diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79ff227fff340139d1b4ff81d2b7c16a83d74655
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed36933bc354e4bccbcc5fc82db7848ebb704b6f4fc0ea3a2f70ac7110034b3d
+size 17002552
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb431ff1bde1e3caf8c9334d3693d25e7e102775
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f121fa8749ffb7806ce1f35159008199ff5db4e77fe0b1746d9117c88c224fb
+size 14038302
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2574610ed6b255a802eac66b4b45f8ff913a9bf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a1fe358ad6d137dead5c775ae8d99d3b2220082f4c6693f4712d5fa281b2bbf
+size 9868388
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..74a278689aac42bb9b68e7d6a2a863d32e54aeda
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76284d6d8c7d8b7d9a34f37010c93ee2ec3331398f18ed48dceeb97a1260b3cd
+size 12265735
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..702e10643206120443955dbe32037c0fc6859d86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18afa7de9357352b9bb6e12dc6fb43f33031aabd11c96b8bdd9fa9d62d6ef7ff
+size 10398235
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..06548b44bc9f03f12a9d1fa7f49b4b8bcf93425f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c003c7e66963dc3dcd794d9cbb6d160cd18ce73133d699a16efb8daaa7f24519
+size 15248626
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..615003e5da6625990f1a9364581ef9c10fb00ba8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b976d6cd290803350a5c45254a4f08449c832b4582329fae41a3333032efa04
+size 11334215
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eda83015209a1634a082c87f8748cf6aea62d442
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0df89121df04e4dfacdfff157f3d8bda3b50323b4f5143cc47f6bc577db68ecb
+size 11815073
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..07302a0728f2aa2ee03a2680f395d162c703cc9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1243054c6a2850dcbb587de4356b396a0fd7d45ab530f3a1b3be45e603eec527
+size 12469992
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d90111301494fc238e3c38a596a3fd92fb3d1879
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f959f19dbb627c9766b2ab7481f5a46f85b1d0d239151bd68e1e364981c10059
+size 13307771
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e5e5c199bfe324ca98bee0311cedee53bd380f1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ac7b5236a5d5e44aea3a67855b42603ea2503daceab603404491789c57197af
+size 17006515
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b0716e0fe806cf6b6d17ce42f9ec6b70d4b31c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b76e34a2de05a91e09fbabf9cf964a8f2285381afee1848e11d7445997d6359c
+size 13379129
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..222a3af140b36135ee41556ff6e4ccf64c183d1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b97b6690c612f731c5272654604a59019e98dca413b69d69842b9933db671a9
+size 13152163
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b01587b6bc914d9a24cb96e4f45757cf44483f3a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a751d157e3482b6e998e4d30cc54bed57d1666eb66f1ea04f8c248e9d864144d
+size 12240194
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d449eaed2fc9c965969a61639f0244d34b4a393d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc6c3f11d0c6c9949dec324b4c1bec8f4e78f98ee7cea737f4dc8f0cc73988a
+size 10808069
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d17de4f0e6ceffdb2762e2215a2674f0b7e0d6cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f66c3f2aeb84ec05fa7587962908f8a8b8232fc3ff09a82f138c2aaf3ad506be
+size 13667369
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2522998ae8faa266d974a2cdb94c1fdbce94a499
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f9fa62f0740d6e3b787f796851fd5f87ededb5ac39b1a1997d51758b3a5cbcd
+size 12738686
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5950c718d3acae43b2c0ccb4afef9ef8880c3211
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dc081dab0e4e45df4154d5b36f7e5b87692b57aed3ad71ed363d5fd1ee8174d
+size 15702558
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..df5833559cb8da0d05a3a8a99a6e0dec34e97d4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a32d7d08afd58d4adc04bfc2e4128e4f31c636cddf727b4d4f396fef598fafd
+size 9693155
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..89d1dfb5df61873e9c520213215e093faaa7889e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d07e059cf9e7bb27e2bedeaf2d77bd104342aa601808c6b440fc5476a7c9304d
+size 16027041
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7233ad2597b82822abb185924fbd6667f0bec0b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:607da1053f90ee703350882bfc9e61969dadabd1968d0b201c1112b3fe6c3aa9
+size 12621906
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a7d2ca4280a91fba0623845eaf453b1ea9f8aa89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b547f183465dcb8bd1148342794c3efa97e05f7ca9d7b141ce02f5c46b19eac5
+size 10773653
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b1f0e68f180bb532ae18aba6be63a146ae04acf5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbe3754b101f3dfa4e3742ff535b72845f876d352486c525dfaed9454c476f11
+size 15015276
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bfc166ef02c9334a8bd9a3b747a5de2e25c9d1f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11d53f84f27ddf23dc6d7b9db9e5f4bed67bc5b98fce8eeb0406555871edab88
+size 12019498
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..517e8f850bb05ad6557f9f360b9b77bf35875aac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd2d0112cc6f731deceb4032feb8f3beb790b09a6a890e0451eff5c0187ccafb
+size 11988454
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ef282287d2b5e7a6f48de6885acc5bb48de6aa7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d2623100ff9bf790b5775d1d8b4d805ee2b2296cb374817f0b6e29bd9f57476
+size 15359723
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7d5c0c737d63210fa7a9189c4e735dea1147041e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1fae6d5814dd02e685b4d47e34c3dfb64a54fd79fa4a01bf1d1d4c3cf978d96
+size 12204454
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8c48b5dd1771bf71c7324c71158ca832382a989
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc838ef0d7ddabd068235c651a8d993161b5c6325a401bc807fa5db185117152
+size 12420713
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c413386d1ca95c2560cfb07ced2822d88312638a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdde42bb5324636649edcfc4c00c28e9bdaf4c27c554017026c93f8b32ff66b2
+size 11550440
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a27b72c4d43d1771a7b07bd36fb9c9258526d660
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6886dd74e6b0c2edb8bc85a8b42e434f2ffa0345fb08b710d3b937ed6a501e
+size 10293785
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a2596925694a3068bacbabaf85aafd70d234350
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3f78cd23eb1bc8af659246e1abcc6c9688407198582b2d0bebb0c600c7ada1
+size 16603471
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..53119082d6c11bd3314502723e3395c04c1141d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a73c3f4213b75e5a0cd9000e1dfa3e652c9511643f7050e8843b918c371fd75
+size 12129987
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7536be345eb4d6f52141dff656aba247cadbdc34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e06ef0406ec6564999a4bad315d921ebb1b15a6a3e8b425ec233c4b16b3aa969
+size 13749621
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb641a4a92514fcb2d633908f89d2fc361f1a963
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dbcb5063295b2bbc280405ad5f6bc5063e8f453158e574c49c537b1207cac27
+size 15998417
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fda188d85e04d166bde72d7f429417b6c90327de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61183566b1e01bb6a2ea49c3a938979fca592fe4bdc1dfa95426ac35d90f227
+size 12537327
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..41f48ba549071da310d652a1bf77cf8bf39c21a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa67267edf91182fbe7d4156738e40f856b14111a41793437a18eb8f46d7567e
+size 11132819
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..165108efe844013cbf8e1b105b62ec445e6df58d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62845e9961bbf72dd1d817c495d2c841caf7a047ae4b182e5c98ae2d3f0912b9
+size 13367857
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4bb2702e6da0026aee4a9c085f6fb5dd360772e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4930f5d3dbd9bae1e42d45ca4a33c4572c2886ca7032e1f0bbe338001c5b8972
+size 10748368
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1eb8c7ce95492f3ec18a54133f1a775120e13b57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:278ff5d049f947f9e8cfa8f291897071e8e85975e6ce5f8f485550e789ae94cd
+size 12257190
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ac6bd884fa9ede06f24d2fd431e76a443d972ddd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01276edc1f4282f1961998c4f47cefe82f0a349ada43da336b6130ea1d4544a
+size 11095028
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8931df081b43e345edc09e609c7389a0affafc36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d96bd5cd6f1f92739cdcf556632e38d7cc9612b94b889e3bfede3155a6ccd8bc
+size 15076719
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..831bffa4630c0ec75b6992a45c69f1677d82bdf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e515f4916acb619e376f0df72e56722d6ebdf6c15ef0dfcff4c6f03ed8555c11
+size 12907745
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..392f92b1a20d3cc05d70a019ac7b3274386bc152
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a18507940dffad093f307a1afd49cc6a1d32a9f661bd7844bac8af44cb22b731
+size 11904993
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c2e020dd92b25e1797db0c5f71c1c851327b71d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4117a8023e6beb62acd330765957e17c59e04258a8011138c72a0293669894aa
+size 12740862
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9033f30a4220b0da152d173c7c8a153b540894b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04f6db3eb87dd41be9309e8b0daf86e6a879f5b3d5d0dd63258b943e1b7870e3
+size 14146861
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c06d25fae6ec14700b0f772b7a3402b12852b39
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e075c6e214c2209d3ad9fba30fa0258b8d8a914c7cb5c4105983182f6fecefa
+size 11366911
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..addd71bed65950821470f63334d6c57ec276ab77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ae780a675a2e60741022035fe7d4fa4a94b53499a2611ae52cbede4148a912
+size 10762285
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..81da897832f99c37f74369f9674196a345a7ecb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc86ba18ae10db2314b0a1c2d974e4d781900c3909b3ebc9142fe8de5133c52
+size 14928241
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f1d3b1161ab9f1216cbc88c71872fb8918c1b668
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6ff7a9bf1f56cf9b1e9be04ce48032b63e841e79f22f0482673f9f98dc42572
+size 10699889
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..776b1e4b64b8cc48a61204a0a18c1d95725ab68b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f465354e187e7e5d1fe9a41c9c9adc0c884d3ff03aa46bebf3b943e3616b04bf
+size 13087017
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..18ab8352e2624669870254e1f716f08176b908a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0675830ac2ab3e42e3dc7c695302d1ebfea9313cee82702b2966a3aae6357c
+size 12645027
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cb55c157818830d7283932e109e19ce07000fcb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/meta/episode.jsonl
@@ -0,0 +1,53 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2706,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2706,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2674,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2711,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2730,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2711,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2711,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2726,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2727,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2676,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2678,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2727,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4e8db24c1e57273882f69952018ef2b96dbc7d58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,53 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T09:02:00","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.02844328743861746,0.7246621266426239,0.71338606911949],"aabb_xy":[[0.003222450578777798,0.6994383757897371],[0.05366412429845713,0.7498858774955106]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.5181024276852226,1.7215396568571797,0.71338606911949],"aabb_xy":[[-0.5309743311861627,1.6415396564433433],[-0.5052305241842824,1.8015396572710156]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.3212988871179565,0.4080054475866768,0.71338606911949],"aabb_xy":[[0.2988024656840924,0.3855054477799294],[0.3437953085518206,0.4305054473934243]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.48362416244025264,1.3457289633474172,0.71338606911949],"aabb_xy":[[0.44984860324955966,1.3316904681342523],[0.5173997216309456,1.3597674585605821]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.31911750169865805,-2.4595525975408905,0.71338606911949],"aabb_xy":[[0.30827702347214314,-2.4767388788315388],[0.32995797992517295,-2.4423663162502414]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.6061043979774448,0.7068197961580216,0.71338606911949],"aabb_xy":[[0.5815907738804389,0.6825552028559851],[0.6306180220744506,0.731084389460058]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.4407047703102711,-0.8633173427710306,0.71338606911949],"aabb_xy":[[0.3767047731981655,-0.9123497125654412],[0.5047047674223768,-0.81428497297662]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.5554867968145709,0.8889666341632525,0.71338606911949],"aabb_xy":[[0.521024449416429,0.8544727517654298],[0.5899491442127126,0.9234605165610752]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.3955298571151722,1.461683160776865,0.71338606911949],"aabb_xy":[[0.3875035864845462,1.4529316657995124],[0.4035561277457982,1.4704346557542176]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.30768044132275885,-2.446240663905447,0.71338606911949],"aabb_xy":[[-0.33096228352089013,-2.5312406652026747],[-0.28439859912462745,-2.3612406626082185]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.41414915132810454,0.9449986203857517,0.71338606911949],"aabb_xy":[[-0.47814915170563815,0.8952533535349393],[-0.3501491509505709,0.9947438872365638]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.17760467362186272,0.48163192262817045,0.71338606911949],"aabb_xy":[[0.1703434260514553,0.46884491236466097],[0.18486592119227013,0.49441893289167993]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.07688718222838575,0.6267354486052041,0.71338606911949],"aabb_xy":[[-0.0031128188447345773,0.6169574022678197],[0.15688718330150608,0.6365134949425886]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.05830287841015491,-0.8485254034749499,0.71338606911949],"aabb_xy":[[-0.09580287835392132,-0.8568184935097864],[-0.020802878466388508,-0.8402323134401133]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[0.24473251297722054,-2.3889656079697295,0.71338606911949],"aabb_xy":[[0.23710824488704232,-2.3965988315062736],[0.2523567810673988,-2.381332384433186]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.1672451630956011,-1.0328764987030394,0.71338606911949],"aabb_xy":[[-0.21722257996085467,-1.082876500192288],[-0.11726774623034751,-0.982876497213791]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[0.679335564397531,-1.2773193284756654,0.71338606911949],"aabb_xy":[[0.6740030497429179,-1.282643656720901],[0.684668079052144,-1.2719950002304299]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.649402375795959,-1.87270850567106,0.71338606911949],"aabb_xy":[[0.5994023744350717,-1.9226864102464758],[0.6994023771568462,-1.8227306010956446]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.2851209150456833,-0.3417673714880305,0.71338606911949],"aabb_xy":[[-0.3651209120599313,-0.3619019231614417],[-0.20512091803143534,-0.32163281981461916]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.565856893765994,-0.12612234322450355,0.71338606911949],"aabb_xy":[[0.5018568930625247,-0.17214072569742456],[0.6298568944694634,-0.08010396075158253]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.0005498986925419613,-1.8048781346747371,0.71338606911949],"aabb_xy":[[-0.01018153491297158,-1.8145154474544458],[0.009081737527887657,-1.795240821895028]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.21577826021019164,-1.369239785519237,0.71338606911949],"aabb_xy":[[0.1517782582978493,-1.4251509347772475],[0.279778262122534,-1.3133286362612266]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[-0.37058436558278557,-1.437239534144136,0.71338606911949],"aabb_xy":[[-0.3840308922168289,-1.4507093857972273],[-0.35713783894874224,-1.4237696824910446]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[0.539028828307865,1.7474462155011738,0.71338606911949],"aabb_xy":[[0.5040288291779094,1.7417009944255097],[0.5740288274378207,1.753191436576838]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.5513973703021637,-0.3912237682691684,0.71338606911949],"aabb_xy":[[0.49139736944135076,-0.4426501982756547],[0.6113973711629763,-0.33979733826268194]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.5328363487873731,1.161977048810669,0.71338606911949],"aabb_xy":[[0.4963405281600942,1.1254931063839113],[0.5693321694146517,1.1984609912374264]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[0.31794522352332333,-1.6218651643108828,0.71338606911949],"aabb_xy":[[0.30703944743576056,-1.7018651607097122],[0.328850999610886,-1.5418651679120539]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.5795680566475014,-0.6514119780188281,0.71338606911949],"aabb_xy":[[0.5754898987404518,-0.6554929582670913],[0.5836462145545511,-0.6473309977705647]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_28","position":[0.2591289016940369,1.4987803381955698,0.71338606911949],"aabb_xy":[[0.21694448753320617,1.4347803379183584],[0.30131331585486765,1.5627803384727808]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_29","position":[-0.1712929427319172,0.30798949518659047,0.71338606911949],"aabb_xy":[[-0.23629294061356504,0.2568658314800496],[-0.10629294485026944,0.35911315889313133]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_30","position":[0.6004892167715239,-2.024021384541296,0.71338606911949],"aabb_xy":[[0.5718398844111076,-2.0526669438183713],[0.62913854913194,-1.9953758252642197]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_31","position":[0.2468177634483788,0.9653186029708838,0.71338606911949],"aabb_xy":[[0.229907031012037,0.9518463973782693],[0.2637284958847205,0.9787908085634983]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_32","position":[-0.6353413478302765,0.3066695034829796,0.71338606911949],"aabb_xy":[[-0.6447588224001393,0.2972533263452606],[-0.6259238732604138,0.31608568062069864]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_33","position":[0.22928496286346411,-1.231032745080926,0.71338606911949],"aabb_xy":[[0.14928495959945098,-1.244592777389839],[0.30928496612747725,-1.2174727127720124]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_34","position":[-0.2716576971400451,0.5899589821292857,0.71338606911949],"aabb_xy":[[-0.2966576966917836,0.5798164982641509],[-0.24665769758830663,0.6001014659944204]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6354595711654609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4091.png","name":"4091"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4091.png","name":"4091"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8404.png","name":"8404"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9423.png","name":"9423"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9392.png","name":"9392"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2103.png","name":"2103"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":751.5890796543342,"rotation_z_degrees":269.17350966440415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008857887148770076,0.019036369699604563,0.0029603774197096873]},{"name":"camera_2","offset_m":[0.011097466914057063,-0.015771458988252527,0.011680174480660225]},{"name":"camera_3","offset_m":[-0.01719756749307305,0.01988949063027615,-0.007835418156770961]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012814666797911292,0.0015274440341363645,-0.0017497615417201757],"end_effector_yaw_offset_degrees":0.1584482559773306},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00019959356904611478,0.0008056141133477492,-0.0018388591553955278],"end_effector_yaw_offset_degrees":0.029910184403192153},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005250725184972379,-0.0013078478146194752,0.0019226096371966267],"end_effector_yaw_offset_degrees":0.7456551497180901},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005732199734683001,-0.0015195965859686042,-0.0005508501633150601],"end_effector_yaw_offset_degrees":-0.4678742318948892},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00023679112715690076,-0.0006542327377882327,0.0007225402039051868],"end_effector_yaw_offset_degrees":0.3749547529215451},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005530872037582215,-9.211311146612236e-06,0.0019877086701411877],"end_effector_yaw_offset_degrees":-0.22204195501947233}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010334069559321092,-0.0033089714543380966],"position_m":[0.2734665930440679,0.0760910285456619,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016722695633715969,-0.0003943585924568423],"position_m":[0.2142277304366284,-0.3392943585924568,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00475264370605136,-0.00023391369531706053],"position_m":[0.27884735629394863,0.31036608630468293,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032317779982513595,0.004843150437318556],"position_m":[0.21366822200174865,-0.11785684956268144,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f33f529e19194989f0b0331239ccab2c68e230be72327582bc5778f8e227c16f","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4091/tex_ceiling_textures_2103/tex_floor_textures_9392/tex_table_textures_8404/tex_wall_textures_9423","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":8655670528147695054,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":8655670528147695054,"visual_seed":8655670528147695054,"scene_id":"lab_003","finished_at":"2026-09-08T09:09:54"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T09:10:03","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[0.4432482339506554,-1.564956517724139,0.71338606911949],"aabb_xy":[[0.4324077557241405,-1.5821427990147878],[0.4540887121771703,-1.54777023643349]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.5178590104013797,0.5287565728949648,0.71338606911949],"aabb_xy":[[-0.5978590108715958,0.5204458652806165],[-0.4378590099311639,0.5370672805093133]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.41086916461033685,-0.9664602165253156,0.71338606911949],"aabb_xy":[[0.34686916293233955,-1.0149776080046298],[0.47486916628833425,-0.9179428250460012]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.38673364706635827,0.7957398229139336,0.71338606911949],"aabb_xy":[[-0.46673364504714326,0.7881382819520817],[-0.30673364908557316,0.8033413638757856]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[-0.07015522592294399,-2.133845545100188,0.71338606911949],"aabb_xy":[[-0.0988045582833602,-2.1624911043772634],[-0.04150589356252775,-2.105199985823112]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.39485303125977683,1.160698713791803,0.71338606911949],"aabb_xy":[[-0.429853030452595,1.1497316677941403],[-0.35985303206695846,1.1716657597894653]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.6396534663542015,-0.37615203593716773,0.71338606911949],"aabb_xy":[[-0.6896465784633935,-0.42615203661136347],[-0.5896603542450097,-0.32615203526297215]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.21205756242191065,1.47031744122159,0.71338606911949],"aabb_xy":[[0.1842125256413035,1.4395329424832783],[0.23990259920251775,1.5011019399599017]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.10219513860765927,1.2800271540061,0.71338606911949],"aabb_xy":[[-0.14747375348880853,1.216027154657916],[-0.056916523726510015,1.3440271533542834]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.6179206232334173,-0.09425104406464824,0.71338606911949],"aabb_xy":[[-0.6729206224100067,-0.14924071883960588],[-0.5629206240568277,-0.03926136928969058]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.24486865380042977,-2.3472561928425737,0.71338606911949],"aabb_xy":[[0.20837283317315103,-2.383740135269331],[0.2813644744277085,-2.3107722504158157]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.4603654690448904,-1.983643227807387,0.71338606911949],"aabb_xy":[[0.3963654667020888,-2.028584079051519],[0.5243654713876919,-1.9387023765632543]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.2241927306308491,1.693319182959971,0.71338606911949],"aabb_xy":[[0.1601927287185068,1.6374080337019608],[0.28819273254319144,1.7492303322179816]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.5022681562553539,0.21454023020390922,0.71338606911949],"aabb_xy":[[-0.5148708553924304,0.20194483397904375],[-0.48966545711827747,0.22713562642877475]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.4308460112673876,1.7310686327006564,0.71338606911949],"aabb_xy":[[-0.43725982491057247,1.724658812452988],[-0.4244321976242026,1.7374784529483247]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.010926417749066775,0.9422400572855594,0.71338606911949],"aabb_xy":[[-0.024073582146952096,0.9338658217736193],[0.04592641764508564,0.9506142927974992]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.2419704534566583,-1.2231623021965865,0.71338606911949],"aabb_xy":[[-0.28327499652039434,-1.2871623017647034],[-0.20066591039292234,-1.1591623026284692]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.4617977671587372,-2.5349200206340825,0.71338606911949],"aabb_xy":[[0.41180293423079567,-2.5849200195293265],[0.5117926000866788,-2.4849200217388394]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.3520765778885967,-0.10983596380218685,0.71338606911949],"aabb_xy":[[-0.3930945212749676,-0.15983596443314418],[-0.3110586345022258,-0.05983596317122952]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.08638704237437922,0.49102622394630835,0.71338606911949],"aabb_xy":[[-0.14638704401730107,0.4390260746543642],[-0.02638704073145738,0.5430263732382525]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.2721897464543891,1.4812888187252535,0.71338606911949],"aabb_xy":[[-0.30648665747212966,1.446991932515312],[-0.2378928354366484,1.5155857049351946]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.25519105043122625,-1.8220527563898932,0.71338606911949],"aabb_xy":[[0.20019105080948046,-1.8770364491773661],[0.31019105005297215,-1.7670690636024207]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.608702817098939,1.3841973814374984,0.71338606911949],"aabb_xy":[[-0.6887028173725459,1.3112478336117817],[-0.5287028168253319,1.457146929263215]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6359525284365733,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3187.png","name":"3187"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3187.png","name":"3187"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9705.png","name":"9705"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4950.png","name":"4950"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6054.png","name":"6054"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1829.png","name":"1829"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":673.0136979601186,"rotation_z_degrees":173.36003432452657,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016096987406387767,-0.0192370127913373,-0.017616036995650855]},{"name":"camera_2","offset_m":[0.008641249912750355,0.01036476142140872,0.015219590399985838]},{"name":"camera_3","offset_m":[-0.014928987907393342,0.007255064157792011,0.018028474155293666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001100057233413713,0.0018319507613026539,-0.000946084586351006],"end_effector_yaw_offset_degrees":0.19314487573406436},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.061912378653179e-06,-0.0007186628489056579,-0.000283190052051435],"end_effector_yaw_offset_degrees":-0.67327219928623},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009786723113674,-0.00040832675624375325,-8.353922499252471e-05],"end_effector_yaw_offset_degrees":-0.7495705541158724},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0006130243501200135,0.0012011407124633282,-9.93911028253009e-05],"end_effector_yaw_offset_degrees":-0.5890153559190217},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0014560561200892318,0.0008707495606153303,0.0010699081085259114],"end_effector_yaw_offset_degrees":-0.3868210467566562},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0018568299864482555,-0.0016934851222649271,0.0006164771278681057],"end_effector_yaw_offset_degrees":0.9036239108915407}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00012309152772679074,-0.00046464891033973915],"position_m":[0.27437690847227325,0.07893535108966027,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003966179444885153,0.001972743617971974],"position_m":[0.2162966179444885,-0.33692725638202803,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0036524935295376417,-0.003511425715933103],"position_m":[0.2799475064704624,0.3070885742840669,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035876288425043873,0.003026647231987394],"position_m":[0.2204876288425044,-0.11967335276801261,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4f0bb8b1861744992e3ef21f138cb72f512a8898a8a322cab67e69d1184a1a60","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3187/tex_ceiling_textures_1829/tex_floor_textures_6054/tex_table_textures_9705/tex_wall_textures_4950","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7968216964081835746,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7968216964081835746,"visual_seed":7968216964081835746,"scene_id":"lab_003","finished_at":"2026-09-08T09:19:16"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T09:29:22","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.3360289719114433,-0.6115947478547443,0.71338606911949],"aabb_xy":[[-0.34329021948185073,-0.6243817581182538],[-0.3287677243410359,-0.5988077375912348]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[-0.3637996722010459,-1.816294801385588,0.71338606911949],"aabb_xy":[[-0.4137996734848859,-1.86627365577621],[-0.31379967091720595,-1.7663159469949659]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.07914780918744302,1.3543492757917899,0.71338606911949],"aabb_xy":[[-0.08306168238286553,1.3456002603852328],[-0.07523393599202048,1.3630982911983465]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.5931749170902121,1.161411174721441,0.71338606911949],"aabb_xy":[[-0.6481703949108715,1.1064111732875341],[-0.5381794392695527,1.216411176155348]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.20335547928286546,-1.8023534392950027,0.71338606911949],"aabb_xy":[[0.11335548068839554,-1.8186040256084237],[0.2933554778773354,-1.7861028529815817]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.46655669090972207,-1.1183210476944236,0.71338606911949],"aabb_xy":[[0.4621260615548819,-1.1237694194291064],[0.47098732026456225,-1.112872675959741]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[0.5951414483673401,-0.0677650720224765,0.71338606911949],"aabb_xy":[[0.5863393930583671,-0.07557639817740557],[0.6039435036763126,-0.05995374586754742]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.13684055636424797,-0.2743051386926707,0.71338606911949],"aabb_xy":[[-0.15572494013275817,-0.2931910634730235],[-0.11795617259573776,-0.2554192139123179]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.4902668034292934,0.27479881500412695,0.71338606911949],"aabb_xy":[[-0.49829307405991946,0.26604732002677434],[-0.48224053279866747,0.28355030998147956]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.0911355208937692,0.3289876851928222,0.71338606911949],"aabb_xy":[[-0.10630769017540254,0.3138188282646188],[-0.07596335161213585,0.34415654212102553]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.46137751814342476,-1.5380522302551776,0.71338606911949],"aabb_xy":[[0.4063775199416799,-1.578574196881615],[0.5163775163451696,-1.4975302636287398]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.6371751397543827,-2.3712385938496316,0.71338606911949],"aabb_xy":[[-0.6757208325795837,-2.4097843649058204],[-0.5986294469291816,-2.332692822793443]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.23452042947299756,1.391066673530513,0.71338606911949],"aabb_xy":[[-0.32452042889136845,1.3576911766863233],[-0.14452043005462667,1.4244421703747028]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.05290916722342276,1.5893914424525275,0.71338606911949],"aabb_xy":[[-0.061690394370659,1.5806116951639977],[-0.04412794007618654,1.5981711897410582]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.410267019440844,1.797751065840997,0.71338606911949],"aabb_xy":[[0.33026701836772365,1.7879730195036125],[0.4902670205139643,1.8075291121783814]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[0.4618538597010218,-1.332662183658182,0.71338606911949],"aabb_xy":[[0.3968538570632283,-1.3841417823576287],[0.5268538623388153,-1.2811825849587348]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[0.1850992170048571,-2.0872532644642385,0.71338606911949],"aabb_xy":[[0.16759921772677022,-2.1045913645305845],[0.20259921628294397,-2.0699151643978926]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.46118013395886126,1.4830268650855731,0.71338606911949],"aabb_xy":[[0.4243295860218736,1.4455268642625394],[0.4980306818958488,1.5205268659086069]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[-0.08111236437515423,-2.0614385721358053,0.71338606911949],"aabb_xy":[[-0.08835613042139957,-2.1414385703394077],[-0.07386859832890892,-1.981438573932203]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[0.06506684489246517,-1.9263398344135467,0.71338606911949],"aabb_xy":[[0.05910030595172938,-1.9323009790729109],[0.07103338383320096,-1.9203786897541826]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.6007328234425289,0.35994397976191506,0.71338606911949],"aabb_xy":[[0.5367328241483608,0.2959578393930609],[0.6647328227366972,0.4239301201307693]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.352287767963659,0.3363392775880709,0.71338606911949],"aabb_xy":[[-0.41628776866712847,0.29032089511514997],[-0.28828776726018973,0.38235766006099203]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.34721932280771073,1.4612312242932144,0.71338606911949],"aabb_xy":[[0.34188174714170616,1.4362312233640748],[0.3525568984737153,1.4862312252223544]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6399630507928337,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/935.png","name":"935"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2760.png","name":"2760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1341.png","name":"1341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5366.png","name":"5366"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":765.3495673535872,"rotation_z_degrees":64.33627243355097,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012482705941094345,0.0020306363307810854,-0.00042856753028392217]},{"name":"camera_2","offset_m":[0.0011087816367851173,-0.018705993996623965,-0.01322624710690352]},{"name":"camera_3","offset_m":[-0.015150874340152637,-0.01085715341001772,-0.010354440639298522]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00021121774237777935,-0.0013019905827094899,0.0005974449585002093],"end_effector_yaw_offset_degrees":-0.836844043130824},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006848753926344655,0.0006523492390949665,-0.0008394429459713372],"end_effector_yaw_offset_degrees":-0.9940708729384433},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013780902658365678,-0.0016630452251320928,1.4394434787722791e-05],"end_effector_yaw_offset_degrees":-0.24379686529524847},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0007814174183909963,0.0005811757840322421,0.0005048312081945877],"end_effector_yaw_offset_degrees":-0.6701428695653404},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0004233739608827075,0.00015556252654328829,0.0006496769916036851],"end_effector_yaw_offset_degrees":0.6060674381950608},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0019946920128085504,-0.00021636573144797298,0.001319475056421902],"end_effector_yaw_offset_degrees":0.1411934930198211}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003086911702192388,0.0017567021225521088],"position_m":[0.2775869117021924,0.0811567021225521,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004350936065751129,0.0007346595707349354],"position_m":[0.22025093606575114,-0.33816534042926505,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00110967815124834,0.001774985943327978],"position_m":[0.28249032184875167,0.31237498594332797,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002630694043192632,0.0010210739673247203],"position_m":[0.21426930595680738,-0.12167892603267529,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c6da0abef62237f065503d6df2bd775ae0dbc8b209f8dcab236bcaad1488f900","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8541/tex_ceiling_textures_5366/tex_floor_textures_1341/tex_table_textures_935/tex_wall_textures_2760","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":4542553519660365222,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":4542553519660365222,"visual_seed":4542553519660365222,"scene_id":"lab_003","finished_at":"2026-09-08T09:38:13"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T09:46:59","dimensions":{"distractor":{"count":26,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.4377977653465841,1.2495118146030522,0.71338606911949],"aabb_xy":[[-0.4465117343965185,1.2270118139438637],[-0.4290837962966495,1.2720118152622402]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.24092262913625495,1.4143951651481674,0.71338606911949],"aabb_xy":[[-0.25067861864542873,1.4046326310889328],[-0.23116663962708098,1.4241576992074017]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.6323611059359389,1.69024812573856,0.71338606911949],"aabb_xy":[[0.5423611036019198,1.6127657711534473],[0.7223611082699579,1.7677304803236726]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[0.3915216537995103,-2.28670992547142,0.71338606911949],"aabb_xy":[[0.33652165417776453,-2.341693618258893],[0.4465216534212562,-2.2317262326839478]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.13243871231619198,1.5722244592871069,0.71338606911949],"aabb_xy":[[0.07084795309219918,1.50822446117806],[0.19402947154018482,1.6362244573961537]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.1982395422374048,-0.255594595591357,0.71338606911949],"aabb_xy":[[-0.2622395424978756,-0.30060339494428495],[-0.134239541976934,-0.21058579623842896]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.2140683599571338,-1.0569160480507676,0.71338606911949],"aabb_xy":[[0.1918958329804829,-1.0790917152068906],[0.2362408869337846,-1.0347403808946445]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.10586099690706552,0.8298914512448512,0.71338606911949],"aabb_xy":[[-0.12969721454767058,0.7398914504363648],[-0.08202477926646046,0.9198914520533379]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.20236362061959656,-0.5804153635432039,0.71338606911949],"aabb_xy":[[0.16134567723322565,-0.6304153641741612],[0.24338156400596742,-0.5304153629122466]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.3544099334090037,1.1762070606848312,0.71338606911949],"aabb_xy":[[-0.37690993293271097,1.1537111132342102],[-0.33190993388529616,1.1987030081354517]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.56392047492412,-1.319295919510298,0.71338606911949],"aabb_xy":[[0.5089249971034605,-1.374295920944205],[0.6189159527447793,-1.264295918076391]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.5889812594237138,-1.4247618746136594,0.71338606911949],"aabb_xy":[[0.5855405831836566,-1.428623307588024],[0.592421935663771,-1.420900441639295]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.263844998056761,-1.7522719019495383,0.71338606911949],"aabb_xy":[[0.25580163813080586,-1.8372719030449045],[0.2718883579827162,-1.6672719008541717]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.33066989245145667,0.30991510236804887,0.71338606911949],"aabb_xy":[[-0.3956698910085295,0.28016256895416625],[-0.26566989389438384,0.3396676357819315]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.10850928499551515,-1.2055939901254678,0.71338606911949],"aabb_xy":[[-0.15850928635640238,-1.2555718947008834],[-0.058509283634627936,-1.1556160855500521]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[0.44149327616825706,-1.16230194171613,0.71338606911949],"aabb_xy":[[0.3764932735304636,-1.2137815404155767],[0.5064932788060506,-1.1108223430166828]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.25356801224577374,-1.0958176173980594,0.71338606911949],"aabb_xy":[[-0.2612712029198508,-1.1035269880967973],[-0.2458648215716967,-1.0881082466993215]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[0.6262391687263882,-0.6728823869807044,0.71338606911949],"aabb_xy":[[0.607354784957878,-0.6917683117610571],[0.6451235524948984,-0.6539964622003516]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[0.24918266011052081,-1.957388510914842,0.71338606911949],"aabb_xy":[[0.23877110143003705,-1.96273424425074],[0.25959421879100447,-1.9520427775789433]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.21661476491685694,-1.3556158795121385,0.71338606911949],"aabb_xy":[[-0.2665880589201174,-1.4056158800666856],[-0.16664147091359646,-1.305615878957591]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.07920472997846417,-1.1827636294968615,0.71338606911949],"aabb_xy":[[0.04170473155506382,-1.195927843464692],[0.11670472840186452,-1.169599415529031]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.09629740137159948,-0.8514873108118899,0.71338606911949],"aabb_xy":[[-0.1862974010947736,-0.8745606633470694],[-0.006297401648425279,-0.8284139582767097]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[-0.3851660013654966,0.20207906934551456,0.71338606911949],"aabb_xy":[[-0.4080817142505466,0.1791747722090911],[-0.36225028848044677,0.22498336648193812]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[-0.40243327124490946,-2.5367504787802253,0.71338606911949],"aabb_xy":[[-0.43993327159313717,-2.548541874361309],[-0.36493327089668165,-2.5249590831991418]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[0.10040967348319063,1.1013047293611833,0.71338606911949],"aabb_xy":[[0.015409674791115963,1.0693188659663044],[0.18540967217526524,1.1332905927560621]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[-0.0712176591292355,-2.239907599197747,0.71338606911949],"aabb_xy":[[-0.12069808034319429,-2.303907597110599],[-0.021737237915276708,-2.1759076012848952]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6407349669958017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1354.png","name":"1354"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1354.png","name":"1354"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1257.png","name":"1257"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9068.png","name":"9068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/176.png","name":"176"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3800.png","name":"3800"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":541.5724805460766,"rotation_z_degrees":345.6247233180811,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016494905010210958,0.014707647748565627,-0.015828384395413373]},{"name":"camera_2","offset_m":[0.0032788723467052257,-0.008685925253880037,-0.004199788231861096]},{"name":"camera_3","offset_m":[0.016011030987503647,0.001327469194982757,-0.018545252933979996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00042460457305532615,-0.0004759155826208664,0.0018706087644685316],"end_effector_yaw_offset_degrees":-0.7967064594805382},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013665975919105442,3.9870938206617874e-05,0.0002602353940163037],"end_effector_yaw_offset_degrees":-0.17309299276755064},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011031799127078346,0.00030208753646864244,-0.001910766339663443],"end_effector_yaw_offset_degrees":-0.7453831310266967},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.000845613198960757,-0.0018098314357638432,-0.00010286752900034502],"end_effector_yaw_offset_degrees":-0.4556439699553838},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019276985915267608,-0.00160079473297007,-0.0003466829667726197],"end_effector_yaw_offset_degrees":-0.9197290127712758},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005146217955483957,0.0015739441130451725,-0.000777996009694709],"end_effector_yaw_offset_degrees":-0.9199967176474346}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024224315341347634,0.0012033275456106293],"position_m":[0.27692243153413476,0.08060332754561063,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032247061180742413,-0.0025189009485708756],"position_m":[0.21912470611807425,-0.34141890094857086,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0009694624909581499,-0.0027067518130389568],"position_m":[0.28456946249095816,0.307893248186961,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004250755577667644,-0.0025247851052259728],"position_m":[0.22115075557766764,-0.12522478510522597,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"59af6f74110bc9f8d3e0d56629363d42a4e174cbe73227d9297a549bb8a1a699","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1354/tex_ceiling_textures_3800/tex_floor_textures_176/tex_table_textures_1257/tex_wall_textures_9068","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":4423527091167363821,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":4423527091167363821,"visual_seed":4423527091167363821,"scene_id":"lab_003","finished_at":"2026-09-08T09:55:53"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T09:56:01","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.48643685305642564,-0.38870437863956386,0.71338606911949],"aabb_xy":[[-0.4945645412497389,-0.3976179870502715],[-0.4783091648631125,-0.3797907702288562]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.03814454671383449,1.068752432386948,0.71338606911949],"aabb_xy":[[0.019938723052586822,1.0577270318049563],[0.05635037037508218,1.0797778329689396]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.45521390504348413,-1.1736825524089183,0.71338606911949],"aabb_xy":[[-0.49224801447154387,-1.2080597597426277],[-0.4181797956154244,-1.1393053450752089]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[0.6241780345499237,0.4956923401138056,0.71338606911949],"aabb_xy":[[0.5741780341893575,0.44571235290420264],[0.6741780349104897,0.5456723273234085]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.37723427581541585,1.0365384843853334,0.71338606911949],"aabb_xy":[[-0.38780175547351486,1.0259934542723246],[-0.36666679615731684,1.0470835144983417]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.06892498081190845,1.5701855782241814,0.71338606911949],"aabb_xy":[[0.01892570564347229,1.5201855769482344],[0.11892425598034462,1.6201855795001288]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.4837828420979593,0.8047448667470434,0.71338606911949],"aabb_xy":[[0.4462828418057845,0.8007033913464398],[0.5212828423901341,0.808786342147647]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.4748649642176982,0.8623008280671884,0.71338606911949],"aabb_xy":[[-0.5398649652181987,0.8115144629125135],[-0.4098649632171977,0.9130871932218634]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.08084940570706667,-1.9816318598382878,0.71338606911949],"aabb_xy":[[0.030966708829370464,-2.031631859084563],[0.13073210258476287,-1.9316318605920135]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.04936798006252563,1.6216541071017345,0.71338606911949],"aabb_xy":[[-0.054705555728530204,1.5966541061725947],[-0.04403040439652107,1.6466541080308743]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.5400187044723684,0.3151888150515778,0.71338606911949],"aabb_xy":[[-0.5678637412529756,0.2844043163132661],[-0.5121736676917613,0.3459733137898895]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.6923006242513221,1.653599471603298,0.71338606911949],"aabb_xy":[[0.6690187820531907,1.56859947030607],[0.7155824664494533,1.738599472900526]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.253374108222249,-1.1662217975940485,0.71338606911949],"aabb_xy":[[-0.27038420551229964,-1.1823562860923225],[-0.23636401093219833,-1.1500873090957746]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.6073058411612687,1.7860462540042144,0.71338606911949],"aabb_xy":[[-0.6573058421118014,1.7544971070006927],[-0.5573058402107358,1.8175954010077355]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.5538041306877759,-1.411470050748148,0.71338606911949],"aabb_xy":[[0.5488481105028947,-1.4339700509502695],[0.5587601508726571,-1.3889700505460263]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.5019295013753833,-0.5420899372594601,0.71338606911949],"aabb_xy":[[0.479415809551926,-0.6120899378604676],[0.5244431931988404,-0.47208993665845256]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.3598851354647288,1.2943840689029131,0.71338606911949],"aabb_xy":[[0.3177007213038981,1.230384068625702],[0.4020695496255596,1.3583840691801243]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.5436476778311263,-2.03615507484413,0.71338606911949],"aabb_xy":[[-0.5582910833851593,-2.0508137945009137],[-0.5290042722770933,-2.0214963551873453]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.26269572611813297,0.5678346948232407,0.71338606911949],"aabb_xy":[[0.2483613009919695,0.5557744792687018],[0.2770301512442964,0.5798949103777795]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.3611397588278845,-2.1298133416173215,0.71338606911949],"aabb_xy":[[-0.4251397579976544,-2.1765800287362835],[-0.2971397596581145,-2.0830466544983586]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.480804705512627,-0.2936054166660216,0.71338606911949],"aabb_xy":[[0.4737632545618794,-0.3006321684038161],[0.4878461564633746,-0.28657866492822703]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.6244667985090505,-0.15572921761495984,0.71338606911949],"aabb_xy":[[-0.6489804226060564,-0.17999381091699626],[-0.5999531744120447,-0.13146462431292336]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6362045877508563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8093.png","name":"8093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8093.png","name":"8093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4048.png","name":"4048"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3068.png","name":"3068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1183.png","name":"1183"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5678.png","name":"5678"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":629.6311469761658,"rotation_z_degrees":340.8365333578019,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002006204135576506,-0.017581380160108892,0.002333282101924891]},{"name":"camera_2","offset_m":[0.0078632851343465,0.0006800051795957801,-0.016612741176678544]},{"name":"camera_3","offset_m":[-0.006054217599803621,-0.011006952649055855,0.014234157646663404]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001634053985247983,-0.0014049321992327926,-0.0005935029940938091],"end_effector_yaw_offset_degrees":-0.7043822187183126},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018915643717176982,-0.00011573664511777492,1.667631776708497e-05],"end_effector_yaw_offset_degrees":-0.054866110602177276},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012369800717461962,0.0018520132999936875,0.0004979856172634533],"end_effector_yaw_offset_degrees":0.4157709704361898},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013388862984318952,0.0010379198589567868,0.0008842840134370587],"end_effector_yaw_offset_degrees":-0.4459448508091792},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0007571850158836326,-0.0004993364368174014,0.00036482495339168605],"end_effector_yaw_offset_degrees":-0.6564206931229464},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00010179289014623696,6.444315254727252e-05,-0.0004337060281943872],"end_effector_yaw_offset_degrees":0.5199925280601108}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002255526247210209,-0.0003211039972570561],"position_m":[0.2722444737527898,0.07907889600274294,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023435007761269146,-0.002843878380405077],"position_m":[0.2135564992238731,-0.34174387838040504,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004268520165770731,-0.004777855727050161],"position_m":[0.28786852016577075,0.30582214427294985,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005111010337436935,-0.000673089932786931],"position_m":[0.2174111010337437,-0.12337308993278694,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f50ef3341342b5f0c08a07095692e0c9a0753cad9ec458e4ba0026cb3211d890","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8093/tex_ceiling_textures_5678/tex_floor_textures_1183/tex_table_textures_4048/tex_wall_textures_3068","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7004123328223798979,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7004123328223798979,"visual_seed":7004123328223798979,"scene_id":"lab_003","finished_at":"2026-09-08T10:03:53"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T10:04:00","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.13483969007127372,-0.9692048990062199,0.71338606911949],"aabb_xy":[[0.12988366988639252,-0.9917048992083416],[0.13979571025615492,-0.9467048988040984]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.39481524007506263,-0.6391338312235602,0.71338606911949],"aabb_xy":[[0.3603528926769207,-0.6736277136213826],[0.4292775874732043,-0.6046399488257372]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.23536631430596078,-2.4841302336059905,0.71338606911949],"aabb_xy":[[-0.24069882896057376,-2.4894545618512263],[-0.2300337996513478,-2.4788059053607547]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.13161407161572392,-2.025061910233061,0.71338606911949],"aabb_xy":[[0.06661406897793043,-2.076541508932508],[0.1966140742535174,-1.973582311533614]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.22520559842131105,-0.9899375656796721,0.71338606911949],"aabb_xy":[[-0.26651014148504704,-1.053937565247789],[-0.18390105535757506,-0.9259375661115548]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[-0.5269639308771085,-2.509316102036982,0.71338606911949],"aabb_xy":[[-0.5819561815126194,-2.564316103780295],[-0.4719716802415975,-2.4543161002936693]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.18534852565276527,-1.4137002965975782,0.71338606911949],"aabb_xy":[[0.13534852399127045,-1.4636987388532807],[0.23534852731425998,-1.3637018543418753]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.320689893161972,0.983094685768199,0.71338606911949],"aabb_xy":[[-0.37068989273830677,0.9331141068160931],[-0.27068989358563733,1.033075264720305]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[0.524145484364883,0.09272823126883134,0.71338606911949],"aabb_xy":[[0.434145485770413,0.07647764495541033],[0.6141454829593529,0.10897881758225238]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.03999473655974517,-1.6923997934730992,0.71338606911949],"aabb_xy":[[0.017079023674695267,-1.7153040906095232],[0.06291044944479507,-1.6694954963366762]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[-0.6352230779496395,0.6745316249046227,0.71338606911949],"aabb_xy":[[-0.650395247231273,0.6593627679764195],[-0.6200509086680063,0.6897004818328262]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.5324198478877853,-1.4584598809880687,0.71338606911949],"aabb_xy":[[0.4674198478534827,-1.505160557668396],[0.5974198479220881,-1.4117592043077414]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[0.3572854307195539,0.6985772141558666,0.71338606911949],"aabb_xy":[[0.3022922193824172,0.643577213817073],[0.41227864205669074,0.7535772144946603]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[0.17057450671185326,-1.2307866755823278,0.71338606911949],"aabb_xy":[[0.10657451031628015,-1.2947499640010613],[0.2345745031074263,-1.1668233871635942]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_14","position":[0.5595446801890231,-2.0017749889965315,0.71338606911949],"aabb_xy":[[0.5452102550628597,-2.0138352045510706],[0.5738791053151866,-1.9897147734419927]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.058769530374649714,1.7001182839431146,0.71338606911949],"aabb_xy":[[-0.001230469876751461,1.64583695890665],[0.11876953062605089,1.7543996089795793]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.0320125119871264,-2.568332659822223,0.71338606911949],"aabb_xy":[[0.024019022191844375,-2.576330791762699],[0.04000600178240843,-2.5603345278817478]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.08154400449700672,-1.2843665184510382,0.71338606911949],"aabb_xy":[[-0.13153901545645877,-1.3343665174866302],[-0.0315489935375547,-1.2343665194154467]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_18","position":[0.6646680841215766,1.1357878305053122,0.71338606911949],"aabb_xy":[[0.6096680859198317,1.0952658638788744],[0.7196680823233214,1.1763097971317495]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.4549211779863327,-0.6528178319938067,0.71338606911949],"aabb_xy":[[-0.5199211758679806,-0.7039414957003477],[-0.389921180104685,-0.601694168287266]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.44683549101738507,-2.1648665542197243,0.71338606911949],"aabb_xy":[[-0.4843354918093805,-2.1712343951779145],[-0.4093354902253896,-2.158498713261534]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.3619251862943297,0.8339186337944642,0.71338606911949],"aabb_xy":[[-0.42692518740027297,0.808953260726336],[-0.2969251851883864,0.8588840068625926]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[0.5293440676895005,-1.852402293614869,0.71338606911949],"aabb_xy":[[0.4493440707264613,-1.9294779352586424],[0.6093440646525397,-1.7753266519710955]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[0.7164250422115499,-0.5608682765696913,0.71338606911949],"aabb_xy":[[0.7117899270593163,-0.5647356116468397],[0.721060157363783,-0.5570009414925424]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_24","position":[0.5123970416156842,-1.0042161038559527,0.71338606911949],"aabb_xy":[[0.44739704345976516,-1.0305123484058647],[0.5773970397716033,-0.9779198593060403]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.022424041722888366,0.806283822045645,0.71338606911949],"aabb_xy":[[-8.965010056883119e-05,0.7362838214446374],[0.04493773354634556,0.8762838226466525]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[0.5416158739873587,-0.816556995543656,0.71338606911949],"aabb_xy":[[0.5328138186783858,-0.824368321698585],[0.5504179292963313,-0.8087456693887268]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_27","position":[-0.4082815433080049,0.06942935864310273,0.71338606911949],"aabb_xy":[[-0.4295595514514771,0.004429356317029676],[-0.3870035351645326,0.1344293609691758]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[-0.2693968517415659,-1.6477324661413117,0.71338606911949],"aabb_xy":[[-0.3333968481688878,-1.6949020899634082],[-0.205396855314244,-1.6005628423192153]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_29","position":[-0.22765147610557662,-2.289584706842743,0.71338606911949],"aabb_xy":[[-0.2689002871354913,-2.3445847063549596],[-0.18640266507566186,-2.2345847073305247]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[-0.5161423314539934,-0.2795441817851527,0.71338606911949],"aabb_xy":[[-0.5801380288490898,-0.3435441800858614],[-0.45214663405889666,-0.21554418348444404]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_31","position":[-0.5891487827209322,-1.8354419095937045,0.71338606911949],"aabb_xy":[[-0.649148784363854,-1.8874420588856486],[-0.5291487810780103,-1.7834417603017603]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_32","position":[-0.447518447921733,1.1728368954162098,0.71338606911949],"aabb_xy":[[-0.481294007112426,1.158798400203045],[-0.41374288873104004,1.1868753906293747]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_33","position":[0.42204540887875974,-0.34268210250899234,0.71338606911949],"aabb_xy":[[0.3720461337103235,-0.3926821037849395],[0.47204468404719585,-0.29268210123304517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6374022839294056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5617.png","name":"5617"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5617.png","name":"5617"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9111.png","name":"9111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4860.png","name":"4860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/821.png","name":"821"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6063.png","name":"6063"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":750.3256956413455,"rotation_z_degrees":128.17591883994496,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001621674589471548,-0.019405939824426798,0.011837517461732349]},{"name":"camera_2","offset_m":[0.0153210643065626,0.007180875825579882,-0.002666769134141579]},{"name":"camera_3","offset_m":[0.017402990832811233,0.013283242336595797,-0.018715834148867686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021023125010601745,-0.0013771606679129258,-0.0009549823006013401],"end_effector_yaw_offset_degrees":0.7502467406345519},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00012929200905030134,0.00010112434828935543,-0.0013523364722727634],"end_effector_yaw_offset_degrees":-0.9713164541807899},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012429006441879286,0.0014246236461989926,-0.0011334157679709742],"end_effector_yaw_offset_degrees":-0.8506075918785896},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016211377048973921,0.0016322369126881295,-0.0009815127256272312],"end_effector_yaw_offset_degrees":-0.5101441999242975},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017627008765182639,-0.0011971103898460217,-0.0010119329753452443],"end_effector_yaw_offset_degrees":-0.3557605479826751},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0019717056422302267,0.0006181338638400801,-0.0009387718525306493],"end_effector_yaw_offset_degrees":0.5374954216153298}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037606287903832226,0.0009101908820078886],"position_m":[0.2707393712096168,0.08031019088200789,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011486275872577157,-0.0031971371526582602],"position_m":[0.21475137241274228,-0.3420971371526582,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003472472406118171,0.0005591302554477859],"position_m":[0.2801275275938818,0.3111591302554478,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002802739623245405,-0.0008988036011602822],"position_m":[0.21661972603767546,-0.12359880360116028,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"533fe096e3518f5fe8a7ce2193110268e65c85a336eeb18c6c285d708a79685e","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5617/tex_ceiling_textures_6063/tex_floor_textures_821/tex_table_textures_9111/tex_wall_textures_4860","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":6585614795491701334,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":6585614795491701334,"visual_seed":6585614795491701334,"scene_id":"lab_003","finished_at":"2026-09-08T10:11:53"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T10:12:00","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.05186364750042238,-0.6685972626945211,0.71338606911949],"aabb_xy":[[0.023533937551882163,-0.6730580048882382],[0.08019335744896261,-0.6641365205008041]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.137172604988403,-0.885872018917415,0.71338606911949],"aabb_xy":[[-0.15418270227845365,-0.902006507415689],[-0.12016250769835235,-0.8697375304191411]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[-0.5306178954977954,-1.0327172464387655,0.71338606911949],"aabb_xy":[[-0.5758965103789446,-1.0967172457869492],[-0.4853392806166461,-0.9687172470905818]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.377970671456185,-0.5587145876715649,0.71338606911949],"aabb_xy":[[0.36855319688632227,-0.5681307648092838],[0.38738814602604776,-0.5492984105338458]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.3765050725094088,0.4388750279372502,0.71338606911949],"aabb_xy":[[0.36772384536217256,0.43009528064872016],[0.38528629965664507,0.44765477522578045]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.26539806844376923,-1.5482089176488667,0.71338606911949],"aabb_xy":[[-0.28831378132881913,-1.5711132147852904],[-0.24248235555871933,-1.5253046205124434]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.16223610823707724,-1.546515507520353,0.71338606911949],"aabb_xy":[[0.15087437358379105,-1.5578839739266406],[0.17359784289036337,-1.5351470411140644]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.30645219691640907,-2.437075981956912,0.71338606911949],"aabb_xy":[[-0.3961392732245245,-2.5270759822113624],[-0.21676512060829362,-2.3470759817024613]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[0.6229019727796417,0.5278787556316753,0.71338606911949],"aabb_xy":[[0.5379019740875669,0.49589289223679645],[0.7079019714717162,0.5598646190265542]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.20570743059120034,1.4164266893119133,0.71338606911949],"aabb_xy":[[-0.23619168071823052,1.3664266895304171],[-0.1752231804641702,1.466426689093409]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.545404165613093,1.670904443029268,0.71338606911949],"aabb_xy":[[-0.6104041665702201,1.6189562310955625],[-0.48040416465596575,1.7228526549629737]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.36649459183353134,-2.0349129971375817,0.71338606911949],"aabb_xy":[[-0.4039945921817591,-2.0467043927186648],[-0.3289945914853036,-2.0231216015564977]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.5613695082409136,-1.7012800454201198,0.71338606911949],"aabb_xy":[[0.49736950683292286,-1.7530689969440443],[0.6253695096489041,-1.6494910938961949]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.45998698418181094,1.4067073155680747,0.71338606911949],"aabb_xy":[[0.4545290385447909,1.3267073122604156],[0.465444929818831,1.4867073188757338]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.4714705656972056,0.7994639867035924,0.71338606911949],"aabb_xy":[[-0.4779722022052103,0.7896961646772829],[-0.4649689291892011,0.8092318087299024]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[0.5563530941779733,0.3649787698705671,0.71338606911949],"aabb_xy":[[0.5213530959078533,0.3579046421755789],[0.5913530924480931,0.3720528975655552]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.5985934480427917,-0.5197397999592117,0.71338606911949],"aabb_xy":[[-0.6485763982302708,-0.569739799601772],[-0.5486104978553121,-0.46973980031665125]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[-0.45435280944724277,-1.6558380641800783,0.71338606911949],"aabb_xy":[[-0.4641087989564166,-1.6656005982393125],[-0.4445968199380688,-1.6460755301208436]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.04662874020062868,-2.442689060241251,0.71338606911949],"aabb_xy":[[-0.043371259522545495,-2.4657624127764306],[0.13662873992380284,-2.419615707706071]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[0.08965269633654627,0.9785223820998983,0.71338606911949],"aabb_xy":[[0.06715269652264388,0.9740477657294175],[0.11215269615044865,0.982996998470379]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.30384120703106543,-0.628188978859848,0.71338606911949],"aabb_xy":[[-0.36784120773453477,-0.674207361332769],[-0.2398412063275961,-0.582170596386927]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[-0.10513686128817767,-2.059276047325746,0.71338606911949],"aabb_xy":[[-0.1426368614600496,-2.091976782708653],[-0.06763686111630572,-2.0265753119428385]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.15138159264502826,0.6794250012626093,0.71338606911949],"aabb_xy":[[0.10138159169449543,0.6478758542590879],[0.20138159359556104,0.7109741482661307]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.22147965748412268,-0.2603008009618941,0.71338606911949],"aabb_xy":[[-0.2589796579814809,-0.26426948451001253],[-0.18397965698676444,-0.2563321174137757]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.45335277091304294,1.157701349948249,0.71338606911949],"aabb_xy":[[-0.48835277010586114,1.1467343039505862],[-0.4183527717202246,1.1686683959459112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6348875978103412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9995.png","name":"9995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2113.png","name":"2113"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/14.png","name":"14"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2468.png","name":"2468"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":676.9732240199578,"rotation_z_degrees":197.09690238129684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009307815594552538,0.006268455142206766,-0.0038733468618736]},{"name":"camera_2","offset_m":[0.01966873492383774,-0.013690547866241994,0.01972437657590485]},{"name":"camera_3","offset_m":[0.010983773613559879,-0.01628082428672924,0.017553712645322964]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00023199964238941346,-0.00015938363626196448,-0.0016569822523875156],"end_effector_yaw_offset_degrees":-0.8217711390175113},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017570419631495362,-0.0012115458996214469,-0.00023008485059325878],"end_effector_yaw_offset_degrees":0.6979540271964217},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008968918771841783,0.0008236028502039607,-6.985009481053376e-05],"end_effector_yaw_offset_degrees":-0.36242920138981893},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0016556169254377537,-0.0019469429174783076,-0.0012663478438439063],"end_effector_yaw_offset_degrees":-0.31773120991200576},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010303793552217191,0.0014454755514803123,0.001667545181255235],"end_effector_yaw_offset_degrees":-0.8504312742312679},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00127079428369882,-0.0007691661253680549,-0.00033215840314570447],"end_effector_yaw_offset_degrees":0.5009678406992502}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013329060166827637,-0.0036836474790379794],"position_m":[0.2758329060166828,0.07571635252096202,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031538775041439716,-0.0016641713332224608],"position_m":[0.21274612249585603,-0.3405641713332224,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002649037186626946,-0.0014741192714925401],"position_m":[0.28095096281337306,0.30912588072850744,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002389856343933964,-0.00266940894131106],"position_m":[0.21928985634393397,-0.12536940894131107,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e24fcade5aefd099188a56f3eb405ecae0e2d688e90e2aca3f492228dccdca12","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5162/tex_ceiling_textures_2468/tex_floor_textures_14/tex_table_textures_9995/tex_wall_textures_2113","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":1933533945904729333,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":1933533945904729333,"visual_seed":1933533945904729333,"scene_id":"lab_003","finished_at":"2026-09-08T10:20:16"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T10:46:25","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.6049636424097082,-1.5137143319754258,0.71338606911949],"aabb_xy":[[-0.629509858032459,-1.5439632285244629],[-0.5804174267869575,-1.4834654354263888]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.05589654625079388,-1.0450262300733657,0.71338606911949],"aabb_xy":[[0.03372401927414304,-1.0672018972294888],[0.07806907322744472,-1.0228505629172426]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.19311615465073906,0.260120060347119,0.71338606911949],"aabb_xy":[[-0.27311615166498704,0.23998550867370771],[-0.11311615763649108,0.28025461202053026]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.2711751184938457,-0.5743852103125091,0.71338606911949],"aabb_xy":[[-0.3611751152294559,-0.6275686736298036],[-0.18117512175823547,-0.5212017469952146]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.2916604636885666,-0.8831536404286071,0.71338606911949],"aabb_xy":[[0.2834459185728825,-0.8918302307262485],[0.29987500880425044,-0.8744770501309658]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.28778804676859443,-1.9532062800842303,0.71338606911949],"aabb_xy":[[-0.3252880472659527,-1.9571749636323486],[-0.2502880462712362,-1.9492375965361115]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.45442994288021055,-1.6760214561773576,0.71338606911949],"aabb_xy":[[0.4066237752664419,-1.7410214588844166],[0.5022361104939792,-1.6110214534702987]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.3018184381081078,-1.4297553951920683,0.71338606911949],"aabb_xy":[[0.2518184394621866,-1.4796749388515307],[0.351818436754029,-1.379835851532606]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.03390360991386676,-1.4836694725938746,0.71338606911949],"aabb_xy":[[-0.01108897680458365,-1.5286694718683234],[0.07889619663231717,-1.4386694733194259]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.08599633031023313,1.3980201362793343,0.71338606911949],"aabb_xy":[[0.025996329714216948,1.343207663734111],[0.1459963309062493,1.452832608824558]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.5530159387797389,-1.9314364950547644,0.71338606911949],"aabb_xy":[[0.5030317030715616,-1.98143649386826],[0.6030001744879161,-1.8814364962412689]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.0881238801316443,-1.2404028111943721,0.71338606911949],"aabb_xy":[[0.08202925224352597,-1.2489722057460408],[0.09421850801976261,-1.2318334166427034]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.059106659121627936,-1.670239520545493,0.71338606911949],"aabb_xy":[[-0.07660665938096456,-1.684331062734266],[-0.04160665886229131,-1.6561479783567208]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.40207560761421846,-0.11382606137028661,0.71338606911949],"aabb_xy":[[-0.4107895766641528,-0.13632606202947478],[-0.3933616385642838,-0.09132606071109836]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.04839640488523134,-2.0237884909976978,0.71338606911949],"aabb_xy":[[-0.015603595818238006,-2.069806873470619],[0.1123964055887007,-1.9777701085247772]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.15118070905726844,-1.6963875232698602,0.71338606911949],"aabb_xy":[[-0.16159226773775212,-1.7017332566057584],[-0.1407691503767847,-1.6910417899339616]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.5207376297866362,-1.8025936925900365,0.71338606911949],"aabb_xy":[[0.4832376299696026,-1.8072319039011784],[0.5582376296036697,-1.7979554812788947]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.27810878687184526,0.9838037865506344,0.71338606911949],"aabb_xy":[[0.2141087895861966,0.9422970675977903],[0.3421087841574939,1.0253105055034784]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.22416426077536133,-0.838976539909617,0.71338606911949],"aabb_xy":[[0.22008610286831162,-0.8430575201578803],[0.2282424186824111,-0.8348955596613536]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.6496531104583869,1.3449471153034573,0.71338606911949],"aabb_xy":[[-0.6715617925977378,1.3230464484833664],[-0.6277444283190358,1.3668477821235478]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.4819279905713356,1.3297781029523938,0.71338606911949],"aabb_xy":[[-0.5469279891284085,1.3000255695385112],[-0.4169279920142627,1.3595306363662765]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.49598511691171376,-2.3097417761364194,0.71338606911949],"aabb_xy":[[0.48870280053505,-2.3997417797459275],[0.5032674332883773,-2.2197417725269095]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.23032248270863342,-2.5256897878154696,0.71338606911949],"aabb_xy":[[0.1726920138213625,-2.5856897867421798],[0.28795295159590417,-2.4656897888887586]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[0.2702665524786372,0.6323150386641774,0.71338606911949],"aabb_xy":[[0.2062665533088672,0.5855483515452148],[0.3342665516484071,0.6790817257831397]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.6951044725051101,-1.019172446002416,0.71338606911949],"aabb_xy":[[0.6701044732331478,-1.0355178095985784],[0.7201044717770724,-1.0028270824062537]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.666430275506579,-0.2218889980896428,0.71338606911949],"aabb_xy":[[-0.6900153989704738,-0.2868890003350746],[-0.6428451520426841,-0.15688899584421104]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[0.36944710534148095,1.5290625742180173,0.71338606911949],"aabb_xy":[[0.33353360091649115,1.4931490660012625],[0.40536060976647054,1.5649760824347716]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[0.2243877093359855,-1.3199475966106677,0.71338606911949],"aabb_xy":[[0.1893877110658656,-1.327021724305656],[0.2593877076061054,-1.3128734689156796]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[-0.16216950766712945,0.09263506500833074,0.71338606911949],"aabb_xy":[[-0.1797478098560763,0.07506057543422585],[-0.1445912054781826,0.11020955458243566]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_29","position":[-0.5276764896814989,-1.1845322323033447,0.71338606911949],"aabb_xy":[[-0.5651764904734944,-1.1909000732615347],[-0.4901764888895035,-1.1781643913451547]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6340144044934104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5528.png","name":"5528"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5528.png","name":"5528"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5840.png","name":"5840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/738.png","name":"738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7785.png","name":"7785"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3668.png","name":"3668"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":611.3751536903849,"rotation_z_degrees":213.73135048585598,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007773358770760921,-0.018475029665325153,0.017241814795900753]},{"name":"camera_2","offset_m":[-0.010486827747265788,-0.017496785896386775,-0.0034833553438640974]},{"name":"camera_3","offset_m":[-0.011183078613923186,-0.015102315377012218,-0.011631103806584622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006239590112944648,-0.0007840308610456454,-0.0015471183075547624],"end_effector_yaw_offset_degrees":0.6135273588867343},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011072564027673035,-0.0003817668539727835,0.0008939712561117845],"end_effector_yaw_offset_degrees":0.6369402769253885},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001366652613914518,-0.00018711630845393273,0.0016140593576942702],"end_effector_yaw_offset_degrees":0.5307643919678475},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.000692835694888868,0.001879226498590202,-0.001539686323647072],"end_effector_yaw_offset_degrees":-0.722474459769336},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016965784248416803,-0.00043796840137947995,0.0018101661748499464],"end_effector_yaw_offset_degrees":0.587991777179057},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001100169353024311,-0.0009102912679451829,-0.0001751741317312114],"end_effector_yaw_offset_degrees":0.4586026962162246}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030334654234328547,-0.00047916912167989337],"position_m":[0.2775334654234329,0.07892083087832011,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00019136534747389838,0.0046955861868327635],"position_m":[0.2157086346525261,-0.33420441381316723,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0008163944790750277,-0.003159808052014932],"position_m":[0.28278360552092496,0.30744019194798505,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00039344889436629307,0.004659338256793229],"position_m":[0.2172934488943663,-0.11804066174320678,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a854a9ca3ccf5422a757623704a3bcf2dcb90d16d4e0ca6f4bde154f0f237ac5","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5528/tex_ceiling_textures_3668/tex_floor_textures_7785/tex_table_textures_5840/tex_wall_textures_738","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":4807959372766275386,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":4807959372766275386,"visual_seed":4807959372766275386,"scene_id":"lab_003","finished_at":"2026-09-08T10:54:49"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T11:04:10","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.4938318472008716,1.585547367644382,0.71338606911949],"aabb_xy":[[-0.5738318446044649,1.5055547964461988],[-0.4138318497972781,1.6655399388425645]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.5299775903889854,1.7498980846747956,0.71338606911949],"aabb_xy":[[0.5148752889279671,1.7347965630437332],[0.5450798918500033,1.764999606305857]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[-0.12601420353128057,-2.3572233795268183,0.71338606911949],"aabb_xy":[[-0.1900142038052588,-2.4072894797241062],[-0.062014203257302336,-2.3071572793295303]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.5227239970679143,0.909899123240967,0.71338606911949],"aabb_xy":[[-0.5382797664781797,0.8943486899965599],[-0.5071682276576491,0.9254495564853743]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[-0.3741858238521987,-2.2775448778773213,0.71338606911949],"aabb_xy":[[-0.38426753093077215,-2.3575448757694355],[-0.3641041167736252,-2.197544879985206]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.6292027082984579,0.35231373483318107,0.71338606911949],"aabb_xy":[[0.6186352286403589,0.3417687047201725],[0.6397701879565569,0.3628587649461896]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.19191449182383902,1.3951538875275022,0.71338606911949],"aabb_xy":[[-0.2144144923358796,1.3726620291621037],[-0.1694144913117984,1.4176457458929004]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.5578481133415265,-1.35030110336128,0.71338606911949],"aabb_xy":[[-0.58824622444067,-1.3807080053629492],[-0.5274500022423828,-1.3198942013596102]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.6054611327785758,0.4127561393013157,0.71338606911949],"aabb_xy":[[-0.6229611319129429,0.40287651226372784],[-0.5879611336442085,0.4226357663389035]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.11603852447035168,0.988525577636576,0.71338606911949],"aabb_xy":[[0.10801225383972567,0.9797740826592236],[0.12406479510097766,0.9972770726139288]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.3049161362855246,-1.2661335549749078,0.71338606911949],"aabb_xy":[[0.2846318335621258,-1.2864161801176164],[0.3252004390089233,-1.2458509298321987]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.6200274945760096,0.03641752829551992,0.71338606911949],"aabb_xy":[[0.5500274981660477,0.01597959264383818],[0.6900274909859713,0.05685546394720163]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.34177723198509824,-1.9081266506426844,0.71338606911949],"aabb_xy":[[-0.40577723268856764,-1.9541450331156054],[-0.2777772312816289,-1.8621082681697634]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.20511803188885736,0.7269932724103341,0.71338606911949],"aabb_xy":[[0.18320934974950628,0.7050926055902434],[0.22702671402820837,0.7488939392304249]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.0806157826104773,-1.8198360496117005,0.71338606911949],"aabb_xy":[[0.039366971580562564,-1.874836049123918],[0.12186459364039202,-1.764836050099483]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.40233346402238124,-1.0530398110219712,0.71338606911949],"aabb_xy":[[-0.462333463868948,-1.1098584332150099],[-0.34233346417581445,-0.9962211888289325]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[-0.6056707125436971,0.6539049607083003,0.71338606911949],"aabb_xy":[[-0.6137984007370104,0.6449913522975926],[-0.597543024350384,0.6628185691190079]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.3171263455693454,1.4306071414874357,0.71338606911949],"aabb_xy":[[0.2796263457523118,1.4259689301762941],[0.35462634538637894,1.4352453527985778]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.3626277068836549,-1.3145841175877162,0.71338606911949],"aabb_xy":[[-0.3876277064353934,-1.3247266014528507],[-0.33762770733191644,-1.3044416337225813]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[-0.16727431108226787,-0.782260997659006,0.71338606911949],"aabb_xy":[[-0.1918205267050186,-0.8125098942080431],[-0.14272809545951715,-0.752012101109969]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.49620594169004184,-2.0222715227154455,0.71338606911949],"aabb_xy":[[-0.5460886385677381,-2.0722715219617203],[-0.44632324481234575,-1.9722715234691708]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[0.41150385523251076,-1.0738260794371208,0.71338606911949],"aabb_xy":[[0.38899016340905357,-1.1438260800381281],[0.43401754705596796,-1.003826078836113]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.4215131475833558,1.0791958971838538,0.71338606911949],"aabb_xy":[[0.35651314754905306,1.0324952205035265],[0.4865131476176585,1.125896573864181]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.09784329610444897,-1.6263042255317202,0.71338606911949],"aabb_xy":[[-0.17784329637805596,-1.6992537733574367],[-0.017843295830841998,-1.5533546777060032]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[-0.48407955236211647,0.09807108069762283,0.71338606911949],"aabb_xy":[[-0.5015795526214532,0.08397953850885022],[-0.46657955210277996,0.11216262288639547]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[0.34121749353099395,0.40551014257780915,0.71338606911949],"aabb_xy":[[0.251217494936524,0.38925955626438813],[0.4312174921254639,0.4217607288912302]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[-0.10543545927232523,1.4100763305414756,0.71338606911949],"aabb_xy":[[-0.116208433193693,1.3750763323224369],[-0.09466248535095745,1.4450763287605148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6416444812039745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8312.png","name":"8312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8312.png","name":"8312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4879.png","name":"4879"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7360.png","name":"7360"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5313.png","name":"5313"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":801.5548236569107,"rotation_z_degrees":190.14465521617154,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007792342787543309,0.0028241967695819686,0.01121748740895619]},{"name":"camera_2","offset_m":[0.012758962404422234,0.0028361778062406667,-0.014584100853946017]},{"name":"camera_3","offset_m":[0.0017024127540097161,-0.0004244047887235203,0.012509467993906728]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003662140784794481,-0.0019533782457779496,-0.001430269604565169],"end_effector_yaw_offset_degrees":-0.34650649371566455},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008474122155209566,-0.0014100569871108774,0.0001516412143414852],"end_effector_yaw_offset_degrees":0.36038054069375813},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006350594745587446,8.032889630873487e-05,0.0009835088570642036],"end_effector_yaw_offset_degrees":0.7095010678673683},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-1.3767642336259735e-05,-0.0010270474292541562,0.00026034167995770026],"end_effector_yaw_offset_degrees":0.059484244392041585},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007693161405875678,-0.0006990871434737608,-0.0009202605308540881],"end_effector_yaw_offset_degrees":0.984826328599893},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002955319788416192,0.0001314614109687363,-0.0019880372477795462],"end_effector_yaw_offset_degrees":0.29779197514815015}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006544710243885877,-0.004504332629924573],"position_m":[0.27384552897561143,0.07489566737007543,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003912783861398958,-0.0031330226797032148],"position_m":[0.21981278386139896,-0.3420330226797032,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0034220142629782903,0.004019053170773627],"position_m":[0.2870220142629783,0.3146190531707736,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009801269060135667,0.0008301555078335668],"position_m":[0.21788012690601358,-0.12186984449216644,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"dbb8072801fdfd1e3a260a29e09402a1a48ad662164e0dbdff99c0c3d0d4eaf0","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8312/tex_ceiling_textures_5313/tex_floor_textures_9558/tex_table_textures_4879/tex_wall_textures_7360","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3285032009065862464,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3285032009065862464,"visual_seed":3285032009065862464,"scene_id":"lab_003","finished_at":"2026-09-08T11:12:05"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T11:12:12","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.304713687214632,1.0171508184769755,0.71338606911949],"aabb_xy":[[-0.3847136874882389,0.9442012706512589],[-0.22471368694102498,1.0901003663026922]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.39041304859917764,-1.4753925267418968,0.71338606911949],"aabb_xy":[[-0.3983363288379259,-1.4978925269799002],[-0.38248976836042925,-1.4528925265038934]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.6395802241544593,-0.5603543656923451,0.71338606911949],"aabb_xy":[[0.5755802218116576,-0.6052952169364776],[0.7035802264972607,-0.5154135144482126]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.217863974777955,-0.2854017008932148,0.71338606911949],"aabb_xy":[[-0.297863971792203,-0.3055362525666261],[-0.137863977763707,-0.26526714921980354]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.6203617356846731,0.4950677872637721,0.71338606911949],"aabb_xy":[[0.5970798934865416,0.4100677859665439],[0.6436435778828042,0.5800677885609999]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.2528983959809039,-1.8265428614069408,0.71338606911949],"aabb_xy":[[0.23378608862292505,-1.8456776402841828],[0.2720107033388828,-1.8074080825296988]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.35327854957489224,-1.9071867813224737,0.71338606911949],"aabb_xy":[[0.3227942994478621,-1.9571867811039696],[0.3837627997019224,-1.8571867815409777]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.612112275385045,-0.9822265858985249,0.71338606911949],"aabb_xy":[[0.6076816460302048,-0.9876749576332076],[0.6165429047398852,-0.9767782141638424]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.1663222924141765,-0.9092809438811602,0.71338606911949],"aabb_xy":[[-0.18823097455352752,-0.9311816107012508],[-0.14441361027482544,-0.8873802770610694]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.5229176650942116,-1.756590284281987,0.71338606911949],"aabb_xy":[[0.4579176641370844,-1.8085384962156925],[0.5879176660513388,-1.7046420723482814]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.6176562554476264,-0.146177366738375,0.71338606911949],"aabb_xy":[[0.5676720197394491,-0.1961773655518706],[0.6676404911558036,-0.09617736792487941]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.33681862627798886,1.425595824438029,0.71338606911949],"aabb_xy":[[-0.4008186235803352,1.3812293974701721],[-0.2728186289756424,1.4699622514058857]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.02066655610264001,-0.7132375393294617,0.71338606911949],"aabb_xy":[[-0.07565880673815097,-0.7682375410727745],[0.03432569453287094,-0.6582375375861489]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.46480424913612906,-1.3342169104009591,0.71338606911949],"aabb_xy":[[0.4148309551328686,-1.3842169109555063],[0.5147775431393895,-1.2842169098464116]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.268304953105107,-1.7104194249245959,0.71338606911949],"aabb_xy":[[-0.30580495304887345,-1.7187125149594324],[-0.23080495316134064,-1.7021263348897593]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[0.5308892352649512,1.2838679880247845,0.71338606911949],"aabb_xy":[[0.5196441796943333,1.2726261903006892],[0.542134290835569,1.2951097857488798]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.6360166779329681,1.0652254252874211,0.71338606911949],"aabb_xy":[[-0.6772654889628827,1.0102254257752035],[-0.5947678669030533,1.1202254247996384]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[-0.4693611481363925,-2.123536406633768,0.71338606911949],"aabb_xy":[[-0.5193440983238717,-2.173536406276328],[-0.4193781979489132,-2.0735364069912072]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.2719448425622921,0.567433099718289,0.71338606911949],"aabb_xy":[[0.23948314168036464,0.5373002676033862],[0.3044065434442195,0.5975659318331914]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[-0.03347114075568092,0.2205481796138966,0.71338606911949],"aabb_xy":[[-0.049026910165946194,0.20499774636948948],[-0.017915371345415657,0.23609861285830386]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[-0.05910333475210383,-2.2604477582651237,0.71338606911949],"aabb_xy":[[-0.0928788939427968,-2.2744862534782886],[-0.02532777556141086,-2.2464092630519588]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.00343115836932939,0.8153301708887275,0.71338606911949],"aabb_xy":[[-0.05656884249148341,0.763903740882241],[0.06343115923014218,0.8667566008952138]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[0.3170657865065427,-2.0047356633959774,0.71338606911949],"aabb_xy":[[0.3106519728633577,-2.0111454836436455],[0.3234796001497276,-1.9983258431483089]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[-0.14860127137373036,0.2793058371763739,0.71338606911949],"aabb_xy":[[-0.15823290759416,0.269668524396665],[-0.13896963515330077,0.28894314995608283]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.2584377985188585,-2.459076992660767,0.71338606911949],"aabb_xy":[[0.18843779691657903,-2.4725097858624245],[0.328437800121138,-2.4456441994591094]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[0.4947347920929901,-2.4943014395801715,0.71338606911949],"aabb_xy":[[0.4447347908091501,-2.544280293970793],[0.5447347933768301,-2.444322585189549]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.1312963756913199,0.6961072278183553,0.71338606911949],"aabb_xy":[[0.1247947391833153,0.6863394057920454],[0.13779801219932453,0.705875049844665]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_27","position":[0.6680222343915698,0.2036123360273483,0.71338606911949],"aabb_xy":[[0.646132486802629,0.11361233873809916],[0.6899119819805106,0.29361233331659736]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[0.4196659706181416,1.3696308390477232,0.71338606911949],"aabb_xy":[[0.3821659720425208,1.3568945433841653],[0.4571659691937624,1.3823671347112811]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[-0.20884181546393255,1.2936293135357486,0.71338606911949],"aabb_xy":[[-0.24634181697956428,1.2824025405196033],[-0.17134181394830086,1.3048560865518934]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_30","position":[0.61794444451752,-2.2609692819089755,0.71338606911949],"aabb_xy":[[0.6071714705961522,-2.2959692801280145],[0.6287174184388877,-2.2259692836899365]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_31","position":[-0.43972538805486794,-0.9658038695981466,0.71338606911949],"aabb_xy":[[-0.5197253860356529,-0.9734054105599985],[-0.35972539007408283,-0.9582023286362946]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[0.4794956955180125,1.1791244038940376,0.71338606911949],"aabb_xy":[[0.44950403278414214,1.149124404557237],[0.5094873582518828,1.2091244032308381]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6391735378435076,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1156.png","name":"1156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1156.png","name":"1156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/584.png","name":"584"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4502.png","name":"4502"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3408.png","name":"3408"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6122.png","name":"6122"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":634.987310987057,"rotation_z_degrees":232.78628068967384,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01167929677792562,0.01025460260985563,-0.010467749716349459]},{"name":"camera_2","offset_m":[0.008604947875478539,0.009205012183762434,-0.015046869423296326]},{"name":"camera_3","offset_m":[0.01476701581443619,-0.016148036484943135,-0.008313361950949045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.106818001205174e-05,0.0015575443366619675,0.00131981383143718],"end_effector_yaw_offset_degrees":-0.618232922204486},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003290883911240246,0.0006333880514138852,0.001297453839348785],"end_effector_yaw_offset_degrees":0.63548121254363},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005767381245744218,0.0016645127949079714,-0.0011834002738994364],"end_effector_yaw_offset_degrees":-0.4582721388642228},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001308391687475065,0.0019755402390145924,0.001090837362641719],"end_effector_yaw_offset_degrees":-0.1845927421675393},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.000896808641100833,-0.0007124396103048891,0.0017108376147929702],"end_effector_yaw_offset_degrees":0.3739823079388278},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00036020791898180296,0.0008656160303824874,0.00153904005280779],"end_effector_yaw_offset_degrees":-0.3413159874807561}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00266733141615779,-0.0022384747135351115],"position_m":[0.27183266858384225,0.07716152528646489,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004692298244003342,0.002782634502354355],"position_m":[0.22059229824400334,-0.33611736549764565,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001409232191745627,0.0028798234831767583],"position_m":[0.2850092321917456,0.31347982348317677,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036480408755616396,0.0002260441885236367],"position_m":[0.22054804087556165,-0.12247395581147637,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3879c935f110c0fb72e212c49f1169d9382f3a59c61e96cb02aecfc646cfa637","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1156/tex_ceiling_textures_6122/tex_floor_textures_3408/tex_table_textures_584/tex_wall_textures_4502","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3855258128509306740,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3855258128509306740,"visual_seed":3855258128509306740,"scene_id":"lab_003","finished_at":"2026-09-08T11:20:03"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T11:20:11","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.10266464220296878,-0.24838288804477449,0.71338606911949],"aabb_xy":[[-0.12457332434231981,-0.2702835548648652],[-0.08075596006361772,-0.22648222122468373]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[0.41606360258296804,-2.206384950986184,0.71338606911949],"aabb_xy":[[0.35106360470132025,-2.257508614692725],[0.4810636004646159,-2.155261287279643]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.10981233946932645,1.2583594026441975,0.71338606911949],"aabb_xy":[[0.10331070296132183,1.2485915806178878],[0.11631397597733106,1.2681272246705073]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.2678052946860549,0.5276148701529375,0.71338606911949],"aabb_xy":[[-0.3318052960940456,0.47582591862901275],[-0.20380529327806426,0.5794038216768621]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.45401452244161256,-1.689754223372671,0.71338606911949],"aabb_xy":[[0.39001452385504015,-1.7367611867721797],[0.518014521028185,-1.6427472599731623]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[0.7015157413535673,-0.9139681463752947,0.71338606911949],"aabb_xy":[[0.6906641351046917,-0.9248274371029457],[0.7123673476024429,-0.9031088556476436]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[-0.3387056154500591,-1.9705681715549455,0.71338606911949],"aabb_xy":[[-0.39870561529662585,-2.0273867937479837],[-0.2787056156034923,-1.9137495493619066]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.15265068752707078,0.16747480897935718,0.71338606911949],"aabb_xy":[[-0.18944532065197706,0.1305689338827749],[-0.11585605440216451,0.20438068407593946]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.39939496352047654,0.21630894866628347,0.71338606911949],"aabb_xy":[[0.3956917021913376,0.21260693035756562],[0.4030982248496154,0.22001096697500133]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.48685855348381035,-1.2381731998443102,0.71338606911949],"aabb_xy":[[0.4228585514340784,-1.2782676829336181],[0.5508585555335423,-1.1980787167550022]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.09391734902069448,0.8532104318491132,0.71338606911949],"aabb_xy":[[0.08475747007681789,0.8466792138055761],[0.10307722796457108,0.8597416498926502]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.293232337413026,-1.3679072106118753,0.71338606911949],"aabb_xy":[[0.22823233737872328,-1.4146078872922025],[0.35823233744732874,-1.321206533931548]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.4009519114247886,0.843863924791342,0.71338606911949],"aabb_xy":[[0.39549396578776846,0.7638639214836827],[0.4064098570618086,0.9238639280990009]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.053146982145550026,-1.450218760683791,0.71338606911949],"aabb_xy":[[0.04710996914488531,-1.4562454617527392],[0.05918399514621476,-1.444192059614843]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[0.6346970476431506,-2.311393473854965,0.71338606911949],"aabb_xy":[[0.6121970481194431,-2.333889421305585],[0.6571970471668579,-2.2888975264043436]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.4053561540300925,-1.014992770717536,0.71338606911949],"aabb_xy":[[0.3678561540863261,-1.0232858607523725],[0.4428561539738589,-1.0066996806826993]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.5594852447797753,-1.4808938319842848,0.71338606911949],"aabb_xy":[[-0.5681832070704906,-1.4930188062917595],[-0.5507872824890601,-1.46876885767681]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.1612508898846069,1.1412346449448818,0.71338606911949],"aabb_xy":[[-0.21122830674986046,1.0912346434556333],[-0.1112734730193533,1.1912346464341304]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.24823299290012368,-1.2432143588260247,0.71338606911949],"aabb_xy":[[0.24213836501200536,-1.2517837533776934],[0.254327620788242,-1.234644964274356]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.19019596574437936,-2.5071587884387236,0.71338606911949],"aabb_xy":[[0.17256313015085178,-2.524781734454346],[0.20782880133790693,-2.4895358424231]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.31128744661175517,-1.4649716941187654,0.71338606911949],"aabb_xy":[[-0.37128744720777135,-1.5197841666639889],[-0.251287446015739,-1.410159221573542]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.4315588689116173,-0.18390124737305902,0.71338606911949],"aabb_xy":[[-0.48155886986215,-0.2154503943765804],[-0.3815588679610844,-0.15235210036953759]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.593669590789224,-0.6114617666164011,0.71338606911949],"aabb_xy":[[0.5862571352478354,-0.617312977038029],[0.6010820463306124,-0.6056105561947731]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.315409981887639,0.17593121675632517,0.71338606911949],"aabb_xy":[[-0.34040998143937745,0.16578873289119042],[-0.2904099823359005,0.18607370062145986]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[-0.6292283108185203,-1.0149866433903623,0.71338606911949],"aabb_xy":[[-0.6932283140371581,-1.0617097552893708],[-0.5652283075998824,-0.9682635314913541]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.4148980977336474,-2.0268757828659463,0.71338606911949],"aabb_xy":[[0.4044865390531636,-2.032221516201844],[0.42530965641413104,-2.0215300495300474]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[-0.19243518346983846,1.773198376132218,0.71338606911949],"aabb_xy":[[-0.22743518266265672,1.7622313301345554],[-0.1574351842770202,1.7841654221298804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6369451000927749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4700.png","name":"4700"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4700.png","name":"4700"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7431.png","name":"7431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/201.png","name":"201"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3265.png","name":"3265"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8190.png","name":"8190"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":813.8250228296719,"rotation_z_degrees":21.51782363855827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00265739457170577,0.007917321599284276,-0.00620494205676287]},{"name":"camera_2","offset_m":[-0.01864619348881673,0.009625206955486139,-0.003501898978378281]},{"name":"camera_3","offset_m":[-0.01937099094401023,-0.0002392945119853336,-0.013087561435863492]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009204808962223012,-0.001735570585984434,0.0009353209144373552],"end_effector_yaw_offset_degrees":0.36325918829956794},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007583805359401854,-0.0013969662717823292,0.001452938990313176],"end_effector_yaw_offset_degrees":0.1779801279253157},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014556850229046773,0.001125173426031484,2.94163712550935e-05],"end_effector_yaw_offset_degrees":0.9450237799016405},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00029896913238146,0.0009163826998725183,0.0006461713789925184],"end_effector_yaw_offset_degrees":-0.8983552310237342},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011977414733279125,-0.0018593417806748063,0.000829648482684239],"end_effector_yaw_offset_degrees":-0.21777807249535464},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001642539760945816,0.0015977341059381163,0.0014775802437317523],"end_effector_yaw_offset_degrees":-0.7168797172372778}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038070806136839335,-0.0038784457939746242],"position_m":[0.278307080613684,0.07552155420602537,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004043469527459316,-0.0037048275314219645],"position_m":[0.2118565304725407,-0.34260482753142196,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00022139072240958887,0.00401232624735677],"position_m":[0.2838213907224096,0.31461232624735674,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010306886526014478,-0.004149788475067635],"position_m":[0.21793068865260146,-0.12684978847506764,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"62a26c3a0f84322875713396872038644a549fa89246d46d26c71a0b261b6082","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4700/tex_ceiling_textures_8190/tex_floor_textures_3265/tex_table_textures_7431/tex_wall_textures_201","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7006599859407865036,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7006599859407865036,"visual_seed":7006599859407865036,"scene_id":"lab_003","finished_at":"2026-09-08T11:28:15"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T11:28:23","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.6350882160073439,-1.7341189865195845,0.71338606911949],"aabb_xy":[[0.5975882174317231,-1.7468552821831425],[0.6725882145829647,-1.7213826908560266]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.04878249226052733,-1.480753990318631,0.71338606911949],"aabb_xy":[[-0.12878248942010262,-1.4923015912764481],[0.031217504899047954,-1.469206389360814]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.45842558223892094,0.6826340074997557,0.71338606911949],"aabb_xy":[[0.4457987949517246,0.6730879337981828],[0.4710523695261173,0.6921800812013286]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.34592680782483853,-2.478148904325363,0.71338606911949],"aabb_xy":[[0.32681450046685967,-2.4972836832026055],[0.3650391151828174,-2.4590141254481215]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[0.32261028039276307,1.6360793777805074,0.71338606911949],"aabb_xy":[[0.23261027671584483,1.5746469712034024],[0.41261028406968114,1.697511784357611]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.3670275351291845,-0.5653831174502875,0.71338606911949],"aabb_xy":[[0.33256505711609674,-0.5720467946332102],[0.4014900131422723,-0.5587194402673645]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.28729802520534375,-2.2153296419380375,0.71338606911949],"aabb_xy":[[0.22229802664827092,-2.24508217535192],[0.3522980237624166,-2.185577108524155]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.5536610557181837,-1.8202968978926592,0.71338606911949],"aabb_xy":[[-0.6036610570020235,-1.8702757522832811],[-0.5036610544343436,-1.770318043502037]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.401204904807392,-1.3640067158570766,0.71338606911949],"aabb_xy":[[0.34620942698673257,-1.4190067172909833],[0.45620038262805135,-1.3090067144231694]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.488439220524313,-2.226374151517093,0.71338606911949],"aabb_xy":[[-0.5684392185050979,-2.233975692478945],[-0.40843922254352794,-2.218772610555241]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.23208440551127146,-0.5505410330658833,0.71338606911949],"aabb_xy":[[-0.2695844056831434,-0.5832417684487905],[-0.19458440533939952,-0.5178402976829761]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.028484777305810005,-1.2988598290691717,0.71338606911949],"aabb_xy":[[-0.1184847767241809,-1.3322353259133615],[0.061515222112560886,-1.265484332224982]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.4843208666088201,-0.171338497446611,0.71338606911949],"aabb_xy":[[0.44869171070886044,-0.20697116420346393],[0.5199500225087799,-0.13570583068975803]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.049050277128402264,-2.0891072526716736,0.71338606911949],"aabb_xy":[[-0.0009497232321637946,-2.139087239881276],[0.09905027748896833,-2.0391272654620702]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.42329741409955646,-0.2814496275765239,0.71338606911949],"aabb_xy":[[0.41172843335261994,-0.30644962769345563],[0.4348663948464931,-0.2564496274595922]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.04149231403883302,1.761872305050575,0.71338606911949],"aabb_xy":[[-0.07649231230895293,1.7547981773555863],[-0.0064923157687131125,1.7689464327455626]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.13994083422575754,1.0832927213296366,0.71338606911949],"aabb_xy":[[-0.21994083529887784,1.0735146749922524],[-0.05994083315263718,1.0930707676670213]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.06061028573667826,-1.596726102491393,0.71338606911949],"aabb_xy":[[0.010610287090757065,-1.6466456461508552],[0.11061028438259946,-1.5468065588319304]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.1438105429640758,-1.9871848548949154,0.71338606911949],"aabb_xy":[[-0.19161671057784443,-2.0521848576019743],[-0.09600437535030715,-1.9221848521878564]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[0.48148950641682897,-1.6824781933780262,0.71338606911949],"aabb_xy":[[0.41748950571335974,-1.7284965758509474],[0.5454895071202984,-1.6364598109051054]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.22876340600514578,-0.9115621671340732,0.71338606911949],"aabb_xy":[[0.20626698457128165,-0.9340621669408207],[0.2512598274390099,-0.8890621673273258]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[0.573218791988648,-0.9598279399693259,0.71338606911949],"aabb_xy":[[0.5623671857397724,-0.9706872306969769],[0.5840703982375236,-0.9489686492416749]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.5858995678214078,1.2611713053922542,0.71338606911949],"aabb_xy":[[0.4958995654873888,1.1836889508071413],[0.6758995701554269,1.3386536599773666]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.5693576274226939,-0.7331896166403902,0.71338606911949],"aabb_xy":[[0.5193746772352145,-0.7831896162829505],[0.6193405776101731,-0.6831896169978297]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[-0.5659753231855698,1.1202413703616765,0.71338606911949],"aabb_xy":[[-0.6459753264434127,1.0402448625696925],[-0.4859753199277268,1.2002378781536605]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[0.04364213400766215,-0.5827394798857175,0.71338606911949],"aabb_xy":[[0.008642134031166315,-0.5922040959333342],[0.07864213398415798,-0.573274863838101]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.3907912020443278,1.7895439825444117,0.71338606911949],"aabb_xy":[[0.3688825199049768,1.767643315724321],[0.41269988418367887,1.8114446493645024]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.06578413000860706,1.297077414478946,0.71338606911949],"aabb_xy":[[-0.0856751698889473,1.2844216031942497],[-0.045893090128266804,1.3097332257636434]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6348276997917173,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/997.png","name":"997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/997.png","name":"997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/923.png","name":"923"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/341.png","name":"341"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4599.png","name":"4599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2821.png","name":"2821"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":631.3910626355079,"rotation_z_degrees":5.869964650030255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00613846417238011,0.010060160375001286,-0.017875609990782592]},{"name":"camera_2","offset_m":[-0.019868767463454874,-0.007663949588542588,0.01784308574702793]},{"name":"camera_3","offset_m":[-0.003431015203477647,0.006005026284735912,-0.005722554785484708]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00038059784028610143,-0.00040193149865952807,0.0014697206841729703],"end_effector_yaw_offset_degrees":0.5802486335827397},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016100368064314275,0.0019308359364137058,0.001152260574896623],"end_effector_yaw_offset_degrees":0.18457508935140354},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018926122062203046,0.0018462551880347503,0.0010035347902713652],"end_effector_yaw_offset_degrees":0.18936870329152033},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019252383064099323,-0.001070496894152788,0.0015962779488983602],"end_effector_yaw_offset_degrees":-0.6995913433155132},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00021114830035439238,-0.0003935086919479413,0.000544225565498799],"end_effector_yaw_offset_degrees":0.5831314391859468},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.000625843079109015,0.0003310697671690386,0.00011353766668912831],"end_effector_yaw_offset_degrees":-0.9963148691394641}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030395344433744864,-0.0027215564156039497],"position_m":[0.2714604655566255,0.07667844358439604,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00011551732939066653,0.003648239791409846],"position_m":[0.21601551732939067,-0.33525176020859015,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0010617367214935001,-0.004713425491120803],"position_m":[0.28466173672149353,0.3058865745088792,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00011914225254376111,-0.0030025874355120255],"position_m":[0.21701914225254376,-0.12570258743551202,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"85e82a1daec1ce5f5bfac2b661fcb077a00224a4ccde00d1add7aee6575df363","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_997/tex_ceiling_textures_2821/tex_floor_textures_4599/tex_table_textures_923/tex_wall_textures_341","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3301628467160979619,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3301628467160979619,"visual_seed":3301628467160979619,"scene_id":"lab_003","finished_at":"2026-09-08T11:36:11"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T11:36:18","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.3405676191508447,0.7709512725389973,0.71338606911949],"aabb_xy":[[-0.4055676217886382,0.7194716738395504],[-0.27556761651305123,0.8224308712384443]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.623287232270338,0.5293813400259317,0.71338606911949],"aabb_xy":[[-0.6458009240937951,0.4593813394249241],[-0.6007735404468807,0.5993813406269392]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.6436600696281609,-1.862789679304929,0.71338606911949],"aabb_xy":[[-0.6513632603022379,-1.870499050003667],[-0.6359568789540839,-1.8550803086061907]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.2201692099788859,-2.4474861255073606,0.71338606911949],"aabb_xy":[[-0.2362311374374035,-2.5324861273199524],[-0.20410728252036822,-2.3624861236947687]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.3569155958384288,-1.6835910396246505,0.71338606911949],"aabb_xy":[[-0.4369155961120358,-1.7565405874503672],[-0.2769155955648218,-1.6106414917989338]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.6836503570278476,-0.42149230907704194,0.71338606911949],"aabb_xy":[[-0.6901519935358522,-0.43126013110335176],[-0.677148720519843,-0.4117244870507322]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[-0.08620530137369875,0.9664592498857889,0.71338606911949],"aabb_xy":[[-0.14620530122026554,0.9096406276927502],[-0.026205301527131963,1.0232778720788276]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.3388577542228542,-2.5093301340255496,0.71338606911949],"aabb_xy":[[-0.37317403139747213,-2.5593301339987278],[-0.30454147704823625,-2.4593301340523723]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.15735123641783888,1.1372404541320704,0.71338606911949],"aabb_xy":[[-0.19164814743557948,1.1029435679221289],[-0.12305432540009822,1.1715373403420115]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.04623244169947338,1.2793284968436462,0.71338606911949],"aabb_xy":[[0.03336053819853324,1.1993284964298099],[0.05910434520041352,1.3593284972574822]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.5271759020125115,-0.6063286402570185,0.71338606911949],"aabb_xy":[[-0.6121759004299347,-0.6912029357193035],[-0.4421759035950883,-0.5214543447947335]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.2635790995556472,-1.310264093786279,0.71338606911949],"aabb_xy":[[0.1835791025413992,-1.33039864545969],[0.34357909656989516,-1.2901295421128676]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.19488669566887284,-0.929084921646675,0.71338606911949],"aabb_xy":[[-0.25251716455614365,-0.9890849205733854],[-0.13725622678160196,-0.8690849227199642]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[0.48507367660102574,-0.1484095771489966,0.71338606911949],"aabb_xy":[[0.43507367624045956,-0.19838956435859956],[0.5350736769615916,-0.09842958993939367]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.17987740488823067,0.28457936104205617,0.71338606911949],"aabb_xy":[[-0.24487740304414973,0.25828311649214397],[-0.11487740673231162,0.31087560559196836]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.1291615292989129,-1.6418351202457164,0.71338606911949],"aabb_xy":[[-0.1931615264110186,-1.690867490040127],[-0.06516153218680723,-1.5928027504513058]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[-0.16230129696115736,1.3180475569845047,0.71338606911949],"aabb_xy":[[-0.22630129733869098,1.2683022901336922],[-0.09830129658362374,1.3677928238353168]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.3660385874474368,-2.2924425412219858,0.71338606911949],"aabb_xy":[[0.302038587186966,-2.3374513405749138],[0.43003858770790765,-2.2474337418690578]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.6377459878873766,-1.6834153370691571,0.71338606911949],"aabb_xy":[[0.6231025823333435,-1.698074056725941],[0.6523893934414094,-1.6687566174123725]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.6290992832611868,-2.081318585361962,0.71338606911949],"aabb_xy":[[-0.6382591622050634,-2.0878498034054984],[-0.6199394043173102,-2.0747873673184247]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6393390799666995,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/35.png","name":"35"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4287.png","name":"4287"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2292.png","name":"2292"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2178.png","name":"2178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/67.png","name":"67"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":678.6854914456661,"rotation_z_degrees":249.6580606446656,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012860850244213146,0.0013354936920247258,-0.019208853454573297]},{"name":"camera_2","offset_m":[-0.017756322630383407,0.005673551340028126,-0.00524856556163928]},{"name":"camera_3","offset_m":[-0.004867071043542519,-0.01944827231110819,0.013933878248668128]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00039940437443477476,0.0007227651873981996,0.00039457840073466987],"end_effector_yaw_offset_degrees":0.6308043052253127},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009059714531164252,-0.0008890522793419567,-0.0018402507405135143],"end_effector_yaw_offset_degrees":0.803146381828985},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008488750297076702,-0.0010822794527153511,0.001145487056885205],"end_effector_yaw_offset_degrees":0.2607921098226149},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00015551991817254343,0.0015654698335897878,-0.0013130976965853862],"end_effector_yaw_offset_degrees":-0.04706621879373252},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0004929737133409784,-0.00024840699387381013,0.0007814856826053361],"end_effector_yaw_offset_degrees":0.4154394374936081},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015013491874687223,-0.001645694439590311,-0.001943354193829808],"end_effector_yaw_offset_degrees":-0.49509179623963506}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023388372621015226,-0.00035211720856427944],"position_m":[0.27683883726210157,0.07904788279143572,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00032564419966025094,-0.0049852993461825335],"position_m":[0.21557435580033976,-0.3438852993461825,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0032550844815688413,0.003512817488998032],"position_m":[0.2868550844815689,0.314112817488998,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002352003399343775,-0.0029570531111082245],"position_m":[0.21925200339934378,-0.12565705311110822,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"76d8d23cd7f01a712016593a51155edca72dd599896e8c7ca0c2a734609c5acb","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_35/tex_ceiling_textures_67/tex_floor_textures_2178/tex_table_textures_4287/tex_wall_textures_2292","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":503369145322420125,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":503369145322420125,"visual_seed":503369145322420125,"scene_id":"lab_003","finished_at":"2026-09-08T11:44:44"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T11:53:24","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[0.6497480843985632,-0.9913003117187549,0.71338606911949],"aabb_xy":[[0.6084992733686485,-1.0463003112309721],[0.690996895428478,-0.9363003122065373]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.6090942167148521,-0.7218829526421082,0.71338606911949],"aabb_xy":[[-0.6890942136778913,-0.7989585942858817],[-0.5290942197518129,-0.6448073109983348]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.03184854631739509,-1.4035015590339548,0.71338606911949],"aabb_xy":[[-0.0181302621929208,-1.4535015590396736],[0.08182735482771097,-1.353501559028236]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.5577231729836463,-1.2586263521489482,0.71338606911949],"aabb_xy":[[0.4937231743970737,-1.3056333155484567],[0.6217231715702186,-1.2116193887494393]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[-0.17613903919560248,0.062068625610108175,0.71338606911949],"aabb_xy":[[-0.25613903635517776,0.05052102465229113],[-0.09613904203602719,0.07361622656792521]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.4364721644727003,-2.179561992364251,0.71338606911949],"aabb_xy":[[-0.49647216472410144,-2.2338433174007153],[-0.3764721642212991,-2.1252806673277855]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.08258303262318267,1.0472218513479326,0.71338606911949],"aabb_xy":[[-0.15258303601474466,1.0119060776445017],[-0.012583029231620703,1.0825376250513634]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.5430569522363539,-2.4738970443327797,0.71338606911949],"aabb_xy":[[-0.5805569534211465,-2.47831526702884],[-0.505556951051561,-2.469478821636719]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.6003357415696671,-0.7459193536472044,0.71338606911949],"aabb_xy":[[0.5353357436880193,-0.7970430173537454],[0.6653357394513149,-0.6947956899406635]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.10376248311254177,-1.9809586342620653,0.71338606911949],"aabb_xy":[[-0.11175647169024515,-1.9889587143571554],[-0.09576849453483836,-1.9729585541669747]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.005516483406829309,-1.5695681643693051,0.71338606911949],"aabb_xy":[[-0.06951647983415121,-1.6167377881914018],[0.058483513020492595,-1.522398540547209]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.04709144295092893,-1.1553026340633665,0.71338606911949],"aabb_xy":[[0.040051133017391945,-1.2353026334630381],[0.054131752884465936,-1.0753026346636954]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[0.32165218560032516,-1.9051522904168197,0.71338606911949],"aabb_xy":[[0.3060964161900599,-1.920702723661227],[0.3372079550105904,-1.8896018571724127]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.39878378796688496,-0.35508086559875585,0.71338606911949],"aabb_xy":[[0.33878378710607204,-0.4065072956052422],[0.45878378882769766,-0.3036544355922694]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.3860042661168286,-2.198156706255625,0.71338606911949],"aabb_xy":[[0.36353949614542347,-2.2206567071344856],[0.4084690360882337,-2.1756567053767646]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[0.2691280717073077,-1.5227328783290475,0.71338606911949],"aabb_xy":[[0.17912807520643595,-1.5686445207475055],[0.35912806820817944,-1.476821235910589]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.24033755314164018,-1.461355889025884,0.71338606911949],"aabb_xy":[[-0.2903217888498174,-1.5113558878393796],[-0.19035331743346295,-1.4113558902123884]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.618907974241473,0.7486086960980876,0.71338606911949],"aabb_xy":[[-0.6323545008755164,0.7351388444449962],[-0.6054614476074297,0.7620785477511787]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.05424008902836286,1.5950774577948423,0.71338606911949],"aabb_xy":[[0.019240090717667406,1.5873624428712967],[0.0892400873390583,1.602792472718388]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.35300637758487663,-1.998602068357001,0.71338606911949],"aabb_xy":[[-0.3721186849428555,-2.017736847234243],[-0.33389407022689777,-1.9794672894797587]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.6070759512630528,1.500790002868405,0.71338606911949],"aabb_xy":[[0.5820759519910905,1.4844446392722426],[0.6320759505350151,1.5171353664645673]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.5437076744093781,-0.547865632674025,0.71338606911949],"aabb_xy":[[0.5258385666549226,-0.5616985406512359],[0.5615767821638336,-0.5340327246968141]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.13938201936542272,-2.355820476960396,0.71338606911949],"aabb_xy":[[0.10438202023546705,-2.36156569803606],[0.17438201849537838,-2.350075255884732]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[0.3913171319071256,0.8901263715504419,0.71338606911949],"aabb_xy":[[0.3567260490530803,0.8251263712654108],[0.42590821476117074,0.9551263718354729]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.38063752943485324,0.5033752454741847,0.71338606911949],"aabb_xy":[[-0.3912050090929522,0.4928302153611761],[-0.3700700497767542,0.5139202755871932]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.5723703362433583,1.3039638888614675,0.71338606911949],"aabb_xy":[[-0.5875425055249917,1.2887950319332642],[-0.557198166961725,1.3191327457896709]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[-0.3705879422299905,1.4685266075514627,0.71338606911949],"aabb_xy":[[-0.3930879422401387,1.4544303879118594],[-0.34808794221984213,1.482622827191066]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[-0.6165589683986793,0.9146634374267597,0.71338606911949],"aabb_xy":[[-0.633469700835021,0.9011912318341451],[-0.5996482359623374,0.9281356430193741]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[-0.35598749245517464,-2.4847621821403774,0.71338606911949],"aabb_xy":[[-0.3903037696297925,-2.534762182113555],[-0.32167121528055664,-2.4347621821671996]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_29","position":[-0.38332185699880034,-0.6370520132337909,0.71338606911949],"aabb_xy":[[-0.42832185846502924,-0.6820518700952717],[-0.3383218555325715,-0.5920521563723103]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_30","position":[-0.5859051286288521,-0.013774667277609787,0.71338606911949],"aabb_xy":[[-0.6005485341828849,-0.028433386934394067],[-0.5712617230748189,0.0008840523791744936]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_31","position":[-0.16669076952340922,-0.9489317040168452,0.71338606911949],"aabb_xy":[[-0.1841907029573926,-0.9664317039370797],[-0.14919083608942585,-0.9314317040966106]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_32","position":[-0.16418781806645188,0.5983751492870875,0.71338606911949],"aabb_xy":[[-0.1863603450431027,0.5761994821309644],[-0.14201529108980102,0.6205508164432108]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6360777258709744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2642.png","name":"2642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/86.png","name":"86"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7029.png","name":"7029"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":617.4187721103714,"rotation_z_degrees":178.0084388165063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0170448840162262,-0.00030177406976472296,0.005288788411750352]},{"name":"camera_2","offset_m":[0.0049626522160501375,-0.019372077192523877,-0.000982829495321958]},{"name":"camera_3","offset_m":[-0.008970732625750735,-0.006029921424783091,0.011012783682597786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005425418624686379,-0.001131726043295071,0.0005059175289560034],"end_effector_yaw_offset_degrees":-0.285208591516789},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004355460199294385,0.0003280436508000832,0.0018486290598945842],"end_effector_yaw_offset_degrees":-0.8044892926422493},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00040187723257178423,0.0006412977645722166,-0.000774628067570128],"end_effector_yaw_offset_degrees":-0.18275845288515735},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006424258541036613,-0.0005457091466786533,-0.000189027021803868],"end_effector_yaw_offset_degrees":-0.2792395075080887},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0004902013488837192,-0.0013983675261273528,-0.001180909300379934],"end_effector_yaw_offset_degrees":-0.4971396599030411},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009453941801278885,0.0014641377371174564,-0.0011849319115897576],"end_effector_yaw_offset_degrees":0.06906796973781293}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024592724806263766,3.446758777037474e-05],"position_m":[0.27204072751937364,0.07943446758777037,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002624980164753501,-0.0030495391440296983],"position_m":[0.21327501983524652,-0.3419495391440297,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0007839879254051794,-0.0014626402203212997],"position_m":[0.2843839879254052,0.3091373597796787,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00044748230384242596,-0.0030512822130958437],"position_m":[0.2164525176961576,-0.12575128221309584,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"aec04e0c5365c05f33a38024c9823127ced734271ea2d94e13ef4a879625d0b4","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9679/tex_ceiling_textures_7029/tex_floor_textures_86/tex_table_textures_2642/tex_wall_textures_9679","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7133973873453044937,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7133973873453044937,"visual_seed":7133973873453044937,"scene_id":"lab_003","finished_at":"2026-09-08T12:01:22"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T12:10:29","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.18690669903953616,0.6469785984969376,0.71338606911949],"aabb_xy":[[-0.20440669817390333,0.6370989714593497],[-0.169406699905169,0.6568582255345253]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.3057624977464346,-1.0833146168246623,0.71338606911949],"aabb_xy":[[0.3016266414137344,-1.1208146162690193],[0.3098983540791348,-1.0458146173803053]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.5297335085560104,-0.7465767531072043,0.71338606911949],"aabb_xy":[[0.46973350870944364,-0.803395375300243],[0.5897335084025772,-0.6897581309141656]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[-0.5315933467793004,-0.6564274991947907,0.71338606911949],"aabb_xy":[[-0.5357092968913729,-0.6605430542276363],[-0.5274773966672276,-0.6523119441619452]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.17302895600406387,-1.7945492859477117,0.71338606911949],"aabb_xy":[[0.10902895957674197,-1.8417189097698083],[0.23702895243138578,-1.7473796621256155]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.2423495766981386,0.6248211681159925,0.71338606911949],"aabb_xy":[[0.1623495795385633,0.6132735671581755],[0.3223495738577139,0.6363687690738096]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[-0.5099458932745824,-2.0692395493187954,0.71338606911949],"aabb_xy":[[-0.559918958807098,-2.1192395491313287],[-0.45997282774206705,-2.019239549506263]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.49773906018268926,0.6020657026126557,0.71338606911949],"aabb_xy":[[-0.5151697752616955,0.5847935879488048],[-0.48030834510368264,0.6193378172765064]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.0017458400334920965,-1.4959796032897426,0.71338606911949],"aabb_xy":[[-0.08546806553357456,-1.5859796068244383],[0.08197638546659036,-1.4059795997550464]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.5866333614214205,-1.0671197708249769,0.71338606911949],"aabb_xy":[[-0.6506290588165171,-1.1311197691256853],[-0.522637664026324,-1.003119772524268]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.5240317586227341,-2.046588901943018,0.71338606911949],"aabb_xy":[[0.49903175935077176,-2.0629342655391802],[0.5490317578946963,-2.0302435383468556]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.4156445047772317,1.4573110397635847,0.71338606911949],"aabb_xy":[[0.39814450453218225,1.4398112519240176],[0.433144505022281,1.4748108276031513]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.6441694452633149,1.0400023531798133,0.71338606911949],"aabb_xy":[[0.639325850502085,1.0351507007008292],[0.649013040024545,1.0448540056587974]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.12344353345722614,1.260176752906557,0.71338606911949],"aabb_xy":[[-0.15774044447496677,1.2258798666966155],[-0.08914662243948551,1.2944736391164982]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.2857270798537024,-0.9495074789888611,0.71338606911949],"aabb_xy":[[0.2207270819720546,-1.0006311426954022],[0.35072707773535017,-0.8983838152823205]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[-0.26318818805059263,-0.7383997067004655,0.71338606911949],"aabb_xy":[[-0.2981881894020743,-0.7587594426572863],[-0.22818818669911087,-0.7180399707436447]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[0.49540792703315906,1.021491792770893,0.71338606911949],"aabb_xy":[[0.45807665050791646,0.9868387379760408],[0.5327392035584017,1.0561448475657453]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[0.5409145243934372,-1.2689169519100327,0.71338606911949],"aabb_xy":[[0.4509145276578269,-1.322100415227327],[0.6309145211290473,-1.215733488592738]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[0.6016665413381836,-1.1168053023268072,0.71338606911949],"aabb_xy":[[0.5516715303787316,-1.1668053013623991],[0.6516615522976357,-1.0668053032912157]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.03549549592883072,-1.259668820745419,0.71338606911949],"aabb_xy":[[-0.09949549304093641,-1.3087011905398294],[0.02850450118327496,-1.2106364509510081]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.11582133147700246,1.4525103090343294,0.71338606911949],"aabb_xy":[[-0.19582133175060945,1.3795607612086127],[-0.035821331203395486,1.5254598568600461]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.6214291224848771,0.7195183348894219,0.71338606911949],"aabb_xy":[[-0.6322020964062449,0.6845183366703829],[-0.6106561485635094,0.7545183331084608]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.25387640475775164,-1.511932005664038,0.71338606911949],"aabb_xy":[[-0.27174551251220713,-1.5257649136412492],[-0.23600729700329615,-1.4980990976868271]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6364387362999644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3731.png","name":"3731"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3731.png","name":"3731"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9415.png","name":"9415"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3252.png","name":"3252"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9748.png","name":"9748"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2408.png","name":"2408"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":767.1328826830327,"rotation_z_degrees":341.08363763575653,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01257782099058399,-0.006677411646446817,0.01952837707821183]},{"name":"camera_2","offset_m":[0.009690347245329849,-0.015982891321344134,0.012001532465841212]},{"name":"camera_3","offset_m":[0.006183237770049758,0.005249187518910427,0.013257025499927463]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008330597941956911,-0.001619787312002324,-0.001259028683286085],"end_effector_yaw_offset_degrees":-0.20178976752878652},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018755969376556907,8.647232105753536e-06,-0.0013108258080114146],"end_effector_yaw_offset_degrees":-0.31224553645923847},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007824762498680822,0.0007853608451456186,-0.001773218056468549],"end_effector_yaw_offset_degrees":-0.04845913655954037},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006781143158327509,-0.0006952420339400899,0.0005700579271118817],"end_effector_yaw_offset_degrees":-0.04252773097201623},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017105193427694695,0.00016652605777102295,0.0008613945063350131],"end_effector_yaw_offset_degrees":-0.5730554831514718},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013485754644832104,0.0014246949258071295,-0.0006684498104742333],"end_effector_yaw_offset_degrees":-0.977740855806946}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004057919455752041,0.0021484793345108695],"position_m":[0.2785579194557521,0.08154847933451087,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003298117428542988,0.0039842923346395396],"position_m":[0.212601882571457,-0.33491570766536044,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0035696596447494277,-0.0030024976062293907],"position_m":[0.28716965964474944,0.3075975023937706,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001037618729935975,0.0032637014788415323],"position_m":[0.21793761872993597,-0.11943629852115847,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7aeb7fafebfb4191091b6325205e1141d7b0b08f8e32279d07932cf47d350d91","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3731/tex_ceiling_textures_2408/tex_floor_textures_9748/tex_table_textures_9415/tex_wall_textures_3252","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":2581263032690230464,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":2581263032690230464,"visual_seed":2581263032690230464,"scene_id":"lab_003","finished_at":"2026-09-08T12:18:08"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T12:35:49","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.5440822327033714,-0.18180188752942072,0.71338606911949],"aabb_xy":[[0.5385005610692425,-0.1943018873471962],[0.5496639043375001,-0.1693018877116452]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.5439216157579656,-1.660873356662092,0.71338606911949],"aabb_xy":[[-0.5565243148950421,-1.6734687528869576],[-0.5313189166208891,-1.6482779604372266]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.09919265925495024,0.03119321299778921,0.71338606911949],"aabb_xy":[[-0.11807704302346045,0.01230728821743643],[-0.08030827548644004,0.05007913777814199]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.0022354271303482998,1.199819710988764,0.71338606911949],"aabb_xy":[[-0.024749118953805493,1.1298197103877563],[0.020278264693108894,1.2698197115897714]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.17480409339762737,-0.26610131431006856,0.71338606911949],"aabb_xy":[[-0.20857965258832029,-0.2801398095232336],[-0.14102853420693434,-0.25206281909690353]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.3385567335019794,0.052176880075035736,0.71338606911949],"aabb_xy":[[-0.3560567337613161,0.03808533788626312],[-0.32105673324264283,0.06626842226380837]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.00986064029684619,-0.6704598496582732,0.71338606911949],"aabb_xy":[[0.005946767101423667,-0.67920886506483],[0.013774513492268714,-0.6617108342517164]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.39710545268476616,0.27156714179805297,0.71338606911949],"aabb_xy":[[0.3560875092983953,0.22156714116709564],[0.43812339607113704,0.3215671424290103]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.2809408400245573,0.8107155542738855,0.71338606911949],"aabb_xy":[[0.23094084044822266,0.7607349753217797],[0.3309408396008921,0.8606961332259916]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.5312193710928352,0.6315175478026229,0.71338606911949],"aabb_xy":[[0.5113283312124951,0.6188617365179261],[0.5511104109731756,0.6441733590873198]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.35080597011211045,-1.1749497138686296,0.71338606911949],"aabb_xy":[[0.27080596983850347,-1.2478992616943463],[0.43080597038571744,-1.1020001660429128]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.37742624170465006,-1.8378923432996435,0.71338606911949],"aabb_xy":[[-0.38684371627451275,-1.8473085204373625],[-0.36800876713478725,-1.8284761661619244]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.496734862178293,-1.3189090609390268,0.71338606911949],"aabb_xy":[[-0.5127967896368106,-1.4039090627516184],[-0.48067293471977535,-1.2339090591264348]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.318924081694517,-1.5341233817548525,0.71338606911949],"aabb_xy":[[-0.33179598519545717,-1.6141233821686887],[-0.3060521781935769,-1.4541233813410164]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.033479675579567325,-1.5684020001758605,0.71338606911949],"aabb_xy":[[-0.026520324671833857,-1.622683325212325],[0.0934796758309685,-1.5141206751393956]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[-0.35576057693871854,-0.7184016432254012,0.71338606911949],"aabb_xy":[[-0.3739664005999663,-0.729427043807393],[-0.3375547532774709,-0.7073762426434097]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[0.33579148568594497,-0.7704831380789898,0.71338606911949],"aabb_xy":[[0.25579148702905896,-0.7849879970032527],[0.415791484342831,-0.7559782791547272]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[-0.22905375193339061,-0.7873148460959507,0.71338606911949],"aabb_xy":[[-0.30905375300651095,-0.7970928924333351],[-0.14905375086027026,-0.7775367997585663]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.4510852703446042,-0.906313153649339,0.71338606911949],"aabb_xy":[[-0.5110852712054168,-0.9577395836558251],[-0.3910852694837913,-0.8548867236428523]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.6115678940822774,0.9040616770449788,0.71338606911949],"aabb_xy":[[-0.6458648051000179,0.8697647908350374],[-0.5772709830645367,0.9383585632549201]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[0.22973245655969932,-1.6585088101241023,0.71338606911949],"aabb_xy":[[0.14473245786762465,-1.6904946735189812],[0.31473245525177396,-1.6265229467292235]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6345934778446223,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4118.png","name":"4118"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4118.png","name":"4118"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9349.png","name":"9349"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/766.png","name":"766"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5312.png","name":"5312"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7159.png","name":"7159"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":593.2520909084617,"rotation_z_degrees":115.29821566185616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0077718645411531985,0.01877163250896922,0.017221377031661943]},{"name":"camera_2","offset_m":[-0.01355140591201687,0.001849829708644602,-0.019869643022026238]},{"name":"camera_3","offset_m":[-0.008287301359078483,-0.01918017270031058,0.011750910479710722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.287351531130127e-05,-0.0018694552607975523,-0.0013371183827176707],"end_effector_yaw_offset_degrees":0.8717076246581106},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016250721584079413,-0.0010876823951477131,-0.0006827524497215406],"end_effector_yaw_offset_degrees":-0.21487515987111316},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019149707754611642,-0.0019425609824841917,-0.0016726186535396667],"end_effector_yaw_offset_degrees":-0.6872752093966286},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00042702883548885223,0.0009348014089680186,0.0015655328894359816],"end_effector_yaw_offset_degrees":-0.7990594180273012},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001049649622416209,-0.0016611348976969076,-0.0019683601578340325],"end_effector_yaw_offset_degrees":0.016469870120773944},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001957079889502617,-0.0019419406443540136,-0.0018695834226122021],"end_effector_yaw_offset_degrees":-0.43185501282269234}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004220625741962675,0.00362510048123828],"position_m":[0.2787206257419627,0.08302510048123828,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005833963992480694,0.0029692658737810176],"position_m":[0.21531660360075194,-0.335930734126219,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0016432054219124802,0.00033450670205883125],"position_m":[0.28195679457808753,0.3109345067020588,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031398445186796515,-0.003838004471714217],"position_m":[0.22003984451867967,-0.12653800447171423,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"34c68a6169ed2ebd7f5348b11b5b58aac900a8751d0c821be10349f461118b88","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4118/tex_ceiling_textures_7159/tex_floor_textures_5312/tex_table_textures_9349/tex_wall_textures_766","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":1384760865436293990,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":1384760865436293990,"visual_seed":1384760865436293990,"scene_id":"lab_003","finished_at":"2026-09-08T12:43:56"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T12:44:03","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.34087050380776107,1.6177657727490637,0.71338606911949],"aabb_xy":[[0.3231948732191627,1.600085556469661],[0.35854613439635935,1.6354459890284665]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.13798777480805513,-2.3982315114497896,0.71338606911949],"aabb_xy":[[0.10298777345657341,-2.41859124740661],[0.17298777615953687,-2.3778717754929684]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.3399636674355,1.3712587255257667,0.71338606911949],"aabb_xy":[[-0.4039636647378464,1.3268922985579095],[-0.2759636701331536,1.415625152493623]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.2113802468373483,-0.1906712730300404,0.71338606911949],"aabb_xy":[[-0.3013802505142664,-0.25210367960714475],[-0.12138024316043008,-0.12923886645293603]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.388828719108008,1.7021009409034424,0.71338606911949],"aabb_xy":[[0.37948171152571275,1.6877973186857982],[0.3981757266903032,1.7164045631210862]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.6032372137197373,-0.8971818490444716,0.71338606911949],"aabb_xy":[[-0.6106496692611257,-0.9030330594660996],[-0.5958247581783488,-0.8913306386228437]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.6699791552148879,-1.7313129823523932,0.71338606911949],"aabb_xy":[[0.6650231350300069,-1.753812982554515],[0.6749351753997692,-1.7088129821502718]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.023748587254741493,1.2919625233465726,0.71338606911949],"aabb_xy":[[-0.04625141613682048,1.2566467496431417],[0.09374859064630346,1.3272782970500034]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.5252348369125812,-1.0138227819806775,0.71338606911949],"aabb_xy":[[-0.5595317479303217,-1.0481196681906186],[-0.4909379258948405,-0.979525895770736]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.07032090703618976,-1.7557841143440607,0.71338606911949],"aabb_xy":[[-0.08782084047017312,-1.7732841142642952],[-0.052820973602206375,-1.7382841144238261]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.04463420403010909,0.5418081606014242,0.71338606911949],"aabb_xy":[[-0.058968629156272545,0.5297479450468854],[-0.03029977890394564,0.5538683761559631]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.6073605399419091,-1.5759850196576979,0.71338606911949],"aabb_xy":[[-0.6873605421046716,-1.6559402032838415],[-0.5273605377791466,-1.4960298360315543]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.6009115117142048,-0.48462050214617003,0.71338606911949],"aabb_xy":[[0.5559115102479759,-0.5296203590076507],[0.6459115131804336,-0.4396206452846894]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.330748503937925,-2.1513582454072435,0.71338606911949],"aabb_xy":[[0.32611338878569157,-2.155225580484392],[0.3353836190901583,-2.1474909103300943]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[0.22872687230907984,1.1441039464039382,0.71338606911949],"aabb_xy":[[0.1487268690450667,1.1305439140950249],[0.308726875573093,1.1576639787128515]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.42928107447611663,1.245626062510076,0.71338606911949],"aabb_xy":[[0.3742810748543708,1.1906423697226034],[0.4842810740978625,1.3006097552975489]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.3955844629298437,0.7908724175568858,0.71338606911949],"aabb_xy":[[0.37848238497147557,0.773765612025616],[0.4126865408882119,0.8079792230881555]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.3354033904152487,-1.280664957906277,0.71338606911949],"aabb_xy":[[0.3289895767720637,-1.2870747781539453],[0.3418172040584336,-1.2742551376586086]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.5950437706161,1.554335609738637,0.71338606911949],"aabb_xy":[[0.5625820697341725,1.524202777623734],[0.6275054714980274,1.584468441853539]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.060013943381375556,-1.4689239225879116,0.71338606911949],"aabb_xy":[[-0.004986057619124962,-1.5197102877425865],[0.12501394438187607,-1.4181375574332367]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.3854460398470354,-0.22175337763197733,0.71338606911949],"aabb_xy":[[0.37420098427641757,-0.23299517535607261],[0.39669109541765324,-0.21051157990788205]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[-0.32827049294813176,-0.5627511611700315,0.71338606911949],"aabb_xy":[[-0.39227049529093333,-0.6076920124141639],[-0.2642704906053302,-0.5178103099258989]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.04380338938423567,-2.2864431975602564,0.71338606911949],"aabb_xy":[[-0.048646984145465644,-2.291294850039241],[-0.038959794623005695,-2.2815915450812727]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[0.5690785420432514,-1.9846905774416148,0.71338606911949],"aabb_xy":[[0.4890785434559319,-2.064006179379776],[0.6490785406305707,-1.905374975503454]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[-0.47161591861917085,0.9596439804711476,0.71338606911949],"aabb_xy":[[-0.4948977608173022,0.8746439791739196],[-0.4483340764210395,1.0446439817683757]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.43929781543260255,0.059312032889583755,0.71338606911949],"aabb_xy":[[-0.457166923187058,0.04547912491237282],[-0.421428707678147,0.07314494086679468]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6370942251100259,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3858.png","name":"3858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3858.png","name":"3858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1127.png","name":"1127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4114.png","name":"4114"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9433.png","name":"9433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1425.png","name":"1425"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":671.3297065060773,"rotation_z_degrees":177.25731094654122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0023377448200552174,-0.0019441763837491355,0.005740419473894955]},{"name":"camera_2","offset_m":[0.009679241287679382,-0.01880109098474872,0.015370416521804358]},{"name":"camera_3","offset_m":[-0.004713308964491873,0.006251057645760692,-0.019713404259764457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00036987836004680804,-0.0016356998220764627,0.0005434936520846353],"end_effector_yaw_offset_degrees":0.9793207243831163},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004162324477559882,-0.0012790805053989993,0.00010991754227626096],"end_effector_yaw_offset_degrees":0.6245270169639454},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001810337248992973,0.0005658700577206429,-0.0008777753665403032],"end_effector_yaw_offset_degrees":0.9800356581260228},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009783918652323106,0.00040913867923914266,0.00040915527086415925],"end_effector_yaw_offset_degrees":-0.7479462829701617},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012578022611196308,-0.0004151837721565559,0.001125144994789615],"end_effector_yaw_offset_degrees":-0.11428394132077546},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005852428156618958,0.0015481298556798643,-0.00036797372964314685],"end_effector_yaw_offset_degrees":-0.31080329703207954}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003982017269122291,0.004678154313433036],"position_m":[0.27051798273087774,0.08407815431343303,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003408201486600753,0.004660984024175463],"position_m":[0.21930820148660077,-0.3342390159758245,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0038398241906526577,-0.0049324956372595674],"position_m":[0.27976017580934737,0.3056675043627404,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002806667773131503,0.0034577568727714144],"position_m":[0.21970666777313153,-0.11924224312722859,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"18526678932a8dca18dbac878d8ecd017dda6d2b5c100cfce288acbbac4b8791","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3858/tex_ceiling_textures_1425/tex_floor_textures_9433/tex_table_textures_1127/tex_wall_textures_4114","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":8522891804299054943,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":8522891804299054943,"visual_seed":8522891804299054943,"scene_id":"lab_003","finished_at":"2026-09-08T12:51:54"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T12:52:01","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.22423029933277816,-0.5007117107722991,0.71338606911949],"aabb_xy":[[-0.23508190558165376,-0.5115710014999502],[-0.21337869308390256,-0.48985242004464813]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.2231414633767166,0.7563248439404702,0.71338606911949],"aabb_xy":[[-0.2731414643272494,0.7247756969369487],[-0.17314146242618375,0.7878739909439915]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.3826192102856698,-2.3380185042444257,0.71338606911949],"aabb_xy":[[0.33261920992510374,-2.387998491454028],[0.4326192106462359,-2.2880385170348223]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.49014810983104806,1.6629791615769967,0.71338606911949],"aabb_xy":[[0.4829043437848027,1.582979163373394],[0.49739187587729333,1.7429791597805988]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.15797197917841577,0.2389571810685247,0.71338606911949],"aabb_xy":[[-0.20797125434685193,0.18895717979257753],[-0.1079727040099796,0.2889571823444719]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.637332220571359,-0.9161159791306621,0.71338606911949],"aabb_xy":[[0.6069341094722154,-0.9465228811323315],[0.6677303316705026,-0.8857090771289925]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.1828318368797307,-1.9398445883046382,0.71338606911949],"aabb_xy":[[-0.2053318373917713,-1.9623364466700366],[-0.1603318363676901,-1.9173527299392399]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.441171604257151,1.7465378440675088,0.71338606911949],"aabb_xy":[[-0.4520773803447136,1.6665378476686796],[-0.4302658281695882,1.826537840466338]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.5192070718734076,1.142867772483032,0.71338606911949],"aabb_xy":[[-0.5367070721327444,1.1287762302942597],[-0.5017070716140711,1.156959314671805]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.4739198040357797,0.8946173526545382,0.71338606911949],"aabb_xy":[[0.4139198035279268,0.8377706189686168],[0.5339198045436326,0.9514640863404594]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[0.46148939912260256,-0.7060874712519338,0.71338606911949],"aabb_xy":[[0.37148939678858356,-0.7835698258370465],[0.5514894014566216,-0.6286051166668212]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.4400399238484949,-1.0488932239333508,0.71338606911949],"aabb_xy":[[-0.46253992385864323,-1.062989443572954],[-0.41753992383834665,-1.0347970042937475]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.006722323228440685,1.431139298260478,0.71338606911949],"aabb_xy":[[-0.002079732080532026,1.4233279721055487],[0.015524378537413395,1.4389506244154069]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.10070657414925199,-1.7055401414559501,0.71338606911949],"aabb_xy":[[-0.16470657485272136,-1.7515585239288716],[-0.03670657344578266,-1.6595217589830296]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.45877207584495594,1.3512071722128547,0.71338606911949],"aabb_xy":[[-0.46933955550305484,1.3406621420998461],[-0.4482045961868568,1.3617522023258632]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.06750761400782368,-0.9548252067200238,0.71338606911949],"aabb_xy":[[0.042507614842190566,-0.9617774524253804],[0.09250761317345679,-0.9478729610146672]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.17956357730482841,1.0776784999883695,0.71338606911949],"aabb_xy":[[0.16246149934646026,1.0605716944570995],[0.19666565526319657,1.094785305519639]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.3877224029644629,0.3840444080877927,0.71338606911949],"aabb_xy":[[-0.4052224022425498,0.36670630802144677],[-0.37022240368637604,0.4013825081541387]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.5521684157254467,0.6297569209129175,0.71338606911949],"aabb_xy":[[-0.5750841286104966,0.6068526237764941],[-0.5292527028403968,0.6526612180493411]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.549818798983849,-2.0564276666843124,0.71338606911949],"aabb_xy":[[0.5198271362499787,-2.0864276660211125],[0.5798104617177193,-2.0264276673475115]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.5921693019506973,1.330307354667454,0.71338606911949],"aabb_xy":[[0.5804011151560399,1.2453073547622326],[0.6039374887453549,1.4153073545726758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6361761453649061,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8271.png","name":"8271"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8271.png","name":"8271"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/748.png","name":"748"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3208.png","name":"3208"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5358.png","name":"5358"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/507.png","name":"507"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":507.5313741011563,"rotation_z_degrees":256.028999111696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004443514674772626,-0.013925125433706578,0.003525976963495929]},{"name":"camera_2","offset_m":[0.006042931447258915,0.006183246469096099,0.008304859470438738]},{"name":"camera_3","offset_m":[0.019453033389126257,-0.01953483069500058,-0.0035954485968924463]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017203309195391397,-0.0018921080008478378,-0.0002605336935023713],"end_effector_yaw_offset_degrees":0.342864585648752},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002233244016438007,0.0009260700529610845,7.602507087879195e-05],"end_effector_yaw_offset_degrees":-0.0007642263869607202},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017858515554331563,-0.00036900391067826903,0.0015569290365825181],"end_effector_yaw_offset_degrees":-0.6329729642297672},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013197136525900043,0.0009292896785599268,0.0008308195266744527],"end_effector_yaw_offset_degrees":-0.5126735795394985},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010226124435742231,-0.00029258095522798305,0.001068683106599817],"end_effector_yaw_offset_degrees":0.2553001775360275},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005747494930079112,0.0015513882908760432,-0.0008538728754184822],"end_effector_yaw_offset_degrees":-0.5017206673073531}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004278616441125748,-0.0003404429998619552],"position_m":[0.27407213835588745,0.07905955700013804,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019851396946687716,0.004103969726154579],"position_m":[0.21788513969466877,-0.3347960302738454,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0002106875058402076,-0.0016746170487767732],"position_m":[0.28338931249415983,0.30892538295122324,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006317972639522506,-0.002228931718077787],"position_m":[0.21626820273604777,-0.12492893171807778,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c91eefc67330d84b9819c168c3f38341ad27c1fb9ac230a7aa9f3bc1f0568d1a","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8271/tex_ceiling_textures_507/tex_floor_textures_5358/tex_table_textures_748/tex_wall_textures_3208","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":2109319512345258510,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":2109319512345258510,"visual_seed":2109319512345258510,"scene_id":"lab_003","finished_at":"2026-09-08T13:00:14"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T13:00:21","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.6527791814113579,0.6987816487889069,0.71338606911949],"aabb_xy":[[0.6468126424706222,0.6928205041295429],[0.6587457203520937,0.704742793448271]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.2867436566716658,-2.026349453612628,0.71338606911949],"aabb_xy":[[0.23674365572113293,-2.0578986006161495],[0.33674365762219854,-1.9948003066091067]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.5507730642419884,0.5441775643833315,0.71338606911949],"aabb_xy":[[-0.5845486234326813,0.5301390691701664],[-0.5169975050512954,0.5582160595964965]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[-0.23842846061670075,-1.6407681353589478,0.71338606911949],"aabb_xy":[[-0.30842846325328704,-1.660873000354813],[-0.16842845798011435,-1.6206632703630819]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.4209112339104828,-0.02986139658990483,0.71338606911949],"aabb_xy":[[0.3930661971298757,-0.060645895328216515],[0.44875627069109,0.0009231021484068513]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.5532100953462786,0.32495144695098155,0.71338606911949],"aabb_xy":[[-0.6182100939033514,0.29519891353709893],[-0.4882100967892057,0.35470398036486417]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.15487949317368288,0.6591555843338419,0.71338606911949],"aabb_xy":[[-0.23487949057727625,0.5791630131356591],[-0.07487949577008941,0.7391481555320247]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.6595348232399951,-2.1405025917102405,0.71338606911949],"aabb_xy":[[0.6370348234260929,-2.1449772080807215],[0.6820348230538976,-2.1360279753397604]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.4101961296456236,-1.1813199719346084,0.71338606911949],"aabb_xy":[[0.3602012967176819,-1.231319970829852],[0.4601909625735651,-1.1313199730393648]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[-0.4153158956447717,1.6775705405210064,0.71338606911949],"aabb_xy":[[-0.4389010191086666,1.6125705382755746],[-0.3917307721808769,1.7425705427664382]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.08333426656158882,-2.510173191707443,0.71338606911949],"aabb_xy":[[-0.13343173054266244,-2.574173192217255],[-0.03323680258051519,-2.4461731911976314]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.3372412331585081,-0.7342646440419887,0.71338606911949],"aabb_xy":[[-0.3533031606170257,-0.8192646458545804],[-0.3211793056999904,-0.6492646422293967]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.5403243287010093,-0.6689986551520666,0.71338606911949],"aabb_xy":[[0.4503243263669904,-0.7464810097371792],[0.6303243310350285,-0.5915163005669539]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.4713327596100658,-0.033643392715626774,0.71338606911949],"aabb_xy":[[-0.48096439583049544,-0.04328070549533569],[-0.4617011233896362,-0.024006079935917857]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.17839589585262916,1.6621279658367585,0.71338606911949],"aabb_xy":[[-0.1818365720926863,1.6582665328623944],[-0.17495521961257196,1.6659893988111234]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.43749555329999773,0.6058280401628857,0.71338606911949],"aabb_xy":[[-0.45338004656532294,0.5914750998640617],[-0.42161106003467264,0.6201809804617098]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.5603324739095399,-2.1205245825799697,0.71338606911949],"aabb_xy":[[0.5253324755988443,-2.1282395975035153],[0.5953324722202352,-2.112809567656424]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.5854582195315507,-1.506896338510106,0.71338606911949],"aabb_xy":[[-0.6494582168171994,-1.5484030574629497],[-0.5214582222459021,-1.4653896195572618]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.2632136331778815,-1.6819729788485764,0.71338606911949],"aabb_xy":[[0.21804231532971252,-1.745972975993115],[0.30838495102605046,-1.6179729817040382]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.09082868994304238,1.314745808321415,0.71338606911949],"aabb_xy":[[-0.18082868966621657,1.291672455786235],[-0.0008286902198682138,1.3378191608565946]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.05430855774154053,-1.1979781908543812,0.71338606911949],"aabb_xy":[[-0.09180855823889877,-1.2019468744024997],[-0.016808557244182287,-1.1940095073062627]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.5482310759373634,1.7787760556088617,0.71338606911949],"aabb_xy":[[-0.5657310761824128,1.7612762677692946],[-0.530731075692314,1.7962758434484283]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.6560308268640762,-1.8811581143764666,0.71338606911949],"aabb_xy":[[0.6341221447247251,-1.9030587811965574],[0.6779395090034271,-1.859257447556376]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[0.4771497082994909,0.3190268767829316,0.71338606911949],"aabb_xy":[[0.3871497046225726,0.2575944702058272],[0.567149711976409,0.38045928336003587]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[-0.4007739006955539,1.0507798398078338,0.71338606911949],"aabb_xy":[[-0.49077389719642556,1.0048681973893754],[-0.31077390419468204,1.0966914822262919]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.45173714305507756,0.42025858589479403,0.71338606911949],"aabb_xy":[[-0.47423714329859296,0.4080539512350221],[-0.42923714281156217,0.432463220554566]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.37533734875918245,-0.2638380305532295,0.71338606911949],"aabb_xy":[[0.3378373485873105,-0.29653876593613665],[0.4128373489310544,-0.23113729517032228]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_27","position":[0.6272729233952865,-1.2906542698683026,0.71338606911949],"aabb_xy":[[0.609403815640831,-1.3044871778455134],[0.645142031149742,-1.2768213618910917]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[0.6585656250864946,0.8563975690805679,0.71338606911949],"aabb_xy":[[0.6035656268847498,0.8158756024541303],[0.7135656232882395,0.8969195357070054]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[0.1967468404660695,1.4692561195781688,0.71338606911949],"aabb_xy":[[0.18589523421719392,1.458396828850518],[0.20759844671494512,1.48011541030582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6371422991373915,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1705.png","name":"1705"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1705.png","name":"1705"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3760.png","name":"3760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5896.png","name":"5896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7883.png","name":"7883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7515.png","name":"7515"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":772.6071819938984,"rotation_z_degrees":13.214787381656233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029923455569508053,-0.015984109803562418,-0.019034791738110936]},{"name":"camera_2","offset_m":[0.017525870175315723,0.010999167027749293,0.01437427102490384]},{"name":"camera_3","offset_m":[-0.0072673020320787405,0.01317170520377461,0.0021541556299614593]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009886177237321265,1.6184100996613233e-05,-0.0009956721913328757],"end_effector_yaw_offset_degrees":-0.17484030219805113},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00177594834463959,0.0009050973272660225,0.0004372526877769291],"end_effector_yaw_offset_degrees":-0.7677475995072036},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001472998507776834,0.001735580893922436,0.0019338951016731054],"end_effector_yaw_offset_degrees":-0.5729402831956836},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012222869550220384,0.00037550002841302017,0.0018650288005538796],"end_effector_yaw_offset_degrees":-0.09480681556317494},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.000923272432175137,-0.0013830376363924582,0.00031956208398165],"end_effector_yaw_offset_degrees":0.08175166883220486},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0002980919627077871,0.0011690521651686815,-0.0002442978969335861],"end_effector_yaw_offset_degrees":0.5560476007457618}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008459690733247363,-0.0027760833573450172],"position_m":[0.27534596907332476,0.07662391664265499,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026101425361793897,0.002328695529956323],"position_m":[0.21328985746382062,-0.33657130447004363,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0009213139003292105,0.003177644011801908],"position_m":[0.28452131390032925,0.3137776440118019,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004487331371271251,0.004158136042231759],"position_m":[0.22138733137127126,-0.11854186395776825,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f1d499331fef144c7e601889d3bb9fab7090bb97787ed490733681321445fee8","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1705/tex_ceiling_textures_7515/tex_floor_textures_7883/tex_table_textures_3760/tex_wall_textures_5896","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7162766236159206208,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7162766236159206208,"visual_seed":7162766236159206208,"scene_id":"lab_003","finished_at":"2026-09-08T13:08:42"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T13:08:50","dimensions":{"distractor":{"count":32,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.3180750744494453,-1.5927741475881319,0.71338606911949],"aabb_xy":[[-0.3419112920900504,-1.6827741483966185],[-0.29423885680884027,-1.5027741467796456]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.5354888171752341,0.15045292332631321,0.71338606911949],"aabb_xy":[[-0.5854888188367288,0.10045448107061049],[-0.4854888155137393,0.2004513655820159]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.6223778746326123,-1.3451144326179831,0.71338606911949],"aabb_xy":[[0.5723778742720462,-1.3950944198275856],[0.6723778749931784,-1.2951344454083797]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.11766821242969583,1.4904638877883962,0.71338606911949],"aabb_xy":[[0.04766820903813385,1.4551481140849651],[0.1876682158212578,1.5257796614918269]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.20457836738464846,1.686942369272861,0.71338606911949],"aabb_xy":[[-0.25455717589496435,1.6369423692671423],[-0.15459955887433258,1.73694236927858]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.05499110484217906,1.5359690356923283,0.71338606911949],"aabb_xy":[[-0.06433811242447429,1.5216654134746843],[-0.04564409725988383,1.5502726579099724]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[-0.1967355304981126,-1.3921313033163727,0.71338606911949],"aabb_xy":[[-0.22721978062514275,-1.4421313030978686],[-0.16625128037108244,-1.3421313035348768]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.4237656214890346,-0.2536324375332657,0.71338606911949],"aabb_xy":[[0.38626562114080687,-0.26542383311434925],[0.4612656218372624,-0.24184104195218215]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.0845256463172076,-0.9693941053912951,0.71338606911949],"aabb_xy":[[0.03453253420801571,-1.019394106065491],[0.1345187584263995,-0.9193941047170997]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.22245357425666712,-2.1477122467452747,0.71338606911949],"aabb_xy":[[0.17297315304270833,-2.211712244658127],[0.2719339954706259,-2.0837122488324233]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.3714889336888736,0.4247589534153242,0.71338606911949],"aabb_xy":[[0.307488931346072,0.3798181021711917],[0.43548893603167516,0.4696998046594567]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[-0.11174526537436069,-1.119688773116043,0.71338606911949],"aabb_xy":[[-0.1492452653181271,-1.1279818631508796],[-0.07424526543059427,-1.1113956830812064]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.2334018063443608,0.5805000714975246,0.71338606911949],"aabb_xy":[[0.22932364843731107,0.5764190912492613],[0.23747996425141055,0.5845810517457879]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.30676385813663454,-1.4288658647807033,0.71338606911949],"aabb_xy":[[0.21676386163576275,-1.4747775071991613],[0.39676385463750624,-1.3829542223622449]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.17497171206365902,-1.5966289469317476,0.71338606911949],"aabb_xy":[[-0.23897171232412984,-1.6416377462846758],[-0.11097171180318822,-1.5516201475788198]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.5544801477679364,0.4174338867971503,0.71338606911949],"aabb_xy":[[0.54187744863086,0.4048384905722848],[0.5670828469050129,0.4300292830220158]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.43026314858819503,0.8042832129087913,0.71338606911949],"aabb_xy":[[-0.45317886147324504,0.7813789157723681],[-0.40734743570314524,0.8271875100452151]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.38945625275414675,-1.8973252057321943,0.71338606911949],"aabb_xy":[[0.33946141982620515,-1.9473252046274379],[0.43945108568208835,-1.8473252068369508]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.4914628171423641,-0.33854906951227015,0.71338606911949],"aabb_xy":[[-0.555462819362771,-0.38292215363755844],[-0.427462814921957,-0.29417598538698186]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[0.24522888525623276,-1.5566422353139955,0.71338606911949],"aabb_xy":[[0.21076640724314502,-1.563305912496918],[0.27969136326932054,-1.5499785581310725]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.09918500926591978,1.457852074358024,0.71338606911949],"aabb_xy":[[-0.1097524889240188,1.4473070442450156],[-0.08861752960782078,1.4683971044710327]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.6058049809157278,-0.1906556826759993,0.71338606911949],"aabb_xy":[[0.5220827554156453,-0.28065568621069525],[0.6895272064158102,-0.10065567914130336]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.10828896097817187,-0.8545277880304976,0.71338606911949],"aabb_xy":[[-0.17328896197867238,-0.9053141531851724],[-0.04328895997767135,-0.8037414228758225]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[0.5267679978913262,1.4623649700395256,0.71338606911949],"aabb_xy":[[0.5173505233214635,1.4529487929018066],[0.536185472461189,1.4717811471772446]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.08493947620004971,-2.4705052546725343,0.71338606911949],"aabb_xy":[[0.03493947755412852,-2.5204247983319967],[0.1349394748459709,-2.420585711013072]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[0.031153489130430367,1.1621998041145036,0.71338606911949],"aabb_xy":[[0.005932652270590702,1.1369760532616167],[0.056374325990270036,1.1874235549673902]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[0.5257004940762213,-0.5092665627987856,0.71338606911949],"aabb_xy":[[0.46170049548964875,-0.5562735261982942],[0.5897004926627937,-0.46225959939927674]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_27","position":[-0.1635573375599405,0.176388457453299,0.71338606911949],"aabb_xy":[[-0.1708396539366041,0.08638845384378997],[-0.1562750211832768,0.2663884610628079]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_28","position":[0.21027994652512982,0.832326485863299,0.71338606911949],"aabb_xy":[[0.14027994439370023,0.8095645202376034],[0.2802799486565593,0.8550884514889947]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_29","position":[0.46466247649413783,0.20809445362566015,0.71338606911949],"aabb_xy":[[0.43034619931951984,0.15809445365248243],[0.4989787536687557,0.25809445359883787]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_30","position":[-0.2947681522093855,-1.8616714774991001,0.71338606911949],"aabb_xy":[[-0.3172681527214261,-1.8841633358644985],[-0.2722681516973449,-1.8391796191337018]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_31","position":[-0.05646966433073475,1.2829782528822573,0.71338606911949],"aabb_xy":[[-0.07652807594397504,1.2629131659730999],[-0.03641125271749446,1.3030433397914147]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6407074377670707,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8902.png","name":"8902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8902.png","name":"8902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8930.png","name":"8930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5537.png","name":"5537"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7014.png","name":"7014"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":621.9989492308455,"rotation_z_degrees":302.9620952233304,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01824887535871832,0.01291785947747522,0.019858837484575505]},{"name":"camera_2","offset_m":[0.01375143641439636,-0.017338018663811853,-0.0019496703892804695]},{"name":"camera_3","offset_m":[0.00761728347213924,-0.0006018173497490571,-0.012895364407213786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[2.6475396501728348e-05,0.0005371723303742955,-0.00022570542377570667],"end_effector_yaw_offset_degrees":0.7313042447111295},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016192916071036023,-0.0006017705664782059,-0.0005967192607677415],"end_effector_yaw_offset_degrees":0.45923640095605145},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014028926265133392,-0.0009688460668996451,0.0008092609682684329],"end_effector_yaw_offset_degrees":-0.07616759812616225},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[7.005183368502229e-05,-0.0002661881293225799,0.0006073008047124255],"end_effector_yaw_offset_degrees":-0.5852324882812852},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013455857475516133,-0.0011260184230695884,-0.0001881183250046429],"end_effector_yaw_offset_degrees":0.8199222272118312},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007514618673836381,0.0019705119037667094,-0.00033965434135188317],"end_effector_yaw_offset_degrees":0.6700896691816853}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004801720724902112,-0.0010926862513843298],"position_m":[0.26969827927509793,0.07830731374861567,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002248384084451117,-0.004012984173453074],"position_m":[0.2181483840844511,-0.34291298417345306,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0033233827941345617,0.003327247587126229],"position_m":[0.28027661720586544,0.3139272475871262,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0039839675369293314,-0.002400964791305106],"position_m":[0.21291603246307067,-0.1251009647913051,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c667e436abbf78cf757ba5ed632a2b89d329e008b77b93b3c99d40b467aa293e","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8902/tex_ceiling_textures_7014/tex_floor_textures_5571/tex_table_textures_8930/tex_wall_textures_5537","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7762045194988390033,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7762045194988390033,"visual_seed":7762045194988390033,"scene_id":"lab_003","finished_at":"2026-09-08T13:16:55"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T13:17:02","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.6901622717826754,-1.9262493069436726,0.71338606911949],"aabb_xy":[[0.6848297571280624,-1.9315736351889081],[0.6954947864372885,-1.920924978698437]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.1051093707960199,1.1981724568122347,0.71338606911949],"aabb_xy":[[0.04110936888367757,1.1422613075542243],[0.16910937270836224,1.2540836060702452]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.33645197850029107,0.9858704126461042,0.71338606911949],"aabb_xy":[[-0.36478168844883135,0.9814096704523873],[-0.3081222685517509,0.9903311548398214]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[0.5726732671312622,1.3977303700778538,0.71338606911949],"aabb_xy":[[0.4926732685439427,1.318414768139693],[0.6526732657185815,1.4770459720160147]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.2828859857497713,-1.0849267404354366,0.71338606911949],"aabb_xy":[[0.2677836842887531,-1.1000282620664978],[0.2979882872107893,-1.0698252188043744]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.4280230289192948,-1.9572108738069929,0.71338606911949],"aabb_xy":[[0.4199866942180098,-1.9652489931114094],[0.4360593636205795,-1.9491727545025759]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[0.2239708147683347,-1.7416832253237768,0.71338606911949],"aabb_xy":[[0.2050864309998245,-1.7605691501041296],[0.2428551985368449,-1.722797300543424]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[0.3076389182487951,-1.4571091277604686,0.71338606911949],"aabb_xy":[[0.2826389186970566,-1.4672516116256034],[0.33263891780053356,-1.446966643895334]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.40650305887760907,1.1345815313962468,0.71338606911949],"aabb_xy":[[0.38195684325485835,1.1043326348472096],[0.4310492745003598,1.1648304279452837]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.590599282125759,-2.0383771655714376,0.71338606911949],"aabb_xy":[[-0.6249155593003769,-2.0883771655446153],[-0.556283004951141,-1.9883771655982598]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.5044562057331998,-0.5603350882497753,0.71338606911949],"aabb_xy":[[0.4404562093058779,-0.6075047120718717],[0.5684562021605217,-0.5131654644276789]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[-0.43082585840822807,0.43841790847735407,0.71338606911949],"aabb_xy":[[-0.4652883364213158,0.4317542312944312],[-0.39636338039514024,0.44508158566027684]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.08433657940896666,0.9519614245854364,0.71338606911949],"aabb_xy":[[-0.0972084829099068,0.8719614241716002],[-0.07146467590802652,1.0319614249992723]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[-0.1381229249341529,-1.115594943848798,0.71338606911949],"aabb_xy":[[-0.15562292519348953,-1.1296864860375708],[-0.12062292467481628,-1.1015034016600256]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.5810485342130715,0.853915783328671,0.71338606911949],"aabb_xy":[[-0.6410485350738842,0.8024893533221845],[-0.5210485333522585,0.9053422133351573]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[-0.5937441015264827,-0.767490482884833,0.71338606911949],"aabb_xy":[[-0.6577441038692842,-0.8124313341289654],[-0.529744099183681,-0.7225496316407004]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.4322717333454878,-2.318786989727828,0.71338606911949],"aabb_xy":[[-0.4783568246002193,-2.382786986980383],[-0.3861866420907563,-2.254786992475273]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.46115123763287813,-1.6413671404234433,0.71338606911949],"aabb_xy":[[-0.4691447274281602,-1.6493652723639194],[-0.45315774783759616,-1.6333690084829682]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[0.08294774146706474,-1.4448836007227654,0.71338606911949],"aabb_xy":[[0.07851711211222458,-1.4503319724574484],[0.08737837082190493,-1.439435228988083]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.3449777841919399,-2.213306517903047,0.71338606911949],"aabb_xy":[[0.3144935340649098,-2.263306517684543],[0.37546203431897013,-2.163306518121551]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6383790703381542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8799.png","name":"8799"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8799.png","name":"8799"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7719.png","name":"7719"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3187.png","name":"3187"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1356.png","name":"1356"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":529.1017002675346,"rotation_z_degrees":49.65600466977549,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012066330412561398,-0.004817687341280545,-0.010464946926880287]},{"name":"camera_2","offset_m":[0.011595886847155918,-0.014381973693300524,-0.019363198808385596]},{"name":"camera_3","offset_m":[-0.01287948341177915,-0.00962427710301358,-0.014787300511402101]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.748913576973617e-05,-0.0010279069529427285,0.0008374616741161937],"end_effector_yaw_offset_degrees":-0.0385868391689701},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006104687731596226,0.0011841229701794313,-0.0014861112644248711],"end_effector_yaw_offset_degrees":-0.2888856517904219},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004815995637875016,-0.0006713257565577049,0.0013069030714440689],"end_effector_yaw_offset_degrees":0.7687244950496299},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019466847836012078,-0.0010675355417033737,0.0012548324293511753],"end_effector_yaw_offset_degrees":-0.26941475766004874},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008003128127006954,0.001981644222931494,-0.0005705786952295963],"end_effector_yaw_offset_degrees":0.6037830556435506},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00023574520446617824,0.0015106401505689238,0.001640309503683944],"end_effector_yaw_offset_degrees":0.9350616346350327}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021059798493186224,-0.0015287913996834147],"position_m":[0.2723940201506814,0.07787120860031659,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-9.038604808370154e-05,-0.0018003607217793984],"position_m":[0.2158096139519163,-0.3407003607217794,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002403477724981842,0.0030685484281000744],"position_m":[0.28600347772498186,0.31366854842810005,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005813045191481615,-5.461779706474913e-05],"position_m":[0.21748130451914818,-0.12275461779706476,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b2d01547f293547dad1b0f5338e810e6d06ee3a81506f8757dd10a9e0ed4e2ee","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8799/tex_ceiling_textures_1356/tex_floor_textures_3187/tex_table_textures_7719/tex_wall_textures_6393","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":4271421634658491117,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":4271421634658491117,"visual_seed":4271421634658491117,"scene_id":"lab_003","finished_at":"2026-09-08T13:25:13"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T13:34:37","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.1867265791179511,1.696905638717657,0.71338606911949],"aabb_xy":[[-0.2105627967585562,1.606905637909171],[-0.16289036147734604,1.786905639526144]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.30381689106239296,-0.709620348707978,0.71338606911949],"aabb_xy":[[0.24381689046637678,-0.7644328212532016],[0.36381689165840914,-0.6548078761627546]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[-0.20106225563188995,-1.6432647097673962,0.71338606911949],"aabb_xy":[[-0.2510464913400671,-1.6932647085808916],[-0.15107801992371267,-1.5932647109539004]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.46135592529766145,-1.64939734857037,0.71338606911949],"aabb_xy":[[-0.4686171728680689,-1.6621843588338794],[-0.4540946777272541,-1.6366103383068604]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.09384619846382347,-1.8996571392366648,0.71338606911949],"aabb_xy":[[-0.10147046655400173,-1.9072903627732085],[-0.08622193037364523,-1.892023915700121]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.07413341549250552,0.7897774116876461,0.71338606911949],"aabb_xy":[[-0.15413341245554468,0.7127017700438727],[0.005866581470533663,0.8668530533314196]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.6456774113259806,-0.4597151891673561,0.71338606911949],"aabb_xy":[[-0.6669554194694528,-0.5247151914934292],[-0.6243994031825083,-0.39471518684128304]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.5597060873527646,-1.8924023014368856,0.71338606911949],"aabb_xy":[[0.5488544811038891,-1.9032615921645366],[0.5705576936016403,-1.8815430107092346]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.14645984133453993,-1.05184488852374,0.71338606911949],"aabb_xy":[[-0.16897353315799712,-1.1218448891247474],[-0.12394614951108274,-0.9818448879227324]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[-0.2962165971870602,-2.096350117535808,0.71338606911949],"aabb_xy":[[-0.351341802816651,-2.156350118977095],[-0.24109139155746948,-2.0363501160945208]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.41737969758530497,-0.07558575567323178,0.71338606911949],"aabb_xy":[[-0.42894867833224154,-0.10058575579016349],[-0.4058107168383684,-0.05058575555630007]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.5535591242037285,-2.092093679737413,0.71338606911949],"aabb_xy":[[0.5035591231845934,-2.1285598954752407],[0.6035591252228639,-2.055627463999585]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.5861312726836436,1.130977092338385,0.71338606911949],"aabb_xy":[[0.5518343616659029,1.0966802061284437],[0.6204281837013841,1.1652739785483264]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.6305150958627124,0.7746527689158444,0.71338606911949],"aabb_xy":[[0.6191533612094262,0.7632843025095564],[0.6418768305159985,0.7860212353221325]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.6922980131624474,-0.5989742417250516,0.71338606911949],"aabb_xy":[[0.6734136293939372,-0.6178601665054045],[0.7111823969309576,-0.580088316944699]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.5138664813763627,-2.389655017017798,0.71338606911949],"aabb_xy":[[-0.5938664793571476,-2.39725655797965],[-0.4338664833955776,-2.382053476055946]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.5837865262470019,-0.16156220120387976,0.71338606911949],"aabb_xy":[[-0.6250910693107379,-0.22556220077199682],[-0.5424819831832659,-0.09756220163576265]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.36036655605991597,-0.4401318574287707,0.71338606911949],"aabb_xy":[[-0.3684942442532292,-0.4490454658394783],[-0.35223886786660275,-0.431218249018063]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[0.3278575908517021,-1.0469110216753426,0.71338606911949],"aabb_xy":[[0.322399645214682,-1.1269110249830017],[0.33331553648872214,-0.9669110183676835]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.5017794354795464,-0.01655523096623801,0.71338606911949],"aabb_xy":[[0.4968801431729828,-0.04423215026880678],[0.5066787277861098,0.011121688336330763]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[0.41477946843544555,1.7805552305526313,0.71338606911949],"aabb_xy":[[0.3922794684252972,1.766459010913028],[0.4372794684455938,1.7946514501922346]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.5095543015787998,-2.0585874801731476,0.71338606911949],"aabb_xy":[[-0.5174775818175482,-2.081087480411151],[-0.5016310213400516,-2.0360874799351443]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[-0.5551818253017501,0.7269980418923545,0.71338606911949],"aabb_xy":[[-0.6051548908342657,0.6769980420798217],[-0.5052087597692347,0.7769980417048876]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.636534233652814,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2893.png","name":"2893"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2893.png","name":"2893"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3499.png","name":"3499"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4811.png","name":"4811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7333.png","name":"7333"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/431.png","name":"431"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":520.9302875703667,"rotation_z_degrees":200.64749090504188,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006695377712143857,-0.015285622349480513,-0.017391499030058353]},{"name":"camera_2","offset_m":[-0.010938181357807376,0.008537529959529638,0.01744534625621293]},{"name":"camera_3","offset_m":[-0.018113643026699742,0.012899095751983471,-0.015155183076685588]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013299920951229992,0.0007574429213568486,0.00052497610395923],"end_effector_yaw_offset_degrees":0.08882327245893995},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00017429546476257834,-0.0007736770497381799,0.0010609566890096307],"end_effector_yaw_offset_degrees":-0.7406315618897525},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006220932473815599,-0.0009821545216301142,0.0005899159254460565],"end_effector_yaw_offset_degrees":-0.5488535431809975},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013466629198568398,0.0019692362779500797,-0.0003391563610766414],"end_effector_yaw_offset_degrees":-0.5710098524498077},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017120156828157684,0.00015564529133546686,0.0019667111371330804],"end_effector_yaw_offset_degrees":-0.7745375862284556},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00014837893696299093,0.001331604910817739,-0.001336303544046002],"end_effector_yaw_offset_degrees":-0.5122317190261045}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032820230940505254,0.0004288980164914606],"position_m":[0.27778202309405053,0.07982889801649146,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010695086998056815,-0.0014520655639434564],"position_m":[0.21483049130019433,-0.34035206556394343,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004587845343343325,0.0035567881133297613],"position_m":[0.2790121546566567,0.31415678811332975,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004804336802437286,0.0035907995240320916],"position_m":[0.21209566319756273,-0.11910920047596792,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"12ae74fae746687c1b62cb6db95fb6fded26d307a315c4d66b2897a44eedc687","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2893/tex_ceiling_textures_431/tex_floor_textures_7333/tex_table_textures_3499/tex_wall_textures_4811","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":2435150072563577663,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":2435150072563577663,"visual_seed":2435150072563577663,"scene_id":"lab_003","finished_at":"2026-09-08T13:41:58"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T13:42:05","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.12174540885603047,0.24652126832768895,0.71338606911949],"aabb_xy":[[-0.1573745647559902,0.21088860157083594],[-0.08611625295607073,0.28215393508454184]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.2963956670785161,1.6944757647270996,0.71338606911949],"aabb_xy":[[-0.36039567036822423,1.6511408457231818],[-0.23239566378880802,1.737810683731017]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.317039656553961,1.0757187447047794,0.71338606911949],"aabb_xy":[[-0.39703965395755436,0.9957261735065964],[-0.23703965915036754,1.155711315902962]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.003744446405793189,-1.8512154076830374,0.71338606911949],"aabb_xy":[[-0.06374444625235998,-1.9080340298760758],[0.0562555534407736,-1.7943967854899985]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[-0.35678570834453543,0.010300046293013398,0.71338606911949],"aabb_xy":[[-0.37388778630290365,-0.006806759238256355],[-0.33968363038616733,0.02740685182428315]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[0.21008412841663127,-1.7841139995905553,0.71338606911949],"aabb_xy":[[0.1602014315389351,-1.8341139988368302],[0.2599668252943275,-1.7341140003442808]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[0.4680217970434757,-2.5439972787226286,0.71338606911949],"aabb_xy":[[0.44981597338222806,-2.5550226793046202],[0.4862276207047234,-2.532971878140637]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.2526886670843388,0.5604861992890564,0.71338606911949],"aabb_xy":[[0.2446623964537128,0.5517347043117037],[0.2607149377149648,0.5692376942664089]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[0.3794575341872779,-0.5638113680362706,0.71338606911949],"aabb_xy":[[0.36178190359867957,-0.5814915843156733],[0.39713316477587624,-0.5461311517568678]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.19376762775563305,-1.3699791630983633,0.71338606911949],"aabb_xy":[[-0.2437626387150851,-1.419979162133955],[-0.14377261679618103,-1.3199791640627716]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[-0.20323706112854562,-2.1736106571134775,0.71338606911949],"aabb_xy":[[-0.2112804210545008,-2.2586106582088443],[-0.19519370120259044,-2.0886106560181115]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[0.015876939450170435,-2.0988861496906432,0.71338606911949],"aabb_xy":[[-0.02162305912545037,-2.1116224453542007],[0.053376938025791236,-2.086149854027085]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.5391596244336074,-1.2079892911674686,0.71338606911949],"aabb_xy":[[0.5057194492375877,-1.2414329169983982],[0.5725997996296269,-1.174545665336538]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[0.44935667066989704,1.2466985562797475,0.71338606911949],"aabb_xy":[[0.4405754435226609,1.2379188089912174],[0.4581378978171334,1.255478303568278]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.563426259345559,0.44309671946014095,0.71338606911949],"aabb_xy":[[-0.6250170185695519,0.37909672135109407],[-0.5018355001215663,0.5070967175691878]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.12421243912007962,0.9022724347712692,0.71338606911949],"aabb_xy":[[-0.16171243946830738,0.8904810391901855],[-0.08671243877185185,0.9140638303523526]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.3580546158754221,-2.26941809057732,0.71338606911949],"aabb_xy":[[-0.3966003087006231,-2.3079638616335085],[-0.31950892305022105,-2.230872319521131]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[0.6000352752827063,1.0706775769113746,0.71338606911949],"aabb_xy":[[0.5767534330845748,0.9856775756141464],[0.6233171174808375,1.1556775782086024]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[-0.06557689509872666,1.2466285312541827,0.71338606911949],"aabb_xy":[[-0.15526397140684212,1.1566285309997322],[0.024110181209388792,1.3366285315086333]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.46646147829281437,1.53571304790534,0.71338606911949],"aabb_xy":[[-0.4834715755828651,1.519578559407066],[-0.4494513810027638,1.551847536403614]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.2534582258630495,-1.0937753336588565,0.71338606911949],"aabb_xy":[[-0.3384582245551241,-1.1257611970537351],[-0.1684582271709748,-1.0617894702639774]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.571881533855341,-1.166251754394902,0.71338606911949],"aabb_xy":[[-0.58942822877146,-1.2037517559591533],[-0.5543348389392221,-1.1287517528306508]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.32325897560138045,0.28180337816262124,0.71338606911949],"aabb_xy":[[-0.3872589719969535,0.2178400897438877],[-0.25925897920580737,0.3457666665813548]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.017899671716878673,-1.1215712094892858,0.71338606911949],"aabb_xy":[[-0.067882621904358,-1.171571209131846],[0.032083278470600655,-1.0715712098467252]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[0.6453184065645097,-1.0789951398640445,0.71338606911949],"aabb_xy":[[0.6078184064589167,-1.0858173017170256],[0.6828184066701026,-1.0721729780110634]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[0.05548565353118229,-2.2959161196805553,0.71338606911949],"aabb_xy":[[0.010314335683013315,-2.3599161168250937],[0.10065697137935128,-2.231916122536017]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[-0.15990972321411823,0.5583726751133891,0.71338606911949],"aabb_xy":[[-0.1936852824048112,0.544334179900224],[-0.12613416402342525,0.5724111703265541]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6343725645302754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6443.png","name":"6443"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6443.png","name":"6443"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7409.png","name":"7409"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1942.png","name":"1942"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4575.png","name":"4575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6060.png","name":"6060"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":661.3349734538497,"rotation_z_degrees":248.7430538700559,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026830394487100395,0.01755185227971792,0.0033442881083904086]},{"name":"camera_2","offset_m":[-0.008650835212040723,0.0013125157556589558,-0.0023333371254350248]},{"name":"camera_3","offset_m":[-0.006654871164979693,0.004518978946839936,-0.014179092643878089]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017488808259105908,0.0008180958583369037,-0.0018979723748812738],"end_effector_yaw_offset_degrees":0.0917643883860404},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00020570617645659017,0.001024140440416525,9.42703005730231e-05],"end_effector_yaw_offset_degrees":-0.9181970809850564},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014259186648320475,0.0009612529525795297,-0.0007022163480293379],"end_effector_yaw_offset_degrees":0.5748971924171327},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017544046442661046,2.773974937913962e-05,-0.0015764077638054017],"end_effector_yaw_offset_degrees":0.005654226891458558},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016280218511077083,-0.001293466254336662,0.0014294190576019578],"end_effector_yaw_offset_degrees":-0.6695322536993071},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005126257696213452,0.0013204734487006807,-9.270693422618113e-05],"end_effector_yaw_offset_degrees":0.3596168899196952}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0040641179521633515,0.0011479003363513143],"position_m":[0.27856411795216335,0.08054790033635131,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016566664501669803,0.0029682500735672404],"position_m":[0.21424333354983302,-0.33593174992643277,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0008449105708381996,0.0006721476104793941],"position_m":[0.28275508942916183,0.3112721476104794,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003949118013709585,-0.004212284668797572],"position_m":[0.21295088198629042,-0.1269122846687976,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"816a6b78697e813c8ac0aa934d5f3f2604adb541e281c9dcecfff8b6aa54319f","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0033.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6443/tex_ceiling_textures_6060/tex_floor_textures_4575/tex_table_textures_7409/tex_wall_textures_1942","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":4015743368784485807,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":4015743368784485807,"visual_seed":4015743368784485807,"scene_id":"lab_003","finished_at":"2026-09-08T13:49:44"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T13:49:52","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.6310083755506386,-0.24060575524348948,0.71338606911949],"aabb_xy":[[-0.6675041961779173,-0.27708969767024705],[-0.5945125549233599,-0.2041218128167319]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.36621579206798444,0.5901509901934294,0.71338606911949],"aabb_xy":[[-0.3749970192152207,0.5813712429048993],[-0.35743456492074827,0.5989307374819596]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.45810358872082535,-0.47367377839650615,0.71338606911949],"aabb_xy":[[0.44221909545550026,-0.48802671869533015],[0.47398808198615056,-0.45932083809768204]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.33320849196303287,-2.188661376759942,0.71338606911949],"aabb_xy":[[-0.41320849339316007,-2.2681785317725516],[-0.2532084905329057,-2.1091442217473326]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.14528050585213548,0.9036061901717884,0.71338606911949],"aabb_xy":[[-0.1508621774862642,0.8911061903540128],[-0.1396988342180067,0.9161061899895638]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.6376796630892674,1.6417668430909438,0.71338606911949],"aabb_xy":[[0.5826796634675216,1.586783150303471],[0.6926796627110133,1.6967505358784165]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.41245725298708913,0.8464205199988162,0.71338606911949],"aabb_xy":[[0.34845725228361984,0.8004021375258954],[0.4764572536905586,0.8924389024717374]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.013209064993758068,0.6491594562289538,0.71338606911949],"aabb_xy":[[-0.04178414634337869,0.5941594558901601],[0.06820227633089483,0.7041594565677473]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.33208889975432404,-1.1578886158782413,0.71338606911949],"aabb_xy":[[-0.34402163411615216,-1.1702707686861005],[-0.32015616539249603,-1.1455064630703817]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.5126687515808677,1.791222219764705,0.71338606911949],"aabb_xy":[[0.4770395956809078,1.7555895530078518],[0.5482979074808273,1.8268548865215577]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.15015072112260042,1.4481315255267444,0.71338606911949],"aabb_xy":[[-0.17466434521960628,1.4238669322247077],[-0.12563709702559456,1.4723961188287806]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.4735569772492193,-2.4190744497584,0.71338606911949],"aabb_xy":[[-0.4775174610189536,-2.4267423143439206],[-0.4695964934794849,-2.4114065851728794]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.18785443159436888,-1.3922894912062407,0.71338606911949],"aabb_xy":[[0.13285895377370946,-1.4472894926401474],[0.24284990941502824,-1.3372894897723335]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.2527765095530474,0.96769465530843,0.71338606911949],"aabb_xy":[[-0.25981681948658447,0.887694655908759],[-0.2457361996195105,1.0476946547081019]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.34610455867566925,-0.9670320076632872,0.71338606911949],"aabb_xy":[[0.29613126467240874,-1.0170320082178346],[0.39607785267892964,-0.9170320071087399]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.05616403358244326,-1.1331692050595545,0.71338606911949],"aabb_xy":[[0.04853976549226502,-1.1408024285960985],[0.0637883016726215,-1.125535981523011]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.6658855349161861,0.8795191953193102,0.71338606911949],"aabb_xy":[[-0.6871635430596583,0.8145191929932372],[-0.6446075267727138,0.9445191976453833]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[-0.3192127765745215,-1.7542074046454683,0.71338606911949],"aabb_xy":[[-0.33168013468425717,-1.766672729278792],[-0.30674541846478587,-1.741742080012145]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.2422804039038179,0.6286415520992805,0.71338606911949],"aabb_xy":[[0.19230159539350197,0.5786415520935617],[0.2922592124141338,0.6786415521049993]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.17856621878898926,0.7710654329019762,0.71338606911949],"aabb_xy":[[0.141771585664083,0.7341595578053939],[0.21536085191389553,0.8079713079985584]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.1374681337424175,1.2206977507435748,0.71338606911949],"aabb_xy":[[0.12569994694776002,1.1356977508383532],[0.14923632053707506,1.3056977506487963]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.2652630044118361,-1.0392120806903054,0.71338606911949],"aabb_xy":[[-0.32926300299840855,-1.0862190440898143],[-0.20126300582526363,-0.9922051172907969]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[0.0017807031695052933,-2.106011076321333,0.71338606911949],"aabb_xy":[[-0.045348675832330376,-2.1700110773657344],[0.04891008217134096,-2.0420110752769305]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.38709033720863517,-2.383716943398261,0.71338606911949],"aabb_xy":[[0.3766787785281514,-2.389062676734159],[0.39750189588911883,-2.378371210062362]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[-0.12889232548468255,-0.281244248428286,0.71338606911949],"aabb_xy":[[-0.13373592024591252,-0.2860959009072701],[-0.12404873072345257,-0.2763925959493019]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.6711735445008418,-1.7176167379896587,0.71338606911949],"aabb_xy":[[-0.6936735443147443,-1.7220913543601395],[-0.6486735446869395,-1.713142121619178]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[-0.3634902879160901,0.3842224346648506,0.71338606911949],"aabb_xy":[[-0.3714135681548385,0.3617224344268473],[-0.35556700767734184,0.40672243490285404]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_27","position":[0.3116012843820213,1.1488885567530494,0.71338606911949],"aabb_xy":[[0.25001052515802846,1.0848885586440027],[0.3731920436060141,1.2128885548620965]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[0.5884501894715335,-0.3959127163310239,0.71338606911949],"aabb_xy":[[0.5244544920764368,-0.4599127146317325],[0.65244588686663,-0.33191271803031513]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_29","position":[0.5031550603550428,-0.12395399215161751,0.71338606911949],"aabb_xy":[[0.47793422349520304,-0.1491777430045042],[0.5283758972148823,-0.09873024129873073]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[-0.10184992836082019,1.308702036732619,0.71338606911949],"aabb_xy":[[-0.15684217899633113,1.2537020349893064],[-0.04685767772530922,1.363702038475932]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_31","position":[0.1847313098371577,-2.0478654991980076,0.71338606911949],"aabb_xy":[[0.12073130956317946,-2.0979315993952956],[0.24873131011113592,-1.9977993990007197]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_32","position":[-0.6407725271914286,0.5061409092166307,0.71338606911949],"aabb_xy":[[-0.6907499440566821,0.4561409077273821],[-0.5907951103261749,0.5561409107058791]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_33","position":[-0.5791770690829021,1.7221322496515188,0.71338606911949],"aabb_xy":[[-0.6024589112810333,1.6371322483542907],[-0.5558952268847707,1.8071322509487469]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_34","position":[0.5207619554934897,-2.1119573338973354,0.71338606911949],"aabb_xy":[[0.43076195577031534,-2.135030686432515],[0.6107619552166637,-2.088883981362155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.639220846966122,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8288.png","name":"8288"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8288.png","name":"8288"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5043.png","name":"5043"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7393.png","name":"7393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2941.png","name":"2941"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":747.7295100129595,"rotation_z_degrees":270.57319718474247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00549200267267067,0.008432127144494678,-0.013790532800324277]},{"name":"camera_2","offset_m":[0.015450566716392566,-0.018134481758104455,0.013396260691181407]},{"name":"camera_3","offset_m":[0.003501869441196525,-0.012753055433944588,0.00037473320914522754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.934890498552218e-05,0.0018087261900325974,0.0012725273274826767],"end_effector_yaw_offset_degrees":-0.2555105102329642},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001543154256314151,-0.0005057929872009353,-0.0013819527943371179],"end_effector_yaw_offset_degrees":0.8145675085301616},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000752639306803809,-0.001903965223873549,0.0010933666391462768],"end_effector_yaw_offset_degrees":-0.17051837357362776},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-2.904624674580523e-05,-0.001148519307816053,0.001208368380952076],"end_effector_yaw_offset_degrees":0.08048785500808853},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00041611457680419944,0.0014970277114498072,0.0016836876414996578],"end_effector_yaw_offset_degrees":-0.5693185671010723},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014601486396240825,-3.203327022048997e-06,0.0010340801900117578],"end_effector_yaw_offset_degrees":0.07160464648035991}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027972161621167245,-0.0015220171676234595],"position_m":[0.2717027838378833,0.07787798283237654,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009543674881985261,-0.003012818757003244],"position_m":[0.21685436748819853,-0.34191281875700325,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004189054948347141,0.0016093038444905984],"position_m":[0.28778905494834717,0.3122093038444906,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009669140919273166,0.0010582472224457372],"position_m":[0.21786691409192732,-0.12164175277755426,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"851c752aa2833ac38e84faa6caeb5a26092d77f61309956d5e89e0fe84745cc2","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8288/tex_ceiling_textures_2941/tex_floor_textures_9144/tex_table_textures_5043/tex_wall_textures_7393","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":6231917542893648855,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":6231917542893648855,"visual_seed":6231917542893648855,"scene_id":"lab_003","finished_at":"2026-09-08T13:57:39"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T14:15:40","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[0.4015093397152758,-0.46952204283481125,0.71338606911949],"aabb_xy":[[0.38888255242807945,-0.4790681165363841],[0.41413612700247215,-0.4599759691332383]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.682059331640666,-0.2053830915115129,0.71338606911949],"aabb_xy":[[0.6704903508937294,-0.23038309162844464],[0.6936283123876026,-0.18038309139458122]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.08837185956450833,0.9784551915457924,0.71338606911949],"aabb_xy":[[-0.09433839850524411,0.9724940468864284],[-0.08240532062377254,0.9844163362051565]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.15061430504159845,-2.3744185514814022,0.71338606911949],"aabb_xy":[[0.13868157067977038,-2.3868007042892616],[0.16254703940342652,-2.362036398673543]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[0.6427657039579762,-0.666393738056533,0.71338606911949],"aabb_xy":[[0.5787657032545068,-0.712412120529454],[0.7067657046614455,-0.620375355583612]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.1944766998970916,-1.2589082946585661,0.71338606911949],"aabb_xy":[[0.10447670047872071,-1.2922837915027559],[0.2844766993154625,-1.2255327978143764]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.5534083433742298,-0.6492382293534666,0.71338606911949],"aabb_xy":[[-0.5909083437224575,-0.6610296249345502],[-0.515908343026002,-0.6374468337723831]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[-0.5350441499486616,1.3085473488159685,0.71338606911949],"aabb_xy":[[-0.6150441513787888,1.229030193803359],[-0.45504414851853436,1.388064503828578]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[-0.13717947028446598,1.4780521817299177,0.71338606911949],"aabb_xy":[[-0.2271794670200762,1.424868718412623],[-0.047179473548855766,1.531235645047212]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.29051807008158903,1.2283840936527723,0.71338606911949],"aabb_xy":[[-0.3023901530930902,1.143384093959122],[-0.278645987070088,1.3133840933464227]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.6508047698324223,-1.8580759782698464,0.71338606911949],"aabb_xy":[[-0.6588310404630483,-1.8668274732471992],[-0.6427784992017963,-1.849324483292494]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.5901904711389888,1.5850447630055036,0.71338606911949],"aabb_xy":[[-0.6033417171102783,1.5600447632488175],[-0.5770392251676996,1.6100447627621906]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.056974053683200965,-0.7450432116485624,0.71338606911949],"aabb_xy":[[-0.07725835640659971,-0.7653258367912711],[-0.036689750959802196,-0.7247605865058534]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.6252753914491316,-1.6726099530876106,0.71338606911949],"aabb_xy":[[0.5452753881912886,-1.7526064608795944],[0.7052753947069745,-1.5926134452956264]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.4964518381665072,0.1772331847613966,0.71338606911949],"aabb_xy":[[-0.5339518381102735,0.16894009472656],[-0.4589518382227407,0.18552627479623315]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.20604076757394485,-1.2018191425674594,0.71338606911949],"aabb_xy":[[-0.2560407689348321,-1.251797047142875],[-0.15604076621305765,-1.1518412379920437]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.284203308576767,1.088847764317964,0.71338606911949],"aabb_xy":[[0.19420330489984877,1.0274153577408593],[0.37420331225368514,1.150280170895068]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.1796090911450996,-1.9166284094696093,0.71338606911949],"aabb_xy":[[0.172567640194352,-1.923655161207404],[0.1866505420958472,-1.9096016577318147]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.6884301823072065,1.4149948593624697,0.71338606911949],"aabb_xy":[[0.6843520244001569,1.4109138791142064],[0.6925083402142562,1.419075839610733]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.3443960978405063,-0.77183517060795,0.71338606911949],"aabb_xy":[[0.2983110065857748,-0.8358351678605052],[0.39048118909523777,-0.7078351733553949]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.6449878471959272,-0.5782870246828078,0.71338606911949],"aabb_xy":[[-0.6547438367051012,-0.588049558742042],[-0.6352318576867534,-0.5685244906235731]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.39427633040169574,0.6260919221903181,0.71338606911949],"aabb_xy":[[-0.4582763323140381,0.5701807729323076],[-0.3302763284893534,0.6820030714483285]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.3550439565687261,-0.6206641790136378,0.71338606911949],"aabb_xy":[[-0.419043955738496,-0.6674308661326003],[-0.2910439573989561,-0.5738974918946753]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[-0.6039004200389027,-0.31807539031321586,0.71338606911949],"aabb_xy":[[-0.6395295759388625,-0.3537080570700688],[-0.568271264138943,-0.2824427235563629]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[-0.31997253852308594,-0.8407009267640018,0.71338606911949],"aabb_xy":[[-0.34497253768871905,-0.8476531724693585],[-0.2949725393574528,-0.8337486810586453]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[0.5104949055493317,-0.7034248137869223,0.71338606911949],"aabb_xy":[[0.49299497211534826,-0.7209248137071568],[0.527994838983315,-0.6859248138666877]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[0.3380410622822856,1.2749221795998071,0.71338606911949],"aabb_xy":[[0.2830478509451488,1.2199221792610135],[0.39303427361942234,1.3299221799386007]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[0.3048517285668416,-1.5004849381107261,0.71338606911949],"aabb_xy":[[0.26805709544193534,-1.5373908132073084],[0.3416463616917479,-1.4635790630141439]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[0.3550954006398668,-2.158699587864329,0.71338606911949],"aabb_xy":[[0.3442437943909912,-2.16955887859198],[0.3659470068887424,-2.1478402971366783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6372333372208229,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5007.png","name":"5007"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5007.png","name":"5007"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6644.png","name":"6644"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8739.png","name":"8739"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9872.png","name":"9872"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3186.png","name":"3186"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":827.809720236955,"rotation_z_degrees":209.54507572157547,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014838272596152224,0.0063787991979856636,-0.000823633914139324]},{"name":"camera_2","offset_m":[0.010858910370755117,-0.007180649332960188,-0.01594239199067894]},{"name":"camera_3","offset_m":[0.005624148594247709,0.013306661239028867,0.016890951916538933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017238400168728201,0.00045436981628761784,0.0019799419680250766],"end_effector_yaw_offset_degrees":-0.7416238962219934},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001232893699727073,0.0006688673727894348,0.0016432898992732722],"end_effector_yaw_offset_degrees":0.4860568960818801},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013634923176846878,-0.001962633130639407,-0.0010659097879783573],"end_effector_yaw_offset_degrees":-0.08247619836383158},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008929074052226502,0.00018891272431124538,0.0014799759075382972],"end_effector_yaw_offset_degrees":-0.6021863383800194},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012073677343005342,0.0019907522080745473,0.0014567370376402404],"end_effector_yaw_offset_degrees":-0.6798719142528182},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009934226777024305,0.0019345368967187623,0.0018877870722989777],"end_effector_yaw_offset_degrees":0.11188243651182872}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007636372433957204,-0.003805919964691288],"position_m":[0.27526363724339575,0.07559408003530871,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001041135491802749,-0.0027130557571981018],"position_m":[0.21485886450819727,-0.3416130557571981,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0028899770314657993,-0.004995137318824032],"position_m":[0.2807100229685342,0.305604862681176,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003986928568730823,-0.0014454089533597102],"position_m":[0.22088692856873082,-0.12414540895335971,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9ea1333eb96890639374ecda6a3bd5d8cc2d2f6714d70918d85fba1689b928a2","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5007/tex_ceiling_textures_3186/tex_floor_textures_9872/tex_table_textures_6644/tex_wall_textures_8739","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7178682054947973408,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7178682054947973408,"visual_seed":7178682054947973408,"scene_id":"lab_003","finished_at":"2026-09-08T14:23:28"}
+{"episode_id":"ep_000025","started_at":"2026-09-08T14:23:34","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.13251493607733122,-2.133880468014204,0.71338606911949],"aabb_xy":[[-0.15019056666592953,-2.151560684293606],[-0.11483930548873288,-2.1162002517348006]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.47912910471980297,-0.9270533180513816,0.71338606911949],"aabb_xy":[[-0.5036753203425537,-0.9573022146004185],[-0.4545828890970523,-0.8968044215023444]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.5808651261726475,-1.6776762560196061,0.71338606911949],"aabb_xy":[[-0.5849810762847201,-1.6817918110524515],[-0.5767491760605747,-1.6735607009867604]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.6107738179917999,0.4416452251266043,0.71338606911949],"aabb_xy":[[0.6035125704213924,0.42885821486309494],[0.6180350655622073,0.4544322353901139]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[0.6780040886045053,0.00025794329248229886,0.71338606911949],"aabb_xy":[[0.6605040894701381,-0.009621683745105523],[0.6955040877388724,0.01013757033007012]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.09311128450897332,-1.436119759511409,0.71338606911949],"aabb_xy":[[0.05879500733435537,-1.4861197594845867],[0.12742756168359126,-1.3861197595382313]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.16647221492013486,-1.0819957569402785,0.71338606911949],"aabb_xy":[[-0.23647221755672118,-1.1021006219361438],[-0.09647221228354849,-1.0618908919444128]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.0756163637680296,-1.875064357311703,0.71338606911949],"aabb_xy":[[-0.11241099689293586,-1.911970232408285],[-0.03882173064312332,-1.8381584822151205]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.31530912636104524,0.6550233937052186,0.71338606911949],"aabb_xy":[[0.29744001860658975,0.6411904857280076],[0.33317823411550074,0.6688563016824295]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.2528734093047651,-2.057984694127527,0.71338606911949],"aabb_xy":[[-0.26988350659481575,-2.0741191826258008],[-0.23586331201471444,-2.041850205629253]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.06533230846421134,0.7994589409889872,0.71338606911949],"aabb_xy":[[0.015332309024015722,0.7494910165046709],[0.11533230790440696,0.8494268654733035]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.3082603873295804,-1.2819348518356664,0.71338606911949],"aabb_xy":[[0.30101662128333506,-1.3619348500392687],[0.3155041533758257,-1.201934853632064]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[0.026376622960731955,-1.1040018992472798,0.71338606911949],"aabb_xy":[[-0.023623377399834108,-1.1539818864568825],[0.076376623321298,-1.0540219120376766]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.5049478633694066,0.3002070645984203,0.71338606911949],"aabb_xy":[[-0.5205036327796719,0.28465663135401315],[-0.4893920939591414,0.31575749784282753]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.6085343611988007,-0.16979713456171242,0.71338606911949],"aabb_xy":[[-0.6725343576261226,-0.21696675838380886],[-0.5445343647714788,-0.12262751073961597]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.06073548699919007,-2.2053515056754778,0.71338606911949],"aabb_xy":[[0.0257354871031712,-2.213725741187418],[0.09573548689520894,-2.1969772701635377]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.1784486298869643,-2.1149924539738447,0.71338606911949],"aabb_xy":[[0.1608157942934367,-2.1326153999894673],[0.19608146548049185,-2.0973695079582213]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.5834173700549972,0.1903767832379355,0.71338606911949],"aabb_xy":[[-0.633410482164189,0.14037678256373987],[-0.5334242579458053,0.24037678391213116]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.5936531330501309,-1.8138015162952659,0.71338606911949],"aabb_xy":[[0.5561531329445378,-1.820623678148247],[0.6311531331557237,-1.8069793544422847]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[-0.5751832008543932,1.7280602650275196,0.71338606911949],"aabb_xy":[[-0.6601831992718166,1.6431859695652347],[-0.4901832024369701,1.8129345604898046]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.37754221357246454,1.6920857687324546,0.71338606911949],"aabb_xy":[[-0.4270226347864233,1.628085770819603],[-0.32806179235850574,1.7560857666453067]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.36278665097549473,-1.4371090257324335,0.71338606911949],"aabb_xy":[[-0.41778665059724057,-1.4920927185199062],[-0.3077866513537489,-1.3821253329449608]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.19453490418194663,1.5846169276772275,0.71338606911949],"aabb_xy":[[0.1345349025390248,1.5326167783852833],[0.2545349058248685,1.6366170769691717]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.5791699315245522,-2.3967992497947104,0.71338606911949],"aabb_xy":[[-0.5833057878572524,-2.4342992492390674],[-0.575034075191852,-2.3592992503503534]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[0.6630513547389254,1.6199134962930253,0.71338606911949],"aabb_xy":[[0.6217468116751893,1.555913496724908],[0.7043558978026613,1.6839134958611421]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6389776588662059,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9484.png","name":"9484"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9484.png","name":"9484"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5839.png","name":"5839"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3897.png","name":"3897"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1421.png","name":"1421"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.1129348166912,"rotation_z_degrees":338.5882275492598,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018549115335471048,0.002913262875844879,-0.004460719525439782]},{"name":"camera_2","offset_m":[-0.0036225234309250655,-0.004439532669485571,-0.009467574738725558]},{"name":"camera_3","offset_m":[0.01433334406868866,-0.018554344820122512,0.015912339522724934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003420949836683675,-0.0017429534466871712,-0.0007392062495699694],"end_effector_yaw_offset_degrees":0.7625728353834915},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010152129218283248,0.0008096269681710949,-8.29082498710618e-06],"end_effector_yaw_offset_degrees":0.9587840522774473},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010582775497903754,-0.0011466284286478254,-0.0013434730225335466],"end_effector_yaw_offset_degrees":-0.03912579755198964},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019175232658114436,-0.00012754713683159032,0.0014952981637590054],"end_effector_yaw_offset_degrees":-0.5137124488312104},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011105401139296215,-1.2653791284122917e-05,-0.0015870855292036757],"end_effector_yaw_offset_degrees":-0.808758107968014},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0009348187832551964,0.0019662834601096683,0.001755471916246879],"end_effector_yaw_offset_degrees":-0.8658112765688637}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004859958206468205,0.001663385299773992],"position_m":[0.2696400417935318,0.08106338529977399,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007747567727849815,-0.003106837778871283],"position_m":[0.216674756772785,-0.34200683777887125,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004332667770407494,0.00044234537507506066],"position_m":[0.2879326677704075,0.311042345375075,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030701891086618036,0.0009894988007657602],"position_m":[0.2199701891086618,-0.12171050119923424,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"33e267c5826c7cba127b2963d93b339eacf6a3491f8e756f61cca1b9f57cd0fe","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9484/tex_ceiling_textures_1421/tex_floor_textures_3897/tex_table_textures_377/tex_wall_textures_5839","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3233533035267763515,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3233533035267763515,"visual_seed":3233533035267763515,"scene_id":"lab_003","finished_at":"2026-09-08T14:31:33"}
+{"episode_id":"ep_000026","started_at":"2026-09-08T14:31:40","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[-0.35788721521725203,0.7085908761644855,0.71338606911949],"aabb_xy":[[-0.3947377631542397,0.6710908753414516],[-0.3210366672802645,0.7460908769875191]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.3533944099872039,-0.2840899974750202,0.71338606911949],"aabb_xy":[[-0.35936094892793974,-0.29005114213438415],[-0.34742787104646816,-0.2781288528156561]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.4764227819966427,-2.375106716779662,0.71338606911949],"aabb_xy":[[-0.5042678187772498,-2.4058912155179737],[-0.4485777452160356,-2.3443222180413503]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.6449677889098819,-2.285353293182596,0.71338606911949],"aabb_xy":[[0.6027833747490512,-2.349353293459808],[0.6871522030707127,-2.2213532929053854]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.6048872738072915,-2.129998843731095,0.71338606911949],"aabb_xy":[[-0.6398872730001096,-2.1409658897287573],[-0.5698872746144731,-2.1190317977334323]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.4454336038859783,-2.5296396093310722,0.71338606911949],"aabb_xy":[[0.40793360378038535,-2.5364617711840536],[0.48293360399157126,-2.522817447478091]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[0.4726253629636079,-2.3065761614968183,0.71338606911949],"aabb_xy":[[0.43512536144797614,-2.3178029345129634],[0.5101253644792396,-2.2953493884806733]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.45264864292640306,-1.3872670905670756,0.71338606911949],"aabb_xy":[[-0.477648642858921,-1.3941497587879992],[-0.4276486429938852,-1.3803844223461526]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.6220609300489536,-0.8997627203607079,0.71338606911949],"aabb_xy":[[-0.6367043356029866,-0.914421440017492],[-0.6074175244949206,-0.8851040007039236]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.4098513771150908,-1.2005541640858521,0.71338606911949],"aabb_xy":[[-0.44664601023999706,-1.2374600391824342],[-0.3730567439901845,-1.1636482889892696]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.6105292716931949,0.30351534946905634,0.71338606911949],"aabb_xy":[[0.5465292723990267,0.2395292091002021],[0.6745292709873631,0.3675014898379105]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.3096227026726406,-2.0167391558062886,0.71338606911949],"aabb_xy":[[0.30032908443548995,-2.0542391542944225],[0.3189163209097911,-1.9792391573181547]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.23913043851349552,1.6097763463806536,0.71338606911949],"aabb_xy":[[-0.24725812670680872,1.600862737969946],[-0.23100275032018228,1.6186899547913616]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.4164167183773382,0.4885012606242314,0.71338606911949],"aabb_xy":[[0.4063350112987647,0.4085012627321166],[0.42649842545591166,0.5685012585163459]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.26069907173583917,1.2958029435425757,0.71338606911949],"aabb_xy":[[0.19669906982349683,1.2398917942845658],[0.3246990736481815,1.3517140928005866]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[-0.09645436852073919,1.3881831911837055,0.71338606911949],"aabb_xy":[[-0.18614144482885464,1.298183190929255],[-0.006767292212623746,1.478183191438156]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.42050334390083144,1.7421938706770725,0.71338606911949],"aabb_xy":[[0.3705302783683159,1.6921938708645399],[0.4704764094333469,1.7921938704896057]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.4098819916786711,-0.10161822405539667,0.71338606911949],"aabb_xy":[[0.40183863175271595,-0.1866182251507631],[0.4179253516046263,-0.016618222960030238]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.2873193229058242,1.494743426186576,0.71338606911949],"aabb_xy":[[0.22231932190532366,1.4439570610319008],[0.3523193239063247,1.5455297913412507]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.5037678631048759,0.6806942460047671,0.71338606911949],"aabb_xy":[[0.4867577658148252,0.6645597575064932],[0.5207779603949265,0.6968287345030411]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.28922455408175524,1.1490724877962606,0.71338606911949],"aabb_xy":[[-0.3242245539777741,1.1406982522843203],[-0.25422455418573636,1.1574467233082004]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.6411394880525905,0.8678028109352853,0.71338606911949],"aabb_xy":[[0.5771394916570174,0.8038395225165519],[0.7051394844481635,0.931766099354019]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[-0.5612530602169049,-0.885977447833687,0.71338606911949],"aabb_xy":[[-0.5653690103289775,-0.8900930028665325],[-0.5571371101048321,-0.8818618928008414]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.13827106888917606,-0.8534111662717183,0.71338606911949],"aabb_xy":[[0.07827106838132313,-0.9102578999576396],[0.19827106939702896,-0.796564432585797]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[-0.389813825336534,1.0003909413813967,0.71338606911949],"aabb_xy":[[-0.4308317687229049,0.9503909407504394],[-0.34879588195016314,1.050390942012354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6418047107783025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6385.png","name":"6385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6385.png","name":"6385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7783.png","name":"7783"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7802.png","name":"7802"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/444.png","name":"444"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4043.png","name":"4043"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":531.7885157291136,"rotation_z_degrees":326.3573276352975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010663025483078332,-0.013508663611447761,-0.011661769135595175]},{"name":"camera_2","offset_m":[-0.013667080228701072,0.010894113896999756,0.017188499970012965]},{"name":"camera_3","offset_m":[0.006287621432210608,-0.019237109205381926,-0.01405446082323909]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009638026080812374,0.0012636272795893211,0.001744217439088812],"end_effector_yaw_offset_degrees":0.17254699729350564},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019631447404680072,0.0003506049120452939,0.0016384583143304139],"end_effector_yaw_offset_degrees":0.665997317630459},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014284814057583576,0.001970802401770804,-0.00172324322766047],"end_effector_yaw_offset_degrees":0.38845550029633036},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00074243387026949,-0.0011149894764061318,0.001688914446758462],"end_effector_yaw_offset_degrees":-0.7285588342160347},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0014077671894850105,0.0007055726435044357,-0.0012797607119783955],"end_effector_yaw_offset_degrees":0.508865212523528},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013369055624444458,-0.0014913587402406634,0.0011885057428426935],"end_effector_yaw_offset_degrees":0.7816716900439753}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003748009490512486,-0.003334884539439284],"position_m":[0.27075199050948756,0.07606511546056072,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004237150908549376,-0.002918592646408428],"position_m":[0.22013715090854938,-0.3418185926464084,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0011267354116442216,0.0040238579910958925],"position_m":[0.2847267354116442,0.3146238579910959,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001330577992303815,0.002678645355251679],"position_m":[0.21823057799230383,-0.12002135464474832,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b82987bba90bab402a230d344d3fc834ceebd5d800d24c00832a50f2bbba689a","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6385/tex_ceiling_textures_4043/tex_floor_textures_444/tex_table_textures_7783/tex_wall_textures_7802","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":6323111351429429421,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":6323111351429429421,"visual_seed":6323111351429429421,"scene_id":"lab_003","finished_at":"2026-09-08T14:39:41"}
+{"episode_id":"ep_000027","started_at":"2026-09-08T14:49:01","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.5462661530310857,0.7198797089178095,0.71338606911949],"aabb_xy":[[0.51126615390113,0.7141344878421453],[0.5812661521610413,0.7256249299934735]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.606033283751375,-1.5672391765346003,0.71338606911949],"aabb_xy":[[-0.6600488800332749,-1.6312391794268575],[-0.5520176874694749,-1.5032391736423432]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.48075377094829164,0.6477434461865341,0.71338606911949],"aabb_xy":[[0.4432537694326598,0.636516673170389],[0.5182537724639232,0.6589702192026791]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.2813879246978307,-0.3877428958455904,0.71338606911949],"aabb_xy":[[-0.3453836220929273,-0.45174289414629903],[-0.2173922273027341,-0.32374289754488167]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.534808647779583,-2.416168784796887,0.71338606911949],"aabb_xy":[[-0.5848086491404701,-2.4661466893723025],[-0.48480864641869575,-2.3661908802214713]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.2846828026004055,0.42794278793933493,0.71338606911949],"aabb_xy":[[-0.2881234788404627,0.42408135496497057],[-0.28124212636034834,0.4318042209136995]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.2035656932915968,1.6836858082689594,0.71338606911949],"aabb_xy":[[-0.2635656941524095,1.6322593782624726],[-0.14356569243078393,1.7351122382754454]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.22268249926117845,0.617929387276964,0.71338606911949],"aabb_xy":[[0.20953125328988909,0.5929293875202775],[0.2358337452324678,0.6429293870336505]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.18680397476691113,-2.0734366964191455,0.71338606911949],"aabb_xy":[[0.16552596662343885,-2.1384366987452186],[0.20808198291038335,-2.0084366940930725]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.21455276724992212,-1.4797000453004976,0.71338606911949],"aabb_xy":[[0.19003914315291623,-1.503964638602534],[0.23906639134692795,-1.4554354519984611]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.016732051333586462,-1.9688222093078411,0.71338606911949],"aabb_xy":[[0.012596195000886268,-2.006322208752198],[0.020867907666286656,-1.9313222098634841]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.16684943887444081,-0.2642747090331681,0.71338606911949],"aabb_xy":[[-0.17878217323626888,-0.27665686184102745],[-0.15491670451261275,-0.2518925562253087]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.25665170105120194,-1.1826349523975659,0.71338606911949],"aabb_xy":[[0.24377979755026183,-1.2626349528114018],[0.2695236045521421,-1.1026349519837295]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.6228005011262376,-1.4909918932964088,0.71338606911949],"aabb_xy":[[0.6147641664249527,-1.4990300126008254],[0.6308368358275224,-1.4829537739919918]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.4052979995629326,0.5478994927046932,0.71338606911949],"aabb_xy":[[-0.4692979966750383,0.49886712291028257],[-0.3412980024508269,0.5969318624991038]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.024785320477021977,0.541020212179705,0.71338606911949],"aabb_xy":[[-0.04506962320042073,0.520737587036996],[-0.004501017753623215,0.5613028373224137]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.2835341418535906,-1.9919663494095037,0.71338606911949],"aabb_xy":[[-0.33351837756176783,-2.0419663482229993],[-0.23354990614541338,-1.941966350596008]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[-0.6228761253812147,-0.6106561858565214,0.71338606911949],"aabb_xy":[[-0.6389380528397324,-0.6956561876691131],[-0.6068141979226971,-0.5256561840439294]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.0358534241869759,1.0647597333544745,0.71338606911949],"aabb_xy":[[-0.04414657628324005,1.0564490257401264],[0.11585342465719187,1.073070440968823]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[0.5018451215674891,-0.6994278652620809,0.71338606911949],"aabb_xy":[[0.45185028863954746,-0.7494278641573244],[0.5518399544954307,-0.6494278663668374]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.04741502808728104,1.205994957543175,0.71338606911949],"aabb_xy":[[-0.002584247081155122,1.1559949562672278],[0.0974143032557172,1.2559949588191222]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[0.13414229864617355,-0.7555813343067745,0.71338606911949],"aabb_xy":[[0.12237411185151603,-0.8405813342119962],[0.14591048544083107,-0.670581334401553]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.07872043177257648,-2.5197162906763553,0.71338606911949],"aabb_xy":[[-0.08956090999909137,-2.5369025719670035],[-0.06787995354606156,-2.502530009385706]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.16663476994739057,0.6971838737602472,0.71338606911949],"aabb_xy":[[-0.19292359426783123,0.6709124401055958],[-0.1403459456269499,0.7234553074148983]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[0.32819425784684775,-0.6538439065201453,0.71338606911949],"aabb_xy":[[0.3184382683376738,-0.6636064405793796],[0.3379502473560216,-0.6440813724609107]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[0.6354729699930441,0.5455067191445453,0.71338606911949],"aabb_xy":[[0.5981416934678015,0.510853664349693],[0.6728042465182867,0.5801597739393975]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6388753682358622,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2171.png","name":"2171"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2147.png","name":"2147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9014.png","name":"9014"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/43.png","name":"43"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":575.5560269752832,"rotation_z_degrees":217.8183875774512,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007371277419547004,-0.0026167294324313146,0.017321293932232144]},{"name":"camera_2","offset_m":[0.010707916864800816,-0.018439096378162344,-0.007770780329853278]},{"name":"camera_3","offset_m":[-0.0035896756874686103,0.00809881825329951,-0.01814524999516937]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001088600858345683,-0.0014136035451034186,-0.00019673045131698335],"end_effector_yaw_offset_degrees":0.8758356197961135},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00020891481906961003,-0.0011448245855616252,-0.0006429328385886225],"end_effector_yaw_offset_degrees":0.14103645077456428},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.1891712987961243e-06,0.00013931912291898418,0.00010620913469165183],"end_effector_yaw_offset_degrees":-0.3372196622257182},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0012161108000940009,0.0017635137099945878,0.0019200755002820495],"end_effector_yaw_offset_degrees":0.030739410776181364},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0015132659559014842,0.0019241694675312783,-0.0007628603341731028],"end_effector_yaw_offset_degrees":0.1547763418956638},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-7.825061059182534e-05,0.0017293403302702372,-0.000986305014359993],"end_effector_yaw_offset_degrees":0.740568036235786}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001678195307759036,0.004531945261109644],"position_m":[0.272821804692241,0.08393194526110964,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004693527824045181,0.003351970642613596],"position_m":[0.22059352782404518,-0.33554802935738637,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004980869068041045,-0.0046677986047900764],"position_m":[0.2885808690680411,0.30593220139520994,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00186135685770762,-0.00025937840968294143],"position_m":[0.21876135685770762,-0.12295937840968295,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0bbb323028c820ff390c819c25526f7549fea38add354efce9b288ab11b71a85","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3026/tex_ceiling_textures_43/tex_floor_textures_9014/tex_table_textures_2171/tex_wall_textures_2147","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3162011913527914298,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3162011913527914298,"visual_seed":3162011913527914298,"scene_id":"lab_003","finished_at":"2026-09-08T14:56:44"}
+{"episode_id":"ep_000028","started_at":"2026-09-08T15:13:12","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.614760367705949,-2.1879866366390583,0.71338606911949],"aabb_xy":[[0.5772603677621826,-2.196279726673895],[0.6522603676497154,-2.1796935466042218]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[0.6377607779898136,-0.3545939492287351,0.71338606911949],"aabb_xy":[[0.5527607795723903,-0.43946824469102014],[0.7227607764072368,-0.2697196537664502]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.2234658738575085,-2.465673801955923,0.71338606911949],"aabb_xy":[[-0.26096587435486673,-2.4696424855040413],[-0.18596587336015025,-2.4617051184078043]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.35309924043986934,0.9453018908339117,0.71338606911949],"aabb_xy":[[-0.3705299555188758,0.9280297761700607],[-0.3356685253608628,0.9625740054977623]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.15581113529588875,1.2773540423562335,0.71338606911949],"aabb_xy":[[0.11063981744771981,1.2133540452116953],[0.20098245314405777,1.3413540395007721]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.3525136956065441,0.05636725808670873,0.71338606911949],"aabb_xy":[[-0.3750136956166924,0.04227103844710545],[-0.3300136955963958,0.07046347772631201]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.35479019401490364,-0.6210224479647009,0.71338606911949],"aabb_xy":[[0.33229377258103954,-0.6435224477714482],[0.37728661544876774,-0.5985224481579533]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.2654893666708025,1.5853866586498984,0.71338606911949],"aabb_xy":[[-0.282166502663898,1.5686867346759679],[-0.24881223067770697,1.6020865826238284]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[0.42073332361447946,1.035714016868254,0.71338606911949],"aabb_xy":[[0.40886124060297835,0.9507140171746036],[0.43260540662598057,1.1207140165619043]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[0.107641745286425,1.580676348843848,0.71338606911949],"aabb_xy":[[0.0983481270492744,1.5431763503557139],[0.11693536352357556,1.6181763473319817]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.38713819545759887,-1.0381755762721179,0.71338606911949],"aabb_xy":[[-0.4371381968184861,-1.0881534808475333],[-0.33713819409671164,-0.9881976716967021]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.624382278234048,0.689383609802297,0.71338606911949],"aabb_xy":[[0.5603822768260573,0.6375946582783721],[0.6883822796420387,0.7411725613262216]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.2777210603304808,-1.413538136918474,0.71338606911949],"aabb_xy":[[-0.3227136470489312,-1.4585381361929228],[-0.23272847361203036,-1.3685381376440253]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.5008266021368251,-0.7001433767808072,0.71338606911949],"aabb_xy":[[0.4665296911190842,-0.7344402629907483],[0.5351235131545654,-0.6658464905708656]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.4271755601844372,-0.6036892799112379,0.71338606911949],"aabb_xy":[[-0.5071755634484503,-0.6172493122201512],[-0.347175556920424,-0.5901292476023245]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[0.5721712262214433,-1.5331727862034876,0.71338606911949],"aabb_xy":[[0.535376593096537,-1.5700786613000701],[0.6089658593463495,-1.4962669111069056]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.5441476113467143,-1.6738918423153746,0.71338606911949],"aabb_xy":[[0.5391915911618331,-1.6963918425174966],[0.5491036315315955,-1.6513918421132534]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.6424605046512524,0.4801178070531513,0.71338606911949],"aabb_xy":[[0.5624605013934093,0.4001212992611673],[0.7224605079090952,0.5601143148451353]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.04934838364409133,-1.2494767632267736,0.71338606911949],"aabb_xy":[[-0.08789407646929237,-1.2880225342829623],[-0.0108026908188903,-1.2109309921705849]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_19","position":[-0.5480198682055402,-1.3175072264903849,0.71338606911949],"aabb_xy":[[-0.6120198701178825,-1.3734183757483955],[-0.4840198662931978,-1.2615960772323747]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.4225704414573639,-0.0877056393102209,0.71338606911949],"aabb_xy":[[0.41711249582034376,-0.16770564261787999],[0.4280283870943839,-0.007705636002561772]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.0007036300002173368,1.3854053409357996,0.71338606911949],"aabb_xy":[[-0.054296368201527494,1.344883374309362],[0.05570362820196217,1.4259273075622372]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.3686302670875634,1.4192151459244005,0.71338606911949],"aabb_xy":[[0.31363478926690397,1.3642151444904933],[0.42362574490822275,1.4742151473583072]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.3702280499488863,1.4055455682928324,0.71338606911949],"aabb_xy":[[-0.40481913280293147,1.3405455680078011],[-0.33563696709484103,1.4705455685778632]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.6300365340510934,-1.0919304676167638,0.71338606911949],"aabb_xy":[[-0.6452087033327268,-1.1070993245449672],[-0.6148643647694602,-1.0767616106885605]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.20709517724232235,-1.115238122672179,0.71338606911949],"aabb_xy":[[-0.21530972235800627,-1.12391471296982],[-0.1988806321266383,-1.1065615323745372]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[-0.2505464040709603,0.8666927041214407,0.71338606911949],"aabb_xy":[[-0.29273081823179103,0.8026927038442295],[-0.20836198991012955,0.9306927043986519]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[0.38196188179243373,-1.3912624399950775,0.71338606911949],"aabb_xy":[[0.34492777236437394,-1.4256396473287867],[0.4189959912204934,-1.3568852326613678]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[-0.23577147115703384,-0.29868457202942444,0.71338606911949],"aabb_xy":[[-0.2534043067505614,-0.31630751804504736],[-0.2181386355635063,-0.2810616260138014]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_29","position":[0.5973110582637875,0.20204010567553876,0.71338606911949],"aabb_xy":[[0.5629947810891696,0.152040105702361],[0.6316273354384054,0.2520401056487165]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[-0.44705944385576263,0.5794497790367501,0.71338606911949],"aabb_xy":[[-0.4969421407334589,0.5294497797904754],[-0.3971767469780665,0.6294497782830248]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_31","position":[0.3727224027660909,-2.2985599659286526,0.71338606911949],"aabb_xy":[[0.30872240417951846,-2.345566929328162],[0.4367224013526634,-2.2515530025291444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6377860965782206,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8486.png","name":"8486"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8486.png","name":"8486"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5008.png","name":"5008"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5735.png","name":"5735"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2522.png","name":"2522"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/772.png","name":"772"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":788.5148755090643,"rotation_z_degrees":356.1675250096455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004565277457088674,-0.016720293529552226,-0.018416877048303894]},{"name":"camera_2","offset_m":[0.004300596436515099,-0.018914908766786868,-0.0037003276188770466]},{"name":"camera_3","offset_m":[-0.01829570998625568,0.009282573783076582,-0.0010183875068022347]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00023952325872150272,-0.0016347242267378405,0.0010881211332040524],"end_effector_yaw_offset_degrees":0.180459072792867},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007762628349021453,-0.00046421069460106834,0.0008653235343327975],"end_effector_yaw_offset_degrees":0.7691537153714818},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010333676875196236,-3.3050371793708413e-05,-0.001964435882292401],"end_effector_yaw_offset_degrees":0.5335613592140824},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001118498745051709,0.00010017525085503215,-0.0015114260638231759],"end_effector_yaw_offset_degrees":-0.3813207865024961},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-7.667138335057193e-05,0.0018084010953970963,-0.00041229591506906785],"end_effector_yaw_offset_degrees":0.09395914327266763},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0010824404114065831,0.0007059923262968523,-0.000197298377575204],"end_effector_yaw_offset_degrees":-0.8509321914097896}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038138768829547474,0.003347596886340073],"position_m":[0.2783138768829548,0.08274759688634008,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015208301663467883,-0.004494931155464892],"position_m":[0.2143791698336532,-0.3433949311554649,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004961510619798603,-0.0036667600284924443],"position_m":[0.2786384893802014,0.30693323997150757,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000141260463207454,-0.0018354794559739774],"position_m":[0.21675873953679256,-0.12453547945597399,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7fd567aa27ce038014d00c3d389e7aecf558e743066420a8bc747828c3200bcc","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8486/tex_ceiling_textures_772/tex_floor_textures_2522/tex_table_textures_5008/tex_wall_textures_5735","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3956707665986420054,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3956707665986420054,"visual_seed":3956707665986420054,"scene_id":"lab_003","finished_at":"2026-09-08T15:20:47"}
+{"episode_id":"ep_000029","started_at":"2026-09-08T15:20:54","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.29146670606486835,-0.5245746129897357,0.71338606911949],"aabb_xy":[[0.2114667091018292,-0.6016502546335091],[0.3714667030279075,-0.44749897134596217]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.1153246222629235,-1.8172523562190472,0.71338606911949],"aabb_xy":[[-0.16031720898137392,-1.862252355493496],[-0.07033203554447309,-1.7722523569445985]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.37799670621719794,-0.33037745125870943,0.71338606911949],"aabb_xy":[[-0.4429967088549915,-0.3818570499581564],[-0.3129967035794045,-0.27889785255926247]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.14409338565589858,-1.456543831813679,0.71338606911949],"aabb_xy":[[-0.15486635957726635,-1.491543830032718],[-0.1333204117345308,-1.42154383359464]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.28901932264433844,-0.6715984798387831,0.71338606911949],"aabb_xy":[[-0.3140193221960769,-0.6817409637039178],[-0.26401932309259996,-0.6614559959736483]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.6974064308004815,-1.9052712321661538,0.71338606911949],"aabb_xy":[[0.6897032401264045,-1.912980602864892],[0.7051096214745585,-1.8975618614674157]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[0.34368770312546415,1.5721720490266535,0.71338606911949],"aabb_xy":[[0.2836877025294479,1.51735957648143],[0.4036877037214803,1.626984521571877]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.4828132282628388,0.6162510101211005,0.71338606911949],"aabb_xy":[[0.43764191041466993,0.5522510129765622],[0.5279845461110079,0.680251007265639]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.13486254925408303,-2.004384590082693,0.71338606911949],"aabb_xy":[[0.07086254784609235,-2.056173541606617],[0.19886255066207367,-1.952595638558768]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.5344114012297931,-1.5200006550991234,0.71338606911949],"aabb_xy":[[0.5152990938718142,-1.5391354339763654],[0.5535237085877719,-1.5008658762218814]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.28489267013803476,-2.0751480308048684,0.71338606911949],"aabb_xy":[[0.27763142256762735,-2.087935041068378],[0.2921539177084422,-2.062361020541359]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.4083243045557044,-0.1307935123278421,0.71338606911949],"aabb_xy":[[-0.4229677101097373,-0.14545223198462634],[-0.39368089900167136,-0.11613479267105778]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.587741147355371,0.1864003530430165,0.71338606911949],"aabb_xy":[[-0.6527411483558715,0.13561398788834153],[-0.5227411463548705,0.2371867181976914]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.006249687308689689,0.48996197384105633,0.71338606911949],"aabb_xy":[[-0.009952948637828554,0.4862599555323385],[-0.002546425979550819,0.4936639921497742]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.5056835699194265,-2.142492972478249,0.71338606911949],"aabb_xy":[[-0.5656835715623484,-2.194493121770193],[-0.4456835682765047,-2.0904928231863047]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.0344283627075217,-2.1162930826933675,0.71338606911949],"aabb_xy":[[-0.0714624721355814,-2.150670290027077],[0.002605746720538024,-2.081915875359658]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.662932348963239,-1.4171331169052284,0.71338606911949],"aabb_xy":[[0.6329647920534133,-1.447133117203114],[0.6928999058730646,-1.3871331166073426]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.09562697017075295,-0.7264548455084112,0.71338606911949],"aabb_xy":[[-0.11812339160461703,-0.7489548453151585],[-0.07313054873688883,-0.7039548457016637]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.10481785755297524,-1.3100630962582274,0.71338606911949],"aabb_xy":[[-0.16881785946531758,-1.365974245516238],[-0.040817855640632894,-1.2541519470002171]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[0.23767588171111198,-0.7021987216689174,0.71338606911949],"aabb_xy":[[0.23376200851568946,-0.7109477370754741],[0.2415897549065345,-0.6934497062623605]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.10170048073942817,0.5055647769241376,0.71338606911949],"aabb_xy":[[-0.13920048055646173,0.5009265656129958],[-0.06420048092239461,0.5102029882352794]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[0.5512266409295965,0.42264620862304625,0.71338606911949],"aabb_xy":[[0.5012266422836753,0.37272666496358386],[0.6012266395755177,0.47256575228250863]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.47981334722233826,-1.3114420982194548,0.71338606911949],"aabb_xy":[[0.445222264368293,-1.3764420985044856],[0.5144044300763834,-1.2464420979344235]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[0.05844298843827911,0.6783223485957932,0.71338606911949],"aabb_xy":[[0.008442987077391896,0.6283444440203775],[0.10844298979916633,0.7283002531712087]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.6081878024216759,-1.0738834513994793,0.71338606911949],"aabb_xy":[[-0.6531878038879048,-1.11888330826096],[-0.5631878009554471,-1.0288835945379986]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[0.013167547322946449,-2.292588481158626,0.71338606911949],"aabb_xy":[[-0.009346144500510746,-2.3625884817596337],[0.03568123914640364,-2.2225884805576186]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_26","position":[-0.6533492165053859,0.7674378920485205,0.71338606911949],"aabb_xy":[[-0.6833408792392562,0.73743789271172],[-0.6233575537715156,0.7974378913853211]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.3097060778700072,-1.4756706317335162,0.71338606911949],"aabb_xy":[[-0.3178197325433843,-1.483776448187545],[-0.3015924231966301,-1.467564815279487]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_28","position":[0.1369678421006787,1.1376067477204717,0.71338606911949],"aabb_xy":[[0.11313162446007366,1.0476067469119854],[0.16080405974128378,1.2276067485289583]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[0.29416998320121845,-1.5305337358858202,0.71338606911949],"aabb_xy":[[0.2637718721020748,-1.5609406378874895],[0.324568094300362,-1.5001268338841505]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[-0.18168260726445218,-1.059430646205148,0.71338606911949],"aabb_xy":[[-0.27168261094137025,-1.1208630527822518],[-0.09168260358753395,-0.9979982396280431]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_31","position":[0.41180615459717873,-0.36295476924139614,0.71338606911949],"aabb_xy":[[0.3318061575829308,-0.3830893209148074],[0.49180615161142677,-0.34282021756798486]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_32","position":[-0.5689143074124919,-1.3807457740545341,0.71338606911949],"aabb_xy":[[-0.5924994308763869,-1.445745776299966],[-0.5453291839485972,-1.3157457718091023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6362312381424308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7464.png","name":"7464"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7464.png","name":"7464"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2228.png","name":"2228"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1763.png","name":"1763"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1190.png","name":"1190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8074.png","name":"8074"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":565.4131116028509,"rotation_z_degrees":222.8839060648724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009466341503916974,-0.0010385814969431847,0.000346608198881479]},{"name":"camera_2","offset_m":[0.0030501591825059064,-0.011112010536227715,-0.008313070562249805]},{"name":"camera_3","offset_m":[-0.018470181924154387,0.008212717962447994,0.014676096010188582]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001754136349091713,-0.0002425645984770223,-0.0008248341880297198],"end_effector_yaw_offset_degrees":-0.955230517228703},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001230531613319211,-0.0017698272742903151,0.0016026894916406761],"end_effector_yaw_offset_degrees":-0.31838384456815283},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008823372370257516,-0.0009174868862640816,-0.00026837260426887475],"end_effector_yaw_offset_degrees":-0.14891401845982433},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00023367979756480986,-0.001288482076425428,0.00035584599282793275],"end_effector_yaw_offset_degrees":-0.5660073631100317},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015572581556913198,-0.00022037095808125247,-0.0005436616528279345],"end_effector_yaw_offset_degrees":0.31464202731958846},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013590535771105488,0.0006910834520015663,-0.0006710928463661125],"end_effector_yaw_offset_degrees":0.548600797178634}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003276576192646639,0.003578025739360659],"position_m":[0.2777765761926467,0.08297802573936065,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047726642193748545,0.00015680137318361057],"position_m":[0.21112733578062515,-0.33874319862681634,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0039963380943881755,-0.004207277881377185],"position_m":[0.28759633809438817,0.3063927221186228,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004549068786820456,0.0021618668408243122],"position_m":[0.21235093121317955,-0.12053813315917569,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"46c3b9ab06cade58f1ff6d7b5280ea1123681845ac0dbff2f82e6c5a64c08e73","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7464/tex_ceiling_textures_8074/tex_floor_textures_1190/tex_table_textures_2228/tex_wall_textures_1763","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":2800746753736579258,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":2800746753736579258,"visual_seed":2800746753736579258,"scene_id":"lab_003","finished_at":"2026-09-08T15:29:14"}
+{"episode_id":"ep_000030","started_at":"2026-09-08T15:29:21","dimensions":{"distractor":{"count":31,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.46055554426068457,-2.1818183929531356,0.71338606911949],"aabb_xy":[[0.4246420398356949,-2.2177319011698904],[0.49646904868567426,-2.145904884736381]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.6660393668639755,0.49098505733840936,0.71338606911949],"aabb_xy":[[-0.6713718815185885,0.4856607290931738],[-0.6607068522093624,0.496309385583645]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.41472746714086495,-2.0978771350914243,0.71338606911949],"aabb_xy":[[0.4043159084603812,-2.103222868427322],[0.4251390258213486,-2.0925314017555254]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.48063121078697874,-0.9633150895339924,0.71338606911949],"aabb_xy":[[-0.49004868535684154,-0.9727312666717114],[-0.47121373621711604,-0.9538989123962733]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.24938258821118353,-2.017547358130188,0.71338606911949],"aabb_xy":[[0.21188258702639068,-2.021965580826248],[0.2868825893959762,-2.013129135434127]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.6409746734137369,1.7634855330079167,0.71338606911949],"aabb_xy":[[0.5793839141897442,1.6994855348988698],[0.7025654326377299,1.8274855311169635]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[0.3643158082935132,-2.477047948074407,0.71338606911949],"aabb_xy":[[0.2843158096366272,-2.49155280699867],[0.44431580695039924,-2.4625430891501443]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.4817248316403582,0.5498576819328127,0.71338606911949],"aabb_xy":[[0.39172483304588834,0.5336070956193918],[0.5717248302348282,0.5661082682462338]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.2647719844255709,1.0902698237707358,0.71338606911949],"aabb_xy":[[0.23428773429854077,1.0402698239892398],[0.2952562345526011,1.1402698235522317]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.13829114230045048,0.5911696578451968,0.71338606911949],"aabb_xy":[[0.12161400630735494,0.5744697338712665],[0.15496827829354595,0.6078695818191271]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.4222034697018581,1.2320912131397592,0.71338606911949],"aabb_xy":[[-0.4314970879390087,1.1945912146516253],[-0.41290985146470754,1.2695912116278931]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[-0.5381556957220897,-2.463943888712824,0.71338606911949],"aabb_xy":[[-0.5506230538318253,-2.476409213346148],[-0.525688337612354,-2.451478564079501]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.5836520966792499,1.6166574163990126,0.71338606911949],"aabb_xy":[[-0.6179683738538677,1.566657416425835],[-0.5493358195046318,1.6666574163721903]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.3616284635676046,-0.9194136385629887,0.71338606911949],"aabb_xy":[[0.35771459037218206,-0.9281626539695454],[0.3655423367630271,-0.9106646231564318]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.13362759885802078,-2.4333112432715973,0.71338606911949],"aabb_xy":[[-0.1836275998085536,-2.4648603902751187],[-0.08362759790748797,-2.401762096268076]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[-0.5892214756381942,-0.5220876277275797,0.71338606911949],"aabb_xy":[[-0.6592214777696237,-0.5448495933532752],[-0.5192214735067646,-0.4993256621018839]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.21417654012541054,1.4207986276677578,0.71338606911949],"aabb_xy":[[0.20102529415412124,1.3957986279110712],[0.22732778609669996,1.4457986274244443]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.6020754210831127,-0.01806225891783564,0.71338606911949],"aabb_xy":[[0.5380754196751221,-0.06985121044176033],[0.6660754224911034,0.033726692606089057]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.215334637043247,-1.398748639906582,0.71338606911949],"aabb_xy":[[-0.2793346377467164,-1.4447670223795033],[-0.15133463633977767,-1.3527302574336613]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.48617018230582887,-0.6733202524005706,0.71338606911949],"aabb_xy":[[0.43617018286563325,-0.7232881768848868],[0.5361701817460245,-0.6233523279162542]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.05378226281283904,-0.7651572971357206,0.71338606911949],"aabb_xy":[[0.03131749284143391,-0.7876572980145811],[0.07624703278424415,-0.7426572962568601]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.2445286235026446,-1.5480675380554383,0.71338606911949],"aabb_xy":[[0.18952862432605508,-1.6030572128303957],[0.2995286226792341,-1.4930778632804804]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.10184894872751193,1.5117521838697896,0.71338606911949],"aabb_xy":[[-0.1132106833807981,1.5003837174635013],[-0.09048721407422577,1.5231206502760775]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[-0.4182206050493848,-2.085803252382222,0.71338606911949],"aabb_xy":[[-0.4982206061225052,-2.095581298719606],[-0.3382206039762645,-2.076025206044837]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.028533072925047143,-2.0592931313672502,0.71338606911949],"aabb_xy":[[-0.03977812849566498,-2.0705349290913455],[-0.017288017354429308,-2.048051333643155]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[-0.04545664091150936,1.315121444642922,0.71338606911949],"aabb_xy":[[-0.06929285855211442,1.2251214438344358],[-0.021620423270904295,1.4051214454514087]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_26","position":[-0.4452967491063995,-1.4696616757113323,0.71338606911949],"aabb_xy":[[-0.4821472970433871,-1.507161676534366],[-0.4084462011694119,-1.4321616748882986]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[0.226973010171455,-0.5136742539823262,0.71338606911949],"aabb_xy":[[0.21437031103437856,-0.5262696502071917],[0.23957570930853148,-0.5010788577574607]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_28","position":[0.6200894484406725,0.7321170014564862,0.71338606911949],"aabb_xy":[[0.608520467693736,0.7071170013395545],[0.6316584291876092,0.7571170015734179]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_29","position":[-0.07085133816428002,-1.6563477956783461,0.71338606911949],"aabb_xy":[[-0.10648049406423976,-1.691980462435199],[-0.03522218226432028,-1.6207151289214932]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_30","position":[-0.5353764015566305,0.26636916613688655,0.71338606911949],"aabb_xy":[[-0.5853764028404703,0.2163903117462644],[-0.48537640027279044,0.3163480205275086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6343013428882893,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4568.png","name":"4568"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4568.png","name":"4568"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3695.png","name":"3695"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5842.png","name":"5842"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5472.png","name":"5472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4730.png","name":"4730"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":687.1540102509405,"rotation_z_degrees":341.48113278051335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019534494603984313,-0.012857932807804527,-0.01933731232621886]},{"name":"camera_2","offset_m":[0.0002688496021370189,0.007053980495922509,0.017879120540204126]},{"name":"camera_3","offset_m":[-0.017407882245977356,-0.01234523723672281,-0.016511943803773285]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007505491391353761,0.0005206617080104514,-0.001123054304381432],"end_effector_yaw_offset_degrees":-0.5085566400316017},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001821609379251893,-0.0016874626030570822,0.00041175061422967646],"end_effector_yaw_offset_degrees":-0.8293032675604992},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016631161987631527,0.0011936502320336342,0.00030517049776754117],"end_effector_yaw_offset_degrees":-0.9211102677023919},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[9.258276810827481e-05,0.000855732661151918,-0.001812638233346772],"end_effector_yaw_offset_degrees":-0.39315755611699044},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001580612199398276,0.0011154308011713516,0.0007659288440266441],"end_effector_yaw_offset_degrees":0.8340995446540576},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001553196865308048,0.000210427196819444,0.0007291028333381269],"end_effector_yaw_offset_degrees":0.19936289950668518}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015970729535023133,-0.0045290877759606675],"position_m":[0.27609707295350233,0.07487091222403933,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004467357991651118,-0.0026343315677893153],"position_m":[0.21143264200834888,-0.3415343315677893,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003365821143213289,-0.0023398533306868688],"position_m":[0.28023417885678675,0.3082601466693131,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004997049127867756,0.00016558858835321894],"position_m":[0.21190295087213226,-0.12253441141164678,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"73b6d4151df04ec1f49ac7fad5be803a3e1bb426563279b1becd70df3d1598a6","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4568/tex_ceiling_textures_4730/tex_floor_textures_5472/tex_table_textures_3695/tex_wall_textures_5842","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":2527020447806200600,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":2527020447806200600,"visual_seed":2527020447806200600,"scene_id":"lab_003","finished_at":"2026-09-08T15:37:01"}
+{"episode_id":"ep_000031","started_at":"2026-09-08T15:37:08","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.1938843178245604,-1.6564071767947222,0.71338606911949],"aabb_xy":[[0.12388431569313085,-1.6791691424204176],[0.26388431995598993,-1.6336452111690263]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.28642089775189683,-1.3198900464279972,0.71338606911949],"aabb_xy":[[0.2758534180937978,-1.3304350765410058],[0.29698837740999584,-1.3093450163149887]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.6071649566952477,-0.5881858957662034,0.71338606911949],"aabb_xy":[[0.5846649566850994,-0.6022821154058067],[0.629664956705396,-0.5740896761266001]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.6274186160690354,-1.2955566604218343,0.71338606911949],"aabb_xy":[[-0.6361998432162718,-1.3043364077103645],[-0.6186373889217992,-1.2867769131333044]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.17115174052039828,-0.7380896424886718,0.71338606911949],"aabb_xy":[[-0.18200334676927388,-0.7489489332163229],[-0.16030013427152268,-0.7272303517610209]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.44330350862064316,-1.363382893898591,0.71338606911949],"aabb_xy":[[0.42587279354163654,-1.3806550085624414],[0.46073422369964956,-1.3461107792347398]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.6552337024873782,-0.8317071086278742,0.71338606911949],"aabb_xy":[[0.6202337033574226,-0.8374523297035383],[0.6902337016173339,-0.8259618875522101]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.3313313908600791,-2.2145966337702534,0.71338606911949],"aabb_xy":[[-0.3599807232204953,-2.243242193047329],[-0.30268205849966284,-2.1859510744931776]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.0001489947275180592,-2.1574645369872627,0.71338606911949],"aabb_xy":[[-0.034313352670623735,-2.191958419385085],[0.034611342125659854,-2.1229706545894396]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[0.3764499653620015,-2.127424080434107,0.71338606911949],"aabb_xy":[[0.3589499660839146,-2.144762180500453],[0.39394996464008836,-2.110085980367761]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.6285261289225923,-1.4177638381212156,0.71338606911949],"aabb_xy":[[0.5735524068862595,-1.4727638376854488],[0.6834998509589253,-1.3627638385569825]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.40620954651233077,-1.0578962543280384,0.71338606911949],"aabb_xy":[[0.3262095460421149,-1.0662069619423868],[0.4862095469825468,-1.0495855467136899]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.24711634614098943,-2.3969728039045677,0.71338606911949],"aabb_xy":[[0.22932283920607296,-2.4147725495003654],[0.26490985307590587,-2.37917305830877]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.5508081980428594,1.6028187295978884,0.71338606911949],"aabb_xy":[[0.5080414911634392,1.538818726176086],[0.5935749049222796,1.6668187330196909]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[-0.3460783062771325,0.5590784576579586,0.71338606911949],"aabb_xy":[[-0.3806693891311777,0.4940784573729276],[-0.31148722342308727,0.6240784579429897]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.45789949020744425,-0.984246291084752,0.71338606911949],"aabb_xy":[[0.3778994891343239,-0.9940243374221366],[0.5378994912805646,-0.9744682447473677]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.584414191754267,0.8609482238549484,0.71338606911949],"aabb_xy":[[-0.62191419185986,0.8541260620019672],[-0.546914191648674,0.8677703857079294]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.16237493103273937,-0.3279705892858602,0.71338606911949],"aabb_xy":[[-0.18488862285619653,-0.3979705898868677],[-0.13986123920928215,-0.2579705886848526]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.38390970434044003,0.40333867166648796,0.71338606911949],"aabb_xy":[[-0.4479097014525457,0.35430630187207734],[-0.31990970722833434,0.45237104146089857]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.3204253585863118,0.9021877839150121,0.71338606911949],"aabb_xy":[[-0.39042536039505726,0.8808340151508247],[-0.2504253567775664,0.9235415526791995]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.05271962432849897,-1.3991473709085587,0.71338606911949],"aabb_xy":[[-0.06963035676484074,-1.4126195765011729],[-0.035808891892157184,-1.3856751653159436]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6396827080709072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6092.png","name":"6092"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6092.png","name":"6092"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2415.png","name":"2415"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3910.png","name":"3910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8860.png","name":"8860"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":828.5755162213948,"rotation_z_degrees":232.66052326887808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010360467470640976,0.010176954245685318,0.007826474895473421]},{"name":"camera_2","offset_m":[-0.0010669203061600095,0.0167779413806708,0.00998591266188487]},{"name":"camera_3","offset_m":[0.01106552865646368,0.007263845488202875,0.006481865452855208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006838000804108813,0.0017216131921046996,-0.0012923095374695907],"end_effector_yaw_offset_degrees":-0.027273178352448912},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00025218469567167296,-0.0017988031123584904,-0.0019500418666683844],"end_effector_yaw_offset_degrees":-0.6946428818635464},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004306796943784584,-0.0019735705661338685,0.0014314044608193062],"end_effector_yaw_offset_degrees":-0.26879253596681774},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015518926093836265,0.00031714444620513415,-0.0010452576074901042],"end_effector_yaw_offset_degrees":-0.11909630044463149},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007597475515308759,-0.0002855232073629686,0.0014810678791003541],"end_effector_yaw_offset_degrees":0.8272153666163431},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018844183912694835,-3.439861563506305e-05,-0.0015744697056421506],"end_effector_yaw_offset_degrees":0.8381773529575847}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018199082505095223,-0.0020775822141573686],"position_m":[0.2726800917494905,0.07732241778584263,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010755643655310414,0.002486420488538338],"position_m":[0.21482443563446896,-0.33641357951146167,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004507384296159752,0.001986152321792359],"position_m":[0.2881073842961598,0.3125861523217923,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003173188238616852,0.001507823359338036],"position_m":[0.21372681176138317,-0.12119217664066197,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f62edafe89e136c6cd2b0b853ea721711f1686cc9d3bbb8b4ddbc1fe93eef90e","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6092/tex_ceiling_textures_8860/tex_floor_textures_5891/tex_table_textures_2415/tex_wall_textures_3910","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7850098911364441483,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7850098911364441483,"visual_seed":7850098911364441483,"scene_id":"lab_003","finished_at":"2026-09-08T15:44:53"}
+{"episode_id":"ep_000032","started_at":"2026-09-08T15:54:19","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.29358284034745785,0.9227539450863831,0.71338606911949],"aabb_xy":[[-0.3091386097577231,0.907203511841976],[-0.2780270709371926,0.9383043783307904]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.5292616030644024,0.6787642969584744,0.71338606911949],"aabb_xy":[[0.44426160437232776,0.6467784335635955],[0.614261601756477,0.7107501603533533]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.4250270479712899,-1.6783854266859533,0.71338606911949],"aabb_xy":[[0.3875270471792944,-1.684753267644143],[0.4625270487632853,-1.6720175857277626]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.13318008682516802,-0.5633375883222458,0.71338606911949],"aabb_xy":[[0.12708545893704973,-0.5719069828739146],[0.13927471471328637,-0.5547681937705772]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.5016382932080896,1.273805624004701,0.71338606911949],"aabb_xy":[[-0.5122057728661886,1.2632605938916925],[-0.4910708135499906,1.2843506541177097]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.22743147549635095,-1.7831780825149577,0.71338606911949],"aabb_xy":[[-0.2390004562432875,-1.8081780826318894],[-0.21586249474941435,-1.758178082398026]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.28074037229708704,1.6209382641370405,0.71338606911949],"aabb_xy":[[-0.29837320789061456,1.6033153181214175],[-0.2631075367035594,1.6385612101526634]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.5029715471424558,-1.2566935379694926,0.71338606911949],"aabb_xy":[[-0.5279715464144181,-1.273038901565655],[-0.4779715478704936,-1.2403481743733302]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.2866983306115633,0.6237889290117726,0.71338606911949],"aabb_xy":[[-0.34669833111941617,0.5669421953258512],[-0.22669833010371035,0.6806356626976938]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.47486448368924283,1.0642355364055778,0.71338606911949],"aabb_xy":[[-0.4836665389982156,1.0564242102506485],[-0.4660624283802702,1.0720468625605066]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.3925204787259341,-0.34527351116360894,0.71338606911949],"aabb_xy":[[-0.4337692897558488,-0.40027351067582634],[-0.3512716676960193,-0.2902735116513914]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.000499933132378283,1.5648954440976843,0.71338606911949],"aabb_xy":[[-0.0544737889039546,1.509895444533451],[0.05547365516871117,1.6198954436619173]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.0693820812216005,-1.3089087268524353,0.71338606911949],"aabb_xy":[[-0.08282860785564383,-1.3223785785055264],[-0.05593555458755717,-1.2954388751993438]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.6503361861821175,-0.620471358284713,0.71338606911949],"aabb_xy":[[0.6422225315087404,-0.6285771747387421],[0.6584498408554946,-0.6123655418306839]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[0.18689689498433593,-1.245508974849041,0.71338606911949],"aabb_xy":[[0.12290119758923929,-1.30950897314975],[0.25089259237943246,-1.1815089765483326]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.09835296941574334,0.5017568148234997,0.71338606911949],"aabb_xy":[[-0.1219380928796382,0.43675681257806787],[-0.07476784595184849,0.5667568170689314]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.6419938586108108,-1.678705011152681,0.71338606911949],"aabb_xy":[[-0.6473263732654237,-1.6840293393979164],[-0.6366613439561979,-1.6733806829074453]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.34022067607934203,-2.430719272067917,0.71338606911949],"aabb_xy":[[0.27622067877699563,-2.4750856990357737],[0.40422067338168843,-2.38635284510006]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.13583504955812986,1.5531095535369706,0.71338606911949],"aabb_xy":[[0.11337027958672474,1.5306095526581098],[0.15829981952953498,1.5756095544158308]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.06875402379323581,1.1749424606958971,0.71338606911949],"aabb_xy":[[-0.0012459778090436746,1.1615096674942398],[0.1387540253955153,1.188375253897555]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.17960678457115753,-1.0185600473162848,0.71338606911949],"aabb_xy":[[-0.2295855930814734,-1.0685600473220036],[-0.12962797606084162,-0.968560047310566]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.33135739504701145,1.702279080335313,0.71338606911949],"aabb_xy":[[0.2938573966236111,1.6891148663674822],[0.3688573934704118,1.7154432943031437]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[0.2280860810442804,-1.9622610972839323,0.71338606911949],"aabb_xy":[[0.17808607938278564,-2.0122595395396345],[0.2780860827057752,-1.9122626550282293]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[-0.588523381630086,-0.3853928966658038,0.71338606911949],"aabb_xy":[[-0.6260233819783136,-0.3971842922468873],[-0.5510233812818581,-0.3736015010847202]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.666101968795439,1.723709101196826,0.71338606911949],"aabb_xy":[[-0.6702378251281393,1.6862091017524687],[-0.661966112462739,1.7612091006411827]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.20123222435383126,-0.10456765909497623,0.71338606911949],"aabb_xy":[[-0.21208383060270683,-0.11542694982262725],[-0.19038061810495563,-0.09370836836732521]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[0.2583702352398094,0.8987556754227977,0.71338606911949],"aabb_xy":[[0.2361977082631585,0.8765800082666744],[0.2805427622164602,0.9209313425789207]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[0.1699207508154198,-2.340311223621121,0.71338606911949],"aabb_xy":[[0.1399531939055941,-2.370311223919007],[0.19988830772524543,-2.310311223323235]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[-0.4469969471702905,0.32553734701459014,0.71338606911949],"aabb_xy":[[-0.5109969495130919,0.2805964957704576],[-0.3829969448274889,0.3704781982587226]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_29","position":[0.3323378369123513,-0.42722924802600026,0.71338606911949],"aabb_xy":[[0.3134534531438411,-0.44611517280635304],[0.3512222206808615,-0.4083433232456475]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6387019169350454,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9159.png","name":"9159"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9159.png","name":"9159"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2544.png","name":"2544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3251.png","name":"3251"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7224.png","name":"7224"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":823.2554687128797,"rotation_z_degrees":237.21313415870435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017594147315031627,0.010749074031419354,0.010448330915452372]},{"name":"camera_2","offset_m":[0.017111391703046718,-0.00857842313792434,-0.016806577169206856]},{"name":"camera_3","offset_m":[0.015016824849977312,0.002225230785473653,-0.008256679324722157]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012190796132594932,0.0005807679350981858,1.3406869159277631e-05],"end_effector_yaw_offset_degrees":-0.44813676147815684},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005589730943034298,-0.0018396140505441117,-5.209989943671814e-05],"end_effector_yaw_offset_degrees":-0.7599756263746726},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003192248153327823,-0.0013124167046054095,0.0006029814652070164],"end_effector_yaw_offset_degrees":0.570799961247739},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00030824401656299907,-0.0015703629760094504,0.0009464220112004947],"end_effector_yaw_offset_degrees":-0.5452852581327079},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009977986515724074,0.0011643794402261013,-0.0015285306822543205],"end_effector_yaw_offset_degrees":0.7712342518564557},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000943932179686021,-0.0016613155394856376,-0.0014699479653515705],"end_effector_yaw_offset_degrees":-0.6626419726037416}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014191204904687891,0.0005962554423725609],"position_m":[0.27308087950953125,0.07999625544237256,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033295252867597885,0.0014802398076978248],"position_m":[0.2192295252867598,-0.33741976019230213,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004226858649555418,-0.004923059358272567],"position_m":[0.2793731413504446,0.3056769406417274,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014591726660111689,0.004802233667551648],"position_m":[0.21835917266601118,-0.11789776633244836,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4a2d571203cb2f24828fdaba970995ab1f44b89bdd20e57da5e9cea37c39c9b2","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9159/tex_ceiling_textures_7224/tex_floor_textures_3251/tex_table_textures_2544/tex_wall_textures_5811","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":522151517012756519,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":522151517012756519,"visual_seed":522151517012756519,"scene_id":"lab_003","finished_at":"2026-09-08T16:02:01"}
+{"episode_id":"ep_000033","started_at":"2026-09-08T16:02:09","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.44872050576335676,0.4328095948188957,0.71338606911949],"aabb_xy":[[-0.5127205030490054,0.3913028758660517],[-0.38472050847770806,0.47431631377173966]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.30660017767896264,1.220793476097918,0.71338606911949],"aabb_xy":[[-0.33444521445956976,1.1900089773596063],[-0.2787551408983555,1.2515779748362297]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.3953336013422495,-1.815917487512193,0.71338606911949],"aabb_xy":[[-0.4203336008939879,-1.8260599713773276],[-0.37033360179051095,-1.8057750036470581]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.4797586368087634,-1.434294003924387,0.71338606911949],"aabb_xy":[[-0.4861724504519483,-1.4407038241720551],[-0.4733448231655784,-1.4278841836767184]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[0.24539391211923833,0.811706130823088,0.71338606911949],"aabb_xy":[[0.1877634432319674,0.7517061318963771],[0.3030243810065091,0.8717061297497983]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[-0.1711961827897961,-1.8720187371489931,0.71338606911949],"aabb_xy":[[-0.2161887695082465,-1.917018736423442],[-0.12620359607134568,-1.8270187378745444]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[0.5858316909669434,1.7952539419354872,0.71338606911949],"aabb_xy":[[0.578419235425555,1.789402731513859],[0.5932441465083319,1.8011051523571149]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.25415464693218826,-1.3790994983934177,0.71338606911949],"aabb_xy":[[-0.2606562834401929,-1.3888673204197275],[-0.2476530104241837,-1.369331676367108]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[0.6363451612825071,1.028890858658014,0.71338606911949],"aabb_xy":[[0.6144554136935662,0.9388908613687651],[0.6582349088714478,1.1188908559472632]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.5288033330841628,-0.2784398614698502,0.71338606911949],"aabb_xy":[[-0.5587949958180332,-0.3084398608066507],[-0.4988116703502925,-0.24843986213304964]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[0.43779795329148263,0.5253032287145367,0.71338606911949],"aabb_xy":[[0.4265528977208648,0.5140614309904414],[0.44904300886210047,0.536545026438632]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[0.5642028488899318,-0.6327486788604055,0.71338606911949],"aabb_xy":[[0.514202849313597,-0.6827292578125116],[0.6142028484662665,-0.5827680999082997]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[0.2743957999629686,-1.8453418499863676,0.71338606911949],"aabb_xy":[[0.24062024077227562,-1.8593803451995328],[0.30817135915366156,-1.8313033547732025]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.6061230808469728,-1.803097219548021,0.71338606911949],"aabb_xy":[[-0.6228002168400683,-1.819797143521951],[-0.5894459448538772,-1.7863972955740905]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.4619011514406439,-1.3354997834369629,0.71338606911949],"aabb_xy":[[0.3781789259405614,-1.4254997869716588],[0.5456233769407264,-1.245499779902267]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.33787971518590587,1.2742895576329913,0.71338606911949],"aabb_xy":[[0.3003797152421395,1.2659964675981545],[0.37537971512967233,1.2825826476678277]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.3529232760703606,-0.6053178931923238,0.71338606911949],"aabb_xy":[[-0.3879232760468565,-0.6147825092399405],[-0.31792327609386484,-0.5958532771447073]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.5049419097858718,-2.502816006874377,0.71338606911949],"aabb_xy":[[-0.5248329496662121,-2.5154718181590745],[-0.4850508699055316,-2.490160195589681]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.6359806625181044,-2.410968389658639,0.71338606911949],"aabb_xy":[[0.5559806603553419,-2.4909235732847828],[0.7159806646808669,-2.3310132060324955]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[0.22488860462286542,0.6323901369986467,0.71338606911949],"aabb_xy":[[0.1608886013331573,0.5890552179947289],[0.28888860791257354,0.6757250560025642]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.22203586735708625,-2.4069559454447598,0.71338606911949],"aabb_xy":[[-0.22927963340333155,-2.4869559436483617],[-0.2147921013108409,-2.326955947241157]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[0.32195751230502556,-2.475398047776249,0.71338606911949],"aabb_xy":[[0.29081059346144245,-2.5453980464630557],[0.3531044311486087,-2.4053980490894413]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.3588185828582249,1.4585342393165228,0.71338606911949],"aabb_xy":[[0.35470263274615216,1.454418684283677],[0.3629345329702975,1.4626497943493681]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.17361569122805687,-0.9269379383785872,0.71338606911949],"aabb_xy":[[0.13611568971242513,-0.9381647113947323],[0.21111569274368855,-0.9157111653624422]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_24","position":[-0.09405914057927312,1.6427538868946656,0.71338606911949],"aabb_xy":[[-0.10593122359077421,1.5577538872010155],[-0.08218705756777199,1.7277538865883162]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6367824283010072,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9222.png","name":"9222"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9222.png","name":"9222"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7640.png","name":"7640"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2773.png","name":"2773"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1374.png","name":"1374"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2866.png","name":"2866"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":543.9673079784662,"rotation_z_degrees":133.3701146718114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01208389794595441,-0.009705632963339204,-0.001586255779975291]},{"name":"camera_2","offset_m":[0.015973519311388015,0.01730957060545146,0.0030400797469851346]},{"name":"camera_3","offset_m":[0.011414972812493648,-0.014495619429306422,-0.017742537239463934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010611933015287462,-0.0009470715473957024,0.0016550659937876588],"end_effector_yaw_offset_degrees":0.5956164290750567},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009677319873964527,-0.001275647363266324,0.0011659341231854913],"end_effector_yaw_offset_degrees":-0.4206538954878192},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007210057592386581,-0.0008335281490687491,-0.0015071989024269543],"end_effector_yaw_offset_degrees":-0.8356042171542675},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017284927433650803,-0.0014309279599807913,0.0006695529972445863],"end_effector_yaw_offset_degrees":-0.05827884337588851},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-4.5000579724484464e-05,0.001264491797942564,0.0017311648951423247],"end_effector_yaw_offset_degrees":-0.37095389869077233},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000547303625688866,-0.0006145330427633371,0.0009351374278104428],"end_effector_yaw_offset_degrees":0.020520643497644375}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001671161016328563,0.003479564645693695],"position_m":[0.27282883898367144,0.0828795646456937,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003507615881116476,-0.0025913858840601145],"position_m":[0.21239238411888353,-0.3414913858840601,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004645810343918051,-0.004244872333212061],"position_m":[0.28824581034391805,0.3063551276667879,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029652498358113495,0.0004919264504854451],"position_m":[0.21986524983581135,-0.12220807354951456,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a792a0db5f76612ccad9e15ca284641bb936d6c64686e4dc5c35a2319d788f59","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9222/tex_ceiling_textures_2866/tex_floor_textures_1374/tex_table_textures_7640/tex_wall_textures_2773","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3548556969627490480,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3548556969627490480,"visual_seed":3548556969627490480,"scene_id":"lab_003","finished_at":"2026-09-08T16:09:49"}
+{"episode_id":"ep_000034","started_at":"2026-09-08T17:02:12","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.14593690688654348,1.1787692289658391,0.71338606911949],"aabb_xy":[[0.13400417252471541,1.1663870761579798],[0.15786964124837155,1.1911513817736985]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[0.30665682661500826,-1.0818351121142737,0.71338606911949],"aabb_xy":[[0.3026963428452739,-1.0895029766997943],[0.3106173103847426,-1.0741672475287531]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.009077699967028119,-0.8499417638625923,0.71338606911949],"aabb_xy":[[-0.04604750566256265,-0.9099417653038794],[0.06420290559661888,-0.7899417624213051]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.025741099971918202,-1.339178050331154,0.71338606911949],"aabb_xy":[[-0.0482411004839588,-1.361669908696552],[-0.0032410994598776055,-1.3166861919657553]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.02990992548774407,-1.7081233502292101,0.71338606911949],"aabb_xy":[[-0.052082452464394906,-1.730299017385333],[-0.007737398511093235,-1.6859476830730868]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.07900491961112777,0.6392402769145451,0.71338606911949],"aabb_xy":[[0.04400492134100785,0.6321661492195568],[0.11400491788124766,0.6463144046095332]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.3565075444990935,-0.5693002640969365,0.71338606911949],"aabb_xy":[[0.32150754536913784,-0.5750454851726006],[0.39150754362904916,-0.5635550430212724]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.29233270711041015,-2.185331495357868,0.71338606911949],"aabb_xy":[[0.2869951314444056,-2.210331496287008],[0.2976702827764147,-2.1603314944287284]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.32744883277055453,-0.8782508307931212,0.71338606911949],"aabb_xy":[[-0.36244883196337274,-0.8892178767907837],[-0.2924488335777362,-0.8672837847954584]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.272242411082805,0.724630269001401,0.71338606911949],"aabb_xy":[[-0.2766730404376452,0.7191818972667186],[-0.2678117817279648,0.7300786407360838]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.17696882325198138,0.547143573397745,0.71338606911949],"aabb_xy":[[-0.22694624011723494,0.4971435719084964],[-0.12699140638672776,0.5971435748869934]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_11","position":[-0.3090567423120104,-2.3180637431300237,0.71338606911949],"aabb_xy":[[-0.3730567426895441,-2.367809009980836],[-0.24505674193447685,-2.2683184762792115]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.09960793598400708,-1.864253358594088,0.71338606911949],"aabb_xy":[[-0.14960793700314234,-1.900719574331916],[-0.049607934964871814,-1.8277871428562602]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.04040721588523832,1.526500042178125,0.71338606911949],"aabb_xy":[[0.015861000262487605,1.4962511456290881],[0.06495343150798905,1.5567489387271622]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.3482137251012629,0.3374908534976191,0.71338606911949],"aabb_xy":[[-0.38571372576584156,0.32180379549739685],[-0.31071372443668416,0.3531779114978412]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.6531889547756079,0.3576813039333171,0.71338606911949],"aabb_xy":[[-0.6723012621335867,0.3385465250560751],[-0.6340766474176289,0.3768160828105591]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.5708899121504877,-0.9818103089450554,0.71338606911949],"aabb_xy":[[-0.5883206272294941,-0.999082423608906],[-0.5534591970714811,-0.9645381942812044]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.2368183044618406,1.491817970289056,0.71338606911949],"aabb_xy":[[0.2115974676020009,1.4665942194361687],[0.2620391413216802,1.5170417211419422]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.29741350395345784,0.9218513065573193,0.71338606911949],"aabb_xy":[[-0.3120569095074908,0.9071925869005351],[-0.28277009839942485,0.9365100262141035]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.44337361194036684,-1.2793376200827022,0.71338606911949],"aabb_xy":[[0.4384743196338034,-1.307014539385271],[0.4482729042469304,-1.2516607007801335]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.6015887756393317,0.8787261675477382,0.71338606911949],"aabb_xy":[[-0.6592192445266024,0.8187261686210275],[-0.5439583067520607,0.9387261664744487]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[0.41320502314555996,1.5808031824426405,0.71338606911949],"aabb_xy":[[0.35320502263770703,1.5239564487567192],[0.4732050236534129,1.6376499161285618]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[0.6163088991055565,1.6537083187770283,0.71338606911949],"aabb_xy":[[0.5938088992916543,1.6492337024065478],[0.638808898919459,1.6581829351475093]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6405635997773915,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4821.png","name":"4821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4821.png","name":"4821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6792.png","name":"6792"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4649.png","name":"4649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2495.png","name":"2495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6041.png","name":"6041"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":725.8668815925091,"rotation_z_degrees":4.251441519271055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011976457582292991,0.003317646077396357,-0.010701521810492585]},{"name":"camera_2","offset_m":[0.00447746847234546,-0.00024909667228870114,-0.018771790574951545]},{"name":"camera_3","offset_m":[0.018377690809615068,0.016988960495052028,0.007162611281021438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001600054149723471,0.0009007970886469692,0.0006060064592936557],"end_effector_yaw_offset_degrees":-0.8894875904700996},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008238212459841673,0.0015460564691574868,-0.0007234417645351902],"end_effector_yaw_offset_degrees":0.6297702171468873},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020160260536632082,-0.0018637969639545126,0.001979248083987929],"end_effector_yaw_offset_degrees":0.2625213206132022},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001226779322794547,-0.000563048919651738,0.0018060669094437974],"end_effector_yaw_offset_degrees":-0.7536287014060978},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00023262612788628543,0.0013302893469648892,-0.0013032336455652902],"end_effector_yaw_offset_degrees":-0.09696601219160161},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001052281772946808,-0.0017925002243705675,-0.001714786143532873],"end_effector_yaw_offset_degrees":0.6369216663809252}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003243714463444245,0.004141598286146307],"position_m":[0.2748243714463445,0.08354159828614631,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004182838827945416,-0.0006694713633417868],"position_m":[0.22008283882794544,-0.33956947136334176,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0038927992405335806,0.00321506312534526],"position_m":[0.2874927992405336,0.31381506312534524,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007561656341339307,0.002611130788363253],"position_m":[0.21765616563413395,-0.12008886921163675,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"45d612564c2e1ec86eff2e52f47666502903b2a417ff0350f604be7e302e163c","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4821/tex_ceiling_textures_6041/tex_floor_textures_2495/tex_table_textures_6792/tex_wall_textures_4649","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":2469249081141305897,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":2469249081141305897,"visual_seed":2469249081141305897,"scene_id":"lab_003","finished_at":"2026-09-08T17:10:06"}
+{"episode_id":"ep_000035","started_at":"2026-09-08T17:10:13","dimensions":{"distractor":{"count":34,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.336808553499526,1.254652940679565,0.71338606911949],"aabb_xy":[[0.2468085569986542,1.2087412982611068],[0.4268085500003977,1.3005645830980233]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.6360716520083762,0.9851843266487714,0.71338606911949],"aabb_xy":[[-0.6860716536698708,0.9351858843930686],[-0.5860716503468812,1.035182768904474]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[-0.009819938760118774,1.3720110845783036,0.71338606911949],"aabb_xy":[[-0.04731994027575048,1.3607843115621585],[0.027680062755512935,1.3832378575944486]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[-0.044361653145923,-1.8137840802767515,0.71338606911949],"aabb_xy":[[-0.055930633892859585,-1.8387840803936832],[-0.032792672398986436,-1.7887840801598198]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.652742980339897,0.02211018414821231,0.71338606911949],"aabb_xy":[[-0.6902429806881246,0.010318788567128756],[-0.6152429799916691,0.03390157972929586]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.08193440280996678,0.7577275469184857,0.71338606911949],"aabb_xy":[[-0.09277488103648168,0.7405412656278367],[-0.07109392458345187,0.7749138282091343]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.1474970401865815,-1.0568227046236778,0.71338606911949],"aabb_xy":[[-0.17133325782718659,-1.1468227054321645],[-0.12366082254597646,-0.9668227038151915]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.49472311856913564,0.3161649050902269,0.71338606911949],"aabb_xy":[[0.4307231221735625,0.25220161667149327],[0.5587231149647087,0.3801281935089604]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.3641219194933186,1.5945833995207068,0.71338606911949],"aabb_xy":[[-0.3866210552195456,1.5720833987424438],[-0.34162278376709165,1.6170834002989698]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.566649725316478,-0.0647927525504226,0.71338606911949],"aabb_xy":[[0.5616937051315969,-0.08729275275254424],[0.5716057455013592,-0.042292752348300995]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.33601764477468393,0.6225696967640011,0.71338606911949],"aabb_xy":[[-0.3432999611513475,0.5325696931544919],[-0.32873532839802017,0.7125697003735099]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.30034096506993213,0.519137824830243,0.71338606911949],"aabb_xy":[[0.2590921540400174,0.46413782531802544],[0.34158977609984686,0.5741378243424603]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.3471917590477697,0.45640940418672704,0.71338606911949],"aabb_xy":[[-0.36420185633782043,0.44027491568845306],[-0.3301816617577191,0.4725438926850009]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.03737275848259247,0.6514299074168615,0.71338606911949],"aabb_xy":[[-0.04608672753252695,0.6289299067576731],[-0.028658789432657972,0.6739299080760496]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[0.3808047313254761,1.818280940672167,0.71338606911949],"aabb_xy":[[0.34580473142945717,1.8099067051602267],[0.4158047312214949,1.8266551761841068]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.35689896190924153,-1.67278655377042,0.71338606911949],"aabb_xy":[[0.28689895851767955,-1.708102327473851],[0.4268989653008035,-1.6374707800669892]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.42875493240510587,1.0150119076865805,0.71338606911949],"aabb_xy":[[-0.46625493082850616,1.0018476937187495],[-0.39125493398170547,1.028176121654411]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[-0.08170803607356447,0.24814852115884278,0.71338606911949],"aabb_xy":[[-0.13170731124200064,0.19814851988289567],[-0.03170876090512831,0.29814852243479]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.3226968427268672,1.3321976762927061,0.71338606911949],"aabb_xy":[[-0.3358480886981565,1.3071976765360196],[-0.3095455967555778,1.3571976760493927]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.13923572713708288,-1.2626326750161958,0.71338606911949],"aabb_xy":[[0.12232499470074108,-1.27610488060881],[0.15614645957342463,-1.2491604694235807]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.6480017524549783,-0.22591855495731084,0.71338606911949],"aabb_xy":[[-0.6521177025670508,-0.2300341099901563],[-0.6438858023429055,-0.2218029999244653]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.2245353123237364,-2.3822570633633573,0.71338606911949],"aabb_xy":[[-0.2885353125977147,-2.432323163560645],[-0.1605353120497582,-2.332190963166069]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[0.48658251040492284,-0.2146934092714563,0.71338606911949],"aabb_xy":[[0.4065825089747956,-0.2942105642840658],[0.56658251183505,-0.1351762542588468]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.4056650572318518,-0.017776196568154212,0.71338606911949],"aabb_xy":[[-0.44012740462999356,-0.05227007896597689],[-0.37120270983370995,0.016717685829668486]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[0.26951426065148465,-1.8620315584507168,0.71338606911949],"aabb_xy":[[0.26140060597810755,-1.8701373749047456],[0.27762791532486175,-1.8539257419966875]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[-0.2889542130975623,-0.4622293584307422,0.71338606911949],"aabb_xy":[[-0.31146790492101945,-0.5322293590317497],[-0.26644052127410506,-0.3922293578297346]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[0.173529615998537,-1.5461505695360382,0.71338606911949],"aabb_xy":[[0.08352961658016608,-1.5795260663802277],[0.2635296154169079,-1.5127750726918483]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.4326551883589791,-0.6400486462936923,0.71338606911949],"aabb_xy":[[0.4200284010717827,-0.6495947199952651],[0.4452819756461754,-0.6305025725921193]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.3239914388909169,1.7001435475507631,0.71338606911949],"aabb_xy":[[-0.3414914391359663,1.682643759711196],[-0.30649143864586753,1.7176433353903298]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_29","position":[-0.6368592435915742,-1.3525451975632765,0.71338606911949],"aabb_xy":[[-0.6918592427681636,-1.4075348723382342],[-0.5818592444149846,-1.2975555227883189]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[0.6718647670606719,-2.431461869736664,0.71338606911949],"aabb_xy":[[0.6218647684147507,-2.4813814133961265],[0.7218647657065931,-2.3815423260772017]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_31","position":[0.355658452147523,-0.8954256047364824,0.71338606911949],"aabb_xy":[[0.29565845128671014,-0.9468520347429686],[0.41565845300833576,-0.8439991747299959]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_32","position":[-0.6025560302320305,-2.1492450650612973,0.71338606911949],"aabb_xy":[[-0.611358085541003,-2.157056391216226],[-0.5937539749230576,-2.141433738906368]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_33","position":[0.42824155933394037,-2.3744763219604,0.71338606911949],"aabb_xy":[[0.3732460815132809,-2.429476323394307],[0.4832370371545997,-2.319476320526493]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6346512977996251,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/125.png","name":"125"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/125.png","name":"125"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4388.png","name":"4388"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5090.png","name":"5090"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":549.201224051776,"rotation_z_degrees":161.8470953863554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00899399273610041,-0.010410793368562116,-0.0024710841385437894]},{"name":"camera_2","offset_m":[-0.01472682052939045,0.007794423581669766,0.012186556366131664]},{"name":"camera_3","offset_m":[0.01314537396441506,-0.00048311300039919486,0.001215111429105943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010185471613934718,-0.0012538340798504395,-0.0011770175504339374],"end_effector_yaw_offset_degrees":0.354390175432715},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004754749750442758,0.0013614721669821302,-0.0003954905248681863],"end_effector_yaw_offset_degrees":0.8755203977331218},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.4538054510232837e-05,-0.00030755941826041914,-0.00160821371288383],"end_effector_yaw_offset_degrees":0.43320461100985286},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005544218952226228,0.00047336464350526556,0.0006524550648475081],"end_effector_yaw_offset_degrees":-0.07476791708037656},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.000497788912852723,0.0006460836115422561,-0.000150715403770421],"end_effector_yaw_offset_degrees":-0.6235786813030986},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006394353882564819,-0.00030722073774263107,0.0005428058301020161],"end_effector_yaw_offset_degrees":-0.004619697633290176}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030759174969049643,-0.0023205237061578155],"position_m":[0.2714240825030951,0.07707947629384218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034809863509284488,-0.001639036662469381],"position_m":[0.21241901364907156,-0.3405390366624694,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.000746981148189902,-0.001598895801906456],"position_m":[0.2843469811481899,0.3090011041980935,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006733602705597244,0.0029891181599265215],"position_m":[0.21757336027055973,-0.11971088184007349,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a0943f8e1f2e39787a75093738e5206c930ebd589753f2681279d165f75c5b8b","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_125/tex_ceiling_textures_5090/tex_floor_textures_4388/tex_table_textures_2050/tex_wall_textures_2603","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":1261930191815889179,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":1261930191815889179,"visual_seed":1261930191815889179,"scene_id":"lab_003","finished_at":"2026-09-08T17:18:12"}
+{"episode_id":"ep_000036","started_at":"2026-09-08T17:18:19","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[-0.15988957135304616,1.5972692835874107,0.71338606911949],"aabb_xy":[[-0.1699712784316196,1.517269285695296],[-0.14980786427447265,1.6772692814795254]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.27645975985116994,0.14435991003088855,0.71338606911949],"aabb_xy":[[-0.28445324964645197,0.13636177809041292],[-0.2684662700558879,0.15235804197136424]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[0.10230245586454467,1.2825027540672571,0.71338606911949],"aabb_xy":[[0.0523024542030499,1.2325043118115542],[0.1523024575260394,1.3325011963229596]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.1309695125624919,-1.0216065511785335,0.71338606911949],"aabb_xy":[[-0.13642745819951194,-1.1016065544861926],[-0.1255115669254718,-0.9416065478708744]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[-0.23280082821871223,-0.4585970855621948,0.71338606911949],"aabb_xy":[[-0.24151479726864666,-0.4810970862213829],[-0.22408685916877769,-0.43609708490300647]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.21088829714364382,0.7994087190182073,0.71338606911949],"aabb_xy":[[-0.2196695242908801,0.7906289717296775],[-0.20210706999640765,0.8081884663067378]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.49576355946158035,0.10274923457556939,0.71338606911949],"aabb_xy":[[0.4486341804597447,0.03874923353116741],[0.542892938463416,0.16674923561997132]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.26104374431439936,1.6031410178937198,0.71338606911949],"aabb_xy":[[0.2310761874045737,1.573141017595834],[0.291011301224225,1.6331410181916055]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.6706129537564834,1.5391080831253876,0.71338606911949],"aabb_xy":[[-0.6852563593105163,1.5244493634686036],[-0.6559695482024503,1.553766802782172]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.5856368172102864,0.43887262300855934,0.71338606911949],"aabb_xy":[[0.5216368169363083,0.38880652281127137],[0.6496368174842647,0.4889387232058473]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[0.6751262919448178,-1.3896874836918054,0.71338606911949],"aabb_xy":[[0.6377950154195753,-1.4243405384866576],[0.7124575684700605,-1.3550344288969531]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.09709068152197109,-0.19980880760550424,0.71338606911949],"aabb_xy":[[-0.18209068021404573,-0.2317946710003831],[-0.012090682829896449,-0.16782294421062538]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.4821109996431765,-2.0206544071618615,0.71338606911949],"aabb_xy":[[0.4221109987823637,-2.072080837168347],[0.5421110005039893,-1.9692279771553745]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.31816462915989163,-1.3487698275822502,0.71338606911949],"aabb_xy":[[-0.363157215878342,-1.393769826856699],[-0.27317204244144117,-1.3037698283078014]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.3304809356105288,0.45470231705534125,0.71338606911949],"aabb_xy":[[-0.42048093211140053,0.40879067463688296],[-0.24048093910965704,0.5006139594737994]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.2507291231411346,-1.5693957963503955,0.71338606911949],"aabb_xy":[[0.20948031211121984,-1.624395795862613],[0.2919779341710493,-1.514395796838178]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[-0.4807127251554208,-1.1428841070826459,0.71338606911949],"aabb_xy":[[-0.5182127249724544,-1.1475223183937875],[-0.44321272533838724,-1.1382458957715038]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.36752225127875443,0.7180126140862577,0.71338606911949],"aabb_xy":[[-0.4173390307435892,0.6680126156019542],[-0.31770547181391967,0.768012612570561]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.37701263744688257,-0.8170274966077617,0.71338606911949],"aabb_xy":[[-0.41045281264290207,-0.8504711224386917],[-0.34357246225086285,-0.7835838707768316]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.4972772669842833,-0.4131627198010257,0.71338606911949],"aabb_xy":[[0.47510474000763236,-0.4353383869571488],[0.519449793960934,-0.39098705264490247]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.16082801855884066,-2.3179761856072534,0.71338606911949],"aabb_xy":[[0.08082801530099767,-2.3979726933992374],[0.24082802181668359,-2.2379796778152694]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[-0.27407376039411824,-1.8957182574716283,0.71338606911949],"aabb_xy":[[-0.36407375981248913,-1.929093754315818],[-0.18407376097574735,-1.8623427606274385]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.5752740506860304,-0.24230002316105326,0.71338606911949],"aabb_xy":[[-0.5870422374806881,-0.32730002306627487],[-0.563505863891373,-0.15730002325583173]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[-0.19018930520409794,-2.0508260025937703,0.71338606911949],"aabb_xy":[[-0.19461993455893814,-2.0562743743284533],[-0.1857586758492578,-2.0453776308590883]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.5643918478159793,-1.2031785722987371,0.71338606911949],"aabb_xy":[[0.5268918463003475,-1.2144053453148822],[0.6018918493316109,-1.191951799282592]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[-0.36953938338675363,-1.5677547071338713,0.71338606911949],"aabb_xy":[[-0.44953938481688077,-1.6472718621464808],[-0.2895393819566264,-1.4882375521212619]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[-0.5792473926628338,0.9580311164969477,0.71338606911949],"aabb_xy":[[-0.5948031620730991,0.9424806832525406],[-0.5636916232525686,0.973581549741355]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[-0.0885763869842272,0.8301556353706641,0.71338606911949],"aabb_xy":[[-0.1385763880033625,0.7936894196328363],[-0.03857638596509195,0.8666218511084922]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[-0.36007866963735685,1.580318130754231,0.71338606911949],"aabb_xy":[[-0.44007866679693214,1.5687705297964136],[-0.28007867247778157,1.5918657317120477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6376405199851587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4800.png","name":"4800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4800.png","name":"4800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1771.png","name":"1771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4444.png","name":"4444"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/669.png","name":"669"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":732.164383083357,"rotation_z_degrees":221.87258696824316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010877123966509257,-0.0030768084809904526,0.005771424092862097]},{"name":"camera_2","offset_m":[-0.016203484053792072,-0.011691220137441234,-0.014908309659492098]},{"name":"camera_3","offset_m":[0.01980158513491966,0.012031426619436038,-0.009871711600193275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015886664645365762,0.000780223845052129,0.00011620606351963898],"end_effector_yaw_offset_degrees":-0.5042876673712595},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001041330934640366,-0.0004182165505564482,0.0017259584158055073],"end_effector_yaw_offset_degrees":0.7223807230665298},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010383586699085402,-0.001231063547483001,-0.0007803426008822808],"end_effector_yaw_offset_degrees":-0.3536603030661616},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00026328215170914014,-0.0012181639806170819,-0.001775382310576985],"end_effector_yaw_offset_degrees":-0.6106734465101173},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00037607699064938905,-0.001020230415940404,-0.0009664717428789272],"end_effector_yaw_offset_degrees":0.8415447074660227},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0001608399401348522,0.0019721999134622884,-0.0005431739716184256],"end_effector_yaw_offset_degrees":-0.6811470868030332}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012335014703485307,0.0016194093571058879],"position_m":[0.27573350147034853,0.08101940935710589,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016195458579449486,-0.004379050901708458],"position_m":[0.21428045414205507,-0.34327905090170846,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0012374808729444307,0.002370575850638437],"position_m":[0.28236251912705557,0.3129705758506384,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005679565971578072,-0.0012799118807274167],"position_m":[0.2174679565971578,-0.12397991188072742,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d1edc63e0bb92f079245d61e62524a01f4b91594d8867d49184a02bdd0a57723","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4800/tex_ceiling_textures_669/tex_floor_textures_4444/tex_table_textures_2531/tex_wall_textures_1771","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":5685268397134633991,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":5685268397134633991,"visual_seed":5685268397134633991,"scene_id":"lab_003","finished_at":"2026-09-08T17:26:00"}
+{"episode_id":"ep_000037","started_at":"2026-09-08T17:35:02","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[-0.34431184082790217,0.7799211736101506,0.71338606911949],"aabb_xy":[[-0.38931184229413107,0.7349213167486698],[-0.2993118393616733,0.8249210304716312]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.6399925167013794,-0.719635868813465,0.71338606911949],"aabb_xy":[[0.6149925175357462,-0.7265881145188215],[0.6649925158670125,-0.7126836231081084]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.11420353305840514,1.175065922452895,0.71338606911949],"aabb_xy":[[-0.17820353634811323,1.1317310034489771],[-0.05020352976869701,1.2184008414568124]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[-0.0813301847031408,1.7011351666437435,0.71338606911949],"aabb_xy":[[-0.0852440578985633,1.6923861512371867],[-0.07741631150771826,1.7098841820503003]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[-0.10258548767324571,0.56100625099702,0.71338606911949],"aabb_xy":[[-0.12642170531385077,0.4710062501885335],[-0.07874927003264065,0.6510062518055064]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.339642774430873,-1.829466710627766,0.71338606911949],"aabb_xy":[[0.3062025992348533,-1.8629103364586959],[0.37308294962689253,-1.7960230847968357]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.6449704072248483,-2.2285447362060067,0.71338606911949],"aabb_xy":[[0.5749704056225688,-2.2419775294076643],[0.7149704088271278,-2.215111943004349]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.4286558750373953,-2.0354263179860306,0.71338606911949],"aabb_xy":[[-0.47865587598792797,-2.066975464989552],[-0.37865587408686235,-2.003877170982509]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.6830486988823044,1.327212987317059,0.71338606911949],"aabb_xy":[[0.678413583730071,1.32334565223991],[0.6876838140345377,1.3310803223942076]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.33678576364186363,-0.8901022263394986,0.71338606911949],"aabb_xy":[[-0.37178576283468184,-0.9010692723371612],[-0.3017857644490453,-0.8791351803418359]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.6196477888996372,-1.3134036645823364,0.71338606911949],"aabb_xy":[[-0.6446477881715994,-1.3297490281784987],[-0.5946477896276748,-1.297058300986174]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.5812796888357394,-1.954914865568783,0.71338606911949],"aabb_xy":[[0.5162796878352389,-2.0057012307234574],[0.64627968983624,-1.9041285004141075]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.29478466667076075,-0.8185472107947762,0.71338606911949],"aabb_xy":[[0.2854376590884655,-0.8328508330124202],[0.304131674253056,-0.8042435885771322]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.4236360677814399,-1.2828187627021945,0.71338606911949],"aabb_xy":[[0.40335176505804105,-1.303101387844903],[0.44392037050483857,-1.2625361375594852]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[-0.5623119889394979,-1.6058948284628736,0.71338606911949],"aabb_xy":[[-0.6423119894097139,-1.614205536077222],[-0.482311988469282,-1.5975841208485255]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[-0.36831847087233577,-2.4900327190306095,0.71338606911949],"aabb_xy":[[-0.40278094888542343,-2.4966963962135313],[-0.3338559928592479,-2.483369041847686]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[0.5457182382733845,-0.01911317222484632,0.71338606911949],"aabb_xy":[[0.4957340025652073,-0.06911317103834191],[0.5957024739815617,0.030886826588649278]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.2520238898428807,1.258800098419813,0.71338606911949],"aabb_xy":[[-0.2711361972008596,1.239665319542571],[-0.23291158248490185,1.2779348772970551]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.43123762656712444,-1.2698135710542582,0.71338606911949],"aabb_xy":[[-0.5112376251544439,-1.3491291729924189],[-0.35123762797980507,-1.190497969116097]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.2519142365143845,1.1322335350648363,0.71338606911949],"aabb_xy":[[0.2283291130504897,1.0672335328194047],[0.2754993599782794,1.1972335373102683]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[-0.5824286275853359,-0.2340399881282269,0.71338606911949],"aabb_xy":[[-0.6199286275291023,-0.2423330781630635],[-0.5449286276415695,-0.22574689809339032]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[0.035204628952580586,1.4103928903600806,0.71338606911949],"aabb_xy":[[-0.028795373390220976,1.365452039115948],[0.09920463129538214,1.455333741604213]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.09358072368352943,-1.1238850189784564,0.71338606911949],"aabb_xy":[[0.05608072510790863,-1.136621314642014],[0.13108072225915024,-1.1111487233148982]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[0.4634723585660643,0.8786682329717497,0.71338606911949],"aabb_xy":[[0.39947236128041563,0.8371615140189056],[0.5274723558517129,0.9201749519245935]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6364772909271751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9903.png","name":"9903"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9903.png","name":"9903"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3606.png","name":"3606"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7727.png","name":"7727"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1353.png","name":"1353"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7024.png","name":"7024"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":795.3349641479675,"rotation_z_degrees":296.8810930096037,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005641714460977828,0.00843705537825144,0.009201890265899997]},{"name":"camera_2","offset_m":[-9.123589069431198e-05,-0.006776969224459891,0.002709947521001673]},{"name":"camera_3","offset_m":[0.009340521355028397,-0.006091141001264178,0.012634452731545013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006750313460586231,0.0008330171578046688,0.001739271829971815],"end_effector_yaw_offset_degrees":-0.17699369520780373},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004702084355815504,-0.0009552802942054185,-0.0001647579497373792],"end_effector_yaw_offset_degrees":0.8873539039322533},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009743745210340476,-0.0009653441965752733,0.0014835925034248952],"end_effector_yaw_offset_degrees":0.7264883157846826},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005132218404173276,-0.0012671800917709599,-0.0015062997473641198],"end_effector_yaw_offset_degrees":-0.48674533507969975},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001702070251020013,-0.000998262021012894,-0.0003747165326979571],"end_effector_yaw_offset_degrees":-0.9543360204775126},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005520553449738339,-0.00016779018729338752,0.001166164606856917],"end_effector_yaw_offset_degrees":0.9264756413345276}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013428297599815389,0.003970516956703539],"position_m":[0.2731571702400185,0.08337051695670354,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014260882027768143,0.0026320448736869293],"position_m":[0.21732608820277682,-0.336267955126313,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004865969626844923,0.0024860754919392367],"position_m":[0.2787340303731551,0.31308607549193923,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037599088729848885,0.0013146828723448224],"position_m":[0.21314009112701512,-0.12138531712765518,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3f9f852d9c1fe0212e906bba1118f11d84512fe9acc2053bfd66f94d5403cbf0","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9903/tex_ceiling_textures_7024/tex_floor_textures_1353/tex_table_textures_3606/tex_wall_textures_7727","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":1672943549837415105,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":1672943549837415105,"visual_seed":1672943549837415105,"scene_id":"lab_003","finished_at":"2026-09-08T17:42:56"}
+{"episode_id":"ep_000038","started_at":"2026-09-08T17:43:02","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.6850524135319438,-2.5269239576530977,0.71338606911949],"aabb_xy":[[0.6691679202666186,-2.5412768979519216],[0.7009369067972689,-2.512571017354274]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.39575600931457644,-1.6065239918028578,0.71338606911949],"aabb_xy":[[0.3876283211212632,-1.6154376002135657],[0.40388369750788966,-1.5976103833921502]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.11339091969647463,0.9313726610017365,0.71338606911949],"aabb_xy":[[-0.1259936188335511,0.9187772647768712],[-0.10078822055939818,0.9439680572266022]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.37207492208283965,-1.024409293330873,0.71338606911949],"aabb_xy":[[0.3545749886488563,-1.0419092932511076],[0.389574855516823,-1.0069092934106385]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.08785635979318007,-0.15186127598852206,0.71338606911949],"aabb_xy":[[-0.1378563601537461,-0.20184126319812498],[-0.037856359432614,-0.1018812887789191]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[0.5113289045250553,-0.18011535582929028,0.71338606911949],"aabb_xy":[[0.491270492911815,-0.20018044273844782],[0.5313873161382956,-0.16005026892013274]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.36013653817265395,-1.131758572871889,0.71338606911949],"aabb_xy":[[-0.41012965028184595,-1.181758573546085],[-0.3101434260634621,-1.0817585721976937]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.5044467816865351,1.5627559141946255,0.71338606911949],"aabb_xy":[[-0.5131447439772504,1.550630939887151],[-0.49574881939581983,1.5748808885021004]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.3946452413202681,1.132480619726267,0.71338606911949],"aabb_xy":[[0.3146452443572289,1.0554049780824935],[0.47464523828330724,1.2095562613700404]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.09637004229740198,1.2932428521282247,0.71338606911949],"aabb_xy":[[-0.1603700425713802,1.2431767519309367],[-0.03237004202342375,1.3433089523255126]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.6381503189562805,0.5209559239881489,0.71338606911949],"aabb_xy":[[-0.6600400665452213,0.43095592669889976],[-0.6162605713673397,0.610955921277398]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.0460221773796029,0.6976672334465923,0.71338606911949],"aabb_xy":[[-0.09210726863433438,0.6336672361940372],[6.29138751285646e-05,0.7616672306991474]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.5164313476713194,-2.517740554635073,0.71338606911949],"aabb_xy":[[-0.566431347111515,-2.567708479119389],[-0.46643134823112375,-2.4677726301507565]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.6687013226974021,-1.400089286139975,0.71338606911949],"aabb_xy":[[0.6187239058321484,-1.450089287629223],[0.7186787395626556,-1.350089284650726]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.47664270655620433,0.5315000846219347,0.71338606911949],"aabb_xy":[[-0.48392502293286793,0.4415000810124255],[-0.4693603901795406,0.6215000882314434]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.17792479625341484,0.8646064359562247,0.71338606911949],"aabb_xy":[[-0.21292479456411031,0.856891421032679],[-0.14292479794271942,0.8723214508797703]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.3841020554956205,-1.2578939405395417,0.71338606911949],"aabb_xy":[[0.3709508095243311,-1.2828939402962283],[0.3972533014669099,-1.2328939407828552]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.18014678712231302,-0.4945574925044589,0.71338606911949],"aabb_xy":[[0.17039079761313913,-0.5043200265636933],[0.1899027766314869,-0.4847949584452244]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.2542354562204818,-1.0022236958803055,0.71338606911949],"aabb_xy":[[0.21923545632446292,-1.0105979313922453],[0.28923545611650064,-0.9938494603683656]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[-0.20780414169629363,-2.0341504690856906,0.71338606911949],"aabb_xy":[[-0.2221385668224571,-2.0462106846402293],[-0.1934697165701302,-2.022090253531152]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.5746220838084357,-1.8306681988202649,0.71338606911949],"aabb_xy":[[-0.5864941668199369,-1.9156681985139152],[-0.5627500007969347,-1.7456681991266145]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.39994111638947727,0.9989405440274353,0.71338606911949],"aabb_xy":[[0.3874737582797416,0.9864752193941118],[0.4124084744992129,1.0114058686607588]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.13591951252185086,-1.4471306808471933,0.71338606911949],"aabb_xy":[[-0.19991950891742394,-1.5110939692659269],[-0.07191951612627778,-1.3831673924284598]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[-0.2666881184717746,0.7167557734331904,0.71338606911949],"aabb_xy":[[-0.2726546574125104,0.7107946287738263],[-0.2607215795310388,0.7227169180925543]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[0.1221780852768457,1.5852657762904419,0.71338606911949],"aabb_xy":[[0.08467808492861793,1.5734743807093583],[0.15967808562507346,1.5970571718715254]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.493952132278453,-1.393094199510075,0.71338606911949],"aabb_xy":[[-0.5285432151324981,-1.458094199795106],[-0.45936104942440775,-1.328094199225044]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[0.46901532627444653,-2.278883446294448,0.71338606911949],"aabb_xy":[[0.4090153264278797,-2.3357020684874867],[0.5290153261210133,-2.2220648241014094]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[-0.5808631212098359,-2.311620427398458,0.71338606911949],"aabb_xy":[[-0.6258631226760648,-2.356620284259939],[-0.5358631197436071,-2.2666205705369777]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_28","position":[-0.27686047737787634,-0.2611480569628397,0.71338606911949],"aabb_xy":[[-0.313356298005155,-0.2976319993895972],[-0.24036465675059754,-0.2246641145360821]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_29","position":[-0.2730437156596472,1.1021456449913445,0.71338606911949],"aabb_xy":[[-0.3080437147896028,1.0964004239156804],[-0.23804371652969147,1.1078908660670086]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_30","position":[-0.34117960992696195,0.49648195720166477,0.71338606911949],"aabb_xy":[[-0.4261796083443852,0.4116076617393798],[-0.2561796115095387,0.5813562526639497]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_31","position":[-0.5868972585187987,0.3138657335680648,0.71338606911949],"aabb_xy":[[-0.6218972584952946,0.3044011175204482],[-0.551897258542303,0.3233303496156814]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6368690733608287,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5667.png","name":"5667"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5667.png","name":"5667"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1243.png","name":"1243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5958.png","name":"5958"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1105.png","name":"1105"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6307.png","name":"6307"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":825.5487350578939,"rotation_z_degrees":122.84057445923234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00947907823096493,-0.0029734381957593516,0.01620738440837995]},{"name":"camera_2","offset_m":[0.011262652404174293,-0.01272366502694931,-0.015975752334969992]},{"name":"camera_3","offset_m":[-0.011653914710214437,-0.007526865688703364,-0.00011715177768756302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019226577304040592,-0.00022066238090390254,0.0012469210196382782],"end_effector_yaw_offset_degrees":-0.5810799378187004},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006890580626111231,-9.412763045046858e-05,-0.0011896818702286016],"end_effector_yaw_offset_degrees":-0.5622652912716875},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010035265534098922,-0.0019103711927984555,-0.0018186313942822724],"end_effector_yaw_offset_degrees":0.13249658287242938},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00010772454423442577,0.0017098674689018023,0.0008652232243433599],"end_effector_yaw_offset_degrees":0.015443103840317107},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017778158412071075,0.0013136325521462188,-0.00046769566435044614],"end_effector_yaw_offset_degrees":-0.09448163078311933},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007982101988021366,-0.0012261204002909465,-0.0009792475893791268],"end_effector_yaw_offset_degrees":-0.46754666019585}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001916312406317211,-0.004338228441965684],"position_m":[0.2725836875936828,0.07506177155803431,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003848148792115056,-0.0022407500368937672],"position_m":[0.21205185120788494,-0.34114075003689376,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0001983372317995594,0.003898976786175388],"position_m":[0.2837983372317996,0.3144989767861754,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002013072149157579,0.003577293897149488],"position_m":[0.21488692785084243,-0.11912270610285051,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"43350d5067fd1aa53fbb6b9aaba181538d243a12733eec5ee3a8f260523d0023","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5667/tex_ceiling_textures_6307/tex_floor_textures_1105/tex_table_textures_1243/tex_wall_textures_5958","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7059669271768410167,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7059669271768410167,"visual_seed":7059669271768410167,"scene_id":"lab_003","finished_at":"2026-09-08T17:50:58"}
+{"episode_id":"ep_000039","started_at":"2026-09-08T17:51:06","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.14558691916917965,-1.3049533671314342,0.71338606911949],"aabb_xy":[[-0.15371460736249287,-1.3138669755421417],[-0.13745923097586643,-1.2960397587207266]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.30988434925206887,-0.922410987768139,0.71338606911949],"aabb_xy":[[0.2599055407417529,-0.9724109877738577],[0.3598631577623847,-0.8724109877624201]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.5919486839239815,1.747912220003791,0.71338606911949],"aabb_xy":[[-0.629448685108774,1.7434939973077304],[-0.5544486827391885,1.7523304426998514]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.3988939690010376,-1.6577875564488291,0.71338606911949],"aabb_xy":[[0.39009191369206486,-1.6655988826037582],[0.4076960243100103,-1.6499762302939]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.2585008977390043,0.5148348332906454,0.71338606911949],"aabb_xy":[[0.22350089776250848,0.5053702172430288],[0.29350089771550014,0.524299449338262]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.4578157226766447,1.7308532359483109,0.71338606911949],"aabb_xy":[[-0.4660302677923286,1.722176645650669],[-0.44960117756096063,1.7395298262459518]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.6571769360717423,1.1222230249132452,0.71338606911949],"aabb_xy":[[0.6198456595464997,1.0875699701183932],[0.6945082125969849,1.1568760797080977]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.3927948152894818,-2.148035398135592,0.71338606911949],"aabb_xy":[[0.31279481203163884,-2.228031905927576],[0.47279481854732475,-2.068038890343608]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.5530006524730678,-0.012085459323091019,0.71338606911949],"aabb_xy":[[-0.571885036241578,-0.0309713841034438],[-0.5341162687045576,0.00680046545726176]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[0.10615241552416843,0.5419958984324671,0.71338606911949],"aabb_xy":[[0.09811608082288358,0.5339577791280503],[0.11418875022545326,0.5500340177368839]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.04324271356119813,-1.4799356138249906,0.71338606911949],"aabb_xy":[[-0.006757287722641835,-1.5299144682156127],[0.09324271484503809,-1.4299567594343685]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.6727892900135142,1.6740259108340418,0.71338606911949],"aabb_xy":[[-0.689700022449856,1.6605537052414272],[-0.6558785575771724,1.6874981164266565]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.2304131253257038,-1.008976059007342,0.71338606911949],"aabb_xy":[[-0.239760132907999,-1.023279681224986],[-0.22106611774340854,-0.994672436789698]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.1942170892727828,-2.360052105356117,0.71338606911949],"aabb_xy":[[0.1881224613846645,-2.368621499907786],[0.20031171716090115,-2.3514827108044485]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.37480079400727706,-1.5462413012693303,0.71338606911949],"aabb_xy":[[0.31080079689517137,-1.595273671063741],[0.43880079111938275,-1.4972089314749197]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.2627691491169985,1.5668888568321262,0.71338606911949],"aabb_xy":[[-0.27362075536587405,1.5560295661044752],[-0.25191754286812285,1.5777481475597772]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[0.4920053232975832,-0.526711072609579,0.71338606911949],"aabb_xy":[[0.44419915568381446,-0.5917110753166378],[0.5398114909113518,-0.46171106990251987]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.6538262105623225,-2.04492090746687,0.71338606911949],"aabb_xy":[[-0.6608665204958596,-2.124920906866542],[-0.6467859006287856,-1.964920908067199]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.4494463874312284,-1.7615591939928212,0.71338606911949],"aabb_xy":[[-0.45707065552140663,-1.7691924175293654],[-0.44182211934105015,-1.753925970456278]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[-0.307415005668902,1.4644624675241835,0.71338606911949],"aabb_xy":[[-0.38741500268315,1.444327915850772],[-0.22741500865465403,1.4845970191975946]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.10299578150643673,-2.351217374128259,0.71338606911949],"aabb_xy":[[-0.12086488926089223,-2.36505028210547],[-0.08512667375198124,-2.337384466151048]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.6519061872419591,1.6227374782029753,0.71338606911949],"aabb_xy":[[0.5879061850215521,1.5783643940776872],[0.7159061894623662,1.6671105623282638]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.4207670936523462,-2.517482091450865,0.71338606911949],"aabb_xy":[[-0.484767093912817,-2.5624908908037924],[-0.3567670933918754,-2.4724732920979364]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.23340033932516996,-1.7035556156057248,0.71338606911949],"aabb_xy":[[-0.24928483259049508,-1.7179085559045486],[-0.21751584605984478,-1.6892026753069005]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[0.46531663617575125,-0.7701820680806779,0.71338606911949],"aabb_xy":[[0.4476410055871528,-0.7878622843600805],[0.4829922667643495,-0.752501851801275]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.34250422936680636,-0.4845820310232729,0.71338606911949],"aabb_xy":[[0.32000509364057944,-0.5070820318015359],[0.3650033650930334,-0.46208203024500993]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[0.3701623191135499,0.8857179255323717,0.71338606911949],"aabb_xy":[[0.3101623185175338,0.8309054529871482],[0.43016231970956614,0.9405303980775952]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[-0.3551168227196081,0.7428763923240345,0.71338606911949],"aabb_xy":[[-0.3677436100068044,0.7333303186224616],[-0.3424900354324117,0.7524224660256074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6386952033176625,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9965.png","name":"9965"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9965.png","name":"9965"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9135.png","name":"9135"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3806.png","name":"3806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5047.png","name":"5047"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":702.3022255439099,"rotation_z_degrees":96.6059200467094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014973897135366197,0.012469420349751726,-0.0051748994367015345]},{"name":"camera_2","offset_m":[-0.004476938298726614,-0.018344751476669318,0.002316392384186069]},{"name":"camera_3","offset_m":[-0.008318292683939776,0.0185937258312996,-0.009313348616867332]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015122505375665864,-0.0009576066783823652,-0.0019534557466813476],"end_effector_yaw_offset_degrees":-0.7090877398611675},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017225477883487561,0.0005449055615580085,-0.0015577829912924233],"end_effector_yaw_offset_degrees":0.2893429717271463},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019932078688994206,0.001769528429563396,0.0019570555908193874],"end_effector_yaw_offset_degrees":-0.18669581002857738},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012692314462117086,-0.0004365928836246415,-0.0008033318849951737],"end_effector_yaw_offset_degrees":-0.437450080675285},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012368863975205935,0.0016118733397865945,-0.001915362939481545],"end_effector_yaw_offset_degrees":-0.3940527621897776},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006087036938193222,0.0019786161870809643,2.5034228095230805e-05],"end_effector_yaw_offset_degrees":-0.9313099845799082}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008020203410771028,-0.0009855205691733614],"position_m":[0.2736979796589229,0.07841447943082663,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.019381906038039e-05,-0.003926411294785197],"position_m":[0.21581980618093963,-0.3428264112947852,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006683312828180965,-0.0012373821615757597],"position_m":[0.2829316687171819,0.3093626178384242,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017584260236130278,-0.004703325376812242],"position_m":[0.21865842602361305,-0.12740332537681226,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"cb99087db5a5f3aa71207f60953076c221cf7351837601ea6a40cbd6e2d6093a","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9965/tex_ceiling_textures_2138/tex_floor_textures_5047/tex_table_textures_9135/tex_wall_textures_3806","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":8232353226672276691,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":8232353226672276691,"visual_seed":8232353226672276691,"scene_id":"lab_003","finished_at":"2026-09-08T17:59:13"}
+{"episode_id":"ep_000040","started_at":"2026-09-08T17:59:20","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[0.2546702891985303,-2.0421981829749667,0.71338606911949],"aabb_xy":[[0.2321702886864897,-2.0646900413403646],[0.2771702897105709,-2.019706324609568]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.0825854634693638,-0.22297202435523156,0.71338606911949],"aabb_xy":[[-0.10008546372870043,-0.2370635665440042],[-0.06508546321002717,-0.20888048216645896]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.14801540726350015,-2.296234721645648,0.71338606911949],"aabb_xy":[[0.0680154067932842,-2.3045454292599965],[0.22801540773371612,-2.2879240140313]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.6642826234004402,1.4048771014041925,0.71338606911949],"aabb_xy":[[0.6443915835201,1.392221290119496],[0.6841736632807804,1.4175329126888896]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.07745052351876991,-0.7550573817788675,0.71338606911949],"aabb_xy":[[-0.13257572914836063,-0.8150573832201545],[-0.022325317889179113,-0.6950573803375802]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.22250022278893566,-1.69073341291733,0.71338606911949],"aabb_xy":[[0.1585002195702978,-1.7374565248163385],[0.2865002260075735,-1.6440103010183218]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.6800457452109783,-1.6275898412399894,0.71338606911949],"aabb_xy":[[-0.6926725324981745,-1.637135914941562],[-0.6674189579237818,-1.6180437675384163]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.4385490339024607,-1.8315766214450542,0.71338606911949],"aabb_xy":[[0.3785490333064445,-1.8863890939902777],[0.4985490344984769,-1.7767641488998307]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.5635290085365556,1.0314949868081502,0.71338606911949],"aabb_xy":[[0.5290665305234677,1.0248313096252275],[0.5979914865496433,1.038158663991073]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.4988162091480923,-1.5387992817775331,0.71338606911949],"aabb_xy":[[-0.5238162086998308,-1.5489417656426676],[-0.47381620959635384,-1.5286567979123982]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.09493561902431746,0.49458413031311377,0.71338606911949],"aabb_xy":[[-0.1014372555323221,0.4848163082868041],[-0.08843398251631285,0.5043519523394236]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.15395324626366802,-2.2103935541162048,0.71338606911949],"aabb_xy":[[-0.20395324584000277,-2.2603741330683107],[-0.10395324668733333,-2.160412975164099]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.012865720966183103,1.0679100885990094,0.71338606911949],"aabb_xy":[[-0.046641280156876075,1.0538715933858445],[0.02090983822450987,1.0819485838121743]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.6149668898084181,-1.153068563545542,0.71338606911949],"aabb_xy":[[-0.6284134164424614,-1.1665384151986333],[-0.6015203631743747,-1.1395987118924507]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[-0.22523888851773805,0.22959232818702757,0.71338606911949],"aabb_xy":[[-0.23057646418374264,0.2045923272578878],[-0.2199013128517335,0.25459232911616736]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.27766258861990567,1.6081729914777516,0.71338606911949],"aabb_xy":[[0.2236469923380056,1.5441729885854942],[0.3316781849018056,1.6721729943700085]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.43691071902066625,-0.7570088544563327,0.71338606911949],"aabb_xy":[[0.39472630485983556,-0.8210088547335439],[0.47909513318149705,-0.6930088541791215]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.4195879061280147,0.31051098014133993,0.71338606911949],"aabb_xy":[[-0.44480874298785433,0.2852872292884531],[-0.394367069268175,0.3357347309942266]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.4772587823767207,0.4480866087080604,0.71338606911949],"aabb_xy":[[0.44729122546689504,0.41808660841017464],[0.5072263392865464,0.47808660900594613]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.06865846068497294,-2.1093704253113823,0.71338606911949],"aabb_xy":[[-0.07497056022131138,-2.115137364564601],[-0.06234636114863451,-2.1036034860581636]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.08290678099557025,-1.1452318446313836,0.71338606911949],"aabb_xy":[[0.07920351966643138,-1.1489338629401014],[0.08661004232470912,-1.1415298263226654]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.1988266261904399,-2.462798825863218,0.71338606911949],"aabb_xy":[[-0.24882662755132712,-2.5127767304386337],[-0.14882662482955267,-2.4128209212878025]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6366487505623607,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3351.png","name":"3351"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3351.png","name":"3351"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4347.png","name":"4347"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9738.png","name":"9738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9982.png","name":"9982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":843.000939739706,"rotation_z_degrees":112.62495345948794,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004119316131105201,-0.0028667149966214583,-0.0013459529629954309]},{"name":"camera_2","offset_m":[-0.004288217473099484,0.0011511318459252913,-0.017383904783823366]},{"name":"camera_3","offset_m":[0.008865335976406173,0.00046656658090511727,0.014954772844804346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00023815465550944834,-0.0014722239739082027,0.0006213829854877359],"end_effector_yaw_offset_degrees":0.5214465641438293},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017816651185905415,0.0012485885730906515,0.0008534937747012791],"end_effector_yaw_offset_degrees":0.1464097664579287},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.538396741633459e-05,0.0005943425077936798,-2.3381622096404608e-05],"end_effector_yaw_offset_degrees":0.09817545620647605},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-5.701803608491483e-05,0.0007719909342133609,0.0003206041804295961],"end_effector_yaw_offset_degrees":-0.49110329107383954},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009122090934762014,0.0009412991348807681,-5.435231517501968e-05],"end_effector_yaw_offset_degrees":0.7259017173146944},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000750627234475672,-0.0006921099900543473,-0.0014395451973588606],"end_effector_yaw_offset_degrees":0.5795448419124118}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002064496562207054,-0.003291081897627929],"position_m":[0.272435503437793,0.07610891810237207,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021378120309468937,0.003452960982502016],"position_m":[0.2180378120309469,-0.33544703901749795,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.000775420395211078,0.0011013864424488894],"position_m":[0.2843754203952111,0.3117013864424489,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000938400329446044,-0.0032781442520441162],"position_m":[0.21783840032944604,-0.12597814425204412,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"54a371e4c8eec8cdd8fdd0219cc317df13ad07c0f2cdb62da8953d9584fc18a6","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3351/tex_ceiling_textures_1607/tex_floor_textures_9982/tex_table_textures_4347/tex_wall_textures_9738","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":1034820884661186448,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":1034820884661186448,"visual_seed":1034820884661186448,"scene_id":"lab_003","finished_at":"2026-09-08T18:07:07"}
+{"episode_id":"ep_000041","started_at":"2026-09-08T18:07:14","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.45119254486566474,0.7790369886255442,0.71338606911949],"aabb_xy":[[-0.47336507184231547,0.7568613214694208],[-0.4290200178890138,0.8012126557816671]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.6410167242114573,-2.18318615609123,0.71338606911949],"aabb_xy":[[0.6235167907774738,-2.2006861560114643],[0.6585166576454405,-2.1656861561709952]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[-0.008997966096315535,-0.90215512475652,0.71338606911949],"aabb_xy":[[-0.05898220180449276,-0.9521551235700156],[0.04098626961186169,-0.8521551259430244]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[0.1876045096404455,-0.8751738900890551,0.71338606911949],"aabb_xy":[[0.12360450742003845,-0.9195469742143435],[0.25160451186085253,-0.8308008059637669]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.22175069148318494,0.7897431516574964,0.71338606911949],"aabb_xy":[[0.19546186716274425,0.7634717180028451],[0.24803951580362557,0.8160145853121475]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[-0.07113100102801317,0.78277996597987,0.71338606911949],"aabb_xy":[[-0.10152911212715675,0.7523730639782004],[-0.04073288992886958,0.8131868679815394]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.3730975339245233,1.1478670084835225,0.71338606911949],"aabb_xy":[[0.36918366072910075,1.1391179930769657],[0.3770114071199458,1.1566160238900793]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.6447219987071746,-1.1749410743913615,0.71338606911949],"aabb_xy":[[0.6034174556434386,-1.2389410739594784],[0.6860265417709106,-1.1109410748232442]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.29187482898163764,1.606793138734457,0.71338606911949],"aabb_xy":[[0.22787482968746936,1.5428069983656025],[0.3558748282758058,1.670779279103311]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.46147400666623883,0.15510310157410867,0.71338606911949],"aabb_xy":[[-0.5254740087159708,0.11500861848480073],[-0.39747400461650684,0.19519758466341666]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.15986120068451948,-2.227823405772324,0.71338606911949],"aabb_xy":[[0.07986120367027147,-2.2479579574457356],[0.23986119769876743,-2.2076888540989126]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.09310716164358768,-2.493668182481794,0.71338606911949],"aabb_xy":[[0.013107163662802635,-2.501269723443646],[0.17310715962437273,-2.486066641519942]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.10662184562109589,1.6345398683320203,0.71338606911949],"aabb_xy":[[-0.19662184503946678,1.6011643714878305],[-0.016621846202725,1.66791536517621]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.6014013846966274,-0.04029463613236084,0.71338606911949],"aabb_xy":[[-0.6096159298123113,-0.04897122643000212],[-0.5931868395809433,-0.03161804583471955]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.3764061876666674,-0.9426365774166867,0.71338606911949],"aabb_xy":[[-0.38432946790541567,-0.9651365776546902],[-0.368482907427919,-0.9201365771786835]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.20231913750365993,-0.719666708286584,0.71338606911949],"aabb_xy":[[0.15704052262251064,-0.7836667076347676],[0.24759775238480916,-0.6556667089384003]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.10099389219119181,-2.5613187530285684,0.71338606911949],"aabb_xy":[[0.08839119305411537,-2.573914149253434],[0.11359659132826828,-2.548723356803703]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.4260556283690844,-1.109747755167031,0.71338606911949],"aabb_xy":[[0.41597392129051086,-1.1897477530591454],[0.4361373354476578,-1.029747757274916]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.34912891374970473,-0.7999520786573187,0.71338606911949],"aabb_xy":[[-0.369019953630045,-0.8126078899420156],[-0.3292378738693645,-0.7872962673726219]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.4940229578469397,0.6726310337824448,0.71338606911949],"aabb_xy":[[0.48868538218093516,0.647631032853305],[0.4993605335129443,0.6976310347115846]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.19807886177949008,0.24831085299306022,0.71338606911949],"aabb_xy":[[-0.26207886036606254,0.20130388959355147],[-0.13407886319291762,0.29531781639256893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6376984458577264,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2083.png","name":"2083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2083.png","name":"2083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2334.png","name":"2334"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2708.png","name":"2708"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9803.png","name":"9803"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1188.png","name":"1188"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":708.6611797982694,"rotation_z_degrees":90.87844721473137,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004244366113158593,-0.013895649763539124,0.0029045416248144294]},{"name":"camera_2","offset_m":[0.002960651430868228,0.0020341378023810454,0.018061572584249386]},{"name":"camera_3","offset_m":[-0.0035686445268090228,-0.018956780199306016,0.011629180295103254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007683004438296269,0.0011133084585896575,0.0003328770670687044],"end_effector_yaw_offset_degrees":0.12403740390388984},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013242235644677176,0.0018933444720731934,-0.0016574372250635356],"end_effector_yaw_offset_degrees":-0.6049481047584968},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005158621083704669,-0.0009817596528380302,0.0009031911887913734],"end_effector_yaw_offset_degrees":0.8437866332609645},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005379178599850868,0.001722547158173705,0.0017135374647662305],"end_effector_yaw_offset_degrees":-0.9631265601009023},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017798316845908406,-0.000948741742460591,0.0014953148380559347],"end_effector_yaw_offset_degrees":0.8839623585862022},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017161513892520839,0.0017899713153598663,0.0016327412601274925],"end_effector_yaw_offset_degrees":0.9071613950775745}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006321812186119193,0.00099903183858589],"position_m":[0.27513218121861194,0.08039903183858589,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019138131390602211,-0.004946670046591206],"position_m":[0.2139861868609398,-0.3438466700465912,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00014958564100771028,0.002783964788885803],"position_m":[0.2837495856410077,0.3133839647888858,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002943054700799263,0.004475697936209516],"position_m":[0.21719430547007992,-0.11822430206379049,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2db9dfaf6b7d480f24a231a5074cbb0c36aafa012250c80c36916228ebe74677","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2083/tex_ceiling_textures_1188/tex_floor_textures_9803/tex_table_textures_2334/tex_wall_textures_2708","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7483782999369460436,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7483782999369460436,"visual_seed":7483782999369460436,"scene_id":"lab_003","finished_at":"2026-09-08T18:15:17"}
+{"episode_id":"ep_000042","started_at":"2026-09-08T18:15:24","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.5781776064612896,-1.8208864300158405,0.71338606911949],"aabb_xy":[[0.572840030795285,-1.8458864309449803],[0.5835151821272941,-1.7958864290867007]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.031298569941385135,1.4011411642873677,0.71338606911949],"aabb_xy":[[-0.09629857257917862,1.349661565587921],[0.03370143269640835,1.4526207629868149]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.314671454302186,-0.6524601289443399,0.71338606911949],"aabb_xy":[[0.29220668433078084,-0.6749601298232004],[0.3371362242735911,-0.6299601280654794]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.3151054478767649,-0.6732775711017696,0.71338606911949],"aabb_xy":[[-0.35260544866876037,-0.6796454120599598],[-0.2776054470847695,-0.6669097301435796]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.13045957885773285,1.673194990521219,0.71338606911949],"aabb_xy":[[-0.19445958077007522,1.6172838412632087],[-0.06645957694539054,1.7291061397792296]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.16268774537978392,-1.1654612093369885,0.71338606911949],"aabb_xy":[[0.09768774534548116,-1.2121618860173158],[0.22768774541408662,-1.1187605326566612]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.30996168275158814,0.25443287750056376,0.71338606911949],"aabb_xy":[[-0.367592151638859,0.1944328785738531],[-0.2523312138643173,0.3144328764272743]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.6052135096398734,-2.459229902989532,0.71338606911949],"aabb_xy":[[-0.6852135128977164,-2.539226410781516],[-0.5252135063820305,-2.379233395197548]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[-0.20582640636141603,-1.0438116204102876,0.71338606911949],"aabb_xy":[[-0.24332640478481637,-1.0569758343781182],[-0.16832640793801568,-1.0306474064424571]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.5613086099107631,0.7041097293628034,0.71338606911949],"aabb_xy":[[-0.5773705373692807,0.6191097275502115],[-0.5452466824522454,0.7891097311753952]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.30602862539490616,0.7490093338383876,0.71338606911949],"aabb_xy":[[-0.3860286286589193,0.7354493015294742],[-0.22602862213089303,0.7625693661473009]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.3024151032858019,1.1186975727863344,0.71338606911949],"aabb_xy":[[0.24741510508405704,1.0781756061598968],[0.3574151014875467,1.159219539412772]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.19781517633397505,0.6680814335026608,0.71338606911949],"aabb_xy":[[0.14781517505013506,0.6181025791120386],[0.247815177617815,0.7180602878932828]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.34183213573634796,-1.9376040961531924,0.71338606911949],"aabb_xy":[[-0.3761484129109659,-1.98760409612637],[-0.30751585856173,-1.8876040961800145]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.4673008356422492,0.29306457045900025,0.71338606911949],"aabb_xy":[[0.4448008353987339,0.2808599357992283],[0.4898008358857647,0.3052692051187722]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.6493433912278443,-0.7555029202238404,0.71338606911949],"aabb_xy":[[0.5877526320038516,-0.8195029183328874],[0.7109341504518373,-0.6915029221147936]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.30143225659017836,-1.6532957114949198,0.71338606911949],"aabb_xy":[[0.21143225985456815,-1.7064791748122141],[0.39143225332578857,-1.600112248177625]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.3814385498789366,-2.455219739841363,0.71338606911949],"aabb_xy":[[-0.44543854716458525,-2.496726458794207],[-0.31743855259328796,-2.413713020888519]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.11685289209925764,0.17477652014688028,0.71338606911949],"aabb_xy":[[-0.16683170060957353,0.12477652014116147],[-0.06687408358894177,0.22477652015259908]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.4255455826714043,-0.685813911090458,0.71338606911949],"aabb_xy":[[0.40786995208280596,-0.7034941273698606],[0.44322121326000263,-0.6681336948110551]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.42774242376517035,-1.3992164623959515,0.71338606911949],"aabb_xy":[[0.40863011640719143,-1.4183512412731936],[0.44685473112314916,-1.3800816835187095]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.24725271379086838,-0.17133983022004484,0.71338606911949],"aabb_xy":[[-0.30725271465168114,-0.22276626022653118],[-0.18725271293005555,-0.11991340021355841]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[-0.39436061169248887,1.25526732320546,0.71338606911949],"aabb_xy":[[-0.407232515193429,1.175267322791624],[-0.38148870819154873,1.3352673236192962]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.5650331050227013,-2.031155564120607,0.71338606911949],"aabb_xy":[[-0.5984732802187208,-2.064599189951537],[-0.5315929298266816,-1.9977119382896769]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[0.6684102146587592,0.21697173962287275,0.71338606911949],"aabb_xy":[[0.6609977591173707,0.21112052920124483],[0.6758226702001476,0.22282295004450073]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[-0.06010833365368551,0.8683657777718361,0.71338606911949],"aabb_xy":[[-0.10619342490841699,0.8043657805192811],[-0.014023242398954033,0.9323657750243913]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.6320293128627996,-0.4489529085252042,0.71338606911949],"aabb_xy":[[-0.6556144363266945,-0.513952910770636],[-0.6084441893989048,-0.3839529062797724]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.5017014094674286,-1.2803632041154873,0.71338606911949],"aabb_xy":[[0.46607225356746884,-1.3159958708723403],[0.5373305653673883,-1.2447305373586344]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_28","position":[-0.04034666887574978,1.2347491211427806,0.71338606911949],"aabb_xy":[[-0.06534666814771206,1.2184037575466182],[-0.015346669603787505,1.251094484738943]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.6164022861143861,1.0822219062224594,0.71338606911949],"aabb_xy":[[-0.6804022863748567,1.0372131068695312],[-0.552402285853915,1.1272307055753872]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_30","position":[0.19153088983654487,-1.2983460354658525,0.71338606911949],"aabb_xy":[[0.18341723516316777,-1.3064518519198816],[0.19964454450992197,-1.2902402190118234]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6378674577436544,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1954.png","name":"1954"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1954.png","name":"1954"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/465.png","name":"465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1373.png","name":"1373"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3139.png","name":"3139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1709.png","name":"1709"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":714.3877599202365,"rotation_z_degrees":143.0999315142907,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019839073360231323,-0.004023608148333829,0.013113236349734648]},{"name":"camera_2","offset_m":[0.004471565332449048,0.00941952272429598,-0.009434610974355127]},{"name":"camera_3","offset_m":[0.009559092467456433,-0.0008023120627795831,-0.017990233622628075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00141831308663386,0.0015272876635952807,0.0011287468906306499],"end_effector_yaw_offset_degrees":-0.6216234074595448},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023980525867311987,-0.0017515376342054215,-0.00013462917357339637],"end_effector_yaw_offset_degrees":-0.04190022678566163},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.4844506725517877e-05,0.0011483646274335832,0.00019763822917509945],"end_effector_yaw_offset_degrees":-0.7189272571767444},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0002476552932460013,0.000669997313751761,0.0016533399175511867],"end_effector_yaw_offset_degrees":-0.3724754925031044},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018402747725870527,0.0005879606708184023,0.001139476829867701],"end_effector_yaw_offset_degrees":0.8877220088532412},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009200294875186801,-0.0014246581852739811,0.0009871617289581658],"end_effector_yaw_offset_degrees":0.8793289365677757}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004598923411087383,-0.0007769109762749858],"position_m":[0.26990107658891266,0.07862308902372502,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007398855414252857,-0.0034212626681936376],"position_m":[0.21516011445857472,-0.3423212626681936,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0019696663077466603,-0.0007231617178092356],"position_m":[0.2816303336922534,0.30987683828219076,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002173093480499634,0.0032721443612445623],"position_m":[0.21907309348049964,-0.11942785563875544,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d8503ac9e66e58bef9e07753c9ca976963bbab0ff352d4c417692bd1ef736ae7","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0066.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1954/tex_ceiling_textures_1709/tex_floor_textures_3139/tex_table_textures_465/tex_wall_textures_1373","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":2792127618358207117,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":2792127618358207117,"visual_seed":2792127618358207117,"scene_id":"lab_003","finished_at":"2026-09-08T18:23:34"}
+{"episode_id":"ep_000043","started_at":"2026-09-08T18:23:42","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.4573951607884087,0.8090909342459165,0.71338606911949],"aabb_xy":[[-0.5213951640781167,0.7657560152419989],[-0.3933951574987005,0.8524258532498341]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.2630636969300524,-0.4964188724496257,0.71338606911949],"aabb_xy":[[0.2262690638051461,-0.533324747546208],[0.29985833005495865,-0.45951299735304335]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.1282279147444132,-0.9345641065056083,0.71338606911949],"aabb_xy":[[0.12338431998318322,-0.9394157589845924],[0.13307150950564317,-0.9297124540266242]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.25140421175735517,1.3170827852753528,0.71338606911949],"aabb_xy":[[0.20623289390918625,1.2530827881308146],[0.2965755296055242,1.3810827824198915]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.30690704776712563,1.538056199532225,0.71338606911949],"aabb_xy":[[0.2694070476615326,1.5312340376792435],[0.34440704787271853,1.5448783613852057]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.30027135230906704,1.2972358550624974,0.71338606911949],"aabb_xy":[[-0.3043495102161168,1.2931548748142339],[-0.2961931944020173,1.3013168353107605]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.20809022555986678,-2.134028618169829,0.71338606911949],"aabb_xy":[[-0.24255257295800856,-2.1685225005676507],[-0.17362787816172495,-2.0995347357720053]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.6086466059559006,-1.3383532796333921,0.71338606911949],"aabb_xy":[[-0.6499511490196365,-1.4023532792015092],[-0.5673420628921645,-1.274353280065275]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.30072305019140644,1.7074071078287267,0.71338606911949],"aabb_xy":[[0.2926867154901216,1.6993689885243097],[0.3087593848926913,1.7154452271331433]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.6656907567575214,-0.2904574943669149,0.71338606911949],"aabb_xy":[[0.6595961288694031,-0.29902688891858364],[0.6717853846456397,-0.2818880998152462]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.4086422768755308,1.6203083320620535,0.71338606911949],"aabb_xy":[[-0.4253194128686263,1.6036084080881232],[-0.3919651408824353,1.6370082560359838]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.10181380304879906,-0.802174409151089,0.71338606911949],"aabb_xy":[[-0.1868138017408737,-0.8341602725459679],[-0.016813804356724416,-0.7701885457562102]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[0.69968730071414,1.7469328117686254,0.71338606911949],"aabb_xy":[[0.6941056290800112,1.7344328119508499],[0.7052689723482688,1.7594328115864009]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.492277168797568,-1.5164681353467728,0.71338606911949],"aabb_xy":[[0.4282771673895773,-1.5682570868706973],[0.5562771702055586,-1.464679183822848]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.16925889853159193,0.8803103165260491,0.71338606911949],"aabb_xy":[[0.1336297426316322,0.844677649769196],[0.20488805443155167,0.9159429832829019]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.38628895344672554,-2.453547487008374,0.71338606911949],"aabb_xy":[[0.3731377074754362,-2.4785474867650605],[0.39944019941801495,-2.4285474872516875]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.476402531362079,1.251423548124658,0.71338606911949],"aabb_xy":[[0.4629560047280357,1.2379536964715665],[0.4898490579961224,1.2648933997777492]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.2931557006143188,-1.1258923345693768,0.71338606911949],"aabb_xy":[[-0.3344045116442335,-1.180892334081594],[-0.25190688958440405,-1.070892335057159]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[0.18802031677749964,0.6212189502496615,0.71338606911949],"aabb_xy":[[0.18312102447093612,0.5935420309470927],[0.1929196090840631,0.6488958695522302]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.47832040480586147,0.21134278495938785,0.71338606911949],"aabb_xy":[[-0.5433204058063619,0.1605564198047129],[-0.4133204038053609,0.2621291501140628]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.1592429921499836,-0.13767554910230473,0.71338606911949],"aabb_xy":[[-0.23924299541399674,-0.15123558141121807],[-0.07924298888597048,-0.12411551679339139]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.6724029272918579,-0.6272853765550805,0.71338606911949],"aabb_xy":[[0.650230400315207,-0.6494610437112037],[0.6945754542685086,-0.6051097093989574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6432683421635225,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3030.png","name":"3030"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3030.png","name":"3030"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3991.png","name":"3991"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8005.png","name":"8005"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5994.png","name":"5994"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7291.png","name":"7291"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":834.4157893940701,"rotation_z_degrees":281.4979646063456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003215844067056394,0.010797872657343586,-0.009739415244652654]},{"name":"camera_2","offset_m":[0.0033819967284861793,0.01680585831603398,-0.009228991688181703]},{"name":"camera_3","offset_m":[-0.016710621687067637,-0.005303568806626439,0.013261863730154897]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00023184674003481572,-0.000782828568738886,0.0017026408364656316],"end_effector_yaw_offset_degrees":-0.7899668286848824},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004783249555802569,-0.0014905831118784793,-0.0013056448157276039],"end_effector_yaw_offset_degrees":0.6544570094119788},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013718093085282358,0.001078378023626105,-0.0015919628706079166],"end_effector_yaw_offset_degrees":0.7158900384466904},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0006889820405422205,0.0006761815992591242,0.0006874117412152391],"end_effector_yaw_offset_degrees":-0.9851171842174524},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010915756963844787,2.943201636760283e-05,-0.0013472712596802787],"end_effector_yaw_offset_degrees":-0.8897262798129448},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0018675992297811455,-0.00032922734536674635,0.0006157288137381765],"end_effector_yaw_offset_degrees":-0.29645747074326523}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002933872344153818,-0.004482168300943207],"position_m":[0.27743387234415384,0.07491783169905679,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00493284320589311,-0.004559621408339503],"position_m":[0.2208328432058931,-0.34345962140833947,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006639585095372432,-0.002905316189933651],"position_m":[0.28293604149046275,0.3076946838100663,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00440940611550394,0.0025623870435928517],"position_m":[0.21249059388449607,-0.12013761295640715,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3368b71b549c57fe21930e7d68a9337558d2cc15ceef8e0058a72a6e1f6ef8c4","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3030/tex_ceiling_textures_7291/tex_floor_textures_5994/tex_table_textures_3991/tex_wall_textures_8005","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":1329535475735403001,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":1329535475735403001,"visual_seed":1329535475735403001,"scene_id":"lab_003","finished_at":"2026-09-08T18:31:27"}
+{"episode_id":"ep_000044","started_at":"2026-09-08T18:40:28","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.1574661185155921,-2.20540302658867,0.71338606911949],"aabb_xy":[[-0.23746611547863128,-2.2824786682324434],[-0.07746612155255295,-2.1283273849448965]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.04057764441320111,-2.1900671169686516,0.71338606911949],"aabb_xy":[[-0.009519819567872512,-2.2540671174784634],[0.09067510839427473,-2.12606711645884]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.3035043360592675,0.9092645083219866,0.71338606911949],"aabb_xy":[[-0.3675043392779054,0.8625413964229783],[-0.23950433284062966,0.955987620220995]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.27431258562331307,-0.5754809397794562,0.71338606911949],"aabb_xy":[[-0.32431258506350863,-0.6254488642637726],[-0.2243125861831174,-0.5255130152951399]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.5399036866120863,-0.3934996618845865,0.71338606911949],"aabb_xy":[[-0.5574036858901731,-0.41083776195093247],[-0.5224036873339993,-0.37616156181824056]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.37319231365187705,0.35488901401505313,0.71338606911949],"aabb_xy":[[-0.40819231192199695,0.3478148863200649],[-0.33819231538175715,0.36196314171004124]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.27671793577764625,-1.6598971467086496,0.71338606911949],"aabb_xy":[[0.27208282062541284,-1.663764481785798],[0.28135305092987956,-1.6560298116315004]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[-0.5626604727396444,-2.495444323449164,0.71338606911949],"aabb_xy":[[-0.5761069993736877,-2.5089141751022552],[-0.549213946105601,-2.4819744717960726]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.46527918685168146,-0.3043249123502929,0.71338606911949],"aabb_xy":[[0.4284286389146938,-0.34182491317332664],[0.5021297347886691,-0.2668249115272592]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.5442056683131791,1.6282848883388028,0.71338606911949],"aabb_xy":[[-0.5529036306038944,1.6161599140313283],[-0.5355077060224638,1.6404098626462777]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[-0.2426058230480599,1.2537523876359158,0.71338606911949],"aabb_xy":[[-0.2799370995733025,1.2190993328410635],[-0.2052745465228173,1.288405442430768]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.4762383839815337,1.0887247743742012,0.71338606911949],"aabb_xy":[[-0.5172563273679045,1.038724773743244],[-0.4352204405951628,1.1387247750051586]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.05612908770784475,-1.0270019169066953,0.71338606911949],"aabb_xy":[[0.044257004696343645,-1.1120019166003456],[0.06800117071934586,-0.9420019172130449]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.6869494521963564,-2.4983030968777387,0.71338606911949],"aabb_xy":[[0.6583001198359401,-2.526948656154814],[0.7155987845567725,-2.4696575376006624]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.3608052922833027,-2.3765665062723147,0.71338606911949],"aabb_xy":[[0.31082648377298683,-2.4265665062780335],[0.4107841007936186,-2.326566506266596]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.2267376015467884,-1.5577724237183526,0.71338606911949],"aabb_xy":[[-0.30673760480463136,-1.6377689315103365],[-0.14673759828894545,-1.4777759159263686]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.5815101818621525,1.45706185361936,0.71338606911949],"aabb_xy":[[-0.6115018445960229,1.4270618542825593],[-0.5515185191282822,1.4870618529561603]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.5595710722411539,0.27118246462244455,0.71338606911949],"aabb_xy":[[-0.6095710708870751,0.22126292096298217],[-0.5095710735952327,0.32110200828190694]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.2609180407330145,0.4873117731902048,0.71338606911949],"aabb_xy":[[-0.2859180400049768,0.4709664095940424],[-0.23591804146105225,0.503657136786367]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.5712366746467863,-2.1026139924951437,0.71338606911949],"aabb_xy":[[-0.6352366739409545,-2.1666001328639974],[-0.5072366753526181,-2.038627852126289]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.5386205700759512,-1.9864257168787804,0.71338606911949],"aabb_xy":[[0.45489834457586875,-2.0764257204134764],[0.6223427955760337,-1.8964257133440845]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[0.505810868332107,-2.5204005773846188,0.71338606911949],"aabb_xy":[[0.45179527205020686,-2.584400580276876],[0.5598264646140069,-2.4564005744923616]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.6738538044939821,0.19601814473058088,0.71338606911949],"aabb_xy":[[0.6535695017705833,0.17573551958787198],[0.6941381072173808,0.21630076987328967]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[0.3423117504453641,1.2335216275249956,0.71338606911949],"aabb_xy":[[0.31981174993332345,1.2110297691595973],[0.36481175095740465,1.256013485890394]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[0.26278368328115786,-2.070639887998683,0.71338606911949],"aabb_xy":[[0.2322994331541277,-2.1206398877801784],[0.293267933408188,-2.0206398882171865]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[0.5675435354278731,1.0109976183528167,0.71338606911949],"aabb_xy":[[0.556976055769774,1.000452588239808],[0.5781110150859721,1.0215426484658252]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[-0.3340208696466761,1.0329369909922157,0.71338606911949],"aabb_xy":[[-0.3639884265565018,1.00293699069433],[-0.3040533127368505,1.0629369912901014]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[0.6429970953528177,-1.721596738450909,0.71338606911949],"aabb_xy":[[0.5789970980504712,-1.7659631654187657],[0.706997092655164,-1.6772303114830522]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[-0.10171076176626559,0.28678696260824443,0.71338606911949],"aabb_xy":[[-0.18171075892584088,0.2752393616504274],[-0.021710764606690303,0.2983345635660615]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_29","position":[-0.2934284390054473,-1.1275141502938024,0.71338606911949],"aabb_xy":[[-0.3734284411682098,-1.207469333919946],[-0.2134284368426848,-1.0475589666676588]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_30","position":[0.6740829029899935,1.6372315911487543,0.71338606911949],"aabb_xy":[[0.6612109994890533,1.5572315907349181],[0.6869548064909335,1.7172315915625904]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_31","position":[0.03238719717897909,-1.3728512572414613,0.71338606911949],"aabb_xy":[[-0.005112802926613868,-1.3796734190944422],[0.06988719728457203,-1.36602909538848]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[0.5700850932158037,-0.499255288175231,0.71338606911949],"aabb_xy":[[0.5529830152574355,-0.5163620937065008],[0.5871871711741719,-0.4821484826439613]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_33","position":[-0.37128955566857486,0.11976722283197683,0.71338606911949],"aabb_xy":[[-0.43528955206414793,0.05580393441324327],[-0.3072895592730018,0.18373051125071038]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6318141014533794,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/864.png","name":"864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/864.png","name":"864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6556.png","name":"6556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7162.png","name":"7162"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8951.png","name":"8951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3540.png","name":"3540"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":774.0772460996361,"rotation_z_degrees":189.01319253625402,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005600637581409749,0.0032493963393392424,-0.012692890955232263]},{"name":"camera_2","offset_m":[0.00460051497153878,-0.012672376884363238,-0.008098910105853055]},{"name":"camera_3","offset_m":[0.013706223647553282,-0.01743078983431274,-4.0312657876191704e-06]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001070499254565302,0.0007813491487380347,0.0007913631891979305],"end_effector_yaw_offset_degrees":0.08772502280214733},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001993069121294403,0.0005903422502793795,-0.0013321874101106107],"end_effector_yaw_offset_degrees":-0.2171752574579291},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001583792591948593,0.0011599708126438318,0.0008342630810502607],"end_effector_yaw_offset_degrees":-0.3414535558333762},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0011639004141688592,0.0005378562798848273,-0.0008252770430224562],"end_effector_yaw_offset_degrees":-0.7193773696795538},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011837037541357828,-0.0010839795701995368,-0.0010858998049571764],"end_effector_yaw_offset_degrees":-0.9816672753618942},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00012660342840261946,-0.0016689137148677268,-0.0015943185889714213],"end_effector_yaw_offset_degrees":-0.8313583336776671}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010950734857283432,-0.0038063286273372085],"position_m":[0.27559507348572837,0.07559367137266279,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0047049961991607585,0.0025297365132082097],"position_m":[0.21119500380083925,-0.3363702634867918,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006167102819995664,-0.004988272112693789],"position_m":[0.28298328971800046,0.3056117278873062,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005610161210284868,-0.0025270055774333357],"position_m":[0.2174610161210285,-0.12522700557743333,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"fa3c2f3040bb549f680f06cfe0efc45ff4370b52c4ea764f860b719616b050e6","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_864/tex_ceiling_textures_3540/tex_floor_textures_8951/tex_table_textures_6556/tex_wall_textures_7162","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7337470133242971913,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7337470133242971913,"visual_seed":7337470133242971913,"scene_id":"lab_003","finished_at":"2026-09-08T18:48:21"}
+{"episode_id":"ep_000045","started_at":"2026-09-08T18:48:28","dimensions":{"distractor":{"count":29,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.21423419260090104,-2.5160123726836545,0.71338606911949],"aabb_xy":[[0.12423418892398286,-2.5774447792607584],[0.3042341962778192,-2.4545799661065497]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.48104894186367575,0.9691003087366981,0.71338606911949],"aabb_xy":[[-0.4904664164335385,0.9596841315989791],[-0.471631467293813,0.9785164858744172]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.5889613136245428,-1.518576584671534,0.71338606911949],"aabb_xy":[[0.5817175475782975,-1.5985765828751364],[0.5962050796707882,-1.4385765864679316]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[-0.2252277606726764,-0.5264888769430742,0.71338606911949],"aabb_xy":[[-0.23613353676023913,-0.6064888733419033],[-0.2143219845851137,-0.44648888054424496]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.09159168689991815,-1.5044082802232228,0.71338606911949],"aabb_xy":[[0.05567818247492845,-1.5403217884399771],[0.12750519132490784,-1.468494772006468]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.6304493849057495,1.7379114702902085,0.71338606911949],"aabb_xy":[[-0.6364159238464853,1.7319503256308442],[-0.6244828459650138,1.7438726149495725]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.11071182231150078,-1.924872896917078,0.71338606911949],"aabb_xy":[[0.1057558021266196,-1.9473728971192001],[0.115667842496382,-1.902372896714957]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.3351736606606979,-1.1415837857878242,0.71338606911949],"aabb_xy":[[-0.390165911296209,-1.1965837875311371],[-0.28018141002518704,-1.0865837840445116]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.21211717551542264,-0.733623263767524,0.71338606911949],"aabb_xy":[[-0.2761171728010713,-0.775129982720368],[-0.148117178229774,-0.6921165448146801]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.4336993432471491,-0.2340090366992773,0.71338606911949],"aabb_xy":[[-0.48869255458428584,-0.28900903703807096],[-0.37870613191001234,-0.17900903636048374]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.3561338168990189,1.5793302354491776,0.71338606911949],"aabb_xy":[[0.34735258975178274,1.570550488160648],[0.3649150440462552,1.5881099827377085]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.13435515642312068,-0.19657799070659054,0.71338606911949],"aabb_xy":[[-0.14450817197727003,-0.23264753227933083],[-0.12420214086897127,-0.16050844913385018]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.19471433048574316,1.145910395958062,0.71338606911949],"aabb_xy":[[0.15252991632491245,1.0819103956808511],[0.23689874464657393,1.2099103962352735]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.5127447590343879,0.4601800724022622,0.71338606911949],"aabb_xy":[[0.46274475959419215,0.41021214791794586],[0.5627447584745834,0.5101479968865785]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.39524843405122123,-0.546682492532995,0.71338606911949],"aabb_xy":[[0.31524843377761425,-0.6196320403587117],[0.4752484343248282,-0.4737329447072783]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[-0.2732893657313419,0.4429170004202314,0.71338606911949],"aabb_xy":[[-0.363289365454516,0.4198436478850515],[-0.18328936600816767,0.4659903529554112]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.019977978922234074,-1.3021781000756931,0.71338606911949],"aabb_xy":[[-0.04402202275576328,-1.3506954915550071],[0.08397798060023143,-1.2536607085963787]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.26868437171411186,0.5578713170474088,0.71338606911949],"aabb_xy":[[0.21868936075465983,0.5078713180118172],[0.3186793826735639,0.6078713160830006]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.5195974905181484,1.817352502477895,0.71338606911949],"aabb_xy":[[-0.5320648486278841,1.8048871778445716],[-0.5071301324084128,1.8298178271112187]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.3079056352962696,-1.7582205158738249,0.71338606911949],"aabb_xy":[[-0.3550350142981052,-1.8222205169182266],[-0.26077625629443385,-1.6942205148294227]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.5654951758370261,-2.006378301030389,0.71338606911949],"aabb_xy":[[-0.6454951772671533,-2.085895456042998],[-0.48549517440689893,-1.926861146017779]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[0.44505387827271004,0.35378821267100413,0.71338606911949],"aabb_xy":[[0.4100538782962142,0.3443235966233876],[0.48005387824920587,0.3632528287186208]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[-0.4710579697418301,-0.6864389461281433,0.71338606911949],"aabb_xy":[[-0.5163365846229793,-0.7504389454763268],[-0.4257793548606808,-0.6224389467799595]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.062016839514114075,0.9503693338066252,0.71338606911949],"aabb_xy":[[-0.07071480180482936,0.9382443594991505],[-0.053318877223398786,0.9624943081141]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[-0.2458422390831424,-0.18586807838644726,0.71338606911949],"aabb_xy":[[-0.2677319866720832,-0.2758680756756963],[-0.2239524914942016,-0.09586808109719812]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[-0.3659976045925575,1.6374731193182401,0.71338606911949],"aabb_xy":[[-0.3700757624996072,1.633392139069977],[-0.36191944668550774,1.6415540995665037]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[0.35772379725216363,1.072392438975379,0.71338606911949],"aabb_xy":[[0.30784110037446744,1.0223924397291044],[0.4076064941298599,1.122392438221654]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[0.6693505204884229,0.03342012652161408,0.71338606911949],"aabb_xy":[[0.6597188842679933,0.023782813741905162],[0.6789821567088525,0.043057439301323]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_28","position":[-0.312048176170125,-1.9525552721373223,0.71338606911949],"aabb_xy":[[-0.3470481744808205,-1.9602702870608681],[-0.2770481778594296,-1.9448402572137768]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6361794918901694,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9154.png","name":"9154"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9154.png","name":"9154"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2628.png","name":"2628"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5257.png","name":"5257"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8614.png","name":"8614"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9877.png","name":"9877"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":741.8522313593173,"rotation_z_degrees":169.14374812609478,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013749630501836734,-0.018748542465698077,0.005009760728908751]},{"name":"camera_2","offset_m":[0.01226022241440541,-0.00383599805140249,0.0010406809654930453]},{"name":"camera_3","offset_m":[-0.012127802187882168,0.008727189569272539,0.01837484606473477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015624393044500584,0.0006762644652177395,0.0016571364662441666],"end_effector_yaw_offset_degrees":-0.8315020383799672},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019356817033172567,-0.0004352236284631617,-0.0004246047420946701],"end_effector_yaw_offset_degrees":-0.10365476677969943},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007980704856698547,-0.0002735489079924531,0.0010297459797397731],"end_effector_yaw_offset_degrees":-0.0006148790477664701},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0003860727755194255,0.00018665327987985687,-0.00014383282298172507],"end_effector_yaw_offset_degrees":-0.9375049794870329},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0002649477820103434,0.0012620293715317216,0.0012680524332319108],"end_effector_yaw_offset_degrees":0.8876400419937507},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005571582076259788,-0.001977595447895387,0.0018999298118107747],"end_effector_yaw_offset_degrees":0.10718233325758297}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024802803808788177,-0.004570793334090531],"position_m":[0.2720197196191212,0.07482920666590946,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00027765561126462217,0.0004689446110891955],"position_m":[0.2156223443887354,-0.3384310553889108,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002064392126270683,0.0016099155810615088],"position_m":[0.28153560787372933,0.3122099155810615,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003283736877866348,-0.002375366158076938],"position_m":[0.21722837368778664,-0.12507536615807693,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"41e4f16a9dd89ff9ec57680f45abe3e3e1cbc2737cf1ddcb8d657dd9bdff50a6","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9154/tex_ceiling_textures_9877/tex_floor_textures_8614/tex_table_textures_2628/tex_wall_textures_5257","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7364003440532812026,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7364003440532812026,"visual_seed":7364003440532812026,"scene_id":"lab_003","finished_at":"2026-09-08T18:56:12"}
+{"episode_id":"ep_000046","started_at":"2026-09-08T19:05:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.36655082755769575,0.3193628890741582,0.71338606911949],"aabb_xy":[[-0.37251736649843153,0.3134017444147942],[-0.36058428861695996,0.32532403373352226]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.47263466512420815,-2.4010890910215705,0.71338606911949],"aabb_xy":[[0.40863466783855956,-2.4425958099744145],[0.5366346624098568,-2.3595823720687266]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.5187610545864219,0.5060880373546834,0.71338606911949],"aabb_xy":[[0.4687610535672867,0.4696218216168556],[0.5687610556055572,0.5425542530925115]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[0.5581382918861812,1.2535633172949159,0.71338606911949],"aabb_xy":[[0.5475708122280822,1.2430182871819073],[0.5687057715442803,1.2641083474079244]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.3319023978533271,1.0496654349398513,0.71338606911949],"aabb_xy":[[0.31480031989495894,1.0325586294085816],[0.34900447581169525,1.066772240471121]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.37799726362365343,0.6188577608729915,0.71338606911949],"aabb_xy":[[-0.4165429564488545,0.5803119898168029],[-0.3394515707984524,0.6574035319291801]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.413606706817909,-1.8625647826976908,0.71338606911949],"aabb_xy":[[0.4063454592475016,-1.8753517929612],[0.4208679543883164,-1.849777772434181]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.4724825608674058,-0.7104303465386792,0.71338606911949],"aabb_xy":[[-0.5364825581697521,-0.754796773506536],[-0.40848256356505935,-0.6660639195708224]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[-0.5967555234925364,1.3333454845701298,0.71338606911949],"aabb_xy":[[-0.6168139351057766,1.3132803976609726],[-0.5766971118792961,1.3534105714792874]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[0.5100505243259723,-2.162881514550291,0.71338606911949],"aabb_xy":[[0.4992100460994574,-2.1800677958409396],[0.5208910025524872,-2.145695233259642]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.10543156670496356,-2.437435577631349,0.71338606911949],"aabb_xy":[[0.05595114549100477,-2.501435575544201],[0.15491198791892236,-2.3734355797184974]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[-0.399587580209862,0.14671602750897694,0.71338606911949],"aabb_xy":[[-0.46458758024416474,0.10001535082864965],[-0.3345875801755593,0.19341670418930423]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.3156906064800797,-1.0397281599458708,0.71338606911949],"aabb_xy":[[-0.3527247159081394,-1.07410536727958],[-0.27865649705201995,-1.0053509526121611]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[-0.08105009134519003,-1.3925831186144961,0.71338606911949],"aabb_xy":[[-0.08746390498837497,-1.3989929388621642],[-0.0746362777020051,-1.3861732983668276]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.5542027537955181,-0.46968627792942863,0.71338606911949],"aabb_xy":[[-0.6142027546563308,-0.5211127079359149],[-0.4942027529347052,-0.4182598479229422]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.2632294286365658,-2.2194813180101796,0.71338606911949],"aabb_xy":[[-0.35322942723103573,-2.235731904323601],[-0.17322943004209584,-2.203230731696759]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[0.6204271093503795,1.4103047417288197,0.71338606911949],"aabb_xy":[[0.5782426951895486,1.3463047414516085],[0.6626115235112101,1.474304742006031]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.5219507501695642,0.7442899579483799,0.71338606911949],"aabb_xy":[[0.4519507485672847,0.7308571647467225],[0.5919507517718436,0.7577227511500376]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.3879501278682276,-0.3782882747203411,0.71338606911949],"aabb_xy":[[0.381448491360223,-0.38805609674665087],[0.39445176437623225,-0.3685204526940313]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.13686468293401555,-1.6937944068935054,0.71338606911949],"aabb_xy":[[0.10440298205208808,-1.7239272390084077],[0.16932638381594298,-1.6636615747786025]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[0.2564011902548089,-1.5341230087010203,0.71338606911949],"aabb_xy":[[0.23890125682082547,-1.5516230086212548],[0.2739011236887922,-1.5166230087807857]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[0.5987640764453572,0.2541472884966387,0.71338606911949],"aabb_xy":[[0.5087640741113382,0.17666493391152605],[0.6887640787793763,0.33162964308175136]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[-0.294180188490141,-1.476867385453113,0.71338606911949],"aabb_xy":[[-0.30217417706784433,-1.484867465548203],[-0.28618619991243754,-1.4688673053580223]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.5562466687001824,-1.3513377840883594,0.71338606911949],"aabb_xy":[[-0.5623412965883007,-1.3599071786400283],[-0.550152040812064,-1.3427683895366909]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_24","position":[-0.018230365716577324,0.5354546606400583,0.71338606911949],"aabb_xy":[[-0.0358632013101049,0.5178317146244352],[-0.0005975301230497532,0.5530776066556812]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[-0.3949932163820466,1.1517181319789689,0.71338606911949],"aabb_xy":[[-0.4131990400432943,1.1406927313969772],[-0.3767873927207989,1.1627435325609605]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[-0.004274284516919691,-1.6199468518908389,0.71338606911949],"aabb_xy":[[-0.015519340087537525,-1.6311886496149341],[0.006970771053698144,-1.6087050541667436]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[0.07929488079071734,1.6614386194156032,0.71338606911949],"aabb_xy":[[-0.010705118932456846,1.6383652668804232],[0.1692948805138915,1.6845119719507828]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[0.67636260882463,-0.214707822303418,0.71338606911949],"aabb_xy":[[0.6682349206313167,-0.22362143071412566],[0.6844902970179432,-0.20579421389271035]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[-0.1544150559717522,0.650684931676762,0.71338606911949],"aabb_xy":[[-0.17430609585209247,0.6380291203920652],[-0.13452401609141199,0.6633407429614588]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.15046752893484594,-1.4931414484185666,0.71338606911949],"aabb_xy":[[-0.16796752806921308,-1.5030210754561544],[-0.13296752980047874,-1.4832618213809787]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_31","position":[-0.44374118154818526,-1.8523527452673083,0.71338606911949],"aabb_xy":[[-0.46624118136208764,-1.856827361637789],[-0.4212411817342829,-1.8478781288968276]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_32","position":[0.6132890113845053,-1.8660802843018982,0.71338606911949],"aabb_xy":[[0.6052955215892233,-1.8740784162423743],[0.6212825011797873,-1.858082152361423]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_33","position":[0.5195416830169406,-0.2521030055759943,0.71338606911949],"aabb_xy":[[0.5076696000054395,-0.33710300526964465],[0.5314137660284417,-0.16710300588234395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6380458016533412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/472.png","name":"472"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/472.png","name":"472"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1489.png","name":"1489"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4538.png","name":"4538"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4861.png","name":"4861"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3806.png","name":"3806"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":681.5048673142577,"rotation_z_degrees":150.32937830019372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011546996517505596,-0.010827442410888994,0.013543425013353042]},{"name":"camera_2","offset_m":[0.011886020612201367,-0.006747099845867851,0.008289075601907791]},{"name":"camera_3","offset_m":[-0.016768206995480338,0.01755264121160738,-0.004535691575257159]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00017457366014638018,-0.000583763080608492,0.0012000690102032768],"end_effector_yaw_offset_degrees":0.3996502248331717},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00033814526960288275,-0.001064153244684026,0.0010306494132188869],"end_effector_yaw_offset_degrees":0.4449821250484052},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001937020530133172,-0.0004982847299894316,5.772447043265105e-05],"end_effector_yaw_offset_degrees":-0.41625544077886567},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001085612334481843,-0.0004400498322354985,0.0019093009931783],"end_effector_yaw_offset_degrees":-0.14647566141552537},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001174914587032081,-0.00041270514665269734,0.0014964718116819249],"end_effector_yaw_offset_degrees":-0.8133778561742697},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012546386547418204,-0.001189816750798192,0.0014398381260906103],"end_effector_yaw_offset_degrees":0.6864431299379679}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001337748728262559,-0.0019220714186171262],"position_m":[0.2731622512717375,0.07747792858138287,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00421174484179999,0.0045590935330337],"position_m":[0.2201117448418,-0.3343409064669663,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003881823099778769,-0.0002510835228522303],"position_m":[0.28748182309977877,0.31034891647714774,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004597612625349477,0.00015755154359824684],"position_m":[0.22149761262534948,-0.12254244845640176,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"25d54aa80de8e127463f939842b073c17f3aa07dd3339f08daa1088210e7b30e","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_472/tex_ceiling_textures_3806/tex_floor_textures_4861/tex_table_textures_1489/tex_wall_textures_4538","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":3207660398493368298,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":3207660398493368298,"visual_seed":3207660398493368298,"scene_id":"lab_003","finished_at":"2026-09-08T19:13:35"}
+{"episode_id":"ep_000047","started_at":"2026-09-08T19:22:18","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.4158931733738198,0.8072080433584463,0.71338606911949],"aabb_xy":[[0.360767967744229,0.7472080419171591],[0.47101837900341054,0.8672080447997333]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.5597833655195099,-1.3639403849597092,0.71338606911949],"aabb_xy":[[0.5560801041903709,-1.367642403268427],[0.5634866268486487,-1.360238366650991]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.27716014524002325,1.2806854668693832,0.71338606911949],"aabb_xy":[[-0.3071518079738935,1.250685467532583],[-0.24716848250615286,1.310685466206184]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.3174746168922231,-1.3107947415412418,0.71338606911949],"aabb_xy":[[0.25747461629620694,-1.3656072140864652],[0.3774746174882393,-1.2559822689960183]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.29627979931641774,-2.0070831625484127,0.71338606911949],"aabb_xy":[[-0.36027979959039597,-2.0571492627457006],[-0.2322797990424395,-1.9570170623511247]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.14221337950967383,-0.871794365621261,0.71338606911949],"aabb_xy":[[0.1304451927150163,-0.9567943655264828],[0.15398156630433135,-0.7867943657160397]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.3537198131956674,0.6506375747220248,0.71338606911949],"aabb_xy":[[-0.3787198124676297,0.6342922111258624],[-0.32871981392370514,0.6669829383181871]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5850607200891853,-1.6993872434905462,0.71338606911949],"aabb_xy":[[-0.6490564174842818,-1.7633872417912546],[-0.5210650226940886,-1.6353872451898372]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.19771354204604363,-0.5707135784709614,0.71338606911949],"aabb_xy":[[0.19375305827630926,-0.578381443056482],[0.201674025815778,-0.5630457138854408]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.43506462884533614,-1.2840595504914174,0.71338606911949],"aabb_xy":[[-0.4772490430061669,-1.3480595507686286],[-0.3928802146845054,-1.2200595502142062]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.07685092803944926,-1.2457302904091336,0.71338606911949],"aabb_xy":[[0.07088438909871347,-1.2516914350684976],[0.08281746698018505,-1.2397691457497693]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.004340001090919476,0.961236228989856,0.71338606911949],"aabb_xy":[[-0.03012234630722232,0.9267423465920329],[0.03880234848906127,0.9957301113876783]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.5407022994575054,0.605572229191703,0.71338606911949],"aabb_xy":[[-0.551553905706381,0.5947129384640518],[-0.5298506932086298,0.6164315199193539]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.44925904962322427,0.012704780568832952,0.71338606911949],"aabb_xy":[[0.43175904937817483,-0.004795007270733895],[0.4667590498682736,0.0302045684083998]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.6510626547887088,1.646394012569783,0.71338606911949],"aabb_xy":[[-0.6589859350274572,1.6238940123317798],[-0.6431393745499605,1.6688940128077865]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.13684993493861697,-0.25093930381705887,0.71338606911949],"aabb_xy":[[-0.17184993483463581,-0.25931353932899875],[-0.10184993504259808,-0.2425650683051189]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.6541819841484533,1.3541453128758651,0.71338606911949],"aabb_xy":[[0.6041819831293181,1.3176790971380372],[0.7041819851675887,1.390611528613693]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.47910175187368576,-1.618267160434593,0.71338606911949],"aabb_xy":[[0.41510174996134347,-1.6741783096926035],[0.5431017537860281,-1.5623560111765826]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.5039673799729243,-0.4946221452116881,0.71338606911949],"aabb_xy":[[0.4239673813160383,-0.5091270041359509],[0.5839673786298103,-0.48011728628742534]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.3786800169636376,-2.2690337717319253,0.71338606911949],"aabb_xy":[[-0.46368001565571226,-2.301019635126804],[-0.293680018271563,-2.2370479083370465]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.3680648571278373,1.7745619427226482,0.71338606911949],"aabb_xy":[[0.318081906940358,1.7245619430800878],[0.41804780731531666,1.8245619423652086]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[0.10578315360448476,1.8139043617931088,0.71338606911949],"aabb_xy":[[0.09974614060382005,1.807877660724161],[0.1118201666051495,1.819931062862057]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[-0.21334325754757222,-1.6011474524710123,0.71338606911949],"aabb_xy":[[-0.26334325698776784,-1.6511153769553284],[-0.1633432581073766,-1.5511795279866958]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.43986350588569334,-1.4111962687036803,0.71338606911949],"aabb_xy":[[-0.4573635051637802,-1.428534368770026],[-0.42236350660760646,-1.3938581686373341]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[-0.3883502884191082,-0.055091234256074983,0.71338606911949],"aabb_xy":[[-0.4072346721876184,-0.07397715903642776],[-0.369465904650598,-0.0362053094757222]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[0.5943139037935483,-1.8882370304791243,0.71338606911949],"aabb_xy":[[0.5902357458864986,-1.8923180107273876],[0.598392061700598,-1.884156050230861]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.3034819941826027,-0.8800384426005197,0.71338606911949],"aabb_xy":[[0.2969803576745981,-0.8898062646268294],[0.30998363069060736,-0.8702706205742099]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[0.35906745230793335,-0.9530642176133324,0.71338606911949],"aabb_xy":[[0.35085290719224926,-0.9617408079109736],[0.3672819974236172,-0.9443876273156909]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[-0.3135000938762908,-1.454644137398431,0.71338606911949],"aabb_xy":[[-0.3635000951601307,-1.5046229917890528],[-0.2635000925924508,-1.4046652830078086]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[0.048232378735367565,0.6867992921585184,0.71338606911949],"aabb_xy":[[-0.031767621734848386,0.6784885845441702],[0.12823237920558353,0.6951099997728669]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_30","position":[0.030774862074008702,1.0679187559886225,0.71338606911949],"aabb_xy":[[-0.0042251362366867405,1.0602037410650769],[0.06577486038470415,1.0756337709121682]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_31","position":[0.1208885932051994,-1.6770629686397838,0.71338606911949],"aabb_xy":[[0.03588859478777619,-1.761937264102069],[0.20588859162262263,-1.592188673177499]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_32","position":[0.1339656419797598,1.6059633400847608,0.71338606911949],"aabb_xy":[[0.09271683094984505,1.5509633405725431],[0.1752144530096745,1.660963339596978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.639660974376674,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4163.png","name":"4163"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4163.png","name":"4163"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/113.png","name":"113"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9493.png","name":"9493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/506.png","name":"506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":760.1328548694312,"rotation_z_degrees":187.49893411377613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01944505404985807,-0.0022321688073007363,0.0113213996743169]},{"name":"camera_2","offset_m":[0.005000731120964757,0.01432555201714528,-0.019248518865798998]},{"name":"camera_3","offset_m":[0.017774268301528128,-0.002778003753193349,-0.005627208788812715]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001358189409440061,-0.001523256845721659,8.394506370463335e-05],"end_effector_yaw_offset_degrees":0.1113568392998523},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010494944641468258,0.0009623701159366897,0.001386707051221574],"end_effector_yaw_offset_degrees":0.17839438213805292},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018997510820886587,-0.0014369753098116558,0.001868397225136707],"end_effector_yaw_offset_degrees":0.3715783734345459},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019782669823251837,-0.0016392584326341293,-0.0002643576729885347],"end_effector_yaw_offset_degrees":-0.03599344513764846},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012928061014746265,1.2325938229363655e-05,0.001005068869127412],"end_effector_yaw_offset_degrees":-0.6700297180023318},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013191823700912622,0.0005074858284737777,0.0006207862904896171],"end_effector_yaw_offset_degrees":-0.7098592603290208}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006645536146803908,0.0044031759068193605],"position_m":[0.27383544638531965,0.08380317590681936,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008501252785539405,0.001770012112248357],"position_m":[0.21504987472144607,-0.3371299878877516,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0036113681861979956,0.00353634197291187],"position_m":[0.287211368186198,0.31413634197291185,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001798288605696109,0.001936720264976168],"position_m":[0.2151017113943039,-0.12076327973502383,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d8f587723f3f4390ceb8970f2355dab50f89f88cb916afb3340b9b68abc79312","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0074.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4163/tex_ceiling_textures_7551/tex_floor_textures_506/tex_table_textures_113/tex_wall_textures_9493","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":8152047210467604684,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":8152047210467604684,"visual_seed":8152047210467604684,"scene_id":"lab_003","finished_at":"2026-09-08T19:30:27"}
+{"episode_id":"ep_000048","started_at":"2026-09-08T19:30:34","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[0.5091739467572924,1.0271976187281178,0.71338606911949],"aabb_xy":[[0.4391739503473305,1.0067596830764356],[0.579173943167254,1.047635554379799]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[0.503831353588567,0.30143158969558126,0.71338606911949],"aabb_xy":[[0.4813665836171618,0.27893158881672075],[0.526296123559972,0.32393159057444176]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.4492194991011347,1.3959096844899106,0.71338606911949],"aabb_xy":[[0.4208897891525945,1.3914489422961935],[0.47754920904967496,1.4003704266836277]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.21785355621069424,1.7196947876243098,0.71338606911949],"aabb_xy":[[0.19535355620054595,1.7055985679847065],[0.24035355622084253,1.733791007263913]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.47190095612880034,-1.2080640468853578,0.71338606911949],"aabb_xy":[[0.46782279822175055,-1.2121450271336212],[0.47597911403585,-1.2039830666370945]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.40441179134005734,-2.173668038157336,0.71338606911949],"aabb_xy":[[0.3494117917183115,-2.228651730944809],[0.4594117909618032,-2.1186843453698634]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.3820632465181378,0.32674826115856037,0.71338606911949],"aabb_xy":[[-0.3976190159284031,0.3111978279141532],[-0.3665074771078725,0.34229869440296756]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.41011976137583006,0.5162261283987393,0.71338606911949],"aabb_xy":[[0.36011976009199004,0.4662472740081171],[0.46011976265967,0.5662049827893613]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[0.4742798400828476,-1.0238630878090935,0.71338606911949],"aabb_xy":[[0.4142798398314464,-1.078144412845558],[0.5342798403342488,-0.9695817627726286]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.5313799509832045,0.7310310299737002,0.71338606911949],"aabb_xy":[[0.48137995140686973,0.6810504510215943],[0.5813799505595392,0.7810116089258062]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.017048100720858606,1.0688782968388773,0.71338606911949],"aabb_xy":[[-0.06295189786646081,0.9895626949007165],[0.09704809930817802,1.1481938987770381]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.40872495637439304,-0.5759408301459046,0.71338606911949],"aabb_xy":[[-0.4238878293513302,-0.5911062874410234],[-0.393562083397456,-0.5607753728507859]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.45076330761522604,1.0161822938739555,0.71338606911949],"aabb_xy":[[-0.5404503839233414,0.9261822936195052],[-0.3610762313071106,1.1061822941284063]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.648136955900964,0.526453817717377,0.71338606911949],"aabb_xy":[[0.6303434489660475,0.5086540721215793],[0.6659304628358804,0.5442535633131746]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.43494905710100384,-2.23971357005984,0.71338606911949],"aabb_xy":[[-0.4516261930940994,-2.25641349403377],[-0.4182719211079084,-2.2230136460859096]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.08395447086027541,-2.0940262371310583,0.71338606911949],"aabb_xy":[[0.03397152067279607,-2.1440262367736183],[0.13393742104775472,-2.0440262374884974]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.10430916024826309,-1.3681515328803098,0.71338606911949],"aabb_xy":[[0.04918395461867229,-1.428151534321597],[0.1594343658778538,-1.3081515314390226]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.06394011838574454,-2.327532469254669,0.71338606911949],"aabb_xy":[[-0.08643925411197151,-2.3500324700329323],[-0.04144098265951757,-2.305032468476406]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.3109960916320226,1.2688300470375187,0.71338606911949],"aabb_xy":[[-0.33349609144592496,1.2643554306670377],[-0.2884960918181202,1.2733046634079992]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.33313786339029156,-0.8319359396533677,0.71338606911949],"aabb_xy":[[-0.37813045010874197,-0.8769359389278163],[-0.28814527667184114,-0.7869359403789188]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.29574786065942027,-0.5461489283968728,0.71338606911949],"aabb_xy":[[0.2724660184612889,-0.6311489296941009],[0.31902970285755156,-0.4611489270996448]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.04150873122463383,-1.7276741602078802,0.71338606911949],"aabb_xy":[[-0.013464990811699044,-1.7826741597721136],[0.09648245326096672,-1.6726741606436473]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.27400849718190823,-1.0327438561033988,0.71338606911949],"aabb_xy":[[-0.28125226322815355,-1.1127438543070012],[-0.2667647311356629,-0.9527438578997964]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[-0.14704011242644244,-0.5920066451754846,0.71338606911949],"aabb_xy":[[-0.1898068193058626,-0.6560066485972871],[-0.10427340554702222,-0.5280066417536822]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.26291116554732885,-2.429989129583636,0.71338606911949],"aabb_xy":[[0.22557988902208617,-2.4646421843784885],[0.3002424420725714,-2.395336074788784]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.4862471498583616,-0.5388176239501488,0.71338606911949],"aabb_xy":[[0.4822866660886273,-0.5464854885356695],[0.490207633628096,-0.5311497593646283]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.32440161434956427,1.5839137605437847,0.71338606911949],"aabb_xy":[[0.31362864042819655,1.5489137623247458],[0.3351745882709321,1.6189137587628237]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[0.5269251274579627,-2.5250992671050225,0.71338606911949],"aabb_xy":[[0.4770424305802665,-2.5750992663512973],[0.5768078243356589,-2.475099267858748]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[-0.34983379452423435,-0.1114351845991326,0.71338606911949],"aabb_xy":[[-0.41383379180988294,-0.15294190355197657],[-0.28583379723858565,-0.06992846564628863]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[0.4480232067164649,1.572446132247515,0.71338606911949],"aabb_xy":[[0.41424764752577187,1.5584076370343498],[0.4817987659071578,1.5864846274606796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6357885034519326,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9983.png","name":"9983"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9983.png","name":"9983"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2488.png","name":"2488"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6886.png","name":"6886"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2250.png","name":"2250"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3215.png","name":"3215"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":689.5392324031175,"rotation_z_degrees":101.92283750904396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003009500156783255,-0.00824687301690048,-0.016706143138233934]},{"name":"camera_2","offset_m":[0.008174575121986948,0.013609877258218783,-0.007045055904938122]},{"name":"camera_3","offset_m":[-0.019765400643590465,-0.005640811883531303,-0.0070089666119862535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002953413823001431,-2.1782512812268916e-05,-0.0016231711086824752],"end_effector_yaw_offset_degrees":0.7909101466790913},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014824832295702369,-0.0007602482203663832,0.0008367650300853298],"end_effector_yaw_offset_degrees":-0.037996607283570016},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015420677781534439,0.0017548299515144886,0.001519001900861747],"end_effector_yaw_offset_degrees":-0.31060894931487915},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001172600221932453,-0.0010134965967020292,-0.0005038996427940172],"end_effector_yaw_offset_degrees":-0.8268856173683845},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005042654300934112,-0.0016368778169146712,-0.0017133034515624686],"end_effector_yaw_offset_degrees":0.19274533124182835},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0001300016783097168,-0.0008472054930010104,-0.000593858673040589],"end_effector_yaw_offset_degrees":-0.9168717695574209}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003120479451766257,0.0010240443615778206],"position_m":[0.2713795205482338,0.08042404436157782,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011637815061640313,-0.00020492090356954464],"position_m":[0.21473621849383598,-0.33910492090356953,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0005747762459137329,0.000441169925906597],"position_m":[0.2830252237540863,0.3110411699259066,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013826494772836454,-0.003070435538742852],"position_m":[0.21828264947728365,-0.12577043553874284,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ca8248009ccd6cdc5e2a33f082faa96ab51526aaf2a04ea73b08ae6865e3df34","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9983/tex_ceiling_textures_3215/tex_floor_textures_2250/tex_table_textures_2488/tex_wall_textures_6886","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":6076431939627159155,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":6076431939627159155,"visual_seed":6076431939627159155,"scene_id":"lab_003","finished_at":"2026-09-08T19:38:12"}
+{"episode_id":"ep_000049","started_at":"2026-09-08T19:56:05","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.3738330774848718,0.4778564268229326,0.71338606911949],"aabb_xy":[[-0.4113330773019054,0.4732182155117907],[-0.33633307766783826,0.4824946381340744]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.09670103917229156,0.7705369862691134,0.71338606911949],"aabb_xy":[[0.08965958822154396,0.7635102345313188],[0.10374249012303915,0.7775637380069079]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[-0.17211211963369355,0.7877265385649217,0.71338606911949],"aabb_xy":[[-0.23711212063419404,0.7369401734102468],[-0.107112118633193,0.8385129037195966]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[0.6692586509661607,0.3153768019011056,0.71338606911949],"aabb_xy":[[0.6357794837051198,0.28189768852999864],[0.7027378182272017,0.3488559152722126]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.260411616622898,-1.598579752918051,0.71338606911949],"aabb_xy":[[0.2531678505766527,-1.6785797511216531],[0.26765538266914335,-1.5185797547144484]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.30917701017830007,-1.0833455480450611,0.71338606911949],"aabb_xy":[[-0.3294613129016988,-1.1036281731877697],[-0.28889270745490125,-1.063062922902352]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.3785464852082314,0.2090324383280171,0.71338606911949],"aabb_xy":[[-0.3944309784735565,0.19467949802919302],[-0.3626619919429062,0.22338537862684113]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.4017758238971434,-0.6666838536833761,0.71338606911949],"aabb_xy":[[0.36800026470645036,-0.6807223488965412],[0.4355513830878363,-0.6526453584702111]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[-0.5821144235435671,-1.5602175229281254,0.71338606911949],"aabb_xy":[[-0.5862502798762673,-1.5977175223724824],[-0.5779785672108669,-1.5227175234837684]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.023141607476713233,0.7996812608860067,0.71338606911949],"aabb_xy":[[-0.06064160866150602,0.795263038189946],[0.014358393708079563,0.8040994835820671]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.4606798324299936,-0.02663069771791804,0.71338606911949],"aabb_xy":[[-0.495679830740689,-0.03434571264146369],[-0.4256798341192981,-0.018915682794372387]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.34395344972239367,-0.37078723206982067,0.71338606911949],"aabb_xy":[[-0.3615001446385126,-0.40828723363407193],[-0.32640675480627473,-0.3332872305055694]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.4294952871790829,-0.2845472957788071,0.71338606911949],"aabb_xy":[[0.3944952872025871,-0.2940119118264237],[0.46449528715557875,-0.2750826797311905]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[0.07207373034113052,-1.206857496986781,0.71338606911949],"aabb_xy":[[0.008073728428788174,-1.2627686462447913],[0.13607373225347286,-1.1509463477287705]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.10976747421218169,-2.2694331278404185,0.71338606911949],"aabb_xy":[[-0.11717992975357017,-2.275284338262046],[-0.10235501867079322,-2.26358191741879]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.13042240187157206,1.4991936910135704,0.71338606911949],"aabb_xy":[[-0.18539612390790494,1.4441936914493372],[-0.07544867983523917,1.5541936905778035]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.46285639068923135,1.101916505130479,0.71338606911949],"aabb_xy":[[0.44035996925536725,1.0794165053237315],[0.48535281212309545,1.1244165049372263]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[-0.2825416793656156,-1.1881040953690591,0.71338606911949],"aabb_xy":[[-0.3054573922506655,-1.2110083925054829],[-0.2596259664805657,-1.1651997982326359]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[0.44127406792118484,-0.5292383643327803,0.71338606911949],"aabb_xy":[[0.4129443579726446,-0.5336991065264973],[0.46960377786972507,-0.5247776221390632]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[-0.3156233228968632,-0.4729594079035633,0.71338606911949],"aabb_xy":[[-0.3190639991369204,-0.4768208408779278],[-0.31218264665680606,-0.46909797492919886]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.46716141774677644,1.6223675336569543,0.71338606911949],"aabb_xy":[[0.3871614166736561,1.6125894873195699],[0.5471614188198968,1.6321455799943387]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.48919938593482476,1.5734642542266521,0.71338606911949],"aabb_xy":[[-0.5531993830469304,1.5244318844322413],[-0.425199388822719,1.6224966240210625]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.013563880552173724,-2.031021643689167,0.71338606911949],"aabb_xy":[[0.0023188249815558875,-2.042263441413262],[0.02480893612279156,-2.0197798459650715]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.26615227238080735,1.2098649352085893,0.71338606911949],"aabb_xy":[[-0.28131514535774443,1.1946994779134705],[-0.2509893994038703,1.225030392503708]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.10467858185330925,1.3088993714110013,0.71338606911949],"aabb_xy":[[0.014678585117699011,1.2557159080937066],[0.19467857858891943,1.3620828347282956]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.13546468949105483,-1.8155272537556715,0.71338606911949],"aabb_xy":[[0.08546468847191956,-1.8519934694934996],[0.1854646905101901,-1.7790610380178438]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_26","position":[0.14175871443033372,1.5897550792138033,0.71338606911949],"aabb_xy":[[0.061758711172490766,1.5097585714218194],[0.22175871768817668,1.6697515870057873]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_27","position":[0.1997569980592644,0.5276074024138477,0.71338606911949],"aabb_xy":[[0.17524337396225853,0.5033428091118112],[0.22427062215627025,0.5518719957158841]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[-0.22764024532875288,-0.7934946778493912,0.71338606911949],"aabb_xy":[[-0.2852707142160237,-0.8534946767761016],[-0.170009776441482,-0.7334946789226805]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[-0.5288708344164881,-2.2259915302267426,0.71338606911949],"aabb_xy":[[-0.5988708370530743,-2.2460963952226076],[-0.4588708317799016,-2.2058866652308766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6370945371045155,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9779.png","name":"9779"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2796.png","name":"2796"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8435.png","name":"8435"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9850.png","name":"9850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8482.png","name":"8482"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":575.7107004609452,"rotation_z_degrees":341.749879530417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002251425931862946,0.016090650088115475,0.008323044030327055]},{"name":"camera_2","offset_m":[0.009104724117548767,0.014554521970323881,-0.008089909481317993]},{"name":"camera_3","offset_m":[-0.0014036688755151572,0.019252443803962616,0.0030360640907819703]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019824875478016007,0.000798052070774108,0.0002699903366968929],"end_effector_yaw_offset_degrees":0.7603875808467759},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009708092834611035,-0.0009685826517688283,-0.001554473908540285],"end_effector_yaw_offset_degrees":0.4048680015506336},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001394693407687042,0.00021286731170769768,-0.0005385901788154612],"end_effector_yaw_offset_degrees":-0.4428526203687182},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004755524387547894,0.001453734005629852,-0.0017942522840395175],"end_effector_yaw_offset_degrees":-0.9049036460855642},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0003583500306100285,0.0015487343946568011,0.001604705351996999],"end_effector_yaw_offset_degrees":0.6870239127462361},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0001745630588479857,-0.0013414719630180274,-0.001343245532402314],"end_effector_yaw_offset_degrees":0.11676482840152613}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004929295991661098,0.0019512255237475714],"position_m":[0.2794292959916611,0.08135122552374757,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009027732929889351,-0.001616293576792448],"position_m":[0.21499722670701107,-0.3405162935767924,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0031856024340268614,-0.0009562850899901363],"position_m":[0.2867856024340269,0.30964371491000986,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004798485788289658,-0.0013283738935964428],"position_m":[0.21210151421171036,-0.12402837389359644,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3753f04a78bdf2afaad495c4b8d9441c4a307b6a678ad4d8419d04cec47ea6cd","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9779/tex_ceiling_textures_8482/tex_floor_textures_9850/tex_table_textures_2796/tex_wall_textures_8435","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7721559099043051130,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7721559099043051130,"visual_seed":7721559099043051130,"scene_id":"lab_003","finished_at":"2026-09-08T20:04:02"}
+{"episode_id":"ep_000050","started_at":"2026-09-08T20:21:41","dimensions":{"distractor":{"count":28,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.2621023076869428,-2.4686315536351073,0.71338606911949],"aabb_xy":[[-0.35178938399505827,-2.558631553889558],[-0.17241523137882736,-2.378631553380657]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.07349278269567339,-2.0911684827331865,0.71338606911949],"aabb_xy":[[-0.09099278197376026,-2.1085065827995324],[-0.05599278341758651,-2.0738303826668405]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.5954751677260046,-2.5480827588784205,0.71338606911949],"aabb_xy":[[0.5589793470987259,-2.5845667013051776],[0.6319709883532834,-2.5115988164516625]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.23043531551536978,-0.5222157878004836,0.71338606911949],"aabb_xy":[[0.20044365278149942,-0.5522157871372841],[0.2604269782492401,-0.4922157884636831]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.6545312795591098,-1.271505738652042,0.71338606911949],"aabb_xy":[[0.6378541435660143,-1.2882056626259724],[0.6712084155522053,-1.2548058146781118]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.5133714850473585,-1.47170599467104,0.71338606911949],"aabb_xy":[[0.44937148646078606,-1.5187129580705487],[0.577371483633931,-1.4246990312715313]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.3858678689983004,0.4360067216061072,0.71338606911949],"aabb_xy":[[0.3218721716032038,0.3720067233053985],[0.449863566393397,0.5000067199068159]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.3916427319070967,0.28840137975077607,0.71338606911949],"aabb_xy":[[-0.41075503926507556,0.2692666008735341],[-0.37253042454911783,0.30753615862801814]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.36431795389423277,-0.6179752675493131,0.71338606911949],"aabb_xy":[[-0.4143179555557275,-0.6679737098050157],[-0.31431795223273795,-0.5679768252936103]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.5058798058898819,-0.24331336904086998,0.71338606911949],"aabb_xy":[[-0.570879804045801,-0.26960961359078217],[-0.44087980773396285,-0.21701712449095778]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[0.07597285815774024,-1.2427815064791792,0.71338606911949],"aabb_xy":[[0.06472780258712241,-1.2540233042032742],[0.08721791372835808,-1.2315397087550837]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.06732475445175212,1.6232373641472715,0.71338606911949],"aabb_xy":[[0.049118930790504445,1.6122119635652798],[0.0855305781129998,1.6342627647292631]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.5202750195345129,1.0729038100090316,0.71338606911949],"aabb_xy":[[-0.6002750209646401,0.9933866549964221],[-0.44027501810438574,1.152420965021641]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.6389281867538164,-1.786560524185698,0.71338606911949],"aabb_xy":[[0.6297683078099398,-1.793091742229235],[0.648088065697693,-1.7800293061421608]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.27694169893501464,-2.208551773476787,0.71338606911949],"aabb_xy":[[0.26177882595807755,-2.2237172307719058],[0.2921045719119517,-2.1933863161816682]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.5843001205722399,-0.44988585315400753,0.71338606911949],"aabb_xy":[[-0.6146982316713833,-0.480292755155677],[-0.5539020094730961,-0.41947895115233796]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.46975388863071643,-0.9388830559258601,0.71338606911949],"aabb_xy":[[0.46334007498753155,-0.9452928761735283],[0.4761677022739014,-0.9324732356781916]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.10601241134492867,1.0664578190222849,0.71338606911949],"aabb_xy":[[0.042012414917606794,1.0192881952001884],[0.1700124077722506,1.1136274428443813]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.551690565387144,-0.06095306984798432,0.71338606911949],"aabb_xy":[[-0.6015732622648402,-0.11095306909425909],[-0.5018078685094478,-0.010953070601709575]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.45446137142343757,0.0566612934053925,0.71338606911949],"aabb_xy":[[0.4443083558692881,0.020591751832652164],[0.46461438697758684,0.09273083497813284]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[0.5295788576317457,-0.26133437624871947,0.71338606911949],"aabb_xy":[[0.5247352628705158,-0.2661860287277036],[0.5344224523929757,-0.25648272376973535]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.29528325077885836,-0.05896698932601918,0.71338606911949],"aabb_xy":[[-0.2993614086859081,-0.06304796957428249],[-0.2912050928718086,-0.05488600907775588]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.3094757623219245,-0.33827964681911915,0.71338606911949],"aabb_xy":[[-0.36447576052366926,-0.37880161344555674],[-0.2544757641201796,-0.29775768019268156]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.42078110644098393,-1.5009668796966624,0.71338606911949],"aabb_xy":[[-0.4847811087837855,-1.545907730940795],[-0.35678110409818237,-1.45602602845253]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.5957452945094862,0.17671565913908083,0.71338606911949],"aabb_xy":[[-0.6332452953014817,0.1703478181808907],[-0.5582452937174908,0.1830835000972709]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[0.6750535429096962,-1.6249688197796934,0.71338606911949],"aabb_xy":[[0.6400535446395762,-1.6320429474746814],[0.710053541179816,-1.617894692084705]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[0.34623145124974597,-2.455222453644584,0.71338606911949],"aabb_xy":[[0.3237314507377053,-2.477714312009982],[0.3687314517617865,-2.4327305952791853]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[0.1884440779062484,0.8230091336157535,0.71338606911949],"aabb_xy":[[0.15253057348125867,0.7870956253989987],[0.22435758233123806,0.858922641832508]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.635739228619325,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4068.png","name":"4068"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4068.png","name":"4068"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8798.png","name":"8798"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1086.png","name":"1086"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2520.png","name":"2520"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":847.7540332098405,"rotation_z_degrees":227.71889852897797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010167553824504658,-0.0067525916011635535,-0.01032541281763641]},{"name":"camera_2","offset_m":[-0.00019794039981712794,-0.011653880594772991,-0.004211407306612808]},{"name":"camera_3","offset_m":[-0.009979872031528548,-0.00866881589997961,0.014822450866703776]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019519020076964096,-0.0005971164571120507,-0.0007844880601031532],"end_effector_yaw_offset_degrees":0.777992409591552},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001785808727049731,0.0016615208540264278,-0.0008341323028948026],"end_effector_yaw_offset_degrees":0.5846017759284243},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008334529489078739,0.0016325347828412195,-0.0002528948112973954],"end_effector_yaw_offset_degrees":-0.6998229218122212},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019192898488098672,0.0007699555650204038,-0.0007956053856146143],"end_effector_yaw_offset_degrees":-0.048970631670797404},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0019245585712418106,0.0004663752778618687,0.0006625704258919557],"end_effector_yaw_offset_degrees":-0.033300008375258816},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011632807306173496,-0.0012425650391094832,-0.0017814115837971373],"end_effector_yaw_offset_degrees":-0.4953489213012814}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005811991905504991,0.004613915616410404],"position_m":[0.2750811991905505,0.0840139156164104,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034601546114612215,-0.0037282923458770924],"position_m":[0.2124398453885388,-0.34262829234587705,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0005097644959668832,0.00013354151512282118],"position_m":[0.2830902355040331,0.31073354151512284,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004842842804668045,0.004286888132724337],"position_m":[0.21205715719533197,-0.11841311186727567,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e0fb448d352309f6f1e31e24f41709266ba0e4ef3426d13fc8647063349b8460","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4068/tex_ceiling_textures_2520/tex_floor_textures_1086/tex_table_textures_4206/tex_wall_textures_8798","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":7150828935524218218,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":7150828935524218218,"visual_seed":7150828935524218218,"scene_id":"lab_003","finished_at":"2026-09-08T20:29:35"}
+{"episode_id":"ep_000051","started_at":"2026-09-08T20:29:44","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[0.05146571711786341,1.3030169856855558,0.71338606911949],"aabb_xy":[[-0.028534286139979548,1.2230204778935718],[0.13146572037570636,1.3830134934775398]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.2996628850094264,0.5129960906287865,0.71338606911949],"aabb_xy":[[0.269671222275556,0.48299609129198595],[0.32965454774329667,0.542996089965587]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.5079416491529354,1.5172893864470427,0.71338606911949],"aabb_xy":[[-0.5278326890332757,1.504633575162346],[-0.48805060927259525,1.5299451977317398]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.4202744547495613,1.311636768008365,0.71338606911949],"aabb_xy":[[-0.47027445418975694,1.2616688435240484],[-0.3702744553093657,1.361604692492681]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.23817064362506368,-1.3118078915189493,0.71338606911949],"aabb_xy":[[0.20067064244027089,-1.3162261142150093],[0.2756706448098565,-1.3073896688228883]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.5315281967901837,-1.400400935769797,0.71338606911949],"aabb_xy":[[0.522368317846307,-1.406932153813334],[0.5406880757340602,-1.3938697177262598]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.1357464112951563,-0.08465522122983415,0.71338606911949],"aabb_xy":[[-0.17033749414920146,-0.14965522151486518],[-0.10115532844111104,-0.019655220944803094]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[0.03693003754665258,-1.3744872378190096,0.71338606911949],"aabb_xy":[[-0.04306378603190564,-1.4544872404118514],[0.1169238611252108,-1.2944872352261683]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.036470789151093586,-0.7807715029934408,0.71338606911949],"aabb_xy":[[-0.11647079058122078,-0.8602886580060503],[0.04352921227903361,-0.7012543479808313]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.49887289420307407,1.0027772849365308,0.71338606911949],"aabb_xy":[[-0.5538466162394069,0.9477772853722977],[-0.44389917216674124,1.057777284500764]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.326053878888533,-0.24819278677998335,0.71338606911949],"aabb_xy":[[-0.3688205857679532,-0.3121927902017858],[-0.2832871720091128,-0.1841927833581809]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.03628827818023006,0.7672714451634968,0.71338606911949],"aabb_xy":[[-0.045581896417380634,0.7297714466753628],[-0.026994659943079473,0.8047714436516306]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.6952519699543518,0.5852801571444628,0.71338606911949],"aabb_xy":[[0.6848404112738679,0.5799344238085642],[0.7056635286348353,0.5906258904803612]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.4526693029176121,-1.2287142952532573,0.71338606911949],"aabb_xy":[[-0.4701693020519792,-1.2385939222908449],[-0.43516930378324487,-1.2188346682156692]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.1878370537322852,1.7290263391443275,0.71338606911949],"aabb_xy":[[-0.23783705330861996,1.679045760192222],[-0.13783705415595052,1.7790069180964339]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.40409550298491237,-2.4380533626121617,0.71338606911949],"aabb_xy":[[-0.4207726389780079,-2.4547532865860915],[-0.38741836699181686,-2.421353438638231]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.1299673003410008,-1.6405004737271445,0.71338606911949],"aabb_xy":[[0.07997228938154875,-1.6905004727627366],[0.17996231130045282,-1.5905004746915532]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.6166077993692203,1.0997555902394716,0.71338606911949],"aabb_xy":[[-0.6212429145214535,1.0958882551623226],[-0.6119726842169868,1.10362292531662]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.3700431783736472,0.2279108579405622,0.71338606911949],"aabb_xy":[[-0.4340431776678154,0.163924717571708],[-0.306043179079479,0.2918969983094164]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.5781350818800921,1.432166910122732,0.71338606911949],"aabb_xy":[[0.573704452525252,1.4267185383880496],[0.5825657112349324,1.4376152818574146]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.183038214181364,-0.7382564701421785,0.71338606911949],"aabb_xy":[[0.11803821414706125,-0.7849571468225058],[0.2480382142156667,-0.6915557934618513]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[0.08191389968923268,0.7394010691355968,0.71338606911949],"aabb_xy":[[0.055625075368792014,0.7131296354809454],[0.10820272400967333,0.7656725027902479]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[0.4376009181333471,-0.3327010472831713,0.71338606911949],"aabb_xy":[[0.4089515857729309,-0.36134660656024703],[0.46625025049376334,-0.30405548800609544]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.05705757398664324,-2.1118256681941494,0.71338606911949],"aabb_xy":[[0.007058298818207076,-2.161825669470096],[0.1070568491550794,-2.061825666918202]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.22185780839027702,0.690934798734689,0.71338606911949],"aabb_xy":[[0.20597331512495187,0.6765818584358648],[0.23774230165560217,0.7052877390335129]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.6164107064542579,0.5481314952175023,0.71338606911949],"aabb_xy":[[-0.6539107069516161,0.5441628116693839],[-0.5789107059568996,0.5521001787656207]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[-0.5308225342422265,-1.5148706844336162,0.71338606911949],"aabb_xy":[[-0.5619694530858095,-1.5848706831204231],[-0.49967561539864325,-1.4448706857468088]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[-0.5743968431180393,-0.10593734659165399,0.71338606911949],"aabb_xy":[[-0.5921903500529557,-0.12373709218745166],[-0.5566033361831229,-0.08813760099585632]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[-0.26124361792438217,-2.0462555472219033,0.71338606911949],"aabb_xy":[[-0.2862436170900153,-2.05320779292726],[-0.23624361875874905,-2.0393033015165467]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[-0.4552668348475167,-1.7205315045995073,0.71338606911949],"aabb_xy":[[-0.5352668353177327,-1.7288422122138556],[-0.37526683437730085,-1.712220796985159]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_30","position":[-0.4089096461932175,-0.0376914076748891,0.71338606911949],"aabb_xy":[[-0.4182566537755127,-0.05199502989253313],[-0.3995626386109222,-0.02338778545724507]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[-0.6190097777691702,1.3615085333805763,0.71338606911949],"aabb_xy":[[-0.6372156014304179,1.3504831327985847],[-0.6008039541079225,1.372533933962568]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_32","position":[0.22687872560956834,1.6899757323125528,0.71338606911949],"aabb_xy":[[0.22154114994356372,1.664975731383413],[0.23221630127557286,1.7149757332416926]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_33","position":[-0.3745753160375027,-1.5699372555719897,0.71338606911949],"aabb_xy":[[-0.39013108544776803,-1.5854876888163973],[-0.35901954662723745,-1.554386822327583]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_34","position":[-0.4403678758427428,-0.4028591630781402,0.71338606911949],"aabb_xy":[[-0.5103678722527043,-0.42329709872982185],[-0.3703678794327809,-0.3824212274264584]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6423557933206662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/615.png","name":"615"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/615.png","name":"615"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2425.png","name":"2425"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/752.png","name":"752"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6963.png","name":"6963"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4397.png","name":"4397"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":781.7730143536858,"rotation_z_degrees":82.81727338193105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024679128634873364,-0.01626558974343684,-0.0030531853700793976]},{"name":"camera_2","offset_m":[-0.010706463142818281,0.01727965587731142,0.006176974776744646]},{"name":"camera_3","offset_m":[0.012244889792863946,0.01773201531385835,-0.014002316497076613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.9202950928464804e-05,-0.0009508686143863,0.00018061688740580615],"end_effector_yaw_offset_degrees":-0.5516315096348872},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011010351260235906,-0.0009782382824822826,-0.0011116441133690999],"end_effector_yaw_offset_degrees":0.1616760970115998},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.0202478285832768e-05,0.0004059520241882935,-0.000160929674011371],"end_effector_yaw_offset_degrees":0.6345239659787505},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013082371747148293,0.0008131701498161345,0.001774707798325607],"end_effector_yaw_offset_degrees":-0.6690562678434244},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0004964109088021855,-0.0005418786951569023,-0.001285106998713403],"end_effector_yaw_offset_degrees":0.2639186762841885},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0016477374456355044,0.00014606405199539714,0.0013383083707919482],"end_effector_yaw_offset_degrees":-0.584635218913562}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012065279252403737,-0.0006936549134136305],"position_m":[0.2757065279252404,0.07870634508658637,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004548628341263649,-0.003458194255551594],"position_m":[0.22044862834126366,-0.3423581942555516,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004079474182820207,-0.004304623648452632],"position_m":[0.2795205258171798,0.30629537635154735,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013351467204847155,-0.001517483388266201],"position_m":[0.2155648532795153,-0.1242174833882662,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c5e950438dbc340fd17ff503df1f05008d05ab393c71a31773775db968076a48","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_615/tex_ceiling_textures_4397/tex_floor_textures_6963/tex_table_textures_2425/tex_wall_textures_752","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":4250148657195954609,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":4250148657195954609,"visual_seed":4250148657195954609,"scene_id":"lab_003","finished_at":"2026-09-08T20:37:31"}
+{"episode_id":"ep_000052","started_at":"2026-09-08T20:37:39","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.3365015634598145,-0.15826091489088467,0.71338606911949],"aabb_xy":[[-0.3865015647436545,-0.20823976928150678],[-0.28650156217597456,-0.10828206050026258]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.04083459246242094,-1.154871780013371,0.71338606911949],"aabb_xy":[[0.030267112804321927,-1.1654168101263795],[0.05140207212051995,-1.1443267499003624]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.49711590701680475,1.2907184881080394,0.71338606911949],"aabb_xy":[[0.4804387710237093,1.2740185641341093],[0.5137930430099003,1.3074184120819698]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.4095959693771898,1.5418182163284073,0.71338606911949],"aabb_xy":[[0.3978277825825323,1.4568182164231862],[0.42136415617184736,1.6268182162336295]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.3261958345659197,-0.3477980303233448,0.71338606911949],"aabb_xy":[[0.3215607194136863,-0.3516653654004934],[0.330830949718153,-0.3439306952461961]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.347614998567495,-1.4574899793104894,0.71338606911949],"aabb_xy":[[-0.36024178585469135,-1.4670360530120623],[-0.33498821128029865,-1.4479439056089165]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.3397310268336948,-2.090585690355905,0.71338606911949],"aabb_xy":[[0.30924677670666467,-2.140585690137401],[0.370215276960725,-2.0405856905744093]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.4580468990214579,1.51084304907145,0.71338606911949],"aabb_xy":[[-0.48056059084491515,1.4408430484704424],[-0.43553320719800076,1.5808430496724575]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.46986901189536523,0.22132355069512322,0.71338606911949],"aabb_xy":[[0.40486901093823796,0.16937533876141764],[0.5348690128524923,0.2732717626288288]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.4429357848410154,-2.35526682963912,0.71338606911949],"aabb_xy":[[-0.5129357869724448,-2.378028795264815],[-0.3729357827095858,-2.332504864013424]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.09940532829726123,0.9635812718467909,0.71338606911949],"aabb_xy":[[-0.13690532824102764,0.9552881818119543],[-0.061905328353494826,0.9718743618816275]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.6700732455781893,-0.5750448090151128,0.71338606911949],"aabb_xy":[[0.6572013420772491,-0.6550448094289488],[0.6829451490791294,-0.4950448086012766]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.3969534411719938,-2.185337398299426,0.71338606911949],"aabb_xy":[[-0.45695344142339495,-2.2396187233358913],[-0.3369534409205926,-2.1310560732629615]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[0.18101548387143884,1.5147803119161503,0.71338606911949],"aabb_xy":[[0.14351548235580713,1.5035535389000052],[0.21851548538707055,1.5260070849322953]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.4556159292536144,-1.5433593857500156,0.71338606911949],"aabb_xy":[[0.44598429303318476,-1.5529966985297246],[0.465247565474044,-1.5337220729703067]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.43311696295286756,-1.5813236479770367,0.71338606911949],"aabb_xy":[[-0.4432699785070168,-1.6173931895497764],[-0.42296394739871807,-1.5452541064042957]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.5859479873718594,1.1334160176782904,0.71338606911949],"aabb_xy":[[0.5500344829468696,1.0975025094615356],[0.6218614917968489,1.1693295258950447]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.6253617344737865,-1.8684518688619969,0.71338606911949],"aabb_xy":[[0.6119152078397432,-1.8819217205150882],[0.6388082611078298,-1.8549820172089055]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.6066424792551744,-1.1802946376943013,0.71338606911949],"aabb_xy":[[-0.6197937252264639,-1.205294637450988],[-0.5934912332838852,-1.155294637937615]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.37426078978708044,1.0084214635423128,0.71338606911949],"aabb_xy":[[0.3392607884355987,0.988061727585492],[0.4092607911385622,1.0287811994991336]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.4496212079615678,0.46578036346360996,0.71338606911949],"aabb_xy":[[0.3796212045700058,0.43046458976017904],[0.5196212113531298,0.5010961371670407]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.06430717900724658,-1.3547433546391643,0.71338606911949],"aabb_xy":[[0.00030717678683955807,-1.3991164387644524],[0.1283071812276536,-1.3103702705138758]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.013736217999720357,-2.386493272862633,0.71338606911949],"aabb_xy":[[-0.04126378117686913,-2.44148294763759],[0.06873621717630984,-2.3315035980876746]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.431632840354915,-2.451041248253106,0.71338606911949],"aabb_xy":[[0.39663284045889613,-2.459415483765046],[0.4666328402509339,-2.442667012741166]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.0845418052497412,-1.702648389938036,0.71338606911949],"aabb_xy":[[-0.10197252032874768,-1.7199205046018866],[-0.06711109017073466,-1.685376275274185]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6377421514771479,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2900.png","name":"2900"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2900.png","name":"2900"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3427.png","name":"3427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1239.png","name":"1239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4469.png","name":"4469"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":601.8169044030243,"rotation_z_degrees":240.65243019961812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002105137568750401,-0.012178412437116114,-0.013913324167962676]},{"name":"camera_2","offset_m":[0.005752932415684274,0.006862927922998616,-0.010195449333825865]},{"name":"camera_3","offset_m":[-0.0082514186685047,-0.015585845324026324,0.008305490696829346]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.988675305101996e-05,0.0016177847901898733,0.0006332607739052208],"end_effector_yaw_offset_degrees":-0.3939374587961999},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005888745934905253,-0.0016634672979733054,-0.0007849735468205407],"end_effector_yaw_offset_degrees":0.9552458095581786},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016570405171268802,0.0004979963707231736,0.000734294765548601],"end_effector_yaw_offset_degrees":-0.6503597075648044},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007694208804873018,-0.0015361171210207195,-0.00020281371235945358],"end_effector_yaw_offset_degrees":-0.3284018040203063},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019272610899502608,0.0008858240942975033,0.0011524757700624752],"end_effector_yaw_offset_degrees":-0.19199888289573241},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008903943991542722,-0.0006128359318000034,0.0010496582191156434],"end_effector_yaw_offset_degrees":0.10920495303566491}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00037","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037558900840139126,0.004804647480270935],"position_m":[0.2782558900840139,0.08420464748027093,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001159270410581694,-0.0005111898572777397],"position_m":[0.2147407295894183,-0.3394111898572777,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0012335740241547323,0.003843548194023566],"position_m":[0.28483357402415477,0.31444354819402354,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031608109865196056,-0.0041147814806079125],"position_m":[0.2137391890134804,-0.12681478148060793,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c9d7af134d0ff38c30151e323abacf1c6f2eaa21dbc6041148e20a1f25d2364a","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2900/tex_ceiling_textures_6133/tex_floor_textures_4469/tex_table_textures_3427/tex_wall_textures_1239","seeds":{"action_seed":1967769665086827478,"physical_seed":6959456161585870012,"visual_seed":821370300320003945,"layout_id":"layout_00037","physical_randomization_enabled":true},"episode_seed":821370300320003945,"visual_seed":821370300320003945,"scene_id":"lab_003","finished_at":"2026-09-08T20:46:02"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1e93019510444dfc5fde70c3e5beee62a6b925bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00037
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00037
+  reproducibility:
+    enabled: true
+    layout_id: layout_00037
+    action_seed: 1967769665086827478
+    step_seeds:
+    - 3124893100479905848
+    - 7962343303254226924
+    - 8377372019710927810
+    - 2226925136686172681
+    - 6720976787259375900
+    - 7628514350090862349
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2745
+      - 0.2745
+      'y':
+      - 0.0794
+      - 0.0794
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2169
+      - 0.2169
+      'y':
+      - -0.1227
+      - -0.1227
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2159
+      - 0.2159
+      'y':
+      - -0.3389
+      - -0.3389
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2836
+      - 0.2836
+      'y':
+      - 0.3106
+      - 0.3106
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f04dd80ba25bf94b10350989f1e7f50cf5f31d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30219443437317717,
+              0.07491888757416292,
+              1.1617780457737608
+            ],
+            "current_z": 1.1617780457737608,
+            "required_z": 0.8611066762281134,
+            "initial_z": 0.7611066762281135,
+            "lift_margin": 0.3006713695456473,
+            "gripper_z": 1.1537794316206127,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2969189945252949,
+              0.06985689856147853,
+              1.1537794316206127
+            ],
+            "object_minus_gripper": [
+              0.005275439847882257,
+              0.005061989012684384,
+              0.007998614153148065
+            ],
+            "object_to_gripper_xy": 0.007311224135065303,
+            "object_to_gripper_z": 0.007998614153148065,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30219443437317717,
+              0.050753423225448895,
+              1.1617780457737608
+            ],
+            "finger_b": [
+              0.2908047389360863,
+              0.07491888757416292,
+              1.1617780457737608
+            ],
+            "finger_midpoint": [
+              0.2964995866546317,
+              0.0628361553998059,
+              1.1617780457737608
+            ],
+            "object_minus_finger_midpoint": [
+              0.005694847718545448,
+              0.012082732174357014,
+              0.0
+            ],
+            "finger_gap": 0.026715067458995052,
+            "fingertip_max_gap": 0.09052815547555412,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01335753372949754,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617780457737608,
+            "object_top_z": 1.2117330207977917,
+            "finger_top_clearance": 0.0499549750240309,
+            "fingertip_min_top_clearance": 0.014986492507209303,
+            "object_projection_between_fingers": 0.818234409418522,
+            "object_to_finger_line_xy": 0.010302698260080805,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047764077737777064,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24461806862478805,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27576169823588487,
+              -0.3386122370193654,
+              0.8515395959628324
+            ],
+            "target_position": [
+              0.267292183561361,
+              -0.3393021729087757,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008497569673352018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1837395249725218,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395959628324,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550832632120999,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496546137956028,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15160988329427313,
+            "release_required_pad_clearance": 0.05248273068978014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956457906082867,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073986053466796875,
+            "max_z_decrease": 0.0073986053466796875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510780340019648,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073986053466796875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021201430387357275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073986053466796875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007398615067157599,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12299211323261258,
+              -0.3955636322498321,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12299211323261258,
+              -0.3955636322498321,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12245965500462677,
+              -0.39695701514291437,
+              0.8077786481721201
+            ],
+            "closest_button": [
+              0.12298429757356641,
+              -0.39556148648262024,
+              0.7727025151252747
+            ],
+            "closest_ee_minus_button": [
+              -0.0005246425689396372,
+              -0.001395528660294132,
+              0.035076133046845426
+            ],
+            "button_min_z_position": [
+              0.1229804307222366,
+              -0.3955609202384948,
+              0.769410252571106
+            ],
+            "min_active_finger_to_button": 0.146599850333623,
+            "closest_active_finger": [
+              -0.018931083381175995,
+              -0.38293570280075073,
+              0.8106542825698853
+            ],
+            "closest_active_finger_button": [
+              0.12299101054668424,
+              -0.3955648839473724,
+              0.7761558890342712
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14192209392786023,
+              0.012629181146621649,
+              0.034498393535614014
+            ],
+            "min_contact_pad_to_button": 0.021201430387357275,
+            "closest_contact_pad": [
+              0.1229804307222366,
+              -0.39789889896108915,
+              0.7904823788511626
+            ],
+            "closest_contact_pad_button": [
+              0.1229804307222366,
+              -0.3955609202384948,
+              0.769410252571106
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002337978722594336,
+              0.021072126280056613
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26718951883260617,
+              0.1962673477881442,
+              1.1023798799226436
+            ],
+            "current_z": 1.1023798799226436,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19247075018828108,
+            "gripper_z": 1.1023800889614828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2671894874495955,
+              0.19626738783217512,
+              1.1023800889614828
+            ],
+            "object_minus_gripper": [
+              3.138301069016691e-08,
+              -4.004403092450204e-08,
+              -2.0903883912737342e-07
+            ],
+            "object_to_gripper_xy": 5.08764952867393e-08,
+            "object_to_gripper_z": -2.0903883912737342e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26718951883260617,
+              0.1962673477881442,
+              1.1023798799226436
+            ],
+            "finger_b": [
+              0.26718951883260617,
+              0.1962673477881442,
+              1.1023798799226436
+            ],
+            "finger_midpoint": [
+              0.26718951883260617,
+              0.1962673477881442,
+              1.1023798799226436
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023798799226436,
+            "object_top_z": 1.2273883865429234,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2671895188326062,
+            0.1962673477881442,
+            1.1023798799226439
+          ],
+          "object_origin_world": [
+            0.2671895188326062,
+            0.1962673477881442,
+            1.1023798799226439
+          ],
+          "frame_world": [
+            0.2671894874495955,
+            0.19626738783217512,
+            1.1023800889614828
+          ],
+          "center_minus_frame": [
+            3.1383010745678064e-08,
+            -4.004403092450204e-08,
+            -2.0903883890532882e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431814051386705,
+            "required_z": 0.9112598275161565,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011204569437956863,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.541706179465065e-08,
+            "max_target_xy_drift": 8.56223978667662e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.03956467773852498,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.039564682040468986,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27493933348970107,
+              -0.33936755017597053,
+              0.9232913278987446
+            ],
+            "target_mouth_xy": [
+              0.2757617245509664,
+              -0.33861232738751046
+            ],
+            "rod_tip_z": 0.9232913278987446,
+            "rod_tip_depth": -0.02203148906596808,
+            "rod_tip_bottom_clearance": 0.12147201542573405,
+            "rod_tip_xy_dist": 0.0011165520667924874,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04475289523665926,
+            "min_rod_tip_bottom_clearance": 0.05468770966962222,
+            "min_rod_tip_xy_dist": 0.0003480329027091757,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27576166631694476,
+              -0.3386122975849821
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.823402166038605e-08,
+              -2.980252833406638e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.00029021953318503213,
+                0.00098828084895064
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0003916809064121729,
+                0.0006108540338111146
+              ],
+              "first_target_mouth_xy": [
+                0.27576175859921703,
+                -0.3386122708500773
+              ],
+              "last_target_mouth_xy": [
+                0.2757617237842407,
+                -0.33861229858702746
+              ],
+              "first_rod_tip_xy": [
+                0.275471539066032,
+                -0.33762399000112664
+              ],
+              "last_rod_tip_xy": [
+                0.2753700428778285,
+                -0.33800144455321635
+              ],
+              "min_rod_tip_xy_dist": 0.0007108278183294486,
+              "max_rod_tip_xy_dist": 0.0010319079123192224,
+              "first_target_xy_drift": 9.607691144120778e-08,
+              "last_target_xy_drift": 5.7476031486467616e-08,
+              "max_depth": 0.019480046205881618,
+              "min_bottom_clearance": 0.07996050262041565
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00029021953318503213,
+                  0.00098828084895064
+                ],
+                "rod_tip_xy": [
+                  0.275471539066032,
+                  -0.33762399000112664
+                ],
+                "target_mouth_xy": [
+                  0.27576175859921703,
+                  -0.3386122708500773
+                ],
+                "gripper_position": [
+                  0.2754630043526872,
+                  -0.3376245441110248,
+                  1.006031086227128
+                ],
+                "rod_tip_xy_dist": 0.0010300128221749163,
+                "target_xy_drift": 9.607691144120778e-08,
+                "depth": 0.015106268068416084,
+                "bottom_clearance": 0.08433444170034077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00029871817029558656,
+                  0.0009877253637738947
+                ],
+                "rod_tip_xy": [
+                  0.2754630043526871,
+                  -0.33762454411102494
+                ],
+                "target_mouth_xy": [
+                  0.2757617225229827,
+                  -0.33861226947479883
+                ],
+                "gripper_position": [
+                  0.2754691208554553,
+                  -0.33769079268140845,
+                  1.0055101925115915
+                ],
+                "rod_tip_xy_dist": 0.0010319079123192224,
+                "target_xy_drift": 6.2843465094391e-08,
+                "depth": 0.015228822897077388,
+                "bottom_clearance": 0.08421179832541892,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0002926045154085788,
+                  0.0009214750981840214
+                ],
+                "rod_tip_xy": [
+                  0.27546912085545516,
+                  -0.33769079268140845
+                ],
+                "target_mouth_xy": [
+                  0.27576172537086374,
+                  -0.33861226777959247
+                ],
+                "gripper_position": [
+                  0.27545735170087177,
+                  -0.3376981232446977,
+                  1.005371412873872
+                ],
+                "rod_tip_xy_dist": 0.0009668163005508032,
+                "target_xy_drift": 6.614927512165361e-08,
+                "depth": 0.015749630635146117,
+                "bottom_clearance": 0.08369088282636716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003043740821575547,
+                  0.0009141448671415864
+                ],
+                "rod_tip_xy": [
+                  0.27545735170087166,
+                  -0.3376981232446977
+                ],
+                "target_mouth_xy": [
+                  0.2757617257830292,
+                  -0.3386122681118393
+                ],
+                "gripper_position": [
+                  0.27546334426960917,
+                  -0.3377646330549198,
+                  1.004854778234369
+                ],
+                "rod_tip_xy_dist": 0.0009634855577592029,
+                "target_xy_drift": 6.636928014289864e-08,
+                "depth": 0.01588840760289345,
+                "bottom_clearance": 0.08355210980037142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0002983831466055187,
+                  0.0008476340839227436
+                ],
+                "rod_tip_xy": [
+                  0.27546334426960906,
+                  -0.33776463305491977
+                ],
+                "target_mouth_xy": [
+                  0.2757617274162146,
+                  -0.3386122671388425
+                ],
+                "gripper_position": [
+                  0.27545179041515183,
+                  -0.337771430420734,
+                  1.0047157729707659
+                ],
+                "rod_tip_xy_dist": 0.0008986189639695789,
+                "target_xy_drift": 6.826483859544826e-08,
+                "depth": 0.01640513274498867,
+                "bottom_clearance": 0.08303548326828436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003099076100018805,
+                  0.0008408678526005131
+                ],
+                "rod_tip_xy": [
+                  0.2754517904151517,
+                  -0.337771430420734
+                ],
+                "target_mouth_xy": [
+                  0.2757616980251536,
+                  -0.3386122982733345
+                ],
+                "gripper_position": [
+                  0.27544309171872133,
+                  -0.337771499270539,
+                  1.0045932965107263
+                ],
+                "rod_tip_xy_dist": 0.0008961592895652401,
+                "target_xy_drift": 3.171567966483279e-08,
+                "depth": 0.016544119850011252,
+                "bottom_clearance": 0.08289646909196524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00031860647518527907,
+                  0.0008407990065912863
+                ],
+                "rod_tip_xy": [
+                  0.2754430917187212,
+                  -0.33777149927053907
+                ],
+                "target_mouth_xy": [
+                  0.2757616981939065,
+                  -0.33861229827713035
+                ],
+                "gripper_position": [
+                  0.27545010892717653,
+                  -0.33783897713259375,
+                  1.0040778134260113
+                ],
+                "rod_tip_xy_dist": 0.0008991401756761187,
+                "target_xy_drift": 3.188447519945554e-08,
+                "depth": 0.016666597658263616,
+                "bottom_clearance": 0.08277399778245176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0003116189024391369,
+                  0.0007733194865821025
+                ],
+                "rod_tip_xy": [
+                  0.2754501089271764,
+                  -0.3378389771325937
+                ],
+                "target_mouth_xy": [
+                  0.27576172782961555,
+                  -0.3386122966191758
+                ],
+                "gripper_position": [
+                  0.2754382456390142,
+                  -0.3378455580707073,
+                  1.003938676719227
+                ],
+                "rod_tip_xy_dist": 0.0008337441865974112,
+                "target_xy_drift": 6.152025235333086e-08,
+                "depth": 0.017182106833241062,
+                "bottom_clearance": 0.08225853705964636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0003234493353703183,
+                  0.0007667408434796075
+                ],
+                "rod_tip_xy": [
+                  0.27543824563901415,
+                  -0.33784555807070726
+                ],
+                "target_mouth_xy": [
+                  0.27576169497438446,
+                  -0.33861229891418687
+                ],
+                "gripper_position": [
+                  0.2754294690180962,
+                  -0.3378456653366784,
+                  1.0038164422098745
+                ],
+                "rod_tip_xy_dist": 0.0008321724542493103,
+                "target_xy_drift": 2.8688249081492585e-08,
+                "depth": 0.017321157694485056,
+                "bottom_clearance": 0.08211936489279881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00033225681323728606,
+                  0.0007666024447230413
+                ],
+                "rod_tip_xy": [
+                  0.27542946901809606,
+                  -0.33784566533667837
+                ],
+                "target_mouth_xy": [
+                  0.27576172583133335,
+                  -0.3386122677814014
+                ],
+                "gripper_position": [
+                  0.2754204300776242,
+                  -0.3378460693667616,
+                  1.0036941249329825
+                ],
+                "rod_tip_xy_dist": 0.0008355081676428665,
+                "target_xy_drift": 6.65598668262573e-08,
+                "depth": 0.017443384600818956,
+                "bottom_clearance": 0.08199714656383172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00034126244671994765,
+                  0.0007662299145034801
+                ],
+                "rod_tip_xy": [
+                  0.27542043007762407,
+                  -0.33784606936676165
+                ],
+                "target_mouth_xy": [
+                  0.275761692524344,
+                  -0.33861229928126513
+                ],
+                "gripper_position": [
+                  0.2754292945316197,
+                  -0.3379159579696226,
+                  1.0031792130229176
+                ],
+                "rod_tip_xy_dist": 0.0008387898064600544,
+                "target_xy_drift": 2.626223812842287e-08,
+                "depth": 0.017565790175460005,
+                "bottom_clearance": 0.08187483859214684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003324313374751253,
+                  0.0006963091509897268
+                ],
+                "rod_tip_xy": [
+                  0.2754292945316196,
+                  -0.3379159579696227
+                ],
+                "target_mouth_xy": [
+                  0.2757617258690947,
+                  -0.33861226712061243
+                ],
+                "gripper_position": [
+                  0.27541726963075064,
+                  -0.3379224704150608,
+                  1.0030404608733623
+                ],
+                "rod_tip_xy_dist": 0.0007715938231268669,
+                "target_xy_drift": 6.689197547193555e-08,
+                "depth": 0.01808062602824989,
+                "bottom_clearance": 0.08135993047847145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0003444567847137314,
+                  0.0006898285047538533
+                ],
+                "rod_tip_xy": [
+                  0.2754172696307505,
+                  -0.33792247041506074
+                ],
+                "target_mouth_xy": [
+                  0.27576172641546426,
+                  -0.3386122989198146
+                ],
+                "gripper_position": [
+                  0.27540831336156363,
+                  -0.3379226435054449,
+                  1.0029180293773685
+                ],
+                "rod_tip_xy_dist": 0.000771047237532344,
+                "target_xy_drift": 6.011334147358514e-08,
+                "depth": 0.018219373015627593,
+                "bottom_clearance": 0.08122118544643186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0003534125110826736,
+                  0.0006896544099146418
+                ],
+                "rod_tip_xy": [
+                  0.2754083133615635,
+                  -0.3379226435054449
+                ],
+                "target_mouth_xy": [
+                  0.2757617258726462,
+                  -0.3386122979153595
+                ],
+                "gripper_position": [
+                  0.27539942867230877,
+                  -0.3379227867134654,
+                  1.0027958569955984
+                ],
+                "rod_tip_xy_dist": 0.0007749345831129707,
+                "target_xy_drift": 5.9556617781453435e-08,
+                "depth": 0.018341791800201013,
+                "bottom_clearance": 0.08109872902389681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00036226914260806264,
+                  0.0006895089192322512
+                ],
+                "rod_tip_xy": [
+                  0.2753994286723087,
+                  -0.3379227867134653
+                ],
+                "target_mouth_xy": [
+                  0.2757616978149168,
+                  -0.33861229563269757
+                ],
+                "gripper_position": [
+                  0.2754096245013674,
+                  -0.33799475497753395,
+                  1.0022847915520317
+                ],
+                "rod_tip_xy_dist": 0.0007788847677203657,
+                "target_xy_drift": 3.155841655772811e-08,
+                "depth": 0.018464079482111706,
+                "bottom_clearance": 0.08097659207774999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0003520717713773047,
+                  0.0006175124736474968
+                ],
+                "rod_tip_xy": [
+                  0.2754096245013673,
+                  -0.33799475497753384
+                ],
+                "target_mouth_xy": [
+                  0.2757616962727446,
+                  -0.33861226745118134
+                ],
+                "gripper_position": [
+                  0.27539752947140483,
+                  -0.3380013344848461,
+                  1.0021459400955783
+                ],
+                "rod_tip_xy_dist": 0.0007108278183294486,
+                "target_xy_drift": 4.248995050624969e-08,
+                "depth": 0.018975043184508822,
+                "bottom_clearance": 0.08046550932876761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0003641668921628427,
+                  0.0006109342960943231
+                ],
+                "rod_tip_xy": [
+                  0.2753975294714047,
+                  -0.33800133448484615
+                ],
+                "target_mouth_xy": [
+                  0.27576169636356757,
+                  -0.3386122687809405
+                ],
+                "gripper_position": [
+                  0.27538842003801556,
+                  -0.3380012127284173,
+                  1.0020238584222325
+                ],
+                "rod_tip_xy_dist": 0.0007112371190340178,
+                "target_xy_drift": 4.1622978716356676e-08,
+                "depth": 0.019113885839347478,
+                "bottom_clearance": 0.08032665109641968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0003732739412309338,
+                  0.0006110547278967982
+                ],
+                "rod_tip_xy": [
+                  0.27538842003801545,
+                  -0.3380012127284173
+                ],
+                "target_mouth_xy": [
+                  0.2757616939792464,
+                  -0.3386122674563141
+                ],
+                "gripper_position": [
+                  0.2753793328250339,
+                  -0.3380014167746304,
+                  1.0019019757375565
+                ],
+                "rod_tip_xy_dist": 0.0007160456100606334,
+                "target_xy_drift": 4.090158391117883e-08,
+                "depth": 0.01923600987832863,
+                "bottom_clearance": 0.08020455808624072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00038242561050794155,
+                  0.0006108520503029236
+                ],
+                "rod_tip_xy": [
+                  0.2753793328250338,
+                  -0.33800141677463047
+                ],
+                "target_mouth_xy": [
+                  0.27576175843554174,
+                  -0.3386122688249334
+                ],
+                "gripper_position": [
+                  0.2753700428778286,
+                  -0.33800144455321635,
+                  1.0017798125057804
+                ],
+                "rod_tip_xy_dist": 0.0007206868771745863,
+                "target_xy_drift": 9.650376319733196e-08,
+                "depth": 0.01935792948908599,
+                "bottom_clearance": 0.08008270241430293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0003916809064121729,
+                  0.0006108540338111146
+                ],
+                "rod_tip_xy": [
+                  0.2753700428778285,
+                  -0.33800144455321635
+                ],
+                "target_mouth_xy": [
+                  0.2757617237842407,
+                  -0.33861229858702746
+                ],
+                "gripper_position": [
+                  0.2753608972537901,
+                  -0.3380015478971877,
+                  1.0016579159445114
+                ],
+                "rod_tip_xy_dist": 0.0007256421866672111,
+                "target_xy_drift": 5.7476031486467616e-08,
+                "depth": 0.019480046205881618,
+                "bottom_clearance": 0.07996050262041565,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006028533302418589,
+              "rod_tip_xy_max_step": 3.265661272025772e-05,
+              "rod_tip_xy_range": 0.0006028450826107972,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2749393334897011,
+            -0.33936755017597053,
+            1.0432913278987446
+          ],
+          "object_origin_world": [
+            0.2749393334897011,
+            -0.33936755017597053,
+            1.0432913278987446
+          ],
+          "frame_world": [
+            0.2749378260437588,
+            -0.33937167909306004,
+            1.0431814051386705
+          ],
+          "center_minus_frame": [
+            1.507445942294794e-06,
+            4.128917089507578e-06,
+            0.00010992276007404378
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25454316826598716,
+              0.15127784591328758,
+              0.8323163446633295
+            ],
+            "target_position": [
+              0.26732735629394866,
+              0.19786608630468294,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04831045028045916,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1676357432785958,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323163446633295,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677388980871,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13742542010599204,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f33f529e19194989f0b0331239ccab2c68e230be72327582bc5778f8e227c16f",
+    "visual_seed": 8655670528147695054,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4abbdfdbefa8102868a0f6ff004bc0a224145ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30629294710238636,
+              0.07550027144330371,
+              1.1615320091711325
+            ],
+            "current_z": 1.1615320091711325,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30042532234243247,
+            "gripper_z": 1.1536355138264787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3010102305139849,
+              0.07039427989454143,
+              1.1536355138264787
+            ],
+            "object_minus_gripper": [
+              0.005282716588401459,
+              0.005105991548762276,
+              0.007896495344653864
+            ],
+            "object_to_gripper_xy": 0.0073469887878915225,
+            "object_to_gripper_z": 0.007896495344653864,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30629294710238636,
+              0.05146372181443305,
+              1.1615320091711325
+            ],
+            "finger_b": [
+              0.2946760607214005,
+              0.07550027144330371,
+              1.1615320091711325
+            ],
+            "finger_midpoint": [
+              0.3004845039118934,
+              0.06348199662886839,
+              1.1615320091711325
+            ],
+            "object_minus_finger_midpoint": [
+              0.005808443190492951,
+              0.01201827481443532,
+              0.0
+            ],
+            "finger_gap": 0.02669658718356892,
+            "fingertip_max_gap": 0.09085156271767017,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013348293591784468,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615320091711325,
+            "object_top_z": 1.211395968956053,
+            "finger_top_clearance": 0.04986395978492042,
+            "fingertip_min_top_clearance": 0.014959187935476126,
+            "object_projection_between_fingers": 0.8106488305726345,
+            "object_to_finger_line_xy": 0.010459384344129841,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792578135883509,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6275857358156205,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27775137093676244,
+              -0.33323300935603056,
+              0.8515395696252318
+            ],
+            "target_position": [
+              0.26877308777725867,
+              -0.3342122281294861,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009031524671865588,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18508385751263667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395696252318,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575872066989729,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580267341390103,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15252142127856547,
+            "release_required_pad_clearance": 0.05290133670695052,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8420885225946723,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073642730712890625,
+            "max_z_decrease": 0.0073642730712890625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035106481471404896,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073642730712890625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021104382895492522,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073642730712890625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007364297974839134,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.124473012983799,
+              -0.39047369360923767,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.124473012983799,
+              -0.39047369360923767,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12299497521502203,
+              -0.39068826150222286,
+              0.8067991477458805
+            ],
+            "closest_button": [
+              0.12445994466543198,
+              -0.3904697895050049,
+              0.7717239260673523
+            ],
+            "closest_ee_minus_button": [
+              -0.001464969450409942,
+              -0.00021847199721797272,
+              0.03507522167852817
+            ],
+            "button_min_z_position": [
+              0.12445399910211563,
+              -0.3904713988304138,
+              0.7694445848464966
+            ],
+            "min_active_finger_to_button": 0.14747420015664994,
+            "closest_active_finger": [
+              -0.01819705218076706,
+              -0.3761996030807495,
+              0.8109850287437439
+            ],
+            "closest_active_finger_button": [
+              0.12447401881217958,
+              -0.39047470688819885,
+              0.7764911651611328
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14267107099294662,
+              0.01427510380744934,
+              0.034493863582611084
+            ],
+            "min_contact_pad_to_button": 0.021104382895492522,
+            "closest_contact_pad": [
+              0.12445399910211563,
+              -0.39171192661442383,
+              0.790512476725293
+            ],
+            "closest_contact_pad_button": [
+              0.12445399910211563,
+              -0.3904713988304138,
+              0.7694445848464966
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012405277840100148,
+              0.02106789187879643
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27113800831325,
+              0.19663981798442387,
+              1.10133521473088
+            ],
+            "current_z": 1.10133521473088,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19142608499651736,
+            "gripper_z": 1.1013353348789956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2711380930456015,
+              0.19663986357300567,
+              1.1013353348789956
+            ],
+            "object_minus_gripper": [
+              -8.473235146855274e-08,
+              -4.5588581798483574e-08,
+              -1.2014811567873096e-07
+            ],
+            "object_to_gripper_xy": 9.621793063554931e-08,
+            "object_to_gripper_z": -1.2014811567873096e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27113800831325,
+              0.19663981798442387,
+              1.10133521473088
+            ],
+            "finger_b": [
+              0.27113800831325,
+              0.19663981798442387,
+              1.10133521473088
+            ],
+            "finger_midpoint": [
+              0.27113800831325,
+              0.19663981798442387,
+              1.10133521473088
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10133521473088,
+            "object_top_z": 1.2263437213511597,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2711380083132501,
+            0.1966398179844239,
+            1.10133521473088
+          ],
+          "object_origin_world": [
+            0.2711380083132501,
+            0.1966398179844239,
+            1.10133521473088
+          ],
+          "frame_world": [
+            0.2711380930456015,
+            0.19663986357300567,
+            1.1013353348789956
+          ],
+          "center_minus_frame": [
+            -8.473235141304158e-08,
+            -4.5588581770728e-08,
+            -1.2014811567873096e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437415601589641,
+            "required_z": 0.9112598998358485,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012695239645717895,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.525283261524776e-07,
+            "max_target_xy_drift": 4.111243812465524e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.843017487370791,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8430174875545394,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2788766433946389,
+              -0.33377066332410754,
+              0.9234302385366263
+            ],
+            "target_mouth_xy": [
+              0.2777512722938735,
+              -0.33323273039813933
+            ],
+            "rod_tip_z": 0.9234302385366263,
+            "rod_tip_depth": -0.02217041420914201,
+            "rod_tip_bottom_clearance": 0.12161093704402648,
+            "rod_tip_xy_dist": 0.0012473299271959814,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04489021440267149,
+            "min_rod_tip_bottom_clearance": 0.054550404251103135,
+            "min_rod_tip_xy_dist": 0.0003475389306054269,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27775136706706427,
+              -0.3332330699482285
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.477319079520541e-08,
+              3.3955008915675933e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0015738754637180108,
+                0.0012390525362289684
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001485809349636269,
+                0.0008380695913218217
+              ],
+              "first_target_mouth_xy": [
+                0.2777513073039445,
+                -0.33323300873761125
+              ],
+              "last_target_mouth_xy": [
+                0.2777513665307418,
+                -0.33323303918747416
+              ],
+              "first_rod_tip_xy": [
+                0.2793251827676625,
+                -0.3319939562013823
+              ],
+              "last_rod_tip_xy": [
+                0.27923717588037805,
+                -0.33239496959615233
+              ],
+              "min_rod_tip_xy_dist": 0.0017058692984413776,
+              "max_rod_tip_xy_dist": 0.0020030814169246895,
+              "first_target_xy_drift": 8.554747307592822e-08,
+              "last_target_xy_drift": 3.07654294447669e-08,
+              "max_depth": 0.019840740008036595,
+              "min_bottom_clearance": 0.07959977831098264
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015738754637180108,
+                  0.0012390525362289684
+                ],
+                "rod_tip_xy": [
+                  0.2793251827676625,
+                  -0.3319939562013823
+                ],
+                "target_mouth_xy": [
+                  0.2777513073039445,
+                  -0.33323300873761125
+                ],
+                "gripper_position": [
+                  0.2793132988133759,
+                  -0.3320010563906645,
+                  1.005667367752002
+                ],
+                "rod_tip_xy_dist": 0.0020030814169246895,
+                "target_xy_drift": 8.554747307592822e-08,
+                "depth": 0.015452329146651733,
+                "bottom_clearance": 0.08398822056907296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015619279619949467,
+                  0.0012319526460342622
+                ],
+                "rod_tip_xy": [
+                  0.27931329881337574,
+                  -0.3320010563906646
+                ],
+                "target_mouth_xy": [
+                  0.2777513708513808,
+                  -0.33323300903669884
+                ],
+                "gripper_position": [
+                  0.2793221342603696,
+                  -0.3320698409169817,
+                  1.0051504607950792
+                ],
+                "rod_tip_xy_dist": 0.001989302963485579,
+                "target_xy_drift": 6.102897259746741e-08,
+                "depth": 0.015592606712410806,
+                "bottom_clearance": 0.08384808193875792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015708263906475395,
+                  0.0011631380226495014
+                ],
+                "rod_tip_xy": [
+                  0.2793221342603695,
+                  -0.3320698409169818
+                ],
+                "target_mouth_xy": [
+                  0.27775130786972196,
+                  -0.3332329789396313
+                ],
+                "gripper_position": [
+                  0.27931018510354855,
+                  -0.3320768600944769,
+                  1.0050104101110817
+                ],
+                "rod_tip_xy_dist": 0.001954580673517409,
+                "target_xy_drift": 1.085674449497542e-07,
+                "depth": 0.016109433251806915,
+                "bottom_clearance": 0.08333113778760437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015588777502910656,
+                  0.0011561492803265905
+                ],
+                "rod_tip_xy": [
+                  0.27931018510354844,
+                  -0.3320768600944769
+                ],
+                "target_mouth_xy": [
+                  0.27775130735325737,
+                  -0.3332330093748035
+                ],
+                "gripper_position": [
+                  0.2793013624296548,
+                  -0.33207696514155965,
+                  1.0048876524245158
+                ],
+                "rod_tip_xy_dist": 0.0019408196718789274,
+                "target_xy_drift": 8.50580892707596e-08,
+                "depth": 0.01624935243313208,
+                "bottom_clearance": 0.08319118217420163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015499936132912229,
+                  0.001156042955172465
+                ],
+                "rod_tip_xy": [
+                  0.2793013624296547,
+                  -0.3320769651415596
+                ],
+                "target_mouth_xy": [
+                  0.2777513688163635,
+                  -0.33323300809673206
+                ],
+                "gripper_position": [
+                  0.2793111904081034,
+                  -0.3321469446349981,
+                  1.0043713067569469
+                ],
+                "rod_tip_xy_dist": 0.001933627553446492,
+                "target_xy_drift": 6.187622853462299e-08,
+                "depth": 0.016372263592539738,
+                "bottom_clearance": 0.08306838183568688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015598529213466383,
+                  0.0010860656930995471
+                ],
+                "rod_tip_xy": [
+                  0.2793111904081033,
+                  -0.33214694463499816
+                ],
+                "target_mouth_xy": [
+                  0.2777513374867567,
+                  -0.3332330103280977
+                ],
+                "gripper_position": [
+                  0.2792991824939355,
+                  -0.3321537084541737,
+                  1.0042313951580772
+                ],
+                "rod_tip_xy_dist": 0.0019007050865301124,
+                "target_xy_drift": 6.655489907655695e-08,
+                "depth": 0.01688859463010195,
+                "bottom_clearance": 0.08255198638991657,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015478753344522755,
+                  0.0010792717544183539
+                ],
+                "rod_tip_xy": [
+                  0.2792991824939353,
+                  -0.3321537084541737
+                ],
+                "target_mouth_xy": [
+                  0.27775130715948304,
+                  -0.33323298020859204
+                ],
+                "gripper_position": [
+                  0.27929017552654645,
+                  -0.3321536838430218,
+                  1.0041086330927793
+                ],
+                "rod_tip_xy_dist": 0.0018869937919587907,
+                "target_xy_drift": 1.0789865911047656e-07,
+                "depth": 0.017028377076346857,
+                "bottom_clearance": 0.08241217233510811,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015388054758211922,
+                  0.0010793245633935467
+                ],
+                "rod_tip_xy": [
+                  0.27929017552654634,
+                  -0.3321536838430218
+                ],
+                "target_mouth_xy": [
+                  0.27775137005072514,
+                  -0.33323300840641534
+                ],
+                "gripper_position": [
+                  0.2793009111301562,
+                  -0.3322249380269633,
+                  1.0035945683006129
+                ],
+                "rod_tip_xy_dist": 0.0018795913932453394,
+                "target_xy_drift": 6.161409739217373e-08,
+                "depth": 0.01715128690186718,
+                "bottom_clearance": 0.08228939418900649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015496045256761515,
+                  0.0010080716727203232
+                ],
+                "rod_tip_xy": [
+                  0.2793009111301561,
+                  -0.3322249380269634
+                ],
+                "target_mouth_xy": [
+                  0.27775130660447994,
+                  -0.3332330096996837
+                ],
+                "gripper_position": [
+                  0.27928898279796466,
+                  -0.3322312831681745,
+                  1.0034551995785133
+                ],
+                "rod_tip_xy_dist": 0.0018486434711261013,
+                "target_xy_drift": 8.535579212829295e-08,
+                "depth": 0.01766525345087977,
+                "bottom_clearance": 0.08177526338454155,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001537615672899506,
+                  0.0010016938594476499
+                ],
+                "rod_tip_xy": [
+                  0.27928898279796455,
+                  -0.33223128316817463
+                ],
+                "target_mouth_xy": [
+                  0.27775136712506504,
+                  -0.3332329770276223
+                ],
+                "gripper_position": [
+                  0.2792798622194685,
+                  -0.3322314192572704,
+                  1.0033319035569244
+                ],
+                "rod_tip_xy_dist": 0.0018351164937412906,
+                "target_xy_drift": 9.292062431142192e-08,
+                "depth": 0.017804726162187534,
+                "bottom_clearance": 0.08163590102839346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015285253788827613,
+                  0.0010015910683306428
+                ],
+                "rod_tip_xy": [
+                  0.2792798622194684,
+                  -0.3322314192572704
+                ],
+                "target_mouth_xy": [
+                  0.2777513368405856,
+                  -0.33323301032560104
+                ],
+                "gripper_position": [
+                  0.279270726667466,
+                  -0.332231242601142,
+                  1.0032093018107051
+                ],
+                "rod_tip_xy_dist": 0.0018274502734817184,
+                "target_xy_drift": 6.684682277701922e-08,
+                "depth": 0.017927873261542993,
+                "bottom_clearance": 0.08151268248276466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015193572987013404,
+                  0.0010017654904660445
+                ],
+                "rod_tip_xy": [
+                  0.2792707266674659,
+                  -0.3322312426011421
+                ],
+                "target_mouth_xy": [
+                  0.27775136936876454,
+                  -0.33323300809160816
+                ],
+                "gripper_position": [
+                  0.27928317488591947,
+                  -0.3323045248619711,
+                  1.0026974436627543
+                ],
+                "rod_tip_xy_dist": 0.0018198848037734995,
+                "target_xy_drift": 6.189942893350726e-08,
+                "depth": 0.018050618569610655,
+                "bottom_clearance": 0.08139004803233874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015318385606070128,
+                  0.0009284851523135296
+                ],
+                "rod_tip_xy": [
+                  0.2792831748859193,
+                  -0.33230452486197104
+                ],
+                "target_mouth_xy": [
+                  0.2777513363253123,
+                  -0.33323301001428457
+                ],
+                "gripper_position": [
+                  0.2792709897205877,
+                  -0.3323114188400087,
+                  1.0025579608082311
+                ],
+                "rod_tip_xy_dist": 0.001791260465099714,
+                "target_xy_drift": 6.735824335827001e-08,
+                "depth": 0.018562382998483895,
+                "bottom_clearance": 0.0808781417163208,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015196202318666918,
+                  0.0009215597626723859
+                ],
+                "rod_tip_xy": [
+                  0.2792709897205876,
+                  -0.3323114188400087
+                ],
+                "target_mouth_xy": [
+                  0.2777513694887209,
+                  -0.3332329786026811
+                ],
+                "gripper_position": [
+                  0.2792617790641117,
+                  -0.3323112413321082,
+                  1.0024351481872171
+                ],
+                "rod_tip_xy_dist": 0.0017772220022482736,
+                "target_xy_drift": 9.137764196704069e-08,
+                "depth": 0.018701954863891035,
+                "bottom_clearance": 0.08073870492049096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015104427741909898,
+                  0.0009217690020950631
+                ],
+                "rod_tip_xy": [
+                  0.2792617790641116,
+                  -0.3323112413321082
+                ],
+                "target_mouth_xy": [
+                  0.2777513362899206,
+                  -0.3332330103342033
+                ],
+                "gripper_position": [
+                  0.2792524428834182,
+                  -0.3323108413825978,
+                  1.0023123950062385
+                ],
+                "rod_tip_xy_dist": 0.0017694901715830755,
+                "target_xy_drift": 6.708997372768007e-08,
+                "depth": 0.018824683856819457,
+                "bottom_clearance": 0.0806158507202851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015011069519402787,
+                  0.000922135025651194
+                ],
+                "rod_tip_xy": [
+                  0.2792524428834181,
+                  -0.3323108413825978
+                ],
+                "target_mouth_xy": [
+                  0.2777513359314778,
+                  -0.333232976408249
+                ],
+                "gripper_position": [
+                  0.2792431267717018,
+                  -0.33231080653816913,
+                  1.0021897770440473
+                ],
+                "rod_tip_xy_dist": 0.0017617193552595608,
+                "target_xy_drift": 9.858576218220848e-08,
+                "depth": 0.018947471543138583,
+                "bottom_clearance": 0.08049312533468322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014917588014228822,
+                  0.0009222351700505227
+                ],
+                "rod_tip_xy": [
+                  0.2792431267717017,
+                  -0.33231080653816925
+                ],
+                "target_mouth_xy": [
+                  0.27775136797027883,
+                  -0.33323304170821977
+                ],
+                "gripper_position": [
+                  0.2792339519368861,
+                  -0.33231074368114877,
+                  1.00206692533574
+                ],
+                "rod_tip_xy_dist": 0.0017538135677718858,
+                "target_xy_drift": 2.8254449013662417e-08,
+                "depth": 0.019070157917305708,
+                "bottom_clearance": 0.08037050507602006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014825873246754329,
+                  0.0009222939372099392
+                ],
+                "rod_tip_xy": [
+                  0.27923395193688594,
+                  -0.3323107436811489
+                ],
+                "target_mouth_xy": [
+                  0.2777513646122105,
+                  -0.3332330376183588
+                ],
+                "gripper_position": [
+                  0.27924949179335856,
+                  -0.3323885361531184,
+                  1.0015584878597785
+                ],
+                "rod_tip_xy_dist": 0.0017460501945541168,
+                "target_xy_drift": 3.242293601608691e-08,
+                "depth": 0.019192884631304863,
+                "bottom_clearance": 0.0802476924908041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014980925152188185,
+                  0.0008445033354696485
+                ],
+                "rod_tip_xy": [
+                  0.27924949179335845,
+                  -0.3323885361531185
+                ],
+                "target_mouth_xy": [
+                  0.27775139927813963,
+                  -0.3332330394885881
+                ],
+                "gripper_position": [
+                  0.27923717588037816,
+                  -0.3323949695961523,
+                  1.0014190788102415
+                ],
+                "rod_tip_xy_dist": 0.0017197287773872971,
+                "target_xy_drift": 4.433218996631e-08,
+                "depth": 0.019701420108959478,
+                "bottom_clearance": 0.0797392235536355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001485809349636269,
+                  0.0008380695913218217
+                ],
+                "rod_tip_xy": [
+                  0.27923717588037805,
+                  -0.33239496959615233
+                ],
+                "target_mouth_xy": [
+                  0.2777513665307418,
+                  -0.33323303918747416
+                ],
+                "gripper_position": [
+                  0.2792524648339817,
+                  -0.3324672241334419,
+                  1.0008257588261342
+                ],
+                "rod_tip_xy_dist": 0.0017058692984413776,
+                "target_xy_drift": 3.07654294447669e-08,
+                "depth": 0.019840740008036595,
+                "bottom_clearance": 0.07959977831098264,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000606221122257288,
+              "rod_tip_xy_max_step": 3.279417702574489e-05,
+              "rod_tip_xy_range": 0.0006062120150952359,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27887664339463897,
+            -0.33377066332410754,
+            1.0434302385366263
+          ],
+          "object_origin_world": [
+            0.27887664339463897,
+            -0.33377066332410754,
+            1.0434302385366263
+          ],
+          "frame_world": [
+            0.2789021606968845,
+            -0.33376859136932197,
+            1.0437415601589641
+          ],
+          "center_minus_frame": [
+            -2.5517302245536833e-05,
+            -2.071954785576313e-06,
+            -0.00031132162233782346
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2586679004772243,
+              0.14884533234958824,
+              0.8322528035437682
+            ],
+            "target_position": [
+              0.271263605520925,
+              0.19494019194798506,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04778480790945823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1662666814521165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322528035437682,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668981689614,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13556871187056624,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a854a9ca3ccf5422a757623704a3bcf2dcb90d16d4e0ca6f4bde154f0f237ac5",
+    "visual_seed": 4807959372766275386,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cea98750aac6dd4a2be54f492ab6f6601abaa75
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_14_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30254340862455137,
+              0.07014299961215448,
+              1.1623615994528702
+            ],
+            "current_z": 1.1623615994528702,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.301255151042749,
+            "gripper_z": 1.1544798524871274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2972642994673488,
+              0.065102046611432,
+              1.1544798524871274
+            ],
+            "object_minus_gripper": [
+              0.005279109157202588,
+              0.005040953000722478,
+              0.007881746965742842
+            ],
+            "object_to_gripper_xy": 0.007299328780727251,
+            "object_to_gripper_z": 0.007881746965742842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30254340862455137,
+              0.0458040142550202,
+              1.1623615994528702
+            ],
+            "finger_b": [
+              0.29139550837945105,
+              0.07014299961215448,
+              1.1623615994528702
+            ],
+            "finger_midpoint": [
+              0.2969694585020012,
+              0.05797350693358734,
+              1.1623615994528702
+            ],
+            "object_minus_finger_midpoint": [
+              0.005573950122550186,
+              0.012169492678567137,
+              0.0
+            ],
+            "finger_gap": 0.026770541423167076,
+            "fingertip_max_gap": 0.09133561046474323,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01338527071158355,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623615994528702,
+            "object_top_z": 1.2123066392672814,
+            "finger_top_clearance": 0.04994503981441123,
+            "fingertip_min_top_clearance": 0.014983511944323367,
+            "object_projection_between_fingers": 0.8265909183394626,
+            "object_to_finger_line_xy": 0.01013534155097381,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048167805232371616,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0637285038117539,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2807198014518413,
+              -0.34134038622503027,
+              0.8515395630591548
+            ],
+            "target_position": [
+              0.27287723698613153,
+              -0.34204083699602206,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007873782361825616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18528339891890266,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395630591548,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564172817596507,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674053355428087,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15284856774257324,
+            "release_required_pad_clearance": 0.053370266777140435,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.756528666728914,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077100396156311035,
+            "max_z_decrease": 0.0077100396156311035,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510035354548425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077100396156311035,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110176647575095,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077100396156311035,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007710064829431599,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12857715785503387,
+              -0.39830228686332697,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12857715785503387,
+              -0.39830228686332697,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12926873895743046,
+              -0.3983257902299435,
+              0.8076074053855271
+            ],
+            "closest_button": [
+              0.12856559455394745,
+              -0.39830002188682545,
+              0.7725141048431396
+            ],
+            "closest_ee_minus_button": [
+              0.0007031444034830137,
+              -2.576834311807108e-05,
+              0.03509330054238746
+            ],
+            "button_min_z_position": [
+              0.12855750322341913,
+              -0.3983007073402404,
+              0.7690988183021545
+            ],
+            "min_active_finger_to_button": 0.14552414854636953,
+            "closest_active_finger": [
+              -0.012109138071537018,
+              -0.3841903507709503,
+              0.8108944296836853
+            ],
+            "closest_active_finger_button": [
+              0.1285770386457443,
+              -0.39830189943313593,
+              0.776462733745575
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406861767172813,
+              0.014111548662185613,
+              0.03443169593811035
+            ],
+            "min_contact_pad_to_button": 0.02110176647575095,
+            "closest_contact_pad": [
+              0.12855750322341913,
+              -0.3992299453736677,
+              0.7901801148722035
+            ],
+            "closest_contact_pad_button": [
+              0.12855750322341913,
+              -0.3983007073402404,
+              0.7690988183021545
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009292380334272599,
+              0.02108129657004898
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27533879235120134,
+              0.20094939183680813,
+              1.102921307527125
+            ],
+            "current_z": 1.102921307527125,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19301217779276236,
+            "gripper_z": 1.1029217211826072,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2753389131023715,
+              0.20094932957228734,
+              1.1029217211826072
+            ],
+            "object_minus_gripper": [
+              -1.2075117017396053e-07,
+              6.226452078927913e-08,
+              -4.136554823119809e-07
+            ],
+            "object_to_gripper_xy": 1.3585917579427365e-07,
+            "object_to_gripper_z": -4.136554823119809e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27533879235120134,
+              0.20094939183680813,
+              1.102921307527125
+            ],
+            "finger_b": [
+              0.27533879235120134,
+              0.20094939183680813,
+              1.102921307527125
+            ],
+            "finger_midpoint": [
+              0.27533879235120134,
+              0.20094939183680813,
+              1.102921307527125
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102921307527125,
+            "object_top_z": 1.2279298141474047,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2753387923512014,
+            0.20094939183680816,
+            1.102921307527125
+          ],
+          "object_origin_world": [
+            0.2753387923512014,
+            0.20094939183680816,
+            1.102921307527125
+          ],
+          "frame_world": [
+            0.2753389131023715,
+            0.20094932957228734,
+            1.1029217211826072
+          ],
+          "center_minus_frame": [
+            -1.2075117011844938e-07,
+            6.226452081703471e-08,
+            -4.136554823119809e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043407333060123,
+            "required_z": 0.9112598210858655,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015671530164589169,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.872444438434932e-08,
+            "max_target_xy_drift": 7.375708728884167e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7565286660785335,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7565286668193942,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2793851159972786,
+              -0.34215407956836474,
+              0.9235197699877272
+            ],
+            "target_mouth_xy": [
+              0.28071974295380114,
+              -0.3413404160019199
+            ],
+            "rod_tip_z": 0.9235197699877272,
+            "rod_tip_depth": -0.022259926049454593,
+            "rod_tip_bottom_clearance": 0.12170051274753046,
+            "rod_tip_xy_dist": 0.0015630986892824015,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04471558118110319,
+            "min_rod_tip_bottom_clearance": 0.05472496085084255,
+            "min_rod_tip_xy_dist": 0.0008580623038346221,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2807198316728279,
+              -0.34134041698239237
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.871902673623921e-08,
+              9.804724809825416e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0007795854164042715,
+                0.0008807187067316202
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0008851667274333286,
+                0.0004960834963922967
+              ],
+              "first_target_mouth_xy": [
+                0.2807197726557906,
+                -0.34134044645134404
+              ],
+              "last_target_mouth_xy": [
+                0.28071977001067316,
+                -0.3413403868522369
+              ],
+              "first_rod_tip_xy": [
+                0.27994018723938635,
+                -0.3404597277446124
+              ],
+              "last_rod_tip_xy": [
+                0.27983460328323984,
+                -0.3408443033558446
+              ],
+              "min_rod_tip_xy_dist": 0.0010074620177011712,
+              "max_rod_tip_xy_dist": 0.0011836255100058461,
+              "first_target_xy_drift": 6.596536817917834e-08,
+              "last_target_xy_drift": 6.862978648896539e-08,
+              "max_depth": 0.019460433358400087,
+              "min_bottom_clearance": 0.07998011269571448
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007795854164042715,
+                  0.0008807187067316202
+                ],
+                "rod_tip_xy": [
+                  0.27994018723938635,
+                  -0.3404597277446124
+                ],
+                "target_mouth_xy": [
+                  0.2807197726557906,
+                  -0.34134044645134404
+                ],
+                "gripper_position": [
+                  0.27992875843664505,
+                  -0.3404667384548871,
+                  1.0061047963158027
+                ],
+                "rod_tip_xy_dist": 0.0011761882765345178,
+                "target_xy_drift": 6.596536817917834e-08,
+                "depth": 0.015012147367256534,
+                "bottom_clearance": 0.08442841171124338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007910137752450974,
+                  0.000873707374594801
+                ],
+                "rod_tip_xy": [
+                  0.2799287584366449,
+                  -0.3404667384548872
+                ],
+                "target_mouth_xy": [
+                  0.28071977221189,
+                  -0.341340445829482
+                ],
+                "gripper_position": [
+                  0.2799200851622233,
+                  -0.3404678236677689,
+                  1.0059797234656092
+                ],
+                "rod_tip_xy_dist": 0.0011785870222638807,
+                "target_xy_drift": 6.60890135662832e-08,
+                "depth": 0.015155043124455703,
+                "bottom_clearance": 0.08428552230324449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007997199517039144,
+                  0.0008725923141899017
+                ],
+                "rod_tip_xy": [
+                  0.2799200851622231,
+                  -0.34046782366776895
+                ],
+                "target_mouth_xy": [
+                  0.280719805113927,
+                  -0.34134041598195886
+                ],
+                "gripper_position": [
+                  0.2799251442446281,
+                  -0.3405323238935111,
+                  1.0054575866508553
+                ],
+                "rod_tip_xy_dist": 0.0011836255100058461,
+                "target_xy_drift": 2.657773658370203e-08,
+                "depth": 0.015280259031749566,
+                "bottom_clearance": 0.08416042393328071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007945986790703352,
+                  0.0008080921252821005
+                ],
+                "rod_tip_xy": [
+                  0.27992514424462794,
+                  -0.3405323238935112
+                ],
+                "target_mouth_xy": [
+                  0.2807197429236983,
+                  -0.3413404160187933
+                ],
+                "gripper_position": [
+                  0.27991362781499163,
+                  -0.34053940244896735,
+                  1.0053148659698934
+                ],
+                "rod_tip_xy_dist": 0.0011333137004921733,
+                "target_xy_drift": 8.875436061467477e-08,
+                "depth": 0.015802316363113245,
+                "bottom_clearance": 0.08363826858745049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008061156665137847,
+                  0.0008010135613135128
+                ],
+                "rod_tip_xy": [
+                  0.27991362781499146,
+                  -0.3405394024489674
+                ],
+                "target_mouth_xy": [
+                  0.28071974348150525,
+                  -0.3413404160102809
+                ],
+                "gripper_position": [
+                  0.2799049684480934,
+                  -0.3405399492053424,
+                  1.0051895262826025
+                ],
+                "rod_tip_xy_dist": 0.0011364177019067944,
+                "target_xy_drift": 8.819668014460193e-08,
+                "depth": 0.01594498173642378,
+                "bottom_clearance": 0.0834956243766497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008148357023203823,
+                  0.0008004372878528954
+                ],
+                "rod_tip_xy": [
+                  0.27990496844809326,
+                  -0.3405399492053425
+                ],
+                "target_mouth_xy": [
+                  0.28071980415041364,
+                  -0.34134038649319537
+                ],
+                "gripper_position": [
+                  0.2799109102926863,
+                  -0.34060590958708953,
+                  1.0046681522816439
+                ],
+                "rod_tip_xy_dist": 0.0011422158611931676,
+                "target_xy_drift": 4.1074011480972023e-08,
+                "depth": 0.016070383773154062,
+                "bottom_clearance": 0.08337025160141531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008088608597971447,
+                  0.0007345372050004961
+                ],
+                "rod_tip_xy": [
+                  0.2799109102926861,
+                  -0.3406059095870896
+                ],
+                "target_mouth_xy": [
+                  0.28071977115248326,
+                  -0.3413404467920901
+                ],
+                "gripper_position": [
+                  0.27989910434650744,
+                  -0.3406130061248142,
+                  1.0045255364897172
+                ],
+                "rod_tip_xy_dist": 0.0010926119146530103,
+                "target_xy_drift": 6.746354712781244e-08,
+                "depth": 0.016591661873882946,
+                "bottom_clearance": 0.08284882846027208,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008206998390972164,
+                  0.0007274092362544726
+                ],
+                "rod_tip_xy": [
+                  0.2798991043465073,
+                  -0.34061300612481427
+                ],
+                "target_mouth_xy": [
+                  0.2807198041856045,
+                  -0.34134041536106874
+                ],
+                "gripper_position": [
+                  0.2798903101723497,
+                  -0.340613660942801,
+                  1.004400360364541
+                ],
+                "rod_tip_xy_dist": 0.0010966642252223386,
+                "target_xy_drift": 2.7534998452961897e-08,
+                "depth": 0.016734450345667895,
+                "bottom_clearance": 0.08270622081682655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000829432040783229,
+                  0.0007267848975818225
+                ],
+                "rod_tip_xy": [
+                  0.27989031017234955,
+                  -0.340613660942801
+                ],
+                "target_mouth_xy": [
+                  0.2807197422131328,
+                  -0.3413404458403828
+                ],
+                "gripper_position": [
+                  0.27989712224654484,
+                  -0.3406806423919297,
+                  1.003881358754598
+                ],
+                "rod_tip_xy_dist": 0.0011028027011350907,
+                "target_xy_drift": 9.399904605389663e-08,
+                "depth": 0.016859477420033908,
+                "bottom_clearance": 0.08258108026478594,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008226507791649906,
+                  0.0006597752026855641
+                ],
+                "rod_tip_xy": [
+                  0.2798971222465446,
+                  -0.34068064239192974
+                ],
+                "target_mouth_xy": [
+                  0.2807197730257096,
+                  -0.3413404175946153
+                ],
+                "gripper_position": [
+                  0.2798852711287345,
+                  -0.3406874101897814,
+                  1.0037386298654518
+                ],
+                "rod_tip_xy_dist": 0.0010545414276070635,
+                "target_xy_drift": 5.865031371303765e-08,
+                "depth": 0.017378594105293854,
+                "bottom_clearance": 0.0820619769888905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000834471444842777,
+                  0.0006530064641457889
+                ],
+                "rod_tip_xy": [
+                  0.27988527112873435,
+                  -0.3406874101897813
+                ],
+                "target_mouth_xy": [
+                  0.2807197425735771,
+                  -0.3413404166539271
+                ],
+                "gripper_position": [
+                  0.2798763996840345,
+                  -0.34068801398409637,
+                  1.003613865668318
+                ],
+                "rod_tip_xy_dist": 0.0010596037157702767,
+                "target_xy_drift": 8.909985619829827e-08,
+                "depth": 0.017521139844556943,
+                "bottom_clearance": 0.08191940859276858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008433745603617093,
+                  0.0006524026446999565
+                ],
+                "rod_tip_xy": [
+                  0.2798763996840343,
+                  -0.3406880139840964
+                ],
+                "target_mouth_xy": [
+                  0.28071977424439604,
+                  -0.3413404166287964
+                ],
+                "gripper_position": [
+                  0.2798673679580449,
+                  -0.3406886935233171,
+                  1.0034891187843764
+                ],
+                "rod_tip_xy_dist": 0.0010662597525353773,
+                "target_xy_drift": 5.7429520406345215e-08,
+                "depth": 0.017646037585203778,
+                "bottom_clearance": 0.08179458161932074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008523731791816314,
+                  0.0006516933394327129
+                ],
+                "rod_tip_xy": [
+                  0.27986736795804473,
+                  -0.3406886935233171
+                ],
+                "target_mouth_xy": [
+                  0.28071974113722636,
+                  -0.3413403868627498
+                ],
+                "gripper_position": [
+                  0.2798755445494892,
+                  -0.34075769348517504,
+                  1.0029713039494812
+                ],
+                "rod_tip_xy_dist": 0.0010729605049810372,
+                "target_xy_drift": 9.541429667312235e-08,
+                "depth": 0.01777070696343419,
+                "bottom_clearance": 0.08166980198399443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008442282855423144,
+                  0.0005826927131995507
+                ],
+                "rod_tip_xy": [
+                  0.27987554454948904,
+                  -0.34075769348517504
+                ],
+                "target_mouth_xy": [
+                  0.28071977283503136,
+                  -0.3413403861983746
+                ],
+                "gripper_position": [
+                  0.27986357806005613,
+                  -0.34076449969936073,
+                  1.0028293407496178
+                ],
+                "rod_tip_xy_dist": 0.0010257934471059804,
+                "target_xy_drift": 6.640438276512883e-08,
+                "depth": 0.01828860020157952,
+                "bottom_clearance": 0.08115198949074653,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008561639801285548,
+                  0.0005758865172099115
+                ],
+                "rod_tip_xy": [
+                  0.2798635780600559,
+                  -0.34076449969936073
+                ],
+                "target_mouth_xy": [
+                  0.28071974204018446,
+                  -0.34134038621657065
+                ],
+                "gripper_position": [
+                  0.27985462774587544,
+                  -0.3407648678913465,
+                  1.0027043551755002
+                ],
+                "rod_tip_xy_dist": 0.0010318246176428095,
+                "target_xy_drift": 9.476574567069382e-08,
+                "depth": 0.018430436493314106,
+                "bottom_clearance": 0.08101011543571812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008651466038895883,
+                  0.0005754865759579064
+                ],
+                "rod_tip_xy": [
+                  0.2798546277458753,
+                  -0.3407648678913465
+                ],
+                "target_mouth_xy": [
+                  0.28071977434976486,
+                  -0.34134035446730443
+                ],
+                "gripper_position": [
+                  0.27984541332063795,
+                  -0.3407653376268563,
+                  1.0025796983891295
+                ],
+                "rod_tip_xy_dist": 0.0010390685469830387,
+                "target_xy_drift": 8.481786235179302e-08,
+                "depth": 0.018555595143718073,
+                "bottom_clearance": 0.08088512233123424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008743271437055555,
+                  0.0005750492518324934
+                ],
+                "rod_tip_xy": [
+                  0.2798454133206378,
+                  -0.34076533762685635
+                ],
+                "target_mouth_xy": [
+                  0.28071974046434334,
+                  -0.34134038687868884
+                ],
+                "gripper_position": [
+                  0.2798362488994198,
+                  -0.340765642898129,
+                  1.0024553550360302
+                ],
+                "rod_tip_xy_dist": 0.0010464843984758806,
+                "target_xy_drift": 9.604801205030042e-08,
+                "depth": 0.01868014797451001,
+                "bottom_clearance": 0.08076038703944377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008835232612151578,
+                  0.0005747433147959002
+                ],
+                "rod_tip_xy": [
+                  0.27983624889941966,
+                  -0.34076564289812905
+                ],
+                "target_mouth_xy": [
+                  0.2807197721606348,
+                  -0.34134038621292495
+                ],
+                "gripper_position": [
+                  0.2798467679955765,
+                  -0.34083754343728273,
+                  1.0019415966215015
+                ],
+                "rod_tip_xy_dist": 0.0010540129178576738,
+                "target_xy_drift": 6.699597934439346e-08,
+                "depth": 0.0188044842392856,
+                "bottom_clearance": 0.08063607971241948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008729995214326602,
+                  0.0005028434673821081
+                ],
+                "rod_tip_xy": [
+                  0.27984676799557634,
+                  -0.3408375434372828
+                ],
+                "target_mouth_xy": [
+                  0.280719767517009,
+                  -0.3413403869046649
+                ],
+                "gripper_position": [
+                  0.27983460328324,
+                  -0.3408443033558446,
+                  1.0017993617941612
+                ],
+                "rod_tip_xy_dist": 0.0010074620177011712,
+                "target_xy_drift": 7.08564660860029e-08,
+                "depth": 0.01931833466298194,
+                "bottom_clearance": 0.08012230824977595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0008851667274333286,
+                  0.0004960834963922967
+                ],
+                "rod_tip_xy": [
+                  0.27983460328323984,
+                  -0.3408443033558446
+                ],
+                "target_mouth_xy": [
+                  0.28071977001067316,
+                  -0.3413403868522369
+                ],
+                "gripper_position": [
+                  0.27982531383756704,
+                  -0.34084464204237674,
+                  1.0016748774679476
+                ],
+                "rod_tip_xy_dist": 0.001014701419506169,
+                "target_xy_drift": 6.862978648896539e-08,
+                "depth": 0.019460433358400087,
+                "bottom_clearance": 0.07998011269571448,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006043442699400042,
+              "rod_tip_xy_max_step": 3.265474398279622e-05,
+              "rod_tip_xy_range": 0.0006043368315935206,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27938511599727867,
+            -0.34215407956836474,
+            1.0435197699877272
+          ],
+          "object_origin_world": [
+            0.27938511599727867,
+            -0.34215407956836474,
+            1.0435197699877272
+          ],
+          "frame_world": [
+            0.27938343707081914,
+            -0.34215910713055386,
+            1.043407333060123
+          ],
+          "center_minus_frame": [
+            1.6789264595251652e-06,
+            5.027562189119372e-06,
+            0.0001124369276042092
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2609627471086066,
+              0.15659938510256297,
+              0.8315587866269433
+            ],
+            "target_position": [
+              0.2755020142629783,
+              0.2021190531707736,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047785253692182776,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16538774094005207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315587866269433,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675417910792,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13489479694041323,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbb8072801fdfd1e3a260a29e09402a1a48ad662164e0dbdff99c0c3d0d4eaf0",
+    "visual_seed": 3285032009065862464,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b129b5471a93dd5294940c9a6445eb0d18d7721e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_15_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3004521146415002,
+              0.07584660878896807,
+              1.1650958401961535
+            ],
+            "current_z": 1.1650958401961535,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3039892725767428,
+            "gripper_z": 1.1571966051011975,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29520148720389805,
+              0.07086049309850206,
+              1.1571966051011975
+            ],
+            "object_minus_gripper": [
+              0.005250627437602129,
+              0.004986115690466003,
+              0.007899235094956047
+            ],
+            "object_to_gripper_xy": 0.007240886559476785,
+            "object_to_gripper_z": 0.007899235094956047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3004521146415002,
+              0.0514668424904451,
+              1.1650958401961535
+            ],
+            "finger_b": [
+              0.2894648598327454,
+              0.07584660878896807,
+              1.1650958401961535
+            ],
+            "finger_midpoint": [
+              0.2949584872371228,
+              0.06365672563970659,
+              1.1650958401961535
+            ],
+            "object_minus_finger_midpoint": [
+              0.005493627404377366,
+              0.012189883149261477,
+              0.0
+            ],
+            "finger_gap": 0.026741218614773365,
+            "fingertip_max_gap": 0.09114618332584909,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013370609307386663,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650958401961535,
+            "object_top_z": 1.2150374219518971,
+            "finger_top_clearance": 0.04994158175574359,
+            "fingertip_min_top_clearance": 0.014982474526723043,
+            "object_projection_between_fingers": 0.8311830677220652,
+            "object_to_finger_line_xy": 0.010016996919945136,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807309166292455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8735759281384473,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28138079235025387,
+              -0.33554857230150603,
+              0.8515395868300513
+            ],
+            "target_position": [
+              0.2736567513687359,
+              -0.3361251798139645,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007745533248756509,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18533862380017405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395868300513,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575783975084284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720661925492888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15268042251433808,
+            "release_required_pad_clearance": 0.05360330962746444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2170693373212917,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007254302501678467,
+            "max_z_decrease": 0.007254302501678467,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516056363025559,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007254302501678467,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021075716060122596,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007254302501678467,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007254323523503983,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1293566823005676,
+              -0.392386645078659,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1293566823005676,
+              -0.392386645078659,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13015743252944417,
+              -0.390827850931665,
+              0.8081666085695071
+            ],
+            "closest_button": [
+              0.1293486952781677,
+              -0.39238718152046204,
+              0.7730499505996704
+            ],
+            "closest_ee_minus_button": [
+              0.0008087372512764757,
+              0.0015593305887970366,
+              0.03511665796983665
+            ],
+            "button_min_z_position": [
+              0.12933921813964844,
+              -0.3923866748809814,
+              0.7695545554161072
+            ],
+            "min_active_finger_to_button": 0.14480772709792164,
+            "closest_active_finger": [
+              0.002373911440372467,
+              -0.452966570854187,
+              0.8110874891281128
+            ],
+            "closest_active_finger_button": [
+              0.12935546040534973,
+              -0.39238765835762024,
+              0.7768068909645081
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12698154896497726,
+              -0.06057891249656677,
+              0.034280598163604736
+            ],
+            "min_contact_pad_to_button": 0.021075716060122596,
+            "closest_contact_pad": [
+              0.12933921813964844,
+              -0.3923866748809814,
+              0.7906302714762298
+            ],
+            "closest_contact_pad_button": [
+              0.12933921813964844,
+              -0.3923866748809814,
+              0.7695545554161072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021075716060122596
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2733326817218641,
+              0.2027787298035575,
+              1.104046606448808
+            ],
+            "current_z": 1.104046606448808,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19413747671444537,
+            "gripper_z": 1.1040466066101984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27333267124910304,
+              0.20277863647615252,
+              1.1040466066101984
+            ],
+            "object_minus_gripper": [
+              1.0472761047264356e-08,
+              9.332740497081105e-08,
+              -1.613904565544999e-10
+            ],
+            "object_to_gripper_xy": 9.391316863219378e-08,
+            "object_to_gripper_z": -1.613904565544999e-10,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2733326817218641,
+              0.2027787298035575,
+              1.104046606448808
+            ],
+            "finger_b": [
+              0.2733326817218641,
+              0.2027787298035575,
+              1.104046606448808
+            ],
+            "finger_midpoint": [
+              0.2733326817218641,
+              0.2027787298035575,
+              1.104046606448808
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104046606448808,
+            "object_top_z": 1.2290551130690877,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2733326817218641,
+            0.20277872980355754,
+            1.1040466064488081
+          ],
+          "object_origin_world": [
+            0.2733326817218641,
+            0.20277872980355754,
+            1.1040466064488081
+          ],
+          "frame_world": [
+            0.27333267124910304,
+            0.20277863647615252,
+            1.1040466066101984
+          ],
+          "center_minus_frame": [
+            1.0472761047264356e-08,
+            9.33274050263222e-08,
+            -1.6139023450989498e-10
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433908211186131,
+            "required_z": 0.911259847062734,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016773450485772598,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.590604658592053e-08,
+            "max_target_xy_drift": 1.3170354439002914e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.217069337288899,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.217069337896966,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2799140674356163,
+              -0.336354627791655,
+              0.9235021221607141
+            ],
+            "target_mouth_xy": [
+              0.28138067641867437,
+              -0.3355485729643587
+            ],
+            "rod_tip_z": 0.9235021221607141,
+            "rod_tip_depth": -0.022242277014606904,
+            "rod_tip_bottom_clearance": 0.1216828668665122,
+            "rod_tip_xy_dist": 0.0016735191345766693,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04502402948283635,
+            "min_rod_tip_bottom_clearance": 0.05441659765999329,
+            "min_rod_tip_xy_dist": 0.0009944352665906698,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28138073542731645,
+              -0.33554863539695434
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.9008642083746565e-08,
+              6.243259564886472e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0009186641564617459,
+                0.0009687244568826192
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010266849046348114,
+                0.0005786858845602816
+              ],
+              "first_target_mouth_xy": [
+                0.2813806762072515,
+                -0.3355486363530664
+              ],
+              "last_target_mouth_xy": [
+                0.2813806762072515,
+                -0.3355486661553888
+              ],
+              "first_rod_tip_xy": [
+                0.28046201205078974,
+                -0.3345799118961838
+              ],
+              "last_rod_tip_xy": [
+                0.2803539913026167,
+                -0.3349699802708285
+              ],
+              "min_rod_tip_xy_dist": 0.0011551227868902116,
+              "max_rod_tip_xy_dist": 0.0013407184067155092,
+              "first_target_xy_drift": 5.922778270813897e-08,
+              "last_target_xy_drift": 6.673153216449518e-08,
+              "max_depth": 0.019530777250105547,
+              "min_bottom_clearance": 0.07990984855822492
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0009186641564617459,
+                  0.0009687244568826192
+                ],
+                "rod_tip_xy": [
+                  0.28046201205078974,
+                  -0.3345799118961838
+                ],
+                "target_mouth_xy": [
+                  0.2813806762072515,
+                  -0.3355486363530664
+                ],
+                "gripper_position": [
+                  0.28045331035876064,
+                  -0.3345803138964944,
+                  1.0060113786556448
+                ],
+                "rod_tip_xy_dist": 0.0013350546452224705,
+                "target_xy_drift": 5.922778270813897e-08,
+                "depth": 0.015124282488262142,
+                "bottom_clearance": 0.08431634332006832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0009273331656913797,
+                  0.0009682866548262337
+                ],
+                "rod_tip_xy": [
+                  0.2804533103587607,
+                  -0.3345803138964945
+                ],
+                "target_mouth_xy": [
+                  0.2813806435244521,
+                  -0.33554860055132074
+                ],
+                "gripper_position": [
+                  0.28045809452273296,
+                  -0.3346483721378065,
+                  1.005490755473678
+                ],
+                "rod_tip_xy_dist": 0.0013407184067155092,
+                "target_xy_drift": 9.82871032293959e-08,
+                "depth": 0.015248535195765855,
+                "bottom_clearance": 0.08419212438368717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.000922582435001762,
+                  0.0009002917908350061
+                ],
+                "rod_tip_xy": [
+                  0.28045809452273296,
+                  -0.3346483721378067
+                ],
+                "target_mouth_xy": [
+                  0.2813806769577347,
+                  -0.3355486639286417
+                ],
+                "gripper_position": [
+                  0.2804463319509209,
+                  -0.33465523076594167,
+                  1.0053492485660247
+                ],
+                "rod_tip_xy_dist": 0.0012890630931101405,
+                "target_xy_drift": 6.50595816979286e-08,
+                "depth": 0.015769138734982646,
+                "bottom_clearance": 0.08367144081232925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.000934315620143511,
+                  0.0008934321931715616
+                ],
+                "rod_tip_xy": [
+                  0.2804463319509209,
+                  -0.3346552307659418
+                ],
+                "target_mouth_xy": [
+                  0.2813806475710644,
+                  -0.33554866295911334
+                ],
+                "gripper_position": [
+                  0.2804375346604894,
+                  -0.33465556545095776,
+                  1.0052252739161973
+                ],
+                "rod_tip_xy_dist": 0.0012927361532190163,
+                "target_xy_drift": 9.207819303832766e-08,
+                "depth": 0.01591059285894214,
+                "bottom_clearance": 0.08353001053390507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009431092223322612,
+                  0.0008930664928786802
+                ],
+                "rod_tip_xy": [
+                  0.2804375346604894,
+                  -0.3346555654509579
+                ],
+                "target_mouth_xy": [
+                  0.28138064388282163,
+                  -0.3355486319438366
+                ],
+                "gripper_position": [
+                  0.2804432551437642,
+                  -0.33472500800786337,
+                  1.0047053093491205
+                ],
+                "rod_tip_xy_dist": 0.001298854405216685,
+                "target_xy_drift": 9.1609598588664e-08,
+                "depth": 0.016034602250649344,
+                "bottom_clearance": 0.08340598864219528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000937422296730217,
+                  0.0008236267188191371
+                ],
+                "rod_tip_xy": [
+                  0.2804432551437642,
+                  -0.3347250080078635
+                ],
+                "target_mouth_xy": [
+                  0.28138067744049444,
+                  -0.3355486347266826
+                ],
+                "gripper_position": [
+                  0.28043129150586277,
+                  -0.3347319795326503,
+                  1.0045639643910385
+                ],
+                "rod_tip_xy_dist": 0.0012478467591654566,
+                "target_xy_drift": 5.799069572866061e-08,
+                "depth": 0.016554599563877836,
+                "bottom_clearance": 0.08288601973825616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009493847753472284,
+                  0.0008166526899415216
+                ],
+                "rod_tip_xy": [
+                  0.28043129150586277,
+                  -0.3347319795326505
+                ],
+                "target_mouth_xy": [
+                  0.28138067628121,
+                  -0.335548632222592
+                ],
+                "gripper_position": [
+                  0.28042227410917303,
+                  -0.33473227664637356,
+                  1.0044397133922016
+                ],
+                "rod_tip_xy_dist": 0.0012522991126922636,
+                "target_xy_drift": 5.923122896928168e-08,
+                "depth": 0.01669588604449146,
+                "bottom_clearance": 0.08274471159318186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009583999368362739,
+                  0.0008163572088406013
+                ],
+                "rod_tip_xy": [
+                  0.28042227410917303,
+                  -0.33473227664637356
+                ],
+                "target_mouth_xy": [
+                  0.2813806740460093,
+                  -0.33554863385521416
+                ],
+                "gripper_position": [
+                  0.2804287911351878,
+                  -0.334802715136028,
+                  1.0039212763585474
+                ],
+                "rod_tip_xy_dist": 0.0012589557304980151,
+                "target_xy_drift": 6.14006663644636e-08,
+                "depth": 0.01682006017994797,
+                "bottom_clearance": 0.08262045119155403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009518836230950067,
+                  0.0007458869853404493
+                ],
+                "rod_tip_xy": [
+                  0.28042879113518787,
+                  -0.33480271513602805
+                ],
+                "target_mouth_xy": [
+                  0.2813806747582829,
+                  -0.3355486021213685
+                ],
+                "gripper_position": [
+                  0.2804169303112403,
+                  -0.33480954230302973,
+                  1.0037804527771232
+                ],
+                "rod_tip_xy_dist": 0.0012093096488562144,
+                "target_xy_drift": 6.919534845666291e-08,
+                "depth": 0.017338568421702782,
+                "bottom_clearance": 0.08210198387713652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009637765668318865,
+                  0.0007390937171171119
+                ],
+                "rod_tip_xy": [
+                  0.2804169303112403,
+                  -0.3348095423030298
+                ],
+                "target_mouth_xy": [
+                  0.2813807068780722,
+                  -0.3355486360201469
+                ],
+                "gripper_position": [
+                  0.28040779331139254,
+                  -0.3348096240831012,
+                  1.0036562238304534
+                ],
+                "rod_tip_xy_dist": 0.0012145471557153502,
+                "target_xy_drift": 2.8556045174383777e-08,
+                "depth": 0.01747947565941399,
+                "bottom_clearance": 0.08196117334999486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009728818607532275,
+                  0.0007390084845936284
+                ],
+                "rod_tip_xy": [
+                  0.28040779331139254,
+                  -0.3348096240831013
+                ],
+                "target_mouth_xy": [
+                  0.28138067517214577,
+                  -0.3355486325676949
+                ],
+                "gripper_position": [
+                  0.2804151195194343,
+                  -0.33488113562219063,
+                  1.0031416933951878
+                ],
+                "rod_tip_xy_dist": 0.0012217334632742256,
+                "target_xy_drift": 6.032155753462162e-08,
+                "depth": 0.017603552662454724,
+                "bottom_clearance": 0.0818369910277581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009655866291066184,
+                  0.0006674664668138708
+                ],
+                "rod_tip_xy": [
+                  0.2804151195194343,
+                  -0.33488113562219074
+                ],
+                "target_mouth_xy": [
+                  0.28138070614854094,
+                  -0.3355486020890046
+                ],
+                "gripper_position": [
+                  0.28040302581454213,
+                  -0.3348878289808927,
+                  1.0030006693808746
+                ],
+                "rod_tip_xy_dist": 0.001173826657829202,
+                "target_xy_drift": 4.434711051460989e-08,
+                "depth": 0.01811822313356104,
+                "bottom_clearance": 0.08132238923369361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009776517963681064,
+                  0.0006608041682604759
+                ],
+                "rod_tip_xy": [
+                  0.28040302581454213,
+                  -0.3348878289808928
+                ],
+                "target_mouth_xy": [
+                  0.28138067761091023,
+                  -0.3355486331491533
+                ],
+                "gripper_position": [
+                  0.28039385720714227,
+                  -0.33488788510860124,
+                  1.0028770956132957
+                ],
+                "rod_tip_xy_dist": 0.0011800276199022653,
+                "target_xy_drift": 5.7860085011796066e-08,
+                "depth": 0.018259173912501647,
+                "bottom_clearance": 0.08118143857173765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009867848543890778,
+                  0.0006607487920285426
+                ],
+                "rod_tip_xy": [
+                  0.28039385720714227,
+                  -0.3348878851086014
+                ],
+                "target_mouth_xy": [
+                  0.28138064206153135,
+                  -0.33554863390062994
+                ],
+                "gripper_position": [
+                  0.28038464181557166,
+                  -0.33488796453860076,
+                  1.0027532763294609
+                ],
+                "rod_tip_xy_dist": 0.001187574551351978,
+                "target_xy_drift": 9.337777473597897e-08,
+                "depth": 0.018382804720014856,
+                "bottom_clearance": 0.08105779179425776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009960349569605453,
+                  0.000660668322118807
+                ],
+                "rod_tip_xy": [
+                  0.28038464181557166,
+                  -0.33488796453860087
+                ],
+                "target_mouth_xy": [
+                  0.2813806767725322,
+                  -0.3355486328607197
+                ],
+                "gripper_position": [
+                  0.2803754399400751,
+                  -0.3348880345239767,
+                  1.0026293637888593
+                ],
+                "rod_tip_xy_dist": 0.0011952272868951223,
+                "target_xy_drift": 5.870959207755097e-08,
+                "depth": 0.018506625700704826,
+                "bottom_clearance": 0.08093396642292927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0010052361818010391,
+                  0.0006605977077580039
+                ],
+                "rod_tip_xy": [
+                  0.2803754399400751,
+                  -0.3348880345239768
+                ],
+                "target_mouth_xy": [
+                  0.2813806761218761,
+                  -0.3355486322317348
+                ],
+                "gripper_position": [
+                  0.2803849021861679,
+                  -0.3349631810041278,
+                  1.002117458072265
+                ],
+                "rod_tip_xy_dist": 0.0012028670386609905,
+                "target_xy_drift": 5.938984650739378e-08,
+                "depth": 0.01863042571619633,
+                "bottom_clearance": 0.08081016567442101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009958044234126828,
+                  0.000585390641456407
+                ],
+                "rod_tip_xy": [
+                  0.2803849021861679,
+                  -0.33496318100412786
+                ],
+                "target_mouth_xy": [
+                  0.2813807066095806,
+                  -0.33554857164558427
+                ],
+                "gripper_position": [
+                  0.28037277686238893,
+                  -0.33496984322797246,
+                  1.0019763347253459
+                ],
+                "rod_tip_xy_dist": 0.0011551227868902116,
+                "target_xy_drift": 6.996212608535132e-08,
+                "depth": 0.01914247345523301,
+                "bottom_clearance": 0.08029817984875276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001007899107464072,
+                  0.0005787893244519338
+                ],
+                "rod_tip_xy": [
+                  0.280372776862389,
+                  -0.3349698432279726
+                ],
+                "target_mouth_xy": [
+                  0.28138067596985306,
+                  -0.3355486325524245
+                ],
+                "gripper_position": [
+                  0.280363342291436,
+                  -0.33496984471577845,
+                  1.0018528001328284
+                ],
+                "rod_tip_xy_dist": 0.0011622640375260687,
+                "target_xy_drift": 5.952546768908812e-08,
+                "depth": 0.019283447850138136,
+                "bottom_clearance": 0.08015712597897895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001017333560129341,
+                  0.0005787564407306323
+                ],
+                "rod_tip_xy": [
+                  0.280363342291436,
+                  -0.33496984471577856
+                ],
+                "target_mouth_xy": [
+                  0.28138067585156534,
+                  -0.3355486011565092
+                ],
+                "gripper_position": [
+                  0.2803539913026166,
+                  -0.33496998027082847,
+                  1.0017291495081946
+                ],
+                "rod_tip_xy_dist": 0.001170438631561958,
+                "target_xy_drift": 6.871446866655578e-08,
+                "depth": 0.019407070125157966,
+                "bottom_clearance": 0.08003355858550198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010266849046348114,
+                  0.0005786858845602816
+                ],
+                "rod_tip_xy": [
+                  0.2803539913026167,
+                  -0.3349699802708285
+                ],
+                "target_mouth_xy": [
+                  0.2813806762072515,
+                  -0.3355486661553888
+                ],
+                "gripper_position": [
+                  0.280344611367882,
+                  -0.33496988382115334,
+                  1.0016053577584956
+                ],
+                "rod_tip_xy_dist": 0.0011785411517610692,
+                "target_xy_drift": 6.673153216449518e-08,
+                "depth": 0.019530777250105547,
+                "bottom_clearance": 0.07990984855822492,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006070928501936227,
+              "rod_tip_xy_max_step": 3.284476115852954e-05,
+              "rod_tip_xy_range": 0.0006070874206607471,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2799140674356163,
+            -0.3363546277916549,
+            1.0435021221607141
+          ],
+          "object_origin_world": [
+            0.2799140674356163,
+            -0.3363546277916549,
+            1.0435021221607141
+          ],
+          "frame_world": [
+            0.27991225792047697,
+            -0.3363592723698959,
+            1.0433908211186131
+          ],
+          "center_minus_frame": [
+            1.8095151393393571e-06,
+            4.644578240953212e-06,
+            0.00011130104210099745
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26072145282308357,
+              0.15444137107116157,
+              0.8320309371603323
+            ],
+            "target_position": [
+              0.27348923219174565,
+              0.20097982348317678,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04825809510239953,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1688373675671907,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320309371603323,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671654313785,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13860843710152332,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3879c935f110c0fb72e212c49f1169d9382f3a59c61e96cb02aecfc646cfa637",
+    "visual_seed": 3855258128509306740,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b37e0c90771776ee4d49ca98f6e0c06ba5791ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_16_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3071423382641424,
+              0.07125936008865384,
+              1.1637400912805276
+            ],
+            "current_z": 1.1637400912805276,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3026334044518273,
+            "gripper_z": 1.1558258928750438,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3017235338391963,
+              0.06605725288679393,
+              1.1558258928750438
+            ],
+            "object_minus_gripper": [
+              0.005418804424946078,
+              0.005202107201859915,
+              0.007914198405483797
+            ],
+            "object_to_gripper_xy": 0.0075116816183500475,
+            "object_to_gripper_z": 0.007914198405483797,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3071423382641424,
+              0.047046025715988406,
+              1.1637400912805276
+            ],
+            "finger_b": [
+              0.29549432530288927,
+              0.07125936008865384,
+              1.1637400912805276
+            ],
+            "finger_midpoint": [
+              0.30131833178351586,
+              0.05915269290232113,
+              1.1637400912805276
+            ],
+            "object_minus_finger_midpoint": [
+              0.005824006480626531,
+              0.012106667186332715,
+              0.0
+            ],
+            "finger_gap": 0.02686934624042837,
+            "fingertip_max_gap": 0.09039553261875924,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01343467312021417,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637400912805276,
+            "object_top_z": 1.2136008882507539,
+            "finger_top_clearance": 0.04986079697022627,
+            "fingertip_min_top_clearance": 0.01495823909106788,
+            "object_projection_between_fingers": 0.8120728658023233,
+            "object_to_finger_line_xy": 0.010496616854175715,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04769776630937962,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.14397084213549718,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27410028035025036,
+              -0.34165960894840464,
+              0.851539560888813
+            ],
+            "target_position": [
+              0.26492098359727323,
+              -0.3426126418477408,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009228638067799255,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18734798091684127,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560888813,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557232451012146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538709162541062,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551158590091899,
+            "release_required_pad_clearance": 0.052693545812705314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4423468640767971,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072411298751831055,
+            "max_z_decrease": 0.0072411298751831055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511876500231056,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072411298751831055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021043323184631202,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0072411298751831055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007241152734951242,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12062090635299681,
+              -0.3988741040229797,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12062090635299681,
+              -0.3988741040229797,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11902598925037533,
+              -0.3977874487345249,
+              0.8072161079111879
+            ],
+            "closest_button": [
+              0.12061098217964171,
+              -0.3988708555698394,
+              0.7721498608589172
+            ],
+            "closest_ee_minus_button": [
+              -0.0015849929292663795,
+              0.0010834068353145487,
+              0.03506624705227068
+            ],
+            "button_min_z_position": [
+              0.12060283124446868,
+              -0.39887201786041254,
+              0.7695677280426025
+            ],
+            "min_active_finger_to_button": 0.14707135732857574,
+            "closest_active_finger": [
+              -0.007082909345626831,
+              -0.46315208077430725,
+              0.8107644319534302
+            ],
+            "closest_active_finger_button": [
+              0.12062222510576245,
+              -0.39887461066246027,
+              0.7762711048126221
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12770513445138928,
+              -0.06427747011184698,
+              0.034493327140808105
+            ],
+            "min_contact_pad_to_button": 0.021043323184631202,
+            "closest_contact_pad": [
+              0.12060283124446868,
+              -0.39887201786041254,
+              0.7906110512272337
+            ],
+            "closest_contact_pad_button": [
+              0.12060283124446868,
+              -0.39887201786041254,
+              0.7695677280426025
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021043323184631202
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27216081791803326,
+              0.20287502135354885,
+              1.1036175085832052
+            ],
+            "current_z": 1.1036175085832052,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19370837884884262,
+            "gripper_z": 1.1036174799518588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2721607645369585,
+              0.2028750399718011,
+              1.1036174799518588
+            ],
+            "object_minus_gripper": [
+              5.3381074782699045e-08,
+              -1.8618252245472533e-08,
+              2.8631346404850433e-08
+            ],
+            "object_to_gripper_xy": 5.6534754458051295e-08,
+            "object_to_gripper_z": 2.8631346404850433e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27216081791803326,
+              0.20287502135354885,
+              1.1036175085832052
+            ],
+            "finger_b": [
+              0.27216081791803326,
+              0.20287502135354885,
+              1.1036175085832052
+            ],
+            "finger_midpoint": [
+              0.27216081791803326,
+              0.20287502135354885,
+              1.1036175085832052
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1036175085832052,
+            "object_top_z": 1.228626015203485,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27216081791803326,
+            0.20287502135354887,
+            1.1036175085832052
+          ],
+          "object_origin_world": [
+            0.27216081791803326,
+            0.20287502135354887,
+            1.1036175085832052
+          ],
+          "frame_world": [
+            0.2721607645369585,
+            0.2028750399718011,
+            1.1036174799518588
+          ],
+          "center_minus_frame": [
+            5.3381074782699045e-08,
+            -1.8618252217716957e-08,
+            2.8631346404850433e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437588544433918,
+            "required_z": 0.911259819954955,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002078484660270271,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9839717831121037e-08,
+            "max_target_xy_drift": 5.874834415373116e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4423468590944173,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4423468654058161,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2747331047590859,
+              -0.34363390052196985,
+              0.9234485158016029
+            ],
+            "target_mouth_xy": [
+              0.27410025227541973,
+              -0.34165961432970776
+            ],
+            "rod_tip_z": 0.9234485158016029,
+            "rod_tip_depth": -0.022188625877608836,
+            "rod_tip_bottom_clearance": 0.12162920272527356,
+            "rod_tip_xy_dist": 0.0020732361744478563,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044744961685543205,
+            "min_rod_tip_bottom_clearance": 0.05469556546771204,
+            "min_rod_tip_xy_dist": 0.0009031102751733313,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2741002509770947,
+              -0.3416596441411672
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.298325058574079e-09,
+              2.9811459412165675e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0011125211044276662,
+                -0.0002769376388881417
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010255894948432154,
+                -0.0006628690357296518
+              ],
+              "first_target_mouth_xy": [
+                0.27410024875371286,
+                -0.3416596451019791
+              ],
+              "last_target_mouth_xy": [
+                0.27410025136706734,
+                -0.34165964318606146
+              ],
+              "first_rod_tip_xy": [
+                0.2752127698581405,
+                -0.34193658274086725
+              ],
+              "last_rod_tip_xy": [
+                0.27512584086191055,
+                -0.3423225122217911
+              ],
+              "min_rod_tip_xy_dist": 0.0011368956490233697,
+              "max_rod_tip_xy_dist": 0.001221158945617613,
+              "first_target_xy_drift": 2.4221036820852996e-09,
+              "last_target_xy_drift": 1.0316518840209768e-09,
+              "max_depth": 0.0198607931802971,
+              "min_bottom_clearance": 0.0795797830127446
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0011125211044276662,
+                  -0.0002769376388881417
+                ],
+                "rod_tip_xy": [
+                  0.2752127698581405,
+                  -0.34193658274086725
+                ],
+                "target_mouth_xy": [
+                  0.27410024875371286,
+                  -0.3416596451019791
+                ],
+                "gripper_position": [
+                  0.27520110033463163,
+                  -0.34194380038486016,
+                  1.005643884497544
+                ],
+                "rod_tip_xy_dist": 0.0011464718328986075,
+                "target_xy_drift": 2.4221036820852996e-09,
+                "depth": 0.015475532901009559,
+                "bottom_clearance": 0.08396502521544613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001100819395658148,
+                  -0.00028412739204641824
+                ],
+                "rod_tip_xy": [
+                  0.27520110033463174,
+                  -0.34194380038486016
+                ],
+                "target_mouth_xy": [
+                  0.2741002809389736,
+                  -0.34165967299281375
+                ],
+                "gripper_position": [
+                  0.27520836597595966,
+                  -0.3420097914435677,
+                  1.0051256523625745
+                ],
+                "rod_tip_xy_dist": 0.0011368956490233697,
+                "target_xy_drift": 4.1594851826448265e-08,
+                "depth": 0.01561595375675362,
+                "bottom_clearance": 0.08382461346654801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011080838093084355,
+                  -0.0003501495249917941
+                ],
+                "rod_tip_xy": [
+                  0.2752083659759597,
+                  -0.3420097914435677
+                ],
+                "target_mouth_xy": [
+                  0.2741002821666513,
+                  -0.3416596419185759
+                ],
+                "gripper_position": [
+                  0.2751968394075167,
+                  -0.342016584396305,
+                  1.00498506737276
+                ],
+                "rod_tip_xy_dist": 0.0011620905379115141,
+                "target_xy_drift": 3.126864808633355e-08,
+                "depth": 0.016134277969305444,
+                "bottom_clearance": 0.08330638208244645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010965873221218114,
+                  -0.00035694057711554983
+                ],
+                "rod_tip_xy": [
+                  0.2751968394075168,
+                  -0.3420165843963051
+                ],
+                "target_mouth_xy": [
+                  0.274100252085395,
+                  -0.34165964381918956
+                ],
+                "gripper_position": [
+                  0.2751881487653038,
+                  -0.34201702519181687,
+                  1.0048617619591145
+                ],
+                "rod_tip_xy_dist": 0.0011532173822093852,
+                "target_xy_drift": 1.1541227086625439e-09,
+                "depth": 0.01627476706070463,
+                "bottom_clearance": 0.08316581378807797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010878631272291384,
+                  -0.00035735125153785186
+                ],
+                "rod_tip_xy": [
+                  0.27518814876530384,
+                  -0.342017025191817
+                ],
+                "target_mouth_xy": [
+                  0.2741002856380747,
+                  -0.34165967394027913
+                ],
+                "gripper_position": [
+                  0.27519644473480054,
+                  -0.34208406525092233,
+                  1.0043444327178461
+                ],
+                "rod_tip_xy_dist": 0.001145052881119658,
+                "target_xy_drift": 4.570963366767259e-08,
+                "depth": 0.016398155941948933,
+                "bottom_clearance": 0.08304255707915498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010961959843167612,
+                  -0.00042439288296836075
+                ],
+                "rod_tip_xy": [
+                  0.2751964447348006,
+                  -0.3420840652509224
+                ],
+                "target_mouth_xy": [
+                  0.27410024875048383,
+                  -0.341659672367954
+                ],
+                "gripper_position": [
+                  0.2751849366689506,
+                  -0.3420908275072232,
+                  1.0042042867114558
+                ],
+                "rod_tip_xy_dist": 0.0011754807336347073,
+                "target_xy_drift": 2.8314471420814064e-08,
+                "depth": 0.016915440169099294,
+                "bottom_clearance": 0.0825251426650283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010846525222031889,
+                  -0.00043112280532886516
+                ],
+                "rod_tip_xy": [
+                  0.2751849366689507,
+                  -0.3420908275072232
+                ],
+                "target_mouth_xy": [
+                  0.27410028414674753,
+                  -0.34165970470189433
+                ],
+                "gripper_position": [
+                  0.2751761669548922,
+                  -0.3420912848407912,
+                  1.0040814170360828
+                ],
+                "rod_tip_xy_dist": 0.001167192343701915,
+                "target_xy_drift": 6.904945723380177e-08,
+                "depth": 0.017055635994193574,
+                "bottom_clearance": 0.08238505286687614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010759178285938975,
+                  -0.0004316108830922927
+                ],
+                "rod_tip_xy": [
+                  0.27517616695489233,
+                  -0.3420912848407912
+                ],
+                "target_mouth_xy": [
+                  0.27410024912629843,
+                  -0.3416596739576989
+                ],
+                "gripper_position": [
+                  0.27516733736728616,
+                  -0.3420916078850003,
+                  1.003958086427386
+                ],
+                "rod_tip_xy_dist": 0.001159261458123195,
+                "target_xy_drift": 2.987391859020299e-08,
+                "depth": 0.017178416291079524,
+                "bottom_clearance": 0.08226209561442821,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010670863518034146,
+                  -0.0004319646952464229
+                ],
+                "rod_tip_xy": [
+                  0.2751673373672862,
+                  -0.34209160788500037
+                ],
+                "target_mouth_xy": [
+                  0.2741002510154828,
+                  -0.34165964318975395
+                ],
+                "gripper_position": [
+                  0.2751773741056393,
+                  -0.3421608638865911,
+                  1.0034405092142986
+                ],
+                "rod_tip_xy_dist": 0.0011512023193793765,
+                "target_xy_drift": 9.521873632793077e-10,
+                "depth": 0.017301750888995326,
+                "bottom_clearance": 0.08213881172851722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010770912983839587,
+                  -0.0005012200671922762
+                ],
+                "rod_tip_xy": [
+                  0.2751773741056394,
+                  -0.34216086388659106
+                ],
+                "target_mouth_xy": [
+                  0.27410028280725546,
+                  -0.3416596438193988
+                ],
+                "gripper_position": [
+                  0.27516552624647705,
+                  -0.3421677495515045,
+                  1.0033003467129065
+                ],
+                "rod_tip_xy_dist": 0.0011880013555592738,
+                "target_xy_drift": 3.1831787107998506e-08,
+                "depth": 0.017819392055469563,
+                "bottom_clearance": 0.08162122397517113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010652770908982645,
+                  -0.0005080746469016129
+                ],
+                "rod_tip_xy": [
+                  0.2751655262464771,
+                  -0.34216774955150453
+                ],
+                "target_mouth_xy": [
+                  0.27410024915557885,
+                  -0.3416596749046029
+                ],
+                "gripper_position": [
+                  0.27515664590244016,
+                  -0.34216816083013313,
+                  1.0031776722779078
+                ],
+                "rod_tip_xy_dist": 0.0011802351999567154,
+                "target_xy_drift": 3.081731491610141e-08,
+                "depth": 0.017959501806832256,
+                "bottom_clearance": 0.08148104097882525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010563963800496179,
+                  -0.0005085204925374676
+                ],
+                "rod_tip_xy": [
+                  0.27515664590244027,
+                  -0.34216816083013313
+                ],
+                "target_mouth_xy": [
+                  0.27410024952239065,
+                  -0.34165964033759566
+                ],
+                "gripper_position": [
+                  0.27514769777460857,
+                  -0.3421686603116353,
+                  1.003054864903551
+                ],
+                "rod_tip_xy_dist": 0.0011724190390438418,
+                "target_xy_drift": 4.072262277162364e-09,
+                "depth": 0.018082216302893417,
+                "bottom_clearance": 0.08135841569843649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001047443698600492,
+                  -0.000509016494988801
+                ],
+                "rod_tip_xy": [
+                  0.2751476977746086,
+                  -0.3421686603116353
+                ],
+                "target_mouth_xy": [
+                  0.27410025407600813,
+                  -0.3416596438166465
+                ],
+                "gripper_position": [
+                  0.27515925945681896,
+                  -0.34223970169005097,
+                  1.0025398697672974
+                ],
+                "rod_tip_xy_dist": 0.0011645754994454255,
+                "target_xy_drift": 3.1158591599218707e-09,
+                "depth": 0.018205044856994257,
+                "bottom_clearance": 0.08123561228875065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010590101646454353,
+                  -0.0005800581827528628
+                ],
+                "rod_tip_xy": [
+                  0.275159259456819,
+                  -0.342239701690051
+                ],
+                "target_mouth_xy": [
+                  0.2741002492921736,
+                  -0.34165964350729816
+                ],
+                "gripper_position": [
+                  0.27514738019051677,
+                  -0.34224636390369473,
+                  1.0023996724500053
+                ],
+                "rod_tip_xy_dist": 0.0012074642952074838,
+                "target_xy_drift": 1.8002080463493876e-09,
+                "depth": 0.01871996990289937,
+                "bottom_clearance": 0.08072055853876481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010470962326566968,
+                  -0.0005866896504657104
+                ],
+                "rod_tip_xy": [
+                  0.2751473801905169,
+                  -0.3422463639036948
+                ],
+                "target_mouth_xy": [
+                  0.2741002839578602,
+                  -0.3416596742532291
+                ],
+                "gripper_position": [
+                  0.2751382477240184,
+                  -0.3422467418585908,
+                  1.0022768621336884
+                ],
+                "rod_tip_xy_dist": 0.0012002563336252073,
+                "target_xy_drift": 4.4659457736309105e-08,
+                "depth": 0.018860237233097155,
+                "bottom_clearance": 0.08058042143936228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010379992980869557,
+                  -0.0005870980271130977
+                ],
+                "rod_tip_xy": [
+                  0.27513824772401846,
+                  -0.34224674185859083
+                ],
+                "target_mouth_xy": [
+                  0.2741002484259315,
+                  -0.34165964383147773
+                ],
+                "gripper_position": [
+                  0.27512938296386324,
+                  -0.3422467855721155,
+                  1.0021541139802268
+                ],
+                "rod_tip_xy_dist": 0.0011925295116973435,
+                "target_xy_drift": 2.569891256001428e-09,
+                "depth": 0.018982998373339832,
+                "bottom_clearance": 0.08045755216825445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010291328609121075,
+                  -0.0005871420615128908
+                ],
+                "rod_tip_xy": [
+                  0.27512938296386336,
+                  -0.3422467855721155
+                ],
+                "target_mouth_xy": [
+                  0.27410025010295125,
+                  -0.34165964351060263
+                ],
+                "gripper_position": [
+                  0.27512029375658364,
+                  -0.34224728747177846,
+                  1.0020314442113165
+                ],
+                "rod_tip_xy_dist": 0.0011848418653165268,
+                "target_xy_drift": 1.0778396781100601e-09,
+                "depth": 0.019105710424508593,
+                "bottom_clearance": 0.08033480575341267,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010200411112554764,
+                  -0.0005876439689452839
+                ],
+                "rod_tip_xy": [
+                  0.27512029375658376,
+                  -0.34224728747177846
+                ],
+                "target_mouth_xy": [
+                  0.2741002526453283,
+                  -0.3416596435028332
+                ],
+                "gripper_position": [
+                  0.2751112482285783,
+                  -0.3422475079675223,
+                  1.0019083506632003
+                ],
+                "rod_tip_xy_dist": 0.0011772040192290685,
+                "target_xy_drift": 1.7861897039026283e-09,
+                "depth": 0.019228459904105377,
+                "bottom_clearance": 0.0802121537704642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001010971621986767,
+                  -0.0005878634895359891
+                ],
+                "rod_tip_xy": [
+                  0.2751112482285784,
+                  -0.34224750796752224
+                ],
+                "target_mouth_xy": [
+                  0.27410027660659164,
+                  -0.34165964447798625
+                ],
+                "gripper_position": [
+                  0.27512584086191044,
+                  -0.3423225122217911,
+                  1.0013991065673378
+                ],
+                "rod_tip_xy_dist": 0.0011694644512733102,
+                "target_xy_drift": 2.5631710086918614e-08,
+                "depth": 0.01935155790350296,
+                "bottom_clearance": 0.08008905210748452,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0010255894948432154,
+                  -0.0006628690357296518
+                ],
+                "rod_tip_xy": [
+                  0.27512584086191055,
+                  -0.3423225122217911
+                ],
+                "target_mouth_xy": [
+                  0.27410025136706734,
+                  -0.34165964318606146
+                ],
+                "gripper_position": [
+                  0.2751137930211295,
+                  -0.34232929638388576,
+                  1.0012595622485445
+                ],
+                "rod_tip_xy_dist": 0.001221158945617613,
+                "target_xy_drift": 1.0316518840209768e-09,
+                "depth": 0.0198607931802971,
+                "bottom_clearance": 0.0795797830127446,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006024274179543675,
+              "rod_tip_xy_max_step": 3.26963164303202e-05,
+              "rod_tip_xy_range": 0.0006024187541990688,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2747331047590859,
+            -0.34363390052196985,
+            1.043448515801603
+          ],
+          "object_origin_world": [
+            0.2747331047590859,
+            -0.34363390052196985,
+            1.043448515801603
+          ],
+          "frame_world": [
+            0.27475825942402266,
+            -0.3436311936650038,
+            1.0437588544433918
+          ],
+          "center_minus_frame": [
+            -2.515466493674401e-05,
+            -2.706856966072646e-06,
+            -0.0003103386417888654
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25789665051063737,
+              0.15588252577173206,
+              0.8314995072337094
+            ],
+            "target_position": [
+              0.2723013907224096,
+              0.20211232624735676,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04842200938194033,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16893697114506392,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314995072337094,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673110604318,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13907592895464352,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 314,
+            "max_placed_release_frames": 314
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62a26c3a0f84322875713396872038644a549fa89246d46d26c71a0b261b6082",
+    "visual_seed": 7006599859407865036,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f36f1c8a01488cd8fca92180ba25fceabfc8f3b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_17_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3001595552457597,
+              0.07369542347309138,
+              1.1639717917339492
+            ],
+            "current_z": 1.1639717917339492,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.30286516450989376,
+            "gripper_z": 1.1561738619511697,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29490234320616454,
+              0.06857812779471215,
+              1.1561738619511697
+            ],
+            "object_minus_gripper": [
+              0.005257212039595172,
+              0.005117295678379236,
+              0.007797929782779489
+            ],
+            "object_to_gripper_xy": 0.007336551880088031,
+            "object_to_gripper_z": 0.007797929782779489,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3001595552457597,
+              0.04965169888037318,
+              1.1639717917339492
+            ],
+            "finger_b": [
+              0.28856921558889936,
+              0.07369542347309138,
+              1.1639717917339492
+            ],
+            "finger_midpoint": [
+              0.29436438541732957,
+              0.06167356117673228,
+              1.1639717917339492
+            ],
+            "object_minus_finger_midpoint": [
+              0.005795169828430147,
+              0.012021862296359098,
+              0.0
+            ],
+            "finger_gap": 0.026691509242676253,
+            "fingertip_max_gap": 0.09072036939798553,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334575462133811,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639717917339492,
+            "object_top_z": 1.2138113256374687,
+            "finger_top_clearance": 0.049839533903519584,
+            "fingertip_min_top_clearance": 0.014951860171055908,
+            "object_projection_between_fingers": 0.8114415219793977,
+            "object_to_finger_line_xy": 0.010440583636988403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047860184698992767,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4812225456482504,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.278013794829092,
+              -0.3344382234283401,
+              0.8515395846927536
+            ],
+            "target_position": [
+              0.26907997045412324,
+              -0.335259574524909,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0089715013005974,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480492371626905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395846927536,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557039815753397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536441501011692,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15268224010046869,
+            "release_required_pad_clearance": 0.05268220750505846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.42057857112634833,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007284283638000488,
+            "max_z_decrease": 0.007284283638000488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516395261292191,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007284283638000488,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021070985033964096,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007284283638000488,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007284308320502668,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12477989494800562,
+              -0.39152103662490845,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12477989494800562,
+              -0.39152103662490845,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1229436191045769,
+              -0.38978072982964596,
+              0.807750980785171
+            ],
+            "closest_button": [
+              0.12476802617311473,
+              -0.3915199041366577,
+              0.772677481174469
+            ],
+            "closest_ee_minus_button": [
+              -0.0018244070685378283,
+              0.0017391743070117593,
+              0.03507349961070205
+            ],
+            "button_min_z_position": [
+              0.12476103752851482,
+              -0.39151903986930847,
+              0.7695245742797852
+            ],
+            "min_active_finger_to_button": 0.14704322005919168,
+            "closest_active_finger": [
+              -0.004105962812900543,
+              -0.453400582075119,
+              0.8109561204910278
+            ],
+            "closest_active_finger_button": [
+              0.12477949261665341,
+              -0.3915221989154815,
+              0.7765858769416809
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12888545542955396,
+              -0.06187838315963751,
+              0.034370243549346924
+            ],
+            "min_contact_pad_to_button": 0.021070985033964096,
+            "closest_contact_pad": [
+              0.12476103752851482,
+              -0.39151903986930847,
+              0.7905955593137493
+            ],
+            "closest_contact_pad_button": [
+              0.12476103752851482,
+              -0.39151903986930847,
+              0.7695245742797852
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021070985033964096
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2730070531708787,
+              0.19220695883710823,
+              1.10428381941994
+            ],
+            "current_z": 1.10428381941994,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19437468968557747,
+            "gripper_z": 1.104284043352694,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2730070621654574,
+              0.19220706296258286,
+              1.104284043352694
+            ],
+            "object_minus_gripper": [
+              -8.994578692966826e-09,
+              -1.0412547463145572e-07,
+              -2.2393275389553935e-07
+            ],
+            "object_to_gripper_xy": 1.0451323798012336e-07,
+            "object_to_gripper_z": -2.2393275389553935e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2730070531708787,
+              0.19220695883710823,
+              1.10428381941994
+            ],
+            "finger_b": [
+              0.2730070531708787,
+              0.19220695883710823,
+              1.10428381941994
+            ],
+            "finger_midpoint": [
+              0.2730070531708787,
+              0.19220695883710823,
+              1.10428381941994
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10428381941994,
+            "object_top_z": 1.2292923260402198,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2730070531708787,
+            0.19220695883710825,
+            1.10428381941994
+          ],
+          "object_origin_world": [
+            0.2730070531708787,
+            0.19220695883710825,
+            1.10428381941994
+          ],
+          "frame_world": [
+            0.2730070621654574,
+            0.19220706296258286,
+            1.104284043352694
+          ],
+          "center_minus_frame": [
+            -8.994578692966826e-09,
+            -1.0412547460370014e-07,
+            -2.2393275389553935e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432201996325057,
+            "required_z": 0.9112597678829802,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006248644802176031,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.900540916516785e-08,
+            "max_target_xy_drift": 6.894579190064495e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4205785650247081,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4205785732919497,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2776412168387178,
+              -0.3349346732014814,
+              0.9233298954852996
+            ],
+            "target_mouth_xy": [
+              0.2780138287080275,
+              -0.33443825290931806
+            ],
+            "rod_tip_z": 0.9233298954852996,
+            "rod_tip_depth": -0.02206993551981007,
+            "rod_tip_bottom_clearance": 0.12151053955131508,
+            "rod_tip_xy_dist": 0.000620703400685072,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04459019634276362,
+            "min_rod_tip_bottom_clearance": 0.054850385992596284,
+            "min_rod_tip_xy_dist": 1.613439710730189e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27801376632350566,
+              -0.3344382824036892
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.238452182616427e-08,
+              2.949437116761544e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.00015988614222062214,
+                0.001182634988790121
+              ],
+              "last_rod_tip_xy_delta": [
+                6.37320884648851e-05,
+                0.0008097502079779106
+              ],
+              "first_target_mouth_xy": [
+                0.278013826372518,
+                -0.3344383122069443
+              ],
+              "last_target_mouth_xy": [
+                0.2780137950634301,
+                -0.3344382830461897
+              ],
+              "first_rod_tip_xy": [
+                0.2781737125147386,
+                -0.3332556772181542
+              ],
+              "last_rod_tip_xy": [
+                0.278077527151895,
+                -0.3336285328382118
+              ],
+              "min_rod_tip_xy_dist": 0.0008122543803639138,
+              "max_rod_tip_xy_dist": 0.00119339393964642,
+              "first_target_xy_drift": 6.703818235983391e-08,
+              "last_target_xy_drift": 2.8747105310330478e-08,
+              "max_depth": 0.0196676307020901,
+              "min_bottom_clearance": 0.0797729025990751
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00015988614222062214,
+                  0.001182634988790121
+                ],
+                "rod_tip_xy": [
+                  0.2781737125147386,
+                  -0.3332556772181542
+                ],
+                "target_mouth_xy": [
+                  0.278013826372518,
+                  -0.3344383122069443
+                ],
+                "gripper_position": [
+                  0.2781621454854827,
+                  -0.33326233361835034,
+                  1.0058308845694535
+                ],
+                "rod_tip_xy_dist": 0.00119339393964642,
+                "target_xy_drift": 6.703818235983391e-08,
+                "depth": 0.015289257501632458,
+                "bottom_clearance": 0.08415126824735053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0001483177242896372,
+                  0.0011759801687375449
+                ],
+                "rod_tip_xy": [
+                  0.2781621454854828,
+                  -0.33326233361835034
+                ],
+                "target_mouth_xy": [
+                  0.27801382776119316,
+                  -0.3344383137870879
+                ],
+                "gripper_position": [
+                  0.27815339794123095,
+                  -0.33326259395141855,
+                  1.0057078010941514
+                ],
+                "rod_tip_xy_dist": 0.0011852963783807158,
+                "target_xy_drift": 6.898918144020923e-08,
+                "depth": 0.015429013320551799,
+                "bottom_clearance": 0.08401156422508638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00013956983922464028,
+                  0.0011756878071337296
+                ],
+                "rod_tip_xy": [
+                  0.27815339794123106,
+                  -0.33326259395141855
+                ],
+                "target_mouth_xy": [
+                  0.2780138281020064,
+                  -0.3344382817585523
+                ],
+                "gripper_position": [
+                  0.27815986803506154,
+                  -0.3333275163217055,
+                  1.0051889162748202
+                ],
+                "rod_tip_xy_dist": 0.0011839432249327285,
+                "target_xy_drift": 6.178186916699833e-08,
+                "depth": 0.01555205198477183,
+                "bottom_clearance": 0.0838885631952373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00014603912408656106,
+                  0.0011107682941322583
+                ],
+                "rod_tip_xy": [
+                  0.27815986803506165,
+                  -0.33332751632170554
+                ],
+                "target_mouth_xy": [
+                  0.2780138289109751,
+                  -0.3344382846158378
+                ],
+                "gripper_position": [
+                  0.2781481442064885,
+                  -0.3333340880689141,
+                  1.0050490856734915
+                ],
+                "rod_tip_xy_dist": 0.0011203274650803921,
+                "target_xy_drift": 6.262655132519511e-08,
+                "depth": 0.016070942518879305,
+                "bottom_clearance": 0.08336970184539727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00013428695598288742,
+                  0.0011042260383847813
+                ],
+                "rod_tip_xy": [
+                  0.2781481442064886,
+                  -0.3333340880689142
+                ],
+                "target_mouth_xy": [
+                  0.2780138572505057,
+                  -0.33443831410729896
+                ],
+                "gripper_position": [
+                  0.2781392674344974,
+                  -0.3333340945312785,
+                  1.0049262669921735
+                ],
+                "rod_tip_xy_dist": 0.0011123615106583373,
+                "target_xy_drift": 9.629557729583787e-08,
+                "depth": 0.016210815384207322,
+                "bottom_clearance": 0.08322976139129334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0001254411454987281,
+                  0.0011041881888556038
+                ],
+                "rod_tip_xy": [
+                  0.2781392674344975,
+                  -0.3333340945312786
+                ],
+                "target_mouth_xy": [
+                  0.2780138262889988,
+                  -0.3344382827201342
+                ],
+                "gripper_position": [
+                  0.27814683087993525,
+                  -0.3334001792532869,
+                  1.0044082664818466
+                ],
+                "rod_tip_xy_dist": 0.0011112907078673212,
+                "target_xy_drift": 5.996632807952605e-08,
+                "depth": 0.016333494991272013,
+                "bottom_clearance": 0.08310701619845517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00013300189424025888,
+                  0.0010381329433809539
+                ],
+                "rod_tip_xy": [
+                  0.27814683087993536,
+                  -0.333400179253287
+                ],
+                "target_mouth_xy": [
+                  0.2780138289856951,
+                  -0.334438312196668
+                ],
+                "gripper_position": [
+                  0.2781350979906443,
+                  -0.33340664152343713,
+                  1.0042686929014095
+                ],
+                "rod_tip_xy_dist": 0.0010466181309361593,
+                "target_xy_drift": 6.938423140682409e-08,
+                "depth": 0.016851641756238323,
+                "bottom_clearance": 0.08258898433852147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00012130208766408801,
+                  0.001031643424025508
+                ],
+                "rod_tip_xy": [
+                  0.2781350979906444,
+                  -0.33340664152343724
+                ],
+                "target_mouth_xy": [
+                  0.2780137959029803,
+                  -0.33443828494746275
+                ],
+                "gripper_position": [
+                  0.2781260089578528,
+                  -0.3334066305094601,
+                  1.0041458424126535
+                ],
+                "rod_tip_xy_dist": 0.0010387503794496251,
+                "target_xy_drift": 2.968865278461592e-08,
+                "depth": 0.016991158217013802,
+                "bottom_clearance": 0.08244939851358712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00011208818106467344,
+                  0.0010314940143490436
+                ],
+                "rod_tip_xy": [
+                  0.2781260089578529,
+                  -0.3334066305094602
+                ],
+                "target_mouth_xy": [
+                  0.2780139207767882,
+                  -0.3344381245238092
+                ],
+                "gripper_position": [
+                  0.27813425142425546,
+                  -0.33347365453642996,
+                  1.0036302602367932
+                ],
+                "rod_tip_xy_dist": 0.00103756622052392,
+                "target_xy_drift": 2.2086618799847005e-07,
+                "depth": 0.01711436326534932,
+                "bottom_clearance": 0.0823266744745822,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00012045531744558913,
+                  0.0009646896994789378
+                ],
+                "rod_tip_xy": [
+                  0.27813425142425563,
+                  -0.3334736545364301
+                ],
+                "target_mouth_xy": [
+                  0.27801379610681004,
+                  -0.334438344235909
+                ],
+                "gripper_position": [
+                  0.27812223421783566,
+                  -0.3334800773545324,
+                  1.0034902920736255
+                ],
+                "rod_tip_xy_dist": 0.0009721808986920495,
+                "target_xy_drift": 6.863139677794856e-08,
+                "depth": 0.017629578978920257,
+                "bottom_clearance": 0.08181095859108911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00010834548605220817,
+                  0.000958266872350455
+                ],
+                "rod_tip_xy": [
+                  0.2781222342178358,
+                  -0.33348007735453244
+                ],
+                "target_mouth_xy": [
+                  0.27801388873178356,
+                  -0.3344383442268829
+                ],
+                "gripper_position": [
+                  0.2781130845873502,
+                  -0.33348000204455114,
+                  1.0033676170074939
+                ],
+                "rod_tip_xy_dist": 0.000964372408871289,
+                "target_xy_drift": 1.3713458271116662e-07,
+                "depth": 0.017769568576838313,
+                "bottom_clearance": 0.08167108437042436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  9.92863798358612e-05,
+                  0.0009583120631122544
+                ],
+                "rod_tip_xy": [
+                  0.2781130845873503,
+                  -0.3334800020445512
+                ],
+                "target_mouth_xy": [
+                  0.27801379820751443,
+                  -0.33443831410766345
+                ],
+                "gripper_position": [
+                  0.2781040515984484,
+                  -0.33348004636869977,
+                  1.0032451912354954
+                ],
+                "rod_tip_xy_dist": 0.0009634416409556814,
+                "target_xy_drift": 4.496367418928988e-08,
+                "depth": 0.01789228859498382,
+                "bottom_clearance": 0.0815483099248816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  9.025315857275062e-05,
+                  0.0009582671017388522
+                ],
+                "rod_tip_xy": [
+                  0.27810405159844853,
+                  -0.3334800463686999
+                ],
+                "target_mouth_xy": [
+                  0.2780137984398758,
+                  -0.33443831347043873
+                ],
+                "gripper_position": [
+                  0.27811393348246927,
+                  -0.3335490190494482,
+                  1.0027314495862871
+                ],
+                "rod_tip_xy_dist": 0.0009625079069323731,
+                "target_xy_drift": 4.46833767132613e-08,
+                "depth": 0.018014645299335497,
+                "bottom_clearance": 0.08142593963537448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00010013440866207812,
+                  0.0008892642994162703
+                ],
+                "rod_tip_xy": [
+                  0.27811393348246943,
+                  -0.3335490190494482
+                ],
+                "target_mouth_xy": [
+                  0.27801379907380736,
+                  -0.3344382833488645
+                ],
+                "gripper_position": [
+                  0.2781017650552585,
+                  -0.3335557233185442,
+                  1.002591670931474
+                ],
+                "rod_tip_xy_dist": 0.0008948842908524063,
+                "target_xy_drift": 3.276393775576366e-08,
+                "depth": 0.018528445985333097,
+                "bottom_clearance": 0.08091215214993464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  8.79378489799243e-05,
+                  0.0008825898362890827
+                ],
+                "rod_tip_xy": [
+                  0.27810176505525863,
+                  -0.33355572331854433
+                ],
+                "target_mouth_xy": [
+                  0.2780138272062787,
+                  -0.3344383131548334
+                ],
+                "gripper_position": [
+                  0.27809251075971664,
+                  -0.3335553608821855,
+                  1.002469161387898
+                ],
+                "rod_tip_xy_dist": 0.0008869599113849541,
+                "target_xy_drift": 6.820810012357879e-08,
+                "depth": 0.018668151614716355,
+                "bottom_clearance": 0.0807723820541476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  7.871108155338424e-05,
+                  0.0008829532231790505
+                ],
+                "rod_tip_xy": [
+                  0.27809251075971675,
+                  -0.3335553608821856
+                ],
+                "target_mouth_xy": [
+                  0.27801379967816336,
+                  -0.3344383141053647
+                ],
+                "gripper_position": [
+                  0.278083286440167,
+                  -0.3335554514787792,
+                  1.002346790956345
+                ],
+                "rod_tip_xy_dist": 0.0008864546399458788,
+                "target_xy_drift": 4.601662109365349e-08,
+                "depth": 0.01879075603687197,
+                "bottom_clearance": 0.08064989926399735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  6.952144489802414e-05,
+                  0.0008828325245439639
+                ],
+                "rod_tip_xy": [
+                  0.2780832864401671,
+                  -0.3335554514787792
+                ],
+                "target_mouth_xy": [
+                  0.2780137649952691,
+                  -0.33443828400332315
+                ],
+                "gripper_position": [
+                  0.2780740350295803,
+                  -0.33355542073833633,
+                  1.0022242098918699
+                ],
+                "rod_tip_xy_dist": 0.000885565637145761,
+                "target_xy_drift": 2.0791924147624472e-09,
+                "depth": 0.01891307666100539,
+                "bottom_clearance": 0.08052748831795487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  6.0238733646467146e-05,
+                  0.0008828914712251668
+                ],
+                "rod_tip_xy": [
+                  0.2780740350295804,
+                  -0.33355542073833633
+                ],
+                "target_mouth_xy": [
+                  0.2780137962959339,
+                  -0.3344383122095615
+                ],
+                "gripper_position": [
+                  0.27806470869387756,
+                  -0.3335551933086302,
+                  1.0021017796225595
+                ],
+                "rod_tip_xy_dist": 0.0008849440971007544,
+                "target_xy_drift": 4.226980574459879e-08,
+                "depth": 0.019035615810632067,
+                "bottom_clearance": 0.0804048993620029,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  5.088042703932372e-05,
+                  0.0008831223928030818
+                ],
+                "rod_tip_xy": [
+                  0.27806470869387767,
+                  -0.33355519330863026
+                ],
+                "target_mouth_xy": [
+                  0.27801382826683835,
+                  -0.33443831570143334
+                ],
+                "gripper_position": [
+                  0.2780775271518949,
+                  -0.3336285328382118,
+                  1.0015922180023935
+                ],
+                "rod_tip_xy_dist": 0.0008845868971027915,
+                "target_xy_drift": 7.0325786362396e-08,
+                "depth": 0.019158156392165226,
+                "bottom_clearance": 0.08028250847921514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  6.37320884648851e-05,
+                  0.0008097502079779106
+                ],
+                "rod_tip_xy": [
+                  0.278077527151895,
+                  -0.3336285328382118
+                ],
+                "target_mouth_xy": [
+                  0.2780137950634301,
+                  -0.3344382830461897
+                ],
+                "gripper_position": [
+                  0.27806528184073376,
+                  -0.3336349891649926,
+                  1.001453012957007
+                ],
+                "rod_tip_xy_dist": 0.0008122543803639138,
+                "target_xy_drift": 2.8747105310330478e-08,
+                "depth": 0.0196676307020901,
+                "bottom_clearance": 0.0797729025990751,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006003997964844668,
+              "rod_tip_xy_max_step": 3.2534018825767324e-05,
+              "rod_tip_xy_range": 0.0006003898176130687,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2776412168387178,
+            -0.3349346732014814,
+            1.0433298954852999
+          ],
+          "object_origin_world": [
+            0.2776412168387178,
+            -0.3349346732014814,
+            1.0433298954852999
+          ],
+          "frame_world": [
+            0.2776396073779376,
+            -0.334938666752795,
+            1.0432201996325057
+          ],
+          "center_minus_frame": [
+            1.6094607802052963e-06,
+            3.993551313585808e-06,
+            0.00010969585279418936
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2589593010828537,
+              0.14785847690767553,
+              0.8320114686904944
+            ],
+            "target_position": [
+              0.27314173672149356,
+              0.1933865745088792,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047685942916428616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16663161374092608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320114686904944,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567539315004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1372241089217344,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85e82a1daec1ce5f5bfac2b661fcb077a00224a4ccde00d1add7aee6575df363",
+    "visual_seed": 3301628467160979619,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d27185fb7479f26e734b82b3174aebbebae72c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_18_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3055770390403027,
+              0.07717646997741225,
+              1.1630877006305727
+            ],
+            "current_z": 1.1630877006305727,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.30198101380187226,
+            "gripper_z": 1.1552576089432904,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3002964003932324,
+              0.07202649639426409,
+              1.1552576089432904
+            ],
+            "object_minus_gripper": [
+              0.00528063864707029,
+              0.005149973583148157,
+              0.007830091687282215
+            ],
+            "object_to_gripper_xy": 0.007376135331462961,
+            "object_to_gripper_z": 0.007830091687282215,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3055770390403027,
+              0.053111134574125946,
+              1.1630877006305727
+            ],
+            "finger_b": [
+              0.29393976433939606,
+              0.07717646997741225,
+              1.1630877006305727
+            ],
+            "finger_midpoint": [
+              0.29975840168984935,
+              0.0651438022757691,
+              1.1630877006305727
+            ],
+            "object_minus_finger_midpoint": [
+              0.005818637350453348,
+              0.012032667701643143,
+              0.0
+            ],
+            "finger_gap": 0.026731377265996354,
+            "fingertip_max_gap": 0.09095024175288877,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013365688632998184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630877006305727,
+            "object_top_z": 1.2129647747994285,
+            "finger_top_clearance": 0.049877074168855895,
+            "fingertip_min_top_clearance": 0.014963122250656801,
+            "object_projection_between_fingers": 0.810477881796978,
+            "object_to_finger_line_xy": 0.010476636354002597,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047975120876444385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6309701426310843,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2777496048613715,
+              -0.34274947141164747,
+              0.851539593521572
+            ],
+            "target_position": [
+              0.2686388089250723,
+              -0.34389311366250136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009182293841455105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18537039822704576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539593521572,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582981604957059,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564356521196094,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15247786510450065,
+            "release_required_pad_clearance": 0.05282178260598047,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6886992999601252,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007574617862701416,
+            "max_z_decrease": 0.007574617862701416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510582374390661,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007574617862701416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021176814560640217,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007574617862701416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007574637985254662,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12433873862028118,
+              -0.40015456080436707,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12433873862028118,
+              -0.40015456080436707,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12351668051581932,
+              -0.40134100541708523,
+              0.8076128909258078
+            ],
+            "closest_button": [
+              0.12432733923196788,
+              -0.4001519680023194,
+              0.77253657579422
+            ],
+            "closest_ee_minus_button": [
+              -0.0008106587161485629,
+              -0.0011890374147658367,
+              0.03507631513158782
+            ],
+            "button_min_z_position": [
+              0.12432143837213512,
+              -0.4001522064208985,
+              0.7692342400550842
+            ],
+            "min_active_finger_to_button": 0.14686922280564463,
+            "closest_active_finger": [
+              -0.01774124801158905,
+              -0.3861105442047119,
+              0.8110027313232422
+            ],
+            "closest_active_finger_button": [
+              0.12433833628892896,
+              -0.4001549184322358,
+              0.7765539884567261
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142079584300518,
+              0.01404437422752386,
+              0.03444874286651611
+            ],
+            "min_contact_pad_to_button": 0.021176814560640217,
+            "closest_contact_pad": [
+              0.12432143837213512,
+              -0.40237637730465803,
+              0.7902939299582044
+            ],
+            "closest_contact_pad_button": [
+              0.12432143837213512,
+              -0.4001522064208985,
+              0.7692342400550842
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022241708837595353,
+              0.021059689903120127
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27517497868850943,
+              0.20300007094799488,
+              1.1016527646016758
+            ],
+            "current_z": 1.1016527646016758,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19174363486731327,
+            "gripper_z": 1.1016527646016758,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27517497868850943,
+              0.20300007094799494,
+              1.1016527646016758
+            ],
+            "object_minus_gripper": [
+              0.0,
+              -5.551115123125783e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 5.551115123125783e-17,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27517497868850943,
+              0.20300007094799488,
+              1.1016527646016758
+            ],
+            "finger_b": [
+              0.27517497868850943,
+              0.20300007094799488,
+              1.1016527646016758
+            ],
+            "finger_midpoint": [
+              0.27517497868850943,
+              0.20300007094799488,
+              1.1016527646016758
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016527646016758,
+            "object_top_z": 1.2266612712219556,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2751749786885094,
+            0.20300007094799488,
+            1.1016527646016758
+          ],
+          "object_origin_world": [
+            0.2751749786885094,
+            0.20300007094799488,
+            1.1016527646016758
+          ],
+          "frame_world": [
+            0.27517497868850943,
+            0.20300007094799494,
+            1.1016527646016758
+          ],
+          "center_minus_frame": [
+            -5.551115123125783e-17,
+            -5.551115123125783e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434265706068218,
+            "required_z": 0.9112599056236875,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011184889559209222,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.4104270721238135e-08,
+            "max_target_xy_drift": 1.0914548273968487e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6886993010963607,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6886993067325543,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2766924871723672,
+              -0.34310615475255174,
+              0.9235383482236738
+            ],
+            "target_mouth_xy": [
+              0.27774954498546006,
+              -0.34274956114073674
+            ],
+            "rod_tip_z": 0.9235383482236738,
+            "rod_tip_depth": -0.022278453817352384,
+            "rod_tip_bottom_clearance": 0.12171904938781064,
+            "rod_tip_xy_dist": 0.0011155851487931764,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044804578762826175,
+            "min_rod_tip_bottom_clearance": 0.05463599619912607,
+            "min_rod_tip_xy_dist": 0.0005900416811931239,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27774951368724826,
+              -0.34274953006649284
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.129821180003489e-08,
+              -3.107424390025315e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0005150747127452004,
+                0.0013981879191733992
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000622453703894299,
+                0.0010159240736791197
+              ],
+              "first_target_mouth_xy": [
+                0.27774954599567886,
+                -0.3427494989895846
+              ],
+              "last_target_mouth_xy": [
+                0.2777495435110843,
+                -0.34274953039602335
+              ],
+              "first_rod_tip_xy": [
+                0.27723447128293366,
+                -0.3413513110704112
+              ],
+              "last_rod_tip_xy": [
+                0.27712708980719,
+                -0.34173360632234423
+              ],
+              "min_rod_tip_xy_dist": 0.001178123948804693,
+              "max_rod_tip_xy_dist": 0.0014900440990225727,
+              "first_target_xy_drift": 4.4828661721986034e-08,
+              "last_target_xy_drift": 2.982565648606905e-08,
+              "max_depth": 0.019417605618495037,
+              "min_bottom_clearance": 0.08002296791687635
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0005150747127452004,
+                  0.0013981879191733992
+                ],
+                "rod_tip_xy": [
+                  0.27723447128293366,
+                  -0.3413513110704112
+                ],
+                "target_mouth_xy": [
+                  0.27774954599567886,
+                  -0.3427494989895846
+                ],
+                "gripper_position": [
+                  0.27723869919021576,
+                  -0.34141756297897663,
+                  1.0057334989628595
+                ],
+                "rod_tip_xy_dist": 0.0014900440990225727,
+                "target_xy_drift": 4.4828661721986034e-08,
+                "depth": 0.015005837457988891,
+                "bottom_clearance": 0.08443488880186023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005108134937860109,
+                  0.0013319690085769609
+                ],
+                "rod_tip_xy": [
+                  0.2772386991902158,
+                  -0.3414175629789766
+                ],
+                "target_mouth_xy": [
+                  0.27774951268400183,
+                  -0.34274953198755354
+                ],
+                "gripper_position": [
+                  0.27722716060631947,
+                  -0.34142458710512424,
+                  1.0055921761728313
+                ],
+                "rod_tip_xy_dist": 0.0014265594503010952,
+                "target_xy_drift": 2.1672511646928886e-09,
+                "depth": 0.015526323799649355,
+                "bottom_clearance": 0.08391419121009724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.000522383438924745,
+                  0.0013249410625607028
+                ],
+                "rod_tip_xy": [
+                  0.2772271606063195,
+                  -0.3414245871051243
+                ],
+                "target_mouth_xy": [
+                  0.27774954404524427,
+                  -0.342749528167685
+                ],
+                "gripper_position": [
+                  0.27721851182204066,
+                  -0.34142538897611174,
+                  1.005467853580882
+                ],
+                "rod_tip_xy_dist": 0.00142420268098411,
+                "target_xy_drift": 3.041732060328712e-08,
+                "depth": 0.01566776790075941,
+                "bottom_clearance": 0.08377290667945336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00053100013716606,
+                  0.0013241417458277338
+                ],
+                "rod_tip_xy": [
+                  0.2772185118220407,
+                  -0.3414253889761118
+                ],
+                "target_mouth_xy": [
+                  0.2777495119592068,
+                  -0.34274953072193953
+                ],
+                "gripper_position": [
+                  0.2772239469022002,
+                  -0.34149253978675975,
+                  1.0049472561983879
+                ],
+                "rod_tip_xy_dist": 0.0014266437918114296,
+                "target_xy_drift": 1.848171462729163e-09,
+                "depth": 0.01579198130035797,
+                "bottom_clearance": 0.08364854195983584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005256282458678818,
+                  0.001256962066110534
+                ],
+                "rod_tip_xy": [
+                  0.2772239469022002,
+                  -0.3414925397867597
+                ],
+                "target_mouth_xy": [
+                  0.2777495751480681,
+                  -0.34274950185287023
+                ],
+                "gripper_position": [
+                  0.27721220714104944,
+                  -0.34149962184668803,
+                  1.0048059020939264
+                ],
+                "rod_tip_xy_dist": 0.001362438508151839,
+                "target_xy_drift": 6.762721991720117e-08,
+                "depth": 0.016312643632184987,
+                "bottom_clearance": 0.08312797081842804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005373355503106025,
+                  0.0012499101432510984
+                ],
+                "rod_tip_xy": [
+                  0.2772122071410495,
+                  -0.341499621846688
+                ],
+                "target_mouth_xy": [
+                  0.2777495426913601,
+                  -0.34274953198993907
+                ],
+                "gripper_position": [
+                  0.2772034900472798,
+                  -0.3415001628215637,
+                  1.0046816919044907
+                ],
+                "rod_tip_xy_dist": 0.0013605163945464161,
+                "target_xy_drift": 2.906781981381892e-08,
+                "depth": 0.01645392238869292,
+                "bottom_clearance": 0.08298660068014219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005460540439704009,
+                  0.0012493361794401192
+                ],
+                "rod_tip_xy": [
+                  0.27720349004727984,
+                  -0.34150016282156365
+                ],
+                "target_mouth_xy": [
+                  0.27774954409125024,
+                  -0.34274949900100377
+                ],
+                "gripper_position": [
+                  0.27720963148975886,
+                  -0.34156866499764293,
+                  1.004162519045892
+                ],
+                "rod_tip_xy_dist": 0.0013634573364042096,
+                "target_xy_drift": 4.346801062537689e-08,
+                "depth": 0.01657824109743322,
+                "bottom_clearance": 0.08286241220382495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005399113982202941,
+                  0.0011808673068653408
+                ],
+                "rod_tip_xy": [
+                  0.27720963148975886,
+                  -0.3415686649976429
+                ],
+                "target_mouth_xy": [
+                  0.27774954288797915,
+                  -0.3427495323045082
+                ],
+                "gripper_position": [
+                  0.27719788627480785,
+                  -0.34157564903748006,
+                  1.004021332358098
+                ],
+                "rod_tip_xy_dist": 0.0012984421105122846,
+                "target_xy_drift": 2.9286368796813988e-08,
+                "depth": 0.01709731263169101,
+                "bottom_clearance": 0.08234322917176062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005516565087145819,
+                  0.001173880723626397
+                ],
+                "rod_tip_xy": [
+                  0.2771978862748079,
+                  -0.3415756490374801
+                ],
+                "target_mouth_xy": [
+                  0.2777495427835225,
+                  -0.3427495297611065
+                ],
+                "gripper_position": [
+                  0.2771890629365095,
+                  -0.3415758716754376,
+                  1.003897206287755
+                ],
+                "rod_tip_xy_dist": 0.0012970431206821133,
+                "target_xy_drift": 2.909787680377012e-08,
+                "depth": 0.0172385136657216,
+                "bottom_clearance": 0.08220205516560841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005604509168816718,
+                  0.0011735987898512379
+                ],
+                "rod_tip_xy": [
+                  0.2771890629365095,
+                  -0.34157587167543774
+                ],
+                "target_mouth_xy": [
+                  0.2777495138533912,
+                  -0.342749470465289
+                ],
+                "gripper_position": [
+                  0.2771960862964702,
+                  -0.34164537126507366,
+                  1.0033810696580925
+                ],
+                "rod_tip_xy_dist": 0.001300553478244473,
+                "target_xy_drift": 5.960143542881241e-08,
+                "depth": 0.017362700564853673,
+                "bottom_clearance": 0.08207789028189494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.000553426253454059,
+                  0.001104129647329255
+                ],
+                "rod_tip_xy": [
+                  0.27719608629647025,
+                  -0.3416453712650737
+                ],
+                "target_mouth_xy": [
+                  0.2777495125499243,
+                  -0.34274950091240297
+                ],
+                "gripper_position": [
+                  0.2771842297190001,
+                  -0.3416520950700461,
+                  1.003240155694526
+                ],
+                "rod_tip_xy_dist": 0.0012350639239017637,
+                "target_xy_drift": 2.917626538146888e-08,
+                "depth": 0.01787869628118266,
+                "bottom_clearance": 0.08156182161531256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005653151113631516,
+                  0.0010973725359612607
+                ],
+                "rod_tip_xy": [
+                  0.27718422971900014,
+                  -0.3416520950700462
+                ],
+                "target_mouth_xy": [
+                  0.2777495448303633,
+                  -0.34274946760600744
+                ],
+                "gripper_position": [
+                  0.2771753593821772,
+                  -0.3416522933462882,
+                  1.0031163903995728
+                ],
+                "rod_tip_xy_dist": 0.0012344260438833835,
+                "target_xy_drift": 6.979402445497578e-08,
+                "depth": 0.01801981169868594,
+                "bottom_clearance": 0.08142092746910523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005741535015139076,
+                  0.0010972389572665442
+                ],
+                "rod_tip_xy": [
+                  0.27717535938217724,
+                  -0.34165229334628827
+                ],
+                "target_mouth_xy": [
+                  0.27774951288369115,
+                  -0.3427495323035548
+                ],
+                "gripper_position": [
+                  0.27716634455082745,
+                  -0.3416528250681864,
+                  1.0029927541753347
+                ],
+                "rod_tip_xy_dist": 0.001238380221355321,
+                "target_xy_drift": 2.377004487046858e-09,
+                "depth": 0.018143439608783396,
+                "bottom_clearance": 0.0812970943061273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005832001715442292,
+                  0.001096672979702451
+                ],
+                "rod_tip_xy": [
+                  0.2771663445508275,
+                  -0.34165282506818645
+                ],
+                "target_mouth_xy": [
+                  0.27774954472237173,
+                  -0.3427494980478889
+                ],
+                "gripper_position": [
+                  0.2771573503291626,
+                  -0.3416532182036425,
+                  1.0028688845624911
+                ],
+                "rod_tip_xy_dist": 0.0012421006660084644,
+                "target_xy_drift": 4.459114134900112e-08,
+                "depth": 0.018267200873042788,
+                "bottom_clearance": 0.08117351099875025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000592193519125872,
+                  0.0010963125187867795
+                ],
+                "rod_tip_xy": [
+                  0.2771573503291626,
+                  -0.34165321820364253
+                ],
+                "target_mouth_xy": [
+                  0.2777495438482885,
+                  -0.3427495307224293
+                ],
+                "gripper_position": [
+                  0.27716655617676167,
+                  -0.3417256296766125,
+                  1.0023540257340677
+                ],
+                "rod_tip_xy_dist": 0.001246031421330657,
+                "target_xy_drift": 3.016817196752958e-08,
+                "depth": 0.01839095245976774,
+                "bottom_clearance": 0.08104962209764321,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005829887972640391,
+                  0.0010238693253841746
+                ],
+                "rod_tip_xy": [
+                  0.27716655617676167,
+                  -0.3417256296766125
+                ],
+                "target_mouth_xy": [
+                  0.2777495449740257,
+                  -0.3427494990019967
+                ],
+                "gripper_position": [
+                  0.2771544790934191,
+                  -0.3417327031293339,
+                  1.0022131726037893
+                ],
+                "rod_tip_xy_dist": 0.0011782123463951715,
+                "target_xy_drift": 4.4089288535352984e-08,
+                "depth": 0.01890585451059168,
+                "bottom_clearance": 0.08053483237454662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005950654020069335,
+                  0.0010167955576621535
+                ],
+                "rod_tip_xy": [
+                  0.27715447909341917,
+                  -0.34173270312933385
+                ],
+                "target_mouth_xy": [
+                  0.2777495444954261,
+                  -0.342749498686996
+                ],
+                "gripper_position": [
+                  0.2771454282604944,
+                  -0.3417326895724748,
+                  1.002089509732616
+                ],
+                "rod_tip_xy_dist": 0.001178123948804693,
+                "target_xy_drift": 4.397518213184315e-08,
+                "depth": 0.019046769186234824,
+                "bottom_clearance": 0.0803939108825491,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006040847882110012,
+                  0.0010168122983300054
+                ],
+                "rod_tip_xy": [
+                  0.2771454282604944,
+                  -0.3417326895724749
+                ],
+                "target_mouth_xy": [
+                  0.2777495130487054,
+                  -0.3427495018708049
+                ],
+                "gripper_position": [
+                  0.27713612049192515,
+                  -0.3417333315806073,
+                  1.001966059171519
+                ],
+                "rod_tip_xy_dist": 0.001182719612327063,
+                "target_xy_drift": 2.8202917509572104e-08,
+                "depth": 0.019170310429212467,
+                "bottom_clearance": 0.08027020768120274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006134238447144669,
+                  0.00101619754179344
+                ],
+                "rod_tip_xy": [
+                  0.2771361204919252,
+                  -0.3417333315806073
+                ],
+                "target_mouth_xy": [
+                  0.2777495443366397,
+                  -0.34274952912240075
+                ],
+                "gripper_position": [
+                  0.2771270898071899,
+                  -0.3417336063223443,
+                  1.0018422942518614
+                ],
+                "rod_tip_xy_dist": 0.0011869904200166523,
+                "target_xy_drift": 3.066392838322861e-08,
+                "depth": 0.019293870002185076,
+                "bottom_clearance": 0.08014678108495532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.000622453703894299,
+                  0.0010159240736791197
+                ],
+                "rod_tip_xy": [
+                  0.27712708980719,
+                  -0.34173360632234423
+                ],
+                "target_mouth_xy": [
+                  0.2777495435110843,
+                  -0.34274953039602335
+                ],
+                "gripper_position": [
+                  0.27711789698879563,
+                  -0.3417337959242847,
+                  1.0017187040070368
+                ],
+                "rod_tip_xy_dist": 0.0011914488394272366,
+                "target_xy_drift": 2.982565648606905e-08,
+                "depth": 0.019417605618495037,
+                "bottom_clearance": 0.08002296791687635,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006037974061010487,
+              "rod_tip_xy_max_step": 3.2641954673111534e-05,
+              "rod_tip_xy_range": 0.0006037896878585957,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27669248717236716,
+            -0.34310615475255174,
+            1.0435383482236738
+          ],
+          "object_origin_world": [
+            0.27669248717236716,
+            -0.34310615475255174,
+            1.0435383482236738
+          ],
+          "frame_world": [
+            0.2766910372366157,
+            -0.34311091815278094,
+            1.0434265706068218
+          ],
+          "center_minus_frame": [
+            1.4499357514630162e-06,
+            4.763400229201853e-06,
+            0.0001117776168519935
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2602949542905785,
+              0.1571819394261622,
+              0.8332898607908947
+            ],
+            "target_position": [
+              0.2753350844815689,
+              0.201612817488998,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04690744548146408,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16283024634688154,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332898607908947,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567362259369,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1333232354097147,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 324,
+            "max_placed_release_frames": 324
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76d8d23cd7f01a712016593a51155edca72dd599896e8c7ca0c2a734609c5acb",
+    "visual_seed": 503369145322420125,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..226463cd4e4d19ef9bdb1a86a4a6eddf588a6259
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_1_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3031207725193531,
+              0.07803358259003051,
+              1.1621789409751502
+            ],
+            "current_z": 1.1621789409751502,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.3010721945418049,
+            "gripper_z": 1.154150392038439,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2977963148307695,
+              0.07296717952075103,
+              1.154150392038439
+            ],
+            "object_minus_gripper": [
+              0.005324457688583584,
+              0.005066403069279482,
+              0.008028548936711122
+            ],
+            "object_to_gripper_xy": 0.007349713582033071,
+            "object_to_gripper_z": 0.008028548936711122,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3031207725193531,
+              0.05388659491814459,
+              1.1621789409751502
+            ],
+            "finger_b": [
+              0.29166593000516305,
+              0.07803358259003051,
+              1.1621789409751502
+            ],
+            "finger_midpoint": [
+              0.2973933512622581,
+              0.06596008875408756,
+              1.1621789409751502
+            ],
+            "object_minus_finger_midpoint": [
+              0.005727421257095022,
+              0.012073493835942958,
+              0.0
+            ],
+            "finger_gap": 0.026726212426213827,
+            "fingertip_max_gap": 0.09047195621674517,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013363106213106912,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1621789409751502,
+            "object_top_z": 1.2120235984012098,
+            "finger_top_clearance": 0.04984465742605959,
+            "fingertip_min_top_clearance": 0.01495339722781791,
+            "object_projection_between_fingers": 0.8163024291039584,
+            "object_to_finger_line_xy": 0.010349387955258638,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04773597810837259,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30687073694563477,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.278315852795154,
+              -0.33613401646662877,
+              0.8515396093529336
+            ],
+            "target_position": [
+              0.2693610710692211,
+              -0.3369350706983469,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008990539674638845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18519301069790686,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396093529336,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524266112834761,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522309261880946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378202558072865,
+            "release_required_pad_clearance": 0.05261154630940473,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2853050469924308,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007215559482574463,
+            "max_z_decrease": 0.007215559482574463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351344036693062,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007215559482574463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114833437129323,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007215559482574463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007215579550068119,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1250609904527664,
+              -0.39319652318954473,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1250609904527664,
+              -0.39319652318954473,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12622363197375916,
+              -0.3937012438534642,
+              0.8081902514338163
+            ],
+            "closest_button": [
+              0.1250546425580978,
+              -0.3931971788406372,
+              0.7730789184570312
+            ],
+            "closest_ee_minus_button": [
+              0.0011689894156613478,
+              -0.0005040650128270152,
+              0.03511133297678504
+            ],
+            "button_min_z_position": [
+              0.12504397332668302,
+              -0.3931964039802552,
+              0.7695932984352112
+            ],
+            "min_active_finger_to_button": 0.1450114258488274,
+            "closest_active_finger": [
+              -0.01476547122001648,
+              -0.3759442865848541,
+              0.8106238842010498
+            ],
+            "closest_active_finger_button": [
+              0.1250606328248977,
+              -0.3931972086429596,
+              0.776282787322998
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398261040449142,
+              0.01725292205810547,
+              0.03434109687805176
+            ],
+            "min_contact_pad_to_button": 0.02114833437129323,
+            "closest_contact_pad": [
+              0.12504397332668302,
+              -0.39491730279249576,
+              0.7906714993536494
+            ],
+            "closest_contact_pad_button": [
+              0.12504397332668302,
+              -0.3931964039802552,
+              0.7695932984352112
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017208988122405788,
+              0.02107820091843826
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26827079448431657,
+              0.19566188728191378,
+              1.1027085370829468
+            ],
+            "current_z": 1.1027085370829468,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19279940734858425,
+            "gripper_z": 1.1027089614474395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2682707426865295,
+              0.19566184363514694,
+              1.1027089614474395
+            ],
+            "object_minus_gripper": [
+              5.179778705954874e-08,
+              4.3646766839655626e-08,
+              -4.243644926571477e-07
+            ],
+            "object_to_gripper_xy": 6.773515335349597e-08,
+            "object_to_gripper_z": -4.243644926571477e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26827079448431657,
+              0.19566188728191378,
+              1.1027085370829468
+            ],
+            "finger_b": [
+              0.26827079448431657,
+              0.19566188728191378,
+              1.1027085370829468
+            ],
+            "finger_midpoint": [
+              0.26827079448431657,
+              0.19566188728191378,
+              1.1027085370829468
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027085370829468,
+            "object_top_z": 1.2277170437032265,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2682707944843166,
+            0.19566188728191378,
+            1.1027085370829468
+          ],
+          "object_origin_world": [
+            0.2682707944843166,
+            0.19566188728191378,
+            1.1027085370829468
+          ],
+          "frame_world": [
+            0.2682707426865295,
+            0.19566184363514694,
+            1.1027089614474395
+          ],
+          "center_minus_frame": [
+            5.179778711505989e-08,
+            4.3646766839655626e-08,
+            -4.243644926571477e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434229151696781,
+            "required_z": 0.9112598463149164,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011757774209437064,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2944726148477395e-08,
+            "max_target_xy_drift": 1.0987339271893696e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.2853050504198601,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.28530505199113776,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27920459903009687,
+              -0.3353581206330843,
+              0.923533853730672
+            ],
+            "target_mouth_xy": [
+              0.2783158203262757,
+              -0.3361340161366965
+            ],
+            "rod_tip_z": 0.923533853730672,
+            "rod_tip_depth": -0.022273995420731163,
+            "rod_tip_bottom_clearance": 0.12171455242522211,
+            "rod_tip_xy_dist": 0.0011798056691216907,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044906776570971085,
+            "min_rod_tip_bottom_clearance": 0.05453374467913197,
+            "min_rod_tip_xy_dist": 0.0005625990077755342,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27831579035421905,
+              -0.3361340468925955
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.997205666988023e-08,
+              3.0755898994261344e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.001335099510590132,
+                0.0024607653079882774
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012484276657515059,
+                0.002079551403051716
+              ],
+              "first_target_mouth_xy": [
+                0.2783157607868797,
+                -0.33613404689405335
+              ],
+              "last_target_mouth_xy": [
+                0.278315761904045,
+                -0.33613404657817675
+              ],
+              "first_rod_tip_xy": [
+                0.2796508602974698,
+                -0.3336732815860651
+              ],
+              "last_rod_tip_xy": [
+                0.2795641895697965,
+                -0.33405449517512503
+              ],
+              "min_rod_tip_xy_dist": 0.0024255114253592196,
+              "max_rod_tip_xy_dist": 0.0027996172245820772,
+              "first_target_xy_drift": 2.956733939060325e-08,
+              "last_target_xy_drift": 2.845191140564842e-08,
+              "max_depth": 0.019636123585835996,
+              "min_bottom_clearance": 0.07980438358199549
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001335099510590132,
+                  0.0024607653079882774
+                ],
+                "rod_tip_xy": [
+                  0.2796508602974698,
+                  -0.3336732815860651
+                ],
+                "target_mouth_xy": [
+                  0.2783157607868797,
+                  -0.33613404689405335
+                ],
+                "gripper_position": [
+                  0.2796390853813058,
+                  -0.33368018861631554,
+                  1.0058934178140735
+                ],
+                "rod_tip_xy_dist": 0.0027996172245820772,
+                "target_xy_drift": 2.956733939060325e-08,
+                "depth": 0.015225827001261183,
+                "bottom_clearance": 0.08421469325339126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0013233224226846807,
+                  0.002453857650506819
+                ],
+                "rod_tip_xy": [
+                  0.2796390853813056,
+                  -0.3336801886163156
+                ],
+                "target_mouth_xy": [
+                  0.2783157629586209,
+                  -0.3361340462668224
+                ],
+                "gripper_position": [
+                  0.27963040511645215,
+                  -0.33368048896161867,
+                  1.0057696039523893
+                ],
+                "rod_tip_xy_dist": 0.0027879382352073183,
+                "target_xy_drift": 2.74027441784554e-08,
+                "depth": 0.015366416247319603,
+                "bottom_clearance": 0.08407414269977898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013146442151068527,
+                  0.002453557300627185
+                ],
+                "rod_tip_xy": [
+                  0.27963040511645204,
+                  -0.3336804889616188
+                ],
+                "target_mouth_xy": [
+                  0.2783157609013452,
+                  -0.33613404626224597
+                ],
+                "gripper_position": [
+                  0.27963986637485205,
+                  -0.33374626657761247,
+                  1.00524884171288
+                ],
+                "rod_tip_xy_dist": 0.002783564771974037,
+                "target_xy_drift": 2.9459618451159273e-08,
+                "depth": 0.015490243082083466,
+                "bottom_clearance": 0.0839502954569572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001324074207619541,
+                  0.002387778736869073
+                ],
+                "rod_tip_xy": [
+                  0.2796398663748519,
+                  -0.33374626657761236
+                ],
+                "target_mouth_xy": [
+                  0.27831579216723235,
+                  -0.33613404531448143
+                ],
+                "gripper_position": [
+                  0.27962799577322583,
+                  -0.3337529602382844,
+                  1.0051078141481635
+                ],
+                "rod_tip_xy_dist": 0.002730322289314465,
+                "target_xy_drift": 2.4036350117451977e-09,
+                "depth": 0.01601100451188675,
+                "bottom_clearance": 0.08342956527780754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001312234075694696,
+                  0.002381117094014895
+                ],
+                "rod_tip_xy": [
+                  0.2796279957732257,
+                  -0.3337529602382843
+                ],
+                "target_mouth_xy": [
+                  0.27831576169753103,
+                  -0.3361340773322992
+                ],
+                "gripper_position": [
+                  0.2796375865189785,
+                  -0.3338185743792932,
+                  1.0045911115397175
+                ],
+                "rod_tip_xy_dist": 0.002718763852346182,
+                "target_xy_drift": 4.180647473648568e-08,
+                "depth": 0.016152006017036036,
+                "bottom_clearance": 0.08328849686495665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013217958892532966,
+                  0.002315471880834641
+                ],
+                "rod_tip_xy": [
+                  0.2796375865189784,
+                  -0.33381857437929324
+                ],
+                "target_mouth_xy": [
+                  0.2783157906297251,
+                  -0.3361340462601279
+                ],
+                "gripper_position": [
+                  0.27962569707201423,
+                  -0.3338251804748434,
+                  1.0044505761763565
+                ],
+                "rod_tip_xy_dist": 0.002666187240945921,
+                "target_xy_drift": 6.898687543691021e-10,
+                "depth": 0.016668737780616727,
+                "bottom_clearance": 0.08277180366387693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013098739058505227,
+                  0.002308866423605449
+                ],
+                "rod_tip_xy": [
+                  0.27962569707201407,
+                  -0.3338251804748434
+                ],
+                "target_mouth_xy": [
+                  0.27831582316616355,
+                  -0.33613404689844883
+                ],
+                "gripper_position": [
+                  0.2796167174507981,
+                  -0.33382547573010185,
+                  1.0043270125248887
+                ],
+                "rod_tip_xy_dist": 0.0026545496437777767,
+                "target_xy_drift": 3.2811945016867876e-08,
+                "depth": 0.016809311087134016,
+                "bottom_clearance": 0.08263124871008098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013008954371521164,
+                  0.0023085708516335512
+                ],
+                "rod_tip_xy": [
+                  0.27961671745079797,
+                  -0.33382547573010174
+                ],
+                "target_mouth_xy": [
+                  0.27831582201364585,
+                  -0.3361340465817353
+                ],
+                "gripper_position": [
+                  0.2796077309370907,
+                  -0.333825674407296,
+                  1.0042036379471297
+                ],
+                "rod_tip_xy_dist": 0.002649873264028915,
+                "target_xy_drift": 3.166095291579485e-08,
+                "depth": 0.01693275190765753,
+                "bottom_clearance": 0.08250777464250236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012919063095129246,
+                  0.0023083705893624518
+                ],
+                "rod_tip_xy": [
+                  0.2796077309370905,
+                  -0.3338256744072959
+                ],
+                "target_mouth_xy": [
+                  0.2783158246275776,
+                  -0.33613404499665833
+                ],
+                "gripper_position": [
+                  0.27961887248653516,
+                  -0.33389357969888595,
+                  1.0036859672387846
+                ],
+                "rod_tip_xy_dist": 0.0026452970892496853,
+                "target_xy_drift": 3.432575830814052e-08,
+                "depth": 0.017056294851222842,
+                "bottom_clearance": 0.08238438873077902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013031128824274596,
+                  0.0022404982574416032
+                ],
+                "rod_tip_xy": [
+                  0.27961887248653505,
+                  -0.33389357969888595
+                ],
+                "target_mouth_xy": [
+                  0.2783157596041076,
+                  -0.33613407795632755
+                ],
+                "gripper_position": [
+                  0.2796069581185437,
+                  -0.3339002714934577,
+                  1.003545275286532
+                ],
+                "rod_tip_xy_dist": 0.0025918980739888793,
+                "target_xy_drift": 4.370955047042752e-08,
+                "depth": 0.017573926652843297,
+                "bottom_clearance": 0.08186667658418212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012911971697767144,
+                  0.0022337754001328647
+                ],
+                "rod_tip_xy": [
+                  0.2796069581185436,
+                  -0.33390027149345763
+                ],
+                "target_mouth_xy": [
+                  0.27831576094876687,
+                  -0.3361340468935905
+                ],
+                "gripper_position": [
+                  0.2795978234226565,
+                  -0.3339002488767462,
+                  1.003422019270709
+                ],
+                "rod_tip_xy_dist": 0.002580105166360111,
+                "target_xy_drift": 2.9405452201161308e-08,
+                "depth": 0.01771455894697649,
+                "bottom_clearance": 0.0817259551294447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001282031361513336,
+                  0.0022337961170094123
+                ],
+                "rod_tip_xy": [
+                  0.2795978234226564,
+                  -0.33390024887674624
+                ],
+                "target_mouth_xy": [
+                  0.27831579206114304,
+                  -0.33613404499375565
+                ],
+                "gripper_position": [
+                  0.2796100593019202,
+                  -0.33396885739873905,
+                  1.002908527551962
+                ],
+                "rod_tip_xy_dist": 0.002575548389036802,
+                "target_xy_drift": 2.5532689511638463e-09,
+                "depth": 0.01783783180038301,
+                "bottom_clearance": 0.0816027452556135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0012942677208971909,
+                  0.0021652237238128924
+                ],
+                "rod_tip_xy": [
+                  0.27961005930192007,
+                  -0.333968857398739
+                ],
+                "target_mouth_xy": [
+                  0.2783157915810229,
+                  -0.3361340811225519
+                ],
+                "gripper_position": [
+                  0.27959801322180683,
+                  -0.3339752626575339,
+                  1.0027683950122113
+                ],
+                "rod_tip_xy_dist": 0.00252256272618117,
+                "target_xy_drift": 3.425193367788799e-08,
+                "depth": 0.018351361237500363,
+                "bottom_clearance": 0.08108928114713398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012822508125308052,
+                  0.002158784874121078
+                ],
+                "rod_tip_xy": [
+                  0.2795980132218067,
+                  -0.3339752626575339
+                ],
+                "target_mouth_xy": [
+                  0.2783157624092759,
+                  -0.336134047531655
+                ],
+                "gripper_position": [
+                  0.2795888595648645,
+                  -0.3339751961718905,
+                  1.0026448724359442
+                ],
+                "rod_tip_xy_dist": 0.0025108801801300416,
+                "target_xy_drift": 2.7952249354126603e-08,
+                "depth": 0.018491430799415176,
+                "bottom_clearance": 0.0809490994123786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0012730380515680317,
+                  0.0021588497709986165
+                ],
+                "rod_tip_xy": [
+                  0.2795888595648644,
+                  -0.3339751961718906
+                ],
+                "target_mouth_xy": [
+                  0.27831582151329637,
+                  -0.3361340459428892
+                ],
+                "gripper_position": [
+                  0.27957959870048954,
+                  -0.3339753066512585,
+                  1.0025213419386092
+                ],
+                "rod_tip_xy_dist": 0.0025062438457741716,
+                "target_xy_drift": 3.1173547141947055e-08,
+                "depth": 0.01861495894075149,
+                "bottom_clearance": 0.08082557094305909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012637766328873479,
+                  0.0021587709955065426
+                ],
+                "rod_tip_xy": [
+                  0.27957959870048943,
+                  -0.3339753066512586
+                ],
+                "target_mouth_xy": [
+                  0.2783158220676021,
+                  -0.3361340776467651
+                ],
+                "gripper_position": [
+                  0.27957035905346284,
+                  -0.33397494655652193,
+                  1.0023980493540698
+                ],
+                "rod_tip_xy_dist": 0.0025014842771587417,
+                "target_xy_drift": 4.417643728315535e-08,
+                "depth": 0.018738489896591326,
+                "bottom_clearance": 0.08070205360697458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012545973025001045,
+                  0.002159099385787122
+                ],
+                "rod_tip_xy": [
+                  0.2795703590534627,
+                  -0.3339749465565219
+                ],
+                "target_mouth_xy": [
+                  0.2783157617509626,
+                  -0.336134045942309
+                ],
+                "gripper_position": [
+                  0.27956096268701836,
+                  -0.33397505427660246,
+                  1.0022746789691865
+                ],
+                "rod_tip_xy_dist": 0.0024971432776568644,
+                "target_xy_drift": 2.8619037769752515e-08,
+                "depth": 0.018861780762317926,
+                "bottom_clearance": 0.08057874304783041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0012451399884458314,
+                  0.00215899325289165
+                ],
+                "rod_tip_xy": [
+                  0.27956096268701824,
+                  -0.3339750542766025
+                ],
+                "target_mouth_xy": [
+                  0.2783158226985724,
+                  -0.33613404752949416
+                ],
+                "gripper_position": [
+                  0.279576433509264,
+                  -0.33404797874053377,
+                  1.0017636178971723
+                ],
+                "rod_tip_xy_dist": 0.0024923132742210707,
+                "target_xy_drift": 3.235062339908358e-08,
+                "depth": 0.018985211820477965,
+                "bottom_clearance": 0.08045534456422765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001260609673161106,
+                  0.002086097961173705
+                ],
+                "rod_tip_xy": [
+                  0.27957643350926387,
+                  -0.33404797874053377
+                ],
+                "target_mouth_xy": [
+                  0.27831582383610276,
+                  -0.3361340767017075
+                ],
+                "gripper_position": [
+                  0.2795641895697967,
+                  -0.33405449517512503,
+                  1.0016236964491303
+                ],
+                "rod_tip_xy_dist": 0.0024374046548902052,
+                "target_xy_drift": 4.482878196439145e-08,
+                "depth": 0.019496215115872517,
+                "bottom_clearance": 0.07994437048481162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0012484276657515059,
+                  0.002079551403051716
+                ],
+                "rod_tip_xy": [
+                  0.2795641895697965,
+                  -0.33405449517512503
+                ],
+                "target_mouth_xy": [
+                  0.278315761904045,
+                  -0.33613404657817675
+                ],
+                "gripper_position": [
+                  0.27955472189051006,
+                  -0.33405431815312436,
+                  1.001500542115874
+                ],
+                "rod_tip_xy_dist": 0.0024255114253592196,
+                "target_xy_drift": 2.845191140564842e-08,
+                "depth": 0.019636123585835996,
+                "bottom_clearance": 0.07980438358199549,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000606113789340241,
+              "rod_tip_xy_max_step": 3.278701411727583e-05,
+              "rod_tip_xy_range": 0.0006061034875604233,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2792045990300969,
+            -0.3353581206330843,
+            1.043533853730672
+          ],
+          "object_origin_world": [
+            0.2792045990300969,
+            -0.3353581206330843,
+            1.043533853730672
+          ],
+          "frame_world": [
+            0.27920297713331294,
+            -0.33536239100534804,
+            1.0434229151696781
+          ],
+          "center_minus_frame": [
+            1.6218967839876086e-06,
+            4.270372263748268e-06,
+            0.00011093856099386734
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2567516673378425,
+              0.14894518156362352,
+              0.8335586617900391
+            ],
+            "target_position": [
+              0.26842750647046243,
+              0.1945885742840669,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04711310346902911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16596006103296554,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335586617900391,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567574097914,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13487113320023908,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f0bb8b1861744992e3ef21f138cb72f512a8898a8a322cab67e69d1184a1a60",
+    "visual_seed": 7968216964081835746,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66be6bbc9f37386d4eabb4d6a9c4816b2346bb58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_20_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30080159570057174,
+              0.07565584943348648,
+              1.1639613481604738
+            ],
+            "current_z": 1.1639613481604738,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3028548997503524,
+            "gripper_z": 1.156183177215792,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29541094350751573,
+              0.07053924514482282,
+              1.156183177215792
+            ],
+            "object_minus_gripper": [
+              0.005390652193056011,
+              0.005116604288663659,
+              0.007778170944681806
+            ],
+            "object_to_gripper_xy": 0.007432278958251697,
+            "object_to_gripper_z": 0.007778170944681806,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30080159570057174,
+              0.05127291900882623,
+              1.1639613481604738
+            ],
+            "finger_b": [
+              0.289502994483119,
+              0.07565584943348648,
+              1.1639613481604738
+            ],
+            "finger_midpoint": [
+              0.2951522950918454,
+              0.06346438422115636,
+              1.1639613481604738
+            ],
+            "object_minus_finger_midpoint": [
+              0.005649300608726371,
+              0.012191465212330124,
+              0.0
+            ],
+            "finger_gap": 0.026873512713540947,
+            "fingertip_max_gap": 0.0911870699213834,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013436756356770474,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639613481604738,
+            "object_top_z": 1.2138527026182158,
+            "finger_top_clearance": 0.049891354457741954,
+            "fingertip_min_top_clearance": 0.014967406337322586,
+            "object_projection_between_fingers": 0.8232332874734586,
+            "object_to_finger_line_xy": 0.010251469925713033,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480935349606917,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.899983270886091,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.274294215712334,
+              -0.3415110945851456,
+              0.8515395261238573
+            ],
+            "target_position": [
+              0.26633947295997906,
+              -0.34195735346034856,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007967250419049249,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18626723487452163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395261238573,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520073615908685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578105658615863,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1549717117637772,
+            "release_required_pad_clearance": 0.05289052829307932,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8213858974634065,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007257938385009766,
+            "max_z_decrease": 0.007257938385009766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035098399813438846,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007257938385009766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021081251383218765,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007257938385009766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007257963269898957,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12203940004110335,
+              -0.39821881055831904,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12203940004110335,
+              -0.39821881055831904,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12168525443732672,
+              -0.3976751247334432,
+              0.8079738655006112
+            ],
+            "closest_button": [
+              0.12202914059162139,
+              -0.39821669459342957,
+              0.7728813290596008
+            ],
+            "closest_ee_minus_button": [
+              -0.00034388615429466196,
+              0.0005415698599863794,
+              0.0350925364410104
+            ],
+            "button_min_z_position": [
+              0.12202044576406477,
+              -0.39821740984916687,
+              0.7695509195327759
+            ],
+            "min_active_finger_to_button": 0.14626847292173578,
+            "closest_active_finger": [
+              -0.005784124135971069,
+              -0.46045982837677,
+              0.810659646987915
+            ],
+            "closest_active_finger_button": [
+              0.12203959375619887,
+              -0.39821866154670715,
+              0.7762852311134338
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12782371789216995,
+              -0.062241166830062866,
+              0.0343744158744812
+            ],
+            "min_contact_pad_to_button": 0.021081251383218765,
+            "closest_contact_pad": [
+              0.12202044576406477,
+              -0.39876537434203163,
+              0.7906250480983186
+            ],
+            "closest_contact_pad_button": [
+              0.12202044576406477,
+              -0.39821740984916687,
+              0.7695509195327759
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005479644928647609,
+              0.021074128565542694
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2727169286049522,
+              0.1959734650062183,
+              1.1027434422018216
+            ],
+            "current_z": 1.1027434422018216,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19283431246745908,
+            "gripper_z": 1.1027436055516586,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2727169849931994,
+              0.19597344828971522,
+              1.1027436055516586
+            ],
+            "object_minus_gripper": [
+              -5.638824718268154e-08,
+              1.671650307066841e-08,
+              -1.633498369901787e-07
+            ],
+            "object_to_gripper_xy": 5.881390902879062e-08,
+            "object_to_gripper_z": -1.633498369901787e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2727169286049522,
+              0.1959734650062183,
+              1.1027434422018216
+            ],
+            "finger_b": [
+              0.2727169286049522,
+              0.1959734650062183,
+              1.1027434422018216
+            ],
+            "finger_midpoint": [
+              0.2727169286049522,
+              0.1959734650062183,
+              1.1027434422018216
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027434422018216,
+            "object_top_z": 1.2277519488221014,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2727169286049523,
+            0.19597346500621832,
+            1.1027434422018216
+          ],
+          "object_origin_world": [
+            0.2727169286049523,
+            0.19597346500621832,
+            1.1027434422018216
+          ],
+          "frame_world": [
+            0.2727169849931994,
+            0.19597344828971522,
+            1.1027436055516586
+          ],
+          "center_minus_frame": [
+            -5.638824712717039e-08,
+            1.6716503098423985e-08,
+            -1.633498369901787e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432173714281319,
+            "required_z": 0.9112597915119431,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018506978513289478,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.2621344820009497e-07,
+            "max_target_xy_drift": 1.3568725827295997e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.821385898286534,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8213858987222811,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2732225922160607,
+              -0.3430141966260838,
+              0.9233276576239572
+            ],
+            "target_mouth_xy": [
+              0.2742941866527017,
+              -0.34151100229684983
+            ],
+            "rod_tip_z": 0.9233276576239572,
+            "rod_tip_depth": -0.022067772276406328,
+            "rod_tip_bottom_clearance": 0.12150838917755824,
+            "rod_tip_xy_dist": 0.0018460519570372594,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04468608353431469,
+            "min_rod_tip_bottom_clearance": 0.05475443575516714,
+            "min_rod_tip_xy_dist": 0.0005311262669523046,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.274294216150213,
+              -0.34151112501494685
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.949751126690714e-08,
+              1.227180970175823e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0004968145640691923,
+                0.00021611884059186126
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006041226249957066,
+                -0.0001672021636789922
+              ],
+              "first_target_mouth_xy": [
+                0.2742942166406927,
+                -0.3415110340090393
+              ],
+              "last_target_mouth_xy": [
+                0.274294217524072,
+                -0.34151106636386913
+              ],
+              "first_rod_tip_xy": [
+                0.2737974020766235,
+                -0.34129491516844745
+              ],
+              "last_rod_tip_xy": [
+                0.2736900948990763,
+                -0.3416782685275481
+              ],
+              "min_rod_tip_xy_dist": 0.0005311262669523046,
+              "max_rod_tip_xy_dist": 0.0006268338771721258,
+              "first_target_xy_drift": 9.100722925178089e-08,
+              "last_target_xy_drift": 5.866716633654804e-08,
+              "max_depth": 0.01940513935612742,
+              "min_bottom_clearance": 0.08003540784445318
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0004968145640691923,
+                  0.00021611884059186126
+                ],
+                "rod_tip_xy": [
+                  0.2737974020766235,
+                  -0.34129491516844745
+                ],
+                "target_mouth_xy": [
+                  0.2742942166406927,
+                  -0.3415110340090393
+                ],
+                "gripper_position": [
+                  0.2737859713770807,
+                  -0.34130201096626156,
+                  1.0061114038157346
+                ],
+                "rod_tip_xy_dist": 0.0005417859949556023,
+                "target_xy_drift": 9.100722925178089e-08,
+                "depth": 0.015008901590307544,
+                "bottom_clearance": 0.08443164085334376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0005082449575197212,
+                  0.00020905285543793006
+                ],
+                "rod_tip_xy": [
+                  0.27378597137708066,
+                  -0.34130201096626167
+                ],
+                "target_mouth_xy": [
+                  0.2742942163346004,
+                  -0.3415110638216996
+                ],
+                "gripper_position": [
+                  0.27377764239023183,
+                  -0.34130271296744036,
+                  1.0059890011746913
+                ],
+                "rod_tip_xy_dist": 0.0005495598540750364,
+                "target_xy_drift": 6.119352504445153e-08,
+                "depth": 0.015148451755726655,
+                "bottom_clearance": 0.08429210225992001,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005165735464109367,
+                  0.00020835054165274647
+                ],
+                "rod_tip_xy": [
+                  0.2737776423902317,
+                  -0.3413027129674404
+                ],
+                "target_mouth_xy": [
+                  0.27429421593664266,
+                  -0.34151106350909316
+                ],
+                "gripper_position": [
+                  0.2737822479501423,
+                  -0.3413679763432082,
+                  1.0054692535503809
+                ],
+                "rod_tip_xy_dist": 0.0005570082378731619,
+                "target_xy_drift": 6.150622448309029e-08,
+                "depth": 0.015270872088386844,
+                "bottom_clearance": 0.08416970844572036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005119702655874692,
+                  0.00014308810637564395
+                ],
+                "rod_tip_xy": [
+                  0.27378224795014217,
+                  -0.34136797634320826
+                ],
+                "target_mouth_xy": [
+                  0.27429421821572963,
+                  -0.3415110644495839
+                ],
+                "gripper_position": [
+                  0.27377077119358334,
+                  -0.3413749761966326,
+                  1.005330093477643
+                ],
+                "rod_tip_xy_dist": 0.0005315898409788051,
+                "target_xy_drift": 6.060057382507357e-08,
+                "depth": 0.015790573054922707,
+                "bottom_clearance": 0.08364996520656887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005234113907510718,
+                  0.00013608925224439794
+                ],
+                "rod_tip_xy": [
+                  0.2737707711935833,
+                  -0.3413749761966327
+                ],
+                "target_mouth_xy": [
+                  0.27429418258433436,
+                  -0.3415110654488771
+                ],
+                "gripper_position": [
+                  0.2737621783614024,
+                  -0.3413754311920345,
+                  1.0052073044193937
+                ],
+                "rod_tip_xy_dist": 0.0005408139870088518,
+                "target_xy_drift": 6.837239847346405e-08,
+                "depth": 0.01592981249082548,
+                "bottom_clearance": 0.08351087205863805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000532040223991892,
+                  0.0001356015394361476
+                ],
+                "rod_tip_xy": [
+                  0.2737621783614023,
+                  -0.3413754311920346
+                ],
+                "target_mouth_xy": [
+                  0.2742942185853942,
+                  -0.34151103273147077
+                ],
+                "gripper_position": [
+                  0.2737675732639295,
+                  -0.34144200528019536,
+                  1.0046882287905858
+                ],
+                "rod_tip_xy_dist": 0.0005490487933169471,
+                "target_xy_drift": 9.231560033687781e-08,
+                "depth": 0.016052559493353935,
+                "bottom_clearance": 0.08338806233027707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005266133349461355,
+                  6.909057029436116e-05
+                ],
+                "rod_tip_xy": [
+                  0.27376757326392936,
+                  -0.3414420052801954
+                ],
+                "target_mouth_xy": [
+                  0.2742941865988755,
+                  -0.3415110958504898
+                ],
+                "gripper_position": [
+                  0.2737559662104915,
+                  -0.3414489682646489,
+                  1.0045487003893467
+                ],
+                "rod_tip_xy_dist": 0.0005311262669523046,
+                "target_xy_drift": 4.151923775334836e-08,
+                "depth": 0.016571626403672934,
+                "bottom_clearance": 0.0828689276388036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005382505174374996,
+                  6.209397627376934e-05
+                ],
+                "rod_tip_xy": [
+                  0.27375596621049136,
+                  -0.341448968264649
+                ],
+                "target_mouth_xy": [
+                  0.27429421672792886,
+                  -0.34151106224092276
+                ],
+                "gripper_position": [
+                  0.27374737990773534,
+                  -0.34144928381350975,
+                  1.0044265154046916
+                ],
+                "rod_tip_xy_dist": 0.0005418203405292418,
+                "target_xy_drift": 6.277668242330702e-08,
+                "depth": 0.016711170643325057,
+                "bottom_clearance": 0.08272942366682423,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005468678433289687,
+                  6.178064510931058e-05
+                ],
+                "rod_tip_xy": [
+                  0.27374737990773523,
+                  -0.3414492838135098
+                ],
+                "target_mouth_xy": [
+                  0.2742942477510642,
+                  -0.3415110644586191
+                ],
+                "gripper_position": [
+                  0.2737535271764959,
+                  -0.3415171914003201,
+                  1.0039089751857437
+                ],
+                "rod_tip_xy_dist": 0.0005503465146409124,
+                "target_xy_drift": 6.830580228334662e-08,
+                "depth": 0.016833308976614614,
+                "bottom_clearance": 0.0826072188188236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005406602100868074,
+                  -6.1272552362989785e-06
+                ],
+                "rod_tip_xy": [
+                  0.27375352717649587,
+                  -0.3415171914003201
+                ],
+                "target_mouth_xy": [
+                  0.2742941873865827,
+                  -0.3415110641450838
+                ],
+                "gripper_position": [
+                  0.2737417648621123,
+                  -0.34152391294800905,
+                  1.003769396256413
+                ],
+                "rod_tip_xy_dist": 0.0005406949287979696,
+                "target_xy_drift": 6.732374510553037e-08,
+                "depth": 0.017350848967728427,
+                "bottom_clearance": 0.0820896613545189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005524522195495818,
+                  -1.2847215974165493e-05
+                ],
+                "rod_tip_xy": [
+                  0.2737417648621122,
+                  -0.3415239129480091
+                ],
+                "target_mouth_xy": [
+                  0.2742942170816618,
+                  -0.34151106573203494
+                ],
+                "gripper_position": [
+                  0.27373316791019653,
+                  -0.3415240461336582,
+                  1.003647425559326
+                ],
+                "rod_tip_xy_dist": 0.0005526015796607409,
+                "target_xy_drift": 5.929022888927666e-08,
+                "depth": 0.017490432577465076,
+                "bottom_clearance": 0.08195008417685334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005610488443896222,
+                  -1.2981351331264879e-05
+                ],
+                "rod_tip_xy": [
+                  0.2737331679101965,
+                  -0.3415240461336583
+                ],
+                "target_mouth_xy": [
+                  0.2742942167545861,
+                  -0.341511064782327
+                ],
+                "gripper_position": [
+                  0.2737402236619941,
+                  -0.3415926134970188,
+                  1.003133532742031
+                ],
+                "rod_tip_xy_dist": 0.0005611990032718485,
+                "target_xy_drift": 6.023565189477547e-08,
+                "depth": 0.017612400352904678,
+                "bottom_clearance": 0.08182810349603453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005539923761695986,
+                  -8.154808104521294e-05
+                ],
+                "rod_tip_xy": [
+                  0.273740223661994,
+                  -0.34159261349701886
+                ],
+                "target_mouth_xy": [
+                  0.2742942160381636,
+                  -0.34151106541597365
+                ],
+                "gripper_position": [
+                  0.2737284991726122,
+                  -0.3415990451263302,
+                  1.0029943723714583
+                ],
+                "rod_tip_xy_dist": 0.0005599621794158911,
+                "target_xy_drift": 5.9599078530486096e-08,
+                "depth": 0.01812632186636398,
+                "bottom_clearance": 0.08131422302964364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005657178206873725,
+                  -8.79797163861884e-05
+                ],
+                "rod_tip_xy": [
+                  0.2737284991726121,
+                  -0.3415990451263303
+                ],
+                "target_mouth_xy": [
+                  0.2742942169932995,
+                  -0.34151106540994414
+                ],
+                "gripper_position": [
+                  0.27371956070850356,
+                  -0.34159930749623524,
+                  1.0028722798552503
+                ],
+                "rod_tip_xy_dist": 0.0005725181945918089,
+                "target_xy_drift": 5.961096495647535e-08,
+                "depth": 0.018265453243173968,
+                "bottom_clearance": 0.08117505518593304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005746864309617572,
+                  -8.824398983175996e-05
+                ],
+                "rod_tip_xy": [
+                  0.27371956070850345,
+                  -0.34159930749623535
+                ],
+                "target_mouth_xy": [
+                  0.2742942471394652,
+                  -0.3415110635064036
+                ],
+                "gripper_position": [
+                  0.2737106115009764,
+                  -0.34159967091724674,
+                  1.0027497548081654
+                ],
+                "rod_tip_xy_dist": 0.0005814219600883599,
+                "target_xy_drift": 6.88740491546414e-08,
+                "depth": 0.018387556926085735,
+                "bottom_clearance": 0.08105298219791768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005836044220913772,
+                  -8.860549781630755e-05
+                ],
+                "rod_tip_xy": [
+                  0.2737106115009763,
+                  -0.34159967091724686
+                ],
+                "target_mouth_xy": [
+                  0.2742942159230677,
+                  -0.34151106541943055
+                ],
+                "gripper_position": [
+                  0.2737017330301587,
+                  -0.34159986906634066,
+                  1.0026278262598265
+                ],
+                "rod_tip_xy_dist": 0.000590292347678577,
+                "target_xy_drift": 5.9595949174493763e-08,
+                "depth": 0.018510103343550965,
+                "bottom_clearance": 0.08093044604494348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005925147109273055,
+                  -8.880524480270324e-05
+                ],
+                "rod_tip_xy": [
+                  0.2737017330301586,
+                  -0.34159986906634077
+                ],
+                "target_mouth_xy": [
+                  0.2742942477410859,
+                  -0.34151106382153806
+                ],
+                "gripper_position": [
+                  0.27371098408564,
+                  -0.3416715834024451,
+                  1.0021159959288055
+                ],
+                "rod_tip_xy_dist": 0.0005991327517084477,
+                "target_xy_drift": 6.886665761004294e-08,
+                "depth": 0.018632009498397273,
+                "bottom_clearance": 0.08080854103185497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005832303710455178,
+                  -0.00016051702200037266
+                ],
+                "rod_tip_xy": [
+                  0.27371098408563993,
+                  -0.3416715834024452
+                ],
+                "target_mouth_xy": [
+                  0.27429421445668545,
+                  -0.3415110663804448
+                ],
+                "gripper_position": [
+                  0.27369906323260174,
+                  -0.3416783689198742,
+                  1.0019770454935684
+                ],
+                "rod_tip_xy_dist": 0.0006049160107500549,
+                "target_xy_drift": 5.8658953826411564e-08,
+                "depth": 0.019143924129339518,
+                "bottom_clearance": 0.0802967157250728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005951547550776537,
+                  -0.00016730319970181817
+                ],
+                "rod_tip_xy": [
+                  0.2736990632326016,
+                  -0.34167836891987424
+                ],
+                "target_mouth_xy": [
+                  0.2742942179876793,
+                  -0.3415110657201724
+                ],
+                "gripper_position": [
+                  0.27369009489907636,
+                  -0.3416782685275481,
+                  1.0018546998192768
+                ],
+                "rod_tip_xy_dist": 0.0006182228911339408,
+                "target_xy_drift": 5.932323791176549e-08,
+                "depth": 0.019282726472382383,
+                "bottom_clearance": 0.08015781617138507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006041226249957066,
+                  -0.0001672021636789922
+                ],
+                "rod_tip_xy": [
+                  0.2736900948990763,
+                  -0.3416782685275481
+                ],
+                "target_mouth_xy": [
+                  0.274294217524072,
+                  -0.34151106636386913
+                ],
+                "gripper_position": [
+                  0.2736810086448864,
+                  -0.3416784666657351,
+                  1.0017327287920332
+                ],
+                "rod_tip_xy_dist": 0.0006268338771721258,
+                "target_xy_drift": 5.866716633654804e-08,
+                "depth": 0.01940513935612742,
+                "bottom_clearance": 0.08003540784445318,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006013565362579347,
+              "rod_tip_xy_max_step": 3.262499292424696e-05,
+              "rod_tip_xy_range": 0.000601349647655738,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27322259221606077,
+            -0.34301419662608373,
+            1.0433276576239572
+          ],
+          "object_origin_world": [
+            0.27322259221606077,
+            -0.34301419662608373,
+            1.0433276576239572
+          ],
+          "frame_world": [
+            0.273221055762883,
+            -0.3430188062065909,
+            1.0432173714281319
+          ],
+          "center_minus_frame": [
+            1.536453177741759e-06,
+            4.609580507186628e-06,
+            0.0001102861958253154
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2587696449668483,
+              0.15151184928301595,
+              0.832544297057568
+            ],
+            "target_position": [
+              0.2728639879254052,
+              0.19663735977967872,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047275386841546266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1647375465604465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832544297057568,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673430129064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13448618841261842,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aec04e0c5365c05f33a38024c9823127ced734271ea2d94e13ef4a879625d0b4",
+    "visual_seed": 7133973873453044937,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d380b59d0d073761e02c07c63cbc80c45ff01c1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30711295555881046,
+              0.07712611517426037,
+              1.1621498003527821
+            ],
+            "current_z": 1.1621498003527821,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3010432327333714,
+            "gripper_z": 1.1539269413296742,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018850157103957,
+              0.07217811920451886,
+              1.1539269413296742
+            ],
+            "object_minus_gripper": [
+              0.005227939848414742,
+              0.004947995969741506,
+              0.008222859023107931
+            ],
+            "object_to_gripper_xy": 0.007198195549943121,
+            "object_to_gripper_z": 0.008222859023107931,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30711295555881046,
+              0.05295424864465037,
+              1.1621498003527821
+            ],
+            "finger_b": [
+              0.2959488947791824,
+              0.07712611517426037,
+              1.1621498003527821
+            ],
+            "finger_midpoint": [
+              0.30153092516899643,
+              0.06504018190945537,
+              1.1621498003527821
+            ],
+            "object_minus_finger_midpoint": [
+              0.00558203038981403,
+              0.01208593326480499,
+              0.0
+            ],
+            "finger_gap": 0.02662546496526416,
+            "fingertip_max_gap": 0.09072453883015294,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013312732482632076,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1621498003527821,
+            "object_top_z": 1.2120114670702908,
+            "finger_top_clearance": 0.04986166671750869,
+            "fingertip_min_top_clearance": 0.014958500015252573,
+            "object_projection_between_fingers": 0.8241874054423972,
+            "object_to_finger_line_xy": 0.010135266649640854,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786226941507647,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5269147482722031,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27458363613639947,
+              -0.33422656825654007,
+              0.8515396085272395
+            ],
+            "target_position": [
+              0.2656663356961896,
+              -0.3349235219816793,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00894449504644912,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18302310134036767,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396085272395,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537611340154453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529709239651671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15131889377276872,
+            "release_required_pad_clearance": 0.05264854619825836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35608227570003115,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007196903228759766,
+            "max_z_decrease": 0.007196903228759766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509853780188912,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007196903228759766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021083108131683147,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007196903228759766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007196928277027263,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1213662624359131,
+              -0.3911849856376648,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1213662624359131,
+              -0.3911849856376648,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.120628071671329,
+              -0.3905123473395857,
+              0.8078168965646493
+            ],
+            "closest_button": [
+              0.12135538458824159,
+              -0.3911836743354798,
+              0.7727323174476624
+            ],
+            "closest_ee_minus_button": [
+              -0.0007273129169125953,
+              0.000671326995894117,
+              0.035084579116986925
+            ],
+            "button_min_z_position": [
+              0.1213473454117775,
+              -0.39118334650993347,
+              0.7696119546890259
+            ],
+            "min_active_finger_to_button": 0.14654645498206473,
+            "closest_active_finger": [
+              -0.006686031818389893,
+              -0.4536004066467285,
+              0.8110408782958984
+            ],
+            "closest_active_finger_button": [
+              0.1213672384619713,
+              -0.39118495583534246,
+              0.7766528725624084
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12805327028036118,
+              -0.06241545081138605,
+              0.03438800573348999
+            ],
+            "min_contact_pad_to_button": 0.021083108131683147,
+            "closest_contact_pad": [
+              0.1213473454117775,
+              -0.3916448002993578,
+              0.7906900122108297
+            ],
+            "closest_contact_pad_button": [
+              0.1213473454117775,
+              -0.39118334650993347,
+              0.7696119546890259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00046145378942430426,
+              0.021078057521803806
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27549530483611806,
+              0.1942727318824584,
+              1.1033084458978006
+            ],
+            "current_z": 1.1033084458978006,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19339931616343808,
+            "gripper_z": 1.1033085714685902,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27549532461869564,
+              0.19427270106297123,
+              1.1033085714685902
+            ],
+            "object_minus_gripper": [
+              -1.9782577576066274e-08,
+              3.081948715677463e-08,
+              -1.2557078954422707e-07
+            ],
+            "object_to_gripper_xy": 3.662227688388143e-08,
+            "object_to_gripper_z": -1.2557078954422707e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27549530483611806,
+              0.1942727318824584,
+              1.1033084458978006
+            ],
+            "finger_b": [
+              0.27549530483611806,
+              0.1942727318824584,
+              1.1033084458978006
+            ],
+            "finger_midpoint": [
+              0.27549530483611806,
+              0.1942727318824584,
+              1.1033084458978006
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033084458978006,
+            "object_top_z": 1.2283169525180804,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27549530483611806,
+            0.19427273188245842,
+            1.1033084458978006
+          ],
+          "object_origin_world": [
+            0.27549530483611806,
+            0.19427273188245842,
+            1.1033084458978006
+          ],
+          "frame_world": [
+            0.27549532461869564,
+            0.19427270106297123,
+            1.1033085714685902
+          ],
+          "center_minus_frame": [
+            -1.9782577576066274e-08,
+            3.08194871845302e-08,
+            -1.2557078954422707e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436591804921258,
+            "required_z": 0.9112598848979138,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002261151896978004,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.8857962114645103e-08,
+            "max_target_xy_drift": 1.6356090876099997e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3560822741340038,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.35608228002349507,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2722977958745297,
+              -0.33416870599881765,
+              0.9233468599769893
+            ],
+            "target_mouth_xy": [
+              0.27458363642077577,
+              -0.3342265666711173
+            ],
+            "rod_tip_z": 0.9233468599769893,
+            "rod_tip_depth": -0.02208695483916956,
+            "rod_tip_bottom_clearance": 0.12152755468981868,
+            "rod_tip_xy_dist": 0.0022865727323357933,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044400658947851945,
+            "min_rod_tip_bottom_clearance": 0.05503989607459203,
+            "min_rod_tip_xy_dist": 0.000916055685331627,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27458363600755215,
+              -0.33422653781611383
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.132236219867025e-10,
+              -2.885500344218528e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0016603557817327919,
+                0.0019000422594630528
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001784689905269421,
+                0.001516811102672988
+              ],
+              "first_target_mouth_xy": [
+                0.2745836048259731,
+                -0.3342265080208089
+              ],
+              "last_target_mouth_xy": [
+                0.27458360321814346,
+                -0.3342265356041182
+              ],
+              "first_rod_tip_xy": [
+                0.2729232490442403,
+                -0.33232646576134584
+              ],
+              "last_rod_tip_xy": [
+                0.27279891331287404,
+                -0.3327097245014452
+              ],
+              "min_rod_tip_xy_dist": 0.002308834677735698,
+              "max_rod_tip_xy_dist": 0.0025232799903456954,
+              "first_target_xy_drift": 4.312830936041882e-08,
+              "last_target_xy_drift": 3.2863935352370065e-08,
+              "max_depth": 0.019368674727773594,
+              "min_bottom_clearance": 0.08007194089451153
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016603557817327919,
+                  0.0019000422594630528
+                ],
+                "rod_tip_xy": [
+                  0.2729232490442403,
+                  -0.33232646576134584
+                ],
+                "target_mouth_xy": [
+                  0.2745836048259731,
+                  -0.3342265080208089
+                ],
+                "gripper_position": [
+                  0.2729241557418488,
+                  -0.33239453161123667,
+                  1.0057065350995082
+                ],
+                "rod_tip_xy_dist": 0.0025232799903456954,
+                "target_xy_drift": 4.312830936041882e-08,
+                "depth": 0.015038055977707576,
+                "bottom_clearance": 0.08440244089283178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016594800726462133,
+                  0.001831975453220669
+                ],
+                "rod_tip_xy": [
+                  0.27292415574184875,
+                  -0.33239453161123667
+                ],
+                "target_mouth_xy": [
+                  0.27458363581449496,
+                  -0.33422650706445733
+                ],
+                "gripper_position": [
+                  0.27291269787515837,
+                  -0.33240096057823093,
+                  1.0055698545418967
+                ],
+                "rod_tip_xy_dist": 0.002471843072023982,
+                "target_xy_drift": 3.075226249414549e-08,
+                "depth": 0.015553365291235965,
+                "bottom_clearance": 0.08388721140504984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016709082184915292,
+                  0.0018255464866037685
+                ],
+                "rod_tip_xy": [
+                  0.27291269787515826,
+                  -0.332400960578231
+                ],
+                "target_mouth_xy": [
+                  0.2745836060936498,
+                  -0.33422650706483475
+                ],
+                "gripper_position": [
+                  0.2729040457316767,
+                  -0.33240098935477896,
+                  1.0054496682083476
+                ],
+                "rod_tip_xy_dist": 0.0024747836772885624,
+                "target_xy_drift": 4.290084753348736e-08,
+                "depth": 0.015689986879903528,
+                "bottom_clearance": 0.08375059292354214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001679590889364757,
+                  0.0018255192986877944
+                ],
+                "rod_tip_xy": [
+                  0.27290404573167665,
+                  -0.332400989354779
+                ],
+                "target_mouth_xy": [
+                  0.2745836366210414,
+                  -0.3342265086534668
+                ],
+                "gripper_position": [
+                  0.2729062703089449,
+                  -0.33247010403790794,
+                  1.0049338446566762
+                ],
+                "rod_tip_xy_dist": 0.0024806342466229623,
+                "target_xy_drift": 2.9169099236234627e-08,
+                "depth": 0.015810170449875982,
+                "bottom_clearance": 0.08363041994094955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016773648604952451,
+                  0.0017564315593003865
+                ],
+                "rod_tip_xy": [
+                  0.2729062703089448,
+                  -0.3324701040379081
+                ],
+                "target_mouth_xy": [
+                  0.27458363516944007,
+                  -0.3342265355972085
+                ],
+                "gripper_position": [
+                  0.2728945440809256,
+                  -0.3324766051170414,
+                  1.0047970611663672
+                ],
+                "rod_tip_xy_dist": 0.0024287043248881943,
+                "target_xy_drift": 2.3719133107828574e-09,
+                "depth": 0.01632595421946681,
+                "bottom_clearance": 0.08311464350989783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016890929706907531,
+                  0.0017499327008442256
+                ],
+                "rod_tip_xy": [
+                  0.27289454408092556,
+                  -0.33247660511704147
+                ],
+                "target_mouth_xy": [
+                  0.2745836370516163,
+                  -0.3342265378178857
+                ],
+                "gripper_position": [
+                  0.27288581681809554,
+                  -0.3324766795905089,
+                  1.004676865547916
+                ],
+                "rod_tip_xy_dist": 0.002432138877844125,
+                "target_xy_drift": 1.0440656719473151e-09,
+                "depth": 0.01646283194363274,
+                "bottom_clearance": 0.0829777579323806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016978174888612751,
+                  0.0017498582330878198
+                ],
+                "rod_tip_xy": [
+                  0.2728858168180955,
+                  -0.33247667959050897
+                ],
+                "target_mouth_xy": [
+                  0.27458363430695676,
+                  -0.3342265378235968
+                ],
+                "gripper_position": [
+                  0.2728888661943567,
+                  -0.33254709499074614,
+                  1.0041622862416293
+                ],
+                "rod_tip_xy_dist": 0.0024381525918999477,
+                "target_xy_drift": 1.7006118499085524e-09,
+                "depth": 0.016582947418862015,
+                "bottom_clearance": 0.08285753953769526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016947675881469615,
+                  0.001679442197684955
+                ],
+                "rod_tip_xy": [
+                  0.27288886619435665,
+                  -0.3325470949907462
+                ],
+                "target_mouth_xy": [
+                  0.2745836337825036,
+                  -0.33422653718843115
+                ],
+                "gripper_position": [
+                  0.2728769358337941,
+                  -0.33255376476296367,
+                  1.0040257911947519
+                ],
+                "rod_tip_xy_dist": 0.0023859512302640096,
+                "target_xy_drift": 2.3118880879782105e-09,
+                "depth": 0.01709755401415336,
+                "bottom_clearance": 0.08234297579271388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017066999116222004,
+                  0.0016728028615767832
+                ],
+                "rod_tip_xy": [
+                  0.272876935833794,
+                  -0.3325537647629637
+                ],
+                "target_mouth_xy": [
+                  0.2745836357454162,
+                  -0.3342265676245405
+                ],
+                "gripper_position": [
+                  0.27286817616851733,
+                  -0.33255337301929794,
+                  1.0039054514330314
+                ],
+                "rod_tip_xy_dist": 0.002389789530906582,
+                "target_xy_drift": 2.980957926354103e-08,
+                "depth": 0.017234091526720174,
+                "bottom_clearance": 0.08220644814076916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017154585730449479,
+                  0.001673162899174463
+                ],
+                "rod_tip_xy": [
+                  0.2728681761685173,
+                  -0.332553373019298
+                ],
+                "target_mouth_xy": [
+                  0.2745836347415622,
+                  -0.33422653591847246
+                ],
+                "gripper_position": [
+                  0.2728718175641828,
+                  -0.3326249426766078,
+                  1.0033932953409515
+                ],
+                "rod_tip_xy_dist": 0.002396303862828607,
+                "target_xy_drift": 2.281178047584502e-09,
+                "depth": 0.017354338309059414,
+                "bottom_clearance": 0.0820862314664873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017118174541203568,
+                  0.0016015945089066785
+                ],
+                "rod_tip_xy": [
+                  0.2728718175641827,
+                  -0.3326249426766079
+                ],
+                "target_mouth_xy": [
+                  0.2745836350183031,
+                  -0.3342265371855146
+                ],
+                "gripper_position": [
+                  0.27285988330260436,
+                  -0.33263139645953044,
+                  1.003257031010612
+                ],
+                "rod_tip_xy_dist": 0.0023442320634252754,
+                "target_xy_drift": 1.1731449724596819e-09,
+                "depth": 0.01786653345813649,
+                "bottom_clearance": 0.08157400128005898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001723750044498762,
+                  0.0015951410490536166
+                ],
+                "rod_tip_xy": [
+                  0.2728598833026043,
+                  -0.33263139645953055
+                ],
+                "target_mouth_xy": [
+                  0.27458363334710306,
+                  -0.33422653750858416
+                ],
+                "gripper_position": [
+                  0.2728509815659451,
+                  -0.3326310413825615,
+                  1.0031369046401128
+                ],
+                "rod_tip_xy_dist": 0.002348571732412139,
+                "target_xy_drift": 2.6781642633629203e-09,
+                "depth": 0.018002816918423536,
+                "bottom_clearance": 0.08143771837997138,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017326563533154316,
+                  0.0015954954806945976
+                ],
+                "rod_tip_xy": [
+                  0.272850981565945,
+                  -0.3326310413825616
+                ],
+                "target_mouth_xy": [
+                  0.27458363791926044,
+                  -0.3342265368632562
+                ],
+                "gripper_position": [
+                  0.27284199545011967,
+                  -0.33263081462203214,
+                  1.0030165522125325
+                ],
+                "rod_tip_xy_dist": 0.002355356420502259,
+                "target_xy_drift": 2.136016443784743e-09,
+                "depth": 0.018123012444290487,
+                "bottom_clearance": 0.08131764506380057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017415788623253436,
+                  0.001595725112429336
+                ],
+                "rod_tip_xy": [
+                  0.2728419954501196,
+                  -0.33263081462203226
+                ],
+                "target_mouth_xy": [
+                  0.27458357431244496,
+                  -0.3342265397344616
+                ],
+                "gripper_position": [
+                  0.27284710695679826,
+                  -0.33270492942739766,
+                  1.0025071425234153
+                ],
+                "rod_tip_xy_dist": 0.0023620828876515015,
+                "target_xy_drift": 6.172492453837144e-08,
+                "depth": 0.0182433040403277,
+                "bottom_clearance": 0.08119726043656328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017365280502819602,
+                  0.001521574151889693
+                ],
+                "rod_tip_xy": [
+                  0.2728471069567982,
+                  -0.3327049294273977
+                ],
+                "target_mouth_xy": [
+                  0.27458363500708016,
+                  -0.3342265035792874
+                ],
+                "gripper_position": [
+                  0.27283495424360676,
+                  -0.3327114088544487,
+                  1.0023709587732907
+                ],
+                "rod_tip_xy_dist": 0.002308834677735698,
+                "target_xy_drift": 3.4251441256519896e-08,
+                "depth": 0.018752754490803603,
+                "bottom_clearance": 0.080687916957488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017486840913158996,
+                  0.0015151904778919478
+                ],
+                "rod_tip_xy": [
+                  0.27283495424360665,
+                  -0.33271140885444883
+                ],
+                "target_mouth_xy": [
+                  0.27458363833492255,
+                  -0.3342265993323408
+                ],
+                "gripper_position": [
+                  0.27282598945093306,
+                  -0.3327110549433984,
+                  1.0022510265584665
+                ],
+                "rod_tip_xy_dist": 0.0023138060064568384,
+                "target_xy_drift": 6.156023741549018e-08,
+                "depth": 0.01888897589379479,
+                "bottom_clearance": 0.08055172574417557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017575524417008936,
+                  0.0015155117493935721
+                ],
+                "rod_tip_xy": [
+                  0.272825989450933,
+                  -0.3327110549433986
+                ],
+                "target_mouth_xy": [
+                  0.2745835418926339,
+                  -0.33422656669279216
+                ],
+                "gripper_position": [
+                  0.27281691832972355,
+                  -0.33271063561956776,
+                  1.0021309600422017
+                ],
+                "rod_tip_xy_dist": 0.002320725414149364,
+                "target_xy_drift": 9.844531673938123e-08,
+                "depth": 0.019008895050722896,
+                "bottom_clearance": 0.08043174156195565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017666894185245363,
+                  0.0015159614928298981
+                ],
+                "rod_tip_xy": [
+                  0.27281691832972343,
+                  -0.3327106356195678
+                ],
+                "target_mouth_xy": [
+                  0.27458360774824797,
+                  -0.3342265971123977
+                ],
+                "gripper_position": [
+                  0.27280780605709504,
+                  -0.3327101731079572,
+                  1.0020109893927636
+                ],
+                "rod_tip_xy_dist": 0.002327945607025563,
+                "target_xy_drift": 6.568590073038225e-08,
+                "depth": 0.019128942570704188,
+                "bottom_clearance": 0.08031167759687396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0017757660713124124,
+                  0.001516395803559889
+                ],
+                "rod_tip_xy": [
+                  0.272807806057095,
+                  -0.33271017310795725
+                ],
+                "target_mouth_xy": [
+                  0.2745835721284074,
+                  -0.33422656891151714
+                ],
+                "gripper_position": [
+                  0.2727989133128741,
+                  -0.3327097245014451,
+                  1.001891216909633
+                ],
+                "rod_tip_xy_dist": 0.002335123417097769,
+                "target_xy_drift": 7.1045543428634e-08,
+                "depth": 0.019248921911553585,
+                "bottom_clearance": 0.08019170354679062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001784689905269421,
+                  0.001516811102672988
+                ],
+                "rod_tip_xy": [
+                  0.27279891331287404,
+                  -0.3327097245014452
+                ],
+                "target_mouth_xy": [
+                  0.27458360321814346,
+                  -0.3342265356041182
+                ],
+                "gripper_position": [
+                  0.2728065511687078,
+                  -0.3327879929922979,
+                  1.0013856108631736
+                ],
+                "rod_tip_xy_dist": 0.0023421857268719364,
+                "target_xy_drift": 3.2863935352370065e-08,
+                "depth": 0.019368674727773594,
+                "bottom_clearance": 0.08007194089451153,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005991796043428265,
+              "rod_tip_xy_max_step": 3.2510515081373196e-05,
+              "rod_tip_xy_range": 0.0005991684415071637,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2722977958745297,
+            -0.3341687059988176,
+            1.0433468599769895
+          ],
+          "object_origin_world": [
+            0.2722977958745297,
+            -0.3341687059988176,
+            1.0433468599769895
+          ],
+          "frame_world": [
+            0.27232330223643886,
+            -0.33416576143840476,
+            1.0436591804921258
+          ],
+          "center_minus_frame": [
+            -2.5506361909177766e-05,
+            -2.9445604128319758e-06,
+            -0.00031232051513629955
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26027443280879153,
+              0.14947459181183212,
+              0.8322874087687634
+            ],
+            "target_position": [
+              0.27564965964474947,
+              0.1950975023937706,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048144029434860514,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16646042833738892,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322874087687634,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677274425485,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1369696237944341,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7aeb7fafebfb4191091b6325205e1141d7b0b08f8e32279d07932cf47d350d91",
+    "visual_seed": 2581263032690230464,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37d9e3caf8e39d352bd5f6225f160f00437d6615
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_25_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3073542879367794,
+              0.07853084288621329,
+              1.1620255532905714
+            ],
+            "current_z": 1.1620255532905714,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3009189260665158,
+            "gripper_z": 1.1539086475379159,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30221458624465114,
+              0.07347242901643684,
+              1.1539086475379159
+            ],
+            "object_minus_gripper": [
+              0.00513970169212824,
+              0.005058413869776443,
+              0.008116905752655557
+            ],
+            "object_to_gripper_xy": 0.007211385744918419,
+            "object_to_gripper_z": 0.008116905752655557,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3073542879367794,
+              0.05463427654540643,
+              1.1620255532905714
+            ],
+            "finger_b": [
+              0.29575630406182335,
+              0.07853084288621329,
+              1.1620255532905714
+            ],
+            "finger_midpoint": [
+              0.30155529599930136,
+              0.06658255971580986,
+              1.1620255532905714
+            ],
+            "object_minus_finger_midpoint": [
+              0.005798991937478015,
+              0.011948283170403431,
+              0.0
+            ],
+            "finger_gap": 0.026562362712008947,
+            "fingertip_max_gap": 0.09097335967154077,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013281181356004477,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620255532905714,
+            "object_top_z": 1.2118760315386945,
+            "finger_top_clearance": 0.049850478248123054,
+            "fingertip_min_top_clearance": 0.014955143474436883,
+            "object_projection_between_fingers": 0.8093522888231485,
+            "object_to_finger_line_xy": 0.010434011239602312,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798667983577039,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7752017602552543,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27696585311921007,
+              -0.33522325365574823,
+              0.851539560811054
+            ],
+            "target_position": [
+              0.2683810567254845,
+              -0.33593854844253784,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008614544431003401,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18613870033073104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560811054,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541315231032594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511860985299934,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15416732584082338,
+            "release_required_pad_clearance": 0.05255930492649967,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18557482619255064,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007196962833404541,
+            "max_z_decrease": 0.007196962833404541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523335404268261,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007196962833404541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021328082746097602,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007196962833404541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007196987369094319,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12408098578453063,
+              -0.3921999931335449,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12408098578453063,
+              -0.3921999931335449,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12613446092418124,
+              -0.39423701727746474,
+              0.8080315314025477
+            ],
+            "closest_button": [
+              0.12406958639621733,
+              -0.39219939708709717,
+              0.7729178071022034
+            ],
+            "closest_ee_minus_button": [
+              0.002064874527963903,
+              -0.002037620190367573,
+              0.03511372430034432
+            ],
+            "button_min_z_position": [
+              0.12406221032142638,
+              -0.3921991884708404,
+              0.7696118950843811
+            ],
+            "min_active_finger_to_button": 0.14395705764526887,
+            "closest_active_finger": [
+              -0.01485048234462738,
+              -0.3766416609287262,
+              0.8106728196144104
+            ],
+            "closest_active_finger_button": [
+              0.12408029288053513,
+              -0.3922003209590912,
+              0.7763245701789856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1389307752251625,
+              0.01555866003036499,
+              0.034348249435424805
+            ],
+            "min_contact_pad_to_button": 0.021328082746097602,
+            "closest_contact_pad": [
+              0.12406221032142638,
+              -0.3954566723285272,
+              0.7906897486881354
+            ],
+            "closest_contact_pad_button": [
+              0.12406221032142638,
+              -0.3921991884708404,
+              0.7696118950843811
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003257483857686816,
+              0.02107785360375425
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27030163121507983,
+              0.19922816487111875,
+              1.1044129953458306
+            ],
+            "current_z": 1.1044129953458306,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19450386561146804,
+            "gripper_z": 1.104412951901108,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27030164778913457,
+              0.1992281320711609,
+              1.104412951901108
+            ],
+            "object_minus_gripper": [
+              -1.6574054739759703e-08,
+              3.27999578331184e-08,
+              4.344472248618558e-08
+            ],
+            "object_to_gripper_xy": 3.67496465883809e-08,
+            "object_to_gripper_z": 4.344472248618558e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27030163121507983,
+              0.19922816487111875,
+              1.1044129953458306
+            ],
+            "finger_b": [
+              0.27030163121507983,
+              0.19922816487111875,
+              1.1044129953458306
+            ],
+            "finger_midpoint": [
+              0.27030163121507983,
+              0.19922816487111875,
+              1.1044129953458306
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044129953458306,
+            "object_top_z": 1.2294215019661103,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27030163121507983,
+            0.19922816487111877,
+            1.1044129953458306
+          ],
+          "object_origin_world": [
+            0.27030163121507983,
+            0.19922816487111877,
+            1.1044129953458306
+          ],
+          "frame_world": [
+            0.27030164778913457,
+            0.1992281320711609,
+            1.104412951901108
+          ],
+          "center_minus_frame": [
+            -1.6574054739759703e-08,
+            3.2799957860873974e-08,
+            4.344472248618558e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432564599449994,
+            "required_z": 0.911259844782798,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024076439636571876,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.576927039302772e-08,
+            "max_target_xy_drift": 5.897760601299838e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.18557482546784182,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.18557482761447258,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27533662858295604,
+              -0.33699042450285943,
+              0.9233663221728606
+            ],
+            "target_mouth_xy": [
+              0.27696591282402977,
+              -0.3352233401879279
+            ],
+            "rod_tip_z": 0.9233663221728606,
+            "rod_tip_depth": -0.0221064700348359,
+            "rod_tip_bottom_clearance": 0.12154705515572117,
+            "rod_tip_xy_dist": 0.0024035711169608253,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04450199979416081,
+            "min_rod_tip_bottom_clearance": 0.05493868654919776,
+            "min_rod_tip_xy_dist": 0.0010379060015616999,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27696591205659643,
+              -0.335223284423938
+            ],
+            "target_mouth_xy_delta_from_start": [
+              7.674333390994548e-10,
+              -5.576398987017228e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.001066223679710765,
+                -0.00011961000184984583
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011702989646316109,
+                -0.000490903306333168
+              ],
+              "first_target_mouth_xy": [
+                0.27696591412115373,
+                -0.3352233119865103
+              ],
+              "last_target_mouth_xy": [
+                0.2769659122113209,
+                -0.33522331038373154
+              ],
+              "first_rod_tip_xy": [
+                0.27589969044144297,
+                -0.33534292198836013
+              ],
+              "last_rod_tip_xy": [
+                0.2757956132466893,
+                -0.3357142136900647
+              ],
+              "min_rod_tip_xy_dist": 0.0010729116868216527,
+              "max_rod_tip_xy_dist": 0.001269088540168359,
+              "first_target_xy_drift": 2.7639786315243017e-08,
+              "last_target_xy_drift": 2.5960254623992758e-08,
+              "max_depth": 0.019875310625646736,
+              "min_bottom_clearance": 0.0795652510386754
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001066223679710765,
+                  -0.00011961000184984583
+                ],
+                "rod_tip_xy": [
+                  0.27589969044144297,
+                  -0.33534292198836013
+                ],
+                "target_mouth_xy": [
+                  0.27696591412115373,
+                  -0.3352233119865103
+                ],
+                "gripper_position": [
+                  0.2758879676346331,
+                  -0.3353497061569869,
+                  1.0056050963014604
+                ],
+                "rod_tip_xy_dist": 0.0010729116868216527,
+                "target_xy_drift": 2.7639786315243017e-08,
+                "depth": 0.015515197430519767,
+                "bottom_clearance": 0.08392538003311711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010779156331450768,
+                  -0.00012642493424391832
+                ],
+                "rod_tip_xy": [
+                  0.27588796763463314,
+                  -0.335349706156987
+                ],
+                "target_mouth_xy": [
+                  0.2769658832677782,
+                  -0.3352232812227431
+                ],
+                "gripper_position": [
+                  0.27589225824317265,
+                  -0.3354138899584793,
+                  1.0050895135501885
+                ],
+                "rod_tip_xy_dist": 0.001085304278152966,
+                "target_xy_drift": 2.896625110916186e-08,
+                "depth": 0.015654686710061316,
+                "bottom_clearance": 0.08378588486486316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010736860246674529,
+                  -0.00019061001079212492
+                ],
+                "rod_tip_xy": [
+                  0.27589225824317265,
+                  -0.3354138899584793
+                ],
+                "target_mouth_xy": [
+                  0.2769659442678401,
+                  -0.3352232799476872
+                ],
+                "gripper_position": [
+                  0.27588074486268777,
+                  -0.33542003238249085,
+                  1.0049502525797493
+                ],
+                "rod_tip_xy_dist": 0.0010904741426463868,
+                "target_xy_drift": 3.252077859268354e-08,
+                "depth": 0.01617042268728397,
+                "bottom_clearance": 0.08327024845549469,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001085167162709233,
+                  -0.00019672007865711993
+                ],
+                "rod_tip_xy": [
+                  0.27588074486268777,
+                  -0.33542003238249085
+                ],
+                "target_mouth_xy": [
+                  0.276965912025397,
+                  -0.33522331230383373
+                ],
+                "gripper_position": [
+                  0.27587197234384303,
+                  -0.33542029652329286,
+                  1.0048279187244997
+                ],
+                "rod_tip_xy_dist": 0.001102853825477008,
+                "target_xy_drift": 2.7879913182491046e-08,
+                "depth": 0.016309499232662894,
+                "bottom_clearance": 0.08313098631166294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010939430754999813,
+                  -0.00019701657452309007
+                ],
+                "rod_tip_xy": [
+                  0.2758719723438431,
+                  -0.33542029652329297
+                ],
+                "target_mouth_xy": [
+                  0.27696591541934307,
+                  -0.3352232799487699
+                ],
+                "gripper_position": [
+                  0.2758772672819515,
+                  -0.33548530653850694,
+                  1.0043127794169122
+                ],
+                "rod_tip_xy_dist": 0.0011115426141498894,
+                "target_xy_drift": 5.597784801985453e-09,
+                "depth": 0.016432025128969907,
+                "bottom_clearance": 0.08300868273740714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010886432226546727,
+                  -0.00026196506715026047
+                ],
+                "rod_tip_xy": [
+                  0.2758772672819515,
+                  -0.33548530653850706
+                ],
+                "target_mouth_xy": [
+                  0.27696591050460617,
+                  -0.3352233414713568
+                ],
+                "gripper_position": [
+                  0.275865586847553,
+                  -0.3354916565927252,
+                  1.004173627070221
+                ],
+                "rod_tip_xy_dist": 0.0011197186086865716,
+                "target_xy_drift": 5.7068526038747496e-08,
+                "depth": 0.016947088117209685,
+                "bottom_clearance": 0.08249347544167696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011003264995914086,
+                  -0.00026834556821347944
+                ],
+                "rod_tip_xy": [
+                  0.2758655868475531,
+                  -0.3354916565927253
+                ],
+                "target_mouth_xy": [
+                  0.2769659133471445,
+                  -0.3352233110245118
+                ],
+                "gripper_position": [
+                  0.2758568251356645,
+                  -0.33549164206182913,
+                  1.00405183687665
+                ],
+                "rod_tip_xy_dist": 0.0011325757147682876,
+                "target_xy_drift": 2.6631861383235533e-08,
+                "depth": 0.017086277363540403,
+                "bottom_clearance": 0.08235430487964457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011090875604352068,
+                  -0.0002683304004451048
+                ],
+                "rod_tip_xy": [
+                  0.27585682513566456,
+                  -0.33549164206182924
+                ],
+                "target_mouth_xy": [
+                  0.27696591269609977,
+                  -0.33522331166138414
+                ],
+                "gripper_position": [
+                  0.2758479217783766,
+                  -0.335491652192493,
+                  1.003929554591756
+                ],
+                "rod_tip_xy_dist": 0.0011410856324199114,
+                "target_xy_drift": 2.724495249229052e-08,
+                "depth": 0.01720799136145057,
+                "bottom_clearance": 0.08223254298397331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011179925192040252,
+                  -0.0002683712906343949
+                ],
+                "rod_tip_xy": [
+                  0.27584792177837664,
+                  -0.3354916521924931
+                ],
+                "target_mouth_xy": [
+                  0.27696591429758066,
+                  -0.3352232809018587
+                ],
+                "gripper_position": [
+                  0.2758547843211217,
+                  -0.33555908397330714,
+                  1.0034139138529479
+                ],
+                "rod_tip_xy_dist": 0.001149752330996956,
+                "target_xy_drift": 4.174572179917525e-09,
+                "depth": 0.017330363165158902,
+                "bottom_clearance": 0.08211026716289771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001111128975958331,
+                  -0.00033577327020389847
+                ],
+                "rod_tip_xy": [
+                  0.27585478432112176,
+                  -0.33555908397330725
+                ],
+                "target_mouth_xy": [
+                  0.2769659132970801,
+                  -0.33522331070310335
+                ],
+                "gripper_position": [
+                  0.2758428237764161,
+                  -0.33556561629701115,
+                  1.0032748643211808
+                ],
+                "rod_tip_xy_dist": 0.001160754621010672,
+                "target_xy_drift": 2.6308426993621845e-08,
+                "depth": 0.017845936344771496,
+                "bottom_clearance": 0.08159465553103107,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001123089795331711,
+                  -0.0003423366722766219
+                ],
+                "rod_tip_xy": [
+                  0.2758428237764161,
+                  -0.3355656162970112
+                ],
+                "target_mouth_xy": [
+                  0.2769659135717478,
+                  -0.3352232796247346
+                ],
+                "gripper_position": [
+                  0.27583379894497356,
+                  -0.3355655433761137,
+                  1.0031529628151277
+                ],
+                "rod_tip_xy_dist": 0.001174106079348734,
+                "target_xy_drift": 5.032696816330259e-09,
+                "depth": 0.017985070594142005,
+                "bottom_clearance": 0.08145557778950252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001132085949475281,
+                  -0.00034223267118349554
+                ],
+                "rod_tip_xy": [
+                  0.2758337989449736,
+                  -0.3355655433761138
+                ],
+                "target_mouth_xy": [
+                  0.2769658848944489,
+                  -0.3352233107049303
+                ],
+                "gripper_position": [
+                  0.2758247955793602,
+                  -0.3355655588411116,
+                  1.0030306756444112
+                ],
+                "rod_tip_xy_dist": 0.001182684149815469,
+                "target_xy_drift": 3.779514272059577e-08,
+                "depth": 0.018106898513743697,
+                "bottom_clearance": 0.08133374716203978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011411176846332638,
+                  -0.00034224909300539785
+                ],
+                "rod_tip_xy": [
+                  0.27582479557936024,
+                  -0.3355655588411116
+                ],
+                "target_mouth_xy": [
+                  0.2769659132639935,
+                  -0.3352233097481062
+                ],
+                "gripper_position": [
+                  0.27583324755769234,
+                  -0.33563484465399035,
+                  1.002518143473181
+                ],
+                "rod_tip_xy_dist": 0.0011913370689463996,
+                "target_xy_drift": 2.535293480167992e-08,
+                "depth": 0.018229131839309187,
+                "bottom_clearance": 0.08121149314198461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011326679046816945,
+                  -0.00041156534110065035
+                ],
+                "rod_tip_xy": [
+                  0.2758332475576924,
+                  -0.3356348446539904
+                ],
+                "target_mouth_xy": [
+                  0.2769659154623741,
+                  -0.33522327931288975
+                ],
+                "gripper_position": [
+                  0.27582104537451346,
+                  -0.33564128225518114,
+                  1.002378964047194
+                ],
+                "rod_tip_xy_dist": 0.0012051234842501888,
+                "target_xy_drift": 6.1418348802031244e-09,
+                "depth": 0.01874181216300086,
+                "bottom_clearance": 0.0806989202847953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011448671822231193,
+                  -0.00041793918705207433
+                ],
+                "rod_tip_xy": [
+                  0.2758210453745135,
+                  -0.3356412822551812
+                ],
+                "target_mouth_xy": [
+                  0.27696591255673664,
+                  -0.3352233430681291
+                ],
+                "gripper_position": [
+                  0.2758119474677402,
+                  -0.33564114583229715,
+                  1.0022574421517612
+                ],
+                "rod_tip_xy_dist": 0.0012187674220314776,
+                "target_xy_drift": 5.8646323769544926e-08,
+                "depth": 0.018880867648002897,
+                "bottom_clearance": 0.08055967035441214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011539620636614178,
+                  -0.00041783671231299113
+                ],
+                "rod_tip_xy": [
+                  0.2758119474677402,
+                  -0.3356411458322973
+                ],
+                "target_mouth_xy": [
+                  0.2769659095314016,
+                  -0.3352233091199843
+                ],
+                "gripper_position": [
+                  0.2758027757050381,
+                  -0.3356413706938673,
+                  1.002135459718722
+                ],
+                "rod_tip_xy_dist": 0.0012272799039038517,
+                "target_xy_drift": 2.4824812440928376e-08,
+                "depth": 0.019002500638584885,
+                "bottom_clearance": 0.08043819169105981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0011631393968906112,
+                  -0.00041805806847183824
+                ],
+                "rod_tip_xy": [
+                  0.27580277570503814,
+                  -0.33564137069386735
+                ],
+                "target_mouth_xy": [
+                  0.27696591510192875,
+                  -0.3352233126253955
+                ],
+                "gripper_position": [
+                  0.2757936538812432,
+                  -0.3356410774577264,
+                  1.0020136959917412
+                ],
+                "rod_tip_xy_dist": 0.001235987785220169,
+                "target_xy_drift": 2.836540594117925e-08,
+                "depth": 0.019124440459533543,
+                "bottom_clearance": 0.08031617269460323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0011722593661416258,
+                  -0.0004177670756350671
+                ],
+                "rod_tip_xy": [
+                  0.2757936538812433,
+                  -0.33564107745772653
+                ],
+                "target_mouth_xy": [
+                  0.2769659132473849,
+                  -0.33522331038209147
+                ],
+                "gripper_position": [
+                  0.27578446738044116,
+                  -0.3356412965237281,
+                  1.0018919388214997
+                ],
+                "rod_tip_xy_dist": 0.0012444763360512092,
+                "target_xy_drift": 2.598545185736998e-08,
+                "depth": 0.01924615957364495,
+                "bottom_clearance": 0.08019444194119474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.001181446637830652,
+                  -0.00041798741313459065
+                ],
+                "rod_tip_xy": [
+                  0.2757844673804412,
+                  -0.3356412965237282
+                ],
+                "target_mouth_xy": [
+                  0.27696591401827186,
+                  -0.3352233091105936
+                ],
+                "gripper_position": [
+                  0.2757956132466892,
+                  -0.33571421369006466,
+                  1.001384536686743
+                ],
+                "rod_tip_xy_dist": 0.001253207738397868,
+                "target_xy_drift": 2.4764473255932445e-08,
+                "depth": 0.019368005346378836,
+                "bottom_clearance": 0.08007267162653442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0011702989646316109,
+                  -0.000490903306333168
+                ],
+                "rod_tip_xy": [
+                  0.2757956132466893,
+                  -0.3357142136900647
+                ],
+                "target_mouth_xy": [
+                  0.2769659122113209,
+                  -0.33522331038373154
+                ],
+                "gripper_position": [
+                  0.2757835307463199,
+                  -0.33572059934599996,
+                  1.0012457274211535
+                ],
+                "rod_tip_xy_dist": 0.001269088540168359,
+                "target_xy_drift": 2.5960254623992758e-08,
+                "depth": 0.019875310625646736,
+                "bottom_clearance": 0.0795652510386754,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005987703562845081,
+              "rod_tip_xy_max_step": 3.263575237924881e-05,
+              "rod_tip_xy_range": 0.000598760090369308,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27533662858295604,
+            -0.3369904245028594,
+            1.0433663221728606
+          ],
+          "object_origin_world": [
+            0.27533662858295604,
+            -0.3369904245028594,
+            1.0433663221728606
+          ],
+          "frame_world": [
+            0.2753350799253132,
+            -0.3369945356915916,
+            1.0432564599449994
+          ],
+          "center_minus_frame": [
+            1.5486576428469512e-06,
+            4.111188732225379e-06,
+            0.000109862227861246
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25584749835946513,
+              0.1541013712248724,
+              0.8345639559508321
+            ],
+            "target_position": [
+              0.27043679457808756,
+              0.1984345067020588,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04667198801629596,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1646431373335406,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8345639559508321,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673284926117,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13470460908117704,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34c68a6169ed2ebd7f5348b11b5b58aac900a8751d0c821be10349f461118b88",
+    "visual_seed": 1384760865436293990,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64ae4421ce48037a997cd3f203d7e5f76ff08133
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_26_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29925414497499514,
+              0.07991596248225644,
+              1.1639267419810333
+            ],
+            "current_z": 1.1639267419810333,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3028202339662672,
+            "gripper_z": 1.1561858490418566,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2940730972002653,
+              0.07477322030449772,
+              1.1561858490418566
+            ],
+            "object_minus_gripper": [
+              0.00518104777472983,
+              0.005142742177758716,
+              0.00774089293917668
+            ],
+            "object_to_gripper_xy": 0.007300072133269053,
+            "object_to_gripper_z": 0.00774089293917668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29925414497499514,
+              0.055964423120908824,
+              1.1639267419810333
+            ],
+            "finger_b": [
+              0.2875579465270959,
+              0.07991596248225644,
+              1.1639267419810333
+            ],
+            "finger_midpoint": [
+              0.2934060457510455,
+              0.06794019280158263,
+              1.1639267419810333
+            ],
+            "object_minus_finger_midpoint": [
+              0.005848099223949632,
+              0.011975769680673806,
+              0.0
+            ],
+            "finger_gap": 0.026654779982412634,
+            "fingertip_max_gap": 0.0909740811934501,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013327389991206317,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639267419810333,
+            "object_top_z": 1.213883923967717,
+            "finger_top_clearance": 0.04995718198668375,
+            "fingertip_min_top_clearance": 0.014987154596005125,
+            "object_projection_between_fingers": 0.8074518933680161,
+            "object_to_finger_line_xy": 0.010510008249471008,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798704059672505,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.65047642742276,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28102511160317156,
+              -0.3332771091488384,
+              0.8515395676623754
+            ],
+            "target_position": [
+              0.2723726546113333,
+              -0.33424683029214336,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008706627997760289,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18486446060599324,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395676623754,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757534012872428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522870078394874,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522716463302454,
+            "release_required_pad_clearance": 0.052614350391974374,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29073992514254576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007163643836975098,
+            "max_z_decrease": 0.007163643836975098,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511655216207053,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007163643836975098,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021066065927295517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007163643836975098,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071636629572455115,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1280725747346878,
+              -0.3905082941055298,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1280725747346878,
+              -0.3905082941055298,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12629370418325347,
+              -0.39004292092634213,
+              0.8080115551785677
+            ],
+            "closest_button": [
+              0.1280628740787506,
+              -0.3905066251754761,
+              0.7729426622390747
+            ],
+            "closest_ee_minus_button": [
+              -0.0017691698954971358,
+              0.0004637042491339449,
+              0.035068892939493
+            ],
+            "button_min_z_position": [
+              0.12805604934692383,
+              -0.3905073702335358,
+              0.7696452140808105
+            ],
+            "min_active_finger_to_button": 0.14752972178865023,
+            "closest_active_finger": [
+              0.00012791156768798828,
+              -0.455409973859787,
+              0.8107385039329529
+            ],
+            "closest_active_finger_button": [
+              0.12807276844978333,
+              -0.39050835371017456,
+              0.7763450145721436
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12794485688209534,
+              -0.06490162014961243,
+              0.034393489360809326
+            ],
+            "min_contact_pad_to_button": 0.021066065927295517,
+            "closest_contact_pad": [
+              0.12805604934692383,
+              -0.39086871545131846,
+              0.7907081807115287
+            ],
+            "closest_contact_pad_button": [
+              0.12805604934692383,
+              -0.3905073702335358,
+              0.7696452140808105
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00036134521778263817,
+              0.02106296663071816
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2764819828613857,
+              0.19054124854715335,
+              1.1146082710004404
+            ],
+            "current_z": 1.1146082710004404,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2046991412660778,
+            "gripper_z": 1.1146085359437452,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27648198826712544,
+              0.19054121181296144,
+              1.1146085359437452
+            ],
+            "object_minus_gripper": [
+              -5.405739744723803e-09,
+              3.673419191052574e-08,
+              -2.649433048507177e-07
+            ],
+            "object_to_gripper_xy": 3.712981116982715e-08,
+            "object_to_gripper_z": -2.649433048507177e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2764819828613857,
+              0.19054124854715335,
+              1.1146082710004404
+            ],
+            "finger_b": [
+              0.2764819828613857,
+              0.19054124854715335,
+              1.1146082710004404
+            ],
+            "finger_midpoint": [
+              0.2764819828613857,
+              0.19054124854715335,
+              1.1146082710004404
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1146082710004404,
+            "object_top_z": 1.23961677762072,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2764819828613857,
+            0.19054124854715337,
+            1.1146082710004404
+          ],
+          "object_origin_world": [
+            0.2764819828613857,
+            0.19054124854715337,
+            1.1146082710004404
+          ],
+          "frame_world": [
+            0.27648198826712544,
+            0.19054121181296144,
+            1.1146085359437452
+          ],
+          "center_minus_frame": [
+            -5.405739744723803e-09,
+            3.673419193828131e-08,
+            -2.649433048507177e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437409162967102,
+            "required_z": 0.9112598278742418,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018750992285655858,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.8996537702110463e-08,
+            "max_target_xy_drift": 1.9021036206811585e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.29073992499963747,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.2907399251751389,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2791964171170784,
+              -0.3337937403531246,
+              0.9234299614765905
+            ],
+            "target_mouth_xy": [
+              0.2810251415854457,
+              -0.3332771379902112
+            ],
+            "rod_tip_z": 0.9234299614765905,
+            "rod_tip_depth": -0.02217020526448088,
+            "rod_tip_bottom_clearance": 0.12161070573771304,
+            "rod_tip_xy_dist": 0.001900292393968136,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04486488933757693,
+            "min_rod_tip_bottom_clearance": 0.05457570425717373,
+            "min_rod_tip_xy_dist": 0.001338885339595085,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28102511259064283,
+              -0.3332771376730299
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8994802891979532e-08,
+              -3.171812812396979e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0012547190830057842,
+                0.00117005405814663
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013730442886810135,
+                0.0008100482748377713
+              ],
+              "first_target_mouth_xy": [
+                0.2810250827478132,
+                -0.3332771379912016
+              ],
+              "last_target_mouth_xy": [
+                0.281025081005279,
+                -0.33327713959166094
+              ],
+              "first_rod_tip_xy": [
+                0.2797703636648074,
+                -0.332107083933055
+              ],
+              "last_rod_tip_xy": [
+                0.279652036716598,
+                -0.33246709131682317
+              ],
+              "min_rod_tip_xy_dist": 0.0015546862294804628,
+              "max_rod_tip_xy_dist": 0.001715618394703284,
+              "first_target_xy_drift": 2.9844525710260854e-08,
+              "last_target_xy_drift": 3.164358312449774e-08,
+              "max_depth": 0.019512069596992587,
+              "min_bottom_clearance": 0.07992849022516224
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012547190830057842,
+                  0.00117005405814663
+                ],
+                "rod_tip_xy": [
+                  0.2797703636648074,
+                  -0.332107083933055
+                ],
+                "target_mouth_xy": [
+                  0.2810250827478132,
+                  -0.3332771379912016
+                ],
+                "gripper_position": [
+                  0.2797737894487792,
+                  -0.33217070063939463,
+                  1.0056200550906764
+                ],
+                "rod_tip_xy_dist": 0.001715618394703284,
+                "target_xy_drift": 2.9844525710260854e-08,
+                "depth": 0.015119162439752865,
+                "bottom_clearance": 0.08432136739120755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012513235030524594,
+                  0.0011064681098368334
+                ],
+                "rod_tip_xy": [
+                  0.2797737894487792,
+                  -0.3321707006393947
+                ],
+                "target_mouth_xy": [
+                  0.28102511295183163,
+                  -0.3332771687492315
+                ],
+                "gripper_position": [
+                  0.27976205550358346,
+                  -0.3321772247514266,
+                  1.0054790990896278
+                ],
+                "rod_tip_xy_dist": 0.0016703539108157209,
+                "target_xy_drift": 3.107830053238389e-08,
+                "depth": 0.015639841182179426,
+                "bottom_clearance": 0.08380072721751675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001263026333926498,
+                  0.0010999430459716075
+                ],
+                "rod_tip_xy": [
+                  0.27976205550358346,
+                  -0.33217722475142664
+                ],
+                "target_mouth_xy": [
+                  0.28102508183750996,
+                  -0.33327716779739824
+                ],
+                "gripper_position": [
+                  0.27976530553175655,
+                  -0.332241085152637,
+                  1.0049620018167262
+                ],
+                "rod_tip_xy_dist": 0.0016748463286442453,
+                "target_xy_drift": 4.3049189876384824e-08,
+                "depth": 0.015780655905328622,
+                "bottom_clearance": 0.08365983890446826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012598080317512417,
+                  0.001036114039809577
+                ],
+                "rod_tip_xy": [
+                  0.27976530553175655,
+                  -0.33224108515263706
+                ],
+                "target_mouth_xy": [
+                  0.2810251135635078,
+                  -0.33327719919244664
+                ],
+                "gripper_position": [
+                  0.27975351616785304,
+                  -0.33224732556249875,
+                  1.0048219977751596
+                ],
+                "rod_tip_xy_dist": 0.0016311494659765116,
+                "target_xy_drift": 6.152710866530669e-08,
+                "depth": 0.01629791077749998,
+                "bottom_clearance": 0.08314270397380585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012715955515700816,
+                  0.0010298409626644522
+                ],
+                "rod_tip_xy": [
+                  0.27975351616785304,
+                  -0.3322473255624988
+                ],
+                "target_mouth_xy": [
+                  0.2810251117194231,
+                  -0.33327716652516326
+                ],
+                "gripper_position": [
+                  0.2797445122835524,
+                  -0.3322475778692405,
+                  1.0046984077637544
+                ],
+                "rod_tip_xy_dist": 0.001636315267653048,
+                "target_xy_drift": 2.8865284037661532e-08,
+                "depth": 0.01643778064881818,
+                "bottom_clearance": 0.08300276295779774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001280602310778478,
+                  0.0010296206844986888
+                ],
+                "rod_tip_xy": [
+                  0.27974451228355246,
+                  -0.33224757786924053
+                ],
+                "target_mouth_xy": [
+                  0.28102511459433094,
+                  -0.3332771985537392
+                ],
+                "gripper_position": [
+                  0.27974898499257994,
+                  -0.33231239257250417,
+                  1.004182053716195
+                ],
+                "rod_tip_xy_dist": 0.0016431862439537175,
+                "target_xy_drift": 6.09136727818012e-08,
+                "depth": 0.016561501717848537,
+                "bottom_clearance": 0.08287913010762382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012761257656775382,
+                  0.0009647723666278418
+                ],
+                "rod_tip_xy": [
+                  0.27974898499257994,
+                  -0.3323123925725042
+                ],
+                "target_mouth_xy": [
+                  0.2810251107582575,
+                  -0.33327716493913206
+                ],
+                "gripper_position": [
+                  0.27973710882894254,
+                  -0.33231857520346336,
+                  1.0040416634157339
+                ],
+                "rod_tip_xy_dist": 0.0015997758246813114,
+                "target_xy_drift": 2.7327604409327657e-08,
+                "depth": 0.017077831936268884,
+                "bottom_clearance": 0.08236278544285625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001288005731730546,
+                  0.000958594186818984
+                ],
+                "rod_tip_xy": [
+                  0.2797371088289426,
+                  -0.3323185752034634
+                ],
+                "target_mouth_xy": [
+                  0.28102511456067314,
+                  -0.3332771693902824
+                ],
+                "gripper_position": [
+                  0.27972787645559105,
+                  -0.3323186963464257,
+                  1.0039182364105752
+                ],
+                "rod_tip_xy_dist": 0.0016055720413528283,
+                "target_xy_drift": 3.1778375115589265e-08,
+                "depth": 0.017218257171220386,
+                "bottom_clearance": 0.08222239603352988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012972353735950515,
+                  0.0009584400555019412
+                ],
+                "rod_tip_xy": [
+                  0.27972787645559105,
+                  -0.33231869634642575
+                ],
+                "target_mouth_xy": [
+                  0.2810251118291861,
+                  -0.3332771364019277
+                ],
+                "gripper_position": [
+                  0.279718793274491,
+                  -0.3323189775615087,
+                  1.0037951741695599
+                ],
+                "rod_tip_xy_dist": 0.0016128939687706867,
+                "target_xy_drift": 1.4817277805711056e-09,
+                "depth": 0.017341608240300954,
+                "bottom_clearance": 0.08209895112065146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0013063195704039465,
+                  0.000958221950124849
+                ],
+                "rod_tip_xy": [
+                  0.279718793274491,
+                  -0.33231897756150874
+                ],
+                "target_mouth_xy": [
+                  0.28102511284489495,
+                  -0.3332771995116336
+                ],
+                "gripper_position": [
+                  0.27972478083626506,
+                  -0.33238606408828836,
+                  1.0032792224552387
+                ],
+                "rod_tip_xy_dist": 0.0016200802837271428,
+                "target_xy_drift": 6.183912636427722e-08,
+                "depth": 0.01746473833470852,
+                "bottom_clearance": 0.08197586000856727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0013003014381812172,
+                  0.0008911033894598019
+                ],
+                "rod_tip_xy": [
+                  0.27972478083626506,
+                  -0.3323860640882884
+                ],
+                "target_mouth_xy": [
+                  0.2810250822744463,
+                  -0.3332771674777482
+                ],
+                "gripper_position": [
+                  0.279712798900456,
+                  -0.3323924616891053,
+                  1.0031391386360455
+                ],
+                "rod_tip_xy_dist": 0.0015763404076667227,
+                "target_xy_drift": 4.2513445010474884e-08,
+                "depth": 0.017980541712661724,
+                "bottom_clearance": 0.08145998132444654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0013123153427858636,
+                  0.0008847378225657065
+                ],
+                "rod_tip_xy": [
+                  0.279712798900456,
+                  -0.3323924616891053
+                ],
+                "target_mouth_xy": [
+                  0.28102511424324184,
+                  -0.333277199511671
+                ],
+                "gripper_position": [
+                  0.2797035272539364,
+                  -0.33239222838590166,
+                  1.0030156622517996
+                ],
+                "rod_tip_xy_dist": 0.0015826978781781085,
+                "target_xy_drift": 6.18607194926053e-08,
+                "depth": 0.01812078508739179,
+                "bottom_clearance": 0.08131986720150486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0013215544731976503,
+                  0.0008849387781377227
+                ],
+                "rod_tip_xy": [
+                  0.2797035272539364,
+                  -0.33239222838590166
+                ],
+                "target_mouth_xy": [
+                  0.28102508172713403,
+                  -0.3332771671640394
+                ],
+                "gripper_position": [
+                  0.27969438862763074,
+                  -0.33239213693868447,
+                  1.0028929436652583
+                ],
+                "rod_tip_xy_dist": 0.0015904788167971948,
+                "target_xy_drift": 4.268812264714953e-08,
+                "depth": 0.018244103220287355,
+                "bottom_clearance": 0.08119641012924661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013307254896124387,
+                  0.0008850318126593093
+                ],
+                "rod_tip_xy": [
+                  0.27969438862763074,
+                  -0.3323921369386845
+                ],
+                "target_mouth_xy": [
+                  0.2810251141172432,
+                  -0.33327716875134383
+                ],
+                "gripper_position": [
+                  0.2797016831691922,
+                  -0.3324613094164795,
+                  1.0023796966135603
+                ],
+                "rod_tip_xy_dist": 0.0015981588275647974,
+                "target_xy_drift": 3.1115785461289133e-08,
+                "depth": 0.0183669619950656,
+                "bottom_clearance": 0.08107365143815748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0013233957237515082,
+                  0.0008158878786281853
+                ],
+                "rod_tip_xy": [
+                  0.2797016831691922,
+                  -0.33246130941647956
+                ],
+                "target_mouth_xy": [
+                  0.2810250788929437,
+                  -0.33327719729510774
+                ],
+                "gripper_position": [
+                  0.2796896126453048,
+                  -0.3324676454743009,
+                  1.0022399216098965
+                ],
+                "rod_tip_xy_dist": 0.0015546862294804628,
+                "target_xy_drift": 6.848596273355783e-08,
+                "depth": 0.01888014730343157,
+                "bottom_clearance": 0.08056045904009912,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001335500852935545,
+                  0.0008094896537079732
+                ],
+                "rod_tip_xy": [
+                  0.27968961264530484,
+                  -0.33246764547430097
+                ],
+                "target_mouth_xy": [
+                  0.2810251134982404,
+                  -0.33327713512800894
+                ],
+                "gripper_position": [
+                  0.27968018587445975,
+                  -0.3324673063016947,
+                  1.0021165581868432
+                ],
+                "rod_tip_xy_dist": 0.0015616773122677497,
+                "target_xy_drift": 2.7020112997969915e-09,
+                "depth": 0.019020018710724007,
+                "bottom_clearance": 0.0804206505327284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0013449266757885048,
+                  0.0008098602201052074
+                ],
+                "rod_tip_xy": [
+                  0.2796801858744598,
+                  -0.33246730630169474
+                ],
+                "target_mouth_xy": [
+                  0.2810251125502483,
+                  -0.33327716652179995
+                ],
+                "gripper_position": [
+                  0.2796709503719156,
+                  -0.33246702630345476,
+                  1.0019935609738435
+                ],
+                "rod_tip_xy_dist": 0.0015699367310042698,
+                "target_xy_drift": 2.884879832002403e-08,
+                "depth": 0.01914322685645453,
+                "bottom_clearance": 0.08029734870903493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013541325795438652,
+                  0.0008101120071447587
+                ],
+                "rod_tip_xy": [
+                  0.2796709503719156,
+                  -0.3324670263034548
+                ],
+                "target_mouth_xy": [
+                  0.28102508295145945,
+                  -0.3332771383105996
+                ],
+                "gripper_position": [
+                  0.27966148176116,
+                  -0.3324671398098521,
+                  1.0018707986177122
+                ],
+                "rod_tip_xy_dist": 0.0015779596024937494,
+                "target_xy_drift": 2.9646039985616632e-08,
+                "depth": 0.019266262765854747,
+                "bottom_clearance": 0.08017427538717092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0013636028304117587,
+                  0.0008100279858487269
+                ],
+                "rod_tip_xy": [
+                  0.27966148176116007,
+                  -0.3324671398098522
+                ],
+                "target_mouth_xy": [
+                  0.2810250845915718,
+                  -0.33327716779570093
+                ],
+                "gripper_position": [
+                  0.279652036716598,
+                  -0.33246709131682306,
+                  1.0017477869757796
+                ],
+                "rod_tip_xy_dist": 0.0015860510764048883,
+                "target_xy_drift": 4.112570104982421e-08,
+                "depth": 0.019389097406092737,
+                "bottom_clearance": 0.08005150309683817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0013730442886810135,
+                  0.0008100482748377713
+                ],
+                "rod_tip_xy": [
+                  0.279652036716598,
+                  -0.33246709131682317
+                ],
+                "target_mouth_xy": [
+                  0.281025081005279,
+                  -0.33327713959166094
+                ],
+                "gripper_position": [
+                  0.27964266606662236,
+                  -0.33246681781040355,
+                  1.001624800122057
+                ],
+                "rod_tip_xy_dist": 0.0015941859446900162,
+                "target_xy_drift": 3.164358312449774e-08,
+                "depth": 0.019512069596992587,
+                "bottom_clearance": 0.07992849022516224,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006058613733157629,
+              "rod_tip_xy_max_step": 3.279762344425243e-05,
+              "rod_tip_xy_range": 0.0006058452529844239,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2791964171170784,
+            -0.3337937403531246,
+            1.0434299614765907
+          ],
+          "object_origin_world": [
+            0.2791964171170784,
+            -0.3337937403531246,
+            1.0434299614765907
+          ],
+          "frame_world": [
+            0.2792219338824631,
+            -0.3337913744113944,
+            1.0437409162967102
+          ],
+          "center_minus_frame": [
+            -2.5516765384703266e-05,
+            -2.3659417301979957e-06,
+            -0.00031095482011944675
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25498169346035304,
+              0.14765574590081557,
+              0.8328443564598688
+            ],
+            "target_position": [
+              0.2682401758093474,
+              0.19316750436274044,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047403665601883416,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16609750818544222,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328443564598688,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669597020833,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13600213707559072,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18526678932a8dca18dbac878d8ecd017dda6d2b5c100cfce288acbbac4b8791",
+    "visual_seed": 8522891804299054943,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef034941e97d35500871a58383d5e48aecc74741
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_27_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3027043523764924,
+              0.0744032543817664,
+              1.1628431509583952
+            ],
+            "current_z": 1.1628431509583952,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3017364641296951,
+            "gripper_z": 1.1549222448901997,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2975261861275974,
+              0.06940874857322687,
+              1.1549222448901997
+            ],
+            "object_minus_gripper": [
+              0.005178166248895,
+              0.004994505808539523,
+              0.00792090606819551
+            ],
+            "object_to_gripper_xy": 0.007194337632661561,
+            "object_to_gripper_z": 0.00792090606819551,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3027043523764924,
+              0.050380870008939274,
+              1.1628431509583952
+            ],
+            "finger_b": [
+              0.2913247247826356,
+              0.0744032543817664,
+              1.1628431509583952
+            ],
+            "finger_midpoint": [
+              0.297014538579564,
+              0.062392062195352836,
+              1.1628431509583952
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056898137969284,
+              0.012011192186413562,
+              0.0
+            ],
+            "finger_gap": 0.0265814009249083,
+            "fingertip_max_gap": 0.0910946421168278,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01329070046245415,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1628431509583952,
+            "object_top_z": 1.2126844617048351,
+            "finger_top_clearance": 0.04984131074643994,
+            "fingertip_min_top_clearance": 0.01495239322393198,
+            "object_projection_between_fingers": 0.8167262071891792,
+            "object_to_finger_line_xy": 0.010284100106367943,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480473210584139,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8966324380674627,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2799805449774595,
+              -0.33386690135701325,
+              0.8515395610596176
+            ],
+            "target_position": [
+              0.27094959281940134,
+              -0.33480384459016427,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009079425064577757,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852569282470152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395610596176,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754964256292386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547621315929586,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532357993740352,
+            "release_required_pad_clearance": 0.052738106579647934,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5278591602252438,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007088661193847656,
+            "max_z_decrease": 0.007088661193847656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035112516005555545,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007088661193847656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02113812895885648,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007088661193847656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007088678336088786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1266495138406753,
+              -0.3910652995109557,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1266495138406753,
+              -0.3910652995109557,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12666219446749996,
+              -0.3915381918265372,
+              0.8082823114302733
+            ],
+            "closest_button": [
+              0.1266427040100097,
+              -0.39106610417366017,
+              0.7731729745864868
+            ],
+            "closest_ee_minus_button": [
+              1.9490457490251023e-05,
+              -0.00047208765287704013,
+              0.035109336843786476
+            ],
+            "button_min_z_position": [
+              0.12663392722606653,
+              -0.3910650014877318,
+              0.769720196723938
+            ],
+            "min_active_finger_to_button": 0.1461220853876383,
+            "closest_active_finger": [
+              -0.014359883964061737,
+              -0.3740711808204651,
+              0.810728132724762
+            ],
+            "closest_active_finger_button": [
+              0.12664936482906336,
+              -0.3910657167434692,
+              0.7763880491256714
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410092487931251,
+              0.016994535923004095,
+              0.034340083599090576
+            ],
+            "min_contact_pad_to_button": 0.02113812895885648,
+            "closest_contact_pad": [
+              0.12663392722606653,
+              -0.39273594610479623,
+              0.7907921790694116
+            ],
+            "closest_contact_pad_button": [
+              0.12663392722606653,
+              -0.3910650014877318,
+              0.769720196723938
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016709446170644071,
+              0.021071982345473583
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2717106954405165,
+              0.19720996199004887,
+              1.1035505809305977
+            ],
+            "current_z": 1.1035505809305977,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1936414511962351,
+            "gripper_z": 1.1035506794804102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2717106423432064,
+              0.1972099206817619,
+              1.1035506794804102
+            ],
+            "object_minus_gripper": [
+              5.309731010427754e-08,
+              4.1308286957697504e-08,
+              -9.854981253276662e-08
+            ],
+            "object_to_gripper_xy": 6.727331500445995e-08,
+            "object_to_gripper_z": -9.854981253276662e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2717106954405165,
+              0.19720996199004887,
+              1.1035505809305977
+            ],
+            "finger_b": [
+              0.2717106954405165,
+              0.19720996199004887,
+              1.1035505809305977
+            ],
+            "finger_midpoint": [
+              0.2717106954405165,
+              0.19720996199004887,
+              1.1035505809305977
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035505809305977,
+            "object_top_z": 1.2285590875508774,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2717106954405165,
+            0.19720996199004887,
+            1.1035505809305977
+          ],
+          "object_origin_world": [
+            0.2717106954405165,
+            0.19720996199004887,
+            1.1035505809305977
+          ],
+          "frame_world": [
+            0.2717106423432064,
+            0.1972099206817619,
+            1.1035506794804102
+          ],
+          "center_minus_frame": [
+            5.309731010427754e-08,
+            4.1308286957697504e-08,
+            -9.854981253276662e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432445399516808,
+            "required_z": 0.9112598479335896,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016558302121786844,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2443479972966784e-08,
+            "max_target_xy_drift": 2.1055656829323862e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5278591605953347,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5278591609108785,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27837711457513575,
+              -0.33427005259130704,
+              0.9233550783373513
+            ],
+            "target_mouth_xy": [
+              0.2799805436984375,
+              -0.3338669045441688
+            ],
+            "rod_tip_z": 0.9233550783373513,
+            "rod_tip_depth": -0.022095248281388424,
+            "rod_tip_bottom_clearance": 0.12153575679495188,
+            "rod_tip_xy_dist": 0.0016533339957079455,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044388888897929024,
+            "min_rod_tip_bottom_clearance": 0.055051656302552154,
+            "min_rod_tip_xy_dist": 0.0011157864901034657,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2799805732866968,
+              -0.33386693497415243
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9588259287116614e-08,
+              3.042998364399807e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0010388232298697564,
+                0.0013792381498385353
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001148347233843161,
+                0.00097591217501658
+              ],
+              "first_target_mouth_xy": [
+                0.2799805462528696,
+                -0.333866934023726
+              ],
+              "last_target_mouth_xy": [
+                0.2799805459396456,
+                -0.3338669933154278
+              ],
+              "first_rod_tip_xy": [
+                0.27894172302299985,
+                -0.3324876958738875
+              ],
+              "last_rod_tip_xy": [
+                0.27883219870580245,
+                -0.3328910811404112
+              ],
+              "min_rod_tip_xy_dist": 0.00150181233843671,
+              "max_rod_tip_xy_dist": 0.001728116367042182,
+              "first_target_xy_drift": 2.70505290553985e-08,
+              "last_target_xy_drift": 6.443264405222373e-08,
+              "max_depth": 0.01985450922685461,
+              "min_bottom_clearance": 0.07958605616369552
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010388232298697564,
+                  0.0013792381498385353
+                ],
+                "rod_tip_xy": [
+                  0.27894172302299985,
+                  -0.3324876958738875
+                ],
+                "target_mouth_xy": [
+                  0.2799805462528696,
+                  -0.333866934023726
+                ],
+                "gripper_position": [
+                  0.27892987015334386,
+                  -0.3324948810666263,
+                  1.0056567532974312
+                ],
+                "rod_tip_xy_dist": 0.0017266880369328616,
+                "target_xy_drift": 2.70505290553985e-08,
+                "depth": 0.015463011618859435,
+                "bottom_clearance": 0.08397755443884858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010506455057510689,
+                  0.0013720532785880257
+                ],
+                "rod_tip_xy": [
+                  0.2789298701533438,
+                  -0.3324948810666263
+                ],
+                "target_mouth_xy": [
+                  0.2799805156590949,
+                  -0.3338669343452143
+                ],
+                "gripper_position": [
+                  0.27893424661771127,
+                  -0.3325638325897957,
+                  1.0051402289703661
+                ],
+                "rod_tip_xy_dist": 0.001728116367042182,
+                "target_xy_drift": 5.763103387381447e-08,
+                "depth": 0.015603008719128009,
+                "bottom_clearance": 0.08383752264674127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0010463014336535847,
+                  0.0013031318694119998
+                ],
+                "rod_tip_xy": [
+                  0.27893424661771127,
+                  -0.3325638325897957
+                ],
+                "target_mouth_xy": [
+                  0.27998054805136485,
+                  -0.3338669644592077
+                ],
+                "gripper_position": [
+                  0.2789223524458256,
+                  -0.33257061675070837,
+                  1.0050004932319336
+                ],
+                "rod_tip_xy_dist": 0.001671196983943772,
+                "target_xy_drift": 3.880966971144728e-08,
+                "depth": 0.01611967880377574,
+                "bottom_clearance": 0.08332096394859179,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010581615394830712,
+                  0.0012963467690655928
+                ],
+                "rod_tip_xy": [
+                  0.2789223524458256,
+                  -0.3325706167507084
+                ],
+                "target_mouth_xy": [
+                  0.27998051398530865,
+                  -0.333866963519774
+                ],
+                "gripper_position": [
+                  0.27891357236404923,
+                  -0.33257055354930104,
+                  1.0048774617844018
+                ],
+                "rod_tip_xy_dist": 0.001673386025192031,
+                "target_xy_drift": 6.58141865134775e-08,
+                "depth": 0.016259342110083397,
+                "bottom_clearance": 0.08318117911577216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010669421372667687,
+                  0.001296409333961357
+                ],
+                "rod_tip_xy": [
+                  0.27891357236404923,
+                  -0.332570553549301
+                ],
+                "target_mouth_xy": [
+                  0.279980514501316,
+                  -0.33386696288326234
+                ],
+                "gripper_position": [
+                  0.2789188691181952,
+                  -0.33264074876827465,
+                  1.0043615689156862
+                ],
+                "rod_tip_xy_dist": 0.0016790005019229474,
+                "target_xy_drift": 6.50741070639201e-08,
+                "depth": 0.01638236991056996,
+                "bottom_clearance": 0.08305815577941422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001061645322161353,
+                  0.0012262172936122195
+                ],
+                "rod_tip_xy": [
+                  0.2789188691181952,
+                  -0.33264074876827465
+                ],
+                "target_mouth_xy": [
+                  0.27998051444035654,
+                  -0.33386696606188687
+                ],
+                "gripper_position": [
+                  0.27890697102029566,
+                  -0.33264718991995695,
+                  1.0042218113721229
+                ],
+                "rod_tip_xy_dist": 0.0016219431683079277,
+                "target_xy_drift": 6.65532793556898e-08,
+                "depth": 0.016898279318394605,
+                "bottom_clearance": 0.08254227741649578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010735113804139496,
+                  0.0012196128856268862
+                ],
+                "rod_tip_xy": [
+                  0.27890697102029566,
+                  -0.332647189919957
+                ],
+                "target_mouth_xy": [
+                  0.2799804824007096,
+                  -0.3338668028055839
+                ],
+                "gripper_position": [
+                  0.2788978980273789,
+                  -0.332647143276938,
+                  1.0040987623280486
+                ],
+                "rod_tip_xy_dist": 0.0016247714530559071,
+                "target_xy_drift": 1.6040197372270655e-07,
+                "depth": 0.017038344805597627,
+                "bottom_clearance": 0.08240266115578254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010826471010521588,
+                  0.0012198503501847924
+                ],
+                "rod_tip_xy": [
+                  0.2788978980273789,
+                  -0.332647143276938
+                ],
+                "target_mouth_xy": [
+                  0.27998054512843107,
+                  -0.3338669936271228
+                ],
+                "gripper_position": [
+                  0.2788888392230213,
+                  -0.3326472899632862,
+                  1.0039760137072737
+                ],
+                "rod_tip_xy_dist": 0.0016309995776402286,
+                "target_xy_drift": 6.506196170933576e-08,
+                "depth": 0.017161058916136507,
+                "bottom_clearance": 0.08227946426017552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010916120102334448,
+                  0.001219702424238911
+                ],
+                "rod_tip_xy": [
+                  0.2788888392230213,
+                  -0.3326472899632862
+                ],
+                "target_mouth_xy": [
+                  0.27998045123325477,
+                  -0.3338669923875251
+                ],
+                "gripper_position": [
+                  0.27889585306057085,
+                  -0.3327196705148351,
+                  1.0034596628750871
+                ],
+                "rod_tip_xy_dist": 0.0016368539289075793,
+                "target_xy_drift": 1.3488268261685724e-07,
+                "depth": 0.017283994271332315,
+                "bottom_clearance": 0.08215668229931761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010846603354103812,
+                  0.0011473228137887093
+                ],
+                "rod_tip_xy": [
+                  0.27889585306057085,
+                  -0.3327196705148351
+                ],
+                "target_mouth_xy": [
+                  0.27998051339598123,
+                  -0.3338669933286238
+                ],
+                "gripper_position": [
+                  0.27888363787777865,
+                  -0.3327266336145579,
+                  1.0033197245935408
+                ],
+                "rod_tip_xy_dist": 0.0015788722818051502,
+                "target_xy_drift": 8.361902975962648e-08,
+                "depth": 0.017800130825519234,
+                "bottom_clearance": 0.08164041304743874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010969078570852164,
+                  0.0011403283139308495
+                ],
+                "rod_tip_xy": [
+                  0.2788836378777786,
+                  -0.3327266336145579
+                ],
+                "target_mouth_xy": [
+                  0.2799805457348638,
+                  -0.33386696192848875
+                ],
+                "gripper_position": [
+                  0.27887460873494196,
+                  -0.33272659548843725,
+                  1.003196981527786
+                ],
+                "rod_tip_xy_dist": 0.0015822627817425447,
+                "target_xy_drift": 3.854399754858168e-08,
+                "depth": 0.01794019503275679,
+                "bottom_clearance": 0.08150041975569955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001105906720983707,
+                  0.0011403984602122996
+                ],
+                "rod_tip_xy": [
+                  0.2788746087349419,
+                  -0.3327265954884373
+                ],
+                "target_mouth_xy": [
+                  0.2799805154559256,
+                  -0.3338669939486496
+                ],
+                "gripper_position": [
+                  0.27886543042126466,
+                  -0.3327263339486375,
+                  1.0030745487397374
+                ],
+                "rod_tip_xy_dist": 0.0015885648628782894,
+                "target_xy_drift": 8.25977566967062e-08,
+                "depth": 0.018062778816498204,
+                "bottom_clearance": 0.08137774462746106,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011151162904321499,
+                  0.0011406571374428243
+                ],
+                "rod_tip_xy": [
+                  0.27886543042126466,
+                  -0.3327263339486375
+                ],
+                "target_mouth_xy": [
+                  0.2799805467116968,
+                  -0.3338669910860803
+                ],
+                "gripper_position": [
+                  0.27887390215644214,
+                  -0.3328007087597634,
+                  1.0025606895501864
+                ],
+                "rod_tip_xy_dist": 0.001595174926579031,
+                "target_xy_drift": 6.208686716589331e-08,
+                "depth": 0.018185449718672198,
+                "bottom_clearance": 0.0812552256677126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011066130859603285,
+                  0.0010662832827820767
+                ],
+                "rod_tip_xy": [
+                  0.27887390215644214,
+                  -0.3328007087597634
+                ],
+                "target_mouth_xy": [
+                  0.2799805152424025,
+                  -0.3338669920425455
+                ],
+                "gripper_position": [
+                  0.2788616502878607,
+                  -0.33280736591356835,
+                  1.0024211369696787
+                ],
+                "rod_tip_xy_dist": 0.001536734382110052,
+                "target_xy_drift": 8.139988691513828e-08,
+                "depth": 0.018699159477364558,
+                "bottom_clearance": 0.08074141770863641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001118865265072766,
+                  0.0010596289939813208
+                ],
+                "rod_tip_xy": [
+                  0.2788616502878607,
+                  -0.3328073659135683
+                ],
+                "target_mouth_xy": [
+                  0.27998051555293346,
+                  -0.3338669949075496
+                ],
+                "gripper_position": [
+                  0.27885239210900403,
+                  -0.3328073636829614,
+                  1.0022989308418737
+                ],
+                "rod_tip_xy_dist": 0.001540997432273077,
+                "target_xy_drift": 8.321778371491664e-08,
+                "depth": 0.01883870081920358,
+                "bottom_clearance": 0.08060186029129113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001128119914433845,
+                  0.0010595976252163464
+                ],
+                "rod_tip_xy": [
+                  0.27885239210900403,
+                  -0.3328073636829614
+                ],
+                "target_mouth_xy": [
+                  0.2799805120234379,
+                  -0.3338669613081777
+                ],
+                "gripper_position": [
+                  0.278843196161402,
+                  -0.3328070659893495,
+                  1.002175868319942
+                ],
+                "rod_tip_xy_dist": 0.0015477085218820585,
+                "target_xy_drift": 6.668333960205576e-08,
+                "depth": 0.01896106322150981,
+                "bottom_clearance": 0.08047961249456526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011373189430695096,
+                  0.0010599279635247205
+                ],
+                "rod_tip_xy": [
+                  0.278843196161402,
+                  -0.3328070659893495
+                ],
+                "target_mouth_xy": [
+                  0.27998051510447153,
+                  -0.3338669939528742
+                ],
+                "gripper_position": [
+                  0.27883381736312585,
+                  -0.33280700617800035,
+                  1.002053294654136
+                ],
+                "rod_tip_xy_dist": 0.0015546516221090847,
+                "target_xy_drift": 8.284721456269143e-08,
+                "depth": 0.019083948847514742,
+                "bottom_clearance": 0.08035656111401712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011466648006084879,
+                  0.0010599881096882702
+                ],
+                "rod_tip_xy": [
+                  0.27883381736312585,
+                  -0.3328070061780004
+                ],
+                "target_mouth_xy": [
+                  0.27998048216373433,
+                  -0.3338669942876887
+                ],
+                "gripper_position": [
+                  0.2788445434594656,
+                  -0.3328846800870789,
+                  1.0015453056601387
+                ],
+                "rod_tip_xy_dist": 0.0015615424930609527,
+                "target_xy_drift": 1.0872667505570927e-07,
+                "depth": 0.019206659633507317,
+                "bottom_clearance": 0.08023393457871897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001136002207107245,
+                  0.0009823132317790528
+                ],
+                "rod_tip_xy": [
+                  0.2788445434594655,
+                  -0.33288468008707894
+                ],
+                "target_mouth_xy": [
+                  0.27998054566657277,
+                  -0.333866993318858
+                ],
+                "gripper_position": [
+                  0.27883219870580245,
+                  -0.3328910811404112,
+                  1.001405383557988
+                ],
+                "rod_tip_xy_dist": 0.00150181233843671,
+                "target_xy_drift": 6.455211784778026e-08,
+                "depth": 0.019714584926740608,
+                "bottom_clearance": 0.07972596991454606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001148347233843161,
+                  0.00097591217501658
+                ],
+                "rod_tip_xy": [
+                  0.27883219870580245,
+                  -0.3328910811404112
+                ],
+                "target_mouth_xy": [
+                  0.2799805459396456,
+                  -0.3338669933154278
+                ],
+                "gripper_position": [
+                  0.2788428077705605,
+                  -0.33296316139822746,
+                  1.000812636299308
+                ],
+                "rod_tip_xy_dist": 0.0015070188926555738,
+                "target_xy_drift": 6.443264405222373e-08,
+                "depth": 0.01985450922685461,
+                "bottom_clearance": 0.07958605616369552,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.000598583797575336,
+              "rod_tip_xy_max_step": 3.2427641177256945e-05,
+              "rod_tip_xy_range": 0.0005985691142102573,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27837711457513575,
+            -0.33427005259130704,
+            1.0433550783373515
+          ],
+          "object_origin_world": [
+            0.27837711457513575,
+            -0.33427005259130704,
+            1.0433550783373515
+          ],
+          "frame_world": [
+            0.27837552549842814,
+            -0.3342739552402773,
+            1.0432445399516808
+          ],
+          "center_minus_frame": [
+            1.589076707608772e-06,
+            3.902648970266487e-06,
+            0.00011053838567076646
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25764493313671066,
+              0.15018017245650778,
+              0.8321637266262774
+            ],
+            "target_position": [
+              0.27186931249415985,
+              0.19642538295122325,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04838339035046189,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16593917144960066,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321637266262774,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673214228996,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13600718664916897,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c91eefc67330d84b9819c168c3f38341ad27c1fb9ac230a7aa9f3bc1f0568d1a",
+    "visual_seed": 2109319512345258510,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10fa13c7cd5c7cd112453c74037a33986905ff6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_28_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30402985126379223,
+              0.07392420007612614,
+              1.1625116719649378
+            ],
+            "current_z": 1.1625116719649378,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3014049255315927,
+            "gripper_z": 1.154437277476211,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2987040833419579,
+              0.06888332957641523,
+              1.154437277476211
+            ],
+            "object_minus_gripper": [
+              0.005325767921834312,
+              0.005040870499710914,
+              0.00807439448872671
+            ],
+            "object_to_gripper_xy": 0.00733308798202334,
+            "object_to_gripper_z": 0.00807439448872671,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30402985126379223,
+              0.04966377629077805,
+              1.1625116719649378
+            ],
+            "finger_b": [
+              0.2927507886781119,
+              0.07392420007612614,
+              1.1625116719649378
+            ],
+            "finger_midpoint": [
+              0.29839031997095206,
+              0.061793988183452095,
+              1.1625116719649378
+            ],
+            "object_minus_finger_midpoint": [
+              0.005639531292840172,
+              0.012130211892674048,
+              0.0
+            ],
+            "finger_gap": 0.026754166312116284,
+            "fingertip_max_gap": 0.09059218387946835,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013377083156058142,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625116719649378,
+            "object_top_z": 1.2124178388846278,
+            "finger_top_clearance": 0.049906166919690076,
+            "fingertip_min_top_clearance": 0.014971850075907055,
+            "object_projection_between_fingers": 0.8222690066943121,
+            "object_to_finger_line_xy": 0.010227746775504894,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779609193973418,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3112747459524281,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2759074655745023,
+              -0.3355917684993944,
+              0.8515396093534204
+            ],
+            "target_position": [
+              0.2663543105885532,
+              -0.3365791187863625,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009604042418416331,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849736380743528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396093534204,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752141297583917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524254409519273,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378385857769278,
+            "release_required_pad_clearance": 0.05262127204759637,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.30390217201669617,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007209837436676025,
+            "max_z_decrease": 0.007209837436676025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516222906870774,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007209837436676025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021081480834189703,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007209837436676025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007209858718421414,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12205423414707184,
+              -0.39284056425094593,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12205423414707184,
+              -0.39284056425094593,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12062747719993758,
+              -0.3911785433877286,
+              0.8075786703225666
+            ],
+            "closest_button": [
+              0.12204261124134065,
+              -0.39283636212348927,
+              0.7724840641021729
+            ],
+            "closest_ee_minus_button": [
+              -0.0014151340414030739,
+              0.0016578187357606522,
+              0.03509460622039373
+            ],
+            "button_min_z_position": [
+              0.12203676998615265,
+              -0.3928391933441161,
+              0.7695990204811096
+            ],
+            "min_active_finger_to_button": 0.14671742508231694,
+            "closest_active_finger": [
+              -0.007216982543468475,
+              -0.45312365889549255,
+              0.8109792470932007
+            ],
+            "closest_active_finger_button": [
+              0.12205523997545242,
+              -0.3928423821926116,
+              0.776615560054779
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1292722225189209,
+              -0.06028127670288097,
+              0.03436368703842163
+            ],
+            "min_contact_pad_to_button": 0.021081480834189703,
+            "closest_contact_pad": [
+              0.12203676998615265,
+              -0.3928391933441161,
+              0.7906805013152993
+            ],
+            "closest_contact_pad_button": [
+              0.12203676998615265,
+              -0.3928391933441161,
+              0.7695990204811096
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021081480834189703
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2728467264376704,
+              0.20149341301280962,
+              1.1046948207606384
+            ],
+            "current_z": 1.1046948207606384,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19478569102627585,
+            "gripper_z": 1.1046950827972888,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27284680084165,
+              0.20149342809327633,
+              1.1046950827972888
+            ],
+            "object_minus_gripper": [
+              -7.440397958857758e-08,
+              -1.508046670872787e-08,
+              -2.6203665037805024e-07
+            ],
+            "object_to_gripper_xy": 7.591687990671455e-08,
+            "object_to_gripper_z": -2.6203665037805024e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2728467264376704,
+              0.20149341301280962,
+              1.1046948207606384
+            ],
+            "finger_b": [
+              0.2728467264376704,
+              0.20149341301280962,
+              1.1046948207606384
+            ],
+            "finger_midpoint": [
+              0.2728467264376704,
+              0.20149341301280962,
+              1.1046948207606384
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046948207606384,
+            "object_top_z": 1.2297033273809181,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27284672643767044,
+            0.20149341301280965,
+            1.1046948207606384
+          ],
+          "object_origin_world": [
+            0.27284672643767044,
+            0.20149341301280965,
+            1.1046948207606384
+          ],
+          "frame_world": [
+            0.27284680084165,
+            0.20149342809327633,
+            1.1046950827972888
+          ],
+          "center_minus_frame": [
+            -7.440397953306643e-08,
+            -1.5080466680972293e-08,
+            -2.6203665037805024e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432709967344418,
+            "required_z": 0.9112598524226241,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021173515621798777,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.108376835852979e-08,
+            "max_target_xy_drift": 7.978499519683952e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.30390217645406414,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3039021769109932,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27440639780262643,
+              -0.33707934030470343,
+              0.9233801342711222
+            ],
+            "target_mouth_xy": [
+              0.2759074931474713,
+              -0.33559176467223284
+            ],
+            "rod_tip_z": 0.9233801342711222,
+            "rod_tip_depth": -0.022120361674776268,
+            "rod_tip_bottom_clearance": 0.12156087589094322,
+            "rod_tip_xy_dist": 0.002113331137478286,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04447806156070677,
+            "min_rod_tip_bottom_clearance": 0.05496246755832046,
+            "min_rod_tip_xy_dist": 0.0009503852321098145,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27590749324067787,
+              -0.3355917335886042
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.320655358635577e-11,
+              -3.108362861548031e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0009285282470957723,
+                0.00024628913982632783
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001038707507424852,
+                -0.00012940445058845507
+              ],
+              "first_target_mouth_xy": [
+                0.27590749445226576,
+                -0.3355917057121058
+              ],
+              "last_target_mouth_xy": [
+                0.27590749488177907,
+                -0.33559173488001265
+              ],
+              "first_rod_tip_xy": [
+                0.27497896620517,
+                -0.33534541657227945
+              ],
+              "last_rod_tip_xy": [
+                0.2748687873743542,
+                -0.3357211393306011
+              ],
+              "min_rod_tip_xy_dist": 0.0009503852321098145,
+              "max_rod_tip_xy_dist": 0.0010467372152612368,
+              "first_target_xy_drift": 2.7902815460871946e-08,
+              "last_target_xy_drift": 2.0882885015817753e-09,
+              "max_depth": 0.019504188175762383,
+              "min_bottom_clearance": 0.0799363520397548
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009285282470957723,
+                  0.00024628913982632783
+                ],
+                "rod_tip_xy": [
+                  0.27497896620517,
+                  -0.33534541657227945
+                ],
+                "target_mouth_xy": [
+                  0.27590749445226576,
+                  -0.3355917057121058
+                ],
+                "gripper_position": [
+                  0.2749704446732495,
+                  -0.33534571162467514,
+                  1.0060000762585335
+                ],
+                "rod_tip_xy_dist": 0.0009606367919516408,
+                "target_xy_drift": 2.7902815460871946e-08,
+                "depth": 0.015137612252664856,
+                "bottom_clearance": 0.08430291208102914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009370489075252175,
+                  0.00024602292918024515
+                ],
+                "rod_tip_xy": [
+                  0.2749704446732494,
+                  -0.3353457116246752
+                ],
+                "target_mouth_xy": [
+                  0.2759074935807746,
+                  -0.33559173455385544
+                ],
+                "gripper_position": [
+                  0.2749743530155584,
+                  -0.3354115195741028,
+                  1.0054808598080394
+                ],
+                "rod_tip_xy_dist": 0.0009688074817922452,
+                "target_xy_drift": 1.0234137421432636e-09,
+                "depth": 0.015259748458423372,
+                "bottom_clearance": 0.08418076051487233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009331415521983688,
+                  0.00018021912488203062
+                ],
+                "rod_tip_xy": [
+                  0.2749743530155582,
+                  -0.33541151957410276
+                ],
+                "target_mouth_xy": [
+                  0.2759074945677566,
+                  -0.3355917386989848
+                ],
+                "gripper_position": [
+                  0.27496276725277313,
+                  -0.3354182610049427,
+                  1.0053422796099831
+                ],
+                "rod_tip_xy_dist": 0.0009503852321098145,
+                "target_xy_drift": 5.2798794912304665e-09,
+                "depth": 0.015779020716334635,
+                "bottom_clearance": 0.08366162260541965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009447247998856656,
+                  0.00017347354696228834
+                ],
+                "rod_tip_xy": [
+                  0.27496276725277297,
+                  -0.33541826100494265
+                ],
+                "target_mouth_xy": [
+                  0.27590749205265863,
+                  -0.33559173455190494
+                ],
+                "gripper_position": [
+                  0.27495395267121386,
+                  -0.3354185991369728,
+                  1.0052205806856715
+                ],
+                "rod_tip_xy_dist": 0.000960519660920425,
+                "target_xy_drift": 1.529489451568979e-09,
+                "depth": 0.015917591585911883,
+                "bottom_clearance": 0.08352297591440927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009535710982284118,
+                  0.0001731354211723657
+                ],
+                "rod_tip_xy": [
+                  0.2749539526712137,
+                  -0.3354185991369729
+                ],
+                "target_mouth_xy": [
+                  0.2759075237694421,
+                  -0.3355917345581453
+                ],
+                "gripper_position": [
+                  0.2749588342756617,
+                  -0.33548572417261824,
+                  1.0047017214685947
+                ],
+                "rod_tip_xy_dist": 0.0009691613454121413,
+                "target_xy_drift": 3.0544155837299545e-08,
+                "depth": 0.016039243339102893,
+                "bottom_clearance": 0.0834012729552901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009486594163383155,
+                  0.00010601006412791492
+                ],
+                "rod_tip_xy": [
+                  0.2749588342756616,
+                  -0.33548572417261835
+                ],
+                "target_mouth_xy": [
+                  0.2759074936919999,
+                  -0.33559173423674626
+                ],
+                "gripper_position": [
+                  0.27494712661196996,
+                  -0.3354922307120835,
+                  1.004563045563465
+                ],
+                "rod_tip_xy_dist": 0.0009545642052286258,
+                "target_xy_drift": 7.8979724208952e-10,
+                "depth": 0.016558106056106636,
+                "bottom_clearance": 0.08288241100085725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009603954432207407,
+                  9.950734457481181e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749471266119698,
+                  -0.33549223071208345
+                ],
+                "target_mouth_xy": [
+                  0.27590752205519053,
+                  -0.33559173805665826
+                ],
+                "gripper_position": [
+                  0.27493832100421167,
+                  -0.3354925079078365,
+                  1.0044415930922237
+                ],
+                "rod_tip_xy_dist": 0.0009655366999671702,
+                "target_xy_drift": 2.9158869096631442e-08,
+                "depth": 0.01669685931494891,
+                "bottom_clearance": 0.08274378048022923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009692349002653478,
+                  9.931349718994564e-05
+                ],
+                "rod_tip_xy": [
+                  0.27493832100421156,
+                  -0.3354925079078366
+                ],
+                "target_mouth_xy": [
+                  0.2759075559044769,
+                  -0.3355918214050265
+                ],
+                "gripper_position": [
+                  0.27494393486132224,
+                  -0.3355607890552026,
+                  1.0039244255498556
+                ],
+                "rod_tip_xy_dist": 0.0009743097364885953,
+                "target_xy_drift": 1.0788176739204637e-07,
+                "depth": 0.0168183547896531,
+                "bottom_clearance": 0.08262234226371168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009635581157798612,
+                  3.097498124821074e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749439348613221,
+                  -0.3355607890552026
+                ],
+                "target_mouth_xy": [
+                  0.275907492977102,
+                  -0.3355917640364508
+                ],
+                "gripper_position": [
+                  0.2749320684747796,
+                  -0.33556746145804306,
+                  1.0037859492285324
+                ],
+                "rod_tip_xy_dist": 0.0009640558552016389,
+                "target_xy_drift": 3.0448987396041474e-08,
+                "depth": 0.017335423273633244,
+                "bottom_clearance": 0.08210512027288475,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009754262884288933,
+                  2.4274378075062053e-05
+                ],
+                "rod_tip_xy": [
+                  0.27493206847477947,
+                  -0.33556746145804306
+                ],
+                "target_mouth_xy": [
+                  0.27590749476320836,
+                  -0.3355917358361181
+                ],
+                "gripper_position": [
+                  0.2749233370175753,
+                  -0.33556722451085064,
+                  1.0036643516585058
+                ],
+                "rod_tip_xy_dist": 0.0009757282867628148,
+                "target_xy_drift": 2.714667164292579e-09,
+                "depth": 0.017473881506555045,
+                "bottom_clearance": 0.08196666629834637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009841593004914495,
+                  2.4511326298992664e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749233370175752,
+                  -0.33556722451085064
+                ],
+                "target_mouth_xy": [
+                  0.27590749631806666,
+                  -0.33559173583714963
+                ],
+                "gripper_position": [
+                  0.2749297101784355,
+                  -0.33563628712305277,
+                  1.00315097792206
+                ],
+                "rod_tip_xy_dist": 0.0009844644909090194,
+                "target_xy_drift": 3.811335486972599e-09,
+                "depth": 0.017595551002063226,
+                "bottom_clearance": 0.08184505647832763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009777548237128175,
+                  -4.458140855667647e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749297101784353,
+                  -0.3356362871230528
+                ],
+                "target_mouth_xy": [
+                  0.27590746500214813,
+                  -0.33559170571449615
+                ],
+                "gripper_position": [
+                  0.274917713946279,
+                  -0.33564283684049484,
+                  1.0030124485439955
+                ],
+                "rod_tip_xy_dist": 0.0009787706561205133,
+                "target_xy_drift": 3.967846346315221e-08,
+                "depth": 0.018108787818538974,
+                "bottom_clearance": 0.0813317500982228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009897818185985452,
+                  -5.110228052473964e-05
+                ],
+                "rod_tip_xy": [
+                  0.27491771394627884,
+                  -0.3356428368404949
+                ],
+                "target_mouth_xy": [
+                  0.2759074957648774,
+                  -0.33559173455997016
+                ],
+                "gripper_position": [
+                  0.2749088451995349,
+                  -0.3356425826765733,
+                  1.002891038861875
+                ],
+                "rod_tip_xy_dist": 0.0009911001420154638,
+                "target_xy_drift": 2.704650619037431e-09,
+                "depth": 0.018247449515514824,
+                "bottom_clearance": 0.08119313614576684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009986196817533544,
+                  -5.084588511228283e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749088451995348,
+                  -0.3356425826765733
+                ],
+                "target_mouth_xy": [
+                  0.27590746488128814,
+                  -0.33559173679146104
+                ],
+                "gripper_position": [
+                  0.27489969580014084,
+                  -0.3356427634035405,
+                  1.002769647326711
+                ],
+                "rod_tip_xy_dist": 0.0009999132826490616,
+                "target_xy_drift": 2.8539678998988272e-08,
+                "depth": 0.01836874875274963,
+                "bottom_clearance": 0.08107183034121246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010077991689604326,
+                  -5.1029163578741876e-05
+                ],
+                "rod_tip_xy": [
+                  0.27489969580014073,
+                  -0.3356427634035405
+                ],
+                "target_mouth_xy": [
+                  0.27590749496910116,
+                  -0.33559173423996175
+                ],
+                "gripper_position": [
+                  0.27489066432648485,
+                  -0.33564267033241224,
+                  1.002648079728056
+                ],
+                "rod_tip_xy_dist": 0.001009090253888563,
+                "target_xy_drift": 1.847082484482071e-09,
+                "depth": 0.018490190427483788,
+                "bottom_clearance": 0.08095037586399456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010168310352161036,
+                  -5.093417713952775e-05
+                ],
+                "rod_tip_xy": [
+                  0.2748906643264847,
+                  -0.33564267033241224
+                ],
+                "target_mouth_xy": [
+                  0.2759074953617008,
+                  -0.3355917361552727
+                ],
+                "gripper_position": [
+                  0.2748993280632638,
+                  -0.33571496626104735,
+                  1.0021365931546449
+                ],
+                "rod_tip_xy_dist": 0.0010181059102959446,
+                "target_xy_drift": 3.3296434236368423e-09,
+                "depth": 0.01861182105679693,
+                "bottom_clearance": 0.08082876116153725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010081377793473845,
+                  -0.00012326086513841927
+                ],
+                "rod_tip_xy": [
+                  0.27489932806326367,
+                  -0.33571496626104735
+                ],
+                "target_mouth_xy": [
+                  0.27590746584261105,
+                  -0.33559170539590893
+                ],
+                "gripper_position": [
+                  0.2748871845741103,
+                  -0.33572140363898073,
+                  1.0019985151324395
+                ],
+                "rod_tip_xy_dist": 0.001015645126519173,
+                "target_xy_drift": 3.9312620529506944e-08,
+                "depth": 0.019123233134437645,
+                "bottom_clearance": 0.08031732556900273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0010203108772701697,
+                  -0.00012966908032263635
+                ],
+                "rod_tip_xy": [
+                  0.2748871845741102,
+                  -0.33572140363898084
+                ],
+                "target_mouth_xy": [
+                  0.2759074954513804,
+                  -0.3355917345586582
+                ],
+                "gripper_position": [
+                  0.274878069858185,
+                  -0.3357211802176649,
+                  1.0018772106216358
+                ],
+                "rod_tip_xy_dist": 0.0010285175529214567,
+                "target_xy_drift": 2.414168659114964e-09,
+                "depth": 0.019261380432714748,
+                "bottom_clearance": 0.08017919317605682,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0010293951806656376,
+                  -0.00012944438101231137
+                ],
+                "rod_tip_xy": [
+                  0.2748780698581849,
+                  -0.33572118021766495
+                ],
+                "target_mouth_xy": [
+                  0.27590746503885055,
+                  -0.33559173583665264
+                ],
+                "gripper_position": [
+                  0.2748687873743544,
+                  -0.33572113933060116,
+                  1.0017556374859644
+                ],
+                "rod_tip_xy_dist": 0.001037501944939527,
+                "target_xy_drift": 2.8291284625127335e-08,
+                "depth": 0.019382561134177356,
+                "bottom_clearance": 0.08005798967820055,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001038707507424852,
+                  -0.00012940445058845507
+                ],
+                "rod_tip_xy": [
+                  0.2748687873743542,
+                  -0.3357211393306011
+                ],
+                "target_mouth_xy": [
+                  0.27590749488177907,
+                  -0.33559173488001265
+                ],
+                "gripper_position": [
+                  0.27485967604191974,
+                  -0.33572083449707857,
+                  1.0016342584403615
+                ],
+                "rod_tip_xy_dist": 0.0010467372152612368,
+                "target_xy_drift": 2.0882885015817753e-09,
+                "depth": 0.019504188175762383,
+                "bottom_clearance": 0.0799363520397548,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005980139583208656,
+              "rod_tip_xy_max_step": 3.245169523798262e-05,
+              "rod_tip_xy_range": 0.000598007448212644,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2744063978026265,
+            -0.33707934030470343,
+            1.0433801342711222
+          ],
+          "object_origin_world": [
+            0.2744063978026265,
+            -0.33707934030470343,
+            1.0433801342711222
+          ],
+          "frame_world": [
+            0.2744048185869504,
+            -0.3370834572689259,
+            1.0432709967344418
+          ],
+          "center_minus_frame": [
+            1.5792156760618958e-06,
+            4.116964222478092e-06,
+            0.00010913753668040371
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25943626377585516,
+              0.1556980982096126,
+              0.8330543643545552
+            ],
+            "target_position": [
+              0.2730013139003293,
+              0.20127764401180193,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047555289720633276,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1661165599411455,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330543643545552,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674205408643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13522789097882848,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1d499331fef144c7e601889d3bb9fab7090bb97787ed490733681321445fee8",
+    "visual_seed": 7162766236159206208,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe72c9dd74811f029fd69e3ba105630f6d3f475e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_29_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29854566991753406,
+              0.07624969886565582,
+              1.1629675799738772
+            ],
+            "current_z": 1.1629675799738772,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3018609527498216,
+            "gripper_z": 1.1552840291202393,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2932504989817204,
+              0.07107995885862797,
+              1.1552840291202393
+            ],
+            "object_minus_gripper": [
+              0.0052951709358136645,
+              0.005169740007027843,
+              0.0076835508536379216
+            ],
+            "object_to_gripper_xy": 0.007400341004288248,
+            "object_to_gripper_z": 0.0076835508536379216,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29854566991753406,
+              0.052183474193173235,
+              1.1629675799738772
+            ],
+            "finger_b": [
+              0.2868550164656014,
+              0.07624969886565582,
+              1.1629675799738772
+            ],
+            "finger_midpoint": [
+              0.29270034319156774,
+              0.06421658652941453,
+              1.1629675799738772
+            ],
+            "object_minus_finger_midpoint": [
+              0.005845326725966327,
+              0.012033112336241283,
+              0.0
+            ],
+            "finger_gap": 0.026755458286480426,
+            "fingertip_max_gap": 0.0907542447952904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013377729143240208,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629675799738772,
+            "object_top_z": 1.212905966379984,
+            "finger_top_clearance": 0.049938386406106705,
+            "fingertip_min_top_clearance": 0.01498151592183201,
+            "object_projection_between_fingers": 0.8090794023839158,
+            "object_to_finger_line_xy": 0.010515607302623227,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478771223976452,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4914474590718345,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2799956631222462,
+              -0.34187968394227664,
+              0.8515395650967421
+            ],
+            "target_position": [
+              0.27121283720918365,
+              -0.3429207984897719,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008844317414033125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18629260260964514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395650967421,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568285898954241,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517968462020155,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15372552749967813,
+            "release_required_pad_clearance": 0.052589842310100776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24389312467275712,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007705628871917725,
+            "max_z_decrease": 0.007705628871917725,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515421286201639,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007705628871917725,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021183882945863042,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007705628871917725,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007705653022554871,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12691275775432587,
+              -0.3991822600364684,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12691275775432587,
+              -0.3991822600364684,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12841853572870968,
+              -0.4002479138456882,
+              0.8076157377112613
+            ],
+            "closest_button": [
+              0.1269010454416275,
+              -0.3991801142692565,
+              0.7725105285644531
+            ],
+            "closest_ee_minus_button": [
+              0.0015174902870821738,
+              -0.001067799576431716,
+              0.03510520914680815
+            ],
+            "button_min_z_position": [
+              0.12689349055290222,
+              -0.3991812765598296,
+              0.7691032290458679
+            ],
+            "min_active_finger_to_button": 0.14460985254287773,
+            "closest_active_finger": [
+              -0.012746423482894897,
+              -0.38416820764541626,
+              0.8108370304107666
+            ],
+            "closest_active_finger_button": [
+              0.1269126981496811,
+              -0.39918217062950123,
+              0.7764579653739929
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139659121632576,
+              0.015013962984084972,
+              0.03437906503677368
+            ],
+            "min_contact_pad_to_button": 0.021183882945863042,
+            "closest_contact_pad": [
+              0.12689349055290222,
+              -0.40130600200218425,
+              0.7901802885765197
+            ],
+            "closest_contact_pad_button": [
+              0.12689349055290222,
+              -0.3991812765598296,
+              0.7691032290458679
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002124725442354647,
+              0.021077059530651754
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2686229919562911,
+              0.20103109133405664,
+              1.1035901043175342
+            ],
+            "current_z": 1.1035901043175342,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19368097458317168,
+            "gripper_z": 1.103590339738748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26862300046187587,
+              0.2010311324767041,
+              1.103590339738748
+            ],
+            "object_minus_gripper": [
+              -8.50558479204011e-09,
+              -4.114264745558316e-08,
+              -2.3542121385666803e-07
+            ],
+            "object_to_gripper_xy": 4.2012645861799607e-08,
+            "object_to_gripper_z": -2.3542121385666803e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2686229919562911,
+              0.20103109133405664,
+              1.1035901043175342
+            ],
+            "finger_b": [
+              0.2686229919562911,
+              0.20103109133405664,
+              1.1035901043175342
+            ],
+            "finger_midpoint": [
+              0.2686229919562911,
+              0.20103109133405664,
+              1.1035901043175342
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035901043175342,
+            "object_top_z": 1.228598610937814,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2686229919562911,
+            0.20103109133405664,
+            1.1035901043175345
+          ],
+          "object_origin_world": [
+            0.2686229919562911,
+            0.20103109133405664,
+            1.1035901043175345
+          ],
+          "frame_world": [
+            0.26862300046187587,
+            0.2010311324767041,
+            1.103590339738748
+          ],
+          "center_minus_frame": [
+            -8.50558479204011e-09,
+            -4.114264745558316e-08,
+            -2.3542121363462343e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043313959810995,
+            "required_z": 0.9112598321549079,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014614600861567718,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.486396641795908e-08,
+            "max_target_xy_drift": 1.8279219590339913e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.24389312275548433,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.24389312492679951,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2807687121979701,
+              -0.34311577153026657,
+              0.9234269931114302
+            ],
+            "target_mouth_xy": [
+              0.2799956638132374,
+              -0.34187977303721817
+            ],
+            "rod_tip_z": 0.9234269931114302,
+            "rod_tip_depth": -0.02216717326143447,
+            "rod_tip_bottom_clearance": 0.12160769836709628,
+            "rod_tip_xy_dist": 0.0014578395247611187,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04498643719270845,
+            "min_rod_tip_bottom_clearance": 0.054454133106962566,
+            "min_rod_tip_xy_dist": 0.00015520598722472886,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.279995602786263,
+              -0.3418797140660287
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.102697441834337e-08,
+              -5.897118948716695e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0012127054284393757,
+                0.0005090905484885222
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0011286732076525308,
+                0.00012425725379977548
+              ],
+              "first_target_mouth_xy": [
+                0.2799956618820315,
+                -0.3418798066386798
+              ],
+              "last_target_mouth_xy": [
+                0.27999563002620037,
+                -0.341879744511988
+              ],
+              "first_rod_tip_xy": [
+                0.2812083673104709,
+                -0.34137071609019126
+              ],
+              "last_rod_tip_xy": [
+                0.2811243032338529,
+                -0.3417554872581882
+              ],
+              "min_rod_tip_xy_dist": 0.0011354924371366436,
+              "max_rod_tip_xy_dist": 0.0013152291217604156,
+              "first_target_xy_drift": 1.0982716233452444e-07,
+              "last_target_xy_drift": 4.0853036921478455e-08,
+              "max_depth": 0.019480839866665822,
+              "min_bottom_clearance": 0.07995979882391813
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0012127054284393757,
+                  0.0005090905484885222
+                ],
+                "rod_tip_xy": [
+                  0.2812083673104709,
+                  -0.34137071609019126
+                ],
+                "target_mouth_xy": [
+                  0.2799956618820315,
+                  -0.3418798066386798
+                ],
+                "gripper_position": [
+                  0.2812171846635574,
+                  -0.3414370110650817,
+                  1.0057025141347997
+                ],
+                "rod_tip_xy_dist": 0.0013152291217604156,
+                "target_xy_drift": 1.0982716233452444e-07,
+                "depth": 0.015035479124214324,
+                "bottom_clearance": 0.08440517130343561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012214599435633189,
+                  0.0004426361593843908
+                ],
+                "rod_tip_xy": [
+                  0.28121718466355733,
+                  -0.3414370110650817
+                ],
+                "target_mouth_xy": [
+                  0.279995724719994,
+                  -0.34187964722446607
+                ],
+                "gripper_position": [
+                  0.28120556191865165,
+                  -0.3414441423312765,
+                  1.0055588003854246
+                ],
+                "rod_tip_xy_dist": 0.0012991886557864759,
+                "target_xy_drift": 1.3905261324067787e-07,
+                "depth": 0.015557494389143889,
+                "bottom_clearance": 0.0838833188275443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00120990135279464,
+                  0.00043566114683873947
+                ],
+                "rod_tip_xy": [
+                  0.2812055619186516,
+                  -0.34144414233127657
+                ],
+                "target_mouth_xy": [
+                  0.27999566056585695,
+                  -0.3418798034781153
+                ],
+                "gripper_position": [
+                  0.28119685141784484,
+                  -0.34144497459045137,
+                  1.0054330008866215
+                ],
+                "rod_tip_xy_dist": 0.001285947867667716,
+                "target_xy_drift": 1.0645657664302384e-07,
+                "depth": 0.01570108733905584,
+                "bottom_clearance": 0.08373950028575872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012011286124684606,
+                  0.00043476832526767595
+                ],
+                "rod_tip_xy": [
+                  0.2811968514178448,
+                  -0.34144497459045126
+                ],
+                "target_mouth_xy": [
+                  0.2799957228053763,
+                  -0.34187974291571893
+                ],
+                "gripper_position": [
+                  0.28120682215571247,
+                  -0.34151200987196706,
+                  1.004910913627808
+                ],
+                "rod_tip_xy_dist": 0.0012773932207219784,
+                "target_xy_drift": 1.234378069643509e-07,
+                "depth": 0.01582681983194545,
+                "bottom_clearance": 0.0836136932406567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001211160721640403,
+                  0.00036776411564748424
+                ],
+                "rod_tip_xy": [
+                  0.2812068221557124,
+                  -0.3415120098719671
+                ],
+                "target_mouth_xy": [
+                  0.279995661434072,
+                  -0.3418797739876146
+                ],
+                "gripper_position": [
+                  0.28119506390439797,
+                  -0.3415193087325047,
+                  1.0047674521284307
+                ],
+                "rod_tip_xy_dist": 0.0012657648827497459,
+                "target_xy_drift": 8.384606108157186e-08,
+                "depth": 0.0163489533214074,
+                "bottom_clearance": 0.08309161228508266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001199370779154052,
+                  0.0003604332390144127
+                ],
+                "rod_tip_xy": [
+                  0.2811950639043979,
+                  -0.34151930873250474
+                ],
+                "target_mouth_xy": [
+                  0.27999569312524386,
+                  -0.34187974197151916
+                ],
+                "gripper_position": [
+                  0.2811862929293079,
+                  -0.3415199257651521,
+                  1.004641556470379
+                ],
+                "rod_tip_xy_dist": 0.0012523587288293314,
+                "target_xy_drift": 9.45507686900783e-08,
+                "depth": 0.01649238647825213,
+                "bottom_clearance": 0.0829481652142946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011906319085761008,
+                  0.00035988182962692905
+                ],
+                "rod_tip_xy": [
+                  0.28118629292930786,
+                  -0.34151992576515205
+                ],
+                "target_mouth_xy": [
+                  0.27999566102073176,
+                  -0.341879807594779
+                ],
+                "gripper_position": [
+                  0.2811970828170792,
+                  -0.3415882081242927,
+                  1.004121333718798
+                ],
+                "rod_tip_xy_dist": 0.0012438324939537456,
+                "target_xy_drift": 1.1017658772610706e-07,
+                "depth": 0.01661839127554332,
+                "bottom_clearance": 0.08282232624626706,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012013289311784692,
+                  0.00029146921356032474
+                ],
+                "rod_tip_xy": [
+                  0.28119708281707917,
+                  -0.34158820812429264
+                ],
+                "target_mouth_xy": [
+                  0.2799957538859007,
+                  -0.34187967733785296
+                ],
+                "gripper_position": [
+                  0.2811852172486786,
+                  -0.3415952458643984,
+                  1.0039780436800072
+                ],
+                "rod_tip_xy_dist": 0.001236181824546809,
+                "target_xy_drift": 1.5549938714420062e-07,
+                "depth": 0.017138664133150683,
+                "bottom_clearance": 0.08230211337005733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001189525118740431,
+                  0.00028452622461649923
+                ],
+                "rod_tip_xy": [
+                  0.28118521724867857,
+                  -0.3415952458643983
+                ],
+                "target_mouth_xy": [
+                  0.27999569212993813,
+                  -0.3418797720890148
+                ],
+                "gripper_position": [
+                  0.28117640129004,
+                  -0.34159585541759113,
+                  1.0038524168185827
+                ],
+                "rod_tip_xy_dist": 0.0012230802020345825,
+                "target_xy_drift": 1.0653149395919225e-07,
+                "depth": 0.01728179798219276,
+                "bottom_clearance": 0.08215873736528245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011807366932912178,
+                  0.0002839185647398046
+                ],
+                "rod_tip_xy": [
+                  0.28117640129003996,
+                  -0.34159585541759113
+                ],
+                "target_mouth_xy": [
+                  0.27999566459674874,
+                  -0.34187977398233094
+                ],
+                "gripper_position": [
+                  0.2811673062395562,
+                  -0.3415964478030924,
+                  1.0037266511687903
+                ],
+                "rod_tip_xy_dist": 0.0012143923955164533,
+                "target_xy_drift": 8.608425768871568e-08,
+                "depth": 0.017407483819078418,
+                "bottom_clearance": 0.08203310121590424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011716415185168971,
+                  0.0002833252338597658
+                ],
+                "rod_tip_xy": [
+                  0.28116730623955616,
+                  -0.34159644780309245
+                ],
+                "target_mouth_xy": [
+                  0.27999566472103926,
+                  -0.3418797730369522
+                ],
+                "gripper_position": [
+                  0.2811798877707845,
+                  -0.3416670564964833,
+                  1.0032077626176146
+                ],
+                "rod_tip_xy_dist": 0.0012054115629337027,
+                "target_xy_drift": 8.551892382247743e-08,
+                "depth": 0.017533175885770746,
+                "bottom_clearance": 0.0819073840834802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011842230140216015,
+                  0.0002126864219721969
+                ],
+                "rod_tip_xy": [
+                  0.28117988777078445,
+                  -0.3416670564964834
+                ],
+                "target_mouth_xy": [
+                  0.27999566475676285,
+                  -0.3418797429184556
+                ],
+                "gripper_position": [
+                  0.28116786044434083,
+                  -0.3416741976591034,
+                  1.0030645537784832
+                ],
+                "rod_tip_xy_dist": 0.0012031706699507521,
+                "target_xy_drift": 6.835792118204423e-08,
+                "depth": 0.01805212998714767,
+                "bottom_clearance": 0.08138844270846368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011721964067712975,
+                  0.00020554462750760338
+                ],
+                "rod_tip_xy": [
+                  0.2811678604443408,
+                  -0.3416741976591034
+                ],
+                "target_mouth_xy": [
+                  0.2799956640375695,
+                  -0.341879742286611
+                ],
+                "gripper_position": [
+                  0.28115887409262025,
+                  -0.34167467348332026,
+                  1.0029390200513721
+                ],
+                "rod_tip_xy_dist": 0.0011900810938523395,
+                "target_xy_drift": 6.743977914154911e-08,
+                "depth": 0.01819522523242001,
+                "bottom_clearance": 0.08124534254990579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001163209143194066,
+                  0.0002050678601510092
+                ],
+                "rod_tip_xy": [
+                  0.2811588740926202,
+                  -0.3416746734833202
+                ],
+                "target_mouth_xy": [
+                  0.2799956649494261,
+                  -0.3418797413434712
+                ],
+                "gripper_position": [
+                  0.28114971780938436,
+                  -0.34167527522936314,
+                  1.0028134889774525
+                ],
+                "rod_tip_xy_dist": 0.001181147043376559,
+                "target_xy_drift": 6.788459117888883e-08,
+                "depth": 0.018320902322472188,
+                "bottom_clearance": 0.08111973440344755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011540545610076447,
+                  0.00020446863468670529
+                ],
+                "rod_tip_xy": [
+                  0.28114971780938436,
+                  -0.3416752752293632
+                ],
+                "target_mouth_xy": [
+                  0.2799956632483767,
+                  -0.3418797438640499
+                ],
+                "gripper_position": [
+                  0.28116384329374416,
+                  -0.34174750096870016,
+                  1.0022982004837413
+                ],
+                "rod_tip_xy_dist": 0.0011720278803651356,
+                "target_xy_drift": 6.740615151515999e-08,
+                "depth": 0.018446335610071807,
+                "bottom_clearance": 0.08099418618300802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011682114708924662,
+                  0.0001322416373961688
+                ],
+                "rod_tip_xy": [
+                  0.2811638432937441,
+                  -0.34174750096870027
+                ],
+                "target_mouth_xy": [
+                  0.27999563182285164,
+                  -0.34187974260609644
+                ],
+                "gripper_position": [
+                  0.28115190508117854,
+                  -0.34175421311666915,
+                  1.0021554683964333
+                ],
+                "rod_tip_xy_dist": 0.0011756725272736278,
+                "target_xy_drift": 4.0714357993819305e-08,
+                "depth": 0.018961656999727183,
+                "bottom_clearance": 0.08047889413255438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001156209414644782,
+                  0.00012553232946660442
+                ],
+                "rod_tip_xy": [
+                  0.2811519050811785,
+                  -0.34175421311666926
+                ],
+                "target_mouth_xy": [
+                  0.2799956956665337,
+                  -0.34187974544613586
+                ],
+                "gripper_position": [
+                  0.28114273368757703,
+                  -0.3417546438197939,
+                  1.0020302716210514
+                ],
+                "rod_tip_xy_dist": 0.0011630041170410971,
+                "target_xy_drift": 9.803803247359767e-08,
+                "depth": 0.019104464906177343,
+                "bottom_clearance": 0.0803362138956576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011470723629985469,
+                  0.00012509942133753782
+                ],
+                "rod_tip_xy": [
+                  0.281142733687577,
+                  -0.341754643819794
+                ],
+                "target_mouth_xy": [
+                  0.2799956613245784,
+                  -0.3418797432411315
+                ],
+                "gripper_position": [
+                  0.2811336406948479,
+                  -0.3417550588206044,
+                  1.00190471889446
+                ],
+                "rod_tip_xy_dist": 0.0011538738540993365,
+                "target_xy_drift": 6.540581776295825e-08,
+                "depth": 0.019229583793569982,
+                "bottom_clearance": 0.08021095636724251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0011379472770982058,
+                  0.0001246847299167242
+                ],
+                "rod_tip_xy": [
+                  0.28113364069484786,
+                  -0.3417550588206045
+                ],
+                "target_mouth_xy": [
+                  0.27999569341774966,
+                  -0.3418797435505212
+                ],
+                "gripper_position": [
+                  0.28112430323385296,
+                  -0.3417554872581881,
+                  1.0017790817278756
+                ],
+                "rod_tip_xy_dist": 0.001144757741764443,
+                "target_xy_drift": 9.530688155115956e-08,
+                "depth": 0.019355103052928646,
+                "bottom_clearance": 0.0800854217602327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011286732076525308,
+                  0.00012425725379977548
+                ],
+                "rod_tip_xy": [
+                  0.2811243032338529,
+                  -0.3417554872581882
+                ],
+                "target_mouth_xy": [
+                  0.27999563002620037,
+                  -0.341879744511988
+                ],
+                "gripper_position": [
+                  0.28111503494209056,
+                  -0.34175613959409795,
+                  1.0016539091059582
+                ],
+                "rod_tip_xy_dist": 0.0011354924371366436,
+                "target_xy_drift": 4.0853036921478455e-08,
+                "depth": 0.019480839866665822,
+                "bottom_clearance": 0.07995979882391813,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006068149220042704,
+              "rod_tip_xy_max_step": 3.293010497505822e-05,
+              "rod_tip_xy_range": 0.0006068052376686855,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2807687121979701,
+            -0.34311577153026657,
+            1.0434269931114302
+          ],
+          "object_origin_world": [
+            0.2807687121979701,
+            -0.34311577153026657,
+            1.0434269931114302
+          ],
+          "frame_world": [
+            0.28076707782710714,
+            -0.3431210570509051,
+            1.043313959810995
+          ],
+          "center_minus_frame": [
+            1.6343708629795728e-06,
+            5.285520638553809e-06,
+            0.00011303330043510584
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2557477950566658,
+              0.15487526519065867,
+              0.8320589421726212
+            ],
+            "target_position": [
+              0.26875661720586547,
+              0.2014272475871262,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04833545819324083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1661577153378398,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320589421726212,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677354599365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13526203566320502,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c667e436abbf78cf757ba5ed632a2b89d329e008b77b93b3c99d40b467aa293e",
+    "visual_seed": 7762045194988390033,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0650e487a46d4e73305d09d5fda6e7e65e2c7db2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_30_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30115171288273435,
+              0.07408742550534825,
+              1.163832007639921
+            ],
+            "current_z": 1.163832007639921,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30272544002051005,
+            "gripper_z": 1.156038199091702,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29582201704122335,
+              0.069011100244467,
+              1.156038199091702
+            ],
+            "object_minus_gripper": [
+              0.005329695841510995,
+              0.005076325260881254,
+              0.007793808548218983
+            ],
+            "object_to_gripper_xy": 0.007360348899154219,
+            "object_to_gripper_z": 0.007793808548218983,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30115171288273435,
+              0.04984421294380303,
+              1.163832007639921
+            ],
+            "finger_b": [
+              0.28979617059047247,
+              0.07408742550534825,
+              1.163832007639921
+            ],
+            "finger_midpoint": [
+              0.2954739417366034,
+              0.06196581922457564,
+              1.163832007639921
+            ],
+            "object_minus_finger_midpoint": [
+              0.005677771146130939,
+              0.012121606280772607,
+              0.0
+            ],
+            "finger_gap": 0.02677091137887562,
+            "fingertip_max_gap": 0.0909486277639395,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013385455689437806,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163832007639921,
+            "object_top_z": 1.2138052383266897,
+            "finger_top_clearance": 0.049973230686768844,
+            "fingertip_min_top_clearance": 0.014991969206030619,
+            "object_projection_between_fingers": 0.8200758559050152,
+            "object_to_finger_line_xy": 0.010283356500150794,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797431388196975,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5688179597410058,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2773234420782354,
+              -0.34004216687675226,
+              0.8515395755118669
+            ],
+            "target_position": [
+              0.26887406707664885,
+              -0.34070817503809825,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008475582858329868,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18357410131434518,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395755118669,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753844528167416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500691674382706,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15178567979928756,
+            "release_required_pad_clearance": 0.05250345837191353,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912936329792847,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007521331310272217,
+            "max_z_decrease": 0.007521331310272217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035097521449154435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007521331310272217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0211617485867879,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007521331310272217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007521353959930504,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12457399070262908,
+              -0.39696964621543884,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12457399070262908,
+              -0.39696964621543884,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12506614765687127,
+              -0.39773524383505565,
+              0.8076631498718948
+            ],
+            "closest_button": [
+              0.1245632544159889,
+              -0.3969669044017792,
+              0.7725776433944702
+            ],
+            "closest_ee_minus_button": [
+              0.0005028932408823739,
+              -0.000768339433276477,
+              0.03508550647742459
+            ],
+            "button_min_z_position": [
+              0.12455570697784421,
+              -0.3969671130180359,
+              0.7692875266075134
+            ],
+            "min_active_finger_to_button": 0.14565785948617052,
+            "closest_active_finger": [
+              -0.016325779259204865,
+              -0.3837583065032959,
+              0.8110851049423218
+            ],
+            "closest_active_finger_button": [
+              0.12457448244094847,
+              -0.39696910977363586,
+              0.7766060829162598
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14090026170015335,
+              0.013210803270339966,
+              0.03447902202606201
+            ],
+            "min_contact_pad_to_button": 0.0211617485867879,
+            "closest_contact_pad": [
+              0.12455570697784421,
+              -0.39868830099233965,
+              0.7903791627509598
+            ],
+            "closest_contact_pad_button": [
+              0.12455570697784421,
+              -0.3969671130180359,
+              0.7692875266075134
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017211879743037617,
+              0.021091636143446335
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2743286091632071,
+              0.19996902852521567,
+              1.1040435185620927
+            ],
+            "current_z": 1.1040435185620927,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19413438882773015,
+            "gripper_z": 1.1040436078748732,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2743285429834441,
+              0.19996899532961201,
+              1.1040436078748732
+            ],
+            "object_minus_gripper": [
+              6.617976300304917e-08,
+              3.3195603654778694e-08,
+              -8.931278050461344e-08
+            ],
+            "object_to_gripper_xy": 7.40385651748122e-08,
+            "object_to_gripper_z": -8.931278050461344e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2743286091632071,
+              0.19996902852521567,
+              1.1040435185620927
+            ],
+            "finger_b": [
+              0.2743286091632071,
+              0.19996902852521567,
+              1.1040435185620927
+            ],
+            "finger_midpoint": [
+              0.2743286091632071,
+              0.19996902852521567,
+              1.1040435185620927
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040435185620927,
+            "object_top_z": 1.2290520251823724,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27432860916320717,
+            0.1999690285252157,
+            1.1040435185620927
+          ],
+          "object_origin_world": [
+            0.27432860916320717,
+            0.1999690285252157,
+            1.1040435185620927
+          ],
+          "frame_world": [
+            0.2743285429834441,
+            0.19996899532961201,
+            1.1040436078748732
+          ],
+          "center_minus_frame": [
+            6.617976305856033e-08,
+            3.319560368253427e-08,
+            -8.931278050461344e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043227352502504,
+            "required_z": 0.9112598321905587,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018750124451960934,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.227429956042022e-09,
+            "max_target_xy_drift": 1.343476100442682e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.07912936415463268,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.07912936528769307,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2775427989421256,
+              -0.338175240534379,
+              0.9233382708591346
+            ],
+            "target_mouth_xy": [
+              0.2773234429962763,
+              -0.34004216439808443
+            ],
+            "rod_tip_z": 0.9233382708591346,
+            "rod_tip_depth": -0.022078433562629507,
+            "rod_tip_bottom_clearance": 0.12151897773991271,
+            "rod_tip_xy_dist": 0.0018797664067251418,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044420198915040454,
+            "min_rod_tip_bottom_clearance": 0.055020523756119766,
+            "min_rod_tip_xy_dist": 5.055300304417477e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.27732344422700145,
+              -0.3400421662546296
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.2307251329168878e-09,
+              1.8565451398444566e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0007298538707685709,
+                0.0036375484989107365
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006335999970613071,
+                0.0032340157981884943
+              ],
+              "first_target_mouth_xy": [
+                0.2773234422425615,
+                -0.3400421653282535
+              ],
+              "last_target_mouth_xy": [
+                0.2773234416965807,
+                -0.340042106032693
+              ],
+              "first_rod_tip_xy": [
+                0.2780532961133301,
+                -0.33640461682934275
+              ],
+              "last_rod_tip_xy": [
+                0.277957041693642,
+                -0.33680809023450453
+              ],
+              "min_rod_tip_xy_dist": 0.0032954980108033526,
+              "max_rod_tip_xy_dist": 0.003710046597362844,
+              "first_target_xy_drift": 2.190017021068811e-09,
+              "last_target_xy_drift": 6.027507503853192e-08,
+              "max_depth": 0.019849873855830036,
+              "min_bottom_clearance": 0.0795906492469346
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007298538707685709,
+                  0.0036375484989107365
+                ],
+                "rod_tip_xy": [
+                  0.2780532961133301,
+                  -0.33640461682934275
+                ],
+                "target_mouth_xy": [
+                  0.2773234422425615,
+                  -0.3400421653282535
+                ],
+                "gripper_position": [
+                  0.2780415942122365,
+                  -0.3364116467688504,
+                  1.0056710091383037
+                ],
+                "rod_tip_xy_dist": 0.003710046597362844,
+                "target_xy_drift": 2.190017021068811e-09,
+                "depth": 0.01544843537186713,
+                "bottom_clearance": 0.08399207782734841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.000718120000349598,
+                  0.0036305179330169413
+                ],
+                "rod_tip_xy": [
+                  0.2780415942122364,
+                  -0.3364116467688504
+                ],
+                "target_mouth_xy": [
+                  0.2773234742118868,
+                  -0.3400421647018673
+                ],
+                "gripper_position": [
+                  0.2780482166431095,
+                  -0.33648020652249344,
+                  1.0051535510175094
+                ],
+                "rod_tip_xy_dist": 0.003700858926905984,
+                "target_xy_drift": 3.002506320077621e-08,
+                "depth": 0.015588893572639484,
+                "bottom_clearance": 0.08385169407782078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007247446364445631,
+                  0.0035619584947091942
+                ],
+                "rod_tip_xy": [
+                  0.2780482166431094,
+                  -0.33648020652249344
+                ],
+                "target_mouth_xy": [
+                  0.27732347200666485,
+                  -0.34004216501720264
+                ],
+                "gripper_position": [
+                  0.2780364272961061,
+                  -0.33648696828334396,
+                  1.0050132379180134
+                ],
+                "rod_tip_xy_dist": 0.0036349419673615355,
+                "target_xy_drift": 2.7807209932133837e-08,
+                "depth": 0.016106226371086052,
+                "bottom_clearance": 0.08333429937522152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007129533536724408,
+                  0.0035551967311532318
+                ],
+                "rod_tip_xy": [
+                  0.278036427296106,
+                  -0.3364869682833439
+                ],
+                "target_mouth_xy": [
+                  0.27732347394243356,
+                  -0.34004216501449713
+                ],
+                "gripper_position": [
+                  0.2780276474177876,
+                  -0.3364872065474837,
+                  1.004889750659787
+                ],
+                "rod_tip_xy_dist": 0.0036259793548385523,
+                "target_xy_drift": 2.9741298462732253e-08,
+                "depth": 0.016246657119307506,
+                "bottom_clearance": 0.0831939091223074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007041733917816928,
+                  0.0035549292850862724
+                ],
+                "rod_tip_xy": [
+                  0.2780276474177875,
+                  -0.33648720654748365
+                ],
+                "target_mouth_xy": [
+                  0.2773234740260058,
+                  -0.3400421358325699
+                ],
+                "gripper_position": [
+                  0.2780353077876586,
+                  -0.3365568684054775,
+                  1.0043731308737478
+                ],
+                "rod_tip_xy_dist": 0.0036240008812991934,
+                "target_xy_drift": 4.258500176177981e-08,
+                "depth": 0.016370074398136425,
+                "bottom_clearance": 0.0830704729963253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007118386840148094,
+                  0.0034852984471480664
+                ],
+                "rod_tip_xy": [
+                  0.2780353077876585,
+                  -0.3365568684054775
+                ],
+                "target_mouth_xy": [
+                  0.2773234691036437,
+                  -0.34004216685262556
+                ],
+                "gripper_position": [
+                  0.2780235265238278,
+                  -0.3365635063194661,
+                  1.0042326650650337
+                ],
+                "rod_tip_xy_dist": 0.003557248877679584,
+                "target_xy_drift": 2.4883828657230163e-08,
+                "depth": 0.01688674219151365,
+                "bottom_clearance": 0.08255390955556619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007000513967950206,
+                  0.0034786260715481965
+                ],
+                "rod_tip_xy": [
+                  0.27802352652382767,
+                  -0.3365635063194661
+                ],
+                "target_mouth_xy": [
+                  0.27732347512703265,
+                  -0.3400421323910143
+                ],
+                "gripper_position": [
+                  0.27801458681898805,
+                  -0.3365638259490681,
+                  1.0041094835095283
+                ],
+                "rod_tip_xy_dist": 0.003548367413869299,
+                "target_xy_drift": 4.584273518701411e-08,
+                "depth": 0.017027229503981833,
+                "bottom_clearance": 0.08241348161403284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006911160735066368,
+                  0.0034783707227667993
+                ],
+                "rod_tip_xy": [
+                  0.27801458681898794,
+                  -0.3365638259490682
+                ],
+                "target_mouth_xy": [
+                  0.2773234707454813,
+                  -0.340042196671835
+                ],
+                "gripper_position": [
+                  0.27800555820112755,
+                  -0.33656447691487235,
+                  1.003986652923343
+                ],
+                "rod_tip_xy_dist": 0.003546364943440037,
+                "target_xy_drift": 4.035388654795784e-08,
+                "depth": 0.017150399043348807,
+                "bottom_clearance": 0.08229018946326816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006820847166080224,
+                  0.003477687477713265
+                ],
+                "rod_tip_xy": [
+                  0.27800555820112743,
+                  -0.33656447691487235
+                ],
+                "target_mouth_xy": [
+                  0.2773234734845194,
+                  -0.3400421643925856
+                ],
+                "gripper_position": [
+                  0.2780149886675387,
+                  -0.3366363075974969,
+                  1.0034694985632666
+                ],
+                "rod_tip_xy_dist": 0.003543945506532782,
+                "target_xy_drift": 2.9316711362800015e-08,
+                "depth": 0.017273189922176968,
+                "bottom_clearance": 0.08216738080806718,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006915168093873936,
+                  0.003405859586999904
+                ],
+                "rod_tip_xy": [
+                  0.2780149886675386,
+                  -0.33663630759749696
+                ],
+                "target_mouth_xy": [
+                  0.2773234718581512,
+                  -0.34004216718449687
+                ],
+                "gripper_position": [
+                  0.2780030282648048,
+                  -0.33664321574128847,
+                  1.003329394134428
+                ],
+                "rod_tip_xy_dist": 0.0034753525035634125,
+                "target_xy_drift": 2.7646791677978673e-08,
+                "depth": 0.017790355560740045,
+                "bottom_clearance": 0.0816502011682535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006795552898677393,
+                  0.0033989489649660642
+                ],
+                "rod_tip_xy": [
+                  0.27800302826480466,
+                  -0.3366432157412884
+                ],
+                "target_mouth_xy": [
+                  0.2773234729749369,
+                  -0.3400421647062545
+                ],
+                "gripper_position": [
+                  0.2779940078264556,
+                  -0.3366433368248335,
+                  1.003205943673025
+                ],
+                "rod_tip_xy_dist": 0.003466215437394379,
+                "target_xy_drift": 2.8789603324809204e-08,
+                "depth": 0.01793043910269765,
+                "bottom_clearance": 0.08151010093864375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006705661665576401,
+                  0.0033988297410656454
+                ],
+                "rod_tip_xy": [
+                  0.2779940078264555,
+                  -0.3366433368248335
+                ],
+                "target_mouth_xy": [
+                  0.27732344165989786,
+                  -0.34004216656589914
+                ],
+                "gripper_position": [
+                  0.27798492854041656,
+                  -0.3366433770430757,
+                  1.003082870154779
+                ],
+                "rod_tip_xy_dist": 0.003464347354478787,
+                "target_xy_drift": 2.5859059456937037e-09,
+                "depth": 0.018053911509607334,
+                "bottom_clearance": 0.08138663839638627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006614858286455028,
+                  0.003398788285337795
+                ],
+                "rod_tip_xy": [
+                  0.27798492854041645,
+                  -0.33664337704307556
+                ],
+                "target_mouth_xy": [
+                  0.27732344271177095,
+                  -0.34004216532841336
+                ],
+                "gripper_position": [
+                  0.27799584478901773,
+                  -0.3367175375691045,
+                  1.0025684931154994
+                ],
+                "rod_tip_xy_dist": 0.003462560513557598,
+                "target_xy_drift": 1.7758941225592671e-09,
+                "depth": 0.01817694835512318,
+                "bottom_clearance": 0.08126355186746481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006724031948548426,
+                  0.0033246289958254183
+                ],
+                "rod_tip_xy": [
+                  0.2779958447890176,
+                  -0.3367175375691045
+                ],
+                "target_mouth_xy": [
+                  0.2773234415941628,
+                  -0.3400421665649299
+                ],
+                "gripper_position": [
+                  0.27798362748079564,
+                  -0.33672440641335516,
+                  1.002428231514169
+                ],
+                "rod_tip_xy_dist": 0.003391943987794334,
+                "target_xy_drift": 2.6510612516855386e-09,
+                "depth": 0.018691364061414473,
+                "bottom_clearance": 0.08074918835198941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006601544651408386,
+                  0.0033177589148966624
+                ],
+                "rod_tip_xy": [
+                  0.2779836274807955,
+                  -0.3367244064133551
+                ],
+                "target_mouth_xy": [
+                  0.2773234730156547,
+                  -0.34004216532825177
+                ],
+                "gripper_position": [
+                  0.2779744870426366,
+                  -0.33672436405597417,
+                  1.0023051897697548
+                ],
+                "rod_tip_xy_dist": 0.003382798861183098,
+                "target_xy_drift": 2.880355414115637e-08,
+                "depth": 0.018831590998242498,
+                "bottom_clearance": 0.08060892853046953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006510464984567088,
+                  0.0033178031194234237
+                ],
+                "rod_tip_xy": [
+                  0.2779744870426365,
+                  -0.33672436405597417
+                ],
+                "target_mouth_xy": [
+                  0.2773234405441798,
+                  -0.3400421671753976
+                ],
+                "gripper_position": [
+                  0.27796523639465665,
+                  -0.3367244562641363,
+                  1.002182139299926
+                ],
+                "rod_tip_xy_dist": 0.0033810766158737875,
+                "target_xy_drift": 3.796180858701433e-09,
+                "depth": 0.018954710485390103,
+                "bottom_clearance": 0.08048590444564885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006417341141297661,
+                  0.003317709374432709
+                ],
+                "rod_tip_xy": [
+                  0.27796523639465653,
+                  -0.3367244562641364
+                ],
+                "target_mouth_xy": [
+                  0.27732350228052677,
+                  -0.3400421656385691
+                ],
+                "gripper_position": [
+                  0.27795599151374994,
+                  -0.33672458266640204,
+                  1.002059461681477
+                ],
+                "rod_tip_xy_dist": 0.00337920377699194,
+                "target_xy_drift": 5.805679402644473e-08,
+                "depth": 0.019077613798874515,
+                "bottom_clearance": 0.08036287401180531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006325476847895972,
+                  0.0033175823497211265
+                ],
+                "rod_tip_xy": [
+                  0.27795599151374983,
+                  -0.33672458266640193
+                ],
+                "target_mouth_xy": [
+                  0.27732344382896024,
+                  -0.34004216501612305
+                ],
+                "gripper_position": [
+                  0.2779691407779855,
+                  -0.3368015137100648,
+                  1.0015502630920536
+                ],
+                "rod_tip_xy_dist": 0.003377346476261183,
+                "target_xy_drift": 1.300897845619017e-09,
+                "depth": 0.019200371263645044,
+                "bottom_clearance": 0.08024018299206248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006457014760868351,
+                  0.00324065437437715
+                ],
+                "rod_tip_xy": [
+                  0.2779691407779854,
+                  -0.3368015137100647
+                ],
+                "target_mouth_xy": [
+                  0.27732343930189857,
+                  -0.3400421680844419
+                ],
+                "gripper_position": [
+                  0.2779570416936421,
+                  -0.3368080902345045,
+                  1.001409907921724
+                ],
+                "rod_tip_xy_dist": 0.003304356392762511,
+                "target_xy_drift": 5.254031923067608e-09,
+                "depth": 0.019709691620245384,
+                "bottom_clearance": 0.07973100426295232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0006335999970613071,
+                  0.0032340157981884943
+                ],
+                "rod_tip_xy": [
+                  0.277957041693642,
+                  -0.33680809023450453
+                ],
+                "target_mouth_xy": [
+                  0.2773234416965807,
+                  -0.340042106032693
+                ],
+                "gripper_position": [
+                  0.27796981870156534,
+                  -0.3368794660637905,
+                  1.0008161995302278
+                ],
+                "rod_tip_xy_dist": 0.0032954980108033526,
+                "target_xy_drift": 6.027507503853192e-08,
+                "depth": 0.019849873855830036,
+                "bottom_clearance": 0.0795906492469346,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005983584016169099,
+              "rod_tip_xy_max_step": 3.232101040785348e-05,
+              "rod_tip_xy_range": 0.0005983469010335998,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27754279894212563,
+            -0.338175240534379,
+            1.0433382708591346
+          ],
+          "object_origin_world": [
+            0.27754279894212563,
+            -0.338175240534379,
+            1.0433382708591346
+          ],
+          "frame_world": [
+            0.2775411930176259,
+            -0.33817983880951447,
+            1.043227352502504
+          ],
+          "center_minus_frame": [
+            1.6059244997146394e-06,
+            4.598275135492269e-06,
+            0.00011091835663057381
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2631983326378054,
+              0.1545067499029283,
+              0.83301613867143
+            ],
+            "target_position": [
+              0.2744834777249819,
+              0.20116854842810006,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800706136853563,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16934439667122467,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83301613867143,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670540630852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1377808095666881,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2d01547f293547dad1b0f5338e810e6d06ee3a81506f8757dd10a9e0ed4e2ee",
+    "visual_seed": 4271421634658491117,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7974674c5e814d7a72cb402e02c3de082e11a6a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30662422781022153,
+              0.07796188664328181,
+              1.1633371849912293
+            ],
+            "current_z": 1.1633371849912293,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.3022304385578841,
+            "gripper_z": 1.1554586976156407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30116143325800127,
+              0.07279995359822879,
+              1.1554586976156407
+            ],
+            "object_minus_gripper": [
+              0.0054627945522202626,
+              0.005161933045053024,
+              0.007878487375588605
+            ],
+            "object_to_gripper_xy": 0.007515828436132491,
+            "object_to_gripper_z": 0.007878487375588605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30662422781022153,
+              0.05368623309309754,
+              1.1633371849912293
+            ],
+            "finger_b": [
+              0.29507329386158937,
+              0.07796188664328181,
+              1.1633371849912293
+            ],
+            "finger_midpoint": [
+              0.30084876083590545,
+              0.06582405986818968,
+              1.1633371849912293
+            ],
+            "object_minus_finger_midpoint": [
+              0.005775466974316079,
+              0.012137826775092134,
+              0.0
+            ],
+            "finger_gap": 0.026883664749699526,
+            "fingertip_max_gap": 0.09063203337926098,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013441832374849763,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633371849912293,
+            "object_top_z": 1.2132208613656306,
+            "finger_top_clearance": 0.049883676374401276,
+            "fingertip_min_top_clearance": 0.014965102912320382,
+            "object_projection_between_fingers": 0.8153891342229649,
+            "object_to_finger_line_xy": 0.010430366295993594,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047816016689630494,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33542443879906525,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27723665262684566,
+              -0.3394086693552726,
+              0.8515395972169956
+            ],
+            "target_position": [
+              0.2678949444249269,
+              -0.3403598798802623,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00939001137340352,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865384474315923,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395972169956,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521835297487404,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595370803132658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15522063091744023,
+            "release_required_pad_clearance": 0.052976854015663294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9883284956827527,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007374286651611328,
+            "max_z_decrease": 0.007374286651611328,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512677976795636,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007374286651611328,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021191342341727794,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007374286651611328,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007374309707789736,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12359487265348433,
+              -0.39662134647369385,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12359487265348433,
+              -0.39662134647369385,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12434959910517704,
+              -0.39769761853597263,
+              0.8080824573208784
+            ],
+            "closest_button": [
+              0.12358970940113068,
+              -0.3966214060783386,
+              0.7729803919792175
+            ],
+            "closest_ee_minus_button": [
+              0.0007598897040463626,
+              -0.001076212457634007,
+              0.035102065341660826
+            ],
+            "button_min_z_position": [
+              0.12357644736766815,
+              -0.39662060141563416,
+              0.7694345712661743
+            ],
+            "min_active_finger_to_button": 0.1453546682829362,
+            "closest_active_finger": [
+              -0.016704335808753967,
+              -0.38044285774230957,
+              0.8111457228660583
+            ],
+            "closest_active_finger_button": [
+              0.12359861284494399,
+              -0.39661985635757446,
+              0.7767747044563293
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14030294865369797,
+              0.016176998615264893,
+              0.034371018409729004
+            ],
+            "min_contact_pad_to_button": 0.021191342341727794,
+            "closest_contact_pad": [
+              0.12357644736766815,
+              -0.3988508292858806,
+              0.790508229560146
+            ],
+            "closest_contact_pad_button": [
+              0.12357644736766815,
+              -0.39662060141563416,
+              0.7694345712661743
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022302278702464595,
+              0.021073658293971675
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26732944194702246,
+              0.20347621700539473,
+              1.1023346552809712
+            ],
+            "current_z": 1.1023346552809712,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19242552554660863,
+            "gripper_z": 1.1023349103515967,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26732945045635603,
+              0.2034762283341967,
+              1.1023349103515967
+            ],
+            "object_minus_gripper": [
+              -8.50933357110506e-09,
+              -1.1328801979848535e-08,
+              -2.5507062551000104e-07
+            ],
+            "object_to_gripper_xy": 1.4168645387719876e-08,
+            "object_to_gripper_z": -2.5507062551000104e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26732944194702246,
+              0.20347621700539473,
+              1.1023346552809712
+            ],
+            "finger_b": [
+              0.26732944194702246,
+              0.20347621700539473,
+              1.1023346552809712
+            ],
+            "finger_midpoint": [
+              0.26732944194702246,
+              0.20347621700539473,
+              1.1023346552809712
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023346552809712,
+            "object_top_z": 1.227343161901251,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2673294419470224,
+            0.20347621700539475,
+            1.1023346552809714
+          ],
+          "object_origin_world": [
+            0.2673294419470224,
+            0.20347621700539475,
+            1.1023346552809714
+          ],
+          "frame_world": [
+            0.26732945045635603,
+            0.2034762283341967,
+            1.1023349103515967
+          ],
+          "center_minus_frame": [
+            -8.509333626616211e-09,
+            -1.132880195209296e-08,
+            -2.5507062528795643e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431814223401454,
+            "required_z": 0.9112599040556539,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002299490863659828,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.869409770144961e-08,
+            "max_target_xy_drift": 1.769347948253904e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9883284990660056,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9883284994333175,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2749391454479314,
+              -0.33935390159095413,
+              0.9232911691890872
+            ],
+            "target_mouth_xy": [
+              0.277236561254218,
+              -0.33940860718993277
+            ],
+            "rod_tip_z": 0.9232911691890872,
+            "rod_tip_depth": -0.022031317799817374,
+            "rod_tip_bottom_clearance": 0.1214719000746568,
+            "rod_tip_xy_dist": 0.0022980670332988433,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04475170438359255,
+            "min_rod_tip_bottom_clearance": 0.05468887089866503,
+            "min_rod_tip_xy_dist": 0.0009547904569575188,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27723662151039713,
+              -0.33940864017586814
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.02561791573919e-08,
+              3.2985935372042974e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0017061574460498496,
+                0.0018326553272791646
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001818000504280548,
+                0.0014246288236162696
+              ],
+              "first_target_mouth_xy": [
+                0.27723659202460205,
+                -0.3394086395501277
+              ],
+              "last_target_mouth_xy": [
+                0.27723658960275877,
+                -0.3394086407898259
+              ],
+              "first_rod_tip_xy": [
+                0.2755304345785522,
+                -0.3375759842228485
+              ],
+              "last_rod_tip_xy": [
+                0.2754185890984782,
+                -0.33798401196620964
+              ],
+              "min_rod_tip_xy_dist": 0.0023043113374654435,
+              "max_rod_tip_xy_dist": 0.002506590788839903,
+              "first_target_xy_drift": 2.949243399278221e-08,
+              "last_target_xy_drift": 3.191354461927899e-08,
+              "max_depth": 0.01985748845065982,
+              "min_bottom_clearance": 0.07958308461673969
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017061574460498496,
+                  0.0018326553272791646
+                ],
+                "rod_tip_xy": [
+                  0.2755304345785522,
+                  -0.3375759842228485
+                ],
+                "target_mouth_xy": [
+                  0.27723659202460205,
+                  -0.3394086395501277
+                ],
+                "gripper_position": [
+                  0.2755188138961534,
+                  -0.3375831957151151,
+                  1.0056447238851065
+                ],
+                "rod_tip_xy_dist": 0.002503916687774585,
+                "target_xy_drift": 2.949243399278221e-08,
+                "depth": 0.015475780601404199,
+                "bottom_clearance": 0.08396479293589143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017178083832333213,
+                  0.0018254127591288416
+                ],
+                "rod_tip_xy": [
+                  0.27551881389615346,
+                  -0.3375831957151151
+                ],
+                "target_mouth_xy": [
+                  0.2772366222793868,
+                  -0.3394086084742439
+                ],
+                "gripper_position": [
+                  0.2755222283324842,
+                  -0.33765242676607926,
+                  1.0051284301558128
+                ],
+                "rod_tip_xy_dist": 0.002506590788839903,
+                "target_xy_drift": 3.171094957465562e-08,
+                "depth": 0.015615176114580076,
+                "bottom_clearance": 0.08382541667346899,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017143621921374974,
+                  0.0017562121293718813
+                ],
+                "rod_tip_xy": [
+                  0.27552222833248424,
+                  -0.3376524267660793
+                ],
+                "target_mouth_xy": [
+                  0.27723659052462174,
+                  -0.3394086388954512
+                ],
+                "gripper_position": [
+                  0.27551056196248297,
+                  -0.3376593824385618,
+                  1.004989300712113
+                ],
+                "rod_tip_xy_dist": 0.0024542450507607024,
+                "target_xy_drift": 3.1012219270070937e-08,
+                "depth": 0.016131383126283483,
+                "bottom_clearance": 0.0833091116905047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017260602704435302,
+                  0.0017492266731310435
+                ],
+                "rod_tip_xy": [
+                  0.2755105619624831,
+                  -0.33765938243856175
+                ],
+                "target_mouth_xy": [
+                  0.2772366222329266,
+                  -0.3394086091116928
+                ],
+                "gripper_position": [
+                  0.2755018555186656,
+                  -0.3376595768818703,
+                  1.004866659105847
+                ],
+                "rod_tip_xy_dist": 0.0024574535623683087,
+                "target_xy_drift": 3.107257695461839e-08,
+                "depth": 0.01627058761204847,
+                "bottom_clearance": 0.08316998102599904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017347346811162345,
+                  0.001749062018307157
+                ],
+                "rod_tip_xy": [
+                  0.27550185551866563,
+                  -0.3376595768818703
+                ],
+                "target_mouth_xy": [
+                  0.27723659019978186,
+                  -0.3394086389001775
+                ],
+                "gripper_position": [
+                  0.27550631564695927,
+                  -0.33773030729109355,
+                  1.0043514577635213
+                ],
+                "rod_tip_xy_dist": 0.0024634371024550533,
+                "target_xy_drift": 3.1336592269740395e-08,
+                "depth": 0.016393152749704654,
+                "bottom_clearance": 0.08304733189767555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017303061480236637,
+                  0.0016783021343640403
+                ],
+                "rod_tip_xy": [
+                  0.2755063156469594,
+                  -0.33773030729109355
+                ],
+                "target_mouth_xy": [
+                  0.27723662179498304,
+                  -0.3394086094254576
+                ],
+                "gripper_position": [
+                  0.27549453669757135,
+                  -0.33773706426048394,
+                  1.0042121841330638
+                ],
+                "rod_tip_xy_dist": 0.0024105305266889656,
+                "target_xy_drift": 3.0751727402041434e-08,
+                "depth": 0.016908431414896508,
+                "bottom_clearance": 0.08253212918729014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017420532595416316,
+                  0.0016715759052612356
+                ],
+                "rod_tip_xy": [
+                  0.2754945366975714,
+                  -0.337737064260484
+                ],
+                "target_mouth_xy": [
+                  0.27723658995711303,
+                  -0.33940864016574523
+                ],
+                "gripper_position": [
+                  0.2754857252462364,
+                  -0.33773722338112205,
+                  1.0040897051634672
+                ],
+                "rod_tip_xy_dist": 0.002414314719776513,
+                "target_xy_drift": 3.15532857204638e-08,
+                "depth": 0.017047656553910162,
+                "bottom_clearance": 0.0823928807812051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017508962678136064,
+                  0.0016714161616493972
+                ],
+                "rod_tip_xy": [
+                  0.2754857252462365,
+                  -0.3377372233811221
+                ],
+                "target_mouth_xy": [
+                  0.2772366215140501,
+                  -0.3394086395427715
+                ],
+                "gripper_position": [
+                  0.2754768265582368,
+                  -0.3377375871393826,
+                  1.0039673945349767
+                ],
+                "rod_tip_xy_dist": 0.002420592845991746,
+                "target_xy_drift": 6.331071693949834e-10,
+                "depth": 0.017170187527178693,
+                "bottom_clearance": 0.08227037389283198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017597950007909868,
+                  0.0016710818840233732
+                ],
+                "rod_tip_xy": [
+                  0.2754768265582369,
+                  -0.3377375871393826
+                ],
+                "target_mouth_xy": [
+                  0.2772366215590279,
+                  -0.339408669023406
+                ],
+                "gripper_position": [
+                  0.2754829071860654,
+                  -0.33781039560410153,
+                  1.0034515563510051
+                ],
+                "rod_tip_xy_dist": 0.002426807183918833,
+                "target_xy_drift": 2.8847578848973777e-08,
+                "depth": 0.017292552317238585,
+                "bottom_clearance": 0.08214799910488912,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017536844806718688,
+                  0.001598214139757137
+                ],
+                "rod_tip_xy": [
+                  0.2754829071860655,
+                  -0.33781039560410153
+                ],
+                "target_mouth_xy": [
+                  0.27723659166673736,
+                  -0.33940860974385867
+                ],
+                "gripper_position": [
+                  0.2754709626781806,
+                  -0.3378172499205182,
+                  1.0033126809653694
+                ],
+                "rod_tip_xy_dist": 0.002372698399348094,
+                "target_xy_drift": 4.2623364818676184e-08,
+                "depth": 0.017808276451205862,
+                "bottom_clearance": 0.08163228338897699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017656581332088361,
+                  0.0015914184609233661
+                ],
+                "rod_tip_xy": [
+                  0.2754709626781807,
+                  -0.3378172499205182
+                ],
+                "target_mouth_xy": [
+                  0.27723662081138956,
+                  -0.33940866838144157
+                ],
+                "gripper_position": [
+                  0.2754621135235401,
+                  -0.3378174907821656,
+                  1.0031902488654232
+                ],
+                "rod_tip_xy_dist": 0.0023770068071282857,
+                "target_xy_drift": 2.821423371704406e-08,
+                "depth": 0.017947082324957786,
+                "bottom_clearance": 0.08149344250849866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017745071627739972,
+                  0.0015911179980239165
+                ],
+                "rod_tip_xy": [
+                  0.2754621135235402,
+                  -0.3378174907821656
+                ],
+                "target_mouth_xy": [
+                  0.2772366206863142,
+                  -0.3394086087801895
+                ],
+                "gripper_position": [
+                  0.27545304128358944,
+                  -0.33781779466697215,
+                  1.0030680181063878
+                ],
+                "rod_tip_xy_dist": 0.0023833866984549227,
+                "target_xy_drift": 3.1406492134314446e-08,
+                "depth": 0.018069572934449885,
+                "bottom_clearance": 0.08137094689235813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017835794561847362,
+                  0.001590842641778445
+                ],
+                "rod_tip_xy": [
+                  0.2754530412835895,
+                  -0.33781779466697215
+                ],
+                "target_mouth_xy": [
+                  0.27723662073977423,
+                  -0.3394086373087506
+                ],
+                "gripper_position": [
+                  0.27546047194228584,
+                  -0.337892757644078,
+                  1.0025543365289091
+                ],
+                "rod_tip_xy_dist": 0.0023899656874994796,
+                "target_xy_drift": 2.9688756558269523e-09,
+                "depth": 0.018191826693838453,
+                "bottom_clearance": 0.08124873984302095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017761492993078054,
+                  0.001515851140803437
+                ],
+                "rod_tip_xy": [
+                  0.2754604719422859,
+                  -0.3378927576440781
+                ],
+                "target_mouth_xy": [
+                  0.2772366212415937,
+                  -0.33940860878488155
+                ],
+                "gripper_position": [
+                  0.27544855520425005,
+                  -0.33789942361575376,
+                  1.0024157477312459
+                ],
+                "rod_tip_xy_dist": 0.0023350612442731965,
+                "target_xy_drift": 3.139213745895036e-08,
+                "depth": 0.018705489782128826,
+                "bottom_clearance": 0.08073505157850502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017880659637418694,
+                  0.001509214651036872
+                ],
+                "rod_tip_xy": [
+                  0.2754485552042501,
+                  -0.33789942361575376
+                ],
+                "target_mouth_xy": [
+                  0.27723662116799197,
+                  -0.33940863826679063
+                ],
+                "gripper_position": [
+                  0.2754392559073348,
+                  -0.33789953845286214,
+                  1.0022936020123308
+                ],
+                "rod_tip_xy_dist": 0.002339852293115206,
+                "target_xy_drift": 1.9395407244761808e-09,
+                "depth": 0.018844083646246346,
+                "bottom_clearance": 0.08059646606462445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017973655612760209,
+                  0.0015091017230316472
+                ],
+                "rod_tip_xy": [
+                  0.2754392559073349,
+                  -0.33789953845286225
+                ],
+                "target_mouth_xy": [
+                  0.27723662146861094,
+                  -0.3394086401758939
+                ],
+                "gripper_position": [
+                  0.2754302822630144,
+                  -0.3378995049830498,
+                  1.0021714464661715
+                ],
+                "rod_tip_xy_dist": 0.0023468938986068695,
+                "target_xy_drift": 4.178619356119554e-11,
+                "depth": 0.018966361327870884,
+                "bottom_clearance": 0.0804742214043358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018063095800160966,
+                  0.0015091031689873358
+                ],
+                "rod_tip_xy": [
+                  0.2754302822630145,
+                  -0.3378995049830499
+                ],
+                "target_mouth_xy": [
+                  0.2772365918430306,
+                  -0.3394086081520372
+                ],
+                "gripper_position": [
+                  0.27542116044793963,
+                  -0.33789968232716766,
+                  1.002049408650747
+                ],
+                "rod_tip_xy_dist": 0.002353751616782354,
+                "target_xy_drift": 4.365407635411161e-08,
+                "depth": 0.01908839439309895,
+                "bottom_clearance": 0.08035218491420826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018154596822513858,
+                  0.0015089562512688448
+                ],
+                "rod_tip_xy": [
+                  0.27542116044793974,
+                  -0.3378996823271676
+                ],
+                "target_mouth_xy": [
+                  0.2772366201301911,
+                  -0.33940863857843645
+                ],
+                "gripper_position": [
+                  0.2754307181074258,
+                  -0.337977390015993,
+                  1.001541305622399
+                ],
+                "rod_tip_xy_dist": 0.002360686939457163,
+                "target_xy_drift": 2.11110317387746e-09,
+                "depth": 0.019210349013658257,
+                "bottom_clearance": 0.08023014922128102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001805903765993544,
+                  0.0014312799614129013
+                ],
+                "rod_tip_xy": [
+                  0.27543071810742586,
+                  -0.33797739001599303
+                ],
+                "target_mouth_xy": [
+                  0.2772366218734194,
+                  -0.33940866997740593
+                ],
+                "gripper_position": [
+                  0.2754185890984781,
+                  -0.33798401196620953,
+                  1.001402373972709
+                ],
+                "rod_tip_xy_dist": 0.0023043113374654435,
+                "target_xy_drift": 2.980374875762416e-08,
+                "depth": 0.01971860120447133,
+                "bottom_clearance": 0.07972199682985537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001818000504280548,
+                  0.0014246288236162696
+                ],
+                "rod_tip_xy": [
+                  0.2754185890984782,
+                  -0.33798401196620964
+                ],
+                "target_mouth_xy": [
+                  0.27723658960275877,
+                  -0.3394086407898259
+                ],
+                "gripper_position": [
+                  0.2754282880157418,
+                  -0.3380563699105248,
+                  1.0008097737976263
+                ],
+                "rod_tip_xy_dist": 0.0023096954601511004,
+                "target_xy_drift": 3.191354461927899e-08,
+                "depth": 0.01985748845065982,
+                "bottom_clearance": 0.07958308461673969,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006029424112712152,
+              "rod_tip_xy_max_step": 3.2717593688325076e-05,
+              "rod_tip_xy_range": 0.000602937018680396,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27493914544793135,
+            -0.33935390159095413,
+            1.0432911691890874
+          ],
+          "object_origin_world": [
+            0.27493914544793135,
+            -0.33935390159095413,
+            1.0432911691890874
+          ],
+          "frame_world": [
+            0.2749376249236877,
+            -0.33935810986106374,
+            1.0431814223401454
+          ],
+          "center_minus_frame": [
+            1.5205242436810984e-06,
+            4.208270109606893e-06,
+            0.00010974684894193842
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.252311556779802,
+              0.15730873718891716,
+              0.8337472283468464
+            ],
+            "target_position": [
+              0.2674921546566567,
+              0.20165678811332977,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046874301836860026,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16357846201950255,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337472283468464,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567133561333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13396776033506727,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12ae74fae746687c1b62cb6db95fb6fded26d307a315c4d66b2897a44eedc687",
+    "visual_seed": 2435150072563577663,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba087c67b580c5ec492bbfb30f62590e744db4fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_33_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3073871046983036,
+              0.07877615926427084,
+              1.1613178814308394
+            ],
+            "current_z": 1.1613178814308394,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30021131381142874,
+            "gripper_z": 1.153363927419005,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30192560666942314,
+              0.07363338120106311,
+              1.153363927419005
+            ],
+            "object_minus_gripper": [
+              0.005461498028880463,
+              0.005142778063207731,
+              0.007953954011834297
+            ],
+            "object_to_gripper_xy": 0.007501741592915331,
+            "object_to_gripper_z": 0.007953954011834297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3073871046983036,
+              0.05451300097223347,
+              1.1613178814308394
+            ],
+            "finger_b": [
+              0.29584450267531,
+              0.07877615926427084,
+              1.1613178814308394
+            ],
+            "finger_midpoint": [
+              0.3016158036868068,
+              0.06664458011825215,
+              1.1613178814308394
+            ],
+            "object_minus_finger_midpoint": [
+              0.00577130101149681,
+              0.012131579146018687,
+              0.0
+            ],
+            "finger_gap": 0.026868801829736992,
+            "fingertip_max_gap": 0.09071003332388797,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0134344009148685,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613178814308394,
+            "object_top_z": 1.2112088553539626,
+            "finger_top_clearance": 0.04989097392312325,
+            "fingertip_min_top_clearance": 0.014967292176936974,
+            "object_projection_between_fingers": 0.8154513624336396,
+            "object_to_finger_line_xy": 0.010423240372256897,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047855016661943986,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.43267926795826067,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27651773239024424,
+              -0.3350921468382383,
+              0.8515395692607649
+            ],
+            "target_position": [
+              0.26730778667456556,
+              -0.3359395642427516,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009248849460512382,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18610922232693247,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395692607649,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516143604239223,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597939594586555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15493355726270935,
+            "release_required_pad_clearance": 0.05298969797293278,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.013353595432761,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007345855236053467,
+            "max_z_decrease": 0.007345855236053467,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511780283198212,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007345855236053467,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021080468553206187,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007345855236053467,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007345876645162962,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12300771474838254,
+              -0.39220103621482844,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12300771474838254,
+              -0.39220103621482844,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12150182731940698,
+              -0.39127668488398587,
+              0.8071744829759436
+            ],
+            "closest_button": [
+              0.1229954659938812,
+              -0.39219614863395685,
+              0.7721005082130432
+            ],
+            "closest_ee_minus_button": [
+              -0.001493638674474218,
+              0.0009194637499709835,
+              0.03507397476290042
+            ],
+            "button_min_z_position": [
+              0.12299007922410962,
+              -0.392199158668518,
+              0.7694630026817322
+            ],
+            "min_active_finger_to_button": 0.14707015646079016,
+            "closest_active_finger": [
+              -0.005040749907493591,
+              -0.45581334829330444,
+              0.8109662532806396
+            ],
+            "closest_active_finger_button": [
+              0.1230090335011482,
+              -0.3922021090984344,
+              0.7765207290649414
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280497834086418,
+              -0.06361123919487005,
+              0.03444552421569824
+            ],
+            "min_contact_pad_to_button": 0.021080468553206187,
+            "closest_contact_pad": [
+              0.12299007922410962,
+              -0.3922681376862783,
+              0.7905433583788694
+            ],
+            "closest_contact_pad_button": [
+              0.12299007922410962,
+              -0.392199158668518,
+              0.7694630026817322
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.897901776026227e-05,
+              0.021080355697137176
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27107576831720925,
+              0.19866538008777318,
+              1.1012010730583865
+            ],
+            "current_z": 1.1012010730583865,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.191291943324024,
+            "gripper_z": 1.1012013144144233,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2710758227986627,
+              0.1986653110053685,
+              1.1012013144144233
+            ],
+            "object_minus_gripper": [
+              -5.448145345976485e-08,
+              6.908240468561644e-08,
+              -2.413560367120482e-07
+            ],
+            "object_to_gripper_xy": 8.798072179878842e-08,
+            "object_to_gripper_z": -2.413560367120482e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27107576831720925,
+              0.19866538008777318,
+              1.1012010730583865
+            ],
+            "finger_b": [
+              0.27107576831720925,
+              0.19866538008777318,
+              1.1012010730583865
+            ],
+            "finger_midpoint": [
+              0.27107576831720925,
+              0.19866538008777318,
+              1.1012010730583865
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012010730583865,
+            "object_top_z": 1.2262095796786663,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2710757683172093,
+            0.19866538008777318,
+            1.1012010730583868
+          ],
+          "object_origin_world": [
+            0.2710757683172093,
+            0.19866538008777318,
+            1.1012010730583868
+          ],
+          "frame_world": [
+            0.2710758227986627,
+            0.1986653110053685,
+            1.1012013144144233
+          ],
+          "center_minus_frame": [
+            -5.44814534042537e-08,
+            6.908240468561644e-08,
+            -2.413560364900036e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432923508751368,
+            "required_z": 0.9112597857166382,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026150195995180564,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9477070838705252e-08,
+            "max_target_xy_drift": 1.7848761696039726e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.013353595055816,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0133535954334802,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.274314205463995,
+              -0.3364935662856067,
+              0.9234015399346639
+            ],
+            "target_mouth_xy": [
+              0.27651776137077055,
+              -0.3350921154390009
+            ],
+            "rod_tip_z": 0.9234015399346639,
+            "rod_tip_depth": -0.02214167692150648,
+            "rod_tip_bottom_clearance": 0.121582245276321,
+            "rod_tip_xy_dist": 0.0026114599575213933,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044460037992579915,
+            "min_rod_tip_bottom_clearance": 0.05498048474094386,
+            "min_rod_tip_xy_dist": 0.001322579479177333,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27651776175730797,
+              -0.33509208596446455
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.865374131883925e-10,
+              -2.9474536367146698e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0016050400502634066,
+                0.00039610436590770126
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017239439738869766,
+                3.5910480321033056e-06
+              ],
+              "first_target_mouth_xy": [
+                0.2765177613508238,
+                -0.3350920568011153
+              ],
+              "last_target_mouth_xy": [
+                0.27651772797886,
+                -0.3350920868751792
+              ],
+              "first_rod_tip_xy": [
+                0.2749127213005604,
+                -0.3346959524352076
+              ],
+              "last_rod_tip_xy": [
+                0.274793784004973,
+                -0.3350884958271471
+              ],
+              "min_rod_tip_xy_dist": 0.001645670023161081,
+              "max_rod_tip_xy_dist": 0.0017239477140351994,
+              "first_target_xy_drift": 2.9166181923962596e-08,
+              "last_target_xy_drift": 3.379072282979648e-08,
+              "max_depth": 0.019509936844125497,
+              "min_bottom_clearance": 0.07993072217687558
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0016050400502634066,
+                  0.00039610436590770126
+                ],
+                "rod_tip_xy": [
+                  0.2749127213005604,
+                  -0.3346959524352076
+                ],
+                "target_mouth_xy": [
+                  0.2765177613508238,
+                  -0.3350920568011153
+                ],
+                "gripper_position": [
+                  0.2749011301247788,
+                  -0.33470293403457885,
+                  1.005984054729284
+                ],
+                "rod_tip_xy_dist": 0.001653194553475392,
+                "target_xy_drift": 2.9166181923962596e-08,
+                "depth": 0.015137425802793092,
+                "bottom_clearance": 0.08430310814113906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001616632336072954,
+                  0.0003891230936282075
+                ],
+                "rod_tip_xy": [
+                  0.27490113012477857,
+                  -0.3347029340345788
+                ],
+                "target_mouth_xy": [
+                  0.2765177624608515,
+                  -0.335092057128207
+                ],
+                "gripper_position": [
+                  0.27490376977252173,
+                  -0.3347707559058499,
+                  1.0054666508665209
+                ],
+                "rod_tip_xy_dist": 0.0016628039247101514,
+                "target_xy_drift": 2.8844838757346216e-08,
+                "depth": 0.01527576128695729,
+                "bottom_clearance": 0.08416473814724312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016139936741910166,
+                  0.0003213319853397345
+                ],
+                "rod_tip_xy": [
+                  0.2749037697725215,
+                  -0.33477075590584987
+                ],
+                "target_mouth_xy": [
+                  0.27651776344671253,
+                  -0.3350920878911896
+                ],
+                "gripper_position": [
+                  0.27489202966118403,
+                  -0.33477741395618693,
+                  1.0053281988223841
+                ],
+                "rod_tip_xy_dist": 0.001645670023161081,
+                "target_xy_drift": 2.5624904323762334e-09,
+                "depth": 0.015793182972195008,
+                "bottom_clearance": 0.08364737469964145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016257300974383826,
+                  0.00031467389682321434
+                ],
+                "rod_tip_xy": [
+                  0.27489202966118387,
+                  -0.33477741395618693
+                ],
+                "target_mouth_xy": [
+                  0.27651775975862225,
+                  -0.33509208785301015
+                ],
+                "gripper_position": [
+                  0.27488347789770406,
+                  -0.33477773385765697,
+                  1.005206747457423
+                ],
+                "rod_tip_xy_dist": 0.0016559039860628755,
+                "target_xy_drift": 2.7497907319636155e-09,
+                "depth": 0.01593169974134312,
+                "bottom_clearance": 0.0835089042791054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016342560659539651,
+                  0.000314384470312401
+                ],
+                "rod_tip_xy": [
+                  0.27488347789770384,
+                  -0.3347777338576569
+                ],
+                "target_mouth_xy": [
+                  0.2765177339636578,
+                  -0.3350921183279693
+                ],
+                "gripper_position": [
+                  0.2748871982582656,
+                  -0.33484681550449724,
+                  1.0046896628209283
+                ],
+                "rod_tip_xy_dist": 0.001664220683767913,
+                "target_xy_drift": 4.266009177020605e-08,
+                "depth": 0.016053100247976904,
+                "bottom_clearance": 0.08338749260266742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001630531712081884,
+                  0.0002452707563630474
+                ],
+                "rod_tip_xy": [
+                  0.2748871982582654,
+                  -0.3348468155044973
+                ],
+                "target_mouth_xy": [
+                  0.2765177299703473,
+                  -0.33509208626086034
+                ],
+                "gripper_position": [
+                  0.2748754559928174,
+                  -0.33485341920570005,
+                  1.0045510951550654
+                ],
+                "rod_tip_xy_dist": 0.0016488758012753967,
+                "target_xy_drift": 3.178834250799858e-08,
+                "depth": 0.016570177332882463,
+                "bottom_clearance": 0.08287042875905481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016423082541313638,
+                  0.00023869975235824015
+                ],
+                "rod_tip_xy": [
+                  0.2748754559928172,
+                  -0.33485341920570005
+                ],
+                "target_mouth_xy": [
+                  0.27651776424694857,
+                  -0.3350921189580583
+                ],
+                "gripper_position": [
+                  0.27486659456672435,
+                  -0.33485370429960004,
+                  1.0044299048868373
+                ],
+                "rod_tip_xy_dist": 0.0016595643926536547,
+                "target_xy_drift": 3.308739244207129e-08,
+                "depth": 0.01670882718548683,
+                "bottom_clearance": 0.08273180681277259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016511388131718596,
+                  0.00023838357842803637
+                ],
+                "rod_tip_xy": [
+                  0.27486659456672413,
+                  -0.3348537042996001
+                ],
+                "target_mouth_xy": [
+                  0.276517733379896,
+                  -0.33509208787802813
+                ],
+                "gripper_position": [
+                  0.27487126349260704,
+                  -0.33492378594888816,
+                  1.003914056251076
+                ],
+                "rod_tip_xy_dist": 0.001668258406490653,
+                "target_xy_drift": 2.8441857113066972e-08,
+                "depth": 0.016829867083942962,
+                "bottom_clearance": 0.08261068009742012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016464998715783885,
+                  0.00016833364164198228
+                ],
+                "rod_tip_xy": [
+                  0.2748712634926069,
+                  -0.3349237859488882
+                ],
+                "target_mouth_xy": [
+                  0.27651776336418527,
+                  -0.3350921195905302
+                ],
+                "gripper_position": [
+                  0.2748592713545427,
+                  -0.33493064715564913,
+                  1.0037757618177305
+                ],
+                "rod_tip_xy_dist": 0.0016550824879794062,
+                "target_xy_drift": 3.3664437408460966e-08,
+                "depth": 0.017345811107894682,
+                "bottom_clearance": 0.08209481250116701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016584883896152425,
+                  0.00016143877685381725
+                ],
+                "rod_tip_xy": [
+                  0.2748592713545425,
+                  -0.3349306471556491
+                ],
+                "target_mouth_xy": [
+                  0.27651775974415777,
+                  -0.3350920859325029
+                ],
+                "gripper_position": [
+                  0.2748505424381103,
+                  -0.33493052210290924,
+                  1.0036545108356498
+                ],
+                "rod_tip_xy_dist": 0.0016663271639028804,
+                "target_xy_drift": 2.013403904740418e-09,
+                "depth": 0.017484144838195825,
+                "bottom_clearance": 0.0819564742755251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016672181309833056,
+                  0.00016159396649229052
+                ],
+                "rod_tip_xy": [
+                  0.27485054243811013,
+                  -0.33493052210290924
+                ],
+                "target_mouth_xy": [
+                  0.27651776056909344,
+                  -0.33509211606940154
+                ],
+                "gripper_position": [
+                  0.27485582226434724,
+                  -0.3350017973746465,
+                  1.0031426143010274
+                ],
+                "rod_tip_xy_dist": 0.0016750310165146729,
+                "target_xy_drift": 3.01283767368481e-08,
+                "depth": 0.01760530517429093,
+                "bottom_clearance": 0.08183527057426698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016619394835805656,
+                  9.031998164837907e-05
+                ],
+                "rod_tip_xy": [
+                  0.27485582226434707,
+                  -0.3350017973746466
+                ],
+                "target_mouth_xy": [
+                  0.27651776174792764,
+                  -0.33509211735629496
+                ],
+                "gripper_position": [
+                  0.2748438176639834,
+                  -0.3350082797904207,
+                  1.0030044703281273
+                ],
+                "rod_tip_xy_dist": 0.0016643919448762665,
+                "target_xy_drift": 3.1391831814385455e-08,
+                "depth": 0.018117217768268135,
+                "bottom_clearance": 0.08132329795950144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016739736567652486,
+                  8.380648971223481e-05
+                ],
+                "rod_tip_xy": [
+                  0.27484381766398325,
+                  -0.33500827979042075
+                ],
+                "target_mouth_xy": [
+                  0.2765177913207485,
+                  -0.335092086280133
+                ],
+                "gripper_position": [
+                  0.27483474460762336,
+                  -0.3350080881651361,
+                  1.0028831560836768
+                ],
+                "rod_tip_xy_dist": 0.0016760702047533408,
+                "target_xy_drift": 2.9565125781409295e-08,
+                "depth": 0.018255376398608747,
+                "bottom_clearance": 0.08118516296617939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016830176217771387,
+                  8.402982242144974e-05
+                ],
+                "rod_tip_xy": [
+                  0.2748347446076232,
+                  -0.3350080881651361
+                ],
+                "target_mouth_xy": [
+                  0.27651776222940033,
+                  -0.33509211798755756
+                ],
+                "gripper_position": [
+                  0.2748258034056439,
+                  -0.3350081914916064,
+                  1.002762006566395
+                ],
+                "rod_tip_xy_dist": 0.0016851140395440767,
+                "target_xy_drift": 3.202657267285747e-08,
+                "depth": 0.018376673724362358,
+                "bottom_clearance": 0.08106384857919824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016919583354290668,
+                  8.392649927985163e-05
+                ],
+                "rod_tip_xy": [
+                  0.27482580340564366,
+                  -0.3350081914916064
+                ],
+                "target_mouth_xy": [
+                  0.27651776174107273,
+                  -0.33509211799088623
+                ],
+                "gripper_position": [
+                  0.27481656968045237,
+                  -0.335008150136866,
+                  1.0026407996356426
+                ],
+                "rod_tip_xy_dist": 0.0016940385668895704,
+                "target_xy_drift": 3.2026425796403616e-08,
+                "depth": 0.018497836703593618,
+                "bottom_clearance": 0.08094270152400418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017012551057905556,
+                  8.405600688954351e-05
+                ],
+                "rod_tip_xy": [
+                  0.2748165696804522,
+                  -0.33500815013686597
+                ],
+                "target_mouth_xy": [
+                  0.27651782478624276,
+                  -0.3350922061437555
+                ],
+                "gripper_position": [
+                  0.27482423580310744,
+                  -0.3350822459265994,
+                  1.0021300688069816
+                ],
+                "rod_tip_xy_dist": 0.0017033303693860006,
+                "target_xy_drift": 1.3570448996867658e-07,
+                "depth": 0.018619098437474002,
+                "bottom_clearance": 0.08082150719714731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016934947436946235,
+                  9.90024182734306e-06
+                ],
+                "rod_tip_xy": [
+                  0.2748242358031073,
+                  -0.33508224592659935
+                ],
+                "target_mouth_xy": [
+                  0.2765177305468019,
+                  -0.3350921461684267
+                ],
+                "gripper_position": [
+                  0.2748119883239529,
+                  -0.33508909824014077,
+                  1.0019924008074321
+                ],
+                "rod_tip_xy_dist": 0.0016935236820633949,
+                "target_xy_drift": 6.781307209879038e-08,
+                "depth": 0.019129807989022418,
+                "bottom_clearance": 0.08031076528511394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017057738417206036,
+                  3.0172060840327752e-06
+                ],
+                "rod_tip_xy": [
+                  0.27481198832395276,
+                  -0.3350890982401408
+                ],
+                "target_mouth_xy": [
+                  0.27651776216567336,
+                  -0.33509211544622486
+                ],
+                "gripper_position": [
+                  0.2748028298408444,
+                  -0.3350887234419873,
+                  1.0018710772599018
+                ],
+                "rod_tip_xy_dist": 0.0017057765101650393,
+                "target_xy_drift": 2.9484588403464117e-08,
+                "depth": 0.019267438082010924,
+                "bottom_clearance": 0.08017309993603006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001714933346694314,
+                  3.393917918481648e-06
+                ],
+                "rod_tip_xy": [
+                  0.27480282984084425,
+                  -0.3350887234419873
+                ],
+                "target_mouth_xy": [
+                  0.27651776318753857,
+                  -0.3350921173599058
+                ],
+                "gripper_position": [
+                  0.27479378400497323,
+                  -0.3350884958271471,
+                  1.0017499520838231
+                ],
+                "rod_tip_xy_dist": 0.001714936705036952,
+                "target_xy_drift": 3.142800169672164e-08,
+                "depth": 0.019388748589222904,
+                "bottom_clearance": 0.08005178713170358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017239439738869766,
+                  3.5910480321033056e-06
+                ],
+                "rod_tip_xy": [
+                  0.274793784004973,
+                  -0.3350884958271471
+                ],
+                "target_mouth_xy": [
+                  0.27651772797886,
+                  -0.3350920868751792
+                ],
+                "gripper_position": [
+                  0.27478466010527297,
+                  -0.3350882106711018,
+                  1.0016291518040088
+                ],
+                "rod_tip_xy_dist": 0.0017239477140351994,
+                "target_xy_drift": 3.379072282979648e-08,
+                "depth": 0.019509936844125497,
+                "bottom_clearance": 0.07993072217687558,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005967943266783067,
+              "rod_tip_xy_max_step": 3.229537940612054e-05,
+              "rod_tip_xy_range": 0.0005967887684911792,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27431420546399504,
+            -0.3364935662856067,
+            1.0434015399346641
+          ],
+          "object_origin_world": [
+            0.27431420546399504,
+            -0.3364935662856067,
+            1.0434015399346641
+          ],
+          "frame_world": [
+            0.2743125788392184,
+            -0.3364976393656563,
+            1.0432923508751368
+          ],
+          "center_minus_frame": [
+            1.6266247766516528e-06,
+            4.073080049571409e-06,
+            0.00010918905952728153
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2575987949782933,
+              0.1524504115420568,
+              0.8321880817372761
+            ],
+            "target_position": [
+              0.27123508942916186,
+              0.1987721476104794,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0482871800661769,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16609387825992605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321880817372761,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835678699662168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1354221793563652,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "816a6b78697e813c8ac0aa934d5f3f2604adb541e281c9dcecfff8b6aa54319f",
+    "visual_seed": 4015743368784485807,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9347d50aaf7cf208ad9dea49cf921908b94c7ca8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3005165482191495,
+              0.07705790935251995,
+              1.1645449806248847
+            ],
+            "current_z": 1.1645449806248847,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3034382341915396,
+            "gripper_z": 1.15685272889014,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2950686684512527,
+              0.07191288622296989,
+              1.15685272889014
+            ],
+            "object_minus_gripper": [
+              0.005447879767896846,
+              0.005145023129550064,
+              0.007692251734744637
+            ],
+            "object_to_gripper_xy": 0.0074933742045266176,
+            "object_to_gripper_z": 0.007692251734744637,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3005165482191495,
+              0.05266037494553674,
+              1.1645449806248847
+            ],
+            "finger_b": [
+              0.28914603117324705,
+              0.07705790935251995,
+              1.1645449806248847
+            ],
+            "finger_midpoint": [
+              0.2948312896961983,
+              0.06485914214902835,
+              1.1645449806248847
+            ],
+            "object_minus_finger_midpoint": [
+              0.005685258522951209,
+              0.012198767203491598,
+              0.0
+            ],
+            "finger_gap": 0.026917064160697172,
+            "fingertip_max_gap": 0.0911466022562519,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013458532080348569,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645449806248847,
+            "object_top_z": 1.214430950862086,
+            "finger_top_clearance": 0.04988597023720143,
+            "fingertip_min_top_clearance": 0.01496579107116046,
+            "object_projection_between_fingers": 0.8215547271066369,
+            "object_to_finger_line_xy": 0.010306197555439834,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807330112812595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8652340852831577,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2772248330258571,
+              -0.341480294321638,
+              0.851539574065785
+            ],
+            "target_position": [
+              0.2699188206129311,
+              -0.3419206330733221,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007319270154466461,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18479011951654928,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539574065785,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583976910983802,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0877604968216421,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151799342474976,
+            "release_required_pad_clearance": 0.05388024841082105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7701603344398977,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007521986961364746,
+            "max_z_decrease": 0.007521986961364746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514762126580538,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007521986961364746,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021286236699698532,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007521986961364746,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075220072983941825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12561874091625214,
+              -0.3981820940971374,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12561874091625214,
+              -0.3981820940971374,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12493498765803504,
+              -0.4001750066544878,
+              0.8076426219526336
+            ],
+            "closest_button": [
+              0.1256076842546463,
+              -0.3981803655624389,
+              0.7725580930709839
+            ],
+            "closest_ee_minus_button": [
+              -0.0006726965966112608,
+              -0.0019946410920488877,
+              0.0350845288816497
+            ],
+            "button_min_z_position": [
+              0.12560147047042847,
+              -0.3981793224811553,
+              0.7692868709564209
+            ],
+            "min_active_finger_to_button": 0.1466265651118632,
+            "closest_active_finger": [
+              -0.016197189688682556,
+              -0.38387829065322876,
+              0.810971200466156
+            ],
+            "closest_active_finger_button": [
+              0.12561824917793274,
+              -0.3981830477714538,
+              0.7765749096870422
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418154388666153,
+              0.014304757118225042,
+              0.03439629077911377
+            ],
+            "min_contact_pad_to_button": 0.021286236699698532,
+            "closest_contact_pad": [
+              0.12560147047042847,
+              -0.40134166547367056,
+              0.7903368937505483
+            ],
+            "closest_contact_pad_button": [
+              0.12560147047042847,
+              -0.3981793224811553,
+              0.7692868709564209
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003162342992515277,
+              0.021050022794127377
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2761254368337482,
+              0.19842585764125784,
+              1.1041944237867103
+            ],
+            "current_z": 1.1041944237867103,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19428529405234773,
+            "gripper_z": 1.1041946540146066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2761254666359446,
+              0.19842581293720113,
+              1.1041946540146066
+            ],
+            "object_minus_gripper": [
+              -2.980219643289317e-08,
+              4.4704056706423856e-08,
+              -2.3022789630289253e-07
+            ],
+            "object_to_gripper_xy": 5.3727307751607185e-08,
+            "object_to_gripper_z": -2.3022789630289253e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2761254368337482,
+              0.19842585764125784,
+              1.1041944237867103
+            ],
+            "finger_b": [
+              0.2761254368337482,
+              0.19842585764125784,
+              1.1041944237867103
+            ],
+            "finger_midpoint": [
+              0.2761254368337482,
+              0.19842585764125784,
+              1.1041944237867103
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041944237867103,
+            "object_top_z": 1.22920293040699,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27612543683374813,
+            0.19842585764125784,
+            1.1041944237867103
+          ],
+          "object_origin_world": [
+            0.27612543683374813,
+            0.19842585764125784,
+            1.1041944237867103
+          ],
+          "frame_world": [
+            0.2761254666359446,
+            0.19842581293720113,
+            1.1041946540146066
+          ],
+          "center_minus_frame": [
+            -2.980219648840432e-08,
+            4.4704056706423856e-08,
+            -2.3022789630289253e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043769689577879,
+            "required_z": 0.9112599109369243,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013898140920468145,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.6088009978224615e-08,
+            "max_target_xy_drift": 4.7653468542465943e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.7701603332666425,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.770442887592133,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.277075360924374,
+              -0.34009900644006297,
+              0.9234597062969702
+            ],
+            "target_mouth_xy": [
+              0.2772248306855568,
+              -0.3414802325183485
+            ],
+            "rod_tip_z": 0.9234597062969702,
+            "rod_tip_depth": -0.02219981144263905,
+            "rod_tip_bottom_clearance": 0.12164040274474941,
+            "rod_tip_xy_dist": 0.0013892899945094775,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044664074924324004,
+            "min_rod_tip_bottom_clearance": 0.05477645248127405,
+            "min_rod_tip_xy_dist": 0.0006338601281788513,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27722486476226527,
+              -0.34148026354869826
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.4076708455010873e-08,
+              3.103034973417351e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.00036949187093104907,
+                0.0031297434895465326
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00027271360888986296,
+                0.0027353501283087223
+              ],
+              "first_target_mouth_xy": [
+                0.2772248928524631,
+                -0.3414803216057437
+              ],
+              "last_target_mouth_xy": [
+                0.2772248319918032,
+                -0.3414803225671016
+              ],
+              "first_rod_tip_xy": [
+                0.27759438472339415,
+                -0.3383505781161972
+              ],
+              "last_rod_tip_xy": [
+                0.27749754560069306,
+                -0.33874497243879287
+              ],
+              "min_rod_tip_xy_dist": 0.0027489112457320763,
+              "max_rod_tip_xy_dist": 0.0031514787882901945,
+              "first_target_xy_drift": 6.449557923328468e-08,
+              "last_target_xy_drift": 6.750611169208837e-08,
+              "max_depth": 0.019832737141525003,
+              "min_bottom_clearance": 0.0796078303140022
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00036949187093104907,
+                  0.0031297434895465326
+                ],
+                "rod_tip_xy": [
+                  0.27759438472339415,
+                  -0.3383505781161972
+                ],
+                "target_mouth_xy": [
+                  0.2772248928524631,
+                  -0.3414803216057437
+                ],
+                "gripper_position": [
+                  0.2775827963738544,
+                  -0.3383578023366736,
+                  1.0056765648318453
+                ],
+                "rod_tip_xy_dist": 0.0031514787882901945,
+                "target_xy_drift": 6.449557923328468e-08,
+                "depth": 0.015442529320937481,
+                "bottom_clearance": 0.08399795808862143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0003579333379963301,
+                  0.0031225202241375594
+                ],
+                "rod_tip_xy": [
+                  0.2775827963738546,
+                  -0.3383578023366737
+                ],
+                "target_mouth_xy": [
+                  0.27722486303585825,
+                  -0.34148032256081123
+                ],
+                "gripper_position": [
+                  0.27758837182520113,
+                  -0.3384255209805196,
+                  1.0051584863087204
+                ],
+                "rod_tip_xy_dist": 0.00314296815519936,
+                "target_xy_drift": 5.9037360703577446e-08,
+                "depth": 0.015583326473255332,
+                "bottom_clearance": 0.08385719517219792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0003635089253789525,
+                  0.0030547711443686953
+                ],
+                "rod_tip_xy": [
+                  0.2775883718252013,
+                  -0.3384255209805196
+                ],
+                "target_mouth_xy": [
+                  0.27722486289982234,
+                  -0.3414802921248883
+                ],
+                "gripper_position": [
+                  0.2775766286826351,
+                  -0.33843260519091384,
+                  1.0050178432230252
+                ],
+                "rod_tip_xy_dist": 0.003076323371054771,
+                "target_xy_drift": 2.8636817735305657e-08,
+                "depth": 0.016101337183596187,
+                "bottom_clearance": 0.08333916567399091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00035176445860773953,
+                  0.0030477170250300945
+                ],
+                "rod_tip_xy": [
+                  0.2775766286826353,
+                  -0.3384326051909139
+                ],
+                "target_mouth_xy": [
+                  0.27722486422402753,
+                  -0.341480322215944
+                ],
+                "gripper_position": [
+                  0.2775679778336151,
+                  -0.33843270646482626,
+                  1.0048941264635451
+                ],
+                "rod_tip_xy_dist": 0.0030679500157267696,
+                "target_xy_drift": 5.866971468466127e-08,
+                "depth": 0.016241987001965774,
+                "bottom_clearance": 0.08319855880852967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0003430838635432587,
+                  0.0030475840282429
+                ],
+                "rod_tip_xy": [
+                  0.27756797783361525,
+                  -0.33843270646482637
+                ],
+                "target_mouth_xy": [
+                  0.277224893970072,
+                  -0.34148029049306927
+                ],
+                "gripper_position": [
+                  0.27757453762183104,
+                  -0.33850155060070963,
+                  1.0043770512920966
+                ],
+                "rod_tip_xy_dist": 0.0030668346787241386,
+                "target_xy_drift": 3.973782962297998e-08,
+                "depth": 0.016365715637044365,
+                "bottom_clearance": 0.08307485474949805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003496424071891546,
+                  0.0029787718869674906
+                ],
+                "rod_tip_xy": [
+                  0.2775745376218312,
+                  -0.3385015506007095
+                ],
+                "target_mouth_xy": [
+                  0.27722489521464205,
+                  -0.341480322487677
+                ],
+                "gripper_position": [
+                  0.2775629492603065,
+                  -0.3385081197742264,
+                  1.004236449872711
+                ],
+                "rod_tip_xy_dist": 0.0029992218603319245,
+                "target_xy_drift": 6.634116722237989e-08,
+                "depth": 0.016882853763609096,
+                "bottom_clearance": 0.08255774894648205,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003380856780414998,
+                  0.0029722024513573198
+                ],
+                "rod_tip_xy": [
+                  0.27756294926030667,
+                  -0.33850811977422635
+                ],
+                "target_mouth_xy": [
+                  0.27722486358226517,
+                  -0.34148032222558367
+                ],
+                "gripper_position": [
+                  0.277554070659259,
+                  -0.33850840899009593,
+                  1.004112944912217
+                ],
+                "rod_tip_xy_dist": 0.002991369140970609,
+                "target_xy_drift": 5.868874918744215e-08,
+                "depth": 0.017023374857247697,
+                "bottom_clearance": 0.08241714550943646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003291762699531575,
+                  0.002971912250149422
+                ],
+                "rod_tip_xy": [
+                  0.27755407065925913,
+                  -0.33850840899009593
+                ],
+                "target_mouth_xy": [
+                  0.277224894389306,
+                  -0.34148032124024535
+                ],
+                "gripper_position": [
+                  0.27754510463517723,
+                  -0.33850881739713995,
+                  1.0039891569821613
+                ],
+                "rod_tip_xy_dist": 0.002990086861495578,
+                "target_xy_drift": 6.485426853676271e-08,
+                "depth": 0.017146942550503086,
+                "bottom_clearance": 0.08229360775723449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0003202395459487306,
+                  0.002971443888328096
+                ],
+                "rod_tip_xy": [
+                  0.2775451046351774,
+                  -0.3385088173971399
+                ],
+                "target_mouth_xy": [
+                  0.27722486508922867,
+                  -0.341480261285468
+                ],
+                "gripper_position": [
+                  0.277553442463637,
+                  -0.33857998661641303,
+                  1.003472017731174
+                ],
+                "rod_tip_xy_dist": 0.0029886505564003032,
+                "target_xy_drift": 2.2867261138748563e-09,
+                "depth": 0.017270740429195963,
+                "bottom_clearance": 0.08216984146049156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00032857874305675105,
+                  0.0029003051602294327
+                ],
+                "rod_tip_xy": [
+                  0.2775534424636371,
+                  -0.338579986616413
+                ],
+                "target_mouth_xy": [
+                  0.27722486372058036,
+                  -0.3414802917766424
+                ],
+                "gripper_position": [
+                  0.2775415353310315,
+                  -0.3385866456343654,
+                  1.0033313296754751
+                ],
+                "rod_tip_xy_dist": 0.002918858340660305,
+                "target_xy_drift": 2.82471580572178e-08,
+                "depth": 0.017787797801007366,
+                "bottom_clearance": 0.08165270798713065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0003166419059456027,
+                  0.002893676591293637
+                ],
+                "rod_tip_xy": [
+                  0.2775415353310316,
+                  -0.33858664563436547
+                ],
+                "target_mouth_xy": [
+                  0.277224893425086,
+                  -0.3414803222256591
+                ],
+                "gripper_position": [
+                  0.2775325777646602,
+                  -0.3385869347234424,
+                  1.0032079172874624
+                ],
+                "rod_tip_xy_dist": 0.002910949383208445,
+                "target_xy_drift": 6.530346871472493e-08,
+                "depth": 0.01792849541320385,
+                "bottom_clearance": 0.0815120265822803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0003076850137957443,
+                  0.0028933859336328638
+                ],
+                "rod_tip_xy": [
+                  0.2775325777646604,
+                  -0.33858693472344237
+                ],
+                "target_mouth_xy": [
+                  0.27722489275086465,
+                  -0.34148032065707523
+                ],
+                "gripper_position": [
+                  0.27752357317462395,
+                  -0.33858716122963667,
+                  1.0030847963456757
+                ],
+                "rod_tip_xy_dist": 0.002909699680148968,
+                "target_xy_drift": 6.359817934307062e-08,
+                "depth": 0.018051915322332412,
+                "bottom_clearance": 0.08138860824980454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0002987089534752796,
+                  0.002893192376695275
+                ],
+                "rod_tip_xy": [
+                  0.2775235731746241,
+                  -0.3385871612296366
+                ],
+                "target_mouth_xy": [
+                  0.27722486422114884,
+                  -0.3414803536063319
+                ],
+                "gripper_position": [
+                  0.27753341563632217,
+                  -0.33866022065628,
+                  1.002570354582641
+                ],
+                "rod_tip_xy_dist": 0.0029085716713627588,
+                "target_xy_drift": 9.005925927803372e-08,
+                "depth": 0.01817512117022968,
+                "bottom_clearance": 0.08126547821866792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0003085811091563806,
+                  0.0028201012286107052
+                ],
+                "rod_tip_xy": [
+                  0.27753341563632233,
+                  -0.3386602206562801
+                ],
+                "target_mouth_xy": [
+                  0.27722483452716595,
+                  -0.3414803218848908
+                ],
+                "gripper_position": [
+                  0.2775212945838816,
+                  -0.3386670881273559,
+                  1.0024299880828982
+                ],
+                "rod_tip_xy_dist": 0.002836933774436723,
+                "target_xy_drift": 6.570595552091515e-08,
+                "depth": 0.018689530400041066,
+                "bottom_clearance": 0.08075100845051686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00029646234864183496,
+                  0.002813234449058344
+                ],
+                "rod_tip_xy": [
+                  0.27752129458388175,
+                  -0.338667088127356
+                ],
+                "target_mouth_xy": [
+                  0.2772248322352399,
+                  -0.34148032257641436
+                ],
+                "gripper_position": [
+                  0.2775120746077909,
+                  -0.33866723079818606,
+                  1.0023066472278666
+                ],
+                "rod_tip_xy_dist": 0.002828812116336261,
+                "target_xy_drift": 6.739642903464822e-08,
+                "depth": 0.018829933076998984,
+                "bottom_clearance": 0.08061062579397871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00028721166232026363,
+                  0.002813091138690771
+                ],
+                "rod_tip_xy": [
+                  0.2775120746077911,
+                  -0.33866723079818606
+                ],
+                "target_mouth_xy": [
+                  0.27722486294547083,
+                  -0.34148032193687683
+                ],
+                "gripper_position": [
+                  0.2775029203064247,
+                  -0.33866773404281525,
+                  1.0021834462659596
+                ],
+                "rod_tip_xy_dist": 0.0028277150304713006,
+                "target_xy_drift": 5.8416437230722526e-08,
+                "depth": 0.018953175099704067,
+                "bottom_clearance": 0.08048732644520573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002780568999727895,
+                  0.0028125872472185565
+                ],
+                "rod_tip_xy": [
+                  0.27750292030642487,
+                  -0.33866773404281525
+                ],
+                "target_mouth_xy": [
+                  0.2772248634064521,
+                  -0.3414803212900338
+                ],
+                "gripper_position": [
+                  0.27749387437352435,
+                  -0.3386675773415388,
+                  1.002060133122715
+                ],
+                "rod_tip_xy_dist": 0.002826298403006826,
+                "target_xy_drift": 5.775725114697944e-08,
+                "depth": 0.019076372301094158,
+                "bottom_clearance": 0.08036413280178978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00026901168587017965,
+                  0.002812743960334263
+                ],
+                "rod_tip_xy": [
+                  0.27749387437352446,
+                  -0.33866757734153885
+                ],
+                "target_mouth_xy": [
+                  0.2772248626876543,
+                  -0.3414803213018731
+                ],
+                "gripper_position": [
+                  0.27748469415701554,
+                  -0.33866766549026817,
+                  1.0019369016744382
+                ],
+                "rod_tip_xy_dist": 0.002825578856364053,
+                "target_xy_drift": 5.7790424954293344e-08,
+                "depth": 0.019199697109082536,
+                "bottom_clearance": 0.08024081513349135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0002598281145236303,
+                  0.002812656373489819
+                ],
+                "rod_tip_xy": [
+                  0.27748469415701565,
+                  -0.33866766549026817
+                ],
+                "target_mouth_xy": [
+                  0.277224866042492,
+                  -0.341480321863758
+                ],
+                "gripper_position": [
+                  0.2774975456006929,
+                  -0.33874497243879287,
+                  1.001427131440246
+                ],
+                "rod_tip_xy_dist": 0.0028246321042623953,
+                "target_xy_drift": 5.8329110839650705e-08,
+                "depth": 0.01932299805147275,
+                "bottom_clearance": 0.08011760886101504,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00027271360888986296,
+                  0.0027353501283087223
+                ],
+                "rod_tip_xy": [
+                  0.27749754560069306,
+                  -0.33874497243879287
+                ],
+                "target_mouth_xy": [
+                  0.2772248319918032,
+                  -0.3414803225671016
+                ],
+                "gripper_position": [
+                  0.2774853656577174,
+                  -0.3387515159833549,
+                  1.00128695018684
+                ],
+                "rod_tip_xy_dist": 0.0027489112457320763,
+                "target_xy_drift": 6.750611169208837e-08,
+                "depth": 0.019832737141525003,
+                "bottom_clearance": 0.0796078303140022,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006027656281166129,
+              "rod_tip_xy_max_step": 3.264185731375458e-05,
+              "rod_tip_xy_range": 0.0006027577642128718,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27707536092437396,
+            -0.34009900644006297,
+            1.0434597062969702
+          ],
+          "object_origin_world": [
+            0.27707536092437396,
+            -0.34009900644006297,
+            1.0434597062969702
+          ],
+          "frame_world": [
+            0.2771007147028853,
+            -0.3400959715482647,
+            1.043769689577879
+          ],
+          "center_minus_frame": [
+            -2.5353778511316705e-05,
+            -3.0348917982592205e-06,
+            -0.0003099832809088099
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2636437256438516,
+              0.15370748879694537,
+              0.8325562506781419
+            ],
+            "target_position": [
+              0.2762690549483472,
+              0.1997093038444906,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04770289223637822,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16957110280664625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325562506781419,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677469423965,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13882273339512746,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "851c752aa2833ac38e84faa6caeb5a26092d77f61309956d5e89e0fe84745cc2",
+    "visual_seed": 6231917542893648855,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fc581c424cb4e4f80a1112f563165fb855388c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3038975414285771,
+              0.07322814827910414,
+              1.1656317689608768
+            ],
+            "current_z": 1.1656317689608768,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3045250225275318,
+            "gripper_z": 1.1577626799857965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2985796013320454,
+              0.06823282458972364,
+              1.1577626799857965
+            ],
+            "object_minus_gripper": [
+              0.0053179400965316925,
+              0.004995323689380493,
+              0.007869088975080318
+            ],
+            "object_to_gripper_xy": 0.007296145943714767,
+            "object_to_gripper_z": 0.007869088975080318,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3038975414285771,
+              0.048800269426043735,
+              1.1656317689608768
+            ],
+            "finger_b": [
+              0.29290398276870433,
+              0.07322814827910414,
+              1.1656317689608768
+            ],
+            "finger_midpoint": [
+              0.29840076209864075,
+              0.061014208852573935,
+              1.1656317689608768
+            ],
+            "object_minus_finger_midpoint": [
+              0.005496779329936363,
+              0.0122139394265302,
+              0.0
+            ],
+            "finger_gap": 0.026787676220005708,
+            "fingertip_max_gap": 0.09140025401101651,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013393838110002844,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656317689608768,
+            "object_top_z": 1.2155689836417451,
+            "finger_top_clearance": 0.049937214680868314,
+            "fingertip_min_top_clearance": 0.014981164404260493,
+            "object_projection_between_fingers": 0.8315750162515426,
+            "object_to_finger_line_xy": 0.010025106952234488,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048200127005508256,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1370246092110414,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2757728665683976,
+              -0.3408891900626558,
+              0.8515395664106934
+            ],
+            "target_position": [
+              0.2679233176329298,
+              -0.34162087007351694,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007883576227106415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18471257350994225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395664106934,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569917841817138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08744110698355133,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15233381493455533,
+            "release_required_pad_clearance": 0.053720553491775666,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4505030783210504,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007398009300231934,
+            "max_z_decrease": 0.007398009300231934,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515238906948469,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007398009300231934,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021279258752667687,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007398009300231934,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007398032819845071,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12362324446439739,
+              -0.397882342338562,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12362324446439739,
+              -0.397882342338562,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12231650222113805,
+              -0.39993379560525033,
+              0.8078460240757352
+            ],
+            "closest_button": [
+              0.12361241132020948,
+              -0.39788106083869934,
+              0.7727775573730469
+            ],
+            "closest_ee_minus_button": [
+              -0.0012959090990714295,
+              -0.00205273476655099,
+              0.03506846670268837
+            ],
+            "button_min_z_position": [
+              0.12360479682683942,
+              -0.39787957072257996,
+              0.7694108486175537
+            ],
+            "min_active_finger_to_button": 0.14724043905250783,
+            "closest_active_finger": [
+              -0.018849432468414307,
+              -0.3838559091091156,
+              0.8111774325370789
+            ],
+            "closest_active_finger_button": [
+              0.12362509965896604,
+              -0.3978825807571411,
+              0.7767680287361145
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14247453212738034,
+              0.014026671648025513,
+              0.034409403800964355
+            ],
+            "min_contact_pad_to_button": 0.021279258752667687,
+            "closest_contact_pad": [
+              0.12360479682683942,
+              -0.4010674403036558,
+              0.7904499631568359
+            ],
+            "closest_contact_pad_button": [
+              0.12360479682683942,
+              -0.39787957072257996,
+              0.7694108486175537
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003187869581075864,
+              0.0210391145392822
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26906622242996875,
+              0.19317305452002115,
+              1.1042351080085795
+            ],
+            "current_z": 1.1042351080085795,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19432597827421694,
+            "gripper_z": 1.1042353511683105,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26906609374035606,
+              0.19317308624328922,
+              1.1042353511683105
+            ],
+            "object_minus_gripper": [
+              1.2868961268841517e-07,
+              -3.172326806799575e-08,
+              -2.43159731017073e-07
+            ],
+            "object_to_gripper_xy": 1.3254200145919112e-07,
+            "object_to_gripper_z": -2.43159731017073e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26906622242996875,
+              0.19317305452002115,
+              1.1042351080085795
+            ],
+            "finger_b": [
+              0.26906622242996875,
+              0.19317305452002115,
+              1.1042351080085795
+            ],
+            "finger_midpoint": [
+              0.26906622242996875,
+              0.19317305452002115,
+              1.1042351080085795
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042351080085795,
+            "object_top_z": 1.2292436146288592,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26906622242996875,
+            0.19317305452002118,
+            1.1042351080085795
+          ],
+          "object_origin_world": [
+            0.26906622242996875,
+            0.19317305452002118,
+            1.1042351080085795
+          ],
+          "frame_world": [
+            0.26906609374035606,
+            0.19317308624328922,
+            1.1042353511683105
+          ],
+          "center_minus_frame": [
+            1.2868961268841517e-07,
+            -3.172326804024017e-08,
+            -2.43159731017073e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432650348900314,
+            "required_z": 0.9112598156932313,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0025931287077871237,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.332456438882958e-08,
+            "max_target_xy_drift": 1.7713076482318036e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4505030781978636,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.450822478348894,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2739873939864668,
+              -0.3390058657039652,
+              0.9233745189545776
+            ],
+            "target_mouth_xy": [
+              0.2757728672007514,
+              -0.3408891903462677
+            ],
+            "rod_tip_z": 0.9233745189545776,
+            "rod_tip_depth": -0.02211467528355837,
+            "rod_tip_bottom_clearance": 0.12155524376608984,
+            "rod_tip_xy_dist": 0.002595154389864224,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044484331785006326,
+            "min_rod_tip_bottom_clearance": 0.05495624531607546,
+            "min_rod_tip_xy_dist": 6.562300170730828e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27577283547986303,
+              -0.34088921985564113
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.1720888360453614e-08,
+              2.9509373444813747e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0012091036998371774,
+                0.003636453313489385
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013212419340574155,
+                0.003260586890770134
+              ],
+              "first_target_mouth_xy": [
+                0.27577283703853134,
+                -0.3408891897384163
+              ],
+              "last_target_mouth_xy": [
+                0.27577286749645363,
+                -0.34088919036807797
+              ],
+              "first_rod_tip_xy": [
+                0.27456373333869416,
+                -0.3372527364249269
+              ],
+              "last_rod_tip_xy": [
+                0.2744516255623962,
+                -0.33762860347730783
+              ],
+              "min_rod_tip_xy_dist": 0.0035075306920730838,
+              "max_rod_tip_xy_dist": 0.0038343326644354144,
+              "first_target_xy_drift": 3.015753103381626e-08,
+              "last_target_xy_drift": 4.352675562631992e-08,
+              "max_depth": 0.01941627551196723,
+              "min_bottom_clearance": 0.08002430307316544
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0012091036998371774,
+                  0.003636453313489385
+                ],
+                "rod_tip_xy": [
+                  0.27456373333869416,
+                  -0.3372527364249269
+                ],
+                "target_mouth_xy": [
+                  0.27577283703853134,
+                  -0.3408891897384163
+                ],
+                "gripper_position": [
+                  0.27455530239315795,
+                  -0.33725329730554876,
+                  1.0060931814225307
+                ],
+                "rod_tip_xy_dist": 0.003832195775028708,
+                "target_xy_drift": 3.015753103381626e-08,
+                "depth": 0.015044551348538104,
+                "bottom_clearance": 0.08439602654407408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001217533779838409,
+                  0.0036358930782558474
+                ],
+                "rod_tip_xy": [
+                  0.2745553023931579,
+                  -0.33725329730554876
+                ],
+                "target_mouth_xy": [
+                  0.2757728361729963,
+                  -0.3408891903838046
+                ],
+                "gripper_position": [
+                  0.2745591599374304,
+                  -0.33731946680349684,
+                  1.005572265419063
+                ],
+                "rod_tip_xy_dist": 0.0038343326644354144,
+                "target_xy_drift": 2.9479986126121087e-08,
+                "depth": 0.015166666753982483,
+                "bottom_clearance": 0.08427388311733175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012136759144725229,
+                  0.0035697232747919916
+                ],
+                "rod_tip_xy": [
+                  0.27455915993743035,
+                  -0.3373194668034968
+                ],
+                "target_mouth_xy": [
+                  0.2757728358519029,
+                  -0.3408891900782888
+                ],
+                "gripper_position": [
+                  0.2745475656498535,
+                  -0.33732623841617904,
+                  1.0054334001900762
+                ],
+                "rod_tip_xy_dist": 0.00377040229736329,
+                "target_xy_drift": 2.9779676413870444e-08,
+                "depth": 0.01568759784259932,
+                "bottom_clearance": 0.0837529752651539,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012252713831003015,
+                  0.003562952605615066
+                ],
+                "rod_tip_xy": [
+                  0.27454756564985344,
+                  -0.3373262384161789
+                ],
+                "target_mouth_xy": [
+                  0.27577283703295374,
+                  -0.340889191021794
+                ],
+                "gripper_position": [
+                  0.27455143687410866,
+                  -0.33739274137180153,
+                  1.0049164764876881
+                ],
+                "rod_tip_xy_dist": 0.0037677475011077526,
+                "target_xy_drift": 2.8875644267076697e-08,
+                "depth": 0.01582636895852252,
+                "bottom_clearance": 0.08361416081033113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012214011951278136,
+                  0.0034964483443514216
+                ],
+                "rod_tip_xy": [
+                  0.2745514368741086,
+                  -0.33739274137180153
+                ],
+                "target_mouth_xy": [
+                  0.2757728380692364,
+                  -0.34088918971615295
+                ],
+                "gripper_position": [
+                  0.27453983281506333,
+                  -0.3373995122184734,
+                  1.0047774637715383
+                ],
+                "rod_tip_xy_dist": 0.0037036430584192976,
+                "target_xy_drift": 3.025051408563622e-08,
+                "depth": 0.01634344308094804,
+                "bottom_clearance": 0.08309717369538283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012329740854702953,
+                  0.0034896784875453335
+                ],
+                "rod_tip_xy": [
+                  0.2745398328150633,
+                  -0.3373995122184734
+                ],
+                "target_mouth_xy": [
+                  0.2757728069005336,
+                  -0.34088919070601875
+                ],
+                "gripper_position": [
+                  0.27453108029349355,
+                  -0.33739972586218664,
+                  1.0046557819634032
+                ],
+                "rod_tip_xy_dist": 0.003701091871580331,
+                "target_xy_drift": 4.0822525122103107e-08,
+                "depth": 0.016482308742313045,
+                "bottom_clearance": 0.08295822063033975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012417579184406669,
+                  0.0034894648081934543
+                ],
+                "rod_tip_xy": [
+                  0.2745310802934935,
+                  -0.3373997258621867
+                ],
+                "target_mouth_xy": [
+                  0.27577283821193416,
+                  -0.34088919067038015
+                ],
+                "gripper_position": [
+                  0.27453598879545943,
+                  -0.33746709007436143,
+                  1.0041398887459503
+                ],
+                "rod_tip_xy_dist": 0.0037038260455413774,
+                "target_xy_drift": 2.9312858465800498e-08,
+                "depth": 0.01660412127842925,
+                "bottom_clearance": 0.08283646513732601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012368480582702346,
+                  0.0034221003092939073
+                ],
+                "rod_tip_xy": [
+                  0.2745359887954594,
+                  -0.3374670900743614
+                ],
+                "target_mouth_xy": [
+                  0.2757728368537296,
+                  -0.3408891903836553
+                ],
+                "gripper_position": [
+                  0.2745243545790432,
+                  -0.33747356076076,
+                  1.0040011967384785
+                ],
+                "rod_tip_xy_dist": 0.0036387585308888396,
+                "target_xy_drift": 2.9503990567668227e-08,
+                "depth": 0.017119890717157582,
+                "bottom_clearance": 0.08232065626092522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012484829589874402,
+                  0.003415630228967126
+                ],
+                "rod_tip_xy": [
+                  0.2745243545790431,
+                  -0.33747356076075996
+                ],
+                "target_mouth_xy": [
+                  0.27577283753803056,
+                  -0.3408891909897271
+                ],
+                "gripper_position": [
+                  0.2745155139073072,
+                  -0.33747372851297114,
+                  1.0038796942569992
+                ],
+                "rod_tip_xy_dist": 0.003636652246217124,
+                "target_xy_drift": 2.8939195693472675e-08,
+                "depth": 0.017258636236000657,
+                "bottom_clearance": 0.08218191337616709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012573234913161313,
+                  0.0034154631236341104
+                ],
+                "rod_tip_xy": [
+                  0.27451551390730716,
+                  -0.3374737285129711
+                ],
+                "target_mouth_xy": [
+                  0.2757728373986233,
+                  -0.3408891916366052
+                ],
+                "gripper_position": [
+                  0.2745065684952305,
+                  -0.33747399536218364,
+                  1.003757841324589
+                ],
+                "rod_tip_xy_dist": 0.0036395399037130864,
+                "target_xy_drift": 2.8284194002988315e-08,
+                "depth": 0.017380125949896907,
+                "bottom_clearance": 0.08206039436566193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012662674674059904,
+                  0.0034151956872237044
+                ],
+                "rod_tip_xy": [
+                  0.2745065684952304,
+                  -0.3374739953621837
+                ],
+                "target_mouth_xy": [
+                  0.2757728359626364,
+                  -0.3408891910494074
+                ],
+                "gripper_position": [
+                  0.27451300967661685,
+                  -0.337543864432614,
+                  1.0032420244461981
+                ],
+                "rod_tip_xy_dist": 0.003642388623011302,
+                "target_xy_drift": 2.881027892850578e-08,
+                "depth": 0.017502002413989026,
+                "bottom_clearance": 0.0819385332047754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012598274230556372,
+                  0.0033453262564387964
+                ],
+                "rod_tip_xy": [
+                  0.2745130096766168,
+                  -0.33754386443261397
+                ],
+                "target_mouth_xy": [
+                  0.27577283709967243,
+                  -0.34088919068905277
+                ],
+                "gripper_position": [
+                  0.2745011605292454,
+                  -0.3375503379426054,
+                  1.0031031970658402
+                ],
+                "rod_tip_xy_dist": 0.0035746850068085465,
+                "target_xy_drift": 2.9211532986789092e-08,
+                "depth": 0.018017751234131407,
+                "bottom_clearance": 0.0814227934206685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001271677626198453,
+                  0.0033388520910334063
+                ],
+                "rod_tip_xy": [
+                  0.27450116052924534,
+                  -0.33755033794260547
+                ],
+                "target_mouth_xy": [
+                  0.2757728381554438,
+                  -0.3408891900336389
+                ],
+                "gripper_position": [
+                  0.2744922241290517,
+                  -0.337550338357394,
+                  1.0029815567915958
+                ],
+                "rod_tip_xy_dist": 0.003572827629591425,
+                "target_xy_drift": 2.994178603517326e-08,
+                "depth": 0.018156717349433138,
+                "bottom_clearance": 0.08128389075495812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001280612671637149,
+                  0.003338851090473771
+                ],
+                "rod_tip_xy": [
+                  0.27449222412905167,
+                  -0.337550338357394
+                ],
+                "target_mouth_xy": [
+                  0.2757728368006888,
+                  -0.3408891894478678
+                ],
+                "gripper_position": [
+                  0.2744832539092569,
+                  -0.33755046464719957,
+                  1.002859954864072
+                ],
+                "rod_tip_xy_dist": 0.003576016697264643,
+                "target_xy_drift": 3.0436446263412614e-08,
+                "depth": 0.018278239309622912,
+                "bottom_clearance": 0.08116234065219252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012895531203950816,
+                  0.0033387247837218803
+                ],
+                "rod_tip_xy": [
+                  0.2744832539092568,
+                  -0.3375504646471995
+                ],
+                "target_mouth_xy": [
+                  0.2757728070296519,
+                  -0.3408891894309214
+                ],
+                "gripper_position": [
+                  0.2744910613240096,
+                  -0.33762226235500653,
+                  1.0023474025540287
+                ],
+                "rod_tip_xy_dist": 0.003579110284939458,
+                "target_xy_drift": 4.1654268507516615e-08,
+                "depth": 0.018399901375349303,
+                "bottom_clearance": 0.08104068037418455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012817756465241525,
+                  0.0032669296076520693
+                ],
+                "rod_tip_xy": [
+                  0.2744910613240095,
+                  -0.3376222623550065
+                ],
+                "target_mouth_xy": [
+                  0.2757728369705337,
+                  -0.34088919196265854
+                ],
+                "gripper_position": [
+                  0.27447900741341114,
+                  -0.33762898675973063,
+                  1.0022087945405185
+                ],
+                "rod_tip_xy_dist": 0.003509384257868624,
+                "target_xy_drift": 2.793278677017447e-08,
+                "depth": 0.018912413071644152,
+                "bottom_clearance": 0.08052808813049539,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012937678791405949,
+                  0.00326020493692325
+                ],
+                "rod_tip_xy": [
+                  0.2744790074134111,
+                  -0.33762898675973063
+                ],
+                "target_mouth_xy": [
+                  0.2757727752925517,
+                  -0.3408891916966539
+                ],
+                "gripper_position": [
+                  0.27446996534232254,
+                  -0.3376286767106162,
+                  1.0020871484212799
+                ],
+                "rod_tip_xy_dist": 0.0035075306920730838,
+                "target_xy_drift": 6.644878487607728e-08,
+                "depth": 0.01905107177964538,
+                "bottom_clearance": 0.08038948439452887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013028427235659001,
+                  0.003260514599923048
+                ],
+                "rod_tip_xy": [
+                  0.2744699653423225,
+                  -0.33762867671061625
+                ],
+                "target_mouth_xy": [
+                  0.2757728080658884,
+                  -0.3408891913105393
+                ],
+                "gripper_position": [
+                  0.27446078636609006,
+                  -0.337628658054045,
+                  1.0019652800838026
+                ],
+                "rod_tip_xy_dist": 0.003511175674707827,
+                "target_xy_drift": 3.957712527226526e-08,
+                "depth": 0.01917262149312926,
+                "bottom_clearance": 0.08026792833193086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0013120514893457669,
+                  0.00326053103402435
+                ],
+                "rod_tip_xy": [
+                  0.27446078636609,
+                  -0.33762865805404507
+                ],
+                "target_mouth_xy": [
+                  0.27577283785543577,
+                  -0.3408891890880694
+                ],
+                "gripper_position": [
+                  0.2744516255623963,
+                  -0.33762860347730794,
+                  1.0018435102878838
+                ],
+                "rod_tip_xy_dist": 0.003514618291440813,
+                "target_xy_drift": 3.085914475364693e-08,
+                "depth": 0.019294649368833183,
+                "bottom_clearance": 0.08014598296763442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013212419340574155,
+                  0.003260586890770134
+                ],
+                "rod_tip_xy": [
+                  0.2744516255623962,
+                  -0.33762860347730783
+                ],
+                "target_mouth_xy": [
+                  0.27577286749645363,
+                  -0.34088919036807797
+                ],
+                "gripper_position": [
+                  0.2744425533045627,
+                  -0.33762856947913805,
+                  1.0017219544084104
+                ],
+                "rod_tip_xy_dist": 0.0035181113001970005,
+                "target_xy_drift": 4.352675562631992e-08,
+                "depth": 0.01941627551196723,
+                "bottom_clearance": 0.08002430307316544,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005984327856902497,
+              "rod_tip_xy_max_step": 3.246131056761485e-05,
+              "rod_tip_xy_range": 0.0005984238339791182,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2739873939864668,
+            -0.3390058657039652,
+            1.0433745189545776
+          ],
+          "object_origin_world": [
+            0.2739873939864668,
+            -0.3390058657039652,
+            1.0433745189545776
+          ],
+          "frame_world": [
+            0.273985803473385,
+            -0.33901016939654915,
+            1.0432650348900314
+          ],
+          "center_minus_frame": [
+            1.5905130817950308e-06,
+            4.303692583973451e-06,
+            0.00010948406454613924
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2570964480012582,
+              0.1466567153105837,
+              0.8327390440628288
+            ],
+            "target_position": [
+              0.2691900229685342,
+              0.193104862681176,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047996718113318806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16802016262850625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327390440628288,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567488898496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1375125730843368,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ea1333eb96890639374ecda6a3bd5d8cc2d2f6714d70918d85fba1689b928a2",
+    "visual_seed": 7178682054947973408,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f7096fe9221d2664870eea7dc16d39da508224
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2984526413443429,
+              0.0767968287788994,
+              1.1625187405583342
+            ],
+            "current_z": 1.1625187405583342,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30141229214821286,
+            "gripper_z": 1.1548770487268287,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2931651561915991,
+              0.07163504210659986,
+              1.1548770487268287
+            ],
+            "object_minus_gripper": [
+              0.005287485152743798,
+              0.005161786672299537,
+              0.007641691831505426
+            ],
+            "object_to_gripper_xy": 0.0073892855467098595,
+            "object_to_gripper_z": 0.007641691831505426,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2984526413443429,
+              0.052748727463944656,
+              1.1625187405583342
+            ],
+            "finger_b": [
+              0.2867570420882734,
+              0.0767968287788994,
+              1.1625187405583342
+            ],
+            "finger_midpoint": [
+              0.2926048417163082,
+              0.06477277812142203,
+              1.1625187405583342
+            ],
+            "object_minus_finger_midpoint": [
+              0.005847799628034722,
+              0.012024050657477373,
+              0.0
+            ],
+            "finger_gap": 0.02674132043884336,
+            "fingertip_max_gap": 0.09099596647393501,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013370660219421668,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625187405583342,
+            "object_top_z": 1.2124868888644267,
+            "finger_top_clearance": 0.04996814830609253,
+            "fingertip_min_top_clearance": 0.014990444491827758,
+            "object_projection_between_fingers": 0.8087157283293941,
+            "object_to_finger_line_xy": 0.0105176913941963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799798323696751,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6895479495964228,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27809286245165576,
+              -0.3410699397198984,
+              0.8515395736602673
+            ],
+            "target_position": [
+              0.26973920989751754,
+              -0.3420146520951901,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008406901478386039,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842333118640585,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395736602673,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758991289685076,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582896232806679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15134909824568754,
+            "release_required_pad_clearance": 0.0529144811640334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8677232888445374,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007479071617126465,
+            "max_z_decrease": 0.007479071617126465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035116012414342965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007479071617126465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021182227037402423,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007479071617126465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007479093127590544,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1254391372203827,
+              -0.3982761204242706,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1254391372203827,
+              -0.3982761204242706,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12445905024821954,
+              -0.39952486350208083,
+              0.8077999474901358
+            ],
+            "closest_button": [
+              0.12542752921581268,
+              -0.39827468991279596,
+              0.7727195620536804
+            ],
+            "closest_ee_minus_button": [
+              -0.0009684789675931393,
+              -0.0012501735892848642,
+              0.03508038543645542
+            ],
+            "button_min_z_position": [
+              0.1254214197397232,
+              -0.39827331900596613,
+              0.7693297863006592
+            ],
+            "min_active_finger_to_button": 0.14700026717676482,
+            "closest_active_finger": [
+              -0.01671639084815979,
+              -0.3835543394088745,
+              0.81110018491745
+            ],
+            "closest_active_finger_button": [
+              0.1254408210515976,
+              -0.398276537656784,
+              0.7766957879066467
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14215721189975739,
+              0.01472219824790949,
+              0.03440439701080322
+            ],
+            "min_contact_pad_to_button": 0.021182227037402423,
+            "closest_contact_pad": [
+              0.1254214197397232,
+              -0.40065440881677045,
+              0.7903777589720816
+            ],
+            "closest_contact_pad_button": [
+              0.1254214197397232,
+              -0.39827331900596613,
+              0.7693297863006592
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023810898108043155,
+              0.021047972671422444
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2762476560517663,
+              0.1982592919750934,
+              1.1041380795306508
+            ],
+            "current_z": 1.1041380795306508,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19422894979628824,
+            "gripper_z": 1.1041385181847552,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27624775868218754,
+              0.1982592353445866,
+              1.1041385181847552
+            ],
+            "object_minus_gripper": [
+              -1.0263042121705368e-07,
+              5.663050681170567e-08,
+              -4.3865410437327057e-07
+            ],
+            "object_to_gripper_xy": 1.172178214306191e-07,
+            "object_to_gripper_z": -4.3865410437327057e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2762476560517663,
+              0.1982592919750934,
+              1.1041380795306508
+            ],
+            "finger_b": [
+              0.2762476560517663,
+              0.1982592919750934,
+              1.1041380795306508
+            ],
+            "finger_midpoint": [
+              0.2762476560517663,
+              0.1982592919750934,
+              1.1041380795306508
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041380795306508,
+            "object_top_z": 1.2291465861509305,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2762476560517663,
+            0.1982592919750934,
+            1.1041380795306508
+          ],
+          "object_origin_world": [
+            0.2762476560517663,
+            0.1982592919750934,
+            1.1041380795306508
+          ],
+          "frame_world": [
+            0.27624775868218754,
+            0.1982592353445866,
+            1.1041385181847552
+          ],
+          "center_minus_frame": [
+            -1.0263042121705368e-07,
+            5.663050681170567e-08,
+            -4.3865410437327057e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431839998730386,
+            "required_z": 0.9112598206231282,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017005916760965021,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.854682714716166e-08,
+            "max_target_xy_drift": 1.4071765445664734e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8677232869656976,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8677232890003722,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27639887719028156,
+              -0.3411981725685878,
+              0.9232948338207697
+            ],
+            "target_mouth_xy": [
+              0.27809286473419204,
+              -0.3410698483535095
+            ],
+            "rod_tip_z": 0.9232948338207697,
+            "rod_tip_depth": -0.022034928234933582,
+            "rod_tip_bottom_clearance": 0.12147552496945713,
+            "rod_tip_xy_dist": 0.001698841047037457,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044531541025745414,
+            "min_rod_tip_bottom_clearance": 0.05490903948833337,
+            "min_rod_tip_xy_dist": 0.0012581259974396256,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2780928626050858,
+              -0.3410699368747358
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.129106224657562e-09,
+              8.852122629354753e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0010996006951607962,
+                0.0016707267049907437
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012143953089214232,
+                0.0012830680555255825
+              ],
+              "first_target_mouth_xy": [
+                0.27809280429379546,
+                -0.341069966336798
+              ],
+              "last_target_mouth_xy": [
+                0.278092836589587,
+                -0.34106996918260096
+              ],
+              "first_rod_tip_xy": [
+                0.27699320359863466,
+                -0.33939923963180724
+              ],
+              "last_rod_tip_xy": [
+                0.2768784412806656,
+                -0.3397869011270754
+              ],
+              "min_rod_tip_xy_dist": 0.0017449009140792211,
+              "max_rod_tip_xy_dist": 0.0020001123497362175,
+              "first_target_xy_drift": 6.533161325363789e-08,
+              "last_target_xy_drift": 4.14801679074586e-08,
+              "max_depth": 0.01943436267406351,
+              "min_bottom_clearance": 0.08000635554631919
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0010996006951607962,
+                  0.0016707267049907437
+                ],
+                "rod_tip_xy": [
+                  0.27699320359863466,
+                  -0.33939923963180724
+                ],
+                "target_mouth_xy": [
+                  0.27809280429379546,
+                  -0.341069966336798
+                ],
+                "gripper_position": [
+                  0.27699605227147245,
+                  -0.3394663867802377,
+                  1.0057048044720125
+                ],
+                "rod_tip_xy_dist": 0.0020001123497362175,
+                "target_xy_drift": 6.533161325363789e-08,
+                "depth": 0.015036916349951523,
+                "bottom_clearance": 0.08440361216163095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0010967497261485382,
+                  0.0016035808433031984
+                ],
+                "rod_tip_xy": [
+                  0.27699605227147234,
+                  -0.3394663867802376
+                ],
+                "target_mouth_xy": [
+                  0.2780928019976209,
+                  -0.3410699676235408
+                ],
+                "gripper_position": [
+                  0.2769842755622032,
+                  -0.33947329888648375,
+                  1.0055639716833835
+                ],
+                "rod_tip_xy_dist": 0.0019427638772676133,
+                "target_xy_drift": 6.796141416265338e-08,
+                "depth": 0.015555123402407944,
+                "bottom_clearance": 0.0838854473284466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0011085575906237821,
+                  0.0015966680968991787
+                ],
+                "rod_tip_xy": [
+                  0.27698427556220306,
+                  -0.33947329888648364
+                ],
+                "target_mouth_xy": [
+                  0.27809283315282685,
+                  -0.3410699669833828
+                ],
+                "gripper_position": [
+                  0.27697574030303346,
+                  -0.3394738194677184,
+                  1.0054402910801172
+                ],
+                "rod_tip_xy_dist": 0.0019437718341886864,
+                "target_xy_drift": 4.2118477934485926e-08,
+                "depth": 0.015695849372452386,
+                "bottom_clearance": 0.08374465762833405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0011170607402587462,
+                  0.0015961136022825673
+                ],
+                "rod_tip_xy": [
+                  0.27697574030303335,
+                  -0.3394738194677183
+                ],
+                "target_mouth_xy": [
+                  0.2780928010432921,
+                  -0.3410699330700009
+                ],
+                "gripper_position": [
+                  0.27697948889113716,
+                  -0.33954215377571895,
+                  1.004921549048296
+                ],
+                "rod_tip_xy_dist": 0.0019481794909142359,
+                "target_xy_drift": 6.167925464526773e-08,
+                "depth": 0.015819648269058684,
+                "bottom_clearance": 0.08362104474172982,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011133468475729713,
+                  0.0015278445713921562
+                ],
+                "rod_tip_xy": [
+                  0.27697948889113705,
+                  -0.3395421537757189
+                ],
+                "target_mouth_xy": [
+                  0.27809283573871,
+                  -0.34106999834711105
+                ],
+                "gripper_position": [
+                  0.27696786452678435,
+                  -0.3395491829263463,
+                  1.0047808647265715
+                ],
+                "rod_tip_xy_dist": 0.0018904629690457188,
+                "target_xy_drift": 6.708692172454056e-08,
+                "depth": 0.01633838058381243,
+                "bottom_clearance": 0.08310228208591597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011249367687919953,
+                  0.00152072381502516
+                ],
+                "rod_tip_xy": [
+                  0.27696786452678424,
+                  -0.3395491829263462
+                ],
+                "target_mouth_xy": [
+                  0.27809280129557623,
+                  -0.3410699067413714
+                ],
+                "gripper_position": [
+                  0.27695906429467343,
+                  -0.33954951848182807,
+                  1.0046572005029808
+                ],
+                "rod_tip_xy_dist": 0.0018915823152495512,
+                "target_xy_drift": 6.831453444129068e-08,
+                "depth": 0.01647900638338995,
+                "bottom_clearance": 0.08296155464735633,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011337682367845714,
+                  0.0015204177368405847
+                ],
+                "rod_tip_xy": [
+                  0.2769590642946733,
+                  -0.33954951848182807
+                ],
+                "target_mouth_xy": [
+                  0.2780928325314579,
+                  -0.34106993621866866
+                ],
+                "gripper_position": [
+                  0.2769637552899177,
+                  -0.33961904932909276,
+                  1.004140080669827
+                ],
+                "rod_tip_xy_dist": 0.0018966023592838434,
+                "target_xy_drift": 3.008078324191387e-08,
+                "depth": 0.01660263213905666,
+                "bottom_clearance": 0.08283788436356176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011290781255287596,
+                  0.001450888468434386
+                ],
+                "rod_tip_xy": [
+                  0.27696375528991757,
+                  -0.33961904932909276
+                ],
+                "target_mouth_xy": [
+                  0.2780928334154463,
+                  -0.34106993779752715
+                ],
+                "gripper_position": [
+                  0.276951982741278,
+                  -0.3396259385521072,
+                  1.0039995612746138
+                ],
+                "rod_tip_xy_dist": 0.0018384490097316858,
+                "target_xy_drift": 2.920422224657716e-08,
+                "depth": 0.01711975348162509,
+                "bottom_clearance": 0.08232078541666754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011408176397316727,
+                  0.0014440268551432767
+                ],
+                "rod_tip_xy": [
+                  0.2769519827412779,
+                  -0.33962593855210715
+                ],
+                "target_mouth_xy": [
+                  0.2780928003810096,
+                  -0.34106996540725043
+                ],
+                "gripper_position": [
+                  0.27694313545420796,
+                  -0.3396262465913488,
+                  1.0038761077669625
+                ],
+                "rod_tip_xy_dist": 0.0018402930325081184,
+                "target_xy_drift": 6.8453926498661e-08,
+                "depth": 0.017260354326246286,
+                "bottom_clearance": 0.08218027540239314,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011496686536440204,
+                  0.001443660121074497
+                ],
+                "rod_tip_xy": [
+                  0.2769431354542078,
+                  -0.3396262465913487
+                ],
+                "target_mouth_xy": [
+                  0.2780928041078518,
+                  -0.3410699067124232
+                ],
+                "gripper_position": [
+                  0.2769342372840727,
+                  -0.3396266620191171,
+                  1.0037526794959515
+                ],
+                "rod_tip_xy_dist": 0.0018455060439761465,
+                "target_xy_drift": 6.581558695847758e-08,
+                "depth": 0.017383712229707804,
+                "bottom_clearance": 0.08205680994263753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011585647707778035,
+                  0.0014432754682601745
+                ],
+                "rod_tip_xy": [
+                  0.27693423728407257,
+                  -0.3396266620191171
+                ],
+                "target_mouth_xy": [
+                  0.2780928020548504,
+                  -0.3410699374873773
+                ],
+                "gripper_position": [
+                  0.2769403188939974,
+                  -0.33969862599840783,
+                  1.003235630567303
+                ],
+                "rod_tip_xy_dist": 0.0018507610341070644,
+                "target_xy_drift": 6.055333468142829e-08,
+                "depth": 0.017507180930174226,
+                "bottom_clearance": 0.08193337551662727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011524863487241688,
+                  0.001371281669942992
+                ],
+                "rod_tip_xy": [
+                  0.27694031889399723,
+                  -0.3396986259984078
+                ],
+                "target_mouth_xy": [
+                  0.2780928052427214,
+                  -0.34106990766835077
+                ],
+                "gripper_position": [
+                  0.27692834925840426,
+                  -0.3397054181273152,
+                  1.0030951031659026
+                ],
+                "rod_tip_xy_dist": 0.0017912672057281702,
+                "target_xy_drift": 6.436966504372967e-08,
+                "depth": 0.018024270811058396,
+                "bottom_clearance": 0.08141632015716394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011644535910295684,
+                  0.001364488604852554
+                ],
+                "rod_tip_xy": [
+                  0.27692834925840415,
+                  -0.3397054181273151
+                ],
+                "target_mouth_xy": [
+                  0.2780928028494337,
+                  -0.34106990673216764
+                ],
+                "gripper_position": [
+                  0.2769193230025909,
+                  -0.3397058191126451,
+                  1.0029720857883706
+                ],
+                "rod_tip_xy_dist": 0.0017938175265154832,
+                "target_xy_drift": 6.692766522582962e-08,
+                "depth": 0.01816472027924021,
+                "bottom_clearance": 0.08127578043204375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011734814653367454,
+                  0.0013641158257562958
+                ],
+                "rod_tip_xy": [
+                  0.2769193230025908,
+                  -0.339705819112645
+                ],
+                "target_mouth_xy": [
+                  0.27809280446792756,
+                  -0.3410699349384013
+                ],
+                "gripper_position": [
+                  0.27691044427653055,
+                  -0.3397059478222069,
+                  1.0028487977726377
+                ],
+                "rod_tip_xy_dist": 0.0017994084404513767,
+                "target_xy_drift": 5.816939539911721e-08,
+                "depth": 0.018287765335390782,
+                "bottom_clearance": 0.08115282774132804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001182389119035343,
+                  0.0013639912533235377
+                ],
+                "rod_tip_xy": [
+                  0.27691044427653044,
+                  -0.3397059478222069
+                ],
+                "target_mouth_xy": [
+                  0.2780928333955658,
+                  -0.34106993907553046
+                ],
+                "gripper_position": [
+                  0.27691794526533087,
+                  -0.3397797946605174,
+                  1.0023352283922708
+                ],
+                "rod_tip_xy_dist": 0.0018051360524781199,
+                "target_xy_drift": 2.9292312254455462e-08,
+                "depth": 0.018411058869586383,
+                "bottom_clearance": 0.08102952412626296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011748571059480017,
+                  0.001290112390669118
+                ],
+                "rod_tip_xy": [
+                  0.27691794526533076,
+                  -0.3397797946605173
+                ],
+                "target_mouth_xy": [
+                  0.27809280237127876,
+                  -0.3410699070511864
+                ],
+                "gripper_position": [
+                  0.27690584868147294,
+                  -0.33978661228464196,
+                  1.0021954545372542
+                ],
+                "rod_tip_xy_dist": 0.0017449009140792211,
+                "target_xy_drift": 6.72127637536692e-08,
+                "depth": 0.018924610859460733,
+                "bottom_clearance": 0.080515910583703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011869878847652338,
+                  0.0012832969605922062
+                ],
+                "rod_tip_xy": [
+                  0.2769058486814728,
+                  -0.33978661228464196
+                ],
+                "target_mouth_xy": [
+                  0.278092836566238,
+                  -0.34106990924523417
+                ],
+                "gripper_position": [
+                  0.2768966238943711,
+                  -0.33978672125533965,
+                  1.0020720342417104
+                ],
+                "rod_tip_xy_dist": 0.0017480821856093146,
+                "target_xy_drift": 3.796591833658475e-08,
+                "depth": 0.019064487305739397,
+                "bottom_clearance": 0.08037621832556685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011961764688881993,
+                  0.001283186457965435
+                ],
+                "rod_tip_xy": [
+                  0.2768966238943709,
+                  -0.33978672125533965
+                ],
+                "target_mouth_xy": [
+                  0.2780928003632591,
+                  -0.3410699077133051
+                ],
+                "gripper_position": [
+                  0.2768874471797078,
+                  -0.33978688288870473,
+                  1.001948715913618
+                ],
+                "rod_tip_xy_dist": 0.001754253582190363,
+                "target_xy_drift": 6.87345184850047e-08,
+                "depth": 0.019187877816211008,
+                "bottom_clearance": 0.08025274377467306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012052971700322601,
+                  0.001283025437355645
+                ],
+                "rod_tip_xy": [
+                  0.2768874471797077,
+                  -0.3397868828887047
+                ],
+                "target_mouth_xy": [
+                  0.27809274434973996,
+                  -0.3410699083260603
+                ],
+                "gripper_position": [
+                  0.27687844128066574,
+                  -0.33978690112707544,
+                  1.0018255852572133
+                ],
+                "rod_tip_xy_dist": 0.001760368012942015,
+                "target_xy_drift": 1.2165259427351352e-07,
+                "depth": 0.01931106731048049,
+                "bottom_clearance": 0.08012949651787193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012143953089214232,
+                  0.0012830680555255825
+                ],
+                "rod_tip_xy": [
+                  0.2768784412806656,
+                  -0.3397869011270754
+                ],
+                "target_mouth_xy": [
+                  0.278092836589587,
+                  -0.34106996918260096
+                ],
+                "gripper_position": [
+                  0.2768692833932048,
+                  -0.3397873309840289,
+                  1.0017025984389434
+                ],
+                "rod_tip_xy_dist": 0.001766640767513463,
+                "target_xy_drift": 4.14801679074586e-08,
+                "depth": 0.01943436267406351,
+                "bottom_clearance": 0.08000635554631919,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005994577142212269,
+              "rod_tip_xy_max_step": 3.250159035846145e-05,
+              "rod_tip_xy_range": 0.0005994507103299301,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27639887719028156,
+            -0.3411981725685878,
+            1.04329483382077
+          ],
+          "object_origin_world": [
+            0.27639887719028156,
+            -0.3411981725685878,
+            1.04329483382077
+          ],
+          "frame_world": [
+            0.27639744867754157,
+            -0.341202424534102,
+            1.0431839998730386
+          ],
+          "center_minus_frame": [
+            1.42851273998712e-06,
+            4.251965514179279e-06,
+            0.00011083394773137023
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26302294171173224,
+              0.15198955594930533,
+              0.831673069509244
+            ],
+            "target_position": [
+              0.2764126677704075,
+              0.19854234537507504,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0484401379771613,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16954784050040567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831673069509244,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674497786765,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.139757982731737,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33e267c5826c7cba127b2963d93b339eacf6a3491f8e756f61cca1b9f57cd0fe",
+    "visual_seed": 3233533035267763515,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08339584a7ff9bfd93a76d5ab4d749f1a4674fd2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2995584947012848,
+              0.07467380574027287,
+              1.1645708352441737
+            ],
+            "current_z": 1.1645708352441737,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30346438683405264,
+            "gripper_z": 1.156823954689517,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29417869765194027,
+              0.06954920750731378,
+              1.156823954689517
+            ],
+            "object_minus_gripper": [
+              0.005379797049344548,
+              0.0051245982329590906,
+              0.0077468805546567765
+            ],
+            "object_to_gripper_xy": 0.007429920816629457,
+            "object_to_gripper_z": 0.0077468805546567765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2995584947012848,
+              0.050464172072356206,
+              1.1645708352441737
+            ],
+            "finger_b": [
+              0.2880496039828926,
+              0.07467380574027287,
+              1.1645708352441737
+            ],
+            "finger_midpoint": [
+              0.2938040493420887,
+              0.06256898890631454,
+              1.1645708352441737
+            ],
+            "object_minus_finger_midpoint": [
+              0.005754445359196114,
+              0.012104816833958323,
+              0.0
+            ],
+            "finger_gap": 0.026805986792181682,
+            "fingertip_max_gap": 0.09083846720233033,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013402993396090834,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645708352441737,
+            "object_top_z": 1.2144606969251837,
+            "finger_top_clearance": 0.04988986168100995,
+            "fingertip_min_top_clearance": 0.01496695850430295,
+            "object_projection_between_fingers": 0.8156668969540112,
+            "object_to_finger_line_xy": 0.010394171659355841,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047919233601165165,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.53167548637554,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2822120155553707,
+              -0.34070629998815627,
+              0.8515395550164103
+            ],
+            "target_position": [
+              0.2732016040332819,
+              -0.34182640696272726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009079766265266546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18824741224935118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395550164103,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577540340213991,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566095501500524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555243005978582,
+            "release_required_pad_clearance": 0.052830477507502624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7055404589420498,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007470190525054932,
+            "max_z_decrease": 0.007470190525054932,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351730132831754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007470190525054932,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021076280034226347,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007470190525054932,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007470210885923831,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12890152633190152,
+              -0.39808785915374756,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12890152633190152,
+              -0.39808785915374756,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1275125851361538,
+              -0.3961869824579337,
+              0.8075770905670108
+            ],
+            "closest_button": [
+              0.12889032065868372,
+              -0.3980834782123565,
+              0.7724822759628296
+            ],
+            "closest_ee_minus_button": [
+              -0.001377735522529927,
+              0.0018964957544228,
+              0.03509481460418118
+            ],
+            "button_min_z_position": [
+              0.12888419628143305,
+              -0.39808589220046997,
+              0.7693386673927307
+            ],
+            "min_active_finger_to_button": 0.1465635357094688,
+            "closest_active_finger": [
+              0.0007104054093360901,
+              -0.46027156710624695,
+              0.8109828233718872
+            ],
+            "closest_active_finger_button": [
+              0.12890267372131342,
+              -0.39808952808380127,
+              0.7766170501708984
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12819226831197733,
+              -0.06218203902244568,
+              0.03436577320098877
+            ],
+            "min_contact_pad_to_button": 0.021076280034226347,
+            "closest_contact_pad": [
+              0.12888419628143305,
+              -0.39808589220046997,
+              0.7904149474269571
+            ],
+            "closest_contact_pad_button": [
+              0.12888419628143305,
+              -0.39808589220046997,
+              0.7693386673927307
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021076280034226347
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2730738038446231,
+              0.20088480633645495,
+              1.1045400203365694
+            ],
+            "current_z": 1.1045400203365694,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19463089060220684,
+            "gripper_z": 1.104539982909455,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2730738764663792,
+              0.2008847384086569,
+              1.104539982909455
+            ],
+            "object_minus_gripper": [
+              -7.262175610867061e-08,
+              6.792779805309124e-08,
+              3.742711429666201e-08
+            ],
+            "object_to_gripper_xy": 9.943895216990566e-08,
+            "object_to_gripper_z": 3.742711429666201e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2730738038446231,
+              0.20088480633645495,
+              1.1045400203365694
+            ],
+            "finger_b": [
+              0.2730738038446231,
+              0.20088480633645495,
+              1.1045400203365694
+            ],
+            "finger_midpoint": [
+              0.2730738038446231,
+              0.20088480633645495,
+              1.1045400203365694
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045400203365694,
+            "object_top_z": 1.2295485269568491,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2730738038446231,
+            0.20088480633645495,
+            1.1045400203365694
+          ],
+          "object_origin_world": [
+            0.2730738038446231,
+            0.20088480633645495,
+            1.1045400203365694
+          ],
+          "frame_world": [
+            0.2730738764663792,
+            0.2008847384086569,
+            1.104539982909455
+          ],
+          "center_minus_frame": [
+            -7.262175610867061e-08,
+            6.792779805309124e-08,
+            3.742711429666201e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433763191909515,
+            "required_z": 0.9112600579617038,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010200756582672697,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.6538165863640208e-07,
+            "max_target_xy_drift": 6.79812313498159e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7055404511420833,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7055404600103543,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2830517768290838,
+              -0.34011992432138916,
+              0.9234900309683322
+            ],
+            "target_mouth_xy": [
+              0.2822119583067747,
+              -0.3407062096018587
+            ],
+            "rod_tip_z": 0.9234900309683322,
+            "rod_tip_depth": -0.022230117105859315,
+            "rod_tip_bottom_clearance": 0.12167076894323381,
+            "rod_tip_xy_dist": 0.0010242194982076195,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04465962173714966,
+            "min_rod_tip_bottom_clearance": 0.05478100134886954,
+            "min_rod_tip_xy_dist": 0.0005565318946466913,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.282212109692026,
+              -0.34070614301658475
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.513852512791125e-07,
+              -6.658527396119496e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0012867480811938892,
+                0.0022854232797749896
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0011817969879626689,
+                0.001967034717560656
+              ],
+              "first_target_mouth_xy": [
+                0.28221198674819925,
+                -0.3407062666807542
+              ],
+              "last_target_mouth_xy": [
+                0.2822119559207114,
+                -0.3407062999954237
+              ],
+              "first_rod_tip_xy": [
+                0.28349873482939314,
+                -0.3384208434009792
+              ],
+              "last_rod_tip_xy": [
+                0.2833937529086741,
+                -0.338739265277863
+              ],
+              "min_rod_tip_xy_dist": 0.002294748287034237,
+              "max_rod_tip_xy_dist": 0.002622761939672304,
+              "first_target_xy_drift": 1.7437893031947554e-07,
+              "last_target_xy_drift": 2.19745245809417e-07,
+              "max_depth": 0.019569764053894656,
+              "min_bottom_clearance": 0.07987077025555733
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012867480811938892,
+                  0.0022854232797749896
+                ],
+                "rod_tip_xy": [
+                  0.28349873482939314,
+                  -0.3384208434009792
+                ],
+                "target_mouth_xy": [
+                  0.28221198674819925,
+                  -0.3407062666807542
+                ],
+                "gripper_position": [
+                  0.2834872053417288,
+                  -0.33842810502789517,
+                  1.0056034001140761
+                ],
+                "rod_tip_xy_dist": 0.002622761939672304,
+                "target_xy_drift": 1.7437893031947554e-07,
+                "depth": 0.01551283291365424,
+                "bottom_clearance": 0.08392785860387963,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0012752214636965742,
+                  0.002278225084626162
+                ],
+                "rod_tip_xy": [
+                  0.2834872053417287,
+                  -0.3384281050278951
+                ],
+                "target_mouth_xy": [
+                  0.28221198387803215,
+                  -0.34070633011252127
+                ],
+                "gripper_position": [
+                  0.2834783502461405,
+                  -0.33842891429859157,
+                  1.0054766718589487
+                ],
+                "rod_tip_xy_dist": 0.002610842645142046,
+                "target_xy_drift": 2.2546407808633937e-07,
+                "depth": 0.01565637733577241,
+                "bottom_clearance": 0.08378414440660242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012663329873283669,
+                  0.0022773520593881713
+                ],
+                "rod_tip_xy": [
+                  0.2834783502461405,
+                  -0.33842891429859157
+                ],
+                "target_mouth_xy": [
+                  0.2822120172588121,
+                  -0.34070626635797974
+                ],
+                "gripper_position": [
+                  0.2834883458328823,
+                  -0.33849599519824897,
+                  1.0049540223262563
+                ],
+                "rod_tip_xy_dist": 0.002605749726507811,
+                "target_xy_drift": 1.5413305531849808e-07,
+                "depth": 0.015783288135257756,
+                "bottom_clearance": 0.08365744205234926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0012763622729995983,
+                  0.0022103060632286953
+                ],
+                "rod_tip_xy": [
+                  0.2834883458328823,
+                  -0.338495995198249
+                ],
+                "target_mouth_xy": [
+                  0.2822119835598827,
+                  -0.3407063012614777
+                ],
+                "gripper_position": [
+                  0.2834765400625512,
+                  -0.33850331783768944,
+                  1.004810030081522
+                ],
+                "rod_tip_xy_dist": 0.002552362345961528,
+                "target_xy_drift": 2.0236295046269627e-07,
+                "depth": 0.016305841700808066,
+                "bottom_clearance": 0.08313472655485421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012645537888513192,
+                  0.002202949794502085
+                ],
+                "rod_tip_xy": [
+                  0.2834765400625512,
+                  -0.3385033178376895
+                ],
+                "target_mouth_xy": [
+                  0.28221198627369987,
+                  -0.3407062676321916
+                ],
+                "gripper_position": [
+                  0.28346759281398665,
+                  -0.3385040749178369,
+                  1.0046836747575436
+                ],
+                "rod_tip_xy_dist": 0.0025400952899438645,
+                "target_xy_drift": 1.7538851925766042e-07,
+                "depth": 0.01644989780687378,
+                "bottom_clearance": 0.08299074116679239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012556054461788646,
+                  0.0022022250522223397
+                ],
+                "rod_tip_xy": [
+                  0.2834675928139866,
+                  -0.33850407491783696
+                ],
+                "target_mouth_xy": [
+                  0.2822119873678077,
+                  -0.3407062999700593
+                ],
+                "gripper_position": [
+                  0.28347831527740475,
+                  -0.338572585789795,
+                  1.0041625929259193
+                ],
+                "rod_tip_xy_dist": 0.0025350227251663272,
+                "target_xy_drift": 1.9899147606134948e-07,
+                "depth": 0.016576160748662416,
+                "bottom_clearance": 0.08286443661711129,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012662991856328132,
+                  0.002133712601930182
+                ],
+                "rod_tip_xy": [
+                  0.2834783152774047,
+                  -0.3385725857897949
+                ],
+                "target_mouth_xy": [
+                  0.2822120160917719,
+                  -0.34070629839172506
+                ],
+                "gripper_position": [
+                  0.28346628427989634,
+                  -0.33857973074574454,
+                  1.0040189172502447
+                ],
+                "rod_tip_xy_dist": 0.00248117776371827,
+                "target_xy_drift": 1.8139030237117425e-07,
+                "depth": 0.017097317879631535,
+                "bottom_clearance": 0.08234328701759985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012543279020376108,
+                  0.0021265980871935097
+                ],
+                "rod_tip_xy": [
+                  0.28346628427989634,
+                  -0.33857973074574466
+                ],
+                "target_mouth_xy": [
+                  0.28221195637785873,
+                  -0.34070632883293817
+                ],
+                "gripper_position": [
+                  0.2834572852188828,
+                  -0.33858027843024624,
+                  1.0038927443390546
+                ],
+                "rod_tip_xy_dist": 0.0024689588717281556,
+                "target_xy_drift": 2.409002928106058e-07,
+                "depth": 0.017240921622609928,
+                "bottom_clearance": 0.0821996559793956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0012453296643031853,
+                  0.002126051363481374
+                ],
+                "rod_tip_xy": [
+                  0.2834572852188828,
+                  -0.3385802784302462
+                ],
+                "target_mouth_xy": [
+                  0.2822119555545796,
+                  -0.34070632979372756
+                ],
+                "gripper_position": [
+                  0.2834688160703994,
+                  -0.33864981812429246,
+                  1.0033748071685735
+                ],
+                "rod_tip_xy_dist": 0.0024639278343641666,
+                "target_xy_drift": 2.4216534319843753e-07,
+                "depth": 0.017367075103675855,
+                "bottom_clearance": 0.08207344482278045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012568614522263655,
+                  0.002056479331216332
+                ],
+                "rod_tip_xy": [
+                  0.2834688160703994,
+                  -0.3386498181242925
+                ],
+                "target_mouth_xy": [
+                  0.28221195461817306,
+                  -0.34070629745550884
+                ],
+                "gripper_position": [
+                  0.2834568563344797,
+                  -0.33865667416389345,
+                  1.0032309878766101
+                ],
+                "rod_tip_xy_dist": 0.0024101468730790125,
+                "target_xy_drift": 2.1885904399035909e-07,
+                "depth": 0.01788510780399244,
+                "bottom_clearance": 0.08155546357904198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0012448695560500767,
+                  0.0020496546680676686
+                ],
+                "rod_tip_xy": [
+                  0.28345685633447965,
+                  -0.33865667416389356
+                ],
+                "target_mouth_xy": [
+                  0.28221198677842957,
+                  -0.3407063288319612
+                ],
+                "gripper_position": [
+                  0.2834476983337622,
+                  -0.3386572192967434,
+                  1.0031051636911579
+                ],
+                "rod_tip_xy_dist": 0.002398079329361708,
+                "target_xy_drift": 2.2278937658083774e-07,
+                "depth": 0.018028915265440815,
+                "bottom_clearance": 0.08141168514470587,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0012357109657550325,
+                  0.0020490806733208244
+                ],
+                "rod_tip_xy": [
+                  0.2834476983337622,
+                  -0.33865721929674353
+                ],
+                "target_mouth_xy": [
+                  0.2822119873680072,
+                  -0.34070629997006435
+                ],
+                "gripper_position": [
+                  0.2834384543531092,
+                  -0.33865766108909195,
+                  1.0029793271167189
+                ],
+                "rod_tip_xy_dist": 0.0023928462542888457,
+                "target_xy_drift": 1.989913574387243e-07,
+                "depth": 0.018154671816767665,
+                "bottom_clearance": 0.08128592555693859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012265012314331414,
+                  0.0020486376485405744
+                ],
+                "rod_tip_xy": [
+                  0.28343845435310916,
+                  -0.3386576610890919
+                ],
+                "target_mouth_xy": [
+                  0.282211953121676,
+                  -0.3407062987376325
+                ],
+                "gripper_position": [
+                  0.28342918418716445,
+                  -0.33865818256385755,
+                  1.002853461422369
+                ],
+                "rod_tip_xy_dist": 0.0023877230755941664,
+                "target_xy_drift": 2.2082418162761741e-07,
+                "depth": 0.018280551799975675,
+                "bottom_clearance": 0.08116003260874416,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0012171981141007593,
+                  0.002048146594404554
+                ],
+                "rod_tip_xy": [
+                  0.2834291841871644,
+                  -0.3386581825638575
+                ],
+                "target_mouth_xy": [
+                  0.28221198607306364,
+                  -0.34070632915826204
+                ],
+                "gripper_position": [
+                  0.2834432708976467,
+                  -0.33873116963659555,
+                  1.0023371387131823
+                ],
+                "rod_tip_xy_dist": 0.0023825355655564553,
+                "target_xy_drift": 2.234510502928373e-07,
+                "depth": 0.018406430379263705,
+                "bottom_clearance": 0.08103413136735105,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012312860975153272,
+                  0.001975130040919204
+                ],
+                "rod_tip_xy": [
+                  0.28344327089764665,
+                  -0.33873116963659555
+                ],
+                "target_mouth_xy": [
+                  0.2822119848001313,
+                  -0.34070629967751476
+                ],
+                "gripper_position": [
+                  0.2834313016374226,
+                  -0.33873789600561194,
+                  1.002193776938766
+                ],
+                "rod_tip_xy_dist": 0.0023274888039421415,
+                "target_xy_drift": 2.0035127237449637e-07,
+                "depth": 0.01892261822619934,
+                "bottom_clearance": 0.08051788344578281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001219316012983085,
+                  0.001968402081481857
+                ],
+                "rod_tip_xy": [
+                  0.2834313016374226,
+                  -0.3387378960056119
+                ],
+                "target_mouth_xy": [
+                  0.2822119856244395,
+                  -0.34070629808709374
+                ],
+                "gripper_position": [
+                  0.2834218755901214,
+                  -0.3387381857737115,
+                  1.002067880271034
+                ],
+                "rod_tip_xy_dist": 0.0023154563899799698,
+                "target_xy_drift": 1.9859413076345947e-07,
+                "depth": 0.019066074574039527,
+                "bottom_clearance": 0.080374516048627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001209890732301322,
+                  0.001968144983409692
+                ],
+                "rod_tip_xy": [
+                  0.2834218755901214,
+                  -0.3387381857737115
+                ],
+                "target_mouth_xy": [
+                  0.28221198485782006,
+                  -0.3407063307571212
+                ],
+                "gripper_position": [
+                  0.28341258429179716,
+                  -0.3387386331101517,
+                  1.0019418906634556
+                ],
+                "rod_tip_xy_dist": 0.0023102879170850904,
+                "target_xy_drift": 2.2545529045363416e-07,
+                "depth": 0.01919195219317349,
+                "bottom_clearance": 0.08024858226451725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012006278692769379,
+                  0.001967665923413131
+                ],
+                "rod_tip_xy": [
+                  0.28341258429179716,
+                  -0.3387386331101516
+                ],
+                "target_mouth_xy": [
+                  0.2822119564225202,
+                  -0.34070629903356475
+                ],
+                "gripper_position": [
+                  0.2834031044876534,
+                  -0.3387390274699017,
+                  1.0018156781608978
+                ],
+                "rod_tip_xy_dist": 0.0023050415325207765,
+                "target_xy_drift": 2.1870720025394798e-07,
+                "depth": 0.019318008107881757,
+                "bottom_clearance": 0.0801225710872212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011911482144357222,
+                  0.001967271887008626
+                ],
+                "rod_tip_xy": [
+                  0.2834031044876534,
+                  -0.3387390274699017
+                ],
+                "target_mouth_xy": [
+                  0.28221195627321766,
+                  -0.3407062993569103
+                ],
+                "gripper_position": [
+                  0.2833937529086741,
+                  -0.3387392652778631,
+                  1.0016899988517227
+                ],
+                "rod_tip_xy_dist": 0.0022997810213513568,
+                "target_xy_drift": 2.190425258900743e-07,
+                "depth": 0.019444154037882133,
+                "bottom_clearance": 0.07999640776784134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0011817969879626689,
+                  0.001967034717560656
+                ],
+                "rod_tip_xy": [
+                  0.2833937529086741,
+                  -0.338739265277863
+                ],
+                "target_mouth_xy": [
+                  0.2822119559207114,
+                  -0.3407062999954237
+                ],
+                "gripper_position": [
+                  0.2833843129949258,
+                  -0.33873970923323987,
+                  1.0015641361619294
+                ],
+                "rod_tip_xy_dist": 0.002294748287034237,
+                "target_xy_drift": 2.19745245809417e-07,
+                "depth": 0.019569764053894656,
+                "bottom_clearance": 0.07987077025555733,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.000605192204211802,
+              "rod_tip_xy_max_step": 3.269412558316502e-05,
+              "rod_tip_xy_range": 0.0006051850520959835,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2830517768290838,
+            -0.34011992432138916,
+            1.0434900309683321
+          ],
+          "object_origin_world": [
+            0.2830517768290838,
+            -0.34011992432138916,
+            1.0434900309683321
+          ],
+          "frame_world": [
+            0.2830501379450749,
+            -0.34012482397894706,
+            1.0433763191909515
+          ],
+          "center_minus_frame": [
+            1.6388840088921164e-06,
+            4.899657557899673e-06,
+            0.00011371177738062066
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.261648348493472,
+              0.15579222155243824,
+              0.8323926611008817
+            ],
+            "target_position": [
+              0.27320673541164425,
+              0.2021238579910959,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04775161613217006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16966978052339932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323926611008817,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674960550618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13825069781845334,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b82987bba90bab402a230d344d3fc834ceebd5d800d24c00832a50f2bbba689a",
+    "visual_seed": 6323111351429429421,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3157702dd2a634dd718c9008cc64d8dc7eaae2e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_3_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3062495483988941,
+              0.07693119256050338,
+              1.1640842081781657
+            ],
+            "current_z": 1.1640842081781657,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30297770016339987,
+            "gripper_z": 1.156007724567163,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3009020167475205,
+              0.0719438858260113,
+              1.156007724567163
+            ],
+            "object_minus_gripper": [
+              0.005347531651373638,
+              0.004987306734492075,
+              0.008076483611002772
+            ],
+            "object_to_gripper_xy": 0.00731227209739578,
+            "object_to_gripper_z": 0.008076483611002772,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3062495483988941,
+              0.052483314877299944,
+              1.1640842081781657
+            ],
+            "finger_b": [
+              0.29527274512543067,
+              0.07693119256050338,
+              1.1640842081781657
+            ],
+            "finger_midpoint": [
+              0.30076114676216237,
+              0.06470725371890165,
+              1.1640842081781657
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054884016367317545,
+              0.012223938841601723,
+              0.0
+            ],
+            "finger_gap": 0.026799047246445058,
+            "fingertip_max_gap": 0.09133821187202298,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013399523623222546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640842081781657,
+            "object_top_z": 1.2139651355044996,
+            "finger_top_clearance": 0.04988092732633387,
+            "fingertip_min_top_clearance": 0.014964278197900159,
+            "object_projection_between_fingers": 0.8322304834915877,
+            "object_to_finger_line_xy": 0.010013771807421995,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048169105936011494,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1014678842767613,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2816502694884227,
+              -0.33756125974415296,
+              0.8515395566397502
+            ],
+            "target_position": [
+              0.2733153891904837,
+              -0.3381731547455839,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008357310875739146,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18509004191552667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395566397502,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513002617924634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566896133385059,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15392739372536748,
+            "release_required_pad_clearance": 0.052834480666925296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7132635962967249,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007400572299957275,
+            "max_z_decrease": 0.007400572299957275,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145886413449075,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007400572299957275,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021237956580224766,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007400572299957275,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007400593615160299,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12901531159877777,
+              -0.39443460106849665,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12901531159877777,
+              -0.39443460106849665,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1277898339790371,
+              -0.39617962342661817,
+              0.8079813243770289
+            ],
+            "closest_button": [
+              0.12900775671005246,
+              -0.3944368958473205,
+              0.7728998064994812
+            ],
+            "closest_ee_minus_button": [
+              -0.0012179227310153695,
+              -0.0017427275792976649,
+              0.03508151787754765
+            ],
+            "button_min_z_position": [
+              0.12899769842624662,
+              -0.3944323062896728,
+              0.7694082856178284
+            ],
+            "min_active_finger_to_button": 0.14719067538247826,
+            "closest_active_finger": [
+              -0.013348303735256195,
+              -0.3796781003475189,
+              0.811011016368866
+            ],
+            "closest_active_finger_button": [
+              0.12901584804058072,
+              -0.39443609118461603,
+              0.776663601398468
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14236415177583692,
+              0.014757990837097112,
+              0.03434741497039795
+            ],
+            "min_contact_pad_to_button": 0.021237956580224766,
+            "closest_contact_pad": [
+              0.12899769842624662,
+              -0.39734657303905874,
+              0.7904453445619141
+            ],
+            "closest_contact_pad_button": [
+              0.12899769842624662,
+              -0.3944323062896728,
+              0.7694082856178284
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002914266749385941,
+              0.021037058944085696
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.270833034184598,
+              0.20030761424584448,
+              1.1033962655411824
+            ],
+            "current_z": 1.1033962655411824,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19348713580681987,
+            "gripper_z": 1.1033962356748852,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27083319181341947,
+              0.20030761052235302,
+              1.1033962356748852
+            ],
+            "object_minus_gripper": [
+              -1.576288214955035e-07,
+              3.723491459606265e-09,
+              2.98662972131325e-08
+            ],
+            "object_to_gripper_xy": 1.5767279332437497e-07,
+            "object_to_gripper_z": 2.98662972131325e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.270833034184598,
+              0.20030761424584448,
+              1.1033962655411824
+            ],
+            "finger_b": [
+              0.270833034184598,
+              0.20030761424584448,
+              1.1033962655411824
+            ],
+            "finger_midpoint": [
+              0.270833034184598,
+              0.20030761424584448,
+              1.1033962655411824
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033962655411824,
+            "object_top_z": 1.2284047721614622,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.270833034184598,
+            0.20030761424584448,
+            1.1033962655411824
+          ],
+          "object_origin_world": [
+            0.270833034184598,
+            0.20030761424584448,
+            1.1033962655411824
+          ],
+          "frame_world": [
+            0.27083319181341947,
+            0.20030761052235302,
+            1.1033962356748852
+          ],
+          "center_minus_frame": [
+            -1.576288214955035e-07,
+            3.723491459606265e-09,
+            2.98662972131325e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434088231106586,
+            "required_z": 0.9112598955135074,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00015021720647535294,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.060209220628106e-07,
+            "max_target_xy_drift": 6.610669568672834e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7132635967545764,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7132635971797242,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2815072304220463,
+              -0.33751626715036953,
+              0.923521405110261
+            ],
+            "target_mouth_xy": [
+              0.2816502990014485,
+              -0.3375612917792943
+            ],
+            "rod_tip_z": 0.923521405110261,
+            "rod_tip_depth": -0.022261581305936362,
+            "rod_tip_bottom_clearance": 0.12170210849087182,
+            "rod_tip_xy_dist": 0.00014998611809757557,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04467604839742956,
+            "min_rod_tip_bottom_clearance": 0.05476446301171256,
+            "min_rod_tip_xy_dist": 0.00014998611809757557,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2816502405519583,
+              -0.3375613802331976
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.844949019229162e-08,
+              8.845390331302383e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0003430592598928084,
+                0.0018299321660737444
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0002494129544906021,
+                0.0014233773048124565
+              ],
+              "first_target_mouth_xy": [
+                0.28165029901414546,
+                -0.3375613206156234
+              ],
+              "last_target_mouth_xy": [
+                0.2816503288248525,
+                -0.33756129113347055
+              ],
+              "first_rod_tip_xy": [
+                0.28199335827403826,
+                -0.33573138844954964
+              ],
+              "last_rod_tip_xy": [
+                0.2818997417793431,
+                -0.3361379138286581
+              ],
+              "min_rod_tip_xy_dist": 0.0014450639341298723,
+              "max_rod_tip_xy_dist": 0.0018618113191807455,
+              "first_target_xy_drift": 8.34989968847846e-08,
+              "last_target_xy_drift": 1.2542274599169985e-07,
+              "max_depth": 0.01967852497558742,
+              "min_bottom_clearance": 0.07976199843523324
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0003430592598928084,
+                  0.0018299321660737444
+                ],
+                "rod_tip_xy": [
+                  0.28199335827403826,
+                  -0.33573138844954964
+                ],
+                "target_mouth_xy": [
+                  0.28165029901414546,
+                  -0.3375613206156234
+                ],
+                "gripper_position": [
+                  0.28198164398388903,
+                  -0.33573863942979965,
+                  1.005876512744195
+                ],
+                "rod_tip_xy_dist": 0.0018618113191807455,
+                "target_xy_drift": 8.34989968847846e-08,
+                "depth": 0.01524090847688353,
+                "bottom_clearance": 0.0841996262070569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.000331341802040086,
+                  0.0018226792653862622
+                ],
+                "rod_tip_xy": [
+                  0.2819816439838891,
+                  -0.33573863942979965
+                ],
+                "target_mouth_xy": [
+                  0.281650302181849,
+                  -0.3375613186951859
+                ],
+                "gripper_position": [
+                  0.2819729484066061,
+                  -0.3357391680132011,
+                  1.005751303865476
+                ],
+                "rod_tip_xy_dist": 0.0018525515092024233,
+                "target_xy_drift": 8.709288322748568e-08,
+                "depth": 0.015383492862047432,
+                "bottom_clearance": 0.08405723197347104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0003226487928539301,
+                  0.0018221535485813956
+                ],
+                "rod_tip_xy": [
+                  0.2819729484066061,
+                  -0.33573916801320114
+                ],
+                "target_mouth_xy": [
+                  0.28165029961375215,
+                  -0.33756132156178253
+                ],
+                "gripper_position": [
+                  0.28198079853476393,
+                  -0.33580830213530494,
+                  1.0052298483340811
+                ],
+                "rod_tip_xy_dist": 0.0018504987971187312,
+                "target_xy_drift": 8.325040803044471e-08,
+                "depth": 0.01550858420316048,
+                "bottom_clearance": 0.08393196610201759,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0003305597880003952,
+                  0.0017530489258857362
+                ],
+                "rod_tip_xy": [
+                  0.281980798534764,
+                  -0.3358083021353049
+                ],
+                "target_mouth_xy": [
+                  0.2816502387467636,
+                  -0.3375613510611906
+                ],
+                "gripper_position": [
+                  0.2819689193508336,
+                  -0.3358155452991175,
+                  1.0050876096018082
+                ],
+                "rod_tip_xy_dist": 0.0017839423505236934,
+                "target_xy_drift": 2.9227807290526488e-08,
+                "depth": 0.016029964414495335,
+                "bottom_clearance": 0.08341052610396937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0003186169182443632,
+                  0.0017458047844938207
+                ],
+                "rod_tip_xy": [
+                  0.2819689193508337,
+                  -0.3358155452991176
+                ],
+                "target_mouth_xy": [
+                  0.2816503024325893,
+                  -0.33756135008361143
+                ],
+                "gripper_position": [
+                  0.28195999274550704,
+                  -0.33581598372336663,
+                  1.0049625135041294
+                ],
+                "rod_tip_xy_dist": 0.0017746411147477258,
+                "target_xy_drift": 6.883465725673638e-08,
+                "depth": 0.016172369448373858,
+                "bottom_clearance": 0.0832683074794508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00030975493445378754,
+                  0.0017453372120905808
+                ],
+                "rod_tip_xy": [
+                  0.2819599927455071,
+                  -0.33581598372336663
+                ],
+                "target_mouth_xy": [
+                  0.2816502378110533,
+                  -0.3375613209354572
+                ],
+                "gripper_position": [
+                  0.2819688405017462,
+                  -0.33588646250443543,
+                  1.0044424074019016
+                ],
+                "rod_tip_xy_dist": 0.0017726110975977193,
+                "target_xy_drift": 5.9361052677279625e-08,
+                "depth": 0.01629732585456145,
+                "bottom_clearance": 0.08314319689324356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003185101662647183,
+                  0.0016748587402102277
+                ],
+                "rod_tip_xy": [
+                  0.28196884050174625,
+                  -0.33588646250443555
+                ],
+                "target_mouth_xy": [
+                  0.28165033033548154,
+                  -0.3375613212446458
+                ],
+                "gripper_position": [
+                  0.28195683169273533,
+                  -0.3358935427417483,
+                  1.00430013582319
+                ],
+                "rod_tip_xy_dist": 0.0017048755161807472,
+                "target_xy_drift": 1.0742779104599565e-07,
+                "depth": 0.016817482554624896,
+                "bottom_clearance": 0.08262309232983178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00030653363385996224,
+                  0.0016677775630486447
+                ],
+                "rod_tip_xy": [
+                  0.28195683169273533,
+                  -0.3358935427417483
+                ],
+                "target_mouth_xy": [
+                  0.28165029805887537,
+                  -0.33756132030479696
+                ],
+                "gripper_position": [
+                  0.28194784578077525,
+                  -0.3358939695204743,
+                  1.0041749442982075
+                ],
+                "rod_tip_xy_dist": 0.001695713675269463,
+                "target_xy_drift": 8.305696064813073e-08,
+                "depth": 0.016959694799264624,
+                "bottom_clearance": 0.08248082514377242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00029754579295354633,
+                  0.0016673479175661754
+                ],
+                "rod_tip_xy": [
+                  0.28194784578077525,
+                  -0.33589396952047423
+                ],
+                "target_mouth_xy": [
+                  0.2816502999878217,
+                  -0.3375613174380404
+                ],
+                "gripper_position": [
+                  0.2819572900891115,
+                  -0.3359656138411668,
+                  1.0036575682520594
+                ],
+                "rod_tip_xy_dist": 0.001693689043808401,
+                "target_xy_drift": 8.646301882155836e-08,
+                "depth": 0.017085007259587726,
+                "bottom_clearance": 0.08235567960851087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0003069935153774961,
+                  0.0015957090187572742
+                ],
+                "rod_tip_xy": [
+                  0.2819572900891115,
+                  -0.33596561384116685
+                ],
+                "target_mouth_xy": [
+                  0.281650296573734,
+                  -0.33756132285992413
+                ],
+                "gripper_position": [
+                  0.28194526691184685,
+                  -0.3359725934368001,
+                  1.003515349921237
+                ],
+                "rod_tip_xy_dist": 0.0016249714739118148,
+                "target_xy_drift": 8.018810300027594e-08,
+                "depth": 0.017602321875313187,
+                "bottom_clearance": 0.08183828290065587,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00029493840233679736,
+                  0.0015886977005422631
+                ],
+                "rod_tip_xy": [
+                  0.2819452669118469,
+                  -0.3359725934368001
+                ],
+                "target_mouth_xy": [
+                  0.2816503285095101,
+                  -0.33756129113734235
+                ],
+                "gripper_position": [
+                  0.28193620100007055,
+                  -0.3359729264388847,
+                  1.003390749616477
+                ],
+                "rod_tip_xy_dist": 0.0016158431374614483,
+                "target_xy_drift": 1.2519825214749765e-07,
+                "depth": 0.017744469153082032,
+                "bottom_clearance": 0.08169604212216053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0002859001554051943,
+                  0.0015883929036909494
+                ],
+                "rod_tip_xy": [
+                  0.2819362010000706,
+                  -0.33597292643888477
+                ],
+                "target_mouth_xy": [
+                  0.2816503008446654,
+                  -0.3375613193425757
+                ],
+                "gripper_position": [
+                  0.2819271421659821,
+                  -0.33597295999485743,
+                  1.0032659169986502
+                ],
+                "rod_tip_xy_dist": 0.001613917877513128,
+                "target_xy_drift": 8.569059669941958e-08,
+                "depth": 0.01786917434952484,
+                "bottom_clearance": 0.08157147610577431,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00027687503043727357,
+                  0.0015883625496916354
+                ],
+                "rod_tip_xy": [
+                  0.28192714216598214,
+                  -0.33597295999485743
+                ],
+                "target_mouth_xy": [
+                  0.28165026713554486,
+                  -0.33756132254454907
+                ],
+                "gripper_position": [
+                  0.28193840122530645,
+                  -0.33604691024396816,
+                  1.0027502154346235
+                ],
+                "rod_tip_xy_dist": 0.0016123136703949867,
+                "target_xy_drift": 6.351903055550908e-08,
+                "depth": 0.01799395635865808,
+                "bottom_clearance": 0.081446623169532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.000288100585989437,
+                  0.0015143789775939887
+                ],
+                "rod_tip_xy": [
+                  0.2819384012253065,
+                  -0.33604691024396827
+                ],
+                "target_mouth_xy": [
+                  0.28165030063931706,
+                  -0.33756128922156226
+                ],
+                "gripper_position": [
+                  0.28192630003560537,
+                  -0.3360536476622808,
+                  1.0026081914156388
+                ],
+                "rod_tip_xy_dist": 0.0015415400207020482,
+                "target_xy_drift": 1.0905782158700211e-07,
+                "depth": 0.01850971266454149,
+                "bottom_clearance": 0.08093094151989355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0002760337055112694,
+                  0.0015076755146677945
+                ],
+                "rod_tip_xy": [
+                  0.2819263000356054,
+                  -0.33605364766228074
+                ],
+                "target_mouth_xy": [
+                  0.28165026633009416,
+                  -0.33756132317694854
+                ],
+                "gripper_position": [
+                  0.2819169994950548,
+                  -0.33605401989937767,
+                  1.0024838105399605
+                ],
+                "rod_tip_xy_dist": 0.0015327361364915624,
+                "target_xy_drift": 6.260932713626403e-08,
+                "depth": 0.018651717845802107,
+                "bottom_clearance": 0.08078891516655973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00026660829953017995,
+                  0.001507145662884346
+                ],
+                "rod_tip_xy": [
+                  0.28191699949505483,
+                  -0.33605401989937767
+                ],
+                "target_mouth_xy": [
+                  0.28165039119552465,
+                  -0.337561165562262
+                ],
+                "gripper_position": [
+                  0.28190765443304755,
+                  -0.3360542222584935,
+                  1.0023588948034614
+                ],
+                "rod_tip_xy_dist": 0.0015305450122519982,
+                "target_xy_drift": 2.622538744515569e-07,
+                "depth": 0.01877620656839074,
+                "bottom_clearance": 0.08066465277560253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00025735754379008213,
+                  0.0015071005977769225
+                ],
+                "rod_tip_xy": [
+                  0.2819076544330476,
+                  -0.3360542222584936
+                ],
+                "target_mouth_xy": [
+                  0.2816502968892575,
+                  -0.3375613228562705
+                ],
+                "gripper_position": [
+                  0.28189833938936115,
+                  -0.3360545268899358,
+                  1.0022342994595543
+                ],
+                "rod_tip_xy_dist": 0.001528916321178246,
+                "target_xy_drift": 8.041146091230836e-08,
+                "depth": 0.0189009857072453,
+                "bottom_clearance": 0.08053960694513274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002479800273342825,
+                  0.0015067030427100558
+                ],
+                "rod_tip_xy": [
+                  0.2818983393893612,
+                  -0.33605452688993576
+                ],
+                "target_mouth_xy": [
+                  0.2816503593620269,
+                  -0.3375612299326458
+                ],
+                "gripper_position": [
+                  0.2819118758770778,
+                  -0.33613113872667366,
+                  1.0017230876136805
+                ],
+                "rod_tip_xy_dist": 0.0015269735272323657,
+                "target_xy_drift": 1.9158833020501e-07,
+                "depth": 0.019025616115792898,
+                "bottom_clearance": 0.08041499306214339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00026157772262519474,
+                  0.0014301539984613587
+                ],
+                "rod_tip_xy": [
+                  0.28191187587707783,
+                  -0.33613113872667366
+                ],
+                "target_mouth_xy": [
+                  0.28165029815445264,
+                  -0.337561292725135
+                ],
+                "gripper_position": [
+                  0.28189974177934307,
+                  -0.33613791382865804,
+                  1.0015812966136175
+                ],
+                "rod_tip_xy_dist": 0.0014538787309431264,
+                "target_xy_drift": 1.0476501500253162e-07,
+                "depth": 0.019536748601159504,
+                "bottom_clearance": 0.0799037840565684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0002494129544906021,
+                  0.0014233773048124565
+                ],
+                "rod_tip_xy": [
+                  0.2818997417793431,
+                  -0.3361379138286581
+                ],
+                "target_mouth_xy": [
+                  0.2816503288248525,
+                  -0.33756129113347055
+                ],
+                "gripper_position": [
+                  0.2818903454169493,
+                  -0.3361380791558829,
+                  1.001456814902449
+                ],
+                "rod_tip_xy_dist": 0.0014450639341298723,
+                "target_xy_drift": 1.2542274599169985e-07,
+                "depth": 0.01967852497558742,
+                "bottom_clearance": 0.07976199843523324,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006045102130007089,
+              "rod_tip_xy_max_step": 3.2623441880287104e-05,
+              "rod_tip_xy_range": 0.0006045034764364198,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2815072304220463,
+            -0.33751626715036953,
+            1.043521405110261
+          ],
+          "object_origin_world": [
+            0.2815072304220463,
+            -0.33751626715036953,
+            1.043521405110261
+          ],
+          "frame_world": [
+            0.2815056715825084,
+            -0.33752069474969876,
+            1.0434088231106586
+          ],
+          "center_minus_frame": [
+            1.5588395378962616e-06,
+            4.427599329226428e-06,
+            0.00011258199960240134
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25853007292403857,
+              0.15378930626986614,
+              0.8329564141673935
+            ],
+            "target_position": [
+              0.2709703218487517,
+              0.19987498594332798,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047735203616133856,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.166196236568407,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329564141673935,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671822081967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13579884200188488,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6da0abef62237f065503d6df2bd775ae0dbc8b209f8dcab236bcaad1488f900",
+    "visual_seed": 4542553519660365222,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdbdf79c964db36913603cd344071cdfa7683bed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_41_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.301525780849003,
+              0.07986746546075672,
+              1.1631472515722308
+            ],
+            "current_z": 1.1631472515722308,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30204068395282,
+            "gripper_z": 1.1551525206739583,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29637058136533423,
+              0.07478098119201815,
+              1.1551525206739583
+            ],
+            "object_minus_gripper": [
+              0.005155199483668771,
+              0.005086484268738575,
+              0.007994730898272406
+            ],
+            "object_to_gripper_xy": 0.007242127030958775,
+            "object_to_gripper_z": 0.007994730898272406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.301525780849003,
+              0.05594012337911135,
+              1.1631472515722308
+            ],
+            "finger_b": [
+              0.28990825540177406,
+              0.07986746546075672,
+              1.1631472515722308
+            ],
+            "finger_midpoint": [
+              0.29571701812538853,
+              0.06790379441993404,
+              1.1631472515722308
+            ],
+            "object_minus_finger_midpoint": [
+              0.005808762723614469,
+              0.011963671040822688,
+              0.0
+            ],
+            "finger_gap": 0.026598582605264695,
+            "fingertip_max_gap": 0.09093633839876211,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013299291302632348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631472515722308,
+            "object_top_z": 1.2130965577919905,
+            "finger_top_clearance": 0.04994930621975979,
+            "fingertip_min_top_clearance": 0.014984791865927938,
+            "object_projection_between_fingers": 0.8092299137480926,
+            "object_to_finger_line_xy": 0.01045080144469979,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796816919938106,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5410932644696668,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28216657633920034,
+              -0.33474218744330797,
+              0.8515395540310413
+            ],
+            "target_position": [
+              0.27365798094877775,
+              -0.3355558436737052,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00854741083481921,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18479560436256656,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395540310413,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555284228023182,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542265452093313,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525905188796077,
+            "release_required_pad_clearance": 0.05271132726046657,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.47642219994764906,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007334351539611816,
+            "max_z_decrease": 0.007334351539611816,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510876235242224,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007334351539611816,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021099884132378642,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007334351539611816,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007334374446856859,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12935790419578547,
+              -0.39181730151176447,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12935790419578547,
+              -0.39181730151176447,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1295508858782987,
+              -0.3917730808029349,
+              0.8080945110217681
+            ],
+            "closest_button": [
+              0.1293500959873199,
+              -0.3918186724185943,
+              0.7729863524436951
+            ],
+            "closest_ee_minus_button": [
+              0.00020078989097879751,
+              4.559161565942382e-05,
+              0.035108158578073034
+            ],
+            "button_min_z_position": [
+              0.1293395757675171,
+              -0.3918170034885406,
+              0.7694745063781738
+            ],
+            "min_active_finger_to_button": 0.14598166744645352,
+            "closest_active_finger": [
+              0.0018956959247589111,
+              -0.4541833996772766,
+              0.8110285401344299
+            ],
+            "closest_active_finger_button": [
+              0.12936107814311976,
+              -0.3918160200119018,
+              0.7767716646194458
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12746538221836085,
+              -0.06236737966537481,
+              0.03425687551498413
+            ],
+            "min_contact_pad_to_button": 0.021099884132378642,
+            "closest_contact_pad": [
+              0.1293395757675171,
+              -0.39290961051225315,
+              0.7905460825007978
+            ],
+            "closest_contact_pad_button": [
+              0.1293395757675171,
+              -0.3918170034885406,
+              0.7694745063781738
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010926070237125551,
+              0.021071576122624003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2769033902299857,
+              0.1950047878917347,
+              1.1046045055670395
+            ],
+            "current_z": 1.1046045055670395,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19469537583267693,
+            "gripper_z": 1.1046048982153454,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27690336414750494,
+              0.19500499691619527,
+              1.1046048982153454
+            ],
+            "object_minus_gripper": [
+              2.6082480786282503e-08,
+              -2.0902446057347035e-07,
+              -3.926483058691588e-07
+            ],
+            "object_to_gripper_xy": 2.1064548635562324e-07,
+            "object_to_gripper_z": -3.926483058691588e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2769033902299857,
+              0.1950047878917347,
+              1.1046045055670395
+            ],
+            "finger_b": [
+              0.2769033902299857,
+              0.1950047878917347,
+              1.1046045055670395
+            ],
+            "finger_midpoint": [
+              0.2769033902299857,
+              0.1950047878917347,
+              1.1046045055670395
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046045055670395,
+            "object_top_z": 1.2296130121873192,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2769033902299857,
+            0.19500478789173473,
+            1.1046045055670395
+          ],
+          "object_origin_world": [
+            0.2769033902299857,
+            0.19500478789173473,
+            1.1046045055670395
+          ],
+          "frame_world": [
+            0.27690336414750494,
+            0.19500499691619527,
+            1.1046048982153454
+          ],
+          "center_minus_frame": [
+            2.6082480786282503e-08,
+            -2.0902446054571477e-07,
+            -3.926483058691588e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434296738299718,
+            "required_z": 0.9112597769825688,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002769735722450994,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.969785807859955e-08,
+            "max_target_xy_drift": 1.5898169587576147e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.47642219609122116,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4764222017546085,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2800859360275378,
+              -0.33291160036682965,
+              0.9235408951275202
+            ],
+            "target_mouth_xy": [
+              0.2821665428171048,
+              -0.33474215638063676
+            ],
+            "rod_tip_z": 0.9235408951275202,
+            "rod_tip_depth": -0.022280994439740076,
+            "rod_tip_bottom_clearance": 0.12172160417915678,
+            "rod_tip_xy_dist": 0.002771256020738194,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487312463008797,
+            "min_rod_tip_bottom_clearance": 0.054567480727782725,
+            "min_rod_tip_xy_dist": 0.00017779199890351094,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28216654626019166,
+              -0.33474221597912174
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.443086871168788e-09,
+              5.959848498049425e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                -0.0014879934593616806,
+                0.003586538597673883
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016086803163075092,
+                0.0031974160295094034
+              ],
+              "first_target_mouth_xy": [
+                0.2821665734180203,
+                -0.3347421582803801
+              ],
+              "last_target_mouth_xy": [
+                0.28216657228564923,
+                -0.33474212689007565
+              ],
+              "first_rod_tip_xy": [
+                0.28067857995865864,
+                -0.33115561968270624
+              ],
+              "last_rod_tip_xy": [
+                0.2805578919693417,
+                -0.33154471086056625
+              ],
+              "min_rod_tip_xy_dist": 0.0035747482663066143,
+              "max_rod_tip_xy_dist": 0.003882960680680102,
+              "first_target_xy_drift": 6.377062365548554e-08,
+              "last_target_xy_drift": 9.281262076813302e-08,
+              "max_depth": 0.01957519069501401,
+              "min_bottom_clearance": 0.0798654209614581
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  -0.0014879934593616806,
+                  0.003586538597673883
+                ],
+                "rod_tip_xy": [
+                  0.28067857995865864,
+                  -0.33115561968270624
+                ],
+                "target_mouth_xy": [
+                  0.2821665734180203,
+                  -0.3347421582803801
+                ],
+                "gripper_position": [
+                  0.280666804623355,
+                  -0.33116234126803734,
+                  1.0059485888434645
+                ],
+                "rod_tip_xy_dist": 0.003882960680680102,
+                "target_xy_drift": 6.377062365548554e-08,
+                "depth": 0.015170619219969761,
+                "bottom_clearance": 0.08426995675778526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0014997999492671887,
+                  0.0035798160537860446
+                ],
+                "rod_tip_xy": [
+                  0.2806668046233551,
+                  -0.33116234126803745
+                ],
+                "target_mouth_xy": [
+                  0.28216660457262227,
+                  -0.3347421573218235
+                ],
+                "gripper_position": [
+                  0.2806694891573438,
+                  -0.3312293819698978,
+                  1.005431165972265
+                ],
+                "rod_tip_xy_dist": 0.003881299121011694,
+                "target_xy_drift": 8.271044795030168e-08,
+                "depth": 0.015311229305030483,
+                "bottom_clearance": 0.08412926364057116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0014970543584074125,
+                  0.003512808662772482
+                ],
+                "rod_tip_xy": [
+                  0.28066948915734385,
+                  -0.33122938196989793
+                ],
+                "target_mouth_xy": [
+                  0.28216654351575127,
+                  -0.3347421906326704
+                ],
+                "gripper_position": [
+                  0.28065758753410786,
+                  -0.33123603405380014,
+                  1.0052906503087284
+                ],
+                "rod_tip_xy_dist": 0.00381850709745,
+                "target_xy_drift": 2.549459840729657e-08,
+                "depth": 0.015828758177721336,
+                "bottom_clearance": 0.0836119133934915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015089886406521869,
+                  0.0035060947343226734
+                ],
+                "rod_tip_xy": [
+                  0.28065758753410797,
+                  -0.3312360340538003
+                ],
+                "target_mouth_xy": [
+                  0.28216657617476015,
+                  -0.334742128788123
+                ],
+                "gripper_position": [
+                  0.28064872228352034,
+                  -0.33123614974980764,
+                  1.00516679282021
+                ],
+                "rod_tip_xy_dist": 0.0038170337965051492,
+                "target_xy_drift": 9.217999604934967e-08,
+                "depth": 0.015969191583051434,
+                "bottom_clearance": 0.08347138025549683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015178510739203843,
+                  0.0035060104443597195
+                ],
+                "rod_tip_xy": [
+                  0.2806487222835204,
+                  -0.33123614974980786
+                ],
+                "target_mouth_xy": [
+                  0.2821665733574408,
+                  -0.3347421601941676
+                ],
+                "gripper_position": [
+                  0.2806523244704312,
+                  -0.3313039866326019,
+                  1.0046495044668309
+                ],
+                "rod_tip_xy_dist": 0.0038204687040415213,
+                "target_xy_drift": 6.201791692394852e-08,
+                "depth": 0.016093118634097903,
+                "bottom_clearance": 0.08334752855192462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015142801703398323,
+                  0.0034381687820302376
+                ],
+                "rod_tip_xy": [
+                  0.28065232447043126,
+                  -0.33130398663260197
+                ],
+                "target_mouth_xy": [
+                  0.2821666046407711,
+                  -0.3347421554146322
+                ],
+                "gripper_position": [
+                  0.2806404075068889,
+                  -0.3313105701763023,
+                  1.0045093374326999
+                ],
+                "rod_tip_xy_dist": 0.003756866913800876,
+                "target_xy_drift": 8.412104045208147e-08,
+                "depth": 0.016610345198968646,
+                "bottom_clearance": 0.08283021267404045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015261364858271675,
+                  0.0034315890621665623
+                ],
+                "rod_tip_xy": [
+                  0.28064040750688896,
+                  -0.3313105701763024
+                ],
+                "target_mouth_xy": [
+                  0.2821665439927161,
+                  -0.33474215923846895
+                ],
+                "gripper_position": [
+                  0.2806314471504202,
+                  -0.331310503943901,
+                  1.0043856559940656
+                ],
+                "rod_tip_xy_dist": 0.0037556485545048117,
+                "target_xy_drift": 5.678594125367154e-08,
+                "depth": 0.016750543458999734,
+                "bottom_clearance": 0.08269005264032614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001535128428644894,
+                  0.003431654649844962
+                ],
+                "rod_tip_xy": [
+                  0.2806314471504203,
+                  -0.33131050394390116
+                ],
+                "target_mouth_xy": [
+                  0.2821665755790652,
+                  -0.3347421585937461
+                ],
+                "gripper_position": [
+                  0.28063573279465814,
+                  -0.33137991358036184,
+                  1.0038699918208458
+                ],
+                "rod_tip_xy_dist": 0.003759371347477699,
+                "target_xy_drift": 6.44412731185179e-08,
+                "depth": 0.01687418112523298,
+                "bottom_clearance": 0.08256636774602877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015308395035238953,
+                  0.003362241850391079
+                ],
+                "rod_tip_xy": [
+                  0.28063573279465825,
+                  -0.331379913580362
+                ],
+                "target_mouth_xy": [
+                  0.28216657229818215,
+                  -0.3347421554307531
+                ],
+                "gripper_position": [
+                  0.2806237316037922,
+                  -0.331386420580464,
+                  1.003729696572638
+                ],
+                "rod_tip_xy_dist": 0.0036943388916111245,
+                "target_xy_drift": 6.590964948314289e-08,
+                "depth": 0.01738993546597767,
+                "bottom_clearance": 0.08205072041160655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001542873180701787,
+                  0.0033557659147597785
+                ],
+                "rod_tip_xy": [
+                  0.28062373160379234,
+                  -0.3313864205804642
+                ],
+                "target_mouth_xy": [
+                  0.2821666047844941,
+                  -0.33474218649522397
+                ],
+                "gripper_position": [
+                  0.28061453558914307,
+                  -0.33138638425584016,
+                  1.0036064464329357
+                ],
+                "rod_tip_xy_dist": 0.0036934567178176572,
+                "target_xy_drift": 6.55316275242715e-08,
+                "depth": 0.017530066554084844,
+                "bottom_clearance": 0.08191044044879303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001552039693053675,
+                  0.003355771159178733
+                ],
+                "rod_tip_xy": [
+                  0.2806145355891432,
+                  -0.3313863842558403
+                ],
+                "target_mouth_xy": [
+                  0.28216657528219685,
+                  -0.33474215541501906
+                ],
+                "gripper_position": [
+                  0.2806054399089728,
+                  -0.33138635747211,
+                  1.0034831766944314
+                ],
+                "rod_tip_xy_dist": 0.0036972999988626734,
+                "target_xy_drift": 6.71586726957061e-08,
+                "depth": 0.017653401262023416,
+                "bottom_clearance": 0.08178716266735464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001561133978607132,
+                  0.003355833798732555
+                ],
+                "rod_tip_xy": [
+                  0.28060543990897285,
+                  -0.3313863574721101
+                ],
+                "target_mouth_xy": [
+                  0.28216657388758,
+                  -0.33474219127084265
+                ],
+                "gripper_position": [
+                  0.280611620810688,
+                  -0.3314576050143409,
+                  1.0029689208778465
+                ],
+                "rod_tip_xy_dist": 0.0037011835652771266,
+                "target_xy_drift": 3.706442554563146e-08,
+                "depth": 0.017776741710818666,
+                "bottom_clearance": 0.08166393108283854,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001554954590922697,
+                  0.0032845519855521643
+                ],
+                "rod_tip_xy": [
+                  0.28061162081068813,
+                  -0.3314576050143411
+                ],
+                "target_mouth_xy": [
+                  0.28216657540161083,
+                  -0.33474215699989324
+                ],
+                "gripper_position": [
+                  0.28059947642590677,
+                  -0.3314641059205695,
+                  1.0028283813236252
+                ],
+                "rod_tip_xy_dist": 0.003634028828397793,
+                "target_xy_drift": 6.578580170240159e-08,
+                "depth": 0.0182908993149008,
+                "bottom_clearance": 0.08114961200363735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015670951016548695,
+                  0.003278085676979292
+                ],
+                "rod_tip_xy": [
+                  0.2805994764259069,
+                  -0.33146410592056963
+                ],
+                "target_mouth_xy": [
+                  0.28216657152756175,
+                  -0.3347421915975489
+                ],
+                "gripper_position": [
+                  0.28059012622452406,
+                  -0.3314639551668908,
+                  1.0027052447510842
+                ],
+                "rod_tip_xy_dist": 0.0036334051196154097,
+                "target_xy_drift": 3.511269121006077e-08,
+                "depth": 0.018431614555704856,
+                "bottom_clearance": 0.08100915995187363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001576446733372594,
+                  0.0032782040758280173
+                ],
+                "rod_tip_xy": [
+                  0.2805901262245241,
+                  -0.33146395516689087
+                ],
+                "target_mouth_xy": [
+                  0.2821665729578967,
+                  -0.3347421592427189
+                ],
+                "gripper_position": [
+                  0.28058081639138,
+                  -0.3314639306724143,
+                  1.0025823728587913
+                ],
+                "rod_tip_xy_dist": 0.0036375549845928854,
+                "target_xy_drift": 6.270396210393442e-08,
+                "depth": 0.018554602007526344,
+                "bottom_clearance": 0.08088602617259133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015857569944910388,
+                  0.003278257731501366
+                ],
+                "rod_tip_xy": [
+                  0.2805808163913801,
+                  -0.3314639306724144
+                ],
+                "target_mouth_xy": [
+                  0.28216657338587114,
+                  -0.3347421884039158
+                ],
+                "gripper_position": [
+                  0.28057137896213274,
+                  -0.3314639356723915,
+                  1.0024590390564827
+                ],
+                "rod_tip_xy_dist": 0.0036416478412561715,
+                "target_xy_drift": 3.8680673088330157e-08,
+                "depth": 0.018677508919980768,
+                "bottom_clearance": 0.08076307985391062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015951955350939073,
+                  0.003278222287646071
+                ],
+                "rod_tip_xy": [
+                  0.28057137896213286,
+                  -0.33146393567239174
+                ],
+                "target_mouth_xy": [
+                  0.28216657449722676,
+                  -0.3347421579600378
+                ],
+                "gripper_position": [
+                  0.28057950879940363,
+                  -0.33153850543217983,
+                  1.0019477671445276
+                ],
+                "rod_tip_xy_dist": 0.0036457358876368124,
+                "target_xy_drift": 6.452553177470287e-08,
+                "depth": 0.01880079738614915,
+                "bottom_clearance": 0.08063972587553636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001587066091098932,
+                  0.0032036525244771297
+                ],
+                "rod_tip_xy": [
+                  0.28057950879940374,
+                  -0.3315385054321799
+                ],
+                "target_mouth_xy": [
+                  0.2821665748905027,
+                  -0.334742157956657
+                ],
+                "gripper_position": [
+                  0.2805673239834421,
+                  -0.3315450937474705,
+                  1.001807807098915
+                ],
+                "rod_tip_xy_dist": 0.003575215836156571,
+                "target_xy_drift": 6.470163151702893e-08,
+                "depth": 0.019312057300621577,
+                "bottom_clearance": 0.08012845082764097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015992515838114674,
+                  0.0031970642062896792
+                ],
+                "rod_tip_xy": [
+                  0.2805673239834422,
+                  -0.33154509374747065
+                ],
+                "target_mouth_xy": [
+                  0.28216657556725366,
+                  -0.33474215795376033
+                ],
+                "gripper_position": [
+                  0.2805578919693416,
+                  -0.33154471086056614,
+                  1.0016847147406318
+                ],
+                "rod_tip_xy_dist": 0.0035747482663066143,
+                "target_xy_drift": 6.500651082144558e-08,
+                "depth": 0.019452018541994076,
+                "bottom_clearance": 0.07998850722626905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016086803163075092,
+                  0.0031974160295094034
+                ],
+                "rod_tip_xy": [
+                  0.2805578919693417,
+                  -0.33154471086056625
+                ],
+                "target_mouth_xy": [
+                  0.28216657228564923,
+                  -0.33474212689007565
+                ],
+                "gripper_position": [
+                  0.28054839048903024,
+                  -0.33154463178440446,
+                  1.001561565477832
+                ],
+                "rod_tip_xy_dist": 0.003579290659591493,
+                "target_xy_drift": 9.281262076813302e-08,
+                "depth": 0.01957519069501401,
+                "bottom_clearance": 0.0798654209614581,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006062734991558554,
+              "rod_tip_xy_max_step": 3.289562341609385e-05,
+              "rod_tip_xy_range": 0.0006062660637811482,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2800859360275378,
+            -0.3329116003668296,
+            1.0435408951275205
+          ],
+          "object_origin_world": [
+            0.2800859360275378,
+            -0.3329116003668296,
+            1.0435408951275205
+          ],
+          "frame_world": [
+            0.2800844000044169,
+            -0.33291565226627146,
+            1.0434296738299718
+          ],
+          "center_minus_frame": [
+            1.5360231208627617e-06,
+            4.051899441859241e-06,
+            0.00011122129754870258
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2649909987055689,
+              0.14776140770264873,
+              0.8331676305522049
+            ],
+            "target_position": [
+              0.2770608690680411,
+              0.19343220139520995,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04723878879771765,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16651147541241382,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331676305522049,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671179290518,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13533505572467916,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0bbb323028c820ff390c819c25526f7549fea38add354efce9b288ab11b71a85",
+    "visual_seed": 3162011913527914298,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d1113f8f80fac49e07ba3fbfcf185b5907d886
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_44_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30712110193337505,
+              0.07843122376549864,
+              1.1643371808216139
+            ],
+            "current_z": 1.1643371808216139,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3032304343882688,
+            "gripper_z": 1.1564396910947947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30175661303521806,
+              0.07331170374877523,
+              1.1564396910947947
+            ],
+            "object_minus_gripper": [
+              0.005364488898156994,
+              0.005119520016723417,
+              0.00789748972681914
+            ],
+            "object_to_gripper_xy": 0.007415337237110756,
+            "object_to_gripper_z": 0.00789748972681914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30712110193337505,
+              0.05421762805153342,
+              1.1643371808216139
+            ],
+            "finger_b": [
+              0.29563064054619215,
+              0.07843122376549864,
+              1.1643371808216139
+            ],
+            "finger_midpoint": [
+              0.3013758712397836,
+              0.06632442590851603,
+              1.1643371808216139
+            ],
+            "object_minus_finger_midpoint": [
+              0.005745230693591452,
+              0.012106797856982612,
+              0.0
+            ],
+            "finger_gap": 0.026801658909285753,
+            "fingertip_max_gap": 0.09101060103836425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400829454642877,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643371808216139,
+            "object_top_z": 1.2142842154591031,
+            "finger_top_clearance": 0.049947034637489285,
+            "fingertip_min_top_clearance": 0.014984110391246818,
+            "object_projection_between_fingers": 0.81619742827966,
+            "object_to_finger_line_xy": 0.010380901702311443,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800530051918213,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6522360274126348,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27639157060043623,
+              -0.34234849991338595,
+              0.8515395624869115
+            ],
+            "target_position": [
+              0.26744362295838575,
+              -0.34340274547178373,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009009839105238128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18556733049482757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395624869115,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582005931077465,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617235713086023,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15287482029082936,
+            "release_required_pad_clearance": 0.05308617856543012,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2007137382572688,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007540106773376465,
+            "max_z_decrease": 0.007540106773376465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510468578151487,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007540106773376465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021116991414841597,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007540106773376465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007540128421066299,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12314354628324507,
+              -0.39966419339179987,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12314354628324507,
+              -0.39966419339179987,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12418454703268528,
+              -0.39980579347748835,
+              0.8076078744288239
+            ],
+            "closest_button": [
+              0.12313129752874373,
+              -0.39966121315956116,
+              0.7725192904472351
+            ],
+            "closest_ee_minus_button": [
+              0.0010532495039415474,
+              -0.00014458031792718984,
+              0.03508858398158876
+            ],
+            "button_min_z_position": [
+              0.12312550842761992,
+              -0.39966315031051636,
+              0.7692687511444092
+            ],
+            "min_active_finger_to_button": 0.1451741058797596,
+            "closest_active_finger": [
+              -0.01713918149471283,
+              -0.38524502515792847,
+              0.811086893081665
+            ],
+            "closest_active_finger_button": [
+              0.12314417213201521,
+              -0.3996631503105163,
+              0.7766163349151611
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14028335362672806,
+              0.014418125152587835,
+              0.034470558166503906
+            ],
+            "min_contact_pad_to_button": 0.021116991414841597,
+            "closest_contact_pad": [
+              0.12312550842761992,
+              -0.40072884548157267,
+              0.7903588346012588
+            ],
+            "closest_contact_pad_button": [
+              0.12312550842761992,
+              -0.39966315031051636,
+              0.7692687511444092
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010656951710563134,
+              0.021090083456849595
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2669967703242559,
+              0.1944343999544839,
+              1.1013663290173517
+            ],
+            "current_z": 1.1013663290173517,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1914571992829891,
+            "gripper_z": 1.1013664506947978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.266996828424386,
+              0.1944343727978503,
+              1.1013664506947978
+            ],
+            "object_minus_gripper": [
+              -5.8100130095883884e-08,
+              2.7156633580771583e-08,
+              -1.2167744611879527e-07
+            ],
+            "object_to_gripper_xy": 6.413351592263536e-08,
+            "object_to_gripper_z": -1.2167744611879527e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2669967703242559,
+              0.1944343999544839,
+              1.1013663290173517
+            ],
+            "finger_b": [
+              0.2669967703242559,
+              0.1944343999544839,
+              1.1013663290173517
+            ],
+            "finger_midpoint": [
+              0.2669967703242559,
+              0.1944343999544839,
+              1.1013663290173517
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013663290173517,
+            "object_top_z": 1.2263748356376314,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2669967703242559,
+            0.1944343999544839,
+            1.1013663290173517
+          ],
+          "object_origin_world": [
+            0.2669967703242559,
+            0.1944343999544839,
+            1.1013663290173517
+          ],
+          "frame_world": [
+            0.266996828424386,
+            0.1944343727978503,
+            1.1013664506947978
+          ],
+          "center_minus_frame": [
+            -5.8100130095883884e-08,
+            2.7156633580771583e-08,
+            -1.2167744611879527e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437412409004536,
+            "required_z": 0.9112598479768419,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018139045804852246,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.4664350543607128e-07,
+            "max_target_xy_drift": 2.515746905353878e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.2007137383279989,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2007137384114785,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27574606402629037,
+              -0.3406460165166612,
+              0.9234298789600489
+            ],
+            "target_mouth_xy": [
+              0.27639159937485547,
+              -0.3423484418922208
+            ],
+            "rod_tip_z": 0.9234298789600489,
+            "rod_tip_depth": -0.022170045381733616,
+            "rod_tip_bottom_clearance": 0.12161056366141276,
+            "rod_tip_xy_dist": 0.001820705370343119,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04489628044366256,
+            "min_rod_tip_bottom_clearance": 0.05454441525650955,
+            "min_rod_tip_xy_dist": 0.00036768633738820254,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2763914814610632,
+              -0.34234852907395785
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.1791379228576204e-07,
+              8.718173705180021e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0001384624342983809,
+                0.0033843571980824994
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000235405443204606,
+                0.0030158020090823023
+              ],
+              "first_target_mouth_xy": [
+                0.27639157231376915,
+                -0.3423484386850622
+              ],
+              "last_target_mouth_xy": [
+                0.276391541948547,
+                -0.3423485306414785
+              ],
+              "first_rod_tip_xy": [
+                0.27625310987947077,
+                -0.3389640814869797
+              ],
+              "last_rod_tip_xy": [
+                0.2761561365053424,
+                -0.3393327286323962
+              ],
+              "min_rod_tip_xy_dist": 0.0030238064595596342,
+              "max_rod_tip_xy_dist": 0.003387188434369228,
+              "first_target_xy_drift": 1.2815758517582983e-07,
+              "last_target_xy_drift": 6.050779137798509e-08,
+              "max_depth": 0.019524225792473926,
+              "min_bottom_clearance": 0.07991632757176115
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0001384624342983809,
+                  0.0033843571980824994
+                ],
+                "rod_tip_xy": [
+                  0.27625310987947077,
+                  -0.3389640814869797
+                ],
+                "target_mouth_xy": [
+                  0.27639157231376915,
+                  -0.3423484386850622
+                ],
+                "gripper_position": [
+                  0.27624463332863286,
+                  -0.3389647325063068,
+                  1.0060028241668746
+                ],
+                "rod_tip_xy_dist": 0.003387188434369228,
+                "target_xy_drift": 1.2815758517582983e-07,
+                "depth": 0.015133848481980183,
+                "bottom_clearance": 0.08430681926261008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0001468782532067503,
+                  0.0033837673897689213
+                ],
+                "rod_tip_xy": [
+                  0.2762446333286328,
+                  -0.3389647325063068
+                ],
+                "target_mouth_xy": [
+                  0.27639151158183956,
+                  -0.34234849989607574
+                ],
+                "gripper_position": [
+                  0.2762510066999781,
+                  -0.33902868116612,
+                  1.0054829107063843
+                ],
+                "rod_tip_xy_dist": 0.003386953641449591,
+                "target_xy_drift": 4.19357839293425e-08,
+                "depth": 0.015257014971936766,
+                "bottom_clearance": 0.08418355154194435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0001405345088303922,
+                  0.0033197885983871633
+                ],
+                "rod_tip_xy": [
+                  0.27625100669997804,
+                  -0.33902868116612
+                ],
+                "target_mouth_xy": [
+                  0.27639154120880843,
+                  -0.34234846976450717
+                ],
+                "gripper_position": [
+                  0.2762394590614099,
+                  -0.33903552720175495,
+                  1.0053424210762494
+                ],
+                "rod_tip_xy_dist": 0.003322761846138481,
+                "target_xy_drift": 8.418672106129476e-08,
+                "depth": 0.015776992640203047,
+                "bottom_clearance": 0.08366357928520507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00015208104793101862,
+                  0.003312973017715881
+                ],
+                "rod_tip_xy": [
+                  0.27623945906140984,
+                  -0.33903552720175495
+                ],
+                "target_mouth_xy": [
+                  0.27639154010934086,
+                  -0.34234850021947083
+                ],
+                "gripper_position": [
+                  0.2762308640632602,
+                  -0.3390358640493102,
+                  1.0052193881035936
+                ],
+                "rod_tip_xy_dist": 0.003316461798551774,
+                "target_xy_drift": 6.536208301442776e-08,
+                "depth": 0.015917406573738746,
+                "bottom_clearance": 0.08352310809195618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00016067737589137154,
+                  0.003312574648678568
+                ],
+                "rod_tip_xy": [
+                  0.27623086406326014,
+                  -0.33903586404931024
+                ],
+                "target_mouth_xy": [
+                  0.2763915414391515,
+                  -0.3423484386979888
+                ],
+                "gripper_position": [
+                  0.2762380933713431,
+                  -0.3391011719522965,
+                  1.004699568558615
+                ],
+                "rod_tip_xy_dist": 0.003316469210197989,
+                "target_xy_drift": 1.084674460835124e-07,
+                "depth": 0.016040539791168595,
+                "bottom_clearance": 0.08340008701644475,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00015344768817177057,
+                  0.0032472981372367316
+                ],
+                "rod_tip_xy": [
+                  0.27623809337134303,
+                  -0.33910117195229655
+                ],
+                "target_mouth_xy": [
+                  0.2763915410595148,
+                  -0.3423484700895333
+                ],
+                "gripper_position": [
+                  0.2762263069246209,
+                  -0.33910803030776604,
+                  1.004559135959226
+                ],
+                "rod_tip_xy_dist": 0.003250921620880209,
+                "target_xy_drift": 8.385187998358903e-08,
+                "depth": 0.016560268188635763,
+                "bottom_clearance": 0.08288028623078436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.000165264401277454,
+                  0.0032404083952048413
+                ],
+                "rod_tip_xy": [
+                  0.27622630692462086,
+                  -0.3391080303077661
+                ],
+                "target_mouth_xy": [
+                  0.2763915713258983,
+                  -0.34234843870297094
+                ],
+                "gripper_position": [
+                  0.27621766790808766,
+                  -0.33910823374271315,
+                  1.004436245758133
+                ],
+                "rod_tip_xy_dist": 0.0032446199916236125,
+                "target_xy_drift": 1.2744647452521854e-07,
+                "depth": 0.016700792487499228,
+                "bottom_clearance": 0.08273983732352097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00017387355266323956,
+                  0.0032402661492018647
+                ],
+                "rod_tip_xy": [
+                  0.2762176679080876,
+                  -0.3391082337427131
+                ],
+                "target_mouth_xy": [
+                  0.27639154146075084,
+                  -0.34234849989191496
+                ],
+                "gripper_position": [
+                  0.27622572809934637,
+                  -0.3391746773283634,
+                  1.0039184256022595
+                ],
+                "rod_tip_xy_dist": 0.0032449278466522517,
+                "target_xy_drift": 6.671996812831596e-08,
+                "depth": 0.016823594037917777,
+                "bottom_clearance": 0.0826169755177284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00016581385560854311,
+                  0.003173790852147307
+                ],
+                "rod_tip_xy": [
+                  0.2762257280993463,
+                  -0.3391746773283634
+                ],
+                "target_mouth_xy": [
+                  0.27639154195495486,
+                  -0.34234846818051073
+                ],
+                "gripper_position": [
+                  0.2762139844606851,
+                  -0.33918124635300273,
+                  1.003778440135759
+                ],
+                "rod_tip_xy_dist": 0.0031781193507931225,
+                "target_xy_drift": 8.583427539012313e-08,
+                "depth": 0.01734157158712757,
+                "bottom_clearance": 0.08209908637099106,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00017752656987019,
+                  0.0031672541815415123
+                ],
+                "rod_tip_xy": [
+                  0.27621398446068507,
+                  -0.3391812463530027
+                ],
+                "target_mouth_xy": [
+                  0.27639151103055526,
+                  -0.3423485005345442
+                ],
+                "gripper_position": [
+                  0.276205106264398,
+                  -0.3391815001887468,
+                  1.0036555935403615
+                ],
+                "rod_tip_xy_dist": 0.0031722255174407243,
+                "target_xy_drift": 4.109565663275551e-08,
+                "depth": 0.017481383303404985,
+                "bottom_clearance": 0.0819591390909361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00018643530054468505,
+                  0.003166939142580538
+                ],
+                "rod_tip_xy": [
+                  0.2762051062643979,
+                  -0.3391815001887469
+                ],
+                "target_mouth_xy": [
+                  0.2763915415649426,
+                  -0.3423484393313274
+                ],
+                "gripper_position": [
+                  0.2762141237248851,
+                  -0.3392488797247315,
+                  1.0031413255971149
+                ],
+                "rod_tip_xy_dist": 0.00317242204854555,
+                "target_xy_drift": 1.0801025895883736e-07,
+                "depth": 0.017604383493435738,
+                "bottom_clearance": 0.08183622491762133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00017741824931949424,
+                  0.0030995903558845295
+                ],
+                "rod_tip_xy": [
+                  0.276214123724885,
+                  -0.33924887972473156
+                ],
+                "target_mouth_xy": [
+                  0.2763915419742045,
+                  -0.3423484700806161
+                ],
+                "gripper_position": [
+                  0.27620210107271703,
+                  -0.33925526421235114,
+                  1.0030015075922376
+                ],
+                "rod_tip_xy_dist": 0.003104663848065355,
+                "target_xy_drift": 8.451067770774955e-08,
+                "depth": 0.018118577869379204,
+                "bottom_clearance": 0.08132201138871686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00018941078061696093,
+                  0.003093205557199774
+                ],
+                "rod_tip_xy": [
+                  0.276202101072717,
+                  -0.33925526421235114
+                ],
+                "target_mouth_xy": [
+                  0.27639151185333394,
+                  -0.3423484697695509
+                ],
+                "gripper_position": [
+                  0.2761931810140009,
+                  -0.3392553147965985,
+                  1.0028787274940716
+                ],
+                "rod_tip_xy_dist": 0.0030989993647797818,
+                "target_xy_drift": 6.663859845677393e-08,
+                "depth": 0.018258339455711092,
+                "bottom_clearance": 0.08118224914549133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000198391261869324,
+                  0.0030931238933845084
+                ],
+                "rod_tip_xy": [
+                  0.27619318101400087,
+                  -0.3392553147965985
+                ],
+                "target_mouth_xy": [
+                  0.2763915722758702,
+                  -0.342348438689983
+                ],
+                "gripper_position": [
+                  0.2761842087592122,
+                  -0.339255624955431,
+                  1.0027560245254707
+                ],
+                "rod_tip_xy_dist": 0.0030994797164382673,
+                "target_xy_drift": 1.281272495738694e-07,
+                "depth": 0.018381268015858265,
+                "bottom_clearance": 0.08105939811854757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0002073314776036561,
+                  0.003092875584927879
+                ],
+                "rod_tip_xy": [
+                  0.2761842087592121,
+                  -0.339255624955431
+                ],
+                "target_mouth_xy": [
+                  0.2763915402368158,
+                  -0.34234850054035887
+                ],
+                "gripper_position": [
+                  0.27617514194470416,
+                  -0.3392559532428561,
+                  1.002633221758294
+                ],
+                "rod_tip_xy_dist": 0.003099817047092987,
+                "target_xy_drift": 6.533571277983586e-08,
+                "depth": 0.01850379428017057,
+                "bottom_clearance": 0.08093670541693443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00021640014690804676,
+                  0.0030925165210435313
+                ],
+                "rod_tip_xy": [
+                  0.2761751419447041,
+                  -0.3392559532428561
+                ],
+                "target_mouth_xy": [
+                  0.27639154209161215,
+                  -0.34234846976389965
+                ],
+                "gripper_position": [
+                  0.27618630354489393,
+                  -0.3393262244504005,
+                  1.0021210101953195
+                ],
+                "rod_tip_xy_dist": 0.003100078621020604,
+                "target_xy_drift": 8.481595646985779e-08,
+                "depth": 0.0186266883112437,
+                "bottom_clearance": 0.08081391694733797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00020520863530348876,
+                  0.003022245953608338
+                ],
+                "rod_tip_xy": [
+                  0.2761863035448939,
+                  -0.33932622445040056
+                ],
+                "target_mouth_xy": [
+                  0.27639151218019736,
+                  -0.3423484704040089
+                ],
+                "gripper_position": [
+                  0.2761745435763452,
+                  -0.3393324873282128,
+                  1.0019810987631288
+                ],
+                "rod_tip_xy_dist": 0.0030292047121488986,
+                "target_xy_drift": 6.622558504960016e-08,
+                "depth": 0.019138887504348667,
+                "bottom_clearance": 0.080301690254719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0002169693148877938,
+                  0.0030160122382496546
+                ],
+                "rod_tip_xy": [
+                  0.2761745435763452,
+                  -0.3393324873282128
+                ],
+                "target_mouth_xy": [
+                  0.276391512891233,
+                  -0.34234849956646246
+                ],
+                "gripper_position": [
+                  0.2761652687915074,
+                  -0.3393327145414212,
+                  1.0018583773833607
+                ],
+                "rod_tip_xy_dist": 0.0030238064595596342,
+                "target_xy_drift": 4.3110878649666563e-08,
+                "depth": 0.019278815880791278,
+                "bottom_clearance": 0.08016181208651774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0002262413516155859,
+                  0.0030157552463552784
+                ],
+                "rod_tip_xy": [
+                  0.2761652687915073,
+                  -0.33933271454142117
+                ],
+                "target_mouth_xy": [
+                  0.2763915101431229,
+                  -0.34234846978777644
+                ],
+                "gripper_position": [
+                  0.27615613650534243,
+                  -0.3393327286323962,
+                  1.0017356602418312
+                ],
+                "rod_tip_xy_dist": 0.003024229630021542,
+                "target_xy_drift": 6.585978937267397e-08,
+                "depth": 0.019401466165591352,
+                "bottom_clearance": 0.0800390769031426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.000235405443204606,
+                  0.0030158020090823023
+                ],
+                "rod_tip_xy": [
+                  0.2761561365053424,
+                  -0.3393327286323962
+                ],
+                "target_mouth_xy": [
+                  0.276391541948547,
+                  -0.3423485306414785
+                ],
+                "gripper_position": [
+                  0.2761470305293203,
+                  -0.33933307400703105,
+                  1.0016129766911634
+                ],
+                "rod_tip_xy_dist": 0.003024975616542257,
+                "target_xy_drift": 6.050779137798509e-08,
+                "depth": 0.019524225792473926,
+                "bottom_clearance": 0.07991632757176115,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006043275277538215,
+              "rod_tip_xy_max_step": 3.26893035902954e-05,
+              "rod_tip_xy_range": 0.0006043148696076294,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27574606402629037,
+            -0.3406460165166612,
+            1.0434298789600491
+          ],
+          "object_origin_world": [
+            0.27574606402629037,
+            -0.3406460165166612,
+            1.0434298789600491
+          ],
+          "frame_world": [
+            0.2757715487430308,
+            -0.34064380496868574,
+            1.0437412409004536
+          ],
+          "center_minus_frame": [
+            -2.5484716740409308e-05,
+            -2.2115479754725165e-06,
+            -0.0003113619404044865
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2524738885413151,
+              0.14877322999866707,
+              0.8322933066417665
+            ],
+            "target_position": [
+              0.26711848938020144,
+              0.19443323997150758,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04795102547860896,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16477095447161694,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322933066417665,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673202085427,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13547847688217285,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 316,
+            "max_placed_release_frames": 316
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7fd567aa27ce038014d00c3d389e7aecf558e743066420a8bc747828c3200bcc",
+    "visual_seed": 3956707665986420054,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a466d92687038e07c68ce651fbc10820cc1f7497
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30647974312512055,
+              0.07983858307742991,
+              1.1622765215030637
+            ],
+            "current_z": 1.1622765215030637,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3011699538836531,
+            "gripper_z": 1.154192595344319,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.301028973458864,
+              0.07482421624949595,
+              1.154192595344319
+            ],
+            "object_minus_gripper": [
+              0.005450769666256572,
+              0.005014366827933964,
+              0.008083926158744648
+            ],
+            "object_to_gripper_xy": 0.007406400248411323,
+            "object_to_gripper_z": 0.008083926158744648,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30647974312512055,
+              0.05533248019291431,
+              1.1622765215030637
+            ],
+            "finger_b": [
+              0.29545254624727746,
+              0.07983858307742991,
+              1.1622765215030637
+            ],
+            "finger_midpoint": [
+              0.300966144686199,
+              0.06758553163517211,
+              1.1622765215030637
+            ],
+            "object_minus_finger_midpoint": [
+              0.005513598438921574,
+              0.0122530514422578,
+              0.0
+            ],
+            "finger_gap": 0.02687281432171138,
+            "fingertip_max_gap": 0.09122071625399411,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013436407160855703,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622765215030637,
+            "object_top_z": 1.2121814792844918,
+            "finger_top_clearance": 0.049904957781428116,
+            "fingertip_min_top_clearance": 0.0149714873344284,
+            "object_projection_between_fingers": 0.8316147856153107,
+            "object_to_finger_line_xy": 0.01005602234217433,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811035812699706,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7963701736779668,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2719166294359516,
+              -0.33842779400768824,
+              0.8515395876259094
+            ],
+            "target_position": [
+              0.2641917889053577,
+              -0.3387510129431352,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007731599556581876,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18653273483561641,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395876259094,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075378370614498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08789711222053416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15469552466162906,
+            "release_required_pad_clearance": 0.05394855611026708,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9074764596671088,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007380843162536621,
+            "max_z_decrease": 0.007380843162536621,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509879799931761,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007380843162536621,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02117592257627394,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007380843162536621,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00738086148062037,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11989171802997588,
+              -0.3950124680995941,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11989171802997588,
+              -0.3950124680995941,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11902025905833546,
+              -0.3960289923370605,
+              0.8076401221031404
+            ],
+            "closest_button": [
+              0.11988048255443573,
+              -0.3950096666812897,
+              0.7725666761398315
+            ],
+            "closest_ee_minus_button": [
+              -0.0008602234961002653,
+              -0.0010193256557708419,
+              0.03507344596330886
+            ],
+            "button_min_z_position": [
+              0.11987534165382384,
+              -0.39501097798347473,
+              0.769428014755249
+            ],
+            "min_active_finger_to_button": 0.14693258054717032,
+            "closest_active_finger": [
+              -0.022128574550151825,
+              -0.37979018688201904,
+              0.8110020756721497
+            ],
+            "closest_active_finger_button": [
+              0.11989194899797438,
+              -0.395013153553009,
+              0.7765402793884277
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14202052354812622,
+              0.015222966670989935,
+              0.034461796283721924
+            ],
+            "min_contact_pad_to_button": 0.02117592257627394,
+            "closest_contact_pad": [
+              0.11987534165382384,
+              -0.397141959422469,
+              0.7904964417269764
+            ],
+            "closest_contact_pad_button": [
+              0.11987534165382384,
+              -0.39501097798347473,
+              0.769428014755249
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021309814389942616,
+              0.021068426971727394
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27592935181807027,
+              0.19248970908152377,
+              1.103345923228614
+            ],
+            "current_z": 1.103345923228614,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19343679349425147,
+            "gripper_z": 1.1033461913655511,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27592937782232085,
+              0.1924896372559436,
+              1.1033461913655511
+            ],
+            "object_minus_gripper": [
+              -2.6004250586186828e-08,
+              7.182558017793106e-08,
+              -2.6813693709826225e-07
+            ],
+            "object_to_gripper_xy": 7.638805545663275e-08,
+            "object_to_gripper_z": -2.6813693709826225e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27592935181807027,
+              0.19248970908152377,
+              1.103345923228614
+            ],
+            "finger_b": [
+              0.27592935181807027,
+              0.19248970908152377,
+              1.103345923228614
+            ],
+            "finger_midpoint": [
+              0.27592935181807027,
+              0.19248970908152377,
+              1.103345923228614
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103345923228614,
+            "object_top_z": 1.2283544298488938,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2759293518180703,
+            0.19248970908152377,
+            1.103345923228614
+          ],
+          "object_origin_world": [
+            0.2759293518180703,
+            0.19248970908152377,
+            1.103345923228614
+          ],
+          "frame_world": [
+            0.27592937782232085,
+            0.1924896372559436,
+            1.1033461913655511
+          ],
+          "center_minus_frame": [
+            -2.6004250530675677e-08,
+            7.182558017793106e-08,
+            -2.6813693709826225e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432695159103191,
+            "required_z": 0.9112598312972282,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010308714728085918,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.997035746484854e-08,
+            "max_target_xy_drift": 2.9398726044684626e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.907476459175885,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.90774567286694,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2728959845664197,
+              -0.33875022519891024,
+              0.9233787328612434
+            ],
+            "target_mouth_xy": [
+              0.2719166286958972,
+              -0.33842776455538315
+            ],
+            "rod_tip_z": 0.9233787328612434,
+            "rod_tip_depth": -0.022118843537157873,
+            "rod_tip_bottom_clearance": 0.12155942988034674,
+            "rod_tip_xy_dist": 0.0010310765188630733,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04456080342189184,
+            "min_rod_tip_bottom_clearance": 0.054879776443758965,
+            "min_rod_tip_xy_dist": 0.0003470625081701782,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2719166320183325,
+              -0.3384278244336363
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.322435271346791e-09,
+              5.987825313358286e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0014839798184481112,
+                0.0013330513806241728
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001388042491645869,
+                0.0009646878197578368
+              ],
+              "first_target_mouth_xy": [
+                0.2719166623958264,
+                -0.33842779328305983
+              ],
+              "last_target_mouth_xy": [
+                0.27191669528309537,
+                -0.3384277624839739
+              ],
+              "first_rod_tip_xy": [
+                0.2734006422142745,
+                -0.33709474190243566
+              ],
+              "last_rod_tip_xy": [
+                0.27330473777474124,
+                -0.33746307466421605
+              ],
+              "min_rod_tip_xy_dist": 0.0016903504217184082,
+              "max_rod_tip_xy_dist": 0.0019947987580067575,
+              "first_target_xy_drift": 4.351034991210992e-08,
+              "last_target_xy_drift": 8.854485243550864e-08,
+              "max_depth": 0.019567885449430555,
+              "min_bottom_clearance": 0.0798728272923015
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0014839798184481112,
+                  0.0013330513806241728
+                ],
+                "rod_tip_xy": [
+                  0.2734006422142745,
+                  -0.33709474190243566
+                ],
+                "target_mouth_xy": [
+                  0.2719166623958264,
+                  -0.33842779328305983
+                ],
+                "gripper_position": [
+                  0.27338916354348647,
+                  -0.3371012724770127,
+                  1.005924656606616
+                ],
+                "rod_tip_xy_dist": 0.0019947987580067575,
+                "target_xy_drift": 4.351034991210992e-08,
+                "depth": 0.015196390187009468,
+                "bottom_clearance": 0.08424417205402446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001472502154031885,
+                  0.0013264919747489334
+                ],
+                "rod_tip_xy": [
+                  0.2733891635434863,
+                  -0.33710127247701277
+                ],
+                "target_mouth_xy": [
+                  0.2719166613894544,
+                  -0.3384277644517617
+                ],
+                "gripper_position": [
+                  0.27339565173885344,
+                  -0.3371641958371414,
+                  1.0054077575415794
+                ],
+                "rod_tip_xy_dist": 0.001981878793645531,
+                "target_xy_drift": 6.678688554630508e-08,
+                "depth": 0.015335164292081815,
+                "bottom_clearance": 0.08410535037939804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014789922449410242,
+                  0.0012635677108893684
+                ],
+                "rod_tip_xy": [
+                  0.2733956517388533,
+                  -0.33716419583714136
+                ],
+                "target_mouth_xy": [
+                  0.27191665949391225,
+                  -0.3384277635480307
+                ],
+                "gripper_position": [
+                  0.273384169521393,
+                  -0.3371706913448704,
+                  1.0052690613545634
+                ],
+                "rod_tip_xy_dist": 0.0019452561323892257,
+                "target_xy_drift": 6.679793744565832e-08,
+                "depth": 0.015852105596019572,
+                "bottom_clearance": 0.0835884519311566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001467508465200329,
+                  0.001257072500007117
+                ],
+                "rod_tip_xy": [
+                  0.2733841695213929,
+                  -0.3371706913448705
+                ],
+                "target_mouth_xy": [
+                  0.27191666105619255,
+                  -0.3384277638448776
+                ],
+                "gripper_position": [
+                  0.2733756492132666,
+                  -0.33717097976119503,
+                  1.0051480187041175
+                ],
+                "rod_tip_xy_dist": 0.001932307523586442,
+                "target_xy_drift": 6.71877592640342e-08,
+                "depth": 0.015990755353589292,
+                "bottom_clearance": 0.0834497441310561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014589598698351303,
+                  0.0012568151911287462
+                ],
+                "rod_tip_xy": [
+                  0.27337564921326646,
+                  -0.3371709797611951
+                ],
+                "target_mouth_xy": [
+                  0.27191668934343133,
+                  -0.33842779495232383
+                ],
+                "gripper_position": [
+                  0.27338324907843725,
+                  -0.3372350916846608,
+                  1.0046307827882792
+                ],
+                "rod_tip_xy_dist": 0.0019256552979288186,
+                "target_xy_drift": 6.446173081738377e-08,
+                "depth": 0.016111851322020088,
+                "bottom_clearance": 0.08332871921341412,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014665565578173,
+                  0.001192671500530873
+                ],
+                "rod_tip_xy": [
+                  0.2733832490784371,
+                  -0.33723509168466087
+                ],
+                "target_mouth_xy": [
+                  0.2719166925206198,
+                  -0.33842776318519174
+                ],
+                "gripper_position": [
+                  0.27337172943014026,
+                  -0.33724129871348946,
+                  1.0044928152914998
+                ],
+                "rod_tip_xy_dist": 0.0018903051196712906,
+                "target_xy_drift": 8.609238483073723e-08,
+                "depth": 0.01662911728954819,
+                "bottom_clearance": 0.08281146788140326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014550680297509833,
+                  0.001186464188534353
+                ],
+                "rod_tip_xy": [
+                  0.2733717294301401,
+                  -0.33724129871348946
+                ],
+                "target_mouth_xy": [
+                  0.2719166614003891,
+                  -0.3384277629020238
+                ],
+                "gripper_position": [
+                  0.27336303796685935,
+                  -0.3372418251293571,
+                  1.0043715286523944
+                ],
+                "rod_tip_xy_dist": 0.0018774770949009974,
+                "target_xy_drift": 6.818683586057279e-08,
+                "depth": 0.01676696144021228,
+                "bottom_clearance": 0.08267358612384157,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014463750769061479,
+                  0.00118593581754306
+                ],
+                "rod_tip_xy": [
+                  0.2733630379668592,
+                  -0.33724182512935713
+                ],
+                "target_mouth_xy": [
+                  0.27191666288995303,
+                  -0.3384277609469002
+                ],
+                "gripper_position": [
+                  0.2733714751486992,
+                  -0.3373065660178781,
+                  1.003856446520972
+                ],
+                "rod_tip_xy_dist": 0.0018704129561213994,
+                "target_xy_drift": 7.059477752671014e-08,
+                "depth": 0.016888413473403197,
+                "bottom_clearance": 0.0825522622144369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014548430269518131,
+                  0.0011212254123794119
+                ],
+                "rod_tip_xy": [
+                  0.2733714751486991,
+                  -0.33730656601787806
+                ],
+                "target_mouth_xy": [
+                  0.27191663212174727,
+                  -0.3384277914302575
+                ],
+                "gripper_position": [
+                  0.27336005147430337,
+                  -0.33731280898253535,
+                  1.0037184547320956
+                ],
+                "rod_tip_xy_dist": 0.0018367674481097752,
+                "target_xy_drift": 3.300354083027799e-08,
+                "depth": 0.017403357151060783,
+                "bottom_clearance": 0.08203725753415103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014433876041295424,
+                  0.0011149199358284623
+                ],
+                "rod_tip_xy": [
+                  0.27336005147430326,
+                  -0.3373128089825354
+                ],
+                "target_mouth_xy": [
+                  0.2719166638701737,
+                  -0.33842772891836387
+                ],
+                "gripper_position": [
+                  0.2733511274986641,
+                  -0.3373130502027437,
+                  1.003597334900636
+                ],
+                "rod_tip_xy_dist": 0.0018238460020140305,
+                "target_xy_drift": 1.0068618104463288e-07,
+                "depth": 0.01754153494071997,
+                "bottom_clearance": 0.08189926044361573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001434466256945266,
+                  0.0011147158670800628
+                ],
+                "rod_tip_xy": [
+                  0.2733511274986639,
+                  -0.33731305020274366
+                ],
+                "target_mouth_xy": [
+                  0.27191666124171865,
+                  -0.3384277660698237
+                ],
+                "gripper_position": [
+                  0.2733422498321886,
+                  -0.33731326556034796,
+                  1.0034763286908588
+                ],
+                "rod_tip_xy_dist": 0.001816668628736297,
+                "target_xy_drift": 6.527128706407669e-08,
+                "depth": 0.017662512889721094,
+                "bottom_clearance": 0.0817780503913178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014255893112055662,
+                  0.0011144681588230454
+                ],
+                "rod_tip_xy": [
+                  0.2733422498321884,
+                  -0.33731326556034796
+                ],
+                "target_mouth_xy": [
+                  0.27191666052098284,
+                  -0.338427733719171
+                ],
+                "gripper_position": [
+                  0.2733523922848846,
+                  -0.3373804224707922,
+                  1.002962164494949
+                ],
+                "rod_tip_xy_dist": 0.001809514896665399,
+                "target_xy_drift": 9.508688283236409e-08,
+                "depth": 0.01778350265758999,
+                "bottom_clearance": 0.08165701443350859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014356998965101009,
+                  0.0010473435505777284
+                ],
+                "rod_tip_xy": [
+                  0.2733523922848845,
+                  -0.3373804224707922
+                ],
+                "target_mouth_xy": [
+                  0.2719166923883744,
+                  -0.3384277660213699
+                ],
+                "gripper_position": [
+                  0.2733406817553181,
+                  -0.3373865727298047,
+                  1.0028240718987729
+                ],
+                "rod_tip_xy_dist": 0.0017771220289490186,
+                "target_xy_drift": 8.400318339914189e-08,
+                "depth": 0.0182977539743997,
+                "bottom_clearance": 0.08114286176218288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014240199967091582,
+                  0.0010411622549155175
+                ],
+                "rod_tip_xy": [
+                  0.27334068175531795,
+                  -0.3373865727298048
+                ],
+                "target_mouth_xy": [
+                  0.2719166617586088,
+                  -0.33842773498472034
+                ],
+                "gripper_position": [
+                  0.27333165973353113,
+                  -0.33738657294154994,
+                  1.002703572945577
+                ],
+                "rod_tip_xy_dist": 0.0017640441582024856,
+                "target_xy_drift": 9.426342131087329e-08,
+                "depth": 0.018435698512527687,
+                "bottom_clearance": 0.08100484231730498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014149972382164755,
+                  0.0010412206811094005
+                ],
+                "rod_tip_xy": [
+                  0.27333165973353096,
+                  -0.33738657294155
+                ],
+                "target_mouth_xy": [
+                  0.2719166624953145,
+                  -0.3384277936226594
+                ],
+                "gripper_position": [
+                  0.2733227242930061,
+                  -0.33738657108887105,
+                  1.0025820767877978
+                ],
+                "rod_tip_xy_dist": 0.0017568032590276515,
+                "target_xy_drift": 4.333777483674521e-08,
+                "depth": 0.01855631397207247,
+                "bottom_clearance": 0.08088423913481335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014060914358500765,
+                  0.0010411927493707562
+                ],
+                "rod_tip_xy": [
+                  0.2733227242930059,
+                  -0.3373865710888711
+                ],
+                "target_mouth_xy": [
+                  0.27191663285715584,
+                  -0.33842776383824186
+                ],
+                "gripper_position": [
+                  0.273313751609505,
+                  -0.33738680974176,
+                  1.0024613317664322
+                ],
+                "rod_tip_xy_dist": 0.001749621521161981,
+                "target_xy_drift": 6.060120007102713e-08,
+                "depth": 0.018677751357520367,
+                "bottom_clearance": 0.08076280708771344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001397121403184709,
+                  0.0010409560669045193
+                ],
+                "rod_tip_xy": [
+                  0.27331375160950483,
+                  -0.33738680974176
+                ],
+                "target_mouth_xy": [
+                  0.2719166302063201,
+                  -0.3384277658086645
+                ],
+                "gripper_position": [
+                  0.2733259094216698,
+                  -0.33745663712553325,
+                  1.0019504432194815
+                ],
+                "rod_tip_xy_dist": 0.0017422794691042353,
+                "target_xy_drift": 5.865296841087327e-08,
+                "depth": 0.018798477601532082,
+                "bottom_clearance": 0.08064210059482957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014092166572020615,
+                  0.0009711542926621464
+                ],
+                "rod_tip_xy": [
+                  0.2733259094216696,
+                  -0.33745663712553325
+                ],
+                "target_mouth_xy": [
+                  0.27191669276446756,
+                  -0.3384277914181954
+                ],
+                "gripper_position": [
+                  0.2733137841664583,
+                  -0.33746325574619535,
+                  1.0018124961913746
+                ],
+                "rod_tip_xy_dist": 0.0017114415698737326,
+                "target_xy_drift": 6.913835594013826e-08,
+                "depth": 0.01930948721005099,
+                "bottom_clearance": 0.08013116594522951,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0013971814930510695,
+                  0.0009645369498568201
+                ],
+                "rod_tip_xy": [
+                  0.27331378416645813,
+                  -0.33746325574619546
+                ],
+                "target_mouth_xy": [
+                  0.27191660267340706,
+                  -0.3384277926960523
+                ],
+                "gripper_position": [
+                  0.2733047377747414,
+                  -0.33746307466421593,
+                  1.0016920469307344
+                ],
+                "rod_tip_xy_dist": 0.0016977772681254493,
+                "target_xy_drift": 4.322497989848786e-08,
+                "depth": 0.019447346490912953,
+                "bottom_clearance": 0.07999323352449539,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.001388042491645869,
+                  0.0009646878197578368
+                ],
+                "rod_tip_xy": [
+                  0.27330473777474124,
+                  -0.33746307466421605
+                ],
+                "target_mouth_xy": [
+                  0.27191669528309537,
+                  -0.3384277624839739
+                ],
+                "gripper_position": [
+                  0.27329561820686604,
+                  -0.3374631305095663,
+                  1.001571192959437
+                ],
+                "rod_tip_xy_dist": 0.0016903504217184082,
+                "target_xy_drift": 8.854485243550864e-08,
+                "depth": 0.019567885449430555,
+                "bottom_clearance": 0.0798728272923015,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005988090597992727,
+              "rod_tip_xy_max_step": 3.2512786131761314e-05,
+              "rod_tip_xy_range": 0.0005987981607190788,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2728959845664198,
+            -0.33875022519891024,
+            1.0433787328612436
+          ],
+          "object_origin_world": [
+            0.2728959845664198,
+            -0.33875022519891024,
+            1.0433787328612436
+          ],
+          "frame_world": [
+            0.27289441787188135,
+            -0.33875429835268267,
+            1.0432695159103191
+          ],
+          "center_minus_frame": [
+            1.566694538435165e-06,
+            4.073153772432558e-06,
+            0.00010921695092447337
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26296816693712766,
+              0.14729885853047092,
+              0.8327838306452705
+            ],
+            "target_position": [
+              0.2760763380943882,
+              0.1938927221186228,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04840260607817871,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16792900925830442,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327838306452705,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673039872113,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13677740473502667,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46c3b9ab06cade58f1ff6d7b5280ea1123681845ac0dbff2f82e6c5a64c08e73",
+    "visual_seed": 2800746753736579258,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7515cf31e85d6bd44efa3e78c61ca9521e15a362
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_46_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30475583533330536,
+              0.07252501515700212,
+              1.162683827027914
+            ],
+            "current_z": 1.162683827027914,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.301577140199214,
+            "gripper_z": 1.154711372218231,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.299486484959456,
+              0.06751199715801967,
+              1.154711372218231
+            ],
+            "object_minus_gripper": [
+              0.005269350373849346,
+              0.005013017998982447,
+              0.007972454809683116
+            ],
+            "object_to_gripper_xy": 0.007272991325480062,
+            "object_to_gripper_z": 0.007972454809683116,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30475583533330536,
+              0.048157151487865965,
+              1.162683827027914
+            ],
+            "finger_b": [
+              0.29369670348046156,
+              0.07252501515700212,
+              1.162683827027914
+            ],
+            "finger_midpoint": [
+              0.29922626940688346,
+              0.06034108332243404,
+              1.162683827027914
+            ],
+            "object_minus_finger_midpoint": [
+              0.005529565926421898,
+              0.012183931834568076,
+              0.0
+            ],
+            "finger_gap": 0.026759992098956045,
+            "fingertip_max_gap": 0.09131881935451289,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379996049478022,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162683827027914,
+            "object_top_z": 1.2126387614145597,
+            "finger_top_clearance": 0.049954934386645666,
+            "fingertip_min_top_clearance": 0.0149864803159937,
+            "object_projection_between_fingers": 0.8292069830135302,
+            "object_to_finger_line_xy": 0.010070534262213469,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048159409677256446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0350546075828138,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2722689042372807,
+              -0.3411424940624509,
+              0.851539556016846
+            ],
+            "target_position": [
+              0.26449709513308145,
+              -0.34154214588410814,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007782078021368578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18305888530277695,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539556016846,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518695182352621,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576308531200953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15188913950497462,
+            "release_required_pad_clearance": 0.05288154265600477,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.804050995731977,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00737231969833374,
+            "max_z_decrease": 0.00737231969833374,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514577301590854,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00737231969833374,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106694736537618,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00737231969833374,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073723442780984656,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12019702047109604,
+              -0.39780360460281367,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12019702047109604,
+              -0.39780360460281367,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11851811272130128,
+              -0.3966693359831857,
+              0.8070407859334834
+            ],
+            "closest_button": [
+              0.12018454074859619,
+              -0.39779981970787043,
+              0.771952748298645
+            ],
+            "closest_ee_minus_button": [
+              -0.001666428027294914,
+              0.0011304837246847166,
+              0.035088037634838365
+            ],
+            "button_min_z_position": [
+              0.12017811834812164,
+              -0.3978013396263122,
+              0.7694365382194519
+            ],
+            "min_active_finger_to_button": 0.1471169354206861,
+            "closest_active_finger": [
+              -0.009635038673877716,
+              -0.45785588026046753,
+              0.8108420968055725
+            ],
+            "closest_active_finger_button": [
+              0.12019778043031693,
+              -0.3978047966957092,
+              0.7764807939529419
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12983281910419464,
+              -0.060051083564758356,
+              0.034361302852630615
+            ],
+            "min_contact_pad_to_button": 0.02106694736537618,
+            "closest_contact_pad": [
+              0.12017811834812164,
+              -0.3980057488139651,
+              0.7905024938868204
+            ],
+            "closest_contact_pad_button": [
+              0.12017811834812164,
+              -0.3978013396263122,
+              0.7694365382194519
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00020440918765290972,
+              0.021065955667368463
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26855908921783067,
+              0.19646645441556534,
+              1.1009034138342892
+            ],
+            "current_z": 1.1009034138342892,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1909942840999267,
+            "gripper_z": 1.1009035367523672,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2685592032841265,
+              0.19646640744483337,
+              1.1009035367523672
+            ],
+            "object_minus_gripper": [
+              -1.1406629585319905e-07,
+              4.6970731970574775e-08,
+              -1.2291807793829435e-07
+            ],
+            "object_to_gripper_xy": 1.233587026176958e-07,
+            "object_to_gripper_z": -1.2291807793829435e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26855908921783067,
+              0.19646645441556534,
+              1.1009034138342892
+            ],
+            "finger_b": [
+              0.26855908921783067,
+              0.19646645441556534,
+              1.1009034138342892
+            ],
+            "finger_midpoint": [
+              0.26855908921783067,
+              0.19646645441556534,
+              1.1009034138342892
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1009034138342892,
+            "object_top_z": 1.225911920454569,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2685590892178306,
+            0.19646645441556537,
+            1.1009034138342892
+          ],
+          "object_origin_world": [
+            0.2685590892178306,
+            0.19646645441556537,
+            1.1009034138342892
+          ],
+          "frame_world": [
+            0.2685592032841265,
+            0.19646640744483337,
+            1.1009035367523672
+          ],
+          "center_minus_frame": [
+            -1.140662959087102e-07,
+            4.697073199833035e-08,
+            -1.2291807793829435e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432821182786671,
+            "required_z": 0.9112597797792792,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014163814672839765,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.445177938207421e-08,
+            "max_target_xy_drift": 1.5131980788649825e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8040509937827851,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8040509968008596,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2732739376379005,
+              -0.3401388790486204,
+              0.923391595099354
+            ],
+            "target_mouth_xy": [
+              0.2722689053574965,
+              -0.3411424372915295
+            ],
+            "rod_tip_z": 0.923391595099354,
+            "rod_tip_depth": -0.022131677634038893,
+            "rod_tip_bottom_clearance": 0.12157230566394184,
+            "rod_tip_xy_dist": 0.00142028836211695,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04436835182246435,
+            "min_rod_tip_bottom_clearance": 0.05507232944925933,
+            "min_rod_tip_xy_dist": 0.0003034236648503715,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27226887297686314,
+              -0.34114246774567986
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.238063334132235e-08,
+              3.045415036817545e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.001471084974728032,
+                0.0028079663601754956
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00138143429193599,
+                0.002424296703180562
+              ],
+              "first_target_mouth_xy": [
+                0.2722688120247951,
+                -0.34114243921685455
+              ],
+              "last_target_mouth_xy": [
+                0.2722688141294629,
+                -0.3411424388857688
+              ],
+              "first_rod_tip_xy": [
+                0.2737398969995231,
+                -0.33833447285667906
+              ],
+              "last_rod_tip_xy": [
+                0.2736502484213989,
+                -0.3387181421825882
+              ],
+              "min_rod_tip_xy_dist": 0.0027902643616669782,
+              "max_rod_tip_xy_dist": 0.0031699788773346415,
+              "first_target_xy_drift": 6.729820557669716e-08,
+              "last_target_xy_drift": 6.55431993495898e-08,
+              "max_depth": 0.019400866799429983,
+              "min_bottom_clearance": 0.0800396342230768
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001471084974728032,
+                  0.0028079663601754956
+                ],
+                "rod_tip_xy": [
+                  0.2737398969995231,
+                  -0.33833447285667906
+                ],
+                "target_mouth_xy": [
+                  0.2722688120247951,
+                  -0.34114243921685455
+                ],
+                "gripper_position": [
+                  0.27374740928817703,
+                  -0.3384010461434456,
+                  1.0057028756277098
+                ],
+                "rod_tip_xy_dist": 0.0031699788773346415,
+                "target_xy_drift": 6.729820557669716e-08,
+                "depth": 0.015041001926783815,
+                "bottom_clearance": 0.08439955440003921,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0014785634226942013,
+                  0.0027413905119286763
+                ],
+                "rod_tip_xy": [
+                  0.27374740928817715,
+                  -0.3384010461434457
+                ],
+                "target_mouth_xy": [
+                  0.27226884586548294,
+                  -0.34114243665537436
+                ],
+                "gripper_position": [
+                  0.27373584564454706,
+                  -0.33840823750036614,
+                  1.0055643684026285
+                ],
+                "rod_tip_xy_dist": 0.003114702511287677,
+                "target_xy_drift": 4.125086704585657e-08,
+                "depth": 0.015557054150533989,
+                "bottom_clearance": 0.08388360124394978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0014670312115810935,
+                  0.0027341991647290564
+                ],
+                "rod_tip_xy": [
+                  0.2737358456445471,
+                  -0.3384082375003662
+                ],
+                "target_mouth_xy": [
+                  0.272268814432966,
+                  -0.34114243666509525
+                ],
+                "gripper_position": [
+                  0.2737273265172337,
+                  -0.3384086105010044,
+                  1.005442499642493
+                ],
+                "rod_tip_xy_dist": 0.003102906000535331,
+                "target_xy_drift": 6.628265707808999e-08,
+                "depth": 0.01569542938734292,
+                "bottom_clearance": 0.0837451637181158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001458510984024386,
+                  0.002733824887462988
+                ],
+                "rod_tip_xy": [
+                  0.2737273265172338,
+                  -0.33840861050100446
+                ],
+                "target_mouth_xy": [
+                  0.2722688155332094,
+                  -0.34114243538846745
+                ],
+                "gripper_position": [
+                  0.2737358305415595,
+                  -0.3384765386410223,
+                  1.004925463142393
+                ],
+                "rod_tip_xy_dist": 0.0030985565681187427,
+                "target_xy_drift": 6.592998216225698e-08,
+                "depth": 0.015817448830552805,
+                "bottom_clearance": 0.08362323241439362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014670156952226732,
+                  0.0026659002415462263
+                ],
+                "rod_tip_xy": [
+                  0.27373583054155953,
+                  -0.33847653864102234
+                ],
+                "target_mouth_xy": [
+                  0.27226881484633686,
+                  -0.34114243888256857
+                ],
+                "gripper_position": [
+                  0.2737242930381514,
+                  -0.3384832668965624,
+                  1.0047868661196442
+                ],
+                "rod_tip_xy_dist": 0.0030428866472325075,
+                "target_xy_drift": 6.490175097092887e-08,
+                "depth": 0.016334297972320777,
+                "bottom_clearance": 0.08310623039460296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014554455158506396,
+                  0.002659169111281001
+                ],
+                "rod_tip_xy": [
+                  0.2737242930381515,
+                  -0.3384832668965625
+                ],
+                "target_mouth_xy": [
+                  0.27226884752230085,
+                  -0.3411424360078435
+                ],
+                "gripper_position": [
+                  0.27371557720759754,
+                  -0.3384836766141389,
+                  1.0046651940080145
+                ],
+                "rod_tip_xy_dist": 0.0030314191415904074,
+                "target_xy_drift": 4.0684456469190504e-08,
+                "depth": 0.016473088136873537,
+                "bottom_clearance": 0.08296765374705561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001446795633353426,
+                  0.0026587619676494145
+                ],
+                "rod_tip_xy": [
+                  0.27371557720759765,
+                  -0.33848367661413903
+                ],
+                "target_mouth_xy": [
+                  0.2722687815742442,
+                  -0.34114243858178844
+                ],
+                "gripper_position": [
+                  0.2737251025389629,
+                  -0.3385530071428424,
+                  1.0041492581174587
+                ],
+                "rod_tip_xy_dist": 0.003026918037428422,
+                "target_xy_drift": 9.594254169774452e-08,
+                "depth": 0.016594695632224155,
+                "bottom_clearance": 0.08284589249921781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001456288563813135,
+                  0.002589432063808017
+                ],
+                "rod_tip_xy": [
+                  0.273725102538963,
+                  -0.33855300714284253
+                ],
+                "target_mouth_xy": [
+                  0.27226881397514985,
+                  -0.34114243920665055
+                ],
+                "gripper_position": [
+                  0.2737134483548502,
+                  -0.3385597938166137,
+                  1.0040108925707891
+                ],
+                "rod_tip_xy_dist": 0.00297084748753112,
+                "target_xy_drift": 6.554142480331158e-08,
+                "depth": 0.01711049898541328,
+                "bottom_clearance": 0.08233000162776449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014446024476859054,
+                  0.0025826434711736512
+                ],
+                "rod_tip_xy": [
+                  0.2737134483548503,
+                  -0.3385597938166137
+                ],
+                "target_mouth_xy": [
+                  0.2722688459071644,
+                  -0.34114243728778737
+                ],
+                "gripper_position": [
+                  0.273704643207375,
+                  -0.3385601298752724,
+                  1.0038896495393332
+                ],
+                "rod_tip_xy_dist": 0.002959209950486108,
+                "target_xy_drift": 4.0748641764568617e-08,
+                "depth": 0.017249026155758074,
+                "bottom_clearance": 0.08219160787444224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014358282642745746,
+                  0.0025823067816039824
+                ],
+                "rod_tip_xy": [
+                  0.2737046432073751,
+                  -0.3385601298752725
+                ],
+                "target_mouth_xy": [
+                  0.2722688149431005,
+                  -0.3411424366568765
+                ],
+                "gripper_position": [
+                  0.27371506002543067,
+                  -0.33863023115772634,
+                  1.0033763046289914
+                ],
+                "rod_tip_xy_dist": 0.002954642299637581,
+                "target_xy_drift": 6.583639798412543e-08,
+                "depth": 0.01737015234065009,
+                "bottom_clearance": 0.08207046044063337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014462437443243936,
+                  0.0025122045372782398
+                ],
+                "rod_tip_xy": [
+                  0.2737150600254307,
+                  -0.3386302311577265
+                ],
+                "target_mouth_xy": [
+                  0.27226881628110633,
+                  -0.34114243569500474
+                ],
+                "gripper_position": [
+                  0.2737032775271777,
+                  -0.3386368297090634,
+                  1.0032380216603907
+                ],
+                "rod_tip_xy_dist": 0.002898757079356395,
+                "target_xy_drift": 6.512798642436694e-08,
+                "depth": 0.017883644113793173,
+                "bottom_clearance": 0.0815570544237455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014344647646847286,
+                  0.0025056075969442926
+                ],
+                "rod_tip_xy": [
+                  0.2737032775271778,
+                  -0.3386368297090634
+                ],
+                "target_mouth_xy": [
+                  0.2722688127624931,
+                  -0.3411424373060077
+                ],
+                "gripper_position": [
+                  0.27369445743855747,
+                  -0.3386370672952074,
+                  1.003116481866798
+                ],
+                "rod_tip_xy_dist": 0.002887171382337212,
+                "target_xy_drift": 6.747106047721562e-08,
+                "depth": 0.018021787987557936,
+                "bottom_clearance": 0.0814187909960995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014256114919007912,
+                  0.0025053696763849276
+                ],
+                "rod_tip_xy": [
+                  0.2736944574385576,
+                  -0.3386370672952074
+                ],
+                "target_mouth_xy": [
+                  0.2722688459466568,
+                  -0.3411424369715923
+                ],
+                "gripper_position": [
+                  0.27368556071294553,
+                  -0.33863745217338814,
+                  1.0029954118822644
+                ],
+                "rod_tip_xy_dist": 0.00288257616398747,
+                "target_xy_drift": 4.0959449706782625e-08,
+                "depth": 0.018143442851883407,
+                "bottom_clearance": 0.08129720415232766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014167487005544155,
+                  0.002504985773427504
+                ],
+                "rod_tip_xy": [
+                  0.27368556071294564,
+                  -0.33863745217338825
+                ],
+                "target_mouth_xy": [
+                  0.2722688120123912,
+                  -0.34114243794681576
+                ],
+                "gripper_position": [
+                  0.273676692952048,
+                  -0.33863749535150894,
+                  1.0028739162073963
+                ],
+                "rod_tip_xy_dist": 0.002877869108489268,
+                "target_xy_drift": 6.785749138787516e-08,
+                "depth": 0.018264409663306558,
+                "bottom_clearance": 0.0811761760135884,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014078782272184953,
+                  0.0025049394029218464
+                ],
+                "rod_tip_xy": [
+                  0.2736766929520481,
+                  -0.338637495351509
+                ],
+                "target_mouth_xy": [
+                  0.2722688147248296,
+                  -0.34114243475443085
+                ],
+                "gripper_position": [
+                  0.2736894076441934,
+                  -0.3387111163118725,
+                  1.0023614340588187
+                ],
+                "rod_tip_xy_dist": 0.0028734722053617204,
+                "target_xy_drift": 6.69456639497218e-08,
+                "depth": 0.01838597782334206,
+                "bottom_clearance": 0.08105469573412172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014205646135548866,
+                  0.002431322904292932
+                ],
+                "rod_tip_xy": [
+                  0.2736894076441935,
+                  -0.33871111631187256
+                ],
+                "target_mouth_xy": [
+                  0.27226884303063864,
+                  -0.3411424392161655
+                ],
+                "gripper_position": [
+                  0.2736773387467434,
+                  -0.3387177468560286,
+                  1.0022230128943077
+                ],
+                "rod_tip_xy_dist": 0.0028159074711758126,
+                "target_xy_drift": 4.136072474640103e-08,
+                "depth": 0.018898396067328682,
+                "bottom_clearance": 0.08054211455423521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014085256636748866,
+                  0.002424691080177288
+                ],
+                "rod_tip_xy": [
+                  0.2736773387467435,
+                  -0.33871774685602873
+                ],
+                "target_mouth_xy": [
+                  0.2722688130830686,
+                  -0.341142437936206
+                ],
+                "gripper_position": [
+                  0.2736683121478367,
+                  -0.33871790443170197,
+                  1.0021018093865384
+                ],
+                "rod_tip_xy_dist": 0.002804116862672111,
+                "target_xy_drift": 6.690195329030727e-08,
+                "depth": 0.019036835507155403,
+                "bottom_clearance": 0.08040370879739045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00139949997606581,
+                  0.0024245328835529323
+                ],
+                "rod_tip_xy": [
+                  0.2736683121478368,
+                  -0.33871790443170213
+                ],
+                "target_mouth_xy": [
+                  0.272268812171771,
+                  -0.34114243731525506
+                ],
+                "gripper_position": [
+                  0.273659291798448,
+                  -0.3387179199559134,
+                  1.0019803357640291
+                ],
+                "rod_tip_xy_dist": 0.002799457069940116,
+                "target_xy_drift": 6.799463200625013e-08,
+                "depth": 0.019158077875528368,
+                "bottom_clearance": 0.08028252381549861,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013904790639307496,
+                  0.0024245179904534564
+                ],
+                "rod_tip_xy": [
+                  0.2736592917984481,
+                  -0.3387179199559135
+                ],
+                "target_mouth_xy": [
+                  0.27226881273451736,
+                  -0.34114243794636695
+                ],
+                "gripper_position": [
+                  0.2736502484213988,
+                  -0.33871814218258817,
+                  1.00185894832371
+                ],
+                "rod_tip_xy_dist": 0.0027949453506754297,
+                "target_xy_drift": 6.720966652629037e-08,
+                "depth": 0.01927952318073256,
+                "bottom_clearance": 0.08016103435450384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00138143429193599,
+                  0.002424296703180562
+                ],
+                "rod_tip_xy": [
+                  0.2736502484213989,
+                  -0.3387181421825882
+                ],
+                "target_mouth_xy": [
+                  0.2722688141294629,
+                  -0.3411424388857688
+                ],
+                "gripper_position": [
+                  0.2736411436681341,
+                  -0.3387181507376646,
+                  1.001737855738461
+                ],
+                "rod_tip_xy_dist": 0.0027902643616669782,
+                "target_xy_drift": 6.55431993495898e-08,
+                "depth": 0.019400866799429983,
+                "bottom_clearance": 0.0800396342230768,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000596954813512531,
+              "rod_tip_xy_max_step": 3.239977643441696e-05,
+              "rod_tip_xy_range": 0.000596946238469618,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2732739376379004,
+            -0.34013887904862034,
+            1.043391595099354
+          ],
+          "object_origin_world": [
+            0.2732739376379004,
+            -0.34013887904862034,
+            1.043391595099354
+          ],
+          "frame_world": [
+            0.2732724391575472,
+            -0.34014290921637536,
+            1.0432821182786671
+          ],
+          "center_minus_frame": [
+            1.4984803532458457e-06,
+            4.0301677550202974e-06,
+            0.00010947682068684905
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25557915906336903,
+              0.14941215480368605,
+              0.8330048948238319
+            ],
+            "target_position": [
+              0.2687141788567868,
+              0.19576014666931313,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048173281961578135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16804541689531408,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330048948238319,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673366455914,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13726541800263295,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73b6d4151df04ec1f49ac7fad5be803a3e1bb426563279b1becd70df3d1598a6",
+    "visual_seed": 2527020447806200600,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..928654b577317b2cba282016bde71bbcbb8a0083
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_47_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3014093018826594,
+              0.07640635828225457,
+              1.1616138218897456
+            ],
+            "current_z": 1.1616138218897456,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30050737347962453,
+            "gripper_z": 1.1538257780930536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29602675834999603,
+              0.07131103719841013,
+              1.1538257780930536
+            ],
+            "object_minus_gripper": [
+              0.005382543532663375,
+              0.005095321083844445,
+              0.007788043796691957
+            ],
+            "object_to_gripper_xy": 0.007411752277868308,
+            "object_to_gripper_z": 0.007788043796691957,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3014093018826594,
+              0.05215423343788511,
+              1.1616138218897456
+            ],
+            "finger_b": [
+              0.28999550578170313,
+              0.07640635828225457,
+              1.1616138218897456
+            ],
+            "finger_midpoint": [
+              0.29570240383218127,
+              0.06428029586006984,
+              1.1616138218897456
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057068980504781375,
+              0.012126062422184739,
+              0.0
+            ],
+            "finger_gap": 0.026803736696607943,
+            "fingertip_max_gap": 0.09076005854034194,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013401868348303977,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616138218897456,
+            "object_top_z": 1.2115046326889303,
+            "finger_top_clearance": 0.04989081079918467,
+            "fingertip_min_top_clearance": 0.014967243239755434,
+            "object_projection_between_fingers": 0.818670053349164,
+            "object_to_finger_line_xy": 0.010327246947758566,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788002927017097,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44984402966022424,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2769683908184521,
+              -0.3356527573944218,
+              0.851539554233012
+            ],
+            "target_position": [
+              0.2678888887592015,
+              -0.3364213938277805,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009111978907494336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842151711156371,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539554233012,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523518541306448,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554452681202783,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527865727464605,
+            "release_required_pad_clearance": 0.05277226340601392,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5934708897392152,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007148921489715576,
+            "max_z_decrease": 0.007148921489715576,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515310672007814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007148921489715576,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021294982218444714,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007148921489715576,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007148944201378059,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12358881533145902,
+              -0.3926828503608703,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12358881533145902,
+              -0.3926828503608703,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12323455631879493,
+              -0.39474936608531236,
+              0.8080315580822646
+            ],
+            "closest_button": [
+              0.12357879430055614,
+              -0.3926818370819092,
+              0.772940993309021
+            ],
+            "closest_ee_minus_button": [
+              -0.00034423798176121123,
+              -0.002067529003403179,
+              0.03509056477324357
+            ],
+            "button_min_z_position": [
+              0.12357085198163982,
+              -0.39268141984939575,
+              0.7696599364280701
+            ],
+            "min_active_finger_to_button": 0.14631228961518486,
+            "closest_active_finger": [
+              -0.0178799107670784,
+              -0.37820208072662354,
+              0.8107555508613586
+            ],
+            "closest_active_finger_button": [
+              0.12358878552913662,
+              -0.3926833271980285,
+              0.7763435244560242
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141468696296215,
+              0.014481246471404974,
+              0.03441202640533447
+            ],
+            "min_contact_pad_to_button": 0.021294982218444714,
+            "closest_contact_pad": [
+              0.12357085198163982,
+              -0.3958537400757975,
+              0.7907173021717959
+            ],
+            "closest_contact_pad_button": [
+              0.12357085198163982,
+              -0.39268141984939575,
+              0.7696599364280701
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003172320226401737,
+              0.021057365743725853
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27642368355686564,
+              0.20023828702536492,
+              1.1017172997702511
+            ],
+            "current_z": 1.1017172997702511,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19180817003588857,
+            "gripper_z": 1.1017174015963596,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2764236917741052,
+              0.2002381684169999,
+              1.1017174015963596
+            ],
+            "object_minus_gripper": [
+              -8.217239555463607e-09,
+              1.1860836501842442e-07,
+              -1.0182610843401108e-07
+            ],
+            "object_to_gripper_xy": 1.1889267125544653e-07,
+            "object_to_gripper_z": -1.0182610843401108e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27642368355686564,
+              0.20023828702536492,
+              1.1017172997702511
+            ],
+            "finger_b": [
+              0.27642368355686564,
+              0.20023828702536492,
+              1.1017172997702511
+            ],
+            "finger_midpoint": [
+              0.27642368355686564,
+              0.20023828702536492,
+              1.1017172997702511
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017172997702511,
+            "object_top_z": 1.2267258063905309,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27642368355686564,
+            0.20023828702536492,
+            1.1017172997702513
+          ],
+          "object_origin_world": [
+            0.27642368355686564,
+            0.20023828702536492,
+            1.1017172997702513
+          ],
+          "frame_world": [
+            0.2764236917741052,
+            0.2002381684169999,
+            1.1017174015963596
+          ],
+          "center_minus_frame": [
+            -8.217239555463607e-09,
+            1.1860836501842442e-07,
+            -1.0182610821196647e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.043274191662455,
+            "required_z": 0.9112598715223417,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013972386176592019,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.150068240195265e-08,
+            "max_target_xy_drift": 1.2671365691196964e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5934708877512603,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5934708911916444,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2756307067516392,
+              -0.3360473031343321,
+              0.9233839602909765
+            ],
+            "target_mouth_xy": [
+              0.27696838741884194,
+              -0.3356527583397001
+            ],
+            "rod_tip_z": 0.9233839602909765,
+            "rod_tip_depth": -0.02212414424382725,
+            "rod_tip_bottom_clearance": 0.1215647107067831,
+            "rod_tip_xy_dist": 0.0013946523446290145,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04437173109002379,
+            "min_rod_tip_bottom_clearance": 0.05506885709737652,
+            "min_rod_tip_xy_dist": 0.0008546639179942989,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2769683613826011,
+              -0.33565272602220014
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.6036240829974133e-08,
+              -3.231749995391553e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.0007669344007006917,
+                0.0012785910368119935
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000879358526505003,
+                0.0009223260296891689
+              ],
+              "first_target_mouth_xy": [
+                0.2769683596975461,
+                -0.3356527564613496
+              ],
+              "last_target_mouth_xy": [
+                0.27696832796827964,
+                -0.335652759950395
+              ],
+              "first_rod_tip_xy": [
+                0.2762014252968454,
+                -0.33437416542453763
+              ],
+              "last_rod_tip_xy": [
+                0.27608896944177463,
+                -0.33473043392070584
+              ],
+              "min_rod_tip_xy_dist": 0.0012518332249320415,
+              "max_rod_tip_xy_dist": 0.0014909672747562563,
+              "first_target_xy_drift": 3.048575456631662e-08,
+              "last_target_xy_drift": 4.761973631285363e-08,
+              "max_depth": 0.0194216693986492,
+              "min_bottom_clearance": 0.08001893951767813
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007669344007006917,
+                  0.0012785910368119935
+                ],
+                "rod_tip_xy": [
+                  0.2762014252968454,
+                  -0.33437416542453763
+                ],
+                "target_mouth_xy": [
+                  0.2769683596975461,
+                  -0.3356527564613496
+                ],
+                "gripper_position": [
+                  0.2762049413288907,
+                  -0.33443638699840783,
+                  1.0056930659321786
+                ],
+                "rod_tip_xy_dist": 0.0014909672747562563,
+                "target_xy_drift": 3.048575456631662e-08,
+                "depth": 0.015048653514942223,
+                "bottom_clearance": 0.08439190147029574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007634184173736513,
+                  0.0012163992594099726
+                ],
+                "rod_tip_xy": [
+                  0.2762049413288906,
+                  -0.3344363869984079
+                ],
+                "target_mouth_xy": [
+                  0.27696835974626427,
+                  -0.33565278625781786
+                ],
+                "gripper_position": [
+                  0.27619332911208977,
+                  -0.3344428943111982,
+                  1.0055536619637255
+                ],
+                "rod_tip_xy_dist": 0.0014361179750558171,
+                "target_xy_drift": 6.025783965500987e-08,
+                "depth": 0.015566781057948398,
+                "bottom_clearance": 0.08387377562618126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007750612674253254,
+                  0.0012098932240346971
+                ],
+                "rod_tip_xy": [
+                  0.2761933291120897,
+                  -0.3344428943111983
+                ],
+                "target_mouth_xy": [
+                  0.27696839037951504,
+                  -0.335652787535233
+                ],
+                "gripper_position": [
+                  0.2761847425233753,
+                  -0.33444329198278505,
+                  1.0054315805504594
+                ],
+                "rod_tip_xy_dist": 0.0014368582330306723,
+                "target_xy_drift": 6.800495736086132e-08,
+                "depth": 0.015706109512641286,
+                "bottom_clearance": 0.08373443437276207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007836182935782587,
+                  0.0012094644798689713
+                ],
+                "rod_tip_xy": [
+                  0.27618474252337527,
+                  -0.33444329198278505
+                ],
+                "target_mouth_xy": [
+                  0.27696836081695353,
+                  -0.335652756462654
+                ],
+                "gripper_position": [
+                  0.276189259539583,
+                  -0.3345067193961934,
+                  1.0049130302827334
+                ],
+                "rod_tip_xy_dist": 0.0014411321792588017,
+                "target_xy_drift": 3.0445708886428125e-08,
+                "depth": 0.015828275039976192,
+                "bottom_clearance": 0.08361232296982524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007790966554370171,
+                  0.0011460399023509038
+                ],
+                "rod_tip_xy": [
+                  0.27618925953958295,
+                  -0.33450671939619353
+                ],
+                "target_mouth_xy": [
+                  0.27696835619501997,
+                  -0.33565275929854443
+                ],
+                "gripper_position": [
+                  0.27617761071137586,
+                  -0.3345131326658341,
+                  1.0047739790683081
+                ],
+                "rod_tip_xy_dist": 0.0013857846356103156,
+                "target_xy_drift": 3.36782732261362e-08,
+                "depth": 0.01634690162375141,
+                "bottom_clearance": 0.08309374554556226,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007907490151689567,
+                  0.0011396247538441595
+                ],
+                "rod_tip_xy": [
+                  0.2761776107113758,
+                  -0.3345131326658342
+                ],
+                "target_mouth_xy": [
+                  0.27696835972654477,
+                  -0.33565275741967837
+                ],
+                "gripper_position": [
+                  0.27616873669909814,
+                  -0.33451345492780993,
+                  1.0046519465173904
+                ],
+                "rod_tip_xy_dist": 0.0013870935745525735,
+                "target_xy_drift": 3.1441122144926096e-08,
+                "depth": 0.01648579103678205,
+                "bottom_clearance": 0.08295473086728256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007996248306723075,
+                  0.0011392714191979514
+                ],
+                "rod_tip_xy": [
+                  0.276168736699098,
+                  -0.33451345492781
+                ],
+                "target_mouth_xy": [
+                  0.27696836152977033,
+                  -0.33565272634700793
+                ],
+                "gripper_position": [
+                  0.27617401233068617,
+                  -0.33457794722044304,
+                  1.0041345709730414
+                ],
+                "rod_tip_xy_dist": 0.0013918833415301121,
+                "target_xy_drift": 3.5659343976236515e-10,
+                "depth": 0.016607980043340742,
+                "bottom_clearance": 0.08283265668498618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007943474022952257,
+                  0.0010747807111530783
+                ],
+                "rod_tip_xy": [
+                  0.2761740123306861,
+                  -0.33457794722044315
+                ],
+                "target_mouth_xy": [
+                  0.27696835973298134,
+                  -0.33565272793159623
+                ],
+                "gripper_position": [
+                  0.27616223033282383,
+                  -0.33458402567496703,
+                  1.0039955160104745
+                ],
+                "rod_tip_xy_dist": 0.0013364660012884315,
+                "target_xy_drift": 2.523299191768675e-09,
+                "depth": 0.01712519360314524,
+                "bottom_clearance": 0.08231531746146736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008061301588818681,
+                  0.0010687307907883414
+                ],
+                "rod_tip_xy": [
+                  0.2761622303328237,
+                  -0.3345840256749672
+                ],
+                "target_mouth_xy": [
+                  0.2769683604917056,
+                  -0.33565275646575554
+                ],
+                "gripper_position": [
+                  0.27615331915441543,
+                  -0.3345842295314877,
+                  1.0038737883064601
+                ],
+                "rod_tip_xy_dist": 0.001338667746768398,
+                "target_xy_drift": 3.045658812402166e-08,
+                "depth": 0.01726433687489981,
+                "bottom_clearance": 0.0821762483974221,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008150406190954862,
+                  0.0010684977645521454
+                ],
+                "rod_tip_xy": [
+                  0.2761533191544154,
+                  -0.33458422953148775
+                ],
+                "target_mouth_xy": [
+                  0.27696835977351086,
+                  -0.3356527272960399
+                ],
+                "gripper_position": [
+                  0.27615957728724505,
+                  -0.33464948021352664,
+                  1.003359648677685
+                ],
+                "rod_tip_xy_dist": 0.00134386706322779,
+                "target_xy_drift": 2.052276578860068e-09,
+                "depth": 0.017386047492448875,
+                "bottom_clearance": 0.0820544875731547,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008087825679707894,
+                  0.0010032467644434107
+                ],
+                "rod_tip_xy": [
+                  0.276159577287245,
+                  -0.33464948021352664
+                ],
+                "target_mouth_xy": [
+                  0.2769683598552158,
+                  -0.33565272697797005
+                ],
+                "gripper_position": [
+                  0.2761475390939564,
+                  -0.33465573906637336,
+                  1.003220699341351
+                ],
+                "rod_tip_xy_dist": 0.001288655622196868,
+                "target_xy_drift": 1.8017774725616415e-09,
+                "depth": 0.017900193435071765,
+                "bottom_clearance": 0.08154035602486376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008208207250597899,
+                  0.000997017394551103
+                ],
+                "rod_tip_xy": [
+                  0.27614753909395634,
+                  -0.3346557390663734
+                ],
+                "target_mouth_xy": [
+                  0.27696835981901613,
+                  -0.3356527564609245
+                ],
+                "gripper_position": [
+                  0.2761386973310895,
+                  -0.3346555831089895,
+                  1.0030989979751408
+                ],
+                "rod_tip_xy_dist": 0.001291429575209252,
+                "target_xy_drift": 3.047885725448921e-08,
+                "depth": 0.01803914814576324,
+                "bottom_clearance": 0.08140141117275335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008296622490279182,
+                  0.0009971445005027002
+                ],
+                "rod_tip_xy": [
+                  0.2761386973310894,
+                  -0.33465558310898963
+                ],
+                "target_mouth_xy": [
+                  0.27696835958011734,
+                  -0.33565272760949233
+                ],
+                "gripper_position": [
+                  0.27612946125999344,
+                  -0.3346557699617293,
+                  1.002977039564115
+                ],
+                "rod_tip_xy_dist": 0.001297164832372834,
+                "target_xy_drift": 2.4017585721218384e-09,
+                "depth": 0.018160835019010446,
+                "bottom_clearance": 0.08127969015294989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008388977641187734,
+                  0.0009969877646182623
+                ],
+                "rod_tip_xy": [
+                  0.2761294612599934,
+                  -0.33465576996172935
+                ],
+                "target_mouth_xy": [
+                  0.27696835902411215,
+                  -0.3356527577263476
+                ],
+                "gripper_position": [
+                  0.2761204361529589,
+                  -0.3346557783847853,
+                  1.0028551164522261
+                ],
+                "rod_tip_xy_dist": 0.0013029712435207452,
+                "target_xy_drift": 3.1791751087758954e-08,
+                "depth": 0.018282804572737676,
+                "bottom_clearance": 0.08115773043090835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008479229941791289,
+                  0.0009969485852019955
+                ],
+                "rod_tip_xy": [
+                  0.27612043615295884,
+                  -0.3346557783847854
+                ],
+                "target_mouth_xy": [
+                  0.27696835914713797,
+                  -0.3356527269699874
+                ],
+                "gripper_position": [
+                  0.2761287866022073,
+                  -0.334724209047759,
+                  1.002342255436178
+                ],
+                "rod_tip_xy_dist": 0.0013087703716060963,
+                "target_xy_drift": 2.4280848694924545e-09,
+                "depth": 0.018404681673298007,
+                "bottom_clearance": 0.08103588306617338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008395746094665424,
+                  0.0009285477360819194
+                ],
+                "rod_tip_xy": [
+                  0.27612878660220724,
+                  -0.33472420904775907
+                ],
+                "target_mouth_xy": [
+                  0.2769683612116738,
+                  -0.335652756783841
+                ],
+                "gripper_position": [
+                  0.27611659307289355,
+                  -0.3347305520283199,
+                  1.0022031813699488
+                ],
+                "rod_tip_xy_dist": 0.0012518332249320415,
+                "target_xy_drift": 3.076211572163478e-08,
+                "depth": 0.018917657271697252,
+                "bottom_clearance": 0.08052294473201249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008517665789897211,
+                  0.0009222066575035881
+                ],
+                "rod_tip_xy": [
+                  0.2761165930728935,
+                  -0.33473055202831997
+                ],
+                "target_mouth_xy": [
+                  0.2769683596518832,
+                  -0.33565275868582356
+                ],
+                "gripper_position": [
+                  0.2761075121035893,
+                  -0.3347306219133664,
+                  1.0020815107857026
+                ],
+                "rod_tip_xy_dist": 0.0012553770048187886,
+                "target_xy_drift": 3.27094432724579e-08,
+                "depth": 0.019056574045044905,
+                "bottom_clearance": 0.08038391709213955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0008608791032914676,
+                  0.0009221047544488159
+                ],
+                "rod_tip_xy": [
+                  0.27610751210358925,
+                  -0.3347306219133664
+                ],
+                "target_mouth_xy": [
+                  0.2769683912068807,
+                  -0.3356527266678152
+                ],
+                "gripper_position": [
+                  0.27609819299556426,
+                  -0.33473055369560556,
+                  1.001959836349079
+                ],
+                "rod_tip_xy_dist": 0.0012615030751690747,
+                "target_xy_drift": 2.983126669380933e-08,
+                "depth": 0.019178409061594293,
+                "bottom_clearance": 0.08026221149359869,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0008701681665762018,
+                  0.0009221742437159341
+                ],
+                "rod_tip_xy": [
+                  0.2760981929955642,
+                  -0.3347305536956056
+                ],
+                "target_mouth_xy": [
+                  0.2769683611621404,
+                  -0.33565272793932155
+                ],
+                "gripper_position": [
+                  0.2760889694417747,
+                  -0.33473043392070584,
+                  1.0018381659514712
+                ],
+                "rod_tip_xy_dist": 0.001267910869854677,
+                "target_xy_drift": 1.9297557897747242e-09,
+                "depth": 0.019299999341516938,
+                "bottom_clearance": 0.08014056694442273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.000879358526505003,
+                  0.0009223260296891689
+                ],
+                "rod_tip_xy": [
+                  0.27608896944177463,
+                  -0.33473043392070584
+                ],
+                "target_mouth_xy": [
+                  0.27696832796827964,
+                  -0.335652759950395
+                ],
+                "gripper_position": [
+                  0.27607972410937315,
+                  -0.3347304270284863,
+                  1.0017165619012256
+                ],
+                "rod_tip_xy_dist": 0.0012743456058617833,
+                "target_xy_drift": 4.761973631285363e-08,
+                "depth": 0.0194216693986492,
+                "bottom_clearance": 0.08001893951767813,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0005978510415514866,
+              "rod_tip_xy_max_step": 3.250818319346674e-05,
+              "rod_tip_xy_range": 0.0005978427205818393,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2756307067516392,
+            -0.3360473031343321,
+            1.0433839602909767
+          ],
+          "object_origin_world": [
+            0.2756307067516392,
+            -0.3360473031343321,
+            1.0433839602909767
+          ],
+          "frame_world": [
+            0.275629164082046,
+            -0.3360512010694109,
+            1.043274191662455
+          ],
+          "center_minus_frame": [
+            1.542669593179724e-06,
+            3.897935078767123e-06,
+            0.00010976862852163372
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26295140857539323,
+              0.15444887433636983,
+              0.8328538582701471
+            ],
+            "target_position": [
+              0.2765873842961598,
+              0.20008615232179233,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04763088258447522,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16720500927422352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328538582701471,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674207874954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13583548748194516,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f62edafe89e136c6cd2b0b853ea721711f1686cc9d3bbb8b4ddbc1fe93eef90e",
+    "visual_seed": 7850098911364441483,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed3106eb319b76ef3ce2fe98eda0e745c080aba9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30179327102259,
+              0.07777105963814888,
+              1.163636708861423
+            ],
+            "current_z": 1.163636708861423,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3025300816373675,
+            "gripper_z": 1.1558243655844302,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29646783102490837,
+              0.07272174041354378,
+              1.1558243655844302
+            ],
+            "object_minus_gripper": [
+              0.005325439997681647,
+              0.005049319224605109,
+              0.007812343276992761
+            ],
+            "object_to_gripper_xy": 0.00733866035464745,
+            "object_to_gripper_z": 0.007812343276992761,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30179327102259,
+              0.05338922102905067,
+              1.163636708861423
+            ],
+            "finger_b": [
+              0.29064831717363604,
+              0.07777105963814888,
+              1.163636708861423
+            ],
+            "finger_midpoint": [
+              0.296220794098113,
+              0.06558014033359978,
+              1.163636708861423
+            ],
+            "object_minus_finger_midpoint": [
+              0.005572476924476988,
+              0.012190919304549103,
+              0.0
+            ],
+            "finger_gap": 0.02680828323961507,
+            "fingertip_max_gap": 0.09139311298684136,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013404141619807531,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163636708861423,
+            "object_top_z": 1.213589745074621,
+            "finger_top_clearance": 0.04995303621319791,
+            "fingertip_min_top_clearance": 0.014985910863959373,
+            "object_projection_between_fingers": 0.8271702339140978,
+            "object_to_finger_line_xy": 0.010136212886974298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819655649342068,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1131864306015316,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28004930913445414,
+              -0.3368860250052192,
+              0.8515395697015743
+            ],
+            "target_position": [
+              0.27229397841149233,
+              -0.337427574508621,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007774215747401793,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18387928060615227,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395697015743,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521160270878503,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593625954127622,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15259403574153227,
+            "release_required_pad_clearance": 0.05296812977063811,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9715555450030539,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007467448711395264,
+            "max_z_decrease": 0.007467448711395264,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511684466447734,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007467448711395264,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021195015930898484,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007467448711395264,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007467473914324428,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12799391150474548,
+              -0.3936890363693236,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12799391150474548,
+              -0.3936890363693236,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12774312811850344,
+              -0.39508698252409974,
+              0.8078753051203701
+            ],
+            "closest_button": [
+              0.12798428535461423,
+              -0.3936883211135863,
+              0.7727871537208557
+            ],
+            "closest_ee_minus_button": [
+              -0.00024115723611078943,
+              -0.0013986614105134243,
+              0.03508815139951438
+            ],
+            "button_min_z_position": [
+              0.12797462940216062,
+              -0.3936868906021117,
+              0.7693414092063904
+            ],
+            "min_active_finger_to_button": 0.14631341648432772,
+            "closest_active_finger": [
+              -0.013605274260044098,
+              -0.38061395287513733,
+              0.8111296892166138
+            ],
+            "closest_active_finger_button": [
+              0.12799726426601407,
+              -0.39368847012519825,
+              0.7767001390457153
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14160253852605817,
+              0.013074517250060924,
+              0.03442955017089844
+            ],
+            "min_contact_pad_to_button": 0.021195015930898484,
+            "closest_contact_pad": [
+              0.12797462940216062,
+              -0.39605227272645543,
+              0.7904040222379417
+            ],
+            "closest_contact_pad_button": [
+              0.12797462940216062,
+              -0.3936868906021117,
+              0.7693414092063904
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002365382124343729,
+              0.021062613031551325
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2677395465815978,
+              0.19151487072820442,
+              1.1036556066818344
+            ],
+            "current_z": 1.1036556066818344,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19374647694747182,
+            "gripper_z": 1.1036557274555465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26773952037619786,
+              0.19151493544378725,
+              1.1036557274555465
+            ],
+            "object_minus_gripper": [
+              2.6205399961121145e-08,
+              -6.471558283704937e-08,
+              -1.2077371214225252e-07
+            ],
+            "object_to_gripper_xy": 6.981998029977757e-08,
+            "object_to_gripper_z": -1.2077371214225252e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2677395465815978,
+              0.19151487072820442,
+              1.1036556066818344
+            ],
+            "finger_b": [
+              0.2677395465815978,
+              0.19151487072820442,
+              1.1036556066818344
+            ],
+            "finger_midpoint": [
+              0.2677395465815978,
+              0.19151487072820442,
+              1.1036556066818344
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1036556066818344,
+            "object_top_z": 1.2286641133021141,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2677395465815978,
+            0.19151487072820442,
+            1.1036556066818346
+          ],
+          "object_origin_world": [
+            0.2677395465815978,
+            0.19151487072820442,
+            1.1036556066818346
+          ],
+          "frame_world": [
+            0.26773952037619786,
+            0.19151493544378725,
+            1.1036557274555465
+          ],
+          "center_minus_frame": [
+            2.6205399961121145e-08,
+            -6.471558283704937e-08,
+            -1.2077371192020792e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437738562379093,
+            "required_z": 0.9112599319837182,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011425251179664128,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.685281920670875e-08,
+            "max_target_xy_drift": 1.2766590939132302e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9715555419219207,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9715555450041797,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28048171818704754,
+              -0.3358424778289021,
+              0.923464465743956
+            ],
+            "target_mouth_xy": [
+              0.2800493066703323,
+              -0.33688605290540835
+            ],
+            "rod_tip_z": 0.923464465743956,
+            "rod_tip_depth": -0.022204551966386155,
+            "rod_tip_bottom_clearance": 0.12164518533226965,
+            "rod_tip_xy_dist": 0.00112961438557281,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044462839625056816,
+            "min_rod_tip_bottom_clearance": 0.054977721733965534,
+            "min_rod_tip_xy_dist": 0.0007037640351294384,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2800493131814826,
+              -0.3368859964266692
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.511150285604117e-09,
+              -5.6478739129950384e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0008806302759698514,
+                0.0027541313440233584
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007977992872487683,
+                0.002370955696842092
+              ],
+              "first_target_mouth_xy": [
+                0.2800493692065263,
+                -0.33688602625174713
+              ],
+              "last_target_mouth_xy": [
+                0.28004936948810655,
+                -0.33688602467897055
+              ],
+              "first_rod_tip_xy": [
+                0.28092999948249614,
+                -0.33413189490772377
+              ],
+              "last_rod_tip_xy": [
+                0.2808471687753553,
+                -0.33451506898212846
+              ],
+              "min_rod_tip_xy_dist": 0.002501582423012005,
+              "max_rod_tip_xy_dist": 0.002891496004335238,
+              "first_target_xy_drift": 6.346921139806183e-08,
+              "last_target_xy_drift": 6.299705099402801e-08,
+              "max_depth": 0.01985328294530464,
+              "min_bottom_clearance": 0.07958722999611889
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0008806302759698514,
+                  0.0027541313440233584
+                ],
+                "rod_tip_xy": [
+                  0.28092999948249614,
+                  -0.33413189490772377
+                ],
+                "target_mouth_xy": [
+                  0.2800493692065263,
+                  -0.33688602625174713
+                ],
+                "gripper_position": [
+                  0.280918445263973,
+                  -0.3341387473128718,
+                  1.0056660386927905
+                ],
+                "rod_tip_xy_dist": 0.002891496004335238,
+                "target_xy_drift": 6.346921139806183e-08,
+                "depth": 0.015452018706288317,
+                "bottom_clearance": 0.08398853836535025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0008690761241907374,
+                  0.0027472763995766702
+                ],
+                "rod_tip_xy": [
+                  0.280918445263973,
+                  -0.33413874731287185
+                ],
+                "target_mouth_xy": [
+                  0.2800493691397823,
+                  -0.3368860237124485
+                ],
+                "gripper_position": [
+                  0.2809270399523645,
+                  -0.33420472811983704,
+                  1.0051475492732773
+                ],
+                "rod_tip_xy_dist": 0.0028814615953209138,
+                "target_xy_drift": 6.225628529937975e-08,
+                "depth": 0.015593790585407885,
+                "bottom_clearance": 0.08384673808859844,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.000877669856617691,
+                  0.0026812958995237612
+                ],
+                "rod_tip_xy": [
+                  0.2809270399523645,
+                  -0.33420472811983704
+                ],
+                "target_mouth_xy": [
+                  0.2800493700957468,
+                  -0.3368860240193608
+                ],
+                "gripper_position": [
+                  0.28091516927755233,
+                  -0.33421163002826954,
+                  1.0050060844374635
+                ],
+                "rod_tip_xy_dist": 0.002821285536420987,
+                "target_xy_drift": 6.325021820567153e-08,
+                "depth": 0.016112341421200216,
+                "bottom_clearance": 0.08332821229546072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0008658005537417468,
+                  0.002674395592876966
+                ],
+                "rod_tip_xy": [
+                  0.2809151692775524,
+                  -0.3342116300282696
+                ],
+                "target_mouth_xy": [
+                  0.28004936872381064,
+                  -0.33688602562114656
+                ],
+                "gripper_position": [
+                  0.2809062036800889,
+                  -0.33421192732120564,
+                  1.0048819100053268
+                ],
+                "rod_tip_xy_dist": 0.0028110500504365363,
+                "target_xy_drift": 6.274765106641127e-08,
+                "depth": 0.016253686919444732,
+                "bottom_clearance": 0.08318683502076962,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0008568632501123052,
+                  0.0026740976567593555
+                ],
+                "rod_tip_xy": [
+                  0.28090620368008895,
+                  -0.33421192732120564
+                ],
+                "target_mouth_xy": [
+                  0.28004934042997665,
+                  -0.336886024977965
+                ],
+                "gripper_position": [
+                  0.28091591051456244,
+                  -0.3342788927386494,
+                  1.00436435194276
+                ],
+                "rod_tip_xy_dist": 0.00280802651470368,
+                "target_xy_drift": 3.9467162546436516e-08,
+                "depth": 0.016377919119004658,
+                "bottom_clearance": 0.08306263337676267,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008665395590385927,
+                  0.002607132870850626
+                ],
+                "rod_tip_xy": [
+                  0.28091591051456244,
+                  -0.3342788927386494
+                ],
+                "target_mouth_xy": [
+                  0.28004937095552385,
+                  -0.33688602560950004
+                ],
+                "gripper_position": [
+                  0.2809041652551367,
+                  -0.33428551462551126,
+                  1.0042228924338596
+                ],
+                "rod_tip_xy_dist": 0.00274736830687999,
+                "target_xy_drift": 6.472617291041912e-08,
+                "depth": 0.016895553952706366,
+                "bottom_clearance": 0.08254504892816417,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008547964119305917,
+                  0.00260051036502007
+                ],
+                "rod_tip_xy": [
+                  0.2809041652551367,
+                  -0.33428551462551126
+                ],
+                "target_mouth_xy": [
+                  0.2800493688432061,
+                  -0.33688602499053133
+                ],
+                "gripper_position": [
+                  0.2808950473927587,
+                  -0.3342857033548555,
+                  1.004099092518375
+                ],
+                "rod_tip_xy_dist": 0.002737394941258245,
+                "target_xy_drift": 6.256294176645338e-08,
+                "depth": 0.01703686582128494,
+                "bottom_clearance": 0.08240363284614483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008456766678178185,
+                  0.002600322892530149
+                ],
+                "rod_tip_xy": [
+                  0.2808950473927588,
+                  -0.3342857033548555
+                ],
+                "target_mouth_xy": [
+                  0.28004937072494096,
+                  -0.3368860262473857
+                ],
+                "gripper_position": [
+                  0.28088603160041714,
+                  -0.33428585351040657,
+                  1.0039746944453218
+                ],
+                "rod_tip_xy_dist": 0.002734382594281168,
+                "target_xy_drift": 6.481145525946467e-08,
+                "depth": 0.017160822772287476,
+                "bottom_clearance": 0.0822797934604953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008366921829028873,
+                  0.00260013945560722
+                ],
+                "rod_tip_xy": [
+                  0.28088603160041714,
+                  -0.3342858535104066
+                ],
+                "target_mouth_xy": [
+                  0.28004933941751425,
+                  -0.33688599296601385
+                ],
+                "gripper_position": [
+                  0.28089751333552737,
+                  -0.33435528275897075,
+                  1.0034568988623633
+                ],
+                "rod_tip_xy_dist": 0.002731442658657913,
+                "target_xy_drift": 2.6463285773949434e-08,
+                "depth": 0.01728515244204043,
+                "bottom_clearance": 0.08215541361451761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0008481438942936625,
+                  0.0025307460413833693
+                ],
+                "rod_tip_xy": [
+                  0.28089751333552737,
+                  -0.33435528275897075
+                ],
+                "target_mouth_xy": [
+                  0.2800493694412337,
+                  -0.3368860288003541
+                ],
+                "gripper_position": [
+                  0.2808855878448293,
+                  -0.33436191103565766,
+                  1.0033156530905247
+                ],
+                "rod_tip_xy_dist": 0.0026690866586540824,
+                "target_xy_drift": 6.49092834023429e-08,
+                "depth": 0.017802991414461844,
+                "bottom_clearance": 0.08163766410422457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008362509155332432,
+                  0.0025240838513797548
+                ],
+                "rod_tip_xy": [
+                  0.28088558784482937,
+                  -0.3343619110356576
+                ],
+                "target_mouth_xy": [
+                  0.2800493369292961,
+                  -0.33688599488703735
+                ],
+                "gripper_position": [
+                  0.28087627727346043,
+                  -0.33436215179150736,
+                  1.0031919327176015
+                ],
+                "rod_tip_xy_dist": 0.0026590063712834994,
+                "target_xy_drift": 2.3797670361628964e-08,
+                "depth": 0.01794422089757497,
+                "bottom_clearance": 0.08149634257068905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008269063383590791,
+                  0.0025238421104376574
+                ],
+                "rod_tip_xy": [
+                  0.28087627727346043,
+                  -0.3343621517915074
+                ],
+                "target_mouth_xy": [
+                  0.28004937093510135,
+                  -0.33688599390194507
+                ],
+                "gripper_position": [
+                  0.2808671636882667,
+                  -0.33436214584431223,
+                  1.0030677955641314
+                ],
+                "rod_tip_xy_dist": 0.0026558526109023498,
+                "target_xy_drift": 5.7808777134579556e-08,
+                "depth": 0.018067970092725427,
+                "bottom_clearance": 0.08137262688568836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008177942100396351,
+                  0.002523848710159815
+                ],
+                "rod_tip_xy": [
+                  0.28086716368826675,
+                  -0.33436214584431223
+                ],
+                "target_mouth_xy": [
+                  0.2800493694782271,
+                  -0.33688599455447205
+                ],
+                "gripper_position": [
+                  0.28088016727975407,
+                  -0.3344337486602939,
+                  1.002552739083989
+                ],
+                "rod_tip_xy_dist": 0.0026530359367618285,
+                "target_xy_drift": 5.6327866713567855e-08,
+                "depth": 0.018192024714412836,
+                "bottom_clearance": 0.08124849333881856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000830856963176585,
+                  0.0024522465246332725
+                ],
+                "rod_tip_xy": [
+                  0.2808801672797541,
+                  -0.33443374866029385
+                ],
+                "target_mouth_xy": [
+                  0.28004931031657754,
+                  -0.3368859951849271
+                ],
+                "gripper_position": [
+                  0.2808680754112516,
+                  -0.33444000954347963,
+                  1.002411852350904
+                ],
+                "rod_tip_xy_dist": 0.00258917676314982,
+                "target_xy_drift": 3.122435635853176e-09,
+                "depth": 0.018707087633363817,
+                "bottom_clearance": 0.08073345303672574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008187033270393163,
+                  0.002446016701437903
+                ],
+                "rod_tip_xy": [
+                  0.28086807541125164,
+                  -0.33444000954347974
+                ],
+                "target_mouth_xy": [
+                  0.2800493720842123,
+                  -0.33688602624491765
+                ],
+                "gripper_position": [
+                  0.28085889086019344,
+                  -0.3344399533639169,
+                  1.0022881561718553
+                ],
+                "rod_tip_xy_dist": 0.002579393890319663,
+                "target_xy_drift": 6.602014473711822e-08,
+                "depth": 0.018848074122079672,
+                "bottom_clearance": 0.08059259509921401,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008095542097277253,
+                  0.0024460402661462544
+                ],
+                "rod_tip_xy": [
+                  0.28085889086019344,
+                  -0.33443995336391685
+                ],
+                "target_mouth_xy": [
+                  0.2800493366504657,
+                  -0.3368859936300631
+                ],
+                "gripper_position": [
+                  0.2808495579989363,
+                  -0.33444007693988975,
+                  1.002163945161181
+                ],
+                "rod_tip_xy_dist": 0.002576526926328681,
+                "target_xy_drift": 2.363502011103685e-08,
+                "depth": 0.018971746413439905,
+                "bottom_clearance": 0.08046886844786327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000800216665138076,
+                  0.0024459166474563587
+                ],
+                "rod_tip_xy": [
+                  0.28084955799893635,
+                  -0.33444007693988975
+                ],
+                "target_mouth_xy": [
+                  0.2800493413337983,
+                  -0.3368859935873461
+                ],
+                "gripper_position": [
+                  0.28084025715755634,
+                  -0.3344402016685743,
+                  1.0020402704814297
+                ],
+                "rod_tip_xy_dist": 0.0025734908116153937,
+                "target_xy_drift": 2.8295134476505325e-08,
+                "depth": 0.019095964855882275,
+                "bottom_clearance": 0.08034465118494183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007908875232414125,
+                  0.002445792566442284
+                ],
+                "rod_tip_xy": [
+                  0.2808402571575564,
+                  -0.33444020166857436
+                ],
+                "target_mouth_xy": [
+                  0.280049369634315,
+                  -0.33688599423501664
+                ],
+                "gripper_position": [
+                  0.280830891989882,
+                  -0.3344401259398022,
+                  1.0019168220177432
+                ],
+                "rod_tip_xy_dist": 0.002570487181933275,
+                "target_xy_drift": 5.649535934930967e-08,
+                "depth": 0.01921955674353948,
+                "bottom_clearance": 0.08022097884104873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0007815810433511317,
+                  0.0024458689197593975
+                ],
+                "rod_tip_xy": [
+                  0.28083089198988204,
+                  -0.3344401259398023
+                ],
+                "target_mouth_xy": [
+                  0.2800493109465309,
+                  -0.3368859948595617
+                ],
+                "gripper_position": [
+                  0.2808471687753553,
+                  -0.3345150689821284,
+                  1.001406475122951
+                ],
+                "rod_tip_xy_dist": 0.002567711763413262,
+                "target_xy_drift": 2.72962174550396e-09,
+                "depth": 0.019343063745152156,
+                "bottom_clearance": 0.08009749012312506,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0007977992872487683,
+                  0.002370955696842092
+                ],
+                "rod_tip_xy": [
+                  0.2808471687753553,
+                  -0.33451506898212846
+                ],
+                "target_mouth_xy": [
+                  0.28004936948810655,
+                  -0.33688602467897055
+                ],
+                "gripper_position": [
+                  0.2808348818058122,
+                  -0.33452198694829877,
+                  1.0012654966257928
+                ],
+                "rod_tip_xy_dist": 0.002501582423012005,
+                "target_xy_drift": 6.299705099402801e-08,
+                "depth": 0.01985328294530464,
+                "bottom_clearance": 0.07958722999611889,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000600266873627161,
+              "rod_tip_xy_max_step": 3.254208581048641e-05,
+              "rod_tip_xy_range": 0.0006002570362475005,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28048171818704754,
+            -0.3358424778289021,
+            1.0434644657439562
+          ],
+          "object_origin_world": [
+            0.28048171818704754,
+            -0.3358424778289021,
+            1.0434644657439562
+          ],
+          "frame_world": [
+            0.28050691822490037,
+            -0.3358391740631778,
+            1.0437738562379093
+          ],
+          "center_minus_frame": [
+            -2.5200037852834978e-05,
+            -3.3037657242718232e-06,
+            -0.0003093904939530656
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2542432727172085,
+              0.14867521688434224,
+              0.8346627580819332
+            ],
+            "target_position": [
+              0.26785314135044463,
+              0.1931769406417274,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0465363507550019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1624647627493732,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8346627580819332,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567539626168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13300499418600417,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a2d571203cb2f24828fdaba970995ab1f44b89bdd20e57da5e9cea37c39c9b2",
+    "visual_seed": 522151517012756519,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f151b2f5653b29784963f60fe7bfac02202ebf5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_50_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30153545940900145,
+              0.07926315052605924,
+              1.1648862665492068
+            ],
+            "current_z": 1.1648862665492068,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30377975853444084,
+            "gripper_z": 1.1570008453440037,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2963264005049457,
+              0.07419470980253869,
+              1.1570008453440037
+            ],
+            "object_minus_gripper": [
+              0.005209058904055763,
+              0.005068440723520556,
+              0.00788542120520308
+            ],
+            "object_to_gripper_xy": 0.0072679698701744915,
+            "object_to_gripper_z": 0.00788542120520308,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30153545940900145,
+              0.05525344685442249,
+              1.1648862665492068
+            ],
+            "finger_b": [
+              0.2900011018455637,
+              0.07926315052605924,
+              1.1648862665492068
+            ],
+            "finger_midpoint": [
+              0.29576828062728255,
+              0.06725829869024086,
+              1.1648862665492068
+            ],
+            "object_minus_finger_midpoint": [
+              0.005767178781718896,
+              0.012004851835818384,
+              0.0
+            ],
+            "finger_gap": 0.026636577760685412,
+            "fingertip_max_gap": 0.09107585165308421,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013318288880342725,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648862665492068,
+            "object_top_z": 1.214757952990087,
+            "finger_top_clearance": 0.049871686440880136,
+            "fingertip_min_top_clearance": 0.01496150593226404,
+            "object_projection_between_fingers": 0.8124876105906869,
+            "object_to_finger_line_xy": 0.010396850137016873,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803792582654211,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8349381314349721,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2745723473419505,
+              -0.3406062870637056,
+              0.8515394982054123
+            ],
+            "target_position": [
+              0.2654568372436161,
+              -0.34149920020037894,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009159138508750757,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18729811167061675,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394982054123,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533991528963566,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518634966763254,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15562308180740628,
+            "release_required_pad_clearance": 0.05259317483381627,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25022906686304863,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007191658020019531,
+            "max_z_decrease": 0.007191658020019531,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511279586247093,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007191658020019531,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02117305095186803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007191658020019531,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007191676369866669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12115675956010816,
+              -0.39776065945625305,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12115675956010816,
+              -0.39776065945625305,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1205213126583548,
+              -0.3986898695380763,
+              0.80801431578247
+            ],
+            "closest_button": [
+              0.12114669382572171,
+              -0.3977596163749695,
+              0.7729194164276123
+            ],
+            "closest_ee_minus_button": [
+              -0.0006253811673669063,
+              -0.0009302531631067978,
+              0.035094899354857656
+            ],
+            "button_min_z_position": [
+              0.12114054709672925,
+              -0.3977596163749695,
+              0.7696171998977661
+            ],
+            "min_active_finger_to_button": 0.14668855494098135,
+            "closest_active_finger": [
+              -0.02042282372713089,
+              -0.38074588775634766,
+              0.8107190728187561
+            ],
+            "closest_active_finger_button": [
+              0.12115675956010816,
+              -0.3977609872817993,
+              0.7763208150863647
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14157958328723905,
+              0.01701509952545166,
+              0.03439825773239136
+            ],
+            "min_contact_pad_to_button": 0.02117305095186803,
+            "closest_contact_pad": [
+              0.12114054709672925,
+              -0.39992783106709745,
+              0.7906789408433584
+            ],
+            "closest_contact_pad_button": [
+              0.12114054709672925,
+              -0.3977596163749695,
+              0.7696171998977661
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021682146921279677,
+              0.021061740945592322
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.276582466957661,
+              0.19229524632422101,
+              1.1035495937409197
+            ],
+            "current_z": 1.1035495937409197,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1936404640065571,
+            "gripper_z": 1.1035498031090414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2765824737209881,
+              0.1922952604495783,
+              1.1035498031090414
+            ],
+            "object_minus_gripper": [
+              -6.763327120573592e-09,
+              -1.4125357272742889e-08,
+              -2.0936812172855923e-07
+            ],
+            "object_to_gripper_xy": 1.566104440395074e-08,
+            "object_to_gripper_z": -2.0936812172855923e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.276582466957661,
+              0.19229524632422101,
+              1.1035495937409197
+            ],
+            "finger_b": [
+              0.276582466957661,
+              0.19229524632422101,
+              1.1035495937409197
+            ],
+            "finger_midpoint": [
+              0.276582466957661,
+              0.19229524632422101,
+              1.1035495937409197
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035495937409197,
+            "object_top_z": 1.2285581003611994,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.276582466957661,
+            0.19229524632422101,
+            1.1035495937409197
+          ],
+          "object_origin_world": [
+            0.276582466957661,
+            0.19229524632422101,
+            1.1035495937409197
+          ],
+          "frame_world": [
+            0.2765824737209881,
+            0.1922952604495783,
+            1.1035498031090414
+          ],
+          "center_minus_frame": [
+            -6.763327120573592e-09,
+            -1.4125357272742889e-08,
+            -2.0936812172855923e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432751643928513,
+            "required_z": 0.9112599125524772,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013070688542509152,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0749251479662336e-07,
+            "max_target_xy_drift": 6.708007677024816e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.250229068590492,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.25022906888471075,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2739510018261584,
+              -0.3394529838907542,
+              0.923384883444638
+            ],
+            "target_mouth_xy": [
+              0.2745724360658865,
+              -0.34060631686631726
+            ],
+            "rod_tip_z": 0.923384883444638,
+            "rod_tip_depth": -0.02212505112137575,
+            "rod_tip_bottom_clearance": 0.12156558475795376,
+            "rod_tip_xy_dist": 0.0013100982660959584,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04437850038885982,
+            "min_rod_tip_bottom_clearance": 0.05506208229955367,
+            "min_rod_tip_xy_dist": 0.0009124973369921212,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2745723483651727,
+              -0.3406063790211685
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.770071380226341e-08,
+              6.215485126581655e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -5.931654526286634e-05,
+                0.0027803741502678836
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00016626302518257807,
+                0.0024147944169634616
+              ],
+              "first_target_mouth_xy": [
+                0.2745723488054875,
+                -0.3406062854668436
+              ],
+              "last_target_mouth_xy": [
+                0.27457234794543445,
+                -0.34060631814411013
+              ],
+              "first_rod_tip_xy": [
+                0.2745130322602246,
+                -0.3378259113165757
+              ],
+              "last_rod_tip_xy": [
+                0.27440608492025187,
+                -0.33819152372714667
+              ],
+              "min_rod_tip_xy_dist": 0.0024205114066537196,
+              "max_rod_tip_xy_dist": 0.002781006808337545,
+              "first_target_xy_drift": 9.355536112183099e-08,
+              "last_target_xy_drift": 6.087850539342377e-08,
+              "max_depth": 0.019618712212640776,
+              "min_bottom_clearance": 0.07982183956839584
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -5.931654526286634e-05,
+                  0.0027803741502678836
+                ],
+                "rod_tip_xy": [
+                  0.2745130322602246,
+                  -0.3378259113165757
+                ],
+                "target_mouth_xy": [
+                  0.2745723488054875,
+                  -0.3406062854668436
+                ],
+                "gripper_position": [
+                  0.2745016919999056,
+                  -0.337832418711329,
+                  1.0058880620992896
+                ],
+                "rod_tip_xy_dist": 0.002781006808337545,
+                "target_xy_drift": 9.355536112183099e-08,
+                "depth": 0.015233011547886699,
+                "bottom_clearance": 0.08420766148864045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -7.065620791463223e-05,
+                  0.0027738699534980427
+                ],
+                "rod_tip_xy": [
+                  0.2745016919999056,
+                  -0.3378324187113291
+                ],
+                "target_mouth_xy": [
+                  0.2745723482078202,
+                  -0.3406062886648271
+                ],
+                "gripper_position": [
+                  0.27449323651414365,
+                  -0.3378328205290241,
+                  1.0057657909576048
+                ],
+                "rod_tip_xy_dist": 0.0027747696874941006,
+                "target_xy_drift": 9.03564784208219e-08,
+                "depth": 0.01537177260071898,
+                "bottom_clearance": 0.08406880084633839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -7.910998092724997e-05,
+                  0.002773465575837908
+                ],
+                "rod_tip_xy": [
+                  0.27449323651414365,
+                  -0.3378328205290241
+                ],
+                "target_mouth_xy": [
+                  0.2745723464950709,
+                  -0.340606286104862
+                ],
+                "gripper_position": [
+                  0.27449802096348075,
+                  -0.3378955488630986,
+                  1.0052454840352805
+                ],
+                "rod_tip_xy_dist": 0.0027745936079794117,
+                "target_xy_drift": 9.293512415304008e-08,
+                "depth": 0.015493997494241962,
+                "bottom_clearance": 0.08394656382264343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -7.435737478656002e-05,
+                  0.002710707760015252
+                ],
+                "rod_tip_xy": [
+                  0.27449802096348075,
+                  -0.3378955488630986
+                ],
+                "target_mouth_xy": [
+                  0.2745723783382673,
+                  -0.34060625662311383
+                ],
+                "gripper_position": [
+                  0.274486493359536,
+                  -0.33790211857257924,
+                  1.0051060543316304
+                ],
+                "rod_tip_xy_dist": 0.002711727416130178,
+                "target_xy_drift": 1.2601456341722043e-07,
+                "depth": 0.016014434304215563,
+                "bottom_clearance": 0.08342619438544474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -8.585413618361626e-05,
+                  0.002704169451964167
+                ],
+                "rod_tip_xy": [
+                  0.274486493359536,
+                  -0.33790211857257924
+                ],
+                "target_mouth_xy": [
+                  0.2745723474957196,
+                  -0.3406062880245434
+                ],
+                "gripper_position": [
+                  0.2744914772548749,
+                  -0.3379651880087453,
+                  1.004590249203042
+                ],
+                "rod_tip_xy_dist": 0.002705531991612004,
+                "target_xy_drift": 9.100077874707042e-08,
+                "depth": 0.016153708012089152,
+                "bottom_clearance": 0.08328682382375663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -8.08722847263077e-05,
+                  0.00264110001296175
+                ],
+                "rod_tip_xy": [
+                  0.2744914772548749,
+                  -0.3379651880087453
+                ],
+                "target_mouth_xy": [
+                  0.2745723495396012,
+                  -0.34060628802170706
+                ],
+                "gripper_position": [
+                  0.27447992757634676,
+                  -0.3379714238948976,
+                  1.004451238685711
+                ],
+                "rod_tip_xy_dist": 0.0026423379051331436,
+                "target_xy_drift": 9.100703966965211e-08,
+                "depth": 0.01666964875341581,
+                "bottom_clearance": 0.0827709619415854,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -9.241892381411931e-05,
+                  0.002634862848663433
+                ],
+                "rod_tip_xy": [
+                  0.27447992757634676,
+                  -0.33797142389489765
+                ],
+                "target_mouth_xy": [
+                  0.2745723465001609,
+                  -0.3406062867435611
+                ],
+                "gripper_position": [
+                  0.2744711627480347,
+                  -0.3379716461799335,
+                  1.0043292721445205
+                ],
+                "rod_tip_xy_dist": 0.0026364831667859633,
+                "target_xy_drift": 9.229645228647494e-08,
+                "depth": 0.016808538454678223,
+                "bottom_clearance": 0.08263200041682206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00010121750553720998,
+                  0.0026346408820815403
+                ],
+                "rod_tip_xy": [
+                  0.2744711627480347,
+                  -0.3379716461799336
+                ],
+                "target_mouth_xy": [
+                  0.2745723802535719,
+                  -0.3406062870620151
+                ],
+                "gripper_position": [
+                  0.2744622917552937,
+                  -0.33797197383727356,
+                  1.004207010527955
+                ],
+                "rod_tip_xy_dist": 0.002636584449806714,
+                "target_xy_drift": 9.733116611912628e-08,
+                "depth": 0.016930650157944926,
+                "bottom_clearance": 0.08251002967597887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00011005554477133694,
+                  0.0026343138663784127
+                ],
+                "rod_tip_xy": [
+                  0.2744622917552937,
+                  -0.3379719738372735
+                ],
+                "target_mouth_xy": [
+                  0.274572347300065,
+                  -0.3406062877036519
+                ],
+                "gripper_position": [
+                  0.2744689243514964,
+                  -0.338037099895966,
+                  1.003690172122505
+                ],
+                "rod_tip_xy_dist": 0.002636611797274771,
+                "target_xy_drift": 9.132372798490416e-08,
+                "depth": 0.01705281556406435,
+                "bottom_clearance": 0.08238772011907347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00010342594056839127,
+                  0.002569158003470462
+                ],
+                "rod_tip_xy": [
+                  0.2744689243514964,
+                  -0.338037099895966
+                ],
+                "target_mouth_xy": [
+                  0.2745723502920648,
+                  -0.34060625789943644
+                ],
+                "gripper_position": [
+                  0.2744572233069233,
+                  -0.3380434358499414,
+                  1.003551197524403
+                ],
+                "rod_tip_xy_dist": 0.002571238956608037,
+                "target_xy_drift": 1.211370583150894e-07,
+                "depth": 0.017569737527969642,
+                "bottom_clearance": 0.08187091347814979,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00011512407595049012,
+                  0.002562850573848141
+                ],
+                "rod_tip_xy": [
+                  0.2744572233069233,
+                  -0.33804343584994145
+                ],
+                "target_mouth_xy": [
+                  0.2745723473828738,
+                  -0.3406062864237896
+                ],
+                "gripper_position": [
+                  0.27444832334245345,
+                  -0.33804360461461064,
+                  1.0034294941877777
+                ],
+                "rod_tip_xy_dist": 0.0025654349761272846,
+                "target_xy_drift": 9.26025890354752e-08,
+                "depth": 0.01770865199941618,
+                "bottom_clearance": 0.08173193228721576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00012405296152195877,
+                  0.00256268212856825
+                ],
+                "rod_tip_xy": [
+                  0.27444832334245345,
+                  -0.3380436046146106
+                ],
+                "target_mouth_xy": [
+                  0.2745723763039754,
+                  -0.34060628674317883
+                ],
+                "gripper_position": [
+                  0.2744557665109927,
+                  -0.338109052227614,
+                  1.002916513943137
+                ],
+                "rod_tip_xy_dist": 0.002565682916758317,
+                "target_xy_drift": 9.641475031934389e-08,
+                "depth": 0.017830342576058422,
+                "bottom_clearance": 0.0816101963666287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00011657935807501962,
+                  0.0024972643146450313
+                ],
+                "rod_tip_xy": [
+                  0.2744557665109927,
+                  -0.338109052227614
+                ],
+                "target_mouth_xy": [
+                  0.2745723458690677,
+                  -0.34060631654225904
+                ],
+                "gripper_position": [
+                  0.2744439135366936,
+                  -0.3381153102065412,
+                  1.0027780742274013
+                ],
+                "rod_tip_xy_dist": 0.0024999839607342885,
+                "target_xy_drift": 6.252875075708745e-08,
+                "depth": 0.0183433358219377,
+                "bottom_clearance": 0.0810972148697443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00012843396329226264,
+                  0.0024909768580464453
+                ],
+                "rod_tip_xy": [
+                  0.2744439135366936,
+                  -0.3381153102065412
+                ],
+                "target_mouth_xy": [
+                  0.2745723474999859,
+                  -0.3406062870645876
+                ],
+                "gripper_position": [
+                  0.27443494160490844,
+                  -0.33811539911995886,
+                  1.0026560036481815
+                ],
+                "rod_tip_xy_dist": 0.002494285667330408,
+                "target_xy_drift": 9.196065093308455e-08,
+                "depth": 0.018481764841916326,
+                "bottom_clearance": 0.0809588012375061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00013740461544492488,
+                  0.0024908895408085607
+                ],
+                "rod_tip_xy": [
+                  0.27443494160490844,
+                  -0.3381153991199589
+                ],
+                "target_mouth_xy": [
+                  0.27457234622035337,
+                  -0.3406062886607675
+                ],
+                "gripper_position": [
+                  0.27442591115611964,
+                  -0.33811525494502154,
+                  1.0025342386557694
+                ],
+                "rod_tip_xy_dist": 0.00249467647859498,
+                "target_xy_drift": 9.038585247663836e-08,
+                "depth": 0.018603819449321213,
+                "bottom_clearance": 0.08083668601124239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00014643673824960013,
+                  0.0024910314811020795
+                ],
+                "rod_tip_xy": [
+                  0.2744259111561196,
+                  -0.3381152549450216
+                ],
+                "target_mouth_xy": [
+                  0.2745723478943692,
+                  -0.34060628642612367
+                ],
+                "gripper_position": [
+                  0.27441698496788786,
+                  -0.3381153654652731,
+                  1.0024127010294632
+                ],
+                "rod_tip_xy_dist": 0.0024953319534985322,
+                "target_xy_drift": 9.259624175647017e-08,
+                "depth": 0.018725674533837,
+                "bottom_clearance": 0.08071492940021618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00015536305227437097,
+                  0.0024908914767813317
+                ],
+                "rod_tip_xy": [
+                  0.27441698496788786,
+                  -0.3381153654652731
+                ],
+                "target_mouth_xy": [
+                  0.2745723480201622,
+                  -0.34060625694205443
+                ],
+                "gripper_position": [
+                  0.2744079624850997,
+                  -0.33811525822372707,
+                  1.0022911240600787
+                ],
+                "rod_tip_xy_dist": 0.002495731962193435,
+                "target_xy_drift": 1.220796016153035e-07,
+                "depth": 0.018847147905661554,
+                "bottom_clearance": 0.08059344959438097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00016438185649242376,
+                  0.0024909993505724537
+                ],
+                "rod_tip_xy": [
+                  0.2744079624850997,
+                  -0.338115258223727
+                ],
+                "target_mouth_xy": [
+                  0.2745723443415921,
+                  -0.34060625757429946
+                ],
+                "gripper_position": [
+                  0.27441821559061164,
+                  -0.33818506368487605,
+                  1.0017798207969535
+                ],
+                "rod_tip_xy_dist": 0.002496417264660754,
+                "target_xy_drift": 1.2151350215299758e-07,
+                "depth": 0.018968701099838614,
+                "bottom_clearance": 0.08047188523719073,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0001541317070329895,
+                  0.002421226253660702
+                ],
+                "rod_tip_xy": [
+                  0.27441821559061164,
+                  -0.3381850636848761
+                ],
+                "target_mouth_xy": [
+                  0.2745723472976446,
+                  -0.3406062899385368
+                ],
+                "gripper_position": [
+                  0.27440608492025187,
+                  -0.3381915237271466,
+                  1.0016411742309133
+                ],
+                "rod_tip_xy_dist": 0.0024261271925702372,
+                "target_xy_drift": 8.90890278854037e-08,
+                "depth": 0.01947996989456513,
+                "bottom_clearance": 0.07996061436223201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.00016626302518257807,
+                  0.0024147944169634616
+                ],
+                "rod_tip_xy": [
+                  0.27440608492025187,
+                  -0.33819152372714667
+                ],
+                "target_mouth_xy": [
+                  0.27457234794543445,
+                  -0.34060631814411013
+                ],
+                "gripper_position": [
+                  0.27439697769123766,
+                  -0.338191684430851,
+                  1.001519951961942
+                ],
+                "rod_tip_xy_dist": 0.0024205114066537196,
+                "target_xy_drift": 6.087850539342377e-08,
+                "depth": 0.019618712212640776,
+                "bottom_clearance": 0.07982183956839584,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005970733935795204,
+              "rod_tip_xy_max_step": 3.240801075022423e-05,
+              "rod_tip_xy_range": 0.0005970577172394332,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2739510018261584,
+            -0.3394529838907542,
+            1.0433848834446382
+          ],
+          "object_origin_world": [
+            0.2739510018261584,
+            -0.3394529838907542,
+            1.0433848834446382
+          ],
+          "frame_world": [
+            0.27394953276705636,
+            -0.3394572213654735,
+            1.0432751643928513
+          ],
+          "center_minus_frame": [
+            1.469059102032766e-06,
+            4.237474719337442e-06,
+            0.00010971905178691621
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26408311169609966,
+              0.14746377098220215,
+              0.8328306220984687
+            ],
+            "target_position": [
+              0.2767258103439181,
+              0.19385512766678792,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04808321748943191,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1675533539820518,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328306220984687,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671406552666,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13705506817759913,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a792a0db5f76612ccad9e15ca284641bb936d6c64686e4dc5c35a2319d788f59",
+    "visual_seed": 3548556969627490480,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c549e6d7bd51221b413b5e88afab44ed7774d637
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3035233063823649,
+              0.08163916439144257,
+              1.1634181322903947
+            ],
+            "current_z": 1.1634181322903947,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30231156467098397,
+            "gripper_z": 1.1555666331479133,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2980413553553446,
+              0.07661747835387626,
+              1.1555666331479133
+            ],
+            "object_minus_gripper": [
+              0.005481951027020315,
+              0.005021686037566309,
+              0.0078514991424814
+            ],
+            "object_to_gripper_xy": 0.00743432025961604,
+            "object_to_gripper_z": 0.0078514991424814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3035233063823649,
+              0.0571543558547451,
+              1.1634181322903947
+            ],
+            "finger_b": [
+              0.2924338831280948,
+              0.08163916439144257,
+              1.1634181322903947
+            ],
+            "finger_midpoint": [
+              0.29797859475522986,
+              0.06939676012309384,
+              1.1634181322903947
+            ],
+            "object_minus_finger_midpoint": [
+              0.005544711627135046,
+              0.01224240426834873,
+              0.0
+            ],
+            "finger_gap": 0.026879009602124103,
+            "fingertip_max_gap": 0.09145144644728911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013439504801062046,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634181322903947,
+            "object_top_z": 1.2132922902652319,
+            "finger_top_clearance": 0.049874157974837185,
+            "fingertip_min_top_clearance": 0.014962247392451188,
+            "object_projection_between_fingers": 0.8297875219466491,
+            "object_to_finger_line_xy": 0.01010165215096866,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822572322364456,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.104412087649039,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28040416686969216,
+              -0.3392763458345118,
+              0.8515395547813331
+            ],
+            "target_position": [
+              0.273147291952678,
+              -0.3395772856796606,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007263112167080127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18444062865716848,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395547813331,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575589366993954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0883656607626845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1516520956884386,
+            "release_required_pad_clearance": 0.05418283038134225,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3816880855296017,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075980424880981445,
+            "max_z_decrease": 0.0075980424880981445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515317007269834,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075980424880981445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021271921696482374,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075980424880981445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007598063627543774,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12884721159934992,
+              -0.3958387374877929,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12884721159934992,
+              -0.3958387374877929,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1291334271037193,
+              -0.39779699653697287,
+              0.8076201610703972
+            ],
+            "closest_button": [
+              0.12883591651916498,
+              -0.3958371579647064,
+              0.7725229263305664
+            ],
+            "closest_ee_minus_button": [
+              0.00029751058455432244,
+              -0.001959838572266448,
+              0.03509723473983084
+            ],
+            "button_min_z_position": [
+              0.1288293302059173,
+              -0.3958375155925751,
+              0.7692108154296875
+            ],
+            "min_active_finger_to_button": 0.14570431895826083,
+            "closest_active_finger": [
+              -0.012115858495235443,
+              -0.3825584948062897,
+              0.8109354376792908
+            ],
+            "closest_active_finger_button": [
+              0.128846988081932,
+              -0.39583876729011536,
+              0.7765427231788635
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14096284657716746,
+              0.013280272483825684,
+              0.034392714500427246
+            ],
+            "min_contact_pad_to_button": 0.021271921696482374,
+            "closest_contact_pad": [
+              0.1288293302059173,
+              -0.39880816516463774,
+              0.7902742884049896
+            ],
+            "closest_contact_pad_button": [
+              0.1288293302059173,
+              -0.3958375155925751,
+              0.7692108154296875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002970649572062667,
+              0.02106347297530209
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2758288633862664,
+              0.2005963631742458,
+              1.1046105989694084
+            ],
+            "current_z": 1.1046105989694084,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19470146923504583,
+            "gripper_z": 1.1046104285139295,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27582881558700945,
+              0.20059642829746915,
+              1.1046104285139295
+            ],
+            "object_minus_gripper": [
+              4.7799256941427615e-08,
+              -6.512322334173426e-08,
+              1.7045547884286805e-07
+            ],
+            "object_to_gripper_xy": 8.078244352933388e-08,
+            "object_to_gripper_z": 1.7045547884286805e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2758288633862664,
+              0.2005963631742458,
+              1.1046105989694084
+            ],
+            "finger_b": [
+              0.2758288633862664,
+              0.2005963631742458,
+              1.1046105989694084
+            ],
+            "finger_midpoint": [
+              0.2758288633862664,
+              0.2005963631742458,
+              1.1046105989694084
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046105989694084,
+            "object_top_z": 1.2296191055896881,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27582886338626644,
+            0.2005963631742458,
+            1.1046105989694084
+          ],
+          "object_origin_world": [
+            0.27582886338626644,
+            0.2005963631742458,
+            1.1046105989694084
+          ],
+          "frame_world": [
+            0.27582881558700945,
+            0.20059642829746915,
+            1.1046104285139295
+          ],
+          "center_minus_frame": [
+            4.7799256996938766e-08,
+            -6.512322334173426e-08,
+            1.7045547884286805e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433775774664154,
+            "required_z": 0.9112599712621791,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012749416935402963,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.587993462232022e-08,
+            "max_target_xy_drift": 2.396243303285923e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.3816880855263665,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.381688085766091,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2800664939919544,
+              -0.3380429756686875,
+              0.9234896728895211
+            ],
+            "target_mouth_xy": [
+              0.28040422632321427,
+              -0.33927637281429757
+            ],
+            "rod_tip_z": 0.9234896728895211,
+            "rod_tip_depth": -0.022229746668250838,
+            "rod_tip_bottom_clearance": 0.12167037069113329,
+            "rod_tip_xy_dist": 0.001278800862674582,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045026602125072035,
+            "min_rod_tip_bottom_clearance": 0.054414467828169055,
+            "min_rod_tip_xy_dist": 0.0008255639273276117,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28040416710194677,
+              -0.3392763439524324
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.9221267501019526e-08,
+              -2.8861865175588974e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.00018301659875058496,
+                0.002998902821163163
+              ],
+              "last_rod_tip_xy_delta": [
+                8.045868139061607e-05,
+                0.002601698428548904
+              ],
+              "first_target_mouth_xy": [
+                0.28040422852275904,
+                -0.33927631406834835
+              ],
+              "last_target_mouth_xy": [
+                0.2804041648202585,
+                -0.33927631133842107
+              ],
+              "first_rod_tip_xy": [
+                0.2805872451215096,
+                -0.3362774112471852
+              ],
+              "last_rod_tip_xy": [
+                0.2804846235016491,
+                -0.33667461290987216
+              ],
+              "min_rod_tip_xy_dist": 0.0026029422414884573,
+              "max_rod_tip_xy_dist": 0.003004482186034494,
+              "first_target_xy_drift": 6.830501195962512e-08,
+              "last_target_xy_drift": 3.269372777953228e-08,
+              "max_depth": 0.019570662696359986,
+              "min_bottom_clearance": 0.07987000146670498
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.00018301659875058496,
+                  0.002998902821163163
+                ],
+                "rod_tip_xy": [
+                  0.2805872451215096,
+                  -0.3362774112471852
+                ],
+                "target_mouth_xy": [
+                  0.28040422852275904,
+                  -0.33927631406834835
+                ],
+                "gripper_position": [
+                  0.2805756120599068,
+                  -0.33628432197776037,
+                  1.0059770562945527
+                ],
+                "rod_tip_xy_dist": 0.003004482186034494,
+                "target_xy_drift": 6.830501195962512e-08,
+                "depth": 0.015140554540478246,
+                "bottom_clearance": 0.08430011677670668,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0001714722338511665,
+                  0.0029920726746477944
+                ],
+                "rod_tip_xy": [
+                  0.28057561205990666,
+                  -0.3362843219777603
+                ],
+                "target_mouth_xy": [
+                  0.2804041398260555,
+                  -0.3392763946524081
+                ],
+                "gripper_position": [
+                  0.28058141395782943,
+                  -0.3363520079551137,
+                  1.0054573564472786
+                ],
+                "rod_tip_xy_dist": 0.002996982084924085,
+                "target_xy_drift": 5.757136251845645e-08,
+                "depth": 0.01528281033622736,
+                "bottom_clearance": 0.0841577709221496,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0001772417695745654,
+                  0.002924354900582793
+                ],
+                "rod_tip_xy": [
+                  0.2805814139578293,
+                  -0.3363520079551137
+                ],
+                "target_mouth_xy": [
+                  0.28040417218825475,
+                  -0.3392763628556965
+                ],
+                "gripper_position": [
+                  0.2805697132257705,
+                  -0.33635909015264925,
+                  1.0053156288695992
+                ],
+                "rod_tip_xy_dist": 0.002929721186298198,
+                "target_xy_drift": 1.957559509552142e-08,
+                "depth": 0.015802534797897394,
+                "bottom_clearance": 0.08363803670910275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00016557165997388434,
+                  0.002917273342932958
+                ],
+                "rod_tip_xy": [
+                  0.2805697132257704,
+                  -0.33635909015264925
+                ],
+                "target_mouth_xy": [
+                  0.2804041415657965,
+                  -0.3392763634955822
+                ],
+                "gripper_position": [
+                  0.2805607531304402,
+                  -0.33635948061029036,
+                  1.005191167009339
+                ],
+                "rod_tip_xy_dist": 0.0029219681264472655,
+                "target_xy_drift": 3.215633179483198e-08,
+                "depth": 0.01594420648862449,
+                "bottom_clearance": 0.0834963531561731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00015658086250436298,
+                  0.0029168796961828725
+                ],
+                "rod_tip_xy": [
+                  0.2805607531304401,
+                  -0.33635948061029036
+                ],
+                "target_mouth_xy": [
+                  0.28040417226793574,
+                  -0.33927636030647323
+                ],
+                "gripper_position": [
+                  0.2805676960262612,
+                  -0.3364283972318073,
+                  1.0046716554305548
+                ],
+                "rod_tip_xy_dist": 0.0029210793773032763,
+                "target_xy_drift": 1.715057124288158e-08,
+                "depth": 0.01606876206106056,
+                "bottom_clearance": 0.08337189027662639,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00016352671139813202,
+                  0.002847966652248235
+                ],
+                "rod_tip_xy": [
+                  0.2805676960262611,
+                  -0.33642839723180723
+                ],
+                "target_mouth_xy": [
+                  0.28040416931486295,
+                  -0.33927636388405547
+                ],
+                "gripper_position": [
+                  0.2805558777002124,
+                  -0.336435195442765,
+                  1.004529839658285
+                ],
+                "rod_tip_xy_dist": 0.0028526575394986877,
+                "target_xy_drift": 2.0054091762257077e-08,
+                "depth": 0.016588201458995533,
+                "bottom_clearance": 0.08285235454903739,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00015167432421092641,
+                  0.0028411648263972356
+                ],
+                "rod_tip_xy": [
+                  0.2805558777002123,
+                  -0.33643519544276496
+                ],
+                "target_mouth_xy": [
+                  0.28040420337600136,
+                  -0.3392763602691622
+                ],
+                "gripper_position": [
+                  0.28054697719236743,
+                  -0.33643565826912947,
+                  1.004405753668928
+                ],
+                "rod_tip_xy_dist": 0.002845210479275949,
+                "target_xy_drift": 3.9774900477948536e-08,
+                "depth": 0.016730099117533426,
+                "bottom_clearance": 0.08271060205063696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00014280706073793725,
+                  0.0028407055541845305
+                ],
+                "rod_tip_xy": [
+                  0.2805469771923673,
+                  -0.3364356582691294
+                ],
+                "target_mouth_xy": [
+                  0.2804041701316294,
+                  -0.33927636382331394
+                ],
+                "gripper_position": [
+                  0.2805548004965921,
+                  -0.33650554251746906,
+                  1.003887784060798
+                ],
+                "rod_tip_xy_dist": 0.0028442928650494925,
+                "target_xy_drift": 2.0100520151956968e-08,
+                "depth": 0.016854078018219476,
+                "bottom_clearance": 0.08258644603689735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00015062991354325428,
+                  0.0027708187720363875
+                ],
+                "rod_tip_xy": [
+                  0.280554800496592,
+                  -0.33650554251746906
+                ],
+                "target_mouth_xy": [
+                  0.28040417058304873,
+                  -0.33927636128950545
+                ],
+                "gripper_position": [
+                  0.28054290634346657,
+                  -0.3365124220736765,
+                  1.003746252823147
+                ],
+                "rod_tip_xy_dist": 0.0027749100955388236,
+                "target_xy_drift": 1.7683104167098557e-08,
+                "depth": 0.017372055776282758,
+                "bottom_clearance": 0.08206849809977557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00013873648600348787,
+                  0.002763942725703239
+                ],
+                "rod_tip_xy": [
+                  0.28054290634346646,
+                  -0.33651242207367654
+                ],
+                "target_mouth_xy": [
+                  0.28040416985746297,
+                  -0.3392763647993798
+                ],
+                "gripper_position": [
+                  0.28053393762120393,
+                  -0.33651257238061505,
+                  1.003621953326462
+                ],
+                "rod_tip_xy_dist": 0.002767422483741224,
+                "target_xy_drift": 2.1028268712768703e-08,
+                "depth": 0.01751360607824226,
+                "bottom_clearance": 0.08192696494144969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00012973582854108878,
+                  0.0027637869596969233
+                ],
+                "rod_tip_xy": [
+                  0.2805339376212038,
+                  -0.336512572380615
+                ],
+                "target_mouth_xy": [
+                  0.28040420179266273,
+                  -0.3392763593403119
+                ],
+                "gripper_position": [
+                  0.28052476832041856,
+                  -0.33651306586796087,
+                  1.0034976769816166
+                ],
+                "rod_tip_xy_dist": 0.0027668302701463286,
+                "target_xy_drift": 3.7950396711768244e-08,
+                "depth": 0.017637991509583784,
+                "bottom_clearance": 0.08180268739953223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00012053797681482736,
+                  0.0027633005027484225
+                ],
+                "rod_tip_xy": [
+                  0.28052476832041845,
+                  -0.33651306586796087
+                ],
+                "target_mouth_xy": [
+                  0.2804042303436036,
+                  -0.3392763663707093
+                ],
+                "gripper_position": [
+                  0.28053422150570506,
+                  -0.3365850019189014,
+                  1.002981490808489
+                ],
+                "rod_tip_xy_dist": 0.0027659282478662197,
+                "target_xy_drift": 6.709758789329293e-08,
+                "depth": 0.017762202601827703,
+                "bottom_clearance": 0.08167842752081522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00013002316014892878,
+                  0.0026913603803378483
+                ],
+                "rod_tip_xy": [
+                  0.28053422150570495,
+                  -0.33658500191890145
+                ],
+                "target_mouth_xy": [
+                  0.280404198345556,
+                  -0.3392763622992393
+                ],
+                "gripper_position": [
+                  0.28052202635408796,
+                  -0.33659195423727417,
+                  1.002839915979323
+                ],
+                "rod_tip_xy_dist": 0.0026944993447814013,
+                "target_xy_drift": 3.62321465412125e-08,
+                "depth": 0.01827837580064029,
+                "bottom_clearance": 0.08116218439693024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00011782431473567057,
+                  0.002684410497918621
+                ],
+                "rod_tip_xy": [
+                  0.28052202635408785,
+                  -0.3365919542372741
+                ],
+                "target_mouth_xy": [
+                  0.2804042020393522,
+                  -0.33927636473519274
+                ],
+                "gripper_position": [
+                  0.2805127913639123,
+                  -0.33659209538238816,
+                  1.0027159005662478
+                ],
+                "rod_tip_xy_dist": 0.0026869950298574483,
+                "target_xy_drift": 4.065151195961848e-08,
+                "depth": 0.01842000832519053,
+                "bottom_clearance": 0.08102062789968068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0001085656425828252,
+                  0.0026841915595802734
+                ],
+                "rod_tip_xy": [
+                  0.2805127913639121,
+                  -0.33659209538238816
+                ],
+                "target_mouth_xy": [
+                  0.2804042257213293,
+                  -0.33927628694196843
+                ],
+                "gripper_position": [
+                  0.28050369544534853,
+                  -0.3365921891754304,
+                  1.0025912340708454
+                ],
+                "rod_tip_xy_dist": 0.0026863862021815482,
+                "target_xy_drift": 8.177056320847523e-08,
+                "depth": 0.018543930317893698,
+                "bottom_clearance": 0.08089660400407628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  9.946717235548297e-05,
+                  0.0026841265361775
+                ],
+                "rod_tip_xy": [
+                  0.2805036954453484,
+                  -0.33659218917543027
+                ],
+                "target_mouth_xy": [
+                  0.28040422827299294,
+                  -0.33927631571160777
+                ],
+                "gripper_position": [
+                  0.28049446649062215,
+                  -0.33659255244445346,
+                  1.0024670877704074
+                ],
+                "rod_tip_xy_dist": 0.002685968909088231,
+                "target_xy_drift": 6.73753743239007e-08,
+                "depth": 0.018668661481409665,
+                "bottom_clearance": 0.08077194173418734,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  9.027227018465478e-05,
+                  0.002683764655420473
+                ],
+                "rod_tip_xy": [
+                  0.28049446649062204,
+                  -0.33659255244445346
+                ],
+                "target_mouth_xy": [
+                  0.2804041942204374,
+                  -0.33927631709987394
+                ],
+                "gripper_position": [
+                  0.28050609554825556,
+                  -0.33666796437855606,
+                  1.00195435154572
+                ],
+                "rod_tip_xy_dist": 0.0026852824448181352,
+                "target_xy_drift": 3.8163758057229343e-08,
+                "depth": 0.018792781532711356,
+                "bottom_clearance": 0.08064779094943386,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00010186793078376111,
+                  0.002608318661971032
+                ],
+                "rod_tip_xy": [
+                  0.2805060955482554,
+                  -0.336667964378556
+                ],
+                "target_mouth_xy": [
+                  0.28040422761747164,
+                  -0.33927628304052704
+                ],
+                "gripper_position": [
+                  0.2804938570122128,
+                  -0.33667493188493797,
+                  1.0018129960823703
+                ],
+                "rod_tip_xy_dist": 0.00261030713091554,
+                "target_xy_drift": 8.586261680087431e-08,
+                "depth": 0.0193055903299022,
+                "bottom_clearance": 0.08013509460074686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  8.968909085671495e-05,
+                  0.0026014640836536373
+                ],
+                "rod_tip_xy": [
+                  0.2804938570122127,
+                  -0.33667493188493797
+                ],
+                "target_mouth_xy": [
+                  0.280404167921356,
+                  -0.3392763959685916
+                ],
+                "gripper_position": [
+                  0.2804846235016492,
+                  -0.33667461290987205,
+                  1.0016892440958505
+                ],
+                "rod_tip_xy_dist": 0.002603009702547911,
+                "target_xy_drift": 5.202261287888262e-08,
+                "depth": 0.01944694655256951,
+                "bottom_clearance": 0.07999374656986458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  8.045868139061607e-05,
+                  0.002601698428548904
+                ],
+                "rod_tip_xy": [
+                  0.2804846235016491,
+                  -0.33667461290987216
+                ],
+                "target_mouth_xy": [
+                  0.2804041648202585,
+                  -0.33927631133842107
+                ],
+                "gripper_position": [
+                  0.28047531733157205,
+                  -0.3366747348067371,
+                  1.0015647148895943
+                ],
+                "rod_tip_xy_dist": 0.0026029422414884573,
+                "target_xy_drift": 3.269372777953228e-08,
+                "depth": 0.019570662696359986,
+                "bottom_clearance": 0.07987000146670498,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006069764658384283,
+              "rod_tip_xy_max_step": 3.290200356985474e-05,
+              "rod_tip_xy_range": 0.00060696959358169,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28006649399195443,
+            -0.3380429756686875,
+            1.043489672889521
+          ],
+          "object_origin_world": [
+            0.28006649399195443,
+            -0.3380429756686875,
+            1.043489672889521
+          ],
+          "frame_world": [
+            0.28006498159359905,
+            -0.33804739383345384,
+            1.0433775774664154
+          ],
+          "center_minus_frame": [
+            1.5123983553855247e-06,
+            4.418164766317734e-06,
+            0.00011209542310575138
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2621085868466528,
+              0.15488013979237863,
+              0.8313413666545112
+            ],
+            "target_position": [
+              0.27597279924053364,
+              0.20131506312534525,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048460483801145926,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16703121162708642,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313413666545112,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676604034265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13602627018054378,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45d612564c2e1ec86eff2e52f47666502903b2a417ff0350f604be7e302e163c",
+    "visual_seed": 2469249081141305897,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e7daa006a67fa75207818238becd5701e6aa9e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_58_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3000446316972248,
+              0.0731094835493823,
+              1.161838286994985
+            ],
+            "current_z": 1.161838286994985,
+            "required_z": 0.8611065676194105,
+            "initial_z": 0.7611065676194105,
+            "lift_margin": 0.3007317193755745,
+            "gripper_z": 1.1540921775770023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29486319381444565,
+              0.0681130379532786,
+              1.1540921775770023
+            ],
+            "object_minus_gripper": [
+              0.0051814378827791385,
+              0.00499644559610371,
+              0.007746109417982705
+            ],
+            "object_to_gripper_xy": 0.007198039116865295,
+            "object_to_gripper_z": 0.007746109417982705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3000446316972248,
+              0.04908954596867382,
+              1.161838286994985
+            ],
+            "finger_b": [
+              0.28865591895238485,
+              0.0731094835493823,
+              1.161838286994985
+            ],
+            "finger_midpoint": [
+              0.29435027532480484,
+              0.06109951475902806,
+              1.161838286994985
+            ],
+            "object_minus_finger_midpoint": [
+              0.00569435637241994,
+              0.012009968790354243,
+              0.0
+            ],
+            "finger_gap": 0.026583080697421272,
+            "fingertip_max_gap": 0.09114310082034419,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013291540348710624,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161838286994985,
+            "object_top_z": 1.2116771833491982,
+            "finger_top_clearance": 0.049838896354213125,
+            "fingertip_min_top_clearance": 0.014951668906263937,
+            "object_projection_between_fingers": 0.8164566480866131,
+            "object_to_finger_line_xy": 0.010290612001272329,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048071550410172095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.952602619740994,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2742245104220429,
+              -0.33961025148113066,
+              0.8515395857552568
+            ],
+            "target_position": [
+              0.26548346677380413,
+              -0.34054685097878823,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008791078584532578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539322511888412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395857552568,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586186671628659,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674341083248811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524710583065131,
+            "release_required_pad_clearance": 0.05337170541624406,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7592002433210803,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073021650314331055,
+            "max_z_decrease": 0.0073021650314331055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350858651942754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073021650314331055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021128511306829863,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073021650314331055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073021839190691275,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12118339538574216,
+              -0.39680829644203186,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12118339538574216,
+              -0.39680829644203186,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12115830844833805,
+              -0.3972270160519491,
+              0.8078136794839015
+            ],
+            "closest_button": [
+              0.12117273360490796,
+              -0.3968054056167602,
+              0.7727303504943848
+            ],
+            "closest_ee_minus_button": [
+              -1.4425156569908282e-05,
+              -0.0004216104351889016,
+              0.035083328989516716
+            ],
+            "button_min_z_position": [
+              0.121166817843914,
+              -0.3968072831630706,
+              0.7695066928863525
+            ],
+            "min_active_finger_to_button": 0.14618758008803134,
+            "closest_active_finger": [
+              -0.020145736634731293,
+              -0.38242217898368835,
+              0.8107478022575378
+            ],
+            "closest_active_finger_button": [
+              0.1211840137839317,
+              -0.3968073427677154,
+              0.7762546539306641
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141329750418663,
+              0.014385163784027044,
+              0.03449314832687378
+            ],
+            "min_contact_pad_to_button": 0.021128511306829863,
+            "closest_contact_pad": [
+              0.121166817843914,
+              -0.39817305494745203,
+              0.79059101543833
+            ],
+            "closest_contact_pad_button": [
+              0.121166817843914,
+              -0.3968072831630706,
+              0.7695066928863525
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013657717843814088,
+              0.021084322551977452
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2726733784583901,
+              0.19681846860018296,
+              1.1034516606586977
+            ],
+            "current_z": 1.1034516606586977,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19354253092433515,
+            "gripper_z": 1.1034516142890611,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27267331710641274,
+              0.1968184865353432,
+              1.1034516142890611
+            ],
+            "object_minus_gripper": [
+              6.135197738732501e-08,
+              -1.7935160245841075e-08,
+              4.636963657489446e-08
+            ],
+            "object_to_gripper_xy": 6.391975518084246e-08,
+            "object_to_gripper_z": 4.636963657489446e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2726733784583901,
+              0.19681846860018296,
+              1.1034516606586977
+            ],
+            "finger_b": [
+              0.2726733784583901,
+              0.19681846860018296,
+              1.1034516606586977
+            ],
+            "finger_midpoint": [
+              0.2726733784583901,
+              0.19681846860018296,
+              1.1034516606586977
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1034516606586977,
+            "object_top_z": 1.2284601672789774,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2726733784583901,
+            0.19681846860018296,
+            1.1034516606586977
+          ],
+          "object_origin_world": [
+            0.2726733784583901,
+            0.19681846860018296,
+            1.1034516606586977
+          ],
+          "frame_world": [
+            0.27267331710641274,
+            0.1968184865353432,
+            1.1034516142890611
+          ],
+          "center_minus_frame": [
+            6.135197738732501e-08,
+            -1.7935160245841075e-08,
+            4.636963657489446e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432754439633642,
+            "required_z": 0.91126004072615,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005367785637575477,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.282840581692519e-08,
+            "max_target_xy_drift": 2.8950517886942154e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7592002472777348,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7592002472829151,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2741458108554703,
+              -0.33907546480573425,
+              0.9233853128202095
+            ],
+            "target_mouth_xy": [
+              0.2742244767856928,
+              -0.339610340354267
+            ],
+            "rod_tip_z": 0.9233853128202095,
+            "rod_tip_depth": -0.022125493055850654,
+            "rod_tip_bottom_clearance": 0.12156599430470305,
+            "rod_tip_xy_dist": 0.0005406294303827674,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044374209212675986,
+            "min_rod_tip_bottom_clearance": 0.05506633268362959,
+            "min_rod_tip_xy_dist": 0.0005406294303827674,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2742245417343508,
+              -0.33961027403093214
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.494865800732441e-08,
+              -6.63233348796588e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0004440286871933985,
+                0.002198082269333157
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0003450612423689381,
+                0.0018188804703513917
+              ],
+              "first_target_mouth_xy": [
+                0.27422453641346256,
+                -0.3396102826410353
+              ],
+              "last_target_mouth_xy": [
+                0.2742245100446539,
+                -0.33961027908932695
+              ],
+              "first_rod_tip_xy": [
+                0.27466856510065596,
+                -0.33741220037170216
+              ],
+              "last_rod_tip_xy": [
+                0.27456957128702286,
+                -0.33779139861897556
+              ],
+              "min_rod_tip_xy_dist": 0.0018513220752777986,
+              "max_rod_tip_xy_dist": 0.0022424823606457854,
+              "first_target_xy_drift": 1.0121547728958686e-08,
+              "last_target_xy_drift": 3.209087480256576e-08,
+              "max_depth": 0.019842263377328417,
+              "min_bottom_clearance": 0.07959842829305452
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0004440286871933985,
+                  0.002198082269333157
+                ],
+                "rod_tip_xy": [
+                  0.27466856510065596,
+                  -0.33741220037170216
+                ],
+                "target_mouth_xy": [
+                  0.27422453641346256,
+                  -0.3396102826410353
+                ],
+                "gripper_position": [
+                  0.27465690803502596,
+                  -0.3374192226179645,
+                  1.005656804705125
+                ],
+                "rod_tip_xy_dist": 0.0022424823606457854,
+                "target_xy_drift": 1.0121547728958686e-08,
+                "depth": 0.015463619501374315,
+                "bottom_clearance": 0.08397691360512483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004323688793468339,
+                  0.0021910897853579248
+                ],
+                "rod_tip_xy": [
+                  0.27465690803502596,
+                  -0.33741922261796453
+                ],
+                "target_mouth_xy": [
+                  0.2742245391556791,
+                  -0.33961031240332246
+                ],
+                "gripper_position": [
+                  0.2746628189372275,
+                  -0.33748371271951083,
+                  1.0051405662543011
+                ],
+                "rod_tip_xy_dist": 0.002233342180528428,
+                "target_xy_drift": 3.845893766716597e-08,
+                "depth": 0.01560311227215927,
+                "bottom_clearance": 0.08383752519196286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004382838479387585,
+                  0.00212656868396921
+                ],
+                "rod_tip_xy": [
+                  0.27466281893722744,
+                  -0.33748371271951094
+                ],
+                "target_mouth_xy": [
+                  0.2742245350892887,
+                  -0.33961028140348015
+                ],
+                "gripper_position": [
+                  0.2746512584186692,
+                  -0.33748987762163424,
+                  1.0050018069858824
+                ],
+                "rod_tip_xy_dist": 0.002171263940427912,
+                "target_xy_drift": 9.925286631832234e-09,
+                "depth": 0.01611928622988168,
+                "bottom_clearance": 0.08332125070523622,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00042671723941162254,
+                  0.002120402717938785
+                ],
+                "rod_tip_xy": [
+                  0.2746512584186692,
+                  -0.3374898776216343
+                ],
+                "target_mouth_xy": [
+                  0.2742245411792576,
+                  -0.3396102803395731
+                ],
+                "gripper_position": [
+                  0.27464249131067864,
+                  -0.337490239814474,
+                  1.0048796469507122
+                ],
+                "rod_tip_xy_dist": 0.002162913611000972,
+                "target_xy_drift": 6.3330150008513105e-09,
+                "depth": 0.016258115368452786,
+                "bottom_clearance": 0.08318257998847056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0004180171910823094,
+                  0.002120041275911033
+                ],
+                "rod_tip_xy": [
+                  0.27464249131067864,
+                  -0.3374902398144741
+                ],
+                "target_mouth_xy": [
+                  0.27422447411959633,
+                  -0.33961028109038516
+                ],
+                "gripper_position": [
+                  0.27464936274244983,
+                  -0.33755543234265,
+                  1.004363785178783
+                ],
+                "rod_tip_xy_dist": 0.002160859408570309,
+                "target_xy_drift": 6.798228370637597e-08,
+                "depth": 0.01638024981048225,
+                "bottom_clearance": 0.08306034515303196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0004248242645398248,
+                  0.0020548486577978142
+                ],
+                "rod_tip_xy": [
+                  0.27464936274244983,
+                  -0.33755543234265006
+                ],
+                "target_mouth_xy": [
+                  0.27422453847791,
+                  -0.3396102810004479
+                ],
+                "gripper_position": [
+                  0.2746377931946341,
+                  -0.33756178577546864,
+                  1.00422507487901
+                ],
+                "rod_tip_xy_dist": 0.00209830375832368,
+                "target_xy_drift": 7.69275998975352e-09,
+                "depth": 0.016896105140511097,
+                "bottom_clearance": 0.08254446485037426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00041331633619479113,
+                  0.0020484958895353733
+                ],
+                "rod_tip_xy": [
+                  0.2746377931946341,
+                  -0.3375617857754687
+                ],
+                "target_mouth_xy": [
+                  0.2742244768584393,
+                  -0.33961028166500407
+                ],
+                "gripper_position": [
+                  0.2746289928878868,
+                  -0.33756209788272945,
+                  1.0041032088818485
+                ],
+                "rod_tip_xy_dist": 0.002089776495993963,
+                "target_xy_drift": 6.532352519663966e-08,
+                "depth": 0.01703474309651598,
+                "bottom_clearance": 0.08240575557982999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00040451613239644857,
+                  0.0020482145436725996
+                ],
+                "rod_tip_xy": [
+                  0.2746289928878867,
+                  -0.3375620978827295
+                ],
+                "target_mouth_xy": [
+                  0.2742244767554903,
+                  -0.3396103124264021
+                ],
+                "gripper_position": [
+                  0.2746201088386908,
+                  -0.3375622939716108,
+                  1.0039810350340828
+                ],
+                "rod_tip_xy_dist": 0.0020877777942781496,
+                "target_xy_drift": 7.547492582298403e-08,
+                "depth": 0.01715662848330779,
+                "bottom_clearance": 0.08228390599035729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.000395631053233092,
+                  0.0020479883175542057
+                ],
+                "rod_tip_xy": [
+                  0.27462010883869076,
+                  -0.33756229397161086
+                ],
+                "target_mouth_xy": [
+                  0.27422447778545767,
+                  -0.33961028228916507
+                ],
+                "gripper_position": [
+                  0.2746285651124951,
+                  -0.337629742473935,
+                  1.003464716579241
+                ],
+                "rod_tip_xy_dist": 0.002085852362733478,
+                "target_xy_drift": 6.447991426091434e-08,
+                "depth": 0.017278801822859013,
+                "bottom_clearance": 0.08216175506222057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00040405722463221494,
+                  0.001980538860984704
+                ],
+                "rod_tip_xy": [
+                  0.27462856511249506,
+                  -0.33762974247393507
+                ],
+                "target_mouth_xy": [
+                  0.27422450788786285,
+                  -0.3396102813349198
+                ],
+                "gripper_position": [
+                  0.27461671314250424,
+                  -0.33763641056052446,
+                  1.0033259836046011
+                ],
+                "rod_tip_xy_dist": 0.0020213353063378865,
+                "target_xy_drift": 3.4625611643089185e-08,
+                "depth": 0.017795165637922605,
+                "bottom_clearance": 0.08164537017665119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00039220462022127034,
+                  0.0019739002507573322
+                ],
+                "rod_tip_xy": [
+                  0.2746167131425042,
+                  -0.3376364105605245
+                ],
+                "target_mouth_xy": [
+                  0.2742245085222829,
+                  -0.33961031081128185
+                ],
+                "gripper_position": [
+                  0.2746078501926126,
+                  -0.3376365375636479,
+                  1.0032042568612634
+                ],
+                "rod_tip_xy_dist": 0.0020124876804747823,
+                "target_xy_drift": 4.9556387855235315e-08,
+                "depth": 0.01793396502675637,
+                "bottom_clearance": 0.08150659892042966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00038334175440746243,
+                  0.0019737428233662646
+                ],
+                "rod_tip_xy": [
+                  0.2746078501926126,
+                  -0.337636537563648
+                ],
+                "target_mouth_xy": [
+                  0.2742245084382051,
+                  -0.33961028038701424
+                ],
+                "gripper_position": [
+                  0.2745988668172135,
+                  -0.33763644571803475,
+                  1.003082405606384
+                ],
+                "rod_tip_xy_dist": 0.0020106246873700783,
+                "target_xy_drift": 3.389739070291961e-08,
+                "depth": 0.018055583192172153,
+                "bottom_clearance": 0.081385000554408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003743570175638311,
+                  0.0019738657069636734
+                ],
+                "rod_tip_xy": [
+                  0.2745988668172135,
+                  -0.33763644571803475
+                ],
+                "target_mouth_xy": [
+                  0.2742245097996497,
+                  -0.3396103114249984
+                ],
+                "gripper_position": [
+                  0.2746087636805128,
+                  -0.33770606629092265,
+                  1.0025686709756743
+                ],
+                "rod_tip_xy_dist": 0.0020090517678065163,
+                "target_xy_drift": 4.917460043819298e-08,
+                "depth": 0.01817749794554968,
+                "bottom_clearance": 0.0812631233958262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00038428740522333804,
+                  0.0019042455135960257
+                ],
+                "rod_tip_xy": [
+                  0.27460876368051274,
+                  -0.3377060662909228
+                ],
+                "target_mouth_xy": [
+                  0.2742244762752894,
+                  -0.33961031180451884
+                ],
+                "gripper_position": [
+                  0.27459674849671856,
+                  -0.3377127389698364,
+                  1.0024302281371555
+                ],
+                "rod_tip_xy_dist": 0.0019426342388272368,
+                "target_xy_drift": 7.557600525915541e-08,
+                "depth": 0.018691169085404358,
+                "bottom_clearance": 0.08074936039557801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00037223908383310356,
+                  0.0018975410633933487
+                ],
+                "rod_tip_xy": [
+                  0.27459674849671856,
+                  -0.33771273896983645
+                ],
+                "target_mouth_xy": [
+                  0.27422450941288545,
+                  -0.3396102800332298
+                ],
+                "gripper_position": [
+                  0.2745877842121104,
+                  -0.3377125293203774,
+                  1.002308317584854
+                ],
+                "rod_tip_xy_dist": 0.0019337073260441635,
+                "target_xy_drift": 3.287407335194105e-08,
+                "depth": 0.018829685163891274,
+                "bottom_clearance": 0.08061094806462166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00036330958222735577,
+                  0.001897784089420429
+                ],
+                "rod_tip_xy": [
+                  0.27458778421211033,
+                  -0.33771252932037743
+                ],
+                "target_mouth_xy": [
+                  0.274224474629883,
+                  -0.33961031340979786
+                ],
+                "gripper_position": [
+                  0.27457880843802474,
+                  -0.3377125492138938,
+                  1.0021866385007205
+                ],
+                "rod_tip_xy_dist": 0.0019322469569378398,
+                "target_xy_drift": 7.780555678440482e-08,
+                "depth": 0.018951601885473734,
+                "bottom_clearance": 0.0804890482473527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003543319034533532,
+                  0.0018977289821591192
+                ],
+                "rod_tip_xy": [
+                  0.27457880843802474,
+                  -0.3377125492138938
+                ],
+                "target_mouth_xy": [
+                  0.2742244765345714,
+                  -0.33961027819605294
+                ],
+                "gripper_position": [
+                  0.2745695999079172,
+                  -0.3377125712931615,
+                  1.0020647402980145
+                ],
+                "rod_tip_xy_dist": 0.0019305248994849983,
+                "target_xy_drift": 6.533268298687368e-08,
+                "depth": 0.019073232265178874,
+                "bottom_clearance": 0.08036736709753634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00034509053271930545,
+                  0.0018977724928438966
+                ],
+                "rod_tip_xy": [
+                  0.2745695999079172,
+                  -0.3377125712931617
+                ],
+                "target_mouth_xy": [
+                  0.2742245093751979,
+                  -0.3396103437860056
+                ],
+                "gripper_position": [
+                  0.27458166262950134,
+                  -0.33778498942530916,
+                  1.0015563058083727
+                ],
+                "rod_tip_xy_dist": 0.0019288929235101236,
+                "target_xy_drift": 7.689528625216929e-08,
+                "depth": 0.019195204678746802,
+                "bottom_clearance": 0.08024548818305821,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00035721473478717014,
+                  0.0018253217289105894
+                ],
+                "rod_tip_xy": [
+                  0.27458166262950134,
+                  -0.3377849894253092
+                ],
+                "target_mouth_xy": [
+                  0.2742244478947142,
+                  -0.3396103111542198
+                ],
+                "gripper_position": [
+                  0.27456957128702286,
+                  -0.33779139861897556,
+                  1.0014176717039676
+                ],
+                "rod_tip_xy_dist": 0.0018599467145007707,
+                "target_xy_drift": 1.0091588520899962e-07,
+                "depth": 0.019703513795608862,
+                "bottom_clearance": 0.07973700724051136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0003450612423689381,
+                  0.0018188804703513917
+                ],
+                "rod_tip_xy": [
+                  0.27456957128702286,
+                  -0.33779139861897556
+                ],
+                "target_mouth_xy": [
+                  0.2742245100446539,
+                  -0.33961027908932695
+                ],
+                "gripper_position": [
+                  0.2745815009882174,
+                  -0.33785815563902,
+                  1.0008244269976179
+                ],
+                "rod_tip_xy_dist": 0.0018513220752777986,
+                "target_xy_drift": 3.209087480256576e-08,
+                "depth": 0.019842263377328417,
+                "bottom_clearance": 0.07959842829305452,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005969966671741734,
+              "rod_tip_xy_max_step": 3.2258839080109886e-05,
+              "rod_tip_xy_range": 0.000596990361310747,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2741458108554703,
+            -0.33907546480573425,
+            1.0433853128202095
+          ],
+          "object_origin_world": [
+            0.2741458108554703,
+            -0.33907546480573425,
+            1.0433853128202095
+          ],
+          "frame_world": [
+            0.2741441536358439,
+            -0.33907960556352124,
+            1.0432754439633642
+          ],
+          "center_minus_frame": [
+            1.6572196264164063e-06,
+            4.140757786985638e-06,
+            0.00010986885684527437
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25938390014945417,
+              0.15079163635728154,
+              0.8327415383088296
+            ],
+            "target_position": [
+              0.27282698114818993,
+              0.19650110419809352,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04764527129767229,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16739475864574352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327415383088296,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673824257466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13693783261800363,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0943f8e1f2e39787a75093738e5206c930ebd589753f2681279d165f75c5b8b",
+    "visual_seed": 1261930191815889179,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb0a33ab2140103dbd8daffca70995ba2304bf0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_59_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30446923116182606,
+              0.07893604211729971,
+              1.1636039610225155
+            ],
+            "current_z": 1.1636039610225155,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30249733379846,
+            "gripper_z": 1.1556662190525753,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2991145754341537,
+              0.07388918052062661,
+              1.1556662190525753
+            ],
+            "object_minus_gripper": [
+              0.005354655727672353,
+              0.0050468615966730995,
+              0.007937741969940237
+            ],
+            "object_to_gripper_xy": 0.007358202901379391,
+            "object_to_gripper_z": 0.007937741969940237,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30446923116182606,
+              0.05454210341257615,
+              1.1636039610225155
+            ],
+            "finger_b": [
+              0.2933223978983518,
+              0.07893604211729971,
+              1.1636039610225155
+            ],
+            "finger_midpoint": [
+              0.29889581453008895,
+              0.06673907276493793,
+              1.1636039610225155
+            ],
+            "object_minus_finger_midpoint": [
+              0.005573416631737105,
+              0.01219696935236178,
+              0.0
+            ],
+            "finger_gap": 0.026820069674285088,
+            "fingertip_max_gap": 0.09134445883183392,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013410034837142532,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636039610225155,
+            "object_top_z": 1.213499667004342,
+            "finger_top_clearance": 0.04989570598182658,
+            "fingertip_min_top_clearance": 0.014968711794547972,
+            "object_projection_between_fingers": 0.8272638616668658,
+            "object_to_finger_line_xy": 0.010138495935440276,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048172229415916965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0829644053944136,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27532545273789083,
+              -0.34255027504414737,
+              0.8515396054050677
+            ],
+            "target_position": [
+              0.2673449072667876,
+              -0.3432868652180273,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008014466364057097,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865690365143292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396054050677,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579480279098279,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726799148815305,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538070416315526,
+            "release_required_pad_clearance": 0.053633995744076526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2780150836160766,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007433176040649414,
+            "max_z_decrease": 0.007433176040649414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511792468395448,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007433176040649414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021195187410629167,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007433176040649414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074331982060159745,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12304483354091642,
+              -0.3995483219623565,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12304483354091642,
+              -0.3995483219623565,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12207046247125927,
+              -0.40086991567966634,
+              0.8078332559386507
+            ],
+            "closest_button": [
+              0.12303337454795836,
+              -0.3995468318462371,
+              0.7727534770965576
+            ],
+            "closest_ee_minus_button": [
+              -0.0009629120766990878,
+              -0.0013230838334292172,
+              0.03507977884209312
+            ],
+            "button_min_z_position": [
+              0.12302686274051665,
+              -0.39954575896263117,
+              0.7693756818771362
+            ],
+            "min_active_finger_to_button": 0.14698446135036522,
+            "closest_active_finger": [
+              -0.01901821792125702,
+              -0.3841251730918884,
+              0.8111391067504883
+            ],
+            "closest_active_finger_button": [
+              0.12304864078760146,
+              -0.3995486497879028,
+              0.7767362594604492
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420668587088585,
+              0.015423476696014349,
+              0.03440284729003906
+            ],
+            "min_contact_pad_to_button": 0.021195187410629167,
+            "closest_contact_pad": [
+              0.12302686274051665,
+              -0.4020402544031066,
+              0.7904235668509083
+            ],
+            "closest_contact_pad_button": [
+              0.12302686274051665,
+              -0.39954575896263117,
+              0.7693756818771362
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024944954404754194,
+              0.02104788497377208
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27068270356582735,
+              0.19914740124160732,
+              1.1009553984980518
+            ],
+            "current_z": 1.1009553984980518,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19104626876368924,
+            "gripper_z": 1.100955398498052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27068270356582724,
+              0.1991474012416073,
+              1.100955398498052
+            ],
+            "object_minus_gripper": [
+              1.1102230246251565e-16,
+              2.7755575615628914e-17,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 1.1443916996305594e-16,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27068270356582735,
+              0.19914740124160732,
+              1.1009553984980518
+            ],
+            "finger_b": [
+              0.27068270356582735,
+              0.19914740124160732,
+              1.1009553984980518
+            ],
+            "finger_midpoint": [
+              0.27068270356582735,
+              0.19914740124160732,
+              1.1009553984980518
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1009553984980518,
+            "object_top_z": 1.2259639051183315,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27068270356582735,
+            0.19914740124160732,
+            1.100955398498052
+          ],
+          "object_origin_world": [
+            0.27068270356582735,
+            0.19914740124160732,
+            1.100955398498052
+          ],
+          "frame_world": [
+            0.27068270356582724,
+            0.1991474012416073,
+            1.100955398498052
+          ],
+          "center_minus_frame": [
+            1.1102230246251565e-16,
+            2.7755575615628914e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043742024763529,
+            "required_z": 0.9112598264908727,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001453435898925337,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.7921214483878195e-09,
+            "max_target_xy_drift": 1.7921214483878195e-09,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.278015084493225,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.278015084493225,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.274382044466269,
+              -0.343679296297957,
+              0.9234304399986614
+            ],
+            "target_mouth_xy": [
+              0.2753254499783225,
+              -0.34255027255079235
+            ],
+            "rod_tip_z": 0.9234304399986614,
+            "rod_tip_depth": -0.022170543087231764,
+            "rod_tip_bottom_clearance": 0.12161106620376805,
+            "rod_tip_xy_dist": 0.0014712948656998063,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044902802200598835,
+            "min_rod_tip_bottom_clearance": 0.05453772091593745,
+            "min_rod_tip_xy_dist": 0.0004886183733535519,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27532545151096405,
+              -0.3425502734796137
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.5326415692129558e-09,
+              9.288213531633005e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0004040130076538029,
+                0.00060514038419196
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0005059808716426639,
+                0.00020791504606426647
+              ],
+              "first_target_mouth_xy": [
+                0.2753254499783225,
+                -0.34255027255079235
+              ],
+              "last_target_mouth_xy": [
+                0.27532545151096405,
+                -0.3425502734796137
+              ],
+              "first_rod_tip_xy": [
+                0.2749214369706687,
+                -0.3419451321666004
+              ],
+              "last_rod_tip_xy": [
+                0.2748194706393214,
+                -0.34234235843354943
+              ],
+              "min_rod_tip_xy_dist": 0.0005384756870863377,
+              "max_rod_tip_xy_dist": 0.0007324059016729393,
+              "first_target_xy_drift": 1.7921214483878195e-09,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.019657210966789296,
+              "min_bottom_clearance": 0.07978332419203371
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0004040130076538029,
+                  0.00060514038419196
+                ],
+                "rod_tip_xy": [
+                  0.2749214369706687,
+                  -0.3419451321666004
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.27490995778074556,
+                  -0.341952410797238,
+                  1.0058697776786643
+                ],
+                "rod_tip_xy_dist": 0.0007276134928198244,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.015249459058453652,
+                "bottom_clearance": 0.08419106405808263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00041549373021837477,
+                  0.0005978626823756605
+                ],
+                "rod_tip_xy": [
+                  0.2749099577807457,
+                  -0.34195241079723804
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.27490147610617305,
+                  -0.3419530585518439,
+                  1.0057466463423685
+                ],
+                "rod_tip_xy_dist": 0.00072806237839089,
+                "target_xy_drift": 0.0,
+                "depth": 0.015390048812208401,
+                "bottom_clearance": 0.0840504863466146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00042397387214937465,
+                  0.0005972139989484648
+                ],
+                "rod_tip_xy": [
+                  0.2749014761061731,
+                  -0.3419530585518439
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.2749072589194142,
+                  -0.3420202859533427,
+                  1.0052259687524363
+                ],
+                "rod_tip_xy_dist": 0.0007324059016729393,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.015513250569061277,
+                "bottom_clearance": 0.08392727254747501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00041819259154979305,
+                  0.0005299875262709253
+                ],
+                "rod_tip_xy": [
+                  0.27490725891941425,
+                  -0.3420202859533428
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.27489566500350204,
+                  -0.34202713793845546,
+                  1.0050855180520475
+                ],
+                "rod_tip_xy_dist": 0.000675108748002799,
+                "target_xy_drift": 0.0,
+                "depth": 0.016033857738436352,
+                "bottom_clearance": 0.08340667742038665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0004297849748203797,
+                  0.0005231346123368286
+                ],
+                "rod_tip_xy": [
+                  0.2748956650035021,
+                  -0.3420271379384555
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.2748868432261496,
+                  -0.3420279620668086,
+                  1.0049625122480703
+                ],
+                "rod_tip_xy_dist": 0.0006770413186845824,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.016174378859382332,
+                "bottom_clearance": 0.08326614425715395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00043860828481434577,
+                  0.0005223114128050654
+                ],
+                "rod_tip_xy": [
+                  0.2748868432261497,
+                  -0.34202796206680863
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.2748933741294827,
+                  -0.34209679087559935,
+                  1.0044430723627062
+                ],
+                "rod_tip_xy_dist": 0.0006820457751897638,
+                "target_xy_drift": 0.0,
+                "depth": 0.016297314242802563,
+                "bottom_clearance": 0.08314322091602044,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00043207584883969696,
+                  0.0004534816751929349
+                ],
+                "rod_tip_xy": [
+                  0.2748933741294828,
+                  -0.3420967908755994
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.27488164489767075,
+                  -0.34210381281029484,
+                  1.004302548851071
+                ],
+                "rod_tip_xy_dist": 0.0006263666409430943,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.016816824548723353,
+                "bottom_clearance": 0.08262369856781293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00044380661329318505,
+                  0.0004464606693189155
+                ],
+                "rod_tip_xy": [
+                  0.27488164489767086,
+                  -0.3421038128102948
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.27487304161634285,
+                  -0.3421039840457585,
+                  1.0041798777055837
+                ],
+                "rod_tip_xy_dist": 0.0006295168299985797,
+                "target_xy_drift": 0.0,
+                "depth": 0.016957277639801815,
+                "bottom_clearance": 0.08248325751902119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0004524083619795727,
+                  0.00044628850503386497
+                ],
+                "rod_tip_xy": [
+                  0.2748730416163429,
+                  -0.3421039840457585
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.2748802754035159,
+                  -0.3421739371514231,
+                  1.0036625592754813
+                ],
+                "rod_tip_xy_dist": 0.0006354893828494716,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.01708001920584612,
+                "bottom_clearance": 0.08236050391069016,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00044517610744809755,
+                  0.00037633632819061846
+                ],
+                "rod_tip_xy": [
+                  0.27488027540351595,
+                  -0.3421739371514231
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.27486857463759895,
+                  -0.3421806061116646,
+                  1.0035224009100654
+                ],
+                "rod_tip_xy_dist": 0.0005829329280102788,
+                "target_xy_drift": 0.0,
+                "depth": 0.017597267215391343,
+                "bottom_clearance": 0.08184326794343166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0004568753407234727,
+                  0.0003696664391276694
+                ],
+                "rod_tip_xy": [
+                  0.274868574637599,
+                  -0.3421806061116647
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.2748596642718383,
+                  -0.34218090355757724,
+                  1.0033995961209219
+                ],
+                "rod_tip_xy_dist": 0.0005876975014227304,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.017737496001364206,
+                "bottom_clearance": 0.08170302711517208,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000465787239125659,
+                  0.00036936992203645547
+                ],
+                "rod_tip_xy": [
+                  0.2748596642718384,
+                  -0.34218090355757724
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.2748507159003273,
+                  -0.3421814990197816,
+                  1.0032766967974365
+                ],
+                "rod_tip_xy_dist": 0.0005944677379282421,
+                "target_xy_drift": 0.0,
+                "depth": 0.01786023036995077,
+                "bottom_clearance": 0.08158030478887224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00047473407799508704,
+                  0.0003687735310107798
+                ],
+                "rod_tip_xy": [
+                  0.2748507159003274,
+                  -0.34218149901978157
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.2748594545701095,
+                  -0.3422532478829079,
+                  1.0027614699450569
+                ],
+                "rod_tip_xy_dist": 0.0006011375566241091,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.017983200113993347,
+                "bottom_clearance": 0.08145732300254294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00046599694085441845,
+                  0.0002970255967058022
+                ],
+                "rod_tip_xy": [
+                  0.27485945457010963,
+                  -0.3422532478829079
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.27484767813550254,
+                  -0.34225998513803907,
+                  1.0026217378726368
+                ],
+                "rod_tip_xy_dist": 0.0005526095854978578,
+                "target_xy_drift": 0.0,
+                "depth": 0.018498356545815997,
+                "bottom_clearance": 0.08094217861300701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00047777184281988516,
+                  0.0002902874127532207
+                ],
+                "rod_tip_xy": [
+                  0.2748476781355026,
+                  -0.3422599851380391
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.27483863407901254,
+                  -0.3422602898429982,
+                  1.0024992005357036
+                ],
+                "rod_tip_xy_dist": 0.0005590462555052736,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.018638159038792845,
+                "bottom_clearance": 0.08080236407774344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00048681743195144733,
+                  0.0002899836366154207
+                ],
+                "rod_tip_xy": [
+                  0.2748386340790126,
+                  -0.3422602898429983
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.27482957931808955,
+                  -0.3422606084326576,
+                  1.0023763229835514
+                ],
+                "rod_tip_xy_dist": 0.0005666407341133414,
+                "target_xy_drift": 0.0,
+                "depth": 0.018760625955169252,
+                "bottom_clearance": 0.08067990920365375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0004958706602328777,
+                  0.000289664118134747
+                ],
+                "rod_tip_xy": [
+                  0.2748295793180896,
+                  -0.3422606084326576
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.27482070712162865,
+                  -0.3422608866382551,
+                  1.002253361466162
+                ],
+                "rod_tip_xy_dist": 0.0005742760773483175,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.018883573927878206,
+                "bottom_clearance": 0.08055694918865808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005047443893352876,
+                  0.000289386841358541
+                ],
+                "rod_tip_xy": [
+                  0.27482070712162876,
+                  -0.34226088663825516
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.2748315647098905,
+                  -0.3423357185780744,
+                  1.0017422732422132
+                ],
+                "rod_tip_xy_dist": 0.000581817533696713,
+                "target_xy_drift": 0.0,
+                "depth": 0.019006465024710706,
+                "bottom_clearance": 0.0804340701341123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000493885268431915,
+                  0.00021455397271791243
+                ],
+                "rod_tip_xy": [
+                  0.27483156470989056,
+                  -0.34233571857807443
+                ],
+                "target_mouth_xy": [
+                  0.2753254499783225,
+                  -0.34255027255079235
+                ],
+                "gripper_position": [
+                  0.2748194706393213,
+                  -0.3423423584335495,
+                  1.0016026155240836
+                ],
+                "rod_tip_xy_dist": 0.0005384756870863377,
+                "target_xy_drift": 1.7921214483878195e-09,
+                "depth": 0.01951762366921661,
+                "bottom_clearance": 0.07992289944731967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0005059808716426639,
+                  0.00020791504606426647
+                ],
+                "rod_tip_xy": [
+                  0.2748194706393214,
+                  -0.34234235843354943
+                ],
+                "target_mouth_xy": [
+                  0.27532545151096405,
+                  -0.3425502734796137
+                ],
+                "gripper_position": [
+                  0.27481035144670135,
+                  -0.3423425096649993,
+                  1.0014800935750356
+                ],
+                "rod_tip_xy_dist": 0.0005470331880683072,
+                "target_xy_drift": 0.0,
+                "depth": 0.019657210966789296,
+                "bottom_clearance": 0.07978332419203371,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006036584273897826,
+              "rod_tip_xy_max_step": 3.253024066498786e-05,
+              "rod_tip_xy_range": 0.0006036484516247549,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.274382044466269,
+            -0.343679296297957,
+            1.0434304399986616
+          ],
+          "object_origin_world": [
+            0.274382044466269,
+            -0.343679296297957,
+            1.0434304399986616
+          ],
+          "frame_world": [
+            0.27440742483221214,
+            -0.3436770847549302,
+            1.043742024763529
+          ],
+          "center_minus_frame": [
+            -2.5380365943128425e-05,
+            -2.2115430268199177e-06,
+            -0.0003115847648673675
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25539658978251295,
+              0.1554344896480428,
+              0.8325132107951323
+            ],
+            "target_position": [
+              0.2708425191270556,
+              0.20047057585063843,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04761119399641463,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1648716146541398,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325132107951323,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671257866202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1353036944613628,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1edc63e0bb92f079245d61e62524a01f4b91594d8867d49184a02bdd0a57723",
+    "visual_seed": 5685268397134633991,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba0897060086cd8322206ba1d40b5ded9244ca6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_5_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3055412881839755,
+              0.0772373014183228,
+              1.1652771341661254
+            ],
+            "current_z": 1.1652771341661254,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30417044733742526,
+            "gripper_z": 1.1573120838445785,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3002169129747574,
+              0.07227700223169795,
+              1.1573120838445785
+            ],
+            "object_minus_gripper": [
+              0.005324375209218135,
+              0.004960299186624856,
+              0.00796505032154693
+            ],
+            "object_to_gripper_xy": 0.007276918261830888,
+            "object_to_gripper_z": 0.00796505032154693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3055412881839755,
+              0.052832425568329754,
+              1.1652771341661254
+            ],
+            "finger_b": [
+              0.29457094450243776,
+              0.0772373014183228,
+              1.1652771341661254
+            ],
+            "finger_midpoint": [
+              0.3000561163432066,
+              0.06503486349332628,
+              1.1652771341661254
+            ],
+            "object_minus_finger_midpoint": [
+              0.00548517184076891,
+              0.01220243792499652,
+              0.0
+            ],
+            "finger_gap": 0.026757174846097437,
+            "fingertip_max_gap": 0.09164268480605306,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013378587423048727,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652771341661254,
+            "object_top_z": 1.2152342243624423,
+            "finger_top_clearance": 0.04995709019631689,
+            "fingertip_min_top_clearance": 0.014987127058895065,
+            "object_projection_between_fingers": 0.8319030034575207,
+            "object_to_finger_line_xy": 0.010005909709063815,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832134240302653,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1870089154155297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2805155612851297,
+              -0.34055876431026555,
+              0.8515396021468347
+            ],
+            "target_position": [
+              0.2721891592428068,
+              -0.3414267152648897,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008371517773380912,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18400844828646715,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396021468347,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542854301847954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08715810007521406,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15224072140411668,
+            "release_required_pad_clearance": 0.05357905003760703,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1688843665457003,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007455170154571533,
+            "max_z_decrease": 0.007455170154571533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035114297986343274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007455170154571533,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108276423015563,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007455170154571533,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007455191421565496,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12788908183574677,
+              -0.3976881802082062,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12788908183574677,
+              -0.3976881802082062,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1269915833241304,
+              -0.3974864756622343,
+              0.8080189167672546
+            ],
+            "closest_button": [
+              0.1278795748949051,
+              -0.3976895809173584,
+              0.7729164361953735
+            ],
+            "closest_ee_minus_button": [
+              -0.0008879915707746822,
+              0.00020310525512412525,
+              0.035102480571881034
+            ],
+            "button_min_z_position": [
+              0.1278713345527649,
+              -0.3976867198944092,
+              0.7693536877632141
+            ],
+            "min_active_finger_to_button": 0.14686822584435458,
+            "closest_active_finger": [
+              -0.0010989010334014893,
+              -0.4589923322200775,
+              0.8109428286552429
+            ],
+            "closest_active_finger_button": [
+              0.12789106369018555,
+              -0.3976885676383972,
+              0.7766833305358887
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12898996472358704,
+              -0.0613037645816803,
+              0.03425949811935425
+            ],
+            "min_contact_pad_to_button": 0.02108276423015563,
+            "closest_contact_pad": [
+              0.1278713345527649,
+              -0.3987413938898671,
+              0.790410055216971
+            ],
+            "closest_contact_pad_button": [
+              0.1278713345527649,
+              -0.3976867198944092,
+              0.7693536877632141
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010546739954579443,
+              0.02105636745375694
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27290206948101753,
+              0.19348687669301354,
+              1.1027075216398008
+            ],
+            "current_z": 1.1027075216398008,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19279839190543824,
+            "gripper_z": 1.1027077468177147,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27290210088285327,
+              0.19348688877248033,
+              1.1027077468177147
+            ],
+            "object_minus_gripper": [
+              -3.140183574279476e-08,
+              -1.2079466787939808e-08,
+              -2.2517791387066666e-07
+            ],
+            "object_to_gripper_xy": 3.364504132704258e-08,
+            "object_to_gripper_z": -2.2517791387066666e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27290206948101753,
+              0.19348687669301354,
+              1.1027075216398008
+            ],
+            "finger_b": [
+              0.27290206948101753,
+              0.19348687669301354,
+              1.1027075216398008
+            ],
+            "finger_midpoint": [
+              0.27290206948101753,
+              0.19348687669301354,
+              1.1027075216398008
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027075216398008,
+            "object_top_z": 1.2277160282600805,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2729020694810176,
+            0.19348687669301354,
+            1.102707521639801
+          ],
+          "object_origin_world": [
+            0.2729020694810176,
+            0.19348687669301354,
+            1.102707521639801
+          ],
+          "frame_world": [
+            0.27290210088285327,
+            0.19348688877248033,
+            1.1027077468177147
+          ],
+          "center_minus_frame": [
+            -3.140183568728361e-08,
+            -1.2079466787939808e-08,
+            -2.2517791364862205e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433908089349162,
+            "required_z": 0.9112598972336334,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0030260593915387747,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.050243134649329e-08,
+            "max_target_xy_drift": 1.3767137933953635e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1688843677799308,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1688843678096816,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2780200715410751,
+              -0.34226319429253627,
+              0.9235022594487196
+            ],
+            "target_mouth_xy": [
+              0.280515558566213,
+              -0.3405587320046981
+            ],
+            "rod_tip_z": 0.9235022594487196,
+            "rod_tip_depth": -0.02224247858959505,
+            "rod_tip_bottom_clearance": 0.12168301534868464,
+            "rod_tip_xy_dist": 0.0030220269991007944,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044956075867882195,
+            "min_rod_tip_bottom_clearance": 0.05448455500147542,
+            "min_rod_tip_xy_dist": 0.001020396129105605,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28051556104802944,
+              -0.34055876240599586
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.4818164190421044e-09,
+              3.040129775699896e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0019081149602095948,
+                4.67412193663197e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.002022104586824669,
+                -0.0003421470597210208
+              ],
+              "first_target_mouth_xy": [
+                0.28051555919158583,
+                -0.3405587326574959
+              ],
+              "last_target_mouth_xy": [
+                0.28051556025835583,
+                -0.3405587634184485
+              ],
+              "first_rod_tip_xy": [
+                0.27860744423137623,
+                -0.3405119914381296
+              ],
+              "last_rod_tip_xy": [
+                0.27849345567153116,
+                -0.3409009104781695
+              ],
+              "min_rod_tip_xy_dist": 0.0019086873612416241,
+              "max_rod_tip_xy_dist": 0.002050846549728454,
+              "first_target_xy_drift": 2.9806368977589974e-08,
+              "last_target_xy_drift": 1.2839956045767952e-09,
+              "max_depth": 0.019552236485954055,
+              "min_bottom_clearance": 0.0798883147194448
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0019081149602095948,
+                  4.67412193663197e-05
+                ],
+                "rod_tip_xy": [
+                  0.27860744423137623,
+                  -0.3405119914381296
+                ],
+                "target_mouth_xy": [
+                  0.28051555919158583,
+                  -0.3405587326574959
+                ],
+                "gripper_position": [
+                  0.2785989216511785,
+                  -0.3405127556955547,
+                  1.0059989111845555
+                ],
+                "rod_tip_xy_dist": 0.0019086873612416241,
+                "target_xy_drift": 2.9806368977589974e-08,
+                "depth": 0.015136275391724685,
+                "bottom_clearance": 0.08430424018642924,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0019166092363920306,
+                  4.5975995552671733e-05
+                ],
+                "rod_tip_xy": [
+                  0.2785989216511785,
+                  -0.3405127556955547
+                ],
+                "target_mouth_xy": [
+                  0.28051553088757053,
+                  -0.3405587316911074
+                ],
+                "gripper_position": [
+                  0.2786020797969353,
+                  -0.3405800965362833,
+                  1.0054771773428481
+                ],
+                "rod_tip_xy_dist": 0.0019171605976522422,
+                "target_xy_drift": 4.304715617814188e-08,
+                "depth": 0.015261000000079128,
+                "bottom_clearance": 0.08417960707521266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019134783807156497,
+                  -2.1331804857138703e-05
+                ],
+                "rod_tip_xy": [
+                  0.2786020797969353,
+                  -0.3405800965362833
+                ],
+                "target_mouth_xy": [
+                  0.28051555817765095,
+                  -0.34055876473142616
+                ],
+                "gripper_position": [
+                  0.27859040757286757,
+                  -0.34058748714842363,
+                  1.0053355857431139
+                ],
+                "rod_tip_xy_dist": 0.0019135972824407565,
+                "target_xy_drift": 3.694143841943869e-09,
+                "depth": 0.015782686294190218,
+                "bottom_clearance": 0.083657885569001,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001925154069557622,
+                  -2.875706714811077e-05
+                ],
+                "rod_tip_xy": [
+                  0.2785904075728675,
+                  -0.3405874871484236
+                ],
+                "target_mouth_xy": [
+                  0.28051556164242514,
+                  -0.34055873008127546
+                ],
+                "gripper_position": [
+                  0.2785818384926717,
+                  -0.3405880096469863,
+                  1.0052109945770158
+                ],
+                "rod_tip_xy_dist": 0.0019253688375075655,
+                "target_xy_drift": 3.2330184892914285e-08,
+                "depth": 0.015924361617266958,
+                "bottom_clearance": 0.08351634062950086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001933687590265576,
+                  -2.924393558967342e-05
+                ],
+                "rod_tip_xy": [
+                  0.27858183849267165,
+                  -0.3405880096469863
+                ],
+                "target_mouth_xy": [
+                  0.2805155260829372,
+                  -0.34055876571139665
+                ],
+                "gripper_position": [
+                  0.27858579953308427,
+                  -0.34065676010325935,
+                  1.0046901638497518
+                ],
+                "rod_tip_xy_dist": 0.001933908711525925,
+                "target_xy_drift": 3.5120981587147434e-08,
+                "depth": 0.016048955990340397,
+                "bottom_clearance": 0.08339173728361027,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0019297609266856752,
+                  -9.799637170571085e-05
+                ],
+                "rod_tip_xy": [
+                  0.27858579953308427,
+                  -0.3406567601032594
+                ],
+                "target_mouth_xy": [
+                  0.28051556045976994,
+                  -0.3405587637315537
+                ],
+                "gripper_position": [
+                  0.27857409544683065,
+                  -0.34066394062913075,
+                  1.004548297166073
+                ],
+                "rod_tip_xy_dist": 0.0019322475315109707,
+                "target_xy_drift": 1.4502250847853017e-09,
+                "depth": 0.016569732311762397,
+                "bottom_clearance": 0.08287083762732972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019414337643057222,
+                  -0.00010517751014754717
+                ],
+                "rod_tip_xy": [
+                  0.2785740954468306,
+                  -0.34066394062913075
+                ],
+                "target_mouth_xy": [
+                  0.2805155292111363,
+                  -0.3405587631189832
+                ],
+                "gripper_position": [
+                  0.2785652137149438,
+                  -0.34066456501622483,
+                  1.0044238543623276
+                ],
+                "rod_tip_xy_dist": 0.001944280681853092,
+                "target_xy_drift": 3.184487579800503e-08,
+                "depth": 0.016711516147637773,
+                "bottom_clearance": 0.0827289752626329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00195031431324999,
+                  -0.00010583295445698582
+                ],
+                "rod_tip_xy": [
+                  0.2785652137149438,
+                  -0.3406645650162248
+                ],
+                "target_mouth_xy": [
+                  0.2805155280281938,
+                  -0.3405587320617678
+                ],
+                "gripper_position": [
+                  0.27857019750787676,
+                  -0.3407340826654736,
+                  1.0039048738440026
+                ],
+                "rod_tip_xy_dist": 0.0019531836920056635,
+                "target_xy_drift": 4.484508583305133e-08,
+                "depth": 0.016836008072748654,
+                "bottom_clearance": 0.08260455601561978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019453633725941,
+                  -0.00017531988384023034
+                ],
+                "rod_tip_xy": [
+                  0.27857019750787676,
+                  -0.34073408266547367
+                ],
+                "target_mouth_xy": [
+                  0.28051556088047086,
+                  -0.34055876278163344
+                ],
+                "gripper_position": [
+                  0.2785583741007288,
+                  -0.34074110776937855,
+                  1.0037633539201958
+                ],
+                "rod_tip_xy_dist": 0.001953247478713448,
+                "target_xy_drift": 4.1131431540411696e-10,
+                "depth": 0.017355015349533542,
+                "bottom_clearance": 0.08208555093610259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001957156021365869,
+                  -0.00018234497879898726
+                ],
+                "rod_tip_xy": [
+                  0.27855837410072876,
+                  -0.3407411077693785
+                ],
+                "target_mouth_xy": [
+                  0.2805155301220946,
+                  -0.3405587627905795
+                ],
+                "gripper_position": [
+                  0.278549416919908,
+                  -0.34074148998792997,
+                  1.0036387804213103
+                ],
+                "rod_tip_xy_dist": 0.00196563205693789,
+                "target_xy_drift": 3.0928325991514426e-08,
+                "depth": 0.017496408927564655,
+                "bottom_clearance": 0.08194412155106501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019661139536303884,
+                  -0.000182727526931159
+                ],
+                "rod_tip_xy": [
+                  0.2785494169199079,
+                  -0.34074148998792997
+                ],
+                "target_mouth_xy": [
+                  0.2805155308735383,
+                  -0.3405587624609988
+                ],
+                "gripper_position": [
+                  0.27855507024701587,
+                  -0.3408117548602369,
+                  1.0031236731477808
+                ],
+                "rod_tip_xy_dist": 0.0019745869005335,
+                "target_xy_drift": 3.0174541258415366e-08,
+                "depth": 0.017621113098719388,
+                "bottom_clearance": 0.08181945750633135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001960429995856716,
+                  -0.00025299206666240526
+                ],
+                "rod_tip_xy": [
+                  0.2785550702470158,
+                  -0.34081175486023685
+                ],
+                "target_mouth_xy": [
+                  0.28051550024287253,
+                  -0.34055876279357444
+                ],
+                "gripper_position": [
+                  0.2785431418232728,
+                  -0.34081868745005645,
+                  1.0029821820833087
+                ],
+                "rod_tip_xy_dist": 0.001976686812433593,
+                "target_xy_drift": 6.080639213067553e-08,
+                "depth": 0.018136089084771934,
+                "bottom_clearance": 0.08130443842942858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019723896826727705,
+                  -0.0002599253110637245
+                ],
+                "rod_tip_xy": [
+                  0.2785431418232728,
+                  -0.3408186874500564
+                ],
+                "target_mouth_xy": [
+                  0.28051553150594555,
+                  -0.34055876213899267
+                ],
+                "gripper_position": [
+                  0.2785340603796623,
+                  -0.34081912150522103,
+                  1.0028577524761029
+                ],
+                "rod_tip_xy_dist": 0.0019894426927271783,
+                "target_xy_drift": 2.9543290461415357e-08,
+                "depth": 0.018277721895371024,
+                "bottom_clearance": 0.08116288414082884,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001981469949465464,
+                  -0.0002603583985227309
+                ],
+                "rod_tip_xy": [
+                  0.2785340603796622,
+                  -0.340819121505221
+                ],
+                "target_mouth_xy": [
+                  0.2805155303291277,
+                  -0.34055876310669825
+                ],
+                "gripper_position": [
+                  0.2785251615405083,
+                  -0.3408193701155121,
+                  1.0027337663236542
+                ],
+                "rod_tip_xy_dist": 0.001998501852967865,
+                "target_xy_drift": 3.072689227543116e-08,
+                "depth": 0.018402010677566083,
+                "bottom_clearance": 0.08103852480483986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001990370061566049,
+                  -0.00026063683361321477
+                ],
+                "rod_tip_xy": [
+                  0.27852516154050827,
+                  -0.3408193701155121
+                ],
+                "target_mouth_xy": [
+                  0.2805155316020743,
+                  -0.3405587332818989
+                ],
+                "gripper_position": [
+                  0.27851607089086616,
+                  -0.3408196200575513,
+                  1.0026097694331837
+                ],
+                "rod_tip_xy_dist": 0.002007362583345211,
+                "target_xy_drift": 4.141590632859068e-08,
+                "depth": 0.018526126640089235,
+                "bottom_clearance": 0.08091445872463854,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019994282195350266,
+                  -0.00026085598569941526
+                ],
+                "rod_tip_xy": [
+                  0.27851607089086616,
+                  -0.3408196200575513
+                ],
+                "target_mouth_xy": [
+                  0.2805154991104012,
+                  -0.34055876407185187
+                ],
+                "gripper_position": [
+                  0.2785236981236419,
+                  -0.3408937364009995,
+                  1.0020970288982414
+                ],
+                "rod_tip_xy_dist": 0.002016372745885101,
+                "target_xy_drift": 6.196002638223104e-08,
+                "depth": 0.018650065656696357,
+                "bottom_clearance": 0.08079046177440508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019918321136839223,
+                  -0.00033497362224199634
+                ],
+                "rod_tip_xy": [
+                  0.2785236981236419,
+                  -0.3408937364009995
+                ],
+                "target_mouth_xy": [
+                  0.28051553023732584,
+                  -0.3405587627787575
+                ],
+                "gripper_position": [
+                  0.27851180348915827,
+                  -0.3409002490648087,
+                  1.0019553196113349
+                ],
+                "rod_tip_xy_dist": 0.0020198025885468326,
+                "target_xy_drift": 3.081295843555547e-08,
+                "depth": 0.0191627946091687,
+                "bottom_clearance": 0.0802777405840801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0020037275772300522,
+                  -0.000341484712898632
+                ],
+                "rod_tip_xy": [
+                  0.27851180348915827,
+                  -0.34090024906480876
+                ],
+                "target_mouth_xy": [
+                  0.2805155310663883,
+                  -0.3405587643519101
+                ],
+                "gripper_position": [
+                  0.27850257548162133,
+                  -0.34090062979772523,
+                  1.0018316836700896
+                ],
+                "rod_tip_xy_dist": 0.0020326180194260987,
+                "target_xy_drift": 3.00447231010976e-08,
+                "depth": 0.019304590964893564,
+                "bottom_clearance": 0.08013601648230473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0020129544397405885,
+                  -0.0003418673156364016
+                ],
+                "rod_tip_xy": [
+                  0.2785025754816213,
+                  -0.3409006297977252
+                ],
+                "target_mouth_xy": [
+                  0.28051552992136186,
+                  -0.3405587624820888
+                ],
+                "gripper_position": [
+                  0.27849345567153116,
+                  -0.34090091047816945,
+                  1.0017076524427242
+                ],
+                "rod_tip_xy_dist": 0.0020417783518226914,
+                "target_xy_drift": 3.1126760585793224e-08,
+                "depth": 0.019428083312528988,
+                "bottom_clearance": 0.08001245117921518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.002022104586824669,
+                  -0.0003421470597210208
+                ],
+                "rod_tip_xy": [
+                  0.27849345567153116,
+                  -0.3409009104781695
+                ],
+                "target_mouth_xy": [
+                  0.28051556025835583,
+                  -0.3405587634184485
+                ],
+                "gripper_position": [
+                  0.27848422783256466,
+                  -0.34090119687592196,
+                  1.0015836984865365
+                ],
+                "rod_tip_xy_dist": 0.002050846549728454,
+                "target_xy_drift": 1.2839956045767952e-09,
+                "depth": 0.019552236485954055,
+                "bottom_clearance": 0.0798883147194448,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000605558450713728,
+              "rod_tip_xy_max_step": 3.281034021446222e-05,
+              "rod_tip_xy_range": 0.0006055474199505308,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27802007154107516,
+            -0.34226319429253627,
+            1.0435022594487195
+          ],
+          "object_origin_world": [
+            0.27802007154107516,
+            -0.34226319429253627,
+            1.0435022594487195
+          ],
+          "frame_world": [
+            0.2780185303383361,
+            -0.34226808435875095,
+            1.0433908089349162
+          ],
+          "center_minus_frame": [
+            1.5412027390415695e-06,
+            4.890066214680022e-06,
+            0.00011145051380334614
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25837153868723556,
+              0.14982682283096288,
+              0.8316143742177705
+            ],
+            "target_position": [
+              0.2730494624909582,
+              0.19539324818696102,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04787212724447951,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16584104213617834,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316143742177705,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677123032338,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1364189481648331,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59af6f74110bc9f8d3e0d56629363d42a4e174cbe73227d9297a549bb8a1a699",
+    "visual_seed": 4423527091167363821,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d0ecef5d2f8fb68f2a286a4e539968a41d845a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_61_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3020575656541171,
+              0.08153500789539485,
+              1.1653304925417403
+            ],
+            "current_z": 1.1653304925417403,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3042240441316192,
+            "gripper_z": 1.1574664124964043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2965838754276392,
+              0.07635758392050804,
+              1.1574664124964043
+            ],
+            "object_minus_gripper": [
+              0.005473690226477923,
+              0.005177423974886811,
+              0.007864080045336008
+            ],
+            "object_to_gripper_xy": 0.007534388078083891,
+            "object_to_gripper_z": 0.007864080045336008,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3020575656541171,
+              0.057123652186677275,
+              1.1653304925417403
+            ],
+            "finger_b": [
+              0.29063029845881627,
+              0.08153500789539485,
+              1.1653304925417403
+            ],
+            "finger_midpoint": [
+              0.2963439320564667,
+              0.06932933004103606,
+              1.1653304925417403
+            ],
+            "object_minus_finger_midpoint": [
+              0.005713633597650425,
+              0.01220567785435879,
+              0.0
+            ],
+            "finger_gap": 0.02695360315598523,
+            "fingertip_max_gap": 0.09090486146669793,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013476801577992619,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653304925417403,
+            "object_top_z": 1.2152170197273966,
+            "finger_top_clearance": 0.04988652718565634,
+            "fingertip_min_top_clearance": 0.014965958155696934,
+            "object_projection_between_fingers": 0.8202573646893634,
+            "object_to_finger_line_xy": 0.010349454307414359,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795243073334897,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6755403816323095,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2790580261129247,
+              -0.33520959170575904,
+              0.8515396085360831
+            ],
+            "target_position": [
+              0.2703905413275094,
+              -0.3362757694426319,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008732813262174387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18475106922688703,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396085360831,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586727386742538,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08676712070770408,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519169472806791,
+            "release_required_pad_clearance": 0.05338356035385204,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7826253404002312,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007266581058502197,
+            "max_z_decrease": 0.007266581058502197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510262038852164,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007266581058502197,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021133099720045144,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007266581058502197,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007266599561220293,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12609046697616577,
+              -0.3925372362136841,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12609046697616577,
+              -0.3925372362136841,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12513849841215408,
+              -0.393599452553826,
+              0.8078642227145711
+            ],
+            "closest_button": [
+              0.126079261302948,
+              -0.3925345838069916,
+              0.7727903723716736
+            ],
+            "closest_ee_minus_button": [
+              -0.0009407628907939225,
+              -0.0010648687468344242,
+              0.03507385034289756
+            ],
+            "button_min_z_position": [
+              0.1260741800069809,
+              -0.39253532886505127,
+              0.7695422768592834
+            ],
+            "min_active_finger_to_button": 0.14702093091534824,
+            "closest_active_finger": [
+              -0.01623934507369995,
+              -0.3795164227485657,
+              0.8107081651687622
+            ],
+            "closest_active_finger_button": [
+              0.1260909140110016,
+              -0.392537236213684,
+              0.7762449979782104
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14233025908470154,
+              0.013020813465118353,
+              0.03446316719055176
+            ],
+            "min_contact_pad_to_button": 0.021133099720045144,
+            "closest_contact_pad": [
+              0.1260741800069809,
+              -0.39452454878801696,
+              0.7905815474710572
+            ],
+            "closest_contact_pad_button": [
+              0.1260741800069809,
+              -0.39253532886505127,
+              0.7695422768592834
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019892199229656904,
+              0.021039270611773797
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26705923993215935,
+              0.19922669008106644,
+              1.1012357290084167
+            ],
+            "current_z": 1.1012357290084167,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19132659927405415,
+            "gripper_z": 1.1012358983710233,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2670591915676984,
+              0.19922667023078774,
+              1.1012358983710233
+            ],
+            "object_minus_gripper": [
+              4.836446093614555e-08,
+              1.985027869855216e-08,
+              -1.6936260660571634e-07
+            ],
+            "object_to_gripper_xy": 5.2279581540541643e-08,
+            "object_to_gripper_z": -1.6936260660571634e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26705923993215935,
+              0.19922669008106644,
+              1.1012357290084167
+            ],
+            "finger_b": [
+              0.26705923993215935,
+              0.19922669008106644,
+              1.1012357290084167
+            ],
+            "finger_midpoint": [
+              0.26705923993215935,
+              0.19922669008106644,
+              1.1012357290084167
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012357290084167,
+            "object_top_z": 1.2262442356286964,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2670592399321594,
+            0.19922669008106644,
+            1.1012357290084167
+          ],
+          "object_origin_world": [
+            0.2670592399321594,
+            0.19922669008106644,
+            1.1012357290084167
+          ],
+          "frame_world": [
+            0.2670591915676984,
+            0.19922667023078774,
+            1.1012358983710233
+          ],
+          "center_minus_frame": [
+            4.83644609916567e-08,
+            1.985027869855216e-08,
+            -1.6936260660571634e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434240153676189,
+            "required_z": 0.9112598213155048,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015843428361481853,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.574856398843396e-08,
+            "max_target_xy_drift": 2.732754755241864e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7826253402597487,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7830643663571948,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28019381712282887,
+              -0.3363115089124173,
+              0.9235359174568593
+            ],
+            "target_mouth_xy": [
+              0.2790580560615489,
+              -0.3352095932929122
+            ],
+            "rod_tip_z": 0.9235359174568593,
+            "rod_tip_depth": -0.022275990556510417,
+            "rod_tip_bottom_clearance": 0.12171662946745232,
+            "rod_tip_xy_dist": 0.001582457336179745,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044762899131726486,
+            "min_rod_tip_bottom_clearance": 0.05467767139378188,
+            "min_rod_tip_xy_dist": 8.55109539456644e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2790579658230233,
+              -0.3352095612804771
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.023852559630896e-08,
+              -3.201243514716623e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0015685295287087841,
+                0.0006091700266965261
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014864744834818255,
+                0.000225744005507178
+              ],
+              "first_target_mouth_xy": [
+                0.27905799404298126,
+                -0.3352095613163929
+              ],
+              "last_target_mouth_xy": [
+                0.27905799564625144,
+                -0.33520959012775386
+              ],
+              "first_rod_tip_xy": [
+                0.28062652357169005,
+                -0.3346003912896964
+              ],
+              "last_rod_tip_xy": [
+                0.28054447012973327,
+                -0.3349838461222467
+              ],
+              "min_rod_tip_xy_dist": 0.001503518122958611,
+              "max_rod_tip_xy_dist": 0.001682668417679742,
+              "first_target_xy_drift": 2.8219980836731552e-08,
+              "last_target_xy_drift": 4.149205124288272e-08,
+              "max_depth": 0.019453391033435685,
+              "min_bottom_clearance": 0.07998716746940959
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015685295287087841,
+                  0.0006091700266965261
+                ],
+                "rod_tip_xy": [
+                  0.28062652357169005,
+                  -0.3346003912896964
+                ],
+                "target_mouth_xy": [
+                  0.27905799404298126,
+                  -0.3352095613163929
+                ],
+                "gripper_position": [
+                  0.2806150833792449,
+                  -0.3346071493637315,
+                  1.0060920213664597
+                ],
+                "rod_tip_xy_dist": 0.001682668417679742,
+                "target_xy_drift": 2.8219980836731552e-08,
+                "depth": 0.015026081500180033,
+                "bottom_clearance": 0.08441442189247039,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001557089311983395,
+                  0.0006024113113393126
+                ],
+                "rod_tip_xy": [
+                  0.28061508337924473,
+                  -0.3346071493637314
+                ],
+                "target_mouth_xy": [
+                  0.27905799406726134,
+                  -0.33520956067507074
+                ],
+                "gripper_position": [
+                  0.2806063656204072,
+                  -0.33460746789491314,
+                  1.0059676636409083
+                ],
+                "rod_tip_xy_dist": 0.0016695587780975168,
+                "target_xy_drift": 2.8250725661334524e-08,
+                "depth": 0.015167811502652118,
+                "bottom_clearance": 0.08427270671135023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015483701609075307,
+                  0.0006021270136882806
+                ],
+                "rod_tip_xy": [
+                  0.28060636562040703,
+                  -0.3346074678949132
+                ],
+                "target_mouth_xy": [
+                  0.2790579954594995,
+                  -0.33520959490860147
+                ],
+                "gripper_position": [
+                  0.2806162254348027,
+                  -0.33467279957374324,
+                  1.0054474007332368
+                ],
+                "rod_tip_xy_dist": 0.001661326908167679,
+                "target_xy_drift": 4.4823782448630565e-08,
+                "depth": 0.015292223582260234,
+                "bottom_clearance": 0.08414843158848118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015582299507890252,
+                  0.0005367623566309709
+                ],
+                "rod_tip_xy": [
+                  0.2806162254348025,
+                  -0.33467279957374324
+                ],
+                "target_mouth_xy": [
+                  0.2790579954840135,
+                  -0.3352095619303742
+                ],
+                "gripper_position": [
+                  0.28060461845577944,
+                  -0.3346794694254053,
+                  1.0053055774434256
+                ],
+                "rod_tip_xy_dist": 0.0016480881065744032,
+                "target_xy_drift": 2.9668109260434113e-08,
+                "depth": 0.01581243081724104,
+                "bottom_clearance": 0.08362811578625984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015466508606815643,
+                  0.0005301229084013204
+                ],
+                "rod_tip_xy": [
+                  0.2806046184557793,
+                  -0.33467946942540533
+                ],
+                "target_mouth_xy": [
+                  0.2790579675950977,
+                  -0.33520959233380665
+                ],
+                "gripper_position": [
+                  0.28059564950623106,
+                  -0.334679786178274,
+                  1.0051814517471775
+                ],
+                "rod_tip_xy_dist": 0.0016349798723100228,
+                "target_xy_drift": 3.1103850653081735e-08,
+                "depth": 0.01595440019384453,
+                "bottom_clearance": 0.08348624283549433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015376534403872544,
+                  0.0005298042878235099
+                ],
+                "rod_tip_xy": [
+                  0.28059564950623084,
+                  -0.33467978617827404
+                ],
+                "target_mouth_xy": [
+                  0.2790579960658436,
+                  -0.33520959046609755
+                ],
+                "gripper_position": [
+                  0.2806064825376272,
+                  -0.33474634318289204,
+                  1.0046618503511175
+                ],
+                "rod_tip_xy_dist": 0.0016263673281675748,
+                "target_xy_drift": 4.20289022278977e-08,
+                "depth": 0.016078439956077273,
+                "bottom_clearance": 0.08336212173493063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015485171555739696,
+                  0.00046321748089411807
+                ],
+                "rod_tip_xy": [
+                  0.28060648253762704,
+                  -0.33474634318289204
+                ],
+                "target_mouth_xy": [
+                  0.2790579653820531,
+                  -0.33520956066378615
+                ],
+                "gripper_position": [
+                  0.2805947804734276,
+                  -0.3347528234325618,
+                  1.0045201430907653
+                ],
+                "rod_tip_xy_dist": 0.0016163155062402855,
+                "target_xy_drift": 7.581308679962479e-10,
+                "depth": 0.016597915605259472,
+                "bottom_clearance": 0.08284261315895003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001536783451644208,
+                  0.00045673814839097826
+                ],
+                "rod_tip_xy": [
+                  0.28059478047342745,
+                  -0.3347528234325618
+                ],
+                "target_mouth_xy": [
+                  0.27905799702178324,
+                  -0.3352095615809528
+                ],
+                "gripper_position": [
+                  0.28058571908203667,
+                  -0.33475299813582016,
+                  1.0043960645003231
+                ],
+                "rod_tip_xy_dist": 0.0016032196086135876,
+                "target_xy_drift": 3.1200206873691894e-08,
+                "depth": 0.016739814618217275,
+                "bottom_clearance": 0.08270078076098175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015277529393488143,
+                  0.0004565631482524868
+                ],
+                "rod_tip_xy": [
+                  0.28058571908203644,
+                  -0.3347529981358202
+                ],
+                "target_mouth_xy": [
+                  0.27905796614268763,
+                  -0.3352095612840727
+                ],
+                "gripper_position": [
+                  0.28059736989982687,
+                  -0.3348207391244165,
+                  1.0038779958179391
+                ],
+                "rod_tip_xy_dist": 0.0015945152718086974,
+                "target_xy_drift": 3.1968457191445614e-10,
+                "depth": 0.016863819206628272,
+                "bottom_clearance": 0.08257672333568078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015393733900824214,
+                  0.00038882247001043035
+                ],
+                "rod_tip_xy": [
+                  0.2805973698998267,
+                  -0.3348207391244165
+                ],
+                "target_mouth_xy": [
+                  0.2790579965097443,
+                  -0.33520956159442694
+                ],
+                "gripper_position": [
+                  0.2805853199931895,
+                  -0.334827502603059,
+                  1.0037367436654354
+                ],
+                "rod_tip_xy_dist": 0.0015877195430172354,
+                "target_xy_drift": 3.0688326935543167e-08,
+                "depth": 0.01738195776725726,
+                "bottom_clearance": 0.0820586178231838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015273535219714751,
+                  0.00038205899619930817
+                ],
+                "rod_tip_xy": [
+                  0.2805853199931893,
+                  -0.334827502603059
+                ],
+                "target_mouth_xy": [
+                  0.27905796647121783,
+                  -0.3352095615992583
+                ],
+                "gripper_position": [
+                  0.2805763833273194,
+                  -0.33482760820492846,
+                  1.0036129357436603
+                ],
+                "rod_tip_xy_dist": 0.0015744134964028645,
+                "target_xy_drift": 7.223417804932451e-10,
+                "depth": 0.01752308878352049,
+                "bottom_clearance": 0.08191747763003976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015184180341186737,
+                  0.0003819521377181334
+                ],
+                "rod_tip_xy": [
+                  0.2805763833273192,
+                  -0.33482760820492846
+                ],
+                "target_mouth_xy": [
+                  0.27905796529320054,
+                  -0.3352095603426466
+                ],
+                "gripper_position": [
+                  0.2805672617394267,
+                  -0.3348276704797953,
+                  1.0034888882635273
+                ],
+                "rod_tip_xy_dist": 0.001565720524820528,
+                "target_xy_drift": 1.0771435123682204e-09,
+                "depth": 0.017646894971482974,
+                "bottom_clearance": 0.08179364232501252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015092677583573022,
+                  0.0003819212876121636
+                ],
+                "rod_tip_xy": [
+                  0.28056726173942653,
+                  -0.3348276704797953
+                ],
+                "target_mouth_xy": [
+                  0.27905799398106923,
+                  -0.33520959176740744
+                ],
+                "gripper_position": [
+                  0.28058065591929304,
+                  -0.33489728433120414,
+                  1.0029723722058235
+                ],
+                "rod_tip_xy_dist": 0.0015568407228577395,
+                "target_xy_drift": 4.150094547211662e-08,
+                "depth": 0.01777095174053478,
+                "bottom_clearance": 0.08166957789805174,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001522662316149559,
+                  0.000312275382942484
+                ],
+                "rod_tip_xy": [
+                  0.2805806559192929,
+                  -0.3348972843312042
+                ],
+                "target_mouth_xy": [
+                  0.2790579936031433,
+                  -0.3352095597141467
+                ],
+                "gripper_position": [
+                  0.280568697354994,
+                  -0.3349040117318179,
+                  1.002831506238756
+                ],
+                "rod_tip_xy_dist": 0.001554354027824361,
+                "target_xy_drift": 2.7824242311800937e-08,
+                "depth": 0.018287491317126148,
+                "bottom_clearance": 0.08115307842574582,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015106708127332058,
+                  0.0003055495339686076
+                ],
+                "rod_tip_xy": [
+                  0.28056869735499385,
+                  -0.334904011731818
+                ],
+                "target_mouth_xy": [
+                  0.27905802654226064,
+                  -0.3352095612657866
+                ],
+                "gripper_position": [
+                  0.28055942928667443,
+                  -0.33490416919993504,
+                  1.0027076160635922
+                ],
+                "rod_tip_xy_dist": 0.0015412614386120344,
+                "target_xy_drift": 6.071923913739832e-08,
+                "depth": 0.01842838391763324,
+                "bottom_clearance": 0.08101218943908195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015014348959704882,
+                  0.0003053920992521775
+                ],
+                "rod_tip_xy": [
+                  0.28055942928667427,
+                  -0.334904169199935
+                ],
+                "target_mouth_xy": [
+                  0.2790579943907038,
+                  -0.33520956129918716
+                ],
+                "gripper_position": [
+                  0.28055029516757346,
+                  -0.334904016076856,
+                  1.0025837980970689
+                ],
+                "rod_tip_xy_dist": 0.001532178540876866,
+                "target_xy_drift": 2.8567686625953e-08,
+                "depth": 0.018552199161226413,
+                "bottom_clearance": 0.08088829061094993,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014922996316902304,
+                  0.0003055451926380903
+                ],
+                "rod_tip_xy": [
+                  0.2805502951675733,
+                  -0.334904016076856
+                ],
+                "target_mouth_xy": [
+                  0.27905799553588306,
+                  -0.3352095612694941
+                ],
+                "gripper_position": [
+                  0.2805410450404294,
+                  -0.33490414912838135,
+                  1.0024599833198686
+                ],
+                "rod_tip_xy_dist": 0.0015232583679359996,
+                "target_xy_drift": 2.9712861813567524e-08,
+                "depth": 0.018676022262836933,
+                "bottom_clearance": 0.08076450359090337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014831409311005794,
+                  0.0003054140989122156
+                ],
+                "rod_tip_xy": [
+                  0.28054104504042926,
+                  -0.33490414912838135
+                ],
+                "target_mouth_xy": [
+                  0.2790579041093287,
+                  -0.33520956322729356
+                ],
+                "gripper_position": [
+                  0.2805565806100696,
+                  -0.3349770242891558,
+                  1.0019469238888679
+                ],
+                "rod_tip_xy_dist": 0.0015142604773684923,
+                "target_xy_drift": 6.17443940410454e-08,
+                "depth": 0.018799953923575363,
+                "bottom_clearance": 0.08064063963269741,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014986147541493633,
+                  0.00023256808370702986
+                ],
+                "rod_tip_xy": [
+                  0.2805565806100694,
+                  -0.3349770242891558
+                ],
+                "target_mouth_xy": [
+                  0.27905796585592,
+                  -0.33520959237286285
+                ],
+                "gripper_position": [
+                  0.28054447012973344,
+                  -0.3349838461222467,
+                  1.0018064440773566
+                ],
+                "rod_tip_xy_dist": 0.001516553360391027,
+                "target_xy_drift": 3.1092403180041145e-08,
+                "depth": 0.019312920412767443,
+                "bottom_clearance": 0.0801276551681619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014864744834818255,
+                  0.000225744005507178
+                ],
+                "rod_tip_xy": [
+                  0.28054447012973327,
+                  -0.3349838461222467
+                ],
+                "target_mouth_xy": [
+                  0.27905799564625144,
+                  -0.33520959012775386
+                ],
+                "gripper_position": [
+                  0.28053507174478665,
+                  -0.3349837677031661,
+                  1.0016827656508152
+                ],
+                "rod_tip_xy_dist": 0.001503518122958611,
+                "target_xy_drift": 4.149205124288272e-08,
+                "depth": 0.019453391033435685,
+                "bottom_clearance": 0.07998716746940959,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006051637234555423,
+              "rod_tip_xy_max_step": 3.274483389891109e-05,
+              "rod_tip_xy_range": 0.000605154143108811,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2801938171228289,
+            -0.3363115089124173,
+            1.0435359174568595
+          ],
+          "object_origin_world": [
+            0.2801938171228289,
+            -0.3363115089124173,
+            1.0435359174568595
+          ],
+          "frame_world": [
+            0.28019221716336284,
+            -0.33631585764540045,
+            1.0434240153676189
+          ],
+          "center_minus_frame": [
+            1.5999594660809358e-06,
+            4.3487329831615185e-06,
+            0.00011190208924061196
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2555701142275422,
+              0.15447420619476468,
+              0.832994610639732
+            ],
+            "target_position": [
+              0.2672140303731551,
+              0.20058607549193924,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04755928167335767,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1681073058460842,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832994610639732,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676430989392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1366971412777546,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f9f852d9c1fe0212e906bba1118f11d84512fe9acc2053bfd66f94d5403cbf0",
+    "visual_seed": 1672943549837415105,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf827239ab76d2c13ba6fa5648f1ea204f52845
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.301328823449942,
+              0.07205165376868354,
+              1.1646539208189512
+            ],
+            "current_z": 1.1646539208189512,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3035473531995405,
+            "gripper_z": 1.1568972879255826,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2959596517239945,
+              0.06696956868409532,
+              1.1568972879255826
+            ],
+            "object_minus_gripper": [
+              0.005369171725947475,
+              0.005082085084588225,
+              0.007756632893368698
+            ],
+            "object_to_gripper_xy": 0.007392942163287083,
+            "object_to_gripper_z": 0.007756632893368698,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.301328823449942,
+              0.047596253299448624,
+              1.1646539208189512
+            ],
+            "finger_b": [
+              0.2901892626485374,
+              0.07205165376868354,
+              1.1646539208189512
+            ],
+            "finger_midpoint": [
+              0.2957590430492397,
+              0.05982395353406608,
+              1.1646539208189512
+            ],
+            "object_minus_finger_midpoint": [
+              0.005569780400702273,
+              0.012227700234617458,
+              0.0
+            ],
+            "finger_gap": 0.02687296833174269,
+            "fingertip_max_gap": 0.09125946408221411,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013436484165871333,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646539208189512,
+            "object_top_z": 1.2146701633334067,
+            "finger_top_clearance": 0.05001624251445547,
+            "fingertip_min_top_clearance": 0.015004872754336672,
+            "object_projection_between_fingers": 0.8281676791678519,
+            "object_to_finger_line_xy": 0.010137414560487995,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812973204110706,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8559753279202554,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2729959324460168,
+              -0.3407466573281267,
+              0.85153960840604
+            ],
+            "target_position": [
+              0.2651163043326175,
+              -0.3411485643532126,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00788987125764961,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832602863730945,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153960840604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528267625634381,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608914417653472,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15171556850490892,
+            "release_required_pad_clearance": 0.053044572088267364,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.119761840283485,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00733339786529541,
+            "max_z_decrease": 0.00733339786529541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513599459881069,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00733339786529541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02127280312642632,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00733339786529541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007333415238134074,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12081623077392574,
+              -0.3974100351333618,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12081623077392574,
+              -0.3974100351333618,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11982877613421289,
+              -0.39940553049288907,
+              0.8078884411714156
+            ],
+            "closest_button": [
+              0.1208053901791572,
+              -0.39740824699401855,
+              0.7728228569030762
+            ],
+            "closest_ee_minus_button": [
+              -0.0009766140449443128,
+              -0.001997283498870517,
+              0.03506558426833939
+            ],
+            "button_min_z_position": [
+              0.12080049514770504,
+              -0.3974073529243469,
+              0.7694754600524902
+            ],
+            "min_active_finger_to_button": 0.14696493645797956,
+            "closest_active_finger": [
+              -0.02140631526708603,
+              -0.38386771082878113,
+              0.8112764358520508
+            ],
+            "closest_active_finger_button": [
+              0.1208151057362556,
+              -0.3974105715751648,
+              0.7768039703369141
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14222142100334162,
+              0.013542860746383667,
+              0.03447246551513672
+            ],
+            "min_contact_pad_to_button": 0.02127280312642632,
+            "closest_contact_pad": [
+              0.12080049514770504,
+              -0.4004554622228869,
+              0.790528753917343
+            ],
+            "closest_contact_pad_button": [
+              0.12080049514770504,
+              -0.3974073529243469,
+              0.7694754600524902
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030481092985399916,
+              0.021053293864852773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2721240125818565,
+              0.2035343402821412,
+              1.1037896481247436
+            ],
+            "current_z": 1.1037896481247436,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.193880518390381,
+            "gripper_z": 1.1037896302351884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.272123967870985,
+              0.20353434029278406,
+              1.1037896302351884
+            ],
+            "object_minus_gripper": [
+              4.4710871505149186e-08,
+              -1.0642847714237291e-11,
+              1.7889555170569338e-08
+            ],
+            "object_to_gripper_xy": 4.471087277184565e-08,
+            "object_to_gripper_z": 1.7889555170569338e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2721240125818565,
+              0.2035343402821412,
+              1.1037896481247436
+            ],
+            "finger_b": [
+              0.2721240125818565,
+              0.2035343402821412,
+              1.1037896481247436
+            ],
+            "finger_midpoint": [
+              0.2721240125818565,
+              0.2035343402821412,
+              1.1037896481247436
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037896481247436,
+            "object_top_z": 1.2287981547450233,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2721240125818565,
+            0.2035343402821412,
+            1.1037896481247438
+          ],
+          "object_origin_world": [
+            0.2721240125818565,
+            0.2035343402821412,
+            1.1037896481247438
+          ],
+          "frame_world": [
+            0.272123967870985,
+            0.20353434029278406,
+            1.1037896302351884
+          ],
+          "center_minus_frame": [
+            4.4710871505149186e-08,
+            -1.0642847714237291e-11,
+            1.7889555392613943e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436487051958472,
+            "required_z": 0.9112598900176988,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002619213750553213,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.5332280227667272e-09,
+            "max_target_xy_drift": 1.754597685359411e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.119761838979838,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1197618416815283,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27064317378772595,
+              -0.3395480633014586,
+              0.9233364393851137
+            ],
+            "target_mouth_xy": [
+              0.2729959331578797,
+              -0.3407466281437282
+            ],
+            "rod_tip_z": 0.9233364393851137,
+            "rod_tip_depth": -0.022076591257803257,
+            "rod_tip_bottom_clearance": 0.12151720567425117,
+            "rod_tip_xy_dist": 0.0026404610080383493,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044410741376445184,
+            "min_rod_tip_bottom_clearance": 0.05502987644738355,
+            "min_rod_tip_xy_dist": 0.0001595646273986712,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.272995931653167,
+              -0.340746627849402
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.504712687783183e-09,
+              -2.943261745436132e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.0017410987573222014,
+                0.002807423414102339
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018544572259301395,
+                0.0024490311411893284
+              ],
+              "first_target_mouth_xy": [
+                0.2729959023697314,
+                -0.34074659643464944
+              ],
+              "last_target_mouth_xy": [
+                0.2729959305177415,
+                -0.34074665732574827
+              ],
+              "first_rod_tip_xy": [
+                0.2712548036124092,
+                -0.3379391730205471
+              ],
+              "last_rod_tip_xy": [
+                0.2711414732918114,
+                -0.33829762618455894
+              ],
+              "min_rod_tip_xy_dist": 0.0030719318243280745,
+              "max_rod_tip_xy_dist": 0.003304072768189173,
+              "first_target_xy_drift": 4.294655140968868e-08,
+              "last_target_xy_drift": 2.949820637634706e-08,
+              "max_depth": 0.019834639659367048,
+              "min_bottom_clearance": 0.07960585914543816
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017410987573222014,
+                  0.002807423414102339
+                ],
+                "rod_tip_xy": [
+                  0.2712548036124092,
+                  -0.3379391730205471
+                ],
+                "target_mouth_xy": [
+                  0.2729959023697314,
+                  -0.34074659643464944
+                ],
+                "gripper_position": [
+                  0.27124346971258495,
+                  -0.33794559519054435,
+                  1.0056202229360038
+                ],
+                "rod_tip_xy_dist": 0.0033034907459835493,
+                "target_xy_drift": 4.294655140968868e-08,
+                "depth": 0.015502282333958894,
+                "bottom_clearance": 0.08393829372155415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017524626921183728,
+                  0.0028010304122273455
+                ],
+                "rod_tip_xy": [
+                  0.2712434697125849,
+                  -0.33794559519054435
+                ],
+                "target_mouth_xy": [
+                  0.27299593240470327,
+                  -0.3407466256027717
+                ],
+                "gripper_position": [
+                  0.27124543997924,
+                  -0.3380074686722494,
+                  1.0051050603121203
+                ],
+                "rod_tip_xy_dist": 0.003304072768189173,
+                "target_xy_drift": 2.3689986490748477e-09,
+                "depth": 0.015639629898191232,
+                "bottom_clearance": 0.08380097808348663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017504925225432788,
+                  0.002739129025112863
+                ],
+                "rod_tip_xy": [
+                  0.27124543997924,
+                  -0.3380074686722494
+                ],
+                "target_mouth_xy": [
+                  0.2729959325017833,
+                  -0.34074659769736226
+                ],
+                "gripper_position": [
+                  0.27123402721471607,
+                  -0.3380136113090243,
+                  1.0049680433399104
+                ],
+                "rod_tip_xy_dist": 0.0032507002149837925,
+                "target_xy_drift": 3.016397936154902e-08,
+                "depth": 0.016154830570177525,
+                "bottom_clearance": 0.08328573565013331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017618751608975969,
+                  0.0027329857591800177
+                ],
+                "rod_tip_xy": [
+                  0.271234027214716,
+                  -0.3380136113090244
+                ],
+                "target_mouth_xy": [
+                  0.2729959023756136,
+                  -0.3407465970682044
+                ],
+                "gripper_position": [
+                  0.2712254577619675,
+                  -0.33801372560821463,
+                  1.00484737346395
+                ],
+                "rod_tip_xy_dist": 0.0032516788344590106,
+                "target_xy_drift": 4.248125771609231e-08,
+                "depth": 0.016291784922131458,
+                "bottom_clearance": 0.08314876824844586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001770475407384453,
+                  0.0027329006245150333
+                ],
+                "rod_tip_xy": [
+                  0.2712254577619675,
+                  -0.33801372560821463
+                ],
+                "target_mouth_xy": [
+                  0.27299593316935195,
+                  -0.34074662623272967
+                ],
+                "gripper_position": [
+                  0.2712284535836317,
+                  -0.3380767052017856,
+                  1.0043333030861896
+                ],
+                "rod_tip_xy_dist": 0.0032562753249115476,
+                "target_xy_drift": 2.2164039142543592e-09,
+                "depth": 0.01641247385522704,
+                "bottom_clearance": 0.08302814004488301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001767478817949586,
+                  0.0026698614205830085
+                ],
+                "rod_tip_xy": [
+                  0.2712284535836317,
+                  -0.33807670520178557
+                ],
+                "target_mouth_xy": [
+                  0.27299593240158126,
+                  -0.3407465666223686
+                ],
+                "gripper_position": [
+                  0.2712169785722772,
+                  -0.33808265330966203,
+                  1.004195773746613
+                ],
+                "rod_tip_xy_dist": 0.003201896528156084,
+                "target_xy_drift": 6.123160742775978e-08,
+                "depth": 0.016926598080486355,
+                "bottom_clearance": 0.08251398701165502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017789229164902887,
+                  0.0026639723021928963
+                ],
+                "rod_tip_xy": [
+                  0.2712169785722772,
+                  -0.33808265330966203
+                ],
+                "target_mouth_xy": [
+                  0.2729959014887675,
+                  -0.3407466256118549
+                ],
+                "gripper_position": [
+                  0.27120832146949236,
+                  -0.33808274708334496,
+                  1.0040756956459715
+                ],
+                "rod_tip_xy_dist": 0.0032033287639056398,
+                "target_xy_drift": 3.024727447012789e-08,
+                "depth": 0.017064010824669018,
+                "bottom_clearance": 0.08237655474933103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00178761106115638,
+                  0.0026638195460064185
+                ],
+                "rod_tip_xy": [
+                  0.27120832146949236,
+                  -0.33808274708334496
+                ],
+                "target_mouth_xy": [
+                  0.27299593253064874,
+                  -0.3407465666293514
+                ],
+                "gripper_position": [
+                  0.27119958427417346,
+                  -0.33808306429626994,
+                  1.0039551350817757
+                ],
+                "rod_tip_xy_dist": 0.003208034893771338,
+                "target_xy_drift": 6.122633889589648e-08,
+                "depth": 0.01718420637981244,
+                "bottom_clearance": 0.08225638333507335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017963180220278985,
+                  0.0026635327726766134
+                ],
+                "rod_tip_xy": [
+                  0.27119958427417346,
+                  -0.33808306429627
+                ],
+                "target_mouth_xy": [
+                  0.27299590229620135,
+                  -0.3407465970689466
+                ],
+                "gripper_position": [
+                  0.27120397855581885,
+                  -0.33814796355142207,
+                  1.0034403156404423
+                ],
+                "rod_tip_xy_dist": 0.003212657041668872,
+                "target_xy_drift": 4.2535489493024385e-08,
+                "depth": 0.01730469256103284,
+                "bottom_clearance": 0.08213585758177311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017919546631645078,
+                  0.0025986341431897264
+                ],
+                "rod_tip_xy": [
+                  0.2712039785558188,
+                  -0.33814796355142207
+                ],
+                "target_mouth_xy": [
+                  0.2729959332189833,
+                  -0.3407465976946118
+                ],
+                "gripper_position": [
+                  0.27119236573508065,
+                  -0.3381540880364572,
+                  1.0033032463215459
+                ],
+                "rod_tip_xy_dist": 0.003156580574765743,
+                "target_xy_drift": 3.0195416108284295e-08,
+                "depth": 0.017819521547460027,
+                "bottom_clearance": 0.08162107265151108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018035676504753462,
+                  0.002592539152927842
+                ],
+                "rod_tip_xy": [
+                  0.27119236573508065,
+                  -0.3381540880364573
+                ],
+                "target_mouth_xy": [
+                  0.272995933385556,
+                  -0.34074662718938514
+                ],
+                "gripper_position": [
+                  0.2711834942773122,
+                  -0.3381541133611508,
+                  1.0031829176077385
+                ],
+                "rod_tip_xy_dist": 0.003158182314133396,
+                "target_xy_drift": 1.8538592062657902e-09,
+                "depth": 0.017956646410853705,
+                "bottom_clearance": 0.08148394355577604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018124056824346813,
+                  0.0025924843655644736
+                ],
+                "rod_tip_xy": [
+                  0.2711834942773122,
+                  -0.33815411336115087
+                ],
+                "target_mouth_xy": [
+                  0.2729958999597469,
+                  -0.34074659772671534
+                ],
+                "gripper_position": [
+                  0.2711747231187069,
+                  -0.33815408359294463,
+                  1.003062413388831
+                ],
+                "rod_tip_xy_dist": 0.0031631929349026046,
+                "target_xy_drift": 4.372469703755629e-08,
+                "depth": 0.01807692519981552,
+                "bottom_clearance": 0.08136360234819195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018212092537294722,
+                  0.0025925429569904623
+                ],
+                "rod_tip_xy": [
+                  0.27117472311870683,
+                  -0.33815408359294463
+                ],
+                "target_mouth_xy": [
+                  0.2729959323724363,
+                  -0.3407466265499351
+                ],
+                "gripper_position": [
+                  0.2711805510246028,
+                  -0.338221095475914,
+                  1.0025503791987036
+                ],
+                "rod_tip_xy_dist": 0.0031682932518488104,
+                "target_xy_drift": 1.4852483379156912e-09,
+                "depth": 0.018197481737426413,
+                "bottom_clearance": 0.0812430904751138,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018153500012869084,
+                  0.00252550191979406
+                ],
+                "rod_tip_xy": [
+                  0.27118055102460276,
+                  -0.33822109547591406
+                ],
+                "target_mouth_xy": [
+                  0.27299590102588966,
+                  -0.3407465973957081
+                ],
+                "gripper_position": [
+                  0.27116865458910644,
+                  -0.3382271940944657,
+                  1.0024133918446338
+                ],
+                "rod_tip_xy_dist": 0.0031102500822370958,
+                "target_xy_drift": 4.319094336223706e-08,
+                "depth": 0.01870937326603528,
+                "bottom_clearance": 0.08073111696890889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018272468648684037,
+                  0.002519402662177095
+                ],
+                "rod_tip_xy": [
+                  0.27116865458910644,
+                  -0.33822719409446567
+                ],
+                "target_mouth_xy": [
+                  0.27299590145397484,
+                  -0.34074659675664276
+                ],
+                "gripper_position": [
+                  0.2711597032780315,
+                  -0.3382273027782039,
+                  1.002293226030484
+                ],
+                "rod_tip_xy_dist": 0.003112269409828854,
+                "target_xy_drift": 4.334456003343287e-08,
+                "depth": 0.0188464350006895,
+                "bottom_clearance": 0.08059409471126366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018362281023637794,
+                  0.0025192939799739134
+                ],
+                "rod_tip_xy": [
+                  0.27115970327803146,
+                  -0.3382273027782039
+                ],
+                "target_mouth_xy": [
+                  0.27299593138039524,
+                  -0.3407465967581778
+                ],
+                "gripper_position": [
+                  0.27115086259777776,
+                  -0.3382272601634801,
+                  1.0021732446929206
+                ],
+                "rod_tip_xy_dist": 0.003117463039306687,
+                "target_xy_drift": 3.109242073358098e-08,
+                "depth": 0.018966601733457433,
+                "bottom_clearance": 0.0804739326106888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018450689510653429,
+                  0.0025193372306364648
+                ],
+                "rod_tip_xy": [
+                  0.27115086259777776,
+                  -0.33822726016348004
+                ],
+                "target_mouth_xy": [
+                  0.2729959315488431,
+                  -0.3407465973941165
+                ],
+                "gripper_position": [
+                  0.2711418924258141,
+                  -0.3382270050094022,
+                  1.002052904583036
+                ],
+                "rod_tip_xy_dist": 0.0031227134860336413,
+                "target_xy_drift": 3.045546419471828e-08,
+                "depth": 0.019086573295582387,
+                "bottom_clearance": 0.08035394501239501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0018540400009017244,
+                  0.0025195926940582147
+                ],
+                "rod_tip_xy": [
+                  0.27114189242581405,
+                  -0.3382270050094023
+                ],
+                "target_mouth_xy": [
+                  0.27299593242671577,
+                  -0.3407465977034605
+                ],
+                "gripper_position": [
+                  0.27113295931816245,
+                  -0.33822698881429136,
+                  1.0019328110236358
+                ],
+                "rod_tip_xy_dist": 0.0031282281996195863,
+                "target_xy_drift": 3.01558645688366e-08,
+                "depth": 0.019206985783343566,
+                "bottom_clearance": 0.08023357771134154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.001862941598288148,
+                  0.0025196387098612716
+                ],
+                "rod_tip_xy": [
+                  0.27113295931816245,
+                  -0.33822698881429136
+                ],
+                "target_mouth_xy": [
+                  0.2729959009164506,
+                  -0.34074662752415263
+                ],
+                "gripper_position": [
+                  0.2711414732918114,
+                  -0.338297626184559,
+                  1.0014251802636567
+                ],
+                "rod_tip_xy_dist": 0.0031335492060702943,
+                "target_xy_drift": 3.073843720596865e-08,
+                "depth": 0.019327005861592084,
+                "bottom_clearance": 0.08011349139604518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0018544572259301395,
+                  0.0024490311411893284
+                ],
+                "rod_tip_xy": [
+                  0.2711414732918114,
+                  -0.33829762618455894
+                ],
+                "target_mouth_xy": [
+                  0.2729959305177415,
+                  -0.34074665732574827
+                ],
+                "gripper_position": [
+                  0.2711293913335653,
+                  -0.33830372568528094,
+                  1.001287774911945
+                ],
+                "rod_tip_xy_dist": 0.0030719318243280745,
+                "target_xy_drift": 2.949820637634706e-08,
+                "depth": 0.019834639659367048,
+                "bottom_clearance": 0.07960585914543816,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005987324512907948,
+              "rod_tip_xy_max_step": 3.2627604047939846e-05,
+              "rod_tip_xy_range": 0.0005987270398147004,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27064317378772595,
+            -0.3395480633014586,
+            1.043336439385114
+          ],
+          "object_origin_world": [
+            0.27064317378772595,
+            -0.3395480633014586,
+            1.043336439385114
+          ],
+          "frame_world": [
+            0.27066859997139425,
+            -0.33954504547484077,
+            1.0436487051958472
+          ],
+          "center_minus_frame": [
+            -2.5426183668297853e-05,
+            -3.0178266178237934e-06,
+            -0.00031226581073329207
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2560961075176508,
+              0.15647348875057354,
+              0.8314139816591379
+            ],
+            "target_position": [
+              0.2722783372317996,
+              0.2019989767861754,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04831598720300776,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16473041694382998,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314139816591379,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671128332187,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13513601487486018,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43350d5067fd1aa53fbb6b9aaba181538d243a12733eec5ee3a8f260523d0023",
+    "visual_seed": 7059669271768410167,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c522d401167af4ecd860062c01bb00fd4445aa3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_63_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3024573064180526,
+              0.07463752539819081,
+              1.1611633696909216
+            ],
+            "current_z": 1.1611633696909216,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3000569212808002,
+            "gripper_z": 1.1532742625386723,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29701182673889875,
+              0.06957751330431576,
+              1.1532742625386723
+            ],
+            "object_minus_gripper": [
+              0.00544547967915382,
+              0.005060012093875049,
+              0.00788910715224933
+            ],
+            "object_to_gripper_xy": 0.007433503301017559,
+            "object_to_gripper_z": 0.00788910715224933,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3024573064180526,
+              0.05016944703067221,
+              1.1611633696909216
+            ],
+            "finger_b": [
+              0.2913114309767201,
+              0.07463752539819081,
+              1.1611633696909216
+            ],
+            "finger_midpoint": [
+              0.2968843686973863,
+              0.06240348621443151,
+              1.1611633696909216
+            ],
+            "object_minus_finger_midpoint": [
+              0.005572937720666249,
+              0.012234039183759302,
+              0.0
+            ],
+            "finger_gap": 0.02688712328146562,
+            "fingertip_max_gap": 0.0910861897467545,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01344356164073281,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1611633696909216,
+            "object_top_z": 1.2110103268563128,
+            "finger_top_clearance": 0.049846957165391226,
+            "fingertip_min_top_clearance": 0.014954087149617367,
+            "object_projection_between_fingers": 0.828153894709443,
+            "object_to_finger_line_xy": 0.010143076703230678,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048043094873377254,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8225566769162361,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2761259955177467,
+              -0.34264567160291015,
+              0.8515395791398418
+            ],
+            "target_position": [
+              0.26888425930567217,
+              -0.34283422561110405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007244190498549679,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18468781163393772,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395791398418,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561255450069322,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08746820170111229,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15212996582845276,
+            "release_required_pad_clearance": 0.053734100850556146,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4775051028589763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007460832595825195,
+            "max_z_decrease": 0.007460832595825195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521034668074214,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007460832595825195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021084419358382123,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007460832595825195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007460856176808258,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12458418309688571,
+              -0.3990956842899322,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12458418309688571,
+              -0.3990956842899322,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1266743536235115,
+              -0.3974439494814403,
+              0.8078536775174074
+            ],
+            "closest_button": [
+              0.12457299232482912,
+              -0.3990937769412993,
+              0.7727448344230652
+            ],
+            "closest_ee_minus_button": [
+              0.0021013612986823943,
+              0.0016498274598590323,
+              0.03510884309434226
+            ],
+            "button_min_z_position": [
+              0.12456545233726503,
+              -0.399094671010971,
+              0.7693480253219604
+            ],
+            "min_active_finger_to_button": 0.1436456692327425,
+            "closest_active_finger": [
+              -0.0007982105016708374,
+              -0.4602103531360626,
+              0.8110487461090088
+            ],
+            "closest_active_finger_button": [
+              0.12458763271570207,
+              -0.3990935385227203,
+              0.7767383456230164
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253858432173729,
+              -0.06111681461334234,
+              0.03431040048599243
+            ],
+            "min_contact_pad_to_button": 0.021084419358382123,
+            "closest_contact_pad": [
+              0.12456545233726503,
+              -0.399094671010971,
+              0.7904324446803426
+            ],
+            "closest_contact_pad_button": [
+              0.12456545233726503,
+              -0.399094671010971,
+              0.7693480253219604
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021084419358382123
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2712595774320333,
+              0.19630171308459124,
+              1.1021522101141192
+            ],
+            "current_z": 1.1021522101141192,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19224308037975668,
+            "gripper_z": 1.1021525099271487,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27125955923330247,
+              0.19630175615344578,
+              1.1021525099271487
+            ],
+            "object_minus_gripper": [
+              1.819873085562307e-08,
+              -4.306885453830844e-08,
+              -2.998130295139845e-07
+            ],
+            "object_to_gripper_xy": 4.6755962571605546e-08,
+            "object_to_gripper_z": -2.998130295139845e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2712595774320333,
+              0.19630171308459124,
+              1.1021522101141192
+            ],
+            "finger_b": [
+              0.2712595774320333,
+              0.19630171308459124,
+              1.1021522101141192
+            ],
+            "finger_midpoint": [
+              0.2712595774320333,
+              0.19630171308459124,
+              1.1021522101141192
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021522101141192,
+            "object_top_z": 1.227160716734399,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2712595774320334,
+            0.19630171308459124,
+            1.1021522101141195
+          ],
+          "object_origin_world": [
+            0.2712595774320334,
+            0.19630171308459124,
+            1.1021522101141195
+          ],
+          "frame_world": [
+            0.27125955923330247,
+            0.19630175615344578,
+            1.1021525099271487
+          ],
+          "center_minus_frame": [
+            1.819873091113422e-08,
+            -4.306885453830844e-08,
+            -2.9981302929193987e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432566083630626,
+            "required_z": 0.9112599021736122,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002350783563181354,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.142021187540246e-08,
+            "max_target_xy_drift": 2.5177587923419855e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4771891423499137,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.4775051030043658,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2743119516719454,
+              -0.3411478552557174,
+              0.9233670782939513
+            ],
+            "target_mouth_xy": [
+              0.27612600247832864,
+              -0.34264574511396206
+            ],
+            "rod_tip_z": 0.9233670782939513,
+            "rod_tip_depth": -0.022107176572542797,
+            "rod_tip_bottom_clearance": 0.12154775859435196,
+            "rod_tip_xy_dist": 0.0023525421049519946,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044408426116470556,
+            "min_rod_tip_bottom_clearance": 0.05503215681824125,
+            "min_rod_tip_xy_dist": 0.0002399236932743031,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27612606388516253,
+              -0.342645746395827
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.14068338955498e-08,
+              1.2818649475221378e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.001231991735549165,
+                0.0032183456738626437
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013443473965101815,
+                0.0028487573779753528
+              ],
+              "first_target_mouth_xy": [
+                0.27612603086369825,
+                -0.3426457451703975
+              ],
+              "last_target_mouth_xy": [
+                0.27612606036857773,
+                -0.34264574612510035
+              ],
+              "first_rod_tip_xy": [
+                0.2748940391281491,
+                -0.33942739949653483
+              ],
+              "last_rod_tip_xy": [
+                0.27478171297206755,
+                -0.339796988747125
+              ],
+              "min_rod_tip_xy_dist": 0.0031388137012974826,
+              "max_rod_tip_xy_dist": 0.0034460923540920716,
+              "first_target_xy_drift": 3.3044194362772886e-08,
+              "last_target_xy_drift": 3.5269904436767863e-09,
+              "max_depth": 0.019429482276705046,
+              "min_bottom_clearance": 0.080011010717573
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001231991735549165,
+                  0.0032183456738626437
+                ],
+                "rod_tip_xy": [
+                  0.2748940391281491,
+                  -0.33942739949653483
+                ],
+                "target_mouth_xy": [
+                  0.27612603086369825,
+                  -0.3426457451703975
+                ],
+                "gripper_position": [
+                  0.2748969998110825,
+                  -0.33949145840123296,
+                  1.005693097759343
+                ],
+                "rod_tip_xy_dist": 0.0034460923540920716,
+                "target_xy_drift": 3.3044194362772886e-08,
+                "depth": 0.01504913201006719,
+                "bottom_clearance": 0.08439139561712028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012290627301181911,
+                  0.0031542870521880095
+                ],
+                "rod_tip_xy": [
+                  0.2748969998110825,
+                  -0.339491458401233
+                ],
+                "target_mouth_xy": [
+                  0.2761260625412007,
+                  -0.342645745453421
+                ],
+                "gripper_position": [
+                  0.2748855350513409,
+                  -0.3394982691682171,
+                  1.005553486048537
+                ],
+                "rod_tip_xy_dist": 0.003385280195518017,
+                "target_xy_drift": 1.6414513230548368e-09,
+                "depth": 0.015566801085491577,
+                "bottom_clearance": 0.08387378516773769,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012404960682384503,
+                  0.003147476637357094
+                ],
+                "rod_tip_xy": [
+                  0.27488553505134083,
+                  -0.3394982691682172
+                ],
+                "target_mouth_xy": [
+                  0.2761260311195793,
+                  -0.3426457458055743
+                ],
+                "gripper_position": [
+                  0.2748769686001814,
+                  -0.33949868199557703,
+                  1.0054304227789748
+                ],
+                "rod_tip_xy_dist": 0.0033831109467506045,
+                "target_xy_drift": 3.277089934350664e-08,
+                "depth": 0.015706335134551552,
+                "bottom_clearance": 0.08373417820957851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012491233198043128,
+                  0.003147095790859644
+                ],
+                "rod_tip_xy": [
+                  0.27487696860018135,
+                  -0.33949868199557703
+                ],
+                "target_mouth_xy": [
+                  0.27612609191998566,
+                  -0.3426457777864367
+                ],
+                "gripper_position": [
+                  0.2748809423875662,
+                  -0.3395640011124816,
+                  1.0049125867936508
+                ],
+                "rod_tip_xy_dist": 0.003385929855287235,
+                "target_xy_drift": 4.2087072637405867e-08,
+                "depth": 0.01582949175045445,
+                "bottom_clearance": 0.08361111387311881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012451190049338479,
+                  0.0030817443666871225
+                ],
+                "rod_tip_xy": [
+                  0.2748809423875662,
+                  -0.3395640011124816
+                ],
+                "target_mouth_xy": [
+                  0.27612606139250007,
+                  -0.3426457454791687
+                ],
+                "gripper_position": [
+                  0.2748694876358603,
+                  -0.3395704086357545,
+                  1.004773088057054
+                ],
+                "rod_tip_xy_dist": 0.003323773409553556,
+                "target_xy_drift": 2.6558668290846647e-09,
+                "depth": 0.016347184107218138,
+                "bottom_clearance": 0.08309335879321866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012565759493539108,
+                  0.0030753669203691936
+                ],
+                "rod_tip_xy": [
+                  0.2748694876358602,
+                  -0.33957040863575455
+                ],
+                "target_mouth_xy": [
+                  0.27612606358521413,
+                  -0.34264577555612374
+                ],
+                "gripper_position": [
+                  0.27486071258345657,
+                  -0.33957066136366004,
+                  1.004650535040001
+                ],
+                "rod_tip_xy_dist": 0.003322177721223803,
+                "target_xy_drift": 2.9161839355383726e-08,
+                "depth": 0.01648681283995479,
+                "bottom_clearance": 0.0829538007269831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012653190632405664,
+                  0.003075085054743909
+                ],
+                "rod_tip_xy": [
+                  0.2748607125834565,
+                  -0.33957066136366015
+                ],
+                "target_mouth_xy": [
+                  0.2761260316466971,
+                  -0.34264574641840406
+                ],
+                "gripper_position": [
+                  0.274865613395911,
+                  -0.3396372612893939,
+                  1.0041339087230545
+                ],
+                "rod_tip_xy_dist": 0.0033252338903766356,
+                "target_xy_drift": 3.223847335826219e-08,
+                "depth": 0.016609286651871114,
+                "bottom_clearance": 0.08283123897888622,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001260480115516549,
+                  0.0030084850708088084
+                ],
+                "rod_tip_xy": [
+                  0.274865613395911,
+                  -0.3396372612893939
+                ],
+                "target_mouth_xy": [
+                  0.27612609351142753,
+                  -0.34264574636020273
+                ],
+                "gripper_position": [
+                  0.2748539909243989,
+                  -0.3396436806006072,
+                  1.0039945795327019
+                ],
+                "rod_tip_xy_dist": 0.0032618694858764802,
+                "target_xy_drift": 2.9626286415115474e-08,
+                "depth": 0.01712599129035175,
+                "bottom_clearance": 0.08231462270774659,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012720405989518624,
+                  0.0030020953127404826
+                ],
+                "rod_tip_xy": [
+                  0.2748539909243989,
+                  -0.3396436806006072
+                ],
+                "target_mouth_xy": [
+                  0.27612603152335075,
+                  -0.34264577591334766
+                ],
+                "gripper_position": [
+                  0.27484512839481,
+                  -0.339644057337974,
+                  1.0038718359994052
+                ],
+                "rod_tip_xy_dist": 0.003260469836106476,
+                "target_xy_drift": 4.380149412275616e-08,
+                "depth": 0.017265238999834565,
+                "bottom_clearance": 0.08217527783496326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012809628750019564,
+                  0.003001688131069047
+                ],
+                "rod_tip_xy": [
+                  0.27484512839481,
+                  -0.3396440573379739
+                ],
+                "target_mouth_xy": [
+                  0.27612609126981197,
+                  -0.342645745469043
+                ],
+                "gripper_position": [
+                  0.2748363523481043,
+                  -0.33964446383866037,
+                  1.0037494705994874
+                ],
+                "rod_tip_xy_dist": 0.003263586604233763,
+                "target_xy_drift": 2.740032761554977e-08,
+                "depth": 0.01738799522983414,
+                "bottom_clearance": 0.08205255081599638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012897725136626348,
+                  0.003001311687256314
+                ],
+                "rod_tip_xy": [
+                  0.2748363523481043,
+                  -0.3396444638386605
+                ],
+                "target_mouth_xy": [
+                  0.2761261248617669,
+                  -0.3426457755259168
+                ],
+                "gripper_position": [
+                  0.274842692659804,
+                  -0.33971287883765405,
+                  1.003233272669002
+                ],
+                "rod_tip_xy_dist": 0.0032667085852675893,
+                "target_xy_drift": 6.757742531498877e-08,
+                "depth": 0.017510442887860855,
+                "bottom_clearance": 0.08193023352595474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012833668048660707,
+                  0.0029328670296591697
+                ],
+                "rod_tip_xy": [
+                  0.27484269265980393,
+                  -0.33971287883765405
+                ],
+                "target_mouth_xy": [
+                  0.27612605946467,
+                  -0.3426457458673132
+                ],
+                "gripper_position": [
+                  0.2748309800574881,
+                  -0.33971956801106273,
+                  1.0030939081509627
+                ],
+                "rod_tip_xy_dist": 0.0032013652352541637,
+                "target_xy_drift": 4.451974956218417e-09,
+                "depth": 0.018026577228386187,
+                "bottom_clearance": 0.0814139606808485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012951443485747505,
+                  0.0029262081719268473
+                ],
+                "rod_tip_xy": [
+                  0.274830980057488,
+                  -0.3397195680110628
+                ],
+                "target_mouth_xy": [
+                  0.27612612440606277,
+                  -0.34264577618298964
+                ],
+                "gripper_position": [
+                  0.27482196685537563,
+                  -0.33971969425911264,
+                  1.0029716885929774
+                ],
+                "rod_tip_xy_dist": 0.003200014554513241,
+                "target_xy_drift": 6.745409122224774e-08,
+                "depth": 0.018166001754583383,
+                "bottom_clearance": 0.08127465659719257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0013040939046375932,
+                  0.002926051244043215
+                ],
+                "rod_tip_xy": [
+                  0.2748219668553756,
+                  -0.3397196942591127
+                ],
+                "target_mouth_xy": [
+                  0.27612606076001317,
+                  -0.3426457455031559
+                ],
+                "gripper_position": [
+                  0.2748130920209815,
+                  -0.339719891169342,
+                  1.0028488059362715
+                ],
+                "rod_tip_xy_dist": 0.003203503830945075,
+                "target_xy_drift": 3.250141570942544e-09,
+                "depth": 0.018288136925995624,
+                "bottom_clearance": 0.0811523817401757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00131300301391174,
+                  0.002925853596442818
+                ],
+                "rod_tip_xy": [
+                  0.2748130920209815,
+                  -0.33971989116934204
+                ],
+                "target_mouth_xy": [
+                  0.2761260950348932,
+                  -0.34264574476578485
+                ],
+                "gripper_position": [
+                  0.2748208657184814,
+                  -0.3397901037666949,
+                  1.0023362195737096
+                ],
+                "rod_tip_xy_dist": 0.003206960583224977,
+                "target_xy_drift": 3.119235097107532e-08,
+                "depth": 0.01841112479618323,
+                "bottom_clearance": 0.0810295864879701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013051944392400983,
+                  0.0028556414327872703
+                ],
+                "rod_tip_xy": [
+                  0.2748208657184814,
+                  -0.339790103766695
+                ],
+                "target_mouth_xy": [
+                  0.2761260601577215,
+                  -0.34264574519948227
+                ],
+                "gripper_position": [
+                  0.2748088557196181,
+                  -0.3397967346826805,
+                  1.002196704485582
+                ],
+                "rod_tip_xy_dist": 0.0031397803293979993,
+                "target_xy_drift": 3.914723148106225e-09,
+                "depth": 0.01892361970276013,
+                "bottom_clearance": 0.08051691321608823,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0013172364996775765,
+                  0.002849041848651923
+                ],
+                "rod_tip_xy": [
+                  0.2748088557196181,
+                  -0.3397967346826805
+                ],
+                "target_mouth_xy": [
+                  0.2761260922192957,
+                  -0.34264577653133244
+                ],
+                "gripper_position": [
+                  0.27479978917019643,
+                  -0.3397968006731884,
+                  1.0020744759156814
+                ],
+                "rod_tip_xy_dist": 0.0031388137012974826,
+                "target_xy_drift": 4.136389474643783e-08,
+                "depth": 0.01906319069929363,
+                "bottom_clearance": 0.0803773841952583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001326272218793667,
+                  0.0028489444987181423
+                ],
+                "rod_tip_xy": [
+                  0.27479978917019643,
+                  -0.33979680067318846
+                ],
+                "target_mouth_xy": [
+                  0.2761260613889901,
+                  -0.3426457451719066
+                ],
+                "gripper_position": [
+                  0.27479073348365524,
+                  -0.3397971123592955,
+                  1.001952539018475
+                ],
+                "rod_tip_xy_dist": 0.0031425280834258655,
+                "target_xy_drift": 2.780082372169164e-09,
+                "depth": 0.01918530054872636,
+                "bottom_clearance": 0.08025525369901043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0013353614505749456,
+                  0.002848661568642552
+                ],
+                "rod_tip_xy": [
+                  0.27479073348365524,
+                  -0.3397971123592955
+                ],
+                "target_mouth_xy": [
+                  0.2761260949342302,
+                  -0.34264577392793805
+                ],
+                "gripper_position": [
+                  0.27478171297206755,
+                  -0.33979698874712494,
+                  1.0018303351149287
+                ],
+                "rod_tip_xy_dist": 0.0031461187098300453,
+                "target_xy_drift": 4.149773174548551e-08,
+                "depth": 0.01930740263427555,
+                "bottom_clearance": 0.08013332884786484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013443473965101815,
+                  0.0028487573779753528
+                ],
+                "rod_tip_xy": [
+                  0.27478171297206755,
+                  -0.339796988747125
+                ],
+                "target_mouth_xy": [
+                  0.27612606036857773,
+                  -0.34264574612510035
+                ],
+                "gripper_position": [
+                  0.27477271684065385,
+                  -0.3397970885662918,
+                  1.0017081731297925
+                ],
+                "rod_tip_xy_dist": 0.0031500299238376626,
+                "target_xy_drift": 3.5269904436767863e-09,
+                "depth": 0.019429482276705046,
+                "bottom_clearance": 0.080011010717573,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005974669308978839,
+              "rod_tip_xy_max_step": 3.247213992507808e-05,
+              "rod_tip_xy_range": 0.0005974631846730314,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27431195167194544,
+            -0.3411478552557174,
+            1.0433670782939515
+          ],
+          "object_origin_world": [
+            0.27431195167194544,
+            -0.3411478552557174,
+            1.0433670782939515
+          ],
+          "frame_world": [
+            0.2743105861796784,
+            -0.34115227699461076,
+            1.0432566083630626
+          ],
+          "center_minus_frame": [
+            1.3654922670358616e-06,
+            4.4217388933676105e-06,
+            0.00011046993088892343
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25663145208882204,
+              0.1514730769452082,
+              0.8325842485550435
+            ],
+            "target_position": [
+              0.2714116687171819,
+              0.19686261783842424,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0477353666171967,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1661052522991181,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325842485550435,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672931671858,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13661105915141505,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb99087db5a5f3aa71207f60953076c221cf7351837601ea6a40cbd6e2d6093a",
+    "visual_seed": 8232353226672276691,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..046b85f6c2abeda9b7eeb8af42ebdf3ae1b43d49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_64_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3011178492280486,
+              0.07198136158715362,
+              1.164079087431877
+            ],
+            "current_z": 1.164079087431877,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.302972340998532,
+            "gripper_z": 1.156210948034439,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2959307719197627,
+              0.06692646132595223,
+              1.156210948034439
+            ],
+            "object_minus_gripper": [
+              0.005187077308285881,
+              0.005054900261201395,
+              0.007868139397438023
+            ],
+            "object_to_gripper_xy": 0.007242774858631755,
+            "object_to_gripper_z": 0.007868139397438023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3011178492280486,
+              0.04795416945556837,
+              1.164079087431877
+            ],
+            "finger_b": [
+              0.2896409136245399,
+              0.07198136158715362,
+              1.164079087431877
+            ],
+            "finger_midpoint": [
+              0.2953793814262943,
+              0.059967765521361,
+              1.164079087431877
+            ],
+            "object_minus_finger_midpoint": [
+              0.005738467801754299,
+              0.012013596065792623,
+              0.0
+            ],
+            "finger_gap": 0.026627542368292213,
+            "fingertip_max_gap": 0.09095659172854062,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013313771184146091,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164079087431877,
+            "object_top_z": 1.2140617755575172,
+            "finger_top_clearance": 0.04998268812564022,
+            "fingertip_min_top_clearance": 0.014994806437692064,
+            "object_projection_between_fingers": 0.8142239515745344,
+            "object_to_finger_line_xy": 0.010356139256610634,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797829586427031,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5600642227720618,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27971701347422,
+              -0.3346141204029993,
+              0.8515395552075232
+            ],
+            "target_position": [
+              0.2711022651556795,
+              -0.3354548533338168,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008655675620814235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18719864528746227,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395552075232,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555503055977818,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555808812909761,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15492521694420666,
+            "release_required_pad_clearance": 0.05277904406454881,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6065157947282855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007116556167602539,
+            "max_z_decrease": 0.007116556167602539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510538985588431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007116556167602539,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021089710097102417,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007116556167602539,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007116577750328515,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12680219113826752,
+              -0.3917163014411925,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12680219113826752,
+              -0.3917163014411925,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12684236761000012,
+              -0.39123435151199804,
+              0.8082762291728651
+            ],
+            "closest_button": [
+              0.1267990618944168,
+              -0.3917157351970672,
+              0.7731741666793823
+            ],
+            "closest_ee_minus_button": [
+              4.330571558330831e-05,
+              0.00048138368506916995,
+              0.0351020624934828
+            ],
+            "button_min_z_position": [
+              0.12678469717502594,
+              -0.3917152285575866,
+              0.7696923017501831
+            ],
+            "min_active_finger_to_button": 0.14595697472941505,
+            "closest_active_finger": [
+              -0.0003444403409957886,
+              -0.4546305537223816,
+              0.8107356429100037
+            ],
+            "closest_active_finger_button": [
+              0.12680204212665558,
+              -0.3917162418365478,
+              0.7763990759849548
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12714648246765137,
+              -0.0629143118858338,
+              0.03433656692504883
+            ],
+            "min_contact_pad_to_button": 0.021089710097102417,
+            "closest_contact_pad": [
+              0.12678469717502594,
+              -0.3922719485342551,
+              0.79077466250147
+            ],
+            "closest_contact_pad_button": [
+              0.12678469717502594,
+              -0.3917152285575866,
+              0.7696923017501831
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005567199766685071,
+              0.021082360751286888
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27269695923211873,
+              0.19982522164733252,
+              1.103138779489345
+            ],
+            "current_z": 1.103138779489345,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19322964975498247,
+            "gripper_z": 1.1031390573861435,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2726969379301064,
+              0.19982521805725328,
+              1.1031390573861435
+            ],
+            "object_minus_gripper": [
+              2.1302012320756347e-08,
+              3.5900792338949827e-09,
+              -2.778967984617964e-07
+            ],
+            "object_to_gripper_xy": 2.1602416481016638e-08,
+            "object_to_gripper_z": -2.778967984617964e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27269695923211873,
+              0.19982522164733252,
+              1.103138779489345
+            ],
+            "finger_b": [
+              0.27269695923211873,
+              0.19982522164733252,
+              1.103138779489345
+            ],
+            "finger_midpoint": [
+              0.27269695923211873,
+              0.19982522164733252,
+              1.103138779489345
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103138779489345,
+            "object_top_z": 1.2281472861096248,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2726969592321188,
+            0.19982522164733255,
+            1.103138779489345
+          ],
+          "object_origin_world": [
+            0.2726969592321188,
+            0.19982522164733255,
+            1.103138779489345
+          ],
+          "frame_world": [
+            0.2726969379301064,
+            0.19982521805725328,
+            1.1031390573861435
+          ],
+          "center_minus_frame": [
+            2.13020123762675e-08,
+            3.5900792616505584e-09,
+            -2.778967984617964e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431773314824213,
+            "required_z": 0.9112598949335633,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017192971081783903,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.99358748014985e-08,
+            "max_target_xy_drift": 7.540886391479027e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6065157949307979,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.606515795945162,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27821696147193253,
+              -0.3337727588383733,
+              0.9232875218031117
+            ],
+            "target_mouth_xy": [
+              0.2797169239564795,
+              -0.3346141505266486
+            ],
+            "rod_tip_z": 0.9232875218031117,
+            "rod_tip_depth": -0.022027680094082736,
+            "rod_tip_bottom_clearance": 0.12146825052464949,
+            "rod_tip_xy_dist": 0.0017198335466396444,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04470262471569364,
+            "min_rod_tip_bottom_clearance": 0.054738114892226575,
+            "min_rod_tip_xy_dist": 0.0009630515987001817,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2797170138721803,
+              -0.33461414862183086
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.991570077387934e-08,
+              -1.904817747977461e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0009278814399586999,
+                0.0025311157024714426
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010338364756357632,
+                0.00215282541204026
+              ],
+              "first_target_mouth_xy": [
+                0.2797170428697002,
+                -0.3346141153215515
+              ],
+              "last_target_mouth_xy": [
+                0.279717039925614,
+                -0.33461411978056516
+              ],
+              "first_rod_tip_xy": [
+                0.2787891614297415,
+                -0.33208299961908005
+              ],
+              "last_rod_tip_xy": [
+                0.2786832034499782,
+                -0.3324612943685249
+              ],
+              "min_rod_tip_xy_dist": 0.002388194948717816,
+              "max_rod_tip_xy_dist": 0.0026958320915660408,
+              "first_target_xy_drift": 4.415614078084724e-08,
+              "last_target_xy_drift": 3.8866438152272595e-08,
+              "max_depth": 0.019831232239692853,
+              "min_bottom_clearance": 0.07960934114868279
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009278814399586999,
+                  0.0025311157024714426
+                ],
+                "rod_tip_xy": [
+                  0.2787891614297415,
+                  -0.33208299961908005
+                ],
+                "target_mouth_xy": [
+                  0.2797170428697002,
+                  -0.3346141153215515
+                ],
+                "gripper_position": [
+                  0.278777327312334,
+                  -0.33208977849926774,
+                  1.0056633340908678
+                ],
+                "rod_tip_xy_dist": 0.0026958320915660408,
+                "target_xy_drift": 4.415614078084724e-08,
+                "depth": 0.01545611262874258,
+                "bottom_clearance": 0.08398455281738271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009397144514731726,
+                  0.0025244027792895585
+                ],
+                "rod_tip_xy": [
+                  0.2787773273123339,
+                  -0.3320897784992678
+                ],
+                "target_mouth_xy": [
+                  0.2797170417638071,
+                  -0.33461418127855735
+                ],
+                "gripper_position": [
+                  0.2787815803035648,
+                  -0.33215554869100417,
+                  1.0051468499162504
+                ],
+                "rod_tip_xy_dist": 0.0026936355808446647,
+                "target_xy_drift": 4.294653222075159e-08,
+                "depth": 0.015596524191579975,
+                "bottom_clearance": 0.08384404757224317,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009354618736457931,
+                  0.0024585694885722598
+                ],
+                "rod_tip_xy": [
+                  0.27878158030356465,
+                  -0.3321555486910043
+                ],
+                "target_mouth_xy": [
+                  0.27971704217721044,
+                  -0.33461411817957654
+                ],
+                "gripper_position": [
+                  0.2787698756619773,
+                  -0.3321617740203396,
+                  1.0050068998396695
+                ],
+                "rod_tip_xy_dist": 0.002630523302915859,
+                "target_xy_drift": 4.1568083676834086e-08,
+                "depth": 0.016112985236895194,
+                "bottom_clearance": 0.08332755041599771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000947165093925062,
+                  0.002452345120236732
+                ],
+                "rod_tip_xy": [
+                  0.2787698756619772,
+                  -0.33216177402033964
+                ],
+                "target_mouth_xy": [
+                  0.27971704075590226,
+                  -0.33461411914057637
+                ],
+                "gripper_position": [
+                  0.2787609107732275,
+                  -0.3321620791980012,
+                  1.0048842193500258
+                ],
+                "rod_tip_xy_dist": 0.0026289005884397726,
+                "target_xy_drift": 3.989835677688877e-08,
+                "depth": 0.016252955896155385,
+                "bottom_clearance": 0.08318758867008269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000956132849312008,
+                  0.00245204119649034
+                ],
+                "rod_tip_xy": [
+                  0.2787609107732274,
+                  -0.33216207919800134
+                ],
+                "target_mouth_xy": [
+                  0.2797170436225394,
+                  -0.3346141203944917
+                ],
+                "gripper_position": [
+                  0.2787663584235452,
+                  -0.3322283758366641,
+                  1.0043680233411503
+                ],
+                "rod_tip_xy_dist": 0.0026318617089085964,
+                "target_xy_drift": 4.101056626601517e-08,
+                "depth": 0.016375679825407885,
+                "bottom_clearance": 0.08306489669872763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009506857095662458,
+                  0.002385743603450341
+                ],
+                "rod_tip_xy": [
+                  0.2787663584235451,
+                  -0.3322283758366642
+                ],
+                "target_mouth_xy": [
+                  0.2797170441331113,
+                  -0.33461411944011454
+                ],
+                "gripper_position": [
+                  0.2787544369951077,
+                  -0.3322348974930106,
+                  1.0042283502881006
+                ],
+                "rod_tip_xy_dist": 0.002568185324266474,
+                "target_xy_drift": 4.2039225906057736e-08,
+                "depth": 0.01689180442577365,
+                "bottom_clearance": 0.08254876022186852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.000962608447281077,
+                  0.0023792213085654934
+                ],
+                "rod_tip_xy": [
+                  0.2787544369951076,
+                  -0.3322348974930107
+                ],
+                "target_mouth_xy": [
+                  0.2797170454423887,
+                  -0.3346141188015762
+                ],
+                "gripper_position": [
+                  0.27874536219850987,
+                  -0.33223483431632445,
+                  1.0041053975730772
+                ],
+                "rod_tip_xy_dist": 0.0025665753559771013,
+                "target_xy_drift": 4.342724542921336e-08,
+                "depth": 0.01703155876818785,
+                "bottom_clearance": 0.0824090789004307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009716472963303691,
+                  0.0023792851559159
+                ],
+                "rod_tip_xy": [
+                  0.27874536219850976,
+                  -0.3322348343163245
+                ],
+                "target_mouth_xy": [
+                  0.27971700949484013,
+                  -0.3346141194722404
+                ],
+                "gripper_position": [
+                  0.2787363161770652,
+                  -0.3322349966919646,
+                  1.0039825316767423
+                ],
+                "rod_tip_xy_dist": 0.002570038194585416,
+                "target_xy_drift": 2.9476426700797135e-08,
+                "depth": 0.01715449714290529,
+                "bottom_clearance": 0.08228609243865692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.000980725258232451,
+                  0.002379122447405402
+                ],
+                "rod_tip_xy": [
+                  0.27873631617706507,
+                  -0.33223499669196466
+                ],
+                "target_mouth_xy": [
+                  0.2797170414352975,
+                  -0.33461411913937006
+                ],
+                "gripper_position": [
+                  0.278743189097045,
+                  -0.3323039156344198,
+                  1.003466176272192
+                ],
+                "rod_tip_xy_dist": 0.002573333567939333,
+                "target_xy_drift": 4.036014032164338e-08,
+                "depth": 0.01727724361818861,
+                "bottom_clearance": 0.08216327458292827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000973854632688842,
+                  0.002310202223968272
+                ],
+                "rod_tip_xy": [
+                  0.2787431890970449,
+                  -0.33230391563441986
+                ],
+                "target_mouth_xy": [
+                  0.2797170437297337,
+                  -0.3346141178583881
+                ],
+                "gripper_position": [
+                  0.2787312505805027,
+                  -0.3323103937947367,
+                  1.003326582386581
+                ],
+                "rod_tip_xy_dist": 0.002507075419934045,
+                "target_xy_drift": 4.287030330985184e-08,
+                "depth": 0.0177937363503039,
+                "bottom_clearance": 0.08164687008804072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.000985792912234329,
+                  0.0023037256452620447
+                ],
+                "rod_tip_xy": [
+                  0.2787312505805026,
+                  -0.3323103937947368
+                ],
+                "target_mouth_xy": [
+                  0.2797170434927369,
+                  -0.33461411943999886
+                ],
+                "gripper_position": [
+                  0.2787221153135164,
+                  -0.3323102822672184,
+                  1.0032040395456756
+                ],
+                "rod_tip_xy_dist": 0.002505781218392672,
+                "target_xy_drift": 4.1580725025483246e-08,
+                "depth": 0.017933240387891236,
+                "bottom_clearance": 0.08150729984672511,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009949254787352535,
+                  0.0023038362389525835
+                ],
+                "rod_tip_xy": [
+                  0.2787221153135163,
+                  -0.33231028226721837
+                ],
+                "target_mouth_xy": [
+                  0.27971704079225157,
+                  -0.33461411850617095
+                ],
+                "gripper_position": [
+                  0.27871297667906225,
+                  -0.33231022973709756,
+                  1.0030813131632978
+                ],
+                "rod_tip_xy_dist": 0.002509489614273739,
+                "target_xy_drift": 4.039360357441691e-08,
+                "depth": 0.01805576659974384,
+                "bottom_clearance": 0.0813847989652543,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0010040662908786246,
+                  0.002303887805664595
+                ],
+                "rod_tip_xy": [
+                  0.27871297667906214,
+                  -0.33231022973709756
+                ],
+                "target_mouth_xy": [
+                  0.27971704296994077,
+                  -0.33461411754276216
+                ],
+                "gripper_position": [
+                  0.27872119798715655,
+                  -0.33238125250869177,
+                  1.002567357022952
+                ],
+                "rod_tip_xy_dist": 0.0025131749118532877,
+                "target_xy_drift": 4.257450148398845e-08,
+                "depth": 0.01817853960121074,
+                "bottom_clearance": 0.08126204928703074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009958438008957349,
+                  0.00223290088097422
+                ],
+                "rod_tip_xy": [
+                  0.27872119798715644,
+                  -0.33238125250869177
+                ],
+                "target_mouth_xy": [
+                  0.2797170417880522,
+                  -0.334614153389666
+                ],
+                "gripper_position": [
+                  0.2787090263644709,
+                  -0.33238755191206387,
+                  1.0024278725837574
+                ],
+                "rod_tip_xy_dist": 0.0024449031105624438,
+                "target_xy_drift": 2.8320101611388987e-08,
+                "depth": 0.018692535262609167,
+                "bottom_clearance": 0.08074810459731652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0010081071430099176,
+                  0.002226533285838994
+                ],
+                "rod_tip_xy": [
+                  0.27870902636447076,
+                  -0.3323875519120639
+                ],
+                "target_mouth_xy": [
+                  0.2797171335074807,
+                  -0.3346140851979029
+                ],
+                "gripper_position": [
+                  0.2786998047899239,
+                  -0.3323872222495893,
+                  1.002305417087865
+                ],
+                "rod_tip_xy_dist": 0.002444121618237645,
+                "target_xy_drift": 1.354075320458651e-07,
+                "depth": 0.01883209430418098,
+                "bottom_clearance": 0.08060862970076144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010172371967829275,
+                  0.002226926369930604
+                ],
+                "rod_tip_xy": [
+                  0.2786998047899238,
+                  -0.3323872222495893
+                ],
+                "target_mouth_xy": [
+                  0.2797170419867067,
+                  -0.3346141486195199
+                ],
+                "gripper_position": [
+                  0.27869042318068993,
+                  -0.3323872887662752,
+                  1.0021827313482432
+                ],
+                "rod_tip_xy_dist": 0.00244825908996803,
+                "target_xy_drift": 2.811452652412629e-08,
+                "depth": 0.01895434693379794,
+                "bottom_clearance": 0.08048616122117414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010266215606448692,
+                  0.0022268271810336193
+                ],
+                "rod_tip_xy": [
+                  0.2786904231806898,
+                  -0.3323872887662752
+                ],
+                "target_mouth_xy": [
+                  0.2797170447413347,
+                  -0.33461411594730883
+                ],
+                "gripper_position": [
+                  0.27868119556497967,
+                  -0.33238680907136203,
+                  1.0020602913652215
+                ],
+                "rod_tip_xy_dist": 0.0024520830171450235,
+                "target_xy_drift": 4.495029569847132e-08,
+                "depth": 0.01907722350995178,
+                "bottom_clearance": 0.08036349064786841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001035845864764684,
+                  0.002227340499477648
+                ],
+                "rod_tip_xy": [
+                  0.2786811955649795,
+                  -0.3323868090713621
+                ],
+                "target_mouth_xy": [
+                  0.2797170414297442,
+                  -0.33461414957083974
+                ],
+                "gripper_position": [
+                  0.27867169746755915,
+                  -0.33238678950869166,
+                  1.0019377310151247
+                ],
+                "rod_tip_xy_dist": 0.00245642471005391,
+                "target_xy_drift": 2.757389972061834e-08,
+                "depth": 0.01919954241645805,
+                "bottom_clearance": 0.08024097327368518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001045345266928177,
+                  0.002227328984504673
+                ],
+                "rod_tip_xy": [
+                  0.27867169746755904,
+                  -0.3323867895086917
+                ],
+                "target_mouth_xy": [
+                  0.2797170427344872,
+                  -0.3346141184931964
+                ],
+                "gripper_position": [
+                  0.2786832034499783,
+                  -0.33246129436852484,
+                  1.0014286473368743
+                ],
+                "rod_tip_xy_dist": 0.0024604351510055613,
+                "target_xy_drift": 4.1722504441986924e-08,
+                "depth": 0.01932210284595237,
+                "bottom_clearance": 0.08011844270379764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0010338364756357632,
+                  0.00215282541204026
+                ],
+                "rod_tip_xy": [
+                  0.2786832034499782,
+                  -0.3324612943685249
+                ],
+                "target_mouth_xy": [
+                  0.279717039925614,
+                  -0.33461411978056516
+                ],
+                "gripper_position": [
+                  0.2786707670377305,
+                  -0.3324680455119211,
+                  1.0012887139077493
+                ],
+                "rod_tip_xy_dist": 0.002388194948717816,
+                "target_xy_drift": 3.8866438152272595e-08,
+                "depth": 0.019831232239692853,
+                "bottom_clearance": 0.07960934114868279,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006042353508178272,
+              "rod_tip_xy_max_step": 3.270976438540435e-05,
+              "rod_tip_xy_range": 0.0006042243070324382,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2782169614719326,
+            -0.3337727588383733,
+            1.043287521803112
+          ],
+          "object_origin_world": [
+            0.2782169614719326,
+            -0.3337727588383733,
+            1.043287521803112
+          ],
+          "frame_world": [
+            0.278215383345745,
+            -0.33377667912982023,
+            1.0431773314824213
+          ],
+          "center_minus_frame": [
+            1.5781261875624786e-06,
+            3.920291446912749e-06,
+            0.0001101903206905952
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25928489056179904,
+              0.15296919438225487,
+              0.831867366819956
+            ],
+            "target_position": [
+              0.2728554203952111,
+              0.1992013864424489,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048182723694807805,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16550598645699213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831867366819956,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673943881987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13471179753130574,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54a371e4c8eec8cdd8fdd0219cc317df13ad07c0f2cdb62da8953d9584fc18a6",
+    "visual_seed": 1034820884661186448,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2523e36adb480889b91f2bc04482457141933a70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_65_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30377926119653964,
+              0.07880490519113277,
+              1.1635750227240145
+            ],
+            "current_z": 1.1635750227240145,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3024683358953142,
+            "gripper_z": 1.1555261988294274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29850796884389025,
+              0.07378421799575273,
+              1.1555261988294274
+            ],
+            "object_minus_gripper": [
+              0.005271292352649393,
+              0.005020687195380041,
+              0.008048823894587054
+            ],
+            "object_to_gripper_xy": 0.007279685637508881,
+            "object_to_gripper_z": 0.008048823894587054,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30377926119653964,
+              0.05467860095900853,
+              1.1635750227240145
+            ],
+            "finger_b": [
+              0.2924122430158677,
+              0.07880490519113277,
+              1.1635750227240145
+            ],
+            "finger_midpoint": [
+              0.29809575210620365,
+              0.06674175307507066,
+              1.1635750227240145
+            ],
+            "object_minus_finger_midpoint": [
+              0.005683509090335992,
+              0.012063152116062112,
+              0.0
+            ],
+            "finger_gap": 0.02666997671953881,
+            "fingertip_max_gap": 0.09065377102430835,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013334988359769411,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1635750227240145,
+            "object_top_z": 1.2134151291664972,
+            "finger_top_clearance": 0.04984010644248271,
+            "fingertip_min_top_clearance": 0.014952031932744813,
+            "object_projection_between_fingers": 0.818344799285654,
+            "object_to_finger_line_xy": 0.010282878823739777,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04782688551215418,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4722532869230095,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.276167375002506,
+              -0.34296734981135835,
+              0.8515395915357373
+            ],
+            "target_position": [
+              0.26705063998567236,
+              -0.34385448436291005,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009159796126536736,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18565742769071097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395915357373,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526697518528028,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085025724932687,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540841628006113,
+            "release_required_pad_clearance": 0.0525128624663435,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0969132305190474,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076299309730529785,
+            "max_z_decrease": 0.0076299309730529785,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035100870572318095,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076299309730529785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021181753858358545,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076299309730529785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007629956157753697,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12275056540966034,
+              -0.40011593699455256,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12275056540966034,
+              -0.40011593699455256,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12323227825784672,
+              -0.40119363136382524,
+              0.8074602625745214
+            ],
+            "closest_button": [
+              0.12273909151554106,
+              -0.40011233091354365,
+              0.7723795175552368
+            ],
+            "closest_ee_minus_button": [
+              0.0004931867423056541,
+              -0.001081300450281597,
+              0.0350807450192846
+            ],
+            "button_min_z_position": [
+              0.12273119390010834,
+              -0.40011292695999134,
+              0.7691789269447327
+            ],
+            "min_active_finger_to_button": 0.14563797970842798,
+            "closest_active_finger": [
+              -0.018167980015277863,
+              -0.3874073922634125,
+              0.8110371828079224
+            ],
+            "closest_active_finger_button": [
+              0.12275137007236481,
+              -0.4001151919364928,
+              0.7765311002731323
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14091935008764267,
+              0.012707799673080333,
+              0.03450608253479004
+            ],
+            "min_contact_pad_to_button": 0.021181753858358545,
+            "closest_contact_pad": [
+              0.12273119390010834,
+              -0.4021291778946856,
+              0.7902645008919704
+            ],
+            "closest_contact_pad_button": [
+              0.12273119390010834,
+              -0.40011292695999134,
+              0.7691789269447327
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020162509346942636,
+              0.021085573947237757
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2720827592367586,
+              0.2024329148746258,
+              1.1046806741193294
+            ],
+            "current_z": 1.1046806741193294,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1947715443849668,
+            "gripper_z": 1.1046804978276956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27208270593231254,
+              0.2024328737146023,
+              1.1046804978276956
+            ],
+            "object_minus_gripper": [
+              5.330444607931639e-08,
+              4.1160023500630416e-08,
+              1.7629163373555912e-07
+            ],
+            "object_to_gripper_xy": 6.7346206325191e-08,
+            "object_to_gripper_z": 1.7629163373555912e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2720827592367586,
+              0.2024329148746258,
+              1.1046806741193294
+            ],
+            "finger_b": [
+              0.2720827592367586,
+              0.2024329148746258,
+              1.1046806741193294
+            ],
+            "finger_midpoint": [
+              0.2720827592367586,
+              0.2024329148746258,
+              1.1046806741193294
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046806741193294,
+            "object_top_z": 1.229689180739609,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2720827592367587,
+            0.20243291487462578,
+            1.1046806741193294
+          ],
+          "object_origin_world": [
+            0.2720827592367587,
+            0.20243291487462578,
+            1.1046806741193294
+          ],
+          "frame_world": [
+            0.27208270593231254,
+            0.2024328737146023,
+            1.1046804978276956
+          ],
+          "center_minus_frame": [
+            5.3304446134827543e-08,
+            4.116002347287484e-08,
+            1.7629163373555912e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043417637513981,
+            "required_z": 0.9112599603715779,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016160035747179388,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.058838312720391e-08,
+            "max_target_xy_drift": 1.364981907367242e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.09691326513659886,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.09691328527908154,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27738338817200403,
+              -0.34402841755110247,
+              0.9235294395176165
+            ],
+            "target_mouth_xy": [
+              0.27616734391575176,
+              -0.3429672928707057
+            ],
+            "rod_tip_z": 0.9235294395176165,
+            "rod_tip_depth": -0.022269550637413427,
+            "rod_tip_bottom_clearance": 0.12171011648684893,
+            "rod_tip_xy_dist": 0.0016139235485335935,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04473117296930662,
+            "min_rod_tip_bottom_clearance": 0.0547093894263998,
+            "min_rod_tip_xy_dist": 0.00012851391726466618,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2761673438678794,
+              -0.3429673534590699
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.78723727326269e-11,
+              6.058836421463099e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0016620638003720378,
+                0.0006732991415664413
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015821028306362561,
+                0.0002755267270057038
+              ],
+              "first_target_mouth_xy": [
+                0.27616740129056544,
+                -0.342967293530395
+              ],
+              "last_target_mouth_xy": [
+                0.2761674017999474,
+                -0.34296735280485147
+              ],
+              "first_rod_tip_xy": [
+                0.2778294650909375,
+                -0.34229399438882857
+              ],
+              "last_rod_tip_xy": [
+                0.2777495046305837,
+                -0.34269182607784576
+              ],
+              "min_rod_tip_xy_dist": 0.0016053208937775994,
+              "max_rod_tip_xy_dist": 0.0017932617797023524,
+              "first_target_xy_drift": 8.299886113619412e-08,
+              "last_target_xy_drift": 5.793576191101498e-08,
+              "max_depth": 0.019865121992047152,
+              "min_bottom_clearance": 0.07957537870057418
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0016620638003720378,
+                  0.0006732991415664413
+                ],
+                "rod_tip_xy": [
+                  0.2778294650909375,
+                  -0.34229399438882857
+                ],
+                "target_mouth_xy": [
+                  0.27616740129056544,
+                  -0.342967293530395
+                ],
+                "gripper_position": [
+                  0.2778180286799077,
+                  -0.34230132484347037,
+                  1.0056604793637332
+                ],
+                "rod_tip_xy_dist": 0.0017932617797023524,
+                "target_xy_drift": 8.299886113619412e-08,
+                "depth": 0.015457584661935253,
+                "bottom_clearance": 0.08398292412904007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001650628333003834,
+                  0.0006659955122260142
+                ],
+                "rod_tip_xy": [
+                  0.27781802867990757,
+                  -0.3423013248434704
+                ],
+                "target_mouth_xy": [
+                  0.27616740034690374,
+                  -0.34296732035569644
+                ],
+                "gripper_position": [
+                  0.2778267535322022,
+                  -0.34236911019804367,
+                  1.0051409077404738
+                ],
+                "rod_tip_xy_dist": 0.0017799224466308096,
+                "target_xy_drift": 6.54653612784076e-08,
+                "depth": 0.015599410144806813,
+                "bottom_clearance": 0.08384120457758748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016593207947554478,
+                  0.0005981820125080528
+                ],
+                "rod_tip_xy": [
+                  0.2778267535322021,
+                  -0.3423691101980437
+                ],
+                "target_mouth_xy": [
+                  0.27616743273744665,
+                  -0.3429672922105518
+                ],
+                "gripper_position": [
+                  0.27781516327198297,
+                  -0.3423763538946084,
+                  1.0049992921168098
+                ],
+                "rod_tip_xy_dist": 0.0017638501126785223,
+                "target_xy_drift": 1.0793137152936003e-07,
+                "depth": 0.01611898825959035,
+                "bottom_clearance": 0.08332157861704326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001647761447971241,
+                  0.000590967459537628
+                ],
+                "rod_tip_xy": [
+                  0.2778151632719829,
+                  -0.3423763538946084
+                ],
+                "target_mouth_xy": [
+                  0.27616740182401167,
+                  -0.34296732135414604
+                ],
+                "gripper_position": [
+                  0.2778065426546009,
+                  -0.34237675555310076,
+                  1.0048747124510924
+                ],
+                "rod_tip_xy_dist": 0.0017505314414921656,
+                "target_xy_drift": 6.625435387084062e-08,
+                "depth": 0.016260487533248713,
+                "bottom_clearance": 0.08318006000135247,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016391086914230857,
+                  0.0005905661231704329
+                ],
+                "rod_tip_xy": [
+                  0.2778065426546008,
+                  -0.34237675555310076
+                ],
+                "target_mouth_xy": [
+                  0.2761674339631777,
+                  -0.3429673216762712
+                ],
+                "gripper_position": [
+                  0.2778162492663431,
+                  -0.3424458222032737,
+                  1.0043563276292127
+                ],
+                "rod_tip_xy_dist": 0.0017422530379182168,
+                "target_xy_drift": 9.553695136735115e-08,
+                "depth": 0.01638519919099546,
+                "bottom_clearance": 0.08305542657511433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016488775805379996,
+                  0.0005215286231718408
+                ],
+                "rod_tip_xy": [
+                  0.277816249266343,
+                  -0.3424458222032737
+                ],
+                "target_mouth_xy": [
+                  0.276167371685805,
+                  -0.3429673508264455
+                ],
+                "gripper_position": [
+                  0.2778045630368837,
+                  -0.3424527404446496,
+                  1.0042147933700512
+                ],
+                "rod_tip_xy_dist": 0.001729389886748608,
+                "target_xy_drift": 2.7942220698248133e-08,
+                "depth": 0.01690351526846734,
+                "bottom_clearance": 0.08253703197142648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016371904241943014,
+                  0.0005146467365715335
+                ],
+                "rod_tip_xy": [
+                  0.27780456303688367,
+                  -0.3424527404446496
+                ],
+                "target_mouth_xy": [
+                  0.27616737261268937,
+                  -0.3429673871812211
+                ],
+                "gripper_position": [
+                  0.2777957615015684,
+                  -0.34245334536113103,
+                  1.0040906789083488
+                ],
+                "rod_tip_xy_dist": 0.0017161741603162674,
+                "target_xy_drift": 4.431080659363632e-08,
+                "depth": 0.01704510989995789,
+                "bottom_clearance": 0.08239557921871754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001628422726733303,
+                  0.000513946170500712
+                ],
+                "rod_tip_xy": [
+                  0.27779576150156826,
+                  -0.34245334536113103
+                ],
+                "target_mouth_xy": [
+                  0.27616733877483496,
+                  -0.34296729153163175
+                ],
+                "gripper_position": [
+                  0.27778687225825793,
+                  -0.34245409759368534,
+                  1.003966255275373
+                ],
+                "rod_tip_xy_dist": 0.0017076010198854626,
+                "target_xy_drift": 6.213651664516667e-08,
+                "depth": 0.017169252927847878,
+                "bottom_clearance": 0.08227140215803941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001619468901840282,
+                  0.000513226391490651
+                ],
+                "rod_tip_xy": [
+                  0.2777868722582579,
+                  -0.3424540975936853
+                ],
+                "target_mouth_xy": [
+                  0.2761674033564176,
+                  -0.34296732398517593
+                ],
+                "gripper_position": [
+                  0.2777983300647321,
+                  -0.3425252329855462,
+                  1.0034479035583914
+                ],
+                "rod_tip_xy_dist": 0.0016988469186334254,
+                "target_xy_drift": 6.638973267768416e-08,
+                "depth": 0.017293650436546737,
+                "bottom_clearance": 0.08214694543154055,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016309270446294155,
+                  0.00044209001572637074
+                ],
+                "rod_tip_xy": [
+                  0.27779833006473204,
+                  -0.34252523298554627
+                ],
+                "target_mouth_xy": [
+                  0.2761674030201026,
+                  -0.34296732300127264
+                ],
+                "gripper_position": [
+                  0.27778667806469926,
+                  -0.3425319209256736,
+                  1.0033065115291662
+                ],
+                "rod_tip_xy_dist": 0.0016897830058645348,
+                "target_xy_drift": 6.653317164052014e-08,
+                "depth": 0.017811981852633108,
+                "bottom_clearance": 0.08162856579831501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001619337642912999,
+                  0.0004354037142212386
+                ],
+                "rod_tip_xy": [
+                  0.2777866780646992,
+                  -0.34253192092567364
+                ],
+                "target_mouth_xy": [
+                  0.2761673404217862,
+                  -0.3429673246398949
+                ],
+                "gripper_position": [
+                  0.27777773315229126,
+                  -0.3425324951792455,
+                  1.0031823220907845
+                ],
+                "rod_tip_xy_dist": 0.0016768514532040928,
+                "target_xy_drift": 2.9024479471960977e-08,
+                "depth": 0.017953435922036687,
+                "bottom_clearance": 0.08148716841886061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016103319724022347,
+                  0.00043482782299830713
+                ],
+                "rod_tip_xy": [
+                  0.2777777331522912,
+                  -0.34253249517924556
+                ],
+                "target_mouth_xy": [
+                  0.27616740117988897,
+                  -0.34296732300224386
+                ],
+                "gripper_position": [
+                  0.27776877291529173,
+                  -0.3425328449918614,
+                  1.0030578668642351
+                ],
+                "rod_tip_xy_dist": 0.0016680060842198144,
+                "target_xy_drift": 6.490211626838871e-08,
+                "depth": 0.01807750126280183,
+                "bottom_clearance": 0.08136300001911545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0016014013659784165,
+                  0.0004344766897677599
+                ],
+                "rod_tip_xy": [
+                  0.2777687729152917,
+                  -0.34253284499186143
+                ],
+                "target_mouth_xy": [
+                  0.27616737154931326,
+                  -0.3429673216816292
+                ],
+                "gripper_position": [
+                  0.27778172893912156,
+                  -0.342606224085928,
+                  1.002542309767717
+                ],
+                "rod_tip_xy_dist": 0.0016592939248093114,
+                "target_xy_drift": 4.2143416099985763e-08,
+                "depth": 0.018201968489550135,
+                "bottom_clearance": 0.0812385606122018,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016143558293938431,
+                  0.0003611303588169634
+                ],
+                "rod_tip_xy": [
+                  0.27778172893912145,
+                  -0.342606224085928
+                ],
+                "target_mouth_xy": [
+                  0.2761673731097276,
+                  -0.34296735444474497
+                ],
+                "gripper_position": [
+                  0.27776984427664525,
+                  -0.34261326338816656,
+                  1.002401076858054
+                ],
+                "rod_tip_xy_dist": 0.0016542550830984778,
+                "target_xy_drift": 2.9258455916969886e-08,
+                "depth": 0.018717604158595025,
+                "bottom_clearance": 0.08072299815082418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016024714993339573,
+                  0.0003540894158488017
+                ],
+                "rod_tip_xy": [
+                  0.2777698442766452,
+                  -0.34261326338816656
+                ],
+                "target_mouth_xy": [
+                  0.27616737277731124,
+                  -0.34296735280401536
+                ],
+                "gripper_position": [
+                  0.27776076486638324,
+                  -0.3426134930531992,
+                  1.002277181808515
+                ],
+                "rod_tip_xy_dist": 0.0016411259002872896,
+                "target_xy_drift": 2.8916852288632538e-08,
+                "depth": 0.01885874542418786,
+                "bottom_clearance": 0.08058178525386606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015933941849916589,
+                  0.0003538613910810673
+                ],
+                "rod_tip_xy": [
+                  0.2777607648663831,
+                  -0.3426134930531992
+                ],
+                "target_mouth_xy": [
+                  0.27616737068139147,
+                  -0.3429673544442803
+                ],
+                "gripper_position": [
+                  0.27775165953600817,
+                  -0.34261391498864685,
+                  1.0021528873645071
+                ],
+                "rod_tip_xy_dist": 0.001632214113669852,
+                "target_xy_drift": 2.683160579187582e-08,
+                "depth": 0.018982751683710997,
+                "bottom_clearance": 0.0804578350426498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015842867998024923,
+                  0.0003534378154390616
+                ],
+                "rod_tip_xy": [
+                  0.27775165953600806,
+                  -0.3426139149886468
+                ],
+                "target_mouth_xy": [
+                  0.27616737273620556,
+                  -0.34296735280408586
+                ],
+                "gripper_position": [
+                  0.27774252461646726,
+                  -0.3426143208509995,
+                  1.002029272416723
+                ],
+                "rod_tip_xy_dist": 0.001623232254919412,
+                "target_xy_drift": 2.8875755578269977e-08,
+                "depth": 0.019106934589988245,
+                "bottom_clearance": 0.08033359450638333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015751555418160312,
+                  0.0003530325983686078
+                ],
+                "rod_tip_xy": [
+                  0.27774252461646715,
+                  -0.3426143208509995
+                ],
+                "target_mouth_xy": [
+                  0.2761673690746511,
+                  -0.34296735344936813
+                ],
+                "gripper_position": [
+                  0.2777334363785889,
+                  -0.3426144877603611,
+                  1.0019049976215708
+                ],
+                "rod_tip_xy_dist": 0.0016142326339238238,
+                "target_xy_drift": 2.5206773592515414e-08,
+                "depth": 0.01923063293467342,
+                "bottom_clearance": 0.08020998047900463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015660659942935418,
+                  0.00035283490971882436
+                ],
+                "rod_tip_xy": [
+                  0.2777334363785888,
+                  -0.3426144877603611
+                ],
+                "target_mouth_xy": [
+                  0.2761673703842953,
+                  -0.3429673226700799
+                ],
+                "gripper_position": [
+                  0.2777495046305838,
+                  -0.3426918260778458,
+                  1.0013946940813672
+                ],
+                "rod_tip_xy_dist": 0.0016053208937775994,
+                "target_xy_drift": 4.0633511030885255e-08,
+                "depth": 0.01935485554554217,
+                "bottom_clearance": 0.08008568297067253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0015821028306362561,
+                  0.0002755267270057038
+                ],
+                "rod_tip_xy": [
+                  0.2777495046305837,
+                  -0.34269182607784576
+                ],
+                "target_mouth_xy": [
+                  0.2761674017999474,
+                  -0.34296735280485147
+                ],
+                "gripper_position": [
+                  0.2777374420116745,
+                  -0.3426988040655413,
+                  1.001253550186335
+                ],
+                "rod_tip_xy_dist": 0.0016059154224309976,
+                "target_xy_drift": 5.793576191101498e-08,
+                "depth": 0.019865121992047152,
+                "bottom_clearance": 0.07957537870057418,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006032234258013638,
+              "rod_tip_xy_max_step": 3.2675040643075014e-05,
+              "rod_tip_xy_range": 0.0006032160572504966,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2773833881720041,
+            -0.34402841755110247,
+            1.0435294395176165
+          ],
+          "object_origin_world": [
+            0.2773833881720041,
+            -0.34402841755110247,
+            1.0435294395176165
+          ],
+          "frame_world": [
+            0.2773817491760465,
+            -0.34403344830837396,
+            1.043417637513981
+          ],
+          "center_minus_frame": [
+            1.6389959575646706e-06,
+            5.03075727148472e-06,
+            0.00011180200363547499
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2607605222165585,
+              0.15406331953488828,
+              0.8330683745693187
+            ],
+            "target_position": [
+              0.27222958564100774,
+              0.20088396478888582,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048204898483813055,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16757122075986816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330683745693187,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567079946663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13626938682727788,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2db9dfaf6b7d480f24a231a5074cbb0c36aafa012250c80c36916228ebe74677",
+    "visual_seed": 7483782999369460436,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf933afc03abcac7b71d930bb682c6e5de5cffd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_66_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2985223022740098,
+              0.07724446338003481,
+              1.1644441766735942
+            ],
+            "current_z": 1.1644441766735942,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3033374302402492,
+            "gripper_z": 1.156608594735228,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29326050820773214,
+              0.07226049542027413,
+              1.156608594735228
+            ],
+            "object_minus_gripper": [
+              0.005261794066277636,
+              0.0049839679597606795,
+              0.007835581938366198
+            ],
+            "object_to_gripper_xy": 0.007247510843029873,
+            "object_to_gripper_z": 0.007835581938366198,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2985223022740098,
+              0.0528768253661304,
+              1.1644441766735942
+            ],
+            "finger_b": [
+              0.28751796086923215,
+              0.07724446338003481,
+              1.1644441766735942
+            ],
+            "finger_midpoint": [
+              0.293020131571621,
+              0.06506064437308261,
+              1.1644441766735942
+            ],
+            "object_minus_finger_midpoint": [
+              0.005502170702388787,
+              0.012183819006952201,
+              0.0
+            ],
+            "finger_gap": 0.02673718968271689,
+            "fingertip_max_gap": 0.09135268046285047,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01336859484135843,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644441766735942,
+            "object_top_z": 1.2143302797898614,
+            "finger_top_clearance": 0.04988610311626718,
+            "fingertip_min_top_clearance": 0.014965830934880152,
+            "object_projection_between_fingers": 0.8306065562604498,
+            "object_to_finger_line_xy": 0.010029094722186722,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817634023142524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0673446592005622,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27572701452425863,
+              -0.34192001854851883,
+              0.8515395858158414
+            ],
+            "target_position": [
+              0.26822456758330726,
+              -0.3423290769845125,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075135902806746195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18423066322839232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395858158414,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547970515257392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08690622567441826,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217149483039977,
+            "release_required_pad_clearance": 0.05345311283720913,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9196231753600506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007370293140411377,
+            "max_z_decrease": 0.007370293140411377,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120061911685915,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007370293140411377,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021074697114641935,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007370293140411377,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007370318905166275,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12392449378967281,
+              -0.3985905349254607,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12392449378967281,
+              -0.3985905349254607,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12404992157225711,
+              -0.3975518040172117,
+              0.8080743082073525
+            ],
+            "closest_button": [
+              0.12391843646764752,
+              -0.3985900282859801,
+              0.7729698419570923
+            ],
+            "closest_ee_minus_button": [
+              0.0001314851046095855,
+              0.0010382242687684284,
+              0.0351044662502602
+            ],
+            "button_min_z_position": [
+              0.12390504032373424,
+              -0.3985893726348876,
+              0.7694385647773743
+            ],
+            "min_active_finger_to_button": 0.14564205521340087,
+            "closest_active_finger": [
+              -0.004021629691123962,
+              -0.45912131667137146,
+              0.8110501170158386
+            ],
+            "closest_active_finger_button": [
+              0.12392895668745038,
+              -0.3985888063907623,
+              0.776756227016449
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12795058637857434,
+              -0.060532510280609186,
+              0.03429388999938965
+            ],
+            "min_contact_pad_to_button": 0.021074697114641935,
+            "closest_contact_pad": [
+              0.12390504032373424,
+              -0.3987466335533461,
+              0.7905126751376581
+            ],
+            "closest_contact_pad_button": [
+              0.12390504032373424,
+              -0.3985893726348876,
+              0.7694385647773743
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015726091845852386,
+              0.021074110360283838
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2699627405532034,
+              0.1979162964599515,
+              1.1045547949619703
+            ],
+            "current_z": 1.1045547949619703,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19464566522760773,
+            "gripper_z": 1.1045550318196136,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26996276874553093,
+              0.1979162694877915,
+              1.1045550318196136
+            ],
+            "object_minus_gripper": [
+              -2.8192327528042682e-08,
+              2.6972160005467316e-08,
+              -2.3685764327652237e-07
+            ],
+            "object_to_gripper_xy": 3.901672393742155e-08,
+            "object_to_gripper_z": -2.3685764327652237e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2699627405532034,
+              0.1979162964599515,
+              1.1045547949619703
+            ],
+            "finger_b": [
+              0.2699627405532034,
+              0.1979162964599515,
+              1.1045547949619703
+            ],
+            "finger_midpoint": [
+              0.2699627405532034,
+              0.1979162964599515,
+              1.1045547949619703
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045547949619703,
+            "object_top_z": 1.22956330158225,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2699627405532034,
+            0.1979162964599515,
+            1.1045547949619703
+          ],
+          "object_origin_world": [
+            0.2699627405532034,
+            0.1979162964599515,
+            1.1045547949619703
+          ],
+          "frame_world": [
+            0.26996276874553093,
+            0.1979162694877915,
+            1.1045550318196136
+          ],
+          "center_minus_frame": [
+            -2.8192327528042682e-08,
+            2.6972160005467316e-08,
+            -2.3685764327652237e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434344327836607,
+            "required_z": 0.9112598360562867,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013612814674008702,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.112690000900417e-08,
+            "max_target_xy_drift": 2.9808506613444074e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.919623178914374,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9196231789542528,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2770034083430205,
+              -0.3414379018440492,
+              0.9235458643507984
+            ],
+            "target_mouth_xy": [
+              0.27572701035967634,
+              -0.34191999074157514
+            ],
+            "rod_tip_z": 0.9235458643507984,
+            "rod_tip_depth": -0.02228602986256989,
+            "rod_tip_bottom_clearance": 0.12172655112664132,
+            "rod_tip_xy_dist": 0.001364405187985897,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04478355560127656,
+            "min_rod_tip_bottom_clearance": 0.05465696483162241,
+            "min_rod_tip_xy_dist": 0.0003231215576957109,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27572701030484054,
+              -0.34191995961472343
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.4835802565378344e-11,
+              -3.112685170725271e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0017100644558183942,
+                0.002249187771771466
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001623997709982894,
+                0.0018676844352145672
+              ],
+              "first_target_mouth_xy": [
+                0.2757269790837384,
+                -0.341920050360178
+              ],
+              "last_target_mouth_xy": [
+                0.27572698203189855,
+                -0.34192001669593164
+              ],
+              "first_rod_tip_xy": [
+                0.2774370435395568,
+                -0.3396708625884065
+              ],
+              "last_rod_tip_xy": [
+                0.27735097974188144,
+                -0.34005233226071707
+              ],
+              "min_rod_tip_xy_dist": 0.0024749977195085335,
+              "max_rod_tip_xy_dist": 0.002825449712123674,
+              "first_target_xy_drift": 9.596611245086697e-08,
+              "last_target_xy_drift": 6.369947863780684e-08,
+              "max_depth": 0.019427304892176478,
+              "min_bottom_clearance": 0.0800133365890714
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0017100644558183942,
+                  0.002249187771771466
+                ],
+                "rod_tip_xy": [
+                  0.2774370435395568,
+                  -0.3396708625884065
+                ],
+                "target_mouth_xy": [
+                  0.2757269790837384,
+                  -0.341920050360178
+                ],
+                "gripper_position": [
+                  0.27744525783689267,
+                  -0.3397371571418038,
+                  1.0057141275120336
+                ],
+                "rod_tip_xy_dist": 0.002825449712123674,
+                "target_xy_drift": 9.596611245086697e-08,
+                "depth": 0.015026490492409672,
+                "bottom_clearance": 0.0844140861819519,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0017182738944546139,
+                  0.002182890260095438
+                ],
+                "rod_tip_xy": [
+                  0.27744525783689267,
+                  -0.33973715714180375
+                ],
+                "target_mouth_xy": [
+                  0.27572698394243805,
+                  -0.3419200474018992
+                ],
+                "gripper_position": [
+                  0.2774337447040456,
+                  -0.33974395515596895,
+                  1.0055732996418516
+                ],
+                "rod_tip_xy_dist": 0.0027780343885531284,
+                "target_xy_drift": 9.166004849998524e-08,
+                "depth": 0.015545806347924573,
+                "bottom_clearance": 0.0838948729025446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001706765905635288,
+                  0.002176095506339737
+                ],
+                "rod_tip_xy": [
+                  0.2774337447040456,
+                  -0.339743955155969
+                ],
+                "target_mouth_xy": [
+                  0.2757269787984103,
+                  -0.34192005066230874
+                ],
+                "gripper_position": [
+                  0.27742498489336936,
+                  -0.3397447444270352,
+                  1.0054494218548577
+                ],
+                "rod_tip_xy_dist": 0.0027655815860955974,
+                "target_xy_drift": 9.634478676292677e-08,
+                "depth": 0.01568659337608047,
+                "bottom_clearance": 0.0837540050991169,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016979718490427453,
+                  0.0021753036256899616
+                ],
+                "rod_tip_xy": [
+                  0.27742498489336936,
+                  -0.3397447444270352
+                ],
+                "target_mouth_xy": [
+                  0.2757270130443266,
+                  -0.34192004805272513
+                ],
+                "gripper_position": [
+                  0.27743459340883647,
+                  -0.3398119570850529,
+                  1.0049302024391247
+                ],
+                "rod_tip_xy_dist": 0.002759538777419432,
+                "target_xy_drift": 8.84804211598569e-08,
+                "depth": 0.01581049504322829,
+                "bottom_clearance": 0.08363013401882258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017076126371133316,
+                  0.002108094202264821
+                ],
+                "rod_tip_xy": [
+                  0.27743459340883647,
+                  -0.33981195708505296
+                ],
+                "target_mouth_xy": [
+                  0.27572698077172314,
+                  -0.3419200512873178
+                ],
+                "gripper_position": [
+                  0.2774229303077733,
+                  -0.33981903874035513,
+                  1.0047896090006014
+                ],
+                "rod_tip_xy_dist": 0.002712932377345904,
+                "target_xy_drift": 9.631235423244556e-08,
+                "depth": 0.016329643398524163,
+                "bottom_clearance": 0.08311090468149362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001695949306758593,
+                  0.002100948794912738
+                ],
+                "rod_tip_xy": [
+                  0.2774229303077733,
+                  -0.33981903874035513
+                ],
+                "target_mouth_xy": [
+                  0.2757269810010147,
+                  -0.34191998753526787
+                ],
+                "gripper_position": [
+                  0.27741412840532287,
+                  -0.3398195027510834,
+                  1.0046656039255657
+                ],
+                "rod_tip_xy_dist": 0.0027000425718755323,
+                "target_xy_drift": 4.047556063235096e-08,
+                "depth": 0.016470307916916727,
+                "bottom_clearance": 0.08297027140733804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016871465836193478,
+                  0.0021005155402152864
+                ],
+                "rod_tip_xy": [
+                  0.27741412840532287,
+                  -0.3398195027510834
+                ],
+                "target_mouth_xy": [
+                  0.2757269818217035,
+                  -0.3419200182912987
+                ],
+                "gripper_position": [
+                  0.2774247561240755,
+                  -0.3398878668810888,
+                  1.0041478042941316
+                ],
+                "rod_tip_xy_dist": 0.002694184316134357,
+                "target_xy_drift": 6.522445537612147e-08,
+                "depth": 0.01659424215305383,
+                "bottom_clearance": 0.08284633246416528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016977444883659043,
+                  0.002032149818800011
+                ],
+                "rod_tip_xy": [
+                  0.2774247561240755,
+                  -0.33988786688108885
+                ],
+                "target_mouth_xy": [
+                  0.2757270116357096,
+                  -0.34192001669988886
+                ],
+                "gripper_position": [
+                  0.277413075807165,
+                  -0.3398945930789216,
+                  1.004007235707662
+                ],
+                "rod_tip_xy_dist": 0.0026480123175366315,
+                "target_xy_drift": 5.7100677092801885e-08,
+                "depth": 0.017112130317075813,
+                "bottom_clearance": 0.08232850362029476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001686093150620016,
+                  0.0020254549989037196
+                ],
+                "rod_tip_xy": [
+                  0.277413075807165,
+                  -0.33989459307892167
+                ],
+                "target_mouth_xy": [
+                  0.275726982656545,
+                  -0.3419200480778254
+                ],
+                "gripper_position": [
+                  0.27740418338855627,
+                  -0.33989476110721545,
+                  1.0038834776556425
+                ],
+                "rod_tip_xy_dist": 0.0026354085195945997,
+                "target_xy_drift": 9.268305483663772e-08,
+                "depth": 0.017252676417493618,
+                "bottom_clearance": 0.08218792989552881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016772015802394291,
+                  0.0020252860404965656
+                ],
+                "rod_tip_xy": [
+                  0.27740418338855627,
+                  -0.3398947611072154
+                ],
+                "target_mouth_xy": [
+                  0.27572698180831684,
+                  -0.34192004714771196
+                ],
+                "gripper_position": [
+                  0.2774155970937938,
+                  -0.33996431146131356,
+                  1.0033684810995485
+                ],
+                "rod_tip_xy_dist": 0.002629598578982711,
+                "target_xy_drift": 9.205474427069522e-08,
+                "depth": 0.017376385466511657,
+                "bottom_clearance": 0.08206422365026556,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016886153395391235,
+                  0.0019557391771822807
+                ],
+                "rod_tip_xy": [
+                  0.2774155970937938,
+                  -0.33996431146131356
+                ],
+                "target_mouth_xy": [
+                  0.2757269817542547,
+                  -0.34192005063849584
+                ],
+                "gripper_position": [
+                  0.2774037824548711,
+                  -0.33997120904466066,
+                  1.0032276992716032
+                ],
+                "rod_tip_xy_dist": 0.002583860966478741,
+                "target_xy_drift": 9.53963473894427e-08,
+                "depth": 0.017891352663733318,
+                "bottom_clearance": 0.0815491938831131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001676804785534225,
+                  0.0019488080485804415
+                ],
+                "rod_tip_xy": [
+                  0.2774037824548711,
+                  -0.3399712090446607
+                ],
+                "target_mouth_xy": [
+                  0.27572697766933685,
+                  -0.34192001709324116
+                ],
+                "gripper_position": [
+                  0.2773948253193479,
+                  -0.339971160517357,
+                  1.003104352180629
+                ],
+                "rod_tip_xy_dist": 0.0025709000562064615,
+                "target_xy_drift": 6.609732294616511e-08,
+                "depth": 0.018032260657123933,
+                "bottom_clearance": 0.08140844905719469,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016678422321937392,
+                  0.0019488577435712306
+                ],
+                "rod_tip_xy": [
+                  0.27739482531934784,
+                  -0.339971160517357
+                ],
+                "target_mouth_xy": [
+                  0.2757269830871541,
+                  -0.3419200182609282
+                ],
+                "gripper_position": [
+                  0.277385753415584,
+                  -0.3399717152398911,
+                  1.0029808210189566
+                ],
+                "rod_tip_xy_dist": 0.002565101209731605,
+                "target_xy_drift": 6.465430991274313e-08,
+                "depth": 0.01815556338451707,
+                "bottom_clearance": 0.08128505951656406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016587401644282407,
+                  0.0019483331238284718
+                ],
+                "rod_tip_xy": [
+                  0.277385753415584,
+                  -0.3399717152398911
+                ],
+                "target_mouth_xy": [
+                  0.2757270132511558,
+                  -0.3419200483637196
+                ],
+                "gripper_position": [
+                  0.27737666625178764,
+                  -0.33997201382768766,
+                  1.0028572061792176
+                ],
+                "rod_tip_xy_dist": 0.0025587928588486093,
+                "target_xy_drift": 8.87978890038387e-08,
+                "depth": 0.018279091769367706,
+                "bottom_clearance": 0.08116153349611743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0016496853156710567,
+                  0.0019480380844924539
+                ],
+                "rod_tip_xy": [
+                  0.27737666625178764,
+                  -0.3399720138276877
+                ],
+                "target_mouth_xy": [
+                  0.2757269809361166,
+                  -0.34192005191218017
+                ],
+                "gripper_position": [
+                  0.27739032809596,
+                  -0.3400450855718768,
+                  1.0023433253362588
+                ],
+                "rod_tip_xy_dist": 0.002552707194210441,
+                "target_xy_drift": 9.685733047113239e-08,
+                "depth": 0.018402646533319467,
+                "bottom_clearance": 0.0810379185268556,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016632541718496485,
+                  0.0018748090164152353
+                ],
+                "rod_tip_xy": [
+                  0.27739032809596,
+                  -0.34004508557187674
+                ],
+                "target_mouth_xy": [
+                  0.27572707392411033,
+                  -0.341919894588292
+                ],
+                "gripper_position": [
+                  0.2773783578110992,
+                  -0.34005183018048285,
+                  1.002202677051236
+                ],
+                "rod_tip_xy_dist": 0.002506256828061945,
+                "target_xy_drift": 9.097168943195595e-08,
+                "depth": 0.018916741295096462,
+                "bottom_clearance": 0.08052410010071565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016513462150777314,
+                  0.0018681887447097312
+                ],
+                "rod_tip_xy": [
+                  0.2773783578110992,
+                  -0.3400518301804828
+                ],
+                "target_mouth_xy": [
+                  0.2757270115960215,
+                  -0.3419200189251925
+                ],
+                "gripper_position": [
+                  0.2773691989415089,
+                  -0.34005199403902525,
+                  1.0020792655717645
+                ],
+                "rod_tip_xy_dist": 0.0024934060054294547,
+                "target_xy_drift": 5.932452184453495e-08,
+                "depth": 0.01905715733466906,
+                "bottom_clearance": 0.08038339278803697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001642185387148165,
+                  0.00186802357639837
+                ],
+                "rod_tip_xy": [
+                  0.2773691989415089,
+                  -0.3400519940390253
+                ],
+                "target_mouth_xy": [
+                  0.27572701355436074,
+                  -0.3419200176154237
+                ],
+                "gripper_position": [
+                  0.2773601158240221,
+                  -0.34005210369380984,
+                  1.0019559702474954
+                ],
+                "rod_tip_xy_dist": 0.0024872243420614726,
+                "target_xy_drift": 5.809165697604362e-08,
+                "depth": 0.01918066659618123,
+                "bottom_clearance": 0.08026000497058361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001633136380580713,
+                  0.0018679463591048107
+                ],
+                "rod_tip_xy": [
+                  0.2773601158240221,
+                  -0.3400521036938099
+                ],
+                "target_mouth_xy": [
+                  0.2757269794434414,
+                  -0.3419200500529147
+                ],
+                "gripper_position": [
+                  0.2773509797418815,
+                  -0.34005233226071707,
+                  1.0018325716496612
+                ],
+                "rod_tip_xy_dist": 0.0024812009265815596,
+                "target_xy_drift": 9.555884259480437e-08,
+                "depth": 0.01930389199628546,
+                "bottom_clearance": 0.08013665991598595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001623997709982894,
+                  0.0018676844352145672
+                ],
+                "rod_tip_xy": [
+                  0.27735097974188144,
+                  -0.34005233226071707
+                ],
+                "target_mouth_xy": [
+                  0.27572698203189855,
+                  -0.34192001669593164
+                ],
+                "gripper_position": [
+                  0.2773416533905332,
+                  -0.3400526970276155,
+                  1.0017094063204455
+                ],
+                "rod_tip_xy_dist": 0.0024749977195085335,
+                "target_xy_drift": 6.369947863780684e-08,
+                "depth": 0.019427304892176478,
+                "bottom_clearance": 0.0800133365890714,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006038158854436298,
+              "rod_tip_xy_max_step": 3.2594420317306784e-05,
+              "rod_tip_xy_range": 0.0006038083360749526,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2770034083430205,
+            -0.3414379018440492,
+            1.0435458643507984
+          ],
+          "object_origin_world": [
+            0.2770034083430205,
+            -0.3414379018440492,
+            1.0435458643507984
+          ],
+          "frame_world": [
+            0.277001835982599,
+            -0.3414425948213695,
+            1.0434344327836607
+          ],
+          "center_minus_frame": [
+            1.5723604215311937e-06,
+            4.6929773203086e-06,
+            0.00011143156713777636
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2581057364458458,
+              0.15057914852070375,
+              0.8329016698977316
+            ],
+            "target_position": [
+              0.2701103336922534,
+              0.19737683828219077,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04831287739372231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16709491443622526,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329016698977316,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672461028049,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1358676222181547,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8503ac9e66e58bef9e07753c9ca976963bbab0ff352d4c417692bd1ef736ae7",
+    "visual_seed": 2792127618358207117,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..183e57c97211bb95cdb06ecdd91a57072dc6c255
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_67_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3060432122611616,
+              0.07117724837098062,
+              1.1655235611898045
+            ],
+            "current_z": 1.1655235611898045,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30441681475645943,
+            "gripper_z": 1.1573676011013456,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30078425369250106,
+              0.06622912762448957,
+              1.1573676011013456
+            ],
+            "object_minus_gripper": [
+              0.005258958568660543,
+              0.00494812074649105,
+              0.008155960088458869
+            ],
+            "object_to_gripper_xy": 0.0072208409585548475,
+            "object_to_gripper_z": 0.008155960088458869,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3060432122611616,
+              0.046779518535643036,
+              1.1655235611898045
+            ],
+            "finger_b": [
+              0.2951330989015894,
+              0.07117724837098062,
+              1.1655235611898045
+            ],
+            "finger_midpoint": [
+              0.3005881555813755,
+              0.05897838345331183,
+              1.1655235611898045
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054550566797860744,
+              0.012198864917668792,
+              0.0
+            ],
+            "finger_gap": 0.02672601344452325,
+            "fingertip_max_gap": 0.0914558186537048,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013363006722261614,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655235611898045,
+            "object_top_z": 1.215456411838305,
+            "finger_top_clearance": 0.049932850648500615,
+            "fingertip_min_top_clearance": 0.014979855194550184,
+            "object_projection_between_fingers": 0.8333558160087186,
+            "object_to_finger_line_xy": 0.009959659669118983,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048227909326852406,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2195459510162985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2817507123005391,
+              -0.34275380892580076,
+              0.8515395207821695
+            ],
+            "target_position": [
+              0.27389729633062565,
+              -0.3434674357246583,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007885772353076102,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18362190878749302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395207821695,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577030645940669,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08785803826236822,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1509447941327709,
+            "release_required_pad_clearance": 0.053929019131184114,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8681732077246718,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007693469524383545,
+            "max_z_decrease": 0.007693469524383545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351437406710997,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007693469524383545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108574712444422,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007693469524383545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007693496155018537,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12959721684455866,
+              -0.3997288942337036,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12959721684455866,
+              -0.3997288942337036,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13104072222469956,
+              -0.39876375128039826,
+              0.8075343912469812
+            ],
+            "closest_button": [
+              0.12958560883998865,
+              -0.3997267782688141,
+              0.7724339962005615
+            ],
+            "closest_ee_minus_button": [
+              0.00145511338471091,
+              0.0009630269884158271,
+              0.03510039504641971
+            ],
+            "button_min_z_position": [
+              0.1295770406723022,
+              -0.3997272551059723,
+              0.7691153883934021
+            ],
+            "min_active_finger_to_button": 0.14449742986857553,
+            "closest_active_finger": [
+              0.004584945738315582,
+              -0.46354010701179504,
+              0.8107990622520447
+            ],
+            "closest_active_finger_button": [
+              0.12959696352481836,
+              -0.3997282087802887,
+              0.7764545679092407
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12501201778650278,
+              -0.06381189823150635,
+              0.034344494342803955
+            ],
+            "min_contact_pad_to_button": 0.02108574712444422,
+            "closest_contact_pad": [
+              0.1295770406723022,
+              -0.3997272551059723,
+              0.7902011355178463
+            ],
+            "closest_contact_pad_button": [
+              0.1295770406723022,
+              -0.3997272551059723,
+              0.7691153883934021
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108574712444422
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2796672861094114,
+              0.19282261299524384,
+              1.1109075981467855
+            ],
+            "current_z": 1.1109075981467855,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20099846841242297,
+            "gripper_z": 1.1109076729654803,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2796671997684822,
+              0.1928225997324689,
+              1.1109076729654803
+            ],
+            "object_minus_gripper": [
+              8.634092918402558e-08,
+              1.3262774933853194e-08,
+              -7.481869479519787e-08
+            ],
+            "object_to_gripper_xy": 8.735363330341197e-08,
+            "object_to_gripper_z": -7.481869479519787e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2796672861094114,
+              0.19282261299524384,
+              1.1109075981467855
+            ],
+            "finger_b": [
+              0.2796672861094114,
+              0.19282261299524384,
+              1.1109075981467855
+            ],
+            "finger_midpoint": [
+              0.2796672861094114,
+              0.19282261299524384,
+              1.1109075981467855
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1109075981467855,
+            "object_top_z": 1.2359161047670653,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2796672861094114,
+            0.19282261299524386,
+            1.1109075981467855
+          ],
+          "object_origin_world": [
+            0.2796672861094114,
+            0.19282261299524386,
+            1.1109075981467855
+          ],
+          "frame_world": [
+            0.2796671997684822,
+            0.1928225997324689,
+            1.1109076729654803
+          ],
+          "center_minus_frame": [
+            8.634092918402558e-08,
+            1.326277496160877e-08,
+            -7.481869479519787e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433222414051695,
+            "required_z": 0.9112598411753008,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005277556036470123,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.702098467422893e-08,
+            "max_target_xy_drift": 1.262565625637685e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.8684461077261965,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.868446108613446,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2822713996010503,
+              -0.34284333956769275,
+              0.9234362299889108
+            ],
+            "target_mouth_xy": [
+              0.2817507409020836,
+              -0.3427537488740808
+            ],
+            "rod_tip_z": 0.9234362299889108,
+            "rod_tip_depth": -0.022176341095959784,
+            "rod_tip_bottom_clearance": 0.12161691318898205,
+            "rod_tip_xy_dist": 0.0005283104893825196,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04479106832743174,
+            "min_rod_tip_bottom_clearance": 0.054649468943067214,
+            "min_rod_tip_xy_dist": 8.8821762997406e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28175071238859034,
+              -0.34275380952713586
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8513493233184306e-08,
+              6.06530550784079e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.001019615115235184,
+                0.0016443527065850838
+              ],
+              "last_rod_tip_xy_delta": [
+                0.000923245256933436,
+                0.001250838200755111
+              ],
+              "first_target_mouth_xy": [
+                0.281750737224418,
+                -0.34275375247234735
+              ],
+              "last_target_mouth_xy": [
+                0.2817507089379522,
+                -0.3427537501788914
+              ],
+              "first_rod_tip_xy": [
+                0.2827703523396532,
+                -0.34110939976576227
+              ],
+              "last_rod_tip_xy": [
+                0.2826739541948856,
+                -0.3415029119781363
+              ],
+              "min_rod_tip_xy_dist": 0.0015546633104689806,
+              "max_rod_tip_xy_dist": 0.0019348154451703523,
+              "first_target_xy_drift": 6.222593693543853e-08,
+              "last_target_xy_drift": 5.9448473661326565e-08,
+              "max_depth": 0.019569739357160887,
+              "min_bottom_clearance": 0.07987078983864737
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001019615115235184,
+                  0.0016443527065850838
+                ],
+                "rod_tip_xy": [
+                  0.2827703523396532,
+                  -0.34110939976576227
+                ],
+                "target_mouth_xy": [
+                  0.281750737224418,
+                  -0.34275375247234735
+                ],
+                "gripper_position": [
+                  0.2827587213975159,
+                  -0.3411168514617801,
+                  1.0060164330164854
+                ],
+                "rod_tip_xy_dist": 0.0019348154451703523,
+                "target_xy_drift": 6.222593693543853e-08,
+                "depth": 0.015098964583670993,
+                "bottom_clearance": 0.0843417006495153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010080123619072845,
+                  0.0016368676638557345
+                ],
+                "rod_tip_xy": [
+                  0.28275872139751596,
+                  -0.34111685146178017
+                ],
+                "target_mouth_xy": [
+                  0.28175070903560867,
+                  -0.3427537191256359
+                ],
+                "gripper_position": [
+                  0.2827657265273922,
+                  -0.34118274146421884,
+                  1.0054948021815737
+                ],
+                "rod_tip_xy_dist": 0.0019223487380635262,
+                "target_xy_drift": 9.046365944261449e-08,
+                "depth": 0.015243379766025744,
+                "bottom_clearance": 0.08419711280344522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010149896928101643,
+                  0.0015709799471044228
+                ],
+                "rod_tip_xy": [
+                  0.2827657265273922,
+                  -0.3411827414642188
+                ],
+                "target_mouth_xy": [
+                  0.281750736834582,
+                  -0.3427537214113232
+                ],
+                "gripper_position": [
+                  0.2827539691635016,
+                  -0.3411900908100622,
+                  1.0053504535143045
+                ],
+                "rod_tip_xy_dist": 0.0018703427682419836,
+                "target_xy_drift": 9.144398803277126e-08,
+                "depth": 0.01576510424789579,
+                "bottom_clearance": 0.08367552795586486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001003258835788945,
+                  0.0015636289267938475
+                ],
+                "rod_tip_xy": [
+                  0.28275396916350165,
+                  -0.34119009081006213
+                ],
+                "target_mouth_xy": [
+                  0.2817507103277127,
+                  -0.342753719736856
+                ],
+                "gripper_position": [
+                  0.2827452054696339,
+                  -0.3411910431620567,
+                  1.0052236303590425
+                ],
+                "rod_tip_xy_dist": 0.0018578115384223094,
+                "target_xy_drift": 8.981392752349028e-08,
+                "depth": 0.01590944014166784,
+                "bottom_clearance": 0.08353112335338586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000994495554782815,
+                  0.0015626759495577236
+                ],
+                "rod_tip_xy": [
+                  0.2827452054696339,
+                  -0.34119104316205673
+                ],
+                "target_mouth_xy": [
+                  0.28175070991485107,
+                  -0.34275371911161445
+                ],
+                "gripper_position": [
+                  0.28275316651910765,
+                  -0.34125811690837204,
+                  1.0047019683310414
+                ],
+                "rod_tip_xy_dist": 0.001852289807726888,
+                "target_xy_drift": 9.04493554238227e-08,
+                "depth": 0.01603612953001432,
+                "bottom_clearance": 0.08340439626384877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010024252770622355,
+                  0.0014956018244022262
+                ],
+                "rod_tip_xy": [
+                  0.28275316651910765,
+                  -0.34125811690837204
+                ],
+                "target_mouth_xy": [
+                  0.2817507412420454,
+                  -0.34275371873277427
+                ],
+                "gripper_position": [
+                  0.28274154714036637,
+                  -0.3412652533741044,
+                  1.0045583640801794
+                ],
+                "rod_tip_xy_dist": 0.0018004669542228669,
+                "target_xy_drift": 9.526876699643629e-08,
+                "depth": 0.016557928220867768,
+                "bottom_clearance": 0.08288266722277726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009908388704045201,
+                  0.0014884670324490923
+                ],
+                "rod_tip_xy": [
+                  0.28274154714036637,
+                  -0.3412652533741044
+                ],
+                "target_mouth_xy": [
+                  0.28175070826996185,
+                  -0.3427537204065535
+                ],
+                "gripper_position": [
+                  0.2827325381068655,
+                  -0.3412661433116398,
+                  1.0044315332858664
+                ],
+                "rod_tip_xy_dist": 0.0017880983680413985,
+                "target_xy_drift": 8.921570097554156e-08,
+                "depth": 0.016701486299116053,
+                "bottom_clearance": 0.08273906278980692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009818241949222095,
+                  0.0014876351306150615
+                ],
+                "rod_tip_xy": [
+                  0.2827325381068655,
+                  -0.34126614331163974
+                ],
+                "target_mouth_xy": [
+                  0.2817507139119433,
+                  -0.3427537784422548
+                ],
+                "gripper_position": [
+                  0.2827415397941324,
+                  -0.34133420748747056,
+                  1.0039119418592735
+                ],
+                "rod_tip_xy_dist": 0.0017824244813104246,
+                "target_xy_drift": 3.1122185568915e-08,
+                "depth": 0.016828305853526015,
+                "bottom_clearance": 0.08261224868206518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009908262444163762,
+                  0.001419573509203631
+                ],
+                "rod_tip_xy": [
+                  0.28274153979413247,
+                  -0.34133420748747056
+                ],
+                "target_mouth_xy": [
+                  0.2817507135497161,
+                  -0.3427537809966742
+                ],
+                "gripper_position": [
+                  0.2827296877114892,
+                  -0.34134135561090656,
+                  1.003768238998952
+                ],
+                "rod_tip_xy_dist": 0.0017311630756970794,
+                "target_xy_drift": 2.8554079490222347e-08,
+                "depth": 0.01734789161972472,
+                "bottom_clearance": 0.0820926405636273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009789738905940926,
+                  0.0014124222022893207
+                ],
+                "rod_tip_xy": [
+                  0.2827296877114892,
+                  -0.3413413556109066
+                ],
+                "target_mouth_xy": [
+                  0.2817507138208951,
+                  -0.34275377781319594
+                ],
+                "gripper_position": [
+                  0.28272062412041404,
+                  -0.34134197103361874,
+                  1.0036417081750042
+                ],
+                "rod_tip_xy_dist": 0.0017185244705807214,
+                "target_xy_drift": 3.1746267215697206e-08,
+                "depth": 0.017491610969960658,
+                "bottom_clearance": 0.08194896388499229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009699144931221704,
+                  0.0014118105373924217
+                ],
+                "rod_tip_xy": [
+                  0.2827206241204141,
+                  -0.34134197103361874
+                ],
+                "target_mouth_xy": [
+                  0.28175070962729193,
+                  -0.34275378157101116
+                ],
+                "gripper_position": [
+                  0.282711496823712,
+                  -0.3413425916082106,
+                  1.0035154322508946
+                ],
+                "rod_tip_xy_dist": 0.0017128756865168924,
+                "target_xy_drift": 2.809216397449689e-08,
+                "depth": 0.017618158544776885,
+                "bottom_clearance": 0.08182245201116134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009607841740455481,
+                  0.0014111855942633977
+                ],
+                "rod_tip_xy": [
+                  0.282711496823712,
+                  -0.3413425916082107
+                ],
+                "target_mouth_xy": [
+                  0.28175071264966645,
+                  -0.3427537772024741
+                ],
+                "gripper_position": [
+                  0.2827220313862041,
+                  -0.3414130756092987,
+                  1.0029969471012445
+                ],
+                "rod_tip_xy_dist": 0.0017072056146091264,
+                "target_xy_drift": 3.23257160781174e-08,
+                "depth": 0.017744441882966977,
+                "bottom_clearance": 0.08169615563356702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009713156610403617,
+                  0.0013407335357421557
+                ],
+                "rod_tip_xy": [
+                  0.28272203138620416,
+                  -0.3414130756092988
+                ],
+                "target_mouth_xy": [
+                  0.2817507157251638,
+                  -0.34275380914504094
+                ],
+                "gripper_position": [
+                  0.2827100697550318,
+                  -0.34142037623557986,
+                  1.0028531425684921
+                ],
+                "rod_tip_xy_dist": 0.0016556027685546847,
+                "target_xy_drift": 3.3583804114937712e-09,
+                "depth": 0.018262948043286875,
+                "bottom_clearance": 0.08117763908241049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009593543168952556,
+                  0.0013334338743025143
+                ],
+                "rod_tip_xy": [
+                  0.2827100697550318,
+                  -0.34142037623557986
+                ],
+                "target_mouth_xy": [
+                  0.28175071543813657,
+                  -0.3427538101098824
+                ],
+                "gripper_position": [
+                  0.2827008612017289,
+                  -0.3414207918878872,
+                  1.002727012285054
+                ],
+                "rod_tip_xy_dist": 0.0016426827455363912,
+                "target_xy_drift": 3.1047263474240735e-09,
+                "depth": 0.018406695614619717,
+                "bottom_clearance": 0.08103388925046329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009501784156819015,
+                  0.0013330484219052918
+                ],
+                "rod_tip_xy": [
+                  0.2827008612017289,
+                  -0.3414207918878872
+                ],
+                "target_mouth_xy": [
+                  0.281750682786047,
+                  -0.3427538403097925
+                ],
+                "gripper_position": [
+                  0.28269164917623946,
+                  -0.34142135676634483,
+                  1.0026006096358477
+                ],
+                "rod_tip_xy_dist": 0.0016370269138813683,
+                "target_xy_drift": 4.2706937652123185e-08,
+                "depth": 0.01853277839581413,
+                "bottom_clearance": 0.08090776609551209,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0009409387309268769,
+                  0.0013323616825279272
+                ],
+                "rod_tip_xy": [
+                  0.2826916491762395,
+                  -0.3414213567663449
+                ],
+                "target_mouth_xy": [
+                  0.28175071044531264,
+                  -0.3427537184488728
+                ],
+                "gripper_position": [
+                  0.2826824483621918,
+                  -0.34142189591263344,
+                  1.0024745009057647
+                ],
+                "rod_tip_xy_dist": 0.0016311202740530604,
+                "target_xy_drift": 9.109899191038893e-08,
+                "depth": 0.01865928506015624,
+                "bottom_clearance": 0.08078128461370648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009317379849070884,
+                  0.0013318228595644022
+                ],
+                "rod_tip_xy": [
+                  0.28268244836219186,
+                  -0.3414218959126335
+                ],
+                "target_mouth_xy": [
+                  0.2817507103772848,
+                  -0.3427537187721979
+                ],
+                "gripper_position": [
+                  0.282695368596514,
+                  -0.34149538939403157,
+                  1.0019595303272744
+                ],
+                "rod_tip_xy_dist": 0.0016253885079503371,
+                "target_xy_drift": 9.077722243519684e-08,
+                "depth": 0.01878532780816322,
+                "bottom_clearance": 0.08065522721537699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009446883369770287,
+                  0.0012583281159210258
+                ],
+                "rod_tip_xy": [
+                  0.282695368596514,
+                  -0.34149538939403157
+                ],
+                "target_mouth_xy": [
+                  0.281750680259537,
+                  -0.3427537175099526
+                ],
+                "gripper_position": [
+                  0.282683183209972,
+                  -0.3415024687522199,
+                  1.0018159158139
+                ],
+                "rod_tip_xy_dist": 0.0015734756754833493,
+                "target_xy_drift": 9.746506084443522e-08,
+                "depth": 0.019300259571715772,
+                "bottom_clearance": 0.08014033135624787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009324659595967844,
+                  0.001251308025079556
+                ],
+                "rod_tip_xy": [
+                  0.28268318320997204,
+                  -0.3415024687522199
+                ],
+                "target_mouth_xy": [
+                  0.28175071725037526,
+                  -0.34275377677729946
+                ],
+                "gripper_position": [
+                  0.2826739541948856,
+                  -0.3415029119781363,
+                  1.001690093542587
+                ],
+                "rod_tip_xy_dist": 0.0015605334150332222,
+                "target_xy_drift": 3.310874109230772e-08,
+                "depth": 0.019444036912119045,
+                "bottom_clearance": 0.07999670259240566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000923245256933436,
+                  0.001250838200755111
+                ],
+                "rod_tip_xy": [
+                  0.2826739541948856,
+                  -0.3415029119781363
+                ],
+                "target_mouth_xy": [
+                  0.2817507089379522,
+                  -0.3427537501788914
+                ],
+                "gripper_position": [
+                  0.2826646665841391,
+                  -0.341503121229317,
+                  1.00156386372646
+                ],
+                "rod_tip_xy_dist": 0.0015546633104689806,
+                "target_xy_drift": 5.9448473661326565e-08,
+                "depth": 0.019569739357160887,
+                "bottom_clearance": 0.07987078983864737,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006055244940011813,
+              "rod_tip_xy_max_step": 3.26972052952368e-05,
+              "rod_tip_xy_range": 0.0006055157962018928,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2822713996010503,
+            -0.34284333956769275,
+            1.0434362299889108
+          ],
+          "object_origin_world": [
+            0.2822713996010503,
+            -0.34284333956769275,
+            1.0434362299889108
+          ],
+          "frame_world": [
+            0.2822699106301191,
+            -0.34284855800166014,
+            1.0433222414051695
+          ],
+          "center_minus_frame": [
+            1.4889709312182475e-06,
+            5.2184339673910785e-06,
+            0.00011398858374134235
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25854507878984595,
+              0.14974279059161688,
+              0.8328035542234326
+            ],
+            "target_position": [
+              0.2714160414904628,
+              0.19519468381006633,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047239139259537745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1654591768847537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328035542234326,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676187063957,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356005236768583,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3368b71b549c57fe21930e7d68a9337558d2cc15ceef8e0058a72a6e1f6ef8c4",
+    "visual_seed": 1329535475735403001,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54583e247ca1ef50e50141c56d43f065c6b7a93c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_69_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3042014157184193,
+              0.07360816640388451,
+              1.1642260758420013
+            ],
+            "current_z": 1.1642260758420013,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3031195082225904,
+            "gripper_z": 1.1561931978828572,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29900227747573205,
+              0.06862089715170502,
+              1.1561931978828572
+            ],
+            "object_minus_gripper": [
+              0.005199138242687251,
+              0.004987269252179488,
+              0.008032877959144091
+            ],
+            "object_to_gripper_xy": 0.00720443565175705,
+            "object_to_gripper_z": 0.008032877959144091,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3042014157184193,
+              0.049496563375362165,
+              1.1642260758420013
+            ],
+            "finger_b": [
+              0.29292418156997563,
+              0.07360816640388451,
+              1.1642260758420013
+            ],
+            "finger_midpoint": [
+              0.29856279864419744,
+              0.06155236488962334,
+              1.1642260758420013
+            ],
+            "object_minus_finger_midpoint": [
+              0.005638617074221863,
+              0.012055801514261173,
+              0.0
+            ],
+            "finger_gap": 0.02661851631184338,
+            "fingertip_max_gap": 0.09085113868220143,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309258155921702,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642260758420013,
+            "object_top_z": 1.2141659579043336,
+            "finger_top_clearance": 0.04993988206233224,
+            "fingertip_min_top_clearance": 0.014981964618699639,
+            "object_projection_between_fingers": 0.8205111371432691,
+            "object_to_finger_line_xy": 0.010215152109210111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792556934110072,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46363087162983474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27271888802998706,
+              -0.33570757297506415,
+              0.8515395849716137
+            ],
+            "target_position": [
+              0.2642594569255718,
+              -0.33637807780311063,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008485962015869633,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18257381949324236,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395849716137,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541226762410598,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853038993203379,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508005828238602,
+            "release_required_pad_clearance": 0.05265194966016895,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36261644767068296,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007246971130371094,
+            "max_z_decrease": 0.007246971130371094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510529186754372,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007246971130371094,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021095094736840993,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007246971130371094,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072469918869871985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11995938420295713,
+              -0.39263954758644093,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11995938420295713,
+              -0.39263954758644093,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1198552051137993,
+              -0.39159537838277014,
+              0.807784744502335
+            ],
+            "closest_button": [
+              0.11994813382625577,
+              -0.39263808727264393,
+              0.7726950645446777
+            ],
+            "closest_ee_minus_button": [
+              -9.292871245647483e-05,
+              0.001042708889873789,
+              0.035089679957657216
+            ],
+            "button_min_z_position": [
+              0.11994204670190808,
+              -0.3926390409469604,
+              0.7695618867874146
+            ],
+            "min_active_finger_to_button": 0.14583324681681792,
+            "closest_active_finger": [
+              -0.007779672741889954,
+              -0.4540252387523651,
+              0.810984194278717
+            ],
+            "closest_active_finger_button": [
+              0.11995963752269743,
+              -0.39263927936553944,
+              0.7766073346138
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277393102645874,
+              -0.06138595938682567,
+              0.03437685966491699
+            ],
+            "min_contact_pad_to_button": 0.021095094736840993,
+            "closest_contact_pad": [
+              0.11994204670190808,
+              -0.3927429657430386,
+              0.7906567255304118
+            ],
+            "closest_contact_pad_button": [
+              0.11994204670190808,
+              -0.3926390409469604,
+              0.7695618867874146
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00010392479607818084,
+              0.021094838742997224
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.271333088356448,
+              0.1935101511244273,
+              1.1020638019660853
+            ],
+            "current_z": 1.1020638019660853,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19215467223172278,
+            "gripper_z": 1.1020636219833837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2713330470187343,
+              0.19351016002215748,
+              1.1020636219833837
+            ],
+            "object_minus_gripper": [
+              4.133771369652095e-08,
+              -8.897730191526065e-09,
+              1.7998270163133157e-07
+            ],
+            "object_to_gripper_xy": 4.228446731622299e-08,
+            "object_to_gripper_z": 1.7998270163133157e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.271333088356448,
+              0.1935101511244273,
+              1.1020638019660853
+            ],
+            "finger_b": [
+              0.271333088356448,
+              0.1935101511244273,
+              1.1020638019660853
+            ],
+            "finger_midpoint": [
+              0.271333088356448,
+              0.1935101511244273,
+              1.1020638019660853
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1020638019660853,
+            "object_top_z": 1.227072308586365,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27133308835644804,
+            0.19351015112442732,
+            1.1020638019660853
+          ],
+          "object_origin_world": [
+            0.27133308835644804,
+            0.19351015112442732,
+            1.1020638019660853
+          ],
+          "frame_world": [
+            0.2713330470187343,
+            0.19351016002215748,
+            1.1020636219833837
+          ],
+          "center_minus_frame": [
+            4.13377137520321e-08,
+            -8.89773016377049e-09,
+            1.7998270163133157e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043240974275768,
+            "required_z": 0.9112599047751488,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013237901367262601,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.53753423000737e-08,
+            "max_target_xy_drift": 2.3271451125760506e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3626164362426531,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.36261645025580985,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2733204953278792,
+              -0.336883435261362,
+              0.923349825004539
+            ],
+            "target_mouth_xy": [
+              0.2727188926495269,
+              -0.3357075393509744
+            ],
+            "rod_tip_z": 0.923349825004539,
+            "rod_tip_depth": -0.022089878318626188,
+            "rod_tip_bottom_clearance": 0.12153058716813836,
+            "rod_tip_xy_dist": 0.0013208546379775846,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044778242972686955,
+            "min_rod_tip_bottom_clearance": 0.05466227541665891,
+            "min_rod_tip_xy_dist": 9.67798479609932e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27271880154310674,
+              -0.3357075111361535
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.110642018583803e-08,
+              -2.8214820924077344e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0011022337530680604,
+                0.0005058528609555024
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010089052718578184,
+                0.00012155561198146092
+              ],
+              "first_target_mouth_xy": [
+                0.2727188604337047,
+                -0.3357075425246442
+              ],
+              "last_target_mouth_xy": [
+                0.27271883134887837,
+                -0.33570754220647336
+              ],
+              "first_rod_tip_xy": [
+                0.27382109418677275,
+                -0.3352016896636887
+              ],
+              "last_rod_tip_xy": [
+                0.2737277366207362,
+                -0.3355859865944919
+              ],
+              "min_rod_tip_xy_dist": 0.0010162015618895132,
+              "max_rod_tip_xy_dist": 0.0012127680583439559,
+              "first_target_xy_drift": 6.673334905044506e-08,
+              "last_target_xy_drift": 4.305518318802063e-08,
+              "max_depth": 0.019850274328687023,
+              "min_bottom_clearance": 0.079590267400516
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011022337530680604,
+                  0.0005058528609555024
+                ],
+                "rod_tip_xy": [
+                  0.27382109418677275,
+                  -0.3352016896636887
+                ],
+                "target_mouth_xy": [
+                  0.2727188604337047,
+                  -0.3357075425246442
+                ],
+                "gripper_position": [
+                  0.2738094846405821,
+                  -0.33520831445106647,
+                  1.0056297868369615
+                ],
+                "rod_tip_xy_dist": 0.0012127680583439559,
+                "target_xy_drift": 6.673334905044506e-08,
+                "depth": 0.015492159846635323,
+                "bottom_clearance": 0.0839483654291251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001090657632245251,
+                  0.0004992271350641175
+                ],
+                "rod_tip_xy": [
+                  0.2738094846405819,
+                  -0.33520831445106647
+                ],
+                "target_mouth_xy": [
+                  0.27271882700833666,
+                  -0.3357075415861306
+                ],
+                "gripper_position": [
+                  0.2738165385394905,
+                  -0.3352738249169343,
+                  1.0051146396182726
+                ],
+                "rod_tip_xy_dist": 0.0011994839736983332,
+                "target_xy_drift": 3.969482384677933e-08,
+                "depth": 0.01563012089012361,
+                "bottom_clearance": 0.08381049292034792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010977093804204752,
+                  0.0004336874922437062
+                ],
+                "rod_tip_xy": [
+                  0.27381653853949034,
+                  -0.33527382491693436
+                ],
+                "target_mouth_xy": [
+                  0.27271882915906986,
+                  -0.33570751240917807
+                ],
+                "gripper_position": [
+                  0.2738048769769051,
+                  -0.33528028752283684,
+                  1.0049764541114492
+                ],
+                "rod_tip_xy_dist": 0.0011802756986364405,
+                "target_xy_drift": 2.764528912891168e-08,
+                "depth": 0.016145131620957875,
+                "bottom_clearance": 0.08329537679245058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010860159480253762,
+                  0.0004272550001013786
+                ],
+                "rod_tip_xy": [
+                  0.2738048769769049,
+                  -0.3352802875228369
+                ],
+                "target_mouth_xy": [
+                  0.27271886102887954,
+                  -0.3357075425229383
+                ],
+                "gripper_position": [
+                  0.2737960775309809,
+                  -0.3352806036690331,
+                  1.00485518728948
+                ],
+                "rod_tip_xy_dist": 0.0011670379061868923,
+                "target_xy_drift": 6.725836323822361e-08,
+                "depth": 0.016283432975433443,
+                "bottom_clearance": 0.08315711525374525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010772173835338905,
+                  0.00042693790283554467
+                ],
+                "rod_tip_xy": [
+                  0.27379607753098073,
+                  -0.33528060366903323
+                ],
+                "target_mouth_xy": [
+                  0.27271886014744684,
+                  -0.3357075415718688
+                ],
+                "gripper_position": [
+                  0.27380414794651353,
+                  -0.33534683727287573,
+                  1.004341021806429
+                ],
+                "rod_tip_xy_dist": 0.0011587377892626157,
+                "target_xy_drift": 6.603636455464021e-08,
+                "depth": 0.016404579042253897,
+                "bottom_clearance": 0.0830359463708249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010852874451402483,
+                  0.0003606729112933249
+                ],
+                "rod_tip_xy": [
+                  0.27380414794651337,
+                  -0.33534683727287584
+                ],
+                "target_mouth_xy": [
+                  0.2727188605013731,
+                  -0.33570751018416917
+                ],
+                "gripper_position": [
+                  0.2737925383561712,
+                  -0.3353533087256503,
+                  1.004203284349605
+                ],
+                "rod_tip_xy_dist": 0.001143649328911555,
+                "target_xy_drift": 5.8965951605191575e-08,
+                "depth": 0.016918894957487773,
+                "bottom_clearance": 0.08252170110195023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010737086363994952,
+                  0.0003542338025041003
+                ],
+                "rod_tip_xy": [
+                  0.273792538356171,
+                  -0.3353533087256504
+                ],
+                "target_mouth_xy": [
+                  0.2727188297197715,
+                  -0.3357075425281545
+                ],
+                "gripper_position": [
+                  0.27378370579683653,
+                  -0.3353534538181787,
+                  1.0040820201520853
+                ],
+                "rod_tip_xy_dist": 0.0011306333723693888,
+                "target_xy_drift": 4.2182723534377306e-08,
+                "depth": 0.01705653517493355,
+                "bottom_clearance": 0.0823839631880049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010648764888083195,
+                  0.000354086805167908
+                ],
+                "rod_tip_xy": [
+                  0.27378370579683636,
+                  -0.3353534538181788
+                ],
+                "target_mouth_xy": [
+                  0.27271882930802804,
+                  -0.33570754062334673
+                ],
+                "gripper_position": [
+                  0.27377496140942004,
+                  -0.335353268471227,
+                  1.0039611711923246
+                ],
+                "rod_tip_xy_dist": 0.0011222029237222433,
+                "target_xy_drift": 4.0501671823383614e-08,
+                "depth": 0.017177834137873993,
+                "bottom_clearance": 0.08226272475040897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010561302067799705,
+                  0.00035427659650444365
+                ],
+                "rod_tip_xy": [
+                  0.27377496140941987,
+                  -0.33535326847122704
+                ],
+                "target_mouth_xy": [
+                  0.2727188312026399,
+                  -0.3357075450677315
+                ],
+                "gripper_position": [
+                  0.27378443923949075,
+                  -0.33542250617888075,
+                  1.003446006375388
+                ],
+                "rod_tip_xy_dist": 0.001113967199025122,
+                "target_xy_drift": 4.5067059949033725e-08,
+                "depth": 0.017298701367661873,
+                "bottom_clearance": 0.08214193611521681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010655790025291823,
+                  0.00028503539610930106
+                ],
+                "rod_tip_xy": [
+                  0.2737844392394906,
+                  -0.3354225061788809
+                ],
+                "target_mouth_xy": [
+                  0.2727188602369614,
+                  -0.3357075415749902
+                ],
+                "gripper_position": [
+                  0.27377268348221384,
+                  -0.33542878664698433,
+                  1.0033082902411579
+                ],
+                "rod_tip_xy_dist": 0.001103042967280184,
+                "target_xy_drift": 6.611725460795143e-08,
+                "depth": 0.01781382020932909,
+                "bottom_clearance": 0.0816267085168757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010538243881225151,
+                  0.00027875683666284123
+                ],
+                "rod_tip_xy": [
+                  0.2737726834822137,
+                  -0.3354287866469844
+                ],
+                "target_mouth_xy": [
+                  0.27271885909409116,
+                  -0.33570754348364723
+                ],
+                "gripper_position": [
+                  0.27376376485115106,
+                  -0.3354286531665517,
+                  1.0031875861522854
+                ],
+                "rod_tip_xy_dist": 0.001090069362466475,
+                "target_xy_drift": 6.601875611675606e-08,
+                "depth": 0.01795155953044547,
+                "bottom_clearance": 0.081488989546885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010449336677651466,
+                  0.0002788589191092816
+                ],
+                "rod_tip_xy": [
+                  0.2737637648511509,
+                  -0.3354286531665517
+                ],
+                "target_mouth_xy": [
+                  0.27271883118338575,
+                  -0.33570751208566096
+                ],
+                "gripper_position": [
+                  0.2737548161727711,
+                  -0.33542873632764963,
+                  1.003066863173501
+                ],
+                "rod_tip_xy_dist": 0.0010815029666144788,
+                "target_xy_drift": 2.9655483543027844e-08,
+                "depth": 0.018072300323405677,
+                "bottom_clearance": 0.0813682458012196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001035985777801951,
+                  0.0002788061978591938
+                ],
+                "rod_tip_xy": [
+                  0.2737548161727709,
+                  -0.3354287363276497
+                ],
+                "target_mouth_xy": [
+                  0.27271883039496897,
+                  -0.3357075425255089
+                ],
+                "gripper_position": [
+                  0.2737658158714432,
+                  -0.33549990504895133,
+                  1.0025540327218896
+                ],
+                "rod_tip_xy_dist": 0.0010728464138788055,
+                "target_xy_drift": 4.2634746231949487e-08,
+                "depth": 0.01819289803909474,
+                "bottom_clearance": 0.08124761812278158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010469534574771289,
+                  0.00020763620224761858
+                ],
+                "rod_tip_xy": [
+                  0.27376581587144305,
+                  -0.33549990504895133
+                ],
+                "target_mouth_xy": [
+                  0.2727188624139659,
+                  -0.33570754125119895
+                ],
+                "gripper_position": [
+                  0.27375381339423854,
+                  -0.3355059948542085,
+                  1.0024164215170268
+                ],
+                "rod_tip_xy_dist": 0.0010673445247937183,
+                "target_xy_drift": 6.791301392958671e-08,
+                "depth": 0.018705876439238045,
+                "bottom_clearance": 0.08073474732807662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010349859680229279,
+                  0.00020154895611967927
+                ],
+                "rod_tip_xy": [
+                  0.2737538133942384,
+                  -0.3355059948542086
+                ],
+                "target_mouth_xy": [
+                  0.27271882742621545,
+                  -0.3357075438103283
+                ],
+                "gripper_position": [
+                  0.27374482803616834,
+                  -0.3355060606303096,
+                  1.0022960919348214
+                ],
+                "rod_tip_xy_dist": 0.0010544277764348252,
+                "target_xy_drift": 4.1683774014842524e-08,
+                "depth": 0.018843490798123086,
+                "bottom_clearance": 0.08059714128655016,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001025968205407346,
+                  0.00020145019043904533
+                ],
+                "rod_tip_xy": [
+                  0.2737448280361682,
+                  -0.33550606063030963
+                ],
+                "target_mouth_xy": [
+                  0.27271885983076083,
+                  -0.3357075108207487
+                ],
+                "gripper_position": [
+                  0.2737356845182808,
+                  -0.33550598192527886,
+                  1.0021752783128073
+                ],
+                "rod_tip_xy_dist": 0.0010455586725453038,
+                "target_xy_drift": 5.828850744160477e-08,
+                "depth": 0.018963688920449195,
+                "bottom_clearance": 0.08047685853961939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010168219881269702,
+                  0.0002015285726387761
+                ],
+                "rod_tip_xy": [
+                  0.2737356845182806,
+                  -0.33550598192527903
+                ],
+                "target_mouth_xy": [
+                  0.27271886253015365,
+                  -0.3357075104979178
+                ],
+                "gripper_position": [
+                  0.2737266340644784,
+                  -0.33550577799172593,
+                  1.0020546327225397
+                ],
+                "rod_tip_xy_dist": 0.0010366005600655956,
+                "target_xy_drift": 6.099038642204926e-08,
+                "depth": 0.019084648824511885,
+                "bottom_clearance": 0.08035601364871614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010078066427751664,
+                  0.0002017651825393374
+                ],
+                "rod_tip_xy": [
+                  0.2737266340644782,
+                  -0.335505777991726
+                ],
+                "target_mouth_xy": [
+                  0.27271882742170306,
+                  -0.3357075431742653
+                ],
+                "gripper_position": [
+                  0.2737398419421788,
+                  -0.3355795582275287,
+                  1.0015469047729417
+                ],
+                "rod_tip_xy_dist": 0.0010278051459819044,
+                "target_xy_drift": 4.1184248896989316e-08,
+                "depth": 0.019205208651910777,
+                "bottom_clearance": 0.08023540074968816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0010209803932476058,
+                  0.00012798397826946362
+                ],
+                "rod_tip_xy": [
+                  0.27373984194217865,
+                  -0.33557955822752883
+                ],
+                "target_mouth_xy": [
+                  0.27271886154893105,
+                  -0.3357075422057983
+                ],
+                "gripper_position": [
+                  0.27372773662073635,
+                  -0.33558598659449185,
+                  1.0014095485029533
+                ],
+                "rod_tip_xy_dist": 0.0010289707780543208,
+                "target_xy_drift": 6.757234478052009e-08,
+                "depth": 0.01971298085637041,
+                "bottom_clearance": 0.07972757622048554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0010089052718578184,
+                  0.00012155561198146092
+                ],
+                "rod_tip_xy": [
+                  0.2737277366207362,
+                  -0.3355859865944919
+                ],
+                "target_mouth_xy": [
+                  0.27271883134887837,
+                  -0.33570754220647336
+                ],
+                "gripper_position": [
+                  0.2737407706349423,
+                  -0.3356541058872596,
+                  1.0008176130571491
+                ],
+                "rod_tip_xy_dist": 0.0010162015618895132,
+                "target_xy_drift": 4.305518318802063e-08,
+                "depth": 0.019850274328687023,
+                "bottom_clearance": 0.079590267400516,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006030929456587473,
+              "rod_tip_xy_max_step": 3.2580782556285834e-05,
+              "rod_tip_xy_range": 0.0006030818384167047,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2733204953278793,
+            -0.33688343526136194,
+            1.0433498250045392
+          ],
+          "object_origin_world": [
+            0.2733204953278793,
+            -0.33688343526136194,
+            1.0433498250045392
+          ],
+          "frame_world": [
+            0.2733188046076267,
+            -0.33688759272630225,
+            1.043240974275768
+          ],
+          "center_minus_frame": [
+            1.690720252578437e-06,
+            4.157464940313105e-06,
+            0.00010885072877120372
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25643503283206764,
+              0.147813800799661,
+              0.8321363819523925
+            ],
+            "target_position": [
+              0.2714632897180005,
+              0.19311172788730618,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047725786567297215,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16455475674341885,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321363819523925,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672805883034,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1351226444661312,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 324,
+            "max_placed_release_frames": 324
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa3c2f3040bb549f680f06cfe0efc45ff4370b52c4ea764f860b719616b050e6",
+    "visual_seed": 7337470133242971913,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72c10defe8567296edcbaafea0dfe4010daa866b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_6_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30092964798888955,
+              0.07483343602844851,
+              1.1626145423860537
+            ],
+            "current_z": 1.1626145423860537,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30150815358057725,
+            "gripper_z": 1.154911697408242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2955767010774286,
+              0.06981227557438512,
+              1.154911697408242
+            ],
+            "object_minus_gripper": [
+              0.005352946911460932,
+              0.005021160454063395,
+              0.007702844977811596
+            ],
+            "object_to_gripper_xy": 0.007339352351697611,
+            "object_to_gripper_z": 0.007702844977811596,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30092964798888955,
+              0.05039872449953391,
+              1.1626145423860537
+            ],
+            "finger_b": [
+              0.28987529695378,
+              0.07483343602844851,
+              1.1626145423860537
+            ],
+            "finger_midpoint": [
+              0.2954024724713348,
+              0.06261608026399121,
+              1.1626145423860537
+            ],
+            "object_minus_finger_midpoint": [
+              0.005527175517554772,
+              0.012217355764457302,
+              0.0
+            ],
+            "finger_gap": 0.026818907589771426,
+            "fingertip_max_gap": 0.0915654747049224,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013409453794885716,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626145423860537,
+            "object_top_z": 1.2125888744474407,
+            "finger_top_clearance": 0.04997433206138702,
+            "fingertip_min_top_clearance": 0.014992299618416104,
+            "object_projection_between_fingers": 0.8301035377562208,
+            "object_to_finger_line_xy": 0.010071621216416672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048282737352461205,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1931868967106523,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2737497812022276,
+              -0.34164605830660766,
+              0.8515395761726333
+            ],
+            "target_position": [
+              0.26662095234860567,
+              -0.3417516926967239,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007129611451447249,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18237194813816066,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395761726333,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547462738299549,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774687348003858,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15039713090305518,
+            "release_required_pad_clearance": 0.05387343674001929,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7562797365102796,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007317185401916504,
+            "max_z_decrease": 0.007317185401916504,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035130669900122986,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007317185401916504,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021087903893214466,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007317185401916504,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007317210156929669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12232087552547455,
+              -0.39801314473152155,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12232087552547455,
+              -0.39801314473152155,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12247157933934985,
+              -0.396275910085637,
+              0.8079269440468275
+            ],
+            "closest_button": [
+              0.12231021374464035,
+              -0.39801034331321716,
+              0.7728394865989685
+            ],
+            "closest_ee_minus_button": [
+              0.00016136559470950051,
+              0.0017344332275801566,
+              0.035087457447859016
+            ],
+            "button_min_z_position": [
+              0.12230189144611359,
+              -0.3980117738246918,
+              0.7694916725158691
+            ],
+            "min_active_finger_to_button": 0.1453157814298933,
+            "closest_active_finger": [
+              -0.004330195486545563,
+              -0.4603935480117798,
+              0.8112374544143677
+            ],
+            "closest_active_finger_button": [
+              0.122319258749485,
+              -0.3980136513710022,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12664945423603058,
+              -0.06237989664077759,
+              0.03442877531051636
+            ],
+            "min_contact_pad_to_button": 0.021087903893214466,
+            "closest_contact_pad": [
+              0.12230189144611359,
+              -0.3980117738246918,
+              0.7905795764090836
+            ],
+            "closest_contact_pad_button": [
+              0.12230189144611359,
+              -0.3980117738246918,
+              0.7694916725158691
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021087903893214466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27619149700485046,
+              0.19419999137927246,
+              1.1037112692644233
+            ],
+            "current_z": 1.1037112692644233,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19380213953006076,
+            "gripper_z": 1.1037115555824053,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2761916076467744,
+              0.1941999429613336,
+              1.1037115555824053
+            ],
+            "object_minus_gripper": [
+              -1.1064192395604522e-07,
+              4.841793885268508e-08,
+              -2.8631798199008074e-07
+            ],
+            "object_to_gripper_xy": 1.2077223248511076e-07,
+            "object_to_gripper_z": -2.8631798199008074e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27619149700485046,
+              0.19419999137927246,
+              1.1037112692644233
+            ],
+            "finger_b": [
+              0.27619149700485046,
+              0.19419999137927246,
+              1.1037112692644233
+            ],
+            "finger_midpoint": [
+              0.27619149700485046,
+              0.19419999137927246,
+              1.1037112692644233
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037112692644233,
+            "object_top_z": 1.228719775884703,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27619149700485046,
+            0.1941999913792725,
+            1.1037112692644233
+          ],
+          "object_origin_world": [
+            0.27619149700485046,
+            0.1941999913792725,
+            1.1037112692644233
+          ],
+          "frame_world": [
+            0.2761916076467744,
+            0.1941999429613336,
+            1.1037115555824053
+          ],
+          "center_minus_frame": [
+            -1.1064192395604522e-07,
+            4.841793888044066e-08,
+            -2.8631798199008074e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437593716576745,
+            "required_z": 0.9112598764275704,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006403208768316055,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.5438758030683e-08,
+            "max_target_xy_drift": 2.2037082384014448e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.756279739454341,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.756279740211125,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2739408346405572,
+              -0.3422508799507572,
+              0.9234479416658702
+            ],
+            "target_mouth_xy": [
+              0.27374974902406973,
+              -0.34164597334839053
+            ],
+            "rod_tip_z": 0.9234479416658702,
+            "rod_tip_depth": -0.022188053531324914,
+            "rod_tip_bottom_clearance": 0.121628619163764,
+            "rod_tip_xy_dist": 0.0006343703259257808,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487867164128834,
+            "min_rod_tip_bottom_clearance": 0.054561860474532375,
+            "min_rod_tip_xy_dist": 1.730462951355435e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2737497155026998,
+              -0.3416459426726919
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.352136995760091e-08,
+              -3.067569864789732e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0007062274232589871,
+                0.0011179829204287506
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006074270778032576,
+                0.0007394694256269707
+              ],
+              "first_target_mouth_xy": [
+                0.2737497181976335,
+                -0.34164600416784396
+              ],
+              "last_target_mouth_xy": [
+                0.27374974832516646,
+                -0.3416459734052999
+              ],
+              "first_rod_tip_xy": [
+                0.2744559456208925,
+                -0.3405280212474152
+              ],
+              "last_rod_tip_xy": [
+                0.2743571754029697,
+                -0.3409065039796729
+              ],
+              "min_rod_tip_xy_dist": 0.000956965352709118,
+              "max_rod_tip_xy_dist": 0.001322362652124381,
+              "first_target_xy_drift": 6.155417449128477e-08,
+              "last_target_xy_drift": 4.496451395148865e-08,
+              "max_depth": 0.019502771751883863,
+              "min_bottom_clearance": 0.07993776774977701
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007062274232589871,
+                  0.0011179829204287506
+                ],
+                "rod_tip_xy": [
+                  0.2744559456208925,
+                  -0.3405280212474152
+                ],
+                "target_mouth_xy": [
+                  0.2737497181976335,
+                  -0.34164600416784396
+                ],
+                "gripper_position": [
+                  0.2744474828324115,
+                  -0.3405286853063187,
+                  1.0060187769774698
+                ],
+                "rod_tip_xy_dist": 0.001322362652124381,
+                "target_xy_drift": 6.155417449128477e-08,
+                "depth": 0.015118221320342573,
+                "bottom_clearance": 0.08432233760459595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006977636669722731,
+                  0.0011173181941565025
+                ],
+                "rod_tip_xy": [
+                  0.27444748283241155,
+                  -0.34052868530631875
+                ],
+                "target_mouth_xy": [
+                  0.2737497191654393,
+                  -0.34164600350047525
+                ],
+                "gripper_position": [
+                  0.27445348802728264,
+                  -0.34059438943536996,
+                  1.0054986644886557
+                ],
+                "rod_tip_xy_dist": 0.0013172980232049774,
+                "target_xy_drift": 6.093795935085228e-08,
+                "depth": 0.015241116765551621,
+                "bottom_clearance": 0.08419945843759302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007037409988660537,
+                  0.001051612841176941
+                ],
+                "rod_tip_xy": [
+                  0.27445348802728264,
+                  -0.34059438943537
+                ],
+                "target_mouth_xy": [
+                  0.2737497470284166,
+                  -0.34164600227654696
+                ],
+                "gripper_position": [
+                  0.2744418161761313,
+                  -0.3406014176642353,
+                  1.0053588477502
+                ],
+                "rod_tip_xy_dist": 0.0012653619882125545,
+                "target_xy_drift": 6.742766761755774e-08,
+                "depth": 0.015761103274930854,
+                "bottom_clearance": 0.08367941606734808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006920663251322456,
+                  0.001044584544932392
+                ],
+                "rod_tip_xy": [
+                  0.2744418161761313,
+                  -0.34060141766423535
+                ],
+                "target_mouth_xy": [
+                  0.27374974985099904,
+                  -0.34164600220916774
+                ],
+                "gripper_position": [
+                  0.2744331972934221,
+                  -0.3406021082837109,
+                  1.0052360010688608
+                ],
+                "rod_tip_xy_dist": 0.001253041367989766,
+                "target_xy_drift": 6.873425361464799e-08,
+                "depth": 0.015901060511779086,
+                "bottom_clearance": 0.08353956500666038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006834793780698956,
+                  0.0010438958786951336
+                ],
+                "rod_tip_xy": [
+                  0.2744331972934221,
+                  -0.34060210828371096
+                ],
+                "target_mouth_xy": [
+                  0.2737497179153522,
+                  -0.3416460041624061
+                ],
+                "gripper_position": [
+                  0.2744400050120427,
+                  -0.34066877963097775,
+                  1.004716126998548
+                ],
+                "rod_tip_xy_dist": 0.001247743028753716,
+                "target_xy_drift": 6.153702824475095e-08,
+                "depth": 0.01602383359803483,
+                "bottom_clearance": 0.08341671381054294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006902865731936991,
+                  0.0009771937536187103
+                ],
+                "rod_tip_xy": [
+                  0.2744400050120427,
+                  -0.34066877963097775
+                ],
+                "target_mouth_xy": [
+                  0.273749718438849,
+                  -0.34164597338459646
+                ],
+                "gripper_position": [
+                  0.2744283389618334,
+                  -0.3406758771057341,
+                  1.0045765674535077
+                ],
+                "rod_tip_xy_dist": 0.0011964126316797749,
+                "target_xy_drift": 3.085193761865652e-08,
+                "depth": 0.01654375486405768,
+                "bottom_clearance": 0.08289678056537397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006786243718602258,
+                  0.0009700947896247314
+                ],
+                "rod_tip_xy": [
+                  0.27442833896183344,
+                  -0.3406758771057342
+                ],
+                "target_mouth_xy": [
+                  0.2737497145899732,
+                  -0.34164597189535895
+                ],
+                "gripper_position": [
+                  0.2744197509154509,
+                  -0.3406761408245065,
+                  1.0044541190502492
+                ],
+                "rod_tip_xy_dist": 0.0011838981961890718,
+                "target_xy_drift": 2.9236917417982244e-08,
+                "depth": 0.01668334706218977,
+                "bottom_clearance": 0.08275728787467063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006700328875910988,
+                  0.0009698633320350813
+                ],
+                "rod_tip_xy": [
+                  0.2744197509154509,
+                  -0.3406761408245066
+                ],
+                "target_mouth_xy": [
+                  0.2737497180278598,
+                  -0.34164600415654167
+                ],
+                "gripper_position": [
+                  0.2744272843302895,
+                  -0.34074427087626,
+                  1.0039359870979843
+                ],
+                "rod_tip_xy_dist": 0.0011788040351474272,
+                "target_xy_drift": 6.153568247819246e-08,
+                "depth": 0.016805656901988653,
+                "bottom_clearance": 0.08263489482499986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006775322674993922,
+                  0.0009016697647628025
+                ],
+                "rod_tip_xy": [
+                  0.27442728433028957,
+                  -0.34074427087626014
+                ],
+                "target_mouth_xy": [
+                  0.2737497520627902,
+                  -0.34164594064102294
+                ],
+                "gripper_position": [
+                  0.2744155828408551,
+                  -0.3407509511402685,
+                  1.0037965158030266
+                ],
+                "rod_tip_xy_dist": 0.0011278556371230653,
+                "target_xy_drift": 3.661649749390742e-08,
+                "depth": 0.017323972682038336,
+                "bottom_clearance": 0.08211680777922059,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006658966745828332,
+                  0.0008950533787845938
+                ],
+                "rod_tip_xy": [
+                  0.2744155828408551,
+                  -0.34075095114026854
+                ],
+                "target_mouth_xy": [
+                  0.27374968616627227,
+                  -0.34164600451905314
+                ],
+                "gripper_position": [
+                  0.2744067359098118,
+                  -0.340751290673172,
+                  1.00367428853492
+                ],
+                "rod_tip_xy_dist": 0.0011155890516199023,
+                "target_xy_drift": 6.845143080637875e-08,
+                "depth": 0.017463355470504704,
+                "bottom_clearance": 0.08197722095169147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000657047830294577,
+                  0.000894681428109334
+                ],
+                "rod_tip_xy": [
+                  0.2744067359098118,
+                  -0.3407512906731721
+                ],
+                "target_mouth_xy": [
+                  0.2737496880795172,
+                  -0.34164597210128145
+                ],
+                "gripper_position": [
+                  0.2744151079026558,
+                  -0.3408201747104201,
+                  1.0031591103626407
+                ],
+                "rod_tip_xy_dist": 0.0011100300487367758,
+                "target_xy_drift": 4.022527595199147e-08,
+                "depth": 0.01758555028893871,
+                "bottom_clearance": 0.08185500712677973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006653594080990866,
+                  0.0008257992997946495
+                ],
+                "rod_tip_xy": [
+                  0.2744151079026558,
+                  -0.34082017471042014
+                ],
+                "target_mouth_xy": [
+                  0.2737497484945567,
+                  -0.3416459740102148
+                ],
+                "gripper_position": [
+                  0.27440346039004926,
+                  -0.3408267078817097,
+                  1.003020200134992
+                ],
+                "rod_tip_xy_dist": 0.0010604940478320943,
+                "target_xy_drift": 4.550277974701277e-08,
+                "depth": 0.01810078465426701,
+                "bottom_clearance": 0.08133978210857673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006537415054050366,
+                  0.0008192642211565238
+                ],
+                "rod_tip_xy": [
+                  0.27440346039004926,
+                  -0.34082670788170977
+                ],
+                "target_mouth_xy": [
+                  0.2737497188846442,
+                  -0.3416459721028663
+                ],
+                "gripper_position": [
+                  0.27439459267529176,
+                  -0.34082689549807854,
+                  1.0028978857366229
+                ],
+                "rod_tip_xy_dist": 0.0010481277689081846,
+                "target_xy_drift": 2.9623853799953232e-08,
+                "depth": 0.01823964578680315,
+                "bottom_clearance": 0.08120094839212955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.000644874878973134,
+                  0.0008190788677240324
+                ],
+                "rod_tip_xy": [
+                  0.27439459267529176,
+                  -0.34082689549807865
+                ],
+                "target_mouth_xy": [
+                  0.2737497177963186,
+                  -0.3416459743658027
+                ],
+                "gripper_position": [
+                  0.27438557062185487,
+                  -0.3408272170449606,
+                  1.0027755138403107
+                ],
+                "rod_tip_xy_dist": 0.0010424748443404748,
+                "target_xy_drift": 3.177599659751875e-08,
+                "depth": 0.018361888375516666,
+                "bottom_clearance": 0.08107865444769058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006358214910966442,
+                  0.0008187864533309996
+                ],
+                "rod_tip_xy": [
+                  0.27438557062185487,
+                  -0.34082721704496066
+                ],
+                "target_mouth_xy": [
+                  0.2737497491307582,
+                  -0.34164600349829166
+                ],
+                "gripper_position": [
+                  0.2743766868894998,
+                  -0.34082737600682866,
+                  1.002653039624267
+                ],
+                "rod_tip_xy_dist": 0.0010366678468529433,
+                "target_xy_drift": 6.950251724608217e-08,
+                "depth": 0.01848438130183294,
+                "bottom_clearance": 0.0809562003703288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006269391488606946,
+                  0.0008185974232975957
+                ],
+                "rod_tip_xy": [
+                  0.2743766868894998,
+                  -0.3408273760068288
+                ],
+                "target_mouth_xy": [
+                  0.2737497477406391,
+                  -0.34164597343012637
+                ],
+                "gripper_position": [
+                  0.274387257300858,
+                  -0.3408996851358316,
+                  1.002140698524974
+                ],
+                "rod_tip_xy_dist": 0.0010310938065004732,
+                "target_xy_drift": 4.4556756028369934e-08,
+                "depth": 0.01860671940922265,
+                "bottom_clearance": 0.08083379746629149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006375079675031703,
+                  0.0007462869820711315
+                ],
+                "rod_tip_xy": [
+                  0.274387257300858,
+                  -0.3408996851358317
+                ],
+                "target_mouth_xy": [
+                  0.27374974933335483,
+                  -0.3416459721179028
+                ],
+                "gripper_position": [
+                  0.2743753421312759,
+                  -0.34090613312870166,
+                  1.0020012598335395
+                ],
+                "rod_tip_xy_dist": 0.0009815093826545218,
+                "target_xy_drift": 4.485012450969607e-08,
+                "depth": 0.01911921132234895,
+                "bottom_clearance": 0.08032140602969473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006256238744961062,
+                  0.000739840599772168
+                ],
+                "rod_tip_xy": [
+                  0.2743753421312759,
+                  -0.34090613312870177
+                ],
+                "target_mouth_xy": [
+                  0.2737497182567798,
+                  -0.34164597372847394
+                ],
+                "gripper_position": [
+                  0.27436627677239206,
+                  -0.340906339482,
+                  1.001879369124554
+                ],
+                "rod_tip_xy_dist": 0.0009689011019762342,
+                "target_xy_drift": 3.117766116840187e-08,
+                "depth": 0.01925850721626332,
+                "bottom_clearance": 0.08018203253590894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006165253098809331,
+                  0.0007396322537059907
+                ],
+                "rod_tip_xy": [
+                  0.27436627677239206,
+                  -0.340906339482
+                ],
+                "target_mouth_xy": [
+                  0.2737497514625111,
+                  -0.341645971735706
+                ],
+                "gripper_position": [
+                  0.27435717540296967,
+                  -0.34090650397967287,
+                  1.001757111212859
+                ],
+                "rod_tip_xy_dist": 0.0009628911301107636,
+                "target_xy_drift": 4.623599054134652e-08,
+                "depth": 0.01938056282965761,
+                "bottom_clearance": 0.08006014706953735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0006074270778032576,
+                  0.0007394694256269707
+                ],
+                "rod_tip_xy": [
+                  0.2743571754029697,
+                  -0.3409065039796729
+                ],
+                "target_mouth_xy": [
+                  0.27374974832516646,
+                  -0.3416459734052999
+                ],
+                "gripper_position": [
+                  0.2743482376380213,
+                  -0.3409067115833207,
+                  1.0016348067219585
+                ],
+                "rod_tip_xy_dist": 0.000956965352709118,
+                "target_xy_drift": 4.496451395148865e-08,
+                "depth": 0.019502771751883863,
+                "bottom_clearance": 0.07993776774977701,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006029654945789144,
+              "rod_tip_xy_max_step": 3.262396438226015e-05,
+              "rod_tip_xy_range": 0.0006029579135863011,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2739408346405572,
+            -0.34225087995075715,
+            1.0434479416658702
+          ],
+          "object_origin_world": [
+            0.2739408346405572,
+            -0.34225087995075715,
+            1.0434479416658702
+          ],
+          "frame_world": [
+            0.27396617543868085,
+            -0.34224860958391323,
+            1.0437593716576745
+          ],
+          "center_minus_frame": [
+            -2.5340798123663077e-05,
+            -2.270366843915017e-06,
+            -0.00031142999180433506
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.263466242553591,
+              0.14768297013396936,
+              0.8332503884177078
+            ],
+            "target_position": [
+              0.2763485201657708,
+              0.19332214427294986,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047422434485857576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16704805795114436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332503884177078,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567256580091,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1360939020949957,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f50ef3341342b5f0c08a07095692e0c9a0753cad9ec458e4ba0026cb3211d890",
+    "visual_seed": 7004123328223798979,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ad1c61a4b13414b068b5de2959b1b7e0fcc878
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_70_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3007698732715005,
+              0.0727272242206829,
+              1.1648663368744163
+            ],
+            "current_z": 1.1648663368744163,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.303759888464295,
+            "gripper_z": 1.1572034941968958,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29530441567496696,
+              0.06769746343078763,
+              1.1572034941968958
+            ],
+            "object_minus_gripper": [
+              0.005465457596533552,
+              0.005029760789895268,
+              0.007662842677520487
+            ],
+            "object_to_gripper_xy": 0.007427632216465365,
+            "object_to_gripper_z": 0.007662842677520487,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3007698732715005,
+              0.04824167594334227,
+              1.1648663368744163
+            ],
+            "finger_b": [
+              0.2896742774517081,
+              0.0727272242206829,
+              1.1648663368744163
+            ],
+            "finger_midpoint": [
+              0.2952220753616043,
+              0.060484450082012586,
+              1.1648663368744163
+            ],
+            "object_minus_finger_midpoint": [
+              0.005547797909896235,
+              0.01224277413867031,
+              0.0
+            ],
+            "finger_gap": 0.026882230581523055,
+            "fingertip_max_gap": 0.09136678948338242,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013441115290761535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648663368744163,
+            "object_top_z": 1.214803332235813,
+            "finger_top_clearance": 0.04993699536139662,
+            "fingertip_min_top_clearance": 0.014981098608418952,
+            "object_projection_between_fingers": 0.8296388148356597,
+            "object_to_finger_line_xy": 0.010106369197581436,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818339474169121,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9399677834071652,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2775073460233153,
+              -0.3376738268004576,
+              0.8515394988077928
+            ],
+            "target_position": [
+              0.26868679751346797,
+              -0.33843886970522963,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008853664024612165,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835653548836639,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394988077928,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545574372008722,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08711427465033177,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15169205546078077,
+            "release_required_pad_clearance": 0.053557137325165885,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1255046873332284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007179379463195801,
+            "max_z_decrease": 0.007179379463195801,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509834477564265,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007179379463195801,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02109583702009636,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007179379463195801,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007179398839198576,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1243867203593254,
+              -0.3947003185749054,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1243867203593254,
+              -0.3947003185749054,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12366100929209864,
+              -0.3950796631091367,
+              0.8080119204916012
+            ],
+            "closest_button": [
+              0.1243760958313942,
+              -0.3946983218193055,
+              0.772922933101654
+            ],
+            "closest_ee_minus_button": [
+              -0.0007150865392955563,
+              -0.0003813412898312496,
+              0.035088987389947146
+            ],
+            "button_min_z_position": [
+              0.12437008321285246,
+              -0.3946991264820099,
+              0.7696294784545898
+            ],
+            "min_active_finger_to_button": 0.146853055254612,
+            "closest_active_finger": [
+              -0.017529509961605072,
+              -0.37919825315475464,
+              0.8107548952102661
+            ],
+            "closest_active_finger_button": [
+              0.12438662350177764,
+              -0.3947003483772278,
+              0.7763264775276184
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14191613346338272,
+              0.015502095222473145,
+              0.034428417682647705
+            ],
+            "min_contact_pad_to_button": 0.02109583702009636,
+            "closest_contact_pad": [
+              0.12437008321285246,
+              -0.3961216238426022,
+              0.790677301164732
+            ],
+            "closest_contact_pad_button": [
+              0.12437008321285246,
+              -0.3946991264820099,
+              0.7696294784545898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014224973605923008,
+              0.02104782271014216
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2782547077039275,
+              0.19699582889986275,
+              1.109682104570144
+            ],
+            "current_z": 1.109682104570144,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19977297483578138,
+            "gripper_z": 1.1096824843843853,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2782547324105703,
+              0.19699575602249236,
+              1.1096824843843853
+            ],
+            "object_minus_gripper": [
+              -2.4706642787197808e-08,
+              7.287737038841335e-08,
+              -3.798142413913297e-07
+            ],
+            "object_to_gripper_xy": 7.695147375160649e-08,
+            "object_to_gripper_z": -3.798142413913297e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2782547077039275,
+              0.19699582889986275,
+              1.109682104570144
+            ],
+            "finger_b": [
+              0.2782547077039275,
+              0.19699582889986275,
+              1.109682104570144
+            ],
+            "finger_midpoint": [
+              0.2782547077039275,
+              0.19699582889986275,
+              1.109682104570144
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.109682104570144,
+            "object_top_z": 1.2346906111904237,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2782547077039275,
+            0.19699582889986275,
+            1.109682104570144
+          ],
+          "object_origin_world": [
+            0.2782547077039275,
+            0.19699582889986275,
+            1.109682104570144
+          ],
+          "frame_world": [
+            0.2782547324105703,
+            0.19699575602249236,
+            1.1096824843843853
+          ],
+          "center_minus_frame": [
+            -2.4706642787197808e-08,
+            7.287737038841335e-08,
+            -3.798142413913297e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.043780915915838,
+            "required_z": 0.9112597808342265,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001189445503829867,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.1892993036522315e-08,
+            "max_target_xy_drift": 1.9364392025936235e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1255046869934646,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.125872910262461,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2772059314418441,
+              -0.33651914913803854,
+              0.9234708481632478
+            ],
+            "target_mouth_xy": [
+              0.2775073465831189,
+              -0.3376738254980477
+            ],
+            "rod_tip_z": 0.9234708481632478,
+            "rod_tip_depth": -0.022211006335738248,
+            "rod_tip_bottom_clearance": 0.1216515868591056,
+            "rod_tip_xy_dist": 0.0011933685867131314,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044714905770020685,
+            "min_rod_tip_bottom_clearance": 0.054725667660270316,
+            "min_rod_tip_xy_dist": 0.0008691538472555701,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27750731469243517,
+              -0.33767382588184147
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.189068370490489e-08,
+              3.837937745387876e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0002330208344381024,
+                0.0029214007452600943
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0001256688560791197,
+                0.002543039375314138
+              ],
+              "first_target_mouth_xy": [
+                0.2775073143694054,
+                -0.3376738565918215
+              ],
+              "last_target_mouth_xy": [
+                0.2775073734776248,
+                -0.33767379444129475
+              ],
+              "first_rod_tip_xy": [
+                0.2777403352038435,
+                -0.3347524558465614
+              ],
+              "last_rod_tip_xy": [
+                0.2776330423337039,
+                -0.3351307550659806
+              ],
+              "min_rod_tip_xy_dist": 0.002546142558025052,
+              "max_rod_tip_xy_dist": 0.00293067927683813,
+              "first_target_xy_drift": 3.071167888675383e-08,
+              "last_target_xy_drift": 6.66648820223456e-08,
+              "max_depth": 0.019445815590479643,
+              "min_bottom_clearance": 0.07999480355986
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0002330208344381024,
+                  0.0029214007452600943
+                ],
+                "rod_tip_xy": [
+                  0.2777403352038435,
+                  -0.3347524558465614
+                ],
+                "target_mouth_xy": [
+                  0.2775073143694054,
+                  -0.3376738565918215
+                ],
+                "gripper_position": [
+                  0.2777317510947892,
+                  -0.33475277040169626,
+                  1.0060726220579412
+                ],
+                "rod_tip_xy_dist": 0.00293067927683813,
+                "target_xy_drift": 3.071167888675383e-08,
+                "depth": 0.015064323555331716,
+                "bottom_clearance": 0.08437619883943015,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00022437587038620643,
+                  0.0029210240081894434
+                ],
+                "rod_tip_xy": [
+                  0.2777317510947891,
+                  -0.3347527704016962
+                ],
+                "target_mouth_xy": [
+                  0.2775073752244029,
+                  -0.33767379440988565
+                ],
+                "gripper_position": [
+                  0.2777371506652796,
+                  -0.3348195423194103,
+                  1.0055526294105432
+                ],
+                "rod_tip_xy_dist": 0.0029296289505039183,
+                "target_xy_drift": 6.822465183980689e-08,
+                "depth": 0.015187234620319567,
+                "bottom_clearance": 0.08425335053663086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000229805349908907,
+                  0.0028542863418536957
+                ],
+                "rod_tip_xy": [
+                  0.27773715066527954,
+                  -0.3348195423194103
+                ],
+                "target_mouth_xy": [
+                  0.27750734531537063,
+                  -0.337673828661264
+                ],
+                "gripper_position": [
+                  0.2777251538386434,
+                  -0.3348265632270635,
+                  1.0054124308638084
+                ],
+                "rod_tip_xy_dist": 0.0028635224846575427,
+                "target_xy_drift": 3.0748810807574154e-08,
+                "depth": 0.015707219208027423,
+                "bottom_clearance": 0.08373334370882524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0002177782374374604,
+                  0.002847232126413246
+                ],
+                "rod_tip_xy": [
+                  0.2777251538386433,
+                  -0.33482656322706356
+                ],
+                "target_mouth_xy": [
+                  0.27750737560120586,
+                  -0.3376737953534768
+                ],
+                "gripper_position": [
+                  0.2777303045309903,
+                  -0.3348935696801761,
+                  1.004896291968663
+                ],
+                "rod_tip_xy_dist": 0.0028555486587311138,
+                "target_xy_drift": 6.813119253925848e-08,
+                "depth": 0.015847411443355885,
+                "bottom_clearance": 0.08359315266710843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0002229591506927031,
+                  0.0027802878376931295
+                ],
+                "rod_tip_xy": [
+                  0.27773030453099024,
+                  -0.3348935696801761
+                ],
+                "target_mouth_xy": [
+                  0.27750734538029753,
+                  -0.3376738575178692
+                ],
+                "gripper_position": [
+                  0.27771870701580603,
+                  -0.33490006116934773,
+                  1.0047563104100183
+                ],
+                "rod_tip_xy_dist": 0.0027892133735700373,
+                "target_xy_drift": 4.407474500958392e-08,
+                "depth": 0.016363540615610628,
+                "bottom_clearance": 0.08307699248488376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00021133102674081305,
+                  0.002773733553462332
+                ],
+                "rod_tip_xy": [
+                  0.277718707015806,
+                  -0.33490006116934773
+                ],
+                "target_mouth_xy": [
+                  0.27750737598906516,
+                  -0.33767379472281006
+                ],
+                "gripper_position": [
+                  0.27770984304661717,
+                  -0.33490043342468667,
+                  1.0046335907828803
+                ],
+                "rod_tip_xy_dist": 0.0027817725695078134,
+                "target_xy_drift": 6.876163237639727e-08,
+                "depth": 0.016503546176132367,
+                "bottom_clearance": 0.08293705575256449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00020246548154467803,
+                  0.002773392335491842
+                ],
+                "rod_tip_xy": [
+                  0.2777098430466171,
+                  -0.3349004334246867
+                ],
+                "target_mouth_xy": [
+                  0.27750737756507243,
+                  -0.33767382576017857
+                ],
+                "gripper_position": [
+                  0.2777161265735941,
+                  -0.33496829848005566,
+                  1.0041182205386654
+                ],
+                "rod_tip_xy_dist": 0.002780772791470388,
+                "target_xy_drift": 6.28727549760779e-08,
+                "depth": 0.016626314516076657,
+                "bottom_clearance": 0.08281430008312707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00020877984736289434,
+                  0.002705497492240083
+                ],
+                "rod_tip_xy": [
+                  0.277716126573594,
+                  -0.33496829848005566
+                ],
+                "target_mouth_xy": [
+                  0.2775073467262311,
+                  -0.33767379597229574
+                ],
+                "gripper_position": [
+                  0.2777043952197099,
+                  -0.33497468985901535,
+                  1.003978445050019
+                ],
+                "rod_tip_xy_dist": 0.0027135411744033393,
+                "target_xy_drift": 4.382630498490284e-08,
+                "depth": 0.017141617316378976,
+                "bottom_clearance": 0.08229895825332467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00019701945467670567,
+                  0.002699103589607066
+                ],
+                "rod_tip_xy": [
+                  0.27770439521970985,
+                  -0.3349746898590154
+                ],
+                "target_mouth_xy": [
+                  0.27750737576503315,
+                  -0.3376737934486225
+                ],
+                "gripper_position": [
+                  0.2776953588160255,
+                  -0.33497489092195215,
+                  1.0038558360412047
+                ],
+                "rod_tip_xy_dist": 0.0027062846954729013,
+                "target_xy_drift": 6.91503862501495e-08,
+                "depth": 0.01728143302536067,
+                "bottom_clearance": 0.0821592079022061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00018798404793418655,
+                  0.002698938063104228
+                ],
+                "rod_tip_xy": [
+                  0.27769535881602536,
+                  -0.33497489092195215
+                ],
+                "target_mouth_xy": [
+                  0.2775073747680912,
+                  -0.3376738289850564
+                ],
+                "gripper_position": [
+                  0.27768629699683955,
+                  -0.3349750207700591,
+                  1.0037328963061651
+                ],
+                "rod_tip_xy_dist": 0.0027054767917597308,
+                "target_xy_drift": 6.015575107369988e-08,
+                "depth": 0.017404081996731713,
+                "bottom_clearance": 0.08203649240722355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00017895183253974212,
+                  0.0026988043976146625
+                ],
+                "rod_tip_xy": [
+                  0.2776862969968395,
+                  -0.3349750207700591
+                ],
+                "target_mouth_xy": [
+                  0.27750734516429976,
+                  -0.33767382516767375
+                ],
+                "gripper_position": [
+                  0.2776940201841146,
+                  -0.33504556924121065,
+                  1.003217927908707
+                ],
+                "rod_tip_xy_dist": 0.002704730843347185,
+                "target_xy_drift": 3.048023239670826e-08,
+                "depth": 0.017526941149501818,
+                "bottom_clearance": 0.08191359895950567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00018667421301971077,
+                  0.002628287648537786
+                ],
+                "rod_tip_xy": [
+                  0.27769402018411454,
+                  -0.3350455692412106
+                ],
+                "target_mouth_xy": [
+                  0.27750734597109483,
+                  -0.3376738568897484
+                ],
+                "gripper_position": [
+                  0.27768195510205285,
+                  -0.33505222944872387,
+                  1.0030783725812444
+                ],
+                "rod_tip_xy_dist": 0.002634908580057914,
+                "target_xy_drift": 4.404366970561909e-08,
+                "depth": 0.01804189874972606,
+                "bottom_clearance": 0.08139863632663202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0001745789318426949,
+                  0.0026215640027992815
+                ],
+                "rod_tip_xy": [
+                  0.2776819551020528,
+                  -0.33505222944872387
+                ],
+                "target_mouth_xy": [
+                  0.2775073761702101,
+                  -0.33767379345152315
+                ],
+                "gripper_position": [
+                  0.2776729115749344,
+                  -0.3350523038270603,
+                  1.002955522562832
+                ],
+                "rod_tip_xy_dist": 0.002627370477153218,
+                "target_xy_drift": 6.950713888669153e-08,
+                "depth": 0.018181568006972015,
+                "bottom_clearance": 0.08125908785771851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00016550572889839632,
+                  0.002621525449036266
+                ],
+                "rod_tip_xy": [
+                  0.27767291157493434,
+                  -0.33505230382706025
+                ],
+                "target_mouth_xy": [
+                  0.27750740584603595,
+                  -0.3376738292760965
+                ],
+                "gripper_position": [
+                  0.27766365914273283,
+                  -0.335052239323118,
+                  1.0028329823158415
+                ],
+                "rod_tip_xy_dist": 0.002626744720417838,
+                "target_xy_drift": 9.121677423701625e-08,
+                "depth": 0.018304404436705224,
+                "bottom_clearance": 0.08113621636965329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00015628316678001353,
+                  0.002621586469197912
+                ],
+                "rod_tip_xy": [
+                  0.2776636591427328,
+                  -0.33505223932311795
+                ],
+                "target_mouth_xy": [
+                  0.27750737597595276,
+                  -0.33767382579231586
+                ],
+                "gripper_position": [
+                  0.2776729382700168,
+                  -0.33512452349302546,
+                  1.002321506439511
+                ],
+                "rod_tip_xy_dist": 0.0026262406675132354,
+                "target_xy_drift": 6.128358298533845e-08,
+                "depth": 0.018426851179580983,
+                "bottom_clearance": 0.08101370321344403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0001655626904292773,
+                  0.0025492725058862686
+                ],
+                "rod_tip_xy": [
+                  0.27767293827001677,
+                  -0.3351245234930255
+                ],
+                "target_mouth_xy": [
+                  0.2775073755795875,
+                  -0.3376737959989118
+                ],
+                "gripper_position": [
+                  0.27766090228171214,
+                  -0.33513113655003157,
+                  1.0021819736365336
+                ],
+                "rod_tip_xy_dist": 0.002554643089304225,
+                "target_xy_drift": 6.782503080924991e-08,
+                "depth": 0.018938323997892303,
+                "bottom_clearance": 0.08050221534690116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00015352643612975836,
+                  0.0025426902140209817
+                ],
+                "rod_tip_xy": [
+                  0.2776609022817121,
+                  -0.3351311365500316
+                ],
+                "target_mouth_xy": [
+                  0.2775073758455823,
+                  -0.3376738267640526
+                ],
+                "gripper_position": [
+                  0.27765153630723904,
+                  -0.3351310621356384,
+                  1.0020596682354104
+                ],
+                "rod_tip_xy_dist": 0.0025473209242395764,
+                "target_xy_drift": 6.115951032937901e-08,
+                "depth": 0.01907784796910328,
+                "bottom_clearance": 0.08036267889680293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0001441631439816904,
+                  0.0025427323205099994
+                ],
+                "rod_tip_xy": [
+                  0.277651536307239,
+                  -0.33513106213563854
+                ],
+                "target_mouth_xy": [
+                  0.2775073731632573,
+                  -0.33767379445614853
+                ],
+                "gripper_position": [
+                  0.2776423578170557,
+                  -0.33513083734828286,
+                  1.0019366242027545
+                ],
+                "rod_tip_xy_dist": 0.002546815789539725,
+                "target_xy_drift": 6.63808045819071e-08,
+                "depth": 0.019200234662052895,
+                "bottom_clearance": 0.08024039648534076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00013498166231917796,
+                  0.0025430188902687
+                ],
+                "rod_tip_xy": [
+                  0.27764235781705565,
+                  -0.3351308373482829
+                ],
+                "target_mouth_xy": [
+                  0.2775073761547365,
+                  -0.3376738562385516
+                ],
+                "gripper_position": [
+                  0.277633042333704,
+                  -0.3351307550659806,
+                  1.0018140777630766
+                ],
+                "rod_tip_xy_dist": 0.002546598736634003,
+                "target_xy_drift": 6.855030512293876e-08,
+                "depth": 0.019323258520671294,
+                "bottom_clearance": 0.08011727860654272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0001256688560791197,
+                  0.002543039375314138
+                ],
+                "rod_tip_xy": [
+                  0.2776330423337039,
+                  -0.3351307550659806
+                ],
+                "target_mouth_xy": [
+                  0.2775073734776248,
+                  -0.33767379444129475
+                ],
+                "gripper_position": [
+                  0.2776235499145786,
+                  -0.3351307875108252,
+                  1.0016916363838357
+                ],
+                "rod_tip_xy_dist": 0.002546142558025052,
+                "target_xy_drift": 6.66648820223456e-08,
+                "depth": 0.019445815590479643,
+                "bottom_clearance": 0.07999480355986,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006037966249881153,
+              "rod_tip_xy_max_step": 3.278550223340033e-05,
+              "rod_tip_xy_range": 0.0006037879944379425,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2772059314418441,
+            -0.33651914913803854,
+            1.043470848163248
+          ],
+          "object_origin_world": [
+            0.2772059314418441,
+            -0.33651914913803854,
+            1.043470848163248
+          ],
+          "frame_world": [
+            0.27723126905838424,
+            -0.33651686317933655,
+            1.043780915915838
+          ],
+          "center_minus_frame": [
+            -2.533761654016642e-05,
+            -2.285958701997437e-06,
+            -0.0003100677525900153
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2577769715214547,
+              0.15324277779124917,
+              0.8322305110138034
+            ],
+            "target_position": [
+              0.27001560787372936,
+              0.1997099155810615,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04805183778109452,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16916114125179815,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322305110138034,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675050440653,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13847797314878868,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41e4f16a9dd89ff9ec57680f45abe3e3e1cbc2737cf1ddcb8d657dd9bdff50a6",
+    "visual_seed": 7364003440532812026,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70eab9333aed761a5aaa3d14e4c6388242f2dced
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_72_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3018205700696911,
+              0.07418731023056836,
+              1.1642928821480867
+            ],
+            "current_z": 1.1642928821480867,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3031864337379653,
+            "gripper_z": 1.1563450326879403,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29662648580878737,
+              0.06913453190649035,
+              1.1563450326879403
+            ],
+            "object_minus_gripper": [
+              0.005194084260903731,
+              0.005052778324078008,
+              0.007947849460146372
+            ],
+            "object_to_gripper_xy": 0.007246314932546088,
+            "object_to_gripper_z": 0.007947849460146372,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3018205700696911,
+              0.05012891538870656,
+              1.1642928821480867
+            ],
+            "finger_b": [
+              0.2903879531337243,
+              0.07418731023056836,
+              1.1642928821480867
+            ],
+            "finger_midpoint": [
+              0.29610426160170766,
+              0.06215811280963746,
+              1.1642928821480867
+            ],
+            "object_minus_finger_midpoint": [
+              0.005716308467983433,
+              0.0120291974209309,
+              0.0
+            ],
+            "finger_gap": 0.026636649420891462,
+            "fingertip_max_gap": 0.09093572756105342,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013318324710445743,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642928821480867,
+            "object_top_z": 1.2141839317134369,
+            "finger_top_clearance": 0.049891049565350176,
+            "fingertip_min_top_clearance": 0.014967314869605019,
+            "object_projection_between_fingers": 0.8157819780270296,
+            "object_to_finger_line_xy": 0.0103260139056949,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796786378052671,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6185132505513378,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2819508721450443,
+              -0.33341727878977545,
+              0.8515395470692152
+            ],
+            "target_position": [
+              0.27317619796653253,
+              -0.33434872078328515,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008823972525247008,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18608697287387582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395470692152,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567744048640727,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533426903650852,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536323302739222,
+            "release_required_pad_clearance": 0.05266713451825426,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3916705536893759,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007077515125274658,
+            "max_z_decrease": 0.007077515125274658,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035152352459432365,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007077515125274658,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02111404520910131,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007077515125274658,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007077531820793132,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12887611985206598,
+              -0.39061018824577326,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12887611985206598,
+              -0.39061018824577326,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12691366915636526,
+              -0.39112938174583756,
+              0.8069368388721241
+            ],
+            "closest_button": [
+              0.12886330485343928,
+              -0.3906071186065673,
+              0.7718424797058105
+            ],
+            "closest_ee_minus_button": [
+              -0.0019496356970740147,
+              -0.0005222631392702293,
+              0.03509435916631354
+            ],
+            "button_min_z_position": [
+              0.12886078655719752,
+              -0.3906090855598449,
+              0.769731342792511
+            ],
+            "min_active_finger_to_button": 0.1478253081172322,
+            "closest_active_finger": [
+              -0.013966977596282959,
+              -0.37427693605422974,
+              0.810711681842804
+            ],
+            "closest_active_finger_button": [
+              0.12887668609619135,
+              -0.39061164855957026,
+              0.7763432860374451
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1428436636924743,
+              0.01633471250534052,
+              0.03436839580535889
+            ],
+            "min_contact_pad_to_button": 0.02111404520910131,
+            "closest_contact_pad": [
+              0.12886078655719752,
+              -0.3923499892794455,
+              0.7907734947578176
+            ],
+            "closest_contact_pad_button": [
+              0.12886078655719752,
+              -0.3906090855598449,
+              0.769731342792511
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017409037196005617,
+              0.021042151965306566
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2758145567203481,
+              0.19727550297298577,
+              1.10486951205296
+            ],
+            "current_z": 1.10486951205296,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19496038231859736,
+            "gripper_z": 1.104869584069173,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2758145553007264,
+              0.19727550544142602,
+              1.104869584069173
+            ],
+            "object_minus_gripper": [
+              1.4196216979733833e-09,
+              -2.468440257752391e-09,
+              -7.201621299302019e-08
+            ],
+            "object_to_gripper_xy": 2.8475468514933203e-09,
+            "object_to_gripper_z": -7.201621299302019e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2758145567203481,
+              0.19727550297298577,
+              1.10486951205296
+            ],
+            "finger_b": [
+              0.2758145567203481,
+              0.19727550297298577,
+              1.10486951205296
+            ],
+            "finger_midpoint": [
+              0.2758145567203481,
+              0.19727550297298577,
+              1.10486951205296
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10486951205296,
+            "object_top_z": 1.2298780186732396,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27581455672034816,
+            0.19727550297298574,
+            1.1048695120529601
+          ],
+          "object_origin_world": [
+            0.27581455672034816,
+            0.19727550297298574,
+            1.1048695120529601
+          ],
+          "frame_world": [
+            0.2758145553007264,
+            0.19727550544142602,
+            1.104869584069173
+          ],
+          "center_minus_frame": [
+            1.4196217534845346e-09,
+            -2.4684402855079668e-09,
+            -7.201621277097559e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434344773651714,
+            "required_z": 0.9112597568169268,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018173477811357075,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.746581023399678e-08,
+            "max_target_xy_drift": 6.027935004362071e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3916705578247234,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3916705584174813,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28020984455928366,
+              -0.3339288650588377,
+              0.9235457964121722
+            ],
+            "target_mouth_xy": [
+              0.28195075029345806,
+              -0.3334172810200543
+            ],
+            "rod_tip_z": 0.9235457964121722,
+            "rod_tip_depth": -0.022285947265843098,
+            "rod_tip_bottom_clearance": 0.12172649154190662,
+            "rod_tip_xy_dist": 0.0018145167411791013,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04479422432135993,
+            "min_rod_tip_bottom_clearance": 0.05464639548748185,
+            "min_rod_tip_xy_dist": 0.001260005241873267,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2819508112821007,
+              -0.33341730986482887
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.098864263615056e-08,
+              2.884477456888135e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0011808885808740066,
+                0.0012117266546360916
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001289660645104218,
+                0.0008240027657225313
+              ],
+              "first_target_mouth_xy": [
+                0.2819508410405768,
+                -0.3334173095473354
+              ],
+              "last_target_mouth_xy": [
+                0.2819508098923154,
+                -0.3334172813346746
+              ],
+              "first_rod_tip_xy": [
+                0.2807699524597028,
+                -0.3322055828926993
+              ],
+              "last_rod_tip_xy": [
+                0.2806611492472112,
+                -0.33259327856895204
+              ],
+              "min_rod_tip_xy_dist": 0.0015304264560732767,
+              "max_rod_tip_xy_dist": 0.0016953112817150384,
+              "first_target_xy_drift": 2.9760169750061853e-08,
+              "last_target_xy_drift": 2.856398444225612e-08,
+              "max_depth": 0.01985098706657884,
+              "min_bottom_clearance": 0.07958956874385703
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0011808885808740066,
+                  0.0012117266546360916
+                ],
+                "rod_tip_xy": [
+                  0.2807699524597028,
+                  -0.3322055828926993
+                ],
+                "target_mouth_xy": [
+                  0.2819508410405768,
+                  -0.3334173095473354
+                ],
+                "gripper_position": [
+                  0.280758081074862,
+                  -0.33221256844590247,
+                  1.005656924086656
+                ],
+                "rod_tip_xy_dist": 0.0016919749779456547,
+                "target_xy_drift": 2.9760169750061853e-08,
+                "depth": 0.015461710199520806,
+                "bottom_clearance": 0.08397880808450486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011927621411041978,
+                  0.001204740144868932
+                ],
+                "rod_tip_xy": [
+                  0.2807580810748619,
+                  -0.3322125684459024
+                ],
+                "target_mouth_xy": [
+                  0.2819508432159661,
+                  -0.33341730859077134
+                ],
+                "gripper_position": [
+                  0.28076197957309446,
+                  -0.3322799034140975,
+                  1.0051389456972215
+                ],
+                "rod_tip_xy_dist": 0.0016953112817150384,
+                "target_xy_drift": 3.1959270658607426e-08,
+                "depth": 0.015602990754878587,
+                "bottom_clearance": 0.08383764525627779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011888300788162054,
+                  0.0011373788720951405
+                ],
+                "rod_tip_xy": [
+                  0.2807619795730944,
+                  -0.3322799034140974
+                ],
+                "target_mouth_xy": [
+                  0.2819508096519106,
+                  -0.33341728228619255
+                ],
+                "gripper_position": [
+                  0.2807501737698712,
+                  -0.3322865393808888,
+                  1.004997979659439
+                ],
+                "rod_tip_xy_dist": 0.0016452804183441068,
+                "target_xy_drift": 2.76267750735188e-08,
+                "depth": 0.01612093377875745,
+                "bottom_clearance": 0.08331966541457436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012006688304617708,
+                  0.0011307378202976004
+                ],
+                "rod_tip_xy": [
+                  0.2807501737698711,
+                  -0.3322865393808887
+                ],
+                "target_mouth_xy": [
+                  0.2819508426003329,
+                  -0.3334172772011863
+                ],
+                "gripper_position": [
+                  0.28074118581408125,
+                  -0.3322868453393682,
+                  1.004874170224383
+                ],
+                "rod_tip_xy_dist": 0.0016492948974315676,
+                "target_xy_drift": 4.5252018876113196e-08,
+                "depth": 0.01626195881563197,
+                "bottom_clearance": 0.0831787108358727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012096544396697495,
+                  0.0011304657968403409
+                ],
+                "rod_tip_xy": [
+                  0.2807411858140812,
+                  -0.33228684533936814
+                ],
+                "target_mouth_xy": [
+                  0.28195084025375095,
+                  -0.3334173111362085
+                ],
+                "gripper_position": [
+                  0.2807462619429865,
+                  -0.3323550489703551,
+                  1.0043573653947677
+                ],
+                "rod_tip_xy_dist": 0.0016556620371436322,
+                "target_xy_drift": 2.899953316982728e-08,
+                "depth": 0.016385667781203206,
+                "bottom_clearance": 0.083054866632163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012045794121627318,
+                  0.001062231722674667
+                ],
+                "rod_tip_xy": [
+                  0.28074626194298646,
+                  -0.33235504897035506
+                ],
+                "target_mouth_xy": [
+                  0.2819508413551492,
+                  -0.3334172806930297
+                ],
+                "gripper_position": [
+                  0.2807342751287579,
+                  -0.33236174001426355,
+                  1.0042164670896983
+                ],
+                "rod_tip_xy_dist": 0.0016060348043746445,
+                "target_xy_drift": 4.189728047348719e-08,
+                "depth": 0.0169024644412199,
+                "bottom_clearance": 0.0825380785476666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001216567611365238,
+                  0.0010555403577638955
+                ],
+                "rod_tip_xy": [
+                  0.28073427512875787,
+                  -0.33236174001426344
+                ],
+                "target_mouth_xy": [
+                  0.2819508427401231,
+                  -0.33341728037202734
+                ],
+                "gripper_position": [
+                  0.28072529462954066,
+                  -0.3323617848590192,
+                  1.0040929220180932
+                ],
+                "rod_tip_xy_dist": 0.0016106527247955263,
+                "target_xy_drift": 4.3121137696507066e-08,
+                "depth": 0.017043427813527634,
+                "bottom_clearance": 0.08239715735556152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012255166832996767,
+                  0.0010554644489988996
+                ],
+                "rod_tip_xy": [
+                  0.2807252946295406,
+                  -0.332361784859019
+                ],
+                "target_mouth_xy": [
+                  0.2819508113128403,
+                  -0.3334172493080179
+                ],
+                "gripper_position": [
+                  0.28073117150326393,
+                  -0.33243118586338455,
+                  1.0035778091618748
+                ],
+                "rod_tip_xy_dist": 0.0016173732853446018,
+                "target_xy_drift": 6.05568187565691e-08,
+                "depth": 0.017166851296002705,
+                "bottom_clearance": 0.08227369269493867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012196734213302807,
+                  0.0009861233601639041
+                ],
+                "rod_tip_xy": [
+                  0.2807311715032638,
+                  -0.3324311858633845
+                ],
+                "target_mouth_xy": [
+                  0.2819508449245941,
+                  -0.3334173092235484
+                ],
+                "gripper_position": [
+                  0.28071901485580586,
+                  -0.3324377803337032,
+                  1.0034372639031286
+                ],
+                "rod_tip_xy_dist": 0.0015684522741098823,
+                "target_xy_drift": 3.364860476992918e-08,
+                "depth": 0.017682107836071048,
+                "bottom_clearance": 0.08175857088886274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012317949513197535,
+                  0.0009794990991935926
+                ],
+                "rod_tip_xy": [
+                  0.2807190148558058,
+                  -0.3324377803337032
+                ],
+                "target_mouth_xy": [
+                  0.28195080980712556,
+                  -0.3334172794328968
+                ],
+                "gripper_position": [
+                  0.28070983705064495,
+                  -0.33243765878019493,
+                  1.003313777039829
+                ],
+                "rod_tip_xy_dist": 0.0015737653215832064,
+                "target_xy_drift": 3.0467655671553884e-08,
+                "depth": 0.01782258137646986,
+                "bottom_clearance": 0.08161795336077571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001241003228425297,
+                  0.0009796504506760506
+                ],
+                "rod_tip_xy": [
+                  0.28070983705064484,
+                  -0.3324376587801948
+                ],
+                "target_mouth_xy": [
+                  0.28195084027907014,
+                  -0.3334173092308709
+                ],
+                "gripper_position": [
+                  0.2807005834865657,
+                  -0.3324379661211103,
+                  1.0031902435150464
+                ],
+                "rod_tip_xy_dist": 0.0015810768540687069,
+                "target_xy_drift": 2.9003898690610437e-08,
+                "depth": 0.017946047804819565,
+                "bottom_clearance": 0.08149446115062686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012502286093577508,
+                  0.0009792831807310387
+                ],
+                "rod_tip_xy": [
+                  0.28070058348656557,
+                  -0.3324379661211103
+                ],
+                "target_mouth_xy": [
+                  0.2819508120959233,
+                  -0.33341724930184136
+                ],
+                "gripper_position": [
+                  0.28069138019175444,
+                  -0.33243792701164215,
+                  1.0030667404568054
+                ],
+                "rod_tip_xy_dist": 0.0015881017359474538,
+                "target_xy_drift": 6.056845518803583e-08,
+                "depth": 0.018069655278919128,
+                "bottom_clearance": 0.0813709188981343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012594314635722137,
+                  0.0009793222897247489
+                ],
+                "rod_tip_xy": [
+                  0.2806913801917543,
+                  -0.3324379270116421
+                ],
+                "target_mouth_xy": [
+                  0.28195081165532654,
+                  -0.33341724930136685
+                ],
+                "gripper_position": [
+                  0.28069966585239486,
+                  -0.33251059801551763,
+                  1.0025521637139059
+                ],
+                "rod_tip_xy_dist": 0.00159538075661811,
+                "target_xy_drift": 6.056461202520746e-08,
+                "depth": 0.018193035669503588,
+                "bottom_clearance": 0.08124752166359361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012511470288483761,
+                  0.0009066503326629616
+                ],
+                "rod_tip_xy": [
+                  0.28069966585239475,
+                  -0.3325105980155175
+                ],
+                "target_mouth_xy": [
+                  0.28195081288124313,
+                  -0.3334172483481805
+                ],
+                "gripper_position": [
+                  0.2806874425969933,
+                  -0.3325173381664154,
+                  1.0024115425527307
+                ],
+                "rod_tip_xy_dist": 0.0015451160841548372,
+                "target_xy_drift": 6.153742995286758e-08,
+                "depth": 0.018707758374246763,
+                "bottom_clearance": 0.08073288023255487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012633391874821709,
+                  0.0008999437922936337
+                ],
+                "rod_tip_xy": [
+                  0.28068744259699324,
+                  -0.33251733816641527
+                ],
+                "target_mouth_xy": [
+                  0.2819507817844754,
+                  -0.3334172819587089
+                ],
+                "gripper_position": [
+                  0.2806780871965467,
+                  -0.3325171356941037,
+                  1.0022881902422842
+                ],
+                "rod_tip_xy_dist": 0.0015511043588088969,
+                "target_xy_drift": 4.06061747689055e-08,
+                "depth": 0.01884831007560439,
+                "bottom_clearance": 0.08059227906843824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012727861310238286,
+                  0.0009001437235909293
+                ],
+                "rod_tip_xy": [
+                  0.2806780871965466,
+                  -0.33251713569410357
+                ],
+                "target_mouth_xy": [
+                  0.2819508733275704,
+                  -0.3334172794176945
+                ],
+                "gripper_position": [
+                  0.28066868403352585,
+                  -0.3325170214609559,
+                  1.0021649462310405
+                ],
+                "rod_tip_xy_dist": 0.0015589237500425574,
+                "target_xy_drift": 6.911344516369639e-08,
+                "depth": 0.01897171575659451,
+                "bottom_clearance": 0.08046890944096674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012821264725624837,
+                  0.0009002595468826646
+                ],
+                "rod_tip_xy": [
+                  0.2806686840335258,
+                  -0.33251702146095585
+                ],
+                "target_mouth_xy": [
+                  0.2819508105060883,
+                  -0.3334172810078385
+                ],
+                "gripper_position": [
+                  0.28065935090973804,
+                  -0.33251706396598785,
+                  1.0020416052577041
+                ],
+                "rod_tip_xy_dist": 0.0015666255274949716,
+                "target_xy_drift": 2.886742259884575e-08,
+                "depth": 0.01909488422678829,
+                "bottom_clearance": 0.08034563637283709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012914312546962736,
+                  0.0009001846995471685
+                ],
+                "rod_tip_xy": [
+                  0.280659350909738,
+                  -0.3325170639659878
+                ],
+                "target_mouth_xy": [
+                  0.28195078216443425,
+                  -0.33341724866553496
+                ],
+                "gripper_position": [
+                  0.2806500061194114,
+                  -0.332516772363842,
+                  1.0019182651444098
+                ],
+                "rod_tip_xy_dist": 0.0015742068412077294,
+                "target_xy_drift": 6.777309255380978e-08,
+                "depth": 0.019218244328259915,
+                "bottom_clearance": 0.08022234782977622,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013008681743392758,
+                  0.0009005064257425199
+                ],
+                "rod_tip_xy": [
+                  0.28065000611941127,
+                  -0.3325167723638419
+                ],
+                "target_mouth_xy": [
+                  0.28195087429375054,
+                  -0.33341727878958444
+                ],
+                "gripper_position": [
+                  0.2806611492472113,
+                  -0.332593278568952,
+                  1.0014088679363657
+                ],
+                "rod_tip_xy_dist": 0.0015821409007456856,
+                "target_xy_drift": 7.025766031146005e-08,
+                "depth": 0.01934165975300972,
+                "bottom_clearance": 0.08009902510813294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001289660645104218,
+                  0.0008240027657225313
+                ],
+                "rod_tip_xy": [
+                  0.2806611492472112,
+                  -0.33259327856895204
+                ],
+                "target_mouth_xy": [
+                  0.2819508098923154,
+                  -0.3334172813346746
+                ],
+                "gripper_position": [
+                  0.2806487558224484,
+                  -0.33259996597369845,
+                  1.0012685756526274
+                ],
+                "rod_tip_xy_dist": 0.0015304264560732767,
+                "target_xy_drift": 2.856398444225612e-08,
+                "depth": 0.01985098706657884,
+                "bottom_clearance": 0.07958956874385703,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000605124823272291,
+              "rod_tip_xy_max_step": 3.265558184177678e-05,
+              "rod_tip_xy_range": 0.0006051177018176813,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2802098445592837,
+            -0.3339288650588377,
+            1.0435457964121722
+          ],
+          "object_origin_world": [
+            0.2802098445592837,
+            -0.3339288650588377,
+            1.0435457964121722
+          ],
+          "frame_world": [
+            0.28020813650914406,
+            -0.3339330815205559,
+            1.0434344773651714
+          ],
+          "center_minus_frame": [
+            1.7080501396593561e-06,
+            4.216461718220543e-06,
+            0.00011131904700079076
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26502404598334717,
+              0.15076811872711604,
+              0.833150291777352
+            ],
+            "target_position": [
+              0.2759618230997788,
+              0.19784891647714775,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04833463028748773,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17013285193547326,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833150291777352,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566974909405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13865547908298106,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "25d54aa80de8e127463f939842b073c17f3aa07dd3339f08daa1088210e7b30e",
+    "visual_seed": 3207660398493368298,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c5903f99857bc8fb4b46a09522d1614838a2abe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30253569982404976,
+              0.07963420448306663,
+              1.1630137570630081
+            ],
+            "current_z": 1.1630137570630081,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.30190736825753195,
+            "gripper_z": 1.1551299335132188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2972096756959632,
+              0.07455215931013669,
+              1.1551299335132188
+            ],
+            "object_minus_gripper": [
+              0.005326024128086582,
+              0.0050820451729299415,
+              0.007883823549789337
+            ],
+            "object_to_gripper_xy": 0.007361638143284479,
+            "object_to_gripper_z": 0.007883823549789337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30253569982404976,
+              0.05544503935057645,
+              1.1630137570630081
+            ],
+            "finger_b": [
+              0.29111137225975264,
+              0.07963420448306663,
+              1.1630137570630081
+            ],
+            "finger_midpoint": [
+              0.2968235360419012,
+              0.06753962191682154,
+              1.1630137570630081
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057121637821485605,
+              0.012094582566245085,
+              0.0
+            ],
+            "finger_gap": 0.0267512797843998,
+            "fingertip_max_gap": 0.09084814294958363,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013375639892199897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630137570630081,
+            "object_top_z": 1.2128941559341229,
+            "finger_top_clearance": 0.04988039887111473,
+            "fingertip_min_top_clearance": 0.014964119661334417,
+            "object_projection_between_fingers": 0.8176221184536903,
+            "object_to_finger_line_xy": 0.010330157966558092,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047924071474791816,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5484873010278647,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2772405313340198,
+              -0.336216494283489,
+              0.8515395298424226
+            ],
+            "target_position": [
+              0.2681143278461786,
+              -0.33713780220407047,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009172589513654869,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18636842076992094,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395298424226,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755677581441591,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547325316484707,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15417671645712083,
+            "release_required_pad_clearance": 0.052736626582423535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5248852664909919,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007314801216125488,
+            "max_z_decrease": 0.007314801216125488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518454249804361,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007314801216125488,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021235958875132875,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007314801216125488,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007314824331939939,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12381425499916072,
+              -0.3933992683887481,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12381425499916072,
+              -0.3933992683887481,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12574467282756727,
+              -0.3949345427780707,
+              0.8078285945134556
+            ],
+            "closest_button": [
+              0.12380301207303995,
+              -0.3933975994586944,
+              0.7727313041687012
+            ],
+            "closest_ee_minus_button": [
+              0.0019416607545273135,
+              -0.001536943319376316,
+              0.035097290344754395
+            ],
+            "button_min_z_position": [
+              0.1237958967685699,
+              -0.39339819550514216,
+              0.7694940567016602
+            ],
+            "min_active_finger_to_button": 0.14417071596529038,
+            "closest_active_finger": [
+              -0.015536583960056305,
+              -0.3799685835838318,
+              0.810704231262207
+            ],
+            "closest_active_finger_button": [
+              0.12381400913000103,
+              -0.3933988511562347,
+              0.7762624621391296
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13935059309005732,
+              0.013430267572402899,
+              0.03444176912307739
+            ],
+            "min_contact_pad_to_button": 0.021235958875132875,
+            "closest_contact_pad": [
+              0.1237958967685699,
+              -0.3959135909201388,
+              0.7905805152770717
+            ],
+            "closest_contact_pad_button": [
+              0.1237958967685699,
+              -0.39339819550514216,
+              0.7694940567016602
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002515395414996624,
+              0.021086458575411582
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27553148069864225,
+              0.19986195199556228,
+              1.10242171983138
+            ],
+            "current_z": 1.10242171983138,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19251259009701738,
+            "gripper_z": 1.1024218357218227,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27553154193069734,
+              0.19986191937069814,
+              1.1024218357218227
+            ],
+            "object_minus_gripper": [
+              -6.123205509300789e-08,
+              3.262486414357113e-08,
+              -1.158904427978058e-07
+            ],
+            "object_to_gripper_xy": 6.938116697850813e-08,
+            "object_to_gripper_z": -1.158904427978058e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27553148069864225,
+              0.19986195199556228,
+              1.10242171983138
+            ],
+            "finger_b": [
+              0.27553148069864225,
+              0.19986195199556228,
+              1.10242171983138
+            ],
+            "finger_midpoint": [
+              0.27553148069864225,
+              0.19986195199556228,
+              1.10242171983138
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10242171983138,
+            "object_top_z": 1.2274302264516597,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2755314806986423,
+            0.19986195199556228,
+            1.10242171983138
+          ],
+          "object_origin_world": [
+            0.2755314806986423,
+            0.19986195199556228,
+            1.10242171983138
+          ],
+          "frame_world": [
+            0.27553154193069734,
+            0.19986191937069814,
+            1.1024218357218227
+          ],
+          "center_minus_frame": [
+            -6.123205503749674e-08,
+            3.262486414357113e-08,
+            -1.158904427978058e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432272346379161,
+            "required_z": 0.911259835538164,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018800099874569244,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.829464812658002e-07,
+            "max_target_xy_drift": 4.829920976719893e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5263743168204807,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5263743194488908,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27536412027765417,
+              -0.3363012021907173,
+              0.9233366799581578
+            ],
+            "target_mouth_xy": [
+              0.27724046200232905,
+              -0.336216116670037
+            ],
+            "rod_tip_z": 0.9233366799581578,
+            "rod_tip_depth": -0.022076851862813163,
+            "rod_tip_bottom_clearance": 0.121517451116959,
+            "rod_tip_xy_dist": 0.001878269899025521,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044708856979388645,
+            "min_rod_tip_bottom_clearance": 0.05473167018781122,
+            "min_rod_tip_xy_dist": 0.0013713807109056125,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27724052927721865,
+              -0.33621649366088135
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.727488960356354e-08,
+              3.7699084437514685e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0012658381210127745,
+                0.0016306506040051905
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001382243193253252,
+                0.0012435242344415176
+              ],
+              "first_target_mouth_xy": [
+                0.2772404411214891,
+                -0.3362165535878824
+              ],
+              "last_target_mouth_xy": [
+                0.2772404102462548,
+                -0.33621652157510235
+              ],
+              "first_rod_tip_xy": [
+                0.2759746030004763,
+                -0.3345859029838772
+              ],
+              "last_rod_tip_xy": [
+                0.27585816705300154,
+                -0.3349729973406608
+              ],
+              "min_rod_tip_xy_dist": 0.0018545627513588021,
+              "max_rod_tip_xy_dist": 0.0020714310902397244,
+              "first_target_xy_drift": 1.0659586344999156e-07,
+              "last_target_xy_drift": 1.222602719271558e-07,
+              "max_depth": 0.01966121774084717,
+              "min_bottom_clearance": 0.07977936803812236
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0012658381210127745,
+                  0.0016306506040051905
+                ],
+                "rod_tip_xy": [
+                  0.2759746030004763,
+                  -0.3345859029838772
+                ],
+                "target_mouth_xy": [
+                  0.2772404411214891,
+                  -0.3362165535878824
+                ],
+                "gripper_position": [
+                  0.2759629871105868,
+                  -0.33459245713140506,
+                  1.0058389715454745
+                ],
+                "rod_tip_xy_dist": 0.0020643080053498906,
+                "target_xy_drift": 1.0659586344999156e-07,
+                "depth": 0.015282009683619258,
+                "bottom_clearance": 0.08415861538560887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012774538006226077,
+                  0.001624063488404437
+                ],
+                "rod_tip_xy": [
+                  0.27596298711058664,
+                  -0.3345924571314051
+                ],
+                "target_mouth_xy": [
+                  0.27724044091120925,
+                  -0.33621652061980956
+                ],
+                "gripper_position": [
+                  0.27595440738387234,
+                  -0.334592681517167,
+                  1.0057165970597983
+                ],
+                "rod_tip_xy_dist": 0.0020662696888580478,
+                "target_xy_drift": 9.238687908348172e-08,
+                "depth": 0.015420895994372574,
+                "bottom_clearance": 0.08401975722769028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012860641450280208,
+                  0.001623842903881123
+                ],
+                "rod_tip_xy": [
+                  0.27595440738387217,
+                  -0.33459268151716687
+                ],
+                "target_mouth_xy": [
+                  0.2772404715289002,
+                  -0.336216524421048
+                ],
+                "gripper_position": [
+                  0.27595740024822435,
+                  -0.3346591310061087,
+                  1.0051991336089978
+                ],
+                "rod_tip_xy_dist": 0.0020714310902397244,
+                "target_xy_drift": 6.542978019597658e-08,
+                "depth": 0.015543330164740854,
+                "bottom_clearance": 0.08389734080403988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012830093478354287,
+                  0.001557359183391338
+                ],
+                "rod_tip_xy": [
+                  0.27595740024822424,
+                  -0.3346591310061087
+                ],
+                "target_mouth_xy": [
+                  0.27724040959605967,
+                  -0.33621649018950006
+                ],
+                "gripper_position": [
+                  0.2759456432888898,
+                  -0.33466579254081763,
+                  1.0050598302408231
+                ],
+                "rod_tip_xy_dist": 0.0020177910230562597,
+                "target_xy_drift": 1.197314925307732e-07,
+                "depth": 0.01606073336920233,
+                "bottom_clearance": 0.0833798847735131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001294798949357634,
+                  0.0015507331439124639
+                ],
+                "rod_tip_xy": [
+                  0.2759456432888897,
+                  -0.3346657925408177
+                ],
+                "target_mouth_xy": [
+                  0.27724044223824734,
+                  -0.33621652568473015
+                ],
+                "gripper_position": [
+                  0.275936973623551,
+                  -0.334666038686202,
+                  1.0049380184391545
+                ],
+                "rod_tip_xy_dist": 0.0020202172167582046,
+                "target_xy_drift": 9.274324459506698e-08,
+                "depth": 0.016200123575176417,
+                "bottom_clearance": 0.08324061184427711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0013034657026341767,
+                  0.001550453085656045
+                ],
+                "rod_tip_xy": [
+                  0.27593697362355085,
+                  -0.334666038686202
+                ],
+                "target_mouth_xy": [
+                  0.27724043932618503,
+                  -0.33621649177185803
+                ],
+                "gripper_position": [
+                  0.2759406343198524,
+                  -0.3347336847223661,
+                  1.0044208541403363
+                ],
+                "rod_tip_xy_dist": 0.0020255684655829235,
+                "target_xy_drift": 8.997086672212115e-08,
+                "depth": 0.016321819561816553,
+                "bottom_clearance": 0.08311873867313635,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012998366922495896,
+                  0.0014828400167398725
+                ],
+                "rod_tip_xy": [
+                  0.2759406343198522,
+                  -0.33473368472236614
+                ],
+                "target_mouth_xy": [
+                  0.2772404710121018,
+                  -0.336216524739106
+                ],
+                "gripper_position": [
+                  0.2759290334169662,
+                  -0.33473994439186944,
+                  1.004282098180792
+                ],
+                "rod_tip_xy_dist": 0.0019719000841227886,
+                "target_xy_drift": 6.60354441849119e-08,
+                "depth": 0.016839074548189337,
+                "bottom_clearance": 0.08260158763878322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0013113754027063163,
+                  0.0014765489681259347
+                ],
+                "rod_tip_xy": [
+                  0.275929033416966,
+                  -0.33473994439186944
+                ],
+                "target_mouth_xy": [
+                  0.2772404088196723,
+                  -0.33621649335999537
+                ],
+                "gripper_position": [
+                  0.2759201279786645,
+                  -0.33474021827638445,
+                  1.004160036660893
+                ],
+                "rod_tip_xy_dist": 0.0019748170300301028,
+                "target_xy_drift": 1.204579221113169e-07,
+                "depth": 0.016977721862515227,
+                "bottom_clearance": 0.08246278426320142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001320309636614836,
+                  0.0014762722380982085
+                ],
+                "rod_tip_xy": [
+                  0.27592012797866433,
+                  -0.3347402182763845
+                ],
+                "target_mouth_xy": [
+                  0.27724043761527917,
+                  -0.3362164905144827
+                ],
+                "gripper_position": [
+                  0.2759248297921385,
+                  -0.3348090859736508,
+                  1.0036452130968072
+                ],
+                "rod_tip_xy_dist": 0.001980554785285551,
+                "target_xy_drift": 9.171592541216376e-08,
+                "depth": 0.017099840917555564,
+                "bottom_clearance": 0.08234075818364639,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0013156436853961617,
+                  0.0014074387621409445
+                ],
+                "rod_tip_xy": [
+                  0.27592482979213834,
+                  -0.3348090859736507
+                ],
+                "target_mouth_xy": [
+                  0.2772404734775345,
+                  -0.33621652473579167
+                ],
+                "gripper_position": [
+                  0.2759131110541841,
+                  -0.334815441125293,
+                  1.0035063297223543
+                ],
+                "rod_tip_xy_dist": 0.0019266037932329596,
+                "target_xy_drift": 6.386904416249632e-08,
+                "depth": 0.017614735484597355,
+                "bottom_clearance": 0.08182602203846268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0013272965370115242,
+                  0.0014010810954063202
+                ],
+                "rod_tip_xy": [
+                  0.2759131110541839,
+                  -0.334815441125293
+                ],
+                "target_mouth_xy": [
+                  0.27724040759119545,
+                  -0.3362165222206993
+                ],
+                "gripper_position": [
+                  0.2759040986150963,
+                  -0.33481539492821144,
+                  1.0033848028657264
+                ],
+                "rod_tip_xy_dist": 0.001929959671357865,
+                "target_xy_drift": 1.2499260555893103e-07,
+                "depth": 0.017753521153844876,
+                "bottom_clearance": 0.0816870191534027,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0013363118370992022,
+                  0.0014011570841013232
+                ],
+                "rod_tip_xy": [
+                  0.2759040986150962,
+                  -0.3348153949282114
+                ],
+                "target_mouth_xy": [
+                  0.2772404104521954,
+                  -0.3362165520123127
+                ],
+                "gripper_position": [
+                  0.2758951601514573,
+                  -0.3348154228310455,
+                  1.0032628781266735
+                ],
+                "rod_tip_xy_dist": 0.0019362258391775395,
+                "target_xy_drift": 1.3237928725825175e-07,
+                "depth": 0.01787509059329151,
+                "bottom_clearance": 0.0815654801335487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0013452804034096433,
+                  0.0014010993698402308
+                ],
+                "rod_tip_xy": [
+                  0.27589516015145715,
+                  -0.33481542283104554
+                ],
+                "target_mouth_xy": [
+                  0.2772404405548668,
+                  -0.33621652220088577
+                ],
+                "gripper_position": [
+                  0.2759012694150375,
+                  -0.33488649914933105,
+                  1.0027496849624113
+                ],
+                "rod_tip_xy_dist": 0.0019423848248904501,
+                "target_xy_drift": 9.319971872579204e-08,
+                "depth": 0.01799695824267422,
+                "bottom_clearance": 0.0814436242832024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0013391699499388787,
+                  0.0013300227396438324
+                ],
+                "rod_tip_xy": [
+                  0.2759012694150374,
+                  -0.33488649914933105
+                ],
+                "target_mouth_xy": [
+                  0.2772404393649763,
+                  -0.3362165218889749
+                ],
+                "gripper_position": [
+                  0.2758892790400989,
+                  -0.33489293307530976,
+                  1.0026110768097967
+                ],
+                "rod_tip_xy_dist": 0.0018874153339392432,
+                "target_xy_drift": 9.423925186968046e-08,
+                "depth": 0.018510088087977494,
+                "bottom_clearance": 0.08093046026412598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001351190645781708,
+                  0.0013235900781592425
+                ],
+                "rod_tip_xy": [
+                  0.27588927904009874,
+                  -0.3348929330753098
+                ],
+                "target_mouth_xy": [
+                  0.27724046968588045,
+                  -0.33621652315346906
+                ],
+                "gripper_position": [
+                  0.2758801565338026,
+                  -0.3348928973246828,
+                  1.0024895612162925
+                ],
+                "rod_tip_xy_dist": 0.0018914562792329032,
+                "target_xy_drift": 6.649015203551669e-08,
+                "depth": 0.018648812933134362,
+                "bottom_clearance": 0.08079174180864857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0013602842935206416,
+                  0.0013235941225978043
+                ],
+                "rod_tip_xy": [
+                  0.27588015653380243,
+                  -0.3348928973246829
+                ],
+                "target_mouth_xy": [
+                  0.2772404408273231,
+                  -0.3362164914472807
+                ],
+                "gripper_position": [
+                  0.27587109336676896,
+                  -0.33489269700816554,
+                  1.0023678105391147
+                ],
+                "rod_tip_xy_dist": 0.0018979659534813585,
+                "target_xy_drift": 8.847759069338014e-08,
+                "depth": 0.018770294358753103,
+                "bottom_clearance": 0.08067033291364689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013693484364178943,
+                  0.0013238280449239803
+                ],
+                "rod_tip_xy": [
+                  0.27587109336676885,
+                  -0.33489269700816565
+                ],
+                "target_mouth_xy": [
+                  0.27724044180318674,
+                  -0.33621652505308963
+                ],
+                "gripper_position": [
+                  0.27586188537473944,
+                  -0.33489283649019086,
+                  1.0022461393146722
+                ],
+                "rod_tip_xy_dist": 0.001904635354299447,
+                "target_xy_drift": 9.293641373840045e-08,
+                "depth": 0.0188920689310903,
+                "bottom_clearance": 0.08054862733394552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001378553737586219,
+                  0.0013237177446536186
+                ],
+                "rod_tip_xy": [
+                  0.2758618853747393,
+                  -0.3348928364901909
+                ],
+                "target_mouth_xy": [
+                  0.27724043911232554,
+                  -0.33621655423484453
+                ],
+                "gripper_position": [
+                  0.27587035189362147,
+                  -0.33496665361035405,
+                  1.001737008944982
+                ],
+                "rod_tip_xy_dist": 0.0019111878701278417,
+                "target_xy_drift": 1.0862280130906807e-07,
+                "depth": 0.019013647691749846,
+                "bottom_clearance": 0.08042692235491355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013701192422770903,
+                  0.0012498704975594799
+                ],
+                "rod_tip_xy": [
+                  0.27587035189362136,
+                  -0.3349666536103541
+                ],
+                "target_mouth_xy": [
+                  0.27724047113589845,
+                  -0.3362165241079136
+                ],
+                "gripper_position": [
+                  0.27585816705300165,
+                  -0.33497299734066077,
+                  1.0015986258940988
+                ],
+                "rod_tip_xy_dist": 0.0018545627513588021,
+                "target_xy_drift": 6.563105123689416e-08,
+                "depth": 0.019522909530126142,
+                "bottom_clearance": 0.07991773514959521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001382243193253252,
+                  0.0012435242344415176
+                ],
+                "rod_tip_xy": [
+                  0.27585816705300154,
+                  -0.3349729973406608
+                ],
+                "target_mouth_xy": [
+                  0.2772404102462548,
+                  -0.33621652157510235
+                ],
+                "gripper_position": [
+                  0.2758488555070896,
+                  -0.3349728947357735,
+                  1.0014770688931245
+                ],
+                "rod_tip_xy_dist": 0.0018592871663458308,
+                "target_xy_drift": 1.222602719271558e-07,
+                "depth": 0.01966121774084717,
+                "bottom_clearance": 0.07977936803812236,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006033336660490379,
+              "rod_tip_xy_max_step": 3.27529366300309e-05,
+              "rod_tip_xy_range": 0.0006033235130794613,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2753641202776542,
+            -0.3363012021907173,
+            1.0433366799581578
+          ],
+          "object_origin_world": [
+            0.2753641202776542,
+            -0.3363012021907173,
+            1.0433366799581578
+          ],
+          "frame_world": [
+            0.2753625718786733,
+            -0.33630537044538567,
+            1.0432272346379161
+          ],
+          "center_minus_frame": [
+            1.5483989809217391e-06,
+            4.168254668368565e-06,
+            0.00010944532024170783
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26103978775637265,
+              0.155157187857279,
+              0.8315542551054139
+            ],
+            "target_position": [
+              0.27569136818619805,
+              0.20163634197291186,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04873377244166917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16813052470049142,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315542551054139,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672058057257,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13828858296096233,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8f587723f3f4390ceb8970f2355dab50f89f88cb916afb3340b9b68abc79312",
+    "visual_seed": 8152047210467604684,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0e7f8357dcdd05ecbeb9c4d45afaefd20fbfef4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_75_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3000438025910116,
+              0.07778591993593707,
+              1.1617777638542774
+            ],
+            "current_z": 1.1617777638542774,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3006710174209326,
+            "gripper_z": 1.1539150840369246,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29489319652827173,
+              0.0727125117291328,
+              1.1539150840369246
+            ],
+            "object_minus_gripper": [
+              0.005150606062739871,
+              0.00507340820680427,
+              0.007862679817352891
+            ],
+            "object_to_gripper_xy": 0.007229675901892258,
+            "object_to_gripper_z": 0.007862679817352891,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3000438025910116,
+              0.05383844532932123,
+              1.1617777638542774
+            ],
+            "finger_b": [
+              0.2884723733909007,
+              0.07778591993593707,
+              1.1617777638542774
+            ],
+            "finger_midpoint": [
+              0.29425808799095615,
+              0.06581218263262915,
+              1.1617777638542774
+            ],
+            "object_minus_finger_midpoint": [
+              0.005785714600055447,
+              0.011973737303307919,
+              0.0
+            ],
+            "finger_gap": 0.026596607185272517,
+            "fingertip_max_gap": 0.09097876041468847,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013298303592636255,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617777638542774,
+            "object_top_z": 1.2116844327032117,
+            "finger_top_clearance": 0.049906668848934244,
+            "fingertip_min_top_clearance": 0.014972000654680273,
+            "object_projection_between_fingers": 0.8107126780926929,
+            "object_to_finger_line_xy": 0.010418866775058152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798938020734424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7275403279617397,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2764960256686939,
+              -0.33834940940767083,
+              0.8515395566437477
+            ],
+            "target_position": [
+              0.2678006716185685,
+              -0.3391127352198884,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008728794209547482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846487406817011,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395566437477,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548627379178628,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496537388471766,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527311372598472,
+            "release_required_pad_clearance": 0.05248268694235883,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039564667061963855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073975324630737305,
+            "max_z_decrease": 0.0073975324630737305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516118369807535,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073975324630737305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021051080665348332,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073975324630737305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007397551434629036,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12350060045719144,
+              -0.39537417888641346,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12350060045719144,
+              -0.39537417888641346,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12196935605506681,
+              -0.39368218405517913,
+              0.8072432991791371
+            ],
+            "closest_button": [
+              0.12348807603120801,
+              -0.3953692317008971,
+              0.7721554636955261
+            ],
+            "closest_ee_minus_button": [
+              -0.0015187199761411974,
+              0.0016870476457179762,
+              0.03508783548361094
+            ],
+            "button_min_z_position": [
+              0.12348391860723491,
+              -0.3953726291656493,
+              0.7694113254547119
+            ],
+            "min_active_finger_to_button": 0.14677184124988074,
+            "closest_active_finger": [
+              -0.005561470985412598,
+              -0.4562320113182068,
+              0.8108169436454773
+            ],
+            "closest_active_finger_button": [
+              0.12350118160247799,
+              -0.39537522196769703,
+              0.7764475345611572
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12906265258789057,
+              -0.060856789350509755,
+              0.03436940908432007
+            ],
+            "min_contact_pad_to_button": 0.021051080665348332,
+            "closest_contact_pad": [
+              0.12348391860723491,
+              -0.3953726291656493,
+              0.7904624061200602
+            ],
+            "closest_contact_pad_button": [
+              0.12348391860723491,
+              -0.3953726291656493,
+              0.7694113254547119
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021051080665348332
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27136759295844226,
+              0.1974050132840607,
+              1.102487801415756
+            ],
+            "current_z": 1.102487801415756,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19257867168139342,
+            "gripper_z": 1.1024879176486098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27136760151465045,
+              0.19740508425118466,
+              1.1024879176486098
+            ],
+            "object_minus_gripper": [
+              -8.556208186405456e-09,
+              -7.096712395515681e-08,
+              -1.162328537862578e-07
+            ],
+            "object_to_gripper_xy": 7.14810560987714e-08,
+            "object_to_gripper_z": -1.162328537862578e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27136759295844226,
+              0.1974050132840607,
+              1.102487801415756
+            ],
+            "finger_b": [
+              0.27136759295844226,
+              0.1974050132840607,
+              1.102487801415756
+            ],
+            "finger_midpoint": [
+              0.27136759295844226,
+              0.1974050132840607,
+              1.102487801415756
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102487801415756,
+            "object_top_z": 1.2274963080360357,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27136759295844226,
+            0.1974050132840607,
+            1.102487801415756
+          ],
+          "object_origin_world": [
+            0.27136759295844226,
+            0.1974050132840607,
+            1.102487801415756
+          ],
+          "frame_world": [
+            0.27136760151465045,
+            0.19740508425118466,
+            1.1024879176486098
+          ],
+          "center_minus_frame": [
+            -8.556208186405456e-09,
+            -7.096712395515681e-08,
+            -1.162328537862578e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432507934597224,
+            "required_z": 0.9112598261648999,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020637299982675123,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.388372029426464e-08,
+            "max_target_xy_drift": 9.822707073694138e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.03956467880710212,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.039564682040468986,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2754141223157185,
+              -0.340101565643763,
+              0.9233615366917945
+            ],
+            "target_mouth_xy": [
+              0.27649605487919426,
+              -0.33834943978550014
+            ],
+            "rod_tip_z": 0.9233615366917945,
+            "rod_tip_depth": -0.022101718664505055,
+            "rod_tip_bottom_clearance": 0.12154222810564119,
+            "rod_tip_xy_dist": 0.0020592530429994664,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044386236851270966,
+            "min_rod_tip_bottom_clearance": 0.05505431627653057,
+            "min_rod_tip_xy_dist": 0.0005321977699484383,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27649608527232405,
+              -0.33834952861348333
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.039312979069564e-08,
+              8.882798319120866e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0005313975094943801,
+                2.9174530694786593e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006314874673983284,
+                -0.00037451037709562707
+              ],
+              "first_target_mouth_xy": [
+                0.27649608351797517,
+                -0.33834941140254726
+              ],
+              "last_target_mouth_xy": [
+                0.27649602623915853,
+                -0.33834946756261575
+              ],
+              "first_rod_tip_xy": [
+                0.2759646860084808,
+                -0.3383202368718525
+              ],
+              "last_rod_tip_xy": [
+                0.2758645387717602,
+                -0.3387239779397114
+              ],
+              "min_rod_tip_xy_dist": 0.0005321977699484383,
+              "max_rod_tip_xy_dist": 0.0007341896512710212,
+              "first_target_xy_drift": 1.1722406439797335e-07,
+              "last_target_xy_drift": 8.49242195390857e-08,
+              "max_depth": 0.019885526242239826,
+              "min_bottom_clearance": 0.07955508554136725
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0005313975094943801,
+                  2.9174530694786593e-05
+                ],
+                "rod_tip_xy": [
+                  0.2759646860084808,
+                  -0.3383202368718525
+                ],
+                "target_mouth_xy": [
+                  0.27649608351797517,
+                  -0.33834941140254726
+                ],
+                "gripper_position": [
+                  0.2759530947236454,
+                  -0.3383274917920514,
+                  1.0056097521275325
+                ],
+                "rod_tip_xy_dist": 0.0005321977699484383,
+                "target_xy_drift": 1.1722406439797335e-07,
+                "depth": 0.015510657290494057,
+                "bottom_clearance": 0.08392990798173161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005429881077447796,
+                  2.1916462767224143e-05
+                ],
+                "rod_tip_xy": [
+                  0.2759530947236454,
+                  -0.3383274917920514
+                ],
+                "target_mouth_xy": [
+                  0.27649608283139016,
+                  -0.33834940825481863
+                ],
+                "gripper_position": [
+                  0.2759443683119104,
+                  -0.3383280480015216,
+                  1.0054868580049912
+                ],
+                "rod_tip_xy_dist": 0.0005434302314855915,
+                "target_xy_drift": 1.2038341383680568e-07,
+                "depth": 0.01565012611870842,
+                "bottom_clearance": 0.08379046204680096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.000551749046209915,
+                  2.1363640620220004e-05
+                ],
+                "rod_tip_xy": [
+                  0.2759443683119104,
+                  -0.33832804800152166
+                ],
+                "target_mouth_xy": [
+                  0.2764961173581203,
+                  -0.3383494116421419
+                ],
+                "gripper_position": [
+                  0.2759499851116415,
+                  -0.3383981145264556,
+                  1.0049674245515654
+                ],
+                "rod_tip_xy_dist": 0.0005521624897927247,
+                "target_xy_drift": 1.2129218045780563e-07,
+                "depth": 0.01577307308906528,
+                "bottom_clearance": 0.08366760806565599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000546097800518397,
+                  -4.870284690389193e-05
+                ],
+                "rod_tip_xy": [
+                  0.2759499851116415,
+                  -0.3383981145264556
+                ],
+                "target_mouth_xy": [
+                  0.2764960829121599,
+                  -0.3383494116795517
+                ],
+                "gripper_position": [
+                  0.2759381129788872,
+                  -0.3384052167585579,
+                  1.004827189103952
+                ],
+                "rod_tip_xy_dist": 0.0005482652414913559,
+                "target_xy_drift": 1.1695774769443048e-07,
+                "depth": 0.016292458051801906,
+                "bottom_clearance": 0.08314814070109755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005580042122642626,
+                  -5.58094070849946e-05
+                ],
+                "rod_tip_xy": [
+                  0.2759381129788872,
+                  -0.338405216758558
+                ],
+                "target_mouth_xy": [
+                  0.27649611719115147,
+                  -0.338349407351473
+                ],
+                "gripper_position": [
+                  0.27592950286248674,
+                  -0.33840548706357454,
+                  1.0047045977869453
+                ],
+                "rod_tip_xy_dist": 0.0005607881871293642,
+                "target_xy_drift": 1.2539253044272467e-07,
+                "depth": 0.016432749039770322,
+                "bottom_clearance": 0.08300794238537279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005665795124890072,
+                  -5.607567267129632e-05
+                ],
+                "rod_tip_xy": [
+                  0.2759295028624867,
+                  -0.3384054870635745
+                ],
+                "target_mouth_xy": [
+                  0.2764960823749757,
+                  -0.3383494113909032
+                ],
+                "gripper_position": [
+                  0.2759358557106186,
+                  -0.3384770792679935,
+                  1.0041862638568808
+                ],
+                "rod_tip_xy_dist": 0.0005693477189186054,
+                "target_xy_drift": 1.1725838103450989e-07,
+                "depth": 0.01655529612388873,
+                "bottom_clearance": 0.08288531313581105,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005602307163024567,
+                  -0.00012764122253711152
+                ],
+                "rod_tip_xy": [
+                  0.2759358557106186,
+                  -0.3384770792679935
+                ],
+                "target_mouth_xy": [
+                  0.2764960864269211,
+                  -0.33834943804545636
+                ],
+                "gripper_position": [
+                  0.2759239561129092,
+                  -0.3384840100479098,
+                  1.0040465624994916
+                ],
+                "rod_tip_xy_dist": 0.0005745874495492676,
+                "target_xy_drift": 9.057538629773703e-08,
+                "depth": 0.017073651355934305,
+                "bottom_clearance": 0.08236697254737468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005720998378369591,
+                  -0.0001345404668792738
+                ],
+                "rod_tip_xy": [
+                  0.27592395611290915,
+                  -0.3384840100479098
+                ],
+                "target_mouth_xy": [
+                  0.2764960559507461,
+                  -0.3383494695810305
+                ],
+                "gripper_position": [
+                  0.2759151228737012,
+                  -0.3384842339948019,
+                  1.003923889946275
+                ],
+                "rod_tip_xy_dist": 0.0005877068671380043,
+                "target_xy_drift": 6.591346917313672e-08,
+                "depth": 0.017213323701617544,
+                "bottom_clearance": 0.08222722702193497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005809035302401511,
+                  -0.00013476441754006752
+                ],
+                "rod_tip_xy": [
+                  0.2759151228737012,
+                  -0.33848423399480193
+                ],
+                "target_mouth_xy": [
+                  0.27649602640394133,
+                  -0.33834946957726186
+                ],
+                "gripper_position": [
+                  0.27592236959595595,
+                  -0.3385565230996633,
+                  1.0034084422475769
+                ],
+                "rod_tip_xy_dist": 0.000596330746884968,
+                "target_xy_drift": 8.33712296277549e-08,
+                "depth": 0.017335938679396867,
+                "bottom_clearance": 0.0821046218598468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000573655909706039,
+                  -0.00020708532765528753
+                ],
+                "rod_tip_xy": [
+                  0.27592236959595595,
+                  -0.3385565230996633
+                ],
+                "target_mouth_xy": [
+                  0.276496025505662,
+                  -0.338349437772008
+                ],
+                "gripper_position": [
+                  0.2759104856873811,
+                  -0.3385634430364622,
+                  1.0032690656920662
+                ],
+                "rod_tip_xy_dist": 0.0006098896913957154,
+                "target_xy_drift": 1.0873926400600068e-07,
+                "depth": 0.01785140794521689,
+                "bottom_clearance": 0.081589175457084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005855704547285678,
+                  -0.00021397203921064145
+                ],
+                "rod_tip_xy": [
+                  0.2759104856873811,
+                  -0.3385634430364622
+                ],
+                "target_mouth_xy": [
+                  0.27649605614210965,
+                  -0.33834947099725154
+                ],
+                "gripper_position": [
+                  0.27590160193927293,
+                  -0.3385634862066145,
+                  1.0031462886213962
+                ],
+                "rod_tip_xy_dist": 0.0006234394846454482,
+                "target_xy_drift": 6.456159505917558e-08,
+                "depth": 0.017990847469652516,
+                "bottom_clearance": 0.081449761508957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005944232951051731,
+                  -0.00021404642062339274
+                ],
+                "rod_tip_xy": [
+                  0.27590160193927293,
+                  -0.33856348620661453
+                ],
+                "target_mouth_xy": [
+                  0.2764960252343781,
+                  -0.33834943978599114
+                ],
+                "gripper_position": [
+                  0.2758925976295875,
+                  -0.33856366507501784,
+                  1.0030237074413735
+                ],
+                "rod_tip_xy_dist": 0.000631787087510799,
+                "target_xy_drift": 1.0721417034764816e-07,
+                "depth": 0.018113471077118914,
+                "bottom_clearance": 0.08132704446468142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006034596234384404,
+                  -0.00021419494786428794
+                ],
+                "rod_tip_xy": [
+                  0.2758925976295875,
+                  -0.33856366507501784
+                ],
+                "target_mouth_xy": [
+                  0.27649605725302595,
+                  -0.33834947012715355
+                ],
+                "gripper_position": [
+                  0.2759013352110984,
+                  -0.3386381012089789,
+                  1.0025111800235753
+                ],
+                "rod_tip_xy_dist": 0.000640345994608422,
+                "target_xy_drift": 6.485161399133414e-08,
+                "depth": 0.018236199300260547,
+                "bottom_clearance": 0.08120442185595678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005946891726942849,
+                  -0.00028866170783170553
+                ],
+                "rod_tip_xy": [
+                  0.2759013352110984,
+                  -0.3386381012089789
+                ],
+                "target_mouth_xy": [
+                  0.27649602438379267,
+                  -0.3383494395011472
+                ],
+                "gripper_position": [
+                  0.2758891614097838,
+                  -0.3386449458538549,
+                  1.0023719146638845
+                ],
+                "rod_tip_xy_dist": 0.0006610452281713634,
+                "target_xy_drift": 1.0792785415748132e-07,
+                "depth": 0.01874863750423772,
+                "bottom_clearance": 0.08069185531716239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000606863577901906,
+                  -0.0002955060670490339
+                ],
+                "rod_tip_xy": [
+                  0.2758891614097838,
+                  -0.3386449458538549
+                ],
+                "target_mouth_xy": [
+                  0.2764960249876857,
+                  -0.3383494397868059
+                ],
+                "gripper_position": [
+                  0.2758801606939062,
+                  -0.3386449225212536,
+                  1.0022492379265158
+                ],
+                "rod_tip_xy_dist": 0.000674986842721168,
+                "target_xy_drift": 1.0735183392758692e-07,
+                "depth": 0.01888790267075635,
+                "bottom_clearance": 0.08055260337556847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006158640328670639,
+                  -0.0002954850374076723
+                ],
+                "rod_tip_xy": [
+                  0.2758801606939062,
+                  -0.3386449225212536
+                ],
+                "target_mouth_xy": [
+                  0.27649602472677326,
+                  -0.33834943748384594
+                ],
+                "gripper_position": [
+                  0.2758709832762425,
+                  -0.33864510194616076,
+                  1.0021270071306074
+                ],
+                "rod_tip_xy_dist": 0.0006830811915951847,
+                "target_xy_drift": 1.0940920679835311e-07,
+                "depth": 0.01901061115570135,
+                "bottom_clearance": 0.08042995247111806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006250712318295881,
+                  -0.00029563009278282815
+                ],
+                "rod_tip_xy": [
+                  0.27587098327624243,
+                  -0.33864510194616076
+                ],
+                "target_mouth_xy": [
+                  0.276496054508072,
+                  -0.33834947185337794
+                ],
+                "gripper_position": [
+                  0.2758619240626701,
+                  -0.3386452116041205,
+                  1.0020045827967807
+                ],
+                "rod_tip_xy_dist": 0.0006914558529795971,
+                "target_xy_drift": 6.456120172012412e-08,
+                "depth": 0.019132848682652526,
+                "bottom_clearance": 0.08030772800358021,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006340998210416227,
+                  -0.00029574403263676885
+                ],
+                "rod_tip_xy": [
+                  0.2758619240626701,
+                  -0.3386452116041206
+                ],
+                "target_mouth_xy": [
+                  0.27649602388371175,
+                  -0.3383494675714838
+                ],
+                "gripper_position": [
+                  0.2758527431572255,
+                  -0.3386452882427298,
+                  1.0018821562036475
+                ],
+                "rod_tip_xy_dist": 0.0006996764365657,
+                "target_xy_drift": 8.657186277853432e-08,
+                "depth": 0.019255280573648448,
+                "bottom_clearance": 0.08018529263833629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006433124137407709,
+                  -0.0002958192306813934
+                ],
+                "rod_tip_xy": [
+                  0.2758527431572255,
+                  -0.3386452882427298
+                ],
+                "target_mouth_xy": [
+                  0.2764960555709663,
+                  -0.33834946901204843
+                ],
+                "gripper_position": [
+                  0.2758645387717602,
+                  -0.33872397793971143,
+                  1.0013744490870153
+                ],
+                "rod_tip_xy_dist": 0.0007080677078598544,
+                "target_xy_drift": 6.659205429242214e-08,
+                "depth": 0.01937767069390406,
+                "bottom_clearance": 0.08006287206577134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006314874673983284,
+                  -0.00037451037709562707
+                ],
+                "rod_tip_xy": [
+                  0.2758645387717602,
+                  -0.3387239779397114
+                ],
+                "target_mouth_xy": [
+                  0.27649602623915853,
+                  -0.33834946756261575
+                ],
+                "gripper_position": [
+                  0.27585240750385054,
+                  -0.33873063430692907,
+                  1.0012350137015984
+                ],
+                "rod_tip_xy_dist": 0.0007341896512710212,
+                "target_xy_drift": 8.49242195390857e-08,
+                "depth": 0.019885526242239826,
+                "bottom_clearance": 0.07955508554136725,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005970679453663071,
+              "rod_tip_xy_max_step": 3.235020935253395e-05,
+              "rod_tip_xy_range": 0.0005970621735448173,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2754141223157185,
+            -0.340101565643763,
+            1.0433615366917948
+          ],
+          "object_origin_world": [
+            0.2754141223157185,
+            -0.340101565643763,
+            1.0433615366917948
+          ],
+          "frame_world": [
+            0.2754125168865417,
+            -0.34010583578988746,
+            1.0432507934597224
+          ],
+          "center_minus_frame": [
+            1.6054291767653162e-06,
+            4.2701461244742944e-06,
+            0.00011074323207238557
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2561740447114122,
+              0.153587912060856,
+              0.8325603004561174
+            ],
+            "target_position": [
+              0.2715052237540863,
+              0.1985411699259066,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04749568868350328,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16471867870855358,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325603004561174,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672234146259,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13540925241264762,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 322,
+            "max_placed_release_frames": 322
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca8248009ccd6cdc5e2a33f082faa96ab51526aaf2a04ea73b08ae6865e3df34",
+    "visual_seed": 6076431939627159155,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb63e8b31de9175914f27e68886815695dab077c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_78_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30813540651447924,
+              0.07955316864385654,
+              1.1637353466617444
+            ],
+            "current_z": 1.1637353466617444,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30262871943768876,
+            "gripper_z": 1.1556616609248773,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30291882688937444,
+              0.07443863029852053,
+              1.1556616609248773
+            ],
+            "object_minus_gripper": [
+              0.0052165796251048,
+              0.005114538345336012,
+              0.008073685736867064
+            ],
+            "object_to_gripper_xy": 0.007305559901264993,
+            "object_to_gripper_z": 0.008073685736867064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30813540651447924,
+              0.05555568937241396,
+              1.1637353466617444
+            ],
+            "finger_b": [
+              0.29651156760135855,
+              0.07955316864385654,
+              1.1637353466617444
+            ],
+            "finger_midpoint": [
+              0.3023234870579189,
+              0.06755442900813526,
+              1.1637353466617444
+            ],
+            "object_minus_finger_midpoint": [
+              0.005811919456560344,
+              0.01199873963572129,
+              0.0
+            ],
+            "finger_gap": 0.026664445286963975,
+            "fingertip_max_gap": 0.09095305172250959,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013332222643481984,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637353466617444,
+            "object_top_z": 1.213624729934064,
+            "finger_top_clearance": 0.04988938327231951,
+            "fingertip_min_top_clearance": 0.014966814981695852,
+            "object_projection_between_fingers": 0.8099647970893089,
+            "object_to_finger_line_xy": 0.010461227689914615,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047976525861254796,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6668535310373054,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27702649268399926,
+              -0.3395310157980082,
+              0.8515395782950286
+            ],
+            "target_position": [
+              0.2680616798317436,
+              -0.34052410789311127,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009019650846087347,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379776999617195,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395782950286,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566043242127424,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549312379545705,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513917205561144,
+            "release_required_pad_clearance": 0.05274656189772853,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5439249413476968,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007391870021820068,
+            "max_z_decrease": 0.007391870021820068,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513914811351132,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007391870021820068,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110629742915563,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007391870021820068,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007391893312124697,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1237616091966629,
+              -0.39678555727005005,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1237616091966629,
+              -0.39678555727005005,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12529846463671812,
+              -0.39668872548649453,
+              0.8080698463832349
+            ],
+            "closest_button": [
+              0.12375565618276595,
+              -0.3967851102352142,
+              0.7729647159576416
+            ],
+            "closest_ee_minus_button": [
+              0.0015428084539521741,
+              9.638474871964675e-05,
+              0.03510513042559327
+            ],
+            "button_min_z_position": [
+              0.12374307215213774,
+              -0.3967847228050232,
+              0.7694169878959656
+            ],
+            "min_active_finger_to_button": 0.1447315919878385,
+            "closest_active_finger": [
+              -0.015784405171871185,
+              -0.379695862531662,
+              0.811123788356781
+            ],
+            "closest_active_finger_button": [
+              0.1237649694085121,
+              -0.39678347110748285,
+              0.7767549157142639
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395493745803833,
+              0.017087608575820867,
+              0.03436887264251709
+            ],
+            "min_contact_pad_to_button": 0.02110629742915563,
+            "closest_contact_pad": [
+              0.12374307215213774,
+              -0.39783821133051506,
+              0.7904969772957409
+            ],
+            "closest_contact_pad_button": [
+              0.12374307215213774,
+              -0.3967847228050232,
+              0.7694169878959656
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010534885254918636,
+              0.02107998939977529
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2751111615546312,
+              0.19840785867509433,
+              1.100904223450383
+            ],
+            "current_z": 1.100904223450383,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19099509371602041,
+            "gripper_z": 1.1009044903669127,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2751112164271462,
+              0.19840788208161048,
+              1.1009044903669127
+            ],
+            "object_minus_gripper": [
+              -5.487251497626744e-08,
+              -2.3406516141966094e-08,
+              -2.6691652976751357e-07
+            ],
+            "object_to_gripper_xy": 5.965616395415324e-08,
+            "object_to_gripper_z": -2.6691652976751357e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2751111615546312,
+              0.19840785867509433,
+              1.100904223450383
+            ],
+            "finger_b": [
+              0.2751111615546312,
+              0.19840785867509433,
+              1.100904223450383
+            ],
+            "finger_midpoint": [
+              0.2751111615546312,
+              0.19840785867509433,
+              1.100904223450383
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.100904223450383,
+            "object_top_z": 1.2259127300706627,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2751111615546312,
+            0.19840785867509436,
+            1.1009042234503832
+          ],
+          "object_origin_world": [
+            0.2751111615546312,
+            0.19840785867509436,
+            1.1009042234503832
+          ],
+          "frame_world": [
+            0.2751112164271462,
+            0.19840788208161048,
+            1.1009044903669127
+          ],
+          "center_minus_frame": [
+            -5.487251497626744e-08,
+            -2.3406516114210518e-08,
+            -2.6691652954546896e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437471783480692,
+            "required_z": 0.9112599079092479,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017081608692404993,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2134352744323795e-08,
+            "max_target_xy_drift": 6.811020438035566e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5439249590289504,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5439249590644644,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2760993981192965,
+              -0.33808255909462626,
+              0.9234360586933473
+            ],
+            "target_mouth_xy": [
+              0.2770265778294305,
+              -0.3395310487861191
+            ],
+            "rod_tip_z": 0.9234360586933473,
+            "rod_tip_depth": -0.022176303677171272,
+            "rod_tip_bottom_clearance": 0.12161679883940202,
+            "rod_tip_xy_dist": 0.0017198210957088715,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0449382736749625,
+            "min_rod_tip_bottom_clearance": 0.054502253592963235,
+            "min_rod_tip_xy_dist": 0.0005655840145371484,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2770265493881028,
+              -0.3395310176992319
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.844132773738295e-08,
+              -3.1086887231079885e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.00037679511617572103,
+                0.003276724841369927
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00048624184207585186,
+                0.002882537994685519
+              ],
+              "first_target_mouth_xy": [
+                0.27702654840871244,
+                -0.3395310481446436
+              ],
+              "last_target_mouth_xy": [
+                0.2770265469860122,
+                -0.3395310763773933
+              ],
+              "first_rod_tip_xy": [
+                0.2766497532925367,
+                -0.33625432330327365
+              ],
+              "last_rod_tip_xy": [
+                0.27654030514393635,
+                -0.3366485383827078
+              ],
+              "min_rod_tip_xy_dist": 0.0029186877352603956,
+              "max_rod_tip_xy_dist": 0.0032983177902719814,
+              "first_target_xy_drift": 3.0461160492169694e-08,
+              "last_target_xy_drift": 5.872730769623149e-08,
+              "max_depth": 0.019442701595478007,
+              "min_bottom_clearance": 0.07999789788917766
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00037679511617572103,
+                  0.003276724841369927
+                ],
+                "rod_tip_xy": [
+                  0.2766497532925367,
+                  -0.33625432330327365
+                ],
+                "target_mouth_xy": [
+                  0.27702654840871244,
+                  -0.3395310481446436
+                ],
+                "gripper_position": [
+                  0.2766536921080015,
+                  -0.33632312091520944,
+                  1.0056769233972873
+                ],
+                "rod_tip_xy_dist": 0.0032983177902719814,
+                "target_xy_drift": 3.0461160492169694e-08,
+                "depth": 0.015066281941901738,
+                "bottom_clearance": 0.08437425093248596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0003728569784655633,
+                  0.003207926280166973
+                ],
+                "rod_tip_xy": [
+                  0.2766536921080015,
+                  -0.33632312091520955
+                ],
+                "target_mouth_xy": [
+                  0.27702654908646707,
+                  -0.3395310471953765
+                ],
+                "gripper_position": [
+                  0.27664204806944115,
+                  -0.33632999382074125,
+                  1.0055373292277145
+                ],
+                "rod_tip_xy_dist": 0.003229522154340543,
+                "target_xy_drift": 2.949768690260054e-08,
+                "depth": 0.015582928046587896,
+                "bottom_clearance": 0.08385766497035119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003844692908299141,
+                  0.0032010860418434373
+                ],
+                "rod_tip_xy": [
+                  0.27664204806944115,
+                  -0.33632999382074136
+                ],
+                "target_mouth_xy": [
+                  0.27702651736027106,
+                  -0.3395310798625848
+                ],
+                "gripper_position": [
+                  0.276633230437565,
+                  -0.3363304268957708,
+                  1.0054141923770918
+                ],
+                "rod_tip_xy_dist": 0.003224091884992756,
+                "target_xy_drift": 6.992899577184641e-08,
+                "depth": 0.015722522296918062,
+                "bottom_clearance": 0.0837180269221901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00039328694819984467,
+                  0.003200619679998018
+                ],
+                "rod_tip_xy": [
+                  0.276633230437565,
+                  -0.336330426895771
+                ],
+                "target_mouth_xy": [
+                  0.27702651738576484,
+                  -0.339531046575769
+                ],
+                "gripper_position": [
+                  0.27663836987187973,
+                  -0.33640023206239084,
+                  1.0048974914990583
+                ],
+                "rod_tip_xy_dist": 0.003224692382168408,
+                "target_xy_drift": 4.310457086272829e-08,
+                "depth": 0.015845679684896807,
+                "bottom_clearance": 0.08359491192866797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003881486803478107,
+                  0.003130817676491815
+                ],
+                "rod_tip_xy": [
+                  0.2766383698718798,
+                  -0.3364002320623909
+                ],
+                "target_mouth_xy": [
+                  0.2770265185522276,
+                  -0.3395310497388827
+                ],
+                "gripper_position": [
+                  0.27662658130607887,
+                  -0.3364070311872843,
+                  1.0047578883056918
+                ],
+                "rod_tip_xy_dist": 0.0031547866364445877,
+                "target_xy_drift": 4.446785831671906e-08,
+                "depth": 0.016362337455926523,
+                "bottom_clearance": 0.08307819354838175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0003999695484830923,
+                  0.003124048028047721
+                ],
+                "rod_tip_xy": [
+                  0.27662658130607887,
+                  -0.3364070311872843
+                ],
+                "target_mouth_xy": [
+                  0.27702655085456196,
+                  -0.33953107921533204
+                ],
+                "gripper_position": [
+                  0.276617659095642,
+                  -0.3364072480793933,
+                  1.0046348373765068
+                ],
+                "rod_tip_xy_dist": 0.0031495478598145836,
+                "target_xy_drift": 6.153357686008644e-08,
+                "depth": 0.01650201476825186,
+                "bottom_clearance": 0.08293860166227562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00040885968473880485,
+                  0.0031238000721215964
+                ],
+                "rod_tip_xy": [
+                  0.276617659095642,
+                  -0.3364072480793934
+                ],
+                "target_mouth_xy": [
+                  0.2770265187803808,
+                  -0.33953104815151497
+                ],
+                "gripper_position": [
+                  0.2766236761772902,
+                  -0.3364783635723422,
+                  1.0041188288338334
+                ],
+                "rod_tip_xy_dist": 0.003150443323151776,
+                "target_xy_drift": 4.317608353135122e-08,
+                "depth": 0.016624992968257035,
+                "bottom_clearance": 0.08281554629565469,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00040287263415750285,
+                  0.003052683309752724
+                ],
+                "rod_tip_xy": [
+                  0.2766236761772902,
+                  -0.3364783635723423
+                ],
+                "target_mouth_xy": [
+                  0.2770265488114477,
+                  -0.339531046882095
+                ],
+                "gripper_position": [
+                  0.2766118060745574,
+                  -0.3364849003068992,
+                  1.0039791365101027
+                ],
+                "rod_tip_xy_dist": 0.0030791527648033074,
+                "target_xy_drift": 2.918855993857014e-08,
+                "depth": 0.017141026086739397,
+                "bottom_clearance": 0.08229956775415703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000414744374945486,
+                  0.0030461484709077835
+                ],
+                "rod_tip_xy": [
+                  0.2766118060745574,
+                  -0.33648490030689926
+                ],
+                "target_mouth_xy": [
+                  0.27702655044950286,
+                  -0.33953104877780704
+                ],
+                "gripper_position": [
+                  0.27660289511942315,
+                  -0.3364851284030106,
+                  1.003856681175765
+                ],
+                "rod_tip_xy_dist": 0.0030742533082624714,
+                "target_xy_drift": 3.109669442188885e-08,
+                "depth": 0.017280756800029162,
+                "bottom_clearance": 0.0821598311122923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0004236528265311179,
+                  0.003045949868982656
+                ],
+                "rod_tip_xy": [
+                  0.27660289511942315,
+                  -0.3364851284030107
+                ],
+                "target_mouth_xy": [
+                  0.27702654794595427,
+                  -0.33953107827199336
+                ],
+                "gripper_position": [
+                  0.27659385232887246,
+                  -0.3364856793765514,
+                  1.0037342662184179
+                ],
+                "rod_tip_xy_dist": 0.0030752710972828503,
+                "target_xy_drift": 6.05899267604141e-08,
+                "depth": 0.017403078884407175,
+                "bottom_clearance": 0.08203742460504204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00043269751376079357,
+                  0.0030453678172711607
+                ],
+                "rod_tip_xy": [
+                  0.2765938523288725,
+                  -0.3364856793765515
+                ],
+                "target_mouth_xy": [
+                  0.2770265498426333,
+                  -0.33953104719382265
+                ],
+                "gripper_position": [
+                  0.2766013979848501,
+                  -0.3365591851724449,
+                  1.0032192498264152
+                ],
+                "rod_tip_xy_dist": 0.0030759538814627385,
+                "target_xy_drift": 2.9498092864986588e-08,
+                "depth": 0.01752565077071122,
+                "bottom_clearance": 0.0819149711649837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0004251517870522692,
+                  0.0029718620254994277
+                ],
+                "rod_tip_xy": [
+                  0.2766013979848502,
+                  -0.3365591851724449
+                ],
+                "target_mouth_xy": [
+                  0.27702654977190244,
+                  -0.3395310471979443
+                ],
+                "gripper_position": [
+                  0.2765892735926206,
+                  -0.3365661393785762,
+                  1.003079738676763
+                ],
+                "rod_tip_xy_dist": 0.003002118908477694,
+                "target_xy_drift": 2.9501209067605264e-08,
+                "depth": 0.018040606930742387,
+                "bottom_clearance": 0.08140001215577608,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004372131235868548,
+                  0.0029648805632781494
+                ],
+                "rod_tip_xy": [
+                  0.2765892735926206,
+                  -0.33656613937857627
+                ],
+                "target_mouth_xy": [
+                  0.27702648671620744,
+                  -0.3395310199418544
+                ],
+                "gripper_position": [
+                  0.2765802786232303,
+                  -0.33656619639902985,
+                  1.0029573059791377
+                ],
+                "rod_tip_xy_dist": 0.0029969437882518134,
+                "target_xy_drift": 6.27120069949473e-08,
+                "depth": 0.018180132636504642,
+                "bottom_clearance": 0.08126043726247667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00044627055393409165,
+                  0.002964882500361421
+                ],
+                "rod_tip_xy": [
+                  0.2765802786232303,
+                  -0.33656619639902985
+                ],
+                "target_mouth_xy": [
+                  0.2770265491771644,
+                  -0.33953107889939127
+                ],
+                "gripper_position": [
+                  0.2765712421197919,
+                  -0.336566212123169,
+                  1.002834739509604
+                ],
+                "rod_tip_xy_dist": 0.002998280448566817,
+                "target_xy_drift": 6.120052290392057e-08,
+                "depth": 0.018302518253058953,
+                "bottom_clearance": 0.08113802197723796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004552763374971458,
+                  0.002964835079049488
+                ],
+                "rod_tip_xy": [
+                  0.2765712421197919,
+                  -0.3365662121231692
+                ],
+                "target_mouth_xy": [
+                  0.27702651845728904,
+                  -0.33953104720221866
+                ],
+                "gripper_position": [
+                  0.27657999410847345,
+                  -0.33664180233455,
+                  1.0023231484249653
+                ],
+                "rod_tip_xy_dist": 0.0029995872365122505,
+                "target_xy_drift": 4.2745075360064346e-08,
+                "depth": 0.01842510535278541,
+                "bottom_clearance": 0.08101545586989023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00044652270269152083,
+                  0.0028892775339599552
+                ],
+                "rod_tip_xy": [
+                  0.27657999410847345,
+                  -0.3366418023345501
+                ],
+                "target_mouth_xy": [
+                  0.27702651681116497,
+                  -0.33953107986851006
+                ],
+                "gripper_position": [
+                  0.27656785920858673,
+                  -0.33664862375324855,
+                  1.002184192736736
+                ],
+                "rod_tip_xy_dist": 0.0029235778067745453,
+                "target_xy_drift": 7.018743495461005e-08,
+                "depth": 0.018936719857707174,
+                "bottom_clearance": 0.08050385050446651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0004586585093251938,
+                  0.0028824244079911354
+                ],
+                "rod_tip_xy": [
+                  0.2765678592085868,
+                  -0.33664862375324867
+                ],
+                "target_mouth_xy": [
+                  0.277026517717912,
+                  -0.3395310481612398
+                ],
+                "gripper_position": [
+                  0.27655882514981245,
+                  -0.33664859488641596,
+                  1.0020616351874974
+                ],
+                "rod_tip_xy_dist": 0.0029186877352603956,
+                "target_xy_drift": 4.3942404483508846e-08,
+                "depth": 0.019075581645184747,
+                "bottom_clearance": 0.08036494096192037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004677253125325853,
+                  0.0028824542135222897
+                ],
+                "rod_tip_xy": [
+                  0.27655882514981245,
+                  -0.33664859488641596
+                ],
+                "target_mouth_xy": [
+                  0.27702655046234503,
+                  -0.33953104909993825
+                ],
+                "gripper_position": [
+                  0.2765495747362371,
+                  -0.33664847519822194,
+                  1.001939629420529
+                ],
+                "rod_tip_xy_dist": 0.0029201556912322514,
+                "target_xy_drift": 3.141907632075022e-08,
+                "depth": 0.0191982591373131,
+                "bottom_clearance": 0.08024233102480716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00047697231125032324,
+                  0.0028826046666228233
+                ],
+                "rod_tip_xy": [
+                  0.2765495747362371,
+                  -0.33664847519822205
+                ],
+                "target_mouth_xy": [
+                  0.2770265470474874,
+                  -0.3395310798648449
+                ],
+                "gripper_position": [
+                  0.27654030514393635,
+                  -0.3366485383827077,
+                  1.0018171766784305
+                ],
+                "rod_tip_xy_dist": 0.0029217994882837447,
+                "target_xy_drift": 6.220966097646302e-08,
+                "depth": 0.019320225635727994,
+                "bottom_clearance": 0.08012032805272262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00048624184207585186,
+                  0.002882537994685519
+                ],
+                "rod_tip_xy": [
+                  0.27654030514393635,
+                  -0.3366485383827078
+                ],
+                "target_mouth_xy": [
+                  0.2770265469860122,
+                  -0.3395310763773933
+                ],
+                "gripper_position": [
+                  0.2765311412087097,
+                  -0.3366483705475381,
+                  1.0016950398385638
+                ],
+                "rod_tip_xy_dist": 0.0029232612643742485,
+                "target_xy_drift": 5.872730769623149e-08,
+                "depth": 0.019442701595478007,
+                "bottom_clearance": 0.07999789788917766,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006049908502489752,
+              "rod_tip_xy_max_step": 3.264322419569608e-05,
+              "rod_tip_xy_range": 0.0006049828928685864,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2760993981192965,
+            -0.3380825590946262,
+            1.0434360586933473
+          ],
+          "object_origin_world": [
+            0.2760993981192965,
+            -0.3380825590946262,
+            1.0434360586933473
+          ],
+          "frame_world": [
+            0.2761248151238078,
+            -0.33808031187752663,
+            1.0437471783480692
+          ],
+          "center_minus_frame": [
+            -2.5417004511307795e-05,
+            -2.247217099571319e-06,
+            -0.00031111965472185865
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2613694131992661,
+              0.1515796936498989,
+              0.8327519747799546
+            ],
+            "target_position": [
+              0.2752656024340269,
+              0.19714371491000987,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047635953949093195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16540080853563108,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327519747799546,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677142539675,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.134939822822094,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3753f04a78bdf2afaad495c4b8d9441c4a307b6a678ad4d8419d04cec47ea6cd",
+    "visual_seed": 7721559099043051130,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c927fad1c51a2fa4e9b9ec0c6c175880e102e486
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_7_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.299531152003209,
+              0.07628380757433625,
+              1.1620793872470925
+            ],
+            "current_z": 1.1620793872470925,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3009729388369712,
+            "gripper_z": 1.1543465433243978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2942866061281003,
+              0.07116688201613534,
+              1.1543465433243978
+            ],
+            "object_minus_gripper": [
+              0.005244545875108697,
+              0.0051169255582009104,
+              0.007732843922694688
+            ],
+            "object_to_gripper_xy": 0.007327222434476065,
+            "object_to_gripper_z": 0.007732843922694688,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.299531152003209,
+              0.052282142282276574,
+              1.1620793872470925
+            ],
+            "finger_b": [
+              0.2878847085132443,
+              0.07628380757433625,
+              1.1620793872470925
+            ],
+            "finger_midpoint": [
+              0.29370793025822667,
+              0.06428297492830641,
+              1.1620793872470925
+            ],
+            "object_minus_finger_midpoint": [
+              0.005823221744982343,
+              0.012000832646029844,
+              0.0
+            ],
+            "finger_gap": 0.026678073070538717,
+            "fingertip_max_gap": 0.09080810267865944,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013339036535269362,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620793872470925,
+            "object_top_z": 1.2120065342073998,
+            "finger_top_clearance": 0.04992714696030731,
+            "fingertip_min_top_clearance": 0.014978144088092227,
+            "object_projection_between_fingers": 0.8094198203181221,
+            "object_to_finger_line_xy": 0.010478044563035438,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790405133932972,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5034516447841438,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27642480193910074,
+              -0.3414825532997689,
+              0.8515395567719348
+            ],
+            "target_position": [
+              0.26781582553747485,
+              -0.34210495146897707,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008631445659029844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18440371278067277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395567719348,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513828309515329,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609485265494506,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15323568634910925,
+            "release_required_pad_clearance": 0.05304742632747253,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1253398124899443,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007371008396148682,
+            "max_z_decrease": 0.007371008396148682,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516437113650811,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007371008396148682,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108045536060965,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007371008396148682,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007371028360487508,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1235157549381256,
+              -0.39836642146110535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1235157549381256,
+              -0.39836642146110535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12492836236121455,
+              -0.3970451335080028,
+              0.8080803357774414
+            ],
+            "closest_button": [
+              0.12350899726152419,
+              -0.39836668968200684,
+              0.7729694843292236
+            ],
+            "closest_ee_minus_button": [
+              0.001419365099690359,
+              0.001321556174004035,
+              0.035110851448217795
+            ],
+            "button_min_z_position": [
+              0.12349860370159148,
+              -0.3983660340309143,
+              0.769437849521637
+            ],
+            "min_active_finger_to_button": 0.14438961586058233,
+            "closest_active_finger": [
+              -0.003285437822341919,
+              -0.45831504464149475,
+              0.8110331892967224
+            ],
+            "closest_active_finger_button": [
+              0.12351976335048674,
+              -0.3983650803565979,
+              0.7767577767372131
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12680520117282867,
+              -0.05994996428489685,
+              0.03427541255950928
+            ],
+            "min_contact_pad_to_button": 0.02108045536060965,
+            "closest_contact_pad": [
+              0.12349860370159148,
+              -0.3983660340309143,
+              0.7905183048822466
+            ],
+            "closest_contact_pad_button": [
+              0.12349860370159148,
+              -0.3983660340309143,
+              0.769437849521637
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108045536060965
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26845379168375877,
+              0.20014348509502902,
+              1.1019951676828694
+            ],
+            "current_z": 1.1019951676828694,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19208603794850687,
+            "gripper_z": 1.1019952907964965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2684538993008882,
+              0.20014347924582165,
+              1.1019952907964965
+            ],
+            "object_minus_gripper": [
+              -1.0761712943008206e-07,
+              5.849207368457954e-09,
+              -1.231136270707367e-07
+            ],
+            "object_to_gripper_xy": 1.0777597029769789e-07,
+            "object_to_gripper_z": -1.231136270707367e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26845379168375877,
+              0.20014348509502902,
+              1.1019951676828694
+            ],
+            "finger_b": [
+              0.26845379168375877,
+              0.20014348509502902,
+              1.1019951676828694
+            ],
+            "finger_midpoint": [
+              0.26845379168375877,
+              0.20014348509502902,
+              1.1019951676828694
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019951676828694,
+            "object_top_z": 1.2270036743031492,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26845379168375877,
+            0.20014348509502905,
+            1.1019951676828696
+          ],
+          "object_origin_world": [
+            0.26845379168375877,
+            0.20014348509502905,
+            1.1019951676828696
+          ],
+          "frame_world": [
+            0.2684538993008882,
+            0.20014347924582165,
+            1.1019952907964965
+          ],
+          "center_minus_frame": [
+            -1.0761712943008206e-07,
+            5.849207396213529e-09,
+            -1.231136268486921e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432198464914557,
+            "required_z": 0.9112599203250804,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026868582463594574,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.691804547968932e-08,
+            "max_target_xy_drift": 2.622950623312448e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.125339812984527,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1253398130288998,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2740810224276263,
+              -0.3427892925452122,
+              0.923330297757401
+            ],
+            "target_mouth_xy": [
+              0.27642486074790673,
+              -0.3414825843578002
+            ],
+            "rod_tip_z": 0.923330297757401,
+            "rod_tip_depth": -0.02207048236126785,
+            "rod_tip_bottom_clearance": 0.1215109822370033,
+            "rod_tip_xy_dist": 0.002683479897197773,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04459861447752689,
+            "min_rod_tip_bottom_clearance": 0.05484190038005676,
+            "min_rod_tip_xy_dist": 0.001225815765432488,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2764248892100533,
+              -0.34148264492124647
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.846214658402957e-08,
+              6.0563446258044e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0017498974434949077,
+                0.00039674719017934734
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018618362739916128,
+                1.0128170399470449e-05
+              ],
+              "first_target_mouth_xy": [
+                0.2764249207172176,
+                -0.34148258466781367
+              ],
+              "last_target_mouth_xy": [
+                0.2764249207925464,
+                -0.3414825539261379
+              ],
+              "first_rod_tip_xy": [
+                0.2746750232737227,
+                -0.3410858374776343
+              ],
+              "last_rod_tip_xy": [
+                0.27456308451855477,
+                -0.34147242575573844
+              ],
+              "min_rod_tip_xy_dist": 0.0017910100718980188,
+              "max_rod_tip_xy_dist": 0.0018618638218158203,
+              "first_target_xy_drift": 6.799395240859021e-08,
+              "last_target_xy_drift": 9.632011030893778e-08,
+              "max_depth": 0.019633187901666793,
+              "min_bottom_clearance": 0.07980734202862216
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017498974434949077,
+                  0.00039674719017934734
+                ],
+                "rod_tip_xy": [
+                  0.2746750232737227,
+                  -0.3410858374776343
+                ],
+                "target_mouth_xy": [
+                  0.2764249207172176,
+                  -0.34148258466781367
+                ],
+                "gripper_position": [
+                  0.2746635168229835,
+                  -0.34109286611392003,
+                  1.0058858382850022
+                ],
+                "rod_tip_xy_dist": 0.0017943102841106442,
+                "target_xy_drift": 6.799395240859021e-08,
+                "depth": 0.015234140638607285,
+                "bottom_clearance": 0.08420638431564431,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017613416972146467,
+                  0.0003896881051018708
+                ],
+                "rod_tip_xy": [
+                  0.27466351682298357,
+                  -0.3410928661139201
+                ],
+                "target_mouth_xy": [
+                  0.2764248585201982,
+                  -0.34148255421902196
+                ],
+                "gripper_position": [
+                  0.27465506862058453,
+                  -0.3410934967004662,
+                  1.0057627317241407
+                ],
+                "rod_tip_xy_dist": 0.0018039349748826478,
+                "target_xy_drift": 9.57536460769354e-08,
+                "depth": 0.015374092922588511,
+                "bottom_clearance": 0.08406646903341541,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001769851684780499,
+                  0.00038902900421461384
+                ],
+                "rod_tip_xy": [
+                  0.27465506862058453,
+                  -0.3410934967004662
+                ],
+                "target_mouth_xy": [
+                  0.27642492030536503,
+                  -0.3414825257046808
+                ],
+                "gripper_position": [
+                  0.2746589718059938,
+                  -0.3411597667642527,
+                  1.0052419479394592
+                ],
+                "rod_tip_xy_dist": 0.0018121033503198942,
+                "target_xy_drift": 1.2320514576080475e-07,
+                "depth": 0.015497100451169143,
+                "bottom_clearance": 0.08394343234098456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017659195704322617,
+                  0.0003228176081883083
+                ],
+                "rod_tip_xy": [
+                  0.2746589718059938,
+                  -0.34115976676425275
+                ],
+                "target_mouth_xy": [
+                  0.27642489137642606,
+                  -0.34148258437244106
+                ],
+                "gripper_position": [
+                  0.2746474257907713,
+                  -0.3411666061141115,
+                  1.0051021854557265
+                ],
+                "rod_tip_xy_dist": 0.0017951833158182157,
+                "target_xy_drift": 6.05875482912059e-08,
+                "depth": 0.016017933623710512,
+                "bottom_clearance": 0.08342259799550988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017774940330264055,
+                  0.0003159493920134038
+                ],
+                "rod_tip_xy": [
+                  0.2746474257907713,
+                  -0.34116660611411154
+                ],
+                "target_mouth_xy": [
+                  0.2764249198237977,
+                  -0.34148255550612494
+                ],
+                "gripper_position": [
+                  0.27465138711233406,
+                  -0.34123295791844915,
+                  1.0045855730880395
+                ],
+                "rod_tip_xy_dist": 0.0018053556590761045,
+                "target_xy_drift": 9.451066237520712e-08,
+                "depth": 0.016157709694791245,
+                "bottom_clearance": 0.08328281898958945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001773532801504163,
+                  0.00024959663384938047
+                ],
+                "rod_tip_xy": [
+                  0.27465138711233406,
+                  -0.3412329579184492
+                ],
+                "target_mouth_xy": [
+                  0.2764249199138382,
+                  -0.3414825545522986
+                ],
+                "gripper_position": [
+                  0.27463983696936706,
+                  -0.3412394424100647,
+                  1.0044457329938061
+                ],
+                "rod_tip_xy_dist": 0.0017910100718980188,
+                "target_xy_drift": 9.544249131495824e-08,
+                "depth": 0.01667424322065736,
+                "bottom_clearance": 0.08276624859568049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017850212866042936,
+                  0.00024305061027618535
+                ],
+                "rod_tip_xy": [
+                  0.27463983696936706,
+                  -0.34123944241006476
+                ],
+                "target_mouth_xy": [
+                  0.27642485825597135,
+                  -0.34148249302034095
+                ],
+                "gripper_position": [
+                  0.27463108227178323,
+                  -0.3412398175864512,
+                  1.0043230667873393
+                ],
+                "rod_tip_xy_dist": 0.001801492323821024,
+                "target_xy_drift": 1.550227089436999e-07,
+                "depth": 0.016814235580746684,
+                "bottom_clearance": 0.08262639445151121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001793838592686614,
+                  0.0002427068582309122
+                ],
+                "rod_tip_xy": [
+                  0.27463108227178323,
+                  -0.3412398175864513
+                ],
+                "target_mouth_xy": [
+                  0.27642492086446985,
+                  -0.3414825244446822
+                ],
+                "gripper_position": [
+                  0.27462230006840477,
+                  -0.3412406328113603,
+                  1.0042002360132691
+                ],
+                "rod_tip_xy_dist": 0.0018101832823347508,
+                "target_xy_drift": 1.2456566391591271e-07,
+                "depth": 0.016936753740090738,
+                "bottom_clearance": 0.08250376779401092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018025582979399601,
+                  0.00024186116576974115
+                ],
+                "rod_tip_xy": [
+                  0.27462230006840477,
+                  -0.3412406328113604
+                ],
+                "target_mouth_xy": [
+                  0.27642485836634473,
+                  -0.34148249397713015
+                ],
+                "gripper_position": [
+                  0.27462796607395157,
+                  -0.34130882924827954,
+                  1.0036829081475127
+                ],
+                "rod_tip_xy_dist": 0.0018187119730676718,
+                "target_xy_drift": 1.5406317084299538e-07,
+                "depth": 0.017059711587387283,
+                "bottom_clearance": 0.08238087940686623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017969546757553578,
+                  0.00017369519330429073
+                ],
+                "rod_tip_xy": [
+                  0.27462796607395157,
+                  -0.34130882924827965
+                ],
+                "target_mouth_xy": [
+                  0.2764249207497069,
+                  -0.34148252444158395
+                ],
+                "gripper_position": [
+                  0.2746161968292409,
+                  -0.3413155185719147,
+                  1.0035431009200977
+                ],
+                "rod_tip_xy_dist": 0.0018053299218968421,
+                "target_xy_drift": 1.2453954726055485e-07,
+                "depth": 0.01757691148019569,
+                "bottom_clearance": 0.08186360566775808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018086621053163832,
+                  0.00016703882748153598
+                ],
+                "rod_tip_xy": [
+                  0.27461619682924093,
+                  -0.3413155185719149
+                ],
+                "target_mouth_xy": [
+                  0.2764248589345573,
+                  -0.3414825573993964
+                ],
+                "gripper_position": [
+                  0.2746073618592491,
+                  -0.34131596079781734,
+                  1.0034203071514245
+                ],
+                "rod_tip_xy_dist": 0.0018163591553142506,
+                "target_xy_drift": 9.261036601435481e-08,
+                "depth": 0.017716866548105004,
+                "bottom_clearance": 0.08172377867084524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018175583007021268,
+                  0.00016659311821121126
+                ],
+                "rod_tip_xy": [
+                  0.2746073618592491,
+                  -0.34131596079781745
+                ],
+                "target_mouth_xy": [
+                  0.27642492015995124,
+                  -0.34148255391602866
+                ],
+                "gripper_position": [
+                  0.27461361311397825,
+                  -0.34138504138211895,
+                  1.0029071117685178
+                ],
+                "rod_tip_xy_dist": 0.0018251770992116182,
+                "target_xy_drift": 9.612411689749404e-08,
+                "depth": 0.017839513371405658,
+                "bottom_clearance": 0.08160099213595406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001811275149775804,
+                  9.751569098714885e-05
+                ],
+                "rod_tip_xy": [
+                  0.27461361311397825,
+                  -0.341385041382119
+                ],
+                "target_mouth_xy": [
+                  0.27642488826375405,
+                  -0.34148255707310615
+                ],
+                "gripper_position": [
+                  0.27460176552711857,
+                  -0.3413916871028537,
+                  1.0027672422471592
+                ],
+                "rod_tip_xy_dist": 0.001813898282204397,
+                "target_xy_drift": 8.785323693279946e-08,
+                "depth": 0.018352864664851976,
+                "bottom_clearance": 0.08108778768180935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018231569825046812,
+                  9.086556846110705e-05
+                ],
+                "rod_tip_xy": [
+                  0.27460176552711857,
+                  -0.3413916871028537
+                ],
+                "target_mouth_xy": [
+                  0.27642492250962325,
+                  -0.34148255267131483
+                ],
+                "gripper_position": [
+                  0.2745928780016931,
+                  -0.3413916968467607,
+                  1.0026448323537194
+                ],
+                "rod_tip_xy_dist": 0.0018254199337104145,
+                "target_xy_drift": 9.807604827410706e-08,
+                "depth": 0.018492679436844184,
+                "bottom_clearance": 0.08094796156537598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018320095231792455,
+                  9.085642209222256e-05
+                ],
+                "rod_tip_xy": [
+                  0.2745928780016931,
+                  -0.34139169684676074
+                ],
+                "target_mouth_xy": [
+                  0.2764248875248723,
+                  -0.34148255326885296
+                ],
+                "gripper_position": [
+                  0.27458385266070745,
+                  -0.34139209094725564,
+                  1.0025223799783665
+                ],
+                "rod_tip_xy_dist": 0.0018342610998586997,
+                "target_xy_drift": 9.166788462008086e-08,
+                "depth": 0.018615080815346796,
+                "bottom_clearance": 0.08082554588365698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018410386387464617,
+                  9.046267501033878e-05
+                ],
+                "rod_tip_xy": [
+                  0.27458385266070745,
+                  -0.34139209094725564
+                ],
+                "target_mouth_xy": [
+                  0.2764248912994539,
+                  -0.341482553622266
+                ],
+                "gripper_position": [
+                  0.27457494156757956,
+                  -0.3413922047762109,
+                  1.0023998440321105
+                ],
+                "rod_tip_xy_dist": 0.001843259820244409,
+                "target_xy_drift": 9.132288559171572e-08,
+                "depth": 0.01873745357635903,
+                "bottom_clearance": 0.08070309908182682,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001849887603757594,
+                  9.038210957218462e-05
+                ],
+                "rod_tip_xy": [
+                  0.2745749415675796,
+                  -0.341392204776211
+                ],
+                "target_mouth_xy": [
+                  0.2764248291713372,
+                  -0.3414825868857832
+                ],
+                "gripper_position": [
+                  0.2745660414046659,
+                  -0.3413923228524035,
+                  1.0022772690696187
+                ],
+                "rod_tip_xy_dist": 0.0018520942395749552,
+                "target_xy_drift": 8.350306838013673e-08,
+                "depth": 0.01886011677421484,
+                "bottom_clearance": 0.08058051586204584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018588787537102136,
+                  9.023074816916221e-05
+                ],
+                "rod_tip_xy": [
+                  0.2745660414046659,
+                  -0.3413923228524035
+                ],
+                "target_mouth_xy": [
+                  0.2764249201583761,
+                  -0.34148255360057267
+                ],
+                "gripper_position": [
+                  0.2745751111627638,
+                  -0.3414656575044285,
+                  1.0017659098994185
+                ],
+                "rod_tip_xy_dist": 0.0018610673843013862,
+                "target_xy_drift": 9.642232183024195e-08,
+                "depth": 0.01898255702127305,
+                "bottom_clearance": 0.08045795944713341,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018497783117782385,
+                  1.6866607510324094e-05
+                ],
+                "rod_tip_xy": [
+                  0.2745751111627638,
+                  -0.3414656575044286
+                ],
+                "target_mouth_xy": [
+                  0.276424889474542,
+                  -0.3414825241119389
+                ],
+                "gripper_position": [
+                  0.27456308451855477,
+                  -0.34147242575573833,
+                  1.0016266377049823
+                ],
+                "rod_tip_xy_dist": 0.0018498552065429493,
+                "target_xy_drift": 1.2080959708095068e-07,
+                "depth": 0.019493992208249433,
+                "bottom_clearance": 0.07994653736501356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018618362739916128,
+                  1.0128170399470449e-05
+                ],
+                "rod_tip_xy": [
+                  0.27456308451855477,
+                  -0.34147242575573844
+                ],
+                "target_mouth_xy": [
+                  0.2764249207925464,
+                  -0.3414825539261379
+                ],
+                "gripper_position": [
+                  0.2745541303702352,
+                  -0.3414723353464495,
+                  1.0015043095414877
+                ],
+                "rod_tip_xy_dist": 0.0018618638218158203,
+                "target_xy_drift": 9.632011030893778e-08,
+                "depth": 0.019633187901666793,
+                "bottom_clearance": 0.07980734202862216,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000599017571630112,
+              "rod_tip_xy_max_step": 3.249569581688954e-05,
+              "rod_tip_xy_range": 0.0005990095867611178,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2740810224276263,
+            -0.3427892925452122,
+            1.0433302977574013
+          ],
+          "object_origin_world": [
+            0.2740810224276263,
+            -0.3427892925452122,
+            1.0433302977574013
+          ],
+          "frame_world": [
+            0.27407965628640985,
+            -0.3427937759036107,
+            1.0432198464914557
+          ],
+          "center_minus_frame": [
+            1.3661412164300835e-06,
+            4.483358398532644e-06,
+            0.00011045126594555477
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2544379825178466,
+              0.15306914116666234,
+              0.832827342735375
+            ],
+            "target_position": [
+              0.26860752759388185,
+              0.1986591302554478,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04774120979591291,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16375377040314157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832827342735375,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567363055895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1332229935022435,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "533fe096e3518f5fe8a7ce2193110268e65c85a336eeb18c6c285d708a79685e",
+    "visual_seed": 6585614795491701334,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91851eb4d29726ad610ee2d097bcf815fc4408d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_81_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3036866491017982,
+              0.08072245659953806,
+              1.1624618064093823
+            ],
+            "current_z": 1.1624618064093823,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3013552387899714,
+            "gripper_z": 1.154369573711005,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2985748074158921,
+              0.0756979546682691,
+              1.154369573711005
+            ],
+            "object_minus_gripper": [
+              0.0051118416859061155,
+              0.0050245019312689515,
+              0.008092232698377444
+            ],
+            "object_to_gripper_xy": 0.0071677433742491714,
+            "object_to_gripper_z": 0.008092232698377444,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3036866491017982,
+              0.056827499285749046,
+              1.1624618064093823
+            ],
+            "finger_b": [
+              0.2921613216882587,
+              0.08072245659953806,
+              1.1624618064093823
+            ],
+            "finger_midpoint": [
+              0.29792398539502846,
+              0.06877497794264355,
+              1.1624618064093823
+            ],
+            "object_minus_finger_midpoint": [
+              0.005762663706769755,
+              0.011947478656894508,
+              0.0
+            ],
+            "finger_gap": 0.026529269816884977,
+            "fingertip_max_gap": 0.09088194013638681,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013264634908442492,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624618064093823,
+            "object_top_z": 1.21230799102709,
+            "finger_top_clearance": 0.04984618461770762,
+            "fingertip_min_top_clearance": 0.014953855385312286,
+            "object_projection_between_fingers": 0.8112634770085525,
+            "object_to_finger_line_xy": 0.010380881512188758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794097006819341,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6227493506194621,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2746561061525748,
+              -0.34146370512441493,
+              0.8515396638532492
+            ],
+            "target_position": [
+              0.26550429851327134,
+              -0.3426361066621959,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00922659787964146,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867208956636008,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396638532492,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757358671542147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853468655387442,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15402198035072115,
+            "release_required_pad_clearance": 0.0526734327693721,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.403482310905394,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007292747497558594,
+            "max_z_decrease": 0.007292747497558594,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515024984149889,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007292747497558594,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021085029514996356,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007292747497558594,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072927673540280746,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12120422720909119,
+              -0.39889755845069885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12120422720909119,
+              -0.39889755845069885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12212409698295792,
+              -0.39737693420199055,
+              0.8079377196647274
+            ],
+            "closest_button": [
+              0.12119320034980774,
+              -0.39889559149742126,
+              0.7728326320648193
+            ],
+            "closest_ee_minus_button": [
+              0.0009308966331501856,
+              0.0015186572954307143,
+              0.03510508759990805
+            ],
+            "button_min_z_position": [
+              0.12118721753358841,
+              -0.3988970220088959,
+              0.769516110420227
+            ],
+            "min_active_finger_to_button": 0.14473155967619206,
+            "closest_active_finger": [
+              -0.005903162062168121,
+              -0.45900222659111023,
+              0.8111397624015808
+            ],
+            "closest_active_finger_button": [
+              0.12120280414819717,
+              -0.39889833331108093,
+              0.7768058180809021
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271059662103653,
+              -0.0601038932800293,
+              0.03433394432067871
+            ],
+            "min_contact_pad_to_button": 0.021085029514996356,
+            "closest_contact_pad": [
+              0.12118721753358841,
+              -0.3988970220088959,
+              0.7906011399352234
+            ],
+            "closest_contact_pad_button": [
+              0.12118721753358841,
+              -0.3988970220088959,
+              0.769516110420227
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021085029514996356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27142123779979554,
+              0.19887755030914203,
+              1.1019792094973946
+            ],
+            "current_z": 1.1019792094973946,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19207007976303203,
+            "gripper_z": 1.1019793383472731,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27142121125726576,
+              0.19887752975217105,
+              1.1019793383472731
+            ],
+            "object_minus_gripper": [
+              2.654252978517846e-08,
+              2.055697098657383e-08,
+              -1.2884987854455687e-07
+            ],
+            "object_to_gripper_xy": 3.357223471173648e-08,
+            "object_to_gripper_z": -1.2884987854455687e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27142123779979554,
+              0.19887755030914203,
+              1.1019792094973946
+            ],
+            "finger_b": [
+              0.27142123779979554,
+              0.19887755030914203,
+              1.1019792094973946
+            ],
+            "finger_midpoint": [
+              0.27142123779979554,
+              0.19887755030914203,
+              1.1019792094973946
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019792094973946,
+            "object_top_z": 1.2269877161176743,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2714212377997956,
+            0.19887755030914203,
+            1.1019792094973946
+          ],
+          "object_origin_world": [
+            0.2714212377997956,
+            0.19887755030914203,
+            1.1019792094973946
+          ],
+          "frame_world": [
+            0.27142121125726576,
+            0.19887752975217105,
+            1.1019793383472731
+          ],
+          "center_minus_frame": [
+            2.654252984068961e-08,
+            2.055697098657383e-08,
+            -1.2884987854455687e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.04377159306491,
+            "required_z": 0.9112598478487197,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014297522424944712,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.591470558491089e-08,
+            "max_target_xy_drift": 2.464163301276483e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4034823709191907,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.40348237815737537,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27601551299478805,
+              -0.3411110097976173,
+              0.9234614747793778
+            ],
+            "target_mouth_xy": [
+              0.2746560117873093,
+              -0.34146389056674376
+            ],
+            "rod_tip_z": 0.9234614747793778,
+            "rod_tip_depth": -0.02220155379610589,
+            "rod_tip_bottom_clearance": 0.1216421937029758,
+            "rod_tip_xy_dist": 0.0014045527296457818,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044685939183601975,
+            "min_rod_tip_bottom_clearance": 0.05475461050853847,
+            "min_rod_tip_xy_dist": 0.0002624958190132281,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2746560405790926,
+              -0.34146383127271684
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.8791783290849082e-08,
+              -5.9294026910627906e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.001802013652292489,
+                0.002016146649730821
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017171979926131065,
+                0.0016540362602123215
+              ],
+              "first_target_mouth_xy": [
+                0.27465607248365254,
+                -0.3414638911902588
+              ],
+              "last_target_mouth_xy": [
+                0.274656041332121,
+                -0.34146386392054295
+              ],
+              "first_rod_tip_xy": [
+                0.276458086135945,
+                -0.33944774454052795
+              ],
+              "last_rod_tip_xy": [
+                0.2763732393247341,
+                -0.33980982766033063
+              ],
+              "min_rod_tip_xy_dist": 0.002384240947541092,
+              "max_rod_tip_xy_dist": 0.002704089591021224,
+              "first_target_xy_drift": 6.788234509472526e-08,
+              "last_target_xy_drift": 3.265650932748553e-08,
+              "max_depth": 0.019514237381324073,
+              "min_bottom_clearance": 0.07992637941828395
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001802013652292489,
+                  0.002016146649730821
+                ],
+                "rod_tip_xy": [
+                  0.276458086135945,
+                  -0.33944774454052795
+                ],
+                "target_mouth_xy": [
+                  0.27465607248365254,
+                  -0.3414638911902588
+                ],
+                "gripper_position": [
+                  0.2764498062924541,
+                  -0.3394480194679069,
+                  1.0060148952998853
+                ],
+                "rod_tip_xy_dist": 0.002704089591021224,
+                "target_xy_drift": 6.788234509472526e-08,
+                "depth": 0.015121852294369797,
+                "bottom_clearance": 0.08431880696240313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001793796303495132,
+                  0.002015873310955596
+                ],
+                "rod_tip_xy": [
+                  0.27644980629245397,
+                  -0.33944801946790704
+                ],
+                "target_mouth_xy": [
+                  0.27465600998895884,
+                  -0.34146389277886263
+                ],
+                "gripper_position": [
+                  0.27645866231451544,
+                  -0.3395114822641142,
+                  1.0054934721190825
+                ],
+                "rod_tip_xy_dist": 0.002698416273345511,
+                "target_xy_drift": 6.869324750702942e-08,
+                "depth": 0.015244928431135452,
+                "bottom_clearance": 0.08419559531001164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0018026215103327803,
+                  0.001952378489410267
+                ],
+                "rod_tip_xy": [
+                  0.2764586623145153,
+                  -0.3395114822641142
+                ],
+                "target_mouth_xy": [
+                  0.27465604080418254,
+                  -0.3414638607535245
+                ],
+                "gripper_position": [
+                  0.27644704778030804,
+                  -0.33951809759031487,
+                  1.0053527168842762
+                ],
+                "rod_tip_xy_dist": 0.002657296760888093,
+                "target_xy_drift": 2.9481666911978932e-08,
+                "depth": 0.015766442874154518,
+                "bottom_clearance": 0.08367416735699529,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001791038952333568,
+                  0.0019457641208045495
+                ],
+                "rod_tip_xy": [
+                  0.27644704778030793,
+                  -0.3395180975903148
+                ],
+                "target_mouth_xy": [
+                  0.27465600882797436,
+                  -0.34146386171111937
+                ],
+                "gripper_position": [
+                  0.27645608639082164,
+                  -0.3395817037155938,
+                  1.0048354028846032
+                ],
+                "rod_tip_xy_dist": 0.0026445828674077176,
+                "target_xy_drift": 4.398442743927488e-08,
+                "depth": 0.015907064120305292,
+                "bottom_clearance": 0.08353346741956702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018000440696732678,
+                  0.0018821877895995875
+                ],
+                "rod_tip_xy": [
+                  0.27645608639082153,
+                  -0.3395817037155938
+                ],
+                "target_mouth_xy": [
+                  0.27465604232114826,
+                  -0.3414638915051934
+                ],
+                "gripper_position": [
+                  0.2764446002656079,
+                  -0.3395880631716656,
+                  1.0046948416488717
+                ],
+                "rod_tip_xy_dist": 0.0026043789140759994,
+                "target_xy_drift": 6.025766333613214e-08,
+                "depth": 0.016424507033089064,
+                "bottom_clearance": 0.08301612707597239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001788562008860295,
+                  0.0018758308840109983
+                ],
+                "rod_tip_xy": [
+                  0.2764446002656078,
+                  -0.33958806317166557
+                ],
+                "target_mouth_xy": [
+                  0.2746560382567475,
+                  -0.34146389405567656
+                ],
+                "gripper_position": [
+                  0.2764358894635691,
+                  -0.3395884928231105,
+                  1.00457161406058
+                ],
+                "rod_tip_xy_dist": 0.0025918517636909443,
+                "target_xy_drift": 6.28258968732877e-08,
+                "depth": 0.016565026904743152,
+                "bottom_clearance": 0.08287555170400374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017798794735300882,
+                  0.0018753983751055303
+                ],
+                "rod_tip_xy": [
+                  0.276435889463569,
+                  -0.33958849282311054
+                ],
+                "target_mouth_xy": [
+                  0.2746560099900389,
+                  -0.3414638911982161
+                ],
+                "gripper_position": [
+                  0.27644582642376914,
+                  -0.3396526932504555,
+                  1.004055238741026
+                ],
+                "rod_tip_xy_dist": 0.002585554100312389,
+                "target_xy_drift": 6.728116870921258e-08,
+                "depth": 0.01668822184812513,
+                "bottom_clearance": 0.08275232652354025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017897268948008915,
+                  0.0018112014336910676
+                ],
+                "rod_tip_xy": [
+                  0.2764458264237691,
+                  -0.33965269325045544
+                ],
+                "target_mouth_xy": [
+                  0.2746560995289682,
+                  -0.3414638946841465
+                ],
+                "gripper_position": [
+                  0.2764343124995837,
+                  -0.3396591160927103,
+                  1.0039152544625085
+                ],
+                "rod_tip_xy_dist": 0.0025462861173438894,
+                "target_xy_drift": 8.65800048751989e-08,
+                "depth": 0.017204619957465028,
+                "bottom_clearance": 0.08223597641392055,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017782718610303005,
+                  0.0018047456067453171
+                ],
+                "rod_tip_xy": [
+                  0.27643431249958367,
+                  -0.3396591160927104
+                ],
+                "target_mouth_xy": [
+                  0.27465604063855337,
+                  -0.3414638616994557
+                ],
+                "gripper_position": [
+                  0.27642539743581385,
+                  -0.3396594807420538,
+                  1.003792005252709
+                ],
+                "rod_tip_xy_dist": 0.002533645104745077,
+                "target_xy_drift": 3.042679695055513e-08,
+                "depth": 0.017344642259066068,
+                "bottom_clearance": 0.08209592754678596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017693565959551183,
+                  0.001804380957656504
+                ],
+                "rod_tip_xy": [
+                  0.27642539743581374,
+                  -0.33965948074205377
+                ],
+                "target_mouth_xy": [
+                  0.2746560408398586,
+                  -0.34146386169971027
+                ],
+                "gripper_position": [
+                  0.27641651705645565,
+                  -0.3396596448207946,
+                  1.0036690728360427
+                ],
+                "rod_tip_xy_dist": 0.0025271354146549577,
+                "target_xy_drift": 3.0428110815343845e-08,
+                "depth": 0.01746783344367142,
+                "bottom_clearance": 0.08197274405674781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017604745515181208,
+                  0.0018041848627401436
+                ],
+                "rod_tip_xy": [
+                  0.27641651705645554,
+                  -0.3396596448207947
+                ],
+                "target_mouth_xy": [
+                  0.2746560425049374,
+                  -0.34146382968353484
+                ],
+                "gripper_position": [
+                  0.27642829625515175,
+                  -0.33972634490686504,
+                  1.0031537455698516
+                ],
+                "rod_tip_xy_dist": 0.002520784335377305,
+                "target_xy_drift": 2.496873587949876e-09,
+                "depth": 0.01759081871699053,
+                "bottom_clearance": 0.0818499023649254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001772257271816735,
+                  0.001737487315599806
+                ],
+                "rod_tip_xy": [
+                  0.2764282962551517,
+                  -0.33972634490686504
+                ],
+                "target_mouth_xy": [
+                  0.27465603898333496,
+                  -0.34146383222246485
+                ],
+                "gripper_position": [
+                  0.2764165463697683,
+                  -0.3397327819758006,
+                  1.0030135389835517
+                ],
+                "rod_tip_xy_dist": 0.002481885978319213,
+                "target_xy_drift": 1.8570039592526315e-09,
+                "depth": 0.018106078685672933,
+                "bottom_clearance": 0.081334428051412,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017604456622262177,
+                  0.0017311114340159417
+                ],
+                "rod_tip_xy": [
+                  0.27641654636976826,
+                  -0.3397327819758006
+                ],
+                "target_mouth_xy": [
+                  0.27465610070754204,
+                  -0.34146389340981653
+                ],
+                "gripper_position": [
+                  0.27640752706765026,
+                  -0.339733028139246,
+                  1.0028906630848393
+                ],
+                "rod_tip_xy_dist": 0.002468990831621664,
+                "target_xy_drift": 8.646646511728342e-08,
+                "depth": 0.018246366178662043,
+                "bottom_clearance": 0.08119423066806841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017514865986875128,
+                  0.0017308643224652753
+                ],
+                "rod_tip_xy": [
+                  0.2764075270676502,
+                  -0.3397330281392461
+                ],
+                "target_mouth_xy": [
+                  0.2746560404689627,
+                  -0.3414638924617114
+                ],
+                "gripper_position": [
+                  0.2763985003658961,
+                  -0.33973335780975367,
+                  1.002767416066499
+                ],
+                "rod_tip_xy_dist": 0.0024624371277588244,
+                "target_xy_drift": 6.118909364546509e-08,
+                "depth": 0.018369100873489752,
+                "bottom_clearance": 0.08107143785100435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017424580484164953,
+                  0.0017305035757605447
+                ],
+                "rod_tip_xy": [
+                  0.27639850036589597,
+                  -0.33973335780975367
+                ],
+                "target_mouth_xy": [
+                  0.2746560423174795,
+                  -0.3414638613855142
+                ],
+                "gripper_position": [
+                  0.27638956071527154,
+                  -0.3397334518708808,
+                  1.0026444423701866
+                ],
+                "rod_tip_xy_dist": 0.002455769263634402,
+                "target_xy_drift": 3.016293344805729e-08,
+                "depth": 0.018492499513711347,
+                "bottom_clearance": 0.08094814588808263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001733521671192506,
+                  0.0017304412294509852
+                ],
+                "rod_tip_xy": [
+                  0.27638956071527143,
+                  -0.3397334518708808
+                ],
+                "target_mouth_xy": [
+                  0.2746560390440789,
+                  -0.34146389310033176
+                ],
+                "gripper_position": [
+                  0.2764034317795969,
+                  -0.3398031444081545,
+                  1.0021317075038854
+                ],
+                "rod_tip_xy_dist": 0.0024493926253416165,
+                "target_xy_drift": 6.184666711520177e-08,
+                "depth": 0.018615385017129227,
+                "bottom_clearance": 0.08082512915014528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0017473927155818858,
+                  0.0016607166679674101
+                ],
+                "rod_tip_xy": [
+                  0.27640343177959686,
+                  -0.3398031444081545
+                ],
+                "target_mouth_xy": [
+                  0.274656039064015,
+                  -0.3414638610761219
+                ],
+                "gripper_position": [
+                  0.27639164762569657,
+                  -0.33980956806639023,
+                  1.0019915227868503
+                ],
+                "rod_tip_xy_dist": 0.002410676492964872,
+                "target_xy_drift": 2.984189026161646e-08,
+                "depth": 0.019128131036356133,
+                "bottom_clearance": 0.08031240623851976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0017355778161142754,
+                  0.0016543278872080958
+                ],
+                "rod_tip_xy": [
+                  0.27639164762569646,
+                  -0.3398095680663903
+                ],
+                "target_mouth_xy": [
+                  0.2746560698095822,
+                  -0.3414638959535984
+                ],
+                "gripper_position": [
+                  0.27638239225308037,
+                  -0.3398095242120409,
+                  1.001868838493544
+                ],
+                "rod_tip_xy_dist": 0.0023977137264866296,
+                "target_xy_drift": 7.097913748481963e-08,
+                "depth": 0.01926835913536884,
+                "bottom_clearance": 0.08017228535071586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0017263525924531287,
+                  0.0016543387605723048
+                ],
+                "rod_tip_xy": [
+                  0.27638239225308026,
+                  -0.3398095242120409
+                ],
+                "target_mouth_xy": [
+                  0.2746560396606271,
+                  -0.3414638629726132
+                ],
+                "gripper_position": [
+                  0.27637323932473423,
+                  -0.3398098276603307,
+                  1.0017456751997829
+                ],
+                "rod_tip_xy_dist": 0.0023910520714115675,
+                "target_xy_drift": 3.171319928635272e-08,
+                "depth": 0.01939098411061624,
+                "bottom_clearance": 0.08004953443361817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0017171979926131065,
+                  0.0016540362602123215
+                ],
+                "rod_tip_xy": [
+                  0.2763732393247341,
+                  -0.33980982766033063
+                ],
+                "target_mouth_xy": [
+                  0.274656041332121,
+                  -0.34146386392054295
+                ],
+                "gripper_position": [
+                  0.2763641471985684,
+                  -0.33980979034682507,
+                  1.0016232774418719
+                ],
+                "rod_tip_xy_dist": 0.002384240947541092,
+                "target_xy_drift": 3.265650932748553e-08,
+                "depth": 0.019514237381324073,
+                "bottom_clearance": 0.07992637941828395,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006025750829670935,
+              "rod_tip_xy_max_step": 3.2691167272678276e-05,
+              "rod_tip_xy_range": 0.0006025659428618971,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2760155129947881,
+            -0.3411110097976173,
+            1.0434614747793778
+          ],
+          "object_origin_world": [
+            0.2760155129947881,
+            -0.3411110097976173,
+            1.0434614747793778
+          ],
+          "frame_world": [
+            0.27604088264794296,
+            -0.34110846944429074,
+            1.04377159306491
+          ],
+          "center_minus_frame": [
+            -2.536965315486084e-05,
+            -2.5403533265855316e-06,
+            -0.00031011828553229037
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2560021073559371,
+              0.15273322882653956,
+              0.8315884487002964
+            ],
+            "target_position": [
+              0.27157023550403314,
+              0.19823354151512285,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048089968484023714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1635363769199672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315884487002964,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675998626852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1340144258718707,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 324,
+            "max_placed_release_frames": 324
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0fb448d352309f6f1e31e24f41709266ba0e4ef3426d13fc8647063349b8460",
+    "visual_seed": 7150828935524218218,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4410fe7e4bd47e8ea2a1fa357666f0dee6674d1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3043153075450187,
+              0.07494928557531937,
+              1.1639128761469055
+            ],
+            "current_z": 1.1639128761469055,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3028062489228499,
+            "gripper_z": 1.1560220732905995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2990510009324396,
+              0.06995231354467447,
+              1.1560220732905995
+            ],
+            "object_minus_gripper": [
+              0.005264306612579095,
+              0.004996972030644892,
+              0.007890802856306056
+            ],
+            "object_to_gripper_xy": 0.007258281724092233,
+            "object_to_gripper_z": 0.007890802856306056,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3043153075450187,
+              0.05058412476481825,
+              1.1639128761469055
+            ],
+            "finger_b": [
+              0.29328283343462547,
+              0.07494928557531937,
+              1.1639128761469055
+            ],
+            "finger_midpoint": [
+              0.29879907048982207,
+              0.06276670517006881,
+              1.1639128761469055
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055162370551966045,
+              0.012182580405250554,
+              0.0
+            ],
+            "finger_gap": 0.026746524004402437,
+            "fingertip_max_gap": 0.09152463811336556,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013373262002201215,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639128761469055,
+            "object_top_z": 1.2138671338275473,
+            "finger_top_clearance": 0.04995425768064177,
+            "fingertip_min_top_clearance": 0.014986277304192497,
+            "object_projection_between_fingers": 0.8298581556483144,
+            "object_to_finger_line_xy": 0.010050203375705046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826231905668278,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2297405320971277,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28131465764265684,
+              -0.34174931755815496,
+              0.851539614112605
+            ],
+            "target_position": [
+              0.27351308146599623,
+              -0.34236600857187044,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00782591200095144,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18283287239167872,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539614112605,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556057219583567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08701880932660734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15066327747061284,
+            "release_required_pad_clearance": 0.05350940466330367,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0309707647893305,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007324635982513428,
+            "max_z_decrease": 0.007324635982513428,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509962592987139,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007324635982513428,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108289993532197,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007324635982513428,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007324661168414911,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12921300530433655,
+              -0.3986274600028991,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12921300530433655,
+              -0.3986274600028991,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12932800154875343,
+              -0.398329676147114,
+              0.8082635227944016
+            ],
+            "closest_button": [
+              0.1292093694210052,
+              -0.39862564206123346,
+              0.7731653451919556
+            ],
+            "closest_ee_minus_button": [
+              0.00011863212774823606,
+              0.00029596591411945594,
+              0.035098177602446046
+            ],
+            "button_min_z_position": [
+              0.1291938573122024,
+              -0.39862594008445734,
+              0.7694842219352722
+            ],
+            "min_active_finger_to_button": 0.1459756503272827,
+            "closest_active_finger": [
+              0.002741597592830658,
+              -0.4629208743572235,
+              0.8107762336730957
+            ],
+            "closest_active_finger_button": [
+              0.12921255826950068,
+              -0.3986270725727081,
+              0.7764208316802979
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12647096067667002,
+              -0.06429380178451544,
+              0.03435540199279785
+            ],
+            "min_contact_pad_to_button": 0.02108289993532197,
+            "closest_contact_pad": [
+              0.1291938573122024,
+              -0.39921155816760406,
+              0.7905589869670226
+            ],
+            "closest_contact_pad_button": [
+              0.1291938573122024,
+              -0.39862594008445734,
+              0.7694842219352722
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005856180831467217,
+              0.02107476503175043
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26788295412838,
+              0.1944916728193509,
+              1.1047322901431627
+            ],
+            "current_z": 1.1047322901431627,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1948231604088001,
+            "gripper_z": 1.104732565571668,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2678829226427005,
+              0.19449166836503434,
+              1.104732565571668
+            ],
+            "object_minus_gripper": [
+              3.1485679452547544e-08,
+              4.4543165544919106e-09,
+              -2.7542850533635033e-07
+            ],
+            "object_to_gripper_xy": 3.1799197262764283e-08,
+            "object_to_gripper_z": -2.7542850533635033e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26788295412838,
+              0.1944916728193509,
+              1.1047322901431627
+            ],
+            "finger_b": [
+              0.26788295412838,
+              0.1944916728193509,
+              1.1047322901431627
+            ],
+            "finger_midpoint": [
+              0.26788295412838,
+              0.1944916728193509,
+              1.1047322901431627
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1047322901431627,
+            "object_top_z": 1.2297407967634424,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26788295412838,
+            0.1944916728193509,
+            1.1047322901431627
+          ],
+          "object_origin_world": [
+            0.26788295412838,
+            0.1944916728193509,
+            1.1047322901431627
+          ],
+          "frame_world": [
+            0.2678829226427005,
+            0.19449166836503434,
+            1.104732565571668
+          ],
+          "center_minus_frame": [
+            3.1485679452547544e-08,
+            4.4543165544919106e-09,
+            -2.7542850533635033e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433905907216658,
+            "required_z": 0.9112598354123982,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006711741406134309,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.929326822048421e-08,
+            "max_target_xy_drift": 1.7305593150906296e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.03097076519157,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.03097076521257,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2812449990102808,
+              -0.34241164595925627,
+              0.9235041327243391
+            ],
+            "target_mouth_xy": [
+              0.28131462642877764,
+              -0.34174928461089527
+            ],
+            "rod_tip_z": 0.9235041327243391,
+            "rod_tip_depth": -0.022244293148387606,
+            "rod_tip_bottom_clearance": 0.12168483401059416,
+            "rod_tip_xy_dist": 0.000666010910728301,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04464515998159013,
+            "min_rod_tip_bottom_clearance": 0.05479541023497447,
+            "min_rod_tip_xy_dist": 0.00010219548583622682,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2813145985138895,
+              -0.341749256957325
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.7914888123259374e-08,
+              -2.7653570267016647e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                0.00038667963052285703,
+                0.0010373768902284808
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00029767731413521403,
+                0.0006649493853832511
+              ],
+              "first_target_mouth_xy": [
+                0.28131456607552774,
+                -0.3417492874639365
+              ],
+              "last_target_mouth_xy": [
+                0.2813145968591291,
+                -0.34174928681155103
+              ],
+              "first_rod_tip_xy": [
+                0.2817012457060506,
+                -0.34071191057370803
+              ],
+              "last_rod_tip_xy": [
+                0.2816122741732643,
+                -0.3410843374261678
+              ],
+              "min_rod_tip_xy_dist": 0.0007285392703707318,
+              "max_rod_tip_xy_dist": 0.001107100695077646,
+              "first_target_xy_drift": 4.452977274499461e-08,
+              "last_target_xy_drift": 2.9900050908087445e-08,
+              "max_depth": 0.0194834392928519,
+              "min_bottom_clearance": 0.07995707009413067
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00038667963052285703,
+                  0.0010373768902284808
+                ],
+                "rod_tip_xy": [
+                  0.2817012457060506,
+                  -0.34071191057370803
+                ],
+                "target_mouth_xy": [
+                  0.28131456607552774,
+                  -0.3417492874639365
+                ],
+                "gripper_position": [
+                  0.2817095355615473,
+                  -0.34077598239279516,
+                  1.005700463994364
+                ],
+                "rod_tip_xy_dist": 0.001107100695077646,
+                "target_xy_drift": 4.452977274499461e-08,
+                "depth": 0.015036572079355714,
+                "bottom_clearance": 0.08440398612687328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003949699848697086,
+                  0.0009733038148254658
+                ],
+                "rod_tip_xy": [
+                  0.2817095355615474,
+                  -0.3407759823927951
+                ],
+                "target_mouth_xy": [
+                  0.28131456557667767,
+                  -0.3417492862076206
+                ],
+                "gripper_position": [
+                  0.2816980233315806,
+                  -0.3407831167841858,
+                  1.0055567585135943
+                ],
+                "rod_tip_xy_dist": 0.0010503911675665322,
+                "target_xy_drift": 4.405042242068896e-08,
+                "depth": 0.015559387626025711,
+                "bottom_clearance": 0.08388114796032597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00038342568857474557,
+                  0.0009661693752466838
+                ],
+                "rod_tip_xy": [
+                  0.28169802333158067,
+                  -0.3407831167841859
+                ],
+                "target_mouth_xy": [
+                  0.2813145976430059,
+                  -0.34174928615943256
+                ],
+                "gripper_position": [
+                  0.28168917436174135,
+                  -0.34078392995849877,
+                  1.0054305234148506
+                ],
+                "rod_tip_xy_dist": 0.001039470307571883,
+                "target_xy_drift": 2.92150906978657e-08,
+                "depth": 0.015703060415308445,
+                "bottom_clearance": 0.08373746080667355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00037461074763966984,
+                  0.0009653575531206049
+                ],
+                "rod_tip_xy": [
+                  0.2816891743617414,
+                  -0.34078392995849877
+                ],
+                "target_mouth_xy": [
+                  0.28131456361410173,
+                  -0.34174928751161937
+                ],
+                "gripper_position": [
+                  0.2816983664931325,
+                  -0.34084914728905236,
+                  1.0049082198256387
+                ],
+                "rod_tip_xy_dist": 0.0010354942866158915,
+                "target_xy_drift": 4.6384912329521545e-08,
+                "depth": 0.01582940876657568,
+                "bottom_clearance": 0.08361124270847908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0003837706259269269,
+                  0.0009001395424712011
+                ],
+                "rod_tip_xy": [
+                  0.28169836649313257,
+                  -0.3408491472890523
+                ],
+                "target_mouth_xy": [
+                  0.28131459586720564,
+                  -0.3417492868315235
+                ],
+                "gripper_position": [
+                  0.2816867330618297,
+                  -0.3408563121477389,
+                  1.0047648319978908
+                ],
+                "rod_tip_xy_dist": 0.0009785351752720024,
+                "target_xy_drift": 2.9991209908354775e-08,
+                "depth": 0.016351566733584177,
+                "bottom_clearance": 0.0830889684347148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0003721348241682021,
+                  0.0008930057170036254
+                ],
+                "rod_tip_xy": [
+                  0.28168673306182973,
+                  -0.340856312147739
+                ],
+                "target_mouth_xy": [
+                  0.28131459823766153,
+                  -0.3417493178647426
+                ],
+                "gripper_position": [
+                  0.2816778989247405,
+                  -0.3408568776000425,
+                  1.0046387690965577
+                ],
+                "rod_tip_xy_dist": 0.0009674417491300744,
+                "target_xy_drift": 6.09080439823108e-08,
+                "depth": 0.01649508352447937,
+                "bottom_clearance": 0.0829455235459079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00036330174740828447,
+                  0.0008924390095751411
+                ],
+                "rod_tip_xy": [
+                  0.28167789892474054,
+                  -0.34085687760004263
+                ],
+                "target_mouth_xy": [
+                  0.28131459717733226,
+                  -0.34174931660961777
+                ],
+                "gripper_position": [
+                  0.2816879529177553,
+                  -0.34092313487007625,
+                  1.0041180479934142
+                ],
+                "rod_tip_xy_dist": 0.0009635536028064925,
+                "target_xy_drift": 5.966726420957265e-08,
+                "depth": 0.01662099605771239,
+                "bottom_clearance": 0.08281952582101937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0003733239727851667,
+                  0.0008261528565681742
+                ],
+                "rod_tip_xy": [
+                  0.2816879529177553,
+                  -0.34092313487007625
+                ],
+                "target_mouth_xy": [
+                  0.2813146289449701,
+                  -0.3417492877266444
+                ],
+                "gripper_position": [
+                  0.28167618646751014,
+                  -0.3409301940420591,
+                  1.0039746606279865
+                ],
+                "rod_tip_xy_dist": 0.0009065866373777269,
+                "target_xy_drift": 4.32758787824745e-08,
+                "depth": 0.01714186941052409,
+                "bottom_clearance": 0.08229876206954545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0003616195807477629,
+                  0.0008191219408331119
+                ],
+                "rod_tip_xy": [
+                  0.2816761864675102,
+                  -0.3409301940420591
+                ],
+                "target_mouth_xy": [
+                  0.28131456688676243,
+                  -0.3417493159828922
+                ],
+                "gripper_position": [
+                  0.2816671495120817,
+                  -0.3409308915803369,
+                  1.0038488592168546
+                ],
+                "rod_tip_xy_dist": 0.000895393475034519,
+                "target_xy_drift": 6.696486207144477e-08,
+                "depth": 0.017285091315375145,
+                "bottom_clearance": 0.08215539364778113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00035251967100569104,
+                  0.0008184268918273729
+                ],
+                "rod_tip_xy": [
+                  0.28166714951208177,
+                  -0.3409308915803369
+                ],
+                "target_mouth_xy": [
+                  0.2813146298410761,
+                  -0.3417493184721643
+                ],
+                "gripper_position": [
+                  0.2816780233274512,
+                  -0.340997809078214,
+                  1.0033318827329176
+                ],
+                "rod_tip_xy_dist": 0.0008911187887774419,
+                "target_xy_drift": 6.90323697232073e-08,
+                "depth": 0.017411082449343196,
+                "bottom_clearance": 0.08202961698061673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003633984468092155,
+                  0.0007515075811136973
+                ],
+                "rod_tip_xy": [
+                  0.28167802332745123,
+                  -0.34099780907821403
+                ],
+                "target_mouth_xy": [
+                  0.281314624880642,
+                  -0.34174931665932773
+                ],
+                "gripper_position": [
+                  0.2816660803774221,
+                  -0.3410047824706235,
+                  1.0031884009459764
+                ],
+                "rod_tip_xy_dist": 0.0008347586930453079,
+                "target_xy_drift": 6.526511141189637e-08,
+                "depth": 0.01792798746023483,
+                "bottom_clearance": 0.08151257798251976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003515127037357346,
+                  0.0007444741873536831
+                ],
+                "rod_tip_xy": [
+                  0.28166608037742213,
+                  -0.34100478247062355
+                ],
+                "target_mouth_xy": [
+                  0.2813145676736864,
+                  -0.34174925665797723
+                ],
+                "gripper_position": [
+                  0.28165687458968136,
+                  -0.34100532144856255,
+                  1.003062473711285
+                ],
+                "rod_tip_xy_dist": 0.0008232879183636386,
+                "target_xy_drift": 3.084165587592158e-08,
+                "depth": 0.018071420286307815,
+                "bottom_clearance": 0.08136910154177779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00034225211452448834,
+                  0.0007439651094895972
+                ],
+                "rod_tip_xy": [
+                  0.2816568745896814,
+                  -0.3410053214485626
+                ],
+                "target_mouth_xy": [
+                  0.28131462247515693,
+                  -0.3417492865580522
+                ],
+                "gripper_position": [
+                  0.28164773406500854,
+                  -0.34100595488779223,
+                  1.0029369430591295
+                ],
+                "rod_tip_xy_dist": 0.0008189142775860925,
+                "target_xy_drift": 3.808340041338176e-08,
+                "depth": 0.018197403007276347,
+                "bottom_clearance": 0.08124324076919709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00033313415202723684,
+                  0.0007433315528559414
+                ],
+                "rod_tip_xy": [
+                  0.2816477340650086,
+                  -0.34100595488779223
+                ],
+                "target_mouth_xy": [
+                  0.28131459991298136,
+                  -0.34174928644064817
+                ],
+                "gripper_position": [
+                  0.28163866279818317,
+                  -0.3410063971499462,
+                  1.0028113017793556
+                ],
+                "rod_tip_xy_dist": 0.0008145674684874982,
+                "target_xy_drift": 2.9516500524860447e-08,
+                "depth": 0.018322958377535392,
+                "bottom_clearance": 0.0811176595413109,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00032406203112778087,
+                  0.0007428886333818441
+                ],
+                "rod_tip_xy": [
+                  0.28163866279818317,
+                  -0.34100639714994624
+                ],
+                "target_mouth_xy": [
+                  0.2813146007670554,
+                  -0.3417492857833281
+                ],
+                "gripper_position": [
+                  0.28165194549510164,
+                  -0.3410764826425666,
+                  1.0022960573712019
+                ],
+                "rod_tip_xy_dist": 0.0008104935049873051,
+                "target_xy_drift": 2.891392761790846e-08,
+                "depth": 0.018448546903791496,
+                "bottom_clearance": 0.08099210447437055,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00033731778142603863,
+                  0.0006727743149241849
+                ],
+                "rod_tip_xy": [
+                  0.2816519454951017,
+                  -0.34107648264256657
+                ],
+                "target_mouth_xy": [
+                  0.28131462771367566,
+                  -0.34174925695749075
+                ],
+                "gripper_position": [
+                  0.28163997636821325,
+                  -0.34108312608235775,
+                  1.0021528323239117
+                ],
+                "rod_tip_xy_dist": 0.0007526011988350079,
+                "target_xy_drift": 2.9199786145044103e-08,
+                "depth": 0.018963772864715955,
+                "bottom_clearance": 0.08047677653446927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00032541204093611276,
+                  0.00066616172131162
+                ],
+                "rod_tip_xy": [
+                  0.2816399763682133,
+                  -0.34108312608235775
+                ],
+                "target_mouth_xy": [
+                  0.2813145643272772,
+                  -0.34174928780366937
+                ],
+                "gripper_position": [
+                  0.2816308515599541,
+                  -0.34108341587742136,
+                  1.002027487948008
+                ],
+                "rod_tip_xy_dist": 0.000741393576534803,
+                "target_xy_drift": 4.6045862166811145e-08,
+                "depth": 0.0191070841010198,
+                "bottom_clearance": 0.08033355168663514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00031622468811176585,
+                  0.000665871569438814
+                ],
+                "rod_tip_xy": [
+                  0.28163085155995415,
+                  -0.34108341587742125
+                ],
+                "target_mouth_xy": [
+                  0.2813146268718424,
+                  -0.34174928744686006
+                ],
+                "gripper_position": [
+                  0.2816215823244018,
+                  -0.34108394783160134,
+                  1.0019021242789474
+                ],
+                "rod_tip_xy_dist": 0.0007371451691209085,
+                "target_xy_drift": 4.163874685469477e-08,
+                "depth": 0.019232287511868562,
+                "bottom_clearance": 0.08020825203967619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0003069831314223559,
+                  0.000665370327071868
+                ],
+                "rod_tip_xy": [
+                  0.2816215823244019,
+                  -0.3410839478316013
+                ],
+                "target_mouth_xy": [
+                  0.2813145991929795,
+                  -0.34174931815867315
+                ],
+                "gripper_position": [
+                  0.28161227417326423,
+                  -0.3410843374261678,
+                  1.0017763231998495
+                ],
+                "rod_tip_xy_dist": 0.0007327730311123629,
+                "target_xy_drift": 6.120511563056301e-08,
+                "depth": 0.019357804615506846,
+                "bottom_clearance": 0.08008285047612074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  0.00029767731413521403,
+                  0.0006649493853832511
+                ],
+                "rod_tip_xy": [
+                  0.2816122741732643,
+                  -0.3410843374261678
+                ],
+                "target_mouth_xy": [
+                  0.2813145968591291,
+                  -0.34174928681155103
+                ],
+                "gripper_position": [
+                  0.28160307057808714,
+                  -0.34108477056356806,
+                  1.0016512251045482
+                ],
+                "rod_tip_xy_dist": 0.0007285392703707318,
+                "target_xy_drift": 2.9900050908087445e-08,
+                "depth": 0.0194834392928519,
+                "bottom_clearance": 0.07995707009413067,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006037005009793414,
+              "rod_tip_xy_max_step": 3.260464306861151e-05,
+              "rod_tip_xy_range": 0.0006036902598942853,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2812449990102808,
+            -0.34241164595925627,
+            1.0435041327243393
+          ],
+          "object_origin_world": [
+            0.2812449990102808,
+            -0.34241164595925627,
+            1.0435041327243393
+          ],
+          "frame_world": [
+            0.28124345904967063,
+            -0.3424166749997826,
+            1.0433905907216658
+          ],
+          "center_minus_frame": [
+            1.539960610197344e-06,
+            5.029040526349782e-06,
+            0.00011354200267343906
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2552698038075531,
+              0.14745031821058055,
+              0.8322677304168917
+            ],
+            "target_position": [
+              0.2680005258171798,
+              0.19379537635154737,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048061790405435255,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16833376037931905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322677304168917,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676747815603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13834122814833053,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5e950438dbc340fd17ff503df1f05008d05ab393c71a31773775db968076a48",
+    "visual_seed": 4250148657195954609,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64556f2d8ad8304c7a923ae146d4dacb8a013f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_83_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3069201302548492,
+              0.08307365807330291,
+              1.1644217710786116
+            ],
+            "current_z": 1.1644217710786116,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3033150246452665,
+            "gripper_z": 1.1563330593958066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3016072823972109,
+              0.07800083232419455,
+              1.1563330593958066
+            ],
+            "object_minus_gripper": [
+              0.005312847857638303,
+              0.005072825749108362,
+              0.008088711682805005
+            ],
+            "object_to_gripper_xy": 0.007345741176983349,
+            "object_to_gripper_z": 0.008088711682805005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3069201302548492,
+              0.05869024443978824,
+              1.1644217710786116
+            ],
+            "finger_b": [
+              0.29575317654356603,
+              0.08307365807330291,
+              1.1644217710786116
+            ],
+            "finger_midpoint": [
+              0.3013366533992076,
+              0.07088195125654558,
+              1.1644217710786116
+            ],
+            "object_minus_finger_midpoint": [
+              0.005583476855641589,
+              0.012191706816757339,
+              0.0
+            ],
+            "finger_gap": 0.02681886864901296,
+            "fingertip_max_gap": 0.09115058929121164,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013409434324506484,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644217710786116,
+            "object_top_z": 1.2143845640971578,
+            "finger_top_clearance": 0.049962793018546225,
+            "fingertip_min_top_clearance": 0.0149888379055639,
+            "object_projection_between_fingers": 0.8266241810995751,
+            "object_to_finger_line_xy": 0.010152868673621347,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807529464560582,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7901338199629985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27526002392499205,
+              -0.338849715609267,
+              0.8515395665159806
+            ],
+            "target_position": [
+              0.2678051827141509,
+              -0.33941900417359655,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007476546458648685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18349842561767507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395665159806,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590212659100896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745611169916372,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15054394173609698,
+            "release_required_pad_clearance": 0.05372805584958186,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.465470155866069,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007069051265716553,
+            "max_z_decrease": 0.007069051265716553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035135289540820916,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007069051265716553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021075590207106854,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007069051265716553,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007069068108394999,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12350510805845259,
+              -0.39568045735359186,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12350510805845259,
+              -0.39568045735359186,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12183952821700847,
+              -0.3952294182953286,
+              0.807368643814758
+            ],
+            "closest_button": [
+              0.12349244952201842,
+              -0.39567542076110834,
+              0.7722750902175903
+            ],
+            "closest_ee_minus_button": [
+              -0.0016529213050099495,
+              0.000446002465779749,
+              0.035093553597167704
+            ],
+            "button_min_z_position": [
+              0.12348976731300354,
+              -0.3956787884235382,
+              0.7697398066520691
+            ],
+            "min_active_finger_to_button": 0.14737716838373066,
+            "closest_active_finger": [
+              -0.006016716361045837,
+              -0.45703673362731934,
+              0.8107168078422546
+            ],
+            "closest_active_finger_button": [
+              0.12350555509328841,
+              -0.3956819176673889,
+              0.7763715386390686
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12952227145433426,
+              -0.06135481595993042,
+              0.034345269203186035
+            ],
+            "min_contact_pad_to_button": 0.021075590207106854,
+            "closest_contact_pad": [
+              0.12348976731300354,
+              -0.3964866079604729,
+              0.7907999094574603
+            ],
+            "closest_contact_pad_button": [
+              0.12348976731300354,
+              -0.3956787884235382,
+              0.7697398066520691
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008078195369347063,
+              0.021060102805391168
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2731604319041369,
+              0.20030129667846547,
+              1.102705050024348
+            ],
+            "current_z": 1.102705050024348,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1927959202899855,
+            "gripper_z": 1.1027049174745895,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27316034872730244,
+              0.20030128574389475,
+              1.1027049174745895
+            ],
+            "object_minus_gripper": [
+              8.317683447556234e-08,
+              1.093457072109949e-08,
+              1.3254975850252038e-07
+            ],
+            "object_to_gripper_xy": 8.389249448091184e-08,
+            "object_to_gripper_z": 1.3254975850252038e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2731604319041369,
+              0.20030129667846547,
+              1.102705050024348
+            ],
+            "finger_b": [
+              0.2731604319041369,
+              0.20030129667846547,
+              1.102705050024348
+            ],
+            "finger_midpoint": [
+              0.2731604319041369,
+              0.20030129667846547,
+              1.102705050024348
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102705050024348,
+            "object_top_z": 1.2277135566446278,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27316043190413686,
+            0.2003012966784655,
+            1.1027050500243483
+          ],
+          "object_origin_world": [
+            0.27316043190413686,
+            0.2003012966784655,
+            1.1027050500243483
+          ],
+          "frame_world": [
+            0.27316034872730244,
+            0.20030128574389475,
+            1.1027049174745895
+          ],
+          "center_minus_frame": [
+            8.317683442005119e-08,
+            1.0934570748855066e-08,
+            1.3254975872456498e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432393291673423,
+            "required_z": 0.9112597699261749,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026320311454219184,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.857870431784944e-08,
+            "max_target_xy_drift": 3.4552493435903275e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4654701554529117,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.465470155878047,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2727511060050037,
+              -0.3380551648500524,
+              0.9233480505247035
+            ],
+            "target_mouth_xy": [
+              0.2752600222192888,
+              -0.33884968257317705
+            ],
+            "rod_tip_z": 0.9233480505247035,
+            "rod_tip_depth": -0.02208808352931002,
+            "rod_tip_bottom_clearance": 0.12152873001628461,
+            "rod_tip_xy_dist": 0.002631714076920585,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04479278205903103,
+            "min_rod_tip_bottom_clearance": 0.05464784667535172,
+            "min_rod_tip_xy_dist": 0.00034793809714709896,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2752599952996375,
+              -0.3388497456475067
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.6919651285872703e-08,
+              6.307432964813842e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0018779374359090273,
+                0.0024258823751075465
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001998090533919916,
+                0.002064710883422971
+              ],
+              "first_target_mouth_xy": [
+                0.2752600265104905,
+                -0.3388496853652433
+              ],
+              "last_target_mouth_xy": [
+                0.27525999331767725,
+                -0.3388496854067643
+              ],
+              "first_rod_tip_xy": [
+                0.27338208907458145,
+                -0.33642380299013575
+              ],
+              "last_rod_tip_xy": [
+                0.27326190278375734,
+                -0.33678497452334133
+              ],
+              "min_rod_tip_xy_dist": 0.0028631093119320518,
+              "max_rod_tip_xy_dist": 0.0030746266894036423,
+              "first_target_xy_drift": 6.788275645084687e-08,
+              "last_target_xy_drift": 6.027333747779731e-08,
+              "max_depth": 0.019383096416918266,
+              "min_bottom_clearance": 0.08005741761052232
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018779374359090273,
+                  0.0024258823751075465
+                ],
+                "rod_tip_xy": [
+                  0.27338208907458145,
+                  -0.33642380299013575
+                ],
+                "target_mouth_xy": [
+                  0.2752600265104905,
+                  -0.3388496853652433
+                ],
+                "gripper_position": [
+                  0.2733707425377637,
+                  -0.3364301782062297,
+                  1.0061128996266093
+                ],
+                "rod_tip_xy_dist": 0.0030678256650347657,
+                "target_xy_drift": 6.788275645084687e-08,
+                "depth": 0.015008637560779081,
+                "bottom_clearance": 0.08443196050232438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018892515518010855,
+                  0.002419509421784871
+                ],
+                "rod_tip_xy": [
+                  0.2733707425377638,
+                  -0.3364301782062299
+                ],
+                "target_mouth_xy": [
+                  0.27525999408956486,
+                  -0.33884968762801476
+                ],
+                "gripper_position": [
+                  0.27336221993352816,
+                  -0.3364306343907562,
+                  1.005991447020409
+                ],
+                "rod_tip_xy_dist": 0.0030697389576458405,
+                "target_xy_drift": 5.803210938780001e-08,
+                "depth": 0.015146947073881978,
+                "bottom_clearance": 0.08429361078481679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001897927656037135,
+                  0.0024189253588406956
+                ],
+                "rod_tip_xy": [
+                  0.2733622199335282,
+                  -0.33643063439075627
+                ],
+                "target_mouth_xy": [
+                  0.27526014758956535,
+                  -0.33884955974959696
+                ],
+                "gripper_position": [
+                  0.27336453153689055,
+                  -0.33649255090775854,
+                  1.0054729604276047
+                ],
+                "rod_tip_xy_dist": 0.0030746266894036423,
+                "target_xy_drift": 2.4031282729576315e-07,
+                "depth": 0.015268578843883884,
+                "bottom_clearance": 0.08417232757543747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018954931151456411,
+                  0.002357166519041498
+                ],
+                "rod_tip_xy": [
+                  0.2733645315368906,
+                  -0.33649255090775865
+                ],
+                "target_mouth_xy": [
+                  0.27526002465203625,
+                  -0.33884971742680015
+                ],
+                "gripper_position": [
+                  0.27335308462726515,
+                  -0.3364988909040462,
+                  1.0053346557632346
+                ],
+                "rod_tip_xy_dist": 0.0030247525763365734,
+                "target_xy_drift": 4.071819727806688e-08,
+                "depth": 0.015786892848532852,
+                "bottom_clearance": 0.08365369527663591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0019069701153525132,
+                  0.0023507938499812697
+                ],
+                "rod_tip_xy": [
+                  0.2733530846272652,
+                  -0.3364988909040463
+                ],
+                "target_mouth_xy": [
+                  0.2752600547426177,
+                  -0.33884968475402755
+                ],
+                "gripper_position": [
+                  0.2733444656226051,
+                  -0.3364991660453427,
+                  1.005213605182707
+                ],
+                "rod_tip_xy_dist": 0.0030270062348725577,
+                "target_xy_drift": 8.509690768980175e-08,
+                "depth": 0.01592518027746259,
+                "bottom_clearance": 0.08351538264810576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019155568711119453,
+                  0.0023505206863511097
+                ],
+                "rod_tip_xy": [
+                  0.27334446562260517,
+                  -0.3364991660453428
+                ],
+                "target_mouth_xy": [
+                  0.2752600224937171,
+                  -0.3388496867316939
+                ],
+                "gripper_position": [
+                  0.2733475406939948,
+                  -0.336562070401837,
+                  1.0046951755141342
+                ],
+                "rod_tip_xy_dist": 0.0030322113421443232,
+                "target_xy_drift": 6.488906657707985e-08,
+                "depth": 0.016046261219622715,
+                "bottom_clearance": 0.0833943054374352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001912513546570238,
+                  0.002287612795234706
+                ],
+                "rod_tip_xy": [
+                  0.27334754069399486,
+                  -0.33656207040183705
+                ],
+                "target_mouth_xy": [
+                  0.2752600542405651,
+                  -0.33884968319707176
+                ],
+                "gripper_position": [
+                  0.2733359743030468,
+                  -0.3365685430499641,
+                  1.004556984712367
+                ],
+                "rod_tip_xy_dist": 0.0029817579322836078,
+                "target_xy_drift": 8.587252044663316e-08,
+                "depth": 0.016564685232231535,
+                "bottom_clearance": 0.0828759173120236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019240516451956569,
+                  0.0022812063960655493
+                ],
+                "rod_tip_xy": [
+                  0.2733359743030468,
+                  -0.3365685430499642
+                ],
+                "target_mouth_xy": [
+                  0.27526002594824245,
+                  -0.33884974944602975
+                ],
+                "gripper_position": [
+                  0.27332718392070804,
+                  -0.3365688791217683,
+                  1.0044356906892382
+                ],
+                "rod_tip_xy_dist": 0.0029842716623709855,
+                "target_xy_drift": 3.088309831664744e-08,
+                "depth": 0.016702978263107626,
+                "bottom_clearance": 0.08273773708178167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00193281149143687,
+                  0.002280805617154269
+                ],
+                "rod_tip_xy": [
+                  0.2733271839207081,
+                  -0.33656887912176836
+                ],
+                "target_mouth_xy": [
+                  0.27525999541214496,
+                  -0.33884968473892263
+                ],
+                "gripper_position": [
+                  0.2733309217235806,
+                  -0.33663303006046685,
+                  1.0039191811066368
+                ],
+                "rod_tip_xy_dist": 0.0029896211339687983,
+                "target_xy_drift": 6.090868797438902e-08,
+                "depth": 0.016824207204838015,
+                "bottom_clearance": 0.08261636640477066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019290727789328388,
+                  0.002216655002962975
+                ],
+                "rod_tip_xy": [
+                  0.27333092172358064,
+                  -0.33663303006046696
+                ],
+                "target_mouth_xy": [
+                  0.2752599945025135,
+                  -0.33884968506342994
+                ],
+                "gripper_position": [
+                  0.27331922927021446,
+                  -0.3366392703732955,
+                  1.0037809256977386
+                ],
+                "rod_tip_xy_dist": 0.0029385168348301923,
+                "target_xy_drift": 6.058932053607618e-08,
+                "depth": 0.01734058512768344,
+                "bottom_clearance": 0.08209994278963084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001940826341858104,
+                  0.0022104127591983103
+                ],
+                "rod_tip_xy": [
+                  0.2733192292702145,
+                  -0.33663927037329555
+                ],
+                "target_mouth_xy": [
+                  0.2752600556120726,
+                  -0.33884968313249386
+                ],
+                "gripper_position": [
+                  0.27331057130552144,
+                  -0.33663919528805547,
+                  1.0036598488805517
+                ],
+                "rod_tip_xy_dist": 0.002941552558646029,
+                "target_xy_drift": 8.686608462120477e-08,
+                "depth": 0.017479005703004757,
+                "bottom_clearance": 0.08196164987755883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019494529748343425,
+                  0.0022104901082562467
+                ],
+                "rod_tip_xy": [
+                  0.2733105713055215,
+                  -0.3366391952880555
+                ],
+                "target_mouth_xy": [
+                  0.27526002428035584,
+                  -0.3388496853963118
+                ],
+                "gripper_position": [
+                  0.2733150070207411,
+                  -0.33670439911122435,
+                  1.0031466352978284
+                ],
+                "rod_tip_xy_dist": 0.002947309522223477,
+                "target_xy_drift": 6.685872062930198e-08,
+                "depth": 0.017599970728268244,
+                "bottom_clearance": 0.08184054385503214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001944984415135187,
+                  0.002145316491190763
+                ],
+                "rod_tip_xy": [
+                  0.27331500702074113,
+                  -0.3367043991112244
+                ],
+                "target_mouth_xy": [
+                  0.2752599914358763,
+                  -0.33884971560241517
+                ],
+                "gripper_position": [
+                  0.2733032434912531,
+                  -0.3367103990912357,
+                  1.0030086620046221
+                ],
+                "rod_tip_xy_dist": 0.0028957464016197637,
+                "target_xy_drift": 3.0292510219600685e-08,
+                "depth": 0.018113250554146254,
+                "bottom_clearance": 0.08132732764249762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001956751733509343,
+                  0.0021392859702591416
+                ],
+                "rod_tip_xy": [
+                  0.2733032434912532,
+                  -0.3367103990912357
+                ],
+                "target_mouth_xy": [
+                  0.2752599952247625,
+                  -0.3388496850614948
+                ],
+                "gripper_position": [
+                  0.273294292446983,
+                  -0.33671052331766393,
+                  1.0028876360955274
+                ],
+                "rod_tip_xy_dist": 0.0028992105492943103,
+                "target_xy_drift": 6.05860581410594e-08,
+                "depth": 0.018251109464315296,
+                "bottom_clearance": 0.08118944518273652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019657031727954855,
+                  0.0021391303402413797
+                ],
+                "rod_tip_xy": [
+                  0.27329429244698306,
+                  -0.33671052331766393
+                ],
+                "target_mouth_xy": [
+                  0.27525999561977854,
+                  -0.3388496536579053
+                ],
+                "gripper_position": [
+                  0.27328544565574364,
+                  -0.3367104822311667,
+                  1.002766733913099
+                ],
+                "rod_tip_xy_dist": 0.0029051450180807565,
+                "target_xy_drift": 9.199015845432888e-08,
+                "depth": 0.01837228655188705,
+                "bottom_clearance": 0.08106834247788786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019745779385054174,
+                  0.002139202854672173
+                ],
+                "rod_tip_xy": [
+                  0.2732854456557437,
+                  -0.33671048223116684
+                ],
+                "target_mouth_xy": [
+                  0.2752600235942491,
+                  -0.338849685085839
+                ],
+                "gripper_position": [
+                  0.273276467211073,
+                  -0.33671064598261163,
+                  1.002646284289614
+                ],
+                "rod_tip_xy_dist": 0.0029112105538194725,
+                "target_xy_drift": 6.684534866215099e-08,
+                "depth": 0.018493029366065783,
+                "bottom_clearance": 0.08094747662318336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001983558711602995,
+                  0.0021390368273837
+                ],
+                "rod_tip_xy": [
+                  0.27327646721107307,
+                  -0.3367106459826118
+                ],
+                "target_mouth_xy": [
+                  0.27526002592267607,
+                  -0.3388496828099955
+                ],
+                "gripper_position": [
+                  0.2732831012064109,
+                  -0.33677868372852426,
+                  1.0021348871725408
+                ],
+                "rod_tip_xy_dist": 0.002917187637310953,
+                "target_xy_drift": 6.990224104493556e-08,
+                "depth": 0.018613653791186624,
+                "bottom_clearance": 0.08082701800418779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001976922753787136,
+                  0.0020710314719073475
+                ],
+                "rod_tip_xy": [
+                  0.27328310120641097,
+                  -0.3367786837285244
+                ],
+                "target_mouth_xy": [
+                  0.2752600239601981,
+                  -0.3388497152004317
+                ],
+                "gripper_position": [
+                  0.2732710298641781,
+                  -0.3367851717220205,
+                  1.001997069594983
+                ],
+                "rod_tip_xy_dist": 0.0028631093119320518,
+                "target_xy_drift": 4.181449638330705e-08,
+                "depth": 0.019124870494558688,
+                "bottom_clearance": 0.08031563220576377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0019889974624249795,
+                  0.0020645113884849575
+                ],
+                "rod_tip_xy": [
+                  0.27327102986417817,
+                  -0.3367851717220206
+                ],
+                "target_mouth_xy": [
+                  0.27526002732660315,
+                  -0.33884968311050556
+                ],
+                "gripper_position": [
+                  0.2732619027837573,
+                  -0.33678497452334116,
+                  1.0018767359794192
+                ],
+                "rod_tip_xy_dist": 0.0028667609210949376,
+                "target_xy_drift": 7.026096383138684e-08,
+                "depth": 0.01926287313231667,
+                "bottom_clearance": 0.08017783926909228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001998090533919916,
+                  0.002064710883422971
+                ],
+                "rod_tip_xy": [
+                  0.27326190278375734,
+                  -0.33678497452334133
+                ],
+                "target_mouth_xy": [
+                  0.27525999331767725,
+                  -0.3388496854067643
+                ],
+                "gripper_position": [
+                  0.27325291679206004,
+                  -0.336784750029985,
+                  1.0017561180968724
+                ],
+                "rod_tip_xy_dist": 0.0028732206343867225,
+                "target_xy_drift": 6.027333747779731e-08,
+                "depth": 0.019383096416918266,
+                "bottom_clearance": 0.08005741761052232,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006025102857405992,
+              "rod_tip_xy_max_step": 3.265876250499339e-05,
+              "rod_tip_xy_range": 0.0006024994591387871,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27275110600500363,
+            -0.3380551648500523,
+            1.0433480505247037
+          ],
+          "object_origin_world": [
+            0.27275110600500363,
+            -0.3380551648500523,
+            1.0433480505247037
+          ],
+          "frame_world": [
+            0.2727494821259979,
+            -0.33805925459388353,
+            1.0432393291673423
+          ],
+          "center_minus_frame": [
+            1.6238790057077068e-06,
+            4.0897438312037515e-06,
+            0.00010872135736139654
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2600388964587699,
+              0.1560176945150312,
+              0.8324340066874698
+            ],
+            "target_position": [
+              0.2733135740241548,
+              0.20194354819402355,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780586889294189,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16861632243218808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324340066874698,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673452088508,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13791871977714057,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9d7af134d0ff38c30151e323abacf1c6f2eaa21dbc6041148e20a1f25d2364a",
+    "visual_seed": 821370300320003945,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd5a25766237e78ea5c38fecdf3c3a18b8573458
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/episode_8_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30454744707910053,
+              0.07273151133895613,
+              1.1620368569514308
+            ],
+            "current_z": 1.1620368569514308,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.3009301105180856,
+            "gripper_z": 1.1541345727484922,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2991495231865864,
+              0.0676960550747444,
+              1.1541345727484922
+            ],
+            "object_minus_gripper": [
+              0.005397923892514145,
+              0.0050354562642117295,
+              0.007902284202938592
+            ],
+            "object_to_gripper_xy": 0.007381964653001544,
+            "object_to_gripper_z": 0.007902284202938592,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30454744707910053,
+              0.04823245044367177,
+              1.1620368569514308
+            ],
+            "finger_b": [
+              0.29351238136190516,
+              0.07273151133895613,
+              1.1620368569514308
+            ],
+            "finger_midpoint": [
+              0.29902991422050285,
+              0.060481980891313944,
+              1.1620368569514308
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517532858597685,
+              0.012249530447642182,
+              0.0
+            ],
+            "finger_gap": 0.026869623371637938,
+            "fingertip_max_gap": 0.09112937579873973,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013434811685818972,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620368569514308,
+            "object_top_z": 1.2120001295830787,
+            "finger_top_clearance": 0.049963272631647904,
+            "fingertip_min_top_clearance": 0.014988981789494404,
+            "object_projection_between_fingers": 0.8313343323864864,
+            "object_to_finger_line_xy": 0.010061501169919605,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048064687899369865,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.834086342248534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27351822622283495,
+              -0.33986760693681517,
+              0.8515395537524453
+            ],
+            "target_position": [
+              0.2658105756205886,
+              -0.3405719856495413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007739769194055503,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828377805741622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395537524453,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578452155176583,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749779348907442,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15023407031627833,
+            "release_required_pad_clearance": 0.053748896744537214,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.507027593769619,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007124722003936768,
+            "max_z_decrease": 0.007124722003936768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510891946672814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007124722003936768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107106772282396,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007124722003936768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00712474018018129,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12151049822568892,
+              -0.3968334496021271,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12151049822568892,
+              -0.3968334496021271,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1206821620976847,
+              -0.3961271356782472,
+              0.8080505986438965
+            ],
+            "closest_button": [
+              0.12150015681982039,
+              -0.39683154225349426,
+              0.7729582786560059
+            ],
+            "closest_ee_minus_button": [
+              -0.000817994722135687,
+              0.000704406575247063,
+              0.03509231998789064
+            ],
+            "button_min_z_position": [
+              0.12149443477392194,
+              -0.3968324661254883,
+              0.7696841359138489
+            ],
+            "min_active_finger_to_button": 0.1466119320000388,
+            "closest_active_finger": [
+              -0.00697934627532959,
+              -0.458513468503952,
+              0.8107295632362366
+            ],
+            "closest_active_finger_button": [
+              0.1215102598071098,
+              -0.3968331217765808,
+              0.7763636708259583
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284896060824394,
+              -0.061680346727371216,
+              0.03436589241027832
+            ],
+            "min_contact_pad_to_button": 0.02107106772282396,
+            "closest_contact_pad": [
+              0.12149443477392194,
+              -0.39725953733842956,
+              0.7907508752239298
+            ],
+            "closest_contact_pad_button": [
+              0.12149443477392194,
+              -0.3968324661254883,
+              0.7696841359138489
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004270712129412768,
+              0.021066739310080962
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2692991226578963,
+              0.19461116501757209,
+              1.1017141935592756
+            ],
+            "current_z": 1.1017141935592756,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19180506382491302,
+            "gripper_z": 1.1017147299436048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2692991092817638,
+              0.19461116234306536,
+              1.1017147299436048
+            ],
+            "object_minus_gripper": [
+              1.3376132479425706e-08,
+              2.6745067271960465e-09,
+              -5.363843291750214e-07
+            ],
+            "object_to_gripper_xy": 1.3640890965804404e-08,
+            "object_to_gripper_z": -5.363843291750214e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2692991226578963,
+              0.19461116501757209,
+              1.1017141935592756
+            ],
+            "finger_b": [
+              0.2692991226578963,
+              0.19461116501757209,
+              1.1017141935592756
+            ],
+            "finger_midpoint": [
+              0.2692991226578963,
+              0.19461116501757209,
+              1.1017141935592756
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017141935592756,
+            "object_top_z": 1.2267227001795553,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2692991226578963,
+            0.1946111650175721,
+            1.1017141935592758
+          ],
+          "object_origin_world": [
+            0.2692991226578963,
+            0.1946111650175721,
+            1.1017141935592758
+          ],
+          "frame_world": [
+            0.2692991092817638,
+            0.19461116234306536,
+            1.1017147299436048
+          ],
+          "center_minus_frame": [
+            1.3376132479425706e-08,
+            2.674506754951622e-09,
+            -5.363843289529768e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432350262629164,
+            "required_z": 0.9112598896866293,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002107019015050918,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.47030933621561e-08,
+            "max_target_xy_drift": 2.460276132878825e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.507027594126052,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.507027594127652,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2719056202034648,
+              -0.33850937967024963,
+              0.9233434601118861
+            ],
+            "target_mouth_xy": [
+              0.2735182247878028,
+              -0.3398676377543588
+            ],
+            "rod_tip_z": 0.9233434601118861,
+            "rod_tip_depth": -0.022083696029367217,
+            "rod_tip_bottom_clearance": 0.12152420259512609,
+            "rod_tip_xy_dist": 0.0021084018991823603,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04488601062631026,
+            "min_rod_tip_bottom_clearance": 0.05455457623796489,
+            "min_rod_tip_xy_dist": 0.0004418451321502039,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2735181932337084,
+              -0.3398676060888305
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.155409439292711e-08,
+              -3.166552831057601e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0010286093789077522,
+                0.0031597727147301136
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011408727469772173,
+                0.0027709448715356744
+              ],
+              "first_target_mouth_xy": [
+                0.27351825630715193,
+                -0.339867664349779
+              ],
+              "last_target_mouth_xy": [
+                0.27351828685852186,
+                -0.3398677277974687
+              ],
+              "first_rod_tip_xy": [
+                0.2724896469282442,
+                -0.3367078916350489
+              ],
+              "last_rod_tip_xy": [
+                0.27237741411154465,
+                -0.33709678292593304
+              ],
+              "min_rod_tip_xy_dist": 0.0029860207846669124,
+              "max_rod_tip_xy_dist": 0.0033253869277721864,
+              "first_target_xy_drift": 8.586383056454264e-08,
+              "last_target_xy_drift": 1.535532426004634e-07,
+              "max_depth": 0.019439382205498457,
+              "min_bottom_clearance": 0.08000123597098596
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010286093789077522,
+                  0.0031597727147301136
+                ],
+                "rod_tip_xy": [
+                  0.2724896469282442,
+                  -0.3367078916350489
+                ],
+                "target_mouth_xy": [
+                  0.27351825630715193,
+                  -0.339867664349779
+                ],
+                "gripper_position": [
+                  0.2724812695597628,
+                  -0.33670812940535433,
+                  1.0060428924762808
+                ],
+                "rod_tip_xy_dist": 0.003322980719644624,
+                "target_xy_drift": 8.586383056454264e-08,
+                "depth": 0.015096167508755198,
+                "bottom_clearance": 0.08434447454578342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001036985284570302,
+                  0.003159566384645651
+                ],
+                "rod_tip_xy": [
+                  0.2724812695597628,
+                  -0.33670812940535444
+                ],
+                "target_mouth_xy": [
+                  0.2735182548443331,
+                  -0.3398676957900001
+                ],
+                "gripper_position": [
+                  0.2724849869951323,
+                  -0.33677704948645576,
+                  1.0055240806650638
+                ],
+                "rod_tip_xy_dist": 0.0033253869277721864,
+                "target_xy_drift": 1.0882172993356708e-07,
+                "depth": 0.015216878132385259,
+                "bottom_clearance": 0.08422364875435762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010332394932987543,
+                  0.0030906440289192316
+                ],
+                "rod_tip_xy": [
+                  0.2724849869951323,
+                  -0.3367770494864559
+                ],
+                "target_mouth_xy": [
+                  0.27351822648843105,
+                  -0.33986769351537516
+                ],
+                "gripper_position": [
+                  0.2724733927569743,
+                  -0.33678390570571726,
+                  1.0053866961570732
+                ],
+                "rod_tip_xy_dist": 0.003258782650623752,
+                "target_xy_drift": 9.353757154760307e-08,
+                "depth": 0.01573586093420254,
+                "bottom_clearance": 0.0837048043165326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010448623163757387,
+                  0.0030837900616906833
+                ],
+                "rod_tip_xy": [
+                  0.2724733927569743,
+                  -0.3367839057057175
+                ],
+                "target_mouth_xy": [
+                  0.27351825507335004,
+                  -0.33986769576740816
+                ],
+                "gripper_position": [
+                  0.27247728048809783,
+                  -0.33685307850244783,
+                  1.0048719342090824
+                ],
+                "rod_tip_xy_dist": 0.0032559942267707267,
+                "target_xy_drift": 1.0893295447514627e-07,
+                "depth": 0.015873076507895045,
+                "bottom_clearance": 0.08356745966896362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010409746678889387,
+                  0.0030146156774999433
+                ],
+                "rod_tip_xy": [
+                  0.2724772804880979,
+                  -0.33685307850244794
+                ],
+                "target_mouth_xy": [
+                  0.2735182551559868,
+                  -0.3398676941799479
+                ],
+                "gripper_position": [
+                  0.27246562737173374,
+                  -0.33685976768417086,
+                  1.0047343718043509
+                ],
+                "rod_tip_xy_dist": 0.003189284550211055,
+                "target_xy_drift": 1.0767735847943558e-07,
+                "depth": 0.01638798714233758,
+                "bottom_clearance": 0.08305261141362474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010526277861809263,
+                  0.0030079578958827624
+                ],
+                "rod_tip_xy": [
+                  0.2724656273717338,
+                  -0.33685976768417103
+                ],
+                "target_mouth_xy": [
+                  0.2735182551579147,
+                  -0.3398677255800538
+                ],
+                "gripper_position": [
+                  0.2724569548267817,
+                  -0.3368599471447135,
+                  1.0046134048083226
+                ],
+                "rod_tip_xy_dist": 0.0031868222353378314,
+                "target_xy_drift": 1.3458365344663798e-07,
+                "depth": 0.016525460885005505,
+                "bottom_clearance": 0.08291507802474263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00106129852610376,
+                  0.0030077826134050634
+                ],
+                "rod_tip_xy": [
+                  0.2724569548267818,
+                  -0.3368599471447137
+                ],
+                "target_mouth_xy": [
+                  0.27351825335288554,
+                  -0.33986772975811874
+                ],
+                "gripper_position": [
+                  0.27246180696853933,
+                  -0.33692984855145336,
+                  1.0040998562503014
+                ],
+                "rod_tip_xy_dist": 0.003189531440668332,
+                "target_xy_drift": 1.375078482012685e-07,
+                "depth": 0.01664656500512962,
+                "bottom_clearance": 0.0827940841940692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001056448625593287,
+                  0.00293781801918791
+                ],
+                "rod_tip_xy": [
+                  0.27246180696853933,
+                  -0.33692984855145347
+                ],
+                "target_mouth_xy": [
+                  0.2735182555941326,
+                  -0.3398676665706414
+                ],
+                "gripper_position": [
+                  0.2724499247061001,
+                  -0.33693657305517555,
+                  1.0039626352052107
+                ],
+                "rod_tip_xy_dist": 0.003121995902044575,
+                "target_xy_drift": 8.687273425509958e-08,
+                "depth": 0.017159968744665743,
+                "bottom_clearance": 0.08228056400906891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010683009637287855,
+                  0.0029311544026491276
+                ],
+                "rod_tip_xy": [
+                  0.27244992470610013,
+                  -0.33693657305517566
+                ],
+                "target_mouth_xy": [
+                  0.2735182256698289,
+                  -0.3398677274578248
+                ],
+                "gripper_position": [
+                  0.27244128047003113,
+                  -0.3369365433939192,
+                  1.0038420545307492
+                ],
+                "rod_tip_xy_dist": 0.0031197649080136176,
+                "target_xy_drift": 1.2562855842140297e-07,
+                "depth": 0.017297256660317895,
+                "bottom_clearance": 0.08214328661533787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010769459747768106,
+                  0.002931153298166178
+                ],
+                "rod_tip_xy": [
+                  0.27244128047003113,
+                  -0.33693654339391943
+                ],
+                "target_mouth_xy": [
+                  0.27351822644480794,
+                  -0.3398676966920856
+                ],
+                "gripper_position": [
+                  0.2724324690928308,
+                  -0.33693676595569505,
+                  1.0037212460587774
+                ],
+                "rod_tip_xy_dist": 0.0031227347453695836,
+                "target_xy_drift": 9.649832625971542e-08,
+                "depth": 0.017417828956250214,
+                "bottom_clearance": 0.08202271595699384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0010857554386073942,
+                  0.0029309304661541136
+                ],
+                "rod_tip_xy": [
+                  0.2724324690928308,
+                  -0.3369367659556952
+                ],
+                "target_mouth_xy": [
+                  0.2735182245314382,
+                  -0.33986769642184933
+                ],
+                "gripper_position": [
+                  0.27243864895036896,
+                  -0.33700957662069003,
+                  1.0032076669213406
+                ],
+                "rod_tip_xy_dist": 0.0031255748703072055,
+                "target_xy_drift": 9.560126664272836e-08,
+                "depth": 0.017538521990726585,
+                "bottom_clearance": 0.08190198766182177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0010796080461198398,
+                  0.002858116251157894
+                ],
+                "rod_tip_xy": [
+                  0.27243864895036896,
+                  -0.3370095766206902
+                ],
+                "target_mouth_xy": [
+                  0.2735182569964888,
+                  -0.3398676928718481
+                ],
+                "gripper_position": [
+                  0.2724266860595296,
+                  -0.3370161619642845,
+                  1.0030704631587868
+                ],
+                "rod_tip_xy_dist": 0.003055222093134892,
+                "target_xy_drift": 1.0768929523236653e-07,
+                "depth": 0.018052291462266612,
+                "bottom_clearance": 0.0813884238778998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001091537103305673,
+                  0.002851563345757202
+                ],
+                "rod_tip_xy": [
+                  0.27242668605952963,
+                  -0.33701616196428463
+                ],
+                "target_mouth_xy": [
+                  0.2735182231628353,
+                  -0.33986772531004183
+                ],
+                "gripper_position": [
+                  0.27241778697156815,
+                  -0.3370161318076762,
+                  1.0029500423309623
+                ],
+                "rod_tip_xy_dist": 0.0030533369880769707,
+                "target_xy_drift": 1.2292050224491734e-07,
+                "depth": 0.01818942236714116,
+                "bottom_clearance": 0.08125117312246666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011004707009729109,
+                  0.002851594647090505
+                ],
+                "rod_tip_xy": [
+                  0.2724177869715682,
+                  -0.3370161318076763
+                ],
+                "target_mouth_xy": [
+                  0.2735182576725411,
+                  -0.3398677264547668
+                ],
+                "gripper_position": [
+                  0.2724089848926424,
+                  -0.3370161124847898,
+                  1.0028290893650993
+                ],
+                "rod_tip_xy_dist": 0.0030565712481496372,
+                "target_xy_drift": 1.3652956379466823e-07,
+                "depth": 0.01830985212392422,
+                "bottom_clearance": 0.08113074685096122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011092693447409263,
+                  0.0028515854887937175
+                ],
+                "rod_tip_xy": [
+                  0.2724089848926425,
+                  -0.3370161124847899
+                ],
+                "target_mouth_xy": [
+                  0.2735182542373834,
+                  -0.3398676979735836
+                ],
+                "gripper_position": [
+                  0.2724166283926356,
+                  -0.3370905881983625,
+                  1.0023189560980064
+                ],
+                "rod_tip_xy_dist": 0.0030597415379539604,
+                "target_xy_drift": 1.1029168700793843e-07,
+                "depth": 0.018430756580149366,
+                "bottom_clearance": 0.08100978595575281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001101658930976912,
+                  0.002777105285887038
+                ],
+                "rod_tip_xy": [
+                  0.2724166283926356,
+                  -0.3370905881983627
+                ],
+                "target_mouth_xy": [
+                  0.2735182873236125,
+                  -0.3398676934842497
+                ],
+                "gripper_position": [
+                  0.27240461178327413,
+                  -0.3370971329704058,
+                  1.0021818027029648
+                ],
+                "rod_tip_xy_dist": 0.002987635548239263,
+                "target_xy_drift": 1.284167798807535e-07,
+                "depth": 0.018940994913628106,
+                "bottom_clearance": 0.08049971689260316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011136134947002385,
+                  0.002770592916847281
+                ],
+                "rod_tip_xy": [
+                  0.27240461178327413,
+                  -0.337097132970406
+                ],
+                "target_mouth_xy": [
+                  0.27351822527797437,
+                  -0.3398677258872533
+                ],
+                "gripper_position": [
+                  0.27239561379937705,
+                  -0.3370970964991595,
+                  1.002061650153154
+                ],
+                "rod_tip_xy_dist": 0.0029860207846669124,
+                "target_xy_drift": 1.240100684815003e-07,
+                "depth": 0.019078023839986136,
+                "bottom_clearance": 0.08036250072697104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011226420576943563,
+                  0.002770602409606804
+                ],
+                "rod_tip_xy": [
+                  0.2723956137993771,
+                  -0.33709709649915964
+                ],
+                "target_mouth_xy": [
+                  0.27351825585707146,
+                  -0.33986769890876645
+                ],
+                "gripper_position": [
+                  0.2723864090855657,
+                  -0.3370968475265257,
+                  1.001940993793619
+                ],
+                "rod_tip_xy_dist": 0.0029894084534943105,
+                "target_xy_drift": 1.1196975534188001e-07,
+                "depth": 0.01919820739279199,
+                "bottom_clearance": 0.08024239388247889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0011318732375029672,
+                  0.0027708479746697545
+                ],
+                "rod_tip_xy": [
+                  0.2723864090855657,
+                  -0.3370968475265258
+                ],
+                "target_mouth_xy": [
+                  0.2735182823230687,
+                  -0.33986769550119555
+                ],
+                "gripper_position": [
+                  0.27237741411154465,
+                  -0.33709678292593287,
+                  1.0018205294489884
+                ],
+                "rod_tip_xy_dist": 0.0029931146861600427,
+                "target_xy_drift": 1.2621998709264784e-07,
+                "depth": 0.019318905732327862,
+                "bottom_clearance": 0.08012170776002836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0011408727469772173,
+                  0.0027709448715356744
+                ],
+                "rod_tip_xy": [
+                  0.27237741411154465,
+                  -0.33709678292593304
+                ],
+                "target_mouth_xy": [
+                  0.27351828685852186,
+                  -0.3398677277974687
+                ],
+                "gripper_position": [
+                  0.2723683768494354,
+                  -0.3370964233481567,
+                  1.0017001741002305
+                ],
+                "rod_tip_xy_dist": 0.0029966191125809093,
+                "target_xy_drift": 1.535532426004634e-07,
+                "depth": 0.019439382205498457,
+                "bottom_clearance": 0.08000123597098596,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006033664260264553,
+              "rod_tip_xy_max_step": 3.264225156498192e-05,
+              "rod_tip_xy_range": 0.0006033584263307229,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2719056202034648,
+            -0.3385093796702496,
+            1.043343460111886
+          ],
+          "object_origin_world": [
+            0.2719056202034648,
+            -0.3385093796702496,
+            1.043343460111886
+          ],
+          "frame_world": [
+            0.2719040919963669,
+            -0.3385133466256138,
+            1.0432350262629164
+          ],
+          "center_minus_frame": [
+            1.5282070979227846e-06,
+            3.9669553641985544e-06,
+            0.0001084338489696357
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2559040244081878,
+              0.1501801324391726,
+              0.8319716265064604
+            ],
+            "target_position": [
+              0.2694309628133731,
+              0.19662588072850745,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04837546482230353,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.165706589279174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319716265064604,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676281270531,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13500098455615075,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1967769665086827478,
+    "physical_seed": 6959456161585870012,
+    "layout_id": "layout_00037",
+    "step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "workflow_spec_digest": "75f42e7c262dee892d119d0725d631a89d1a59ea8ad114d4e286bea044814690",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e24fcade5aefd099188a56f3eb405ecae0e2d688e90e2aca3f492228dccdca12",
+    "visual_seed": 1933533945904729333,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3124893100479905848,
+      7962343303254226924,
+      8377372019710927810,
+      2226925136686172681,
+      6720976787259375900,
+      7628514350090862349
+    ],
+    "runtime_workflow_digest": "1357b196844a03ed9a0a6dfc69b173d253ece6741b9c7176dde0d2f2f2b4457b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ee87e787f5c1210879a2dc9fb6b6656c3287ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00037/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00037",
+  "family": "lab3_v1",
+  "published_episodes": 53,
+  "published_successes": 53,
+  "published_failures": 0,
+  "matched_success_results": 53
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a0cfbe0bf5e7ed5f4fd235e4a1b7653631460ab0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:468300045d4cbda3f8b38dcc660e678fdf90757ecdbcb111ef2ae6cd0fd2f327
+size 14223330
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8feca792e154b185990acd65253f865a4b4362c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8af42a635bd5c40ab850ba278c239232a1d2bfc4f1f64b3363293ed48ca4ff
+size 14251324
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3cff0e7279b0c555dbb6c8cb6c890b31db3c4e71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e26d5467e515f9a7ac4e3ebd3c77a23c8716e1b768b9e3080c9f7c8717f3da
+size 10817242
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7c630a1a7c51cdb5eb6004cade287f95dab47088
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24ed39c01d2dc7b9f1f6b5b97b43fbaadf8712302abb6075376a97dd1ed4a4c7
+size 14976059
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5dfbb296bcef85ba9f01929173ed3ca37aca50ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:492b4e53a6fae54e02981ac1772fb62c4b1d5cd1b0ce1a470ac3af5aa06cb5ce
+size 10698898
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee51a7de7ce429836050663a3a0decf1a22215bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbbba76963a3419810120e9acefcbc5036da7e854389033f334d57a9bb3e172
+size 13432491
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..13c2afa89cddd364aba0cfaa191314dbb5692cec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e722490701fb8c5d78ca2b3f51326e2fd175e5a2dda3d6429086556af14827bf
+size 11537029
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a5f2fe4e4e3671995dc0a44df175b8cf2565ec4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3099ca0dcd14652d2eb908a3e170d7585359c59236d79cd265a4e150e29f7ea3
+size 13245011
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55fcc820e9bf6d543526e814d3338e9522f63e5f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ca91234977c7d4383802a3a48d708d4707c8cb51633d6deb998a0b34b70faac
+size 13604478
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1e01b1a9939f7f5c50fd35979ebe48fcbf2b0844
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad024fe1c147ecb6e9fb70ad3969821b29315fef1006785244af75507921629b
+size 14535913
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4512fb72268052c2610ff3a8e891c8b88425578b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29bda9c94383094a5a164ba37ed9e0f51f8a9bc9b27915ab62d10930b6a47274
+size 13400397
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38e225cac6abcc624e9649df504f79cd92a63278
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce40024c3c2af1a55c40f45d05174469fe07bf49f2b0689eda6325ffe20d62cb
+size 12423954
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e2acf45ff25706df91db4e6d74eb3a3d22708933
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b8fe338bb7cce38efa613978e8d30633021e438ee4cd83d05c22a91dd9b6f2c
+size 12628753
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fccc3e5b0070b46747f647cd75671ebaba4b9738
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41136e3caae52b4d87523806b37274eee360d244bacc7fa55f3706267ffb062c
+size 18090708
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2808041cfa84e8ec9644139eb5198c9ae70b7a65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd525eb747f1e154c8cdc5d1d6d843d5268efef54b474a923637c9b0e08972d
+size 13124233
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..31cf052900642cc7f3972658510b7181831cc10d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:940c6cef1b83301f23f37c33febf655b5b10cbc5007f1f4590a89fa7eab4859d
+size 11366917
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..54b5aba5883752ac28611e2c29c2a233d48c3ec7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f80fadc7f77cf3e88bcb8922b1fd44285c0da2bbf19144d291f1728cc19e2f
+size 12159871
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0ffa0388b60c7a1139a42d13f1bfc23d035c1bee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2781cff56e76963ee6499d05488987284b07352e3da9650a30bcc0a5c46acd08
+size 12066259
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1e32ce54c0bd3810340b77c5639173a78bf8234e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47abd3f7e3e5f20848941643d1072c7b59775dcba4ea8c8d6f61ac1e172ca5ff
+size 14099391
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e8519bef0bd3f3d83523f3f323ea4d2e21feca62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddfb5a61f422f7688aa035d625dc882275d70cec318930b71ba90300b31698ec
+size 15315941
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..98357aa8c12ae2310a4cc64fedf1fb2047d5fe99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012d138c9c206c0404aae0ecc5ba05fead604fda7e504c57ebedf44df04cefb8
+size 12832206
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e6aeba54c191c1727bc1cdc58d5e4d63ee0bb394
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:881c5c33082a660907ca4db0cc17180c22c53c7c3a31da09cc0ad4420a7c463c
+size 18454428
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f2a4a37f462091c0cb6f3c657a991874e5681676
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54766df520660ac7d8a55384cec999ec87d69c8252a43f30668d72cd7ff241ea
+size 14683799
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3944be5c31c6cd58f5ebfa4c67475c8dd7763a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:510638e770b9c66e353f5314e32e18a4fa40ec8c2568d250dfa7af3c2e580d56
+size 11899889
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..715e09d80b22084d34c567491504ff49da709610
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f1f752e04731a7fa696c106c9bebf9cb31335bc14cc4141893e282aa86444ed
+size 12127336
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3e7a69a905526b4cffed8261ca7c2e3077ddecc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01e4e73d2406844609175363fca9c6f1ee698b55dbfb32a20e76638ff6173c72
+size 10323700
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..61c8a617224570e11fef9cc61388b952100523fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c2b7419451287b1ff325eb8a3392373e3210b70c4d3cfa33166ae0135040240
+size 13525816
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ef182066d0e219b1511acdb89cb00d62b7f3617f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d61a279a1ac1f40c3fd80a869a4be88fe69861b7bfae6d886448ce777e56c00
+size 17726466
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..efd016e1b5176ad6e2aecc305f3f58a6197c1726
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9eb4f3f1e6c3078ecd260ff080e88056b71c6ff5cb3952062732f43ad99f6cb
+size 11711657
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cf6b0f57e8394308bb54e0c20a2b2be0e585723e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc1c31c3e7d5d328332ae6619c8c18cd306c03cc52992b493be2c350b39ad6bd
+size 15591183
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4eb20a23802a916343d83bdf144fa4f24b198f58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00d7f9de3644ab0cabdde01af37031272cf3c2bbff6ec27790612aba58b8ce0b
+size 12074098
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..62d934625177b232bffee2ba6c2e7727e4591ed8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7729c6aac73e949ef9b4ed387a80d65cf6fff4659406d9552835857c62fd6bfd
+size 14414909
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd8429a75fd16f296e2782a508fb8108c5b9a426
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7685df1361a80da6d3684e21c3fd39a91a3f105e082a6f4fb908d6c833857f66
+size 14105919
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6dc703fdd1093859988bcb97cd2edd37ade3bfe6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e5ae4613d11d94301af920c2b52c11c814498f2def5ce63855cea87ee655664
+size 12992796
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ec9e9d95634461a417fab64c2641ebed1b754b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/meta/episode.jsonl
@@ -0,0 +1,34 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2726,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2680,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2678,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2679,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2677,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2676,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2687,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2677,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2680,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2677,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2727,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2683,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2731,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2677,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2680,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2732,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2676,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b2f2a61c7388beb73d88865de55cfdaf7be1e0d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,34 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T09:15:33","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.3296566498496452,1.3984706748947167,0.71338606911949],"aabb_xy":[[-0.3936566501236234,1.3484045746974287],[-0.2656566495756669,1.4485367750920046]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.42759823059912927,-0.08766158807665514,0.71338606911949],"aabb_xy":[[0.40980472366421283,-0.1054613336724528],[0.4453917375340457,-0.06986184248085747]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.3342963652357589,-0.8337570447628697,0.71338606911949],"aabb_xy":[[0.31761922924266345,-0.8504569687367999],[0.35097350122885446,-0.8170571207889393]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[-0.37598258410815094,-1.3122011355736651,0.71338606911949],"aabb_xy":[[-0.3840088547387769,-1.3209526305510177],[-0.3679563134775249,-1.3034496405963125]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.4637827501787798,-0.8571000051464388,0.71338606911949],"aabb_xy":[[-0.527782751856777,-0.9056173966257529],[-0.3997827485007824,-0.8085826136671245]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.1826005946174104,-2.293269562827567,0.71338606911949],"aabb_xy":[[0.16972869111647026,-2.3732695632414034],[0.19547249811835055,-2.213269562413731]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.5483400396626028,-1.3986546733542213,0.71338606911949],"aabb_xy":[[-0.5595850952332205,-1.4098964710783164],[-0.5370949840919849,-1.3874128756301258]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.05690870970251538,-1.2312317653306506,0.71338606911949],"aabb_xy":[[-0.00709129351612247,-1.2779548772296587],[0.12090871292115324,-1.184508653431642]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.09571178981523054,-1.2240280833158272,0.71338606911949],"aabb_xy":[[-0.10442575886516503,-1.2465280839750152],[-0.08699782076529605,-1.2015280826566388]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[-0.2056936266001867,-1.3918994793319333,0.71338606911949],"aabb_xy":[[-0.2696936280081773,-1.4436884308558577],[-0.14169362519219603,-1.3401105278080083]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.6040283341302284,1.582573695436578,0.71338606911949],"aabb_xy":[[0.5871176016938865,1.5691014898439632],[0.62093906656657,1.5960459010291925]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.4903461652896559,0.9828443129786462,0.71338606911949],"aabb_xy":[[0.4203461618980939,0.9475285392752154],[0.5603461686812178,1.018160086682077]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.21188900677999983,-1.5556944564544328,0.71338606911949],"aabb_xy":[[-0.2718890072878527,-1.612541190140354],[-0.1518890062721469,-1.4988477227685113]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.08853952177043922,-0.7494172918710331,0.71338606911949],"aabb_xy":[[0.05814141067129564,-0.7798241938727025],[0.11893763286958281,-0.7190103898693635]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.05131301236908348,0.37925043244503565,0.71338606911949],"aabb_xy":[[-0.0734855393457343,0.35707476528891247],[-0.02914048539243263,0.40142609960115877]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.38272723399471476,1.4489346759582156,0.71338606911949],"aabb_xy":[[0.32773175617405526,1.3939346745243089],[0.43772271181537403,1.5039346773921227]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.41555362100603777,1.673460807220081,0.71338606911949],"aabb_xy":[[-0.4467005398496209,1.6034608085332736],[-0.38440670216245465,1.743460805906888]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.5868786787210545,-1.6585198896340485,0.71338606911949],"aabb_xy":[[0.5068786784474475,-1.7314694374597652],[0.6668786789946615,-1.5855703418083318]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.5214411280821243,-2.2927992123648715,0.71338606911949],"aabb_xy":[[0.5164851078972431,-2.315299212566993],[0.5263971482670055,-2.27029921216275]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.2969180224834982,-1.6724405734928185,0.71338606911949],"aabb_xy":[[0.2888043678101211,-1.6805463899468476],[0.3050316771568753,-1.6643347570387894]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.2816742348462364,0.2688738514455866,0.71338606911949],"aabb_xy":[[-0.34567423401600633,0.22210716432662417],[-0.21767423567646646,0.3156405385645491]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[-0.5849439805189777,-1.9868023543718674,0.71338606911949],"aabb_xy":[[-0.5925682486091559,-1.9944355779084113],[-0.5773197124287994,-1.9791691308353239]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[0.085921748521402,1.3084058453021528,0.71338606911949],"aabb_xy":[[0.07435276777446544,1.283405845185221],[0.09749072926833859,1.3334058454190845]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.09249952666592676,-1.9653926279536127,0.71338606911949],"aabb_xy":[[-0.1564995239515754,-2.006899346906456],[-0.02849952938027811,-1.9238859090007685]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[-0.6793446553402082,-0.9441851336049194,0.71338606911949],"aabb_xy":[[-0.6832585285356308,-0.9529341490114761],[-0.6754307821447857,-0.9354361181983625]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6465240539764441,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/292.png","name":"292"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/292.png","name":"292"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6759.png","name":"6759"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1867.png","name":"1867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1396.png","name":"1396"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9315.png","name":"9315"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":793.7317157954596,"rotation_z_degrees":317.7577101943663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014546947192589005,0.015901196104354375,0.00950011998784012]},{"name":"camera_2","offset_m":[-0.013076398899103113,0.004414833908827149,-0.009815053724284258]},{"name":"camera_3","offset_m":[0.016334549257499487,-0.010682789204271686,0.018035797727183802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014479357914836586,-0.0016425557126665802,0.0006520444254041967],"end_effector_yaw_offset_degrees":0.9346322120750521},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00021042697547608413,-0.0018346350493485186,0.0014769695413635819],"end_effector_yaw_offset_degrees":0.7745043674927563},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003488399234717475,0.0018321525580277213,0.0016304542231461],"end_effector_yaw_offset_degrees":-0.9229981378660008},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-3.414114591994812e-05,8.431392909125568e-05,0.00023268343366380064],"end_effector_yaw_offset_degrees":-0.8904811446580583},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010940909562409023,0.000944751851792487,3.4915669966523177e-06],"end_effector_yaw_offset_degrees":-0.08196926423426953},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0016349908453874512,-0.0006713206582218208,-0.001180237245175891],"end_effector_yaw_offset_degrees":-0.22682863140185106}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004425826813850883,0.00465187852114862],"position_m":[0.2672741731861491,0.09305187852114863,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013977495019935468,-0.002666683655125588],"position_m":[0.22869774950199354,-0.33696668365512555,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0008616434507690172,0.003999276098765005],"position_m":[0.278138356549231,0.319399276098765,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006568467637753069,-0.004316858526395053],"position_m":[0.1697431532362247,-0.10471685852639506,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"af9c898b9d7b42c38261e9e0bc37dca4e081a8a24f79ad563676c25f06a955cd","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_292/tex_ceiling_textures_9315/tex_floor_textures_1396/tex_table_textures_6759/tex_wall_textures_1867","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2006492973625659423,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2006492973625659423,"visual_seed":2006492973625659423,"scene_id":"lab_003","finished_at":"2026-09-08T09:23:10"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T09:23:19","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.5909242131641121,-1.763455664753672,0.71338606911949],"aabb_xy":[[0.5359242135423663,-1.818439357541145],[0.645924212785858,-1.7084719719661996]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_1","position":[0.3819531379556331,1.723491390928619,0.71338606911949],"aabb_xy":[[0.3319531366717931,1.6735125365379964],[0.43195313923947304,1.7734702453192406]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.6432235034821224,0.7508822583311949,0.71338606911949],"aabb_xy":[[-0.6732151662159928,0.7208822589943944],[-0.6132318407482521,0.7808822576679955]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.2646602223534175,-1.8722827081789228,0.71338606911949],"aabb_xy":[[-0.27069723535408224,-1.878309409247871],[-0.2586232093527528,-1.8662560071099747]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.15870794045109293,1.7279040718200602,0.71338606911949],"aabb_xy":[[-0.2387079426138554,1.6479488881939164],[-0.07870793828833042,1.8078592554462036]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.06220280944981771,1.517505678356454,0.71338606911949],"aabb_xy":[[-0.07507471295075785,1.4375056779426179],[-0.04933090594887757,1.5975056787702901]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.6188120646555193,0.7920194898385255,0.71338606911949],"aabb_xy":[[0.5838120647595004,0.7836452543265856],[0.6538120645515382,0.8003937253504655]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.5805104397133374,-1.8168026902657022,0.71338606911949],"aabb_xy":[[-0.5948448648395008,-1.8288629058202412],[-0.5661760145871739,-1.8047424747111636]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.35867436101722316,1.1687772202153721,0.71338606911949],"aabb_xy":[[-0.3836743609497411,1.161894551994449],[-0.33367436108470533,1.1756598884362957]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.19118641574074724,-2.2142408937247215,0.71338606911949],"aabb_xy":[[-0.2411864161013133,-2.264220880934324],[-0.14118641538018117,-2.164260906515118]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[0.2096193961322198,0.48368801024724295,0.71338606911949],"aabb_xy":[[0.2055034460201471,0.47957245521439734],[0.21373534624429244,0.48780356528008834]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.48388614808596886,0.07442068695477122,0.71338606911949],"aabb_xy":[[0.4339087312207152,0.02442068546552267],[0.5338635649512223,0.12442068844401975]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.048069642990578254,-2.0434032906123867,0.71338606911949],"aabb_xy":[[-0.01593035726989255,-2.0884120899653147],[0.11206964325104907,-1.998394491259459]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.567758196644621,1.1217311835077513,0.71338606911949],"aabb_xy":[[0.4827581982271978,1.0368568880454663],[0.6527581950620442,1.2066054789700362]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.3974776024807924,-0.5032422051366701,0.71338606911949],"aabb_xy":[[-0.4774775998843858,-0.5832347763348528],[-0.31747760507719897,-0.4232496339384872]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.46496443495287654,-0.9242599449080817,0.71338606911949],"aabb_xy":[[-0.5289644322552229,-0.9686263718759384],[-0.4009644376505301,-0.8798935179402249]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.06255958500923109,0.6759430902192802,0.71338606911949],"aabb_xy":[[0.05009222689949544,0.6634777655859567],[0.07502694311896674,0.6884084148526037]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.5277916549822455,-1.6575586134396127,0.71338606911949],"aabb_xy":[[-0.6115138804823279,-1.7475586169743085],[-0.444069429482163,-1.5675586099049166]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.6635784556702835,-0.17138179771138873,0.71338606911949],"aabb_xy":[[0.6265443462422238,-0.20575900504509817],[0.7006125650983432,-0.1370045903776793]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[0.10350063738370907,-0.7396818343681206,0.71338606911949],"aabb_xy":[[0.08222262924023681,-0.8046818366941937],[0.1247786455271813,-0.6746818320420476]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.6909704102173257,-1.1585012070633012,0.71338606911949],"aabb_xy":[[0.6868345538846256,-1.1960012065076584],[0.6951062665500259,-1.1210012076189444]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[-0.25177811806520395,0.21013681322707,0.71338606911949],"aabb_xy":[[-0.3217781196674835,0.19670402002541243],[-0.18177811646292452,0.22356960642872759]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.5314758016229082,-2.431199281304833,0.71338606911949],"aabb_xy":[[0.46147579823134616,-2.4665150550082635],[0.6014758050144701,-2.395883507601402]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.6362085138745097,-2.086960407654134,0.71338606911949],"aabb_xy":[[-0.6470601201233853,-2.0978196983817847],[-0.6253569076256341,-2.076101116926483]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.5690550431575423,-1.2347616337001157,0.71338606911949],"aabb_xy":[[-0.6002019620011254,-1.3047616323869229],[-0.5379081243139592,-1.1647616350133085]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.6667660913349869,1.380866594714036,0.71338606911949],"aabb_xy":[[0.6606714634468686,1.372297200162367],[0.6728607192231052,1.3894359892657044]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[0.6540976021725349,-2.0422496522312,0.71338606911949],"aabb_xy":[[0.6165976013805393,-2.0486174931893903],[0.6915976029645302,-2.03588181127301]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.05277495478717931,1.3117487375735588,0.71338606911949],"aabb_xy":[[-0.14277495712119836,1.2342663829884462],[0.03722504754683975,1.3892310921586715]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.20270385814349423,0.8130087412838543,0.71338606911949],"aabb_xy":[[0.16520385747891553,0.797321683283632],[0.24020385880807293,0.8286957992840763]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_29","position":[0.29756005113375184,1.5356632788559437,0.71338606911949],"aabb_xy":[[0.28951669120779666,1.4506632777605772],[0.305603411059707,1.62066327995131]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_30","position":[0.55422110141176,-2.56742173618081,0.71338606911949],"aabb_xy":[[0.5460934132184467,-2.576335344591518],[0.5623487896050732,-2.5585081277701023]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_31","position":[-0.3887595956213246,-1.4251272792605882,0.71338606911949],"aabb_xy":[[-0.46875959888533775,-1.4386873115695016],[-0.3087595923573115,-1.411567246951675]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_32","position":[-0.6059100696706744,0.12426147257030928,0.71338606911949],"aabb_xy":[[-0.6311309065305138,0.09903772171742252],[-0.5806892328108345,0.149485223423196]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6381671024091871,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5314.png","name":"5314"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5314.png","name":"5314"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9224.png","name":"9224"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1485.png","name":"1485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8816.png","name":"8816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/639.png","name":"639"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":732.0574765445774,"rotation_z_degrees":139.96206701006236,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009570027166471266,-0.0033331880341763882,3.9587297517278824e-05]},{"name":"camera_2","offset_m":[-0.017827771190706873,-0.01118502313541018,0.009734883255543184]},{"name":"camera_3","offset_m":[0.0015196396582475985,-0.003317721631224367,-0.01938508728652683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011822272826086428,-0.0007163119942831706,-0.0008754343920707166],"end_effector_yaw_offset_degrees":0.019790348444407524},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[4.655988559124991e-05,-0.000662427335107989,0.000717203944237885],"end_effector_yaw_offset_degrees":-0.13225747454826586},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013980639500311923,-7.906410047633775e-05,0.0008120876819183716],"end_effector_yaw_offset_degrees":-0.8806117252739099},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[9.900276175299396e-05,0.00045540869629957315,-0.0005215959492226782],"end_effector_yaw_offset_degrees":-0.9714043386479749},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00045561370810447816,0.0007360690832096447,-0.0010574768801738209],"end_effector_yaw_offset_degrees":0.9752507030801196},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014565473691770824,0.0010640154537131631,0.0012588023581046898],"end_effector_yaw_offset_degrees":-0.8161586403442334}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003683139074891831,0.001545248415618549],"position_m":[0.2713316860925108,0.08994524841561856,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043878979664547955,0.00390375850063743],"position_m":[0.2229121020335452,-0.33039624149936253,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004019587394420604,0.002515761318676528],"position_m":[0.2749804126055794,0.31791576131867655,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002896181177937807,0.0001420538882148173],"position_m":[0.1732961811779378,-0.10025794611178518,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9abf422f862a805f35f9b6c4a1a1c15a772e11d3b8c9edc82531c36f23ddf0d3","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5314/tex_ceiling_textures_639/tex_floor_textures_8816/tex_table_textures_9224/tex_wall_textures_1485","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":1086904384193975214,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":1086904384193975214,"visual_seed":1086904384193975214,"scene_id":"lab_003","finished_at":"2026-09-08T09:31:37"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T09:31:46","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.282137860377325,0.7088268857106175,0.71338606911949],"aabb_xy":[[-0.32926723937916064,0.6448268846662154],[-0.2350084813754893,0.7728268867550193]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.37142649640894265,0.6089450200919293,0.71338606911949],"aabb_xy":[[0.2914264953358223,0.5991669737545449],[0.451426497482063,0.6187230664293137]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.3359970554340054,-0.2024475559313501,0.71338606911949],"aabb_xy":[[-0.35849705524790776,-0.20692217230183077],[-0.313497055620103,-0.1979729395608694]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.039186549786346614,0.892283232367054,0.71338606911949],"aabb_xy":[[-0.0843578676345156,0.8282832352225158],[0.005984768061822356,0.9562832295115926]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.020191369521446734,-2.5367633320952674,0.71338606911949],"aabb_xy":[[-0.10019136750223177,-2.5443648730571193],[0.059808628459338306,-2.5291617911334154]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.09593879796551485,-0.771432885595031,0.71338606911949],"aabb_xy":[[-0.10190533690625064,-0.777394030254395],[-0.08997225902477907,-0.7654717409356669]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.270356324365186,-0.6708359852177093,0.71338606911949],"aabb_xy":[[-0.30626982879017567,-0.7067494934344639],[-0.23444281994019628,-0.6349224770009546]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.6321315570509015,1.3290855077362975,0.71338606911949],"aabb_xy":[[-0.6819483365157363,1.279085509251994],[-0.5823147775860668,1.3790855062206007]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.5006471761798188,-2.475016135971781,0.71338606911949],"aabb_xy":[[-0.5356471761563146,-2.484480752019398],[-0.46564717620332297,-2.465551519924165]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.49593141954323716,-2.1735140252939433,0.71338606911949],"aabb_xy":[[0.4259314169066508,-2.193618890289809],[0.5659314221798235,-2.153409160298078]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.5172895039919001,0.38977355423309223,0.71338606911949],"aabb_xy":[[-0.5222455241767814,0.3672735540309707],[-0.512333483807019,0.41227355443521396]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.4976433696244811,-1.5465948698492689,0.71338606911949],"aabb_xy":[[0.48961709899385514,-1.5553463648266215],[0.5056696402551071,-1.5378433748719162]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[0.16280113208046443,1.4011750430861611,0.71338606911949],"aabb_xy":[[0.12530113350484362,1.388438747422603],[0.20030113065608524,1.4139113387497189]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.25322417291803334,0.21881581334923528,0.71338606911949],"aabb_xy":[[-0.29072417286179975,0.21052272331439872],[-0.21572417297426694,0.2271089033840719]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.22430570533634941,1.0532371891153156,0.71338606911949],"aabb_xy":[[0.20643659758189392,1.0394042811381046],[0.2421748130908049,1.0670700970925266]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.07847953578802447,-2.214215841419541,0.71338606911949],"aabb_xy":[[-0.0872607629352607,-2.222995588708072],[-0.06969830864078824,-2.2054360941310116]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.5952400376685472,1.2017843151350975,0.71338606911949],"aabb_xy":[[0.5856084014481175,1.1921470023553886],[0.6048716738889768,1.2114216279148065]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.1510332186004789,-1.2686282907706772,0.71338606911949],"aabb_xy":[[0.1429898586745237,-1.3536282918660436],[0.15907657852643406,-1.1836282896753108]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.033763176388636684,-1.4525060286922977,0.71338606911949],"aabb_xy":[[-0.09876317734576388,-1.504454240626003],[0.031236824568490525,-1.400557816758592]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.6741447562440712,-1.786934507718767,0.71338606911949],"aabb_xy":[[0.628866141362922,-1.8509345070669507],[0.7194233711252205,-1.7229345083705834]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.2378300038200707,1.4264586620759467,0.71338606911949],"aabb_xy":[[-0.24654397287000515,1.403958661416758],[-0.22911603477013617,1.4489586627351345]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.49204150438695493,-1.46705535139101,0.71338606911949],"aabb_xy":[[-0.5203712143354952,-1.4715160935847273],[-0.4637117944384147,-1.4625946091972932]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.2529399074408058,-1.032761479128405,0.71338606911949],"aabb_xy":[[-0.3169399081442752,-1.0787798616013262],[-0.18893990673733652,-0.9867430966554842]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[0.5034458137491227,-0.8002929588554426,0.71338606911949],"aabb_xy":[[0.49953194055370015,-0.8090419742619994],[0.5073596869445451,-0.7915439434488858]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[0.5185133135406841,-0.21425376210362046,0.71338606911949],"aabb_xy":[[0.5140826841858439,-0.21970213383830306],[0.5229439428955243,-0.20880539036893786]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.15003892111320616,0.47161662745379784,0.71338606911949],"aabb_xy":[[-0.16559469052347145,0.45606619420939076],[-0.13448315170294092,0.48716706069820515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6414862500559835,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4089.png","name":"4089"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9618.png","name":"9618"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8225.png","name":"8225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":659.2334497139911,"rotation_z_degrees":163.40079147069417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016537684839667655,0.0022794715390583066,0.001975976520050656]},{"name":"camera_2","offset_m":[0.018052199711173122,0.011317056778365673,-0.00015199417578914964]},{"name":"camera_3","offset_m":[-0.009786224464694548,0.0021601387621340146,-0.00048197169282343175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000649638741885791,-0.00033770686565243397,-0.0007516337390347943],"end_effector_yaw_offset_degrees":-0.67349786459313},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003455131222813504,-8.842432474655357e-05,0.00045814060347798644],"end_effector_yaw_offset_degrees":0.7395603538709752},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008520742002741258,-0.0006382498332449091,4.162273867153307e-05],"end_effector_yaw_offset_degrees":0.8827342802487723},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0018063100651905036,-0.0005012332656409782,-0.00017024677693184306],"end_effector_yaw_offset_degrees":-0.5941498840640704},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0004936057050873612,-0.0005966595754647889,-0.0002032322845720721],"end_effector_yaw_offset_degrees":-0.9098520443415208},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00037375549401942815,0.001800485440072901,-8.11609288112801e-05],"end_effector_yaw_offset_degrees":-0.5692172558645714}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-4.260593397715194e-05,-8.066658809715872e-05],"position_m":[0.27165739406602285,0.08831933341190285,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020935562331207704,0.0012858617847506925],"position_m":[0.22520644376687923,-0.3330141382152493,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004250902426811409,0.004246997681134919],"position_m":[0.28325090242681145,0.3196469976811349,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00027224181977652216,0.00396097485897711],"position_m":[0.17067224181977653,-0.0964390251410229,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c222023c848d9ff99c280e09199e71a7734c89ea340db231730b1ad3c24a8456","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5964/tex_ceiling_textures_2856/tex_floor_textures_8225/tex_table_textures_4089/tex_wall_textures_9618","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7067391463741447880,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7067391463741447880,"visual_seed":7067391463741447880,"scene_id":"lab_003","finished_at":"2026-09-08T09:40:10"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T09:58:20","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.2404138138204443,-1.9630506323016759,0.71338606911949],"aabb_xy":[[-0.3204138109800196,-1.974598233259493],[-0.160413816660869,-1.9515030313438588]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.5209781160360021,-1.5540063069595786,0.71338606911949],"aabb_xy":[[0.4984644242125449,-1.6240063075605862],[0.5434918078594593,-1.4840063063585711]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[-0.3970806317152608,-0.7097239468922867,0.71338606911949],"aabb_xy":[[-0.4019799240218243,-0.7374008661948553],[-0.3921813394086973,-0.6820470275897178]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.13468694552400207,-1.6661156896830578,0.71338606911949],"aabb_xy":[[-0.14715430363373774,-1.6785810143163813],[-0.12221958741426645,-1.6536503650497343]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.6563416187174884,-0.6427176036720839,0.71338606911949],"aabb_xy":[[0.5923459213223918,-0.7067176019727925],[0.720337316112585,-0.5787176053713752]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.5466462260584455,-1.9475770628982467,0.71338606911949],"aabb_xy":[[0.5263619233350466,-1.9678596880409558],[0.5669305287818441,-1.927294437755538]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.1919719280564739,-1.5512971643360876,0.71338606911949],"aabb_xy":[[-0.22846774868375264,-1.587781106762845],[-0.15547610742919515,-1.5148132219093298]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.3014963091196355,-0.9176885153694385,0.71338606911949],"aabb_xy":[[-0.3165986105806535,-0.9327900370005002],[-0.2863940076586173,-0.9025869937383766]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.3179797500773786,1.2998497077135007,0.71338606911949],"aabb_xy":[[-0.350441450959306,1.2697168755985977],[-0.2855180491954511,1.3299825398284029]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.08053269440781241,-1.2063524816296822,0.71338606911949],"aabb_xy":[[0.06289985881428482,-1.2239754276453052],[0.09816553000133997,-1.1887295356140593]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.5444970589586675,-1.0619182456903025,0.71338606911949],"aabb_xy":[[-0.5524905487539497,-1.0699163776307783],[-0.5365035691633856,-1.053920113749827]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.44850832319521045,-2.147386739983463,0.71338606911949],"aabb_xy":[[-0.46044105755703846,-2.159768892791323],[-0.4365755888333823,-2.135004587175604]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.2645637786599823,-0.6012888674855299,0.71338606911949],"aabb_xy":[[-0.32856377795415054,-0.6652750078543841],[-0.2005637793658141,-0.5373027271166757]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.2680698943946172,-1.163775681530663,0.71338606911949],"aabb_xy":[[-0.3030698927053127,-1.1714906964542087],[-0.2330698960839218,-1.1560606666071174]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.10594454102667161,1.6844949182256284,0.71338606911949],"aabb_xy":[[-0.13045816512367747,1.6602303249235921],[-0.08143091692966577,1.708759511527665]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[0.61048275622576,0.7379217642666349,0.71338606911949],"aabb_xy":[[0.555509034189427,0.6829217647024018],[0.6654564782620928,0.7929217638308682]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.19511261833072946,0.8558768323309285,0.71338606911949],"aabb_xy":[[-0.2591126197387201,0.8040878808070038],[-0.13111261692273876,0.9076657838548532]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.46270680340282433,0.4266075945043557,0.71338606911949],"aabb_xy":[[0.3927068069928625,0.40616965885267386],[0.532706799812786,0.4470455301560373]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.2615906001053113,1.2923001458783783,0.71338606911949],"aabb_xy":[[0.21659059863908253,1.2473002890168976],[0.3065906015715402,1.337300002739859]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.3220376945044392,-0.9534829754272776,0.71338606911949],"aabb_xy":[[0.3140114238738132,-0.9622344704046302],[0.3300639651350652,-0.9447314804499249]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.5397804264616546,0.04441043316437021,0.71338606911949],"aabb_xy":[[0.4597804242988921,-0.03554475046177341],[0.6197804286244171,0.12436561679051383]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[0.6843663050828324,-1.832777019294963,0.71338606911949],"aabb_xy":[[0.675668342792117,-1.8449019936024376],[0.6930642673735475,-1.8206520449874881]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.04643172455649136,0.8029254303307325,0.71338606911949],"aabb_xy":[[-0.0849774173816924,0.7643796592745439],[-0.007886031731290329,0.8414712013869211]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[0.665915401295887,-0.12882127653129904,0.71338606911949],"aabb_xy":[[0.6619549175261528,-0.13648914111681965],[0.6698758850656215,-0.12115341194577844]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[-0.2412734195814178,0.3530513052433646,0.71338606911949],"aabb_xy":[[-0.3312734160822895,0.30713966282490623],[-0.151273423080546,0.3989629476618227]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[0.40996771766562023,1.420925935609135,0.71338606911949],"aabb_xy":[[0.387467717655472,1.4068297159695318],[0.4324677176757686,1.4350221552487383]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_26","position":[-0.35417930170297013,1.1354921979401515,0.71338606911949],"aabb_xy":[[-0.3642610087815436,1.0554922000480367],[-0.34409759462439665,1.215492195832266]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[0.35673083217517654,0.9931690619051157,0.71338606911949],"aabb_xy":[[0.34239640704901303,0.9811088463505767],[0.37106525730133993,1.0052292774596543]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[-0.6232559218089382,-1.446559186940755,0.71338606911949],"aabb_xy":[[-0.6411250295633937,-1.4603920949179658],[-0.6053868140544827,-1.4327262789635438]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[0.36275948528882074,-1.2503677116529979,0.71338606911949],"aabb_xy":[[0.33947764309068934,-1.3353677129502257],[0.386041327486952,-1.1653677103557696]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_30","position":[-0.002962508520369722,1.1313595966148848,0.71338606911949],"aabb_xy":[[-0.06796250855467245,1.0846589199345575],[0.06203749151393301,1.1780602732952121]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_31","position":[0.3587236426876852,-1.4374270172487613,0.71338606911949],"aabb_xy":[[0.2937236416871847,-1.4882133824034363],[0.4237236436881857,-1.3866406520940864]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.23375909803649242,-1.6380248953455094,0.71338606911949],"aabb_xy":[[0.16975909777602158,-1.6830336946984374],[0.2977590982969632,-1.5930160959925814]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_33","position":[0.5596280191319198,-0.9741084877068826,0.71338606911949],"aabb_xy":[[0.49962801862406697,-1.0309552213928037],[0.6196280196397728,-0.9172617540209613]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.642457447318227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5510.png","name":"5510"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5510.png","name":"5510"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2035.png","name":"2035"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6326.png","name":"6326"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3123.png","name":"3123"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7683.png","name":"7683"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":533.3768891214097,"rotation_z_degrees":349.83362392648684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013650476186009577,0.014228991259451606,-0.017551748909250174]},{"name":"camera_2","offset_m":[-0.009035501319996886,-0.018875939880333346,0.0045799333526240285]},{"name":"camera_3","offset_m":[-0.01375775476796628,-0.0034901654195472753,-0.014696311822487283]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017870559978548587,0.001919056581681007,-0.0018283822841666973],"end_effector_yaw_offset_degrees":0.19938703124277746},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015793832410948027,0.0018388665591730917,0.001136705489929262],"end_effector_yaw_offset_degrees":0.24242585629851732},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018145425520527754,0.0010599886597660079,-0.0012144504802471504],"end_effector_yaw_offset_degrees":-0.5423047866428372},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009757423481311469,-0.001175757096518057,-0.0003983207712862664],"end_effector_yaw_offset_degrees":-0.34416359429158305},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013489973642585302,-0.0010814479364296436,0.0013592112076044366],"end_effector_yaw_offset_degrees":-0.32834255837301285},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0008364652610111279,0.0006194191232233135,-0.00020732804632578403],"end_effector_yaw_offset_degrees":0.30629204126275233}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004194008534079255,0.0017109734063705598],"position_m":[0.26750599146592074,0.09011097340637056,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017803755375865628,-6.782723248659282e-05],"position_m":[0.22551962446241344,-0.3343678272324866,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0029389624665632974,-0.001541346084993225],"position_m":[0.2819389624665633,0.3138586539150068,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024562845623885077,0.00144041566474254],"position_m":[0.1728562845623885,-0.09895958433525746,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e6877ecad4cf81e16dce887ec20d6f54e6b1ad2de4afc54a69292b6157f3311a","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0005.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5510/tex_ceiling_textures_7683/tex_floor_textures_3123/tex_table_textures_2035/tex_wall_textures_6326","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7402195339616768477,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7402195339616768477,"visual_seed":7402195339616768477,"scene_id":"lab_003","finished_at":"2026-09-08T10:07:17"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T10:33:19","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.4198086143872908,-1.2846409639827012,0.71338606911949],"aabb_xy":[[0.41537798503245066,-1.2900893357173837],[0.424239243742131,-1.2791925922480187]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.3630393493642221,1.2547766879076132,0.71338606911949],"aabb_xy":[[-0.36907636236488683,1.2487499868386653],[-0.3570023363635574,1.2608033889765615]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.12750344569891925,-1.4188312462616761,0.71338606911949],"aabb_xy":[[0.12025967965267392,-1.4988312444652783],[0.13474721174516457,-1.3388312480580735]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.6468940804120262,-0.5756251819170246,0.71338606911949],"aabb_xy":[[0.628009696643516,-0.5945111066973774],[0.6657784641805364,-0.5567392571366718]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[-0.2797598975080123,-1.8791298121437032,0.71338606911949],"aabb_xy":[[-0.3647598959254355,-1.9640041076059882],[-0.19475989909058905,-1.7942555166814182]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.14611104153076315,1.0119082038046439,0.71338606911949],"aabb_xy":[[0.10093972368259421,0.9479082066601054],[0.19128235937893218,1.0759082009491823]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.12082150838779127,-2.312008491971784,0.71338606911949],"aabb_xy":[[0.1064870832616278,-2.3240687075263224],[0.13515593351395472,-2.299948276417245]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.17705520100155647,1.286114324485078,0.71338606911949],"aabb_xy":[[0.1170552004055403,1.2313018519398544],[0.23705520159757265,1.3409267970303014]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.39092131069808844,-2.5151377998971465,0.71338606911949],"aabb_xy":[[0.3559213093466067,-2.5354975358539673],[0.4259213120495702,-2.4947780639403256]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.5332201876099489,-2.1850679312952783,0.71338606911949],"aabb_xy":[[0.5203482841090087,-2.2650679317091145],[0.546092091110889,-2.105067930881442]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.42148680137892813,-1.5042725002044446,0.71338606911949],"aabb_xy":[[0.35748679932919614,-1.5443669832937523],[0.48548680342866013,-1.4641780171151364]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.39821750823785984,0.7388442013899903,0.71338606911949],"aabb_xy":[[0.39288499358324686,0.7335198731447548],[0.4035500228924728,0.7441685296352258]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.018751178388853318,-1.9862756340846976,0.71338606911949],"aabb_xy":[[-0.05625117833261972,-1.9945687241195345],[0.018748821554913087,-1.9779825440498613]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.3777880381294709,-0.660945619801361,0.71338606911949],"aabb_xy":[[0.3077880354928846,-0.6810504847972264],[0.44778804076605727,-0.6408407548054954]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.22277079931709348,1.610923812770348,0.71338606911949],"aabb_xy":[[-0.30277079790441286,1.5316082108321871],[-0.14277080072977405,1.690239414708509]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[-0.25978003139352257,1.3885599906999913,0.71338606911949],"aabb_xy":[[-0.3237800306876908,1.324573850331137],[-0.19578003209935435,1.4525461310688454]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.550439788674864,-1.2927857658403175,0.71338606911949],"aabb_xy":[[0.48643978840088564,-1.3428518660376054],[0.6144397889488421,-1.2427196656430295]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.3514616614643917,-0.22553978659852003,0.71338606911949],"aabb_xy":[[-0.3857779386390096,-0.27553978657169775],[-0.31714538428977374,-0.17553978662534234]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_18","position":[-0.5405276149670347,-0.5808421770008207,0.71338606911949],"aabb_xy":[[-0.5520965957139714,-0.6058421771177526],[-0.5289586342200983,-0.5558421768838891]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[-0.5610064965716658,1.029279524711109,0.71338606911949],"aabb_xy":[[-0.610989446759145,0.9792795250685485],[-0.5110235463841863,1.0792795243536693]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.2501810413438857,0.16355418124875554,0.71338606911949],"aabb_xy":[[-0.29999782080872045,0.11355418276445217],[-0.20036426187905093,0.2135541797330589]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.635282452025532,1.051686699887576,0.71338606911949],"aabb_xy":[[0.5515602265254496,0.9616866963528798],[0.7190046775256145,1.1416867034222717]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.2570562178506084,-2.209842779671189,0.71338606911949],"aabb_xy":[[0.2070562174900423,-2.2598227668807915],[0.3070562182111744,-2.1598627924615856]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.40688674021787014,-1.6424251971944364,0.71338606911949],"aabb_xy":[[-0.4250925638791178,-1.653450597776428],[-0.38868091655662246,-1.6313997966124447]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[-0.029512871871786306,-1.7920241714184053,0.71338606911949],"aabb_xy":[[-0.09351287104155624,-1.8387908585373676],[0.03448712729798363,-1.7452574842994426]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.16736299334674198,-0.9693490230110668,0.71338606911949],"aabb_xy":[[-0.17872472800002812,-0.9807174894173547],[-0.1560012586934558,-0.9579805566047785]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_26","position":[0.40624837495605304,0.5413743261397754,0.71338606911949],"aabb_xy":[[0.3262483738829327,0.531596279802391],[0.48624837602917337,0.5511523724771599]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[-0.527170844061524,0.5179110075945634,0.71338606911949],"aabb_xy":[[-0.5312490019685738,0.5138300273463001],[-0.5230926861544742,0.5219919878428267]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[0.34122507457753626,1.448374646694091,0.71338606911949],"aabb_xy":[[0.3242149772874856,1.4322401581958168],[0.3582351718675869,1.4645091351923647]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[-0.6857987457571301,-0.31116538821141093,0.71338606911949],"aabb_xy":[[-0.6930810621337935,-0.4011653918209198],[-0.6785164293804662,-0.22116538460190185]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_30","position":[0.4370548712659552,1.6465173402453703,0.71338606911949],"aabb_xy":[[0.35705486800194214,1.6329573079364568],[0.5170548745299683,1.6600773725542834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6416273074503277,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4203.png","name":"4203"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4203.png","name":"4203"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/544.png","name":"544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3918.png","name":"3918"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8047.png","name":"8047"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7419.png","name":"7419"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":784.349610020369,"rotation_z_degrees":338.2294692007494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010099630579280258,0.008016718869396689,-0.01402265447418499]},{"name":"camera_2","offset_m":[0.01229580318699711,0.019252268931409817,0.018628211769462288]},{"name":"camera_3","offset_m":[0.012666502344958416,0.0013769898748579035,0.008817016481435746]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007703859097295601,-0.0016344552256578556,-0.0003160197774259776],"end_effector_yaw_offset_degrees":0.6709145488043369},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.362292383227985e-05,-0.0011442935797990536,0.001318757347927591],"end_effector_yaw_offset_degrees":0.029861133937794992},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015430315420225053,0.0009762869701257018,-0.00011923262656464298],"end_effector_yaw_offset_degrees":-0.3949109126338548},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016005566382753245,0.0011832917297956184,-0.0010063642351196397],"end_effector_yaw_offset_degrees":-0.478377571175403},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001441551754373274,-0.00045523455963157296,0.0016244978451132558],"end_effector_yaw_offset_degrees":-0.13392205566623372},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006213353273892678,0.0017335342723018917,-0.0019342943392245005],"end_effector_yaw_offset_degrees":0.5358109045561701}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001582420553446894,-0.0018023970733424622],"position_m":[0.2701175794465531,0.08659760292665754,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001180912863293959,0.002520187983344139],"position_m":[0.22611908713670603,-0.33177981201665585,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0007634881438527896,0.0007281580256656463],"position_m":[0.27823651185614723,0.3161281580256657,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008964680599036047,0.0005558896946876854],"position_m":[0.1695035319400964,-0.09984411030531232,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ae07f9ac3e5182fc9e0823c852f5e92ce4a4fc9867e7cf1401ffaee48af80edd","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4203/tex_ceiling_textures_7419/tex_floor_textures_8047/tex_table_textures_544/tex_wall_textures_3918","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8536961113918489715,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8536961113918489715,"visual_seed":8536961113918489715,"scene_id":"lab_003","finished_at":"2026-09-08T10:41:04"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T10:49:39","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[-0.49423484822821173,-0.9897145486793508,0.71338606911949],"aabb_xy":[[-0.5742348496583388,-1.06923170369196],[-0.4142348467980844,-0.9101973936667412]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.45743737448316496,-1.974941646254777,0.71338606911949],"aabb_xy":[[-0.521437376532897,-2.015036129344085],[-0.39343737243343296,-1.934847163165469]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[-0.1898724712086599,0.40207877421097304,0.71338606911949],"aabb_xy":[[-0.22446355406270513,0.33707877392594193],[-0.1552813883546147,0.46707877449600405]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[0.4197946055750055,0.4445424244360052,0.71338606911949],"aabb_xy":[[0.3646693999454147,0.384542422994718],[0.47491981120459625,0.5045424258772923]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.04582989627042333,-1.7883274806400027,0.71338606911949],"aabb_xy":[[-0.03789232922965912,-1.8783274841746989],[0.1295521217705058,-1.698327477105307]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.589931574664461,-0.8054916653847946,0.71338606911949],"aabb_xy":[[-0.6051037439460945,-0.8206605223129979],[-0.5747594053828278,-0.7903228084565912]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.47222386092326984,0.7281798970458313,0.71338606911949],"aabb_xy":[[-0.5097238594988905,0.7154436013822733],[-0.434723862347649,0.7409161927093891]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.36640804198690957,-1.5476581251453374,0.71338606911949],"aabb_xy":[[0.3165253451092134,-1.5976581243916126],[0.4162907388646058,-1.4976581258990629]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[-0.28158040529779044,-0.260058734312413,0.71338606911949],"aabb_xy":[[-0.33155782216304397,-0.31005873580166154],[-0.23160298843253682,-0.21005873282316448]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.5996788419812911,-0.5953037425118444,0.71338606911949],"aabb_xy":[[0.5586608985949202,-0.6453037431428017],[0.640696785367662,-0.545303741880887]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.5594076222071063,0.6087110086219476,0.71338606911949],"aabb_xy":[[-0.5944076213370619,0.6029657875462835],[-0.5244076230771506,0.6144562296976117]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.39387820624433667,-2.251374516114774,0.71338606911949],"aabb_xy":[[0.37260019810086437,-2.316374518440847],[0.41515621438780886,-2.1863745137887007]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.5238943749794516,-1.5293277415209572,0.71338606911949],"aabb_xy":[[0.48639437448209333,-1.5332964250690753],[0.5613943754768098,-1.5253590579728387]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.00708625051391143,1.4092685409921337,0.71338606911949],"aabb_xy":[[-0.030413750670881364,1.404850318296073],[0.04458625169870422,1.413686763688194]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[-0.31971321027809246,0.23304454905893035,0.71338606911949],"aabb_xy":[[-0.36969616046557174,0.1830445494163699],[-0.26973026009061307,0.2830445487014907]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[0.05007968488552128,-1.3064822786117343,0.71338606911949],"aabb_xy":[[0.015617206872433502,-1.3131459557946572],[0.08454216289860905,-1.2998186014288113]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.5829391551611205,-1.5416603505736934,0.71338606911949],"aabb_xy":[[-0.6469391573815275,-1.5860334346989817],[-0.5189391529407135,-1.4972872664484052]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.15252169279606786,0.6588600469062804,0.71338606911949],"aabb_xy":[[0.08252169638610603,0.6384221112545986],[0.2225216892060296,0.679297982557962]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[-0.342422170649252,-1.1173041358544658,0.71338606911949],"aabb_xy":[[-0.36488694062065713,-1.139804136733326],[-0.3199574006778469,-1.094804134975605]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.5654491897884191,0.5388532987166537,0.71338606911949],"aabb_xy":[[-0.6354491913906984,0.5254205055149961],[-0.4954491881861395,0.5522860919183112]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.1988660394865005,-2.292399136918719,0.71338606911949],"aabb_xy":[[0.1763696180526364,-2.3148991367254665],[0.2213624609203646,-2.2698991371119717]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.2525427114943309,-1.2314543651946677,0.71338606911949],"aabb_xy":[[-0.2565031952640653,-1.2391222297801883],[-0.2485822277245965,-1.223786500609147]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.03453035708264196,1.6606188626181795,0.71338606911949],"aabb_xy":[[-0.02946964620706614,1.6172839436142619],[0.09853036037235008,1.703953781622097]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.6740409892744197,-0.7680790836708726,0.71338606911949],"aabb_xy":[[0.6240409882552843,-0.8045452994087007],[0.7240409902935548,-0.7316128679330447]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.07506068480898942,-2.2798052435233567,0.71338606911949],"aabb_xy":[[-0.12506068424918504,-2.3297731680076725],[-0.025060685368793786,-2.22983731903904]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_25","position":[0.17802795188048592,-1.5828911110342125,0.71338606911949],"aabb_xy":[[0.14052795193671955,-1.5911842010690491],[0.21552795182425236,-1.574598020999376]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.6149051784843665,-2.4831741049664626,0.71338606911949],"aabb_xy":[[-0.6524051786562385,-2.51587484034937],[-0.5774051783124946,-2.4504733695835554]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6467016301189581,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2357.png","name":"2357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2357.png","name":"2357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4208.png","name":"4208"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1596.png","name":"1596"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6023.png","name":"6023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9360.png","name":"9360"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":674.3494037096486,"rotation_z_degrees":274.2888877326297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015240129441569748,0.009207073490062997,0.01552956381484782]},{"name":"camera_2","offset_m":[-0.015678917833348852,0.010574322122732425,0.007752736206192545]},{"name":"camera_3","offset_m":[0.00716441919241579,-0.012506453171866813,-0.008906225275272867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015625192515931433,-8.573638430304348e-05,0.0003862609918486152],"end_effector_yaw_offset_degrees":-0.9297775170828408},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007998954794760018,-0.0011697726081119075,-0.001540127192135023],"end_effector_yaw_offset_degrees":-0.13855437513688917},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000610624633005933,0.0003354398860259361,0.0007000335740668709],"end_effector_yaw_offset_degrees":0.17337739872760238},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017419942925917874,0.00017845218853881862,-0.0001755299936081296],"end_effector_yaw_offset_degrees":-0.7856207175921348},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016837414662411476,-0.0018665681806966762,0.0016649498826808167],"end_effector_yaw_offset_degrees":0.9565363780124365},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0010694841942228066,0.0006508308221503836,0.0016922278493352798],"end_effector_yaw_offset_degrees":0.4013397460614663}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004765328910031233,-0.0026396681369044105],"position_m":[0.26693467108996877,0.08576033186309559,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002464563062408596,-0.0012559879592712675],"position_m":[0.2297645630624086,-0.3355559879592713,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0007443050000821953,0.0032280047659920498],"position_m":[0.27974430500008224,0.31862800476599207,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030374505941097455,0.0036075668515858023],"position_m":[0.17343745059410975,-0.0967924331484142,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ad6aa14274c075488a8aed239f80096a8077f8ec2ecef51cd51247efffb64953","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2357/tex_ceiling_textures_9360/tex_floor_textures_6023/tex_table_textures_4208/tex_wall_textures_1596","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6041329108860481549,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6041329108860481549,"visual_seed":6041329108860481549,"scene_id":"lab_003","finished_at":"2026-09-08T10:57:32"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T10:57:41","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.205359668852986,0.8026827851533844,0.71338606911949],"aabb_xy":[[-0.24035966798294167,0.7969375640777203],[-0.17035966972303035,0.8084280062290485]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.38300318673259476,-0.45296233825739574,0.71338606911949],"aabb_xy":[[-0.46300318780571514,-0.4627403845947801],[-0.3030031856594745,-0.44318429192001124]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.4543777795227856,-1.6193746153225055,0.71338606911949],"aabb_xy":[[-0.5183777768251319,-1.663741042290362],[-0.3903777822204391,-1.5750081883546485]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.46490374599463413,-0.6267629287823833,0.71338606911949],"aabb_xy":[[0.40727327710736316,-0.6867629277090936],[0.5225342148819049,-0.5667629298556724]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.3943303338695546,1.3073545543965488,0.71338606911949],"aabb_xy":[[-0.42217537065016175,1.2765700556582371],[-0.3664852970889475,1.3381390531348605]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[0.23050121053101547,-2.3977884803696288,0.71338606911949],"aabb_xy":[[0.21862912751951435,-2.482788480063279],[0.24237329354251658,-2.3127884806759784]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.6435699858904476,-2.1435295751130417,0.71338606911949],"aabb_xy":[[0.6326642098028848,-2.223529571511871],[0.6544757619780103,-2.0635295787142125]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.20021607765487742,-0.5761707041821222,0.71338606911949],"aabb_xy":[[-0.29021607737805155,-0.599244056717302],[-0.11021607793170322,-0.5530973516469423]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.45393133810292785,-0.26712727454389906,0.71338606911949],"aabb_xy":[[-0.517931337397096,-0.33111341491275326],[-0.3899313388087596,-0.20314113417504487]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.2001613252495663,1.516314421317825,0.71338606911949],"aabb_xy":[[-0.2641613244193362,1.4695477341988625],[-0.13616132607979634,1.5630811084367875]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.12138397451651373,0.6302653195215733,0.71338606911949],"aabb_xy":[[-0.1713770866257056,0.5802653188473776],[-0.07139086240732183,0.6802653201957689]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.3431233383464749,1.3896827337248845,0.71338606911949],"aabb_xy":[[0.33499565015316163,1.3807691253141767],[0.35125102653978807,1.3985963421355923]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[-0.027154339765916635,-1.8634169528534315,0.71338606911949],"aabb_xy":[[-0.03526799443929374,-1.8715227693074605],[-0.019040685092539533,-1.8553111363994024]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.6277183006233444,-0.41795864293537344,0.71338606911949],"aabb_xy":[[-0.6776915946266049,-0.46795864348992067],[-0.577745006620084,-0.367958642380826]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[0.5388481148568329,0.23487404742109685,0.71338606911949],"aabb_xy":[[0.4887506508757593,0.17087404691128508],[0.5889455788379065,0.29887404793090866]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.11207548828998937,1.40338723654467,0.71338606911949],"aabb_xy":[[0.07557966766271063,1.3669032941179124],[0.1485713089172681,1.4398711789714276]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_16","position":[0.48814261700058004,-0.9260427078063704,0.71338606911949],"aabb_xy":[[0.4081426183436941,-0.9405475667306332],[0.568142615657466,-0.9115378488821076]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[-0.08369544045975241,-2.29100900550641,0.71338606911949],"aabb_xy":[[-0.13369027338769401,-2.3410090044016534],[-0.03370060753181081,-2.2410090066111663]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.18905082528560901,-1.3734732156794291,0.71338606911949],"aabb_xy":[[-0.21427166214544865,-1.3986969665323155],[-0.16382998842576932,-1.348249464826542]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.5703139409984124,-0.6702840325603032,0.71338606911949],"aabb_xy":[[-0.6253139406201583,-0.725267725347776],[-0.5153139413766666,-0.6153003397728305]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.37511480790713403,1.7257881881234156,0.71338606911949],"aabb_xy":[[0.3709789515744339,1.6882881886790588],[0.3792506642398343,1.7632881875677728]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[-0.01115338083855777,-1.1879471271695188,0.71338606911949],"aabb_xy":[[-0.09115337799813306,-1.1994947281273356],[0.06884661632101752,-1.1763995262117015]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.3109356886752639,-0.9532405348174271,0.71338606911949],"aabb_xy":[[-0.326098561652201,-0.9684059921125461],[-0.29577281569832686,-0.9380750775223086]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.11201770862601002,-1.85603805382301,0.71338606911949],"aabb_xy":[[-0.12757347803627528,-1.8715884870674173],[-0.09646193921574477,-1.840487620578603]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[-0.39927562042740505,1.1664015063566953,0.71338606911949],"aabb_xy":[[-0.4338667032814502,1.101401506071664],[-0.3646845375733598,1.231401506641726]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[-0.2660550613349479,0.4758487087234995,0.71338606911949],"aabb_xy":[[-0.2835549947689312,0.4583487088032649],[-0.24855512790096446,0.493348708643734]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[0.37860581095631596,-2.1011912091972174,0.71338606911949],"aabb_xy":[[0.31460580766660784,-2.1445261282011345],[0.4426058142460241,-2.0578562901932993]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[0.4717232327707779,-2.4762157728424365,0.71338606911949],"aabb_xy":[[0.45885132926983774,-2.5562157732562727],[0.484595136271718,-2.3962157724286004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6401032151165787,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6607.png","name":"6607"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1626.png","name":"1626"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2948.png","name":"2948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":676.1065440066625,"rotation_z_degrees":324.90452034930314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01586727459506777,0.0027759442014933765,-0.01667016561957846]},{"name":"camera_2","offset_m":[-0.0053685141139696805,0.012894701313003378,0.0027560426810897994]},{"name":"camera_3","offset_m":[-0.01350512716893482,-0.009662682741299401,-0.01523008694906055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008139949864857249,-0.000551114915962904,0.0016158446156977258],"end_effector_yaw_offset_degrees":0.4332219029140376},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005712367336926341,0.0003678272363769868,0.0008255411031555136],"end_effector_yaw_offset_degrees":-0.9447146943750004},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010837047472842276,-0.001051217861872772,-0.0009082047947038517],"end_effector_yaw_offset_degrees":0.4109062464485691},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[9.751903652154958e-06,4.702707606873014e-05,-0.0010829662205314179],"end_effector_yaw_offset_degrees":-0.8588306221398994},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007188707719445629,-0.001233525187196511,0.0011071590150272866],"end_effector_yaw_offset_degrees":0.1510492580197813},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018889642030158948,-0.00043413740582267345,-0.001709195931316469],"end_effector_yaw_offset_degrees":-0.4843357767982015}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005054090657082124,-0.0036193783361374654],"position_m":[0.27119459093429177,0.08478062166386253,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004469060800461906,4.693576774072918e-05],"position_m":[0.2228309391995381,-0.33425306423225926,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004856065084262176,-0.0021819342482783267],"position_m":[0.27414393491573785,0.3132180657517217,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00327162821586332,-0.004381549532863771],"position_m":[0.17367162821586332,-0.10478154953286377,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"cd7ee2f50a3c8967c808005edbbf2769a8ed4a45b21dd4c338fbf37b66ccd25e","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1432/tex_ceiling_textures_716/tex_floor_textures_2948/tex_table_textures_6607/tex_wall_textures_1626","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4464582693314185169,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4464582693314185169,"visual_seed":4464582693314185169,"scene_id":"lab_003","finished_at":"2026-09-08T11:05:40"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T11:14:42","dimensions":{"distractor":{"count":33,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.5499620223916073,-0.9122882979665354,0.71338606911949],"aabb_xy":[[-0.5732438645897386,-0.9972882992637634],[-0.526680180193476,-0.8272882966693073]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.25527766347556935,-0.9975510999971489,0.71338606911949],"aabb_xy":[[-0.3449647397836848,-1.0875511002515994],[-0.1655905871674539,-0.9075510997426984]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[0.10688234929132379,-2.0731988001545827,0.71338606911949],"aabb_xy":[[0.086598046567925,-2.093481425297291],[0.1271666520147225,-2.0529161750118736]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.2407695175145937,0.23925230625770633,0.71338606911949],"aabb_xy":[[-0.3047695194269361,0.18334115699969591],[-0.17676951560225138,0.29516345551571677]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[-0.3060341497758306,0.4279111406911569,0.71338606911949],"aabb_xy":[[-0.38603414693540583,0.41636353973333984],[-0.22603415261625526,0.4394587416489739]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.3988078423443066,-2.0435835717739557,0.71338606911949],"aabb_xy":[[-0.42332146644131247,-2.067848165075992],[-0.37429421824730075,-2.019318978471919]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.32206336377432065,0.6870546139769691,0.71338606911949],"aabb_xy":[[0.237063365082246,0.6550687505820902],[0.4070633624663953,0.719040477371848]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.08443145153667742,0.6767522738969793,0.71338606911949],"aabb_xy":[[-0.1444314517880786,0.6224709488605146],[-0.024431451285276226,0.7310335989334439]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.22298587376851453,-0.8669382688572207,0.71338606911949],"aabb_xy":[[0.205116766014059,-0.8807711768344316],[0.24085498152297,-0.8531053608800098]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.22572095594350772,-1.9035397672962584,0.71338606911949],"aabb_xy":[[0.16809048705623686,-1.9635397662229683],[0.2833514248307786,-1.8435397683695471]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[0.23767869825340504,-1.0573065713463936,0.71338606911949],"aabb_xy":[[0.2008281503164175,-1.0948065721694273],[0.2745292461903927,-1.0198065705233599]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.3791862402483279,1.5478730317659042,0.71338606911949],"aabb_xy":[[0.33793742921841313,1.4928730322536865],[0.4204350512782426,1.6028730312781214]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.22302378081824642,-0.28429916822321655,0.71338606911949],"aabb_xy":[[-0.28802377869989426,-0.33542283192975747],[-0.15802378293659863,-0.23317550451667574]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.20031452575194042,0.8054624509518877,0.71338606911949],"aabb_xy":[[-0.23028208266176609,0.7754624506540021],[-0.17034696884211475,0.8354624512497736]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.12984513417606414,-1.5317120333663463,0.71338606911949],"aabb_xy":[[-0.17982394268638,-1.5817120333720651],[-0.07986632566574822,-1.4817120333606275]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.5930344400909651,0.8222464150742699,0.71338606911949],"aabb_xy":[[0.5130344368269519,0.8086863827653564],[0.6730344433549782,0.8358064473831831]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.5778178580748581,0.09989363329663137,0.71338606911949],"aabb_xy":[[-0.639408617298851,0.0358936351875845],[-0.5162270988508654,0.16389363140567825]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.4795845054486578,-1.8025799155337516,0.71338606911949],"aabb_xy":[[0.4155845062788879,-1.8493466026527141],[0.5435845046184278,-1.7558132284147892]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.6284275104264616,0.5915105993380898,0.71338606911949],"aabb_xy":[[0.5812981314246258,0.5275105982936876],[0.6755568894282972,0.6555106003824915]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.43407514173664086,-0.9782902061100096,0.71338606911949],"aabb_xy":[[0.38626897412287214,-1.0432902088170684],[0.48188130935040946,-0.9132902034029504]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.23102987119137064,-1.1799799222397003,0.71338606911949],"aabb_xy":[[0.20648365556861992,-1.2102288187887373],[0.25557608681412136,-1.1497310256906632]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.33501043676761855,-0.6513596655211615,0.71338606911949],"aabb_xy":[[-0.38501043805145846,-0.7013385199117835],[-0.2850104354837785,-0.6013808111305393]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[0.16616006265037297,1.7227124667352824,0.71338606911949],"aabb_xy":[[0.11616695054118109,1.672712466061087],[0.2161531747595649,1.7727124674094783]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.6514345402290155,-2.5211880622868366,0.71338606911949],"aabb_xy":[[-0.673934540741056,-2.543679920652235],[-0.6289345397169748,-2.498696203921438]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.3391706492311373,-2.3194315811706643,0.71338606911949],"aabb_xy":[[-0.3592290608443776,-2.339496668079822],[-0.31911223761789703,-2.2993664942615073]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.3109092581849857,-1.6367916202141104,0.71338606911949],"aabb_xy":[[-0.33449438164888057,-1.701791622459542],[-0.28732413472109086,-1.5717916179686784]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.12146658115753961,0.42695609363231046,0.71338606911949],"aabb_xy":[[-0.1433563287464804,0.3369560963430613],[-0.09957683356859881,0.5169560909215595]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[-0.5875957077863222,1.2421681897326544,0.71338606911949],"aabb_xy":[[-0.5989574424396082,1.2307997233263661],[-0.5762339731330359,1.2535366561389423]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[-0.6172092087673757,-1.3212690829320106,0.71338606911949],"aabb_xy":[[-0.6722092083891216,-1.3762527757194831],[-0.5622092091456299,-1.2662853901445377]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[0.5605004981769162,-0.6946175829246126,0.71338606911949],"aabb_xy":[[0.5005004976690632,-0.7514643166105338],[0.6205004986847691,-0.6377708492386912]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_30","position":[0.2421076057999465,1.2451967861652542,0.71338606911949],"aabb_xy":[[0.19213454026743107,1.1951967863527215],[0.29208067133246196,1.2951967859777873]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_31","position":[0.6318691923175814,-0.5228598110014153,0.71338606911949],"aabb_xy":[[0.5953733716903027,-0.5593437534281729],[0.6683650129448602,-0.48637586857465775]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_32","position":[-0.1540906232009741,-0.5835013788062318,0.71338606911949],"aabb_xy":[[-0.16671741048817046,-0.5930474525078046],[-0.14146383591377776,-0.5739553051046588]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6446246241675111,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6290.png","name":"6290"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6290.png","name":"6290"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9770.png","name":"9770"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3096.png","name":"3096"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6070.png","name":"6070"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":506.8053093773164,"rotation_z_degrees":196.54644120323104,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00552430065769002,0.017760291677843817,0.004738541515813998]},{"name":"camera_2","offset_m":[-0.016715128224288806,-0.011460419553117066,0.006164639390314509]},{"name":"camera_3","offset_m":[0.013195424616041455,-0.017162157595720512,0.017863741578864816]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013064307553011943,-0.0006184080382548554,0.001528360176848243],"end_effector_yaw_offset_degrees":-0.4395340796373717},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007504727439898023,-0.0010343147642053875,0.0015522386857372374],"end_effector_yaw_offset_degrees":0.1976209623104579},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.6518208895171674e-05,0.00048522461151081575,0.0007754877320345068],"end_effector_yaw_offset_degrees":-0.021661985446396193},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010908085292987227,0.00020262563606749523,-3.81543400393633e-05],"end_effector_yaw_offset_degrees":-0.6595781944920793},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018073997497889535,0.001068431523067197,0.0013520260428640648],"end_effector_yaw_offset_degrees":0.5446040125594946},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006365039556257583,-8.248650599046404e-05,-0.0013638172003359599],"end_effector_yaw_offset_degrees":0.28516713828542595}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022015480873411033,-0.004370410105767102],"position_m":[0.2694984519126589,0.0840295898942329,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004495929783015617,-0.0020469699120957154],"position_m":[0.22685040702169845,-0.33634696991209573,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0017875912576217423,0.004242829673059772],"position_m":[0.28078759125762176,0.3196428296730598,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004644104261737745,-0.00249183532032075],"position_m":[0.16575589573826224,-0.10289183532032076,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"317903e1bcfb9965b40929838b2e1afebc0c8c38352398fec39ad499f9a65690","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6290/tex_ceiling_textures_6070/tex_floor_textures_3096/tex_table_textures_9770/tex_wall_textures_2170","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4778346589767898267,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4778346589767898267,"visual_seed":4778346589767898267,"scene_id":"lab_003","finished_at":"2026-09-08T11:22:31"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T11:22:39","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.3952337792065488,-1.010003876568763,0.71338606911949],"aabb_xy":[[0.3707201551095429,-1.0342684698707993],[0.41974740330355464,-0.9857392832667264]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[0.4904771246475972,-0.25322814404545513,0.71338606911949],"aabb_xy":[[0.4354816468269377,-0.30822814547936206],[0.5454726024682565,-0.1982281426115482]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[-0.6198786229917204,-0.9782605454639437,0.71338606911949],"aabb_xy":[[-0.6247222177529503,-0.9831121979429278],[-0.6150350282304904,-0.9734088929849596]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.40502360071360455,0.060124614860118886,0.71338606911949],"aabb_xy":[[0.4015829244735474,0.05626318188575442],[0.4084642769536617,0.06398604783448336]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.24726435474212394,-2.0860070748454427,0.71338606911949],"aabb_xy":[[-0.3172643581336859,-2.121322848548873],[-0.17726435135056196,-2.0506913011420114]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[-0.40024927913563096,0.5956420820557398,0.71338606911949],"aabb_xy":[[-0.42889861149604713,0.5669965227786639],[-0.3715999467752147,0.6242876413328154]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.05413437776234664,0.5785313444888347,0.71338606911949],"aabb_xy":[[0.041507590475150284,0.5689852707872618],[0.06676116504954299,0.5880774181904076]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.6643353162188219,1.533386813968129,0.71338606911949],"aabb_xy":[[0.6588773705818018,1.4533868106604697],[0.669793261855842,1.613386817275788]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.6282812714418418,1.7514927297322074,0.71338606911949],"aabb_xy":[[0.5732812732400968,1.7109707631057698],[0.6832812696435865,1.792014696358645]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[0.5348088171076684,-1.3531409614657788,0.71338606911949],"aabb_xy":[[0.5266951624342913,-1.3612467779198079],[0.5429224717810455,-1.3450351450117497]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[-0.5899700004892563,1.4473019386738302,0.71338606911949],"aabb_xy":[[-0.6249699996820745,1.4363348926761674],[-0.5549700012964379,1.4582689846714925]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.2888346741311656,1.002990434331589,0.71338606911949],"aabb_xy":[[-0.29645894222134384,0.9953572107950452],[-0.28121040604098735,1.0106236578681327]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.5133754439502953,-1.558122989569691,0.71338606911949],"aabb_xy":[[-0.5833754465868816,-1.5782278545655566],[-0.4433754413137089,-1.5380181245738256]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.02279542157365455,-1.6269806462963423,0.71338606911949],"aabb_xy":[[-0.041204580476077446,-1.6670751293856503],[0.08679542362338655,-1.5868861632070344]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.4802124965752701,-2.0773440752815566,0.71338606911949],"aabb_xy":[[0.46937201834875525,-2.0945303565722053],[0.49105297480178506,-2.060157793990908]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.20482574587020252,-0.8310322728471042,0.71338606911949],"aabb_xy":[[-0.2848257461438095,-0.903981820672821],[-0.12482574559659555,-0.7580827250213875]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.6601918416991199,0.9176025413187014,0.71338606911949],"aabb_xy":[[-0.6826918417092682,0.9035063216790981],[-0.6376918416889716,0.9316987609583046]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[0.5787099907426259,-0.4702266216042359,0.71338606911949],"aabb_xy":[[0.537692047356255,-0.5202266222351932],[0.6197279341289967,-0.4202266209732785]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.009031209798625262,-1.1096451852745441,0.71338606911949],"aabb_xy":[[-0.0809687925353938,-1.1871275398596568],[0.09903121213264432,-1.0321628306894315]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.6741961358708479,1.184153414662358,0.71338606911949],"aabb_xy":[[0.6700602795381478,1.146653415218001],[0.6783319922035482,1.221653414106715]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.3414711382081055,-0.48737555400031507,0.71338606911949],"aabb_xy":[[0.2987044313286853,-0.5513755574221175],[0.3842378450875257,-0.42337555057851256]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6413964781644796,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7924.png","name":"7924"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7924.png","name":"7924"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3870.png","name":"3870"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1418.png","name":"1418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5810.png","name":"5810"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":827.3075106806521,"rotation_z_degrees":169.76229695485327,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01839681126790761,0.0018880388177418168,-0.004494415872182182]},{"name":"camera_2","offset_m":[-0.00693738522603494,0.01921983121629799,0.0001900097800810567]},{"name":"camera_3","offset_m":[-0.017632772470304557,-0.014234564438705025,0.0025704358074604278]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012460113135691077,0.0009489552137963374,-0.0012591753310174805],"end_effector_yaw_offset_degrees":0.9189229338310729},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001037334664175806,-0.001911101324435561,-0.0005807087827983106],"end_effector_yaw_offset_degrees":-0.8103072539611131},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007680948749173347,-0.0008740552814195848,-0.0017404168266973935],"end_effector_yaw_offset_degrees":-0.6408581455050599},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009453058569557082,-0.0018896123277643171,0.00042192763743565623],"end_effector_yaw_offset_degrees":-0.9086234916282285},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001377467589475995,-0.0009565370708840022,0.001058214335675385],"end_effector_yaw_offset_degrees":0.9265926800398341},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013326741941117764,-0.0005001096882089229,0.0011183235454497202],"end_effector_yaw_offset_degrees":-0.3917521353160873}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004106471209992389,-0.002518645598991697],"position_m":[0.2675935287900076,0.0858813544010083,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031807569871689424,-0.0003254672647932909],"position_m":[0.22411924301283107,-0.33462546726479325,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002257464535222552,0.0026580962246203817],"position_m":[0.2812574645352226,0.3180580962246204,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015467172314157173,-0.0015393155859745713],"position_m":[0.16885328276858427,-0.10193931558597458,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"da7400f888b443472afde1da2cd43d0cea9928bbfcfaafd9797ff959c5dc8128","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7924/tex_ceiling_textures_5810/tex_floor_textures_1418/tex_table_textures_9602/tex_wall_textures_3870","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":910972212320611207,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":910972212320611207,"visual_seed":910972212320611207,"scene_id":"lab_003","finished_at":"2026-09-08T11:30:12"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T12:14:18","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.34741312463171226,-2.5297654504536586,0.71338606911949],"aabb_xy":[[0.2834131282043904,-2.5769350742757555],[0.4114131210590342,-2.4825958266315626]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.4222589235812824,1.6371681206294215,0.71338606911949],"aabb_xy":[[-0.42967137912267095,1.6313169102077933],[-0.414846468039894,1.6430193310510492]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.09036280368234828,-1.870509491379388,0.71338606911949],"aabb_xy":[[0.0653628037498304,-1.8773921596003116],[0.11536280361486619,-1.863626823158465]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.05503006121626974,-0.8303865828945687,0.71338606911949],"aabb_xy":[[-0.10904565749816975,-0.8943865857868258],[-0.001014464934369734,-0.7663865800023115]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.6528647098226795,-0.8901020742586658,0.71338606911949],"aabb_xy":[[-0.6637051880491944,-0.9072883555493145],[-0.6420242315961646,-0.8729157929680169]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[-0.44407878759549024,1.7336988506366349,0.71338606911949],"aabb_xy":[[-0.4783950647701081,1.6836988506634571],[-0.40976251042087225,1.7836988506098126]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.6190406116210931,-0.13396000753012283,0.71338606911949],"aabb_xy":[[-0.6409303592100338,-0.22396000481937192],[-0.5971508640321522,-0.0439600102408737]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.35905917271689525,-1.2652140392743079,0.71338606911949],"aabb_xy":[[-0.4290591761084572,-1.3005298129777387],[-0.2890591693253332,-1.229898265570877]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.23560763395096662,-2.4897774992079493,0.71338606911949],"aabb_xy":[[-0.3256076362849857,-2.5672598537930615],[-0.14560763161694756,-2.4122951446228362]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.5822990555972323,-0.97084741326753,0.71338606911949],"aabb_xy":[[0.5182990582948859,-1.0152138402353865],[0.6462990528995787,-0.926480986299673]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[0.5106800684695216,-1.1388203496954203,0.71338606911949],"aabb_xy":[[0.44068007205955967,-1.1592582853471016],[0.5806800648794832,-1.1183824140437382]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.16452743159485383,0.5778791326542967,0.71338606911949],"aabb_xy":[[0.14161171870980394,0.5549748355178733],[0.18744314447990373,0.6007834297907203]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.6631474843646958,-0.35654530789479555,0.71338606911949],"aabb_xy":[[-0.6765940109987392,-0.37001515954788683],[-0.6497009577306525,-0.3430754562417044]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.40824814438777235,-0.7015123115517721,0.71338606911949],"aabb_xy":[[0.39360473883373936,-0.7161710312085562],[0.42289154994180533,-0.6868535918949877]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.31978141018810935,0.5739918385608038,0.71338606911949],"aabb_xy":[[0.2547814101538066,0.5272911618804765],[0.3847814102224121,0.6206925152411311]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.2810337396704624,0.5537658698922474,0.71338606911949],"aabb_xy":[[-0.36103374183322484,0.4738106862661038],[-0.20103373750769987,0.633721053518391]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.09962926192747357,0.05203191278546759,0.71338606911949],"aabb_xy":[[-0.1371292624248318,0.04806322923734919],[-0.06212926143011534,0.05600059633358601]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.5563751111673634,-2.3474311486191852,0.71338606911949],"aabb_xy":[[0.5462934040887898,-2.4274311465112994],[0.5664568182459367,-2.26743115072707]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[-0.27785387710081827,0.32609253176969677,0.71338606911949],"aabb_xy":[[-0.36754095340893367,0.23609253151524623],[-0.18816680079270276,0.4160925320241473]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[0.04813124767506327,1.1215374351678502,0.71338606911949],"aabb_xy":[[0.040870000104655864,1.1087504249043407],[0.05539249524547069,1.1343244454313597]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[-0.3332998364516105,-0.20951580069888331,0.71338606911949],"aabb_xy":[[-0.3832998377354504,-0.2594946550895053],[-0.28329983516777046,-0.15953694630826115]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.6356698256098607,-1.6848158874016106,0.71338606911949],"aabb_xy":[[0.6204976563282274,-1.699984744329814],[0.6508419948914941,-1.6696470304734072]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6399712031653141,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2435.png","name":"2435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2435.png","name":"2435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6657.png","name":"6657"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3747.png","name":"3747"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2254.png","name":"2254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9935.png","name":"9935"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":604.833744997145,"rotation_z_degrees":8.237149968527241,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0172288541155293,0.0046059523633692305,-0.01796555722844325]},{"name":"camera_2","offset_m":[-0.00010082689424073532,0.0072326104705642755,0.011709620236989873]},{"name":"camera_3","offset_m":[-5.445035601029172e-05,-0.0170091376549243,-0.007661278074635333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014577744938753965,0.0011136614977384643,0.0013582901682566897],"end_effector_yaw_offset_degrees":0.37870924707272247},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015642397785985262,0.0012247152609950202,-0.001523934621040282],"end_effector_yaw_offset_degrees":0.5523131115155158},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008562709770225736,-0.0008905801759566533,-0.0010167643542322215],"end_effector_yaw_offset_degrees":-0.11735668758905726},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001594302875581852,0.00023784132022696943,-0.00177680978579366],"end_effector_yaw_offset_degrees":-0.7828982358108336},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017723706347261216,0.001012948719057721,7.43343738797979e-05],"end_effector_yaw_offset_degrees":0.8796958758494411},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003240635069863406,-0.0005544657246273807,0.001895453897427575],"end_effector_yaw_offset_degrees":0.8689681786294245}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010800612324500776,0.002865863042385287],"position_m":[0.2727800612324501,0.09126586304238529,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017217300136970915,0.00483203146487536],"position_m":[0.2255782699863029,-0.3294679685351246,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004131546938031249,-0.0018361650427829233],"position_m":[0.2748684530619688,0.31356383495721707,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014221773069847113,-0.0016809508555264553],"position_m":[0.16897782269301528,-0.10208095085552646,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c539efe5e8968737ba0bed14eb12788baaaa73faea7a18b60aa4e4cccee439bf","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2435/tex_ceiling_textures_9935/tex_floor_textures_2254/tex_table_textures_6657/tex_wall_textures_3747","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6394524189429203352,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6394524189429203352,"visual_seed":6394524189429203352,"scene_id":"lab_003","finished_at":"2026-09-08T12:22:14"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T12:39:44","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.0786367065463377,-1.1472903514623733,0.71338606911949],"aabb_xy":[[0.03586999966691751,-1.2112903548841758],[0.12140341342575789,-1.083290348040571]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.07381637390337847,-2.371350873492547,0.71338606911949],"aabb_xy":[[-0.1288163721051233,-2.411872840118984],[-0.018816375701633647,-2.3308289068661088]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.5234555085850476,0.4798603356158324,0.71338606911949],"aabb_xy":[[0.5170416949418626,0.47345051536816396],[0.5298693222282325,0.48627015586350064]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.3794864100988099,1.5576093013655483,0.71338606911949],"aabb_xy":[[-0.4013950922381609,1.5357086345454574],[-0.3575777279594588,1.5795099681856388]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.6350583105083389,-2.56617438989059,0.71338606911949],"aabb_xy":[[0.6246467518278552,-2.5715201232264886],[0.6454698691888227,-2.560828656554692]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.42272352494744614,-0.2408982766903085,0.71338606911949],"aabb_xy":[[-0.44015424002645265,-0.25817039135415926],[-0.40529280986843963,-0.22362616202645766]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.5887499841031004,-0.19086193303130106,0.71338606911949],"aabb_xy":[[-0.626081260628343,-0.22551498782615337],[-0.5514187075778578,-0.15620887823644874]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.06913718901888344,-1.4221194567920628,0.71338606911949],"aabb_xy":[[-0.08004296510644615,-1.502119453190892],[-0.058231412931320725,-1.3421194603932336]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.3350306065565389,0.8493608640202872,0.71338606911949],"aabb_xy":[[-0.4150306039601323,0.7693682928221043],[-0.25503060915294545,0.9293534352184699]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[-0.17760303724192672,-1.7188689692330659,0.71338606911949],"aabb_xy":[[-0.19075428321321608,-1.7438689689897526],[-0.16445179127063733,-1.6938689694763795]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.19818014739070922,0.9123355396226471,0.71338606911949],"aabb_xy":[[0.1876126677326102,0.9017905095096385],[0.20874762704880823,0.9228805697356556]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.2566031993110437,-2.122450791556011,0.71338606911949],"aabb_xy":[[-0.2916031992875395,-2.1319154076036275],[-0.22160319933454786,-2.1129861755083947]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.6465200423210045,0.2876088508202099,0.71338606911949],"aabb_xy":[[0.5825243449259078,0.2236088525195012],[0.7105157397161009,0.35160884912091855]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.27220807445916084,-1.130379577486914,0.71338606911949],"aabb_xy":[[-0.3372080754596613,-1.181165942641589],[-0.20720807345866027,-1.0795932123322391]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.4141574347185992,0.4614515422068788,0.71338606911949],"aabb_xy":[[0.37969495670551145,0.45478786502395596],[0.448619912731687,0.4681152193898016]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.08262697026187049,0.5911584442487929,0.71338606911949],"aabb_xy":[[-0.1466269706394041,0.5414131773979807],[-0.01862696988433686,0.6409037110996052]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.2515524340620504,0.20413244086812554,0.71338606911949],"aabb_xy":[[-0.2634245170735515,0.11913244117447519],[-0.2396803510505493,0.2891324405617759]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.33659231940924417,1.373323684420201,0.71338606911949],"aabb_xy":[[0.286592318048357,1.3233457798447852],[0.38659232077013145,1.4233015889956164]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[0.004072382723462664,1.8045090268387,0.71338606911949],"aabb_xy":[[-0.033427618792169045,1.793282253822555],[0.04157238423909437,1.8157357998548451]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[0.13623073163016386,-1.9975262617455254,0.71338606911949],"aabb_xy":[[0.07223073520284198,-2.044695885567622],[0.2002307280574858,-1.9503566379234292]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.5078337592887789,-0.04829126694962138,0.71338606911949],"aabb_xy":[[-0.513166273943392,-0.05361559519485698],[-0.5025012446341659,-0.04296693870438578]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[0.6455744320787613,-0.5735697012913494,0.71338606911949],"aabb_xy":[[0.6359427958583317,-0.5832070140710583],[0.6552060682991909,-0.5639323885116405]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.16644188145649697,-1.5669377692422746,0.71338606911949],"aabb_xy":[[-0.18411751204509527,-1.584617985521677],[-0.1487662508678986,-1.5492575529628716]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.5478958421050084,-1.0761932921470578,0.71338606911949],"aabb_xy":[[0.4678958406748812,-1.1557104471596673],[0.6278958435351356,-0.9966761371344484]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[-0.2954986771108945,-0.3551098473013341,0.71338606911949],"aabb_xy":[[-0.33299867829568724,-0.35952806999739456],[-0.25799867592610165,-0.35069162460527353]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.09421237570115948,1.1716777783556034,0.71338606911949],"aabb_xy":[[0.07671237545611008,1.1541779905160363],[0.11171237594620885,1.18917756619517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6414543250726783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3920.png","name":"3920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3077.png","name":"3077"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7387.png","name":"7387"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3180.png","name":"3180"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":571.5197531767386,"rotation_z_degrees":194.29705309825889,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016685982601838484,-0.0006661681175559458,-0.009778659787637948]},{"name":"camera_2","offset_m":[0.0031439024963518664,0.0015090268110769592,-0.010298022971378527]},{"name":"camera_3","offset_m":[-0.004474202314683776,0.008059834123373327,-0.016961901821286332]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001307432250984611,0.0015856746141335986,-4.673786333456945e-05],"end_effector_yaw_offset_degrees":-0.6060861688935539},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005213359631207038,0.0014730543157387486,0.0007140911831415718],"end_effector_yaw_offset_degrees":-0.7206272315571116},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008417046252937026,0.0013823962391285565,-0.0006040370337816224],"end_effector_yaw_offset_degrees":0.0893489753262724},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019424156756699942,-0.0008961616982071045,0.0008452592017634077],"end_effector_yaw_offset_degrees":-0.87055804849527},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.000418328619533506,0.001547434313142618,-0.001614413916261447],"end_effector_yaw_offset_degrees":-0.6875252813232187},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009139961065886002,0.00032946255917227054,-0.001998895142537174],"end_effector_yaw_offset_degrees":0.5212310861211156}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003552594692002481,-8.791494626536958e-05],"position_m":[0.2681474053079975,0.08831208505373464,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030330371320074732,-0.00019474244130221995],"position_m":[0.22426696286799253,-0.33449474244130223,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0012159653235581762,0.001119793321338174],"position_m":[0.2802159653235582,0.31651979332133817,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001737375333280753,-0.003093582609938892],"position_m":[0.17213737533328075,-0.10349358260993889,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"aa7fdef7e2501811482b5c0201e58950ca00be2c7139595c4949f7ebb8cc7a7f","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7843/tex_ceiling_textures_3180/tex_floor_textures_7387/tex_table_textures_3920/tex_wall_textures_3077","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2241803392475956582,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2241803392475956582,"visual_seed":2241803392475956582,"scene_id":"lab_003","finished_at":"2026-09-08T12:47:46"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T13:14:21","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.44961472648682843,0.04552815969392787,0.71338606911949],"aabb_xy":[[-0.47461472603856686,0.035385675828793144],[-0.4246147269350899,0.05567064355906259]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.4845881308109743,-1.4077308934865123,0.71338606911949],"aabb_xy":[[-0.5273548376903945,-1.471730896908315],[-0.4418214239315541,-1.34373089006471]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.4819073027367726,0.621052202085894,0.71338606911949],"aabb_xy":[[0.4714957440562889,0.6157064687499955],[0.49231886141725634,0.6263979354217925]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.5957342653120887,0.9291436104400193,0.71338606911949],"aabb_xy":[[-0.6011922109491088,0.84914360713236],[-0.5902763196750687,1.0091436137476784]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[0.1578131793595854,-1.6789144373813214,0.71338606911949],"aabb_xy":[[0.12782151662571503,-1.708914436718122],[0.1878048420934557,-1.6489144380445209]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.4034093938350241,-1.7133650977132415,0.71338606911949],"aabb_xy":[[-0.46740939605543114,-1.7577381818385298],[-0.3394093916146171,-1.6689920135879532]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.6298714495802108,0.7612759604682169,0.71338606911949],"aabb_xy":[[-0.6938714460075327,0.7141063366461204],[-0.5658714531528889,0.8084455842903133]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.48688782304779976,0.19324946054024128,0.71338606911949],"aabb_xy":[[0.4318878238712103,0.1382597857652836],[0.5418878222243892,0.2482391353151989]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[-0.6815801850327822,-0.5523258798637203,0.71338606911949],"aabb_xy":[[-0.6888239510790275,-0.6323258780673227],[-0.6743364189865368,-0.4723258816601179]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.5845767288081753,-1.6971487771121576,0.71338606911949],"aabb_xy":[[-0.6180558960692163,-1.730627890483265],[-0.5510975615471344,-1.663669663741051]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.41451941516650576,0.6489075422478057,0.71338606911949],"aabb_xy":[[-0.4193630099277358,0.6440558897688216],[-0.40967582040527584,0.6537591947267898]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.4893709571381797,-0.8997426549814835,0.71338606911949],"aabb_xy":[[-0.504926726548445,-0.915293088225891],[-0.4738151877279145,-0.8841922217370766]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.26402126063290765,-0.47764813399829187,0.71338606911949],"aabb_xy":[[0.2265212601355494,-0.48161681754641034],[0.3015212611302659,-0.4736794504501735]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.03266268466030142,-0.9119383725484771,0.71338606911949],"aabb_xy":[[-0.09666268194595007,-0.9534450915013211],[0.031337312625347225,-0.8704316535956331]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[0.19085015875547962,-2.5684969266322533,0.71338606911949],"aabb_xy":[[0.18143268418561684,-2.577913103769972],[0.20026763332534234,-2.559080749494534]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.19465709981614943,-1.2556010579280634,0.71338606911949],"aabb_xy":[[-0.21354148358465963,-1.2744869827084162],[-0.17577271604763922,-1.2367151331477106]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[0.08480079170034216,-2.532847338193751,0.71338606911949],"aabb_xy":[[0.07667310350702894,-2.5417609466044584],[0.09292847989365538,-2.523933729783043]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.48037978392194547,1.1283588141900358,0.71338606911949],"aabb_xy":[[-0.5443797810340512,1.0793264443956252],[-0.4163797868098398,1.1773911839844464]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[-0.24529118038419562,-1.8211619907054248,0.71338606911949],"aabb_xy":[[-0.2631602881386511,-1.8349948986826359],[-0.2274220726297401,-1.8073290827282138]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.010210534576520658,-1.0387583886032814,0.71338606911949],"aabb_xy":[[-0.027289466608272136,-1.0431766112993415],[0.04771053576131345,-1.0343401659072204]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.4412338692879376,-1.7588177836302843,0.71338606911949],"aabb_xy":[[0.43319050936198245,-1.8438177847256507],[0.4492772292138928,-1.6738177825349179]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.3359121755564242,-1.149360684401127,0.71338606911949],"aabb_xy":[[-0.37240799618370296,-1.1858446268278846],[-0.2994163549291455,-1.1128767419743695]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6479432179148527,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2104.png","name":"2104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2104.png","name":"2104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/188.png","name":"188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2387.png","name":"2387"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9038.png","name":"9038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4834.png","name":"4834"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":624.7380803893118,"rotation_z_degrees":231.5776774940261,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017989032815998656,-0.0053928348097635,0.019178998082627106]},{"name":"camera_2","offset_m":[0.014238840300569485,0.000808899687892134,-0.007861371019380413]},{"name":"camera_3","offset_m":[0.007081792626746464,-0.017419016817519162,-0.002240201682466556]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014410101578790765,-0.0009127351250572816,0.0010877765004550302],"end_effector_yaw_offset_degrees":-0.5811127941159491},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006459472356129779,-0.0002671557150890145,0.0004668420456414098],"end_effector_yaw_offset_degrees":-0.2703760709889058},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001996556997940043,-0.0011199273252886551,0.0016267147901712488],"end_effector_yaw_offset_degrees":0.20248671425884202},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009417345861813388,-0.001432823950208181,-0.00107691389109571],"end_effector_yaw_offset_degrees":-0.7812257869436581},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.000648600853916487,-0.0017506563368802222,0.000420764778627358],"end_effector_yaw_offset_degrees":0.23790230910027166},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001457351209761207,0.0014817380705475745,0.0019950059590249916],"end_effector_yaw_offset_degrees":-0.33276104080963487}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001856394478519434,0.003185550411826529],"position_m":[0.26984360552148057,0.09158555041182653,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028558682126024427,-0.0030016546145869207],"position_m":[0.23015586821260245,-0.3373016546145869,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003271561202715555,0.0038366754601281703],"position_m":[0.2757284387972845,0.3192366754601282,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016630626392688808,-0.0002798541369550779],"position_m":[0.16873693736073112,-0.10067985413695509,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"29bdb13b98aea983084bc56789d597f3126e23d43ceee451ac8a7ba075d335ee","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2104/tex_ceiling_textures_4834/tex_floor_textures_9038/tex_table_textures_188/tex_wall_textures_2387","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6421938010589120820,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6421938010589120820,"visual_seed":6421938010589120820,"scene_id":"lab_003","finished_at":"2026-09-08T13:22:07"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T13:40:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[-0.6098698872502537,0.8800790033800996,0.71338606911949],"aabb_xy":[[-0.6245132928042866,0.8654202837233154],[-0.5952264816962206,0.8947377230368838]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_1","position":[-0.4940550475746929,-1.397106925388797,0.71338606911949],"aabb_xy":[[-0.5640550493834382,-1.4184606941529843],[-0.4240550457659474,-1.3757531566246095]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.010348721959303586,-0.8990866481770929,0.71338606911949],"aabb_xy":[[-0.019129949106539812,-0.9078663954656233],[-0.0015674948120673591,-0.890306900888563]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[-0.21935304520453347,0.32471225797844205,0.71338606911949],"aabb_xy":[[-0.26935304686602823,0.27471381572273934],[-0.1693530435430387,0.37471070023414477]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.06401377453977974,-2.3713078709752486,0.71338606911949],"aabb_xy":[[-0.10255946736498078,-2.409853642031438],[-0.025468081714578712,-2.3327620999190604]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.6436040093992217,0.12176978368431657,0.71338606911949],"aabb_xy":[[0.6371901957560366,0.11535996343664821],[0.6500178230424065,0.12817960393198488]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[0.4986902579379149,1.283255001818734,0.71338606911949],"aabb_xy":[[0.48048443427666715,1.2722296012367427],[0.5168960815991626,1.294280402400726]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[-0.017973633462804672,-1.1559788332518677,0.71338606911949],"aabb_xy":[[-0.0979736367268178,-1.1695388655607808],[0.06202636980120846,-1.1424188009429541]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.610037851399663,-0.5607640006002654,0.71338606911949],"aabb_xy":[[-0.6900378516732699,-0.6337135484259822],[-0.530037851126056,-0.48781445277454877]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.552862175780577,-2.0708007175109118,0.71338606911949],"aabb_xy":[[-0.5729205873938172,-2.090865804420069],[-0.5328037641673367,-2.0507356306017543]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.5025706107192103,1.4757073526190951,0.71338606911949],"aabb_xy":[[0.46757061074271444,1.4662427365714785],[0.5375706106957061,1.4851719686667118]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.2198119261494033,-2.272346035409569,0.71338606911949],"aabb_xy":[[-0.25731192457280366,-2.285510249377399],[-0.18231192772600296,-2.2591818214417376]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.5142624280085487,-0.9098449079572097,0.71338606911949],"aabb_xy":[[-0.5367271979799537,-0.9323449088360701],[-0.4917976580371435,-0.8873449070783491]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.3714523533989753,-2.2223562425847447,0.71338606911949],"aabb_xy":[[0.31145235314757413,-2.2766375676212096],[0.4314523536503765,-2.16807491754828]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[-0.08896126348559907,1.1997724893004555,0.71338606911949],"aabb_xy":[[-0.09527336302193752,1.1940055500472366],[-0.08264916394926065,1.2055394285536745]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.2550131146297292,1.3136129007086095,0.71338606911949],"aabb_xy":[[0.22452886450269904,1.2636129009271135],[0.28549736475675935,1.3636129004901054]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.4873152238008467,-1.3516466489999974,0.71338606911949],"aabb_xy":[[0.4698152246664795,-1.361526276037585],[0.5048152229352139,-1.3417670219624094]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.6304206681091439,1.3117558095364439,0.71338606911949],"aabb_xy":[[-0.6944206683696147,1.2667470101835159],[-0.5664206678486731,1.356764608889372]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[-0.08701936088483564,-0.9474341826029984,0.71338606911949],"aabb_xy":[[-0.104519294318819,-0.9649341825232329],[-0.06951942745085225,-0.9299341826827638]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.17261554994757222,-1.6166319496551038,0.71338606911949],"aabb_xy":[[0.12261554899703941,-1.6481810966586248],[0.22261555089810503,-1.585082802651582]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[0.19451709076674473,0.9725449903867442,0.71338606911949],"aabb_xy":[[0.1295170897662442,0.9217586252320693],[0.25951709176724524,1.0233313555414192]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[-0.3402676870427721,0.07951422190919466,0.71338606911949],"aabb_xy":[[-0.36811272382337923,0.04872972317088298],[-0.312422650262165,0.11029872064750634]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6448122560115891,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3069.png","name":"3069"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3069.png","name":"3069"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6498.png","name":"6498"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4447.png","name":"4447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2366.png","name":"2366"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5946.png","name":"5946"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":809.5709789225541,"rotation_z_degrees":167.44832937331523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014267455090187415,-0.00022288221468085706,0.013112458201519624]},{"name":"camera_2","offset_m":[0.010142822464578715,0.013950354678898876,-0.011877025328120681]},{"name":"camera_3","offset_m":[-0.010688127385681008,-0.004826418413468673,0.004632153888407778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019657670487007476,-0.0015225763738471257,0.0007984485672927586],"end_effector_yaw_offset_degrees":0.25953190046173846},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016005078987634791,7.794603165346258e-05,0.00013065967297329296],"end_effector_yaw_offset_degrees":0.040995095658773684},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008580638833293568,0.0014171113233932922,-0.0001292166284140293],"end_effector_yaw_offset_degrees":-0.6110730270319151},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005025629977574433,0.0005872081259586906,0.0002692322454210328],"end_effector_yaw_offset_degrees":-0.5802584917553313},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005175035585856178,0.001537980229605703,-0.0008403074311104635],"end_effector_yaw_offset_degrees":-0.9347721060609024},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000583478460899058,0.0014087741502566537,-0.0013746438904299807],"end_effector_yaw_offset_degrees":-0.5183041145941629}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008920140188563219,0.0023043741552800394],"position_m":[0.2725920140188563,0.09070437415528004,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002104896756414636,0.0018014969478343046],"position_m":[0.22940489675641465,-0.33249850305216566,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0005548107087709796,-8.643042304939518e-05],"position_m":[0.27955481070877103,0.3153135695769506,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021088411317881175,-0.002333860198485637],"position_m":[0.1682911588682119,-0.10273386019848564,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c80987a4ed00a7af66612ae0885d057e403c40f588b86f04c2ef441f3e8c3e77","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3069/tex_ceiling_textures_5946/tex_floor_textures_2366/tex_table_textures_6498/tex_wall_textures_4447","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8900031838581164940,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8900031838581164940,"visual_seed":8900031838581164940,"scene_id":"lab_003","finished_at":"2026-09-08T13:48:06"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T13:48:13","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.3459649308892905,0.6370549739223446,0.71338606911949],"aabb_xy":[[0.27596492908054504,0.6157012051581572],[0.4159649326980359,0.6584087426865319]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.046548646972503493,-0.9267406740910837,0.71338606911949],"aabb_xy":[[0.024376119995852652,-0.9489163412472069],[0.06872117394915433,-0.9045650069349606]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.07079589908570783,-2.42697915058482,0.71338606911949],"aabb_xy":[[-0.08990820644368668,-2.4461139294620615],[-0.05168359172772895,-2.4078443717075775]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[0.6454921837439245,1.3612716806400607,0.71338606911949],"aabb_xy":[[0.6358605475234949,1.3516343678603517],[0.6551238199643541,1.3709089934197696]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.2880665202767011,-2.326305789788011,0.71338606911949],"aabb_xy":[[0.25458735301566016,-2.3597849031591185],[0.32154568753774204,-2.2928266764169045]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[0.3719526086298084,-1.839892871082606,0.71338606911949],"aabb_xy":[[0.36402932839106006,-1.8623928713206095],[0.3798758888685567,-1.8173928708446028]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.11457248820946775,1.0588282990431983,0.71338606911949],"aabb_xy":[[-0.18457249160102968,1.0235125253397672],[-0.044572484817905746,1.094144072746629]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[0.12706486674216433,-1.1779171389912135,0.71338606911949],"aabb_xy":[[0.11100293928364667,-1.2629171408038051],[0.14312679420068194,-1.0929171371786215]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.13039051959547265,0.3075930370540192,0.71338606911949],"aabb_xy":[[-0.16789051953923903,0.29929994701918256],[-0.09289051965170622,0.3158861270888557]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.5849502651666358,-0.5906029755289306,0.71338606911949],"aabb_xy":[[-0.6489502643364058,-0.6373696626478931],[-0.5209502659968659,-0.5438362884099681]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.26432494390532124,-0.9080464650382818,0.71338606911949],"aabb_xy":[[0.2465314369704048,-0.9258462106340796],[0.2821184508402377,-0.8902467194424842]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.22705390062039643,1.3045443637132212,0.71338606911949],"aabb_xy":[[0.18955389995581767,1.288857305712999],[0.264553901284975,1.3202314217134434]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[0.5036329409279041,-2.4212014647422375,0.71338606911949],"aabb_xy":[[0.4757879041472969,-2.451985963480549],[0.5314779777085111,-2.390416966003926]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.6625054169974152,0.572738716722482,0.71338606911949],"aabb_xy":[[0.6025054161366022,0.5213122867159955],[0.7225054178582279,0.6241651467289683]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.1356011528227009,-1.7983722757199168,0.71338606911949],"aabb_xy":[[-0.15810115306621633,-1.8105769103796885],[-0.11310115257918554,-1.7861676410601446]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.054836850478928945,-1.8885286602828164,0.71338606911949],"aabb_xy":[[0.0048437383697370615,-1.938528660957012],[0.10482996258812086,-1.8385286596086208]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.19129510466852895,-2.08053560235584,0.71338606911949],"aabb_xy":[[0.1460164897873797,-2.144535601704024],[0.2365737195496782,-2.0165356030076564]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.5254638344300722,-0.7573662135705892,0.71338606911949],"aabb_xy":[[-0.5629638347222469,-0.7614076889711928],[-0.48796383413789723,-0.7533247381699856]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.6070478617562357,1.6181408531989248,0.71338606911949],"aabb_xy":[[-0.6429613661812252,1.58222734498217],[-0.571134357331246,1.654054361415679]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[-0.5400901341261384,-1.5568667405948575,0.71338606911949],"aabb_xy":[[-0.5769406820631259,-1.5943667414178913],[-0.5032395861891507,-1.5193667397718238]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.6884781616535858,-2.294054514868706,0.71338606911949],"aabb_xy":[[-0.6944447005943215,-2.30001565952807],[-0.68251162271285,-2.288093370209342]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_21","position":[-0.15114434541515154,1.2900657277608683,0.71338606911949],"aabb_xy":[[-0.2011443440610727,1.2401461841014056],[-0.10114434676923031,1.3399852714203304]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6446743611684758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8543.png","name":"8543"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3909.png","name":"3909"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9538.png","name":"9538"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2668.png","name":"2668"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":661.5689278005417,"rotation_z_degrees":112.3650559127629,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021062535317258567,0.01080379769927007,-0.0025774769123314036]},{"name":"camera_2","offset_m":[-0.01812363895460444,0.001137158112261255,0.01482939877419508]},{"name":"camera_3","offset_m":[-0.011897033368905298,-0.0025408164264117614,0.0033574131509758534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009160223391609828,0.0018464479052468581,0.0008441006299248883],"end_effector_yaw_offset_degrees":0.8730555715625534},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00019249443183929813,-0.0017612144700842314,-0.0006282388359872453],"end_effector_yaw_offset_degrees":0.12880292949489158},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00031919610592688933,0.001497133164279095,0.001464938245580898],"end_effector_yaw_offset_degrees":-0.9026603742891863},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005990369594079388,-0.00031724349505335295,-0.0012883451299635991],"end_effector_yaw_offset_degrees":-0.4020019062654101},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00032200101197113083,0.0008893351548413227,0.0007871144267654678],"end_effector_yaw_offset_degrees":-0.03294275324595608},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.000949015771904723,-0.0016869207428811296,0.0017564803704478967],"end_effector_yaw_offset_degrees":-0.4853764951562667}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003974268569921368,-0.0008660141301462324],"position_m":[0.2677257314300786,0.08753398586985378,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002496783539072141,0.0027215162287235273],"position_m":[0.22979678353907215,-0.33157848377127647,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0019796864639647785,0.0003712556964241267],"position_m":[0.2809796864639648,0.3157712556964241,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027429715864217084,0.0032940597660219015],"position_m":[0.1731429715864217,-0.0971059402339781,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1b2ee22e9d61e08312022d051542ba045c274c5fc32a34222b315ef879a4badd","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2972/tex_ceiling_textures_2668/tex_floor_textures_9538/tex_table_textures_8543/tex_wall_textures_3909","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8632863028201867061,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8632863028201867061,"visual_seed":8632863028201867061,"scene_id":"lab_003","finished_at":"2026-09-08T13:55:50"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T13:55:58","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.18358554315541065,-1.9304524969262618,0.71338606911949],"aabb_xy":[[-0.2475855424495789,-1.9944386372951162],[-0.11958554386124245,-1.8664663565574078]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.030701216567518563,-0.9981202732223342,0.71338606911949],"aabb_xy":[[-0.09470121296309164,-1.0620835616410678],[0.033298779828054514,-0.9341569848036008]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.10033406298315906,-1.3513790835268007,0.71338606911949],"aabb_xy":[[0.07783764154929496,-1.3738790833335481],[0.12283048441702316,-1.3288790837200533]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.5987075310384589,-1.0691051388335062,0.71338606911949],"aabb_xy":[[-0.6487075323993461,-1.1190830434089218],[-0.5487075296775716,-1.0191272342580906]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.07209069169762994,-2.506684041854897,0.71338606911949],"aabb_xy":[[0.06387614658194594,-2.5153606321525377],[0.0803052368133139,-2.498007451557255]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.08437222155097401,-1.3562511631015959,0.71338606911949],"aabb_xy":[[-0.16437222202118998,-1.3645618707159446],[-0.004372221080758077,-1.3479404554872476]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.606157278099863,-1.7593311541620764,0.71338606911949],"aabb_xy":[[0.5936899199901273,-1.7717964787954001],[0.6186246362095986,-1.7468658295287531]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.5981876831014945,0.1589158520178322,0.71338606911949],"aabb_xy":[[-0.663187684101995,0.10812948686315726],[-0.533187682100994,0.20970221717250714]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.5399217699261094,1.164592557922294,0.71338606911949],"aabb_xy":[[0.5343400982919806,1.1520925581045185],[0.5455034415602382,1.1770925577400695]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.4969810373518595,-1.7959494750773186,0.71338606911949],"aabb_xy":[[0.4517024224707102,-1.8599494744255023],[0.5422596522330088,-1.731949475729135]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.5269235353510346,-1.531062280930505,0.71338606911949],"aabb_xy":[[-0.5613858827491763,-1.5655561633283273],[-0.4924611879528928,-1.4965683985326819]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[0.14861743033188568,-1.486139757252069,0.71338606911949],"aabb_xy":[[0.08461742811147865,-1.5305128413773572],[0.2126174325522927,-1.4417666731267806]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[0.5642802701398639,1.2480107107190386,0.71338606911949],"aabb_xy":[[0.5379914458194233,1.2217392770643873],[0.5905690944603046,1.2742821443736898]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.24722175971521232,1.1494062408404502,0.71338606911949],"aabb_xy":[[0.23637015346633672,1.1385469501127992],[0.2580733659640879,1.1602655315681012]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.17891447658653947,-2.0783586508670115,0.71338606911949],"aabb_xy":[[0.11391447394874599,-2.1298382495664585],[0.24391447922433296,-2.0268790521675646]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.26641264258376096,0.7927840246738138,0.71338606911949],"aabb_xy":[[0.2487370119951626,0.775103808394411],[0.28408827317235924,0.8104642409532165]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.2243053427927817,0.44900667098697467,0.71338606911949],"aabb_xy":[[-0.2819358116800525,0.389006672060264],[-0.1666748739055108,0.5090066699136853]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[0.30893327398247705,1.34471102065383,0.71338606911949],"aabb_xy":[[0.2930487807171519,1.3303580803550057],[0.3248177672478022,1.3590639609526538]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.009660299889379553,1.4231937595605104,0.71338606911949],"aabb_xy":[[-0.04435529639252045,1.359193756668253],[0.06367589617127956,1.4871937624527674]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[0.548562061784629,1.4840867088659047,0.71338606911949],"aabb_xy":[[0.5272840536411566,1.4190867065398314],[0.5698400699281011,1.5490867111919775]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.5344047293496994,0.6805993011604925,0.71338606911949],"aabb_xy":[[0.46440472721826964,0.6578373355347966],[0.6044047314811287,0.7033612667861879]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.4562405111997023,-0.0018665722193387246,0.71338606911949],"aabb_xy":[[-0.5162405117957185,-0.0566790447645622],[-0.39624051060368615,0.052945900325884754]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[0.054418704567897214,-1.8446022835681553,0.71338606911949],"aabb_xy":[[-0.009581296840093454,-1.89639123509208],[0.11841870597588787,-1.7928133320442305]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.5276984502221227,-0.5471121372774297,0.71338606911949],"aabb_xy":[[-0.5314017115512615,-0.5508141555861474],[-0.5239951888929837,-0.5434101189687117]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[0.4959543178156709,-2.008127395918643,0.71338606911949],"aabb_xy":[[0.40595432131479914,-2.054039038337101],[0.5859543143165427,-1.9622157535001847]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.19878456809421408,1.6062815745439347,0.71338606911949],"aabb_xy":[[0.1187845678206071,1.533332026718218],[0.27878456836782106,1.6792311223696514]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[0.4411222411271356,-0.7253954189379432,0.71338606911949],"aabb_xy":[[0.4371617573574013,-0.7330632835234638],[0.44508272489687,-0.7177275543524226]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[-0.1980633122378666,-0.846742712965469,0.71338606911949],"aabb_xy":[[-0.25303703427419955,-0.9017427125297023],[-0.14308959020153375,-0.7917427134012359]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_28","position":[0.5298132788828354,-0.7510484349537712,0.71338606911949],"aabb_xy":[[0.4948132805721399,-0.7587634498773168],[0.5648132771935308,-0.7433334200302255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6429458600786753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9743.png","name":"9743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9743.png","name":"9743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8945.png","name":"8945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4827.png","name":"4827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8186.png","name":"8186"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":653.5407815724192,"rotation_z_degrees":345.8182800017509,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005945830612915114,-0.004899179670687244,-0.00941110206266369]},{"name":"camera_2","offset_m":[-0.01650282250970609,0.019377518554023598,-0.00789299285904991]},{"name":"camera_3","offset_m":[-0.0066966215628197785,0.01140450973426244,-0.005697549072730301]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011837521636461103,0.00164669406472973,-0.001282685673625434],"end_effector_yaw_offset_degrees":-0.8321925074696328},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004217690453419149,0.0009998635803290111,0.0006767932520203865],"end_effector_yaw_offset_degrees":-0.7069623775812695},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013944053803638047,0.0007950651952238065,-0.001994686042177352],"end_effector_yaw_offset_degrees":-0.47818886103018254},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0002527778651360234,-0.0004163023461155348,0.0007798165003761177],"end_effector_yaw_offset_degrees":-0.9357532392905576},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016346950970340282,0.0015679239388707747,-0.0014673464435987756],"end_effector_yaw_offset_degrees":-0.6349122308153308},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018531388525449498,0.0003025079921551966,-0.0019081237231913938],"end_effector_yaw_offset_degrees":-0.273369713314638}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031862246018486964,-0.004775246358717765],"position_m":[0.2685137753981513,0.08362475364128225,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007776908827864977,0.0006406778346607842],"position_m":[0.2265223091172135,-0.3336593221653392,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0041315882128589885,0.004146403243823783],"position_m":[0.283131588212859,0.3195464032438238,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002484417403715702,0.0005231763167353786],"position_m":[0.1679155825962843,-0.09987682368326463,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a959f3017dfcec842903033884663026a790b92a31f63b3e12d0c9dd32da5cd9","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9743/tex_ceiling_textures_8186/tex_floor_textures_4827/tex_table_textures_1442/tex_wall_textures_8945","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3571560131301907889,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3571560131301907889,"visual_seed":3571560131301907889,"scene_id":"lab_003","finished_at":"2026-09-08T14:03:39"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T14:03:47","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.1545512651743668,-1.499027787444369,0.71338606911949],"aabb_xy":[[-0.16247454541311512,-1.5215277876823723],[-0.14662798493561846,-1.4765277872063656]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.03150542400169121,1.6507950924106498,0.71338606911949],"aabb_xy":[[0.006505424449952724,1.640652608545515],[0.05650542355342969,1.6609375762757845]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.017868537795830197,1.417112247849547,0.71338606911949],"aabb_xy":[[-0.02591189772178537,1.3321122467541806],[-0.009825177869875024,1.5021122489449135]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[-0.11303030986209339,0.6242707612326894,0.71338606911949],"aabb_xy":[[-0.1630303108126262,0.5927216142291679],[-0.06303030891156057,0.6558199082362107]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.49517380569710157,1.0030432123956667,0.71338606911949],"aabb_xy":[[0.4351738040541797,0.9510430631037226],[0.5551738073400234,1.055043361687611]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.42094469693780434,-1.4297122372257822,0.71338606911949],"aabb_xy":[[0.414850069049686,-1.4382816317774512],[0.42703932482592266,-1.4211428426741137]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.18877863246225668,1.7184715878051686,0.71338606911949],"aabb_xy":[[-0.2031130575884201,1.7064113722506296],[-0.1744442073360932,1.7305318033597072]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.17076469761356217,-1.0221087503754716,0.71338606911949],"aabb_xy":[[-0.192937224590213,-1.0442844175315948],[-0.14859217063691135,-0.9999330832193484]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.5398702482843658,1.400545806095562,0.71338606911949],"aabb_xy":[[0.5023702470995729,1.396127583399501],[0.5773702494691585,1.404964028791622]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.3977850134675782,-0.9336197194694813,0.71338606911949],"aabb_xy":[[0.3077850137444039,-0.956693072004661],[0.4877850131907523,-0.9105463669343014]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.27691069411550884,-1.9021707204395282,0.71338606911949],"aabb_xy":[[-0.32691069276143003,-1.9520902640989908],[-0.22691069546958764,-1.852251176780066]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.312069581757641,-1.3620464621956794,0.71338606911949],"aabb_xy":[[-0.3191110327083886,-1.369073213933474],[-0.3050281308068934,-1.3550197104578852]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.19888850246792977,-1.5693615213486742,0.71338606911949],"aabb_xy":[[0.1528034112131983,-1.6333615186012294],[0.24497359372266125,-1.5053615240961191]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.4499322754154576,1.4058556761994145,0.71338606911949],"aabb_xy":[[-0.5139322757929912,1.3561104093486023],[-0.38593227503792393,1.4556009430502268]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.2464280978292866,-2.446118213823822,0.71338606911949],"aabb_xy":[[-0.2799072650903276,-2.479597327194929],[-0.2129489305682457,-2.412639100452715]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[-0.15999976748557276,-2.563166823405451,0.71338606911949],"aabb_xy":[[-0.18499976665120588,-2.570119069110808],[-0.13499976831993965,-2.5562145777000946]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.589160372837283,0.14602526656736847,0.71338606911949],"aabb_xy":[[0.5850444227252102,0.14190971153452292],[0.5932763229493555,0.15014082160021391]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.0016804298828680952,1.0804733906088066,0.71338606911949],"aabb_xy":[[-0.008094243526053034,1.074063570361138],[0.004733383760316844,1.0868832108564748]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.16690172461689756,1.1052155942378894,0.71338606911949],"aabb_xy":[[-0.21690099978533373,1.0552155929619422],[-0.1169024494484614,1.1552155955138366]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.14911167127301017,-0.22513783754180183,0.71338606911949],"aabb_xy":[[-0.20911167186902632,-0.2799503100870253],[-0.08911167067699396,-0.17032536499657838]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6446722675353572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/379.png","name":"379"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/379.png","name":"379"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9577.png","name":"9577"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9450.png","name":"9450"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7630.png","name":"7630"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6439.png","name":"6439"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":677.3520364254065,"rotation_z_degrees":347.0198269954297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007420565341959399,-0.01590093203749429,0.0142547399103926]},{"name":"camera_2","offset_m":[0.0023519260789606547,-0.00888618317700801,-0.0038788224917748262]},{"name":"camera_3","offset_m":[-0.009123759575593774,-0.008201527156986285,0.0014000435356083113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003336220652763622,-0.0015362201712064065,0.0002337884388271599],"end_effector_yaw_offset_degrees":-0.011955848081478981},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000570799935519322,0.0007216869834723006,-0.0007166642874045649],"end_effector_yaw_offset_degrees":0.004020051248824874},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007713438439242366,6.458332639702009e-05,0.000776021747848498],"end_effector_yaw_offset_degrees":0.4498850289888636},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0001700583721085205,-0.0008704923624572234,-0.001924824728618662],"end_effector_yaw_offset_degrees":-0.6471037676912443},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016845324369192663,0.0017273129996306573,0.0011026237829186041],"end_effector_yaw_offset_degrees":0.07075402898945815},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012633449633193774,0.0005120840633173361,0.00018520459498001622],"end_effector_yaw_offset_degrees":-0.4316892135006942}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[7.51889516723515e-05,-0.0005211796565385684],"position_m":[0.27177518895167235,0.08787882034346144,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018286687910428314,0.001614146223116739],"position_m":[0.22912866879104282,-0.33268585377688326,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0005114077637958315,0.004761306801390023],"position_m":[0.2784885922362042,0.32016130680139004,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003698291096598861,-0.001345867615863191],"position_m":[0.17409829109659886,-0.1017458676158632,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4f10065592389e7c255aaf1b2e277700482282f9d0ce433cc44058851122c32b","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_379/tex_ceiling_textures_6439/tex_floor_textures_7630/tex_table_textures_9577/tex_wall_textures_9450","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4411081838107207733,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4411081838107207733,"visual_seed":4411081838107207733,"scene_id":"lab_003","finished_at":"2026-09-08T14:11:36"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T14:11:43","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.5836654178552774,-0.6765714731788097,0.71338606911949],"aabb_xy":[[0.5336654168361422,-0.7130376889166377],[0.6336654188744127,-0.6401052574409818]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.46505720207763,-1.559542696190889,0.71338606911949],"aabb_xy":[[0.4428846751009791,-1.581718363347012],[0.4872297290542808,-1.5373670290347659]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.0711472370652787,0.3868083439790797,0.71338606911949],"aabb_xy":[[-0.08805796950162047,0.3733361383864651],[-0.054236504628936914,0.4002805495716942]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.3729272065712122,1.0536235818592017,0.71338606911949],"aabb_xy":[[-0.40855636247117194,1.0179909151023487],[-0.33729805067125246,1.0892562486160546]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.41675591052051425,-0.6771435461278914,0.71338606911949],"aabb_xy":[[-0.46203452540166345,-0.741143545476075],[-0.37147729563936494,-0.6131435467797076]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.6179915944149661,-2.52749541595553,0.71338606911949],"aabb_xy":[[-0.6404907301411931,-2.5499954167337933],[-0.5954924586887391,-2.504995415177267]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.504775288488323,-1.511693975690395,0.71338606911949],"aabb_xy":[[-0.584775286469108,-1.5192955166522468],[-0.424775290507538,-1.504092434728543]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.014232049379638734,-1.0552770843091086,0.71338606911949],"aabb_xy":[[-0.016166061719504854,-1.085683986310778],[0.044630160478782314,-1.0248701823074389]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.13531248156248354,-2.405197743682865,0.71338606911949],"aabb_xy":[[0.05531248454823556,-2.4253322953562764],[0.21531247857673153,-2.3850631920094534]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.12701927279568426,0.07002542376884158,0.71338606911949],"aabb_xy":[[-0.14613158015366312,0.05089064489159956],[-0.1079069654377054,0.0891602026460836]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.27403479835067407,0.926881901530169,0.71338606911949],"aabb_xy":[[-0.32403479963451404,0.8769030471395468],[-0.22403479706683413,0.976860755920791]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.23893596642736992,-0.5513498378255264,0.71338606911949],"aabb_xy":[[-0.24543760293537456,-0.5611176598518361],[-0.23243432991936533,-0.5415820157992166]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.5215685174627329,0.6358577264962331,0.71338606911949],"aabb_xy":[[0.5167249227015029,0.631006074017249],[0.5264121122239629,0.6407093789752172]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.4616971432326774,0.025886776428894365,0.71338606911949],"aabb_xy":[[-0.4895421800132846,-0.004897722309417315],[-0.43385210645207034,0.05667127516720605]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.31404696518122727,1.6206627729023633,0.71338606911949],"aabb_xy":[[-0.33154696445931414,1.6033246728360173],[-0.2965469659031404,1.6380008729687092]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.08159458826253974,1.3868001002719286,0.71338606911949],"aabb_xy":[[-0.08756112720327551,1.3808389556125642],[-0.07562804932180393,1.3927612449312925]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.37972593651247477,-0.8013074167279437,0.71338606911949],"aabb_xy":[[0.3422259363406028,-0.8340081521108508],[0.41722593668434665,-0.7686066813450364]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.05076583874417828,-2.273587965403223,0.71338606911949],"aabb_xy":[[-0.06965022251268849,-2.292473890183576],[-0.031881454975668085,-2.2547020406228704]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[-0.5850694150330538,1.7051203682542835,0.71338606911949],"aabb_xy":[[-0.5948254045422277,1.6953578341950488],[-0.5753134255238799,1.7148829023135177]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.3945080305450186,-2.4583414599730964,0.71338606911949],"aabb_xy":[[-0.4845080270458903,-2.504253102391554],[-0.3045080340441468,-2.4124298175546377]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.08484095877363462,-2.1549441276630894,0.71338606911949],"aabb_xy":[[-0.09210220634404202,-2.167731137926599],[-0.0775797112032272,-2.14215711739958]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.16351887910424456,-1.5625072406643468,0.71338606911949],"aabb_xy":[[0.15028793356956324,-1.5757346596863462],[0.17674982463892583,-1.5492798216423473]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[0.17847126748975117,1.664878407626491,0.71338606911949],"aabb_xy":[[0.15518942529161983,1.5798784063292632],[0.20175310968788251,1.7498784089237194]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.22567014986838185,1.3607491624031676,0.71338606911949],"aabb_xy":[[-0.22978609998045446,1.3566336073703218],[-0.22155419975630913,1.364864717436013]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[-0.3286927448372587,-0.362626389133315,0.71338606911949],"aabb_xy":[[-0.3786877557967108,-0.41262638816890684],[-0.2786977338778067,-0.31262639009772336]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[0.3041112658450512,-0.9817385091008646,0.71338606911949],"aabb_xy":[[0.3000331079380015,-0.985819489349128],[0.30818942375210095,-0.9776575288526014]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.012908690252530164,-1.6147007530614141,0.71338606911949],"aabb_xy":[[-0.09290869241529265,-1.6946559366875578],[0.06709131191023232,-1.5347455694352705]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.4599137044173941,-1.2109445310289215,0.71338606911949],"aabb_xy":[[-0.5098867699499097,-1.2609445308414546],[-0.40994063888487875,-1.1609445312163889]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[0.41549244162210264,0.9170735374927741,0.71338606911949],"aabb_xy":[[0.39799244248773546,0.9071939104551862],[0.4329924407564698,0.9269531645303618]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[0.51733351157529,-1.0199589486204006,0.71338606911949],"aabb_xy":[[0.4323335131578667,-1.1048332440826856],[0.6023335099927132,-0.9350846531581156]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_30","position":[0.16278153592516198,-0.8569425774445574,0.71338606911949],"aabb_xy":[[0.1252815355769342,-0.8687339730256408],[0.2002815362733897,-0.8451511818634737]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[-0.2767573620737758,-1.7013025783413576,0.71338606911949],"aabb_xy":[[-0.3407573591858815,-1.7503349481357684],[-0.21275736496167014,-1.6522702085469472]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_32","position":[0.5940459016237991,-1.4467295688762085,0.71338606911949],"aabb_xy":[[0.5764992067076802,-1.4842295704404598],[0.611592596539918,-1.4092295673119573]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6460454141370496,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9913.png","name":"9913"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9913.png","name":"9913"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2226.png","name":"2226"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6210.png","name":"6210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1677.png","name":"1677"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8969.png","name":"8969"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":627.2901500805268,"rotation_z_degrees":271.8939500137049,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014183156272327824,-0.0009271740165418853,0.019902652710175942]},{"name":"camera_2","offset_m":[0.008258365854510449,-0.015744375208245672,-0.009027327773830831]},{"name":"camera_3","offset_m":[0.014909123549858936,-0.009454322049381982,0.0031671444687222695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00031151044310916316,0.00023730288706774174,-0.001181966138119801],"end_effector_yaw_offset_degrees":-0.8695955612885948},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001256232233832139,0.00013157324366893123,0.0008508001351074028],"end_effector_yaw_offset_degrees":-0.1712607365055714},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019294052928974144,-0.0005338146292131042,0.0004183705210269997],"end_effector_yaw_offset_degrees":0.7887480031369092},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001752060349507317,0.0013203616671228872,0.0019326158872051023],"end_effector_yaw_offset_degrees":-0.999995737059935},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0006644706006062174,-0.0014061719218267927,0.00031132445846335666],"end_effector_yaw_offset_degrees":0.44300019255029466},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0009209784423229346,-0.0003334397258150186,-0.0002881868508037462],"end_effector_yaw_offset_degrees":0.6177662891151412}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000370401210014866,-0.0026349293542758134],"position_m":[0.27132959878998514,0.0857650706457242,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005580578275924918,-0.003122255819676174],"position_m":[0.2278580578275925,-0.33742225581967616,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0002732316302596627,0.000793240569312648],"position_m":[0.27872676836974036,0.31619324056931264,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029473041428071944,0.004337231765939584],"position_m":[0.1674526958571928,-0.09606276823406042,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9f462d284b7c60e4a2caa344a4382025a3728c1cefd91fe898ac4befbf392bf2","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9913/tex_ceiling_textures_8969/tex_floor_textures_1677/tex_table_textures_2226/tex_wall_textures_6210","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5036456222944710441,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5036456222944710441,"visual_seed":5036456222944710441,"scene_id":"lab_003","finished_at":"2026-09-08T14:19:17"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T14:36:37","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.4397018102352249,1.579887778881869,0.71338606911949],"aabb_xy":[[-0.48970180981155975,1.5299071999297633],[-0.3897018106588903,1.6298683578339752]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.18871128676619253,-1.5917585737780524,0.71338606911949],"aabb_xy":[[-0.1967546466921477,-1.6767585748734188],[-0.18066792684023736,-1.506758572682686]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.17287727026982902,0.2720705377188781,0.71338606911949],"aabb_xy":[[-0.23687726669715095,0.22490091389678168],[-0.10887727384250714,0.31924016154097457]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.37591526302027334,-2.4882075906047088,0.71338606911949],"aabb_xy":[[0.31191526662470026,-2.5521708790234423],[0.4399152594158464,-2.424244302185975]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.4659358358776391,1.2501069890965812,0.71338606911949],"aabb_xy":[[0.42843583508564353,1.243739148138391],[0.5034358366696344,1.2564748300547715]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.35112176255529887,-0.01902590277468219,0.71338606911949],"aabb_xy":[[-0.35555239191013904,-0.02447427450936479],[-0.3466911332004587,-0.01357753103999959]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[-0.6039068147956446,1.4428942579402508,0.71338606911949],"aabb_xy":[[-0.6539068161565318,1.3929163533648352],[-0.5539068134347573,1.4928721625156665]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.5891497679549665,-2.3348677384016603,0.71338606911949],"aabb_xy":[[-0.6266497665305872,-2.347604034065218],[-0.5516497693793456,-2.322131442738102]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[0.3812338465513523,0.9229887988768453,0.71338606911949],"aabb_xy":[[0.31723384629088147,0.8779799995239173],[0.4452338468118231,0.9679975982297733]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.12205556364564119,1.1092991509035546,0.71338606911949],"aabb_xy":[[0.11413228340689285,1.086799150665551],[0.12997884388438952,1.1317991511415577]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.5792499537714568,-0.2002602910108111,0.71338606911949],"aabb_xy":[[0.56408708079452,-0.21542574830592992],[0.5944128267483941,-0.18509483371569238]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.007304632853181392,1.3834828121219123,0.71338606911949],"aabb_xy":[[-0.03181825695018725,1.3592182188198758],[0.017208991243824467,1.4077474054239487]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.08112828256269244,-0.7228949857139708,0.71338606911949],"aabb_xy":[[-0.09153984124317613,-0.7282407190498692],[-0.0707167238822087,-0.7175492523780722]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.43090866081549045,0.697240539727694,0.71338606911949],"aabb_xy":[[-0.4860338664450812,0.6372405382864067],[-0.3757834551858996,0.757240541168981]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.059491601575966335,-2.2518597237235474,0.71338606911949],"aabb_xy":[[-0.02050839708091967,-2.2663645826478103],[0.13949160023285234,-2.2373548647992845]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.29119166911878724,-1.0299308752199992,0.71338606911949],"aabb_xy":[[-0.34119167006932,-1.0614800222235203],[-0.24119166816825438,-0.9983817282164775]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.5839519342701432,1.208320987718773,0.71338606911949],"aabb_xy":[[-0.6689519326875665,1.123446692256488],[-0.49895193585272,1.293195283181058]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.49673556180442496,-1.006420119633844,0.71338606911949],"aabb_xy":[[-0.5817355604964995,-1.038405983028723],[-0.41173556311235027,-0.9744342562389652]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.06304739006212079,-1.9400703346366348,0.71338606911949],"aabb_xy":[[0.05746571842799204,-1.95257033445441],[0.06862906169624955,-1.927570334818859]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.024187954966070957,1.1340497645927434,0.71338606911949],"aabb_xy":[[-0.02361821264769769,1.0690497618856845],[0.0719941225798396,1.1990497672998024]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.4422760380028636,-1.2021544764066872,0.71338606911949],"aabb_xy":[[-0.5122760398116091,-1.2235082451708745],[-0.3722760361941182,-1.1808007076424998]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.17082030643828916,-1.8463157817352067,0.71338606911949],"aabb_xy":[[0.1358203072454709,-1.8572828277328695],[0.20582030563110743,-1.835348735737544]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[0.560611460714149,-1.6659536903587235,0.71338606911949],"aabb_xy":[[0.4806114592840218,-1.7454708453713328],[0.6406114621442762,-1.5864365353461138]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.16196931661479808,-0.13130141477786728,0.71338606911949],"aabb_xy":[[-0.16592980038453245,-0.13896927936338788],[-0.1580088328450637,-0.12363355019234668]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[-0.636724296668302,-0.621417416287801,0.71338606911949],"aabb_xy":[[-0.6717242966447978,-0.6308820323354176],[-0.6017242966918062,-0.6119528002401844]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_25","position":[-0.35848982710066585,-0.6086319328323828,0.71338606911949],"aabb_xy":[[-0.375591905059034,-0.6257387383636526],[-0.3413877491422977,-0.5915251273011131]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[0.6570587437549593,0.58390710693789,0.71338606911949],"aabb_xy":[[0.5970587428941463,0.5324806769314034],[0.7170587446157719,0.6353335369443762]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[-0.5166302149558281,0.096471903361524,0.71338606911949],"aabb_xy":[[-0.5247579031491414,0.08755829495081635],[-0.508502526762515,0.10538551177223165]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_28","position":[0.4079388557064909,-1.8466545336973206,0.71338606911949],"aabb_xy":[[0.39636987495955434,-1.8716545338142523],[0.4195078364534275,-1.8216545335803889]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[0.549613206315714,-0.6220032241694442,0.71338606911949],"aabb_xy":[[0.5263313641175825,-0.7070032254666722],[0.5728950485138452,-0.537003222872216]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_30","position":[0.13233261743563518,1.8189991919919994,0.71338606911949],"aabb_xy":[[0.11970583014843883,1.8094531182904263],[0.14495940472283153,1.8285452656935721]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[0.5930054263914526,0.4279221935816495,0.71338606911949],"aabb_xy":[[0.5626073152923089,0.39751529157997995],[0.6234035374905961,0.45832909558331897]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_32","position":[0.5004302726270933,1.6155379250927733,0.71338606911949],"aabb_xy":[[0.4204302740397739,1.5362223231546124],[0.5804302712144127,1.6948535270309342]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_33","position":[0.4701581716644969,0.10298162238869413,0.71338606911949],"aabb_xy":[[0.4631167207137493,0.09595487065089958],[0.4771996226152445,0.11000837412648867]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6448432364289566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2821.png","name":"2821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2821.png","name":"2821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4121.png","name":"4121"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9507.png","name":"9507"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8674.png","name":"8674"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4954.png","name":"4954"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":810.2281726812491,"rotation_z_degrees":188.07685754745296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01775545302583531,0.015305766469677701,0.010966040583640955]},{"name":"camera_2","offset_m":[0.0064929607604912905,-0.007095010042727185,0.013465899453692327]},{"name":"camera_3","offset_m":[0.017756543038136143,0.007310548581350405,-0.008034452675428762]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00038268497397768095,-0.001209095118681733,-0.0013255554418211842],"end_effector_yaw_offset_degrees":-0.6908951028623174},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00046798845437620346,0.0015546065427847109,-0.0015791754444563386],"end_effector_yaw_offset_degrees":0.23445754735020707},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00043334240347862266,-0.0016314233022736975,-0.001068241329983771],"end_effector_yaw_offset_degrees":-0.9098598874623285},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019627149962185312,0.00013530892984694922,0.0013579213538941646],"end_effector_yaw_offset_degrees":-0.9319038128410657},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0006094474631607042,-0.0013847063868308324,0.0011147857814112153],"end_effector_yaw_offset_degrees":0.07899617468292797},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011942504819648279,-0.0008288597762418607,3.593244858733158e-05],"end_effector_yaw_offset_degrees":-0.19845334273489112}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014201171125760516,0.003626858789213935],"position_m":[0.27027988288742394,0.09202685878921395,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007675754573258538,-0.0004701342005837949],"position_m":[0.22806757545732587,-0.33477013420058377,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003765704137295129,-0.002655583317800565],"position_m":[0.27523429586270487,0.31274441668219943,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004467450112302452,0.00038089920451522385],"position_m":[0.16593254988769754,-0.10001910079548477,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"bcfffcc8e7a0752b4425ec317e870ea764d27362fb24fce7a2bc8a7a90b76448","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2821/tex_ceiling_textures_4954/tex_floor_textures_8674/tex_table_textures_4121/tex_wall_textures_9507","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8737272022033758710,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8737272022033758710,"visual_seed":8737272022033758710,"scene_id":"lab_003","finished_at":"2026-09-08T14:44:30"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T14:44:39","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.4721214150562374,0.5456440227618362,0.71338606911949],"aabb_xy":[[0.4518371123328385,0.5253613976191273],[0.49240571777963604,0.5659266479045449]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.07054247293683391,0.7901283078150021,0.71338606911949],"aabb_xy":[[0.05537030365520057,0.7749594508867987],[0.08571464221846725,0.8052971647432055]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.35575134342262915,1.7313665266321396,0.71338606911949],"aabb_xy":[[0.32946251910218843,1.705095092977488],[0.38204016774306976,1.7576379602867904]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.5712602538775348,0.18710158718130732,0.71338606911949],"aabb_xy":[[-0.6162528405959852,0.14210158790685856],[-0.5262676671590844,0.23210158645575607]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.2844440737321832,1.469036500805919,0.71338606911949],"aabb_xy":[[-0.3644440706952224,1.3919608591621453],[-0.20444407676914406,1.5461121424496922]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.44350901516556074,-1.1459212889074961,0.71338606911949],"aabb_xy":[[0.40600901658993993,-1.1586575845710538],[0.48100901374118155,-1.133184993243938]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.14438650785619556,-0.6659728373796241,0.71338606911949],"aabb_xy":[[0.13522662891231896,-0.6725040554231612],[0.15354638680007215,-0.659441619336087]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.5875160043261052,0.16976598489078176,0.71338606911949],"aabb_xy":[[0.5782223860889545,0.13226598640264786],[0.5968096225632556,0.20726598337891566]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.5081462344548962,-2.171729508061278,0.71338606911949],"aabb_xy":[[-0.5431462358063778,-2.1920892440180983],[-0.47314623310341436,-2.1513697721044567]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.1548842898270939,-2.2172147487023954,0.71338606911949],"aabb_xy":[[-0.166756372838595,-2.302214748396046],[-0.1430122068155928,-2.132214749008745]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.3213862524375209,-1.5945403276134082,0.71338606911949],"aabb_xy":[[-0.343882673871385,-1.617040327420156],[-0.2988898310036568,-1.572040327806661]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[-0.4869834723149851,0.5096497470425936,0.71338606911949],"aabb_xy":[[-0.4956974413649196,0.4871497463834053],[-0.47826950326505063,0.5321497477017817]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.6752257294012165,0.8171584587112024,0.71338606911949],"aabb_xy":[[0.6527257291577012,0.8049538240514306],[0.697725729644732,0.8293630933709745]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.36935305849740696,1.3049617537452445,0.71338606911949],"aabb_xy":[[0.3518530592193201,1.2876236536788983],[0.38685305777549384,1.3222998538115902]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.13255790705839365,-1.48735783372268,0.71338606911949],"aabb_xy":[[-0.19655790436074003,-1.5317242606905368],[-0.06855790975604723,-1.4429914067548233]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.4383210633778849,1.62430164209808,0.71338606911949],"aabb_xy":[[0.4302847286766,1.6162635227936633],[0.4463573980791697,1.6323397614024968]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.2458021074435907,-0.3116518643882773,0.71338606911949],"aabb_xy":[[-0.28330210810816936,-0.32733892238849943],[-0.20830210677901198,-0.29596480638805506]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.26459661841972565,-1.4424692348589714,0.71338606911949],"aabb_xy":[[-0.27262288905035165,-1.451220729836324],[-0.25657034778909965,-1.4337177398816188]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[0.504626388304199,-2.389067094944978,0.71338606911949],"aabb_xy":[[0.4546263888640034,-2.4390350194292942],[0.5546263877443947,-2.3390991704606616]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.16546081413721614,0.4521004993019204,0.71338606911949],"aabb_xy":[[-0.1748782887070789,0.44268432216420134],[-0.1560433395673534,0.4615166764396394]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.6521527856627176,-2.5093453751999153,0.71338606911949],"aabb_xy":[[0.6146527854908456,-2.542046110582822],[0.6896527858345894,-2.4766446398170077]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[0.21158971839441232,0.6175833199132685,0.71338606911949],"aabb_xy":[[0.1515897185478455,0.5607646977202297],[0.2715897182409791,0.6744019421063071]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.5134643724369549,-1.6791820202518397,0.71338606911949],"aabb_xy":[[-0.5834643688469164,-1.699619955903521],[-0.4434643760269929,-1.6587440846001575]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[0.7086811457669102,0.42431358098253025,0.71338606911949],"aabb_xy":[[0.6943467206407467,0.41225336542799146],[0.7230155708930736,0.43637379653706915]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.4495721488266684,-1.6144740260965793,0.71338606911949],"aabb_xy":[[0.4349287432726354,-1.6291327457533633],[0.4642155543807014,-1.5998153064397949]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.5187194512908972,-2.5591558207276632,0.71338606911949],"aabb_xy":[[0.49371945135837936,-2.5660384889485863],[0.5437194512234151,-2.55227315250674]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[-0.39617512194178756,-0.8068000597229452,0.71338606911949],"aabb_xy":[[-0.4136751210761547,-0.8166796867605329],[-0.37867512280742033,-0.7969204326853573]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.5316635344854563,-1.2969295729311496,0.71338606911949],"aabb_xy":[[0.5147528020491144,-1.3104017785237643],[0.548574266921798,-1.283457367338535]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[0.6319004264814574,-0.6073985203569612,0.71338606911949],"aabb_xy":[[0.5819216179711415,-0.6573985203626799],[0.6818792349917733,-0.5573985203512423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6450271669524186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8105.png","name":"8105"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8105.png","name":"8105"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9766.png","name":"9766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/948.png","name":"948"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4531.png","name":"4531"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/242.png","name":"242"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":730.3061717069854,"rotation_z_degrees":291.8830471148505,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017607974654118695,0.010688346681717933,0.019081577755488254]},{"name":"camera_2","offset_m":[0.0055584074060618695,-0.0126008764444226,-0.009925867474432516]},{"name":"camera_3","offset_m":[0.016480574385942883,0.002310758284924018,-0.019863440694854812]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014021871390895546,0.0006760070429996769,-0.001110861941117466],"end_effector_yaw_offset_degrees":0.5221004957245832},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017939585424804842,0.000938334945198471,-0.0005700677522891078],"end_effector_yaw_offset_degrees":-0.43714612297435473},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015697270125667178,0.0004885038748560712,-0.0002811419130263836],"end_effector_yaw_offset_degrees":-0.9471983345687027},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014797119646876489,7.330448702515041e-05,0.001557087991169328],"end_effector_yaw_offset_degrees":-0.6443498276515742},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00015313651260513055,-0.001532030389264671,0.00041716951911472105],"end_effector_yaw_offset_degrees":-0.9285534519092029},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002990745915025369,-0.0018423031063994069,-0.000331424064819048],"end_effector_yaw_offset_degrees":0.04753278244681303}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003635707670801366,-0.002668328934794236],"position_m":[0.26806429232919865,0.08573167106520577,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028532975260143435,0.002630026997321625],"position_m":[0.23015329752601435,-0.33166997300267836,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002599344168449623,-0.0008274903654733219],"position_m":[0.2764006558315504,0.3145725096345267,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00486093653348428,0.003965325541488279],"position_m":[0.17526093653348426,-0.09643467445851173,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8c2334fb26674cd9b98e4cdb36cd2f219ba6a9afc3932d28dc698470a4785bc1","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8105/tex_ceiling_textures_242/tex_floor_textures_4531/tex_table_textures_9766/tex_wall_textures_948","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8544718500540990743,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8544718500540990743,"visual_seed":8544718500540990743,"scene_id":"lab_003","finished_at":"2026-09-08T14:52:43"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T14:52:50","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.3433734325176834,1.2401263883847884,0.71338606911949],"aabb_xy":[[0.3058734321694556,1.2283349928037048],[0.38087343286591113,1.251917783965872]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[0.5705207663497891,-2.0022078157813388,0.71338606911949],"aabb_xy":[[0.5530207660904526,-2.016299357970112],[0.5880207666091258,-1.9881162735925666]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.0877434723284305,0.6177940593210387,0.71338606911949],"aabb_xy":[[-0.1517434743781625,0.5776995762317306],[-0.02374347027869851,0.6578885424103466]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.03256651376062292,-1.5168835775995466,0.71338606911949],"aabb_xy":[[-0.017433487600264298,-1.566861482174962],[0.08256651512151014,-1.4669056730241308]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.15251759901524697,1.2535797766012204,0.71338606911949],"aabb_xy":[[0.10251759943891228,1.2035991976491147],[0.20251759859158172,1.3035603555533266]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.4548826858603278,-1.6860438433615448,0.71338606911949],"aabb_xy":[[-0.4621439334307353,-1.6988308536250545],[-0.44762143828992046,-1.6732568330980355]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[0.19407592803927698,-1.6888505233235769,0.71338606911949],"aabb_xy":[[0.1391022060029441,-1.74385052288781],[0.24904965007560986,-1.6338505237593437]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[0.02050804801759032,-2.4770698525430337,0.71338606911949],"aabb_xy":[[-0.05949195225601665,-2.55001940036875],[0.10050804829119729,-2.4041203047173165]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[0.20070931949563464,-0.9820558205647805,0.71338606911949],"aabb_xy":[[0.19259566482225754,-0.9901616370188094],[0.20882297416901174,-0.9739500041107513]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.4599440502643365,-2.5368239312674983,0.71338606911949],"aabb_xy":[[-0.47582854352966164,-2.551176871566322],[-0.44405955699901134,-2.5224709909686744]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.16198286393174233,-1.9408553006325202,0.71338606911949],"aabb_xy":[[-0.17961569952526987,-1.958478246648143],[-0.14435002833821473,-1.923232354616897]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.4976000525419284,0.21847763535406806,0.71338606911949],"aabb_xy":[[0.47510005272802597,0.2140030189835874],[0.5201000523558308,0.22295225172454877]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.31122227020066284,1.7521116360139115,0.71338606911949],"aabb_xy":[[0.2738909936754202,1.7174585812190593],[0.3485535467259054,1.7867646908087638]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.08388800013078535,-1.2425066216208511,0.71338606911949],"aabb_xy":[[-0.1338872752992215,-1.2925066228967985],[-0.033888724962349195,-1.1925066203449042]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.3805704204392251,-0.016516013128493157,0.71338606911949],"aabb_xy":[[-0.43054783730447865,-0.06651601461774169],[-0.3305930035739715,0.03348398836075538]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[-0.4245825395566704,-0.2277942792103973,0.71338606911949],"aabb_xy":[[-0.436350726351328,-0.31279427911561886],[-0.41281435276201295,-0.14279427930517574]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.34723367314066084,-0.8679194509538479,0.71338606911949],"aabb_xy":[[-0.38100923233135375,-0.8819579461670127],[-0.3134581139499678,-0.8538809557406827]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.6030895835536709,1.01876379650095,0.71338606911949],"aabb_xy":[[-0.6144513182069571,1.0073953300946619],[-0.5917278489003848,1.030132262907238]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.5473469231717352,-1.3822736841097099,0.71338606911949],"aabb_xy":[[-0.6310691486718176,-1.4722736876444056],[-0.4636246976716527,-1.2922736805750137]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.5362471080580071,0.5436504216756859,0.71338606911949],"aabb_xy":[[0.5282536182627251,0.5356522897352104],[0.5442405978532892,0.5516485536161616]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.398226579147163,0.9567644998427172,0.71338606911949],"aabb_xy":[[-0.41286998470119596,0.9421057801859328],[-0.38358317359313,0.9714232194995013]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[-0.5814972028990669,-1.5707469380019392,0.71338606911949],"aabb_xy":[[-0.6039972029092152,-1.5848431576415427],[-0.5589972028889186,-1.5566507183623361]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.6320306734108114,-1.0346737448446037,0.71338606911949],"aabb_xy":[[0.6008837545672283,-1.104673743531411],[0.6631775922543945,-0.9646737461577966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6386737806588452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6705.png","name":"6705"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7306.png","name":"7306"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5830.png","name":"5830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6925.png","name":"6925"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":829.3406380361494,"rotation_z_degrees":279.4169651635698,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015708464156808766,0.012880925750188694,-0.01699909396021125]},{"name":"camera_2","offset_m":[-0.011887711350444046,0.008218417628926323,-0.014286277646531245]},{"name":"camera_3","offset_m":[0.013078466202999645,0.0026881541540313275,-0.01430464484286516]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009548069188816195,-0.0009993845950428569,-0.0009635569749497429],"end_effector_yaw_offset_degrees":-0.438278117104385},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005318584717397394,-0.001249918460728546,-0.0018439032182978959],"end_effector_yaw_offset_degrees":-0.5452207274235694},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001734153632512205,0.0015330629455300405,0.0017955062739233953],"end_effector_yaw_offset_degrees":-0.7432561193601988},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011847076237749732,-0.0006430225487379997,0.0010253596151802986],"end_effector_yaw_offset_degrees":-0.931199383821574},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006441821532512323,0.0013687526459733742,-0.0015481593977848362],"end_effector_yaw_offset_degrees":0.018707326019232084},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00038407990490141363,-0.00023574125776974417,-0.0011536355500428707],"end_effector_yaw_offset_degrees":-0.06308045475920787}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004660345636046345,-0.0008577818695019194],"position_m":[0.26703965436395366,0.08754221813049809,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00448314092324817,0.0027693107048892005],"position_m":[0.22281685907675183,-0.33153068929511076,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004823715578018942,0.0019466644719529549],"position_m":[0.28382371557801894,0.317346664471953,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008197717742513665,0.0016428681570689243],"position_m":[0.17121977177425135,-0.09875713184293108,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2ed722ac3d77a6f0f5144ace3437e1cbcd0d203abf9a6ba9c14999dc46728334","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6430/tex_ceiling_textures_6925/tex_floor_textures_5830/tex_table_textures_6705/tex_wall_textures_7306","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4055411425742812572,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4055411425742812572,"visual_seed":4055411425742812572,"scene_id":"lab_003","finished_at":"2026-09-08T15:00:23"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T15:00:31","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.05379363199002973,-1.9570688271220416,0.71338606911949],"aabb_xy":[[-0.11779363128419795,-2.0210549674908957],[0.010206367304138486,-1.8930826867531876]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.2229050146656938,-1.513765431400602,0.71338606911949],"aabb_xy":[[0.20262071194229503,-1.5340480565433108],[0.24318931738909255,-1.493482806257893]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.4566548708405902,-0.5965540841422192,0.71338606911949],"aabb_xy":[[0.4288098340599831,-0.6273385828805309],[0.4844999076211973,-0.5657695854039075]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.27669242037403,-2.3779193389071054,0.71338606911949],"aabb_xy":[[-0.3406924195438,-2.4246860260260674],[-0.2126924212042601,-2.3311526517881425]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.4243356035902732,-0.6958701527243571,0.71338606911949],"aabb_xy":[[0.3443356031200573,-0.7041808603387055],[0.5043356040604892,-0.6875594451100088]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.5651220582615426,1.0552730668232746,0.71338606911949],"aabb_xy":[[-0.6451220596916697,0.9757559118106651],[-0.4851220568314153,1.134790221835884]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.40994011849694,-2.1771807048641056,0.71338606911949],"aabb_xy":[[0.4023158504067618,-2.18481392840065],[0.4175643865871183,-2.1695474813275624]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.5609603245926016,0.6371201983214765,0.71338606911949],"aabb_xy":[[-0.6509603210934732,0.5912085559030181],[-0.4709603280917298,0.6830318407399346]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.4528532048283447,-1.725896752030114,0.71338606911949],"aabb_xy":[[0.42656438050790396,-1.7521681856847653],[0.4791420291487853,-1.6996253183754628]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[0.05262615915263957,-1.721735090501321,0.71338606911949],"aabb_xy":[[-0.03737383944183037,-1.7379856768147421],[0.14262615774710952,-1.7054845041879]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.24064584658038313,-1.3188539689751666,0.71338606911949],"aabb_xy":[[0.17064584394379673,-1.3389588339710317],[0.3106458492169694,-1.2987491039793007]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.3836253306370625,1.6997679662300684,0.71338606911949],"aabb_xy":[[-0.4014188375719789,1.6819682206342708],[-0.365831823702146,1.717567711825866]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[0.5073814493773185,-2.317207164443525,0.71338606911949],"aabb_xy":[[0.4861034412338463,-2.3822071667695974],[0.5286594575207908,-2.2522071621174513]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[0.1316547581014419,1.3864807797184433,0.71338606911949],"aabb_xy":[[0.12607308646731313,1.373980779900668],[0.13723642973557065,1.398980779536219]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[0.5207834593216214,1.3560985845835636,0.71338606911949],"aabb_xy":[[0.45078345719019175,1.3333366189578675],[0.5907834614530508,1.3788605502092588]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.4561778948828261,-0.7801623059897329,0.71338606911949],"aabb_xy":[[0.44357519574574966,-0.7927577022145984],[0.4687805940199026,-0.7675669097648674]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.1041258600926418,0.6418225706664464,0.71338606911949],"aabb_xy":[[-0.1113871076630492,0.629035560402937],[-0.09686461252223437,0.6546095809299559]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.003334146409328609,-1.5040669763270578,0.71338606911949],"aabb_xy":[[-0.014695881062614768,-1.5154354427333454],[0.00802758824395755,-1.4926985099207692]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.36557310109130475,-2.1750236555874083,0.71338606911949],"aabb_xy":[[-0.40016418394534997,-2.2400236558724393],[-0.33098201823725953,-2.1100236553023772]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.34348356934351654,-1.0822729453929,0.71338606911949],"aabb_xy":[[0.3084835694474976,-1.09064718090484],[0.37848356923953536,-1.0738987098809598]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.18379906339304497,-1.8348016462654189,0.71338606911949],"aabb_xy":[[-0.263799062049931,-1.8493065051896815],[-0.10379906473615896,-1.8202967873411562]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.1319244301102288,-0.97035583846605,0.71338606911949],"aabb_xy":[[-0.14950273229917566,-0.9879303280401549],[-0.11434612792128196,-0.9527813488919451]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.058033314279203885,-2.2189271104623876,0.71338606911949],"aabb_xy":[[-0.08303331383094237,-2.2290695943275223],[-0.033033314727465395,-2.208784626597253]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.10619094596218714,0.19403649198525708,0.71338606911949],"aabb_xy":[[-0.11260475960537207,0.1876266717375887],[-0.09977713231900219,0.2004463122329254]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.3261098271103415,0.280802768038352,0.71338606911949],"aabb_xy":[[-0.3636098286259732,0.2695759950222069],[-0.28860982559470977,0.292029541054497]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[0.49792027409661643,0.44926547941618233,0.71338606911949],"aabb_xy":[[0.44792027465642076,0.399297554931866],[0.547920273536812,0.4992334039004986]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.6260605967485521,-0.9103382378432245,0.71338606911949],"aabb_xy":[[-0.6411628982095701,-0.9254397594742861],[-0.6109582952875339,-0.8952367162121625]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_27","position":[0.13875559695041406,0.9434657352677207,0.71338606911949],"aabb_xy":[[0.0934769820692648,0.8794657359195369],[0.18403421183156332,1.0074657346159044]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.5121128785535767,0.5844467483745617,0.71338606911949],"aabb_xy":[[0.47526233061658907,0.5469467475515278],[0.5489634264905643,0.6219467491975953]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[0.6183619957660498,-2.4424389839161615,0.71338606911949],"aabb_xy":[[0.5755952888866297,-2.506438987337964],[0.6611287026454701,-2.378438980494359]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_30","position":[0.2778027420576461,0.5927695629782916,0.71338606911949],"aabb_xy":[[0.252802742892013,0.5858173172729352],[0.3028027412232792,0.5997218086836483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6465107055732773,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7009.png","name":"7009"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7009.png","name":"7009"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9961.png","name":"9961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5645.png","name":"5645"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5766.png","name":"5766"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":707.5749040099945,"rotation_z_degrees":201.12783039797054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0046607773536319515,-0.0011126427613676604,0.0057512183620519255]},{"name":"camera_2","offset_m":[-0.006888093034475289,0.01790693514975091,0.015385460628721013]},{"name":"camera_3","offset_m":[0.004626832216507691,0.002892158036707105,-0.00593980935275952]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012961208347774074,0.0002866870198341472,0.0019961553747509624],"end_effector_yaw_offset_degrees":-0.29662565386426776},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044542774357345495,-0.001075882794007489,0.0005948931561547588],"end_effector_yaw_offset_degrees":-0.8921393670048825},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001071197959066814,0.0004652256387460323,-0.0019527073813086705],"end_effector_yaw_offset_degrees":-0.47140207331253325},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0011415929514390862,-0.0001896425050129636,0.0010832919539298584],"end_effector_yaw_offset_degrees":-0.5343553227366218},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0001798192328878955,-0.0003860147819944148,0.0018668075276945173],"end_effector_yaw_offset_degrees":0.037805600206264556},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00037054664245081176,-0.0010160164127482232,-0.00016273424725964515],"end_effector_yaw_offset_degrees":-0.13363533057576982}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012309460812534234,0.004493834019568707],"position_m":[0.2704690539187466,0.09289383401956872,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019893476579918683,-0.0016703982652536142],"position_m":[0.22928934765799186,-0.3359703982652536,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00034137225421574605,-0.0046300270046915025],"position_m":[0.2793413722542158,0.3107699729953085,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[8.437091039030162e-05,0.0017278303025422739],"position_m":[0.1704843709103903,-0.09867216969745773,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6d418ec5ef1e5efa7d451dc8230353ecff23749a4d0d222781533768b9e0be53","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7009/tex_ceiling_textures_5766/tex_floor_textures_5527/tex_table_textures_9961/tex_wall_textures_5645","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":6246429109268262490,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":6246429109268262490,"visual_seed":6246429109268262490,"scene_id":"lab_003","finished_at":"2026-09-08T15:08:16"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T15:34:22","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[0.5867946304474294,-0.5998496647803295,0.71338606911949],"aabb_xy":[[0.5167946340374674,-0.620287600432011],[0.656794626857391,-0.5794117291286476]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[-0.349195258654601,-0.7193522729703548,0.71338606911949],"aabb_xy":[[-0.4091952589060021,-0.7736335980068194],[-0.28919525840319976,-0.6650709479338901]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[0.5024736548912099,1.2708170997384904,0.71338606911949],"aabb_xy":[[0.4923206393370603,1.2347475581657499],[0.512626670445359,1.3068866413112306]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.6196044000687123,-0.9802889212319859,0.71338606911949],"aabb_xy":[[-0.6327556460400018,-1.0052889209886726],[-0.6064531540974231,-0.9552889214752994]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.5562764214463685,-1.7115118317714333,0.71338606911949],"aabb_xy":[[0.532994579248237,-1.7965118330686614],[0.5795582636444997,-1.6265118304742052]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.5103131224430038,0.5121366863121528,0.71338606911949],"aabb_xy":[[-0.6003131247770229,0.43465433172704027],[-0.4203131201089848,0.5896190408972656]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.35509071338806764,-1.0630767092231943,0.71338606911949],"aabb_xy":[[0.3200907134920487,-1.071450944735134],[0.39009071328408645,-1.0547024737112543]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.35688518304652894,1.5522795827455194,0.71338606911949],"aabb_xy":[[-0.36623219062882423,1.5379759605278756],[-0.34753817546423377,1.5665832049631636]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.3350090625477081,0.6355091973476981,0.71338606911949],"aabb_xy":[[-0.3696001454017533,0.5705091970626669],[-0.30041797969366285,0.700509197632729]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.6190999226398723,-1.8137152651817292,0.71338606911949],"aabb_xy":[[-0.6565999210632726,-1.82687947914956],[-0.5815999242164719,-1.8005510512138985]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.6007335511594756,0.16852903767572913,0.71338606911949],"aabb_xy":[[-0.6375281842843817,0.13162316257914689],[-0.5639389180345692,0.20543491277231143]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.5734558043126425,1.0156085916781001,0.71338606911949],"aabb_xy":[[0.5256496366988738,0.9506085889710412],[0.6212619719264111,1.080608594385159]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.567313404460108,-0.005928729273040112,0.71338606911949],"aabb_xy":[[-0.6173134040364427,-0.05590930822514606],[-0.5173134048837733,0.044051849679065835]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.6176524106764956,0.580694279229053,0.71338606911949],"aabb_xy":[[0.6001524104314461,0.5631944913894861],[0.6351524109215448,0.5981940670686198]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.19720182344958093,-1.3340892935383128,0.71338606911949],"aabb_xy":[[-0.26720182684114285,-1.3694050672417435],[-0.12720182005801892,-1.2987735198348818]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.0814186467129252,-1.9343765796966077,0.71338606911949],"aabb_xy":[[-0.08946200663888038,-2.019376580791974],[-0.07337528678697003,-1.849376578601241]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.2580141239103416,-0.28169633965280383,0.71338606911949],"aabb_xy":[[-0.2809298367953915,-0.3046006367892274],[-0.23509841102529172,-0.2587920425163804]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.6313815813097017,1.2547913379373385,0.71338606911949],"aabb_xy":[[-0.6566024181695411,1.2295675870844516],[-0.6061607444498618,1.280015088790225]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.15515002611605822,0.5088499812860974,0.71338606911949],"aabb_xy":[[-0.20512309164857373,0.4588499814735646],[-0.10517696058354278,0.5588499810986304]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.2097112695982603,1.6752169907913648,0.71338606911949],"aabb_xy":[[-0.273711266710366,1.6261846209969542],[-0.14571127248615462,1.7242493605857754]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.151725992002557,-2.246140721096502,0.71338606911949],"aabb_xy":[[0.061725992279382795,-2.2692140736316815],[0.24172599172573114,-2.223067368561322]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.07745912920887355,1.485694830626786,0.71338606911949],"aabb_xy":[[-0.09500582412499249,1.4481948290625348],[-0.05991243429275463,1.5231948321910374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6485887019958442,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7192.png","name":"7192"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7192.png","name":"7192"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5399.png","name":"5399"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5460.png","name":"5460"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2805.png","name":"2805"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":782.5407752058509,"rotation_z_degrees":212.8910194213168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017434502362041412,0.016491601408935342,-0.004201004632987511]},{"name":"camera_2","offset_m":[0.01876026861442893,0.014158561514766178,-0.006648501551106771]},{"name":"camera_3","offset_m":[-3.757207349962266e-05,-0.011853984337799734,0.014212152192416238]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001918176381277368,0.0005320842727403047,0.0018388823322169532],"end_effector_yaw_offset_degrees":-0.41078915552719586},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007858886929439346,0.001203673164337692,-0.0019028892034582202],"end_effector_yaw_offset_degrees":0.131020507811767},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00106889058769266,0.0009118407821032746,0.0018018796494969512],"end_effector_yaw_offset_degrees":0.9608205127744514},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[9.358648377085508e-05,0.0011699715208008197,0.001464673294156952],"end_effector_yaw_offset_degrees":-0.675238058765713},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0013769071393554115,-0.00045201388765900405,-0.0013860700169899005],"end_effector_yaw_offset_degrees":-0.07316509026301055},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006283086034628879,-0.0018586831587802605,0.0015089099508306548],"end_effector_yaw_offset_degrees":-0.14412810203620996}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008257818061734624,-0.003461007886463156],"position_m":[0.2725257818061735,0.08493899211353685,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004875942113747104,-0.0009165820779537667],"position_m":[0.23217594211374712,-0.33521658207795374,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0007860720907675424,0.00431969538992412],"position_m":[0.27978607209076756,0.3197196953899241,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004154105247034662,0.004151366191841693],"position_m":[0.16624589475296533,-0.0962486338081583,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e27d45087a948450ab31f13d854e10b39bed4406cf29474962cce998a4fdf5ca","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7192/tex_ceiling_textures_830/tex_floor_textures_2805/tex_table_textures_5399/tex_wall_textures_5460","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3818262501224070024,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3818262501224070024,"visual_seed":3818262501224070024,"scene_id":"lab_003","finished_at":"2026-09-08T15:42:03"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T15:59:23","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.566702729865761,-2.4734706442511434,0.71338606911949],"aabb_xy":[[0.5167027285819209,-2.5234494986417655],[0.6167027311496008,-2.4234917898605213]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.3405154733644627,-1.8292194633243637,0.71338606911949],"aabb_xy":[[-0.34779778974112624,-1.9192194669338722],[-0.33323315698779893,-1.7392194597148543]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.5911796037465773,1.4162361903609386,0.71338606911949],"aabb_xy":[[0.5211796016151476,1.3934742247352425],[0.6611796058780067,1.4389981559866338]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.020795562783113453,1.165009559982484,0.71338606911949],"aabb_xy":[[0.011448555200818226,1.1507059377648399],[0.030142570365408686,1.179313182200128]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.1814655232232404,1.4344236342603955,0.71338606911949],"aabb_xy":[[0.15957577563429956,1.3444236369711464],[0.20335527081218116,1.5244236315496447]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.3076523261372738,-0.09528429309176856,0.71338606911949],"aabb_xy":[[-0.34515232595430734,-0.09992250440291044],[-0.2701523263202402,-0.0906460817806267]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[0.10769478720582348,-0.6409591861916708,0.71338606911949],"aabb_xy":[[0.04369478498541644,-0.6853322703169591],[0.1716947894262305,-0.5965861020663825]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[0.02147052542726935,1.4541186336485317,0.71338606911949],"aabb_xy":[[0.0036770184923529126,1.4363188880527338],[0.039264032362185786,1.4719183792443291]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.4383327902939851,1.2981825441672563,0.71338606911949],"aabb_xy":[[0.41381916619697917,1.2739179508652196],[0.4628464143909909,1.3224471374692925]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.3931182841875018,1.1060610455467619,0.71338606911949],"aabb_xy":[[-0.40111227276520506,1.0980609654516713],[-0.3851242956097983,1.114061125641852]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[-0.681318897859051,1.342452541772734,0.71338606911949],"aabb_xy":[[-0.6873559108597157,1.336425840703786],[-0.6752818848583862,1.348479242841682]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.05347127752705205,-0.785784889143418,0.71338606911949],"aabb_xy":[[-0.10060065652888772,-0.84978489018782],[-0.006341898525216376,-0.7217848880990161]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.4286996181234819,1.683134817757867,0.71338606911949],"aabb_xy":[[-0.47869961907401476,1.6515856707543457],[-0.37869961717294914,1.7146839647613885]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[0.584180909960381,-0.579952288439896,0.71338606911949],"aabb_xy":[[0.5578920856399403,-0.6062237220945471],[0.6104697342808216,-0.5536808547852446]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.2117316249106304,0.2042796159616982,0.71338606911949],"aabb_xy":[[-0.26173162592976573,0.16781340022387026],[-0.16173162389149515,0.24074583169952615]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.6100999739710627,-1.4021910682043166,0.71338606911949],"aabb_xy":[[-0.6275999732491497,-1.4195291682706623],[-0.592599974692976,-1.3848529681379704]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.4591297231060354,-2.021426317175065,0.71338606911949],"aabb_xy":[[0.42412972391321707,-2.032393363172727],[0.4941297222988536,-2.010459271177402]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.2904079915454898,1.2573719660713927,0.71338606911949],"aabb_xy":[[0.2491034484817538,1.1933719665032754],[0.3317125346092258,1.3213719656395095]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.23262498316675695,-1.350224946818983,0.71338606911949],"aabb_xy":[[0.215078288250638,-1.3877249483832341],[0.2501716780828759,-1.3127249452547316]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.31413913834659235,-1.1843740957949458,0.71338606911949],"aabb_xy":[[0.250139136668595,-1.2328914872742598],[0.3781391400245897,-1.1358567043156313]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.5849659500776485,0.7161437033494096,0.71338606911949],"aabb_xy":[[-0.6449659505855013,0.6592969696634882],[-0.5249659495697955,0.7729904370353308]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.11778440345246888,0.8469962213429314,0.71338606911949],"aabb_xy":[[0.08028440487684804,0.8342599256793733],[0.15528440202808963,0.8597325170064892]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6418007538978155,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4098.png","name":"4098"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4098.png","name":"4098"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2378.png","name":"2378"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9413.png","name":"9413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7471.png","name":"7471"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9454.png","name":"9454"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":849.8388096733263,"rotation_z_degrees":131.18036207155265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010473314209151496,0.001628769735378146,0.004884812326665523]},{"name":"camera_2","offset_m":[-0.014979476633472703,0.003943712287715867,0.008685624060830777]},{"name":"camera_3","offset_m":[0.003533914782671975,-0.0072681776706042985,-0.017070309177192135]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.154710464950891e-05,-7.121417949504101e-05,-0.0010061826275855146],"end_effector_yaw_offset_degrees":-0.9105304268989656},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001850526835507483,-0.0012679404446277927,-0.00018588569316325683],"end_effector_yaw_offset_degrees":0.6198487098931476},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015199834611728746,-0.0019056929580087228,-0.0011776721025270694],"end_effector_yaw_offset_degrees":-0.8392008815426695},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014557055551475736,-0.0002681547119185504,0.00098673686024137],"end_effector_yaw_offset_degrees":-0.9395110457161437},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00013457615980682377,-0.0014258924834660537,-0.0014691414190819451],"end_effector_yaw_offset_degrees":0.4180209813718494},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014703217820246843,0.00043638457931260803,0.0002955544781227948],"end_effector_yaw_offset_degrees":0.9426357448770963}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002337852499482901,-0.0046071747471978074],"position_m":[0.2693621475005171,0.0837928252528022,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004376382795279577,-0.0030424829209764904],"position_m":[0.22292361720472043,-0.33734248292097646,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0004467962235713153,0.004971514386713462],"position_m":[0.2794467962235713,0.32037151438671346,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016370863269283198,0.00248846225527109],"position_m":[0.17203708632692832,-0.09791153774472891,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3bf5adc04323b808c511648d22eba44d8cfebc0a5ec581f0b2da16428e497a17","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4098/tex_ceiling_textures_9454/tex_floor_textures_7471/tex_table_textures_2378/tex_wall_textures_9413","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8866194136034499943,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8866194136034499943,"visual_seed":8866194136034499943,"scene_id":"lab_003","finished_at":"2026-09-08T16:07:15"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T16:07:22","dimensions":{"distractor":{"count":24,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.3136130506825321,1.7566336064205728,0.71338606911949],"aabb_xy":[[-0.39361304769678007,1.7364990547471613],[-0.2336130536682841,1.7767681580939838]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.2533723716480782,0.6800762890302003,0.71338606911949],"aabb_xy":[[-0.33709459714816065,0.5900762854955043],[-0.16965014614799573,0.7700762925648962]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.5069844417647886,-0.24285014643449676,0.71338606911949],"aabb_xy":[[0.4850757596254375,-0.2647508132545875],[0.5288931239041396,-0.220949479614406]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.1877218792929357,-1.799793915949254,0.71338606911949],"aabb_xy":[[0.12372188012316578,-1.8465606030682167],[0.25172187846270566,-1.7530272288302917]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.4990416574408997,-2.2232652912142563,0.71338606911949],"aabb_xy":[[-0.5054554710840845,-2.229675111461924],[-0.4926278437977147,-2.2168554709665877]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.5848634900743057,0.5904066694752155,0.71338606911949],"aabb_xy":[[0.5543792399472754,0.5404066696937195],[0.6153477402013358,0.6404066692567114]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.40711768752195926,1.2900394072569226,0.71338606911949],"aabb_xy":[[-0.41315470052262404,1.2840127061879747],[-0.4010806745212946,1.2960661083258709]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.21361537227591537,-1.731142732912756,0.71338606911949],"aabb_xy":[[-0.22518435302285192,-1.756142733029688],[-0.20204639152897877,-1.7061427327958245]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.25509349531878683,-0.8298423768027863,0.71338606911949],"aabb_xy":[[-0.315093495914803,-0.8846548493480098],[-0.19509349472277066,-0.7750299042575628]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.05637943006197532,-1.5060463235069637,0.71338606911949],"aabb_xy":[[-0.09097051291602053,-1.5710463237919945],[-0.0217883472079301,-1.4410463232219324]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.25172281669570307,-2.4252046632921966,0.71338606911949],"aabb_xy":[[-0.27672281624744155,-2.435347147157331],[-0.22672281714396458,-2.4150621794270615]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[0.23693331242450655,-1.421811556100484,0.71338606911949],"aabb_xy":[[0.2282353501337913,-1.433936530407959],[0.24563127471522186,-1.4096865817930095]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.030039897565916074,1.3705669934072637,0.71338606911949],"aabb_xy":[[-0.014952689152534341,1.325566994132815],[0.07503248428436649,1.4155669926817125]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.45691061536291,-1.3806087337292168,0.71338606911949],"aabb_xy":[[-0.47940703679677404,-1.4031087335359642],[-0.43441419392904584,-1.3581087339224693]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[0.2699103676004969,-2.4562756694252603,0.71338606911949],"aabb_xy":[[0.25667942206581557,-2.4695030884472593],[0.28314131313517815,-2.4430482504032605]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.2387080126176923,-0.591481404868921,0.71338606911949],"aabb_xy":[[-0.30370801077361137,-0.6177776494188332],[-0.17370801446177325,-0.5651851603190088]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.2593077901712003,-0.9182931636053064,0.71338606911949],"aabb_xy":[[0.24615654419991095,-0.943293163361993],[0.2724590361424897,-0.8932931638486199]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.6214056129088856,-1.105698738213384,0.71338606911949],"aabb_xy":[[0.6172697565761853,-1.1431987376577413],[0.6255414692415857,-1.0681987387690273]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[-0.641525884326302,-1.430376078684277,0.71338606911949],"aabb_xy":[[-0.653397967337803,-1.5153760783779275],[-0.6296538013148008,-1.3453760789906268]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.15132622898500736,1.702137481107219,0.71338606911949],"aabb_xy":[[0.14329995835438136,1.6933859861298663],[0.15935249961563336,1.7108889760845716]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.6334127253435646,0.9744614013558754,0.71338606911949],"aabb_xy":[[0.5694127239355739,0.9226724498319507],[0.6974127267515552,1.0262503528798002]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[0.37740107330558814,-0.28841564780979656,0.71338606911949],"aabb_xy":[[0.3618453038953229,-0.30396608105420375],[0.39295684271585346,-0.27286521456538937]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.5968388662912785,0.0413498964684611,0.71338606911949],"aabb_xy":[[0.5809543730259534,0.026996956169637036],[0.6127233595566037,0.05570283676728515]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[-0.24727748815411887,1.5759211150922758,0.71338606911949],"aabb_xy":[[-0.31227749079191236,1.5244415163928287],[-0.18227748551632542,1.6274007137917226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6464354279144983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1648.png","name":"1648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1648.png","name":"1648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2293.png","name":"2293"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9885.png","name":"9885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3707.png","name":"3707"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3961.png","name":"3961"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":665.3375557765052,"rotation_z_degrees":251.65822412671696,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015258447814552035,-0.0016109348763793281,0.01240304423745853]},{"name":"camera_2","offset_m":[0.019286234150014684,-0.014341517112536133,-0.0016636171512174162]},{"name":"camera_3","offset_m":[0.008524056121008695,-0.007032723119801961,-0.007992028935162604]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004758755711583044,0.0012137992428405764,0.0019976265179567137],"end_effector_yaw_offset_degrees":-0.09973130152775633},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002972035085833597,0.0015856506486584625,-0.00035344880082572856],"end_effector_yaw_offset_degrees":0.63504834394007},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000990689190035509,0.0015854566883775015,0.001083878282049604],"end_effector_yaw_offset_degrees":0.9663557398376512},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016648207841900731,0.000978771870689394,0.0009366599835726537],"end_effector_yaw_offset_degrees":-0.3881903424582096},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.000880311128171862,-0.0017498223752338712,0.0019343572972037246],"end_effector_yaw_offset_degrees":0.7833031916225552},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006417942426277523,0.0018831408941430454,0.0017287737806472871],"end_effector_yaw_offset_degrees":0.46989226634679837}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004972536697151111,0.001181464911703802],"position_m":[0.2667274633028489,0.08958146491170381,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014521243652103203,-0.002407518612829405],"position_m":[0.22875212436521034,-0.3367075186128294,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0009013769263800818,0.001972713076674724],"position_m":[0.27809862307361993,0.31737271307667475,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004442878333234916,0.0027939879538529397],"position_m":[0.16995571216667651,-0.09760601204614706,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2fc7972a05217ce2d73ce8d355b88238be683f0e07a2983edee80af617747e0e","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1648/tex_ceiling_textures_3961/tex_floor_textures_3707/tex_table_textures_2293/tex_wall_textures_9885","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3834222740557069757,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3834222740557069757,"visual_seed":3834222740557069757,"scene_id":"lab_003","finished_at":"2026-09-08T16:15:23"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T16:24:03","dimensions":{"distractor":{"count":33,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.5964105092023266,0.4600812213392649,0.71338606911949],"aabb_xy":[[0.5064105127014548,0.41416957892080664],[0.6864105057031983,0.5059928637577231]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.6512035519979879,0.20775901011585418,0.71338606911949],"aabb_xy":[[-0.6887035521035808,0.20093684826287303],[-0.6137035518923949,0.21458117196883528]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.6279046647184852,-0.9620333220866384,0.71338606911949],"aabb_xy":[[-0.6504046645323877,-0.9665079384571191],[-0.6054046649045829,-0.9575587057161576]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.03140204072418806,-2.295444519934081,0.71338606911949],"aabb_xy":[[-0.03259796095380929,-2.3439619114133947],[0.09540204240218542,-2.2469271284547663]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.3988978729357375,-1.0186515906757498,0.71338606911949],"aabb_xy":[[-0.4085295091561671,-1.0282889034554588],[-0.38926623671530786,-1.009014277896041]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.43536438915351544,-0.8548958076609021,0.71338606911949],"aabb_xy":[[-0.4406969038081284,-0.8602201359061378],[-0.43003187449890246,-0.8495714794156667]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.4225528317006888,0.3010991824925897,0.71338606911949],"aabb_xy":[[0.3939034993402725,0.2724536232155139],[0.45120216406110497,0.3297447417696655]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.09043085082318914,-1.7146946967059762,0.71338606911949],"aabb_xy":[[-0.109543158181168,-1.7338294755832182],[-0.07131854346521027,-1.6955599178287342]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.029757344651104467,-1.7338254838884035,0.71338606911949],"aabb_xy":[[0.0072573446409561725,-1.7479217035280068],[0.05225734466125276,-1.7197292642488002]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.607584755309049,-1.3865630390765613,0.71338606911949],"aabb_xy":[[0.537584751917487,-1.421878812779992],[0.677584758700611,-1.3512472653731302]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.5973974212130455,1.0627300430773197,0.71338606911949],"aabb_xy":[[0.5639572460170257,1.0292864172463894],[0.6308375964090649,1.0961736689082495]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[-0.3338158754086693,0.4879663679176116,0.71338606911949],"aabb_xy":[[-0.33772974860409183,0.4792173525110548],[-0.3299020022132468,0.4967153833241683]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.5440357037047643,-0.154468391213348,0.71338606911949],"aabb_xy":[[0.47403570189601885,-0.17582215997753536],[0.6140357055135097,-0.1331146224491606]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.12834513127209446,-0.9949623140077146,0.71338606911949],"aabb_xy":[[-0.13655967638777838,-1.003638904305356],[-0.12013058615641044,-0.9862857237100733]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.14435299580315686,1.2822351207646094,0.71338606911949],"aabb_xy":[[0.09435798484370486,1.2322351217290177],[0.19434800676260894,1.3322351198002012]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.5913419712441406,-0.4974641065916541,0.71338606911949],"aabb_xy":[[0.5013419715209663,-0.5205374591268339],[0.6813419709673146,-0.4743907540564743]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.4770373745343439,0.10124604397426396,0.71338606911949],"aabb_xy":[[0.4130373781387708,0.037282755555530414],[0.541037370929917,0.1652093323929975]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.1785909537753193,-0.9407968094940151,0.71338606911949],"aabb_xy":[[0.09859095330510337,-0.9491075171083635],[0.25859095424553524,-0.9324861018796667]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.4499402113293608,-2.5559335047441536,0.71338606911949],"aabb_xy":[[-0.4625429104664373,-2.568528900969019],[-0.4373375121922844,-2.543338108519288]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.14004956657816947,1.4927909480021264,0.71338606911949],"aabb_xy":[[-0.16251433654957456,1.4702909471232661],[-0.11758479660676432,1.5152909488809871]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[0.6959086631957161,-2.2510206994138446,0.71338606911949],"aabb_xy":[[0.6898140353075978,-2.2595900939655134],[0.7020032910838344,-2.242451304862176]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.4108099546109457,-2.051687305286978,0.71338606911949],"aabb_xy":[[-0.49080995568406605,-2.0614653516243626],[-0.3308099535378254,-2.0419092589495937]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[-0.4812377751916558,-0.6654901631421004,0.71338606911949],"aabb_xy":[[-0.49248283076227356,-0.6767319608661958],[-0.4699927196210379,-0.6542483654180052]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[-0.6150300458624272,-2.3822203861930964,0.71338606911949],"aabb_xy":[[-0.6231437005358041,-2.3903262026471253],[-0.6069163911890499,-2.3741145697390666]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.31869848445255416,-1.477638193684684,0.71338606911949],"aabb_xy":[[-0.3986984830398736,-1.5569537956228447],[-0.23869848586523476,-1.398322591746523]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.12937416192328866,0.9325542466823511,0.71338606911949],"aabb_xy":[[0.11158065498837219,0.9147545010865535],[0.14716766885820506,0.9503539922781489]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[0.3320766926214558,-0.49731897259000535,0.71338606911949],"aabb_xy":[[0.30578786830101506,-0.5235904062446566],[0.3583655169418964,-0.4710475389353541]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[-0.5230682993615147,-0.5183142675088286,0.71338606911949],"aabb_xy":[[-0.5870683026512227,-0.5616491865127462],[-0.4590682960718065,-0.474979348504911]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[0.454405478630147,-1.5866463663835677,0.71338606911949],"aabb_xy":[[0.4319054783866316,-1.5988510010433394],[0.4769054788736624,-1.5744417317237955]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_29","position":[-0.5926814254652517,-0.7917643603468996,0.71338606911949],"aabb_xy":[[-0.6426814267490916,-0.8417432147375217],[-0.5426814241814116,-0.7417855059562775]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[0.4184673100408034,-2.5459048819326844,0.71338606911949],"aabb_xy":[[0.395967310517096,-2.5684008293833047],[0.4409673095645108,-2.523408934482063]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_31","position":[-0.06406286620794999,-1.0089808868603014,0.71338606911949],"aabb_xy":[[-0.08012479366646762,-1.093980888672893],[-0.048000938749432336,-0.9239808850477095]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_32","position":[-0.28189560777749306,-1.0571738530590402,0.71338606911949],"aabb_xy":[[-0.3458956080514713,-1.1072399532563284],[-0.21789560750351483,-1.0071077528617525]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6429841469020746,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/225.png","name":"225"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/225.png","name":"225"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3014.png","name":"3014"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1619.png","name":"1619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7615.png","name":"7615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3699.png","name":"3699"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":542.8771189114268,"rotation_z_degrees":245.2038527328767,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009903841983758172,0.00517946169834442,0.005030694557709884]},{"name":"camera_2","offset_m":[0.008803824953255535,-0.016755067583785647,0.015220616225133477]},{"name":"camera_3","offset_m":[-0.0009046826358794537,-0.007985619795084449,0.0030848348350863836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002288199928954771,-0.001793261660032842,0.0011304728602508016],"end_effector_yaw_offset_degrees":0.365608070719013},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009861078586863616,-0.0019417177794266705,0.001701439948758824],"end_effector_yaw_offset_degrees":-0.6144550582428325},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014536092609758605,0.00035237184327816234,5.117989471580377e-05],"end_effector_yaw_offset_degrees":0.07035022267206337},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001958513945678128,0.000632215283671821,0.0006664144000195589],"end_effector_yaw_offset_degrees":-0.791431010496352},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014139611885045627,-0.001547101055509176,0.0017589467049282117],"end_effector_yaw_offset_degrees":-0.29480665951193497},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00020433681025435217,-0.00045853886318245073,-0.0014650765664937304],"end_effector_yaw_offset_degrees":0.8913002848554155}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003295921265345755,-0.003843956568965373],"position_m":[0.2684040787346542,0.08455604343103464,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018861274935379948,-0.0012516106908202485],"position_m":[0.225413872506462,-0.33555161069082023,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004384545280064516,0.002657151318648794],"position_m":[0.27461545471993554,0.3180571513186488,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002179061178181394,0.0015392649334797495],"position_m":[0.1682209388218186,-0.09886073506652025,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d6e5a3a0a2e251ddfe2eb6a85b9b137d89b37d4acde6e1901f240ad0a4a4389c","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_225/tex_ceiling_textures_3699/tex_floor_textures_7615/tex_table_textures_3014/tex_wall_textures_1619","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7804724363758390990,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7804724363758390990,"visual_seed":7804724363758390990,"scene_id":"lab_003","finished_at":"2026-09-08T16:32:13"}
+{"episode_id":"ep_000025","started_at":"2026-09-08T16:40:51","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.29280530128032756,-0.5745089801002101,0.71338606911949],"aabb_xy":[[0.2328052996374057,-0.6265091293921544],[0.3528053029232494,-0.522508830808266]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.18882582908895817,0.7368104655931811,0.71338606911949],"aabb_xy":[[-0.22382582828177638,0.7258434195955183],[-0.15382582989613985,0.7477775115908436]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.46426488107193786,-2.2667253773136493,0.71338606911949],"aabb_xy":[[0.44176488125803554,-2.27119999368413],[0.4867648808858403,-2.262250760943169]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.2195354231290516,1.346381577551072,0.71338606911949],"aabb_xy":[[0.207068065019316,1.3339162529177482],[0.2320027812387873,1.3588469021843952]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.5480749432782865,0.20306489309279963,0.71338606911949],"aabb_xy":[[-0.6280749465361295,0.12306838530081565],[-0.4680749400204436,0.2830614008847836]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[0.411002483440722,0.3766261214054327,0.71338606911949],"aabb_xy":[[0.39839978430364553,0.3640307251805672],[0.42360518257779844,0.3892215176302982]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.645712567801902,0.8397937887388442,0.71338606911949],"aabb_xy":[[0.5958298709242058,0.7897937894925695],[0.6955952646795982,0.889793787985119]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.1470041436671241,1.1787412649010514,0.71338606911949],"aabb_xy":[[-0.21700414705868604,1.1434254911976205],[-0.07700414027556209,1.2140570386044822]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.1992204340323761,1.0927674709712525,0.71338606911949],"aabb_xy":[[0.13922043317156327,1.0413410409647659],[0.25922043489318886,1.1441939009777387]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[0.37000755535886487,-1.9315095387994197,0.71338606911949],"aabb_xy":[[0.3567766098241835,-1.9447369578214189],[0.3832385008935461,-1.91828211977742]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.3438766485226668,1.0240578790558361,0.71338606911949],"aabb_xy":[[-0.37220635847120703,1.019597136862119],[-0.3155469385741266,1.0285186212495532]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.5563297671834158,-1.110011366814169,0.71338606911949],"aabb_xy":[[0.5276804348229994,-1.1386569260912447],[0.5849790995438319,-1.081365807537093]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.2038754656852667,-0.8084728695342791,0.71338606911949],"aabb_xy":[[0.1238754652150508,-0.8167835771486277],[0.2838754661554827,-0.800162161919931]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[0.4424015657753977,-0.3986471055717802,0.71338606911949],"aabb_xy":[[0.38742784373906486,-0.45364710513601336],[0.4973752878117306,-0.343647106007547]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.5996027158472468,0.6796788724694012,0.71338606911949],"aabb_xy":[[0.5804904084892679,0.660544093592159],[0.6187150232052256,0.6988136513466431]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[-0.42511979036807823,-2.2735665104752365,0.71338606911949],"aabb_xy":[[-0.42882305169721713,-2.277268528783954],[-0.42141652903893934,-2.2698644921665183]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.07672994794001853,-0.20853341792649127,0.71338606911949],"aabb_xy":[[-0.12200856282116779,-0.27253341727467495],[-0.03145133305886927,-0.1445334185783076]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.6638387768964316,-1.42637964286141,0.71338606911949],"aabb_xy":[[0.6160326092826629,-1.4913796455684687],[0.7116449445102002,-1.3613796401543508]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.4556672880806283,-1.242854529286891,0.71338606911949],"aabb_xy":[[0.43377754049168743,-1.33285452657614],[0.47755703566956903,-1.1528545319976418]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.3326229188239429,1.6766504459152212,0.71338606911949],"aabb_xy":[[0.29512291832658466,1.6726817623671024],[0.37012291932130115,1.6806191294633395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6481158015036687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9868.png","name":"9868"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9868.png","name":"9868"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8489.png","name":"8489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8384.png","name":"8384"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4347.png","name":"4347"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":772.38751220836,"rotation_z_degrees":13.331092843470875,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010172268662856362,0.007256554893549504,-0.010504332366325517]},{"name":"camera_2","offset_m":[0.012549963405322568,-0.003195256523834962,0.018343005607229425]},{"name":"camera_3","offset_m":[-0.0016459587245574968,-0.011508319697833417,0.0027297138530010395]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013026246998031135,0.000934104048192086,-0.00028621637181283437],"end_effector_yaw_offset_degrees":0.4424962817076623},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007361789605920359,-0.0017483049470234406,-0.0018017795024329445],"end_effector_yaw_offset_degrees":-0.7988065199460936},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006990535582925427,-9.809718001301936e-05,-0.001657759997289761],"end_effector_yaw_offset_degrees":0.6734759128317114},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00014617948314610708,0.0003350296590496453,-0.00011253261390048409],"end_effector_yaw_offset_degrees":-0.6469692290500704},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013771151734970019,0.0014386173903651127,-0.0018941768746456283],"end_effector_yaw_offset_degrees":-0.8645331305886241},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003556909143536417,-0.0006321394334448947,-0.0010988125091479027],"end_effector_yaw_offset_degrees":0.19380827479601814}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012508938039335858,-0.0006609629412744396],"position_m":[0.27044910619606644,0.08773903705872557,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004254018194941952,-0.0010314639213325396],"position_m":[0.23155401819494195,-0.3353314639213325,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002541386687123156,0.00021858261619091355],"position_m":[0.27645861331287686,0.3156185826161909,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003419844539509622,0.0012480061309087477],"position_m":[0.1738198445395096,-0.09915199386909125,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d849cc39b5a3b2810fed00aeaa4a2b041ada78072959294e4bee888994e7a786","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9868/tex_ceiling_textures_4347/tex_floor_textures_8384/tex_table_textures_9497/tex_wall_textures_8489","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":5899284034836879013,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":5899284034836879013,"visual_seed":5899284034836879013,"scene_id":"lab_003","finished_at":"2026-09-08T16:49:27"}
+{"episode_id":"ep_000026","started_at":"2026-09-08T17:41:22","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[-0.5664185602752065,-1.8442941194258642,0.71338606911949],"aabb_xy":[[-0.6314185612323338,-1.8962423313595698],[-0.5014185593180793,-1.7923459074921586]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.4590862847763349,-0.7141058665172286,0.71338606911949],"aabb_xy":[[-0.5230862850503131,-0.7641719667145165],[-0.3950862845023567,-0.6640397663199405]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.2646274758256548,0.16304067666847466,0.71338606911949],"aabb_xy":[[-0.3146007698289152,0.11304067611392732],[-0.21465418182239432,0.213040677223022]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[0.24623766289499105,-0.6738160128531963,0.71338606911949],"aabb_xy":[[0.20493311983125506,-0.7378160124213133],[0.28754220595872704,-0.6098160132850792]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[-0.09744803253357115,-2.1193154924287745,0.71338606911949],"aabb_xy":[[-0.1614480311201436,-2.1663224558282828],[-0.03344803394699869,-2.0723085290292653]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.6173024533268479,-1.5873887110869798,0.71338606911949],"aabb_xy":[[0.6131665969941478,-1.624888710531337],[0.6214383096595482,-1.549888711642623]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.21842159567517277,0.38029988516618696,0.71338606911949],"aabb_xy":[[-0.2734215952969186,0.32531619237871423],[-0.16342159605342693,0.4352835779536597]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.5645243637451672,1.3590775991049147,0.71338606911949],"aabb_xy":[[-0.6542114400532827,1.2690775988504641],[-0.4748372874370518,1.4490775993593652]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.24727175767535647,-0.8551995339123688,0.71338606911949],"aabb_xy":[[-0.25211535243658645,-0.860051186391353],[-0.24242816291412653,-0.8503478814333848]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.3299879773369476,-1.8187206462623215,0.71338606911949],"aabb_xy":[[0.2659879740472395,-1.8620555652662392],[0.39398798062665574,-1.775385727258404]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.12903387768059116,-0.9517645264113062,0.71338606911949],"aabb_xy":[[0.0947369666628505,-0.9860614126212475],[0.16333078869833176,-0.9174676402013648]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.43745858102337054,0.5519552323168915,0.71338606911949],"aabb_xy":[[-0.47245857929349033,0.5448811046219032],[-0.4024585827532505,0.5590293600118795]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.36077240009359685,-1.4536448721103505,0.71338606911949],"aabb_xy":[[-0.37264448310509796,-1.538644871804001],[-0.34890031708209573,-1.3686448724167002]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.23750467651076457,1.3149890477838118,0.71338606911949],"aabb_xy":[[0.20100885588348583,1.2785051053570542],[0.2740004971380433,1.3514729902105693]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.5386303162176089,0.4434281711156123,0.71338606911949],"aabb_xy":[[-0.6036303162519117,0.396727494435285],[-0.4736303161833062,0.49012884779593957]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.0040501029060490135,0.7144308250265032,0.71338606911949],"aabb_xy":[[-0.039963607331038695,0.6785173168097486],[0.03186340151894067,0.7503443332432579]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.6476167776683918,-1.0263093715554115,0.71338606911949],"aabb_xy":[[-0.6826167767983474,-1.0320545926310756],[-0.6126167785384361,-1.0205641504797474]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.48267971175091384,-0.8559434201660385,0.71338606911949],"aabb_xy":[[-0.48826138338504266,-0.868443419983814],[-0.47709804011678514,-0.843443420348263]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.12217930798960064,0.04766621482020783,0.71338606911949],"aabb_xy":[[-0.1392813859479688,0.030559409288938084],[-0.1050772300312325,0.06477302035147758]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.00492061575137559,-1.5383965414849174,0.71338606911949],"aabb_xy":[[-0.012202932128039242,-1.6283965450944258],[0.002361700625288066,-1.4483965378754078]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.3101897879410698,0.5066753811912115,0.71338606911949],"aabb_xy":[[-0.32768978820040645,0.49258383900243885],[-0.2926897876817332,0.5207669233799841]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[-0.5460932439934143,-2.386183860933556,0.71338606911949],"aabb_xy":[[-0.6260932410076624,-2.4063184126069666],[-0.46609324697916643,-2.3660493092601445]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[0.13622839423537836,-2.284501967676705,0.71338606911949],"aabb_xy":[[0.10122839288389661,-2.3048617036335255],[0.17122839558686007,-2.264142231719884]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.055950769768293385,-2.018229526339815,0.71338606911949],"aabb_xy":[[-0.060028927675343124,-2.022310506588078],[-0.051872611861243645,-2.014148546091552]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.39487323705807076,-2.09224649136044,0.71338606911949],"aabb_xy":[[0.3248732354557913,-2.1056792845620977],[0.46487323866035024,-2.0788136981587826]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[-0.4467608513502046,-1.698181288906,0.71338606911949],"aabb_xy":[[-0.4547871219808306,-1.7069327838833526],[-0.4387345807195786,-1.6894297939286473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6421897452786517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9869.png","name":"9869"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9869.png","name":"9869"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7883.png","name":"7883"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2643.png","name":"2643"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3507.png","name":"3507"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5766.png","name":"5766"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":753.9350998271111,"rotation_z_degrees":195.29675250132124,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010732827981425785,-0.008418743457453326,0.002767636595845103]},{"name":"camera_2","offset_m":[0.0029079245765536547,-2.1387788867451712e-05,-0.004952899508630714]},{"name":"camera_3","offset_m":[-0.0059098275293231455,-0.010049488655883737,7.136562123603168e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017051441034792347,0.0014683773148352172,-0.0002058720043342239],"end_effector_yaw_offset_degrees":-0.7128102948708535},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011488677174805286,0.0018594815309366836,-0.0006116602305958293],"end_effector_yaw_offset_degrees":-0.7280804753848207},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008129733839770043,-0.0009145577673835396,0.0018641621248267383],"end_effector_yaw_offset_degrees":-0.8401000954172446},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008008980700079963,0.0004184291605779998,0.00013111475237216228],"end_effector_yaw_offset_degrees":-0.811983638056164},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012174040758462143,0.001821165541249088,0.0013451125551305104],"end_effector_yaw_offset_degrees":0.9607526898595637},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00020173837012494103,0.0016290163821628175,0.0014893449831239179],"end_effector_yaw_offset_degrees":0.015303506850686377}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031026149771213605,-0.0011398414718664296],"position_m":[0.2748026149771214,0.08726015852813358,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008239020964017629,0.004764108288634063],"position_m":[0.22812390209640176,-0.32953589171136594,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0015910264240717189,0.0035230128854382833],"position_m":[0.2774089735759283,0.3189230128854383,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026486523082579505,0.0022750128758698323],"position_m":[0.16775134769174205,-0.09812498712413018,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1b3375584b2462d3d6a58de65097648a645b005972bc5c1b5e1295bc3a554716","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9869/tex_ceiling_textures_5766/tex_floor_textures_3507/tex_table_textures_7883/tex_wall_textures_2643","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":3297317223836092950,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":3297317223836092950,"visual_seed":3297317223836092950,"scene_id":"lab_003","finished_at":"2026-09-08T17:48:59"}
+{"episode_id":"ep_000027","started_at":"2026-09-08T17:49:06","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.28822108239012717,-1.6825790262613571,0.71338606911949],"aabb_xy":[[-0.33430617364485865,-1.7465790235139123],[-0.24213599113539572,-1.618579029008802]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.22854469067990246,0.8844520925772663,0.71338606911949],"aabb_xy":[[-0.3185446871807741,0.8385404501588081],[-0.13854469417903065,0.9303637349957246]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.4193583685143958,1.0445160173600936,0.71338606911949],"aabb_xy":[[0.39685836850424755,1.0304197977204903],[0.44185836852454413,1.0586122369996969]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.648959354120336,1.5425894245555258,0.71338606911949],"aabb_xy":[[0.5994789329063772,1.478589426642674],[0.6984397753342948,1.6065894224683777]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[0.6441742936389137,0.38076460434388437,0.71338606911949],"aabb_xy":[[0.5801742944691437,0.3339979172249219],[0.7081742928086836,0.42753129146284685]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.12337733975447307,-0.8064910284046978,0.71338606911949],"aabb_xy":[[-0.20337733676872105,-0.8266255800781089],[-0.04337734274022509,-0.7863564767312864]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[-0.04232070519721787,-1.8252671662368587,0.71338606911949],"aabb_xy":[[-0.13232070887413602,-1.8866995728139624],[0.0476792984797003,-1.7638347596597537]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[0.4595572622192019,0.05237782597025653,0.71338606911949],"aabb_xy":[[0.4095572626428672,0.0023972470181505973],[0.5095572617955366,0.10235840492236249]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.5901558285420249,-2.0502944177652216,0.71338606911949],"aabb_xy":[[-0.6451480791775359,-2.1052944195085344],[-0.535163577906514,-1.9952944160219088]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.3935320519919243,-0.18397295101200672,0.71338606911949],"aabb_xy":[[-0.399113723626053,-0.1964729508297822],[-0.3879503803577955,-0.1714729511942312]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.16488476540591146,1.7731127355909009,0.71338606911949],"aabb_xy":[[-0.19485232231573713,1.7431127352930151],[-0.1349172084960858,1.8031127358887866]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.41384770098078055,1.032348767768207,0.71338606911949],"aabb_xy":[[-0.4339061125940209,1.0122836808590496],[-0.3937892893675403,1.0524138546773645]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.5971640740904203,-0.049495552303532975,0.71338606911949],"aabb_xy":[[0.5811021466319025,-0.13449555411612477],[0.6132260015489378,0.03550444950905884]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[-0.2652761971525045,-0.3807085670051822,0.71338606911949],"aabb_xy":[[-0.3002761962824601,-0.3864537880808463],[-0.23027619802254878,-0.3749633459295181]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[-0.24999527295065832,-2.3351259988388087,0.71338606911949],"aabb_xy":[[-0.2999952739011911,-2.3666751458423296],[-0.19999527200012546,-2.303576851835287]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.22338302878907929,0.442475765303989,0.71338606911949],"aabb_xy":[[-0.3033830257521184,0.36540012366021557],[-0.1433830318260401,0.5195514069477625]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.11154013245925787,-0.8401838269069912,0.71338606911949],"aabb_xy":[[0.061540131098370636,-0.8901617314824068],[0.16154013382014507,-0.7902059223315756]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.2769749192791836,-1.2715415169818973,0.71338606911949],"aabb_xy":[[0.27353424303912643,-1.2754029499562616],[0.2804155955192408,-1.2676800840075326]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.2803171091621903,1.3726894012642674,0.71338606911949],"aabb_xy":[[-0.317817109826769,1.3570023432640452],[-0.2428171084976116,1.3883764592644896]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[0.4804806933666512,1.2368074146733568,0.71338606911949],"aabb_xy":[[0.45798155764042425,1.2143074138950936],[0.5029798290928782,1.2593074154516195]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.616008196668108,-0.1227963945431525,0.71338606911949],"aabb_xy":[[-0.6443379066166482,-0.12725713673686956],[-0.5876784867195678,-0.11833565234943544]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.08713198766294938,-2.152809028774865,0.71338606911949],"aabb_xy":[[-0.11213198693491166,-2.169154392371027],[-0.06213198839098711,-2.1364636651787023]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[0.5306585108895998,1.7166658340521974,0.71338606911949],"aabb_xy":[[0.48285234327583115,1.6516658313451382],[0.5784646785033685,1.7816658367592562]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.37675064354744303,-1.4579056044515424,0.71338606911949],"aabb_xy":[[-0.41106692072206097,-1.50790560442472],[-0.3424343663728251,-1.4079056044783647]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.3715631872350582,-2.0126767712247773,0.71338606911949],"aabb_xy":[[-0.38673535651669155,-2.0278456281529804],[-0.35639101795342487,-1.997507914296574]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[0.20091852446783798,1.3464549676222712,0.71338606911949],"aabb_xy":[[0.16341852417566316,1.3424134922216677],[0.2384185247600128,1.3504964430228747]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[0.3256403712651048,1.2158769956705862,0.71338606911949],"aabb_xy":[[0.2931786703831773,1.1857441635556831],[0.3581020721470322,1.2460098277854883]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[-0.5870424893709951,1.3516501270822419,0.71338606911949],"aabb_xy":[[-0.6092150163476459,1.3294744599261186],[-0.5648699623943442,1.3738257942383647]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[0.41021261412839394,-0.48537418886703376,0.71338606911949],"aabb_xy":[[0.3973407106274538,-0.5653741892808699],[0.4230845176293341,-0.4053741884531976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6460580412333273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4977.png","name":"4977"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4977.png","name":"4977"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/478.png","name":"478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3984.png","name":"3984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4621.png","name":"4621"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2257.png","name":"2257"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":632.4971001383209,"rotation_z_degrees":255.21723176158096,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011114742747977843,0.004127716791797541,-0.009903071366022932]},{"name":"camera_2","offset_m":[-0.008950868186579664,0.0022173940417673545,0.01791044433947309]},{"name":"camera_3","offset_m":[0.004036865569482618,0.01938070242125341,-0.01827430752278978]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005572397429344342,0.0016745430014827437,-0.0003064603088186635],"end_effector_yaw_offset_degrees":-0.8569683821438105},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005981000051055343,-0.001400797129104322,0.001301727168732524],"end_effector_yaw_offset_degrees":-0.7337592808546194},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000435357657390304,6.842121453770871e-05,0.0017349599322419745],"end_effector_yaw_offset_degrees":-0.7863539870610006},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001548736922670056,0.0008281088035389135,0.001875963608354121],"end_effector_yaw_offset_degrees":-0.7405477973177512},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00023679774385079754,0.0011322765802486922,0.0013729690590612727],"end_effector_yaw_offset_degrees":-0.644293000075608},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0007424177438422911,-0.0016209140656305344,-0.0014706548298977307],"end_effector_yaw_offset_degrees":0.03361601273223935}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027731053039157117,0.0033913086943522753],"position_m":[0.2744731053039157,0.09179130869435229,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025430488091325795,0.00011584091870926391],"position_m":[0.2298430488091326,-0.33418415908129073,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004186226066518788,0.00211335143592072],"position_m":[0.2748137739334812,0.31751335143592074,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001111770119848413,0.004387540283561063],"position_m":[0.17151177011984842,-0.09601245971643894,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b2bcf563f9ee50ab6965cc3b3032c7c12443dea14beb816a97cea2e667329f6b","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4977/tex_ceiling_textures_2257/tex_floor_textures_4621/tex_table_textures_478/tex_wall_textures_3984","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":4567710387776670749,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":4567710387776670749,"visual_seed":4567710387776670749,"scene_id":"lab_003","finished_at":"2026-09-08T17:57:14"}
+{"episode_id":"ep_000028","started_at":"2026-09-08T19:07:18","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.5861300729471656,1.2893614372931723,0.71338606911949],"aabb_xy":[[-0.6501257703422623,1.2253614389924636],[-0.5221343755520691,1.353361435593881]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.522929441916135,-0.32665083639713854,0.71338606911949],"aabb_xy":[[0.4679294427395455,-0.3816405111720962],[0.5779294410927245,-0.2716611616221809]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.6472989494026404,1.6014244776037168,0.71338606911949],"aabb_xy":[[0.5832989490251067,1.5516792107529043],[0.7112989497801739,1.6511697444545288]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.4397655869107258,-2.1677534259550972,0.71338606911949],"aabb_xy":[[-0.5037655854972982,-2.2147603893546055],[-0.37576558832415335,-2.120746462555588]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.368591335283617,-0.9702542192232377,0.71338606911949],"aabb_xy":[[0.35781836136224926,-1.0052542174422767],[0.3793643092049848,-0.9352542210041987]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.1689010386485511,1.7023821267607109,0.71338606911949],"aabb_xy":[[-0.19273725628915622,1.6123821259522249],[-0.14506482100794607,1.7923821275691978]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.3459925858125872,-2.315664278254393,0.71338606911949],"aabb_xy":[[-0.354028920513872,-2.3237023975588094],[-0.33795625111130234,-2.3076261589499754]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.6930722040617878,0.5972062696700062,0.71338606911949],"aabb_xy":[[0.6833162145526138,0.5874437356107717],[0.7028281935709616,0.6069688037292406]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.618523467882919,-1.055427271285884,0.71338606911949],"aabb_xy":[[0.613567447698038,-1.077927271488006],[0.6234794880678003,-1.0329272710837627]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.2604752048676795,1.7660084308961665,0.71338606911949],"aabb_xy":[[0.24292850995156062,1.7285084293319153],[0.2780218997837985,1.8035084324604178]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.4614725403319111,-0.8903230586733053,0.71338606911949],"aabb_xy":[[0.42647254113909283,-0.9012901046709679],[0.49647253952472936,-0.8793560126756427]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.4502380628285033,1.1005413622326867,0.71338606911949],"aabb_xy":[[-0.4669151988215988,1.0838414382587565],[-0.4335609268354078,1.117241286206617]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[0.13631074041141233,-0.6202239687062283,0.71338606911949],"aabb_xy":[[0.10798103046287211,-0.6246847108999455],[0.16464045035995256,-0.6157632265125114]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.6212225492443549,-0.673098009933808,0.71338606911949],"aabb_xy":[[-0.6852225511566973,-0.7290091591918185],[-0.5572225473320126,-0.6171868606757976]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[0.15829797244394284,1.0638094448548117,0.71338606911949],"aabb_xy":[[0.13329797251142497,1.0569267766338883],[0.18329797237646075,1.070692113075735]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.615445942078367,-0.8222731437640574,0.71338606911949],"aabb_xy":[[-0.6654247505886828,-0.8722731437697763],[-0.565467133568051,-0.7722731437583387]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.5383504053548501,-2.3490806275391263,0.71338606911949],"aabb_xy":[[-0.6283504090317681,-2.41051303411623],[-0.4483504016779317,-2.2876482209620215]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[-0.2628812686013493,0.9355463167483147,0.71338606911949],"aabb_xy":[[-0.3205117374886201,0.875546317821604],[-0.2052507997140784,0.9955463156750252]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.6063203791336029,-2.4780130850025213,0.71338606911949],"aabb_xy":[[0.5423203799638329,-2.5247797721214833],[0.6703203783033728,-2.4312463978835583]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.02183276394386091,1.7017823900580589,0.71338606911949],"aabb_xy":[[-0.07182587605305281,1.6517823893838632],[0.02816034816533098,1.7517823907322545]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.645817782830052,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1554.png","name":"1554"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1554.png","name":"1554"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8712.png","name":"8712"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1017.png","name":"1017"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":839.3842560585385,"rotation_z_degrees":196.8833939783763,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013000369692192783,0.003909677839989238,-0.0014526999538214715]},{"name":"camera_2","offset_m":[-0.003137936358880107,-0.009640729817612374,0.013011560295114435]},{"name":"camera_3","offset_m":[-0.0012657540180893226,-0.017880758689766286,-0.010073472786458568]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013887629602007488,-0.00169896569943676,-0.000831770840542458],"end_effector_yaw_offset_degrees":-0.16831138820074765},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002058454505228591,-0.0008540701913044716,-0.001998388512412702],"end_effector_yaw_offset_degrees":0.9344363176177135},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017362572214990844,-0.0006219603865112884,-0.0014748652034995077],"end_effector_yaw_offset_degrees":-0.7514638703027303},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009062606305062964,-0.0010252332700131333,-0.0014107719961757841],"end_effector_yaw_offset_degrees":-0.4455248713681932},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001684325098186854,0.0003352058590250372,-0.0009251753077899486],"end_effector_yaw_offset_degrees":0.11820609618108358},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001622369977634682,0.0018397447280173304,0.0012885164635216407],"end_effector_yaw_offset_degrees":-0.4389180521193199}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012600437461884675,0.003742442774178462],"position_m":[0.2729600437461885,0.09214244277417846,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016910529197186712,-0.0008269571110919235],"position_m":[0.22899105291971866,-0.3351269571110919,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0005098135069086969,-0.0017818495039346326],"position_m":[0.27950981350690873,0.3136181504960654,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004698663008009447,-0.002893599263476938],"position_m":[0.16570133699199055,-0.10329359926347693,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2cf980382c6c175eb834c4b25001c535ec05bc5dbf35cc2a4857339a8ee3b56e","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1554/tex_ceiling_textures_6102/tex_floor_textures_1017/tex_table_textures_8712/tex_wall_textures_6676","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7688540689465469853,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7688540689465469853,"visual_seed":7688540689465469853,"scene_id":"lab_003","finished_at":"2026-09-08T19:15:08"}
+{"episode_id":"ep_000029","started_at":"2026-09-08T20:07:51","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.4387136180661886,-2.467270922934876,0.71338606911949],"aabb_xy":[[0.3887136170470534,-2.5037371386727045],[0.4887136190853239,-2.4308047071970487]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.6806716387579884,-1.1097130719490602,0.71338606911949],"aabb_xy":[[-0.6853067539102216,-1.1135804070262088],[-0.6760365236057548,-1.1058457368719112]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.36273874745621615,-0.3883469864163249,0.71338606911949],"aabb_xy":[[-0.4077313341746665,-0.4333469856907736],[-0.3177461607377657,-0.3433469871418761]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[-0.27775966859706425,-0.17263618890715593,0.71338606911949],"aabb_xy":[[-0.3677596722739823,-0.23406859548426023],[-0.18775966492014595,-0.11120378233005154]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.4922233976586945,-0.683372186455995,0.71338606911949],"aabb_xy":[[0.42722339910162166,-0.7131247198698776],[0.5572233962157673,-0.6536196530421123]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.4391133293204939,-1.8911098920711664,0.71338606911949],"aabb_xy":[[-0.44444584397510695,-1.8964342203164022],[-0.433780814665881,-1.885785563825931]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.5673935726655293,-0.8068731442631176,0.71338606911949],"aabb_xy":[[0.5608919361575248,-0.8166409662894276],[0.573895209173534,-0.7971053222368081]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.21344304577326234,-1.183891056262382,0.71338606911949],"aabb_xy":[[-0.2784430436549102,-1.235014719968923],[-0.14844304789161458,-1.1327673925558412]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.45219241333265137,-2.1196833475105037,0.71338606911949],"aabb_xy":[[0.42179430223350767,-2.1500902495121728],[0.48259052443179484,-2.0892764455088337]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.018775964645198817,-1.7684540998915539,0.71338606911949],"aabb_xy":[[-0.06876020035337604,-1.8184540987050493],[0.03120827106297841,-1.718454101078058]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.49558861643844865,-1.1047847152039065,0.71338606911949],"aabb_xy":[[0.4055886197028384,-1.157968178521201],[0.5855886131740589,-1.051601251886612]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.6261088770993071,-1.8158421922130557,0.71338606911949],"aabb_xy":[[0.6132369735983668,-1.8958421926268916],[0.6389807806002471,-1.7358421917992193]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.47552722869887276,0.08155094648216199,0.71338606911949],"aabb_xy":[[0.46610975412900996,0.07213476934444296],[0.48494470326873546,0.09096712361988102]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.053253164282346166,-0.8589458256893934,0.71338606911949],"aabb_xy":[[-0.1382531626997694,-0.9438201211516783],[0.03174683413507706,-0.7740715302271084]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.21448306908993509,-1.5410848545709512,0.71338606911949],"aabb_xy":[[0.20806925544675015,-1.5474946748186194],[0.22089688273312003,-1.5346750343232827]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[-0.25799006902828864,-0.8749377466523098,0.71338606911949],"aabb_xy":[[-0.29549006982028403,-0.8813055876104999],[-0.22049006823629314,-0.8685699056941197]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.1255650546470719,-2.525255157364728,0.71338606911949],"aabb_xy":[[0.06156505437309365,-2.575321257562016],[0.1895650549210501,-2.47518905716744]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.20974748919077912,0.5463903016343044,0.71338606911949],"aabb_xy":[[0.20153294407509512,0.5377137113366629],[0.21796203430646308,0.5550668919319456]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.31217098261484366,0.8230187430553686,0.71338606911949],"aabb_xy":[[-0.3426552327418738,0.7730187432738727],[-0.2816867324878135,0.8730187428368645]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.33995131478183627,-2.0272756892217894,0.71338606911949],"aabb_xy":[[-0.41995131505544314,-2.1002252370475056],[-0.25995131450822917,-1.9543261413960724]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.5968722659683696,0.8607408020029856,0.71338606911949],"aabb_xy":[[-0.6280191848119526,0.7907408033161784],[-0.5657253471247864,0.9307408006897927]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.5014434430834802,-0.947640226576933,0.71338606911949],"aabb_xy":[[-0.5485728220853158,-1.011640227621335],[-0.45431406408164443,-0.883640225532531]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6379425694904691,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6662.png","name":"6662"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6662.png","name":"6662"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4471.png","name":"4471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8844.png","name":"8844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2133.png","name":"2133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6365.png","name":"6365"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":574.9245795122099,"rotation_z_degrees":171.51537968345133,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003772796914774633,-0.011484025246418467,0.008487552832110376]},{"name":"camera_2","offset_m":[0.017266927961584345,0.002939316142124771,0.019654912484970814]},{"name":"camera_3","offset_m":[-0.0007401529937233683,0.00022296214526611527,-0.017927229222004657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001590713982764488,-0.0010753470202173486,0.0013005348106561623],"end_effector_yaw_offset_degrees":-0.29595809572582543},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003815644845608841,0.0012164660240994944,-0.00095593932505505],"end_effector_yaw_offset_degrees":-0.15373878792309492},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013939140567383582,0.001823278086832855,-0.001571979342884634],"end_effector_yaw_offset_degrees":0.7231236447878078},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010804663995777875,-0.0011281452905068864,0.0012879135070507871],"end_effector_yaw_offset_degrees":-0.5304819850515963},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00010587060405177831,9.074846797308463e-06,0.0003898230303100666],"end_effector_yaw_offset_degrees":0.006448935602006101},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001261151252034908,-6.734158376992959e-05,-0.0016193721080449803],"end_effector_yaw_offset_degrees":0.10242901243480884}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003426900066232876,0.0024087898917822285],"position_m":[0.27512690006623286,0.09080878989178223,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004042567427158623,0.004909715576886285],"position_m":[0.2232574325728414,-0.3293902844231137,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-2.4399261163248614e-05,-0.0032875484038776],"position_m":[0.27897560073883676,0.3121124515961224,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002717410147865612,0.001986110559595411],"position_m":[0.1731174101478656,-0.09841388944040459,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"33367c8b5f45edb8dda3c9ec2d257148c3ab749e697be2162cf170e0811fd980","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6662/tex_ceiling_textures_6365/tex_floor_textures_2133/tex_table_textures_4471/tex_wall_textures_8844","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":9003046893390388039,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":9003046893390388039,"visual_seed":9003046893390388039,"scene_id":"lab_003","finished_at":"2026-09-08T20:15:50"}
+{"episode_id":"ep_000030","started_at":"2026-09-08T20:24:36","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.3665491539651433,-0.7137612009293774,0.71338606911949],"aabb_xy":[[0.302549153261674,-0.7597795834022986],[0.4305491546686127,-0.6677428184564564]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[0.6864877087315644,0.8113145639502908,0.71338606911949],"aabb_xy":[[0.6508585528316045,0.7756818971934378],[0.722116864631524,0.8469472307071437]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.20040467201522144,1.0869747390961044,0.71338606911949],"aabb_xy":[[-0.20861921713090534,1.0782981487984626],[-0.19219012689953738,1.0956513293937453]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.5245543470344682,-1.6957381220293484,0.71338606911949],"aabb_xy":[[0.499554347762506,-1.712083485625511],[0.5495543463064305,-1.6793927584331863]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[0.34433008330761083,1.4236238920148385,0.71338606911949],"aabb_xy":[[0.33621642863423373,1.4155180755608094],[0.35244373798098794,1.4317297084688676]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.19941223648199724,-2.4964579742625386,0.71338606911949],"aabb_xy":[[0.18965624697282332,-2.5062205083217726],[0.2091682259911711,-2.4866954402033037]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[-0.6785675549154973,1.4329486165980776,0.71338606911949],"aabb_xy":[[-0.6829981842703373,1.427500244863395],[-0.674136925560657,1.43839698833276]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.41193574832842395,1.2842648095210478,0.71338606911949],"aabb_xy":[[-0.4227087222497917,1.2492648113020088],[-0.40116277440705617,1.3192648077400868]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[0.011973646740074617,1.0473057094183336,0.71338606911949],"aabb_xy":[[-0.052026355172267724,0.9913945601603233],[0.07597364865241696,1.1032168586763442]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.24174936805739755,-1.0726775209376411,0.71338606911949],"aabb_xy":[[-0.250463337107332,-1.0951775215968291],[-0.23303539900746303,-1.0501775202784527]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.31047678155092245,1.5698234494067127,0.71338606911949],"aabb_xy":[[-0.33297678179443785,1.557618814746941],[-0.28797678130740706,1.5820280840664849]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.4995839574027072,0.9815181104335906,0.71338606911949],"aabb_xy":[[0.49145626920939406,0.9726045020228831],[0.5077116455960204,0.9904317188442984]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.49819905863417935,-1.022851412750813,0.71338606911949],"aabb_xy":[[-0.5052405095849271,-1.0298781644886077],[-0.4911576076834318,-1.0158246610130184]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[-0.291935150887671,0.669094405711629,0.71338606911949],"aabb_xy":[[-0.3015667871081006,0.6594570929319201],[-0.28230351466724135,0.678731718491338]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.6231961488490063,-2.5482230246405706,0.71338606911949],"aabb_xy":[[0.6060940708906383,-2.5653298301718404],[0.6402982268073746,-2.531116219109301]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.3459323206068532,0.9667951440876372,0.71338606911949],"aabb_xy":[[-0.3672103287503254,0.9017951417615641],[-0.3246543124633809,1.0317951464137103]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.3066959823065134,0.5194966356812691,0.71338606911949],"aabb_xy":[[0.2847873001671623,0.4975959688611783],[0.3286046644458644,0.5413973025013598]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.39978603422238707,-1.255975347897783,0.71338606911949],"aabb_xy":[[-0.4053677058565158,-1.2684753477155586],[-0.3942043625882583,-1.2434753480800076]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.4852414469030907,1.8143880712169111,0.71338606911949],"aabb_xy":[[-0.4978441460401672,1.8017926749920459],[-0.4726387477660143,1.8269834674417769]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.35888765077392504,-1.8525073339661189,0.71338606911949],"aabb_xy":[[-0.36300360088599765,-1.8566228889989642],[-0.3547717006618523,-1.848391778933273]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.45995529643479094,-0.8217583943548197,0.71338606911949],"aabb_xy":[[-0.524955297391918,-0.8737066062885254],[-0.3949552954776637,-0.7698101824211142]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[0.6108083049879014,-0.4843661005592934,0.71338606911949],"aabb_xy":[[0.6028148151926195,-0.4923642324997691],[0.6188017947831835,-0.4763679686188178]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.6136502946254612,-2.1901735173178767,0.71338606911949],"aabb_xy":[[0.597765801360136,-2.2045264576167005],[0.6295347878907863,-2.175820577019053]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.38405110723898694,1.7402681739782637,0.71338606911949],"aabb_xy":[[-0.40655110724913524,1.7261719543386604],[-0.36155110722883865,1.754364393617867]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.04889942627860966,1.4946084670978448,0.71338606911949],"aabb_xy":[[-0.0010793822317062274,1.4446084670921258],[0.09887823478892555,1.5446084671035634]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[-0.1033674845081588,-0.04808481320626967,0.71338606911949],"aabb_xy":[[-0.12094578669710564,-0.06565930278037457],[-0.08578918231921194,-0.03051032363216477]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.28565091204406634,1.7745959643592664,0.71338606911949],"aabb_xy":[[0.23565091109353353,1.7430468173557445],[0.33565091299459915,1.8061451113627873]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.09527689100456349,1.6536533254129453,0.71338606911949],"aabb_xy":[[0.0783661585682217,1.6401811198203304],[0.11218762344090526,1.6671255310055597]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[-0.5838608418288068,-1.1427407915382732,0.71338606911949],"aabb_xy":[[-0.6060333688054577,-1.1649164586943965],[-0.561688314852156,-1.12056512438215]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6465025756753914,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9742.png","name":"9742"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9742.png","name":"9742"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6435.png","name":"6435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4981.png","name":"4981"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3346.png","name":"3346"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":822.2477602910656,"rotation_z_degrees":123.55115023334362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002289001362007225,-0.01005168770732903,0.013480695309328685]},{"name":"camera_2","offset_m":[-0.0010459330802479634,0.009784759669827121,0.008166926869361844]},{"name":"camera_3","offset_m":[0.01783287039097133,-0.003516478248272132,-0.017420166529891357]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010197663368462129,-0.0005372955948661064,0.001021428604913742],"end_effector_yaw_offset_degrees":0.9966511018291786},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044082805371279494,0.001986949053730507,-0.0003751764500706384],"end_effector_yaw_offset_degrees":0.5115852156882272},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015514139359325174,0.0011641032799510503,0.0010718304247897123],"end_effector_yaw_offset_degrees":0.4035836703751905},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013381472292079205,-0.0011989779800467798,-0.001388870907557141],"end_effector_yaw_offset_degrees":-0.7659390355914493},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.000664028864683561,0.0009010628398194989,0.0017986965829578302],"end_effector_yaw_offset_degrees":-0.13073891649795644},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017322276895389865,-0.0003043650868848769,-0.0009079199796794876],"end_effector_yaw_offset_degrees":-0.1125939923398318}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004436522348201982,-0.0017772747152003379],"position_m":[0.27613652234820196,0.08662272528479967,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011621303756824478,-0.0030110203383712686],"position_m":[0.22846213037568244,-0.33731102033837124,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0026582303257764793,-0.004592788858720772],"position_m":[0.2763417696742235,0.31080721114127924,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017011810564071207,0.0034079546011038424],"position_m":[0.17210118105640712,-0.09699204539889617,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a3ed69412180a72443bea526bd39370b6454062654b92b6aca7a235cf3fe6218","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9742/tex_ceiling_textures_377/tex_floor_textures_3346/tex_table_textures_6435/tex_wall_textures_4981","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":257682537374015407,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":257682537374015407,"visual_seed":257682537374015407,"scene_id":"lab_003","finished_at":"2026-09-08T20:32:19"}
+{"episode_id":"ep_000031","started_at":"2026-09-08T20:32:26","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.24477519074884135,-1.85921907861605,0.71338606911949],"aabb_xy":[[-0.26977518991447447,-1.8661713243214069],[-0.21977519158320827,-1.8522668329106937]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.31602133250908526,-1.123886405798154,0.71338606911949],"aabb_xy":[[0.26602133084759044,-1.1738848480538564],[0.36602133417057997,-1.073887963542451]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.4451181370851116,-0.09092165977984346,0.71338606911949],"aabb_xy":[[-0.5251181403429546,-0.17091816757182743],[-0.36511813382726865,-0.010925151987859483]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[0.3632674734878707,-2.264356484815041,0.71338606911949],"aabb_xy":[[0.3526999938297717,-2.2749015149280494],[0.3738349531459697,-2.2538114547020323]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.6488956348116719,-1.2807467238218646,0.71338606911949],"aabb_xy":[[0.6401144076644358,-1.2895264711103949],[0.6576768619589084,-1.2719669765333348]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.12933831463081258,-1.3002317221606428,0.71338606911949],"aabb_xy":[[-0.1793212648182919,-1.350231721803203],[-0.07935536444333323,-1.2502317225180821]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[0.39876844484271645,1.704675691963407,0.71338606911949],"aabb_xy":[[0.37871003322947616,1.6846106050542493],[0.41882685645595674,1.7247407788725642]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.5262136081436417,-1.43224393092876,0.71338606911949],"aabb_xy":[[0.49581549704449807,-1.4626508329304295],[0.5566117192427852,-1.4018370289270905]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.45799744533304354,-1.825316939967462,0.71338606911949],"aabb_xy":[[0.4158130311722128,-1.8893169402446732],[0.5001818594938743,-1.7613169396902508]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[0.593451014492878,0.6567797299425853,0.71338606911949],"aabb_xy":[[0.5434510135423452,0.6252305829390638],[0.6434510154434108,0.6883288769461066]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.5730482276965714,-2.2182744033218693,0.71338606911949],"aabb_xy":[[0.509048226018574,-2.2667917948011835],[0.6370482293745687,-2.169757011842555]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.6226255103644291,1.1484953535930353,0.71338606911949],"aabb_xy":[[0.5981118862674233,1.1242307602909989],[0.647139134461435,1.1727599468950718]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.3554333608849909,0.778266004716579,0.71338606911949],"aabb_xy":[[0.27543336290420584,0.770664463754727],[0.43543335886577594,0.7858675456784309]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.5755591085712095,0.6469088462556005,0.71338606911949],"aabb_xy":[[-0.6592813340712919,0.5569088427209046],[-0.49183688307112694,0.7369088497902965]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.060108462974889476,-0.23733911726571488,0.71338606911949],"aabb_xy":[[-0.06781165364896652,-0.24504848796445286],[-0.052405272300812426,-0.22962974656697685]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.5812737514984418,-0.051144449401668624,0.71338606911949],"aabb_xy":[[0.5759412368438288,-0.05646877764690423],[0.5866062661530549,-0.04582012115643303]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.07274913148176387,-1.0772361775907868,0.71338606911949],"aabb_xy":[[-0.14274913361319339,-1.0999981432164823],[-0.002749129350334306,-1.054474211965091]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.3404759519449529,0.6309001181973679,0.71338606911949],"aabb_xy":[[-0.3944915482268529,0.5669001153051108],[-0.2864603556630529,0.6949001210896251]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.31275188447813973,-1.2522476666664488,0.71338606911949],"aabb_xy":[[-0.34721436249122745,-1.2589113438493715],[-0.2782894064650519,-1.245583989483526]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.24681757061059417,-2.3099182416005273,0.71338606911949],"aabb_xy":[[-0.31081757266032617,-2.3500127246898352],[-0.1828175685608622,-2.2698237585112193]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.0824005659230076,-0.7393874696033109,0.71338606911949],"aabb_xy":[[-0.14740056856080108,-0.7908670683027579],[-0.017400563285214124,-0.687907870903864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6378845251072544,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8371.png","name":"8371"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8371.png","name":"8371"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2085.png","name":"2085"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5192.png","name":"5192"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7243.png","name":"7243"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2707.png","name":"2707"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":783.3144124485204,"rotation_z_degrees":244.7546622381247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018593912955098994,-0.01630959305789733,-0.009585848977924255]},{"name":"camera_2","offset_m":[0.011326522968458468,-0.0036140141914659286,-0.012057666000768302]},{"name":"camera_3","offset_m":[0.0184756499034248,0.004763062843119951,0.0006155458698230733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012945822918234017,-0.001622487115909979,0.0009884425701664344],"end_effector_yaw_offset_degrees":0.9094460748666404},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011294821759015577,-0.0017517320142733893,-0.0005571430179125052],"end_effector_yaw_offset_degrees":-0.6407686576362079},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015075149895802846,-2.4597397921921876e-05,-0.00045572582834881546],"end_effector_yaw_offset_degrees":-0.3805153739918905},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009261133474278015,0.0003751890491555188,-0.0012498869867840657],"end_effector_yaw_offset_degrees":-0.6991214780179962},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008968963407148698,-0.0015204073013763066,0.0015725580297970983],"end_effector_yaw_offset_degrees":-0.7112728978694833},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.000804878104256002,-0.001633399808091951,-4.865908018860266e-05],"end_effector_yaw_offset_degrees":-0.7830624877283001}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018441959294078036,-0.001914238441765722],"position_m":[0.2698558040705922,0.08648576155823429,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049687708625838056,0.0034903337651986275],"position_m":[0.2223312291374162,-0.33080966623480135,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0024526806056319695,-0.0033393470302909792],"position_m":[0.281452680605632,0.31206065296970903,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003408654449282671,0.002139347950279094],"position_m":[0.16699134555071732,-0.09826065204972091,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7fac4fcd8aacef9d831e672a46e56826c29eb7794b14036a85dc24da98dd7e97","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0080.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8371/tex_ceiling_textures_2707/tex_floor_textures_7243/tex_table_textures_2085/tex_wall_textures_5192","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":2407067171451245398,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":2407067171451245398,"visual_seed":2407067171451245398,"scene_id":"lab_003","finished_at":"2026-09-08T20:40:02"}
+{"episode_id":"ep_000032","started_at":"2026-09-08T20:40:11","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.5409028680150315,-1.821434150590529,0.71338606911949],"aabb_xy":[[-0.5567873612803566,-1.835787090889353],[-0.5250183747497063,-1.8070812102917049]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.5901677416665858,1.7137898715393756,0.71338606911949],"aabb_xy":[[0.5261677443809373,1.6722831525865316],[0.6541677389522346,1.7552965904922195]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.5433830494613048,1.457787887649903,0.71338606911949],"aabb_xy":[[0.518162212601465,1.4325641367970159],[0.5686038863211443,1.4830116385027894]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.3299696338046012,1.7676495420996488,0.71338606911949],"aabb_xy":[[0.24996963333438527,1.759338834485301],[0.4099696342748172,1.7759602497139975]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.42806621867924854,-1.0838423547908187,0.71338606911949],"aabb_xy":[[0.4002211818986414,-1.1146268535291304],[0.45591125545985567,-1.053057856052507]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.27166376538173287,-0.5662760847719719,0.71338606911949],"aabb_xy":[[0.2573293402555694,-0.5783363003265106],[0.2859981905078963,-0.5542158692174329]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.44589031101034726,-1.840632571134038,0.71338606911949],"aabb_xy":[[-0.4541048561260312,-1.8493091614316792],[-0.4376757658946632,-1.8319559808363965]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.5371539215931282,0.8201439086061626,0.71338606911949],"aabb_xy":[[0.4921539201268994,0.7751440517446819],[0.5821539230593571,0.8651437654676433]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[-0.41414079596450687,-2.377543455130042,0.71338606911949],"aabb_xy":[[-0.4641356288924484,-2.4275434540252854],[-0.3641459630365652,-2.3275434562347983]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.520760999803769,0.3117052753077272,0.71338606911949],"aabb_xy":[[0.5131367317135909,0.3040720517711835],[0.5283852678939474,0.31933849884427096]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.41398864519793094,0.4153766062199642,0.71338606911949],"aabb_xy":[[-0.44857972805197616,0.35037660593493314],[-0.3793975623438857,0.48037660650499525]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.010812036287290994,-1.6868565073498885,0.71338606911949],"aabb_xy":[[-0.0758120341689388,-1.7379801710564298],[0.05418796159435681,-1.635732843643348]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.1605241819964195,-1.1690468728930365,0.71338606911949],"aabb_xy":[[-0.25052418059088943,-1.1852974592064578],[-0.07052418340194955,-1.1527962865796157]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.21786481678286118,1.060534999547917,0.71338606911949],"aabb_xy":[[-0.22973689979436226,0.9755349998542666],[-0.20599273377136004,1.1455349992415673]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.3372386467496169,-2.220619346806054,0.71338606911949],"aabb_xy":[[-0.35510775450407234,-2.2344522547832653],[-0.31936953899516135,-2.206786438828843]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.4263951426135595,0.6686985941349906,0.71338606911949],"aabb_xy":[[0.4132438966422702,0.6436985943783041],[0.4395463885848489,0.6936985938916772]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[-0.36760933346555497,1.2941952912854924,0.71338606911949],"aabb_xy":[[-0.3767692124094315,1.2876640732419553],[-0.3584494545216783,1.3007265093290294]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.5518041600957269,-2.0942024926236207,0.71338606911949],"aabb_xy":[[0.5391773728085304,-2.1037485663251934],[0.5644309473829231,-2.084656418922048]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.5229467546344996,-0.7204381314685173,0.71338606911949],"aabb_xy":[[-0.5869467510300727,-0.784401419887251],[-0.4589467582389265,-0.6564748430497839]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_19","position":[-0.2159349457576874,-2.231373063437112,0.71338606911949],"aabb_xy":[[-0.23057835131172036,-2.2460317830938963],[-0.2012915402036544,-2.216714343780328]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6430241692103723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6399.png","name":"6399"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6399.png","name":"6399"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7111.png","name":"7111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2721.png","name":"2721"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5107.png","name":"5107"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8088.png","name":"8088"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":826.3090904522185,"rotation_z_degrees":305.006785783785,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017684009148232732,-0.011006149993266372,0.01831399493033598]},{"name":"camera_2","offset_m":[0.013311521310833439,0.01409020469937471,-0.0038613083770286244]},{"name":"camera_3","offset_m":[-0.00803603976111078,0.014065980254535326,0.0075986963227668985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011870750215421618,0.0008609157409055291,0.00044585576712951117],"end_effector_yaw_offset_degrees":0.7306297505313541},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016448126810317252,-3.642471821967662e-05,-0.001042053614460909],"end_effector_yaw_offset_degrees":0.17140846157247602},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017411447895142125,-0.001938677319873973,-0.0018063394797258928],"end_effector_yaw_offset_degrees":-0.5687410383069551},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011181075998654803,-0.0019450221300211243,0.0013551688610385186],"end_effector_yaw_offset_degrees":-0.4823101488719175},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016758346994742187,-0.0013901289888157424,0.0006515167143759612],"end_effector_yaw_offset_degrees":-0.48172530410537995},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012210225622955257,-0.0019528448104310049,0.00046191519067009454],"end_effector_yaw_offset_degrees":-0.8626255775284417}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032691274777111737,0.004294289377655652],"position_m":[0.2684308725222888,0.09269428937765566,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031277046517896867,-0.0033488331334591203],"position_m":[0.22417229534821032,-0.3376488331334591,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004062832276989093,0.004573898392147145],"position_m":[0.28306283227698914,0.3199738983921472,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00499712320819972,-0.0021889865592297666],"position_m":[0.17539712320819972,-0.10258898655922977,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9e470aa18c16c8effd3da81768eff01b579268da2c857dd06d89912faaa51659","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6399/tex_ceiling_textures_8088/tex_floor_textures_5107/tex_table_textures_7111/tex_wall_textures_2721","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":7813485124683485265,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":7813485124683485265,"visual_seed":7813485124683485265,"scene_id":"lab_003","finished_at":"2026-09-08T20:48:15"}
+{"episode_id":"ep_000033","started_at":"2026-09-08T20:56:51","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.07178100922786168,0.7141103817251961,0.71338606911949],"aabb_xy":[[0.03428100893568686,0.7100689063245924],[0.1092810095200365,0.7181518571257997]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.18455652498956066,-0.1223552698117949,0.71338606911949],"aabb_xy":[[-0.2014672574259024,-0.13582747540440943],[-0.16764579255321885,-0.10888306421918037]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.056701969764674676,-1.8567567594145364,0.71338606911949],"aabb_xy":[[0.0496616598311377,-1.936756758814208],[0.06374227969821168,-1.7767567600148653]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[0.13725041149471895,-2.3090767969332613,0.71338606911949],"aabb_xy":[[0.0772504098517971,-2.361076946225205],[0.1972504131376408,-2.2570766476413167]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.136503082344396,-1.981134668426566,0.71338606911949],"aabb_xy":[[-0.2005030830478654,-2.0271530508994875],[-0.07250308164092668,-1.9351162859536453]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.3232158816528279,1.2823636378277472,0.71338606911949],"aabb_xy":[[0.31164690090589137,1.2573636377108155],[0.3347848623997645,1.307363637944679]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.005536711436256558,-2.1729116454695054,0.71338606911949],"aabb_xy":[[-0.027903463759763044,-2.2063552713004353],[0.03897688663227616,-2.1394680196385747]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[-0.3959438822734467,-2.125798590867047,0.71338606911949],"aabb_xy":[[-0.4859438808679166,-2.1420491771804677],[-0.30594388367897674,-2.109548004553626]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.5230710576240207,-1.6397519050133924,0.71338606911949],"aabb_xy":[[-0.603071055027614,-1.7197444762115752],[-0.44307106022042725,-1.5597593338152096]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.5370593405542716,0.03161290969061836,0.71338606911949],"aabb_xy":[[0.5179470331962929,0.012478130813376342],[0.5561716479122506,0.05074768856786038]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.554467851281117,-2.379977620143807,0.71338606911949],"aabb_xy":[[-0.5890589341351621,-2.444977620428838],[-0.5198767684270716,-2.3149776198587757]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.28018727725647974,0.07007678046324406,0.71338606911949],"aabb_xy":[[-0.36018728052049287,0.05651674815433072],[-0.2001872739924666,0.0836368127721574]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.5400709378965818,-2.0135361510304497,0.71338606911949],"aabb_xy":[[0.5299892308180082,-2.093536148922564],[0.5501526449751551,-1.9335361531383346]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.43839509521258035,-0.07283957924749229,0.71338606911949],"aabb_xy":[[0.4208950949675309,-0.09033936708705914],[0.4558950954576297,-0.05533979140792545]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.09831022062709882,-1.492543497522549,0.71338606911949],"aabb_xy":[[-0.17831021921441825,-1.5718590994607098],[-0.0183102220397794,-1.413227895584388]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.6637373107998306,-0.5386076104542119,0.71338606911949],"aabb_xy":[[-0.6873224342637254,-0.6036076126996438],[-0.6401521873359357,-0.47360760820878023]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.4352651478402606,-0.841926799763318,0.71338606911949],"aabb_xy":[[-0.4396957771951008,-0.8473751714980007],[-0.4308345184854204,-0.8364784280286355]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.5112365495815897,-0.16292965233115808,0.71338606911949],"aabb_xy":[[-0.5398858819420058,-0.19157521160823385],[-0.48258721722117337,-0.13428409305408226]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.11350743830711263,1.1687116704083569,0.71338606911949],"aabb_xy":[[0.10035619233582328,1.1437116706516703],[0.126658684278402,1.1937116701650434]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.15261122013230155,-2.246116525959477,0.71338606911949],"aabb_xy":[[-0.2166112218102989,-2.2946339174387913],[-0.0886112184543042,-2.197599134480163]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.14784044607114477,-0.29999530313856004,0.71338606911949],"aabb_xy":[[-0.21184044318325046,-0.3490276729329707],[-0.08384044895903908,-0.2509629333441495]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[-0.04226595051863824,-2.4243037902031226,0.71338606911949],"aabb_xy":[[-0.10226595102649116,-2.4811505238890437],[0.017734049989214674,-2.3674570565172015]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.20228083791314044,-1.3051712863821106,0.71338606911949],"aabb_xy":[[0.13828084148581854,-1.352340910204207],[0.26628083434046235,-1.2580016625600141]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[0.5524982416079764,-1.3555422022218384,0.71338606911949],"aabb_xy":[[0.5274982424423433,-1.362494447927195],[0.5774982407736096,-1.3485899565164818]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[0.3245359702663386,-0.45937031148165497,0.71338606911949],"aabb_xy":[[0.3158220012164041,-0.4818703121408431],[0.33324993931627306,-0.43687031082246663]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[0.31672166937130686,-2.1840282268954407,0.71338606911949],"aabb_xy":[[0.30065974191278916,-2.269028228708032],[0.33278359682982445,-2.0990282250828485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6451363295548361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7506.png","name":"7506"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7506.png","name":"7506"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5585.png","name":"5585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6729.png","name":"6729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7305.png","name":"7305"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9604.png","name":"9604"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":554.0850560511869,"rotation_z_degrees":29.977130109890204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006039941080460718,-0.006938848700107855,0.00442470293642902]},{"name":"camera_2","offset_m":[-0.01726785311724426,0.015814989479665535,-0.010440951530279548]},{"name":"camera_3","offset_m":[0.0040555105142429625,0.015225769048359896,0.013030879898342642]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00027865527584638224,0.0014857353500355793,0.0005865655854055069],"end_effector_yaw_offset_degrees":-0.5979799963339671},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009660174640869403,-9.755317333891029e-05,-0.0008836395442062299],"end_effector_yaw_offset_degrees":-0.9830959507199883},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007831285771563428,0.0014630026793537657,-0.0012014089910635328],"end_effector_yaw_offset_degrees":0.906128632054265},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016827510831316688,0.0002889023202874053,-0.0012242511075084349],"end_effector_yaw_offset_degrees":-0.8720877935949933},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017400207627720015,0.0006718028199074145,-0.0004492270055126415],"end_effector_yaw_offset_degrees":0.812577987420326},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00011833904592025357,0.0011235272190828387,-0.0019088888548886085],"end_effector_yaw_offset_degrees":-0.5010941033164369}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00041","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023690459894858884,0.0046551074604097254],"position_m":[0.2693309540105141,0.09305510746040974,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010011101134836534,-0.003924042963465563],"position_m":[0.22629888988651634,-0.33822404296346553,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0021587989625454548,-0.004899635134895727],"position_m":[0.2811587989625455,0.3105003648651043,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017250818706952466,-0.004464722030915384],"position_m":[0.16867491812930474,-0.10486472203091539,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9db4318ffa7355f4a961ad50357bb8be14d9cdaaa95fce04e29fc47b2044e8c1","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/dataset/episode_0083.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7506/tex_ceiling_textures_9604/tex_floor_textures_7305/tex_table_textures_5585/tex_wall_textures_6729","seeds":{"action_seed":2848321962719448975,"physical_seed":446376941926965473,"visual_seed":8386831882924448312,"layout_id":"layout_00041","physical_randomization_enabled":true},"episode_seed":8386831882924448312,"visual_seed":8386831882924448312,"scene_id":"lab_003","finished_at":"2026-09-08T21:04:43"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..261982e55a9ab3f4456dd1caa720abade68a6025
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00041
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00041
+  reproducibility:
+    enabled: true
+    layout_id: layout_00041
+    action_seed: 2848321962719448975
+    step_seeds:
+    - 5782229107148351242
+    - 3907262889746092396
+    - 8862035115530452832
+    - 4186600411236157895
+    - 2365929533760883226
+    - 6164155675536394708
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2717
+      - 0.2717
+      'y':
+      - 0.0884
+      - 0.0884
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1704
+      - 0.1704
+      'y':
+      - -0.1004
+      - -0.1004
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2273
+      - 0.2273
+      'y':
+      - -0.3343
+      - -0.3343
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.279
+      - 0.279
+      'y':
+      - 0.3154
+      - 0.3154
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1dcdebaf7b21f2ed31cf7fb6e288288201114e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29602138058305005,
+              0.08895791118466227,
+              1.163409052695732
+            ],
+            "current_z": 1.163409052695732,
+            "required_z": 0.8611065731193427,
+            "initial_z": 0.7611065731193427,
+            "lift_margin": 0.3023024795763892,
+            "gripper_z": 1.1555834251253938,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.290782041986161,
+              0.08376557134663878,
+              1.1555834251253938
+            ],
+            "object_minus_gripper": [
+              0.005239338596889076,
+              0.005192339838023488,
+              0.007825627570338112
+            ],
+            "object_to_gripper_xy": 0.007376385424201841,
+            "object_to_gripper_z": 0.007825627570338112,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29602138058305005,
+              0.06495934492118052,
+              1.163409052695732
+            ],
+            "finger_b": [
+              0.2842731501694697,
+              0.08895791118466227,
+              1.163409052695732
+            ],
+            "finger_midpoint": [
+              0.2901472653762599,
+              0.07695862805292139,
+              1.163409052695732
+            ],
+            "object_minus_finger_midpoint": [
+              0.005874115206790154,
+              0.011999283131740882,
+              0.0
+            ],
+            "finger_gap": 0.026719882120872073,
+            "fingertip_max_gap": 0.09050150003388555,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01335994106043603,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163409052695732,
+            "object_top_z": 1.2132573244155924,
+            "finger_top_clearance": 0.049848271719860504,
+            "fingertip_min_top_clearance": 0.01495448151595815,
+            "object_projection_between_fingers": 0.8066804233174591,
+            "object_to_finger_line_xy": 0.010551718932873719,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047750750016942775,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30128610506463505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29118970582003484,
+              -0.33559754859920343,
+              0.8515395554186099
+            ],
+            "target_position": [
+              0.2817622026267261,
+              -0.3369744979714444,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009527528852412976,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1868873309669975,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395554186099,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581756952892887,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850337754168216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15419470976159216,
+            "release_required_pad_clearance": 0.0525168877084108,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1046783055818211,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007602512836456299,
+            "max_z_decrease": 0.007602512836456299,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519423304313994,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007602512836456299,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106943858631971,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007602512836456299,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007602523996342917,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13746212422847748,
+              -0.39323595166206354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13746212422847748,
+              -0.39323595166206354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13824522326330538,
+              -0.39146507324823643,
+              0.8078858932338888
+            ],
+            "closest_button": [
+              0.1374530792236328,
+              -0.3932387828826903,
+              0.7727453112602234
+            ],
+            "closest_ee_minus_button": [
+              0.0007921440396725654,
+              0.0017737096344538905,
+              0.03514058197366543
+            ],
+            "button_min_z_position": [
+              0.13744910061359406,
+              -0.393236219882965,
+              0.7692063450813293
+            ],
+            "min_active_finger_to_button": 0.14468858998708237,
+            "closest_active_finger": [
+              0.009965382516384125,
+              -0.45252159237861633,
+              0.8106197714805603
+            ],
+            "closest_active_finger_button": [
+              0.1374620795249939,
+              -0.393236756324768,
+              0.7764922380447388
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12749669700860977,
+              -0.05928483605384832,
+              0.03412753343582153
+            ],
+            "min_contact_pad_to_button": 0.02106943858631971,
+            "closest_contact_pad": [
+              0.13744910061359406,
+              -0.393236219882965,
+              0.7902757836676491
+            ],
+            "closest_contact_pad_button": [
+              0.13744910061359406,
+              -0.393236219882965,
+              0.7692063450813293
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106943858631971
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26647838314305355,
+              0.20685829126650032,
+              1.1031563082138396
+            ],
+            "current_z": 1.1031563082138396,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19324717847947703,
+            "gripper_z": 1.1031564184098221,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2664783478387623,
+              0.20685819988284687,
+              1.1031564184098221
+            ],
+            "object_minus_gripper": [
+              3.5304291268190013e-08,
+              9.138365344996124e-08,
+              -1.1019598256112317e-07
+            ],
+            "object_to_gripper_xy": 9.7966142619845e-08,
+            "object_to_gripper_z": -1.1019598256112317e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26647838314305355,
+              0.20685829126650032,
+              1.1031563082138396
+            ],
+            "finger_b": [
+              0.26647838314305355,
+              0.20685829126650032,
+              1.1031563082138396
+            ],
+            "finger_midpoint": [
+              0.26647838314305355,
+              0.20685829126650032,
+              1.1031563082138396
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1031563082138396,
+            "object_top_z": 1.2281648148341193,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2664783831430536,
+            0.20685829126650032,
+            1.1031563082138396
+          ],
+          "object_origin_world": [
+            0.2664783831430536,
+            0.20685829126650032,
+            1.1031563082138396
+          ],
+          "frame_world": [
+            0.2664783478387623,
+            0.20685819988284687,
+            1.1031564184098221
+          ],
+          "center_minus_frame": [
+            3.5304291323701165e-08,
+            9.138365344996124e-08,
+            -1.1019598256112317e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436554704898482,
+            "required_z": 0.9112598873225055,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009844307269986907,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.929106034386787e-08,
+            "max_target_xy_drift": 6.578764577559319e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.10467830749679005,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.10467831254186265,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2917039556735743,
+              -0.33477675083159064,
+              0.9233518005838645
+            ],
+            "target_mouth_xy": [
+              0.2911897056511808,
+              -0.3355974899385359
+            ],
+            "rod_tip_z": 0.9233518005838645,
+            "rod_tip_depth": -0.022091980304682957,
+            "rod_tip_bottom_clearance": 0.12153250626006618,
+            "rod_tip_xy_dist": 0.0009685379534127819,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04476820401887016,
+            "min_rod_tip_bottom_clearance": 0.05467231195212818,
+            "min_rod_tip_xy_dist": 0.0008111792958952066,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29118970588369636,
+              -0.3355975492291403
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.32515562359481e-10,
+              5.9290604426109894e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0009192076169855512,
+                0.002523017366904412
+              ],
+              "last_rod_tip_xy_delta": [
+                0.000840347511180839,
+                0.0021473508182706658
+              ],
+              "first_target_mouth_xy": [
+                0.29118967669523327,
+                -0.33559751973956464
+              ],
+              "last_target_mouth_xy": [
+                0.2911897074682795,
+                -0.335597609450603
+              ],
+              "first_rod_tip_xy": [
+                0.2921088843122188,
+                -0.33307450237266023
+              ],
+              "last_rod_tip_xy": [
+                0.29203005497946033,
+                -0.33345025863233235
+              ],
+              "min_rod_tip_xy_dist": 0.002305927031862788,
+              "max_rod_tip_xy_dist": 0.002685248457187068,
+              "first_target_xy_drift": 4.149218541877649e-08,
+              "last_target_xy_drift": 6.024230634765675e-08,
+              "max_depth": 0.019577170032398894,
+              "min_bottom_clearance": 0.07986343131192075
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009192076169855512,
+                  0.002523017366904412
+                ],
+                "rod_tip_xy": [
+                  0.2921088843122188,
+                  -0.33307450237266023
+                ],
+                "target_mouth_xy": [
+                  0.29118967669523327,
+                  -0.33559751973956464
+                ],
+                "gripper_position": [
+                  0.29211977518622945,
+                  -0.33313908642615847,
+                  1.0056613378086219
+                ],
+                "rod_tip_xy_dist": 0.002685248457187068,
+                "target_xy_drift": 4.149218541877649e-08,
+                "depth": 0.015074537031499857,
+                "bottom_clearance": 0.08436602145633121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009301298726331342,
+                  0.0024584028894355514
+                ],
+                "rod_tip_xy": [
+                  0.29211977518622934,
+                  -0.3331390864261585
+                ],
+                "target_mouth_xy": [
+                  0.2911896453135962,
+                  -0.3355974893155941
+                ],
+                "gripper_position": [
+                  0.292107836766791,
+                  -0.3331460113241909,
+                  1.0055139096649452
+                ],
+                "rod_tip_xy_dist": 0.0026284760502522366,
+                "target_xy_drift": 8.519606831074894e-08,
+                "depth": 0.015598428113149265,
+                "bottom_clearance": 0.08384209179654467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009181605151191152,
+                  0.002451507163177269
+                ],
+                "rod_tip_xy": [
+                  0.29210783676679086,
+                  -0.33314601132419097
+                ],
+                "target_mouth_xy": [
+                  0.29118967625167175,
+                  -0.33559751848736824
+                ],
+                "gripper_position": [
+                  0.2920985931649023,
+                  -0.3331469616031062,
+                  1.0053842608219568
+                ],
+                "rod_tip_xy_dist": 0.002617805589159222,
+                "target_xy_drift": 4.269793241770585e-08,
+                "depth": 0.015745995705353844,
+                "bottom_clearance": 0.08369459024756054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009089465630389149,
+                  0.0024505264526190063
+                ],
+                "rod_tip_xy": [
+                  0.29209859316490216,
+                  -0.3331469616031062
+                ],
+                "target_mouth_xy": [
+                  0.29118964660186325,
+                  -0.3355974880557252
+                ],
+                "gripper_position": [
+                  0.2921106462607118,
+                  -0.33321236639645924,
+                  1.0048616072700018
+                ],
+                "rod_tip_xy_dist": 0.0026136686380346203,
+                "target_xy_drift": 8.518522438280469e-08,
+                "depth": 0.015875597310940237,
+                "bottom_clearance": 0.08356501678699979,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009209995719328679,
+                  0.0023851244811454175
+                ],
+                "rod_tip_xy": [
+                  0.29211064626071176,
+                  -0.33321236639645924
+                ],
+                "target_mouth_xy": [
+                  0.2911896466887789,
+                  -0.33559749087760465
+                ],
+                "gripper_position": [
+                  0.2920985337890297,
+                  -0.3332193649542057,
+                  1.0047137414395133
+                ],
+                "rod_tip_xy_dist": 0.0025567672952499457,
+                "target_xy_drift": 8.312003349234223e-08,
+                "depth": 0.01639823212902114,
+                "bottom_clearance": 0.08304234657569809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009089165869282101,
+                  0.0023781249832026674
+                ],
+                "rod_tip_xy": [
+                  0.29209853378902967,
+                  -0.3332193649542058
+                ],
+                "target_mouth_xy": [
+                  0.29118961720210146,
+                  -0.33559748993740846
+                ],
+                "gripper_position": [
+                  0.2920892719960002,
+                  -0.3332198809252141,
+                  1.0045843649412745
+                ],
+                "rod_tip_xy_dist": 0.0025459001939836354,
+                "target_xy_drift": 1.0667677695181584e-07,
+                "depth": 0.016546086448625874,
+                "bottom_clearance": 0.08289447630775026,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000899624674850219,
+                  0.002377638812228522
+                ],
+                "rod_tip_xy": [
+                  0.2920892719960001,
+                  -0.33321988092521415
+                ],
+                "target_mouth_xy": [
+                  0.2911896473211499,
+                  -0.3355975197374427
+                ],
+                "gripper_position": [
+                  0.2921021656156698,
+                  -0.33328654813738917,
+                  1.0040630802540371
+                ],
+                "rod_tip_xy_dist": 0.0025421429694285134,
+                "target_xy_drift": 6.556929220107286e-08,
+                "depth": 0.016675525090673937,
+                "bottom_clearance": 0.08276504988043254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009125495946419315,
+                  0.002310941804746114
+                ],
+                "rod_tip_xy": [
+                  0.2921021656156697,
+                  -0.3332865481373892
+                ],
+                "target_mouth_xy": [
+                  0.2911896160210278,
+                  -0.33559748994213534
+                ],
+                "gripper_position": [
+                  0.29208998579002554,
+                  -0.33329343655291177,
+                  1.0039159684864631
+                ],
+                "rod_tip_xy_dist": 0.0024845922779410667,
+                "target_xy_drift": 1.0765801486009223e-07,
+                "depth": 0.017196678581090197,
+                "bottom_clearance": 0.08224383866681673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009003399547543034,
+                  0.0023040530743853593
+                ],
+                "rod_tip_xy": [
+                  0.29208998579002543,
+                  -0.33329343655291177
+                ],
+                "target_mouth_xy": [
+                  0.2911896458352711,
+                  -0.33559748962729713
+                ],
+                "gripper_position": [
+                  0.29208058554951993,
+                  -0.3332939358435872,
+                  1.0037865539702617
+                ],
+                "rod_tip_xy_dist": 0.002473716354740698,
+                "target_xy_drift": 8.460610547526674e-08,
+                "depth": 0.017343855654463947,
+                "bottom_clearance": 0.08209667325139602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008909695966334841,
+                  0.002303554723554868
+                ],
+                "rod_tip_xy": [
+                  0.2920805855495199,
+                  -0.33329393584358724
+                ],
+                "target_mouth_xy": [
+                  0.2911896159528864,
+                  -0.3355974905671421
+                ],
+                "gripper_position": [
+                  0.2920711234900907,
+                  -0.3332943113257173,
+                  1.0036576052564057
+                ],
+                "rod_tip_xy_dist": 0.002469856511325542,
+                "target_xy_drift": 1.0737215940031108e-07,
+                "depth": 0.017473272401595685,
+                "bottom_clearance": 0.0819672592008508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008815051960001097,
+                  0.0023031792304911702
+                ],
+                "rod_tip_xy": [
+                  0.29207112349009057,
+                  -0.3332943113257173
+                ],
+                "target_mouth_xy": [
+                  0.29118961829409046,
+                  -0.33559749055620847
+                ],
+                "gripper_position": [
+                  0.2920857938042775,
+                  -0.333362970108004,
+                  1.003138103546928
+                ],
+                "rod_tip_xy_dist": 0.0024661074547434243,
+                "target_xy_drift": 1.0542510134425373e-07,
+                "depth": 0.017602299356927698,
+                "bottom_clearance": 0.08183832227084997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008961779445492146,
+                  0.0022345201479457844
+                ],
+                "rod_tip_xy": [
+                  0.2920857938042774,
+                  -0.333362970108004
+                ],
+                "target_mouth_xy": [
+                  0.2911896158597282,
+                  -0.33559749025594976
+                ],
+                "gripper_position": [
+                  0.292073406084457,
+                  -0.33337005245236523,
+                  1.0029907538846143
+                ],
+                "rod_tip_xy_dist": 0.0024075330111697547,
+                "target_xy_drift": 1.0762040721395731e-07,
+                "depth": 0.018121716520811737,
+                "bottom_clearance": 0.08131880036156158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008837910316293884,
+                  0.002227435918288112
+                ],
+                "rod_tip_xy": [
+                  0.2920734060844569,
+                  -0.3333700524523653
+                ],
+                "target_mouth_xy": [
+                  0.29118961505282753,
+                  -0.3355974883706534
+                ],
+                "gripper_position": [
+                  0.2920638885398683,
+                  -0.33337039862479156,
+                  1.0028616606885425
+                ],
+                "rod_tip_xy_dist": 0.0023963633609426897,
+                "target_xy_drift": 1.0933435947370732e-07,
+                "depth": 0.01826909027950907,
+                "bottom_clearance": 0.08117145653708313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008742113766646575,
+                  0.0022270931846805064
+                ],
+                "rod_tip_xy": [
+                  0.29206388853986825,
+                  -0.33337039862479156
+                ],
+                "target_mouth_xy": [
+                  0.2911896771632036,
+                  -0.33559749180947207
+                ],
+                "gripper_position": [
+                  0.2920542583872594,
+                  -0.3333710043070694,
+                  1.0027325797397124
+                ],
+                "rod_tip_xy_dist": 0.0023925278649036203,
+                "target_xy_drift": 6.420190811450466e-08,
+                "depth": 0.018398260424695834,
+                "bottom_clearance": 0.08104237768136813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008646138000802384,
+                  0.002226483747208241
+                ],
+                "rod_tip_xy": [
+                  0.29205425838725935,
+                  -0.33337100430706945
+                ],
+                "target_mouth_xy": [
+                  0.2911896445871791,
+                  -0.3355974880542777
+                ],
+                "gripper_position": [
+                  0.2920447374077605,
+                  -0.333371413454109,
+                  1.0026034926412526
+                ],
+                "rod_tip_xy_dist": 0.0023884695727330587,
+                "target_xy_drift": 8.660038593252373e-08,
+                "depth": 0.018527218610610796,
+                "bottom_clearance": 0.0809133497367941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008550630140721771,
+                  0.0022261379652548374
+                ],
+                "rod_tip_xy": [
+                  0.2920447374077604,
+                  -0.3333714134541089
+                ],
+                "target_mouth_xy": [
+                  0.2911896743936882,
+                  -0.33559755141936376
+                ],
+                "gripper_position": [
+                  0.2920619327033711,
+                  -0.3334430680851767,
+                  1.0020874199298602
+                ],
+                "rod_tip_xy_dist": 0.0023847060612123966,
+                "target_xy_drift": 3.156608452835641e-08,
+                "depth": 0.01865636225902023,
+                "bottom_clearance": 0.08078420022809929,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008724437224605364,
+                  0.0021538918030364895
+                ],
+                "rod_tip_xy": [
+                  0.29206193270337105,
+                  -0.33344306808517676
+                ],
+                "target_mouth_xy": [
+                  0.2911894889809105,
+                  -0.33559695988821325
+                ],
+                "gripper_position": [
+                  0.29204960057575313,
+                  -0.3334498391943978,
+                  1.0019402732186466
+                ],
+                "rod_tip_xy_dist": 0.002323877782511072,
+                "target_xy_drift": 6.279884925809976e-07,
+                "depth": 0.019173187886884047,
+                "bottom_clearance": 0.08026837308413415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0008599248845511664,
+                  0.002147682734062184
+                ],
+                "rod_tip_xy": [
+                  0.292049600575753,
+                  -0.33344983919439786
+                ],
+                "target_mouth_xy": [
+                  0.29118967569120185,
+                  -0.33559752192846004
+                ],
+                "gripper_position": [
+                  0.2920398736503891,
+                  -0.33344993512954163,
+                  1.0018113802065431
+                ],
+                "rod_tip_xy_dist": 0.0023134415776628454,
+                "target_xy_drift": 4.0705206887091755e-08,
+                "depth": 0.01931958215816587,
+                "bottom_clearance": 0.0801210105302147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0008501997458223443,
+                  0.0021476165989655627
+                ],
+                "rod_tip_xy": [
+                  0.292039873650389,
+                  -0.3334499351295417
+                ],
+                "target_mouth_xy": [
+                  0.2911896739045667,
+                  -0.33559755172850725
+                ],
+                "gripper_position": [
+                  0.29203005497946044,
+                  -0.3334502586323324,
+                  1.0016826674635404
+                ],
+                "rod_tip_xy_dist": 0.0023097828174849662,
+                "target_xy_drift": 3.2076651477677224e-08,
+                "depth": 0.019448495175610536,
+                "bottom_clearance": 0.0799920972672451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.000840347511180839,
+                  0.0021473508182706658
+                ],
+                "rod_tip_xy": [
+                  0.29203005497946033,
+                  -0.33345025863233235
+                ],
+                "target_mouth_xy": [
+                  0.2911897074682795,
+                  -0.335597609450603
+                ],
+                "gripper_position": [
+                  0.2920203120479367,
+                  -0.33345067624251606,
+                  1.0015537720591905
+                ],
+                "rod_tip_xy_dist": 0.002305927031862788,
+                "target_xy_drift": 6.024230634765675e-08,
+                "depth": 0.019577170032398894,
+                "bottom_clearance": 0.07986343131192075,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006036772655939049,
+              "rod_tip_xy_max_step": 3.265959972223272e-05,
+              "rod_tip_xy_range": 0.0006036668049744623,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2917039556735744,
+            -0.33477675083159064,
+            1.0433518005838647
+          ],
+          "object_origin_world": [
+            0.2917039556735744,
+            -0.33477675083159064,
+            1.0433518005838647
+          ],
+          "frame_world": [
+            0.29172900391166645,
+            -0.3347739237648156,
+            1.0436554704898482
+          ],
+          "center_minus_frame": [
+            -2.504823809207357e-05,
+            -2.8270667750684986e-06,
+            -0.00030366990598351684
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25227689730332853,
+              0.16234844762550082,
+              0.832658159032755
+            ],
+            "target_position": [
+              0.26661835654923105,
+              0.20689927609876502,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04680228382201119,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1652143845689498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832658159032755,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673063751916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13522233827855232,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 315,
+            "max_placed_release_frames": 315
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af9c898b9d7b42c38261e9e0bc37dca4e081a8a24f79ad563676c25f06a955cd",
+    "visual_seed": 2006492973625659423,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d94bee41d45fe40adf7ea391f6c8d2c5cb6cf2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_11_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2956471126926325,
+              0.08291849858036983,
+              1.1625313466706766
+            ],
+            "current_z": 1.1625313466706766,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3014246598419763,
+            "gripper_z": 1.1550456577477692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29013962869314097,
+              0.07786659963180412,
+              1.1550456577477692
+            ],
+            "object_minus_gripper": [
+              0.005507483999491525,
+              0.005051898948565711,
+              0.007485688922907352
+            ],
+            "object_to_gripper_xy": 0.007473557585994404,
+            "object_to_gripper_z": 0.007485688922907352,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2956471126926325,
+              0.05839811822809883,
+              1.1625313466706766
+            ],
+            "finger_b": [
+              0.2845408292288518,
+              0.08291849858036983,
+              1.1625313466706766
+            ],
+            "finger_midpoint": [
+              0.2900939709607422,
+              0.07065830840423433,
+              1.1625313466706766
+            ],
+            "object_minus_finger_midpoint": [
+              0.00555314173189031,
+              0.0122601901761355,
+              0.0
+            ],
+            "finger_gap": 0.02691836891414273,
+            "fingertip_max_gap": 0.09144364581013217,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013459184457071354,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625313466706766,
+            "object_top_z": 1.2124209153033352,
+            "finger_top_clearance": 0.04988956863265859,
+            "fingertip_min_top_clearance": 0.014966870589797543,
+            "object_projection_between_fingers": 0.8297684608669117,
+            "object_to_finger_line_xy": 0.010116894366841073,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822182290506609,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0579060932246473,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2919736166691722,
+              -0.33446693740435485,
+              0.8515396041636417
+            ],
+            "target_position": [
+              0.2828290161871412,
+              -0.33556380227559013,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009210148235599257,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840778040876234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396041636417,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544212759413879,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08672468514086205,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15221760196596787,
+            "release_required_pad_clearance": 0.05336234257043103,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7408627414249382,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007333874702453613,
+            "max_z_decrease": 0.007333874702453613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035136993228578814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007333874702453613,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021075438716874614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007333874702453613,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007333899394911514,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13852894306182856,
+              -0.39182525873184204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13852894306182856,
+              -0.39182525873184204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13943686174032296,
+              -0.39156597186452247,
+              0.808271556352287
+            ],
+            "closest_button": [
+              0.13851916790008542,
+              -0.3918275833129882,
+              0.7731475234031677
+            ],
+            "closest_ee_minus_button": [
+              0.0009176938402375434,
+              0.00026161144846575946,
+              0.035124032949119255
+            ],
+            "button_min_z_position": [
+              0.13850991427898401,
+              -0.3918249607086181,
+              0.769474983215332
+            ],
+            "min_active_finger_to_button": 0.14524308442577913,
+            "closest_active_finger": [
+              0.012342661619186401,
+              -0.45509523153305054,
+              0.8105944991111755
+            ],
+            "closest_active_finger_button": [
+              0.13852831721305844,
+              -0.3918260037899017,
+              0.7763930559158325
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12618565559387204,
+              -0.06326922774314886,
+              0.03420144319534302
+            ],
+            "min_contact_pad_to_button": 0.021075438716874614,
+            "closest_contact_pad": [
+              0.13850991427898401,
+              -0.392594084876871,
+              0.7905363831004903
+            ],
+            "closest_contact_pad_button": [
+              0.13850991427898401,
+              -0.3918249607086181,
+              0.769474983215332
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000769124168252866,
+              0.021061399885158316
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2680746195581057,
+              0.2061558382864472,
+              1.1025256932049863
+            ],
+            "current_z": 1.1025256932049863,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19261656347062373,
+            "gripper_z": 1.1025256872728515,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2680745917500187,
+              0.2061558911625785,
+              1.1025256872728515
+            ],
+            "object_minus_gripper": [
+              2.7808086999758785e-08,
+              -5.287613127902269e-08,
+              5.9321347833929394e-09
+            ],
+            "object_to_gripper_xy": 5.974257243894504e-08,
+            "object_to_gripper_z": 5.9321347833929394e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2680746195581057,
+              0.2061558382864472,
+              1.1025256932049863
+            ],
+            "finger_b": [
+              0.2680746195581057,
+              0.2061558382864472,
+              1.1025256932049863
+            ],
+            "finger_midpoint": [
+              0.2680746195581057,
+              0.2061558382864472,
+              1.1025256932049863
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1025256932049863,
+            "object_top_z": 1.227534199825266,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26807461955810574,
+            0.2061558382864472,
+            1.1025256932049863
+          ],
+          "object_origin_world": [
+            0.26807461955810574,
+            0.2061558382864472,
+            1.1025256932049863
+          ],
+          "frame_world": [
+            0.2680745917500187,
+            0.2061558911625785,
+            1.1025256872728515
+          ],
+          "center_minus_frame": [
+            2.7808087055269937e-08,
+            -5.287613127902269e-08,
+            5.9321347833929394e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432711555132144,
+            "required_z": 0.9112599038650655,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0030176202263945693,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.217737095706114e-07,
+            "max_target_xy_drift": 2.1293571407236683e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.741312294913228,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.741312296317041,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2897142818585157,
+              -0.3364603833513012,
+              0.9233872190823585
+            ],
+            "target_mouth_xy": [
+              0.2919736718643692,
+              -0.33446693962205815
+            ],
+            "rod_tip_z": 0.9233872190823585,
+            "rod_tip_depth": -0.02212724755825035,
+            "rod_tip_bottom_clearance": 0.12156786425683319,
+            "rod_tip_xy_dist": 0.003013081661722575,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04462735897447545,
+            "min_rod_tip_bottom_clearance": 0.05481321132375161,
+            "min_rod_tip_xy_dist": 0.0011895683659140291,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29197367100401767,
+              -0.3344668178513879
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.603515122551642e-10,
+              -1.2177067026941657e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.001742862875256157,
+                -0.00025591512643852177
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018448736722757042,
+                -0.0006388469243330253
+              ],
+              "first_target_mouth_xy": [
+                0.2919736115233376,
+                -0.3344667899739124
+              ],
+              "last_target_mouth_xy": [
+                0.2919736105984158,
+                -0.3344667877423338
+              ],
+              "first_rod_tip_xy": [
+                0.29023074864808146,
+                -0.3347227051003509
+              ],
+              "last_rod_tip_xy": [
+                0.2901287369261401,
+                -0.3351056346666668
+              ],
+              "min_rod_tip_xy_dist": 0.0017615514621736725,
+              "max_rod_tip_xy_dist": 0.001952353518035555,
+              "first_target_xy_drift": 6.568945835469213e-08,
+              "last_target_xy_drift": 6.749364320522458e-08,
+              "max_depth": 0.019570950251629693,
+              "min_bottom_clearance": 0.07986961408805437
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001742862875256157,
+                  -0.00025591512643852177
+                ],
+                "rod_tip_xy": [
+                  0.29023074864808146,
+                  -0.3347227051003509
+                ],
+                "target_mouth_xy": [
+                  0.2919736115233376,
+                  -0.3344667899739124
+                ],
+                "gripper_position": [
+                  0.2902369140712099,
+                  -0.33478827820412727,
+                  1.0056587932484258
+                ],
+                "rod_tip_xy_dist": 0.0017615514621736725,
+                "target_xy_drift": 6.568945835469213e-08,
+                "depth": 0.015077682417977467,
+                "bottom_clearance": 0.08436288319204799,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017366368844304314,
+                  -0.00032151865105206623
+                ],
+                "rod_tip_xy": [
+                  0.2902369140712097,
+                  -0.3347882782041273
+                ],
+                "target_mouth_xy": [
+                  0.29197355095564015,
+                  -0.33446675955307525
+                ],
+                "gripper_position": [
+                  0.29022501132046086,
+                  -0.3347955614569513,
+                  1.005511748280682
+                ],
+                "rod_tip_xy_dist": 0.0017661488927433542,
+                "target_xy_drift": 1.3345525916542375e-07,
+                "depth": 0.015600962907595162,
+                "bottom_clearance": 0.08383954326788012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017485708592692162,
+                  -0.00032877275484821666
+                ],
+                "rod_tip_xy": [
+                  0.2902250113204607,
+                  -0.3347955614569513
+                ],
+                "target_mouth_xy": [
+                  0.2919735821797299,
+                  -0.33446678870210306
+                ],
+                "gripper_position": [
+                  0.29021597567000906,
+                  -0.33479635145561776,
+                  1.0053829271440553
+                ],
+                "rod_tip_xy_dist": 0.0017792109414614026,
+                "target_xy_drift": 9.34849447839198e-08,
+                "depth": 0.015748148096793924,
+                "bottom_clearance": 0.08369243257078895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017575740717048483,
+                  -0.00032956113014420696
+                ],
+                "rod_tip_xy": [
+                  0.2902159756700089,
+                  -0.33479635145561776
+                ],
+                "target_mouth_xy": [
+                  0.29197354974171374,
+                  -0.33446679032547355
+                ],
+                "gripper_position": [
+                  0.290223133229787,
+                  -0.33486318880855465,
+                  1.0048598395361972
+                ],
+                "rod_tip_xy_dist": 0.0017882050095084415,
+                "target_xy_drift": 1.2434718457426388e-07,
+                "depth": 0.01587692110598815,
+                "bottom_clearance": 0.08356362204469359,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017504801489851007,
+                  -0.00039646355638789377
+                ],
+                "rod_tip_xy": [
+                  0.2902231332297868,
+                  -0.33486318880855465
+                ],
+                "target_mouth_xy": [
+                  0.2919736133787719,
+                  -0.33446672525216675
+                ],
+                "gripper_position": [
+                  0.2902111258242197,
+                  -0.33487037209265386,
+                  1.0047130886686468
+                ],
+                "rod_tip_xy_dist": 0.001794815896835839,
+                "target_xy_drift": 1.0906550646113675e-07,
+                "depth": 0.016400136832517398,
+                "bottom_clearance": 0.08304063790701088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017624827281462752,
+                  -0.00040358014463742764
+                ],
+                "rod_tip_xy": [
+                  0.29021112582421954,
+                  -0.33487037209265386
+                ],
+                "target_mouth_xy": [
+                  0.2919736085523658,
+                  -0.33446679194801643
+                ],
+                "gripper_position": [
+                  0.29020198599837843,
+                  -0.3348708493273865,
+                  1.004584209246018
+                ],
+                "rod_tip_xy_dist": 0.0018080990847183967,
+                "target_xy_drift": 6.761060176590398e-08,
+                "depth": 0.01654681381515377,
+                "bottom_clearance": 0.08289381881037905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017716837410835518,
+                  -0.00040409167003435664
+                ],
+                "rod_tip_xy": [
+                  0.29020198599837826,
+                  -0.33487084932738637
+                ],
+                "target_mouth_xy": [
+                  0.2919736697394618,
+                  -0.334466757657352
+                ],
+                "gripper_position": [
+                  0.29021012499191157,
+                  -0.3349386210187551,
+                  1.0040631890807585
+                ],
+                "rod_tip_xy_dist": 0.0018171828075928315,
+                "target_xy_drift": 6.020731729148953e-08,
+                "depth": 0.016675636287768802,
+                "bottom_clearance": 0.08276492114975043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017634526064958522,
+                  -0.0004718293602759549
+                ],
+                "rod_tip_xy": [
+                  0.2902101249919114,
+                  -0.3349386210187551
+                ],
+                "target_mouth_xy": [
+                  0.29197357759840725,
+                  -0.33446679165847915
+                ],
+                "gripper_position": [
+                  0.2901978572549568,
+                  -0.33494571226304265,
+                  1.0039164082825165
+                ],
+                "rod_tip_xy_dist": 0.001825482960910737,
+                "target_xy_drift": 9.700864149340122e-08,
+                "depth": 0.017196742448788105,
+                "bottom_clearance": 0.08224392253027524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001775781853448899,
+                  -0.0004789539655306041
+                ],
+                "rod_tip_xy": [
+                  0.2901978572549566,
+                  -0.33494571226304254
+                ],
+                "target_mouth_xy": [
+                  0.2919736391084055,
+                  -0.33446675829751193
+                ],
+                "gripper_position": [
+                  0.29018866913046015,
+                  -0.33494614207465817,
+                  1.0037878435022336
+                ],
+                "rod_tip_xy_dist": 0.0018392384543978787,
+                "target_xy_drift": 6.755734019488754e-08,
+                "depth": 0.0173433845952079,
+                "bottom_clearance": 0.08209716763691699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017849404824515358,
+                  -0.0004793520788079486
+                ],
+                "rod_tip_xy": [
+                  0.29018866913046,
+                  -0.33494614207465817
+                ],
+                "target_mouth_xy": [
+                  0.2919736096129115,
+                  -0.3344667899958502
+                ],
+                "gripper_position": [
+                  0.29017918292567046,
+                  -0.33494713698066797,
+                  1.0036591626150684
+                ],
+                "rod_tip_xy_dist": 0.0018481858514099233,
+                "target_xy_drift": 6.741512361098289e-08,
+                "depth": 0.017471990576925278,
+                "bottom_clearance": 0.08196853046080943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001794457786924164,
+                  -0.00048037936188677355
+                ],
+                "rod_tip_xy": [
+                  0.2901791829256703,
+                  -0.33494713698066797
+                ],
+                "target_mouth_xy": [
+                  0.29197364071259446,
+                  -0.3344667576187812
+                ],
+                "gripper_position": [
+                  0.290188975875037,
+                  -0.33501691459589467,
+                  1.003139657659717
+                ],
+                "rod_tip_xy_dist": 0.0018576444978465369,
+                "target_xy_drift": 6.742059942738197e-08,
+                "depth": 0.017600689376712775,
+                "bottom_clearance": 0.08183989846762307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001784634662241158,
+                  -0.0005501239805758007
+                ],
+                "rod_tip_xy": [
+                  0.29018897587503684,
+                  -0.3350169145958947
+                ],
+                "target_mouth_xy": [
+                  0.291973610537278,
+                  -0.3344667906153189
+                ],
+                "gripper_position": [
+                  0.2901766568461377,
+                  -0.3350239856680616,
+                  1.0029930414527526
+                ],
+                "rod_tip_xy_dist": 0.0018675002735413925,
+                "target_xy_drift": 6.631764515258544e-08,
+                "depth": 0.01812018008841909,
+                "bottom_clearance": 0.08132036868120085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017969205710058334,
+                  -0.0005572260702997878
+                ],
+                "rod_tip_xy": [
+                  0.2901766568461375,
+                  -0.3350239856680615
+                ],
+                "target_mouth_xy": [
+                  0.29197357741714336,
+                  -0.33446675959776173
+                ],
+                "gripper_position": [
+                  0.2901671993761856,
+                  -0.3350243323713668,
+                  1.002864640737134
+                ],
+                "rod_tip_xy_dist": 0.0018813358105148783,
+                "target_xy_drift": 1.1023605581372156e-07,
+                "depth": 0.018266853785762538,
+                "bottom_clearance": 0.08117373607523037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018064133953950567,
+                  -0.0005575734953572886
+                ],
+                "rod_tip_xy": [
+                  0.29016719937618546,
+                  -0.3350243323713668
+                ],
+                "target_mouth_xy": [
+                  0.2919736127715805,
+                  -0.3344667588760095
+                ],
+                "gripper_position": [
+                  0.29015778782805224,
+                  -0.335024686585045,
+                  1.0027359492071068
+                ],
+                "rod_tip_xy_dist": 0.0018905072223579687,
+                "target_xy_drift": 8.288010611107617e-08,
+                "depth": 0.01839526193964003,
+                "bottom_clearance": 0.08104534912436201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018157905725453283,
+                  -0.000557897217896286
+                ],
+                "rod_tip_xy": [
+                  0.29015778782805207,
+                  -0.335024686585045
+                ],
+                "target_mouth_xy": [
+                  0.2919735784005974,
+                  -0.3344667893671487
+                ],
+                "gripper_position": [
+                  0.29014816491739565,
+                  -0.3350252958236169,
+                  1.0026078241345588
+                ],
+                "rod_tip_xy_dist": 0.0018995643471809284,
+                "target_xy_drift": 9.688521727816799e-08,
+                "depth": 0.018523916062748502,
+                "bottom_clearance": 0.08091663603199162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018254761558151311,
+                  -0.0005585080968598111
+                ],
+                "rod_tip_xy": [
+                  0.2901481649173955,
+                  -0.3350252958236169
+                ],
+                "target_mouth_xy": [
+                  0.2919736410732106,
+                  -0.3344667877267571
+                ],
+                "gripper_position": [
+                  0.29016032428765215,
+                  -0.3350980659848815,
+                  1.0020918470046785
+                ],
+                "rod_tip_xy_dist": 0.0019090035331836234,
+                "target_xy_drift": 4.2465828511795646e-08,
+                "depth": 0.01865208460901624,
+                "bottom_clearance": 0.0807885054419869,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018133177231418052,
+                  -0.0006312769949268215
+                ],
+                "rod_tip_xy": [
+                  0.290160324287652,
+                  -0.3350980659848814
+                ],
+                "target_mouth_xy": [
+                  0.2919736420107938,
+                  -0.3344667889899546
+                ],
+                "gripper_position": [
+                  0.29014795271987703,
+                  -0.33510508018436025,
+                  1.0019454204412017
+                ],
+                "rod_tip_xy_dist": 0.0019200603660781133,
+                "target_xy_drift": 4.0909526553862617e-08,
+                "depth": 0.01916798624237004,
+                "bottom_clearance": 0.08027259227590078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018256880237972894,
+                  -0.000638323198087154
+                ],
+                "rod_tip_xy": [
+                  0.29014795271987687,
+                  -0.3351050801843603
+                ],
+                "target_mouth_xy": [
+                  0.29197364074367416,
+                  -0.33446675698627315
+                ],
+                "gripper_position": [
+                  0.29013847287813643,
+                  -0.3351053179311012,
+                  1.0018172860685108
+                ],
+                "rod_tip_xy_dist": 0.0019340613396304329,
+                "target_xy_drift": 6.797242514342536e-08,
+                "depth": 0.019314443230312506,
+                "bottom_clearance": 0.08012616910652404,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0018351401530941058,
+                  -0.0006385273622682708
+                ],
+                "rod_tip_xy": [
+                  0.29013847287813627,
+                  -0.33510531793110127
+                ],
+                "target_mouth_xy": [
+                  0.2919736130312304,
+                  -0.334466790568833
+                ],
+                "gripper_position": [
+                  0.2901287369261403,
+                  -0.3351056346666668,
+                  1.0016888936095378
+                ],
+                "rod_tip_xy_dist": 0.0019430534150824401,
+                "target_xy_drift": 6.407169318345945e-08,
+                "depth": 0.01944263167829441,
+                "bottom_clearance": 0.07999801407914198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0018448736722757042,
+                  -0.0006388469243330253
+                ],
+                "rod_tip_xy": [
+                  0.2901287369261401,
+                  -0.3351056346666668
+                ],
+                "target_mouth_xy": [
+                  0.2919736105984158,
+                  -0.3344667877423338
+                ],
+                "gripper_position": [
+                  0.29011905154257095,
+                  -0.33510598306421374,
+                  1.001560878434281
+                ],
+                "rod_tip_xy_dist": 0.001952353518035555,
+                "target_xy_drift": 6.749364320522458e-08,
+                "depth": 0.019570950251629693,
+                "bottom_clearance": 0.07986961408805437,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006015275718409285,
+              "rod_tip_xy_max_step": 3.2676235140610776e-05,
+              "rod_tip_xy_range": 0.0006015153938228729,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2897142818585158,
+            -0.3364603833513012,
+            1.0433872190823588
+          ],
+          "object_origin_world": [
+            0.2897142818585158,
+            -0.3364603833513012,
+            1.0433872190823588
+          ],
+          "frame_world": [
+            0.2897126043617252,
+            -0.33646534037747056,
+            1.0432711555132144
+          ],
+          "center_minus_frame": [
+            1.6774967905863747e-06,
+            4.957026169372103e-06,
+            0.00011606356914439786
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25643710055158103,
+              0.1595414847186578,
+              0.8323795214230278
+            ],
+            "target_position": [
+              0.26822430500008226,
+              0.20612800476599208,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048054573547493325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1688766158243921,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323795214230278,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674114220354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13792792727153733,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad6aa14274c075488a8aed239f80096a8077f8ec2ecef51cd51247efffb64953",
+    "visual_seed": 6041329108860481549,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..661b611783275f2d93f306b01d512ce0129e850b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29997637455259196,
+              0.08167184503830627,
+              1.16403847554701
+            ],
+            "current_z": 1.16403847554701,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3029317887183096,
+            "gripper_z": 1.1562287779399607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29460134107642955,
+              0.07651201714321468,
+              1.1562287779399607
+            ],
+            "object_minus_gripper": [
+              0.005375033476162416,
+              0.00515982789509159,
+              0.007809697607049193
+            ],
+            "object_to_gripper_xy": 0.007450826046609325,
+            "object_to_gripper_z": 0.007809697607049193,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29997637455259196,
+              0.05753219542535569,
+              1.16403847554701
+            ],
+            "finger_b": [
+              0.28834062927651427,
+              0.08167184503830627,
+              1.16403847554701
+            ],
+            "finger_midpoint": [
+              0.2941585019145531,
+              0.06960202023183099,
+              1.16403847554701
+            ],
+            "object_minus_finger_midpoint": [
+              0.005817872638038846,
+              0.012069824806475282,
+              0.0
+            ],
+            "finger_gap": 0.026797635186071724,
+            "fingertip_max_gap": 0.09074173019524792,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013398817593035855,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16403847554701,
+            "object_top_z": 1.213908124917086,
+            "finger_top_clearance": 0.0498696493700761,
+            "fingertip_min_top_clearance": 0.014960894811022828,
+            "object_projection_between_fingers": 0.8114634873614214,
+            "object_to_finger_line_xy": 0.01048162690475207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787086509762396,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4539691370615094,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2851148264486005,
+              -0.3332868835359202,
+              0.8515395913414157
+            ],
+            "target_position": [
+              0.2758953923242706,
+              -0.3342608785485781,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009270740631553675,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18569540172811602,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395913414157,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514717765016157,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863756653263462,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463314080978863,
+            "release_required_pad_clearance": 0.053187832663173104,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3988314258610652,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007457315921783447,
+            "max_z_decrease": 0.007457315921783447,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514377156359431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007457315921783447,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021181342732839205,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007457315921783447,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007457341755178199,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13159531354904175,
+              -0.39052233099937433,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13159531354904175,
+              -0.39052233099937433,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13283668652704048,
+              -0.391654747295089,
+              0.8079791256384935
+            ],
+            "closest_button": [
+              0.13158871233463287,
+              -0.39052399992942805,
+              0.7728757262229919
+            ],
+            "closest_ee_minus_button": [
+              0.0012479741924076027,
+              -0.0011307473656609335,
+              0.03510339941550156
+            ],
+            "button_min_z_position": [
+              0.13157570362091064,
+              -0.39052146673202515,
+              0.7693515419960022
+            ],
+            "min_active_finger_to_button": 0.14488489000343435,
+            "closest_active_finger": [
+              -0.008480899035930634,
+              -0.3767586946487427,
+              0.8110037446022034
+            ],
+            "closest_active_finger_button": [
+              0.131595641374588,
+              -0.3905226290225982,
+              0.7766417264938354
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14007654041051865,
+              0.013763934373855535,
+              0.03436201810836792
+            ],
+            "min_contact_pad_to_button": 0.021181342732839205,
+            "closest_contact_pad": [
+              0.13157570362091064,
+              -0.3926239175979607,
+              0.7904282822639451
+            ],
+            "closest_contact_pad_button": [
+              0.13157570362091064,
+              -0.39052146673202515,
+              0.7693515419960022
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002102450865935579,
+              0.02107674026794293
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2709036302564903,
+              0.19789466459222574,
+              1.1089307608872168
+            ],
+            "current_z": 1.1089307608872168,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1990216311528542,
+            "gripper_z": 1.1089313272431423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2709035437887468,
+              0.19789461855260612,
+              1.1089313272431423
+            ],
+            "object_minus_gripper": [
+              8.646774346532382e-08,
+              4.603961961668901e-08,
+              -5.663559254909245e-07
+            ],
+            "object_to_gripper_xy": 9.796079437425192e-08,
+            "object_to_gripper_z": -5.663559254909245e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2709036302564903,
+              0.19789466459222574,
+              1.1089307608872168
+            ],
+            "finger_b": [
+              0.2709036302564903,
+              0.19789466459222574,
+              1.1089307608872168
+            ],
+            "finger_midpoint": [
+              0.2709036302564903,
+              0.19789466459222574,
+              1.1089307608872168
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1089307608872168,
+            "object_top_z": 1.2339392675074965,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27090363025649034,
+            0.19789466459222577,
+            1.108930760887217
+          ],
+          "object_origin_world": [
+            0.27090363025649034,
+            0.19789466459222577,
+            1.108930760887217
+          ],
+          "frame_world": [
+            0.2709035437887468,
+            0.19789461855260612,
+            1.1089313272431423
+          ],
+          "center_minus_frame": [
+            8.646774352083497e-08,
+            4.6039619644444585e-08,
+            -5.663559252688799e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043385497930792,
+            "required_z": 0.9112598386355788,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018643094577040743,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.294229052478871e-09,
+            "max_target_xy_drift": 1.291919350035093e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.3988314270990587,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3988314271988591,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28382609280928767,
+              -0.33462818471739675,
+              0.9234985907034684
+            ],
+            "target_mouth_xy": [
+              0.28511479898440445,
+              -0.33328691781717745
+            ],
+            "rod_tip_z": 0.9234985907034684,
+            "rod_tip_depth": -0.022238729273808433,
+            "rod_tip_bottom_clearance": 0.12167932458023523,
+            "rod_tip_xy_dist": 0.0018600431455770066,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044753047059270856,
+            "min_rod_tip_bottom_clearance": 0.05468758962068965,
+            "min_rod_tip_xy_dist": 0.0008200826382235647,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28511479905553627,
+              -0.3332869165249046
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.113182265428009e-11,
+              -1.2922728442887887e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0007664116485708861,
+                0.00037166181703851553
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00086785160788172,
+                -1.772700348678935e-05
+              ],
+              "first_target_mouth_xy": [
+                0.28511479310242993,
+                -0.33328694530141845
+              ],
+              "last_target_mouth_xy": [
+                0.2851148573249182,
+                -0.3332869479107564
+              ],
+              "first_rod_tip_xy": [
+                0.28434838145385904,
+                -0.33291528348437993
+              ],
+              "last_rod_tip_xy": [
+                0.2842470057170365,
+                -0.3333046749142432
+              ],
+              "min_rod_tip_xy_dist": 0.0008200826382235647,
+              "max_rod_tip_xy_dist": 0.0008699660628069217,
+              "first_target_xy_drift": 2.938583372657748e-08,
+              "last_target_xy_drift": 6.618453417675118e-08,
+              "max_depth": 0.019663548918152474,
+              "min_bottom_clearance": 0.07977706962801845
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0007664116485708861,
+                  0.00037166181703851553
+                ],
+                "rod_tip_xy": [
+                  0.28434838145385904,
+                  -0.33291528348437993
+                ],
+                "target_mouth_xy": [
+                  0.28511479310242993,
+                  -0.33328694530141845
+                ],
+                "gripper_position": [
+                  0.28433670193453164,
+                  -0.33292212944012106,
+                  1.0059041943825653
+                ],
+                "rod_tip_xy_dist": 0.0008517742196788503,
+                "target_xy_drift": 2.938583372657748e-08,
+                "depth": 0.015212533734086708,
+                "bottom_clearance": 0.08422817583586273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007781550478481725,
+                  0.0003647563319409963
+                ],
+                "rod_tip_xy": [
+                  0.28433670193453153,
+                  -0.3329221294401211
+                ],
+                "target_mouth_xy": [
+                  0.2851148569823797,
+                  -0.3332868857720621
+                ],
+                "gripper_position": [
+                  0.2843277949915897,
+                  -0.33292277649173835,
+                  1.0057784802880045
+                ],
+                "rod_tip_xy_dist": 0.000859402385488103,
+                "target_xy_drift": 6.558396535456748e-08,
+                "depth": 0.015355660055664577,
+                "bottom_clearance": 0.08408488384392032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007870620947755813,
+                  0.00036413811423940956
+                ],
+                "rod_tip_xy": [
+                  0.2843277949915896,
+                  -0.3329227764917384
+                ],
+                "target_mouth_xy": [
+                  0.2851148570863652,
+                  -0.3332869146059778
+                ],
+                "gripper_position": [
+                  0.2843344106033394,
+                  -0.3329892182198796,
+                  1.0052564689630372
+                ],
+                "rod_tip_xy_dist": 0.0008672158366141381,
+                "target_xy_drift": 5.806254718133619e-08,
+                "depth": 0.015481373453605562,
+                "bottom_clearance": 0.08395917086235827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007804463458609967,
+                  0.00029769766063264536
+                ],
+                "rod_tip_xy": [
+                  0.28433441060333936,
+                  -0.3329892182198796
+                ],
+                "target_mouth_xy": [
+                  0.28511485694920036,
+                  -0.33328691588051224
+                ],
+                "gripper_position": [
+                  0.28432251058895813,
+                  -0.33299617705541323,
+                  1.005113380210763
+                ],
+                "rod_tip_xy_dist": 0.0008352965915852477,
+                "target_xy_drift": 5.7897250217162664e-08,
+                "depth": 0.01600339173896581,
+                "bottom_clearance": 0.08343716410918212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007923465343867009,
+                  0.00029073817832769855
+                ],
+                "rod_tip_xy": [
+                  0.284322510588958,
+                  -0.3329961770554133
+                ],
+                "target_mouth_xy": [
+                  0.2851148571233447,
+                  -0.333286915233741
+                ],
+                "gripper_position": [
+                  0.2843134794144948,
+                  -0.3329966603559143,
+                  1.0049877803429303
+                ],
+                "rod_tip_xy_dist": 0.0008440033879623494,
+                "target_xy_drift": 5.808216147614969e-08,
+                "depth": 0.016146464039258124,
+                "bottom_clearance": 0.08329406247177973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008013775011371793,
+                  0.0002902856320894376
+                ],
+                "rod_tip_xy": [
+                  0.2843134794144947,
+                  -0.33299666035591435
+                ],
+                "target_mouth_xy": [
+                  0.2851148569156319,
+                  -0.3332869459880038
+                ],
+                "gripper_position": [
+                  0.2843209221729432,
+                  -0.3330642726858201,
+                  1.004466618603757
+                ],
+                "rod_tip_xy_dist": 0.0008523330613829515,
+                "target_xy_drift": 6.492969179583733e-08,
+                "depth": 0.016272086618866255,
+                "bottom_clearance": 0.08316848116059272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007939352873959638,
+                  0.00022264445956338141
+                ],
+                "rod_tip_xy": [
+                  0.2843209221729431,
+                  -0.3330642726858202
+                ],
+                "target_mouth_xy": [
+                  0.28511485746033904,
+                  -0.33328691714538355
+                ],
+                "gripper_position": [
+                  0.28430889064182285,
+                  -0.3330712651358309,
+                  1.0043235541494195
+                ],
+                "rod_tip_xy_dist": 0.0008245627907847782,
+                "target_xy_drift": 5.8408098590370146e-08,
+                "depth": 0.016793247930305122,
+                "bottom_clearance": 0.08264733179108574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000805966183391571,
+                  0.00021565137601964324
+                ],
+                "rod_tip_xy": [
+                  0.28430889064182274,
+                  -0.33307126513583085
+                ],
+                "target_mouth_xy": [
+                  0.2851148568252143,
+                  -0.3332869165118505
+                ],
+                "gripper_position": [
+                  0.2842997995517065,
+                  -0.333071502424873,
+                  1.0041980041858531
+                ],
+                "rod_tip_xy_dist": 0.0008343182874358808,
+                "target_xy_drift": 5.776967951618267e-08,
+                "depth": 0.016936321190568204,
+                "bottom_clearance": 0.08250426148802381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.000815057367831884,
+                  0.0002154134392824414
+                ],
+                "rod_tip_xy": [
+                  0.2842997995517064,
+                  -0.33307150242487304
+                ],
+                "target_mouth_xy": [
+                  0.2851148569195383,
+                  -0.3332869158641555
+                ],
+                "gripper_position": [
+                  0.28430796391292656,
+                  -0.3331404290309223,
+                  1.0036795120519595
+                ],
+                "rod_tip_xy_dist": 0.0008430429779557677,
+                "target_xy_drift": 5.786777445895032e-08,
+                "depth": 0.017061857153919724,
+                "bottom_clearance": 0.08237869929263375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008068933963397695,
+                  0.0001464874754338874
+                ],
+                "rod_tip_xy": [
+                  0.28430796391292645,
+                  -0.33314042903092234
+                ],
+                "target_mouth_xy": [
+                  0.2851148573092662,
+                  -0.3332869165063562
+                ],
+                "gripper_position": [
+                  0.2842959741552228,
+                  -0.33314707121875237,
+                  1.0035365891694872
+                ],
+                "rod_tip_xy_dist": 0.0008200826382235647,
+                "target_xy_drift": 5.825373290390723e-08,
+                "depth": 0.01758034821980181,
+                "bottom_clearance": 0.08186021522258202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.000818884856292057,
+                  0.00013984594525762173
+                ],
+                "rod_tip_xy": [
+                  0.2842959741552227,
+                  -0.3331470712187524
+                ],
+                "target_mouth_xy": [
+                  0.28511485901151473,
+                  -0.33328691716401004
+                ],
+                "gripper_position": [
+                  0.2842867758804256,
+                  -0.33314716698281727,
+                  1.0034115136173931
+                ],
+                "rod_tip_xy_dist": 0.0008307402098547179,
+                "target_xy_drift": 5.995938466015416e-08,
+                "depth": 0.01772326365128729,
+                "bottom_clearance": 0.0817173235942249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008280467995567808,
+                  0.00013974979894149087
+                ],
+                "rod_tip_xy": [
+                  0.28428677588042556,
+                  -0.3331471669828173
+                ],
+                "target_mouth_xy": [
+                  0.28511482267998234,
+                  -0.3332869167817588
+                ],
+                "gripper_position": [
+                  0.28427760513734934,
+                  -0.3331470532251935,
+                  1.003285576731083
+                ],
+                "rod_tip_xy_dist": 0.0008397568151318659,
+                "target_xy_drift": 2.3625842334426738e-08,
+                "depth": 0.01784850073008315,
+                "bottom_clearance": 0.08159226228925387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008372515015655502,
+                  0.00013986201212623506
+                ],
+                "rod_tip_xy": [
+                  0.28427760513734923,
+                  -0.33314705322519345
+                ],
+                "target_mouth_xy": [
+                  0.2851148566389148,
+                  -0.3332869152373197
+                ],
+                "gripper_position": [
+                  0.2842874104903559,
+                  -0.3332179298914913,
+                  1.0027693443285268
+                ],
+                "rod_tip_xy_dist": 0.0008488530257410688,
+                "target_xy_drift": 5.7597772140614614e-08,
+                "depth": 0.017974282566434963,
+                "bottom_clearance": 0.0814662631297981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008274467402943353,
+                  6.898567441038228e-05
+                ],
+                "rod_tip_xy": [
+                  0.2842874104903558,
+                  -0.33321792989149135
+                ],
+                "target_mouth_xy": [
+                  0.2851148572306501,
+                  -0.33328691556590173
+                ],
+                "gripper_position": [
+                  0.28427531272635964,
+                  -0.3332245385420201,
+                  1.0026268347887721
+                ],
+                "rod_tip_xy_dist": 0.0008303174882522807,
+                "target_xy_drift": 5.818301776724623e-08,
+                "depth": 0.01849050228432858,
+                "bottom_clearance": 0.0809500315521322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000839544429308059,
+                  6.237733089747843e-05
+                ],
+                "rod_tip_xy": [
+                  0.2842753127263596,
+                  -0.33322453854202017
+                ],
+                "target_mouth_xy": [
+                  0.28511485715566764,
+                  -0.33328691587291764
+                ],
+                "gripper_position": [
+                  0.28426586412208377,
+                  -0.3332246787790986,
+                  1.0025015464097158
+                ],
+                "rod_tip_xy_dist": 0.0008418585274213761,
+                "target_xy_drift": 5.8103789485022736e-08,
+                "depth": 0.018633019396185446,
+                "bottom_clearance": 0.08080752806436764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008489932156992563,
+                  6.223743165906237e-05
+                ],
+                "rod_tip_xy": [
+                  0.2842658641220837,
+                  -0.33322467877909867
+                ],
+                "target_mouth_xy": [
+                  0.28511485733778297,
+                  -0.33328691621075773
+                ],
+                "gripper_position": [
+                  0.28425647292644507,
+                  -0.3332247533228202,
+                  1.0023763850688514
+                ],
+                "rod_tip_xy_dist": 0.0008512713892777558,
+                "target_xy_drift": 5.8283093330141024e-08,
+                "depth": 0.01875830792193478,
+                "bottom_clearance": 0.08068224411997804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008583855665597051,
+                  6.216320975360734e-05
+                ],
+                "rod_tip_xy": [
+                  0.28425647292644496,
+                  -0.3332247533228202
+                ],
+                "target_mouth_xy": [
+                  0.28511485849300466,
+                  -0.3332869165325738
+                ],
+                "gripper_position": [
+                  0.28424707998934196,
+                  -0.3332248182073867,
+                  1.0022507209616425
+                ],
+                "rod_tip_xy_dist": 0.0008606335140609485,
+                "target_xy_drift": 5.943746888632048e-08,
+                "depth": 0.018883452445380144,
+                "bottom_clearance": 0.08055709216018692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000867744898991607,
+                  6.212681152145683e-05
+                ],
+                "rod_tip_xy": [
+                  0.28424707998934184,
+                  -0.3332248182073868
+                ],
+                "target_mouth_xy": [
+                  0.28511482488833345,
+                  -0.33328694501890826
+                ],
+                "gripper_position": [
+                  0.28425925721526996,
+                  -0.33329819724887244,
+                  1.001739023064094
+                ],
+                "rod_tip_xy_dist": 0.0008699660628069217,
+                "target_xy_drift": 3.8460910733885784e-08,
+                "depth": 0.019009198261471516,
+                "bottom_clearance": 0.08043142339038356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008556008122413972,
+                  -1.1281049326017367e-05
+                ],
+                "rod_tip_xy": [
+                  0.28425925721526984,
+                  -0.33329819724887244
+                ],
+                "target_mouth_xy": [
+                  0.28511485802751124,
+                  -0.3332869161995464
+                ],
+                "gripper_position": [
+                  0.2842470057170366,
+                  -0.3333046749142432,
+                  1.0015963382886226
+                ],
+                "rod_tip_xy_dist": 0.0008556751790148143,
+                "target_xy_drift": 5.897287249071103e-08,
+                "depth": 0.01952075013587118,
+                "bottom_clearance": 0.07991977438197018,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00086785160788172,
+                  -1.772700348678935e-05
+                ],
+                "rod_tip_xy": [
+                  0.2842470057170365,
+                  -0.3333046749142432
+                ],
+                "target_mouth_xy": [
+                  0.2851148573249182,
+                  -0.3332869479107564
+                ],
+                "gripper_position": [
+                  0.28423738005753957,
+                  -0.3333046465293751,
+                  1.0014712311400165
+                ],
+                "rod_tip_xy_dist": 0.0008680326376096162,
+                "target_xy_drift": 6.618453417675118e-08,
+                "depth": 0.019663548918152474,
+                "bottom_clearance": 0.07977706962801845,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006062774144326107,
+              "rod_tip_xy_max_step": 3.2820654586036356e-05,
+              "rod_tip_xy_range": 0.0006062683269723672,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2838260928092877,
+            -0.33462818471739675,
+            1.0434985907034686
+          ],
+          "object_origin_world": [
+            0.2838260928092877,
+            -0.33462818471739675,
+            1.0434985907034686
+          ],
+          "frame_world": [
+            0.2838245043597445,
+            -0.33463257361850945,
+            1.043385497930792
+          ],
+          "center_minus_frame": [
+            1.5884495432327839e-06,
+            4.388901112706289e-06,
+            0.00011309277267668172
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24936976741449024,
+              0.15701481302126533,
+              0.8369010428799235
+            ],
+            "target_position": [
+              0.2626239349157379,
+              0.20071806575172169,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04566888717029648,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16300580822393057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8369010428799235,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675573036811,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.133090490854234,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 333,
+            "max_placed_release_frames": 333
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd7ee2f50a3c8967c808005edbbf2769a8ed4a45b21dd4c338fbf37b66ccd25e",
+    "visual_seed": 4464582693314185169,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a99c67f72f48bde9b19bf3168ede870bf215945f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_14_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29823490784652634,
+              0.08056930441106408,
+              1.1650931890831755
+            ],
+            "current_z": 1.1650931890831755,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3039868002776991,
+            "gripper_z": 1.15728118603714,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29291529499818014,
+              0.07552205896287752,
+              1.15728118603714
+            ],
+            "object_minus_gripper": [
+              0.0053196128483462,
+              0.005047245448186563,
+              0.007812003046035576
+            ],
+            "object_to_gripper_xy": 0.007333005350504658,
+            "object_to_gripper_z": 0.007812003046035576,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29823490784652634,
+              0.05619285452301745,
+              1.1650931890831755
+            ],
+            "finger_b": [
+              0.2870910681442784,
+              0.08056930441106408,
+              1.1650931890831755
+            ],
+            "finger_midpoint": [
+              0.29266298799540236,
+              0.06838107946704076,
+              1.1650931890831755
+            ],
+            "object_minus_finger_midpoint": [
+              0.005571919851123985,
+              0.012188224944023315,
+              0.0
+            ],
+            "finger_gap": 0.026802919103221676,
+            "fingertip_max_gap": 0.0913907442597042,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01340145955161085,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650931890831755,
+            "object_top_z": 1.2150433283573876,
+            "finger_top_clearance": 0.0499501392742121,
+            "fingertip_min_top_clearance": 0.014985041782263663,
+            "object_projection_between_fingers": 0.8271356165137972,
+            "object_to_finger_line_xy": 0.010134987499537673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481953721298521,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1135703317266625,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.287660201727616,
+              -0.3356028369788694,
+              0.8515396609182915
+            ],
+            "target_position": [
+              0.279914860146431,
+              -0.3363547842284146,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007781756927283968,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18585643688157788,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396609182915,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557535340774285,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08702120360472447,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15364846848709232,
+            "release_required_pad_clearance": 0.05351060180236224,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0332818101992163,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007513105869293213,
+            "max_z_decrease": 0.007513105869293213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035119166500353544,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007513105869293213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021078378747751963,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007513105869293213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007513126236790623,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13561478257179255,
+              -0.39261624217033386,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13561478257179255,
+              -0.39261624217033386,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13589961558024719,
+              -0.39221922448685775,
+              0.807970173217114
+            ],
+            "closest_button": [
+              0.13560460507869718,
+              -0.39261773228645325,
+              0.7728545069694519
+            ],
+            "closest_ee_minus_button": [
+              0.0002950105015500082,
+              0.0003985077995954933,
+              0.03511566624766205
+            ],
+            "button_min_z_position": [
+              0.135597288608551,
+              -0.392616331577301,
+              0.7692957520484924
+            ],
+            "min_active_finger_to_button": 0.145730588649863,
+            "closest_active_finger": [
+              0.008595027029514313,
+              -0.4553237557411194,
+              0.8108396530151367
+            ],
+            "closest_active_finger_button": [
+              0.13561511039733887,
+              -0.3926164507865906,
+              0.7766183614730835
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12702008336782455,
+              -0.06270730495452881,
+              0.03422129154205322
+            ],
+            "min_contact_pad_to_button": 0.021078378747751963,
+            "closest_contact_pad": [
+              0.135597288608551,
+              -0.3932808291142566,
+              0.7903636540241772
+            ],
+            "closest_contact_pad_button": [
+              0.135597288608551,
+              -0.392616331577301,
+              0.7692957520484924
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006644975369555772,
+              0.021067901975684755
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.269122212985177,
+              0.20719775199452756,
+              1.1027588336674685
+            ],
+            "current_z": 1.1027588336674685,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19284970393310596,
+            "gripper_z": 1.10275911063815,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2691221383934981,
+              0.2071977223519578,
+              1.10275911063815
+            ],
+            "object_minus_gripper": [
+              7.459167894463548e-08,
+              2.9642569759902315e-08,
+              -2.7697068150089876e-07
+            ],
+            "object_to_gripper_xy": 8.026581158718979e-08,
+            "object_to_gripper_z": -2.7697068150089876e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.269122212985177,
+              0.20719775199452756,
+              1.1027588336674685
+            ],
+            "finger_b": [
+              0.269122212985177,
+              0.20719775199452756,
+              1.1027588336674685
+            ],
+            "finger_midpoint": [
+              0.269122212985177,
+              0.20719775199452756,
+              1.1027588336674685
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027588336674685,
+            "object_top_z": 1.2277673402877483,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.269122212985177,
+            0.20719775199452758,
+            1.1027588336674685
+          ],
+          "object_origin_world": [
+            0.269122212985177,
+            0.20719775199452758,
+            1.1027588336674685
+          ],
+          "frame_world": [
+            0.2691221383934981,
+            0.2071977223519578,
+            1.10275911063815
+          ],
+          "center_minus_frame": [
+            7.459167894463548e-08,
+            2.964256978765789e-08,
+            -2.7697068150089876e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432682175156525,
+            "required_z": 0.9112598160633063,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015501087982374743,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.601949403615308e-07,
+            "max_target_xy_drift": 4.5678328286262416e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.0332818104634858,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.033666730799343,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2888896777561259,
+              -0.33465197521030066,
+              0.9233833242976589
+            ],
+            "target_mouth_xy": [
+              0.2876601670962438,
+              -0.33560277489598106
+            ],
+            "rod_tip_z": 0.9233833242976589,
+            "rod_tip_depth": -0.022123436816712583,
+            "rod_tip_bottom_clearance": 0.12156402160288449,
+            "rod_tip_xy_dist": 0.001554257541417647,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04478914996791494,
+            "min_rod_tip_bottom_clearance": 0.05465145384983372,
+            "min_rod_tip_xy_dist": 0.0001805047144048034,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28766019500702616,
+              -0.3356026171512279
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7910782351980856e-08,
+              -1.5774475314866976e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.001620226295979077,
+                0.002815027424658334
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015428257421708502,
+                0.002408311451856382
+              ],
+              "first_target_mouth_xy": [
+                0.2876601975311263,
+                -0.33560267575245695
+              ],
+              "last_target_mouth_xy": [
+                0.28766020354162153,
+                -0.33560280398644116
+              ],
+              "first_rod_tip_xy": [
+                0.2892804238271054,
+                -0.3327876483277986
+              ],
+              "last_rod_tip_xy": [
+                0.2892030292837924,
+                -0.3331944925345848
+              ],
+              "min_rod_tip_xy_dist": 0.002860118060473663,
+              "max_rod_tip_xy_dist": 0.003248001331859427,
+              "first_target_xy_drift": 5.865556347102149e-08,
+              "last_target_xy_drift": 1.870300409729374e-07,
+              "max_depth": 0.019516225785080388,
+              "min_bottom_clearance": 0.07992442831858682
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001620226295979077,
+                  0.002815027424658334
+                ],
+                "rod_tip_xy": [
+                  0.2892804238271054,
+                  -0.3327876483277986
+                ],
+                "target_mouth_xy": [
+                  0.2876601975311263,
+                  -0.33560267575245695
+                ],
+                "gripper_position": [
+                  0.2892914444422895,
+                  -0.332858225023963,
+                  1.0056939598358348
+                ],
+                "rod_tip_xy_dist": 0.003248001331859427,
+                "target_xy_drift": 5.865556347102149e-08,
+                "depth": 0.015044433627118825,
+                "bottom_clearance": 0.0843961878743783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0016312487727248581,
+                  0.0027444510838323666
+                ],
+                "rod_tip_xy": [
+                  0.2892914444422896,
+                  -0.3328582250239631
+                ],
+                "target_mouth_xy": [
+                  0.28766019566956474,
+                  -0.3356026761077955
+                ],
+                "gripper_position": [
+                  0.28927972964739135,
+                  -0.3328654601484886,
+                  1.005548165767414
+                ],
+                "rod_tip_xy_dist": 0.0031926453467406943,
+                "target_xy_drift": 5.8960290173010847e-08,
+                "depth": 0.015565867228610197,
+                "bottom_clearance": 0.08387467185984143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001619528384146085,
+                  0.002737343553613436
+                ],
+                "rod_tip_xy": [
+                  0.2892797296473914,
+                  -0.3328654601484887
+                ],
+                "target_mouth_xy": [
+                  0.2876602012632453,
+                  -0.33560280370210216
+                ],
+                "gripper_position": [
+                  0.2892705634479471,
+                  -0.3328660526606061,
+                  1.005420150512684
+                ],
+                "rod_tip_xy_dist": 0.0031805537124161044,
+                "target_xy_drift": 1.866557498736174e-07,
+                "depth": 0.015711788929977932,
+                "bottom_clearance": 0.08372879094918251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016103970009040958,
+                  0.00273662248324702
+                ],
+                "rod_tip_xy": [
+                  0.28927056344794716,
+                  -0.3328660526606061
+                ],
+                "target_mouth_xy": [
+                  0.28766016644704306,
+                  -0.3356026751438531
+                ],
+                "gripper_position": [
+                  0.2892828302591788,
+                  -0.33293765978304146,
+                  1.0048987827443698
+                ],
+                "rod_tip_xy_dist": 0.0031752922883309487,
+                "target_xy_drift": 6.464377164532237e-08,
+                "depth": 0.015839757890333206,
+                "bottom_clearance": 0.0836008384925836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0016226298814658313,
+                  0.002665144895574012
+                ],
+                "rod_tip_xy": [
+                  0.2892828302591789,
+                  -0.3329376597830416
+                ],
+                "target_mouth_xy": [
+                  0.28766020037771306,
+                  -0.3356028046786156
+                ],
+                "gripper_position": [
+                  0.289270786965465,
+                  -0.3329450001650899,
+                  1.0047531782166197
+                ],
+                "rod_tip_xy_dist": 0.003120244388926936,
+                "target_xy_drift": 1.87604278750589e-07,
+                "depth": 0.016361045692400822,
+                "bottom_clearance": 0.08307949936313785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016105874032475431,
+                  0.002657801665684356
+                ],
+                "rod_tip_xy": [
+                  0.28927078696546504,
+                  -0.3329450001650899
+                ],
+                "target_mouth_xy": [
+                  0.2876601995622175,
+                  -0.33560280183077423
+                ],
+                "gripper_position": [
+                  0.2892616184889236,
+                  -0.33294541404797073,
+                  1.0046252698509188
+                ],
+                "rod_tip_xy_dist": 0.003107716440992357,
+                "target_xy_drift": 1.847357155449538e-07,
+                "depth": 0.016506738332000226,
+                "bottom_clearance": 0.08293384765150014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016014230682429575,
+                  0.002657291234056891
+                ],
+                "rod_tip_xy": [
+                  0.28926161848892373,
+                  -0.33294541404797084
+                ],
+                "target_mouth_xy": [
+                  0.2876601954206808,
+                  -0.33560270528202774
+                ],
+                "gripper_position": [
+                  0.2892748063677669,
+                  -0.3330183746513521,
+                  1.0041052890992135
+                ],
+                "rod_tip_xy_dist": 0.0031025396929122897,
+                "target_xy_drift": 8.813177059303418e-08,
+                "depth": 0.01663456677699393,
+                "bottom_clearance": 0.08280598633630032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016146102676455887,
+                  0.0025843008225368558
+                ],
+                "rod_tip_xy": [
+                  0.28927480636776703,
+                  -0.3330183746513521
+                ],
+                "target_mouth_xy": [
+                  0.28766019610012145,
+                  -0.33560267547388895
+                ],
+                "gripper_position": [
+                  0.28926269798630155,
+                  -0.3330254432875739,
+                  1.003959838165588
+                ],
+                "rod_tip_xy_dist": 0.0030472244843055504,
+                "target_xy_drift": 5.833290364263277e-08,
+                "depth": 0.01715461222362258,
+                "bottom_clearance": 0.08228596637438246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016025025461961495,
+                  0.0025772328370972097
+                ],
+                "rod_tip_xy": [
+                  0.28926269798630166,
+                  -0.333025443287574
+                ],
+                "target_mouth_xy": [
+                  0.2876601954401055,
+                  -0.3356026761246712
+                ],
+                "gripper_position": [
+                  0.2892533055127292,
+                  -0.3330259042761295,
+                  1.003832189350547
+                ],
+                "rod_tip_xy_dist": 0.0030348218246179256,
+                "target_xy_drift": 5.897503346197803e-08,
+                "depth": 0.01729998690954271,
+                "bottom_clearance": 0.08214054301987628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015931078214045935,
+                  0.002576771168500025
+                ],
+                "rod_tip_xy": [
+                  0.2892533055127293,
+                  -0.33302590427612955
+                ],
+                "target_mouth_xy": [
+                  0.2876601976913247,
+                  -0.3356026754446296
+                ],
+                "gripper_position": [
+                  0.2892438484322345,
+                  -0.3330264636754527,
+                  1.0037043212913843
+                ],
+                "rod_tip_xy_dist": 0.0030294788636716836,
+                "target_xy_drift": 5.83551723158421e-08,
+                "depth": 0.01742778378666132,
+                "bottom_clearance": 0.08201285508480638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015836540326280568,
+                  0.002576212144540624
+                ],
+                "rod_tip_xy": [
+                  0.28924384843223455,
+                  -0.33302646367545274
+                ],
+                "target_mouth_xy": [
+                  0.2876601943996065,
+                  -0.33560267581999337
+                ],
+                "gripper_position": [
+                  0.28925885102830645,
+                  -0.33310184300420265,
+                  1.0031861460550513
+                ],
+                "rod_tip_xy_dist": 0.0030240418497001174,
+                "target_xy_drift": 5.8671909794149886e-08,
+                "depth": 0.01755551043993031,
+                "bottom_clearance": 0.08188500961584744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015986556471170865,
+                  0.002500834381284456
+                ],
+                "rod_tip_xy": [
+                  0.2892588510283065,
+                  -0.33310184300420276
+                ],
+                "target_mouth_xy": [
+                  0.2876601953811894,
+                  -0.3356026773854872
+                ],
+                "gripper_position": [
+                  0.2892466153200725,
+                  -0.33310898177554754,
+                  1.0030405305062413
+                ],
+                "rod_tip_xy_dist": 0.0029681429346771287,
+                "target_xy_drift": 6.0235421405279e-08,
+                "depth": 0.018073743888962768,
+                "bottom_clearance": 0.08136679423413973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015864207194571378,
+                  0.0024936943521138843
+                ],
+                "rod_tip_xy": [
+                  0.2892466153200726,
+                  -0.3331089817755476
+                ],
+                "target_mouth_xy": [
+                  0.2876601946006155,
+                  -0.3356026761276615
+                ],
+                "gripper_position": [
+                  0.2892371330979574,
+                  -0.3331093320812904,
+                  1.0029131794352972
+                ],
+                "rod_tip_xy_dist": 0.0029555443188840173,
+                "target_xy_drift": 5.897783385555178e-08,
+                "depth": 0.018219289811126305,
+                "bottom_clearance": 0.08122121169699603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001576936496896053,
+                  0.0024933427379951745
+                ],
+                "rod_tip_xy": [
+                  0.28923713309795746,
+                  -0.33310933208129045
+                ],
+                "target_mouth_xy": [
+                  0.2876601966010614,
+                  -0.33560267481928563
+                ],
+                "gripper_position": [
+                  0.2892277151064203,
+                  -0.33310948910148463,
+                  1.0027857483917921
+                ],
+                "rod_tip_xy_dist": 0.002950167236675926,
+                "target_xy_drift": 5.769008432395223e-08,
+                "depth": 0.018346797039480944,
+                "bottom_clearance": 0.08109382445663937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001567519712494414,
+                  0.002493186700170069
+                ],
+                "rod_tip_xy": [
+                  0.2892277151064204,
+                  -0.33310948910148475
+                ],
+                "target_mouth_xy": [
+                  0.287660195393926,
+                  -0.3356026758016548
+                ],
+                "gripper_position": [
+                  0.2892443451862693,
+                  -0.33318662059152937,
+                  1.0022711046648212
+                ],
+                "rod_tip_xy_dist": 0.0029450123889320887,
+                "target_xy_drift": 5.8651703023122394e-08,
+                "depth": 0.018474082201750286,
+                "bottom_clearance": 0.08096645798291846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015841435944712323,
+                  0.0024161514059597433
+                ],
+                "rod_tip_xy": [
+                  0.28924434518626935,
+                  -0.3331866205915295
+                ],
+                "target_mouth_xy": [
+                  0.2876602015917981,
+                  -0.3356027719974892
+                ],
+                "gripper_position": [
+                  0.28923195295284776,
+                  -0.3331938430944667,
+                  1.0021262703756255
+                ],
+                "rod_tip_xy_dist": 0.002889169178920729,
+                "target_xy_drift": 1.5498620540009102e-07,
+                "depth": 0.01898882733767271,
+                "bottom_clearance": 0.0804518352800988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015717541808125124,
+                  0.002408962568122064
+                ],
+                "rod_tip_xy": [
+                  0.28923195295284787,
+                  -0.33319384309446676
+                ],
+                "target_mouth_xy": [
+                  0.28766019877203536,
+                  -0.3356028056625888
+                ],
+                "gripper_position": [
+                  0.2892223227012729,
+                  -0.33319386890634145,
+                  1.0019989107161016
+                ],
+                "rod_tip_xy_dist": 0.002876371300704216,
+                "target_xy_drift": 1.8854895514538852e-07,
+                "depth": 0.01913357943908911,
+                "bottom_clearance": 0.08030697142954468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015621256364580227,
+                  0.0024087773794634337
+                ],
+                "rod_tip_xy": [
+                  0.28922232270127296,
+                  -0.3331938689063416
+                ],
+                "target_mouth_xy": [
+                  0.28766019706481494,
+                  -0.33560264628580505
+                ],
+                "gripper_position": [
+                  0.28921275500867444,
+                  -0.3331941206167158,
+                  1.0018712996067323
+                ],
+                "rod_tip_xy_dist": 0.0028709658597576722,
+                "target_xy_drift": 2.9207158022356166e-08,
+                "depth": 0.0192609865483796,
+                "bottom_clearance": 0.08017960516463762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001552563332060275,
+                  0.0024085584249154968
+                ],
+                "rod_tip_xy": [
+                  0.28921275500867455,
+                  -0.33319412061671594
+                ],
+                "target_mouth_xy": [
+                  0.2876601916766143,
+                  -0.33560267904163144
+                ],
+                "gripper_position": [
+                  0.28920302928379227,
+                  -0.3331944925345847,
+                  1.001743680881272
+                ],
+                "rod_tip_xy_dist": 0.002865590093905533,
+                "target_xy_drift": 6.197994588386378e-08,
+                "depth": 0.019388645806188154,
+                "bottom_clearance": 0.08005203772202008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015428257421708502,
+                  0.002408311451856382
+                ],
+                "rod_tip_xy": [
+                  0.2892030292837924,
+                  -0.3331944925345848
+                ],
+                "target_mouth_xy": [
+                  0.28766020354162153,
+                  -0.33560280398644116
+                ],
+                "gripper_position": [
+                  0.28919341615357586,
+                  -0.33319447242651445,
+                  1.0016163565106913
+                ],
+                "rod_tip_xy_dist": 0.002860118060473663,
+                "target_xy_drift": 1.870300409729374e-07,
+                "depth": 0.019516225785080388,
+                "bottom_clearance": 0.07992442831858682,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006080444174143764,
+              "rod_tip_xy_max_step": 3.302787862077557e-05,
+              "rod_tip_xy_range": 0.0006080390133322229,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2888896777561259,
+            -0.3346519752103006,
+            1.0433833242976591
+          ],
+          "object_origin_world": [
+            0.2888896777561259,
+            -0.3346519752103006,
+            1.0433833242976591
+          ],
+          "frame_world": [
+            0.2888879461750097,
+            -0.3346565213252517,
+            1.0432682175156525
+          ],
+          "center_minus_frame": [
+            1.7315811162155192e-06,
+            4.546114951098357e-06,
+            0.00011510678200665758
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25505091282880665,
+              0.16116811509850346,
+              0.8310532789180465
+            ],
+            "target_position": [
+              0.2692675912576218,
+              0.2071428296730598,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04812263839151238,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16506674746955458,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8310532789180465,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671968641347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1347562858779618,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "317903e1bcfb9965b40929838b2e1afebc0c8c38352398fec39ad499f9a65690",
+    "visual_seed": 4778346589767898267,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..060b66409b1fd35c46646fe7f25cc3723157e602
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_15_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2964583282754256,
+              0.08429019585702113,
+              1.1616965754188908
+            ],
+            "current_z": 1.1616965754188908,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.300589828985546,
+            "gripper_z": 1.1541650513557944,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29114524150261656,
+              0.0790990835319611,
+              1.1541650513557944
+            ],
+            "object_minus_gripper": [
+              0.005313086772809061,
+              0.005191112325060032,
+              0.007531524063096429
+            ],
+            "object_to_gripper_xy": 0.007428091156332748,
+            "object_to_gripper_z": 0.007531524063096429,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2964583282754256,
+              0.0602729464955609,
+              1.1616965754188908
+            ],
+            "finger_b": [
+              0.2846608256458291,
+              0.08429019585702113,
+              1.1616965754188908
+            ],
+            "finger_midpoint": [
+              0.2905595769606274,
+              0.07228157117629101,
+              1.1616965754188908
+            ],
+            "object_minus_finger_midpoint": [
+              0.005898751314798223,
+              0.01200862468073012,
+              0.0
+            ],
+            "finger_gap": 0.02675835075608918,
+            "fingertip_max_gap": 0.09109815523470835,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379175378044582,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616965754188908,
+            "object_top_z": 1.211678590704111,
+            "finger_top_clearance": 0.04998201528522017,
+            "fingertip_min_top_clearance": 0.01499460458556605,
+            "object_projection_between_fingers": 0.8056155674853028,
+            "object_to_finger_line_xy": 0.010588977066646145,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804907761735418,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.717343846569006,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28619468423925154,
+              -0.3337372485225889,
+              0.8515395628184531
+            ],
+            "target_position": [
+              0.2771836961375636,
+              -0.3346332815811121,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009055428306310417,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18425923956408768,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395628184531,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519388704081616,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573849284982747,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15305838648097908,
+            "release_required_pad_clearance": 0.05286924642491374,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7803390087071245,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00744706392288208,
+            "max_z_decrease": 0.00744706392288208,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035149417268725586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00744706392288208,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021174551007682833,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00744706392288208,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007447088925214756,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13288362324237823,
+              -0.3908947408199309,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13288362324237823,
+              -0.3908947408199309,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13395585671477497,
+              -0.39184471060746373,
+              0.8080460300879942
+            ],
+            "closest_button": [
+              0.13287204504013062,
+              -0.3908976912498473,
+              0.7729260921478271
+            ],
+            "closest_ee_minus_button": [
+              0.0010838116746443582,
+              -0.0009470193576164299,
+              0.0351199379401671
+            ],
+            "button_min_z_position": [
+              0.1328643262386322,
+              -0.39089462161064137,
+              0.7693617939949036
+            ],
+            "min_active_finger_to_button": 0.14501084352244425,
+            "closest_active_finger": [
+              -0.007043756544589996,
+              -0.3743283748626709,
+              0.8109543323516846
+            ],
+            "closest_active_finger_button": [
+              0.1328856199979782,
+              -0.3908941745758056,
+              0.776698112487793
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399293765425682,
+              0.01656579971313471,
+              0.0342562198638916
+            ],
+            "min_contact_pad_to_button": 0.021174551007682833,
+            "closest_contact_pad": [
+              0.1328643262386322,
+              -0.3930646978413007,
+              0.7904248512167337
+            ],
+            "closest_contact_pad_button": [
+              0.1328643262386322,
+              -0.39089462161064137,
+              0.7693617939949036
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021700762306593457,
+              0.021063057221830106
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2780133889338721,
+              0.20102588759444556,
+              1.1088444994015019
+            ],
+            "current_z": 1.1088444994015019,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19893536966713932,
+            "gripper_z": 1.1088447990918628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27801338787050217,
+              0.20102590871553008,
+              1.1088447990918628
+            ],
+            "object_minus_gripper": [
+              1.063369947651438e-09,
+              -2.1121084520236977e-08,
+              -2.9969036097199364e-07
+            ],
+            "object_to_gripper_xy": 2.114783598755585e-08,
+            "object_to_gripper_z": -2.9969036097199364e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2780133889338721,
+              0.20102588759444556,
+              1.1088444994015019
+            ],
+            "finger_b": [
+              0.2780133889338721,
+              0.20102588759444556,
+              1.1088444994015019
+            ],
+            "finger_midpoint": [
+              0.2780133889338721,
+              0.20102588759444556,
+              1.1088444994015019
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1088444994015019,
+            "object_top_z": 1.2338530060217816,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2780133889338721,
+            0.2010258875944456,
+            1.1088444994015019
+          ],
+          "object_origin_world": [
+            0.2780133889338721,
+            0.2010258875944456,
+            1.1088444994015019
+          ],
+          "frame_world": [
+            0.27801338787050217,
+            0.20102590871553008,
+            1.1088447990918628
+          ],
+          "center_minus_frame": [
+            1.063369947651438e-09,
+            -2.11210844924814e-08,
+            -2.9969036097199364e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433169293681155,
+            "required_z": 0.9112599027529982,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002224896608836924,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.373125632099323e-07,
+            "max_target_xy_drift": 3.662897288665151e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7803390088668637,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7803390089677517,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28424180502384505,
+              -0.3347959022080583,
+              0.923430081299495
+            ],
+            "target_mouth_xy": [
+              0.2861946535825233,
+              -0.3337373125695636
+            ],
+            "rod_tip_z": 0.923430081299495,
+            "rod_tip_depth": -0.022170215963978834,
+            "rod_tip_bottom_clearance": 0.12161080311169259,
+            "rod_tip_xy_dist": 0.002221312565997849,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044982658489561844,
+            "min_rod_tip_bottom_clearance": 0.0544578944093872,
+            "min_rod_tip_xy_dist": 0.0014676417425779134,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28619469137333564,
+              -0.3337369773806321
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.779081236832127e-08,
+              -3.3518893149953044e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0013752602271767667,
+                0.0006619840130137056
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014847958976864084,
+                0.00027396752355712817
+              ],
+              "first_target_mouth_xy": [
+                0.2861946854528358,
+                -0.33373727895188393
+              ],
+              "last_target_mouth_xy": [
+                0.28619468421496613,
+                -0.3337372811663851
+              ],
+              "first_rod_tip_xy": [
+                0.284819425225659,
+                -0.3330752949388702
+              ],
+              "last_rod_tip_xy": [
+                0.2847098883172797,
+                -0.333463313642828
+              ],
+              "min_rod_tip_xy_dist": 0.0014874678765893774,
+              "max_rod_tip_xy_dist": 0.0015417737144643522,
+              "first_target_xy_drift": 3.0162936235270653e-07,
+              "last_target_xy_drift": 3.0387008075536827e-07,
+              "max_depth": 0.019700258278329774,
+              "min_bottom_clearance": 0.07974028443870995
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0013752602271767667,
+                  0.0006619840130137056
+                ],
+                "rod_tip_xy": [
+                  0.284819425225659,
+                  -0.3330752949388702
+                ],
+                "target_mouth_xy": [
+                  0.2861946854528358,
+                  -0.33373727895188393
+                ],
+                "gripper_position": [
+                  0.28480757065363904,
+                  -0.33308241868866495,
+                  1.0058474263642947
+                ],
+                "rod_tip_xy_dist": 0.001526290773719091,
+                "target_xy_drift": 3.0162936235270653e-07,
+                "depth": 0.015269314571772274,
+                "bottom_clearance": 0.08417127854718187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0013871134861366263,
+                  0.0006548605730856139
+                ],
+                "rod_tip_xy": [
+                  0.2848075706536391,
+                  -0.33308241868866495
+                ],
+                "target_mouth_xy": [
+                  0.2861946841397757,
+                  -0.33373727926175056
+                ],
+                "gripper_position": [
+                  0.2847986487884511,
+                  -0.3330829511278094,
+                  1.005721512630989
+                ],
+                "rod_tip_xy_dist": 0.0015339250938700114,
+                "target_xy_drift": 3.0196776989845584e-07,
+                "depth": 0.015412343369963777,
+                "bottom_clearance": 0.08402818771723886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001396037852593901,
+                  0.000654327517943587
+                ],
+                "rod_tip_xy": [
+                  0.2847986487884512,
+                  -0.3330829511278094
+                ],
+                "target_mouth_xy": [
+                  0.2861946866410451,
+                  -0.333737278645753
+                ],
+                "gripper_position": [
+                  0.2848032104968757,
+                  -0.33314984579259416,
+                  1.0052010153256565
+                ],
+                "rod_tip_xy_dist": 0.0015417737144643522,
+                "target_xy_drift": 3.013022861093694e-07,
+                "depth": 0.015538467358740982,
+                "bottom_clearance": 0.08390218277603056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0013914493002459283,
+                  0.0005871296695928452
+                ],
+                "rod_tip_xy": [
+                  0.2848032104968757,
+                  -0.3331498457925941
+                ],
+                "target_mouth_xy": [
+                  0.2861946597971216,
+                  -0.33373697546218695
+                ],
+                "gripper_position": [
+                  0.28479115045468173,
+                  -0.33315711024977485,
+                  1.0050575354443458
+                ],
+                "rod_tip_xy_dist": 0.0015102491198709857,
+                "target_xy_drift": 3.1634438900180656e-08,
+                "depth": 0.01605889253228332,
+                "bottom_clearance": 0.08338169708756116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001403502488185382,
+                  0.0005801997565759165
+                ],
+                "rod_tip_xy": [
+                  0.28479115045468173,
+                  -0.3331571102497748
+                ],
+                "target_mouth_xy": [
+                  0.2861946529428671,
+                  -0.3337373100063507
+                ],
+                "gripper_position": [
+                  0.2847820862596524,
+                  -0.33315734693382204,
+                  1.004931618891011
+                ],
+                "rod_tip_xy_dist": 0.0015187004286143172,
+                "target_xy_drift": 3.3483842308218607e-07,
+                "depth": 0.01620230483764884,
+                "bottom_clearance": 0.08323821700523382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014125694769375752,
+                  0.0005799316966736967
+                ],
+                "rod_tip_xy": [
+                  0.2847820862596524,
+                  -0.33315734693382204
+                ],
+                "target_mouth_xy": [
+                  0.28619465573659,
+                  -0.33373727863049574
+                ],
+                "gripper_position": [
+                  0.28478724499205876,
+                  -0.33322574927576076,
+                  1.0044115653130856
+                ],
+                "rod_tip_xy_dist": 0.0015269817615094579,
+                "target_xy_drift": 3.0335038811043695e-07,
+                "depth": 0.01632829273021852,
+                "bottom_clearance": 0.08311231504104921,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014074394681682922,
+                  0.0005115303033977336
+                ],
+                "rod_tip_xy": [
+                  0.2847872449920588,
+                  -0.33322574927576076
+                ],
+                "target_mouth_xy": [
+                  0.2861946844602271,
+                  -0.3337372795791585
+                ],
+                "gripper_position": [
+                  0.28477528948754494,
+                  -0.3332326194715469,
+                  1.004268627882366
+                ],
+                "rod_tip_xy_dist": 0.0014975143097319713,
+                "target_xy_drift": 3.022775883347962e-07,
+                "depth": 0.016848261026051303,
+                "bottom_clearance": 0.0825922713787327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014193649610535486,
+                  0.0005047222520645489
+                ],
+                "rod_tip_xy": [
+                  0.28477528948754494,
+                  -0.3332326194715469
+                ],
+                "target_mouth_xy": [
+                  0.2861946544485985,
+                  -0.33373734172361147
+                ],
+                "gripper_position": [
+                  0.2847660360030515,
+                  -0.3332330236172233,
+                  1.004142870120453
+                ],
+                "rod_tip_xy_dist": 0.001506433352125361,
+                "target_xy_drift": 3.6620928826280807e-07,
+                "depth": 0.016991223530838817,
+                "bottom_clearance": 0.08244935508580398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001428652040644629,
+                  0.0005039223546640104
+                ],
+                "rod_tip_xy": [
+                  0.28476603600305156,
+                  -0.3332330236172233
+                ],
+                "target_mouth_xy": [
+                  0.2861946880436962,
+                  -0.3337369459718873
+                ],
+                "gripper_position": [
+                  0.28477209910804957,
+                  -0.33330236763702525,
+                  1.0036255248467747
+                ],
+                "rod_tip_xy_dist": 0.0015149205895914754,
+                "target_xy_drift": 3.15847392027871e-08,
+                "depth": 0.017116965917011617,
+                "bottom_clearance": 0.08232356431605448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001422559532574419,
+                  0.00043460908891435057
+                ],
+                "rod_tip_xy": [
+                  0.28477209910804957,
+                  -0.33330236763702525
+                ],
+                "target_mouth_xy": [
+                  0.286194658640624,
+                  -0.3337369767259396
+                ],
+                "gripper_position": [
+                  0.2847600203909635,
+                  -0.3333090410095516,
+                  1.0034825847001452
+                ],
+                "rod_tip_xy_dist": 0.0014874678765893774,
+                "target_xy_drift": 3.273925830573625e-08,
+                "depth": 0.017634291496357535,
+                "bottom_clearance": 0.08180620863472232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014346376570899544,
+                  0.0004279372922646463
+                ],
+                "rod_tip_xy": [
+                  0.2847600203909635,
+                  -0.3333090410095516
+                ],
+                "target_mouth_xy": [
+                  0.28619465804805344,
+                  -0.33373697830181626
+                ],
+                "gripper_position": [
+                  0.2847508502510817,
+                  -0.33330917858655323,
+                  1.0033568656047294
+                ],
+                "rod_tip_xy_dist": 0.0014971023790146586,
+                "target_xy_drift": 3.333801154747614e-08,
+                "depth": 0.01777725994094126,
+                "bottom_clearance": 0.08166328391852506,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001443840303124222,
+                  0.0004277667603302948
+                ],
+                "rod_tip_xy": [
+                  0.28475085025108177,
+                  -0.3333091785865533
+                ],
+                "target_mouth_xy": [
+                  0.286194690554206,
+                  -0.3337369453468836
+                ],
+                "gripper_position": [
+                  0.28474150509950463,
+                  -0.3333095075564132,
+                  1.0032312269848649
+                ],
+                "rod_tip_xy_dist": 0.0015058749025630652,
+                "target_xy_drift": 3.2044219745263506e-08,
+                "depth": 0.017903055633115894,
+                "bottom_clearance": 0.08153758216140194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014531506248630088,
+                  0.0004277729835223676
+                ],
+                "rod_tip_xy": [
+                  0.28474150509950463,
+                  -0.3333095075564132
+                ],
+                "target_mouth_xy": [
+                  0.28619465572436764,
+                  -0.33373728053993557
+                ],
+                "gripper_position": [
+                  0.2847491619430226,
+                  -0.3333809686523052,
+                  1.0027160521488947
+                ],
+                "rod_tip_xy_dist": 0.0015148057512339266,
+                "target_xy_drift": 3.052481157695002e-07,
+                "depth": 0.01802866552792104,
+                "bottom_clearance": 0.08141190433701573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001445497872357926,
+                  0.0003560099884873935
+                ],
+                "rod_tip_xy": [
+                  0.2847491619430226,
+                  -0.33338096865230527
+                ],
+                "target_mouth_xy": [
+                  0.2861946598153805,
+                  -0.33373697864079266
+                ],
+                "gripper_position": [
+                  0.2847368568865465,
+                  -0.33338771416058516,
+                  1.0025729792804965
+                ],
+                "rod_tip_xy_dist": 0.0014886931217998171,
+                "target_xy_drift": 3.15831052472064e-08,
+                "depth": 0.01854380004554812,
+                "bottom_clearance": 0.08089679884209044,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014577950624283242,
+                  0.0003495666698670741
+                ],
+                "rod_tip_xy": [
+                  0.2847368568865465,
+                  -0.3333877141605851
+                ],
+                "target_mouth_xy": [
+                  0.2861946519489748,
+                  -0.3337372808304522
+                ],
+                "gripper_position": [
+                  0.2847276596906934,
+                  -0.33338769455791173,
+                  1.002447545727862
+                ],
+                "rod_tip_xy_dist": 0.001499120842601542,
+                "target_xy_drift": 3.060001201224732e-07,
+                "depth": 0.018686842888556154,
+                "bottom_clearance": 0.08075373973798128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014670253557060309,
+                  0.0003495850312787985
+                ],
+                "rod_tip_xy": [
+                  0.2847276596906934,
+                  -0.33338769455791184
+                ],
+                "target_mouth_xy": [
+                  0.28619468504639944,
+                  -0.33373727958919064
+                ],
+                "gripper_position": [
+                  0.28471813563271375,
+                  -0.33338767530372293,
+                  1.00232236573394
+                ],
+                "rod_tip_xy_dist": 0.001508102479402048,
+                "target_xy_drift": 3.022747805543259e-07,
+                "depth": 0.018812344848539886,
+                "bottom_clearance": 0.08062821003096088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001476514887688296,
+                  0.0003496045628326172
+                ],
+                "rod_tip_xy": [
+                  0.28471813563271375,
+                  -0.33338767530372293
+                ],
+                "target_mouth_xy": [
+                  0.28619465052040205,
+                  -0.33373727986655555
+                ],
+                "gripper_position": [
+                  0.28470874482101993,
+                  -0.33338778878864184,
+                  1.002196390252323
+                ],
+                "rod_tip_xy_dist": 0.0015173396336742037,
+                "target_xy_drift": 3.05232200218791e-07,
+                "depth": 0.018937549769087902,
+                "bottom_clearance": 0.08050306783541494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001485939161740557,
+                  0.00034949110368126535
+                ],
+                "rod_tip_xy": [
+                  0.28470874482102,
+                  -0.33338778878864184
+                ],
+                "target_mouth_xy": [
+                  0.28619468398276054,
+                  -0.3337372798923231
+                ],
+                "gripper_position": [
+                  0.28469928990903093,
+                  -0.3333878530787723,
+                  1.0020714947597034
+                ],
+                "rod_tip_xy_dist": 0.0015264859068941903,
+                "target_xy_drift": 3.026019560028951e-07,
+                "depth": 0.01906342661038296,
+                "bottom_clearance": 0.08037707618039824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0014953977760216453,
+                  0.0003491236438207257
+                ],
+                "rod_tip_xy": [
+                  0.284699289909031,
+                  -0.3333878530787724
+                ],
+                "target_mouth_xy": [
+                  0.28619468768505263,
+                  -0.3337369767225931
+                ],
+                "gripper_position": [
+                  0.2847098883172797,
+                  -0.33346331364282794,
+                  1.0015595757362543
+                ],
+                "rod_tip_xy_dist": 0.0015356112226749138,
+                "target_xy_drift": 3.746524645672801e-09,
+                "depth": 0.0191883348085764,
+                "bottom_clearance": 0.08025217469662249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0014847958976864084,
+                  0.00027396752355712817
+                ],
+                "rod_tip_xy": [
+                  0.2847098883172797,
+                  -0.333463313642828
+                ],
+                "target_mouth_xy": [
+                  0.28619468421496613,
+                  -0.3337372811663851
+                ],
+                "gripper_position": [
+                  0.28469747980460847,
+                  -0.33347020296382074,
+                  1.0014171557554927
+                ],
+                "rod_tip_xy_dist": 0.0015098599477270773,
+                "target_xy_drift": 3.0387008075536827e-07,
+                "depth": 0.019700258278329774,
+                "bottom_clearance": 0.07974028443870995,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006084566069169036,
+              "rod_tip_xy_max_step": 3.2958999090273415e-05,
+              "rod_tip_xy_range": 0.0006084431985201493,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28424180502384505,
+            -0.3347959022080583,
+            1.0434300812994952
+          ],
+          "object_origin_world": [
+            0.28424180502384505,
+            -0.3347959022080583,
+            1.0434300812994952
+          ],
+          "frame_world": [
+            0.28424018583006516,
+            -0.3348004309658937,
+            1.0433169293681155
+          ],
+          "center_minus_frame": [
+            1.619193779889283e-06,
+            4.5287578353536695e-06,
+            0.00011315193137972912
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2562195754130331,
+              0.15977955776638397,
+              0.8323385539989797
+            ],
+            "target_position": [
+              0.2697374645352226,
+              0.2055580962246204,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04773267130270463,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16781957940173892,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323385539989797,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671974045284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13769500722806674,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da7400f888b443472afde1da2cd43d0cea9928bbfcfaafd9797ff959c5dc8128",
+    "visual_seed": 910972212320611207,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bd777217beb8cfecb0aaaafcc516f1b8a075c9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2999989272517362,
+              0.08647451750190815,
+              1.162164450698738
+            ],
+            "current_z": 1.162164450698738,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30105788307932724,
+            "gripper_z": 1.1542123662878212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29470763404776135,
+              0.08145512998929545,
+              1.1542123662878212
+            ],
+            "object_minus_gripper": [
+              0.005291293203974867,
+              0.0050193875126127024,
+              0.007952084410916882
+            ],
+            "object_to_gripper_xy": 0.007293286966258968,
+            "object_to_gripper_z": 0.007952084410916882,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2999989272517362,
+              0.06231106822103936,
+              1.162164450698738
+            ],
+            "finger_b": [
+              0.28866229078358197,
+              0.08647451750190815,
+              1.162164450698738
+            ],
+            "finger_midpoint": [
+              0.29433060901765906,
+              0.07439279286147375,
+              1.162164450698738
+            ],
+            "object_minus_finger_midpoint": [
+              0.005668318234077152,
+              0.012081724640434402,
+              0.0
+            ],
+            "finger_gap": 0.026690665176428322,
+            "fingertip_max_gap": 0.09081258544150264,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013345332588214177,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162164450698738,
+            "object_top_z": 1.212032085330064,
+            "finger_top_clearance": 0.04986763463132582,
+            "fingertip_min_top_clearance": 0.014960290389397744,
+            "object_projection_between_fingers": 0.8195945529857694,
+            "object_to_finger_line_xy": 0.010263222684903857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790629272075132,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5949770381584322,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2849937180215925,
+              -0.3294323324953998,
+              0.8515395202198832
+            ],
+            "target_position": [
+              0.27597655515827774,
+              -0.3304040558156814,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009069370006495608,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858680023670954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395202198832,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544518483930424,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564933492854358,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1539866707190415,
+            "release_required_pad_clearance": 0.05282466746427179,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6943584102690595,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007130801677703857,
+            "max_z_decrease": 0.007130801677703857,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173747070909055,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007130801677703857,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112018115920915,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007130801677703857,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007130823560788705,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13167648017406458,
+              -0.3866655230522156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13167648017406458,
+              -0.3866655230522156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13341515409073015,
+              -0.386821855971374,
+              0.8082553655045761
+            ],
+            "closest_button": [
+              0.13166604936122892,
+              -0.38666844367980957,
+              0.7731254696846008
+            ],
+            "closest_ee_minus_button": [
+              0.0017491047295012385,
+              -0.00015341229156440317,
+              0.035129895819975276
+            ],
+            "button_min_z_position": [
+              0.13165882229804987,
+              -0.3866660594940185,
+              0.7696780562400818
+            ],
+            "min_active_finger_to_button": 0.14446051797159548,
+            "closest_active_finger": [
+              -0.007515117526054382,
+              -0.36871111392974854,
+              0.8105705380439758
+            ],
+            "closest_active_finger_button": [
+              0.1316759288311004,
+              -0.3866666555404663,
+              0.7763317823410034
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391910463571548,
+              0.017955541610717773,
+              0.03423875570297241
+            ],
+            "min_contact_pad_to_button": 0.02112018115920915,
+            "closest_contact_pad": [
+              0.13165882229804987,
+              -0.3881085876123458,
+              0.7907489168021388
+            ],
+            "closest_contact_pad_button": [
+              0.13165882229804987,
+              -0.3866660594940185,
+              0.7696780562400818
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014425281183272909,
+              0.02107086056205698
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2716997579825677,
+              0.20309983703827114,
+              1.109192793565315
+            ],
+            "current_z": 1.109192793565315,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19928366383095242,
+            "gripper_z": 1.1091931210973147,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.271699687899152,
+              0.20309989910654527,
+              1.1091931210973147
+            ],
+            "object_minus_gripper": [
+              7.008341568193188e-08,
+              -6.206827413146598e-08,
+              -3.2753199974422387e-07
+            ],
+            "object_to_gripper_xy": 9.361707006366555e-08,
+            "object_to_gripper_z": -3.2753199974422387e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2716997579825677,
+              0.20309983703827114,
+              1.109192793565315
+            ],
+            "finger_b": [
+              0.2716997579825677,
+              0.20309983703827114,
+              1.109192793565315
+            ],
+            "finger_midpoint": [
+              0.2716997579825677,
+              0.20309983703827114,
+              1.109192793565315
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.109192793565315,
+            "object_top_z": 1.2342013001855947,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2716997579825677,
+            0.20309983703827114,
+            1.1091927935653152
+          ],
+          "object_origin_world": [
+            0.2716997579825677,
+            0.20309983703827114,
+            1.1091927935653152
+          ],
+          "frame_world": [
+            0.271699687899152,
+            0.20309989910654527,
+            1.1091931210973147
+          ],
+          "center_minus_frame": [
+            7.008341568193188e-08,
+            -6.206827413146598e-08,
+            -3.2753199952217926e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437600348353704,
+            "required_z": 0.9112598768157933,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011769771755184612,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.335808855745898e-07,
+            "max_target_xy_drift": 2.2399343272396233e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.694358396934845,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6943584109498642,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2839696079531819,
+              -0.32881266964853517,
+              0.9234507560718185
+            ],
+            "target_mouth_xy": [
+              0.28499375325879756,
+              -0.32943218184294487
+            ],
+            "rod_tip_z": 0.9234507560718185,
+            "rod_tip_depth": -0.022190735321617416,
+            "rod_tip_bottom_clearance": 0.12163150165257697,
+            "rod_tip_xy_dist": 0.001196941504851823,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044439995944007826,
+            "min_rod_tip_bottom_clearance": 0.05500063002055544,
+            "min_rod_tip_xy_dist": 0.001196941504851823,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.284993657634334,
+              -0.32943227511574347
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.5624463569699e-08,
+              9.32727985958337e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0005109849820382206,
+                0.0023787213775234295
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006175576756244916,
+                0.0019959482464982914
+              ],
+              "first_target_mouth_xy": [
+                0.28499372046092003,
+                -0.3294323052157592
+              ],
+              "last_target_mouth_xy": [
+                0.2849937199354137,
+                -0.32943233375158054
+              ],
+              "first_rod_tip_xy": [
+                0.2844827354788818,
+                -0.3270535838382358
+              ],
+              "last_rod_tip_xy": [
+                0.28437616225978923,
+                -0.32743638550508225
+              ],
+              "min_rod_tip_xy_dist": 0.0020833247285512264,
+              "max_rod_tip_xy_dist": 0.002432986034434962,
+              "first_target_xy_drift": 6.966484667783659e-08,
+              "last_target_xy_drift": 8.555457863939844e-08,
+              "max_depth": 0.019515022249977254,
+              "min_bottom_clearance": 0.07992550506535545
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0005109849820382206,
+                  0.0023787213775234295
+                ],
+                "rod_tip_xy": [
+                  0.2844827354788818,
+                  -0.3270535838382358
+                ],
+                "target_mouth_xy": [
+                  0.28499372046092003,
+                  -0.3294323052157592
+                ],
+                "gripper_position": [
+                  0.2844708414141928,
+                  -0.3270602778917557,
+                  1.0060307753555093
+                ],
+                "rod_tip_xy_dist": 0.002432986034434962,
+                "target_xy_drift": 6.966484667783659e-08,
+                "depth": 0.015086979808192846,
+                "bottom_clearance": 0.0843535964950598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0005229104888681557,
+                  0.002372024453840993
+                ],
+                "rod_tip_xy": [
+                  0.2844708414141929,
+                  -0.32706027789175574
+                ],
+                "target_mouth_xy": [
+                  0.28499375190306103,
+                  -0.32943230234559673
+                ],
+                "gripper_position": [
+                  0.28447680686584786,
+                  -0.32712619643978347,
+                  1.0055116296321716
+                ],
+                "rod_tip_xy_dist": 0.002428978260295467,
+                "target_xy_drift": 9.812266714483962e-08,
+                "depth": 0.015229092377943787,
+                "bottom_clearance": 0.08421157543927371,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0005169129927722893,
+                  0.0023061084593533066
+                ],
+                "rod_tip_xy": [
+                  0.284476806865848,
+                  -0.32712619643978347
+                ],
+                "target_mouth_xy": [
+                  0.28499371985862026,
+                  -0.3294323048991368
+                ],
+                "gripper_position": [
+                  0.2844647185888019,
+                  -0.32713313128450233,
+                  1.0053700707321311
+                ],
+                "rod_tip_xy_dist": 0.0023633313919968328,
+                "target_xy_drift": 6.898487022408872e-08,
+                "depth": 0.015748200660943956,
+                "bottom_clearance": 0.08369234106241041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005289996298309396,
+                  0.0022991720382258274
+                ],
+                "rod_tip_xy": [
+                  0.28446471858880196,
+                  -0.3271331312845023
+                ],
+                "target_mouth_xy": [
+                  0.2849937182186329,
+                  -0.3294323033227281
+                ],
+                "gripper_position": [
+                  0.2844556230093955,
+                  -0.3271329418018268,
+                  1.0052452361995567
+                ],
+                "rod_tip_xy_dist": 0.0023592440886268584,
+                "target_xy_drift": 6.682882055551812e-08,
+                "depth": 0.015889778511778863,
+                "bottom_clearance": 0.08355076459438937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005381276540636915,
+                  0.0022993928991509316
+                ],
+                "rod_tip_xy": [
+                  0.28445562300939553,
+                  -0.32713294180182684
+                ],
+                "target_mouth_xy": [
+                  0.2849937506634592,
+                  -0.32943233470097777
+                ],
+                "gripper_position": [
+                  0.28446262454228405,
+                  -0.32720030082953194,
+                  1.0047259778823143
+                ],
+                "rod_tip_xy_dist": 0.0023615226182981644,
+                "target_xy_drift": 1.1047541938876782e-07,
+                "depth": 0.016014661887268633,
+                "bottom_clearance": 0.08342591880140493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005310949919164476,
+                  0.002232032605283818
+                ],
+                "rod_tip_xy": [
+                  0.2844626245422841,
+                  -0.3272003008295319
+                ],
+                "target_mouth_xy": [
+                  0.28499371953420055,
+                  -0.3294323334348157
+                ],
+                "gripper_position": [
+                  0.28445061953857753,
+                  -0.32720676121472664,
+                  1.0045844346332553
+                ],
+                "rod_tip_xy_dist": 0.0022943477159072466,
+                "target_xy_drift": 8.504532713543653e-08,
+                "depth": 0.016533846787216477,
+                "bottom_clearance": 0.08290667672557617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005430973359102365,
+                  0.002225543069164171
+                ],
+                "rod_tip_xy": [
+                  0.28445061953857764,
+                  -0.3272067612147267
+                ],
+                "target_mouth_xy": [
+                  0.2849937168744879,
+                  -0.32943230428389086
+                ],
+                "gripper_position": [
+                  0.28444140875022794,
+                  -0.32720688967785844,
+                  1.0044600031131792
+                ],
+                "rod_tip_xy_dist": 0.0022908506430968987,
+                "target_xy_drift": 6.603163375169633e-08,
+                "depth": 0.016675441656629042,
+                "bottom_clearance": 0.08276512499543753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005523399811019347,
+                  0.0022254136370167266
+                ],
+                "rod_tip_xy": [
+                  0.284441408750228,
+                  -0.3272068896778584
+                ],
+                "target_mouth_xy": [
+                  0.28499374873132993,
+                  -0.3294323033148751
+                ],
+                "gripper_position": [
+                  0.284449359964656,
+                  -0.3272751081782478,
+                  1.0039423079695684
+                ],
+                "rod_tip_xy_dist": 0.002292933778054591,
+                "target_xy_drift": 9.536169931270638e-08,
+                "depth": 0.016799824444331146,
+                "bottom_clearance": 0.08264069129601748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005443586053710536,
+                  0.002157258246974436
+                ],
+                "rod_tip_xy": [
+                  0.2844493599646561,
+                  -0.3272751081782479
+                ],
+                "target_mouth_xy": [
+                  0.28499371857002714,
+                  -0.32943236642522233
+                ],
+                "gripper_position": [
+                  0.284437164292688,
+                  -0.32728147495962856,
+                  1.0038009039956195
+                ],
+                "rod_tip_xy_dist": 0.0022248796451450436,
+                "target_xy_drift": 1.0977513211824358e-07,
+                "depth": 0.017317563203589237,
+                "bottom_clearance": 0.08212303072290805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000556555769144873,
+                  0.002150766204390031
+                ],
+                "rod_tip_xy": [
+                  0.28443716429268806,
+                  -0.32728147495962856
+                ],
+                "target_mouth_xy": [
+                  0.28499372006183293,
+                  -0.3294322411640186
+                ],
+                "gripper_position": [
+                  0.28442790057294953,
+                  -0.3272814291548865,
+                  1.0036765390935258
+                ],
+                "rod_tip_xy_dist": 0.0022216096844663654,
+                "target_xy_drift": 7.106273458683695e-08,
+                "depth": 0.017458976241340962,
+                "bottom_clearance": 0.08198167107603072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005658473696160127,
+                  0.0021509090578221146
+                ],
+                "rod_tip_xy": [
+                  0.2844279005729496,
+                  -0.32728142915488656
+                ],
+                "target_mouth_xy": [
+                  0.2849937479425656,
+                  -0.3294323382127087
+                ],
+                "gripper_position": [
+                  0.2844185517306477,
+                  -0.3272811927263215,
+                  1.0035521007737964
+                ],
+                "rod_tip_xy_dist": 0.0022240937526827815,
+                "target_xy_drift": 1.1016716260267924e-07,
+                "depth": 0.017583374031292176,
+                "bottom_clearance": 0.08185729368134365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005751974420233896,
+                  0.002151110904237974
+                ],
+                "rod_tip_xy": [
+                  0.28441855173064773,
+                  -0.3272811927263215
+                ],
+                "target_mouth_xy": [
+                  0.2849937491726711,
+                  -0.3294323036305595
+                ],
+                "gripper_position": [
+                  0.2844281144011706,
+                  -0.3273519912408568,
+                  1.003035472784773
+                ],
+                "rod_tip_xy_dist": 0.002226685927480965,
+                "target_xy_drift": 9.5876805834231e-08,
+                "depth": 0.017707722659137226,
+                "bottom_clearance": 0.08173279468936656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005656040008460983,
+                  0.0020803444271597638
+                ],
+                "rod_tip_xy": [
+                  0.28442811440117066,
+                  -0.3273519912408568
+                ],
+                "target_mouth_xy": [
+                  0.28499371840201676,
+                  -0.32943233566801655
+                ],
+                "gripper_position": [
+                  0.2844157964878799,
+                  -0.3273584614793328,
+                  1.0028938654773578
+                ],
+                "rod_tip_xy_dist": 0.0021558619671462735,
+                "target_xy_drift": 8.578629870500164e-08,
+                "depth": 0.018224386085198274,
+                "bottom_clearance": 0.08121617971036899,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000577951711818292,
+                  0.0020737803292059653
+                ],
+                "rod_tip_xy": [
+                  0.28441579648787996,
+                  -0.3273584614793328
+                ],
+                "target_mouth_xy": [
+                  0.28499374819969825,
+                  -0.32943224180853875
+                ],
+                "gripper_position": [
+                  0.2844063500041448,
+                  -0.32735797415014056,
+                  1.002770060725206
+                ],
+                "rod_tip_xy_dist": 0.002152810496768189,
+                "target_xy_drift": 9.649588120856103e-08,
+                "depth": 0.018366011702287355,
+                "bottom_clearance": 0.081074591823871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.000587402332098641,
+                  0.002074362127996332
+                ],
+                "rod_tip_xy": [
+                  0.2844063500041449,
+                  -0.32735797415014056
+                ],
+                "target_mouth_xy": [
+                  0.2849937523362435,
+                  -0.3294323362781369
+                ],
+                "gripper_position": [
+                  0.2843967972393914,
+                  -0.3273579429453401,
+                  1.0026456134654742
+                ],
+                "rod_tip_xy_dist": 0.002155926654091088,
+                "target_xy_drift": 1.1273548704675094e-07,
+                "depth": 0.018489879019150113,
+                "bottom_clearance": 0.0809508222426294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005969183971994418,
+                  0.002074360711056933
+                ],
+                "rod_tip_xy": [
+                  0.2843967972393915,
+                  -0.32735794294534015
+                ],
+                "target_mouth_xy": [
+                  0.2849937156365909,
+                  -0.3294323036563971
+                ],
+                "gripper_position": [
+                  0.28440788885799995,
+                  -0.327430459788356,
+                  1.002133774636582
+                ],
+                "rod_tip_xy_dist": 0.0021585374521864973,
+                "target_xy_drift": 6.464387611603656e-08,
+                "depth": 0.0186143092986365,
+                "bottom_clearance": 0.08082632258359934,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005858898368253929,
+                  0.002001843526009406
+                ],
+                "rod_tip_xy": [
+                  0.284407888858,
+                  -0.32743045978835594
+                ],
+                "target_mouth_xy": [
+                  0.2849937786948254,
+                  -0.32943230331436535
+                ],
+                "gripper_position": [
+                  0.28439542850962607,
+                  -0.32743671473122304,
+                  1.0019924013393138
+                ],
+                "rod_tip_xy_dist": 0.0020858198396604285,
+                "target_xy_drift": 1.2430126651121486e-07,
+                "depth": 0.019125992698093452,
+                "bottom_clearance": 0.08031452543727513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005983212920587788,
+                  0.0019955584571899054
+                ],
+                "rod_tip_xy": [
+                  0.2843954285096262,
+                  -0.32743671473122304
+                ],
+                "target_mouth_xy": [
+                  0.28499374980168496,
+                  -0.32943227318841295
+                ],
+                "gripper_position": [
+                  0.2843858653434761,
+                  -0.327436368187101,
+                  1.0018688106167624
+                ],
+                "rod_tip_xy_dist": 0.0020833247285512264,
+                "target_xy_drift": 9.218750017435365e-08,
+                "depth": 0.019267438469220632,
+                "bottom_clearance": 0.08017312597705173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006078517713178355,
+                  0.0019959646346126014
+                ],
+                "rod_tip_xy": [
+                  0.28438586534347615,
+                  -0.327436368187101
+                ],
+                "target_mouth_xy": [
+                  0.284993717114794,
+                  -0.3294323328217136
+                ],
+                "gripper_position": [
+                  0.2843761622597892,
+                  -0.3274363855050822,
+                  1.001744799844349
+                ],
+                "rod_tip_xy_dist": 0.0020864703684736205,
+                "target_xy_drift": 8.287281887785799e-08,
+                "depth": 0.0193911374594391,
+                "bottom_clearance": 0.08004945931533469,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006175576756244916,
+                  0.0019959482464982914
+                ],
+                "rod_tip_xy": [
+                  0.28437616225978923,
+                  -0.32743638550508225
+                ],
+                "target_mouth_xy": [
+                  0.2849937199354137,
+                  -0.32943233375158054
+                ],
+                "gripper_position": [
+                  0.28436647524026565,
+                  -0.32743598908087773,
+                  1.001620873787751
+                ],
+                "rod_tip_xy_dist": 0.0020893029664034676,
+                "target_xy_drift": 8.555457863939844e-08,
+                "depth": 0.019515022249977254,
+                "bottom_clearance": 0.07992550506535545,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006006869489509484,
+              "rod_tip_xy_max_step": 3.2624268055587185e-05,
+              "rod_tip_xy_range": 0.0006006786289232862,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2839696079531819,
+            -0.32881266964853517,
+            1.0434507560718185
+          ],
+          "object_origin_world": [
+            0.2839696079531819,
+            -0.32881266964853517,
+            1.0434507560718185
+          ],
+          "frame_world": [
+            0.28399477496822434,
+            -0.3288098333500128,
+            1.0437600348353704
+          ],
+          "center_minus_frame": [
+            -2.5167015042459884e-05,
+            -2.8362985223795434e-06,
+            -0.0003092787635519123
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24941249083603617,
+              0.1599864494092551,
+              0.8316769396032975
+            ],
+            "target_position": [
+              0.26346041260557945,
+              0.20541576131867656,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047551724328426935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674186314918069,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316769396032975,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670848460383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13780442097017925,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 317,
+            "max_placed_release_frames": 317
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9abf422f862a805f35f9b6c4a1a1c15a772e11d3b8c9edc82531c36f23ddf0d3",
+    "visual_seed": 1086904384193975214,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..719efe4d4bde59b5456cdce46843430a7e21a94e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_21_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3015179146955654,
+              0.08971307303070374,
+              1.1643137364150995
+            ],
+            "current_z": 1.1643137364150995,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3032072880049782,
+            "gripper_z": 1.156405364391011,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29619808718269736,
+              0.08462690586611797,
+              1.156405364391011
+            ],
+            "object_minus_gripper": [
+              0.005319827512868025,
+              0.005086167164585764,
+              0.00790837202408845
+            ],
+            "object_to_gripper_xy": 0.007360004157116896,
+            "object_to_gripper_z": 0.00790837202408845,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3015179146955654,
+              0.06561323455471474,
+              1.1643137364150995
+            ],
+            "finger_b": [
+              0.2899782187768295,
+              0.08971307303070374,
+              1.1643137364150995
+            ],
+            "finger_midpoint": [
+              0.29574806673619747,
+              0.07766315379270924,
+              1.1643137364150995
+            ],
+            "object_minus_finger_midpoint": [
+              0.005769847959367913,
+              0.012049919237994491,
+              0.0
+            ],
+            "finger_gap": 0.026720157119029992,
+            "fingertip_max_gap": 0.09112440197721647,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013360078559514979,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643137364150995,
+            "object_top_z": 1.2141823541644143,
+            "finger_top_clearance": 0.049868617749314836,
+            "fingertip_min_top_clearance": 0.014960585324794417,
+            "object_projection_between_fingers": 0.8134863097890624,
+            "object_to_finger_line_xy": 0.010408052859296192,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048062200988608236,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8221117991081385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28743441936513114,
+              -0.3285598958978614,
+              0.8515395811879217
+            ],
+            "target_position": [
+              0.27864272311103544,
+              -0.32947578285144347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008839274400991425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18312234601085356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395811879217,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572291220079676,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605491679056725,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15060870185304603,
+            "release_required_pad_clearance": 0.053027458395283625,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0864130513712438,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007342159748077393,
+            "max_z_decrease": 0.007342159748077393,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351481328465311,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007342159748077393,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021170759500690774,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007342159748077393,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007342180110626676,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13434265553951263,
+              -0.38573724031448353,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13434265553951263,
+              -0.38573724031448353,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1354778092601964,
+              -0.38670723691400366,
+              0.8080896955839255
+            ],
+            "closest_button": [
+              0.13433115184307098,
+              -0.3857397437095641,
+              0.7729735970497131
+            ],
+            "closest_ee_minus_button": [
+              0.001146657417125413,
+              -0.0009674932044395623,
+              0.03511609853421238
+            ],
+            "button_min_z_position": [
+              0.13432537019252777,
+              -0.3857377171516418,
+              0.7694666981697083
+            ],
+            "min_active_finger_to_button": 0.1449612557971291,
+            "closest_active_finger": [
+              -0.005678035318851471,
+              -0.37048763036727905,
+              0.8110188841819763
+            ],
+            "closest_active_finger_button": [
+              0.1343463659286499,
+              -0.38573586940765375,
+              0.7767490148544312
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14002440124750137,
+              0.0152482390403747,
+              0.034269869327545166
+            ],
+            "min_contact_pad_to_button": 0.021170759500690774,
+            "closest_contact_pad": [
+              0.13432537019252777,
+              -0.3878060357344125,
+              0.7905361812216546
+            ],
+            "closest_contact_pad_button": [
+              0.13432537019252777,
+              -0.3857377171516418,
+              0.7694666981697083
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002068318582770734,
+              0.021069483051946336
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2716654431708918,
+              0.19840431541529965,
+              1.1104475213055593
+            ],
+            "current_z": 1.1104475213055593,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2005383915711968,
+            "gripper_z": 1.1104475825694309,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2716654786494135,
+              0.19840435452267496,
+              1.1104475825694309
+            ],
+            "object_minus_gripper": [
+              -3.547852167606891e-08,
+              -3.9107375310321046e-08,
+              -6.126387153138069e-08
+            ],
+            "object_to_gripper_xy": 5.280257857322499e-08,
+            "object_to_gripper_z": -6.126387153138069e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2716654431708918,
+              0.19840431541529965,
+              1.1104475213055593
+            ],
+            "finger_b": [
+              0.2716654431708918,
+              0.19840431541529965,
+              1.1104475213055593
+            ],
+            "finger_midpoint": [
+              0.2716654431708918,
+              0.19840431541529965,
+              1.1104475213055593
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1104475213055593,
+            "object_top_z": 1.235456027925839,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2716654431708918,
+            0.19840431541529968,
+            1.1104475213055593
+          ],
+          "object_origin_world": [
+            0.2716654431708918,
+            0.19840431541529968,
+            1.1104475213055593
+          ],
+          "frame_world": [
+            0.2716654786494135,
+            0.19840435452267496,
+            1.1104475825694309
+          ],
+          "center_minus_frame": [
+            -3.547852167606891e-08,
+            -3.910737528256547e-08,
+            -6.126387153138069e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433989130672647,
+            "required_z": 0.9112598516291801,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002516629345668544,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.718077593754351e-07,
+            "max_target_xy_drift": 3.664895110934407e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.087133257067404,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.087133258935211,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2850905379096166,
+              -0.3276438698538683,
+              0.9235109542555909
+            ],
+            "target_mouth_xy": [
+              0.28743441266981773,
+              -0.32855962722488813
+            ],
+            "rod_tip_z": 0.9235109542555909,
+            "rod_tip_depth": -0.02225110596303148,
+            "rod_tip_bottom_clearance": 0.12169171063433404,
+            "rod_tip_xy_dist": 0.002516418179493457,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0448128811905657,
+            "min_rod_tip_bottom_clearance": 0.054627696168234374,
+            "min_rod_tip_xy_dist": 0.00035868404269897864,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.28743438422800527,
+              -0.328559897540484
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.84418124607555e-08,
+              2.7031559585166676e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0017850935311653493,
+                0.002646613177157864
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001898978383177874,
+                0.002274201634829165
+              ],
+              "first_target_mouth_xy": [
+                0.28743444219702324,
+                -0.32855965671999654
+              ],
+              "last_target_mouth_xy": [
+                0.28743443897270016,
+                -0.3285596278858315
+              ],
+              "first_rod_tip_xy": [
+                0.2856493486658579,
+                -0.3259130435428387
+              ],
+              "last_rod_tip_xy": [
+                0.2855354605895223,
+                -0.3262854262510023
+              ],
+              "min_rod_tip_xy_dist": 0.0029467574805992886,
+              "max_rod_tip_xy_dist": 0.0031972897838701254,
+              "first_target_xy_drift": 2.476992414522311e-07,
+              "last_target_xy_drift": 2.7515561639043445e-07,
+              "max_depth": 0.019482410192198762,
+              "min_bottom_clearance": 0.07995814999512374
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0017850935311653493,
+                  0.002646613177157864
+                ],
+                "rod_tip_xy": [
+                  0.2856493486658579,
+                  -0.3259130435428387
+                ],
+                "target_mouth_xy": [
+                  0.28743444219702324,
+                  -0.32855965671999654
+                ],
+                "gripper_position": [
+                  0.2856403651459106,
+                  -0.3259131604328926,
+                  1.0060721617435164
+                ],
+                "rod_tip_xy_dist": 0.003192353399063772,
+                "target_xy_drift": 2.476992414522311e-07,
+                "depth": 0.015062327732868419,
+                "bottom_clearance": 0.08437827773639983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017940771041130565,
+                  0.0026464975546063862
+                ],
+                "rod_tip_xy": [
+                  0.2856403651459106,
+                  -0.32591316043289265
+                ],
+                "target_mouth_xy": [
+                  0.2874344422500237,
+                  -0.32855965798749903
+                ],
+                "gripper_position": [
+                  0.2856447350973753,
+                  -0.32597868227542,
+                  1.0055515616363702
+                ],
+                "rod_tip_xy_dist": 0.0031972897838701254,
+                "target_xy_drift": 2.464795878331454e-07,
+                "depth": 0.015187667554543927,
+                "bottom_clearance": 0.08425289371338418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017897070463815945,
+                  0.0025809772963243383
+                ],
+                "rod_tip_xy": [
+                  0.2856447350973753,
+                  -0.32597868227542004
+                ],
+                "target_mouth_xy": [
+                  0.2874344421437569,
+                  -0.3285596595717444
+                ],
+                "gripper_position": [
+                  0.2856325668380659,
+                  -0.32598560008693966,
+                  1.0054090530676036
+                ],
+                "rod_tip_xy_dist": 0.0031407793803464807,
+                "target_xy_drift": 2.4491499610261307e-07,
+                "depth": 0.01570828620480791,
+                "bottom_clearance": 0.08373230907810458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018018730559555274,
+                  0.0025740575970603086
+                ],
+                "rod_tip_xy": [
+                  0.2856325668380659,
+                  -0.3259856000869398
+                ],
+                "target_mouth_xy": [
+                  0.28743443989402145,
+                  -0.3285596576840001
+                ],
+                "gripper_position": [
+                  0.2856233941109433,
+                  -0.3259854106502807,
+                  1.0052843069236634
+                ],
+                "rod_tip_xy_dist": 0.00314205649579418,
+                "target_xy_drift": 2.462312697958813e-07,
+                "depth": 0.01585072459295478,
+                "bottom_clearance": 0.08358979966330293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018110476545741272,
+                  0.002574213725528074
+                ],
+                "rod_tip_xy": [
+                  0.2856233941109433,
+                  -0.32598541065028075
+                ],
+                "target_mouth_xy": [
+                  0.2874344417655174,
+                  -0.3285596243758088
+                ],
+                "gripper_position": [
+                  0.2856286964410165,
+                  -0.32605232461556144,
+                  1.0047640169063297
+                ],
+                "rod_tip_xy_dist": 0.003147454513068548,
+                "target_xy_drift": 2.791585661547428e-07,
+                "depth": 0.01597564692113118,
+                "bottom_clearance": 0.08346503494456181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001805745003453818,
+                  0.0025073324255725504
+                ],
+                "rod_tip_xy": [
+                  0.28562869644101657,
+                  -0.32605232461556155
+                ],
+                "target_mouth_xy": [
+                  0.2874344414444704,
+                  -0.3285596570411341
+                ],
+                "gripper_position": [
+                  0.2856165258977623,
+                  -0.3260588324903509,
+                  1.0046218380738485
+                ],
+                "rod_tip_xy_dist": 0.0030898917310847574,
+                "target_xy_drift": 2.4721177393770753e-07,
+                "depth": 0.016495763679388875,
+                "bottom_clearance": 0.08294480163024598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018179147513290306,
+                  0.0025007950705300264
+                ],
+                "rod_tip_xy": [
+                  0.2856165258977624,
+                  -0.32605883249035095
+                ],
+                "target_mouth_xy": [
+                  0.2874344406490914,
+                  -0.328559627560881
+                ],
+                "gripper_position": [
+                  0.28560736790509433,
+                  -0.32605857236465835,
+                  1.0044972161541976
+                ],
+                "rod_tip_xy_dist": 0.003091729294082354,
+                "target_xy_drift": 2.758121190242372e-07,
+                "depth": 0.01663799024191659,
+                "bottom_clearance": 0.08280253326264642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001827073141123181,
+                  0.002501118291254656
+                ],
+                "rod_tip_xy": [
+                  0.28560736790509433,
+                  -0.3260585723646585
+                ],
+                "target_mouth_xy": [
+                  0.2874344410462175,
+                  -0.3285596906559132
+                ],
+                "gripper_position": [
+                  0.285613456701256,
+                  -0.3261267763692221,
+                  1.003978421324348
+                ],
+                "rod_tip_xy_dist": 0.0030973842141171857,
+                "target_xy_drift": 2.145449483938133e-07,
+                "depth": 0.01676264525648652,
+                "bottom_clearance": 0.08267795189215932,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018209883254886594,
+                  0.0024330916749231712
+                ],
+                "rod_tip_xy": [
+                  0.28561345670125604,
+                  -0.32612677636922216
+                ],
+                "target_mouth_xy": [
+                  0.2874344450267447,
+                  -0.32855986804414533
+                ],
+                "gripper_position": [
+                  0.2856013022787649,
+                  -0.32613308737168434,
+                  1.0038365980498662
+                ],
+                "rod_tip_xy_dist": 0.003039067880147864,
+                "target_xy_drift": 6.757603650867965e-08,
+                "depth": 0.017281401632219917,
+                "bottom_clearance": 0.08215910699973994,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001833169159447423,
+                  0.0024265696612546517
+                ],
+                "rod_tip_xy": [
+                  0.2856013022787649,
+                  -0.32613308737168445
+                ],
+                "target_mouth_xy": [
+                  0.2874344714382123,
+                  -0.3285596570329391
+                ],
+                "gripper_position": [
+                  0.28559187878725456,
+                  -0.3261329753408842,
+                  1.0037115106865337
+                ],
+                "rod_tip_xy_dist": 0.0030411756753056353,
+                "target_xy_drift": 2.5583099765039896e-07,
+                "depth": 0.017423243750150696,
+                "bottom_clearance": 0.08201732909458137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018425271924149556,
+                  0.002426650681075615
+                ],
+                "rod_tip_xy": [
+                  0.2855918787872546,
+                  -0.32613297534088426
+                ],
+                "target_mouth_xy": [
+                  0.28743440597966957,
+                  -0.32855962602195987
+                ],
+                "gripper_position": [
+                  0.28559884969716803,
+                  -0.32620197991809413,
+                  1.0031964838630583
+                ],
+                "rod_tip_xy_dist": 0.0030468902150804986,
+                "target_xy_drift": 2.7238840620354007e-07,
+                "depth": 0.017548425979008075,
+                "bottom_clearance": 0.08189232444865124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001835596691966923,
+                  0.002357885576034613
+                ],
+                "rod_tip_xy": [
+                  0.28559884969716803,
+                  -0.3262019799180943
+                ],
+                "target_mouth_xy": [
+                  0.28743444638913496,
+                  -0.3285598654941289
+                ],
+                "gripper_position": [
+                  0.28558659931066743,
+                  -0.32620825911033097,
+                  1.0030545380929328
+                ],
+                "rod_tip_xy_dist": 0.0029881498632484934,
+                "target_xy_drift": 6.993550541277385e-08,
+                "depth": 0.01806343082035433,
+                "bottom_clearance": 0.08137717383719789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018478105527071076,
+                  0.0023513697275167056
+                ],
+                "rod_tip_xy": [
+                  0.28558659931066743,
+                  -0.32620825911033113
+                ],
+                "target_mouth_xy": [
+                  0.28743440986337454,
+                  -0.32855962883784784
+                ],
+                "gripper_position": [
+                  0.28557701877294706,
+                  -0.32620815672931736,
+                  1.0029301281794425
+                ],
+                "rod_tip_xy_dist": 0.0029905423311128256,
+                "target_xy_drift": 2.699227275111412e-07,
+                "depth": 0.018205302643241716,
+                "bottom_clearance": 0.0812352230025698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018574213041969712,
+                  0.002351469879682433
+                ],
+                "rod_tip_xy": [
+                  0.28557701877294706,
+                  -0.32620815672931747
+                ],
+                "target_mouth_xy": [
+                  0.287434440077144,
+                  -0.3285596266089999
+                ],
+                "gripper_position": [
+                  0.28556755957547186,
+                  -0.32620778328987,
+                  1.0028054214066173
+                ],
+                "rod_tip_xy_dist": 0.0029965687871861867,
+                "target_xy_drift": 2.7662790055657944e-07,
+                "depth": 0.01832972543608713,
+                "bottom_clearance": 0.08111083619023274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001866911440381147,
+                  0.0023518750181414916
+                ],
+                "rod_tip_xy": [
+                  0.2855675595754719,
+                  -0.3262077832898701
+                ],
+                "target_mouth_xy": [
+                  0.28743447101585307,
+                  -0.3285596583080116
+                ],
+                "gripper_position": [
+                  0.28555792224530263,
+                  -0.32620749838961827,
+                  1.0026804115436645
+                ],
+                "rod_tip_xy_dist": 0.003002777785182255,
+                "target_xy_drift": 2.5448832265939646e-07,
+                "depth": 0.018454396339536383,
+                "bottom_clearance": 0.08098611833749725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00187651655458132,
+                  0.0023521574022355995
+                ],
+                "rod_tip_xy": [
+                  0.2855579222453027,
+                  -0.32620749838961827
+                ],
+                "target_mouth_xy": [
+                  0.287434438799884,
+                  -0.32855965579185387
+                ],
+                "gripper_position": [
+                  0.28556743984300115,
+                  -0.3262797908960601,
+                  1.0021676827366832
+                ],
+                "rod_tip_xy_dist": 0.0030089796982547875,
+                "target_xy_drift": 2.4783157609784397e-07,
+                "depth": 0.01857949217588517,
+                "bottom_clearance": 0.08086114114961329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018669719350200564,
+                  0.0022798674179248524
+                ],
+                "rod_tip_xy": [
+                  0.28556743984300115,
+                  -0.3262797908960602
+                ],
+                "target_mouth_xy": [
+                  0.2874344117780212,
+                  -0.32855965831398504
+                ],
+                "gripper_position": [
+                  0.28555485697048927,
+                  -0.32628619705695494,
+                  1.0020260415338649
+                ],
+                "rod_tip_xy_dist": 0.0029467574805992886,
+                "target_xy_drift": 2.4080764351426337e-07,
+                "depth": 0.019092138161511785,
+                "bottom_clearance": 0.08034839108057812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001879614546122288,
+                  0.0022734602883587307
+                ],
+                "rod_tip_xy": [
+                  0.28555485697048927,
+                  -0.32628619705695505
+                ],
+                "target_mouth_xy": [
+                  0.28743447151661156,
+                  -0.3285596573453138
+                ],
+                "gripper_position": [
+                  0.28554510574568925,
+                  -0.32628585465116583,
+                  1.0019016194559547
+                ],
+                "rod_tip_xy_dist": 0.0029498427966145346,
+                "target_xy_drift": 2.55564122235629e-07,
+                "depth": 0.019233795237889484,
+                "bottom_clearance": 0.080206769182947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018893321586986311,
+                  0.0022737732489400697
+                ],
+                "rod_tip_xy": [
+                  0.28554510574568925,
+                  -0.3262858546511658
+                ],
+                "target_mouth_xy": [
+                  0.2874344379043879,
+                  -0.32855962790010584
+                ],
+                "gripper_position": [
+                  0.2855354605895222,
+                  -0.32628542625100226,
+                  1.0017773958123861
+                ],
+                "rod_tip_xy_dist": 0.0029562849648652463,
+                "target_xy_drift": 2.749310596721139e-07,
+                "depth": 0.01935827886129371,
+                "bottom_clearance": 0.08008232266952231,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001898978383177874,
+                  0.002274201634829165
+                ],
+                "rod_tip_xy": [
+                  0.2855354605895223,
+                  -0.3262854262510023
+                ],
+                "target_mouth_xy": [
+                  0.28743443897270016,
+                  -0.3285596278858315
+                ],
+                "gripper_position": [
+                  0.28552565706973365,
+                  -0.32628535134647146,
+                  1.0016529878165237
+                ],
+                "rod_tip_xy_dist": 0.0029627878721968097,
+                "target_xy_drift": 2.7515561639043445e-07,
+                "depth": 0.019482410192198762,
+                "bottom_clearance": 0.07995814999512374,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006075574588819146,
+              "rod_tip_xy_max_step": 3.280727781659363e-05,
+              "rod_tip_xy_range": 0.0006075524142867976,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2850905379096166,
+            -0.32764386985386823,
+            1.043510954255591
+          ],
+          "object_origin_world": [
+            0.2850905379096166,
+            -0.32764386985386823,
+            1.043510954255591
+          ],
+          "frame_world": [
+            0.28508883530947604,
+            -0.32764765677025015,
+            1.0433989130672647
+          ],
+          "center_minus_frame": [
+            1.7026001405406888e-06,
+            3.7869163819204132e-06,
+            0.00011204118832619514
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2522967893685826,
+              0.1544639352041118,
+              0.8325163963253834
+            ],
+            "target_position": [
+              0.2633484530619688,
+              0.20106383495721708,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0478924829946326,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1681701608562676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325163963253834,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567585892824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1369423569101133,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c539efe5e8968737ba0bed14eb12788baaaa73faea7a18b60aa4e4cccee439bf",
+    "visual_seed": 6394524189429203352,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8604644bbcda03339f50ea1a37d68fefab7f02bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_24_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.296918676574273,
+              0.08713356850257119,
+              1.1631753008745016
+            ],
+            "current_z": 1.1631753008745016,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30206879285973554,
+            "gripper_z": 1.1554363606341398,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2914578389194547,
+              0.0820707867062896,
+              1.1554363606341398
+            ],
+            "object_minus_gripper": [
+              0.005460837654818307,
+              0.005062781796281585,
+              0.0077389402403618135
+            ],
+            "object_to_gripper_xy": 0.007446644036681336,
+            "object_to_gripper_z": 0.0077389402403618135,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.296918676574273,
+              0.0626923351684563,
+              1.1631753008745016
+            ],
+            "finger_b": [
+              0.285717322883149,
+              0.08713356850257119,
+              1.1631753008745016
+            ],
+            "finger_midpoint": [
+              0.291317999728711,
+              0.07491295183551375,
+              1.1631753008745016
+            ],
+            "object_minus_finger_midpoint": [
+              0.005600676845562036,
+              0.01222061666705744,
+              0.0
+            ],
+            "finger_gap": 0.026885762243356724,
+            "fingertip_max_gap": 0.09151653050234118,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013442881121678374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631753008745016,
+            "object_top_z": 1.2131177102919444,
+            "finger_top_clearance": 0.04994240941744277,
+            "fingertip_min_top_clearance": 0.014982722825232863,
+            "object_projection_between_fingers": 0.8264213470430193,
+            "object_to_finger_line_xy": 0.010182895197265956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825826525117059,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1753432941351565,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28664700598282655,
+              -0.33345258960754587,
+              0.8515395625287423
+            ],
+            "target_position": [
+              0.2773314159927251,
+              -0.3345025567576211,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009374574543941477,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857621976283376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395625287423,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522574900949047,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654820399907485,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15448553634530518,
+            "release_required_pad_clearance": 0.05327410199953743,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5676925370973152,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007310628890991211,
+            "max_z_decrease": 0.007310628890991211,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513636510787596,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007310628890991211,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021072742516047183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007310628890991211,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007310650484169658,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13303133845329285,
+              -0.39076402783393854,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13303133845329285,
+              -0.39076402783393854,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13239310744776403,
+              -0.3894760224878667,
+              0.8081301527394071
+            ],
+            "closest_button": [
+              0.13302280008792877,
+              -0.3907661736011504,
+              0.7730231285095215
+            ],
+            "closest_ee_minus_button": [
+              -0.0006296926401647418,
+              0.0012901511132836774,
+              0.03510702422988565
+            ],
+            "button_min_z_position": [
+              0.13301360607147217,
+              -0.3907628953456878,
+              0.7694982290267944
+            ],
+            "min_active_finger_to_button": 0.1461694556358995,
+            "closest_active_finger": [
+              0.005210869014263153,
+              -0.45283937454223633,
+              0.8110755681991577
+            ],
+            "closest_active_finger_button": [
+              0.13303057849407196,
+              -0.3907651305198669,
+              0.7768057584762573
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1278197094798088,
+              -0.06207424402236944,
+              0.03426980972290039
+            ],
+            "min_contact_pad_to_button": 0.021072742516047183,
+            "closest_contact_pad": [
+              0.13301360607147217,
+              -0.3907628953456878,
+              0.7905709715428416
+            ],
+            "closest_contact_pad_button": [
+              0.13301360607147217,
+              -0.3907628953456878,
+              0.7694982290267944
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021072742516047183
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.277000869896269,
+              0.2003634718846059,
+              1.1093307926933078
+            ],
+            "current_z": 1.1093307926933078,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19942166295894526,
+            "gripper_z": 1.1093309669637028,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2770007211707468,
+              0.20036363821685238,
+              1.1093309669637028
+            ],
+            "object_minus_gripper": [
+              1.4872552217548574e-07,
+              -1.6633224647621958e-07,
+              -1.742703950036173e-07
+            ],
+            "object_to_gripper_xy": 2.2312708747302905e-07,
+            "object_to_gripper_z": -1.742703950036173e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.277000869896269,
+              0.2003634718846059,
+              1.1093307926933078
+            ],
+            "finger_b": [
+              0.277000869896269,
+              0.2003634718846059,
+              1.1093307926933078
+            ],
+            "finger_midpoint": [
+              0.277000869896269,
+              0.2003634718846059,
+              1.1093307926933078
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1093307926933078,
+            "object_top_z": 1.2343392993135875,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27700086989626904,
+            0.2003634718846059,
+            1.1093307926933078
+          ],
+          "object_origin_world": [
+            0.27700086989626904,
+            0.2003634718846059,
+            1.1093307926933078
+          ],
+          "frame_world": [
+            0.2770007211707468,
+            0.20036363821685238,
+            1.1093309669637028
+          ],
+          "center_minus_frame": [
+            1.487255222309969e-07,
+            -1.6633224647621958e-07,
+            -1.742703950036173e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043300747734274,
+            "required_z": 0.9112599009406972,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017547411419617897,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.524964252373189e-08,
+            "max_target_xy_drift": 1.8707288303354372e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5676925352871949,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5676925372142696,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.285650942764253,
+              -0.33200472784539997,
+              0.923413747871456
+            ],
+            "target_mouth_xy": [
+              0.2866469780834794,
+              -0.33345261906634205
+            ],
+            "rod_tip_z": 0.923413747871456,
+            "rod_tip_depth": -0.022153841201796642,
+            "rod_tip_bottom_clearance": 0.12159445334795793,
+            "rod_tip_xy_dist": 0.001757405856604422,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045004605760228245,
+            "min_rod_tip_bottom_clearance": 0.05443589702651064,
+            "min_rod_tip_xy_dist": 0.0005909000489779992,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28664703838247835,
+              -0.333452558804146
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.029899896065061e-08,
+              -6.0262196066585e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0004669728990673305,
+                0.003158989097752196
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000572092659245349,
+                0.002785182604267522
+              ],
+              "first_target_mouth_xy": [
+                0.2866470358887197,
+                -0.33345267712385795
+              ],
+              "last_target_mouth_xy": [
+                0.28664703681307063,
+                -0.33345264794914126
+              ],
+              "first_rod_tip_xy": [
+                0.2861800629896524,
+                -0.33029368802610576
+              ],
+              "last_rod_tip_xy": [
+                0.2860749441538253,
+                -0.33066746534487373
+              ],
+              "min_rod_tip_xy_dist": 0.002839177659106585,
+              "max_rod_tip_xy_dist": 0.0031941688173065643,
+              "first_target_xy_drift": 1.1834598883542027e-07,
+              "last_target_xy_drift": 8.915880900426478e-08,
+              "max_depth": 0.01949932587179226,
+              "min_bottom_clearance": 0.0799412206640927
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0004669728990673305,
+                  0.003158989097752196
+                ],
+                "rod_tip_xy": [
+                  0.2861800629896524,
+                  -0.33029368802610576
+                ],
+                "target_mouth_xy": [
+                  0.2866470358887197,
+                  -0.33345267712385795
+                ],
+                "gripper_position": [
+                  0.2861710294413091,
+                  -0.330294147025665,
+                  1.0060740176052052
+                ],
+                "rod_tip_xy_dist": 0.0031933173672813327,
+                "target_xy_drift": 1.1834598883542027e-07,
+                "depth": 0.01505960451814714,
+                "bottom_clearance": 0.08438093043210848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00047600442967654644,
+                  0.0031585018943134924
+                ],
+                "rod_tip_xy": [
+                  0.286171029441309,
+                  -0.330294147025665
+                ],
+                "target_mouth_xy": [
+                  0.28664703387098556,
+                  -0.3334526489199785
+                ],
+                "gripper_position": [
+                  0.2861772265210226,
+                  -0.3303598604776064,
+                  1.0055506998069792
+                ],
+                "rod_tip_xy_dist": 0.0031941688173065643,
+                "target_xy_drift": 9.022869187614747e-08,
+                "depth": 0.015185848831300475,
+                "bottom_clearance": 0.08425471605096158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0004698080328943699,
+                  0.0030927887510003305
+                ],
+                "rod_tip_xy": [
+                  0.28617722652102245,
+                  -0.3303598604776064
+                ],
+                "target_mouth_xy": [
+                  0.2866470345539168,
+                  -0.33345264922860673
+                ],
+                "gripper_position": [
+                  0.2861653060090966,
+                  -0.3303667146359253,
+                  1.0054072233630724
+                ],
+                "rod_tip_xy_dist": 0.003128268186407019,
+                "target_xy_drift": 9.050547489358373e-08,
+                "depth": 0.015709151907564167,
+                "bottom_clearance": 0.08373139872238056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0004817272250892679,
+                  0.0030859311270823864
+                ],
+                "rod_tip_xy": [
+                  0.28616530600909645,
+                  -0.3303667146359253
+                ],
+                "target_mouth_xy": [
+                  0.2866470332341857,
+                  -0.3334526457630077
+                ],
+                "gripper_position": [
+                  0.2861713732731511,
+                  -0.33043253617956064,
+                  1.0048881211256393
+                ],
+                "rod_tip_xy_dist": 0.003123304666613261,
+                "target_xy_drift": 8.711112758442861e-08,
+                "depth": 0.01585268512449234,
+                "bottom_clearance": 0.08358795146315867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00047566205429194763,
+                  0.0030201136842566423
+                ],
+                "rod_tip_xy": [
+                  0.286171373273151,
+                  -0.33043253617956064
+                ],
+                "target_mouth_xy": [
+                  0.28664703532744296,
+                  -0.3334526498638173
+                ],
+                "gripper_position": [
+                  0.2861594133163532,
+                  -0.33043942520562164,
+                  1.0047448987844632
+                ],
+                "rod_tip_xy_dist": 0.003057342155488565,
+                "target_xy_drift": 9.111090483090616e-08,
+                "depth": 0.01637172352873162,
+                "bottom_clearance": 0.08306883001172227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00048761830721999466,
+                  0.0030131942754024754
+                ],
+                "rod_tip_xy": [
+                  0.2861594133163531,
+                  -0.3304394252056217
+                ],
+                "target_mouth_xy": [
+                  0.2866470316235731,
+                  -0.33345261948102417
+                ],
+                "gripper_position": [
+                  0.286150245885026,
+                  -0.3304396362694805,
+                  1.0046186366177545
+                ],
+                "rod_tip_xy_dist": 0.0030523943642416754,
+                "target_xy_drift": 6.105216087201057e-08,
+                "depth": 0.016515041851849488,
+                "bottom_clearance": 0.08292562058734021,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0004967897379336561,
+                  0.003012982206781978
+                ],
+                "rod_tip_xy": [
+                  0.28615024588502586,
+                  -0.33043963626948053
+                ],
+                "target_mouth_xy": [
+                  0.2866470356229595,
+                  -0.3334526184762625
+                ],
+                "gripper_position": [
+                  0.28615743415345807,
+                  -0.33050633414374486,
+                  1.0041008696876947
+                ],
+                "rod_tip_xy_dist": 0.003053663672066881,
+                "target_xy_drift": 5.973588900211472e-08,
+                "depth": 0.016641122981905565,
+                "bottom_clearance": 0.08279938729165559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0004896029854451478,
+                  0.002946314433083963
+                ],
+                "rod_tip_xy": [
+                  0.2861574341534579,
+                  -0.3305063341437449
+                ],
+                "target_mouth_xy": [
+                  0.28664703713890305,
+                  -0.3334526485768289
+                ],
+                "gripper_position": [
+                  0.2861453187282804,
+                  -0.3305130663732568,
+                  1.0039575605840312
+                ],
+                "rod_tip_xy_dist": 0.0029867172316701955,
+                "target_xy_drift": 8.978129579332073e-08,
+                "depth": 0.01715902719538065,
+                "bottom_clearance": 0.08228155318702679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005016883518168536,
+                  0.0029395815597406116
+                ],
+                "rod_tip_xy": [
+                  0.2861453187282803,
+                  -0.3305130663732568
+                ],
+                "target_mouth_xy": [
+                  0.28664700708009716,
+                  -0.3334526479329974
+                ],
+                "gripper_position": [
+                  0.28613604882656957,
+                  -0.3305130823147734,
+                  1.0038318227826217
+                ],
+                "rod_tip_xy_dist": 0.0029820850002499526,
+                "target_xy_drift": 9.44658203887821e-08,
+                "depth": 0.017302323662724772,
+                "bottom_clearance": 0.08213822606698562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005109581447037548,
+                  0.0029395653232188734
+                ],
+                "rod_tip_xy": [
+                  0.28613604882656946,
+                  -0.33051308231477333
+                ],
+                "target_mouth_xy": [
+                  0.2866470069712732,
+                  -0.3334526476379922
+                ],
+                "gripper_position": [
+                  0.28612671807798273,
+                  -0.33051340618914515,
+                  1.0037058947990576
+                ],
+                "rod_tip_xy_dist": 0.0029836424911691387,
+                "target_xy_drift": 9.422375519482312e-08,
+                "depth": 0.017428006376057126,
+                "bottom_clearance": 0.08201255011753117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005202893247479579,
+                  0.002939241746014787
+                ],
+                "rod_tip_xy": [
+                  0.2861267180779826,
+                  -0.3305134061891451
+                ],
+                "target_mouth_xy": [
+                  0.2866470074027306,
+                  -0.3334526479351599
+                ],
+                "gripper_position": [
+                  0.28613566545403746,
+                  -0.33058237762998566,
+                  1.003189046675729
+                ],
+                "rod_tip_xy_dist": 0.0029849360165609476,
+                "target_xy_drift": 9.43614455753131e-08,
+                "depth": 0.017553932219689927,
+                "bottom_clearance": 0.0818866295288404,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005113725375161526,
+                  0.0028702677404726096
+                ],
+                "rod_tip_xy": [
+                  0.28613566545403735,
+                  -0.3305823776299857
+                ],
+                "target_mouth_xy": [
+                  0.2866470379915535,
+                  -0.3334526453704583
+                ],
+                "gripper_position": [
+                  0.2861235397918266,
+                  -0.3305888177315476,
+                  1.003045879548027
+                ],
+                "rod_tip_xy_dist": 0.002915465447252539,
+                "target_xy_drift": 8.656719502495456e-08,
+                "depth": 0.01807089219776359,
+                "bottom_clearance": 0.08136979334687477,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005234971453342285,
+                  0.0028638302186562714
+                ],
+                "rod_tip_xy": [
+                  0.2861235397918264,
+                  -0.33058881773154764
+                ],
+                "target_mouth_xy": [
+                  0.28664703693716065,
+                  -0.3334526479502039
+                ],
+                "gripper_position": [
+                  0.28611413116014306,
+                  -0.3305890065125864,
+                  1.0029202221184292
+                ],
+                "rod_tip_xy_dist": 0.002911283700098964,
+                "target_xy_drift": 8.915777356302699e-08,
+                "depth": 0.01821400479763091,
+                "bottom_clearance": 0.08122654635224524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005328449736100027,
+                  0.002863641135061934
+                ],
+                "rod_tip_xy": [
+                  0.28611413116014295,
+                  -0.3305890065125863
+                ],
+                "target_mouth_xy": [
+                  0.28664697613375295,
+                  -0.33345264764764826
+                ],
+                "gripper_position": [
+                  0.2861047682242371,
+                  -0.33058896781810504,
+                  1.002794205254747
+                ],
+                "rod_tip_xy_dist": 0.002912793215509856,
+                "target_xy_drift": 1.0848074350027788e-07,
+                "depth": 0.018339539513000047,
+                "bottom_clearance": 0.08110097781310144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005422696334082544,
+                  0.00286364903504166
+                ],
+                "rod_tip_xy": [
+                  0.28610476822423697,
+                  -0.33058896781810504
+                ],
+                "target_mouth_xy": [
+                  0.2866470378576452,
+                  -0.3334526168531467
+                ],
+                "gripper_position": [
+                  0.2860953109093033,
+                  -0.330588964023676,
+                  1.0026688521643154
+                ],
+                "rod_tip_xy_dist": 0.0029145397837757768,
+                "target_xy_drift": 5.805137323174308e-08,
+                "depth": 0.018465709384834716,
+                "bottom_clearance": 0.0809749238837233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005517249201226204,
+                  0.0028636842591658884
+                ],
+                "rod_tip_xy": [
+                  0.2860953109093031,
+                  -0.33058896402367605
+                ],
+                "target_mouth_xy": [
+                  0.28664703582942574,
+                  -0.33345264828284193
+                ],
+                "gripper_position": [
+                  0.2861064358108088,
+                  -0.33066133792594704,
+                  1.002154577887909
+                ],
+                "rod_tip_xy_dist": 0.0029163483885981103,
+                "target_xy_drift": 8.951511105383618e-08,
+                "depth": 0.018590968860908053,
+                "bottom_clearance": 0.08084954970220459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0005406007564872639,
+                  0.0027913074722971665
+                ],
+                "rod_tip_xy": [
+                  0.2861064358108087,
+                  -0.33066133792594704
+                ],
+                "target_mouth_xy": [
+                  0.28664703656729595,
+                  -0.3334526453982442
+                ],
+                "gripper_position": [
+                  0.2860940290595999,
+                  -0.3306678405787628,
+                  1.002011746547589
+                ],
+                "rod_tip_xy_dist": 0.0028431754400347156,
+                "target_xy_drift": 8.661312103010662e-08,
+                "depth": 0.01910534981767198,
+                "bottom_clearance": 0.08033528129449274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0005529764219368016,
+                  0.0027848064307509635
+                ],
+                "rod_tip_xy": [
+                  0.28609402905959974,
+                  -0.3306678405787628
+                ],
+                "target_mouth_xy": [
+                  0.28664700548153654,
+                  -0.33345264700951377
+                ],
+                "gripper_position": [
+                  0.286084570758261,
+                  -0.330667369717807,
+                  1.0018862035608622
+                ],
+                "rod_tip_xy_dist": 0.002839177659106585,
+                "target_xy_drift": 9.414169574712205e-08,
+                "depth": 0.01924802321629815,
+                "bottom_clearance": 0.08019250053030369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0005624656132912631,
+                  0.002785277918026685
+                ],
+                "rod_tip_xy": [
+                  0.2860845707582608,
+                  -0.330667369717807
+                ],
+                "target_mouth_xy": [
+                  0.2866470363715521,
+                  -0.3334526476358337
+                ],
+                "gripper_position": [
+                  0.2860749441538254,
+                  -0.3306674653448737,
+                  1.0017605575640214
+                ],
+                "rod_tip_xy_dist": 0.0028415032371584908,
+                "target_xy_drift": 8.885444597206813e-08,
+                "depth": 0.019373622627206655,
+                "bottom_clearance": 0.08006691887103135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.000572092659245349,
+                  0.002785182604267522
+                ],
+                "rod_tip_xy": [
+                  0.2860749441538253,
+                  -0.33066746534487373
+                ],
+                "target_mouth_xy": [
+                  0.28664703681307063,
+                  -0.33345264794914126
+                ],
+                "gripper_position": [
+                  0.28606535176145054,
+                  -0.33066748206742064,
+                  1.0016348080747384
+                ],
+                "rod_tip_xy_dist": 0.0028433311713335174,
+                "target_xy_drift": 8.915880900426478e-08,
+                "depth": 0.01949932587179226,
+                "bottom_clearance": 0.0799412206640927,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006094271043603023,
+              "rod_tip_xy_max_step": 3.302065741405831e-05,
+              "rod_tip_xy_range": 0.0006094165619591518,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28565094276425307,
+            -0.33200472784539997,
+            1.043413747871456
+          ],
+          "object_origin_world": [
+            0.28565094276425307,
+            -0.33200472784539997,
+            1.043413747871456
+          ],
+          "frame_world": [
+            0.2856491194248302,
+            -0.33200922217960155,
+            1.043300747734274
+          ],
+          "center_minus_frame": [
+            1.8233394228905908e-06,
+            4.494334201576855e-06,
+            0.00011300013718207325
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25464512553921864,
+              0.15873619138043477,
+              0.832137960209041
+            ],
+            "target_position": [
+              0.2686959653235582,
+              0.20401979332133818,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047413402149470055,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16387338540615015,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832137960209041,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674671990938,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1333653588531743,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa7fdef7e2501811482b5c0201e58950ca00be2c7139595c4949f7ebb8cc7a7f",
+    "visual_seed": 2241803392475956582,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5d26159c1d89bbd43b5b42a1b14e915f0fd8cf7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_28_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29857157560013203,
+              0.08784923970031366,
+              1.1643351540679578
+            ],
+            "current_z": 1.1643351540679578,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3032285864485469,
+            "gripper_z": 1.156494817236796,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2931930048325564,
+              0.08278790485430128,
+              1.156494817236796
+            ],
+            "object_minus_gripper": [
+              0.005378570767575641,
+              0.005061334846012386,
+              0.00784033683116192
+            ],
+            "object_to_gripper_xy": 0.007385535452848252,
+            "object_to_gripper_z": 0.00784033683116192,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29857157560013203,
+              0.06341708976871772,
+              1.1643351540679578
+            ],
+            "finger_b": [
+              0.2874298613589996,
+              0.08784923970031366,
+              1.1643351540679578
+            ],
+            "finger_midpoint": [
+              0.2930007184795658,
+              0.0756331647345157,
+              1.1643351540679578
+            ],
+            "object_minus_finger_midpoint": [
+              0.005570857120566208,
+              0.012216074965797963,
+              0.0
+            ],
+            "finger_gap": 0.026852704640520596,
+            "fingertip_max_gap": 0.0912621434441159,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013426352320260291,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643351540679578,
+            "object_top_z": 1.2142900625872572,
+            "finger_top_clearance": 0.0499549085192994,
+            "fingertip_min_top_clearance": 0.01498647255578982,
+            "object_projection_between_fingers": 0.8278417016546545,
+            "object_to_finger_line_xy": 0.010137378579868328,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813107172205795,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9181350445738159,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29065205029979013,
+              -0.33675833799692695,
+              0.8515396084964616
+            ],
+            "target_position": [
+              0.283220321337335,
+              -0.33730946893090574,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007452136651845759,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18499363404873953,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396084964616,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539136397486713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08721903738245966,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15318625169245012,
+            "release_required_pad_clearance": 0.05360951869122983,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.229391761218236,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007600665092468262,
+            "max_z_decrease": 0.007600665092468262,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035219795739699085,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007600665092468262,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02117710864788799,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007600665092468262,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007600691031742052,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13892024755477902,
+              -0.3935709297657013,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13892024755477902,
+              -0.3935709297657013,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14121288776485663,
+              -0.39474296577342455,
+              0.8080307139440069
+            ],
+            "closest_button": [
+              0.13891014456748962,
+              -0.39357450604438776,
+              0.772905707359314
+            ],
+            "closest_ee_minus_button": [
+              0.0023027431973670076,
+              -0.001168459729036786,
+              0.035125006584692975
+            ],
+            "button_min_z_position": [
+              0.13890039920806882,
+              -0.3935703337192535,
+              0.7692081928253174
+            ],
+            "min_active_finger_to_button": 0.1438262124196437,
+            "closest_active_finger": [
+              -3.501027822494507e-05,
+              -0.37930095195770264,
+              0.8109715580940247
+            ],
+            "closest_active_finger_button": [
+              0.13892330229282376,
+              -0.3935698270797729,
+              0.7767229676246643
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1389583125710487,
+              0.014268875122070257,
+              0.03424859046936035
+            ],
+            "min_contact_pad_to_button": 0.02117710864788799,
+            "closest_contact_pad": [
+              0.13890039920806882,
+              -0.3957656610435679,
+              0.7902712046855327
+            ],
+            "closest_contact_pad_button": [
+              0.13890039920806882,
+              -0.3935703337192535,
+              0.7692081928253174
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021953273243144333,
+              0.021063011860215308
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2725887789734977,
+              0.20257636089847902,
+              1.1092517519572493
+            ],
+            "current_z": 1.1092517519572493,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1993426222228868,
+            "gripper_z": 1.1092518175755066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27258881883974423,
+              0.20257634640379654,
+              1.1092518175755066
+            ],
+            "object_minus_gripper": [
+              -3.9866246526187865e-08,
+              1.4494682482046883e-08,
+              -6.561825727224857e-08
+            ],
+            "object_to_gripper_xy": 4.241949354179211e-08,
+            "object_to_gripper_z": -6.561825727224857e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2725887789734977,
+              0.20257636089847902,
+              1.1092517519572493
+            ],
+            "finger_b": [
+              0.2725887789734977,
+              0.20257636089847902,
+              1.1092517519572493
+            ],
+            "finger_midpoint": [
+              0.2725887789734977,
+              0.20257636089847902,
+              1.1092517519572493
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1092517519572493,
+            "object_top_z": 1.234260258577529,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2725887789734977,
+            0.20257636089847902,
+            1.1092517519572493
+          ],
+          "object_origin_world": [
+            0.2725887789734977,
+            0.20257636089847902,
+            1.1092517519572493
+          ],
+          "frame_world": [
+            0.27258881883974423,
+            0.20257634640379654,
+            1.1092518175755066
+          ],
+          "center_minus_frame": [
+            -3.9866246526187865e-08,
+            1.4494682482046883e-08,
+            -6.561825727224857e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432659225344456,
+            "required_z": 0.9112598234532612,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018649077461778173,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.80046492483348e-08,
+            "max_target_xy_drift": 8.290281700701648e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.2293917586708756,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.229391761923184,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29071804220823483,
+              -0.338616738767927,
+              0.9233828227519886
+            ],
+            "target_mouth_xy": [
+              0.2906521715273006,
+              -0.3367583652282998
+            ],
+            "rod_tip_z": 0.9233828227519886,
+            "rod_tip_depth": -0.02212282710425484,
+            "rod_tip_bottom_clearance": 0.12156352989153518,
+            "rod_tip_xy_dist": 0.0018595405775064609,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045153150594956504,
+            "min_rod_tip_bottom_clearance": 0.05428749542206268,
+            "min_rod_tip_xy_dist": 0.000521017921797746,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2906521080752429,
+              -0.3367584262090727
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.345205771918216e-08,
+              6.098077287575165e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0005290743041975188,
+                -9.994978490068807e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0004461304602220162,
+                -0.0005030189770495741
+              ],
+              "first_target_mouth_xy": [
+                0.2906521101874944,
+                -0.33675827579976203
+              ],
+              "last_target_mouth_xy": [
+                0.2906521099982218,
+                -0.33675827963234867
+              ],
+              "first_rod_tip_xy": [
+                0.2911811844916919,
+                -0.3368582255846627
+              ],
+              "last_rod_tip_xy": [
+                0.2910982404584438,
+                -0.33726129860939824
+              ],
+              "min_rod_tip_xy_dist": 0.0005283695414605697,
+              "max_rod_tip_xy_dist": 0.0006723544294565984,
+              "first_target_xy_drift": 1.5042414149152992e-07,
+              "last_target_xy_drift": 1.4658933752816008e-07,
+              "max_depth": 0.019688786386685586,
+              "min_bottom_clearance": 0.07975183113678341
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0005290743041975188,
+                  -9.994978490068807e-05
+                ],
+                "rod_tip_xy": [
+                  0.2911811844916919,
+                  -0.3368582255846627
+                ],
+                "target_mouth_xy": [
+                  0.2906521101874944,
+                  -0.33675827579976203
+                ],
+                "gripper_position": [
+                  0.2911694995107481,
+                  -0.33686543379402784,
+                  1.0059266915951568
+                ],
+                "rod_tip_xy_dist": 0.0005384325202509433,
+                "target_xy_drift": 1.5042414149152992e-07,
+                "depth": 0.015185364747428931,
+                "bottom_clearance": 0.08425527451362069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0005173894176397353,
+                  -0.00010715672101024865
+                ],
+                "rod_tip_xy": [
+                  0.29116949951074805,
+                  -0.33686543379402767
+                ],
+                "target_mouth_xy": [
+                  0.2906521100931083,
+                  -0.3367582770730174
+                ],
+                "gripper_position": [
+                  0.29117854510750346,
+                  -0.3369334553529242,
+                  1.0054037893941046
+                ],
+                "rod_tip_xy_dist": 0.0005283695414605697,
+                "target_xy_drift": 1.491497058872971e-07,
+                "depth": 0.015333208400497123,
+                "bottom_clearance": 0.08410738000222961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0005264372749668733,
+                  -0.00017517632467922706
+                ],
+                "rod_tip_xy": [
+                  0.29117854510750335,
+                  -0.3369334553529242
+                ],
+                "target_mouth_xy": [
+                  0.2906521078325365,
+                  -0.33675827902824496
+                ],
+                "gripper_position": [
+                  0.291166575700325,
+                  -0.33694070049724717,
+                  1.0052562438271255
+                ],
+                "rod_tip_xy_dist": 0.0005548179423943222,
+                "target_xy_drift": 1.471810278631697e-07,
+                "depth": 0.015856049869087285,
+                "bottom_clearance": 0.08358448366769344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0005144648645598049,
+                  -0.00018242407000790273
+                ],
+                "rod_tip_xy": [
+                  0.29116657570032495,
+                  -0.3369407004972471
+                ],
+                "target_mouth_xy": [
+                  0.29065211083576514,
+                  -0.3367582764272392
+                ],
+                "gripper_position": [
+                  0.291157568838165,
+                  -0.3369415590632827,
+                  1.005126614623399
+                ],
+                "rod_tip_xy_dist": 0.0005458503807681979,
+                "target_xy_drift": 1.4980726994125148e-07,
+                "depth": 0.01600367329986896,
+                "bottom_clearance": 0.08343696665256206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0005054627624813124,
+                  -0.00018327872812906598
+                ],
+                "rod_tip_xy": [
+                  0.29115756883816496,
+                  -0.3369415590632826
+                ],
+                "target_mouth_xy": [
+                  0.29065210607568365,
+                  -0.33675828033515354
+                ],
+                "gripper_position": [
+                  0.2911676761415639,
+                  -0.3370108191566973,
+                  1.0046044296958834
+                ],
+                "rod_tip_xy_dist": 0.0005376650411174672,
+                "target_xy_drift": 1.4588762295021722e-07,
+                "depth": 0.01613330183176631,
+                "bottom_clearance": 0.08330734538855789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0005155366448259535,
+                  -0.0002525737833950492
+                ],
+                "rod_tip_xy": [
+                  0.2911676761415638,
+                  -0.3370108191566973
+                ],
+                "target_mouth_xy": [
+                  0.29065213949673785,
+                  -0.33675824537330223
+                ],
+                "gripper_position": [
+                  0.29115561847125404,
+                  -0.337018156510076,
+                  1.004456993892525
+                ],
+                "rod_tip_xy_dist": 0.0005740832241207634,
+                "target_xy_drift": 1.8354532472056188e-07,
+                "depth": 0.016655501856090993,
+                "bottom_clearance": 0.08278514234579526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0005035107919552084,
+                  -0.00025987807885330394
+                ],
+                "rod_tip_xy": [
+                  0.291155618471254,
+                  -0.33701815651007594
+                ],
+                "target_mouth_xy": [
+                  0.2906521076792988,
+                  -0.33675827843122264
+                ],
+                "gripper_position": [
+                  0.2911463510382004,
+                  -0.33701883407978894,
+                  1.0043273602159546
+                ],
+                "rod_tip_xy_dist": 0.0005666213316526702,
+                "target_xy_drift": 1.4777838049751567e-07,
+                "depth": 0.016802838573489298,
+                "bottom_clearance": 0.08263767844211989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0004942407659819792,
+                  -0.0002605569777373029
+                ],
+                "rod_tip_xy": [
+                  0.29114635103820036,
+                  -0.33701883407978894
+                ],
+                "target_mouth_xy": [
+                  0.2906521102722184,
+                  -0.33675827710205164
+                ],
+                "gripper_position": [
+                  0.29113718094344554,
+                  -0.3370193287713761,
+                  1.0041978733810184
+                ],
+                "rod_tip_xy_dist": 0.0005587162727235094,
+                "target_xy_drift": 1.491232055440834e-07,
+                "depth": 0.016932540555865683,
+                "bottom_clearance": 0.08250805340641654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000485072775196993,
+                  -0.0002610491047945751
+                ],
+                "rod_tip_xy": [
+                  0.2911371809434455,
+                  -0.33701932877137597
+                ],
+                "target_mouth_xy": [
+                  0.2906521081682485,
+                  -0.3367582796665814
+                ],
+                "gripper_position": [
+                  0.29114913435700407,
+                  -0.3370913296173693,
+                  1.0036756715883992
+                ],
+                "rod_tip_xy_dist": 0.0005508559088830414,
+                "target_xy_drift": 1.465425208220643e-07,
+                "depth": 0.0170619685154626,
+                "bottom_clearance": 0.08237857728686981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0004970255570664328,
+                  -0.000333081987504813
+                ],
+                "rod_tip_xy": [
+                  0.29114913435700396,
+                  -0.3370913296173692
+                ],
+                "target_mouth_xy": [
+                  0.2906521087999375,
+                  -0.3367582476298644
+                ],
+                "gripper_position": [
+                  0.29113690064252473,
+                  -0.3370987039081978,
+                  1.0035277722433094
+                ],
+                "rod_tip_xy_dist": 0.0005983126396603654,
+                "target_xy_drift": 1.785806787501441e-07,
+                "depth": 0.017584152873171388,
+                "bottom_clearance": 0.08185637424017378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004847897761998121,
+                  -0.00034045631233525775
+                ],
+                "rod_tip_xy": [
+                  0.2911369006425247,
+                  -0.33709870390819774
+                ],
+                "target_mouth_xy": [
+                  0.29065211086632486,
+                  -0.3367582475958625
+                ],
+                "gripper_position": [
+                  0.29112760434067664,
+                  -0.3370992297368621,
+                  1.0033985198178126
+                ],
+                "rod_tip_xy_dist": 0.0005923948241812943,
+                "target_xy_drift": 1.7863501617675202e-07,
+                "depth": 0.01773218707994484,
+                "bottom_clearance": 0.08170841789271843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0004754953992714417,
+                  -0.00034095134591138887
+                ],
+                "rod_tip_xy": [
+                  0.2911276043406766,
+                  -0.3370992297368621
+                ],
+                "target_mouth_xy": [
+                  0.29065210894140514,
+                  -0.33675827839095074
+                ],
+                "gripper_position": [
+                  0.29111821965863416,
+                  -0.3370999645570869,
+                  1.003269217245718
+                ],
+                "rod_tip_xy_dist": 0.0005851014399290906,
+                "target_xy_drift": 1.4782065964639836e-07,
+                "depth": 0.01786130640885142,
+                "bottom_clearance": 0.08157922657944228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0004661093262693927,
+                  -0.0003416880977621384
+                ],
+                "rod_tip_xy": [
+                  0.2911182196586341,
+                  -0.3370999645570868
+                ],
+                "target_mouth_xy": [
+                  0.2906521103323647,
+                  -0.33675827645932466
+                ],
+                "gripper_position": [
+                  0.29113198761219294,
+                  -0.33717377596862697,
+                  1.002749693868934
+                ],
+                "rod_tip_xy_dist": 0.0005779348234771943,
+                "target_xy_drift": 1.4976675745586446e-07,
+                "depth": 0.017990755239533862,
+                "bottom_clearance": 0.08144986485788286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0004798789958161409,
+                  -0.0004155276928031748
+                ],
+                "rod_tip_xy": [
+                  0.29113198761219283,
+                  -0.33717377596862697
+                ],
+                "target_mouth_xy": [
+                  0.2906521086163767,
+                  -0.3367582482758238
+                ],
+                "gripper_position": [
+                  0.2911195502000681,
+                  -0.33718115282789585,
+                  1.0026023742384933
+                ],
+                "rod_tip_xy_dist": 0.0006347811545027446,
+                "target_xy_drift": 1.7793407176372549e-07,
+                "depth": 0.018510124058301547,
+                "bottom_clearance": 0.08093038528733809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00046743999616993825,
+                  -0.00042287668916973775
+                ],
+                "rod_tip_xy": [
+                  0.291119550200068,
+                  -0.33718115282789574
+                ],
+                "target_mouth_xy": [
+                  0.2906521102038981,
+                  -0.336758276138726
+                ],
+                "gripper_position": [
+                  0.29111009702614793,
+                  -0.33718158310679774,
+                  1.0024735836986303
+                ],
+                "rod_tip_xy_dist": 0.0006303370878050179,
+                "target_xy_drift": 1.5008544277545633e-07,
+                "depth": 0.018657543529285725,
+                "bottom_clearance": 0.08078308373105125,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0004579892484271042,
+                  -0.000423301819380717
+                ],
+                "rod_tip_xy": [
+                  0.2911100970261479,
+                  -0.3371815831067978
+                ],
+                "target_mouth_xy": [
+                  0.29065210777772077,
+                  -0.3367582812874171
+                ],
+                "gripper_position": [
+                  0.29110066922553435,
+                  -0.3371820769493698,
+                  1.0023441595570508
+                ],
+                "rod_tip_xy_dist": 0.0006236494062899835,
+                "target_xy_drift": 1.4492196102444876e-07,
+                "depth": 0.01878630018140448,
+                "bottom_clearance": 0.08065431937473344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00044846815722593414,
+                  -0.0004239539856172869
+                ],
+                "rod_tip_xy": [
+                  0.2911006692255343,
+                  -0.33718207694936975
+                ],
+                "target_mouth_xy": [
+                  0.29065220106830836,
+                  -0.33675812296375246
+                ],
+                "gripper_position": [
+                  0.2910910195716613,
+                  -0.3371826844318527,
+                  1.0022148413830485
+                ],
+                "rod_tip_xy_dist": 0.0006171391009864858,
+                "target_xy_drift": 3.1718359742439263e-07,
+                "depth": 0.018915904054078614,
+                "bottom_clearance": 0.08052493214752354,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0004388815617414332,
+                  -0.0004243736692685074
+                ],
+                "rod_tip_xy": [
+                  0.29109101957166117,
+                  -0.3371826844318526
+                ],
+                "target_mouth_xy": [
+                  0.29065213800991974,
+                  -0.3367583107625841
+                ],
+                "gripper_position": [
+                  0.2910813671463617,
+                  -0.3371833473086302,
+                  1.0020855254134722
+                ],
+                "rod_tip_xy_dist": 0.000610499825065508,
+                "target_xy_drift": 1.1926431405088725e-07,
+                "depth": 0.01904502353163473,
+                "bottom_clearance": 0.0803955680591194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00042922692489766323,
+                  -0.0004250705349367889
+                ],
+                "rod_tip_xy": [
+                  0.29108136714636157,
+                  -0.3371833473086301
+                ],
+                "target_mouth_xy": [
+                  0.2906521402214639,
+                  -0.3367582767736933
+                ],
+                "gripper_position": [
+                  0.2910982404584439,
+                  -0.33726129860939824,
+                  1.0015711303591708
+                ],
+                "rod_tip_xy_dist": 0.0006040866765030927,
+                "target_xy_drift": 1.528538914892105e-07,
+                "depth": 0.019174382389988254,
+                "bottom_clearance": 0.08026622923137172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0004461304602220162,
+                  -0.0005030189770495741
+                ],
+                "rod_tip_xy": [
+                  0.2910982404584438,
+                  -0.33726129860939824
+                ],
+                "target_mouth_xy": [
+                  0.2906521099982218,
+                  -0.33675827963234867
+                ],
+                "gripper_position": [
+                  0.2910857923908129,
+                  -0.3372685307799985,
+                  1.0014239211415576
+                ],
+                "rod_tip_xy_dist": 0.0006723544294565984,
+                "target_xy_drift": 1.4658933752816008e-07,
+                "depth": 0.019688786386685586,
+                "bottom_clearance": 0.07975183113678341,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006069396876548506,
+              "rod_tip_xy_max_step": 3.300064585905999e-05,
+              "rod_tip_xy_range": 0.0006069340111376567,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29071804220823483,
+            -0.338616738767927,
+            1.0433828227519886
+          ],
+          "object_origin_world": [
+            0.29071804220823483,
+            -0.338616738767927,
+            1.0433828227519886
+          ],
+          "frame_world": [
+            0.29071625653753463,
+            -0.33862217155225555,
+            1.0432659225344456
+          ],
+          "center_minus_frame": [
+            1.7856707001939753e-06,
+            5.43278432857397e-06,
+            0.00011690021754295898
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2517551326800998,
+              0.16087263311544403,
+              0.8318588480409755
+            ],
+            "target_position": [
+              0.2642084387972845,
+              0.2067366754601282,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752468004566987,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16672669274056887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318588480409755,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676059652278,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1368506158834704,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29bdb13b98aea983084bc56789d597f3126e23d43ceee451ac8a7ba075d335ee",
+    "visual_seed": 6421938010589120820,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7e6f3b83f010567495f90310cb4247f2922a56
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30030300877889393,
+              0.08512681782413481,
+              1.162595386070895
+            ],
+            "current_z": 1.162595386070895,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30148887805612923,
+            "gripper_z": 1.1546565120906498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2949753821972205,
+              0.08010925416595402,
+              1.1546565120906498
+            ],
+            "object_minus_gripper": [
+              0.005327626581673406,
+              0.00501756365818079,
+              0.007938873980245287
+            ],
+            "object_to_gripper_xy": 0.0073184390451550285,
+            "object_to_gripper_z": 0.007938873980245287,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30030300877889393,
+              0.06070662470673918,
+              1.162595386070895
+            ],
+            "finger_b": [
+              0.2892580931402506,
+              0.08512681782413481,
+              1.162595386070895
+            ],
+            "finger_midpoint": [
+              0.29478055095957223,
+              0.072916721265437,
+              1.162595386070895
+            ],
+            "object_minus_finger_midpoint": [
+              0.005522457819321702,
+              0.012210096558697814,
+              0.0
+            ],
+            "finger_gap": 0.026801790860978773,
+            "fingertip_max_gap": 0.0913027435588131,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400895430489397,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162595386070895,
+            "object_top_z": 1.2124987673192917,
+            "finger_top_clearance": 0.04990338124839666,
+            "fingertip_min_top_clearance": 0.014971014374518997,
+            "object_projection_between_fingers": 0.830176738193388,
+            "object_to_finger_line_xy": 0.010063468305534088,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815137177940655,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9958121282973008,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.286041150298369,
+              -0.332343585200993,
+              0.8515395710015203
+            ],
+            "target_position": [
+              0.2782708968916118,
+              -0.33302195253156813,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007799808987431307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18451236223529885,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395710015203,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580279291229035,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875046036210858,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517895090121244,
+            "release_required_pad_clearance": 0.0537523018105429,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.51388705429479,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007474005222320557,
+            "max_z_decrease": 0.007474005222320557,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512431645437814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007474005222320557,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021138782547053894,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007474005222320557,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007474028751865055,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13397082686424253,
+              -0.38928341865539545,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13397082686424253,
+              -0.38928341865539545,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13497267072376282,
+              -0.3900215912156255,
+              0.8079793601841835
+            ],
+            "closest_button": [
+              0.13396422564983362,
+              -0.3892838060855865,
+              0.7728772759437561
+            ],
+            "closest_ee_minus_button": [
+              0.0010084450739291928,
+              -0.0007377851300390259,
+              0.03510208424042738
+            ],
+            "button_min_z_position": [
+              0.13395208120346067,
+              -0.38928285241127014,
+              0.7693348526954651
+            ],
+            "min_active_finger_to_button": 0.14516191682441779,
+            "closest_active_finger": [
+              -0.006463147699832916,
+              -0.376295804977417,
+              0.8110202550888062
+            ],
+            "closest_active_finger_button": [
+              0.13397127389907834,
+              -0.38928309082984924,
+              0.7766475081443787
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14043442159891126,
+              0.012987285852432251,
+              0.03437274694442749
+            ],
+            "min_contact_pad_to_button": 0.021138782547053894,
+            "closest_contact_pad": [
+              0.13395208120346067,
+              -0.3908886887667372,
+              0.7904125522182093
+            ],
+            "closest_contact_pad_button": [
+              0.13395208120346067,
+              -0.38928285241127014,
+              0.7693348526954651
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016058363554670718,
+              0.021077699522744187
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27157085973084294,
+              0.20652301902360073,
+              1.1027977267691118
+            ],
+            "current_z": 1.1027977267691118,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19288859703474925,
+            "gripper_z": 1.1027978316611464,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2715707671268773,
+              0.2065230246917083,
+              1.1027978316611464
+            ],
+            "object_minus_gripper": [
+              9.26039656623523e-08,
+              -5.668107566636493e-09,
+              -1.0489203461361285e-07
+            ],
+            "object_to_gripper_xy": 9.277727038332764e-08,
+            "object_to_gripper_z": -1.0489203461361285e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27157085973084294,
+              0.20652301902360073,
+              1.1027977267691118
+            ],
+            "finger_b": [
+              0.27157085973084294,
+              0.20652301902360073,
+              1.1027977267691118
+            ],
+            "finger_midpoint": [
+              0.27157085973084294,
+              0.20652301902360073,
+              1.1027977267691118
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027977267691118,
+            "object_top_z": 1.2278062333893915,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27157085973084294,
+            0.20652301902360076,
+            1.102797726769112
+          ],
+          "object_origin_world": [
+            0.27157085973084294,
+            0.20652301902360076,
+            1.102797726769112
+          ],
+          "frame_world": [
+            0.2715707671268773,
+            0.2065230246917083,
+            1.1027978316611464
+          ],
+          "center_minus_frame": [
+            9.26039656623523e-08,
+            -5.668107538880918e-09,
+            -1.0489203439156825e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433800086975396,
+            "required_z": 0.9112598208953478,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007186566074713315,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.528839468239406e-08,
+            "max_target_xy_drift": 1.0961438951548117e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.5138870542701355,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.513887054300301,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2859643504717827,
+              -0.33305341804272803,
+              0.9234934822841293
+            ],
+            "target_mouth_xy": [
+              0.2860410606558421,
+              -0.3323436150171498
+            ],
+            "rod_tip_z": 0.9234934822841293,
+            "rod_tip_depth": -0.022233659463578137,
+            "rod_tip_bottom_clearance": 0.12167415778548829,
+            "rod_tip_xy_dist": 0.0007139361228138113,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04465136188308616,
+            "min_rod_tip_bottom_clearance": 0.05478912886532861,
+            "min_rod_tip_xy_dist": 0.00015259205902429186,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2860410910075267,
+              -0.33234358140444487
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.035168461007487e-08,
+              -3.3612704952723504e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0003944037189221872,
+                0.0009771906363862382
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0002821324671666847,
+                0.0006713403778135785
+              ],
+              "first_target_mouth_xy": [
+                0.286041090459793,
+                -0.3323436144199191
+              ],
+              "last_target_mouth_xy": [
+                0.28604106201596424,
+                -0.33234361470936646
+              ],
+              "first_rod_tip_xy": [
+                0.28643549417871517,
+                -0.33136642378353287
+              ],
+              "last_rod_tip_xy": [
+                0.2863231944831309,
+                -0.3316722743315529
+              ],
+              "min_rod_tip_xy_dist": 0.0007282146880641991,
+              "max_rod_tip_xy_dist": 0.0010537816820103644,
+              "first_target_xy_drift": 3.302001744054578e-08,
+              "last_target_xy_drift": 4.415573006914381e-08,
+              "max_depth": 0.019357275824103293,
+              "min_bottom_clearance": 0.08008325295721896
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0003944037189221872,
+                  0.0009771906363862382
+                ],
+                "rod_tip_xy": [
+                  0.28643549417871517,
+                  -0.33136642378353287
+                ],
+                "target_mouth_xy": [
+                  0.286041090459793,
+                  -0.3323436144199191
+                ],
+                "gripper_position": [
+                  0.2864236747248468,
+                  -0.33137337772601444,
+                  1.0058123167575344
+                ],
+                "rod_tip_xy_dist": 0.0010537816820103644,
+                "target_xy_drift": 3.302001744054578e-08,
+                "depth": 0.015303378811665547,
+                "bottom_clearance": 0.08413713944048806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0003825825566840524,
+                  0.000970234765878264
+                ],
+                "rod_tip_xy": [
+                  0.2864236747248468,
+                  -0.3313733777260146
+                ],
+                "target_mouth_xy": [
+                  0.28604109216816276,
+                  -0.33234361249189287
+                ],
+                "gripper_position": [
+                  0.28641472206033514,
+                  -0.3313737756215627,
+                  1.005685553901415
+                ],
+                "rod_tip_xy_dist": 0.0010429405129717398,
+                "target_xy_drift": 3.110910637490109e-08,
+                "depth": 0.015447608296622173,
+                "bottom_clearance": 0.0839930162713396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00037363318672600787,
+                  0.0009698401283723124
+                ],
+                "rod_tip_xy": [
+                  0.28641472206033514,
+                  -0.3313737756215628
+                ],
+                "target_mouth_xy": [
+                  0.28604108887360913,
+                  -0.3323436157499351
+                ],
+                "gripper_position": [
+                  0.28642355671564723,
+                  -0.33143949940414724,
+                  1.0051640029364706
+                ],
+                "rod_tip_xy_dist": 0.001039322679837333,
+                "target_xy_drift": 3.441171753093915e-08,
+                "depth": 0.015574330016180027,
+                "bottom_clearance": 0.08386625410727222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003824357474935258,
+                  0.0009040861711315795
+                ],
+                "rod_tip_xy": [
+                  0.28642355671564723,
+                  -0.3314394994041473
+                ],
+                "target_mouth_xy": [
+                  0.2860411209681537,
+                  -0.3323435855752789
+                ],
+                "gripper_position": [
+                  0.286411597447269,
+                  -0.3314465022122332,
+                  1.005020215657763
+                ],
+                "rod_tip_xy_dist": 0.0009816460185791474,
+                "target_xy_drift": 3.024954587010164e-08,
+                "depth": 0.016095757331295313,
+                "bottom_clearance": 0.08334475066778924,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003705054611186642,
+                  0.0008971125057685159
+                ],
+                "rod_tip_xy": [
+                  0.286411597447269,
+                  -0.33144650221223326
+                ],
+                "target_mouth_xy": [
+                  0.28604109198615035,
+                  -0.3323436147180018
+                ],
+                "gripper_position": [
+                  0.2864024877130893,
+                  -0.3314467833183606,
+                  1.0048936821071797
+                ],
+                "rod_tip_xy_dist": 0.0009706107070937449,
+                "target_xy_drift": 3.332792790441005e-08,
+                "depth": 0.01623960798087809,
+                "bottom_clearance": 0.08320092666812873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00036142880780648534,
+                  0.0008968305210556027
+                ],
+                "rod_tip_xy": [
+                  0.28640248771308935,
+                  -0.33144678331836064
+                ],
+                "target_mouth_xy": [
+                  0.28604105890528286,
+                  -0.33234361383941624
+                ],
+                "gripper_position": [
+                  0.2864122141263119,
+                  -0.33151379482048515,
+                  1.00437326666753
+                ],
+                "rod_tip_xy_dist": 0.0009669207654245932,
+                "target_xy_drift": 4.563530901806314e-08,
+                "depth": 0.016366214721172168,
+                "bottom_clearance": 0.08307439337518507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00037112298240471464,
+                  0.0008298491047538659
+                ],
+                "rod_tip_xy": [
+                  0.2864122141263119,
+                  -0.33151379482048526
+                ],
+                "target_mouth_xy": [
+                  0.2860410911439072,
+                  -0.33234364392523913
+                ],
+                "gripper_position": [
+                  0.28640021644361957,
+                  -0.3315205726769742,
+                  1.0042298670080252
+                ],
+                "rod_tip_xy_dist": 0.0009090554464551449,
+                "target_xy_drift": 6.252094301132063e-08,
+                "depth": 0.016886502142980597,
+                "bottom_clearance": 0.08255402368807008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00035912330143972326,
+                  0.000823038839854684
+                ],
+                "rod_tip_xy": [
+                  0.28640021644361957,
+                  -0.3315205726769743
+                ],
+                "target_mouth_xy": [
+                  0.28604109314217985,
+                  -0.332343611516829
+                ],
+                "gripper_position": [
+                  0.2863908103422327,
+                  -0.3315209190637865,
+                  1.0041035020188531
+                ],
+                "rod_tip_xy_dist": 0.0008979768802960967,
+                "target_xy_drift": 3.018795161395893e-08,
+                "depth": 0.017030082789397105,
+                "bottom_clearance": 0.08241061415426476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00034971839904579527,
+                  0.0008226959545682977
+                ],
+                "rod_tip_xy": [
+                  0.2863908103422327,
+                  -0.33152091906378656
+                ],
+                "target_mouth_xy": [
+                  0.2860410919431869,
+                  -0.33234361501835485
+                ],
+                "gripper_position": [
+                  0.2864016255567912,
+                  -0.331588747988755,
+                  1.0035861448887229
+                ],
+                "rod_tip_xy_dist": 0.0008939416045213449,
+                "target_xy_drift": 3.362692975385426e-08,
+                "depth": 0.01715625876411042,
+                "bottom_clearance": 0.08228426811887213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00036053218576742596,
+                  0.000754865098264168
+                ],
+                "rod_tip_xy": [
+                  0.2864016255567912,
+                  -0.33158874798875504
+                ],
+                "target_mouth_xy": [
+                  0.2860410933710238,
+                  -0.3323436130870192
+                ],
+                "gripper_position": [
+                  0.2863894821244263,
+                  -0.33159543259852964,
+                  1.003442617761357
+                ],
+                "rod_tip_xy_dist": 0.0008365433482800576,
+                "target_xy_drift": 3.1770609614870644e-08,
+                "depth": 0.017673777979632654,
+                "bottom_clearance": 0.08176686870545413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0003484206128400169,
+                  0.0007481523398367163
+                ],
+                "rod_tip_xy": [
+                  0.2863894821244263,
+                  -0.33159543259852975
+                ],
+                "target_mouth_xy": [
+                  0.28604106151158626,
+                  -0.33234358493836647
+                ],
+                "gripper_position": [
+                  0.2863800744485331,
+                  -0.33159581326064347,
+                  1.0033165118924878
+                ],
+                "rod_tip_xy_dist": 0.0008253053053597597,
+                "target_xy_drift": 2.9706886507291426e-08,
+                "depth": 0.01781714103114973,
+                "bottom_clearance": 0.08162336798012249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003390122879974866,
+                  0.0007478005099856855
+                ],
+                "rod_tip_xy": [
+                  0.2863800744485331,
+                  -0.3315958132606436
+                ],
+                "target_mouth_xy": [
+                  0.2860410621605356,
+                  -0.33234361377062926
+                ],
+                "gripper_position": [
+                  0.2863707707552732,
+                  -0.33159576277859004,
+                  1.0031903193573233
+                ],
+                "rod_tip_xy_dist": 0.0008210572051618219,
+                "target_xy_drift": 4.335572384095812e-08,
+                "depth": 0.01794332881457683,
+                "bottom_clearance": 0.08149724038324402,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00032974124642098923,
+                  0.0007478808765463141
+                ],
+                "rod_tip_xy": [
+                  0.2863707707552732,
+                  -0.33159576277859004
+                ],
+                "target_mouth_xy": [
+                  0.2860410295088522,
+                  -0.33234364365513636
+                ],
+                "gripper_position": [
+                  0.28638303147630606,
+                  -0.3316656654297569,
+                  1.0026752784397148
+                ],
+                "rod_tip_xy_dist": 0.0008173463740024486,
+                "target_xy_drift": 8.750563159838702e-08,
+                "depth": 0.018069564560890705,
+                "bottom_clearance": 0.08137102683853914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00034196852415235846,
+                  0.0006779486148666969
+                ],
+                "rod_tip_xy": [
+                  0.28638303147630606,
+                  -0.33166566542975695
+                ],
+                "target_mouth_xy": [
+                  0.2860410629521537,
+                  -0.33234361404462365
+                ],
+                "gripper_position": [
+                  0.2863708034588181,
+                  -0.33167217852511754,
+                  1.002531899432794
+                ],
+                "rod_tip_xy_dist": 0.0007593133713498103,
+                "target_xy_drift": 4.304050681021165e-08,
+                "depth": 0.018584622574505993,
+                "bottom_clearance": 0.08085596557714891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0003297417702223804,
+                  0.0006714352663042544
+                ],
+                "rod_tip_xy": [
+                  0.2863708034588181,
+                  -0.33167217852511766
+                ],
+                "target_mouth_xy": [
+                  0.2860410616885957,
+                  -0.3323436137914219
+                ],
+                "gripper_position": [
+                  0.28636138738226424,
+                  -0.3316722319758327,
+                  1.0024060516636373
+                ],
+                "rod_tip_xy_dist": 0.0007480340579588969,
+                "target_xy_drift": 4.368656541066409e-08,
+                "depth": 0.018727877901233536,
+                "bottom_clearance": 0.08071267311575714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003203246252958536,
+                  0.0006713804969069592
+                ],
+                "rod_tip_xy": [
+                  0.28636138738226424,
+                  -0.33167223197583273
+                ],
+                "target_mouth_xy": [
+                  0.2860410627569684,
+                  -0.3323436124727397
+                ],
+                "gripper_position": [
+                  0.2863518425213085,
+                  -0.33167228764080964,
+                  1.0022801143394282
+                ],
+                "rod_tip_xy_dist": 0.0007438814671693095,
+                "target_xy_drift": 4.1992058650821605e-08,
+                "depth": 0.01885387654923376,
+                "bottom_clearance": 0.08058676315951596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003107814306901324,
+                  0.000671355659623285
+                ],
+                "rod_tip_xy": [
+                  0.2863518425213085,
+                  -0.3316722876408097
+                ],
+                "target_mouth_xy": [
+                  0.2860410610906184,
+                  -0.332343643300433
+                ],
+                "gripper_position": [
+                  0.2863423408990907,
+                  -0.3316723656794554,
+                  1.0021545273895656
+                ],
+                "rod_tip_xy_dist": 0.0007397996481278033,
+                "target_xy_drift": 6.8746889013549e-08,
+                "depth": 0.018979664036528177,
+                "bottom_clearance": 0.0804608758936044,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0003012460350075852,
+                  0.0006712150446832599
+                ],
+                "rod_tip_xy": [
+                  0.2863423408990907,
+                  -0.33167236567945546
+                ],
+                "target_mouth_xy": [
+                  0.28604109486408313,
+                  -0.3323435807241387
+                ],
+                "gripper_position": [
+                  0.28633276088798176,
+                  -0.3316723241048288,
+                  1.0020282430953793
+                ],
+                "rod_tip_xy_dist": 0.0007357165281662101,
+                "target_xy_drift": 3.916100582881317e-09,
+                "depth": 0.019105452811173373,
+                "bottom_clearance": 0.08033534467894277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0002916713827010864,
+                  0.0006713227142228773
+                ],
+                "rod_tip_xy": [
+                  0.28633276088798176,
+                  -0.33167232410482883
+                ],
+                "target_mouth_xy": [
+                  0.2860410895052807,
+                  -0.3323436468190517
+                ],
+                "gripper_position": [
+                  0.2863231944831309,
+                  -0.3316722743315527,
+                  1.0019025467657583
+                ],
+                "rod_tip_xy_dist": 0.0007319469804011316,
+                "target_xy_drift": 6.543185410439821e-08,
+                "depth": 0.019231646362313115,
+                "bottom_clearance": 0.08020896180827763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0002821324671666847,
+                  0.0006713403778135785
+                ],
+                "rod_tip_xy": [
+                  0.2863231944831309,
+                  -0.3316722743315529
+                ],
+                "target_mouth_xy": [
+                  0.28604106201596424,
+                  -0.33234361470936646
+                ],
+                "gripper_position": [
+                  0.28633961061029967,
+                  -0.3317472397658747,
+                  1.0013916843199056
+                ],
+                "rod_tip_xy_dist": 0.0007282146880641991,
+                "target_xy_drift": 4.415573006914381e-08,
+                "depth": 0.019357275824103293,
+                "bottom_clearance": 0.08008325295721896,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006064122555735056,
+              "rod_tip_xy_max_step": 3.279747194732043e-05,
+              "rod_tip_xy_range": 0.0006063996846656009,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2859643504717827,
+            -0.333053418042728,
+            1.0434934822841295
+          ],
+          "object_origin_world": [
+            0.2859643504717827,
+            -0.333053418042728,
+            1.0434934822841295
+          ],
+          "frame_world": [
+            0.2859625492917768,
+            -0.3330579701705398,
+            1.0433800086975396
+          ],
+          "center_minus_frame": [
+            1.8011800059225536e-06,
+            4.5521278118076935e-06,
+            0.00011347358658997386
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2567109653835923,
+              0.16130320921670827,
+              0.8313461447781526
+            ],
+            "target_position": [
+              0.27173090242681147,
+              0.20714699768113493,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04824159460002713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.165231291439716,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313461447781526,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671213835318,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13567665630796952,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c222023c848d9ff99c280e09199e71a7734c89ea340db231730b1ad3c24a8456",
+    "visual_seed": 7067391463741447880,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..46b20765a7c7408c5647d1257ddcb0a34ff073db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_31_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30139008492989494,
+              0.08661483903739921,
+              1.1636645576308469
+            ],
+            "current_z": 1.1636645576308469,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3025578708021467,
+            "gripper_z": 1.1558869547947102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2959887266318826,
+              0.08145633226132401,
+              1.1558869547947102
+            ],
+            "object_minus_gripper": [
+              0.00540135829801236,
+              0.005158506776075197,
+              0.00777760283613671
+            ],
+            "object_to_gripper_xy": 0.007468926537483195,
+            "object_to_gripper_z": 0.00777760283613671,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30139008492989494,
+              0.06239965358114884,
+              1.1636645576308469
+            ],
+            "finger_b": [
+              0.2898177183526107,
+              0.08661483903739921,
+              1.1636645576308469
+            ],
+            "finger_midpoint": [
+              0.29560390164125283,
+              0.07450724630927402,
+              1.1636645576308469
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057861832886421105,
+              0.012107592728125185,
+              0.0
+            ],
+            "finger_gap": 0.026838309836493886,
+            "fingertip_max_gap": 0.09103771541632896,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013419154918246943,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636645576308469,
+            "object_top_z": 1.2136013884884866,
+            "finger_top_clearance": 0.04993683085763978,
+            "fingertip_min_top_clearance": 0.014981049257291934,
+            "object_projection_between_fingers": 0.8140766054715829,
+            "object_to_finger_line_xy": 0.01044130589980771,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048018857708164484,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6864336623284725,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2916249671190278,
+              -0.33130143574714216,
+              0.8515395606706844
+            ],
+            "target_position": [
+              0.2824693498811472,
+              -0.3325063173684845,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009234558285485297,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842805243794593,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395606706844,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551275634661668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527818910304623,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152362650434355,
+            "release_required_pad_clearance": 0.052639094551523116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.33804091178316464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007443904876708984,
+            "max_z_decrease": 0.007443904876708984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035186602313011135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007443904876708984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021069104528662397,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007443904876708984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007443925549881811,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13816927373409268,
+              -0.38876777887344355,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13816927373409268,
+              -0.38876777887344355,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13945191531768306,
+              -0.3874098628618021,
+              0.8079930664309907
+            ],
+            "closest_button": [
+              0.1381575316190719,
+              -0.3887714743614196,
+              0.7728566527366638
+            ],
+            "closest_ee_minus_button": [
+              0.0012943836986111512,
+              0.0013616114996174988,
+              0.03513641369432685
+            ],
+            "button_min_z_position": [
+              0.13815174996852872,
+              -0.3887686133384704,
+              0.7693649530410767
+            ],
+            "min_active_finger_to_button": 0.14441553326473064,
+            "closest_active_finger": [
+              0.011508956551551819,
+              -0.44916602969169617,
+              0.8107529282569885
+            ],
+            "closest_active_finger_button": [
+              0.13816915452480313,
+              -0.388768583536148,
+              0.7766180634498596
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12666019797325132,
+              -0.06039744615554815,
+              0.034134864807128906
+            ],
+            "min_contact_pad_to_button": 0.021069104528662397,
+            "closest_contact_pad": [
+              0.13815174996852872,
+              -0.3887686133384704,
+              0.7904340575697391
+            ],
+            "closest_contact_pad_button": [
+              0.13815174996852872,
+              -0.3887686133384704,
+              0.7693649530410767
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021069104528662397
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26790334727362136,
+              0.20327248095540598,
+              1.1032498957860302
+            ],
+            "current_z": 1.1032498957860302,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1933407660516676,
+            "gripper_z": 1.103249830946093,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2679033851518029,
+              0.20327243682645169,
+              1.103249830946093
+            ],
+            "object_minus_gripper": [
+              -3.78781815357776e-08,
+              4.412895429628527e-08,
+              6.483993719719194e-08
+            ],
+            "object_to_gripper_xy": 5.815600780436151e-08,
+            "object_to_gripper_z": 6.483993719719194e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26790334727362136,
+              0.20327248095540598,
+              1.1032498957860302
+            ],
+            "finger_b": [
+              0.26790334727362136,
+              0.20327248095540598,
+              1.1032498957860302
+            ],
+            "finger_midpoint": [
+              0.26790334727362136,
+              0.20327248095540598,
+              1.1032498957860302
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1032498957860302,
+            "object_top_z": 1.22825840240631,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26790334727362136,
+            0.20327248095540598,
+            1.1032498957860302
+          ],
+          "object_origin_world": [
+            0.26790334727362136,
+            0.20327248095540598,
+            1.1032498957860302
+          ],
+          "frame_world": [
+            0.2679033851518029,
+            0.20327243682645169,
+            1.103249830946093
+          ],
+          "center_minus_frame": [
+            -3.78781815357776e-08,
+            4.412895429628527e-08,
+            6.483993719719194e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436403945031154,
+            "required_z": 0.9112600212941948,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014350286783872245,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.154529953732466e-09,
+            "max_target_xy_drift": 1.3004786281782662e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3380408953129822,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.33804091258532587,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29155742015277275,
+              -0.3298691280050148,
+              0.9233354358965086
+            ],
+            "target_mouth_xy": [
+              0.2916250890760601,
+              -0.3313014661828102
+            ],
+            "rod_tip_z": 0.9233354358965086,
+            "rod_tip_depth": -0.02207546057970211,
+            "rod_tip_bottom_clearance": 0.12151611328052614,
+            "rod_tip_xy_dist": 0.0014339357512626503,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04508007418174864,
+            "min_rod_tip_bottom_clearance": 0.05436043362014431,
+            "min_rod_tip_xy_dist": 0.000598059888697511,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2916250907420172,
+              -0.33130146237693237
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.6659570944987934e-09,
+              -3.805877835105775e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0003770421857263728,
+                0.003161404882485175
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00029004108431929243,
+                0.002770332117992824
+              ],
+              "first_target_mouth_xy": [
+                0.29162505537180533,
+                -0.3313014963083314
+              ],
+              "last_target_mouth_xy": [
+                0.29162511699851895,
+                -0.33130146586320997
+              ],
+              "first_rod_tip_xy": [
+                0.2920020975575317,
+                -0.3281400914258462
+              ],
+              "last_rod_tip_xy": [
+                0.29191515808283824,
+                -0.32853113374521714
+              ],
+              "min_rod_tip_xy_dist": 0.0027854737253429117,
+              "max_rod_tip_xy_dist": 0.003183809297181353,
+              "first_target_xy_drift": 4.9014199243487024e-08,
+              "last_target_xy_drift": 2.648694047417451e-08,
+              "max_depth": 0.01965951869328475,
+              "min_bottom_clearance": 0.07978105010377712
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0003770421857263728,
+                  0.003161404882485175
+                ],
+                "rod_tip_xy": [
+                  0.2920020975575317,
+                  -0.3281400914258462
+                ],
+                "target_mouth_xy": [
+                  0.29162505537180533,
+                  -0.3313014963083314
+                ],
+                "gripper_position": [
+                  0.2919902813960945,
+                  -0.3281469931709441,
+                  1.0059485841269973
+                ],
+                "rod_tip_xy_dist": 0.003183809297181353,
+                "target_xy_drift": 4.9014199243487024e-08,
+                "depth": 0.015164473964246361,
+                "bottom_clearance": 0.08427607086397237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00036519368174980915,
+                  0.0031545024943022693
+                ],
+                "rod_tip_xy": [
+                  0.29199028139609456,
+                  -0.3281469931709441
+                ],
+                "target_mouth_xy": [
+                  0.29162508771434476,
+                  -0.33130149566524636
+                ],
+                "gripper_position": [
+                  0.29199999822345646,
+                  -0.3282137283756105,
+                  1.0054261700829517
+                ],
+                "rod_tip_xy_dist": 0.0031755711945647227,
+                "target_xy_drift": 3.3425718376965323e-08,
+                "depth": 0.015311374559037083,
+                "bottom_clearance": 0.08412921424086728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00037494198464088635,
+                  0.0030877682456758038
+                ],
+                "rod_tip_xy": [
+                  0.2919999982234565,
+                  -0.32821372837561047
+                ],
+                "target_mouth_xy": [
+                  0.2916250562388156,
+                  -0.3313014966212863
+                ],
+                "gripper_position": [
+                  0.29198792118377903,
+                  -0.3282205310684858,
+                  1.0052799379257287
+                ],
+                "rod_tip_xy_dist": 0.0031104492008149367,
+                "target_xy_drift": 4.861220724685755e-08,
+                "depth": 0.01583367293147664,
+                "bottom_clearance": 0.08360688511665215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00036283299251405055,
+                  0.003080964913755091
+                ],
+                "rod_tip_xy": [
+                  0.2919879211837791,
+                  -0.3282205310684858
+                ],
+                "target_mouth_xy": [
+                  0.29162508819126504,
+                  -0.3313014959822409
+                ],
+                "gripper_position": [
+                  0.29197857789668125,
+                  -0.3282210681544093,
+                  1.0051515562267805
+                ],
+                "rod_tip_xy_dist": 0.0031022560468547105,
+                "target_xy_drift": 3.370197469587282e-08,
+                "depth": 0.015980030237723652,
+                "bottom_clearance": 0.083460588220723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.000353520392201212,
+                  0.0030804268726708495
+                ],
+                "rod_tip_xy": [
+                  0.29197857789668125,
+                  -0.3282210681544093
+                ],
+                "target_mouth_xy": [
+                  0.29162505750448003,
+                  -0.3313014950270802
+                ],
+                "gripper_position": [
+                  0.2919896202366815,
+                  -0.32828839429359474,
+                  1.004630355559132
+                ],
+                "rod_tip_xy_dist": 0.003100646123886892,
+                "target_xy_drift": 4.6591480216742295e-08,
+                "depth": 0.016108328208435663,
+                "bottom_clearance": 0.08333222220134451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003645037862939904,
+                  0.0030130709383121013
+                ],
+                "rod_tip_xy": [
+                  0.29198962023668157,
+                  -0.3282883942935947
+                ],
+                "target_mouth_xy": [
+                  0.2916251164503876,
+                  -0.3313014652319068
+                ],
+                "gripper_position": [
+                  0.2919773202788658,
+                  -0.32829532216621055,
+                  1.004483872668886
+                ],
+                "rod_tip_xy_dist": 0.00303503863064766,
+                "target_xy_drift": 2.586641038873087e-08,
+                "depth": 0.01662946409327737,
+                "bottom_clearance": 0.08281106111680714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003522026829095859,
+                  0.0030061433789274616
+                ],
+                "rod_tip_xy": [
+                  0.29197732027886586,
+                  -0.3282953221662106
+                ],
+                "target_mouth_xy": [
+                  0.2916251175959563,
+                  -0.33130146554513806
+                ],
+                "gripper_position": [
+                  0.29196772916577585,
+                  -0.32829575218340723,
+                  1.004355440434192
+                ],
+                "rod_tip_xy_dist": 0.003026705262247734,
+                "target_xy_drift": 2.7040184375277185e-08,
+                "depth": 0.016776080994979625,
+                "bottom_clearance": 0.08266449958935473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00034267379010688437,
+                  0.00300571337034361
+                ],
+                "rod_tip_xy": [
+                  0.2919677291657759,
+                  -0.32829575218340723
+                ],
+                "target_mouth_xy": [
+                  0.291625055375669,
+                  -0.33130146555375084
+                ],
+                "gripper_position": [
+                  0.291979842746673,
+                  -0.3283644219988913,
+                  1.0038365301120196
+                ],
+                "rod_tip_xy_dist": 0.003025183992931432,
+                "target_xy_drift": 3.550874201445143e-08,
+                "depth": 0.016904388429068606,
+                "bottom_clearance": 0.08253612203697636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00035475606608048604,
+                  0.0029370733503853996
+                ],
+                "rod_tip_xy": [
+                  0.29197984274667305,
+                  -0.32836442199889126
+                ],
+                "target_mouth_xy": [
+                  0.29162508668059256,
+                  -0.33130149534927666
+                ],
+                "gripper_position": [
+                  0.2919673838735577,
+                  -0.3283712224667824,
+                  1.0036904673141689
+                ],
+                "rod_tip_xy_dist": 0.0029584204792363475,
+                "target_xy_drift": 3.3221539077961515e-08,
+                "depth": 0.01742335501979131,
+                "bottom_clearance": 0.08201718263081714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00034229691429593645,
+                  0.002930272564498737
+                ],
+                "rod_tip_xy": [
+                  0.29196738387355775,
+                  -0.3283712224667824
+                ],
+                "target_mouth_xy": [
+                  0.2916250869592618,
+                  -0.33130149503128115
+                ],
+                "gripper_position": [
+                  0.291957798448955,
+                  -0.328371490391907,
+                  1.0035624877100493
+                ],
+                "rod_tip_xy_dist": 0.0029501973628539707,
+                "target_xy_drift": 3.2872720188567344e-08,
+                "depth": 0.017569414397672012,
+                "bottom_clearance": 0.08187112273413721,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0003327128777564914,
+                  0.0029300059149340307
+                ],
+                "rod_tip_xy": [
+                  0.29195779844895503,
+                  -0.32837149039190705
+                ],
+                "target_mouth_xy": [
+                  0.29162508557119854,
+                  -0.3313014963068411
+                ],
+                "gripper_position": [
+                  0.29194825978737193,
+                  -0.32837145731690376,
+                  1.003434234313284
+                ],
+                "rod_tip_xy_dist": 0.002948835790710194,
+                "target_xy_drift": 3.4321656007707455e-08,
+                "depth": 0.01769734634541309,
+                "bottom_clearance": 0.0817431832381561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000323172352440837,
+                  0.0029300075933783587
+                ],
+                "rod_tip_xy": [
+                  0.29194825978737193,
+                  -0.32837145731690376
+                ],
+                "target_mouth_xy": [
+                  0.2916250874349311,
+                  -0.3313014649102821
+                ],
+                "gripper_position": [
+                  0.29196195293067057,
+                  -0.32844249236699563,
+                  1.0029175570920632
+                ],
+                "rod_tip_xy_dist": 0.002947776257899671,
+                "target_xy_drift": 4.165894798553216e-09,
+                "depth": 0.017825715325073266,
+                "bottom_clearance": 0.08161484921046147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0003368659728236745,
+                  0.002858973179108104
+                ],
+                "rod_tip_xy": [
+                  0.2919619529306706,
+                  -0.32844249236699563
+                ],
+                "target_mouth_xy": [
+                  0.29162508695784695,
+                  -0.33130146554610373
+                ],
+                "gripper_position": [
+                  0.2919494978101588,
+                  -0.32844920814395256,
+                  1.0027716507951412
+                ],
+                "rod_tip_xy_dist": 0.0028787508267486333,
+                "target_xy_drift": 4.935948914777615e-09,
+                "depth": 0.018342330258373063,
+                "bottom_clearance": 0.08109821807658546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0003244108105210919,
+                  0.0028522868876165175
+                ],
+                "rod_tip_xy": [
+                  0.29194949781015883,
+                  -0.3284492081439525
+                ],
+                "target_mouth_xy": [
+                  0.29162508699963774,
+                  -0.331301495031569
+                ],
+                "gripper_position": [
+                  0.2919397546807724,
+                  -0.3284493505177363,
+                  1.0026435685815698
+                ],
+                "rod_tip_xy_dist": 0.002870676377311116,
+                "target_xy_drift": 3.286838449820507e-08,
+                "depth": 0.01848823124701937,
+                "bottom_clearance": 0.08095230745512683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003146386342834373,
+                  0.0028521153479932337
+                ],
+                "rod_tip_xy": [
+                  0.29193975468077243,
+                  -0.3284493505177364
+                ],
+                "target_mouth_xy": [
+                  0.291625116046489,
+                  -0.3313014658657296
+                ],
+                "gripper_position": [
+                  0.29193000276060876,
+                  -0.3284491992575156,
+                  1.0025153416513948
+                ],
+                "rod_tip_xy_dist": 0.0028694179598731016,
+                "target_xy_drift": 2.5543844642486773e-08,
+                "depth": 0.018616259104138666,
+                "bottom_clearance": 0.08082427298781758,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003048842100475402,
+                  0.0028522669224840813
+                ],
+                "rod_tip_xy": [
+                  0.2919300027606088,
+                  -0.3284491992575156
+                ],
+                "target_mouth_xy": [
+                  0.2916251185505613,
+                  -0.33130146617999967
+                ],
+                "gripper_position": [
+                  0.29192029102696815,
+                  -0.32844953075881544,
+                  1.00238749749032
+                ],
+                "rod_tip_xy_dist": 0.0028685154659916206,
+                "target_xy_drift": 2.8067391127436906e-08,
+                "depth": 0.01874463098561796,
+                "bottom_clearance": 0.08069600896956819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002952055104904483,
+                  0.0028519344704676097
+                ],
+                "rod_tip_xy": [
+                  0.2919202910269682,
+                  -0.32844953075881544
+                ],
+                "target_mouth_xy": [
+                  0.29162508551647776,
+                  -0.33130146522928305
+                ],
+                "gripper_position": [
+                  0.29191052685421187,
+                  -0.3284494678077754,
+                  1.0022594007787609
+                ],
+                "rod_tip_xy_dist": 0.0028671722161853637,
+                "target_xy_drift": 5.953332423978024e-09,
+                "depth": 0.01887231523082611,
+                "bottom_clearance": 0.08056817062070398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0002854387082664167,
+                  0.00285202690227232
+                ],
+                "rod_tip_xy": [
+                  0.2919105268542119,
+                  -0.3284494678077754
+                ],
+                "target_mouth_xy": [
+                  0.2916250881459455,
+                  -0.3313014947100477
+                ],
+                "gripper_position": [
+                  0.29192771464234,
+                  -0.3285245315978425,
+                  1.0017462741446055
+                ],
+                "rod_tip_xy_dist": 0.002866275057886428,
+                "target_xy_drift": 3.243716905921389e-08,
+                "depth": 0.019000554525144486,
+                "bottom_clearance": 0.0804400373622084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003026583590263199,
+                  0.0027769349042332525
+                ],
+                "rod_tip_xy": [
+                  0.2919277146423401,
+                  -0.32852453159784256
+                ],
+                "target_mouth_xy": [
+                  0.29162505628331375,
+                  -0.3313014665020758
+                ],
+                "gripper_position": [
+                  0.2919151580828382,
+                  -0.3285311337452171,
+                  1.0016004358287232
+                ],
+                "rod_tip_xy_dist": 0.0027933795919347316,
+                "target_xy_drift": 3.470474105462779e-08,
+                "depth": 0.01951356359023737,
+                "bottom_clearance": 0.07992698494345751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00029004108431929243,
+                  0.002770332117992824
+                ],
+                "rod_tip_xy": [
+                  0.29191515808283824,
+                  -0.32853113374521714
+                ],
+                "target_mouth_xy": [
+                  0.29162511699851895,
+                  -0.33130146586320997
+                ],
+                "gripper_position": [
+                  0.29190528350172007,
+                  -0.3285313489961505,
+                  1.0014726356349462
+                ],
+                "rod_tip_xy_dist": 0.0027854737253429117,
+                "target_xy_drift": 2.648694047417451e-08,
+                "depth": 0.01965951869328475,
+                "bottom_clearance": 0.07978105010377712,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006074549104322236,
+              "rod_tip_xy_max_step": 3.3006384920117267e-05,
+              "rod_tip_xy_range": 0.0006074449026044192,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29155742015277275,
+            -0.3298691280050148,
+            1.0433354358965086
+          ],
+          "object_origin_world": [
+            0.29155742015277275,
+            -0.3298691280050148,
+            1.0433354358965086
+          ],
+          "frame_world": [
+            0.29158281981484946,
+            -0.3298670601672935,
+            1.0436403945031154
+          ],
+          "center_minus_frame": [
+            -2.5399662076708296e-05,
+            -2.0678377212757226e-06,
+            -0.00030495860660684215
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25383782503485436,
+              0.1569514291660841,
+              0.8309021239170099
+            ],
+            "target_position": [
+              0.26803481070877105,
+              0.20281356957695063,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800927332600893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16430327964720387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8309021239170099,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673704574796,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13475106947289722,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c80987a4ed00a7af66612ae0885d057e403c40f588b86f04c2ef441f3e8c3e77",
+    "visual_seed": 8900031838581164940,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a110443301aba9f758e33ec921f77aa6055ee6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2962760298949819,
+              0.0866457314575998,
+              1.1642874765661548
+            ],
+            "current_z": 1.1642874765661548,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30318078973745477,
+            "gripper_z": 1.1564503425689407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2912874201637108,
+              0.08163676421125442,
+              1.1564503425689407
+            ],
+            "object_minus_gripper": [
+              0.004988609731271132,
+              0.005008967246345378,
+              0.007837133997214085
+            ],
+            "object_to_gripper_xy": 0.00706936913210039,
+            "object_to_gripper_z": 0.007837133997214085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2962760298949819,
+              0.06278719117291438,
+              1.1642874765661548
+            ],
+            "finger_b": [
+              0.2848240501715579,
+              0.0866457314575998,
+              1.1642874765661548
+            ],
+            "finger_midpoint": [
+              0.2905500400332699,
+              0.07471646131525708,
+              1.1642874765661548
+            ],
+            "object_minus_finger_midpoint": [
+              0.005725989861712022,
+              0.011929270142342713,
+              0.0
+            ],
+            "finger_gap": 0.0264646515960757,
+            "fingertip_max_gap": 0.09123906830390902,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013232325798037856,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642874765661548,
+            "object_top_z": 1.214222497101018,
+            "finger_top_clearance": 0.049935020534863206,
+            "fingertip_min_top_clearance": 0.014980506160458928,
+            "object_projection_between_fingers": 0.8127470023140011,
+            "object_to_finger_line_xy": 0.010324243966666403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811953415195451,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9340045606818912,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29161243666521935,
+              -0.33054785894934957,
+              0.8515395723428895
+            ],
+            "target_position": [
+              0.2828612366638047,
+              -0.3315862980875953,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00881259651343465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18488862659142277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395723428895,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755486199257146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505517896834562,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527552527214354,
+            "release_required_pad_clearance": 0.05252758948417281,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1251145154295989,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007422506809234619,
+            "max_z_decrease": 0.007422506809234619,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035166578288772586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007422506809234619,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106422886697823,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007422506809234619,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074225278684970485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1385611593723297,
+              -0.387847751379013,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1385611593723297,
+              -0.387847751379013,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13869526001005783,
+              -0.38639833362974374,
+              0.8079702242141266
+            ],
+            "closest_button": [
+              0.13854974508285522,
+              -0.3878519535064697,
+              0.7728340029716492
+            ],
+            "closest_ee_minus_button": [
+              0.00014551492720260573,
+              0.0014536198767259867,
+              0.035136221242477395
+            ],
+            "button_min_z_position": [
+              0.1385435163974762,
+              -0.3878489136695861,
+              0.769386351108551
+            ],
+            "min_active_finger_to_button": 0.14538879647024494,
+            "closest_active_finger": [
+              0.01043674349784851,
+              -0.4474955201148987,
+              0.810703694820404
+            ],
+            "closest_active_finger_button": [
+              0.1385609358549118,
+              -0.3878489434719085,
+              0.7765806913375854
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281241923570633,
+              -0.05964657664299017,
+              0.034123003482818604
+            ],
+            "min_contact_pad_to_button": 0.02106422886697823,
+            "closest_contact_pad": [
+              0.1385435163974762,
+              -0.3878489136695861,
+              0.7904505799755293
+            ],
+            "closest_contact_pad_button": [
+              0.1385435163974762,
+              -0.3878489136695861,
+              0.769386351108551
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106422886697823
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2693002660699077,
+              0.20283062211901667,
+              1.10144153078212
+            ],
+            "current_z": 1.10144153078212,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19153240104775737,
+            "gripper_z": 1.1014415057409799,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26930018501873043,
+              0.20283064853821187,
+              1.1014415057409799
+            ],
+            "object_minus_gripper": [
+              8.105117726975308e-08,
+              -2.6419195192639577e-08,
+              2.504114005041913e-08
+            ],
+            "object_to_gripper_xy": 8.524826808469325e-08,
+            "object_to_gripper_z": 2.504114005041913e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2693002660699077,
+              0.20283062211901667,
+              1.10144153078212
+            ],
+            "finger_b": [
+              0.2693002660699077,
+              0.20283062211901667,
+              1.10144153078212
+            ],
+            "finger_midpoint": [
+              0.2693002660699077,
+              0.20283062211901667,
+              1.10144153078212
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10144153078212,
+            "object_top_z": 1.2264500374023997,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26930026606990776,
+            0.2028306221190167,
+            1.1014415307821201
+          ],
+          "object_origin_world": [
+            0.26930026606990776,
+            0.2028306221190167,
+            1.1014415307821201
+          ],
+          "frame_world": [
+            0.26930018501873043,
+            0.20283064853821187,
+            1.1014415057409799
+          ],
+          "center_minus_frame": [
+            8.105117732526423e-08,
+            -2.6419195164884002e-08,
+            2.5041140272463736e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043662227785141,
+            "required_z": 0.9112598186741787,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008170630191935186,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.127329004235398e-08,
+            "max_target_xy_drift": 5.211903387623277e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.1251145045959604,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.1251145157937303,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29135176922575995,
+              -0.3297677633330728,
+              0.923357804061269
+            ],
+            "target_mouth_xy": [
+              0.29161240885446527,
+              -0.33054785862885944
+            ],
+            "rod_tip_z": 0.923357804061269,
+            "rod_tip_depth": -0.02209796705076228,
+            "rod_tip_bottom_clearance": 0.12153854124400254,
+            "rod_tip_xy_dist": 0.0008224850676821508,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04495843222164497,
+            "min_rod_tip_bottom_clearance": 0.05448209475325294,
+            "min_rod_tip_xy_dist": 0.0008224850676821508,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2916124370703646,
+              -0.3305478887510688
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.8215899339212314e-08,
+              3.012220933795717e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.00020327893484800574,
+                0.0025645025349506634
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00011339163222479076,
+                0.0021630539794238457
+              ],
+              "first_target_mouth_xy": [
+                0.29161240510286374,
+                -0.33054783135964527
+              ],
+              "last_target_mouth_xy": [
+                0.2916124353887824,
+                -0.33054782914367753
+              ],
+              "first_rod_tip_xy": [
+                0.29181568403771174,
+                -0.3279833288246946
+              ],
+              "last_rod_tip_xy": [
+                0.2917258270210072,
+                -0.3283847751642537
+              ],
+              "min_rod_tip_xy_dist": 0.002166024048841549,
+              "max_rod_tip_xy_dist": 0.00257254651602674,
+              "first_target_xy_drift": 6.569396169684926e-08,
+              "last_target_xy_drift": 5.96311060585477e-08,
+              "max_depth": 0.019504352065427333,
+              "min_bottom_clearance": 0.07993620500127718
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.00020327893484800574,
+                  0.0025645025349506634
+                ],
+                "rod_tip_xy": [
+                  0.29181568403771174,
+                  -0.3279833288246946
+                ],
+                "target_mouth_xy": [
+                  0.29161240510286374,
+                  -0.33054783135964527
+                ],
+                "gripper_position": [
+                  0.29180373954199024,
+                  -0.3279905363947713,
+                  1.0061050183619336
+                ],
+                "rod_tip_xy_dist": 0.00257254651602674,
+                "target_xy_drift": 6.569396169684926e-08,
+                "depth": 0.015008854882621603,
+                "bottom_clearance": 0.08443177135007807,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00019133248859476426,
+                  0.0025572927535408296
+                ],
+                "rod_tip_xy": [
+                  0.29180373954199024,
+                  -0.3279905363947714
+                ],
+                "target_mouth_xy": [
+                  0.2916124070533955,
+                  -0.3305478291483122
+                ],
+                "gripper_position": [
+                  0.291794640809382,
+                  -0.3279910748944073,
+                  1.005976759217943
+                ],
+                "rod_tip_xy_dist": 0.002564440357759233,
+                "target_xy_drift": 6.673460141395991e-08,
+                "depth": 0.015154802176204796,
+                "bottom_clearance": 0.08428569850662349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00018223526857119587,
+                  0.002556755518729359
+                ],
+                "rod_tip_xy": [
+                  0.29179464080938194,
+                  -0.32799107489440726
+                ],
+                "target_mouth_xy": [
+                  0.29161240554081075,
+                  -0.3305478304131366
+                ],
+                "gripper_position": [
+                  0.29180409832113474,
+                  -0.32805930428832775,
+                  1.0054539458730691
+                ],
+                "rod_tip_xy_dist": 0.0025632417903241685,
+                "target_xy_drift": 6.631309896345674e-08,
+                "depth": 0.015283115725200691,
+                "bottom_clearance": 0.08415745974878441,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00019169112216382844,
+                  0.0024885242262786544
+                ],
+                "rod_tip_xy": [
+                  0.2918040983211347,
+                  -0.32805930428832786
+                ],
+                "target_mouth_xy": [
+                  0.29161240719897086,
+                  -0.3305478285146065
+                ],
+                "gripper_position": [
+                  0.2917918947079059,
+                  -0.32806664132219643,
+                  1.0053080260867804
+                ],
+                "rod_tip_xy_dist": 0.0024958962941380803,
+                "target_xy_drift": 6.723638561321639e-08,
+                "depth": 0.015805883486786243,
+                "bottom_clearance": 0.08363463808837546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00017948904654863096,
+                  0.002481219526482503
+                ],
+                "rod_tip_xy": [
+                  0.29179189470790584,
+                  -0.32806664132219643
+                ],
+                "target_mouth_xy": [
+                  0.2916124056613572,
+                  -0.33054786084867893
+                ],
+                "gripper_position": [
+                  0.2917826681035778,
+                  -0.3280669238004362,
+                  1.0051800816477554
+                ],
+                "rod_tip_xy_dist": 0.0024877030884792087,
+                "target_xy_drift": 4.2012725506578214e-08,
+                "depth": 0.0159518564528921,
+                "bottom_clearance": 0.0834887369614058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00017025974549111922,
+                  0.0024809043938412434
+                ],
+                "rod_tip_xy": [
+                  0.2917826681035777,
+                  -0.3280669238004362
+                ],
+                "target_mouth_xy": [
+                  0.2916124083580866,
+                  -0.33054782819427747
+                ],
+                "gripper_position": [
+                  0.291792997048698,
+                  -0.3281367172236466,
+                  1.0046576516815289
+                ],
+                "rod_tip_xy_dist": 0.0024867398320522973,
+                "target_xy_drift": 6.7018802443226e-08,
+                "depth": 0.016079762656386887,
+                "bottom_clearance": 0.08336081490863156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00018058990713915035,
+                  0.0024111724806844537
+                ],
+                "rod_tip_xy": [
+                  0.291792997048698,
+                  -0.3281367172236467
+                ],
+                "target_mouth_xy": [
+                  0.29161240714155884,
+                  -0.33054788970433113
+                ],
+                "gripper_position": [
+                  0.29178088819964676,
+                  -0.32814342153842396,
+                  1.0045120054481367
+                ],
+                "rod_tip_xy_dist": 0.0024179258562186203,
+                "target_xy_drift": 2.9943983097830126e-08,
+                "depth": 0.016602168731742695,
+                "bottom_clearance": 0.08283833373463179,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0001684829390318221,
+                  0.0024044063318244824
+                ],
+                "rod_tip_xy": [
+                  0.29178088819964676,
+                  -0.328143421538424
+                ],
+                "target_mouth_xy": [
+                  0.29161240526061494,
+                  -0.3305478278702485
+                ],
+                "gripper_position": [
+                  0.29177131250020916,
+                  -0.3281438982592905,
+                  1.0043837285363402
+                ],
+                "rod_tip_xy_dist": 0.002410302119914112,
+                "target_xy_drift": 6.869013357938725e-08,
+                "depth": 0.01674789245027053,
+                "bottom_clearance": 0.08269272249589477,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00015887687984533772,
+                  0.0024039594157811983
+                ],
+                "rod_tip_xy": [
+                  0.2917713125002091,
+                  -0.3281438982592906
+                ],
+                "target_mouth_xy": [
+                  0.29161243562036376,
+                  -0.3305478576750718
+                ],
+                "gripper_position": [
+                  0.2917826459948945,
+                  -0.3282148098779391,
+                  1.003863717705499
+                ],
+                "rod_tip_xy_dist": 0.0024092037555326178,
+                "target_xy_drift": 3.1109807004471096e-08,
+                "depth": 0.016876152375870146,
+                "bottom_clearance": 0.08256444115772787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00017020831876707332,
+                  0.0023330179996919886
+                ],
+                "rod_tip_xy": [
+                  0.29178264599489445,
+                  -0.32821480987793905
+                ],
+                "target_mouth_xy": [
+                  0.2916124376761274,
+                  -0.33054782787763104
+                ],
+                "gripper_position": [
+                  0.29177033713102296,
+                  -0.32822162756429807,
+                  1.003717696378242
+                ],
+                "rod_tip_xy_dist": 0.002339218642766067,
+                "target_xy_drift": 6.087645168874016e-08,
+                "depth": 0.01739612836130333,
+                "bottom_clearance": 0.08204444180166903,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0001578990953119419,
+                  0.0023262336050707266
+                ],
+                "rod_tip_xy": [
+                  0.2917703371310229,
+                  -0.3282216275642982
+                ],
+                "target_mouth_xy": [
+                  0.29161243803571096,
+                  -0.3305478611693689
+                ],
+                "gripper_position": [
+                  0.29176075166362514,
+                  -0.3282217992656972,
+                  1.003589718747443
+                ],
+                "rod_tip_xy_dist": 0.0023315863504619937,
+                "target_xy_drift": 2.759858802959741e-08,
+                "depth": 0.017542155275333537,
+                "bottom_clearance": 0.08189843433494948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00014831394262859732,
+                  0.002326027014173393
+                ],
+                "rod_tip_xy": [
+                  0.2917607516636251,
+                  -0.3282217992656973
+                ],
+                "target_mouth_xy": [
+                  0.2916124377209965,
+                  -0.33054782627987067
+                ],
+                "gripper_position": [
+                  0.29175118042660253,
+                  -0.3282220163912345,
+                  1.0034620553400848
+                ],
+                "rod_tip_xy_dist": 0.002330750672260426,
+                "target_xy_drift": 6.247458614767771e-08,
+                "depth": 0.01767015597396926,
+                "bottom_clearance": 0.08177047243061086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00013874222367554756,
+                  0.0023258454084081337
+                ],
+                "rod_tip_xy": [
+                  0.29175118042660253,
+                  -0.3282220163912346
+                ],
+                "target_mouth_xy": [
+                  0.291612438202927,
+                  -0.33054786179964274
+                ],
+                "gripper_position": [
+                  0.2917643778783728,
+                  -0.32829514018002615,
+                  1.0029443762245402
+                ],
+                "rod_tip_xy_dist": 0.0023299798858452906,
+                "target_xy_drift": 2.6975212008033472e-08,
+                "depth": 0.017797868568176445,
+                "bottom_clearance": 0.08164275014089506,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0001519392697323374,
+                  0.002252719403099346
+                ],
+                "rod_tip_xy": [
+                  0.2917643778783728,
+                  -0.32829514018002626
+                ],
+                "target_mouth_xy": [
+                  0.29161243860864045,
+                  -0.3305478595831256
+                ],
+                "gripper_position": [
+                  0.2917517599966231,
+                  -0.32830192455761964,
+                  1.0027981930940264
+                ],
+                "rod_tip_xy_dist": 0.0022578375164716944,
+                "target_xy_drift": 2.9208478245836814e-08,
+                "depth": 0.01831545161372017,
+                "bottom_clearance": 0.08112510319711952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00013935360827438403,
+                  0.0022459327979493793
+                ],
+                "rod_tip_xy": [
+                  0.29175175999662306,
+                  -0.32830192455761975
+                ],
+                "target_mouth_xy": [
+                  0.2916124063883487,
+                  -0.33054785735556913
+                ],
+                "gripper_position": [
+                  0.29174209456848726,
+                  -0.3283019326641344,
+                  1.0026707090457017
+                ],
+                "rod_tip_xy_dist": 0.002250251888354683,
+                "target_xy_drift": 4.3898331395719456e-08,
+                "depth": 0.01846161656019596,
+                "bottom_clearance": 0.08097896650096537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0001296853722300706,
+                  0.002245894888948108
+                ],
+                "rod_tip_xy": [
+                  0.29174209456848726,
+                  -0.32830193266413443
+                ],
+                "target_mouth_xy": [
+                  0.2916124091962572,
+                  -0.33054782755308254
+                ],
+                "gripper_position": [
+                  0.291732392411717,
+                  -0.32830197809325423,
+                  1.0025426854931017
+                ],
+                "rod_tip_xy_dist": 0.0022496360034400423,
+                "target_xy_drift": 6.724700278141295e-08,
+                "depth": 0.018589212894950746,
+                "bottom_clearance": 0.08085141958790887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00011995349302340585,
+                  0.00224588085477051
+                ],
+                "rod_tip_xy": [
+                  0.29173239241171695,
+                  -0.32830197809325423
+                ],
+                "target_mouth_xy": [
+                  0.29161243891869354,
+                  -0.33054785894802474
+                ],
+                "gripper_position": [
+                  0.29172261506103925,
+                  -0.3283019814563185,
+                  1.00241491258394
+                ],
+                "rod_tip_xy_dist": 0.002249081958113851,
+                "target_xy_drift": 2.986030397471378e-08,
+                "depth": 0.018717147914314336,
+                "bottom_clearance": 0.08072342498971452,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00011017479374247907,
+                  0.002245845131414126
+                ],
+                "rod_tip_xy": [
+                  0.29172261506103925,
+                  -0.3283019814563186
+                ],
+                "target_mouth_xy": [
+                  0.29161244026729677,
+                  -0.33054782658773274
+                ],
+                "gripper_position": [
+                  0.2917383876772254,
+                  -0.32837783741500187,
+                  1.0019010573682219
+                ],
+                "rod_tip_xy_dist": 0.002248545938928696,
+                "target_xy_drift": 6.224548756468987e-08,
+                "depth": 0.01884497686034814,
+                "bottom_clearance": 0.08059573837847711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0001259501437261834,
+                  0.002169991733275922
+                ],
+                "rod_tip_xy": [
+                  0.2917383876772254,
+                  -0.3283778374150018
+                ],
+                "target_mouth_xy": [
+                  0.2916124375334992,
+                  -0.33054782914827774
+                ],
+                "gripper_position": [
+                  0.29172582702100724,
+                  -0.3283847751642536,
+                  1.001755513191026
+                ],
+                "rod_tip_xy_dist": 0.002173643844145238,
+                "target_xy_drift": 5.960459036791391e-08,
+                "depth": 0.019358764975870968,
+                "bottom_clearance": 0.08008175459050981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00011339163222479076,
+                  0.0021630539794238457
+                ],
+                "rod_tip_xy": [
+                  0.2917258270210072,
+                  -0.3283847751642537
+                ],
+                "target_mouth_xy": [
+                  0.2916124353887824,
+                  -0.33054782914367753
+                ],
+                "gripper_position": [
+                  0.2917159708157955,
+                  -0.3283844800337768,
+                  1.0016275416258287
+                ],
+                "rod_tip_xy_dist": 0.002166024048841549,
+                "target_xy_drift": 5.96311060585477e-08,
+                "depth": 0.019504352065427333,
+                "bottom_clearance": 0.07993620500127718,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006061058973027644,
+              "rod_tip_xy_max_step": 3.280150295131039e-05,
+              "rod_tip_xy_range": 0.0006060966375636126,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29135176922576,
+            -0.3297677633330728,
+            1.0433578040612692
+          ],
+          "object_origin_world": [
+            0.29135176922576,
+            -0.3297677633330728,
+            1.0433578040612692
+          ],
+          "frame_world": [
+            0.29137701805807303,
+            -0.32976543729076374,
+            1.043662227785141
+          ],
+          "center_minus_frame": [
+            -2.5248832313029546e-05,
+            -2.326042309042098e-06,
+            -0.00030442372387184946
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2572932765659892,
+              0.1574973222472987,
+              0.8326994816057777
+            ],
+            "target_position": [
+              0.26945968646396484,
+              0.20327125569642412,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047363218991222734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16808374128781114,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326994816057777,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669386384712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1380056005962178,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b2ee22e9d61e08312022d051542ba045c274c5fc32a34222b315ef879a4badd",
+    "visual_seed": 8632863028201867061,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1670bd8bee70cd639d2cb7648beb76b2abfb869
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_33_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29718466178713987,
+              0.08246722585767631,
+              1.1619942116102968
+            ],
+            "current_z": 1.1619942116102968,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.30088746517695164,
+            "gripper_z": 1.1542768334305706,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29178011544392646,
+              0.0774637440959708,
+              1.1542768334305706
+            ],
+            "object_minus_gripper": [
+              0.005404546343213412,
+              0.005003481761705508,
+              0.007717378179726175
+            ],
+            "object_to_gripper_xy": 0.007365049281278512,
+            "object_to_gripper_z": 0.007717378179726175,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29718466178713987,
+              0.05800501107002027,
+              1.1619942116102968
+            ],
+            "finger_b": [
+              0.28615003638694075,
+              0.08246722585767631,
+              1.1619942116102968
+            ],
+            "finger_midpoint": [
+              0.2916673490870403,
+              0.0702361184638483,
+              1.1619942116102968
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517312700099586,
+              0.012231107393828017,
+              0.0
+            ],
+            "finger_gap": 0.026835851207668772,
+            "fingertip_max_gap": 0.09137681506000736,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013417925603834393,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619942116102968,
+            "object_top_z": 1.211946061900968,
+            "finger_top_clearance": 0.049951850290671285,
+            "fingertip_min_top_clearance": 0.014985555087201417,
+            "object_projection_between_fingers": 0.8309230369612713,
+            "object_to_finger_line_xy": 0.010058610571065415,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818840753000368,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9350111348647292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2887462740462426,
+              -0.3324366401722789,
+              0.8515395701096243
+            ],
+            "target_position": [
+              0.27958676224194606,
+              -0.3336671364816581,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009241795153564223,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18646991248224626,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395701096243,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523127635600885,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625712097139242,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1551776272342381,
+            "release_required_pad_clearance": 0.05312856048569621,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.283269337117551,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007481098175048828,
+            "max_z_decrease": 0.007481098175048828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517789027769524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007481098175048828,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107678627768426,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007481098175048828,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007481118338179141,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13528668880462644,
+              -0.3899286091327667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13528668880462644,
+              -0.3899286091327667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13701282039232898,
+              -0.389191934621243,
+              0.8079537917218569
+            ],
+            "closest_button": [
+              0.1352746337652206,
+              -0.3899322748184204,
+              0.7728266716003418
+            ],
+            "closest_ee_minus_button": [
+              0.0017381866271083957,
+              0.0007403401971773915,
+              0.03512712012151509
+            ],
+            "button_min_z_position": [
+              0.13526932895183563,
+              -0.3899291753768921,
+              0.7693277597427368
+            ],
+            "min_active_finger_to_button": 0.14430970839525012,
+            "closest_active_finger": [
+              0.009207069873809814,
+              -0.4512596130371094,
+              0.8107514977455139
+            ],
+            "closest_active_finger_button": [
+              0.13528661429882047,
+              -0.38992995023727417,
+              0.7765767574310303
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12607954442501065,
+              -0.061329662799835205,
+              0.03417474031448364
+            ],
+            "min_contact_pad_to_button": 0.02107678627768426,
+            "closest_contact_pad": [
+              0.13526932895183563,
+              -0.390381841841438,
+              0.7903996844974206
+            ],
+            "closest_contact_pad_button": [
+              0.13526932895183563,
+              -0.3899291753768921,
+              0.7693277597427368
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004526664645458922,
+              0.02107192475468378
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27145684211422455,
+              0.20648120215512397,
+              1.1034382948662738
+            ],
+            "current_z": 1.1034382948662738,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1935291651319112,
+            "gripper_z": 1.1034385571939407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27145677609751195,
+              0.20648124349667057,
+              1.1034385571939407
+            ],
+            "object_minus_gripper": [
+              6.60167125965394e-08,
+              -4.134154660273559e-08,
+              -2.623276669222463e-07
+            ],
+            "object_to_gripper_xy": 7.78930665564031e-08,
+            "object_to_gripper_z": -2.623276669222463e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27145684211422455,
+              0.20648120215512397,
+              1.1034382948662738
+            ],
+            "finger_b": [
+              0.27145684211422455,
+              0.20648120215512397,
+              1.1034382948662738
+            ],
+            "finger_midpoint": [
+              0.27145684211422455,
+              0.20648120215512397,
+              1.1034382948662738
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1034382948662738,
+            "object_top_z": 1.2284468014865535,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2714568421142246,
+            0.20648120215512394,
+            1.103438294866274
+          ],
+          "object_origin_world": [
+            0.2714568421142246,
+            0.20648120215512394,
+            1.103438294866274
+          ],
+          "frame_world": [
+            0.27145677609751195,
+            0.20648124349667057,
+            1.1034385571939407
+          ],
+          "center_minus_frame": [
+            6.601671265205056e-08,
+            -4.1341546630491166e-08,
+            -2.623276667002017e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433388318621128,
+            "required_z": 0.9112599659639435,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002648880304858672,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.683697339670854e-08,
+            "max_target_xy_drift": 1.9851426402990135e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.2832693358337066,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2838791174787345,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28653710535055726,
+              -0.3309731042378645,
+              0.9234521649165496
+            ],
+            "target_mouth_xy": [
+              0.28874630578562605,
+              -0.33243655042047315
+            ],
+            "rod_tip_z": 0.9234521649165496,
+            "rod_tip_depth": -0.02219227301915716,
+            "rod_tip_bottom_clearance": 0.12163284119423812,
+            "rod_tip_xy_dist": 0.0026499511866636075,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044812742219823676,
+            "min_rod_tip_bottom_clearance": 0.054627765368297165,
+            "min_rod_tip_xy_dist": 8.404026627728694e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28874633668674893,
+              -0.33243660968514743
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.090112288273161e-08,
+              5.9264674279191354e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.001664088631942895,
+                0.0031554950592718733
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017729076585188408,
+                0.002784853652105568
+              ],
+              "first_target_mouth_xy": [
+                0.2887463059082473,
+                -0.3324366711958598
+              ],
+              "last_target_mouth_xy": [
+                0.288746367670538,
+                -0.33243667025111
+              ],
+              "first_rod_tip_xy": [
+                0.2870822172763044,
+                -0.3292811761365879
+              ],
+              "last_rod_tip_xy": [
+                0.2869734600120192,
+                -0.32965181659900444
+              ],
+              "min_rod_tip_xy_dist": 0.0032897976179184682,
+              "max_rod_tip_xy_dist": 0.0035711647108889475,
+              "first_target_xy_drift": 6.878142116611215e-08,
+              "last_target_xy_drift": 6.803110325016033e-08,
+              "max_depth": 0.019552811518151247,
+              "min_bottom_clearance": 0.07988783986893855
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001664088631942895,
+                  0.0031554950592718733
+                ],
+                "rod_tip_xy": [
+                  0.2870822172763044,
+                  -0.3292811761365879
+                ],
+                "target_mouth_xy": [
+                  0.2887463059082473,
+                  -0.3324366711958598
+                ],
+                "gripper_position": [
+                  0.2870731823355819,
+                  -0.32928164640569807,
+                  1.0060239269343711
+                ],
+                "rod_tip_xy_dist": 0.0035673996193377015,
+                "target_xy_drift": 6.878142116611215e-08,
+                "depth": 0.015109822590553934,
+                "bottom_clearance": 0.0843307770481958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016730923159077316,
+                  0.0031549927883830486
+                ],
+                "rod_tip_xy": [
+                  0.2870731823355819,
+                  -0.329281646405698
+                ],
+                "target_mouth_xy": [
+                  0.2887462746514896,
+                  -0.33243663919408106
+                ],
+                "gripper_position": [
+                  0.28707864275201034,
+                  -0.32934665551883335,
+                  1.0055008599542825
+                ],
+                "rod_tip_xy_dist": 0.0035711647108889475,
+                "target_xy_drift": 6.869607385195864e-08,
+                "depth": 0.01523590669327668,
+                "bottom_clearance": 0.08420463447031434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016676644496485538,
+                  0.0030899839617428704
+                ],
+                "rod_tip_xy": [
+                  0.28707864275201034,
+                  -0.32934665551883335
+                ],
+                "target_mouth_xy": [
+                  0.2887463072016589,
+                  -0.3324366394805762
+                ],
+                "gripper_position": [
+                  0.28706689109143835,
+                  -0.329353275477548,
+                  1.0053568812476248
+                ],
+                "rod_tip_xy_dist": 0.0035112826147221158,
+                "target_xy_drift": 4.191823125175558e-08,
+                "depth": 0.015759048935273468,
+                "bottom_clearance": 0.08368158529745151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0016793813069150842,
+                  0.003083365315715958
+                ],
+                "rod_tip_xy": [
+                  0.28706689109143835,
+                  -0.3293532754775479
+                ],
+                "target_mouth_xy": [
+                  0.28874627239835343,
+                  -0.33243664079326385
+                ],
+                "gripper_position": [
+                  0.287072216514081,
+                  -0.32941838998427714,
+                  1.0048379480567373
+                ],
+                "rod_tip_xy_dist": 0.003511048738507625,
+                "target_xy_drift": 7.14192740260661e-08,
+                "depth": 0.015902991393923593,
+                "bottom_clearance": 0.08353757623609359,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016740587051284894,
+                  0.003018218430401398
+                ],
+                "rod_tip_xy": [
+                  0.28707221651408094,
+                  -0.3294183899842771
+                ],
+                "target_mouth_xy": [
+                  0.2887462752192094,
+                  -0.3324366084146785
+                ],
+                "gripper_position": [
+                  0.28706014176729877,
+                  -0.3294251355746931,
+                  1.0046944099285973
+                ],
+                "rod_tip_xy_dist": 0.003451393203016885,
+                "target_xy_drift": 6.148066772475493e-08,
+                "depth": 0.016421907498159194,
+                "bottom_clearance": 0.08301869080160851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016861338750073784,
+                  0.003011537208010173
+                ],
+                "rod_tip_xy": [
+                  0.2870601417672987,
+                  -0.329425135574693
+                ],
+                "target_mouth_xy": [
+                  0.2887462756423061,
+                  -0.33243667278270317
+                ],
+                "gripper_position": [
+                  0.2870508708878403,
+                  -0.32942522715697214,
+                  1.0045682507533609
+                ],
+                "rod_tip_xy_dist": 0.0034514350348336426,
+                "target_xy_drift": 8.779365319171235e-08,
+                "depth": 0.016565580479372066,
+                "bottom_clearance": 0.08287505623508928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016954045948228136,
+                  0.003011412649249423
+                ],
+                "rod_tip_xy": [
+                  0.28705087088784026,
+                  -0.3294252271569721
+                ],
+                "target_mouth_xy": [
+                  0.2887462754826631,
+                  -0.3324366398062215
+                ],
+                "gripper_position": [
+                  0.2870415812732241,
+                  -0.3294257918352338,
+                  1.004441967635179
+                ],
+                "rod_tip_xy_dist": 0.003455864997971671,
+                "target_xy_drift": 6.821450893350758e-08,
+                "depth": 0.016691637733190157,
+                "bottom_clearance": 0.08274891235328907,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017046949261950717,
+                  0.0030108479649975095
+                ],
+                "rod_tip_xy": [
+                  0.28704158127322404,
+                  -0.3294257918352338
+                ],
+                "target_mouth_xy": [
+                  0.2887462761994191,
+                  -0.3324366398002313
+                ],
+                "gripper_position": [
+                  0.2870488187663778,
+                  -0.32949281049030876,
+                  1.0039217264992746
+                ],
+                "rod_tip_xy_dist": 0.0034599407884709334,
+                "target_xy_drift": 6.756948530435058e-08,
+                "depth": 0.016817926390889526,
+                "bottom_clearance": 0.08262265092358334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001697454905298823,
+                  0.0029438302908942893
+                ],
+                "rod_tip_xy": [
+                  0.2870488187663777,
+                  -0.32949281049030865
+                ],
+                "target_mouth_xy": [
+                  0.28874627367167655,
+                  -0.33243664078120294
+                ],
+                "gripper_position": [
+                  0.2870365875568188,
+                  -0.32949967879318576,
+                  1.0037780214713452
+                ],
+                "rod_tip_xy_dist": 0.0033981597868713875,
+                "target_xy_drift": 7.026993678333084e-08,
+                "depth": 0.017338107602622777,
+                "bottom_clearance": 0.08210241163711796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017098095537045332,
+                  0.00293698921929586
+                ],
+                "rod_tip_xy": [
+                  0.28703658755681877,
+                  -0.32949967879318576
+                ],
+                "target_mouth_xy": [
+                  0.2887463971105233,
+                  -0.3324366680124816
+                ],
+                "gripper_position": [
+                  0.28702732009563947,
+                  -0.32949963729936343,
+                  1.00365233373146
+                ],
+                "rod_tip_xy_dist": 0.0033984341076736214,
+                "target_xy_drift": 8.398279837302889e-08,
+                "depth": 0.017481973749057578,
+                "bottom_clearance": 0.08195872588321607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017189850111604676,
+                  0.002937032647842286
+                ],
+                "rod_tip_xy": [
+                  0.2870273200956394,
+                  -0.3294996372993634
+                ],
+                "target_mouth_xy": [
+                  0.2887463051067999,
+                  -0.33243666994720567
+                ],
+                "gripper_position": [
+                  0.28703525490290704,
+                  -0.32956782715134053,
+                  1.003135927021913
+                ],
+                "rod_tip_xy_dist": 0.0034030971545176056,
+                "target_xy_drift": 6.803534995918908e-08,
+                "depth": 0.017607487692658408,
+                "bottom_clearance": 0.08183304329347885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001711084316152467,
+                  0.0028688731998690598
+                ],
+                "rod_tip_xy": [
+                  0.28703525490290704,
+                  -0.3295678271513405
+                ],
+                "target_mouth_xy": [
+                  0.2887463392190595,
+                  -0.33243670035120954
+                ],
+                "gripper_position": [
+                  0.2870231991747668,
+                  -0.3295740660492714,
+                  1.0029924600636724
+                ],
+                "rod_tip_xy_dist": 0.0033403956313451696,
+                "target_xy_drift": 9.070141903006075e-08,
+                "depth": 0.01812405710155829,
+                "bottom_clearance": 0.08131665764934082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001723077844976162,
+                  0.0028625743977918616
+                ],
+                "rod_tip_xy": [
+                  0.28702319917476676,
+                  -0.3295740660492713
+                ],
+                "target_mouth_xy": [
+                  0.2887462770197429,
+                  -0.33243664044706317
+                ],
+                "gripper_position": [
+                  0.2870136714707742,
+                  -0.32957431836737866,
+                  1.0028669765776865
+                ],
+                "rod_tip_xy_dist": 0.0033411569018442,
+                "target_xy_drift": 6.713007571223002e-08,
+                "depth": 0.01826743749065718,
+                "bottom_clearance": 0.08117316503295624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017326040432381618,
+                  0.0028623519009640663
+                ],
+                "rod_tip_xy": [
+                  0.2870136714707742,
+                  -0.3295743183673786
+                ],
+                "target_mouth_xy": [
+                  0.2887462755140124,
+                  -0.33243667026834267
+                ],
+                "gripper_position": [
+                  0.28700430212749384,
+                  -0.32957413965251975,
+                  1.0027407178375924
+                ],
+                "rod_tip_xy_dist": 0.003345889295179658,
+                "target_xy_drift": 8.609545424370645e-08,
+                "depth": 0.01839290872245003,
+                "bottom_clearance": 0.08104763536443904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017419726134033642,
+                  0.0028624995512746
+                ],
+                "rod_tip_xy": [
+                  0.2870043021274938,
+                  -0.3295741396525197
+                ],
+                "target_mouth_xy": [
+                  0.28874627474089715,
+                  -0.3324366392037943
+                ],
+                "gripper_position": [
+                  0.2869947246236612,
+                  -0.3295742921996564,
+                  1.0026148586112196
+                ],
+                "rod_tip_xy_dist": 0.003350876343121995,
+                "target_xy_drift": 6.861952393731084e-08,
+                "depth": 0.018519116291908166,
+                "bottom_clearance": 0.08092142788450529,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017516420919915787,
+                  0.0028624078628809446
+                ],
+                "rod_tip_xy": [
+                  0.28699472462366116,
+                  -0.3295742921996563
+                ],
+                "target_mouth_xy": [
+                  0.28874636671565274,
+                  -0.3324367000625372
+                ],
+                "gripper_position": [
+                  0.28700506329901176,
+                  -0.3296454598911603,
+                  1.0021020071590219
+                ],
+                "rod_tip_xy_dist": 0.0033558350364580334,
+                "target_xy_drift": 9.523553774682591e-08,
+                "depth": 0.018645041549221752,
+                "bottom_clearance": 0.08079557269003834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017412409337436707,
+                  0.0027912091246478643
+                ],
+                "rod_tip_xy": [
+                  0.2870050632990117,
+                  -0.32964545989116023
+                ],
+                "target_mouth_xy": [
+                  0.2887463042327554,
+                  -0.3324366690158081
+                ],
+                "gripper_position": [
+                  0.2869927200309965,
+                  -0.32965206069706104,
+                  1.001958257787954
+                ],
+                "rod_tip_xy_dist": 0.0032897976179184682,
+                "target_xy_drift": 6.762683632875664e-08,
+                "depth": 0.019157824444721028,
+                "bottom_clearance": 0.08028270768169254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017536477476081114,
+                  0.002784608599728733
+                ],
+                "rod_tip_xy": [
+                  0.2869927200309965,
+                  -0.329652060697061
+                ],
+                "target_mouth_xy": [
+                  0.28874636777860463,
+                  -0.3324366692967897
+                ],
+                "gripper_position": [
+                  0.28698311278191807,
+                  -0.32965206650324486,
+                  1.0018328410727388
+                ],
+                "rod_tip_xy_dist": 0.003290794049522731,
+                "target_xy_drift": 6.723281481049118e-08,
+                "depth": 0.01930165822781782,
+                "bottom_clearance": 0.08013901215302388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001763161962217319,
+                  0.0027846021950787003
+                ],
+                "rod_tip_xy": [
+                  0.286983112781918,
+                  -0.32965206650324475
+                ],
+                "target_mouth_xy": [
+                  0.28874627474413533,
+                  -0.33243666869832345
+                ],
+                "gripper_position": [
+                  0.2869734600120192,
+                  -0.32965181659900455,
+                  1.0017070964587258
+                ],
+                "rod_tip_xy_dist": 0.0032958685486298056,
+                "target_xy_drift": 8.555373938019257e-08,
+                "depth": 0.019426998633678916,
+                "bottom_clearance": 0.08001355692483003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0017729076585188408,
+                  0.002784853652105568
+                ],
+                "rod_tip_xy": [
+                  0.2869734600120192,
+                  -0.32965181659900444
+                ],
+                "target_mouth_xy": [
+                  0.288746367670538,
+                  -0.33243667025111
+                ],
+                "gripper_position": [
+                  0.28696388953309404,
+                  -0.3296515635246399,
+                  1.001581116294488
+                ],
+                "rod_tip_xy_dist": 0.0033013045041741422,
+                "target_xy_drift": 6.803110325016033e-08,
+                "depth": 0.019552811518151247,
+                "bottom_clearance": 0.07988783986893855,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006076246209251197,
+              "rod_tip_xy_max_step": 3.285668001112647e-05,
+              "rod_tip_xy_range": 0.000607619091642129,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2865371053505573,
+            -0.3309731042378646,
+            1.0434521649165496
+          ],
+          "object_origin_world": [
+            0.2865371053505573,
+            -0.3309731042378646,
+            1.0434521649165496
+          ],
+          "frame_world": [
+            0.28653533767407086,
+            -0.33097771976575197,
+            1.0433388318621128
+          ],
+          "center_minus_frame": [
+            1.7676764864638095e-06,
+            4.615527887386062e-06,
+            0.00011333305443672614
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25666738269232847,
+              0.1624852749238046,
+              0.8327324580165173
+            ],
+            "target_position": [
+              0.271611588212859,
+              0.20704640324382378,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047000249316286304,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1651388347236371,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327324580165173,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673714155813,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1351640596500941,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a959f3017dfcec842903033884663026a790b92a31f63b3e12d0c9dd32da5cd9",
+    "visual_seed": 3571560131301907889,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c59c994b4caddaf883c2b31ba33022c6f1d4277
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_34_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3006526300986072,
+              0.08371986794676388,
+              1.163782066494162
+            ],
+            "current_z": 1.163782066494162,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.302675379665462,
+            "gripper_z": 1.1559626218056387,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29521269748305035,
+              0.07853848105971697,
+              1.1559626218056387
+            ],
+            "object_minus_gripper": [
+              0.005439932615556864,
+              0.005181386887046904,
+              0.007819444688523358
+            ],
+            "object_to_gripper_xy": 0.007512631824804205,
+            "object_to_gripper_z": 0.007819444688523358,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3006526300986072,
+              0.05936369417428609,
+              1.163782066494162
+            ],
+            "finger_b": [
+              0.28917880441803406,
+              0.08371986794676388,
+              1.163782066494162
+            ],
+            "finger_midpoint": [
+              0.29491571725832066,
+              0.07154178106052499,
+              1.163782066494162
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057369128402865455,
+              0.012178086886238892,
+              0.0
+            ],
+            "finger_gap": 0.026923444738430388,
+            "fingertip_max_gap": 0.09108600249714652,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013461722369215178,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163782066494162,
+            "object_top_z": 1.2136620006414849,
+            "finger_top_clearance": 0.049879934147322835,
+            "fingertip_min_top_clearance": 0.014963980244196817,
+            "object_projection_between_fingers": 0.8183835240391638,
+            "object_to_finger_line_xy": 0.010379745044743833,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804300124857326,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8418511383945938,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2915897454777904,
+              -0.3313689826720361,
+              0.8515395893435922
+            ],
+            "target_position": [
+              0.2821931219157754,
+              -0.3326936680932021,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009489537703769601,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18582418256957062,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395893435922,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754981894175039,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588781719518405,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15380822333669886,
+            "release_required_pad_clearance": 0.05294390859759203,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9244962931227704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074980854988098145,
+            "max_z_decrease": 0.0074980854988098145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511243335467263,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074980854988098145,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107180393711612,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074980854988098145,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074981084853115,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13789305090904236,
+              -0.3889551162719726,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13789305090904236,
+              -0.3889551162719726,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1373543271573888,
+              -0.38897779206413446,
+              0.8080018746586634
+            ],
+            "closest_button": [
+              0.13788308203220365,
+              -0.38895720243453974,
+              0.7728934288024902
+            ],
+            "closest_ee_minus_button": [
+              -0.0005287548748148518,
+              -2.058962959472499e-05,
+              0.03510844585617312
+            ],
+            "button_min_z_position": [
+              0.1378745138645172,
+              -0.38895407319068903,
+              0.7693107724189758
+            ],
+            "min_active_finger_to_button": 0.14663558024020756,
+            "closest_active_finger": [
+              0.010573774576187134,
+              -0.45313596725463867,
+              0.8109009265899658
+            ],
+            "closest_active_finger_button": [
+              0.13789421319961548,
+              -0.38895568251609797,
+              0.7766607403755188
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12732043862342834,
+              -0.0641802847385407,
+              0.03424018621444702
+            ],
+            "min_contact_pad_to_button": 0.02107180393711612,
+            "closest_contact_pad": [
+              0.1378745138645172,
+              -0.3899829011732283,
+              0.7903574451761269
+            ],
+            "closest_contact_pad_button": [
+              0.1378745138645172,
+              -0.38895407319068903,
+              0.7693107724189758
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001028827982539282,
+              0.021046672757151108
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26682392387529574,
+              0.20667054911255192,
+              1.1007751718970131
+            ],
+            "current_z": 1.1007751718970131,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19086604216265057,
+            "gripper_z": 1.1007754150108535,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2668239270666548,
+              0.2066705583410785,
+              1.1007754150108535
+            ],
+            "object_minus_gripper": [
+              -3.1913590659016222e-09,
+              -9.228526581805951e-09,
+              -2.4311384039243933e-07
+            ],
+            "object_to_gripper_xy": 9.764756810008712e-09,
+            "object_to_gripper_z": -2.4311384039243933e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26682392387529574,
+              0.20667054911255192,
+              1.1007751718970131
+            ],
+            "finger_b": [
+              0.26682392387529574,
+              0.20667054911255192,
+              1.1007751718970131
+            ],
+            "finger_midpoint": [
+              0.26682392387529574,
+              0.20667054911255192,
+              1.1007751718970131
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1007751718970131,
+            "object_top_z": 1.2257836785172929,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2668239238752958,
+            0.20667054911255195,
+            1.1007751718970131
+          ],
+          "object_origin_world": [
+            0.2668239238752958,
+            0.20667054911255195,
+            1.1007751718970131
+          ],
+          "frame_world": [
+            0.2668239270666548,
+            0.2066705583410785,
+            1.1007754150108535
+          ],
+          "center_minus_frame": [
+            -3.191359010390471e-09,
+            -9.228526554050376e-09,
+            -2.4311384039243933e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436583371500283,
+            "required_z": 0.9112598456168783,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019693132575792642,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.858341118396153e-08,
+            "max_target_xy_drift": 5.441267993592923e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9244962991472696,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.924496299433099,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2926917417925043,
+              -0.32975686540556337,
+              0.9233545759212697
+            ],
+            "target_mouth_xy": [
+              0.29158974137572213,
+              -0.33136898682426763
+            ],
+            "rod_tip_z": 0.9233545759212697,
+            "rod_tip_depth": -0.022094690555736762,
+            "rod_tip_bottom_clearance": 0.12153530788349587,
+            "rod_tip_xy_dist": 0.0019527776082373235,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044862622577385936,
+            "min_rod_tip_bottom_clearance": 0.05457793776575903,
+            "min_rod_tip_xy_dist": 0.00011674271885845775,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2915896828060373,
+              -0.3313689855561645
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.856968482431668e-08,
+              -1.2681031225092454e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0014925876947785022,
+                0.0033401674750369037
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013922759366828408,
+                0.003025795161533229
+              ],
+              "first_target_mouth_xy": [
+                0.2915897454015295,
+                -0.331368955078528
+              ],
+              "last_target_mouth_xy": [
+                0.2915897105163839,
+                -0.3313689538590965
+              ],
+              "first_rod_tip_xy": [
+                0.293082333096308,
+                -0.3280287876034911
+              ],
+              "last_rod_tip_xy": [
+                0.2929819864530667,
+                -0.32834315869756325
+              ],
+              "min_rod_tip_xy_dist": 0.0033307459590043763,
+              "max_rod_tip_xy_dist": 0.0036584883200440326,
+              "first_target_xy_drift": 6.96209879939448e-08,
+              "last_target_xy_drift": 4.210186965713018e-08,
+              "max_depth": 0.019361019004001112,
+              "min_bottom_clearance": 0.0800795330168268
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0014925876947785022,
+                  0.0033401674750369037
+                ],
+                "rod_tip_xy": [
+                  0.293082333096308,
+                  -0.3280287876034911
+                ],
+                "target_mouth_xy": [
+                  0.2915897454015295,
+                  -0.331368955078528
+                ],
+                "gripper_position": [
+                  0.29307025948717425,
+                  -0.32803568732752253,
+                  1.0058532663079822
+                ],
+                "rod_tip_xy_dist": 0.0036584883200440326,
+                "target_xy_drift": 6.96209879939448e-08,
+                "depth": 0.015259786462958558,
+                "bottom_clearance": 0.08418086817345516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0014805485999953016,
+                  0.0033332367048518607
+                ],
+                "rod_tip_xy": [
+                  0.2930702594871742,
+                  -0.32803568732752253
+                ],
+                "target_mouth_xy": [
+                  0.2915897108871789,
+                  -0.3313689240323744
+                ],
+                "gripper_position": [
+                  0.29306107064041054,
+                  -0.32803625077283455,
+                  1.0057241531304495
+                ],
+                "rod_tip_xy_dist": 0.003647258023162022,
+                "target_xy_drift": 6.762933729418977e-08,
+                "depth": 0.01540658674011286,
+                "bottom_clearance": 0.08403395165177308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0014713286020234806,
+                  0.003332672615563248
+                ],
+                "rod_tip_xy": [
+                  0.2930610706404104,
+                  -0.3280362507728345
+                ],
+                "target_mouth_xy": [
+                  0.29158974203838695,
+                  -0.33136892338839774
+                ],
+                "gripper_position": [
+                  0.2930738190573774,
+                  -0.3281038780883743,
+                  1.0052002524009593
+                ],
+                "rod_tip_xy_dist": 0.0036430090059808456,
+                "target_xy_drift": 8.586793620628289e-08,
+                "depth": 0.015535671606753954,
+                "bottom_clearance": 0.08390484078628357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001484109182953386,
+                  0.0032650475455366923
+                ],
+                "rod_tip_xy": [
+                  0.2930738190573773,
+                  -0.3281038780883744
+                ],
+                "target_mouth_xy": [
+                  0.2915897098744239,
+                  -0.33136892563391107
+                ],
+                "gripper_position": [
+                  0.2930616722573469,
+                  -0.32811075422962943,
+                  1.0050530046035666
+                ],
+                "rod_tip_xy_dist": 0.003586518582349985,
+                "target_xy_drift": 6.575236885032085e-08,
+                "depth": 0.01605965520138597,
+                "bottom_clearance": 0.08338096890073177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014719598760122299,
+                  0.0032581713857913197
+                ],
+                "rod_tip_xy": [
+                  0.2930616722573468,
+                  -0.32811075422962954
+                ],
+                "target_mouth_xy": [
+                  0.2915897123813346,
+                  -0.33136892561542086
+                ],
+                "gripper_position": [
+                  0.2930523301716015,
+                  -0.3281111801678042,
+                  1.004924186805338
+                ],
+                "rod_tip_xy_dist": 0.0035752407829094906,
+                "target_xy_drift": 6.684004007550394e-08,
+                "depth": 0.01620683318299143,
+                "bottom_clearance": 0.08323370777188943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014626169961219349,
+                  0.003257775872995361
+                ],
+                "rod_tip_xy": [
+                  0.29305233017160137,
+                  -0.32811118016780416
+                ],
+                "target_mouth_xy": [
+                  0.29158971317547944,
+                  -0.3313689560407995
+                ],
+                "gripper_position": [
+                  0.2930660563378156,
+                  -0.32817983422394126,
+                  1.004402053561029
+                ],
+                "rod_tip_xy_dist": 0.003571043561203845,
+                "target_xy_drift": 4.234925956109472e-08,
+                "depth": 0.01633566857756008,
+                "bottom_clearance": 0.08310492523475876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014763128630714828,
+                  0.003189122775204889
+                ],
+                "rod_tip_xy": [
+                  0.29306605633781546,
+                  -0.32817983422394126
+                ],
+                "target_mouth_xy": [
+                  0.291589743474744,
+                  -0.33136895699914615
+                ],
+                "gripper_position": [
+                  0.29305374350295954,
+                  -0.32818682350949324,
+                  1.004255061336768
+                ],
+                "rod_tip_xy_dist": 0.0035142572109908023,
+                "target_xy_drift": 6.705367451999105e-08,
+                "depth": 0.01685788250365239,
+                "bottom_clearance": 0.08258276431017098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014640015142518559,
+                  0.003182101480528332
+                ],
+                "rod_tip_xy": [
+                  0.29305374350295943,
+                  -0.32818682350949324
+                ],
+                "target_mouth_xy": [
+                  0.2915897419887076,
+                  -0.3313689249900216
+                ],
+                "gripper_position": [
+                  0.29304414494463077,
+                  -0.32818707770862565,
+                  1.0041263831407892
+                ],
+                "rod_tip_xy_dist": 0.003502723264277715,
+                "target_xy_drift": 8.468084865877222e-08,
+                "depth": 0.017004705017959032,
+                "bottom_clearance": 0.08243580811791495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014544009962580984,
+                  0.0031819075110961492
+                ],
+                "rod_tip_xy": [
+                  0.29304414494463066,
+                  -0.32818707770862576
+                ],
+                "target_mouth_xy": [
+                  0.29158974394837256,
+                  -0.3313689852197219
+                ],
+                "gripper_position": [
+                  0.2930588591450079,
+                  -0.32825712060377876,
+                  1.0036071291011839
+                ],
+                "rod_tip_xy_dist": 0.003498545078612914,
+                "target_xy_drift": 6.114326090000076e-08,
+                "depth": 0.017133528808453424,
+                "bottom_clearance": 0.08230708101997897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014691172926420415,
+                  0.003111803111770839
+                ],
+                "rod_tip_xy": [
+                  0.2930588591450078,
+                  -0.3282571206037789
+                ],
+                "target_mouth_xy": [
+                  0.29158974185236575,
+                  -0.3313689237155497
+                ],
+                "gripper_position": [
+                  0.29304634174066485,
+                  -0.3282641330846035,
+                  1.0034608114642714
+                ],
+                "rod_tip_xy_dist": 0.0034411661142651276,
+                "target_xy_drift": 8.550281013092614e-08,
+                "depth": 0.017652634037263915,
+                "bottom_clearance": 0.08178787005776111,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014565990805532891,
+                  0.0031048505557119133
+                ],
+                "rod_tip_xy": [
+                  0.29304634174066474,
+                  -0.32826413308460345
+                ],
+                "target_mouth_xy": [
+                  0.29158974266011145,
+                  -0.33136898364031536
+                ],
+                "gripper_position": [
+                  0.2930368866142796,
+                  -0.32826405888495763,
+                  1.0033324063438063
+                ],
+                "rod_tip_xy_dist": 0.0034295448465901804,
+                "target_xy_drift": 5.988472818072511e-08,
+                "depth": 0.017799006406718054,
+                "bottom_clearance": 0.08164150602537423,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014471452898356385,
+                  0.0031048974980344424
+                ],
+                "rod_tip_xy": [
+                  0.29303688661427957,
+                  -0.3282640588849577
+                ],
+                "target_mouth_xy": [
+                  0.29158974132444393,
+                  -0.33136895638299213
+                ],
+                "gripper_position": [
+                  0.29302715495435505,
+                  -0.32826439129618423,
+                  1.003203836641846
+                ],
+                "rod_tip_xy_dist": 0.003425582864739082,
+                "target_xy_drift": 6.538713864345387e-08,
+                "depth": 0.01792746885628571,
+                "bottom_clearance": 0.08151312721764337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014374128935796815,
+                  0.0031045628588501906
+                ],
+                "rod_tip_xy": [
+                  0.29302715495435494,
+                  -0.32826439129618423
+                ],
+                "target_mouth_xy": [
+                  0.29158974206077526,
+                  -0.3313689541550344
+                ],
+                "gripper_position": [
+                  0.29304355964032724,
+                  -0.32833598490442717,
+                  1.0026871614456012
+                ],
+                "rod_tip_xy_dist": 0.003421179090778672,
+                "target_xy_drift": 6.706083014770872e-08,
+                "depth": 0.01805597774866985,
+                "bottom_clearance": 0.08138451410479586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001453851248640281,
+                  0.0030330013154498126
+                ],
+                "rod_tip_xy": [
+                  0.2930435596403272,
+                  -0.3283359849044273
+                ],
+                "target_mouth_xy": [
+                  0.2915897083916869,
+                  -0.3313689862198771
+                ],
+                "gripper_position": [
+                  0.2930310823168218,
+                  -0.3283429087512451,
+                  1.00254082195075
+                ],
+                "rod_tip_xy_dist": 0.0033634477003059225,
+                "target_xy_drift": 2.5594256773681618e-08,
+                "depth": 0.018572749315682424,
+                "bottom_clearance": 0.08086796655297546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001441306004661802,
+                  0.003026078042483671
+                ],
+                "rod_tip_xy": [
+                  0.2930310823168217,
+                  -0.32834290875124506
+                ],
+                "target_mouth_xy": [
+                  0.2915897763121599,
+                  -0.3313689867937287
+                ],
+                "gripper_position": [
+                  0.2930213216409957,
+                  -0.3283428212718231,
+                  1.0024125023083696
+                ],
+                "rod_tip_xy_dist": 0.003351792254641682,
+                "target_xy_drift": 9.351431186040186e-08,
+                "depth": 0.018719198594755126,
+                "bottom_clearance": 0.08072156635270378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014316095922435323,
+                  0.0030261646016529475
+                ],
+                "rod_tip_xy": [
+                  0.2930213216409956,
+                  -0.3283428212718231
+                ],
+                "target_mouth_xy": [
+                  0.29158971204875206,
+                  -0.3313689858734761
+                ],
+                "gripper_position": [
+                  0.2930116125087064,
+                  -0.32834284937228086,
+                  1.0022839868426099
+                ],
+                "rod_tip_xy_dist": 0.003347712386227502,
+                "target_xy_drift": 2.924443626677604e-08,
+                "depth": 0.018847351264507428,
+                "bottom_clearance": 0.08059321353274262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014218999482498162,
+                  0.0030261361782392138
+                ],
+                "rod_tip_xy": [
+                  0.29301161250870633,
+                  -0.32834284937228086
+                ],
+                "target_mouth_xy": [
+                  0.2915897125604565,
+                  -0.3313689855505201
+                ],
+                "gripper_position": [
+                  0.2930016622145177,
+                  -0.3283430143716963,
+                  1.0021554273538475
+                ],
+                "rod_tip_xy_dist": 0.0033435459667964886,
+                "target_xy_drift": 2.9754419741649394e-08,
+                "depth": 0.01897585827871351,
+                "bottom_clearance": 0.08046470126098837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014119495638738044,
+                  0.0030259090287995116
+                ],
+                "rod_tip_xy": [
+                  0.2930016622145176,
+                  -0.32834301437169633
+                ],
+                "target_mouth_xy": [
+                  0.2915897126506438,
+                  -0.33136892340049584
+                ],
+                "gripper_position": [
+                  0.2929919423540466,
+                  -0.3283430013820798,
+                  1.002027118152883
+                ],
+                "rod_tip_xy_dist": 0.0033391206958559958,
+                "target_xy_drift": 6.894945746809223e-08,
+                "depth": 0.019104400351568573,
+                "bottom_clearance": 0.08033612731352702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014021965741413678,
+                  0.0030260177617568162
+                ],
+                "rod_tip_xy": [
+                  0.29299194235404646,
+                  -0.3283430013820797
+                ],
+                "target_mouth_xy": [
+                  0.2915897457799051,
+                  -0.33136901914383654
+                ],
+                "gripper_position": [
+                  0.29298198645306683,
+                  -0.32834315869756325,
+                  1.001898845039769
+                ],
+                "rod_tip_xy_dist": 0.0033351070038308396,
+                "target_xy_drift": 7.137114078274937e-08,
+                "depth": 0.019232881882664032,
+                "bottom_clearance": 0.08020794388294983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0013922759366828408,
+                  0.003025795161533229
+                ],
+                "rod_tip_xy": [
+                  0.2929819864530667,
+                  -0.32834315869756325
+                ],
+                "target_mouth_xy": [
+                  0.2915897105163839,
+                  -0.3313689538590965
+                ],
+                "gripper_position": [
+                  0.2930030415337378,
+                  -0.32841982917581475,
+                  1.001386865807287
+                ],
+                "rod_tip_xy_dist": 0.0033307459590043763,
+                "target_xy_drift": 4.210186965713018e-08,
+                "depth": 0.019361019004001112,
+                "bottom_clearance": 0.0800795330168268,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006054014873021585,
+              "rod_tip_xy_max_step": 3.277705051657416e-05,
+              "rod_tip_xy_range": 0.0006053928251929855,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29269174179250435,
+            -0.32975686540556337,
+            1.04335457592127
+          ],
+          "object_origin_world": [
+            0.29269174179250435,
+            -0.32975686540556337,
+            1.04335457592127
+          ],
+          "frame_world": [
+            0.29271704847279334,
+            -0.3297542504942836,
+            1.0436583371500283
+          ],
+          "center_minus_frame": [
+            -2.530668028899452e-05,
+            -2.6149112797857477e-06,
+            -0.0003037612287584146
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2530232532209493,
+              0.16168265356276879,
+              0.8314341577549562
+            ],
+            "target_position": [
+              0.2669685922362042,
+              0.20766130680139006,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04804694614528346,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16700110970060486,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314341577549562,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567519888396,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13708066345295267,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f10065592389e7c255aaf1b2e277700482282f9d0ce433cc44058851122c32b",
+    "visual_seed": 4411081838107207733,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..726a028fc18d4239c161001173b496ededef6f21
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_35_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29989886723892867,
+              0.08316295242049342,
+              1.161457793955475
+            ],
+            "current_z": 1.161457793955475,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.3003509283128406,
+            "gripper_z": 1.1535412165426449,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2945449478309505,
+              0.07816787562725408,
+              1.1535412165426449
+            ],
+            "object_minus_gripper": [
+              0.0053539194079781915,
+              0.004995076793239336,
+              0.00791657741283025
+            ],
+            "object_to_gripper_xy": 0.007322243180712023,
+            "object_to_gripper_z": 0.00791657741283025,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29989886723892867,
+              0.058717057676132486,
+              1.161457793955475
+            ],
+            "finger_b": [
+              0.2889134496619624,
+              0.08316295242049342,
+              1.161457793955475
+            ],
+            "finger_midpoint": [
+              0.29440615845044554,
+              0.07094000504831295,
+              1.161457793955475
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492708788483125,
+              0.012222947372180465,
+              0.0
+            ],
+            "finger_gap": 0.026800768070947004,
+            "fingertip_max_gap": 0.09121476081789012,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400384035473502,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161457793955475,
+            "object_top_z": 1.2113057216244578,
+            "finger_top_clearance": 0.04984792766898272,
+            "fingertip_min_top_clearance": 0.01495437830069478,
+            "object_projection_between_fingers": 0.8319886354866356,
+            "object_to_finger_line_xy": 0.010020174089730143,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048107380408945064,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9999421184185009,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28782465133575225,
+              -0.33735793730354025,
+              0.8515396095107863
+            ],
+            "target_position": [
+              0.28092251095232507,
+              -0.337430070135995,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006902517295744665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18457346529664917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396095107863,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543448734900902,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687487232049255,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15262408932362684,
+            "release_required_pad_clearance": 0.05343743616024628,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8887947052979057,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007304787635803223,
+            "max_z_decrease": 0.007304787635803223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513127202078293,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007304787635803223,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108803370942909,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007304787635803223,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073048067359386725,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13662244379520416,
+              -0.3936915397644042,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13662244379520416,
+              -0.3936915397644042,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13485263278149875,
+              -0.39430684277713074,
+              0.8082563412578916
+            ],
+            "closest_button": [
+              0.13661563396453852,
+              -0.3936930298805236,
+              0.7731747031211853
+            ],
+            "closest_ee_minus_button": [
+              -0.001763001183039764,
+              -0.0006138128966071132,
+              0.035081638136706284
+            ],
+            "button_min_z_position": [
+              0.1366058737039566,
+              -0.39368942379951466,
+              0.7695040702819824
+            ],
+            "min_active_finger_to_button": 0.1478505427468925,
+            "closest_active_finger": [
+              -0.006562486290931702,
+              -0.3803546130657196,
+              0.8107731342315674
+            ],
+            "closest_active_finger_button": [
+              0.13662220537662503,
+              -0.3936928212642669,
+              0.7764217257499695
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14318469166755673,
+              0.013338208198547308,
+              0.0343514084815979
+            ],
+            "min_contact_pad_to_button": 0.02108803370942909,
+            "closest_contact_pad": [
+              0.1366058737039566,
+              -0.39522003471070216,
+              0.7905364832669105
+            ],
+            "closest_contact_pad_button": [
+              0.1366058737039566,
+              -0.39368942379951466,
+              0.7695040702819824
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015306109111875021,
+              0.021032412984928084
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2754676464535115,
+              0.20210726475694893,
+              1.1114540601436613
+            ],
+            "current_z": 1.1114540601436613,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20154493040929877,
+            "gripper_z": 1.1114540163621625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27546760117775115,
+              0.2021073140490104,
+              1.1114540163621625
+            ],
+            "object_minus_gripper": [
+              4.527576036306158e-08,
+              -4.9292061460315395e-08,
+              4.378149887074301e-08
+            ],
+            "object_to_gripper_xy": 6.692982742739509e-08,
+            "object_to_gripper_z": 4.378149887074301e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2754676464535115,
+              0.20210726475694893,
+              1.1114540601436613
+            ],
+            "finger_b": [
+              0.2754676464535115,
+              0.20210726475694893,
+              1.1114540601436613
+            ],
+            "finger_midpoint": [
+              0.2754676464535115,
+              0.20210726475694893,
+              1.1114540601436613
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1114540601436613,
+            "object_top_z": 1.236462566763941,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2754676464535115,
+            0.2021072647569489,
+            1.1114540601436615
+          ],
+          "object_origin_world": [
+            0.2754676464535115,
+            0.2021072647569489,
+            1.1114540601436615
+          ],
+          "frame_world": [
+            0.27546760117775115,
+            0.2021073140490104,
+            1.1114540163621625
+          ],
+          "center_minus_frame": [
+            4.527576036306158e-08,
+            -4.929206148807097e-08,
+            4.378149909278761e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436632279806521,
+            "required_z": 0.9112599569208919,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015258765440531762,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.874892251860825e-08,
+            "max_target_xy_drift": 1.8117826682428148e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.8887947010274724,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.8887947060641017,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2879106214701968,
+              -0.33888275548273394,
+              0.9233593057516215
+            ],
+            "target_mouth_xy": [
+              0.287824713754154,
+              -0.3373579981489021
+            ],
+            "rod_tip_z": 0.9233593057516215,
+            "rod_tip_depth": -0.022099367545045157,
+            "rod_tip_bottom_clearance": 0.12154008738095601,
+            "rod_tip_xy_dist": 0.0015271755179905365,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04488943721697858,
+            "min_rod_tip_bottom_clearance": 0.05455114112090764,
+            "min_rod_tip_xy_dist": 0.0005027572132417158,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.287824682495219,
+              -0.33735793691742877
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.125893505151467e-08,
+              -6.123147333614298e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                0.0005715177892021694,
+                9.859788088623089e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00045996772427575605,
+                -0.0002029643025045491
+              ],
+              "first_target_mouth_xy": [
+                0.2878246500282736,
+                -0.337357940165328
+              ],
+              "last_target_mouth_xy": [
+                0.28782464887591314,
+                -0.33735790908276153
+              ],
+              "first_rod_tip_xy": [
+                0.2883961678174758,
+                -0.33725934228444177
+              ],
+              "last_rod_tip_xy": [
+                0.2882846166001889,
+                -0.3375608733852661
+              ],
+              "min_rod_tip_xy_dist": 0.0005027572132417158,
+              "max_rod_tip_xy_dist": 0.0005799604516601031,
+              "first_target_xy_drift": 3.2628996154303045e-08,
+              "last_target_xy_drift": 4.364660840602479e-08,
+              "max_depth": 0.01933123729859043,
+              "min_bottom_clearance": 0.08010933512330476
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0005715177892021694,
+                  9.859788088623089e-05
+                ],
+                "rod_tip_xy": [
+                  0.2883961678174758,
+                  -0.33725934228444177
+                ],
+                "target_mouth_xy": [
+                  0.2878246500282736,
+                  -0.337357940165328
+                ],
+                "gripper_position": [
+                  0.2883845167101971,
+                  -0.3372665008280891,
+                  1.0058819173634057
+                ],
+                "rod_tip_xy_dist": 0.0005799604516601031,
+                "target_xy_drift": 3.2628996154303045e-08,
+                "depth": 0.015231463309060778,
+                "bottom_clearance": 0.0842090428960981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0005598992290113403,
+                  9.143906767972165e-05
+                ],
+                "rod_tip_xy": [
+                  0.2883845167101971,
+                  -0.33726650082808907
+                ],
+                "target_mouth_xy": [
+                  0.28782461748118576,
+                  -0.3373579398957688
+                ],
+                "gripper_position": [
+                  0.2883756673529251,
+                  -0.3372671962328712,
+                  1.0057533805882977
+                ],
+                "rod_tip_xy_dist": 0.0005673167102647603,
+                "target_xy_drift": 6.508221741639373e-08,
+                "depth": 0.015377979503956252,
+                "bottom_clearance": 0.08406262123863628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0005510180522702579,
+                  9.074330918035223e-05
+                ],
+                "rod_tip_xy": [
+                  0.2883756673529251,
+                  -0.33726719623287116
+                ],
+                "target_mouth_xy": [
+                  0.2878246493006548,
+                  -0.3373579395420515
+                ],
+                "gripper_position": [
+                  0.2883844650970945,
+                  -0.33733068197047045,
+                  1.0052286050063854
+                ],
+                "rod_tip_xy_dist": 0.0005584400076003775,
+                "target_xy_drift": 3.329816412115714e-08,
+                "depth": 0.01550639994009595,
+                "bottom_clearance": 0.0839341330215102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005598140832021592,
+                  2.7255944617665673e-05
+                ],
+                "rod_tip_xy": [
+                  0.2883844650970945,
+                  -0.33733068197047045
+                ],
+                "target_mouth_xy": [
+                  0.2878246510138923,
+                  -0.3373579379150881
+                ],
+                "gripper_position": [
+                  0.2883726013119972,
+                  -0.33733755013881583,
+                  1.0050820164044405
+                ],
+                "rod_tip_xy_dist": 0.0005604772022736298,
+                "target_xy_drift": 3.1497130857098335e-08,
+                "depth": 0.016031261829720256,
+                "bottom_clearance": 0.0834093643278162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005479822412937096,
+                  2.042175589089812e-05
+                ],
+                "rod_tip_xy": [
+                  0.2883726013119972,
+                  -0.3373375501388157
+                ],
+                "target_mouth_xy": [
+                  0.2878246190707035,
+                  -0.3373579718947066
+                ],
+                "gripper_position": [
+                  0.28836352595727044,
+                  -0.33733860129013676,
+                  1.0049539358301667
+                ],
+                "rod_tip_xy_dist": 0.0005483626399445397,
+                "target_xy_drift": 7.24298220962876e-08,
+                "depth": 0.016177849778243103,
+                "bottom_clearance": 0.08326272375865951,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0005389042166084601,
+                  1.9337250824813523e-05
+                ],
+                "rod_tip_xy": [
+                  0.28836352595727044,
+                  -0.3373386012901366
+                ],
+                "target_mouth_xy": [
+                  0.287824621740662,
+                  -0.3373579385409614
+                ],
+                "gripper_position": [
+                  0.28837326434397825,
+                  -0.3374030284098921,
+                  1.0044304879042139
+                ],
+                "rod_tip_xy_dist": 0.0005392510398208239,
+                "target_xy_drift": 6.077624580431151e-08,
+                "depth": 0.01630598317708576,
+                "bottom_clearance": 0.08313463956369183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005486450861315606,
+                  -4.508825198801247e-05
+                ],
+                "rod_tip_xy": [
+                  0.28837326434397825,
+                  -0.337403028409892
+                ],
+                "target_mouth_xy": [
+                  0.2878246192578467,
+                  -0.337357940157904
+                ],
+                "gripper_position": [
+                  0.28836141839367474,
+                  -0.33740986910682697,
+                  1.0042838044836633
+                ],
+                "rod_tip_xy_dist": 0.0005504946693689614,
+                "target_xy_drift": 6.332034375246888e-08,
+                "depth": 0.016829289723181318,
+                "bottom_clearance": 0.08261123156343897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000536765460499522,
+                  -5.1930587648851834e-05
+                ],
+                "rod_tip_xy": [
+                  0.28836141839367474,
+                  -0.3374098691068269
+                ],
+                "target_mouth_xy": [
+                  0.2878246529331752,
+                  -0.33735793851917806
+                ],
+                "gripper_position": [
+                  0.2883521633351312,
+                  -0.33741064660899367,
+                  1.0041557197148312
+                ],
+                "rod_tip_xy_dist": 0.0005392716806200924,
+                "target_xy_drift": 2.960540545063819e-08,
+                "depth": 0.016976125187535773,
+                "bottom_clearance": 0.08246455020430155,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005275437521474191,
+                  -5.2705520369678016e-05
+                ],
+                "rod_tip_xy": [
+                  0.28835216333513114,
+                  -0.33741064660899356
+                ],
+                "target_mouth_xy": [
+                  0.2878246195829837,
+                  -0.3373579410886239
+                ],
+                "gripper_position": [
+                  0.2883627120206884,
+                  -0.33747603209708527,
+                  1.0036348260041192
+                ],
+                "rod_tip_xy_dist": 0.000530170050368008,
+                "target_xy_drift": 6.305036251599262e-08,
+                "depth": 0.017104112229630264,
+                "bottom_clearance": 0.08233640511257101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00053806192838457,
+                  -0.00011809226750680857
+                ],
+                "rod_tip_xy": [
+                  0.2883627120206884,
+                  -0.3374760320970852
+                ],
+                "target_mouth_xy": [
+                  0.28782465009230385,
+                  -0.3373579398295784
+                ],
+                "gripper_position": [
+                  0.28835065399090765,
+                  -0.33748294390127453,
+                  1.003488791094666
+                ],
+                "rod_tip_xy_dist": 0.0005508687887526591,
+                "target_xy_drift": 3.253351386385618e-08,
+                "depth": 0.017624999343592962,
+                "bottom_clearance": 0.08181552166144679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0005260035939338437,
+                  -0.0001250047134151444
+                ],
+                "rod_tip_xy": [
+                  0.28835065399090765,
+                  -0.33748294390127453
+                ],
+                "target_mouth_xy": [
+                  0.2878246503969738,
+                  -0.3373579391878594
+                ],
+                "gripper_position": [
+                  0.2883413398383031,
+                  -0.33748335263460705,
+                  1.003360706118578
+                ],
+                "rod_tip_xy_dist": 0.0005406532707820441,
+                "target_xy_drift": 3.2178443069651894e-08,
+                "depth": 0.01777104812676067,
+                "bottom_clearance": 0.08166950796334815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0005166910543327741,
+                  -0.0001254105589237331
+                ],
+                "rod_tip_xy": [
+                  0.2883413398383031,
+                  -0.33748335263460705
+                ],
+                "target_mouth_xy": [
+                  0.28782464878397035,
+                  -0.3373579420756833
+                ],
+                "gripper_position": [
+                  0.2883320345363848,
+                  -0.33748410351536506,
+                  1.0032324924115066
+                ],
+                "rod_tip_xy_dist": 0.0005316930072110003,
+                "target_xy_drift": 3.41036049982806e-08,
+                "depth": 0.01789916241168854,
+                "bottom_clearance": 0.08154141382729863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005073833895500868,
+                  -0.00012616527752895568
+                ],
+                "rod_tip_xy": [
+                  0.2883320345363848,
+                  -0.33748410351536495
+                ],
+                "target_mouth_xy": [
+                  0.2878246511468347,
+                  -0.337357938237836
+                ],
+                "gripper_position": [
+                  0.28834410049719217,
+                  -0.3375518505545913,
+                  1.00271461567891
+                ],
+                "rod_tip_xy_dist": 0.0005228341814048633,
+                "target_xy_drift": 3.137618001041879e-08,
+                "depth": 0.018027429162731923,
+                "bottom_clearance": 0.08141319001592284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005194515905219688,
+                  -0.00019394080554102633
+                ],
+                "rod_tip_xy": [
+                  0.28834410049719217,
+                  -0.33755185055459125
+                ],
+                "target_mouth_xy": [
+                  0.2878246489066702,
+                  -0.3373579097490502
+                ],
+                "gripper_position": [
+                  0.2883318626597572,
+                  -0.3375586773977102,
+                  1.0025683860194061
+                ],
+                "rod_tip_xy_dist": 0.0005544754196082143,
+                "target_xy_drift": 4.320082640091409e-08,
+                "depth": 0.018545176936651697,
+                "bottom_clearance": 0.08089537132002234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005072123100500758,
+                  -0.00020073914942264626
+                ],
+                "rod_tip_xy": [
+                  0.2883318626597572,
+                  -0.33755867739771017
+                ],
+                "target_mouth_xy": [
+                  0.2878246503497071,
+                  -0.3373579382482875
+                ],
+                "gripper_position": [
+                  0.28832249527724596,
+                  -0.33755896661340806,
+                  1.0024403931958155
+                ],
+                "rod_tip_xy_dist": 0.0005454910939486196,
+                "target_xy_drift": 3.217304956007337e-08,
+                "depth": 0.01869146987604442,
+                "bottom_clearance": 0.08074911919545891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.000497846535598423,
+                  -0.00020102484502498852
+                ],
+                "rod_tip_xy": [
+                  0.28832249527724596,
+                  -0.337558966613408
+                ],
+                "target_mouth_xy": [
+                  0.28782464874164754,
+                  -0.337357941768383
+                ],
+                "gripper_position": [
+                  0.28831300183380915,
+                  -0.33755956981349355,
+                  1.0023123702865042
+                ],
+                "rod_tip_xy_dist": 0.0005369005134330498,
+                "target_xy_drift": 3.4100371580687616e-08,
+                "depth": 0.018819470806891836,
+                "bottom_clearance": 0.08062109565210451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0004883512089006725,
+                  -0.0002016607572507545
+                ],
+                "rod_tip_xy": [
+                  0.28831300183380915,
+                  -0.33755956981349355
+                ],
+                "target_mouth_xy": [
+                  0.2878246506249085,
+                  -0.3373579090562428
+                ],
+                "gripper_position": [
+                  0.28830355740077546,
+                  -0.33755997982959934,
+                  1.0021844419477077
+                ],
+                "rod_tip_xy_dist": 0.0005283502287779348,
+                "target_xy_drift": 4.2331576572373774e-08,
+                "depth": 0.018947476583238587,
+                "bottom_clearance": 0.08049310018107525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00047890665580141434,
+                  -0.0002020412780530112
+                ],
+                "rod_tip_xy": [
+                  0.28830355740077546,
+                  -0.3375599798295993
+                ],
+                "target_mouth_xy": [
+                  0.28782465074497404,
+                  -0.3373579385515463
+                ],
+                "gripper_position": [
+                  0.28829404313206175,
+                  -0.3375605180701317,
+                  1.0020566547998726
+                ],
+                "rod_tip_xy_dist": 0.0005197809759968024,
+                "target_xy_drift": 3.17922693959855e-08,
+                "depth": 0.019075411370893303,
+                "bottom_clearance": 0.0803651812229913,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.00046939453805777687,
+                  -0.00020257758015185257
+                ],
+                "rod_tip_xy": [
+                  0.28829404313206175,
+                  -0.33756051807013165
+                ],
+                "target_mouth_xy": [
+                  0.287824648594004,
+                  -0.3373579404899798
+                ],
+                "gripper_position": [
+                  0.2882846166001889,
+                  -0.3375608733852662,
+                  1.0019286271031338
+                ],
+                "rod_tip_xy_dist": 0.0005112425142128283,
+                "target_xy_drift": 3.408893514745549e-08,
+                "depth": 0.019203191326239488,
+                "bottom_clearance": 0.08023733700411284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  0.00045996772427575605,
+                  -0.0002029643025045491
+                ],
+                "rod_tip_xy": [
+                  0.2882846166001889,
+                  -0.3375608733852661
+                ],
+                "target_mouth_xy": [
+                  0.28782464887591314,
+                  -0.33735790908276153
+                ],
+                "gripper_position": [
+                  0.28830098154862005,
+                  -0.3376334572847415,
+                  1.0014156471549762
+                ],
+                "rod_tip_xy_dist": 0.0005027572132417158,
+                "target_xy_drift": 4.364660840602479e-08,
+                "depth": 0.01933123729859043,
+                "bottom_clearance": 0.08010933512330476,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006036396339937329,
+              "rod_tip_xy_max_step": 3.2771977685068275e-05,
+              "rod_tip_xy_range": 0.0006036322334202326,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2879106214701968,
+            -0.338882755482734,
+            1.0433593057516215
+          ],
+          "object_origin_world": [
+            0.2879106214701968,
+            -0.338882755482734,
+            1.0433593057516215
+          ],
+          "frame_world": [
+            0.2879358070199928,
+            -0.3388798251804589,
+            1.0436632279806521
+          ],
+          "center_minus_frame": [
+            -2.5185549795969653e-05,
+            -2.9303022751059338e-06,
+            -0.0003039222290306398
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2543473081270451,
+              0.15827724368883833,
+              0.8324736146145051
+            ],
+            "target_position": [
+              0.2672067683697404,
+              0.20369324056931265,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047201467036319056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16625177338955513,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324736146145051,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674266635521,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13534901113330533,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f462d284b7c60e4a2caa344a4382025a3728c1cefd91fe898ac4befbf392bf2",
+    "visual_seed": 5036456222944710441,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8133d0a443756cefc9f50b43b3d3af67b02eed4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29894087432005967,
+              0.08794715838608963,
+              1.1619026246091173
+            ],
+            "current_z": 1.1619026246091173,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30079587817577236,
+            "gripper_z": 1.154093826693021,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.293605805957293,
+              0.08292469634628849,
+              1.154093826693021
+            ],
+            "object_minus_gripper": [
+              0.005335068362766648,
+              0.00502246203980114,
+              0.007808797916096344
+            ],
+            "object_to_gripper_xy": 0.007327214980921266,
+            "object_to_gripper_z": 0.007808797916096344,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29894087432005967,
+              0.06351381509972431,
+              1.1619026246091173
+            ],
+            "finger_b": [
+              0.2878972882607632,
+              0.08794715838608963,
+              1.1619026246091173
+            ],
+            "finger_midpoint": [
+              0.29341908129041144,
+              0.07573048674290697,
+              1.1619026246091173
+            ],
+            "object_minus_finger_midpoint": [
+              0.005521793029648225,
+              0.012216671643182658,
+              0.0
+            ],
+            "finger_gap": 0.026813225415799197,
+            "fingertip_max_gap": 0.0915594362252515,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013406612707899598,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619026246091173,
+            "object_top_z": 1.2118690656024507,
+            "finger_top_clearance": 0.04996644099333336,
+            "fingertip_min_top_clearance": 0.014989932297999975,
+            "object_projection_between_fingers": 0.8303623993550622,
+            "object_to_finger_line_xy": 0.010063381973446379,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048279718112625755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.184488945926853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2885228164136415,
+              -0.3343107290645894,
+              0.8515395777584042
+            ],
+            "target_position": [
+              0.28113202858205844,
+              -0.3347779485169026,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007405541086787415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829180597820546,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395777584042,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559046872227138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08746344441996838,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15061169155517676,
+            "release_required_pad_clearance": 0.05373172220998419,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4727614620514573,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073340535163879395,
+            "max_z_decrease": 0.0073340535163879395,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035182710720516194,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073340535163879395,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021264071845109648,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073340535163879395,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073340738547129905,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13683195412158966,
+              -0.3910394012928009,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13683195412158966,
+              -0.3910394012928009,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13767644608930288,
+              -0.39271305445985155,
+              0.8082266616832501
+            ],
+            "closest_button": [
+              0.13682027161121366,
+              -0.3910439014434814,
+              0.7730939984321594
+            ],
+            "closest_ee_minus_button": [
+              0.0008561744780892222,
+              -0.0016691530163701618,
+              0.03513266325109066
+            ],
+            "button_min_z_position": [
+              0.136814683675766,
+              -0.39103963971137995,
+              0.7694748044013977
+            ],
+            "min_active_finger_to_button": 0.1451296317323438,
+            "closest_active_finger": [
+              -0.003238387405872345,
+              -0.3745146691799164,
+              0.8105252385139465
+            ],
+            "closest_active_finger_button": [
+              0.13683156669139862,
+              -0.3910407721996307,
+              0.7763213515281677
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14006995409727097,
+              0.0165261030197143,
+              0.03420388698577881
+            ],
+            "min_contact_pad_to_button": 0.021264071845109648,
+            "closest_contact_pad": [
+              0.136814683675766,
+              -0.39400939171207855,
+              0.7905304764279166
+            ],
+            "closest_contact_pad_button": [
+              0.136814683675766,
+              -0.39103963971137995,
+              0.7694748044013977
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029697520006986,
+              0.021055672026518923
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27196035808279595,
+              0.1975284866759295,
+              1.1122331744651714
+            ],
+            "current_z": 1.1122331744651714,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2023240447308089,
+            "gripper_z": 1.1122334184657934,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2719603442177118,
+              0.19752834506425568,
+              1.1122334184657934
+            ],
+            "object_minus_gripper": [
+              1.3865084136366335e-08,
+              1.416116738317541e-07,
+              -2.4400062192952987e-07
+            ],
+            "object_to_gripper_xy": 1.4228881447091906e-07,
+            "object_to_gripper_z": -2.4400062192952987e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27196035808279595,
+              0.1975284866759295,
+              1.1122331744651714
+            ],
+            "finger_b": [
+              0.27196035808279595,
+              0.1975284866759295,
+              1.1122331744651714
+            ],
+            "finger_midpoint": [
+              0.27196035808279595,
+              0.1975284866759295,
+              1.1122331744651714
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1122331744651714,
+            "object_top_z": 1.2372416810854512,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27196035808279595,
+            0.19752848667592948,
+            1.1122331744651714
+          ],
+          "object_origin_world": [
+            0.27196035808279595,
+            0.19752848667592948,
+            1.1122331744651714
+          ],
+          "frame_world": [
+            0.2719603442177118,
+            0.19752834506425568,
+            1.1122334184657934
+          ],
+          "center_minus_frame": [
+            1.3865084136366335e-08,
+            1.4161167380399853e-07,
+            -2.4400062192952987e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436753457484584,
+            "required_z": 0.9112598404064471,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014980395908434714,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.023742618206502e-08,
+            "max_target_xy_drift": 1.5990279053548934e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.472761461787102,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.4727614621671963,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2885534677123762,
+              -0.33581052059413785,
+              0.9233717644415634
+            ],
+            "target_mouth_xy": [
+              0.28852278875962467,
+              -0.33431075844846236
+            ],
+            "rod_tip_z": 0.9233717644415634,
+            "rod_tip_depth": -0.02211186966019618,
+            "rod_tip_bottom_clearance": 0.12155243326390941,
+            "rod_tip_xy_dist": 0.0015000758953276575,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044877986895639266,
+            "min_rod_tip_bottom_clearance": 0.05456254632662105,
+            "min_rod_tip_xy_dist": 0.0003969401534164649,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28852278719323654,
+              -0.33431069823140547
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.566388130314067e-09,
+              -6.021705689640555e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0004923314606209983,
+                0.0002795171898183346
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00040116471519924257,
+                -0.0001080249470413186
+              ],
+              "first_target_mouth_xy": [
+                0.28852284600031897,
+                -0.33431072804953643
+              ],
+              "last_target_mouth_xy": [
+                0.28852281726640966,
+                -0.3343107284037411
+              ],
+              "first_rod_tip_xy": [
+                0.28901517746093996,
+                -0.3340312108597181
+              ],
+              "last_rod_tip_xy": [
+                0.2889239819816089,
+                -0.3344187533507824
+              ],
+              "min_rod_tip_xy_dist": 0.00041545459186795503,
+              "max_rod_tip_xy_dist": 0.000566144969527368,
+              "first_target_xy_drift": 6.59347698688171e-08,
+              "last_target_xy_drift": 4.2600065478565636e-08,
+              "max_depth": 0.019487725895264152,
+              "min_bottom_clearance": 0.07995279895261564
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0004923314606209983,
+                  0.0002795171898183346
+                ],
+                "rod_tip_xy": [
+                  0.28901517746093996,
+                  -0.3340312108597181
+                ],
+                "target_mouth_xy": [
+                  0.28852284600031897,
+                  -0.33431072804953643
+                ],
+                "gripper_position": [
+                  0.2890233142109778,
+                  -0.3340981338875819,
+                  1.0057274118154234
+                ],
+                "rod_tip_xy_dist": 0.000566144969527368,
+                "target_xy_drift": 6.59347698688171e-08,
+                "depth": 0.015010332231413348,
+                "bottom_clearance": 0.0844302385179706,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0005004662307761532,
+                  0.00021259380274341044
+                ],
+                "rod_tip_xy": [
+                  0.2890233142109779,
+                  -0.3340981338875819
+                ],
+                "target_mouth_xy": [
+                  0.2885228479802017,
+                  -0.3343107276903253
+                ],
+                "gripper_position": [
+                  0.28901147654915094,
+                  -0.33410515981058514,
+                  1.0055814066105433
+                ],
+                "rod_tip_xy_dist": 0.0005437486304462697,
+                "target_xy_drift": 6.754911617111598e-08,
+                "depth": 0.015532437982766711,
+                "bottom_clearance": 0.08390814714731343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004886590232784926,
+                  0.00020559994426094796
+                ],
+                "rod_tip_xy": [
+                  0.289011476549151,
+                  -0.3341051598105851
+                ],
+                "target_mouth_xy": [
+                  0.2885228175258725,
+                  -0.33431075975484603
+                ],
+                "gripper_position": [
+                  0.28900253016982513,
+                  -0.33410583496258484,
+                  1.0054531650550438
+                ],
+                "rod_tip_xy_dist": 0.0005301499581359932,
+                "target_xy_drift": 6.85944789546761e-08,
+                "depth": 0.01567841533241754,
+                "bottom_clearance": 0.08376209721075012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00047968306422080387,
+                  0.00020492353396195373
+                ],
+                "rod_tip_xy": [
+                  0.2890025301698252,
+                  -0.3341058349625847
+                ],
+                "target_mouth_xy": [
+                  0.2885228471056044,
+                  -0.3343107584965467
+                ],
+                "gripper_position": [
+                  0.28901187640177883,
+                  -0.3341738661938522,
+                  1.004931370987419
+                ],
+                "rod_tip_xy_dist": 0.0005216219865685455,
+                "target_xy_drift": 8.497869771830217e-08,
+                "depth": 0.01580666018968302,
+                "bottom_clearance": 0.08363385516954114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0004890295367743769,
+                  0.0001368920004257701
+                ],
+                "rod_tip_xy": [
+                  0.2890118764017789,
+                  -0.33417386619385214
+                ],
+                "target_mouth_xy": [
+                  0.2885228468650045,
+                  -0.3343107581942779
+                ],
+                "gripper_position": [
+                  0.2889999823471886,
+                  -0.33418091386244275,
+                  1.0047856226840342
+                ],
+                "rod_tip_xy_dist": 0.0005078280295713605,
+                "target_xy_drift": 8.459471593835285e-08,
+                "depth": 0.01632846140047317,
+                "bottom_clearance": 0.08311206312281583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0004771617185130861,
+                  0.0001298179274608069
+                ],
+                "rod_tip_xy": [
+                  0.2889999823471887,
+                  -0.33418091386244264
+                ],
+                "target_mouth_xy": [
+                  0.2885228206286756,
+                  -0.33431073178990345
+                ],
+                "gripper_position": [
+                  0.2889908153819567,
+                  -0.3341813807865483,
+                  1.004657498910571
+                ],
+                "rod_tip_xy_dist": 0.0004945058138228315,
+                "target_xy_drift": 4.737194711483355e-08,
+                "depth": 0.016474318100132113,
+                "bottom_clearance": 0.08296638097744324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00046799940310543464,
+                  0.00012934669922270992
+                ],
+                "rod_tip_xy": [
+                  0.28899081538195676,
+                  -0.33418138078654824
+                ],
+                "target_mouth_xy": [
+                  0.2885228159788513,
+                  -0.33431072748577095
+                ],
+                "gripper_position": [
+                  0.28900114245689007,
+                  -0.3342506513584824,
+                  1.004137539407577
+                ],
+                "rod_tip_xy_dist": 0.0004855450647538839,
+                "target_xy_drift": 4.1041802083597904e-08,
+                "depth": 0.0166023823233602,
+                "bottom_clearance": 0.0828382163750544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0004783249224319941,
+                  6.0108111012313614e-05
+                ],
+                "rod_tip_xy": [
+                  0.2890011424568902,
+                  -0.3342506513584823
+                ],
+                "target_mouth_xy": [
+                  0.2885228175344582,
+                  -0.3343107594694946
+                ],
+                "gripper_position": [
+                  0.2889890867370595,
+                  -0.33425760826728573,
+                  1.0039915178275245
+                ],
+                "rod_tip_xy_dist": 0.0004820868349468193,
+                "target_xy_drift": 6.834247064864087e-08,
+                "depth": 0.01712227761739782,
+                "bottom_clearance": 0.08231822556047064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004663009861162748,
+                  5.30900531470202e-05
+                ],
+                "rod_tip_xy": [
+                  0.28898908673705953,
+                  -0.33425760826728557
+                ],
+                "target_mouth_xy": [
+                  0.28852278575094326,
+                  -0.3343106983204326
+                ],
+                "gripper_position": [
+                  0.2889796811372205,
+                  -0.3342584502153978,
+                  1.0038638478164186
+                ],
+                "rod_tip_xy_dist": 0.00046931350225213394,
+                "target_xy_drift": 1.4450383203598827e-09,
+                "depth": 0.017268366176235728,
+                "bottom_clearance": 0.08217222786238143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00045689423431416465,
+                  5.2277884777685024e-05
+                ],
+                "rod_tip_xy": [
+                  0.2889796811372206,
+                  -0.3342584502153977
+                ],
+                "target_mouth_xy": [
+                  0.28852278690290645,
+                  -0.33431072810017537
+                ],
+                "gripper_position": [
+                  0.28897028178499307,
+                  -0.3342590206265158,
+                  1.0037359690883512
+                ],
+                "rod_tip_xy_dist": 0.00045987532939521303,
+                "target_xy_drift": 2.9870180900237476e-08,
+                "depth": 0.01739600056359092,
+                "bottom_clearance": 0.08204454818101237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0004474654447995663,
+                  5.170746361371492e-05
+                ],
+                "rod_tip_xy": [
+                  0.2889702817849932,
+                  -0.3342590206265158
+                ],
+                "target_mouth_xy": [
+                  0.2885228163401936,
+                  -0.3343107280901295
+                ],
+                "gripper_position": [
+                  0.2889825200163314,
+                  -0.33433013944876927,
+                  1.003216848630703
+                ],
+                "rod_tip_xy_dist": 0.0004504430997174198,
+                "target_xy_drift": 4.1726352683537846e-08,
+                "depth": 0.017523890864166503,
+                "bottom_clearance": 0.08191667281798976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0004597310015035938,
+                  -1.9411074301645126e-05
+                ],
+                "rod_tip_xy": [
+                  0.28898252001633146,
+                  -0.3343301394487692
+                ],
+                "target_mouth_xy": [
+                  0.28852278901482786,
+                  -0.33431072837446757
+                ],
+                "gripper_position": [
+                  0.2889702223645671,
+                  -0.3343373800169966,
+                  1.0030709572775032
+                ],
+                "rod_tip_xy_dist": 0.0004601406128011755,
+                "target_xy_drift": 3.019805271578363e-08,
+                "depth": 0.0180430529289054,
+                "bottom_clearance": 0.08139753024028684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004474043464643973,
+                  -2.665163387916003e-05
+                ],
+                "rod_tip_xy": [
+                  0.2889702223645672,
+                  -0.33433738001699653
+                ],
+                "target_mouth_xy": [
+                  0.2885228180181028,
+                  -0.3343107283831174
+                ],
+                "gripper_position": [
+                  0.28896078857253965,
+                  -0.33433765115886455,
+                  1.0029431665824535
+                ],
+                "rod_tip_xy_dist": 0.0004481974551731226,
+                "target_xy_drift": 4.3119579211803784e-08,
+                "depth": 0.018188819164585923,
+                "bottom_clearance": 0.08125173419236653,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00043796769376730493,
+                  -2.692474377474774e-05
+                ],
+                "rod_tip_xy": [
+                  0.2889607885725397,
+                  -0.3343376511588645
+                ],
+                "target_mouth_xy": [
+                  0.2885228208787724,
+                  -0.33431072641508974
+                ],
+                "gripper_position": [
+                  0.2889513651551572,
+                  -0.33433795795817844,
+                  1.0028156112932078
+                ],
+                "rod_tip_xy_dist": 0.00043879453347915305,
+                "target_xy_drift": 4.392078534759854e-08,
+                "depth": 0.018316785465349983,
+                "bottom_clearance": 0.08112394699463288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0004285494153024594,
+                  -2.719748068447103e-05
+                ],
+                "rod_tip_xy": [
+                  0.2889513651551573,
+                  -0.33433795795817844
+                ],
+                "target_mouth_xy": [
+                  0.28852281573985483,
+                  -0.334310760477494
+                ],
+                "gripper_position": [
+                  0.2889650521068582,
+                  -0.3344113031535298,
+                  1.0023003703005777
+                ],
+                "rod_tip_xy_dist": 0.0004294115791541513,
+                "target_xy_drift": 6.847981418015877e-08,
+                "depth": 0.018444265706206386,
+                "bottom_clearance": 0.08099631604270552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00044223379980573574,
+                  -0.00010057415063269293
+                ],
+                "rod_tip_xy": [
+                  0.28896505210685824,
+                  -0.33441130315352974
+                ],
+                "target_mouth_xy": [
+                  0.2885228183070525,
+                  -0.33431072900289704
+                ],
+                "gripper_position": [
+                  0.2889527911152281,
+                  -0.33441836519266194,
+                  1.0021545857739649
+                ],
+                "rod_tip_xy_dist": 0.0004535260670194241,
+                "target_xy_drift": 4.376019010439308e-08,
+                "depth": 0.01895939694832738,
+                "bottom_clearance": 0.08048114392428796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00042997070096628676,
+                  -0.00010763654162032621
+                ],
+                "rod_tip_xy": [
+                  0.2889527911152282,
+                  -0.3344183651926619
+                ],
+                "target_mouth_xy": [
+                  0.2885228204142619,
+                  -0.33431072865104156
+                ],
+                "gripper_position": [
+                  0.28894312011686973,
+                  -0.33441845167430034,
+                  1.0020269712332341
+                ],
+                "rod_tip_xy_dist": 0.0004432385686979691,
+                "target_xy_drift": 4.504432024892799e-08,
+                "depth": 0.01910532225427597,
+                "bottom_clearance": 0.08033530953615975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00042030369519358013,
+                  -0.00010769219062289892
+                ],
+                "rod_tip_xy": [
+                  0.2889431201168698,
+                  -0.3344184516743003
+                ],
+                "target_mouth_xy": [
+                  0.2885228164216762,
+                  -0.3343107594836774
+                ],
+                "gripper_position": [
+                  0.2889334627735187,
+                  -0.334418736541244,
+                  1.0018994316353809
+                ],
+                "rod_tip_xy_dist": 0.00043388109444240214,
+                "target_xy_drift": 6.786856784234019e-08,
+                "depth": 0.019232866476147525,
+                "bottom_clearance": 0.08020765300709887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00041067393397486995,
+                  -0.00010797870401157983
+                ],
+                "rod_tip_xy": [
+                  0.28893346277351883,
+                  -0.3344187365412439
+                ],
+                "target_mouth_xy": [
+                  0.28852278883954396,
+                  -0.3343107578372323
+                ],
+                "gripper_position": [
+                  0.2889239819816088,
+                  -0.3344187533507824,
+                  1.0017720447629663
+                ],
+                "rod_tip_xy_dist": 0.00042463217090373196,
+                "target_xy_drift": 5.96285579248975e-08,
+                "depth": 0.019360474838854724,
+                "bottom_clearance": 0.08008011454386432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00040116471519924257,
+                  -0.0001080249470413186
+                ],
+                "rod_tip_xy": [
+                  0.2889239819816089,
+                  -0.3344187533507824
+                ],
+                "target_mouth_xy": [
+                  0.28852281726640966,
+                  -0.3343107284037411
+                ],
+                "gripper_position": [
+                  0.28891426849192053,
+                  -0.334419242822231,
+                  1.0016443991096915
+                ],
+                "rod_tip_xy_dist": 0.00041545459186795503,
+                "target_xy_drift": 4.2600065478565636e-08,
+                "depth": 0.019487725895264152,
+                "bottom_clearance": 0.07995279895261564,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006039022477781115,
+              "rod_tip_xy_max_step": 3.282629865827161e-05,
+              "rod_tip_xy_range": 0.0006038916459084716,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2885534677123762,
+            -0.3358105205941379,
+            1.0433717644415634
+          ],
+          "object_origin_world": [
+            0.2885534677123762,
+            -0.3358105205941379,
+            1.0433717644415634
+          ],
+          "frame_world": [
+            0.28857860011361325,
+            -0.3358077580170997,
+            1.0436753457484584
+          ],
+          "center_minus_frame": [
+            -2.513240123702687e-05,
+            -2.7625770381844994e-06,
+            -0.0003035813068950066
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2503875369482353,
+              0.15427285496077045,
+              0.8321849074190955
+            ],
+            "target_position": [
+              0.2637142958627049,
+              0.20024441668219944,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047864255872953364,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16652100162475694,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321849074190955,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674584411231,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13638584995836053,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 254,
+            "max_placed_release_frames": 254
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcfffcc8e7a0752b4425ec317e870ea764d27362fb24fce7a2bc8a7a90b76448",
+    "visual_seed": 8737272022033758710,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e56791f49970f971eb0f7d5ac701adf4596913b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2969940595933324,
+              0.08389429043711515,
+              1.1618024112238587
+            ],
+            "current_z": 1.1618024112238587,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.30069572439515824,
+            "gripper_z": 1.154279308879778,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29153788814763404,
+              0.07867534914351705,
+              1.154279308879778
+            ],
+            "object_minus_gripper": [
+              0.005456171445698377,
+              0.005218941293598095,
+              0.007523102344080712
+            ],
+            "object_to_gripper_xy": 0.00755030827654591,
+            "object_to_gripper_z": 0.007523102344080712,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2969940595933324,
+              0.05970616050978777,
+              1.1618024112238587
+            ],
+            "finger_b": [
+              0.2852455733347784,
+              0.08389429043711515,
+              1.1618024112238587
+            ],
+            "finger_midpoint": [
+              0.2911198164640554,
+              0.07180022547345145,
+              1.1618024112238587
+            ],
+            "object_minus_finger_midpoint": [
+              0.005874243129277035,
+              0.012094064963663692,
+              0.0
+            ],
+            "finger_gap": 0.02689038041286703,
+            "fingertip_max_gap": 0.09082978006355288,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013445190206433531,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1618024112238587,
+            "object_top_z": 1.21175025396433,
+            "finger_top_clearance": 0.04994784274047115,
+            "fingertip_min_top_clearance": 0.014984352822141311,
+            "object_projection_between_fingers": 0.809115821069594,
+            "object_to_finger_line_xy": 0.010567865076960654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047914890031776444,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.511678182490371,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29242826124572113,
+              -0.3305739915664495,
+              0.8515395556027384
+            ],
+            "target_position": [
+              0.2832177506507469,
+              -0.3316777873189972,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009276414742963745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18681137884614424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395556027384,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075329153371291,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855607642287871,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15512023815409198,
+            "release_required_pad_clearance": 0.05278038211439355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6090912510469836,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00739896297454834,
+            "max_z_decrease": 0.00739896297454834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035148151969330875,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00739896297454834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0210651655527678,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00739896297454834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073989800797013144,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13891766965389252,
+              -0.38793924450874323,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13891766965389252,
+              -0.38793924450874323,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1377784395836623,
+              -0.3874955901884237,
+              0.8079795420554919
+            ],
+            "closest_button": [
+              0.13890667259693146,
+              -0.3879437446594238,
+              0.77285236120224
+            ],
+            "closest_ee_minus_button": [
+              -0.0011282330132691698,
+              0.0004481544710000507,
+              0.03512718085325195
+            ],
+            "button_min_z_position": [
+              0.13890178501605988,
+              -0.38794013857841486,
+              0.7694098949432373
+            ],
+            "min_active_finger_to_button": 0.1469289327715833,
+            "closest_active_finger": [
+              0.009470202028751373,
+              -0.44849681854248047,
+              0.8107264637947083
+            ],
+            "closest_active_finger_button": [
+              0.13891741633415222,
+              -0.3879413604736328,
+              0.77660071849823
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12944721430540085,
+              -0.060555458068847656,
+              0.03412574529647827
+            ],
+            "min_contact_pad_to_button": 0.0210651655527678,
+            "closest_contact_pad": [
+              0.13890178501605988,
+              -0.3888108099206957,
+              0.7904570593883412
+            ],
+            "closest_contact_pad_button": [
+              0.13890178501605988,
+              -0.38794013857841486,
+              0.7694098949432373
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008706713422808599,
+              0.021047164445103905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2647592846637375,
+              0.202044867984538,
+              1.104496041252614
+            ],
+            "current_z": 1.104496041252614,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19458691151825136,
+            "gripper_z": 1.104496041252614,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26475928466373755,
+              0.20204486798453802,
+              1.104496041252614
+            ],
+            "object_minus_gripper": [
+              -5.551115123125783e-17,
+              -2.7755575615628914e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 6.206335383118183e-17,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2647592846637375,
+              0.202044867984538,
+              1.104496041252614
+            ],
+            "finger_b": [
+              0.2647592846637375,
+              0.202044867984538,
+              1.104496041252614
+            ],
+            "finger_midpoint": [
+              0.2647592846637375,
+              0.202044867984538,
+              1.104496041252614
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104496041252614,
+            "object_top_z": 1.2295045478728936,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26475928466373755,
+            0.20204486798453802,
+            1.104496041252614
+          ],
+          "object_origin_world": [
+            0.26475928466373755,
+            0.20204486798453802,
+            1.104496041252614
+          ],
+          "frame_world": [
+            0.26475928466373755,
+            0.20204486798453802,
+            1.104496041252614
+          ],
+          "center_minus_frame": [
+            0.0,
+            0.0,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436541474402876,
+            "required_z": 0.911260050682659,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016954627293825366,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.1803274552702777e-07,
+            "max_target_xy_drift": 3.396350396913271e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6090912488790317,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6090912522066554,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29199994358823916,
+              -0.33222380507554006,
+              0.9233503967967659
+            ],
+            "target_mouth_xy": [
+              0.2924282877767411,
+              -0.33057405369766657
+            ],
+            "rod_tip_z": 0.9233503967967659,
+            "rod_tip_depth": -0.02209049308302624,
+            "rod_tip_bottom_clearance": 0.12153111620605384,
+            "rod_tip_xy_dist": 0.001704452508173482,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044832389384429905,
+            "min_rod_tip_bottom_clearance": 0.05460813112534113,
+            "min_rod_tip_xy_dist": 1.476316544533144e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2924283244761082,
+              -0.33057383877573987
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.669936710082311e-08,
+              -2.1492192670002908e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                4.125858639569824e-06,
+                8.770467996055409e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -8.119464308020685e-05,
+                -0.0002946330888877746
+              ],
+              "first_target_mouth_xy": [
+                0.29242826000056393,
+                -0.33057399254174347
+              ],
+              "last_target_mouth_xy": [
+                0.2924282300982287,
+                -0.3305739627507326
+              ],
+              "first_rod_tip_xy": [
+                0.2924323858592035,
+                -0.3304862878617829
+              ],
+              "last_rod_tip_xy": [
+                0.2923470354551485,
+                -0.33086859583962036
+              ],
+              "min_rod_tip_xy_dist": 1.476316544533144e-05,
+              "max_rod_tip_xy_dist": 0.00030561614344218384,
+              "first_target_xy_drift": 1.667365577007172e-07,
+              "last_target_xy_drift": 1.5581072800058436e-07,
+              "max_depth": 0.01957506591916547,
+              "min_bottom_clearance": 0.07986542794563622
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  4.125858639569824e-06,
+                  8.770467996055409e-05
+                ],
+                "rod_tip_xy": [
+                  0.2924323858592035,
+                  -0.3304862878617829
+                ],
+                "target_mouth_xy": [
+                  0.29242826000056393,
+                  -0.33057399254174347
+                ],
+                "gripper_position": [
+                  0.2924421680875668,
+                  -0.3305523459931506,
+                  1.0056565275891778
+                ],
+                "rod_tip_xy_dist": 8.780167194590847e-05,
+                "target_xy_drift": 1.667365577007172e-07,
+                "depth": 0.015079443654759661,
+                "bottom_clearance": 0.08436104592472038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  1.3876484397878919e-05,
+                  2.1645598274777633e-05
+                ],
+                "rod_tip_xy": [
+                  0.2924421680875668,
+                  -0.33055234599315064
+                ],
+                "target_mouth_xy": [
+                  0.2924282916031689,
+                  -0.3305739915914254
+                ],
+                "gripper_position": [
+                  0.29243023880829777,
+                  -0.33055936079575576,
+                  1.0055093230730021
+                ],
+                "rod_tip_xy_dist": 2.5711646075613935e-05,
+                "target_xy_drift": 1.5631143236940225e-07,
+                "depth": 0.015603371023960144,
+                "bottom_clearance": 0.08383720830092456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  1.979634646487316e-06,
+                  1.4629835974222516e-05
+                ],
+                "rod_tip_xy": [
+                  0.2924302388082977,
+                  -0.3305593607957559
+                ],
+                "target_mouth_xy": [
+                  0.29242825917365123,
+                  -0.3305739906317301
+                ],
+                "gripper_position": [
+                  0.2924209768550712,
+                  -0.3305598245798742,
+                  1.005380375568824
+                ],
+                "rod_tip_xy_dist": 1.476316544533144e-05,
+                "target_xy_drift": 1.6530170192016755e-07,
+                "depth": 0.015750485818062043,
+                "bottom_clearance": 0.08369009305904307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -7.313817979415216e-06,
+                  1.4198087362915501e-05
+                ],
+                "rod_tip_xy": [
+                  0.2924209768550711,
+                  -0.3305598245798742
+                ],
+                "target_mouth_xy": [
+                  0.29242829067305054,
+                  -0.3305740226672371
+                ],
+                "gripper_position": [
+                  0.2924318114346094,
+                  -0.3306269683203931,
+                  1.0048573761539858
+                ],
+                "rod_tip_xy_dist": 1.597114955790591e-05,
+                "target_xy_drift": 1.869725366744208e-07,
+                "depth": 0.015879450024658515,
+                "bottom_clearance": 0.08356108181898014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  3.582741196161976e-06,
+                  -5.3004958232349964e-05
+                ],
+                "rod_tip_xy": [
+                  0.2924318114346094,
+                  -0.33062696832039307
+                ],
+                "target_mouth_xy": [
+                  0.29242822869341323,
+                  -0.3305739633621607
+                ],
+                "gripper_position": [
+                  0.2924196650443305,
+                  -0.3306339583305977,
+                  1.0047104653416328
+                ],
+                "rod_tip_xy_dist": 5.312590358470941e-05,
+                "target_xy_drift": 1.5714993134065078e-07,
+                "depth": 0.016402495264364325,
+                "bottom_clearance": 0.08303807479093284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -8.596174139119395e-06,
+                  -5.996548045344996e-05
+                ],
+                "rod_tip_xy": [
+                  0.2924196650443304,
+                  -0.33063395833059783
+                ],
+                "target_mouth_xy": [
+                  0.29242826121846954,
+                  -0.3305739928501444
+                ],
+                "gripper_position": [
+                  0.29241024428030615,
+                  -0.3306344654720114,
+                  1.0045815578518413
+                ],
+                "rod_tip_xy_dist": 6.057848674111259e-05,
+                "target_xy_drift": 1.6655464862204106e-07,
+                "depth": 0.016549362696233305,
+                "bottom_clearance": 0.08289118186749034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -1.801186934469179e-05,
+                  -6.050212341346395e-05
+                ],
+                "rod_tip_xy": [
+                  0.29241024428030615,
+                  -0.3306344654720115
+                ],
+                "target_mouth_xy": [
+                  0.29242825614965084,
+                  -0.330573963348598
+                ],
+                "gripper_position": [
+                  0.2924221281297555,
+                  -0.33070237654029666,
+                  1.004060294735846
+                ],
+                "rod_tip_xy_dist": 6.312633661815226e-05,
+                "target_xy_drift": 1.4208061712774022e-07,
+                "depth": 0.01667832578822337,
+                "bottom_clearance": 0.08276233505871666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -6.166104975557918e-06,
+                  -0.00012847720653474948
+                ],
+                "rod_tip_xy": [
+                  0.29242212812975543,
+                  -0.33070237654029666
+                ],
+                "target_mouth_xy": [
+                  0.292428294234731,
+                  -0.3305738993337619
+                ],
+                "gripper_position": [
+                  0.2924098211939551,
+                  -0.33070930602454174,
+                  1.0039136167409515
+                ],
+                "rod_tip_xy_dist": 0.00012862508872510942,
+                "target_xy_drift": 6.768910496292505e-08,
+                "depth": 0.017199735478434897,
+                "bottom_clearance": 0.08224104644825359,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -1.8438728257075265e-05,
+                  -0.0001353445535836606
+                ],
+                "rod_tip_xy": [
+                  0.29240982119395503,
+                  -0.33070930602454185
+                ],
+                "target_mouth_xy": [
+                  0.2924282599222121,
+                  -0.3305739614709582
+                ],
+                "gripper_position": [
+                  0.2924004050742383,
+                  -0.33070953917340806,
+                  1.003784740803566
+                ],
+                "rod_tip_xy_dist": 0.0001365947835186199,
+                "target_xy_drift": 1.386409827655839e-07,
+                "depth": 0.017346217414483056,
+                "bottom_clearance": 0.08209430980119004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -2.791467759766242e-05,
+                  -0.00013554345742966545
+                ],
+                "rod_tip_xy": [
+                  0.29240040507423826,
+                  -0.33070953917340806
+                ],
+                "target_mouth_xy": [
+                  0.2924283197518359,
+                  -0.3305739957159784
+                ],
+                "gripper_position": [
+                  0.29239082279180395,
+                  -0.3307101481756074,
+                  1.0036558103499067
+                ],
+                "rod_tip_xy_dist": 0.0001383880705746307,
+                "target_xy_drift": 1.570113283103003e-07,
+                "depth": 0.017475130347615164,
+                "bottom_clearance": 0.08196547699256096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -3.7315659982772864e-05,
+                  -0.00013630973665046398
+                ],
+                "rod_tip_xy": [
+                  0.29239082279180395,
+                  -0.3307101481756074
+                ],
+                "target_mouth_xy": [
+                  0.2924281384517867,
+                  -0.33057383843895694
+                ],
+                "gripper_position": [
+                  0.2924044016190806,
+                  -0.3307804753399327,
+                  1.0031369854722776
+                ],
+                "rod_tip_xy_dist": 0.000141325166851728,
+                "target_xy_drift": 1.8602462636212635e-07,
+                "depth": 0.017604221302652268,
+                "bottom_clearance": 0.08183652983808376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -2.3857462460141754e-05,
+                  -0.0002065132353420429
+                ],
+                "rod_tip_xy": [
+                  0.29240440161908055,
+                  -0.3307804753399328
+                ],
+                "target_mouth_xy": [
+                  0.2924282590815407,
+                  -0.3305739621045908
+                ],
+                "gripper_position": [
+                  0.29239192497031474,
+                  -0.33078761001771123,
+                  1.0029901534322783
+                ],
+                "rod_tip_xy_dist": 0.00020788673571556958,
+                "target_xy_drift": 1.3959389288306017e-07,
+                "depth": 0.01812280304424918,
+                "bottom_clearance": 0.0813177333139129,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -3.6365949510619444e-05,
+                  -0.000213617472811789
+                ],
+                "rod_tip_xy": [
+                  0.29239192497031474,
+                  -0.3307876100177113
+                ],
+                "target_mouth_xy": [
+                  0.29242829091982536,
+                  -0.3305739925448995
+                ],
+                "gripper_position": [
+                  0.29238240371743773,
+                  -0.33078773529304445,
+                  1.0028612553897107
+                ],
+                "rod_tip_xy_dist": 0.00021669080962123045,
+                "target_xy_drift": 1.5738798738213194e-07,
+                "depth": 0.01826966834255539,
+                "bottom_clearance": 0.08117086134714224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -4.5852434075233095e-05,
+                  -0.00021377352969509378
+                ],
+                "rod_tip_xy": [
+                  0.2923824037174377,
+                  -0.3307877352930445
+                ],
+                "target_mouth_xy": [
+                  0.2924282561515129,
+                  -0.3305739617633494
+                ],
+                "gripper_position": [
+                  0.2923727660492999,
+                  -0.3307878452463712,
+                  1.0027323612439805
+                ],
+                "rod_tip_xy_dist": 0.0002186356963282134,
+                "target_xy_drift": 1.406918705026681e-07,
+                "depth": 0.018398628077093693,
+                "bottom_clearance": 0.0810420320855928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -5.5524875949675145e-05,
+                  -0.00021388121872456534
+                ],
+                "rod_tip_xy": [
+                  0.29237276604929985,
+                  -0.3307878452463713
+                ],
+                "target_mouth_xy": [
+                  0.2924282909252495,
+                  -0.3305739640276467
+                ],
+                "gripper_position": [
+                  0.2923631108591329,
+                  -0.33078816068534866,
+                  1.002603665811706
+                ],
+                "rod_tip_xy_dist": 0.000220971010705776,
+                "target_xy_drift": 1.2966765320725438e-07,
+                "depth": 0.0185275432383879,
+                "bottom_clearance": 0.08091303308709963,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -6.514773365767779e-05,
+                  -0.00021422837961793118
+                ],
+                "rod_tip_xy": [
+                  0.29236311085913286,
+                  -0.33078816068534866
+                ],
+                "target_mouth_xy": [
+                  0.29242825859279054,
+                  -0.33057393230573073
+                ],
+                "gripper_position": [
+                  0.29237906695572624,
+                  -0.3308615396799118,
+                  1.0020881102203119
+                ],
+                "rod_tip_xy_dist": 0.00022391522019384069,
+                "target_xy_drift": 1.1440485453325007e-07,
+                "depth": 0.018656197056268975,
+                "bottom_clearance": 0.08078435778458581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -4.9191240807544556e-05,
+                  -0.0002875775747480658
+                ],
+                "rod_tip_xy": [
+                  0.2923790669557262,
+                  -0.33086153967991183
+                ],
+                "target_mouth_xy": [
+                  0.29242825819653373,
+                  -0.33057396210516377
+                ],
+                "gripper_position": [
+                  0.29236666196752414,
+                  -0.3308682674471349,
+                  1.0019416236070995
+                ],
+                "rod_tip_xy_dist": 0.000291754416710639,
+                "target_xy_drift": 1.40011173817366e-07,
+                "depth": 0.0191717647055768,
+                "bottom_clearance": 0.08026880532260272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -6.159607831357494e-05,
+                  -0.0002943367347881809
+                ],
+                "rod_tip_xy": [
+                  0.2923666619675241,
+                  -0.33086826744713493
+                ],
+                "target_mouth_xy": [
+                  0.29242825804583766,
+                  -0.33057393071234675
+                ],
+                "gripper_position": [
+                  0.292356779982732,
+                  -0.33086865663715603,
+                  1.0018130626897876
+                ],
+                "rod_tip_xy_dist": 0.00030071280370044107,
+                "target_xy_drift": 1.1342539632783126e-07,
+                "depth": 0.019318225171024106,
+                "bottom_clearance": 0.0801224079947408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -7.148081734081879e-05,
+                  -0.00029466122263377414
+                ],
+                "rod_tip_xy": [
+                  0.29235677998273196,
+                  -0.33086865663715603
+                ],
+                "target_mouth_xy": [
+                  0.2924282608000728,
+                  -0.33057399541452226
+                ],
+                "gripper_position": [
+                  0.2923470354551485,
+                  -0.3308685958396203,
+                  1.0016847516515877
+                ],
+                "rod_tip_xy_dist": 0.0003032074263136411,
+                "target_xy_drift": 1.6908679912491242e-07,
+                "depth": 0.019446808128599002,
+                "bottom_clearance": 0.07999381318361576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -8.119464308020685e-05,
+                  -0.0002946330888877746
+                ],
+                "rod_tip_xy": [
+                  0.2923470354551485,
+                  -0.33086859583962036
+                ],
+                "target_mouth_xy": [
+                  0.2924282300982287,
+                  -0.3305739627507326
+                ],
+                "gripper_position": [
+                  0.29233723015569846,
+                  -0.330868790326342,
+                  1.001556221909718
+                ],
+                "rod_tip_xy_dist": 0.00030561614344218384,
+                "target_xy_drift": 1.5581072800058436e-07,
+                "depth": 0.01957506591916547,
+                "bottom_clearance": 0.07986542794563622,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006045104282301804,
+              "rod_tip_xy_max_step": 3.267902417657919e-05,
+              "rod_tip_xy_range": 0.0006045019540768682,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2919999435882392,
+            -0.33222380507554006,
+            1.0433503967967659
+          ],
+          "object_origin_world": [
+            0.2919999435882392,
+            -0.33222380507554006,
+            1.0433503967967659
+          ],
+          "frame_world": [
+            0.2920251798721454,
+            -0.332220898524594,
+            1.0436541474402876
+          ],
+          "center_minus_frame": [
+            -2.5236283906160395e-05,
+            -2.9065509460357575e-06,
+            -0.0003037506435217274
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2521503884184599,
+              0.15639224567394197,
+              0.832091088559798
+            ],
+            "target_position": [
+              0.2648806558315504,
+              0.20207250963452672,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04742094710059567,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16575546532382696,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832091088559798,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674796525168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13546666006250388,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c2334fb26674cd9b98e4cdb36cd2f219ba6a9afc3932d28dc698470a4785bc1",
+    "visual_seed": 8544718500540990743,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2456ba8506201e61cdece9dd2bdd91f549dd2375
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_40_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29593516287116434,
+              0.08393247820115596,
+              1.1625662024681507
+            ],
+            "current_z": 1.1625662024681507,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3014595156394503,
+            "gripper_z": 1.1549561327108102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2904031291568667,
+              0.07875819017052713,
+              1.1549561327108102
+            ],
+            "object_minus_gripper": [
+              0.005532033714297613,
+              0.005174288030628832,
+              0.007610069757340465
+            ],
+            "object_to_gripper_xy": 0.007574737859492845,
+            "object_to_gripper_z": 0.007610069757340465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29593516287116434,
+              0.05942713508733922,
+              1.1625662024681507
+            ],
+            "finger_b": [
+              0.2845772760426862,
+              0.08393247820115596,
+              1.1625662024681507
+            ],
+            "finger_midpoint": [
+              0.29025621945692526,
+              0.07167980664424758,
+              1.1625662024681507
+            ],
+            "object_minus_finger_midpoint": [
+              0.005678943414239079,
+              0.012252671556908373,
+              0.0
+            ],
+            "finger_gap": 0.027009506369691454,
+            "fingertip_max_gap": 0.09115398098830371,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01350475318484573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625662024681507,
+            "object_top_z": 1.212570297094377,
+            "finger_top_clearance": 0.05000409462622635,
+            "fingertip_min_top_clearance": 0.01500122838786787,
+            "object_projection_between_fingers": 0.8231676249715446,
+            "object_to_finger_line_xy": 0.010304850076493167,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807699049415186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8383986757044017,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2839361868385737,
+              -0.33078056305988207,
+              0.851539570528507
+            ],
+            "target_position": [
+              0.2758813122014844,
+              -0.3315385036114296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008090456062479106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18342047075164905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539570528507,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529428529813492,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609337210922806,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519228684059114,
+            "release_required_pad_clearance": 0.05304668605461403,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1239479153314438,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007185816764831543,
+            "max_z_decrease": 0.007185816764831543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522038649664031,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007185816764831543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107545821914869,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007185816764831543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007185838620974947,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13158123195171356,
+              -0.38779994845390314,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13158123195171356,
+              -0.38779994845390314,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13363763545281512,
+              -0.3863478480372789,
+              0.8082016232176146
+            ],
+            "closest_button": [
+              0.131570503115654,
+              -0.3878027200698852,
+              0.7730720639228821
+            ],
+            "closest_ee_minus_button": [
+              0.0020671323371611316,
+              0.0014548720326063025,
+              0.03512955929473249
+            ],
+            "button_min_z_position": [
+              0.13156351447105408,
+              -0.38780039548873896,
+              0.7696230411529541
+            ],
+            "min_active_finger_to_button": 0.14372957780836348,
+            "closest_active_finger": [
+              0.005541019141674042,
+              -0.44783079624176025,
+              0.8104560375213623
+            ],
+            "closest_active_finger_button": [
+              0.13158029317855835,
+              -0.3878012299537658,
+              0.7762691378593445
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260392740368843,
+              -0.06002956628799444,
+              0.03418689966201782
+            ],
+            "min_contact_pad_to_button": 0.02107545821914869,
+            "closest_contact_pad": [
+              0.13156351447105408,
+              -0.38780039548873896,
+              0.7906984993721028
+            ],
+            "closest_contact_pad_button": [
+              0.13156351447105408,
+              -0.38780039548873896,
+              0.7696230411529541
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107545821914869
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2806275320825752,
+              0.20145292294168293,
+              1.1130762748675154
+            ],
+            "current_z": 1.1130762748675154,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20316714513315282,
+            "gripper_z": 1.1130766423155067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2806275161192437,
+              0.20145296624921338,
+              1.1130766423155067
+            ],
+            "object_minus_gripper": [
+              1.5963331490009836e-08,
+              -4.330753045067581e-08,
+              -3.674479913673423e-07
+            ],
+            "object_to_gripper_xy": 4.615593294470552e-08,
+            "object_to_gripper_z": -3.674479913673423e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2806275320825752,
+              0.20145292294168293,
+              1.1130762748675154
+            ],
+            "finger_b": [
+              0.2806275320825752,
+              0.20145292294168293,
+              1.1130762748675154
+            ],
+            "finger_midpoint": [
+              0.2806275320825752,
+              0.20145292294168293,
+              1.1130762748675154
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1130762748675154,
+            "object_top_z": 1.238084781487795,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2806275320825752,
+            0.20145292294168296,
+            1.1130762748675156
+          ],
+          "object_origin_world": [
+            0.2806275320825752,
+            0.20145292294168296,
+            1.1130762748675156
+          ],
+          "frame_world": [
+            0.2806275161192437,
+            0.20145296624921338,
+            1.1130766423155067
+          ],
+          "center_minus_frame": [
+            1.5963331490009836e-08,
+            -4.330753042292024e-08,
+            -3.674479911452977e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.043435938132706,
+            "required_z": 0.9112598321946271,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017534007615900335,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.954473814792077e-08,
+            "max_target_xy_drift": 5.597927359400433e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1239479153327412,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1239479153521985,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2827250828922223,
+              -0.32951039582385755,
+              0.9235473982947556
+            ],
+            "target_mouth_xy": [
+              0.28393618676411614,
+              -0.33078056400867906
+            ],
+            "rod_tip_z": 0.9235473982947556,
+            "rod_tip_depth": -0.022287579173770777,
+            "rod_tip_bottom_clearance": 0.12172807426203802,
+            "rod_tip_xy_dist": 0.0017550213121922424,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04469653583403965,
+            "min_rod_tip_bottom_clearance": 0.054744039003017164,
+            "min_rod_tip_xy_dist": 0.0007136270439613978,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28393615724760185,
+              -0.3307805627175801
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9516514288285833e-08,
+              -1.2910989499737013e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 394,
+              "end_frame": 413,
+              "first_rod_tip_xy_delta": [
+                -0.0006576478334621161,
+                0.002788520289405516
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007859302279716318,
+                0.0025141308502461546
+              ],
+              "first_target_mouth_xy": [
+                0.28393615578149933,
+                -0.33078053069936647
+              ],
+              "last_target_mouth_xy": [
+                0.28393615523045285,
+                -0.33078059541407595
+              ],
+              "first_rod_tip_xy": [
+                0.2832785079480372,
+                -0.32799201040996095
+              ],
+              "last_rod_tip_xy": [
+                0.2831502250024812,
+                -0.3282664645638298
+              ],
+              "min_rod_tip_xy_dist": 0.002619035945028434,
+              "max_rod_tip_xy_dist": 0.002865021130338071,
+              "first_target_xy_drift": 3.20517622140987e-08,
+              "last_target_xy_drift": 3.275865886430445e-08,
+              "max_depth": 0.019488290018379373,
+              "min_bottom_clearance": 0.07995232888674841
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0006576478334621161,
+                  0.002788520289405516
+                ],
+                "rod_tip_xy": [
+                  0.2832785079480372,
+                  -0.32799201040996095
+                ],
+                "target_mouth_xy": [
+                  0.28393615578149933,
+                  -0.33078053069936647
+                ],
+                "gripper_position": [
+                  0.2832666045271013,
+                  -0.3279984067614401,
+                  1.0056445756894934
+                ],
+                "rod_tip_xy_dist": 0.002865021130338071,
+                "target_xy_drift": 3.20517622140987e-08,
+                "depth": 0.015473857679845548,
+                "bottom_clearance": 0.08396679823916664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006695525021885307,
+                  0.0027821575478456095
+                ],
+                "rod_tip_xy": [
+                  0.2832666045271013,
+                  -0.3279984067614401
+                ],
+                "target_mouth_xy": [
+                  0.2839361570292898,
+                  -0.3307805643092857
+                ],
+                "gripper_position": [
+                  0.283257642542057,
+                  -0.32799833537547907,
+                  1.0055201397956743
+                ],
+                "rod_tip_xy_dist": 0.0028615906720251267,
+                "target_xy_drift": 1.606607252516234e-09,
+                "depth": 0.015615246944027272,
+                "bottom_clearance": 0.08382525655696715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006785134263432857,
+                  0.0027822264071518665
+                ],
+                "rod_tip_xy": [
+                  0.283257642542057,
+                  -0.3279983353754792
+                ],
+                "target_mouth_xy": [
+                  0.2839361559684003,
+                  -0.33078056178263104
+                ],
+                "gripper_position": [
+                  0.28326274784697275,
+                  -0.3280580628966481,
+                  1.004999892148817
+                ],
+                "rod_tip_xy_dist": 0.0028637674923745623,
+                "target_xy_drift": 1.5844514592861007e-09,
+                "depth": 0.015739744368710284,
+                "bottom_clearance": 0.08370085941162742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006734413846085641,
+                  0.002722502661288706
+                ],
+                "rod_tip_xy": [
+                  0.28326274784697275,
+                  -0.3280580628966481
+                ],
+                "target_mouth_xy": [
+                  0.2839361892315813,
+                  -0.3307805655579368
+                ],
+                "gripper_position": [
+                  0.28325079428967387,
+                  -0.32806421318761925,
+                  1.0048584130710667
+                ],
+                "rod_tip_xy_dist": 0.0028045577261357245,
+                "target_xy_drift": 3.210985157917305e-08,
+                "depth": 0.01626002618134692,
+                "bottom_clearance": 0.08318060301739838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006853924970084413,
+                  0.002716379348587261
+                ],
+                "rod_tip_xy": [
+                  0.28325079428967387,
+                  -0.32806421318761925
+                ],
+                "target_mouth_xy": [
+                  0.2839361867866823,
+                  -0.3307805925362065
+                ],
+                "gripper_position": [
+                  0.28324177997636335,
+                  -0.32806417579728453,
+                  1.0047344729918906
+                ],
+                "rod_tip_xy_dist": 0.0028015138122784292,
+                "target_xy_drift": 4.1972702496443184e-08,
+                "depth": 0.01640136371951051,
+                "bottom_clearance": 0.08303916698902103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006944087138449628,
+                  0.002716417031724816
+                ],
+                "rod_tip_xy": [
+                  0.28324177997636335,
+                  -0.32806417579728453
+                ],
+                "target_mouth_xy": [
+                  0.2839361886902083,
+                  -0.33078059282900935
+                ],
+                "gripper_position": [
+                  0.28324749923362547,
+                  -0.32812494725574853,
+                  1.0042148220995541
+                ],
+                "rod_tip_xy_dist": 0.0028037697751613767,
+                "target_xy_drift": 4.353545304683464e-08,
+                "depth": 0.0165254257448757,
+                "bottom_clearance": 0.08291515318992171,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006886579051691988,
+                  0.0026556455909647614
+                ],
+                "rod_tip_xy": [
+                  0.2832474992336255,
+                  -0.3281249472557486
+                ],
+                "target_mouth_xy": [
+                  0.2839361571387947,
+                  -0.33078059284671335
+                ],
+                "gripper_position": [
+                  0.2832356169942182,
+                  -0.32813089597010164,
+                  1.0040736088762394
+                ],
+                "rod_tip_xy_dist": 0.002743483773446201,
+                "target_xy_drift": 3.012932971403803e-08,
+                "depth": 0.017044944566429465,
+                "bottom_clearance": 0.08239556923470615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000700572875894534,
+                  0.002649666408275797
+                ],
+                "rod_tip_xy": [
+                  0.2832356169942182,
+                  -0.3281308959701017
+                ],
+                "target_mouth_xy": [
+                  0.2839361898701127,
+                  -0.3307805623783775
+                ],
+                "gripper_position": [
+                  0.283226390170387,
+                  -0.328130778964225,
+                  1.0039493661643595
+                ],
+                "rod_tip_xy_dist": 0.0027407178675639527,
+                "target_xy_drift": 3.262427429351481e-08,
+                "depth": 0.017186310547715355,
+                "bottom_clearance": 0.08225433662864845,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007097666096133048,
+                  0.0026497885183523473
+                ],
+                "rod_tip_xy": [
+                  0.283226390170387,
+                  -0.32813077896422504
+                ],
+                "target_mouth_xy": [
+                  0.2839361567800003,
+                  -0.3307805674825774
+                ],
+                "gripper_position": [
+                  0.28323309263295937,
+                  -0.3281924907279282,
+                  1.003433341562444
+                ],
+                "rod_tip_xy_dist": 0.002743200290192806,
+                "target_xy_drift": 4.787885792187307e-09,
+                "depth": 0.017310522515858184,
+                "bottom_clearance": 0.08213010606015725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007030655282745935,
+                  0.0025880751612812336
+                ],
+                "rod_tip_xy": [
+                  0.28323309263295937,
+                  -0.3281924907279282
+                ],
+                "target_mouth_xy": [
+                  0.28393615816123396,
+                  -0.33078056588920945
+                ],
+                "gripper_position": [
+                  0.28322085825920973,
+                  -0.32819871426108665,
+                  1.0032919630502037
+                ],
+                "rod_tip_xy_dist": 0.002681871394658759,
+                "target_xy_drift": 3.300599394328146e-09,
+                "depth": 0.01782651248256184,
+                "bottom_clearance": 0.08161407864304948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007153273845449948,
+                  0.002581847829755235
+                ],
+                "rod_tip_xy": [
+                  0.28322085825920973,
+                  -0.3281987142610867
+                ],
+                "target_mouth_xy": [
+                  0.2839361856437547,
+                  -0.33078056209084195
+                ],
+                "gripper_position": [
+                  0.283211467366698,
+                  -0.32819844380820246,
+                  1.0031679458181824
+                ],
+                "rod_tip_xy_dist": 0.0026791102036108553,
+                "target_xy_drift": 2.8403068474022082e-08,
+                "depth": 0.017967919709478974,
+                "bottom_clearance": 0.0814726782649805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007247205490749087,
+                  0.0025821506186616827
+                ],
+                "rod_tip_xy": [
+                  0.28321146736669806,
+                  -0.3281984438082025
+                ],
+                "target_mouth_xy": [
+                  0.28393618791577296,
+                  -0.3307805944268642
+                ],
+                "gripper_position": [
+                  0.28320217471686865,
+                  -0.32819824846857953,
+                  1.003044405004231
+                ],
+                "rod_tip_xy_dist": 0.0026819249974051004,
+                "target_xy_drift": 4.4113664740016944e-08,
+                "depth": 0.018091885452918732,
+                "bottom_clearance": 0.08134865960739168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007339818500913253,
+                  0.0025823456632447783
+                ],
+                "rod_tip_xy": [
+                  0.28320217471686865,
+                  -0.3281982484685796
+                ],
+                "target_mouth_xy": [
+                  0.28393615656696,
+                  -0.33078059413182437
+                ],
+                "gripper_position": [
+                  0.2832102939401449,
+                  -0.3282616736978061,
+                  1.0025304145020593
+                ],
+                "rod_tip_xy_dist": 0.002684630045414563,
+                "target_xy_drift": 3.1421617015707275e-08,
+                "depth": 0.018215431939694104,
+                "bottom_clearance": 0.08122508975805931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007258631205629973,
+                  0.0025188884065943107
+                ],
+                "rod_tip_xy": [
+                  0.2832102939401449,
+                  -0.3282616736978061
+                ],
+                "target_mouth_xy": [
+                  0.2839361570607079,
+                  -0.33078056210440043
+                ],
+                "gripper_position": [
+                  0.28319806732000224,
+                  -0.32826771210602246,
+                  1.0023896263893812
+                ],
+                "rod_tip_xy_dist": 0.0026213881961031026,
+                "target_xy_drift": 6.410293743910816e-10,
+                "depth": 0.018729430406450365,
+                "bottom_clearance": 0.08071111932680164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007380908269369879,
+                  0.0025128810581765415
+                ],
+                "rod_tip_xy": [
+                  0.28319806732000224,
+                  -0.32826771210602246
+                ],
+                "target_mouth_xy": [
+                  0.28393615814693923,
+                  -0.330780593164199
+                ],
+                "gripper_position": [
+                  0.28318840414786944,
+                  -0.32826755563875626,
+                  1.0022659805120158
+                ],
+                "rod_tip_xy_dist": 0.002619035945028434,
+                "target_xy_drift": 3.045989838667479e-08,
+                "depth": 0.018870201052360147,
+                "bottom_clearance": 0.08057033766172184,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007477497350913964,
+                  0.002513006812902119
+                ],
+                "rod_tip_xy": [
+                  0.28318840414786944,
+                  -0.3282675556387563
+                ],
+                "target_mouth_xy": [
+                  0.28393615388296084,
+                  -0.33078056245165843
+                ],
+                "gripper_position": [
+                  0.2831788849521669,
+                  -0.32826720540863047,
+                  1.002142429664595
+                ],
+                "rod_tip_xy_dist": 0.002621894907890421,
+                "target_xy_drift": 3.3751331032026513e-09,
+                "depth": 0.01899395645542079,
+                "bottom_clearance": 0.08044670565615875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0007573045212975194,
+                  0.0025134178712769017
+                ],
+                "rod_tip_xy": [
+                  0.2831788849521669,
+                  -0.3282672054086305
+                ],
+                "target_mouth_xy": [
+                  0.28393618947346444,
+                  -0.3307806232799074
+                ],
+                "gripper_position": [
+                  0.2831694084377613,
+                  -0.32826672883357516,
+                  1.0020186416898553
+                ],
+                "rod_tip_xy_dist": 0.0026250294348124513,
+                "target_xy_drift": 6.860249055265772e-08,
+                "depth": 0.019117463364496934,
+                "bottom_clearance": 0.08032312151330812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0007667485209197911,
+                  0.002513864974357183
+                ],
+                "rod_tip_xy": [
+                  0.2831694084377613,
+                  -0.3282667288335751
+                ],
+                "target_mouth_xy": [
+                  0.2839361569586811,
+                  -0.3307805938079323
+                ],
+                "gripper_position": [
+                  0.283159804210245,
+                  -0.32826657373504764,
+                  1.001894976872534
+                ],
+                "rod_tip_xy_dist": 0.002628197177464531,
+                "target_xy_drift": 3.109169461435985e-08,
+                "depth": 0.019241177468326653,
+                "bottom_clearance": 0.0801993176255712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0007763538060799324,
+                  0.0025139886743481554
+                ],
+                "rod_tip_xy": [
+                  0.283159804210245,
+                  -0.32826657373504764
+                ],
+                "target_mouth_xy": [
+                  0.28393615801632494,
+                  -0.3307805624093958
+                ],
+                "gripper_position": [
+                  0.2831502250024812,
+                  -0.32826646456382974,
+                  1.00177161086657
+                ],
+                "rod_tip_xy_dist": 0.002631133650532712,
+                "target_xy_drift": 8.281984976412113e-10,
+                "depth": 0.01936486673532778,
+                "bottom_clearance": 0.0800757017895436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 413,
+                "rod_tip_xy_delta": [
+                  -0.0007859302279716318,
+                  0.0025141308502461546
+                ],
+                "rod_tip_xy": [
+                  0.2831502250024812,
+                  -0.3282664645638298
+                ],
+                "target_mouth_xy": [
+                  0.28393615523045285,
+                  -0.33078059541407595
+                ],
+                "gripper_position": [
+                  0.2831622636104922,
+                  -0.32833503996753494,
+                  1.001262947028819
+                ],
+                "rod_tip_xy_dist": 0.002634110904157035,
+                "target_xy_drift": 3.275865886430445e-08,
+                "depth": 0.019488290018379373,
+                "bottom_clearance": 0.07995232888674841,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1554,
+              "stir_motion_end_frame": 1573,
+              "rod_tip_xy_path_length": 0.0006048990226285192,
+              "rod_tip_xy_max_step": 3.261691739782894e-05,
+              "rod_tip_xy_range": 0.0006048823975007885,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2827250828922223,
+            -0.32951039582385755,
+            1.0435473982947556
+          ],
+          "object_origin_world": [
+            0.2827250828922223,
+            -0.32951039582385755,
+            1.0435473982947556
+          ],
+          "frame_world": [
+            0.2827234894070739,
+            -0.32951415990612437,
+            1.043435938132706
+          ],
+          "center_minus_frame": [
+            1.5934851483878631e-06,
+            3.764082266821678e-06,
+            0.00011146016204954812
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2576742087616224,
+              0.15996315094754424,
+              0.8327927060602456
+            ],
+            "target_position": [
+              0.27230371557801897,
+              0.204846664471953,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04720754448164803,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16507781333588925,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327927060602456,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670873997627,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13493490773606076,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ed722ac3d77a6f0f5144ace3437e1cbcd0d203abf9a6ba9c14999dc46728334",
+    "visual_seed": 4055411425742812572,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b9ab31e2ece83f77f5ca9009e0de6b36e3d9ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_41_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2991786002606963,
+              0.09047560469061525,
+              1.1657334898368927
+            ],
+            "current_z": 1.1657334898368927,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30462704142677133,
+            "gripper_z": 1.1578378371328903,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2938412645968512,
+              0.08539472509001217,
+              1.1578378371328903
+            ],
+            "object_minus_gripper": [
+              0.005337335663845089,
+              0.005080879600603078,
+              0.007895652704002387
+            ],
+            "object_to_gripper_xy": 0.007369022289583414,
+            "object_to_gripper_z": 0.007895652704002387,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2991786002606963,
+              0.06611455861371837,
+              1.1657334898368927
+            ],
+            "finger_b": [
+              0.28794776721543003,
+              0.09047560469061525,
+              1.1657334898368927
+            ],
+            "finger_midpoint": [
+              0.29356318373806317,
+              0.07829508165216681,
+              1.1657334898368927
+            ],
+            "object_minus_finger_midpoint": [
+              0.005615416522633143,
+              0.012180523038448438,
+              0.0
+            ],
+            "finger_gap": 0.02682521531789331,
+            "fingertip_max_gap": 0.09136693748801075,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013412607658946654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657334898368927,
+            "object_top_z": 1.2156862681841112,
+            "finger_top_clearance": 0.04995277834721845,
+            "fingertip_min_top_clearance": 0.014985833504165567,
+            "object_projection_between_fingers": 0.8247179236403748,
+            "object_to_finger_line_xy": 0.010199166644346397,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818346874400538,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0752603865635744,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2909091623788085,
+              -0.33498430176387073,
+              0.8515395769426828
+            ],
+            "target_position": [
+              0.28235380078272443,
+              -0.33597821258157246,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008612901413187917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18579475406149318,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395769426828,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751650894977093,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517288989819576,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15466368821742693,
+            "release_required_pad_clearance": 0.05258644494909788,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23738813253248173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007634460926055908,
+            "max_z_decrease": 0.007634460926055908,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512896443860412,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007634460926055908,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021068595374732796,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007634460926055908,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007634484242510049,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1380537301301956,
+              -0.39223966002464294,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1380537301301956,
+              -0.39223966002464294,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1373210335019203,
+              -0.3918316400624338,
+              0.8078372870976624
+            ],
+            "closest_button": [
+              0.13804131746292114,
+              -0.39224424958229065,
+              0.7727181315422058
+            ],
+            "closest_ee_minus_button": [
+              -0.0007202839610008505,
+              0.0004126095198568325,
+              0.03511915555545664
+            ],
+            "button_min_z_position": [
+              0.1380348801612854,
+              -0.3922388255596161,
+              0.7691743969917297
+            ],
+            "min_active_finger_to_button": 0.1465956783433591,
+            "closest_active_finger": [
+              0.009528122842311859,
+              -0.4539160132408142,
+              0.8106170296669006
+            ],
+            "closest_active_finger_button": [
+              0.13805349171161652,
+              -0.39224085211753845,
+              0.7764454483985901
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12852536886930466,
+              -0.06167516112327576,
+              0.03417158126831055
+            ],
+            "min_contact_pad_to_button": 0.021068595374732796,
+            "closest_contact_pad": [
+              0.1380348801612854,
+              -0.39307134034847185,
+              0.7902265377425073
+            ],
+            "closest_contact_pad_button": [
+              0.1380348801612854,
+              -0.3922388255596161,
+              0.7691743969917297
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008325147888557649,
+              0.021052140750777548
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26769330507501826,
+              0.19796036887235607,
+              1.10379657103673
+            ],
+            "current_z": 1.10379657103673,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19388744130236735,
+            "gripper_z": 1.1037967835822413,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2676932839674898,
+              0.19796039475523483,
+              1.1037967835822413
+            ],
+            "object_minus_gripper": [
+              2.1107528447306123e-08,
+              -2.588287875693318e-08,
+              -2.125455114132535e-07
+            ],
+            "object_to_gripper_xy": 3.339837076714881e-08,
+            "object_to_gripper_z": -2.125455114132535e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26769330507501826,
+              0.19796036887235607,
+              1.10379657103673
+            ],
+            "finger_b": [
+              0.26769330507501826,
+              0.19796036887235607,
+              1.10379657103673
+            ],
+            "finger_midpoint": [
+              0.26769330507501826,
+              0.19796036887235607,
+              1.10379657103673
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10379657103673,
+            "object_top_z": 1.2288050776570096,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2676933050750183,
+            0.19796036887235607,
+            1.10379657103673
+          ],
+          "object_origin_world": [
+            0.2676933050750183,
+            0.19796036887235607,
+            1.10379657103673
+          ],
+          "frame_world": [
+            0.2676932839674898,
+            0.19796039475523483,
+            1.1037967835822413
+          ],
+          "center_minus_frame": [
+            2.1107528502817274e-08,
+            -2.588287875693318e-08,
+            -2.125455114132535e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043641315919735,
+            "required_z": 0.9112599083140118,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006261178859727213,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0604592650953027e-07,
+            "max_target_xy_drift": 1.7586902901103207e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.2373881323605264,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.23738813361948535,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29050695904978147,
+              -0.3354867823302707,
+              0.9233367197947878
+            ],
+            "target_mouth_xy": [
+              0.2909091936541617,
+              -0.3349843619997269
+            ],
+            "rod_tip_z": 0.9233367197947878,
+            "rod_tip_depth": -0.02207689211474262,
+            "rod_tip_bottom_clearance": 0.12151742672035415,
+            "rod_tip_xy_dist": 0.0006435983728262609,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0449544938242088,
+            "min_rod_tip_bottom_clearance": 0.054486000229428955,
+            "min_rod_tip_xy_dist": 2.009427201078854e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29090910616515236,
+              -0.33498430207133817
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.748900931498937e-08,
+              -5.992838875146234e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                5.676385192865396e-05,
+                0.00129872984814422
+              ],
+              "last_rod_tip_xy_delta": [
+                -5.201969129126072e-05,
+                0.0009676176146185544
+              ],
+              "first_target_mouth_xy": [
+                0.29090922373635697,
+                -0.3349843651778831
+              ],
+              "last_target_mouth_xy": [
+                0.2909091942362612,
+                -0.3349843610453277
+              ],
+              "first_rod_tip_xy": [
+                0.2909659875882856,
+                -0.3336856353297389
+              ],
+              "last_rod_tip_xy": [
+                0.29085717454496995,
+                -0.33401674343070914
+              ],
+              "min_rod_tip_xy_dist": 0.0009687980265260197,
+              "max_rod_tip_xy_dist": 0.001299969750935185,
+              "first_target_xy_drift": 1.3343696701390033e-07,
+              "last_target_xy_drift": 1.05992696232434e-07,
+              "max_depth": 0.01935480362574904,
+              "min_bottom_clearance": 0.08008578762986984
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  5.676385192865396e-05,
+                  0.00129872984814422
+                ],
+                "rod_tip_xy": [
+                  0.2909659875882856,
+                  -0.3336856353297389
+                ],
+                "target_mouth_xy": [
+                  0.29090922373635697,
+                  -0.3349843651778831
+                ],
+                "gripper_position": [
+                  0.2909540399554673,
+                  -0.3336928948388627,
+                  1.0058633729718998
+                ],
+                "rod_tip_xy_dist": 0.001299969750935185,
+                "target_xy_drift": 1.3343696701390033e-07,
+                "depth": 0.015249708721010946,
+                "bottom_clearance": 0.08419090568228149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  4.481587071314408e-05,
+                  0.0012914697003246212
+                ],
+                "rod_tip_xy": [
+                  0.2909540399554672,
+                  -0.3336928948388627
+                ],
+                "target_mouth_xy": [
+                  0.29090922408475406,
+                  -0.33498436453918734
+                ],
+                "gripper_position": [
+                  0.29094495716222657,
+                  -0.3336937003976692,
+                  1.005734186765692
+                ],
+                "rod_tip_xy_dist": 0.0012922470542138388,
+                "target_xy_drift": 1.334438632677054e-07,
+                "depth": 0.015396542642606481,
+                "bottom_clearance": 0.08404406254159646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  3.576407920585778e-05,
+                  0.0012906032647581056
+                ],
+                "rod_tip_xy": [
+                  0.29094495716222646,
+                  -0.33369370039766927
+                ],
+                "target_mouth_xy": [
+                  0.2909091930830206,
+                  -0.3349843036624274
+                ],
+                "gripper_position": [
+                  0.2909550249382804,
+                  -0.3337644634835505,
+                  1.0052097217774056
+                ],
+                "rod_tip_xy_dist": 0.0012910987012485621,
+                "target_xy_drift": 8.693242998771044e-08,
+                "depth": 0.015525577361637843,
+                "bottom_clearance": 0.08391493636072656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  4.579998303949617e-05,
+                  0.0012199004186957407
+                ],
+                "rod_tip_xy": [
+                  0.2909550249382803,
+                  -0.33376446348355043
+                ],
+                "target_mouth_xy": [
+                  0.2909092249552408,
+                  -0.3349843639022462
+                ],
+                "gripper_position": [
+                  0.29094310782613764,
+                  -0.333771530378632,
+                  1.005062742284017
+                ],
+                "rod_tip_xy_dist": 0.001220759874004901,
+                "target_xy_drift": 1.3391843149653743e-07,
+                "depth": 0.016050189467343268,
+                "bottom_clearance": 0.08339042665051011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  3.3943749249754074e-05,
+                  0.001212802767493415
+                ],
+                "rod_tip_xy": [
+                  0.2909431078261375,
+                  -0.333771530378632
+                ],
+                "target_mouth_xy": [
+                  0.29090916407688777,
+                  -0.3349843331461254
+                ],
+                "gripper_position": [
+                  0.29093384530564126,
+                  -0.3337720292959181,
+                  1.0049336640047064
+                ],
+                "rod_tip_xy_dist": 0.0012132776808928846,
+                "target_xy_drift": 6.572222987764424e-08,
+                "depth": 0.016197022559139462,
+                "bottom_clearance": 0.08324351056414825,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  2.4619744630305362e-05,
+                  0.0012123640937303226
+                ],
+                "rod_tip_xy": [
+                  0.29093384530564115,
+                  -0.33377202929591815
+                ],
+                "target_mouth_xy": [
+                  0.29090922556101084,
+                  -0.33498439338964847
+                ],
+                "gripper_position": [
+                  0.2909448262366938,
+                  -0.33384396415800166,
+                  1.0044109294915184
+                ],
+                "rod_tip_xy_dist": 0.0012126140472517245,
+                "target_xy_drift": 1.5031435333369185e-07,
+                "depth": 0.01632624646880021,
+                "bottom_clearance": 0.08311438178516173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  3.5691956100925015e-05,
+                  0.0011403978399431858
+                ],
+                "rod_tip_xy": [
+                  0.2909448262366937,
+                  -0.3338439641580017
+                ],
+                "target_mouth_xy": [
+                  0.2909091342805928,
+                  -0.3349843619979449
+                ],
+                "gripper_position": [
+                  0.2909326406207937,
+                  -0.3338513068547099,
+                  1.004264073044197
+                ],
+                "rod_tip_xy_dist": 0.0011409562432790287,
+                "target_xy_drift": 6.619423074932335e-08,
+                "depth": 0.01684890005044426,
+                "bottom_clearance": 0.08259164348571513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  2.3476424381219108e-05,
+                  0.0011330259739735227
+                ],
+                "rod_tip_xy": [
+                  0.29093264062079366,
+                  -0.3338513068547098
+                ],
+                "target_mouth_xy": [
+                  0.29090916419641244,
+                  -0.33498433282868334
+                ],
+                "gripper_position": [
+                  0.29092342627658574,
+                  -0.3338517159688669,
+                  1.0041351238536578
+                ],
+                "rod_tip_xy_dist": 0.0011332691649384875,
+                "target_xy_drift": 6.567831779100632e-08,
+                "depth": 0.016995746701862213,
+                "bottom_clearance": 0.08244477974068265,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  1.4261910852464421e-05,
+                  0.001132646664417758
+                ],
+                "rod_tip_xy": [
+                  0.29092342627658563,
+                  -0.3338517159688669
+                ],
+                "target_mouth_xy": [
+                  0.29090916436573316,
+                  -0.3349843626332847
+                ],
+                "gripper_position": [
+                  0.2909352498432981,
+                  -0.333924626619243,
+                  1.003615225813953
+                ],
+                "rod_tip_xy_dist": 0.001132736451482796,
+                "target_xy_drift": 8.399438654362515e-08,
+                "depth": 0.01712475689523385,
+                "bottom_clearance": 0.08231577615857322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  2.6087874018088097e-05,
+                  0.0010597043119191518
+                ],
+                "rod_tip_xy": [
+                  0.290935249843298,
+                  -0.333924626619243
+                ],
+                "target_mouth_xy": [
+                  0.2909091619692799,
+                  -0.33498433093116214
+                ],
+                "gripper_position": [
+                  0.2909228338197869,
+                  -0.33393202847099607,
+                  1.0034681560510186
+                ],
+                "rod_tip_xy_dist": 0.001060025379823911,
+                "target_xy_drift": 6.282507533221253e-08,
+                "depth": 0.017644652022325347,
+                "bottom_clearance": 0.0817959405968437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  1.3669458146126079e-05,
+                  0.0010523043589514836
+                ],
+                "rod_tip_xy": [
+                  0.29092283381978684,
+                  -0.33393202847099607
+                ],
+                "target_mouth_xy": [
+                  0.2909091643616407,
+                  -0.33498433282994755
+                ],
+                "gripper_position": [
+                  0.2909134082706364,
+                  -0.3339324155059618,
+                  1.0033397568481897
+                ],
+                "rod_tip_xy_dist": 0.0010523931384963992,
+                "target_xy_drift": 6.582494441652486e-08,
+                "depth": 0.017791665042326543,
+                "bottom_clearance": 0.08164886781756275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  4.24311976410241e-06,
+                  0.0010519468077763716
+                ],
+                "rod_tip_xy": [
+                  0.2909134082706363,
+                  -0.3339324155059618
+                ],
+                "target_mouth_xy": [
+                  0.2909091651508722,
+                  -0.3349843623137382
+                ],
+                "gripper_position": [
+                  0.2909039673605771,
+                  -0.3339328693893843,
+                  1.0032110185256802
+                ],
+                "rod_tip_xy_dist": 0.0010519553652395292,
+                "target_xy_drift": 8.431169492216298e-08,
+                "depth": 0.01792013511585433,
+                "bottom_clearance": 0.08152043808873277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -5.197432997094964e-06,
+                  0.0010514650282486548
+                ],
+                "rod_tip_xy": [
+                  0.290903967360577,
+                  -0.3339328693893843
+                ],
+                "target_mouth_xy": [
+                  0.2909091647935741,
+                  -0.334984334417633
+                ],
+                "gripper_position": [
+                  0.29091739544684225,
+                  -0.33400798293559447,
+                  1.0026940586246889
+                ],
+                "rod_tip_xy_dist": 0.0010514778737280705,
+                "target_xy_drift": 6.695949986574484e-08,
+                "depth": 0.018048834314485007,
+                "bottom_clearance": 0.08139177162306865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  8.201977276023342e-06,
+                  0.0009763479887212045
+                ],
+                "rod_tip_xy": [
+                  0.29091739544684214,
+                  -0.33400798293559447
+                ],
+                "target_mouth_xy": [
+                  0.2909091934695661,
+                  -0.3349843309243157
+                ],
+                "gripper_position": [
+                  0.2909049818865721,
+                  -0.3340152870385642,
+                  1.0025475737409393
+                ],
+                "rod_tip_xy_dist": 0.0009763824391657082,
+                "target_xy_drift": 9.19486539974839e-08,
+                "depth": 0.01856579042279949,
+                "bottom_clearance": 0.08087478287729921,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -4.210690698280839e-06,
+                  0.0009690762317918766
+                ],
+                "rod_tip_xy": [
+                  0.290904981886572,
+                  -0.33401528703856426
+                ],
+                "target_mouth_xy": [
+                  0.29090919257727027,
+                  -0.33498436327035613
+                ],
+                "gripper_position": [
+                  0.290895424663912,
+                  -0.33401542070281226,
+                  1.0024187814511512
+                ],
+                "rod_tip_xy_dist": 0.0009690853795925825,
+                "target_xy_drift": 1.0588849758468747e-07,
+                "depth": 0.018712257697350743,
+                "bottom_clearance": 0.08072826004195288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -1.376957568388626e-05,
+                  0.0009689419285934253
+                ],
+                "rod_tip_xy": [
+                  0.29089542466391194,
+                  -0.33401542070281226
+                ],
+                "target_mouth_xy": [
+                  0.2909091942395958,
+                  -0.3349843626314057
+                ],
+                "gripper_position": [
+                  0.2908859257365169,
+                  -0.3340158123137275,
+                  1.0022904230014011
+                ],
+                "rod_tip_xy_dist": 0.0009690397629616964,
+                "target_xy_drift": 1.0688605787694658e-07,
+                "depth": 0.018841040232958517,
+                "bottom_clearance": 0.0805994955126822,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -2.3265916447912094e-05,
+                  0.000968518617958658
+                ],
+                "rod_tip_xy": [
+                  0.2908859257365168,
+                  -0.3340158123137275
+                ],
+                "target_mouth_xy": [
+                  0.2909091916529647,
+                  -0.33498433093168617
+                ],
+                "gripper_position": [
+                  0.2908763099889586,
+                  -0.3340160217780883,
+                  1.0021618284730758
+                ],
+                "rod_tip_xy_dist": 0.0009687980265260197,
+                "target_xy_drift": 9.022796541822635e-08,
+                "depth": 0.01896945845650544,
+                "bottom_clearance": 0.08047113873278855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -3.288255183331312e-05,
+                  0.0009683421287680072
+                ],
+                "rod_tip_xy": [
+                  0.2908763099889585,
+                  -0.33401602177808826
+                ],
+                "target_mouth_xy": [
+                  0.29090919254079184,
+                  -0.33498436390685626
+                ],
+                "gripper_position": [
+                  0.29086678797343424,
+                  -0.3340160608212345,
+                  1.002033192639752
+                ],
+                "rod_tip_xy_dist": 0.0009689002737960323,
+                "target_xy_drift": 1.0622797368223329e-07,
+                "depth": 0.01909801551400403,
+                "bottom_clearance": 0.08034252644153794,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -4.237372328774747e-05,
+                  0.0009682697961346798
+                ],
+                "rod_tip_xy": [
+                  0.2908667879734341,
+                  -0.3340160608212344
+                ],
+                "target_mouth_xy": [
+                  0.2909091616967219,
+                  -0.3349843306173691
+                ],
+                "gripper_position": [
+                  0.29085717454497007,
+                  -0.3340167434307091,
+                  1.001905105381522
+                ],
+                "rod_tip_xy_dist": 0.0009691965386504231,
+                "target_xy_drift": 6.243901900190815e-08,
+                "depth": 0.01922669912142072,
+                "bottom_clearance": 0.08021391523569532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -5.201969129126072e-05,
+                  0.0009676176146185544
+                ],
+                "rod_tip_xy": [
+                  0.29085717454496995,
+                  -0.33401674343070914
+                ],
+                "target_mouth_xy": [
+                  0.2909091942362612,
+                  -0.3349843610453277
+                ],
+                "gripper_position": [
+                  0.29087486898621656,
+                  -0.33409716699796604,
+                  1.0013922287715895
+                ],
+                "rod_tip_xy_dist": 0.0009690149103095058,
+                "target_xy_drift": 1.05992696232434e-07,
+                "depth": 0.01935480362574904,
+                "bottom_clearance": 0.08008578762986984,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006053014779260602,
+              "rod_tip_xy_max_step": 3.2770196649873285e-05,
+              "rod_tip_xy_range": 0.0006052900680114649,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2905069590497815,
+            -0.3354867823302707,
+            1.0433367197947878
+          ],
+          "object_origin_world": [
+            0.2905069590497815,
+            -0.3354867823302707,
+            1.0433367197947878
+          ],
+          "frame_world": [
+            0.29053216880779975,
+            -0.33548423785667614,
+            1.043641315919735
+          ],
+          "center_minus_frame": [
+            -2.5209758018229778e-05,
+            -2.544473594545682e-06,
+            -0.00030459612494726507
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25502282211419286,
+              0.1523619063746846,
+              0.8321908154927311
+            ],
+            "target_position": [
+              0.2678213722542158,
+              0.19826997299530852,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04765871868326219,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1653941141451029,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321908154927311,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674846807562,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1353304554060229,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d418ec5ef1e5efa7d451dc8230353ecff23749a4d0d222781533768b9e0be53",
+    "visual_seed": 6246429109268262490,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7c0a0e5a73c4d11af6f3347c73e3f8cea14848
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3012701864737412,
+              0.08271685163671796,
+              1.1657915456908254
+            ],
+            "current_z": 1.1657915456908254,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3046849184667698,
+            "gripper_z": 1.1577457266690465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2959150681218462,
+              0.07763622161076268,
+              1.1577457266690465
+            ],
+            "object_minus_gripper": [
+              0.005355118351895005,
+              0.005080630025955282,
+              0.008045819021778922
+            ],
+            "object_to_gripper_xy": 0.0073817405822367566,
+            "object_to_gripper_z": 0.008045819021778922,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3012701864737412,
+              0.058312887052599544,
+              1.1657915456908254
+            ],
+            "finger_b": [
+              0.2900776881885888,
+              0.08271685163671796,
+              1.1657915456908254
+            ],
+            "finger_midpoint": [
+              0.295673937331165,
+              0.07051486934465875,
+              1.1657915456908254
+            ],
+            "object_minus_finger_midpoint": [
+              0.005596249142576226,
+              0.01220198229205921,
+              0.0
+            ],
+            "finger_gap": 0.026848193706207602,
+            "fingertip_max_gap": 0.09113757902327821,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013424096853103813,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657915456908254,
+            "object_top_z": 1.2157825931446409,
+            "finger_top_clearance": 0.04999104745381544,
+            "fingertip_min_top_clearance": 0.014997314236144598,
+            "object_projection_between_fingers": 0.826210342247216,
+            "object_to_finger_line_xy": 0.010173545928175844,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806878951163911,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7793868300655044,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2933181143773029,
+              -0.3342298326630862,
+              0.851539666418468
+            ],
+            "target_position": [
+              0.28524039523847966,
+              -0.3352243963942726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008138716330054897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18303782157952703,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539666418468,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554848194821794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864034583541977,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15093757845960232,
+            "release_required_pad_clearance": 0.05320172917709885,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4259853221141812,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007343709468841553,
+            "max_z_decrease": 0.007343709468841553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512971785178988,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007343709468841553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104988693446223,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007343709468841553,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007343730109814991,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14094032347202295,
+              -0.3914858400821685,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14094032347202295,
+              -0.3914858400821685,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1400945959664935,
+              -0.3906639077025035,
+              0.8082590994675704
+            ],
+            "closest_button": [
+              0.14093200862407682,
+              -0.39148712158203125,
+              0.7731490135192871
+            ],
+            "closest_ee_minus_button": [
+              -0.000837412657583303,
+              0.0008232138795277733,
+              0.03511008594828324
+            ],
+            "button_min_z_position": [
+              0.14092296361923212,
+              -0.3914844989776611,
+              0.7694651484489441
+            ],
+            "min_active_finger_to_button": 0.14653371006106058,
+            "closest_active_finger": [
+              0.013887427747249603,
+              -0.45595574378967285,
+              0.8106503486633301
+            ],
+            "closest_active_finger_button": [
+              0.14094014465808866,
+              -0.39148643612861633,
+              0.776394784450531
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12705271691083905,
+              -0.06446930766105652,
+              0.03425556421279907
+            ],
+            "min_contact_pad_to_button": 0.02104988693446223,
+            "closest_contact_pad": [
+              0.14092296361923212,
+              -0.39154419376171057,
+              0.7905149507398541
+            ],
+            "closest_contact_pad_button": [
+              0.14092296361923212,
+              -0.3914844989776611,
+              0.7694651484489441
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -5.969478404949102e-05,
+              0.021049802290910025
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2681237117740552,
+              0.20824516215953992,
+              1.104429523997636
+            ],
+            "current_z": 1.104429523997636,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1945203942632735,
+            "gripper_z": 1.1044297177048652,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2681236108125291,
+              0.2082454145675226,
+              1.1044297177048652
+            ],
+            "object_minus_gripper": [
+              1.0096152608385367e-07,
+              -2.524079826815573e-07,
+              -1.9370722914580085e-07
+            ],
+            "object_to_gripper_xy": 2.7185109797562705e-07,
+            "object_to_gripper_z": -1.9370722914580085e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2681237117740552,
+              0.20824516215953992,
+              1.104429523997636
+            ],
+            "finger_b": [
+              0.2681237117740552,
+              0.20824516215953992,
+              1.104429523997636
+            ],
+            "finger_midpoint": [
+              0.2681237117740552,
+              0.20824516215953992,
+              1.104429523997636
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104429523997636,
+            "object_top_z": 1.2294380306179158,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2681237117740552,
+            0.20824516215953995,
+            1.1044295239976363
+          ],
+          "object_origin_world": [
+            0.2681237117740552,
+            0.20824516215953995,
+            1.1044295239976363
+          ],
+          "frame_world": [
+            0.2681236108125291,
+            0.2082454145675226,
+            1.1044297177048652
+          ],
+          "center_minus_frame": [
+            1.0096152608385367e-07,
+            -2.524079826538017e-07,
+            -1.9370722892375625e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436190273794728,
+            "required_z": 0.9112598231766124,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002016427813623035,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0773648663585351e-07,
+            "max_target_xy_drift": 1.8100133905535948e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.425436332514805,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4259853233945536,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2913571498994623,
+              -0.3347977016033905,
+              0.9233138469082008
+            ],
+            "target_mouth_xy": [
+              0.29331805729577487,
+              -0.3342299560794184
+            ],
+            "rod_tip_z": 0.9233138469082008,
+            "rod_tip_depth": -0.02205407463893938,
+            "rod_tip_bottom_clearance": 0.12149459819602593,
+            "rod_tip_xy_dist": 0.0020414438020439395,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04500234959996807,
+            "min_rod_tip_bottom_clearance": 0.05443823588219554,
+            "min_rod_tip_xy_dist": 0.0014817901277712395,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2933181468115972,
+              -0.3342300160299656
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.951582231020438e-08,
+              5.995054719321047e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0014427658789588627,
+                0.0011523423269731992
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015604521833117446,
+                0.0008313862546107664
+              ],
+              "first_target_mouth_xy": [
+                0.293317995445872,
+                -0.33422995675473494
+              ],
+              "last_target_mouth_xy": [
+                0.2933180268393598,
+                -0.3342299871629181
+              ],
+              "first_rod_tip_xy": [
+                0.29187522956691314,
+                -0.33307761442776174
+              ],
+              "last_rod_tip_xy": [
+                0.29175757465604807,
+                -0.3333986009083073
+              ],
+              "min_rod_tip_xy_dist": 0.0017271742648809901,
+              "max_rod_tip_xy_dist": 0.0018581876935819185,
+              "first_target_xy_drift": 1.6255809954869125e-07,
+              "last_target_xy_drift": 1.2339628913345342e-07,
+              "max_depth": 0.019434990728165347,
+              "min_bottom_clearance": 0.08000552925912519
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014427658789588627,
+                  0.0011523423269731992
+                ],
+                "rod_tip_xy": [
+                  0.29187522956691314,
+                  -0.33307761442776174
+                ],
+                "target_mouth_xy": [
+                  0.293317995445872,
+                  -0.33422995675473494
+                ],
+                "gripper_position": [
+                  0.29186326426712383,
+                  -0.33308496816324723,
+                  1.0057873012737548
+                ],
+                "rod_tip_xy_dist": 0.0018464739965734548,
+                "target_xy_drift": 1.6255809954869125e-07,
+                "depth": 0.015325021244554704,
+                "bottom_clearance": 0.08411556721934799,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014547646178647011,
+                  0.0011449878983744166
+                ],
+                "rod_tip_xy": [
+                  0.2918632642671239,
+                  -0.3330849681632473
+                ],
+                "target_mouth_xy": [
+                  0.2933180288849886,
+                  -0.3342299560616217
+                ],
+                "gripper_position": [
+                  0.2918541267554523,
+                  -0.333085467348716,
+                  1.0056580827663757
+                ],
+                "rod_tip_xy_dist": 0.0018513069385747176,
+                "target_xy_drift": 1.3229847800977314e-07,
+                "depth": 0.015472538126001578,
+                "bottom_clearance": 0.0839680318370325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0014639010641275818,
+                  0.001144489047140873
+                ],
+                "rod_tip_xy": [
+                  0.29185412675545236,
+                  -0.333085467348716
+                ],
+                "target_mouth_xy": [
+                  0.29331802781957994,
+                  -0.3342299563958569
+                ],
+                "gripper_position": [
+                  0.29186178948944874,
+                  -0.3331532628367354,
+                  1.0051345256569035
+                ],
+                "rod_tip_xy_dist": 0.0018581876935819185,
+                "target_xy_drift": 1.3309893721578996e-07,
+                "depth": 0.015601802182049096,
+                "bottom_clearance": 0.08383871548339805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001456237862088372,
+                  0.0010766935739303096
+                ],
+                "rod_tip_xy": [
+                  0.29186178948944885,
+                  -0.3331532628367354
+                ],
+                "target_mouth_xy": [
+                  0.2933180273515372,
+                  -0.3342299564106657
+                ],
+                "gripper_position": [
+                  0.2918497467754354,
+                  -0.3331604989114177,
+                  1.0049873155416906
+                ],
+                "rod_tip_xy_dist": 0.0018110488019715358,
+                "target_xy_drift": 1.3351092406010945e-07,
+                "depth": 0.01612530494383624,
+                "bottom_clearance": 0.08331521268463005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014682830702198446,
+                  0.001069457772690463
+                ],
+                "rod_tip_xy": [
+                  0.29184974677543546,
+                  -0.33316049891141775
+                ],
+                "target_mouth_xy": [
+                  0.2933180298456553,
+                  -0.3342299566841082
+                ],
+                "gripper_position": [
+                  0.2918403569915914,
+                  -0.33316109216923934,
+                  1.004857847909426
+                ],
+                "rod_tip_xy_dist": 0.001816478764495269,
+                "target_xy_drift": 1.311600638494789e-07,
+                "depth": 0.016272579459621572,
+                "bottom_clearance": 0.08316800378742861,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001477639239355344,
+                  0.0010688636285709485
+                ],
+                "rod_tip_xy": [
+                  0.29184035699159144,
+                  -0.3331610921692393
+                ],
+                "target_mouth_xy": [
+                  0.2933179962309468,
+                  -0.33422995579781023
+                ],
+                "gripper_position": [
+                  0.29184913002097623,
+                  -0.33322979850476925,
+                  1.0043357561488182
+                ],
+                "rod_tip_xy_dist": 0.0018237015046779158,
+                "target_xy_drift": 1.6218028491122765e-07,
+                "depth": 0.016402033961055662,
+                "bottom_clearance": 0.08303855685673656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001468899758233888,
+                  0.0010001902352458347
+                ],
+                "rod_tip_xy": [
+                  0.2918491300209763,
+                  -0.3332297985047693
+                ],
+                "target_mouth_xy": [
+                  0.2933180297792102,
+                  -0.33422998874001514
+                ],
+                "gripper_position": [
+                  0.2918368852912064,
+                  -0.33323695024265015,
+                  1.0041885614643336
+                ],
+                "rod_tip_xy_dist": 0.0017770894761999726,
+                "target_xy_drift": 1.201720475161238e-07,
+                "depth": 0.01692416418100884,
+                "bottom_clearance": 0.08251646696321735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014811395578870346,
+                  0.000992852615164297
+                ],
+                "rod_tip_xy": [
+                  0.2918368852912065,
+                  -0.3332369502426502
+                ],
+                "target_mouth_xy": [
+                  0.29331802484909353,
+                  -0.3342298028578145
+                ],
+                "gripper_position": [
+                  0.2918275979412136,
+                  -0.3332371647498966,
+                  1.0040596825058945
+                ],
+                "rod_tip_xy_dist": 0.0017831238614791694,
+                "target_xy_drift": 2.455956398243405e-07,
+                "depth": 0.017071298229221044,
+                "bottom_clearance": 0.08236932401019315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001490490815339085,
+                  0.0009927919673865526
+                ],
+                "rod_tip_xy": [
+                  0.29182759794121366,
+                  -0.33323716474989673
+                ],
+                "target_mouth_xy": [
+                  0.29331808875655274,
+                  -0.3342299567172833
+                ],
+                "gripper_position": [
+                  0.2918181548336714,
+                  -0.33323783785840966,
+                  1.003930432643014
+                ],
+                "rod_tip_xy_dist": 0.0017908653665525591,
+                "target_xy_drift": 8.299627984966451e-08,
+                "depth": 0.017200147065756566,
+                "bottom_clearance": 0.08224040888593276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014999037529005443,
+                  0.0009921182277824458
+                ],
+                "rod_tip_xy": [
+                  0.29181815483367146,
+                  -0.33323783785840966
+                ],
+                "target_mouth_xy": [
+                  0.293318058586572,
+                  -0.3342299560861921
+                ],
+                "gripper_position": [
+                  0.29182845352970255,
+                  -0.3333092579749042,
+                  1.0034092226161828
+                ],
+                "rod_tip_xy_dist": 0.0017983352985089622,
+                "target_xy_drift": 1.0666260379577656e-07,
+                "depth": 0.01732934594982216,
+                "bottom_clearance": 0.08211121932574239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014895772741099766,
+                  0.0009207278798269991
+                ],
+                "rod_tip_xy": [
+                  0.2918284535297026,
+                  -0.3333092579749042
+                ],
+                "target_mouth_xy": [
+                  0.2933180308038126,
+                  -0.3342299858547312
+                ],
+                "gripper_position": [
+                  0.29181600044650025,
+                  -0.3333165226316803,
+                  1.003262287856814
+                ],
+                "rod_tip_xy_dist": 0.0017511654074460327,
+                "target_xy_drift": 1.198680560466918e-07,
+                "depth": 0.017850691011961684,
+                "bottom_clearance": 0.0815899514255286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015019947619757668,
+                  0.0009134341252596823
+                ],
+                "rod_tip_xy": [
+                  0.29181600044650036,
+                  -0.3333165226316803
+                ],
+                "target_mouth_xy": [
+                  0.2933179952084761,
+                  -0.33422995675694
+                ],
+                "gripper_position": [
+                  0.2918065289113827,
+                  -0.333316831234135,
+                  1.0031334311090854
+                ],
+                "rod_tip_xy_dist": 0.0017579391815963261,
+                "target_xy_drift": 1.6277837042380147e-07,
+                "depth": 0.017997609255945735,
+                "bottom_clearance": 0.08144298847805476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015115009013010328,
+                  0.0009131838160062467
+                ],
+                "rod_tip_xy": [
+                  0.29180652891138276,
+                  -0.333316831234135
+                ],
+                "target_mouth_xy": [
+                  0.2933180298126838,
+                  -0.33423001505014127
+                ],
+                "gripper_position": [
+                  0.2917967619286975,
+                  -0.3333174200008346,
+                  1.0030040469243595
+                ],
+                "rod_tip_xy_dist": 0.0017659387465168675,
+                "target_xy_drift": 1.1700301615930207e-07,
+                "depth": 0.018126486009254816,
+                "bottom_clearance": 0.08131414142342697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015212330788320072,
+                  0.0009125694202761214
+                ],
+                "rod_tip_xy": [
+                  0.29179676192869763,
+                  -0.33331742000083464
+                ],
+                "target_mouth_xy": [
+                  0.29331799500752964,
+                  -0.33422998942111076
+                ],
+                "gripper_position": [
+                  0.29180863487058717,
+                  -0.33339050419307154,
+                  1.0024868971415826
+                ],
+                "rod_tip_xy_dist": 0.0017739597027429355,
+                "target_xy_drift": 1.5411848064797856e-07,
+                "depth": 0.018255893882193397,
+                "bottom_clearance": 0.08118478510910443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001509454920628095,
+                  0.0008394502867107856
+                ],
+                "rod_tip_xy": [
+                  0.2918086348705872,
+                  -0.3333905041930716
+                ],
+                "target_mouth_xy": [
+                  0.2933180897912153,
+                  -0.3342299544797824
+                ],
+                "gripper_position": [
+                  0.29179614560386785,
+                  -0.33339772316294863,
+                  1.0023402983184824
+                ],
+                "rod_tip_xy_dist": 0.0017271742648809901,
+                "target_xy_drift": 8.390321211327582e-08,
+                "depth": 0.018773040236051863,
+                "bottom_clearance": 0.08066763667838417,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015218509028550598,
+                  0.0008322624311846716
+                ],
+                "rod_tip_xy": [
+                  0.2917961456038679,
+                  -0.3333977231629486
+                ],
+                "target_mouth_xy": [
+                  0.29331799650672297,
+                  -0.33422998559413325
+                ],
+                "gripper_position": [
+                  0.29178648222566084,
+                  -0.33339790465710906,
+                  1.0022112199524227
+                ],
+                "rod_tip_xy_dist": 0.0017345578470844322,
+                "target_xy_drift": 1.5335545345193585e-07,
+                "depth": 0.01891957512090081,
+                "bottom_clearance": 0.08052100504982995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015315474140560892,
+                  0.0008320828084075194
+                ],
+                "rod_tip_xy": [
+                  0.2917864822256609,
+                  -0.33339790465710917
+                ],
+                "target_mouth_xy": [
+                  0.293318029639717,
+                  -0.3342299874655167
+                ],
+                "gripper_position": [
+                  0.29177685324074454,
+                  -0.3333980105624316,
+                  1.0020823796059148
+                ],
+                "rod_tip_xy_dist": 0.001742985737620718,
+                "target_xy_drift": 1.206033882243237e-07,
+                "depth": 0.019048676708207868,
+                "bottom_clearance": 0.08039190466989776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0015411734403290578,
+                  0.0008319759811458161
+                ],
+                "rod_tip_xy": [
+                  0.2917768532407446,
+                  -0.3333980105624317
+                ],
+                "target_mouth_xy": [
+                  0.29331802668107365,
+                  -0.3342299865435775
+                ],
+                "gripper_position": [
+                  0.2917672147163972,
+                  -0.3333985907138725,
+                  1.001953644341917
+                ],
+                "rod_tip_xy_dist": 0.0017513993280743392,
+                "target_xy_drift": 1.2369636117125218e-07,
+                "depth": 0.019177406482793757,
+                "bottom_clearance": 0.08026312604354657,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0015508759541757455,
+                  0.0008313938722208647
+                ],
+                "rod_tip_xy": [
+                  0.29176721471639727,
+                  -0.33339859071387257
+                ],
+                "target_mouth_xy": [
+                  0.293318090670573,
+                  -0.33422998458609343
+                ],
+                "gripper_position": [
+                  0.29175757465604796,
+                  -0.33339860090830725,
+                  1.0018248470865567
+                ],
+                "rod_tip_xy_dist": 0.0017596681493983269,
+                "target_xy_drift": 6.434696334144895e-08,
+                "depth": 0.01930629417323082,
+                "bottom_clearance": 0.08013440465359534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0015604521833117446,
+                  0.0008313862546107664
+                ],
+                "rod_tip_xy": [
+                  0.29175757465604807,
+                  -0.3333986009083073
+                ],
+                "target_mouth_xy": [
+                  0.2933180268393598,
+                  -0.3342299871629181
+                ],
+                "gripper_position": [
+                  0.2917478133818212,
+                  -0.3333989834240246,
+                  1.0016962714316933
+                ],
+                "rod_tip_xy_dist": 0.0017681103248265108,
+                "target_xy_drift": 1.2339628913345342e-07,
+                "depth": 0.019434990728165347,
+                "bottom_clearance": 0.08000552925912519,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006063783455501633,
+              "rod_tip_xy_max_step": 3.2881561983406784e-05,
+              "rod_tip_xy_range": 0.0006063685631379104,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2913571498994623,
+            -0.3347977016033905,
+            1.043313846908201
+          ],
+          "object_origin_world": [
+            0.2913571498994623,
+            -0.3347977016033905,
+            1.043313846908201
+          ],
+          "frame_world": [
+            0.29138246418687597,
+            -0.33479516439883317,
+            1.0436190273794728
+          ],
+          "center_minus_frame": [
+            -2.531428741364694e-05,
+            -2.537204557340189e-06,
+            -0.00030518047127170433
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25565124326945127,
+              0.16142120090101805,
+              0.8317686123371691
+            ],
+            "target_position": [
+              0.2682660720907676,
+              0.20721969538992413,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047504063022456015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1681890374940761,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317686123371691,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670877535016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1379392169470093,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e27d45087a948450ab31f13d854e10b39bed4406cf29474962cce998a4fdf5ca",
+    "visual_seed": 3818262501224070024,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0699907abe0c1fecfefcead5b28fbded79d067c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_48_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2980368629001379,
+              0.08089195158296367,
+              1.1622111939658546
+            ],
+            "current_z": 1.1622111939658546,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3011046859510884,
+            "gripper_z": 1.1544553002968525,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29262226688430315,
+              0.07590023752604422,
+              1.1544553002968525
+            ],
+            "object_minus_gripper": [
+              0.005414596015834772,
+              0.00499171405691945,
+              0.00775589366900209
+            ],
+            "object_to_gripper_xy": 0.007364445616659886,
+            "object_to_gripper_z": 0.00775589366900209,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2980368629001379,
+              0.056416119696833286,
+              1.1622111939658546
+            ],
+            "finger_b": [
+              0.2870305885676914,
+              0.08089195158296367,
+              1.1622111939658546
+            ],
+            "finger_midpoint": [
+              0.2925337257339147,
+              0.06865403563989847,
+              1.1622111939658546
+            ],
+            "object_minus_finger_midpoint": [
+              0.005503137166223249,
+              0.012237915943065197,
+              0.0
+            ],
+            "finger_gap": 0.026836624623808175,
+            "fingertip_max_gap": 0.09139664432625341,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013418312311904095,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622111939658546,
+            "object_top_z": 1.2121586705881182,
+            "finger_top_clearance": 0.04994747662226362,
+            "fingertip_min_top_clearance": 0.014984242986679086,
+            "object_projection_between_fingers": 0.8318004289957457,
+            "object_to_finger_line_xy": 0.010038062685968479,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819832216312671,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.960310101309191,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28480099592346414,
+              -0.3361620034802091,
+              0.8515395744054944
+            ],
+            "target_position": [
+              0.275988070329453,
+              -0.3373502972372953,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008892676738682612,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18690027841074436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395744054944,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757518176691517,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08776078574394468,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542032911912649,
+            "release_required_pad_clearance": 0.05388039287197234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7704428878875884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007623076438903809,
+            "max_z_decrease": 0.007623076438903809,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035225283725186664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007623076438903809,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021309097570475,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007623076438903809,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076231022917233405,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13168799877166748,
+              -0.39361175894737244,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13168799877166748,
+              -0.39361175894737244,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13350672803238028,
+              -0.39558989862049154,
+              0.8078594174519129
+            ],
+            "closest_button": [
+              0.13167722523212433,
+              -0.39361411333084106,
+              0.7727372050285339
+            ],
+            "closest_ee_minus_button": [
+              0.0018295028002559555,
+              -0.001975785289650478,
+              0.035122212423378985
+            ],
+            "button_min_z_position": [
+              0.13166815042495728,
+              -0.39361131191253657,
+              0.7691857814788818
+            ],
+            "min_active_finger_to_button": 0.14417158029259156,
+            "closest_active_finger": [
+              -0.007436275482177734,
+              -0.37758558988571167,
+              0.8107272386550903
+            ],
+            "closest_active_finger_button": [
+              0.13168741762638092,
+              -0.3936128318309784,
+              0.7764756679534912
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13912369310855865,
+              0.016027241945266724,
+              0.03425157070159912
+            ],
+            "min_contact_pad_to_button": 0.021309097570475,
+            "closest_contact_pad": [
+              0.13166815042495728,
+              -0.3968403579632503,
+              0.7902488035998975
+            ],
+            "closest_contact_pad_button": [
+              0.13166815042495728,
+              -0.39361131191253657,
+              0.7691857814788818
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003229046050713724,
+              0.02106302212101563
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2761965177747439,
+              0.20490269092980878,
+              1.1097299856579204
+            ],
+            "current_z": 1.1097299856579204,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1998208559235578,
+            "gripper_z": 1.1097302574668515,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2761965161094822,
+              0.20490269393425378,
+              1.1097302574668515
+            ],
+            "object_minus_gripper": [
+              1.6652617063073194e-09,
+              -3.004444998344624e-09,
+              -2.7180893114042703e-07
+            ],
+            "object_to_gripper_xy": 3.4350817018772047e-09,
+            "object_to_gripper_z": -2.7180893114042703e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2761965177747439,
+              0.20490269092980878,
+              1.1097299856579204
+            ],
+            "finger_b": [
+              0.2761965177747439,
+              0.20490269092980878,
+              1.1097299856579204
+            ],
+            "finger_midpoint": [
+              0.2761965177747439,
+              0.20490269092980878,
+              1.1097299856579204
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1097299856579204,
+            "object_top_z": 1.2347384922782,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2761965177747439,
+            0.20490269092980876,
+            1.1097299856579204
+          ],
+          "object_origin_world": [
+            0.2761965177747439,
+            0.20490269092980876,
+            1.1097299856579204
+          ],
+          "frame_world": [
+            0.2761965161094822,
+            0.20490269393425378,
+            1.1097302574668515
+          ],
+          "center_minus_frame": [
+            1.6652617063073194e-09,
+            -3.0044450261002e-09,
+            -2.7180893114042703e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432887066557142,
+            "required_z": 0.9112598285043919,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016943400909935045,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.996220165675092e-08,
+            "max_target_xy_drift": 7.283857187853815e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.7704428874526306,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.7707254125613554,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2840897522878357,
+              -0.33769417574615124,
+              0.9234020930899339
+            ],
+            "target_mouth_xy": [
+              0.2848010278749972,
+              -0.3361619767146662
+            ],
+            "rod_tip_z": 0.9234020930899339,
+            "rod_tip_depth": -0.022142156661763335,
+            "rod_tip_bottom_clearance": 0.12158280655976406,
+            "rod_tip_xy_dist": 0.001689244456251295,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045017497703893516,
+            "min_rod_tip_bottom_clearance": 0.054423127769815505,
+            "min_rod_tip_xy_dist": 0.00021249567481167945,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2848009980394745,
+              -0.336161973962374
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.983552271906831e-08,
+              -2.7522921719480564e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0001814916902435626,
+                0.00018932436449670131
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0002790285713651919,
+                -0.00020099185928312835
+              ],
+              "first_target_mouth_xy": [
+                0.28480102637602706,
+                -0.33616203519331167
+              ],
+              "last_target_mouth_xy": [
+                0.2848010272043035,
+                -0.3361620351549809
+              ],
+              "first_rod_tip_xy": [
+                0.2846195346857835,
+                -0.33597271082881497
+              ],
+              "last_rod_tip_xy": [
+                0.2845219986329383,
+                -0.336363027014264
+              ],
+              "min_rod_tip_xy_dist": 0.00021249567481167945,
+              "max_rod_tip_xy_dist": 0.0003438817691244897,
+              "first_target_xy_drift": 6.74699039297159e-08,
+              "last_target_xy_drift": 6.778733204659464e-08,
+              "max_depth": 0.019700807526749187,
+              "min_bottom_clearance": 0.07973977607890614
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0001814916902435626,
+                  0.00018932436449670131
+                ],
+                "rod_tip_xy": [
+                  0.2846195346857835,
+                  -0.33597271082881497
+                ],
+                "target_mouth_xy": [
+                  0.28480102637602706,
+                  -0.33616203519331167
+                ],
+                "gripper_position": [
+                  0.28460787280727023,
+                  -0.3359795591442015,
+                  1.0058551897346382
+                ],
+                "rod_tip_xy_dist": 0.00026226503506862115,
+                "target_xy_drift": 6.74699039297159e-08,
+                "depth": 0.015260847915503306,
+                "bottom_clearance": 0.0841797037261306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00019318572672805123,
+                  0.00018247344501243212
+                ],
+                "rod_tip_xy": [
+                  0.2846078728072703,
+                  -0.3359795591442015
+                ],
+                "target_mouth_xy": [
+                  0.28480105853399834,
+                  -0.33616203258921395
+                ],
+                "gripper_position": [
+                  0.2845991275264406,
+                  -0.3359803172762073,
+                  1.0057285008338928
+                ],
+                "rod_tip_xy_dist": 0.00026573912611083523,
+                "target_xy_drift": 8.424187661216694e-08,
+                "depth": 0.015404712530701192,
+                "bottom_clearance": 0.08403589238423204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00020189748246762784,
+                  0.00018171572340996978
+                ],
+                "rod_tip_xy": [
+                  0.2845991275264407,
+                  -0.33598031727620725
+                ],
+                "target_mouth_xy": [
+                  0.2848010250089083,
+                  -0.3361620329996172
+                ],
+                "gripper_position": [
+                  0.2846054624791222,
+                  -0.33604728754890606,
+                  1.0052071450559399
+                ],
+                "rod_tip_xy_dist": 0.0002716306270676684,
+                "target_xy_drift": 6.490567343938442e-08,
+                "depth": 0.015531352926931308,
+                "bottom_clearance": 0.08390918995820573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00019559658556084214,
+                  0.00011474566776603634
+                ],
+                "rod_tip_xy": [
+                  0.2846054624791223,
+                  -0.336047287548906
+                ],
+                "target_mouth_xy": [
+                  0.2848010590646831,
+                  -0.33616203321667204
+                ],
+                "gripper_position": [
+                  0.28459362440268027,
+                  -0.3360543923051801,
+                  1.0050634731242287
+                ],
+                "rod_tip_xy_dist": 0.00022676991104230172,
+                "target_xy_drift": 8.50596727010924e-08,
+                "depth": 0.01605274954512559,
+                "bottom_clearance": 0.08338785130141779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0002074010287771988,
+                  0.00010764194755641388
+                ],
+                "rod_tip_xy": [
+                  0.2845936244026803,
+                  -0.33605439230517997
+                ],
+                "target_mouth_xy": [
+                  0.2848010254314575,
+                  -0.3361620342527364
+                ],
+                "gripper_position": [
+                  0.2845846548233313,
+                  -0.3360549939629896,
+                  1.004937220528899
+                ],
+                "rod_tip_xy_dist": 0.00023367065629123867,
+                "target_xy_drift": 6.622120905052349e-08,
+                "depth": 0.01619637718205491,
+                "bottom_clearance": 0.0832441669389038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00021634071642034902,
+                  0.00010703867316241844
+                ],
+                "rod_tip_xy": [
+                  0.28458465482333134,
+                  -0.33605499396298955
+                ],
+                "target_mouth_xy": [
+                  0.2848009955397517,
+                  -0.33616203263615196
+                ],
+                "gripper_position": [
+                  0.28459209973247546,
+                  -0.3361232350539372,
+                  1.004416855107733
+                ],
+                "rod_tip_xy_dist": 0.00024137229156148167,
+                "target_xy_drift": 5.872700258635016e-08,
+                "depth": 0.016322628740673584,
+                "bottom_clearance": 0.08311791305582228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00020892895110696807,
+                  3.876990073514719e-05
+                ],
+                "rod_tip_xy": [
+                  0.28459209973247546,
+                  -0.33612323505393704
+                ],
+                "target_mouth_xy": [
+                  0.2848010286835824,
+                  -0.3361620049546722
+                ],
+                "gripper_position": [
+                  0.28458026502261907,
+                  -0.33613028102499465,
+                  1.004273171574214
+                ],
+                "rod_tip_xy_dist": 0.00021249567481167945,
+                "target_xy_drift": 4.358421613475231e-08,
+                "depth": 0.016843061194009468,
+                "bottom_clearance": 0.08259756835044418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00022076258770231671,
+                  3.175346438855087e-05
+                ],
+                "rod_tip_xy": [
+                  0.2845802650226191,
+                  -0.33613028102499454
+                ],
+                "target_mouth_xy": [
+                  0.28480102761032144,
+                  -0.3361620344893831
+                ],
+                "gripper_position": [
+                  0.28457096549544036,
+                  -0.336130845789919,
+                  1.0041469727026215
+                ],
+                "rod_tip_xy_dist": 0.00022303453237043373,
+                "target_xy_drift": 6.736433637876878e-08,
+                "depth": 0.01698673058904865,
+                "bottom_clearance": 0.08245384681536072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00023003232262519546,
+                  3.118870689949871e-05
+                ],
+                "rod_tip_xy": [
+                  0.2845709654954404,
+                  -0.3361308457899189
+                ],
+                "target_mouth_xy": [
+                  0.2848009978180656,
+                  -0.3361620344968184
+                ],
+                "gripper_position": [
+                  0.28457916143895956,
+                  -0.3362002856093863,
+                  1.0036292195636847
+                ],
+                "rod_tip_xy_dist": 0.00023213703903169966,
+                "target_xy_drift": 6.053484930933695e-08,
+                "depth": 0.017112810469923745,
+                "bottom_clearance": 0.08232776759008742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00022186537970847464,
+                  -3.825268092494394e-05
+                ],
+                "rod_tip_xy": [
+                  0.2845791614389596,
+                  -0.3362002856093862
+                ],
+                "target_mouth_xy": [
+                  0.2848010268186681,
+                  -0.33616203292846125
+                ],
+                "gripper_position": [
+                  0.28456724875385375,
+                  -0.3362071296236653,
+                  1.0034854504674704
+                ],
+                "rod_tip_xy_dist": 0.00022513887783128707,
+                "target_xy_drift": 6.561433857903489e-08,
+                "depth": 0.0176305437215466,
+                "bottom_clearance": 0.0818099782286873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00023378020351583206,
+                  -4.5095476987278005e-05
+                ],
+                "rod_tip_xy": [
+                  0.2845672487538538,
+                  -0.33620712962366517
+                ],
+                "target_mouth_xy": [
+                  0.28480102895736964,
+                  -0.3361620341466779
+                ],
+                "gripper_position": [
+                  0.2845579514745262,
+                  -0.3362075843967335,
+                  1.0033591854295942
+                ],
+                "rod_tip_xy_dist": 0.00023808986874836565,
+                "target_xy_drift": 6.766141198821532e-08,
+                "depth": 0.017774457598940696,
+                "bottom_clearance": 0.08166616230134438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00024307544867141484,
+                  -4.555210538031984e-05
+                ],
+                "rod_tip_xy": [
+                  0.2845579514745263,
+                  -0.33620758439673337
+                ],
+                "target_mouth_xy": [
+                  0.2848010269231977,
+                  -0.33616203229135305
+                ],
+                "gripper_position": [
+                  0.2845487294888215,
+                  -0.33620801538838635,
+                  1.0032328967401996
+                ],
+                "rod_tip_xy_dist": 0.0002473068297710142,
+                "target_xy_drift": 6.508870301917683e-08,
+                "depth": 0.017900649813816227,
+                "bottom_clearance": 0.08153989988984789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00025229885099403715,
+                  -4.5982173348946276e-05
+                ],
+                "rod_tip_xy": [
+                  0.28454872948882154,
+                  -0.3362080153883862
+                ],
+                "target_mouth_xy": [
+                  0.2848010283398156,
+                  -0.33616203321503724
+                ],
+                "gripper_position": [
+                  0.2845585474838882,
+                  -0.33627943611158667,
+                  1.0027177745042102
+                ],
+                "rod_tip_xy_dist": 0.00025645481176769504,
+                "target_xy_drift": 6.655064813837778e-08,
+                "depth": 0.018026991335865827,
+                "bottom_clearance": 0.08141357569981145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0002424491466938017,
+                  -0.00011740314875929858
+                ],
+                "rod_tip_xy": [
+                  0.28455854748388826,
+                  -0.3362794361115866
+                ],
+                "target_mouth_xy": [
+                  0.28480099663058206,
+                  -0.3361620329628273
+                ],
+                "gripper_position": [
+                  0.28454648414936645,
+                  -0.3362862057389632,
+                  1.002574107999725
+                ],
+                "rod_tip_xy_dist": 0.000269379078755479,
+                "target_xy_drift": 5.901727262101312e-08,
+                "depth": 0.018542045020199738,
+                "bottom_clearance": 0.08089846147984792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0002545434860165008,
+                  -0.00012417376141171665
+                ],
+                "rod_tip_xy": [
+                  0.2845464841493665,
+                  -0.33628620573896306
+                ],
+                "target_mouth_xy": [
+                  0.284801027635383,
+                  -0.33616203197755135
+                ],
+                "gripper_position": [
+                  0.2845371180709295,
+                  -0.3362865101603136,
+                  1.0024485797144675
+                ],
+                "rod_tip_xy_dist": 0.00028321636481066283,
+                "target_xy_drift": 6.512817056035365e-08,
+                "depth": 0.018685797625619505,
+                "bottom_clearance": 0.08075479000257213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00026390979747592525,
+                  -0.0001244769357798825
+                ],
+                "rod_tip_xy": [
+                  0.2845371180709296,
+                  -0.3362865101603135
+                ],
+                "target_mouth_xy": [
+                  0.2848010278684055,
+                  -0.33616203322453364
+                ],
+                "gripper_position": [
+                  0.2845277251572862,
+                  -0.3362868397352641,
+                  1.0023221261222361
+                ],
+                "rod_tip_xy_dist": 0.0002917925440187478,
+                "target_xy_drift": 6.634582645068979e-08,
+                "depth": 0.018811245235146212,
+                "bottom_clearance": 0.08062930413714076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00027330270844694304,
+                  -0.0001248080885931646
+                ],
+                "rod_tip_xy": [
+                  0.28452772515728625,
+                  -0.3362868397352641
+                ],
+                "target_mouth_xy": [
+                  0.2848010278657332,
+                  -0.3361620316466709
+                ],
+                "gripper_position": [
+                  0.2845183336232743,
+                  -0.3362869914612295,
+                  1.0021961867176254
+                ],
+                "rod_tip_xy_dist": 0.00030045204180153943,
+                "target_xy_drift": 6.49390777219917e-08,
+                "depth": 0.018937787170114517,
+                "bottom_clearance": 0.08050282133663911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00028269362074184734,
+                  -0.00012495630624520526
+                ],
+                "rod_tip_xy": [
+                  0.28451833362327433,
+                  -0.3362869914612294
+                ],
+                "target_mouth_xy": [
+                  0.2848010272440162,
+                  -0.3361620351549842
+                ],
+                "gripper_position": [
+                  0.28450889108569216,
+                  -0.3362871030296763,
+                  1.002070337813372
+                ],
+                "rod_tip_xy_dist": 0.00030907889232133104,
+                "target_xy_drift": 6.780443051614355e-08,
+                "depth": 0.019063604618751007,
+                "bottom_clearance": 0.08037698058163512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0002921365814781418,
+                  -0.00012507138304385101
+                ],
+                "rod_tip_xy": [
+                  0.2845088910856922,
+                  -0.33628710302967624
+                ],
+                "target_mouth_xy": [
+                  0.28480102766717036,
+                  -0.3361620316466324
+                ],
+                "gripper_position": [
+                  0.28452199863293826,
+                  -0.336363027014264,
+                  1.001558983459139
+                ],
+                "rod_tip_xy_dist": 0.0003177839409004752,
+                "target_xy_drift": 6.48480842061103e-08,
+                "depth": 0.019189574069275572,
+                "bottom_clearance": 0.08025102714931642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0002790285713651919,
+                  -0.00020099185928312835
+                ],
+                "rod_tip_xy": [
+                  0.2845219986329383,
+                  -0.336363027014264
+                ],
+                "target_mouth_xy": [
+                  0.2848010272043035,
+                  -0.3361620351549809
+                ],
+                "gripper_position": [
+                  0.2845096458956069,
+                  -0.33637026955805416,
+                  1.0014158495998915
+                ],
+                "rod_tip_xy_dist": 0.0003438817691244897,
+                "target_xy_drift": 6.778733204659464e-08,
+                "depth": 0.019700807526749187,
+                "bottom_clearance": 0.07973977607890614,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006084032963799266,
+              "rod_tip_xy_max_step": 3.29573572440682e-05,
+              "rod_tip_xy_range": 0.000608397380734196,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2840897522878357,
+            -0.33769417574615124,
+            1.043402093089934
+          ],
+          "object_origin_world": [
+            0.2840897522878357,
+            -0.33769417574615124,
+            1.043402093089934
+          ],
+          "frame_world": [
+            0.2840881230199696,
+            -0.3376990372247392,
+            1.0432887066557142
+          ],
+          "center_minus_frame": [
+            1.6292678660656534e-06,
+            4.861478587969703e-06,
+            0.00011338643421976435
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25517045194340293,
+              0.16137049494295302,
+              0.8316848804538337
+            ],
+            "target_position": [
+              0.26792679622357135,
+              0.20787151438671347,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048218970630895606,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16840668161954556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316848804538337,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676892403987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1370319280096957,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3bf5adc04323b808c511648d22eba44d8cfebc0a5ec581f0b2da16428e497a17",
+    "visual_seed": 8866194136034499943,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e75cc0423fe7cd9244dc7da0f2dd8b4043ff73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29557990464039,
+              0.08811114548309566,
+              1.1654621162582117
+            ],
+            "current_z": 1.1654621162582117,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30435560824344565,
+            "gripper_z": 1.1578404502066562,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2901758029392899,
+              0.08295724655106022,
+              1.1578404502066562
+            ],
+            "object_minus_gripper": [
+              0.005404101701100117,
+              0.005153898932035439,
+              0.0076216660515555645
+            ],
+            "object_to_gripper_xy": 0.007467729869074618,
+            "object_to_gripper_z": 0.0076216660515555645,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29557990464039,
+              0.06374675436481732,
+              1.1654621162582117
+            ],
+            "finger_b": [
+              0.2841847508394922,
+              0.08811114548309566,
+              1.1654621162582117
+            ],
+            "finger_midpoint": [
+              0.2898823277399411,
+              0.07592894992395649,
+              1.1654621162582117
+            ],
+            "object_minus_finger_midpoint": [
+              0.00569757690044892,
+              0.012182195559139172,
+              0.0
+            ],
+            "finger_gap": 0.026897454985752037,
+            "fingertip_max_gap": 0.09123239058947394,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013448727492876018,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1654621162582117,
+            "object_top_z": 1.2154057626172685,
+            "finger_top_clearance": 0.04994364635905679,
+            "fingertip_min_top_clearance": 0.014983093907717003,
+            "object_projection_between_fingers": 0.820519197064441,
+            "object_to_finger_line_xy": 0.010322016867583878,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811619529473697,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9490579410660922,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2903953292287264,
+              -0.33562424614085784,
+              0.8515396073616953
+            ],
+            "target_position": [
+              0.2818165774899429,
+              -0.33671533292914824,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008647858218961692,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18516004514371545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396073616953,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575749231701416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649434380994524,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525333458967859,
+            "release_required_pad_clearance": 0.05324717190497262,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5148785813858794,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007713258266448975,
+            "max_z_decrease": 0.007713258266448975,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516094360373615,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007713258266448975,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107554466019579,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007713258266448975,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00771327948445643,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13751649856567383,
+              -0.39297679066658014,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13751649856567383,
+              -0.39297679066658014,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13869450717856505,
+              -0.3914941471912589,
+              0.8078333150037361
+            ],
+            "closest_button": [
+              0.13750797510147095,
+              -0.3929764628410339,
+              0.7727236747741699
+            ],
+            "closest_ee_minus_button": [
+              0.001186532077094099,
+              0.0014823156497749679,
+              0.0351096402295662
+            ],
+            "button_min_z_position": [
+              0.1374984085559845,
+              -0.39297652244567866,
+              0.7690955996513367
+            ],
+            "min_active_finger_to_button": 0.1444940043308067,
+            "closest_active_finger": [
+              0.01249481737613678,
+              -0.4568013846874237,
+              0.8107474446296692
+            ],
+            "closest_active_finger_button": [
+              0.13751588761806482,
+              -0.3929769396781921,
+              0.7764737010002136
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12502107024192805,
+              -0.06382444500923162,
+              0.034273743629455566
+            ],
+            "min_contact_pad_to_button": 0.02107554466019579,
+            "closest_contact_pad": [
+              0.1374984085559845,
+              -0.39297652244567866,
+              0.7901711443115325
+            ],
+            "closest_contact_pad_button": [
+              0.1374984085559845,
+              -0.39297652244567866,
+              0.7690955996513367
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107554466019579
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26642460815406693,
+              0.20572076436015843,
+              1.1038595552925439
+            ],
+            "current_z": 1.1038595552925439,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19395042555818132,
+            "gripper_z": 1.1038595836229725,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2664246426863858,
+              0.20572066663680794,
+              1.1038595836229725
+            ],
+            "object_minus_gripper": [
+              -3.453231889327668e-08,
+              9.772335049507141e-08,
+              -2.8330428669676166e-08
+            ],
+            "object_to_gripper_xy": 1.0364523279017482e-07,
+            "object_to_gripper_z": -2.8330428669676166e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26642460815406693,
+              0.20572076436015843,
+              1.1038595552925439
+            ],
+            "finger_b": [
+              0.26642460815406693,
+              0.20572076436015843,
+              1.1038595552925439
+            ],
+            "finger_midpoint": [
+              0.26642460815406693,
+              0.20572076436015843,
+              1.1038595552925439
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1038595552925439,
+            "object_top_z": 1.2288680619128236,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26642460815406693,
+            0.20572076436015843,
+            1.103859555292544
+          ],
+          "object_origin_world": [
+            0.26642460815406693,
+            0.20572076436015843,
+            1.103859555292544
+          ],
+          "frame_world": [
+            0.2664246426863858,
+            0.20572066663680794,
+            1.1038595836229725
+          ],
+          "center_minus_frame": [
+            -3.453231889327668e-08,
+            9.772335049507141e-08,
+            -2.833042844763156e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436689793649225,
+            "required_z": 0.911259843703117,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002354834873473541,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.789912175959333e-08,
+            "max_target_xy_drift": 1.205020633775827e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.514878581578133,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5148785825249653,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2889369398084862,
+              -0.3374955336204142,
+              0.9233654298042838
+            ],
+            "target_mouth_xy": [
+              0.29039529925796576,
+              -0.3356242163271309
+            ],
+            "rod_tip_z": 0.9233654298042838,
+            "rod_tip_depth": -0.022105540503361,
+            "rod_tip_bottom_clearance": 0.12154610059467275,
+            "rod_tip_xy_dist": 0.002372475647088345,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04481346318955037,
+            "min_rod_tip_bottom_clearance": 0.05462707888284146,
+            "min_rod_tip_xy_dist": 0.0009561986297180908,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29039532865490447,
+              -0.3356242775326105
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9396938716619303e-08,
+              6.120547957344513e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0009601019416379253,
+                -4.029742524858104e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010736639861314567,
+                -0.00037957771782104466
+              ],
+              "first_target_mouth_xy": [
+                0.29039535788060594,
+                -0.335624309913807
+              ],
+              "last_target_mouth_xy": [
+                0.29039535800209426,
+                -0.3356243076828166
+              ],
+              "first_rod_tip_xy": [
+                0.289435255938968,
+                -0.33566460733905557
+              ],
+              "last_rod_tip_xy": [
+                0.2893216940159628,
+                -0.33600388540063764
+              ],
+              "min_rod_tip_xy_dist": 0.0009609472518398599,
+              "max_rod_tip_xy_dist": 0.0011387860198395139,
+              "first_target_xy_drift": 4.361976058293336e-08,
+              "last_target_xy_drift": 4.207484375470727e-08,
+              "max_depth": 0.019414906086309025,
+              "min_bottom_clearance": 0.08002566606651385
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0009601019416379253,
+                  -4.029742524858104e-05
+                ],
+                "rod_tip_xy": [
+                  0.289435255938968,
+                  -0.33566460733905557
+                ],
+                "target_mouth_xy": [
+                  0.29039535788060594,
+                  -0.335624309913807
+                ],
+                "gripper_position": [
+                  0.28942338732762657,
+                  -0.3356720291309019,
+                  1.005795079155093
+                ],
+                "rod_tip_xy_dist": 0.0009609472518398599,
+                "target_xy_drift": 4.361976058293336e-08,
+                "depth": 0.01531836106157658,
+                "bottom_clearance": 0.08412228365152852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009719388298407572,
+                  -4.775534442236218e-05
+                ],
+                "rod_tip_xy": [
+                  0.28942338732762657,
+                  -0.335672029130902
+                ],
+                "target_mouth_xy": [
+                  0.2903953261574673,
+                  -0.33562427378647963
+                ],
+                "gripper_position": [
+                  0.2894143972449836,
+                  -0.33567285420888154,
+                  1.0056664480735107
+                ],
+                "rod_tip_xy_dist": 0.0009731113306673183,
+                "target_xy_drift": 4.502298151298855e-09,
+                "depth": 0.015464870058761404,
+                "bottom_clearance": 0.08397574575316158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009809613443433896,
+                  -4.857696800508737e-05
+                ],
+                "rod_tip_xy": [
+                  0.2894143972449835,
+                  -0.3356728542088816
+                ],
+                "target_mouth_xy": [
+                  0.2903953585893269,
+                  -0.3356242772408765
+                ],
+                "gripper_position": [
+                  0.2894226027636352,
+                  -0.33574466989864715,
+                  1.0051439577851558
+                ],
+                "rod_tip_xy_dist": 0.000982163367732964,
+                "target_xy_drift": 2.9935843993021673e-08,
+                "depth": 0.015593451202944753,
+                "bottom_clearance": 0.08384712190414767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009727549772019506,
+                  -0.00012039359928173177
+                ],
+                "rod_tip_xy": [
+                  0.2894226027636352,
+                  -0.33574466989864715
+                ],
+                "target_mouth_xy": [
+                  0.29039535774083713,
+                  -0.3356242762993654
+                ],
+                "gripper_position": [
+                  0.28941073466435296,
+                  -0.3357518956839986,
+                  1.0049974816903755
+                ],
+                "rod_tip_xy_dist": 0.0009801769556662602,
+                "target_xy_drift": 2.911206574982785e-08,
+                "depth": 0.016115858118152082,
+                "bottom_clearance": 0.08332464890130498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009846243261525944,
+                  -0.00012759118164273886
+                ],
+                "rod_tip_xy": [
+                  0.2894107346643529,
+                  -0.33575189568399866
+                ],
+                "target_mouth_xy": [
+                  0.2903953589905055,
+                  -0.3356243045023559
+                ],
+                "gripper_position": [
+                  0.28940143731085277,
+                  -0.33575272838692893,
+                  1.0048688112085167
+                ],
+                "rod_tip_xy_dist": 0.0009928567738019623,
+                "target_xy_drift": 4.05908346656509e-08,
+                "depth": 0.016262490429854615,
+                "bottom_clearance": 0.08317811970523403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009939211062295894,
+                  -0.00012845178556708525
+                ],
+                "rod_tip_xy": [
+                  0.28940143731085277,
+                  -0.33575272838692904
+                ],
+                "target_mouth_xy": [
+                  0.29039535841708236,
+                  -0.33562427660136196
+                ],
+                "gripper_position": [
+                  0.2894107196376631,
+                  -0.33582556809261865,
+                  1.0043477046343012
+                ],
+                "rod_tip_xy_dist": 0.0010021871215616489,
+                "target_xy_drift": 2.9776743550952564e-08,
+                "depth": 0.01639101572888968,
+                "bottom_clearance": 0.08304952841067659,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.000984639975997903,
+                  -0.00020132353212831688
+                ],
+                "rod_tip_xy": [
+                  0.2894107196376631,
+                  -0.33582556809261876
+                ],
+                "target_mouth_xy": [
+                  0.29039535961366103,
+                  -0.33562424456049045
+                ],
+                "gripper_position": [
+                  0.2893986338020573,
+                  -0.3358329220218035,
+                  1.004201223217823
+                ],
+                "rod_tip_xy_dist": 0.001005010968557942,
+                "target_xy_drift": 4.522836838969135e-08,
+                "depth": 0.016912278256884128,
+                "bottom_clearance": 0.08252836765709948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009967241652597547,
+                  -0.00020867585803369115
+                ],
+                "rod_tip_xy": [
+                  0.2893986338020573,
+                  -0.3358329220218035
+                ],
+                "target_mouth_xy": [
+                  0.2903953579673171,
+                  -0.3356242461637698
+                ],
+                "gripper_position": [
+                  0.2893892758075375,
+                  -0.3358333933983914,
+                  1.0040727245668055
+                ],
+                "rod_tip_xy_dist": 0.001018334265032289,
+                "target_xy_drift": 4.293275788086522e-08,
+                "depth": 0.01705859914190555,
+                "bottom_clearance": 0.08238192609016248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010060832461238345,
+                  -0.00020911711357685103
+                ],
+                "rod_tip_xy": [
+                  0.2893892758075375,
+                  -0.33583339339839147
+                ],
+                "target_mouth_xy": [
+                  0.2903953590536613,
+                  -0.3356242762848146
+                ],
+                "gripper_position": [
+                  0.2893800494428923,
+                  -0.3358341280255089,
+                  1.0039444905094124
+                ],
+                "rod_tip_xy_dist": 0.0010275862325478022,
+                "target_xy_drift": 3.042435557658858e-08,
+                "depth": 0.017187221365320027,
+                "bottom_clearance": 0.08225333687207537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010153075685647717,
+                  -0.00020985267047829437
+                ],
+                "rod_tip_xy": [
+                  0.28938004944289225,
+                  -0.33583412802550894
+                ],
+                "target_mouth_xy": [
+                  0.290395357011457,
+                  -0.33562427535503064
+                ],
+                "gripper_position": [
+                  0.2893909682817462,
+                  -0.33590955773733805,
+                  1.0034240152688192
+                ],
+                "rod_tip_xy_dist": 0.0010367678631650289,
+                "target_xy_drift": 2.8440040901935348e-08,
+                "depth": 0.017315339782964956,
+                "bottom_clearance": 0.0821251801485906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010043879432343195,
+                  -0.0002852795063906788
+                ],
+                "rod_tip_xy": [
+                  0.2893909682817462,
+                  -0.3359095577373381
+                ],
+                "target_mouth_xy": [
+                  0.2903953562249805,
+                  -0.3356242782309474
+                ],
+                "gripper_position": [
+                  0.2893786082584504,
+                  -0.33591694034157155,
+                  1.0032776655222115
+                ],
+                "rod_tip_xy_dist": 0.0010441166301141725,
+                "target_xy_drift": 2.7578918909044013e-08,
+                "depth": 0.017835918749009028,
+                "bottom_clearance": 0.08160466999654858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00101675024770026,
+                  -0.0002926634162745967
+                ],
+                "rod_tip_xy": [
+                  0.2893786082584504,
+                  -0.3359169403415717
+                ],
+                "target_mouth_xy": [
+                  0.29039535850615067,
+                  -0.3356242769252971
+                ],
+                "gripper_position": [
+                  0.2893692120592632,
+                  -0.33591726132713895,
+                  1.0031492154468256
+                ],
+                "rod_tip_xy_dist": 0.0010580325805116108,
+                "target_xy_drift": 2.985742334909881e-08,
+                "depth": 0.01798222748579892,
+                "bottom_clearance": 0.08145833139891201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0010261471001303257,
+                  -0.0002929856827364463
+                ],
+                "rod_tip_xy": [
+                  0.2893692120592632,
+                  -0.33591726132713906
+                ],
+                "target_mouth_xy": [
+                  0.2903953591593935,
+                  -0.3356242756444026
+                ],
+                "gripper_position": [
+                  0.28935980029498787,
+                  -0.3359177393090963,
+                  1.0030209977803657
+                ],
+                "rod_tip_xy_dist": 0.0010671543849857987,
+                "target_xy_drift": 3.056287258914511e-08,
+                "depth": 0.01811068127297555,
+                "bottom_clearance": 0.08132990051207323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001035556731105891,
+                  -0.0002934620669450272
+                ],
+                "rod_tip_xy": [
+                  0.28935980029498787,
+                  -0.3359177393090963
+                ],
+                "target_mouth_xy": [
+                  0.29039535702609376,
+                  -0.33562427724215127
+                ],
+                "gripper_position": [
+                  0.2893721413172198,
+                  -0.33599537658807505,
+                  1.0025040523292172
+                ],
+                "rod_tip_xy_dist": 0.001076335323249389,
+                "target_xy_drift": 2.8372676082813747e-08,
+                "depth": 0.01823883413867633,
+                "bottom_clearance": 0.08120168825178364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001022843482807012,
+                  -0.00037218584679854505
+                ],
+                "rod_tip_xy": [
+                  0.2893721413172198,
+                  -0.3359953765880751
+                ],
+                "target_mouth_xy": [
+                  0.2903949848000268,
+                  -0.33562319074127656
+                ],
+                "gripper_position": [
+                  0.28935982599626187,
+                  -0.33600273537192316,
+                  1.002357728459391
+                ],
+                "rod_tip_xy_dist": 0.0010884535336328916,
+                "target_xy_drift": 1.1398910388292831e-06,
+                "depth": 0.01875729891874689,
+                "bottom_clearance": 0.08068524394096388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0010355314226809798,
+                  -0.0003784885665686355
+                ],
+                "rod_tip_xy": [
+                  0.28935982599626187,
+                  -0.33600273537192327
+                ],
+                "target_mouth_xy": [
+                  0.29039535741894285,
+                  -0.33562424680535463
+                ],
+                "gripper_position": [
+                  0.28935026985363377,
+                  -0.3360029184913773,
+                  1.002229445031872
+                ],
+                "rod_tip_xy_dist": 0.0011025329575041621,
+                "target_xy_drift": 4.208959676295883e-08,
+                "depth": 0.01890214977102167,
+                "bottom_clearance": 0.08053835525934894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010450879511822442,
+                  -0.00037864029416861955
+                ],
+                "rod_tip_xy": [
+                  0.2893502698536337,
+                  -0.3360029184913773
+                ],
+                "target_mouth_xy": [
+                  0.29039535780481596,
+                  -0.3356242781972087
+                ],
+                "gripper_position": [
+                  0.289340851139511,
+                  -0.3360032408167759,
+                  1.0021011124808852
+                ],
+                "rod_tip_xy_dist": 0.0011115652468813512,
+                "target_xy_drift": 2.9157486694525317e-08,
+                "depth": 0.0190304644922048,
+                "bottom_clearance": 0.08041011087007144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010545063079450134,
+                  -0.0003789626143509972
+                ],
+                "rod_tip_xy": [
+                  0.289340851139511,
+                  -0.3360032408167759
+                ],
+                "target_mouth_xy": [
+                  0.29039535744745604,
+                  -0.3356242782024249
+                ],
+                "gripper_position": [
+                  0.2893312594539962,
+                  -0.3360037675685202,
+                  1.0019729046548886
+                ],
+                "rod_tip_xy_dist": 0.0011205338980020043,
+                "target_xy_drift": 2.8800341612542466e-08,
+                "depth": 0.019158794119100264,
+                "bottom_clearance": 0.0802817673427032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010640984489903027,
+                  -0.000379490955740025
+                ],
+                "rod_tip_xy": [
+                  0.2893312594539962,
+                  -0.33600376756852024
+                ],
+                "target_mouth_xy": [
+                  0.2903953579029865,
+                  -0.3356242766127802
+                ],
+                "gripper_position": [
+                  0.28932169401596286,
+                  -0.33600388540063764,
+                  1.0018449995169592
+                ],
+                "rod_tip_xy_dist": 0.0011297428444703888,
+                "target_xy_drift": 2.9262542423627973e-08,
+                "depth": 0.01928697775073307,
+                "bottom_clearance": 0.08015354652963091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0010736639861314567,
+                  -0.00037957771782104466
+                ],
+                "rod_tip_xy": [
+                  0.2893216940159628,
+                  -0.33600388540063764
+                ],
+                "target_mouth_xy": [
+                  0.29039535800209426,
+                  -0.3356243076828166
+                ],
+                "gripper_position": [
+                  0.2893122158361392,
+                  -0.33600420321474955,
+                  1.0017166994213598
+                ],
+                "rod_tip_xy_dist": 0.0011387860198395139,
+                "target_xy_drift": 4.207484375470727e-08,
+                "depth": 0.019414906086309025,
+                "bottom_clearance": 0.08002566606651385,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006033460676249433,
+              "rod_tip_xy_max_step": 3.269964559306306e-05,
+              "rod_tip_xy_range": 0.0006033368632168849,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2889369398084862,
+            -0.3374955336204142,
+            1.0433654298042838
+          ],
+          "object_origin_world": [
+            0.2889369398084862,
+            -0.3374955336204142,
+            1.0433654298042838
+          ],
+          "frame_world": [
+            0.28896202569648,
+            -0.33749263121127016,
+            1.0436689793649225
+          ],
+          "center_minus_frame": [
+            -2.5085887993769873e-05,
+            -2.902409144023288e-06,
+            -0.0003035495606387162
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25484163775059654,
+              0.15867902156513516,
+              0.8320432374177285
+            ],
+            "target_position": [
+              0.26657862307361996,
+              0.20487271307667476,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04766145150890972,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16850786183089936,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320432374177285,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675856011112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1375852045057389,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fc7972a05217ce2d73ce8d355b88238be683f0e07a2983edee80af617747e0e",
+    "visual_seed": 3834222740557069757,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c41236d288bd0ca3fffaf51830e78f3e6d59d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_51_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29704868617527025,
+              0.08018980632486687,
+              1.1638221174428907
+            ],
+            "current_z": 1.1638221174428907,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3027153710095457,
+            "gripper_z": 1.1559997969965388,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29179664434098995,
+              0.07510524628123963,
+              1.1559997969965388
+            ],
+            "object_minus_gripper": [
+              0.005252041834280297,
+              0.0050845600436272426,
+              0.007822320446351894
+            ],
+            "object_to_gripper_xy": 0.0073100406473754305,
+            "object_to_gripper_z": 0.007822320446351894,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29704868617527025,
+              0.05609720151629909,
+              1.1638221174428907
+            ],
+            "finger_b": [
+              0.2855686586854413,
+              0.08018980632486687,
+              1.1638221174428907
+            ],
+            "finger_midpoint": [
+              0.29130867243035574,
+              0.06814350392058298,
+              1.1638221174428907
+            ],
+            "object_minus_finger_midpoint": [
+              0.005740013744914507,
+              0.012046302404283893,
+              0.0
+            ],
+            "finger_gap": 0.026687911825938198,
+            "fingertip_max_gap": 0.09080868356516039,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343955912969115,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638221174428907,
+            "object_top_z": 1.2137011114098943,
+            "finger_top_clearance": 0.04987899396700368,
+            "fingertip_min_top_clearance": 0.014963698190101104,
+            "object_projection_between_fingers": 0.8149638141103598,
+            "object_to_finger_line_xy": 0.010363634566385583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479043417825802,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.48279049717314565,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2876851434225414,
+              -0.33460330954706496,
+              0.8515395561558975
+            ],
+            "target_position": [
+              0.27847832563119457,
+              -0.3355594250071391,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009256330299641092,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18568729429780548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395561558975,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526371910914138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534453132925666,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15434649576867762,
+            "release_required_pad_clearance": 0.052672265664628334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4015378698833463,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00755387544631958,
+            "max_z_decrease": 0.00755387544631958,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515833202194233,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00755387544631958,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108778089564303,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00755387544631958,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075538988240357475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13417825102806086,
+              -0.391820877790451,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13417825102806086,
+              -0.391820877790451,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13587550411504037,
+              -0.3915487256932998,
+              0.8079227696156536
+            ],
+            "closest_button": [
+              0.13416793942451471,
+              -0.39182332158088673,
+              0.7728070020675659
+            ],
+            "closest_ee_minus_button": [
+              0.0017075646905256592,
+              0.000274595887586937,
+              0.03511576754808765
+            ],
+            "button_min_z_position": [
+              0.13415946066379547,
+              -0.39182054996490473,
+              0.7692549824714661
+            ],
+            "min_active_finger_to_button": 0.14455775164254056,
+            "closest_active_finger": [
+              0.008672043681144714,
+              -0.4548567533493042,
+              0.8107916712760925
+            ],
+            "closest_active_finger_button": [
+              0.13417792320251465,
+              -0.39182159304618824,
+              0.7765603065490723
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12550587952136993,
+              -0.06303516030311596,
+              0.034231364727020264
+            ],
+            "min_contact_pad_to_button": 0.02108778089564303,
+            "closest_contact_pad": [
+              0.13415946066379547,
+              -0.39260414422742357,
+              0.7903281996708971
+            ],
+            "closest_contact_pad_button": [
+              0.13415946066379547,
+              -0.39182054996490473,
+              0.7692549824714661
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007835942625188386,
+              0.021073217199431005
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2629600765128767,
+              0.20607178469180784,
+              1.1035074134533671
+            ],
+            "current_z": 1.1035074134533671,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19359828371900456,
+            "gripper_z": 1.1035076604091623,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2629601872733174,
+              0.20607175825400986,
+              1.1035076604091623
+            ],
+            "object_minus_gripper": [
+              -1.1076044070801316e-07,
+              2.6437797978617894e-08,
+              -2.469557951467749e-07
+            ],
+            "object_to_gripper_xy": 1.1387200001664813e-07,
+            "object_to_gripper_z": -2.469557951467749e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2629600765128767,
+              0.20607178469180784,
+              1.1035074134533671
+            ],
+            "finger_b": [
+              0.2629600765128767,
+              0.20607178469180784,
+              1.1035074134533671
+            ],
+            "finger_midpoint": [
+              0.2629600765128767,
+              0.20607178469180784,
+              1.1035074134533671
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035074134533671,
+            "object_top_z": 1.2285159200736468,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2629600765128767,
+            0.20607178469180784,
+            1.1035074134533671
+          ],
+          "object_origin_world": [
+            0.2629600765128767,
+            0.20607178469180784,
+            1.1035074134533671
+          ],
+          "frame_world": [
+            0.2629601872733174,
+            0.20607175825400986,
+            1.1035076604091623
+          ],
+          "center_minus_frame": [
+            -1.1076044070801316e-07,
+            2.6437797978617894e-08,
+            -2.469557951467749e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432732749801967,
+            "required_z": 0.9112599473724062,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002593891835449603,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.065535141974978e-08,
+            "max_target_xy_drift": 1.755527499237136e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.40153786417494963,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.40153787145635483,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2856927641650138,
+              -0.336257272072235,
+              0.9233871689000971
+            ],
+            "target_mouth_xy": [
+              0.28768514473262286,
+              -0.3346033114568172
+            ],
+            "rod_tip_z": 0.9233871689000971,
+            "rod_tip_depth": -0.02212724343504413,
+            "rod_tip_bottom_clearance": 0.12156789266373824,
+            "rod_tip_xy_dist": 0.0025894335371928847,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04501895090645902,
+            "min_rod_tip_bottom_clearance": 0.05442158332293967,
+            "min_rod_tip_xy_dist": 0.0014842577414753589,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28768510999685926,
+              -0.3346032499295435
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.473576359880326e-08,
+              -6.152727372032984e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.001475788432063807,
+                0.00015833365692796697
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001570495301787711,
+                -0.00025237500059066553
+              ],
+              "first_target_mouth_xy": [
+                0.28768507940429067,
+                -0.3346032496054231
+              ],
+              "last_target_mouth_xy": [
+                0.2876850505501384,
+                -0.33460324929463253
+              ],
+              "first_rod_tip_xy": [
+                0.28620929097222686,
+                -0.3344449159484951
+              ],
+              "last_rod_tip_xy": [
+                0.28611455524835067,
+                -0.3348556242952232
+              ],
+              "min_rod_tip_xy_dist": 0.0014842577414753589,
+              "max_rod_tip_xy_dist": 0.001593789836941308,
+              "first_target_xy_drift": 3.0594285527454746e-08,
+              "last_target_xy_drift": 5.945011131372245e-08,
+              "max_depth": 0.019700805758844475,
+              "min_bottom_clearance": 0.07973978506797186
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.001475788432063807,
+                  0.00015833365692796697
+                ],
+                "rod_tip_xy": [
+                  0.28620929097222686,
+                  -0.3344449159484951
+                ],
+                "target_mouth_xy": [
+                  0.28768507940429067,
+                  -0.3346032496054231
+                ],
+                "gripper_position": [
+                  0.28619743142419,
+                  -0.33445241685113847,
+                  1.005865766331842
+                ],
+                "rod_tip_xy_dist": 0.0014842577414753589,
+                "target_xy_drift": 3.0594285527454746e-08,
+                "depth": 0.01524979759743339,
+                "bottom_clearance": 0.08419081822208352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001487654060098209,
+                  0.00015083182416258945
+                ],
+                "rod_tip_xy": [
+                  0.28619743142418996,
+                  -0.33445241685113836
+                ],
+                "target_mouth_xy": [
+                  0.28768508548428817,
+                  -0.33460324867530095
+                ],
+                "gripper_position": [
+                  0.2861885942296835,
+                  -0.3344527337690421,
+                  1.005738380647073
+                ],
+                "rod_tip_xy_dist": 0.0014952808571324987,
+                "target_xy_drift": 2.4544638223193486e-08,
+                "depth": 0.01539408770617634,
+                "bottom_clearance": 0.08404654540435097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0014965180926883592,
+                  0.00015054693433513844
+                ],
+                "rod_tip_xy": [
+                  0.28618859422968346,
+                  -0.33445273376904217
+                ],
+                "target_mouth_xy": [
+                  0.2876851123223718,
+                  -0.3346032807033773
+                ],
+                "gripper_position": [
+                  0.28619585024408334,
+                  -0.3345239592240962,
+                  1.0052159094893285
+                ],
+                "rod_tip_xy_dist": 0.001504071401623378,
+                "target_xy_drift": 3.0861575726363445e-08,
+                "depth": 0.01552145299438612,
+                "bottom_clearance": 0.08391907288585365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014892633758657459,
+                  7.928880920482495e-05
+                ],
+                "rod_tip_xy": [
+                  0.28619585024408334,
+                  -0.33452395922409617
+                ],
+                "target_mouth_xy": [
+                  0.2876851136199491,
+                  -0.334603248033301
+                ],
+                "gripper_position": [
+                  0.2861838935237717,
+                  -0.3345311967655819,
+                  1.0050716811525802
+                ],
+                "rod_tip_xy_dist": 0.0014913725617565039,
+                "target_xy_drift": 4.08931724226167e-09,
+                "depth": 0.016043942510939657,
+                "bottom_clearance": 0.08339664887027298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015012197612238043,
+                  7.205540568833158e-05
+                ],
+                "rod_tip_xy": [
+                  0.28618389352377166,
+                  -0.33453119676558196
+                ],
+                "target_mouth_xy": [
+                  0.28768511328499546,
+                  -0.3346032521712703
+                ],
+                "gripper_position": [
+                  0.28617481574184467,
+                  -0.3345316265551344,
+                  1.0049446692933537
+                ],
+                "rod_tip_xy_dist": 0.0015029480207172056,
+                "target_xy_drift": 3.979595304220413e-09,
+                "depth": 0.016188177482886035,
+                "bottom_clearance": 0.08325242027512902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015102636825379823,
+                  7.156154423398897e-05
+                ],
+                "rod_tip_xy": [
+                  0.2861748157418446,
+                  -0.33453162655513435
+                ],
+                "target_mouth_xy": [
+                  0.2876850794243826,
+                  -0.33460318809936834
+                ],
+                "gripper_position": [
+                  0.2861830126942726,
+                  -0.334603939924244,
+                  1.0044231776934462
+                ],
+                "rod_tip_xy_dist": 0.0015119581493567673,
+                "target_xy_drift": 6.897569780623379e-08,
+                "depth": 0.01631533783300043,
+                "bottom_clearance": 0.08312534555423678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015021003108354747,
+                  -7.197790452551089e-07
+                ],
+                "rod_tip_xy": [
+                  0.28618301269427254,
+                  -0.334603939924244
+                ],
+                "target_mouth_xy": [
+                  0.287685113005108,
+                  -0.3346032201451987
+                ],
+                "gripper_position": [
+                  0.2861710059209089,
+                  -0.3346111690406338,
+                  1.0042794387643887
+                ],
+                "rod_tip_xy_dist": 0.0015021004832879536,
+                "target_xy_drift": 2.9935877369577443e-08,
+                "depth": 0.016836579279425945,
+                "bottom_clearance": 0.08260392770531022,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015141074918273434,
+                  -7.917507003463164e-06
+                ],
+                "rod_tip_xy": [
+                  0.2861710059209088,
+                  -0.3346111690406339
+                ],
+                "target_mouth_xy": [
+                  0.28768511341273617,
+                  -0.33460325153363046
+                ],
+                "gripper_position": [
+                  0.2861619115316217,
+                  -0.33461147991685464,
+                  1.0041525992231957
+                ],
+                "rod_tip_xy_dist": 0.0015141281926325917,
+                "target_xy_drift": 3.773766039039885e-09,
+                "depth": 0.01698040943871726,
+                "bottom_clearance": 0.08246017023206853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015231680084256682,
+                  -8.228713896607509e-06
+                ],
+                "rod_tip_xy": [
+                  0.2861619115316216,
+                  -0.3346114799168546
+                ],
+                "target_mouth_xy": [
+                  0.2876850795400473,
+                  -0.334603251202958
+                ],
+                "gripper_position": [
+                  0.28617108314922524,
+                  -0.33468460407339345,
+                  1.0036335079490704
+                ],
+                "rod_tip_xy_dist": 0.0015231902355332405,
+                "target_xy_drift": 3.048342138440451e-08,
+                "depth": 0.017107390693232527,
+                "bottom_clearance": 0.08233326143264763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015140293790688042,
+                  -8.138361204068634e-05
+                ],
+                "rod_tip_xy": [
+                  0.2861710831492252,
+                  -0.3346846040733935
+                ],
+                "target_mouth_xy": [
+                  0.287685112528294,
+                  -0.3346032204613528
+                ],
+                "gripper_position": [
+                  0.2861588049438202,
+                  -0.33469192482863436,
+                  1.0034897601046235
+                ],
+                "rod_tip_xy_dist": 0.0015162151077575564,
+                "target_xy_drift": 2.95767209622251e-08,
+                "depth": 0.017626310547483204,
+                "bottom_clearance": 0.08181418958199527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015263076720273827,
+                  -8.870627825796618e-05
+                ],
+                "rod_tip_xy": [
+                  0.2861588049438201,
+                  -0.3346919248286343
+                ],
+                "target_mouth_xy": [
+                  0.2876851126158475,
+                  -0.33460321855037634
+                ],
+                "gripper_position": [
+                  0.2861496342275017,
+                  -0.3346922080387184,
+                  1.003363063110525
+                ],
+                "rod_tip_xy_dist": 0.001528883224282361,
+                "target_xy_drift": 3.1488271319607713e-08,
+                "depth": 0.01777007809790032,
+                "bottom_clearance": 0.08167046311447324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015354486602204842,
+                  -8.895586996926497e-05
+                ],
+                "rod_tip_xy": [
+                  0.28614963422750167,
+                  -0.33469220803871835
+                ],
+                "target_mouth_xy": [
+                  0.28768508288772215,
+                  -0.3346032521687491
+                ],
+                "gripper_position": [
+                  0.2861402567804335,
+                  -0.33469263614952965,
+                  1.0032365363031537
+                ],
+                "rod_tip_xy_dist": 0.0015380233206862856,
+                "target_xy_drift": 2.7201458713045166e-08,
+                "depth": 0.017896790806744556,
+                "bottom_clearance": 0.0815437841094272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015448541559310858,
+                  -8.938716378614764e-05
+                ],
+                "rod_tip_xy": [
+                  0.2861402567804334,
+                  -0.3346926361495296
+                ],
+                "target_mouth_xy": [
+                  0.2876851109363645,
+                  -0.33460324898574345
+                ],
+                "gripper_position": [
+                  0.28615092304654666,
+                  -0.3347677561004465,
+                  1.0027203316789626
+                ],
+                "rod_tip_xy_dist": 0.001547438020777336,
+                "target_xy_drift": 1.3317014039636672e-09,
+                "depth": 0.018023336212903973,
+                "bottom_clearance": 0.08141723588572558,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015341912724911588,
+                  -0.00016453372920977039
+                ],
+                "rod_tip_xy": [
+                  0.2861509230465466,
+                  -0.3347677561004465
+                ],
+                "target_mouth_xy": [
+                  0.28768511431903776,
+                  -0.33460322237123674
+                ],
+                "gripper_position": [
+                  0.2861386546492533,
+                  -0.33477490707268315,
+                  1.00257649954415
+                ],
+                "rod_tip_xy_dist": 0.0015429887260235296,
+                "target_xy_drift": 2.7895187717989363e-08,
+                "depth": 0.01853959473584743,
+                "bottom_clearance": 0.08090104267040588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015464583664692721,
+                  -0.00017165712905792274
+                ],
+                "rod_tip_xy": [
+                  0.28613865464925325,
+                  -0.3347749070726831
+                ],
+                "target_mouth_xy": [
+                  0.2876851130157225,
+                  -0.33460324994362517
+                ],
+                "gripper_position": [
+                  0.28612923239597,
+                  -0.3347750636221722,
+                  1.0024499899498112
+                ],
+                "rod_tip_xy_dist": 0.0015559561848520087,
+                "target_xy_drift": 3.0188961127456174e-09,
+                "depth": 0.018683317046970127,
+                "bottom_clearance": 0.08075719020351613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015558468726794006,
+                  -0.0001718124226395834
+                ],
+                "rod_tip_xy": [
+                  0.28612923239597,
+                  -0.33477506362217224
+                ],
+                "target_mouth_xy": [
+                  0.2876850792686494,
+                  -0.33460325119953266
+                ],
+                "gripper_position": [
+                  0.2861197849548186,
+                  -0.3347753475312824,
+                  1.002323690142871
+                ],
+                "rod_tip_xy_dist": 0.0015653047625940305,
+                "target_xy_drift": 3.0754442833974056e-08,
+                "depth": 0.01880994862627039,
+                "bottom_clearance": 0.08063071391283116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001565328771764407,
+                  -0.0001720956778316629
+                ],
+                "rod_tip_xy": [
+                  0.28611978495481855,
+                  -0.33477534753128246
+                ],
+                "target_mouth_xy": [
+                  0.28768511372658295,
+                  -0.3346032518534508
+                ],
+                "gripper_position": [
+                  0.2861104038123191,
+                  -0.33477566524564295,
+                  1.0021971809953076
+                ],
+                "rod_tip_xy_dist": 0.0015747606440477888,
+                "target_xy_drift": 4.196696104662591e-09,
+                "depth": 0.01893616626327066,
+                "bottom_clearance": 0.08050443693550313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015747372520917846,
+                  -0.00017238518691675697
+                ],
+                "rod_tip_xy": [
+                  0.28611040381231906,
+                  -0.33477566524564284
+                ],
+                "target_mouth_xy": [
+                  0.28768514106441084,
+                  -0.3346032800587261
+                ],
+                "gripper_position": [
+                  0.2861007126786679,
+                  -0.33477599917471124,
+                  1.0020708401492828
+                ],
+                "rod_tip_xy_dist": 0.0015841445848766172,
+                "target_xy_drift": 4.327771257058142e-08,
+                "depth": 0.019062673754267956,
+                "bottom_clearance": 0.0803778703509549,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015844002955771042,
+                  -0.00017274764169905588
+                ],
+                "rod_tip_xy": [
+                  0.2861007126786678,
+                  -0.3347759991747111
+                ],
+                "target_mouth_xy": [
+                  0.2876851129742449,
+                  -0.33460325153301207
+                ],
+                "gripper_position": [
+                  0.2861145552483507,
+                  -0.33485562429522325,
+                  1.001559144506488
+                ],
+                "rod_tip_xy_dist": 0.001593789836941308,
+                "target_xy_drift": 3.3817062148275495e-09,
+                "depth": 0.019189004597403247,
+                "bottom_clearance": 0.08025155828063157,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001570495301787711,
+                  -0.00025237500059066553
+                ],
+                "rod_tip_xy": [
+                  0.28611455524835067,
+                  -0.3348556242952232
+                ],
+                "target_mouth_xy": [
+                  0.2876850505501384,
+                  -0.33460324929463253
+                ],
+                "gripper_position": [
+                  0.2861022738606557,
+                  -0.33486276271881216,
+                  1.0014156669047842
+                ],
+                "rod_tip_xy_dist": 0.0015906440940261942,
+                "target_xy_drift": 5.945011131372245e-08,
+                "depth": 0.019700805758844475,
+                "bottom_clearance": 0.07973978506797186,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006089960843092057,
+              "rod_tip_xy_max_step": 3.3047602801285366e-05,
+              "rod_tip_xy_range": 0.0006089915013985286,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2856927641650138,
+            -0.336257272072235,
+            1.043387168900097
+          ],
+          "object_origin_world": [
+            0.2856927641650138,
+            -0.336257272072235,
+            1.043387168900097
+          ],
+          "frame_world": [
+            0.2856910096077854,
+            -0.33626213632940066,
+            1.0432732749801967
+          ],
+          "center_minus_frame": [
+            1.7545572284505262e-06,
+            4.86425716567096e-06,
+            0.00011389391990035413
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2492624401364728,
+              0.15968542738919528,
+              0.8322390811772383
+            ],
+            "target_position": [
+              0.26309545471993556,
+              0.20555715131864882,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04791207936132906,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16392126010944866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322390811772383,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673747180422,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13296844505891395,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6e5a3a0a2e251ddfe2eb6a85b9b137d89b37d4acde6e1901f240ad0a4a4389c",
+    "visual_seed": 7804724363758390990,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e314bd4944c2447dd1982d869e13feb6e1a7372
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_53_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2992572717610299,
+              0.08608350316072617,
+              1.1626043377966373
+            ],
+            "current_z": 1.1626043377966373,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30149759136329235,
+            "gripper_z": 1.1548515906698924,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29387890403989847,
+              0.08094688301795508,
+              1.1548515906698924
+            ],
+            "object_minus_gripper": [
+              0.005378367721131427,
+              0.005136620142771095,
+              0.007752747126744897
+            ],
+            "object_to_gripper_xy": 0.00743718399898982,
+            "object_to_gripper_z": 0.007752747126744897,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2992572717610299,
+              0.06195571882329622,
+              1.1626043377966373
+            ],
+            "finger_b": [
+              0.2876271278545065,
+              0.08608350316072617,
+              1.1626043377966373
+            ],
+            "finger_midpoint": [
+              0.2934421998077682,
+              0.0740196109920112,
+              1.1626043377966373
+            ],
+            "object_minus_finger_midpoint": [
+              0.005815071953261697,
+              0.01206389216871498,
+              0.0
+            ],
+            "finger_gap": 0.026784514636632364,
+            "fingertip_max_gap": 0.09083954277066444,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013392257318316185,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626043377966373,
+            "object_top_z": 1.2124694670429421,
+            "finger_top_clearance": 0.04986512924630482,
+            "fingertip_min_top_clearance": 0.014959538773891478,
+            "object_projection_between_fingers": 0.811460385284228,
+            "object_to_finger_line_xy": 0.010476561094972784,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047919771385332224,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.622351052953963,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2941713563657624,
+              -0.3341813059117882,
+              0.8515395050553035
+            ],
+            "target_position": [
+              0.2846184713196745,
+              -0.33533927823765136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009622812094769138,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18425661545242264,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395050553035,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519773043620814,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853278850829675,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15303803561823665,
+            "release_required_pad_clearance": 0.05266394254148375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3856289992044781,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007348418235778809,
+            "max_z_decrease": 0.007348418235778809,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035116420177955285,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007348418235778809,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107225267925737,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007348418235778809,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073484438021805265,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1403183937072754,
+              -0.39160072803497314,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1403183937072754,
+              -0.39160072803497314,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1398637942675721,
+              -0.39177697393181743,
+              0.8082581774385351
+            ],
+            "closest_button": [
+              0.14030961692333221,
+              -0.39160266518592834,
+              0.7731450200080872
+            ],
+            "closest_ee_minus_button": [
+              -0.00044582265576012525,
+              -0.00017430874588908463,
+              0.03511315743044796
+            ],
+            "button_min_z_position": [
+              0.14029906690120694,
+              -0.39159923791885376,
+              0.7694604396820068
+            ],
+            "min_active_finger_to_button": 0.14659775444354894,
+            "closest_active_finger": [
+              -0.0015122666954994202,
+              -0.37752199172973633,
+              0.8106963038444519
+            ],
+            "closest_active_finger_button": [
+              0.1403181552886963,
+              -0.3916015625,
+              0.7763918042182922
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418304219841957,
+              0.014079570770263672,
+              0.03430449962615967
+            ],
+            "min_contact_pad_to_button": 0.02107225267925737,
+            "closest_contact_pad": [
+              0.14029906690120694,
+              -0.3927213565358737,
+              0.7905027941792537
+            ],
+            "closest_contact_pad_button": [
+              0.14029906690120694,
+              -0.39159923791885376,
+              0.7694604396820068
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011221186170199404,
+              0.021042354497246896
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2648099475714284,
+              0.2033426126815092,
+              1.10279137438586
+            ],
+            "current_z": 1.10279137438586,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1928822446514974,
+            "gripper_z": 1.1027913295454466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26480992956664884,
+              0.20334261819402433,
+              1.1027913295454466
+            ],
+            "object_minus_gripper": [
+              1.8004779556157757e-08,
+              -5.512515138805796e-09,
+              4.484041338237432e-08
+            ],
+            "object_to_gripper_xy": 1.8829761284238294e-08,
+            "object_to_gripper_z": 4.484041338237432e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2648099475714284,
+              0.2033426126815092,
+              1.10279137438586
+            ],
+            "finger_b": [
+              0.2648099475714284,
+              0.2033426126815092,
+              1.10279137438586
+            ],
+            "finger_midpoint": [
+              0.2648099475714284,
+              0.2033426126815092,
+              1.10279137438586
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10279137438586,
+            "object_top_z": 1.2277998810061397,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2648099475714284,
+            0.20334261268150922,
+            1.1027913743858602
+          ],
+          "object_origin_world": [
+            0.2648099475714284,
+            0.20334261268150922,
+            1.1027913743858602
+          ],
+          "frame_world": [
+            0.26480992956664884,
+            0.20334261819402433,
+            1.1027913295454466
+          ],
+          "center_minus_frame": [
+            1.8004779556157757e-08,
+            -5.51251511105022e-09,
+            4.484041360441893e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432592120838287,
+            "required_z": 0.91125986903472,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001540920115080215,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.908485849695168e-08,
+            "max_target_xy_drift": 3.8925324820169517e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.38562899340424805,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3856289993963384,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2949636133659609,
+              -0.3328535822702382,
+              0.9233772553043545
+            ],
+            "target_mouth_xy": [
+              0.2941713537730857,
+              -0.3341815138825269
+            ],
+            "rod_tip_z": 0.9233772553043545,
+            "rod_tip_depth": -0.02211737542916825,
+            "rod_tip_bottom_clearance": 0.12155794734559178,
+            "rod_tip_xy_dist": 0.0015463109743575271,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04492534418555616,
+            "min_rod_tip_bottom_clearance": 0.054515161930458245,
+            "min_rod_tip_xy_dist": 0.0002986634409173713,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2941713541637636,
+              -0.3341814247985251
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.906779344475808e-10,
+              -8.908400184193255e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.001175852487435125,
+                0.0030256375838190186
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001080530870612273,
+                0.002703361509276414
+              ],
+              "first_target_mouth_xy": [
+                0.2941713562187994,
+                -0.33418142608357115
+              ],
+              "last_target_mouth_xy": [
+                0.29417138603439147,
+                -0.33418151802534235
+              ],
+              "first_rod_tip_xy": [
+                0.29534720870623454,
+                -0.33115578849975214
+              ],
+              "last_rod_tip_xy": [
+                0.29525191690500374,
+                -0.33147815651606594
+              ],
+              "min_rod_tip_xy_dist": 0.0029113073372942556,
+              "max_rod_tip_xy_dist": 0.003246091782563389,
+              "first_target_xy_drift": 2.4237399971579283e-09,
+              "last_target_xy_drift": 9.8523988843698e-08,
+              "max_depth": 0.019649878492320916,
+              "min_bottom_clearance": 0.07979075820194148
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001175852487435125,
+                  0.0030256375838190186
+                ],
+                "rod_tip_xy": [
+                  0.29534720870623454,
+                  -0.33115578849975214
+                ],
+                "target_mouth_xy": [
+                  0.2941713562187994,
+                  -0.33418142608357115
+                ],
+                "gripper_position": [
+                  0.2953352159548205,
+                  -0.3311631620526997,
+                  1.005592400690367
+                ],
+                "rod_tip_xy_dist": 0.003246091782563389,
+                "target_xy_drift": 2.4237399971579283e-09,
+                "depth": 0.015518706202147237,
+                "bottom_clearance": 0.08392183862756186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011638881386054623,
+                  0.003018294151968637
+                ],
+                "rod_tip_xy": [
+                  0.2953352159548205,
+                  -0.3311631620526998
+                ],
+                "target_mouth_xy": [
+                  0.294171327816215,
+                  -0.33418145620466844
+                ],
+                "gripper_position": [
+                  0.29532600998261016,
+                  -0.33116371829105334,
+                  1.0054619044239963
+                ],
+                "rod_tip_xy_dist": 0.0032349242938582907,
+                "target_xy_drift": 4.099437957631121e-08,
+                "depth": 0.015667514297082685,
+                "bottom_clearance": 0.08377309556977564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011546534341458914,
+                  0.003017736956214212
+                ],
+                "rod_tip_xy": [
+                  0.29532600998261016,
+                  -0.3311637182910534
+                ],
+                "target_mouth_xy": [
+                  0.29417135654846427,
+                  -0.3341814552472676
+                ],
+                "gripper_position": [
+                  0.2953398635674419,
+                  -0.33123230910731094,
+                  1.0049362069669965
+                ],
+                "rod_tip_xy_dist": 0.003231092832136817,
+                "target_xy_drift": 3.054198288798016e-08,
+                "depth": 0.01579786577424691,
+                "bottom_clearance": 0.08364266867727121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011684760221227775,
+                  0.0029491794374872926
+                ],
+                "rod_tip_xy": [
+                  0.2953398635674419,
+                  -0.33123230910731094
+                ],
+                "target_mouth_xy": [
+                  0.29417138754531913,
+                  -0.33418148854479823
+                ],
+                "gripper_position": [
+                  0.29532769732543596,
+                  -0.331239602547139,
+                  1.0047871996059154
+                ],
+                "rod_tip_xy_dist": 0.003172222496732178,
+                "target_xy_drift": 7.195773474273257e-08,
+                "depth": 0.016323754553269954,
+                "bottom_clearance": 0.08311695156833498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001156311510917718,
+                  0.0029418824936191523
+                ],
+                "rod_tip_xy": [
+                  0.29532769732543596,
+                  -0.33123960254713913
+                ],
+                "target_mouth_xy": [
+                  0.29417138581451824,
+                  -0.3341814850407583
+                ],
+                "gripper_position": [
+                  0.2953182584845002,
+                  -0.3312404404802969,
+                  1.0046571645339217
+                ],
+                "rod_tip_xy_dist": 0.0031609696165170046,
+                "target_xy_drift": 6.805069382226532e-08,
+                "depth": 0.016472566220912088,
+                "bottom_clearance": 0.08296794740357216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001146840676773564,
+                  0.0029410781776674777
+                ],
+                "rod_tip_xy": [
+                  0.2953182584845002,
+                  -0.331240440480297
+                ],
+                "target_mouth_xy": [
+                  0.29417141780772665,
+                  -0.33418151865796447
+                ],
+                "gripper_position": [
+                  0.295332957688042,
+                  -0.33130973477297787,
+                  1.0041331677435952
+                ],
+                "rod_tip_xy_dist": 0.0031567680283882595,
+                "target_xy_drift": 1.1340259430043597e-07,
+                "depth": 0.016602806198575792,
+                "bottom_clearance": 0.0828379287610791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011616012754593341,
+                  0.0028717524919301685
+                ],
+                "rod_tip_xy": [
+                  0.2953329576880421,
+                  -0.33130973477297787
+                ],
+                "target_mouth_xy": [
+                  0.29417135641258274,
+                  -0.33418148726490804
+                ],
+                "gripper_position": [
+                  0.29532070014894674,
+                  -0.3313170294313707,
+                  1.0039844569992538
+                ],
+                "rod_tip_xy_dist": 0.0030977862899263862,
+                "target_xy_drift": 6.250684912058131e-08,
+                "depth": 0.017126641113985985,
+                "bottom_clearance": 0.08231396793054879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011493122786616627,
+                  0.002864458794600566
+                ],
+                "rod_tip_xy": [
+                  0.29532070014894674,
+                  -0.33131702943137076
+                ],
+                "target_mouth_xy": [
+                  0.2941713878702851,
+                  -0.3341814882259713
+                ],
+                "gripper_position": [
+                  0.2953111353435084,
+                  -0.3313174825618948,
+                  1.0038541290816863
+                ],
+                "rod_tip_xy_dist": 0.003086428826305086,
+                "target_xy_drift": 7.18273661330413e-08,
+                "depth": 0.01727550135392175,
+                "bottom_clearance": 0.08216520570714703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011397790211952197,
+                  0.002863972680192395
+                ],
+                "rod_tip_xy": [
+                  0.2953111353435084,
+                  -0.33131748256189486
+                ],
+                "target_mouth_xy": [
+                  0.29417135632231317,
+                  -0.33418145524208726
+                ],
+                "gripper_position": [
+                  0.29532682293275603,
+                  -0.33138776404664966,
+                  1.003334343035447
+                ],
+                "rod_tip_xy_dist": 0.003082439898853689,
+                "target_xy_drift": 3.051999039776619e-08,
+                "depth": 0.017405639246475535,
+                "bottom_clearance": 0.08203488636859546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011554344674805095,
+                  0.0027937244982358944
+                ],
+                "rod_tip_xy": [
+                  0.2953268229327561,
+                  -0.3313877640466498
+                ],
+                "target_mouth_xy": [
+                  0.2941713884652756,
+                  -0.3341814885448857
+                ],
+                "gripper_position": [
+                  0.29531433684015795,
+                  -0.33139484044547274,
+                  1.0031858910331939
+                ],
+                "rod_tip_xy_dist": 0.00302323095060324,
+                "target_xy_drift": 7.238917196084929e-08,
+                "depth": 0.017925625740208617,
+                "bottom_clearance": 0.08151511562029323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011429491937405833,
+                  0.002786675673201122
+                ],
+                "rod_tip_xy": [
+                  0.29531433684015795,
+                  -0.33139484044547285
+                ],
+                "target_mouth_xy": [
+                  0.29417138764641737,
+                  -0.33418151611867397
+                ],
+                "gripper_position": [
+                  0.2953048800932797,
+                  -0.3313951174981964,
+                  1.0030558587810705
+                ],
+                "rod_tip_xy_dist": 0.0030119585267867114,
+                "target_xy_drift": 9.726488418564e-08,
+                "depth": 0.018073971674326783,
+                "bottom_clearance": 0.08136665797104059,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001133554527005698,
+                  0.0027863380586243824
+                ],
+                "rod_tip_xy": [
+                  0.2953048800932797,
+                  -0.3313951174981964
+                ],
+                "target_mouth_xy": [
+                  0.294171325566274,
+                  -0.3341814555568208
+                ],
+                "gripper_position": [
+                  0.29529506566276337,
+                  -0.33139586948382377,
+                  1.0029257148413369
+                ],
+                "rod_tip_xy_dist": 0.0030080933567018502,
+                "target_xy_drift": 4.199868051481995e-08,
+                "depth": 0.018203990214365362,
+                "bottom_clearance": 0.08123655608519753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001123585508911784,
+                  0.0027855229737885345
+                ],
+                "rod_tip_xy": [
+                  0.29529506566276337,
+                  -0.3313958694838238
+                ],
+                "target_mouth_xy": [
+                  0.2941714801538516,
+                  -0.33418139245761236
+                ],
+                "gripper_position": [
+                  0.2952852930376161,
+                  -0.33139643730113416,
+                  1.0027957783399204
+                ],
+                "rod_tip_xy_dist": 0.0030035949516105317,
+                "target_xy_drift": 1.300747358386978e-07,
+                "depth": 0.018334237290609234,
+                "bottom_clearance": 0.08110652117821204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001113907390525748,
+                  0.002784987501471936
+                ],
+                "rod_tip_xy": [
+                  0.2952852930376161,
+                  -0.3313964373011342
+                ],
+                "target_mouth_xy": [
+                  0.29417138564709033,
+                  -0.33418142480260615
+                ],
+                "gripper_position": [
+                  0.29530369518940036,
+                  -0.331469968362635,
+                  1.0022783455009137
+                ],
+                "rod_tip_xy_dist": 0.002999490799789654,
+                "target_xy_drift": 3.1483326987931944e-08,
+                "depth": 0.01846403926499307,
+                "bottom_clearance": 0.08097645483793547,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001132308746182309,
+                  0.002711516046875251
+                ],
+                "rod_tip_xy": [
+                  0.29530369518940036,
+                  -0.3314699683626351
+                ],
+                "target_mouth_xy": [
+                  0.29417138644321805,
+                  -0.33418148440951034
+                ],
+                "gripper_position": [
+                  0.29529108377992186,
+                  -0.3314769460616805,
+                  1.0021302597908968
+                ],
+                "rod_tip_xy_dist": 0.002938442167057732,
+                "target_xy_drift": 6.77896212017667e-08,
+                "depth": 0.01898147356342761,
+                "bottom_clearance": 0.08045904139654392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011196651524988943,
+                  0.002704540261411481
+                ],
+                "rod_tip_xy": [
+                  0.29529108377992186,
+                  -0.33147694606168054
+                ],
+                "target_mouth_xy": [
+                  0.29417141862742296,
+                  -0.334181486323092
+                ],
+                "gripper_position": [
+                  0.29528136272238514,
+                  -0.3314772959132607,
+                  1.002000081924717
+                ],
+                "rod_tip_xy_dist": 0.0029271467471440604,
+                "target_xy_drift": 8.911136692208323e-08,
+                "depth": 0.019129671939820514,
+                "bottom_clearance": 0.08031100310133976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011099777500132024,
+                  0.0027041900800792718
+                ],
+                "rod_tip_xy": [
+                  0.29528136272238514,
+                  -0.3314772959132607
+                ],
+                "target_mouth_xy": [
+                  0.29417138497237194,
+                  -0.33418148599333997
+                ],
+                "gripper_position": [
+                  0.2952715065851712,
+                  -0.3314776016350615,
+                  1.0018701719033816
+                ],
+                "rod_tip_xy_dist": 0.0029231309575048995,
+                "target_xy_drift": 6.851259530740477e-08,
+                "depth": 0.019259784357235632,
+                "bottom_clearance": 0.0801807921380252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010999992691219096,
+                  0.0027037901889102045
+                ],
+                "rod_tip_xy": [
+                  0.2952715065851712,
+                  -0.3314776016350617
+                ],
+                "target_mouth_xy": [
+                  0.2941715073160493,
+                  -0.3341813918239719
+                ],
+                "gripper_position": [
+                  0.29526175282178035,
+                  -0.3314777790763879,
+                  1.0017401648294468
+                ],
+                "rod_tip_xy_dist": 0.00291898608727685,
+                "target_xy_drift": 1.566618772061923e-07,
+                "depth": 0.019389770256804106,
+                "bottom_clearance": 0.08005090868568299,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010903683569939426,
+                  0.002703707229415764
+                ],
+                "rod_tip_xy": [
+                  0.29526175282178035,
+                  -0.331477779076388
+                ],
+                "target_mouth_xy": [
+                  0.2941713844647864,
+                  -0.33418148630580374
+                ],
+                "gripper_position": [
+                  0.29525191690500374,
+                  -0.3314781565160659,
+                  1.0016100057557324
+                ],
+                "rod_tip_xy_dist": 0.0029152934562971075,
+                "target_xy_drift": 6.856600696338801e-08,
+                "depth": 0.01951966292208074,
+                "bottom_clearance": 0.07992094433249164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001080530870612273,
+                  0.002703361509276414
+                ],
+                "rod_tip_xy": [
+                  0.29525191690500374,
+                  -0.33147815651606594
+                ],
+                "target_mouth_xy": [
+                  0.29417138603439147,
+                  -0.33418151802534235
+                ],
+                "gripper_position": [
+                  0.2952420158081541,
+                  -0.3314786354935731,
+                  1.001480367707208
+                ],
+                "rod_tip_xy_dist": 0.0029113073372942556,
+                "target_xy_drift": 9.8523988843698e-08,
+                "depth": 0.019649878492320916,
+                "bottom_clearance": 0.07979075820194148,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006075075582381195,
+              "rod_tip_xy_max_step": 3.2898461564345564e-05,
+              "rod_tip_xy_range": 0.0006075017689143779,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2949636133659609,
+            -0.33285358227023815,
+            1.0433772553043545
+          ],
+          "object_origin_world": [
+            0.2949636133659609,
+            -0.33285358227023815,
+            1.0433772553043545
+          ],
+          "frame_world": [
+            0.29496187375782856,
+            -0.3328588223255943,
+            1.0432592120838287
+          ],
+          "center_minus_frame": [
+            1.7396081323228785e-06,
+            5.240055356126039e-06,
+            0.00011804322052588745
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25197314102866764,
+              0.15723015477648536,
+              0.8317540776509597
+            ],
+            "target_position": [
+              0.2649386133128769,
+              0.20311858261619092,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047684916704891736,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16473272159411695,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317540776509597,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673215473934,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13442707785045885,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d849cc39b5a3b2810fed00aeaa4a2b041ada78072959294e4bee888994e7a786",
+    "visual_seed": 5899284034836879013,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e1e9ac70400841c15014b315a0e7667db13df8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_5_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29621713976553776,
+              0.08934073997881857,
+              1.161020303026334
+            ],
+            "current_z": 1.161020303026334,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.2999137354069231,
+            "gripper_z": 1.1532735224814679,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29089377763987223,
+              0.08428028159272757,
+              1.1532735224814679
+            ],
+            "object_minus_gripper": [
+              0.005323362125665532,
+              0.005060458386090996,
+              0.007746780544866105
+            ],
+            "object_to_gripper_xy": 0.0073448228976830295,
+            "object_to_gripper_z": 0.007746780544866105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29621713976553776,
+              0.06520161632801114,
+              1.161020303026334
+            ],
+            "finger_b": [
+              0.28476065514599436,
+              0.08934073997881857,
+              1.161020303026334
+            ],
+            "finger_midpoint": [
+              0.29048889745576606,
+              0.07727117815341486,
+              1.161020303026334
+            ],
+            "object_minus_finger_midpoint": [
+              0.005728242309771703,
+              0.01206956182540371,
+              0.0
+            ],
+            "finger_gap": 0.026719811572442,
+            "fingertip_max_gap": 0.09101393719429288,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013359905786220995,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161020303026334,
+            "object_top_z": 1.2108792442023906,
+            "finger_top_clearance": 0.049858941176056604,
+            "fingertip_min_top_clearance": 0.014957682352816947,
+            "object_projection_between_fingers": 0.8161617105372067,
+            "object_to_finger_line_xy": 0.010349979380841002,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800696859714644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7978657979746213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28760744022600915,
+              -0.3332924857170285,
+              0.8515394978840978
+            ],
+            "target_position": [
+              0.278584077587146,
+              -0.33437564154880545,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009088140616668735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18472109637874282,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394978840978,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559368759999319,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609913513530675,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15260755962196376,
+            "release_required_pad_clearance": 0.053049567567653375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1295052144945465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007279634475708008,
+            "max_z_decrease": 0.007279634475708008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516938608621515,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007279634475708008,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021044041860318222,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007279634475708008,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007279653622257222,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13428400456905365,
+              -0.3906370997428894,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13428400456905365,
+              -0.3906370997428894,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1326193946887757,
+              -0.38963029418931155,
+              0.8071483354773852
+            ],
+            "closest_button": [
+              0.1342725604772568,
+              -0.390635222196579,
+              0.7720322012901306
+            ],
+            "closest_ee_minus_button": [
+              -0.001653165788481098,
+              0.001004928007267425,
+              0.035116134187254566
+            ],
+            "button_min_z_position": [
+              0.13426731526851657,
+              -0.3906366229057312,
+              0.7695292234420776
+            ],
+            "min_active_finger_to_button": 0.14706250326433007,
+            "closest_active_finger": [
+              0.004903882741928101,
+              -0.45160847902297974,
+              0.8109874725341797
+            ],
+            "closest_active_finger_button": [
+              0.13428650796413422,
+              -0.3906395137310028,
+              0.7767778038978577
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12938262522220612,
+              -0.06096896529197693,
+              0.03420966863632202
+            ],
+            "min_contact_pad_to_button": 0.021044041860318222,
+            "closest_contact_pad": [
+              0.13426731526851657,
+              -0.39087468266102615,
+              0.7905719187392998
+            ],
+            "closest_contact_pad_button": [
+              0.13426731526851657,
+              -0.3906366229057312,
+              0.7695292234420776
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00023805975529495038,
+              0.021042695297222136
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.270271311149551,
+              0.20008380120029956,
+              1.102585011037649
+            ],
+            "current_z": 1.102585011037649,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1926758813032864,
+            "gripper_z": 1.1025852588764615,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2702711876982617,
+              0.20008402489419466,
+              1.1025852588764615
+            ],
+            "object_minus_gripper": [
+              1.2345128930224547e-07,
+              -2.2369389510168425e-07,
+              -2.4783881258372276e-07
+            ],
+            "object_to_gripper_xy": 2.5549790515021844e-07,
+            "object_to_gripper_z": -2.4783881258372276e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.270271311149551,
+              0.20008380120029956,
+              1.102585011037649
+            ],
+            "finger_b": [
+              0.270271311149551,
+              0.20008380120029956,
+              1.102585011037649
+            ],
+            "finger_midpoint": [
+              0.270271311149551,
+              0.20008380120029956,
+              1.102585011037649
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102585011037649,
+            "object_top_z": 1.2275935176579287,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.270271311149551,
+            0.2000838012002996,
+            1.102585011037649
+          ],
+          "object_origin_world": [
+            0.270271311149551,
+            0.2000838012002996,
+            1.102585011037649
+          ],
+          "frame_world": [
+            0.2702711876982617,
+            0.20008402489419466,
+            1.1025852588764615
+          ],
+          "center_minus_frame": [
+            1.2345128930224547e-07,
+            -2.2369389507392867e-07,
+            -2.4783881258372276e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.043266658158218,
+            "required_z": 0.9112598284356446,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014247386494763725,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.293056479721048e-08,
+            "max_target_xy_drift": 1.369108220382623e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1295052145100362,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1295052149592308,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.288377894798729,
+              -0.3344876238247594,
+              0.9233814446688743
+            ],
+            "target_mouth_xy": [
+              0.2876075594378069,
+              -0.3332925161490443
+            ],
+            "rod_tip_z": 0.9233814446688743,
+            "rod_tip_depth": -0.022121679277307904,
+            "rod_tip_bottom_clearance": 0.12156221406906165,
+            "rod_tip_xy_dist": 0.0014218645944111643,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04485202256015086,
+            "min_rod_tip_bottom_clearance": 0.05458854558156079,
+            "min_rod_tip_xy_dist": 9.701895501813197e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.28760752950443325,
+              -0.33329254692284055
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.993337366863358e-08,
+              3.077379623350751e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                0.0012043277138937825,
+                0.0004836925912563572
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0011004133673422345,
+                0.00017342465709163646
+              ],
+              "first_target_mouth_xy": [
+                0.2876075300938363,
+                -0.3332924543259297
+              ],
+              "last_target_mouth_xy": [
+                0.2876075281710473,
+                -0.3332924838194011
+              ],
+              "first_rod_tip_xy": [
+                0.2888118578077301,
+                -0.33280876173467333
+              ],
+              "last_rod_tip_xy": [
+                0.2887079415383895,
+                -0.33311905916230944
+              ],
+              "min_rod_tip_xy_dist": 0.001113995372841749,
+              "max_rod_tip_xy_dist": 0.0012978304069827128,
+              "first_target_xy_drift": 9.259878669304158e-08,
+              "last_target_xy_drift": 6.311752523296791e-08,
+              "max_depth": 0.019414185239066017,
+              "min_bottom_clearance": 0.08002641649230824
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012043277138937825,
+                  0.0004836925912563572
+                ],
+                "rod_tip_xy": [
+                  0.2888118578077301,
+                  -0.33280876173467333
+                ],
+                "target_mouth_xy": [
+                  0.2876075300938363,
+                  -0.3332924543259297
+                ],
+                "gripper_position": [
+                  0.28880015516923463,
+                  -0.332816042800463,
+                  1.0057808389321914
+                ],
+                "rod_tip_xy_dist": 0.0012978304069827128,
+                "target_xy_drift": 9.259878669304158e-08,
+                "depth": 0.015333235990886873,
+                "bottom_clearance": 0.08410739706143788,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011926550059601082,
+                  0.0004764435532861322
+                ],
+                "rod_tip_xy": [
+                  0.2888001551692345,
+                  -0.33281604280046306
+                ],
+                "target_mouth_xy": [
+                  0.2876075001632744,
+                  -0.3332924863537492
+                ],
+                "gripper_position": [
+                  0.28879098780482826,
+                  -0.33281661376161503,
+                  1.0056529308340756
+                ],
+                "rod_tip_xy_dist": 0.0012842991951681746,
+                "target_xy_drift": 6.730169707539344e-08,
+                "depth": 0.015478928849750329,
+                "bottom_clearance": 0.08396161815627479,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011834601196575867,
+                  0.00047587134480597815
+                ],
+                "rod_tip_xy": [
+                  0.2887909878048282,
+                  -0.3328166137616151
+                ],
+                "target_mouth_xy": [
+                  0.2876075276851706,
+                  -0.33329248510642107
+                ],
+                "gripper_position": [
+                  0.2888018593771384,
+                  -0.3328826562230086,
+                  1.0051301561025787
+                ],
+                "rod_tip_xy_dist": 0.0012755514068932697,
+                "target_xy_drift": 6.184318421815015e-08,
+                "depth": 0.015606936334118138,
+                "bottom_clearance": 0.08383363941685629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011943587214843232,
+                  0.00040986057538505705
+                ],
+                "rod_tip_xy": [
+                  0.28880185937713837,
+                  -0.3328826562230087
+                ],
+                "target_mouth_xy": [
+                  0.28760750065565405,
+                  -0.3332925167983938
+                ],
+                "gripper_position": [
+                  0.28878995384832673,
+                  -0.3328895345896276,
+                  1.004984594782698
+                ],
+                "rod_tip_xy_dist": 0.0012627265922758723,
+                "target_xy_drift": 4.171012292582398e-08,
+                "depth": 0.01612973416658925,
+                "bottom_clearance": 0.08331083020217311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011824519680687096,
+                  0.00040295175942084427
+                ],
+                "rod_tip_xy": [
+                  0.2887899538483267,
+                  -0.3328895345896278
+                ],
+                "target_mouth_xy": [
+                  0.28760750188025797,
+                  -0.3332924863490486
+                ],
+                "gripper_position": [
+                  0.2887807654472103,
+                  -0.33289006827799905,
+                  1.0048568283030679
+                ],
+                "rod_tip_xy_dist": 0.001249224870553704,
+                "target_xy_drift": 6.657536577687151e-08,
+                "depth": 0.016275305393376294,
+                "bottom_clearance": 0.08316530666418187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011732664535230586,
+                  0.0004024165028911897
+                ],
+                "rod_tip_xy": [
+                  0.28878076544721026,
+                  -0.33289006827799916
+                ],
+                "target_mouth_xy": [
+                  0.2876074989936872,
+                  -0.33329248478089035
+                ],
+                "gripper_position": [
+                  0.28879256511965506,
+                  -0.3329569213828274,
+                  1.004335911874008
+                ],
+                "rod_tip_xy_dist": 0.001240360114144981,
+                "target_xy_drift": 6.92280838837478e-08,
+                "depth": 0.01640301851074888,
+                "bottom_clearance": 0.0830375417003959,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011850640458992423,
+                  0.000335598257090175
+                ],
+                "rod_tip_xy": [
+                  0.288792565119655,
+                  -0.3329569213828275
+                ],
+                "target_mouth_xy": [
+                  0.28760750107375577,
+                  -0.3332925196399177
+                ],
+                "gripper_position": [
+                  0.2887803316916815,
+                  -0.33296393370773886,
+                  1.0041904221693203
+                ],
+                "rod_tip_xy_dist": 0.0012316667499957302,
+                "target_xy_drift": 3.940382344377207e-08,
+                "depth": 0.016924091745358028,
+                "bottom_clearance": 0.08251658827128272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011728621695564212,
+                  0.000328581825573826
+                ],
+                "rod_tip_xy": [
+                  0.28878033169168144,
+                  -0.3329639337077389
+                ],
+                "target_mouth_xy": [
+                  0.287607469522125,
+                  -0.33329251553331274
+                ],
+                "gripper_position": [
+                  0.28877101550122153,
+                  -0.33296435697492166,
+                  1.0040628010803068
+                ],
+                "rod_tip_xy_dist": 0.0012180195749141405,
+                "target_xy_drift": 6.769918579222013e-08,
+                "depth": 0.017069350438412845,
+                "bottom_clearance": 0.0823711875990577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011634850000186159,
+                  0.0003281281010605319
+                ],
+                "rod_tip_xy": [
+                  0.2887710155012215,
+                  -0.33296435697492166
+                ],
+                "target_mouth_xy": [
+                  0.28760753050120286,
+                  -0.3332924850759822
+                ],
+                "gripper_position": [
+                  0.288783751433731,
+                  -0.33303239788529154,
+                  1.0035445215470244
+                ],
+                "rod_tip_xy_dist": 0.001208869470196807,
+                "target_xy_drift": 6.185489017265945e-08,
+                "depth": 0.017197113019993826,
+                "bottom_clearance": 0.08224350083766685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011761936526680783,
+                  0.0002601182934459656
+                ],
+                "rod_tip_xy": [
+                  0.2887837514337309,
+                  -0.3330323978852917
+                ],
+                "target_mouth_xy": [
+                  0.28760755778106284,
+                  -0.3332925161787377
+                ],
+                "gripper_position": [
+                  0.2887715268513541,
+                  -0.3330393454345053,
+                  1.0033995068475858
+                ],
+                "rod_tip_xy_dist": 0.0012046132305275075,
+                "target_xy_drift": 4.177041587925863e-08,
+                "depth": 0.017715255038243893,
+                "bottom_clearance": 0.08172526480544329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011639995892236965,
+                  0.0002531089088513294
+                ],
+                "rod_tip_xy": [
+                  0.28877152685135404,
+                  -0.3330393454345054
+                ],
+                "target_mouth_xy": [
+                  0.28760752726213035,
+                  -0.33329245434335675
+                ],
+                "gripper_position": [
+                  0.28876202408661245,
+                  -0.3330398044243697,
+                  1.0032719021101906
+                ],
+                "rod_tip_xy_dist": 0.0011912007234101416,
+                "target_xy_drift": 9.260663444493862e-08,
+                "depth": 0.017860389961818046,
+                "bottom_clearance": 0.08158023596833675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001154496518728787,
+                  0.0002527120582187514
+                ],
+                "rod_tip_xy": [
+                  0.2887620240866124,
+                  -0.33303980442436976
+                ],
+                "target_mouth_xy": [
+                  0.2876075275678836,
+                  -0.3332925164825885
+                ],
+                "gripper_position": [
+                  0.28875266593633997,
+                  -0.3330400070844401,
+                  1.0031443297861735
+                ],
+                "rod_tip_xy_dist": 0.0011818314584263047,
+                "target_xy_drift": 3.0501789600835e-08,
+                "depth": 0.017987941513048944,
+                "bottom_clearance": 0.08145258380681375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011451366316401201,
+                  0.00025247831036390167
+                ],
+                "rod_tip_xy": [
+                  0.2887526659363399,
+                  -0.33304000708444026
+                ],
+                "target_mouth_xy": [
+                  0.2876075293046998,
+                  -0.33329248539480416
+                ],
+                "gripper_position": [
+                  0.2887431476660946,
+                  -0.3330404022828452,
+                  1.0030171379529254
+                ],
+                "rod_tip_xy_dist": 0.0011726394170111676,
+                "target_xy_drift": 6.152836057639928e-08,
+                "depth": 0.01811550984031618,
+                "bottom_clearance": 0.08132504718302591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001135618365126878,
+                  0.0002520831104103616
+                ],
+                "rod_tip_xy": [
+                  0.28874314766609455,
+                  -0.33304040228284526
+                ],
+                "target_mouth_xy": [
+                  0.28760752930096767,
+                  -0.3332924853932556
+                ],
+                "gripper_position": [
+                  0.2887584311264334,
+                  -0.33311181144072544,
+                  1.0025000569628115
+                ],
+                "rod_tip_xy_dist": 0.0011632604892145206,
+                "target_xy_drift": 6.152992133542773e-08,
+                "depth": 0.018242701673022776,
+                "bottom_clearance": 0.0811978552658491,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011509020655907087,
+                  0.00018067363892038113
+                ],
+                "rod_tip_xy": [
+                  0.28875843112643335,
+                  -0.33311181144072555
+                ],
+                "target_mouth_xy": [
+                  0.28760752906084264,
+                  -0.33329248507964593
+                ],
+                "gripper_position": [
+                  0.2887461862708835,
+                  -0.3331187158381491,
+                  1.0023549962355052
+                ],
+                "rod_tip_xy_dist": 0.001164997222478102,
+                "target_xy_drift": 6.18447855000263e-08,
+                "depth": 0.01875978648468213,
+                "bottom_clearance": 0.0806807728271498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0011386552906440528,
+                  0.00017377366844795183
+                ],
+                "rod_tip_xy": [
+                  0.28874618627088344,
+                  -0.3331187158381491
+                ],
+                "target_mouth_xy": [
+                  0.2876075309802394,
+                  -0.33329248950659707
+                ],
+                "gripper_position": [
+                  0.28873661066304857,
+                  -0.3331189775073098,
+                  1.0022277985117536
+                ],
+                "rod_tip_xy_dist": 0.0011518390333538585,
+                "target_xy_drift": 5.743520714113301e-08,
+                "depth": 0.018904942791261203,
+                "bottom_clearance": 0.08053572974300527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011290829897808718,
+                  0.0001735370753948584
+                ],
+                "rod_tip_xy": [
+                  0.28873661066304845,
+                  -0.3331189775073098
+                ],
+                "target_mouth_xy": [
+                  0.2876075276732676,
+                  -0.33329251458270465
+                ],
+                "gripper_position": [
+                  0.28872704155037254,
+                  -0.3331189756369315,
+                  1.002100631491555
+                ],
+                "rod_tip_xy_dist": 0.0011423412425142993,
+                "target_xy_drift": 3.239193661831781e-08,
+                "depth": 0.019032074652528652,
+                "bottom_clearance": 0.08040851296729434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0011195411435226954,
+                  0.00017357126820066737
+                ],
+                "rod_tip_xy": [
+                  0.2887270415503725,
+                  -0.3331189756369316
+                ],
+                "target_mouth_xy": [
+                  0.2876075004068498,
+                  -0.33329254690513227
+                ],
+                "gripper_position": [
+                  0.2887174793382118,
+                  -0.333118847179065,
+                  1.0019727732488761
+                ],
+                "rod_tip_xy_dist": 0.0011329163063461011,
+                "target_xy_drift": 2.909758884229244e-08,
+                "depth": 0.01915926209641139,
+                "bottom_clearance": 0.08028130316975557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0011099804038968708,
+                  0.00017363758470712032
+                ],
+                "rod_tip_xy": [
+                  0.28871747933821174,
+                  -0.33311884717906504
+                ],
+                "target_mouth_xy": [
+                  0.28760749893431486,
+                  -0.33329248476377216
+                ],
+                "gripper_position": [
+                  0.2887079415383895,
+                  -0.33311905916230933,
+                  1.0018456891607386
+                ],
+                "rod_tip_xy_dist": 0.0011234796428320289,
+                "target_xy_drift": 6.926963202772437e-08,
+                "depth": 0.019287013816441823,
+                "bottom_clearance": 0.08015354477708936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  0.0011004133673422345,
+                  0.00017342465709163646
+                ],
+                "rod_tip_xy": [
+                  0.2887079415383895,
+                  -0.33311905916230944
+                ],
+                "target_mouth_xy": [
+                  0.2876075281710473,
+                  -0.3332924838194011
+                ],
+                "gripper_position": [
+                  0.28869841561735504,
+                  -0.33311924206432586,
+                  1.001718700447011
+                ],
+                "rod_tip_xy_dist": 0.001113995372841749,
+                "target_xy_drift": 6.311752523296791e-08,
+                "depth": 0.019414185239066017,
+                "bottom_clearance": 0.08002641649230824,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1554,
+              "stir_motion_end_frame": 1573,
+              "rod_tip_xy_path_length": 0.0006086259682829703,
+              "rod_tip_xy_max_step": 3.2980119330531777e-05,
+              "rod_tip_xy_range": 0.0006086188083606609,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.288377894798729,
+            -0.33448762382475933,
+            1.0433814446688743
+          ],
+          "object_origin_world": [
+            0.288377894798729,
+            -0.33448762382475933,
+            1.0433814446688743
+          ],
+          "frame_world": [
+            0.2883761771946234,
+            -0.33449214399267674,
+            1.043266658158218
+          ],
+          "center_minus_frame": [
+            1.7176041056110591e-06,
+            4.520167917410056e-06,
+            0.00011478651065632839
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25765554054791523,
+              0.1557672568953554,
+              0.8322214220839362
+            ],
+            "target_position": [
+              0.27041896246656333,
+              0.2013586539150068,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04734427548581671,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16567546262713356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322214220839362,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567494864096,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13523022647804991,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6877ecad4cf81e16dce887ec20d6f54e6b1ad2de4afc54a69292b6157f3311a",
+    "visual_seed": 7402195339616768477,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04b0f5d0a3d89b5bf9bdeb34665ca117cf585636
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_60_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3033127476914308,
+              0.08592932927699078,
+              1.1630854338947922
+            ],
+            "current_z": 1.1630854338947922,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30197892588002617,
+            "gripper_z": 1.1549583028252077,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29803685607663344,
+              0.08094046403632668,
+              1.1549583028252077
+            ],
+            "object_minus_gripper": [
+              0.005275891614797357,
+              0.004988865240664095,
+              0.008127131069584514
+            ],
+            "object_to_gripper_xy": 0.007261116217262707,
+            "object_to_gripper_z": 0.008127131069584514,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3033127476914308,
+              0.06153418613738974,
+              1.1630854338947922
+            ],
+            "finger_b": [
+              0.2923291295323768,
+              0.08592932927699078,
+              1.1630854338947922
+            ],
+            "finger_midpoint": [
+              0.2978209386119038,
+              0.07373175770719026,
+              1.1630854338947922
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549180907952701,
+              0.012197571569800517,
+              0.0
+            ],
+            "finger_gap": 0.026753745096070654,
+            "fingertip_max_gap": 0.0911272305285902,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013376872548035327,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630854338947922,
+            "object_top_z": 1.2129582783240784,
+            "finger_top_clearance": 0.04987284442928619,
+            "fingertip_min_top_clearance": 0.01496185332878589,
+            "object_projection_between_fingers": 0.8314527453199054,
+            "object_to_finger_line_xy": 0.010015305753219461,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048063615264295104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8428923356747273,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28922191207937914,
+              -0.32900540549581947,
+              0.8515395468124598
+            ],
+            "target_position": [
+              0.28118835522113433,
+              -0.3295437060276848,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008051571477497957,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18435010035031402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395468124598,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522339175011006,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659296910794488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15297296496094265,
+            "release_required_pad_clearance": 0.05329648455397244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6115153604891757,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007335007190704346,
+            "max_z_decrease": 0.007335007190704346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141242885336724,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007335007190704346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02116709069026923,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007335007190704346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007335026138770303,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1368882805109024,
+              -0.3858051598072052,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1368882805109024,
+              -0.3858051598072052,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13646763675311366,
+              -0.386766792571364,
+              0.8080749904868583
+            ],
+            "closest_button": [
+              0.13687670230865479,
+              -0.3858099281787872,
+              0.7729491591453552
+            ],
+            "closest_ee_minus_button": [
+              -0.0004090655555411271,
+              -0.0009568643925768061,
+              0.035125831341503044
+            ],
+            "button_min_z_position": [
+              0.13687162101268768,
+              -0.38580581545829773,
+              0.7694738507270813
+            ],
+            "min_active_finger_to_button": 0.146429009544365,
+            "closest_active_finger": [
+              -0.004459954798221588,
+              -0.36874014139175415,
+              0.8109219670295715
+            ],
+            "closest_active_finger_button": [
+              0.13689135015010834,
+              -0.38580551743507385,
+              0.7767161726951599
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14135130494832993,
+              0.017065376043319702,
+              0.03420579433441162
+            ],
+            "min_contact_pad_to_button": 0.02116709069026923,
+            "closest_contact_pad": [
+              0.13687162101268768,
+              -0.3880701059413115,
+              0.7905194848800028
+            ],
+            "closest_contact_pad_button": [
+              0.13687162101268768,
+              -0.38580581545829773,
+              0.7694738507270813
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022642904830137978,
+              0.02104563415292149
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2741975655176943,
+              0.20405101753548474,
+              1.1117273707171007
+            ],
+            "current_z": 1.1117273707171007,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20181824098273815,
+            "gripper_z": 1.111727083154097,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27419752872887104,
+              0.20405114672452496,
+              1.111727083154097
+            ],
+            "object_minus_gripper": [
+              3.678882326552113e-08,
+              -1.2918904021552713e-07,
+              2.875630036314192e-07
+            ],
+            "object_to_gripper_xy": 1.3432507446143788e-07,
+            "object_to_gripper_z": 2.875630036314192e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2741975655176943,
+              0.20405101753548474,
+              1.1117273707171007
+            ],
+            "finger_b": [
+              0.2741975655176943,
+              0.20405101753548474,
+              1.1117273707171007
+            ],
+            "finger_midpoint": [
+              0.2741975655176943,
+              0.20405101753548474,
+              1.1117273707171007
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1117273707171007,
+            "object_top_z": 1.2367358773373804,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27419756551769436,
+            0.20405101753548477,
+            1.1117273707171007
+          ],
+          "object_origin_world": [
+            0.27419756551769436,
+            0.20405101753548477,
+            1.1117273707171007
+          ],
+          "frame_world": [
+            0.27419752872887104,
+            0.20405114672452496,
+            1.111727083154097
+          ],
+          "center_minus_frame": [
+            3.678882332103228e-08,
+            -1.2918904018777155e-07,
+            2.875630036314192e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432935054854455,
+            "required_z": 0.9112598996194465,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002491988303086769,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.410338588816747e-08,
+            "max_target_xy_drift": 5.463196858769454e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6115153616391387,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.611515361655877,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28742388766334626,
+              -0.32727773255792714,
+              0.923406177019802
+            ],
+            "target_mouth_xy": [
+              0.28922188038908947,
+              -0.3290053452693966
+            ],
+            "rod_tip_z": 0.923406177019802,
+            "rod_tip_depth": -0.022146346946120166,
+            "rod_tip_bottom_clearance": 0.12158687133976198,
+            "rod_tip_xy_dist": 0.0024934761925184796,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04506505718534681,
+            "min_rod_tip_bottom_clearance": 0.05437544593686772,
+            "min_rod_tip_xy_dist": 7.031630294832316e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28922191370412026,
+              -0.3290053163692691
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.331503078962683e-08,
+              -2.8900127513331597e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0012481722315776378,
+                0.003316500796880284
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013752265845793366,
+                0.0030267801887187695
+              ],
+              "first_target_mouth_xy": [
+                0.2892218515886916,
+                -0.3290053160832652
+              ],
+              "last_target_mouth_xy": [
+                0.28922191001551173,
+                -0.32900534493529193
+              ],
+              "first_rod_tip_xy": [
+                0.287973679357114,
+                -0.32568881528638494
+              ],
+              "last_rod_tip_xy": [
+                0.2878466834309324,
+                -0.32597856474657316
+              ],
+              "min_rod_tip_xy_dist": 0.003304032654566069,
+              "max_rod_tip_xy_dist": 0.0035446610765662565,
+              "first_target_xy_drift": 6.211608706774704e-08,
+              "last_target_xy_drift": 2.8803185464847343e-08,
+              "max_depth": 0.01948518811951072,
+              "min_bottom_clearance": 0.07995534617470657
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012481722315776378,
+                  0.003316500796880284
+                ],
+                "rod_tip_xy": [
+                  0.287973679357114,
+                  -0.32568881528638494
+                ],
+                "target_mouth_xy": [
+                  0.2892218515886916,
+                  -0.3290053160832652
+                ],
+                "gripper_position": [
+                  0.2879616301428467,
+                  -0.32569549495137445,
+                  1.005677788368031
+                ],
+                "rod_tip_xy_dist": 0.0035436014808932817,
+                "target_xy_drift": 6.211608706774704e-08,
+                "depth": 0.015438313564820283,
+                "bottom_clearance": 0.08400222569074989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012603135184762193,
+                  0.0033098207860863815
+                ],
+                "rod_tip_xy": [
+                  0.28796163014284665,
+                  -0.3256954949513744
+                ],
+                "target_mouth_xy": [
+                  0.28922194366132287,
+                  -0.3290053157374608
+                ],
+                "gripper_position": [
+                  0.2879524619314937,
+                  -0.3256957441815595,
+                  1.0055515377816349
+                ],
+                "rod_tip_xy_dist": 0.0035416526934276575,
+                "target_xy_drift": 2.996386440076325e-08,
+                "depth": 0.015582123832040051,
+                "bottom_clearance": 0.08385852803948579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012693911769992017,
+                  0.00330957220611372
+                ],
+                "rod_tip_xy": [
+                  0.2879524619314937,
+                  -0.32569574418155955
+                ],
+                "target_mouth_xy": [
+                  0.2892218531084929,
+                  -0.3290053163876733
+                ],
+                "gripper_position": [
+                  0.287958383594871,
+                  -0.3257583875428211,
+                  1.0050297491660587
+                ],
+                "rod_tip_xy_dist": 0.0035446610765662565,
+                "target_xy_drift": 6.059563014403557e-08,
+                "depth": 0.01570835409474136,
+                "bottom_clearance": 0.08373223090873028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012634662181319478,
+                  0.0032469292026243712
+                ],
+                "rod_tip_xy": [
+                  0.287958383594871,
+                  -0.32575838754282116
+                ],
+                "target_mouth_xy": [
+                  0.289221849813003,
+                  -0.32900531674544553
+                ],
+                "gripper_position": [
+                  0.28794626905344556,
+                  -0.3257649650274632,
+                  1.0048861961433666
+                ],
+                "rod_tip_xy_dist": 0.003484091866070064,
+                "target_xy_drift": 6.389222469684338e-08,
+                "depth": 0.016230086362554852,
+                "bottom_clearance": 0.08321043070349177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012756438183815777,
+                  0.003240351664584029
+                ],
+                "rod_tip_xy": [
+                  0.28794626905344556,
+                  -0.3257649650274632
+                ],
+                "target_mouth_xy": [
+                  0.28922191287182714,
+                  -0.32900531669204724
+                ],
+                "gripper_position": [
+                  0.28793696294530113,
+                  -0.3257653444943454,
+                  1.0047602928669321
+                ],
+                "rod_tip_xy_dist": 0.0034824052121411172,
+                "target_xy_drift": 8.926911947530189e-10,
+                "depth": 0.01637370046066844,
+                "bottom_clearance": 0.08306689737945294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012849174522014395,
+                  0.003239971602294167
+                ],
+                "rod_tip_xy": [
+                  0.28793696294530113,
+                  -0.32576534449434535
+                ],
+                "target_mouth_xy": [
+                  0.2892218803975026,
+                  -0.3290053160966395
+                ],
+                "gripper_position": [
+                  0.2879437021453041,
+                  -0.32582939483407153,
+                  1.0042399058344664
+                ],
+                "rod_tip_xy_dist": 0.003485459631475377,
+                "target_xy_drift": 3.3307733465031895e-08,
+                "depth": 0.01649952588749637,
+                "bottom_clearance": 0.08294097565819591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012782395497528687,
+                  0.003175922514067342
+                ],
+                "rod_tip_xy": [
+                  0.2879437021453041,
+                  -0.3258293948340715
+                ],
+                "target_mouth_xy": [
+                  0.289221941695057,
+                  -0.3290053173481388
+                ],
+                "gripper_position": [
+                  0.28793143905001706,
+                  -0.32583583985297726,
+                  1.0040964057059074
+                ],
+                "rod_tip_xy_dist": 0.003423504076514623,
+                "target_xy_drift": 2.8008047508052218e-08,
+                "depth": 0.017019994047730802,
+                "bottom_clearance": 0.08242058788066042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012904721994813628,
+                  0.003169476873237209
+                ],
+                "rod_tip_xy": [
+                  0.287931439050017,
+                  -0.32583583985297726
+                ],
+                "target_mouth_xy": [
+                  0.28922191124949836,
+                  -0.32900531672621447
+                ],
+                "gripper_position": [
+                  0.28792215089360773,
+                  -0.32583583545052647,
+                  1.003971034699856
+                ],
+                "rod_tip_xy_dist": 0.003422119540229386,
+                "target_xy_drift": 2.4804392024743788e-09,
+                "depth": 0.01716335855880502,
+                "bottom_clearance": 0.08227717645960675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012997915503318858,
+                  0.0031694812592271138
+                ],
+                "rod_tip_xy": [
+                  0.28792215089360773,
+                  -0.3258358354505264
+                ],
+                "target_mouth_xy": [
+                  0.2892219424439396,
+                  -0.3290053167097535
+                ],
+                "gripper_position": [
+                  0.28792976362188766,
+                  -0.3259006232741164,
+                  1.0034535081074607
+                ],
+                "rod_tip_xy_dist": 0.0034256487745981867,
+                "target_xy_drift": 2.8741836168762842e-08,
+                "depth": 0.017288860268229622,
+                "bottom_clearance": 0.08215172910369561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012921458624005622,
+                  0.003104692210872395
+                ],
+                "rod_tip_xy": [
+                  0.28792976362188766,
+                  -0.3259006232741164
+                ],
+                "target_mouth_xy": [
+                  0.2892219094842882,
+                  -0.3290053154849888
+                ],
+                "gripper_position": [
+                  0.28791745239684385,
+                  -0.32590677905459303,
+                  1.003309980077024
+                ],
+                "rod_tip_xy_dist": 0.003362849186920313,
+                "target_xy_drift": 4.311488619604905e-09,
+                "depth": 0.017806279668473146,
+                "bottom_clearance": 0.08163426340113566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001304489570211509,
+                  0.0030985674651312634
+                ],
+                "rod_tip_xy": [
+                  0.2879174523968438,
+                  -0.325906779054593
+                ],
+                "target_mouth_xy": [
+                  0.2892219419670553,
+                  -0.32900534651972424
+                ],
+                "gripper_position": [
+                  0.28790780509168246,
+                  -0.3259065369194195,
+                  1.00318463474983
+                ],
+                "rod_tip_xy_dist": 0.0033619657010089486,
+                "target_xy_drift": 4.1326062505641535e-08,
+                "depth": 0.017949910989826345,
+                "bottom_clearance": 0.08149065983381176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0013140455983559063,
+                  0.0030988093093323177
+                ],
+                "rod_tip_xy": [
+                  0.28790780509168246,
+                  -0.3259065369194195
+                ],
+                "target_mouth_xy": [
+                  0.28922185069003836,
+                  -0.3290053462287518
+                ],
+                "gripper_position": [
+                  0.2878982770694818,
+                  -0.3259065362081392,
+                  1.0030592477517213
+                ],
+                "rod_tip_xy_dist": 0.0033659077483144373,
+                "target_xy_drift": 6.973064767804146e-08,
+                "depth": 0.01807517875113185,
+                "bottom_clearance": 0.08136531421513815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0013236323014662044,
+                  0.003098780216354291
+                ],
+                "rod_tip_xy": [
+                  0.2878982770694818,
+                  -0.32590653620813914
+                ],
+                "target_mouth_xy": [
+                  0.289221909370948,
+                  -0.32900531642449343
+                ],
+                "gripper_position": [
+                  0.28790750631251993,
+                  -0.3259733629516905,
+                  1.0025443880265394
+                ],
+                "rod_tip_xy_dist": 0.003369635187784201,
+                "target_xy_drift": 4.333524155710297e-09,
+                "depth": 0.018200587173652027,
+                "bottom_clearance": 0.08123992783747769,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0013144068680377985,
+                  0.0030319531052832582
+                ],
+                "rod_tip_xy": [
+                  0.2879075063125199,
+                  -0.32597336295169044
+                ],
+                "target_mouth_xy": [
+                  0.2892219131805577,
+                  -0.3290053160569737
+                ],
+                "gripper_position": [
+                  0.2878951836713104,
+                  -0.32597938669958776,
+                  1.002401348467122
+                ],
+                "rod_tip_xy_dist": 0.0033046036142602227,
+                "target_xy_drift": 6.096279206683091e-10,
+                "depth": 0.0187155133230259,
+                "bottom_clearance": 0.08072510136421185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013267270135319253,
+                  0.0030259588916579094
+                ],
+                "rod_tip_xy": [
+                  0.28789518367131034,
+                  -0.3259793866995877
+                ],
+                "target_mouth_xy": [
+                  0.28922191068484226,
+                  -0.3290053455912456
+                ],
+                "gripper_position": [
+                  0.28788556379453567,
+                  -0.3259793664212081,
+                  1.0022759862915347
+                ],
+                "rod_tip_xy_dist": 0.003304032654566069,
+                "target_xy_drift": 2.9377541600331692e-08,
+                "depth": 0.01885847947255892,
+                "bottom_clearance": 0.0805820515626573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001336381169082801,
+                  0.0030259810129015796
+                ],
+                "rod_tip_xy": [
+                  0.2878855637945356,
+                  -0.32597936642120806
+                ],
+                "target_mouth_xy": [
+                  0.2892219449636184,
+                  -0.32900534743410964
+                ],
+                "gripper_position": [
+                  0.28787578359018673,
+                  -0.32597906666071336,
+                  1.0021504531041696
+                ],
+                "rod_tip_xy_dist": 0.0033079413113778155,
+                "target_xy_drift": 4.407017747142156e-08,
+                "depth": 0.018983946240448746,
+                "bottom_clearance": 0.08045677442674515,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001346068400690681,
+                  0.0030262491149258275
+                ],
+                "rod_tip_xy": [
+                  0.2878757835901867,
+                  -0.3259790666607133
+                ],
+                "target_mouth_xy": [
+                  0.28922185199087735,
+                  -0.32900531577563913
+                ],
+                "gripper_position": [
+                  0.2878660547755303,
+                  -0.3259788562072961,
+                  1.0020251374151776
+                ],
+                "rod_tip_xy_dist": 0.0033121116896818745,
+                "target_xy_drift": 6.171609795168079e-08,
+                "depth": 0.019109441483586065,
+                "bottom_clearance": 0.08033112415820554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0013557972882116132,
+                  0.0030264592441424654
+                ],
+                "rod_tip_xy": [
+                  0.2878660547755303,
+                  -0.32597885620729605
+                ],
+                "target_mouth_xy": [
+                  0.2892218520637419,
+                  -0.3290053154514385
+                ],
+                "gripper_position": [
+                  0.28785634302510965,
+                  -0.3259787843286625,
+                  1.0018998485048647
+                ],
+                "rod_tip_xy_dist": 0.0033162692657830646,
+                "target_xy_drift": 6.164721126698908e-08,
+                "depth": 0.019234703973919687,
+                "bottom_clearance": 0.08020587632641785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013655346928550527,
+                  0.0030265305390749786
+                ],
+                "rod_tip_xy": [
+                  0.28785634302510965,
+                  -0.32597878432866245
+                ],
+                "target_mouth_xy": [
+                  0.2892218777179647,
+                  -0.32900531486773743
+                ],
+                "gripper_position": [
+                  0.28784668343093245,
+                  -0.32597856474657316,
+                  1.0017746487794978
+                ],
+                "rod_tip_xy_dist": 0.003320327107582056,
+                "target_xy_drift": 3.60174678321097e-08,
+                "depth": 0.019360070251660755,
+                "bottom_clearance": 0.08008057172629468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0013752265845793366,
+                  0.0030267801887187695
+                ],
+                "rod_tip_xy": [
+                  0.2878466834309324,
+                  -0.32597856474657316
+                ],
+                "target_mouth_xy": [
+                  0.28922191001551173,
+                  -0.32900534493529193
+                ],
+                "gripper_position": [
+                  0.28785989408263246,
+                  -0.3260505849795555,
+                  1.0012649730417078
+                ],
+                "rod_tip_xy_dist": 0.003324552070543365,
+                "target_xy_drift": 2.8803185464847343e-08,
+                "depth": 0.01948518811951072,
+                "bottom_clearance": 0.07995534617470657,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006110474363137378,
+              "rod_tip_xy_max_step": 3.3114736030851795e-05,
+              "rod_tip_xy_range": 0.0006110365495128564,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2874238876633463,
+            -0.32727773255792714,
+            1.0434061770198022
+          ],
+          "object_origin_world": [
+            0.2874238876633463,
+            -0.32727773255792714,
+            1.0434061770198022
+          ],
+          "frame_world": [
+            0.2874220755374553,
+            -0.3272817710183835,
+            1.0432935054854455
+          ],
+          "center_minus_frame": [
+            1.8121258910097637e-06,
+            4.038460456379234e-06,
+            0.00011267153435667865
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2533809466345178,
+              0.1601491526181741,
+              0.8318529824336174
+            ],
+            "target_position": [
+              0.26588897357592833,
+              0.2064230128854383,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047934547896077435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16740127573092883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318529824336174,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566704105571,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13704064786645598,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b3375584b2462d3d6a58de65097648a645b005972bc5c1b5e1295bc3a554716",
+    "visual_seed": 3297317223836092950,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f36866995bd5b780b9aa5fed19ff939e8681b2cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_61_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.303018157403175,
+              0.09050761603073586,
+              1.1630148805102682
+            ],
+            "current_z": 1.1630148805102682,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30190843210014684,
+            "gripper_z": 1.1549806359800385,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29773463263732197,
+              0.08557855665504298,
+              1.1549806359800385
+            ],
+            "object_minus_gripper": [
+              0.0052835247658530315,
+              0.004929059375692879,
+              0.008034244530229717
+            ],
+            "object_to_gripper_xy": 0.007225735968085757,
+            "object_to_gripper_z": 0.008034244530229717,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.303018157403175,
+              0.06611300006834411,
+              1.1630148805102682
+            ],
+            "finger_b": [
+              0.29211796768386994,
+              0.09050761603073586,
+              1.1630148805102682
+            ],
+            "finger_midpoint": [
+              0.29756806254352247,
+              0.07831030804953998,
+              1.1630148805102682
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450094859652532,
+              0.012197307981195879,
+              0.0
+            ],
+            "finger_gap": 0.02671912094118034,
+            "fingertip_max_gap": 0.09164245767171472,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013359560470590177,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630148805102682,
+            "object_top_z": 1.2129672497748782,
+            "finger_top_clearance": 0.04995236926461,
+            "fingertip_min_top_clearance": 0.014985710779382998,
+            "object_projection_between_fingers": 0.8335730008733191,
+            "object_to_finger_line_xy": 0.009951897096653164,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832122883585736,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1957634734347318,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29160724527891313,
+              -0.33316545670741715,
+              0.851539564766971
+            ],
+            "target_position": [
+              0.28290750193386516,
+              -0.3341919733976096,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008760095363918712,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18668071858260743,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539564766971,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522599562779972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631647534925928,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15540445193436364,
+            "release_required_pad_clearance": 0.05315823767462964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3411278180839552,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007679939270019531,
+            "max_z_decrease": 0.007679939270019531,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514259442422657,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007679939270019531,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021096256419170324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007679939270019531,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076799648497755165,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1386074274778366,
+              -0.39045342803001404,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1386074274778366,
+              -0.39045342803001404,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13946017561835233,
+              -0.3904144343971146,
+              0.807798379078236
+            ],
+            "closest_button": [
+              0.13859538733959198,
+              -0.3904585540294647,
+              0.7726664543151855
+            ],
+            "closest_ee_minus_button": [
+              0.0008647882787603534,
+              4.411963235012584e-05,
+              0.03513192476305049
+            ],
+            "button_min_z_position": [
+              0.1385876089334488,
+              -0.3904537856578827,
+              0.7691289186477661
+            ],
+            "min_active_finger_to_button": 0.14531579398471828,
+            "closest_active_finger": [
+              -0.0014830678701400757,
+              -0.3725097179412842,
+              0.8105850219726562
+            ],
+            "closest_active_finger_button": [
+              0.13860706984996796,
+              -0.3904553353786468,
+              0.7763887047767639
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14009013772010803,
+              0.017945617437362615,
+              0.034196317195892334
+            ],
+            "min_contact_pad_to_button": 0.021096256419170324,
+            "closest_contact_pad": [
+              0.1385876089334488,
+              -0.39168826852891075,
+              0.7901890251751444
+            ],
+            "closest_contact_pad_button": [
+              0.1385876089334488,
+              -0.3904537856578827,
+              0.7691289186477661
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012344828710280642,
+              0.02106010652737833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26315899795546344,
+              0.20572134339504844,
+              1.104645441368946
+            ],
+            "current_z": 1.104645441368946,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19473631163458338,
+            "gripper_z": 1.10464541689783,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2631590426519804,
+              0.20572126889886883,
+              1.10464541689783
+            ],
+            "object_minus_gripper": [
+              -4.46965169875746e-08,
+              7.449617961396982e-08,
+              2.4471116022439787e-08
+            ],
+            "object_to_gripper_xy": 8.687611529009222e-08,
+            "object_to_gripper_z": 2.4471116022439787e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26315899795546344,
+              0.20572134339504844,
+              1.104645441368946
+            ],
+            "finger_b": [
+              0.26315899795546344,
+              0.20572134339504844,
+              1.104645441368946
+            ],
+            "finger_midpoint": [
+              0.26315899795546344,
+              0.20572134339504844,
+              1.104645441368946
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104645441368946,
+            "object_top_z": 1.2296539479892257,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26315899795546344,
+            0.20572134339504847,
+            1.104645441368946
+          ],
+          "object_origin_world": [
+            0.26315899795546344,
+            0.20572134339504847,
+            1.104645441368946
+          ],
+          "frame_world": [
+            0.2631590426519804,
+            0.20572126889886883,
+            1.10464541689783
+          ],
+          "center_minus_frame": [
+            -4.46965169875746e-08,
+            7.449617964172539e-08,
+            2.4471116022439787e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436661679831245,
+            "required_z": 0.9112597622591189,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012927327128005662,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.717316201951545e-08,
+            "max_target_xy_drift": 1.3758042671775616e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.3411278165472844,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3411278181453783,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2907893477458588,
+              -0.332146890961348,
+              0.9233621831347701
+            ],
+            "target_mouth_xy": [
+              0.2916072470246602,
+              -0.33316545762449534
+            ],
+            "rod_tip_z": 0.9233621831347701,
+            "rod_tip_depth": -0.022102290313442796,
+            "rod_tip_bottom_clearance": 0.12154286605362252,
+            "rod_tip_xy_dist": 0.0013063067317973165,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487988496315609,
+            "min_rod_tip_bottom_clearance": 0.05456061670416268,
+            "min_rod_tip_xy_dist": 0.0010662290875648685,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29160721491476943,
+              -0.3331655166260937
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.210989074631243e-08,
+              5.9001598384789133e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.00036288175011373047,
+                0.0027011274417148012
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000472004547275251,
+                0.0023925419628311184
+              ],
+              "first_target_mouth_xy": [
+                0.2916072462117293,
+                -0.33316551695184216
+              ],
+              "last_target_mouth_xy": [
+                0.2916072483926023,
+                -0.3331655159833433
+              ],
+              "first_rod_tip_xy": [
+                0.29124436446161556,
+                -0.33046438951012735
+              ],
+              "last_rod_tip_xy": [
+                0.2911352438453271,
+                -0.3307729740205122
+              ],
+              "min_rod_tip_xy_dist": 0.0024304119567641154,
+              "max_rod_tip_xy_dist": 0.002725394030401907,
+              "first_target_xy_drift": 3.129865505627585e-08,
+              "last_target_xy_drift": 3.3484002499952864e-08,
+              "max_depth": 0.019362568093115873,
+              "min_bottom_clearance": 0.08007808124243854
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00036288175011373047,
+                  0.0027011274417148012
+                ],
+                "rod_tip_xy": [
+                  0.29124436446161556,
+                  -0.33046438951012735
+                ],
+                "target_mouth_xy": [
+                  0.2916072462117293,
+                  -0.33316551695184216
+                ],
+                "gripper_position": [
+                  0.2912324819927759,
+                  -0.3304715418553299,
+                  1.005847820156027
+                ],
+                "rod_tip_xy_dist": 0.002725394030401907,
+                "target_xy_drift": 3.129865505627585e-08,
+                "depth": 0.015265526628026937,
+                "bottom_clearance": 0.0841750075216604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00037476434428962424,
+                  0.002693975415973715
+                ],
+                "rod_tip_xy": [
+                  0.29123248199277585,
+                  -0.33047154185533
+                ],
+                "target_mouth_xy": [
+                  0.2916072463370655,
+                  -0.3331655172713037
+                ],
+                "gripper_position": [
+                  0.2912234517901465,
+                  -0.3304719920707405,
+                  1.0057191954987508
+                ],
+                "rod_tip_xy_dist": 0.0027199176192711392,
+                "target_xy_drift": 3.1428919557443666e-08,
+                "depth": 0.015412067647716077,
+                "bottom_clearance": 0.08402848254637618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00038376618266544593,
+                  0.0026935255029544303
+                ],
+                "rod_tip_xy": [
+                  0.2912234517901464,
+                  -0.33047199207074063
+                ],
+                "target_mouth_xy": [
+                  0.29160721797281186,
+                  -0.33316551757369506
+                ],
+                "gripper_position": [
+                  0.2912337235352932,
+                  -0.3305381052027233,
+                  1.0051948075849013
+                ],
+                "rod_tip_xy_dist": 0.002720727130386935,
+                "target_xy_drift": 3.201495242553978e-09,
+                "depth": 0.015540709696914123,
+                "bottom_clearance": 0.08389990751539755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00037349202934822134,
+                  0.0026274120575768833
+                ],
+                "rod_tip_xy": [
+                  0.29123372353529314,
+                  -0.3305381052027234
+                ],
+                "target_mouth_xy": [
+                  0.29160721556464136,
+                  -0.3331655172603003
+                ],
+                "gripper_position": [
+                  0.2912217134617347,
+                  -0.3305450288764702,
+                  1.0050482381540784
+                ],
+                "rod_tip_xy_dist": 0.0026538256190426386,
+                "target_xy_drift": 9.080481880843089e-10,
+                "depth": 0.01606501228634294,
+                "bottom_clearance": 0.08337549940553945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0003855006906228198,
+                  0.0026204890518106705
+                ],
+                "rod_tip_xy": [
+                  0.29122171346173464,
+                  -0.3305450288764702
+                ],
+                "target_mouth_xy": [
+                  0.29160721415235746,
+                  -0.33316551792828086
+                ],
+                "gripper_position": [
+                  0.29121229921389663,
+                  -0.33054564365047867,
+                  1.0049198146547942
+                ],
+                "rod_tip_xy_dist": 0.002648692819699985,
+                "target_xy_drift": 1.5089610147916253e-09,
+                "depth": 0.016211619135600652,
+                "bottom_clearance": 0.08322893522828989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0003949164360448898,
+                  0.002619843189810067
+                ],
+                "rod_tip_xy": [
+                  0.2912122992138966,
+                  -0.3305456436504788
+                ],
+                "target_mouth_xy": [
+                  0.29160721564994146,
+                  -0.33316548684028885
+                ],
+                "gripper_position": [
+                  0.2912234581364955,
+                  -0.33061287144877344,
+                  1.0043973752037358
+                ],
+                "rod_tip_xy_dist": 0.0026494409468136074,
+                "target_xy_drift": 2.9794876240003517e-08,
+                "depth": 0.016340005497009757,
+                "bottom_clearance": 0.0831005090031871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0003837557742785158,
+                  0.0025526461637724873
+                ],
+                "rod_tip_xy": [
+                  0.2912234581364954,
+                  -0.3306128714487736
+                ],
+                "target_mouth_xy": [
+                  0.29160721391077393,
+                  -0.3331655176125461
+                ],
+                "gripper_position": [
+                  0.291211232322668,
+                  -0.33061970292558146,
+                  1.004250864068244
+                ],
+                "rod_tip_xy_dist": 0.0025813312324679486,
+                "target_xy_drift": 1.4075138459758943e-09,
+                "depth": 0.01686248348933772,
+                "bottom_clearance": 0.08257806840605053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0003959849473733068,
+                  0.0025458156102063922
+                ],
+                "rod_tip_xy": [
+                  0.29121123232266793,
+                  -0.3306197029255815
+                ],
+                "target_mouth_xy": [
+                  0.29160721727004124,
+                  -0.3331655185357879
+                ],
+                "gripper_position": [
+                  0.2912017469471999,
+                  -0.33062017170667946,
+                  1.0041226390367008
+                ],
+                "rod_tip_xy_dist": 0.0025764279923407105,
+                "target_xy_drift": 3.0322000538545268e-09,
+                "depth": 0.017009052234154054,
+                "bottom_clearance": 0.08243157085364616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00040546998376495,
+                  0.0025453452471200233
+                ],
+                "rod_tip_xy": [
+                  0.29120174694719986,
+                  -0.33062017170667957
+                ],
+                "target_mouth_xy": [
+                  0.2916072169309648,
+                  -0.3331655169537996
+                ],
+                "gripper_position": [
+                  0.2912138877078771,
+                  -0.33068822230292994,
+                  1.0036027273991235
+                ],
+                "rod_tip_xy_dist": 0.0025774383280247155,
+                "target_xy_drift": 2.042653894276798e-09,
+                "depth": 0.017137186873639854,
+                "bottom_clearance": 0.08230336783561842,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00039332734174363226,
+                  0.0024772934045114714
+                ],
+                "rod_tip_xy": [
+                  0.29121388770787704,
+                  -0.33068822230293005
+                ],
+                "target_mouth_xy": [
+                  0.29160721504962067,
+                  -0.3331655157074415
+                ],
+                "gripper_position": [
+                  0.29120157526653834,
+                  -0.3306951445637495,
+                  1.0034564097558694
+                ],
+                "rod_tip_xy_dist": 0.002508323944349922,
+                "target_xy_drift": 9.284970328187229e-10,
+                "depth": 0.01765704644083954,
+                "bottom_clearance": 0.08178348161549442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00040567296897864313,
+                  0.002470401227281205
+                ],
+                "rod_tip_xy": [
+                  0.2912015752665383,
+                  -0.3306951445637496
+                ],
+                "target_mouth_xy": [
+                  0.2916072482355169,
+                  -0.3331655457910308
+                ],
+                "gripper_position": [
+                  0.29119214653188064,
+                  -0.3306952719208545,
+                  1.0033284853767632
+                ],
+                "rod_tip_xy_dist": 0.0025034881229022096,
+                "target_xy_drift": 4.428166401874764e-08,
+                "depth": 0.017803502842085872,
+                "bottom_clearance": 0.08163714038129177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004150674963065426,
+                  0.0024702460010169736
+                ],
+                "rod_tip_xy": [
+                  0.2911921465318806,
+                  -0.33069527192085457
+                ],
+                "target_mouth_xy": [
+                  0.2916072140281871,
+                  -0.33316551792187155
+                ],
+                "gripper_position": [
+                  0.29118252018125396,
+                  -0.3306956020736386,
+                  1.0032002548072152
+                ],
+                "rod_tip_xy_dist": 0.002504874514228314,
+                "target_xy_drift": 1.5700536114073309e-09,
+                "depth": 0.017931375528131954,
+                "bottom_clearance": 0.08150918327256773,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00042469546790580015,
+                  0.002469914566146314
+                ],
+                "rod_tip_xy": [
+                  0.2911825201812539,
+                  -0.3306956020736387
+                ],
+                "target_mouth_xy": [
+                  0.2916072156491597,
+                  -0.333165516639785
+                ],
+                "gripper_position": [
+                  0.2911961986506733,
+                  -0.3307653956103498,
+                  1.002683352365566
+                ],
+                "rod_tip_xy_dist": 0.0025061612487071658,
+                "target_xy_drift": 7.345178832101358e-10,
+                "depth": 0.018059565389676235,
+                "bottom_clearance": 0.08138094918457583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004110157155302052,
+                  0.002400122956041806
+                ],
+                "rod_tip_xy": [
+                  0.2911961986506732,
+                  -0.3307653956103499
+                ],
+                "target_mouth_xy": [
+                  0.2916072143662034,
+                  -0.3331655185663917
+                ],
+                "gripper_position": [
+                  0.2911837545409265,
+                  -0.3307722730660967,
+                  1.00253720078333
+                ],
+                "rod_tip_xy_dist": 0.002435061420689766,
+                "target_xy_drift": 2.016353373700448e-09,
+                "depth": 0.018576510338427332,
+                "bottom_clearance": 0.08086405933457674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00042343065080530096,
+                  0.002393242311915067
+                ],
+                "rod_tip_xy": [
+                  0.2911837545409264,
+                  -0.3307722730660968
+                ],
+                "target_mouth_xy": [
+                  0.2916071851917317,
+                  -0.33316551537801187
+                ],
+                "gripper_position": [
+                  0.29117410440941766,
+                  -0.33077238691924427,
+                  1.0024089694645462
+                ],
+                "rod_tip_xy_dist": 0.0024304119567641154,
+                "target_xy_drift": 2.9749229933100733e-08,
+                "depth": 0.018722640027772797,
+                "bottom_clearance": 0.08071790168360671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00043311171334964316,
+                  0.002393132261067743
+                ],
+                "rod_tip_xy": [
+                  0.29117410440941754,
+                  -0.3307723869192444
+                ],
+                "target_mouth_xy": [
+                  0.2916072161227672,
+                  -0.3331655191803121
+                ],
+                "gripper_position": [
+                  0.2911643216393445,
+                  -0.3307726461286106,
+                  1.0022811157235412
+                ],
+                "rod_tip_xy_dist": 0.00243200899981967,
+                "target_xy_drift": 2.8254716734807123e-09,
+                "depth": 0.01885088899988918,
+                "bottom_clearance": 0.08058971143803662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004429230219003544,
+                  0.0023928676705265994
+                ],
+                "rod_tip_xy": [
+                  0.2911643216393444,
+                  -0.3307726461286107
+                ],
+                "target_mouth_xy": [
+                  0.29160724466124477,
+                  -0.3331655137991373
+                ],
+                "gripper_position": [
+                  0.2911546306327022,
+                  -0.3307726721130195,
+                  1.002153468534766
+                ],
+                "rod_tip_xy_dist": 0.0024335152541089065,
+                "target_xy_drift": 2.988050330591626e-08,
+                "depth": 0.018978756344258607,
+                "bottom_clearance": 0.08046184566922998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0004525865426998066,
+                  0.0023928451575198073
+                ],
+                "rod_tip_xy": [
+                  0.29115463063270214,
+                  -0.33077267211301953
+                ],
+                "target_mouth_xy": [
+                  0.29160721717540194,
+                  -0.33316551727053934
+                ],
+                "gripper_position": [
+                  0.29114490507757107,
+                  -0.3307730536288057,
+                  1.0020253689616834
+                ],
+                "rod_tip_xy_dist": 0.0024352705242947767,
+                "target_xy_drift": 2.3506955369310228e-09,
+                "depth": 0.019106424624681373,
+                "bottom_clearance": 0.08033415071263261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00046228138972898014,
+                  0.002392464286103513
+                ],
+                "rod_tip_xy": [
+                  0.291144905077571,
+                  -0.3307730536288058
+                ],
+                "target_mouth_xy": [
+                  0.2916071864673,
+                  -0.33316551791490934
+                ],
+                "gripper_position": [
+                  0.29113524384532713,
+                  -0.3307729740205121,
+                  1.0018973457902525
+                ],
+                "rod_tip_xy_dist": 0.0024367169395665446,
+                "target_xy_drift": 2.8476649433666517e-08,
+                "depth": 0.01923440878012006,
+                "bottom_clearance": 0.08020615339719195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.000472004547275251,
+                  0.0023925419628311184
+                ],
+                "rod_tip_xy": [
+                  0.2911352438453271,
+                  -0.3307729740205122
+                ],
+                "target_mouth_xy": [
+                  0.2916072483926023,
+                  -0.3331655159833433
+                ],
+                "gripper_position": [
+                  0.29115298828417724,
+                  -0.3308480898468991,
+                  1.0013851081764578
+                ],
+                "rod_tip_xy_dist": 0.0024386564613648014,
+                "target_xy_drift": 3.3484002499952864e-08,
+                "depth": 0.019362568093115873,
+                "bottom_clearance": 0.08007808124243854,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006047549801963531,
+              "rod_tip_xy_max_step": 3.2680691005638884e-05,
+              "rod_tip_xy_range": 0.0006047461560543531,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2907893477458588,
+            -0.3321468909613479,
+            1.0433621831347701
+          ],
+          "object_origin_world": [
+            0.2907893477458588,
+            -0.3321468909613479,
+            1.0433621831347701
+          ],
+          "frame_world": [
+            0.29081451299272787,
+            -0.33214431580214104,
+            1.0436661679831245
+          ],
+          "center_minus_frame": [
+            -2.5165246869074398e-05,
+            -2.5751592068745666e-06,
+            -0.0003039848483543661
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24994658361635103,
+              0.16082070629989462,
+              0.8345877752707865
+            ],
+            "target_position": [
+              0.26329377393348125,
+              0.20501335143592075,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0461642434518365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1634664672056645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8345877752707865,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670278348516,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13328698892582988,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2bcf563f9ee50ab6965cc3b3032c7c12443dea14beb816a97cea2e667329f6b",
+    "visual_seed": 4567710387776670749,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9438539721fcbfe0e9e5107a2afb37e87417dc91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_70_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30160030678640654,
+              0.08763045150438241,
+              1.162336084537307
+            ],
+            "current_z": 1.162336084537307,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3012293381039619,
+            "gripper_z": 1.154257816789282,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2963153520987551,
+              0.0826372142872197,
+              1.154257816789282
+            ],
+            "object_minus_gripper": [
+              0.005284954687651444,
+              0.004993237217162702,
+              0.008078267748024892
+            ],
+            "object_to_gripper_xy": 0.007270705877518888,
+            "object_to_gripper_z": 0.008078267748024892,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30160030678640654,
+              0.06342389666585693,
+              1.162336084537307
+            ],
+            "finger_b": [
+              0.2903620459917531,
+              0.08763045150438241,
+              1.162336084537307
+            ],
+            "finger_midpoint": [
+              0.29598117638907984,
+              0.07552717408511966,
+              1.162336084537307
+            ],
+            "object_minus_finger_midpoint": [
+              0.005619130397326699,
+              0.012103277419262745,
+              0.0
+            ],
+            "finger_gap": 0.026688121006155266,
+            "fingertip_max_gap": 0.09092840098606134,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334406050307763,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162336084537307,
+            "object_top_z": 1.2122038590533974,
+            "finger_top_clearance": 0.04986777451609048,
+            "fingertip_min_top_clearance": 0.014960332354827143,
+            "object_projection_between_fingers": 0.8226781653653151,
+            "object_to_finger_line_xy": 0.010193283227121432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796420049303067,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6716657799924738,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29117405553386416,
+              -0.33364961520800807,
+              0.8515395890641843
+            ],
+            "target_position": [
+              0.28205550604445123,
+              -0.33513477142741077,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009238703035973359,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18438772287969998,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395890641843,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588780914410484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867446637074508,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515176762940334,
+            "release_required_pad_clearance": 0.053372331853725405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7605345165285036,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00732797384262085,
+            "max_z_decrease": 0.00732797384262085,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035214006852420605,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00732797384262085,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021153638781558508,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00732797384262085,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007327994145641502,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13775543868541718,
+              -0.3913962244987487,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13775543868541718,
+              -0.3913962244987487,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13992645559297628,
+              -0.39207086933537016,
+              0.8082710836482083
+            ],
+            "closest_button": [
+              0.13774380087852478,
+              -0.3913998305797577,
+              0.7731311917304993
+            ],
+            "closest_ee_minus_button": [
+              0.002182654714451504,
+              -0.0006710387556124742,
+              0.035139891917709054
+            ],
+            "button_min_z_position": [
+              0.1377381980419159,
+              -0.39139679074287415,
+              0.7694808840751648
+            ],
+            "min_active_finger_to_button": 0.14396597143896844,
+            "closest_active_finger": [
+              -0.0010375678539276123,
+              -0.37425708770751953,
+              0.8105700612068176
+            ],
+            "closest_active_finger_button": [
+              0.13775448501110077,
+              -0.39139717817306513,
+              0.7763767242431641
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13879205286502838,
+              0.0171400904655456,
+              0.034193336963653564
+            ],
+            "min_contact_pad_to_button": 0.021153638781558508,
+            "closest_contact_pad": [
+              0.1377381980419159,
+              -0.39334536878872517,
+              0.7905445845406548
+            ],
+            "closest_contact_pad_button": [
+              0.1377381980419159,
+              -0.39139679074287415,
+              0.7694808840751648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019485780458510238,
+              0.02106370046549
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2678369406253384,
+              0.20000077900966165,
+              1.1013082986675884
+            ],
+            "current_z": 1.1013082986675884,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19139916893322584,
+            "gripper_z": 1.101308415507717,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2678370583325864,
+              0.20000075185560984,
+              1.101308415507717
+            ],
+            "object_minus_gripper": [
+              -1.1770724800408416e-07,
+              2.715405181263897e-08,
+              -1.1684012868329319e-07
+            ],
+            "object_to_gripper_xy": 1.2079875314976747e-07,
+            "object_to_gripper_z": -1.1684012868329319e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2678369406253384,
+              0.20000077900966165,
+              1.1013082986675884
+            ],
+            "finger_b": [
+              0.2678369406253384,
+              0.20000077900966165,
+              1.1013082986675884
+            ],
+            "finger_midpoint": [
+              0.2678369406253384,
+              0.20000077900966165,
+              1.1013082986675884
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013082986675884,
+            "object_top_z": 1.2263168052878681,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2678369406253384,
+            0.20000077900966165,
+            1.1013082986675886
+          ],
+          "object_origin_world": [
+            0.2678369406253384,
+            0.20000077900966165,
+            1.1013082986675886
+          ],
+          "frame_world": [
+            0.2678370583325864,
+            0.20000075185560984,
+            1.101308415507717
+          ],
+          "center_minus_frame": [
+            -1.1770724800408416e-07,
+            2.715405181263897e-08,
+            -1.1684012846124858e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436468874796323,
+            "required_z": 0.9112598249255266,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002254627508046038,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.475419482728371e-08,
+            "max_target_xy_drift": 2.383155841283089e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7605345173057767,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7605345173554692,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28890622970647045,
+              -0.3334178862869194,
+              0.9233419468545657
+            ],
+            "target_mouth_xy": [
+              0.2911741164395753,
+              -0.33364964144912546
+            ],
+            "rod_tip_z": 0.9233419468545657,
+            "rod_tip_depth": -0.022082105854512202,
+            "rod_tip_bottom_clearance": 0.12152264149283898,
+            "rod_tip_xy_dist": 0.0022796974995385163,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0451453310297083,
+            "min_rod_tip_bottom_clearance": 0.054295238666309587,
+            "min_rod_tip_xy_dist": 0.0009068336114297616,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29117408764074776,
+              -0.3336495834514248
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8798827544918026e-08,
+              -5.799770064207621e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0017278590299679708,
+                0.001940281739884142
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018495707101027214,
+                0.0016243126076010972
+              ],
+              "first_target_mouth_xy": [
+                0.2911740628515394,
+                -0.3336495516071355
+              ],
+              "last_target_mouth_xy": [
+                0.2911740571423856,
+                -0.3336495533148429
+              ],
+              "first_rod_tip_xy": [
+                0.28944620382157144,
+                -0.33170926986725136
+              ],
+              "last_rod_tip_xy": [
+                0.28932448643228287,
+                -0.3320252407072418
+              ],
+              "min_rod_tip_xy_dist": 0.00242896847391401,
+              "max_rod_tip_xy_dist": 0.002606351820121135,
+              "first_target_xy_drift": 4.035546571198138e-08,
+              "last_target_xy_drift": 4.287614328981966e-08,
+              "max_depth": 0.019376271050114746,
+              "min_bottom_clearance": 0.08006422183590389
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017278590299679708,
+                  0.001940281739884142
+                ],
+                "rod_tip_xy": [
+                  0.28944620382157144,
+                  -0.33170926986725136
+                ],
+                "target_mouth_xy": [
+                  0.2911740628515394,
+                  -0.3336495516071355
+                ],
+                "gripper_position": [
+                  0.289434246943728,
+                  -0.3317165003143938,
+                  1.005818589883159
+                ],
+                "rod_tip_xy_dist": 0.0025981127876921915,
+                "target_xy_drift": 4.035546571198138e-08,
+                "depth": 0.01529569249423568,
+                "bottom_clearance": 0.08414505646577564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017397789662558782,
+                  0.0019330507392498197
+                ],
+                "rod_tip_xy": [
+                  0.2894342469437281,
+                  -0.3317165003143938
+                ],
+                "target_mouth_xy": [
+                  0.291174025909984,
+                  -0.33364955105364363
+                ],
+                "gripper_position": [
+                  0.2894251203761291,
+                  -0.3317171552700847,
+                  1.0056906146205153
+                ],
+                "rod_tip_xy_dist": 0.002600676068244688,
+                "target_xy_drift": 6.971587639886481e-08,
+                "depth": 0.015441302688984915,
+                "bottom_clearance": 0.08399931149508666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017489397668359885,
+                  0.0019324283951102639
+                ],
+                "rod_tip_xy": [
+                  0.28942512037612916,
+                  -0.3317171552700847
+                ],
+                "target_mouth_xy": [
+                  0.29117406014296515,
+                  -0.333649583665195
+                ],
+                "gripper_position": [
+                  0.28943176570194273,
+                  -0.3317841896685947,
+                  1.005168055141611
+                ],
+                "rod_tip_xy_dist": 0.002606351820121135,
+                "target_xy_drift": 2.7498613527909902e-08,
+                "depth": 0.01556929328818868,
+                "bottom_clearance": 0.08387133019922677,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017422614707182094,
+                  0.0018653623395237795
+                ],
+                "rod_tip_xy": [
+                  0.2894317657019428,
+                  -0.3317841896685947
+                ],
+                "target_mouth_xy": [
+                  0.291174027172661,
+                  -0.33364955200811847
+                ],
+                "gripper_position": [
+                  0.28941985275306714,
+                  -0.33179126185267943,
+                  1.0050220927398457
+                ],
+                "rod_tip_xy_dist": 0.002552459929178675,
+                "target_xy_drift": 6.815475794451345e-08,
+                "depth": 0.01609178208716422,
+                "bottom_clearance": 0.08334874918632296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017542049555464567,
+                  0.0018583234398649173
+                ],
+                "rod_tip_xy": [
+                  0.2894198527530672,
+                  -0.3317912618526795
+                ],
+                "target_mouth_xy": [
+                  0.29117405770861365,
+                  -0.3336495852925444
+                ],
+                "gripper_position": [
+                  0.2894106554460348,
+                  -0.3317917057590898,
+                  1.0048947922536242
+                ],
+                "rod_tip_xy_dist": 0.0025555040663663843,
+                "target_xy_drift": 2.99887040967506e-08,
+                "depth": 0.016237763486634083,
+                "bottom_clearance": 0.08320281989407097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017634017381421008,
+                  0.001857815164506449
+                ],
+                "rod_tip_xy": [
+                  0.28941065544603484,
+                  -0.3317917057590898
+                ],
+                "target_mouth_xy": [
+                  0.29117405718417694,
+                  -0.33364952092359623
+                ],
+                "gripper_position": [
+                  0.289418137050394,
+                  -0.3318600983609262,
+                  1.0043735029367764
+                ],
+                "rod_tip_xy_dist": 0.0025614571781610376,
+                "target_xy_drift": 6.95509313617586e-08,
+                "depth": 0.016365061354629673,
+                "bottom_clearance": 0.08307550827669352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017559213574006582,
+                  0.001789487883627483
+                ],
+                "rod_tip_xy": [
+                  0.28941813705039404,
+                  -0.3318600983609262
+                ],
+                "target_mouth_xy": [
+                  0.2911740584077947,
+                  -0.3336495862445537
+                ],
+                "gripper_position": [
+                  0.2894059392848204,
+                  -0.33186722069736285,
+                  1.0042280965770307
+                ],
+                "rod_tip_xy_dist": 0.0025070952712303012,
+                "target_xy_drift": 2.93660878144856e-08,
+                "depth": 0.016886375995456948,
+                "bottom_clearance": 0.08255426788420372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017681191399632201,
+                  0.0017823008392608974
+                ],
+                "rod_tip_xy": [
+                  0.28940593928482045,
+                  -0.33186722069736296
+                ],
+                "target_mouth_xy": [
+                  0.29117405842478367,
+                  -0.33364952153662386
+                ],
+                "gripper_position": [
+                  0.28939654797942876,
+                  -0.33186782822276173,
+                  1.00410031139489
+                ],
+                "rod_tip_xy_dist": 0.002510546071024066,
+                "target_xy_drift": 6.846177864241279e-08,
+                "depth": 0.017031755141326044,
+                "bottom_clearance": 0.0824088382258964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001777511776219376,
+                  0.001781726279098006
+                ],
+                "rod_tip_xy": [
+                  0.2893965479794288,
+                  -0.33186782822276184
+                ],
+                "target_mouth_xy": [
+                  0.2911740597556482,
+                  -0.33364955450185985
+                ],
+                "gripper_position": [
+                  0.2894049171261208,
+                  -0.3319370247334571,
+                  1.0035827883626824
+                ],
+                "rod_tip_xy_dist": 0.0025167631291456464,
+                "target_xy_drift": 4.019522470928491e-08,
+                "depth": 0.017159604466266853,
+                "bottom_clearance": 0.08228102576074281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017690790897325614,
+                  0.001712497487341924
+                ],
+                "rod_tip_xy": [
+                  0.2894049171261209,
+                  -0.3319370247334571
+                ],
+                "target_mouth_xy": [
+                  0.29117399621585344,
+                  -0.333649522220799
+                ],
+                "gripper_position": [
+                  0.2893926285205114,
+                  -0.33194411715767386,
+                  1.0034372011187038
+                ],
+                "rod_tip_xy_dist": 0.002462171494815378,
+                "target_xy_drift": 1.1003499823518163e-07,
+                "depth": 0.017677084448447622,
+                "bottom_clearance": 0.0817634919790825,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017814617181135528,
+                  0.0017054659073246214
+                ],
+                "rod_tip_xy": [
+                  0.28939262852051145,
+                  -0.3319441171576739
+                ],
+                "target_mouth_xy": [
+                  0.291174090238625,
+                  -0.33364958306499853
+                ],
+                "gripper_position": [
+                  0.28938319486906416,
+                  -0.3319445256252292,
+                  1.003309947988495
+                ],
+                "rod_tip_xy_dist": 0.0024662156868673684,
+                "target_xy_drift": 2.626459871855809e-09,
+                "depth": 0.017822698719209495,
+                "bottom_clearance": 0.08161791564853471,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001790862107404756,
+                  0.0017049988112680659
+                ],
+                "rod_tip_xy": [
+                  0.2893831948690642,
+                  -0.33194452562522925
+                ],
+                "target_mouth_xy": [
+                  0.291174056976469,
+                  -0.3336495244364973
+                ],
+                "gripper_position": [
+                  0.28937378133396496,
+                  -0.3319447293942722,
+                  1.0031823008606315
+                ],
+                "rod_tip_xy_dist": 0.002472692466556187,
+                "target_xy_drift": 6.650608739917612e-08,
+                "depth": 0.01794989093926158,
+                "bottom_clearance": 0.0814906422214744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018002770727306716,
+                  0.0017048540051254335
+                ],
+                "rod_tip_xy": [
+                  0.289373781333965,
+                  -0.3319447293942722
+                ],
+                "target_mouth_xy": [
+                  0.2911740584066957,
+                  -0.33364958339939765
+                ],
+                "gripper_position": [
+                  0.2893642508460338,
+                  -0.3319452295099176,
+                  1.0030550376765317
+                ],
+                "rod_tip_xy_dist": 0.0024794202381589023,
+                "target_xy_drift": 2.9234098363730688e-08,
+                "depth": 0.01807752798742923,
+                "bottom_clearance": 0.08136301766866372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018098060949975903,
+                  0.0017043221976386635
+                ],
+                "rod_tip_xy": [
+                  0.28936425084603384,
+                  -0.33194522950991767
+                ],
+                "target_mouth_xy": [
+                  0.29117405694103143,
+                  -0.33364955170755634
+                ],
+                "gripper_position": [
+                  0.28937507666622103,
+                  -0.33201754588446125,
+                  1.0025381458554234
+                ],
+                "rod_tip_xy_dist": 0.002485983156591032,
+                "target_xy_drift": 4.4160454802664685e-08,
+                "depth": 0.018204805690955284,
+                "bottom_clearance": 0.08123573730337841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017989814177344354,
+                  0.0016320397378478124
+                ],
+                "rod_tip_xy": [
+                  0.2893750766662211,
+                  -0.3320175458844612
+                ],
+                "target_mouth_xy": [
+                  0.2911740580839555,
+                  -0.333649585622309
+                ],
+                "gripper_position": [
+                  0.2893627668904679,
+                  -0.33202471823214136,
+                  1.002392849809216
+                ],
+                "rod_tip_xy_dist": 0.00242896847391401,
+                "target_xy_drift": 2.963640844408118e-08,
+                "depth": 0.018721719370332734,
+                "bottom_clearance": 0.08071889023382861,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018112908569556385,
+                  0.0016248341030694613
+                ],
+                "rod_tip_xy": [
+                  0.28936276689046797,
+                  -0.3320247182321413
+                ],
+                "target_mouth_xy": [
+                  0.2911740577474236,
+                  -0.33364955233521076
+                ],
+                "gripper_position": [
+                  0.2893532209180334,
+                  -0.33202503508528125,
+                  1.0022655805667138
+                ],
+                "rod_tip_xy_dist": 0.0024332818231739273,
+                "target_xy_drift": 4.314892357283826e-08,
+                "depth": 0.018866978848861682,
+                "bottom_clearance": 0.08057355245310649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018208662516147611,
+                  0.00162451851933193
+                ],
+                "rod_tip_xy": [
+                  0.28935322091803345,
+                  -0.33202503508528125
+                ],
+                "target_mouth_xy": [
+                  0.2911740871696482,
+                  -0.3336495536046132
+                ],
+                "gripper_position": [
+                  0.2893436019104263,
+                  -0.33202500208152974,
+                  1.0021381916612988
+                ],
+                "rod_tip_xy_dist": 0.00244020784482019,
+                "target_xy_drift": 2.985052929947855e-08,
+                "depth": 0.01899423956372459,
+                "bottom_clearance": 0.08044626524395926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018304530308747013,
+                  0.001624548714461771
+                ],
+                "rod_tip_xy": [
+                  0.28934360191042635,
+                  -0.33202500208152974
+                ],
+                "target_mouth_xy": [
+                  0.29117405494130105,
+                  -0.3336495507959915
+                ],
+                "gripper_position": [
+                  0.289334085867353,
+                  -0.3320250463110249,
+                  1.002010679220481
+                ],
+                "rod_tip_xy_dist": 0.0024473897981109943,
+                "target_xy_drift": 4.621288931680476e-08,
+                "depth": 0.01912172920561883,
+                "bottom_clearance": 0.08031892438256316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018400043685535272,
+                  0.0016245094836501162
+                ],
+                "rod_tip_xy": [
+                  0.2893340858673531,
+                  -0.3320250463110249
+                ],
+                "target_mouth_xy": [
+                  0.2911740902359066,
+                  -0.33364955579467503
+                ],
+                "gripper_position": [
+                  0.2893244864322828,
+                  -0.3320252407072419,
+                  1.0018835455521595
+                ],
+                "rod_tip_xy_dist": 0.002454515662766329,
+                "target_xy_drift": 2.7778240727020637e-08,
+                "depth": 0.01924926516180847,
+                "bottom_clearance": 0.0801914364806956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018495707101027214,
+                  0.0016243126076010972
+                ],
+                "rod_tip_xy": [
+                  0.28932448643228287,
+                  -0.3320252407072418
+                ],
+                "target_mouth_xy": [
+                  0.2911740571423856,
+                  -0.3336495533148429
+                ],
+                "gripper_position": [
+                  0.2893384109431465,
+                  -0.3321016646205083,
+                  1.0013720240215578
+                ],
+                "rod_tip_xy_dist": 0.00246156520508431,
+                "target_xy_drift": 4.287614328981966e-08,
+                "depth": 0.019376271050114746,
+                "bottom_clearance": 0.08006422183590389,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006076566711120631,
+              "rod_tip_xy_max_step": 3.3056003539525515e-05,
+              "rod_tip_xy_range": 0.000607651474715515,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28890622970647045,
+            -0.3334178862869194,
+            1.0433419468545657
+          ],
+          "object_origin_world": [
+            0.28890622970647045,
+            -0.3334178862869194,
+            1.0433419468545657
+          ],
+          "frame_world": [
+            0.28893166643123747,
+            -0.3334156261501736,
+            1.0436468874796323
+          ],
+          "center_minus_frame": [
+            -2.5436724767013974e-05,
+            -2.260136745757535e-06,
+            -0.00030494062506658537
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25574124164934947,
+              0.15550508317324346,
+              0.8322861789270983
+            ],
+            "target_position": [
+              0.26798981350690876,
+              0.2011181504960654,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04722901039770027,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16648755358690923,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322861789270983,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673900918452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13668365485180226,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cf980382c6c175eb834c4b25001c535ec05bc5dbf35cc2a4857339a8ee3b56e",
+    "visual_seed": 7688540689465469853,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2bb15f3b31315f0bfc3a635c49d4ab78a35cdd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_77_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3039679271125489,
+              0.08701001622445291,
+              1.1649860498768394
+            ],
+            "current_z": 1.1649860498768394,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3038796014667181,
+            "gripper_z": 1.157015664701598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2985296546923479,
+              0.08187320366294978,
+              1.157015664701598
+            ],
+            "object_minus_gripper": [
+              0.005438272420201007,
+              0.005136812561503126,
+              0.007970385175241512
+            ],
+            "object_to_gripper_xy": 0.007480751981474538,
+            "object_to_gripper_z": 0.007970385175241512,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3039679271125489,
+              0.06259411200161553,
+              1.1649860498768394
+            ],
+            "finger_b": [
+              0.2926358144123292,
+              0.08701001622445291,
+              1.1649860498768394
+            ],
+            "finger_midpoint": [
+              0.2983018707624391,
+              0.07480206411303422,
+              1.1649860498768394
+            ],
+            "object_minus_finger_midpoint": [
+              0.005666056350109805,
+              0.012207952111418688,
+              0.0
+            ],
+            "finger_gap": 0.026917525095544126,
+            "fingertip_max_gap": 0.09142352057042683,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013458762547772053,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649860498768394,
+            "object_top_z": 1.2149692853459784,
+            "finger_top_clearance": 0.049983235469138965,
+            "fingertip_min_top_clearance": 0.014994970640741656,
+            "object_projection_between_fingers": 0.8227641727013282,
+            "object_to_finger_line_xy": 0.010278945681256701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048211760285213415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0589533895338075,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2843919487561884,
+              -0.3287402203071903,
+              0.8515395246001961
+            ],
+            "target_position": [
+              0.27632188569757393,
+              -0.32939809873943254,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008096834060398133,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18472439754866876,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395246001961,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544198142990056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637849786952438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15278162647999455,
+            "release_required_pad_clearance": 0.05318924893476219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4016263321809888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007365822792053223,
+            "max_z_decrease": 0.007365822792053223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516624414327158,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007365822792053223,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210812586667658,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007365822792053223,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007365842427681383,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13202181458473206,
+              -0.385659545660019,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13202181458473206,
+              -0.385659545660019,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13066751971043752,
+              -0.3839162647110967,
+              0.8073492821708288
+            ],
+            "closest_button": [
+              0.13200969994068146,
+              -0.38565665483474737,
+              0.7722517848014832
+            ],
+            "closest_ee_minus_button": [
+              -0.0013421802302439334,
+              0.0017403901236506814,
+              0.03509749736934564
+            ],
+            "button_min_z_position": [
+              0.13200482726097104,
+              -0.3856587111949921,
+              0.7694430351257324
+            ],
+            "min_active_finger_to_button": 0.14655254957847588,
+            "closest_active_finger": [
+              0.004272565245628357,
+              -0.4487273693084717,
+              0.8108410239219666
+            ],
+            "closest_active_finger_button": [
+              0.1320226192474365,
+              -0.38566097617149353,
+              0.7764869332313538
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12775005400180814,
+              -0.06306639313697815,
+              0.03435409069061279
+            ],
+            "min_contact_pad_to_button": 0.0210812586667658,
+            "closest_contact_pad": [
+              0.13200482726097104,
+              -0.3856587111949921,
+              0.7905242937924982
+            ],
+            "closest_contact_pad_button": [
+              0.13200482726097104,
+              -0.3856587111949921,
+              0.7694430351257324
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0210812586667658
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2673048413902793,
+              0.19839390940290552,
+              1.1039993629066962
+            ],
+            "current_z": 1.1039993629066962,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19409023317233365,
+            "gripper_z": 1.1039995050216367,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26730469078307034,
+              0.19839398673230058,
+              1.1039995050216367
+            ],
+            "object_minus_gripper": [
+              1.5060720898185664e-07,
+              -7.732939505400438e-08,
+              -1.4211494048232964e-07
+            ],
+            "object_to_gripper_xy": 1.6929963596157826e-07,
+            "object_to_gripper_z": -1.4211494048232964e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2673048413902793,
+              0.19839390940290552,
+              1.1039993629066962
+            ],
+            "finger_b": [
+              0.2673048413902793,
+              0.19839390940290552,
+              1.1039993629066962
+            ],
+            "finger_midpoint": [
+              0.2673048413902793,
+              0.19839390940290552,
+              1.1039993629066962
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1039993629066962,
+            "object_top_z": 1.229007869526976,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2673048413902793,
+            0.19839390940290552,
+            1.1039993629066962
+          ],
+          "object_origin_world": [
+            0.2673048413902793,
+            0.19839390940290552,
+            1.1039993629066962
+          ],
+          "frame_world": [
+            0.26730469078307034,
+            0.19839398673230058,
+            1.1039995050216367
+          ],
+          "center_minus_frame": [
+            1.5060720898185664e-07,
+            -7.732939505400438e-08,
+            -1.4211494048232964e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043747263547773,
+            "required_z": 0.9112598531752985,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0004508028946551526,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.595153379720629e-09,
+            "max_target_xy_drift": 2.568095172062719e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4016263326142417,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4016263327817178,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28392737145403885,
+              -0.328844286937543,
+              0.9234374189274123
+            ],
+            "target_mouth_xy": [
+              0.2843919507686566,
+              -0.32874021963845435
+            ],
+            "rod_tip_z": 0.9234374189274123,
+            "rod_tip_depth": -0.022177595721878718,
+            "rod_tip_bottom_clearance": 0.12161811942279843,
+            "rod_tip_xy_dist": 0.0004760923674144464,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044553717620576805,
+            "min_rod_tip_bottom_clearance": 0.05488682205545392,
+            "min_rod_tip_xy_dist": 0.0004518133344113881,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28439195094823944,
+              -0.32874021805344195
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.7958284859176388e-10,
+              -1.5850123991079101e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                1.1013446851892983e-05,
+                0.00173001004509582
+              ],
+              "last_rod_tip_xy_delta": [
+                -8.667710593618372e-05,
+                0.0013275868407062186
+              ],
+              "first_target_mouth_xy": [
+                0.2843919809356816,
+                -0.32874018921827436
+              ],
+              "last_target_mouth_xy": [
+                0.2843919777162808,
+                -0.32874018956883244
+              ],
+              "first_rod_tip_xy": [
+                0.28440299438253347,
+                -0.32701017917317854
+              ],
+              "last_rod_tip_xy": [
+                0.2843053006103446,
+                -0.3274126027281262
+              ],
+              "min_rod_tip_xy_dist": 0.001329705074383073,
+              "max_rod_tip_xy_dist": 0.0017300451011878276,
+              "first_target_xy_drift": 4.160184582327817e-08,
+              "last_target_xy_drift": 3.908837443217412e-08,
+              "max_depth": 0.019624007448795,
+              "min_bottom_clearance": 0.07981658470331521
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  1.1013446851892983e-05,
+                  0.00173001004509582
+                ],
+                "rod_tip_xy": [
+                  0.28440299438253347,
+                  -0.32701017917317854
+                ],
+                "target_mouth_xy": [
+                  0.2843919809356816,
+                  -0.32874018921827436
+                ],
+                "gripper_position": [
+                  0.28439102938307403,
+                  -0.32701720534616163,
+                  1.0059087549385217
+                ],
+                "rod_tip_xy_dist": 0.0017300451011878276,
+                "target_xy_drift": 4.160184582327817e-08,
+                "depth": 0.015209698078261003,
+                "bottom_clearance": 0.08423086198305563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -9.175284472195955e-07,
+                  0.0017230159492216401
+                ],
+                "rod_tip_xy": [
+                  0.28439102938307403,
+                  -0.32701720534616163
+                ],
+                "target_mouth_xy": [
+                  0.28439194691152125,
+                  -0.3287402212953833
+                ],
+                "gripper_position": [
+                  0.2843984907785533,
+                  -0.32708672725673366,
+                  1.0053912882454163
+                ],
+                "rod_tip_xy_dist": 0.0017230161935195504,
+                "target_xy_drift": 5.177381311524807e-09,
+                "depth": 0.01535117402481656,
+                "bottom_clearance": 0.0840894733967591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  6.511116855401067e-06,
+                  0.0016534622860544523
+                ],
+                "rod_tip_xy": [
+                  0.2843984907785533,
+                  -0.3270867272567337
+                ],
+                "target_mouth_xy": [
+                  0.2843919796616979,
+                  -0.32874018954278816
+                ],
+                "gripper_position": [
+                  0.2843865370545609,
+                  -0.3270933059157653,
+                  1.0052498615366743
+                ],
+                "rod_tip_xy_dist": 0.0016534751059653484,
+                "target_xy_drift": 4.046381191784338e-08,
+                "depth": 0.015868481919907085,
+                "bottom_clearance": 0.08357203458988383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -5.444414636013306e-06,
+                  0.001646882334437605
+                ],
+                "rod_tip_xy": [
+                  0.2843865370545609,
+                  -0.32709330591576535
+                ],
+                "target_mouth_xy": [
+                  0.2843919814691969,
+                  -0.32874018825020296
+                ],
+                "gripper_position": [
+                  0.2843773229662787,
+                  -0.32709355158681014,
+                  1.00512537777606
+                ],
+                "rod_tip_xy_dist": 0.0016468913337355881,
+                "target_xy_drift": 4.2658667347671716e-08,
+                "depth": 0.016010056676939777,
+                "bottom_clearance": 0.08343055893752294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -1.4656476346630587e-05,
+                  0.0016466389205692655
+                ],
+                "rod_tip_xy": [
+                  0.2843773229662787,
+                  -0.3270935515868102
+                ],
+                "target_mouth_xy": [
+                  0.28439197944262534,
+                  -0.32874019050737946
+                ],
+                "gripper_position": [
+                  0.2843860442229766,
+                  -0.32716390694042163,
+                  1.0046086191005394
+                ],
+                "rod_tip_xy_dist": 0.0016467041467830264,
+                "target_xy_drift": 3.9632254373094325e-08,
+                "depth": 0.016134450854948246,
+                "bottom_clearance": 0.08330605791067136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -5.935119694655544e-06,
+                  0.0015762822945266097
+                ],
+                "rod_tip_xy": [
+                  0.2843860442229766,
+                  -0.3271639069404215
+                ],
+                "target_mouth_xy": [
+                  0.28439197934267124,
+                  -0.32874018923494813
+                ],
+                "gripper_position": [
+                  0.2843740233523846,
+                  -0.32717045407520184,
+                  1.0044667067265434
+                ],
+                "rod_tip_xy_dist": 0.0015762934681346186,
+                "target_xy_drift": 4.0456758931664494e-08,
+                "depth": 0.016651225805648706,
+                "bottom_clearance": 0.08278931396015687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -1.7957007441449235e-05,
+                  0.0015697367361358627
+                ],
+                "rod_tip_xy": [
+                  0.2843740233523846,
+                  -0.32717045407520184
+                ],
+                "target_mouth_xy": [
+                  0.28439198035982605,
+                  -0.3287401908113377
+                ],
+                "gripper_position": [
+                  0.28436481363559263,
+                  -0.327170514548018,
+                  1.0043423722478002
+                ],
+                "rod_tip_xy_dist": 0.0015698394423923497,
+                "target_xy_drift": 4.008957059296699e-08,
+                "depth": 0.01679311752837076,
+                "bottom_clearance": 0.08264740297757067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -2.7165386881244924e-05,
+                  0.0015697067235969087
+                ],
+                "rod_tip_xy": [
+                  0.28436481363559263,
+                  -0.32717051454801804
+                ],
+                "target_mouth_xy": [
+                  0.2843919790224739,
+                  -0.32874022127161495
+                ],
+                "gripper_position": [
+                  0.28437437610074257,
+                  -0.32724233632345767,
+                  1.0038274988456515
+                ],
+                "rod_tip_xy_dist": 0.0015699417684582283,
+                "target_xy_drift": 2.8258083387403238e-08,
+                "depth": 0.01691748690027084,
+                "bottom_clearance": 0.08252307290540117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -1.757312036626546e-05,
+                  0.0014978817796122423
+                ],
+                "rod_tip_xy": [
+                  0.28437437610074257,
+                  -0.32724233632345767
+                ],
+                "target_mouth_xy": [
+                  0.28439194922110883,
+                  -0.3287402181030699
+                ],
+                "gripper_position": [
+                  0.28436217530069685,
+                  -0.32724879034413756,
+                  1.0036861200288052
+                ],
+                "rod_tip_xy_dist": 0.0014979848598212686,
+                "target_xy_drift": 1.7278434716915244e-09,
+                "depth": 0.017432371924197665,
+                "bottom_clearance": 0.0820082128929277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -2.9804161491508996e-05,
+                  0.0014914309244503654
+                ],
+                "rod_tip_xy": [
+                  0.28436217530069685,
+                  -0.32724879034413756
+                ],
+                "target_mouth_xy": [
+                  0.28439197946218836,
+                  -0.32874022126858793
+                ],
+                "gripper_position": [
+                  0.2843528127141879,
+                  -0.32724868487801456,
+                  1.0035619557026458
+                ],
+                "rod_tip_xy_dist": 0.0014917286919708568,
+                "target_xy_drift": 2.8694641432572382e-08,
+                "depth": 0.017573725847214505,
+                "bottom_clearance": 0.08186681732059775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -3.91688612929042e-05,
+                  0.0014915338289904767
+                ],
+                "rod_tip_xy": [
+                  0.2843528127141879,
+                  -0.3272486848780146
+                ],
+                "target_mouth_xy": [
+                  0.2843919815754808,
+                  -0.3287402187070051
+                ],
+                "gripper_position": [
+                  0.2843434373425585,
+                  -0.32724875040162854,
+                  1.003437511697498
+                ],
+                "rod_tip_xy_dist": 0.001492048043032789,
+                "target_xy_drift": 3.063421384260916e-08,
+                "depth": 0.017697951494846875,
+                "bottom_clearance": 0.08174264412072885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -4.8514666207477575e-05,
+                  0.0014914391208812328
+                ],
+                "rod_tip_xy": [
+                  0.2843434373425585,
+                  -0.3272487504016286
+                ],
+                "target_mouth_xy": [
+                  0.284391952008766,
+                  -0.32874018952250983
+                ],
+                "gripper_position": [
+                  0.2843547080884612,
+                  -0.327322670775127,
+                  1.0029238702117598
+                ],
+                "rod_tip_xy_dist": 0.0014922279732441043,
+                "target_xy_drift": 2.8550635790318518e-08,
+                "depth": 0.017822326517835108,
+                "bottom_clearance": 0.08161825530933109,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -3.7240900196466864e-05,
+                  0.0014175505090571194
+                ],
+                "rod_tip_xy": [
+                  0.2843547080884612,
+                  -0.3273226707751271
+                ],
+                "target_mouth_xy": [
+                  0.28439194898865766,
+                  -0.32874022128418423
+                ],
+                "gripper_position": [
+                  0.28434231711843083,
+                  -0.32732948378888627,
+                  1.0027825215956923
+                ],
+                "rod_tip_xy_dist": 0.0014180396081829101,
+                "target_xy_drift": 3.7785786272484055e-09,
+                "depth": 0.018335936522695162,
+                "bottom_clearance": 0.0811046324437148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -4.966436815184716e-05,
+                  0.0014107374524758298
+                ],
+                "rod_tip_xy": [
+                  0.28434231711843083,
+                  -0.32732948378888627
+                ],
+                "target_mouth_xy": [
+                  0.2843919814865827,
+                  -0.3287402212413621
+                ],
+                "gripper_position": [
+                  0.2843329063671335,
+                  -0.32732925476733377,
+                  1.002658621088988
+                ],
+                "rod_tip_xy_dist": 0.0014116113874866256,
+                "target_xy_drift": 3.0704287044561567e-08,
+                "depth": 0.01847738281427802,
+                "bottom_clearance": 0.0809632038269742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -5.904501087489189e-05,
+                  0.0014109645708585417
+                ],
+                "rod_tip_xy": [
+                  0.2843329063671335,
+                  -0.32732925476733377
+                ],
+                "target_mouth_xy": [
+                  0.2843919513780084,
+                  -0.3287402193381923
+                ],
+                "gripper_position": [
+                  0.2843233210133059,
+                  -0.3273290062014493,
+                  1.0025344421948577
+                ],
+                "rod_tip_xy_dist": 0.0014121994666219234,
+                "target_xy_drift": 1.3547268491605171e-09,
+                "depth": 0.01860115252487904,
+                "bottom_clearance": 0.08083940509327348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -6.86620812722083e-05,
+                  0.001411183946179062
+                ],
+                "rod_tip_xy": [
+                  0.28432332101330593,
+                  -0.3273290062014492
+                ],
+                "target_mouth_xy": [
+                  0.28439198309457814,
+                  -0.3287401901476283
+                ],
+                "gripper_position": [
+                  0.28431378084697245,
+                  -0.32732906120888783,
+                  1.002410482946746
+                ],
+                "rod_tip_xy_dist": 0.0014128533580517624,
+                "target_xy_drift": 4.2569020754150407e-08,
+                "depth": 0.018725454022848642,
+                "bottom_clearance": 0.08071515316638422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -7.819750005316761e-05,
+                  0.0014111600727307883
+                ],
+                "rod_tip_xy": [
+                  0.28431378084697245,
+                  -0.32732906120888783
+                ],
+                "target_mouth_xy": [
+                  0.2843919783470256,
+                  -0.3287402212816186
+                ],
+                "gripper_position": [
+                  0.28432744222785356,
+                  -0.3274062639542509,
+                  1.0019005315531575
+                ],
+                "rod_tip_xy_dist": 0.001413325015657803,
+                "target_xy_drift": 2.758830565635077e-08,
+                "depth": 0.018849396686582254,
+                "bottom_clearance": 0.08059118886965566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -6.454059513577581e-05,
+                  0.0013339563199631366
+                ],
+                "rod_tip_xy": [
+                  0.28432744222785356,
+                  -0.3274062639542509
+                ],
+                "target_mouth_xy": [
+                  0.28439198282298933,
+                  -0.328740220274214
+                ],
+                "gripper_position": [
+                  0.28431506688509156,
+                  -0.3274127411932236,
+                  1.001759605562213
+                ],
+                "rod_tip_xy_dist": 0.0013355167359453322,
+                "target_xy_drift": 3.195201886335133e-08,
+                "depth": 0.019359367002877215,
+                "bottom_clearance": 0.08008123856662241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -7.691307739760012e-05,
+                  0.0013274787995916637
+                ],
+                "rod_tip_xy": [
+                  0.28431506688509156,
+                  -0.3274127411932237
+                ],
+                "target_mouth_xy": [
+                  0.28439197996248916,
+                  -0.3287402199928154
+                ],
+                "gripper_position": [
+                  0.2843053006103446,
+                  -0.3274126027281262,
+                  1.0016358820597213
+                ],
+                "rod_tip_xy_dist": 0.001329705074383073,
+                "target_xy_drift": 2.9078993387730546e-08,
+                "depth": 0.019500206662243724,
+                "bottom_clearance": 0.07994028117489604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -8.667710593618372e-05,
+                  0.0013275868407062186
+                ],
+                "rod_tip_xy": [
+                  0.2843053006103446,
+                  -0.3274126027281262
+                ],
+                "target_mouth_xy": [
+                  0.2843919777162808,
+                  -0.32874018956883244
+                ],
+                "gripper_position": [
+                  0.28429564990151307,
+                  -0.32741217140427903,
+                  1.001511841146272
+                ],
+                "rod_tip_xy_dist": 0.0013304133719674463,
+                "target_xy_drift": 3.908837443217412e-08,
+                "depth": 0.019624007448795,
+                "bottom_clearance": 0.07981658470331521,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006023656893757419,
+              "rod_tip_xy_max_step": 3.267254510530468e-05,
+              "rod_tip_xy_range": 0.0006023585857714398,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28392737145403885,
+            -0.328844286937543,
+            1.0434374189274125
+          ],
+          "object_origin_world": [
+            0.28392737145403885,
+            -0.328844286937543,
+            1.0434374189274125
+          ],
+          "frame_world": [
+            0.2839526879428268,
+            -0.32884156765113093,
+            1.043747263547773
+          ],
+          "center_minus_frame": [
+            -2.5316488787952007e-05,
+            -2.7192864120451077e-06,
+            -0.00030984462036043325
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25418127679894265,
+              0.1551571621728543,
+              0.8340047568083366
+            ],
+            "target_position": [
+              0.2674556007388368,
+              0.1996124515961224,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04639483197262147,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1644633770129312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340047568083366,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674094058875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13405692582223655,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33367c8b5f45edb8dda3c9ec2d257148c3ab749e697be2162cf170e0811fd980",
+    "visual_seed": 9003046893390388039,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..731106ad197b08b1177434ec34cc0542e665747e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_79_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30469141676641276,
+              0.08347696003340953,
+              1.1644847210746625
+            ],
+            "current_z": 1.1644847210746625,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3033782726645414,
+            "gripper_z": 1.1562577388635085,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2996655024848201,
+              0.07838466289230374,
+              1.1562577388635085
+            ],
+            "object_minus_gripper": [
+              0.005025914281592658,
+              0.005092297141105789,
+              0.008226982211154032
+            ],
+            "object_to_gripper_xy": 0.007154809888405928,
+            "object_to_gripper_z": 0.008226982211154032,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30469141676641276,
+              0.059591168902586866,
+              1.1644847210746625
+            ],
+            "finger_b": [
+              0.29312763623143895,
+              0.08347696003340953,
+              1.1644847210746625
+            ],
+            "finger_midpoint": [
+              0.2989095264989259,
+              0.0715340644679982,
+              1.1644847210746625
+            ],
+            "object_minus_finger_midpoint": [
+              0.005781890267486878,
+              0.011942895565411324,
+              0.0
+            ],
+            "finger_gap": 0.02653774742148108,
+            "fingertip_max_gap": 0.09098062937967724,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013268873710740522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644847210746625,
+            "object_top_z": 1.2144361441388307,
+            "finger_top_clearance": 0.04995142306416822,
+            "fingertip_min_top_clearance": 0.014985426919250432,
+            "object_projection_between_fingers": 0.8101233464632689,
+            "object_to_finger_line_xy": 0.010408194868773148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799031468983862,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6318673735053907,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2901585075408726,
+              -0.3362378591601134,
+              0.8515396041014016
+            ],
+            "target_position": [
+              0.281526583500415,
+              -0.3373188346546901,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008699345990366467,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18530620678051551,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396041014016,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570503368725276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504853378260295,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15278638539029332,
+            "release_required_pad_clearance": 0.05252426689130148,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1186940315789204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007667124271392822,
+            "max_z_decrease": 0.007667124271392822,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515515777462517,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007667124271392822,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105144400410952,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007667124271392822,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007667143159769777,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13722650706768033,
+              -0.393580287694931,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13722650706768033,
+              -0.393580287694931,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13578402672190157,
+              -0.3924677394708211,
+              0.8071041982091289
+            ],
+            "closest_button": [
+              0.13721416890621183,
+              -0.3935770690441131,
+              0.7719956636428833
+            ],
+            "closest_ee_minus_button": [
+              -0.0014301421843102569,
+              0.0011093295732920172,
+              0.03510853456624563
+            ],
+            "button_min_z_position": [
+              0.1372095793485641,
+              -0.3935785293579101,
+              0.7691417336463928
+            ],
+            "min_active_finger_to_button": 0.1468655739742581,
+            "closest_active_finger": [
+              0.009056761860847473,
+              -0.4565673768520355,
+              0.8106825351715088
+            ],
+            "closest_active_finger_button": [
+              0.1372270137071609,
+              -0.39358177781105036,
+              0.7764086723327637
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12817025184631342,
+              -0.06298559904098516,
+              0.03427386283874512
+            ],
+            "min_contact_pad_to_button": 0.02105144400410952,
+            "closest_contact_pad": [
+              0.1372095793485641,
+              -0.3935785293579101,
+              0.7901931776505023
+            ],
+            "closest_contact_pad_button": [
+              0.1372095793485641,
+              -0.3935785293579101,
+              0.7691417336463928
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105144400410952
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27316006321860964,
+              0.19430810117275618,
+              1.1128126107983607
+            ],
+            "current_z": 1.1128126107983607,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20290348106399814,
+            "gripper_z": 1.1128130981383113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2731600682922142,
+              0.19430820435420043,
+              1.1128130981383113
+            ],
+            "object_minus_gripper": [
+              -5.073604536498522e-09,
+              -1.0318144424981135e-07,
+              -4.87339950616672e-07
+            ],
+            "object_to_gripper_xy": 1.0330610775975303e-07,
+            "object_to_gripper_z": -4.87339950616672e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27316006321860964,
+              0.19430810117275618,
+              1.1128126107983607
+            ],
+            "finger_b": [
+              0.27316006321860964,
+              0.19430810117275618,
+              1.1128126107983607
+            ],
+            "finger_midpoint": [
+              0.27316006321860964,
+              0.19430810117275618,
+              1.1128126107983607
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1128126107983607,
+            "object_top_z": 1.2378211174186404,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2731600632186097,
+            0.1943081011727562,
+            1.112812610798361
+          ],
+          "object_origin_world": [
+            0.2731600632186097,
+            0.1943081011727562,
+            1.112812610798361
+          ],
+          "frame_world": [
+            0.2731600682922142,
+            0.19430820435420043,
+            1.1128130981383113
+          ],
+          "center_minus_frame": [
+            -5.07360448098737e-09,
+            -1.0318144422205577e-07,
+            -4.873399503946274e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436759833873734,
+            "required_z": 0.9112599362716463,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007885868020655735,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2022810396951255e-08,
+            "max_target_xy_drift": 1.2769476178075083e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.1186940471776995,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.11869405088701519,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29024464543484224,
+              -0.33546022963718514,
+              0.9233725129873923
+            ],
+            "target_mouth_xy": [
+              0.2901584765127915,
+              -0.33623786076891427
+            ],
+            "rod_tip_z": 0.9233725129873923,
+            "rod_tip_depth": -0.022112678752802983,
+            "rod_tip_bottom_clearance": 0.12155323053457856,
+            "rod_tip_xy_dist": 0.0007823907336885555,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04474616335085335,
+            "min_rod_tip_bottom_clearance": 0.05469436007320605,
+            "min_rod_tip_xy_dist": 0.0007812614673136076,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29015850327418424,
+              -0.3362378931686743
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.676139276847067e-08,
+              3.239976004154599e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0005568652307324506,
+                0.0024805404160870292
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0004706507365826451,
+                0.002096100220761843
+              ],
+              "first_target_mouth_xy": [
+                0.2901585046105557,
+                -0.33623791780148016
+              ],
+              "last_target_mouth_xy": [
+                0.2901585048594515,
+                -0.3362378905715015
+              ],
+              "first_rod_tip_xy": [
+                0.29071536984128815,
+                -0.33375737738539313
+              ],
+              "last_rod_tip_xy": [
+                0.29062915559603414,
+                -0.33414179035073965
+              ],
+              "min_rod_tip_xy_dist": 0.0021482896106725536,
+              "max_rod_tip_xy_dist": 0.0025422784349948607,
+              "first_target_xy_drift": 2.466902942453484e-08,
+              "last_target_xy_drift": 3.042758429820222e-09,
+              "max_depth": 0.01967497303361232,
+              "min_bottom_clearance": 0.07976556096142029
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0005568652307324506,
+                  0.0024805404160870292
+                ],
+                "rod_tip_xy": [
+                  0.29071536984128815,
+                  -0.33375737738539313
+                ],
+                "target_mouth_xy": [
+                  0.2901585046105557,
+                  -0.33623791780148016
+                ],
+                "gripper_position": [
+                  0.2907034964833544,
+                  -0.33376446885128125,
+                  1.0059291263501036
+                ],
+                "rod_tip_xy_dist": 0.0025422784349948607,
+                "target_xy_drift": 2.466902942453484e-08,
+                "depth": 0.015183873149380522,
+                "bottom_clearance": 0.08425669807491087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0005449919162583416,
+                  0.0024734505555595865
+                ],
+                "rod_tip_xy": [
+                  0.29070349648335425,
+                  -0.3337644688512813
+                ],
+                "target_mouth_xy": [
+                  0.2901585045670959,
+                  -0.3362379194068409
+                ],
+                "gripper_position": [
+                  0.29069446101338015,
+                  -0.33376514632099946,
+                  1.0058001377896921
+                ],
+                "rod_tip_xy_dist": 0.00253277986401996,
+                "target_xy_drift": 2.6270002022469746e-08,
+                "depth": 0.015330709409774879,
+                "bottom_clearance": 0.08410980608171037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0005359550002724811,
+                  0.0024727419958169294
+                ],
+                "rod_tip_xy": [
+                  0.29069446101338,
+                  -0.3337651463209995
+                ],
+                "target_mouth_xy": [
+                  0.2901585060131075,
+                  -0.33623788831681645
+                ],
+                "gripper_position": [
+                  0.29070350831081926,
+                  -0.3338311294953005,
+                  1.0052762121912833
+                ],
+                "rod_tip_xy_dist": 0.002530158244101299,
+                "target_xy_drift": 5.571555015336458e-09,
+                "depth": 0.015459702212799353,
+                "bottom_clearance": 0.08398085440525138,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.000545003100499597,
+                  0.0024067613971583413
+                ],
+                "rod_tip_xy": [
+                  0.2907035083108191,
+                  -0.33383112949530047
+                ],
+                "target_mouth_xy": [
+                  0.2901585052103195,
+                  -0.3362378908924588
+                ],
+                "gripper_position": [
+                  0.2906915712382146,
+                  -0.33383796011004424,
+                  1.005129366088167
+                ],
+                "rod_tip_xy_dist": 0.0024676970645534564,
+                "target_xy_drift": 2.988273195181333e-09,
+                "depth": 0.01598362460737579,
+                "bottom_clearance": 0.08345690739448786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0005330684907932648,
+                  0.0023999278979939254
+                ],
+                "rod_tip_xy": [
+                  0.29069157123821443,
+                  -0.3338379601100443
+                ],
+                "target_mouth_xy": [
+                  0.29015850274742117,
+                  -0.3362378880080382
+                ],
+                "gripper_position": [
+                  0.29068252336052636,
+                  -0.33383860857634984,
+                  1.005000351860846
+                ],
+                "rod_tip_xy_dist": 0.00245841736315178,
+                "target_xy_drift": 5.187450640064157e-09,
+                "depth": 0.01613055390285789,
+                "bottom_clearance": 0.08331008912530391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00052401868603974,
+                  0.0023992787796576764
+                ],
+                "rod_tip_xy": [
+                  0.2906825233605262,
+                  -0.33383860857634984
+                ],
+                "target_mouth_xy": [
+                  0.29015850467448645,
+                  -0.3362378873560075
+                ],
+                "gripper_position": [
+                  0.2906925762124546,
+                  -0.3339055715630942,
+                  1.004476968180806
+                ],
+                "rod_tip_xy_dist": 0.0024558367710078867,
+                "target_xy_drift": 5.978958229585879e-09,
+                "depth": 0.01625952080380111,
+                "bottom_clearance": 0.08318107102188688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0005340712788292623,
+                  0.0023323488099029066
+                ],
+                "rod_tip_xy": [
+                  0.2906925762124544,
+                  -0.3339055715630943
+                ],
+                "target_mouth_xy": [
+                  0.29015850493362516,
+                  -0.3362379203729972
+                ],
+                "gripper_position": [
+                  0.2906804494777922,
+                  -0.33391248093596904,
+                  1.0043306481629075
+                ],
+                "rod_tip_xy_dist": 0.0023927145884801698,
+                "target_xy_drift": 2.7254888165357774e-08,
+                "depth": 0.01678287128676037,
+                "bottom_clearance": 0.08265765983353113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005219145064213615,
+                  0.0023254378258525388
+                ],
+                "rod_tip_xy": [
+                  0.29068044947779204,
+                  -0.33391248093596904
+                ],
+                "target_mouth_xy": [
+                  0.2901585349713707,
+                  -0.3362379187618216
+                ],
+                "gripper_position": [
+                  0.29067111894053055,
+                  -0.33391304780663195,
+                  1.004201448387361
+                ],
+                "rod_tip_xy_dist": 0.002383286771229773,
+                "target_xy_drift": 4.073967126449494e-08,
+                "depth": 0.016929180702547453,
+                "bottom_clearance": 0.08251133459323101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005126137261350361,
+                  0.002324840832480468
+                ],
+                "rod_tip_xy": [
+                  0.2906711189405304,
+                  -0.333913047806632
+                ],
+                "target_mouth_xy": [
+                  0.29015850521439535,
+                  -0.33623788863911247
+                ],
+                "gripper_position": [
+                  0.29068221002810946,
+                  -0.33398134189952333,
+                  1.0036813035934937
+                ],
+                "rod_tip_xy_dist": 0.0023806842983878653,
+                "target_xy_drift": 4.927610938014902e-09,
+                "depth": 0.01705838481421995,
+                "bottom_clearance": 0.08238214019051926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0005237056171007448,
+                  0.002256576544135691
+                ],
+                "rod_tip_xy": [
+                  0.2906822100281093,
+                  -0.33398134189952333
+                ],
+                "target_mouth_xy": [
+                  0.29015850441100854,
+                  -0.336237918443659
+                ],
+                "gripper_position": [
+                  0.2906700695052746,
+                  -0.3339879698337074,
+                  1.0035344309486496
+                ],
+                "rod_tip_xy_dist": 0.002316550295790327,
+                "target_xy_drift": 2.5300537976493265e-08,
+                "depth": 0.017578554125321832,
+                "bottom_clearance": 0.08186200181209158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005115340774266564,
+                  0.0022499502164631258
+                ],
+                "rod_tip_xy": [
+                  0.29067006950527435,
+                  -0.3339879698337074
+                ],
+                "target_mouth_xy": [
+                  0.2901585354278477,
+                  -0.3362379200501705
+                ],
+                "gripper_position": [
+                  0.2906606041086573,
+                  -0.33398844499521835,
+                  1.003405815910254
+                ],
+                "rod_tip_xy_dist": 0.0023073671335379652,
+                "target_xy_drift": 4.1910296005047566e-08,
+                "depth": 0.01772539201769241,
+                "bottom_clearance": 0.08171512170496487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005020681948730843,
+                  0.0022494452530227305
+                ],
+                "rod_tip_xy": [
+                  0.29066060410865713,
+                  -0.3339884449952184
+                ],
+                "target_mouth_xy": [
+                  0.29015853591378404,
+                  -0.33623789024824113
+                ],
+                "gripper_position": [
+                  0.2906510649124445,
+                  -0.3339890086300809,
+                  1.0032769241749793
+                ],
+                "rod_tip_xy_dist": 0.0023047942247952664,
+                "target_xy_drift": 3.2769992448410526e-08,
+                "depth": 0.01785401094324779,
+                "bottom_clearance": 0.08158652150275836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0004925576736566906,
+                  0.002248880655318475
+                ],
+                "rod_tip_xy": [
+                  0.29065106491244436,
+                  -0.33398900863008096
+                ],
+                "target_mouth_xy": [
+                  0.29015850723878767,
+                  -0.33623788928539944
+                ],
+                "gripper_position": [
+                  0.29066378067899457,
+                  -0.3340594557145613,
+                  1.0027592496736601
+                ],
+                "rod_tip_xy_dist": 0.002302189667195938,
+                "target_xy_drift": 5.549585931160767e-09,
+                "depth": 0.01798296785847675,
+                "bottom_clearance": 0.08145760118396239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005052758199059482,
+                  0.0021784329262908297
+                ],
+                "rod_tip_xy": [
+                  0.2906637806789944,
+                  -0.3340594557145613
+                ],
+                "target_mouth_xy": [
+                  0.29015850485908845,
+                  -0.33623788864085213
+                ],
+                "gripper_position": [
+                  0.2906514179919668,
+                  -0.33406627659476873,
+                  1.0026123208409017
+                ],
+                "rod_tip_xy_dist": 0.00223626332718883,
+                "target_xy_drift": 4.797196574687163e-09,
+                "depth": 0.018500534749006925,
+                "bottom_clearance": 0.08094000390142597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004929121304030892,
+                  0.0021716120442079045
+                ],
+                "rod_tip_xy": [
+                  0.29065141799196664,
+                  -0.33406627659476884
+                ],
+                "target_mouth_xy": [
+                  0.29015850586156355,
+                  -0.33623788863897675
+                ],
+                "gripper_position": [
+                  0.2906418647037683,
+                  -0.3340666000754276,
+                  1.0024839730720274
+                ],
+                "rod_tip_xy_dist": 0.002226850071030231,
+                "target_xy_drift": 5.216578543114866e-09,
+                "depth": 0.018647512171053537,
+                "bottom_clearance": 0.08079302703631541,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0004833602443198859,
+                  0.0021712898528701285
+                ],
+                "rod_tip_xy": [
+                  0.2906418647037681,
+                  -0.33406660007542766
+                ],
+                "target_mouth_xy": [
+                  0.29015850445944824,
+                  -0.3362378899282978
+                ],
+                "gripper_position": [
+                  0.2906323633557099,
+                  -0.33406685698541605,
+                  1.002355493844725
+                ],
+                "rod_tip_xy_dist": 0.0022244407726360717,
+                "target_xy_drift": 3.4503464686486135e-09,
+                "depth": 0.018775869319204164,
+                "bottom_clearance": 0.08066465699438674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00047385869743366005,
+                  0.0021710614584539156
+                ],
+                "rod_tip_xy": [
+                  0.29063236335570974,
+                  -0.33406685698541605
+                ],
+                "target_mouth_xy": [
+                  0.2901585046582761,
+                  -0.33623791844386997
+                ],
+                "gripper_position": [
+                  0.2906227174350958,
+                  -0.33406727253652824,
+                  1.0022270323932454
+                ],
+                "rod_tip_xy_dist": 0.002222172342892776,
+                "target_xy_drift": 2.5313064330649634e-08,
+                "depth": 0.018904356308872106,
+                "bottom_clearance": 0.08053619006945023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0004641813272968087,
+                  0.0021706170670557356
+                ],
+                "rod_tip_xy": [
+                  0.29062271743509566,
+                  -0.33406727253652835
+                ],
+                "target_mouth_xy": [
+                  0.29015853610779885,
+                  -0.3362378896035841
+                ],
+                "gripper_position": [
+                  0.2906132065197826,
+                  -0.33406757992516717,
+                  1.0020986971713928
+                ],
+                "rod_tip_xy_dist": 0.0022196942934567974,
+                "target_xy_drift": 3.302659710481244e-08,
+                "depth": 0.0190327868687864,
+                "bottom_clearance": 0.08040773479589813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00045470121690338594,
+                  0.0021703103229254728
+                ],
+                "rod_tip_xy": [
+                  0.29061320651978245,
+                  -0.3340675799251671
+                ],
+                "target_mouth_xy": [
+                  0.29015850530287907,
+                  -0.3362378902480926
+                ],
+                "gripper_position": [
+                  0.2906291555960343,
+                  -0.33414179035073965,
+                  1.0015848687069742
+                ],
+                "rod_tip_xy_dist": 0.0022174309672344456,
+                "target_xy_drift": 3.5560371587439174e-09,
+                "depth": 0.01916112527370417,
+                "bottom_clearance": 0.0802793801366487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0004706507365826451,
+                  0.002096100220761843
+                ],
+                "rod_tip_xy": [
+                  0.29062915559603414,
+                  -0.33414179035073965
+                ],
+                "target_mouth_xy": [
+                  0.2901585048594515,
+                  -0.3362378905715015
+                ],
+                "gripper_position": [
+                  0.2906167843348293,
+                  -0.33414868921683344,
+                  1.0014383917847887
+                ],
+                "rod_tip_xy_dist": 0.0021482896106725536,
+                "target_xy_drift": 3.042758429820222e-09,
+                "depth": 0.01967497303361232,
+                "bottom_clearance": 0.07976556096142029,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006031965725880159,
+              "rod_tip_xy_max_step": 3.2744453931049735e-05,
+              "rod_tip_xy_range": 0.0006031835926324793,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2902446454348423,
+            -0.33546022963718514,
+            1.0433725129873923
+          ],
+          "object_origin_world": [
+            0.2902446454348423,
+            -0.33546022963718514,
+            1.0433725129873923
+          ],
+          "frame_world": [
+            0.2902698164523333,
+            -0.33545717353176047,
+            1.0436759833873734
+          ],
+          "center_minus_frame": [
+            -2.5171017490999148e-05,
+            -3.0561054246702746e-06,
+            -0.0003034703999811317
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25231249168893316,
+              0.15336295559506355,
+              0.8332866836052092
+            ],
+            "target_position": [
+              0.26482176967422355,
+              0.19830721114127925,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04665263274796838,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1632862087276102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332866836052092,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674627407887,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13334588974817846,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3ed69412180a72443bea526bd39370b6454062654b92b6aca7a235cf3fe6218",
+    "visual_seed": 257682537374015407,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c4826312e31ba48eb55397ea90e59258c2bb64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_80_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2986405478660482,
+              0.08231853560079291,
+              1.1639526653937855
+            ],
+            "current_z": 1.1639526653937855,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30284609777437455,
+            "gripper_z": 1.15618133708567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29337621706493106,
+              0.07718057427867975,
+              1.15618133708567
+            ],
+            "object_minus_gripper": [
+              0.005264330801117156,
+              0.005137961322113166,
+              0.007771328308115555
+            ],
+            "object_to_gripper_xy": 0.00735607404334144,
+            "object_to_gripper_z": 0.007771328308115555,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2986405478660482,
+              0.05835838650173848,
+              1.1639526653937855
+            ],
+            "finger_b": [
+              0.28689763159309023,
+              0.08231853560079291,
+              1.1639526653937855
+            ],
+            "finger_midpoint": [
+              0.2927690897295692,
+              0.0703384610512657,
+              1.1639526653937855
+            ],
+            "object_minus_finger_midpoint": [
+              0.005871458136478991,
+              0.011980074549527209,
+              0.0
+            ],
+            "finger_gap": 0.026683043818924036,
+            "fingertip_max_gap": 0.09106262547386931,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013341521909462011,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639526653937855,
+            "object_top_z": 1.2138246902897207,
+            "finger_top_clearance": 0.04987202489593523,
+            "fingertip_min_top_clearance": 0.014961607468780601,
+            "object_projection_between_fingers": 0.8063215994517601,
+            "object_to_finger_line_xy": 0.010544600033907633,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803131273693466,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.756557473881656,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28513549260127335,
+              -0.32972113377223006,
+              0.8515395710321504
+            ],
+            "target_position": [
+              0.2753956822621488,
+              -0.3308174805511202,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009801320406032078,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18488271204313883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395710321504,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525472376446127,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568580104093991,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15352577002188536,
+            "release_required_pad_clearance": 0.05284290052046996,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.729537918761021,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007170617580413818,
+            "max_z_decrease": 0.007170617580413818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516574090876634,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007170617580413818,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021114610403546927,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007170617580413818,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071706389587572195,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13109560310840607,
+              -0.38707894086837763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13109560310840607,
+              -0.38707894086837763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13286480651789742,
+              -0.3871900415269623,
+              0.8082285943279375
+            ],
+            "closest_button": [
+              0.13108667731285095,
+              -0.38708126544952387,
+              0.7731080055236816
+            ],
+            "closest_ee_minus_button": [
+              0.0017781292050464692,
+              -0.00010877607743842166,
+              0.03512058880425584
+            ],
+            "button_min_z_position": [
+              0.1310780942440033,
+              -0.387079119682312,
+              0.7696382403373718
+            ],
+            "min_active_finger_to_button": 0.1444529132150316,
+            "closest_active_finger": [
+              -0.008225664496421814,
+              -0.37032610177993774,
+              0.8106024265289307
+            ],
+            "closest_active_finger_button": [
+              0.13109497725963593,
+              -0.3870797157287597,
+              0.7763136625289917
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13932064175605774,
+              0.016753613948821966,
+              0.034288763999938965
+            ],
+            "min_contact_pad_to_button": 0.021114610403546927,
+            "closest_contact_pad": [
+              0.1310780942440033,
+              -0.3883588617160283,
+              0.7907140329160796
+            ],
+            "closest_contact_pad_button": [
+              0.1310780942440033,
+              -0.387079119682312,
+              0.7696382403373718
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012797420337162801,
+              0.02107579257870773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26979669491298075,
+              0.1998015350173245,
+              1.1016503722131183
+            ],
+            "current_z": 1.1016503722131183,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1917412424787558,
+            "gripper_z": 1.101650648855739,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2697968296023624,
+              0.19980162014101704,
+              1.101650648855739
+            ],
+            "object_minus_gripper": [
+              -1.346893816478456e-07,
+              -8.512369253921293e-08,
+              -2.7664262058912925e-07
+            ],
+            "object_to_gripper_xy": 1.5933383997189507e-07,
+            "object_to_gripper_z": -2.7664262058912925e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26979669491298075,
+              0.1998015350173245,
+              1.1016503722131183
+            ],
+            "finger_b": [
+              0.26979669491298075,
+              0.1998015350173245,
+              1.1016503722131183
+            ],
+            "finger_midpoint": [
+              0.26979669491298075,
+              0.1998015350173245,
+              1.1016503722131183
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016503722131183,
+            "object_top_z": 1.226658878833398,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26979669491298075,
+            0.1998015350173245,
+            1.1016503722131186
+          ],
+          "object_origin_world": [
+            0.26979669491298075,
+            0.1998015350173245,
+            1.1016503722131186
+          ],
+          "frame_world": [
+            0.2697968296023624,
+            0.19980162014101704,
+            1.101650648855739
+          ],
+          "center_minus_frame": [
+            -1.346893816478456e-07,
+            -8.512369253921293e-08,
+            -2.7664262036708465e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433607891644345,
+            "required_z": 0.9112598323413001,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016592545806720824,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.602868910332248e-08,
+            "max_target_xy_drift": 2.0997397156438996e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7295379136046859,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7295379187825037,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2854591863513082,
+              -0.33134469886726603,
+              0.9234735387397245
+            ],
+            "target_mouth_xy": [
+              0.28513543035292077,
+              -0.3297211933452452
+            ],
+            "rod_tip_z": 0.9234735387397245,
+            "rod_tip_depth": -0.022213642217788876,
+            "rod_tip_bottom_clearance": 0.12165423362600147,
+            "rod_tip_xy_dist": 0.0016554721763062013,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044843237644278444,
+            "min_rod_tip_bottom_clearance": 0.05459740719511941,
+            "min_rod_tip_xy_dist": 0.0005942521997509724,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28513540406366356,
+              -0.32972125391473206
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.628925721559483e-08,
+              6.056948687049868e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0007768632667782827,
+                0.0001426732138861686
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006928952665180566,
+                -0.0002535983631799521
+              ],
+              "first_target_mouth_xy": [
+                0.28513543309607414,
+                -0.3297211939983552
+              ],
+              "last_target_mouth_xy": [
+                0.2851354053232339,
+                -0.32972119432549785
+              ],
+              "first_rod_tip_xy": [
+                0.2859122963628524,
+                -0.32957852078446903
+              ],
+              "last_rod_tip_xy": [
+                0.28582830058975195,
+                -0.3299747926886778
+              ],
+              "min_rod_tip_xy_dist": 0.0006990398588480315,
+              "max_rod_tip_xy_dist": 0.0007898557977441412,
+              "first_target_xy_drift": 6.657967468006201e-08,
+              "last_target_xy_drift": 5.9602544841691665e-08,
+              "max_depth": 0.019713431909895718,
+              "min_bottom_clearance": 0.07972715903420458
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007768632667782827,
+                  0.0001426732138861686
+                ],
+                "rod_tip_xy": [
+                  0.2859122963628524,
+                  -0.32957852078446903
+                ],
+                "target_mouth_xy": [
+                  0.28513543309607414,
+                  -0.3297211939983552
+                ],
+                "gripper_position": [
+                  0.2859005305069767,
+                  -0.3295854609092635,
+                  1.0058296122845618
+                ],
+                "rod_tip_xy_dist": 0.0007898557977441412,
+                "target_xy_drift": 6.657967468006201e-08,
+                "depth": 0.015286948077404716,
+                "bottom_clearance": 0.0841535585129265,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007651270582411662,
+                  0.00013573467670674466
+                ],
+                "rod_tip_xy": [
+                  0.2859005305069767,
+                  -0.32958546090926355
+                ],
+                "target_mouth_xy": [
+                  0.28513540344873556,
+                  -0.3297211955859703
+                ],
+                "gripper_position": [
+                  0.2858914621373361,
+                  -0.3295855158103878,
+                  1.0057037222625556
+                ],
+                "rod_tip_xy_dist": 0.0007770735600401454,
+                "target_xy_drift": 5.833200309850813e-08,
+                "depth": 0.015430238215905168,
+                "bottom_clearance": 0.08401032708677081,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007560301783459678,
+                  0.00013567404792586002
+                ],
+                "rod_tip_xy": [
+                  0.2858914621373361,
+                  -0.32958551581038786
+                ],
+                "target_mouth_xy": [
+                  0.28513543195899016,
+                  -0.3297211898583137
+                ],
+                "gripper_position": [
+                  0.28590083704933344,
+                  -0.32965467170771356,
+                  1.0051825902863951
+                ],
+                "rod_tip_xy_dist": 0.0007681074650401625,
+                "target_xy_drift": 6.986683030185351e-08,
+                "depth": 0.015556189220399808,
+                "bottom_clearance": 0.08388446729390153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007653685164643598,
+                  6.658351385646633e-05
+                ],
+                "rod_tip_xy": [
+                  0.28590083704933344,
+                  -0.32965467170771356
+                ],
+                "target_mouth_xy": [
+                  0.2851354685328691,
+                  -0.32972125522157003
+                ],
+                "gripper_position": [
+                  0.285888953868069,
+                  -0.32966158182253597,
+                  1.0050397275803968
+                ],
+                "rod_tip_xy_dist": 0.0007682592858614396,
+                "target_xy_drift": 6.448244945022884e-08,
+                "depth": 0.016077362930583927,
+                "bottom_clearance": 0.08336341205963471,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000753610459764742,
+                  5.9610274739219093e-05
+                ],
+                "rod_tip_xy": [
+                  0.285888953868069,
+                  -0.329661581822536
+                ],
+                "target_mouth_xy": [
+                  0.28513534340830426,
+                  -0.32972119209727524
+                ],
+                "gripper_position": [
+                  0.2858797262105362,
+                  -0.32966186120390084,
+                  1.004913642258711
+                ],
+                "rod_tip_xy_dist": 0.0007559643575733653,
+                "target_xy_drift": 8.660525722148299e-08,
+                "depth": 0.01622011718471883,
+                "bottom_clearance": 0.08322042582814781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007443201233178764,
+                  5.933536286784058e-05
+                ],
+                "rod_tip_xy": [
+                  0.2858797262105362,
+                  -0.32966186120390084
+                ],
+                "target_mouth_xy": [
+                  0.2851354060872183,
+                  -0.3297211965667687
+                ],
+                "gripper_position": [
+                  0.28589029665541976,
+                  -0.3297321604409404,
+                  1.0043941753461896
+                ],
+                "rod_tip_xy_dist": 0.0007466814121582224,
+                "target_xy_drift": 5.738365339984938e-08,
+                "depth": 0.016346305938899408,
+                "bottom_clearance": 0.08309439527568208,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007548929319898257,
+                  -1.0966117348742976e-05
+                ],
+                "rod_tip_xy": [
+                  0.28589029665541976,
+                  -0.32973216044094045
+                ],
+                "target_mouth_xy": [
+                  0.28513540372342994,
+                  -0.3297211943235917
+                ],
+                "gripper_position": [
+                  0.28587812230326287,
+                  -0.329739012736071,
+                  1.0042511365876083
+                ],
+                "rod_tip_xy_dist": 0.0007549725786397158,
+                "target_xy_drift": 5.959211162389436e-08,
+                "depth": 0.01686559499675022,
+                "bottom_clearance": 0.08257493502688473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007426568764360986,
+                  -1.7786694925414626e-05
+                ],
+                "rod_tip_xy": [
+                  0.28587812230326287,
+                  -0.3297390127360711
+                ],
+                "target_mouth_xy": [
+                  0.2851354654268268,
+                  -0.3297212260411457
+                ],
+                "gripper_position": [
+                  0.28586891776628603,
+                  -0.32973929294592796,
+                  1.0041257887741022
+                ],
+                "rod_tip_xy_dist": 0.0007428698423238033,
+                "target_xy_drift": 6.739714102183279e-08,
+                "depth": 0.01700880365631885,
+                "bottom_clearance": 0.08243187558545395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007335146620495725,
+                  -1.8069470549053612e-05
+                ],
+                "rod_tip_xy": [
+                  0.28586891776628603,
+                  -0.32973929294592796
+                ],
+                "target_mouth_xy": [
+                  0.28513540310423646,
+                  -0.3297212234753789
+                ],
+                "gripper_position": [
+                  0.2858802644500691,
+                  -0.3298103484917645,
+                  1.0036088015492441
+                ],
+                "rod_tip_xy_dist": 0.0007337371908303556,
+                "target_xy_drift": 3.0454469630700914e-08,
+                "depth": 0.017133974880671365,
+                "bottom_clearance": 0.08230652762956248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.000744829461912011,
+                  -8.912150353324044e-05
+                ],
+                "rod_tip_xy": [
+                  0.2858802644500691,
+                  -0.3298103484917646
+                ],
+                "target_mouth_xy": [
+                  0.2851354349881571,
+                  -0.32972122698823136
+                ],
+                "gripper_position": [
+                  0.2858681279055542,
+                  -0.3298172618164741,
+                  1.0034662016391342
+                ],
+                "rod_tip_xy_dist": 0.0007501423663039979,
+                "target_xy_drift": 4.1004399023538793e-08,
+                "depth": 0.017651150784867453,
+                "bottom_clearance": 0.08178953857189286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007327252909538617,
+                  -9.609762264284338e-05
+                ],
+                "rod_tip_xy": [
+                  0.2858681279055542,
+                  -0.3298172618164742
+                ],
+                "target_mouth_xy": [
+                  0.28513540261460035,
+                  -0.32972116419383135
+                ],
+                "gripper_position": [
+                  0.285858777198643,
+                  -0.32981724904989823,
+                  1.0033407246231896
+                ],
+                "rod_tip_xy_dist": 0.0007390000710967677,
+                "target_xy_drift": 8.973260170185635e-08,
+                "depth": 0.01779358270737319,
+                "bottom_clearance": 0.08164695024753854,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007233125296151055,
+                  -9.599131007326234e-05
+                ],
+                "rod_tip_xy": [
+                  0.285858777198643,
+                  -0.3298172490498983
+                ],
+                "target_mouth_xy": [
+                  0.2851354646690279,
+                  -0.329721257739825
+                ],
+                "gripper_position": [
+                  0.2858492957503221,
+                  -0.3298173100263061,
+                  1.0032153054222022
+                ],
+                "rod_tip_xy_dist": 0.0007296542654626121,
+                "target_xy_drift": 6.072595427615076e-08,
+                "depth": 0.01791924384386334,
+                "bottom_clearance": 0.08152147531477838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007139227089565381,
+                  -9.614519155098922e-05
+                ],
+                "rod_tip_xy": [
+                  0.28584929575032214,
+                  -0.3298173100263061
+                ],
+                "target_mouth_xy": [
+                  0.2851353730413656,
+                  -0.3297211648347551
+                ],
+                "gripper_position": [
+                  0.2858622993157216,
+                  -0.32989066160425445,
+                  1.002700272957795
+                ],
+                "rod_tip_xy_dist": 0.0007203676368509472,
+                "target_xy_drift": 9.432722440393727e-08,
+                "depth": 0.018044483081651186,
+                "bottom_clearance": 0.08139606353315221,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007268643493458793,
+                  -0.00016943684302750395
+                ],
+                "rod_tip_xy": [
+                  0.2858622993157216,
+                  -0.3298906616042545
+                ],
+                "target_mouth_xy": [
+                  0.2851354349663757,
+                  -0.329721224761227
+                ],
+                "gripper_position": [
+                  0.28585007223146497,
+                  -0.3298975570222261,
+                  1.0025577473021383
+                ],
+                "rod_tip_xy_dist": 0.0007463515432590298,
+                "target_xy_drift": 4.2484167359603525e-08,
+                "depth": 0.018559639176106923,
+                "bottom_clearance": 0.08088096865059846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007146973878864871,
+                  -0.00017639250066014966
+                ],
+                "rod_tip_xy": [
+                  0.28585007223146497,
+                  -0.3298975570222261
+                ],
+                "target_mouth_xy": [
+                  0.2851353748435785,
+                  -0.32972116452156597
+                ],
+                "gripper_position": [
+                  0.2858405957950746,
+                  -0.32989734955273103,
+                  1.0024327715534904
+                ],
+                "rod_tip_xy_dist": 0.0007361431046616606,
+                "target_xy_drift": 9.404760239163534e-08,
+                "depth": 0.01870203019592065,
+                "bottom_clearance": 0.08073853492141736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007051313933131853,
+                  -0.00017615395804126965
+                ],
+                "rod_tip_xy": [
+                  0.2858405957950746,
+                  -0.3298973495527311
+                ],
+                "target_mouth_xy": [
+                  0.2851354644017614,
+                  -0.3297211955946898
+                ],
+                "gripper_position": [
+                  0.2858310260907208,
+                  -0.3298971132538758,
+                  1.0023073796075204
+                ],
+                "rod_tip_xy_dist": 0.000726801553912345,
+                "target_xy_drift": 8.391610917575929e-08,
+                "depth": 0.01882714915865724,
+                "bottom_clearance": 0.0806134677397713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006956208494351968,
+                  -0.00017594872964166175
+                ],
+                "rod_tip_xy": [
+                  0.28583102609072086,
+                  -0.3298971132538757
+                ],
+                "target_mouth_xy": [
+                  0.28513540524128567,
+                  -0.32972116452423406
+                ],
+                "gripper_position": [
+                  0.28582156251831037,
+                  -0.32989690630634844,
+                  1.0021818357853634
+                ],
+                "rod_tip_xy_dist": 0.0007175279239384759,
+                "target_xy_drift": 8.93982546092964e-08,
+                "depth": 0.01895246216126345,
+                "bottom_clearance": 0.080488125703149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006861917222792391,
+                  -0.00017571264875920756
+                ],
+                "rod_tip_xy": [
+                  0.28582156251831037,
+                  -0.3298969063063485
+                ],
+                "target_mouth_xy": [
+                  0.28513537079603113,
+                  -0.3297211936575893
+                ],
+                "gripper_position": [
+                  0.2858120180946302,
+                  -0.32989683920060736,
+                  1.0020566591786804
+                ],
+                "rod_tip_xy_dist": 0.0007083318534829033,
+                "target_xy_drift": 6.883065176747381e-08,
+                "depth": 0.019078064235649284,
+                "bottom_clearance": 0.08036253533622995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006766132497399435,
+                  -0.00017564519502288878
+                ],
+                "rod_tip_xy": [
+                  0.2858120180946302,
+                  -0.3298968392006074
+                ],
+                "target_mouth_xy": [
+                  0.28513540484489025,
+                  -0.32972119400558453
+                ],
+                "gripper_position": [
+                  0.28582830058975195,
+                  -0.3299747926886779,
+                  1.0015464104757266
+                ],
+                "rod_tip_xy_dist": 0.0006990398588480315,
+                "target_xy_drift": 5.991424098765794e-08,
+                "depth": 0.01920323335491847,
+                "bottom_clearance": 0.0802373278068732,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0006928952665180566,
+                  -0.0002535983631799521
+                ],
+                "rod_tip_xy": [
+                  0.28582830058975195,
+                  -0.3299747926886778
+                ],
+                "target_mouth_xy": [
+                  0.2851354053232339,
+                  -0.32972119432549785
+                ],
+                "gripper_position": [
+                  0.28581581504998876,
+                  -0.32998144959452963,
+                  1.0014038987110612
+                ],
+                "rod_tip_xy_dist": 0.0007378454988482883,
+                "target_xy_drift": 5.9602544841691665e-08,
+                "depth": 0.019713431909895718,
+                "bottom_clearance": 0.07972715903420458,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006078711355578155,
+              "rod_tip_xy_max_step": 3.281722491994228e-05,
+              "rod_tip_xy_range": 0.000607862098739226,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2854591863513082,
+            -0.33134469886726603,
+            1.0434735387397245
+          ],
+          "object_origin_world": [
+            0.2854591863513082,
+            -0.33134469886726603,
+            1.0434735387397245
+          ],
+          "frame_world": [
+            0.2854575673260129,
+            -0.33134887683230535,
+            1.0433607891644345
+          ],
+          "center_minus_frame": [
+            1.6190252952741346e-06,
+            4.1779650393203305e-06,
+            0.00011274957528994989
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25576638465471374,
+              0.15365484475628233,
+              0.8313822606819218
+            ],
+            "target_position": [
+              0.269932680605632,
+              0.19956065296970904,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04804193135893809,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1666871527810904,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313822606819218,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673277767725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13716055423484738,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 314,
+            "max_placed_release_frames": 314
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7fac4fcd8aacef9d831e672a46e56826c29eb7794b14036a85dc24da98dd7e97",
+    "visual_seed": 2407067171451245398,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93badcf4cba807f78d7a3d0da6cf5770cc396cbe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_81_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29708146529033186,
+              0.09089611840739832,
+              1.163635031208321
+            ],
+            "current_z": 1.163635031208321,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3025285827981997,
+            "gripper_z": 1.1557506473998982,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2919227096293763,
+              0.0858366284859377,
+              1.1557506473998982
+            ],
+            "object_minus_gripper": [
+              0.005158755660955583,
+              0.0050594899214606165,
+              0.007884383808422823
+            ],
+            "object_to_gripper_xy": 0.007225731674702765,
+            "object_to_gripper_z": 0.007884383808422823,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29708146529033186,
+              0.06694381215578586,
+              1.163635031208321
+            ],
+            "finger_b": [
+              0.28553132513842383,
+              0.09089611840739832,
+              1.163635031208321
+            ],
+            "finger_midpoint": [
+              0.29130639521437784,
+              0.07891996528159209,
+              1.163635031208321
+            ],
+            "object_minus_finger_midpoint": [
+              0.005775070075954014,
+              0.01197615312580623,
+              0.0
+            ],
+            "finger_gap": 0.026591703824684707,
+            "fingertip_max_gap": 0.09108834724641293,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013295851912342354,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163635031208321,
+            "object_top_z": 1.2135100229394307,
+            "finger_top_clearance": 0.04987499173110965,
+            "fingertip_min_top_clearance": 0.014962497519332929,
+            "object_projection_between_fingers": 0.8113389799927022,
+            "object_to_finger_line_xy": 0.010403714481459202,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804417362320647,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.819622099988637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.286315557906683,
+              -0.33646514271525396,
+              0.851539609035894
+            ],
+            "target_position": [
+              0.2772367484729429,
+              -0.33765664744977797,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009156662288550438,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862650000914025,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539609035894,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556483677584688,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511865846251641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15399594433537414,
+            "release_required_pad_clearance": 0.05255932923125821,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18557481929308672,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007516622543334961,
+            "max_z_decrease": 0.007516622543334961,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035176466813258624,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007516622543334961,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021270089821145463,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007516622543334961,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007516643386371453,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13293667137622828,
+              -0.39391809701919556,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13293667137622828,
+              -0.39391809701919556,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13143686263356102,
+              -0.3959373703036766,
+              0.8078994704496536
+            ],
+            "closest_button": [
+              0.13292661309242243,
+              -0.3939204514026642,
+              0.7728124856948853
+            ],
+            "closest_ee_minus_button": [
+              -0.0014897504588614052,
+              -0.00201691890101241,
+              0.03508698475476835
+            ],
+            "button_min_z_position": [
+              0.13291904330253596,
+              -0.3939164876937866,
+              0.7692922353744507
+            ],
+            "min_active_finger_to_button": 0.14738636114693332,
+            "closest_active_finger": [
+              -0.00959160178899765,
+              -0.3786187767982483,
+              0.8108273148536682
+            ],
+            "closest_active_finger_button": [
+              0.13293613493442533,
+              -0.39391985535621643,
+              0.7765569090843201
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14252773672342298,
+              0.01530107855796814,
+              0.034270405769348145
+            ],
+            "min_contact_pad_to_button": 0.021270089821145463,
+            "closest_contact_pad": [
+              0.13291904330253596,
+              -0.3971721535235483,
+              0.7903116873417242
+            ],
+            "closest_contact_pad_button": [
+              0.13291904330253596,
+              -0.3939164876937866,
+              0.7692922353744507
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003255665829761667,
+              0.021019451967273506
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2713906506108145,
+              0.20542808872853396,
+              1.104246472908081
+            ],
+            "current_z": 1.104246472908081,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19433734317371842,
+            "gripper_z": 1.1042466971588136,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2713906406182783,
+              0.20542808005800867,
+              1.1042466971588136
+            ],
+            "object_minus_gripper": [
+              9.992536242897643e-09,
+              8.670525297738152e-09,
+              -2.2425073264997764e-07
+            ],
+            "object_to_gripper_xy": 1.3229844651557334e-08,
+            "object_to_gripper_z": -2.2425073264997764e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2713906506108145,
+              0.20542808872853396,
+              1.104246472908081
+            ],
+            "finger_b": [
+              0.2713906506108145,
+              0.20542808872853396,
+              1.104246472908081
+            ],
+            "finger_midpoint": [
+              0.2713906506108145,
+              0.20542808872853396,
+              1.104246472908081
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104246472908081,
+            "object_top_z": 1.2292549795283607,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2713906506108145,
+            0.20542808872853396,
+            1.1042464729080812
+          ],
+          "object_origin_world": [
+            0.2713906506108145,
+            0.20542808872853396,
+            1.1042464729080812
+          ],
+          "frame_world": [
+            0.2713906406182783,
+            0.20542808005800867,
+            1.1042466971588136
+          ],
+          "center_minus_frame": [
+            9.992536242897643e-09,
+            8.670525297738152e-09,
+            -2.2425073242793303e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436526145570164,
+            "required_z": 0.9112599232240164,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018708098725262645,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.1666625610700427e-08,
+            "max_target_xy_drift": 1.623877771676344e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.1855748140963938,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.18557482761643657,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2874104124635167,
+              -0.33796589737978117,
+              0.9233478964281391
+            ],
+            "target_mouth_xy": [
+              0.2863156180178459,
+              -0.33646523212848367
+            ],
+            "rod_tip_z": 0.9233478964281391,
+            "rod_tip_depth": -0.022087962077812162,
+            "rod_tip_bottom_clearance": 0.12152862411907528,
+            "rod_tip_xy_dist": 0.0018575712838874803,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04507247228876854,
+            "min_rod_tip_bottom_clearance": 0.05436819983015506,
+            "min_rod_tip_xy_dist": 0.00044464274222848004,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2863155882590606,
+              -0.3364652029647667
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9758785269340393e-08,
+              -2.916371699690501e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0015281401128820482,
+                0.0002524006536397949
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014269472261597138,
+                -7.494173339700483e-05
+              ],
+              "first_target_mouth_xy": [
+                0.2863155831130678,
+                -0.33646517605455906
+              ],
+              "last_target_mouth_xy": [
+                0.2863155849332303,
+                -0.3364652372570882
+              ],
+              "first_rod_tip_xy": [
+                0.28784372322594987,
+                -0.33621277540091926
+              ],
+              "last_rod_tip_xy": [
+                0.28774253215939,
+                -0.3365401789904852
+              ],
+              "min_rod_tip_xy_dist": 0.0014289138006365009,
+              "max_rod_tip_xy_dist": 0.0015488441802056637,
+              "first_target_xy_drift": 2.739781954674469e-08,
+              "last_target_xy_drift": 3.445322138594173e-08,
+              "max_depth": 0.01942136863563715,
+              "min_bottom_clearance": 0.08001924476335398
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015281401128820482,
+                  0.0002524006536397949
+                ],
+                "rod_tip_xy": [
+                  0.28784372322594987,
+                  -0.33621277540091926
+                ],
+                "target_mouth_xy": [
+                  0.2863155831130678,
+                  -0.33646517605455906
+                ],
+                "gripper_position": [
+                  0.2878319541130846,
+                  -0.33622026428387314,
+                  1.0057768422429068
+                ],
+                "rod_tip_xy_dist": 0.0015488441802056637,
+                "target_xy_drift": 2.739781954674469e-08,
+                "depth": 0.015337365941677672,
+                "bottom_clearance": 0.08410325991995149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015163391552200922,
+                  0.00024491144045329927
+                ],
+                "rod_tip_xy": [
+                  0.2878319541130846,
+                  -0.33622026428387314
+                ],
+                "target_mouth_xy": [
+                  0.2863156149578645,
+                  -0.33646517572432644
+                ],
+                "gripper_position": [
+                  0.28782298032638765,
+                  -0.336221149283497,
+                  1.005648576615178
+                ],
+                "rod_tip_xy_dist": 0.0015359902497472087,
+                "target_xy_drift": 3.814272818572588e-08,
+                "depth": 0.015482944423411249,
+                "bottom_clearance": 0.08395759148788873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015073652843725638,
+                  0.00024408540584258676
+                ],
+                "rod_tip_xy": [
+                  0.28782298032638765,
+                  -0.33622114928349695
+                ],
+                "target_mouth_xy": [
+                  0.2863156150420151,
+                  -0.33646523468933953
+                ],
+                "gripper_position": [
+                  0.2878339703885632,
+                  -0.33628986039811415,
+                  1.00512703303483
+                ],
+                "rod_tip_xy_dist": 0.0015269996024481868,
+                "target_xy_drift": 4.1518371510575364e-08,
+                "depth": 0.015611256601112511,
+                "bottom_clearance": 0.08382925514357564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015183543090742657,
+                  0.00017534416642156492
+                ],
+                "rod_tip_xy": [
+                  0.2878339703885632,
+                  -0.3362898603981141
+                ],
+                "target_mouth_xy": [
+                  0.2863156160794889,
+                  -0.33646520456453566
+                ],
+                "gripper_position": [
+                  0.28782211514080924,
+                  -0.33629722503399617,
+                  1.0049809125708091
+                ],
+                "rod_tip_xy_dist": 0.0015284454143287107,
+                "target_xy_drift": 2.7866386405246602e-08,
+                "depth": 0.016132786132340704,
+                "bottom_clearance": 0.08330772091369132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001506502709325619,
+                  0.0001679798651954556
+                ],
+                "rod_tip_xy": [
+                  0.2878221151408093,
+                  -0.3362972250339962
+                ],
+                "target_mouth_xy": [
+                  0.2863156124314837,
+                  -0.3364652048991917
+                ],
+                "gripper_position": [
+                  0.2878130678132188,
+                  -0.3362978547904758,
+                  1.0048531966867738
+                ],
+                "rod_tip_xy_dist": 0.001515838925584283,
+                "target_xy_drift": 2.4249701789120464e-08,
+                "depth": 0.01627900037232133,
+                "bottom_clearance": 0.08316161200605332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014974522258525136,
+                  0.00016734881401697654
+                ],
+                "rod_tip_xy": [
+                  0.28781306781321886,
+                  -0.33629785479047586
+                ],
+                "target_mouth_xy": [
+                  0.28631561558736635,
+                  -0.33646520360449284
+                ],
+                "gripper_position": [
+                  0.2878251160520948,
+                  -0.33636789911092607,
+                  1.0043326749941535
+                ],
+                "rod_tip_xy_dist": 0.001506774301036335,
+                "target_xy_drift": 2.7335792353716056e-08,
+                "depth": 0.016406583070533665,
+                "bottom_clearance": 0.0830339533467569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015095001848535183,
+                  9.727246080365459e-05
+                ],
+                "rod_tip_xy": [
+                  0.2878251160520948,
+                  -0.3363678991109262
+                ],
+                "target_mouth_xy": [
+                  0.2863156158672413,
+                  -0.33646517157172984
+                ],
+                "gripper_position": [
+                  0.2878130185221035,
+                  -0.33637512456223445,
+                  1.0041869314139633
+                ],
+                "rod_tip_xy_dist": 0.0015126310652976835,
+                "target_xy_drift": 4.180591348871623e-08,
+                "depth": 0.016927199783320357,
+                "bottom_clearance": 0.08251341393387357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014974013154919752,
+                  9.011076500547999e-05
+                ],
+                "rod_tip_xy": [
+                  0.2878130185221035,
+                  -0.33637512456223445
+                ],
+                "target_mouth_xy": [
+                  0.28631561720661153,
+                  -0.33646523532723993
+                ],
+                "gripper_position": [
+                  0.28780375066523667,
+                  -0.336375871126576,
+                  1.004059024906418
+                ],
+                "rod_tip_xy_dist": 0.0015001102124867262,
+                "target_xy_drift": 4.3419930666584064e-08,
+                "depth": 0.017072901518215944,
+                "bottom_clearance": 0.08236765838387494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014881647951862087,
+                  8.930299585069301e-05
+                ],
+                "rod_tip_xy": [
+                  0.28780375066523667,
+                  -0.336375871126576
+                ],
+                "target_mouth_xy": [
+                  0.28631558587005046,
+                  -0.3364651741224267
+                ],
+                "gripper_position": [
+                  0.28779450816161567,
+                  -0.3363765024136453,
+                  1.0039311753364553
+                ],
+                "rod_tip_xy_dist": 0.0014908418704542474,
+                "target_xy_drift": 2.8941111656987205e-08,
+                "depth": 0.01720080615415387,
+                "bottom_clearance": 0.08223971555234189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014789205275981265,
+                  8.867170826082349e-05
+                ],
+                "rod_tip_xy": [
+                  0.28779450816161567,
+                  -0.3363765024136453
+                ],
+                "target_mouth_xy": [
+                  0.28631558763401754,
+                  -0.33646517412190613
+                ],
+                "gripper_position": [
+                  0.2878082786840026,
+                  -0.3364488016076463,
+                  1.0034109736500803
+                ],
+                "rod_tip_xy_dist": 0.0014815763897946719,
+                "target_xy_drift": 2.8849632289266257e-08,
+                "depth": 0.017328725687793867,
+                "bottom_clearance": 0.08211185648219743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014926924494239602,
+                  1.6402956450944917e-05
+                ],
+                "rod_tip_xy": [
+                  0.2878082786840026,
+                  -0.3364488016076463
+                ],
+                "target_mouth_xy": [
+                  0.28631558623457865,
+                  -0.33646520456409723
+                ],
+                "gripper_position": [
+                  0.28779617047689937,
+                  -0.33645605932825906,
+                  1.0032657568268342
+                ],
+                "rod_tip_xy_dist": 0.0014927825714241285,
+                "target_xy_drift": 2.5799971862149107e-09,
+                "depth": 0.017848785582867177,
+                "bottom_clearance": 0.08159171984446034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014805834817663843,
+                  9.144596134269545e-06
+                ],
+                "rod_tip_xy": [
+                  0.28779617047689937,
+                  -0.3364560593282591
+                ],
+                "target_mouth_xy": [
+                  0.286315586995133,
+                  -0.3364652039243934
+                ],
+                "gripper_position": [
+                  0.2877868501954469,
+                  -0.3364567660085192,
+                  1.0031380412515785
+                ],
+                "rod_tip_xy_dist": 0.0014806117215927775,
+                "target_xy_drift": 1.5869456440606522e-09,
+                "depth": 0.01799407950717624,
+                "bottom_clearance": 0.08144647809633798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001471263684630686,
+                  8.43791528165605e-06
+                ],
+                "rod_tip_xy": [
+                  0.2877868501954469,
+                  -0.3364567660085192
+                ],
+                "target_mouth_xy": [
+                  0.28631558651081623,
+                  -0.33646520392380086
+                ],
+                "gripper_position": [
+                  0.28777745099396335,
+                  -0.33645738625892835,
+                  1.0030104747459616
+                ],
+                "rod_tip_xy_dist": 0.0014712878807790685,
+                "target_xy_drift": 1.9940172993316245e-09,
+                "depth": 0.018121791248381203,
+                "bottom_clearance": 0.08131874777453618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014618669237416726,
+                  7.818311439977688e-06
+                ],
+                "rod_tip_xy": [
+                  0.28777745099396335,
+                  -0.33645738625892846
+                ],
+                "target_mouth_xy": [
+                  0.2863155840702217,
+                  -0.33646520457036844
+                ],
+                "gripper_position": [
+                  0.28779269440920063,
+                  -0.3365315903085026,
+                  1.0024938315142873
+                ],
+                "rod_tip_xy_dist": 0.0014618878304178177,
+                "target_xy_drift": 4.486014791037632e-09,
+                "depth": 0.018249399887445783,
+                "bottom_clearance": 0.08119116836458207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014770778556509323,
+                  -6.638478577364326e-05
+                ],
+                "rod_tip_xy": [
+                  0.2877926944092007,
+                  -0.3365315903085026
+                ],
+                "target_mouth_xy": [
+                  0.28631561655354976,
+                  -0.33646520552272896
+                ],
+                "gripper_position": [
+                  0.28778045982617906,
+                  -0.3365387782955326,
+                  1.0023487455809688
+                ],
+                "rod_tip_xy_dist": 0.0014785688795036127,
+                "target_xy_drift": 2.840988009096944e-08,
+                "depth": 0.018765996156735576,
+                "bottom_clearance": 0.08067453850850625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014648444611954359,
+                  -7.3601930412448e-05
+                ],
+                "rod_tip_xy": [
+                  0.28778045982617906,
+                  -0.3365387782955325
+                ],
+                "target_mouth_xy": [
+                  0.2863156153649836,
+                  -0.3364651763651201
+                ],
+                "gripper_position": [
+                  0.28777108204475005,
+                  -0.33653894863686823,
+                  1.0022211918337665
+                ],
+                "rod_tip_xy_dist": 0.0014666923807177105,
+                "target_xy_drift": 3.79772597888721e-08,
+                "depth": 0.01891109979948158,
+                "bottom_clearance": 0.08052944345708923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014554643962936265,
+                  -7.371394903771256e-05
+                ],
+                "rod_tip_xy": [
+                  0.28777108204475005,
+                  -0.33653894863686823
+                ],
+                "target_mouth_xy": [
+                  0.2863156176484564,
+                  -0.3364652346878305
+                ],
+                "gripper_position": [
+                  0.2877615080291732,
+                  -0.3365395811347347,
+                  1.002093824413376
+                ],
+                "rod_tip_xy_dist": 0.0014573298717727242,
+                "target_xy_drift": 4.324452988977982e-08,
+                "depth": 0.019038693661268424,
+                "bottom_clearance": 0.08040186215953116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014458912131177781,
+                  -7.437560835837909e-05
+                ],
+                "rod_tip_xy": [
+                  0.2877615080291732,
+                  -0.33653958113473476
+                ],
+                "target_mouth_xy": [
+                  0.28631561681605544,
+                  -0.3364652055263764
+                ],
+                "gripper_position": [
+                  0.2877520036750908,
+                  -0.33653989767830833,
+                  1.0019660365673237
+                ],
+                "rod_tip_xy_dist": 0.0014478028634071281,
+                "target_xy_drift": 2.8671654951659406e-08,
+                "depth": 0.01916594581868314,
+                "bottom_clearance": 0.0802745990923891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001436387432994457,
+                  -7.466395036542783e-05
+                ],
+                "rod_tip_xy": [
+                  0.2877520036750908,
+                  -0.33653989767830833
+                ],
+                "target_mouth_xy": [
+                  0.28631561624209634,
+                  -0.3364652337279429
+                ],
+                "gripper_position": [
+                  0.28774253215939,
+                  -0.3365401789904852,
+                  1.0018385189540524
+                ],
+                "rod_tip_xy_dist": 0.0014383266538406973,
+                "target_xy_drift": 4.1586335494834573e-08,
+                "depth": 0.019293795336658648,
+                "bottom_clearance": 0.08014674089346141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014269472261597138,
+                  -7.494173339700483e-05
+                ],
+                "rod_tip_xy": [
+                  0.28774253215939,
+                  -0.3365401789904852
+                ],
+                "target_mouth_xy": [
+                  0.2863155849332303,
+                  -0.3364652372570882
+                ],
+                "gripper_position": [
+                  0.28773292352375235,
+                  -0.3365407515343708,
+                  1.0017110418319486
+                ],
+                "rod_tip_xy_dist": 0.0014289138006365009,
+                "target_xy_drift": 3.445322138594173e-08,
+                "depth": 0.01942136863563715,
+                "bottom_clearance": 0.08001924476335398,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.000605516847178746,
+              "rod_tip_xy_max_step": 3.2695390136770584e-05,
+              "rod_tip_xy_range": 0.0006055064981792688,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2874104124635167,
+            -0.33796589737978117,
+            1.0433478964281393
+          ],
+          "object_origin_world": [
+            0.2874104124635167,
+            -0.33796589737978117,
+            1.0433478964281393
+          ],
+          "frame_world": [
+            0.28743564556373663,
+            -0.33796372065883273,
+            1.0436526145570164
+          ],
+          "center_minus_frame": [
+            -2.523310021995684e-05,
+            -2.1767209484324646e-06,
+            -0.0003047181288771128
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25735303706395507,
+              0.16098264587223818,
+              0.8307958952630796
+            ],
+            "target_position": [
+              0.27154283227698917,
+              0.2074738983921472,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04860850593319847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16806993553213875,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8307958952630796,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672470944232,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13843163359901192,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e470aa18c16c8effd3da81768eff01b579268da2c857dd06d89912faaa51659",
+    "visual_seed": 7813485124683485265,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf842e86dadf99f9a13c5fb896779d061a1bebca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_83_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2980597527087031,
+              0.09172717251786948,
+              1.1633820930809287
+            ],
+            "current_z": 1.1633820930809287,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3022755254615177,
+            "gripper_z": 1.1556188039439568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2926266598033127,
+              0.08667066810864553,
+              1.1556188039439568
+            ],
+            "object_minus_gripper": [
+              0.005433092905390402,
+              0.00505650440922395,
+              0.007763289136971885
+            ],
+            "object_to_gripper_xy": 0.007422043880165676,
+            "object_to_gripper_z": 0.007763289136971885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2980597527087031,
+              0.06730497619966065,
+              1.1633820930809287
+            ],
+            "finger_b": [
+              0.2868747992094699,
+              0.09172717251786948,
+              1.1633820930809287
+            ],
+            "finger_midpoint": [
+              0.2924672759590865,
+              0.07951607435876507,
+              1.1633820930809287
+            ],
+            "object_minus_finger_midpoint": [
+              0.005592476749616604,
+              0.012211098159104414,
+              0.0
+            ],
+            "finger_gap": 0.02686162425813342,
+            "fingertip_max_gap": 0.09149056575267075,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01343081212906671,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633820930809287,
+            "object_top_z": 1.213291579143824,
+            "finger_top_clearance": 0.04990948606289525,
+            "fingertip_min_top_clearance": 0.014972845818868607,
+            "object_projection_between_fingers": 0.8266180727832071,
+            "object_to_finger_line_xy": 0.01016919630560317,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824528287633538,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0706137743660855,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.287604953644692,
+              -0.3376441230258067,
+              0.8515396193850463
+            ],
+            "target_position": [
+              0.2793633430112489,
+              -0.3382318572797844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008262540613309067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18344861727366915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396193850463,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513348740678967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08722956530115804,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15237544749992146,
+            "release_required_pad_clearance": 0.05361478265057902,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.239899891848517,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00758814811706543,
+            "max_z_decrease": 0.00758814811706543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512995098157454,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00758814811706543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107634072625575,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00758814811706543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007588171747711266,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1350632756948471,
+              -0.39449331164360035,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1350632756948471,
+              -0.39449331164360035,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13442235282149814,
+              -0.3931303253065459,
+              0.8079109117715285
+            ],
+            "closest_button": [
+              0.13505631685256955,
+              -0.3944934308528899,
+              0.7728131413459778
+            ],
+            "closest_ee_minus_button": [
+              -0.0006339640310714101,
+              0.0013631055463440012,
+              0.035097770425550734
+            ],
+            "button_min_z_position": [
+              0.13504442572593686,
+              -0.39449149370193476,
+              0.7692207098007202
+            ],
+            "min_active_finger_to_button": 0.146139058733805,
+            "closest_active_finger": [
+              0.008155860006809235,
+              -0.45831581950187683,
+              0.8108941316604614
+            ],
+            "closest_active_finger_button": [
+              0.1350635290145874,
+              -0.394493281841278,
+              0.7765757441520691
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12690766900777817,
+              -0.06382253766059881,
+              0.034318387508392334
+            ],
+            "min_contact_pad_to_button": 0.02107634072625575,
+            "closest_contact_pad": [
+              0.13504442572593686,
+              -0.39449149370193476,
+              0.790297050526976
+            ],
+            "closest_contact_pad_button": [
+              0.13504442572593686,
+              -0.39449149370193476,
+              0.7692207098007202
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107634072625575
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2778066684984421,
+              0.19537004073393618,
+              1.1112322515284765
+            ],
+            "current_z": 1.1112322515284765,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20132312179411394,
+            "gripper_z": 1.1112325687228983,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2778066789222775,
+              0.19536998714285947,
+              1.1112325687228983
+            ],
+            "object_minus_gripper": [
+              -1.0423835405948267e-08,
+              5.359107671520924e-08,
+              -3.1719442183941737e-07
+            ],
+            "object_to_gripper_xy": 5.4595419661961964e-08,
+            "object_to_gripper_z": -3.1719442183941737e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2778066684984421,
+              0.19537004073393618,
+              1.1112322515284765
+            ],
+            "finger_b": [
+              0.2778066684984421,
+              0.19537004073393618,
+              1.1112322515284765
+            ],
+            "finger_midpoint": [
+              0.2778066684984421,
+              0.19537004073393618,
+              1.1112322515284765
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1112322515284765,
+            "object_top_z": 1.2362407581487562,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2778066684984421,
+            0.1953700407339362,
+            1.1112322515284765
+          ],
+          "object_origin_world": [
+            0.2778066684984421,
+            0.1953700407339362,
+            1.1112322515284765
+          ],
+          "frame_world": [
+            0.2778066789222775,
+            0.19536998714285947,
+            1.1112325687228983
+          ],
+          "center_minus_frame": [
+            -1.0423835405948267e-08,
+            5.3591076742964816e-08,
+            -3.1719442183941737e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436411862028214,
+            "required_z": 0.911259893550042,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013096805340917274,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.881224801472599e-08,
+            "max_target_xy_drift": 4.458035299295715e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.239899891392149,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.2402492969542345,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2887627274336476,
+              -0.33708467077513193,
+              0.9233366592899276
+            ],
+            "target_mouth_xy": [
+              0.28760489157022134,
+              -0.3376441243524104
+            ],
+            "rod_tip_z": 0.9233366592899276,
+            "rod_tip_depth": -0.022076779958001946,
+            "rod_tip_bottom_clearance": 0.12151736228572751,
+            "rod_tip_xy_dist": 0.0012859129798574078,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045057583141002056,
+            "min_rod_tip_bottom_clearance": 0.05438301590733885,
+            "min_rod_tip_xy_dist": 0.0004270154064754733,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2876048650355108,
+              -0.33764409602751444
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.6534710539927175e-08,
+              -2.832489598425525e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0016110750458448453,
+                0.002170999804916196
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015030585733150081,
+                0.0018704119590419177
+              ],
+              "first_target_mouth_xy": [
+                0.2876049248422819,
+                -0.3376441261367261
+              ],
+              "last_target_mouth_xy": [
+                0.28760492391150483,
+                -0.3376440970082424
+              ],
+              "first_rod_tip_xy": [
+                0.28921599988812674,
+                -0.3354731263318099
+              ],
+              "last_rod_tip_xy": [
+                0.28910798248481984,
+                -0.33577368504920047
+              ],
+              "min_rod_tip_xy_dist": 0.002399505359723702,
+              "max_rod_tip_xy_dist": 0.002703479786551054,
+              "first_target_xy_drift": 6.695830416235433e-08,
+              "last_target_xy_drift": 5.8884161704798084e-08,
+              "max_depth": 0.019503868011483294,
+              "min_bottom_clearance": 0.07993670030674405
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016110750458448453,
+                  0.002170999804916196
+                ],
+                "rod_tip_xy": [
+                  0.28921599988812674,
+                  -0.3354731263318099
+                ],
+                "target_mouth_xy": [
+                  0.2876049248422819,
+                  -0.3376441261367261
+                ],
+                "gripper_position": [
+                  0.28920438093578543,
+                  -0.3354803213703117,
+                  1.0057063592605953
+                ],
+                "rod_tip_xy_dist": 0.002703479786551054,
+                "target_xy_drift": 6.695830416235433e-08,
+                "depth": 0.015406694827174605,
+                "bottom_clearance": 0.08403388753772634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015994547814948135,
+                  0.002163804746331599
+                ],
+                "rod_tip_xy": [
+                  0.28920438093578543,
+                  -0.3354803213703117
+                ],
+                "target_mouth_xy": [
+                  0.2876049261542906,
+                  -0.3376441261166433
+                ],
+                "gripper_position": [
+                  0.2892136319592269,
+                  -0.3355432555590513,
+                  1.0051837088414672
+                ],
+                "rod_tip_xy_dist": 0.0026907817782744438,
+                "target_xy_drift": 6.81238645507736e-08,
+                "depth": 0.015553552427870376,
+                "bottom_clearance": 0.08388708150963187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016087074254578781,
+                  0.0021008702938444257
+                ],
+                "rod_tip_xy": [
+                  0.2892136319592269,
+                  -0.3355432555590513
+                ],
+                "target_mouth_xy": [
+                  0.287604924533769,
+                  -0.3376441258528957
+                ],
+                "gripper_position": [
+                  0.2892017674780024,
+                  -0.33555046825933493,
+                  1.0050371731306857
+                ],
+                "rod_tip_xy_dist": 0.002646052828701891,
+                "target_xy_drift": 6.655521090172614e-08,
+                "depth": 0.016076184191496368,
+                "bottom_clearance": 0.08336437618138348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015968416295639165,
+                  0.002093688297917673
+                ],
+                "rod_tip_xy": [
+                  0.2892017674780024,
+                  -0.335550468259335
+                ],
+                "target_mouth_xy": [
+                  0.2876049258484385,
+                  -0.33764415655725266
+                ],
+                "gripper_position": [
+                  0.28919261111060934,
+                  -0.3355509730588518,
+                  1.004908774946936
+                ],
+                "rod_tip_xy_dist": 0.002633141446779065,
+                "target_xy_drift": 8.580245558168364e-08,
+                "depth": 0.016222747099852053,
+                "bottom_clearance": 0.0832178964734337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015876864287159287,
+                  0.002093182266537097
+                ],
+                "rod_tip_xy": [
+                  0.28919261111060934,
+                  -0.33555097305885184
+                ],
+                "target_mouth_xy": [
+                  0.2876049246818934,
+                  -0.33764415532538894
+                ],
+                "gripper_position": [
+                  0.2892031436015706,
+                  -0.33561507538717306,
+                  1.0043871336437327
+                ],
+                "rod_tip_xy_dist": 0.002627196261582701,
+                "target_xy_drift": 8.410665181017173e-08,
+                "depth": 0.016351113585995614,
+                "bottom_clearance": 0.0830894414122737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015982175843828883,
+                  0.002029079580464055
+                ],
+                "rod_tip_xy": [
+                  0.2892031436015706,
+                  -0.33561507538717317
+                ],
+                "target_mouth_xy": [
+                  0.28760492601718773,
+                  -0.3376441549676372
+                ],
+                "gripper_position": [
+                  0.28919123895791177,
+                  -0.33562195033460995,
+                  1.0042406930761805
+                ],
+                "rod_tip_xy_dist": 0.0025829176120981596,
+                "target_xy_drift": 8.480980482729329e-08,
+                "depth": 0.01687276017817607,
+                "bottom_clearance": 0.08256783577712723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015863151475143944,
+                  0.0020221774305392293
+                ],
+                "rod_tip_xy": [
+                  0.28919123895791177,
+                  -0.33562195033460995
+                ],
+                "target_mouth_xy": [
+                  0.2876049238103974,
+                  -0.3376441277651492
+                ],
+                "gripper_position": [
+                  0.28918194274452974,
+                  -0.33562244530207186,
+                  1.0041124103510193
+                ],
+                "rod_tip_xy_dist": 0.0025701356594187504,
+                "target_xy_drift": 6.679644264648139e-08,
+                "depth": 0.01701916760841604,
+                "bottom_clearance": 0.08242142930648433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015769268384541735,
+                  0.002021709064347732
+                ],
+                "rod_tip_xy": [
+                  0.28918194274452974,
+                  -0.33562244530207186
+                ],
+                "target_mouth_xy": [
+                  0.28760501590607557,
+                  -0.3376441543664196
+                ],
+                "gripper_position": [
+                  0.28917270928975175,
+                  -0.33562308459915824,
+                  1.0039838711286642
+                ],
+                "rod_tip_xy_dist": 0.0025639824092030853,
+                "target_xy_drift": 1.6175708691210205e-07,
+                "depth": 0.01714743741446878,
+                "bottom_clearance": 0.08229319701720039,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015677838117616472,
+                  0.00202104061213193
+                ],
+                "rod_tip_xy": [
+                  0.28917270928975175,
+                  -0.33562308459915835
+                ],
+                "target_mouth_xy": [
+                  0.2876049254779901,
+                  -0.3376441252112903
+                ],
+                "gripper_position": [
+                  0.28918510188186763,
+                  -0.33568919103056527,
+                  1.0034630839692924
+                ],
+                "rod_tip_xy_dist": 0.002557841128043039,
+                "target_xy_drift": 6.711919305352643e-08,
+                "depth": 0.017276018831254625,
+                "bottom_clearance": 0.08216455721956795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015801486171703183,
+                  0.0019549640420263303
+                ],
+                "rod_tip_xy": [
+                  0.28918510188186763,
+                  -0.33568919103056527
+                ],
+                "target_mouth_xy": [
+                  0.2876049532646973,
+                  -0.3376441550725916
+                ],
+                "gripper_position": [
+                  0.2891728877089037,
+                  -0.3356958614807505,
+                  1.003316154681235
+                ],
+                "rod_tip_xy_dist": 0.0025137132012147284,
+                "target_xy_drift": 1.0616360247072368e-07,
+                "depth": 0.017796729963413527,
+                "bottom_clearance": 0.08164376780916716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001567965440579966,
+                  0.0019482013136550291
+                ],
+                "rod_tip_xy": [
+                  0.2891728877089037,
+                  -0.3356958614807506
+                ],
+                "target_mouth_xy": [
+                  0.28760492226832374,
+                  -0.3376440627944056
+                ],
+                "gripper_position": [
+                  0.28916345142084576,
+                  -0.33569648515897255,
+                  1.0031883319866006
+                ],
+                "rod_tip_xy_dist": 0.0025008006680621924,
+                "target_xy_drift": 6.618182830757704e-08,
+                "depth": 0.017943788862330723,
+                "bottom_clearance": 0.08149682456758878,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015584970445195467,
+                  0.0019476391014170424
+                ],
+                "rod_tip_xy": [
+                  0.28916345142084576,
+                  -0.33569648515897255
+                ],
+                "target_mouth_xy": [
+                  0.2876049543763262,
+                  -0.3376441242603896
+                ],
+                "gripper_position": [
+                  0.2891540269343675,
+                  -0.3356969855794992,
+                  1.003059967595042
+                ],
+                "rod_tip_xy_dist": 0.0024944360298762417,
+                "target_xy_drift": 9.369565911883671e-08,
+                "depth": 0.018071566894623525,
+                "bottom_clearance": 0.08136900748308207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001549072275152108,
+                  0.0019471386777561994
+                ],
+                "rod_tip_xy": [
+                  0.2891540269343675,
+                  -0.33569698557949923
+                ],
+                "target_mouth_xy": [
+                  0.2876049546592154,
+                  -0.33764412425725543
+                ],
+                "gripper_position": [
+                  0.28916798764146084,
+                  -0.3357652367282111,
+                  1.002542014546024
+                ],
+                "rod_tip_xy_dist": 0.0024881667838107416,
+                "target_xy_drift": 9.396449700270717e-08,
+                "depth": 0.018199873795717747,
+                "bottom_clearance": 0.08124071118231202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015630321416960635,
+                  0.0018788878327238856
+                ],
+                "rod_tip_xy": [
+                  0.28916798764146084,
+                  -0.3357652367282111
+                ],
+                "target_mouth_xy": [
+                  0.2876049554997648,
+                  -0.337644124560935
+                ],
+                "gripper_position": [
+                  0.28915576626318396,
+                  -0.33577216447148517,
+                  1.0023961799809207
+                ],
+                "rod_tip_xy_dist": 0.002444031293566603,
+                "target_xy_drift": 9.485745799374513e-08,
+                "depth": 0.018717887048733117,
+                "bottom_clearance": 0.08072271778545381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015508125738110667,
+                  0.0018719902618033468
+                ],
+                "rod_tip_xy": [
+                  0.28915576626318396,
+                  -0.33577216447148517
+                ],
+                "target_mouth_xy": [
+                  0.2876049536893729,
+                  -0.3376441547332885
+                ],
+                "gripper_position": [
+                  0.28914614563338614,
+                  -0.33577237828419526,
+                  1.0022679629499076
+                ],
+                "rod_tip_xy_dist": 0.0024309189989337506,
+                "target_xy_drift": 1.0632908902237458e-07,
+                "depth": 0.018863642123918334,
+                "bottom_clearance": 0.08057688185317491,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015412203502582211,
+                  0.0018717472416956427
+                ],
+                "rod_tip_xy": [
+                  0.28914614563338614,
+                  -0.33577237828419526
+                ],
+                "target_mouth_xy": [
+                  0.2876049252831279,
+                  -0.3376441255258909
+                ],
+                "gripper_position": [
+                  0.2891366732047661,
+                  -0.3357725189632989,
+                  1.0021397944662753
+                ],
+                "rod_tip_xy_dist": 0.002424623250083468,
+                "target_xy_drift": 6.708151446056309e-08,
+                "depth": 0.018991930838918925,
+                "bottom_clearance": 0.08044864820536357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015317795202795526,
+                  0.0018716059661285644
+                ],
+                "rod_tip_xy": [
+                  0.2891366732047661,
+                  -0.33577251896329896
+                ],
+                "target_mouth_xy": [
+                  0.28760489368448655,
+                  -0.3376441249294275
+                ],
+                "gripper_position": [
+                  0.289127034971015,
+                  -0.33577291992909564,
+                  1.0020117747063717
+                ],
+                "rod_tip_xy_dist": 0.0024185238041408426,
+                "target_xy_drift": 4.0695016787592715e-08,
+                "depth": 0.019120024756868914,
+                "bottom_clearance": 0.08032048444686957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0015220794796869108,
+                  0.001871177026509352
+                ],
+                "rod_tip_xy": [
+                  0.289127034971015,
+                  -0.33577291992909564
+                ],
+                "target_mouth_xy": [
+                  0.2876049554913281,
+                  -0.337644096955605
+                ],
+                "gripper_position": [
+                  0.2891175745187292,
+                  -0.3357731868995797,
+                  1.0018837195947716
+                ],
+                "rod_tip_xy_dist": 0.0024120591632504286,
+                "target_xy_drift": 9.046057833129462e-08,
+                "depth": 0.019248203801049746,
+                "bottom_clearance": 0.08019243352445304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001512648315271592,
+                  0.001870909426930245
+                ],
+                "rod_tip_xy": [
+                  0.2891175745187292,
+                  -0.3357731868995798
+                ],
+                "target_mouth_xy": [
+                  0.2876049262034576,
+                  -0.33764409632651005
+                ],
+                "gripper_position": [
+                  0.28910798248481984,
+                  -0.3357736850492005,
+                  1.0017559768162545
+                ],
+                "rod_tip_xy_dist": 0.002405910848196675,
+                "target_xy_drift": 6.116867757599043e-08,
+                "depth": 0.019376192733005948,
+                "bottom_clearance": 0.08006444357937925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0015030585733150081,
+                  0.0018704119590419177
+                ],
+                "rod_tip_xy": [
+                  0.28910798248481984,
+                  -0.33577368504920047
+                ],
+                "target_mouth_xy": [
+                  0.28760492391150483,
+                  -0.3376440970082424
+                ],
+                "gripper_position": [
+                  0.2891262724922431,
+                  -0.3358464728495162,
+                  1.001243789878597
+                ],
+                "rod_tip_xy_dist": 0.002399505359723702,
+                "target_xy_drift": 5.8884161704798084e-08,
+                "depth": 0.019503868011483294,
+                "bottom_clearance": 0.07993670030674405,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006060435948355506,
+              "rod_tip_xy_max_step": 3.2994764039536164e-05,
+              "rod_tip_xy_range": 0.0006060332715742882,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2887627274336476,
+            -0.33708467077513193,
+            1.0433366592899278
+          ],
+          "object_origin_world": [
+            0.2887627274336476,
+            -0.33708467077513193,
+            1.0433366592899278
+          ],
+          "frame_world": [
+            0.2887879956561267,
+            -0.3370824057188465,
+            1.0436411862028214
+          ],
+          "center_minus_frame": [
+            -2.526822247905791e-05,
+            -2.2650562854220624e-06,
+            -0.0003045269128936212
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2555417419214857,
+              0.15290279828626724,
+              0.8320862496335225
+            ],
+            "target_position": [
+              0.2696387989625455,
+              0.1980003648651043,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04724952410925993,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16398397397880798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320862496335225,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672962479593,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.134384189374811,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9db4318ffa7355f4a961ad50357bb8be14d9cdaaa95fce04e29fc47b2044e8c1",
+    "visual_seed": 8386831882924448312,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5acbfe1e16e82083844bc12d8bf10af83a91cb9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/episode_9_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29888772005378933,
+              0.0824130005490958,
+              1.1623423399673776
+            ],
+            "current_z": 1.1623423399673776,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3012358319526116,
+            "gripper_z": 1.1546358820797895,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29359588358994626,
+              0.07724021516938273,
+              1.1546358820797895
+            ],
+            "object_minus_gripper": [
+              0.005291836463843069,
+              0.005172785379713066,
+              0.0077064578875880585
+            ],
+            "object_to_gripper_xy": 0.007400083901188713,
+            "object_to_gripper_z": 0.0077064578875880585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29888772005378933,
+              0.05833647768674938,
+              1.1623423399673776
+            ],
+            "finger_b": [
+              0.28721887647662614,
+              0.0824130005490958,
+              1.1623423399673776
+            ],
+            "finger_midpoint": [
+              0.29305329826520776,
+              0.07037473911792258,
+              1.1623423399673776
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058344217885815675,
+              0.012038261431173217,
+              0.0
+            ],
+            "finger_gap": 0.026755202551455155,
+            "fingertip_max_gap": 0.09094928064219995,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013377601275727572,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623423399673776,
+            "object_top_z": 1.2122650756453504,
+            "finger_top_clearance": 0.049922735677972785,
+            "fingertip_min_top_clearance": 0.014976820703391801,
+            "object_projection_between_fingers": 0.8097874578584975,
+            "object_to_finger_line_xy": 0.010500581284047662,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797464032109998,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6039682751709604,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2876640904358895,
+              -0.3309813413845052,
+              0.851539628072306
+            ],
+            "target_position": [
+              0.2791835402614386,
+              -0.3317876263329747,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008518792559952804,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1860768991873104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539628072306,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551354987912262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580338012576648,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15404064701488024,
+            "release_required_pad_clearance": 0.05290169006288324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8430174874205112,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007397472858428955,
+            "max_z_decrease": 0.007397472858428955,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519116830669107,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007397472858428955,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021071709803094318,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007397472858428955,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007397495318270293,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13488346338272095,
+              -0.3880490958690643,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13488346338272095,
+              -0.3880490958690643,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13675411017495637,
+              -0.3871379756321151,
+              0.8080589111260981
+            ],
+            "closest_button": [
+              0.1348728984594345,
+              -0.3880526423454284,
+              0.7729299664497375
+            ],
+            "closest_ee_minus_button": [
+              0.0018812117155218577,
+              0.0009146667133133057,
+              0.03512894467636052
+            ],
+            "button_min_z_position": [
+              0.13486523926258087,
+              -0.3880495131015777,
+              0.7694113850593567
+            ],
+            "min_active_finger_to_button": 0.1441136239570869,
+            "closest_active_finger": [
+              0.009038686752319336,
+              -0.4493938088417053,
+              0.8108779788017273
+            ],
+            "closest_active_finger_button": [
+              0.13488589227199554,
+              -0.3880491256713866,
+              0.7767012715339661
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258472055196762,
+              -0.061344683170318715,
+              0.03417670726776123
+            ],
+            "min_contact_pad_to_button": 0.021071709803094318,
+            "closest_contact_pad": [
+              0.13486523926258087,
+              -0.38831386879535446,
+              0.790481436556517
+            ],
+            "closest_contact_pad_button": [
+              0.13486523926258087,
+              -0.3880495131015777,
+              0.7694113850593567
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00026435569377675217,
+              0.021070051497160347
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26655845643084763,
+              0.2046825923830364,
+              1.1018605297624817
+            ],
+            "current_z": 1.1018605297624817,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19195140002811917,
+            "gripper_z": 1.1018608099151994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26655845473677536,
+              0.2046825804775754,
+              1.1018608099151994
+            ],
+            "object_minus_gripper": [
+              1.6940722713520984e-09,
+              1.190546100593437e-08,
+              -2.801527176909957e-07
+            ],
+            "object_to_gripper_xy": 1.202538492624614e-08,
+            "object_to_gripper_z": -2.801527176909957e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26655845643084763,
+              0.2046825923830364,
+              1.1018605297624817
+            ],
+            "finger_b": [
+              0.26655845643084763,
+              0.2046825923830364,
+              1.1018605297624817
+            ],
+            "finger_midpoint": [
+              0.26655845643084763,
+              0.2046825923830364,
+              1.1018605297624817
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018605297624817,
+            "object_top_z": 1.2268690363827615,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2665584564308477,
+            0.2046825923830364,
+            1.101860529762482
+          ],
+          "object_origin_world": [
+            0.2665584564308477,
+            0.2046825923830364,
+            1.101860529762482
+          ],
+          "frame_world": [
+            0.26655845473677536,
+            0.2046825804775754,
+            1.1018608099151994
+          ],
+          "center_minus_frame": [
+            1.6940723268632496e-09,
+            1.190546100593437e-08,
+            -2.801527174689511e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432766440404044,
+            "required_z": 0.9112599390566789,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001030820098139116,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.131428471014442e-08,
+            "max_target_xy_drift": 1.356092265962874e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8430174872722155,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8430174875545394,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28852615760399625,
+              -0.33154469099441397,
+              0.9233911504211895
+            ],
+            "target_mouth_xy": [
+              0.2876641208462061,
+              -0.3309814320569393
+            ],
+            "rod_tip_z": 0.9233911504211895,
+            "rod_tip_depth": -0.022131305593981798,
+            "rod_tip_bottom_clearance": 0.12157187159132077,
+            "rod_tip_xy_dist": 0.001029741716367014,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044914305797665754,
+            "min_rod_tip_bottom_clearance": 0.054526235958609615,
+            "min_rod_tip_xy_dist": 0.0004771794430971831,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28766411998742725,
+              -0.33098134074669294
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.587788258296314e-10,
+              -9.131024636399587e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0012752382137283247,
+                0.001172944629984296
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0011947853737902525,
+                0.0007807504382639774
+              ],
+              "first_target_mouth_xy": [
+                0.28766412047990986,
+                -0.33098140322705405
+              ],
+              "last_target_mouth_xy": [
+                0.2876641529314564,
+                -0.33098137402605443
+              ],
+              "first_rod_tip_xy": [
+                0.2889393586936382,
+                -0.32980845859706975
+              ],
+              "last_rod_tip_xy": [
+                0.28885893830524667,
+                -0.33020062358779045
+              ],
+              "min_rod_tip_xy_dist": 0.0014272642839616306,
+              "max_rod_tip_xy_dist": 0.0017326371826675098,
+              "first_target_xy_drift": 6.248230199982648e-08,
+              "last_target_xy_drift": 4.682760894110582e-08,
+              "max_depth": 0.01966051322893858,
+              "min_bottom_clearance": 0.07978008233183387
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0012752382137283247,
+                  0.001172944629984296
+                ],
+                "rod_tip_xy": [
+                  0.2889393586936382,
+                  -0.32980845859706975
+                ],
+                "target_mouth_xy": [
+                  0.28766412047990986,
+                  -0.33098140322705405
+                ],
+                "gripper_position": [
+                  0.28892737969308313,
+                  -0.3298154878526814,
+                  1.0059281070488313
+                ],
+                "rod_tip_xy_dist": 0.0017326371826675098,
+                "target_xy_drift": 6.248230199982648e-08,
+                "depth": 0.015186895308048731,
+                "bottom_clearance": 0.08425362148814175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001263257924752903,
+                  0.0011659144022696522
+                ],
+                "rod_tip_xy": [
+                  0.288927379693083,
+                  -0.32981548785268133
+                ],
+                "target_mouth_xy": [
+                  0.2876641217683301,
+                  -0.330981402254951
+                ],
+                "gripper_position": [
+                  0.28893824908732924,
+                  -0.3298820824617964,
+                  1.005406639064022
+                ],
+                "rod_tip_xy_dist": 0.0017190628196406352,
+                "target_xy_drift": 6.153403466734932e-08,
+                "depth": 0.015331864096768899,
+                "bottom_clearance": 0.0841087368936978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00127409893148539,
+                  0.0010993204449614158
+                ],
+                "rod_tip_xy": [
+                  0.2889382490873291,
+                  -0.3298820824617964
+                ],
+                "target_mouth_xy": [
+                  0.28766415015584373,
+                  -0.3309814029067578
+                ],
+                "gripper_position": [
+                  0.2889261819649241,
+                  -0.3298891097715705,
+                  1.0052618819552623
+                ],
+                "rod_tip_xy_dist": 0.0016828052554952336,
+                "target_xy_drift": 6.909418946898979e-08,
+                "depth": 0.015853190235115666,
+                "bottom_clearance": 0.08358733338997071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012620630938421362,
+                  0.0010922620728925914
+                ],
+                "rod_tip_xy": [
+                  0.288926181964924,
+                  -0.3298891097715705
+                ],
+                "target_mouth_xy": [
+                  0.28766411887108184,
+                  -0.3309813718444631
+                ],
+                "gripper_position": [
+                  0.2889169346615871,
+                  -0.32988947866731677,
+                  1.0051346162556511
+                ],
+                "rod_tip_xy_dist": 0.0016690834876416474,
+                "target_xy_drift": 3.1117800927162466e-08,
+                "depth": 0.015998068870633042,
+                "bottom_clearance": 0.08344254561801423,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0012528150249229708,
+                  0.0010919236124524723
+                ],
+                "rod_tip_xy": [
+                  0.28891693466158697,
+                  -0.32988947866731677
+                ],
+                "target_mouth_xy": [
+                  0.287664119636664,
+                  -0.33098140227976924
+                ],
+                "gripper_position": [
+                  0.288928778604767,
+                  -0.3299574035302394,
+                  1.0046137546372949
+                ],
+                "rod_tip_xy_dist": 0.0016618792561747683,
+                "target_xy_drift": 6.153407603856218e-08,
+                "depth": 0.01612524038023433,
+                "bottom_clearance": 0.08331532197585578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012646263002650815,
+                  0.0010239996783920624
+                ],
+                "rod_tip_xy": [
+                  0.2889287786047669,
+                  -0.3299574035302394
+                ],
+                "target_mouth_xy": [
+                  0.2876641523045018,
+                  -0.33098140320863145
+                ],
+                "gripper_position": [
+                  0.288916655167574,
+                  -0.3299643353143716,
+                  1.0044694496340718
+                ],
+                "rod_tip_xy_dist": 0.0016272231010740954,
+                "target_xy_drift": 7.032700101212326e-08,
+                "depth": 0.016646205023537308,
+                "bottom_clearance": 0.08279438921459159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012525327509328998,
+                  0.0010170672617908494
+                ],
+                "rod_tip_xy": [
+                  0.28891665516757387,
+                  -0.3299643353143715
+                ],
+                "target_mouth_xy": [
+                  0.28766412241664097,
+                  -0.3309814025761624
+                ],
+                "gripper_position": [
+                  0.2889074033742952,
+                  -0.32996463263524906,
+                  1.0043421599463351
+                ],
+                "rod_tip_xy_dist": 0.001613463388852153,
+                "target_xy_drift": 6.187717163613214e-08,
+                "depth": 0.016790461135247847,
+                "bottom_clearance": 0.08265015281166943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012432237153767733,
+                  0.0010167417453820216
+                ],
+                "rod_tip_xy": [
+                  0.2889074033742951,
+                  -0.3299646326352491
+                ],
+                "target_mouth_xy": [
+                  0.28766417965891833,
+                  -0.33098137438063113
+                ],
+                "gripper_position": [
+                  0.2889201819519305,
+                  -0.3300335910031052,
+                  1.0038235512686968
+                ],
+                "rod_tip_xy_dist": 0.0016060414014830713,
+                "target_xy_drift": 6.849765431082211e-08,
+                "depth": 0.01691766086758484,
+                "bottom_clearance": 0.0825228386221114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012560018141072882,
+                  0.0009477808245751396
+                ],
+                "rod_tip_xy": [
+                  0.28892018195193037,
+                  -0.33003359100310525
+                ],
+                "target_mouth_xy": [
+                  0.2876641801378231,
+                  -0.3309813718276804
+                ],
+                "gripper_position": [
+                  0.28890794398533176,
+                  -0.33004048424293053,
+                  1.0036787411128072
+                ],
+                "rod_tip_xy_dist": 0.0015734767390950303,
+                "target_xy_drift": 6.770596649853499e-08,
+                "depth": 0.017436361985595172,
+                "bottom_clearance": 0.08200421481134634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001243764716574336,
+                  0.0009409180275176121
+                ],
+                "rod_tip_xy": [
+                  0.28890794398533165,
+                  -0.33004048424293053
+                ],
+                "target_mouth_xy": [
+                  0.2876641792687573,
+                  -0.33098140227044814
+                ],
+                "gripper_position": [
+                  0.28889844541293175,
+                  -0.3300406944685131,
+                  1.003552093545209
+                ],
+                "rod_tip_xy_dist": 0.0015595760336395506,
+                "target_xy_drift": 8.543681026709316e-08,
+                "depth": 0.017581114840945822,
+                "bottom_clearance": 0.08185944677236867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012342647630637638,
+                  0.0009406773522082079
+                ],
+                "rod_tip_xy": [
+                  0.28889844541293164,
+                  -0.33004069446851314
+                ],
+                "target_mouth_xy": [
+                  0.2876641806498679,
+                  -0.33098137182072135
+                ],
+                "gripper_position": [
+                  0.28888898609286107,
+                  -0.33004089013767196,
+                  1.0034250327815908
+                ],
+                "rod_tip_xy_dist": 0.0015518644870923149,
+                "target_xy_drift": 6.815810255658763e-08,
+                "depth": 0.01770782378345792,
+                "bottom_clearance": 0.08173277270064239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0012248346417642608,
+                  0.0009405121171892628
+                ],
+                "rod_tip_xy": [
+                  0.28888898609286096,
+                  -0.3300408901376719
+                ],
+                "target_mouth_xy": [
+                  0.2876641514510967,
+                  -0.33098140225486117
+                ],
+                "gripper_position": [
+                  0.2889037326917737,
+                  -0.330111907005919,
+                  1.0029083304033406
+                ],
+                "rod_tip_xy_dist": 0.001544274244506336,
+                "target_xy_drift": 6.908847410059712e-08,
+                "depth": 0.017834877838164176,
+                "bottom_clearance": 0.08160571861638866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001239581637284104,
+                  0.0008694657649906956
+                ],
+                "rod_tip_xy": [
+                  0.2889037326917736,
+                  -0.3301119070059191
+                ],
+                "target_mouth_xy": [
+                  0.2876641510544895,
+                  -0.3309813727709098
+                ],
+                "gripper_position": [
+                  0.2888915153201891,
+                  -0.330118532730702,
+                  1.0027638161805497
+                ],
+                "rod_tip_xy_dist": 0.001514111406727654,
+                "target_xy_drift": 4.46174049116298e-08,
+                "depth": 0.018351511824841293,
+                "bottom_clearance": 0.08108905801492339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001227364964009714,
+                  0.0008628070773541996
+                ],
+                "rod_tip_xy": [
+                  0.288891515320189,
+                  -0.330118532730702
+                ],
+                "target_mouth_xy": [
+                  0.28766415035617926,
+                  -0.3309813398080562
+                ],
+                "gripper_position": [
+                  0.2888818804458896,
+                  -0.33011867080945745,
+                  1.0026370655581147
+                ],
+                "rod_tip_xy_dist": 0.0015002869084315379,
+                "target_xy_drift": 3.038325423212456e-08,
+                "depth": 0.018496137142362534,
+                "bottom_clearance": 0.08094452099277805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001217729618772312,
+                  0.0008627320892115042
+                ],
+                "rod_tip_xy": [
+                  0.28888188044588947,
+                  -0.33011867080945745
+                ],
+                "target_mouth_xy": [
+                  0.28766415082711716,
+                  -0.33098140289866895
+                ],
+                "gripper_position": [
+                  0.2888723228209591,
+                  -0.3301186233860719,
+                  1.0025101427427667
+                ],
+                "rod_tip_xy_dist": 0.001492371295016963,
+                "target_xy_drift": 6.938266783498801e-08,
+                "depth": 0.01862276906321758,
+                "bottom_clearance": 0.08081778033236942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012081718379934325,
+                  0.0008626862940243063
+                ],
+                "rod_tip_xy": [
+                  0.288872322820959,
+                  -0.3301186233860719
+                ],
+                "target_mouth_xy": [
+                  0.28766415098296555,
+                  -0.3309813096800962
+                ],
+                "gripper_position": [
+                  0.2888629037934345,
+                  -0.33011856269742595,
+                  1.0023832746990367
+                ],
+                "rod_tip_xy_dist": 0.00148455610605252,
+                "target_xy_drift": 4.388458530794912e-08,
+                "depth": 0.018749821278601697,
+                "bottom_clearance": 0.08069087248258566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011987520514284977,
+                  0.0008628110230259334
+                ],
+                "rod_tip_xy": [
+                  0.2888629037934344,
+                  -0.3301185626974259
+                ],
+                "target_mouth_xy": [
+                  0.2876641517420059,
+                  -0.33098137372045183
+                ],
+                "gripper_position": [
+                  0.2888532501517417,
+                  -0.33011869251183246,
+                  1.0022564863308472
+                ],
+                "rod_tip_xy_dist": 0.001476973033693943,
+                "target_xy_drift": 4.577796456277648e-08,
+                "depth": 0.018876674969863227,
+                "bottom_clearance": 0.08056388650741919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011890987382947027,
+                  0.0008626808875349945
+                ],
+                "rod_tip_xy": [
+                  0.28885325015174157,
+                  -0.33011869251183246
+                ],
+                "target_mouth_xy": [
+                  0.28766415141344687,
+                  -0.33098137339936745
+                ],
+                "gripper_position": [
+                  0.2888712649275785,
+                  -0.3301939467871306,
+                  1.0017433521874244
+                ],
+                "rod_tip_xy_dist": 0.0014690725384174262,
+                "target_xy_drift": 4.531878045272306e-08,
+                "depth": 0.01900340697032743,
+                "bottom_clearance": 0.08043715368493565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012071130241465555,
+                  0.0007873638349500389
+                ],
+                "rod_tip_xy": [
+                  0.28887126492757836,
+                  -0.33019394678713065
+                ],
+                "target_mouth_xy": [
+                  0.2876641519034318,
+                  -0.3309813106220807
+                ],
+                "gripper_position": [
+                  0.2888589383052468,
+                  -0.3302006235877904,
+                  1.0015993805287409
+                ],
+                "rod_tip_xy_dist": 0.0014412021584952871,
+                "target_xy_drift": 4.3887624797057926e-08,
+                "depth": 0.019516661582202777,
+                "bottom_clearance": 0.07992403289164696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011947853737902525,
+                  0.0007807504382639774
+                ],
+                "rod_tip_xy": [
+                  0.28885893830524667,
+                  -0.33020062358779045
+                ],
+                "target_mouth_xy": [
+                  0.2876641529314564,
+                  -0.33098137402605443
+                ],
+                "gripper_position": [
+                  0.2888492091622573,
+                  -0.330200494917038,
+                  1.0014726191310717
+                ],
+                "rod_tip_xy_dist": 0.0014272642839616306,
+                "target_xy_drift": 4.682760894110582e-08,
+                "depth": 0.01966051322893858,
+                "bottom_clearance": 0.07978008233183387,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006101211718845924,
+              "rod_tip_xy_max_step": 3.297209559584087e-05,
+              "rod_tip_xy_range": 0.0006101035155376005,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2885261576039963,
+            -0.33154469099441397,
+            1.0433911504211897
+          ],
+          "object_origin_world": [
+            0.2885261576039963,
+            -0.33154469099441397,
+            1.0433911504211897
+          ],
+          "frame_world": [
+            0.2885244715256461,
+            -0.3315492232008599,
+            1.0432766440404044
+          ],
+          "center_minus_frame": [
+            1.686078350215947e-06,
+            4.532206445917453e-06,
+            0.00011450638078525088
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2531356481585001,
+              0.15870337369381343,
+              0.8330522290435268
+            ],
+            "target_position": [
+              0.26671651185614725,
+              0.2036281580256657,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04693267631445611,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16309174015058547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330522290435268,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674392112334,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13253305910369376,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2848321962719448975,
+    "physical_seed": 446376941926965473,
+    "layout_id": "layout_00041",
+    "step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "workflow_spec_digest": "a15cc68797b60dce63fc739edf8c22556c37bcae977406a07806523c10aaa883",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae07f9ac3e5182fc9e0823c852f5e92ce4a4fc9867e7cf1401ffaee48af80edd",
+    "visual_seed": 8536961113918489715,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5782229107148351242,
+      3907262889746092396,
+      8862035115530452832,
+      4186600411236157895,
+      2365929533760883226,
+      6164155675536394708
+    ],
+    "runtime_workflow_digest": "253d9ba2c0e1355ef4258a2e53d9e7761df5fca3a2ce67fc4143e20ccc06edb6"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5848bf8443534a99ea975e461cb39e561c305ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00041/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00041",
+  "family": "lab3_v1",
+  "published_episodes": 34,
+  "published_successes": 34,
+  "published_failures": 0,
+  "matched_success_results": 34
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38b351b00786e46d840fa26acc696527d1a368f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:805319123500263b7559312f1b15cb2de1e5f42b6a47e28a0ca3380c50d8467f
+size 12279568
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..12b1686e783defb5c8e0ee2a8541b452cfbb4c4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f7c8cee8683d493c89634c5f6a46211dbe990b68a1692ad3e27cc700b628ac
+size 10745373
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cddab75c8dae6bfac49c833645aabf65f6f68ac9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf33a41142cc0dcf78bd57cae741c8ff6a88585a84da70742830f8726a402a0
+size 14008365
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..16548df6228eb45b928e38805828d1eb46c8f8e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:253b688ff4c63293947a77af6f31e32557fd4b3503c615b1101a1794193382d8
+size 12623041
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..075d6603b55477b576f2a40f526b22185a47ac5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5540f154b6a66c94212a8e1048227e7df4d004cf1b1f1496655d29f2d4957db1
+size 12126692
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8eac0a91ac5d6b89d19e5cb7e2ea173a25ecc73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52a4876565270b141cffb513f84f82c2c5f964466e9a06f8ae8126934cb82825
+size 12658197
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cac136413bf8cf1e8e5176835ee43ebcdf521b6b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc0623aaade4f571dc24aafb7dceb72691ef50c8dec64a09bc5fa9ed439ce7a3
+size 10783473
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..63df2982536384d765ba4ec30260d4398bfc5e6b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:385efe44d2ce31aaa7e3c25d767cdbad0d3bd95196d947c9956cc549869c55f0
+size 11254621
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..827b93c0c3d357374f638342cf022ed51b4024c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f80cb73b2f8b5219baf9e67dce351c8e52e56b1282e97076f0a17af4ed27758
+size 14871369
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ec95b04330c25a61c4febbed60d6cf8cf330a046
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21edf31a2c421df94420d66250c21c528bd37f9602bb23128464f60506dbd411
+size 11450807
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..49925add0602f7f5bf253757dffd7a83a91eb555
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6b08e81120a8a993bfc720037c08f01b42c1d8d773ac0af8f6a915425f6f590
+size 14186595
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..47961b774cf3e59e053b713a386c5baf7f81dfce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57525012f26add670de9e6b4e8deba15b46e4186ab07671b32b119779bd563be
+size 13649329
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f780e57be361830ce0782157208a74caaae7dcfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24d5ca98a7258fd8cd3e8f5b8779716ce83220a3338a3125ac1c63fa9b58459
+size 14031119
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5b012facadca710897f1705e9165590cf08f1fef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1d3b6fa82df12bfbcea0fc9fc7ef397e1cc5f1a66784234963262e34b260f4
+size 10406776
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b7233e6b73156008ce179cfe5f68a2d551591284
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d685f91be21c2e37090cb6374a9c1cc95d7b884f2c2e7c07f8017700bb7bb301
+size 12036488
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9141699a080da6c54ce3acc4e85b7e7da32086d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f16146c6f990d210a4d09cad542e2b853a6a38fe3bc6660b4b915b394b78ef
+size 9764908
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b342785257a55f9c68f8add22371dbf2c4ce375
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67c20aee833d47524923f21b4b966493cfee71f9758d774cab3e1a8c636cf3f
+size 12346765
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ba50fdb0209dc6c10263ccfdb095753ffa91104
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bbafcb4de5ef96333444281489107a9cfc80d9e51e131af69ed9c60cddf93f7
+size 12544174
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a7587121a0cd6bf0152286180f80e36f74077c03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4860a3a37135bb9398e9be6d19e9c4129436da912e87f21e2a3d8186d736e11
+size 14570870
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..456fdbdfe58756b72548604470c8914278699146
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4069c9aa88560a548f78055a06e863c4b62dc0df34a8164305964372b8734e2
+size 10325808
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a056b434ebd17b6281f55d78f4bb489f63b85704
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9341e90b72147419f9effee651dfdba510037dd5b138b9451738a36bd99f74
+size 15414213
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..623721e8aa7373e1a73fc4588bffcba840dc364b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5075de9bb03f065dbdeb846f6634e65faf3c08feda4343af5586e13e8bda73
+size 12093536
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ff80eae36fd2ec7ccf47d3ca332af01f0bb211c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94bb7d5fb673ce07124ae4c77b1423883c8b542c5b1fd55e97160cb4e2c80b97
+size 13236511
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..69d2c82a51ce8875f2cd4b365ba9fcf457a86dc3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30dd2bf8f4851f01c0139da44eb386ff5863ed150a8bb73e7082274893bee0bf
+size 13101584
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19d237ac8868a6f0a9c6e37e02382076d71a5542
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:662baafea664531352b9e0181886081fd0adf8d8cde2cf4a6e091b96fe1a4b40
+size 11259337
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a22f6af1394582cd18af995ecd0e1465a2b8c954
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f6f402006ce8a94a8aede31b159ae6804affba7221232d5f1e0aab97fd96c89
+size 12723662
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1b0ca3334d4d9aaa958d2e7c5f7363757168c27d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ea7959b433992432d6ca0449f469dde96c5e9e7644c3ffc4399311beb0759e
+size 11400611
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..61678fa56ba6bc6d20d8e056261ff5e227a47da2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfd816617bd94f9a5cc15c97873da369244971548cce40c0ccdc3858abef7525
+size 11509536
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d17d9bcc3165b1ef42cd52824e33c6d7d79c29b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6efca854c38518b42eb101465fd4bcec9e50e9d9b3568a3a317d2b2376b591c
+size 11568032
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..04763efa0d14c1f3f77973a9a7a9ed373541e559
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:403908917ba360849d887936344832c4d0b814caaa7abe299a30ee21c4fbccb5
+size 12162768
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02cea58444ef67a0395fb913b73fe1a5a3ffc906
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f72e806a2bf7af0183440a9cd6e97601f69a910f13da6e2feff3c979a0584b98
+size 9976878
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7a588d0ce47cef12b5d2e214c54c02d0ac48b84b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee41c716bc4306a3735d28aa86600953c6dcb73b373ab294a9fe0e1a642a581c
+size 11492085
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aecaa0cf8f29c218fb3bd4f13fe19a0b250b884e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c67167ddb0d2d7a9f3307323baa44c28935e96b20dee44a92a092f751ecc0bd6
+size 11421999
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..180113d68fdba416932e6350dfc157cafe08d7b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e77254beeaf1a6e76de787a765d7205b555b8af8d3c2fdfd9b8e07448583ba
+size 13820884
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c93dd60557bf8a5a50eb82e6b9c65a7c537df68e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e2da818964ba71075c3ab6e5043ecb99dc6db26c9117325b6e8d52bdedf9fa8
+size 10461877
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..20d8be6ccead444317824b54e066255c5603ca91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:209fc6461cec65d71bed23f69cd38fb76780624f9b8f07a57f6d294f65df82a4
+size 10547073
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f629cb60a40712f8d4c88f4def48d7182346be86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3550bcbf6a572995c098cb2c3ca1377ad71e4852065244287cf7febb0ab8e27
+size 14825695
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb92b900760c1e40ecade16d7b83a88d9fc9316a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7182831b370b9e181f72d0e2eb3b09e64ddda7213ad4b745484f84edf91119d1
+size 12310983
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a0607372eab1d59b4356ffb89dee9b015f9548b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ba27347276aaa3868a2bc25367c5d4701f638d811646f1cc20f004eb1aece9
+size 13372285
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cdb5260cbde516a5720483916fb8f2d01d360100
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ff81c9418286ab01d363ffd7671562d164f042051d7a398a9bf43d3ea33ec4
+size 10355812
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a0e39513fb4fb333d18d55329dbb33e5ddc565b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c9731a7a956799902372d96e7f36db1384cb08cbdbcc9059f3f669e6cd7e1e2
+size 13291105
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e87e0bb688b606890ce6b8db98ffb93968cdfb59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:276204faa314feba7e780d6b775a6a75fd79adec51fbd75d8f85fa3154e61391
+size 9092312
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..171838c45722c4ee6132eb65011d78a6c5f2e4c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:600f0f84186b21e143dc1c182e895d0da0a15cee9b29a6a731f1a2d396387ab0
+size 12364234
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3802333a8c99673d805914eafb664d829a30ec3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ade3f344d1bcfd278d78bde41b0279042027a0d47ef9524f04673a4113dad5
+size 12793188
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da75a1437080c7327636d600cfe02093eacc8389
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a65aa38f86a1d6545d58fecff7c5ec66042cf4ba1a19e0eddb76152b941c603b
+size 9779079
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e808bcd52d23ce55069bcb8efa87658233708b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc7ccef3ad256cfd61fee0d7498de5d7da35cc166a9b50f8e68bb8773efe5628
+size 14120655
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..571f73720cd6783f547e09930bbc9c1db95644b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab246d3b31781735eee17efbe52685a536081581128f2c8dd3353a90a71caa0f
+size 12413956
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1f1e51cd45eeca30d9028f342207f3ce2972840c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31ec3940dbb2667fbc31cdc7c7899a550ca2bb59cd0897e8d05049aa84d6822a
+size 13496826
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae91bd1c2d5c994f1abd3bc6b292e1d4b3f0bac8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6dbb5c2d484d1a37ca7bf50b6305ad4113f44fb9ee2e047980bda6397771db
+size 12060863
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..90d05f720c7157fd63a09b013618d75319b7b63a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eab628413fbea81ba937aa4b88d230df323232d89f2b1fb01d1f8c588b701c6
+size 9831447
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee330a0a774754e795dde58fecad4c536290a1ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:248a9ea4dd2cef76333954826238856a922a170fa073618b8fc99e6a38f2a1c4
+size 12419932
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6216382c1578c715e8c8ff9d51930e73c55ec635
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f787355ee0d4911b6daf68c1cda587bdfcd30bd2c14e2bb53fdfd36ca0c6e1d3
+size 10118002
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0ed89d0de33335021df7e90ecbebdc5c677ed4ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78f572c74c983aa07c647486ec8953e5de47bcb9cce71d4c0f6d94988fe0ef51
+size 11366948
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dc576555b6f5e3c4e0c7d2dbd7f807fb16f06873
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62545b97b70bd69e509e24800f22eb8aae8c089d8242890389f850cc983e81c2
+size 10073423
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3178c29065f4cf9b838f4fae934960839d5e1190
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e45449dc064a491cf31dde63f0295787208abf270eb539917cc05e47e02ac8e
+size 11158677
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77eea9ff9d163f2b72333e0f98cb14948e7e30e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c8ce2dcf1fcfa302231a3b6ebac86822e33c3de60a3b5b589d79cc56763c73
+size 10344055
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fdd3ec63e1024f7f03827e9bfc0500883cf0f16e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b343e3294bd23c376979d4338f0be8bc5c7198089f24e9bf2f16273ffa0041e
+size 12441016
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..efa0c8fb8bd00a7061e01434cce0c23e0e0fc603
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bccf8e722621c1e76fb0a4cf02ad512879293bd66b0b6d4e3e916921b687140d
+size 10249767
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b1cb73783ea63b57435b9c3096cdfe9d26f7f30d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b1c5e6bd31b5b31adcbc7d21149f9b21ea3480a551ce515131e23d6b1604f22
+size 11155162
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..127ec10abb31cfdfb851f9cbb928adf45167310c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8eaf16610d07b3c68e9512e40f5b67ec82b7974e06cb1689f48b4a8afd5003
+size 13704199
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..74efd18f4e2e751c76b6eca958fa64f77d991dbf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937116ba5f958a379e3156530062232657f1f16e26b38b01dda85c45b0e675fd
+size 16852731
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9e7692dd19211f0863c6c4f6a81384f58b53eb24
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfe2522d527dfd4efc3dc53ae656cf6d3718abb7edb0d023562dbd67ecb8c17c
+size 9569776
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..410f38c80fcf208663525b006d7782d647eaa63b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88efe7f8df942acb9d194f31e03a05252ef9ecda2f3e74b31a808ee39ef4685f
+size 13203736
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..88d32f5838d41704f637b83e3f21c387e78a2556
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baf2deb38fa8bfa4f1c3dd656844e3fb6e0e32a4447d0cd2007898663983e199
+size 10771361
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9591d586fbd6aea52ad2f2beacec78a8e3e56fe3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c8f83534d16e7aa7906a6ab96f4882de13f8b8b6c749ee27abe1a356bf216ad
+size 9967000
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9248c6d5a955c9d93d32b12f40fb6cdd398ebcb1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:650cd1f54a61328a7e1e609eb89d03aec1fe5b338d3d71e2c86c102dcdf89688
+size 13881670
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ff2a5fe9349a6ac2d89e48851d073006e6127343
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7909ccac22c8d8e73d1bd120e71c16864ee761593016c9fa91a012843ee2c1f8
+size 11378608
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a883e2d4286143a4f3c55a0ee72c7eb50bfaa342
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b37197f3deaf6097558ce3241a43b1ec3c6d6dd4431641fcbf888ab0772cbb
+size 15826828
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c44710ad2f4d947580c32dd41ba0c1b8ab4ff461
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd864ff2246eb4413874f478c0222c7f22866126eef809f9309a932ec967f19c
+size 10847282
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..644d88cb8ec1eea3727fcae6b2f29912e53a9244
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02153eae774b48a47ad87bb4c0a50dd265b2361889d13f1c29d853ac4330d11e
+size 14847315
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..67cd10877516828bcb63aa2e2e9c1b1f903d8e70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6cd968e3d36ea4a54920f088a18b317b434c57cf639177c9818b2dc52b58923
+size 12041119
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..acede71b82980cc3e64544d6d1a72b442fb82304
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66ce82aefb62d9b20cfcc591cf9e63241f165cedc812f00a3e1f0514c26472b9
+size 12321520
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c479c5d3205c26c0d814926802d40ee74af1b09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f6e4685ac6222969e3640547ffd3c109b5b3b75a68fecca6972bd850fefe5a4
+size 11197995
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..621adad718e07861f744c1080ba050f380f94e4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:541791278815b66ac5b265fabb4f2fd82f8150dea2d8899cdcd47aa14d224bf9
+size 10126002
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c7220dc2dd0b477f1185909dbf7206534fe03e1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b406f88b2e7e45612748b3d26c094724d5b655072b08ba9b5756268aec70154
+size 11236584
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..277b0eca3d2e203d9638a03cdf308525f6904cc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb2c0af82eafe7d4ca4eff2cd6a3b3b4951fa929d3b91b11c52db450c85d54b2
+size 15105884
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb09be928e330d94007a0c8fdfad36c7fba1f54a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf721273acb3ef16dd626ec1cef2c117e3518807aecacb3ae1f576733ce90ae3
+size 14812322
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7aa96456c3f63981f45b3699d859d03bae587138
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d870fe23f860dbb421927f089455958b3381499c5dab4f985f6b9d31c4bc66dd
+size 12956603
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d3055b511e1777badb009617b79be8fafc6f0705
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05da04048b992a55c2be75363ec5d8bdbb7276b23fc6a0089ed0e4524b314995
+size 10805675
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aa1cb5c70748d265bdede9fd9fbb5c4d10dd31a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49a47735a5bb69370604e7bfa092b8c7643dfc9583f1583f8a7ad34919bdc0e8
+size 10963585
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f30d3e0b2621448d9dec0cb8e257e64167020336
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13fbcffe47eb80852b3608d006017dacf5a6fe3b5e11c2a7dee6a99f220ac738
+size 12003069
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f84f81b534d3770141e632d53a5089920423f632
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8628e94d3c972127b6462ffe6d804c929e87a24fc0f85320aa00415bd7395bd1
+size 14583207
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..45c6c9fb3cbc2b96947294279bac315d0e563730
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/meta/episode.jsonl
@@ -0,0 +1,82 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2626,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2676,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2670,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2623,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2617,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2673,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2638,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2632,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2674,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2639,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2688,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2682,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2623,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2641,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2656,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2628,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2642,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2620,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2667,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2645,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2620,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2647,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2676,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2629,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2618,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2620,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2625,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2619,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2628,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2654,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2658,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2615,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2639,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2621,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2682,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2647,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2620,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2652,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2622,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2633,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2671,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2652,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2635,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2670,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2631,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2622,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2628,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2615,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2625,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2626,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2644,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2674,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2642,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2630,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2627,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2623,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2642,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2625,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2666,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2640,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2630,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2676,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2653,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2628,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2661,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2650,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2632,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2699,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2638,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2635,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2669,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2632,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2630,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2622,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2628,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2637,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2635,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2614,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2619,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2616,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2685,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2689,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7c1e29a566e454c0371415cd0bb39fc5ae262dfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,82 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T09:18:32","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[0.5842849058494122,-0.4270204704775753,0.71338606911949],"aabb_xy":[[0.5202849035066105,-0.47196132172170785],[0.6482849081922136,-0.38207961923344286]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.30870881322049826,0.8264158255241218,0.71338606911949],"aabb_xy":[[0.2911305110315514,0.8088413359500168],[0.3262871154094451,0.8439903150982266]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[0.43893679546478115,0.33579136600940807,0.71338606911949],"aabb_xy":[[0.3492497191566657,0.24579136575495752],[0.5286238717728966,0.4257913662638586]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.4824111850419004,-1.3985927003517253,0.71338606911949],"aabb_xy":[[0.4649804699628938,-1.415864815015576],[0.49984190012090685,-1.3813205856878743]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.16432372672929407,-1.100782078162876,0.71338606911949],"aabb_xy":[[0.13084455946825313,-1.1342611915339833],[0.19780289399033502,-1.0673029647917693]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.5764957043519932,1.1286910157540047,0.71338606911949],"aabb_xy":[[-0.638086463575986,1.0646910176449578],[-0.5149049451280003,1.1926910138630515]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.5066311224668995,-0.9020663303084862,0.71338606911949],"aabb_xy":[[-0.5566311241283941,-0.9520647725641888],[-0.45663112080540463,-0.8520678880527833]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.40154172750092565,-0.2763929078239653,0.71338606911949],"aabb_xy":[[0.3883107819662443,-0.28962032684596467],[0.4147726730356069,-0.26316548880196583]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.4721280233079572,1.5351239618628134,0.71338606911949],"aabb_xy":[[0.43753694045391195,1.4701239615777821],[0.5067191061620023,1.6001239621478442]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[-0.16139708308985012,0.7075607696918591,0.71338606911949],"aabb_xy":[[-0.211375891600166,0.6575607696861403],[-0.11141827457953424,0.7575607696975779]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.39964427481774045,-1.8820255490365692,0.71338606911949],"aabb_xy":[[-0.42210904478914557,-1.9045255499154299],[-0.37717950484633533,-1.8595255481577089]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[0.24559176844788877,-2.26940412934322,0.71338606911949],"aabb_xy":[[0.22309176820437338,-2.2816087640029923],[0.26809176869140416,-2.2571994946834484]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.38174976962838647,-0.6267482538315883,0.71338606911949],"aabb_xy":[[0.3729477143194137,-0.6345595799865174],[0.3905518249373591,-0.6189369276766592]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.5164831755765165,-2.435940340563532,0.71338606911949],"aabb_xy":[[0.4564831747157036,-2.4873667705700173],[0.5764831764373292,-2.384513910557045]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.6312665953732565,1.5752200618084662,0.71338606911949],"aabb_xy":[[-0.6548517188371514,1.5102200595630344],[-0.6076814719093617,1.640220064053898]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.551045726195488,0.7348419063783509,0.71338606911949],"aabb_xy":[[0.48704572592150974,0.684775806181063],[0.6150457264694662,0.784908006575639]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.14019156376158992,1.414258144101424,0.71338606911949],"aabb_xy":[[-0.2051915663993834,1.3627785454019767],[-0.07519156112379644,1.4657377428008707]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.16607522620152426,-1.170854755827894,0.71338606911949],"aabb_xy":[[-0.23107522720202478,-1.2216411209825688],[-0.10107522520102374,-1.120068390673219]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.5999364660592919,0.5923099469288178,0.71338606911949],"aabb_xy":[[-0.6639364674672826,0.540520995404893],[-0.5359364646513013,0.6440988984527424]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.6262742252707127,-2.0962036969940723,0.71338606911949],"aabb_xy":[[-0.6762742248470475,-2.1461842759461787],[-0.576274225694378,-2.0462231180419668]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[-0.002166835997017613,-2.1668756703893273,0.71338606911949],"aabb_xy":[[-0.06616683790935995,-2.2227868196473377],[0.06183316591532473,-2.110964521131317]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.255320091813236,-1.3713863721048787,0.71338606911949],"aabb_xy":[[0.24395835715994985,-1.3827548385111668],[0.26668182646652216,-1.3600179056985906]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.09594998601110327,0.015614541834344742,0.71338606911949],"aabb_xy":[[-0.12634809711024683,-0.014792360167324766],[-0.06555187491195967,0.046021443836014246]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.5464289867143507,-0.4863273148825322,0.71338606911949],"aabb_xy":[[-0.5544723466403059,-0.5713273159778987],[-0.5383856267883955,-0.4013273137871658]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[0.5660172064935887,-1.2900858874590626,0.71338606911949],"aabb_xy":[[0.5160172055430557,-1.321635034462584],[0.6160172074441214,-1.2585367404555412]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6365953401084232,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9350.png","name":"9350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9350.png","name":"9350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6001.png","name":"6001"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8213.png","name":"8213"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5246.png","name":"5246"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5736.png","name":"5736"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":557.7982640452934,"rotation_z_degrees":170.3769638916183,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009322275604027284,0.016375675958043064,-0.008421420417824229]},{"name":"camera_2","offset_m":[0.017920217777534105,-0.01717574126747942,0.004883904422412256]},{"name":"camera_3","offset_m":[-0.012998623013442453,-0.009526472243443163,-0.012412820592087837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015001552842750776,-0.0015328074502648872,-0.000555394777459631],"end_effector_yaw_offset_degrees":0.662455081204113},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016120171202351043,0.001688456495300783,-0.0018395363643717944],"end_effector_yaw_offset_degrees":0.2767819826705502},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003814875716705876,-0.00027182461051281017,-1.017559341144397e-05],"end_effector_yaw_offset_degrees":-0.1451417506506507},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00170933565392291,-0.0005891473455810275,-0.001085164455377081],"end_effector_yaw_offset_degrees":0.033637579366458725},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0007877460725284526,0.0009166343085085966,0.0016135151429534302],"end_effector_yaw_offset_degrees":-0.8929591311866156},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0009651153307112417,0.0018498423896093756,-0.00019370305588705923],"end_effector_yaw_offset_degrees":0.15695719836069655}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004315220059071983,0.000881052075307481],"position_m":[0.225884779940928,0.034581052075307483,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003844889642101521,0.0030915025370653075],"position_m":[0.20585511035789847,-0.3450084974629347,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0013082300159777457,0.004662269137113372],"position_m":[0.29350823001597776,0.29616226913711335,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008132757406207882,0.0027813637143967104],"position_m":[0.27268672425937923,-0.11971863628560328,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"578b6687f376bc2334c333dec00f308c2bd31e7dc643bf95c733b9779bf80c2a","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9350/tex_ceiling_textures_5736/tex_floor_textures_5246/tex_table_textures_6001/tex_wall_textures_8213","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7167668689370133206,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7167668689370133206,"visual_seed":7167668689370133206,"scene_id":"lab_003","finished_at":"2026-09-08T09:26:15"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T09:26:25","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.18529721449472114,-1.2941585134364857,0.71338606911949],"aabb_xy":[[0.17730322591701772,-1.302158593531576],[0.1932912030724245,-1.2861584333413953]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.5410041837112513,1.6592865873395168,0.71338606911949],"aabb_xy":[[-0.591004183287586,1.609306008387411],[-0.49100418413491653,1.7092671662916228]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.06704390865124488,-0.01643400884683599,0.71338606911949],"aabb_xy":[[-0.07503739844652692,-0.02443214078731166],[-0.05905041885596286,-0.00843587690636033]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.5476444268398144,0.23359115807512465,0.71338606911949],"aabb_xy":[[0.48364442492747206,0.1776800088171142],[0.6116444287521567,0.2895023073331351]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_4","position":[0.046992701460416786,-1.2960948603505429,0.71338606911949],"aabb_xy":[[0.0323492959063838,-1.310753580007327],[0.06163610701444977,-1.2814361406937584]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.5610792656765325,1.506717545345294,0.71338606911949],"aabb_xy":[[-0.6110792669603724,1.4567386909546716],[-0.5110792643926925,1.5566963997359158]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.30998315154525424,-1.5924869857916586,0.71338606911949],"aabb_xy":[[0.24498315338933524,-1.6187832303415708],[0.37498314970117336,-1.5661907412417464]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.62252819144866,-0.42648183152946517,0.71338606911949],"aabb_xy":[[-0.6925281948402219,-0.461797605232896],[-0.5525281880570979,-0.39116605782603425]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.1591638321684684,-1.4007229797710652,0.71338606911949],"aabb_xy":[[0.13666383235456603,-1.405197596141546],[0.1816638319823708,-1.3962483634005844]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.5754689447992083,-0.8251515530944551,0.71338606911949],"aabb_xy":[[-0.6654689415348185,-0.8783350164117495],[-0.4854689480635981,-0.7719680897771605]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.20243068461721925,0.6570730932076798,0.71338606911949],"aabb_xy":[[0.14730547898762844,0.5970730917663927],[0.25755589024680997,0.717073094648967]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[-0.1267822691806202,0.719817691562961,0.71338606911949],"aabb_xy":[[-0.15718038027976378,0.6894107895612914],[-0.09638415808147661,0.7502245935646304]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.39631175234657157,-2.457979034716987,0.71338606911949],"aabb_xy":[[0.38826839242061645,-2.5429790358123534],[0.4043551122725268,-2.3729790336216205]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.15644070676617017,-2.3721673310976676,0.71338606911949],"aabb_xy":[[-0.16721368068753795,-2.4071673293167066],[-0.1456677328448024,-2.3371673328786287]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.4491951068384153,0.34367225855019523,0.71338606911949],"aabb_xy":[[-0.4604401624090331,0.33243046082609995],[-0.43795005126779746,0.3549140562742905]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.17192221022036625,1.50910977194282,0.71338606911949],"aabb_xy":[[-0.23592220752271265,1.4647433449749632],[-0.10792221291801984,1.5534761989106767]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.553513649178872,0.486147672455032,0.71338606911949],"aabb_xy":[[-0.5839978993059022,0.43614767267353605],[-0.5230293990518419,0.5361476722365279]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.4788829904662697,-0.48991416913536234,0.71338606911949],"aabb_xy":[[0.4597706831082908,-0.5090489480126044],[0.4979952978242485,-0.4707793902581203]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.2586226827311036,0.4201202747394466,0.71338606911949],"aabb_xy":[[-0.27612268186547073,0.41024064770185875],[-0.24112268359673641,0.4299999017770344]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.21371063007218272,-1.6559958632350769,0.71338606911949],"aabb_xy":[[-0.27771063336189084,-1.6993307822389943],[-0.1497106267824746,-1.612660944231159]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.40531248768459915,-2.2813126997635287,0.71338606911949],"aabb_xy":[[-0.4553117628530353,-2.3313127010394763],[-0.355313212516163,-2.231312698487582]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.6229994317329566,1.167072329802337,0.71338606911949],"aabb_xy":[[0.5979994318004388,1.1601896615814138],[0.6479994316654746,1.1739549980232604]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[-0.5279115907908052,-1.450572696104966,0.71338606911949],"aabb_xy":[[-0.5333695364278253,-1.530572699412625],[-0.5224536451537851,-1.3705726927973068]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.21414493431064385,1.1837925538266538,0.71338606911949],"aabb_xy":[[-0.2516449349752225,1.1681054958264314],[-0.17664493364606512,1.1994796118268758]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.41404349255016587,-0.33689419869203574,0.71338606911949],"aabb_xy":[[-0.4376286160140608,-0.4018942009374676],[-0.3904583690862711,-0.271894196446604]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.12693095203994387,0.9931114621759103,0.71338606911949],"aabb_xy":[[0.08943095361654349,0.9799472482080797],[0.1644309504633442,1.006275676143741]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[0.05118297910043568,-1.6818329400985235,0.71338606911949],"aabb_xy":[[0.04033137285156008,-1.6926922308261743],[0.06203458534931128,-1.6709736493708722]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[0.6904529383086833,0.0930562686366736,0.71338606911949],"aabb_xy":[[0.6715685545401732,0.07417034385632082],[0.7093373220771936,0.11194219341702638]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[0.40479203333171543,0.6513515234200673,0.71338606911949],"aabb_xy":[[0.3397920323745882,0.5994033114863616],[0.46979203428884264,0.7032997353537728]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6412428110694266,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7437.png","name":"7437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7437.png","name":"7437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5108.png","name":"5108"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/954.png","name":"954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5520.png","name":"5520"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2139.png","name":"2139"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":760.2380577736872,"rotation_z_degrees":273.4834151765155,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0156550443124475,-0.01123317578817574,0.004950352495440083]},{"name":"camera_2","offset_m":[-0.012877775272743374,-0.004372449413959423,-0.013389467550869904]},{"name":"camera_3","offset_m":[-0.0023210325384935004,-0.01940921897792623,-0.018534221630268678]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009700574472465365,0.0006785614419748415,-0.0013016293952594483],"end_effector_yaw_offset_degrees":0.7161986145671357},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007915034812656079,-0.001134158975626983,0.0009552966412901399],"end_effector_yaw_offset_degrees":-0.5180788425386982},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008420341857037559,0.0019467665427106368,0.0009094535363967137],"end_effector_yaw_offset_degrees":0.5445626407838369},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011488417810300148,0.001887126618312872,-0.0018961467495527322],"end_effector_yaw_offset_degrees":-0.4908276116574002},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018435490421557172,-0.0010558525451154748,-0.000868167320110588],"end_effector_yaw_offset_degrees":0.974483092769735},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.000474568235780072,0.00036673238592185636,-0.0016473141721836506],"end_effector_yaw_offset_degrees":-0.47012481139223583}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021937837981038277,0.004433285145240847],"position_m":[0.22800621620189615,0.03813328514524085,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031978031564531854,-0.003938760854777549],"position_m":[0.21289780315645318,-0.3520387608547776,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0043492629738982385,0.003454891828718879],"position_m":[0.2965492629738983,0.29495489182871887,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002175658651881654,-0.0015713282138516472],"position_m":[0.27567565865188165,-0.12407132821385164,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c36b11e1c81438ebbcab505d33063e5945c3f1534ba43383bbcaba43ca3bd4ab","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7437/tex_ceiling_textures_2139/tex_floor_textures_5520/tex_table_textures_5108/tex_wall_textures_954","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8349389369957539680,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8349389369957539680,"visual_seed":8349389369957539680,"scene_id":"lab_003","finished_at":"2026-09-08T09:34:56"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T09:35:04","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.6096103425508546,-0.8330300806018787,0.71338606911949],"aabb_xy":[[-0.6736103411374269,-0.8800370440013874],[-0.545610343964282,-0.78602311720237]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.08543482192605312,1.3153678138787313,0.71338606911949],"aabb_xy":[[-0.14943481835337502,1.268198190056635],[-0.021434825498731214,1.362537437700828]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.4452419767473255,0.6837465769452811,0.71338606911949],"aabb_xy":[[-0.5349290530554409,0.5937465766908305],[-0.35555490043921,0.7737465771997316]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.5913048730812901,-0.352601117815174,0.71338606911949],"aabb_xy":[[-0.6045358186159713,-0.36582853683717337],[-0.5780739275466087,-0.3393736987931745]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.6353021475041467,-1.0612877367936444,0.71338606911949],"aabb_xy":[[0.5858217262901879,-1.1252877347064962],[0.6847825687181055,-0.9972877388807926]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[-0.39045821731404984,0.977328520125702,0.71338606911949],"aabb_xy":[[-0.48045821381492154,0.9314168777072437],[-0.300458220813178,1.02324016254416]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.2587770638871591,0.16147518997324095,0.71338606911949],"aabb_xy":[[-0.3127926601690591,0.0974751870809838],[-0.2047614676052591,0.2254751928654981]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[-0.6789295253000587,0.6361977324128896,0.71338606911949],"aabb_xy":[[-0.6869557959306847,0.6274462374355368],[-0.6709032546694327,0.6449492273902421]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.12494086226145651,1.3711357738009764,0.71338606911949],"aabb_xy":[[0.1156472440243059,1.3336357753128425],[0.13423448049860706,1.4086357722891103]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.17140839518412454,-0.34494202037542676,0.71338606911949],"aabb_xy":[[-0.2264038730047839,-0.3999420218093337],[-0.11641291736346512,-0.28994201894151983]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.3402988523552497,-1.4702767649872417,0.71338606911949],"aabb_xy":[[0.2802988525086829,-1.5270953871802802],[0.4002988522018165,-1.4134581427942028]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.14781997333041563,-1.8211024282409007,0.71338606911949],"aabb_xy":[[0.12153114900997498,-1.8473738618955515],[0.1741087976508563,-1.794830994586249]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.5248974778754623,-2.3392843010665643,0.71338606911949],"aabb_xy":[[0.48359293481172627,-2.4032843006346813],[0.5662020209391982,-2.275284301498447]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[0.1554592063730038,-0.6637112924016242,0.71338606911949],"aabb_xy":[[0.14029633339606676,-0.6788767496967429],[0.17062207934994092,-0.6485458351065054]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.45793108071058963,-2.1011245797676574,0.71338606911949],"aabb_xy":[[0.4450591772096495,-2.181124580181493],[0.4708029842115298,-2.021124579353821]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.5838442799120716,-2.1030868828407696,0.71338606911949],"aabb_xy":[[0.5198442806179032,-2.167073023209624],[0.6478442792062397,-2.0391007424719154]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[0.27208339681832605,0.5032960347658104,0.71338606911949],"aabb_xy":[[0.2551726643819842,0.48982382917319583],[0.2889941292546678,0.5167682403584248]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.5462699922915741,-1.7972044620049727,0.71338606911949],"aabb_xy":[[-0.5807324703046618,-1.8038681391878955],[-0.5118075142784863,-1.79054078482205]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[0.11634814638765156,-2.1300682729821228,0.71338606911949],"aabb_xy":[[0.10822045819433834,-2.1389818813928305],[0.12447583458096478,-2.121154664571415]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.43447277019298225,-1.830403853417051,0.71338606911949],"aabb_xy":[[0.35447276876285505,-1.9099210084296603],[0.5144727716231094,-1.7508866984044413]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[-0.11589214993367047,0.6415737207797725,0.71338606911949],"aabb_xy":[[-0.16589215159516518,0.5915752785240698],[-0.06589214827217568,0.6915721630354752]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.5310608875788005,-1.3992854279380897,0.71338606911949],"aabb_xy":[[0.44106088390188225,-1.4607178345151939],[0.6210608912557186,-1.3378530213609852]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.21685667026324407,-0.9997821086711822,0.71338606911949],"aabb_xy":[[0.1568566686203222,-1.0517822579631266],[0.2768566719061659,-0.9477819593792381]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[0.19680006236102088,0.8853678510405225,0.71338606911949],"aabb_xy":[[0.1895177459843572,0.7953678474310133],[0.2040823787376845,0.9753678546500313]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[0.011955962048492474,-2.539538965374828,0.71338606911949],"aabb_xy":[[-0.010540459385371627,-2.5620389651815754],[0.034452383482356574,-2.5170389655680805]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.4760765281394185,-2.508403095185404,0.71338606911949],"aabb_xy":[[-0.5400765313580564,-2.5551262070844123],[-0.4120765249207807,-2.4616799832863956]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[-0.20561137989203798,-2.478859893439856,0.71338606911949],"aabb_xy":[[-0.2607365855216287,-2.5388598948811425],[-0.15048617426244718,-2.418859891998568]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[0.3071028072064492,1.5729762632735729,0.71338606911949],"aabb_xy":[[0.28955611229033035,1.5354762617093214],[0.3246495021225682,1.610476264837824]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.13880782408321168,1.535659198931286,0.71338606911949],"aabb_xy":[[-0.15005287965382952,1.5244174012071903],[-0.12756276851259385,1.5469009966553808]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_29","position":[-0.40156042047870194,0.43692429197826765,0.71338606911949],"aabb_xy":[[-0.4302097528391181,0.40827873270119186],[-0.37291108811828566,0.46556985125534345]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[0.4590114089410682,-1.6274841799235327,0.71338606911949],"aabb_xy":[[0.39901140843321525,-1.684330913609454],[0.5190114094489211,-1.5706374462376114]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_31","position":[0.0010749649479484535,1.0002540920954122,0.71338606911949],"aabb_xy":[[-0.048925036412938765,0.9502761875199964],[0.05107496630883567,1.0502319966708276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.640221452956723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6584.png","name":"6584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6584.png","name":"6584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8525.png","name":"8525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5519.png","name":"5519"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3343.png","name":"3343"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2970.png","name":"2970"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":721.80973463894,"rotation_z_degrees":319.12492320864885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01744919570776201,0.014583295259315409,0.01923345116053306]},{"name":"camera_2","offset_m":[-0.0008860413999440542,0.018653435086976197,0.0009028931373248374]},{"name":"camera_3","offset_m":[-0.01985584764119778,-0.019487460084233375,-0.019690618412525115]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013755107728748907,-0.0003215281223655131,-0.001797064712903603],"end_effector_yaw_offset_degrees":0.7529949778593561},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019533587823070573,-0.0014405683386432677,-0.0003442505741554664],"end_effector_yaw_offset_degrees":-0.026667640874932896},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009058439013982014,0.0006149957467262357,0.0019657027196835495],"end_effector_yaw_offset_degrees":0.49592002442514427},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019170873918468293,0.0007711954829748655,-0.0006391883456715499],"end_effector_yaw_offset_degrees":-0.7369006557239643},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013562322771013546,-5.680151053355422e-05,-0.0007785299447115915],"end_effector_yaw_offset_degrees":-0.07474267559081516},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001698153743205874,-0.0014707867369961889,-0.001308483066909448],"end_effector_yaw_offset_degrees":-0.9543133133930377}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006499153061062211,0.0041807690358703934],"position_m":[0.22955008469389376,0.03788076903587039,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004302731100848708,-0.0003779629111190343],"position_m":[0.2140027311008487,-0.34847796291111904,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001918511473848722,-0.003553972833701619],"position_m":[0.2902814885261513,0.28794602716629836,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002598261197225833,-0.0047293126705044534],"position_m":[0.27609826119722586,-0.12722931267050444,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"cf6dbaa27c5b088f0f581e3883d52de66f6354ec8cdfcaeb09e92c39651b5465","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6584/tex_ceiling_textures_2970/tex_floor_textures_3343/tex_table_textures_8525/tex_wall_textures_5519","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":3795050554721527962,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":3795050554721527962,"visual_seed":3795050554721527962,"scene_id":"lab_003","finished_at":"2026-09-08T09:42:51"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T09:42:59","dimensions":{"distractor":{"count":30,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.4023268734590937,-0.5005154737312862,0.71338606911949],"aabb_xy":[[0.36884770619805285,-0.5339945871023932],[0.43580604072013474,-0.46703636036017926]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.013032734325432949,0.6362434624918287,0.71338606911949],"aabb_xy":[[-0.06303273568632016,0.586265557916413],[0.03696726703545427,0.6862213670672442]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.2937318637994226,-0.49633049653017824,0.71338606911949],"aabb_xy":[[-0.3347498071857935,-0.5463304971611356],[-0.25271392041305174,-0.4463304958992209]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.632055856139266,1.7124731214750972,0.71338606911949],"aabb_xy":[[-0.6570558556910043,1.7023306376099625],[-0.6070558565875274,1.722615605340232]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.14893664413038987,-1.055390148396498,0.71338606911949],"aabb_xy":[[-0.19841706534434866,-1.11939014630935],[-0.09945622291643108,-0.9913901504836464]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.47475788176500533,-1.2961159154856123,0.71338606911949],"aabb_xy":[[0.42477493157752594,-1.3461159151281727],[0.5247408319524846,-1.246115915843052]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.23519895820339592,0.3723420168737568,0.71338606911949],"aabb_xy":[[-0.26148778252383653,0.3460705832191055],[-0.2089101338829552,0.39861345052840796]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.30543771658910746,-0.8543208431371945,0.71338606911949],"aabb_xy":[[-0.3854377151764269,-0.9336364450753554],[-0.22543771800178805,-0.7750052411990336]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.39590762683636066,-1.9870555031154498,0.71338606911949],"aabb_xy":[[-0.43809204099719146,-2.0510555033926607],[-0.35372321267553,-1.9230555028382388]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.41289397854661375,1.4208006743913582,0.71338606911949],"aabb_xy":[[-0.4215919408373291,1.4086757000838834],[-0.4041960162558985,1.4329256486988329]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.35850520186458135,1.4456567764376262,0.71338606911949],"aabb_xy":[[0.34887356564415173,1.4360194636579173],[0.36813683808501096,1.4552940892173352]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.12422041547137375,1.6695820412955658,0.71338606911949],"aabb_xy":[[0.06924669343504088,1.6145820417313326],[0.17919413750770663,1.724582040859799]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.5640414054738385,0.24367189960194935,0.71338606911949],"aabb_xy":[[0.552273218679181,0.1586718996967278],[0.575809592268496,0.3286718995071709]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.16441775327839747,1.4293924175217723,0.71338606911949],"aabb_xy":[[-0.21941323109905686,1.374392416087865],[-0.10942227545773808,1.484392418955679]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.5943619611464042,-0.4885169953424948,0.71338606911949],"aabb_xy":[[0.5707768376825092,-0.5535169975879266],[0.6179470846102989,-0.42351699309706303]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.17959987818005974,0.8263997063832869,0.71338606911949],"aabb_xy":[[0.12959987953413854,0.7764801627238245],[0.22959987682598093,0.8763192500427492]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.6502476303900202,0.8322240384792727,0.71338606911949],"aabb_xy":[[0.600364933512324,0.782224039232998],[0.7001303272677164,0.8822240377255475]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.17231340740377155,-1.9768970281270257,0.71338606911949],"aabb_xy":[[-0.19051923106501922,-1.9879224287090176],[-0.15410758374252387,-1.9658716275450343]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.08512178671192971,-2.0766995961509798,0.71338606911949],"aabb_xy":[[0.04832715358702344,-2.113605471247562],[0.12191641983683599,-2.0397937210543975]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[0.0675161654185441,-1.8262106194916634,0.71338606911949],"aabb_xy":[[0.022523578700093694,-1.8712106187661122],[0.11250875213699452,-1.7812106202172147]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[-0.572185214121122,1.4555959896706683,0.71338606911949],"aabb_xy":[[-0.6571852125385451,1.3707216942083833],[-0.48718521570369866,1.5404702851329533]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.6135487475629573,0.4984848229226637,0.71338606911949],"aabb_xy":[[-0.6310487468410442,0.48114672285631777],[-0.5960487482848704,0.5158229229890097]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[0.6694282150688364,0.4301660263873264,0.71338606911949],"aabb_xy":[[0.6621844490225911,0.35016602818372394],[0.6766719811150818,0.5101660245909287]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.1839646607802714,-1.9839680060357654,0.71338606911949],"aabb_xy":[[0.17765256124393297,-1.9897349452889843],[0.19027676031660984,-1.9782010667825465]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[-0.06668745560446021,-1.8915791636830903,0.71338606911949],"aabb_xy":[[-0.07439064627853724,-1.8992885343818284],[-0.058984264930383154,-1.8838697929843522]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[-0.09556298107195194,1.3132552856132973,0.71338606911949],"aabb_xy":[[-0.10879392660663322,1.3000278665912974],[-0.08233203553727063,1.3264827046352963]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[0.5322733777932751,-2.0977593089526394,0.71338606911949],"aabb_xy":[[0.49664422189331536,-2.133391975709492],[0.5679025336932348,-2.062126642195786]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[-0.03309088227402457,0.7782292217080191,0.71338606911949],"aabb_xy":[[-0.07059088244589651,0.7455284863251119],[0.004409117897847377,0.8109299570909263]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[0.27598997890807,-2.449232354784664,0.71338606911949],"aabb_xy":[[0.2119942815129734,-2.513232353085373],[0.33998567630316656,-2.3852323564839555]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_29","position":[0.6891819739183813,1.3668669008051522,0.71338606911949],"aabb_xy":[[0.6713128661639258,1.353033992827941],[0.7070510816728368,1.380699808782363]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.638540109947317,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2469.png","name":"2469"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4990.png","name":"4990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4515.png","name":"4515"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2314.png","name":"2314"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":594.5745704662963,"rotation_z_degrees":289.29075152728865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008835259409755786,-0.016348323360648523,-0.00037086962998392897]},{"name":"camera_2","offset_m":[0.012717209393466978,-0.01485741932642605,0.01701213091870926]},{"name":"camera_3","offset_m":[-0.01903514073286871,0.016294428516301782,0.002895169509915054]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00179921255125774,0.0005225985598034809,0.000667291615230178],"end_effector_yaw_offset_degrees":-0.6120217186382719},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004340442524170421,-0.0008478327812059857,-0.0010419560220413546],"end_effector_yaw_offset_degrees":-0.35774394946314003},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007154758919053483,0.0008753959427360474,0.0006062914473727262],"end_effector_yaw_offset_degrees":0.6125847442390395},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001204492992632665,0.0004893817536028118,-0.0007314969758412003],"end_effector_yaw_offset_degrees":-0.6640291237386324},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00038370763268981076,6.395588068361857e-05,0.0015215202897137002],"end_effector_yaw_offset_degrees":-0.9189795464434918},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011378359383886322,-0.0010178677974494632,-0.0002876269216432936],"end_effector_yaw_offset_degrees":0.6988596232898756}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0048692523698705675,-0.00468429639675144],"position_m":[0.22533074763012942,0.02901570360324856,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008166501159981706,-0.002640908883820371],"position_m":[0.21051665011599816,-0.35074090888382037,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001545019167681549,-0.0017508641632951096],"position_m":[0.2937450191676816,0.28974913583670486,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00469923966039701,-0.001866188654125116],"position_m":[0.27819923966039706,-0.12436618865412512,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"713efcf9c8eb2b29f1ffe78cff5028b271462dd47c8933512e06126c8874a9e9","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9558/tex_ceiling_textures_2314/tex_floor_textures_4515/tex_table_textures_2469/tex_wall_textures_4990","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":2361305543294373980,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":2361305543294373980,"visual_seed":2361305543294373980,"scene_id":"lab_003","finished_at":"2026-09-08T09:51:36"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T09:51:43","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[-0.420236676919807,0.83843846768433,0.71338606911949],"aabb_xy":[[-0.42581834855393574,0.8259384678665544],[-0.4146550052856782,0.8509384675021054]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.18598002011074477,0.8662362091701423,0.71338606911949],"aabb_xy":[[0.1744110393638082,0.8412362090532106],[0.19754900085768134,0.891236209287074]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[0.63267970447095,-0.14287620478618646,0.71338606911949],"aabb_xy":[[0.5686797012523123,-0.18959931668519484],[0.696679707689588,-0.09615309288717813]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.16034813144338877,0.8029167235267738,0.71338606911949],"aabb_xy":[[-0.17281548955312442,0.7904513988934503],[-0.14788077333365313,0.8153820481600973]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.5552700491124578,-1.6587647045119636,0.71338606911949],"aabb_xy":[[0.4912700487349242,-1.7085099713627756],[0.6192700494899914,-1.609019437661151]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.6055743894786876,1.560294273188664,0.71338606911949],"aabb_xy":[[-0.6695743865907933,1.5112619033942536],[-0.5415743923665819,1.6093266429830748]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[0.0720552812890134,-0.8651024312964148,0.71338606911949],"aabb_xy":[[0.03455528286561303,-0.8782666452642454],[0.10955527971241373,-0.8519382173285841]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.10885024130859244,0.2586253216706562,0.71338606911949],"aabb_xy":[[-0.17285024156906326,0.21361652231772824],[-0.04485024104812165,0.3036341210235842]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.06929398863393788,1.4173168438065091,0.71338606911949],"aabb_xy":[[-0.11877440984789667,1.3533168458936575],[-0.019813567419979083,1.4813168417193612]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.6680705059855248,1.2350109680779,0.71338606911949],"aabb_xy":[[-0.6760644945632281,1.2270108879828094],[-0.6600765174078214,1.2430110481729901]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.514109047566147,-0.007933863438152056,0.71338606911949],"aabb_xy":[[-0.5781090482696163,-0.053952245911073074],[-0.4501090468626776,0.038084519034768956]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[-0.016028930876697323,-0.8150565451847973,0.71338606911949],"aabb_xy":[[-0.020664046028930707,-0.8189238802619458],[-0.011393815724463933,-0.8111892101076486]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.14752276484838234,-2.4117104835480885,0.71338606911949],"aabb_xy":[[0.14340681473630962,-2.415826038580933],[0.15163871496045495,-2.407594928515242]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[-0.5371519954977495,-1.6179216495120032,0.71338606911949],"aabb_xy":[[-0.5451953554237047,-1.7029216506073697],[-0.5291086355717943,-1.5329216484166368]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.28490099972856153,-2.1846269004448606,0.71338606911949],"aabb_xy":[[0.26740100045047466,-2.2019650005112066],[0.3024009990066484,-2.1672888003785147]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.14178027991798314,1.060374220003962,0.71338606911949],"aabb_xy":[[0.051780280499612225,1.0269987231597724],[0.231780279336354,1.0937497168481518]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[-0.10285746907860116,-1.9451714645922076,0.71338606911949],"aabb_xy":[[-0.11097112375197826,-1.9532772810462362],[-0.09474381440522406,-1.937065648138178]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.5855545793850225,0.6087910912165104,0.71338606911949],"aabb_xy":[[-0.6355495903444746,0.5587910921809188],[-0.5355595684255705,0.6587910902521023]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.27570806834222084,-1.511849532688841,0.71338606911949],"aabb_xy":[[0.2344035252784848,-1.5758495322569581],[0.31701261140595677,-1.447849533120724]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.1307729434884778,-1.0691303076126633,0.71338606911949],"aabb_xy":[[-0.13686757137659614,-1.077699702164332],[-0.1246783156003595,-1.0605609130609945]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.4023396043276252,-2.5707224979150585,0.71338606911949],"aabb_xy":[[-0.40960085189803264,-2.583509508178568],[-0.3950783567572178,-2.557935487651549]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.5562455231731813,0.079430325639263,0.71338606911949],"aabb_xy":[[0.4762455228995744,0.006480777813546292],[0.6362455234467883,0.15237987346497972]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.021718804916018852,-2.2345560359722842,0.71338606911949],"aabb_xy":[[-0.033273445719492104,-2.2895560377155975],[0.07671105555152981,-2.179556034228972]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[-0.16792510309574094,-1.2524397199617887,0.71338606911949],"aabb_xy":[[-0.23192510638544903,-1.2957746389657063],[-0.1039250998060328,-1.209104800957871]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.09000435560951958,-0.30626724380283576,0.71338606911949],"aabb_xy":[[-0.14000435425544078,-0.3561867874622981],[-0.0400043569635984,-0.2563477001433733]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.3063765713721289,-1.1994210510247532,0.71338606911949],"aabb_xy":[[-0.31824865438363004,-1.2844210507184035],[-0.2945044883606278,-1.1144210513311028]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[0.19949997583812207,-1.7469061253122822,0.71338606911949],"aabb_xy":[[0.11949997882387411,-1.767040676985693],[0.27949997285237005,-1.7267715736388705]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.20235925802324883,-2.504198220496699,0.71338606911949],"aabb_xy":[[0.18415343436200116,-2.5152236210786905],[0.2205650816844965,-2.493172819914707]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_28","position":[-0.52873986298441,-2.0286339115582877,0.71338606911949],"aabb_xy":[[-0.5512398634964506,-2.0511257699236856],[-0.5062398624723694,-2.006142053192889]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_29","position":[0.02439960653903528,1.7025593040599385,0.71338606911949],"aabb_xy":[[0.0143178994604618,1.6225593061678234],[0.034481313617608755,1.7825593019520527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6348700030408481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8352.png","name":"8352"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8352.png","name":"8352"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3256.png","name":"3256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8229.png","name":"8229"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8631.png","name":"8631"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/678.png","name":"678"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":607.577717733227,"rotation_z_degrees":25.522165917225973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008067842265021885,0.0071240321943534975,-0.008121727531180652]},{"name":"camera_2","offset_m":[-0.0013418371394820217,-0.01867999163276918,0.013808880480186681]},{"name":"camera_3","offset_m":[-0.006560557933842234,0.019916529153898185,-0.016031404216526747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013741859873092365,0.0014655833032060218,-0.000904682617847174],"end_effector_yaw_offset_degrees":-0.38154690733584795},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009613076730594426,-0.0019532958701880786,-0.001109100347739882],"end_effector_yaw_offset_degrees":-0.5907311598852045},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007250480234826581,0.0019967750834448163,-0.0003195244377975199],"end_effector_yaw_offset_degrees":0.13763690333751},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0018554491053693791,0.0008856631079339071,-2.4204308394257072e-06],"end_effector_yaw_offset_degrees":0.07585922725123839},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0019172132888128322,-0.00021011963723772888,-0.001597085037884496],"end_effector_yaw_offset_degrees":-0.588670892558983},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0019999618292607844,0.0004785120541348428,0.0005385244432440255],"end_effector_yaw_offset_degrees":-0.29409312525039843}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001091818571303623,-0.0017460558444653052],"position_m":[0.2312918185713036,0.031953944155534694,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00046954502636084236,0.0035480770646693386],"position_m":[0.21016954502636084,-0.34455192293533066,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.000606903583166906,-0.002684808069195709],"position_m":[0.2915930964168331,0.2888151919308043,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004096693760921745,-0.004744573310798066],"position_m":[0.2775966937609218,-0.12724457331079805,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"39494cd013073ff2a6060efb200b359fd7dd7fa6cc23af8ce5c8019205fa6dfd","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8352/tex_ceiling_textures_678/tex_floor_textures_8631/tex_table_textures_3256/tex_wall_textures_8229","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":350186524647289741,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":350186524647289741,"visual_seed":350186524647289741,"scene_id":"lab_003","finished_at":"2026-09-08T09:59:17"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T09:59:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.6023490305621597,-1.5137756680371202,0.71338606911949],"aabb_xy":[[0.5942213423688466,-1.5226892764478277],[0.610476718755473,-1.5048620596264122]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.2441697532667354,-2.0782784778581416,0.71338606911949],"aabb_xy":[[0.2274926172736399,-2.094978401832072],[0.2608468892598309,-2.0615785538842113]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.5738822517634675,0.7685054952801051,0.71338606911949],"aabb_xy":[[-0.6538822531935946,0.6889883402674956],[-0.4938822503333402,0.8480226502927145]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.6495235522024407,-1.6940005426411733,0.71338606911949],"aabb_xy":[[-0.6670235524617775,-1.7080920848299463],[-0.6320235519431042,-1.679909000452401]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.4600712159741911,-2.239853058086351,0.71338606911949],"aabb_xy":[[0.40507121679760155,-2.294842732861308],[0.5150712151507806,-2.184863383311393]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.05168886779256443,-1.869025507887419,0.71338606911949],"aabb_xy":[[-0.028311132677651514,-1.8773362155017674],[0.1316888682627804,-1.860714800273071]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.38570483585447746,-0.40590919675536696,0.71338606911949],"aabb_xy":[[-0.39893578138915864,-0.4191366157773664],[-0.37247389031979605,-0.39268177773336754]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.3199926821206418,0.9776852811929317,0.71338606911949],"aabb_xy":[[0.28249268093584895,0.9732670584968711],[0.35749268330543454,0.9821035038889921]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.13185088825025426,1.251549880735352,0.71338606911949],"aabb_xy":[[-0.1411978958325495,1.237246258517708],[-0.12250388066795903,1.265853502952996]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.5231066897490351,-2.098852749655445,0.71338606911949],"aabb_xy":[[0.48560668980526855,-2.107145839690282],[0.5606066896928014,-2.0905596596206086]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.04995833330482313,-1.78134704378506,0.71338606911949],"aabb_xy":[[-0.06763396389342145,-1.7990272600644628],[-0.03228270271622479,-1.7636668275056573]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.6535658828132771,-2.5037249377704556,0.71338606911949],"aabb_xy":[[0.631657200673926,-2.5256256045905463],[0.675474564952628,-2.481824270950365]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.6004680216062944,0.13384557977812328,0.71338606911949],"aabb_xy":[[-0.6179679550402777,0.11634557985788871],[-0.5829680881723109,0.1513455796983578]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[0.09616967955883016,-1.5651951418505892,0.71338606911949],"aabb_xy":[[0.016175855980271936,-1.6451951444434307],[0.17616350313738838,-1.4851951392577476]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.2656368644728596,1.265125891954792,0.71338606911949],"aabb_xy":[[0.2527649609719194,1.185125891540956],[0.2785087679737997,1.3451258923686282]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.11276049717644054,-0.764875916948927,0.71338606911949],"aabb_xy":[[0.02276050044083032,-0.8180593802662215],[0.20276049391205075,-0.7116924536316325]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.3544087728420102,-0.8810377979146478,0.71338606911949],"aabb_xy":[[0.3362029491807626,-0.8920631984966394],[0.37261459650325796,-0.8700123973326561]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[0.04495252417857032,-0.6007595692675962,0.71338606911949],"aabb_xy":[[0.036958535600866926,-0.6087596493626865],[0.05294651275627371,-0.5927594891725058]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[-0.41656656543556847,0.5152647142197453,0.71338606911949],"aabb_xy":[[-0.47656656568696965,0.4609833891832805],[-0.3565665651841673,0.5695460392562098]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[0.10171376176385372,1.3112118091367386,0.71338606911949],"aabb_xy":[[0.06671376263389804,1.3054665880610747],[0.13671376089380938,1.316957030212403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6354176822119678,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9000.png","name":"9000"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5469.png","name":"5469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8923.png","name":"8923"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7681.png","name":"7681"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":826.5873640387975,"rotation_z_degrees":351.8793649435511,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011638442531394495,0.011375021988668358,-0.01856992148788531]},{"name":"camera_2","offset_m":[-0.012799353424854241,-0.0006171122004219459,-0.0006850166642970307]},{"name":"camera_3","offset_m":[-0.00014573686747844372,0.003656157623904411,-0.006459783778235617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.107719553694184e-05,0.0014685867388891981,-0.0001915948158731683],"end_effector_yaw_offset_degrees":-0.8330185553605962},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018030049062821808,-0.0019667852253585313,-0.00011029744978418828],"end_effector_yaw_offset_degrees":0.8217917392182552},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001368864890644856,0.0007850958392989766,0.0016359272354134389],"end_effector_yaw_offset_degrees":-0.2026726924039257},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009407410880022801,0.0011553575338084082,0.00018127946689593805],"end_effector_yaw_offset_degrees":-0.6131195475957718},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00037158776492738493,-0.0008844496854576262,0.00033886589795753064],"end_effector_yaw_offset_degrees":-0.4417073840997561},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014734581375040823,-0.0015789982624912053,-0.001482013546352749],"end_effector_yaw_offset_degrees":-0.5468256419910138}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004115795257423684,0.004505040953718787],"position_m":[0.23431579525742366,0.03820504095371879,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002656470599073698,-0.002236511105574681],"position_m":[0.2070435294009263,-0.3503365111055747,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0015579502622149943,-0.003844138268723568],"position_m":[0.293757950262215,0.28765586173127644,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0047414656768248855,-0.003498420310756465],"position_m":[0.2782414656768249,-0.12599842031075648,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3fcc48191412e4136914cd6c706fac70a8f70b9fbbe51e158c5bb389b916675d","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4109/tex_ceiling_textures_7681/tex_floor_textures_8923/tex_table_textures_9000/tex_wall_textures_5469","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4127917595881182448,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4127917595881182448,"visual_seed":4127917595881182448,"scene_id":"lab_003","finished_at":"2026-09-08T10:08:10"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T10:08:18","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.218322146370715,-0.9586053875811666,0.71338606911949],"aabb_xy":[[-0.24049467334736582,-0.9807810547372897],[-0.19614961939406414,-0.9364297204250434]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.02121326051404171,-0.9373711566003062,0.71338606911949],"aabb_xy":[[-0.025349116846741907,-0.9748711560446632],[-0.01707740418134152,-0.8998711571559492]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_2","position":[0.38488339227663504,1.4167680844256139,0.71338606911949],"aabb_xy":[[0.32488339176878206,1.3599213507396926],[0.4448833927844879,1.4736148181115352]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.6409137575099466,-0.3708857301485011,0.71338606911949],"aabb_xy":[[-0.6569756849684641,-0.4558857319610929],[-0.6248518300514289,-0.28588572833590925]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.19392869899156473,1.4592803489482562,0.71338606911949],"aabb_xy":[[-0.21892869815719784,1.4523281032428996],[-0.16892869982593162,1.4662325946536128]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.5195507960765314,-0.2764367040878595,0.71338606911949],"aabb_xy":[[-0.5845507961108342,-0.3231373807681868],[-0.4545507960422287,-0.22973602740753224]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.2004708173269032,-0.6832658521821542,0.71338606911949],"aabb_xy":[[-0.24574943220805245,-0.7472658515303378],[-0.15519220244575394,-0.6192658528339704]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.10370385655167302,0.8040540982244608,0.71338606911949],"aabb_xy":[[-0.12698569874980437,0.7190540969272327],[-0.08042201435354168,0.8890540995216888]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.2474768846243599,1.4177630341601684,0.71338606911949],"aabb_xy":[[0.22247688535239762,1.401417670564006],[0.2724768838963222,1.4341083977563307]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.07879957508498436,1.603303550053354,0.71338606911949],"aabb_xy":[[0.0746836249729117,1.599187995020508],[0.08291552519705703,1.607419105086199]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.4696971830153126,0.3946012225550084,0.71338606911949],"aabb_xy":[[-0.4996888457491829,0.3646012232182078],[-0.4397055202814422,0.4246012218918089]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.28386594382784347,-1.9723488875600033,0.71338606911949],"aabb_xy":[[-0.2903675803358481,-1.9821167095863135],[-0.27736430731983885,-1.962581065533694]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[0.5784755946581042,1.7814268180079904,0.71338606911949],"aabb_xy":[[0.574044965303264,1.7759784462733081],[0.5829062240129443,1.7868751897426731]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.5949012587256635,1.426652640880405,0.71338606911949],"aabb_xy":[[-0.6786234842257459,1.336652637345709],[-0.511179033225581,1.516652644415101]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.4274145899861961,-1.5873203759961605,0.71338606911949],"aabb_xy":[[-0.4381875639075638,-1.6223203742151997],[-0.41664161606482825,-1.5523203777771217]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.5266007037406756,-0.4510914719334109,0.71338606911949],"aabb_xy":[[-0.5437027816990436,-0.4681982774646807],[-0.5094986257823073,-0.4339846664021412]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.17419423288206337,1.467933773807507,0.71338606911949],"aabb_xy":[[0.16620074308678137,1.4599356418670315],[0.18218772267734543,1.4759319057479827]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.5190512275410433,0.9828036107042908,0.71338606911949],"aabb_xy":[[0.48220067960405566,0.9453036098812572],[0.5559017754780309,1.0203036115273245]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.08014138330855758,0.6945287066673531,0.71338606911949],"aabb_xy":[[0.0619355596473099,0.6835033060853616],[0.09834720696980526,0.7055541072493449]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.6407187992007897,0.0625663061789914,0.71338606911949],"aabb_xy":[[0.5979520923213695,-0.0014336972428110606],[0.6834855060802099,0.12656630960079385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6350579123827228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3201.png","name":"3201"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3201.png","name":"3201"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7213.png","name":"7213"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/120.png","name":"120"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7121.png","name":"7121"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/693.png","name":"693"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":517.3715158226134,"rotation_z_degrees":233.64232394857066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017407878987264893,0.011319760487357267,-0.01915855845621609]},{"name":"camera_2","offset_m":[-0.013075490964756305,0.005333372894982768,0.006694213269663737]},{"name":"camera_3","offset_m":[-0.0037484342318923683,0.017731650420466438,-0.0014363563181949632]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013138477774453112,-0.00045297238728816904,0.0013642221675330799],"end_effector_yaw_offset_degrees":0.8747604339906077},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017511000203566558,-0.0015816010765244228,-0.00019870201309892996],"end_effector_yaw_offset_degrees":-0.1374901753570772},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000567190532908203,0.001614452598197427,-0.0005665964153257002],"end_effector_yaw_offset_degrees":0.3118002599438685},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001657093501984419,0.0008932618230191609,0.0012435621413844694],"end_effector_yaw_offset_degrees":-0.32774646978100486},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015495652141468991,-0.00020783820350504583,0.001999643093275545],"end_effector_yaw_offset_degrees":-0.2591265468526618},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014687363228151644,-0.001670624481767002,0.0019639679603791456],"end_effector_yaw_offset_degrees":-0.6672842916329873}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004724349906612903,0.0001389977777860353],"position_m":[0.22547565009338708,0.03383899777778604,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004685032182562633,-0.004639497404024727],"position_m":[0.20501496781743736,-0.35273949740402477,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0020241529669056593,0.0018649746160516092],"position_m":[0.29017584703309435,0.2933649746160516,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037146118349679564,-0.0004894451808461001],"position_m":[0.277214611834968,-0.12298944518084609,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0fdb05c18ef28c9a2d32159ed0a907b39f70b7e24f8ee17318c93ad19a3b84e2","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3201/tex_ceiling_textures_693/tex_floor_textures_7121/tex_table_textures_7213/tex_wall_textures_120","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5754824645137595825,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5754824645137595825,"visual_seed":5754824645137595825,"scene_id":"lab_003","finished_at":"2026-09-08T10:16:00"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T10:16:08","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.2456299547645392,1.3248596164117181,0.71338606911949],"aabb_xy":[[0.19565253789928563,1.2748596149224694],[0.2956073716297928,1.3748596179009664]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.4996924092278544,-0.3213365796032761,0.71338606911949],"aabb_xy":[[-0.5496924108893491,-0.37133502185897876],[-0.44969240756635953,-0.27133813734757334]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.1750892662125535,0.3276735268682476,0.71338606911949],"aabb_xy":[[-0.18424914515643007,0.32114230882471057],[-0.16592938726867687,0.3342047449117846]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.3032262003229975,0.22054171645916343,0.71338606911949],"aabb_xy":[[-0.3405574768482401,0.18588866166431112],[-0.2658949237977549,0.25519477125401574]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.032803954250044454,1.6878907471256501,0.71338606911949],"aabb_xy":[[-0.05219604444203019,1.6559048837307715],[0.1178039529421191,1.7198766105205292]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.5057082915294144,-1.5735727319524107,0.71338606911949],"aabb_xy":[[0.470708293218719,-1.581287746875956],[0.5407082898401099,-1.5658577170288648]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[-0.0558642720205178,1.440088625472772,0.71338606911949],"aabb_xy":[[-0.074748655789028,1.4212027006924195],[-0.0369798882520076,1.458974550253125]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.632990333592298,-1.3021679539211175,0.71338606911949],"aabb_xy":[[-0.6511961572535457,-1.3131933545031094],[-0.6147845099310504,-1.291142553339126]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.5268138586383238,-0.49303572113240923,0.71338606911949],"aabb_xy":[[0.47681385827775763,-0.5430157083420121],[0.5768138589988897,-0.4430557339228062]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.1679489496009018,-0.8584354296378196,0.71338606911949],"aabb_xy":[[0.15027331901230342,-0.8761156459172222],[0.1856245801895001,-0.8407552133584167]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.2635195823130395,1.1496143278739286,0.71338606911949],"aabb_xy":[[-0.32751958257351027,1.1046055285210004],[-0.19951958205256867,1.1946231272268564]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[0.5700079647395264,0.47179950345526667,0.71338606911949],"aabb_xy":[[0.5050079665836074,0.44550325890535447],[0.6350079628954455,0.49809574800517886]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.5290718239543892,0.7928620253095033,0.71338606911949],"aabb_xy":[[0.520944135761076,0.7839484168987958],[0.5371995121477025,0.8017756337202111]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[0.20358034141055148,-1.40713818757748,0.71338606911949],"aabb_xy":[[0.18614962633154494,-1.4244103022413306],[0.22101105648955796,-1.389866072913629]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.20900591947811642,-0.746316407010732,0.71338606911949],"aabb_xy":[[-0.2690059200741326,-0.8011288795559556],[-0.14900591888210024,-0.6915039344655086]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.08085257259795886,0.6183796212614125,0.71338606911949],"aabb_xy":[[-0.11585257257445469,0.608915005213796],[-0.04585257262146303,0.6278442373090293]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[0.046808062517117,1.4825297644742599,0.71338606911949],"aabb_xy":[[0.01234571511897519,1.448035882076437],[0.08127040991525877,1.5170236468720824]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.017346718684699947,-2.1011733376228854,0.71338606911949],"aabb_xy":[[-0.025269998923448278,-2.1236733378608887],[-0.009423438445951615,-2.078673337384882]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.5141229440403117,0.9957635065620063,0.71338606911949],"aabb_xy":[[0.42912294562288844,0.9108892110997213],[0.5991229424577349,1.0806378020242913]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.15560827330373161,0.4729864055645705,0.71338606911949],"aabb_xy":[[-0.1675410076655597,0.46060425275671113],[-0.14367553894190357,0.48536855837242987]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.46639108648669425,-0.8783640741165131,0.71338606911949],"aabb_xy":[[0.38639108432393177,-0.9583192577426566],[0.5463910886494567,-0.7984088904903693]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.3723934997029629,-0.641885969759425,0.71338606911949],"aabb_xy":[[-0.40924404763995054,-0.6793859705824588],[-0.3355429517659753,-0.6043859689363913]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[-0.03578353809859158,1.0674690498418524,0.71338606911949],"aabb_xy":[[-0.06078353737055387,1.05112368624569],[-0.010783538826629314,1.0838144134380148]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[-0.6103431814642061,1.318968524400439,0.71338606911949],"aabb_xy":[[-0.6478431798876062,1.3058043104326083],[-0.5728431830408055,1.3321327383682697]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.22197043073597045,-1.9117584036447868,0.71338606911949],"aabb_xy":[[0.1668452251063796,-1.9717584050860737],[0.2770956363655611,-1.8517584022034994]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[-0.41704971678993347,-1.50160427838131,0.71338606911949],"aabb_xy":[[-0.450489891985953,-1.5350479042122398],[-0.3836095415939138,-1.4681606525503796]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.38024114844146384,1.1906068431775263,0.71338606911949],"aabb_xy":[[0.31624114639173184,1.1505123600882183],[0.44424115049119584,1.2307013262668343]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_27","position":[-0.5156792303588749,-1.9765026553491978,0.71338606911949],"aabb_xy":[[-0.536957238502347,-2.041502657675271],[-0.4944012222154025,-1.9115026530231247]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[0.33040326026033706,1.5970469442483144,0.71338606911949],"aabb_xy":[[0.2504032599867301,1.5240973964225975],[0.41040326053394405,1.669996492074031]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_29","position":[-0.5953872218655566,-2.4284829003603203,0.71338606911949],"aabb_xy":[[-0.6079899210026332,-2.441078296585186],[-0.5827845227284802,-2.415887504135455]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_30","position":[0.21769470162326654,0.6022681045755394,0.71338606911949],"aabb_xy":[[0.16769470060413127,0.5658018888377115],[0.2676947026424018,0.6387343203133674]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_31","position":[0.7031614180196188,-1.416669816107226,0.71338606911949],"aabb_xy":[[0.6990454679075461,-1.420785371140071],[0.7072773681316914,-1.41255426107438]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[-0.29548031370263356,0.5694051629993595,0.71338606911949],"aabb_xy":[[-0.3594803156149759,0.5134940137413492],[-0.23148031179029122,0.62531631225737]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[-0.13834443019575737,-0.055702253489128495,0.71338606911949],"aabb_xy":[[-0.1517909568298007,-0.06917210514221972],[-0.12489790356171404,-0.04223240183603728]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6369167045915531,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3859.png","name":"3859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3859.png","name":"3859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6566.png","name":"6566"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6927.png","name":"6927"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7911.png","name":"7911"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3367.png","name":"3367"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":847.3454531136374,"rotation_z_degrees":206.7519562455917,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014272373090085022,0.006932179686237622,-0.01918837975675723]},{"name":"camera_2","offset_m":[-0.017293677967887718,-0.010494779727761366,0.015679392573468825]},{"name":"camera_3","offset_m":[0.014544565835513518,-0.011238721688938682,-0.011823305312238297]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012345693436295545,-0.0003487571915021469,0.0018733726997869266],"end_effector_yaw_offset_degrees":-0.21458121611958658},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00032891566848385935,-0.0013994034531729716,0.0012775673055800815],"end_effector_yaw_offset_degrees":-0.503775516618846},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014675694170891616,-0.001314872569390002,4.726368151828069e-05],"end_effector_yaw_offset_degrees":-0.5967013428918715},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014027645877242125,-0.000800471126489151,0.0013017218570419344],"end_effector_yaw_offset_degrees":0.38519735109936315},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00169842043253878,-0.0018309940244808547,-0.00017347151175577027],"end_effector_yaw_offset_degrees":-0.04993473806778259},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005262460903167044,0.0015049053588903631,0.0008328481326882421],"end_effector_yaw_offset_degrees":-0.7549200351875496}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026253767831128615,-0.004441030025549434],"position_m":[0.22757462321688712,0.029258969974450565,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00035836060290932257,-0.0014728341887322283],"position_m":[0.20934163939709066,-0.34957283418873225,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0016787264377171084,-0.0004613076958988162],"position_m":[0.2905212735622829,0.2910386923041012,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00326517419161126,0.0013270543696977197],"position_m":[0.27023482580838876,-0.12117294563030227,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"992c8768c033b275371fe6af872c6bb3333fb215de797b99da9351b0c4904657","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3859/tex_ceiling_textures_3367/tex_floor_textures_7911/tex_table_textures_6566/tex_wall_textures_6927","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5215080041145655573,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5215080041145655573,"visual_seed":5215080041145655573,"scene_id":"lab_003","finished_at":"2026-09-08T10:24:01"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T10:24:09","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.5700691383290439,-2.2498755605482854,0.71338606911949],"aabb_xy":[[0.5654340231768105,-2.2537428956254337],[0.5747042534812772,-2.246008225471136]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.6040186913759764,-2.5360646515772416,0.71338606911949],"aabb_xy":[[0.5240186903028562,-2.545842697914626],[0.6840186924490969,-2.526286605239857]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.2084159510835174,-1.3810273931328965,0.71338606911949],"aabb_xy":[[-0.21565971712976267,-1.4610273913364986],[-0.20117218503727202,-1.3010273949292939]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[-0.0016358786765868771,1.768489847249127,0.71338606911949],"aabb_xy":[[-0.009850423792270855,1.7598132569514853],[0.006578666439097103,1.777166437546768]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.29623293208117885,0.6533619946966129,0.71338606911949],"aabb_xy":[[0.2162329306510516,0.5738448396840035],[0.376232933511306,0.7328791497092224]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.047122604805137525,-2.3291103924457515,0.71338606911949],"aabb_xy":[[-0.04256447150297792,-2.419110392700202],[0.13680968111325298,-2.239110392191301]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[0.5004547759445239,1.7546399760878013,0.71338606911949],"aabb_xy":[[0.4364547738947919,1.7145454929984933],[0.5644547779942559,1.7947344591771093]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.3524139276057223,1.4220859842783509,0.71338606911949],"aabb_xy":[[0.3397871403185259,1.412539910576778],[0.3650407148929186,1.4316320579799238]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.0797538897382154,-1.5026741878590546,0.71338606911949],"aabb_xy":[[-0.10497472659805505,-1.5278979387119411],[-0.054533052878375725,-1.4774504370061676]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[-0.5121920660593753,-1.4497826938108627,0.71338606911949],"aabb_xy":[[-0.55344087708929,-1.5047826933230801],[-0.4709432550294606,-1.3947826942986452]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.657645471563558,-0.46435641997964794,0.71338606911949],"aabb_xy":[[-0.6795352191524988,-0.5543564172688971],[-0.6357557239746172,-0.3743564226903988]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.4803002936976621,-1.662998591502701,0.71338606911949],"aabb_xy":[[-0.48834365362361726,-1.7479985925980674],[-0.4722569337717069,-1.5779985904073346]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[0.20035698600695961,-2.1843638391213003,0.71338606911949],"aabb_xy":[[0.19164301695702513,-2.2068638397804876],[0.2090709550568941,-2.161863838462111]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[0.4108657964543416,-1.471770626297802,0.71338606911949],"aabb_xy":[[0.3308657978670222,-1.5510862282359628],[0.49086579504166106,-1.392455024359641]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[0.5817704219367177,1.1758176364207626,0.71338606911949],"aabb_xy":[[0.5167704209795904,1.123869424487057],[0.6467704228938448,1.2277658483544682]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[-0.10102458797587943,0.5571792631145538,0.71338606911949],"aabb_xy":[[-0.11690908124120458,0.5428263228157297],[-0.08514009471055428,0.5715322034133778]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[0.4978946261324928,-1.9492881558943396,0.71338606911949],"aabb_xy":[[0.4338946268383245,-2.0132742962631935],[0.561894625426661,-1.8853020155254854]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.473443525275438,-0.6391291293362729,0.71338606911949],"aabb_xy":[[-0.5374435266834285,-0.6909180808601975],[-0.4094435238674473,-0.587340177812348]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.11129211410470219,-0.9637010111233908,0.71338606911949],"aabb_xy":[[-0.14879211392173575,-0.9683392224345326],[-0.07379211428766863,-0.959062799812249]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.3079113660084373,1.10535107615196,0.71338606911949],"aabb_xy":[[-0.34524264253368003,1.070698021357108],[-0.27058008948319473,1.1400041309468125]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.34810567953421123,1.333217383197633,0.71338606911949],"aabb_xy":[[0.33617294517238316,1.3208352303897737],[0.3600384138960393,1.3455995360054924]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.4860529039108856,-2.045855178634179,0.71338606911949],"aabb_xy":[[-0.49100892409576685,-2.0683551788363013],[-0.4810968837260045,-2.0233551784320576]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[-0.6624360319378961,-2.373094038643412,0.71338606911949],"aabb_xy":[[-0.6791131679309916,-2.3897939626173423],[-0.6457588959448006,-2.356394114669482]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[0.3143478698284421,-1.6481983121238217,0.71338606911949],"aabb_xy":[[0.27934786985194626,-1.6576629281714386],[0.3493478698049379,-1.6387336960762053]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[-0.06675668730941786,0.4225394862628069,0.71338606911949],"aabb_xy":[[-0.07379699724295487,0.3425394868631355],[-0.05971637737588088,0.5025394856624783]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.12143096658947417,1.0680062408425472,0.71338606911949],"aabb_xy":[[0.0753458753347427,1.0040062435899921],[0.16751605784420565,1.1320062380951024]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[0.4197366377161915,-0.8929011116634622,0.71338606911949],"aabb_xy":[[0.40215833552724467,-0.910475601237567],[0.43731493990513837,-0.8753266220893572]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.6215237467672372,0.6116604025520527,0.71338606911949],"aabb_xy":[[0.5858945908672775,0.5760277357951997],[0.657152902667197,0.6472930693089056]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[0.5519593074041405,-1.384529652696862,0.71338606911949],"aabb_xy":[[0.5458646795160221,-1.3930990472485307],[0.5580539352922588,-1.3759602581451933]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[-0.47882393260064987,1.321719163636307,0.71338606911949],"aabb_xy":[[-0.5013239331126904,1.2992273052709085],[-0.4563239320886092,1.3442110220017052]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6374611378893892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1742.png","name":"1742"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1742.png","name":"1742"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1553.png","name":"1553"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8764.png","name":"8764"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9559.png","name":"9559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4919.png","name":"4919"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":748.5711370530781,"rotation_z_degrees":280.5283471047873,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01848053994363062,-0.004662707320491517,-0.003422122741975956]},{"name":"camera_2","offset_m":[-0.01875394883958482,0.018214650242658646,-0.01556196595953158]},{"name":"camera_3","offset_m":[0.00540461708841208,0.013621575656054725,0.009761789536937949]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005715093431380813,0.0005455013814315121,-0.0008234675303614351],"end_effector_yaw_offset_degrees":0.3692364921357345},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013552815062492997,-0.0005640735580592748,-0.0006771511840805711],"end_effector_yaw_offset_degrees":0.8005729872098033},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001483398965126783,0.0006604321478689439,-0.001294337274309442],"end_effector_yaw_offset_degrees":0.8533957854288292},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008904552837859653,-0.0017869291250145359,0.0018672259832970043],"end_effector_yaw_offset_degrees":-0.11645911947797183},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005756821579229296,0.0006699562903888499,-0.0010532318112794147],"end_effector_yaw_offset_degrees":-0.42028348446280916},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011582520213540425,0.0006795707827481723,-0.0006445805433500347],"end_effector_yaw_offset_degrees":-0.4862747282857627}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024429705829838244,0.0033084905585608728],"position_m":[0.2326429705829838,0.037008490558560876,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004789798437727651,-0.0032735965040631833],"position_m":[0.20491020156227235,-0.3513735965040632,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003323648023142385,0.0026762969904451563],"position_m":[0.2955236480231424,0.2941762969904451,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003786138283221486,0.0038953283304584653],"position_m":[0.2738786138283222,-0.11860467166954153,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a3d6e89a564c21daa19d88279fd5cb96639c58d4a31ea9660efe0c89654e736e","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1742/tex_ceiling_textures_4919/tex_floor_textures_9559/tex_table_textures_1553/tex_wall_textures_8764","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":6051409613676716611,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":6051409613676716611,"visual_seed":6051409613676716611,"scene_id":"lab_003","finished_at":"2026-09-08T10:31:53"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T10:32:00","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.4809944493098807,-0.29895832985892,0.71338606911949],"aabb_xy":[[-0.540994449561282,-0.3532396548953846],[-0.4209944490584795,-0.2446770048224553]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.2944922692628008,1.084408058470249,0.71338606911949],"aabb_xy":[[0.2756078854942906,1.0655221336898961],[0.313376653031311,1.1032939832506017]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.29049056460217093,-1.6312497289378394,0.71338606911949],"aabb_xy":[[-0.2985339245281261,-1.7162497300332058],[-0.28244720467621576,-1.546249727842473]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.45547044232713363,1.0577685686229668,0.71338606911949],"aabb_xy":[[0.4461234347448384,1.0434649464053227],[0.46481744990942886,1.0720721908406108]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.5133076096267233,1.7392129347557845,0.71338606911949],"aabb_xy":[[0.4759763331014807,1.7045598799609325],[0.5506388861519659,1.773865989550637]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.20584989579596108,-1.591700593149802,0.71338606911949],"aabb_xy":[[-0.21761808259061863,-1.6767005930550238],[-0.1940817090013036,-1.5067005932445807]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.3588329637278902,-1.826961704456167,0.71338606911949],"aabb_xy":[[0.3088336885594541,-1.8769617057321144],[0.4088322388963264,-1.77696170318022]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[-0.3715905957695623,1.5293608922723103,0.71338606911949],"aabb_xy":[[-0.4265643178058952,1.4743608927080771],[-0.31661687373322944,1.5843608918365435]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[0.46071179046756416,-1.341809689229096,0.71338606911949],"aabb_xy":[[0.4382117902240488,-1.354014323888868],[0.4832117907110796,-1.329605054569324]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.29671675626758065,1.6606974670571426,0.71338606911949],"aabb_xy":[[-0.366716758904167,1.640592602061277],[-0.2267167536309943,1.680802332053008]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.11210564040865623,1.4005762786630482,0.71338606911949],"aabb_xy":[[-0.11860727691666087,1.3908084566367385],[-0.10560400390065164,1.410344100689358]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.5461180766158223,0.21036047238025812,0.71338606911949],"aabb_xy":[[-0.5693999188139537,0.12536047108303006],[-0.522836234417691,0.2953604736774862]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.09033883030410883,0.8043998860905788,0.71338606911949],"aabb_xy":[[-0.16033883243553837,0.7816379204648831],[-0.020338828172679277,0.8271618517162744]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.3464938179561927,1.1490838961303935,0.71338606911949],"aabb_xy":[[-0.3964668834887083,1.0990838963178609],[-0.2965207524236773,1.1990838959429266]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.05995735914392297,-1.812830746238688,0.71338606911949],"aabb_xy":[[-0.1239573594179012,-1.8628968464359759],[0.004042641130055265,-1.7627646460414]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.6633959683064496,-1.5438186327907248,0.71338606911949],"aabb_xy":[[0.6579380226694297,-1.623818636098384],[0.6688539139434698,-1.4638186294830657]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.09165421373575733,0.17899637339371877,0.71338606911949],"aabb_xy":[[-0.16165421554450277,0.15764260462953142],[-0.02165421192701189,0.20035014215790617]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.305280490433267,0.5778693610489474,0.71338606911949],"aabb_xy":[[-0.3421310383702546,0.5403693602259136],[-0.2684299424962794,0.6153693618719811]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.44875556317387333,-0.8428145421160789,0.71338606911949],"aabb_xy":[[0.40094939556010467,-0.9078145448231378],[0.496561730787642,-0.7778145394090199]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.2162029423409963,-2.1033309015466672,0.71338606911949],"aabb_xy":[[-0.22697591626236405,-2.1383308997657067],[-0.2054299684196285,-2.0683309033276287]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.20362578239262802,1.332252896367467,0.71338606911949],"aabb_xy":[[-0.2286257823251459,1.3253702281465438],[-0.17862578246011013,1.3391355645883904]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[-0.17698274325566077,-0.8067549160555223,0.71338606911949],"aabb_xy":[[-0.21198274156635621,-0.814469930979068],[-0.14198274494496532,-0.7990399011319766]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.10261072688984818,-1.3053573013606004,0.71338606911949],"aabb_xy":[[-0.11521342602692464,-1.317952697585466],[-0.09000802775277172,-1.292761905135735]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.4429748036763785,0.4944335977977512,0.71338606911949],"aabb_xy":[[-0.47756588653042364,0.4294335975127201],[-0.4083837208223332,0.5594335980827821]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[-0.016864343607512544,1.2697628364211728,0.71338606911949],"aabb_xy":[[-0.08086434071961823,1.2207304666267622],[0.047135653504593145,1.3187952062155834]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[0.10024420448200877,0.8060875836060895,0.71338606911949],"aabb_xy":[[0.030244202879729287,0.7926547904044319],[0.17024420608428825,0.819520376807747]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.5701078737535883,1.1864605872650298,0.71338606911949],"aabb_xy":[[0.5201078728030555,1.1549114402615084],[0.6201078747041211,1.2180097342685512]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[0.33473027563681557,-2.1857522576067923,0.71338606911949],"aabb_xy":[[0.2547302734740531,-2.265707441232936],[0.41473027779957805,-2.1057970739806486]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[0.38486569771364043,0.3643517942160228,0.71338606911949],"aabb_xy":[[0.34783158828558064,0.3299745868823133],[0.4218998071417001,0.39872900154973223]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[-0.2757318830913064,-2.3313713983099515,0.71338606911949],"aabb_xy":[[-0.30357691987191354,-2.3621558970482632],[-0.2478868463106993,-2.30058689957164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6341148969987743,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7305.png","name":"7305"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7305.png","name":"7305"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6922.png","name":"6922"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3247.png","name":"3247"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3024.png","name":"3024"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":610.2121660202527,"rotation_z_degrees":197.0058764998014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003821599633603484,-0.00277415232193913,-0.0015612759278758326]},{"name":"camera_2","offset_m":[0.016928372269748897,-0.007486333285458833,-0.006746847127985589]},{"name":"camera_3","offset_m":[0.013755576772135358,-0.014213474216511538,-0.01861867636861312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016966281999408056,-0.0009993442549159103,-0.001966861102067416],"end_effector_yaw_offset_degrees":-0.5365138693965184},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014151046341856653,-0.0019635663258334357,0.0005162414663736586],"end_effector_yaw_offset_degrees":-0.8864257017439556},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013730671958246555,-0.0004292072545725616,-0.0005940779338079647],"end_effector_yaw_offset_degrees":-0.8146877298925086},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019455375139668938,0.0013697397182805176,-0.0008929383335260139],"end_effector_yaw_offset_degrees":0.9595135950005518},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001857742632626011,-0.0002738348955031017,0.00044900428863837343],"end_effector_yaw_offset_degrees":0.28144081195241477},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009493403059216284,0.0013184523578892867,-0.0005725306968753922],"end_effector_yaw_offset_degrees":-0.06424409345375892}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007265718646740317,-0.0023733381049685642],"position_m":[0.23092657186467402,0.03132666189503144,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002970366726915209,0.002372800483430945],"position_m":[0.2067296332730848,-0.34572719951656905,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001423595956550899,-0.0009313633877145707],"position_m":[0.2936235959565509,0.29056863661228544,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003314565958682728,0.0018154411960359784],"position_m":[0.27681456595868276,-0.12068455880396402,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9eb37a295fdf30454d21f155abb4d005fa1db6d7e72ccb4fcc78da2a9c308879","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7305/tex_ceiling_textures_8390/tex_floor_textures_3024/tex_table_textures_6922/tex_wall_textures_3247","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":9179036763384725249,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":9179036763384725249,"visual_seed":9179036763384725249,"scene_id":"lab_003","finished_at":"2026-09-08T10:40:36"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T10:40:43","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.006795227433406881,-1.6943409979947688,0.71338606911949],"aabb_xy":[[-0.050835241453863964,-1.7543409969214792],[0.06442569632067773,-1.634340999068058]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.13213684490693245,-1.385657587904654,0.71338606911949],"aabb_xy":[[-0.17490355178635267,-1.4496575913264564],[-0.08937013802751229,-1.3216575844828515]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[0.6505258206802362,-0.9849756975062338,0.71338606911949],"aabb_xy":[[0.6155258193287545,-1.0053354334630544],[0.685525822031718,-0.9646159615494128]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[-0.6027067387786702,-0.1394873823727063,0.71338606911949],"aabb_xy":[[-0.6439555498085848,-0.1944873818849237],[-0.5614579277487554,-0.0844873828604888]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.4237872912926539,1.1913069127039964,0.71338606911949],"aabb_xy":[[0.38878729302253395,1.184232785009008],[0.45878728956277376,1.1983810403989843]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.236479495662062,-0.8652415892447556,0.71338606911949],"aabb_xy":[[-0.30647949207202374,-0.8856795248964372],[-0.16647949925210015,-0.8448036535930737]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.29853966071203397,1.7130952034718248,0.71338606911949],"aabb_xy":[[0.2635396615820783,1.7073499823961604],[0.33353965984198963,1.7188404245474886]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.36016695705582674,0.9699017367864755,0.71338606911949],"aabb_xy":[[-0.3699229465650006,0.9601392027272411],[-0.3504109675466528,0.97966427084571]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[0.373163959781611,0.4173337303725204,0.71338606911949],"aabb_xy":[[0.3131639595302098,0.3630524053360557],[0.43316396003301216,0.471615055408985]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.08623008233807161,-2.150843665112287,0.71338606911949],"aabb_xy":[[-0.10840260931472243,-2.1730193322684097],[-0.06405755536142076,-2.1286679979561636]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.5981142112570931,-1.1789948584403014,0.71338606911949],"aabb_xy":[[-0.6077458474775227,-1.1886321712200103],[-0.5884825750366635,-1.1693575456605925]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.39738122712831836,0.9938340372899619,0.71338606911949],"aabb_xy":[[0.37917540346707074,0.9828086367079703],[0.4155870507895661,1.0048594378719535]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.14695243330531904,0.7220349973044726,0.71338606911949],"aabb_xy":[[0.14053861966213407,0.7156251770568042],[0.15336624694850395,0.7284448175521409]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.05298151426239761,0.8739997399786281,0.71338606911949],"aabb_xy":[[-0.06485359727389872,0.7889997402849777],[-0.04110943125089649,0.9589997396722784]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.6685702253993953,0.28862954780677086,0.71338606911949],"aabb_xy":[[-0.6765637151946774,0.28063141586629525],[-0.6605767356041133,0.2966276797472466]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.13376990710388903,-0.23211787861095123,0.71338606911949],"aabb_xy":[[-0.1425719624128617,-0.23992920476588028],[-0.1249678517949163,-0.22430655245602213]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.5769086849571665,-2.0034286589740256,0.71338606911949],"aabb_xy":[[-0.5969670965704069,-2.023493745883183],[-0.5568502733439263,-1.9833635720648681]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.3703425747160223,0.7658267958539993,0.71338606911949],"aabb_xy":[[0.3629301191746338,0.7599755854323713],[0.37775503025741075,0.7716780062756272]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.030936590741639347,-2.4676513983606383,0.71338606911949],"aabb_xy":[[-0.034377266981696526,-2.4715128313350028],[-0.027495914501582182,-2.463789965386274]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.5440363084874373,-0.47572507753868765,0.71338606911949],"aabb_xy":[[-0.5534537830573001,-0.4851412546764066],[-0.5346188339175746,-0.46630890040096856]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.32264515127805904,-0.593643139321737,0.71338606911949],"aabb_xy":[[0.25864945388296245,-0.6576431376224456],[0.3866408486731556,-0.5296431410210283]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[-0.6023882171068875,-2.4610227421959947,0.71338606911949],"aabb_xy":[[-0.6136332726775053,-2.4722645399200895],[-0.5911431615362697,-2.449780944471899]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[0.5142707455370785,-0.9427387323145067,0.71338606911949],"aabb_xy":[[0.49726064824702787,-0.9588732208127805],[0.5312808428271292,-0.9266042438162326]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[-0.35696310263419906,0.3777789808643015,0.71338606911949],"aabb_xy":[[-0.41696310427712097,0.3257788315723573],[-0.29696310099127726,0.4297791301562457]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[0.433176043719506,-0.26919419396211763,0.71338606911949],"aabb_xy":[[0.39940048452881305,-0.28323268917528266],[0.466951602910199,-0.2551556987489526]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[-0.5201713038185422,1.6712202089915666,0.71338606911949],"aabb_xy":[[-0.6001713059813045,1.5912650253654228],[-0.44017130165577956,1.75117539261771]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[0.5281663375535202,-2.063247272904153,0.71338606911949],"aabb_xy":[[0.47817150462557867,-2.113247271799397],[0.5781611704814619,-2.01324727400891]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6358429442854954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4176.png","name":"4176"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4176.png","name":"4176"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9003.png","name":"9003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2266.png","name":"2266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9025.png","name":"9025"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8146.png","name":"8146"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":510.9179139857716,"rotation_z_degrees":228.5929764445339,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01225771252359598,-0.004043636507876012,0.017546907245968062]},{"name":"camera_2","offset_m":[0.00012808114274225416,-0.007483492880235469,-0.009355684677785176]},{"name":"camera_3","offset_m":[0.006796988735821009,-0.01958399999570573,0.01655199294144193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015407056537818837,0.0014573460699388993,-0.00026339046795627037],"end_effector_yaw_offset_degrees":0.3692934401102623},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023176758325954647,-9.727367028015618e-05,8.768486080056688e-05],"end_effector_yaw_offset_degrees":0.7800379250671432},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014920128579130117,-0.0011227245690142666,0.001968603883318383],"end_effector_yaw_offset_degrees":0.11401086825173734},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-2.5222393628045615e-05,0.0003839350030887009,0.0015471403299242331],"end_effector_yaw_offset_degrees":0.4850081232474328},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009285415942556991,0.00034428126276438327,-0.00012932922023579864],"end_effector_yaw_offset_degrees":0.328067044564762},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-1.6504510303947187e-05,0.0014404945329921748,-0.001930602430977398],"end_effector_yaw_offset_degrees":0.5174024936644739}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0049971250730805146,0.0011125346203915776],"position_m":[0.2351971250730805,0.03481253462039158,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00411629613639779,-0.004633272839742542],"position_m":[0.2055837038636022,-0.35273327283974254,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004859556662377825,-0.00385491169196574],"position_m":[0.2970595566623778,0.28764508830803426,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014073503533632362,0.0019520981433185291],"position_m":[0.2749073503533633,-0.12054790185668147,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0e05b077d9bcc0ae3a45c940b6ba846481cda0ab59695a5eeb9c0fe128e02aa7","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4176/tex_ceiling_textures_8146/tex_floor_textures_9025/tex_table_textures_9003/tex_wall_textures_2266","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5216360737155753397,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5216360737155753397,"visual_seed":5216360737155753397,"scene_id":"lab_003","finished_at":"2026-09-08T10:49:06"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T10:49:13","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.2969031054186605,0.48825195810817856,0.71338606911949],"aabb_xy":[[0.27440310589495304,0.46575601065755773],[0.31940310494236784,0.5107479055587992]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.24546816866417687,-1.9150620747388545,0.71338606911949],"aabb_xy":[[0.204450225277806,-1.9650620753698116],[0.28648611205054775,-1.865062074107897]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.06051813435373088,-1.7201092673530618,0.71338606911949],"aabb_xy":[[-0.09801813485108912,-1.7240779509011803],[-0.02301813385637263,-1.7161405838049433]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.6173596599331242,1.686553711291721,0.71338606911949],"aabb_xy":[[-0.677359659779691,1.6297350890986821],[-0.5573596600865575,1.7433723334847595]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[-0.30001753006961634,0.4362696677090425,0.71338606911949],"aabb_xy":[[-0.38501752876169093,0.40428380431416366],[-0.21501753137754165,0.4682555311039214]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.5783699071601298,-2.4696040639517722,0.71338606911949],"aabb_xy":[[0.4983699068865229,-2.542553611777489],[0.6583699074337368,-2.3966545161260555]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.5070139753966818,1.5495461480806543,0.71338606911949],"aabb_xy":[[-0.5133260749330202,1.5437792088274354],[-0.5007018758603434,1.5553130873338732]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.49220980096288725,0.12355752511863205,0.71338606911949],"aabb_xy":[[-0.5722097979771352,0.10342297344522076],[-0.4122098039486393,0.14369207679204332]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.25859409170779313,-0.7789178344069807,0.71338606911949],"aabb_xy":[[-0.277706399065772,-0.7980526132842227],[-0.23948178434981426,-0.7597830555297387]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.5212173801705535,-1.1707653913578646,0.71338606911949],"aabb_xy":[[0.511064364616404,-1.2068349329306047],[0.5313703957247028,-1.134695849785124]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.21300617439519426,1.0869866802938595,0.71338606911949],"aabb_xy":[[-0.27700617509866365,1.040968297820939],[-0.14900617369172495,1.133005062766781]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.617018270105488,-0.7193320291472247,0.71338606911949],"aabb_xy":[[0.5620182709288986,-0.7743217039221822],[0.6720182692820775,-0.664342354372267]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[-0.5314177956199357,-1.6955703804920468,0.71338606911949],"aabb_xy":[[-0.5964177982577293,-1.7470499791914935],[-0.46641779298214237,-1.6440907817925996]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.48661469465706175,0.11313746351464893,0.71338606911949],"aabb_xy":[[0.4579653622966455,0.08449190423757312],[0.515264027017478,0.14178302279172472]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.41990072136490025,0.8255214441355618,0.71338606911949],"aabb_xy":[[-0.47391631764680026,0.7615214412433046],[-0.36588512508300025,0.8895214470278189]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.49821600068501803,-2.272534022678071,0.71338606911949],"aabb_xy":[[0.47037096390441097,-2.3033185214163825],[0.5260610374656252,-2.241749523939759]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.40583073860084,-0.21241511889713482,0.71338606911949],"aabb_xy":[[-0.4128721895515877,-0.21944187063492937],[-0.3987892876500925,-0.20538836715934028]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.3869965265523016,-1.059081674851002,0.71338606911949],"aabb_xy":[[-0.3966281627727312,-1.0687189876307108],[-0.377364890331872,-1.049444362071293]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.33134456092602876,-0.5172366409670346,0.71338606911949],"aabb_xy":[[-0.39134456178684146,-0.5686630709735209],[-0.27134456006521585,-0.46581021096054814]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.4547842635696371,1.1652043076050842,0.71338606911949],"aabb_xy":[[0.4460863012789218,1.1530793332976095],[0.46348222586035237,1.177329281912559]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6376844799246008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2147.png","name":"2147"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2147.png","name":"2147"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9922.png","name":"9922"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3459.png","name":"3459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/713.png","name":"713"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2637.png","name":"2637"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":675.0885264354308,"rotation_z_degrees":104.81324627457873,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019737896269802904,0.00039447086390540995,0.007877482626461086]},{"name":"camera_2","offset_m":[0.0168395155870501,-0.010131582681394677,-0.018307555404588255]},{"name":"camera_3","offset_m":[-0.015505125336607258,-0.014196850852279326,0.003861707078563214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002147271130398653,-0.0016775996880255266,-0.00178826577374873],"end_effector_yaw_offset_degrees":0.001085691197031169},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001525814534193968,-0.0006223357679888465,0.0007598888986963381],"end_effector_yaw_offset_degrees":0.020464914949689383},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013710070714497901,0.0015111433577969526,0.0014281748520169088],"end_effector_yaw_offset_degrees":0.8458771626969752},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0003384459647022783,0.001829982286027014,-0.0018762034818594594],"end_effector_yaw_offset_degrees":0.30085220902146226},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0015425560426957589,0.001999441751190936,-0.0012566234441698074],"end_effector_yaw_offset_degrees":-0.7729346812480824},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013255765432998471,-0.0011889778435464052,-0.0018795212996128474],"end_effector_yaw_offset_degrees":0.6442379257652919}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004524325125203324,0.0034005373018120453],"position_m":[0.22567567487479667,0.037100537301812044,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000400093697361565,-0.001716499458795121],"position_m":[0.21010009369736157,-0.3498164994587951,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0047586258577415885,0.0039054201763648573],"position_m":[0.28744137414225845,0.29540542017636484,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003075928834026474,-0.00408539483172656],"position_m":[0.2765759288340265,-0.12658539483172657,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"599499f2e62e8aeb2efe97c1953c198d03e3b0781a52b2cfddd2807ca5b45a12","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2147/tex_ceiling_textures_2637/tex_floor_textures_713/tex_table_textures_9922/tex_wall_textures_3459","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4734444333329137374,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4734444333329137374,"visual_seed":4734444333329137374,"scene_id":"lab_003","finished_at":"2026-09-08T10:57:11"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T10:57:18","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[0.03670245636598457,1.027811464444203,0.71338606911949],"aabb_xy":[[-0.018289794269526382,0.9728114627008904],[0.09169470700149551,1.082811466187516]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.6124265667588007,1.5400538450518702,0.71338606911949],"aabb_xy":[[0.5749265669417671,1.5354156337407283],[0.6499265665758343,1.544692056363012]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.12207006803144738,-0.697551707871914,0.71338606911949],"aabb_xy":[[-0.13400280239327544,-0.7099338606797734],[-0.11013733366961931,-0.6851695550640546]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.527247301808194,-1.4370928968340153,0.71338606911949],"aabb_xy":[[-0.5912473037205362,-1.4930040460920257],[-0.46324729989585156,-1.3811817475760049]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.34774369645342107,-2.48217433709382,0.71338606911949],"aabb_xy":[[-0.4117436971568905,-2.528192719566741],[-0.2837436957499518,-2.436155954620899]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[-0.46797709094683665,1.6269883777387268,0.71338606911949],"aabb_xy":[[-0.4966264233072528,1.5983428184616508],[-0.43932775858642037,1.6556339370158024]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.631473381886299,-2.497037826094845,0.71338606911949],"aabb_xy":[[0.5464733834688758,-2.5819121215571306],[0.7164733803037222,-2.4121635306325606]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.5228280557833782,-1.7468878530101377,0.71338606911949],"aabb_xy":[[0.5052813608672594,-1.7843878545743892],[0.5403747506994973,-1.7093878514458867]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.2425455802016654,1.0164425105646036,0.71338606911949],"aabb_xy":[[0.17254557839291995,0.9950887418004162],[0.3125455820104108,1.037796279328791]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.12447765420207468,1.073934696380507,0.71338606911949],"aabb_xy":[[-0.14157973216044284,1.0568278908492372],[-0.10737557624370654,1.0910415019117767]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.5850001682881689,-0.6232294586353175,0.71338606911949],"aabb_xy":[[-0.649000170508576,-0.6676025427606058],[-0.5210001660677619,-0.5788563745100292]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.3759401557216265,0.05562994008728239,0.71338606911949],"aabb_xy":[[-0.41327143224686913,0.020976885292430088],[-0.3386088791963838,0.0902829948821347]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.4043232954355451,0.7502930177555984,0.71338606911949],"aabb_xy":[[0.3443232937926233,0.6982928684636542],[0.464323297078467,0.8022931670475426]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.5438387928077052,-1.2338845638850835,0.71338606911949],"aabb_xy":[[-0.593838794091545,-1.2838634182757052],[-0.4938387915238652,-1.183905709494461]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.44489836356450696,0.5339350149677577,0.71338606911949],"aabb_xy":[[0.38089836027479884,0.4906000959638402],[0.5088983668542151,0.5772699339716754]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.03417408198505145,-2.3248299973904163,0.71338606911949],"aabb_xy":[[-0.01530633922890734,-2.388829995303268],[0.08365450319901024,-2.2608299994775645]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[0.05856683220905312,1.7802058046421902,0.71338606911949],"aabb_xy":[[0.036102062237647996,1.7577058037633297],[0.08103160218045824,1.8027058055210508]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.18409892068487055,-0.8421188588816568,0.71338606911949],"aabb_xy":[[-0.2540989233214569,-0.8622237238775223],[-0.11409891804828418,-0.8220139938857913]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.6304706776390523,1.395270479462904,0.71338606911949],"aabb_xy":[[0.614914908228787,1.379720046218497],[0.6460264470493176,1.4108209127073115]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[0.3185890095277135,-1.097236080370667,0.71338606911949],"aabb_xy":[[0.23486678402763106,-1.187236083905363],[0.402311235027796,-1.0072360768359712]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[0.6927637469770718,-1.306303798616873,0.71338606911949],"aabb_xy":[[0.6798918434761316,-1.3863037990307092],[0.7056356504780119,-1.226303798203037]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.6838597954889594,-1.153205595344,0.71338606911949],"aabb_xy":[[0.6513980946070318,-1.183338427458902],[0.7163214963708867,-1.1230727632290969]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.47759524724288527,0.41585385560270893,0.71338606911949],"aabb_xy":[[0.46674364099400967,0.40499456487505786],[0.48844685349176087,0.4267131463303599]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.07248473981152859,-2.558231885155482,0.71338606911949],"aabb_xy":[[-0.0946572667881794,-2.580407552311605],[-0.05031221283487773,-2.536056217999359]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[0.23092048922582664,-2.1651101584763053,0.71338606911949],"aabb_xy":[[0.22321729855174954,-2.172819529175043],[0.23862367989990363,-2.1574007877775667]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[-0.6541127764005248,-0.8556468915074886,0.71338606911949],"aabb_xy":[[-0.6916127779161565,-0.8668736645236337],[-0.6166127748848931,-0.8444201184913436]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[-0.4441287941228141,0.48601857721117137,0.71338606911949],"aabb_xy":[[-0.458772199676847,0.47135985755438703],[-0.42948538856878105,0.5006772968679556]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[-0.16648465918896027,-1.4761594440896255,0.71338606911949],"aabb_xy":[[-0.2014846583189159,-1.4819046651652896],[-0.13148466005900458,-1.4704142230139614]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[-0.1850384378217551,-1.0917130493085396,0.71338606911949],"aabb_xy":[[-0.26503844108576824,-1.105273081617453],[-0.10503843455774198,-1.0781530169996263]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_29","position":[0.2386100241195822,0.5396326036688595,0.71338606911949],"aabb_xy":[[0.21611088839335524,0.5171326028905965],[0.2611091598458092,0.5621326044471224]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[-0.025370897781079038,0.7076828252642957,0.71338606911949],"aabb_xy":[[-0.062405007209138746,0.6733056179305862],[0.01166321164698068,0.742060032598005]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_31","position":[0.45932462154306997,-1.4534665403258402,0.71338606911949],"aabb_xy":[[0.421824621437477,-1.4602887021788211],[0.4968246216486629,-1.4466443784728589]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6363842444222167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/156.png","name":"156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/156.png","name":"156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6406.png","name":"6406"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/867.png","name":"867"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7670.png","name":"7670"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2632.png","name":"2632"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":824.2724525274891,"rotation_z_degrees":84.53764081042766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018908632191640396,0.006054467481298835,0.013303902882708104]},{"name":"camera_2","offset_m":[-0.014194887346719857,0.010535558304105477,-0.010933286911763962]},{"name":"camera_3","offset_m":[0.0010080880226696898,0.0018372269617185737,-0.019228371793542892]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017104955036199724,0.0014121127246315254,-0.0018259136564130554],"end_effector_yaw_offset_degrees":-0.8285658368925497},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003407075677409159,-0.00024239901271395112,-5.856216423333468e-05],"end_effector_yaw_offset_degrees":0.6692515541853699},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013285716659302204,0.0009513618431266678,0.0018523082639640056],"end_effector_yaw_offset_degrees":0.6330168418896303},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0007914455546051634,-0.0005203022734754934,0.0010192416808296367],"end_effector_yaw_offset_degrees":0.6828227672148179},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0013248478302008361,-0.0007242685977442188,-0.00033740622595957196],"end_effector_yaw_offset_degrees":-0.39269038525141764},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013893509135749188,-0.0013712777757064548,0.0012690889090028758],"end_effector_yaw_offset_degrees":-0.7327974192761859}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004080110979246213,-0.0013392306102578198],"position_m":[0.22979198890207536,0.03236076938974218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005096664245951166,-0.0007327469185783985],"position_m":[0.20919033357540487,-0.3488327469185784,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003645390586164023,-0.0016942509818646811],"position_m":[0.29584539058616405,0.2898057490181353,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004010314730222247,0.0017910829066004755],"position_m":[0.27751031473022225,-0.12070891709339952,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f133a3c362cbddd9a24bc7ea0d962411b972f5b623aa598dc705f98a76f326fc","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_156/tex_ceiling_textures_2632/tex_floor_textures_7670/tex_table_textures_6406/tex_wall_textures_867","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1558985537870609008,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1558985537870609008,"visual_seed":1558985537870609008,"scene_id":"lab_003","finished_at":"2026-09-08T11:05:57"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T11:06:04","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.5010665280648616,0.6308279533379828,0.71338606911949],"aabb_xy":[[0.49573401341024864,0.6255036250927473],[0.5063990427194747,0.6361522815832183]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.5458961741101188,1.1656132595471385,0.71338606911949],"aabb_xy":[[-0.5636896810450353,1.1478135139513408],[-0.5281026671752024,1.1834130051429361]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[0.27291148338278515,-0.5070180460279046,0.71338606911949],"aabb_xy":[[0.2604441252730495,-0.5194833706612281],[0.2853788414925208,-0.49455272139458106]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.31187128732596503,-0.8883540973533257,0.71338606911949],"aabb_xy":[[0.29872004135467567,-0.9133540971100125],[0.3250225332972544,-0.8633540975966394]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.7017961838694664,1.8075150805857425,0.71338606911949],"aabb_xy":[[0.684120553280868,1.78983486430634],[0.7194718144580646,1.8251952968651455]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[0.26980242927291564,1.066123209383191,0.71338606911949],"aabb_xy":[[0.18480243085549242,0.981248913920906],[0.3548024276903389,1.150997504845476]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.4610427677470339,-0.7323098302851401,0.71338606911949],"aabb_xy":[[-0.49604276605772935,-0.7400248452086856],[-0.42604276943633845,-0.7245948153615943]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.4981102319878272,-0.09477913474435473,0.71338606911949],"aabb_xy":[[-0.5324071430055677,-0.1290760209542961],[-0.46381332097008654,-0.06048224853441335]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.6244876252365077,-0.5321449573890975,0.71338606911949],"aabb_xy":[[-0.6666720393973384,-0.5961449576663087],[-0.582303211075677,-0.4681449571118863]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.36017481223186887,0.40004538353409913,0.71338606911949],"aabb_xy":[[-0.4498618885399844,0.3100453832796486],[-0.27048773592375347,0.49004538378854967]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.6918110784009277,-1.746422227013316,0.71338606911949],"aabb_xy":[[0.6876752220682275,-1.7839222264576735],[0.6959469347336279,-1.7089222275689595]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.11971602162089956,-2.2404222014118407,0.71338606911949],"aabb_xy":[[-0.13231872075797602,-2.253017597636706],[-0.1071133224838231,-2.227826805186975]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.5539338747656781,1.5299708125837115,0.71338606911949],"aabb_xy":[[-0.5599004137064139,1.5240096679243476],[-0.5479673358249424,1.5359319572430759]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.11621146349624012,-2.1659062273340073,0.71338606911949],"aabb_xy":[[0.0827712883002205,-2.199349853164937],[0.1496516386922597,-2.1324626015030765]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.140376951016279,-2.4578860644440867,0.71338606911949],"aabb_xy":[[-0.14741726094981603,-2.5378860638437586],[-0.13333664108274204,-2.377886065044416]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.38923217042014313,-2.017379473582297,0.71338606911949],"aabb_xy":[[0.3342321712435536,-2.072369148357254],[0.44423216959673256,-1.9623897988073389]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.33229072501665674,-0.6304110406399981,0.71338606911949],"aabb_xy":[[-0.3693248344447164,-0.6647882479737074],[-0.29525661558859695,-0.5960338333062886]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.6343536977505002,-0.35837652133432796,0.71338606911949],"aabb_xy":[[0.5443536954164813,-0.43585887591944056],[0.7243537000845194,-0.28089416674921525]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.07216702072199821,1.4399725357790865,0.71338606911949],"aabb_xy":[[-0.12216702238349296,1.3899740935233835],[-0.022167019060503442,1.489970978034789]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.35662533036996397,-2.186298472355342,0.71338606911949],"aabb_xy":[[-0.3865928872797896,-2.216298472653228],[-0.32665777346013825,-2.1562984720574563]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[0.6776584542834467,0.34601735884811946,0.71338606911949],"aabb_xy":[[0.6426584543874279,0.33764312333617946],[0.7126584541794656,0.35439159436005935]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[-0.4669860199302712,0.6555224576119691,0.71338606911949],"aabb_xy":[[-0.48448595336425454,0.6380224576917346],[-0.4494860864962878,0.6730224575322037]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[-0.6039856567124222,-2.1088601207843634,0.71338606911949],"aabb_xy":[[-0.6539849318808584,-2.158860122060311],[-0.553986381543986,-2.0588601195084166]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.017939610186987864,0.9801944122585242,0.71338606911949],"aabb_xy":[[-0.02518337623323319,0.9001944140549217],[-0.010695844140742539,1.0601944104621266]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[0.08570316402910505,1.3912554303412645,0.71338606911949],"aabb_xy":[[0.021703162621114377,1.3394664788173396],[0.1497031654370957,1.443044381865189]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.42231727106352535,-1.169411321009666,0.71338606911949],"aabb_xy":[[-0.45981727156088353,-1.1733800045577842],[-0.38481727056616705,-1.1654426374615476]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[0.5884372147971486,1.7720925414365287,0.71338606911949],"aabb_xy":[[0.5509372162215277,1.7593562457729706],[0.6259372133727693,1.7848288371000864]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[-0.3771487453302766,-2.397404010947536,0.71338606911949],"aabb_xy":[[-0.4371487451768434,-2.4542226331405748],[-0.3171487454837098,-2.3405853887544974]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[0.5759006180130686,0.9703112434825258,0.71338606911949],"aabb_xy":[[0.5259163823048913,0.9203112446690301],[0.6258848537212458,1.0203112422960214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6345191820352348,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7085.png","name":"7085"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7085.png","name":"7085"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4442.png","name":"4442"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6541.png","name":"6541"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5473.png","name":"5473"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4299.png","name":"4299"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":770.2649554596453,"rotation_z_degrees":359.107278527741,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008300437475137274,-0.013964849796724858,0.010568409398873723]},{"name":"camera_2","offset_m":[0.012551624357720743,0.01955115694136324,-0.019652329055813142]},{"name":"camera_3","offset_m":[-0.01374781598816155,0.009292934759420533,0.012694430384209438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011443127089050247,-0.0006208277379096475,-0.0010350139628049755],"end_effector_yaw_offset_degrees":0.7168943494119993},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018468006950094228,-0.0005352549891077497,0.001447857717687526],"end_effector_yaw_offset_degrees":-0.22607084896387475},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018098280340408325,-0.001868661242270637,-0.0010589458431536753],"end_effector_yaw_offset_degrees":0.39238216315671504},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005910711568610791,-0.0014384983513312695,-0.0013951895029948348],"end_effector_yaw_offset_degrees":0.8981063119343842},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009496023494877828,-0.0015571654935257007,0.0008747501659224443],"end_effector_yaw_offset_degrees":-0.8108404147836692},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0008041819823816261,-0.0016131518706341784,-0.001930025907731394],"end_effector_yaw_offset_degrees":0.3215193354252073}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002695879550336385,-0.003940556875850554],"position_m":[0.23289587955033636,0.029759443124149448,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009542239010026463,0.0026491617742047625],"position_m":[0.20874577609899736,-0.34545083822579525,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00037512044003245107,0.003402331327911315],"position_m":[0.29182487955996755,0.29490233132791127,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003002576429699958,0.0029314062987339387],"position_m":[0.27380025764297,-0.11956859370126606,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c69ecdf61b75e30dd7e2d9d13ccfb3d5ba994b8127e3713cc689efff0cad2eb6","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7085/tex_ceiling_textures_4299/tex_floor_textures_5473/tex_table_textures_4442/tex_wall_textures_6541","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":6825380987951070441,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":6825380987951070441,"visual_seed":6825380987951070441,"scene_id":"lab_003","finished_at":"2026-09-08T11:13:40"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T11:24:00","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.3132888080088372,-1.6288215249407736,0.71338606911949],"aabb_xy":[[0.30865369285660377,-1.632688860017922],[0.3179239231610705,-1.6249541898636248]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.07398655590899028,-1.770517345070127,0.71338606911949],"aabb_xy":[[0.009986558796884593,-1.8195497148645376],[0.13798655302109597,-1.7214849752757164]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[0.4259038449312351,-0.5193715516890718,0.71338606911949],"aabb_xy":[[0.37608706546640036,-0.5693715501733752],[0.4757206243960699,-0.4693715532047684]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.2530463967656923,-2.2954688600359354,0.71338606911949],"aabb_xy":[[0.230546396755544,-2.3095650796755387],[0.2755463967758406,-2.281372640396332]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[-0.22932353323339622,0.33243007688572446,0.71338606911949],"aabb_xy":[[-0.24119561624489733,0.24743007719207416],[-0.2174514502218951,0.41743007657937486]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.4125080564153758,-1.9438603039992133,0.71338606911949],"aabb_xy":[[-0.4725080570113919,-1.9986727765444365],[-0.35250805581935957,-1.8890478314539896]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.2239219240738457,1.3897851481633534,0.71338606911949],"aabb_xy":[[0.21335444441574666,1.3792401180503446],[0.23448940373194468,1.4003301782763617]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.006432814885119931,-0.7636483530458706,0.71338606911949],"aabb_xy":[[-0.07356718227445536,-0.7751959540036877],[0.08643281204469522,-0.7521007520880536]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.15520100487699084,-1.2863524651101899,0.71338606911949],"aabb_xy":[[0.10520100623106965,-1.3362720087696522],[0.20520100352291204,-1.2364329214507275]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.687227476955403,0.8378771896817958,0.71338606911949],"aabb_xy":[[0.669649174766456,0.8203027001076909],[0.7048057791443497,0.8554516792559007]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.35102168134968714,1.4490712507846362,0.71338606911949],"aabb_xy":[[0.3135216829262868,1.4359070368168052],[0.3885216797730875,1.4622354647524667]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[-0.5565007061253276,0.13195773644993514,0.71338606911949],"aabb_xy":[[-0.5599413823653848,0.1280963034755707],[-0.5530600298852705,0.13581916942429964]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.6011809771395882,-1.6081406629018082,0.71338606911949],"aabb_xy":[[0.5311809750081585,-1.630902628527504],[0.6711809792710176,-1.5853786972761126]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.2939621682943555,0.4018036703333956,0.71338606911949],"aabb_xy":[[-0.3021767134100394,0.39312708003575425],[-0.2857476231786714,0.4104802606310368]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.41135591933326887,-1.6153694045278595,0.71338606911949],"aabb_xy":[[-0.4763559202903961,-1.6673176164615648],[-0.34635591837614166,-1.5634211925941537]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.6020593454868015,0.5989599652794806,0.71338606911949],"aabb_xy":[[0.5770593455542837,0.5920772970585572],[0.6270593454193195,0.6058426335004038]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.12961904042008432,1.775819452340142,0.71338606911949],"aabb_xy":[[-0.19961904305667064,1.7557145873442765],[-0.05961903778349795,1.7959243173360075]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.4318630948247007,1.6312483995701696,0.71338606911949],"aabb_xy":[[-0.4819605588057744,1.5672483990603578],[-0.38176563084362714,1.6952484000799815]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[-0.12009754469442069,-2.10011884128899,0.71338606911949],"aabb_xy":[[-0.14261123651787788,-2.1701188418899977],[-0.09758385287096351,-2.0301188406879827]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.43317505153440594,0.8924565715556341,0.71338606911949],"aabb_xy":[[0.3831750505838731,0.8609074245521126],[0.4831750524849387,0.9240057185591554]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.05628318931819787,-1.2157815111085477,0.71338606911949],"aabb_xy":[[-0.09378319050299064,-1.220199733804608],[-0.01878318813340506,-1.211363288412487]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.662743498724947,-0.007721270913720435,0.71338606911949],"aabb_xy":[[-0.6816278824934573,-0.026607195694073216],[-0.6438591149564369,0.011164653866632346]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.6764187339034757,-0.1520463062979922,0.71338606911949],"aabb_xy":[[0.6603568064449581,-0.23704630811058403],[0.6924806613619934,-0.0670463044854004]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.5949756999188901,-0.9913683063014849,0.71338606911949],"aabb_xy":[[-0.6324756997359237,-0.9960065176126267],[-0.5574757001018565,-0.986730094990343]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.5632229237884,-0.11979259889933713,0.71338606911949],"aabb_xy":[[-0.5806536388674064,-0.13706471356318792],[-0.5457922087093934,-0.1025204842354863]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[0.5472484579551149,1.4620311146207619,0.71338606911949],"aabb_xy":[[0.4972536250271733,1.4120311157255183],[0.5972432908830565,1.5120311135160054]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[-0.26498664338476124,-2.2523171054053415,0.71338606911949],"aabb_xy":[[-0.3024866433285276,-2.260610195440178],[-0.22748664344099478,-2.244024015370505]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_27","position":[-0.3553604252103127,0.28463352254417584,0.71338606911949],"aabb_xy":[[-0.4203604262108132,0.23384715738950085],[-0.2903604242098122,0.3354198876988507]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[0.40881223011692724,-2.180639175163,0.71338606911949],"aabb_xy":[[0.3238122314248526,-2.2126250385578787],[0.4938122288090019,-2.148653311768121]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[-0.40218890187412115,-0.841966323196613,0.71338606911949],"aabb_xy":[[-0.40610277506954373,-0.8507153386031698],[-0.3982750286786987,-0.8332173077900562]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[0.47644901740492074,-0.9370993369504339,0.71338606911949],"aabb_xy":[[0.46775105511420545,-0.9492243112579087],[0.485146979695636,-0.9249743626429593]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[0.24196915706730537,-2.041526957123916,0.71338606911949],"aabb_xy":[[0.16196915841041937,-2.0560318160481788],[0.3219691557241914,-2.027022098199653]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6340186617741831,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2754.png","name":"2754"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2754.png","name":"2754"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4326.png","name":"4326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2450.png","name":"2450"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2475.png","name":"2475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":571.910875218838,"rotation_z_degrees":186.62347077920185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003891253184503323,-0.006854143372625531,-0.010626772619397764]},{"name":"camera_2","offset_m":[0.007353921660376312,-0.013326755003841662,-0.000163244913468176]},{"name":"camera_3","offset_m":[0.013153756456412497,-0.012403785412894757,0.0025130628531867434]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014243785574225777,-0.0019248318575409416,-0.0016990763388874987],"end_effector_yaw_offset_degrees":0.4791428655634131},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.9035764355528774e-05,-0.0005014822262011664,0.001179697460162981],"end_effector_yaw_offset_degrees":0.5485160339631148},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016484238477178777,-2.764297419498036e-05,0.0011505588072197666],"end_effector_yaw_offset_degrees":-0.2766862459895192},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001477563866383137,0.0012025423015959449,0.0015289920985565018],"end_effector_yaw_offset_degrees":0.3909366635657623},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018494433242945995,-0.0017741035746264978,-0.0017382940467922175],"end_effector_yaw_offset_degrees":-0.42176087027831444},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000499931141032064,0.001065777018380862,-0.0010336752087873567],"end_effector_yaw_offset_degrees":0.5793295891592225}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004305152820684166,0.00251432975991171],"position_m":[0.2306305152820684,0.03621432975991171,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024018250893788375,0.0006957608682389505],"position_m":[0.20729817491062116,-0.34740423913176105,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0027745973844082216,-0.0022384750566919144],"position_m":[0.2894254026155918,0.2892615249433081,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038225766744434033,0.0009217053928478195],"position_m":[0.2696774233255566,-0.12157829460715218,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7889b2d6fca70372eefc3f4bff383ce8798a57afae9ba704a55f80567ea42417","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2754/tex_ceiling_textures_6711/tex_floor_textures_2475/tex_table_textures_4326/tex_wall_textures_2450","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5241194879079458762,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5241194879079458762,"visual_seed":5241194879079458762,"scene_id":"lab_003","finished_at":"2026-09-08T11:31:47"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T11:31:54","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.2379485420921118,-2.5560529387613258,0.71338606911949],"aabb_xy":[[0.22670348652149397,-2.567294736485421],[0.24919359766272964,-2.5448111410372305]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[0.2956084123421674,-0.9348300126268843,0.71338606911949],"aabb_xy":[[0.21060841365009275,-0.966815876021763],[0.38060841103424203,-0.9028441492320053]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.08134527874545794,-0.9741557544805777,0.71338606911949],"aabb_xy":[[0.04543177432046826,-1.0100692626973324],[0.11725878317044762,-0.9382422462638231]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[0.5887964735099909,-1.1754977831760778,0.71338606911949],"aabb_xy":[[0.5786434579558414,-1.211567324748818],[0.5989494890641401,-1.1394282416033372]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.4240632274009912,1.7969000059720206,0.71338606911949],"aabb_xy":[[0.40585740373974355,1.7858746053900287],[0.4422690510622389,1.807925406554012]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.10873162894814359,1.7543218103561977,0.71338606911949],"aabb_xy":[[-0.14623162961272226,1.7386347523559755],[-0.07123162828356487,1.77000886835642]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.09659642484672282,1.15578254999995,0.71338606911949],"aabb_xy":[[0.08195301929268982,1.1411238303431654],[0.11123983040075579,1.170441269656734]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[0.3535473195585517,-2.308505911293324,0.71338606911949],"aabb_xy":[[0.30354804439011557,-2.3585059125692713],[0.4035465947269879,-2.258505910017377]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[0.012426113405545336,-2.09453903851937,0.71338606911949],"aabb_xy":[[-0.05157388729792402,-2.1405574209922915],[0.07642611410901469,-2.0485206560464495]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.20967847902302827,-2.3138711182419134,0.71338606911949],"aabb_xy":[[0.17467848071233283,-2.321586133165459],[0.24467847733372372,-2.3061561033183677]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[0.23112449683267355,0.9649925866294944,0.71338606911949],"aabb_xy":[[0.22342130615859648,0.9572832159307563],[0.23882768750675057,0.9727019573282323]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.43149999698363595,-0.3308376704854039,0.71338606911949],"aabb_xy":[[0.40959131484428496,-0.3527383373054946],[0.45340867912298705,-0.3089370036653131]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.5682071810090699,-1.4033614372111005,0.71338606911949],"aabb_xy":[[0.48820718235218397,-1.4178662961353634],[0.648207179665956,-1.3888565782868376]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[0.3782990404979585,1.4419211316235887,0.71338606911949],"aabb_xy":[[0.2882990410795876,1.408545634779399],[0.4682990399163294,1.4752966284677784]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.3583558189480265,1.1111752211754018,0.71338606911949],"aabb_xy":[[-0.37345812040904447,1.0960736995443394],[-0.3432535174870083,1.1262767428064633]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.4230525309654582,0.013059765168800475,0.71338606911949],"aabb_xy":[[-0.5030525289462433,0.0054582242069485245],[-0.34305253298467314,0.02066130613065242]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.6157626419457818,0.38822800719559725,0.71338606911949],"aabb_xy":[[0.5357626386879387,0.3082314994036133],[0.6957626452036246,0.4682245149875812]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.12364996796362016,-0.9235715580411019,0.71338606911949],"aabb_xy":[[-0.14614996777752254,-0.9280461744115827],[-0.10114996814971776,-0.9190969416706212]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.1294025577583734,-2.368157748979239,0.71338606911949],"aabb_xy":[[-0.16690255927400507,-2.3793845219953837],[-0.09190255624274166,-2.3569309759630936]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.22062357434213542,0.6645268975392575,0.71338606911949],"aabb_xy":[[0.21420976069895048,0.658117077291589],[0.22703738798532036,0.6709367177869257]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.47418462999014643,-1.7304829630346634,0.71338606911949],"aabb_xy":[[0.410184631403574,-1.7774899264341721],[0.5381846285767189,-1.6834759996351547]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[0.49095718454450465,0.17803335784517138,0.71338606911949],"aabb_xy":[[0.4837134184982594,0.09803335964156898],[0.49820095059075004,0.25803335604877375]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.1970357473471076,-0.5386947436556593,0.71338606911949],"aabb_xy":[[-0.24703574836624292,-0.5751609593934872],[-0.14703574632797237,-0.5022285279178313]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[-0.12945716589942935,1.0800690469057357,0.71338606911949],"aabb_xy":[[-0.17893758711338817,1.0160690489928839],[-0.07997674468547059,1.1440690448185875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6336519051727223,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/908.png","name":"908"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/908.png","name":"908"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4172.png","name":"4172"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4668.png","name":"4668"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9107.png","name":"9107"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6763.png","name":"6763"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":822.427576299004,"rotation_z_degrees":357.62533812617767,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024534595157774536,-0.002992406492567979,0.00407117466111535]},{"name":"camera_2","offset_m":[0.008579940020109533,-0.006790755511239421,-0.0019913310669615533]},{"name":"camera_3","offset_m":[-0.013621455827623214,-0.01687956288713897,-0.013961006569263499]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001583865566379628,0.0013338688331482073,0.0015845679773718638],"end_effector_yaw_offset_degrees":-0.7029289544973849},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019199633895245621,0.0006424754895405999,-0.001373377965064333],"end_effector_yaw_offset_degrees":-0.4079612605227738},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015487896670217211,0.0012013980958829025,0.0013864522093604541],"end_effector_yaw_offset_degrees":-0.7091226338109917},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005735515921279678,0.0019189580875871503,0.001582191929183022],"end_effector_yaw_offset_degrees":0.23379286682145994},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001606939883933978,-0.0002953281424226816,0.0007979299654970098],"end_effector_yaw_offset_degrees":-0.3029193497594489},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-8.863203068782918e-05,2.9160892612392283e-05,-0.0007446423378403085],"end_effector_yaw_offset_degrees":-0.8127131357098154}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038564584888752503,6.394772251020614e-05],"position_m":[0.23405645848887524,0.03376394772251021,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004209408587369698,-0.0006778360327812025],"position_m":[0.2054905914126303,-0.34877783603278123,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0027898124381909783,-0.004618078912748177],"position_m":[0.294989812438191,0.2868819210872518,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002645267447259424,-0.00254385183330708],"position_m":[0.2708547325527406,-0.12504385183330707,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2e032f68d6e4a2bc282b012b7df1fd18e17eb4b271f1eff0a1a82c46ced2f18c","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_908/tex_ceiling_textures_6763/tex_floor_textures_9107/tex_table_textures_4172/tex_wall_textures_4668","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":6934957162665236380,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":6934957162665236380,"visual_seed":6934957162665236380,"scene_id":"lab_003","finished_at":"2026-09-08T11:39:22"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T11:39:30","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[0.5719974132269934,0.3203837070164415,0.71338606911949],"aabb_xy":[[0.5543645776334658,0.30276076100081845],[0.589630248820521,0.3380066530320644]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.25829672525188024,-0.32874767693322493,0.71338606911949],"aabb_xy":[[-0.3222967216474533,-0.39271096535195843],[-0.19429672885630717,-0.2647843885144913]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[-0.41502101785202905,-1.9412152688817015,0.71338606911949],"aabb_xy":[[-0.4263827525053151,-1.9525837352879896],[-0.4036592831987428,-1.9298468024754134]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[-0.3196862744245939,1.3533208712973956,0.71338606911949],"aabb_xy":[[-0.3896862765560234,1.3305589056716998],[-0.2496862722931643,1.376082836923091]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.3609269974730066,-2.0664722607516435,0.71338606911949],"aabb_xy":[[-0.37850529966195345,-2.084046750325748],[-0.34334869528405976,-2.048897771177538]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[0.2991135749042866,-0.48815382537558705,0.71338606911949],"aabb_xy":[[0.24911357354339939,-0.5381317299510027],[0.3491135762651738,-0.4381759208001715]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[-0.5070370785600162,-2.099438528785304,0.71338606911949],"aabb_xy":[[-0.5150633491906422,-2.1081900237626567],[-0.49901080792939023,-2.0906870338079515]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.5420383275498812,-0.1911946801988127,0.71338606911949],"aabb_xy":[[0.5070383261983995,-0.21155441615563353],[0.577038328901363,-0.17083494424199186]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.20004746677969282,0.2908244756623941,0.71338606911949],"aabb_xy":[[-0.20767173486987112,0.2831912521258504],[-0.19242319868951463,0.29845769919893783]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[0.06264965334368466,1.2079046805909326,0.71338606911949],"aabb_xy":[[0.05289366383451077,1.1981421465316981],[0.07240564285285855,1.217667214650167]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.05020517796947066,0.33525671206349195,0.71338606911949],"aabb_xy":[[-0.10020517661539186,0.28533716840402956],[-0.00020517932354946478,0.38517625572295433]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.13930285310787538,-0.6366232300809604,0.71338606911949],"aabb_xy":[[0.07430285215074818,-0.688571442014666],[0.2043028540650026,-0.5846750181472549]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.27968180296058665,1.5915065760275717,0.71338606911949],"aabb_xy":[[-0.3131219781566062,1.5580629501966414],[-0.246241627764567,1.6249502018585016]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.15820841019040655,-2.1608182831903187,0.71338606911949],"aabb_xy":[[0.0682084136895348,-2.2067299256087765],[0.2482084066912783,-2.11490664077186]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[0.5751470333613236,0.0018542608033600416,0.71338606911949],"aabb_xy":[[0.5657295587914609,-0.007561916334358987],[0.5845645079311864,0.01127043794107907]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.13796353721705823,0.024333255502949402,0.71338606911949],"aabb_xy":[[-0.21796353768727422,0.016022547888601024],[-0.057963536746842306,0.03264396311729778]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[-0.0712644269657835,1.4326478297244631,0.71338606911949],"aabb_xy":[[-0.07939211515909672,1.4237342213137556],[-0.06313673877247028,1.4415614381351711]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.555284709993596,1.8200459949125922,0.71338606911949],"aabb_xy":[[0.5448731513131122,1.8147002615766932],[0.5656962686740796,1.82539172824849]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.4645865290237806,-0.06028577492832676,0.71338606911949],"aabb_xy":[[-0.5483087545238631,-0.1502857784630227],[-0.38086430352369816,0.029714228606369186]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.17988542141757857,0.1892333222679201,0.71338606911949],"aabb_xy":[[-0.24388541852968426,0.1402009524735095],[-0.11588542430547288,0.23826569206233073]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.6655922925242139,-0.670033712949951,0.71338606911949],"aabb_xy":[[0.6393034682037733,-0.6963051466046022],[0.6918811168446546,-0.6437622792952997]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.2528823067419328,-0.7195543163855094,0.71338606911949],"aabb_xy":[[-0.30288230776106806,-0.7560205321233374],[-0.20288230572279753,-0.6830881006476814]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.02424010903287077,1.5625643782255145,0.71338606911949],"aabb_xy":[[-0.088240109306849,1.5124982780282266],[0.03975989124110746,1.6126304784228025]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.548918920049691,1.3783082250076388,0.71338606911949],"aabb_xy":[[-0.6089189198962578,1.3214896028146002],[-0.4889189202031242,1.4351268472006775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6344253430880833,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5858.png","name":"5858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5858.png","name":"5858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7614.png","name":"7614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2336.png","name":"2336"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2095.png","name":"2095"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3705.png","name":"3705"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":627.3111708033575,"rotation_z_degrees":231.16644624288907,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003933930972551226,0.01985289994253209,-0.01425597867836216]},{"name":"camera_2","offset_m":[0.019181072128584945,-0.008163101510018542,-0.017976439287319068]},{"name":"camera_3","offset_m":[-0.0007799267782429703,-0.002004483465824096,-0.0031460451685285523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007822698920059048,-0.0018083536948657706,-0.0018879204073250372],"end_effector_yaw_offset_degrees":-0.017963386563592643},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015760578881953606,-0.0007589038552020676,-0.0014994033031737436],"end_effector_yaw_offset_degrees":-0.531328782368991},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001675953323435672,-0.0019011634699624528,-0.0013350016672678162],"end_effector_yaw_offset_degrees":0.23197150412420364},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013462201922585363,-0.0002151571628375528,-0.0008513737912544386],"end_effector_yaw_offset_degrees":0.7588006085404795},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001460486560537501,0.0014319375862783604,0.0019437271236994414],"end_effector_yaw_offset_degrees":0.4494921040147002},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0019623477509545994,0.0014657355846435676,-0.0007949706252645631],"end_effector_yaw_offset_degrees":-0.07467346358842297}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004023832072216189,-0.0008208791399419548],"position_m":[0.2261761679277838,0.03287912086005804,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004797050406706721,0.0034156414741814975],"position_m":[0.20490294959329328,-0.3446843585258185,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0008237198358644225,0.0009034794140447226],"position_m":[0.29302371983586445,0.2924034794140447,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0044154464701093256,-0.003039275363280314],"position_m":[0.27791544647010935,-0.1255392753632803,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"48214b2368d1f1844b2721efed85029062ef4341e5b24a3185119cc284741e77","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5858/tex_ceiling_textures_3705/tex_floor_textures_2095/tex_table_textures_7614/tex_wall_textures_2336","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":3821355917424845693,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":3821355917424845693,"visual_seed":3821355917424845693,"scene_id":"lab_003","finished_at":"2026-09-08T11:47:47"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T11:47:55","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[0.06452455725398798,1.4282472643586277,0.71338606911949],"aabb_xy":[[0.058022920745983364,1.4184794423323177],[0.0710261937619926,1.4380150863849372]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.48123299512718165,-0.8375438017299017,0.71338606911949],"aabb_xy":[[0.4212329946193287,-0.894390535415823],[0.5412329956350346,-0.7806970680439804]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[0.17662732827838623,-2.040390728972748,0.71338606911949],"aabb_xy":[[0.16578685005187133,-2.057577010263396],[0.18746780650490114,-2.0232044476820987]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[0.10646078417059301,1.1131399607699612,0.71338606911949],"aabb_xy":[[0.016460785576123085,1.0968893744565402],[0.19646078276506296,1.1293905470833823]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.5094183451446874,-1.314024817339327,0.71338606911949],"aabb_xy":[[-0.5644105957801985,-1.36902481908264],[-0.4544260945091766,-1.2590248155960144]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.3432613224877646,0.978503893341153,0.71338606911949],"aabb_xy":[[-0.3805925990130072,0.9438508385463007],[-0.3059300459625219,1.0131569481360052]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.5682791820958357,0.303743156633439,0.71338606911949],"aabb_xy":[[-0.6322791837738331,0.2552257651541247],[-0.5042791804178384,0.35226054811275315]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.3474932806433777,-0.5391222745923088,0.71338606911949],"aabb_xy":[[-0.3699897020772418,-0.5616222743990561],[-0.3249968592095136,-0.5166222747855612]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.6578876069600728,1.324904630488045,0.71338606911949],"aabb_xy":[[0.6084071857461139,1.2609046325751934],[0.7073680281740314,1.388904628400897]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.01817895475190001,-2.2255052544690943,0.71338606911949],"aabb_xy":[[-0.02994714154655754,-2.3105052543743163],[-0.006410767957242493,-2.140505254563873]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.6055939919705904,-1.8889173994209303,0.71338606911949],"aabb_xy":[[0.5817577743299854,-1.978917400229417],[0.6294302096111956,-1.798917398612444]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.3451815680627101,0.1371566548447416,0.71338606911949],"aabb_xy":[[-0.4091772654578067,0.07315665654403292],[-0.2811858706676135,0.20115665314545028]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.2268543641253784,1.5317864930767144,0.71338606911949],"aabb_xy":[[0.1818543626591496,1.486786636215234],[0.2718543655916073,1.5767863499381956]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.5144434630711185,1.1825165219033016,0.71338606911949],"aabb_xy":[[0.5064071283698337,1.1744784025988846],[0.5224797977724034,1.1905546412077181]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.4967176119651049,-0.1650230695859607,0.71338606911949],"aabb_xy":[[-0.5039613780113503,-0.24502306778956304],[-0.4894738459188596,-0.08502307138235829]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.07765588829987191,-1.010732505735724,0.71338606911949],"aabb_xy":[[-0.11620158112507295,-1.0492782767919127],[-0.03911019547467088,-0.9721867346795353]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.47300743318574234,-0.19543684299942887,0.71338606911949],"aabb_xy":[[0.43550743308014933,-0.20225900485240994],[0.5105074332913352,-0.1886146811464477]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.6132088892083034,-0.6943101278568933,0.71338606911949],"aabb_xy":[[0.5767130685810246,-0.7307940702836508],[0.649704709835582,-0.6578261854301357]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[0.6094199983406314,-1.0787167578227213,0.71338606911949],"aabb_xy":[[0.5756444391499385,-1.0927552530358866],[0.6431955575313244,-1.0646782626095563]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.6324652534984034,-2.0341293699301364,0.71338606911949],"aabb_xy":[[-0.6737697965621394,-2.0981293694982535],[-0.5911607104346674,-1.9701293703620193]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.4820111233869282,-1.44604226712657,0.71338606911949],"aabb_xy":[[-0.4896353914771065,-1.4536754906631137],[-0.47438685529675,-1.4384090435900263]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.24056178182661936,-1.3566471899800092,0.71338606911949],"aabb_xy":[[0.2059706989725741,-1.4216471902650403],[0.2751528646806645,-1.2916471896949782]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[0.37965560587037794,-0.09849865559037818,0.71338606911949],"aabb_xy":[[0.3690881262122789,-0.10904368570338673],[0.3902230855284769,-0.08795362547736961]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6378071577889545,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9916.png","name":"9916"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9916.png","name":"9916"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6181.png","name":"6181"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7766.png","name":"7766"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3769.png","name":"3769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4326.png","name":"4326"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":601.194310542988,"rotation_z_degrees":286.8653410663262,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005689190644508018,-0.01597154926540943,0.0008244852344464378]},{"name":"camera_2","offset_m":[-0.012672509391922993,0.014389891680996154,0.019672699116024202]},{"name":"camera_3","offset_m":[0.01256203569110725,-0.005138791049024448,-0.0011719223342228566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007898333621184719,0.001307682469191209,-0.0019730231970441323],"end_effector_yaw_offset_degrees":-0.4905387520056317},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013643829330126575,-0.00040100776682030896,0.0005564607714948172],"end_effector_yaw_offset_degrees":-0.7498949665786856},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008369989214976753,0.0016618782243454358,-0.0006308951050526348],"end_effector_yaw_offset_degrees":-0.1472899768826721},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0015474035670254768,0.0019950057410012658,-0.0010597249165857324],"end_effector_yaw_offset_degrees":0.6903342661789027},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001339557433750045,-0.0007357482311020273,-0.0007628706834102155],"end_effector_yaw_offset_degrees":-0.2179921992693017},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008532413273908668,0.000762109539305261,-0.001157117475060867],"end_effector_yaw_offset_degrees":0.7580484783610124}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031651906972020184,-0.00216000774181245],"position_m":[0.22703480930279796,0.03153999225818755,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003290729454281373,0.0025028371320952227],"position_m":[0.21299072945428138,-0.3455971628679048,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004522135725041668,-0.0035275062484282594],"position_m":[0.2967221357250417,0.28797249375157175,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033375529313429356,-0.0016306367807428237],"position_m":[0.2701624470686571,-0.12413063678074282,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"cd60c783fa086904df5632bf28677c2a0f03e501e319528f2bc63fdae857e3ab","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0018.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9916/tex_ceiling_textures_4326/tex_floor_textures_3769/tex_table_textures_6181/tex_wall_textures_7766","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5039266906801229065,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5039266906801229065,"visual_seed":5039266906801229065,"scene_id":"lab_003","finished_at":"2026-09-08T11:56:26"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T11:56:33","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.5132205899680895,1.6429066191305952,0.71338606911949],"aabb_xy":[[0.4492248925729928,1.5789066208298863],[0.577216287363186,1.7069066174313037]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.3599952717453323,1.6031241739054196,0.71338606911949],"aabb_xy":[[0.34654874511128897,1.589654322252328],[0.37344179837937563,1.6165940255585107]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.541418203366323,-0.3247945114345203,0.71338606911949],"aabb_xy":[[-0.6054182004784288,-0.373826881228931],[-0.4774182062542174,-0.27576214164010976]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.5148121055510013,-0.8342846118953602,0.71338606911949],"aabb_xy":[[0.5023447474412657,-0.8467499365286837],[0.527279463660737,-0.8218192872620367]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.2644121929281501,-0.7472318949025016,0.71338606911949],"aabb_xy":[[0.22994984553000827,-0.7817257773003242],[0.29887454032629185,-0.7127380125046788]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[-0.3134559345034791,-0.4083612066469966,0.71338606911949],"aabb_xy":[[-0.35470474553339376,-0.46336120615921395],[-0.2722071234735643,-0.35336120713477903]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.6354965837376043,1.0735642417557765,0.71338606911949],"aabb_xy":[[0.5998674278376446,1.0379315749989235],[0.6711257396375641,1.1091969085126294]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.49710257876490593,1.6325479564082968,0.71338606911949],"aabb_xy":[[-0.5771025809276683,1.552592772782153],[-0.41710257660214334,1.7125031400344402]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.2988667275267038,-1.7875067859646483,0.71338606911949],"aabb_xy":[[-0.3588667277781049,-1.8417881110011127],[-0.23886672727530256,-1.7332254609281834]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.6633575375652376,0.5101832236708352,0.71338606911949],"aabb_xy":[[0.6478017681549724,0.49463279042642805],[0.6789133069755029,0.5257336569152424]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.08562574107578991,1.1754387001091136,0.71338606911949],"aabb_xy":[[0.0056257408021829205,1.1024891522833966],[0.16562574134939687,1.24838824793483]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.6031072579593878,-2.185803992737137,0.71338606911949],"aabb_xy":[[-0.6831072590325081,-2.1955820390745213],[-0.5231072568862675,-2.1760259463997524]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.6603730132970267,0.1013653804309338,0.71338606911949],"aabb_xy":[[0.6509555387271639,0.09194920329321475],[0.6697904878668894,0.11078155756865281]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.17330932893186302,-1.667105363672149,0.71338606911949],"aabb_xy":[[0.15580932965377614,-1.6844434637384946],[0.1908093282099499,-1.6497672636058027]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.47410069020258927,-1.5015877489729335,0.71338606911949],"aabb_xy":[[0.43308274681621844,-1.5515877496038908],[0.5151186335889602,-1.4515877483419761]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.5200706190694223,1.7890771016434743,0.71338606911949],"aabb_xy":[[-0.5425706195814629,1.7665852432780762],[-0.4975706185573817,1.811568960008873]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.04097504797209017,-1.508514027209582,0.71338606911949],"aabb_xy":[[-0.01902495288872263,-1.5599404572160682],[0.10097504883290297,-1.4570875972030954]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.5674653157151897,-0.8139530862136786,0.71338606911949],"aabb_xy":[[-0.6174441242255054,-0.8639530862193974],[-0.5174865072048737,-0.7639530862079598]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.4795640635930468,-1.2224110598767008,0.71338606911949],"aabb_xy":[[-0.5695640672699649,-1.2838434664538048],[-0.38956405991612847,-1.160978653299596]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.18333199212408435,1.6634554249274989,0.71338606911949],"aabb_xy":[[-0.2730190684321998,1.5734554246730483],[-0.09364491581596887,1.7534554251819494]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.4544661945761441,-1.9701655503172928,0.71338606911949],"aabb_xy":[[0.4073368155743084,-2.0341655513616947],[0.5015955735779798,-1.9061655492728908]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[0.3423216227803032,-0.5431315978677964,0.71338606911949],"aabb_xy":[[0.33297461519800803,-0.5574352200854404],[0.3516686303625985,-0.5288279756501524]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.21415969604199658,0.5104821200808836,0.71338606911949],"aabb_xy":[[0.19652686044846898,0.49285917406526053],[0.23179253163552413,0.5281050660965064]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.022691093354534564,0.7147940401938775,0.71338606911949],"aabb_xy":[[-0.042749504967774854,0.6947289532847201],[-0.002632681741294274,0.7348591271030351]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[0.4195630327796338,-1.1866785727233666,0.71338606911949],"aabb_xy":[[0.38526612176189307,-1.2209754589333077],[0.4538599437973743,-1.152381686513425]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[-0.5875811527652597,1.2166072790721154,0.71338606911949],"aabb_xy":[[-0.6525811537223868,1.1646590671384096],[-0.5225811518081324,1.2685554910058208]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.6609385494638955,-1.797899350070379,0.71338606911949],"aabb_xy":[[-0.6679788593974325,-1.8778993494700507],[-0.6538982395303585,-1.7178993506707079]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.516798066459781,-2.027467050489069,0.71338606911949],"aabb_xy":[[-0.5967980636193563,-2.039014651446886],[-0.4367980693002057,-2.015919449531252]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[-0.493985644480114,0.23675486968253567,0.71338606911949],"aabb_xy":[[-0.5164856447236295,0.22455023502276372],[-0.4714856442365986,0.24895950434230762]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[-0.1925446551744605,0.29100882523342,0.71338606911949],"aabb_xy":[[-0.27626688067454297,0.20100882169872403],[-0.10882242967437808,0.3810088287681159]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_30","position":[-0.2173827305709895,-0.7152714478486875,0.71338606911949],"aabb_xy":[[-0.24096785403488433,-0.7802714500941191],[-0.19379760710709462,-0.6502714456032556]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_31","position":[0.4806872156443207,-0.9874236327851551,0.71338606911949],"aabb_xy":[[0.4752292700073006,-1.0674236360928142],[0.4861451612813407,-0.9074236294774959]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_32","position":[0.6092929034770977,0.27829521929772305,0.71338606911949],"aabb_xy":[[0.5873842213377466,0.2563945524776323],[0.6312015856164487,0.3001958861178138]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_33","position":[-0.5949905710405368,0.16864360013352808,0.71338606911949],"aabb_xy":[[-0.6069233054023648,0.15626144732566874],[-0.5830578366787087,0.18102575294138748]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6398032411862014,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8497.png","name":"8497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3248.png","name":"3248"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2082.png","name":"2082"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3744.png","name":"3744"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":583.0176678496206,"rotation_z_degrees":151.89201658607797,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008635963620803634,0.015123404045930561,-0.0022630457880698576]},{"name":"camera_2","offset_m":[-0.01592172635187384,0.007492336691042989,0.0030439897265969462]},{"name":"camera_3","offset_m":[0.003066314576740909,-0.00029274821468272885,0.016372087579385883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00033703855379402107,0.001102951773269295,-0.0014814715630418918],"end_effector_yaw_offset_degrees":-0.021619587975935772},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009617330945349994,-0.0003415808271213124,-0.000657278105622125],"end_effector_yaw_offset_degrees":0.013390573219151491},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007630701334513175,-0.0005218189465140024,0.0006281487677229952],"end_effector_yaw_offset_degrees":-0.3112288240101122},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0007116159011282942,0.0005465588972819848,0.00030187746223599545],"end_effector_yaw_offset_degrees":-0.8991625807803303},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018279836281013075,0.0013189467959528961,-0.0012243426959154492],"end_effector_yaw_offset_degrees":0.32768376970745083},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000823764753304871,-0.0018490314218905883,-0.0003434611720229319],"end_effector_yaw_offset_degrees":-0.9872494808042915}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033732796272178964,0.0030500616378200925],"position_m":[0.23357327962721788,0.036750061637820096,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023919365373517064,-0.002542744720739263],"position_m":[0.2120919365373517,-0.3506427447207393,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004935286266692003,-0.0022014634997669035],"position_m":[0.297135286266692,0.28929853650023307,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004093650413449423,-0.0015734021632121753],"position_m":[0.2694063495865506,-0.12407340216321218,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"22f447b710851febae60ae78178a75fb94f65ef0503fb36f731ab7cb78144620","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7576/tex_ceiling_textures_3744/tex_floor_textures_2082/tex_table_textures_8497/tex_wall_textures_3248","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1874499184231529273,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1874499184231529273,"visual_seed":1874499184231529273,"scene_id":"lab_003","finished_at":"2026-09-08T12:04:41"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T12:04:48","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.07250837019509193,-1.5037917484385417,0.71338606911949],"aabb_xy":[[-0.10709945304913714,-1.5687917487235725],[-0.037917287341046706,-1.4387917481535104]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[0.14228652532843045,-0.7937623029099208,0.71338606911949],"aabb_xy":[[0.11728652539591256,-0.8006449711308441],[0.16728652526094834,-0.7868796346889975]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.6200700776112802,-1.7246608838951758,0.71338606911949],"aabb_xy":[[0.5825700775056871,-1.731483045748157],[0.657570077716873,-1.7178387220421947]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.27066644401872414,1.5452832990735907,0.71338606911949],"aabb_xy":[[-0.3074610771436304,1.5083774239770085],[-0.23387181089381787,1.582189174170173]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.0030548135889858496,1.4904720835889864,0.71338606911949],"aabb_xy":[[-0.03194518630703302,1.4820978480770464],[0.03805481348500472,1.4988463191009265]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.25964566875287853,-2.5224314396036753,0.71338606911949],"aabb_xy":[[0.19564567164077284,-2.571463809398086],[0.3236456658649842,-2.4733990698092647]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[-0.38275080291576774,-2.4428634684614656,0.71338606911949],"aabb_xy":[[-0.38688665924846793,-2.480363467905823],[-0.37861494658306755,-2.405363469017109]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.5770861363619505,0.07783504021325793,0.71338606911949],"aabb_xy":[[-0.5858673635091868,0.06905529292472778],[-0.5683049092147144,0.08661478750178808]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.23209316175620298,1.4375901116725927,0.71338606911949],"aabb_xy":[[0.21699086029518488,1.4224885900415305],[0.24719546321722108,1.4526916333036544]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[-0.4622188458329013,1.5644052800603556,0.71338606911949],"aabb_xy":[[-0.527218845867204,1.5177046033800283],[-0.39721884579859856,1.611105956740683]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.5733520659308633,0.23430731199202137,0.71338606911949],"aabb_xy":[[0.5398728986698224,0.2008281986209144],[0.6068312331919042,0.26778642536312836]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.4317932894798797,-2.418567175502611,0.71338606911949],"aabb_xy":[[0.3767932912781349,-2.459089142129048],[0.48679328768162455,-2.378045208876173]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.48402183043055147,1.2239287696449481,0.71338606911949],"aabb_xy":[[-0.5010319277206021,1.207794281146674],[-0.4670117331405009,1.2400632581432218]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.013961316613405605,0.933321473408304,0.71338606911949],"aabb_xy":[[-0.03159415220693318,0.915698527392681],[0.0036715189801219644,0.9509444194239269]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.18035226206276378,1.1708284677715155,0.71338606911949],"aabb_xy":[[0.1733119521292268,1.090828468371844],[0.18739257199630077,1.250828467171187]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.050168532778622876,0.7738276236928723,0.71338606911949],"aabb_xy":[[-0.10016853413951009,0.7238497191174567],[-0.00016853141773565114,0.8238055282682879]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.3991721208401344,-1.164150639827392,0.71338606911949],"aabb_xy":[[0.33517212056615614,-1.2142167400246797],[0.4631721211141126,-1.1140845396301038]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[0.4383982607164667,-0.2673423449275769,0.71338606911949],"aabb_xy":[[0.3783982608698999,-0.32416096712061565],[0.4983982605630335,-0.2105237227345383]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.6402341150592443,-0.3050743321982221,0.71338606911949],"aabb_xy":[[0.5852603930229114,-0.3600743317624553],[0.6952078370955772,-0.2500743326339889]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.5305620523642864,1.5579413445906938,0.71338606911949],"aabb_xy":[[0.5116776685957762,1.5390554198103408],[0.5494464361327966,1.5768272693710463]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.3559070013302872,-0.7497219668319661,0.71338606911949],"aabb_xy":[[0.34267605579560584,-0.7629493858539654],[0.3691379468649684,-0.7364945478099666]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.47188146933248154,0.4910348757796048,0.71338606911949],"aabb_xy":[[0.46000938632098043,0.40603487608595445],[0.48375355234398265,0.5760348754732552]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.48358685587894246,0.6528512119375067,0.71338606911949],"aabb_xy":[[0.4723418003083247,0.6416094142134113],[0.49483191144956035,0.6640930096616019]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[0.6978630088129916,1.4384748800940037,0.71338606911949],"aabb_xy":[[0.6835285836868281,1.4264146645394649],[0.712197433939155,1.4505350956485425]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[0.3166411127893545,1.7056992357266867,0.71338606911949],"aabb_xy":[[0.2526454153942579,1.6416992374259778],[0.38063681018445106,1.7696992340273952]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[0.510366488361236,-2.029328138157884,0.71338606911949],"aabb_xy":[[0.4984337539994079,-2.041710290965743],[0.5222992227230641,-2.0169459853500245]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[-0.012415323936702416,1.6445321734253446,0.71338606911949],"aabb_xy":[[-0.06238838946921789,1.594532173612812],[0.03755774159581305,1.6945321732378777]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[-0.4076432410890153,0.4939138228238087,0.71338606911949],"aabb_xy":[[-0.442105719102103,0.48725014564088587],[-0.37318076307592746,0.5005775000067315]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[0.635275559795007,-0.49329887053652977,0.71338606911949],"aabb_xy":[[0.5552755618142219,-0.5009004114983817],[0.715275557775792,-0.4856973295746778]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[-0.07448483114139837,-2.4858398900483327,0.71338606911949],"aabb_xy":[[-0.1069465320233258,-2.5159727221632346],[-0.04202313025947089,-2.455707057933429]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6389242552329142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6235.png","name":"6235"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6235.png","name":"6235"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6971.png","name":"6971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3742.png","name":"3742"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5724.png","name":"5724"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5902.png","name":"5902"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":560.105094265837,"rotation_z_degrees":133.49048378365703,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0059243811280084244,-0.012268077894311,0.0118224480717407]},{"name":"camera_2","offset_m":[0.016631544693395634,-0.008734534470268925,-2.483393726463584e-05]},{"name":"camera_3","offset_m":[-0.00444349775338404,-0.01209210386481543,0.01437549268693242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009415049749523332,0.0002226587427144851,-0.0018551693463192808],"end_effector_yaw_offset_degrees":0.39104562644519847},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044720137786238975,0.0009985035827533876,-0.001121019233752488],"end_effector_yaw_offset_degrees":0.6107315319703495},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000771207845082666,0.0008719413246561711,-0.0018326327745383044],"end_effector_yaw_offset_degrees":-0.7540185131733403},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010110442292484616,-0.0010769848292407208,-0.0008890604385919504],"end_effector_yaw_offset_degrees":0.8297717278409178},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011407343305380852,0.0008493646996662399,0.0013942173488292963],"end_effector_yaw_offset_degrees":0.38619685548387905},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00013432000432608794,-0.001045402468855643,0.00014334401968902873],"end_effector_yaw_offset_degrees":0.9823253809768235}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004449215464599793,-0.002103950512041967],"position_m":[0.23464921546459977,0.031596049487958036,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001209797542722598,-0.0027421423478075292],"position_m":[0.2109097975427226,-0.35084214234780753,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004188944892250087,-0.00472422995933419],"position_m":[0.28801105510774994,0.2867757700406658,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002859009800700154,-0.0005721226219184018],"position_m":[0.2706409901992999,-0.1230721226219184,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"57e7e166e17cf6912e199f17cfa9e8ce1316b4711a36a80bd701e3767ddc9fd2","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6235/tex_ceiling_textures_5902/tex_floor_textures_5724/tex_table_textures_6971/tex_wall_textures_3742","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":708066814012113176,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":708066814012113176,"visual_seed":708066814012113176,"scene_id":"lab_003","finished_at":"2026-09-08T12:13:14"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T12:13:20","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.5487862404321073,0.696872432405669,0.71338606911949],"aabb_xy":[[-0.5591977991125909,0.6915266990697704],[-0.5383746817516235,0.7022181657415674]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.23560470513894816,1.56136427950057,0.71338606911949],"aabb_xy":[[-0.2660889552659783,1.5113642797190738],[-0.20512045501191803,1.6113642792820657]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.07910389982468236,-0.8821659081403557,0.71338606911949],"aabb_xy":[[0.015103900530514136,-0.9461520485092099],[0.14310389911885057,-0.8181797677715015]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.3429711057615641,-1.7501516369128156,0.71338606911949],"aabb_xy":[[0.25297110342754503,-1.8276339914979285],[0.43297110809558315,-1.6726692823277032]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.11014555613160903,0.8072735295585356,0.71338606911949],"aabb_xy":[[0.040145553495022676,0.78716866456267],[0.18014555876819538,0.827378394554401]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.31273838946278754,-2.2810496520842842,0.71338606911949],"aabb_xy":[[0.2427383878605081,-2.294482445285942],[0.3827383910650671,-2.2676168588826267]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.4858431984837889,-0.6489928516459911,0.71338606911949],"aabb_xy":[[-0.4911807741497935,-0.6739928525751309],[-0.48050562281778436,-0.6239928507168513]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.3722470956391395,0.17094102158336844,0.71338606911949],"aabb_xy":[[-0.37950834320954685,0.15815401131985896],[-0.364985848068732,0.18372803184687792]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.6659805357034077,-1.5684150232039735,0.71338606911949],"aabb_xy":[[-0.6888962485884575,-1.5913193203403975],[-0.6430648228183578,-1.5455107260675505]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.6564543085607711,-0.4274279440038762,0.71338606911949],"aabb_xy":[[-0.673954307838858,-0.4447660440702221],[-0.6389543092826843,-0.4100898439375302]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.5534342454971902,0.06796620061129222,0.71338606911949],"aabb_xy":[[-0.6334342469273173,-0.01155095440131726],[-0.4734342440670629,0.1474833556239017]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.12788701200495667,-0.9059630179940217,0.71338606911949],"aabb_xy":[[-0.13845449166305568,-0.9165080481070302],[-0.11731953234685766,-0.8954179878810131]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.3999724895013308,-0.49759510320980027,0.71338606911949],"aabb_xy":[[0.39366038996499236,-0.5033620424630191],[0.40628458903766923,-0.49182816395658147]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.5968190179801454,-1.3963343382307374,0.71338606911949],"aabb_xy":[[0.5887756580541902,-1.4813343393261038],[0.6048623779061005,-1.311334337135371]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.210264547515154,-0.7984112752501888,0.71338606911949],"aabb_xy":[[-0.2335463897132853,-0.8834112765474169],[-0.18698270531702263,-0.7134112739529608]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.1035536022577348,0.2650003033064734,0.71338606911949],"aabb_xy":[[-0.18354742583629302,0.18500030071363183],[-0.023559778679176593,0.34500030589931496]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.12789621139687424,-2.1945093185677624,0.71338606911949],"aabb_xy":[[-0.14253961695090722,-2.2091680382245467],[-0.11325280584284125,-2.179850598910978]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.5212539425112587,-1.076394846609261,0.71338606911949],"aabb_xy":[[-0.5662465292297091,-1.1213948458837097],[-0.47626135579280826,-1.0313948473348122]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.06442002046040451,-1.0318644508014299,0.71338606911949],"aabb_xy":[[-0.08185073553941101,-1.0491365654652804],[-0.046989305381398,-1.0145923361375788]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[0.6588997909937506,1.1038058358839526,0.71338606911949],"aabb_xy":[[0.6246028799760099,1.0695089496740111],[0.6931967020114911,1.1381027220938937]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.2921581866481934,0.4889061761024749,0.71338606911949],"aabb_xy":[[-0.3296581869403682,0.48486470070187127],[-0.25465818635601856,0.4929476515030785]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[0.5978261179565778,0.08624553128452206,0.71338606911949],"aabb_xy":[[0.5328261200749301,0.035121867577981185],[0.6628261158382257,0.13736919499106293]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.6691271893406923,-1.823541788526176,0.71338606911949],"aabb_xy":[[0.6191321783812404,-1.873541787561768],[0.7191222003001444,-1.7735417894905845]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.562399743579808,0.8124463222125438,0.71338606911949],"aabb_xy":[[0.5123997440034733,0.762465743260438],[0.6123997431561428,0.8624269011646499]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[0.09757339044599722,-0.6125522354018713,0.71338606911949],"aabb_xy":[[0.052573388979768376,-0.6575520922633521],[0.14257339191222607,-0.5675523785403908]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_25","position":[0.31048732642560095,1.2265521999199898,0.71338606911949],"aabb_xy":[[0.2208002501174855,1.1365521996655392],[0.4001744027337164,1.3165522001744403]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[0.5519789387218759,0.5923668325319489,0.71338606911949],"aabb_xy":[[0.5020056447186154,0.5423668319774015],[0.6019522327251363,0.6423668330864962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6385883013543687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1821.png","name":"1821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1821.png","name":"1821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9781.png","name":"9781"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5477.png","name":"5477"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3475.png","name":"3475"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":651.861583215723,"rotation_z_degrees":127.27365780492156,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010139533713768023,0.010785450380072,-0.014498306562805957]},{"name":"camera_2","offset_m":[0.018605665121648764,0.002452686111713915,0.004003944704300048]},{"name":"camera_3","offset_m":[0.006210530243988117,-0.002345826987340316,-0.0008263372450000514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013895559843470993,0.0006684182879602295,0.0001635820435136274],"end_effector_yaw_offset_degrees":-0.06673143050990027},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012494254444949506,0.0012462973063459776,0.0019032369313628848],"end_effector_yaw_offset_degrees":0.7108920717380502},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017188354848257036,0.0014370527387211913,-0.0008636248600452827],"end_effector_yaw_offset_degrees":-0.18460883161981445},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0012787817425932032,0.0009841565978255845,-0.0008364529206381813],"end_effector_yaw_offset_degrees":-0.8260591515436533},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001863003402394971,-0.0001452733594755676,-0.00038322390816327573],"end_effector_yaw_offset_degrees":0.20532677423992896},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001972097066036862,0.001719093595859178,0.0007464664293518005],"end_effector_yaw_offset_degrees":0.1578249255992541}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003901030247073985,-0.004397421075508303],"position_m":[0.23410103024707396,0.029302578924491698,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034901611706601105,0.0013716094475715182],"position_m":[0.21319016117066011,-0.3467283905524285,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0019159160872488715,0.00010027009341998395],"position_m":[0.2941159160872489,0.29160027009342,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00127494345288623,-0.001636188028442682],"position_m":[0.2747749434528863,-0.12413618802844267,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"935be17069ac24f90ccf4a0998e9ff5eb3322b4110ee9e158eeb154b2f84fad4","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1821/tex_ceiling_textures_3475/tex_floor_textures_2536/tex_table_textures_9781/tex_wall_textures_5477","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":6644154052402044267,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":6644154052402044267,"visual_seed":6644154052402044267,"scene_id":"lab_003","finished_at":"2026-09-08T12:20:52"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T12:20:59","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.5017324593921628,0.3602515355366207,0.71338606911949],"aabb_xy":[[0.4217324561281496,0.3466915032277074],[0.5817324626561758,0.3738115678455341]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.17850455449959646,-0.14031627838765637,0.71338606911949],"aabb_xy":[[-0.20101824632305362,-0.2103162789886639],[-0.15599086267613924,-0.07031627778664884]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.6313688196308127,1.177113301860595,0.71338606911949],"aabb_xy":[[-0.6469245890410781,1.1615628686161878],[-0.6158130502205476,1.1926637351050022]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.17525317461351675,-2.0934337190327055,0.71338606911949],"aabb_xy":[[0.1252531736629839,-2.124982866036227],[0.22525317556404953,-2.061884572029184]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.07316028764753624,-0.7868619971394597,0.71338606911949],"aabb_xy":[[-0.08400076587405116,-0.8040482784301084],[-0.06231980942102135,-0.7696757158488108]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.16036587732708352,-1.0576186246067356,0.71338606911949],"aabb_xy":[[0.08036587589695632,-1.137135779619345],[0.24036587875721072,-0.9781014695941261]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.48234469506931155,-2.4432524216161577,0.71338606911949],"aabb_xy":[[0.4448446947771367,-2.447293897016761],[0.5198446953614864,-2.4392109462155536]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.3313960913527531,-2.0995443751202814,0.71338606911949],"aabb_xy":[[-0.36889609170098087,-2.111335770701365],[-0.29389609100452535,-2.087752979539198]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.5178588396115226,-1.3671374594861947,0.71338606911949],"aabb_xy":[[-0.5284263192696216,-1.3776824895992033],[-0.5072913599534236,-1.3565924293731861]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[0.5600202838254353,0.7047610151211461,0.71338606911949],"aabb_xy":[[0.5539832708247706,0.698734314052198],[0.5660572968261001,0.7107877161900944]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.12554551018954052,-2.536990474861198,0.71338606911949],"aabb_xy":[[-0.17554550976587527,-2.586971053813304],[-0.07554551061320583,-2.4870098959090923]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.475265958324526,-2.2407354293425286,0.71338606911949],"aabb_xy":[[0.4102659582902233,-2.287436106022856],[0.5402659583588287,-2.1940347526622013]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.6494731444317383,-2.503115387285,0.71338606911949],"aabb_xy":[[-0.6799573945587685,-2.553115387066496],[-0.6189888943047082,-2.4531153875035043]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.5292713324011167,-1.3663434612545389,0.71338606911949],"aabb_xy":[[0.506771331889076,-1.388835319619937],[0.5517713329131572,-1.3438516028891403]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.1757519693649,-1.1517419021896877,0.71338606911949],"aabb_xy":[[-0.20615008046404357,-1.1821488041913573],[-0.1453538582657564,-1.1213350001880182]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.31640957977174144,-1.6533421977949352,0.71338606911949],"aabb_xy":[[0.30769561072180684,-1.675842198454123],[0.3251235488216758,-1.6308421971357465]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.5120654139965807,-1.877519954899387,0.71338606911949],"aabb_xy":[[-0.5620654143571466,-1.92749994210899],[-0.46206541363601455,-1.827539967689784]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.3260441959035869,0.933430358405523,0.71338606911949],"aabb_xy":[[0.26204419564311604,0.888421559052595],[0.39004419616405767,0.978439157758451]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[-0.17616379075010424,-2.2655126665136374,0.71338606911949],"aabb_xy":[[-0.2262612547311779,-2.329512667023449],[-0.12606632676903065,-2.2015126660038256]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_19","position":[0.20211860516824953,0.8439217590269479,0.71338606911949],"aabb_xy":[[0.18323422139973933,0.8250358342465951],[0.22100298893675974,0.8628076838073007]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.6712769456044245,0.45451797756243906,0.71338606911949],"aabb_xy":[[0.6362769464744689,0.44877275648677484],[0.7062769447343802,0.46026319863810305]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.21640490637302345,0.80628622102323,0.71338606911949],"aabb_xy":[[-0.2804049077810141,0.7544972694993053],[-0.15240490496503278,0.8580751725471547]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.21005072124622792,-1.3029022440380402,0.71338606911949],"aabb_xy":[[0.14605072413412223,-1.3519346138324508],[0.2740507183583336,-1.2538698742436296]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[-0.5935362007462672,0.23601255762639628,0.71338606911949],"aabb_xy":[[-0.6109669158252736,0.21874044296254547],[-0.5761054856672606,0.2532846722902471]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.48960937509269165,0.52417995067501,0.71338606911949],"aabb_xy":[[-0.5022120742297682,0.5115845544501445],[-0.47700667595561524,0.5367753468998755]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.4160796183839871,0.25741678717726124,0.71338606911949],"aabb_xy":[[-0.4273246739546049,0.24617498945316596],[-0.4048345628133692,0.2686585849013565]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_26","position":[-0.5036785564780926,-0.07660633793597516,0.71338606911949],"aabb_xy":[[-0.5258510834547434,-0.09878200509209832],[-0.4815060295014417,-0.054430670779851975]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.006098877479605691,-1.9543462305095276,0.71338606911949],"aabb_xy":[[-0.061092088816742454,-2.009346230848321],[0.04889433385753107,-1.899346230170734]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[0.5524184985787424,1.0888032425018834,0.71338606911949],"aabb_xy":[[0.47241849750562204,1.079025196164499],[0.6324184996518627,1.0985812888392679]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[-0.6318555660274892,-0.6272449614247577,0.71338606911949],"aabb_xy":[[-0.6918555668883019,-0.678671391431244],[-0.5718555651666762,-0.5758185314182712]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[-0.633600443125985,-1.6998775551022396,0.71338606911949],"aabb_xy":[[-0.6836004444868722,-1.7498554596776552],[-0.5836004417650977,-1.649899650526824]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.30102319085629997,-0.8076143701702105,0.71338606911949],"aabb_xy":[[-0.32351961229016407,-0.8301143699769579],[-0.27852676942243587,-0.785114370363463]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_32","position":[-0.363934529517848,1.4404944132770772,0.71338606911949],"aabb_xy":[[-0.3719285180955514,1.4324943331819868],[-0.3559405409401446,1.4484944933721675]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_33","position":[-0.13747168653960318,-0.5365882395019157,0.71338606911949],"aabb_xy":[[-0.15062293251089257,-0.5615882392586022],[-0.12432044056831384,-0.5115882397452292]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6378672242911689,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8551.png","name":"8551"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7672.png","name":"7672"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9890.png","name":"9890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1791.png","name":"1791"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.6313619871181,"rotation_z_degrees":19.258165404464428,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01257580403440798,0.016541067578717223,0.000909184555520675]},{"name":"camera_2","offset_m":[-0.00932850863944386,0.004433913772867032,0.012569796462552924]},{"name":"camera_3","offset_m":[-0.009156737417673737,-0.0037956044645697205,-0.00887714044272598]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009417993223603109,-0.0004759283708467125,0.00040083994271162843],"end_effector_yaw_offset_degrees":0.6046225618900527},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017310684604144788,0.0014125129662138124,-0.0019447432568247402],"end_effector_yaw_offset_degrees":0.417201923720369},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017105240694856704,0.0019258436941581528,0.000583342001259196],"end_effector_yaw_offset_degrees":-0.7535698134357951},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001273075486693465,-0.00014090464276900823,-0.000709599207459069],"end_effector_yaw_offset_degrees":0.7042221150734966},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012089338701898444,-0.0012094406732503483,-0.0012655077190679585],"end_effector_yaw_offset_degrees":0.45726099086037864},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0016801466348997797,0.001548850475468125,-0.0009032363856162969],"end_effector_yaw_offset_degrees":0.21891121778028788}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003628647999808231,-0.003492889761830058],"position_m":[0.22657135200019177,0.030207110238169944,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003072615642002079,-0.003879556219665946],"position_m":[0.2066273843579979,-0.351979556219666,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004784106171786674,0.0007389553213970144],"position_m":[0.29698410617178667,0.292238955321397,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022084341675047223,0.00029999936851804986],"position_m":[0.27570843416750473,-0.12220000063148195,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"874ce1928845522c0e4daca525f7dfb58f276bb2b1cbbd4c7bf9c6709b28117f","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6144/tex_ceiling_textures_1791/tex_floor_textures_9890/tex_table_textures_8551/tex_wall_textures_7672","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":3247510955699354286,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":3247510955699354286,"visual_seed":3247510955699354286,"scene_id":"lab_003","finished_at":"2026-09-08T12:29:13"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T12:29:20","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.0987591463406694,-1.5361363088655182,0.71338606911949],"aabb_xy":[[-0.15373286837700229,-1.5911363084297516],[-0.04378542430433653,-1.4811363093012853]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.634962619307741,-1.8503830719596417,0.71338606911949],"aabb_xy":[[-0.6771470334685719,-1.9143830722368531],[-0.5927782051469104,-1.7863830716824307]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.3800131814213951,0.5787616058667355,0.71338606911949],"aabb_xy":[[-0.4440131778487171,0.5315919820446391],[-0.31601318499407327,0.625931229688832]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.21525652354759994,-2.28396310670709,0.71338606911949],"aabb_xy":[[0.2059629053104493,-2.3214631051952237],[0.22455014178475047,-2.246463108218956]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.49332157080763195,-1.464552949889084,0.71338606911949],"aabb_xy":[[0.4872269429195136,-1.4731223444407524],[0.4994161986957502,-1.455983555337415]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.68666172907427,1.1594642332645781,0.71338606911949],"aabb_xy":[[0.6521992510611822,1.1528005560816552],[0.7211242070873577,1.1661279104475006]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.4704041960639096,1.319596523587638,0.71338606911949],"aabb_xy":[[0.42915538503399486,1.2645965240754204],[0.5116530070938243,1.3745965230998554]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[-0.29280320936833165,-0.26392384900784593,0.71338606911949],"aabb_xy":[[-0.2998435193018687,-0.3439238484075174],[-0.2857628994347947,-0.18392384960817457]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[0.10722540531101887,-1.0640636100438778,0.71338606911949],"aabb_xy":[[0.07607848646743576,-1.1340636087306848],[0.138372324154602,-0.9940636113570704]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.1908201586293765,-2.4620159376707282,0.71338606911949],"aabb_xy":[[-0.24581563645003587,-2.5170159391046347],[-0.1358246808087171,-2.407015936236821]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.1253921410790324,-0.8778304181315908,0.71338606911949],"aabb_xy":[[-0.1313586800197682,-0.8837915627909548],[-0.11942560213829662,-0.8718692734722268]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.33736210995961136,-0.911127274224877,0.71338606911949],"aabb_xy":[[0.31444639707456146,-0.9340315713613007],[0.36027782284466126,-0.8882229770884537]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.1529921617728739,-2.0496660226454475,0.71338606911949],"aabb_xy":[[-0.17288320165321416,-2.0623218339301443],[-0.13310112189253367,-2.0370102113607507]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.6705516327429242,-1.1517524424656294,0.71338606911949],"aabb_xy":[[0.6664734748358744,-1.1558334227138927],[0.6746297906499737,-1.147671462217366]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.09067683915526503,-1.8134208699688892,0.71338606911949],"aabb_xy":[[-0.16067684179185138,-1.8335257349647545],[-0.020676836518678687,-1.7933160049730235]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.153296744352031,-0.5846037209638442,0.71338606911949],"aabb_xy":[[0.13079674434188268,-0.5986999406034476],[0.17579674436217926,-0.570507501324241]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.47203887078687723,0.03184777576427633,0.71338606911949],"aabb_xy":[[-0.5070388707633731,0.022383159716659724],[-0.4370388708103814,0.04131239181189295]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.3123138591139773,-1.3988252970282846,0.71338606911949],"aabb_xy":[[-0.33010736604889374,-1.4166250426240823],[-0.29452035217906086,-1.381025551432487]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.6572207423594412,-1.334363146607203,0.71338606911949],"aabb_xy":[[-0.66092400368858,-1.3380651649159205],[-0.6535174810303022,-1.330661128298485]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.49409168292907446,-0.8909399864102221,0.71338606911949],"aabb_xy":[[-0.5117245185226019,-0.9085629324258451],[-0.47645884733554683,-0.8733170403945991]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[-0.6121179147003128,0.2169027404284769,0.71338606911949],"aabb_xy":[[-0.6160317878957352,0.20815372502192014],[-0.6082040415048903,0.22565175583503366]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.20346000051676266,-1.0058276480109345,0.71338606911949],"aabb_xy":[[-0.226741842714894,-1.0908276493081626],[-0.18017815831863132,-0.9208276467137065]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6366535974025165,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2410.png","name":"2410"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2119.png","name":"2119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2291.png","name":"2291"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4252.png","name":"4252"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":713.7000272689725,"rotation_z_degrees":139.47834757289993,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011644344693744053,-0.015252543336704349,0.012339280740050983]},{"name":"camera_2","offset_m":[0.012811086464588586,-0.010245148769772441,-0.017374618693812342]},{"name":"camera_3","offset_m":[-0.016840608604245206,-0.013419917492949206,0.01989122112696177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010359405894187113,0.0007451219334198875,0.0006543425580139484],"end_effector_yaw_offset_degrees":-0.722720185143179},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011385483039515576,0.0005936710149423005,0.001184955368365664],"end_effector_yaw_offset_degrees":-0.08096033922421464},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019976489465759234,-0.0019843512334989993,-0.0007049996592489701],"end_effector_yaw_offset_degrees":-0.9259665298647739},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015994481407611196,-0.0019654472181491614,-0.0005590960585728534],"end_effector_yaw_offset_degrees":0.4197689956823005},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013642527989073446,0.00046179560997726236,-0.001941639196263664],"end_effector_yaw_offset_degrees":0.4919859798112174},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0018464636572621993,0.0017593743754908322,-0.0014696921948264149],"end_effector_yaw_offset_degrees":-0.7958226008999616}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002346212394703725,0.004972139710694805],"position_m":[0.23254621239470372,0.0386721397106948,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004852345919228105,0.004792677274427695],"position_m":[0.20484765408077188,-0.34330732272557235,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002468500327546529,0.0025701884022478697],"position_m":[0.29466850032754655,0.29407018840224786,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004615389048321942,0.002239167813103745],"position_m":[0.2688846109516781,-0.12026083218689625,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c634821179048f1168cc7827b6ab86127e57f5bb4db493a42de7d7467bbe8b6d","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2260/tex_ceiling_textures_4252/tex_floor_textures_2291/tex_table_textures_2410/tex_wall_textures_2119","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":558771455709332249,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":558771455709332249,"visual_seed":558771455709332249,"scene_id":"lab_003","finished_at":"2026-09-08T12:37:25"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T12:37:32","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.40958395499476474,-0.8186915885494379,0.71338606911949],"aabb_xy":[[-0.4182979240446992,-0.8411915892086259],[-0.4008699859448302,-0.7961915878902495]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.42218269575535944,-2.3383826831649337,0.71338606911949],"aabb_xy":[[-0.4721819709237956,-2.3883826844408813],[-0.3721834205869233,-2.288382681888987]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.5878021091395138,-0.14719611480566686,0.71338606911949],"aabb_xy":[[0.563255893516763,-0.17744501135470392],[0.6123483247622644,-0.1169472182566298]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.556010512697408,1.3152679527677589,0.71338606911949],"aabb_xy":[[-0.6010030994158584,1.2702679534933101],[-0.5110179259789576,1.3602679520422076]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.6008724319545712,-1.3563680993677782,0.71338606911949],"aabb_xy":[[-0.6122341666078572,-1.367736565774066],[-0.5895106973012849,-1.34499963296149]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.430302823298393,-2.305518254056004,0.71338606911949],"aabb_xy":[[0.4067176998344981,-2.3705182563014358],[0.45388794676228783,-2.240518251810572]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.11278101804846186,-0.913845405806849,0.71338606911949],"aabb_xy":[[-0.1349535450251127,-0.9360210729629721],[-0.09060849107181101,-0.8916697386507257]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.17163671226564892,0.34081648038153434,0.71338606911949],"aabb_xy":[[-0.23563671448605591,0.29644339625624605],[-0.10763671004524186,0.3851895645068226]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[0.6454208270617883,1.3960622220654697,0.71338606911949],"aabb_xy":[[0.6277879914682606,1.3784392760498467],[0.6630536626553157,1.4136851680810927]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.45443031793811217,0.9267707497334192,0.71338606911949],"aabb_xy":[[-0.509430317559858,0.8717870569459465],[-0.39943031831636633,0.981754442520892]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.08522269306890284,-2.2757851722016897,0.71338606911949],"aabb_xy":[[-0.12207324100589045,-2.3132851730247235],[-0.048372145131915234,-2.238285171378656]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.20030486767328815,-1.5591318190883652,0.71338606911949],"aabb_xy":[[0.14030486782672133,-1.6159504412814036],[0.26030486751985493,-1.5023131968953263]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.37496306988733386,1.6554150253966804,0.71338606911949],"aabb_xy":[[-0.39275657682225024,1.6376152798008825],[-0.35716956295241736,1.6732147709924778]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.294997017000447,-0.7642292146777006,0.71338606911949],"aabb_xy":[[0.24501960013519344,-0.814229216166949],[0.3449744338657006,-0.7142292131884519]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.2870211252827624,0.6047214149360252,0.71338606911949],"aabb_xy":[[-0.35202112316441025,0.5535977512294843],[-0.22202112740111468,0.655845078642566]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[0.43214811175314694,-0.6592352577792004,0.71338606911949],"aabb_xy":[[0.41303580439516807,-0.6783700366564424],[0.4512604191111258,-0.6401004789019583]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_16","position":[-0.5012813890611796,0.08818715087212636,0.71338606911949],"aabb_xy":[[-0.5049846503903185,0.08448513256340849],[-0.49757812773204074,0.09188916918084421]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.5583510748114431,-0.9474066493336797,0.71338606911949],"aabb_xy":[[0.48835107141988104,-0.9827224230371103],[0.628351078203005,-0.9120908756302486]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.09362737820493505,1.3888813800981148,0.71338606911949],"aabb_xy":[[-0.10174103287831214,1.3807755636440855],[-0.08551372353155794,1.3969871965521437]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[0.6643457378468489,-1.5898638087826433,0.71338606911949],"aabb_xy":[[0.6484612445815238,-1.6042167490814674],[0.6802302311121741,-1.5755108684838193]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.622261752463191,-2.0457651700086004,0.71338606911949],"aabb_xy":[[-0.6862617510497635,-2.092772133408109],[-0.5582617538766186,-1.9987582066090916]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[0.05674201474506413,-1.565152063698467,0.71338606911949],"aabb_xy":[[0.042407589618900676,-1.5772122792530057],[0.07107643987122758,-1.553091848143928]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.18874841921159002,0.8918164281764822,0.71338606911949],"aabb_xy":[[0.17797544529022225,0.8568164299574432],[0.1995213931329578,0.9268164263955212]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.44390679876945927,-0.45665690559395955,0.71338606911949],"aabb_xy":[[-0.46640679877960756,-0.47075312523356283],[-0.421406798759311,-0.44256068595435627]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[-0.4751821333356647,0.3811641756263744,0.71338606911949],"aabb_xy":[[-0.5391821365543026,0.33444106372736604],[-0.41118213011702687,0.42788728752538274]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[0.2833013072953633,-1.9674381570218182,0.71338606911949],"aabb_xy":[[0.2193013052456313,-2.007532640111126],[0.3473013093450953,-1.9273436739325105]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_26","position":[0.028421906007053743,-2.417986429017614,0.71338606911949],"aabb_xy":[[0.02378679085482035,-2.421853764094762],[0.03305702115928712,-2.4141190939404646]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[0.4999866233687975,-0.5519846013459269,0.71338606911949],"aabb_xy":[[0.4099866239504266,-0.5853600981901165],[0.5899866227871684,-0.518609104501737]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_28","position":[0.5764214719524041,-1.0749605552852879,0.71338606911949],"aabb_xy":[[0.5124214686626959,-1.1182954742892055],[0.6404214752421121,-1.0316256362813703]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[-0.005858820766459494,-0.681085730844414,0.71338606911949],"aabb_xy":[[-0.02835882127850009,-0.7035775892098123],[0.016641179745581103,-0.6585938724790156]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_30","position":[0.37206371957671025,-1.4871801829421656,0.71338606911949],"aabb_xy":[[0.32196625559563663,-1.5511801834519774],[0.42216118355778387,-1.4231801824323538]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6367900375543071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2727.png","name":"2727"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2727.png","name":"2727"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1107.png","name":"1107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8515.png","name":"8515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4433.png","name":"4433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9390.png","name":"9390"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":645.418813514222,"rotation_z_degrees":100.91021472790979,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015428083919019227,0.010985329027012235,-0.00281424389927018]},{"name":"camera_2","offset_m":[-0.012141415823364393,0.008579442517522198,-0.013325116928013454]},{"name":"camera_3","offset_m":[0.010254239014564463,0.013406680078615178,-0.002213186812574524]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012711253002794707,0.00021182986788107578,-0.0005178998905731561],"end_effector_yaw_offset_degrees":-0.0534791086387183},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016978544585280848,0.0013056889038536462,0.0014900271217601151],"end_effector_yaw_offset_degrees":0.32005662681850433},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004539791030311749,0.0001000897949340984,6.755899714436936e-05],"end_effector_yaw_offset_degrees":-0.025528262412005898},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019867082635103067,-0.001312070113467977,-0.00047986162333474216],"end_effector_yaw_offset_degrees":-0.0754504788490944},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[2.9893916133520628e-05,0.00034674278868219565,-0.0010723929787646055],"end_effector_yaw_offset_degrees":-0.8795918179707838},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017042722773481615,-0.0008458955787149574,0.0016897386627811248],"end_effector_yaw_offset_degrees":0.6836055151597871}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001888862743575771,-4.845202246885581e-05],"position_m":[0.23208886274357576,0.03365154797753114,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018371350408458347,0.0021270599556875366],"position_m":[0.21153713504084584,-0.3459729400443125,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0025482654696586315,0.0037865612174206214],"position_m":[0.2896517345303414,0.2952865612174206,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038691441542944354,0.0034625245929613925],"position_m":[0.2773691441542945,-0.1190374754070386,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"77a9e0e52051e6140e1115e7e51e6950cd5d867227ad2b4300d56ce6b24d1e01","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2727/tex_ceiling_textures_9390/tex_floor_textures_4433/tex_table_textures_1107/tex_wall_textures_8515","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1032316724408605700,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1032316724408605700,"visual_seed":1032316724408605700,"scene_id":"lab_003","finished_at":"2026-09-08T12:45:37"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T12:45:44","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.27775434025683754,-1.7714347990000445,0.71338606911949],"aabb_xy":[[0.22262913462724673,-1.8314348004413317],[0.33287954588642826,-1.7114347975587574]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[-0.30726367238634417,0.8660783864557069,0.71338606911949],"aabb_xy":[[-0.35708045185117887,0.8160783879714035],[-0.25744689292150935,0.9160783849400103]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.5935319036271107,1.0547440847965395,0.71338606911949],"aabb_xy":[[-0.6102090396202061,1.0380441608226092],[-0.5768547676340151,1.0714440087704697]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.22220775656444436,-0.47264023570850267,0.71338606911949],"aabb_xy":[[-0.24041358022569206,-0.4836656362904943],[-0.2040019329031967,-0.461614835126511]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.5541389843112896,-0.9164510615561954,0.71338606911949],"aabb_xy":[[0.5454410220205744,-0.9285760358636703],[0.562836946602005,-0.9043260872487209]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.36195315693584584,1.0892462407823698,0.71338606911949],"aabb_xy":[[0.3141469893220772,1.0242462380753106],[0.40975932454961445,1.1542462434894285]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.5702954802267017,1.7415689363424511,0.71338606911949],"aabb_xy":[[0.5626712121365236,1.7339357128059076],[0.5779197483168801,1.749202159878995]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.13698077605976366,-2.2210065644116477,0.71338606911949],"aabb_xy":[[0.07198077505926312,-2.271792929566322],[0.20198077706026416,-2.1702201992569723]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.6341887949554843,-0.9712246741530346,0.71338606911949],"aabb_xy":[[-0.6517354898716032,-1.008724675717286],[-0.6166421000393654,-0.9337246725887834]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.4274366115400899,0.5718494299501988,0.71338606911949],"aabb_xy":[[-0.4774366132015846,0.521850987694496],[-0.37743660987859506,0.6218478722059014]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.32250176605578984,1.358279808224173,0.71338606911949],"aabb_xy":[[-0.37250176733962975,1.3083009538335506],[-0.2725017647719498,1.4082586626147948]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.2937398601667363,0.9970624801089261,0.71338606911949],"aabb_xy":[[-0.331239860514964,0.9852710845278425],[-0.2562398598185085,1.0088538756900096]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.2861628883442499,0.20367037175876668,0.71338606911949],"aabb_xy":[[-0.3361628887048159,0.15369038454916367],[-0.23616288798368382,0.2536503589683695]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.38973466697470505,1.0373883079598176,0.71338606911949],"aabb_xy":[[-0.3985158941219414,1.0286085606712876],[-0.38095343982746893,1.046168055248348]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.5050144180440477,-0.24702511233153368,0.71338606911949],"aabb_xy":[[-0.5406435739440073,-0.28265777908838663],[-0.4693852621440878,-0.21139244557468076]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[-0.2027836604653846,-0.25755839206679765,0.71338606911949],"aabb_xy":[[-0.2924707367735001,-0.3475583923212482],[-0.11309658415726917,-0.1675583918123471]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.35483197919519743,-0.8263394400205943,0.71338606911949],"aabb_xy":[[-0.3628683138964822,-0.8343775593250111],[-0.34679564449391254,-0.8183013207161776]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.579722770675464,-2.522268461602376,0.71338606911949],"aabb_xy":[[-0.6397227712714801,-2.5770809341475993],[-0.5197227700794478,-2.4674559890571524]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.08624815007081055,-1.7838711572635622,0.71338606911949],"aabb_xy":[[0.02124815191489149,-1.8101674018134744],[0.1512481482267296,-1.75757491271365]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.04734514764627529,-1.8181930886935471,0.71338606911949],"aabb_xy":[[-0.06079167428031861,-1.8316629403466385],[-0.03389862101223195,-1.8047232370404558]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.20499256487872325,-0.9794835269572391,0.71338606911949],"aabb_xy":[[-0.22857768834261813,-1.0444835292026706],[-0.18140744141482842,-0.9144835247118072]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.637575047042372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6111.png","name":"6111"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6111.png","name":"6111"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3086.png","name":"3086"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/515.png","name":"515"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2584.png","name":"2584"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":720.0993810566661,"rotation_z_degrees":325.0248589056011,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002376936100658561,-0.002810665284504358,-0.009955969304223796]},{"name":"camera_2","offset_m":[0.01440985051231847,-0.011922611721105656,0.011199673111518645]},{"name":"camera_3","offset_m":[-0.011057668352888173,0.006011667657535441,-0.015850480860271247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[1.9354667335406625e-05,-0.0017298582352274635,4.5199677036379324e-05],"end_effector_yaw_offset_degrees":0.7352966613677419},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00149572786248026,0.0015697425392175654,0.0019204965106779477],"end_effector_yaw_offset_degrees":-0.9041606166601295},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010833318461648308,-0.0017619057009347454,-0.0012113893453082176],"end_effector_yaw_offset_degrees":-0.267671959873228},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001378895062104724,0.0004677304782541381,-0.000811266868288806],"end_effector_yaw_offset_degrees":-0.45449851019320175},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0006415434634284472,0.0008182485023314262,-1.1113119502677814e-05],"end_effector_yaw_offset_degrees":-0.18562322114705299},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011915288677583958,0.0017920352082637205,0.0011502312439920044],"end_effector_yaw_offset_degrees":-0.3037030935903544}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038759050612766867,0.0007082889116535864],"position_m":[0.2263240949387233,0.03440828891165359,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000837656199229638,0.004778960565457099],"position_m":[0.20886234380077037,-0.3433210394345429,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00400464463851703,0.0016112908971945951],"position_m":[0.29620464463851703,0.29311129089719457,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003127099458993129,0.0032099027257014396],"position_m":[0.2703729005410069,-0.11929009727429855,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8ea914191f3be0ff75519e43003738b688948eba57642885ea753850528af7cd","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6111/tex_ceiling_textures_2584/tex_floor_textures_515/tex_table_textures_3086/tex_wall_textures_6806","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":2917479332900632646,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":2917479332900632646,"visual_seed":2917479332900632646,"scene_id":"lab_003","finished_at":"2026-09-08T12:54:05"}
+{"episode_id":"ep_000025","started_at":"2026-09-08T12:54:13","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.15002708857175062,-2.1770989176564246,0.71338606911949],"aabb_xy":[[-0.2076575574590214,-2.2370989165831343],[-0.09239661968447972,-2.117098918729713]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[-0.40635767718701066,-0.8101105507723703,0.71338606911949],"aabb_xy":[[-0.48635767459060397,-0.890103121970553],[-0.3263576797834171,-0.7301179795741873]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.6303534040700381,-2.50071390180806,0.71338606911949],"aabb_xy":[[-0.6405064196241874,-2.5367834433808],[-0.6202003885158887,-2.464644360235319]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.32006055790741134,-1.6557923796666763,0.71338606911949],"aabb_xy":[[-0.35506055617753124,-1.6628665073616644],[-0.28506055963729143,-1.648718251971688]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.6165341881774036,1.0355007811407035,0.71338606911949],"aabb_xy":[[-0.6515341873073591,1.0297555600650394],[-0.5815341890474478,1.0412460022163676]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.3429699111003055,0.9664940293765505,0.71338606911949],"aabb_xy":[[0.28137915187631274,0.9024940312675037],[0.4045606703242984,1.0304940274855974]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.15862622784863623,-1.3560450984820527,0.71338606911949],"aabb_xy":[[0.15449037151593606,-1.39354509792641],[0.16276208418133645,-1.318545099037696]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.5309180414587144,-1.3296593078603194,0.71338606911949],"aabb_xy":[[-0.5435448287459107,-1.339205381561892],[-0.518291254171518,-1.3201132341587463]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.6944878337951068,0.025453172089866527,0.71338606911949],"aabb_xy":[[0.6719878339812044,0.020978555719385842],[0.7169878336090092,0.02992778846034722]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.409879863255022,-1.740726022924162,0.71338606911949],"aabb_xy":[[0.3928697659649714,-1.7568605114224358],[0.4268899605450727,-1.724591534425888]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.1480023031588683,1.2488470250033514,0.71338606911949],"aabb_xy":[[0.11751805303183815,1.1988470252218555],[0.17848655328589846,1.2988470247848474]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.5520093650395015,-0.47121611635077176,0.71338606911949],"aabb_xy":[[-0.5564399943943417,-0.47666448808545436],[-0.5475787356846613,-0.46576774461608916]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[-0.6732042717072877,-0.8833597819580794,0.71338606911949],"aabb_xy":[[-0.6864352172419689,-0.8965872009800786],[-0.6599733261726063,-0.8701323629360798]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.27087144298619314,0.873990448909884,0.71338606911949],"aabb_xy":[[-0.3208664539456452,0.8239904498742924],[-0.22087643202674118,0.9239904479454758]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.4751950039561934,-0.18926783974924932,0.71338606911949],"aabb_xy":[[-0.4832313386574782,-0.19730595905366607],[-0.4671586692549085,-0.18122972044483251]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.4775340558948672,-1.174827934677137,0.71338606911949],"aabb_xy":[[-0.5236191471495986,-1.238827931929692],[-0.4314489646401357,-1.1108279374245817]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.5801520986322647,0.297342397145715,0.71338606911949],"aabb_xy":[[-0.5976520977666319,0.2874627701081271],[-0.5626520994978975,0.30722202418330274]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.6535426437276785,0.7507971125872608,0.71338606911949],"aabb_xy":[[-0.6880051217407661,0.7441334354043379],[-0.6190801657145906,0.7574607897701835]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.20086285795937386,-2.4828377585160366,0.71338606911949],"aabb_xy":[[0.15984491457300298,-2.5328377591469944],[0.24188080134574474,-2.4328377578850797]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.2212414911427973,1.5060283771696041,0.71338606911949],"aabb_xy":[[-0.2328104718897339,1.4810283770526727],[-0.20967251039586074,1.531028377286536]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.5616984774589543,-2.0740197956808712,0.71338606911949],"aabb_xy":[[-0.6266984800967478,-2.1254993943803178],[-0.4966984748211608,-2.022540196981424]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.5788407035358618,1.5886367843031874,0.71338606911949],"aabb_xy":[[0.518840702675049,1.5372103542967008],[0.6388407043966746,1.6400632143096736]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.6829360610769526,-2.340849650798565,0.71338606911949],"aabb_xy":[[-0.6935035407350515,-2.3513946809115733],[-0.6723685814188535,-2.330304620685556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6366673695344394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4947.png","name":"4947"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4947.png","name":"4947"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/431.png","name":"431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1193.png","name":"1193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2586.png","name":"2586"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8755.png","name":"8755"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":657.2224626658099,"rotation_z_degrees":81.06377579429424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026368711143251247,-1.5913670671149904e-07,0.013100977133421007]},{"name":"camera_2","offset_m":[0.010781290076391389,0.006945844641374176,0.002033792805155813]},{"name":"camera_3","offset_m":[-0.007694931504517735,-0.01840622840545722,-0.01730826418636379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014559719487055576,-0.0004710078160197271,-0.0011165001479927178],"end_effector_yaw_offset_degrees":-0.5655864435866089},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00026705303773705323,-0.0015988626068994605,0.0003868058803980501],"end_effector_yaw_offset_degrees":-0.638624760520343},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008391967310411327,0.0017992901779994054,0.0006105774583711281],"end_effector_yaw_offset_degrees":-0.9819758392993496},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016699652595745674,-0.0012567404088861082,0.0014914328532295235],"end_effector_yaw_offset_degrees":-0.4414208506002475},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00027434612113225393,0.0005375021249127039,-0.0017776879514971907],"end_effector_yaw_offset_degrees":-0.008667864359713784},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000895989860897938,-5.8278285214129156e-05,0.0010025168472377983],"end_effector_yaw_offset_degrees":-0.658530909625733}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036272187209903705,-0.00393763570154826],"position_m":[0.23382721872099035,0.029762364298451742,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035182373348818215,0.004966147018508087],"position_m":[0.21321823733488182,-0.34313385298149196,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.000961879581692293,-0.0013090410219692562],"position_m":[0.2931618795816923,0.2901909589780307,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021732818595519374,-0.003902000695894662],"position_m":[0.275673281859552,-0.12640200069589466,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9b966d08a1cca76491929bc7ec3e212ffaa2556295e7f2db12b31c8a37f105d7","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4947/tex_ceiling_textures_8755/tex_floor_textures_2586/tex_table_textures_431/tex_wall_textures_1193","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8814740314093593094,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8814740314093593094,"visual_seed":8814740314093593094,"scene_id":"lab_003","finished_at":"2026-09-08T13:01:35"}
+{"episode_id":"ep_000026","started_at":"2026-09-08T13:01:42","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.34746076488770944,-1.242086395179708,0.71338606911949],"aabb_xy":[[-0.3696332918643602,-1.264262062335831],[-0.32528823791105854,-1.2199107280235848]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.26158268306498794,-0.5450482390977487,0.71338606911949],"aabb_xy":[[-0.2747339290362773,-0.5700482388544353],[-0.24843143709369858,-0.5200482393410623]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.6393333102463599,-0.43970192392825336,0.71338606911949],"aabb_xy":[[0.615748186782465,-0.5047019261736851],[0.6629184337102547,-0.37470192168282157]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[-0.053095016610478774,0.9839577325112234,0.71338606911949],"aabb_xy":[[-0.09439955967421476,0.9199577329431065],[-0.011790473546742786,1.0479577320793405]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.33366503264922753,-1.3641085582987793,0.71338606911949],"aabb_xy":[[-0.3836650335997603,-1.3956577053023005],[-0.28366503169869467,-1.3325594112952577]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[-0.1573891768009309,-1.5842100794295215,0.71338606911949],"aabb_xy":[[-0.2073622423334464,-1.6342100792420546],[-0.10741611126841547,-1.5342100796169889]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[-0.18528313140815045,0.8434839000491827,0.71338606911949],"aabb_xy":[[-0.23528313276903767,0.7935059954737673],[-0.13528313004726322,0.8934618046245986]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[0.2697924754842914,1.1546890892719994,0.71338606911949],"aabb_xy":[[0.21479247728254655,1.1141671226455616],[0.3247924736860362,1.1952110558984368]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.4210266877752198,-0.8462502756853243,0.71338606911949],"aabb_xy":[[0.3410266856124573,-0.9262054593114679],[0.5010266899379823,-0.7662950920591807]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[-0.2870054138825873,0.25648167723872284,0.71338606911949],"aabb_xy":[[-0.3368221933474221,0.20648167875441947],[-0.23718863441775256,0.3064816757230262]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[0.1842782644224229,-1.3875628111340745,0.71338606911949],"aabb_xy":[[0.16300025627895065,-1.4525628134601474],[0.20555627256589515,-1.3225628088080013]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.5158164145866726,-1.394626450730955,0.71338606911949],"aabb_xy":[[0.4658214036272206,-1.4446264497665466],[0.5658114255461246,-1.3446264516953632]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[-0.32902503229745683,-1.9170978406630024,0.71338606911949],"aabb_xy":[[-0.3785054535114156,-1.9810978385758544],[-0.27954461108349804,-1.8530978427501508]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_13","position":[0.560461444728088,-0.6620475383379305,0.71338606911949],"aabb_xy":[[0.49546144377096085,-0.7139957502716361],[0.6254614456852152,-0.6100993264042249]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[0.07648153819482373,1.481636629443472,0.71338606911949],"aabb_xy":[[0.01248153902505379,1.4348699423245095],[0.14048153736459368,1.5284033165624344]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.09040522870323897,0.4719132672369106,0.71338606911949],"aabb_xy":[[-0.0967173282395774,0.4661463279836918],[-0.08409312916690054,0.47768020649012943]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.4673932134154697,1.5685496461528117,0.71338606911949],"aabb_xy":[[0.45029113545710153,1.5514428406215421],[0.48449529137383784,1.5856564516840816]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.27464050119248773,-1.9302367505515101,0.71338606911949],"aabb_xy":[[0.2571405009331511,-1.944328292740283],[0.29214050145182435,-1.9161452083627377]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.6731561800375512,-2.520001355663826,0.71338606911949],"aabb_xy":[[0.6356561798656791,-2.5527020910467333],[0.710656180209423,-2.487300620280919]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[-0.452181568603235,0.6688617387263087,0.71338606911949],"aabb_xy":[[-0.48867738923051374,0.6323777962995512],[-0.41568574797595625,0.7053456811530663]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.5157956434387541,-1.2795208491000183,0.71338606911949],"aabb_xy":[[0.5002398740284889,-1.2950712823444255],[0.5313514128490194,-1.263970415855611]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[0.29554358423112304,0.5703850389354859,0.71338606911949],"aabb_xy":[[0.2710299601341172,0.5461204456334494],[0.3200572083281289,0.5946496322375223]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.6003088253348277,0.44350874163932374,0.71338606911949],"aabb_xy":[[0.5757626097120769,0.4132598450902867],[0.6248550409575784,0.4737576381883608]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[-0.322469950300305,1.2760004068992923,0.71338606911949],"aabb_xy":[[-0.36959932930214057,1.2120004058548899],[-0.2753405712984692,1.3400004079436938]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.5630155222148223,1.214983437576878,0.71338606911949],"aabb_xy":[[-0.5855155224583377,1.202778802917106],[-0.5405155219713069,1.22718807223665]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.1861956722558049,-0.6466180974799403,0.71338606911949],"aabb_xy":[[-0.19744072782642275,-0.6578598952040354],[-0.17495061668518708,-0.6353762997558449]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[-0.15380999645444082,1.5644795949218522,0.71338606911949],"aabb_xy":[[-0.15751325778357964,1.5607775766131342],[-0.1501067351253019,1.5681816132305697]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.4355317184225719,1.3698073292922293,0.71338606911949],"aabb_xy":[[-0.43996234777741217,1.3643589575575468],[-0.4311010890677318,1.3752557010269117]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_28","position":[0.26535391950544485,-1.0459009852464047,0.71338606911949],"aabb_xy":[[0.23289221862351736,-1.076033817361307],[0.29781562038737225,-1.015768153131502]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[0.07946933076656848,-0.9623856576557692,0.71338606911949],"aabb_xy":[[-0.000530666247679501,-0.9825202093291805],[0.15946932778081646,-0.942251105982358]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[0.4438016577431576,-1.6996219224104303,0.71338606911949],"aabb_xy":[[0.4340456682339837,-1.7093844564696647],[0.4535576472523315,-1.6898593883511959]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[-0.20558990362701662,-1.0088838960927677,0.71338606911949],"aabb_xy":[[-0.26958990503500724,-1.0606728476166922],[-0.14158990221902595,-0.9570949445688429]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[-0.02267078228312769,-1.1913001885158716,0.71338606911949],"aabb_xy":[[-0.052662445016998016,-1.221300187852672],[0.0073208804507426395,-1.1613001891790709]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.635993813351858,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4133.png","name":"4133"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4133.png","name":"4133"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6770.png","name":"6770"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6526.png","name":"6526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7733.png","name":"7733"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9994.png","name":"9994"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":554.7587467332821,"rotation_z_degrees":199.07441517624167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018836031472233075,-0.0184784021655148,-0.006455279995223804]},{"name":"camera_2","offset_m":[0.009976166221211325,-0.01708126552058065,0.0002580526258928739]},{"name":"camera_3","offset_m":[-0.004608630149919328,-0.016824329803112107,0.016391794214821263]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011466191048279343,0.0016162589550891599,-0.000958261893746073],"end_effector_yaw_offset_degrees":0.808601991338366},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007865222113537639,-0.0003168060037527715,0.001225689843159261],"end_effector_yaw_offset_degrees":0.24444892005192087},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00042689039356786805,-0.0018625512251874766,0.00010934840087151437],"end_effector_yaw_offset_degrees":0.08366105286547021},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.000766750415365551,-0.0008220215164072505,0.0011285563249366906],"end_effector_yaw_offset_degrees":-0.39933367303144274},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010706005835187612,0.00013243257884546292,-0.0007127881293389308],"end_effector_yaw_offset_degrees":-0.8117393958992953},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001041525607800681,-0.00029103120976657734,0.0015650177855521248],"end_effector_yaw_offset_degrees":-0.8089797255702329}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037249456393658696,-0.0048285549233643265],"position_m":[0.22647505436063411,0.028871445076635673,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004005352197192371,0.004810408237503251],"position_m":[0.20569464780280763,-0.3432895917624968,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0025182935150590523,0.0010429327017447343],"position_m":[0.29471829351505907,0.2925429327017447,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033415708195193095,-0.0009845771103050198],"position_m":[0.2701584291804807,-0.12348457711030501,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2836b435668807fd507f0f42e709f35ac55b1f3f20544d15d4925e369239abb1","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4133/tex_ceiling_textures_9994/tex_floor_textures_7733/tex_table_textures_6770/tex_wall_textures_6526","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1819163495769628972,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1819163495769628972,"visual_seed":1819163495769628972,"scene_id":"lab_003","finished_at":"2026-09-08T13:10:04"}
+{"episode_id":"ep_000027","started_at":"2026-09-08T13:10:13","dimensions":{"distractor":{"count":29,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.4958713745652133,1.7184328958156336,0.71338606911949],"aabb_xy":[[-0.5191532167633445,1.6334328945184053],[-0.4725895323670819,1.8034328971128615]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.4073675554016992,1.1445081414399318,0.71338606911949],"aabb_xy":[[-0.44486755382509957,1.1313439274721009],[-0.3698675569782989,1.1576723554077624]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[0.5353007684722548,-1.5185116085642274,0.71338606911949],"aabb_xy":[[0.45530077131267954,-1.5300592095220442],[0.6153007656318301,-1.5069640076064101]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.49976220861445575,0.5404079094215248,0.71338606911949],"aabb_xy":[[0.4927207576637081,0.5333811576837303],[0.5068036595652032,0.5474346611593194]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.5464614692973955,0.4330486315155473,0.71338606911949],"aabb_xy":[[0.5089614677817637,0.42182185849940224],[0.5839614708130271,0.44427540453169234]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.17986256238733866,-1.406612513053051,0.71338606911949],"aabb_xy":[[0.11986256213593746,-1.4608938380895153],[0.2398625626387398,-1.352331188016586]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.12911879864156328,0.6752569018322099,0.71338606911949],"aabb_xy":[[-0.2091187997146836,0.6654788554948255],[-0.04911879756844295,0.6850349481695944]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.5909684701064526,1.6678207524691344,0.71338606911949],"aabb_xy":[[0.5687959431298016,1.6456450853130111],[0.6131409970831033,1.6899964196252573]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.0851361105431443,-1.8900728299277703,0.71338606911949],"aabb_xy":[[-0.12790281742256449,-1.9540728333495727],[-0.04236940366372409,-1.8260728265059678]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.14614359615618255,-1.2812557103510518,0.71338606911949],"aabb_xy":[[-0.17114359542814483,-1.2976010739472141],[-0.12114359688422029,-1.2649103467548894]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.31151054648640897,-1.9802876083595462,0.71338606911949],"aabb_xy":[[0.26152631077823174,-2.030287607173042],[0.3614947821945862,-1.9302876095460506]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.0037647592050629175,-0.9893530643398705,0.71338606911949],"aabb_xy":[[-0.0038595088851153276,-0.9969862878764143],[0.01138902729524116,-0.9817198408033269]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.5493405923868185,0.9645482552446856,0.71338606911949],"aabb_xy":[[-0.5534187502938683,0.9604672749964221],[-0.5452624344797687,0.9686292354929488]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.5424262379161156,0.875149492651587,0.71338606911949],"aabb_xy":[[-0.5799262382082904,0.8711080172509834],[-0.5049262376239407,0.8791909680521907]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.5877214632044581,1.107775514323552,0.71338606911949],"aabb_xy":[[0.5327477411681253,1.0527755147593187],[0.6426951852407911,1.162775513887785]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.4528212970804997,0.6999195730701309,0.71338606911949],"aabb_xy":[[0.40282628612104776,0.6499195740345391],[0.5028163080399518,0.7499195721057226]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.40508437118128515,-0.9604790994060501,0.71338606911949],"aabb_xy":[[-0.4850781947598434,-1.0404791019988915],[-0.32509054760272693,-0.8804790968132085]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.13456397934464082,-1.5445706058845856,0.71338606911949],"aabb_xy":[[-0.16956397853745908,-1.5555376518822481],[-0.09956398015182255,-1.5336035598869227]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.3847635235857605,-0.6061238909712325,0.71338606911949],"aabb_xy":[[0.3397709368673101,-0.6511238902456813],[0.4297561103042109,-0.5611238916967838]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.01334237535115712,-1.1614685679697967,0.71338606911949],"aabb_xy":[[-0.06665762790668583,-1.2414650757617807],[0.09334237860900008,-1.0814720601778127]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.6034505609700717,-0.2446377732094165,0.71338606911949],"aabb_xy":[[-0.6495356522248031,-0.3086377704619716],[-0.5573654697153402,-0.18063777595686137]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[-0.3472937823507847,-1.9856461053584202,0.71338606911949],"aabb_xy":[[-0.3545760987274483,-2.075646108967929],[-0.34001146597412096,-1.8956461017489108]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.1359165683004373,-2.1114398369178726,0.71338606911949],"aabb_xy":[[0.10160029112581936,-2.1614398368910503],[0.17023284547505524,-2.061439836944695]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[0.30285503995013163,0.706244520581019,0.71338606911949],"aabb_xy":[[0.24772983432054088,0.6462445191397319],[0.3579802455797224,0.7662445220223062]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.4230157166190284,0.6843596688681548,0.71338606911949],"aabb_xy":[[-0.4729890106222888,0.6343596683136075],[-0.3730424226157679,0.7343596694227021]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[0.4430414149388129,-0.352464900238731,0.71338606911949],"aabb_xy":[[0.41849519931606216,-0.38271379678776807],[0.4675876305615636,-0.32221600368969394]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.09059163029520123,0.10207596153292409,0.71338606911949],"aabb_xy":[[-0.1080916295732881,0.08473786146657813],[-0.07309163101711436,0.11941406159927004]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[0.6250431209575698,-2.3826210890227517,0.71338606911949],"aabb_xy":[[0.6107086958314064,-2.3946813045772912],[0.6393775460837333,-2.370560873468213]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.18556902659681274,-1.630017456059301,0.71338606911949],"aabb_xy":[[0.17500154693871373,-1.6405624861723096],[0.19613650625491175,-1.6194724259462925]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6360754775737356,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4586.png","name":"4586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4586.png","name":"4586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8855.png","name":"8855"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1954.png","name":"1954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9443.png","name":"9443"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7046.png","name":"7046"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":635.9398815066421,"rotation_z_degrees":329.8017438219488,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006570439227031266,0.0056090299580659995,-0.007702300750890264]},{"name":"camera_2","offset_m":[0.00026790196148851475,0.019433112900712615,-0.006134102365597017]},{"name":"camera_3","offset_m":[0.01012939261733762,0.008491464930218871,-0.006392631891931977]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00193647391305373,0.0014511469300211017,0.0013184423941865076],"end_effector_yaw_offset_degrees":-0.4740939275231413},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013996002932333226,-0.0015084957868404865,0.0008077283985031287],"end_effector_yaw_offset_degrees":0.28329621904424607},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017809277240698508,-0.0014739582860823085,-0.0007222079517350416],"end_effector_yaw_offset_degrees":-0.7084856056734177},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0012033625032233084,-0.0017951082370435522,0.0007441374239255194],"end_effector_yaw_offset_degrees":-0.9711177969455209},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011697319350775339,-0.00030710546993299465,8.394745688277685e-05],"end_effector_yaw_offset_degrees":0.8865210799795371},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009732973467617625,-0.000287417355598047,-0.001434697586178296],"end_effector_yaw_offset_degrees":-0.6358312194787268}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003772625430670252,-0.0006916605374620273],"position_m":[0.23397262543067024,0.03300833946253797,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026522975956156172,0.004711680485544301],"position_m":[0.2123522975956156,-0.3433883195144557,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0010155760792922705,0.0011562699118821658],"position_m":[0.29118442392070776,0.29265626991188215,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001530165888194747,-0.0025561947113015284],"position_m":[0.2750301658881948,-0.12505619471130153,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"77607100e68558a6f98e27b7d96741cb506e5cfdc2b0a988b79abaa02c228f55","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4586/tex_ceiling_textures_7046/tex_floor_textures_9443/tex_table_textures_8855/tex_wall_textures_1954","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4917278338098098474,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4917278338098098474,"visual_seed":4917278338098098474,"scene_id":"lab_003","finished_at":"2026-09-08T13:18:11"}
+{"episode_id":"ep_000028","started_at":"2026-09-08T13:18:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[0.5663904449331263,1.1980312170550884,0.71338606911949],"aabb_xy":[[0.5023904430207838,1.1421200677970782],[0.6303904468454685,1.253942366313099]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.03026058073932747,-0.7006213989206822,0.71338606911949],"aabb_xy":[[0.019354804651764757,-0.7806213953195112],[0.04116635682689018,-0.6206214025218529]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.09078646776454347,-1.604507998203684,0.71338606911949],"aabb_xy":[[0.02678646542174191,-1.6494488494478166],[0.15478647010734503,-1.5595671469595516]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.10158513969414606,0.7675570152003104,0.71338606911949],"aabb_xy":[[-0.12450085257919598,0.7446527180638869],[-0.07866942680909617,0.790461312336734]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.5626208955429677,-0.46035309937680013,0.71338606911949],"aabb_xy":[[0.5387846779023626,-0.5503531001852868],[0.5864571131835727,-0.3703530985683138]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[-0.12805141504441664,-0.6500438641255268,0.71338606911949],"aabb_xy":[[-0.18964217426840949,-0.7140438622345738],[-0.06646065582042385,-0.5860438660164801]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.6238166229537039,-1.6770928688349125,0.71338606911949],"aabb_xy":[[0.5388166245362805,-1.7619671642971975],[0.708816621371127,-1.5922185733726275]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[-0.12608730580875083,-2.2246566898674067,0.71338606911949],"aabb_xy":[[-0.20608730723887803,-2.304173844880016],[-0.04608730437862363,-2.1451395348547972]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.12526867298868272,-0.8940326384155086,0.71338606911949],"aabb_xy":[[-0.18026867261042856,-0.9490163312029815],[-0.07026867336693687,-0.839048945628036]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[-0.3831862119318557,-1.6265895862884978,0.71338606911949],"aabb_xy":[[-0.39140075704753957,-1.6352661765861387],[-0.3749716668161716,-1.617912995990856]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.2902372297344982,1.07849545719959,0.71338606911949],"aabb_xy":[[-0.3135190719326295,0.9934954559023618],[-0.26695538753636683,1.1634954584968178]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.09361010549964688,0.9105049451394862,0.71338606911949],"aabb_xy":[[0.08098331821245053,0.9009588714379133],[0.10623689278684323,0.9200510188410591]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.1676743554827378,-2.462210898568734,0.71338606911949],"aabb_xy":[[0.08767435222489484,-2.542207406360718],[0.24767435874058075,-2.38221439077675]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.4553703219610461,-0.7705370774875888,0.71338606911949],"aabb_xy":[[-0.47565462468444486,-0.7908197026302975],[-0.43508601923764734,-0.7502544523448799]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.1891173539147849,1.0481163471164323,0.71338606911949],"aabb_xy":[[-0.1963996702914485,0.958116343506923],[-0.1818350375381212,1.1381163507259409]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[0.11287677241710736,-1.1684436062416677,0.71338606911949],"aabb_xy":[[0.029154546917024904,-1.2584436097763636],[0.19659899791718982,-1.0784436027069717]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.195466697475011,-0.6625008210956369,0.71338606911949],"aabb_xy":[[0.14548374728753163,-0.7125008207381973],[0.2454496476624903,-0.6125008214530765]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[0.4255662375724185,-0.7544516401217196,0.71338606911949],"aabb_xy":[[0.3555662411624566,-0.7748895757734012],[0.4955662339823802,-0.7340137044700378]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.26798228800287205,0.7565841997397307,0.71338606911949],"aabb_xy":[[0.202982289846953,0.7302879551898185],[0.3329822861587911,0.7828804442896429]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[-0.5640591618712241,-1.5089857933043782,0.71338606911949],"aabb_xy":[[-0.5769310653721641,-1.5889857937182141],[-0.5511872583702838,-1.4289857928905418]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[0.4686639382178641,0.01648847352467575,0.71338606911949],"aabb_xy":[[0.45673120385603605,0.004106320716816384],[0.4805966725796922,0.028870626332535124]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.25049907491769996,-1.0759257556572308,0.71338606911949],"aabb_xy":[[-0.28549907481371883,-1.0842999911691706],[-0.2154990750216811,-1.0675515201452905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6385954428134117,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2571.png","name":"2571"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2571.png","name":"2571"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6528.png","name":"6528"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6599.png","name":"6599"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6263.png","name":"6263"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3805.png","name":"3805"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":756.1849191144095,"rotation_z_degrees":354.4038597374809,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001887844412028019,-0.00023415067747620255,-0.005810794401840758]},{"name":"camera_2","offset_m":[0.0047195782493938895,-0.017811907340997662,-0.013085206860464726]},{"name":"camera_3","offset_m":[0.018053908728374177,0.00979528805889382,0.007089572971830566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005847676051428238,0.0010700672062718768,0.0018395379848191516],"end_effector_yaw_offset_degrees":0.4079657128902803},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014516457196346788,0.0013751600307258904,0.0012352937290541115],"end_effector_yaw_offset_degrees":0.3593608613170245},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009200801990149922,-0.0008976658665225395,-0.001417235393342708],"end_effector_yaw_offset_degrees":0.09680584125204472},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014471820516967133,-0.0007877011820303492,-0.001332203338222372],"end_effector_yaw_offset_degrees":-0.40160223203824796},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012215990444739287,0.0005835731134261925,-0.0013749288802206517],"end_effector_yaw_offset_degrees":0.9600325326788983},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001989167352112737,-0.00030799285165006925,0.000912494729341292],"end_effector_yaw_offset_degrees":-0.7839081560353134}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004928246515815399,-0.0023652444196720825],"position_m":[0.23512824651581538,0.031334755580327917,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.36162707726945e-06,-0.003969338529584395],"position_m":[0.20970736162707726,-0.35206933852958444,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0020127835608596003,-0.00019472920191226234],"position_m":[0.2901872164391404,0.2913052707980877,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-2.0327545619988965e-05,7.286132101083989e-06],"position_m":[0.27347967245438004,-0.12249271386789891,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2075aa207821d186c40c67127b118177ba1d513e86b62d4824885646e31b6e4f","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2571/tex_ceiling_textures_3805/tex_floor_textures_6263/tex_table_textures_6528/tex_wall_textures_6599","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8545249183063057271,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8545249183063057271,"visual_seed":8545249183063057271,"scene_id":"lab_003","finished_at":"2026-09-08T13:25:59"}
+{"episode_id":"ep_000029","started_at":"2026-09-08T13:26:06","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.43579479252727293,-0.5834969588571157,0.71338606911949],"aabb_xy":[[0.37079479464562515,-0.6346206225636566],[0.5007947904089207,-0.5323732951505749]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.2094323314121928,-1.065556963966624,0.71338606911949],"aabb_xy":[[-0.23776204136073303,-1.0700177061603413],[-0.18110262146365258,-1.0610962217729072]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.295473646870412,0.2041994330372785,0.71338606911949],"aabb_xy":[[-0.3233186836510191,0.17341493429896684],[-0.2676286100898049,0.2349839317755902]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[-0.5911213540934177,-0.5223020259181443,0.71338606911949],"aabb_xy":[[-0.6144031962915489,-0.6073020272153724],[-0.5678395118952863,-0.43730202462091633]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.36768564683591376,1.3678584528554376,0.71338606911949],"aabb_xy":[[0.2876856463656978,1.3595477452410896],[0.44768564730612975,1.376169160469786]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.5845631616821056,-2.2685898076656583,0.71338606911949],"aabb_xy":[[0.5626734140931648,-2.3585898049549074],[0.6064529092710464,-2.178589810376409]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.2519565919733548,0.4648315881548637,0.71338606911949],"aabb_xy":[[-0.2607378191205911,0.45605184086633366],[-0.24317536482611862,0.47361133544339395]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.0732565158873697,1.1985966757508253,0.71338606911949],"aabb_xy":[[-0.09075644932135306,1.1810966758305907],[-0.055756582453386314,1.2160966756710598]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.1658315141095904,0.7703381914754126,0.71338606911949],"aabb_xy":[[-0.24582533768814863,0.690338188882571],[-0.08583769053103218,0.8503381940682542]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.552852515577207,0.7335340226362619,0.71338606911949],"aabb_xy":[[0.5153525170015861,0.720797726972704],[0.5903525141528277,0.7462703182998198]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.3783939786976024,0.5540000962759746,0.71338606911949],"aabb_xy":[[-0.3935568516745395,0.5388346389808558],[-0.3632311057206653,0.5691655535710933]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.553813194207317,1.1209634119135035,0.71338606911949],"aabb_xy":[[-0.6138131948033332,1.06615093936828],[-0.4938131936113008,1.175775884458727]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.5948817070934163,-0.4444618355915475,0.71338606911949],"aabb_xy":[[0.5448987569059368,-0.49446183523410786],[0.6448646572808955,-0.39446183594898704]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[0.36397708777570936,-1.6901229419403165,0.71338606911949],"aabb_xy":[[0.2999770855553023,-1.7344960260656048],[0.42797708999611633,-1.6457498578150282]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.4287393783605022,1.61719807469578,0.71338606911949],"aabb_xy":[[-0.44391154764213553,1.6020292177675766],[-0.41356720907886885,1.6323669316239833]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.25437152543757424,-0.7310910569044726,0.71338606911949],"aabb_xy":[[0.21752097750058663,-0.7685910577275065],[0.29122207337456185,-0.693591056081439]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.4946476128392412,-2.039245087947041,0.71338606911949],"aabb_xy":[[-0.5496213348755741,-2.094245087511274],[-0.43967389080290836,-1.9842450883828078]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.6507591486314068,0.5192704698233004,0.71338606911949],"aabb_xy":[[0.6337490513413562,0.5031359813250265],[0.6677692459214575,0.5354049583215743]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.6362508372276878,1.5961390468071808,0.71338606911949],"aabb_xy":[[0.5934841303482676,1.5321390433853783],[0.679017544107108,1.6601390502289832]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.6587143598471797,-1.7397644625907676,0.71338606911949],"aabb_xy":[[-0.6687960669257531,-1.8197644604828822],[-0.6486326527686062,-1.659764464698653]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.6084516765785605,0.45791485111063546,0.71338606911949],"aabb_xy":[[-0.6660821454658312,0.39791485218392475],[-0.5508212076912895,0.5179148500373459]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[-0.4559811903780091,-1.0998788539601247,0.71338606911949],"aabb_xy":[[-0.4788969032630591,-1.1227831510965485],[-0.4330654774929593,-1.0769745568237015]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.24278309658182984,1.7873150390904349,0.71338606911949],"aabb_xy":[[-0.24874963552256563,1.7813538944310705],[-0.23681655764109405,1.7932761837497988]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[0.45832620496479426,0.5971141953742318,0.71338606911949],"aabb_xy":[[0.4358297835309302,0.5746141955674844],[0.4808226263986584,0.6196141951809793]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.12109395491867225,1.6500656844385326,0.71338606911949],"aabb_xy":[[-0.12643153058467682,1.625065683509393],[-0.11575637925266768,1.6750656853676726]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[-0.11008775093730072,0.3819871688637759,0.71338606911949],"aabb_xy":[[-0.14863344376250176,0.34344139780758726],[-0.0715420581120997,0.4205329399199646]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6371381700090325,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9413.png","name":"9413"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9413.png","name":"9413"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3433.png","name":"3433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6738.png","name":"6738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1630.png","name":"1630"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6838.png","name":"6838"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":609.256908161205,"rotation_z_degrees":81.38200819777104,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01574832400136039,0.014137689830386619,0.011962537247859725]},{"name":"camera_2","offset_m":[0.010310260031852408,0.005077299880566249,0.01731921991307189]},{"name":"camera_3","offset_m":[-0.005625550256421219,-0.018023905573141256,0.005219193364747073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000650916820678971,0.0008455967060739221,0.0013901096735358964],"end_effector_yaw_offset_degrees":0.40263021578677916},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00040594915577424166,0.001878508030767318,-0.0007217555326330008],"end_effector_yaw_offset_degrees":-0.7619824216178297},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014986225544441232,0.0012818963385966102,-0.0006492548919973093],"end_effector_yaw_offset_degrees":-0.9369251367790727},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00024367895984655705,-0.0009174093206991288,-0.0018010397960047002],"end_effector_yaw_offset_degrees":0.2875832504470861},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001635029405461534,-6.804976121003829e-05,-0.0015050821711076242],"end_effector_yaw_offset_degrees":-0.5726455027854394},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001406411481857862,0.0010551315582477323,0.0013449314723976802],"end_effector_yaw_offset_degrees":-0.19758252115834884}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019319865778965875,0.0023470318740206053],"position_m":[0.23213198657789658,0.036047031874020606,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001000543690684772,-0.002851130427166632],"position_m":[0.20869945630931522,-0.35095113042716664,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004327089782935415,-0.0032825093069271793],"position_m":[0.2878729102170646,0.2882174906930728,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003543957264208122,0.0005342745947694936],"position_m":[0.2699560427357919,-0.1219657254052305,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e1ef0b289dd2eede5d42fac8655f8a45ff2508e0a248334321159d977e0d18d3","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9413/tex_ceiling_textures_6838/tex_floor_textures_1630/tex_table_textures_3433/tex_wall_textures_6738","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7263100789603472908,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7263100789603472908,"visual_seed":7263100789603472908,"scene_id":"lab_003","finished_at":"2026-09-08T13:33:35"}
+{"episode_id":"ep_000030","started_at":"2026-09-08T13:33:42","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.2009866314343734,1.4008152872524104,0.71338606911949],"aabb_xy":[[-0.28098662883796677,1.3208227160542274],[-0.12098663403077996,1.480807858450593]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.2702131919095989,-0.9220999639504768,0.71338606911949],"aabb_xy":[[0.25944021798823114,-0.9570999621695157],[0.2809861658309667,-0.8870999657314377]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.14462901706251374,-1.8809691319588637,0.71338606911949],"aabb_xy":[[-0.16130615305560922,-1.8976690559327942],[-0.1279518810694182,-1.8642692079849337]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.27695915482288624,1.6867825903249938,0.71338606911949],"aabb_xy":[[-0.29945557625675034,1.6642825905182463],[-0.25446273338902214,1.7092825901317412]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.5196976480549449,-2.3696117711096085,0.71338606911949],"aabb_xy":[[-0.5273219161451231,-2.3772449946461522],[-0.5120733799647667,-2.361978547573065]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.29585854513107746,-2.226998016538303,0.71338606911949],"aabb_xy":[[0.2590639120061712,-2.2639038916348855],[0.33265317825598373,-2.190092141441721]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[-0.5405481720304326,-1.6383772253917663,0.71338606911949],"aabb_xy":[[-0.6205481731035529,-1.6481552717291508],[-0.46054817095731226,-1.628599179054382]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.40828178448602115,-2.0235264761412273,0.71338606911949],"aabb_xy":[[0.3907350895699022,-2.0610264777054788],[0.4258284794021401,-1.986026474576976]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.07730122508008197,0.9651283864409708,0.71338606911949],"aabb_xy":[[0.06123929762156433,0.8801283846283788],[0.09336315253859961,1.0501283882535624]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.44090480100524276,1.6187606081332668,0.71338606911949],"aabb_xy":[[0.4034048024296219,1.6060243124697091],[0.4784047995808635,1.631496903796825]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.19792855912971752,-1.5147272150535365,0.71338606911949],"aabb_xy":[[0.13292855649192403,-1.5662068137529834],[0.262928561767511,-1.4632476163540895]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.491164096399312,-2.529384603736555,0.71338606911949],"aabb_xy":[[0.45366409622744003,-2.562085339119462],[0.528664096571184,-2.4966838683536476]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.4564145865276026,0.7708595613416485,0.71338606911949],"aabb_xy":[[-0.5064145868881685,0.7208795741320454],[-0.40641458616703646,0.8208395485512513]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.18660506149850786,0.76821004935295,0.71338606911949],"aabb_xy":[[0.1491050607065124,0.7618422083947599],[0.22410506229050328,0.7745778903111401]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[0.4641799266795956,1.5288778714835805,0.71338606911949],"aabb_xy":[[0.3991799255736523,1.5039124984154522],[0.5291799277855389,1.5538432445517087]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.613547635490534,1.6132443118876973,0.71338606911949],"aabb_xy":[[0.5934892238772939,1.59317922497854],[0.6336060471037744,1.6333093987968548]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.6520562105706758,1.620076067836616,0.71338606911949],"aabb_xy":[[-0.6803859205192161,1.615615325642899],[-0.6237265006221356,1.624536810030333]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.299160064448146,1.1365036510843067,0.71338606911949],"aabb_xy":[[0.2154378389480635,1.0465036475496108],[0.3828822899482284,1.2265036546190027]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.18697315990513363,-2.0083781782838726,0.71338606911949],"aabb_xy":[[-0.22400726933319332,-2.042755385617582],[-0.1499390504770739,-1.9740009709501631]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.5973252464402237,-1.3236204845173896,0.71338606911949],"aabb_xy":[[0.5892989758095977,-1.3323719794947422],[0.6053515170708497,-1.314868989540037]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.48415135703428547,-0.38488526538065093,0.71338606911949],"aabb_xy":[[0.46168658706288035,-0.40738526625951144],[0.5066161270056906,-0.3623852645017904]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[-0.405218301245272,0.4971716563045092,0.71338606911949],"aabb_xy":[[-0.43951521226301254,0.4628747700945678],[-0.3709213902275313,0.5314685425144505]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.6989799436460598,1.416398939089056,0.71338606911949],"aabb_xy":[[0.6834241742357945,1.400848505844649],[0.714535713056325,1.4319493723334633]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.3654876307724176,0.018657564694302575,0.71338606911949],"aabb_xy":[[-0.3959718808994477,-0.031342435087193365],[-0.33500338064538737,0.06865756447579852]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.6773213026283134,0.9691591097302577,0.71338606911949],"aabb_xy":[[0.6644493991273731,0.8891591093164215],[0.6901932061292534,1.0491591101440938]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[-0.56319421085176,1.472762524714629,0.71338606911949],"aabb_xy":[[-0.6271942111257383,1.422696424517341],[-0.4991942105777818,1.522828624911917]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.35492665038060034,-0.5848502277241918,0.71338606911949],"aabb_xy":[[0.332426650137085,-0.5970548623839639],[0.3774266506241158,-0.57264559306442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6380779127499429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4233.png","name":"4233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4233.png","name":"4233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2124.png","name":"2124"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9415.png","name":"9415"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4055.png","name":"4055"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1109.png","name":"1109"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":838.2128510922714,"rotation_z_degrees":146.9415017919278,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00795190947798376,-0.008901656871980338,0.011637504011182086]},{"name":"camera_2","offset_m":[0.010331392907445773,0.008491628580369167,0.005146257900391436]},{"name":"camera_3","offset_m":[-0.0013396049122498255,0.019900124632351763,0.00863133867572135]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005814840627456227,5.1187176141331836e-05,-0.0002595420266385804],"end_effector_yaw_offset_degrees":-0.7930372578574907},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001997228526874512,-0.001819971539623781,-0.001650436430390805],"end_effector_yaw_offset_degrees":0.825713363853462},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014795065672387948,-0.00011016524204540972,0.0016879892971451687],"end_effector_yaw_offset_degrees":-0.37267162174746127},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014629198745881775,0.0011560180328296695,0.0013930485701480213],"end_effector_yaw_offset_degrees":-0.34488032127644175},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0006493098727834838,0.0006574998628531325,-0.0006455071598793496],"end_effector_yaw_offset_degrees":0.42791279861476883},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018316380982446407,0.0018527453859715354,-0.0014032144321685768],"end_effector_yaw_offset_degrees":0.2508098269815999}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004215234248564629,0.0017857340984240855],"position_m":[0.22598476575143536,0.035485734098424086,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006894407457149858,-0.004084736036610435],"position_m":[0.20901055925428502,-0.35218473603661044,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004143674981931049,0.00014479920842879867],"position_m":[0.288056325018069,0.2916447992084288,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004762850683068992,0.0017782000545659435],"position_m":[0.26873714931693105,-0.12072179994543406,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f9deed7bc75cf989008e9e1a8665697a8d42ffc306d1ed46bbc4f2f242141e50","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4233/tex_ceiling_textures_1109/tex_floor_textures_4055/tex_table_textures_2124/tex_wall_textures_9415","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8281112885547329759,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8281112885547329759,"visual_seed":8281112885547329759,"scene_id":"lab_003","finished_at":"2026-09-08T13:41:37"}
+{"episode_id":"ep_000031","started_at":"2026-09-08T13:41:44","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.20456372196646738,0.30290536384270084,0.71338606911949],"aabb_xy":[[-0.21541532821534293,0.2920460731150498],[-0.19371211571759173,0.31376465457035185]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[-0.1977305399093618,-1.4905144503883285,0.71338606911949],"aabb_xy":[[-0.25273053953110763,-1.5454981431758015],[-0.14273054028761595,-1.435530757600856]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[0.5908523990722572,-0.017157559618580898,0.71338606911949],"aabb_xy":[[0.54085239771137,-0.0671354641939965],[0.6408524004331444,0.03282034495683471]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.5115191541240218,1.3324452113615926,0.71338606911949],"aabb_xy":[[-0.5815191505339834,1.3120072757099106],[-0.44151915771405986,1.352883147013274]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.3334624402258566,-2.1474213795505976,0.71338606911949],"aabb_xy":[[0.26946243996538577,-2.1924301789035257],[0.3974624404863274,-2.1024125801976696]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[0.39838135390447427,1.7396945490092306,0.71338606911949],"aabb_xy":[[0.3901668087887902,1.7310179587115893],[0.40659589902015814,1.748371139306872]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[-0.41116216332526423,-0.807132308975935,0.71338606911949],"aabb_xy":[[-0.4611354573285246,-0.8571323095304824],[-0.3611888693220037,-0.7571323084213877]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[-0.13343702691691517,-0.3454595842016106,0.71338606911949],"aabb_xy":[[-0.1373509001123377,-0.35420859960816736],[-0.12952315372149265,-0.33671056879505384]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.5485730434729559,-1.3522269447550526,0.71338606911949],"aabb_xy":[[0.5126595390479661,-1.388140452971807],[0.5844865478979454,-1.316313436538298]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.28389978152922163,1.312654342350989,0.71338606911949],"aabb_xy":[[-0.32139978304485334,1.301427569334844],[-0.24639978001358992,1.3238811153671342]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.5301460281548276,0.7429112680549297,0.71338606911949],"aabb_xy":[[-0.5342241860618773,0.7388302878066664],[-0.5260678702477779,0.746992248303193]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.04242620008417464,-2.112698785038852,0.71338606911949],"aabb_xy":[[0.019927064357947666,-2.1351987858171153],[0.06492533581040161,-2.090198784260589]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[-0.34762146617513207,0.2799214214766854,0.71338606911949],"aabb_xy":[[-0.4116214632872377,0.23088905168227486],[-0.2836214690630263,0.3289537912710961]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.6671679397847482,0.12862226277199218,0.71338606911949],"aabb_xy":[[-0.6797947270719444,0.11907618907041928],[-0.6545411524975517,0.13816833647356508]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.25593872172639204,-0.43687304339862454,0.71338606911949],"aabb_xy":[[-0.2603693510812322,-0.4423214151333072],[-0.25150809237155186,-0.431424671663942]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.10900653098417246,1.6622238122421735,0.71338606911949],"aabb_xy":[[0.05900652970033248,1.6122449578515512],[0.1590065322680124,1.7122026666327954]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.5115359393201371,-1.6552008961654905,0.71338606911949],"aabb_xy":[[-0.5755359395941153,-1.7052669963627785],[-0.44753593904615885,-1.6051347959682025]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.15150852721582997,-0.16875849290970013,0.71338606911949],"aabb_xy":[[-0.15892098275721844,-0.17460970333132808],[-0.1440960716744415,-0.16290728248807218]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.04534042592738752,1.5011344388166843,0.71338606911949],"aabb_xy":[[-0.018659570468185567,1.4371711503979507],[0.1093404223229606,1.5650977272354178]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[0.3161898256520177,-1.844937010121558,0.71338606911949],"aabb_xy":[[0.23246760015193518,-1.9349370136562543],[0.3999120511521001,-1.7549370065868624]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.656622453925485,-2.4277651217670435,0.71338606911949],"aabb_xy":[[0.6344499269488342,-2.449940788923166],[0.6787949809021359,-2.40558945461092]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[0.3457610700831073,1.445004785193913,0.71338606911949],"aabb_xy":[[0.32987657681778215,1.4306518448950887],[0.36164556334843245,1.4593577254927368]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_22","position":[0.17719656918556093,-0.5854080392581,0.71338606911949],"aabb_xy":[[0.1121965682284337,-0.6373562511918055],[0.2421965701426881,-0.5334598273243943]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.6579989322847527,-2.4313212419646084,0.71338606911949],"aabb_xy":[[-0.6891458511283357,-2.5013212406514156],[-0.6268520134411695,-2.3613212432778012]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.4254494847200505,-2.461463661712592,0.71338606911949],"aabb_xy":[[0.4145437086324877,-2.541463658111421],[0.4363552608076131,-2.381463665313763]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.27358639219617586,0.8359053946243349,0.71338606911949],"aabb_xy":[[-0.30817747505022103,0.7709053943393037],[-0.23899530934213062,0.9009053949093658]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[0.6351891138023351,-1.7780786627802945,0.71338606911949],"aabb_xy":[[0.5751891129415222,-1.8295050927867806],[0.6951891146631478,-1.7266522327738079]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6322723414106648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2616.png","name":"2616"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2616.png","name":"2616"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8463.png","name":"8463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4710.png","name":"4710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7077.png","name":"7077"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8679.png","name":"8679"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":741.1857308578965,"rotation_z_degrees":358.55448092170394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00422661932838558,0.0029263842655941723,-0.00278019265805185]},{"name":"camera_2","offset_m":[-0.013747826142255674,0.013513194066751274,-0.005279219617831305]},{"name":"camera_3","offset_m":[-0.0022266833466383362,-0.006123168204046703,-0.0046404923373689]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019138878236258606,-0.0016258581176160597,-0.0012397831189241769],"end_effector_yaw_offset_degrees":0.184974952234358},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009252543435908536,-0.0006118461456806816,-0.0013413233528079766],"end_effector_yaw_offset_degrees":-0.026262550924743833},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007416421777537768,-0.0012623685323493858,-0.0002839529121745751],"end_effector_yaw_offset_degrees":0.13654556019691122},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0011319366719646107,0.000757555949988296,-0.0012793618079205483],"end_effector_yaw_offset_degrees":-0.8803262495644826},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018764740277154531,-0.0015204185108625237,-0.001482406702722912],"end_effector_yaw_offset_degrees":-0.20973712962724522},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005454220589043812,-0.0009379298953994138,-2.146945974717141e-06],"end_effector_yaw_offset_degrees":-0.38072049349509407}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003963816380550102,0.00169713856083014],"position_m":[0.230596381638055,0.03539713856083014,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0045919648445212615,0.003391923639744555],"position_m":[0.20510803515547874,-0.34470807636025547,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0011910233511879765,-0.004517672266800696],"position_m":[0.293391023351188,0.28698232773319926,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004371786032148748,-0.004693584970192029],"position_m":[0.26912821396785125,-0.12719358497019204,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"44b7282ce92438de5a36fdd684ad21d171174dcc4c450ec135a59bb3113170be","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2616/tex_ceiling_textures_8679/tex_floor_textures_7077/tex_table_textures_8463/tex_wall_textures_4710","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":980427983532670885,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":980427983532670885,"visual_seed":980427983532670885,"scene_id":"lab_003","finished_at":"2026-09-08T13:49:23"}
+{"episode_id":"ep_000032","started_at":"2026-09-08T13:49:31","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[-0.053745866881996784,-0.27997101897537524,0.71338606911949],"aabb_xy":[[-0.09124586754657547,-0.2956580769755974],[-0.016245866217418078,-0.264283960975153]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.27434692546546746,0.7338618357515263,0.71338606911949],"aabb_xy":[[0.26310186989484957,0.7226200380274309],[0.28559198103608524,0.7451036334756215]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.11773675438545261,-1.3940858154404645,0.71338606911949],"aabb_xy":[[-0.14606646433399284,-1.3985465576341818],[-0.0894070444369124,-1.3896250732467477]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.5905241566877836,0.7764213809424847,0.71338606911949],"aabb_xy":[[-0.6216710755313667,0.7064213822556774],[-0.5593772378442005,0.8464213796292918]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.3319464001678609,-2.478780586127322,0.71338606911949],"aabb_xy":[[0.3100377180285099,-2.5006812529474125],[0.35385508230721197,-2.456879919307231]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[0.5195893969928345,-1.0474903655262449,0.71338606911949],"aabb_xy":[[0.4646156749565016,-1.102490365090478],[0.5745631190291673,-0.9924903659620117]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.4017694308256302,-1.2369021511236622,0.71338606911949],"aabb_xy":[[-0.42182784243887045,-1.2569672380328196],[-0.38171101921238987,-1.2168370642145048]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.05774593811843676,0.14430748407537575,0.71338606911949],"aabb_xy":[[-0.06910767277172292,0.13293901766908764],[-0.0463842034651506,0.1556759504816638]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.46869397679258296,-1.9078109002383536,0.71338606911949],"aabb_xy":[[-0.5236939759691724,-1.9628005750133113],[-0.41369397761599347,-1.852821225463396]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.435921316194374,-0.44372269648757046,0.71338606911949],"aabb_xy":[[0.425353836536275,-0.45426772660057896],[0.44648879585247303,-0.43317766637456184]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.4470176818874809,-1.9667138630701073,0.71338606911949],"aabb_xy":[[0.39201768368573603,-2.007235829696545],[0.5020176800892256,-1.9261918964436697]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.5788655085671446,0.1165199774523562,0.71338606911949],"aabb_xy":[[0.5662387212799481,0.1069739037507833],[0.5914922958543408,0.1260660511539291]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.5703653470468117,1.3158371890446925,0.71338606911949],"aabb_xy":[[-0.5882344548012672,1.3020042810674812],[-0.5524962392923563,1.3296700970219033]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.33838029345458825,-2.5371648197664602,0.71338606911949],"aabb_xy":[[-0.3527147185807517,-2.5492250353209993],[-0.3240458683284248,-2.525104604211921]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.5496902519391591,-0.6034393327371093,0.71338606911949],"aabb_xy":[[-0.6046857297598185,-0.6584393341710161],[-0.4946947741184997,-0.5484393313032022]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.032485345285964584,-1.816678033936043,0.71338606911949],"aabb_xy":[[-0.09648534239807027,-1.8657104037304535],[0.03151465182614111,-1.7676456641416323]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.04585846256292114,1.4614412111050163,0.71338606911949],"aabb_xy":[[-0.051440134197049896,1.4489412112872408],[-0.040276790928792376,1.4739412109227918]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[0.5105514907757256,-0.8153106243116037,0.71338606911949],"aabb_xy":[[0.49878330398106807,-0.9003106242168253],[0.5223196775703831,-0.7303106244063821]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[-0.5278560200457794,-2.148217168980842,0.71338606911949],"aabb_xy":[[-0.5749853990476148,-2.212217170025243],[-0.48072664104394347,-2.084217167936439]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.45355362775639474,0.3409689102702287,0.71338606911949],"aabb_xy":[[0.403553628316199,0.2910009857859123],[0.5035536271965902,0.39093683475454494]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.4212337241698092,0.7371015312020646,0.71338606911949],"aabb_xy":[[-0.4464545610296488,0.7118777803491776],[-0.3960128873099695,0.7623252820549511]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[-0.1300555773548291,1.0388239908396533,0.71338606911949],"aabb_xy":[[-0.21974265366294451,0.9488239905852025],[-0.040368501046713606,1.1288239910941036]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[-0.5341871583443365,-1.5158133066261215,0.71338606911949],"aabb_xy":[[-0.6141871569316559,-1.5951289085642826],[-0.4541871597570171,-1.4364977046879608]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.4761942146590339,0.46606633536754183,0.71338606911949],"aabb_xy":[[0.44754488229861766,0.43742077609046603],[0.5048435470194501,0.4947118946446176]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6372716264902654,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9584.png","name":"9584"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9584.png","name":"9584"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6686.png","name":"6686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1984.png","name":"1984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4234.png","name":"4234"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4534.png","name":"4534"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":642.5122779366878,"rotation_z_degrees":324.4194578503313,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01636188253469773,-0.002287707689843675,-0.014320452668451967]},{"name":"camera_2","offset_m":[0.004164253487148554,-0.009555480394600017,0.01726632554724945]},{"name":"camera_3","offset_m":[0.007226199883921067,-0.0037786692449897907,0.0022586699495910495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017132848508524714,0.0018805450994432327,0.0008935561461660543],"end_effector_yaw_offset_degrees":-0.03916246325007444},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00012114505649631502,-0.001507616914076252,0.00010361382254008358],"end_effector_yaw_offset_degrees":-0.73877358965235},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001991724040147352,-0.0011405108560404642,-0.0001868514703038792],"end_effector_yaw_offset_degrees":0.6524699242451304},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010784110617740937,0.0019575562899524007,-0.001568998833503313],"end_effector_yaw_offset_degrees":0.3914094465643587},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016484947660374868,-0.0013641293669486574,-0.001863155895857827],"end_effector_yaw_offset_degrees":-0.971167826177697},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013111508193696599,-0.0007382084956733608,0.0006978770157639392],"end_effector_yaw_offset_degrees":0.9686138647205917}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00032672815986929844,3.210968962103367e-05],"position_m":[0.2305267281598693,0.03373210968962104,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[1.7237096544196057e-05,-0.0015474231137142134],"position_m":[0.2097172370965442,-0.3496474231137142,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0012998593711555729,-0.0016871712492239812],"position_m":[0.2934998593711556,0.289812828750776,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00047096880731819623,0.004398233069244406],"position_m":[0.27302903119268185,-0.1181017669307556,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ec6cfdb1d42d961e8515b37beed49d6577a7557c38d61bd5077478f4a3b1575e","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9584/tex_ceiling_textures_4534/tex_floor_textures_4234/tex_table_textures_6686/tex_wall_textures_1984","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":9126073562584933829,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":9126073562584933829,"visual_seed":9126073562584933829,"scene_id":"lab_003","finished_at":"2026-09-08T13:57:14"}
+{"episode_id":"ep_000033","started_at":"2026-09-08T13:57:22","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[0.6601840527230403,0.16310032861176538,0.71338606911949],"aabb_xy":[[0.6140989614683088,0.09910033135921027],[0.7062691439777717,0.2271003258643205]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.668793255185963,1.2981998303384503,0.71338606911949],"aabb_xy":[[0.6587115481073893,1.2181998324463355],[0.6788749622645363,1.3781998282305647]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.3206193627305467,-0.6477013432587351,0.71338606911949],"aabb_xy":[[0.2832880862053041,-0.6823543980535873],[0.3579506392557893,-0.6130482884638828]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.44808579721814823,-2.4921649936827124,0.71338606911949],"aabb_xy":[[-0.497566218432107,-2.556164991595564],[-0.39860537600418944,-2.4281649957698606]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.13168882408770022,-1.9333619568264158,0.71338606911949],"aabb_xy":[[0.08169399115975862,-1.9833619557216595],[0.18168365701564182,-1.8833619579311724]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[-0.03321963361177893,-1.7469667468793857,0.71338606911949],"aabb_xy":[[-0.09721963690148704,-1.790301665883303],[0.030780369677929183,-1.7036318278754679]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.5629097602851016,-2.265984948043402,0.71338606911949],"aabb_xy":[[-0.617909759461691,-2.320974622818359],[-0.507909761108512,-2.210995273268444]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.43758311444028464,1.6269915065952882,0.71338606911949],"aabb_xy":[[0.36758311104872265,1.591675732891857],[0.5075831178318466,1.6623072802987187]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.4389534505415499,1.5130078149078163,0.71338606911949],"aabb_xy":[[-0.46086213268090087,1.4911071480877256],[-0.4170447684021988,1.534908481727907]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.10259363747290096,1.6343225088868159,0.71338606911949],"aabb_xy":[[0.0763048131524603,1.6080510752321644],[0.12888246179334162,1.6605939425414669]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.4781594413681025,-1.1283524030114964,0.71338606911949],"aabb_xy":[[0.4141594391476955,-1.1727254871367847],[0.5421594435885095,-1.0839793188862081]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[0.27564014062509457,-1.8669394405568227,0.71338606911949],"aabb_xy":[[0.24134322960735388,-1.9012363267667638],[0.30993705164283514,-1.8326425543468812]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.41234716834876506,-2.033701226612795,0.71338606911949],"aabb_xy":[[-0.4348435897826292,-2.0562012264195424],[-0.389850746914901,-2.0112012268060475]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[0.6782807906109398,1.461811234608661,0.71338606911949],"aabb_xy":[[0.6607340956948209,1.4243112330444094],[0.6958274855270588,1.499311236172912]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.2343225332740107,1.572580769887581,0.71338606911949],"aabb_xy":[[-0.23916612803524068,1.567729117408597],[-0.22947893851278073,1.5774324223665652]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.26240452100682055,-1.449295999906229,0.71338606911949],"aabb_xy":[[0.23990538528059357,-1.471796000684492],[0.2849036567330475,-1.426795999127966]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.549299715814322,0.3982493613463056,0.71338606911949],"aabb_xy":[[-0.604299715436068,0.3432656685588329],[-0.4942997161925763,0.45323305413377835]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.26209924393587103,-1.6435481500650675,0.71338606911949],"aabb_xy":[[0.21209924298533822,-1.675097297068589],[0.31209924488640384,-1.611999003061546]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.25270595266785945,-0.9370748332230168,0.71338606911949],"aabb_xy":[[-0.26938308866095495,-0.9537747571969469],[-0.23602881667476394,-0.9203749092490864]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.04287301686020428,-0.8664376288367377,0.71338606911949],"aabb_xy":[[0.00828193400615907,-0.9314376291217686],[0.0774640997142495,-0.8014376285517065]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.2503660962690504,-2.2014761786240453,0.71338606911949],"aabb_xy":[[0.22819356929239948,-2.223651845780168],[0.27253862324570116,-2.179300511467922]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.5381046807533247,-0.4915466469566012,0.71338606911949],"aabb_xy":[[0.4881316152208094,-0.5415466467691342],[0.5880777462858403,-0.44154664714406844]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.6102137567539601,-1.373098366501466,0.71338606911949],"aabb_xy":[[-0.6653389623835508,-1.4330983679427531],[-0.5550885511243693,-1.3130983650601789]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[-0.5595608273356395,-0.9059163519526365,0.71338606911949],"aabb_xy":[[-0.5895283842454652,-0.9359163522505223],[-0.5295932704258138,-0.8759163516547508]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[0.4090649099713801,1.2541351614024054,0.71338606911949],"aabb_xy":[[0.3514344410841092,1.1941351624756944],[0.46669537885865087,1.3141351603291156]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[0.5296140214895353,1.0921231056004554,0.71338606911949],"aabb_xy":[[0.4883652104596205,1.0371231060882378],[0.5708628325194499,1.1471231051126727]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.5625064758715169,1.7177573751330484,0.71338606911949],"aabb_xy":[[-0.6275064769774603,1.6927920020649203],[-0.49750647476557375,1.742722748201177]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.1828889734550514,1.09728673625066,0.71338606911949],"aabb_xy":[[-0.2478889720121242,1.0675342028367774],[-0.11788897489797853,1.1270392696645426]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_28","position":[-0.36326856550179276,-0.12869718962978016,0.71338606911949],"aabb_xy":[[-0.3865504076999241,-0.21369719092700823],[-0.3399867233036614,-0.043697188332552116]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_29","position":[-0.5359625903156379,1.147952817639677,0.71338606911949],"aabb_xy":[[-0.5414205359526578,1.0679528143320178],[-0.5305046446786177,1.227952820947336]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_30","position":[-0.1597096045308779,-0.915940951900277,0.71338606911949],"aabb_xy":[[-0.18493044139071754,-0.9411647027531637],[-0.1344887676710382,-0.8907172010473902]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[0.6452360449476309,-1.352434172610108,0.71338606911949],"aabb_xy":[[0.5812360446871601,-1.397442971963036],[0.7092360452081017,-1.30742537325718]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_32","position":[0.469903109471524,0.06481306102272999,0.71338606911949],"aabb_xy":[[0.42473179162335517,0.000813063878191578],[0.5150744273196931,0.12881305816726843]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_33","position":[-0.13848496058527582,1.4464497870878543,0.71338606911949],"aabb_xy":[[-0.20248496085925402,1.3963836868905664],[-0.07448496031129756,1.4965158872851423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6334478879805019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8034.png","name":"8034"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8034.png","name":"8034"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7424.png","name":"7424"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7403.png","name":"7403"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/422.png","name":"422"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":718.7919812328739,"rotation_z_degrees":318.72011762022595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011370614434077745,0.01158830594188583,-0.00724140319347872]},{"name":"camera_2","offset_m":[-0.01900058749823975,-0.01573230965619411,-0.012478680713771305]},{"name":"camera_3","offset_m":[-0.015505241081093035,-0.00494689962872024,-0.016868102166335146]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016224195708796274,0.0006252514837185412,0.0019057086944643592],"end_effector_yaw_offset_degrees":0.20516503831136235},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[2.6901646103842485e-05,0.001039342449143811,0.00018147518334631942],"end_effector_yaw_offset_degrees":0.4866958577164826},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007521203918942538,0.0012056517744384694,0.00011026564811477324],"end_effector_yaw_offset_degrees":0.04183515434428031},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015350426731483187,-0.001311390840159939,-0.0009138380063637044],"end_effector_yaw_offset_degrees":-0.6689208453029911},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001475365368084932,-0.0010808232420115034,0.0011241476257792525],"end_effector_yaw_offset_degrees":0.21992026428930256},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0015318551441630317,0.00119859025581113,-0.0013782890228912718],"end_effector_yaw_offset_degrees":-0.4408704237928147}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007408317675917288,-0.003340628396713857],"position_m":[0.23094083176759173,0.030359371603286143,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004187921161171234,-0.0009810931303523597],"position_m":[0.20551207883882877,-0.3490810931303524,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004044650333352879,-0.0033452470314196737],"position_m":[0.28815534966664713,0.2881547529685803,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004646700786738649,0.003196767830509065],"position_m":[0.27814670078673864,-0.11930323216949093,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"24f29b25da1628343590397fc4f2c9393d569fac8a4121fbab176795ba49d80b","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8034/tex_ceiling_textures_422/tex_floor_textures_7403/tex_table_textures_7424/tex_wall_textures_5160","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":6084921806335291428,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":6084921806335291428,"visual_seed":6084921806335291428,"scene_id":"lab_003","finished_at":"2026-09-08T14:05:17"}
+{"episode_id":"ep_000034","started_at":"2026-09-08T14:05:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.5833438207301713,1.0705082897400695,0.71338606911949],"aabb_xy":[[0.5690093956040079,1.0584480741855307],[0.5976782458563348,1.0825685052946084]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.6269739110672302,-0.3036632195668316,0.71338606911949],"aabb_xy":[[-0.6769527195775462,-0.3536632195725504],[-0.5769951025569144,-0.2536632195611128]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[0.22790559580941272,0.44383339302929636,0.71338606911949],"aabb_xy":[[0.22256802014340815,0.4188333921001566],[0.2332431714754173,0.46883339395843615]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.4963082927805953,-0.5482664261788823,0.71338606911949],"aabb_xy":[[0.43230829110259794,-0.5967838176581965],[0.5603082944585926,-0.4997490346995681]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.193305990174917,-1.124510756156157,0.71338606911949],"aabb_xy":[[0.18772431854078825,-1.1370107559739322],[0.19888766180904577,-1.1120107563383812]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.5996917294560242,-2.0153235116297905,0.71338606911949],"aabb_xy":[[-0.6038076795680967,-2.0194390666626356],[-0.5955757793439513,-2.0112079565969445]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.26219069360205355,0.7386083894906816,0.71338606911949],"aabb_xy":[[-0.27355242825533965,0.7272399230843934],[-0.25082895894876733,0.7499768558969696]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.13496553830980418,1.7983153744760867,0.71338606911949],"aabb_xy":[[0.1124655384959018,1.793840758105606],[0.15746553812370656,1.8027899908465674]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.22424577626089814,0.6206127497531924,0.71338606911949],"aabb_xy":[[0.16265501703690532,0.5566127516441456],[0.28583653548489096,0.6846127478622394]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.5222016063387069,1.2437807437070734,0.71338606911949],"aabb_xy":[[0.5149192899620431,1.1537807400975642],[0.5294839227153704,1.3337807473165821]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[-0.5638920231898903,-0.10169160572581193,0.71338606911949],"aabb_xy":[[-0.5678058963853128,-0.11044062113236869],[-0.5599781499944678,-0.09294259031925517]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.609119890120021,1.7207332936078008,0.71338606911949],"aabb_xy":[[0.51911989070165,1.6873577967636109],[0.6991198895383918,1.7541087904519903]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.3844691452679838,1.131799676086465,0.71338606911949],"aabb_xy":[[0.32446914476013083,1.0749529424005437],[0.4444691457758367,1.1886464097723863]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[-0.29283699425708165,-1.9524641902716775,0.71338606911949],"aabb_xy":[[-0.3037427703446443,-2.0324641866705067],[-0.2819312181695189,-1.8724641938728486]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.0656351531517082,1.6978269490036664,0.71338606911949],"aabb_xy":[[-0.07304760869309668,1.6919757385820384],[-0.05822269761031973,1.7036781594252943]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.19961565268176834,1.561545161952949,0.71338606911949],"aabb_xy":[[-0.23664976210982802,1.5271679546192396],[-0.1625815432537086,1.5959223692866584]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.04093680977638614,1.37850600174245,0.71338606911949],"aabb_xy":[[0.03484218188826782,1.3699366071907815],[0.04703143766450446,1.387075396294119]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.4322395852860357,-2.142891454868147,0.71338606911949],"aabb_xy":[[-0.4972395834419547,-2.1691876994180586],[-0.36723958713011656,-2.116595210318234]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[0.29811773901783933,0.8870420523752864,0.71338606911949],"aabb_xy":[[0.23811773815702644,0.8356156223687999],[0.35811773987865203,0.9384684823817727]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[-0.08695489697694858,-0.89429994750085,0.71338606911949],"aabb_xy":[[-0.16695489495773363,-0.9019014884627018],[-0.006954898996163541,-0.8866984065389979]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.640370334780332,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8065.png","name":"8065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5207.png","name":"5207"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9947.png","name":"9947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6998.png","name":"6998"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":578.7045767770768,"rotation_z_degrees":90.91513504346733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018103747220658942,-0.004465883941698827,0.009662206541957631]},{"name":"camera_2","offset_m":[-0.004292760164208497,-0.018623754738573056,-0.00784977962951836]},{"name":"camera_3","offset_m":[0.0013338860519699382,-0.005293319437904915,-0.0197310015589885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003700519513227336,0.0007280941923859955,-0.0019912771855957086],"end_effector_yaw_offset_degrees":-0.87431138626732},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004804624926609967,-0.001083013508573758,-0.0006110669700672227],"end_effector_yaw_offset_degrees":0.9321202178767094},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009394935267808143,-0.0015972839137358905,0.001645110010121284],"end_effector_yaw_offset_degrees":-0.2604645466178843},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004999309416606405,-8.91075952847431e-05,-0.0008453597335787389],"end_effector_yaw_offset_degrees":-0.7348319194163042},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007164743119614655,0.0012962517211885347,-0.001679021877974649],"end_effector_yaw_offset_degrees":0.48238933890332314},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017350327510567665,0.0009857990419089436,-4.652640798652333e-05],"end_effector_yaw_offset_degrees":-0.7889095719003414}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000472607540829696,0.004830697958171628],"position_m":[0.2297273924591703,0.03853069795817163,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002718034562267129,-0.00307968483051713],"position_m":[0.21241803456226713,-0.35117968483051715,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002367415617303662,0.0025105716577352314],"position_m":[0.2898325843826964,0.2940105716577352,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036088819675492946,0.00034847743419357154],"position_m":[0.26989111803245075,-0.12215152256580643,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"aa50e8aa4f27a47f16830e4190862928c016f5357f0ac2377d26c4ce81e2e6b2","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9602/tex_ceiling_textures_6998/tex_floor_textures_9947/tex_table_textures_8065/tex_wall_textures_5207","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":676990073395679522,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":676990073395679522,"visual_seed":676990073395679522,"scene_id":"lab_003","finished_at":"2026-09-08T14:13:05"}
+{"episode_id":"ep_000035","started_at":"2026-09-08T14:13:12","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.1983073224738109,1.1771568018203524,0.71338606911949],"aabb_xy":[[-0.2351019555987172,1.1402509267237702],[-0.16151268934890464,1.2140626769169347]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.48701531903330253,1.261803080395294,0.71338606911949],"aabb_xy":[[-0.5370153199838352,1.2302539333917726],[-0.43701531808276967,1.2933522273988154]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.34923622287180034,0.498266913958739,0.71338606911949],"aabb_xy":[[-0.39923622323236635,0.448286926749136],[-0.2992362225112342,0.5482469011683418]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.07650561410902779,-2.0398301505094585,0.71338606911949],"aabb_xy":[[-0.1265006250684798,-2.0898301495450506],[-0.026510603149575755,-1.9898301514738672]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.4367996412945252,-1.5778707673930497,0.71338606911949],"aabb_xy":[[-0.5007996419979945,-1.623889149865971],[-0.37279964059105586,-1.531852384920129]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.22493260021699923,-1.1604606301871587,0.71338606911949],"aabb_xy":[[-0.23027017588300377,-1.1854606311162985],[-0.21959502455099464,-1.135460629258019]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[0.37046624407332884,-1.481432646340331,0.71338606911949],"aabb_xy":[[0.3064662437993506,-1.5314987465376186],[0.4344662443473071,-1.4313665461430427]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.661029740887118,-0.12638190328040588,0.71338606911949],"aabb_xy":[[0.6010297402911019,-0.1811943758256294],[0.7210297414831343,-0.07156943073518243]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.39502999446056175,-0.9090150723235306,0.71338606911949],"aabb_xy":[[0.3250299980505999,-0.9294530079752121],[0.4650299908705235,-0.8885771366718487]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.23130129125040144,1.1391836824534014,0.71338606911949],"aabb_xy":[[0.16630129029327423,1.0872354705196958],[0.29630129220752865,1.191131894387107]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.0903267774336759,1.389183727899808,0.71338606911949],"aabb_xy":[[0.07212095377242822,1.3781583273178164],[0.10853260109492358,1.4002091284817997]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.4124022059909565,-0.26039634412611967,0.71338606911949],"aabb_xy":[[-0.46238644169913373,-0.31039634293961527],[-0.3624179702827793,-0.21039634531262408]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.3759043133346538,1.0582980557139243,0.71338606911949],"aabb_xy":[[0.35262247113652245,0.9732980544166961],[0.39918615553278514,1.1432980570111522]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.28011650373853414,1.3038302110412494,0.71338606911949],"aabb_xy":[[0.1901165051440642,1.2875796247278284],[0.3701165023330041,1.3200807973546704]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.5907950374146937,-0.4784363524251076,0.71338606911949],"aabb_xy":[[-0.5995762645619301,-0.4872160997136379],[-0.5820138102674576,-0.4696566051365776]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.5198922151892997,0.34184623860230223,0.71338606911949],"aabb_xy":[[0.4823922148971249,0.3378047632016986],[0.5573922154814746,0.34588771400290586]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.2401639515958603,-2.3535564791402224,0.71338606911949],"aabb_xy":[[-0.3101639549874223,-2.3888722528436532],[-0.17016394820429834,-2.3182407054367915]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.2910821246931491,0.12934943566659607,0.71338606911949],"aabb_xy":[[-0.3550821219787977,0.0878427167137521],[-0.2270821274075004,0.17085615461944004]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[0.3522291461440845,-0.5891224689040502,0.71338606911949],"aabb_xy":[[0.3345963105505569,-0.6067454149196732],[0.36986198173761203,-0.5714995228884272]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.48412370863166754,-1.0074556389239264,0.71338606911949],"aabb_xy":[[-0.5641237107944299,-1.08741082255007],[-0.40412370646890494,-0.9275004552977828]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[0.4112346339213102,-2.113491000486889,0.71338606911949],"aabb_xy":[[0.34723463475154026,-2.1602576876058515],[0.47523463309108016,-2.0667243133679265]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.3363812230943885,-1.2014848932174471,0.71338606911949],"aabb_xy":[[-0.39138122271613435,-1.2564685860049198],[-0.28138122347264266,-1.1465012004299744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.638157528572696,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/500.png","name":"500"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/500.png","name":"500"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4781.png","name":"4781"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9954.png","name":"9954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6864.png","name":"6864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1022.png","name":"1022"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":604.6705876164707,"rotation_z_degrees":327.6642464352498,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006205517394591818,-0.019425906906811927,0.015782388344025938]},{"name":"camera_2","offset_m":[0.01041633944018975,0.0030870382143152325,-0.005418393024776091]},{"name":"camera_3","offset_m":[0.001004859804988746,-0.015183815696039861,-0.015998891901097156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001249251131669289,0.0010153944945567503,0.0006270328433532354],"end_effector_yaw_offset_degrees":0.5361180207066047},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013053785118908477,-0.0013560533273669266,8.451331577681792e-05],"end_effector_yaw_offset_degrees":-0.12509353635076637},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010593739980665389,0.0017707755101398714,-0.0007699054401079923],"end_effector_yaw_offset_degrees":-0.583958030228797},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005664906970691292,0.0003386698992919679,0.0005373288439838855],"end_effector_yaw_offset_degrees":0.7463754425995779},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0006550158932685781,-0.0003209290396241312,-0.0012381568590624937],"end_effector_yaw_offset_degrees":0.19647856196300828},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0016574883578762863,0.0015096554740506303,-1.7476777207875525e-05],"end_effector_yaw_offset_degrees":-0.4111331165280727}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027587281614572983,-0.0043906630815188745],"position_m":[0.2329587281614573,0.029309336918481126,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012690372846308282,-0.0012533897921055935],"position_m":[0.21096903728463082,-0.3493533897921056,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003975579302751608,-0.0029910464897407174],"position_m":[0.2882244206972484,0.2885089535102593,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003312290926860007,-0.001081958266629577],"position_m":[0.27681229092686005,-0.12358195826662957,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f9417d9f9a1089209700e4840b63dd3bfd1780f95b55940f7f944a12bdfc476a","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_500/tex_ceiling_textures_1022/tex_floor_textures_6864/tex_table_textures_4781/tex_wall_textures_9954","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8911326326418236756,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8911326326418236756,"visual_seed":8911326326418236756,"scene_id":"lab_003","finished_at":"2026-09-08T14:21:33"}
+{"episode_id":"ep_000036","started_at":"2026-09-08T14:21:42","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.37685510119095067,0.5345990164221734,0.71338606911949],"aabb_xy":[[-0.42685509983687187,0.48467947276271106],[-0.3268551025450295,0.5845185600816358]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.12996620628453281,-1.372895495370862,0.71338606911949],"aabb_xy":[[-0.13766939695860986,-1.3806048660696],[-0.12226301561045577,-1.3651861246721242]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.4918974026768903,1.0499886425140073,0.71338606911949],"aabb_xy":[[0.40189740034287125,0.9725062879288946],[0.5818974050109094,1.12747099709912]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.19427238493376564,1.464419902235219,0.71338606911949],"aabb_xy":[[0.17821045747524797,1.3794199004226269],[0.21033431239228326,1.5494199040478105]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[0.24141489300315788,-1.2294933976560303,0.71338606911949],"aabb_xy":[[0.20391489148752617,-1.240720170672175],[0.2789148945187896,-1.218266624639885]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.6307486336442818,-0.19284774709108854,0.71338606911949],"aabb_xy":[[0.5470264081441993,-0.2828477506257845],[0.7144708591443643,-0.10284774355639262]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.0659865541202248,0.5052978640622019,0.71338606911949],"aabb_xy":[[-0.10723536515013952,0.4502978645499844],[-0.024737743090310068,0.5602978635744192]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[-0.27985345604354855,1.4926404659703194,0.71338606911949],"aabb_xy":[[-0.29070506229242415,1.4817811752426684],[-0.26900184979467295,1.5034997566979704]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[0.26339324490017135,1.5351954030682822,0.71338606911949],"aabb_xy":[[0.25849395259360786,1.507518483765713],[0.26829253720673485,1.5628723223708505]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.37974287073826957,-2.0869237709684016,0.71338606911949],"aabb_xy":[[-0.38570940967900536,-2.0928849156277654],[-0.3737763317975338,-2.080962626309037]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.5669739482020848,-1.6784341582068523,0.71338606911949],"aabb_xy":[[0.49697394639333936,-1.6997879269710396],[0.6369739500108302,-1.657080389442665]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.3289002922891895,-0.8824226452461059,0.71338606911949],"aabb_xy":[[0.27901759541149335,-0.9324226444923809],[0.3787829891668858,-0.8324226459998314]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.45402705610924876,-0.9741280322793928,0.71338606911949],"aabb_xy":[[-0.49533159917298475,-1.03812803184751],[-0.4127225130455128,-0.9101280327112756]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.4039943374906225,-1.4480397183182827,0.71338606911949],"aabb_xy":[[0.3787735006307828,-1.4732634691711692],[0.42921517435046214,-1.4228159674653957]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.6314799620602103,0.8518467588708787,0.71338606911949],"aabb_xy":[[0.6265239418753291,0.8293467586687572],[0.6364359822450915,0.8743467590730004]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.030362595234209255,1.6303524423753877,0.71338606911949],"aabb_xy":[[-0.04077415391469297,1.6250067090394893],[-0.01995103655372554,1.635698175711286]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.4091820700863047,-1.9454852358937447,0.71338606911949],"aabb_xy":[[0.34518206774350313,-1.990426087137877],[0.47318207242910626,-1.900544384649612]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[0.5742811932077851,-1.532973760663811,0.71338606911949],"aabb_xy":[[0.5392811932312893,-1.5424383767114276],[0.609281193184281,-1.5235091446161944]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.07617253886378428,-1.165098569259617,0.71338606911949],"aabb_xy":[[0.0061725362271979195,-1.1852034342554825],[0.14617254150037062,-1.1449937042637515]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.3520336015979887,-1.5259585233403061,0.71338606911949],"aabb_xy":[[-0.40966407048525944,-1.585958522267016],[-0.2944031327107178,-1.465958524413595]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[0.3517174900823594,0.592843153362371,0.71338606911949],"aabb_xy":[[0.2877174897048258,0.5430978865115588],[0.41571749045989304,0.6425884202131833]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[0.6082440307644079,1.6950584510816644,0.71338606911949],"aabb_xy":[[0.5857303389409506,1.6250584504806571],[0.630757722587865,1.7650584516826722]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.5579124536537288,-1.7947087108506294,0.71338606911949],"aabb_xy":[[0.47791245318351294,-1.803019418464978],[0.6379124541239448,-1.7863980032362814]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[-0.24889370019980533,-1.9426964229198718,0.71338606911949],"aabb_xy":[[-0.3288936987871247,-2.022012024858032],[-0.16889370161248587,-1.8633808209817107]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[0.021047533864527512,0.811167915250139,0.71338606911949],"aabb_xy":[[-0.024123783983641466,0.7471679181056006],[0.0662188517126965,0.8751679123946775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6357271061426412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2579.png","name":"2579"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2579.png","name":"2579"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1195.png","name":"1195"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8172.png","name":"8172"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5492.png","name":"5492"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":710.2366406140595,"rotation_z_degrees":323.9092201122442,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010882575298921778,0.010064533337201583,-0.01875689323600227]},{"name":"camera_2","offset_m":[0.012928060044242861,-0.015701323086491484,-0.019935065004833538]},{"name":"camera_3","offset_m":[0.005188091824050632,0.006031623494160563,-0.007509547754483701]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000415422018260144,-0.0013299951015073028,-0.000992192604387399],"end_effector_yaw_offset_degrees":-0.638928897095308},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013334480174290273,0.0011134060115422376,-0.0018170386873137773],"end_effector_yaw_offset_degrees":-0.3730103681620365},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015590991469816295,0.0016257632226151452,-0.0017081628449528196],"end_effector_yaw_offset_degrees":0.8336146331196819},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008835971808570475,-0.00118973334279023,0.0011333145908919936],"end_effector_yaw_offset_degrees":-0.912932886045468},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00012581548680537752,0.0005218975294937023,-0.0018088729135557848],"end_effector_yaw_offset_degrees":-0.8895278920981826},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0003513442572236265,-0.0019114871871100951,-0.0011743890782864655],"end_effector_yaw_offset_degrees":0.9147133258897835}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00027773942214584426,-0.0033372717651286247],"position_m":[0.22992226057785414,0.030362728234871378,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004604329901810797,0.0005428963353943991],"position_m":[0.2092395670098189,-0.3475571036646056,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002003295784766039,0.0004156586201429077],"position_m":[0.29420329578476606,0.2919156586201429,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000998773249553571,-0.0010295660369818568],"position_m":[0.27250122675044647,-0.12352956603698186,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"171408b98422b084720c8886c651ef84d3a648291a9093a78e6d24e76600d32c","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2579/tex_ceiling_textures_5492/tex_floor_textures_8172/tex_table_textures_6985/tex_wall_textures_1195","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":2146033883652635953,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":2146033883652635953,"visual_seed":2146033883652635953,"scene_id":"lab_003","finished_at":"2026-09-08T14:29:38"}
+{"episode_id":"ep_000037","started_at":"2026-09-08T14:29:46","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[0.3376740385659074,-1.9351810344856224,0.71338606911949],"aabb_xy":[[0.3026740402957874,-1.9422551621806103],[0.37267403683602723,-1.928106906790634]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.5422733832809605,-1.9003809937105611,0.71338606911949],"aabb_xy":[[-0.5658585067448554,-1.9653809959559927],[-0.5186882598170657,-1.8353809914651291]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.48484418225016734,-2.3767641798741312,0.71338606911949],"aabb_xy":[[-0.5698441809422419,-2.40875004326901],[-0.3998441835580926,-2.3447783164792524]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.3237840322486787,-2.093763381479415,0.71338606911949],"aabb_xy":[[-0.34628403206258107,-2.0982379978498957],[-0.3012840324347763,-2.0892887651089347]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.37117755444827316,-2.284131620538994,0.71338606911949],"aabb_xy":[[0.340693304321243,-2.3341316203204903],[0.4016618045753033,-2.2341316207574984]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.5054677800637037,-0.48313528004835504,0.71338606911949],"aabb_xy":[[-0.5091710413928425,-0.48683729835707285],[-0.5017645187345647,-0.47943326173963713]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.4916349838593541,1.0358503835445907,0.71338606911949],"aabb_xy":[[-0.5141349838695024,1.0217541639049872],[-0.4691349838492059,1.0499466031841937]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.5661450467592315,0.24796210912814054,0.71338606911949],"aabb_xy":[[0.5161502138312899,0.19796211023289706],[0.6161398796871731,0.29796210802338413]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.6534764888326704,1.4951610339808057,0.71338606911949],"aabb_xy":[[-0.6589344344696904,1.4151610306731464],[-0.6480185431956502,1.5751610372884646]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.4569594111460594,0.7650853860167914,0.71338606911949],"aabb_xy":[[-0.4856087435064756,0.7364398267397155],[-0.42831007878564314,0.7937309452938671]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.33790774278688795,-2.4841999392038674,0.71338606911949],"aabb_xy":[[0.2739120453917913,-2.548199937504576],[0.4019034401819845,-2.4201999409031587]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.09229561877858694,0.6900856102304922,0.71338606911949],"aabb_xy":[[-0.10785138818885222,0.674535176986085],[-0.07673984936832168,0.7056360434748994]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[-0.3972659077366739,0.22480519584999037,0.71338606911949],"aabb_xy":[[-0.4059638700273892,0.21268022154251562],[-0.38856794544595863,0.23693017015746506]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.17550270188989792,1.5721878515214827,0.71338606911949],"aabb_xy":[[0.08550270538902617,1.5262762091030242],[0.2655026983907697,1.6180994939399407]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[0.3458703292268128,0.5986085610282155,0.71338606911949],"aabb_xy":[[0.32597928934647263,0.5859527497435187],[0.3657613691071531,0.6112643723129124]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[0.682485627512299,-0.6167454074553873,0.71338606911949],"aabb_xy":[[0.6698588402251026,-0.6262914811569602],[0.6951124147994953,-0.6071993337538144]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[0.36356500848812145,0.44519795822595354,0.71338606911949],"aabb_xy":[[0.28357118490956323,0.365197955633112],[0.4435588320666797,0.5251979608187951]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[0.5451387953103024,-2.362031141720191,0.71338606911949],"aabb_xy":[[0.4951387957339678,-2.412011720672297],[0.5951387948866372,-2.312050562768085]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.6367350330468704,1.112987259467968,0.71338606911949],"aabb_xy":[[0.6148452854579296,1.0229872621787188],[0.6586247806358112,1.202987256757217]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.39736576017218117,-0.9090463051174102,0.71338606911949],"aabb_xy":[[0.3740839179740499,-0.9940463064146381],[0.42064760237031257,-0.824046303820182]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.4496118283344408,1.3364146877754153,0.71338606911949],"aabb_xy":[[-0.4967412073362764,1.272414686731013],[-0.4024824493326051,1.400414688819817]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.43904753539547414,0.3923218496865255,0.71338606911949],"aabb_xy":[[-0.47654753521250764,0.3876836383753836],[-0.40154753557844053,0.3969600609976673]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[0.121021730021315,-1.1160637346283697,0.71338606911949],"aabb_xy":[[0.11011595393375227,-1.1960637310271987],[0.1319275061088777,-1.0360637382295403]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[0.17804253709416784,0.8241255440494353,0.71338606911949],"aabb_xy":[[0.1686955295118726,0.8098219218317914],[0.18738954467646307,0.8384291662670794]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.11882578089907625,1.7470759178040267,0.71338606911949],"aabb_xy":[[-0.1688250560675124,1.6970759165280795],[-0.0688265057306401,1.7970759190799739]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.3103435294114665,-0.7582944970919401,0.71338606911949],"aabb_xy":[[0.3016295603615319,-0.7807944977511282],[0.31905749846140086,-0.7357944964327517]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[0.5409279279198711,-1.5029269711720046,0.71338606911949],"aabb_xy":[[0.49095463391661054,-1.5529269717265517],[0.5909012219231314,-1.452926970617457]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[-0.5846168794578803,-2.5166038928279857,0.71338606911949],"aabb_xy":[[-0.6486168818006819,-2.561544744072118],[-0.5206168771150788,-2.471663041583853]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[-0.36877780034553015,-1.53925666716748,0.71338606911949],"aabb_xy":[[-0.4537777987629534,-1.6241309626297649],[-0.2837778019281069,-1.454382371705195]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_29","position":[-0.5842454825901993,0.6288725186594823,0.71338606911949],"aabb_xy":[[-0.6342454838740391,0.57889366426886],[-0.5342454813063592,0.6788513730501042]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_30","position":[-0.27752139670371945,0.3420419809648778,0.71338606911949],"aabb_xy":[[-0.33752139834664135,0.2900418316729337],[-0.21752139506079765,0.39404213025682205]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6373575240095659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8066.png","name":"8066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8066.png","name":"8066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/163.png","name":"163"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4735.png","name":"4735"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8437.png","name":"8437"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":670.615592061719,"rotation_z_degrees":112.96245573335568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00805588576780377,-0.013759845513255145,0.0031625176990965863]},{"name":"camera_2","offset_m":[-0.017402949069794803,0.007732260964849941,-0.0135320488756453]},{"name":"camera_3","offset_m":[-0.005893197676051006,0.011092351980749138,-0.012843620544944687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009158428378822688,-0.0013032741505137335,-0.0009904834892973562],"end_effector_yaw_offset_degrees":-0.7837871215447034},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001926188240225132,-0.0002482973088754382,5.698276626299329e-05],"end_effector_yaw_offset_degrees":0.005131183043518117},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010560196102276684,0.00143983665564706,-0.0005324172094465461],"end_effector_yaw_offset_degrees":-0.09871780328480018},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010347923098913878,-0.0010601560520076992,0.0016987411998407166],"end_effector_yaw_offset_degrees":0.8404517182782829},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006363118169203043,0.0007767529416243149,-0.00018077448781099654],"end_effector_yaw_offset_degrees":-0.35911188663982396},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[9.379002878040542e-05,-0.0019001956740024562,0.0006829353898252627],"end_effector_yaw_offset_degrees":-0.056905976347589426}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00184175400736325,-0.0039085376760914295],"position_m":[0.22835824599263674,0.02979146232390857,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003353911893918116,-0.0020924963671283313],"position_m":[0.20634608810608188,-0.35019249636712835,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0026415426754074793,0.003760280023381259],"position_m":[0.2948415426754075,0.2952602800233812,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002585740796733211,0.0011183067968367315],"position_m":[0.27608574079673326,-0.12138169320316326,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1bbc63d157ea2a8c1cdbe8fdd7351d1658a19e1a5ed1333f24f43bdbece61148","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8066/tex_ceiling_textures_8437/tex_floor_textures_4735/tex_table_textures_1607/tex_wall_textures_163","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1806192996117461261,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1806192996117461261,"visual_seed":1806192996117461261,"scene_id":"lab_003","finished_at":"2026-09-08T14:37:41"}
+{"episode_id":"ep_000038","started_at":"2026-09-08T14:37:49","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[-0.46935979054445964,-0.7435734550448265,0.71338606911949],"aabb_xy":[[-0.4918589262706866,-0.7660734558230895],[-0.44686065481823267,-0.7210734542665636]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.5401836426127982,-0.9735982051929337,0.71338606911949],"aabb_xy":[[0.4902105770802828,-1.0235982050054668],[0.5901567081453137,-0.923598205380401]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[0.24631235175082722,-0.651098817776083,0.71338606911949],"aabb_xy":[[0.21172126889678197,-0.7160988180611139],[0.2809034346048724,-0.5860988174910517]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.02286082798663347,-1.7049996912126941,0.71338606911949],"aabb_xy":[[-0.06036082815850541,-1.7377004265956015],[0.014639172185238473,-1.6722989558297872]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.46206162739871326,1.4295109925642406,0.71338606911949],"aabb_xy":[[-0.46613978530576305,1.4254300123159775],[-0.4579834694916636,1.4335919728125042]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.16290506981600017,-0.652976806956252,0.71338606911949],"aabb_xy":[[-0.18053790540952772,-0.6705997529718748],[-0.14527223422247257,-0.6353538609406288]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.5468670393287902,-0.5274576987010038,0.71338606911949],"aabb_xy":[[-0.5533686758367949,-0.5372255207273136],[-0.5403654028207857,-0.517689876674694]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.2468722685269461,0.7799165314324004,0.71338606911949],"aabb_xy":[[-0.2843722688191209,0.7758750560317966],[-0.20937226823477126,0.7839580068330039]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.07028215705213647,1.6573080127675763,0.71338606911949],"aabb_xy":[[-0.12026510723961581,1.6073080131250157],[-0.020299206864657148,1.7073080124101365]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[-0.42225900387648324,-0.4723727855735387,0.71338606911949],"aabb_xy":[[-0.4354899494111645,-0.48560020459553804],[-0.4090280583418019,-0.4591453665515392]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[-0.5999536867237693,0.007541876806455683,0.71338606911949],"aabb_xy":[[-0.6539692830056693,-0.056458126085801474],[-0.5459380904418693,0.07154187969871284]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.3640206042368611,0.15416819024139228,0.71338606911949],"aabb_xy":[[-0.4280206056448517,0.10237923871746755],[-0.3000206028288704,0.20595714176531696]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.07720079011621772,1.2480341275405915,0.71338606911949],"aabb_xy":[[-0.11423489954427742,1.2136569202068819],[-0.04016668068815799,1.2824113348743007]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.5586734640910912,-0.40811781217975795,0.71338606911949],"aabb_xy":[[-0.5890715751902347,-0.4385247141814274],[-0.5282753529919475,-0.3777109101780884]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.008427725329705149,-2.1730188421651278,0.71338606911949],"aabb_xy":[[0.00030003713639192853,-2.1819324505758355],[0.01655541352301837,-2.16410523375442]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.34182147140496055,1.1051848245943612,0.71338606911949],"aabb_xy":[[0.2618214742453852,1.0936372236365441],[0.4218214685645358,1.1167324255521782]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.4866035408528462,0.10115678869600142,0.71338606911949],"aabb_xy":[[0.465325532709374,0.03615678636992836],[0.5078815489963184,0.16615679102207448]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.1449020691648254,-2.235808601299337,0.71338606911949],"aabb_xy":[[-0.22490206775214483,-2.3151242032374975],[-0.06490207057750598,-2.1564929993611757]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.21885396399789642,1.4948295419002267,0.71338606911949],"aabb_xy":[[-0.26883277250821236,1.4448295418945076],[-0.16887515548758056,1.5448295419059452]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.5480591357824197,1.804951872727751,0.71338606911949],"aabb_xy":[[-0.5557623264564968,1.7972425020290126],[-0.5403559451083426,1.8126612434264888]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.5546282769635693,-2.4422230729797594,0.71338606911949],"aabb_xy":[[0.5367591692091139,-2.4560559809569704],[0.5724973847180249,-2.4283901650025483]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.0615531759218767,1.4767852242111243,0.71338606911949],"aabb_xy":[[0.02405317542451845,1.4728165406630058],[0.09905317641923495,1.4807539077592429]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.2871392550057182,-0.9294155059634264,0.71338606911949],"aabb_xy":[[-0.33713925536628425,-0.9793954931730291],[-0.23713925464515215,-0.8794355187538232]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.18418886514824662,-1.1270783394606925,0.71338606911949],"aabb_xy":[[-0.1895264408142512,-1.1520783403898323],[-0.17885128948224208,-1.1020783385315527]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.2245936236801721,-0.4569643115104527,0.71338606911949],"aabb_xy":[[-0.25803379887619166,-0.4904079373413827],[-0.19115344848415247,-0.42352068567952256]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6374383679664188,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7099.png","name":"7099"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7099.png","name":"7099"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3585.png","name":"3585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7089.png","name":"7089"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/487.png","name":"487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/447.png","name":"447"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":558.8573467865718,"rotation_z_degrees":352.76367043163185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007301982852330146,0.019026599606802617,0.0021717156295178487]},{"name":"camera_2","offset_m":[-0.0011312170254494103,-0.0027800874265088635,-0.014620424802341176]},{"name":"camera_3","offset_m":[-0.014027734431716656,0.0156441648186702,0.01564026726101893]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008045155661369706,-0.001326463183177251,0.0007025159047802641],"end_effector_yaw_offset_degrees":-0.25882782039157415},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011813267688968315,0.0014288761844112913,-0.0016253851880662148],"end_effector_yaw_offset_degrees":-0.8764466522216758},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006032812766799886,-0.00017948064509309036,-0.0002737497002380956],"end_effector_yaw_offset_degrees":-0.4112938531956456},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017895322637903593,0.0008841528547208536,-0.0013190951738557494],"end_effector_yaw_offset_degrees":0.21016265530610556},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016010294428383284,0.001562021915236344,-0.0019292224871324396],"end_effector_yaw_offset_degrees":-0.6817847130554135},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00019656115368214648,-0.00033650495498435446,0.0009364767525306492],"end_effector_yaw_offset_degrees":-0.3949112996385984}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033817202811639714,-0.0011674651403719748],"position_m":[0.22681827971883603,0.03253253485962802,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023453855135339586,0.0017191279161878313],"position_m":[0.21204538551353397,-0.3463808720838122,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003416379162047244,-0.004018424668082598],"position_m":[0.2887836208379528,0.28748157533191737,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021398752753105845,-0.00033167804780507605],"position_m":[0.27136012472468946,-0.12283167804780508,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"eed6cfc9014d588c3177ee68c37165265ff46700efc9442a01829da652e6534a","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7099/tex_ceiling_textures_447/tex_floor_textures_487/tex_table_textures_3585/tex_wall_textures_7089","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":2338306403412601337,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":2338306403412601337,"visual_seed":2338306403412601337,"scene_id":"lab_003","finished_at":"2026-09-08T14:45:31"}
+{"episode_id":"ep_000039","started_at":"2026-09-08T14:54:42","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.08316559037873572,0.5513666900945622,0.71338606911949],"aabb_xy":[[-0.11364984050576588,0.5013666903130662],[-0.052681340251705566,0.6013666898760581]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.6452111764926085,-2.3189918260290217,0.71338606911949],"aabb_xy":[[0.6078798999673659,-2.353644880823874],[0.6825424530178511,-2.2843387712341694]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[0.6339723509529602,1.7272789664311818,0.71338606911949],"aabb_xy":[[0.5839723492914654,1.6772805241754787],[0.6839723526144549,1.777277408686884]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.3105364081982201,-0.4403023754914468,0.71338606911949],"aabb_xy":[[-0.31517152335045345,-0.4441697105685953],[-0.3059012930459866,-0.436435040414298]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.14244250799307945,-0.5011320351057633,0.71338606911949],"aabb_xy":[[0.13640549499241475,-0.5071587361747116],[0.1484795209937442,-0.4951053340368152]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.0552890669275673,1.5398293721838683,0.71338606911949],"aabb_xy":[[0.000293589106907903,1.4848293707499611],[0.11028454474822669,1.594829373617775]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.4412616204909614,-1.2595563111288193,0.71338606911949],"aabb_xy":[[0.4331339322976482,-1.268469919539527],[0.4493893086842746,-1.250642702718112]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.5027841295614548,-1.1216553991127916,0.71338606911949],"aabb_xy":[[0.4852841293021183,-1.1357469413015642],[0.5202841298207915,-1.107563856924019]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.5244721280182907,-1.761507816608377,0.71338606911949],"aabb_xy":[[-0.604472125421884,-1.8415003878065597],[-0.4444721306146972,-1.681515245410194]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.639780298135332,-2.0833462369618645,0.71338606911949],"aabb_xy":[[0.559780301121084,-2.1034807886352755],[0.71978029514958,-2.0632116852884534]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.07558794285973158,0.9364127527396224,0.71338606911949],"aabb_xy":[[0.06502046320163257,0.9258677226266138],[0.0861554225178306,0.9469577828526309]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[0.5903790139173395,-0.4108568320837227,0.71338606911949],"aabb_xy":[[0.5263790120049971,-0.46676798134173314],[0.6543790158296818,-0.35494568282571226]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.1268296416155471,-1.9412239415672983,0.71338606911949],"aabb_xy":[[0.10903613468063067,-1.9590236871630962],[0.14462314855046354,-1.9234241959715008]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.0988012630751437,-1.0818247118826256,0.71338606911949],"aabb_xy":[[0.0684031519760001,-1.112231613884295],[0.12919937417428726,-1.051417809880956]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.12228554851331219,1.1103948624425803,0.71338606911949],"aabb_xy":[[-0.1452012613983621,1.0874905653061568],[-0.09936983562826229,1.1332991595790038]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[0.5011838836965521,0.41202523797024027,0.71338606911949],"aabb_xy":[[0.4636838835909591,0.40520307611725914],[0.5386838838021449,0.4188473998232214]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.31716074615344936,-1.6099143387016894,0.71338606911949],"aabb_xy":[[-0.38716074954501134,-1.64523011240512],[-0.2471607427618874,-1.5745985649982583]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.162955543560952,1.2619518650538009,0.71338606911949],"aabb_xy":[[-0.20794813027940237,1.216951865779352],[-0.11796295684250155,1.3069518643282496]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.1501896643364128,-1.2291828167860424,0.71338606911949],"aabb_xy":[[0.12154033197599654,-1.257828376063118],[0.17883899669682898,-1.2005372575089663]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.45725614953081534,1.3015957883374716,0.71338606911949],"aabb_xy":[[-0.5122298715671483,1.2465957887732384],[-0.4022824274944825,1.3565957879017048]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[0.23803700957630947,-0.8520424529757316,0.71338606911949],"aabb_xy":[[0.22060629449730296,-0.8693145676395823],[0.255467724655316,-0.8347703383118806]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.26966666534649847,-0.2658658837932979,0.71338606911949],"aabb_xy":[[-0.30425774820054363,-0.3308658840783289],[-0.23507558249245322,-0.2008658835082668]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.017200891737124135,-2.5070251056379576,0.71338606911949],"aabb_xy":[[-0.032799109546715825,-2.5570039600285788],[0.06720089302096409,-2.4570462512473346]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.2678550667738865,-2.1234657429134445,0.71338606911949],"aabb_xy":[[0.20385507034656458,-2.1706353667355414],[0.3318550632012084,-2.0762961190913485]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.4220180284232684,0.9567026587196144,0.71338606911949],"aabb_xy":[[-0.438079955881786,0.8717026569070224],[-0.4059561009647507,1.041702660532206]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.38971987785839257,1.1922417255937199,0.71338606911949],"aabb_xy":[[-0.42349543704908554,1.178203230380555],[-0.3559443186676996,1.2062802208068848]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[-0.12472244313182734,0.8188917392723418,0.71338606911949],"aabb_xy":[[-0.171851822133663,0.7548917382279396],[-0.07759306412999166,0.8828917403167436]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[-0.6387503052748688,0.5025249549364732,0.71338606911949],"aabb_xy":[[-0.6563286074638156,0.4849504653623683],[-0.6211720030859219,0.5200994445105781]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6316910693848197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7203.png","name":"7203"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8602.png","name":"8602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2861.png","name":"2861"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6289.png","name":"6289"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":678.5970508295961,"rotation_z_degrees":354.91210431263323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0173059342842324,0.014068060097861972,-0.005461375679684655]},{"name":"camera_2","offset_m":[-0.014572584824210848,-0.016881202534125,-0.00437021112339547]},{"name":"camera_3","offset_m":[-0.005349613437982695,0.018253040752229357,0.013330871903712318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008134819668399889,-0.0011692972971706968,0.0001906340777910018],"end_effector_yaw_offset_degrees":0.7798486246561727},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011004715438421814,0.0019275758453538268,-0.0008107299138256083],"end_effector_yaw_offset_degrees":0.6517908895142464},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018804196035987902,0.00033465137679833477,-0.0005312764793549908],"end_effector_yaw_offset_degrees":0.607349628371151},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000869773798163505,0.001449652594290841,-0.0006863118260254869],"end_effector_yaw_offset_degrees":-0.014361502613815968},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0015265954140098294,-0.0009320288450062448,-0.0010415579054813577],"end_effector_yaw_offset_degrees":0.5937233203150802},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001247715181204311,-0.0014850807812743462,0.0014735978710867024],"end_effector_yaw_offset_degrees":0.019334916326226415}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004067142026567157,-0.0033142834002766377],"position_m":[0.23426714202656715,0.03038571659972336,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004517615547841026,0.0017446119533256936],"position_m":[0.20518238445215897,-0.3463553880466743,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003937017237689994,0.004094379579249934],"position_m":[0.28826298276231,0.2955943795792499,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004135906005490992,0.00326622780936692],"position_m":[0.269364093994509,-0.11923377219063308,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"440879ee500e01d4c5c862cb7546494d5fa5a69ff12ffafa9c3e5d841a112bb5","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6338/tex_ceiling_textures_6289/tex_floor_textures_2861/tex_table_textures_7203/tex_wall_textures_8602","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1582606506538710740,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1582606506538710740,"visual_seed":1582606506538710740,"scene_id":"lab_003","finished_at":"2026-09-08T15:02:39"}
+{"episode_id":"ep_000040","started_at":"2026-09-08T15:02:49","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.7120998336555506,-1.324946415627055,0.71338606911949],"aabb_xy":[[0.702939954711674,-1.331477633670592],[0.7212597125994272,-1.3184151975835179]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.3364852714989117,-0.8726142590326911,0.71338606911949],"aabb_xy":[[-0.34447926007661506,-0.8806143391277812],[-0.32849128292120827,-0.8646141789376005]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[-0.41195721309948125,1.6199005218930185,0.71338606911949],"aabb_xy":[[-0.42125083133663177,1.5824005234048844],[-0.4026635948623306,1.6574005203811522]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[0.21467522663775096,-1.0554532082956147,0.71338606911949],"aabb_xy":[[0.12467522721938007,-1.0888287051398042],[0.30467522605612185,-1.0220777114514248]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[-0.6449348160464227,-0.21585143759722714,0.71338606911949],"aabb_xy":[[-0.6773965169283499,-0.24598426971212972],[-0.612473115164495,-0.1857186054823245]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.4038367986235112,-1.3242509978284562,0.71338606911949],"aabb_xy":[[0.39420516240308157,-1.3338883106081654],[0.4134684348439408,-1.3146136850487475]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.08838859641803398,0.18749062603200795,0.71338606911949],"aabb_xy":[[-0.09328788872459745,0.15981370672943915],[-0.08348930411147046,0.2151675453345767]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[-0.3327396608015052,1.346879549683948,0.71338606911949],"aabb_xy":[[-0.3967396622094958,1.2950905981600231],[-0.26873965939351446,1.3986685012078726]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.5616800307574608,-0.8725187604717444,0.71338606911949],"aabb_xy":[[0.5536436960561759,-0.8805568797761611],[0.5697163654587456,-0.8644806411673276]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.10123959927276616,-2.4007067464845138,0.71338606911949],"aabb_xy":[[0.09397835170235876,-2.4134937567480237],[0.10850084684317358,-2.3879197362210047]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.4577055235823676,-0.8115750547549534,0.71338606911949],"aabb_xy":[[-0.4945560715193552,-0.8490750555779871],[-0.42085497564538,-0.7740750539319197]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.48310021963992117,0.6786613337732343,0.71338606911949],"aabb_xy":[[-0.5331002200004872,0.6286813465636313],[-0.43310021927935505,0.7286413209828372]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.5931022171039251,-0.3536686791876713,0.71338606911949],"aabb_xy":[[-0.6481022162805145,-0.40865835396262895],[-0.5381022179273355,-0.29867900441271367]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.38909765297118515,-2.130530906868169,0.71338606911949],"aabb_xy":[[0.36998534561320634,-2.1496656857454113],[0.40820996032916407,-2.1113961279909272]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[-0.6231295028132161,1.6517607250625264,0.71338606911949],"aabb_xy":[[-0.6601636122412757,1.6173835177288165],[-0.5860953933851563,1.6861379323962353]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.4729047822101693,0.30552280514074903,0.71338606911949],"aabb_xy":[[-0.502872339119995,0.27552280484286334],[-0.4429372253003437,0.33552280543863483]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.36342248999849613,-2.3507936628400885,0.71338606911949],"aabb_xy":[[0.3554992097597478,-2.373293663078092],[0.37134577023724447,-2.328293662602085]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.42573065303679125,-1.9346083961220553,0.71338606911949],"aabb_xy":[[-0.43372414283207344,-1.9426065280625313],[-0.4177371632415094,-1.92661026418158]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.1557825349677031,-2.1233531706119386,0.71338606911949],"aabb_xy":[[-0.1638961896410802,-2.131458987065968],[-0.14766888029432598,-2.1152473541579093]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.625742822755696,-1.6799297059158458,0.71338606911949],"aabb_xy":[[0.6156611156771225,-1.7599297038079604],[0.6358245298342694,-1.5999297080237311]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.18996183721210924,1.163996798918817,0.71338606911949],"aabb_xy":[[0.1723835350231624,1.1464223093447117],[0.2075401394010561,1.1815712884929217]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.46330705289737173,0.2038393882817524,0.71338606911949],"aabb_xy":[[-0.4696191524337101,0.1980724490285336],[-0.45699495336103324,0.20960632753497127]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.2685921402504759,-1.0106455716129072,0.71338606911949],"aabb_xy":[[-0.32359213987222174,-1.06562926440038],[-0.21359214062873005,-0.9556618788254345]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.39123106877533026,-1.7629324993681144,0.71338606911949],"aabb_xy":[[-0.4365096836564795,-1.8269324987162978],[-0.345952453894181,-1.6989325000199305]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.30265691193402444,-0.3271444403069146,0.71338606911949],"aabb_xy":[[-0.33264857466789477,-0.3571444396437151],[-0.2726652492001541,-0.29714444097011405]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_25","position":[-0.20601125506042306,-1.790152816499393,0.71338606911949],"aabb_xy":[[-0.26601125490698985,-1.8469714386924314],[-0.14601125521385627,-1.733334194306354]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[0.2635570909293332,-2.030037369619475,0.71338606911949],"aabb_xy":[[0.17355709233486327,-2.0462879559328964],[0.35355708952380316,-2.0137867833060548]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.06860149009433747,-2.0054708823955396,0.71338606911949],"aabb_xy":[[0.05782851617296969,-2.0404708806145786],[0.07937446401570525,-1.9704708841765006]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6329834404117936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9997.png","name":"9997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9997.png","name":"9997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9962.png","name":"9962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2130.png","name":"2130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7380.png","name":"7380"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9907.png","name":"9907"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":689.3042787492038,"rotation_z_degrees":252.5248444276665,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009065094640062978,-0.0042370973367648335,-0.0008978522815735607]},{"name":"camera_2","offset_m":[-0.018330876586020315,0.00993182953194844,0.016497260783515027]},{"name":"camera_3","offset_m":[-0.0044369383520773634,-0.008945498691616023,-0.009636869426217998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016106656076777465,5.104853429454756e-05,0.0012095506818997027],"end_effector_yaw_offset_degrees":0.8168379236921823},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017641608368262228,0.0016891007333830724,-0.001989550261552699],"end_effector_yaw_offset_degrees":-0.2759090457616675},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015101070736796252,0.0017031346621819545,0.0014331493822293444],"end_effector_yaw_offset_degrees":0.21996235054019864},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0007384584653325637,6.533506655722731e-05,-0.0013658889437747801],"end_effector_yaw_offset_degrees":-0.5278730944155452},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016221015997343628,0.0008648215101562215,-0.00021593075069179283],"end_effector_yaw_offset_degrees":-0.09329266243236489},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007607031790740479,0.0003785278238257546,-0.0014662051658190336],"end_effector_yaw_offset_degrees":0.7073402986468251}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025203728189317986,0.0036207310310549757],"position_m":[0.22767962718106818,0.037320731031054974,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002629002392805292,0.0022401686231518234],"position_m":[0.20707099760719472,-0.34585983137684817,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004260111141017071,0.0017721815613135307],"position_m":[0.2879398888589829,0.2932721815613135,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025998100978869678,-0.0009719555224657409],"position_m":[0.27090018990211306,-0.12347195552246573,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ee35bf0d194c9381e67d5b3f25a94a54aefdce24e8144a2a1b67bfa090003c3a","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9997/tex_ceiling_textures_9907/tex_floor_textures_7380/tex_table_textures_9962/tex_wall_textures_2130","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":973532578618275606,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":973532578618275606,"visual_seed":973532578618275606,"scene_id":"lab_003","finished_at":"2026-09-08T15:10:31"}
+{"episode_id":"ep_000041","started_at":"2026-09-08T15:10:38","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.2298910868169451,-1.2634095448121734,0.71338606911949],"aabb_xy":[[-0.23385157058667946,-1.2710774093976942],[-0.22593060304721072,-1.255741680226653]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.07342055417190196,-1.9571899777533504,0.71338606911949],"aabb_xy":[[0.0552147305106543,-1.9682153783353422],[0.09162637783314966,-1.946164577171359]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.6210627258646078,-0.6072259112228364,0.71338606911949],"aabb_xy":[[0.6035627265865209,-0.6245640112891823],[0.6385627251426946,-0.5898878111564904]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.3324569744489956,1.2959055811634435,0.71338606911949],"aabb_xy":[[-0.3361602357781344,1.2922035628547257],[-0.3287537131198566,1.2996075994721612]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[-0.05312163347435872,-1.641092626581467,0.71338606911949],"aabb_xy":[[-0.09530604763518946,-1.7050926268586784],[-0.01093721931352798,-1.577092626304256]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.31532671315729993,1.5198456877741662,0.71338606911949],"aabb_xy":[[-0.3328734080734189,1.482345686209915],[-0.29778001824118105,1.5573456893384174]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.5819338805898461,-0.640963393057719,0.71338606911949],"aabb_xy":[[-0.5953804072238894,-0.6544332447108102],[-0.5684873539558027,-0.6274935414046278]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.0916531307082985,0.5598919759384318,0.71338606911949],"aabb_xy":[[-0.12611547810644028,0.5253980935406088],[-0.057190783310156694,0.5943858583362542]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.5295185474679839,-1.3998884443118982,0.71338606911949],"aabb_xy":[[-0.54088028212127,-1.411256910718186],[-0.5181568128146977,-1.3885199779056099]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[-0.316403112961249,-0.26401550941461815,0.71338606911949],"aabb_xy":[[-0.3389031132047644,-0.27622014407439016],[-0.2939031127177336,-0.25181087475484626]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[0.5774639767304877,0.9821006403022374,0.71338606911949],"aabb_xy":[[0.5134639734407794,0.9387657212983197],[0.6414639800201957,1.0254355593061548]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.2804310611194574,-0.5989987979417821,0.71338606911949],"aabb_xy":[[-0.36043106139306436,-0.6719483457674988],[-0.2004310608458504,-0.5260492501160654]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.3986632417758546,-0.31710885626533525,0.71338606911949],"aabb_xy":[[-0.406075697317243,-0.3229600666869632],[-0.3912507862344661,-0.3112576458437073]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.6808055123498131,0.3585502827441025,0.71338606911949],"aabb_xy":[[0.6433055111650202,0.3541320600480419],[0.7183055135346058,0.3629685054401629]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.667308766433661,1.591978369798579,0.71338606911949],"aabb_xy":[[0.6262908230472902,1.5419783691676214],[0.708326709820032,1.641978370429536]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.33218439040056325,-1.2988380847769345,0.71338606911949],"aabb_xy":[[0.3146844569665798,-1.3163380846971688],[0.34968432383454656,-1.2813380848566998]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.6045949388621228,-2.3722563418069837,0.71338606911949],"aabb_xy":[[0.567094938513895,-2.384047737388067],[0.6420949392103505,-2.3604649462258998]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.49284399045327065,0.08174640832863656,0.71338606911949],"aabb_xy":[[-0.5428439900296054,0.03176582937653061],[-0.44284399087693593,0.1317269872807425]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[0.09434607922225857,1.1594565256111333,0.71338606911949],"aabb_xy":[[0.06090590402623897,1.126012899780203],[0.12778625441827818,1.1929001514420632]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.5527320653508063,0.4668430933936487,0.71338606911949],"aabb_xy":[[-0.5628850809049556,0.43077355182090826],[-0.5425790497966568,0.5029126349663889]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.14422917421873116,-0.6241426323801031,0.71338606911949],"aabb_xy":[[0.09422989905029502,-0.6741426336560503],[0.19422844938716735,-0.574142631104156]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[-0.5395361949797806,-2.3904627778937075,0.71338606911949],"aabb_xy":[[-0.5503091689011483,-2.4254627761127465],[-0.5287632210584128,-2.3554627796746685]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[0.33020293357492525,-0.4867778593637051,0.71338606911949],"aabb_xy":[[0.32628906037950267,-0.4955268747702618],[0.3341168067703477,-0.4780288439571483]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.43178801872834627,-1.1050384880865796,0.71338606911949],"aabb_xy":[[-0.48178113083753826,-1.1550384887607754],[-0.3817949066191545,-1.0550384874123842]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[-0.044766641106480765,-1.262567773587433,0.71338606911949],"aabb_xy":[[-0.07722834198840821,-1.2927006057023354],[-0.012304940224553305,-1.2324349414725302]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[0.5644075595728641,0.6389782987481643,0.71338606911949],"aabb_xy":[[0.5468292573839173,0.6214038091740592],[0.581985861761811,0.656552788322269]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[0.23217027768786114,1.1582757148051277,0.71338606911949],"aabb_xy":[[0.22175871900737737,1.1529299814692289],[0.2425818363683448,1.1636214481410256]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[0.11098679629409958,-1.201631695285431,0.71338606911949],"aabb_xy":[[0.06098679527496431,-1.2380979110232588],[0.16098679731323484,-1.165165479547603]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[0.5504247534527542,0.02165437765701128,0.71338606911949],"aabb_xy":[[0.5379573953430187,0.00918905302368778],[0.56289211156249,0.034119702290334786]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6421131019175877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4266.png","name":"4266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4266.png","name":"4266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4451.png","name":"4451"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1246.png","name":"1246"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4080.png","name":"4080"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":647.2056984444125,"rotation_z_degrees":289.074639181804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014921162154351367,0.011304385950446461,-0.006214348848321385]},{"name":"camera_2","offset_m":[-0.01376211856038707,-0.0059341778243835065,0.003707567526577381]},{"name":"camera_3","offset_m":[-0.0005004601720067295,-0.014374655929356633,-0.0025396453134592656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001874153542835748,0.0001315457965441252,0.0008083710810311592],"end_effector_yaw_offset_degrees":-0.5009003164989825},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016389022271908601,0.0010695690450220822,-0.0012389507048192372],"end_effector_yaw_offset_degrees":0.6291108558173406},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009501689044260951,0.0015116529169478428,0.0003420197466848479],"end_effector_yaw_offset_degrees":0.8697911667761078},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00038700072520074166,-0.0008355373465528371,0.00020067394317816118],"end_effector_yaw_offset_degrees":-0.7568902491836056},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016123693683410135,0.0007295628620070087,-0.00113923358591298],"end_effector_yaw_offset_degrees":0.8082666090205499},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001880305899027376,-0.0012992796053242824,-0.0007024506965211477],"end_effector_yaw_offset_degrees":0.8072820716658593}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004309333501168461,0.0005615196429122693],"position_m":[0.22589066649883152,0.03426151964291227,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004555848036867067,-0.00345458140340448],"position_m":[0.21425584803686706,-0.3515545814034045,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0030918577912216116,0.0005860599259643095],"position_m":[0.29529185779122163,0.2920860599259643,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00022761307919545032,-0.00031269243047712513],"position_m":[0.27372761307919546,-0.12281269243047713,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"667d90e5923c6471b7ad6fc631f7fcc124baf7b8cfcfdc4bdf5d380efa1670fb","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4266/tex_ceiling_textures_4080/tex_floor_textures_1246/tex_table_textures_4451/tex_wall_textures_8136","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":2770561900409645609,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":2770561900409645609,"visual_seed":2770561900409645609,"scene_id":"lab_003","finished_at":"2026-09-08T15:18:33"}
+{"episode_id":"ep_000042","started_at":"2026-09-08T15:18:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.5284880241705345,-0.46793143596184583,0.71338606911949],"aabb_xy":[[-0.5924880205978564,-0.5151010597839423],[-0.46448802774321263,-0.42076181213974945]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.29995266117797753,1.245041678342726,0.71338606911949],"aabb_xy":[[-0.3333928363739971,1.2115980525117958],[-0.26651248598195787,1.278485304173656]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.05237858750850455,-0.9849179935399375,0.71338606911949],"aabb_xy":[[0.015583954383598275,-1.0218238686365195],[0.08917322063341082,-0.9480121184433551]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.5135110966719275,1.3507197508852045,0.71338606911949],"aabb_xy":[[-0.5985110950893507,1.2658454554229195],[-0.4285110982545043,1.4355940463474894]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.19307925567041906,-1.635720380233852,0.71338606911949],"aabb_xy":[[-0.2003615720470827,-1.7257203838433606],[-0.18579693929375538,-1.5457203766243426]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.2485623420308325,-2.232095577670648,0.71338606911949],"aabb_xy":[[0.21106234360743212,-2.245259791638478],[0.28606234045423284,-2.2189313637028167]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.17705870273250512,-2.379450122335533,0.71338606911949],"aabb_xy":[[-0.2231437939872366,-2.443450119588088],[-0.13097361147777364,-2.315450125082978]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.5386720352394827,-0.3701915503807647,0.71338606911949],"aabb_xy":[[0.5323599357031443,-0.3759584896339835],[0.5449841347758211,-0.36442461112754587]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.38025566583927617,-2.052311406671283,0.71338606911949],"aabb_xy":[[0.30026184226071795,-2.1323114092641244],[0.4602494894178344,-1.9723114040784413]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[0.5286603098564819,-1.143294945450505,0.71338606911949],"aabb_xy":[[0.5226232968558173,-1.1493216465194531],[0.5346973228571468,-1.137268244381557]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[0.49771584783259115,0.11245789762473413,0.71338606911949],"aabb_xy":[[0.490012657158514,0.10474852692599611],[0.505419038506668,0.12016726832347212]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[-0.6124864309763064,1.519428790559306,0.71338606911949],"aabb_xy":[[-0.6189880674843111,1.5096609685329965],[-0.6059847944683019,1.529196612585616]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[0.5375229704809323,-1.436135296582791,0.71338606911949],"aabb_xy":[[0.45752297189361285,-1.5154508985209516],[0.6175229690682517,-1.3568196946446298]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[-0.15908571250062742,0.733100308375092,0.71338606911949],"aabb_xy":[[-0.1935481905137152,0.7264366311921691],[-0.12462323448753965,0.7397639855580147]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.4332507671504533,0.2468041413217188,0.71338606911949],"aabb_xy":[[0.4284071723892234,0.2419524888427347],[0.4380943619116833,0.2516557938007029]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.08882088539871502,-1.563538782396161,0.71338606911949],"aabb_xy":[[-0.09693454007209212,-1.5716445988501901],[-0.08070723072533792,-1.555432965942132]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.5453766970185463,-0.6386827674869546,0.71338606911949],"aabb_xy":[[-0.5524181479692939,-0.6457095192247492],[-0.5383352460677987,-0.6316560157491601]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.4056969594251745,-1.670676240308457,0.71338606911949],"aabb_xy":[[0.3711058765711292,-1.7356762405934878],[0.44028804227921964,-1.6056762400234257]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.3327126703089285,-2.494816427219146,0.71338606911949],"aabb_xy":[[0.3152126710308416,-2.5121545272854924],[0.35021266958701536,-2.4774783271528005]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.44294785624663946,-2.386058012962347,0.71338606911949],"aabb_xy":[[-0.4979215782829723,-2.4410580125265806],[-0.3879741342103065,-2.3310580133981142]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.40184422445593415,-1.1257071094430926,0.71338606911949],"aabb_xy":[[0.38674192299491594,-1.140808631074154],[0.41694652591695214,-1.1106055878120302]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.04039349062022868,-2.26765084174551,0.71338606911949],"aabb_xy":[[-0.02360650867393954,-2.331636982114364],[0.1043934899143969,-2.2036647013766557]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.4129234727455895,1.263218586015892,0.71338606911949],"aabb_xy":[[0.4021504988242217,1.228218587796853],[0.42369644666695727,1.298218584234931]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[0.10618007940651364,0.6746977465517068,0.71338606911949],"aabb_xy":[[0.06868008083089282,0.6619614508881487],[0.14368007798213442,0.6874340422152646]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[-0.4064923119634387,-1.232190622505879,0.71338606911949],"aabb_xy":[[-0.4704880093585353,-1.2961906208065876],[-0.34249661456834213,-1.1681906242051703]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_25","position":[0.1979801292617046,-2.5194993173273477,0.71338606911949],"aabb_xy":[[0.1804018270727578,-2.5370738069014527],[0.21555843145065148,-2.5019248277532427]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.022085169929151327,1.7577210010805255,0.71338606911949],"aabb_xy":[[0.0042916629942348905,1.7399212554847279],[0.039878676864067764,1.7755207466763232]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[0.5789194469723804,1.1509331829122758,0.71338606911949],"aabb_xy":[[0.5702214846816651,1.138808208604801],[0.5876174092630957,1.1630581572197505]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[0.6471918104191106,1.3858801776460488,0.71338606911949],"aabb_xy":[[0.5821918094186102,1.3350938124913736],[0.7121918114196112,1.4366665428007235]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[-0.6087809381162137,0.788123267348392,0.71338606911949],"aabb_xy":[[-0.6727809372859836,0.7413565802294295],[-0.5447809389464437,0.8348899544673545]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[-0.5253946906305036,-0.9746938060855477,0.71338606911949],"aabb_xy":[[-0.5372667736420047,-1.0596938057791978],[-0.5135226076190025,-0.8896938063918971]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_31","position":[-0.32107993364424,-0.6796154657183158,0.71338606911949],"aabb_xy":[[-0.3632643478050707,-0.7436154659955271],[-0.27889551948340924,-0.6156154654411047]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_32","position":[-0.15759180510805437,-1.40466794886261,0.71338606911949],"aabb_xy":[[-0.1616699630151041,-1.408748929110873],[-0.15351364720100463,-1.4005869686143464]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_33","position":[-0.08224330857979978,1.1027138215786856,0.71338606911949],"aabb_xy":[[-0.16224331000992698,1.023196666566076],[-0.0022433071496725937,1.182230976591295]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.637080204244383,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4973.png","name":"4973"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4973.png","name":"4973"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4325.png","name":"4325"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5378.png","name":"5378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3084.png","name":"3084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8751.png","name":"8751"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":668.7699628290037,"rotation_z_degrees":318.5769295121351,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002827977607444899,0.009375673923819657,0.0034142773957222296]},{"name":"camera_2","offset_m":[-0.01274471752443068,-0.018585375178670455,-0.013213096202668285]},{"name":"camera_3","offset_m":[0.0011018122902899108,0.006028240276754797,0.016550251459369666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013117182579210455,0.0013228672087650202,0.001504751770509907],"end_effector_yaw_offset_degrees":-0.45640674696217665},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00024226636540506026,0.0003405021503512383,0.0007220692399358426],"end_effector_yaw_offset_degrees":-0.7817837587679437},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008722618959885855,0.001990743193483131,-8.672246245135804e-05],"end_effector_yaw_offset_degrees":-0.9836879990606429},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014977418170505513,-0.0009882282690996092,-8.249692634470346e-05],"end_effector_yaw_offset_degrees":0.5783622800294417},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016103176059717697,0.0017028941046629935,0.0010588252583766944],"end_effector_yaw_offset_degrees":-0.6541520686633164},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0004787107149050835,0.00015495489422369564,-0.0001832411626209987],"end_effector_yaw_offset_degrees":-0.7552090105269296}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032584975532185855,0.0010247175989494452],"position_m":[0.2269415024467814,0.03472471759894945,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-3.350759933504199e-05,0.001292950477867343],"position_m":[0.20966649240066496,-0.3468070495221327,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0022711555811173604,0.0038700882701999577],"position_m":[0.29447115558111736,0.29537008827019995,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018998102236226786,0.004497803621240492],"position_m":[0.2753998102236227,-0.1180021963787595,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9df24ceef51b496cf220c1b9e3843a1855c4a8fec0e3853fb803b5bdd81f4a15","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4973/tex_ceiling_textures_8751/tex_floor_textures_3084/tex_table_textures_4325/tex_wall_textures_5378","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5105499439202716791,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5105499439202716791,"visual_seed":5105499439202716791,"scene_id":"lab_003","finished_at":"2026-09-08T15:26:19"}
+{"episode_id":"ep_000043","started_at":"2026-09-08T15:26:26","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.07266912379648671,-2.4736561316899164,0.71338606911949],"aabb_xy":[[-0.07678507390855936,-2.477771686722761],[-0.06855317368441403,-2.46954057665707]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.5421155621176479,1.4827922808002225,0.71338606911949],"aabb_xy":[[-0.5921155637791425,1.4327938385445194],[-0.49211556045615307,1.5327907230559248]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.596041210184383,-1.8689602091946402,0.71338606911949],"aabb_xy":[[0.5585412117609826,-1.882124423162471],[0.6335412086077833,-1.8557959952268095]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[-0.22645218158341102,-1.530021646716313,0.71338606911949],"aabb_xy":[[-0.267756724647147,-1.5940216462844299],[-0.18514763851967503,-1.4660216471481957]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.6681024671509243,-0.9148683641385038,0.71338606911949],"aabb_xy":[[-0.6931024667026627,-0.9250108480036385],[-0.6431024675991858,-0.9047258802733691]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.5970758229324877,0.13350438701230116,0.71338606911949],"aabb_xy":[[0.5170758259694486,0.05642874536852768],[0.6770758198955269,0.21058002865607459]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.6708909155824601,-2.3566367356420725,0.71338606911949],"aabb_xy":[[-0.6878016480188017,-2.3701089412346867],[-0.6539801831461182,-2.3431645300494575]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.07975259396196244,-0.624854952544895,0.71338606911949],"aabb_xy":[[0.02976835825378521,-0.6748549513583906],[0.12973682967013966,-0.5748549537313994]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.5452687618172489,-2.2522555588845186,0.71338606911949],"aabb_xy":[[-0.5507267074542689,-2.3322555621921777],[-0.5398108161802287,-2.1722555555768595]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.5971791871140322,0.45367460841553253,0.71338606911949],"aabb_xy":[[0.5321791861135317,0.40288824326085754],[0.6621791881145327,0.5044609735702075]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[-0.39323379738272707,1.8092531060341268,0.71338606911949],"aabb_xy":[[-0.3971476705781496,1.80050409062757],[-0.38931992418730454,1.8180021214406836]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.19395101848011742,1.1179439743962787,0.71338606911949],"aabb_xy":[[0.19051034224006028,1.1140825414219142],[0.19739169472017462,1.1218054073706432]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[0.5472682024778068,1.2591984333556598,0.71338606911949],"aabb_xy":[[0.5426330873255734,1.255331098278511],[0.5519033176300401,1.2630657684328086]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.19833851342485675,-0.7194360948079239,0.71338606911949],"aabb_xy":[[-0.20646620161816995,-0.7283497032186316],[-0.1902108252315435,-0.7105224863972163]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.0285916737919365,-0.6539718481189429,0.71338606911949],"aabb_xy":[[-0.03788529202908708,-0.6914718466070768],[-0.019298055554785917,-0.616471849630809]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.012666268000196879,-1.634109621419719,0.71338606911949],"aabb_xy":[[-0.017817982126833276,-1.6841096212012145],[0.04315051812722703,-1.5841096216382227]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.5768094212197172,0.6094476174808592,0.71338606911949],"aabb_xy":[[0.516809420623701,0.5546351449356357],[0.6368094218157334,0.6642600900260827]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.5962898196267531,-0.11889685953652274,0.71338606911949],"aabb_xy":[[-0.6862898233036712,-0.18032926611362707],[-0.5062898159498348,-0.05746445295941836]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.3373751462003589,-0.48233517243948887,0.71338606911949],"aabb_xy":[[-0.35495344838930576,-0.49990966201359377],[-0.31979684401141206,-0.46476068286538397]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.3990924729109644,-1.7032225729675146,0.71338606911949],"aabb_xy":[[0.38824086666208873,-1.7140818636951656],[0.40994407915983994,-1.6923632822398635]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.28698641930487245,0.18746274904424665,0.71338606911949],"aabb_xy":[[-0.3669864179617585,0.1729578901199839],[-0.2069864206479865,0.20196760796850946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6406025074727036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7281.png","name":"7281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7281.png","name":"7281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5938.png","name":"5938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9528.png","name":"9528"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8488.png","name":"8488"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":598.0245244732268,"rotation_z_degrees":337.58739681956536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01663063109149947,-0.01612572192742537,-0.013147831573498699]},{"name":"camera_2","offset_m":[0.009011808366779048,0.014820970775174695,-0.013300718397193805]},{"name":"camera_3","offset_m":[0.006818001154077852,0.00017040950592777868,0.013752138193589485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016675780762015046,-0.0007036587678503118,0.0001969569958904841],"end_effector_yaw_offset_degrees":-0.9155627502121781},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012699404191175634,-0.0013666732636197759,0.0012893917385011782],"end_effector_yaw_offset_degrees":-0.6747830843052789},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014902726155251829,0.0014660301336369857,0.0016042472153070938],"end_effector_yaw_offset_degrees":-0.15671912356555073},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010098136502591233,0.0015611192843146852,-0.0001307092296648476],"end_effector_yaw_offset_degrees":-0.2444187553348307},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00018896696465998584,0.0019483904001619074,-0.0009321325101801343],"end_effector_yaw_offset_degrees":-0.7284849446290396},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0007863860091568997,-0.00045137405582235503,0.0014137377488873865],"end_effector_yaw_offset_degrees":-0.2650170449376599}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012014450657604906,0.0040654716456894275],"position_m":[0.2314014450657605,0.03776547164568943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004085833915847826,-0.001410898151560507],"position_m":[0.21378583391584782,-0.3495108981515605,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003593119838761369,-0.0012546799758210237],"position_m":[0.2957931198387614,0.29024532002417897,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019601376829874815,-0.0011420431143999987],"position_m":[0.2754601376829875,-0.1236420431144,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c6414f6bc468cc9e8c5e10c8c60fbdb85c9add15b60d98d8d83f1929fdf23e3e","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0045.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7281/tex_ceiling_textures_8488/tex_floor_textures_9528/tex_table_textures_5938/tex_wall_textures_5282","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":9110451930503555142,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":9110451930503555142,"visual_seed":9110451930503555142,"scene_id":"lab_003","finished_at":"2026-09-08T15:34:12"}
+{"episode_id":"ep_000044","started_at":"2026-09-08T15:34:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[0.621409180289614,1.14904652403164,0.71338606911949],"aabb_xy":[[0.5714249445814368,1.0990465252181443],[0.6713934159977912,1.1990465228451355]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.39953584081349724,-1.6832670069199527,0.71338606911949],"aabb_xy":[[-0.4141792463675302,-1.6979257265767367],[-0.3848924352594642,-1.6686082872631682]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.5652640782916718,0.7145806258299778,0.71338606911949],"aabb_xy":[[0.5452056666784315,0.6945155389208202],[0.5853224899049121,0.7346457127391353]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.5790748669768668,0.7641729786636882,0.71338606911949],"aabb_xy":[[-0.6430748690265988,0.7240784955743803],[-0.5150748649271348,0.8042674617529962]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.23957423142036316,0.3200814369269347,0.71338606911949],"aabb_xy":[[-0.24441782618159313,0.3152297844479506],[-0.23473063665913318,0.3249330894059188]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.10241463726718225,0.6425881787250161,0.71338606911949],"aabb_xy":[[-0.15741463546892706,0.6020662120985785],[-0.04741463906543741,0.6831101453514536]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.4035772329977368,0.8059350591024903,0.71338606911949],"aabb_xy":[[-0.4210772332570735,0.7918435169137178],[-0.3860772327384003,0.820026601291263]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.04140957852683935,1.516258037713483,0.71338606911949],"aabb_xy":[[-0.03859042006048007,1.4369424357753222],[0.12140957711415877,1.595573639651644]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.3228408294105094,1.3669017125894727,0.71338606911949],"aabb_xy":[[0.3003408294003611,1.3528054929498694],[0.3453408294206577,1.380997932229076]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[0.03982421039846029,-1.2344506998258427,0.71338606911949],"aabb_xy":[[-0.010158739789019043,-1.2844506994684028],[0.08980716058593961,-1.184450700183282]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.5470219028368721,0.018403340646024002,0.71338606911949],"aabb_xy":[[-0.5703037450350034,-0.06659666065120405],[-0.5237400606387407,0.10340334194325206]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.3932295054217465,0.49406049358411686,0.71338606911949],"aabb_xy":[[0.3707330839878824,0.47156049377736936],[0.4157259268556106,0.5165604933908643]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.2775947278010137,-2.260314095486859,0.71338606911949],"aabb_xy":[[-0.3675947272193845,-2.2936895923310483],[-0.18759472838264274,-2.226938598642669]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[-0.12061234283549693,-1.1834162221944196,0.71338606911949],"aabb_xy":[[-0.13102390151598065,-1.188761955530318],[-0.1102007841550132,-1.1780704888585212]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.44481590187114484,-1.6950549752808062,0.71338606911949],"aabb_xy":[[0.42731590162609545,-1.7125547631203728],[0.4623159021161942,-1.677555187441239]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.5081048989545094,-1.8794764211781638,0.71338606911949],"aabb_xy":[[-0.5456048975301301,-1.8922127168417218],[-0.4706049003788885,-1.8667401255146059]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.5062048586838218,-2.541444193393893,0.71338606911949],"aabb_xy":[[-0.5437048591811801,-2.5454128769420117],[-0.46870485818646357,-2.5374755098457746]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.33869012994601333,-1.0104188241490917,0.71338606911949],"aabb_xy":[[-0.4026901285325858,-1.0574257875486002],[-0.27469013135944087,-0.9634118607495827]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.36730065819409385,1.0286634234337098,0.71338606911949],"aabb_xy":[[0.361334119253358,1.0227022787743454],[0.3732671971348296,1.0346245680930737]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.34013696033900875,1.5389380313762762,0.71338606911949],"aabb_xy":[[0.26013696337596964,1.4618623897325025],[0.420136957302048,1.6160136730200494]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.11356886044116843,-1.3315631730913042,0.71338606911949],"aabb_xy":[[-0.147009035637188,-1.365006798922234],[-0.08012868524514881,-1.298119547260374]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.699422064677256,1.5659761129785363,0.71338606911949],"aabb_xy":[[0.6842498953956226,1.5508072560503328],[0.7145942339588893,1.5811449699067395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6377998070518837,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6382.png","name":"6382"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6382.png","name":"6382"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3567.png","name":"3567"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9549.png","name":"9549"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9955.png","name":"9955"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4556.png","name":"4556"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":622.5987713931955,"rotation_z_degrees":232.62336843146747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00822806860079222,-0.008708539593950402,-0.009727201697400063]},{"name":"camera_2","offset_m":[0.016541208093112925,-0.0027474731234222137,0.013436769614870173]},{"name":"camera_3","offset_m":[-0.0182411663007918,-0.011605479401402668,0.006991423662260864]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015071005839819435,0.0010528464143741254,0.0008667534843266479],"end_effector_yaw_offset_degrees":0.7419198748436364},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013350502017934513,-0.0010083318753539925,-0.00019619968254120366],"end_effector_yaw_offset_degrees":0.29562912294850796},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009007150022415646,-0.0006984656249891374,-0.0009790018748876167],"end_effector_yaw_offset_degrees":0.07414525591016874},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00017732110898582257,0.0002457218596447581,0.0017890844021451122],"end_effector_yaw_offset_degrees":-0.7914313133697426},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010816882165665767,0.0006888500140896647,0.00024511473874702866],"end_effector_yaw_offset_degrees":-0.367648051295812},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013212271046888903,0.001639018507632828,4.8899242114066026e-05],"end_effector_yaw_offset_degrees":-0.23632687996342971}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00012405689563217345,0.0011130003976751604],"position_m":[0.23007594310436782,0.03481300039767516,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013038913843065958,-0.004508483925926786],"position_m":[0.2083961086156934,-0.3526084839259268,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0028828596580412393,-0.003901634343618301],"position_m":[0.28931714034195877,0.2875983656563817,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021464790214599464,-0.003004481504753317],"position_m":[0.27564647902145994,-0.12550448150475332,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6dd1779c77bbcf5061d417e3d6523af05d052416d852e52bce93d6b0d2cf127f","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6382/tex_ceiling_textures_4556/tex_floor_textures_9955/tex_table_textures_3567/tex_wall_textures_9549","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1677942462509392244,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1677942462509392244,"visual_seed":1677942462509392244,"scene_id":"lab_003","finished_at":"2026-09-08T15:42:32"}
+{"episode_id":"ep_000045","started_at":"2026-09-08T15:42:40","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.14450074358261322,-0.7847336537768821,0.71338606911949],"aabb_xy":[[-0.1622942505175297,-0.8025333993726796],[-0.1267072366476968,-0.7669339081810843]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.3931884680891857,-1.5810186591123814,0.71338606911949],"aabb_xy":[[0.3381952567520489,-1.6360186594511752],[0.4481816794263225,-1.526018658773588]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.5169932338035608,-0.547718186783039,0.71338606911949],"aabb_xy":[[0.4529932321255634,-0.5962355782623531],[0.5809932354815581,-0.49920079530372463]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.6237407943289519,-1.4428486719248688,0.71338606911949],"aabb_xy":[[0.5737407948887562,-1.492816596409185],[0.6737407937691474,-1.3928807474405525]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.6356776415026104,-0.9912492142055063,0.71338606911949],"aabb_xy":[[0.6255246259484608,-1.0273187557782464],[0.6458306570567596,-0.9551796726327656]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.21108516109447595,-1.3109677319586723,0.71338606911949],"aabb_xy":[[-0.2810851637310623,-1.3310725969545376],[-0.1410851584578896,-1.2908628669628066]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.618281581218427,1.495538783790734,0.71338606911949],"aabb_xy":[[-0.6432815807701655,1.4853962999255992],[-0.5932815816666885,1.5056812676558686]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.11632985762544801,-1.5541381971189723,0.71338606911949],"aabb_xy":[[-0.1408760732481987,-1.5843870936680093],[-0.09178364200269727,-1.5238893005699352]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[0.5860399750284448,-2.264248736717027,0.71338606911949],"aabb_xy":[[0.5781166947896965,-2.286748736955031],[0.5939632552671932,-2.2417487364790243]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.45661384487943724,1.094384315924831,0.71338606911949],"aabb_xy":[[0.4526999716840147,1.085635300518274],[0.46052771807485976,1.1031333313313876]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.1870142691758916,-0.5868352194448834,0.71338606911949],"aabb_xy":[[0.12301426695548456,-0.6312083035701715],[0.2510142713962986,-0.542462135319595]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.18970251841254337,-2.2869483072341694,0.71338606911949],"aabb_xy":[[-0.2537025157148898,-2.331314734202026],[-0.12570252111019695,-2.2425818802663127]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.36491292081477317,1.641855467701491,0.71338606911949],"aabb_xy":[[-0.4289086182098697,1.5778554694007818],[-0.3009172234196765,1.7058554660021992]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.2999709222833351,-0.3132841190483573,0.71338606911949],"aabb_xy":[[-0.30492694246821633,-0.3357841192504789],[-0.295014902098454,-0.2907841188462357]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.5939119430662954,-1.714873654910215,0.71338606911949],"aabb_xy":[[0.5323211838423026,-1.7788736530192621],[0.6555027022902883,-1.6508736568011684]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.5830790915067776,1.3024692523039838,0.71338606911949],"aabb_xy":[[-0.6630790894875627,1.2948677113421316],[-0.5030790935259926,1.3100707932658355]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.3274225062892668,0.3582780968615209,0.71338606911949],"aabb_xy":[[-0.33468375385967414,0.3454910865980114],[-0.3201612587188593,0.3710651071250304]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[0.7071390956566308,-2.1266137273708976,0.71338606911949],"aabb_xy":[[0.6977920880743356,-2.1409173495885416],[0.716486103238926,-2.1123101051532536]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[-0.11150705395982186,0.2805535847586338,0.71338606911949],"aabb_xy":[[-0.1232752407544794,0.1955535848534123],[-0.09973886716516436,0.3655535846638554]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.13604761209074778,-1.9483424467917008,0.71338606911949],"aabb_xy":[[0.0720476088721099,-1.9950655586907091],[0.2000476153093856,-1.9016193348926924]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.5630937230893069,-1.145080116087365,0.71338606911949],"aabb_xy":[[0.4830937220161866,-1.1548581624247496],[0.6430937241624273,-1.1353020697499807]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.08892490518873819,1.2920085058869377,0.71338606911949],"aabb_xy":[[0.033932654553227255,1.2370085041436252],[0.14391715582424916,1.3470085076302507]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[0.5957021937371048,1.597009710450894,0.71338606911949],"aabb_xy":[[0.5765898863791259,1.577874931573652],[0.6148145010950836,1.616144489328136]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[0.18220125530099363,-1.7005899906349484,0.71338606911949],"aabb_xy":[[0.16932935180005348,-1.7805899910487848],[0.19507315880193377,-1.6205899902211125]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.30652188588367335,1.3756807998457354,0.71338606911949],"aabb_xy":[[0.23652188428139392,1.3622480066440779],[0.3765218874859529,1.389113593047393]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6358045749786259,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5212.png","name":"5212"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5212.png","name":"5212"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3824.png","name":"3824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3696.png","name":"3696"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4025.png","name":"4025"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2959.png","name":"2959"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":737.5092868943052,"rotation_z_degrees":168.67779628561016,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016816120971531363,0.003517533979934623,-0.018585010077286912]},{"name":"camera_2","offset_m":[-0.01872443433017832,-0.0012591722364236092,0.011126054949999246]},{"name":"camera_3","offset_m":[-0.005883529503878191,-0.003055716002029557,-0.014711972466447221]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019890155851045336,0.0006053554201724859,-0.0006792626487866901],"end_effector_yaw_offset_degrees":-0.6870772241403345},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010124038281994357,-0.0006743775860713801,0.001270103341576376],"end_effector_yaw_offset_degrees":-0.7678674561279444},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003841436306188659,0.0015347890731289122,0.0003653066661398999],"end_effector_yaw_offset_degrees":0.4344018064035273},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0001917225785798423,-0.0014605443996982825,-0.001073321472024233],"end_effector_yaw_offset_degrees":-0.6045058600149089},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[5.577415913852763e-05,-0.0016668691278252795,-0.0009775939474563557],"end_effector_yaw_offset_degrees":-0.8984483674708792},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017429276365639426,-0.0016703749574688226,0.0011038472862314034],"end_effector_yaw_offset_degrees":-0.39898695132547446}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003930706702243392,-0.004395702996294171],"position_m":[0.2262692932977566,0.02930429700370583,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.309402123815376e-05,0.003083516612311282],"position_m":[0.20979309402123816,-0.34501648338768875,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0013478279259131884,0.0028828988092069246],"position_m":[0.2935478279259132,0.2943828988092069,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002724103653405442,-0.0002451288326169518],"position_m":[0.27622410365340544,-0.12274512883261696,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"69b2251153464cf5b3837e09898359b61ec207cf0107b6341150611843cf4e95","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5212/tex_ceiling_textures_2959/tex_floor_textures_4025/tex_table_textures_3824/tex_wall_textures_3696","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1781834993977525624,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1781834993977525624,"visual_seed":1781834993977525624,"scene_id":"lab_003","finished_at":"2026-09-08T15:50:34"}
+{"episode_id":"ep_000046","started_at":"2026-09-08T15:50:41","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[0.2226145899975558,-1.5174570386864372,0.71338606911949],"aabb_xy":[[0.20511458975250643,-1.5349568265260038],[0.2401145902426052,-1.4999572508468701]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.3465812115062472,-0.28104058171638524,0.71338606911949],"aabb_xy":[[0.32871210375179166,-0.2948734896935961],[0.36445031926070265,-0.26720767373917426]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.2979482453033981,-0.9319213565377187,0.71338606911949],"aabb_xy":[[-0.332948245279894,-0.9413859725853354],[-0.2629482453269023,-0.9224567404901022]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.4905367562402252,0.6863360790075461,0.71338606911949],"aabb_xy":[[0.4405634622369647,0.6363360784529987],[0.5405100502434856,0.7363360795620933]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[-0.19487382605705483,-1.7061347445482755,0.71338606911949],"aabb_xy":[[-0.2648738281884843,-1.7288967101739707],[-0.12487382392562524,-1.6833727789225794]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.2323593091082246,-1.2586625620373735,0.71338606911949],"aabb_xy":[[-0.2383258480489604,-1.2646237066967374],[-0.22639277016748882,-1.2527014173780096]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.6124440766787393,0.15072920974433268,0.71338606911949],"aabb_xy":[[0.6047408860046624,0.14301983904559468],[0.6201472673528163,0.1584385804430707]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.1518498461580079,-0.687496763435586,0.71338606911949],"aabb_xy":[[0.12893413327295802,-0.7104010605720096],[0.17476555904305782,-0.6645924662991626]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.3960735553829229,-2.144913954165753,0.71338606911949],"aabb_xy":[[0.316073554912707,-2.1532246617801016],[0.47607355585313893,-2.136603246551405]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[-0.38685953620794794,-1.2003940965033124,0.71338606911949],"aabb_xy":[[-0.3956407633551843,-1.2091738437918427],[-0.3780783090607118,-1.1916143492147826]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.6171171126401355,-1.011283730967097,0.71338606911949],"aabb_xy":[[-0.6278900865615032,-1.046283729186136],[-0.6063441387187677,-0.976283732748058]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.5219859868988843,1.33753804893079,0.71338606911949],"aabb_xy":[[-0.5919859885011638,1.3241052557291324],[-0.45198598529660483,1.3509708421324476]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.23411980187380532,1.5645272161167205,0.71338606911949],"aabb_xy":[[0.19310185848743447,1.514527215485763],[0.2751377452601762,1.6145272167476776]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.6118866771323843,-2.301739519636997,0.71338606911949],"aabb_xy":[[-0.6668866767541302,-2.3567232124244697],[-0.5568866775106385,-2.2467558268495242]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.5381776609755783,-0.24186307454445277,0.71338606911949],"aabb_xy":[[-0.6081776643671402,-0.2771788482478836],[-0.46817765758401625,-0.20654730084102188]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.14780577862479571,0.4501183905754056,0.71338606911949],"aabb_xy":[[-0.17645511098521194,0.4214728312983297],[-0.11915644626437949,0.4787639498524813]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[0.1283493010498029,-0.9593527622309086,0.71338606911949],"aabb_xy":[[0.09084930110603648,-0.9676458522657452],[0.1658493009935693,-0.951059672196072]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.5101027896882577,-1.8580394061728756,0.71338606911949],"aabb_xy":[[-0.5476027899804325,-1.862080881573479],[-0.4726027893960829,-1.853997930772272]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.46697819110346794,0.032906277944322326,0.71338606911949],"aabb_xy":[[-0.5309781918069374,-0.013112104528598689],[-0.40297819039999866,0.07892466041724333]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.466583106033549,-1.2717994659093013,0.71338606911949],"aabb_xy":[[0.40158310507642175,-1.3237476778430066],[0.5315831069906761,-1.2198512539755955]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.3117458066680765,1.0611948041963712,0.71338606911949],"aabb_xy":[[-0.3717458072640927,1.0063823316511478],[-0.2517458060720603,1.1160072767415947]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.3431144641746262,0.8817661476586247,0.71338606911949],"aabb_xy":[[0.32794229489299287,0.8665972907304215],[0.35828663345625955,0.8969350045868282]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[-0.47376601202801594,1.8098393814379468,0.71338606911949],"aabb_xy":[[-0.5537660091875913,1.7982917804801293],[-0.3937660148684407,1.8213869823957634]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.5512275521642511,0.5505492089545485,0.71338606911949],"aabb_xy":[[0.471227548900238,0.5369891766456352],[0.6312275554282643,0.5641092412634618]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.5135957073664964,-1.0813295083255876,0.71338606911949],"aabb_xy":[[-0.5262224946536926,-1.0908755820271603],[-0.5009689200792999,-1.0717834346240145]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[-0.43093527960548816,-1.4347221299804318,0.71338606911949],"aabb_xy":[[-0.4491411032667359,-1.4457475305624237],[-0.41272945594424054,-1.4236967293984404]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6361284471522036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5261.png","name":"5261"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5261.png","name":"5261"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9082.png","name":"9082"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1856.png","name":"1856"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7226.png","name":"7226"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9944.png","name":"9944"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":528.5891306396674,"rotation_z_degrees":58.50810469056246,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006811195934541513,0.013088890583100424,-0.004926604591784144]},{"name":"camera_2","offset_m":[-0.01775769448267666,0.011995607491508981,0.016779291897321535]},{"name":"camera_3","offset_m":[0.003863937852400197,-0.017919734949059282,0.009941143315757284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019597471262657257,0.0013936039079844903,-0.0007711388841772924],"end_effector_yaw_offset_degrees":-0.48545145377126975},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008222523775074904,2.285289795417181e-05,-0.00011282023261352503],"end_effector_yaw_offset_degrees":-0.9952327730805219},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010486216296975645,0.0006960988020395294,0.0019751592290218256],"end_effector_yaw_offset_degrees":0.10312107052684016},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017087384171612632,0.0005962573022797561,0.0003239601940572979],"end_effector_yaw_offset_degrees":-0.3841888475430384},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007981221316059805,0.0010429964389359198,-0.0017558942905981669],"end_effector_yaw_offset_degrees":-0.8526128080837196},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001829858571010862,-0.0014612445460791088,0.0005046982009717267],"end_effector_yaw_offset_degrees":-0.7404919083374117}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00014955870718720392,0.0019006772195383527],"position_m":[0.23034955870718718,0.03560067721953836,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021682774365004865,0.0038602819037162226],"position_m":[0.2118682774365005,-0.3442397180962838,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004698825086490343,0.0017240181696774725],"position_m":[0.2875011749135097,0.29322401816967747,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00429297507828303,0.0006574287135305886],"position_m":[0.269207024921717,-0.12184257128646941,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"038bf24763de4f4d99f35733e8fd34ba25856d7bba929bd8904e549f39efebce","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5261/tex_ceiling_textures_9944/tex_floor_textures_7226/tex_table_textures_9082/tex_wall_textures_1856","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":19599221201415980,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":19599221201415980,"visual_seed":19599221201415980,"scene_id":"lab_003","finished_at":"2026-09-08T15:58:36"}
+{"episode_id":"ep_000047","started_at":"2026-09-08T15:58:43","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.3013275475034888,1.7591450024650457,0.71338606911949],"aabb_xy":[[-0.3388275486882815,1.7547267797689852],[-0.2638275463186959,1.7635632251611062]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[0.2766477274358712,-1.0176850562102917,0.71338606911949],"aabb_xy":[[0.21164772740156845,-1.064385732890619],[0.3416477274701739,-0.9709843795299644]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.5921426566410026,-1.8819843337915763,0.71338606911949],"aabb_xy":[[0.5789914106697133,-1.906984333548263],[0.605293902612292,-1.85698433403489]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.4114823751776005,-0.931677488684622,0.71338606911949],"aabb_xy":[[-0.4360285908003513,-0.9619263852336591],[-0.38693615955484983,-0.901428592135585]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.18892370514696366,-2.2238150132863845,0.71338606911949],"aabb_xy":[[0.15212907202205742,-2.260720888382967],[0.22571833827186996,-2.1869091381898023]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.18941180661167678,1.1114638563263095,0.71338606911949],"aabb_xy":[[-0.20201450574875324,1.0988684601014438],[-0.17680910747460032,1.1240592525511748]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.5195690737264501,1.3561774842630285,0.71338606911949],"aabb_xy":[[-0.5995690751565773,1.276660329250419],[-0.4395690722963229,1.435694639275638]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.2694908661773782,1.266349439909689,0.71338606911949],"aabb_xy":[[-0.30699086696937367,1.2599815989514986],[-0.23199086538538277,1.272717280867879]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[0.13239165930772623,-0.8914767630600613,0.71338606911949],"aabb_xy":[[0.12468846863364916,-0.8991861337587992],[0.14009484998180324,-0.8837673923613232]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.5932369012239296,0.25876555720513394,0.71338606911949],"aabb_xy":[[0.5828253425434458,0.2534198238692354],[0.6036484599044132,0.2641112905410324]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.4530901548975508,-2.084109863602053,0.71338606911949],"aabb_xy":[[0.4031168608942902,-2.1341098641566],[0.5030634489008111,-2.0341098630475054]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.20506171527266226,-0.6907754769040337,0.71338606911949],"aabb_xy":[[-0.275061711682624,-0.7112134125557154],[-0.13506171886270044,-0.6703375412523519]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.5534189261688928,0.4617201706093579,0.71338606911949],"aabb_xy":[[-0.6033919917014083,0.4117201707968251],[-0.5034458606363774,0.5117201704218909]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.5558728310593161,-1.916390489800909,0.71338606911949],"aabb_xy":[[-0.6109980366889067,-1.976390491242196],[-0.5007476254297252,-1.8563904883596216]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.596863233660202,-1.6095732807588767,0.71338606911949],"aabb_xy":[[-0.6272613447593455,-1.6399801827605462],[-0.5664651225610583,-1.5791663787572072]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.2295126558498628,-1.0899906964132324,0.71338606911949],"aabb_xy":[[-0.2935126561103336,-1.1349994957661602],[-0.165512655589392,-1.0449818970603042]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.2555614171580155,-2.537520524794363,0.71338606911949],"aabb_xy":[[-0.3195614178614849,-2.583538907267284],[-0.19156141645454622,-2.491502142321442]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.48559551229305264,0.8038231231152562,0.71338606911949],"aabb_xy":[[0.4215955131232827,0.7570564359962937],[0.5495955114628226,0.8505898102342186]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.3245022373020159,-0.5305575171636838,0.71338606911949],"aabb_xy":[[0.29204053642008837,-0.5606903492785863],[0.3569639381839433,-0.5004246850487811]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.02831907461647709,-1.1149864435607493,0.71338606911949],"aabb_xy":[[-0.03365665028248166,-1.139986444489889],[-0.022981498950472523,-1.0899864426316095]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.4238392976829421,0.8860150185428095,0.71338606911949],"aabb_xy":[[-0.4878392949852885,0.8416485915749526],[-0.3598393003805957,0.9303814455106661]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.1278907595256078,-1.3854027851680144,0.71338606911949],"aabb_xy":[[0.09329967667156257,-1.4504027854530452],[0.162481842379653,-1.3204027848829831]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[-0.2867623348247605,0.3441046730824775,0.71338606911949],"aabb_xy":[[-0.2954602971154758,0.3319796987750028],[-0.2780643725340452,0.3562296473899522]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.6484136043523121,1.3825114909234837,0.71338606911949],"aabb_xy":[[0.6302077806910644,1.371486090341492],[0.6666194280135598,1.3935368915054753]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[0.5445131177821576,1.1235005957324855,0.71338606911949],"aabb_xy":[[0.5220483478107525,1.101000594853625],[0.5669778877535627,1.146000596611346]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[-0.07675447817548497,-1.6049538580548988,0.71338606911949],"aabb_xy":[[-0.13174995599614436,-1.6599538594888055],[-0.021759000354825586,-1.5499538566209916]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[-0.0565311406037553,-2.492349194111732,0.71338606911949],"aabb_xy":[[-0.060234401932894165,-2.4960512124204497],[-0.05282787927461643,-2.488647175803014]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.4448140131012244,-0.2920555060920864,0.71338606911949],"aabb_xy":[[-0.44924464245606466,-0.297503877826769],[-0.4403833837463843,-0.2866071343574038]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[-0.16967077640827244,0.2717143586372659,0.71338606911949],"aabb_xy":[[-0.1751287220452925,0.1917143553296068],[-0.16421283077125237,0.351714361944925]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[0.6138242638230553,1.544487334532398,0.71338606911949],"aabb_xy":[[0.5288242654056321,1.459613039070113],[0.6988242622404786,1.629361629994683]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.5427686296786307,-2.2612268647386777,0.71338606911949],"aabb_xy":[[0.5257585323885801,-2.2773613532369517],[0.5597787269686814,-2.245092376240404]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6359757416916672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/393.png","name":"393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/393.png","name":"393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4075.png","name":"4075"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/26.png","name":"26"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5775.png","name":"5775"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3822.png","name":"3822"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":520.4979068492399,"rotation_z_degrees":110.04567137970241,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019470216658533507,0.012587163448069195,0.01759926083249287]},{"name":"camera_2","offset_m":[-0.01726368826817467,-0.017264218525711132,-0.017746317558472332]},{"name":"camera_3","offset_m":[0.01652588665485222,0.011934327157794484,0.0014072693578196203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.054910250923021e-05,-0.0007956462168655799,-0.0007879786620776672],"end_effector_yaw_offset_degrees":0.655329662645342},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002854559664114756,0.0010133462539861728,-8.499105614698937e-05],"end_effector_yaw_offset_degrees":0.8921767663445217},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010156799981716888,0.0006178519370269747,0.0016021495816709998],"end_effector_yaw_offset_degrees":-0.8746526684843925},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[6.855561671422405e-05,-0.001676729580808913,-0.00025430532924449216],"end_effector_yaw_offset_degrees":-0.5398714672231455},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00020973863100240582,-0.0018537404481304633,-0.001250914723042988],"end_effector_yaw_offset_degrees":-0.8626712418331104},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0018756547059095782,-0.0018400372535785192,-0.0005022829677644213],"end_effector_yaw_offset_degrees":0.811873075245884}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013626337487728278,0.0007968524810296231],"position_m":[0.2315626337487728,0.03449685248102963,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002365280636258435,0.00444911650333098],"position_m":[0.21206528063625843,-0.34365088349666906,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0002431434244763494,-0.001723149921879068],"position_m":[0.29244314342447636,0.28977685007812093,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003154375960764253,-0.003169417891018832],"position_m":[0.27665437596076425,-0.12566941789101882,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"edcb1224702744189a671d1fc97414cd5587694f4ad7e29d658a9f3114c2c8f1","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_393/tex_ceiling_textures_3822/tex_floor_textures_5775/tex_table_textures_4075/tex_wall_textures_26","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4856947783089708450,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4856947783089708450,"visual_seed":4856947783089708450,"scene_id":"lab_003","finished_at":"2026-09-08T16:06:33"}
+{"episode_id":"ep_000048","started_at":"2026-09-08T16:06:40","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.21645665210670761,-2.336084575641581,0.71338606911949],"aabb_xy":[[-0.2320124215169729,-2.3516350088859888],[-0.20090088269644238,-2.3205341423971744]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.6139683509641802,-1.4933540838552706,0.71338606911949],"aabb_xy":[[0.533968347700167,-1.506914116164184],[0.6939683542281933,-1.4797940515463572]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.6663344811991856,-1.076848934268354,0.71338606911949],"aabb_xy":[[0.6313344820063671,-1.0878159802660166],[0.7013344803920036,-1.065881888270691]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[-0.12603346191171172,-2.197719773732162,0.71338606911949],"aabb_xy":[[-0.15951262917275266,-2.231198887103269],[-0.09255429465067078,-2.164240660361055]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.49322007061679374,-1.1976774668803352,0.71338606911949],"aabb_xy":[[0.4292243732216971,-1.2616774651810436],[0.5572157680118903,-1.1336774685796263]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.29507263297872605,-2.012617738703546,0.71338606911949],"aabb_xy":[[-0.3032003211720393,-2.0215313471142538],[-0.2869449447854129,-2.0037041302928382]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.35087584343896827,-2.4535653970085356,0.71338606911949],"aabb_xy":[[0.2868758470116464,-2.500735020830632],[0.41487583986629023,-2.406395773186439]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.4790248051814987,-0.8597658795323238,0.71338606911949],"aabb_xy":[[0.47098847048021386,-0.8678039988367404],[0.48706113988278354,-0.8517277602279069]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.119905750225902,-1.7306172809862628,0.71338606911949],"aabb_xy":[[0.029905750807531092,-1.7639927778304523],[0.2099057496442729,-1.6972417841420728]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.3372605797026498,0.9703628044517711,0.71338606911949],"aabb_xy":[[0.32955738902857273,0.9626534337530331],[0.3449637703767268,0.9780721751505091]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.6041552634164989,-0.6501441932308929,0.71338606911949],"aabb_xy":[[-0.6287014790392497,-0.6803930897799298],[-0.5796090477937482,-0.6198952966818557]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[0.5626088701286094,-0.6994397293129493,0.71338606911949],"aabb_xy":[[0.5517683919020945,-0.7166260106035981],[0.5734493483551243,-0.6822534480223005]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.5235863382943164,-0.318261269238425,0.71338606911949],"aabb_xy":[[-0.5573618974850094,-0.3322997644515901],[-0.4898107791036235,-0.30422277402526005]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.6410546060113509,-0.2315745801491289,0.71338606911949],"aabb_xy":[[-0.6463871206659638,-0.2368989083943645],[-0.6357220913567377,-0.2262502519038933]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.05563353143742822,-2.4415209342048647,0.71338606911949],"aabb_xy":[[-0.13563352884102162,-2.521513505403047],[0.024366465966165197,-2.3615283630066815]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.6964854394956617,1.7165041270592742,0.71338606911949],"aabb_xy":[[0.6925715663002392,1.7077551116527174],[0.7003993126910841,1.725253142465831]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.6126568571575023,0.8173903210682094,0.71338606911949],"aabb_xy":[[-0.6251242152672379,0.8049249964348859],[-0.6001894990477666,0.8298556457015329]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.5699108716477035,1.7662665555304762,0.71338606911949],"aabb_xy":[[-0.6177170392614721,1.701266552823417],[-0.5221047040339348,1.831266558237535]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.5750924893444699,1.434314685910222,0.71338606911949],"aabb_xy":[[-0.6119430372814575,1.3968146850871885],[-0.5382419414074823,1.471814686733256]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[0.3464447787230005,0.5106416733251691,0.71338606911949],"aabb_xy":[[0.3239483572891364,0.48814167351842175],[0.3689412001568646,0.5331416731319166]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[-0.24057550000647437,-1.8993629107308896,0.71338606911949],"aabb_xy":[[-0.27737013313138065,-1.9362687858274716],[-0.2037808668815681,-1.862457035634307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6381998355033575,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3437.png","name":"3437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3437.png","name":"3437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4771.png","name":"4771"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/594.png","name":"594"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5823.png","name":"5823"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3522.png","name":"3522"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":670.0099776741677,"rotation_z_degrees":205.244403497562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013827124870223455,-0.011356684972410892,-0.0178123957407747]},{"name":"camera_2","offset_m":[0.018651647997818207,-0.0010794938894821068,0.014268763944405991]},{"name":"camera_3","offset_m":[0.007449130691925727,0.0006571822040221907,-0.002644289900863569]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00014528441326344677,0.0008428696265116893,-0.0003415919412573696],"end_effector_yaw_offset_degrees":-0.8912371945416233},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017548420867801468,0.001003827369547055,-0.0015298482301806318],"end_effector_yaw_offset_degrees":-0.1966884092181087},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005467981178677009,-0.0006214164238473293,0.001900476455663114],"end_effector_yaw_offset_degrees":-0.9798951807834837},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018564031776599965,0.00014918537330086117,-0.0013047456036957865],"end_effector_yaw_offset_degrees":-0.5676487936861441},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018873773914952056,-0.0006789340440851311,0.0018045698945165821],"end_effector_yaw_offset_degrees":0.9041447208762405},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012499949487714658,0.001124386731634381,-0.001057262442508036],"end_effector_yaw_offset_degrees":-0.2576870444201489}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028788584546686068,-0.0008734822945838626],"position_m":[0.22732114154533137,0.03282651770541614,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015053100126631684,-0.0009693100694507526],"position_m":[0.21120531001266316,-0.3490693100694508,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003354809857964338,-0.0005194013162819842],"position_m":[0.29555480985796434,0.290980598683718,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015725352834180086,0.00029101927278240257],"position_m":[0.275072535283418,-0.1222089807272176,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3413cc8905a761842e75cf9cbc69e1ce087976e3b95aa6f047f3b4d8c25e4156","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3437/tex_ceiling_textures_3522/tex_floor_textures_5823/tex_table_textures_4771/tex_wall_textures_594","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":9124089820165426486,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":9124089820165426486,"visual_seed":9124089820165426486,"scene_id":"lab_003","finished_at":"2026-09-08T16:14:14"}
+{"episode_id":"ep_000049","started_at":"2026-09-08T16:14:20","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.6100757240469568,0.59824944811889,0.71338606911949],"aabb_xy":[[0.546075727619635,0.5510798242967936],[0.6740757204742788,0.6454190719409865]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.22154731889927487,-1.6716343736179249,0.71338606911949],"aabb_xy":[[-0.24371984587592566,-1.6938100407740482],[-0.19937479192262397,-1.6494587064618016]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.06631521764224235,-2.264763408413879,0.71338606911949],"aabb_xy":[[-0.07818730065374346,-2.3497634081075294],[-0.05444313463074124,-2.1797634087202287]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.2590504595232681,1.4880105129062593,0.71338606911949],"aabb_xy":[[-0.3390504597968751,1.4150609650805426],[-0.17905045924966115,1.560960060731976]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.2244331385080358,0.37783513391129775,0.71338606911949],"aabb_xy":[[-0.24694683033149298,0.3078351333102902],[-0.2019194466845786,0.4478351345123053]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[-0.37887400623633305,-0.5487055910484924,0.71338606911949],"aabb_xy":[[-0.39011906180695083,-0.5599473887725877],[-0.36762895066571516,-0.5374637933243971]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_6","position":[0.6157787099976606,1.5087176512436264,0.71338606911949],"aabb_xy":[[0.5657838770697191,1.458717652348383],[0.6657735429256023,1.55871765013887]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[-0.05578199895043645,0.9507013093386174,0.71338606911949],"aabb_xy":[[-0.12078199750750929,0.9209487759247348],[0.009217999606636385,0.9804538427525]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.5244434183184263,-1.2666669768315388,0.71338606911949],"aabb_xy":[[0.5174019673676787,-1.2736937285693337],[0.5314848692691739,-1.2596402250937444]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.3587166875746634,0.648438170577124,0.71338606911949],"aabb_xy":[[-0.37629498976361025,0.6308636810030191],[-0.34113838538571656,0.666012660151229]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.052751249616002194,1.2911970620950792,0.71338606911949],"aabb_xy":[[-0.07095707327724987,1.2801716615130878],[-0.03454542595475452,1.302222462677071]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.14876156651305694,-0.8024455035262212,0.71338606911949],"aabb_xy":[[-0.17065131410199771,-0.8924455008154704],[-0.12687181892411611,-0.7124455062369721]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.595677532982682,-0.1118665596532451,0.71338606911949],"aabb_xy":[[-0.6456775342665219,-0.1618454140438672],[-0.5456775316988419,-0.061887705262623]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.5238596817385274,-0.7119005926987088,0.71338606911949],"aabb_xy":[[-0.5878596840813288,-0.7568414439428413],[-0.45985967939572575,-0.6669597414545763]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.2741050127330952,0.6923610561502769,0.71338606911949],"aabb_xy":[[0.21910501311134933,0.6373773633628042],[0.329105012354841,0.7473447489377496]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.4488929161594408,0.8275719511029753,0.71338606911949],"aabb_xy":[[0.39889291671924515,0.777604026618659],[0.4988929155996364,0.8775398755872916]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.5829281247498364,0.29344684653729214,0.71338606911949],"aabb_xy":[[0.5278029191202455,0.23344684509600502],[0.638053330379427,0.3534468479785793]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.1453652936468247,-1.0082378843340143,0.71338606911949],"aabb_xy":[[0.14124934353475202,-1.0123534393668596],[0.14948124375889735,-1.0041223293011685]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.3464147037698335,-1.6133339114146161,0.71338606911949],"aabb_xy":[[0.29860853615606486,-1.6783339141216747],[0.3942208713836021,-1.5483339087075567]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.3892070499630953,-0.5284913762987875,0.71338606911949],"aabb_xy":[[0.33920705131717405,-0.5784109199582499],[0.43920704860901644,-0.4785718326393251]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.3320547126736624,1.5040365688172073,0.71338606911949],"aabb_xy":[[0.32671713700765775,1.4790365678880675],[0.3373922883396669,1.529036569746347]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.3855439488742229,-1.3035429023023917,0.71338606911949],"aabb_xy":[[-0.3935379374519262,-1.3115429823974818],[-0.37754996029651944,-1.295542822207301]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[0.440036129145855,-2.354321935097301,0.71338606911949],"aabb_xy":[[0.43362231550267,-2.360731755344969],[0.4464499427890399,-2.347912114849633]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[0.053866647882780505,0.6628431780743109,0.71338606911949],"aabb_xy":[[-0.0011288299378788905,0.6078431766404039],[0.1088621257034399,0.7178431795082177]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.569908822460901,-0.45756917592286195,0.71338606911949],"aabb_xy":[[-0.5771700700313085,-0.4703561861863714],[-0.5626475748904936,-0.44478216565935247]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.03845536420357365,-1.733100799558204,0.71338606911949],"aabb_xy":[[-0.10245536059914673,-1.7970640879769375],[0.025544632191999428,-1.6691375111394704]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.004383751881605447,1.5145019510138416,0.71338606911949],"aabb_xy":[[-0.06838375105137538,1.4677352638948793],[0.059616247288164496,1.5612686381328043]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_27","position":[0.5513897045861662,1.2483048295163743,0.71338606911949],"aabb_xy":[[0.46766747908608375,1.1583048259816784],[0.6351119300862487,1.3383048330510703]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[-0.23922702189249062,1.3372270628499594,0.71338606911949],"aabb_xy":[[-0.31922702296561095,1.327449016512575],[-0.1592270208193703,1.3470051091873438]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_29","position":[0.07287361634243816,-0.7247321699579592,0.71338606911949],"aabb_xy":[[0.008873616068459933,-0.7747982701552472],[0.1368736166164164,-0.6746660697606712]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6371956678512417,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9476.png","name":"9476"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3362.png","name":"3362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8613.png","name":"8613"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1905.png","name":"1905"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":795.7732459651284,"rotation_z_degrees":124.02060658189428,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013830527866261776,-0.0036872230531015716,-0.014565460725005707]},{"name":"camera_2","offset_m":[-0.015428717969112812,-0.005719858980109906,-0.009384870377923727]},{"name":"camera_3","offset_m":[-0.009380467909387137,-0.01229756104816254,0.006737063268521255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005445188015282185,-0.00045951683638766213,0.0006337044099170202],"end_effector_yaw_offset_degrees":0.5881600707225991},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016554870382931783,0.0002862958293330261,-0.0002878478203368639],"end_effector_yaw_offset_degrees":-0.5590129076003385},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002048991820223882,-0.0005035335172069312,-0.0018716464009669812],"end_effector_yaw_offset_degrees":0.28313963608506776},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010875700201501272,-0.0017028446103406697,-0.0004264492264704333],"end_effector_yaw_offset_degrees":0.03188054835747978},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011870085577507764,-0.0019406409075396688,0.00038112247534666244],"end_effector_yaw_offset_degrees":0.9244629992082178},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001770359671981692,-0.000853501683004498,-0.000247919154987179],"end_effector_yaw_offset_degrees":-0.4391857598773452}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003372602463894169,-0.0048222289892007435],"position_m":[0.2268273975361058,0.028877771010799257,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00028866119018659993,-0.0009948711638655527],"position_m":[0.2099886611901866,-0.34909487116386556,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0013170280312341702,0.0007396640482144716],"position_m":[0.2935170280312342,0.29223966404821444,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033147640256691105,-0.0017652890155045332],"position_m":[0.2701852359743309,-0.12426528901550453,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3aa32c1bb180ff06f2ac63755202cb1cee3cbfb5db5c1975590f1ce719cbef65","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6990/tex_ceiling_textures_1905/tex_floor_textures_8613/tex_table_textures_9476/tex_wall_textures_3362","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7334721124019639985,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7334721124019639985,"visual_seed":7334721124019639985,"scene_id":"lab_003","finished_at":"2026-09-08T16:22:13"}
+{"episode_id":"ep_000050","started_at":"2026-09-08T16:22:19","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.6015182016463889,-0.128717797529029,0.71338606911949],"aabb_xy":[[0.5365182034904699,-0.1550140420789412],[0.666518199802308,-0.10242155297911681]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.08336692041690263,-1.7055467957768409,0.71338606911949],"aabb_xy":[[0.03388649920294384,-1.7695467936896927],[0.13284734163086143,-1.641546797863989]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.6716146044846569,0.08551211872850706,0.71338606911949],"aabb_xy":[[0.6615328974060833,0.005512120836392395],[0.6816963115632303,0.1655121166206217]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.40401251731199417,-1.7935563996920925,0.71338606911949],"aabb_xy":[[-0.4112737648824015,-1.8063434099556022],[-0.3967512697415867,-1.7807693894285832]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.6331869230089088,-0.46218485792995123,0.71338606911949],"aabb_xy":[[-0.6487426924191741,-0.4777352911743585],[-0.6176311535986436,-0.4466344246855441]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.4396349386299398,1.121206900706801,0.71338606911949],"aabb_xy":[[-0.49463493825168564,1.0662232079193283],[-0.38463493900819395,1.1761905934942738]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.6489925558235199,-0.9249551964186111,0.71338606911949],"aabb_xy":[[0.598992554872987,-0.9565043434221323],[0.6989925567740526,-0.8934060494150895]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.6236494729531316,-2.4644187892056535,0.71338606911949],"aabb_xy":[[-0.6876451703482281,-2.528418787506362],[-0.559653775558035,-2.400418790904945]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.5131855287951792,-0.3668790682854466,0.71338606911949],"aabb_xy":[[-0.5443324476387622,-0.43687906697225376],[-0.482038609951596,-0.2968790695986394]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.4118264576324444,-2.3890720695285013,0.71338606911949],"aabb_xy":[[0.3775101804578264,-2.439072069501679],[0.4461427348070623,-2.3390720695553235]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[-0.3067257619328184,0.2699870724058746,0.71338606911949],"aabb_xy":[[-0.31442895260689546,0.2622777017071366],[-0.2990225712587414,0.2776964431046126]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[-0.4042612449717921,-1.3048817524830247,0.71338606911949],"aabb_xy":[[-0.46826124664978946,-1.353399143962339],[-0.34026124329379476,-1.2563643610037105]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.46374190206288113,0.7454650890976291,0.71338606911949],"aabb_xy":[[-0.47098566810912645,0.6654650908940267],[-0.4564981360166358,0.8254650873012315]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[-0.1514159790655043,0.30483992866811294,0.71338606911949],"aabb_xy":[[-0.1733057266544451,0.21483993137886384],[-0.1295262314765635,0.39483992595736206]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[0.5727844953945533,0.3676186467311595,0.71338606911949],"aabb_xy":[[0.4827844968000834,0.3513680604177385],[0.6627844939890233,0.38386923304458054]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.12180358240870515,1.7466662608304087,0.71338606911949],"aabb_xy":[[0.11310562011798986,1.7345412865229342],[0.13050154469942044,1.7587912351378836]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.3112722744968899,-2.193742315676562,0.71338606911949],"aabb_xy":[[-0.3912722755700102,-2.203520362013946],[-0.23127227342376955,-2.183964269339177]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[0.5131990238273103,-1.1295553355309031,0.71338606911949],"aabb_xy":[[0.4231990270917001,-1.1827387988481977],[0.6031990205629205,-1.0763718722136086]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.48152374935854914,0.6890603689449963,0.71338606911949],"aabb_xy":[[0.46636087638161217,0.6738949116498777],[0.4966866223354863,0.7042258262401152]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.10115242533596847,-1.0860003528805757,0.71338606911949],"aabb_xy":[[-0.13865242375936881,-1.0991645668484062],[-0.06365242691256812,-1.0728361389127448]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6355778938417456,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5298.png","name":"5298"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5298.png","name":"5298"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4140.png","name":"4140"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8469.png","name":"8469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9703.png","name":"9703"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/374.png","name":"374"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":715.6236175220532,"rotation_z_degrees":225.06492051232226,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017904881853967252,-0.0024000083234659887,0.010163937940037698]},{"name":"camera_2","offset_m":[0.0051463145832933675,0.0010266136356354393,-0.0025428193420191647]},{"name":"camera_3","offset_m":[0.019156383966179632,-0.01870570906315105,0.018494800394396525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00012908456856846186,0.0014827587978993302,-0.001706746537157429],"end_effector_yaw_offset_degrees":-0.4654190444186719},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017416301126784322,-0.001013827897649989,-0.0005835883143254978],"end_effector_yaw_offset_degrees":-0.8196407744682419},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015581951591772517,-0.00012760808108764547,-0.0008813025940112515],"end_effector_yaw_offset_degrees":-0.31529686671257084},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.000911535324291602,-0.00030715665325653204,0.0004954421445824502],"end_effector_yaw_offset_degrees":0.5122175173347729},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013663862244497347,0.0018898222244527626,-0.0006906971632799676],"end_effector_yaw_offset_degrees":-0.7607327416541458},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[3.371851559310366e-05,-0.0018507021870371961,0.0007808692412056514],"end_effector_yaw_offset_degrees":-0.7647694147349109}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016328722210518396,-0.0005815056570353198],"position_m":[0.23183287222105184,0.03311849434296468,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003019015954765778,-0.0030745023951094285],"position_m":[0.20668098404523422,-0.35117450239510944,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002400024621112359,-0.0031695341477820504],"position_m":[0.2946000246211124,0.28833046585221794,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026012680256727195,-0.004197060457009373],"position_m":[0.2708987319743273,-0.12669706045700938,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6835c2471574d3ba4500573449e9f05562788dc5c9266e836540df8c66cb2c8e","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5298/tex_ceiling_textures_374/tex_floor_textures_9703/tex_table_textures_4140/tex_wall_textures_8469","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":127569233021554097,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":127569233021554097,"visual_seed":127569233021554097,"scene_id":"lab_003","finished_at":"2026-09-08T16:30:15"}
+{"episode_id":"ep_000051","started_at":"2026-09-08T16:39:17","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.21619027112773515,-1.086540292803198,0.71338606911949],"aabb_xy":[[0.2010273981507981,-1.1017057500983167],[0.23135314410467225,-1.0713748355080792]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.20809077262005854,-0.6276477235367539,0.71338606911949],"aabb_xy":[[-0.2580907712659797,-0.6775672671962163],[-0.1580907739741373,-0.5777281798772915]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.20519594661838392,-1.1257888453518723,0.71338606911949],"aabb_xy":[[-0.25529341059945754,-1.189788845861684],[-0.1550984826373103,-1.0617888448420605]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.3969839354984392,1.4902811915060323,0.71338606911949],"aabb_xy":[[-0.4609839374107815,1.4343700422480221],[-0.3329839335860968,1.546192340764043]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.4643753613094126,0.1782329467717525,0.71338606911949],"aabb_xy":[[0.4604148775396783,0.1705650821862319],[0.468335845079147,0.1859008113572731]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[0.25402400982047424,-0.7946590550226627,0.71338606911949],"aabb_xy":[[0.21652400863568141,-0.799077277718723],[0.291524011005267,-0.7902408323266019]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.5977056652039112,-0.6529412352960033,0.71338606911949],"aabb_xy":[[0.5867998891163485,-0.7329412316948324],[0.6086114412914739,-0.5729412388971741]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.6317742339527319,-1.2187921061284361,0.71338606911949],"aabb_xy":[[0.571774233091919,-1.2702185361349223],[0.6917742348135446,-1.1673656761219495]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.4799447111476487,1.0386840150738577,0.71338606911949],"aabb_xy":[[-0.5044583352446546,1.0144194217718212],[-0.45543108705064284,1.062948608375894]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[-0.11296310069320192,1.2047083332162867,0.71338606911949],"aabb_xy":[[-0.12556579983027838,1.1921129369914212],[-0.10036040155612545,1.2173037294411522]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.5059002395078906,-2.461758764796941,0.71338606911949],"aabb_xy":[[0.4884002392628413,-2.4792585526365074],[0.52340023975294,-2.4442589769573737]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.23370962418859165,-2.210597723490669,0.71338606911949],"aabb_xy":[[0.21620962505422447,-2.2204773505282565],[0.2512096233229588,-2.200718096453081]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.5001953003939026,0.6892973594125613,0.71338606911949],"aabb_xy":[[0.4819894767326549,0.6782719588305697],[0.5184011240551503,0.700322759994553]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.0031557309041215786,0.9004365861373667,0.71338606911949],"aabb_xy":[[-0.0831495544826798,0.8204365835445252],[0.07683809267443664,0.9804365887302083]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.5009539721422884,0.011075806499722063,0.71338606911949],"aabb_xy":[[0.4838518941839203,-0.0060309990315476885],[0.5180560501006566,0.028182612030991816]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.5533572245923135,-1.4581735880274973,0.71338606911949],"aabb_xy":[[-0.6033572241686483,-1.5081541669796033],[-0.5033572250159789,-1.4081930090753914]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.35777064815390813,-2.1091056645268766,0.71338606911949],"aabb_xy":[[-0.41777064866176106,-2.1659523982127973],[-0.2977706476460552,-2.052258930840955]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.563595001430847,-1.7321194825938726,0.71338606911949],"aabb_xy":[[-0.6435950017044538,-1.8050690304195893],[-0.4835950011572399,-1.6591699347681559]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.5726956118038514,-1.9392800514113797,0.71338606911949],"aabb_xy":[[-0.6426956144404377,-1.9593849164072448],[-0.502695609167265,-1.9191751864155138]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.20253524469310813,1.75465591416163,0.71338606911949],"aabb_xy":[[-0.2665352438628781,1.7078892270426678],[-0.13853524552333818,1.8014226012805927]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[0.06084661387131607,1.4351513915750256,0.71338606911949],"aabb_xy":[[0.005853402534179313,1.3801513912362322],[0.11583982520845285,1.4901513919138194]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.6141689117572491,-1.8545009346322268,0.71338606911949],"aabb_xy":[[0.5966689783232657,-1.872000934552461],[0.6316688451912325,-1.837000934711992]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.003646606095132121,-2.51633278806334,0.71338606911949],"aabb_xy":[[-0.0579441531288607,-2.5803327861723875],[0.06523736531912494,-2.4523327899542937]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[-0.34953271205322506,-1.0263956043376656,0.71338606911949],"aabb_xy":[[-0.394532713519454,-1.0713954611991465],[-0.30453271058699627,-0.9813957474761852]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.05901316226952946,1.6226146759049835,0.71338606911949],"aabb_xy":[[-0.08949741239655962,1.5726146761234874],[-0.0285289121424993,1.6726146756864793]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[-0.30775905753680305,0.678025016318879,0.71338606911949],"aabb_xy":[[-0.34222140493494474,0.6435311339210561],[-0.27329671013866114,0.7125188987167015]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.5552266100060357,0.0882362629835649,0.71338606911949],"aabb_xy":[[0.5419956644713544,0.07500884396156547],[0.568457555540717,0.10146368200556431]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[0.656149253218836,1.66457792068142,0.71338606911949],"aabb_xy":[[0.6460675461402624,1.584577922789305],[0.6662309602974094,1.7445779185735344]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[0.3948181650797511,-1.5833728092872958,0.71338606911949],"aabb_xy":[[0.3745338623563523,-1.6036554344300047],[0.4151024678031498,-1.563090184144587]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[-0.22437008950459136,1.374457067960035,0.71338606911949],"aabb_xy":[[-0.2314103994381284,1.2944570685603638],[-0.21732977957105443,1.4544570673597066]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_30","position":[-0.1717268357424786,0.270275753082049,0.71338606911949],"aabb_xy":[[-0.2217056442527945,0.22027575307633018],[-0.12174802723216271,0.3202757530877678]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_31","position":[-0.59248502327453,0.2549483290186241,0.71338606911949],"aabb_xy":[[-0.6424781353837219,0.2049483283444285],[-0.5424919111653381,0.30494832969281976]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_32","position":[0.31120036900198667,-1.8772799326972067,0.71338606911949],"aabb_xy":[[0.30315700907603144,-1.9622799337925731],[0.3192437289279418,-1.7922799316018403]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_33","position":[-0.09036490901893335,-2.023342956941242,0.71338606911949],"aabb_xy":[[-0.09798917710911162,-2.030976180477786],[-0.08274064092875512,-2.0157097334046985]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_34","position":[-0.5163861011754372,-0.09253603574024893,0.71338606911949],"aabb_xy":[[-0.5663593951786976,-0.14253603629479628],[-0.4664128071721767,-0.04253603518570158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6366589756273268,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8844.png","name":"8844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8844.png","name":"8844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7073.png","name":"7073"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9677.png","name":"9677"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6638.png","name":"6638"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9560.png","name":"9560"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":787.6861068886815,"rotation_z_degrees":125.4830997927768,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016353600483853294,-0.014642545336248213,-0.01748196112192016]},{"name":"camera_2","offset_m":[0.015758774314561737,0.015574954221528391,-0.011488587360382625]},{"name":"camera_3","offset_m":[0.003771655844545342,0.01436678690877861,-0.0044296362989553195]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006281527685614518,0.0013776572164822649,0.0011923058024318552],"end_effector_yaw_offset_degrees":0.5181878765993371},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00017055516640089498,-0.0009207852051247621,-0.0005767305349842721],"end_effector_yaw_offset_degrees":-0.02880455782006064},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001954749408009668,0.0017117814556788158,0.0014073144750798437],"end_effector_yaw_offset_degrees":-0.8472447195300832},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005052117053242636,-0.001800986508779111,-5.872871897792784e-05],"end_effector_yaw_offset_degrees":-0.9978936493214201},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00011916850120675167,-0.0001030407612410732,0.0003817106701751597],"end_effector_yaw_offset_degrees":-0.7884452391842454},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001515076285124099,0.000388964008370941,-0.00031567733032715354],"end_effector_yaw_offset_degrees":0.9427013070251129}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001451702540558405,0.00412343128090576],"position_m":[0.22874829745944159,0.03782343128090576,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011318492844963023,-0.0006288575526890838],"position_m":[0.20958681507155036,-0.3487288575526891,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0007326907174295761,-0.0011178280766821979],"position_m":[0.2914673092825704,0.2903821719233178,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018390125062087833,-0.004943694407151279],"position_m":[0.2753390125062088,-0.12744369440715128,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"5be752b97819cff22c3acfd2983066906683c40bd52e90008aa13302c5466ec4","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0054.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8844/tex_ceiling_textures_9560/tex_floor_textures_6638/tex_table_textures_7073/tex_wall_textures_9677","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4580289983998470032,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4580289983998470032,"visual_seed":4580289983998470032,"scene_id":"lab_003","finished_at":"2026-09-08T16:47:17"}
+{"episode_id":"ep_000052","started_at":"2026-09-08T16:55:54","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.1883508219289538,-0.41099166916777286,0.71338606911949],"aabb_xy":[[-0.19850383748310313,-0.4470612107405131],[-0.1781978063748044,-0.37492212759503246]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.602244140689109,1.465766680289057,0.71338606911949],"aabb_xy":[[0.5382441383463075,1.4208258290449245],[0.6662441430319106,1.5107075315331895]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.6262712998389,-0.41080358453105825,0.71338606911949],"aabb_xy":[[-0.6495531420370312,-0.49580358582828626],[-0.6029894576407685,-0.32580358323383013]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.30424650450093527,0.7616153679169795,0.71338606911949],"aabb_xy":[[0.24024650379746593,0.7155969854440585],[0.3682465052044046,0.8076337503899006]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.3257609647283685,-0.6450991933133761,0.71338606911949],"aabb_xy":[[-0.38976096500234675,-0.6951652935106641],[-0.2617609644543903,-0.5950330931160882]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.6576761141868852,-0.1791413615091546,0.71338606911949],"aabb_xy":[[0.644804210685945,-0.25914136192299075],[0.6705480176878252,-0.09914136109531847]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.5808122931104365,-1.3575219270556191,0.71338606911949],"aabb_xy":[[-0.5895935202576728,-1.3663016743441494],[-0.5720310659632002,-1.3487421797670889]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.2079137250315275,-0.8485594710890865,0.71338606911949],"aabb_xy":[[0.19614553823687003,-0.9335594709943081],[0.21968191182618507,-0.763559471183865]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.4532708819417983,-0.8317169912570475,0.71338606911949],"aabb_xy":[[0.4032777698326065,-0.8817169919312432],[0.5032639940509902,-0.7817169905828519]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.2401134349888705,1.1329464008176902,0.71338606911949],"aabb_xy":[[-0.3051134359459977,1.0809981888839846],[-0.1751134340317433,1.1848946127513957]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.5354924600817571,-0.6487322326818794,0.71338606911949],"aabb_xy":[[-0.5463982361693198,-0.7287322290807086],[-0.5245866839941944,-0.5687322362830503]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.1736612937711599,-0.8825676161205465,0.71338606911949],"aabb_xy":[[-0.18502302842444604,-0.8939360825268344],[-0.16229955911787372,-0.8711991497142583]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.4026317211142467,-0.6843520084794112,0.71338606911949],"aabb_xy":[[0.36763172113775094,-0.6938166245270279],[0.4376317210907426,-0.6748873924317946]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.2638552995263159,-1.6500159475690332,0.71338606911949],"aabb_xy":[[0.17385529719229686,-1.727498302154146],[0.353855301860335,-1.5725335929839206]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.5528273832168016,1.6368516305443532,0.71338606911949],"aabb_xy":[[0.47282738294319454,1.5639020827186365],[0.6328273834904085,1.70980117837007]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.12595724918285234,-1.8585430142099302,0.71338606911949],"aabb_xy":[[0.07095724956110647,-1.9135267069974031],[0.18095724880459815,-1.8035593214224577]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.662643183706539,1.809046209851616,0.71338606911949],"aabb_xy":[[0.654616913075913,1.8002947148742636],[0.670669454337165,1.8177977048289689]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.4578887658067108,0.3982501833046812,0.71338606911949],"aabb_xy":[[0.420388765458483,0.38645878772359754],[0.49538876615493854,0.41004157888576465]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.16004919310092214,1.3646207365738636,0.71338606911949],"aabb_xy":[[-0.1799402329812624,1.351964925289167],[-0.14015815322058192,1.3772765478585607]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.5106953525241689,0.5424153731034904,0.71338606911949],"aabb_xy":[[0.4731953523522968,0.5097146377205831],[0.5481953526960407,0.5751161084863975]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.06766989115606958,1.7592409163481704,0.71338606911949],"aabb_xy":[[0.062332315490065016,1.7342409154190304],[0.07300746682207415,1.78424091727731]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.10272198820842593,-0.9656013545274784,0.71338606911949],"aabb_xy":[[0.0781757725856752,-0.9958502510765155],[0.12726820383117662,-0.9353524579784414]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.5635641444596848,-2.3562295667012103,0.71338606911949],"aabb_xy":[[0.4835641433865645,-2.366007613038595],[0.6435641455328052,-2.3464515203638263]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.08295207476384314,0.9403138809760705,0.71338606911949],"aabb_xy":[[0.07883612465177046,0.9361983259432248],[0.08706802487591579,0.9444294360089159]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.42752715122800067,1.2781239832651305,0.71338606911949],"aabb_xy":[[-0.4504428641130506,1.255219686128707],[-0.4046114383429508,1.301028280401554]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.5507858140703363,-0.0799582361700466,0.71338606911949],"aabb_xy":[[-0.5659579833519697,-0.09512709309824996],[-0.535613644788703,-0.06478937924184325]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[-0.38740966777443026,0.381150142903226,0.71338606911949],"aabb_xy":[[-0.4374096690582702,0.33117128851260386],[-0.3374096664905903,0.43112899729384807]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_27","position":[0.08575469294777427,-1.9959962002531373,0.71338606911949],"aabb_xy":[[0.07944259341143585,-2.001763139506356],[0.09206679248411272,-1.9902292609999184]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.3833553951427382,-2.5066327995489663,0.71338606911949],"aabb_xy":[[-0.3941283690641059,-2.5416327977680053],[-0.37258242122137036,-2.4716328013299274]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[0.5725867692211966,-2.0839514061501845,0.71338606911949],"aabb_xy":[[0.48258676554427815,-2.145383812727288],[0.6625867728981145,-2.0225189995730792]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[0.3103984181407078,1.684632091535612,0.71338606911949],"aabb_xy":[[0.2527679492534369,1.6246320926089013],[0.3680288870279786,1.7446320904623225]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_31","position":[0.5048724348662117,1.3104831349567267,0.71338606911949],"aabb_xy":[[0.4673724347606187,1.3036609731037456],[0.5423724349718045,1.3173052968097079]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_32","position":[-0.352048475119763,0.09236737787512306,0.71338606911949],"aabb_xy":[[-0.38201603202958867,0.06236737757723733],[-0.32208091820993734,0.12236737817300881]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_33","position":[0.5737544488394566,-1.5269873321375294,0.71338606911949],"aabb_xy":[[0.564460830602306,-1.564487330625663],[0.5830480670766072,-1.4894873336493952]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6354294943670648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5806.png","name":"5806"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5806.png","name":"5806"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/517.png","name":"517"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9622.png","name":"9622"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9808.png","name":"9808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5526.png","name":"5526"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":703.6318519518461,"rotation_z_degrees":218.24623098643426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012206112058328868,-0.0019948494659391934,0.017771906460640068]},{"name":"camera_2","offset_m":[0.00973665572126435,0.0031485424084493167,-0.010177802486909951]},{"name":"camera_3","offset_m":[-0.014967774246444483,0.006055327749017889,0.0011784024211475633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013780046506442598,0.0007592307443466677,0.0019254919155962426],"end_effector_yaw_offset_degrees":-0.15265821551054137},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018505666489493566,-0.0011572697566112665,0.0001615472476680117],"end_effector_yaw_offset_degrees":0.5565989446029522},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016635158924423665,0.00023546777328553852,-0.0003333989742780115],"end_effector_yaw_offset_degrees":-0.4005966052416594},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012476067410747264,0.0003756004465963977,0.00047263801961988346],"end_effector_yaw_offset_degrees":0.06217668075519689},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016107422564013163,-4.897268046508965e-05,0.0013719680953975487],"end_effector_yaw_offset_degrees":-0.3050406285603242},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001196347579003707,-0.0017721532171744098,-0.0019036538051323357],"end_effector_yaw_offset_degrees":-0.4435835276830804}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-9.26933338315358e-05,0.002479606284304373],"position_m":[0.23010730666616847,0.036179606284304375,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004632786447604861,-0.004473042270421515],"position_m":[0.20506721355239513,-0.3525730422704215,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0025110003868463685,-0.000171806657359057],"position_m":[0.2947110003868464,0.29132819334264093,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012437008060774955,0.004498003909361065],"position_m":[0.2722562991939225,-0.11800199609063894,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f2767183353039737ad30afb62c19cdb959842a55aa9986df033fedb0b57f98c","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5806/tex_ceiling_textures_5526/tex_floor_textures_9808/tex_table_textures_517/tex_wall_textures_9622","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4917603320674650606,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4917603320674650606,"visual_seed":4917603320674650606,"scene_id":"lab_003","finished_at":"2026-09-08T17:04:24"}
+{"episode_id":"ep_000053","started_at":"2026-09-08T17:04:30","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[-0.13119141855244854,0.5938344610798238,0.71338606911949],"aabb_xy":[[-0.21119141962556887,0.5840564147424394],[-0.051191417479328205,0.6036125074172083]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.5986616854393552,1.4539616142999825,0.71338606911949],"aabb_xy":[[-0.6626616858168889,1.40421634744917],[-0.5346616850618217,1.5037068811507945]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.23292410929744894,-0.23997046190359228,0.71338606911949],"aabb_xy":[[-0.2447961923089501,-0.32497046159724263],[-0.2210520262859479,-0.15497046220994193]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.17998666184501422,-1.982290825732455,0.71338606911949],"aabb_xy":[[-0.19013967739916351,-2.018360367305195],[-0.16983364629086478,-1.9462212841597142]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.30868465365873476,1.2481275426460035,0.71338606911949],"aabb_xy":[[-0.39868465015960647,1.202215900227545],[-0.21868465715786298,1.2940391850644615]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.010078290949573687,0.8890643894247652,0.71338606911949],"aabb_xy":[[-0.017766745831033437,0.8582798906864536],[0.03792332773018081,0.919848888163077]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.4013362793607193,1.5110053826690915,0.71338606911949],"aabb_xy":[[-0.42633627863268164,1.494660019072929],[-0.3763362800887571,1.5273507462652536]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[0.14676406956620336,1.5959811291470127,0.71338606911949],"aabb_xy":[[0.14262821323350316,1.5584811297026557],[0.15089992589890355,1.6334811285913697]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[-0.24859466583336598,-1.0844096794611189,0.71338606911949],"aabb_xy":[[-0.2835946641440614,-1.0921246943846645],[-0.21359466752267053,-1.0766946645375732]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.6687815599490452,0.96385146720915,0.71338606911949],"aabb_xy":[[0.6610783692749682,0.9561420965104118],[0.6764847506231222,0.9715608379078878]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[0.5421953649516373,-1.744046818773013,0.71338606911949],"aabb_xy":[[0.478195363039295,-1.7999579680310236],[0.6061953668639797,-1.6881356695150027]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[0.6733530474245073,-1.3012048523918383,0.71338606911949],"aabb_xy":[[0.6530687447011084,-1.3214874775345469],[0.693637350147906,-1.2809222272491292]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.30647216387724374,-0.5789458685894222,0.71338606911949],"aabb_xy":[[-0.37047216622004525,-0.6238867198335546],[-0.24247216153444215,-0.5340050173452896]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.1999473041741291,-0.6754512508022867,0.71338606911949],"aabb_xy":[[0.18244737074014572,-0.6929512507225212],[0.21744723760811246,-0.6579512508820521]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.489932841557831,-0.08289518381152572,0.71338606911949],"aabb_xy":[[-0.5312373846215669,-0.1468951833796428],[-0.4486282984940949,-0.018895184243408622]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.11996119043936215,-0.6648310919700688,0.71338606911949],"aabb_xy":[[0.10007015055902194,-0.6774869032547658],[0.13985223031970243,-0.6521752806853721]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.34463983191817543,0.9100640802533726,0.71338606911949],"aabb_xy":[[-0.35114146842618005,0.9002962582270629],[-0.3381381954101708,0.9198319022796825]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.46024796689719927,1.691475151338088,0.71338606911949],"aabb_xy":[[0.446801440263156,1.6780052996849966],[0.47369449353124266,1.7049450029911792]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.39149868625794304,1.1687098825380628,0.71338606911949],"aabb_xy":[[0.3064986875658684,1.136724019143184],[0.4764986849500177,1.2006957459329417]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[0.5943720217595991,-0.5433498293149697,0.71338606911949],"aabb_xy":[[0.5443720207404639,-0.5798160450527976],[0.6443720227787344,-0.5068836135771417]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[-0.5227637373512299,-1.734277967189592,0.71338606911949],"aabb_xy":[[-0.5727637383017626,-1.765827114193113],[-0.472763736400697,-1.7027288201860702]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[0.14950498294113967,-0.7601246811077307,0.71338606911949],"aabb_xy":[[0.12450498377550656,-0.7670769268130871],[0.1745049821067728,-0.753172435402374]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[-0.05427817117590494,-1.3595209768724295,0.71338606911949],"aabb_xy":[[-0.058238654945639325,-1.36718884145795],[-0.050317687406170576,-1.3518531122869089]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.6495567932817321,-1.4708799780449797,0.71338606911949],"aabb_xy":[[0.6313509696204845,-1.4819053786269716],[0.6677626169429799,-1.4598545774629883]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[0.5288321890944832,-0.9276729027668891,0.71338606911949],"aabb_xy":[[0.520718534421106,-0.935778719220918],[0.5369458437678603,-0.9195670863128599]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6367133342801824,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2000.png","name":"2000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2000.png","name":"2000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5130.png","name":"5130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/515.png","name":"515"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7301.png","name":"7301"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3649.png","name":"3649"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":507.2191837841533,"rotation_z_degrees":181.03685379964105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002194427175828007,-0.0024608859147854205,0.019209825879704556]},{"name":"camera_2","offset_m":[-0.012492237105529075,-0.010476895795295609,-0.007743192883893508]},{"name":"camera_3","offset_m":[0.0030930079765443437,-0.019723015055465063,-0.017387602490362884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001267301049264153,-0.0011021525663273447,0.0007253955459067783],"end_effector_yaw_offset_degrees":0.8384307951465053},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011384412446151981,0.000961021373300442,-0.0005609045155924712],"end_effector_yaw_offset_degrees":0.29901645436704527},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008494874882222082,0.001187066717421473,-0.0009900714255943793],"end_effector_yaw_offset_degrees":0.0925874288943378},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005745672873933838,0.0016193088856027633,0.0008394503152978012],"end_effector_yaw_offset_degrees":-0.27078589701048705},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[1.7799454136115198e-05,0.0007001152565881733,0.0008999518956449779],"end_effector_yaw_offset_degrees":-0.8120541339939245},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012916602083060794,-0.001020842008375023,0.00023745399149471174],"end_effector_yaw_offset_degrees":0.30409018287433875}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024688548278275456,-0.004688620056249556],"position_m":[0.22773114517217244,0.029011379943750443,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002614760521944044,-0.0007204136614737356],"position_m":[0.20708523947805596,-0.34882041366147376,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0021407167387854434,0.003327768996583929],"position_m":[0.2943407167387855,0.2948277689965839,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012536193335698862,-0.0012571809576527103],"position_m":[0.2747536193335699,-0.1237571809576527,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"31d016ad84c6f4f81423eae52ae821b7682a1b1bcc05e79c9ef0cd4414075a40","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2000/tex_ceiling_textures_3649/tex_floor_textures_7301/tex_table_textures_5130/tex_wall_textures_515","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":6892487603942167493,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":6892487603942167493,"visual_seed":6892487603942167493,"scene_id":"lab_003","finished_at":"2026-09-08T17:12:27"}
+{"episode_id":"ep_000054","started_at":"2026-09-08T17:12:33","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.42094711572004595,-1.150051702157661,0.71338606911949],"aabb_xy":[[0.35594711756412684,-1.1763479467075733],[0.48594711387596495,-1.1237554576077489]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.043443472268285266,-0.8653281387182119,0.71338606911949],"aabb_xy":[[0.022165464124813017,-0.9303281410442849],[0.06472148041175751,-0.8003281363921387]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.5379223985646657,-1.5291353777093004,0.71338606911949],"aabb_xy":[[-0.5764680913898668,-1.567681148765489],[-0.4993767057394647,-1.4905896066531115]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[-0.49509385643259196,1.6491980467677663,0.71338606911949],"aabb_xy":[[-0.5450938550785132,1.5992785031083039],[-0.44509385778667077,1.6991175904272287]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.18264817655126941,-1.0742227541232476,0.71338606911949],"aabb_xy":[[0.16258976493802912,-1.094287841032405],[0.2027065881645097,-1.0541576672140902]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.07932141866883491,-1.9779938107135489,0.71338606911949],"aabb_xy":[[-0.11046833751241801,-2.0479938094003556],[-0.04817449982525178,-1.9079938120267415]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.621668179386786,-1.052119665160261,0.71338606911949],"aabb_xy":[[0.5516681772553564,-1.0748816307859563],[0.6916681815182155,-1.029357699534565]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.46463093469040095,0.28342367013788516,0.71338606911949],"aabb_xy":[[-0.4747839502445502,0.24735412856514472],[-0.45447791913625146,0.3194932117106254]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.054441384485119704,-2.2562125101259487,0.71338606911949],"aabb_xy":[[-0.10442019299543558,-2.3062125101316675],[-0.0044625759748038035,-2.20621251012023]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.41557867313114805,0.768791613363911,0.71338606911949],"aabb_xy":[[-0.42438072844012076,0.7609802872089818],[-0.40677661782217533,0.77660293951884]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[-0.3228550779492372,1.3621968508740516,0.71338606911949],"aabb_xy":[[-0.3601863544744797,1.3275437960791994],[-0.2855238014239945,1.3968499056689039]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.4771773010186302,-0.8627468737812467,0.71338606911949],"aabb_xy":[[0.47306135090655754,-0.8668624288140921],[0.48129325113070287,-0.858631318748401]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.41807932093575206,-2.2869077466151766,0.71338606911949],"aabb_xy":[[-0.4679620178134483,-2.3369077458614513],[-0.36819662405805587,-2.236907747368902]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.14063429042615072,0.6783447092431456,0.71338606911949],"aabb_xy":[[0.1280315912890743,0.6657493130182801],[0.1532369895632272,0.6909401054680111]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.32790812144008463,0.353015721044426,0.71338606911949],"aabb_xy":[[-0.3635372773400443,0.3173830542875731],[-0.29227896554012484,0.38864838780127897]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.4474911321277903,-0.6278970891588727,0.71338606911949],"aabb_xy":[[-0.537491128628662,-0.6738087315773308],[-0.3574911356269185,-0.5819854467404143]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.18288912087075027,1.543268760120466,0.71338606911949],"aabb_xy":[[0.1721161469493825,1.5082687619014272],[0.19366209479211804,1.5782687583395052]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.6274165973449726,-0.172065965744443,0.71338606911949],"aabb_xy":[[-0.6890073565689655,-0.23606596385348988],[-0.5658258381209799,-0.10806596763539611]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.6449697830227696,-1.3558143816049857,0.71338606911949],"aabb_xy":[[0.6027853688619389,-1.4198143818821969],[0.6871541971836004,-1.2918143813277745]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.4407678248965528,-2.4555231330864835,0.71338606911949],"aabb_xy":[[-0.45834612708549965,-2.4730976226605885],[-0.42318952270760596,-2.4379486435123785]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.07285416776227838,1.104151727412411,0.71338606911949],"aabb_xy":[[0.04420483540186214,1.075506168135335],[0.10150350012269459,1.1327972866894866]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.6037385295802304,-1.9072902888720182,0.71338606911949],"aabb_xy":[[-0.6637385304410431,-1.9587167188785044],[-0.5437385287194175,-1.8558638588655316]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.5352178205002796,1.4675425138534242,0.71338606911949],"aabb_xy":[[-0.5528934510888778,1.4498622975740212],[-0.5175421899116811,1.4852227301328267]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[-0.5694337133465989,-0.009029091743315565,0.71338606911949],"aabb_xy":[[-0.6594337119410687,-0.025279678056736588],[-0.4794337147521288,0.007221494570105456]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.11507365690160398,-1.7728284155072442,0.71338606911949],"aabb_xy":[[0.0450736552993245,-1.7862612087089016],[0.18507365850388346,-1.7593956223055864]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[0.05402657836343072,0.6903526664476516,0.71338606911949],"aabb_xy":[[0.049948420456380975,0.6862716861993883],[0.058104736270480455,0.6944336466959149]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6419337393146527,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3058.png","name":"3058"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3058.png","name":"3058"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4181.png","name":"4181"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9245.png","name":"9245"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":671.0999913810016,"rotation_z_degrees":129.9203144616383,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015897786968874943,0.004634631705781569,-0.011374475130332922]},{"name":"camera_2","offset_m":[-0.00080305341878718,0.01458562179909471,0.003207332292412844]},{"name":"camera_3","offset_m":[-0.007835671891707903,-0.000720499597339011,-0.018280165314220935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016406525785068083,0.0008952657513845354,0.0019819871419182664],"end_effector_yaw_offset_degrees":-0.8981385770716441},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011389567470021381,8.472562749118435e-05,-0.000903577539382705],"end_effector_yaw_offset_degrees":0.06849061010678681},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001219566523734499,0.0011663438028790569,0.0016102383654617394],"end_effector_yaw_offset_degrees":-0.5127900489000601},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0006799744758591427,-0.0015114003859386291,0.0005546076186062027],"end_effector_yaw_offset_degrees":-0.6318558089384074},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0003466851984324584,-0.0012021826598349783,0.0016356494849578095],"end_effector_yaw_offset_degrees":-0.3467907986130716},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002891451780175115,6.384290276516833e-05,0.0017082064793545113],"end_effector_yaw_offset_degrees":-0.25620662434440633}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005832586688650941,-0.0007313839460630356],"position_m":[0.22961674133113488,0.032968616053936965,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00434041114938111,-0.0034562323644506654],"position_m":[0.2140404111493811,-0.35155623236445066,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002052767827482871,-0.001128085485117615],"position_m":[0.2942527678274829,0.29037191451488237,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00011157292000289146,-0.004181418978914429],"position_m":[0.27361157292000293,-0.12668141897891444,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"061e0c5b4433cf9d49654a7b6d34e0bc039063f80588756d06d131ab5ddd6cea","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0058.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3058/tex_ceiling_textures_9245/tex_floor_textures_4181/tex_table_textures_6896/tex_wall_textures_7239","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":2852337294920699634,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":2852337294920699634,"visual_seed":2852337294920699634,"scene_id":"lab_003","finished_at":"2026-09-08T17:20:18"}
+{"episode_id":"ep_000055","started_at":"2026-09-08T17:20:24","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.40496133225109615,1.1543393664964348,0.71338606911949],"aabb_xy":[[-0.4689613286466692,1.090376078077701],[-0.340961335855523,1.218302654915168]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.49648520968283916,-0.013491084601939818,0.71338606911949],"aabb_xy":[[0.4470047884688804,-0.07749108251479164],[0.545965630896798,0.05050891331091201]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[0.3233113927176279,-1.728455880313537,0.71338606911949],"aabb_xy":[[0.31070869358055136,-1.7410512765384027],[0.3359140918547043,-1.7158604840886718]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[0.7104275495633974,-0.03205437205714956,0.71338606911949],"aabb_xy":[[0.7023912148621125,-0.04009249136156634],[0.7184638842646822,-0.02401625275273278]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.2716151063077621,-1.7983923193269726,0.71338606911949],"aabb_xy":[[0.26037005073714425,-1.8096341170510677],[0.2828601618783799,-1.7871505216028771]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.6465520895102559,-2.5204768590403956,0.71338606911949],"aabb_xy":[[0.6115520911995604,-2.5281918739639413],[0.6815520878209513,-2.51276184411685]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.060335413321312314,-1.0744846889920774,0.71338606911949],"aabb_xy":[[-0.124335410433418,-1.1235170587864882],[0.0036645837907933743,-1.025452319197667]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.2902762850567343,1.0818426742917437,0.71338606911949],"aabb_xy":[[0.22627628478275608,1.0317765740944558],[0.35427628533071254,1.1319087744890317]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[0.49286285210932745,-2.3424996316715023,0.71338606911949],"aabb_xy":[[0.47999094860838726,-2.4224996320853385],[0.5057347556102675,-2.262499631257666]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.1229513640851797,1.5290802696907249,0.71338606911949],"aabb_xy":[[-0.13019513013142503,1.4490802714871225],[-0.11570759803893436,1.6090802678943272]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[0.2858852203927691,-1.2225409977039892,0.71338606911949],"aabb_xy":[[0.24733952756756805,-1.2610867687601781],[0.32443091321797013,-1.1839952266478007]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.1699743781094103,-1.4159293863153906,0.71338606911949],"aabb_xy":[[0.1349743798392904,-1.4230035140103787],[0.2049743763795302,-1.4088552586204024]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.3113813688075344,-2.4079674643029483,0.71338606911949],"aabb_xy":[[0.2763813696775787,-2.4137126853786124],[0.34638136793749,-2.402222243227284]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.05118421737540635,0.23562400438279552,0.71338606911949],"aabb_xy":[[-0.07618421664736863,0.21927864078663317],[-0.02618421810344407,0.25196936797895786]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.22939554865445844,0.15084471204117733,0.71338606911949],"aabb_xy":[[-0.26369245967219906,0.11654782583123593],[-0.1950986376367178,0.18514159825111867]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.49821529007237375,-0.5662971866883191,0.71338606911949],"aabb_xy":[[0.44833259319467755,-0.6162971859345939],[0.54809798695007,-0.5162971874420444]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.589050088528994,1.7460892389441,0.71338606911949],"aabb_xy":[[-0.653050090749401,1.7017161548188118],[-0.525050086308587,1.7904623230693884]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[-0.5415194193649655,0.9454220400313011,0.71338606911949],"aabb_xy":[[-0.566519418916704,0.9352795561661664],[-0.516519419813227,0.9555645238964359]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[-0.31188122560482584,0.8593167835556712,0.71338606911949],"aabb_xy":[[-0.37688122660532636,0.8085304184009963],[-0.24688122460432532,0.9101031487103461]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.18517422877978906,-1.9233950861634597,0.71338606911949],"aabb_xy":[[0.14240752190036887,-1.9873950895852621],[0.22794093565920925,-1.8593950827416572]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_20","position":[-0.4866238217344252,0.6225604440055501,0.71338606911949],"aabb_xy":[[-0.546623821580992,0.5657418218125113],[-0.42662382188785847,0.6793790661985887]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6367766719371505,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9104.png","name":"9104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9104.png","name":"9104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4507.png","name":"4507"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9836.png","name":"9836"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8634.png","name":"8634"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6982.png","name":"6982"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":780.0344786672715,"rotation_z_degrees":117.08832318216754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003113014668778488,-0.01950353048936999,0.004020075251223193]},{"name":"camera_2","offset_m":[-0.01806978807903405,0.015177351617122931,-0.01193423824619003]},{"name":"camera_3","offset_m":[0.006709068826065093,0.01118687462788905,0.01691106727880026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014238785620745863,-0.0016391989480568148,-0.001357368249339797],"end_effector_yaw_offset_degrees":0.7239806837213512},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002468071473767548,0.00013245560159769144,-0.0017219052809404514],"end_effector_yaw_offset_degrees":0.5298242782212681},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008559182542945351,0.0017349528162121596,0.0006366473365356554],"end_effector_yaw_offset_degrees":-0.9620202589163094},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0003759635395432846,-0.0007854875508901819,0.0014939736310039756],"end_effector_yaw_offset_degrees":0.24471726612919298},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017268208739057186,0.0007693015162469332,-0.00035276070636809697],"end_effector_yaw_offset_degrees":-0.36623158950311363},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0001781990744660544,0.0016915113257849842,0.00037625246814801784],"end_effector_yaw_offset_degrees":0.3623530727387454}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015838937485677653,0.002201929700491094],"position_m":[0.22861610625143222,0.035901929700491095,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003555550718409065,0.004821677263179285],"position_m":[0.21325555071840907,-0.34327832273682074,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0025816112596090067,-0.001627509869067819],"position_m":[0.28961838874039103,0.28987249013093214,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004569316232872445,0.004661831152844859],"position_m":[0.27806931623287245,-0.11783816884715514,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c10b9b34ef2c7555bea8ea63eea15e03d819fbce400c723b46245c1bd56cb7a1","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9104/tex_ceiling_textures_6982/tex_floor_textures_8634/tex_table_textures_4507/tex_wall_textures_9836","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8268263830063948790,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8268263830063948790,"visual_seed":8268263830063948790,"scene_id":"lab_003","finished_at":"2026-09-08T17:28:52"}
+{"episode_id":"ep_000056","started_at":"2026-09-08T17:28:59","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.612793698282571,0.3363637772541064,0.71338606911949],"aabb_xy":[[-0.6167541820523054,0.3286959126685858],[-0.6088332145128367,0.344031641839627]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.013817604739995937,-1.3637898307582792,0.71338606911949],"aabb_xy":[[-0.03131753817397931,-1.3812898306785135],[0.0036823286939874373,-1.3462898308380444]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.5043089673983381,-0.6993186380144578,0.71338606911949],"aabb_xy":[[0.4698466200001961,-0.7338125204122803],[0.5387713147964797,-0.6648247556166349]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.5554061921180967,-1.2991765584744683,0.71338606911949],"aabb_xy":[[-0.6154061919646634,-1.355995180667507],[-0.4954061922715298,-1.2423579362814297]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.30675498444151594,1.3483227856063698,0.71338606911949],"aabb_xy":[[-0.3223107538517812,1.3327723523619628],[-0.2911992150312507,1.3638732188507772]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.46660390989946665,-1.5304230883180658,0.71338606911949],"aabb_xy":[[-0.5306039101734448,-1.5804891885153538],[-0.40260390962548837,-1.4803569881207779]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.1660592177969793,0.6608891973956896,0.71338606911949],"aabb_xy":[[-0.24605921577776432,0.6532876564338376],[-0.08605921981619423,0.6684907383575415]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.003922984262916374,-1.6188265487238047,0.71338606911949],"aabb_xy":[[-0.0014095303916966118,-1.6241508769690405],[0.009255498917529359,-1.6135022204785694]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.6223090900862853,-0.03580324539456914,0.71338606911949],"aabb_xy":[[0.5673090904645396,-0.09078693818204187],[0.6773090897080313,0.01918044739290358]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.5325032333798738,-0.452237803943488,0.71338606911949],"aabb_xy":[[-0.5395435433134109,-0.5322378033431595],[-0.5254629234463369,-0.37223780454381666]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[0.40968854576118985,0.8747118487676211,0.71338606911949],"aabb_xy":[[0.3446885446552465,0.8497464756994927],[0.4746885468671331,0.8996772218357493]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.39449241588579237,1.0577099629545463,0.71338606911949],"aabb_xy":[[-0.4494856272229292,1.0027099626157527],[-0.3394992045486556,1.11270996329334]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.20471206690479393,-0.6903129568259669,0.71338606911949],"aabb_xy":[[0.15862697565006242,-0.754312954078522],[0.25079715815952536,-0.6263129595734117]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.5381663356884502,0.7995700372190679,0.71338606911949],"aabb_xy":[[-0.58816633697229,0.7495911828284457],[-0.48816633440461016,0.8495488916096899]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[-0.6330556041345593,1.7570128707533033,0.71338606911949],"aabb_xy":[[-0.6830286696670749,1.7070128709407708],[-0.583082538602044,1.8070128705658366]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.24946223388042332,-2.3738875603516885,0.71338606911949],"aabb_xy":[[0.19948893987716285,-2.423887560906236],[0.29943552788368377,-2.323887559797141]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.5729200803747487,1.4059823163970573,0.71338606911949],"aabb_xy":[[0.48292007669783044,1.3445499098199527],[0.6629200840516668,1.4674147229741614]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.2467576583080311,-1.2666981991533892,0.71338606911949],"aabb_xy":[[-0.2692576585515465,-1.2789028338131612],[-0.22425765806451572,-1.2544935644936173]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.28802766401304786,-0.6662852891750395,0.71338606911949],"aabb_xy":[[-0.35202766606277985,-0.7063797722643473],[-0.22402766196331586,-0.6261908060857314]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.19086754007761242,0.5377839143897871,0.71338606911949],"aabb_xy":[[0.16087587734374204,0.5077839150529866],[0.2208592028114827,0.5677839137265877]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.34385605428999844,-0.411065203469664,0.71338606911949],"aabb_xy":[[0.32135691856377147,-0.43356520424792705],[0.3663551900162254,-0.3885652026914011]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.11887395554327906,-1.6844120308602009,0.71338606911949],"aabb_xy":[[-0.17387395374502387,-1.7249339974866384],[-0.06387395734153421,-1.6438900642337633]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6358334084852856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4642.png","name":"4642"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4642.png","name":"4642"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1239.png","name":"1239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7032.png","name":"7032"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":786.7027183071566,"rotation_z_degrees":176.73599240692994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018120690493224127,0.002598948432822993,0.0005388427548672844]},{"name":"camera_2","offset_m":[0.012416124552751328,-0.007840883812654567,0.019665716845271904]},{"name":"camera_3","offset_m":[0.016404780437508103,-0.0003470248278872462,-0.01740815513444763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011937878399213581,0.00030582863398818027,-0.0008683003129457702],"end_effector_yaw_offset_degrees":0.8212979708541033},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001023098138285921,-0.001347123096851039,-0.0010998089290223888],"end_effector_yaw_offset_degrees":-0.019417069128280673},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018859534933800158,0.0016333351308548166,-0.0018011765181104229],"end_effector_yaw_offset_degrees":-0.43507525348836684},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018124312940699426,0.001496532668376219,-0.000408273220392842],"end_effector_yaw_offset_degrees":0.45499603342983774},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001549843812819232,-0.0005208694274203701,-0.0013615651302034625],"end_effector_yaw_offset_degrees":-0.39396898766263067},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006281686300854119,-6.416128467560348e-05,-0.0007854714542417246],"end_effector_yaw_offset_degrees":-0.5376997067294702}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003216160531852276,0.0018901346149602875],"position_m":[0.23341616053185227,0.035590134614960287,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004970521406288779,0.004878395947370316],"position_m":[0.2047294785937112,-0.3432216040526297,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004355272402522374,-0.0028839323565607077],"position_m":[0.2965552724025224,0.2886160676434393,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007187017889011662,0.0034770446068208413],"position_m":[0.2742187017889012,-0.11902295539317916,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1a12d67d92c618e8e60308ea8784054ce434ecad4364c2f37cce626f53038c30","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4642/tex_ceiling_textures_7517/tex_floor_textures_7032/tex_table_textures_649/tex_wall_textures_1239","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":2802663842921120429,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":2802663842921120429,"visual_seed":2802663842921120429,"scene_id":"lab_003","finished_at":"2026-09-08T17:36:55"}
+{"episode_id":"ep_000057","started_at":"2026-09-08T17:37:02","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.2503089935028103,0.5314541955714978,0.71338606911949],"aabb_xy":[[-0.2611494717293251,0.514267914280849],[-0.2394685152762953,0.5486404768621466]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.353933031610947,1.1905008231106198,0.71338606911949],"aabb_xy":[[-0.433933028625195,1.1703662714372087],[-0.27393303459669904,1.2106353747840313]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.5425363642831984,0.18016560268088222,0.71338606911949],"aabb_xy":[[-0.6225363653563187,0.17038755634349778],[-0.46253636321007807,0.18994364901826666]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.4177981511019148,1.5089975122619577,0.71338606911949],"aabb_xy":[[-0.4512383262979343,1.4755538864310274],[-0.3843579759058951,1.5424411380928875]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[0.2773526195239522,-1.8099494796320774,0.71338606911949],"aabb_xy":[[0.2133526203541822,-1.85671616675104],[0.3413526186937221,-1.763182792513115]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.09559381827319458,0.33629008102083446,0.71338606911949],"aabb_xy":[[-0.13309381809022813,0.3316518697096926],[-0.058093818456161,0.3409282923319763]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.19669169111939117,-2.438799784105936,0.71338606911949],"aabb_xy":[[-0.21426999330833799,-2.456374273680041],[-0.1791133889304443,-2.421225294531831]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.4238996863628306,0.36288914220173796,0.71338606911949],"aabb_xy":[[0.3598996846848332,0.3143717507224237],[0.4878996880408279,0.4114065336810521]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.19606873204512032,-0.2870003330501558,0.71338606911949],"aabb_xy":[[-0.2600687284724422,-0.33416995687225226],[-0.13206873561779842,-0.23983070922805938]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.4001754631704526,0.6931939163288585,0.71338606911949],"aabb_xy":[[-0.43517546236327087,0.6822268703311957],[-0.36517546397763434,0.7041609623265209]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.12583762106033003,-2.1650525395311577,0.71338606911949],"aabb_xy":[[0.06583762121376324,-2.221871161724196],[0.18583762090689682,-2.1082339173381186]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.6257930553381015,-0.9450331450912335,0.71338606911949],"aabb_xy":[[0.6032930553279531,-0.9591293647308367],[0.6482930553482497,-0.9309369254516301]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.360091165900559,-1.4406144647125885,0.71338606911949],"aabb_xy":[[-0.4500911682345781,-1.5180968192977013],[-0.27009116356654,-1.363132110127476]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.13841307602256658,-0.7848728876688194,0.71338606911949],"aabb_xy":[[0.09060690840879791,-0.8498728903758782],[0.1862192436363352,-0.7198728849617604]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.3809151388667185,-1.0146387764557263,0.71338606911949],"aabb_xy":[[-0.44491514027470913,-1.0664277279796508],[-0.3169151374587278,-0.9628498249318015]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.6601491664037036,-1.6256213760451375,0.71338606911949],"aabb_xy":[[0.6426491672693363,-1.6355010030827253],[0.6776491655380706,-1.6157417490075496]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[0.5250537456608886,-2.4299665210649493,0.71338606911949],"aabb_xy":[[0.5180134357273517,-2.509966520464621],[0.5320940555944257,-2.3499665216652783]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.5778318826702749,-1.8167045947360838,0.71338606911949],"aabb_xy":[[0.49783188401338885,-1.8312094536603463],[0.6578318813271609,-1.802199735811821]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.4051629072493342,-1.1961190978220342,0.71338606911949],"aabb_xy":[[-0.4228385378379325,-1.213799314101437],[-0.38748727666073585,-1.1784388815426314]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.6164921938566175,-0.6161038886543986,0.71338606911949],"aabb_xy":[[0.5364921966970422,-0.6276514896122156],[0.6964921910161928,-0.6045562876965815]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.2250710477870096,-1.3337956181927166,0.71338606911949],"aabb_xy":[[0.16107104751303136,-1.3838617183900046],[0.2890710480609878,-1.2837295179954287]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[0.07700662530360414,0.9759363606604805,0.71338606911949],"aabb_xy":[[0.06976285925735883,0.895936362456878],[0.08425039134984948,1.0559363588640829]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[0.24966126139884026,1.255837783486344,0.71338606911949],"aabb_xy":[[0.2140321054988805,1.220205116729491],[0.2852904172988,1.2914704502431968]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[-0.5563005246321704,1.605411787841296,0.71338606911949],"aabb_xy":[[-0.6163005254929831,1.5539853578348095],[-0.4963005237713575,1.6568382178477823]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.2875333813547827,0.5019233975494548,0.71338606911949],"aabb_xy":[[0.26973987441986624,0.48412365195365714],[0.3053268882896991,0.5197231431452525]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6347742791240301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5481.png","name":"5481"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5481.png","name":"5481"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1193.png","name":"1193"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4556.png","name":"4556"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5751.png","name":"5751"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8444.png","name":"8444"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":701.3387068072985,"rotation_z_degrees":79.17666726709014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012529361208506975,-0.0122932009167795,-0.01582636332866767]},{"name":"camera_2","offset_m":[0.01297470076227945,-0.01311982648634764,-0.008730914438404304]},{"name":"camera_3","offset_m":[0.012040909525009986,-0.019061362263736777,0.0051023602621421485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013731445334959167,-0.0008468130138109436,0.0013976538375251942],"end_effector_yaw_offset_degrees":-0.5768039246501928},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019726589900826794,0.0006229677703677244,0.0007901748953834677],"end_effector_yaw_offset_degrees":0.8763772902278391},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004183463355906718,0.001378217788102909,-0.000828298215707898],"end_effector_yaw_offset_degrees":0.8619175177748468},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013139117747303303,0.0006523178115099746,-0.0017850397309981513],"end_effector_yaw_offset_degrees":-0.2691800939579754},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0002486997989962815,0.0009218838699841282,0.0013118520988491607],"end_effector_yaw_offset_degrees":-0.24827293682012508},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006384104935223238,0.000975518229536535,-0.0014557571807179179],"end_effector_yaw_offset_degrees":0.0030841295641585997}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011792230471263012,0.0006416076015007153],"position_m":[0.2313792230471263,0.034341607601500714,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004642054300026427,0.002634401280780313],"position_m":[0.20505794569997357,-0.3454655987192197,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0008681493292344404,0.001574448845768928],"position_m":[0.2930681493292345,0.2930744488457689,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003952295706376697,-0.0034487289370824506],"position_m":[0.26954770429362335,-0.12594872893708245,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"dde98b796f0c2a608f581264162d0796317801d97a9ea8b94dd498c59aded17d","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5481/tex_ceiling_textures_8444/tex_floor_textures_5751/tex_table_textures_1193/tex_wall_textures_4556","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1431337361286055282,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1431337361286055282,"visual_seed":1431337361286055282,"scene_id":"lab_003","finished_at":"2026-09-08T17:44:53"}
+{"episode_id":"ep_000058","started_at":"2026-09-08T17:44:59","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.7020485925178315,-1.3276404208141774,0.71338606911949],"aabb_xy":[[0.6960820535770958,-1.3336015654735416],[0.7080151314585673,-1.3216792761548133]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.45638694099273214,0.11586209419147941,0.71338606911949],"aabb_xy":[[-0.4604650988997818,0.11178111394321609],[-0.45230878308568234,0.11994307443974271]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.6612437806885958,-2.2828739124655493,0.71338606911949],"aabb_xy":[[-0.6692700513192218,-2.2916254074429014],[-0.6532175100579698,-2.274122417488196]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.5556049510423093,0.7908602056331895,0.71338606911949],"aabb_xy":[[-0.6206049519994365,0.7389119936994839],[-0.4906049500851822,0.8428084175668951]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[-0.21478796465237687,0.536195392558108,0.71338606911949],"aabb_xy":[[-0.22394784359625344,0.5296641745145709],[-0.20562808570850025,0.5427266106016451]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.4501745392298129,1.3667921784622497,0.71338606911949],"aabb_xy":[[0.40886999616607683,1.3027921788941326],[0.4914790822935488,1.4307921780303667]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.5906936417060449,1.1561172945526192,0.71338606911949],"aabb_xy":[[-0.6193429740664609,1.1274717352755432],[-0.5620443093456284,1.1847628538296948]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.5908249313325535,-1.9575677669788383,0.71338606911949],"aabb_xy":[[0.5826972431392403,-1.966481375389546],[0.5989526195258668,-1.9486541585681305]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.1304544424713434,-1.9961985627301764,0.71338606911949],"aabb_xy":[[0.12167321532410721,-2.004978310018707],[0.13923566961857967,-1.9874188154416468]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[-0.42447790621796355,-2.059980938750218,0.71338606911949],"aabb_xy":[[-0.4421107418114911,-2.0776038847658405],[-0.406845070624436,-2.0423579927345945]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.47443694091671107,-1.2310709390796364,0.71338606911949],"aabb_xy":[[0.4519369404046705,-1.2535627974450345],[0.49693694142875167,-1.2085790807142378]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.46714181916947367,-1.8179574374060832,0.71338606911949],"aabb_xy":[[-0.504641817592874,-1.8311216513739137],[-0.42964182074607327,-1.8047932234382522]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.34054394351498773,-1.9950573973595107,0.71338606911949],"aabb_xy":[[0.26054394208486054,-2.0745745523721197],[0.42054394494511493,-1.9155402423469008]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[0.3785286297032511,-1.5349186245725903,0.71338606911949],"aabb_xy":[[0.31452863330767794,-1.5988819129913237],[0.4425286260988241,-1.4709553361538565]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.019126144885804996,-2.2620490482431794,0.71338606911949],"aabb_xy":[[-0.05087385692294044,-2.283402817007367],[0.08912614669455043,-2.240695279478992]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.15238841329445962,0.9792396476538392,0.71338606911949],"aabb_xy":[[-0.21738841332876235,0.9325389709735119],[-0.0873884132601569,1.0259403243341665]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.48094956151728385,-0.8665823180073078,0.71338606911949],"aabb_xy":[[0.44503605709229416,-0.9024958262240624],[0.5168630659422735,-0.8306688097905531]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.5092871786247187,-2.2016776569623384,0.71338606911949],"aabb_xy":[[-0.5592602441572342,-2.2516776567748717],[-0.45931411309220327,-2.151677657149806]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.029337028049451708,0.22655237794607563,0.71338606911949],"aabb_xy":[[-0.05183702786335409,0.22207776157559495],[-0.0068370282355493285,0.23102699431655632]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.568985206824284,-2.1707816610445487,0.71338606911949],"aabb_xy":[[0.5558339608529947,-2.1957816608012353],[0.5821364527955735,-2.145781661287862]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[-0.17058826312698638,-2.18340297709009,0.71338606911949],"aabb_xy":[[-0.17700207677017127,-2.189812797337758],[-0.1641744494838014,-2.176993156842421]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.0250214556966023,-0.8727282532721019,0.71338606911949],"aabb_xy":[[-0.07030007057775156,-0.9367282526202856],[0.020257159184546958,-0.8087282539239182]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.5895053649608308,0.6046360987433399,0.71338606911949],"aabb_xy":[[0.5782603093902129,0.5933943010192446],[0.6007504205314486,0.6158778964674352]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[-0.20803000067117827,1.3000711909270768,0.71338606911949],"aabb_xy":[[-0.25515937967301394,1.2360711898826748],[-0.16090062166934258,1.3640711919714787]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[0.622677739438293,-1.1100851473859885,0.71338606911949],"aabb_xy":[[0.5841320466130919,-1.148630918442177],[0.661223432263494,-1.0715393763297996]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.476650662894631,-1.6665654140177861,0.71338606911949],"aabb_xy":[[0.3866506631714568,-1.6896387665529657],[0.5666506626178052,-1.643492061482606]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[-0.5987004269657973,-0.5521941736351863,0.71338606911949],"aabb_xy":[[-0.6324759861564903,-0.5662326688483513],[-0.5649248677751043,-0.5381556784220213]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.0949794448406508,-2.516505724458865,0.71338606911949],"aabb_xy":[[0.08694311013936594,-2.5245438437632814],[0.10301577954193562,-2.5084676051544474]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[-0.4701760033556445,1.0228660023927811,0.71338606911949],"aabb_xy":[[-0.49517600252127764,1.0159137566874248],[-0.4451760041900114,1.029818248098138]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_29","position":[-0.4362083733714927,-0.013824641766803758,0.71338606911949],"aabb_xy":[[-0.45378667556043956,-0.03139913134090866],[-0.41863007118254586,0.003749847807301143]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[0.24242567646801572,1.1955979930452654,0.71338606911949],"aabb_xy":[[0.16242567945376776,1.175463441371854],[0.3224256734822637,1.2157325447186766]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_31","position":[-0.6102569652926398,0.22688575732155236,0.71338606911949],"aabb_xy":[[-0.6151562575992033,0.19920883801898354],[-0.6053576729860763,0.2545626766241211]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_32","position":[-0.06230916852249224,0.7794086494181864,0.71338606911949],"aabb_xy":[[-0.12230916938330504,0.7279822194116999],[-0.002309167661679434,0.8308350794246727]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_33","position":[0.49634210679259927,1.6440619893565018,0.71338606911949],"aabb_xy":[[0.4598462861653204,1.607578046929744],[0.5328379274198779,1.6805459317832592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6372218044181969,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3839.png","name":"3839"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3839.png","name":"3839"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1193.png","name":"1193"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6514.png","name":"6514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8695.png","name":"8695"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5368.png","name":"5368"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":844.4114966612584,"rotation_z_degrees":237.05584086074947,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005592979918239357,-0.01794362571326307,0.006256778565888483]},{"name":"camera_2","offset_m":[0.009352730881882761,-0.01140245071064018,0.016218726713376503]},{"name":"camera_3","offset_m":[0.01603574607708443,-0.01562074428040559,0.008222610520174839]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005011972487490965,0.0018166313096273376,0.0013416313878804585],"end_effector_yaw_offset_degrees":-0.012857215361304908},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005134508507702389,0.0015008804050394204,-0.0014362713769509598],"end_effector_yaw_offset_degrees":-0.4247835215583502},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019746170347975135,0.0014561298473585852,0.001784939876735698],"end_effector_yaw_offset_degrees":-0.43348447598874196},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0015929454743232676,-0.000669643466128473,0.0019301854671770913],"end_effector_yaw_offset_degrees":-0.5446323589453916},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0004015156493293547,0.0019816919446642807,-0.0008838062472546961],"end_effector_yaw_offset_degrees":0.438684615565025},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018922940702146107,0.0015848105069510084,0.001069661755564322],"end_effector_yaw_offset_degrees":-0.7953602381073319}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003087191172605465,0.003997053928544572],"position_m":[0.23328719117260546,0.037697053928544576,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015426604131500475,0.0041334979355823155],"position_m":[0.20815733958684995,-0.3439665020644177,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004122816843507783,0.0006131338992617164],"position_m":[0.2963228168435078,0.2921131338992617,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-4.255076942062761e-05,0.0047854078339934275],"position_m":[0.2734574492305794,-0.11771459216600658,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d28b0af0c41fac76914ac58419861c4ba626183552331c3851070f84962dfa6e","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0062.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3839/tex_ceiling_textures_5368/tex_floor_textures_8695/tex_table_textures_1193/tex_wall_textures_6514","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8528364479847745775,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8528364479847745775,"visual_seed":8528364479847745775,"scene_id":"lab_003","finished_at":"2026-09-08T17:52:48"}
+{"episode_id":"ep_000059","started_at":"2026-09-08T17:52:55","dimensions":{"distractor":{"count":23,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.26775971598754644,0.6728812409147755,0.71338606911949],"aabb_xy":[[0.26051594994130106,0.5928812427111732],[0.2750034820337917,0.7528812391183779]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.4697182153354358,-1.6842849794200876,0.71338606911949],"aabb_xy":[[0.4528074828990939,-1.6977571850127018],[0.48662894777177745,-1.6708127738274725]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.06790264003662161,-1.8862513286172204,0.71338606911949],"aabb_xy":[[0.06378668992454893,-1.8903668836500658],[0.07201859014869426,-1.8821357735843747]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.35746633609992196,1.1058230699861489,0.71338606911949],"aabb_xy":[[0.31996633628288834,1.101184858675007],[0.39496633591695546,1.1104612812972907]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.5898648852121182,0.8170760473140195,0.71338606911949],"aabb_xy":[[-0.5979785398854953,0.8089702308599905],[-0.5817512305387411,0.8251818637680487]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.319891333277736,-0.5606741261888293,0.71338606911949],"aabb_xy":[[0.3083223525307995,-0.585674126305761],[0.33146031402467263,-0.5356741260718976]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[-0.5969812488723681,1.8077551636118216,0.71338606911949],"aabb_xy":[[-0.6314437268854558,1.801091486428899],[-0.5625187708592803,1.8144188407947444]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.08934064299401345,1.097102523961703,0.71338606911949],"aabb_xy":[[0.07469723743998045,1.0824438043049187],[0.10398404854804642,1.1117612436184872]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.10972086512832702,-0.8884843335973955,0.71338606911949],"aabb_xy":[[0.04813010590433421,-0.9524843317064425],[0.17131162435231984,-0.8244843354883488]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.016556325404734284,-1.3857255816747214,0.71338606911949],"aabb_xy":[[-0.024599685330689458,-1.470725582770088],[-0.008512965478779111,-1.3007255805793552]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.5780894434549708,-1.1581496735360757,0.71338606911949],"aabb_xy":[[0.4880894467193606,-1.2113331368533702],[0.668089440190581,-1.1049662102187812]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.14600513875691334,1.5722619494275754,0.71338606911949],"aabb_xy":[[-0.15529875699406392,1.5347619509394415],[-0.13671152051976276,1.6097619479157093]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.06633738133179168,1.7071915313330082,0.71338606911949],"aabb_xy":[[0.04883744789780829,1.6896915314127732],[0.08383731476577504,1.7246915312532423]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.2679529924633838,1.3600036375893358,0.71338606911949],"aabb_xy":[[0.2129529942616389,1.319481670962898],[0.32295299066512856,1.4005256042157732]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[-0.09522545816587258,1.0750764040275023,0.71338606911949],"aabb_xy":[[-0.1141098419343828,1.0561904792471495],[-0.07634107439736239,1.093962328807855]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.4954322559025084,1.4164536839343334,0.71338606911949],"aabb_xy":[[0.4860147813326457,1.407037506796614],[0.5048497304723711,1.4258698610720522]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.6215372048506959,-2.300728837026882,0.71338606911949],"aabb_xy":[[-0.6855372069004279,-2.34082332011619],[-0.5575372028009639,-2.260634353937574]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[-0.27284408044061526,-1.9141963386170402,0.71338606911949],"aabb_xy":[[-0.35656630594069766,-2.0041963421517357],[-0.18912185494053274,-1.824196335082344]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.6197671479739093,1.419762779121204,0.71338606911949],"aabb_xy":[[-0.6447671479064272,1.4128801109002807],[-0.5947671480413914,1.4266454473421273]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.3004808389531136,0.5255725884834077,0.71338606911949],"aabb_xy":[[-0.30840411919186195,0.5030725882454044],[-0.2925575587143653,0.5480725887214111]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.6049225667228526,-0.7473964564700748,0.71338606911949],"aabb_xy":[[-0.668922565309425,-0.7944034198695835],[-0.54092256813628,-0.7003894930705661]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.33340194528142447,0.2492531733727743,0.71338606911949],"aabb_xy":[[-0.35590108100765144,0.22675317259451133],[-0.3109028095551975,0.2717531741510373]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.34981932909881674,-2.3953869541260144,0.71338606911949],"aabb_xy":[[0.2898193282380039,-2.4468133841324997],[0.4098193299596295,-2.3439605241195274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6374735005175938,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3936.png","name":"3936"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3936.png","name":"3936"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2961.png","name":"2961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7851.png","name":"7851"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1735.png","name":"1735"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7080.png","name":"7080"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":586.5762971185683,"rotation_z_degrees":39.814059312556786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019620603546146368,0.0018852467462769085,-0.0024922395510797377]},{"name":"camera_2","offset_m":[0.016838859923600753,-0.012826837421493572,0.013370528717174045]},{"name":"camera_3","offset_m":[0.019350591444390258,-0.011995032617604373,0.01401534503358091]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018440924344228177,-0.0015375678086410778,-0.001249199677739508],"end_effector_yaw_offset_degrees":-0.48307960750379797},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011307851321695492,0.000858076801575792,5.472744513587051e-05],"end_effector_yaw_offset_degrees":-0.7767659896838517},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007701216136542358,-0.0010812472193373894,0.0009056045213890985],"end_effector_yaw_offset_degrees":0.06796247068834127},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001713254898818111,-0.0010237244285466315,-0.0015827349041914972],"end_effector_yaw_offset_degrees":0.9915923411582284},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009773282941321518,0.0005165977692177903,0.0016236085531190587],"end_effector_yaw_offset_degrees":0.271942854257168},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001185188210070491,0.00032606871078176254,-0.0001777366502545071],"end_effector_yaw_offset_degrees":0.610895426505019}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021012827670670075,-0.003790163081595529],"position_m":[0.22809871723293298,0.029909836918404473,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004134143894138871,0.004433042386914829],"position_m":[0.21383414389413888,-0.3436669576130852,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0031234615053600595,0.0016862755080482303],"position_m":[0.2953234615053601,0.2931862755080482,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003790285334035981,-0.002868106276382284],"position_m":[0.277290285334036,-0.12536810627638229,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a28ea37dc648ac226158bcdfc16feba817ef3ee8ab057d42caa0dab3bb2af109","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3936/tex_ceiling_textures_7080/tex_floor_textures_1735/tex_table_textures_2961/tex_wall_textures_7851","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":3676159188635293687,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":3676159188635293687,"visual_seed":3676159188635293687,"scene_id":"lab_003","finished_at":"2026-09-08T18:00:55"}
+{"episode_id":"ep_000060","started_at":"2026-09-08T18:01:03","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.38868907132224795,-0.4810622337518433,0.71338606911949],"aabb_xy":[[0.3536890699707662,-0.5014219697086642],[0.4236890726737297,-0.46070249779502254]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[-0.2195386999540807,-0.2424037425495933,0.71338606911949],"aabb_xy":[[-0.23090043460736687,-0.2537722089558813],[-0.20817696530079455,-0.23103527614330516]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.5294304546484823,0.06535151406719031,0.71338606911949],"aabb_xy":[[0.5193487475699088,-0.014648483824924355],[0.5395121617270557,0.14535151195930496]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[-0.28350625286131936,-1.7841739936162675,0.71338606911949],"aabb_xy":[[-0.33348506137163525,-1.834173993621986],[-0.23352744435100348,-1.7341739936105485]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.021687911618330613,-1.364711284876395,0.71338606911949],"aabb_xy":[[-0.02580386173040327,-1.3688268399092403],[-0.017571961506257942,-1.3605957298435492]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[0.24661231872239164,-1.6861790543048403,0.71338606911949],"aabb_xy":[[0.2386890384836433,-1.7086790545428436],[0.25453559896114,-1.663679054066837]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.04863175740467962,-0.85505703459763,0.71338606911949],"aabb_xy":[[0.031053455215732773,-0.872631524171735],[0.06621005959362647,-0.8374825450235251]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.05058958409762582,-2.097324851149906,0.71338606911949],"aabb_xy":[[-0.09576090194579481,-2.161324848294445],[-0.00541826624945685,-2.033324854005368]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.2457109671524706,-0.4374925062885846,0.71338606911949],"aabb_xy":[[-0.31071096503411844,-0.48861616999512547],[-0.18071096927082284,-0.38636884258204374]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[0.1286126384857338,0.673462907509597,0.71338606911949],"aabb_xy":[[0.06461263626532673,0.6290898233843087],[0.1926126407061408,0.7178359916348853]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.1737202620286371,1.4088759393458985,0.71338606911949],"aabb_xy":[[0.09372026506559791,1.3318002977021248],[0.2537202589916763,1.4859515809896717]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[0.30188003941465114,0.4334789693037866,0.71338606911949],"aabb_xy":[[0.28276773205667227,0.4143441904265446],[0.32099234677263,0.4526137481810286]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.11084105382447085,0.4264421796599769,0.71338606911949],"aabb_xy":[[-0.16084105548596558,0.37644373740427406],[-0.06084105216297608,0.4764406219156795]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.08743514843470401,1.0143600771127992,0.71338606911949],"aabb_xy":[[0.002435150017280785,0.9294857816505142],[0.17243514685212724,1.0992343725750842]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.48535960786882426,-1.0349886608904122,0.71338606911949],"aabb_xy":[[0.4353865423363089,-1.0849886607029453],[0.5353326734013398,-0.9849886610778795]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.3307253920240878,0.3471803399434781,0.71338606911949],"aabb_xy":[[-0.38072539338497496,0.29720243536806246],[-0.2807253906632005,0.3971582445188937]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_16","position":[-0.3667402976065044,-0.5798074021344823,0.71338606911949],"aabb_xy":[[-0.376033915843655,-0.6173074006226162],[-0.3574466793693538,-0.5423074036463484]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[0.277321035559298,1.1108191408530441,0.71338606911949],"aabb_xy":[[0.24692292446015437,1.0804122388513744],[0.3077191466584415,1.1412260428547134]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.08672282740576787,1.7843044453593122,0.71338606911949],"aabb_xy":[[-0.12172282659858612,1.7733373993616497],[-0.05172282821294959,1.7952714913569747]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.6673077521744505,-1.3444739088440765,0.71338606911949],"aabb_xy":[[-0.6923077514464127,-1.3608192724402388],[-0.6423077529024881,-1.3281285452479141]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[0.2596190636941026,-1.9664969031055288,0.71338606911949],"aabb_xy":[[0.2542865490394896,-1.9718212313507641],[0.2649515783487156,-1.961172574860293]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.29193292913298785,0.9958413078988779,0.71338606911949],"aabb_xy":[[0.2843086610428096,0.9882080843623343],[0.2995571972231661,1.0034745314354216]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[0.3918533895161638,-2.432449668872626,0.71338606911949],"aabb_xy":[[0.3872182743639304,-2.436317003949774],[0.39648850466839713,-2.4285823337954766]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[-0.5455478280227803,-0.6021169130565858,0.71338606911949],"aabb_xy":[[-0.6095478273169486,-0.6661030534254399],[-0.4815478287286121,-0.5381307726877315]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.3750109333939829,1.3372694083837304,0.71338606911949],"aabb_xy":[[-0.4646980097020983,1.2472694081292799],[-0.2853238570858674,1.427269408638181]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.15416443792742351,0.10226965397591448,0.71338606911949],"aabb_xy":[[-0.1911985473554832,0.06789244664220502],[-0.11713032849936378,0.1366468613096239]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[-0.5653741381591882,0.19960557182574723,0.71338606911949],"aabb_xy":[[-0.6153672502683802,0.14960557115155157],[-0.5153810260499965,0.24960557249994286]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[0.24159303473514182,-1.2576135617901556,0.71338606911949],"aabb_xy":[[0.19659303326891303,-1.3026134186516365],[0.2865930362013707,-1.2126137049286752]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_28","position":[-0.4782517790279689,-1.981232937318348,0.71338606911949],"aabb_xy":[[-0.5127141264261105,-2.0157268197161704],[-0.4437894316298269,-1.9467390549205252]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6362037127111545,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6484.png","name":"6484"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6484.png","name":"6484"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4377.png","name":"4377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7573.png","name":"7573"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4532.png","name":"4532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2168.png","name":"2168"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":656.5061295905347,"rotation_z_degrees":267.8281071210169,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01752787458987742,-0.005906355545228382,0.001744373785309325]},{"name":"camera_2","offset_m":[0.012493079143246672,0.00810092652768879,0.003352946288562319]},{"name":"camera_3","offset_m":[0.015719928036846128,-0.016955290179194792,0.019213735913841946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.520485751836843e-05,0.001984480471522411,0.000608453510662639],"end_effector_yaw_offset_degrees":-0.835802967411533},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00040800936355311814,0.001322217431918563,0.0014824086699909665],"end_effector_yaw_offset_degrees":-0.02417319582683075},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012661352429306724,0.0006122403633227825,-0.0011145016459650262],"end_effector_yaw_offset_degrees":0.7204760719173193},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016218199560257838,0.0007899374995956362,0.0008160810637786362],"end_effector_yaw_offset_degrees":-0.2582566680583305},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005186187669728071,0.0018631410791995926,-0.0016351342191013806],"end_effector_yaw_offset_degrees":-0.29885593464649673},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008654748608067911,0.0006061883545669905,-0.0009729028067362502],"end_effector_yaw_offset_degrees":0.7227341128659557}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013125112923599025,-0.004381691510208986],"position_m":[0.2315125112923599,0.029318308489791015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002475094682634983,-0.003386636581203051],"position_m":[0.207224905317365,-0.35148663658120305,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00296962475083454,0.000299240071300071],"position_m":[0.2951696247508346,0.29179924007130004,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031206973655967746,-0.001992742760186412],"position_m":[0.2766206973655968,-0.1244927427601864,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"113b91f089fc816da46261a5a9f500181c28fbc5f88f713e98103cfea6d982c9","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6484/tex_ceiling_textures_2168/tex_floor_textures_4532/tex_table_textures_4377/tex_wall_textures_7573","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8837056089900721123,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8837056089900721123,"visual_seed":8837056089900721123,"scene_id":"lab_003","finished_at":"2026-09-08T18:08:52"}
+{"episode_id":"ep_000061","started_at":"2026-09-08T18:08:59","dimensions":{"distractor":{"count":35,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.3071897019103548,-1.8459021492316612,0.71338606911949],"aabb_xy":[[-0.34422381133841445,-1.8802793565653704],[-0.270155592482295,-1.8115249418979515]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.3730298126112068,1.2605737424861485,0.71338606911949],"aabb_xy":[[-0.4370298146609388,1.2204792593968405],[-0.3090298105614748,1.3006682255754565]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.6609907599056417,0.6556923153015073,0.71338606911949],"aabb_xy":[[-0.6718965359932044,0.5756923189026781],[-0.650084983818079,0.7356923117003364]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.2670878688961731,-2.3506836928229715,0.71338606911949],"aabb_xy":[[-0.3520878675882477,-2.3826695562178504],[-0.18208787020409845,-2.3186978294280927]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[-0.04894053327317727,1.4060161951422296,0.71338606911949],"aabb_xy":[[-0.08241970053421821,1.3725370817711229],[-0.015461366012136338,1.4394953085133368]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[0.3590356385504212,-2.5152973256397737,0.71338606911949],"aabb_xy":[[0.3471029041885932,-2.527679478447633],[0.3709683729122493,-2.5029151728319143]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.5572098792970146,1.4857005110197892,0.71338606911949],"aabb_xy":[[0.4922098814153669,1.4345768473132483],[0.6222098771786625,1.5368241747263303]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.6130170540236309,-1.135247521743622,0.71338606911949],"aabb_xy":[[-0.6193291535599694,-1.1410144609968411],[-0.6067049544872924,-1.1294805824904033]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.13186832963161288,-0.957170799767731,0.71338606911949],"aabb_xy":[[-0.22186832935478704,-0.9802441523029106],[-0.04186832990843869,-0.934097447232551]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.43631447231455445,-0.06724562201856221,0.71338606911949],"aabb_xy":[[0.4013144724185356,-0.07561985753050214],[0.4713144722105733,-0.05887138650662226]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.03312401528069886,0.9259943253776819,0.71338606911949],"aabb_xy":[[-0.03187598475360386,0.8792936486973547],[0.09812401531500159,0.9726950020580093]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[0.4051966649103116,1.6450524916519256,0.71338606911949],"aabb_xy":[[0.3869908412490639,1.6340270910699342],[0.42340248857155927,1.6560778922339174]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.3326338800005774,-1.144477552746527,0.71338606911949],"aabb_xy":[[-0.37013387857619817,-1.157213848410085],[-0.29513388142495656,-1.131741257082969]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.40270494519729927,0.5491153170940195,0.71338606911949],"aabb_xy":[[-0.4229892479206979,0.5288326919513106],[-0.3824206424739004,0.5693979422367282]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.39519777127712674,-0.21752817048539885,0.71338606911949],"aabb_xy":[[-0.4801977696945499,-0.30240246594768383],[-0.31019777285970346,-0.13265387502311388]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.29176322703907387,1.1507742090939517,0.71338606911949],"aabb_xy":[[0.2692984570676687,1.128274208215091],[0.31422799701047893,1.173274209972812]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[0.19400283779399574,-1.7458869120260396,0.71338606911949],"aabb_xy":[[0.1764245356050489,-1.7634614016001444],[0.2115811399829426,-1.7283124224519344]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.5523597133040627,0.7862740925456366,0.71338606911949],"aabb_xy":[[0.5023597120202227,0.7362952381550145],[0.6023597145879026,0.8362529469362587]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.12931527734460468,-1.1509560126267957,0.71338606911949],"aabb_xy":[[-0.17928857134786513,-1.2009560131813428],[-0.07934198334134424,-1.1009560120722481]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.10436677741615885,-1.6487652052435924,0.71338606911949],"aabb_xy":[[-0.15936225523681824,-1.703765206677499],[-0.04937129959549946,-1.5937652038096852]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.18920618042500803,-1.207132169870411,0.71338606911949],"aabb_xy":[[0.17170618016567143,-1.2212237120591836],[0.2067061806843447,-1.1930406276816383]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.06397152075965962,-0.21172525618427285,0.71338606911949],"aabb_xy":[[-0.07907382222067769,-0.22682677781533458],[-0.0488692192986415,-0.19662373455321094]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[-0.3825646206828715,0.1430040793870373,0.71338606911949],"aabb_xy":[[-0.39185823892002203,0.1055040808989034],[-0.37327100244572087,0.1805040778751712]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.5934087815675327,1.2785594750525866,0.71338606911949],"aabb_xy":[[-0.6179224056645386,1.2542948817505502],[-0.5688951574705269,1.302824068354623]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.5201407414665109,-0.7035227699202882,0.71338606911949],"aabb_xy":[[0.5097291827860272,-0.7088685032561866],[0.5305523001469946,-0.6981770365843896]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[0.25921727283815976,0.6668074588303994,0.71338606911949],"aabb_xy":[[0.25217582188741217,0.659780707092605],[0.26625872378890736,0.673834210568194]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[-0.46635812450534553,0.7719044281153318,0.71338606911949],"aabb_xy":[[-0.5263581253661582,0.7204779981088453],[-0.40635812364453266,0.823330858121818]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[-0.39040860711744,0.41274129587845865,0.71338606911949],"aabb_xy":[[-0.47040860758765607,0.4044305882641104],[-0.31040860664722414,0.42105200349280714]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[0.5004067678229811,0.6182238857682258,0.71338606911949],"aabb_xy":[[0.4758605522002303,0.5879749892191888],[0.5249529834457317,0.6484727823172629]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[0.48992351939047296,-1.8536453682927285,0.71338606911949],"aabb_xy":[[0.47237682447435403,-1.8911453698569796],[0.5074702143065919,-1.816145366728477]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_30","position":[0.5528174823467145,-1.5239829046970719,0.71338606911949],"aabb_xy":[[0.5115129392829785,-1.5879829042651887],[0.5941220254104504,-1.4599829051289546]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_31","position":[-0.5720964621632878,-0.4768137481832171,0.71338606911949],"aabb_xy":[[-0.5791367720968248,-0.5568137475828885],[-0.5650561522297508,-0.39681374878354575]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_32","position":[0.363159703402929,-0.7180631586522845,0.71338606911949],"aabb_xy":[[0.3470977759444114,-0.8030631604648764],[0.37922163086144667,-0.6330631568396927]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_33","position":[0.15802617702747612,-0.640848895504613,0.71338606911949],"aabb_xy":[[0.10305245499114324,-0.6958488950688463],[0.212999899063809,-0.5858488959403799]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_34","position":[-0.36889663859112576,1.0601224683219872,0.71338606911949],"aabb_xy":[[-0.4032129157657437,1.0101224683488097],[-0.3345803614165078,1.1101224682951651]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.63645051672488,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2552.png","name":"2552"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2552.png","name":"2552"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4645.png","name":"4645"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8731.png","name":"8731"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5953.png","name":"5953"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2297.png","name":"2297"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":610.2214969917776,"rotation_z_degrees":44.42619475834709,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009565345887554578,-0.008854937551607578,-0.014636219268604034]},{"name":"camera_2","offset_m":[0.005421098561826855,0.012515128040135218,-0.0058754079730830005]},{"name":"camera_3","offset_m":[-0.014658559996520232,0.019191192497294254,0.018685277510283742]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006218064155833359,0.00019401153040277943,-0.0015069891603610715],"end_effector_yaw_offset_degrees":0.7111175019183738},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015717030646664838,0.0009827094122358336,0.001895404554860166],"end_effector_yaw_offset_degrees":-0.49270091483256695},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007621347656054044,-0.00044600728225472914,0.00023795683708216367],"end_effector_yaw_offset_degrees":0.5556965777878802},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011067879089372628,-0.00018009005466725417,4.0706741755893415e-05],"end_effector_yaw_offset_degrees":-0.24564144796628207},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00019497320943840345,-0.0014320842231630687,0.0017531361506758262],"end_effector_yaw_offset_degrees":-0.7987062040032624},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001959140660508941,0.00010473402608140872,-0.001012608955101229],"end_effector_yaw_offset_degrees":0.2402327670945279}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017124555615753581,0.0031178268920551014],"position_m":[0.23191245556157536,0.0368178268920551,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00247309297140054,-0.0038301378958253566],"position_m":[0.20722690702859944,-0.3519301378958254,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006217279824351453,0.0021360044251360986],"position_m":[0.29157827201756487,0.2936360044251361,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017895086589749297,0.004484674073355662],"position_m":[0.2717104913410251,-0.11801532592664433,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d1c8649ebdde5121367d11fad9f273bc607dc8543151110cb02e2fa759d319d6","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2552/tex_ceiling_textures_2297/tex_floor_textures_5953/tex_table_textures_4645/tex_wall_textures_8731","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5320339227666957403,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5320339227666957403,"visual_seed":5320339227666957403,"scene_id":"lab_003","finished_at":"2026-09-08T18:16:38"}
+{"episode_id":"ep_000062","started_at":"2026-09-08T18:16:46","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.3464536251707348,0.095120505167821,0.71338606911949],"aabb_xy":[[-0.4104536254312056,0.050111705814893],[-0.282453624910264,0.140129304520749]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.4545851897776527,-1.537687431960215,0.71338606911949],"aabb_xy":[[0.40459017881820075,-1.587687430995807],[0.5045802007371047,-1.4876874329246232]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.1769981907802064,-2.0482708406512518,0.71338606911949],"aabb_xy":[[0.1677045725430558,-2.085770839139385],[0.18629180901735695,-2.0107708421631174]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.34780084957622837,-1.3549704858502156,0.71338606911949],"aabb_xy":[[0.34176383657556364,-1.3609971869191642],[0.3538378625768931,-1.3489437847812675]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.3844596773829444,1.6981864124543828,0.71338606911949],"aabb_xy":[[-0.44209014627021515,1.6381864135276718],[-0.3268292084956735,1.758186411381093]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.1739745385855085,-0.7436883276844322,0.71338606911949],"aabb_xy":[[0.14053436338948883,-0.7771319535153621],[0.20741471378152804,-0.710244701853502]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.25246252952046044,-1.539615499587893,0.71338606911949],"aabb_xy":[[0.1674625308283858,-1.5716013629827716],[0.3374625282125351,-1.507629636193014]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.5868225627770486,0.23267652811539197,0.71338606911949],"aabb_xy":[[-0.5940663288232939,0.15267652991178962],[-0.5795787967308033,0.31267652631899434]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[0.5374224124553633,-1.897458349496545,0.71338606911949],"aabb_xy":[[0.47342241602804136,-1.9446279733186413],[0.6014224088826852,-1.8502887256744485]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.1504160810904538,-1.9389192441589618,0.71338606911949],"aabb_xy":[[-0.20041607973637499,-1.988838787818424],[-0.1004160824445326,-1.8889997004994992]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.43804840968841985,-0.4239634298421229,0.71338606911949],"aabb_xy":[[0.42489716371713065,-0.4489634295988096],[0.4511996556597094,-0.3989634300854365]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[0.08629816883137209,1.3713570403144622,0.71338606911949],"aabb_xy":[[-0.0037018335026469534,1.2938746857293495],[0.17629817116539115,1.4488393948995748]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.5583762407423162,0.8476543480495295,0.71338606911949],"aabb_xy":[[-0.5735391137192533,0.8324888907544109],[-0.5432133677653791,0.8628198053446484]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.3631718099668484,-1.0087918662427047,0.71338606911949],"aabb_xy":[[-0.38067180910121545,-1.0186714932802923],[-0.3456718108324811,-0.9989122392051167]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.5440361191225624,-2.030470900310617,0.71338606911949],"aabb_xy":[[-0.5740277818564327,-2.0604708996474175],[-0.514044456388692,-2.0004709009738164]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.5009361272599788,-1.5418376065531567,0.71338606911949],"aabb_xy":[[-0.5169980547184964,-1.6268376083657485],[-0.4848741998014611,-1.456837604740565]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.17903449980183495,-2.4526379241867597,0.71338606911949],"aabb_xy":[[0.15686197282518408,-2.4748135913428824],[0.20120702677848573,-2.4304622570306362]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.039673441115389285,-1.7666638670273174,0.71338606911949],"aabb_xy":[[-0.1012642003393821,-1.8306638651363645],[0.021917318108603534,-1.7026638689182707]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.6138165031182868,0.029585390074619244,0.71338606911949],"aabb_xy":[[-0.6357251852576378,0.007684723254528514],[-0.5919078209789357,0.051486056894709975]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.32376002855191954,1.600182150736432,0.71338606911949],"aabb_xy":[[0.3128542524643568,1.520182154337603],[0.3346658046394822,1.6801821471352614]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.3743224596365872,0.7527402641882412,0.71338606911949],"aabb_xy":[[-0.41182245821220803,0.7400039685246833],[-0.3368224610609664,0.7654765598517992]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.6671363711597991,1.27434345974214,0.71338606911949],"aabb_xy":[[0.6590930112338439,1.1893434586467735],[0.6751797310857542,1.3593434608375063]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6407176556511723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5195.png","name":"5195"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5195.png","name":"5195"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5792.png","name":"5792"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3531.png","name":"3531"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8957.png","name":"8957"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2323.png","name":"2323"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":584.4796964361641,"rotation_z_degrees":309.37096470031395,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014771417620965791,0.008344105465661313,0.010648908774876082]},{"name":"camera_2","offset_m":[0.0038824226523702203,0.015748900831999934,0.003565038370721762]},{"name":"camera_3","offset_m":[0.01750490549149147,0.01734845637307505,-0.0057871178797550375]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00025193504242301216,0.0014627805687073198,-8.33208648343465e-05],"end_effector_yaw_offset_degrees":0.2953848363912186},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009968161506893663,0.0015659077809859448,0.0018187133262459092],"end_effector_yaw_offset_degrees":0.25046383531863614},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014939589302651489,0.0002261635592693688,0.0014959887460765852],"end_effector_yaw_offset_degrees":0.8298323235281271},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010368604677021892,0.000825351796465697,-0.0002406101245308915],"end_effector_yaw_offset_degrees":0.6040920853875293},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-6.371254439701342e-05,0.0006564099595558494,0.0014491156578710276],"end_effector_yaw_offset_degrees":-0.6000498438097264},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018107602255654884,-0.001103188428520596,0.001802226587556939],"end_effector_yaw_offset_degrees":-0.8927680733841794}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007197149332060712,-0.001057143731120147],"position_m":[0.23091971493320607,0.032642856268879854,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002205779966578121,-0.004491040602620169],"position_m":[0.2119057799665781,-0.3525910406026202,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0027370158935186018,-0.00017240574474484006],"position_m":[0.2949370158935186,0.2913275942552551,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002454220294218591,-0.0008743792309282494],"position_m":[0.2710457797057814,-0.12337437923092824,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"aa6a689b67ed2eb6dea9aee36c8f7bbff2ab27b6dddc4f861a7628a6a03523d7","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5195/tex_ceiling_textures_2323/tex_floor_textures_8957/tex_table_textures_5792/tex_wall_textures_3531","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5162805812043857700,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5162805812043857700,"visual_seed":5162805812043857700,"scene_id":"lab_003","finished_at":"2026-09-08T18:24:53"}
+{"episode_id":"ep_000063","started_at":"2026-09-08T18:25:00","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.5087278469282581,-1.908496811035119,0.71338606911949],"aabb_xy":[[0.48418163130550745,-1.938745707584156],[0.5332740625510088,-1.878247914486082]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.04519362321513498,-2.247741705532137,0.71338606911949],"aabb_xy":[[-0.03480637894762751,-2.3276968891582803],[0.12519362537789747,-2.167786521905993]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.5017448928738086,-1.1353830078821279,0.71338606911949],"aabb_xy":[[-0.5517237013841245,-1.1853830078878465],[-0.45176608436349275,-1.0853830078764088]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.2956664228128758,1.001639329487828,0.71338606911949],"aabb_xy":[[0.26066642283638003,0.9921747134402117],[0.3306664227893717,1.011103945535445]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.36624923443187507,0.036880754555862705,0.71338606911949],"aabb_xy":[[-0.3708843495841083,0.03301341947871405],[-0.3616141192796416,0.040748089633011346]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[0.6879848782772746,-2.325278179028512,0.71338606911949],"aabb_xy":[[0.6809445683437377,-2.405278178428184],[0.6950251882108117,-2.245278179628841]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.19236788823523499,1.3128291618988932,0.71338606911949],"aabb_xy":[[0.112367891220987,1.2926946102254817],[0.27236788524948297,1.3329637135723043]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.6308444099901178,-2.007648901201838,0.71338606911949],"aabb_xy":[[-0.6676390431150242,-2.0445547762984204],[-0.5940497768652117,-1.9707430261052559]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.17391930480350037,-1.3219827663140373,0.71338606911949],"aabb_xy":[[-0.1963840747749055,-1.3444827671928978],[-0.15145453483209526,-1.2994827654351768]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.338054255630192,1.5086831367660527,0.71338606911949],"aabb_xy":[[0.28306104429305523,1.453683136427259],[0.3930474669673288,1.5636831371048465]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.35752766700965,0.695063584142646,0.71338606911949],"aabb_xy":[[-0.3744383994459917,0.6815913785500315],[-0.34061693457330816,0.7085357897352605]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.2959081024096848,-1.711289276633569,0.71338606911949],"aabb_xy":[[-0.3293872696707258,-1.7447683900046762],[-0.2624289351486439,-1.6778101632624622]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[-0.6642777952095891,-1.2711644756560638,0.71338606911949],"aabb_xy":[[-0.6684136515422893,-1.308664475100421],[-0.6601419388768889,-1.233664476211707]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.608005135107528,0.05052317487349445,0.71338606911949],"aabb_xy":[[-0.6880051361806483,0.04074512853611001],[-0.5280051340344076,0.060301221210878886]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.5267175110754785,0.7489402077809761,0.71338606911949],"aabb_xy":[[0.4627175108150076,0.7039314084280481],[0.5907175113359492,0.7939490071339041]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[0.1284046619797039,-0.8027200700254269,0.71338606911949],"aabb_xy":[[0.06440466467735748,-0.8470864969932835],[0.19240465928205028,-0.75835364305757]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.25847429865737526,-2.3547919880894894,0.71338606911949],"aabb_xy":[[0.208474297296488,-2.404769892664905],[0.3084743000182624,-2.304814083514074]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[-0.4897455066155887,-0.10955504623035495,0.71338606911949],"aabb_xy":[[-0.5597455082178682,-0.12298783943201254],[-0.4197455050133092,-0.09612225302869738]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.46860198271190123,1.5769660540936523,0.71338606911949],"aabb_xy":[[0.4511020492779178,1.5594660541734178],[0.48610191614588455,1.5944660540138869]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[0.2775648948353342,0.7462980773213972,0.71338606911949],"aabb_xy":[[0.2666591187477715,0.6662980809225679],[0.2884706709228969,0.8262980737202262]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.6099457285585563,-0.864163187909605,0.71338606911949],"aabb_xy":[[0.5816160186100161,-0.8686239301033222],[0.6382754385070966,-0.859702445715888]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.652449552079996,0.6640336083055245,0.71338606911949],"aabb_xy":[[-0.6829338022070262,0.6140336085240284],[-0.6219653019529658,0.7140336080870203]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.1462804956897723,-1.8669818229398794,0.71338606911949],"aabb_xy":[[0.14138120338320878,-1.8946587422424481],[0.15117978799633577,-1.8393049036373106]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.3952918247404023,1.0830950661503258,0.71338606911949],"aabb_xy":[[-0.44529182431673703,1.03311448719822],[-0.3452918251640676,1.133075645102432]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[-0.4017768312961714,1.572106499870927,0.71338606911949],"aabb_xy":[[-0.4817768292769564,1.5645049589090754],[-0.3217768333153863,1.5797080408327793]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.09993952303047782,-1.0895756873286075,0.71338606911949],"aabb_xy":[[-0.17993951999351698,-1.166651328972381],[-0.019939526067438637,-1.012500045684834]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[-0.34682950784460914,-1.0575429127635625,0.71338606911949],"aabb_xy":[[-0.406829509487531,-1.109543062055507],[-0.2868295062016873,-1.0055427634716185]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[-0.3298041667500308,1.408161432511978,0.71338606911949],"aabb_xy":[[-0.37990163073110444,1.3441614320021662],[-0.2797067027689572,1.4721614330217898]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[0.3309097175179265,-2.5080212454191853,0.71338606911949],"aabb_xy":[[0.30840971750777824,-2.5221174650587885],[0.3534097175280748,-2.493925025779582]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_29","position":[-0.5935919818335698,0.8356674005410873,0.71338606911949],"aabb_xy":[[-0.6485874596542291,0.7806673991071804],[-0.5385965040129104,0.8906674019749943]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_30","position":[0.43769114722331093,-1.7088295015446402,0.71338606911949],"aabb_xy":[[0.4297678669845626,-1.7313295017826436],[0.44561442746205926,-1.6863295013066368]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6348004097594132,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6198.png","name":"6198"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6198.png","name":"6198"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6967.png","name":"6967"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3402.png","name":"3402"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1148.png","name":"1148"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/576.png","name":"576"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":612.8402184009099,"rotation_z_degrees":240.99231825802963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017391241798224075,-0.0050533286520192625,-0.007884749012279734]},{"name":"camera_2","offset_m":[-0.014832433869276556,-0.013992178132399995,0.019038628379077934]},{"name":"camera_3","offset_m":[-0.0018362892013419965,-0.01933640645689238,-0.009514536706937901]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001425925720178886,0.0013085832470416114,0.00148732986712984],"end_effector_yaw_offset_degrees":-0.004995232091808077},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021730741516452767,0.0008109519152209466,-0.001136673397343565],"end_effector_yaw_offset_degrees":0.3883825175128284},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005252049192790639,-0.0012002792050699953,-8.767028783823695e-05],"end_effector_yaw_offset_degrees":0.4443364277738835},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0015321573834040363,-0.0011377888550786542,-0.0014787361122317651],"end_effector_yaw_offset_degrees":0.3528393368974696},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006256399586645625,0.0012986265904050102,-0.001995742497798886],"end_effector_yaw_offset_degrees":0.611321731471008},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0010866619258461056,-0.0010754229813618888,-0.0004393696325991571],"end_effector_yaw_offset_degrees":0.0141900158117505}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00269652911557395,1.687509272854746e-05],"position_m":[0.23289652911557393,0.03371687509272855,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025818049734205118,-0.0010023523266697622],"position_m":[0.2071181950265795,-0.3491023523266698,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0016400113036638868,-0.0031265923488611735],"position_m":[0.2938400113036639,0.28837340765113884,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019425044895163635,-0.00046366702814739074],"position_m":[0.2754425044895164,-0.12296366702814739,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"df0855dfa0f21d987c6e5a66854c334846344c249e80fc1ca12a134cb23f7930","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6198/tex_ceiling_textures_576/tex_floor_textures_1148/tex_table_textures_6967/tex_wall_textures_3402","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":6014967928303898479,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":6014967928303898479,"visual_seed":6014967928303898479,"scene_id":"lab_003","finished_at":"2026-09-08T18:32:59"}
+{"episode_id":"ep_000064","started_at":"2026-09-08T18:33:08","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.19884003295633484,-2.3884198358642315,0.71338606911949],"aabb_xy":[[-0.20974580904389756,-2.4684198322630606],[-0.18793425686877213,-2.3084198394654023]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.2832592700356264,-0.8202117174621275,0.71338606911949],"aabb_xy":[[-0.294828250782563,-0.8452117175790593],[-0.2716902892886898,-0.7952117173451959]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.2688109493378307,-0.48480872113585427,0.71338606911949],"aabb_xy":[[0.2606832611445175,-0.493722329546562],[0.27693863753114395,-0.4758951127251467]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.10173703309718785,0.7454500799317625,0.71338606911949],"aabb_xy":[[0.08145273037378907,0.7251674547890536],[0.1220213358205866,0.7657327050744713]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_4","position":[0.5603726340817601,-1.201571293077048,0.71338606911949],"aabb_xy":[[0.5279109331998325,-1.2317041251919503],[0.5928343349636874,-1.171438460962145]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.09166029185645153,-0.9705075406109747,0.71338606911949],"aabb_xy":[[0.001660288179533328,-1.0319399471880788],[0.18166029553336965,-0.9090751340338701]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[-0.2673009270145898,-0.40706275263891234,0.71338606911949],"aabb_xy":[[-0.27275887265160986,-0.4870627559465714],[-0.26184298137756973,-0.3270627493312532]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.600868179925999,-0.03475921518762881,0.71338606911949],"aabb_xy":[[0.566551902751381,-0.08475921516080653],[0.6351844571006169,0.015240784785548911]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.17930695740326708,-2.355092384265429,0.71338606911949],"aabb_xy":[[0.1615134504683506,-2.372892129861227],[0.19710046433818348,-2.3372926386696316]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.5479706332485479,-0.24604465542862153,0.71338606911949],"aabb_xy":[[0.46797680966998967,-0.3260446580214631],[0.6279644568271061,-0.16604465283578]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[0.5889946480611257,1.164469788334165,0.71338606911949],"aabb_xy":[[0.5664946480509774,1.1503735686945618],[0.611494648071274,1.1785660079737683]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.3565561812909103,-0.5970927197429108,0.71338606911949],"aabb_xy":[[-0.41154939262804713,-0.6520927200817044],[-0.3015629699537736,-0.5420927194041172]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.3458699198334339,-2.0489369289809662,0.71338606911949],"aabb_xy":[[-0.4258699212635611,-2.1284540839935753],[-0.2658699184033067,-1.9694197739683563]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.08212031636870376,1.3279657051280895,0.71338606911949],"aabb_xy":[[-0.09474710365590011,1.3184196314265164],[-0.06949352908150741,1.3375117788296622]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[-0.47163153991953455,1.0216850751856836,0.71338606911949],"aabb_xy":[[-0.5062226227735797,0.9566850749006525],[-0.4370404570654893,1.0866850754707145]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.30674430959102467,0.22340034843736456,0.71338606911949],"aabb_xy":[[-0.3707443098514954,0.17839154908443652],[-0.24274430933055383,0.2684091477902925]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.4756781477230987,1.1951126700869352,0.71338606911949],"aabb_xy":[[0.4580453121295711,1.1774897240713122],[0.49331098331662626,1.2127356161025582]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.33419682843748544,-1.335221497008144,0.71338606911949],"aabb_xy":[[0.27019682638775344,-1.375315980097452],[0.39819683048721743,-1.295127013918836]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.5959880157472532,0.709511105746325,0.71338606911949],"aabb_xy":[[-0.6759880144041392,0.6950062468220622],[-0.5159880170903672,0.7240159646705878]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[0.5569143515787107,0.5799741606095008,0.71338606911949],"aabb_xy":[[0.511914350112482,0.5349743037480202],[0.6019143530449397,0.6249740174709816]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.24116689519757956,0.5628076075429083,0.71338606911949],"aabb_xy":[[-0.30516689754038107,0.5178667562987758],[-0.177166892854778,0.6077484587870408]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.1930494744057878,0.8523210184162902,0.71338606911949],"aabb_xy":[[-0.22344758550493132,0.8219141164146204],[-0.16265136330664415,0.8827279204179594]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[-0.5460069674208147,1.3660490578495956,0.71338606911949],"aabb_xy":[[-0.6100069706394525,1.3193259459505873],[-0.4820069642021768,1.412772169748604]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.45437135248027105,-1.0297292375513196,0.71338606911949],"aabb_xy":[[-0.47191804739639004,-1.067229239115571],[-0.4368246575641522,-0.9922292359870686]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[0.00016907614648742353,-1.925390021843353,0.71338606911949],"aabb_xy":[[-0.049830925214399795,-1.975367926418769],[0.05016907750737464,-1.8754121172679377]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[-0.6100046867600855,1.614898865205887,0.71338606911949],"aabb_xy":[[-0.6177078774341623,1.6071894945071492],[-0.6023014960860084,1.6226082359046254]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[0.4692372007182366,-2.395968501199091,0.71338606911949],"aabb_xy":[[0.37923719838421754,-2.473450855784203],[0.5592372030522557,-2.318486146613978]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_27","position":[0.1280901651869989,1.0999841706329478,0.71338606911949],"aabb_xy":[[0.10559102946077195,1.0774841698546849],[0.1505893009132259,1.1224841714112108]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_28","position":[-0.46652985562756744,-1.4290872401167498,0.71338606911949],"aabb_xy":[[-0.47284195516390587,-1.434854179369969],[-0.460217756091229,-1.4233203008635311]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.5727871527873998,1.4378110875395982,0.71338606911949],"aabb_xy":[[0.5640731837374652,1.4153110868804097],[0.5815011218373342,1.4603110881987862]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_30","position":[0.494706356480346,0.36138023516836393,0.71338606911949],"aabb_xy":[[0.45720635496471423,0.3501534621522189],[0.5322063579959777,0.372607008184509]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[-0.4773391698468176,1.218884684258665,0.71338606911949],"aabb_xy":[[-0.5413391712548083,1.16709573273474],[-0.41333916843882695,1.2706736357825894]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_32","position":[-0.5679077189260696,-1.287269682417271,0.71338606911949],"aabb_xy":[[-0.613992810180801,-1.351269679669826],[-0.521822627671338,-1.2232696851647158]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_33","position":[-0.5340560650752112,0.4498007143965115,0.71338606911949],"aabb_xy":[[-0.6140560620894591,0.42966616272310015],[-0.4540560680609631,0.4699352660699227]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6358269942321307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2710.png","name":"2710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2710.png","name":"2710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5898.png","name":"5898"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7120.png","name":"7120"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8133.png","name":"8133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2386.png","name":"2386"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":558.7963212296696,"rotation_z_degrees":193.4776641035314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006744766408895535,0.004625198288823459,0.007005430738269279]},{"name":"camera_2","offset_m":[0.01830560878098589,-0.01255999685820365,0.004666462994263324]},{"name":"camera_3","offset_m":[0.01738312629768231,-0.008201153402804105,-0.004549700491459925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006028262993483153,0.000877065865526651,-6.548968473970044e-05],"end_effector_yaw_offset_degrees":0.3703042280948865},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013331621574619859,0.00011775749462651685,-0.000592164733497905],"end_effector_yaw_offset_degrees":0.2810508400021914},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00033739080862016423,0.00012384728745822113,-0.0005236833258836686],"end_effector_yaw_offset_degrees":-0.6305334220415797},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000830891302897478,-0.0005967177003110664,-0.0015626176070087192],"end_effector_yaw_offset_degrees":-0.23174807148848942},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015393880894734552,0.0010385272659398865,0.00039425211199249806],"end_effector_yaw_offset_degrees":0.3706757929476594},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008169737685911056,0.0014913701545810395,0.0008239518528258072],"end_effector_yaw_offset_degrees":0.060700760322606184}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004294877019294599,0.0023493556632251753],"position_m":[0.23449487701929458,0.036049355663225174,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018507238842932691,0.003923898895687],"position_m":[0.21155072388429327,-0.344176101104313,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0015218386491196358,-0.0027339899051048366],"position_m":[0.29372183864911966,0.28876601009489516,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003580309095975581,-0.00016085574386245916],"position_m":[0.26991969090402446,-0.12266085574386246,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"cd3b134ad9b00c670f3fed1acdca0aa6a276ecab67b93c35393b0639e8e17da5","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0068.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2710/tex_ceiling_textures_2386/tex_floor_textures_8133/tex_table_textures_5898/tex_wall_textures_7120","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1507033057861962774,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1507033057861962774,"visual_seed":1507033057861962774,"scene_id":"lab_003","finished_at":"2026-09-08T18:41:02"}
+{"episode_id":"ep_000065","started_at":"2026-09-08T18:41:11","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.3239411097912371,0.30857125629476645,0.71338606911949],"aabb_xy":[[-0.3589411080613569,0.3014971285997783],[-0.28894111152111707,0.3156453839897546]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.6373555554330288,-0.42833571651225766,0.71338606911949],"aabb_xy":[[0.6123555558812903,-0.43847820037739244],[0.6623555549847673,-0.418193232647123]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.49640817820250194,-2.1688693990650942,0.71338606911949],"aabb_xy":[[-0.586408177925676,-2.191942751600274],[-0.40640817847932764,-2.1457960465299144]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.29822400296686524,1.2868220771227215,0.71338606911949],"aabb_xy":[[0.28154686697376974,1.2701221531487912],[0.31490113895996075,1.3035220010966517]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.15986199148024183,-1.2088916977273827,0.71338606911949],"aabb_xy":[[0.1538249784795771,-1.214918398796331],[0.16589900448090655,-1.2028649966584344]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.5194744130764162,-0.540017450971539,0.71338606911949],"aabb_xy":[[-0.5529535803374571,-0.5734965643426461],[-0.48599524581537523,-0.5065383376004321]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[-0.43202603984506327,-1.2656763759335266,0.71338606911949],"aabb_xy":[[-0.43994932008381155,-1.2881763761715301],[-0.4241027596063149,-1.2431763756955234]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.6279529981866995,-0.4469989434255819,0.71338606911949],"aabb_xy":[[-0.6349944491374471,-0.45402569516337643],[-0.6209115472359519,-0.43997219168778734]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[-0.2810987461445809,-0.63144045527603,0.71338606911949],"aabb_xy":[[-0.3710987455629518,-0.6648159521202197],[-0.19109874672621002,-0.5980649584318403]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.5563504257202875,1.6820028234380868,0.71338606911949],"aabb_xy":[[-0.6213504242773603,1.6522502900242044],[-0.49135042716321464,1.7117553568519697]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.44544599513433014,-1.9757575520387154,0.71338606911949],"aabb_xy":[[0.36544599654701077,-2.055073153976876],[0.5254459937216496,-1.8964419501005543]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.4748822479882846,-0.3722185469194752,0.71338606911949],"aabb_xy":[[0.4398822487954663,-0.38318559291713783],[0.5098822471811029,-0.3612515009218126]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.46835674154786244,0.5693434375565873,0.71338606911949],"aabb_xy":[[0.3983567381563004,0.5340276638531565],[0.5383567449394243,0.6046592112600182]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.01664393003700737,1.768267833924297,0.71338606911949],"aabb_xy":[[-0.06612435125096616,1.7042678360114454],[0.03283649117695142,1.832267831837149]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.2548113387143074,-0.8708901284120607,0.71338606911949],"aabb_xy":[[0.22432708858727723,-0.9208901281935566],[0.28529558884133754,-0.8208901286305648]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.279351773130996,-2.4336480933440865,0.71338606911949],"aabb_xy":[[-0.3292344700086922,-2.4836480925903612],[-0.22946907625329982,-2.3836480940978118]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[0.26645199885429427,1.0765057763624535,0.71338606911949],"aabb_xy":[[0.1964519972520148,1.063072983160796],[0.33645200045657375,1.089938569564111]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.1404411283281568,1.6692307480624629,0.71338606911949],"aabb_xy":[[0.12437920086963918,1.5842307462498708],[0.15650305578667445,1.7542307498750545]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.3517432250813138,1.215535812649386,0.71338606911949],"aabb_xy":[[-0.3693215272702606,1.197961323075281],[-0.3341649228923669,1.233110302223491]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.47715839266595966,-2.4548460202843554,0.71338606911949],"aabb_xy":[[-0.5271534036254117,-2.5048460193199475],[-0.4271633817065077,-2.404846021248764]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.1924824809831649,-1.0235050102277872,0.71338606911949],"aabb_xy":[[0.17427665732191722,-1.034530410809779],[0.21068830464441257,-1.0124796096457958]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.4712510073883055,0.15836141162393957,0.71338606911949],"aabb_xy":[[-0.4767089530253255,0.07836140831628047],[-0.4657930617512854,0.23836141493159868]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[0.10805353785668048,-0.6558624418928807,0.71338606911949],"aabb_xy":[[0.04405353715321112,-0.7018808243658017],[0.17205353856014982,-0.6098440594199597]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.21449999796398345,1.5924868817918632,0.71338606911949],"aabb_xy":[[0.21042184005693368,1.5884059015435996],[0.21857815587103316,1.5965678620401262]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[-0.441371611425492,1.7919295063313565,0.71338606911949],"aabb_xy":[[-0.44940794612677687,1.7838913870269395],[-0.4333352767242072,1.799967625635773]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[0.25124470697985546,-2.4856735034199042,0.71338606911949],"aabb_xy":[[0.23118629536661517,-2.505738590329061],[0.27130311859309575,-2.4656084165107464]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[0.5637281112417065,-0.535274990041207,0.71338606911949],"aabb_xy":[[0.513733278313765,-0.5852749889364506],[0.6137229441696482,-0.4852749911459635]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[-0.478373348692408,-1.8160532229420865,0.71338606911949],"aabb_xy":[[-0.5255027276942437,-1.880053223986488],[-0.4312439696905723,-1.752053221897684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6399402034646426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2450.png","name":"2450"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2450.png","name":"2450"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6683.png","name":"6683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7599.png","name":"7599"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3935.png","name":"3935"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5883.png","name":"5883"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":560.0548899237292,"rotation_z_degrees":303.35540755712526,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012961409121551842,-0.005214143142521492,0.005510124300711964]},{"name":"camera_2","offset_m":[0.007447607090379008,-0.014825116983072328,-0.0012563622985031428]},{"name":"camera_3","offset_m":[0.009275708285654261,-0.01909981194938929,0.01923380913820093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001178471106523197,-0.0009660040986713145,0.0017067153219507262],"end_effector_yaw_offset_degrees":-0.0608823987485374},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.284541455227024e-05,0.0005435854064255686,0.0009466080494414946],"end_effector_yaw_offset_degrees":-0.7822689936631655},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001575554400785194,-0.0012269558151565185,3.5886606577887475e-05],"end_effector_yaw_offset_degrees":0.5223252569283261},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015906592113587117,0.0004688422166261169,0.0015953812591378504],"end_effector_yaw_offset_degrees":0.5472895100473736},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016620382406306962,-0.0018773587879412808,0.0015312713252629328],"end_effector_yaw_offset_degrees":0.9093358079896818},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007294570800083641,0.0018668373179674845,-0.0001913908640700432],"end_effector_yaw_offset_degrees":0.4205676935017495}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022882525923607743,0.0012666183860130511],"position_m":[0.23248825259236075,0.03496661838601305,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004543780878409281,0.0005113325254222792],"position_m":[0.21424378087840928,-0.34758866747457773,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0019074334184002147,0.0008544449827198519],"position_m":[0.29410743341840023,0.29235444498271984,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009787357563684667,-0.004941416578353699],"position_m":[0.27252126424363154,-0.1274414165783537,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"696f8f0f22db590c802c7f26155801034223ad6cf88de3e719b11cc7efc93daf","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2450/tex_ceiling_textures_5883/tex_floor_textures_3935/tex_table_textures_6683/tex_wall_textures_7599","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5581130890352729273,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5581130890352729273,"visual_seed":5581130890352729273,"scene_id":"lab_003","finished_at":"2026-09-08T18:49:06"}
+{"episode_id":"ep_000066","started_at":"2026-09-08T18:49:13","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.6348926548978495,0.7443278098251436,0.71338606911949],"aabb_xy":[[0.5548926574942561,0.6643352386269606],[0.7148926523014429,0.8243203810233263]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[0.42394265044146273,-1.473319625433393,0.71338606911949],"aabb_xy":[[0.36394264958064987,-1.5247460554398788],[0.4839426513022755,-1.421893195426906]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.4315552994530783,-0.7506658047666277,0.71338606911949],"aabb_xy":[[-0.4434273824645794,-0.835665804460278],[-0.4196832164415772,-0.6656658050729773]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.06453744014597562,-2.2156646456267692,0.71338606911949],"aabb_xy":[[-0.1445374404195826,-2.288614193452486],[0.015462560127631348,-2.1427150978010525]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.04897954013683914,1.6499812159985825,0.71338606911949],"aabb_xy":[[-0.08601364956489883,1.6156040086648729],[-0.01194543070877941,1.6843584233322917]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.17370086005105512,-2.4509004003264208,0.71338606911949],"aabb_xy":[[-0.21120086123584786,-2.4553186230224813],[-0.13620085886626226,-2.4464821776303602]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.6514588079470252,-1.8482357365721216,0.71338606911949],"aabb_xy":[[0.6014588062855304,-1.898234178827824],[0.7014588096085199,-1.7982372943164187]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.6531794547764149,-1.129831912526004,0.71338606911949],"aabb_xy":[[0.6031846218484733,-1.1798319114212474],[0.7031742877043565,-1.0798319136307604]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.11967332958247667,-0.8758958755071575,0.71338606911949],"aabb_xy":[[0.11370679064174088,-0.8818570201665217],[0.12563986852321246,-0.8699347308477936]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[-0.11911117222910683,-1.3874503214185432,0.71338606911949],"aabb_xy":[[-0.1541111713590625,-1.3931955424942073],[-0.08411117309915117,-1.381705100342879]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.5435985641680599,0.9262688935548034,0.71338606911949],"aabb_xy":[[-0.5935985637443947,0.8762883146026974],[-0.49359856459172524,0.9762494725069093]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.23014359131456885,0.9352035776561567,0.71338606911949],"aabb_xy":[[-0.28513906913522824,0.8802035762222497],[-0.17514811349390944,0.9902035790900635]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.30976512290790814,0.7693125523716398,0.71338606911949],"aabb_xy":[[0.245765126512335,0.7053492639529062],[0.37376511930348116,0.8332758407903733]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.17056377841115156,-1.6070298395657918,0.71338606911949],"aabb_xy":[[0.10656808101605494,-1.6710298378665],[0.2345594758062481,-1.5430298412650827]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.07851119344650548,-0.5562192725780744,0.71338606911949],"aabb_xy":[[0.0745507096767711,-0.563887137163595],[0.08247167721623985,-0.5485514079925538]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.03996560348712397,-0.7379560052912886,0.71338606911949],"aabb_xy":[[-0.06288131637217388,-0.7608603024277123],[-0.017049890602074073,-0.7150517081548652]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.41161768547961874,-1.2114618739595255,0.71338606911949],"aabb_xy":[[0.4000487047326822,-1.2364618740764572],[0.4231866662265554,-1.1864618738425938]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.3223765003880401,-2.5548161859413563,0.71338606911949],"aabb_xy":[[0.2573764992820968,-2.579781559009485],[0.3873765014939834,-2.5298508128732284]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.5863590699548917,1.5991572061326171,0.71338606911949],"aabb_xy":[[0.560070245634451,1.5728857724779657],[0.6126478942753323,1.6254286397872681]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[-0.6264365402042401,0.7356225001845238,0.71338606911949],"aabb_xy":[[-0.691436538761313,0.7058699667706411],[-0.5614365416471673,0.7653750335984063]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.5833556668011336,-0.6698688920320734,0.71338606911949],"aabb_xy":[[-0.5907681223425221,-0.6757201024537014],[-0.5759432112597451,-0.6640176816104455]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.14149813427576596,1.5301678324017796,0.71338606911949],"aabb_xy":[[-0.17899813494034464,1.5144807744015574],[-0.10399813361118725,1.5458548904020017]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.13946089697289743,0.7976970292990329,0.71338606911949],"aabb_xy":[[0.08183042808562653,0.7376970303723221],[0.1970913658601682,0.8576970282257432]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[-0.4741844093358203,-1.473708459876016,0.71338606911949],"aabb_xy":[[-0.4821778991311025,-1.4817065918164916],[-0.46619091954053843,-1.4657103279355403]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[-0.41115188526558305,1.4176928656717247,0.71338606911949],"aabb_xy":[[-0.4263147582425202,1.402527408376606],[-0.395989012288646,1.4328583229668435]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.00940908035641519,1.4688454290392854,0.71338606911949],"aabb_xy":[[-0.02496484976668046,1.4532949957948784],[0.006146689053850076,1.4843958622836928]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[-0.25102170190565776,-1.0476508774457578,0.71338606911949],"aabb_xy":[[-0.30050212311961655,-1.1116508753586096],[-0.20154128069169897,-0.983650879532906]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[-0.4619092950932891,-2.3661096564208557,0.71338606911949],"aabb_xy":[[-0.46654441024552246,-2.3699769914980036],[-0.4572741799410556,-2.362242321343706]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[0.21163196532150197,-2.2702908120475658,0.71338606911949],"aabb_xy":[[0.14663196436437473,-2.322239023981271],[0.2766319662786291,-2.2183426001138598]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_29","position":[0.3939786590077061,-0.8519921139820288,0.71338606911949],"aabb_xy":[[0.329978655717998,-0.8953270329859464],[0.45797866229741424,-0.8086571949781112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6386263577423071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/348.png","name":"348"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/348.png","name":"348"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6165.png","name":"6165"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6127.png","name":"6127"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8417.png","name":"8417"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6693.png","name":"6693"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":752.5229600400428,"rotation_z_degrees":320.9345316008526,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007992772906837212,0.0009665933407852559,-0.0023260762312798423]},{"name":"camera_2","offset_m":[-0.0198892177416132,-0.0005589488103988766,-0.017104062997738385]},{"name":"camera_3","offset_m":[0.018464954731869144,0.006016789446159434,0.007910729871946173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014897164651690314,-0.0007179597592114745,-0.0003430970723860339],"end_effector_yaw_offset_degrees":-0.880634961017636},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00018461280267304805,-0.0005643869457255617,3.839659002184649e-05],"end_effector_yaw_offset_degrees":0.2573613464337299},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005612047298443037,-0.0010545428720587437,-0.00057484499274974],"end_effector_yaw_offset_degrees":-0.927008358429132},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009604300625644059,0.0012471201077777277,-0.0015802340075091693],"end_effector_yaw_offset_degrees":-0.28614730582167436},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005395148976259673,-0.0002679717502240039,0.00047778339620443196],"end_effector_yaw_offset_degrees":0.2792360248683774},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014735440407157938,0.0005976701116154649,0.00020313183216442206],"end_effector_yaw_offset_degrees":-0.6440332432273963}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004103654489896217,-0.003215274068080577],"position_m":[0.22609634551010377,0.030484725931919424,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003276832090029773,0.0009718843892759978],"position_m":[0.21297683209002977,-0.34712811561072404,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0012870699348333757,0.0048303928522666515],"position_m":[0.29091293006516666,0.29633039285226664,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031128619380419564,-0.0018461956589225638],"position_m":[0.2703871380619581,-0.12434619565892256,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4fcf55f7e4c32f2754c53b7ec1fed6066040cbb53f26fb1d1011a4c7aa1537c2","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_348/tex_ceiling_textures_6693/tex_floor_textures_8417/tex_table_textures_6165/tex_wall_textures_6127","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7225988379226432959,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7225988379226432959,"visual_seed":7225988379226432959,"scene_id":"lab_003","finished_at":"2026-09-08T18:57:14"}
+{"episode_id":"ep_000067","started_at":"2026-09-08T18:57:21","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.17203662367270123,0.7876160932640657,0.71338606911949],"aabb_xy":[[-0.19453662391621662,0.7754114586042937],[-0.14953662342918583,0.7998207279238376]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.5349369228245305,-0.1626333262813593,0.71338606911949],"aabb_xy":[[-0.56837709802055,-0.19607695211228934],[-0.5014967476285108,-0.12918970045042918]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.6060399215826044,0.6120280401290881,0.71338606911949],"aabb_xy":[[-0.6116215932167332,0.5995280403113126],[-0.6004582499484755,0.6245280399468636]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.20688601257072659,-2.0769373486881264,0.71338606911949],"aabb_xy":[[0.19896273233197823,-2.0994373489261298],[0.2148092928094749,-2.054437348450123]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.6587229828279701,-0.25730288133145596,0.71338606911949],"aabb_xy":[[0.60872298154413,-0.307281735722078],[0.7087229841118099,-0.20732402694083382]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.595733423689859,0.6104328108856181,0.71338606911949],"aabb_xy":[[0.5157334204320161,0.530436303093634],[0.675733426947702,0.6904293186776019]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.6297073528702146,-0.6916554152643766,0.71338606911949],"aabb_xy":[[0.5940781969702549,-0.7272880820212294],[0.6653365087701744,-0.6560227485075235]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[0.214416017753276,-1.3898880706062806,0.71338606911949],"aabb_xy":[[0.2035755395267611,-1.4070743518969293],[0.22525649597979092,-1.3727017893156315]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[0.6124192760400362,0.41453505330310314,0.71338606911949],"aabb_xy":[[0.5484192787376898,0.37016862633524633],[0.6764192733423826,0.45890148027095984]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.2685315151670504,-1.5443361704625396,0.71338606911949],"aabb_xy":[[0.261270267596643,-1.557123180726049],[0.27579276273745784,-1.53154916019903]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.260438295695816,-1.3022201172061634,0.71338606911949],"aabb_xy":[[-0.32443829212313796,-1.34938974102826],[-0.19643829926849415,-1.2550504933840672]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.22743290363145724,0.42183290115139904,0.71338606911949],"aabb_xy":[[-0.3074329010350506,0.3418403299532162],[-0.1474329062278638,0.5018254723495819]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[-0.3975174554711412,-0.101361265305556,0.71338606911949],"aabb_xy":[[-0.41879546361461345,-0.16636126763162906],[-0.37623944732766895,-0.036361262979482945]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.2541592199472523,1.1734840089571605,0.71338606911949],"aabb_xy":[[0.2427974852939661,1.1621155425508725],[0.26552095460053843,1.1848524753634486]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.2462048404658802,-2.2943741129250914,0.71338606911949],"aabb_xy":[[-0.252171379406616,-2.3003352575844556],[-0.24023830152514442,-2.2884129682657273]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[0.12406738482746782,0.9834506268417917,0.71338606911949],"aabb_xy":[[0.08656738472187485,0.9766284649888106],[0.16156738493306075,0.9902727886947729]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[0.0018845817503855278,-1.8344383647411235,0.71338606911949],"aabb_xy":[[-0.062115419657605135,-1.8862273162650482],[0.06588458315837618,-1.7826494132171988]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.6071506629682488,-0.5031912179740088,0.71338606911949],"aabb_xy":[[0.5431506636740806,-0.5671773583428629],[0.671150662262417,-0.4392050776051545]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.4373967225833355,1.6856962730708047,0.71338606911949],"aabb_xy":[[0.35739672460255045,1.6780947321089528],[0.5173967205641206,1.6932978140326567]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.4172075562812637,0.5085441073426922,0.71338606911949],"aabb_xy":[[-0.4272892633598371,0.4285441094505774],[-0.4071258492026901,0.5885441052348067]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.14275719293249312,1.7209254249454635,0.71338606911949],"aabb_xy":[[-0.17108690288103337,1.7164646827517462],[-0.11442748298395292,1.7253861671391804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6402267789869346,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3444.png","name":"3444"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3444.png","name":"3444"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5186.png","name":"5186"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8023.png","name":"8023"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6532.png","name":"6532"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1614.png","name":"1614"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":726.4927255294605,"rotation_z_degrees":15.095721728921276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010305731675768785,0.009371815513836954,-0.0016101192572970276]},{"name":"camera_2","offset_m":[0.011401360993771367,-0.0038378590151263263,-0.012169028563275664]},{"name":"camera_3","offset_m":[-0.01662070286225733,0.01112672537431799,-0.008855317373921076]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009019039769885243,-0.00016870649211364868,-0.0005686509453940647],"end_effector_yaw_offset_degrees":0.5272672871303017},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001381540497741045,-0.0010315363358600602,0.0015001325561461647],"end_effector_yaw_offset_degrees":0.7210240319064549},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000933130892826736,-0.00133926496429222,0.0013320101002972443],"end_effector_yaw_offset_degrees":-0.40141986033544375},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00044127798808973884,-0.0017571932078026089,0.0008603593992888613],"end_effector_yaw_offset_degrees":0.27819441076283336},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0004919877655059583,0.0013807817412844407,-0.0019157719472444427],"end_effector_yaw_offset_degrees":-0.9901662253908223},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012495215686809348,-0.0011525265823669293,0.0004243394451662842],"end_effector_yaw_offset_degrees":-0.9333510635273361}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004319677114317904,0.0027749302272224744],"position_m":[0.2345196771143179,0.03647493022722247,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002277222629062177,-0.0034895722749459057],"position_m":[0.21197722262906218,-0.3515895722749459,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0014946517226909475,0.0022250666650800175],"position_m":[0.2907053482773091,0.29372506666508,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035679552833465748,-0.0027918537549442403],"position_m":[0.26993204471665344,-0.12529185375494423,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"88d1328e60add3685831c7a4f7ee2b4556abeaf4211279cd353c02d5512187f6","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3444/tex_ceiling_textures_1614/tex_floor_textures_6532/tex_table_textures_5186/tex_wall_textures_8023","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":1329131488878174566,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":1329131488878174566,"visual_seed":1329131488878174566,"scene_id":"lab_003","finished_at":"2026-09-08T19:05:26"}
+{"episode_id":"ep_000068","started_at":"2026-09-08T19:05:34","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.2541007811079826,1.2478708399782934,0.71338606911949],"aabb_xy":[[0.24996492477528248,1.2103708405339366],[0.25823663744068287,1.2853708394226506]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.2512744417720165,1.1055458646588505,0.71338606911949],"aabb_xy":[[-0.2682845390620672,1.0894113761605766],[-0.23426434448196587,1.1216803531571244]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.11256727541531808,-2.252508520007119,0.71338606911949],"aabb_xy":[[-0.1164811486107406,-2.2612575354136757],[-0.10865340221989556,-2.243759504600562]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.2593682841748737,-1.9772494219422008,0.71338606911949],"aabb_xy":[[0.2552901262678239,-1.981330402190464],[0.26344644208192336,-1.9731684416939375]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.45037017810775315,-0.08865267173201286,0.71338606911949],"aabb_xy":[[-0.4558281237447732,-0.16865267503967196],[-0.4449122324707331,-0.008652668424353749]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.007175042895311345,1.1900789950481774,0.71338606911949],"aabb_xy":[[-0.02147428946510488,1.1614334357711014],[0.03582437525572757,1.218724554325253]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[0.19778697296740222,-1.612875605395341,0.71338606911949],"aabb_xy":[[0.11778697498661718,-1.6204771463571932],[0.2777869709481873,-1.6052740644334893]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[-0.2223115000760037,-0.4984991062191382,0.71338606911949],"aabb_xy":[[-0.30231150334001683,-0.5120591385280515],[-0.14231149681199057,-0.48493907391022484]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.28717152864843937,-2.2738930203155117,0.71338606911949],"aabb_xy":[[-0.3046714620824227,-2.2913930202357458],[-0.26967159521445594,-2.2563930203952767]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.37145723105078576,0.6497633291746925,0.71338606911949],"aabb_xy":[[-0.43545722747810767,0.6025937053525962],[-0.30745723462346386,0.696932952996789]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.22236521956383792,-1.4455261641890433,0.71338606911949],"aabb_xy":[[-0.24758605642367754,-1.4707499150419299],[-0.1971443827039982,-1.4203024133361564]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.41319075740882916,-1.5684541165702928,0.71338606911949],"aabb_xy":[[0.4013186743973281,-1.653454116263943],[0.4250628404203303,-1.4834541168766422]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.01211931748562689,-2.1713734997627134,0.71338606911949],"aabb_xy":[[-0.04774847338558663,-2.207006166519566],[0.02350983841433285,-2.13574083300586]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.5955156870904598,-0.39398285286672774,0.71338606911949],"aabb_xy":[[-0.6454931039557132,-0.44398285435597623],[-0.5455382702252061,-0.34398285137747914]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.10777734518249726,1.4138672015266436,0.71338606911949],"aabb_xy":[[0.08527734493898188,1.4016625668668716],[0.13027734542601266,1.4260718361864155]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.3535802995871926,-0.9924836203894984,0.71338606911949],"aabb_xy":[[-0.3686826010482106,-1.00758514202056],[-0.3384779981261744,-0.9773820987584364]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.4216915552009344,-0.33266662594803886,0.71338606911949],"aabb_xy":[[0.35769155492695615,-0.3827327261453269],[0.4856915554749126,-0.28260052575075095]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.35319367163195525,1.4575493750516482,0.71338606911949],"aabb_xy":[[0.3110092574711245,1.393549374774437],[0.395378085792786,1.5215493753288594]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.4499067397905576,0.5563130240782734,0.71338606911949],"aabb_xy":[[0.38590674267845193,0.5072806542838628],[0.5139067369026633,0.605345393872684]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.6187482460457947,1.239502801683237,0.71338606911949],"aabb_xy":[[0.5547482496502215,1.1755395132645032],[0.6827482424413677,1.3034660901019703]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.6081353787827223,-2.2616670222170705,0.71338606911949],"aabb_xy":[[-0.6781353803850018,-2.275099815418728],[-0.5381353771804428,-2.248234229015413]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.401828507976959,0.88560287470633,0.71338606911949],"aabb_xy":[[-0.43932850864153766,0.8699158167061076],[-0.36432850731238026,0.901289932706552]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[-0.2351388909725326,-2.463386770486098,0.71338606911949],"aabb_xy":[[-0.2576353124063967,-2.4858867702928453],[-0.2126424695386685,-2.4408867706793504]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[0.6757244604462636,1.6277760199472904,0.71338606911949],"aabb_xy":[[0.6419489012555706,1.6137375247341252],[0.7095000196369565,1.641814515160455]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[-0.3955248912032929,-1.804409369535755,0.71338606911949],"aabb_xy":[[-0.45952489261128354,-1.8561983210596797],[-0.3315248897953022,-1.7526204180118303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6376419357348071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2227.png","name":"2227"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2227.png","name":"2227"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7618.png","name":"7618"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8420.png","name":"8420"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8089.png","name":"8089"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8615.png","name":"8615"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":674.0439486334648,"rotation_z_degrees":344.5670270682168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00025299309147643403,-0.0008783424093290366,0.011750983396202074]},{"name":"camera_2","offset_m":[0.0012518341888514556,0.01598852450827452,-0.008831819388087032]},{"name":"camera_3","offset_m":[0.016374610258444087,0.008355464498162112,-0.006560751656373296]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012371368926146153,-0.0008635833794555902,-0.0019287465673478682],"end_effector_yaw_offset_degrees":-0.31348220689963946},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007301978573887636,0.0007349295196335502,0.0011438782111265248],"end_effector_yaw_offset_degrees":0.33976423528661837},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010179317206339817,-0.0016559558370516046,-0.0016914052477567353],"end_effector_yaw_offset_degrees":-0.587513855441167},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014797546132078016,0.0014724597073082842,-0.001039064748176008],"end_effector_yaw_offset_degrees":0.4694555118836943},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008979522223639344,-0.0017367290091370245,0.0012868868824610544],"end_effector_yaw_offset_degrees":0.48535025140672405},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001744514826577895,0.00024826882127846955,0.0015578874648688574],"end_effector_yaw_offset_degrees":-0.5476174070144093}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00370093289264778,-0.0035897267829409366],"position_m":[0.23390093289264777,0.030110273217059065,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001263416373895313,-0.0003193105568648977],"position_m":[0.21096341637389532,-0.3484193105568649,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0009238622817052703,-4.158735752437907e-06],"position_m":[0.2931238622817053,0.29149584126424755,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004841640389848851,0.0023003541538129703],"position_m":[0.26865835961015117,-0.12019964584618703,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"549fd868190997e0e82ee25c25bfc52452924b5d7937928006bb6f97cbe7a020","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2227/tex_ceiling_textures_8615/tex_floor_textures_8089/tex_table_textures_7618/tex_wall_textures_8420","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7637736995932814554,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7637736995932814554,"visual_seed":7637736995932814554,"scene_id":"lab_003","finished_at":"2026-09-08T19:13:36"}
+{"episode_id":"ep_000069","started_at":"2026-09-08T19:13:43","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.5607745382283698,-0.7647688143148839,0.71338606911949],"aabb_xy":[[0.55114290200794,-0.7744061270945928],[0.5704061744487993,-0.7551315015351749]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.48013234013304207,-1.0995876274196246,0.71338606911949],"aabb_xy":[[-0.4935788667670854,-1.1130574790727157],[-0.46668581349899874,-1.0861177757665335]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.6326255392528057,-1.7487355377519331,0.71338606911949],"aabb_xy":[[0.596129718625527,-1.7852194801786905],[0.6691213598800845,-1.7122515953251753]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[-0.5709082089420666,-0.16339257040381483,0.71338606911949],"aabb_xy":[[-0.6409082123336286,-0.19870834410724567],[-0.5009082055505046,-0.12807679670038394]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.49919379124843,-0.930542750584848,0.71338606911949],"aabb_xy":[[-0.5026344674884872,-0.9344041835592125],[-0.4957531150083728,-0.9266813176104836]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[-0.3367104742980874,-2.183685381386461,0.71338606911949],"aabb_xy":[[-0.40071047758779554,-2.2270203003903783],[-0.2727104710083793,-2.140350462382543]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.4402796204751203,-1.0042203751801262,0.71338606911949],"aabb_xy":[[-0.4458612921092491,-1.0167203749979017],[-0.43469794884099155,-0.9917203753623508]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.16047853771023868,-2.2304439994394367,0.71338606911949],"aabb_xy":[[0.1392005295667664,-2.29544400176551],[0.1817565458537109,-2.1654439971133637]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.5147307935997405,-0.09970586253294877,0.71338606911949],"aabb_xy":[[0.507469546029333,-0.11249287279645825],[0.521992041170148,-0.0869188522694393]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.15262793546314923,-0.7142376284690071,0.71338606911949],"aabb_xy":[[-0.19481234962397997,-0.7782376287462184],[-0.11044352130231849,-0.650237628191796]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.371034159275089,-2.2486869974570576,0.71338606911949],"aabb_xy":[[0.34852046745163173,-2.3186869980580647],[0.3935478510985461,-2.1786869968560496]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[0.03686791993450167,-2.5418340678881695,0.71338606911949],"aabb_xy":[[0.030454106291316726,-2.548243888135837],[0.0432817335776866,-2.5354242476405]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.06547194704782344,-1.056595458117902,0.71338606911949],"aabb_xy":[[0.04783911145429586,-1.0742184041335248],[0.083104782641351,-1.0389725121022788]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.07940124632592105,0.20388990393564832,0.71338606911949],"aabb_xy":[[-0.08353710265862124,0.16638990449129132],[-0.07526538999322085,0.24138990338000532]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.349190744546638,-0.7390376916327044,0.71338606911949],"aabb_xy":[[0.28519074815106493,-0.8030009800514378],[0.4131907409422111,-0.6750744032139707]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.7119809209480625,0.9475469143205912,0.71338606911949],"aabb_xy":[[0.6993782218109861,0.934951518095726],[0.724583620085139,0.960142310545457]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[-0.13742597955390712,0.16833893879146844,0.71338606911949],"aabb_xy":[[-0.14505024764408536,0.16070571525492475],[-0.12980171146372887,0.1759721623280122]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.16397318513696613,0.9496406617914026,0.71338606911949],"aabb_xy":[[-0.19897318648844786,0.9292809258345817],[-0.1289731837854844,0.9700003977482233]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.36032450448045816,1.1869178836821677,0.71338606911949],"aabb_xy":[[0.3228245043748652,1.1800957218291863],[0.3978245045860511,1.1937400455351486]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.1990912753675681,-0.8063336842798972,0.71338606911949],"aabb_xy":[[0.18159127623320087,-0.8162133113174849],[0.21659127450193522,-0.7964540572423092]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.6322826409592682,0.889590914652318,0.71338606911949],"aabb_xy":[[-0.6424356565134175,0.8535213730795775],[-0.6221296254051187,0.9256604562250582]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[0.5604685966459215,0.08118184850876187,0.71338606911949],"aabb_xy":[[0.5534271456951739,0.07415509677096732],[0.5675100475966691,0.08820860024655641]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.3110425761392922,1.2094316155053915,0.71338606911949],"aabb_xy":[[-0.40104257555766304,1.1760561186612015],[-0.22104257672092126,1.242807112349581]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6356439560782652,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/920.png","name":"920"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/920.png","name":"920"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6564.png","name":"6564"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3955.png","name":"3955"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9946.png","name":"9946"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":527.1759653224736,"rotation_z_degrees":10.141933264879865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007083621359736506,0.006027200271247243,-0.011259366924547822]},{"name":"camera_2","offset_m":[0.016963672372125326,0.019619869891161965,-0.01474213128849923]},{"name":"camera_3","offset_m":[-0.01870145424182322,-0.0024214757559645785,0.007229926636253929]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007177950643593167,0.0005773353551797506,-0.00018843168309572275],"end_effector_yaw_offset_degrees":-0.6623031080596578},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019032393549895895,-0.0011667797089726167,0.0011206879292944777],"end_effector_yaw_offset_degrees":0.5773557138132592},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010041409367292906,-0.0018771751737542647,0.000687905648535984],"end_effector_yaw_offset_degrees":0.4802265458764765},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0002801056405216059,0.0001978618220918331,-0.0001221401804583379],"end_effector_yaw_offset_degrees":-0.2316828053934441},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001073636002163595,0.0009838115012770162,-0.0015552471246929548],"end_effector_yaw_offset_degrees":0.9740516171275178},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006414350077328028,-0.0017412309217284547,-0.0017959140600245275],"end_effector_yaw_offset_degrees":-0.28834121374186195}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002527478923470349,0.00106004304319677],"position_m":[0.22767252107652963,0.03476004304319677,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001871269873371203,-0.0014571374227421384],"position_m":[0.2078287301266288,-0.34955713742274214,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001399082636621749,0.0032522962383074267],"position_m":[0.29080091736337826,0.2947522962383074,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00011675447331665253,0.001394774583734674],"position_m":[0.2736167544733167,-0.12110522541626532,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7381949fc44867a44608f690ea104f569c9ff03a8a36a44c403afef8a9502ccc","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_920/tex_ceiling_textures_9946/tex_floor_textures_4206/tex_table_textures_6564/tex_wall_textures_3955","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5991186221270227452,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5991186221270227452,"visual_seed":5991186221270227452,"scene_id":"lab_003","finished_at":"2026-09-08T19:21:34"}
+{"episode_id":"ep_000070","started_at":"2026-09-08T19:21:42","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[-0.3757815607159639,1.4165712323595963,0.71338606911949],"aabb_xy":[[-0.43077381135147497,1.3615712306162835],[-0.320789310080453,1.471571234102909]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[0.5471422592999164,-1.9563057435797673,0.71338606911949],"aabb_xy":[[0.4821422607428435,-1.9860582769936501],[0.6121422578569892,-1.9265532101658849]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.6258101013267791,1.1437069877769876,0.71338606911949],"aabb_xy":[[-0.6470881094702513,1.0787069854509144],[-0.6045320931833068,1.2087069901030605]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.4017071171817532,-2.437512433972303,0.71338606911949],"aabb_xy":[[0.3929931481318187,-2.46001243463149],[0.41042108623168766,-2.4150124333131138]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.5784380048730555,1.7482501788769826,0.71338606911949],"aabb_xy":[[-0.6584380081308985,1.6682536710849987],[-0.49843800161521257,1.8282466866689666]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.23551920216420041,1.1806855754247194,0.71338606911949],"aabb_xy":[[0.21334667518754954,1.1585099082685963],[0.25769172914085126,1.2028612425808425]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.504106280816117,-1.107347352843656,0.71338606911949],"aabb_xy":[[-0.5121496407420721,-1.1923473539390221],[-0.4960629208901618,-1.0223473517482893]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.19204107769313317,-2.0767979616645116,0.71338606911949],"aabb_xy":[[-0.24716628332272392,-2.1367979631057983],[-0.13691587206354236,-2.016797960223224]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[0.07992229605550549,-2.0979612112096593,0.71338606911949],"aabb_xy":[[0.00992229392407594,-2.1207231768353547],[0.14992229818693503,-2.075199245583963]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[-0.5317845770347585,-1.8871853534027196,0.71338606911949],"aabb_xy":[[-0.549653684789214,-1.9010182613799305],[-0.513915469280303,-1.8733524454255084]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.5976186331606137,1.2630432554985527,0.71338606911949],"aabb_xy":[[0.5336186311108817,1.2229487724092447],[0.6616186352103457,1.3031377385878606]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.407450323035253,-0.5784942077584532,0.71338606911949],"aabb_xy":[[-0.4449503228522865,-0.5831324190695949],[-0.36995032321821936,-0.5738559964473112]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.6723536051577297,-0.619920787972446,0.71338606911949],"aabb_xy":[[0.6658519686497252,-0.6296886099987558],[0.6788552416657344,-0.6101529659461362]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.07325708706822354,-0.0015990369810516825,0.71338606911949],"aabb_xy":[[-0.07669776330828071,-0.005460469955416159],[-0.06981641082816636,0.0022623959933127944]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[0.3936884483449197,-2.280059888146887,0.71338606911949],"aabb_xy":[[0.3296884461245126,-2.3244329722721755],[0.45768845056532664,-2.235686804021599]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[-0.12838739502939667,1.5192469944707878,0.71338606911949],"aabb_xy":[[-0.2133873937214713,1.487261131075909],[-0.043387396337322026,1.5512328578656667]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.0703287615198871,0.8244332476439138,0.71338606911949],"aabb_xy":[[0.01032875987696523,0.7724330983519696],[0.13032876316280895,0.876433396935858]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.1840089660261388,-0.8711343867614922,0.71338606911949],"aabb_xy":[[-0.20900896529810112,-0.8874797503576547],[-0.15900896675417656,-0.85478902316533]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.43112402668025607,-1.1304748479695712,0.71338606911949],"aabb_xy":[[0.3761240275036665,-1.1854645227445286],[0.4861240258568455,-1.0754851731946133]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.3506705445640663,-0.7159136643654156,0.71338606911949],"aabb_xy":[[0.3006974790315509,-0.7659136641779487],[0.4006436100965819,-0.6659136645528828]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.3141094179302184,1.3376531781070535,0.71338606911949],"aabb_xy":[[0.264126467742739,1.287653178464493],[0.3640923681176977,1.3876531777496137]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.6256200757909567,-0.44701803828816367,0.71338606911949],"aabb_xy":[[0.6183377594142927,-0.5370180418976724],[0.63290239216762,-0.35701803467865456]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.6032060556518102,-1.1358017910814735,0.71338606911949],"aabb_xy":[[0.5720591368082271,-1.2058017897682807],[0.6343529744953933,-1.0658017923946663]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_23","position":[-0.6085809983434987,-0.2399886867828629,0.71338606911949],"aabb_xy":[[-0.6211836974805751,-0.2525840830077284],[-0.5959782992064222,-0.22739329055799742]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[-0.4197128431691761,0.28352345540775525,0.71338606911949],"aabb_xy":[[-0.4747060545063129,0.22852345506896166],[-0.36471963183203937,0.33852345574654885]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[0.056733218182207446,1.3225476994404026,0.71338606911949],"aabb_xy":[[-0.008266779973711613,1.2962514548904904],[0.1217332163381265,1.3488439439903148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6317628147165352,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/349.png","name":"349"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4001.png","name":"4001"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4043.png","name":"4043"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4453.png","name":"4453"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":572.034064959282,"rotation_z_degrees":198.52394108369535,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019070339061537694,-0.0139063168767853,-0.015349253854972846]},{"name":"camera_2","offset_m":[-0.002257169140174285,-0.004721656955629885,0.005396336595000002]},{"name":"camera_3","offset_m":[-0.005695982219640747,-0.010827899268029868,-0.011079663917161585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004691117081714266,0.001960357722589838,0.0007790217767433875],"end_effector_yaw_offset_degrees":-0.8059026177660442},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015157908584969122,0.000967453772162646,0.0008824377444281973],"end_effector_yaw_offset_degrees":0.2104492910374216},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001734418858155045,0.0018788068210936338,0.00029367892950657015],"end_effector_yaw_offset_degrees":-0.23093661243819374},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[9.987426689440785e-05,0.00020320653463136917,0.0011593351730912636],"end_effector_yaw_offset_degrees":-0.3871957130680421},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008118327819976701,0.0018620491381080308,-0.00019782799916550882],"end_effector_yaw_offset_degrees":-0.6132738254909993},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005460528445313216,0.0013915637768015577,0.0003142180667747444],"end_effector_yaw_offset_degrees":-0.38409694697767893}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003507585237696194,0.0019465866956265131],"position_m":[0.2337075852376962,0.035646586695626516,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004670198454565592,0.0015896930642565511],"position_m":[0.2050298015454344,-0.3465103069357435,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0019123836574704836,0.0003938660014928732],"position_m":[0.29028761634252953,0.29189386600149286,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002947892355891353,0.0030721771410792903],"position_m":[0.27055210764410864,-0.1194278228589207,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"92945f6f2e3d8570ba912db30dd759d32c2b35d618384b6a9dc78a39e6efd9a7","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_377/tex_ceiling_textures_4453/tex_floor_textures_4043/tex_table_textures_349/tex_wall_textures_4001","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4488043576955991841,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4488043576955991841,"visual_seed":4488043576955991841,"scene_id":"lab_003","finished_at":"2026-09-08T19:30:22"}
+{"episode_id":"ep_000071","started_at":"2026-09-08T19:30:30","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.5518305992557151,-2.102457998046833,0.71338606911949],"aabb_xy":[[0.5315462965323163,-2.1227406231895416],[0.5721149019791139,-2.0821753729041235]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[-0.2675841735370964,-0.5778161391760985,0.71338606911949],"aabb_xy":[[-0.2894739211260372,-0.6678161364653475],[-0.24569442594815563,-0.48781614188684935]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.2544662174271729,-2.1477161377780276,0.71338606911949],"aabb_xy":[[0.20446621785083824,-2.1976967167301336],[0.3044662170035077,-2.0977355588259217]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.0705949012858379,1.1912087635862343,0.71338606911949],"aabb_xy":[[-0.10809490145770982,1.1585080282033269],[-0.033094901113965944,1.2239094989691413]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.4539644301055441,-2.0766880213380556,0.71338606911949],"aabb_xy":[[0.42399687319571844,-2.106688021635941],[0.48393198701536977,-2.04668802104017]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.4047063996464052,1.592302238294065,0.71338606911949],"aabb_xy":[[-0.4198785689280386,1.577133381365862],[-0.3895342303647719,1.6074710952222686]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.5411968772256293,1.6851582594586847,0.71338606911949],"aabb_xy":[[0.47119687383406733,1.6498424857552536],[0.6111968806171912,1.7204740331621153]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.2529416621752506,0.8835922657406017,0.71338606911949],"aabb_xy":[[0.24137268142831403,0.85859226562367],[0.2645106429221872,0.9085922658575334]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.48188860726211036,1.1724395563988792,0.71338606911949],"aabb_xy":[[-0.5068886064277434,1.1654873106935226],[-0.4568886080964772,1.1793918021042358]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.44534119566432717,-2.3541055223601144,0.71338606911949],"aabb_xy":[[0.4301783226873902,-2.3692709796552336],[0.46050406864126436,-2.338940065064996]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.555083241061747,0.5007617271998441,0.71338606911949],"aabb_xy":[[0.5175832402697516,0.49439388624165403],[0.5925832418537424,0.5071295681580342]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_11","position":[0.17879552801316045,-1.4113482137184798,0.71338606911949],"aabb_xy":[[0.14433305000007265,-1.4180118909014026],[0.2132580060262482,-1.4046845365355567]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.15334929955810617,-1.7567193918183013,0.71338606911949],"aabb_xy":[[-0.19553371371893694,-1.8207193920955125],[-0.11116488539727545,-1.69271939154109]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.11079817985731122,-2.5355028012796557,0.71338606911949],"aabb_xy":[[-0.11711027939364965,-2.5412697405328744],[-0.10448608032097279,-2.529735862026437]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.5867247998417762,-2.267921749784171,0.71338606911949],"aabb_xy":[[0.5317325492062653,-2.3229217515274843],[0.6417170504772872,-2.2129217480408587]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.34705788550861666,-0.3953138413806716,0.71338606911949],"aabb_xy":[[-0.3557718545585511,-0.4178138420398597],[-0.3383439164586821,-0.37281384072148327]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.09860215512723036,0.8020999151347219,0.71338606911949],"aabb_xy":[[-0.10740421043620306,0.7942885889797927],[-0.08980009981825764,0.8099112412896509]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.2828447340040724,-1.8750417369074188,0.71338606911949],"aabb_xy":[[0.2478447341080535,-1.8834159724193587],[0.3178447339000912,-1.866667501395479]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.4508229149831413,0.05130180199456014,0.71338606911949],"aabb_xy":[[0.4283229147396259,0.039097167334788185],[0.4733229152266567,0.06350643665433209]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.5937094338921499,0.15031643526630178,0.71338606911949],"aabb_xy":[[-0.6310407104173924,0.11566338047144947],[-0.5563781573669072,0.1849694900611541]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.22423955139044505,-0.9734942915500127,0.71338606911949],"aabb_xy":[[0.19901871453060535,-0.9987180424028993],[0.2494603882502847,-0.9482705406971258]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[0.39823752842579085,1.1226842711204132,0.71338606911949],"aabb_xy":[[0.3607375269101592,1.1114574981042682],[0.4357375299414226,1.1339110441365583]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[-0.31265030119346077,0.8821786453605029,0.71338606911949],"aabb_xy":[[-0.3491461218207395,0.8456947029337454],[-0.276154480566182,0.9186625877872605]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[-0.39350434571538395,-1.8548336315378848,0.71338606911949],"aabb_xy":[[-0.3994708846561198,-1.8607947761972485],[-0.3875378067746482,-1.8488724868785202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6407899010407869,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1186.png","name":"1186"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5506.png","name":"5506"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1124.png","name":"1124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2294.png","name":"2294"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":758.0912878380838,"rotation_z_degrees":227.62966792857597,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005430074107398469,-0.008055851520507007,0.003732499719042749]},{"name":"camera_2","offset_m":[-0.0057384529743873,-0.008333203683686516,0.001956420001191072]},{"name":"camera_3","offset_m":[-0.004981670750744094,0.019618939308711034,0.0026636505843288423]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014811922651821658,0.0013377851237515496,-0.001546130405988833],"end_effector_yaw_offset_degrees":-0.09052027859387923},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013456040057895223,-0.0009384742910351731,-0.0011802299961724465],"end_effector_yaw_offset_degrees":-0.3372078886089258},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00031168664421773453,0.001322310668838418,0.0009943878240425523],"end_effector_yaw_offset_degrees":-0.8360855928485997},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.000429833884870908,-0.0005577226936296009,0.00140148601990769],"end_effector_yaw_offset_degrees":-0.07237482647454963},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00015387521238546418,-0.001238034786073186,-0.00012201200235951049],"end_effector_yaw_offset_degrees":-0.9250205181898801},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013650884627802507,0.0015786230002302554,0.0009419330515545539],"end_effector_yaw_offset_degrees":0.9854443885368409}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036454910041679623,-0.004326260458418066],"position_m":[0.22655450899583202,0.029373739541581935,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048202396449235204,-0.0006247248025590705],"position_m":[0.2145202396449235,-0.3487247248025591,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0026778057281065205,0.0026844863487094925],"position_m":[0.2895221942718935,0.2941844863487095,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004690776549947323,0.00018423041236481207],"position_m":[0.2688092234500527,-0.12231576958763518,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"713095f740381425b5a2707c05e324c206613eab54554eee537d7ccc3a29a451","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3538/tex_ceiling_textures_2294/tex_floor_textures_1124/tex_table_textures_1186/tex_wall_textures_5506","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":3724570264720472360,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":3724570264720472360,"visual_seed":3724570264720472360,"scene_id":"lab_003","finished_at":"2026-09-08T19:38:14"}
+{"episode_id":"ep_000072","started_at":"2026-09-08T19:38:21","dimensions":{"distractor":{"count":28,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.23691092737609853,-0.83563306538905,0.71338606911949],"aabb_xy":[[0.22600515128853582,-0.9156330617878792],[0.24781670346366125,-0.7556330689902209]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.3314665078378116,1.3036915966739024,0.71338606911949],"aabb_xy":[[0.3180199812037683,1.2902217450208113],[0.34491303447185495,1.317161448326994]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[0.625705724562073,1.4270172936838281,0.71338606911949],"aabb_xy":[[0.6044277164186007,1.3620172913577548],[0.6469837327055452,1.492017296009901]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.5280319173416248,-1.9674004296270033,0.71338606911949],"aabb_xy":[[-0.5648265504665311,-2.0043063047235856],[-0.49123728421671853,-1.9304945545304213]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.5676227640323538,-1.498754485111682,0.71338606911949],"aabb_xy":[[-0.5901227638462562,-1.5032291014821628],[-0.5451227642184514,-1.4942798687412013]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.28157141696560384,-0.685028469792486,0.71338606911949],"aabb_xy":[[-0.33155022547591967,-0.7350284697982048],[-0.2315926084552879,-0.6350284697867672]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.11046587303191291,-1.6500315614441834,0.71338606911949],"aabb_xy":[[-0.1754658756697064,-1.7015111601436306],[-0.04546587039411942,-1.5985519627447367]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[0.5738010362808887,-0.8936596553281759,0.71338606911949],"aabb_xy":[[0.5098010369867204,-0.9576457956970301],[0.6378010355750569,-0.8296735149593217]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.1169606617579938,0.65136506270817,0.71338606911949],"aabb_xy":[[0.10971689571174846,0.5713650645045676],[0.12420442780423911,0.7313650609117723]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.10918879727104958,-1.1104071939703557,0.71338606911949],"aabb_xy":[[-0.17418879837699286,-1.135372567038484],[-0.04418879616510629,-1.0854418209022274]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.32576768899453623,-1.492795225844016,0.71338606911949],"aabb_xy":[[0.2807676875283074,-1.5377950827054967],[0.3707676904607651,-1.4477953689825351]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.4880886495304688,0.3090919293568781,0.71338606911949],"aabb_xy":[[0.4799609613371556,0.30017832094617053],[0.49621633772378204,0.31800553776758583]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.37506873394939727,-2.434125252762922,0.71338606911949],"aabb_xy":[[-0.4650687306850074,-2.487308716080216],[-0.285068737213787,-2.380941789445627]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.055295246663863984,1.2077844866269305,0.71338606911949],"aabb_xy":[[-0.00870475567893758,1.162843635382798],[0.11929524900666554,1.252725337871063]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.3378323542053325,-1.0117336885171835,0.71338606911949],"aabb_xy":[[-0.3458263427830358,-1.0197337686122736],[-0.329838365627629,-1.003733608422093]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.3550316931252693,-2.3233899726579694,0.71338606911949],"aabb_xy":[[0.30493422914419566,-2.387389973167781],[0.4051291571063429,-2.259389972148157]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.10082468526226562,-1.4721974352049143,0.71338606911949],"aabb_xy":[[-0.11123624394274932,-1.4775431685408125],[-0.0904131265817819,-1.4668517018690157]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.4881450797374265,-0.4032803244258778,0.71338606911949],"aabb_xy":[[0.4031450810453519,-0.43526618782075666],[0.5731450784295011,-0.37129446103099895]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.40499422041920274,-1.6116194340128,0.71338606911949],"aabb_xy":[[-0.43843439561522235,-1.64506305984373],[-0.37155404522318314,-1.5781758081818698]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.5550112725492391,0.44349400529548477,0.71338606911949],"aabb_xy":[[-0.5925112733412345,0.4371261643372946],[-0.5175112717572437,0.4498618462536748]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.2872203650618731,1.6127865593184958,0.71338606911949],"aabb_xy":[[0.23941419744810444,1.5477865566114368],[0.33502653267564175,1.6777865620255548]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.5121368082316646,1.4654716602032045,0.71338606911949],"aabb_xy":[[0.4902281260923135,1.4435709933831138],[0.5340454903710156,1.4873723270232952]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.6231074111404307,-2.3198862532503113,0.71338606911949],"aabb_xy":[[0.5690918148585307,-2.383886256142568],[0.6771230074223307,-2.2558862503580537]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.43706232084731855,0.7893449998204494,0.71338606911949],"aabb_xy":[[0.4279024419034419,0.7828137817769123],[0.4462221997911951,0.7958762178639864]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.36512104540056534,1.6011305358408783,0.71338606911949],"aabb_xy":[[-0.3826210446786522,1.5837924357745323],[-0.34762104612247846,1.6184686359072242]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[0.3771695355083198,-1.1098677784099784,0.71338606911949],"aabb_xy":[[0.3730913776012701,-1.1139487586582417],[0.38124769341536957,-1.105786798161715]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_26","position":[0.38633252905537674,-1.664427390021585,0.71338606911949],"aabb_xy":[[0.35387082817344917,-1.694560222136487],[0.4187942299373041,-1.6342945579066819]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[0.09213257011858955,-2.1728597482274696,0.71338606911949],"aabb_xy":[[0.08509226018505256,-2.2528597476271415],[0.09917288005212656,-2.0928597488277987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6339762307285086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8934.png","name":"8934"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8934.png","name":"8934"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7769.png","name":"7769"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1034.png","name":"1034"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8624.png","name":"8624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1775.png","name":"1775"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":671.0384177686725,"rotation_z_degrees":230.27583890693595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019304535642801105,0.004241652048821688,0.0007129373450406665]},{"name":"camera_2","offset_m":[0.0001230595784077887,0.019012042696310284,-0.01197469631364513]},{"name":"camera_3","offset_m":[-0.010409564666484164,-0.019698636162083637,-0.0058069170546257935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018385419008242108,-0.00026144326807569086,-0.0016137500648726961],"end_effector_yaw_offset_degrees":0.31801755969520595},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001361642217224826,0.0012191886975794985,-5.502517974719369e-05],"end_effector_yaw_offset_degrees":-0.10276041408897396},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004351622051969946,-0.0016493874301199796,-2.480249495959066e-06],"end_effector_yaw_offset_degrees":0.45374914972447855},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009090344045401544,0.001333431639899197,-0.0002378030791996349],"end_effector_yaw_offset_degrees":-0.42887225900437076},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005315894512731597,0.0008166599461995991,0.001599258380034864],"end_effector_yaw_offset_degrees":-0.057489485118445316},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005594781839319226,0.0004344567143355501,0.0017361478275511044],"end_effector_yaw_offset_degrees":-0.8638438009960014}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032518015209751635,-0.0019877858249020375],"position_m":[0.23345180152097514,0.031712214175097966,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033696596073195216,-0.0007001591673772185],"position_m":[0.20633034039268047,-0.3488001591673772,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00034199552628256386,0.0016302388326462185],"position_m":[0.29185800447371746,0.2931302388326462,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00035141965292983645,0.002242087722136077],"position_m":[0.27385141965292986,-0.12025791227786392,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"401dde60f6622188ef5f96efe468c0ae019a6bf298ecc2a208ccc88a3db41519","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8934/tex_ceiling_textures_1775/tex_floor_textures_8624/tex_table_textures_7769/tex_wall_textures_1034","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4167378849330033515,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4167378849330033515,"visual_seed":4167378849330033515,"scene_id":"lab_003","finished_at":"2026-09-08T19:46:22"}
+{"episode_id":"ep_000073","started_at":"2026-09-08T19:46:29","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.09908878444317115,-0.9043930049273461,0.71338606911949],"aabb_xy":[[-0.13408878271329105,-0.9114671326223343],[-0.06408878617305125,-0.8973188772323579]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.4111612325564098,-0.42620902393435234,0.71338606911949],"aabb_xy":[[0.3611619573879737,-0.4762090252102995],[0.461160507724846,-0.37620902265840517]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.4512676522525445,1.2928304910942345,0.71338606911949],"aabb_xy":[[0.4442273423190076,1.2128304916945634],[0.4583079621860816,1.3728304904939062]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[-0.44387303820125873,-0.6571641521551825,0.71338606911949],"aabb_xy":[[-0.4776485973919517,-0.6712026473683476],[-0.41009747901056576,-0.6431256569420175]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[0.4764319449457737,-1.455727264186507,0.71338606911949],"aabb_xy":[[0.439581397008786,-1.4932272650095408],[0.5132824928827613,-1.4182272633634734]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.5406618697287693,0.7334305581567389,0.71338606911949],"aabb_xy":[[0.5326678811510658,0.7254304780616485],[0.5486558583064726,0.7414306382518292]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.02795923669308098,-2.5264144361874363,0.71338606911949],"aabb_xy":[[-0.09295923933087447,-2.5778940348868833],[0.037040765944712506,-2.4749348374879894]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.19052214060944705,-1.985451090611988,0.71338606911949],"aabb_xy":[[0.16805737063804196,-2.007951091490849],[0.2129869105808522,-1.9629510897331277]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.4724362723978026,-0.9821137485663192,0.71338606911949],"aabb_xy":[[0.43493627397440227,-0.9952779625341497],[0.509936270821203,-0.9689495345984884]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.678866352458592,-2.099424079915513,0.71338606911949],"aabb_xy":[[-0.6882838270284546,-2.108840257053232],[-0.6694488778887291,-2.090007902777794]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.042879581353564955,-1.2954381892162619,0.71338606911949],"aabb_xy":[[-0.055751484854505096,-1.375438189630098],[-0.030007677852624818,-1.2154381888024257]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.5839843453938586,1.3082677211232379,0.71338606911949],"aabb_xy":[[-0.6015310403099775,1.2707677195589866],[-0.5664376504777396,1.3457677226874891]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.2727012811028561,-2.3226593108428992,0.71338606911949],"aabb_xy":[[-0.3367012813768343,-2.372725411040187],[-0.20870128082887784,-2.2725932106456113]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.6311870725764287,0.32206330852565523,0.71338606911949],"aabb_xy":[[-0.646742841986694,0.30651287528124804],[-0.6156313031661634,0.3376137417700624]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.10608334776004369,1.2962878316380388,0.71338606911949],"aabb_xy":[[-0.15590012722487845,1.2462878331537355],[-0.05626656829520893,1.3462878301223422]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.2301034568370628,0.5659367469727554,0.71338606911949],"aabb_xy":[[-0.2410092329246255,0.48593675057392627],[-0.21919768074950008,0.6459367433715846]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.5355181573474613,1.5575663053724083,0.71338606911949],"aabb_xy":[[-0.5544025411159715,1.5386803805920557],[-0.5166337735789511,1.5764522301527613]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.5969274073782684,0.4490439148031573,0.71338606911949],"aabb_xy":[[-0.604188654948676,0.4362569045396478],[-0.5896661598078611,0.4618309250666668]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.17763498952746382,-0.6325685653765512,0.71338606911949],"aabb_xy":[[0.09763499087057784,-0.6470734243008139],[0.2576349881843498,-0.6180637064522884]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[-0.6196735544755703,-1.6214327868067442,0.71338606911949],"aabb_xy":[[-0.6571735547677451,-1.625474262207348],[-0.5821735541833954,-1.617391311406141]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.38634746542414233,-2.191544261862509,0.71338606911949],"aabb_xy":[[0.33135521478863134,-2.2465442636058217],[0.4413397160596533,-2.136544260119196]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.1670759447098641,-1.7286366192903397,0.71338606911949],"aabb_xy":[[0.10548518548587127,-1.7926366173993868],[0.2286667039338569,-1.664636621181293]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[-0.6367307714059393,1.7104451662282387,0.71338606911949],"aabb_xy":[[-0.6428253992940576,1.7018757716765702],[-0.6306361435178209,1.7190145607799077]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.16475502114783802,1.7391735478503763,0.71338606911949],"aabb_xy":[[-0.1822549545818214,1.7216735479301415],[-0.14725508771385465,1.7566735477706106]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.43841665234975075,-0.4495502227759349,0.71338606911949],"aabb_xy":[[-0.4683842092595764,-0.47955022307382067],[-0.4084490954399251,-0.4195502224780492]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[-0.6142071028785312,0.6494439174810989,0.71338606911949],"aabb_xy":[[-0.66368752409249,0.5854439195682472],[-0.5647266816645724,0.7134439153939508]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[-0.05488429023403352,0.7852224462694912,0.71338606911949],"aabb_xy":[[-0.0588447740037679,0.7775545816839705],[-0.05092380646429915,0.7928903108550117]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[0.005091153992065056,-1.5106330067010139,0.71338606911949],"aabb_xy":[[-0.05890884312004063,-1.5596653764954245],[0.06909115110417074,-1.4616006369066032]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[-0.5665664958398483,-1.039574178015282,0.71338606911949],"aabb_xy":[[-0.6515664942572715,-1.124448473477567],[-0.4815664974224251,-0.9546998825529971]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[0.1402651791676347,1.6042772737113462,0.71338606911949],"aabb_xy":[[0.12205935550638705,1.5932518731293548],[0.1584710028288824,1.615302674293338]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_30","position":[-0.5719261670648143,0.17356273045103343,0.71338606911949],"aabb_xy":[[-0.5760421171768869,0.1694471754181879],[-0.5678102169527416,0.1776782854838789]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.637242749809988,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8543.png","name":"8543"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8543.png","name":"8543"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7468.png","name":"7468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9808.png","name":"9808"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4410.png","name":"4410"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3872.png","name":"3872"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":720.3260894111319,"rotation_z_degrees":26.170073001963978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011500724335358937,-0.004959403731429135,0.01982080601243519]},{"name":"camera_2","offset_m":[0.0008641235974427182,0.0046562581823467175,0.01886516423290568]},{"name":"camera_3","offset_m":[0.0019724362036306863,0.015871829438080038,-0.002333507852110995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008234700136027888,0.0018447579221825038,-0.0004836846061995685],"end_effector_yaw_offset_degrees":-0.8810078310598184},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001056499106551681,-0.0006002670648756845,0.0015565280155926944],"end_effector_yaw_offset_degrees":0.7639901702783103},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011677681491273884,-0.0005536471372404512,0.0012188269421167055],"end_effector_yaw_offset_degrees":0.6251235711480192},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0002636601937613223,-0.001649529776101976,0.001960215337325907],"end_effector_yaw_offset_degrees":0.11958126901131538},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00023844139929905458,0.0006420008646247605,-0.00020290114444236227],"end_effector_yaw_offset_degrees":-0.1589952732987736},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007705138342540057,-0.001262228878287763,0.0007156033918773504],"end_effector_yaw_offset_degrees":-0.2828940880486783}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017168886096102288,-0.002003803382848285],"position_m":[0.22848311139038976,0.031696196617151715,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004807898435550535,0.0030689030003348194],"position_m":[0.20489210156444945,-0.3450310969996652,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004063133103293999,0.0007744842143207371],"position_m":[0.296263133103294,0.29227448421432073,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032713024698329384,0.0027827181579585074],"position_m":[0.2702286975301671,-0.11971728184204149,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8026c1e6a512b123bbad09e4bc5f0ad6b31cf8882635afeae4e7114e0ab1a533","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0077.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8543/tex_ceiling_textures_3872/tex_floor_textures_4410/tex_table_textures_7468/tex_wall_textures_9808","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7043849683957353683,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7043849683957353683,"visual_seed":7043849683957353683,"scene_id":"lab_003","finished_at":"2026-09-08T19:54:21"}
+{"episode_id":"ep_000074","started_at":"2026-09-08T19:54:27","dimensions":{"distractor":{"count":32,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.22015472153187576,-0.13865215913205686,0.71338606911949],"aabb_xy":[[-0.3101547212550499,-0.16172551166723667],[-0.13015472180870155,-0.11557880659687701]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.45214558153032874,0.49712383556223383,0.71338606911949],"aabb_xy":[[-0.5371455802224034,0.465137972167355],[-0.3671455828382541,0.5291096989571127]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.11418732412565058,-0.8639081503176582,0.71338606911949],"aabb_xy":[[0.09675660904664407,-0.8811802649815088],[0.1316180392046571,-0.8466360356538072]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[0.45150372163782415,-1.399195348389567,0.71338606911949],"aabb_xy":[[0.42365868485721697,-1.4299798471278786],[0.4793487584184312,-1.3684108496512553]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.0446015746886419,-2.5017214340693807,0.71338606911949],"aabb_xy":[[-0.12460157327596132,-2.5810370360075416],[0.03539842389867753,-2.42240583213122]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.6712338199095325,1.5577034134274048,0.71338606911949],"aabb_xy":[[0.6614778304003585,1.5479408793681704],[0.6809898094187062,1.5674659474866393]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.1685120225321658,-1.4492516884368907,0.71338606911949],"aabb_xy":[[0.16125077496175838,-1.4620386987004002],[0.1757732701025732,-1.4364646781733812]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.36449325518174613,-1.1080550611423137,0.71338606911949],"aabb_xy":[[0.3294932560517904,-1.1138002822179776],[0.39949325431170174,-1.1023098400666493]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.5471274061672788,1.4468223621353,0.71338606911949],"aabb_xy":[[0.5121274078971589,1.4397482344403119],[0.5821274044373987,1.4538964898302882]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.3733519920841172,-0.42534578697086545,0.71338606911949],"aabb_xy":[[-0.40449891092770024,-0.49534578565767257],[-0.342205073240534,-0.3553457882840582]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.3882705853222918,-0.29777789850869274,0.71338606911949],"aabb_xy":[[-0.4107705851361942,-0.30225251487917343],[-0.3657705855083894,-0.29330328213821205]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.23047727890474357,-0.7832425286067644,0.71338606911949],"aabb_xy":[[0.18050398490148306,-0.8332425291613115],[0.28045057290800396,-0.7332425280522168]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.6780877929167652,-1.4040202934433625,0.71338606911949],"aabb_xy":[[0.6405877944933648,-1.417184507411193],[0.7155877913401655,-1.3908560794755316]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.512741882739602,0.032076672172268506,0.71338606911949],"aabb_xy":[[-0.5201543382809904,0.026225461750640555],[-0.5053294271982135,0.037927882593896456]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.6595539905545449,-0.7185928187585304,0.71338606911949],"aabb_xy":[[0.5955539888765474,-0.7671102102378446],[0.7235539922325421,-0.6700754272792162]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.34703708603675865,-2.472019475721418,0.71338606911949],"aabb_xy":[[0.31112358161176895,-2.507932983938172],[0.38295059046174834,-2.4361059675046626]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.5501420299890257,-0.26418877750562464,0.71338606911949],"aabb_xy":[[-0.5876420302812005,-0.2682302529062283],[-0.5126420296968509,-0.26014730210502107]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[0.21645214013756198,-2.2403712454914784,0.71338606911949],"aabb_xy":[[0.20845815155985856,-2.2483713255865685],[0.22444612871526534,-2.2323711653963874]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[0.1233563323307274,-2.4960683466181375,0.71338606911949],"aabb_xy":[[0.10346529245038717,-2.5087241579028348],[0.14324737221106765,-2.483412535333441]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.3386120589318145,-1.4887097776119942,0.71338606911949],"aabb_xy":[[-0.4026120622215226,-1.5320446966159118],[-0.2746120556421064,-1.4453748586080766]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[-0.3523695548733755,0.7037123989884466,0.71338606911949],"aabb_xy":[[-0.36049724306668873,0.694798790577739],[-0.3442418666800623,0.7126260073991543]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.07711207477510462,-2.0917358621741156,0.71338606911949],"aabb_xy":[[-0.012887921725767136,-2.137647504592574],[0.16711207127597635,-2.0458242197556573]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.09578120566371096,-1.8563947476749996,0.71338606911949],"aabb_xy":[[0.025781202272148983,-1.89171052137843],[0.16578120905527294,-1.8210789739715683]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.34807691355611037,0.8113572216718947,0.71338606911949],"aabb_xy":[[0.29044644466883945,0.7513572227451839],[0.4057073824433811,0.8713572205986051]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[0.6480797233356115,-0.4136037494208833,0.71338606911949],"aabb_xy":[[0.6314025873425161,-0.43030367339481357],[0.6647568593287071,-0.396903825446953]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[-0.06174298168997283,1.0936707372349312,0.71338606911949],"aabb_xy":[[-0.14173680526853105,1.01367073464209],[0.01825084188858539,1.173670739827773]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.3065500000968806,-0.8806198993066836,0.71338606911949],"aabb_xy":[[-0.32365207805524876,-0.8977267048379532],[-0.28944792213851245,-0.8635130937754137]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[0.24689425341266036,-0.9784449604613354,0.71338606911949],"aabb_xy":[[0.1828942541184921,-1.0424311008301896],[0.3108942527068286,-0.9144588200924814]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_28","position":[0.40889019074794564,1.7397613932590352,0.71338606911949],"aabb_xy":[[0.3588901897974128,1.7082122462555134],[0.4588901916984784,1.7713105402625562]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_29","position":[-0.2723695882036232,-0.6982907639024236,0.71338606911949],"aabb_xy":[[-0.2816632064407738,-0.7357907623905574],[-0.26307596996647264,-0.6607907654142896]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_30","position":[0.3696506622084459,-2.5633014211733056,0.71338606911949],"aabb_xy":[[0.36260921125769824,-2.5703281729111005],[0.37669211315919343,-2.5562746694355116]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_31","position":[0.23754537381312868,0.5252501187023326,0.71338606911949],"aabb_xy":[[0.22943171913975158,0.5171443022483035],[0.24565902848650578,0.5333559351563617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6344616405534268,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/637.png","name":"637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/637.png","name":"637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2472.png","name":"2472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5770.png","name":"5770"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5909.png","name":"5909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5419.png","name":"5419"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":564.6416918620159,"rotation_z_degrees":106.7536250530233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007710724697888582,-0.009721273669568707,0.017986292413853185]},{"name":"camera_2","offset_m":[0.0144495218601579,-0.008284043084060073,0.014649283184591678]},{"name":"camera_3","offset_m":[-0.005048900694643166,0.0017477849835565093,-0.005292501487394113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010216167493975398,-0.0011803430804268053,-6.800077728911667e-05],"end_effector_yaw_offset_degrees":-0.7110715767378566},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017334199858917636,-0.0017169464535119765,4.077464450538259e-06],"end_effector_yaw_offset_degrees":0.016783184690913888},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014209798392725245,-0.0019448860262459657,-0.0007868252206350399],"end_effector_yaw_offset_degrees":0.31200477532435955},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014540144301032933,-0.0007695916250994857,0.001071425123778419],"end_effector_yaw_offset_degrees":-0.13805694132085766},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00014167479470127012,-0.0018838969218041006,-0.0003356663926726111],"end_effector_yaw_offset_degrees":0.9373406276275584},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001432193396328594,0.0008584443996680494,0.0017294937864541595],"end_effector_yaw_offset_degrees":-0.6349319489389273}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001866340501032222,-0.0009837840043954793],"position_m":[0.2320663405010322,0.03271621599560452,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034662028575158264,-0.001727753115439178],"position_m":[0.20623379714248416,-0.3498277531154392,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0010420729713899492,-0.0023043856335929038],"position_m":[0.29324207297139,0.28919561436640706,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032867644490425915,0.003217503134581465],"position_m":[0.2767867644490426,-0.11928249686541853,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2a7582b555625442f24a3f18847608a1d72dd3c9a93e5e0e462484e50124cb97","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_637/tex_ceiling_textures_5419/tex_floor_textures_5909/tex_table_textures_2472/tex_wall_textures_5770","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7124528086721212147,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7124528086721212147,"visual_seed":7124528086721212147,"scene_id":"lab_003","finished_at":"2026-09-08T20:02:17"}
+{"episode_id":"ep_000075","started_at":"2026-09-08T20:02:24","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[0.5516344144391867,-0.6801592160461609,0.71338606911949],"aabb_xy":[[0.5130887216139858,-0.7187049871023495],[0.5901801072643879,-0.6416134449899723]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.11010315620207878,-2.4025538608139416,0.71338606911949],"aabb_xy":[[0.0926032227680954,-2.4200538607341757],[0.12760308963606215,-2.3850538608937066]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.2823672753526051,-1.8580595852256123,0.71338606911949],"aabb_xy":[[0.2373672738863763,-1.9030594420870932],[0.327367276818834,-1.8130597283641319]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.14089664565299886,0.6709412781286743,0.71338606911949],"aabb_xy":[[-0.1584749478419457,0.6533667885545694],[-0.12331834346405202,0.6885157677027792]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.4171094274994132,0.9815173071339647,0.71338606911949],"aabb_xy":[[-0.467109427075748,0.931536728181859],[-0.36710942792307855,1.0314978860860708]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.0013070205519747358,-2.0738154912138027,0.71338606911949],"aabb_xy":[[-0.013179103563475847,-2.158815490907453],[0.010565062459526375,-1.9888154915201524]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.12949268699815142,1.0337518713564569,0.71338606911949],"aabb_xy":[[0.12156940675940309,1.0112518711184535],[0.13741596723689975,1.0562518715944602]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.5960135654712178,-1.9318074201350282,0.71338606911949],"aabb_xy":[[0.5844445847242812,-1.9568074202519599],[0.6075825462181543,-1.9068074200180964]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.6212451721015277,1.2311336630287224,0.71338606911949],"aabb_xy":[[-0.671244447269964,1.1811336617527755],[-0.5712458969330917,1.2811336643046698]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.09563128828687562,1.7070317922957154,0.71338606911949],"aabb_xy":[[0.04615086707291684,1.6430317943828636],[0.1451117095008344,1.7710317902085673]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.518540226376085,0.6442787882579104,0.71338606911949],"aabb_xy":[[0.484764667185392,0.6302402930447454],[0.552315785566778,0.6583172834710754]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.4467851657845521,0.1875235212744184,0.71338606911949],"aabb_xy":[[-0.4880339768144667,0.1325235217622009],[-0.40553635475463723,0.2425235207866358]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.4295690843912436,1.2207125264131458,0.71338606911949],"aabb_xy":[[-0.4895690842378104,1.163893904220107],[-0.36956908454467685,1.2775311486061844]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.0385661842188737,-0.8805588740509249,0.71338606911949],"aabb_xy":[[0.031322418172628375,-0.9605588722545272],[0.045809950265119026,-0.8005588758473224]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.36609070971542157,-1.9991923707742942,0.71338606911949],"aabb_xy":[[-0.3835907099604709,-2.0166921586138606],[-0.34859070947037213,-1.9816925829347272]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.45825331441820344,-1.0358661539755634,0.71338606911949],"aabb_xy":[[-0.5282533162269489,-1.057219922739751],[-0.388253312609458,-1.0145123852113762]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[0.13739323756648225,-0.7743153999387931,0.71338606911949],"aabb_xy":[[0.12926554937316903,-0.7832290083495008],[0.14552092575979547,-0.7654017915280855]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[0.39556425295736886,-0.5139132943182552,0.71338606911949],"aabb_xy":[[0.3580642524600106,-0.5178819778663736],[0.4330642534547271,-0.5099446107701368]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.5512259721287935,1.0424859015961028,0.71338606911949],"aabb_xy":[[-0.5862259703989134,1.0354117739011144],[-0.5162259738586736,1.0495600292910907]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.2612082745481945,-0.8922420525036239,0.71338606911949],"aabb_xy":[[0.2420959671902156,-0.9113768313808659],[0.2803205819061733,-0.8731072736263819]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.31353555233101216,0.5558307088045629,0.71338606911949],"aabb_xy":[[0.29843325086999395,0.5407291871735009],[0.32863785379203014,0.5709322304356246]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[-0.3849233346389913,1.5861249495930854,0.71338606911949],"aabb_xy":[[-0.39752603377606777,1.5735295533682199],[-0.37232063550191485,1.5987203458179509]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.5305778650064239,-1.965489330566223,0.71338606911949],"aabb_xy":[[-0.5504689048867641,-1.97814514185092],[-0.5106868251260837,-1.9528335192815263]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[-0.5935146972969259,1.5136074921119547,0.71338606911949],"aabb_xy":[[-0.6285146986484075,1.4932477561551338],[-0.558514695945444,1.5339672280687755]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[0.1425492434171054,-1.001991290507237,0.71338606911949],"aabb_xy":[[0.13130418784648756,-1.013233088231332],[0.15379429898772323,-0.9907494927831415]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[0.028846289191380547,1.4939175959983522,0.71338606911949],"aabb_xy":[[-0.021153711759152264,1.4623684489948308],[0.07884629014191336,1.5254667430018736]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[-0.03741842673601359,1.1649610504631447,0.71338606911949],"aabb_xy":[[-0.06606775909642981,1.1363154911860687],[-0.008769094375597357,1.1936066097402203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.634209173815399,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6588.png","name":"6588"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6588.png","name":"6588"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9052.png","name":"9052"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7465.png","name":"7465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2132.png","name":"2132"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":737.5016312753974,"rotation_z_degrees":254.0273749152355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002937873076384677,0.012983935625007072,-0.01636846790685089]},{"name":"camera_2","offset_m":[0.01995064169786229,-0.01647715680430571,-0.0018027172261669937]},{"name":"camera_3","offset_m":[-0.011953256266666492,0.002679483276200892,0.002121990832728432]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00046416599001618264,-0.0019700652068522567,0.0008640130816264537],"end_effector_yaw_offset_degrees":-0.9046742496900257},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009951218040768583,-0.0016880602982566502,-0.0006120537111775465],"end_effector_yaw_offset_degrees":-0.9867251130359547},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014395031488997783,-0.0004553808224562186,-0.0006676750878603309],"end_effector_yaw_offset_degrees":-0.6212560838733252},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001696926697194737,0.0005836582443142346,-0.0008125986208407752],"end_effector_yaw_offset_degrees":0.741197424800303},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018590011019095555,-0.0005666312295604325,-0.0009637676493882391],"end_effector_yaw_offset_degrees":-0.28761995839897114},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00044533994879867754,-0.0012565218407353568,0.00048500709353222187],"end_effector_yaw_offset_degrees":0.6443551093267674}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023296465510850616,-0.0029486892176676873],"position_m":[0.22787035344891493,0.030751310782332314,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004189033384808336,-0.0023622849166624817],"position_m":[0.20551096661519166,-0.3504622849166625,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00034767446937894464,0.001223505308203544],"position_m":[0.29185232553062107,0.2927235053082035,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037040010649693087,0.0027952064702635275],"position_m":[0.27720400106496934,-0.11970479352973647,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1c67d90cf447a408521fc89c98f277dba83398a718326f5d575a5c3998af3a0b","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6588/tex_ceiling_textures_2132/tex_floor_textures_7465/tex_table_textures_5374/tex_wall_textures_9052","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7319661890719021965,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7319661890719021965,"visual_seed":7319661890719021965,"scene_id":"lab_003","finished_at":"2026-09-08T20:10:02"}
+{"episode_id":"ep_000076","started_at":"2026-09-08T20:10:10","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.3088621976459984,0.5171938253916006,0.71338606911949],"aabb_xy":[[0.24486219435629028,0.4738589063876831],[0.3728622009357065,0.5605287443955183]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[-0.04033804430144439,-2.485010817909338,0.71338606911949],"aabb_xy":[[-0.052210127312945505,-2.5700108176029883],[-0.028465961289943283,-2.4000108182156876]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.009842037293914196,-1.5643830019827227,0.71338606911949],"aabb_xy":[[-0.07015796377920613,-1.574161048320107],[0.08984203836703453,-1.554604955645338]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.5072116329728362,1.5326921884454223,0.71338606911949],"aabb_xy":[[-0.5422116321656544,1.5217251424477594],[-0.47221163378001785,1.5436592344430844]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[-0.2897414895983134,1.5512685373224389,0.71338606911949],"aabb_xy":[[-0.3142551136953193,1.5270039440204024],[-0.26522786550130756,1.5755331306244753]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[-0.31752189148356746,-1.4940900970326287,0.71338606911949],"aabb_xy":[[-0.3263239467925401,-1.5019014231875578],[-0.3087198361745947,-1.4862787708776997]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.4107922424049914,-0.6132211552210458,0.71338606911949],"aabb_xy":[[-0.4457922407156868,-0.6209361701445913],[-0.3757922440942959,-0.6055061402975]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[-0.11033105277220223,-0.9807740212919689,0.71338606911949],"aabb_xy":[[-0.18033105540878858,-1.0008788862878342],[-0.04033105013561589,-0.9606691562961032]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.1346841951695179,-2.018613337888415,0.71338606911949],"aabb_xy":[[0.11758211721114975,-2.0357201434196845],[0.15178627312788606,-2.001506532357145]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.29934510554706806,0.39447545601635703,0.71338606911949],"aabb_xy":[[-0.3893451092239861,0.33304304943925267],[-0.20934510187014976,0.45590786259346133]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.562707979551212,0.16887663328330182,0.71338606911949],"aabb_xy":[[0.5292288122901712,0.13539751991219484],[0.596187146812253,0.20235574665440886]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.31600697657503074,-0.2144227284968534,0.71338606911949],"aabb_xy":[[-0.38100697768097397,-0.2393881015649817],[-0.2510069754690874,-0.1894573554287251]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.4340203965752769,0.2596783850509756,0.71338606911949],"aabb_xy":[[-0.44377638608445075,0.24991585099174118],[-0.42426440706610297,0.26944091911021006]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.3489441700894569,-2.0937733720064635,0.71338606911949],"aabb_xy":[[0.2989667532242033,-2.143773373495712],[0.39892158695471047,-2.043773370517215]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.38426750594387693,1.0405586449129216,0.71338606911949],"aabb_xy":[[0.3579786816234362,1.0142872112582704],[0.41055633026431754,1.0668300785675728]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[0.01813112080293966,-0.7831467702984565,0.71338606911949],"aabb_xy":[[-0.02463558607648053,-0.8471467737202589],[0.06089782768235985,-0.719146766876654]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.49896920983079135,-1.2849957404456311,0.71338606911949],"aabb_xy":[[-0.5069954804614175,-1.2937472354229838],[-0.49094293920016546,-1.2762442454682785]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.3315950962434975,-1.2722586343082722,0.71338606911949],"aabb_xy":[[0.28161086053532025,-1.3222586331217678],[0.3815793319516747,-1.2222586354947766]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.23626283343622,1.2107184056063947,0.71338606911949],"aabb_xy":[[0.1562690098576618,1.130718403013553],[0.31625665701477823,1.2907184081992362]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.5055214606943286,0.770579237286817,0.71338606911949],"aabb_xy":[[-0.5430214608662004,0.7378785019039096],[-0.4680214605224565,0.803279972669724]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.6369958703717149,-0.4557660428235861,0.71338606911949],"aabb_xy":[[-0.6536730063648104,-0.4724659667975164],[-0.6203187343786194,-0.43906611884965585]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.2234339377128607,0.6943930909325124,0.71338606911949],"aabb_xy":[[0.2045495539443505,0.6755071661521597],[0.24231832148137092,0.7132790157128652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.637536484002576,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9950.png","name":"9950"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9950.png","name":"9950"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2184.png","name":"2184"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9043.png","name":"9043"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5214.png","name":"5214"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1654.png","name":"1654"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":603.1140558666599,"rotation_z_degrees":215.129783724243,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010831326119383866,0.0024454692549786515,0.013029750831249676]},{"name":"camera_2","offset_m":[-0.010517240973284837,-0.00010790573614566021,-0.007467309137400848]},{"name":"camera_3","offset_m":[0.001073394903315164,-0.004768244656830536,0.004743669444939792]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007328246775010327,0.0017649948860487606,-0.0008545459754667774],"end_effector_yaw_offset_degrees":-0.27654578195460666},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011495129510397449,-0.0009881086866247953,0.0009653308808137574],"end_effector_yaw_offset_degrees":-0.6439629603920323},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015590657910040378,-0.0019761455202653975,-0.00021319973816729797],"end_effector_yaw_offset_degrees":-0.36012937678877877},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017664695925273958,0.0018225706684282914,-0.0012879955347332404],"end_effector_yaw_offset_degrees":0.9709559939925259},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0002835763770266792,0.0008773623462678499,0.0015980462941052325],"end_effector_yaw_offset_degrees":0.5220035113134183},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006163269148453474,0.0001229722481638552,-0.0004579683885341183],"end_effector_yaw_offset_degrees":0.624113398404271}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004106060157548321,-0.0008775673506874037],"position_m":[0.22609393984245166,0.032822432649312595,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002752165039446892,0.0021674890961631502],"position_m":[0.2124521650394469,-0.34593251090383687,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0024784170182914024,-0.00445218023962062],"position_m":[0.2946784170182914,0.28704781976037935,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033635926547174897,-0.00142901194061842],"position_m":[0.27013640734528255,-0.12392901194061842,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"65483f46ee53c8254b02c510e53a695c63141fa4bf9b7fb1975d6fa255890ee8","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9950/tex_ceiling_textures_1654/tex_floor_textures_5214/tex_table_textures_2184/tex_wall_textures_9043","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8210057482780859327,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8210057482780859327,"visual_seed":8210057482780859327,"scene_id":"lab_003","finished_at":"2026-09-08T20:18:20"}
+{"episode_id":"ep_000077","started_at":"2026-09-08T20:27:14","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.1292640678545215,-2.3265697567002874,0.71338606911949],"aabb_xy":[[-0.19326406811499228,-2.371578556053215],[-0.06526406759405066,-2.281560957347359]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.27616629294428385,1.6739642066077853,0.71338606911949],"aabb_xy":[[-0.2940354006987393,1.660131298630574],[-0.2582971851898283,1.6877971145849961]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.03027687688867642,-1.7574763317964395,0.71338606911949],"aabb_xy":[[-0.08037434086975004,-1.821476332306251],[0.019820587092397198,-1.6934763312866274]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.023193331716265586,1.3482280689910535,0.71338606911949],"aabb_xy":[[-0.02679090399191164,1.298228070177558],[0.07317756742444281,1.3982280678045491]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[0.1715128858716225,-1.7627771803673271,0.71338606911949],"aabb_xy":[[0.13401288569975053,-1.7954779157502343],[0.2090128860434944,-1.73007644498442]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[-0.6631524186025022,-1.3794518889085274,0.71338606911949],"aabb_xy":[[-0.6765989452365455,-1.3929217405616188],[-0.6497058919684588,-1.3659820372554365]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.4767147555403872,-1.997527525811822,0.71338606911949],"aabb_xy":[[-0.48686777109453644,-2.0335970673845614],[-0.4665617399862377,-1.961457984239081]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.22804133742234078,0.20276080340359037,0.71338606911949],"aabb_xy":[[-0.24237576254850424,0.19070058784905156],[-0.21370691229617733,0.21482101895812925]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.41285322663642887,-0.21689036537771678,0.71338606911949],"aabb_xy":[[0.40654112710009044,-0.2226573046309356],[0.4191653261727673,-0.21112342612449794]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.3331875997907876,-1.7227789513742016,0.71338606911949],"aabb_xy":[[0.31068846406456063,-1.7452789521524645],[0.3556867355170146,-1.7002789505959386]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[0.29083395790569944,1.2913847232226439,0.71338606911949],"aabb_xy":[[0.26955594976222713,1.2263847208965708],[0.31211196604917163,1.356384725548717]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.2747266443885984,-0.5486682917997117,0.71338606911949],"aabb_xy":[[0.194726646985005,-0.6286608629978944],[0.3547266417921918,-0.4686757206015288]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.48122508575811673,-1.7278640165805468,0.71338606911949],"aabb_xy":[[-0.545225085052285,-1.7918501569494012],[-0.4172250864639485,-1.6638778762116928]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.05581924992764442,-0.22672049926153592,0.71338606911949],"aabb_xy":[[-0.062320886435649044,-0.23648832128784575],[-0.04931761341963981,-0.2169526772352262]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.36456724123813117,1.1857459615283994,0.71338606911949],"aabb_xy":[[-0.3870320112095363,1.163245960649539],[-0.34210247126672605,1.20824596240726]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.4906131702894305,-1.9980237390494535,0.71338606911949],"aabb_xy":[[0.4266131717028581,-2.0450307024489622],[0.554613168876003,-1.9510167756499448]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.6086425159341461,0.9017835374401417,0.71338606911949],"aabb_xy":[[-0.6886425191919889,0.8217870296481579],[-0.528642512676303,0.9817800452321258]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[-0.17901152503436157,-1.71370861037415,0.71338606911949],"aabb_xy":[[-0.22899447522184088,-1.76370861001671],[-0.1290285748468822,-1.6637086107315893]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.45145468690858714,-1.304718506714376,0.71338606911949],"aabb_xy":[[0.4416986973994132,-1.3144810407736103],[0.461210676417761,-1.2949559726551414]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.4197849694536948,-1.7615538695340824,0.71338606911949],"aabb_xy":[[0.4110710004037602,-1.7840538701932704],[0.4284989385036292,-1.739053868874894]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.46222654156411613,-1.1872904680402308,0.71338606911949],"aabb_xy":[[-0.47932861952248434,-1.2043972735715005],[-0.44512446360574803,-1.170183662508961]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6371714137753219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1112.png","name":"1112"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1112.png","name":"1112"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4549.png","name":"4549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5459.png","name":"5459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8188.png","name":"8188"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5064.png","name":"5064"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":612.9235742390912,"rotation_z_degrees":312.93397333979397,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00449265676699092,-0.004476780722791073,0.014143156268785439]},{"name":"camera_2","offset_m":[-0.014983191954556148,0.007600363704253866,0.006171103214630953]},{"name":"camera_3","offset_m":[-0.01673009437616696,0.013327143194520972,0.017076206212596586]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005062506852284267,-0.0009012513301912915,0.0012021718364802801],"end_effector_yaw_offset_degrees":-0.6959128501610945},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018209010637226424,9.777757436041454e-05,-0.0017339717276966535],"end_effector_yaw_offset_degrees":-0.43072495400380717},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010009843334547897,0.0016431032184626299,-5.551319927530598e-05],"end_effector_yaw_offset_degrees":-0.6046000466281483},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016568352468943224,0.0012523032024938552,0.0013479129749185748],"end_effector_yaw_offset_degrees":-0.944788314460129},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[7.907441346791068e-05,0.0005193463962330069,0.0017391507020030447],"end_effector_yaw_offset_degrees":-0.2097714469921692},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0003750614041372652,0.0009436058682550166,-0.001998328530399046],"end_effector_yaw_offset_degrees":-0.7041411531022304}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006490925764458463,-0.002293662317047427],"position_m":[0.23084909257644584,0.031406337682952576,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003268930563015425,0.00406345137911981],"position_m":[0.2129689305630154,-0.34403654862088023,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004259247419484926,0.00023844345662850635],"position_m":[0.29645924741948493,0.29173844345662847,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002136845501985768,0.0018649995979802634],"position_m":[0.27136315449801424,-0.12063500040201973,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0efb5e5d5838cdf0403f3fb2355598234d39ee9120362ddb71d5e07f903f8769","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1112/tex_ceiling_textures_5064/tex_floor_textures_8188/tex_table_textures_4549/tex_wall_textures_5459","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7444932489049453725,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7444932489049453725,"visual_seed":7444932489049453725,"scene_id":"lab_003","finished_at":"2026-09-08T20:35:10"}
+{"episode_id":"ep_000078","started_at":"2026-09-08T20:35:17","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.5161377450171183,-1.759543839355366,0.71338606911949],"aabb_xy":[[0.43613774454690235,-1.7678545469697142],[0.5961377454873342,-1.7512331317410177]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_1","position":[0.3485904189211426,-0.6030759952501616,0.71338606911949],"aabb_xy":[[0.2845904216187962,-0.6474424222180184],[0.412590416223489,-0.5587095682823049]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[0.33179258071428896,-1.0327577687354503,0.71338606911949],"aabb_xy":[[0.3226327017704124,-1.0392889867789874],[0.3409524596581656,-1.0262265506919133]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.5798236911697165,-0.5361672735794607,0.71338606911949],"aabb_xy":[[0.5719004109309682,-0.5586672738174641],[0.5877469714084649,-0.5136672733414573]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.2673133272071899,-1.5591495057836366,0.71338606911949],"aabb_xy":[[0.24347710956658486,-1.6491495065921231],[0.291149544847795,-1.46914950497515]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.2852982492918589,-1.0290287165533858,0.71338606911949],"aabb_xy":[[-0.3227982493974518,-1.0358508784063667],[-0.2477982491862659,-1.0222065547004044]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.6447440740445387,-0.2492143726973799,0.71338606911949],"aabb_xy":[[-0.6484473353736775,-0.2529163910060977],[-0.6410408127153997,-0.245512354388662]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.5521344292785259,1.505731073060653,0.71338606911949],"aabb_xy":[[-0.5699279362134423,1.4879313274648551],[-0.5343409223436094,1.5235308186564505]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[-0.34213233831193013,-1.1320474399229536,0.71338606911949],"aabb_xy":[[-0.3474648529665431,-1.1373717681681892],[-0.33679982365731714,-1.126723111677718]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.5079803004479806,0.8338645431125657,0.71338606911949],"aabb_xy":[[-0.5255586026369274,0.8162900535384608],[-0.49040199825903374,0.8514390326866706]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.14897859190989937,-2.5081663227855775,0.71338606911949],"aabb_xy":[[0.11397859363977944,-2.5152404504805657],[0.18397859018001925,-2.5010921950905893]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.491047755489286,-0.6117769871750021,0.71338606911949],"aabb_xy":[[-0.5089168632437415,-0.625609895152213],[-0.4731786477348305,-0.5979440791977911]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.5993000849866872,0.6772163735826267,0.71338606911949],"aabb_xy":[[-0.649300084563022,0.6272357946305208],[-0.5493000854103526,0.7271969525347327]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.08509560572822739,-1.5177146620646345,0.71338606911949],"aabb_xy":[[-0.09250806126961586,-1.5235658724862626],[-0.07768315018683891,-1.5118634516430067]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.37038106134262744,1.2603323625973974,0.71338606911949],"aabb_xy":[[-0.4053810596533229,1.2526173476738516],[-0.335381063031932,1.2680473775209429]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.3056832522591683,-2.1372896269882906,0.71338606911949],"aabb_xy":[[-0.35566066912442185,-2.1872896284775387],[-0.25570583539391467,-2.0872896254990416]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.41377173770357956,-1.889981016771122,0.71338606911949],"aabb_xy":[[-0.45127173764734596,-1.8982741068059583],[-0.37627173775981315,-1.8816879267362852]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.6612992972892382,-1.389264428438856,0.71338606911949],"aabb_xy":[[0.6134931296754695,-1.454264431145915],[0.7091054649030069,-1.324264425731797]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.32463975954152136,-1.270842307092701,0.71338606911949],"aabb_xy":[[0.27482298007668665,-1.3208423055770044],[0.37445653900635617,-1.2208423086083977]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.11657057263064141,0.7024813757447865,0.71338606911949],"aabb_xy":[[-0.1664532695083376,0.6524813764985118],[-0.06668787575294521,0.7524813749910614]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[0.40231371686351824,-1.116492445858172,0.71338606911949],"aabb_xy":[[0.3847670219473993,-1.1539924474224232],[0.4198604117796372,-1.0789924442939207]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.4036430352634699,0.4328731226428997,0.71338606911949],"aabb_xy":[[0.3536482023355283,0.38287312374765614],[0.4536378681914115,0.4828731215381432]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_22","position":[-0.4760707412647344,-1.080924129561272,0.71338606911949],"aabb_xy":[[-0.48331450731097964,-1.1609241277648743],[-0.468826975218489,-1.0009241313576696]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.4934588902111843,-2.1191091870868672,0.71338606911949],"aabb_xy":[[0.43848516817485134,-2.1741091866511004],[0.5484326122475172,-2.064109187522634]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.639302768104861,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/501.png","name":"501"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/501.png","name":"501"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5207.png","name":"5207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9181.png","name":"9181"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6195.png","name":"6195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4721.png","name":"4721"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":765.2039958039798,"rotation_z_degrees":179.32003080190353,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004509598744469403,-0.0005246578330101587,0.006590691088034152]},{"name":"camera_2","offset_m":[-0.003288251676493683,0.006892365497860108,0.0012141839331368497]},{"name":"camera_3","offset_m":[-0.01484711616229069,0.005288067137186995,-0.0016855984519918363]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018504919628356104,-8.374161254072108e-05,-0.00013558092790798022],"end_effector_yaw_offset_degrees":-0.6577124355458364},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001543892097016233,-0.0014587582772694007,-0.0012039646056098503],"end_effector_yaw_offset_degrees":-0.8257285518873483},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00014808284327804257,0.00042318117571529855,0.0016837857006756292],"end_effector_yaw_offset_degrees":0.10755280938660516},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001056896118956066,-0.0009369570250520925,0.00012597435053100488],"end_effector_yaw_offset_degrees":0.5232074970538019},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005542538741544023,0.0007654606408516334,-0.0003603918795534709],"end_effector_yaw_offset_degrees":-0.14209647868221786},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003975261619485538,-0.0010974743494341598,-0.0012253490656476945],"end_effector_yaw_offset_degrees":0.9286832080793324}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019059303011485932,-0.0007862684571305154],"position_m":[0.2321059303011486,0.03291373154286949,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049226665456483356,0.002274647732208421],"position_m":[0.21462266654564832,-0.3458253522677916,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0032191562724113503,-0.0033972936157007695],"position_m":[0.2954191562724114,0.2881027063842992,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002787506339262268,0.0024078093531022153],"position_m":[0.27071249366073774,-0.12009219064689779,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2600a34e661a8bafc979d3be7ea45aafff8adab0d0906b8d37fc12d90fdd8e80","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_501/tex_ceiling_textures_4721/tex_floor_textures_6195/tex_table_textures_5207/tex_wall_textures_9181","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":7575672454542833877,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":7575672454542833877,"visual_seed":7575672454542833877,"scene_id":"lab_003","finished_at":"2026-09-08T20:43:11"}
+{"episode_id":"ep_000079","started_at":"2026-09-08T20:43:19","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[-0.6582135149021521,1.1016736587027625,0.71338606911949],"aabb_xy":[[-0.681129227787202,1.0787693615663392],[-0.6352978020171022,1.1245779558391862]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[0.49076244861370677,-0.9350225539683421,0.71338606911949],"aabb_xy":[[0.4107624483400998,-1.0079721017940586],[0.5707624488873138,-0.8620730061426253]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[-0.018432563570080718,-0.9407028354160791,0.71338606911949],"aabb_xy":[[-0.04297877919283144,-0.9709517319651161],[0.00611365205267,-0.910453938867042]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[0.6740566580888754,0.3634909453522992,0.71338606911949],"aabb_xy":[[0.6692130633276454,0.3586392928733151],[0.6789002528501054,0.3683425978312833]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.1916909472198195,0.5991546369406975,0.71338606911949],"aabb_xy":[[-0.24166975573013538,0.5491546369349786],[-0.1417121387095036,0.6491546369464162]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[0.5803885696803299,1.617174467870894,0.71338606911949],"aabb_xy":[[0.5382041555194993,1.553174467593683],[0.6225729838411608,1.6811744681481053]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.2554075382709541,1.3068783084978652,0.71338606911949],"aabb_xy":[[0.2473641783449989,1.2218783074024988],[0.26345089819690926,1.3918783095932317]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.6095141564098251,-0.06856301074023641,0.71338606911949],"aabb_xy":[[-0.6319789263812302,-0.09106301161909691],[-0.58704938643842,-0.0460630098613759]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.6598111150745629,-0.9272502512433176,0.71338606911949],"aabb_xy":[[-0.6932902823356039,-0.9607293646144247],[-0.626331947813522,-0.8937711378722107]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.15833229411487004,0.7082303393010858,0.71338606911949],"aabb_xy":[[-0.16229277788460444,0.7005624747155652],[-0.1543718103451357,0.7158982038866064]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.6528126007261734,-1.8968177171079952,0.71338606911949],"aabb_xy":[[0.6337002933681946,-1.9159524959852372],[0.6719249080841523,-1.8776829382307532]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.5125591077416082,-2.3992901718918125,0.71338606911949],"aabb_xy":[[-0.5625324017448686,-2.44929017244636],[-0.46258581373834773,-2.349290171337265]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.36204434642386235,0.2233252870413196,0.71338606911949],"aabb_xy":[[-0.3995443462408959,0.2186870757301777],[-0.3245443466068288,0.22796349835246144]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.62882703218297,-1.6658857856564975,0.71338606911949],"aabb_xy":[[-0.6447115254482951,-1.6802387259553215],[-0.6129425389176448,-1.6515328453576734]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.21502994972355632,-2.432517854802188,0.71338606911949],"aabb_xy":[[-0.30502994944673045,-2.4555912073373674],[-0.1250299500003821,-2.4094445022670077]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[-0.5025284300078317,0.00513359896176091,0.71338606911949],"aabb_xy":[[-0.50862305789595,-0.0034357955899078085],[-0.49643380211971333,0.013702993513429629]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.37011426841364337,0.38897266099098404,0.71338606911949],"aabb_xy":[[-0.3820470027754715,0.3765905081831247],[-0.35818153405181535,0.4013548137988434]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.04618575794647606,-1.630165293098289,0.71338606911949],"aabb_xy":[[-0.001620409667292592,-1.6951652958053476],[0.09399192556024469,-1.5651652903912296]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[-0.27615850445811047,1.1112737637044816,0.71338606911949],"aabb_xy":[[-0.340158503044683,1.064266800304973],[-0.21215850587153806,1.1582807271039903]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.525486588721936,1.4548576862379705,0.71338606911949],"aabb_xy":[[0.5054281771086956,1.4347925993288133],[0.5455450003351762,1.4749227731471282]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[-0.4723319106261532,0.7670964348682539,0.71338606911949],"aabb_xy":[[-0.4899647462196808,0.7494734888526308],[-0.45469907503262563,0.7847193808838767]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[0.5380977010951735,-2.5232078407835954,0.71338606911949],"aabb_xy":[[0.4730977025381008,-2.5529603741974776],[0.6030976996522465,-2.4934553073697123]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.6363677554006602,-1.4487392825972256,0.71338606911949],"aabb_xy":[[0.5723677551266819,-1.4988053827945134],[0.7003677556746384,-1.3986731823999374]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[0.16064137583683824,-1.5595958820257596,0.71338606911949],"aabb_xy":[[0.13814137582668995,-1.5736921016653627],[0.18314137584698653,-1.545499662386156]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6384911851384248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3839.png","name":"3839"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8492.png","name":"8492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6716.png","name":"6716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8709.png","name":"8709"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":763.7644791332832,"rotation_z_degrees":123.33436450702396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005421220091918939,0.0036612023746974177,0.018355252950621275]},{"name":"camera_2","offset_m":[-0.01833270729887249,-0.010089791961154747,-0.007523622390566729]},{"name":"camera_3","offset_m":[0.0027998060138563347,0.011147575194510782,0.005053676419586383]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001896288176511228,0.0009889933070402574,-0.0018172653159800546],"end_effector_yaw_offset_degrees":0.8985973234548799},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011272477073513403,0.0017453432133359465,-0.0018319738059126545],"end_effector_yaw_offset_degrees":-0.3878659590699982},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006932724277537148,0.00102701991077473,-0.00033664227426695535],"end_effector_yaw_offset_degrees":-0.4171707555323856},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006339873906974396,0.0003989279578993383,0.0012912686589503556],"end_effector_yaw_offset_degrees":-0.8341352501641637},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014496068619925713,0.000542845862153145,-0.0007978273145788975],"end_effector_yaw_offset_degrees":-0.4290208116840808},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006951183427428942,0.0019659725615781805,-0.001761295713554885],"end_effector_yaw_offset_degrees":0.7244695035399851}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002584542330483783,-0.00427696594518219],"position_m":[0.23278454233048376,0.02942303405481781,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025705526633577613,0.00013164618078048175],"position_m":[0.21227055266335776,-0.34796835381921953,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[9.885578111097117e-05,-0.0038616782921414936],"position_m":[0.292298855781111,0.28763832170785847,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016602339995296488,0.004636053996182161],"position_m":[0.27516023399952966,-0.11786394600381783,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b1f87f3c4a491cdf8048d4fd6b1e7af7e186984268134dd85cce310822d29e61","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4841/tex_ceiling_textures_8709/tex_floor_textures_6716/tex_table_textures_3839/tex_wall_textures_8492","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":8244523446980026324,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":8244523446980026324,"visual_seed":8244523446980026324,"scene_id":"lab_003","finished_at":"2026-09-08T20:51:06"}
+{"episode_id":"ep_000080","started_at":"2026-09-08T20:51:14","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.6398254226984215,1.4040310350121534,0.71338606911949],"aabb_xy":[[0.6285803671278036,1.392789237288058],[0.6510704782690393,1.4152728327362485]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[0.7068954866736088,0.0005059497948147751,0.71338606911949],"aabb_xy":[[0.6994830311322203,-0.005345260626813175],[0.7143079422149973,0.0063571602164427254]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[0.1441124662551697,-0.9388958655815243,0.71338606911949],"aabb_xy":[[0.13150976711809323,-0.9514912618063898],[0.15671516539224614,-0.9263004693566588]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.6561709424392591,-1.8296153597256715,0.71338606911949],"aabb_xy":[[-0.6642072771405438,-1.837653479030088],[-0.6481346077379742,-1.8215772404212545]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.2069563728624152,-1.090557436585845,0.71338606911949],"aabb_xy":[[0.14295637646684212,-1.1545207250045784],[0.27095636925798827,-1.0265941481671113]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.5469309294073749,-1.5047265313952003,0.71338606911949],"aabb_xy":[[-0.5644776243234938,-1.5422265329594516],[-0.5293842344912559,-1.467226529830949]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.4944847886964645,-0.3978461284199639,0.71338606911949],"aabb_xy":[[-0.5584847889569353,-0.4428549277728919],[-0.4304847884359937,-0.3528373290670359]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.5176287508478579,-1.3365391859173466,0.71338606911949],"aabb_xy":[[0.472628749381629,-1.3815390427788274],[0.5626287523140867,-1.291539329055866]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.38154690833437765,1.0676252184025872,0.71338606911949],"aabb_xy":[[0.3265469087126318,1.0126415256151147],[0.4365469079561235,1.1226089111900601]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.28823468888462855,-2.474831991837581,0.71338606911949],"aabb_xy":[[-0.35323469152242204,-2.5263115905370284],[-0.22323468624683507,-2.4233523931381344]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[0.4749483809213444,-1.1058328155090993,0.71338606911949],"aabb_xy":[[0.4381537477964381,-1.1427386906056816],[0.5117430140462507,-1.068926940412517]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.24273357424368103,1.075108609461493,0.71338606911949],"aabb_xy":[[-0.25208058182597626,1.060804987243849],[-0.23338656666138577,1.089412231679137]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.13395361139175987,1.186033605669881,0.71338606911949],"aabb_xy":[[0.08397619452650627,1.1360336041806323],[0.18393102825701343,1.2360336071591294]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.1560950256303676,-1.242392014028923,0.71338606911949],"aabb_xy":[[-0.2032244046322032,-1.3063920150733248],[-0.10896564662853186,-1.178392012984521]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.3268094850045656,0.16214855969219277,0.71338606911949],"aabb_xy":[[-0.39680948713599506,0.1393865940664971],[-0.256809482873136,0.1849105253178884]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.552758578614992,-1.3440499424577794,0.71338606911949],"aabb_xy":[[-0.5806036153955991,-1.374834441196091],[-0.5249135418343849,-1.3132654437194677]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_16","position":[-0.5234230459512363,0.021332962670046918,0.71338606911949],"aabb_xy":[[-0.5484230458837542,0.014450294449123605],[-0.49842304601871845,0.028215630890970237]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.29781036048940523,-2.243502867053518,0.71338606911949],"aabb_xy":[[0.23381035814660364,-2.2884437182976507],[0.36181036283220674,-2.1985620158093857]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[0.593205099946114,-0.5923987150138965,0.71338606911949],"aabb_xy":[[0.5557051001290805,-0.5970369263250384],[0.6307050997631476,-0.5877605037027547]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.4396568684369859,-1.6393853155215314,0.71338606911949],"aabb_xy":[[0.38564127215508587,-1.7033853184137884],[0.4936724647188859,-1.575385312629274]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.13014829624292867,0.16164764027023937,0.71338606911949],"aabb_xy":[[-0.16358847143894825,0.12820401443930923],[-0.09670812104690905,0.1950912661011694]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.20998667422364448,-0.7398096884854826,0.71338606911949],"aabb_xy":[[-0.2386360065840607,-0.7684552477625584],[-0.18133734186322825,-0.7111641292084068]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.604778814148272,0.9304294852933621,0.71338606911949],"aabb_xy":[[0.5548961172705758,0.8804294860470874],[0.6546615110259681,0.9804294845396369]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.46775500152449623,-2.3569211660382963,0.71338606911949],"aabb_xy":[[0.4027550033685771,-2.3832174105882085],[0.5327549996804153,-2.330624921488384]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[-0.018161999928478778,-1.7863827322499626,0.71338606911949],"aabb_xy":[[-0.05316199990497461,-1.7958473482975792],[0.01683800004801705,-1.776918116202346]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[0.6106849252810911,-2.142044004739882,0.71338606911949],"aabb_xy":[[0.5269626997810085,-2.2320440082745776],[0.6944071507811734,-2.0520440012051857]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[-0.6328265393155719,0.7492201441974031,0.71338606911949],"aabb_xy":[[-0.6573727549383225,0.7189712476483662],[-0.608280323692821,0.7794690407464403]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[0.21087457583076552,-0.8098141212780416,0.71338606911949],"aabb_xy":[[0.14687457415276814,-0.8583315127573559],[0.2748745775087629,-0.7612967297987274]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[-0.25114415860338885,0.8318265491285906,0.71338606911949],"aabb_xy":[[-0.2599253857506251,0.8230468018400606],[-0.24236293145615267,0.8406062964171209]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6384231504454857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3357.png","name":"3357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3357.png","name":"3357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5885.png","name":"5885"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3836.png","name":"3836"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2120.png","name":"2120"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1111.png","name":"1111"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":534.3857161589109,"rotation_z_degrees":347.4064659852974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009603061282747044,0.018381435732946507,-0.018778238867693853]},{"name":"camera_2","offset_m":[-0.00824927367884675,-0.012390311471128821,0.010810263268278258]},{"name":"camera_3","offset_m":[-0.0190747622528916,0.018377462662048153,-0.017182839748892897]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014908294087229326,0.00027552599950996046,0.0005965228227845253],"end_effector_yaw_offset_degrees":-0.8033830110068514},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012832130722159056,0.0010901268832759496,-0.00025924325170366067],"end_effector_yaw_offset_degrees":-0.5888380970317684},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016195830203752314,-0.00021431805123127033,-0.0013869225532661521],"end_effector_yaw_offset_degrees":0.49878308956017614},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014258286902257026,0.0009644914468827817,0.0019915738951999436],"end_effector_yaw_offset_degrees":0.9063671924687191},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010384934442684065,-0.0014854389103522488,-0.001548295256778462],"end_effector_yaw_offset_degrees":-0.10493664839440187},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007696195332045348,-0.000653361420496803,0.00107020773805275],"end_effector_yaw_offset_degrees":-0.45565320557190203}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017916538908218553,0.0032498002116641564],"position_m":[0.23199165389082185,0.036949800211664156,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004009938664267351,0.0024817738819218884],"position_m":[0.21370993866426735,-0.34561822611807813,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001123279223534909,-0.004125626930489037],"position_m":[0.2933232792235349,0.28737437306951097,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013954555967316653,-0.0023482469995898037],"position_m":[0.27210454440326837,-0.1248482469995898,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"58b25e2c1416aa0eb01fee11607c50527b107f71d6e9db8408bb053d35dc4224","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3357/tex_ceiling_textures_1111/tex_floor_textures_2120/tex_table_textures_5885/tex_wall_textures_3836","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":4439649110306646126,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":4439649110306646126,"visual_seed":4439649110306646126,"scene_id":"lab_003","finished_at":"2026-09-08T20:59:11"}
+{"episode_id":"ep_000081","started_at":"2026-09-08T20:59:19","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[-0.4857417611398721,-2.05972962327983,0.71338606911949],"aabb_xy":[[-0.4934449518139491,-2.067438993978568],[-0.478038570465795,-2.0520202525810918]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.07909898948645122,0.5433856810998945,0.71338606911949],"aabb_xy":[[-0.12427030733462022,0.4793856839553562],[-0.03392767163828226,0.607385678244433]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.3225399481315238,-1.9360759920362616,0.71338606911949],"aabb_xy":[[-0.3570022955296655,-1.9705698744340838],[-0.2880776007333819,-1.9015821096384384]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.558425338918453,-0.1464172423803931,0.71338606911949],"aabb_xy":[[0.5084423887309736,-0.1964172420229535],[0.6084082891059323,-0.09641724273783268]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.11699943020468684,-1.5632731891688723,0.71338606911949],"aabb_xy":[[-0.12404088115543442,-1.570299940906667],[-0.10995797925393923,-1.556246437431078]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.3861932024392773,-0.6603168877358734,0.71338606911949],"aabb_xy":[[-0.4461932029471302,-0.7171636214217947],[-0.32619320193142437,-0.6034701540499521]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.3022911689021772,0.6205942753018783,0.71338606911949],"aabb_xy":[[-0.3390858020270835,0.5836884002052959],[-0.26549653577727095,0.6575001503984604]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.2005284917637793,-2.160934202595089,0.71338606911949],"aabb_xy":[[0.1949468201296505,-2.1734342024128646],[0.20611016339790802,-2.148434202777313]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[0.07683143682785609,-0.9558540326953089,0.71338606911949],"aabb_xy":[[0.06871778215447899,-0.9639598491493379],[0.0849450915012332,-0.9477482162412797]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.25090605492138346,-1.4787809556837184,0.71338606911949],"aabb_xy":[[-0.2581498209676288,-1.5587809538873207],[-0.24366228887513813,-1.398780957480116]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.6132704559536072,1.0687102716332824,0.71338606911949],"aabb_xy":[[-0.6283727574146252,1.05360875000222],[-0.598168154492589,1.0838117932643438]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.17652488899954866,-1.586051738990433,0.71338606911949],"aabb_xy":[[0.16611333031906494,-1.591397472326331],[0.18693644768003237,-1.5807060056545343]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.1767372566045543,-1.8307419278805805,0.71338606911949],"aabb_xy":[[-0.19279918406307195,-1.9157419296931721],[-0.16067532914603666,-1.7457419260679885]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.24999865238299357,1.688587094991917,0.71338606911949],"aabb_xy":[[-0.29499865384922247,1.6435872381304368],[-0.20499865091676478,1.7335869518533982]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.5492046413732614,-2.199348812178335,0.71338606911949],"aabb_xy":[[-0.5670737491277169,-2.213181720155546],[-0.5313355336188059,-2.185515904201124]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.2338318821897643,-0.44125217543058914,0.71338606911949],"aabb_xy":[[-0.27133188337455705,-0.4456703981266496],[-0.19633188100497148,-0.4368339527345286]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.6217671377362701,1.1855137139058316,0.71338606911949],"aabb_xy":[[0.5965463008764302,1.1602899630529446],[0.6469879745961096,1.2107374647587181]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.029850543159309906,1.481296454743957,0.71338606911949],"aabb_xy":[[-0.07697992216114558,1.4172964536995547],[0.01727883584252577,1.5452964557883586]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[-0.1479182808338848,0.9514586503389699,0.71338606911949],"aabb_xy":[[-0.15968646762854233,0.8664586504337485],[-0.1361500940392273,1.0364586502441915]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[0.4884463667148573,0.9818891537944583,0.71338606911949],"aabb_xy":[[0.46594994528099315,0.9593891539877109],[0.5109427881487214,1.0043891536012057]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.52712680321485,-2.1284097586215185,0.71338606911949],"aabb_xy":[[0.5208147036785116,-2.134176697874737],[0.5334389027511883,-2.1226428193683]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[-0.4814367254373696,0.2009484249359592,0.71338606911949],"aabb_xy":[[-0.5189367256092414,0.16824768955305203],[-0.4439367252654976,0.2336491603188664]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.6395939758601403,-1.9015505559859176,0.71338606911949],"aabb_xy":[[0.6171292058887351,-1.9240505568647783],[0.6620587458315453,-1.8790505551070573]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.23943436007657515,1.7598240067283686,0.71338606911949],"aabb_xy":[[0.21937594846333483,1.739758919819211],[0.25949277168981544,1.7798890936375258]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.28077689621003815,-1.1451249411799502,0.71338606911949],"aabb_xy":[[-0.32858306382380675,-1.210124943887009],[-0.23297072859626944,-1.080124938472891]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[0.002213868343769132,1.7730269061665074,0.71338606911949],"aabb_xy":[[-0.03278612992635077,1.765952778471519],[0.037213866613889035,1.7801010338614953]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.3269908151117571,-1.8684321316359211,0.71338606911949],"aabb_xy":[[0.28949081529472354,-1.8730703429470632],[0.36449081492879065,-1.8637939203247795]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[-0.509758396107137,-0.7950579612445277,0.71338606911949],"aabb_xy":[[-0.5134616574362758,-0.7987599795532455],[-0.506055134777998,-0.7913559429358098]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[0.4450320739285982,-1.9892545757758349,0.71338606911949],"aabb_xy":[[0.3650320752717122,-2.0037594347000978],[0.5250320725854842,-1.974749716851572]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[-0.1892313372676917,-2.224471450546467,0.71338606911949],"aabb_xy":[[-0.23922634822714375,-2.2744714495820593],[-0.13923632630823968,-2.174471451510876]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_30","position":[0.5522716693568426,-2.3908152439920354,0.71338606911949],"aabb_xy":[[0.4722716679267154,-2.4703323990046444],[0.6322716707869698,-2.3112980889794255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6386957627206952,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6028.png","name":"6028"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6028.png","name":"6028"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8525.png","name":"8525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5676.png","name":"5676"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5917.png","name":"5917"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4721.png","name":"4721"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":777.4554932232355,"rotation_z_degrees":301.6906283721225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01535622373591709,0.00916200390103612,-0.015264622521340959]},{"name":"camera_2","offset_m":[0.009133153845451256,0.011905587913145502,0.015199205956861587]},{"name":"camera_3","offset_m":[0.014885512089432573,0.01959460279570095,-0.0019429775895398425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007945744876647232,-0.0007130889944558345,0.0017125818741530207],"end_effector_yaw_offset_degrees":0.5439962570655803},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005913015369432249,-0.0014391849350737114,-0.0008494976726521636],"end_effector_yaw_offset_degrees":0.9947312978210168},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014305041079245924,0.001038030759594656,0.0002519228230621045],"end_effector_yaw_offset_degrees":0.12883627053032676},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009184960664997512,0.001680147264787814,0.001300922435779043],"end_effector_yaw_offset_degrees":0.39765073025618114},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0007523533256617162,0.0015312600741533297,-0.0016221802869100697],"end_effector_yaw_offset_degrees":-0.6049206961408293},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0019872582453803332,-0.0012386432619193783,0.0018486148720031426],"end_effector_yaw_offset_degrees":-0.2286793174472408}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00045","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001058214560558289,0.004972335412978324],"position_m":[0.2291417854394417,0.03867233541297833,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002435973852238275,-0.00045031397347340425],"position_m":[0.21213597385223829,-0.3485503139734734,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0021881974451898826,-0.004344272371029342],"position_m":[0.2943881974451899,0.2871557276289706,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003236464162703322,0.00037947838366240386],"position_m":[0.27673646416270337,-0.12212052161633759,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c8f550e9ec9afa44b3dfe9194170db6721bbf9bc9b3677100e3594111575abbe","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6028/tex_ceiling_textures_4721/tex_floor_textures_5917/tex_table_textures_8525/tex_wall_textures_5676","seeds":{"action_seed":7079655146366011112,"physical_seed":8237149056504213804,"visual_seed":5276964094003074549,"layout_id":"layout_00045","physical_randomization_enabled":true},"episode_seed":5276964094003074549,"visual_seed":5276964094003074549,"scene_id":"lab_003","finished_at":"2026-09-08T21:07:16"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..08451aab4cb2cb2a7e2b1b52e7d4806402ea40ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00045
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00045
+  reproducibility:
+    enabled: true
+    layout_id: layout_00045
+    action_seed: 7079655146366011112
+    step_seeds:
+    - 2329962008323510475
+    - 8888706755221216905
+    - 44862643261375768
+    - 8260555333599647234
+    - 759565680392795515
+    - 6204125465122110840
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2302
+      - 0.2302
+      'y':
+      - 0.0337
+      - 0.0337
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2735
+      - 0.2735
+      'y':
+      - -0.1225
+      - -0.1225
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2097
+      - 0.2097
+      'y':
+      - -0.3481
+      - -0.3481
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2922
+      - 0.2922
+      'y':
+      - 0.2915
+      - 0.2915
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23dbb0047d8ce9c13c380749d1815622d845c21f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.254830484032365,
+              0.03057556304860638,
+              1.1627248488994812
+            ],
+            "current_z": 1.1627248488994812,
+            "required_z": 0.8611066140285951,
+            "initial_z": 0.7611066140285951,
+            "lift_margin": 0.3016182348708861,
+            "gripper_z": 1.1560045308488471,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24965298428073926,
+              0.025483800446930424,
+              1.1560045308488471
+            ],
+            "object_minus_gripper": [
+              0.005177499751625764,
+              0.005091762601675955,
+              0.006720318050634111
+            ],
+            "object_to_gripper_xy": 0.007261718121072363,
+            "object_to_gripper_z": 0.006720318050634111,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.254830484032365,
+              0.006562902405856282,
+              1.1627248488994812
+            ],
+            "finger_b": [
+              0.243281063664447,
+              0.03057556304860638,
+              1.1627248488994812
+            ],
+            "finger_midpoint": [
+              0.249055773848406,
+              0.018569232727231332,
+              1.1627248488994812
+            ],
+            "object_minus_finger_midpoint": [
+              0.005774710183959031,
+              0.012006330321375047,
+              0.0
+            ],
+            "finger_gap": 0.02664576855672884,
+            "fingertip_max_gap": 0.09067502791923626,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013322884278364425,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627248488994812,
+            "object_top_z": 1.2127056290861185,
+            "finger_top_clearance": 0.04998078018663721,
+            "fingertip_min_top_clearance": 0.014994234055991129,
+            "object_projection_between_fingers": 0.8121272143113554,
+            "object_to_finger_line_xy": 0.010408118321858163,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783751395961813,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3105788654895053,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2674937011684856,
+              -0.3442376498414569,
+              0.8515395691376602
+            ],
+            "target_position": [
+              0.258919563482631,
+              -0.34501631177925357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00860942224945234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18273146068304882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376602,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560747469624664,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1504525828815398,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007218360900878906,
+            "max_z_decrease": 0.007218360900878906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350839940995271,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007218360900878906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021134448343169788,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007218360900878906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007218370635601839,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11461948603391645,
+              -0.40127778053283697,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11461948603391645,
+              -0.40127778053283697,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11421011401690093,
+              -0.40166373795318266,
+              0.8078695579693619
+            ],
+            "closest_button": [
+              0.11461213231086728,
+              -0.4012755751609803,
+              0.7727900147438049
+            ],
+            "closest_ee_minus_button": [
+              -0.00040201829396635524,
+              -0.0003881627922023845,
+              0.03507954322555695
+            ],
+            "button_min_z_position": [
+              0.1146077290177345,
+              -0.40127626061439514,
+              0.7695904970169067
+            ],
+            "min_active_finger_to_button": 0.14656553969777195,
+            "closest_active_finger": [
+              -0.02693808078765869,
+              -0.38544031977653503,
+              0.810841977596283
+            ],
+            "closest_active_finger_button": [
+              0.11462108045816419,
+              -0.40127685666084295,
+              0.7763214707374573
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14155916124582288,
+              0.015836536884307917,
+              0.034520506858825684
+            ],
+            "min_contact_pad_to_button": 0.021134448343169788,
+            "closest_contact_pad": [
+              0.1146077290177345,
+              -0.40270331376936325,
+              0.7906767111404285
+            ],
+            "closest_contact_pad_button": [
+              0.1146077290177345,
+              -0.40127626061439514,
+              0.7695904970169067
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014270531549681054,
+              0.02108621412352174
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28183378264858416,
+              0.18291365688525157,
+              1.101715481526981
+            ],
+            "current_z": 1.101715481526981,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1918063517926184,
+            "gripper_z": 1.101715902021291,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2818337462273862,
+              0.18291369812865266,
+              1.101715902021291
+            ],
+            "object_minus_gripper": [
+              3.6421197946445716e-08,
+              -4.124340108324631e-08,
+              -4.2049431003832183e-07
+            ],
+            "object_to_gripper_xy": 5.502292061284738e-08,
+            "object_to_gripper_z": -4.2049431003832183e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28183378264858416,
+              0.18291365688525157,
+              1.101715481526981
+            ],
+            "finger_b": [
+              0.28183378264858416,
+              0.18291365688525157,
+              1.101715481526981
+            ],
+            "finger_midpoint": [
+              0.28183378264858416,
+              0.18291365688525157,
+              1.101715481526981
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101715481526981,
+            "object_top_z": 1.2267239881472607,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28183378264858416,
+            0.1829136568852516,
+            1.101715481526981
+          ],
+          "object_origin_world": [
+            0.28183378264858416,
+            0.1829136568852516,
+            1.101715481526981
+          ],
+          "frame_world": [
+            0.2818337462273862,
+            0.18291369812865266,
+            1.101715902021291
+          ],
+          "center_minus_frame": [
+            3.6421197946445716e-08,
+            -4.1243401055490736e-08,
+            -4.2049431003832183e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433013119049168,
+            "required_z": 0.9112598185244665,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008417888986786391,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.960464477539063e-08,
+            "max_target_xy_drift": 7.662153322805429e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2677078254932681,
+              -0.3434188967976576,
+              0.923409072028779
+            ],
+            "target_mouth_xy": [
+              0.2674937011684856,
+              -0.3442375902368121
+            ],
+            "rod_tip_z": 0.923409072028779,
+            "rod_tip_depth": -0.022149253504312516,
+            "rod_tip_bottom_clearance": 0.12158975227792512,
+            "rod_tip_xy_dist": 0.000846231749450608,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04473650875819479,
+            "min_rod_tip_bottom_clearance": 0.054703990015417814,
+            "min_rod_tip_xy_dist": 0.000829783160030425,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2674937011684856,
+              -0.3442376498414569
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              5.960464477539063e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0007829705085474759,
+                0.002533636496668379
+              ],
+              "last_rod_tip_xy_delta": [
+                0.000673392349219426,
+                0.0021679002719706686
+              ],
+              "first_target_mouth_xy": [
+                0.267493730970808,
+                -0.3442376498414569
+              ],
+              "last_target_mouth_xy": [
+                0.2674936713661632,
+                -0.3442376498414569
+              ],
+              "first_rod_tip_xy": [
+                0.26827670147935545,
+                -0.3417040133447885
+              ],
+              "last_rod_tip_xy": [
+                0.2681670637153826,
+                -0.3420697495694862
+              ],
+              "min_rod_tip_xy_dist": 0.002270076836848867,
+              "max_rod_tip_xy_dist": 0.0026518591053268856,
+              "first_target_xy_drift": 2.9802322387695312e-08,
+              "last_target_xy_drift": 2.9802322387695312e-08,
+              "max_depth": 0.019353173885894193,
+              "min_bottom_clearance": 0.08008732488771841
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007829705085474759,
+                  0.002533636496668379
+                ],
+                "rod_tip_xy": [
+                  0.26827670147935545,
+                  -0.3417040133447885
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.2682799115621861,
+                  -0.3417680046682339,
+                  1.005723437840336
+                ],
+                "rod_tip_xy_dist": 0.0026518591053268856,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.015020192284495137,
+                "bottom_clearance": 0.08442030648911747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007861805913781383,
+                  0.0024696451732229008
+                ],
+                "rod_tip_xy": [
+                  0.2682799115621861,
+                  -0.341768004668234
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.26826865085418106,
+                  -0.3417744283324334,
+                  1.005586395243693
+                ],
+                "rod_tip_xy_dist": 0.00259176140952111,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.015536380684130768,
+                "bottom_clearance": 0.08390411808948184,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007749198833731374,
+                  0.00246322150902345
+                ],
+                "rod_tip_xy": [
+                  0.2682686508541811,
+                  -0.34177442833243343
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.26826026012739157,
+                  -0.3417749341405277,
+                  1.0054663412375462
+                ],
+                "rod_tip_xy_dist": 0.0025822395373324295,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.015673482885418255,
+                "bottom_clearance": 0.08376701588819435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007665291565835952,
+                  0.0024627157009291523
+                ],
+                "rod_tip_xy": [
+                  0.26826026012739157,
+                  -0.34177493414052773
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.26826444244441194,
+                  -0.34184024292647197,
+                  1.0049496345425866
+                ],
+                "rod_tip_xy_dist": 0.002579250971017695,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01579359649621004,
+                "bottom_clearance": 0.08364690227740257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007707114736040244,
+                  0.0023973771126624133
+                ],
+                "rod_tip_xy": [
+                  0.268264442444412,
+                  -0.3418402429264721
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376200391345
+                ],
+                "gripper_position": [
+                  0.26825317675064675,
+                  -0.3418466823865078,
+                  1.0048127338689763
+                ],
+                "rod_tip_xy_dist": 0.0025182162726546057,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.016310243586524886,
+                "bottom_clearance": 0.08313025518708772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007594457798388299,
+                  0.002390937652626657
+                ],
+                "rod_tip_xy": [
+                  0.2682531767506468,
+                  -0.34184668238650784
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376200391345
+                ],
+                "gripper_position": [
+                  0.2682447769574826,
+                  -0.341847038174966,
+                  1.0046929669489875
+                ],
+                "rod_tip_xy_dist": 0.0025086531747658693,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.016447084655490385,
+                "bottom_clearance": 0.08299341411812222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007510459866746366,
+                  0.0023905818641685173
+                ],
+                "rod_tip_xy": [
+                  0.2682447769574826,
+                  -0.341847038174966
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376200391345
+                ],
+                "gripper_position": [
+                  0.2682498122466146,
+                  -0.34191329675887133,
+                  1.0041771734598255
+                ],
+                "rod_tip_xy_dist": 0.0025057836545463183,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.016566911180123767,
+                "bottom_clearance": 0.08287358759348884,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007560812758066193,
+                  0.0023243530825854952
+                ],
+                "rod_tip_xy": [
+                  0.2682498122466146,
+                  -0.3419132967588714
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.2682382827702505,
+                  -0.3419196538443676,
+                  1.0040405356064386
+                ],
+                "rod_tip_xy_dist": 0.0024442332434017134,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.017082645064640967,
+                "bottom_clearance": 0.08235785370897164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007445517994426054,
+                  0.0023179363924444862
+                ],
+                "rod_tip_xy": [
+                  0.2682382827702506,
+                  -0.3419196538443676
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442375902368121
+                ],
+                "gripper_position": [
+                  0.2682296702100238,
+                  -0.34192006513638745,
+                  1.0039205202540116
+                ],
+                "rod_tip_xy_dist": 0.0024345813811560667,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.01721928291802788,
+                "bottom_clearance": 0.08222121585558473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007359392392158881,
+                  0.0023175847050693754
+                ],
+                "rod_tip_xy": [
+                  0.26822967021002386,
+                  -0.3419200651363875
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.268235548985757,
+                  -0.34198734320229446,
+                  1.0034071555892734
+                ],
+                "rod_tip_xy_dist": 0.0024316260874133514,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.017339298270455106,
+                "bottom_clearance": 0.0821012005031575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007418478172714904,
+                  0.002250336441484757
+                ],
+                "rod_tip_xy": [
+                  0.2682355489857571,
+                  -0.3419873432022945
+                ],
+                "target_mouth_xy": [
+                  0.2674937011684856,
+                  -0.34423767964377927
+                ],
+                "gripper_position": [
+                  0.26822397973437667,
+                  -0.3419938205189284,
+                  1.0032706843746593
+                ],
+                "rod_tip_xy_dist": 0.002369462446181571,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01785272253983805,
+                "bottom_clearance": 0.08158777623377456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007302487635686972,
+                  0.0022438293225284234
+                ],
+                "rod_tip_xy": [
+                  0.26822397973437667,
+                  -0.34199382051892846
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.2682152766498247,
+                  -0.3419938512978124,
+                  1.003151236783657
+                ],
+                "rod_tip_xy_dist": 0.0023596680455801352,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.017989134149807184,
+                "bottom_clearance": 0.08145136462380542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007215456790167774,
+                  0.0022437985436445373
+                ],
+                "rod_tip_xy": [
+                  0.26821527664982475,
+                  -0.34199385129781235
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.2682066048634986,
+                  -0.34199405989765924,
+                  1.0030316396395274
+                ],
+                "rod_tip_xy_dist": 0.002356959921460085,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018108700950098977,
+                "bottom_clearance": 0.08133179782351363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007128738926907019,
+                  0.002243589943797586
+                ],
+                "rod_tip_xy": [
+                  0.2682066048634987,
+                  -0.3419940598976593
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.2682139830854614,
+                  -0.3420632022534445,
+                  1.0025206667012647
+                ],
+                "rod_tip_xy_dist": 0.0023541208598518576,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018228178884939328,
+                "bottom_clearance": 0.08121231988867328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007202521146534302,
+                  0.0021744475880123293
+                ],
+                "rod_tip_xy": [
+                  0.2682139830854614,
+                  -0.34206320225344455
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.2682022967766664,
+                  -0.34206939548249327,
+                  1.0023842222380628
+                ],
+                "rod_tip_xy_dist": 0.002290629918095757,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01873915182320196,
+                "bottom_clearance": 0.08070134695041065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007085658058584854,
+                  0.002168254358963617
+                ],
+                "rod_tip_xy": [
+                  0.26820229677666646,
+                  -0.34206939548249327
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.26819344313812565,
+                  -0.3420694701192786,
+                  1.0022648182587206
+                ],
+                "rod_tip_xy_dist": 0.002281094576381394,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018875715495693224,
+                "bottom_clearance": 0.08056478327791938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006997121673177342,
+                  0.0021681797221781984
+                ],
+                "rod_tip_xy": [
+                  0.2681934431381257,
+                  -0.3420694701192787
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.26818469393259997,
+                  -0.3420696994115774,
+                  1.0021453460739616
+                ],
+                "rod_tip_xy_dist": 0.0022782889247760503,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018995000265745854,
+                "bottom_clearance": 0.08044549850786675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006909629617919966,
+                  0.0021679802322017716
+                ],
+                "rod_tip_xy": [
+                  0.26818469393259997,
+                  -0.3420696994115775
+                ],
+                "target_mouth_xy": [
+                  0.267493730970808,
+                  -0.34423767964377927
+                ],
+                "gripper_position": [
+                  0.26817586598844534,
+                  -0.34206973486678005,
+                  1.0020257894197235
+                ],
+                "rod_tip_xy_dist": 0.0022754270152624133,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.019114472450504905,
+                "bottom_clearance": 0.0803260263231077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006820903141537826,
+                  0.002167944776999109
+                ],
+                "rod_tip_xy": [
+                  0.26817586598844534,
+                  -0.34206973486678016
+                ],
+                "target_mouth_xy": [
+                  0.26749377567429156,
+                  -0.34423767964377927
+                ],
+                "gripper_position": [
+                  0.2681670637153826,
+                  -0.3420697495694861,
+                  1.0019066446385723
+                ],
+                "rod_tip_xy_dist": 0.0022727146219400536,
+                "target_xy_drift": 8.024520884654677e-08,
+                "depth": 0.019234088709387698,
+                "bottom_clearance": 0.08020641006422491,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000673392349219426,
+                  0.0021679002719706686
+                ],
+                "rod_tip_xy": [
+                  0.2681670637153826,
+                  -0.3420697495694862
+                ],
+                "target_mouth_xy": [
+                  0.2674936713661632,
+                  -0.3442376498414569
+                ],
+                "gripper_position": [
+                  0.26817698604639517,
+                  -0.34214313878206865,
+                  1.0013998486536573
+                ],
+                "rod_tip_xy_dist": 0.002270076836848867,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.019353173885894193,
+                "bottom_clearance": 0.08008732488771841,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005970332538791678,
+              "rod_tip_xy_max_step": 3.2373552319453014e-05,
+              "rod_tip_xy_range": 0.0005970270092345403,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2677078254932681,
+            -0.3434188967976576,
+            1.0434090720287792
+          ],
+          "object_origin_world": [
+            0.2677078254932681,
+            -0.3434188967976576,
+            1.0434090720287792
+          ],
+          "frame_world": [
+            0.2677063599912686,
+            -0.3434231058753716,
+            1.0433013119049168
+          ],
+          "center_minus_frame": [
+            1.4655019994758156e-06,
+            4.20907771403467e-06,
+            0.0001077601238623771
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2697138433902046,
+              0.13764657102773206,
+              0.8333026986855848
+            ],
+            "target_position": [
+              0.2819882300159778,
+              0.18366226913711337,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047624626397827816,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16852355085951914,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333026986855848,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668132530702,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13761848705069696,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "578b6687f376bc2334c333dec00f308c2bd31e7dc643bf95c733b9779bf80c2a",
+    "visual_seed": 7167668689370133206,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de1c67432978e322dcb36d8db273a7e04f8eb61f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_10_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.263779700901447,
+              0.03369052122539356,
+              1.1625118752317527
+            ],
+            "current_z": 1.1625118752317527,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3014051884030525,
+            "gripper_z": 1.1555524574555613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2587604881690494,
+              0.028744810888364572,
+              1.1555524574555613
+            ],
+            "object_minus_gripper": [
+              0.005019212732397582,
+              0.004945710337028987,
+              0.006959417776191357
+            ],
+            "object_to_gripper_xy": 0.007046456356982379,
+            "object_to_gripper_z": 0.006959417776191357,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.263779700901447,
+              0.009739072104139835,
+              1.1625118752317527
+            ],
+            "finger_b": [
+              0.25252317217034276,
+              0.03369052122539356,
+              1.1625118752317527
+            ],
+            "finger_midpoint": [
+              0.2581514365358949,
+              0.021714796664766698,
+              1.1625118752317527
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056282643655520825,
+              0.011975724560626861,
+              0.0
+            ],
+            "finger_gap": 0.026464719044081698,
+            "fingertip_max_gap": 0.09079756232782374,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013232359522040837,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625118752317527,
+            "object_top_z": 1.212377289834174,
+            "finger_top_clearance": 0.04986541460242133,
+            "fingertip_min_top_clearance": 0.014959624380726365,
+            "object_projection_between_fingers": 0.8190850765291687,
+            "object_to_finger_line_xy": 0.010187532115337787,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789878116391187,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5122124644314917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2671003314649986,
+              -0.35198516768967997,
+              0.8515396094603168
+            ],
+            "target_position": [
+              0.25864815698833477,
+              -0.3527410871560614,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008485909946707088,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18515606476522087,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396094603168,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581925610192479,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611966913516493,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523245902075219,
+            "release_required_pad_clearance": 0.05305983456758247,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.149425218724377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007642269134521484,
+            "max_z_decrease": 0.007642269134521484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510456068550553,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007642269134521484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021186105300988408,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007642269134521484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076422890590029015,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11434808373451229,
+              -0.4090025424957275,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11434808373451229,
+              -0.4090025424957275,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11279466269442717,
+              -0.41022519941648333,
+              0.8074291775896074
+            ],
+            "closest_button": [
+              0.11433721333742139,
+              -0.40899822115898127,
+              0.772379994392395
+            ],
+            "closest_ee_minus_button": [
+              -0.001542550642994217,
+              -0.001226978257502065,
+              0.0350491831972124
+            ],
+            "button_min_z_position": [
+              0.11433098465204236,
+              -0.4089990556240081,
+              0.7691665887832642
+            ],
+            "min_active_finger_to_button": 0.14758782755153044,
+            "closest_active_finger": [
+              -0.028423316776752472,
+              -0.3946518898010254,
+              0.8110622763633728
+            ],
+            "closest_active_finger_button": [
+              0.11434842646121976,
+              -0.4090026617050171,
+              0.776530385017395
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14277174323797223,
+              0.0143507719039917,
+              0.03453189134597778
+            ],
+            "min_contact_pad_to_button": 0.021186105300988408,
+            "closest_contact_pad": [
+              0.11433098465204236,
+              -0.4113018818604667,
+              0.7902271692393971
+            ],
+            "closest_contact_pad_button": [
+              0.11433098465204236,
+              -0.4089990556240081,
+              0.7691665887832642
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002302826236458555,
+              0.021060580456132905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28504519050325294,
+              0.17522112662494752,
+              1.10451600273693
+            ],
+            "current_z": 1.10451600273693,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19460687300256752,
+            "gripper_z": 1.1045161235478786,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2850452666636083,
+              0.17522110146290848,
+              1.1045161235478786
+            ],
+            "object_minus_gripper": [
+              -7.61603553556256e-08,
+              2.516203903568659e-08,
+              -1.2081094857840924e-07
+            ],
+            "object_to_gripper_xy": 8.020927587460558e-08,
+            "object_to_gripper_z": -1.2081094857840924e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28504519050325294,
+              0.17522112662494752,
+              1.10451600273693
+            ],
+            "finger_b": [
+              0.28504519050325294,
+              0.17522112662494752,
+              1.10451600273693
+            ],
+            "finger_midpoint": [
+              0.28504519050325294,
+              0.17522112662494752,
+              1.10451600273693
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10451600273693,
+            "object_top_z": 1.2295245093572098,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28504519050325294,
+            0.17522112662494752,
+            1.1045160027369303
+          ],
+          "object_origin_world": [
+            0.28504519050325294,
+            0.17522112662494752,
+            1.1045160027369303
+          ],
+          "frame_world": [
+            0.2850452666636083,
+            0.17522110146290848,
+            1.1045161235478786
+          ],
+          "center_minus_frame": [
+            -7.61603553556256e-08,
+            2.516203903568659e-08,
+            -1.2081094835636463e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432442663266948,
+            "required_z": 0.9112598556583478,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0004188739503053596,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.029047322364609e-08,
+            "max_target_xy_drift": 2.3887621735323166e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1494252188093612,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1494252199512585,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2674527467722867,
+              -0.3517512265824369,
+              0.9233542347370017
+            ],
+            "target_mouth_xy": [
+              0.2671002867047086,
+              -0.3519851686569492
+            ],
+            "rod_tip_z": 0.9233542347370017,
+            "rod_tip_depth": -0.022094326503841688,
+            "rod_tip_bottom_clearance": 0.12153492233261709,
+            "rod_tip_xy_dist": 0.0004230330879071641,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04466282965967738,
+            "min_rod_tip_bottom_clearance": 0.054777785560759185,
+            "min_rod_tip_xy_dist": 0.00024660002050858835,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26710032874870976,
+              -0.35198519625103664
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.204400116947227e-08,
+              2.7594087459448247e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0009281274627455649,
+                0.0019329156135053926
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008203804417528104,
+                0.0015619327040718445
+              ],
+              "first_target_mouth_xy": [
+                0.26710027017295607,
+                -0.35198516611895064
+              ],
+              "last_target_mouth_xy": [
+                0.26710030084567643,
+                -0.35198519751715085
+              ],
+              "first_rod_tip_xy": [
+                0.26802839763570163,
+                -0.35005225050544525
+              ],
+              "last_rod_tip_xy": [
+                0.26792068128742924,
+                -0.350423264813079
+              ],
+              "min_rod_tip_xy_dist": 0.001764272609677915,
+              "max_rod_tip_xy_dist": 0.0021441976019097326,
+              "first_target_xy_drift": 6.58715532447021e-08,
+              "last_target_xy_drift": 2.7931743843229305e-08,
+              "max_depth": 0.019377677414003425,
+              "min_bottom_clearance": 0.08006285572510208
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0009281274627455649,
+                  0.0019329156135053926
+                ],
+                "rod_tip_xy": [
+                  0.26802839763570163,
+                  -0.35005225050544525
+                ],
+                "target_mouth_xy": [
+                  0.26710027017295607,
+                  -0.35198516611895064
+                ],
+                "gripper_position": [
+                  0.26803173801098756,
+                  -0.35011602757092986,
+                  1.005733483611366
+                ],
+                "rod_tip_xy_dist": 0.0021441976019097326,
+                "target_xy_drift": 6.58715532447021e-08,
+                "depth": 0.015007132067670015,
+                "bottom_clearance": 0.0844333944189356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0009314359281556439,
+                  0.001869171510666956
+                ],
+                "rod_tip_xy": [
+                  0.26803173801098756,
+                  -0.3501160275709298
+                ],
+                "target_mouth_xy": [
+                  0.2671003020828319,
+                  -0.35198519908159676
+                ],
+                "gripper_position": [
+                  0.2680205707673874,
+                  -0.35012310058640483,
+                  1.00559472665335
+                ],
+                "rod_tip_xy_dist": 0.002088390534490174,
+                "target_xy_drift": 2.681568778764473e-08,
+                "depth": 0.015526439597967068,
+                "bottom_clearance": 0.08391419664664901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009203140995728276,
+                  0.0018620655238915096
+                ],
+                "rod_tip_xy": [
+                  0.26802057076738733,
+                  -0.3501231005864049
+                ],
+                "target_mouth_xy": [
+                  0.2671002566678145,
+                  -0.3519851661102964
+                ],
+                "gripper_position": [
+                  0.2680123889343954,
+                  -0.350124056952778,
+                  1.005472995271382
+                ],
+                "rod_tip_xy_dist": 0.0020770811387949934,
+                "target_xy_drift": 7.81288658720051e-08,
+                "depth": 0.015665115885131198,
+                "bottom_clearance": 0.08377546363034394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009121028887607574,
+                  0.0018611098036249163
+                ],
+                "rod_tip_xy": [
+                  0.26801238893439533,
+                  -0.350124056952778
+                ],
+                "target_mouth_xy": [
+                  0.26710028604563457,
+                  -0.3519851667564029
+                ],
+                "gripper_position": [
+                  0.2680167923653336,
+                  -0.3501886217559907,
+                  1.004953579247109
+                ],
+                "rod_tip_xy_dist": 0.0020725977373418345,
+                "target_xy_drift": 5.189880585923384e-08,
+                "depth": 0.015786772785083225,
+                "bottom_clearance": 0.08365376712064954,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009164904633061077,
+                  0.001796545305599806
+                ],
+                "rod_tip_xy": [
+                  0.2680167923653336,
+                  -0.3501886217559907
+                ],
+                "target_mouth_xy": [
+                  0.2671003019020275,
+                  -0.3519851670615905
+                ],
+                "gripper_position": [
+                  0.2680054304314113,
+                  -0.3501958013443635,
+                  1.004814936671726
+                ],
+                "rod_tip_xy_dist": 0.0020168117920132617,
+                "target_xy_drift": 3.965814058349171e-08,
+                "depth": 0.01630630979824499,
+                "bottom_clearance": 0.0831342550477201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.000905174861557001,
+                  0.0017893654183735452
+                ],
+                "rod_tip_xy": [
+                  0.2680054304314113,
+                  -0.3501958013443635
+                ],
+                "target_mouth_xy": [
+                  0.2671002555698543,
+                  -0.35198516676273706
+                ],
+                "gripper_position": [
+                  0.267997068436718,
+                  -0.3501968571305981,
+                  1.0046931364123988
+                ],
+                "rod_tip_xy_dist": 0.0020052855483610977,
+                "target_xy_drift": 7.889679778541284e-08,
+                "depth": 0.01644482614174403,
+                "bottom_clearance": 0.08299568810388513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008967823049896295,
+                  0.0017883102570793175
+                ],
+                "rod_tip_xy": [
+                  0.26799706843671794,
+                  -0.35019685713059806
+                ],
+                "target_mouth_xy": [
+                  0.2671002861317283,
+                  -0.3519851673876774
+                ],
+                "gripper_position": [
+                  0.26800208391452296,
+                  -0.3502629532077384,
+                  1.0041746976988082
+                ],
+                "rod_tip_xy_dist": 0.002000567938890756,
+                "target_xy_drift": 5.1471357229544754e-08,
+                "depth": 0.01656668499027847,
+                "bottom_clearance": 0.08287384405272735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009018105140239374,
+                  0.0017222128892018795
+                ],
+                "rod_tip_xy": [
+                  0.26800208391452296,
+                  -0.35026295320773854
+                ],
+                "target_mouth_xy": [
+                  0.267100273400499,
+                  -0.3519851660969404
+                ],
+                "gripper_position": [
+                  0.26799081193522134,
+                  -0.35026958961535326,
+                  1.004035963529711
+                ],
+                "rod_tip_xy_dist": 0.0019440368923806985,
+                "target_xy_drift": 6.302931025016958e-08,
+                "depth": 0.017085218648608902,
+                "bottom_clearance": 0.08235543054131578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008905891032774393,
+                  0.00171557906756864
+                ],
+                "rod_tip_xy": [
+                  0.26799081193522134,
+                  -0.3502695896153532
+                ],
+                "target_mouth_xy": [
+                  0.2671002228319439,
+                  -0.35198516868292185
+                ],
+                "gripper_position": [
+                  0.26798239023026416,
+                  -0.3502704882115233,
+                  1.003914647952949
+                ],
+                "rod_tip_xy_dist": 0.0019329667581094606,
+                "target_xy_drift": 1.0944570454307356e-07,
+                "depth": 0.017223951285938344,
+                "bottom_clearance": 0.08221668075638455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008821185113082053,
+                  0.0017146772614336503
+                ],
+                "rod_tip_xy": [
+                  0.26798239023026416,
+                  -0.35027048821152335
+                ],
+                "target_mouth_xy": [
+                  0.26710027171895595,
+                  -0.351985165472957
+                ],
+                "gripper_position": [
+                  0.26798837691728117,
+                  -0.3503372572310273,
+                  1.0033989955275713
+                ],
+                "rod_tip_xy_dist": 0.001928276738144763,
+                "target_xy_drift": 6.480496127448974e-08,
+                "depth": 0.017345266820361638,
+                "bottom_clearance": 0.08209534162224064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0008881510671388537,
+                  0.0016479396524257117
+                ],
+                "rod_tip_xy": [
+                  0.2679883769172811,
+                  -0.3503372572310273
+                ],
+                "target_mouth_xy": [
+                  0.26710022585014226,
+                  -0.35198519688345303
+                ],
+                "gripper_position": [
+                  0.2679768470789106,
+                  -0.35034391244925617,
+                  1.0032605586188403
+                ],
+                "rod_tip_xy_dist": 0.0018720356343020985,
+                "target_xy_drift": 1.0290051090278033e-07,
+                "depth": 0.017860762177998146,
+                "bottom_clearance": 0.08157974356891085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008765892503426187,
+                  0.0016412545999364148
+                ],
+                "rod_tip_xy": [
+                  0.2679768470789106,
+                  -0.35034391244925617
+                ],
+                "target_mouth_xy": [
+                  0.267100257828568,
+                  -0.3519851670491926
+                ],
+                "gripper_position": [
+                  0.2679682924910391,
+                  -0.35034463101568963,
+                  1.0031392765628229
+                ],
+                "rod_tip_xy_dist": 0.0018606787405752436,
+                "target_xy_drift": 7.669689826390606e-08,
+                "depth": 0.017999335452966947,
+                "bottom_clearance": 0.08144125364443344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008680513212334651,
+                  0.0016405366699602797
+                ],
+                "rod_tip_xy": [
+                  0.2679682924910391,
+                  -0.35034463101568963
+                ],
+                "target_mouth_xy": [
+                  0.26710024116980563,
+                  -0.3519851676856499
+                ],
+                "gripper_position": [
+                  0.2679598293039662,
+                  -0.35034511256083556,
+                  1.003017817925284
+                ],
+                "rod_tip_xy_dist": 0.001856037085238204,
+                "target_xy_drift": 9.211973603424589e-08,
+                "depth": 0.018120547961314792,
+                "bottom_clearance": 0.08131998136796026,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008595448620856705,
+                  0.001640083057319719
+                ],
+                "rod_tip_xy": [
+                  0.2679598293039662,
+                  -0.3503451125608355
+                ],
+                "target_mouth_xy": [
+                  0.26710028444188055,
+                  -0.3519851956181552
+                ],
+                "gripper_position": [
+                  0.26796705317584024,
+                  -0.3504141053720283,
+                  1.0025052867267472
+                ],
+                "rod_tip_xy_dist": 0.0018516721645164597,
+                "target_xy_drift": 4.4311349033089204e-08,
+                "depth": 0.01824203640973021,
+                "bottom_clearance": 0.08119852114064097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008667535934799853,
+                  0.001571122596368879
+                ],
+                "rod_tip_xy": [
+                  0.2679670531758402,
+                  -0.3504141053720283
+                ],
+                "target_mouth_xy": [
+                  0.2671002995823602,
+                  -0.35198522796839715
+                ],
+                "gripper_position": [
+                  0.2679554319652986,
+                  -0.35042104305206584,
+                  1.0023668920347137
+                ],
+                "rod_tip_xy_dist": 0.001794348908276023,
+                "target_xy_drift": 4.308905782924129e-08,
+                "depth": 0.018754554561515202,
+                "bottom_clearance": 0.08068598113489711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008550646659409855,
+                  0.001563964479679214
+                ],
+                "rod_tip_xy": [
+                  0.2679554319652986,
+                  -0.35042104305206584
+                ],
+                "target_mouth_xy": [
+                  0.2671003672993576,
+                  -0.35198500753174505
+                ],
+                "gripper_position": [
+                  0.2679469281752448,
+                  -0.3504213983050465,
+                  1.0022456210905997
+                ],
+                "rod_tip_xy_dist": 0.001782447888898591,
+                "target_xy_drift": 1.926165191889146e-07,
+                "depth": 0.018893350244963858,
+                "bottom_clearance": 0.08054781790265542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008466449299275869,
+                  0.0015637713243140117
+                ],
+                "rod_tip_xy": [
+                  0.26794692817524474,
+                  -0.35042139830504654
+                ],
+                "target_mouth_xy": [
+                  0.26710028324531715,
+                  -0.35198516962936055
+                ],
+                "gripper_position": [
+                  0.26793809519209,
+                  -0.3504218696990011,
+                  1.0021243042555406
+                ],
+                "rod_tip_xy_dist": 0.0017782543103051617,
+                "target_xy_drift": 5.271880477198728e-08,
+                "depth": 0.019014286829844296,
+                "bottom_clearance": 0.08042634921253866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008378535056620118,
+                  0.0015633252738438963
+                ],
+                "rod_tip_xy": [
+                  0.26793809519209,
+                  -0.3504218696990011
+                ],
+                "target_mouth_xy": [
+                  0.267100241686428,
+                  -0.351985194972845
+                ],
+                "gripper_position": [
+                  0.2679293132245364,
+                  -0.35042273250927053,
+                  1.002003390577281
+                ],
+                "rod_tip_xy_dist": 0.001773692309502755,
+                "target_xy_drift": 8.707166405562202e-08,
+                "depth": 0.019135614215416097,
+                "bottom_clearance": 0.08030499657322243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008290868301168985,
+                  0.0015624992632277679
+                ],
+                "rod_tip_xy": [
+                  0.2679293132245364,
+                  -0.3504227325092704
+                ],
+                "target_mouth_xy": [
+                  0.2671002263944195,
+                  -0.3519852317724982
+                ],
+                "gripper_position": [
+                  0.26792068128742924,
+                  -0.35042326481307906,
+                  1.001882148219375
+                ],
+                "rod_tip_xy_dist": 0.0017688382965835526,
+                "target_xy_drift": 1.0834285840064586e-07,
+                "depth": 0.01925651425590058,
+                "bottom_clearance": 0.08018417649892584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0008203804417528104,
+                  0.0015619327040718445
+                ],
+                "rod_tip_xy": [
+                  0.26792068128742924,
+                  -0.350423264813079
+                ],
+                "target_mouth_xy": [
+                  0.26710030084567643,
+                  -0.35198519751715085
+                ],
+                "gripper_position": [
+                  0.2679118657183456,
+                  -0.3504240271097862,
+                  1.00176083904737
+                ],
+                "rod_tip_xy_dist": 0.001764272609677915,
+                "target_xy_drift": 2.7931743843229305e-08,
+                "depth": 0.019377677414003425,
+                "bottom_clearance": 0.08006285572510208,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.000598579552116785,
+              "rod_tip_xy_max_step": 3.2351162315152065e-05,
+              "rod_tip_xy_range": 0.0005985677941152614,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2674527467722867,
+            -0.3517512265824369,
+            1.0433542347370017
+          ],
+          "object_origin_world": [
+            0.2674527467722867,
+            -0.3517512265824369,
+            1.0433542347370017
+          ],
+          "frame_world": [
+            0.2674511583726396,
+            -0.35175637954250594,
+            1.0432442663266948
+          ],
+          "center_minus_frame": [
+            1.5883996470900108e-06,
+            5.152960069032542e-06,
+            0.00010996841030697091
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2734979190919173,
+              0.12912690167980645,
+              0.8336294953051316
+            ],
+            "target_position": [
+              0.28553955666237785,
+              0.17514508830803427,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04756757862166975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16719065145556955,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336294953051316,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675083692451,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13605810464448437,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0e05b077d9bcc0ae3a45c940b6ba846481cda0ab59695a5eeb9c0fe128e02aa7",
+    "visual_seed": 5216360737155753397,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9932010463c2cd5c3c9b661c8d0ac31365f55f9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_11_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2545093626566105,
+              0.032867863772484386,
+              1.161236616539068
+            ],
+            "current_z": 1.161236616539068,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3001301085243019,
+            "gripper_z": 1.1544537308176834,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24927479833225438,
+              0.02788042740825511,
+              1.1544537308176834
+            ],
+            "object_minus_gripper": [
+              0.005234564324356122,
+              0.0049874363642292766,
+              0.006782885721384524
+            ],
+            "object_to_gripper_xy": 0.0072301580309878715,
+            "object_to_gripper_z": 0.006782885721384524,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2545093626566105,
+              0.008731114459216158,
+              1.161236616539068
+            ],
+            "finger_b": [
+              0.24322853768702937,
+              0.032867863772484386,
+              1.161236616539068
+            ],
+            "finger_midpoint": [
+              0.24886895017181992,
+              0.02079948911585027,
+              1.161236616539068
+            ],
+            "object_minus_finger_midpoint": [
+              0.00564041248479058,
+              0.012068374656634115,
+              0.0
+            ],
+            "finger_gap": 0.026642816656762842,
+            "fingertip_max_gap": 0.0905829630560426,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013321408328381426,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161236616539068,
+            "object_top_z": 1.2110866620555008,
+            "finger_top_clearance": 0.049850045516432795,
+            "fingertip_min_top_clearance": 0.014955013654929837,
+            "object_projection_between_fingers": 0.8207242907288073,
+            "object_to_finger_line_xy": 0.010219731939210046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047791481528021304,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33448673027831693,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27239079710769565,
+              -0.34872492805331384,
+              0.851539594804773
+            ],
+            "target_position": [
+              0.2631645468220941,
+              -0.34982431377511397,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009291519967037705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18636092433181117,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539594804773,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550444612936345,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512733359721512,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15432262846511044,
+            "release_required_pad_clearance": 0.052563666798607564,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.19382657460093092,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076187849044799805,
+            "max_z_decrease": 0.0076187849044799805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512725786975919,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076187849044799805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108456788257318,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076187849044799805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076188033639447185,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.118864469230175,
+              -0.40608575940132136,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.118864469230175,
+              -0.40608575940132136,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11741528625935102,
+              -0.40462802655617797,
+              0.8073969861732713
+            ],
+            "closest_button": [
+              0.1188533082604408,
+              -0.4060783088207245,
+              0.7723291516304016
+            ],
+            "closest_ee_minus_button": [
+              -0.0014380220010897782,
+              0.0014502822645465208,
+              0.03506783454286966
+            ],
+            "button_min_z_position": [
+              0.11884781718254087,
+              -0.40608376264572144,
+              0.7691900730133057
+            ],
+            "min_active_finger_to_button": 0.146841921906005,
+            "closest_active_finger": [
+              -0.008874118328094482,
+              -0.4697631895542145,
+              0.8110275864601135
+            ],
+            "closest_active_finger_button": [
+              0.11886590719223021,
+              -0.4060864746570587,
+              0.776526689529419
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277400255203247,
+              -0.06367671489715576,
+              0.03450089693069458
+            ],
+            "min_contact_pad_to_button": 0.02108456788257318,
+            "closest_contact_pad": [
+              0.11884781718254087,
+              -0.40608376264572144,
+              0.7902746408958788
+            ],
+            "closest_contact_pad_button": [
+              0.11884781718254087,
+              -0.40608376264572144,
+              0.7691900730133057
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108456788257318
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27577582398398937,
+              0.18453526307103943,
+              1.1010423144062509
+            ],
+            "current_z": 1.1010423144062509,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19113318467188833,
+            "gripper_z": 1.1010423086210306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2757757195613586,
+              0.18453527071833176,
+              1.1010423086210306
+            ],
+            "object_minus_gripper": [
+              1.044226307644891e-07,
+              -7.647292327161992e-09,
+              5.785220302811922e-09
+            ],
+            "object_to_gripper_xy": 1.047022774141704e-07,
+            "object_to_gripper_z": 5.785220302811922e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27577582398398937,
+              0.18453526307103943,
+              1.1010423144062509
+            ],
+            "finger_b": [
+              0.27577582398398937,
+              0.18453526307103943,
+              1.1010423144062509
+            ],
+            "finger_midpoint": [
+              0.27577582398398937,
+              0.18453526307103943,
+              1.1010423144062509
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1010423144062509,
+            "object_top_z": 1.2260508210265306,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27577582398398937,
+            0.18453526307103943,
+            1.1010423144062509
+          ],
+          "object_origin_world": [
+            0.27577582398398937,
+            0.18453526307103943,
+            1.1010423144062509
+          ],
+          "frame_world": [
+            0.2757757195613586,
+            0.18453527071833176,
+            1.1010423086210306
+          ],
+          "center_minus_frame": [
+            1.044226307644891e-07,
+            -7.647292327161992e-09,
+            5.785220302811922e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432290226940661,
+            "required_z": 0.9112599906320149,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0028424599361844276,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.321866096446541e-08,
+            "max_target_xy_drift": 1.6352594417736514e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.19382658788761536,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.19382658790077792,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27026877137516286,
+              -0.34683083237504203,
+              0.9233387282077447
+            ],
+            "target_mouth_xy": [
+              0.2723907993364233,
+              -0.34872490109281246
+            ],
+            "rod_tip_z": 0.9233387282077447,
+            "rod_tip_depth": -0.02207885291792333,
+            "rod_tip_bottom_clearance": 0.1215193446788182,
+            "rod_tip_xy_dist": 0.002844380244624056,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04472362448417411,
+            "min_rod_tip_bottom_clearance": 0.054716935560774504,
+            "min_rod_tip_xy_dist": 0.0002037184477009219,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2723907661241601,
+              -0.348724901744739
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.321226321739701e-08,
+              6.51926568284722e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0014945531137064982,
+                0.00353267269368146
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016114666536403144,
+                0.0031694442860094596
+              ],
+              "first_target_mouth_xy": [
+                0.27239077052195126,
+                -0.34872490172595827
+              ],
+              "last_target_mouth_xy": [
+                0.2723907394504094,
+                -0.3487249033190206
+              ],
+              "first_rod_tip_xy": [
+                0.27089621740824477,
+                -0.3451922290322768
+              ],
+              "last_rod_tip_xy": [
+                0.2707792727967691,
+                -0.34555545903301116
+              ],
+              "min_rod_tip_xy_dist": 0.00354808077922259,
+              "max_rod_tip_xy_dist": 0.0038380655705186643,
+              "first_target_xy_drift": 4.397831288169022e-09,
+              "last_target_xy_drift": 2.6720167222880045e-08,
+              "max_depth": 0.019501250901215794,
+              "min_bottom_clearance": 0.07993933133842579
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014945531137064982,
+                  0.00353267269368146
+                ],
+                "rod_tip_xy": [
+                  0.27089621740824477,
+                  -0.3451922290322768
+                ],
+                "target_mouth_xy": [
+                  0.27239077052195126,
+                  -0.34872490172595827
+                ],
+                "gripper_position": [
+                  0.27088783670799677,
+                  -0.34519333592613327,
+                  1.0060114025733473
+                ],
+                "rod_tip_xy_dist": 0.0038358135213240503,
+                "target_xy_drift": 4.397831288169022e-09,
+                "depth": 0.015126484254272321,
+                "bottom_clearance": 0.08431406358212079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015029332132815987,
+                  0.0035315632629213667
+                ],
+                "rod_tip_xy": [
+                  0.27088783670799677,
+                  -0.34519333592613327
+                ],
+                "target_mouth_xy": [
+                  0.27239076992127836,
+                  -0.34872489918905464
+                ],
+                "gripper_position": [
+                  0.27088981764822306,
+                  -0.34525563117972075,
+                  1.0054915199213121
+                ],
+                "rod_tip_xy_dist": 0.0038380655705186643,
+                "target_xy_drift": 4.57707657396975e-09,
+                "depth": 0.015248500860048364,
+                "bottom_clearance": 0.08419205605690061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015009517485572443,
+                  0.0034692683250595047
+                ],
+                "rod_tip_xy": [
+                  0.27088981764822306,
+                  -0.34525563117972075
+                ],
+                "target_mouth_xy": [
+                  0.2723907693967803,
+                  -0.34872489950478025
+                ],
+                "gripper_position": [
+                  0.27087842022460684,
+                  -0.3452627011456519,
+                  1.0053521352529624
+                ],
+                "rod_tip_xy_dist": 0.003780036886428257,
+                "target_xy_drift": 3.965785985338358e-09,
+                "depth": 0.01576832144653373,
+                "bottom_clearance": 0.08367221870669017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015123809713513126,
+                  0.0034621989936511888
+                ],
+                "rod_tip_xy": [
+                  0.27087842022460684,
+                  -0.3452627011456518
+                ],
+                "target_mouth_xy": [
+                  0.27239080119595815,
+                  -0.34872490013930296
+                ],
+                "gripper_position": [
+                  0.27087001636291225,
+                  -0.34526328219062447,
+                  1.0052301563244685
+                ],
+                "rod_tip_xy_dist": 0.0037781103840603763,
+                "target_xy_drift": 3.5108523826704796e-08,
+                "depth": 0.015907762833246797,
+                "bottom_clearance": 0.08353281649181976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015207524932099314,
+                  0.0034616189031691502
+                ],
+                "rod_tip_xy": [
+                  0.2708700163629122,
+                  -0.34526328219062435
+                ],
+                "target_mouth_xy": [
+                  0.2723907688561221,
+                  -0.3487249010937935
+                ],
+                "gripper_position": [
+                  0.27087268332104064,
+                  -0.3453270687145547,
+                  1.0047101937424763
+                ],
+                "rod_tip_xy_dist": 0.00378093818732629,
+                "target_xy_drift": 2.8084420392017056e-09,
+                "depth": 0.016029680010455016,
+                "bottom_clearance": 0.08341083777387104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015180889480821969,
+                  0.003397833013292717
+                ],
+                "rod_tip_xy": [
+                  0.27087268332104064,
+                  -0.3453270687145547
+                ],
+                "target_mouth_xy": [
+                  0.27239077226912284,
+                  -0.3487249017278474
+                ],
+                "gripper_position": [
+                  0.2708611796429758,
+                  -0.3453337394612987,
+                  1.004571438581699
+                ],
+                "rod_tip_xy_dist": 0.0037215404391879414,
+                "target_xy_drift": 6.144985977074373e-09,
+                "depth": 0.016549712456767174,
+                "bottom_clearance": 0.08289090269973987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001529559091182131,
+                  0.0033912206037112758
+                ],
+                "rod_tip_xy": [
+                  0.2708611796429758,
+                  -0.3453337394612987
+                ],
+                "target_mouth_xy": [
+                  0.2723907387341579,
+                  -0.34872496006500997
+                ],
+                "gripper_position": [
+                  0.27085273577165303,
+                  -0.3453341952097003,
+                  1.0044492476512639
+                ],
+                "rod_tip_xy_dist": 0.0037202053970787387,
+                "target_xy_drift": 6.4431872712691e-08,
+                "depth": 0.016688412091897087,
+                "bottom_clearance": 0.08275212721601855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001538004042518304,
+                  0.003390766441108417
+                ],
+                "rod_tip_xy": [
+                  0.27085273577165303,
+                  -0.34533419520970027
+                ],
+                "target_mouth_xy": [
+                  0.27239073981417133,
+                  -0.3487249616508087
+                ],
+                "gripper_position": [
+                  0.27085616218421604,
+                  -0.34539930464665936,
+                  1.0039317885353245
+                ],
+                "rod_tip_xy_dist": 0.0037232718800739874,
+                "target_xy_drift": 6.542898967452527e-08,
+                "depth": 0.016810583410665103,
+                "bottom_clearance": 0.08262994088751241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015345477193497992,
+                  0.003325561896677376
+                ],
+                "rod_tip_xy": [
+                  0.27085616218421604,
+                  -0.3453993046466594
+                ],
+                "target_mouth_xy": [
+                  0.27239070990356584,
+                  -0.3487248665433368
+                ],
+                "gripper_position": [
+                  0.27084468907312,
+                  -0.34540572382577694,
+                  1.0037926946058882
+                ],
+                "rod_tip_xy_dist": 0.003662539915358479,
+                "target_xy_drift": 6.633169631250709e-08,
+                "depth": 0.017328165438232124,
+                "bottom_clearance": 0.08211248346867162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001546050779835828,
+                  0.0033192378247784426
+                ],
+                "rod_tip_xy": [
+                  0.27084468907312,
+                  -0.3454057238257769
+                ],
+                "target_mouth_xy": [
+                  0.2723907398529558,
+                  -0.34872496165055533
+                ],
+                "gripper_position": [
+                  0.2708360686468483,
+                  -0.34540615397853663,
+                  1.003670905503227
+                ],
+                "rod_tip_xy_dist": 0.0036616407184854854,
+                "target_xy_drift": 6.541317146524913e-08,
+                "depth": 0.017467136763023583,
+                "bottom_clearance": 0.08197338902301998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015546684025775637,
+                  0.0033187128918949482
+                ],
+                "rod_tip_xy": [
+                  0.2708360686468483,
+                  -0.3454061539785365
+                ],
+                "target_mouth_xy": [
+                  0.27239073704942585,
+                  -0.34872486687043147
+                ],
+                "gripper_position": [
+                  0.2708402331966018,
+                  -0.3454719448262736,
+                  1.0031568009823515
+                ],
+                "rod_tip_xy_dist": 0.0036648122872533053,
+                "target_xy_drift": 4.540437751929399e-08,
+                "depth": 0.01758912391817946,
+                "bottom_clearance": 0.08185161600530699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015505372485829505,
+                  0.0032529575360625285
+                ],
+                "rod_tip_xy": [
+                  0.2708402331966018,
+                  -0.3454719448262736
+                ],
+                "target_mouth_xy": [
+                  0.2723907704451847,
+                  -0.3487249023623361
+                ],
+                "gripper_position": [
+                  0.2708286642530331,
+                  -0.3454784409481128,
+                  1.0030176163624425
+                ],
+                "rod_tip_xy_dist": 0.003603595217372393,
+                "target_xy_drift": 4.364937591522846e-09,
+                "depth": 0.018103042355480325,
+                "bottom_clearance": 0.08133752514227421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015620742001136723,
+                  0.0032464924943849116
+                ],
+                "rod_tip_xy": [
+                  0.2708286642530331,
+                  -0.3454784409481129
+                ],
+                "target_mouth_xy": [
+                  0.27239073845314676,
+                  -0.34872493344249783
+                ],
+                "gripper_position": [
+                  0.2708199254891426,
+                  -0.3454787411319495,
+                  1.002896093316531
+                ],
+                "rod_tip_xy_dist": 0.003602747468635338,
+                "target_xy_drift": 4.2076512345819356e-08,
+                "depth": 0.018242343505522007,
+                "bottom_clearance": 0.08119828840782806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015708445190050213,
+                  0.0032461907150009295
+                ],
+                "rod_tip_xy": [
+                  0.2708199254891426,
+                  -0.3454787411319495
+                ],
+                "target_mouth_xy": [
+                  0.2723907700081476,
+                  -0.3487249318469504
+                ],
+                "gripper_position": [
+                  0.27081125532699823,
+                  -0.34547910313964564,
+                  1.0027741155634762
+                ],
+                "rod_tip_xy_dist": 0.003606287101860633,
+                "target_xy_drift": 3.035174607235185e-08,
+                "depth": 0.018363740861582767,
+                "bottom_clearance": 0.08107679849372473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015794838702268277,
+                  0.003245794785426581
+                ],
+                "rod_tip_xy": [
+                  0.27081125532699823,
+                  -0.34547910313964564
+                ],
+                "target_mouth_xy": [
+                  0.27239073919722506,
+                  -0.3487248979250722
+                ],
+                "gripper_position": [
+                  0.2708024420443925,
+                  -0.3454796931385295,
+                  1.002652242428518
+                ],
+                "rod_tip_xy_dist": 0.003609702631160786,
+                "target_xy_drift": 2.7196501315544014e-08,
+                "depth": 0.018485766119384572,
+                "bottom_clearance": 0.08095484583397894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015883293262775044,
+                  0.0032452720198067886
+                ],
+                "rod_tip_xy": [
+                  0.2708024420443925,
+                  -0.3454796931385295
+                ],
+                "target_mouth_xy": [
+                  0.27239077137067,
+                  -0.3487249651583363
+                ],
+                "gripper_position": [
+                  0.2708086188697677,
+                  -0.34554848148181455,
+                  1.0021399575797794
+                ],
+                "rod_tip_xy_dist": 0.0036131123053752406,
+                "target_xy_drift": 6.363026154564265e-08,
+                "depth": 0.018607724577456297,
+                "bottom_clearance": 0.08083299165694635,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015820902921864777,
+                  0.0031764189763535122
+                ],
+                "rod_tip_xy": [
+                  0.2708086188697677,
+                  -0.34554848148181444
+                ],
+                "target_mouth_xy": [
+                  0.2723907091619542,
+                  -0.34872490045816795
+                ],
+                "gripper_position": [
+                  0.2707969454596134,
+                  -0.3455549374670449,
+                  1.0020014631524556
+                ],
+                "rod_tip_xy_dist": 0.00354861201119105,
+                "target_xy_drift": 5.697673354735629e-08,
+                "depth": 0.019119886093185157,
+                "bottom_clearance": 0.08032064439857378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0015937959816361147,
+                  0.0031699671267710894
+                ],
+                "rod_tip_xy": [
+                  0.2707969454596134,
+                  -0.34555493746704496
+                ],
+                "target_mouth_xy": [
+                  0.27239074144124953,
+                  -0.34872490459381605
+                ],
+                "gripper_position": [
+                  0.2707881646956135,
+                  -0.3455550823974822,
+                  1.0018800814303301
+                ],
+                "rod_tip_xy_dist": 0.00354808077922259,
+                "target_xy_drift": 2.484679683746295e-08,
+                "depth": 0.019258485826410987,
+                "bottom_clearance": 0.08018219156317785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001602545342098971,
+                  0.0031698180586381963
+                ],
+                "rod_tip_xy": [
+                  0.2707881646956135,
+                  -0.3455550823974823
+                ],
+                "target_mouth_xy": [
+                  0.2723907100377125,
+                  -0.3487249004561205
+                ],
+                "gripper_position": [
+                  0.27077927279676917,
+                  -0.34555545903301116,
+                  1.001758613278044
+                ],
+                "rod_tip_xy_dist": 0.0035518865548257493,
+                "target_xy_drift": 5.610124902215919e-08,
+                "depth": 0.019379737472134395,
+                "bottom_clearance": 0.08006076321107292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0016114666536403144,
+                  0.0031694442860094596
+                ],
+                "rod_tip_xy": [
+                  0.2707792727967691,
+                  -0.34555545903301116
+                ],
+                "target_mouth_xy": [
+                  0.2723907394504094,
+                  -0.3487249033190206
+                ],
+                "gripper_position": [
+                  0.27077045710962727,
+                  -0.34555563056502264,
+                  1.001637125318696
+                ],
+                "rod_tip_xy_dist": 0.003555587413904027,
+                "target_xy_drift": 2.6720167222880045e-08,
+                "depth": 0.019501250901215794,
+                "bottom_clearance": 0.07993933133842579,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006006827562610508,
+              "rod_tip_xy_max_step": 3.256977328598157e-05,
+              "rod_tip_xy_range": 0.0006006713573074519,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27026877137516286,
+            -0.34683083237504203,
+            1.0433387282077446
+          ],
+          "object_origin_world": [
+            0.27026877137516286,
+            -0.34683083237504203,
+            1.0433387282077446
+          ],
+          "frame_world": [
+            0.270267368505345,
+            -0.346835292669239,
+            1.0432290226940661
+          ],
+          "center_minus_frame": [
+            1.4028698178680798e-06,
+            4.460294196984016e-06,
+            0.00010970551367850412
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26334030031871575,
+              0.1371077239644934,
+              0.8329743231982704
+            ],
+            "target_position": [
+              0.2759213741422585,
+              0.18290542017636485,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04749434068253077,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16690027783061107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329743231982704,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673599455851,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1357178042927734,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "599499f2e62e8aeb2efe97c1953c198d03e3b0781a52b2cfddd2807ca5b45a12",
+    "visual_seed": 4734444333329137374,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2646b5d08d27af2e239ac0076981c55403f20775
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_12_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25838076616585925,
+              0.030929077628482293,
+              1.1612777702042179
+            ],
+            "current_z": 1.1612777702042179,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3001713217940968,
+            "gripper_z": 1.1544030918197907,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2532617015185914,
+              0.026127938142131102,
+              1.1544030918197907
+            ],
+            "object_minus_gripper": [
+              0.005119064647267857,
+              0.004801139486351191,
+              0.006874678384427124
+            ],
+            "object_to_gripper_xy": 0.007018245024955183,
+            "object_to_gripper_z": 0.006874678384427124,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25838076616585925,
+              0.00668082909928146,
+              1.1612777702042179
+            ],
+            "finger_b": [
+              0.24762307700702782,
+              0.030929077628482293,
+              1.1612777702042179
+            ],
+            "finger_midpoint": [
+              0.2530019215864435,
+              0.018804953363881875,
+              1.1612777702042179
+            ],
+            "object_minus_finger_midpoint": [
+              0.005378844579415731,
+              0.012124124264600418,
+              0.0
+            ],
+            "finger_gap": 0.02652744678200165,
+            "fingertip_max_gap": 0.09095162657714248,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013263723391000832,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1612777702042179,
+            "object_top_z": 1.2112308692504428,
+            "finger_top_clearance": 0.049953099046224914,
+            "fingertip_min_top_clearance": 0.014985929713867474,
+            "object_projection_between_fingers": 0.8355450012909782,
+            "object_to_finger_line_xy": 0.009833404717268882,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797581328857124,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5930337074599131,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2699886313861838,
+              -0.3482761872641458,
+              0.8515395164471162
+            ],
+            "target_position": [
+              0.2622547867001374,
+              -0.34884056123489726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007754409816791319,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494167557638966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395164471162,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577666630434572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871937273525749,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15220352287681874,
+            "release_required_pad_clearance": 0.05359686367628745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.204322990651883,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007665693759918213,
+            "max_z_decrease": 0.007665693759918213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035114006074713794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007665693759918213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02109872352169254,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007665693759918213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007665715273541603,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11795471608638763,
+              -0.405102014541626,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11795471608638763,
+              -0.405102014541626,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1192317031316801,
+              -0.40426610097874666,
+              0.8074401144345869
+            ],
+            "closest_button": [
+              0.11794354021549223,
+              -0.4050981104373932,
+              0.7723596096038818
+            ],
+            "closest_ee_minus_button": [
+              0.001288162916187871,
+              0.0008320094586465321,
+              0.03508050483070502
+            ],
+            "button_min_z_position": [
+              0.1179366111755371,
+              -0.40510058403015137,
+              0.7691431641578674
+            ],
+            "min_active_finger_to_button": 0.14473230736561235,
+            "closest_active_finger": [
+              -0.007317155599594116,
+              -0.46887028217315674,
+              0.8109704256057739
+            ],
+            "closest_active_finger_button": [
+              0.11795596033334732,
+              -0.40510019659996027,
+              0.7765108346939087
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12527311593294144,
+              -0.06377008557319647,
+              0.034459590911865234
+            ],
+            "min_contact_pad_to_button": 0.02109872352169254,
+            "closest_contact_pad": [
+              0.1179366111755371,
+              -0.4051691447127459,
+              0.7902417762846786
+            ],
+            "closest_contact_pad_button": [
+              0.1179366111755371,
+              -0.40510058403015137,
+              0.7691431641578674
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.856068259453174e-05,
+              0.02109861212681119
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2841892702827414,
+              0.17659973489202685,
+              1.1037623047992309
+            ],
+            "current_z": 1.1037623047992309,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19385317506486832,
+            "gripper_z": 1.1037625304206586,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28418930852833013,
+              0.17659962380959404,
+              1.1037625304206586
+            ],
+            "object_minus_gripper": [
+              -3.824558875153983e-08,
+              1.1108243280766317e-07,
+              -2.2562142776294536e-07
+            ],
+            "object_to_gripper_xy": 1.174820494263737e-07,
+            "object_to_gripper_z": -2.2562142776294536e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2841892702827414,
+              0.17659973489202685,
+              1.1037623047992309
+            ],
+            "finger_b": [
+              0.2841892702827414,
+              0.17659973489202685,
+              1.1037623047992309
+            ],
+            "finger_midpoint": [
+              0.2841892702827414,
+              0.17659973489202685,
+              1.1037623047992309
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037623047992309,
+            "object_top_z": 1.2287708114195106,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2841892702827414,
+            0.17659973489202685,
+            1.103762304799231
+          ],
+          "object_origin_world": [
+            0.2841892702827414,
+            0.17659973489202685,
+            1.103762304799231
+          ],
+          "frame_world": [
+            0.28418930852833013,
+            0.17659962380959404,
+            1.1037625304206586
+          ],
+          "center_minus_frame": [
+            -3.824558875153983e-08,
+            1.1108243280766317e-07,
+            -2.2562142754090075e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432658315824315,
+            "required_z": 0.9112597885904754,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020785502495457605,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.788856363957764e-08,
+            "max_target_xy_drift": 1.966040392525562e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.204678050003836,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.204678050886337,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2680888406263257,
+              -0.3491115044490874,
+              0.9233754986393131
+            ],
+            "target_mouth_xy": [
+              0.2699886890625762,
+              -0.3482760692363074
+            ],
+            "rod_tip_z": 0.9233754986393131,
+            "rod_tip_depth": -0.022115660526062952,
+            "rod_tip_bottom_clearance": 0.12155624353177885,
+            "rod_tip_xy_dist": 0.0020754219030058247,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044584676028312065,
+            "min_rod_tip_bottom_clearance": 0.05485590207673552,
+            "min_rod_tip_xy_dist": 0.0013563707180298632,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2699886863561004,
+              -0.348276157083189
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.706475821234733e-09,
+              8.784688160234921e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0012391929252618672,
+                0.000940168800288077
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013651423055323075,
+                0.0005314484680017939
+              ],
+              "first_target_mouth_xy": [
+                0.269988602635551,
+                -0.34827612790261653
+              ],
+              "last_target_mouth_xy": [
+                0.2699886322105972,
+                -0.3482761590285934
+              ],
+              "first_rod_tip_xy": [
+                0.26874940971028916,
+                -0.34733595910232845
+              ],
+              "last_rod_tip_xy": [
+                0.2686234899050649,
+                -0.3477447105605916
+              ],
+              "min_rod_tip_xy_dist": 0.0014538317878756489,
+              "max_rod_tip_xy_dist": 0.0015601037244743659,
+              "first_target_xy_drift": 8.866022895200179e-08,
+              "last_target_xy_drift": 5.4180440328452815e-08,
+              "max_depth": 0.01982629060456731,
+              "min_bottom_clearance": 0.07961428584495656
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012391929252618672,
+                  0.000940168800288077
+                ],
+                "rod_tip_xy": [
+                  0.26874940971028916,
+                  -0.34733595910232845
+                ],
+                "target_mouth_xy": [
+                  0.269988602635551,
+                  -0.34827612790261653
+                ],
+                "gripper_position": [
+                  0.26873796042705234,
+                  -0.34734352669045554,
+                  1.0056596338930914
+                ],
+                "rod_tip_xy_dist": 0.00155547950132883,
+                "target_xy_drift": 8.866022895200179e-08,
+                "depth": 0.015461492244424835,
+                "bottom_clearance": 0.0839790479826944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001250673417841519,
+                  0.0009325983235152213
+                ],
+                "rod_tip_xy": [
+                  0.2687379604270523,
+                  -0.3473435266904555
+                ],
+                "target_mouth_xy": [
+                  0.2699886338448938,
+                  -0.3482761250139707
+                ],
+                "gripper_position": [
+                  0.268738275261652,
+                  -0.3474127155893409,
+                  1.0051432653864694
+                ],
+                "rod_tip_xy_dist": 0.0015601037244743659,
+                "target_xy_drift": 6.152935543530556e-08,
+                "depth": 0.015600281786615766,
+                "bottom_clearance": 0.08384033591123063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012503279088450503,
+                  0.0008634113481209016
+                ],
+                "rod_tip_xy": [
+                  0.26873827526165195,
+                  -0.3474127155893409
+                ],
+                "target_mouth_xy": [
+                  0.269988603170497,
+                  -0.3482761269374618
+                ],
+                "gripper_position": [
+                  0.26872678294656704,
+                  -0.34741980969945646,
+                  1.005005239328491
+                ],
+                "rod_tip_xy_dist": 0.0015194732757441932,
+                "target_xy_drift": 8.847942971054778e-08,
+                "depth": 0.016116497141576258,
+                "bottom_clearance": 0.08332403136944555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012618525217401033,
+                  0.0008563149666993009
+                ],
+                "rod_tip_xy": [
+                  0.268726782946567,
+                  -0.34741980969945646
+                ],
+                "target_mouth_xy": [
+                  0.2699886354683071,
+                  -0.34827612466615576
+                ],
+                "gripper_position": [
+                  0.26871831775232147,
+                  -0.34742081503601274,
+                  1.0048840046893466
+                ],
+                "rod_tip_xy_dist": 0.0015249744616927467,
+                "target_xy_drift": 6.033598885650413e-08,
+                "depth": 0.016254694495712818,
+                "bottom_clearance": 0.08318599634455237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012702841356426187,
+                  0.0008553410962625629
+                ],
+                "rod_tip_xy": [
+                  0.2687183177523214,
+                  -0.3474208150360127
+                ],
+                "target_mouth_xy": [
+                  0.26998860188796403,
+                  -0.34827615613227525
+                ],
+                "gripper_position": [
+                  0.26871958773652216,
+                  -0.34749101988632725,
+                  1.0043680779785933
+                ],
+                "rod_tip_xy_dist": 0.0015314144364674631,
+                "target_xy_drift": 8.447348873748918e-08,
+                "depth": 0.016375821758536913,
+                "bottom_clearance": 0.08306468703286718,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012690763925904958,
+                  0.0007851371421989106
+                ],
+                "rod_tip_xy": [
+                  0.2687195877365221,
+                  -0.3474910198863273
+                ],
+                "target_mouth_xy": [
+                  0.2699886641291126,
+                  -0.3482761570285262
+                ],
+                "gripper_position": [
+                  0.26870797296585747,
+                  -0.3474982341185634,
+                  1.004230139253574
+                ],
+                "rod_tip_xy_dist": 0.0014923120391830854,
+                "target_xy_drift": 2.222705502176014e-08,
+                "depth": 0.016891820533379343,
+                "bottom_clearance": 0.08254877176184106,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012806317278646895,
+                  0.0007778915211771875
+                ],
+                "rod_tip_xy": [
+                  0.2687079729658574,
+                  -0.34749823411856345
+                ],
+                "target_mouth_xy": [
+                  0.2699886046937221,
+                  -0.34827612563974064
+                ],
+                "gripper_position": [
+                  0.26869959601898835,
+                  -0.34749863662334557,
+                  1.0041088787870371
+                ],
+                "rod_tip_xy_dist": 0.0014983767353816794,
+                "target_xy_drift": 8.750676816161298e-08,
+                "depth": 0.017029710203566695,
+                "bottom_clearance": 0.08241090837705312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012890404461741722,
+                  0.0007774880277902074
+                ],
+                "rod_tip_xy": [
+                  0.2686995960189883,
+                  -0.3474986366233456
+                ],
+                "target_mouth_xy": [
+                  0.26998863646516247,
+                  -0.34827612465113583
+                ],
+                "gripper_position": [
+                  0.2687014672800737,
+                  -0.3475700200168898,
+                  1.0035948013009808
+                ],
+                "rod_tip_xy_dist": 0.0015053613869201027,
+                "target_xy_drift": 5.9505829630206825e-08,
+                "depth": 0.017151062576878817,
+                "bottom_clearance": 0.0822896658007023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012871345970525971,
+                  0.0007061075894408964
+                ],
+                "rod_tip_xy": [
+                  0.26870146728007366,
+                  -0.3475700200168898
+                ],
+                "target_mouth_xy": [
+                  0.26998860187712626,
+                  -0.3482761276063307
+                ],
+                "gripper_position": [
+                  0.2686898359963563,
+                  -0.3475770883522741,
+                  1.0034570880284868
+                ],
+                "rod_tip_xy_dist": 0.001468095159993311,
+                "target_xy_drift": 8.947391937232663e-08,
+                "depth": 0.017665033631176885,
+                "bottom_clearance": 0.08177549077858648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001298796871205099,
+                  0.0006990078256933763
+                ],
+                "rod_tip_xy": [
+                  0.26868983599635626,
+                  -0.347577088352274
+                ],
+                "target_mouth_xy": [
+                  0.26998863286756136,
+                  -0.3482760961779674
+                ],
+                "gripper_position": [
+                  0.26868122545103984,
+                  -0.34757756850727917,
+                  1.0033357877952922
+                ],
+                "rod_tip_xy_dist": 0.0014749526273859564,
+                "target_xy_drift": 8.105843463583527e-08,
+                "depth": 0.01780274338419119,
+                "bottom_clearance": 0.08163780214643279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0013074091555307366,
+                  0.0006985587158263029
+                ],
+                "rod_tip_xy": [
+                  0.2686812254510398,
+                  -0.3475775685072792
+                ],
+                "target_mouth_xy": [
+                  0.2699886346065705,
+                  -0.3482761272231055
+                ],
+                "gripper_position": [
+                  0.268672648959122,
+                  -0.3475779596456771,
+                  1.0032145451648533
+                ],
+                "rod_tip_xy_dist": 0.0014823302531563225,
+                "target_xy_drift": 5.97464511706469e-08,
+                "depth": 0.017924113081589477,
+                "bottom_clearance": 0.08151649024551944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0013159830696113928,
+                  0.0006981676339293252
+                ],
+                "rod_tip_xy": [
+                  0.26867264895912196,
+                  -0.3475779596456771
+                ],
+                "target_mouth_xy": [
+                  0.26998863202873336,
+                  -0.34827612727960644
+                ],
+                "gripper_position": [
+                  0.2686758694023266,
+                  -0.34765139944713375,
+                  1.002701998436991
+                ],
+                "rod_tip_xy_dist": 0.0014897145647976649,
+                "target_xy_drift": 6.196544475047352e-08,
+                "depth": 0.018045274800361777,
+                "bottom_clearance": 0.08139522782287167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0013127619607555263,
+                  0.0006247262615186044
+                ],
+                "rod_tip_xy": [
+                  0.2686758694023265,
+                  -0.3476513994471338
+                ],
+                "target_mouth_xy": [
+                  0.26998863136308204,
+                  -0.3482761257086524
+                ],
+                "gripper_position": [
+                  0.26866409042606765,
+                  -0.3476585986774291,
+                  1.002564034292196
+                ],
+                "rod_tip_xy_dist": 0.0014538317878756489,
+                "target_xy_drift": 6.331345523732897e-08,
+                "depth": 0.018557848569558666,
+                "bottom_clearance": 0.08088269451058772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013245446875023714,
+                  0.0006175888067667112
+                ],
+                "rod_tip_xy": [
+                  0.2686640904260676,
+                  -0.34765859867742915
+                ],
+                "target_mouth_xy": [
+                  0.26998863511356996,
+                  -0.34827618748419586
+                ],
+                "gripper_position": [
+                  0.2686553828370263,
+                  -0.3476589831074948,
+                  1.0024431144361021
+                ],
+                "rod_tip_xy_dist": 0.0014614494734455532,
+                "target_xy_drift": 5.9582028710311294e-08,
+                "depth": 0.01869588248054932,
+                "bottom_clearance": 0.0807447634847277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0013332811555845647,
+                  0.0006171739663708986
+                ],
+                "rod_tip_xy": [
+                  0.2686553828370262,
+                  -0.3476589831074948
+                ],
+                "target_mouth_xy": [
+                  0.2699886639926108,
+                  -0.3482761570738657
+                ],
+                "gripper_position": [
+                  0.268646797562575,
+                  -0.3476593356180392,
+                  1.002322241061671
+                ],
+                "rod_tip_xy_dist": 0.0014691978575409438,
+                "target_xy_drift": 2.2363491559125414e-08,
+                "depth": 0.018816783690644212,
+                "bottom_clearance": 0.0806238047214275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013418348524942836,
+                  0.0006168218146095916
+                ],
+                "rod_tip_xy": [
+                  0.2686467975625749,
+                  -0.34765933561803913
+                ],
+                "target_mouth_xy": [
+                  0.2699886324150692,
+                  -0.3482761574326487
+                ],
+                "gripper_position": [
+                  0.2686381334015532,
+                  -0.3476595508073356,
+                  1.0022009089324213
+                ],
+                "rod_tip_xy_dist": 0.0014768174979822746,
+                "target_xy_drift": 5.394216318181774e-08,
+                "depth": 0.01893752879248789,
+                "bottom_clearance": 0.0805030012123974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0013505011552288892,
+                  0.0006166046756833632
+                ],
+                "rod_tip_xy": [
+                  0.2686381334015531,
+                  -0.3476595508073356
+                ],
+                "target_mouth_xy": [
+                  0.269988634556782,
+                  -0.348276155483019
+                ],
+                "gripper_position": [
+                  0.2686294648706491,
+                  -0.3476598908617039,
+                  1.0020800302227508
+                ],
+                "rod_tip_xy_dist": 0.0014846059060737802,
+                "target_xy_drift": 5.1824028497440973e-08,
+                "depth": 0.019058999828326484,
+                "bottom_clearance": 0.08038161948225697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013591663791596154,
+                  0.0006163268597526583
+                ],
+                "rod_tip_xy": [
+                  0.26862946487064904,
+                  -0.34765989086170385
+                ],
+                "target_mouth_xy": [
+                  0.26998863124980865,
+                  -0.3482762177214565
+                ],
+                "gripper_position": [
+                  0.26863545958536006,
+                  -0.34773760185707614,
+                  1.0015713030070197
+                ],
+                "rod_tip_xy_dist": 0.0014923779830493455,
+                "target_xy_drift": 8.19371886159193e-08,
+                "depth": 0.019179830976169154,
+                "bottom_clearance": 0.0802607356800068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0013531726453592796,
+                  0.0005385213145391865
+                ],
+                "rod_tip_xy": [
+                  0.26863545958536006,
+                  -0.3477376018570762
+                ],
+                "target_mouth_xy": [
+                  0.26998863223071934,
+                  -0.3482761231716154
+                ],
+                "gripper_position": [
+                  0.2686234899050649,
+                  -0.34774471056059164,
+                  1.001433565069985
+                ],
+                "rod_tip_xy_dist": 0.001456393289726935,
+                "target_xy_drift": 6.387136838904136e-08,
+                "depth": 0.019688574769205602,
+                "bottom_clearance": 0.07975205158402077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0013651423055323075,
+                  0.0005314484680017939
+                ],
+                "rod_tip_xy": [
+                  0.2686234899050649,
+                  -0.3477447105605916
+                ],
+                "target_mouth_xy": [
+                  0.2699886322105972,
+                  -0.3482761590285934
+                ],
+                "gripper_position": [
+                  0.2686297254486575,
+                  -0.34781679345420546,
+                  1.0008399981813902
+                ],
+                "rod_tip_xy_dist": 0.0014649406092041813,
+                "target_xy_drift": 5.4180440328452815e-08,
+                "depth": 0.01982629060456731,
+                "bottom_clearance": 0.07961428584495656,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005963513923655828,
+              "rod_tip_xy_max_step": 3.232671070467168e-05,
+              "rod_tip_xy_range": 0.0005963446597360968,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2680888406263257,
+            -0.3491115044490874,
+            1.0433754986393131
+          ],
+          "object_origin_world": [
+            0.2680888406263257,
+            -0.3491115044490874,
+            1.0433754986393131
+          ],
+          "frame_world": [
+            0.2680873895849488,
+            -0.34911596889475505,
+            1.0432658315824315
+          ],
+          "center_minus_frame": [
+            1.451041376887563e-06,
+            4.464445667651251e-06,
+            0.00010966705688164602
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27299807558915706,
+              0.13040955357655978,
+              0.8333412455908796
+            ],
+            "target_position": [
+              0.2843253905861641,
+              0.17730574901813528,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048244805025368966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16883740020092314,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333412455908796,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670501148522,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1388145687276656,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f133a3c362cbddd9a24bc7ea0d962411b972f5b623aa598dc705f98a76f326fc",
+    "visual_seed": 1558985537870609008,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c939fc15621e672dad9369c4f99d251f343ac8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_13_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26151477912361076,
+              0.02652449868963223,
+              1.1619571876550603
+            ],
+            "current_z": 1.1619571876550603,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30085062003564944,
+            "gripper_z": 1.154850370109774,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2565831211696903,
+              0.02155832165805381,
+              1.154850370109774
+            ],
+            "object_minus_gripper": [
+              0.004931657953920476,
+              0.004966177031578419,
+              0.007106817545286193
+            ],
+            "object_to_gripper_xy": 0.006998868800273666,
+            "object_to_gripper_z": 0.007106817545286193,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26151477912361076,
+              0.002676518894683962,
+              1.1619571876550603
+            ],
+            "finger_b": [
+              0.2501705226122441,
+              0.02652449868963223,
+              1.1619571876550603
+            ],
+            "finger_midpoint": [
+              0.25584265086792746,
+              0.014600508792158096,
+              1.1619571876550603
+            ],
+            "object_minus_finger_midpoint": [
+              0.005672128255683306,
+              0.011923989897474134,
+              0.0
+            ],
+            "finger_gap": 0.026408678423880776,
+            "fingertip_max_gap": 0.09061238667205151,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013204339211940376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619571876550603,
+            "object_top_z": 1.2118310451900396,
+            "finger_top_clearance": 0.049873857534979305,
+            "fingertip_min_top_clearance": 0.01496215726049379,
+            "object_projection_between_fingers": 0.8154735020344512,
+            "object_to_finger_line_xy": 0.010244268786549398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780619333602576,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3554104451825907,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27105508213637625,
+              -0.34459580346064833,
+              0.8515396078366575
+            ],
+            "target_position": [
+              0.26181022922372993,
+              -0.3454586525421141,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009285031713131163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850794485126446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396078366575,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754088282294394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562678961644817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533623344845375,
+            "release_required_pad_clearance": 0.052813394808224084,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.67260055456313,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007376611232757568,
+            "max_z_decrease": 0.007376611232757568,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515708167950425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007376611232757568,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021228394824613816,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007376611232757568,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007376631517066897,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11751015484333036,
+              -0.401720106601715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11751015484333036,
+              -0.401720106601715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11549134460884025,
+              -0.40353236506006945,
+              0.8066025330486855
+            ],
+            "closest_button": [
+              0.11749652773141858,
+              -0.40171384811401356,
+              0.7715498208999634
+            ],
+            "closest_ee_minus_button": [
+              -0.00200518312257833,
+              -0.0018185169460558925,
+              0.035052712148722076
+            ],
+            "button_min_z_position": [
+              0.11749317497014997,
+              -0.40171679854392994,
+              0.7694322466850281
+            ],
+            "min_active_finger_to_button": 0.14782549089471408,
+            "closest_active_finger": [
+              -0.025634407997131348,
+              -0.3887839913368225,
+              0.8107137680053711
+            ],
+            "closest_active_finger_button": [
+              0.11751087754964826,
+              -0.40172085165977467,
+              0.7761530876159668
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1431452855467796,
+              0.01293686032295216,
+              0.0345606803894043
+            ],
+            "min_contact_pad_to_button": 0.021228394824613816,
+            "closest_contact_pad": [
+              0.11749317497014997,
+              -0.40457121493887815,
+              0.7904678606260078
+            ],
+            "closest_contact_pad_button": [
+              0.11749317497014997,
+              -0.40171679854392994,
+              0.7694322466850281
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028544163949482115,
+              0.021035613940979747
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2799786498367031,
+              0.18081110863473207,
+              1.1013096196936716
+            ],
+            "current_z": 1.1013096196936716,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19140048995930903,
+            "gripper_z": 1.1013097247614956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27997869986946156,
+              0.1808110450365153,
+              1.1013097247614956
+            ],
+            "object_minus_gripper": [
+              -5.00327584362914e-08,
+              6.359821677626165e-08,
+              -1.0506782399666292e-07
+            ],
+            "object_to_gripper_xy": 8.091977566617853e-08,
+            "object_to_gripper_z": -1.0506782399666292e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2799786498367031,
+              0.18081110863473207,
+              1.1013096196936716
+            ],
+            "finger_b": [
+              0.2799786498367031,
+              0.18081110863473207,
+              1.1013096196936716
+            ],
+            "finger_midpoint": [
+              0.2799786498367031,
+              0.18081110863473207,
+              1.1013096196936716
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013096196936716,
+            "object_top_z": 1.2263181263139513,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2799786498367032,
+            0.18081110863473207,
+            1.1013096196936716
+          ],
+          "object_origin_world": [
+            0.2799786498367032,
+            0.18081110863473207,
+            1.1013096196936716
+          ],
+          "frame_world": [
+            0.27997869986946156,
+            0.1808110450365153,
+            1.1013097247614956
+          ],
+          "center_minus_frame": [
+            -5.003275838078025e-08,
+            6.359821677626165e-08,
+            -1.0506782399666292e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043246938193244,
+            "required_z": 0.9112597908377924,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00226061643998456,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.055592391478479e-09,
+            "max_target_xy_drift": 1.9203531877441684e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6726005548356988,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6726005571652683,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26952735982650705,
+              -0.3462561904978707,
+              0.923356352366331
+            ],
+            "target_mouth_xy": [
+              0.2710549890573136,
+              -0.3445958047197369
+            ],
+            "rod_tip_z": 0.923356352366331,
+            "rod_tip_depth": -0.022096464815504757,
+            "rod_tip_bottom_clearance": 0.12153706105275985,
+            "rod_tip_xy_dist": 0.0022562207336702966,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044703730439915934,
+            "min_rod_tip_bottom_clearance": 0.054736774200156435,
+            "min_rod_tip_xy_dist": 0.0009029215502086266,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27105498990315735,
+              -0.3445958053512618
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.458437283920262e-10,
+              6.315248879396052e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0009007709796194363,
+                0.00011321145242237929
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010211451935459581,
+                -0.00028264677635470026
+              ],
+              "first_target_mouth_xy": [
+                0.27105502079154065,
+                -0.3445957745961298
+              ],
+              "last_target_mouth_xy": [
+                0.27105502390554936,
+                -0.34459574609306975
+              ],
+              "first_rod_tip_xy": [
+                0.2701542498119212,
+                -0.3444825631437074
+              ],
+              "last_rod_tip_xy": [
+                0.2700338787120034,
+                -0.34487839286942445
+              ],
+              "min_rod_tip_xy_dist": 0.0009078574726707621,
+              "max_rod_tip_xy_dist": 0.0010595407998211849,
+              "first_target_xy_drift": 4.358864951736252e-08,
+              "last_target_xy_drift": 6.83205385231649e-08,
+              "max_depth": 0.019493912961039528,
+              "min_bottom_clearance": 0.07994670637640444
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0009007709796194363,
+                  0.00011321145242237929
+                ],
+                "rod_tip_xy": [
+                  0.2701542498119212,
+                  -0.3444825631437074
+                ],
+                "target_mouth_xy": [
+                  0.27105502079154065,
+                  -0.3445957745961298
+                ],
+                "gripper_position": [
+                  0.270142902718311,
+                  -0.34448985995969617,
+                  1.0060052122596563
+                ],
+                "rod_tip_xy_dist": 0.0009078574726707621,
+                "target_xy_drift": 4.358864951736252e-08,
+                "depth": 0.015115910412973887,
+                "bottom_clearance": 0.08432463368382304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0009120885818561519,
+                  0.00010591496039391579
+                ],
+                "rod_tip_xy": [
+                  0.2701429027183108,
+                  -0.34448985995969617
+                ],
+                "target_mouth_xy": [
+                  0.27105499130016697,
+                  -0.3445957749200901
+                ],
+                "gripper_position": [
+                  0.2701446025153421,
+                  -0.34455739413805475,
+                  1.0054867281183661
+                ],
+                "rod_tip_xy_dist": 0.000918217599476078,
+                "target_xy_drift": 3.046322121057891e-08,
+                "depth": 0.015254624294068209,
+                "bottom_clearance": 0.08418592048163365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009104198383033113,
+                  3.8384918922274025e-05
+                ],
+                "rod_tip_xy": [
+                  0.27014460251534195,
+                  -0.34455739413805475
+                ],
+                "target_mouth_xy": [
+                  0.27105502235364526,
+                  -0.344595779056977
+                ],
+                "gripper_position": [
+                  0.2701331496068575,
+                  -0.344564601086767,
+                  1.005348296371197
+                ],
+                "rod_tip_xy_dist": 0.0009112286672273305,
+                "target_xy_drift": 4.176629712998866e-08,
+                "depth": 0.015773206962524378,
+                "bottom_clearance": 0.08366744494147127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009218112116958221,
+                  3.117605025343417e-05
+                ],
+                "rod_tip_xy": [
+                  0.27013314960685736,
+                  -0.344564601086767
+                ],
+                "target_mouth_xy": [
+                  0.2710549608185532,
+                  -0.34459577713702044
+                ],
+                "gripper_position": [
+                  0.2701246493759848,
+                  -0.3445654400379515,
+                  1.0052267796590697
+                ],
+                "rod_tip_xy_dist": 0.000922338254718693,
+                "target_xy_drift": 4.0521076165934e-08,
+                "depth": 0.015911478169690407,
+                "bottom_clearance": 0.08352904707134245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009303721544923205,
+                  3.033679253139354e-05
+                ],
+                "rod_tip_xy": [
+                  0.2701246493759846,
+                  -0.34456544003795153
+                ],
+                "target_mouth_xy": [
+                  0.27105502153047695,
+                  -0.3445957768304829
+                ],
+                "gripper_position": [
+                  0.2701272897914445,
+                  -0.3446341077378572,
+                  1.0047085262858908
+                ],
+                "rod_tip_xy_dist": 0.0009308666213995295,
+                "target_xy_drift": 4.2587817167137516e-08,
+                "depth": 0.016033049427528923,
+                "bottom_clearance": 0.08340749056192287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009276682597865737,
+                  -3.836008951596526e-05
+                ],
+                "rod_tip_xy": [
+                  0.27012728979144435,
+                  -0.3446341077378572
+                ],
+                "target_mouth_xy": [
+                  0.2710549580512309,
+                  -0.3445957476483412
+                ],
+                "gripper_position": [
+                  0.2701157645072689,
+                  -0.3446411386929605,
+                  1.0045705791426665
+                ],
+                "rod_tip_xy_dist": 0.0009284610367070461,
+                "target_xy_drift": 6.591033498332288e-08,
+                "depth": 0.016551398374951787,
+                "bottom_clearance": 0.08288924563163891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000939257057293752,
+                  -4.539197917996507e-05
+                ],
+                "rod_tip_xy": [
+                  0.2701157645072687,
+                  -0.3446411386929604
+                ],
+                "target_mouth_xy": [
+                  0.27105502156456246,
+                  -0.34459574671378046
+                ],
+                "gripper_position": [
+                  0.27010735659395,
+                  -0.344641640438716,
+                  1.0044490660902525
+                ],
+                "rod_tip_xy_dist": 0.0009403532588607289,
+                "target_xy_drift": 6.663931863716511e-08,
+                "depth": 0.016689184960757664,
+                "bottom_clearance": 0.08275134495644398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009476648583671143,
+                  -4.5864243451543274e-05
+                ],
+                "rod_tip_xy": [
+                  0.27010735659394985,
+                  -0.34464164043871603
+                ],
+                "target_mouth_xy": [
+                  0.27105502145231697,
+                  -0.3445957761952645
+                ],
+                "gripper_position": [
+                  0.2701107971173591,
+                  -0.34471145079441423,
+                  1.00393212489501
+                ],
+                "rod_tip_xy_dist": 0.0009487740577246752,
+                "target_xy_drift": 4.295837113048276e-08,
+                "depth": 0.016810750987296896,
+                "bottom_clearance": 0.08262976305507042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009441590412942458,
+                  -0.00011570285164430594
+                ],
+                "rod_tip_xy": [
+                  0.2701107971173589,
+                  -0.34471145079441423
+                ],
+                "target_mouth_xy": [
+                  0.27105495615865316,
+                  -0.3445957479427699
+                ],
+                "gripper_position": [
+                  0.2700993239725058,
+                  -0.34471816092080043,
+                  1.0037937900956675
+                ],
+                "rod_tip_xy_dist": 0.0009512220798195832,
+                "target_xy_drift": 6.659148969268728e-08,
+                "depth": 0.017327803500791217,
+                "bottom_clearance": 0.08211292462348518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009556998195505706,
+                  -0.0001224164171002018
+                ],
+                "rod_tip_xy": [
+                  0.27009932397250563,
+                  -0.34471816092080043
+                ],
+                "target_mouth_xy": [
+                  0.2710550237920562,
+                  -0.34459574450370023
+                ],
+                "gripper_position": [
+                  0.27009074766362273,
+                  -0.3447186496331667,
+                  1.0036727801689103
+                ],
+                "rod_tip_xy_dist": 0.0009635081339898712,
+                "target_xy_drift": 6.964828218616398e-08,
+                "depth": 0.017466138924053465,
+                "bottom_clearance": 0.0819745320092563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009642125019143077,
+                  -0.00012290260891312244
+                ],
+                "rod_tip_xy": [
+                  0.27009074766362257,
+                  -0.3447186496331668
+                ],
+                "target_mouth_xy": [
+                  0.2710549601655369,
+                  -0.34459574702425366
+                ],
+                "gripper_position": [
+                  0.2700948293656948,
+                  -0.3447894963156908,
+                  1.0031591639800128
+                ],
+                "rod_tip_xy_dist": 0.0009720137859750245,
+                "target_xy_drift": 6.54703440266914e-08,
+                "depth": 0.017587068601434885,
+                "bottom_clearance": 0.08185347109451169,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009601925563711422,
+                  -0.000193719163672057
+                ],
+                "rod_tip_xy": [
+                  0.2700948293656946,
+                  -0.3447894963156908
+                ],
+                "target_mouth_xy": [
+                  0.27105502192206576,
+                  -0.3445957771520187
+                ],
+                "gripper_position": [
+                  0.27008310919858847,
+                  -0.3447962179125104,
+                  1.003020877351848
+                ],
+                "rod_tip_xy_dist": 0.0009795391057453246,
+                "target_xy_drift": 4.266623729233728e-08,
+                "depth": 0.01810067392239134,
+                "bottom_clearance": 0.08133989260637742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009718825606984671,
+                  -0.0002004727817711549
+                ],
+                "rod_tip_xy": [
+                  0.2700831091985883,
+                  -0.34479621791251036
+                ],
+                "target_mouth_xy": [
+                  0.27105499175928677,
+                  -0.3445957451307392
+                ],
+                "gripper_position": [
+                  0.2700745573746721,
+                  -0.34479636091272625,
+                  1.0028999202450302
+                ],
+                "rod_tip_xy_dist": 0.0009923432108000108,
+                "target_xy_drift": 6.024912078069854e-08,
+                "depth": 0.018238962725240726,
+                "bottom_clearance": 0.08120159944476002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009804645434719483,
+                  -0.000200583125312348
+                ],
+                "rod_tip_xy": [
+                  0.27007455737467195,
+                  -0.34479636091272636
+                ],
+                "target_mouth_xy": [
+                  0.2710550219181439,
+                  -0.344595777787414
+                ],
+                "gripper_position": [
+                  0.2700658337359917,
+                  -0.34479680034248356,
+                  1.0027789610763118
+                ],
+                "rod_tip_xy_dist": 0.0010007718577007075,
+                "target_xy_drift": 4.2246006523311826e-08,
+                "depth": 0.01835992903698347,
+                "bottom_clearance": 0.08108066033070005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009891573189373948,
+                  -0.000201026371925761
+                ],
+                "rod_tip_xy": [
+                  0.2700658337359915,
+                  -0.3447968003424836
+                ],
+                "target_mouth_xy": [
+                  0.2710549910549289,
+                  -0.34459577397055785
+                ],
+                "gripper_position": [
+                  0.27005705544058173,
+                  -0.3447971881497189,
+                  1.0026576935849651
+                ],
+                "rod_tip_xy_dist": 0.0010093779291311304,
+                "target_xy_drift": 3.1401833649099805e-08,
+                "depth": 0.018480830716391394,
+                "bottom_clearance": 0.08095973797012246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009979668072215286,
+                  -0.0002014446091719302
+                ],
+                "rod_tip_xy": [
+                  0.27005705544058156,
+                  -0.3447971881497188
+                ],
+                "target_mouth_xy": [
+                  0.2710550222478031,
+                  -0.3445957435405469
+                ],
+                "gripper_position": [
+                  0.27006332217828966,
+                  -0.3448712185901099,
+                  1.0021459067410603
+                ],
+                "rod_tip_xy_dist": 0.0010180951227072858,
+                "target_xy_drift": 6.976202822426567e-08,
+                "depth": 0.018602239917323904,
+                "bottom_clearance": 0.08083840493345462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000991639113393894,
+                  -0.00027547473799272026
+                ],
+                "rod_tip_xy": [
+                  0.2700633221782895,
+                  -0.34487121859010983
+                ],
+                "target_mouth_xy": [
+                  0.2710549612916834,
+                  -0.3445957438521171
+                ],
+                "gripper_position": [
+                  0.27005148250772415,
+                  -0.34487804796284993,
+                  1.0020077795257616
+                ],
+                "rod_tip_xy_dist": 0.001029191169066654,
+                "target_xy_drift": 6.782891151435808e-08,
+                "depth": 0.019113890979074566,
+                "bottom_clearance": 0.08032669035910744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010035395432105298,
+                  -0.00028230378893034924
+                ],
+                "rod_tip_xy": [
+                  0.270051482507724,
+                  -0.3448780479628498
+                ],
+                "target_mouth_xy": [
+                  0.2710550220509345,
+                  -0.34459574417391947
+                ],
+                "gripper_position": [
+                  0.27004264411628176,
+                  -0.3448782006742702,
+                  1.0018870732884397
+                ],
+                "rod_tip_xy_dist": 0.0010424907884636822,
+                "target_xy_drift": 6.910967217234856e-08,
+                "depth": 0.01925214113334872,
+                "bottom_clearance": 0.0801884737630495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001012344936452192,
+                  -0.00028245333731091726
+                ],
+                "rod_tip_xy": [
+                  0.27004264411628165,
+                  -0.34487820067427033
+                ],
+                "target_mouth_xy": [
+                  0.27105498905273384,
+                  -0.3445957473369594
+                ],
+                "gripper_position": [
+                  0.27003387871200357,
+                  -0.3448783928694245,
+                  1.00176598877202
+                ],
+                "rod_tip_xy_dist": 0.0010510100656599191,
+                "target_xy_drift": 5.80205351466494e-08,
+                "depth": 0.01937280906969896,
+                "bottom_clearance": 0.08006777726665382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010211451935459581,
+                  -0.00028264677635470026
+                ],
+                "rod_tip_xy": [
+                  0.2700338787120034,
+                  -0.34487839286942445
+                ],
+                "target_mouth_xy": [
+                  0.27105502390554936,
+                  -0.34459574609306975
+                ],
+                "gripper_position": [
+                  0.27002495640793733,
+                  -0.34487868496562163,
+                  1.0016447899963805
+                ],
+                "rod_tip_xy_dist": 0.0010595407998211849,
+                "target_xy_drift": 6.83205385231649e-08,
+                "depth": 0.019493912961039528,
+                "bottom_clearance": 0.07994670637640444,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005999247138062147,
+              "rod_tip_xy_max_step": 3.242283054504905e-05,
+              "rod_tip_xy_range": 0.0005999170593581888,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2695273598265071,
+            -0.3462561904978707,
+            1.043356352366331
+          ],
+          "object_origin_world": [
+            0.2695273598265071,
+            -0.3462561904978707,
+            1.043356352366331
+          ],
+          "frame_world": [
+            0.2695257819682979,
+            -0.346260710833496,
+            1.043246938193244
+          ],
+          "center_minus_frame": [
+            1.5778582092007554e-06,
+            4.5203356253131766e-06,
+            0.00010941417308685253
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2674892234816883,
+              0.13606274690460068,
+              0.8330231629105754
+            ],
+            "target_position": [
+              0.2803048795599676,
+              0.18240233132791128,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04807908199250342,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1655603380740526,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330231629105754,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673600587594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13478410742828092,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c69ecdf61b75e30dd7e2d9d13ccfb3d5ba994b8127e3713cc689efff0cad2eb6",
+    "visual_seed": 6825380987951070441,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7688f86107325cb56b9883fdb04f3d2ff1491c42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_15_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.259309376777514,
+              0.031614766415109186,
+              1.1617023683172438
+            ],
+            "current_z": 1.1617023683172438,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3005956218838989,
+            "gripper_z": 1.154725210393359,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25432587045201227,
+              0.02669343151874655,
+              1.154725210393359
+            ],
+            "object_minus_gripper": [
+              0.004983506325501708,
+              0.004921334896362636,
+              0.006977157923884869
+            ],
+            "object_to_gripper_xy": 0.007003918364635054,
+            "object_to_gripper_z": 0.006977157923884869,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.259309376777514,
+              0.007707287083418715,
+              1.1617023683172438
+            ],
+            "finger_b": [
+              0.24804877151103757,
+              0.031614766415109186,
+              1.1617023683172438
+            ],
+            "finger_midpoint": [
+              0.25367907414427576,
+              0.01966102674926395,
+              1.1617023683172438
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056303026332382156,
+              0.011953739665845235,
+              0.0
+            ],
+            "finger_gap": 0.026426668328841666,
+            "fingertip_max_gap": 0.09100413483389272,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013213334164420838,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617023683172438,
+            "object_top_z": 1.2116667698055186,
+            "finger_top_clearance": 0.049964401488274746,
+            "fingertip_min_top_clearance": 0.01498932044648239,
+            "object_projection_between_fingers": 0.8184322793977138,
+            "object_to_finger_line_xy": 0.010187159588967003,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800206741694636,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6312779049037702,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26847611160916834,
+              -0.3466249115586377,
+              0.8515395798322329
+            ],
+            "target_position": [
+              0.2603626280353537,
+              -0.3474120534480799,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008151577028813172,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18556340341345445,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395798322329,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757202504586069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577905567003448,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15301857080907916,
+            "release_required_pad_clearance": 0.05288952783501724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8194779062852378,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007437169551849365,
+            "max_z_decrease": 0.007437169551849365,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512890731328291,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007437169551849365,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112968313975364,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007437169551849365,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007437196103489484,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11606255173683164,
+              -0.4036734998226166,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11606255173683164,
+              -0.4036734998226166,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11769361554690447,
+              -0.4038078674750727,
+              0.8076121934558451
+            ],
+            "closest_button": [
+              0.11605112254619596,
+              -0.40367093682289124,
+              0.77252197265625
+            ],
+            "closest_ee_minus_button": [
+              0.0016424930007085115,
+              -0.00013693065218145506,
+              0.03509022079959512
+            ],
+            "button_min_z_position": [
+              0.11604278534650801,
+              -0.40367144346237177,
+              0.7693716883659363
+            ],
+            "min_active_finger_to_button": 0.14460560867904748,
+            "closest_active_finger": [
+              -0.02340700477361679,
+              -0.38725167512893677,
+              0.8111662864685059
+            ],
+            "closest_active_finger_button": [
+              0.11606519669294356,
+              -0.40367165207862854,
+              0.7766891717910767
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13947220146656036,
+              0.016419976949691772,
+              0.0344771146774292
+            ],
+            "min_contact_pad_to_button": 0.02112968313975364,
+            "closest_contact_pad": [
+              0.11604278534650801,
+              -0.40490839661744243,
+              0.7904651341839753
+            ],
+            "closest_contact_pad_button": [
+              0.11604278534650801,
+              -0.40367144346237177,
+              0.7693716883659363
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012369531550706636,
+              0.02109344581803907
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2773982463178323,
+              0.17772037282074774,
+              1.1042462960320703
+            ],
+            "current_z": 1.1042462960320703,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1943371662977077,
+            "gripper_z": 1.1042466536854918,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.277398261450152,
+              0.17772038732785048,
+              1.1042466536854918
+            ],
+            "object_minus_gripper": [
+              -1.5132319730604138e-08,
+              -1.4507102741312394e-08,
+              -3.576534215454785e-07
+            ],
+            "object_to_gripper_xy": 2.0962898902017937e-08,
+            "object_to_gripper_z": -3.576534215454785e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2773982463178323,
+              0.17772037282074774,
+              1.1042462960320703
+            ],
+            "finger_b": [
+              0.2773982463178323,
+              0.17772037282074774,
+              1.1042462960320703
+            ],
+            "finger_midpoint": [
+              0.2773982463178323,
+              0.17772037282074774,
+              1.1042462960320703
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042462960320703,
+            "object_top_z": 1.22925480265235,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27739824631783233,
+            0.17772037282074776,
+            1.1042462960320705
+          ],
+          "object_origin_world": [
+            0.27739824631783233,
+            0.17772037282074776,
+            1.1042462960320705
+          ],
+          "frame_world": [
+            0.277398261450152,
+            0.17772038732785048,
+            1.1042466536854918
+          ],
+          "center_minus_frame": [
+            -1.5132319675092987e-08,
+            -1.4507102713556819e-08,
+            -3.576534213234339e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432933706517156,
+            "required_z": 0.9112599147341853,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0030685252574408394,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.286371669381109e-08,
+            "max_target_xy_drift": 2.1508327025839658e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8194779009729348,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8194779068220722,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26605432602581647,
+              -0.3485029364369573,
+              0.9234021376259821
+            ],
+            "target_mouth_xy": [
+              0.2684761455423776,
+              -0.3466249127910275
+            ],
+            "rod_tip_z": 0.9234021376259821,
+            "rod_tip_depth": -0.02214222975411506,
+            "rod_tip_bottom_clearance": 0.12158285929448243,
+            "rod_tip_xy_dist": 0.0030646667984412027,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044711840560967,
+            "min_rod_tip_bottom_clearance": 0.054728853133664934,
+            "min_rod_tip_xy_dist": 0.0010393960402951205,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2684761772485896,
+              -0.3466249416356861
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.170621198922419e-08,
+              2.8844658606086426e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0017693168655071867,
+                -0.00021685410271443661
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001892541645153456,
+                -0.0005883199539920003
+              ],
+              "first_target_mouth_xy": [
+                0.2684760981050768,
+                -0.3466249419848372
+              ],
+              "last_target_mouth_xy": [
+                0.2684761773273644,
+                -0.3466248823452672
+              ],
+              "first_rod_tip_xy": [
+                0.2667067812395696,
+                -0.3468417960875516
+              ],
+              "last_rod_tip_xy": [
+                0.26658363568221094,
+                -0.3472132022992592
+              ],
+              "min_rod_tip_xy_dist": 0.0017825565551847884,
+              "max_rod_tip_xy_dist": 0.0019818764459232315,
+              "first_target_xy_drift": 7.914428295613656e-08,
+              "last_target_xy_drift": 5.929047118346381e-08,
+              "max_depth": 0.01936421663980281,
+              "min_bottom_clearance": 0.08007646745330865
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017693168655071867,
+                  -0.00021685410271443661
+                ],
+                "rod_tip_xy": [
+                  0.2667067812395696,
+                  -0.3468417960875516
+                ],
+                "target_mouth_xy": [
+                  0.2684760981050768,
+                  -0.3466249419848372
+                ],
+                "gripper_position": [
+                  0.2666956801991066,
+                  -0.3468487339927329,
+                  1.0061201893373535
+                ],
+                "rod_tip_xy_dist": 0.0017825565551847884,
+                "target_xy_drift": 7.914428295613656e-08,
+                "depth": 0.01500201532277401,
+                "bottom_clearance": 0.08443848631402517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017804684811281724,
+                  -0.0002237923612513626
+                ],
+                "rod_tip_xy": [
+                  0.26669568019910656,
+                  -0.34684873399273297
+                ],
+                "target_mouth_xy": [
+                  0.2684761486802347,
+                  -0.3466249416314816
+                ],
+                "gripper_position": [
+                  0.26668752155116504,
+                  -0.3468495455214231,
+                  1.0059996213053097
+                ],
+                "rod_tip_xy_dist": 0.0017944779277676618,
+                "target_xy_drift": 2.8568355157825745e-08,
+                "depth": 0.015139794646981009,
+                "bottom_clearance": 0.08430093891534407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017885928700769327,
+                  -0.0002246637926156536
+                ],
+                "rod_tip_xy": [
+                  0.26668752155116504,
+                  -0.3468495455214231
+                ],
+                "target_mouth_xy": [
+                  0.268476114421242,
+                  -0.34662488172880745
+                ],
+                "gripper_position": [
+                  0.26668843231383144,
+                  -0.3469128145932869,
+                  1.0054809836919985
+                ],
+                "rod_tip_xy_dist": 0.0018026475735990351,
+                "target_xy_drift": 8.681076956952823e-08,
+                "depth": 0.015260333522921887,
+                "bottom_clearance": 0.08418024141423819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00178768107679661,
+                  -0.0002879033664200392
+                ],
+                "rod_tip_xy": [
+                  0.2666884323138314,
+                  -0.34691281459328693
+                ],
+                "target_mouth_xy": [
+                  0.268476113390628,
+                  -0.3466249112268669
+                ],
+                "gripper_position": [
+                  0.266677142375916,
+                  -0.3469196952101285,
+                  1.005343302364906
+                ],
+                "rod_tip_xy_dist": 0.001810715875208664,
+                "target_xy_drift": 7.07286048359889e-08,
+                "depth": 0.015778849435336695,
+                "bottom_clearance": 0.08366169739723273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001799006551889304,
+                  -0.00029475294137576435
+                ],
+                "rod_tip_xy": [
+                  0.26667714237591594,
+                  -0.34691969521012855
+                ],
+                "target_mouth_xy": [
+                  0.26847614892780525,
+                  -0.3466249422687528
+                ],
+                "gripper_position": [
+                  0.2666780805892438,
+                  -0.34698289069584026,
+                  1.0048283144430017
+                ],
+                "rod_tip_xy_dist": 0.0018229931075542517,
+                "target_xy_drift": 2.832785905178192e-08,
+                "depth": 0.01591668709115357,
+                "bottom_clearance": 0.08352406278709634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017980007261839126,
+                  -0.00035798040693529876
+                ],
+                "rod_tip_xy": [
+                  0.2666780805892438,
+                  -0.34698289069584043
+                ],
+                "target_mouth_xy": [
+                  0.2684760813154277,
+                  -0.34662491028890513
+                ],
+                "gripper_position": [
+                  0.26666689733504384,
+                  -0.3469893343497926,
+                  1.00469105067
+                ],
+                "rod_tip_xy_dist": 0.0018332911888479253,
+                "target_xy_drift": 1.0092468588053606e-07,
+                "depth": 0.016431572750915335,
+                "bottom_clearance": 0.08300903131028481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00180924940593441,
+                  -0.000364392071846964
+                ],
+                "rod_tip_xy": [
+                  0.2666668973350438,
+                  -0.3469893343497926
+                ],
+                "target_mouth_xy": [
+                  0.2684761467409782,
+                  -0.34662494227794566
+                ],
+                "gripper_position": [
+                  0.266658520830893,
+                  -0.3469898488258054,
+                  1.0045704548812635
+                ],
+                "rod_tip_xy_dist": 0.0018455798532978566,
+                "target_xy_drift": 3.051437119744554e-08,
+                "depth": 0.016568861435722337,
+                "bottom_clearance": 0.08287180367848135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001817559000604596,
+                  -0.00036493755914634995
+                ],
+                "rod_tip_xy": [
+                  0.266658520830893,
+                  -0.3469898488258054
+                ],
+                "target_mouth_xy": [
+                  0.26847607983149757,
+                  -0.34662491126665906
+                ],
+                "gripper_position": [
+                  0.26665010047697385,
+                  -0.3469907284693766,
+                  1.0044503712676442
+                ],
+                "rod_tip_xy_dist": 0.0018538339037665896,
+                "target_xy_drift": 1.0204100948359246e-07,
+                "depth": 0.016689460930330413,
+                "bottom_clearance": 0.0827511666192805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018260160701944472,
+                  -0.0003657871320522643
+                ],
+                "rod_tip_xy": [
+                  0.26665010047697385,
+                  -0.34699072846937673
+                ],
+                "target_mouth_xy": [
+                  0.2684761165471683,
+                  -0.34662494133732447
+                ],
+                "gripper_position": [
+                  0.2666527506705051,
+                  -0.3470559295134317,
+                  1.0039330049451243
+                ],
+                "rod_tip_xy_dist": 0.001862292918577363,
+                "target_xy_drift": 6.070215453229782e-08,
+                "depth": 0.016809540332953232,
+                "bottom_clearance": 0.0826311152538951,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018233018363161824,
+                  -0.0004309878216900431
+                ],
+                "rod_tip_xy": [
+                  0.26665275067050503,
+                  -0.3470559295134318
+                ],
+                "target_mouth_xy": [
+                  0.2684760525068212,
+                  -0.34662494169174174
+                ],
+                "gripper_position": [
+                  0.2666413270832074,
+                  -0.34706267837046323,
+                  1.003795700815294
+                ],
+                "rod_tip_xy_dist": 0.0018735474610372406,
+                "target_xy_drift": 1.247417809541602e-07,
+                "depth": 0.01732688338686128,
+                "bottom_clearance": 0.08211362561324609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018347578364440453,
+                  -0.00043773765175114665
+                ],
+                "rod_tip_xy": [
+                  0.2666413270832074,
+                  -0.34706267837046323
+                ],
+                "target_mouth_xy": [
+                  0.26847608491965147,
+                  -0.3466249407187121
+                ],
+                "gripper_position": [
+                  0.2666327765493499,
+                  -0.3470632300417367,
+                  1.0036757382355512
+                ],
+                "rod_tip_xy_dist": 0.001886253050402687,
+                "target_xy_drift": 9.233349150283857e-08,
+                "depth": 0.017464207785723218,
+                "bottom_clearance": 0.08197640087983227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018433373783889317,
+                  -0.00043828868591833103
+                ],
+                "rod_tip_xy": [
+                  0.26663277654934986,
+                  -0.3470632300417368
+                ],
+                "target_mouth_xy": [
+                  0.2684761139277388,
+                  -0.34662494135581845
+                ],
+                "gripper_position": [
+                  0.2666361841099865,
+                  -0.3471291742911127,
+                  1.0031618705504337
+                ],
+                "rod_tip_xy_dist": 0.0018947268042569612,
+                "target_xy_drift": 6.33214692661421e-08,
+                "depth": 0.017584152772573525,
+                "bottom_clearance": 0.08185640260795624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018399295016750528,
+                  -0.0005042332477153133
+                ],
+                "rod_tip_xy": [
+                  0.26663618410998646,
+                  -0.3471291742911127
+                ],
+                "target_mouth_xy": [
+                  0.2684761136116615,
+                  -0.34662494104339736
+                ],
+                "gripper_position": [
+                  0.2666246235211427,
+                  -0.34713582753118644,
+                  1.0030249057951315
+                ],
+                "rod_tip_xy_dist": 0.00190777140644149,
+                "target_xy_drift": 6.36396843085755e-08,
+                "depth": 0.018097904423736044,
+                "bottom_clearance": 0.08134265028702126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001851522459968169,
+                  -0.0005108877746679008
+                ],
+                "rod_tip_xy": [
+                  0.2666246235211427,
+                  -0.34713582753118644
+                ],
+                "target_mouth_xy": [
+                  0.26847614598111086,
+                  -0.34662493975651854
+                ],
+                "gripper_position": [
+                  0.2666160487100606,
+                  -0.34713626292757876,
+                  1.0029047675539235
+                ],
+                "rod_tip_xy_dist": 0.0019207138615815996,
+                "target_xy_drift": 3.132389656466456e-08,
+                "depth": 0.01823509098567022,
+                "bottom_clearance": 0.08120560796213783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018600358056683475,
+                  -0.0005113228408624715
+                ],
+                "rod_tip_xy": [
+                  0.26661604871006056,
+                  -0.3471362629275788
+                ],
+                "target_mouth_xy": [
+                  0.2684760845157289,
+                  -0.34662494008671635
+                ],
+                "gripper_position": [
+                  0.26660731608279953,
+                  -0.34713676163507023,
+                  1.0027844977214078
+                ],
+                "rod_tip_xy_dist": 0.0019290371292320857,
+                "target_xy_drift": 9.274579642722608e-08,
+                "depth": 0.018355149290696704,
+                "bottom_clearance": 0.0810854669654476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018688281239941373,
+                  -0.0005118190225635311
+                ],
+                "rod_tip_xy": [
+                  0.2666073160827995,
+                  -0.34713676163507023
+                ],
+                "target_mouth_xy": [
+                  0.2684761442067936,
+                  -0.3466249426125067
+                ],
+                "gripper_position": [
+                  0.266598760179271,
+                  -0.34713720371412726,
+                  1.00266426318018
+                ],
+                "rod_tip_xy_dist": 0.0019376473541099616,
+                "target_xy_drift": 3.3056231775402077e-08,
+                "depth": 0.01847539952554489,
+                "bottom_clearance": 0.08096517866831388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018773230764355664,
+                  -0.0005122921518170287
+                ],
+                "rod_tip_xy": [
+                  0.2665987601792709,
+                  -0.34713720371412726
+                ],
+                "target_mouth_xy": [
+                  0.2684760832557065,
+                  -0.34662491156231023
+                ],
+                "gripper_position": [
+                  0.2666040268140528,
+                  -0.34720655490079083,
+                  1.0021527011050464
+                ],
+                "rod_tip_xy_dist": 0.0019459663877186629,
+                "target_xy_drift": 9.868672659427591e-08,
+                "depth": 0.018595561348568768,
+                "bottom_clearance": 0.08084496068539615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018721501866932333,
+                  -0.0005816735061912603
+                ],
+                "rod_tip_xy": [
+                  0.2666040268140528,
+                  -0.3472065549007909
+                ],
+                "target_mouth_xy": [
+                  0.26847617700074605,
+                  -0.3466248813945996
+                ],
+                "gripper_position": [
+                  0.26659234190305386,
+                  -0.3472130983274347,
+                  1.0020154661629148
+                ],
+                "rod_tip_xy_dist": 0.0019604311743441397,
+                "target_xy_drift": 6.024159628855392e-08,
+                "depth": 0.01910722315009583,
+                "bottom_clearance": 0.0803334769813312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018837418026638186,
+                  -0.0005882460782293819
+                ],
+                "rod_tip_xy": [
+                  0.2665923419030538,
+                  -0.34721309832743474
+                ],
+                "target_mouth_xy": [
+                  0.2684760837057176,
+                  -0.34662485224920536
+                ],
+                "gripper_position": [
+                  0.26658363568221094,
+                  -0.3472132022992593,
+                  1.001895755674629
+                ],
+                "rod_tip_xy_dist": 0.001973452970722987,
+                "target_xy_drift": 1.2938397051939723e-07,
+                "depth": 0.01924435659957091,
+                "bottom_clearance": 0.08019617194649731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001892541645153456,
+                  -0.0005883199539920003
+                ],
+                "rod_tip_xy": [
+                  0.26658363568221094,
+                  -0.3472132022992592
+                ],
+                "target_mouth_xy": [
+                  0.2684761773273644,
+                  -0.3466248823452672
+                ],
+                "gripper_position": [
+                  0.26657500938295564,
+                  -0.34721356895208744,
+                  1.0017755161062611
+                ],
+                "rod_tip_xy_dist": 0.0019818764459232315,
+                "target_xy_drift": 5.929047118346381e-08,
+                "depth": 0.01936421663980281,
+                "bottom_clearance": 0.08007646745330865,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005955556573421806,
+              "rod_tip_xy_max_step": 3.225726725325531e-05,
+              "rod_tip_xy_range": 0.0005955439562685722,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2660543260258165,
+            -0.3485029364369573,
+            1.0434021376259823
+          ],
+          "object_origin_world": [
+            0.2660543260258165,
+            -0.3485029364369573,
+            1.0434021376259823
+          ],
+          "frame_world": [
+            0.26605292625023624,
+            -0.3485074258767048,
+            1.0432933706517156
+          ],
+          "center_minus_frame": [
+            1.3997755802797052e-06,
+            4.489439747512591e-06,
+            0.00010876697426676074
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26603848413838355,
+              0.1300882727023155,
+              0.8332304386948457
+            ],
+            "target_position": [
+              0.2779054026155918,
+              0.1767615249433081,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04815824154696711,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16694041416886285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332304386948457,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672905638009,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1358380348985689,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7889b2d6fca70372eefc3f4bff383ce8798a57afae9ba704a55f80567ea42417",
+    "visual_seed": 5241194879079458762,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c73798b2fbb3356b74a16de461c97817bb80ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_16_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26272240714103834,
+              0.03223525987416513,
+              1.1646029476006077
+            ],
+            "current_z": 1.1646029476006077,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3034964991904865,
+            "gripper_z": 1.1577007579459397,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25756725036570893,
+              0.027366270521650957,
+              1.1577007579459397
+            ],
+            "object_minus_gripper": [
+              0.005155156775329406,
+              0.004868989352514175,
+              0.006902189654667934
+            ],
+            "object_to_gripper_xy": 0.007091029452281318,
+            "object_to_gripper_z": 0.006902189654667934,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26272240714103834,
+              0.007962800055471033,
+              1.1646029476006077
+            ],
+            "finger_b": [
+              0.2518603255578068,
+              0.03223525987416513,
+              1.1646029476006077
+            ],
+            "finger_midpoint": [
+              0.25729136634942257,
+              0.020099029964818084,
+              1.1646029476006077
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431040791615771,
+              0.012136229909347047,
+              0.0
+            ],
+            "finger_gap": 0.026592049976842655,
+            "fingertip_max_gap": 0.09086570044441053,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013296024988421326,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646029476006077,
+            "object_top_z": 1.2145790897973314,
+            "finger_top_clearance": 0.04997614219672375,
+            "fingertip_min_top_clearance": 0.014992842659017125,
+            "object_projection_between_fingers": 0.8331514318016053,
+            "object_to_finger_line_xy": 0.009914596242334083,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793285022220527,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5409510417515428,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26600446680764345,
+              -0.34857783115106333,
+              0.8515395831623498
+            ],
+            "target_position": [
+              0.25855504453736283,
+              -0.3487856503491001,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007452320509748989,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18525887818536463,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395831623498,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534439998472851,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641015050403546,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15338165018437633,
+            "release_required_pad_clearance": 0.05320507525201773,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4325568040229042,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007187485694885254,
+            "max_z_decrease": 0.007187485694885254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513244957149751,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007187485694885254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021049108130851882,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007187485694885254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007187505053541869,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11425497382879254,
+              -0.40504711866378784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11425497382879254,
+              -0.40504711866378784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11261917822219736,
+              -0.40390078532669726,
+              0.8074397609282322
+            ],
+            "closest_button": [
+              0.11424388736486432,
+              -0.40504276752471924,
+              0.7723634839057922
+            ],
+            "closest_ee_minus_button": [
+              -0.0016247091426669635,
+              0.0011419821980219735,
+              0.03507627702243998
+            ],
+            "button_min_z_position": [
+              0.11423846334218976,
+              -0.4050447344779968,
+              0.7696213722229004
+            ],
+            "min_active_finger_to_button": 0.14713087314583234,
+            "closest_active_finger": [
+              -0.015345253050327301,
+              -0.4655835032463074,
+              0.8107370138168335
+            ],
+            "closest_active_finger_button": [
+              0.11425618827342984,
+              -0.4050479233264923,
+              0.7762928009033203
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12960144132375714,
+              -0.060535579919815063,
+              0.034444212913513184
+            ],
+            "min_contact_pad_to_button": 0.021049108130851882,
+            "closest_contact_pad": [
+              0.11423846334218976,
+              -0.405144216805004,
+              0.7906702452656765
+            ],
+            "closest_contact_pad_button": [
+              0.11423846334218976,
+              -0.4050447344779968,
+              0.7696213722229004
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -9.948232700718318e-05,
+              0.02104887304277614
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2833480692141189,
+              0.17612656469728694,
+              1.1044317389505922
+            ],
+            "current_z": 1.1044317389505922,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19452260921622966,
+            "gripper_z": 1.1044322370421202,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2833480214591029,
+              0.17612660718164047,
+              1.1044322370421202
+            ],
+            "object_minus_gripper": [
+              4.7755016052697385e-08,
+              -4.2484353535154895e-08,
+              -4.98091528022826e-07
+            ],
+            "object_to_gripper_xy": 6.391761770821416e-08,
+            "object_to_gripper_z": -4.98091528022826e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2833480692141189,
+              0.17612656469728694,
+              1.1044317389505922
+            ],
+            "finger_b": [
+              0.2833480692141189,
+              0.17612656469728694,
+              1.1044317389505922
+            ],
+            "finger_midpoint": [
+              0.2833480692141189,
+              0.17612656469728694,
+              1.1044317389505922
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044317389505922,
+            "object_top_z": 1.229440245570872,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2833480692141189,
+            0.17612656469728696,
+            1.1044317389505922
+          ],
+          "object_origin_world": [
+            0.2833480692141189,
+            0.17612656469728696,
+            1.1044317389505922
+          ],
+          "frame_world": [
+            0.2833480214591029,
+            0.17612660718164047,
+            1.1044322370421202
+          ],
+          "center_minus_frame": [
+            4.7755016052697385e-08,
+            -4.248435350739932e-08,
+            -4.98091528022826e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432693624645981,
+            "required_z": 0.9112598471438804,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001107315967460264,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.147017979908727e-08,
+            "max_target_xy_drift": 2.789261661011373e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4325568033104668,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4331030678371088,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26703614676706794,
+              -0.34897901449563407,
+              0.9233781823965855
+            ],
+            "target_mouth_xy": [
+              0.2660044103499336,
+              -0.3485778308073363
+            ],
+            "rod_tip_z": 0.9233781823965855,
+            "rod_tip_depth": -0.0221182966807828,
+            "rod_tip_bottom_clearance": 0.12155885365622965,
+            "rod_tip_xy_dist": 0.0011069906893002304,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04467047701574023,
+            "min_rod_tip_bottom_clearance": 0.054770085285961834,
+            "min_rod_tip_xy_dist": 0.0004168333415924494,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2660044377844557,
+              -0.3485778619059345
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7434522098523928e-08,
+              3.109859819661054e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.001587533372713612,
+                0.0014030734097307818
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014834128031523397,
+                0.0009971491798659304
+              ],
+              "first_target_mouth_xy": [
+                0.26600443792494577,
+                -0.34857777403362444
+              ],
+              "last_target_mouth_xy": [
+                0.2660044385951901,
+                -0.3485777997160958
+              ],
+              "first_rod_tip_xy": [
+                0.2675919712976594,
+                -0.34717470062389366
+              ],
+              "last_rod_tip_xy": [
+                0.2674878513983424,
+                -0.3475806505362299
+              ],
+              "min_rod_tip_xy_dist": 0.001787405950382727,
+              "max_rod_tip_xy_dist": 0.0021186970530429824,
+              "first_target_xy_drift": 8.787242234702024e-08,
+              "last_target_xy_drift": 6.219512298989785e-08,
+              "max_depth": 0.01954254999991123,
+              "min_bottom_clearance": 0.07989799573252665
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001587533372713612,
+                  0.0014030734097307818
+                ],
+                "rod_tip_xy": [
+                  0.2675919712976594,
+                  -0.34717470062389366
+                ],
+                "target_mouth_xy": [
+                  0.26600443792494577,
+                  -0.34857777403362444
+                ],
+                "gripper_position": [
+                  0.2675807892438884,
+                  -0.3471818589505577,
+                  1.0059397435468687
+                ],
+                "rod_tip_xy_dist": 0.0021186970530429824,
+                "target_xy_drift": 8.787242234702024e-08,
+                "depth": 0.015182152025874251,
+                "bottom_clearance": 0.08425844392445436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015763503941402801,
+                  0.001395880508172187
+                ],
+                "rod_tip_xy": [
+                  0.2675807892438883,
+                  -0.34718185895055786
+                ],
+                "target_mouth_xy": [
+                  0.266004438849748,
+                  -0.34857773945873005
+                ],
+                "gripper_position": [
+                  0.26758517328434106,
+                  -0.3472509261058162,
+                  1.005423398557345
+                ],
+                "rod_tip_xy_dist": 0.002105555261255629,
+                "target_xy_drift": 1.2245183837230543e-07,
+                "depth": 0.015320107820000706,
+                "bottom_clearance": 0.08412047142168144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015807342639969635,
+                  0.00132687961844824
+                ],
+                "rod_tip_xy": [
+                  0.26758517328434095,
+                  -0.3472509261058163
+                ],
+                "target_mouth_xy": [
+                  0.266004439020344,
+                  -0.34857780572426456
+                ],
+                "gripper_position": [
+                  0.2675737513797103,
+                  -0.34725816744497096,
+                  1.0052855109230916
+                ],
+                "rod_tip_xy_dist": 0.002063814510857836,
+                "target_xy_drift": 5.619526186139886e-08,
+                "depth": 0.01583650053403496,
+                "bottom_clearance": 0.08360417424718347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001569340949261977,
+                  0.0013195681972180129
+                ],
+                "rod_tip_xy": [
+                  0.2675737513797102,
+                  -0.3472581674449712
+                ],
+                "target_mouth_xy": [
+                  0.2660044104304482,
+                  -0.3485777356421892
+                ],
+                "gripper_position": [
+                  0.2675655192120858,
+                  -0.34725899728825804,
+                  1.005164946301874
+                ],
+                "rod_tip_xy_dist": 0.002050388071107438,
+                "target_xy_drift": 1.2919278270015364e-07,
+                "depth": 0.01597447942162955,
+                "bottom_clearance": 0.08346629186893872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001561114247975559,
+                  0.0013188066126982312
+                ],
+                "rod_tip_xy": [
+                  0.2675655192120857,
+                  -0.34725899728825815
+                ],
+                "target_mouth_xy": [
+                  0.26600440496411015,
+                  -0.3485778039009564
+                ],
+                "gripper_position": [
+                  0.2675710364542595,
+                  -0.3473289230675333,
+                  1.0046486740689646
+                ],
+                "rod_tip_xy_dist": 0.0020436067569199507,
+                "target_xy_drift": 6.66464745233085e-08,
+                "depth": 0.016095021270647103,
+                "bottom_clearance": 0.08334569568219263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015665958902078003,
+                  0.0012488157545827994
+                ],
+                "rod_tip_xy": [
+                  0.2675710364542594,
+                  -0.3473289230675334
+                ],
+                "target_mouth_xy": [
+                  0.2660044405640516,
+                  -0.3485777388221162
+                ],
+                "gripper_position": [
+                  0.2675596845513416,
+                  -0.3473357984415907,
+                  1.0045110876724885
+                ],
+                "rod_tip_xy_dist": 0.0020034379132157247,
+                "target_xy_drift": 1.231152000430001e-07,
+                "depth": 0.016611201704212486,
+                "bottom_clearance": 0.08282946532336999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015552477535207831,
+                  0.0012419426172131098
+                ],
+                "rod_tip_xy": [
+                  0.2675596845513415,
+                  -0.3473357984415908
+                ],
+                "target_mouth_xy": [
+                  0.2660044367978207,
+                  -0.3485777410588039
+                ],
+                "gripper_position": [
+                  0.267551180638678,
+                  -0.3473367691293361,
+                  1.0043900362048208
+                ],
+                "rod_tip_xy_dist": 0.001990280643346961,
+                "target_xy_drift": 1.2085115811648134e-07,
+                "depth": 0.01674877458642443,
+                "bottom_clearance": 0.08269177931886118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015467126524557062,
+                  0.0012410013969598177
+                ],
+                "rod_tip_xy": [
+                  0.26755118063867783,
+                  -0.3473367691293362
+                ],
+                "target_mouth_xy": [
+                  0.2660044679862221,
+                  -0.348577770526296
+                ],
+                "gripper_position": [
+                  0.267557562924977,
+                  -0.34740781888223166,
+                  1.0038755367655774
+                ],
+                "rod_tip_xy_dist": 0.0019830291214510153,
+                "target_xy_drift": 9.624128543065874e-08,
+                "depth": 0.016869788887002524,
+                "bottom_clearance": 0.08257072209373739,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015531237965131228,
+                  0.0011699218209291207
+                ],
+                "rod_tip_xy": [
+                  0.26755756292497684,
+                  -0.3474078188822317
+                ],
+                "target_mouth_xy": [
+                  0.2660044391284637,
+                  -0.34857774070316083
+                ],
+                "gripper_position": [
+                  0.2675461162429885,
+                  -0.34741484913777093,
+                  1.0037381693989147
+                ],
+                "rod_tip_xy_dist": 0.001944456375026564,
+                "target_xy_drift": 1.2121022522127985e-07,
+                "depth": 0.017384294225846086,
+                "bottom_clearance": 0.08205624984198245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001541678384073597,
+                  0.0011629236160025647
+                ],
+                "rod_tip_xy": [
+                  0.2675461162429884,
+                  -0.347414849137771
+                ],
+                "target_mouth_xy": [
+                  0.2660044378589148,
+                  -0.34857777275377355
+                ],
+                "gripper_position": [
+                  0.26753758440376507,
+                  -0.3474154131124958,
+                  1.0036173267738446
+                ],
+                "rod_tip_xy_dist": 0.0019311042376257833,
+                "target_xy_drift": 8.915219202520773e-08,
+                "depth": 0.017521680250052185,
+                "bottom_clearance": 0.08191887127000963,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015331162291944422,
+                  0.0011623564650864449
+                ],
+                "rod_tip_xy": [
+                  0.2675375844037649,
+                  -0.3474154131124959
+                ],
+                "target_mouth_xy": [
+                  0.26600446817457046,
+                  -0.34857776957758235
+                ],
+                "gripper_position": [
+                  0.26752907256463243,
+                  -0.3474159931883657,
+                  1.0034968713136507
+                ],
+                "rod_tip_xy_dist": 0.001923932931301827,
+                "target_xy_drift": 9.720125350072894e-08,
+                "depth": 0.017642515283143312,
+                "bottom_clearance": 0.08179803440485667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015246347476841615,
+                  0.0011618116020779556
+                ],
+                "rod_tip_xy": [
+                  0.2675290725646323,
+                  -0.3474159931883658
+                ],
+                "target_mouth_xy": [
+                  0.26600443781694816,
+                  -0.34857780479044376
+                ],
+                "gripper_position": [
+                  0.2675367234980636,
+                  -0.34748955131390297,
+                  1.002982669722748
+                ],
+                "rod_tip_xy_dist": 0.0019168508842810107,
+                "target_xy_drift": 5.7115499968166576e-08,
+                "depth": 0.017763021169611926,
+                "bottom_clearance": 0.08167761381513816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015322841516888785,
+                  0.0010881890953784445
+                ],
+                "rod_tip_xy": [
+                  0.2675367234980635,
+                  -0.34748955131390313
+                ],
+                "target_mouth_xy": [
+                  0.26600443934637463,
+                  -0.3485777404092816
+                ],
+                "gripper_position": [
+                  0.267525119055093,
+                  -0.347496577470075,
+                  1.0028455053639673
+                ],
+                "rod_tip_xy_dist": 0.001879374956951769,
+                "target_xy_drift": 1.2150669223491066e-07,
+                "depth": 0.0182771682155608,
+                "bottom_clearance": 0.08116339482001067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015206845777624434,
+                  0.0010811645847706997
+                ],
+                "rod_tip_xy": [
+                  0.2675251190550929,
+                  -0.3474965774700751
+                ],
+                "target_mouth_xy": [
+                  0.26600443447733046,
+                  -0.3485777420548458
+                ],
+                "gripper_position": [
+                  0.26751656036476856,
+                  -0.3474970462393986,
+                  1.0027250568967643
+                ],
+                "rod_tip_xy_dist": 0.0018658505954140434,
+                "target_xy_drift": 1.1989670775902683e-07,
+                "depth": 0.01841442917783187,
+                "bottom_clearance": 0.08102621646433783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015120906729935157,
+                  0.0010807249386820539
+                ],
+                "rod_tip_xy": [
+                  0.26751656036476845,
+                  -0.3474970462393987
+                ],
+                "target_mouth_xy": [
+                  0.26600446969177494,
+                  -0.34857777117808075
+                ],
+                "gripper_position": [
+                  0.2675077876431975,
+                  -0.34749767358510075,
+                  1.0026046318319768
+                ],
+                "rod_tip_xy_dist": 0.0018585974810171545,
+                "target_xy_drift": 9.617494716895543e-08,
+                "depth": 0.018534767679717956,
+                "bottom_clearance": 0.08090578032058626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001503353718426248,
+                  0.0010800989090911095
+                ],
+                "rod_tip_xy": [
+                  0.2675077876431974,
+                  -0.347497673585101
+                ],
+                "target_mouth_xy": [
+                  0.26600443392477113,
+                  -0.3485777724941921
+                ],
+                "gripper_position": [
+                  0.2675169015146335,
+                  -0.3475729902623984,
+                  1.002095015622195
+                ],
+                "rod_tip_xy_dist": 0.0018511310207885965,
+                "target_xy_drift": 8.949501016142159e-08,
+                "depth": 0.018655211951568273,
+                "bottom_clearance": 0.08078547778783463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001512461017286748,
+                  0.0010047799345400676
+                ],
+                "rod_tip_xy": [
+                  0.26751690151463337,
+                  -0.3475729902623984
+                ],
+                "target_mouth_xy": [
+                  0.2660044404973466,
+                  -0.3485777701969385
+                ],
+                "gripper_position": [
+                  0.2675051536715749,
+                  -0.34758002348492417,
+                  1.00195810095231
+                ],
+                "rod_tip_xy_dist": 0.0018157976334565499,
+                "target_xy_drift": 9.174911294378062e-08,
+                "depth": 0.019164890852388705,
+                "bottom_clearance": 0.0802757159803642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015007153188071332,
+                  0.0009977172498684128
+                ],
+                "rod_tip_xy": [
+                  0.2675051536715748,
+                  -0.3475800234849242
+                ],
+                "target_mouth_xy": [
+                  0.26600443835276766,
+                  -0.34857774073479264
+                ],
+                "gripper_position": [
+                  0.2674964985504036,
+                  -0.3475803657091773,
+                  1.0018376435279086
+                ],
+                "rod_tip_xy_dist": 0.0018021060398287843,
+                "target_xy_drift": 1.2117247457196886e-07,
+                "depth": 0.019301664025977217,
+                "bottom_clearance": 0.08013884973460306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014920909442639463,
+                  0.0009974077097328893
+                ],
+                "rod_tip_xy": [
+                  0.26749649855040347,
+                  -0.3475803657091774
+                ],
+                "target_mouth_xy": [
+                  0.2660044076061395,
+                  -0.3485777734189103
+                ],
+                "gripper_position": [
+                  0.2674878513983425,
+                  -0.3475806505362297,
+                  1.0017172876631208
+                ],
+                "rod_tip_xy_dist": 0.0017947583473518329,
+                "target_xy_drift": 9.34916264731629e-08,
+                "depth": 0.01942223203303406,
+                "bottom_clearance": 0.08001836078998215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0014834128031523397,
+                  0.0009971491798659304
+                ],
+                "rod_tip_xy": [
+                  0.2674878513983424,
+                  -0.3475806505362299
+                ],
+                "target_mouth_xy": [
+                  0.2660044385951901,
+                  -0.3485777997160958
+                ],
+                "gripper_position": [
+                  0.2674791808394061,
+                  -0.34758078765316164,
+                  1.0015970142263313
+                ],
+                "rod_tip_xy_dist": 0.001787405950382727,
+                "target_xy_drift": 6.219512298989785e-08,
+                "depth": 0.01954254999991123,
+                "bottom_clearance": 0.07989799573252665,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005989033114027349,
+              "rod_tip_xy_max_step": 3.235033236166659e-05,
+              "rod_tip_xy_range": 0.0005988937199062308,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26703614676706794,
+            -0.34897901449563407,
+            1.0433781823965858
+          ],
+          "object_origin_world": [
+            0.26703614676706794,
+            -0.34897901449563407,
+            1.0433781823965858
+          ],
+          "frame_world": [
+            0.2670346694586293,
+            -0.34898368154435916,
+            1.0432693624645981
+          ],
+          "center_minus_frame": [
+            1.4773084386354718e-06,
+            4.66704872509327e-06,
+            0.00010881993198763595
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27098060844865907,
+              0.12780791014868662,
+              0.8330783182232468
+            ],
+            "target_position": [
+              0.283469812438191,
+              0.1743819210872518,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04821948476702889,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1675973838041459,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330783182232468,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675960738072,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13769992305377096,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e032f68d6e4a2bc282b012b7df1fd18e17eb4b271f1eff0a1a82c46ced2f18c",
+    "visual_seed": 6934957162665236380,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e28800257378b1c6254e695a07d8ee00cd0cf01c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_17_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2547960405131663,
+              0.028392440535631613,
+              1.1613571964280256
+            ],
+            "current_z": 1.1613571964280256,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.300250330785391,
+            "gripper_z": 1.154453477772964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24977146119095722,
+              0.02353603340044033,
+              1.154453477772964
+            ],
+            "object_minus_gripper": [
+              0.005024579322209066,
+              0.004856407135191282,
+              0.006903718655061564
+            ],
+            "object_to_gripper_xy": 0.00698792441486796,
+            "object_to_gripper_z": 0.006903718655061564,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2547960405131663,
+              0.004378696068766122,
+              1.1613571964280256
+            ],
+            "finger_b": [
+              0.2437358009409681,
+              0.028392440535631613,
+              1.1613571964280256
+            ],
+            "finger_midpoint": [
+              0.24926592072706721,
+              0.016385568302198866,
+              1.1613571964280256
+            ],
+            "object_minus_finger_midpoint": [
+              0.005530119786099075,
+              0.012006872233432747,
+              0.0
+            ],
+            "finger_gap": 0.026438396750074155,
+            "fingertip_max_gap": 0.09093802169600565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219198375037072,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1613571964280256,
+            "object_top_z": 1.21125677479024,
+            "finger_top_clearance": 0.04989957836221448,
+            "fingertip_min_top_clearance": 0.014969873508664343,
+            "object_projection_between_fingers": 0.8249916230142454,
+            "object_to_finger_line_xy": 0.010045910474065924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796901084800283,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5587043303629842,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26639971751827807,
+              -0.34420525471702146,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.2579674027180258,
+              -0.3446921728421374,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008446361474097563,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18548707194193265,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529404867696161,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15376223750315862,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007301151752471924,
+            "max_z_decrease": 0.007301151752471924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517527018910073,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007301151752471924,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02131404939941552,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007301151752471924,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007301180059645589,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11366733163595197,
+              -0.40095362067222595,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11366733163595197,
+              -0.40095362067222595,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11526258448243173,
+              -0.40296539411102317,
+              0.8076554306009655
+            ],
+            "closest_button": [
+              0.11365611106157301,
+              -0.4009507894515992,
+              0.7725746631622314
+            ],
+            "closest_ee_minus_button": [
+              0.00160647342085872,
+              -0.002014604659423991,
+              0.035080767438734006
+            ],
+            "button_min_z_position": [
+              0.11364714801311492,
+              -0.40095117688179016,
+              0.7695077061653137
+            ],
+            "min_active_finger_to_button": 0.14446642452242392,
+            "closest_active_finger": [
+              -0.025976739823818207,
+              -0.3876659572124481,
+              0.8108468055725098
+            ],
+            "closest_active_finger_button": [
+              0.11366876214742659,
+              -0.4009518027305603,
+              0.7763045430183411
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396455019712448,
+              0.013285845518112183,
+              0.0345422625541687
+            ],
+            "min_contact_pad_to_button": 0.02131404939941552,
+            "closest_contact_pad": [
+              0.11364714801311492,
+              -0.4039936238901769,
+              0.7906034929011025
+            ],
+            "closest_contact_pad_button": [
+              0.11364714801311492,
+              -0.40095117688179016,
+              0.7695077061653137
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030424470083867394,
+              0.021095786735788824
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2810038920048691,
+              0.1795446415758904,
+              1.1019757239499008
+            ],
+            "current_z": 1.1019757239499008,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1920665942155383,
+            "gripper_z": 1.1019756792557998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2810038590910429,
+              0.17954459674552636,
+              1.1019756792557998
+            ],
+            "object_minus_gripper": [
+              3.2913826164548965e-08,
+              4.4830364032133474e-08,
+              4.469410108676186e-08
+            ],
+            "object_to_gripper_xy": 5.561547888891864e-08,
+            "object_to_gripper_z": 4.469410108676186e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2810038920048691,
+              0.1795446415758904,
+              1.1019757239499008
+            ],
+            "finger_b": [
+              0.2810038920048691,
+              0.1795446415758904,
+              1.1019757239499008
+            ],
+            "finger_midpoint": [
+              0.2810038920048691,
+              0.1795446415758904,
+              1.1019757239499008
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019757239499008,
+            "object_top_z": 1.2269842305701806,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 238,
+            "max_stable_success_frames": 238,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28100389200486914,
+            0.1795446415758904,
+            1.1019757239499008
+          ],
+          "object_origin_world": [
+            0.28100389200486914,
+            0.1795446415758904,
+            1.1019757239499008
+          ],
+          "frame_world": [
+            0.2810038590910429,
+            0.17954459674552636,
+            1.1019756792557998
+          ],
+          "center_minus_frame": [
+            3.2913826220060116e-08,
+            4.4830364032133474e-08,
+            4.469410108676186e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433223717137448,
+            "required_z": 0.9112597589198219,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024181563479511677,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2146848510894035e-08,
+            "max_target_xy_drift": 1.6391277313232422e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26437382919202596,
+              -0.34288337890565423,
+              0.9234287958385986
+            ],
+            "target_mouth_xy": [
+              0.2663996579136333,
+              -0.34420525471702146
+            ],
+            "rod_tip_z": 0.9234287958385986,
+            "rod_tip_depth": -0.022168977314132032,
+            "rod_tip_bottom_clearance": 0.12160947608774464,
+            "rod_tip_xy_dist": 0.0024189538379156745,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04434622580876557,
+            "min_rod_tip_bottom_clearance": 0.055094272964847035,
+            "min_rod_tip_xy_dist": 0.0002539172906052137,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2663996877159557,
+              -0.34420522491469907
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9802322387695312e-08,
+              -2.9802322387695312e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.001367069506954477,
+                0.0030027351243765432
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014946442401947424,
+                0.002623421313523
+              ],
+              "first_target_mouth_xy": [
+                0.2663996579136333,
+                -0.34420525471702146
+              ],
+              "last_target_mouth_xy": [
+                0.2663996579136333,
+                -0.34420525471702146
+              ],
+              "first_rod_tip_xy": [
+                0.2650325884066788,
+                -0.3412025195926449
+              ],
+              "last_rod_tip_xy": [
+                0.26490501367343855,
+                -0.34158183340349846
+              ],
+              "min_rod_tip_xy_dist": 0.0030189672628452464,
+              "max_rod_tip_xy_dist": 0.003301220514455014,
+              "first_target_xy_drift": 4.2146848510894035e-08,
+              "last_target_xy_drift": 4.2146848510894035e-08,
+              "max_depth": 0.019802553139969703,
+              "min_bottom_clearance": 0.0796379456336429
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001367069506954477,
+                  0.0030027351243765432
+                ],
+                "rod_tip_xy": [
+                  0.2650325884066788,
+                  -0.3412025195926449
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.2650214182934696,
+                  -0.34120907946843704,
+                  1.005637911368729
+                ],
+                "rod_tip_xy_dist": 0.003299287387301896,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.015487012398286648,
+                "bottom_clearance": 0.08395348637532596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0013782396201638125,
+                  0.0029961752485843096
+                ],
+                "rod_tip_xy": [
+                  0.2650214182934695,
+                  -0.34120907946843715
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.2650131735068627,
+                  -0.3412093044712997,
+                  1.0055194108504562
+                ],
+                "rod_tip_xy_dist": 0.0032979706746450216,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.0156219667603823,
+                "bottom_clearance": 0.0838185320132303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0013864844067707494,
+                  0.0029959502457217457
+                ],
+                "rod_tip_xy": [
+                  0.26501317350686254,
+                  -0.3412093044712997
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.26501330788564215,
+                  -0.3412746847580812,
+                  1.0050028271836826
+                ],
+                "rod_tip_xy_dist": 0.003301220514455014,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.015740407674010637,
+                "bottom_clearance": 0.08370009109960197,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0013863500279913121,
+                  0.002930599761262642
+                ],
+                "rod_tip_xy": [
+                  0.265013307885642,
+                  -0.3412746847580812
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420528451934385
+                ],
+                "gripper_position": [
+                  0.2650018627602124,
+                  -0.3412811224330184,
+                  1.004867859216541
+                ],
+                "rod_tip_xy_dist": 0.0032419718322070855,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.016256991340783955,
+                "bottom_clearance": 0.08318350743282865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0013977951534210331,
+                  0.0029241322840030115
+                ],
+                "rod_tip_xy": [
+                  0.26500186276021226,
+                  -0.34128112243301845
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.26500210358326476,
+                  -0.341346569575705,
+                  1.0043557473693125
+                ],
+                "rod_tip_xy_dist": 0.00324104626706809,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.016391959307925585,
+                "bottom_clearance": 0.08304853946568702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0013975245280463122,
+                  0.002858685141316375
+                ],
+                "rod_tip_xy": [
+                  0.2650021035832646,
+                  -0.3413465695757051
+                ],
+                "target_mouth_xy": [
+                  0.2663996281113109,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.2649905857842997,
+                  -0.3413528225084498,
+                  1.004220872013799
+                ],
+                "rod_tip_xy_dist": 0.0031820049565759777,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.01690407115515402,
+                "bottom_clearance": 0.08253642761845859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014090721293337216,
+                  0.002852432208571676
+                ],
+                "rod_tip_xy": [
+                  0.26499058578429957,
+                  -0.3413528225084498
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.264982207252902,
+                  -0.34135302575179766,
+                  1.0041020896315223
+                ],
+                "rod_tip_xy_dist": 0.003181486094604557,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.017038946510667508,
+                "bottom_clearance": 0.0824015522629451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014174506607314008,
+                  0.0028521991629013588
+                ],
+                "rod_tip_xy": [
+                  0.2649822072529019,
+                  -0.3413530257517977
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420522491469907
+                ],
+                "gripper_position": [
+                  0.2649737076971729,
+                  -0.34135323277459473,
+                  1.0039838939685852
+                ],
+                "rod_tip_xy_dist": 0.003184997086413596,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.017157728892944313,
+                "bottom_clearance": 0.0822827698806683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014259502164605808,
+                  0.0028519921401042314
+                ],
+                "rod_tip_xy": [
+                  0.2649737076971727,
+                  -0.34135323277459484
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420522491469907
+                ],
+                "gripper_position": [
+                  0.2649755924470996,
+                  -0.3414207249711491,
+                  1.003470617708783
+                ],
+                "rod_tip_xy_dist": 0.0031886036421983044,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01727592455588134,
+                "bottom_clearance": 0.08216457421773127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001424065466533786,
+                  0.002784559548194787
+                ],
+                "rod_tip_xy": [
+                  0.2649755924470995,
+                  -0.34142072497114906
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420528451934385
+                ],
+                "gripper_position": [
+                  0.2649638572711235,
+                  -0.3414273254202105,
+                  1.0033358108085395
+                ],
+                "rod_tip_xy_dist": 0.003127576430787399,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.017789200815683692,
+                "bottom_clearance": 0.08165129795792891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014358006425099767,
+                  0.0027778994944885893
+                ],
+                "rod_tip_xy": [
+                  0.2649638572711233,
+                  -0.3414273254202105
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420522491469907
+                ],
+                "gripper_position": [
+                  0.2649553870556637,
+                  -0.34142720467842064,
+                  1.003217448070471
+                ],
+                "rod_tip_xy_dist": 0.0031270192014939756,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01792400771592728,
+                "bottom_clearance": 0.08151649105768533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014442410556473328,
+                  0.002778020236278378
+                ],
+                "rod_tip_xy": [
+                  0.26495538705566357,
+                  -0.3414272046784207
+                ],
+                "target_mouth_xy": [
+                  0.2663996281113109,
+                  -0.34420522491469907
+                ],
+                "gripper_position": [
+                  0.2649467480001949,
+                  -0.34142738889439844,
+                  1.003099222442686
+                ],
+                "rod_tip_xy_dist": 0.0031310108048343585,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.018042370453995815,
+                "bottom_clearance": 0.08139812831961679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0014529397157608814,
+                  0.0027778658226229602
+                ],
+                "rod_tip_xy": [
+                  0.2649467480001948,
+                  -0.3414273888943985
+                ],
+                "target_mouth_xy": [
+                  0.2663996877159557,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.2649498337705603,
+                  -0.3414968880998853,
+                  1.0025880503396178
+                ],
+                "rod_tip_xy_dist": 0.003134895906745876,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018160536477136113,
+                "bottom_clearance": 0.0812799622964765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001449853945395485,
+                  0.0027083666171361376
+                ],
+                "rod_tip_xy": [
+                  0.2649498337705602,
+                  -0.3414968880998853
+                ],
+                "target_mouth_xy": [
+                  0.2663996877159557,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.26493793093066353,
+                  -0.3415034109894545,
+                  1.002453135451131
+                ],
+                "rod_tip_xy_dist": 0.0030720231437598743,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018671827789493722,
+                "bottom_clearance": 0.08076867098411888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014617567852922564,
+                  0.002701843727566877
+                ],
+                "rod_tip_xy": [
+                  0.2649379309306634,
+                  -0.3415034109894546
+                ],
+                "target_mouth_xy": [
+                  0.2663996877159557,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.2649293729123625,
+                  -0.3415032451929774,
+                  1.0023350428415678
+                ],
+                "rod_tip_xy_dist": 0.003071919990419742,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018806623468691108,
+                "bottom_clearance": 0.0806338753049215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014703148035932756,
+                  0.002702039326366368
+                ],
+                "rod_tip_xy": [
+                  0.2649293729123624,
+                  -0.3415032451929775
+                ],
+                "target_mouth_xy": [
+                  0.2663996877159557,
+                  -0.34420528451934385
+                ],
+                "gripper_position": [
+                  0.2649207149811733,
+                  -0.3415031538923273,
+                  1.002216869530193
+                ],
+                "rod_tip_xy_dist": 0.0030761732953291086,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.018924775682898964,
+                "bottom_clearance": 0.08051572309071364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00147897273478248,
+                  0.002702130627016519
+                ],
+                "rod_tip_xy": [
+                  0.2649207149811732,
+                  -0.3415031538923273
+                ],
+                "target_mouth_xy": [
+                  0.2663996877159557,
+                  -0.34420528451934385
+                ],
+                "gripper_position": [
+                  0.26491201386954,
+                  -0.34150331720166316,
+                  1.002098634727255
+                ],
+                "rod_tip_xy_dist": 0.003080400992677845,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.019042948994273612,
+                "bottom_clearance": 0.080397549779339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0014876738464157935,
+                  0.002701937515358299
+                ],
+                "rod_tip_xy": [
+                  0.2649120138695399,
+                  -0.34150331720166316
+                ],
+                "target_mouth_xy": [
+                  0.2663996877159557,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.26491688969695193,
+                  -0.34157555575595977,
+                  1.0015916855268765
+                ],
+                "rod_tip_xy_dist": 0.003084418877229573,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01916112419256699,
+                "bottom_clearance": 0.08027937458104561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0014827980190038614,
+                  0.002629728763384076
+                ],
+                "rod_tip_xy": [
+                  0.2649168896969518,
+                  -0.34157555575595977
+                ],
+                "target_mouth_xy": [
+                  0.2663996877159557,
+                  -0.34420528451934385
+                ],
+                "gripper_position": [
+                  0.26490501367343866,
+                  -0.34158183340349835,
+                  1.0014572653844969
+                ],
+                "rod_tip_xy_dist": 0.0030189672628452464,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.019668192602234846,
+                "bottom_clearance": 0.07977230617137776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0014946442401947424,
+                  0.002623421313523
+                ],
+                "rod_tip_xy": [
+                  0.26490501367343855,
+                  -0.34158183340349846
+                ],
+                "target_mouth_xy": [
+                  0.2663996579136333,
+                  -0.34420525471702146
+                ],
+                "gripper_position": [
+                  0.2649103256113148,
+                  -0.34164902835766686,
+                  1.0008658585841057
+                ],
+                "rod_tip_xy_dist": 0.0030193212470676356,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.019802553139969703,
+                "bottom_clearance": 0.0796379456336429,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005945864810979485,
+              "rod_tip_xy_max_step": 3.228446507480523e-05,
+              "rod_tip_xy_range": 0.0005945776054082161,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.264373829192026,
+            -0.34288337890565423,
+            1.0434287958385988
+          ],
+          "object_origin_world": [
+            0.264373829192026,
+            -0.34288337890565423,
+            1.0434287958385988
+          ],
+          "frame_world": [
+            0.2643723933657108,
+            -0.3428870443484258,
+            1.0433223717137448
+          ],
+          "center_minus_frame": [
+            1.4358263152325357e-06,
+            3.665442771583205e-06,
+            0.00010642412485406538
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26882099790234465,
+              0.13345611368687554,
+              0.8331939519311914
+            ],
+            "target_position": [
+              0.2815037198358645,
+              0.17990347941404472,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04814778518931473,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16896003721026015,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331939519311914,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672401172548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13817644643019666,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48214b2368d1f1844b2721efed85029062ef4341e5b24a3185119cc284741e77",
+    "visual_seed": 3821355917424845693,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c2a4a42251d784b6d3a5efe2dd1fade73fc538
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_18_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25573330277865924,
+              0.030066421977723665,
+              1.1612312281609158
+            ],
+            "current_z": 1.1612312281609158,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30012454133221556,
+            "gripper_z": 1.1543578809271757,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2505955560133657,
+              0.025188473283627347,
+              1.1543578809271757
+            ],
+            "object_minus_gripper": [
+              0.005137746765293549,
+              0.004877948694096319,
+              0.0068733472337401125
+            ],
+            "object_to_gripper_xy": 0.007084548347390983,
+            "object_to_gripper_z": 0.0068733472337401125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25573330277865924,
+              0.005858529373523397,
+              1.1612312281609158
+            ],
+            "finger_b": [
+              0.24478812744554979,
+              0.030066421977723665,
+              1.1612312281609158
+            ],
+            "finger_midpoint": [
+              0.2502607151121045,
+              0.01796247567562353,
+              1.1612312281609158
+            ],
+            "object_minus_finger_midpoint": [
+              0.005472587666554729,
+              0.012103946302100134,
+              0.0
+            ],
+            "finger_gap": 0.026567252914236388,
+            "fingertip_max_gap": 0.09072014208515344,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013283626457118194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1612312281609158,
+            "object_top_z": 1.2111285283468787,
+            "finger_top_clearance": 0.049897300185962834,
+            "fingertip_min_top_clearance": 0.014969190055788817,
+            "object_projection_between_fingers": 0.8302725268189232,
+            "object_to_finger_line_xy": 0.00997316620778936,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047860071042576724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46220747159540354,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27509722136331616,
+              -0.3448267067065689,
+              0.8515396301527764
+            ],
+            "target_position": [
+              0.26605518257901395,
+              -0.34560497718422367,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00907547080394259,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18686160899573517,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396301527764,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521461806846753,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851141077172413,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15545039447959788,
+            "release_required_pad_clearance": 0.05255705385862065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18130816809960001,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007430553436279297,
+            "max_z_decrease": 0.007430553436279297,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035142525752593474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007430553436279297,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021085714757763885,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007430553436279297,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074305747298497845,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12175510823726654,
+              -0.40186643600463867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12175510823726654,
+              -0.40186643600463867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12263236782243711,
+              -0.4003177065410868,
+              0.8078155472336916
+            ],
+            "closest_button": [
+              0.12174402177333833,
+              -0.40186429023742676,
+              0.7727183103561401
+            ],
+            "closest_ee_minus_button": [
+              0.0008883460490987788,
+              0.001546583696339976,
+              0.03509723687755151
+            ],
+            "button_min_z_position": [
+              0.12173735350370407,
+              -0.4018653333187103,
+              0.7693783044815063
+            ],
+            "min_active_finger_to_button": 0.144756240832543,
+            "closest_active_finger": [
+              -0.004790894687175751,
+              -0.46317923069000244,
+              0.8111411929130554
+            ],
+            "closest_active_finger_button": [
+              0.12175749987363815,
+              -0.4018648564815521,
+              0.7767839431762695
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1265483945608139,
+              -0.06131437420845032,
+              0.03435724973678589
+            ],
+            "min_contact_pad_to_button": 0.021085714757763885,
+            "closest_contact_pad": [
+              0.12173735350370407,
+              -0.4018653333187103,
+              0.7904640192392702
+            ],
+            "closest_contact_pad_button": [
+              0.12173735350370407,
+              -0.4018653333187103,
+              0.7693783044815063
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021085714757763885
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.285103137762665,
+              0.17723811670424114,
+              1.1018104846163008
+            ],
+            "current_z": 1.1018104846163008,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19190135488193827,
+            "gripper_z": 1.1018107304542657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2851032306201218,
+              0.1772380810879466,
+              1.1018107304542657
+            ],
+            "object_minus_gripper": [
+              -9.285745677933832e-08,
+              3.5616294552509586e-08,
+              -2.45837964873985e-07
+            ],
+            "object_to_gripper_xy": 9.945364607282032e-08,
+            "object_to_gripper_z": -2.45837964873985e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.285103137762665,
+              0.17723811670424114,
+              1.1018104846163008
+            ],
+            "finger_b": [
+              0.285103137762665,
+              0.17723811670424114,
+              1.1018104846163008
+            ],
+            "finger_midpoint": [
+              0.285103137762665,
+              0.17723811670424114,
+              1.1018104846163008
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018104846163008,
+            "object_top_z": 1.2268189912365806,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.285103137762665,
+            0.17723811670424117,
+            1.1018104846163008
+          ],
+          "object_origin_world": [
+            0.285103137762665,
+            0.17723811670424117,
+            1.1018104846163008
+          ],
+          "frame_world": [
+            0.2851032306201218,
+            0.1772380810879466,
+            1.1018107304542657
+          ],
+          "center_minus_frame": [
+            -9.285745677933832e-08,
+            3.561629458026516e-08,
+            -2.45837964873985e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432435810630456,
+            "required_z": 0.9112598278685649,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021017471920027164,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.8912884196682935e-08,
+            "max_target_xy_drift": 6.284838761031849e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.18130816744829584,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.18130816839107874,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27318105507498736,
+              -0.3456821626543457,
+              0.9233543437614072
+            ],
+            "target_mouth_xy": [
+              0.27509722095256467,
+              -0.3448267070185468
+            ],
+            "rod_tip_z": 0.9233543437614072,
+            "rod_tip_depth": -0.022094432886185067,
+            "rod_tip_bottom_clearance": 0.12153498505390592,
+            "rod_tip_xy_dist": 0.002098450860804648,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04441004825260797,
+            "min_rod_tip_bottom_clearance": 0.055030726704386135,
+            "min_rod_tip_xy_dist": 0.0013888440670374528,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2750972227433949,
+              -0.34482667816117685
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.790830206349625e-09,
+              -2.8857369938073418e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0012695443954445773,
+                0.0009620840080266646
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013944130329455184,
+                0.0005681429283147521
+              ],
+              "first_target_mouth_xy": [
+                0.2750971938036089,
+                -0.34482670733381804
+              ],
+              "last_target_mouth_xy": [
+                0.2750971948893528,
+                -0.3448266464714713
+              ],
+              "first_rod_tip_xy": [
+                0.27382764940816434,
+                -0.3438646233257914
+              ],
+              "last_rod_tip_xy": [
+                0.2737027818564073,
+                -0.34425850354315657
+              ],
+              "min_rod_tip_xy_dist": 0.0014727295144306364,
+              "max_rod_tip_xy_dist": 0.001592905712999168,
+              "first_target_xy_drift": 4.109202118787456e-08,
+              "last_target_xy_drift": 4.2191054693417654e-08,
+              "max_depth": 0.019443233532815074,
+              "min_bottom_clearance": 0.07999745498171917
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0012695443954445773,
+                  0.0009620840080266646
+                ],
+                "rod_tip_xy": [
+                  0.27382764940816434,
+                  -0.3438646233257914
+                ],
+                "target_mouth_xy": [
+                  0.2750971938036089,
+                  -0.34482670733381804
+                ],
+                "gripper_position": [
+                  0.27382804992552057,
+                  -0.3439324536437952,
+                  1.005685515114174
+                ],
+                "rod_tip_xy_dist": 0.001592905712999168,
+                "target_xy_drift": 4.109202118787456e-08,
+                "depth": 0.015056404363725906,
+                "bottom_clearance": 0.08438419707637512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012691428101034852,
+                  0.0008942543181829077
+                ],
+                "rod_tip_xy": [
+                  0.2738280499255206,
+                  -0.3439324536437953
+                ],
+                "target_mouth_xy": [
+                  0.2750971927356241,
+                  -0.34482670796197823
+                ],
+                "gripper_position": [
+                  0.2738166328229929,
+                  -0.3439395732597918,
+                  1.0055455039444157
+                ],
+                "rod_tip_xy_dist": 0.0015525508874192008,
+                "target_xy_drift": 4.2291300163234764e-08,
+                "depth": 0.015574311148012998,
+                "bottom_clearance": 0.08386622665709453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001280560976476386,
+                  0.0008871337589736461
+                ],
+                "rod_tip_xy": [
+                  0.2738166328229929,
+                  -0.34393957325979196
+                ],
+                "target_mouth_xy": [
+                  0.2750971937994693,
+                  -0.3448267070187656
+                ],
+                "gripper_position": [
+                  0.2738082150599224,
+                  -0.3439402594046724,
+                  1.0054222484132151
+                ],
+                "rod_tip_xy_dist": 0.0015578326998701966,
+                "target_xy_drift": 4.087188835560497e-08,
+                "depth": 0.015714466907712277,
+                "bottom_clearance": 0.08372614569643977,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012889488189675724,
+                  0.0008864187557015013
+                ],
+                "rod_tip_xy": [
+                  0.2738082150599224,
+                  -0.34394025940467243
+                ],
+                "target_mouth_xy": [
+                  0.27509716387889,
+                  -0.34482667816037393
+                ],
+                "gripper_position": [
+                  0.27380976607270024,
+                  -0.3440092430884524,
+                  1.0049044890697816
+                ],
+                "rod_tip_xy_dist": 0.001564329654637186,
+                "target_xy_drift": 5.886450488704868e-08,
+                "depth": 0.015837644970512987,
+                "bottom_clearance": 0.08360292917425605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012874273333734476,
+                  0.0008174642442390079
+                ],
+                "rod_tip_xy": [
+                  0.2738097660727003,
+                  -0.3440092430884525
+                ],
+                "target_mouth_xy": [
+                  0.27509719340607375,
+                  -0.3448267073326915
+                ],
+                "gripper_position": [
+                  0.27379792685288246,
+                  -0.34401657957119786,
+                  1.004764464903051
+                ],
+                "rod_tip_xy_dist": 0.0015250301404648758,
+                "target_xy_drift": 4.137216066200832e-08,
+                "depth": 0.01635541340992519,
+                "bottom_clearance": 0.08308517277231087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001299236396610004,
+                  0.0008101287060898743
+                ],
+                "rod_tip_xy": [
+                  0.2737979268528825,
+                  -0.344016579571198
+                ],
+                "target_mouth_xy": [
+                  0.2750971632494925,
+                  -0.3448267082772879
+                ],
+                "gripper_position": [
+                  0.2737894782906506,
+                  -0.3440171426263955,
+                  1.00464141079302
+                ],
+                "rod_tip_xy_dist": 0.0015311184587441305,
+                "target_xy_drift": 6.668211576412488e-08,
+                "depth": 0.016495358228135193,
+                "bottom_clearance": 0.08294518041686072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00130771724986406,
+                  0.0008095653434134764
+                ],
+                "rod_tip_xy": [
+                  0.27378947829065065,
+                  -0.3440171426263956
+                ],
+                "target_mouth_xy": [
+                  0.2750971955405147,
+                  -0.3448267079698091
+                ],
+                "gripper_position": [
+                  0.27379172101563787,
+                  -0.3440873255590677,
+                  1.004124452274152
+                ],
+                "rod_tip_xy_dist": 0.0015380248537810435,
+                "target_xy_drift": 4.035531247502763e-08,
+                "depth": 0.016618556955059094,
+                "bottom_clearance": 0.08282208860259133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0013054707753086259,
+                  0.00073938271902807
+                ],
+                "rod_tip_xy": [
+                  0.2737917210156379,
+                  -0.34408732555906785
+                ],
+                "target_mouth_xy": [
+                  0.27509719179094655,
+                  -0.3448267082780959
+                ],
+                "gripper_position": [
+                  0.2737800679981587,
+                  -0.3440944624486758,
+                  1.0039846090356062
+                ],
+                "rod_tip_xy_dist": 0.0015003135506894039,
+                "target_xy_drift": 4.318660523432442e-08,
+                "depth": 0.017135360833234747,
+                "bottom_clearance": 0.08230512935444434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0013171239099845633,
+                  0.0007322458290691669
+                ],
+                "rod_tip_xy": [
+                  0.27378006799815874,
+                  -0.3440944624486759
+                ],
+                "target_mouth_xy": [
+                  0.2750971919081433,
+                  -0.3448267082777451
+                ],
+                "gripper_position": [
+                  0.27377137328702694,
+                  -0.34409488031769186,
+                  1.003861664933894
+                ],
+                "rod_tip_xy_dist": 0.0015069835262676947,
+                "target_xy_drift": 4.310244102323804e-08,
+                "depth": 0.017275205006330507,
+                "bottom_clearance": 0.08216528969112114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0013258196862827587,
+                  0.0007318285903906707
+                ],
+                "rod_tip_xy": [
+                  0.27377137328702694,
+                  -0.344094880317692
+                ],
+                "target_mouth_xy": [
+                  0.2750971929733097,
+                  -0.34482670890808265
+                ],
+                "gripper_position": [
+                  0.2737626716100696,
+                  -0.3440954151095761,
+                  1.0037388173235646
+                ],
+                "rod_tip_xy_dist": 0.0015143879708476651,
+                "target_xy_drift": 4.279754884965379e-08,
+                "depth": 0.017398224859950795,
+                "bottom_clearance": 0.08204232608722084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0013345209181317985,
+                  0.0007312617895176565
+                ],
+                "rod_tip_xy": [
+                  0.2737626716100697,
+                  -0.3440954151095762
+                ],
+                "target_mouth_xy": [
+                  0.2750971925282015,
+                  -0.34482667689909385
+                ],
+                "gripper_position": [
+                  0.27376616028227485,
+                  -0.3441682309332912,
+                  1.0032223654350876
+                ],
+                "rod_tip_xy_dist": 0.0015217390991033595,
+                "target_xy_drift": 3.024154040148258e-08,
+                "depth": 0.017521089497140152,
+                "bottom_clearance": 0.08191948563198836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0013310032445291164,
+                  0.0006584770293347475
+                ],
+                "rod_tip_xy": [
+                  0.2737661602822749,
+                  -0.3441682309332914
+                ],
+                "target_mouth_xy": [
+                  0.275097163526804,
+                  -0.34482670796262616
+                ],
+                "gripper_position": [
+                  0.273754480696336,
+                  -0.34417517541134046,
+                  1.0030823962009112
+                ],
+                "rod_tip_xy_dist": 0.0014849786648664515,
+                "target_xy_drift": 6.629276742703243e-08,
+                "depth": 0.018037525142960198,
+                "bottom_clearance": 0.08140303545726646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0013427142856028418,
+                  0.0006515030675042222
+                ],
+                "rod_tip_xy": [
+                  0.27375448069633607,
+                  -0.3441751754113406
+                ],
+                "target_mouth_xy": [
+                  0.2750971949819389,
+                  -0.3448266784788448
+                ],
+                "gripper_position": [
+                  0.2737455491555028,
+                  -0.3441756468361136,
+                  1.0029598533778301
+                ],
+                "rod_tip_xy_dist": 0.0014924268490379556,
+                "target_xy_drift": 2.7763273408483445e-08,
+                "depth": 0.018177442279092904,
+                "bottom_clearance": 0.08126317055285492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0013516450830273752,
+                  0.0006510604991400992
+                ],
+                "rod_tip_xy": [
+                  0.27374554915550287,
+                  -0.3441756468361137
+                ],
+                "target_mouth_xy": [
+                  0.27509719423853024,
+                  -0.3448267073352538
+                ],
+                "gripper_position": [
+                  0.273736678335155,
+                  -0.3441760936219503,
+                  1.0028370131488356
+                ],
+                "rod_tip_xy_dist": 0.0015002747095157723,
+                "target_xy_drift": 4.078791576822638e-08,
+                "depth": 0.01830005570085802,
+                "bottom_clearance": 0.08114056243606538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001360513477357883,
+                  0.0006505835911149171
+                ],
+                "rod_tip_xy": [
+                  0.2737366783351551,
+                  -0.34417609362195045
+                ],
+                "target_mouth_xy": [
+                  0.27509719181251296,
+                  -0.34482667721306537
+                ],
+                "gripper_position": [
+                  0.2737418408240916,
+                  -0.34425052891644453,
+                  1.0023242056621475
+                ],
+                "rod_tip_xy_dist": 0.0015080636362900673,
+                "target_xy_drift": 3.0945409533342784e-08,
+                "depth": 0.01842282275713869,
+                "bottom_clearance": 0.0810177136036857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0013553525854689275,
+                  0.0005761524032213972
+                ],
+                "rod_tip_xy": [
+                  0.27374184082409164,
+                  -0.3442505289164447
+                ],
+                "target_mouth_xy": [
+                  0.27509719340956057,
+                  -0.3448266813196661
+                ],
+                "gripper_position": [
+                  0.2737297251265893,
+                  -0.3442578506878279,
+                  1.0021843654615459
+                ],
+                "rod_tip_xy_dist": 0.0014727295144306364,
+                "target_xy_drift": 2.9503387761798964e-08,
+                "depth": 0.018935727012629022,
+                "bottom_clearance": 0.08050491936810988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001367466660149419,
+                  0.000568797984968783
+                ],
+                "rod_tip_xy": [
+                  0.27372972512658933,
+                  -0.3442578506878281
+                ],
+                "target_mouth_xy": [
+                  0.27509719178673875,
+                  -0.3448266486727969
+                ],
+                "gripper_position": [
+                  0.27372088751889634,
+                  -0.3442578078965922,
+                  1.0020618551689195
+                ],
+                "rod_tip_xy_dist": 0.001481045648967227,
+                "target_xy_drift": 4.2753702895310964e-08,
+                "depth": 0.01907538801958708,
+                "bottom_clearance": 0.08036510203011127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001376308220311595,
+                  0.0005688420468451527
+                ],
+                "rod_tip_xy": [
+                  0.2737208875188964,
+                  -0.3442578078965923
+                ],
+                "target_mouth_xy": [
+                  0.275097195739208,
+                  -0.3448266499434375
+                ],
+                "gripper_position": [
+                  0.27371179565647086,
+                  -0.34425818862438007,
+                  1.0019394480755273
+                ],
+                "rod_tip_xy_dist": 0.001489229865251249,
+                "target_xy_drift": 3.905722627645813e-08,
+                "depth": 0.019198068007801328,
+                "bottom_clearance": 0.0802426119808789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013853657276333142,
+                  0.0005684606789023716
+                ],
+                "rod_tip_xy": [
+                  0.27371179565647086,
+                  -0.3442581886243802
+                ],
+                "target_mouth_xy": [
+                  0.27509716138410417,
+                  -0.34482664930328255
+                ],
+                "gripper_position": [
+                  0.27370278185640723,
+                  -0.34425850354315646,
+                  1.0018167033575867
+                ],
+                "rod_tip_xy_dist": 0.0014974597633189105,
+                "target_xy_drift": 6.780664140712e-08,
+                "depth": 0.019320387283100815,
+                "bottom_clearance": 0.08012013374128502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0013944130329455184,
+                  0.0005681429283147521
+                ],
+                "rod_tip_xy": [
+                  0.2737027818564073,
+                  -0.34425850354315657
+                ],
+                "target_mouth_xy": [
+                  0.2750971948893528,
+                  -0.3448266464714713
+                ],
+                "gripper_position": [
+                  0.2736938013165595,
+                  -0.34425878243820146,
+                  1.00169443534086
+                ],
+                "rod_tip_xy_dist": 0.0015057138152525468,
+                "target_xy_drift": 4.2191054693417654e-08,
+                "depth": 0.019443233532815074,
+                "bottom_clearance": 0.07999745498171917,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005966056664402841,
+              "rod_tip_xy_max_step": 3.23331013446669e-05,
+              "rod_tip_xy_range": 0.0005965977535219819,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27318105507498736,
+            -0.34568216265434565,
+            1.0433543437614075
+          ],
+          "object_origin_world": [
+            0.27318105507498736,
+            -0.34568216265434565,
+            1.0433543437614075
+          ],
+          "frame_world": [
+            0.27317950775510413,
+            -0.34568677524338537,
+            1.0432435810630456
+          ],
+          "center_minus_frame": [
+            1.547319883221654e-06,
+            4.612589039720838e-06,
+            0.00011076269836185482
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27486962174342805,
+              0.12862635518875404,
+              0.8337353336915171
+            ],
+            "target_position": [
+              0.2852021357250417,
+              0.17547249375157176,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047972091297200696,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1690293815813275,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337353336915171,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673631581821,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13740498923708333,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd60c783fa086904df5632bf28677c2a0f03e501e319528f2bc63fdae857e3ab",
+    "visual_seed": 5039266906801229065,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e63e515372f5140f8f00e76a42efe2451c6f8e96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_19_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2623876676014093,
+              0.03528864000767871,
+              1.1615736762154554
+            ],
+            "current_z": 1.1615736762154554,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3004669297821103,
+            "gripper_z": 1.1548521070888185,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25712535819579796,
+              0.03027849488901871,
+              1.1548521070888185
+            ],
+            "object_minus_gripper": [
+              0.005262309405611343,
+              0.005010145118659999,
+              0.006721569126636906
+            ],
+            "object_to_gripper_xy": 0.007265910430938316,
+            "object_to_gripper_z": 0.006721569126636906,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2623876676014093,
+              0.011115080806606998,
+              1.1615736762154554
+            ],
+            "finger_b": [
+              0.2510925914139377,
+              0.03528864000767871,
+              1.1615736762154554
+            ],
+            "finger_midpoint": [
+              0.2567401295076735,
+              0.023201860407142852,
+              1.1615736762154554
+            ],
+            "object_minus_finger_midpoint": [
+              0.005647538093735804,
+              0.012086779600535856,
+              0.0
+            ],
+            "finger_gap": 0.02668219838260159,
+            "fingertip_max_gap": 0.0907393878279848,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013341099191300795,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615736762154554,
+            "object_top_z": 1.2114892469593874,
+            "finger_top_clearance": 0.04991557074393205,
+            "fingertip_min_top_clearance": 0.014974671223179614,
+            "object_projection_between_fingers": 0.8208011939858217,
+            "object_to_finger_line_xy": 0.010233122060755696,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478696939139924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4951313867768952,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27422962832816067,
+              -0.3496515476888663,
+              0.851539552314228
+            ],
+            "target_position": [
+              0.26515638966208427,
+              -0.35065055903705816,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009128071185381935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862354885251274,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539552314228,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550604080530565,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531936971674438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15411400524215707,
+            "release_required_pad_clearance": 0.05265968485837219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3774231779677747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007420480251312256,
+            "max_z_decrease": 0.007420480251312256,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511332155938015,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007420480251312256,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021149208348393657,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007420480251312256,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007420500364067324,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12085631489753719,
+              -0.4069120287895202,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12085631489753719,
+              -0.4069120287895202,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12166611259399837,
+              -0.4075402491544636,
+              0.8080064686012126
+            ],
+            "closest_button": [
+              0.12084676325321195,
+              -0.4069086909294128,
+              0.7729083895683289
+            ],
+            "closest_ee_minus_button": [
+              0.0008193493407864239,
+              -0.0006315582250507878,
+              0.035098079032883756
+            ],
+            "button_min_z_position": [
+              0.1208391338586807,
+              -0.40691021084785456,
+              0.7693883776664734
+            ],
+            "min_active_finger_to_button": 0.14535170827822214,
+            "closest_active_finger": [
+              -0.019444599747657776,
+              -0.39089202880859375,
+              0.8108030557632446
+            ],
+            "closest_active_finger_button": [
+              0.12085660547018047,
+              -0.40691125392913813,
+              0.7763636112213135
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14030120521783823,
+              0.016019225120544378,
+              0.03443944454193115
+            ],
+            "min_contact_pad_to_button": 0.021149208348393657,
+            "closest_contact_pad": [
+              0.1208391338586807,
+              -0.4086336872271711,
+              0.7904672448782972
+            ],
+            "closest_contact_pad_button": [
+              0.1208391338586807,
+              -0.40691021084785456,
+              0.7693883776664734
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017234763793165242,
+              0.021078867211823837
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28547420987592714,
+              0.17715186429494592,
+              1.1029922653351227
+            ],
+            "current_z": 1.1029922653351227,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19308313560076018,
+            "gripper_z": 1.102992475443616,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28547427972723516,
+              0.17715187265733023,
+              1.102992475443616
+            ],
+            "object_minus_gripper": [
+              -6.985130801551165e-08,
+              -8.362384312787796e-09,
+              -2.1010849327041115e-07
+            ],
+            "object_to_gripper_xy": 7.035008672967391e-08,
+            "object_to_gripper_z": -2.1010849327041115e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28547420987592714,
+              0.17715186429494592,
+              1.1029922653351227
+            ],
+            "finger_b": [
+              0.28547420987592714,
+              0.17715186429494592,
+              1.1029922653351227
+            ],
+            "finger_midpoint": [
+              0.28547420987592714,
+              0.17715186429494592,
+              1.1029922653351227
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029922653351227,
+            "object_top_z": 1.2280007719554025,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28547420987592714,
+            0.17715186429494592,
+            1.102992265335123
+          ],
+          "object_origin_world": [
+            0.28547420987592714,
+            0.17715186429494592,
+            1.102992265335123
+          ],
+          "frame_world": [
+            0.28547427972723516,
+            0.17715187265733023,
+            1.102992475443616
+          ],
+          "center_minus_frame": [
+            -6.985130801551165e-08,
+            -8.362384312787796e-09,
+            -2.1010849304836654e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434237832354292,
+            "required_z": 0.9112599056800266,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017402175209998137,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.53705076097776e-08,
+            "max_target_xy_drift": 8.864987056052007e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3774231740529365,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.37742318079333376,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27549621076228686,
+              -0.3484511720141192,
+              0.9235364146536941
+            ],
+            "target_mouth_xy": [
+              0.2742296290689932,
+              -0.3496515736847541
+            ],
+            "rod_tip_z": 0.9235364146536941,
+            "rod_tip_depth": -0.022276469563162205,
+            "rod_tip_bottom_clearance": 0.12171715316361043,
+            "rod_tip_xy_dist": 0.001745048239060962,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04467920036292505,
+            "min_rod_tip_bottom_clearance": 0.05476139432462612,
+            "min_rod_tip_xy_dist": 4.335778655189946e-06,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27422959445911754,
+              -0.34965151822792606
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.460987563208562e-08,
+              -5.545682801866292e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0017758589662303925,
+                0.0029350555824108615
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001680509227136806,
+                0.0025350476070105654
+              ],
+              "first_target_mouth_xy": [
+                0.2742296281476607,
+                -0.34965148777325883
+              ],
+              "last_target_mouth_xy": [
+                0.2742296257869762,
+                -0.34965148492567555
+              ],
+              "first_rod_tip_xy": [
+                0.2760054871138911,
+                -0.34671643219084797
+              ],
+              "last_rod_tip_xy": [
+                0.275910135014113,
+                -0.347116437318665
+              ],
+              "min_rod_tip_xy_dist": 0.0030414762258321104,
+              "max_rod_tip_xy_dist": 0.0034304848549122093,
+              "first_target_xy_drift": 4.541370605502532e-08,
+              "last_target_xy_drift": 4.572170836944246e-08,
+              "max_depth": 0.019636728052217056,
+              "min_bottom_clearance": 0.07980388564708274
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0017758589662303925,
+                  0.0029350555824108615
+                ],
+                "rod_tip_xy": [
+                  0.2760054871138911,
+                  -0.34671643219084797
+                ],
+                "target_mouth_xy": [
+                  0.2742296281476607,
+                  -0.34965148777325883
+                ],
+                "gripper_position": [
+                  0.275994306586849,
+                  -0.34672377110109426,
+                  1.0059179548658639
+                ],
+                "rod_tip_xy_dist": 0.0034304848549122093,
+                "target_xy_drift": 4.541370605502532e-08,
+                "depth": 0.01519980427200529,
+                "bottom_clearance": 0.08424073996533565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0017647096411145813,
+                  0.0029277458417291125
+                ],
+                "rod_tip_xy": [
+                  0.2759943065868489,
+                  -0.34672377110109426
+                ],
+                "target_mouth_xy": [
+                  0.27422959694573434,
+                  -0.34965151694282337
+                ],
+                "gripper_position": [
+                  0.27598583907138363,
+                  -0.34672480981121484,
+                  1.0057933398437031
+                ],
+                "rod_tip_xy_dist": 0.0034184639578624877,
+                "target_xy_drift": 2.7990627079467896e-09,
+                "depth": 0.015341864085360979,
+                "bottom_clearance": 0.08409863372669013,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0017562429601208351,
+                  0.002926706817902691
+                ],
+                "rod_tip_xy": [
+                  0.2759858390713836,
+                  -0.34672480981121484
+                ],
+                "target_mouth_xy": [
+                  0.27422959611126274,
+                  -0.34965151662911753
+                ],
+                "gripper_position": [
+                  0.27599260726706426,
+                  -0.3467920258628212,
+                  1.005270881880825
+                ],
+                "rod_tip_xy_dist": 0.0034132099456277354,
+                "target_xy_drift": 2.299080788560286e-09,
+                "depth": 0.015466510209516615,
+                "bottom_clearance": 0.08397403105136547,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0017630090068064819,
+                  0.0028594917113748397
+                ],
+                "rod_tip_xy": [
+                  0.2759926072670642,
+                  -0.34679202586282126
+                ],
+                "target_mouth_xy": [
+                  0.2742295982602577,
+                  -0.3496515175741961
+                ],
+                "gripper_position": [
+                  0.2759811297924346,
+                  -0.34679936917529924,
+                  1.0051285648056472
+                ],
+                "rod_tip_xy_dist": 0.0033592995706697827,
+                "target_xy_drift": 3.8569456219089094e-09,
+                "depth": 0.015988943851139692,
+                "bottom_clearance": 0.08345159704675831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017515309366810117,
+                  0.002852146813066281
+                ],
+                "rod_tip_xy": [
+                  0.2759811297924346,
+                  -0.34679936917529913
+                ],
+                "target_mouth_xy": [
+                  0.2742295988557536,
+                  -0.3496515159883654
+                ],
+                "gripper_position": [
+                  0.2759879308658133,
+                  -0.34686667063516313,
+                  1.0046101521409403
+                ],
+                "rod_tip_xy_dist": 0.0033470288414405402,
+                "target_xy_drift": 4.934170700166029e-09,
+                "depth": 0.016131342790383196,
+                "bottom_clearance": 0.08330925627918628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017583609744843964,
+                  0.0027848463037650206
+                ],
+                "rod_tip_xy": [
+                  0.27598793086581325,
+                  -0.34686667063516313
+                ],
+                "target_mouth_xy": [
+                  0.27422956989132885,
+                  -0.34965151693892815
+                ],
+                "gripper_position": [
+                  0.27597645408340354,
+                  -0.34687401806491974,
+                  1.0044686340147648
+                ],
+                "rod_tip_xy_dist": 0.0032935091091696425,
+                "target_xy_drift": 2.4601580372769435e-08,
+                "depth": 0.016649685417107096,
+                "bottom_clearance": 0.08279091152389662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017468555884235237,
+                  0.0027774972902011585
+                ],
+                "rod_tip_xy": [
+                  0.2759764540834035,
+                  -0.34687401806491985
+                ],
+                "target_mouth_xy": [
+                  0.27422959849497996,
+                  -0.349651515355121
+                ],
+                "gripper_position": [
+                  0.27596783120457963,
+                  -0.3468747577501493,
+                  1.0043440085055848
+                ],
+                "rod_tip_xy_dist": 0.0032811576682447424,
+                "target_xy_drift": 4.953906977475307e-09,
+                "depth": 0.01679122249505227,
+                "bottom_clearance": 0.08264938557658164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017382348858733243,
+                  0.0027767614190528644
+                ],
+                "rod_tip_xy": [
+                  0.2759678312045796,
+                  -0.34687475775014937
+                ],
+                "target_mouth_xy": [
+                  0.27422959631870625,
+                  -0.34965151916920223
+                ],
+                "gripper_position": [
+                  0.2759592123655117,
+                  -0.3468756373131198,
+                  1.0042194160981157
+                ],
+                "rod_tip_xy_dist": 0.003275952456432713,
+                "target_xy_drift": 2.084243502411172e-09,
+                "depth": 0.016915798095368362,
+                "bottom_clearance": 0.08252477976721118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017295830415208768,
+                  0.002775878671105847
+                ],
+                "rod_tip_xy": [
+                  0.27595921236551163,
+                  -0.3468756373131198
+                ],
+                "target_mouth_xy": [
+                  0.27422962932399075,
+                  -0.34965151598422567
+                ],
+                "gripper_position": [
+                  0.27596774810641134,
+                  -0.3469452540663923,
+                  1.0036999249357144
+                ],
+                "rod_tip_xy_dist": 0.0032706207200189036,
+                "target_xy_drift": 3.493699436768234e-08,
+                "depth": 0.017040496824168527,
+                "bottom_clearance": 0.08240012790266638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017381225038013426,
+                  0.0027062346669173842
+                ],
+                "rod_tip_xy": [
+                  0.27596774810641134,
+                  -0.34694525406639226
+                ],
+                "target_mouth_xy": [
+                  0.27422962560261,
+                  -0.34965148873330965
+                ],
+                "gripper_position": [
+                  0.27595597239124814,
+                  -0.3469523343618903,
+                  1.0035582773055882
+                ],
+                "rod_tip_xy_dist": 0.0032163295712109626,
+                "target_xy_drift": 4.289346709701003e-08,
+                "depth": 0.0175598859794851,
+                "bottom_clearance": 0.0818806889250171,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017263127105829335,
+                  0.0026991518186474384
+                ],
+                "rod_tip_xy": [
+                  0.2759559723912481,
+                  -0.3469523343618904
+                ],
+                "target_mouth_xy": [
+                  0.27422965968066515,
+                  -0.3496514861805378
+                ],
+                "gripper_position": [
+                  0.2759470811745426,
+                  -0.34695334246076953,
+                  1.0034336630518155
+                ],
+                "rod_tip_xy_dist": 0.0032039937757161715,
+                "target_xy_drift": 7.266970046364369e-08,
+                "depth": 0.01770164001838237,
+                "bottom_clearance": 0.08173900600251927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017174857309058544,
+                  0.002698176711435185
+                ],
+                "rod_tip_xy": [
+                  0.27594708117454253,
+                  -0.34695334246076964
+                ],
+                "target_mouth_xy": [
+                  0.2742295954436367,
+                  -0.3496515191722048
+                ],
+                "gripper_position": [
+                  0.2759384116986345,
+                  -0.3469537314265238,
+                  1.0033094875965027
+                ],
+                "rod_tip_xy_dist": 0.0031984237996232467,
+                "target_xy_drift": 1.364162861055759e-09,
+                "depth": 0.01782622978233339,
+                "bottom_clearance": 0.08161438162052603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017088149680004605,
+                  0.002697754441825906
+                ],
+                "rod_tip_xy": [
+                  0.2759384116986344,
+                  -0.3469537314265238
+                ],
+                "target_mouth_xy": [
+                  0.27422959673063396,
+                  -0.3496514858683497
+                ],
+                "gripper_position": [
+                  0.2759482874476661,
+                  -0.34702588143450847,
+                  1.0027920206264036
+                ],
+                "rod_tip_xy_dist": 0.003193419424888284,
+                "target_xy_drift": 3.2439204190516036e-08,
+                "depth": 0.017950360430917578,
+                "bottom_clearance": 0.08149019087585285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017186593089655866,
+                  0.00262560601953149
+                ],
+                "rod_tip_xy": [
+                  0.27594828744766603,
+                  -0.34702588143450847
+                ],
+                "target_mouth_xy": [
+                  0.27422962813870044,
+                  -0.34965148745403996
+                ],
+                "gripper_position": [
+                  0.27593669618766137,
+                  -0.3470325563006102,
+                  1.002650313482685
+                ],
+                "rod_tip_xy_dist": 0.003138088078766124,
+                "target_xy_drift": 4.56217751782001e-08,
+                "depth": 0.018467800542306123,
+                "bottom_clearance": 0.08097273299136487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017070689203770861,
+                  0.002618931156479709
+                ],
+                "rod_tip_xy": [
+                  0.27593669618766137,
+                  -0.3470325563006103
+                ],
+                "target_mouth_xy": [
+                  0.2742296272672843,
+                  -0.34965148745709
+                ],
+                "gripper_position": [
+                  0.27592783791598086,
+                  -0.3470333501685325,
+                  1.0025264080608791
+                ],
+                "rod_tip_xy_dist": 0.0031261613364152426,
+                "target_xy_drift": 4.49802196051575e-08,
+                "depth": 0.018609441170874597,
+                "bottom_clearance": 0.08083105890705422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016982080395501753,
+                  0.0026181658135083774
+                ],
+                "rod_tip_xy": [
+                  0.2759278379159808,
+                  -0.3470333501685326
+                ],
+                "target_mouth_xy": [
+                  0.2742296298764306,
+                  -0.349651515982041
+                ],
+                "gripper_position": [
+                  0.2759188263150707,
+                  -0.34703402875493805,
+                  1.0024017919326085
+                ],
+                "rod_tip_xy_dist": 0.0031206894707126553,
+                "target_xy_drift": 3.5488449752054846e-08,
+                "depth": 0.01873350926267936,
+                "bottom_clearance": 0.08070713671443774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016892003455146187,
+                  0.0026174907345570264
+                ],
+                "rod_tip_xy": [
+                  0.27591882631507064,
+                  -0.3470340287549381
+                ],
+                "target_mouth_xy": [
+                  0.274229625969556,
+                  -0.34965151948949513
+                ],
+                "gripper_position": [
+                  0.275909944843017,
+                  -0.34703465697246627,
+                  1.002277669204834
+                ],
+                "rod_tip_xy_dist": 0.0031152296147761867,
+                "target_xy_drift": 3.153568280168531e-08,
+                "depth": 0.01885808465012484,
+                "bottom_clearance": 0.08058251050631748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001680316943951321,
+                  0.002616800679015263
+                ],
+                "rod_tip_xy": [
+                  0.275909944843017,
+                  -0.3470346569724663
+                ],
+                "target_mouth_xy": [
+                  0.2742296278990657,
+                  -0.3496514576514816
+                ],
+                "gripper_position": [
+                  0.2759220943160811,
+                  -0.34710917897360244,
+                  1.0017644718592982
+                ],
+                "rod_tip_xy_dist": 0.003109840964715824,
+                "target_xy_drift": 6.919346614162761e-08,
+                "depth": 0.018982150081644833,
+                "bottom_clearance": 0.08045837428826885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016924669078918209,
+                  0.0025423401962900716
+                ],
+                "rod_tip_xy": [
+                  0.27592209431608106,
+                  -0.34710917897360244
+                ],
+                "target_mouth_xy": [
+                  0.27422962740818924,
+                  -0.3496515191698925
+                ],
+                "gripper_position": [
+                  0.275910135014113,
+                  -0.347116437318665,
+                  1.0016231595054466
+                ],
+                "rod_tip_xy_dist": 0.0030541673018977104,
+                "target_xy_drift": 3.296253367445552e-08,
+                "depth": 0.019495376983798107,
+                "bottom_clearance": 0.07994519515513188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001680509227136806,
+                  0.0025350476070105654
+                ],
+                "rod_tip_xy": [
+                  0.275910135014113,
+                  -0.347116437318665
+                ],
+                "target_mouth_xy": [
+                  0.2742296257869762,
+                  -0.34965148492567555
+                ],
+                "gripper_position": [
+                  0.2759011468096069,
+                  -0.3471169004006099,
+                  1.0014989843841093
+                ],
+                "rod_tip_xy_dist": 0.0030414762258321104,
+                "target_xy_drift": 4.572170836944246e-08,
+                "depth": 0.019636728052217056,
+                "bottom_clearance": 0.07980388564708274,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006019424984660357,
+              "rod_tip_xy_max_step": 3.2519939803859495e-05,
+              "rod_tip_xy_range": 0.0006019366933069187,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27549621076228686,
+            -0.3484511720141192,
+            1.043536414653694
+          ],
+          "object_origin_world": [
+            0.27549621076228686,
+            -0.3484511720141192,
+            1.043536414653694
+          ],
+          "frame_world": [
+            0.27549469108732116,
+            -0.34845659455933864,
+            1.0434237832354292
+          ],
+          "center_minus_frame": [
+            1.5196749656998243e-06,
+            5.422545219457842e-06,
+            0.00011263141826489687
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27385859476367264,
+              0.13075050226308194,
+              0.8334816343341173
+            ],
+            "target_position": [
+              0.285615286266692,
+              0.17679853650023308,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752516441005767,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16717357856593826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334816343341173,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672850140119,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374649468831614,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22f447b710851febae60ae78178a75fb94f65ef0503fb36f731ab7cb78144620",
+    "visual_seed": 1874499184231529273,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df2b8ecf693064bbd54db88c859e83a69203e04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2567750337307036,
+              0.036204817739537154,
+              1.1618667283982191
+            ],
+            "current_z": 1.1618667283982191,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30076027998809796,
+            "gripper_z": 1.1550585421105755,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2517405474762855,
+              0.03122212123730858,
+              1.1550585421105755
+            ],
+            "object_minus_gripper": [
+              0.005034486254418102,
+              0.004982696502228573,
+              0.0068081862876436805
+            ],
+            "object_to_gripper_xy": 0.0070833125216416696,
+            "object_to_gripper_z": 0.0068081862876436805,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2567750337307036,
+              0.012323706096066315,
+              1.1618667283982191
+            ],
+            "finger_b": [
+              0.245347532871949,
+              0.036204817739537154,
+              1.1618667283982191
+            ],
+            "finger_midpoint": [
+              0.25106128330132627,
+              0.024264261917801733,
+              1.1618667283982191
+            ],
+            "object_minus_finger_midpoint": [
+              0.005713750429377329,
+              0.011940555821735421,
+              0.0
+            ],
+            "finger_gap": 0.026474426702097927,
+            "fingertip_max_gap": 0.09108144838018792,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013237213351048977,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1618667283982191,
+            "object_top_z": 1.2118197518007399,
+            "finger_top_clearance": 0.049953023402520724,
+            "fingertip_min_top_clearance": 0.014985907020756216,
+            "object_projection_between_fingers": 0.8136843240146224,
+            "object_to_finger_line_xy": 0.010308114577308378,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804072419009396,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6976108991782448,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27419511912776784,
+              -0.3513114360723652,
+              0.8515395579675673
+            ],
+            "target_position": [
+              0.26596225628118575,
+              -0.35204657517109644,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008265619162840443,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850173201837785,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395579675673,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530308544971401,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501674607244271,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15354043331302566,
+            "release_required_pad_clearance": 0.052508373036221356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08846931496104272,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007416427135467529,
+            "max_z_decrease": 0.007416427135467529,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147371743672724,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007416427135467529,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021089462096581357,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007416427135467529,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007416453218385529,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12166218459606168,
+              -0.40830802917480463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12166218459606168,
+              -0.40830802917480463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12250527515854029,
+              -0.40646974181479717,
+              0.8079025093557003
+            ],
+            "closest_button": [
+              0.12165194749832152,
+              -0.40830346941947937,
+              0.7728133797645569
+            ],
+            "closest_ee_minus_button": [
+              0.0008533276602187695,
+              0.0018337276046822004,
+              0.03508912959114341
+            ],
+            "button_min_z_position": [
+              0.12164265662431714,
+              -0.408305674791336,
+              0.7693924307823181
+            ],
+            "min_active_finger_to_button": 0.14467338077179198,
+            "closest_active_finger": [
+              -0.004156030714511871,
+              -0.470877468585968,
+              0.8107610940933228
+            ],
+            "closest_active_finger_button": [
+              0.12166254967451094,
+              -0.40830686688423157,
+              0.7763373851776123
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12581858038902283,
+              -0.06257060170173645,
+              0.03442370891571045
+            ],
+            "min_contact_pad_to_button": 0.021089462096581357,
+            "closest_contact_pad": [
+              0.12164265662431714,
+              -0.408305674791336,
+              0.7904818928788995
+            ],
+            "closest_contact_pad_button": [
+              0.12164265662431714,
+              -0.408305674791336,
+              0.7693924307823181
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021089462096581357
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2848674451975592,
+              0.18414253499421643,
+              1.1010117259775667
+            ],
+            "current_z": 1.1010117259775667,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19110259624320414,
+            "gripper_z": 1.101011728081217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2848674696173958,
+              0.18414251817914914,
+              1.101011728081217
+            ],
+            "object_minus_gripper": [
+              -2.441983659728919e-08,
+              1.681506728301585e-08,
+              -2.1036503650151417e-09
+            ],
+            "object_to_gripper_xy": 2.9649197411914114e-08,
+            "object_to_gripper_z": -2.1036503650151417e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2848674451975592,
+              0.18414253499421643,
+              1.1010117259775667
+            ],
+            "finger_b": [
+              0.2848674451975592,
+              0.18414253499421643,
+              1.1010117259775667
+            ],
+            "finger_midpoint": [
+              0.2848674451975592,
+              0.18414253499421643,
+              1.1010117259775667
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1010117259775667,
+            "object_top_z": 1.2260202325978464,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2848674451975592,
+            0.18414253499421643,
+            1.1010117259775667
+          ],
+          "object_origin_world": [
+            0.2848674451975592,
+            0.18414253499421643,
+            1.1010117259775667
+          ],
+          "frame_world": [
+            0.2848674696173958,
+            0.18414251817914914,
+            1.101011728081217
+          ],
+          "center_minus_frame": [
+            -2.441983659728919e-08,
+            1.681506728301585e-08,
+            -2.1036503650151417e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433904898780963,
+            "required_z": 0.9112598878789748,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017438369630506944,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1920196180996557e-07,
+            "max_target_xy_drift": 1.3535130735613408e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.08846930594307273,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.08846932033309934,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27547581878232014,
+              -0.3524908781833447,
+              0.9235039640371264
+            ],
+            "target_mouth_xy": [
+              0.2741951197705573,
+              -0.35131134727570207
+            ],
+            "rod_tip_z": 0.9235039640371264,
+            "rod_tip_depth": -0.022244137428690913,
+            "rod_tip_bottom_clearance": 0.1216846892149751,
+            "rod_tip_xy_dist": 0.0017411154817571523,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04473924475996749,
+            "min_rod_tip_bottom_clearance": 0.05470138174795358,
+            "min_rod_tip_xy_dist": 0.0002865620596364373,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27419511999404655,
+              -0.35131146647745437
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.2348922712467356e-10,
+              1.1920175230217822e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0017795250272814034,
+                0.0005246772738858319
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016700042137863247,
+                0.0001993423834986685
+              ],
+              "first_target_mouth_xy": [
+                0.27419509023984606,
+                -0.35131143636911266
+              ],
+              "last_target_mouth_xy": [
+                0.2741950897615448,
+                -0.35131140687606593
+              ],
+              "first_rod_tip_xy": [
+                0.27597461526712747,
+                -0.35078675909522683
+              ],
+              "last_rod_tip_xy": [
+                0.2758650939753311,
+                -0.35111206449256727
+              ],
+              "min_rod_tip_xy_dist": 0.001681859524432112,
+              "max_rod_tip_xy_dist": 0.0018552615892248586,
+              "first_target_xy_drift": 4.232995024076316e-08,
+              "last_target_xy_drift": 6.683060427180615e-08,
+              "max_depth": 0.01954740913546482,
+              "min_bottom_clearance": 0.07989313451610647
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0017795250272814034,
+                  0.0005246772738858319
+                ],
+                "rod_tip_xy": [
+                  0.27597461526712747,
+                  -0.35078675909522683
+                ],
+                "target_mouth_xy": [
+                  0.27419509023984606,
+                  -0.35131143636911266
+                ],
+                "gripper_position": [
+                  0.2759634499504209,
+                  -0.3507940890919934,
+                  1.0056161820877003
+                ],
+                "rod_tip_xy_dist": 0.0018552615892248586,
+                "target_xy_drift": 4.232995024076316e-08,
+                "depth": 0.015500295443746537,
+                "bottom_clearance": 0.0839402656203615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017683607583183214,
+                  0.0005173171763497297
+                ],
+                "rod_tip_xy": [
+                  0.2759634499504209,
+                  -0.3507940890919935
+                ],
+                "target_mouth_xy": [
+                  0.27419508919210256,
+                  -0.35131140626834323
+                ],
+                "gripper_position": [
+                  0.27595500753663804,
+                  -0.3507953278852319,
+                  1.0054906377543118
+                ],
+                "rod_tip_xy_dist": 0.0018424757345774207,
+                "target_xy_drift": 6.76305908470008e-08,
+                "depth": 0.01564358352290207,
+                "bottom_clearance": 0.08379694796792614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017599172748299918,
+                  0.0005161093983532261
+                ],
+                "rod_tip_xy": [
+                  0.2759550075366381,
+                  -0.35079532788523193
+                ],
+                "target_mouth_xy": [
+                  0.2741950902618081,
+                  -0.35131143728358516
+                ],
+                "gripper_position": [
+                  0.27596265696094213,
+                  -0.3508633335405032,
+                  1.0049670265064448
+                ],
+                "rod_tip_xy_dist": 0.0018340331854450054,
+                "target_xy_drift": 4.166878931163715e-08,
+                "depth": 0.01576932116877494,
+                "bottom_clearance": 0.0836712634639375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017675974965942753,
+                  0.00044807272757774186
+                ],
+                "rod_tip_xy": [
+                  0.27596265696094213,
+                  -0.35086333354050325
+                ],
+                "target_mouth_xy": [
+                  0.27419505946434786,
+                  -0.351311406268081
+                ],
+                "gripper_position": [
+                  0.2759511471129792,
+                  -0.3508709257565648,
+                  1.0048239257481548
+                ],
+                "rod_tip_xy_dist": 0.0018235048887143973,
+                "target_xy_drift": 8.537571707903997e-08,
+                "depth": 0.016292799305744232,
+                "bottom_clearance": 0.08314773505911122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017560576442554598,
+                  0.0004405097007476044
+                ],
+                "rod_tip_xy": [
+                  0.27595114711297924,
+                  -0.35087092575656487
+                ],
+                "target_mouth_xy": [
+                  0.2741950894687238,
+                  -0.35131143545731247
+                ],
+                "gripper_position": [
+                  0.2759426163242259,
+                  -0.3508719391953268,
+                  1.004698493440013
+                ],
+                "rod_tip_xy_dist": 0.001810466030170348,
+                "target_xy_drift": 4.352062193549257e-08,
+                "depth": 0.016435912561669097,
+                "bottom_clearance": 0.08300465132978996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001747527701297047,
+                  0.00043953031556959177
+                ],
+                "rod_tip_xy": [
+                  0.2759426163242259,
+                  -0.3508719391953269
+                ],
+                "target_mouth_xy": [
+                  0.27419508862292885,
+                  -0.3513114695108965
+                ],
+                "gripper_position": [
+                  0.2759509040044521,
+                  -0.35094124316821373,
+                  1.00417625118186
+                ],
+                "rod_tip_xy_dist": 0.0018019544847485038,
+                "target_xy_drift": 3.1517436396344746e-08,
+                "depth": 0.016561376712080134,
+                "bottom_clearance": 0.0828792319544277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017558150417642526,
+                  0.00037013238140048976
+                ],
+                "rod_tip_xy": [
+                  0.2759509040044521,
+                  -0.35094124316821373
+                ],
+                "target_mouth_xy": [
+                  0.27419508896268785,
+                  -0.3513113755496142
+                ],
+                "gripper_position": [
+                  0.2759393803279233,
+                  -0.3509486419313398,
+                  1.004033440556818
+                ],
+                "rod_tip_xy_dist": 0.0017944036448488399,
+                "target_xy_drift": 9.607714263403788e-08,
+                "depth": 0.01708358848453817,
+                "bottom_clearance": 0.0823569667075641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001744291792642183,
+                  0.00036276676817198483
+                ],
+                "rod_tip_xy": [
+                  0.2759393803279233,
+                  -0.3509486419313399
+                ],
+                "target_mouth_xy": [
+                  0.27419508853528113,
+                  -0.3513114086995119
+                ],
+                "gripper_position": [
+                  0.2759308860162342,
+                  -0.3509495214222979,
+                  1.0039080732918966
+                ],
+                "rod_tip_xy_dist": 0.0017816154427846731,
+                "target_xy_drift": 6.578711545612817e-08,
+                "depth": 0.017226407165799262,
+                "bottom_clearance": 0.0822141546249131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017357983059714255,
+                  0.0003618842341257533
+                ],
+                "rod_tip_xy": [
+                  0.2759308860162342,
+                  -0.35094952142229796
+                ],
+                "target_mouth_xy": [
+                  0.2741950877102628,
+                  -0.3513114056564237
+                ],
+                "gripper_position": [
+                  0.2759400417015053,
+                  -0.35101955310710875,
+                  1.0033896764284191
+                ],
+                "rod_tip_xy_dist": 0.0017731204014172454,
+                "target_xy_drift": 6.885811835789592e-08,
+                "depth": 0.017351774987381385,
+                "bottom_clearance": 0.08208876922166353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017449526630125,
+                  0.0002918558939661864
+                ],
+                "rod_tip_xy": [
+                  0.2759400417015053,
+                  -0.35101955310710875
+                ],
+                "target_mouth_xy": [
+                  0.2741950890384928,
+                  -0.35131140900107494
+                ],
+                "gripper_position": [
+                  0.2759284012962533,
+                  -0.35102707389501153,
+                  1.0032468874779814
+                ],
+                "rod_tip_xy_dist": 0.001769191809555204,
+                "target_xy_drift": 6.528231383477255e-08,
+                "depth": 0.01787018072862856,
+                "bottom_clearance": 0.08157041127973619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017333142448185956,
+                  0.00028429980967575874
+                ],
+                "rod_tip_xy": [
+                  0.27592840129625334,
+                  -0.35102707389501153
+                ],
+                "target_mouth_xy": [
+                  0.27419508705143475,
+                  -0.3513113737046873
+                ],
+                "gripper_position": [
+                  0.27591958070435046,
+                  -0.35102781177280856,
+                  1.003121366288131
+                ],
+                "rod_tip_xy_dist": 0.0017564750647455064,
+                "target_xy_drift": 9.8447965871083e-08,
+                "depth": 0.018013018977092288,
+                "bottom_clearance": 0.08142762666427272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017244911688993891,
+                  0.00028362551440913597
+                ],
+                "rod_tip_xy": [
+                  0.2759195807043505,
+                  -0.3510278117728086
+                ],
+                "target_mouth_xy": [
+                  0.27419508953545113,
+                  -0.35131143728721775
+                ],
+                "gripper_position": [
+                  0.27591073576609537,
+                  -0.3510287341030413,
+                  1.002996185581423
+                ],
+                "rod_tip_xy_dist": 0.0017476593558344911,
+                "target_xy_drift": 4.21876279129362e-08,
+                "depth": 0.018138467647264123,
+                "bottom_clearance": 0.08130208906248793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001715646839780427,
+                  0.00028267155471239924
+                ],
+                "rod_tip_xy": [
+                  0.27591073576609537,
+                  -0.35102873410304125
+                ],
+                "target_mouth_xy": [
+                  0.27419508892631494,
+                  -0.35131140565775365
+                ],
+                "gripper_position": [
+                  0.2759214186555311,
+                  -0.3511005726701186,
+                  1.0024806618442854
+                ],
+                "rod_tip_xy_dist": 0.0017387775265088087,
+                "target_xy_drift": 6.829524099854986e-08,
+                "depth": 0.01826364836990635,
+                "bottom_clearance": 0.08117689458314481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001726300345056886,
+                  0.00021086733933278756
+                ],
+                "rod_tip_xy": [
+                  0.2759214186555311,
+                  -0.35110057267011874
+                ],
+                "target_mouth_xy": [
+                  0.2741951183104742,
+                  -0.3513114400094515
+                ],
+                "gripper_position": [
+                  0.2759097234182759,
+                  -0.35110780618903953,
+                  1.002338142365085
+                ],
+                "rod_tip_xy_dist": 0.0017391313682815373,
+                "target_xy_drift": 2.652149298997631e-08,
+                "depth": 0.01877927243209554,
+                "bottom_clearance": 0.08066134269802772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017146341582605085,
+                  0.00020357240466722937
+                ],
+                "rod_tip_xy": [
+                  0.27590972341827597,
+                  -0.3511078061890397
+                ],
+                "target_mouth_xy": [
+                  0.27419508926001546,
+                  -0.3513113785937069
+                ],
+                "gripper_position": [
+                  0.2759007892600125,
+                  -0.35110860586542314,
+                  1.0022125180834913
+                ],
+                "rod_tip_xy_dist": 0.0017266765825179075,
+                "target_xy_drift": 9.310281270019876e-08,
+                "depth": 0.018921705691225865,
+                "bottom_clearance": 0.08051887308594807,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001705700226284912,
+                  0.0002028022281488906
+                ],
+                "rod_tip_xy": [
+                  0.27590078926001255,
+                  -0.35110860586542314
+                ],
+                "target_mouth_xy": [
+                  0.27419508903372763,
+                  -0.35131140809357203
+                ],
+                "gripper_position": [
+                  0.27589183292390085,
+                  -0.3511096102002217,
+                  1.002087680255506
+                ],
+                "rod_tip_xy_dist": 0.0017177141804417156,
+                "target_xy_drift": 6.608493825886178e-08,
+                "depth": 0.019047382341773278,
+                "bottom_clearance": 0.0803931768547993,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016967436596040941,
+                  0.0002017966777928537
+                ],
+                "rod_tip_xy": [
+                  0.2758918329239009,
+                  -0.3511096102002217
+                ],
+                "target_mouth_xy": [
+                  0.2741950892642968,
+                  -0.35131140687801454
+                ],
+                "gripper_position": [
+                  0.2758830020447788,
+                  -0.351110263066529,
+                  1.0019625549593798
+                ],
+                "rod_tip_xy_dist": 0.0017087015378862767,
+                "target_xy_drift": 6.705528127722789e-08,
+                "depth": 0.01917214066110562,
+                "bottom_clearance": 0.08026838388033353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0016879151691130967,
+                  0.0002011760341980029
+                ],
+                "rod_tip_xy": [
+                  0.27588300204477884,
+                  -0.35111026306652904
+                ],
+                "target_mouth_xy": [
+                  0.27419508687566574,
+                  -0.35131143910072704
+                ],
+                "gripper_position": [
+                  0.27587402714215825,
+                  -0.3511111951593784,
+                  1.001837859372992
+                ],
+                "rod_tip_xy_dist": 0.0016998615869704596,
+                "target_xy_drift": 4.296873685739589e-08,
+                "depth": 0.019297405952280466,
+                "bottom_clearance": 0.0801432256340463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016789372221192034,
+                  0.00020021293071992297
+                ],
+                "rod_tip_xy": [
+                  0.27587402714215825,
+                  -0.3511111951593785
+                ],
+                "target_mouth_xy": [
+                  0.27419508992003905,
+                  -0.3513114080900984
+                ],
+                "gripper_position": [
+                  0.2758650939753311,
+                  -0.35111206449256727,
+                  1.0017124753389055
+                ],
+                "rod_tip_xy_dist": 0.0016908327573845994,
+                "target_xy_drift": 6.567746388485728e-08,
+                "depth": 0.019422048096458533,
+                "bottom_clearance": 0.08001854515869844,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0016700042137863247,
+                  0.0001993423834986685
+                ],
+                "rod_tip_xy": [
+                  0.2758650939753311,
+                  -0.35111206449256727
+                ],
+                "target_mouth_xy": [
+                  0.2741950897615448,
+                  -0.35131140687606593
+                ],
+                "gripper_position": [
+                  0.2758562046784142,
+                  -0.35111289498580506,
+                  1.0015875521241955
+                ],
+                "rod_tip_xy_dist": 0.001681859524432112,
+                "target_xy_drift": 6.683060427180615e-08,
+                "depth": 0.01954740913546482,
+                "bottom_clearance": 0.07989313451610647,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006022624877739045,
+              "rod_tip_xy_max_step": 3.2575272684157446e-05,
+              "rod_tip_xy_range": 0.0006022555658646133,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27547581878232014,
+            -0.3524908781833447,
+            1.0435039640371264
+          ],
+          "object_origin_world": [
+            0.27547581878232014,
+            -0.3524908781833447,
+            1.0435039640371264
+          ],
+          "frame_world": [
+            0.27547420301306824,
+            -0.3524966377094902,
+            1.0433904898780963
+          ],
+          "center_minus_frame": [
+            1.615769251894772e-06,
+            5.759526145510119e-06,
+            0.00011347415903006919
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27201036503397596,
+              0.13664361255420127,
+              0.8331361355979142
+            ],
+            "target_position": [
+              0.2850292629738983,
+              0.18245489182871888,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04762525603435598,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16657315610040732,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331361355979142,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672608501319,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1364568425154043,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c36b11e1c81438ebbcab505d33063e5945c3f1534ba43383bbcaba43ca3bd4ab",
+    "visual_seed": 8349389369957539680,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..023b96f0986b7f22f10580973b8fb7cb7df25a51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_20_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26328881425435036,
+              0.029115668784172658,
+              1.1616923233240906
+            ],
+            "current_z": 1.1616923233240906,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30058569610003505,
+            "gripper_z": 1.154665840361187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2583126804546201,
+              0.024201680982058285,
+              1.154665840361187
+            ],
+            "object_minus_gripper": [
+              0.004976133799730276,
+              0.004913987802114373,
+              0.007026482962903646
+            ],
+            "object_to_gripper_xy": 0.006993510113823167,
+            "object_to_gripper_z": 0.007026482962903646,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26328881425435036,
+              0.005179805038137421,
+              1.1616923233240906
+            ],
+            "finger_b": [
+              0.2520795245551558,
+              0.029115668784172658,
+              1.1616923233240906
+            ],
+            "finger_midpoint": [
+              0.2576841694047531,
+              0.01714773691115504,
+              1.1616923233240906
+            ],
+            "object_minus_finger_midpoint": [
+              0.005604644849597273,
+              0.011967931873017618,
+              0.0
+            ],
+            "finger_gap": 0.02643054575352603,
+            "fingertip_max_gap": 0.09092371989261722,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013215272876763015,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616923233240906,
+            "object_top_z": 1.2116508571585087,
+            "finger_top_clearance": 0.04995853383441817,
+            "fingertip_min_top_clearance": 0.01498756015032545,
+            "object_projection_between_fingers": 0.8201361334131898,
+            "object_to_finger_line_xy": 0.010151286069980746,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796185994630861,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.625667595170443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2717894013297173,
+              -0.3500410540914015,
+              0.8515395902665204
+            ],
+            "target_position": [
+              0.26397425066745517,
+              -0.3508499566641264,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007856901631433162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842670591231213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395902665204,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574634435965746,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572605813607227,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15160137820014843,
+            "release_required_pad_clearance": 0.05286302906803614,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7682085955228845,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007509171962738037,
+            "max_z_decrease": 0.007509171962738037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351079783043257,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007509171962738037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021077259280804665,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007509171962738037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00750919494236276,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1196741759777069,
+              -0.40711140632629395,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1196741759777069,
+              -0.40711140632629395,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.118975152789278,
+              -0.4063645267264809,
+              0.8078199704985707
+            ],
+            "closest_button": [
+              0.11966479569673537,
+              -0.4071086645126342,
+              0.7727266550064087
+            ],
+            "closest_ee_minus_button": [
+              -0.0006896429074573635,
+              0.0007441377861533427,
+              0.03509331549216199
+            ],
+            "button_min_z_position": [
+              0.11965578049421309,
+              -0.40710881352424616,
+              0.7692996859550476
+            ],
+            "min_active_finger_to_button": 0.14649576489703228,
+            "closest_active_finger": [
+              -0.009117841720581055,
+              -0.4678806960582733,
+              0.810992956161499
+            ],
+            "closest_active_finger_button": [
+              0.11967530101537704,
+              -0.4071108996868133,
+              0.7766364812850952
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1287931427359581,
+              -0.060769796371460016,
+              0.03435647487640381
+            ],
+            "min_contact_pad_to_button": 0.021077259280804665,
+            "closest_contact_pad": [
+              0.11965578049421309,
+              -0.40762237759626363,
+              0.790370687609791
+            ],
+            "closest_contact_pad_button": [
+              0.11965578049421309,
+              -0.40710881352424616,
+              0.7692996859550476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005135640720174695,
+              0.021071001654743404
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27599686923894173,
+              0.1729746605870944,
+              1.102060843896747
+            ],
+            "current_z": 1.102060843896747,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1921517141623844,
+            "gripper_z": 1.1020611066349015,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2759969156171499,
+              0.17297465777287346,
+              1.1020611066349015
+            ],
+            "object_minus_gripper": [
+              -4.637820816277838e-08,
+              2.8142209396175843e-09,
+              -2.6273815456612226e-07
+            ],
+            "object_to_gripper_xy": 4.646351290945386e-08,
+            "object_to_gripper_z": -2.6273815456612226e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27599686923894173,
+              0.1729746605870944,
+              1.102060843896747
+            ],
+            "finger_b": [
+              0.27599686923894173,
+              0.1729746605870944,
+              1.102060843896747
+            ],
+            "finger_midpoint": [
+              0.27599686923894173,
+              0.1729746605870944,
+              1.102060843896747
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102060843896747,
+            "object_top_z": 1.2270693505170267,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2759968692389418,
+            0.1729746605870944,
+            1.1020608438967472
+          ],
+          "object_origin_world": [
+            0.2759968692389418,
+            0.1729746605870944,
+            1.1020608438967472
+          ],
+          "frame_world": [
+            0.2759969156171499,
+            0.17297465777287346,
+            1.1020611066349015
+          ],
+          "center_minus_frame": [
+            -4.637820810726723e-08,
+            2.8142209396175843e-09,
+            -2.6273815434407766e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043231980951083,
+            "required_z": 0.9112599001344004,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009134283487323565,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.6268054070083193e-09,
+            "max_target_xy_drift": 6.767366641995223e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7682085905150775,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7682086027681919,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27235343431775416,
+              -0.34931641548246645,
+              0.9233430070662442
+            ],
+            "target_mouth_xy": [
+              0.27178943217067575,
+              -0.3500410563021025
+            ],
+            "rod_tip_z": 0.9233430070662442,
+            "rod_tip_depth": -0.022083067564083403,
+            "rod_tip_bottom_clearance": 0.12152378876828995,
+            "rod_tip_xy_dist": 0.0009182607142810311,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044417283811723496,
+            "min_rod_tip_bottom_clearance": 0.055023467536532755,
+            "min_rod_tip_xy_dist": 0.0007098597895167577,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2717894307617629,
+              -0.35004105408510655
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.4089128752559077e-09,
+              -2.216995975690139e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0010816780484362853,
+                0.0023988264126623138
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009865174485700345,
+                0.0020130444995181684
+              ],
+              "first_target_mouth_xy": [
+                0.27178948862430485,
+                -0.3500410556792694
+              ],
+              "last_target_mouth_xy": [
+                0.2717894897087554,
+                -0.3500409925742143
+              ],
+              "first_rod_tip_xy": [
+                0.27287116667274114,
+                -0.3476422292666071
+              ],
+              "last_rod_tip_xy": [
+                0.2727760071573254,
+                -0.3480279480746961
+              ],
+              "min_rod_tip_xy_dist": 0.002241777159615443,
+              "max_rod_tip_xy_dist": 0.002631424625284805,
+              "first_target_xy_drift": 5.7884498094109394e-08,
+              "last_target_xy_drift": 8.519587897064887e-08,
+              "max_depth": 0.019842944224206183,
+              "min_bottom_clearance": 0.07959771126828386
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010816780484362853,
+                  0.0023988264126623138
+                ],
+                "rod_tip_xy": [
+                  0.27287116667274114,
+                  -0.3476422292666071
+                ],
+                "target_mouth_xy": [
+                  0.27178948862430485,
+                  -0.3500410556792694
+                ],
+                "gripper_position": [
+                  0.2728597670349384,
+                  -0.34764948466933754,
+                  1.0056827483393374
+                ],
+                "rod_tip_xy_dist": 0.002631424625284805,
+                "target_xy_drift": 5.7884498094109394e-08,
+                "depth": 0.015436211440334024,
+                "bottom_clearance": 0.08400436524509136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010703092552418747,
+                  0.0023915684845357554
+                ],
+                "rod_tip_xy": [
+                  0.2728597670349383,
+                  -0.3476494846693376
+                ],
+                "target_mouth_xy": [
+                  0.27178945777969643,
+                  -0.35004105315387335
+                ],
+                "gripper_position": [
+                  0.2728661081026011,
+                  -0.34771431277714693,
+                  1.005163423625789
+                ],
+                "rod_tip_xy_dist": 0.00262014536201354,
+                "target_xy_drift": 2.7033977305805954e-08,
+                "depth": 0.015577087364128328,
+                "bottom_clearance": 0.08386345192751699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010765892455086301,
+                  0.0023267752546061726
+                ],
+                "rod_tip_xy": [
+                  0.272866108102601,
+                  -0.3477143127771469
+                ],
+                "target_mouth_xy": [
+                  0.27178951885709235,
+                  -0.35004108803175304
+                ],
+                "gripper_position": [
+                  0.27285480686309715,
+                  -0.3477212858837827,
+                  1.0050228072324188
+                ],
+                "rod_tip_xy_dist": 0.0025637721211122606,
+                "target_xy_drift": 9.4409543392678e-08,
+                "depth": 0.01609652777484072,
+                "bottom_clearance": 0.08334415534950945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010653786800433607,
+                  0.002319768536017286
+                ],
+                "rod_tip_xy": [
+                  0.2728548068630971,
+                  -0.34772128588378265
+                ],
+                "target_mouth_xy": [
+                  0.27178942818305374,
+                  -0.35004105441979994
+                ],
+                "gripper_position": [
+                  0.27284621584653557,
+                  -0.3477222398676939,
+                  1.004899055727025
+                ],
+                "rod_tip_xy_dist": 0.0025527157680765625,
+                "target_xy_drift": 2.600338528902997e-09,
+                "depth": 0.01623694770677797,
+                "bottom_clearance": 0.08320355351711617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010567247184274375,
+                  0.0023188139028618715
+                ],
+                "rod_tip_xy": [
+                  0.27284621584653546,
+                  -0.34772223986769385
+                ],
+                "target_mouth_xy": [
+                  0.271789491128108,
+                  -0.3500410537705557
+                ],
+                "gripper_position": [
+                  0.2728537310675375,
+                  -0.34778812172379076,
+                  1.0043806634974506
+                ],
+                "rod_tip_xy_dist": 0.0025482474461168505,
+                "target_xy_drift": 6.036716465405637e-08,
+                "depth": 0.016360855968805432,
+                "bottom_clearance": 0.08307979580562386,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010643028992132764,
+                  0.0022529314226265584
+                ],
+                "rod_tip_xy": [
+                  0.27285373106753746,
+                  -0.34778812172379076
+                ],
+                "target_mouth_xy": [
+                  0.2717894281683242,
+                  -0.3500410531464173
+                ],
+                "gripper_position": [
+                  0.27284205764729663,
+                  -0.3477950444767084,
+                  1.0042400090987664
+                ],
+                "rod_tip_xy_dist": 0.0024916742677027256,
+                "target_xy_drift": 2.758090227437824e-09,
+                "depth": 0.016879173816994997,
+                "bottom_clearance": 0.08256137300094502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001052568636224438,
+                  0.0022460083504736716
+                ],
+                "rod_tip_xy": [
+                  0.2728420576472966,
+                  -0.34779504447670845
+                ],
+                "target_mouth_xy": [
+                  0.27178948901107214,
+                  -0.3500410528271821
+                ],
+                "gripper_position": [
+                  0.27283351574191195,
+                  -0.34779578717821846,
+                  1.0041167255629704
+                ],
+                "rod_tip_xy_dist": 0.002480414127592575,
+                "target_xy_drift": 5.82628904510666e-08,
+                "depth": 0.01701990314226387,
+                "bottom_clearance": 0.08242070231040122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010440560805716759,
+                  0.0022452672359459247
+                ],
+                "rod_tip_xy": [
+                  0.27283351574191184,
+                  -0.3477957871782185
+                ],
+                "target_mouth_xy": [
+                  0.27178945966134016,
+                  -0.35004105441416444
+                ],
+                "gripper_position": [
+                  0.27284175250648507,
+                  -0.3478624442626374,
+                  1.0036003646017586
+                ],
+                "rod_tip_xy_dist": 0.002476141769000907,
+                "target_xy_drift": 2.890145059425354e-08,
+                "depth": 0.01714310205687697,
+                "bottom_clearance": 0.08229746308016683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001052262658565395,
+                  0.002178608245565372
+                ],
+                "rod_tip_xy": [
+                  0.272841752506485,
+                  -0.3478624442626374
+                ],
+                "target_mouth_xy": [
+                  0.2717894898479196,
+                  -0.3500410525082028
+                ],
+                "gripper_position": [
+                  0.27283015852241677,
+                  -0.34786930263551863,
+                  1.00345994010176
+                ],
+                "rod_tip_xy_dist": 0.0024194194738111335,
+                "target_xy_drift": 5.9107195369261354e-08,
+                "depth": 0.017659559858078766,
+                "bottom_clearance": 0.08178108898281133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010407316931478894,
+                  0.002171754664476888
+                ],
+                "rod_tip_xy": [
+                  0.27283015852241665,
+                  -0.3478693026355186
+                ],
+                "target_mouth_xy": [
+                  0.27178942682926877,
+                  -0.35004105729999546
+                ],
+                "gripper_position": [
+                  0.27282149010101037,
+                  -0.3478698095749447,
+                  1.0033370150718974
+                ],
+                "rod_tip_xy_dist": 0.0024082443355688795,
+                "target_xy_drift": 5.079372069283765e-09,
+                "depth": 0.017799949495132195,
+                "bottom_clearance": 0.08164067046427648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001032000402247435,
+                  0.0021712432570401563
+                ],
+                "rod_tip_xy": [
+                  0.27282149010101026,
+                  -0.3478698095749448
+                ],
+                "target_mouth_xy": [
+                  0.2717894896987628,
+                  -0.35004105283198494
+                ],
+                "gripper_position": [
+                  0.2728128578422079,
+                  -0.3478703542165033,
+                  1.0032136324745637
+                ],
+                "rod_tip_xy_dist": 0.0024040220696743228,
+                "target_xy_drift": 5.895032041068668e-08,
+                "depth": 0.017922902410418162,
+                "bottom_clearance": 0.08151772901708809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010233708373870165,
+                  0.0021707017963982778
+                ],
+                "rod_tip_xy": [
+                  0.27281285784220777,
+                  -0.3478703542165034
+                ],
+                "target_mouth_xy": [
+                  0.27178948700482075,
+                  -0.3500410560129017
+                ],
+                "gripper_position": [
+                  0.2728225266640516,
+                  -0.34793921398024275,
+                  1.00269983506096
+                ],
+                "rod_tip_xy_dist": 0.002399840444633958,
+                "target_xy_drift": 5.627608687136642e-08,
+                "depth": 0.018046216355758316,
+                "bottom_clearance": 0.08139433532172513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010330361009278644,
+                  0.0021018397868874383
+                ],
+                "rod_tip_xy": [
+                  0.2728225266640515,
+                  -0.3479392139802428
+                ],
+                "target_mouth_xy": [
+                  0.2717894905631236,
+                  -0.35004105376713024
+                ],
+                "gripper_position": [
+                  0.2728109023158329,
+                  -0.34794584423604497,
+                  1.002559697865278
+                ],
+                "rod_tip_xy_dist": 0.0023419850715927456,
+                "target_xy_drift": 5.980220611945295e-08,
+                "depth": 0.018560072313236753,
+                "bottom_clearance": 0.08088055808971639,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001021415655118152,
+                  0.002095180063330093
+                ],
+                "rod_tip_xy": [
+                  0.2728109023158328,
+                  -0.34794584423604497
+                ],
+                "target_mouth_xy": [
+                  0.2717894866607147,
+                  -0.35004102429937506
+                ],
+                "gripper_position": [
+                  0.27280209488181495,
+                  -0.34794635790255474,
+                  1.0024367913175516
+                ],
+                "rod_tip_xy_dist": 0.002330894557524286,
+                "target_xy_drift": 6.333942384448857e-08,
+                "depth": 0.01870013909614221,
+                "bottom_clearance": 0.0807403816682829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001012604771064518,
+                  0.0020946942777829713
+                ],
+                "rod_tip_xy": [
+                  0.2728020948818149,
+                  -0.34794635790255474
+                ],
+                "target_mouth_xy": [
+                  0.2717894901107504,
+                  -0.3500410521803377
+                ],
+                "gripper_position": [
+                  0.2727931225759593,
+                  -0.347947124731333,
+                  1.0023138318756664
+                ],
+                "rod_tip_xy_dist": 0.00232660966639429,
+                "target_xy_drift": 5.9379545820825414e-08,
+                "depth": 0.018823141075411276,
+                "bottom_clearance": 0.08061752965239555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010036366953226072,
+                  0.002093930018508161
+                ],
+                "rod_tip_xy": [
+                  0.27279312257595917,
+                  -0.347947124731333
+                ],
+                "target_mouth_xy": [
+                  0.27178948588063656,
+                  -0.35004105474984115
+                ],
+                "gripper_position": [
+                  0.2727841633338136,
+                  -0.3479476198341611,
+                  1.0021907624335138
+                ],
+                "rod_tip_xy_dist": 0.0023220313388513237,
+                "target_xy_drift": 5.512288189731501e-08,
+                "depth": 0.018946027901385665,
+                "bottom_clearance": 0.08049452072358931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009946452184620425,
+                  0.0020934355360350265
+                ],
+                "rod_tip_xy": [
+                  0.2727841633338135,
+                  -0.34794761983416117
+                ],
+                "target_mouth_xy": [
+                  0.27178951811535146,
+                  -0.3500410553701962
+                ],
+                "gripper_position": [
+                  0.2727753217995308,
+                  -0.347948139811815,
+                  1.0020679201750076
+                ],
+                "rod_tip_xy_dist": 0.0023177125477814677,
+                "target_xy_drift": 8.736304077835779e-08,
+                "depth": 0.01906907256922208,
+                "bottom_clearance": 0.0803714811209949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009858330643293112,
+                  0.0020929136493453293
+                ],
+                "rod_tip_xy": [
+                  0.2727753217995307,
+                  -0.3479481398118149
+                ],
+                "target_mouth_xy": [
+                  0.27178948873520137,
+                  -0.3500410534611602
+                ],
+                "gripper_position": [
+                  0.27278787567833673,
+                  -0.3480211044554435,
+                  1.0015569675533393
+                ],
+                "rod_tip_xy_dist": 0.0023134723629948347,
+                "target_xy_drift": 5.797679604702432e-08,
+                "depth": 0.019191978533277587,
+                "bottom_clearance": 0.08024859344699753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0009983866643710204,
+                  0.002019949320871739
+                ],
+                "rod_tip_xy": [
+                  0.2727878756783366,
+                  -0.3480211044554435
+                ],
+                "target_mouth_xy": [
+                  0.2717894890139656,
+                  -0.3500410537763152
+                ],
+                "gripper_position": [
+                  0.27277600715732553,
+                  -0.34802794807469606,
+                  1.0014169850793773
+                ],
+                "rod_tip_xy_dist": 0.0022532135252754213,
+                "target_xy_drift": 5.825302116426428e-08,
+                "depth": 0.019702868044730648,
+                "bottom_clearance": 0.07973770310975636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0009865174485700345,
+                  0.0020130444995181684
+                ],
+                "rod_tip_xy": [
+                  0.2727760071573254,
+                  -0.3480279480746961
+                ],
+                "target_mouth_xy": [
+                  0.2717894897087554,
+                  -0.3500409925742143
+                ],
+                "gripper_position": [
+                  0.27278864007660436,
+                  -0.3480955263090093,
+                  1.0008221328640277
+                ],
+                "rod_tip_xy_dist": 0.002241777159615443,
+                "target_xy_drift": 8.519587897064887e-08,
+                "depth": 0.019842944224206183,
+                "bottom_clearance": 0.07959771126828386,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005968520218786894,
+              "rod_tip_xy_max_step": 3.250631466747911e-05,
+              "rod_tip_xy_range": 0.0005968422692709781,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2723534343177542,
+            -0.34931641548246645,
+            1.0433430070662442
+          ],
+          "object_origin_world": [
+            0.2723534343177542,
+            -0.34931641548246645,
+            1.0433430070662442
+          ],
+          "frame_world": [
+            0.2723519283462884,
+            -0.34932136928631785,
+            1.043231980951083
+          ],
+          "center_minus_frame": [
+            1.5059714658094414e-06,
+            4.953803851404093e-06,
+            0.00011102611516111693
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26705680595425724,
+              0.12694379688013396,
+              0.8346512200593527
+            ],
+            "target_position": [
+              0.27649105510774996,
+              0.1742757700406658,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048263036998923765,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1688388727434683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8346512200593527,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676744963025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13704006207045746,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "57e7e166e17cf6912e199f17cfa9e8ce1316b4711a36a80bd701e3767ddc9fd2",
+    "visual_seed": 708066814012113176,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbfaec133b98349357576b32c85752814c53a4c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_21_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26275506497872125,
+              0.02716992357430559,
+              1.1633131018217235
+            ],
+            "current_z": 1.1633131018217235,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30220665341160236,
+            "gripper_z": 1.1563518051433572,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2576991364479855,
+              0.02230184944151449,
+              1.1563518051433572
+            ],
+            "object_minus_gripper": [
+              0.005055928530735776,
+              0.004868074132791101,
+              0.006961296678366313
+            ],
+            "object_to_gripper_xy": 0.007018586686096985,
+            "object_to_gripper_z": 0.006961296678366313,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26275506497872125,
+              0.003126148972936585,
+              1.1633131018217235
+            ],
+            "finger_b": [
+              0.2516888463418284,
+              0.02716992357430559,
+              1.1633131018217235
+            ],
+            "finger_midpoint": [
+              0.25722195566027484,
+              0.015148036273621088,
+              1.1633131018217235
+            ],
+            "object_minus_finger_midpoint": [
+              0.005533109318446416,
+              0.012021887300684504,
+              0.0
+            ],
+            "finger_gap": 0.026468175078780017,
+            "fingertip_max_gap": 0.09090077563013976,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013234087539390009,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633131018217235,
+            "object_top_z": 1.2132115830782495,
+            "finger_top_clearance": 0.04989848125652596,
+            "fingertip_min_top_clearance": 0.014969544376957755,
+            "object_projection_between_fingers": 0.8251963505451575,
+            "object_to_finger_line_xy": 0.010052588280188455,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047950387815069884,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.565795780607521,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2746784671582223,
+              -0.3459421979071776,
+              0.8515396086815277
+            ],
+            "target_position": [
+              0.26625461429539266,
+              -0.34673620486874734,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008461190466454735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18708646951676347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396086815277,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578961883919086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622101697800884,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15431936736568166,
+            "release_required_pad_clearance": 0.05311050848900442,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.248019480296682,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074111223220825195,
+            "max_z_decrease": 0.0074111223220825195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514023533044952,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074111223220825195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106230535553366,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074111223220825195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007411144368608815,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12195453792810441,
+              -0.40299767255783076,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12195453792810441,
+              -0.40299767255783076,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1202746882856699,
+              -0.40167040308130947,
+              0.807858965928559
+            ],
+            "closest_button": [
+              0.12194361537694932,
+              -0.4029953181743622,
+              0.7727833986282349
+            ],
+            "closest_ee_minus_button": [
+              -0.001668927091279429,
+              0.0013249150930527143,
+              0.03507556730032413
+            ],
+            "button_min_z_position": [
+              0.1219366565346718,
+              -0.4029950201511383,
+              0.7693977355957031
+            ],
+            "min_active_finger_to_button": 0.1471027428364774,
+            "closest_active_finger": [
+              -0.007195375859737396,
+              -0.46446648240089417,
+              0.8105522990226746
+            ],
+            "closest_active_finger_button": [
+              0.12195260077714921,
+              -0.4029986560344696,
+              0.7761760950088501
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1291479766368866,
+              -0.06146782636642456,
+              0.03437620401382446
+            ],
+            "min_contact_pad_to_button": 0.02106230535553366,
+            "closest_contact_pad": [
+              0.1219366565346718,
+              -0.4029950201511383,
+              0.7904600409512368
+            ],
+            "closest_contact_pad_button": [
+              0.1219366565346718,
+              -0.4029950201511383,
+              0.7693977355957031
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106230535553366
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2824613675697899,
+              0.17990189566916068,
+              1.1021026482596508
+            ],
+            "current_z": 1.1021026482596508,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1921935185252882,
+            "gripper_z": 1.1021028835497073,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2824613659835603,
+              0.17990188360877107,
+              1.1021028835497073
+            ],
+            "object_minus_gripper": [
+              1.586229592120958e-09,
+              1.2060389603663069e-08,
+              -2.3529005654943091e-07
+            ],
+            "object_to_gripper_xy": 1.2164255904537049e-08,
+            "object_to_gripper_z": -2.3529005654943091e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2824613675697899,
+              0.17990189566916068,
+              1.1021026482596508
+            ],
+            "finger_b": [
+              0.2824613675697899,
+              0.17990189566916068,
+              1.1021026482596508
+            ],
+            "finger_midpoint": [
+              0.2824613675697899,
+              0.17990189566916068,
+              1.1021026482596508
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021026482596508,
+            "object_top_z": 1.2271111548799305,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2824613675697899,
+            0.17990189566916068,
+            1.102102648259651
+          ],
+          "object_origin_world": [
+            0.2824613675697899,
+            0.17990189566916068,
+            1.102102648259651
+          ],
+          "frame_world": [
+            0.2824613659835603,
+            0.17990188360877107,
+            1.1021028835497073
+          ],
+          "center_minus_frame": [
+            1.586229592120958e-09,
+            1.2060389603663069e-08,
+            -2.352900563273863e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432246396259424,
+            "required_z": 0.911259911751293,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002457763497019402,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.9573274120234e-08,
+            "max_target_xy_drift": 7.591081387488405e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.2480194814616996,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2480194815136858,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27223615853491034,
+              -0.3461992168683121,
+              0.9233352892645362
+            ],
+            "target_mouth_xy": [
+              0.27467846523216743,
+              -0.3459422010828953
+            ],
+            "rod_tip_z": 0.9233352892645362,
+            "rod_tip_depth": -0.022075424843711278,
+            "rod_tip_bottom_clearance": 0.12151601058562667,
+            "rod_tip_xy_dist": 0.002455792971205077,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04460177458325498,
+            "min_rod_tip_bottom_clearance": 0.05483881664340462,
+            "min_rod_tip_xy_dist": 0.000978987006400187,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2746784374534044,
+              -0.3459421372958998
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.777876301207627e-08,
+              -6.378699551889966e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0017821426979870436,
+                0.001497583285213655
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019036119886089442,
+                0.0010963728667181538
+              ],
+              "first_target_mouth_xy": [
+                0.2746784962994603,
+                -0.3459421975766861
+              ],
+              "last_target_mouth_xy": [
+                0.2746784347654716,
+                -0.34594217031817975
+              ],
+              "first_rod_tip_xy": [
+                0.27289635360147324,
+                -0.34444461429147244
+              ],
+              "last_rod_tip_xy": [
+                0.27277482277686266,
+                -0.3448457974514616
+              ],
+              "min_rod_tip_xy_dist": 0.0021967639987152655,
+              "max_rod_tip_xy_dist": 0.0023318854163648386,
+              "first_target_xy_drift": 8.42415069205687e-08,
+              "last_target_xy_drift": 3.313149494068664e-08,
+              "max_depth": 0.0198442717796804,
+              "min_bottom_clearance": 0.0795963038427977
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017821426979870436,
+                  0.001497583285213655
+                ],
+                "rod_tip_xy": [
+                  0.27289635360147324,
+                  -0.34444461429147244
+                ],
+                "target_mouth_xy": [
+                  0.2746784962994603,
+                  -0.3459421975766861
+                ],
+                "gripper_position": [
+                  0.2728849340521562,
+                  -0.34445192101362215,
+                  1.0056479065909603
+                ],
+                "rod_tip_xy_dist": 0.0023278290942721426,
+                "target_xy_drift": 8.42415069205687e-08,
+                "depth": 0.015471922887280276,
+                "bottom_clearance": 0.08396863262152843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017935614544304923,
+                  0.001490243907632638
+                ],
+                "rod_tip_xy": [
+                  0.27288493405215625,
+                  -0.3444519210136221
+                ],
+                "target_mouth_xy": [
+                  0.27467849550658674,
+                  -0.34594216492125474
+                ],
+                "gripper_position": [
+                  0.27288539716520516,
+                  -0.34452010922647874,
+                  1.0051311322906282
+                ],
+                "rod_tip_xy_dist": 0.0023318854163648386,
+                "target_xy_drift": 6.429099636125717e-08,
+                "depth": 0.015611973060817186,
+                "bottom_clearance": 0.08382865689859054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00179309787435733,
+                  0.0014221219782681316
+                ],
+                "rod_tip_xy": [
+                  0.2728853971652052,
+                  -0.3445201092264787
+                ],
+                "target_mouth_xy": [
+                  0.27467849503956254,
+                  -0.3459422312047468
+                ],
+                "gripper_position": [
+                  0.27287382213307215,
+                  -0.34452722617701786,
+                  1.0049915121025272
+                ],
+                "rod_tip_xy_dist": 0.0022885870986479933,
+                "target_xy_drift": 1.101591446856452e-07,
+                "depth": 0.016128737891120015,
+                "bottom_clearance": 0.08331185933010132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018046445314443549,
+                  0.0014149393685211065
+                ],
+                "rod_tip_xy": [
+                  0.2728738221330722,
+                  -0.3445272261770178
+                ],
+                "target_mouth_xy": [
+                  0.27467846666451656,
+                  -0.3459421655455389
+                ],
+                "gripper_position": [
+                  0.27286540000117665,
+                  -0.344527907908707,
+                  1.0048689784365588
+                ],
+                "rod_tip_xy_dist": 0.002293206336434409,
+                "target_xy_drift": 4.06365744536991e-08,
+                "depth": 0.01626836356786343,
+                "bottom_clearance": 0.08317227975361619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018130661205977838,
+                  0.0014143236102053813
+                ],
+                "rod_tip_xy": [
+                  0.2728654000011767,
+                  -0.344527907908707
+                ],
+                "target_mouth_xy": [
+                  0.2746784661217745,
+                  -0.3459422315189124
+                ],
+                "gripper_position": [
+                  0.27286683678987356,
+                  -0.3445972846275566,
+                  1.0043525721049549
+                ],
+                "rod_tip_xy_dist": 0.002299460813330786,
+                "target_xy_drift": 9.848782436637008e-08,
+                "depth": 0.016390896377953434,
+                "bottom_clearance": 0.08304972988010173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018115971737690528,
+                  0.001344848290470102
+                ],
+                "rod_tip_xy": [
+                  0.2728668367898736,
+                  -0.34459728462755657
+                ],
+                "target_mouth_xy": [
+                  0.27467843396364267,
+                  -0.34594213291802667
+                ],
+                "gripper_position": [
+                  0.27285518596273,
+                  -0.34460438967147466,
+                  1.004213010795628
+                ],
+                "rod_tip_xy_dist": 0.002256213918135507,
+                "target_xy_drift": 5.598590016616006e-09,
+                "depth": 0.01690744965568891,
+                "bottom_clearance": 0.08253330272932624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018232811933405757,
+                  0.001337840231301013
+                ],
+                "rod_tip_xy": [
+                  0.27285518596273006,
+                  -0.34460438967147466
+                ],
+                "target_mouth_xy": [
+                  0.27467846715607064,
+                  -0.3459422299027757
+                ],
+                "gripper_position": [
+                  0.2728466282688127,
+                  -0.34460513128858195,
+                  1.0040905803973663
+                ],
+                "rod_tip_xy_dist": 0.002261453248350932,
+                "target_xy_drift": 9.725369834823062e-08,
+                "depth": 0.017046903705232652,
+                "bottom_clearance": 0.08239370680858593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018318379960006181,
+                  0.0013370970352850065
+                ],
+                "rod_tip_xy": [
+                  0.27284662826881273,
+                  -0.34460513128858195
+                ],
+                "target_mouth_xy": [
+                  0.27467846626481335,
+                  -0.34594222832386695
+                ],
+                "gripper_position": [
+                  0.2728378904387381,
+                  -0.34460562300368425,
+                  1.0039678235367437
+                ],
+                "rod_tip_xy_dist": 0.002267919514744629,
+                "target_xy_drift": 9.547873108848753e-08,
+                "depth": 0.017169239141533343,
+                "bottom_clearance": 0.08227128135547035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018405438289342269,
+                  0.001336604081445536
+                ],
+                "rod_tip_xy": [
+                  0.27283789043873813,
+                  -0.34460562300368425
+                ],
+                "target_mouth_xy": [
+                  0.27467843426767236,
+                  -0.3459422270851298
+                ],
+                "gripper_position": [
+                  0.2728407056033766,
+                  -0.34467753600562673,
+                  1.0034513505124347
+                ],
+                "rod_tip_xy_dist": 0.0022746674606994163,
+                "target_xy_drift": 8.984572728851929e-08,
+                "depth": 0.01729210692299843,
+                "bottom_clearance": 0.0821484673728049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018377616554995369,
+                  0.0012646919973819393
+                ],
+                "rod_tip_xy": [
+                  0.27284070560337664,
+                  -0.3446775360056268
+                ],
+                "target_mouth_xy": [
+                  0.2746784672588762,
+                  -0.3459422280030087
+                ],
+                "gripper_position": [
+                  0.2728289602051537,
+                  -0.34468467509970613,
+                  1.0033117165512346
+                ],
+                "rod_tip_xy_dist": 0.0022308773499828084,
+                "target_xy_drift": 9.547850940417638e-08,
+                "depth": 0.017808537816710213,
+                "bottom_clearance": 0.08163202360188315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018495055838757546,
+                  0.0012575824093756238
+                ],
+                "rod_tip_xy": [
+                  0.27282896020515374,
+                  -0.34468467509970613
+                ],
+                "target_mouth_xy": [
+                  0.2746784657890295,
+                  -0.34594225750908175
+                ],
+                "gripper_position": [
+                  0.27282032293077785,
+                  -0.34468489171235206,
+                  1.0031898862572548
+                ],
+                "rod_tip_xy_dist": 0.0022365563755824703,
+                "target_xy_drift": 1.235075575259938e-07,
+                "depth": 0.017948106363899763,
+                "bottom_clearance": 0.08149241047064293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018580801307582218,
+                  0.0012573372971527719
+                ],
+                "rod_tip_xy": [
+                  0.2728203229307779,
+                  -0.34468489171235206
+                ],
+                "target_mouth_xy": [
+                  0.2746784030615361,
+                  -0.34594222900950483
+                ],
+                "gripper_position": [
+                  0.2728113932475179,
+                  -0.3446856381401019,
+                  1.0030671937816051
+                ],
+                "rod_tip_xy_dist": 0.002243514843082151,
+                "target_xy_drift": 9.794991554428443e-08,
+                "depth": 0.01807008028326096,
+                "bottom_clearance": 0.08137053360704649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018670733383330251,
+                  0.0012565895564008445
+                ],
+                "rod_tip_xy": [
+                  0.27281139324751796,
+                  -0.3446856381401019
+                ],
+                "target_mouth_xy": [
+                  0.274678466585851,
+                  -0.34594222769650274
+                ],
+                "gripper_position": [
+                  0.27281554208628217,
+                  -0.3447594700433013,
+                  1.0025531415784237
+                ],
+                "rod_tip_xy_dist": 0.002250551080062325,
+                "target_xy_drift": 9.497877897861197e-08,
+                "depth": 0.01819263536239568,
+                "bottom_clearance": 0.08124791188459113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018628929586201881,
+                  0.0011827285067737003
+                ],
+                "rod_tip_xy": [
+                  0.2728155420862822,
+                  -0.3447594700433013
+                ],
+                "target_mouth_xy": [
+                  0.2746784350449024,
+                  -0.345942198550075
+                ],
+                "gripper_position": [
+                  0.2728036504005983,
+                  -0.34476671713254425,
+                  1.0024136990489019
+                ],
+                "rod_tip_xy_dist": 0.002206630212793214,
+                "target_xy_drift": 6.130150785492314e-08,
+                "depth": 0.018706687539322364,
+                "bottom_clearance": 0.0807338201680391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018748156534817983,
+                  0.0011754798168367442
+                ],
+                "rod_tip_xy": [
+                  0.27280365040059834,
+                  -0.34476671713254425
+                ],
+                "target_mouth_xy": [
+                  0.27467846605408014,
+                  -0.345942196949381
+                ],
+                "gripper_position": [
+                  0.2727948719668221,
+                  -0.34476677646941384,
+                  1.0022917983964037
+                ],
+                "rod_tip_xy_dist": 0.0022128457999442547,
+                "target_xy_drift": 6.61553963932979e-08,
+                "depth": 0.01884614309976662,
+                "bottom_clearance": 0.08059441864122951,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018835615641581427,
+                  0.0011754224076412356
+                ],
+                "rod_tip_xy": [
+                  0.27279487196682217,
+                  -0.3447667764694138
+                ],
+                "target_mouth_xy": [
+                  0.2746784335309803,
+                  -0.345942198877055
+                ],
+                "gripper_position": [
+                  0.27278590953786797,
+                  -0.3447672287661002,
+                  1.0021696151384778
+                ],
+                "rod_tip_xy_dist": 0.002220230168779577,
+                "target_xy_drift": 6.170594858218979e-08,
+                "depth": 0.018968082348319038,
+                "bottom_clearance": 0.08047249434941672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018925871035516684,
+                  0.0011749389859630477
+                ],
+                "rod_tip_xy": [
+                  0.272785909537868,
+                  -0.3447672287661002
+                ],
+                "target_mouth_xy": [
+                  0.2746784966414197,
+                  -0.34594216775206327
+                ],
+                "gripper_position": [
+                  0.27277696555835135,
+                  -0.34476769888424996,
+                  1.0020474468161313
+                ],
+                "rod_tip_xy_dist": 0.0022276372158109518,
+                "target_xy_drift": 6.656424749922844e-08,
+                "depth": 0.019090281659057018,
+                "bottom_clearance": 0.0803502875572617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0019015000953473415,
+                  0.001174469513155807
+                ],
+                "rod_tip_xy": [
+                  0.2727769655583514,
+                  -0.34476769888424996
+                ],
+                "target_mouth_xy": [
+                  0.27467846565369874,
+                  -0.34594216839740577
+                ],
+                "gripper_position": [
+                  0.2727681252135663,
+                  -0.34476801342902924,
+                  1.0019254074200012
+                ],
+                "rod_tip_xy_dist": 0.002234967840918161,
+                "target_xy_drift": 4.198285690821381e-08,
+                "depth": 0.019212310143727707,
+                "bottom_clearance": 0.08022819079610366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019103426004452584,
+                  0.0011741527257319584
+                ],
+                "rod_tip_xy": [
+                  0.27276812521356636,
+                  -0.3447680134290292
+                ],
+                "target_mouth_xy": [
+                  0.2746784678140116,
+                  -0.34594216615476114
+                ],
+                "gripper_position": [
+                  0.2727748227768626,
+                  -0.3448457974514616,
+                  1.0014155948282575
+                ],
+                "rod_tip_xy_dist": 0.002242329920957159,
+                "target_xy_drift": 4.188794991428909e-08,
+                "depth": 0.01933452558802895,
+                "bottom_clearance": 0.08010613879482487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0019036119886089442,
+                  0.0010963728667181538
+                ],
+                "rod_tip_xy": [
+                  0.27277482277686266,
+                  -0.3448457974514616
+                ],
+                "target_mouth_xy": [
+                  0.2746784347654716,
+                  -0.34594217031817975
+                ],
+                "gripper_position": [
+                  0.2727627050754968,
+                  -0.3448529451424468,
+                  1.0012766017869308
+                ],
+                "rod_tip_xy_dist": 0.0021967639987152655,
+                "target_xy_drift": 3.313149494068664e-08,
+                "depth": 0.0198442717796804,
+                "bottom_clearance": 0.0795963038427977,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005973435674253354,
+              "rod_tip_xy_max_step": 3.229401863469799e-05,
+              "rod_tip_xy_range": 0.0005973374174116506,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27223615853491034,
+            -0.3461992168683121,
+            1.0433352892645362
+          ],
+          "object_origin_world": [
+            0.27223615853491034,
+            -0.3461992168683121,
+            1.0433352892645362
+          ],
+          "frame_world": [
+            0.27223468019810115,
+            -0.3462039569129253,
+            1.0432246396259424
+          ],
+          "center_minus_frame": [
+            1.47833680919085e-06,
+            4.740044613205097e-06,
+            0.00011064963859386268
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2720500909606745,
+              0.13245514584316748,
+              0.8339178234047989
+            ],
+            "target_position": [
+              0.28259591608724893,
+              0.17910027009342,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04782240106813735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16792930742860054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339178234047989,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671663698973,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13714271883345286,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "935be17069ac24f90ccf4a0998e9ff5eb3322b4110ee9e158eeb154b2f84fad4",
+    "visual_seed": 6644154052402044267,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a97887dc9e6e7b20047a700681e6ab0fe56479
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_22_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25522754785989366,
+              0.027117586671386012,
+              1.1637847607810414
+            ],
+            "current_z": 1.1637847607810414,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30267807395234136,
+            "gripper_z": 1.156947511163206,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2502757177997729,
+              0.022201444447733434,
+              1.156947511163206
+            ],
+            "object_minus_gripper": [
+              0.004951830060120732,
+              0.0049161422236525774,
+              0.006837249617835495
+            ],
+            "object_to_gripper_xy": 0.006977755750059972,
+            "object_to_gripper_z": 0.006837249617835495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25522754785989366,
+              0.0032633075593157825,
+              1.1637847607810414
+            ],
+            "finger_b": [
+              0.24393618413055262,
+              0.027117586671386012,
+              1.1637847607810414
+            ],
+            "finger_midpoint": [
+              0.24958186599522314,
+              0.015190447115350897,
+              1.1637847607810414
+            ],
+            "object_minus_finger_midpoint": [
+              0.005645681864670515,
+              0.011927139556035115,
+              0.0
+            ],
+            "finger_gap": 0.026391694277268906,
+            "fingertip_max_gap": 0.09104040687700979,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013195847138634453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637847607810414,
+            "object_top_z": 1.2137360940806825,
+            "finger_top_clearance": 0.049951333299641076,
+            "fingertip_min_top_clearance": 0.014985399989892323,
+            "object_projection_between_fingers": 0.8169548392144058,
+            "object_to_finger_line_xy": 0.010205761673573016,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048020203438504896,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6123533267930584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26774113303825653,
+              -0.3513854364400814,
+              0.8515395673360703
+            ],
+            "target_position": [
+              0.25969183748273045,
+              -0.35198737053598483,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008071770784408029,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849645338045144,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395673360703,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566479800165235,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598099469134483,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15233162354446794,
+            "release_required_pad_clearance": 0.05299049734567242,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.014897176213699,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007381558418273926,
+            "max_z_decrease": 0.007381558418273926,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515967428367042,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007381558418273926,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107034651642259,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007381558418273926,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007381578270172045,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1153917610645294,
+              -0.4082488417625427,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1153917610645294,
+              -0.4082488417625427,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1136848521567698,
+              -0.4064480692174054,
+              0.8078154750725971
+            ],
+            "closest_button": [
+              0.11538081616163252,
+              -0.4082453548908233,
+              0.772742748260498
+            ],
+            "closest_ee_minus_button": [
+              -0.0016959640048627295,
+              0.0017972856734179143,
+              0.03507272681209905
+            ],
+            "button_min_z_position": [
+              0.11537479609251021,
+              -0.4082465469837188,
+              0.7694272994995117
+            ],
+            "min_active_finger_to_button": 0.1469573807092542,
+            "closest_active_finger": [
+              -0.014400497078895569,
+              -0.467975378036499,
+              0.8106042146682739
+            ],
+            "closest_active_finger_button": [
+              0.11539003998041152,
+              -0.40824925899505615,
+              0.7761995792388916
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1297905370593071,
+              -0.05972611904144287,
+              0.034404635429382324
+            ],
+            "min_contact_pad_to_button": 0.02107034651642259,
+            "closest_contact_pad": [
+              0.11537479609251021,
+              -0.4082465469837188,
+              0.7904976460159343
+            ],
+            "closest_contact_pad_button": [
+              0.11537479609251021,
+              -0.4082465469837188,
+              0.7694272994995117
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107034651642259
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2849654523884658,
+              0.17940522095697428,
+              1.1022731003533854
+            ],
+            "current_z": 1.1022731003533854,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19236397061902288,
+            "gripper_z": 1.1022730527456022,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28496539756006567,
+              0.1794052827151716,
+              1.1022730527456022
+            ],
+            "object_minus_gripper": [
+              5.4828400153361656e-08,
+              -6.175819730613874e-08,
+              4.760778327117521e-08
+            ],
+            "object_to_gripper_xy": 8.258467411015866e-08,
+            "object_to_gripper_z": 4.760778327117521e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2849654523884658,
+              0.17940522095697428,
+              1.1022731003533854
+            ],
+            "finger_b": [
+              0.2849654523884658,
+              0.17940522095697428,
+              1.1022731003533854
+            ],
+            "finger_midpoint": [
+              0.2849654523884658,
+              0.17940522095697428,
+              1.1022731003533854
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1022731003533854,
+            "object_top_z": 1.2272816069736652,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 239,
+            "max_stable_success_frames": 239,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2849654523884658,
+            0.1794052209569743,
+            1.1022731003533857
+          ],
+          "object_origin_world": [
+            0.2849654523884658,
+            0.1794052209569743,
+            1.1022731003533857
+          ],
+          "frame_world": [
+            0.28496539756006567,
+            0.1794052827151716,
+            1.1022730527456022
+          ],
+          "center_minus_frame": [
+            5.4828400153361656e-08,
+            -6.175819727838316e-08,
+            4.760778349321981e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1670,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432359065324324,
+            "required_z": 0.9112598519973643,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001473280935930529,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.7614083024777393e-08,
+            "max_target_xy_drift": 7.146805902716866e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.014897173880407,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0148971762427885,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2683741261160072,
+              -0.35271141879607604,
+              0.9233463411986628
+            ],
+            "target_mouth_xy": [
+              0.2677411500345174,
+              -0.3513854075530517
+            ],
+            "rod_tip_z": 0.9233463411986628,
+            "rod_tip_depth": -0.022086393228769263,
+            "rod_tip_bottom_clearance": 0.1215269629119039,
+            "rod_tip_xy_dist": 0.001469341531559345,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044594179854201776,
+            "min_rod_tip_bottom_clearance": 0.054846463535119794,
+            "min_rod_tip_xy_dist": 0.0002640480410752822,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.26774113249463705,
+              -0.3513854091681427
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.753988032593412e-08,
+              1.6150910053802647e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0011976122713397985,
+                0.00042591035939543165
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010935376084614257,
+                2.084545864294851e-05
+              ],
+              "first_target_mouth_xy": [
+                0.26774118048472395,
+                -0.35138537775604095
+              ],
+              "last_target_mouth_xy": [
+                0.26774114793061965,
+                -0.35138541012479857
+              ],
+              "first_rod_tip_xy": [
+                0.26893879275606375,
+                -0.3509594673966455
+              ],
+              "last_rod_tip_xy": [
+                0.2688346855390811,
+                -0.3513645646661556
+              ],
+              "min_rod_tip_xy_dist": 0.0010937362727209742,
+              "max_rod_tip_xy_dist": 0.0012710919662652332,
+              "first_target_xy_drift": 5.7356504231286114e-08,
+              "last_target_xy_drift": 1.546559890118863e-08,
+              "max_depth": 0.019806672762998967,
+              "min_bottom_clearance": 0.07963390474058973
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0011976122713397985,
+                  0.00042591035939543165
+                ],
+                "rod_tip_xy": [
+                  0.26893879275606375,
+                  -0.3509594673966455
+                ],
+                "target_mouth_xy": [
+                  0.26774118048472395,
+                  -0.35138537775604095
+                ],
+                "gripper_position": [
+                  0.26892760196567334,
+                  -0.35096698282435596,
+                  1.0057020612217993
+                ],
+                "rod_tip_xy_dist": 0.0012710919662652332,
+                "target_xy_drift": 5.7356504231286114e-08,
+                "depth": 0.015418541380774031,
+                "bottom_clearance": 0.08402205380448768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011864536652495539,
+                  0.0004183949531306741
+                ],
+                "rod_tip_xy": [
+                  0.2689276019656734,
+                  -0.350966982824356
+                ],
+                "target_mouth_xy": [
+                  0.26774114830042384,
+                  -0.3513853777774867
+                ],
+                "gripper_position": [
+                  0.2689318776221108,
+                  -0.3510350126494717,
+                  1.0051833820469278
+                ],
+                "rod_tip_xy_dist": 0.0012580646392730858,
+                "target_xy_drift": 3.5145357892171246e-08,
+                "depth": 0.015557753654991902,
+                "bottom_clearance": 0.08388274918334859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001190742959287061,
+                  0.0003503647960525491
+                ],
+                "rod_tip_xy": [
+                  0.26893187762211085,
+                  -0.3510350126494718
+                ],
+                "target_mouth_xy": [
+                  0.2677411346628238,
+                  -0.35138537744552434
+                ],
+                "gripper_position": [
+                  0.26892059652638733,
+                  -0.3510423350047605,
+                  1.0050442473573657
+                ],
+                "rod_tip_xy_dist": 0.001241218870870344,
+                "target_xy_drift": 3.179662796126292e-08,
+                "depth": 0.016076507374366167,
+                "bottom_clearance": 0.08336405394225077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011794635188122071,
+                  0.00034304309590638127
+                ],
+                "rod_tip_xy": [
+                  0.2689205965263874,
+                  -0.3510423350047607
+                ],
+                "target_mouth_xy": [
+                  0.2677411330075752,
+                  -0.35138537810066706
+                ],
+                "gripper_position": [
+                  0.26891239691723395,
+                  -0.3510430540788017,
+                  1.0049219315892006
+                ],
+                "rod_tip_xy_dist": 0.0012283373957744299,
+                "target_xy_drift": 3.10717097799228e-08,
+                "depth": 0.01621556999935636,
+                "bottom_clearance": 0.08322492884579347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001171263095123276,
+                  0.00034229070124702776
+                ],
+                "rod_tip_xy": [
+                  0.268912396917234,
+                  -0.35104305407880176
+                ],
+                "target_mouth_xy": [
+                  0.26774113382211073,
+                  -0.3513853447800488
+                ],
+                "gripper_position": [
+                  0.26891756110894416,
+                  -0.3511123994314058,
+                  1.00440401862199
+                ],
+                "rod_tip_xy_dist": 0.001220254138349032,
+                "target_xy_drift": 6.440177655959824e-08,
+                "depth": 0.01633794334731664,
+                "bottom_clearance": 0.08310269041174745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011763964105190872,
+                  0.0002730081236109738
+                ],
+                "rod_tip_xy": [
+                  0.2689175611089442,
+                  -0.35111239943140593
+                ],
+                "target_mouth_xy": [
+                  0.2677411646984251,
+                  -0.3513854075550169
+                ],
+                "gripper_position": [
+                  0.2689062120149231,
+                  -0.35111951779023487,
+                  1.004264607836999
+                ],
+                "rod_tip_xy_dist": 0.0012076596996835564,
+                "target_xy_drift": 3.2244164457924964e-08,
+                "depth": 0.016855927419303307,
+                "bottom_clearance": 0.0825846330608645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011650764448518647,
+                  0.00026588975820462935
+                ],
+                "rod_tip_xy": [
+                  0.26890621201492315,
+                  -0.351119517790235
+                ],
+                "target_mouth_xy": [
+                  0.2677411355700713,
+                  -0.3513854075484396
+                ],
+                "gripper_position": [
+                  0.2688977102870517,
+                  -0.3511203221864269,
+                  1.0041423403768248
+                ],
+                "rod_tip_xy_dist": 0.0011950315836273017,
+                "target_xy_drift": 3.47587886448695e-09,
+                "depth": 0.016995284059807103,
+                "bottom_clearance": 0.08244530252686655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001156577291937022,
+                  0.0002650860195440585
+                ],
+                "rod_tip_xy": [
+                  0.2688977102870517,
+                  -0.3511203221864271
+                ],
+                "target_mouth_xy": [
+                  0.2677411329951147,
+                  -0.35138540820597114
+                ],
+                "gripper_position": [
+                  0.26890372535205315,
+                  -0.3511907561879008,
+                  1.0036267648457857
+                ],
+                "rod_tip_xy_dist": 0.0011865671620191116,
+                "target_xy_drift": 1.0845515235729826e-09,
+                "depth": 0.017117482243589666,
+                "bottom_clearance": 0.08232302672731151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011625603869662715,
+                  0.000194620295609238
+                ],
+                "rod_tip_xy": [
+                  0.2689037253520532,
+                  -0.35119075618790097
+                ],
+                "target_mouth_xy": [
+                  0.26774116496508693,
+                  -0.3513853764835102
+                ],
+                "gripper_position": [
+                  0.2688923098227186,
+                  -0.35119751040778635,
+                  1.003487268712036
+                ],
+                "rod_tip_xy_dist": 0.0011787381867090733,
+                "target_xy_drift": 4.607184951126977e-08,
+                "depth": 0.017633145727615873,
+                "bottom_clearance": 0.0818074695401051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011511637336362734,
+                  0.00018789909134003802
+                ],
+                "rod_tip_xy": [
+                  0.26889230982271867,
+                  -0.35119751040778635
+                ],
+                "target_mouth_xy": [
+                  0.2677411460890824,
+                  -0.3513854094991264
+                ],
+                "gripper_position": [
+                  0.268883740303129,
+                  -0.35119839594759034,
+                  1.0033655542436994
+                ],
+                "rod_tip_xy_dist": 0.0011663978781555706,
+                "target_xy_drift": 1.3598473976808244e-08,
+                "depth": 0.01777262880402586,
+                "bottom_clearance": 0.0816679887292544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011425910010433582,
+                  0.0001870097101051571
+                ],
+                "rod_tip_xy": [
+                  0.26888374030312906,
+                  -0.3511983959475904
+                ],
+                "target_mouth_xy": [
+                  0.2677411493020857,
+                  -0.35138540565769555
+                ],
+                "gripper_position": [
+                  0.26887528390163795,
+                  -0.3511991551482686,
+                  1.003243544359684
+                ],
+                "rod_tip_xy_dist": 0.0011577939485672216,
+                "target_xy_drift": 1.7170135978553124e-08,
+                "depth": 0.017894361801375935,
+                "bottom_clearance": 0.08154624749723849,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011341642296761045,
+                  0.00018628126548569934
+                ],
+                "rod_tip_xy": [
+                  0.268875283901638,
+                  -0.3511991551482687
+                ],
+                "target_mouth_xy": [
+                  0.2677411196719619,
+                  -0.3513854364137544
+                ],
+                "gripper_position": [
+                  0.2688825865849134,
+                  -0.35127148902972194,
+                  1.0027294767568602
+                ],
+                "rod_tip_xy_dist": 0.0011493603480839875,
+                "target_xy_drift": 3.011219612321873e-08,
+                "depth": 0.018016355831185216,
+                "bottom_clearance": 0.0814242252577535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011414653240316985,
+                  0.00011394705501616142
+                ],
+                "rod_tip_xy": [
+                  0.2688825865849134,
+                  -0.35127148902972205
+                ],
+                "target_mouth_xy": [
+                  0.2677411212608817,
+                  -0.3513854360847382
+                ],
+                "gripper_position": [
+                  0.26887099688479515,
+                  -0.35127847062494955,
+                  1.0025904322352184
+                ],
+                "rod_tip_xy_dist": 0.0011471386216642026,
+                "target_xy_drift": 2.916676830682165e-08,
+                "depth": 0.018530441542733755,
+                "bottom_clearance": 0.08091021169113566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001129864297612082,
+                  0.00010696643412866358
+                ],
+                "rod_tip_xy": [
+                  0.2688709968847952,
+                  -0.35127847062494966
+                ],
+                "target_mouth_xy": [
+                  0.26774113258718313,
+                  -0.3513854370590783
+                ],
+                "gripper_position": [
+                  0.26886241215472073,
+                  -0.3512789659880387,
+                  1.0024684222929108
+                ],
+                "rod_tip_xy_dist": 0.001134916362138041,
+                "target_xy_drift": 2.7891089156707693e-08,
+                "depth": 0.018669393146074187,
+                "bottom_clearance": 0.08077111253541158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011212300470380687,
+                  0.00010643837413798485
+                ],
+                "rod_tip_xy": [
+                  0.2688624121547208,
+                  -0.35127896598803887
+                ],
+                "target_mouth_xy": [
+                  0.2677411821076827,
+                  -0.35138540436217686
+                ],
+                "gripper_position": [
+                  0.26885366722003473,
+                  -0.35127977547029415,
+                  1.0023463752322093
+                ],
+                "rod_tip_xy_dist": 0.00112627081373448,
+                "target_xy_drift": 4.984527669252513e-08,
+                "depth": 0.018791599733316677,
+                "bottom_clearance": 0.08064917049520803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011125355115771396,
+                  0.00010566351652496753
+                ],
+                "rod_tip_xy": [
+                  0.26885366722003473,
+                  -0.3512797754702942
+                ],
+                "target_mouth_xy": [
+                  0.2677411317084576,
+                  -0.3513854389868192
+                ],
+                "gripper_position": [
+                  0.26884495979356393,
+                  -0.3512805406502771,
+                  1.00222442752773
+                ],
+                "rod_tip_xy_dist": 0.0011175419648696105,
+                "target_xy_drift": 2.982903861514494e-08,
+                "depth": 0.01891350079147458,
+                "bottom_clearance": 0.0805270856093242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011037798316342884,
+                  0.00010483329903809846
+                ],
+                "rod_tip_xy": [
+                  0.268844959793564,
+                  -0.35128054065027714
+                ],
+                "target_mouth_xy": [
+                  0.2677411799619297,
+                  -0.35138537394931524
+                ],
+                "gripper_position": [
+                  0.26883638513736163,
+                  -0.35128116652159497,
+                  1.0021026034726657
+                ],
+                "rod_tip_xy_dist": 0.0011087470123115684,
+                "target_xy_drift": 5.910591916008052e-08,
+                "depth": 0.019035529428252373,
+                "bottom_clearance": 0.08040518177161926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010952370192050531,
+                  0.00010424233288919282
+                ],
+                "rod_tip_xy": [
+                  0.2688363851373617,
+                  -0.35128116652159513
+                ],
+                "target_mouth_xy": [
+                  0.26774114811815664,
+                  -0.3513854088544843
+                ],
+                "gripper_position": [
+                  0.268846622301687,
+                  -0.35135750261731613,
+                  1.00159213306205
+                ],
+                "rod_tip_xy_dist": 0.00110018661698975,
+                "target_xy_drift": 1.5626667780773363e-08,
+                "depth": 0.019157232472199914,
+                "bottom_clearance": 0.08028330788738713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011054567255601166,
+                  2.7874502933289413e-05
+                ],
+                "rod_tip_xy": [
+                  0.26884662230168704,
+                  -0.35135750261731624
+                ],
+                "target_mouth_xy": [
+                  0.2677411655761269,
+                  -0.35138537712024953
+                ],
+                "gripper_position": [
+                  0.268834685539081,
+                  -0.35136456466615557,
+                  1.0014531841198058
+                ],
+                "rod_tip_xy_dist": 0.001105808102701311,
+                "target_xy_drift": 4.605922740921223e-08,
+                "depth": 0.01966777073338377,
+                "bottom_clearance": 0.07977284449017075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010935376084614257,
+                  2.084545864294851e-05
+                ],
+                "rod_tip_xy": [
+                  0.2688346855390811,
+                  -0.3513645646661556
+                ],
+                "target_mouth_xy": [
+                  0.26774114793061965,
+                  -0.35138541012479857
+                ],
+                "gripper_position": [
+                  0.2688452470499463,
+                  -0.3514356644751444,
+                  1.0008580712173907
+                ],
+                "rod_tip_xy_dist": 0.0010937362727209742,
+                "target_xy_drift": 1.546559890118863e-08,
+                "depth": 0.019806672762998967,
+                "bottom_clearance": 0.07963390474058973,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1546,
+              "stir_motion_end_frame": 1565,
+              "rod_tip_xy_path_length": 0.000596241176256909,
+              "rod_tip_xy_max_step": 3.219323846575966e-05,
+              "rod_tip_xy_range": 0.000596230881059062,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2683741261160072,
+            -0.352711418796076,
+            1.0433463411986628
+          ],
+          "object_origin_world": [
+            0.2683741261160072,
+            -0.352711418796076,
+            1.0433463411986628
+          ],
+          "frame_world": [
+            0.2683725547052255,
+            -0.3527165292071406,
+            1.0432359065324324
+          ],
+          "center_minus_frame": [
+            1.5714107817199618e-06,
+            5.110411064601639e-06,
+            0.00011043466623039677
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2736526871629336,
+              0.13341424879857863,
+              0.83346434957412
+            ],
+            "target_position": [
+              0.2854641061717867,
+              0.179738955321397,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780677832094468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1669800768968055,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83346434957412,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673867247526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13619758316155015,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "874ce1928845522c0e4daca525f7dfb58f276bb2b1cbbd4c7bf9c6709b28117f",
+    "visual_seed": 3247510955699354286,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a258e2f6dd4108fa3dd68ca6cf549534fded32b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_23_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2613963019956055,
+              0.03669620964506322,
+              1.1639643751888953
+            ],
+            "current_z": 1.1639643751888953,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3028578671741292,
+            "gripper_z": 1.1573120807918964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2560788584079634,
+              0.031695854382702296,
+              1.1573120807918964
+            ],
+            "object_minus_gripper": [
+              0.005317443587642079,
+              0.005000355262360923,
+              0.006652294396998881
+            ],
+            "object_to_gripper_xy": 0.00729923003183051,
+            "object_to_gripper_z": 0.006652294396998881,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2613963019956055,
+              0.012267033912660694,
+              1.1639643751888953
+            ],
+            "finger_b": [
+              0.25038635553383665,
+              0.03669620964506322,
+              1.1639643751888953
+            ],
+            "finger_midpoint": [
+              0.2558913287647211,
+              0.024481621778861956,
+              1.1639643751888953
+            ],
+            "object_minus_finger_midpoint": [
+              0.005504973230884391,
+              0.012214587866201262,
+              0.0
+            ],
+            "finger_gap": 0.0267955882199966,
+            "fingertip_max_gap": 0.09097535254534392,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01339779410999829,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639643751888953,
+            "object_top_z": 1.2139179371617455,
+            "finger_top_clearance": 0.04995356197285017,
+            "fingertip_min_top_clearance": 0.01498606859185505,
+            "object_projection_between_fingers": 0.831172253369386,
+            "object_to_finger_line_xy": 0.010037619428640706,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798767627267196,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7143288593097035,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26530662633964874,
+              -0.34305936806891013,
+              0.8515395797750513
+            ],
+            "target_position": [
+              0.25791210720550445,
+              -0.3433151370418912,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073989412075489485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18573111127319963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395797750513,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546456114010244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663543553565668,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365331149129927,
+            "release_required_pad_clearance": 0.05331771776782834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.653231090647121,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007298827171325684,
+            "max_z_decrease": 0.007298827171325684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035167354838610845,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007298827171325684,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021316346842172786,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007298827171325684,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007298847323973294,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1136120334267616,
+              -0.3995766043663025,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1136120334267616,
+              -0.3995766043663025,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11160883538631997,
+              -0.4016612239765552,
+              0.8076799747353655
+            ],
+            "closest_button": [
+              0.11360194534063338,
+              -0.3995741903781891,
+              0.7726312279701233
+            ],
+            "closest_ee_minus_button": [
+              -0.001993109954313413,
+              -0.002087033598366095,
+              0.03504874676524217
+            ],
+            "button_min_z_position": [
+              0.11359506100416181,
+              -0.3995741307735443,
+              0.76951003074646
+            ],
+            "min_active_finger_to_button": 0.14789137178108316,
+            "closest_active_finger": [
+              -0.029309019446372986,
+              -0.38351669907569885,
+              0.8110716342926025
+            ],
+            "closest_active_finger_button": [
+              0.11361258476972579,
+              -0.3995771110057831,
+              0.7766138911247253
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14292160421609879,
+              0.01606041193008423,
+              0.0344577431678772
+            ],
+            "min_contact_pad_to_button": 0.021316346842172786,
+            "closest_contact_pad": [
+              0.11359506100416181,
+              -0.4029597581240377,
+              0.7905557944565134
+            ],
+            "closest_contact_pad_button": [
+              0.11359506100416181,
+              -0.3995741307735443,
+              0.76951003074646
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0033856273504934142,
+              0.0210457637100534
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28300549107776446,
+              0.1794640783914149,
+              1.1021885624514343
+            ],
+            "current_z": 1.1021885624514343,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1922794327170717,
+            "gripper_z": 1.1021885297678347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28300543146843826,
+              0.17946410820733405,
+              1.1021885297678347
+            ],
+            "object_minus_gripper": [
+              5.960932619730741e-08,
+              -2.981591915030002e-08,
+              3.2683599604510505e-08
+            ],
+            "object_to_gripper_xy": 6.66502873547761e-08,
+            "object_to_gripper_z": 3.2683599604510505e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28300549107776446,
+              0.1794640783914149,
+              1.1021885624514343
+            ],
+            "finger_b": [
+              0.28300549107776446,
+              0.1794640783914149,
+              1.1021885624514343
+            ],
+            "finger_midpoint": [
+              0.28300549107776446,
+              0.1794640783914149,
+              1.1021885624514343
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021885624514343,
+            "object_top_z": 1.227197069071714,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28300549107776446,
+            0.17946407839141493,
+            1.1021885624514345
+          ],
+          "object_origin_world": [
+            0.28300549107776446,
+            0.17946407839141493,
+            1.1021885624514345
+          ],
+          "frame_world": [
+            0.28300543146843826,
+            0.17946410820733405,
+            1.1021885297678347
+          ],
+          "center_minus_frame": [
+            5.960932619730741e-08,
+            -2.981591912254444e-08,
+            3.268359982655511e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436394142326275,
+            "required_z": 0.9112598774766498,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000892092351044432,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.7212219054305694e-08,
+            "max_target_xy_drift": 1.308009084279786e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6532310900740765,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6532310909449985,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2660955508113523,
+              -0.34269772072590854,
+              0.9233249677887453
+            ],
+            "target_mouth_xy": [
+              0.26530662908201263,
+              -0.34305934169599195
+            ],
+            "rod_tip_z": 0.9233249677887453,
+            "rod_tip_depth": -0.022065053613638752,
+            "rod_tip_bottom_clearance": 0.12150566274005892,
+            "rod_tip_xy_dist": 0.0008678520732407787,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04473277212288462,
+            "min_rod_tip_bottom_clearance": 0.054707782413109585,
+            "min_rod_tip_xy_dist": 0.0003685302997650446,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2653066257934212,
+              -0.3430593687087673
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.2885914547087225e-09,
+              2.701277534988833e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0013546904613234712,
+                0.0021427084170063115
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012461185560727062,
+                0.0017636560451833039
+              ],
+              "first_target_mouth_xy": [
+                0.2653066261482293,
+                -0.34305936839108714
+              ],
+              "last_target_mouth_xy": [
+                0.2653066257840919,
+                -0.34305940264854967
+              ],
+              "first_rod_tip_xy": [
+                0.2666613166095528,
+                -0.3409166599740808
+              ],
+              "last_rod_tip_xy": [
+                0.2665527443401646,
+                -0.34129574660336637
+              ],
+              "min_rod_tip_xy_dist": 0.0021594661612306726,
+              "max_rod_tip_xy_dist": 0.0025350316775753497,
+              "first_target_xy_drift": 4.762452007569453e-10,
+              "last_target_xy_drift": 3.393978365562525e-08,
+              "max_depth": 0.0193748199833218,
+              "min_bottom_clearance": 0.08006583151437685
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0013546904613234712,
+                  0.0021427084170063115
+                ],
+                "rod_tip_xy": [
+                  0.2666613166095528,
+                  -0.3409166599740808
+                ],
+                "target_mouth_xy": [
+                  0.2653066261482293,
+                  -0.34305936839108714
+                ],
+                "gripper_position": [
+                  0.26665305088205293,
+                  -0.3409170531085269,
+                  1.0060822872433253
+                ],
+                "rod_tip_xy_dist": 0.0025350316775753497,
+                "target_xy_drift": 4.762452007569453e-10,
+                "depth": 0.015058433735649968,
+                "bottom_clearance": 0.08438214592710647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013463924998534105,
+                  0.0021422879952336382
+                ],
+                "rod_tip_xy": [
+                  0.2666530508820529,
+                  -0.34091705310852694
+                ],
+                "target_mouth_xy": [
+                  0.26530665838219947,
+                  -0.3430593411037606
+                ],
+                "gripper_position": [
+                  0.2666571446929361,
+                  -0.3409841949875808,
+                  1.0055638285597406
+                ],
+                "rod_tip_xy_dist": 0.0025302510978524794,
+                "target_xy_drift": 4.270907241472501e-08,
+                "depth": 0.015177552635815661,
+                "bottom_clearance": 0.08426301618352972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0013505211181921162,
+                  0.002075205796069346
+                ],
+                "rod_tip_xy": [
+                  0.26665714469293605,
+                  -0.3409841949875809
+                ],
+                "target_mouth_xy": [
+                  0.26530662357474394,
+                  -0.34305940078365027
+                ],
+                "gripper_position": [
+                  0.26664578871620337,
+                  -0.3409907370269372,
+                  1.00542794556539
+                ],
+                "rod_tip_xy_dist": 0.002475961709462142,
+                "target_xy_drift": 3.2151526345759435e-08,
+                "depth": 0.01569605645488148,
+                "bottom_clearance": 0.08374460906869141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013391624345638897,
+                  0.002068630084005596
+                ],
+                "rod_tip_xy": [
+                  0.2666457887162033,
+                  -0.3409907370269373
+                ],
+                "target_mouth_xy": [
+                  0.2653066262816394,
+                  -0.34305936711094287
+                ],
+                "gripper_position": [
+                  0.26664981219758443,
+                  -0.3410583390982288,
+                  1.0049136427103729
+                ],
+                "rod_tip_xy_dist": 0.002464261847004105,
+                "target_xy_drift": 1.6707483225012246e-09,
+                "depth": 0.015831943899973555,
+                "bottom_clearance": 0.08360867479688061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0013431546417032592,
+                  0.00200100134987935
+                ],
+                "rod_tip_xy": [
+                  0.2666498121975844,
+                  -0.3410583390982289
+                ],
+                "target_mouth_xy": [
+                  0.2653066575558811,
+                  -0.34305934044810826
+                ],
+                "gripper_position": [
+                  0.26663831098507296,
+                  -0.3410648277371641,
+                  1.0047778501078388
+                ],
+                "rod_tip_xy_dist": 0.0024099939406039992,
+                "target_xy_drift": 4.25149233862606e-08,
+                "depth": 0.01634617860811416,
+                "bottom_clearance": 0.08309433490532869,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013317160817714058,
+                  0.0019945422631045817
+                ],
+                "rod_tip_xy": [
+                  0.2666383109850729,
+                  -0.3410648277371642
+                ],
+                "target_mouth_xy": [
+                  0.2653065949033015,
+                  -0.34305937000026876
+                ],
+                "gripper_position": [
+                  0.26662981302532063,
+                  -0.3410652743739196,
+                  1.0046589855683645
+                ],
+                "rod_tip_xy_dist": 0.0023982632386289316,
+                "target_xy_drift": 3.0917106432198494e-08,
+                "depth": 0.01648204225005301,
+                "bottom_clearance": 0.08295854485824761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013231841144228373,
+                  0.0019940955611650324
+                ],
+                "rod_tip_xy": [
+                  0.2666298130253206,
+                  -0.34106527437391965
+                ],
+                "target_mouth_xy": [
+                  0.26530662891089773,
+                  -0.3430593699350847
+                ],
+                "gripper_position": [
+                  0.26663486792353086,
+                  -0.3411336097931473,
+                  1.004145339254122
+                ],
+                "rod_tip_xy_dist": 0.0023931638698006107,
+                "target_xy_drift": 3.3500021474429027e-09,
+                "depth": 0.016600840008503703,
+                "bottom_clearance": 0.0828397082929645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001328243405078755,
+                  0.0019257586194092458
+                ],
+                "rod_tip_xy": [
+                  0.2666348679235308,
+                  -0.34113360979314733
+                ],
+                "target_mouth_xy": [
+                  0.26530662451845205,
+                  -0.3430593684125566
+                ],
+                "gripper_position": [
+                  0.26662339148962244,
+                  -0.3411401642244879,
+                  1.0040093595153916
+                ],
+                "rod_tip_xy_dist": 0.002339396675077617,
+                "target_xy_drift": 1.3089259243129954e-09,
+                "depth": 0.017114523187842456,
+                "bottom_clearance": 0.08232612011447804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013167679688582679,
+                  0.001919206737688528
+                ],
+                "rod_tip_xy": [
+                  0.26662339148962233,
+                  -0.3411401642244879
+                ],
+                "target_mouth_xy": [
+                  0.26530662352076406,
+                  -0.3430593709621764
+                ],
+                "gripper_position": [
+                  0.2666148428068016,
+                  -0.341140354383243,
+                  1.0038904926252745
+                ],
+                "rod_tip_xy_dist": 0.002327494873420814,
+                "target_xy_drift": 3.2004410735405863e-09,
+                "depth": 0.017250526757930595,
+                "bottom_clearance": 0.08219014007975867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013081867544305625,
+                  0.001919012743678783
+                ],
+                "rod_tip_xy": [
+                  0.2666148428068015,
+                  -0.3411403543832431
+                ],
+                "target_mouth_xy": [
+                  0.2653066560523709,
+                  -0.34305936712692187
+                ],
+                "gripper_position": [
+                  0.2666206933401945,
+                  -0.3412099288583435,
+                  1.0033793740988795
+                ],
+                "rod_tip_xy_dist": 0.002322490580146481,
+                "target_xy_drift": 3.0300268547021474e-08,
+                "depth": 0.017369397548379517,
+                "bottom_clearance": 0.08207122184316717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013140334247411234,
+                  0.0018494125100024794
+                ],
+                "rod_tip_xy": [
+                  0.26662069334019445,
+                  -0.34120992885834367
+                ],
+                "target_mouth_xy": [
+                  0.2653066599154533,
+                  -0.34305934136834615
+                ],
+                "gripper_position": [
+                  0.2666090193330914,
+                  -0.3412163191008764,
+                  1.003243953121449
+                ],
+                "rod_tip_xy_dist": 0.002268702376577976,
+                "target_xy_drift": 4.3724269076487735e-08,
+                "depth": 0.017880543044440533,
+                "bottom_clearance": 0.08156009545500742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013023934296887973,
+                  0.0018430489739554856
+                ],
+                "rod_tip_xy": [
+                  0.26660901933309133,
+                  -0.3412163191008766
+                ],
+                "target_mouth_xy": [
+                  0.26530662590340254,
+                  -0.34305936807483206
+                ],
+                "gripper_position": [
+                  0.2666003592935733,
+                  -0.3412161582957295,
+                  1.003124815700666
+                ],
+                "rod_tip_xy_dist": 0.002256780486909375,
+                "target_xy_drift": 6.434048371622036e-10,
+                "depth": 0.018015931706775734,
+                "bottom_clearance": 0.08142466857044728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001293701833013139,
+                  0.0018432424115707446
+                ],
+                "rod_tip_xy": [
+                  0.2666003592935732,
+                  -0.3412161582957296
+                ],
+                "target_mouth_xy": [
+                  0.26530665746056004,
+                  -0.34305940070730034
+                ],
+                "gripper_position": [
+                  0.26659166252677324,
+                  -0.34121633353933783,
+                  1.0030063789350834
+                ],
+                "rod_tip_xy_dist": 0.002251934062212899,
+                "target_xy_drift": 4.501903819899507e-08,
+                "depth": 0.018135016342056054,
+                "bottom_clearance": 0.0813055160474937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001285038244565384,
+                  0.0018430672232602197
+                ],
+                "rod_tip_xy": [
+                  0.2665916625267732,
+                  -0.341216333539338
+                ],
+                "target_mouth_xy": [
+                  0.2653066242822078,
+                  -0.3430594007625982
+                ],
+                "gripper_position": [
+                  0.2665829875190755,
+                  -0.3412164041055072,
+                  1.002887354044367
+                ],
+                "rod_tip_xy_dist": 0.002246824443398242,
+                "target_xy_drift": 3.2089435063603783e-08,
+                "depth": 0.01825354409158153,
+                "bottom_clearance": 0.08118709419399484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012763311991035309,
+                  0.001842964915902412
+                ],
+                "rod_tip_xy": [
+                  0.2665829875190754,
+                  -0.34121640410550724
+                ],
+                "target_mouth_xy": [
+                  0.26530665631997186,
+                  -0.34305936902140965
+                ],
+                "gripper_position": [
+                  0.26659089731896685,
+                  -0.3412892451448804,
+                  1.0023766438278399
+                ],
+                "rod_tip_xy_dist": 0.0022417718463421388,
+                "target_xy_drift": 3.052815162151791e-08,
+                "depth": 0.01837243606183292,
+                "bottom_clearance": 0.08106810719957225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0012842723821704372,
+                  0.0017701245364813434
+                ],
+                "rod_tip_xy": [
+                  0.2665908973189668,
+                  -0.34128924514488046
+                ],
+                "target_mouth_xy": [
+                  0.26530662493679635,
+                  -0.3430593696813618
+                ],
+                "gripper_position": [
+                  0.26657904437388247,
+                  -0.3412958126388335,
+                  1.00224132920023
+                ],
+                "rod_tip_xy_dist": 0.0021869376822989312,
+                "target_xy_drift": 1.2960502168598671e-09,
+                "depth": 0.018883243706341646,
+                "bottom_clearance": 0.08055733916834484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012723859401717608,
+                  0.0017635569855020128
+                ],
+                "rod_tip_xy": [
+                  0.2665790443738824,
+                  -0.3412958126388336
+                ],
+                "target_mouth_xy": [
+                  0.26530665843371065,
+                  -0.3430593696243356
+                ],
+                "gripper_position": [
+                  0.26657045138084623,
+                  -0.34129569097014545,
+                  1.0021224766260215
+                ],
+                "rod_tip_xy_dist": 0.0021746492181176536,
+                "target_xy_drift": 3.2653127906173197e-08,
+                "depth": 0.0190184948231934,
+                "bottom_clearance": 0.08042204427809818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012638582405212762,
+                  0.0017637075978458872
+                ],
+                "rod_tip_xy": [
+                  0.2665704513808462,
+                  -0.34129569097014556
+                ],
+                "target_mouth_xy": [
+                  0.2653065931403249,
+                  -0.34305939856799145
+                ],
+                "gripper_position": [
+                  0.26656153623942547,
+                  -0.3412958273248957,
+                  1.0020037872374907
+                ],
+                "rod_tip_xy_dist": 0.002169793110605904,
+                "target_xy_drift": 4.424701078712377e-08,
+                "depth": 0.01913742870012236,
+                "bottom_clearance": 0.08030326465072057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0012548789345163125,
+                  0.00176354136043394
+                ],
+                "rod_tip_xy": [
+                  0.2665615362394254,
+                  -0.3412958273248957
+                ],
+                "target_mouth_xy": [
+                  0.2653066573049091,
+                  -0.34305936868532966
+                ],
+                "gripper_position": [
+                  0.26655274434016474,
+                  -0.3412957466033662,
+                  1.0018850933495413
+                ],
+                "rod_tip_xy_dist": 0.002164439712778803,
+                "target_xy_drift": 3.1511496635255344e-08,
+                "depth": 0.0192560453507159,
+                "bottom_clearance": 0.08018448606705875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012461185560727062,
+                  0.0017636560451833039
+                ],
+                "rod_tip_xy": [
+                  0.2665527443401646,
+                  -0.34129574660336637
+                ],
+                "target_mouth_xy": [
+                  0.2653066257840919,
+                  -0.34305940264854967
+                ],
+                "gripper_position": [
+                  0.26654397935887447,
+                  -0.3412957679959262,
+                  1.001766521063952
+                ],
+                "rod_tip_xy_dist": 0.0021594661612306726,
+                "target_xy_drift": 3.393978365562525e-08,
+                "depth": 0.0193748199833218,
+                "bottom_clearance": 0.08006583151437685,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006015990597588647,
+              "rod_tip_xy_max_step": 3.269435104799118e-05,
+              "rod_tip_xy_range": 0.0006015885410705599,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2660955508113523,
+            -0.3426977207259085,
+            1.0433249677887453
+          ],
+          "object_origin_world": [
+            0.2660955508113523,
+            -0.3426977207259085,
+            1.0433249677887453
+          ],
+          "frame_world": [
+            0.26612113061554465,
+            -0.3426954515825429,
+            1.0436394142326275
+          ],
+          "center_minus_frame": [
+            -2.5579804192377154e-05,
+            -2.26914336559636e-06,
+            -0.00031444644388223253
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.269406168855364,
+              0.13581785598269328,
+              0.8325892947470558
+            ],
+            "target_position": [
+              0.28314850032754657,
+              0.18157018840224787,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04777161914903833,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1655466538362788,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325892947470558,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669829826412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1359374354822128,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c634821179048f1168cc7827b6ab86127e57f5bb4db493a42de7d7467bbe8b6d",
+    "visual_seed": 558771455709332249,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a292d0f0c1bfac8c7762323fd83b90e89ec18c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_24_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2606268001034425,
+              0.0311510972427317,
+              1.1624454491049747
+            ],
+            "current_z": 1.1624454491049747,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3013388218809192,
+            "gripper_z": 1.1554283227128086,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25563029239497226,
+              0.026302177318259512,
+              1.1554283227128086
+            ],
+            "object_minus_gripper": [
+              0.004996507708470266,
+              0.0048489199244721864,
+              0.0070171263921661176
+            ],
+            "object_to_gripper_xy": 0.006962550805182404,
+            "object_to_gripper_z": 0.0070171263921661176,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2606268001034425,
+              0.00714101702589076,
+              1.1624454491049747
+            ],
+            "finger_b": [
+              0.2496059294785861,
+              0.0311510972427317,
+              1.1624454491049747
+            ],
+            "finger_midpoint": [
+              0.2551163647910143,
+              0.01914605713431123,
+              1.1624454491049747
+            ],
+            "object_minus_finger_midpoint": [
+              0.00551043531242823,
+              0.012005040108420469,
+              0.0
+            ],
+            "finger_gap": 0.026418621109909578,
+            "fingertip_max_gap": 0.09080924795759901,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013209310554954794,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624454491049747,
+            "object_top_z": 1.2122892998802528,
+            "finger_top_clearance": 0.04984385077527809,
+            "fingertip_min_top_clearance": 0.014953155232583426,
+            "object_projection_between_fingers": 0.8259750507969875,
+            "object_to_finger_line_xy": 0.010016116536187171,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790462397879951,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5500555193729048,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27272043498117127,
+              -0.34523486166456985,
+              0.8515395994350585
+            ],
+            "target_position": [
+              0.2646015881655784,
+              -0.34598075436063136,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008153038055173091,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842649882472415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395994350585,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562486496651695,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855500515687181,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520494324468929,
+            "release_required_pad_clearance": 0.05277502578435905,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5987229540367123,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075182318687438965,
+            "max_z_decrease": 0.0075182318687438965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035091695194908776,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075182318687438965,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110889805518996,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075182318687438965,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00751825403280778,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12030151486396792,
+              -0.40224221348762507,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12030151486396792,
+              -0.40224221348762507,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12078047244174014,
+              -0.4022529111168349,
+              0.8077364143872742
+            ],
+            "closest_button": [
+              0.12028956413269046,
+              -0.4022394120693207,
+              0.7726481556892395
+            ],
+            "closest_ee_minus_button": [
+              0.0004909083090496869,
+              -1.349904751424269e-05,
+              0.03508825869803467
+            ],
+            "button_min_z_position": [
+              0.12028329074382785,
+              -0.4022411406040191,
+              0.7692906260490417
+            ],
+            "min_active_finger_to_button": 0.1457329282481737,
+            "closest_active_finger": [
+              -0.020397759974002838,
+              -0.3863132894039154,
+              0.8111528754234314
+            ],
+            "closest_active_finger_button": [
+              0.12030363082885745,
+              -0.40224036574363703,
+              0.776692271232605
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407013908028603,
+              0.015927076339721624,
+              0.034460604190826416
+            ],
+            "min_contact_pad_to_button": 0.02110889805518996,
+            "closest_contact_pad": [
+              0.12028329074382785,
+              -0.40328837752499935,
+              0.7903735307809742
+            ],
+            "closest_contact_pad_button": [
+              0.12028329074382785,
+              -0.4022411406040191,
+              0.7692906260490417
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010472369209802435,
+              0.021082904731932417
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2780035286802052,
+              0.18138294307236957,
+              1.1023211039918523
+            ],
+            "current_z": 1.1023211039918523,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1924119742574898,
+            "gripper_z": 1.1023211008419664,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27800355523184006,
+              0.18138289656531506,
+              1.1023211008419664
+            ],
+            "object_minus_gripper": [
+              -2.6551634835225713e-08,
+              4.650705451303416e-08,
+              3.1498859076606323e-09
+            ],
+            "object_to_gripper_xy": 5.355273505528455e-08,
+            "object_to_gripper_z": 3.1498859076606323e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2780035286802052,
+              0.18138294307236957,
+              1.1023211039918523
+            ],
+            "finger_b": [
+              0.2780035286802052,
+              0.18138294307236957,
+              1.1023211039918523
+            ],
+            "finger_midpoint": [
+              0.2780035286802052,
+              0.18138294307236957,
+              1.1023211039918523
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023211039918523,
+            "object_top_z": 1.227329610612132,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2780035286802053,
+            0.1813829430723696,
+            1.1023211039918523
+          ],
+          "object_origin_world": [
+            0.2780035286802053,
+            0.1813829430723696,
+            1.1023211039918523
+          ],
+          "frame_world": [
+            0.27800355523184006,
+            0.18138289656531506,
+            1.1023211008419664
+          ],
+          "center_minus_frame": [
+            -2.655163477971456e-08,
+            4.650705454078974e-08,
+            3.1498859076606323e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432618915759033,
+            "required_z": 0.9112598441809305,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005918134401488478,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.326359462180072e-09,
+            "max_target_xy_drift": 2.874246982268746e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5987229594052602,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5987229602538547,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2721747311112559,
+              -0.3450048177953432,
+              0.9233719480756047
+            ],
+            "target_mouth_xy": [
+              0.27272040883212567,
+              -0.34523479599457085
+            ],
+            "rod_tip_z": 0.9233719480756047,
+            "rod_tip_depth": -0.02211212042834787,
+            "rod_tip_bottom_clearance": 0.121552660591,
+            "rod_tip_xy_dist": 0.0005921605754975811,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04440823505576563,
+            "min_rod_tip_bottom_clearance": 0.05503235104745097,
+            "min_rod_tip_xy_dist": 0.0005921605754975811,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27272040813823883,
+              -0.3452347937741048
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.938868368777662e-10,
+              -2.2204660332647563e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                1.796126026881728e-05,
+                0.0018530914850088953
+              ],
+              "last_rod_tip_xy_delta": [
+                -8.335399641373753e-05,
+                0.0014834327884236664
+              ],
+              "first_target_mouth_xy": [
+                0.27272041087474197,
+                -0.3452348571823587
+              ],
+              "last_target_mouth_xy": [
+                0.27272040733779174,
+                -0.3452348863674034
+              ],
+              "first_rod_tip_xy": [
+                0.2727383721350108,
+                -0.3433817656973498
+              ],
+              "last_rod_tip_xy": [
+                0.272637053341378,
+                -0.34375145357897974
+              ],
+              "min_rod_tip_xy_dist": 0.0014857727708127361,
+              "max_rod_tip_xy_dist": 0.001853178528551126,
+              "first_target_xy_drift": 6.346727588465636e-08,
+              "last_target_xy_drift": 9.25967583570044e-08,
+              "max_depth": 0.019862493551295102,
+              "min_bottom_clearance": 0.07957805938709639
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  1.796126026881728e-05,
+                  0.0018530914850088953
+                ],
+                "rod_tip_xy": [
+                  0.2727383721350108,
+                  -0.3433817656973498
+                ],
+                "target_mouth_xy": [
+                  0.27272041087474197,
+                  -0.3452348571823587
+                ],
+                "gripper_position": [
+                  0.2727269713762086,
+                  -0.3433888740630492,
+                  1.0056259553557603
+                ],
+                "rod_tip_xy_dist": 0.001853178528551126,
+                "target_xy_drift": 6.346727588465636e-08,
+                "depth": 0.015494614519689254,
+                "bottom_clearance": 0.08394606079480815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  6.564644537854214e-06,
+                  0.001845980600977959
+                ],
+                "rod_tip_xy": [
+                  0.27272697137620844,
+                  -0.3433888740630492
+                ],
+                "target_mouth_xy": [
+                  0.2727204067316706,
+                  -0.34523485466402715
+                ],
+                "gripper_position": [
+                  0.2727312821847132,
+                  -0.34345170352129856,
+                  1.005108817629585
+                ],
+                "rod_tip_xy_dist": 0.0018459922734791862,
+                "target_xy_drift": 6.090616615060136e-08,
+                "depth": 0.015633895719330826,
+                "bottom_clearance": 0.08380664419465111,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  1.0842333292626627e-05,
+                  0.0017831533518935516
+                ],
+                "rod_tip_xy": [
+                  0.2727312821847131,
+                  -0.3434517035212987
+                ],
+                "target_mouth_xy": [
+                  0.27272043985142047,
+                  -0.3452348568731923
+                ],
+                "gripper_position": [
+                  0.27271992180478277,
+                  -0.34345840089646834,
+                  1.004969397662603
+                ],
+                "rod_tip_xy_dist": 0.0017831863145954315,
+                "target_xy_drift": 7.062025720115931e-08,
+                "depth": 0.01615110216746196,
+                "bottom_clearance": 0.08328953020489738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -4.5650484781223355e-07,
+                  0.0017764242687446363
+                ],
+                "rod_tip_xy": [
+                  0.2727199218047826,
+                  -0.3434584008964684
+                ],
+                "target_mouth_xy": [
+                  0.2727203783096304,
+                  -0.34523482516521303
+                ],
+                "gripper_position": [
+                  0.27271139230468955,
+                  -0.3434588405338345,
+                  1.0048470182634308
+                ],
+                "rod_tip_xy_dist": 0.0017764243274008583,
+                "target_xy_drift": 4.3302973972927714e-08,
+                "depth": 0.016290417789521006,
+                "bottom_clearance": 0.08315008190560158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -9.016062511191247e-06,
+                  0.0017760455099562478
+                ],
+                "rod_tip_xy": [
+                  0.2727113923046894,
+                  -0.3434588405338346
+                ],
+                "target_mouth_xy": [
+                  0.2727204083672006,
+                  -0.3452348860437908
+                ],
+                "gripper_position": [
+                  0.27271662319224177,
+                  -0.34352272786691707,
+                  1.0043309092112593
+                ],
+                "rod_tip_xy_dist": 0.0017760683947469348,
+                "target_xy_drift": 9.226997007987521e-08,
+                "depth": 0.01641281700726671,
+                "bottom_clearance": 0.08302772777595224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -3.816490351638002e-06,
+                  0.0017121588043652602
+                ],
+                "rod_tip_xy": [
+                  0.27271662319224166,
+                  -0.3435227278669172
+                ],
+                "target_mouth_xy": [
+                  0.2727204396825933,
+                  -0.34523488667128244
+                ],
+                "gripper_position": [
+                  0.27270518491688117,
+                  -0.3435293721590842,
+                  1.0041914604903477
+                ],
+                "rod_tip_xy_dist": 0.0017121630579369717,
+                "target_xy_drift": 9.810673732028582e-08,
+                "depth": 0.016929068741312503,
+                "bottom_clearance": 0.08251155692997869,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -1.5193775925181896e-05,
+                  0.0017054546007327365
+                ],
+                "rod_tip_xy": [
+                  0.272705184916881,
+                  -0.3435293721590842
+                ],
+                "target_mouth_xy": [
+                  0.2727203786928062,
+                  -0.3452348267598169
+                ],
+                "gripper_position": [
+                  0.27269664309219044,
+                  -0.3435296087859823,
+                  1.0040693483264278
+                ],
+                "rod_tip_xy_dist": 0.001705522279534138,
+                "target_xy_drift": 4.421640766687847e-08,
+                "depth": 0.017068381520255582,
+                "bottom_clearance": 0.08237217954957943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -2.3763617832295303e-05,
+                  0.0017052471541718628
+                ],
+                "rod_tip_xy": [
+                  0.2726966430921903,
+                  -0.3435296087859824
+                ],
+                "target_mouth_xy": [
+                  0.2727204067100226,
+                  -0.34523485594015424
+                ],
+                "gripper_position": [
+                  0.27268794743464275,
+                  -0.3435301485609656,
+                  1.0039472523726
+                ],
+                "rod_tip_xy_dist": 0.0017054127260999654,
+                "target_xy_drift": 6.218245332853117e-08,
+                "depth": 0.017190510328765396,
+                "bottom_clearance": 0.08225004395721525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -3.243093537724784e-05,
+                  0.0017046762987453778
+                ],
+                "rod_tip_xy": [
+                  0.2726879474346426,
+                  -0.34353014856096575
+                ],
+                "target_mouth_xy": [
+                  0.27272037837001983,
+                  -0.34523482485971113
+                ],
+                "gripper_position": [
+                  0.27269463915926295,
+                  -0.3435965465483704,
+                  1.0034303109028966
+                ],
+                "rod_tip_xy_dist": 0.001704984765056182,
+                "target_xy_drift": 4.304023445829907e-08,
+                "depth": 0.017312569032805425,
+                "bottom_clearance": 0.08212794400142387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -2.5767322473335685e-05,
+                  0.0016383410997424241
+                ],
+                "rod_tip_xy": [
+                  0.2726946391592628,
+                  -0.34359654654837046
+                ],
+                "target_mouth_xy": [
+                  0.2727204064817361,
+                  -0.3452348876481129
+                ],
+                "gripper_position": [
+                  0.2726830214254832,
+                  -0.34360290277918465,
+                  1.0032913171310958
+                ],
+                "rod_tip_xy_dist": 0.0016385437174554303,
+                "target_xy_drift": 9.388862227015283e-08,
+                "depth": 0.017829589282586933,
+                "bottom_clearance": 0.0816110424718931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -3.735808341648328e-05,
+                  0.0016319208028786614
+                ],
+                "rod_tip_xy": [
+                  0.272683021425483,
+                  -0.3436029027791847
+                ],
+                "target_mouth_xy": [
+                  0.2727203795088995,
+                  -0.34523482358206337
+                ],
+                "gripper_position": [
+                  0.27267427786990206,
+                  -0.3436033956936887,
+                  1.0031692680669697
+                ],
+                "rod_tip_xy_dist": 0.0016323483492394287,
+                "target_xy_drift": 4.1329813257853356e-08,
+                "depth": 0.01796859569550402,
+                "bottom_clearance": 0.08147200693244572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -4.612938746273443e-05,
+                  0.0016314596051487662
+                ],
+                "rod_tip_xy": [
+                  0.27267427786990195,
+                  -0.3436033956936888
+                ],
+                "target_mouth_xy": [
+                  0.2727204072573647,
+                  -0.3452348552988376
+                ],
+                "gripper_position": [
+                  0.27266546525464486,
+                  -0.3436040425436667,
+                  1.0030467960218483
+                ],
+                "rod_tip_xy_dist": 0.00163211162719339,
+                "target_xy_drift": 6.153103834314479e-08,
+                "depth": 0.018090502738767555,
+                "bottom_clearance": 0.08135000754048372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -5.4943440408128374e-05,
+                  0.0016308140177138108
+                ],
+                "rod_tip_xy": [
+                  0.27266546525464475,
+                  -0.34360404254366683
+                ],
+                "target_mouth_xy": [
+                  0.2727204086950529,
+                  -0.34523485656138064
+                ],
+                "gripper_position": [
+                  0.27267360515914696,
+                  -0.343672246428078,
+                  1.0025332721624818
+                ],
+                "rod_tip_xy_dist": 0.0016317392996479992,
+                "target_xy_drift": 6.2789744760955e-08,
+                "depth": 0.018213047604871302,
+                "bottom_clearance": 0.08122752120181176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -4.680103963988769e-05,
+                  0.0015625413456786252
+                ],
+                "rod_tip_xy": [
+                  0.27267360515914685,
+                  -0.34367224642807803
+                ],
+                "target_mouth_xy": [
+                  0.27272040619878674,
+                  -0.34523478777375666
+                ],
+                "gripper_position": [
+                  0.2726618306433245,
+                  -0.343678492407725,
+                  1.0023942473089704
+                ],
+                "rod_tip_xy_dist": 0.001563242077947796,
+                "target_xy_drift": 6.306001309753431e-09,
+                "depth": 0.01872678296676622,
+                "bottom_clearance": 0.08071403555557766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -5.857757636507088e-05,
+                  0.0015563619202548784
+                ],
+                "rod_tip_xy": [
+                  0.2726618306433244,
+                  -0.3436784924077251
+                ],
+                "target_mouth_xy": [
+                  0.27272040821968946,
+                  -0.34523485432797996
+                ],
+                "gripper_position": [
+                  0.27265289172777585,
+                  -0.3436788677549361,
+                  1.002272071917341
+                ],
+                "rod_tip_xy_dist": 0.0015574638869881568,
+                "target_xy_drift": 6.055392991569882e-08,
+                "depth": 0.018865580461600362,
+                "bottom_clearance": 0.08057494644838059,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -6.748642983189779e-05,
+                  0.0015559884816196412
+                ],
+                "rod_tip_xy": [
+                  0.27265289172777574,
+                  -0.34367886775493617
+                ],
+                "target_mouth_xy": [
+                  0.27272037815760763,
+                  -0.3452348562365558
+                ],
+                "gripper_position": [
+                  0.272644026426103,
+                  -0.3436791437270707,
+                  1.0021503062650599
+                ],
+                "rod_tip_xy_dist": 0.0015574513068293506,
+                "target_xy_drift": 6.928489034941737e-08,
+                "depth": 0.018987759944743332,
+                "bottom_clearance": 0.08045276884633468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -7.638214288435696e-05,
+                  0.0015557096467915255
+                ],
+                "rod_tip_xy": [
+                  0.2726440264261029,
+                  -0.34367914372707076
+                ],
+                "target_mouth_xy": [
+                  0.27272040856898727,
+                  -0.3452348533738623
+                ],
+                "gripper_position": [
+                  0.27263515047613546,
+                  -0.34367928681631715,
+                  1.002028552207503
+                ],
+                "rod_tip_xy_dist": 0.0015575836211490603,
+                "target_xy_drift": 5.960131402761446e-08,
+                "depth": 0.019109541359400017,
+                "bottom_clearance": 0.08033103335293035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -8.525780127072169e-05,
+                  0.0015556337997790215
+                ],
+                "rod_tip_xy": [
+                  0.27263515047613535,
+                  -0.3436792868163172
+                ],
+                "target_mouth_xy": [
+                  0.27272040827740607,
+                  -0.34523492061609623
+                ],
+                "gripper_position": [
+                  0.2726262127875796,
+                  -0.34367958930594494,
+                  1.0019065382985404
+                ],
+                "rod_tip_xy_dist": 0.0015579683602988973,
+                "target_xy_drift": 1.268420677552571e-07,
+                "depth": 0.019231426578178112,
+                "bottom_clearance": 0.08020928287949558,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -9.416546003548909e-05,
+                  0.0015552368183148202
+                ],
+                "rod_tip_xy": [
+                  0.2726262127875794,
+                  -0.343679589305945
+                ],
+                "target_mouth_xy": [
+                  0.2727203782476149,
+                  -0.3452348261242598
+                ],
+                "gripper_position": [
+                  0.2726370533413781,
+                  -0.3437514535789796,
+                  1.0013973574316934
+                ],
+                "rod_tip_xy_dist": 0.001558084944701572,
+                "target_xy_drift": 4.404522592550911e-08,
+                "depth": 0.01935328878984821,
+                "bottom_clearance": 0.08008723255474393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -8.335399641373753e-05,
+                  0.0014834327884236664
+                ],
+                "rod_tip_xy": [
+                  0.272637053341378,
+                  -0.34375145357897974
+                ],
+                "target_mouth_xy": [
+                  0.27272040733779174,
+                  -0.3452348863674034
+                ],
+                "gripper_position": [
+                  0.27262512920453036,
+                  -0.34375798700570026,
+                  1.0012583622061775
+                ],
+                "rod_tip_xy_dist": 0.0014857727708127361,
+                "target_xy_drift": 9.25967583570044e-08,
+                "depth": 0.019862493551295102,
+                "bottom_clearance": 0.07957805938709639,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005961364728302913,
+              "rod_tip_xy_max_step": 3.2311339247963735e-05,
+              "rod_tip_xy_range": 0.0005961322932234235,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27217473111125595,
+            -0.34500481779534314,
+            1.0433719480756047
+          ],
+          "object_origin_world": [
+            0.27217473111125595,
+            -0.34500481779534314,
+            1.0433719480756047
+          ],
+          "frame_world": [
+            0.272173284923778,
+            -0.34500918886512855,
+            1.0432618915759033
+          ],
+          "center_minus_frame": [
+            1.4461874779381212e-06,
+            4.3710697854026925e-06,
+            0.0001100564997014164
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26834273218214033,
+              0.13591125718191274,
+              0.8338940831377577
+            ],
+            "target_position": [
+              0.2781317345303414,
+              0.1827865612174206,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047886518931682484,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1709709761483211,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338940831377577,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670799772789,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1393100654256692,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77a9e0e52051e6140e1115e7e51e6950cd5d867227ad2b4300d56ce6b24d1e01",
+    "visual_seed": 1032316724408605700,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b514f03efd098f7982256e1814dcb87f333cfc6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_25_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25507547320726975,
+              0.03014178662002306,
+              1.1625493035632202
+            ],
+            "current_z": 1.1625493035632202,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.3014424975252302,
+            "gripper_z": 1.155756991381878,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25003427327013417,
+              0.025133731117022926,
+              1.155756991381878
+            ],
+            "object_minus_gripper": [
+              0.0050411999371355876,
+              0.0050080555030001354,
+              0.006792312181342242
+            ],
+            "object_to_gripper_xy": 0.0071059353168534956,
+            "object_to_gripper_z": 0.006792312181342242,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25507547320726975,
+              0.006264742168921408,
+              1.1625493035632202
+            ],
+            "finger_b": [
+              0.2436156632470125,
+              0.03014178662002306,
+              1.1625493035632202
+            ],
+            "finger_midpoint": [
+              0.24934556822714113,
+              0.018203264394472236,
+              1.1625493035632202
+            ],
+            "object_minus_finger_midpoint": [
+              0.005729904980128625,
+              0.011938522225550825,
+              0.0
+            ],
+            "finger_gap": 0.026484721936337097,
+            "fingertip_max_gap": 0.09088068487963347,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013242360968168547,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625493035632202,
+            "object_top_z": 1.212434362858592,
+            "finger_top_clearance": 0.0498850592953719,
+            "fingertip_min_top_clearance": 0.01496551778861157,
+            "object_projection_between_fingers": 0.8127749323489754,
+            "object_to_finger_line_xy": 0.010331480635514017,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047940342439816735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5580856612670727,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27059231658169086,
+              -0.3428019308694758,
+              0.8515394974639136
+            ],
+            "target_position": [
+              0.2619267969255029,
+              -0.34332885375086175,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008681525132988314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18755561745316346,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394974639136,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751608801650014,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578889748130554,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15627437369324745,
+            "release_required_pad_clearance": 0.05289444874065277,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8289739521911654,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007329463958740234,
+            "max_z_decrease": 0.007329463958740234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515699198274275,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007329463958740234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021300279757783706,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007329463958740234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007329484658598826,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11762672662734983,
+              -0.39959031343460083,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11762672662734983,
+              -0.39959031343460083,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11868826390501905,
+              -0.4014363632402993,
+              0.8076885092147174
+            ],
+            "closest_button": [
+              0.11761590838432309,
+              -0.39958766102790827,
+              0.772596538066864
+            ],
+            "closest_ee_minus_button": [
+              0.0010723555206959556,
+              -0.001848702212391029,
+              0.03509197114785334
+            ],
+            "button_min_z_position": [
+              0.11760947108268736,
+              -0.3995879292488098,
+              0.7694793939590454
+            ],
+            "min_active_finger_to_button": 0.1449615411563012,
+            "closest_active_finger": [
+              -0.02240731567144394,
+              -0.3849053978919983,
+              0.8107233643531799
+            ],
+            "closest_active_finger_button": [
+              0.11762785166501998,
+              -0.39958998560905457,
+              0.7762507200241089
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14003516733646393,
+              0.014684587717056274,
+              0.034472644329071045
+            ],
+            "min_contact_pad_to_button": 0.021300279757783706,
+            "closest_contact_pad": [
+              0.11760947108268736,
+              -0.40258962137840054,
+              0.7905671098647333
+            ],
+            "closest_contact_pad_button": [
+              0.11760947108268736,
+              -0.3995879292488098,
+              0.7694793939590454
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030016921295907273,
+              0.02108771590568792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28453509104566677,
+              0.18091679839692187,
+              1.1020841472897471
+            ],
+            "current_z": 1.1020841472897471,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19217501755538458,
+            "gripper_z": 1.102084367456588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2845351278249998,
+              0.18091680492468792,
+              1.102084367456588
+            ],
+            "object_minus_gripper": [
+              -3.6779333023595484e-08,
+              -6.527766049924111e-09,
+              -2.201668409806956e-07
+            ],
+            "object_to_gripper_xy": 3.735413052479047e-08,
+            "object_to_gripper_z": -2.201668409806956e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28453509104566677,
+              0.18091679839692187,
+              1.1020841472897471
+            ],
+            "finger_b": [
+              0.28453509104566677,
+              0.18091679839692187,
+              1.1020841472897471
+            ],
+            "finger_midpoint": [
+              0.28453509104566677,
+              0.18091679839692187,
+              1.1020841472897471
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1020841472897471,
+            "object_top_z": 1.2270926539100269,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28453509104566677,
+            0.1809167983969219,
+            1.1020841472897471
+          ],
+          "object_origin_world": [
+            0.28453509104566677,
+            0.1809167983969219,
+            1.1020841472897471
+          ],
+          "frame_world": [
+            0.2845351278249998,
+            0.18091680492468792,
+            1.102084367456588
+          ],
+          "center_minus_frame": [
+            -3.6779333023595484e-08,
+            -6.527766022168535e-09,
+            -2.201668409806956e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043308422650457,
+            "required_z": 0.9112599038765423,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007059988401082209,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.305258504085306e-08,
+            "max_target_xy_drift": 1.2825309120257155e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8289739523775868,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.828973953304857,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27066172853563497,
+              -0.34209503605672187,
+              0.9234172311887817
+            ],
+            "target_mouth_xy": [
+              0.2705923463998372,
+              -0.3428019327893514
+            ],
+            "rod_tip_z": 0.9234172311887817,
+            "rod_tip_depth": -0.02215734964886018,
+            "rod_tip_bottom_clearance": 0.12159799957392836,
+            "rod_tip_xy_dist": 0.0007102935107194477,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044438566347404396,
+            "min_rod_tip_bottom_clearance": 0.05500203663525338,
+            "min_rod_tip_xy_dist": 0.000705320251942159,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27059231659298183,
+              -0.34280190172367175
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9806855372793706e-08,
+              -3.106567963984119e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0006479870898267182,
+                0.0023955547922674403
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005366159944729665,
+                0.0020214697384826064
+              ],
+              "first_target_mouth_xy": [
+                0.27059231481936064,
+                -0.34280196924921963
+              ],
+              "last_target_mouth_xy": [
+                0.27059231573907894,
+                -0.34280190141504874
+              ],
+              "first_rod_tip_xy": [
+                0.27124030190918735,
+                -0.3404064144569522
+              ],
+              "last_rod_tip_xy": [
+                0.2711289317335519,
+                -0.34078043167656613
+              ],
+              "min_rod_tip_xy_dist": 0.0020914819217782276,
+              "max_rod_tip_xy_dist": 0.0024816466370814355,
+              "first_target_xy_drift": 6.75488367629288e-08,
+              "last_target_xy_drift": 9.079638299092251e-10,
+              "max_depth": 0.019559933381179895,
+              "min_bottom_clearance": 0.0798807382458081
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0006479870898267182,
+                  0.0023955547922674403
+                ],
+                "rod_tip_xy": [
+                  0.27124030190918735,
+                  -0.3404064144569522
+                ],
+                "target_mouth_xy": [
+                  0.27059231481936064,
+                  -0.34280196924921963
+                ],
+                "gripper_position": [
+                  0.2712288701793643,
+                  -0.3404132309962626,
+                  1.0059257372209842
+                ],
+                "rod_tip_xy_dist": 0.0024816466370814355,
+                "target_xy_drift": 6.75488367629288e-08,
+                "depth": 0.015196268694135262,
+                "bottom_clearance": 0.08424435014685228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.000636523105385256,
+                  0.0023887021165992506
+                ],
+                "rod_tip_xy": [
+                  0.27122887017936426,
+                  -0.34041323099626264
+                ],
+                "target_mouth_xy": [
+                  0.270592347073979,
+                  -0.3428019331128619
+                ],
+                "gripper_position": [
+                  0.2712321790399356,
+                  -0.34047684472472406,
+                  1.0054096441952807
+                ],
+                "rod_tip_xy_dist": 0.002472055716511064,
+                "target_xy_drift": 4.375354209566295e-08,
+                "depth": 0.015334203733775476,
+                "bottom_clearance": 0.08410646110532582,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006398343079306312,
+                  0.002325062711982573
+                ],
+                "rod_tip_xy": [
+                  0.2712321790399355,
+                  -0.34047684472472417
+                ],
+                "target_mouth_xy": [
+                  0.2705923447320049,
+                  -0.34280190743670674
+                ],
+                "gripper_position": [
+                  0.2712208625772526,
+                  -0.34048346608651364,
+                  1.005271771323922
+                ],
+                "rod_tip_xy_dist": 0.0024114942579771628,
+                "target_xy_drift": 2.8713122215165747e-08,
+                "depth": 0.015850198880063338,
+                "bottom_clearance": 0.08359033799088189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006284874985963418,
+                  0.002318468287312525
+                ],
+                "rod_tip_xy": [
+                  0.27122086257725253,
+                  -0.3404834660865137
+                ],
+                "target_mouth_xy": [
+                  0.2705923750786562,
+                  -0.3428019343738262
+                ],
+                "gripper_position": [
+                  0.2712124011640217,
+                  -0.3404837724196163,
+                  1.0051509701434513
+                ],
+                "rod_tip_xy_dist": 0.0024021431545946134,
+                "target_xy_drift": 6.698213711193194e-08,
+                "depth": 0.01598807289815829,
+                "bottom_clearance": 0.08345247759569796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000620086257689334,
+                  0.0023181651244905677
+                ],
+                "rod_tip_xy": [
+                  0.2712124011640217,
+                  -0.34048377241961636
+                ],
+                "target_mouth_xy": [
+                  0.27059231490633234,
+                  -0.3428019375441069
+                ],
+                "gripper_position": [
+                  0.2712167457277346,
+                  -0.3405484741962179,
+                  1.0046350150166812
+                ],
+                "rod_tip_xy_dist": 0.002399665916618297,
+                "target_xy_drift": 3.586012217653523e-08,
+                "depth": 0.01610887896448354,
+                "bottom_clearance": 0.0833316695450278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006244290562668064,
+                  0.002253459549566017
+                ],
+                "rod_tip_xy": [
+                  0.2712167457277346,
+                  -0.34054847419621803
+                ],
+                "target_mouth_xy": [
+                  0.27059231667146777,
+                  -0.34280193374578405
+                ],
+                "gripper_position": [
+                  0.27120522738672026,
+                  -0.34055512837649904,
+                  1.0044966548540832
+                ],
+                "rod_tip_xy_dist": 0.002338373705770857,
+                "target_xy_drift": 3.202220847919777e-08,
+                "depth": 0.01662485018575055,
+                "bottom_clearance": 0.08281576904224563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006129116381727862,
+                  0.002246812989382063
+                ],
+                "rod_tip_xy": [
+                  0.2712052273867202,
+                  -0.34055512837649904
+                ],
+                "target_mouth_xy": [
+                  0.2705923157485474,
+                  -0.3428019413658811
+                ],
+                "gripper_position": [
+                  0.2711967499462217,
+                  -0.34055542951381135,
+                  1.0043759649723296
+                ],
+                "rod_tip_xy_dist": 0.002328911609628758,
+                "target_xy_drift": 3.965120214450529e-08,
+                "depth": 0.016763249983701933,
+                "bottom_clearance": 0.08267743020600815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006044345142783847,
+                  0.002246473158846851
+                ],
+                "rod_tip_xy": [
+                  0.27119674994622167,
+                  -0.34055542951381146
+                ],
+                "target_mouth_xy": [
+                  0.2705923154319433,
+                  -0.3428019026726583
+                ],
+                "gripper_position": [
+                  0.27120179893990687,
+                  -0.3406211926206405,
+                  1.0038614000974948
+                ],
+                "rod_tip_xy_dist": 0.002326366853157579,
+                "target_xy_drift": 1.4995285865915988e-09,
+                "depth": 0.016883914668591404,
+                "bottom_clearance": 0.08255670509619584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006094844568578228,
+                  0.0021807769546415834
+                ],
+                "rod_tip_xy": [
+                  0.2712017989399068,
+                  -0.3406211926206405
+                ],
+                "target_mouth_xy": [
+                  0.270592314483049,
+                  -0.3428019695752821
+                ],
+                "gripper_position": [
+                  0.2711903670108028,
+                  -0.34062757511044645,
+                  1.0037237237092869
+                ],
+                "rod_tip_xy_dist": 0.0022643452539414335,
+                "target_xy_drift": 6.788440793732749e-08,
+                "depth": 0.017398500876873446,
+                "bottom_clearance": 0.08204214255575082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.000598051181599113,
+                  0.0021743275650925042
+                ],
+                "rod_tip_xy": [
+                  0.27119036701080274,
+                  -0.3406275751104465
+                ],
+                "target_mouth_xy": [
+                  0.2705923158292036,
+                  -0.342801902675539
+                ],
+                "gripper_position": [
+                  0.2711816036819217,
+                  -0.34062780478962745,
+                  1.0036027850972418
+                ],
+                "rod_tip_xy_dist": 0.002255075514507927,
+                "target_xy_drift": 1.2204132147966166e-09,
+                "depth": 0.017536157029000687,
+                "bottom_clearance": 0.08190447388153554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005892901516945104,
+                  0.002174134660267113
+                ],
+                "rod_tip_xy": [
+                  0.2711816036819216,
+                  -0.3406278047896276
+                ],
+                "target_mouth_xy": [
+                  0.2705923135302271,
+                  -0.34280193944989473
+                ],
+                "gripper_position": [
+                  0.2711728094806348,
+                  -0.3406281453379267,
+                  1.003481922387211
+                ],
+                "rod_tip_xy_dist": 0.0022525817196849783,
+                "target_xy_drift": 3.785034169871334e-08,
+                "depth": 0.017657139561581325,
+                "bottom_clearance": 0.08178352966821978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005804618221849633,
+                  0.002173726914767582
+                ],
+                "rod_tip_xy": [
+                  0.2711728094806348,
+                  -0.34062814533792674
+                ],
+                "target_mouth_xy": [
+                  0.27059234765844986,
+                  -0.3428018722526943
+                ],
+                "gripper_position": [
+                  0.27117940748163416,
+                  -0.34069618484356173,
+                  1.0029686700344635
+                ],
+                "rod_tip_xy_dist": 0.002249894359075394,
+                "target_xy_drift": 4.282057700512548e-08,
+                "depth": 0.017777986002627255,
+                "bottom_clearance": 0.08166274567462484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005870945068948141,
+                  0.0021057552324035833
+                ],
+                "rod_tip_xy": [
+                  0.2711794074816341,
+                  -0.3406961848435618
+                ],
+                "target_mouth_xy": [
+                  0.2705923129747393,
+                  -0.3428019400759654
+                ],
+                "gripper_position": [
+                  0.27116760268370865,
+                  -0.3407026576500477,
+                  1.0028309765874976
+                ],
+                "rod_tip_xy_dist": 0.0021860661149245082,
+                "target_xy_drift": 3.8522592136118277e-08,
+                "depth": 0.018291282634540273,
+                "bottom_clearance": 0.08114943030500266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0005752566872418985,
+                  0.0020992133183171946
+                ],
+                "rod_tip_xy": [
+                  0.27116760268370865,
+                  -0.3407026576500477
+                ],
+                "target_mouth_xy": [
+                  0.27059234599646675,
+                  -0.3428018709683649
+                ],
+                "gripper_position": [
+                  0.27115892523650975,
+                  -0.3407026826395942,
+                  1.0027101648617505
+                ],
+                "rod_tip_xy_dist": 0.0021766067196479963,
+                "target_xy_drift": 4.254942802870694e-08,
+                "depth": 0.01842888127461173,
+                "bottom_clearance": 0.08101183069387308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0005666400639302571,
+                  0.002099223210597523
+                ],
+                "rod_tip_xy": [
+                  0.27115892523650975,
+                  -0.34070268263959436
+                ],
+                "target_mouth_xy": [
+                  0.2705922851725795,
+                  -0.3428019058501919
+                ],
+                "gripper_position": [
+                  0.27115019635742954,
+                  -0.34070274307135273,
+                  1.0025891890054834
+                ],
+                "rod_tip_xy_dist": 0.0021743548583343653,
+                "target_xy_drift": 3.1690216964733e-08,
+                "depth": 0.018549730121633745,
+                "bottom_clearance": 0.08089079185769976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005578813290978424,
+                  0.0020992220588627597
+                ],
+                "rod_tip_xy": [
+                  0.2711501963574295,
+                  -0.34070274307135284
+                ],
+                "target_mouth_xy": [
+                  0.27059231502833164,
+                  -0.3428019651302156
+                ],
+                "gripper_position": [
+                  0.27114131512322615,
+                  -0.3407027460477253,
+                  1.002468678875577
+                ],
+                "rod_tip_xy_dist": 0.0021720876662261997,
+                "target_xy_drift": 6.342584593877672e-08,
+                "depth": 0.018670650694606383,
+                "bottom_clearance": 0.08076988102534899,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005490011855585619,
+                  0.0020991921336378505
+                ],
+                "rod_tip_xy": [
+                  0.2711413151232261,
+                  -0.34070274604772544
+                ],
+                "target_mouth_xy": [
+                  0.27059231393766753,
+                  -0.3428019381813633
+                ],
+                "gripper_position": [
+                  0.27114983488684563,
+                  -0.34077390108414907,
+                  1.0019574950226708
+                ],
+                "rod_tip_xy_dist": 0.0021697949017526375,
+                "target_xy_drift": 3.655426057125365e-08,
+                "depth": 0.018791211136830577,
+                "bottom_clearance": 0.08064939756596046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000557489784641374,
+                  0.0020280038167319048
+                ],
+                "rod_tip_xy": [
+                  0.27114983488684563,
+                  -0.3407739010841492
+                ],
+                "target_mouth_xy": [
+                  0.27059234510220426,
+                  -0.3428019049008811
+                ],
+                "gripper_position": [
+                  0.2711378469760414,
+                  -0.34078046536930867,
+                  1.001820499674663
+                ],
+                "rod_tip_xy_dist": 0.002103234257199768,
+                "target_xy_drift": 2.8685718093271624e-08,
+                "depth": 0.019302347888587312,
+                "bottom_clearance": 0.0801381961679476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.000545533408589538,
+                  0.0020214442794255216
+                ],
+                "rod_tip_xy": [
+                  0.2711378469760413,
+                  -0.3407804653693087
+                ],
+                "target_mouth_xy": [
+                  0.2705923135674518,
+                  -0.34280190964873425
+                ],
+                "gripper_position": [
+                  0.2711289317335519,
+                  -0.340780431676566,
+                  1.0016999689360104
+                ],
+                "rod_tip_xy_dist": 0.0020937630416810508,
+                "target_xy_drift": 8.482950408175365e-09,
+                "depth": 0.01943942385895492,
+                "bottom_clearance": 0.0800012439594574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005366159944729665,
+                  0.0020214697384826064
+                ],
+                "rod_tip_xy": [
+                  0.2711289317335519,
+                  -0.34078043167656613
+                ],
+                "target_mouth_xy": [
+                  0.27059231573907894,
+                  -0.34280190141504874
+                ],
+                "gripper_position": [
+                  0.271120007691962,
+                  -0.3407805573859825,
+                  1.001579244556839
+                ],
+                "rod_tip_xy_dist": 0.0020914819217782276,
+                "target_xy_drift": 9.079638299092251e-10,
+                "depth": 0.019559933381179895,
+                "bottom_clearance": 0.0798807382458081,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005995284852004718,
+              "rod_tip_xy_max_step": 3.249960790847431e-05,
+              "rod_tip_xy_range": 0.0005995198823738172,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27066172853563497,
+            -0.3420950360567218,
+            1.0434172311887817
+          ],
+          "object_origin_world": [
+            0.27066172853563497,
+            -0.3420950360567218,
+            1.0434172311887817
+          ],
+          "frame_world": [
+            0.2706601410725287,
+            -0.3420991965339975,
+            1.043308422650457
+          ],
+          "center_minus_frame": [
+            1.587463106245135e-06,
+            4.160477275694241e-06,
+            0.00010880853832473392
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2737607296946003,
+              0.13328036779581406,
+              0.833411941777993
+            ],
+            "target_position": [
+              0.28468464463851706,
+              0.18061129089719458,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0485751808985898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1689282121557673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833411941777993,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674365771086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384532828703325,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ea914191f3be0ff75519e43003738b688948eba57642885ea753850528af7cd",
+    "visual_seed": 2917479332900632646,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..528b8e25441d1f9e1d6d1a9b5762c47c99c1435c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_26_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26265179301585984,
+              0.02652755471506009,
+              1.1623866568560328
+            ],
+            "current_z": 1.1623866568560328,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30127997002733264,
+            "gripper_z": 1.1556145175652048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2574098185094585,
+              0.021543610142498795,
+              1.1556145175652048
+            ],
+            "object_minus_gripper": [
+              0.005241974506401348,
+              0.004983944572561294,
+              0.006772139290827983
+            ],
+            "object_to_gripper_xy": 0.0072331182921423895,
+            "object_to_gripper_z": 0.006772139290827983,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26265179301585984,
+              0.002169833526662841,
+              1.1623866568560328
+            ],
+            "finger_b": [
+              0.25164029954645195,
+              0.02652755471506009,
+              1.1623866568560328
+            ],
+            "finger_midpoint": [
+              0.2571460462811559,
+              0.014348694120861465,
+              1.1623866568560328
+            ],
+            "object_minus_finger_midpoint": [
+              0.005505746734703942,
+              0.012178860594198624,
+              0.0
+            ],
+            "finger_gap": 0.02673109743198937,
+            "fingertip_max_gap": 0.09116169731417847,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013365548715994685,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623866568560328,
+            "object_top_z": 1.2123351635206001,
+            "finger_top_clearance": 0.049948506664567294,
+            "fingertip_min_top_clearance": 0.014984551999370188,
+            "object_projection_between_fingers": 0.8303089748432841,
+            "object_to_finger_line_xy": 0.010033815052977192,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808084865708924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8821982513205111,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27396557700767965,
+              -0.34276694416434417,
+              0.8515395883254726
+            ],
+            "target_position": [
+              0.2662826904596144,
+              -0.3431416672978108,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007692019444671028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18464370002261818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395883254726,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525982759958524,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602087344280852,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15318912289265074,
+            "release_required_pad_clearance": 0.053010436721404264,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0534946256655102,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00717538595199585,
+            "max_z_decrease": 0.00717538595199585,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515086386339557,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00717538595199585,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107661475519318,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00717538595199585,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007175406755702728,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12198261916637416,
+              -0.3994031250476837,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12198261916637416,
+              -0.3994031250476837,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12128903613977796,
+              -0.3977211488678619,
+              0.8082232805056193
+            ],
+            "closest_button": [
+              0.12197756022214885,
+              -0.39940223097801203,
+              0.7731193900108337
+            ],
+            "closest_ee_minus_button": [
+              -0.0006885240823708977,
+              0.0016810821101501117,
+              0.03510389049478557
+            ],
+            "button_min_z_position": [
+              0.12196538597345347,
+              -0.39940187335014343,
+              0.7696334719657898
+            ],
+            "min_active_finger_to_button": 0.14610871291824504,
+            "closest_active_finger": [
+              -0.007066063582897186,
+              -0.4587059020996094,
+              0.8106445670127869
+            ],
+            "closest_active_finger_button": [
+              0.12198251485824581,
+              -0.3994031846523285,
+              0.7763311862945557
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12904857844114298,
+              -0.059302717447280884,
+              0.0343133807182312
+            ],
+            "min_contact_pad_to_button": 0.02107661475519318,
+            "closest_contact_pad": [
+              0.12196538597345347,
+              -0.39940187335014343,
+              0.790710086720983
+            ],
+            "closest_contact_pad_button": [
+              0.12196538597345347,
+              -0.39940187335014343,
+              0.7696334719657898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107661475519318
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28150117968843946,
+              0.17630452177658965,
+              1.1041619261837985
+            ],
+            "current_z": 1.1041619261837985,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19425279644943594,
+            "gripper_z": 1.1041621565375597,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28150116499515004,
+              0.17630446925729076,
+              1.1041621565375597
+            ],
+            "object_minus_gripper": [
+              1.4693289418499234e-08,
+              5.251929888205886e-08,
+              -2.3035376117697126e-07
+            ],
+            "object_to_gripper_xy": 5.45359469432668e-08,
+            "object_to_gripper_z": -2.3035376117697126e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28150117968843946,
+              0.17630452177658965,
+              1.1041619261837985
+            ],
+            "finger_b": [
+              0.28150117968843946,
+              0.17630452177658965,
+              1.1041619261837985
+            ],
+            "finger_midpoint": [
+              0.28150117968843946,
+              0.17630452177658965,
+              1.1041619261837985
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041619261837985,
+            "object_top_z": 1.2291704328040782,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2815011796884394,
+            0.17630452177658965,
+            1.1041619261837985
+          ],
+          "object_origin_world": [
+            0.2815011796884394,
+            0.17630452177658965,
+            1.1041619261837985
+          ],
+          "frame_world": [
+            0.28150116499515004,
+            0.17630446925729076,
+            1.1041621565375597
+          ],
+          "center_minus_frame": [
+            1.4693289362988082e-08,
+            5.251929888205886e-08,
+            -2.3035376117697126e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043258210060998,
+            "required_z": 0.9112598497988647,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005167786147919676,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.0141999988184565e-08,
+            "max_target_xy_drift": 1.5508339647712555e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0542373143764867,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0542373144646486,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27366300255106274,
+              -0.3423443266757526,
+              0.9233684956323361
+            ],
+            "target_mouth_xy": [
+              0.27396548491596995,
+              -0.34276681512033425
+            ],
+            "rod_tip_z": 0.9233684956323361,
+            "rod_tip_depth": -0.022108640834556215,
+            "rod_tip_bottom_clearance": 0.12154921617902825,
+            "rod_tip_xy_dist": 0.000519607608571004,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04440379118128546,
+            "min_rod_tip_bottom_clearance": 0.05503675952329756,
+            "min_rod_tip_xy_dist": 0.000519607608571004,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2739654850617619,
+              -0.34276684526198165
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.4579193408081892e-10,
+              3.0141647400228067e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0002649202796829453,
+                0.0021225111424985066
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00015606636598580748,
+                0.001755357312505812
+              ],
+              "first_target_mouth_xy": [
+                0.2739654551783609,
+                -0.34276681797141634
+              ],
+              "last_target_mouth_xy": [
+                0.27396545463945143,
+                -0.3427668157561329
+              ],
+              "first_rod_tip_xy": [
+                0.27423037545804385,
+                -0.34064430682891783
+              ],
+              "last_rod_tip_xy": [
+                0.27412152100543724,
+                -0.34101145844362707
+              ],
+              "min_rod_tip_xy_dist": 0.001762281477278713,
+              "max_rod_tip_xy_dist": 0.00213898020201628,
+              "first_target_xy_drift": 4.046965046425908e-08,
+              "last_target_xy_drift": 4.238056257684508e-08,
+              "max_depth": 0.019473721470862904,
+              "min_bottom_clearance": 0.0799668364126278
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0002649202796829453,
+                  0.0021225111424985066
+                ],
+                "rod_tip_xy": [
+                  0.27423037545804385,
+                  -0.34064430682891783
+                ],
+                "target_mouth_xy": [
+                  0.2739654551783609,
+                  -0.34276681797141634
+                ],
+                "gripper_position": [
+                  0.27422209174717194,
+                  -0.3406447359003785,
+                  1.0060417415210796
+                ],
+                "rod_tip_xy_dist": 0.00213898020201628,
+                "target_xy_drift": 4.046965046425908e-08,
+                "depth": 0.015095522211542534,
+                "bottom_clearance": 0.08434498400451473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0002566347882558828,
+                  0.0021221413372193854
+                ],
+                "rod_tip_xy": [
+                  0.27422209174717205,
+                  -0.3406447359003785
+                ],
+                "target_mouth_xy": [
+                  0.27396545695891616,
+                  -0.3427668772375979
+                ],
+                "gripper_position": [
+                  0.27422640112687535,
+                  -0.3407090904883185,
+                  1.0055212427693827
+                ],
+                "rod_tip_xy_dist": 0.002137602692194792,
+                "target_xy_drift": 4.2570059584028435e-08,
+                "depth": 0.01521814695267587,
+                "bottom_clearance": 0.0842224170633058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0002609457267587767,
+                  0.0020577265234804076
+                ],
+                "rod_tip_xy": [
+                  0.2742264011268754,
+                  -0.3407090904883186
+                ],
+                "target_mouth_xy": [
+                  0.27396545540011663,
+                  -0.342766817011799
+                ],
+                "gripper_position": [
+                  0.27421475966011843,
+                  -0.3407161442005058,
+                  1.005381468069021
+                ],
+                "rod_tip_xy_dist": 0.0020742061415752367,
+                "target_xy_drift": 4.096200700723981e-08,
+                "depth": 0.015738520544703483,
+                "bottom_clearance": 0.08370199671111866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0002493011648600496,
+                  0.002050641720437507
+                ],
+                "rod_tip_xy": [
+                  0.2742147596601185,
+                  -0.34071614420050583
+                ],
+                "target_mouth_xy": [
+                  0.27396545849525844,
+                  -0.34276678592094334
+                ],
+                "gripper_position": [
+                  0.27421909984854975,
+                  -0.34078063812912956,
+                  1.0048647374436532
+                ],
+                "rod_tip_xy_dist": 0.0020657401909241822,
+                "target_xy_drift": 6.5016443552955e-08,
+                "depth": 0.015878461348260653,
+                "bottom_clearance": 0.08356221995777491,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0002536444858924347,
+                  0.001986148454595049
+                ],
+                "rod_tip_xy": [
+                  0.2742190998485498,
+                  -0.34078063812912956
+                ],
+                "target_mouth_xy": [
+                  0.2739654553626574,
+                  -0.3427667865837246
+                ],
+                "gripper_position": [
+                  0.2742075583556262,
+                  -0.3407874886413638,
+                  1.0047250936503436
+                ],
+                "rod_tip_xy_dist": 0.002002279003763946,
+                "target_xy_drift": 6.576606006782239e-08,
+                "depth": 0.016395096457557323,
+                "bottom_clearance": 0.08304544217875554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0002421065650904386,
+                  0.0019793277822741095
+                ],
+                "rod_tip_xy": [
+                  0.2742075583556263,
+                  -0.3407874886413638
+                ],
+                "target_mouth_xy": [
+                  0.2739654517905359,
+                  -0.34276681642363793
+                ],
+                "gripper_position": [
+                  0.2741990213232339,
+                  -0.3407876958206442,
+                  1.004602813032661
+                ],
+                "rod_tip_xy_dist": 0.0019940797523023083,
+                "target_xy_drift": 4.402981430146261e-08,
+                "depth": 0.01653483419060431,
+                "bottom_clearance": 0.08290581183737034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00023356468861579494,
+                  0.001979120868643325
+                ],
+                "rod_tip_xy": [
+                  0.27419902132323404,
+                  -0.34078769582064433
+                ],
+                "target_mouth_xy": [
+                  0.27396545663461824,
+                  -0.34276681668928766
+                ],
+                "gripper_position": [
+                  0.27420417905235783,
+                  -0.3408531458075847,
+                  1.0040871108609086
+                ],
+                "rod_tip_xy_dist": 0.0019928552071005316,
+                "target_xy_drift": 4.030510311660991e-08,
+                "depth": 0.016657084739777117,
+                "bottom_clearance": 0.08278349095892135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00023872414836267897,
+                  0.001913672799424393
+                ],
+                "rod_tip_xy": [
+                  0.27420417905235794,
+                  -0.3408531458075848
+                ],
+                "target_mouth_xy": [
+                  0.27396545490399526,
+                  -0.3427668186070092
+                ],
+                "gripper_position": [
+                  0.2741926078420903,
+                  -0.34085965831655574,
+                  1.0039477885990662
+                ],
+                "rod_tip_xy_dist": 0.0019285053285558428,
+                "target_xy_drift": 4.02489558092138e-08,
+                "depth": 0.01717266226890246,
+                "bottom_clearance": 0.08226786278039933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0002271493194397345,
+                  0.0019071269643289868
+                ],
+                "rod_tip_xy": [
+                  0.2741926078420904,
+                  -0.3408596583165558
+                ],
+                "target_mouth_xy": [
+                  0.27396545852265064,
+                  -0.3427667852808848
+                ],
+                "gripper_position": [
+                  0.27418386868248534,
+                  -0.3408599020411959,
+                  1.0038253808947208
+                ],
+                "rod_tip_xy_dist": 0.0019206066935717554,
+                "target_xy_drift": 6.559006332436802e-08,
+                "depth": 0.01731215255909835,
+                "bottom_clearance": 0.08212855311116207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00021838474731039614,
+                  0.0019068848698147733
+                ],
+                "rod_tip_xy": [
+                  0.27418386868248545,
+                  -0.3408599020411958
+                ],
+                "target_mouth_xy": [
+                  0.27396548393517506,
+                  -0.3427667869110106
+                ],
+                "gripper_position": [
+                  0.27417492621422423,
+                  -0.3408603321524283,
+                  1.0037031073680476
+                ],
+                "rod_tip_xy_dist": 0.0019193493180206492,
+                "target_xy_drift": 5.8361845592244216e-08,
+                "depth": 0.0174344697019988,
+                "bottom_clearance": 0.08200607448461117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00020944081791129943,
+                  0.0019064839109596554
+                ],
+                "rod_tip_xy": [
+                  0.27417492621422435,
+                  -0.34086033215242834
+                ],
+                "target_mouth_xy": [
+                  0.27396548539631305,
+                  -0.342766816063388
+                ],
+                "gripper_position": [
+                  0.2741818874544652,
+                  -0.3409279747545108,
+                  1.0031876204720853
+                ],
+                "rod_tip_xy_dist": 0.0019179536905137666,
+                "target_xy_drift": 2.9200510198529866e-08,
+                "depth": 0.01755673411313452,
+                "bottom_clearance": 0.0818838250283852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0002164018605568807,
+                  0.001838844170927001
+                ],
+                "rod_tip_xy": [
+                  0.2741818874544653,
+                  -0.3409279747545108
+                ],
+                "target_mouth_xy": [
+                  0.27396548559390843,
+                  -0.3427668189254378
+                ],
+                "gripper_position": [
+                  0.27417002097491483,
+                  -0.3409344999208919,
+                  1.0030484339820225
+                ],
+                "rod_tip_xy_dist": 0.0018515338641798289,
+                "target_xy_drift": 2.6341919465077216e-08,
+                "depth": 0.01807222160304056,
+                "bottom_clearance": 0.0813683419912995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0002045023478008945,
+                  0.0018323173799675296
+                ],
+                "rod_tip_xy": [
+                  0.27417002097491494,
+                  -0.3409344999208919
+                ],
+                "target_mouth_xy": [
+                  0.27396551862711405,
+                  -0.34276681730085945
+                ],
+                "gripper_position": [
+                  0.2741611417106739,
+                  -0.3409346643693228,
+                  1.0029260178545198
+                ],
+                "rod_tip_xy_dist": 0.0018436941696461347,
+                "target_xy_drift": 4.3685892692529794e-08,
+                "depth": 0.01821147106320764,
+                "bottom_clearance": 0.0812291727219615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00019568563624006163,
+                  0.0018321222035167506
+                ],
+                "rod_tip_xy": [
+                  0.27416114171067396,
+                  -0.3409346643693227
+                ],
+                "target_mouth_xy": [
+                  0.2739654560744339,
+                  -0.34276678657283943
+                ],
+                "gripper_position": [
+                  0.274152215431898,
+                  -0.3409348249574411,
+                  1.0028038415693614
+                ],
+                "rod_tip_xy_dist": 0.0018425429810047175,
+                "target_xy_drift": 6.545747166845565e-08,
+                "depth": 0.01833382168522124,
+                "bottom_clearance": 0.08110674426765441,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0001867891586681547,
+                  0.001831961302213525
+                ],
+                "rod_tip_xy": [
+                  0.2741522154318981,
+                  -0.34093482495744104
+                ],
+                "target_mouth_xy": [
+                  0.27396542627322995,
+                  -0.34276678625965457
+                ],
+                "gripper_position": [
+                  0.27416052989194706,
+                  -0.34100441880668125,
+                  1.0022921106138567
+                ],
+                "rod_tip_xy_dist": 0.0018414593133175199,
+                "target_xy_drift": 8.329085236367837e-08,
+                "depth": 0.018456063224374986,
+                "bottom_clearance": 0.08098451418223507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00019507400840718114,
+                  0.0017623684042981091
+                ],
+                "rod_tip_xy": [
+                  0.2741605298919471,
+                  -0.34100441880668125
+                ],
+                "target_mouth_xy": [
+                  0.27396545588353993,
+                  -0.34276678721097936
+                ],
+                "gripper_position": [
+                  0.27414863557764446,
+                  -0.3410109934127989,
+                  1.0021526483812502
+                ],
+                "rod_tip_xy_dist": 0.001773131766458519,
+                "target_xy_drift": 6.497143604847879e-08,
+                "depth": 0.018967715974018362,
+                "bottom_clearance": 0.08047281951008267,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00018321090821715735,
+                  0.0017557912785322594
+                ],
+                "rod_tip_xy": [
+                  0.2741486355776446,
+                  -0.3410109934127989
+                ],
+                "target_mouth_xy": [
+                  0.2739654246694274,
+                  -0.34276678469133115
+                ],
+                "gripper_position": [
+                  0.2741395962699713,
+                  -0.34101117253461616,
+                  1.0020307906390882
+                ],
+                "rod_tip_xy_dist": 0.001765324120568147,
+                "target_xy_drift": 8.553383987492023e-08,
+                "depth": 0.019107230181529267,
+                "bottom_clearance": 0.08033337849206401,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00017413765584478602,
+                  0.0017556463668415567
+                ],
+                "rod_tip_xy": [
+                  0.27413959626997136,
+                  -0.34101117253461616
+                ],
+                "target_mouth_xy": [
+                  0.2739654586141266,
+                  -0.3427668189014577
+                ],
+                "gripper_position": [
+                  0.2741306345148471,
+                  -0.3410113456226558,
+                  1.001908506681334
+                ],
+                "rod_tip_xy_dist": 0.0017642613436186475,
+                "target_xy_drift": 3.73410583012405e-08,
+                "depth": 0.01922913400860915,
+                "bottom_clearance": 0.0802115391185737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00016518112437213794,
+                  0.0017554720527014345
+                ],
+                "rod_tip_xy": [
+                  0.2741306345148472,
+                  -0.3410113456226557
+                ],
+                "target_mouth_xy": [
+                  0.27396545339047507,
+                  -0.34276681767535716
+                ],
+                "gripper_position": [
+                  0.2741215210054372,
+                  -0.341011458443627,
+                  1.0017861300695683
+                ],
+                "rod_tip_xy_dist": 0.0017632262848723166,
+                "target_xy_drift": 4.2001098307118964e-08,
+                "depth": 0.01935135455290027,
+                "bottom_clearance": 0.08008919378572554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00015606636598580748,
+                  0.001755357312505812
+                ],
+                "rod_tip_xy": [
+                  0.27412152100543724,
+                  -0.34101145844362707
+                ],
+                "target_mouth_xy": [
+                  0.27396545463945143,
+                  -0.3427668157561329
+                ],
+                "gripper_position": [
+                  0.27411236195429045,
+                  -0.34101176339111455,
+                  1.0016641580739374
+                ],
+                "rod_tip_xy_dist": 0.001762281477278713,
+                "target_xy_drift": 4.238056257684508e-08,
+                "depth": 0.019473721470862904,
+                "bottom_clearance": 0.0799668364126278,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005972850816075006,
+              "rod_tip_xy_max_step": 3.245299662492225e-05,
+              "rod_tip_xy_range": 0.0005972765991957583,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2736630025510627,
+            -0.3423443266757526,
+            1.0433684956323361
+          ],
+          "object_origin_world": [
+            0.2736630025510627,
+            -0.3423443266757526,
+            1.0433684956323361
+          ],
+          "frame_world": [
+            0.2736614625190185,
+            -0.3423489269548423,
+            1.043258210060998
+          ],
+          "center_minus_frame": [
+            1.5400320441671944e-06,
+            4.600279089717052e-06,
+            0.00011028557133818673
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2707781843060293,
+              0.13079769638140593,
+              0.8332184108820146
+            ],
+            "target_position": [
+              0.28164187958169234,
+              0.17769095897803072,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048135204912812764,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16873236656020446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332184108820146,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672536586243,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13863993038582767,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b966d08a1cca76491929bc7ec3e212ffaa2556295e7f2db12b31c8a37f105d7",
+    "visual_seed": 8814740314093593094,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..06214aeec25ac55aa06b09706b20b53ac0a92c22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_27_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2552461156590834,
+              0.028012551872444703,
+              1.1622297359766187
+            ],
+            "current_z": 1.1622297359766187,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.30112298954327354,
+            "gripper_z": 1.155569711497763,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2501777232081357,
+              0.02299831465608139,
+              1.155569711497763
+            ],
+            "object_minus_gripper": [
+              0.005068392450947701,
+              0.005014237216363314,
+              0.0066600244788557195
+            ],
+            "object_to_gripper_xy": 0.007129598649207861,
+            "object_to_gripper_z": 0.0066600244788557195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2552461156590834,
+              0.0041363876630169955,
+              1.1622297359766187
+            ],
+            "finger_b": [
+              0.24373817649853913,
+              0.028012551872444703,
+              1.1622297359766187
+            ],
+            "finger_midpoint": [
+              0.24949214607881126,
+              0.01607446976773085,
+              1.1622297359766187
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057539695802721336,
+              0.011938082104713855,
+              0.0
+            ],
+            "finger_gap": 0.026504789776158288,
+            "fingertip_max_gap": 0.09111230378473736,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013252394888079144,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622297359766187,
+            "object_top_z": 1.212180403535268,
+            "finger_top_clearance": 0.04995066755864919,
+            "fingertip_min_top_clearance": 0.014985200267594789,
+            "object_projection_between_fingers": 0.8114847941914516,
+            "object_to_finger_line_xy": 0.010366633632250755,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048056151892368684,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6635124228383719,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.266910991516667,
+              -0.3426950290953086,
+              0.851539588380915
+            ],
+            "target_position": [
+              0.2587591009275402,
+              -0.34329740607881565,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008174116356362511,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18614055907015148,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539588380915,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559437572922995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860239336893198,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15380689454336563,
+            "release_required_pad_clearance": 0.053011966844659905,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.056462242981581,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007174551486968994,
+            "max_z_decrease": 0.007174551486968994,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513396235239446,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007174551486968994,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02129395855432884,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007174551486968994,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071745741751244665,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11445903033018105,
+              -0.3995588719844818,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11445903033018105,
+              -0.3995588719844818,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11481559226571014,
+              -0.4015272846839586,
+              0.8077367368163964
+            ],
+            "closest_button": [
+              0.11444833129644387,
+              -0.39955645799636835,
+              0.7726600170135498
+            ],
+            "closest_ee_minus_button": [
+              0.0003672609692662726,
+              -0.0019708266875902436,
+              0.035076719802846545
+            ],
+            "button_min_z_position": [
+              0.11444111168384545,
+              -0.3995567560195923,
+              0.7696343064308167
+            ],
+            "min_active_finger_to_button": 0.14565420481569066,
+            "closest_active_finger": [
+              -0.02637820690870285,
+              -0.3858683705329895,
+              0.8109195232391357
+            ],
+            "closest_active_finger_button": [
+              0.11446002125740044,
+              -0.39955765008926386,
+              0.7763891816139221
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408382281661033,
+              0.013689279556274359,
+              0.03453034162521362
+            ],
+            "min_contact_pad_to_button": 0.02129395855432884,
+            "closest_contact_pad": [
+              0.11444111168384545,
+              -0.40255544540055593,
+              0.7907160647282161
+            ],
+            "closest_contact_pad_button": [
+              0.11444111168384545,
+              -0.3995567560195923,
+              0.7696343064308167
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029986893809636483,
+              0.021081758297399444
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2830661503227905,
+              0.17909580060664773,
+              1.10412252897309
+            ],
+            "current_z": 1.10412252897309,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1942133992387275,
+            "gripper_z": 1.104122848979875,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28306612355053684,
+              0.1790957952693633,
+              1.104122848979875
+            ],
+            "object_minus_gripper": [
+              2.677225363623137e-08,
+              5.337284419981714e-09,
+              -3.200067848485588e-07
+            ],
+            "object_to_gripper_xy": 2.7299087342665564e-08,
+            "object_to_gripper_z": -3.200067848485588e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2830661503227905,
+              0.17909580060664773,
+              1.10412252897309
+            ],
+            "finger_b": [
+              0.2830661503227905,
+              0.17909580060664773,
+              1.10412252897309
+            ],
+            "finger_midpoint": [
+              0.2830661503227905,
+              0.17909580060664773,
+              1.10412252897309
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10412252897309,
+            "object_top_z": 1.2291310355933698,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2830661503227905,
+            0.17909580060664773,
+            1.1041225289730903
+          ],
+          "object_origin_world": [
+            0.2830661503227905,
+            0.17909580060664773,
+            1.1041225289730903
+          ],
+          "frame_world": [
+            0.28306612355053684,
+            0.1790957952693633,
+            1.104122848979875
+          ],
+          "center_minus_frame": [
+            2.677225363623137e-08,
+            5.337284419981714e-09,
+            -3.200067846265142e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043293462402512,
+            "required_z": 0.911259847219522,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0004953667708724893,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.2942161248450335e-08,
+            "max_target_xy_drift": 1.2550807548842722e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0564622443460783,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0564622443550484,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2674064911993667,
+              -0.34265489766493146,
+              0.9234005636392172
+            ],
+            "target_mouth_xy": [
+              0.2669110529424618,
+              -0.34269511977447425
+            ],
+            "rod_tip_z": 0.9234005636392172,
+            "rod_tip_depth": -0.022140686584123492,
+            "rod_tip_bottom_clearance": 0.12158118522137007,
+            "rod_tip_xy_dist": 0.0004970682895750235,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044828968553989545,
+            "min_rod_tip_bottom_clearance": 0.05461165462204631,
+            "min_rod_tip_xy_dist": 5.237330248900748e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2669110098585648,
+              -0.34269508900679224
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.308389700558024e-08,
+              -3.0767682013266295e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0010708873002101549,
+                0.0017517856770104534
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009603184108156193,
+                0.001372018033931055
+              ],
+              "first_target_mouth_xy": [
+                0.26691099436206583,
+                -0.3426950604649065
+              ],
+              "last_target_mouth_xy": [
+                0.26691099472655905,
+                -0.34269512007323705
+              ],
+              "first_rod_tip_xy": [
+                0.267981881662276,
+                -0.34094327478789604
+              ],
+              "last_rod_tip_xy": [
+                0.26787131313737467,
+                -0.341323102039306
+              ],
+              "min_rod_tip_xy_dist": 0.0016747074179042363,
+              "max_rod_tip_xy_dist": 0.0020531811093837697,
+              "first_target_xy_drift": 3.247738786027923e-08,
+              "last_target_xy_drift": 3.4555775076863826e-08,
+              "max_depth": 0.019517384018387207,
+              "min_bottom_clearance": 0.07992315625780877
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0010708873002101549,
+                  0.0017517856770104534
+                ],
+                "rod_tip_xy": [
+                  0.267981881662276,
+                  -0.34094327478789604
+                ],
+                "target_mouth_xy": [
+                  0.26691099436206583,
+                  -0.3426950604649065
+                ],
+                "gripper_position": [
+                  0.2679705959111917,
+                  -0.3409501719740592,
+                  1.0059440076594364
+                ],
+                "rod_tip_xy_dist": 0.0020531811093837697,
+                "target_xy_drift": 3.247738786027923e-08,
+                "depth": 0.015179250826550361,
+                "bottom_clearance": 0.0842612757968576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001059603790772079,
+                  0.0017449195931570904
+                ],
+                "rod_tip_xy": [
+                  0.26797059591119177,
+                  -0.34095017197405925
+                ],
+                "target_mouth_xy": [
+                  0.2669109921204197,
+                  -0.34269509156721634
+                ],
+                "gripper_position": [
+                  0.267974013657741,
+                  -0.3410150808374931,
+                  1.0054292972711065
+                ],
+                "rod_tip_xy_dist": 0.0020414466880136904,
+                "target_xy_drift": 1.792198548775177e-08,
+                "depth": 0.015315859979301627,
+                "bottom_clearance": 0.08412471094640972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010630173355358763,
+                  0.00168001036897647
+                ],
+                "rod_tip_xy": [
+                  0.26797401365774104,
+                  -0.34101508083749305
+                ],
+                "target_mouth_xy": [
+                  0.26691099632220516,
+                  -0.3426950912064695
+                ],
+                "gripper_position": [
+                  0.267962578731207,
+                  -0.34102178552082707,
+                  1.0052927534517666
+                ],
+                "rod_tip_xy_dist": 0.001988074620208771,
+                "target_xy_drift": 1.3713920392359141e-08,
+                "depth": 0.01583061391035756,
+                "bottom_clearance": 0.08361001969975324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010515695119817092,
+                  0.0016733041156649087
+                ],
+                "rod_tip_xy": [
+                  0.2679625787312071,
+                  -0.3410217855208271
+                ],
+                "target_mouth_xy": [
+                  0.2669110092192254,
+                  -0.34269508963649203
+                ],
+                "gripper_position": [
+                  0.2679541600829359,
+                  -0.3410221967022494,
+                  1.0051734332220228
+                ],
+                "rod_tip_xy_dist": 0.001976295803272013,
+                "target_xy_drift": 8.973721166152296e-10,
+                "depth": 0.015967077536656493,
+                "bottom_clearance": 0.08347347039907604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010431987410281507,
+                  0.001672892339477594
+                ],
+                "rod_tip_xy": [
+                  0.26795416008293593,
+                  -0.34102219670224937
+                ],
+                "target_mouth_xy": [
+                  0.2669109613419078,
+                  -0.34269508904172696
+                ],
+                "gripper_position": [
+                  0.2679586856796806,
+                  -0.34108826240109935,
+                  1.0046583905347983
+                ],
+                "rod_tip_xy_dist": 0.0019715051084807102,
+                "target_xy_drift": 4.8516669602691094e-08,
+                "depth": 0.016086464524583954,
+                "bottom_clearance": 0.08335414567464139,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010477195217434287,
+                  0.0016068579786865933
+                ],
+                "rod_tip_xy": [
+                  0.2679586856796807,
+                  -0.3410882624010994
+                ],
+                "target_mouth_xy": [
+                  0.26691096615793725,
+                  -0.342695120379786
+                ],
+                "gripper_position": [
+                  0.2679471413011084,
+                  -0.34109495487879127,
+                  1.0045221390994286
+                ],
+                "rod_tip_xy_dist": 0.0019182566981275065,
+                "target_xy_drift": 5.379599972674982e-08,
+                "depth": 0.016601506509892894,
+                "bottom_clearance": 0.08283909093394881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010361314126485222,
+                  0.0016001344316342592
+                ],
+                "rod_tip_xy": [
+                  0.26794714130110847,
+                  -0.3410949548787913
+                ],
+                "target_mouth_xy": [
+                  0.26691100988845995,
+                  -0.3426950893104256
+                ],
+                "gripper_position": [
+                  0.26793863691508746,
+                  -0.3410951951227723,
+                  1.0044023748860014
+                ],
+                "rod_tip_xy_dist": 0.0019063049345733006,
+                "target_xy_drift": 3.0510149965275017e-10,
+                "depth": 0.01673776248483183,
+                "bottom_clearance": 0.0827028226453922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010276731622428925,
+                  0.0015999230577713464
+                ],
+                "rod_tip_xy": [
+                  0.2679386369150875,
+                  -0.34109519512277237
+                ],
+                "target_mouth_xy": [
+                  0.2669109637528446,
+                  -0.3426951181805437
+                ],
+                "gripper_position": [
+                  0.2679439929863181,
+                  -0.34116249306937335,
+                  1.003888552787403
+                ],
+                "rod_tip_xy_dist": 0.001901543036374071,
+                "target_xy_drift": 5.4560472951819246e-08,
+                "depth": 0.016857413328383752,
+                "bottom_clearance": 0.08258315160468144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010329511971072791,
+                  0.0015325949619072188
+                ],
+                "rod_tip_xy": [
+                  0.26794399298631816,
+                  -0.34116249306937335
+                ],
+                "target_mouth_xy": [
+                  0.2669110417892109,
+                  -0.34269508803128057
+                ],
+                "gripper_position": [
+                  0.2679322557011149,
+                  -0.34116884267658604,
+                  1.0037524153826305
+                ],
+                "rod_tip_xy_dist": 0.0018481979041403414,
+                "target_xy_drift": 3.194554400185337e-08,
+                "depth": 0.01737138790538595,
+                "bottom_clearance": 0.08206932324747795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010212936177643184,
+                  0.0015262786988570753
+                ],
+                "rod_tip_xy": [
+                  0.26793225570111495,
+                  -0.34116884267658604
+                ],
+                "target_mouth_xy": [
+                  0.26691096208335063,
+                  -0.3426951213754431
+                ],
+                "gripper_position": [
+                  0.2679236970993186,
+                  -0.34116902779916025,
+                  1.0036330915876046
+                ],
+                "rod_tip_xy_dist": 0.0018364550961760477,
+                "target_xy_drift": 5.7707890695560766e-08,
+                "depth": 0.017507459445402662,
+                "bottom_clearance": 0.08193312056810875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010127011997859703,
+                  0.0015260891070597027
+                ],
+                "rod_tip_xy": [
+                  0.2679236970993187,
+                  -0.3411690277991603
+                ],
+                "target_mouth_xy": [
+                  0.2669109958995327,
+                  -0.34269511690622
+                ],
+                "gripper_position": [
+                  0.2679150538178803,
+                  -0.34116937177707235,
+                  1.003513348096291
+                ],
+                "rod_tip_xy_dist": 0.0018315326048788279,
+                "target_xy_drift": 3.119667685613498e-08,
+                "depth": 0.017626856730663887,
+                "bottom_clearance": 0.08181384333534902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001004060265167639,
+                  0.0015257492677865359
+                ],
+                "rod_tip_xy": [
+                  0.26791505381788033,
+                  -0.34116937177707235
+                ],
+                "target_mouth_xy": [
+                  0.2669109935527127,
+                  -0.3426951210448589
+                ],
+                "gripper_position": [
+                  0.26792176628753384,
+                  -0.34123862447152786,
+                  1.0030004928655487
+                ],
+                "rod_tip_xy_dist": 0.0018264851064927028,
+                "target_xy_drift": 3.5948832073125545e-08,
+                "depth": 0.01774648115644506,
+                "bottom_clearance": 0.08169404539878056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010107737362879399,
+                  0.0014564626492202248
+                ],
+                "rod_tip_xy": [
+                  0.2679217662875339,
+                  -0.3412386244715278
+                ],
+                "target_mouth_xy": [
+                  0.26691099255124595,
+                  -0.34269508712074803
+                ],
+                "gripper_position": [
+                  0.26791006668855766,
+                  -0.34124496151801453,
+                  1.002864428141793
+                ],
+                "rod_tip_xy_dist": 0.0017728358622678745,
+                "target_xy_drift": 1.7409780261079838e-08,
+                "depth": 0.018259394741272805,
+                "bottom_clearance": 0.08118122767346225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000999070963135562,
+                  0.0014501296938652097
+                ],
+                "rod_tip_xy": [
+                  0.2679100666885577,
+                  -0.3412449615180146
+                ],
+                "target_mouth_xy": [
+                  0.26691099572542215,
+                  -0.3426950912118798
+                ],
+                "gripper_position": [
+                  0.26790143639144537,
+                  -0.3412448710594567,
+                  1.0027452182960332
+                ],
+                "rod_tip_xy_dist": 0.0017609710157780072,
+                "target_xy_drift": 1.4304129909724809e-08,
+                "depth": 0.018395478190806114,
+                "bottom_clearance": 0.08104513227478682,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009904419115147056,
+                  0.001450219205615444
+                ],
+                "rod_tip_xy": [
+                  0.2679014363914454,
+                  -0.3412448710594567
+                ],
+                "target_mouth_xy": [
+                  0.2669109944799307,
+                  -0.34269509026507217
+                ],
+                "gripper_position": [
+                  0.2678925448754528,
+                  -0.34124535282921215,
+                  1.0026258084572752
+                ],
+                "rod_tip_xy_dist": 0.0017561636952234247,
+                "target_xy_drift": 1.543002445862926e-08,
+                "depth": 0.01851460261185467,
+                "bottom_clearance": 0.08092592854822189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009815846714505416,
+                  0.001449738123279698
+                ],
+                "rod_tip_xy": [
+                  0.26789254487545283,
+                  -0.34124535282921215
+                ],
+                "target_mouth_xy": [
+                  0.2669109602040023,
+                  -0.34269509095249184
+                ],
+                "gripper_position": [
+                  0.26790085346300785,
+                  -0.34131680084560995,
+                  1.0021169298103594
+                ],
+                "rod_tip_xy_dist": 0.0017507852790440092,
+                "target_xy_drift": 4.9692668732117946e-08,
+                "depth": 0.01863411161725792,
+                "bottom_clearance": 0.08080651680965323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00098985798964224,
+                  0.001378318271708645
+                ],
+                "rod_tip_xy": [
+                  0.2679008534630079,
+                  -0.34131680084560995
+                ],
+                "target_mouth_xy": [
+                  0.26691099547336566,
+                  -0.3426951191173186
+                ],
+                "gripper_position": [
+                  0.26788892735202474,
+                  -0.3413232059600995,
+                  1.0019809774120687
+                ],
+                "rod_tip_xy_dist": 0.0016969325554613193,
+                "target_xy_drift": 3.337031242676956e-08,
+                "depth": 0.019142975411099328,
+                "bottom_clearance": 0.08029762794186446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.000977932988709851,
+                  0.001371854506983905
+                ],
+                "rod_tip_xy": [
+                  0.26788892735202485,
+                  -0.3413232059600995
+                ],
+                "target_mouth_xy": [
+                  0.266910994363315,
+                  -0.3426950604670834
+                ],
+                "gripper_position": [
+                  0.26788014956349976,
+                  -0.34132311351103595,
+                  1.0018616653874848
+                ],
+                "rod_tip_xy_dist": 0.0016847366912188487,
+                "target_xy_drift": 3.247487869070339e-08,
+                "depth": 0.019278842525930928,
+                "bottom_clearance": 0.08016168406543045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000969158358597566,
+                  0.0013719774344809754
+                ],
+                "rod_tip_xy": [
+                  0.2678801495634998,
+                  -0.341323113511036
+                ],
+                "target_mouth_xy": [
+                  0.26691099120490225,
+                  -0.342695090945517
+                ],
+                "gripper_position": [
+                  0.2678713131373746,
+                  -0.341323102039306,
+                  1.0017424982753753
+                ],
+                "rod_tip_xy_dist": 0.001679758912690904,
+                "target_xy_drift": 1.8754140355393457e-08,
+                "depth": 0.019398218415559332,
+                "bottom_clearance": 0.08004236447243895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009603184108156193,
+                  0.001372018033931055
+                ],
+                "rod_tip_xy": [
+                  0.26787131313737467,
+                  -0.341323102039306
+                ],
+                "target_mouth_xy": [
+                  0.26691099472655905,
+                  -0.34269512007323705
+                ],
+                "gripper_position": [
+                  0.2678624841374989,
+                  -0.34132304415648823,
+                  1.0016231764817063
+                ],
+                "rod_tip_xy_dist": 0.0016747074179042363,
+                "target_xy_drift": 3.4555775076863826e-08,
+                "depth": 0.019517384018387207,
+                "bottom_clearance": 0.07992315625780877,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006039288296748014,
+              "rod_tip_xy_max_step": 3.268668320600543e-05,
+              "rod_tip_xy_range": 0.0006039223996943952,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2674064911993667,
+            -0.34265489766493146,
+            1.0434005636392174
+          ],
+          "object_origin_world": [
+            0.2674064911993667,
+            -0.34265489766493146,
+            1.0434005636392174
+          ],
+          "frame_world": [
+            0.26740510176550153,
+            -0.34265900886008943,
+            1.043293462402512
+          ],
+          "center_minus_frame": [
+            1.3894338651843086e-06,
+            4.111195157974201e-06,
+            0.00010710123670532035
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27121489905827434,
+              0.13373166817372975,
+              0.8334705767691786
+            ],
+            "target_position": [
+              0.2831982935150591,
+              0.1800429327017447,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047836544240681476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16853486742767806,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334705767691786,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567167742359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1386326338329892,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2836b435668807fd507f0f42e709f35ac55b1f3f20544d15d4925e369239abb1",
+    "visual_seed": 1819163495769628972,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c9f9bcd0f1e98afb22c7448bc1fbaf0701f3278
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_28_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2625623339194623,
+              0.031615792481437595,
+              1.164289716481417
+            ],
+            "current_z": 1.164289716481417,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30318308925736126,
+            "gripper_z": 1.157219421082338,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2574906520945134,
+              0.026777287214741666,
+              1.157219421082338
+            ],
+            "object_minus_gripper": [
+              0.005071681824948937,
+              0.004838505266695929,
+              0.007070295399078885
+            ],
+            "object_to_gripper_xy": 0.007009499964288582,
+            "object_to_gripper_z": 0.007070295399078885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2625623339194623,
+              0.007463150213250031,
+              1.164289716481417
+            ],
+            "finger_b": [
+              0.25167186535668357,
+              0.031615792481437595,
+              1.164289716481417
+            ],
+            "finger_midpoint": [
+              0.25711709963807294,
+              0.019539471347343813,
+              1.164289716481417
+            ],
+            "object_minus_finger_midpoint": [
+              0.005445234281389377,
+              0.012076321134093782,
+              0.0
+            ],
+            "finger_gap": 0.02649438495326723,
+            "fingertip_max_gap": 0.0907911946484164,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013247192476633614,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164289716481417,
+            "object_top_z": 1.2141942902707723,
+            "finger_top_clearance": 0.04990457378935531,
+            "fingertip_min_top_clearance": 0.01497137213680656,
+            "object_projection_between_fingers": 0.8310393984500365,
+            "object_to_finger_line_xy": 0.00992789950752568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478955973242082,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44931572648736484,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27358075199341186,
+              -0.3427478395005005,
+              0.851539574489497
+            ],
+            "target_position": [
+              0.26541675072034815,
+              -0.34339613383077455,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00818970099119934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18420873746261052,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539574489497,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561070420980255,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604878133720505,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15196445137908643,
+            "release_required_pad_clearance": 0.053024390668602525,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0806341822952956,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007447957992553711,
+            "max_z_decrease": 0.007447957992553711,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351905540928751,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007447957992553711,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021262424737065747,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007447957992553711,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007447983949875649,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12111667543649669,
+              -0.39965760707855214,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12111667543649669,
+              -0.39965760707855214,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12299946008977894,
+              -0.4012278373039943,
+              0.8077985634086868
+            ],
+            "closest_button": [
+              0.12110477685928339,
+              -0.39965587854385365,
+              0.7726942300796509
+            ],
+            "closest_ee_minus_button": [
+              0.0018946832304955474,
+              -0.001571958760140657,
+              0.03510433332903595
+            ],
+            "button_min_z_position": [
+              0.12109707295894619,
+              -0.399656057357788,
+              0.7693608999252319
+            ],
+            "min_active_finger_to_button": 0.1441801180157163,
+            "closest_active_finger": [
+              -0.01797758787870407,
+              -0.38359153270721436,
+              0.8110491633415222
+            ],
+            "closest_active_finger_button": [
+              0.12111818045377726,
+              -0.39965662360191334,
+              0.7766662240028381
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13909576833248133,
+              0.016065090894698986,
+              0.03438293933868408
+            ],
+            "min_contact_pad_to_button": 0.021262424737065747,
+            "closest_contact_pad": [
+              0.12109707295894619,
+              -0.40242539845711955,
+              0.7904422057570569
+            ],
+            "closest_contact_pad_button": [
+              0.12109707295894619,
+              -0.399656057357788,
+              0.7693608999252319
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027693410993315792,
+              0.021081305831824992
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2795468804867491,
+              0.1782427477923659,
+              1.103632489211647
+            ],
+            "current_z": 1.103632489211647,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19372335947728436,
+            "gripper_z": 1.1036327590013233,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2795468882879881,
+              0.17824274863717707,
+              1.1036327590013233
+            ],
+            "object_minus_gripper": [
+              -7.801239043647712e-09,
+              -8.448111654679735e-10,
+              -2.697896763770302e-07
+            ],
+            "object_to_gripper_xy": 7.846848827486918e-09,
+            "object_to_gripper_z": -2.697896763770302e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2795468804867491,
+              0.1782427477923659,
+              1.103632489211647
+            ],
+            "finger_b": [
+              0.2795468804867491,
+              0.1782427477923659,
+              1.103632489211647
+            ],
+            "finger_midpoint": [
+              0.2795468804867491,
+              0.1782427477923659,
+              1.103632489211647
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103632489211647,
+            "object_top_z": 1.2286409958319267,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2795468804867491,
+            0.1782427477923659,
+            1.103632489211647
+          ],
+          "object_origin_world": [
+            0.2795468804867491,
+            0.1782427477923659,
+            1.103632489211647
+          ],
+          "frame_world": [
+            0.2795468882879881,
+            0.17824274863717707,
+            1.1036327590013233
+          ],
+          "center_minus_frame": [
+            -7.801239043647712e-09,
+            -8.448111654679735e-10,
+            -2.697896763770302e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437742370078031,
+            "required_z": 0.9112599101728098,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007554785343287445,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.982817471596908e-08,
+            "max_target_xy_drift": 2.688958264409526e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0806341806516846,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.080634182390411,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27418584956133946,
+              -0.34316647821753876,
+              0.923464316115887
+            ],
+            "target_mouth_xy": [
+              0.2735806908987676,
+              -0.34274781126345566
+            ],
+            "rod_tip_z": 0.923464316115887,
+            "rod_tip_depth": -0.02220434581970221,
+            "rod_tip_bottom_clearance": 0.12164498399240553,
+            "rod_tip_xy_dist": 0.0007358661735173115,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04477719451555695,
+            "min_rod_tip_bottom_clearance": 0.054663373662725445,
+            "min_rod_tip_xy_dist": 0.00034134268564574305,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2735807507259977,
+              -0.34274781159965007
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.98272301144398e-08,
+              3.3619440564791603e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0011114642338223568,
+                0.0012757875860485157
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001012981264905899,
+                0.0009078788782340697
+              ],
+              "first_target_mouth_xy": [
+                0.2735806637404445,
+                -0.3427477792188295
+              ],
+              "last_target_mouth_xy": [
+                0.2735807263437853,
+                -0.3427477810954066
+              ],
+              "first_rod_tip_xy": [
+                0.27469212797426684,
+                -0.34147199163278097
+              ],
+              "last_rod_tip_xy": [
+                0.2745937076086912,
+                -0.34183990221717253
+              ],
+              "min_rod_tip_xy_dist": 0.0013602849336054222,
+              "max_rod_tip_xy_dist": 0.0016920362607762923,
+              "first_target_xy_drift": 9.281704589038028e-08,
+              "last_target_xy_drift": 3.905126312462389e-08,
+              "max_depth": 0.019455723709495443,
+              "min_bottom_clearance": 0.07998496903238106
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011114642338223568,
+                  0.0012757875860485157
+                ],
+                "rod_tip_xy": [
+                  0.27469212797426684,
+                  -0.34147199163278097
+                ],
+                "target_mouth_xy": [
+                  0.2735806637404445,
+                  -0.3427477792188295
+                ],
+                "gripper_position": [
+                  0.27469778702296843,
+                  -0.34153551147377775,
+                  1.0056742486719619
+                ],
+                "rod_tip_xy_dist": 0.0016920362607762923,
+                "target_xy_drift": 9.281704589038028e-08,
+                "depth": 0.01506696396622409,
+                "bottom_clearance": 0.08437354582350454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011170924696752849,
+                  0.0012122068524063612
+                ],
+                "rod_tip_xy": [
+                  0.2746977870229685,
+                  -0.3415355114737777
+                ],
+                "target_mouth_xy": [
+                  0.2735806945532932,
+                  -0.34274771832618406
+                ],
+                "gripper_position": [
+                  0.27468621847917535,
+                  -0.3415425165356047,
+                  1.0055342558936147
+                ],
+                "rod_tip_xy_dist": 0.001648435937131366,
+                "target_xy_drift": 1.0888210224977492e-07,
+                "depth": 0.015585657634602401,
+                "bottom_clearance": 0.08385493638753194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011055530442298789,
+                  0.001205261711564487
+                ],
+                "rod_tip_xy": [
+                  0.2746862184791754,
+                  -0.34154251653560475
+                ],
+                "target_mouth_xy": [
+                  0.2735806654349455,
+                  -0.34274777824716923
+                ],
+                "gripper_position": [
+                  0.2746777590504925,
+                  -0.3415430026945586,
+                  1.0054112079735507
+                ],
+                "rod_tip_xy_dist": 0.0016355131693047626,
+                "target_xy_drift": 9.158030114151807e-08,
+                "depth": 0.015725590338757645,
+                "bottom_clearance": 0.08371501801849801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010970338558722315,
+                  0.001204745118307038
+                ],
+                "rod_tip_xy": [
+                  0.2746777590504926,
+                  -0.3415430026945586
+                ],
+                "target_mouth_xy": [
+                  0.27358072519462034,
+                  -0.34274774781286566
+                ],
+                "gripper_position": [
+                  0.2746845130938288,
+                  -0.34160752142215695,
+                  1.0048923804501984
+                ],
+                "rod_tip_xy_dist": 0.0016293845712460073,
+                "target_xy_drift": 6.870665975384986e-08,
+                "depth": 0.015848710433714608,
+                "bottom_clearance": 0.0835919268251395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011038518149513177,
+                  0.0011402613178747023
+                ],
+                "rod_tip_xy": [
+                  0.27468451309382885,
+                  -0.341607521422157
+                ],
+                "target_mouth_xy": [
+                  0.27358066127887753,
+                  -0.3427477827400317
+                ],
+                "gripper_position": [
+                  0.27467292575515784,
+                  -0.34161429750130357,
+                  1.0047524036639948
+                ],
+                "rod_tip_xy_dist": 0.0015870364527674438,
+                "target_xy_drift": 9.39875783070902e-08,
+                "depth": 0.016367548294522916,
+                "bottom_clearance": 0.08307312955085067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010922614804655395,
+                  0.0011334500039928974
+                ],
+                "rod_tip_xy": [
+                  0.2746729257551579,
+                  -0.3416142975013037
+                ],
+                "target_mouth_xy": [
+                  0.27358066427469235,
+                  -0.3427477475052966
+                ],
+                "gripper_position": [
+                  0.2746643392759667,
+                  -0.34161478628955627,
+                  1.0046294668562603
+                ],
+                "rod_tip_xy_dist": 0.0015740851480336988,
+                "target_xy_drift": 1.0761930284054878e-07,
+                "depth": 0.016507510230656552,
+                "bottom_clearance": 0.08293308850287506,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010836128680685175,
+                  0.0011329932208821725
+                ],
+                "rod_tip_xy": [
+                  0.27466433927596673,
+                  -0.3416147862895562
+                ],
+                "target_mouth_xy": [
+                  0.2735807264078982,
+                  -0.3427477795104384
+                ],
+                "gripper_position": [
+                  0.2746720161251315,
+                  -0.34168066552304943,
+                  1.0041119429429641
+                ],
+                "rod_tip_xy_dist": 0.0015677660815340527,
+                "target_xy_drift": 4.0262730512026217e-08,
+                "depth": 0.016630439563026567,
+                "bottom_clearance": 0.08281020024747865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010913227799705383,
+                  0.0010670838964092488
+                ],
+                "rod_tip_xy": [
+                  0.27467201612513154,
+                  -0.34168066552304943
+                ],
+                "target_mouth_xy": [
+                  0.273580693345161,
+                  -0.3427477494194587
+                ],
+                "gripper_position": [
+                  0.2746603548698505,
+                  -0.34168710734927127,
+                  1.0039721470112155
+                ],
+                "rod_tip_xy_dist": 0.0015263202324736996,
+                "target_xy_drift": 8.461049946819991e-08,
+                "depth": 0.01714787171021137,
+                "bottom_clearance": 0.08229263044907498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010796589610200802,
+                  0.0010606404572354178
+                ],
+                "rod_tip_xy": [
+                  0.2746603548698505,
+                  -0.3416871073492712
+                ],
+                "target_mouth_xy": [
+                  0.27358069590883044,
+                  -0.34274774780650663
+                ],
+                "gripper_position": [
+                  0.27465147345386964,
+                  -0.3416875351047111,
+                  1.0038494926231754
+                ],
+                "rod_tip_xy_dist": 0.0015134799805863026,
+                "target_xy_drift": 8.410996953122075e-08,
+                "depth": 0.017287775461468202,
+                "bottom_clearance": 0.08215288156746658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010708110464933696,
+                  0.0010602168556481661
+                ],
+                "rod_tip_xy": [
+                  0.2746514734538697,
+                  -0.34168753510471117
+                ],
+                "target_mouth_xy": [
+                  0.27358066240737633,
+                  -0.34274775196035934
+                ],
+                "gripper_position": [
+                  0.2746426732258171,
+                  -0.34168793700773586,
+                  1.0037266720680247
+                ],
+                "rod_tip_xy_dist": 0.0015068829013207064,
+                "target_xy_drift": 1.0656933835590857e-07,
+                "depth": 0.017410384092094167,
+                "bottom_clearance": 0.08203021553214607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010618858496350136,
+                  0.0010597473669783364
+                ],
+                "rod_tip_xy": [
+                  0.27464267322581715,
+                  -0.3416879370077359
+                ],
+                "target_mouth_xy": [
+                  0.27358078737618213,
+                  -0.34274768437471426
+                ],
+                "gripper_position": [
+                  0.274651916643713,
+                  -0.34175573030282347,
+                  1.0032097874032895
+                ],
+                "rod_tip_xy_dist": 0.0015002219967300144,
+                "target_xy_drift": 1.3239871718112667e-07,
+                "depth": 0.017533335166943886,
+                "bottom_clearance": 0.08190753943002049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010712248917200684,
+                  0.0009920216813715799
+                ],
+                "rod_tip_xy": [
+                  0.2746519166437131,
+                  -0.34175573030282347
+                ],
+                "target_mouth_xy": [
+                  0.273580691751993,
+                  -0.34274775198419505
+                ],
+                "gripper_position": [
+                  0.27464012680230865,
+                  -0.3417624624285244,
+                  1.0030700052016692
+                ],
+                "rod_tip_xy_dist": 0.0014600102002903844,
+                "target_xy_drift": 8.385663781026455e-08,
+                "depth": 0.01805010355404446,
+                "bottom_clearance": 0.08139051423313004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010594025040663313,
+                  0.0009852866637906632
+                ],
+                "rod_tip_xy": [
+                  0.2746401268023087,
+                  -0.34176246242852437
+                ],
+                "target_mouth_xy": [
+                  0.2735807242982424,
+                  -0.34274774909231503
+                ],
+                "gripper_position": [
+                  0.2746311264537369,
+                  -0.34176289599401755,
+                  1.0029474633216315
+                ],
+                "rod_tip_xy_dist": 0.0014467631027454868,
+                "target_xy_drift": 6.786452080210746e-08,
+                "depth": 0.01818988330647553,
+                "bottom_clearance": 0.08125067341674042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001050463425512127,
+                  0.0009848540593119237
+                ],
+                "rod_tip_xy": [
+                  0.27463112645373694,
+                  -0.34176289599401755
+                ],
+                "target_mouth_xy": [
+                  0.2735806630282248,
+                  -0.34274775005332947
+                ],
+                "gripper_position": [
+                  0.27462227365107894,
+                  -0.341763052723036,
+                  1.002824684323338
+                ],
+                "rod_tip_xy_dist": 0.0014399343479762701,
+                "target_xy_drift": 1.0713939026534108e-07,
+                "depth": 0.018312359533549594,
+                "bottom_clearance": 0.08112814716723771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001041548364758893,
+                  0.0009846963556235377
+                ],
+                "rod_tip_xy": [
+                  0.274622273651079,
+                  -0.341763052723036
+                ],
+                "target_mouth_xy": [
+                  0.2735807252863201,
+                  -0.3427477490786595
+                ],
+                "gripper_position": [
+                  0.2746327349346398,
+                  -0.3418327331731528,
+                  1.0023114131689828
+                ],
+                "rod_tip_xy_dist": 0.0014333352395410506,
+                "target_xy_drift": 6.749852928206251e-08,
+                "depth": 0.018435211984844213,
+                "bottom_clearance": 0.08100538260376633,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001052043435953498,
+                  0.0009150486017228676
+                ],
+                "rod_tip_xy": [
+                  0.27463273493463985,
+                  -0.3418327331731529
+                ],
+                "target_mouth_xy": [
+                  0.27358069149868636,
+                  -0.34274778177487575
+                ],
+                "gripper_position": [
+                  0.27462081953921713,
+                  -0.34183927918542956,
+                  1.0021718330460918
+                ],
+                "rod_tip_xy_dist": 0.0013943132125343349,
+                "target_xy_drift": 6.631283111739733e-08,
+                "depth": 0.01894848521240655,
+                "bottom_clearance": 0.08049214172141672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010401261650664906,
+                  0.0009084689659226708
+                ],
+                "rod_tip_xy": [
+                  0.27462081953921713,
+                  -0.34183927918542956
+                ],
+                "target_mouth_xy": [
+                  0.27358069337415064,
+                  -0.3427477481513522
+                ],
+                "gripper_position": [
+                  0.2746118395583155,
+                  -0.3418393594289651,
+                  1.0020494088778977
+                ],
+                "rod_tip_xy_dist": 0.0013810062640337774,
+                "target_xy_drift": 8.552731060009704e-08,
+                "depth": 0.019088004235726097,
+                "bottom_clearance": 0.08035254437280182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010311138050076996,
+                  0.0009084219904569313
+                ],
+                "rod_tip_xy": [
+                  0.27461183955831553,
+                  -0.34183935942896504
+                ],
+                "target_mouth_xy": [
+                  0.27358072575330783,
+                  -0.34274778141942197
+                ],
+                "gripper_position": [
+                  0.2746028128426375,
+                  -0.3418396425966693,
+                  1.0019267394160918
+                ],
+                "rod_tip_xy_dist": 0.001374200200707011,
+                "target_xy_drift": 3.917245724610658e-08,
+                "depth": 0.019210525904761577,
+                "bottom_clearance": 0.08023015507447695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0010221211469179092,
+                  0.0009081353648834334
+                ],
+                "rod_tip_xy": [
+                  0.27460281284263754,
+                  -0.34183964259666944
+                ],
+                "target_mouth_xy": [
+                  0.27358069169571964,
+                  -0.34274777796155287
+                ],
+                "gripper_position": [
+                  0.2745937076086911,
+                  -0.34183990221717264,
+                  1.0018042102344247
+                ],
+                "rod_tip_xy_dist": 0.0013672752027038115,
+                "target_xy_drift": 6.794185241957444e-08,
+                "depth": 0.019333128448842607,
+                "bottom_clearance": 0.08010744351121624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.001012981264905899,
+                  0.0009078788782340697
+                ],
+                "rod_tip_xy": [
+                  0.2745937076086912,
+                  -0.34183990221717253
+                ],
+                "target_mouth_xy": [
+                  0.2735807263437853,
+                  -0.3427477810954066
+                ],
+                "gripper_position": [
+                  0.27458463014206236,
+                  -0.34184009656373726,
+                  1.0016815546423805
+                ],
+                "rod_tip_xy_dist": 0.0013602849336054222,
+                "target_xy_drift": 3.905126312462389e-08,
+                "depth": 0.019455723709495443,
+                "bottom_clearance": 0.07998496903238106,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.000602687335969871,
+              "rod_tip_xy_max_step": 3.264163878173407e-05,
+              "rod_tip_xy_range": 0.0006026786150103635,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27418584956133946,
+            -0.34316647821753876,
+            1.0434643161158872
+          ],
+          "object_origin_world": [
+            0.27418584956133946,
+            -0.34316647821753876,
+            1.0434643161158872
+          ],
+          "frame_world": [
+            0.2742111604877673,
+            -0.34316405147436524,
+            1.0437742370078031
+          ],
+          "center_minus_frame": [
+            -2.5310926427823954e-05,
+            -2.4267431735225387e-06,
+            -0.00030992089191594907
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26631908425281187,
+              0.13397348330864267,
+              0.8326276000719961
+            ],
+            "target_position": [
+              0.2796644239207078,
+              0.18015626991188216,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04807231915865796,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16540573247115806,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326276000719961,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670993853238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13571192006395333,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77607100e68558a6f98e27b7d96741cb506e5cfdc2b0a988b79abaa02c228f55",
+    "visual_seed": 4917278338098098474,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85eeeb9046dc32747791bced66099ba0482ca775
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_29_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26373112050806746,
+              0.029722803536268015,
+              1.1648438691500034
+            ],
+            "current_z": 1.1648438691500034,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30373730153059275,
+            "gripper_z": 1.1578174693032308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2587676355409656,
+              0.024787654156907826,
+              1.1578174693032308
+            ],
+            "object_minus_gripper": [
+              0.004963484967101861,
+              0.004935149379360189,
+              0.0070263998467725575
+            ],
+            "object_to_gripper_xy": 0.006999420148501261,
+            "object_to_gripper_z": 0.0070263998467725575,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26373112050806746,
+              0.005789623147307905,
+              1.1648438691500034
+            ],
+            "finger_b": [
+              0.25251074150686154,
+              0.029722803536268015,
+              1.1648438691500034
+            ],
+            "finger_midpoint": [
+              0.25812093100746447,
+              0.01775621334178796,
+              1.1648438691500034
+            ],
+            "object_minus_finger_midpoint": [
+              0.005610189500602991,
+              0.011966590194480056,
+              0.0
+            ],
+            "finger_gap": 0.026432821046214642,
+            "fingertip_max_gap": 0.09072209764708933,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013216410523107335,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648438691500034,
+            "object_top_z": 1.214734867484427,
+            "finger_top_clearance": 0.049890998334423564,
+            "fingertip_min_top_clearance": 0.014967299500327035,
+            "object_projection_between_fingers": 0.8198111050011745,
+            "object_to_finger_line_xy": 0.01015931497432122,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047861048823544666,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.45526803504554075,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2712707793459477,
+              -0.3512162506475135,
+              0.851539579944328
+            ],
+            "target_position": [
+              0.26277181475180983,
+              -0.3520771528459033,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008542455839370848,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18708924504106414,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539579944328,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564143229737864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528061067184607,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463815167351724,
+            "release_required_pad_clearance": 0.05264030533592304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34034838627707664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007397055625915527,
+            "max_z_decrease": 0.007397055625915527,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035115013733146995,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007397055625915527,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021187835458872074,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007397055625915527,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007397074015536136,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11847174167633052,
+              -0.40833860635757435,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11847174167633052,
+              -0.40833860635757435,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1193728379687996,
+              -0.40934041582908137,
+              0.8078499008649062
+            ],
+            "closest_button": [
+              0.11846181750297544,
+              -0.4083350598812102,
+              0.7727611064910889
+            ],
+            "closest_ee_minus_button": [
+              0.0009110204658241694,
+              -0.001005355947871156,
+              0.03508879437381729
+            ],
+            "button_min_z_position": [
+              0.11845538765192029,
+              -0.40833646059036244,
+              0.7694118022918701
+            ],
+            "min_active_finger_to_button": 0.14523551267304902,
+            "closest_active_finger": [
+              -0.021846607327461243,
+              -0.39370617270469666,
+              0.8108460903167725
+            ],
+            "closest_active_finger_button": [
+              0.11847234517335888,
+              -0.4083372950553893,
+              0.7763515114784241
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403189525008201,
+              0.014631122350692638,
+              0.03449457883834839
+            ],
+            "min_contact_pad_to_button": 0.021187835458872074,
+            "closest_contact_pad": [
+              0.11845538765192029,
+              -0.4103695158835797,
+              0.7905018724104581
+            ],
+            "closest_contact_pad_button": [
+              0.11845538765192029,
+              -0.40833646059036244,
+              0.7694118022918701
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020330552932172896,
+              0.02109007011858799
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.278536883390986,
+              0.1779306617183741,
+              1.101377524360545
+            ],
+            "current_z": 1.101377524360545,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19146839462618248,
+            "gripper_z": 1.1013774607208995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2785368223743658,
+              0.17793069401661868,
+              1.1013774607208995
+            ],
+            "object_minus_gripper": [
+              6.101662020085996e-08,
+              -3.229824457884334e-08,
+              6.363964555333723e-08
+            ],
+            "object_to_gripper_xy": 6.903770378286617e-08,
+            "object_to_gripper_z": 6.363964555333723e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.278536883390986,
+              0.1779306617183741,
+              1.101377524360545
+            ],
+            "finger_b": [
+              0.278536883390986,
+              0.1779306617183741,
+              1.101377524360545
+            ],
+            "finger_midpoint": [
+              0.278536883390986,
+              0.1779306617183741,
+              1.101377524360545
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101377524360545,
+            "object_top_z": 1.2263860309808248,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.278536883390986,
+            0.1779306617183741,
+            1.101377524360545
+          ],
+          "object_origin_world": [
+            0.278536883390986,
+            0.1779306617183741,
+            1.101377524360545
+          ],
+          "frame_world": [
+            0.2785368223743658,
+            0.17793069401661868,
+            1.1013774607208995
+          ],
+          "center_minus_frame": [
+            6.101662020085996e-08,
+            -3.229824457884334e-08,
+            6.363964555333723e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1670,
+            "required_success_frames": 20,
+            "gripper_z": 1.043224296218536,
+            "required_z": 0.9112598292301498,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001860355892642502,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.630620729523779e-08,
+            "max_target_xy_drift": 1.8898189095042e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3403483870084768,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3403483875653261,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26947130316122003,
+              -0.35074533450236767,
+              0.9233345849852227
+            ],
+            "target_mouth_xy": [
+              0.27127077968123914,
+              -0.35121622178695233
+            ],
+            "rod_tip_z": 0.9233345849852227,
+            "rod_tip_depth": -0.022074737413275924,
+            "rod_tip_bottom_clearance": 0.12151528009702539,
+            "rod_tip_xy_dist": 0.0018600673592328823,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04465792180674577,
+            "min_rod_tip_bottom_clearance": 0.05478261077846769,
+            "min_rod_tip_xy_dist": 0.001126376756879261,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27127075062023653,
+              -0.35121628138536887
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9061002604358066e-08,
+              5.959841653524478e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0011614428958482415,
+                0.0021778185081809953
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012796581159852383,
+                0.0017844119668044
+              ],
+              "first_target_mouth_xy": [
+                0.27127078243357294,
+                -0.3512162817069858
+              ],
+              "last_target_mouth_xy": [
+                0.2712707790709431,
+                -0.351216282668485
+              ],
+              "first_rod_tip_xy": [
+                0.2701093395377247,
+                -0.3490384631988048
+              ],
+              "last_rod_tip_xy": [
+                0.26999112095495786,
+                -0.3494318707016806
+              ],
+              "min_rod_tip_xy_dist": 0.0021946651093520545,
+              "max_rod_tip_xy_dist": 0.0024704511862812706,
+              "first_target_xy_drift": 3.181496206159511e-08,
+              "last_target_xy_drift": 2.847962589647483e-08,
+              "max_depth": 0.019657870002292244,
+              "min_bottom_clearance": 0.07978274186014889
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0011614428958482415,
+                  0.0021778185081809953
+                ],
+                "rod_tip_xy": [
+                  0.2701093395377247,
+                  -0.3490384631988048
+                ],
+                "target_mouth_xy": [
+                  0.27127078243357294,
+                  -0.3512162817069858
+                ],
+                "gripper_position": [
+                  0.27009820376915394,
+                  -0.3490455322107483,
+                  1.0058556427356942
+                ],
+                "rod_tip_xy_dist": 0.002468165929367806,
+                "target_xy_drift": 3.181496206159511e-08,
+                "depth": 0.015264993555382023,
+                "bottom_clearance": 0.08417561828184439,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0011725765164187218,
+                  0.002170747915904103
+                ],
+                "rod_tip_xy": [
+                  0.2700982037691539,
+                  -0.3490455322107483
+                ],
+                "target_mouth_xy": [
+                  0.2712707802855726,
+                  -0.3512162801266524
+                ],
+                "gripper_position": [
+                  0.2700899217869078,
+                  -0.3490463300335593,
+                  1.005733067044667
+                ],
+                "rod_tip_xy_dist": 0.0024672012891652504,
+                "target_xy_drift": 2.9692028082805925e-08,
+                "depth": 0.015404172958639273,
+                "bottom_clearance": 0.08403631975567694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0011808565485268985,
+                  0.0021699555008339866
+                ],
+                "rod_tip_xy": [
+                  0.27008992178690777,
+                  -0.3490463300335592
+                ],
+                "target_mouth_xy": [
+                  0.27127077833543467,
+                  -0.3512162855343932
+                ],
+                "gripper_position": [
+                  0.27009155603471413,
+                  -0.34911283498192497,
+                  1.0052137117002122
+                ],
+                "rod_tip_xy_dist": 0.0024704511862812706,
+                "target_xy_drift": 2.802403630405935e-08,
+                "depth": 0.015526895958151266,
+                "bottom_clearance": 0.08391384671015245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0011791956399252457,
+                  0.0021035104671801585
+                ],
+                "rod_tip_xy": [
+                  0.2700915560347141,
+                  -0.349112834981925
+                ],
+                "target_mouth_xy": [
+                  0.2712707516746393,
+                  -0.3512163454491052
+                ],
+                "gripper_position": [
+                  0.2700801634036346,
+                  -0.34912008202992745,
+                  1.0050745160300747
+                ],
+                "rod_tip_xy_dist": 0.0024114847382380837,
+                "target_xy_drift": 6.407241275294661e-08,
+                "depth": 0.016046145645134957,
+                "bottom_clearance": 0.08339457565898412,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011906486775989378,
+                  0.0020961996783873116
+                ],
+                "rod_tip_xy": [
+                  0.27008016340363455,
+                  -0.3491200820299274
+                ],
+                "target_mouth_xy": [
+                  0.2712708120812335,
+                  -0.3512162817083147
+                ],
+                "gripper_position": [
+                  0.27007187900286433,
+                  -0.3491206067999063,
+                  1.004951830376963
+                ],
+                "rod_tip_xy_dist": 0.002410746225785528,
+                "target_xy_drift": 6.146184540951357e-08,
+                "depth": 0.016185393516701008,
+                "bottom_clearance": 0.08325521239454436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011989016444002298,
+                  0.002095644157767751
+                ],
+                "rod_tip_xy": [
+                  0.2700718790028643,
+                  -0.3491206067999063
+                ],
+                "target_mouth_xy": [
+                  0.2712707806472645,
+                  -0.35121625095767406
+                ],
+                "gripper_position": [
+                  0.2700744736120836,
+                  -0.34918800726129745,
+                  1.0044332367945474
+                ],
+                "rod_tip_xy_dist": 0.002414350759299833,
+                "target_xy_drift": 4.274888326451333e-08,
+                "depth": 0.016307929927285136,
+                "bottom_clearance": 0.0831325792808254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001196307548118003,
+                  0.0020282731803929477
+                ],
+                "rod_tip_xy": [
+                  0.27007447361208353,
+                  -0.3491880072612974
+                ],
+                "target_mouth_xy": [
+                  0.27127078116020154,
+                  -0.35121628044169034
+                ],
+                "gripper_position": [
+                  0.27006301709602654,
+                  -0.34919501621320587,
+                  1.0042936776689417
+                ],
+                "rod_tip_xy_dist": 0.0023547916774070334,
+                "target_xy_drift": 3.0554541257248605e-08,
+                "depth": 0.016826581582494282,
+                "bottom_clearance": 0.08261393616176893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001207762797763412,
+                  0.002021264549192936
+                ],
+                "rod_tip_xy": [
+                  0.2700630170960265,
+                  -0.3491950162132059
+                ],
+                "target_mouth_xy": [
+                  0.2712707798937899,
+                  -0.35121628076239886
+                ],
+                "gripper_position": [
+                  0.27005457471569416,
+                  -0.3491959458161117,
+                  1.00417138659724
+                ],
+                "rod_tip_xy_dist": 0.0023546127820695756,
+                "target_xy_drift": 2.9280181316070923e-08,
+                "depth": 0.016966152096358322,
+                "bottom_clearance": 0.08247435984737861,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012162062850655242,
+                  0.0020203343093448956
+                ],
+                "rod_tip_xy": [
+                  0.2700545747156941,
+                  -0.3491959458161117
+                ],
+                "target_mouth_xy": [
+                  0.27127078100075963,
+                  -0.3512162801254566
+                ],
+                "gripper_position": [
+                  0.2700579763216565,
+                  -0.3492642107209232,
+                  1.0036551611952396
+                ],
+                "rod_tip_xy_dist": 0.0023581578508125784,
+                "target_xy_drift": 3.04066368187717e-08,
+                "depth": 0.01708843406680094,
+                "bottom_clearance": 0.08235208470131616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012128027777617567,
+                  0.0019520706769770024
+                ],
+                "rod_tip_xy": [
+                  0.27005797632165646,
+                  -0.3492642107209232
+                ],
+                "target_mouth_xy": [
+                  0.2712707790994182,
+                  -0.3512162813979002
+                ],
+                "gripper_position": [
+                  0.2700465183429569,
+                  -0.3492711894632068,
+                  1.003515752807329
+                ],
+                "rod_tip_xy_dist": 0.002298145014062447,
+                "target_xy_drift": 2.8479184436577148e-08,
+                "depth": 0.017604704167266116,
+                "bottom_clearance": 0.08183586098756102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012242609132004922,
+                  0.001945061498271894
+                ],
+                "rod_tip_xy": [
+                  0.2700465183429569,
+                  -0.3492711894632068
+                ],
+                "target_mouth_xy": [
+                  0.2712707792561574,
+                  -0.3512162509614787
+                ],
+                "gripper_position": [
+                  0.2700379559622735,
+                  -0.3492718183926677,
+                  1.0033939868136375
+                ],
+                "rod_tip_xy_dist": 0.00229827740180558,
+                "target_xy_drift": 4.1780725906812844e-08,
+                "depth": 0.017744096357848904,
+                "bottom_clearance": 0.08169644001873311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012328552743463561,
+                  0.001944433194306816
+                ],
+                "rod_tip_xy": [
+                  0.2700379559622734,
+                  -0.34927181839266774
+                ],
+                "target_mouth_xy": [
+                  0.2712708112366198,
+                  -0.35121625158697456
+                ],
+                "gripper_position": [
+                  0.27002941210866555,
+                  -0.3492723857215421,
+                  1.0032715797350047
+                ],
+                "rod_tip_xy_dist": 0.0023023363296021363,
+                "target_xy_drift": 6.754472756002883e-08,
+                "depth": 0.017865850649092962,
+                "bottom_clearance": 0.08157471131552096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012413679302571978,
+                  0.0019438947196292466
+                ],
+                "rod_tip_xy": [
+                  0.2700294121086655,
+                  -0.34927238572154207
+                ],
+                "target_mouth_xy": [
+                  0.2712707800389227,
+                  -0.3512162804411713
+                ],
+                "gripper_position": [
+                  0.27003409213662444,
+                  -0.34934286732516434,
+                  1.0027569226089057
+                ],
+                "rod_tip_xy_dist": 0.0023064520413989768,
+                "target_xy_drift": 2.9433834341383273e-08,
+                "depth": 0.017988239823628516,
+                "bottom_clearance": 0.08145225501981657,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00123668873975874,
+                  0.0018734134314078998
+                ],
+                "rod_tip_xy": [
+                  0.2700340921366244,
+                  -0.3493428673251643
+                ],
+                "target_mouth_xy": [
+                  0.2712707808763831,
+                  -0.3512162807565722
+                ],
+                "gripper_position": [
+                  0.27002243530999737,
+                  -0.3493498637643407,
+                  1.0026177643847014
+                ],
+                "rod_tip_xy_dist": 0.002244788837290845,
+                "target_xy_drift": 3.02626798487733e-08,
+                "depth": 0.01850289908813607,
+                "bottom_clearance": 0.0809376188591161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012483761088428191,
+                  0.001866414141545203
+                ],
+                "rod_tip_xy": [
+                  0.2700224353099973,
+                  -0.34934986376434063
+                ],
+                "target_mouth_xy": [
+                  0.27127081141884013,
+                  -0.35121627790588583
+                ],
+                "gripper_position": [
+                  0.27001383690492975,
+                  -0.3493501431809087,
+                  1.0024956476704674
+                ],
+                "rod_tip_xy_dist": 0.0022454274998069865,
+                "target_xy_drift": 6.089808700957375e-08,
+                "depth": 0.018642100941999917,
+                "bottom_clearance": 0.08079852132253285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001256942644738912,
+                  0.001866140121186688
+                ],
+                "rod_tip_xy": [
+                  0.2700138369049297,
+                  -0.34935014318090873
+                ],
+                "target_mouth_xy": [
+                  0.2712707795496686,
+                  -0.3512162833020954
+                ],
+                "gripper_position": [
+                  0.2700050006677608,
+                  -0.3493509103130761,
+                  1.0023735305820292
+                ],
+                "rod_tip_xy_dist": 0.0022499741696441577,
+                "target_xy_drift": 2.8992859132939957e-08,
+                "depth": 0.018764238314715187,
+                "bottom_clearance": 0.08067637797533023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001265749938809957,
+                  0.0018653723480021034
+                ],
+                "rod_tip_xy": [
+                  0.27000500066776073,
+                  -0.3493509103130761
+                ],
+                "target_mouth_xy": [
+                  0.2712707506065707,
+                  -0.3512162826610782
+                ],
+                "gripper_position": [
+                  0.26999621907565663,
+                  -0.3493515766006267,
+                  1.002251678369138
+                ],
+                "rod_tip_xy_dist": 0.0022542708143185215,
+                "target_xy_drift": 1.2757825105345135e-09,
+                "depth": 0.018886321233440473,
+                "bottom_clearance": 0.08055424616250795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012745612797796513,
+                  0.001864703522926947
+                ],
+                "rod_tip_xy": [
+                  0.26999621907565663,
+                  -0.34935157660062677
+                ],
+                "target_mouth_xy": [
+                  0.2712707803554363,
+                  -0.3512162801235537
+                ],
+                "gripper_position": [
+                  0.2700029609844798,
+                  -0.3494249127674408,
+                  1.0017409781484625
+                ],
+                "rod_tip_xy_dist": 0.002258677862009036,
+                "target_xy_drift": 2.9761960309558824e-08,
+                "depth": 0.019008137248870516,
+                "bottom_clearance": 0.08043235688734207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012678484839910853,
+                  0.0017914003360077757
+                ],
+                "rod_tip_xy": [
+                  0.27000296098447973,
+                  -0.3494249127674408
+                ],
+                "target_mouth_xy": [
+                  0.2712708094684708,
+                  -0.3512163131034486
+                ],
+                "gripper_position": [
+                  0.2699911209549579,
+                  -0.34943187070168064,
+                  1.0016020191198436
+                ],
+                "rod_tip_xy_dist": 0.0021946651093520545,
+                "target_xy_drift": 6.685171096946457e-08,
+                "depth": 0.019518904279963167,
+                "bottom_clearance": 0.07992170752114591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012796581159852383,
+                  0.0017844119668044
+                ],
+                "rod_tip_xy": [
+                  0.26999112095495786,
+                  -0.3494318707016806
+                ],
+                "target_mouth_xy": [
+                  0.2712707790709431,
+                  -0.351216282668485
+                ],
+                "gripper_position": [
+                  0.2699822722090409,
+                  -0.34943256824245983,
+                  1.0014800599722053
+                ],
+                "rod_tip_xy_dist": 0.0021958258039019483,
+                "target_xy_drift": 2.847962589647483e-08,
+                "depth": 0.019657870002292244,
+                "bottom_clearance": 0.07978274186014889,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005990280742737973,
+              "rod_tip_xy_max_step": 3.232873636572961e-05,
+              "rod_tip_xy_range": 0.0005990155031129701,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26947130316122003,
+            -0.35074533450236767,
+            1.043334584985223
+          ],
+          "object_origin_world": [
+            0.26947130316122003,
+            -0.35074533450236767,
+            1.043334584985223
+          ],
+          "frame_world": [
+            0.2694696986092217,
+            -0.35075035590570514,
+            1.043224296218536
+          ],
+          "center_minus_frame": [
+            1.6045519983243217e-06,
+            5.0214033374684774e-06,
+            0.00011028876668683907
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26672820494376515,
+              0.13277190279893653,
+              0.8334955115303455
+            ],
+            "target_position": [
+              0.27866721643914044,
+              0.17880527079808772,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04755639772766627,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1671040910061936,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334955115303455,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670050001562,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1373515952143346,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2075aa207821d186c40c67127b118177ba1d513e86b62d4824885646e31b6e4f",
+    "visual_seed": 8545249183063057271,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1799729b4ca5562dbda146fffd3d08a86f049c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25827762115242037,
+              0.034953228753611267,
+              1.1614657662192815
+            ],
+            "current_z": 1.1614657662192815,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.30035890057664694,
+            "gripper_z": 1.1545210789680609,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2532837686622862,
+              0.029970286249455066,
+              1.1545210789680609
+            ],
+            "object_minus_gripper": [
+              0.004993852490134176,
+              0.0049829425041562,
+              0.00694468725122066
+            ],
+            "object_to_gripper_xy": 0.007054663613025484,
+            "object_to_gripper_z": 0.00694468725122066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25827762115242037,
+              0.01108630320968099,
+              1.1614657662192815
+            ],
+            "finger_b": [
+              0.24686914102847296,
+              0.034953228753611267,
+              1.1614657662192815
+            ],
+            "finger_midpoint": [
+              0.2525733810904467,
+              0.02301976598164613,
+              1.1614657662192815
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057042400619736755,
+              0.011933462771965136,
+              0.0
+            ],
+            "finger_gap": 0.02645342234301669,
+            "fingertip_max_gap": 0.09073998078517503,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01322671117150833,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1614657662192815,
+            "object_top_z": 1.2113244497592448,
+            "finger_top_clearance": 0.049858683539963256,
+            "fingertip_min_top_clearance": 0.01495760506198901,
+            "object_projection_between_fingers": 0.8140090345676955,
+            "object_to_finger_line_xy": 0.010293010188133202,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786999039258752,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.506113828761213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.275817191788145,
+              -0.34752326647773313,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.26706718422558123,
+              -0.3484857772274379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008802787018224428,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18350401203278974,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548512170750005,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336883,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15160849259332373,
+            "release_required_pad_clearance": 0.052461859836684416,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007626831531524658,
+            "max_z_decrease": 0.007626831531524658,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509213909880706,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007626831531524658,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021081590588751826,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007626831531524658,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007626858224655938,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1227671131491661,
+              -0.40474724769592285,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1227671131491661,
+              -0.40474724769592285,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1218698176084625,
+              -0.4042451486934208,
+              0.8076136632843859
+            ],
+            "closest_button": [
+              0.12275659292936324,
+              -0.404744029045105,
+              0.7725362777709961
+            ],
+            "closest_ee_minus_button": [
+              -0.0008867753209007428,
+              0.0004988803516841611,
+              0.03507738551338979
+            ],
+            "button_min_z_position": [
+              0.12274716049432753,
+              -0.40474423766136175,
+              0.769182026386261
+            ],
+            "min_active_finger_to_button": 0.14675872802071346,
+            "closest_active_finger": [
+              -0.004834800958633423,
+              -0.4685516953468323,
+              0.8109896183013916
+            ],
+            "closest_active_finger_button": [
+              0.12276760488748549,
+              -0.40474656224250793,
+              0.7765707969665527
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12760240584611893,
+              -0.06380513310432434,
+              0.03441882133483887
+            ],
+            "min_contact_pad_to_button": 0.021081590588751826,
+            "closest_contact_pad": [
+              0.12274716049432753,
+              -0.40522755813060296,
+              0.7902580758992926
+            ],
+            "closest_contact_pad_button": [
+              0.12274716049432753,
+              -0.40474423766136175,
+              0.769182026386261
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00048332046924121075,
+              0.02107604951303166
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27861585314832976,
+              0.1760693108941842,
+              1.1021340579004888
+            ],
+            "current_z": 1.1021340579004888,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19222492816612624,
+            "gripper_z": 1.1021340183222585,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2786158147994,
+              0.17606930701216883,
+              1.1021340183222585
+            ],
+            "object_minus_gripper": [
+              3.834892975396187e-08,
+              3.882015375822334e-09,
+              3.957823024869356e-08
+            ],
+            "object_to_gripper_xy": 3.8544914796279194e-08,
+            "object_to_gripper_z": 3.957823024869356e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27861585314832976,
+              0.1760693108941842,
+              1.1021340579004888
+            ],
+            "finger_b": [
+              0.27861585314832976,
+              0.1760693108941842,
+              1.1021340579004888
+            ],
+            "finger_midpoint": [
+              0.27861585314832976,
+              0.1760693108941842,
+              1.1021340579004888
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021340579004888,
+            "object_top_z": 1.2271425645207685,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2786158531483298,
+            0.1760693108941842,
+            1.1021340579004888
+          ],
+          "object_origin_world": [
+            0.2786158531483298,
+            0.1760693108941842,
+            1.1021340579004888
+          ],
+          "frame_world": [
+            0.2786158147994,
+            0.17606930701216883,
+            1.1021340183222585
+          ],
+          "center_minus_frame": [
+            3.834892980947302e-08,
+            3.882015375822334e-09,
+            3.957823024869356e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043428419028822,
+            "required_z": 0.9112598185244666,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008150178822104098,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.664001874625056e-08,
+            "max_target_xy_drift": 5.65459309846469e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27661246752142266,
+              -0.3477030610589031,
+              0.923541435769487
+            ],
+            "target_mouth_xy": [
+              0.27581713218350024,
+              -0.34752317707076597
+            ],
+            "rod_tip_z": 0.923541435769487,
+            "rod_tip_depth": -0.02228155764037565,
+            "rod_tip_bottom_clearance": 0.12172205641398826,
+            "rod_tip_xy_dist": 0.000815424152779574,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044594963454896885,
+            "min_rod_tip_bottom_clearance": 0.05484553531871572,
+            "min_rod_tip_xy_dist": 0.0002039613471979594,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.275817191788145,
+              -0.34752320687308835
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.960464477539063e-08,
+              2.9802322387695312e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0012859544451189753,
+                0.0015266985743571104
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001192709002580783,
+                0.0011369243227658532
+              ],
+              "first_target_mouth_xy": [
+                0.275817191788145,
+                -0.34752323667541074
+              ],
+              "last_target_mouth_xy": [
+                0.2758171619858226,
+                -0.34752323667541074
+              ],
+              "first_rod_tip_xy": [
+                0.277103146233264,
+                -0.34599653810105363
+              ],
+              "last_rod_tip_xy": [
+                0.2770098709884034,
+                -0.3463863123526449
+              ],
+              "min_rod_tip_xy_dist": 0.0016477717319258272,
+              "max_rod_tip_xy_dist": 0.001996118075632122,
+              "first_target_xy_drift": 2.9802322387695312e-08,
+              "last_target_xy_drift": 4.2146848510894035e-08,
+              "max_depth": 0.019640217960732564,
+              "min_bottom_clearance": 0.07980028081288004
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0012859544451189753,
+                  0.0015266985743571104
+                ],
+                "rod_tip_xy": [
+                  0.277103146233264,
+                  -0.34599653810105363
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770916830184681,
+                  -0.3460039172455137,
+                  1.0059142873554765
+                ],
+                "rod_tip_xy_dist": 0.001996118075632122,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.015203336207863849,
+                "bottom_clearance": 0.08423716256574876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012745210326453593,
+                  0.0015192896275745826
+                ],
+                "rod_tip_xy": [
+                  0.277091683018468,
+                  -0.34600391724551377
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752320687308835
+                ],
+                "gripper_position": [
+                  0.2770985286663451,
+                  -0.3460690686415088,
+                  1.0053943886513559
+                ],
+                "rod_tip_xy_dist": 0.001983089719380116,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.015345531168990068,
+                "bottom_clearance": 0.08409496760462254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0012813368781999235,
+                  0.0014541978362243024
+                ],
+                "rod_tip_xy": [
+                  0.27709852866634493,
+                  -0.3460690686415088
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752326647773313
+                ],
+                "gripper_position": [
+                  0.2770871239750702,
+                  -0.3460761688568281,
+                  1.0052523712413723
+                ],
+                "rod_tip_xy_dist": 0.0019381732487872617,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.015865489477755457,
+                "bottom_clearance": 0.08357500929585715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012699321869250046,
+                  0.0014470678185825592
+                ],
+                "rod_tip_xy": [
+                  0.27708712397507,
+                  -0.3460761688568282
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770786147044054,
+                  -0.3460769763094109,
+                  1.0051270046612815
+                ],
+                "rod_tip_xy_dist": 0.0019252877787399503,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.016007447283094223,
+                "bottom_clearance": 0.08343305149051838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0012614229162602464,
+                  0.001446260365999763
+                ],
+                "rod_tip_xy": [
+                  0.27707861470440526,
+                  -0.346076976309411
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.27708650276209634,
+                  -0.34614304928394896,
+                  1.0046073927124146
+                ],
+                "rod_tip_xy_dist": 0.0019190770750358813,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.016132813863185103,
+                "bottom_clearance": 0.0833076849104275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012693407762736086,
+                  0.0013801873914616736
+                ],
+                "rod_tip_xy": [
+                  0.27708650276209623,
+                  -0.34614304928394907
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.277074928792199,
+                  -0.34615016681081523,
+                  1.0044651315483102
+                ],
+                "rod_tip_xy_dist": 0.0018751381927369158,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.016652425812051952,
+                "bottom_clearance": 0.08278807296156065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012577370040538494,
+                  0.001373099666917843
+                ],
+                "rod_tip_xy": [
+                  0.27707492879219886,
+                  -0.3461501668108153
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752326647773313
+                ],
+                "gripper_position": [
+                  0.2770663820267162,
+                  -0.3461510059334939,
+                  1.004340235458239
+                ],
+                "rod_tip_xy_dist": 0.0018620701025085613,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.016794746580801156,
+                "bottom_clearance": 0.08264575219281145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012492200408933951,
+                  0.00137223074191678
+                ],
+                "rod_tip_xy": [
+                  0.277066382026716,
+                  -0.34615100593349396
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.27707493946712325,
+                  -0.3462182630549094,
+                  1.0038228446348976
+                ],
+                "rod_tip_xy_dist": 0.001855685296495926,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.016919583066227872,
+                "bottom_clearance": 0.08252091570738473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012577476789780717,
+                  0.0013049736205013596
+                ],
+                "rod_tip_xy": [
+                  0.2770749394671231,
+                  -0.3462182630549094
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770634269176847,
+                  -0.34622521024110114,
+                  1.0036805520332153
+                ],
+                "rod_tip_xy_dist": 0.0018124252740952256,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01743703349421377,
+                "bottom_clearance": 0.08200346527939884,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0012462351295395302,
+                  0.0012979966319872083
+                ],
+                "rod_tip_xy": [
+                  0.27706342691768454,
+                  -0.34622521024110114
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752320687308835
+                ],
+                "gripper_position": [
+                  0.2770544008365572,
+                  -0.3462260196881292,
+                  1.0035558224470256
+                ],
+                "rod_tip_xy_dist": 0.0017994158092971579,
+                "target_xy_drift": 0.0,
+                "depth": 0.0175792664912513,
+                "bottom_clearance": 0.08186123228236131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012372388507344567,
+                  0.001297246789603912
+                ],
+                "rod_tip_xy": [
+                  0.2770544008365571,
+                  -0.3462260196881292
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752326647773313
+                ],
+                "gripper_position": [
+                  0.277045669872526,
+                  -0.34622668511065846,
+                  1.0034308624061095
+                ],
+                "rod_tip_xy_dist": 0.0017926542351787685,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.017703996077440998,
+                "bottom_clearance": 0.08173650269617161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0012285078867032007,
+                  0.0012965217624299474
+                ],
+                "rod_tip_xy": [
+                  0.2770456698725258,
+                  -0.3462266851106584
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752320687308835
+                ],
+                "gripper_position": [
+                  0.2770560371802203,
+                  -0.3462961809913432,
+                  1.0029150609167856
+                ],
+                "rod_tip_xy_dist": 0.0017861131845844543,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01782895611835711,
+                "bottom_clearance": 0.0816115426552555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0012388751943975818,
+                  0.0012270556840675018
+                ],
+                "rod_tip_xy": [
+                  0.2770560371802202,
+                  -0.34629618099134324
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.27704434471826245,
+                  -0.34630310525829283,
+                  1.0027730839453322
+                ],
+                "rod_tip_xy_dist": 0.0017436964756218356,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.01834475760768095,
+                "bottom_clearance": 0.08109574116593166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012271827324397133,
+                  0.001220131417117909
+                ],
+                "rod_tip_xy": [
+                  0.27704434471826234,
+                  -0.34630310525829283
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.27703540948349337,
+                  -0.3463036539009694,
+                  1.0026486798060275
+                ],
+                "rod_tip_xy_dist": 0.0017305196138259623,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.018486734579134634,
+                "bottom_clearance": 0.08095376419447797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001218247497670577,
+                  0.0012195827744413967
+                ],
+                "rod_tip_xy": [
+                  0.2770354094834932,
+                  -0.34630365390096934
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770264118844742,
+                  -0.34630425253619834,
+                  1.0025237255249877
+                ],
+                "rod_tip_xy_dist": 0.0017238065753717258,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.018611138718439335,
+                "bottom_clearance": 0.08082936005517327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012092200963290112,
+                  0.0012189841392124534
+                ],
+                "rod_tip_xy": [
+                  0.277026411884474,
+                  -0.3463042525361983
+                ],
+                "target_mouth_xy": [
+                  0.275817191788145,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770174264765478,
+                  -0.3463048812624048,
+                  1.002399090902244
+                ],
+                "rod_tip_xy_dist": 0.0017170135622695207,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01873609299947887,
+                "bottom_clearance": 0.08070440577413374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012002644907250781,
+                  0.0012183852153282992
+                ],
+                "rod_tip_xy": [
+                  0.2770174264765477,
+                  -0.34630488126240483
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752326647773313
+                ],
+                "gripper_position": [
+                  0.2770085658009078,
+                  -0.3463053997787986,
+                  1.0022744947730078
+                ],
+                "rod_tip_xy_dist": 0.0017102916068981093,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.018860727622222573,
+                "bottom_clearance": 0.08057977115139003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011914038150850903,
+                  0.00121783689661209
+                ],
+                "rod_tip_xy": [
+                  0.2770085658009077,
+                  -0.34630539977879865
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770217590679336,
+                  -0.34637922640917146,
+                  1.0017610449901713
+                ],
+                "rod_tip_xy_dist": 0.0017036929762574812,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.018985383356103558,
+                "bottom_clearance": 0.08045511541750905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001204597082110792,
+                  0.0011440102662392815
+                ],
+                "rod_tip_xy": [
+                  0.2770217590679334,
+                  -0.34637922640917146
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770098709884036,
+                  -0.34638631235264483,
+                  1.0016195409590896
+                ],
+                "rod_tip_xy_dist": 0.0016612686776950637,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.0194987735342953,
+                "bottom_clearance": 0.07994172523931731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001192709002580783,
+                  0.0011369243227658532
+                ],
+                "rod_tip_xy": [
+                  0.2770098709884034,
+                  -0.3463863123526449
+                ],
+                "target_mouth_xy": [
+                  0.2758171619858226,
+                  -0.34752323667541074
+                ],
+                "gripper_position": [
+                  0.2770008491717295,
+                  -0.34638693198673015,
+                  1.001494845874202
+                ],
+                "rod_tip_xy_dist": 0.0016477717319258272,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.019640217960732564,
+                "bottom_clearance": 0.07980028081288004,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.00059982372433985,
+              "rod_tip_xy_max_step": 3.245253871639163e-05,
+              "rod_tip_xy_range": 0.0005998150165859828,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2766124675214227,
+            -0.3477030610589031,
+            1.043541435769487
+          ],
+          "object_origin_world": [
+            0.2766124675214227,
+            -0.3477030610589031,
+            1.043541435769487
+          ],
+          "frame_world": [
+            0.2766108742950659,
+            -0.347708184121037,
+            1.043428419028822
+          ],
+          "center_minus_frame": [
+            1.5932263567886018e-06,
+            5.123062133904899e-06,
+            0.0001130167406648841
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26627422640847526,
+              0.12932319400822598,
+              0.8329770651395215
+            ],
+            "target_position": [
+              0.27876148852615135,
+              0.17544602716629837,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04778333866237195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16741293892162956,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329770651395215,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668117630713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376725067846214,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf6dbaa27c5b088f0f581e3883d52de66f6354ec8cdfcaeb09e92c39651b5465",
+    "visual_seed": 3795050554721527962,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9758a1dcd4df43e7820b1e42f65cb4fd887830f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_30_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26098111882692343,
+              0.03429533703664403,
+              1.1646124364550476
+            ],
+            "current_z": 1.1646124364550476,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.3035056304170578,
+            "gripper_z": 1.1578315364570915,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25581232889603595,
+              0.029265250444176688,
+              1.1578315364570915
+            ],
+            "object_minus_gripper": [
+              0.005168789930887485,
+              0.005030086592467342,
+              0.006780899997956169
+            ],
+            "object_to_gripper_xy": 0.007212361643550854,
+            "object_to_gripper_z": 0.006780899997956169,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26098111882692343,
+              0.0102495780397794,
+              1.1646124364550476
+            ],
+            "finger_b": [
+              0.24957214334295302,
+              0.03429533703664403,
+              1.1646124364550476
+            ],
+            "finger_midpoint": [
+              0.25527663108493825,
+              0.022272457538211714,
+              1.1646124364550476
+            ],
+            "object_minus_finger_midpoint": [
+              0.005704487741985176,
+              0.012022879498432316,
+              0.0
+            ],
+            "finger_gap": 0.02661509435131001,
+            "fingertip_max_gap": 0.09101679522299694,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013307547175654995,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646124364550476,
+            "object_top_z": 1.2145916048448595,
+            "finger_top_clearance": 0.04997916838981187,
+            "fingertip_min_top_clearance": 0.014993750516943592,
+            "object_projection_between_fingers": 0.8162458003226161,
+            "object_to_finger_line_xy": 0.01030758979350326,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800839761149847,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6529831736006957,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27014495683509293,
+              -0.35034187109552284,
+              0.8515395819826324
+            ],
+            "target_position": [
+              0.26176390943404776,
+              -0.3509589447434855,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008403733421853406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492028914600833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395819826324,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521004952667654,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555673961212039,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1535364327829242,
+            "release_required_pad_clearance": 0.052778369806060196,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6052239570100885,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007493793964385986,
+            "max_z_decrease": 0.007493793964385986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511527486722169,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007493793964385986,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107911381623582,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007493793964385986,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074938194808884485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1174638345837593,
+              -0.4072203934192657,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1174638345837593,
+              -0.4072203934192657,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11766206359549564,
+              -0.4060572260490632,
+              0.8077607762365011
+            ],
+            "closest_button": [
+              0.11745184659957886,
+              -0.40721800923347473,
+              0.7726653218269348
+            ],
+            "closest_ee_minus_button": [
+              0.00021021699591677878,
+              0.0011607831844115402,
+              0.035095454409566296
+            ],
+            "button_min_z_position": [
+              0.11744436621665955,
+              -0.4072185456752777,
+              0.7693150639533997
+            ],
+            "min_active_finger_to_button": 0.14552393901647426,
+            "closest_active_finger": [
+              -0.010614119470119476,
+              -0.46715760231018066,
+              0.8104815483093262
+            ],
+            "closest_active_finger_button": [
+              0.11746352910995482,
+              -0.4072197377681732,
+              0.7761189937591553
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280776485800743,
+              -0.059937864542007446,
+              0.0343625545501709
+            ],
+            "min_contact_pad_to_button": 0.02107911381623582,
+            "closest_contact_pad": [
+              0.11744436621665955,
+              -0.40730473299183495,
+              0.7903940015695199
+            ],
+            "closest_contact_pad_button": [
+              0.11744436621665955,
+              -0.4072185456752777,
+              0.7693150639533997
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.618731655724021e-05,
+              0.02107893761612023
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2762261207750115,
+              0.17467856826432943,
+              1.101131310426338
+            ],
+            "current_z": 1.101131310426338,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1912221806919755,
+            "gripper_z": 1.1011312291383457,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27622608625805634,
+              0.1746785987082874,
+              1.1011312291383457
+            ],
+            "object_minus_gripper": [
+              3.451695518297271e-08,
+              -3.0443957965697876e-08,
+              8.128799233730888e-08
+            ],
+            "object_to_gripper_xy": 4.602450186281787e-08,
+            "object_to_gripper_z": 8.128799233730888e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2762261207750115,
+              0.17467856826432943,
+              1.101131310426338
+            ],
+            "finger_b": [
+              0.2762261207750115,
+              0.17467856826432943,
+              1.101131310426338
+            ],
+            "finger_midpoint": [
+              0.2762261207750115,
+              0.17467856826432943,
+              1.101131310426338
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101131310426338,
+            "object_top_z": 1.2261398170466178,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2762261207750115,
+            0.17467856826432943,
+            1.101131310426338
+          ],
+          "object_origin_world": [
+            0.2762261207750115,
+            0.17467856826432943,
+            1.101131310426338
+          ],
+          "frame_world": [
+            0.27622608625805634,
+            0.1746785987082874,
+            1.1011312291383457
+          ],
+          "center_minus_frame": [
+            3.451695518297271e-08,
+            -3.0443957965697876e-08,
+            8.128799233730888e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043274418516558,
+            "required_z": 0.9112598262549854,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0022181387598568807,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.7838844186963972e-09,
+            "max_target_xy_drift": 7.2027102609468e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6052239580362533,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6065157959397538,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26793650783843703,
+              -0.35052676571439506,
+              0.9233843651125723
+            ],
+            "target_mouth_xy": [
+              0.27014498776155876,
+              -0.3503419021657545
+            ],
+            "rod_tip_z": 0.9233843651125723,
+            "rod_tip_depth": -0.022124535476856333,
+            "rod_tip_bottom_clearance": 0.12156505641230819,
+            "rod_tip_xy_dist": 0.002216203533624055,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04448644764892595,
+            "min_rod_tip_bottom_clearance": 0.05495405242922757,
+            "min_rod_tip_xy_dist": 0.0011720954314486795,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2701449885919044,
+              -0.35034190058690373
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.303456255909225e-10,
+              -1.578850772343543e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.0015830627777633222,
+                0.0014175637800872831
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016958781731856165,
+                0.0010485850897581916
+              ],
+              "first_target_mouth_xy": [
+                0.27014495352371376,
+                -0.3503419018361556
+              ],
+              "last_target_mouth_xy": [
+                0.27014498869648473,
+                -0.3503419326156013
+              ],
+              "first_rod_tip_xy": [
+                0.26856189074595044,
+                -0.3489243380560683
+              ],
+              "last_rod_tip_xy": [
+                0.2684491105232991,
+                -0.3492933475258431
+              ],
+              "min_rod_tip_xy_dist": 0.0019938739851732305,
+              "max_rod_tip_xy_dist": 0.002128794055425117,
+              "first_target_xy_drift": 3.50904349393633e-08,
+              "last_target_xy_drift": 3.2028868320817315e-08,
+              "max_depth": 0.01984315815391191,
+              "min_bottom_clearance": 0.07959742160060224
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015830627777633222,
+                  0.0014175637800872831
+                ],
+                "rod_tip_xy": [
+                  0.26856189074595044,
+                  -0.3489243380560683
+                ],
+                "target_mouth_xy": [
+                  0.27014495352371376,
+                  -0.3503419018361556
+                ],
+                "gripper_position": [
+                  0.2685506420850514,
+                  -0.34893132142322025,
+                  1.005638378354753
+                ],
+                "rod_tip_xy_dist": 0.0021249881950154625,
+                "target_xy_drift": 3.50904349393633e-08,
+                "depth": 0.015482628264217091,
+                "bottom_clearance": 0.08395805353937513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001594374653941244,
+                  0.0014105791694488667
+                ],
+                "rod_tip_xy": [
+                  0.26855064208505147,
+                  -0.3489313214232203
+                ],
+                "target_mouth_xy": [
+                  0.2701450167389927,
+                  -0.3503419005926692
+                ],
+                "gripper_position": [
+                  0.26855222275837365,
+                  -0.34899350499589077,
+                  1.0051206728302498
+                ],
+                "rod_tip_xy_dist": 0.002128794055425117,
+                "target_xy_drift": 2.8147088917244357e-08,
+                "depth": 0.015621466769978665,
+                "bottom_clearance": 0.08381906618394319,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015927950942067337,
+                  0.0013483946514188938
+                ],
+                "rod_tip_xy": [
+                  0.26855222275837365,
+                  -0.3489935049958907
+                ],
+                "target_mouth_xy": [
+                  0.2701450178525804,
+                  -0.3503418996473096
+                ],
+                "gripper_position": [
+                  0.26854084402041745,
+                  -0.3490007919444139,
+                  1.0049819604822705
+                ],
+                "rod_tip_xy_dist": 0.0020869030519178695,
+                "target_xy_drift": 2.9275757833122842e-08,
+                "depth": 0.016139165694076363,
+                "bottom_clearance": 0.08330137892378442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016041101364583366,
+                  0.001341138749183901
+                ],
+                "rod_tip_xy": [
+                  0.2685408440204175,
+                  -0.34900079194441397
+                ],
+                "target_mouth_xy": [
+                  0.27014495415687584,
+                  -0.35034193069359787
+                ],
+                "gripper_position": [
+                  0.26853254370801605,
+                  -0.3490015611962517,
+                  1.0048604228874598
+                ],
+                "rod_tip_xy_dist": 0.0020908903544784316,
+                "target_xy_drift": 4.5740400339291216e-08,
+                "depth": 0.016277969408837634,
+                "bottom_clearance": 0.08316266606558609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016124436250655183,
+                  0.0013403397161366182
+                ],
+                "rod_tip_xy": [
+                  0.26853254370801605,
+                  -0.34900156119625175
+                ],
+                "target_mouth_xy": [
+                  0.27014498733308157,
+                  -0.35034190091238837
+                ],
+                "gripper_position": [
+                  0.2685350831461079,
+                  -0.34906461815770223,
+                  1.0043434411715604
+                ],
+                "rod_tip_xy_dist": 0.0020967796733723882,
+                "target_xy_drift": 1.3002211934877477e-09,
+                "depth": 0.01639946401775838,
+                "bottom_clearance": 0.08304104229528175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016099348306751748,
+                  0.0012772824376962033
+                ],
+                "rod_tip_xy": [
+                  0.26853508314610797,
+                  -0.34906461815770223
+                ],
+                "target_mouth_xy": [
+                  0.27014501797678314,
+                  -0.35034190059539844
+                ],
+                "gripper_position": [
+                  0.2685238267162884,
+                  -0.3490715795979284,
+                  1.0042049030742315
+                ],
+                "rod_tip_xy_dist": 0.002055076783156352,
+                "target_xy_drift": 2.9384879980323434e-08,
+                "depth": 0.016916381528363167,
+                "bottom_clearance": 0.08252413446469753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016211270532753286,
+                  0.0012702914822474431
+                ],
+                "rod_tip_xy": [
+                  0.2685238267162884,
+                  -0.3490715795979284
+                ],
+                "target_mouth_xy": [
+                  0.2701449537695637,
+                  -0.35034187108017584
+                ],
+                "gripper_position": [
+                  0.2685152877754722,
+                  -0.3490723651909739,
+                  1.0040836536302598
+                ],
+                "rod_tip_xy_dist": 0.002059537174399034,
+                "target_xy_drift": 4.564255033740012e-08,
+                "depth": 0.017055038702513015,
+                "bottom_clearance": 0.08238561181492088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016297590490073066,
+                  0.0012695360342070416
+                ],
+                "rod_tip_xy": [
+                  0.2685152877754722,
+                  -0.3490723651909739
+                ],
+                "target_mouth_xy": [
+                  0.2701450468244795,
+                  -0.35034190122518094
+                ],
+                "gripper_position": [
+                  0.26850692790340447,
+                  -0.3490730200412086,
+                  1.0039621616727015
+                ],
+                "rod_tip_xy_dist": 0.002065874221720999,
+                "target_xy_drift": 5.823607301342233e-08,
+                "depth": 0.017176176138878896,
+                "bottom_clearance": 0.08226433263422583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016380588145895603,
+                  0.0012688783198851472
+                ],
+                "rod_tip_xy": [
+                  0.26850692790340447,
+                  -0.3490730200412085
+                ],
+                "target_mouth_xy": [
+                  0.27014498671799403,
+                  -0.35034189836109364
+                ],
+                "gripper_position": [
+                  0.2685110290223898,
+                  -0.34913853037009607,
+                  1.0034451431086864
+                ],
+                "rod_tip_xy_dist": 0.002072025306488584,
+                "target_xy_drift": 2.9095997324134676e-09,
+                "depth": 0.017297730603998085,
+                "bottom_clearance": 0.08214289119588392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016339890064039353,
+                  0.0012034317245712134
+                ],
+                "rod_tip_xy": [
+                  0.2685110290223899,
+                  -0.34913853037009607
+                ],
+                "target_mouth_xy": [
+                  0.2701450180287938,
+                  -0.3503419620946673
+                ],
+                "gripper_position": [
+                  0.2684995289920406,
+                  -0.34914517388454736,
+                  1.003306483375432
+                ],
+                "rod_tip_xy_dist": 0.002029326979260209,
+                "target_xy_drift": 6.8188968579154e-08,
+                "depth": 0.017814695863055507,
+                "bottom_clearance": 0.08162585429638958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001645457520352167,
+                  0.0011967266990582925
+                ],
+                "rod_tip_xy": [
+                  0.2684995289920406,
+                  -0.3491451738845474
+                ],
+                "target_mouth_xy": [
+                  0.27014498651239277,
+                  -0.3503419005836057
+                ],
+                "gripper_position": [
+                  0.26849090379775997,
+                  -0.34914566387415863,
+                  1.0031850096963415
+                ],
+                "rod_tip_xy_dist": 0.0020346216462827824,
+                "target_xy_drift": 2.079514233731967e-09,
+                "depth": 0.017953374771197406,
+                "bottom_clearance": 0.08148717466519628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016541458473849913,
+                  0.001196269066264799
+                ],
+                "rod_tip_xy": [
+                  0.26849090379775997,
+                  -0.34914566387415863
+                ],
+                "target_mouth_xy": [
+                  0.27014504964514496,
+                  -0.35034193294042343
+                ],
+                "gripper_position": [
+                  0.2684823650161109,
+                  -0.34914632125603834,
+                  1.003063877278807
+                ],
+                "rod_tip_xy_dist": 0.002041386333676961,
+                "target_xy_drift": 6.909593635938834e-08,
+                "depth": 0.018074914657222663,
+                "bottom_clearance": 0.08136572808226206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016626213059674488,
+                  0.0011955774192508595
+                ],
+                "rod_tip_xy": [
+                  0.26848236501611095,
+                  -0.34914632125603834
+                ],
+                "target_mouth_xy": [
+                  0.2701449863220784,
+                  -0.3503418986752892
+                ],
+                "gripper_position": [
+                  0.26848767592482414,
+                  -0.3492136201032211,
+                  1.0025495098634338
+                ],
+                "rod_tip_xy_dist": 0.0020478561894037993,
+                "target_xy_drift": 2.9675545768043117e-09,
+                "depth": 0.018196021291895348,
+                "bottom_clearance": 0.0812446042506193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016573745945340224,
+                  0.0011283112573854948
+                ],
+                "rod_tip_xy": [
+                  0.26848767592482414,
+                  -0.34921362010322105
+                ],
+                "target_mouth_xy": [
+                  0.27014505051935817,
+                  -0.35034193136060654
+                ],
+                "gripper_position": [
+                  0.26847607746862945,
+                  -0.34922001412646275,
+                  1.0024108983110491
+                ],
+                "rod_tip_xy_dist": 0.0020049879900262873,
+                "target_xy_drift": 6.915222567437415e-08,
+                "depth": 0.01871039296064725,
+                "bottom_clearance": 0.08073022604070557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016689071438519276,
+                  0.0011218867589391501
+                ],
+                "rod_tip_xy": [
+                  0.2684760774686295,
+                  -0.3492200141264628
+                ],
+                "target_mouth_xy": [
+                  0.27014498461248143,
+                  -0.35034190088540196
+                ],
+                "gripper_position": [
+                  0.2684674690804959,
+                  -0.3492205343589464,
+                  1.00229002282835
+                ],
+                "rod_tip_xy_dist": 0.0020109403160419727,
+                "target_xy_drift": 3.990602494392705e-09,
+                "depth": 0.01884901190499011,
+                "bottom_clearance": 0.08059159893646417,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016775499808452388,
+                  0.0011213665526343397
+                ],
+                "rod_tip_xy": [
+                  0.2684674690804959,
+                  -0.34922053435894646
+                ],
+                "target_mouth_xy": [
+                  0.27014501906134114,
+                  -0.3503419009115808
+                ],
+                "gripper_position": [
+                  0.26845875424921806,
+                  -0.3492212726465604,
+                  1.0021684748837323
+                ],
+                "rod_tip_xy_dist": 0.0020178297459401487,
+                "target_xy_drift": 3.0471166553737316e-08,
+                "depth": 0.018969862700075946,
+                "bottom_clearance": 0.08047068425180448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0016862646819440497,
+                  0.0011206285867154109
+                ],
+                "rod_tip_xy": [
+                  0.26845875424921806,
+                  -0.3492212726465604
+                ],
+                "target_mouth_xy": [
+                  0.2701450189311621,
+                  -0.3503419012332758
+                ],
+                "gripper_position": [
+                  0.2684499568421234,
+                  -0.3492218898157888,
+                  1.0020475850707773
+                ],
+                "rod_tip_xy_dist": 0.0020246720739259595,
+                "target_xy_drift": 3.034614235255082e-08,
+                "depth": 0.01909128896306489,
+                "bottom_clearance": 0.08034925018766581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0016950607365029957,
+                  0.001120042799480081
+                ],
+                "rod_tip_xy": [
+                  0.2684499568421234,
+                  -0.3492218898157888
+                ],
+                "target_mouth_xy": [
+                  0.2701450175786264,
+                  -0.35034193261526886
+                ],
+                "gripper_position": [
+                  0.26844126452056394,
+                  -0.3492223750610801,
+                  1.0019262719827586
+                ],
+                "rod_tip_xy_dist": 0.002031680775392939,
+                "target_xy_drift": 4.3197757190743494e-08,
+                "depth": 0.01921231579784688,
+                "bottom_clearance": 0.08022822888038117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0017037532284254753,
+                  0.0011195264795475501
+                ],
+                "rod_tip_xy": [
+                  0.268441264520564,
+                  -0.34922237506108017
+                ],
+                "target_mouth_xy": [
+                  0.27014501774898947,
+                  -0.3503419015406277
+                ],
+                "gripper_position": [
+                  0.2684491105232991,
+                  -0.3492933475258432,
+                  1.0014166902820396
+                ],
+                "rod_tip_xy_dist": 0.002038655096326586,
+                "target_xy_drift": 2.9172678995757886e-08,
+                "depth": 0.01933354777295604,
+                "bottom_clearance": 0.08010695742431595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0016958781731856165,
+                  0.0010485850897581916
+                ],
+                "rod_tip_xy": [
+                  0.2684491105232991,
+                  -0.3492933475258431
+                ],
+                "target_mouth_xy": [
+                  0.27014498869648473,
+                  -0.3503419326156013
+                ],
+                "gripper_position": [
+                  0.2684373357690958,
+                  -0.3492999540318521,
+                  1.0012782311215827
+                ],
+                "rod_tip_xy_dist": 0.0019938739851732305,
+                "target_xy_drift": 3.2028868320817315e-08,
+                "depth": 0.01984315815391191,
+                "bottom_clearance": 0.07959742160060224,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005952179059172643,
+              "rod_tip_xy_max_step": 3.23284976498156e-05,
+              "rod_tip_xy_range": 0.000595210740296033,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26793650783843703,
+            -0.35052676571439506,
+            1.0433843651125723
+          ],
+          "object_origin_world": [
+            0.26793650783843703,
+            -0.35052676571439506,
+            1.0433843651125723
+          ],
+          "frame_world": [
+            0.2679349695255725,
+            -0.3505315306303572,
+            1.043274418516558
+          ],
+          "center_minus_frame": [
+            1.5383128645352073e-06,
+            4.764915962129912e-06,
+            0.00010994659601415435
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.265723807920196,
+              0.12926173432979327,
+              0.8336354637812836
+            ],
+            "target_position": [
+              0.27635291021706465,
+              0.1757174906930728,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047656218009003666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17022698844635764,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336354637812836,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670344282526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13949914838907942,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1ef0b289dd2eede5d42fac8655f8a45ff2508e0a248334321159d977e0d18d3",
+    "visual_seed": 7263100789603472908,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..276ee56cd9b888715e61fd8a870056100369181e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_31_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2544993313448073,
+              0.03272877136872541,
+              1.1623892315563822
+            ],
+            "current_z": 1.1623892315563822,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3012824851230371,
+            "gripper_z": 1.1554594818722224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2494333456506935,
+              0.02796213862323678,
+              1.1554594818722224
+            ],
+            "object_minus_gripper": [
+              0.005065985694113789,
+              0.004766632745488629,
+              0.006929749684159825
+            ],
+            "object_to_gripper_xy": 0.00695593263217306,
+            "object_to_gripper_z": 0.006929749684159825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2544993313448073,
+              0.008544415823072022,
+              1.1623892315563822
+            ],
+            "finger_b": [
+              0.24376973330054444,
+              0.03272877136872541,
+              1.1623892315563822
+            ],
+            "finger_midpoint": [
+              0.24913453232267585,
+              0.020636593595898714,
+              1.1623892315563822
+            ],
+            "object_minus_finger_midpoint": [
+              0.005364799022131439,
+              0.012092177772826694,
+              0.0
+            ],
+            "finger_gap": 0.026457651584183072,
+            "fingertip_max_gap": 0.09086855277391062,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013228825792091541,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623892315563822,
+            "object_top_z": 1.2122868974309768,
+            "finger_top_clearance": 0.049897665874594654,
+            "fingertip_min_top_clearance": 0.014969299762378395,
+            "object_projection_between_fingers": 0.8355384726796101,
+            "object_to_finger_line_xy": 0.009807688832047655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793427638695531,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6014421262228016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26973889348368807,
+              -0.35177533259102667,
+              0.8515396131625093
+            ],
+            "target_position": [
+              0.2620750123790176,
+              -0.3521925503529293,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007675229263505568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1816943280060919,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396131625093,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583909035870538,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709225581284243,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14887136383652905,
+            "release_required_pad_clearance": 0.053546127906421215,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.103665480507998,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007646739482879639,
+            "max_z_decrease": 0.007646739482879639,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035095982305524596,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007646739482879639,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110828402408044,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007646739482879639,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007646763245836825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11777494102716445,
+              -0.4084540009498596,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11777494102716445,
+              -0.4084540009498596,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1163157433852085,
+              -0.40868045893612054,
+              0.8076154272365129
+            ],
+            "closest_button": [
+              0.1177644059062004,
+              -0.408451110124588,
+              0.772550106048584
+            ],
+            "closest_ee_minus_button": [
+              -0.0014486625209918919,
+              -0.00022934881153252595,
+              0.03506532118792893
+            ],
+            "button_min_z_position": [
+              0.11775621026754376,
+              -0.4084504544734955,
+              0.769162118434906
+            ],
+            "min_active_finger_to_button": 0.1475725820319674,
+            "closest_active_finger": [
+              -0.011357098817825317,
+              -0.4710582494735718,
+              0.8108980059623718
+            ],
+            "closest_active_finger_button": [
+              0.1177747249603271,
+              -0.408454030752182,
+              0.7764981389045715
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1291318237781524,
+              -0.06260421872138977,
+              0.03439986705780029
+            ],
+            "min_contact_pad_to_button": 0.02110828402408044,
+            "closest_contact_pad": [
+              0.11775621026754376,
+              -0.40988268280052587,
+              0.7902217569992428
+            ],
+            "closest_contact_pad_button": [
+              0.11775621026754376,
+              -0.4084504544734955,
+              0.769162118434906
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014322283270303826,
+              0.02105963856433679
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2763948636439178,
+              0.18015482207795555,
+              1.1040803591447133
+            ],
+            "current_z": 1.1040803591447133,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1941712294103507,
+            "gripper_z": 1.1040804422744193,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2763948370557243,
+              0.18015484624201958,
+              1.1040804422744193
+            ],
+            "object_minus_gripper": [
+              2.6588193480225897e-08,
+              -2.416406402749871e-08,
+              -8.312970600776737e-08
+            ],
+            "object_to_gripper_xy": 3.592817867450261e-08,
+            "object_to_gripper_z": -8.312970600776737e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2763948636439178,
+              0.18015482207795555,
+              1.1040803591447133
+            ],
+            "finger_b": [
+              0.2763948636439178,
+              0.18015482207795555,
+              1.1040803591447133
+            ],
+            "finger_midpoint": [
+              0.2763948636439178,
+              0.18015482207795555,
+              1.1040803591447133
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040803591447133,
+            "object_top_z": 1.229088865764993,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2763948636439178,
+            0.18015482207795558,
+            1.1040803591447133
+          ],
+          "object_origin_world": [
+            0.2763948636439178,
+            0.18015482207795558,
+            1.1040803591447133
+          ],
+          "frame_world": [
+            0.2763948370557243,
+            0.18015484624201958,
+            1.1040804422744193
+          ],
+          "center_minus_frame": [
+            2.6588193480225897e-08,
+            -2.4164063999743135e-08,
+            -8.312970600776737e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043224047429173,
+            "required_z": 0.9112598261340317,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005406853458307147,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.596663434367828e-08,
+            "max_target_xy_drift": 1.3235479650153035e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.103665480937587,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1036654809750184,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26981034517842106,
+              -0.3512343631685436,
+              0.9233348118276951
+            ],
+            "target_mouth_xy": [
+              0.26973892222660023,
+              -0.351775330730138
+            ],
+            "rod_tip_z": 0.9233348118276951,
+            "rod_tip_depth": -0.022075055678906996,
+            "rod_tip_bottom_clearance": 0.12151555775469369,
+            "rod_tip_xy_dist": 0.0005456621122491244,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04462114099916137,
+            "min_rod_tip_bottom_clearance": 0.0548193642141267,
+            "min_rod_tip_xy_dist": 0.0005402922690956283,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2697388632065587,
+              -0.35177536019590705
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.902004152069651e-08,
+              2.9465769046943535e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0006176262055078707,
+                0.002172629855603625
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005225744665338095,
+                0.0017957964766299739
+              ],
+              "first_target_mouth_xy": [
+                0.2697389531600527,
+                -0.3517753928670845
+              ],
+              "last_target_mouth_xy": [
+                0.26973892028524205,
+                -0.351775360580836
+              ],
+              "first_rod_tip_xy": [
+                0.27035657936556057,
+                -0.34960276301148085
+              ],
+              "last_rod_tip_xy": [
+                0.27026149475177585,
+                -0.34997956410420605
+              ],
+              "min_rod_tip_xy_dist": 0.0018702858226885334,
+              "max_rod_tip_xy_dist": 0.0022587126021675,
+              "first_target_xy_drift": 9.570285740309913e-08,
+              "last_target_xy_drift": 5.707998126854953e-08,
+              "max_depth": 0.019861565232997758,
+              "min_bottom_clearance": 0.07957898217587689
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006176262055078707,
+                  0.002172629855603625
+                ],
+                "rod_tip_xy": [
+                  0.27035657936556057,
+                  -0.34960276301148085
+                ],
+                "target_mouth_xy": [
+                  0.2697389531600527,
+                  -0.3517753928670845
+                ],
+                "gripper_position": [
+                  0.27034549647192063,
+                  -0.34960982606595226,
+                  1.0056357280292072
+                ],
+                "rod_tip_xy_dist": 0.0022587126021675,
+                "target_xy_drift": 9.570285740309913e-08,
+                "depth": 0.01548445357168704,
+                "bottom_clearance": 0.08395617177268211,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006065735613406953,
+                  0.0021655350813580276
+                ],
+                "rod_tip_xy": [
+                  0.2703454964719207,
+                  -0.34960982606595226
+                ],
+                "target_mouth_xy": [
+                  0.26973892291058,
+                  -0.3517753611473103
+                ],
+                "gripper_position": [
+                  0.2703505921710596,
+                  -0.3496734839701135,
+                  1.0051173669412603
+                ],
+                "rod_tip_xy_dist": 0.0022488827612638803,
+                "target_xy_drift": 5.971160126310935e-08,
+                "depth": 0.015624040559791164,
+                "bottom_clearance": 0.08381650128887119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006116671625719938,
+                  0.0021018746063161675
+                ],
+                "rod_tip_xy": [
+                  0.2703505921710596,
+                  -0.34967348397011355
+                ],
+                "target_mouth_xy": [
+                  0.2697389250084876,
+                  -0.3517753585764297
+                ],
+                "gripper_position": [
+                  0.270339225382271,
+                  -0.3496806528871221,
+                  1.0049779327071606
+                ],
+                "rod_tip_xy_dist": 0.002189066828227411,
+                "target_xy_drift": 6.182314391511231e-08,
+                "depth": 0.016142564257639935,
+                "bottom_clearance": 0.08329811375707463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006003351755564101,
+                  0.002094710222168006
+                ],
+                "rod_tip_xy": [
+                  0.270339225382271,
+                  -0.34968065288712225
+                ],
+                "target_mouth_xy": [
+                  0.2697388902067146,
+                  -0.35177536310929025
+                ],
+                "gripper_position": [
+                  0.2703308517618985,
+                  -0.34968146999409455,
+                  1.0048551390833296
+                ],
+                "rod_tip_xy_dist": 0.002179039521868633,
+                "target_xy_drift": 2.7156881626955697e-08,
+                "depth": 0.01628197870132342,
+                "bottom_clearance": 0.08315866262139193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005919281027066958,
+                  0.002093891128462866
+                ],
+                "rod_tip_xy": [
+                  0.2703308517618985,
+                  -0.34968146999409466
+                ],
+                "target_mouth_xy": [
+                  0.26973892365919183,
+                  -0.35177536112255753
+                ],
+                "gripper_position": [
+                  0.2703369839193557,
+                  -0.34974612725133936,
+                  1.0043376346774113
+                ],
+                "rod_tip_xy_dist": 0.0021759501227347658,
+                "target_xy_drift": 6.045973480295895e-08,
+                "depth": 0.01640475473246683,
+                "bottom_clearance": 0.08303581602805443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005980311776576652,
+                  0.002029203767306975
+                ],
+                "rod_tip_xy": [
+                  0.2703369839193557,
+                  -0.34974612725133947
+                ],
+                "target_mouth_xy": [
+                  0.269738952741698,
+                  -0.35177533101864644
+                ],
+                "gripper_position": [
+                  0.27032565189636876,
+                  -0.34975266448069176,
+                  1.0041980046723935
+                ],
+                "rod_tip_xy_dist": 0.00211549266571724,
+                "target_xy_drift": 9.416928218112589e-08,
+                "depth": 0.016922128431290928,
+                "bottom_clearance": 0.08251840337508398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0005867284760968094,
+                  0.002022666537825346
+                ],
+                "rod_tip_xy": [
+                  0.27032565189636876,
+                  -0.34975266448069187
+                ],
+                "target_mouth_xy": [
+                  0.26973892342027195,
+                  -0.3517753310185172
+                ],
+                "gripper_position": [
+                  0.27031716319770527,
+                  -0.3497534853125347,
+                  1.0040756188012712
+                ],
+                "rod_tip_xy_dist": 0.002106046112482169,
+                "target_xy_drift": 6.691047257049213e-08,
+                "depth": 0.017061881788118072,
+                "bottom_clearance": 0.08237866913165859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005782396113487298,
+                  0.002021846634370994
+                ],
+                "rod_tip_xy": [
+                  0.27031716319770527,
+                  -0.3497534853125348
+                ],
+                "target_mouth_xy": [
+                  0.26973892358635654,
+                  -0.3517753319469058
+                ],
+                "gripper_position": [
+                  0.2703085986243453,
+                  -0.3497542849067262,
+                  1.0039530822591045
+                ],
+                "rod_tip_xy_dist": 0.0021029086668350686,
+                "target_xy_drift": 6.666127854582269e-08,
+                "depth": 0.017184225781855633,
+                "bottom_clearance": 0.08225636356427224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005696764294904622,
+                  0.002021048046870144
+                ],
+                "rod_tip_xy": [
+                  0.2703085986243453,
+                  -0.34975428490672633
+                ],
+                "target_mouth_xy": [
+                  0.26973892219485485,
+                  -0.3517753329535965
+                ],
+                "gripper_position": [
+                  0.27031624411146626,
+                  -0.34982103601002446,
+                  1.003435569628615
+                ],
+                "rod_tip_xy_dist": 0.002099801524448115,
+                "target_xy_drift": 6.497509189306206e-08,
+                "depth": 0.017306708392724857,
+                "bottom_clearance": 0.08213386013532598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.000577319973428081,
+                  0.0019543248036855143
+                ],
+                "rod_tip_xy": [
+                  0.2703162441114663,
+                  -0.34982103601002457
+                ],
+                "target_mouth_xy": [
+                  0.26973892413803824,
+                  -0.3517753608137101
+                ],
+                "gripper_position": [
+                  0.2703047550543358,
+                  -0.34982787561344547,
+                  1.0032959223004505
+                ],
+                "rod_tip_xy_dist": 0.002037813482637561,
+                "target_xy_drift": 6.093461149564819e-08,
+                "depth": 0.017824322891949018,
+                "bottom_clearance": 0.08161625631570102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000565831538154149,
+                  0.0019474855351689357
+                ],
+                "rod_tip_xy": [
+                  0.2703047550543358,
+                  -0.3498278756134455
+                ],
+                "target_mouth_xy": [
+                  0.2697389235161817,
+                  -0.35177536114861446
+                ],
+                "gripper_position": [
+                  0.27029610188025976,
+                  -0.3498285577154705,
+                  1.0031737694448064
+                ],
+                "rod_tip_xy_dist": 0.0020280200293049688,
+                "target_xy_drift": 6.031714742320786e-08,
+                "depth": 0.0179639111356521,
+                "bottom_clearance": 0.08147665483307975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0005571816020729647,
+                  0.0019467730501483982
+                ],
+                "rod_tip_xy": [
+                  0.27029610188025976,
+                  -0.3498285577154705
+                ],
+                "target_mouth_xy": [
+                  0.2697389202781868,
+                  -0.3517753307656189
+                ],
+                "gripper_position": [
+                  0.2702875579171605,
+                  -0.3498290476699094,
+                  1.0030513944696184
+                ],
+                "rod_tip_xy_dist": 0.0020249386772128912,
+                "target_xy_drift": 6.421302510785696e-08,
+                "depth": 0.018086031682327364,
+                "bottom_clearance": 0.08135451644919411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000548635342383641,
+                  0.00194628242203998
+                ],
+                "rod_tip_xy": [
+                  0.2702875579171606,
+                  -0.3498290476699095
+                ],
+                "target_mouth_xy": [
+                  0.26973892257477694,
+                  -0.3517753300919495
+                ],
+                "gripper_position": [
+                  0.2702964945287831,
+                  -0.3498979364586603,
+                  1.0025366045337707
+                ],
+                "rod_tip_xy_dist": 0.002022131549937893,
+                "target_xy_drift": 6.656450702860778e-08,
+                "depth": 0.018208435407382484,
+                "bottom_clearance": 0.08123210328318808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005575732316402959,
+                  0.001877429180642043
+                ],
+                "rod_tip_xy": [
+                  0.2702964945287831,
+                  -0.3498979364586604
+                ],
+                "target_mouth_xy": [
+                  0.26973892129714283,
+                  -0.35177536563930245
+                ],
+                "gripper_position": [
+                  0.27028489250410137,
+                  -0.3499045944705589,
+                  1.002397309665313
+                ],
+                "rod_tip_xy_dist": 0.0019584759985682887,
+                "target_xy_drift": 5.8345064204129816e-08,
+                "depth": 0.018723316418722935,
+                "bottom_clearance": 0.08071737090309206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005459984239256643,
+                  0.0018707669971732566
+                ],
+                "rod_tip_xy": [
+                  0.27028489250410137,
+                  -0.349904594470559
+                ],
+                "target_mouth_xy": [
+                  0.2697388940801757,
+                  -0.35177536146773225
+                ],
+                "gripper_position": [
+                  0.2702761651985658,
+                  -0.3499053268226105,
+                  1.0022749112214149
+                ],
+                "rod_tip_xy_dist": 0.0019488159062984766,
+                "target_xy_drift": 3.089980203454052e-08,
+                "depth": 0.018862592133611744,
+                "bottom_clearance": 0.08057799933583543,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005372414730271391,
+                  0.0018700343476880654
+                ],
+                "rod_tip_xy": [
+                  0.2702761651985658,
+                  -0.34990532682261055
+                ],
+                "target_mouth_xy": [
+                  0.26973892372553865,
+                  -0.3517753611702986
+                ],
+                "gripper_position": [
+                  0.2702673683717589,
+                  -0.34990599699872343,
+                  1.0021523826448184
+                ],
+                "rod_tip_xy_dist": 0.001945676453543471,
+                "target_xy_drift": 6.052682357208837e-08,
+                "depth": 0.018984924399497616,
+                "bottom_clearance": 0.08045565063498261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0005284471426423298,
+                  0.0018693943382950273
+                ],
+                "rod_tip_xy": [
+                  0.2702673683717589,
+                  -0.3499059969987235
+                ],
+                "target_mouth_xy": [
+                  0.2697389212291166,
+                  -0.3517753913370185
+                ],
+                "gripper_position": [
+                  0.27025849984720685,
+                  -0.34990662066551986,
+                  1.0020307958428147
+                ],
+                "rod_tip_xy_dist": 0.00194265065686457,
+                "target_xy_drift": 6.585124178885e-08,
+                "depth": 0.019107402912880933,
+                "bottom_clearance": 0.08033313469180114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005195746908650545,
+                  0.0018687385704669324
+                ],
+                "rod_tip_xy": [
+                  0.27025849984720685,
+                  -0.3499066206655199
+                ],
+                "target_mouth_xy": [
+                  0.2697389251563418,
+                  -0.35177535923598685
+                ],
+                "gripper_position": [
+                  0.2702496619454777,
+                  -0.3499071018664984,
+                  1.0019082848760081
+                ],
+                "rod_tip_xy_dist": 0.0019396241141361155,
+                "target_xy_drift": 6.195721968093093e-08,
+                "depth": 0.019229124470964254,
+                "bottom_clearance": 0.08021153455722019,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0005107405399861209,
+                  0.0018682615281773174
+                ],
+                "rod_tip_xy": [
+                  0.2702496619454777,
+                  -0.34990710186649854
+                ],
+                "target_mouth_xy": [
+                  0.2697389214054916,
+                  -0.35177536339467586
+                ],
+                "gripper_position": [
+                  0.27026149475177585,
+                  -0.349979564104206,
+                  1.0013982950633602
+                ],
+                "rod_tip_xy_dist": 0.001936816211428632,
+                "target_xy_drift": 5.828677304505367e-08,
+                "depth": 0.019351590294645615,
+                "bottom_clearance": 0.0800890097596435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0005225744665338095,
+                  0.0017957964766299739
+                ],
+                "rod_tip_xy": [
+                  0.27026149475177585,
+                  -0.34997956410420605
+                ],
+                "target_mouth_xy": [
+                  0.26973892028524205,
+                  -0.351775360580836
+                ],
+                "gripper_position": [
+                  0.27024975448884925,
+                  -0.3499865787348552,
+                  1.0012588165158773
+                ],
+                "rod_tip_xy_dist": 0.0018702858226885334,
+                "target_xy_drift": 5.707998126854953e-08,
+                "depth": 0.019861565232997758,
+                "bottom_clearance": 0.07957898217587689,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005971832421646107,
+              "rod_tip_xy_max_step": 3.241855777238088e-05,
+              "rod_tip_xy_range": 0.0005971745474741465,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26981034517842106,
+            -0.35123436316854356,
+            1.043334811827695
+          ],
+          "object_origin_world": [
+            0.26981034517842106,
+            -0.35123436316854356,
+            1.043334811827695
+          ],
+          "frame_world": [
+            0.2698088317039007,
+            -0.35123918400751475,
+            1.043224047429173
+          ],
+          "center_minus_frame": [
+            1.5134745203759792e-06,
+            4.820838971186792e-06,
+            0.00011076439852208964
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2641208589902305,
+              0.13375948252301703,
+              0.8336669249834244
+            ],
+            "target_position": [
+              0.276536325018069,
+              0.1791447992084288,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047052850788486,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16738790996172914,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336669249834244,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671201829327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13652048746529602,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9deed7bc75cf989008e9e1a8665697a8d42ffc306d1ed46bbc4f2f242141e50",
+    "visual_seed": 8281112885547329759,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49b624fe9d4dbe24d9331e891b3fb6a33e443dd1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25925794075398534,
+              0.03110850763963221,
+              1.161966793159018
+            ],
+            "current_z": 1.161966793159018,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.3008599275163836,
+            "gripper_z": 1.1550563177926807,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25423185521177316,
+              0.02617577801729569,
+              1.1550563177926807
+            ],
+            "object_minus_gripper": [
+              0.0050260855422121775,
+              0.004932729622336519,
+              0.006910475366337376
+            ],
+            "object_to_gripper_xy": 0.007042255136297638,
+            "object_to_gripper_z": 0.006910475366337376,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25925794075398534,
+              0.007086715539604279,
+              1.161966793159018
+            ],
+            "finger_b": [
+              0.24808967144878,
+              0.03110850763963221,
+              1.161966793159018
+            ],
+            "finger_midpoint": [
+              0.2536738061013827,
+              0.019097611589618244,
+              1.161966793159018
+            ],
+            "object_minus_finger_midpoint": [
+              0.005584134652602657,
+              0.012010896050013965,
+              0.0
+            ],
+            "finger_gap": 0.02649106896617341,
+            "fingertip_max_gap": 0.09102551213848967,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0132455344830867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161966793159018,
+            "object_top_z": 1.2119562516509024,
+            "finger_top_clearance": 0.0499894584918843,
+            "fingertip_min_top_clearance": 0.014996837547565289,
+            "object_projection_between_fingers": 0.8222650694186592,
+            "object_to_finger_line_xy": 0.010127256235274492,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048012756069244836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6307435553704989,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.266444759689097,
+              -0.3442118487253228,
+              0.8515395114531613
+            ],
+            "target_position": [
+              0.2581724882802113,
+              -0.3447158906765743,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008287613199883864,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18501933545196408,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395114531613,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548656479175271,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558302885520373,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15284281834786825,
+            "release_required_pad_clearance": 0.05279151442760187,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6305580640553451,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007214367389678955,
+            "max_z_decrease": 0.007214367389678955,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350981512883586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007214367389678955,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021206567871804416,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007214367389678955,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007214390299703162,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1138724163174629,
+              -0.40097734332084656,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1138724163174629,
+              -0.40097734332084656,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11305775150985017,
+              -0.40234393014591674,
+              0.8077285086989197
+            ],
+            "closest_button": [
+              0.11386136710643764,
+              -0.40097337961196905,
+              0.772666335105896
+            ],
+            "closest_ee_minus_button": [
+              -0.0008036155965874675,
+              -0.0013705505339476898,
+              0.03506217359302366
+            ],
+            "button_min_z_position": [
+              0.11385452747344968,
+              -0.4009740948677063,
+              0.7695944905281067
+            ],
+            "min_active_finger_to_button": 0.1468607360864234,
+            "closest_active_finger": [
+              -0.028162367641925812,
+              -0.38681530952453613,
+              0.810860812664032
+            ],
+            "closest_active_finger_button": [
+              0.11387380212545391,
+              -0.40097665786743164,
+              0.7763172388076782
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420361697673797,
+              0.014161348342895508,
+              0.03454357385635376
+            ],
+            "min_contact_pad_to_button": 0.021206567871804416,
+            "closest_contact_pad": [
+              0.11385452747344968,
+              -0.4034240224455251,
+              0.7906590668534186
+            ],
+            "closest_contact_pad_button": [
+              0.11385452747344968,
+              -0.4009740948677063,
+              0.7695944905281067
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002449927577818811,
+              0.02106457632531189
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.281739062826477,
+              0.17507054876886619,
+              1.1016135791203423
+            ],
+            "current_z": 1.1016135791203423,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19170444938597975,
+            "gripper_z": 1.1016135372712856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28173900469689545,
+              0.17507056102657492,
+              1.1016135372712856
+            ],
+            "object_minus_gripper": [
+              5.812958153716963e-08,
+              -1.2257708736918005e-08,
+              4.1849056664489126e-08
+            ],
+            "object_to_gripper_xy": 5.940790918022253e-08,
+            "object_to_gripper_z": 4.1849056664489126e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.281739062826477,
+              0.17507054876886619,
+              1.1016135791203423
+            ],
+            "finger_b": [
+              0.281739062826477,
+              0.17507054876886619,
+              1.1016135791203423
+            ],
+            "finger_midpoint": [
+              0.281739062826477,
+              0.17507054876886619,
+              1.1016135791203423
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016135791203423,
+            "object_top_z": 1.226622085740622,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28173906282647704,
+            0.17507054876886619,
+            1.1016135791203423
+          ],
+          "object_origin_world": [
+            0.28173906282647704,
+            0.17507054876886619,
+            1.1016135791203423
+          ],
+          "frame_world": [
+            0.28173900469689545,
+            0.17507056102657492,
+            1.1016135372712856
+          ],
+          "center_minus_frame": [
+            5.812958159268078e-08,
+            -1.2257708736918005e-08,
+            4.1849056664489126e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432644862492169,
+            "required_z": 0.9112598245862034,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020773134200707862,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.653601334241574e-08,
+            "max_target_xy_drift": 6.699432701491994e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6305580634362908,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6305580640825118,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2677446277404808,
+              -0.34582887170256393,
+              0.9233727364969174
+            ],
+            "target_mouth_xy": [
+              0.2664446993511168,
+              -0.34421181796924677
+            ],
+            "rod_tip_z": 0.9233727364969174,
+            "rod_tip_depth": -0.022112878678599457,
+            "rod_tip_bottom_clearance": 0.12155343591378143,
+            "rod_tip_xy_dist": 0.002074771455825783,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04476739878057723,
+            "min_rod_tip_bottom_clearance": 0.054673162041230405,
+            "min_rod_tip_xy_dist": 0.0006772820585488436,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2664446704506739,
+              -0.3442118779009201
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8900442927692893e-08,
+              5.993167334628069e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0018347366951224076,
+                0.0001214209805999178
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017413068494674389,
+                -0.0002767080541954958
+              ],
+              "first_target_mouth_xy": [
+                0.2664446697611961,
+                -0.3442118490415363
+              ],
+              "last_target_mouth_xy": [
+                0.26644470126949105,
+                -0.3442118474526678
+              ],
+              "first_rod_tip_xy": [
+                0.2682794064563185,
+                -0.34409042806093637
+              ],
+              "last_rod_tip_xy": [
+                0.2681860081189585,
+                -0.3444885555068633
+              ],
+              "min_rod_tip_xy_dist": 0.0017407850008525525,
+              "max_rod_tip_xy_dist": 0.0018387500632110227,
+              "first_target_xy_drift": 2.8867618788696863e-08,
+              "last_target_xy_drift": 4.3323152702441424e-08,
+              "max_depth": 0.019852047386473948,
+              "min_bottom_clearance": 0.07958852570172625
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0018347366951224076,
+                  0.0001214209805999178
+                ],
+                "rod_tip_xy": [
+                  0.2682794064563185,
+                  -0.34409042806093637
+                ],
+                "target_mouth_xy": [
+                  0.2664446697611961,
+                  -0.3442118490415363
+                ],
+                "gripper_position": [
+                  0.2682680453647309,
+                  -0.34409734324127733,
+                  1.0056055376351816
+                ],
+                "rod_tip_xy_dist": 0.0018387500632110227,
+                "target_xy_drift": 2.8867618788696863e-08,
+                "depth": 0.01551731107398513,
+                "bottom_clearance": 0.08392320370373685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0018233747017221136,
+                  0.00011450389359546342
+                ],
+                "rod_tip_xy": [
+                  0.2682680453647308,
+                  -0.3440973432412774
+                ],
+                "target_mouth_xy": [
+                  0.2664446706630087,
+                  -0.34421184713487285
+                ],
+                "gripper_position": [
+                  0.26825962633197087,
+                  -0.3440980616332786,
+                  1.0054848049614906
+                ],
+                "rod_tip_xy_dist": 0.001826966459606943,
+                "target_xy_drift": 3.076677998116575e-08,
+                "depth": 0.015654305910697275,
+                "bottom_clearance": 0.08378624804122325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0018149243993337838,
+                  0.00011379057332672193
+                ],
+                "rod_tip_xy": [
+                  0.2682596263319708,
+                  -0.3440980616332786
+                ],
+                "target_mouth_xy": [
+                  0.26644470193263703,
+                  -0.34421185220660533
+                ],
+                "gripper_position": [
+                  0.2682658109127061,
+                  -0.3441670639676156,
+                  1.0049670947333498
+                ],
+                "rod_tip_xy_dist": 0.0018184880725138452,
+                "target_xy_drift": 4.063633615363542e-08,
+                "depth": 0.015775137809051487,
+                "bottom_clearance": 0.0836655271845298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0018211407020889414,
+                  4.4755592335798955e-05
+                ],
+                "rod_tip_xy": [
+                  0.26826581091270607,
+                  -0.34416706396761554
+                ],
+                "target_mouth_xy": [
+                  0.26644467021061713,
+                  -0.34421181955995134
+                ],
+                "gripper_position": [
+                  0.268254344632271,
+                  -0.3441738099950625,
+                  1.0048298461747849
+                ],
+                "rod_tip_xy_dist": 0.00182169056643831,
+                "target_xy_drift": 5.834146265928621e-08,
+                "depth": 0.016292672233645056,
+                "bottom_clearance": 0.08314783702486339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0018096412178329468,
+                  3.8007330731892885e-05
+                ],
+                "rod_tip_xy": [
+                  0.2682543446322709,
+                  -0.34417380999506253
+                ],
+                "target_mouth_xy": [
+                  0.26644470341443793,
+                  -0.3442118173257944
+                ],
+                "gripper_position": [
+                  0.26824584815992014,
+                  -0.3441745873246964,
+                  1.0047092254618328
+                ],
+                "rod_tip_xy_dist": 0.0018100403018908929,
+                "target_xy_drift": 6.896343664006729e-08,
+                "depth": 0.01643008007191693,
+                "bottom_clearance": 0.0830105865194476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001801148455854662,
+                  3.723382315212742e-05
+                ],
+                "rod_tip_xy": [
+                  0.26824584815992003,
+                  -0.3441745873246964
+                ],
+                "target_mouth_xy": [
+                  0.26644469970406537,
+                  -0.34421182114784854
+                ],
+                "gripper_position": [
+                  0.26825292434704145,
+                  -0.3442446511102744,
+                  1.0041929153434506
+                ],
+                "rod_tip_xy_dist": 0.0018015332685282716,
+                "target_xy_drift": 6.384882181179608e-08,
+                "depth": 0.01655063934555645,
+                "bottom_clearance": 0.08288993903163344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018081611802944764,
+                  -3.295838453087896e-05
+                ],
+                "rod_tip_xy": [
+                  0.2682529243470414,
+                  -0.34424465111027436
+                ],
+                "target_mouth_xy": [
+                  0.2664447631667469,
+                  -0.3442116927257435
+                ],
+                "gripper_position": [
+                  0.2682412491643246,
+                  -0.3442514604813649,
+                  1.0040553272054893
+                ],
+                "rod_tip_xy_dist": 0.0018084615309800756,
+                "target_xy_drift": 2.070896333539837e-07,
+                "depth": 0.017067168633795426,
+                "bottom_clearance": 0.08237369887318569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001796546385247788,
+                  -3.9612088082563446e-05
+                ],
+                "rod_tip_xy": [
+                  0.2682412491643245,
+                  -0.3442514604813649
+                ],
+                "target_mouth_xy": [
+                  0.2664447027790767,
+                  -0.34421184839328234
+                ],
+                "gripper_position": [
+                  0.2682328182480941,
+                  -0.3442517556634708,
+                  1.0039352458196436
+                ],
+                "rod_tip_xy_dist": 0.001796983036054919,
+                "target_xy_drift": 4.377015327407617e-08,
+                "depth": 0.017204571363928167,
+                "bottom_clearance": 0.08223602524391715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017881170940045599,
+                  -3.9906945862089316e-05
+                ],
+                "rod_tip_xy": [
+                  0.26823281824809403,
+                  -0.3442517556634709
+                ],
+                "target_mouth_xy": [
+                  0.26644470115408947,
+                  -0.3442118487176088
+                ],
+                "gripper_position": [
+                  0.2682404587358168,
+                  -0.3443230004352504,
+                  1.0034209593306813
+                ],
+                "rod_tip_xy_dist": 0.0017885623573695583,
+                "target_xy_drift": 4.235995028955088e-08,
+                "depth": 0.017324574663311387,
+                "bottom_clearance": 0.0821159482883872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017957563179306635,
+                  -0.00011115362198299561
+                ],
+                "rod_tip_xy": [
+                  0.26824045873581676,
+                  -0.3443230004352503
+                ],
+                "target_mouth_xy": [
+                  0.2664447024178861,
+                  -0.34421184681326733
+                ],
+                "gripper_position": [
+                  0.2682288665259901,
+                  -0.3443297375950872,
+                  1.00328402346963
+                ],
+                "rod_tip_xy_dist": 0.0017991931194476687,
+                "target_xy_drift": 4.45908601870927e-08,
+                "depth": 0.01783896480026792,
+                "bottom_clearance": 0.08160167518454386,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017841664247891798,
+                  -0.00011788759660025239
+                ],
+                "rod_tip_xy": [
+                  0.26822886652599,
+                  -0.3443297375950872
+                ],
+                "target_mouth_xy": [
+                  0.2664447001012008,
+                  -0.344211849998487
+                ],
+                "gripper_position": [
+                  0.26822027592322756,
+                  -0.3443300261445056,
+                  1.003163960122794
+                ],
+                "rod_tip_xy_dist": 0.0017880568550180912,
+                "target_xy_drift": 4.071485628145121e-08,
+                "depth": 0.01797581199974929,
+                "bottom_clearance": 0.08146471688504198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017755302446963994,
+                  -0.00011823956736917163
+                ],
+                "rod_tip_xy": [
+                  0.26822027592322745,
+                  -0.3443300261445056
+                ],
+                "target_mouth_xy": [
+                  0.26644474567853105,
+                  -0.3442117865771364
+                ],
+                "gripper_position": [
+                  0.2682116036990242,
+                  -0.34433041691376537,
+                  1.003043683218568
+                ],
+                "rod_tip_xy_dist": 0.001779462909173244,
+                "target_xy_drift": 1.1831848529878692e-07,
+                "depth": 0.0180959045141732,
+                "bottom_clearance": 0.08134470334044941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017669026293528622,
+                  -0.00011853457836930037
+                ],
+                "rod_tip_xy": [
+                  0.2682116036990241,
+                  -0.3443304169137654
+                ],
+                "target_mouth_xy": [
+                  0.2664447010696712,
+                  -0.3442118823353961
+                ],
+                "gripper_position": [
+                  0.26822058085524814,
+                  -0.3444036313930251,
+                  1.0025319671195196
+                ],
+                "rod_tip_xy_dist": 0.0017708741761862264,
+                "target_xy_drift": 3.0938448174237396e-08,
+                "depth": 0.018216198699986363,
+                "bottom_clearance": 0.08122444427479258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001775914446652982,
+                  -0.00019181466844669925
+                ],
+                "rod_tip_xy": [
+                  0.2682205808552481,
+                  -0.3444036313930251
+                ],
+                "target_mouth_xy": [
+                  0.2664446664085951,
+                  -0.3442118167245784
+                ],
+                "gripper_position": [
+                  0.26820897105225483,
+                  -0.3444103033034141,
+                  1.0023950858727697
+                ],
+                "rod_tip_xy_dist": 0.001786243261390252,
+                "target_xy_drift": 6.130973158051078e-08,
+                "depth": 0.018727949394831467,
+                "bottom_clearance": 0.08071277400112786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00176425284907189,
+                  -0.00019845364464632365
+                ],
+                "rod_tip_xy": [
+                  0.2682089710522547,
+                  -0.34441030330341404
+                ],
+                "target_mouth_xy": [
+                  0.26644471820318283,
+                  -0.3442118496587677
+                ],
+                "gripper_position": [
+                  0.26820024511979557,
+                  -0.3444104312778046,
+                  1.002275069623149
+                ],
+                "rod_tip_xy_dist": 0.0017753793860839126,
+                "target_xy_drift": 5.5479016597389086e-08,
+                "depth": 0.018864822817872162,
+                "bottom_clearance": 0.08057580550099253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001755544164016687,
+                  -0.00019858255853621998
+                ],
+                "rod_tip_xy": [
+                  0.26820024511979546,
+                  -0.3444104312778046
+                ],
+                "target_mouth_xy": [
+                  0.26644470095577877,
+                  -0.34421184871926835
+                ],
+                "gripper_position": [
+                  0.2681915458789096,
+                  -0.3444107398396679,
+                  1.002155054900702
+                ],
+                "rod_tip_xy_dist": 0.0017667400330461298,
+                "target_xy_drift": 4.2215284242563246e-08,
+                "depth": 0.018984749286686364,
+                "bottom_clearance": 0.08045576605030735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001746844299036876,
+                  -0.00019889270877704313
+                ],
+                "rod_tip_xy": [
+                  0.26819154587890953,
+                  -0.34441073983966786
+                ],
+                "target_mouth_xy": [
+                  0.26644470157987266,
+                  -0.3442118471308908
+                ],
+                "gripper_position": [
+                  0.2681827376315859,
+                  -0.3444110605117247,
+                  1.0020353291853348
+                ],
+                "rod_tip_xy_dist": 0.00175813063072182,
+                "target_xy_drift": 4.377010074914355e-08,
+                "depth": 0.019104797390276373,
+                "bottom_clearance": 0.08033579916409062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001738035773535762,
+                  -0.0001992130661406244
+                ],
+                "rod_tip_xy": [
+                  0.2681827376315858,
+                  -0.34441106051172465
+                ],
+                "target_mouth_xy": [
+                  0.26644470185805,
+                  -0.34421184744558403
+                ],
+                "gripper_position": [
+                  0.26817399480035364,
+                  -0.3444112827263623,
+                  1.001915635592421
+                ],
+                "rod_tip_xy_dist": 0.001749415386868197,
+                "target_xy_drift": 4.374872309451879e-08,
+                "depth": 0.01922463882865355,
+                "bottom_clearance": 0.08021595694263983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001729323131953342,
+                  -0.00019943401035005248
+                ],
+                "rod_tip_xy": [
+                  0.2681739948003536,
+                  -0.34441128272636234
+                ],
+                "target_mouth_xy": [
+                  0.26644467166840025,
+                  -0.3442118487160123
+                ],
+                "gripper_position": [
+                  0.26818600811895854,
+                  -0.34448855550686325,
+                  1.0014077967078627
+                ],
+                "rod_tip_xy_dist": 0.0017407850008525525,
+                "target_xy_drift": 2.9210301302457388e-08,
+                "depth": 0.019344127779441833,
+                "bottom_clearance": 0.08009640729369616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0017413068494674389,
+                  -0.0002767080541954958
+                ],
+                "rod_tip_xy": [
+                  0.2681860081189585,
+                  -0.3444885555068633
+                ],
+                "target_mouth_xy": [
+                  0.26644470126949105,
+                  -0.3442118474526678
+                ],
+                "gripper_position": [
+                  0.2681741960303554,
+                  -0.34449508046479155,
+                  1.0012715135013988
+                ],
+                "rod_tip_xy_dist": 0.0017631553792161584,
+                "target_xy_drift": 4.3323152702441424e-08,
+                "depth": 0.019852047386473948,
+                "bottom_clearance": 0.07958852570172625,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005999315736335946,
+              "rod_tip_xy_max_step": 3.250632389200226e-05,
+              "rod_tip_xy_range": 0.0005999239517174849,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26774462774048086,
+            -0.34582887170256393,
+            1.0433727364969176
+          ],
+          "object_origin_world": [
+            0.26774462774048086,
+            -0.34582887170256393,
+            1.0433727364969176
+          ],
+          "frame_world": [
+            0.26774313009267536,
+            -0.34583333227833624,
+            1.0432644862492169
+          ],
+          "center_minus_frame": [
+            1.4976478054928855e-06,
+            4.460575772302633e-06,
+            0.00010825024770078073
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27068620493261775,
+              0.12745009839913607,
+              0.833628293870851
+            ],
+            "target_position": [
+              0.281871023351188,
+              0.17448232773319927,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04834388026615472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16821826004245394,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833628293870851,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673366385832,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13779699203295837,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44b7282ce92438de5a36fdd684ad21d171174dcc4c450ec135a59bb3113170be",
+    "visual_seed": 980427983532670885,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cc486603d3cf1d2095c9d1c132266f1abcf3cba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_33_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2591949607363181,
+              0.03292183458744544,
+              1.1640533759732197
+            ],
+            "current_z": 1.1640533759732197,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.3029465699352296,
+            "gripper_z": 1.1571756219804359,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25410143509005256,
+              0.028026751269639882,
+              1.1571756219804359
+            ],
+            "object_minus_gripper": [
+              0.005093525646265529,
+              0.004895083317805554,
+              0.006877753992783786
+            ],
+            "object_to_gripper_xy": 0.007064406853899548,
+            "object_to_gripper_z": 0.006877753992783786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2591949607363181,
+              0.00886057530461854,
+              1.1640533759732197
+            ],
+            "finger_b": [
+              0.24807738998004505,
+              0.03292183458744544,
+              1.1640533759732197
+            ],
+            "finger_midpoint": [
+              0.25363617535818156,
+              0.02089120494603199,
+              1.1640533759732197
+            ],
+            "object_minus_finger_midpoint": [
+              0.005558785378136533,
+              0.012030629641413448,
+              0.0
+            ],
+            "finger_gap": 0.02650555748887695,
+            "fingertip_max_gap": 0.09078902108040598,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013252778744438481,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640533759732197,
+            "object_top_z": 1.2139407331289978,
+            "finger_top_clearance": 0.04988735715577808,
+            "fingertip_min_top_clearance": 0.014966207146733423,
+            "object_projection_between_fingers": 0.8240675632164663,
+            "object_to_finger_line_xy": 0.010092326964792814,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047894510540202995,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5259235511416297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27115614581869585,
+              -0.34913261189342837,
+              0.8515395736236059
+            ],
+            "target_position": [
+              0.26278169022127673,
+              -0.3496552374300331,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008390747523591431,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539391864431276,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395736236059,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522353814911592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510002043384952,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15400184421903707,
+            "release_required_pad_clearance": 0.052550010216924764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16785874340728343,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007365047931671143,
+            "max_z_decrease": 0.007365047931671143,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516298927724672,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007365047931671143,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021203108366999807,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007365047931671143,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007365069935286335,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11848161369562149,
+              -0.40591669082641607,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11848161369562149,
+              -0.40591669082641607,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1204192605754971,
+              -0.40715722927787024,
+              0.8078138493441073
+            ],
+            "closest_button": [
+              0.11847110837697983,
+              -0.40591382980346685,
+              0.7727268934249878
+            ],
+            "closest_ee_minus_button": [
+              0.0019481521985172667,
+              -0.0012433994744033838,
+              0.03508695591911948
+            ],
+            "button_min_z_position": [
+              0.11846370249986649,
+              -0.40591487288475037,
+              0.7694438099861145
+            ],
+            "min_active_finger_to_button": 0.14421430803984447,
+            "closest_active_finger": [
+              -0.02093219757080078,
+              -0.3928988575935364,
+              0.8109927773475647
+            ],
+            "closest_active_finger_button": [
+              0.11848239600658415,
+              -0.40591505169868475,
+              0.7764686346054077
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13941459357738495,
+              0.013016194105148371,
+              0.03452414274215698
+            ],
+            "min_contact_pad_to_button": 0.021203108366999807,
+            "closest_contact_pad": [
+              0.11846370249986649,
+              -0.40807984298661215,
+              0.790536100257225
+            ],
+            "closest_contact_pad_button": [
+              0.11846370249986649,
+              -0.40591487288475037,
+              0.7694438099861145
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002164970101861785,
+              0.02109229027111048
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2817405801029212,
+              0.17904025371697502,
+              1.101361148892177
+            ],
+            "current_z": 1.101361148892177,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1914520191578145,
+            "gripper_z": 1.1013611067554683,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2817405188395017,
+              0.1790402714528211,
+              1.1013611067554683
+            ],
+            "object_minus_gripper": [
+              6.126341950407621e-08,
+              -1.7735846069566463e-08,
+              4.2136708788831356e-08
+            ],
+            "object_to_gripper_xy": 6.37790467562489e-08,
+            "object_to_gripper_z": 4.2136708788831356e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2817405801029212,
+              0.17904025371697502,
+              1.101361148892177
+            ],
+            "finger_b": [
+              0.2817405801029212,
+              0.17904025371697502,
+              1.101361148892177
+            ],
+            "finger_midpoint": [
+              0.2817405801029212,
+              0.17904025371697502,
+              1.101361148892177
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101361148892177,
+            "object_top_z": 1.2263696555124568,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2817405801029212,
+            0.17904025371697502,
+            1.1013611488921773
+          ],
+          "object_origin_world": [
+            0.2817405801029212,
+            0.17904025371697502,
+            1.1013611488921773
+          ],
+          "frame_world": [
+            0.2817405188395017,
+            0.1790402714528211,
+            1.1013611067554683
+          ],
+          "center_minus_frame": [
+            6.126341950407621e-08,
+            -1.7735846069566463e-08,
+            4.213670901087596e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431780824389558,
+            "required_z": 0.9112597653919168,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026760306029712678,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.221575671646267e-08,
+            "max_target_xy_drift": 1.5268243914018396e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.1678587412599057,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.17245846617094063,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2689252957134247,
+              -0.35060386317864367,
+              0.9232879901807008
+            ],
+            "target_mouth_xy": [
+              0.27115614523173914,
+              -0.3491326147095163
+            ],
+            "rod_tip_z": 0.9232879901807008,
+            "rod_tip_depth": -0.022028183116603484,
+            "rod_tip_bottom_clearance": 0.12146875616763964,
+            "rod_tip_xy_dist": 0.002672313909568518,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04484992554872447,
+            "min_rod_tip_bottom_clearance": 0.0545906504236231,
+            "min_rod_tip_xy_dist": 0.0013447238556093491,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2711561173256733,
+              -0.3491325830326856
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.7906065847016492e-08,
+              -3.16768307140336e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0015699802524752893,
+                0.00016770548152716946
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016909107566654424,
+                -0.00020705939197340761
+              ],
+              "first_target_mouth_xy": [
+                0.27115614835828106,
+                -0.34913261094263975
+              ],
+              "last_target_mouth_xy": [
+                0.27115614682233685,
+                -0.34913261314743693
+              ],
+              "first_rod_tip_xy": [
+                0.26958616810580577,
+                -0.3489649054611126
+              ],
+              "last_rod_tip_xy": [
+                0.2694652360656714,
+                -0.34933967253941034
+              ],
+              "min_rod_tip_xy_dist": 0.0015789120056851277,
+              "max_rod_tip_xy_dist": 0.001703541246583509,
+              "first_target_xy_drift": 4.173713318924699e-08,
+              "last_target_xy_drift": 4.21539014846062e-08,
+              "max_depth": 0.019449113840108168,
+              "min_bottom_clearance": 0.07999139558297752
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015699802524752893,
+                  0.00016770548152716946
+                ],
+                "rod_tip_xy": [
+                  0.26958616810580577,
+                  -0.3489649054611126
+                ],
+                "target_mouth_xy": [
+                  0.27115614835828106,
+                  -0.34913261094263975
+                ],
+                "gripper_position": [
+                  0.269575148071894,
+                  -0.3489718238174867,
+                  1.0060673662210677
+                ],
+                "rod_tip_xy_dist": 0.0015789120056851277,
+                "target_xy_drift": 4.173713318924699e-08,
+                "depth": 0.015053251222878483,
+                "bottom_clearance": 0.0843873955727168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015809675419247715,
+                  0.00016081975644904878
+                ],
+                "rod_tip_xy": [
+                  0.26957514807189403,
+                  -0.3489718238174868
+                ],
+                "target_mouth_xy": [
+                  0.2711561156138188,
+                  -0.34913264357393586
+                ],
+                "gripper_position": [
+                  0.269566942336415,
+                  -0.3489729045470227,
+                  1.0059449871897808
+                ],
+                "rod_tip_xy_dist": 0.0015891259744538774,
+                "target_xy_drift": 6.05654475139762e-08,
+                "depth": 0.015192478124925746,
+                "bottom_clearance": 0.0842480543735864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015892045599123494,
+                  0.0001597678918663359
+                ],
+                "rod_tip_xy": [
+                  0.26956694233641504,
+                  -0.3489729045470228
+                ],
+                "target_mouth_xy": [
+                  0.2711561468963274,
+                  -0.3491326724388891
+                ],
+                "gripper_position": [
+                  0.26956811697425975,
+                  -0.3490354194668342,
+                  1.0054255661158693
+                ],
+                "rod_tip_xy_dist": 0.0015972153619714586,
+                "target_xy_drift": 9.416948984122758e-08,
+                "depth": 0.015314835967563334,
+                "bottom_clearance": 0.08412568744294735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015880283172776677,
+                  9.716198907960827e-05
+                ],
+                "rod_tip_xy": [
+                  0.26956811697425986,
+                  -0.34903541946683425
+                ],
+                "target_mouth_xy": [
+                  0.27115614529153753,
+                  -0.34913258145591386
+                ],
+                "gripper_position": [
+                  0.26955670456286474,
+                  -0.34904269763689755,
+                  1.0052862389652333
+                ],
+                "rod_tip_xy_dist": 0.001590997922248061,
+                "target_xy_drift": 2.8010279746421954e-08,
+                "depth": 0.01583430785356399,
+                "bottom_clearance": 0.08360628091841293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001599441861748041,
+                  8.9886336390399e-05
+                ],
+                "rod_tip_xy": [
+                  0.2695567045628648,
+                  -0.34904269763689755
+                ],
+                "target_mouth_xy": [
+                  0.27115614642461283,
+                  -0.34913258397328795
+                ],
+                "gripper_position": [
+                  0.2695484604702014,
+                  -0.34904340206185164,
+                  1.005164067797238
+                ],
+                "rod_tip_xy_dist": 0.0016019656121720365,
+                "target_xy_drift": 2.9114137715716955e-08,
+                "depth": 0.01597358283154582,
+                "bottom_clearance": 0.08346692729139071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001607685407955639,
+                  8.921202594969202e-05
+                ],
+                "rod_tip_xy": [
+                  0.2695484604702015,
+                  -0.3490434020618517
+                ],
+                "target_mouth_xy": [
+                  0.2711561458781571,
+                  -0.3491326140878014
+                ],
+                "gripper_position": [
+                  0.26955036271505217,
+                  -0.3491073034095317,
+                  1.0046444562232328
+                ],
+                "rod_tip_xy_dist": 0.0016101587364379757,
+                "target_xy_drift": 4.218607057432446e-08,
+                "depth": 0.0160957680433228,
+                "bottom_clearance": 0.08334475787518658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001605907149457464,
+                  2.5183567853914735e-05
+                ],
+                "rod_tip_xy": [
+                  0.2695503627150522,
+                  -0.3491073034095318
+                ],
+                "target_mouth_xy": [
+                  0.2711562698645097,
+                  -0.3491324869773857
+                ],
+                "gripper_position": [
+                  0.26953890054739543,
+                  -0.3491143667659231,
+                  1.004505162058304
+                ],
+                "rod_tip_xy_dist": 0.0016061045995726586,
+                "target_xy_drift": 1.8026291144896497e-07,
+                "depth": 0.016615574019680834,
+                "bottom_clearance": 0.08282532860955383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016172460371387531,
+                  1.8216893219902275e-05
+                ],
+                "rod_tip_xy": [
+                  0.2695389005473955,
+                  -0.3491143667659232
+                ],
+                "target_mouth_xy": [
+                  0.27115614658453424,
+                  -0.3491325836591431
+                ],
+                "gripper_position": [
+                  0.2695305625018643,
+                  -0.3491148500863241,
+                  1.0043831822029765
+                ],
+                "rod_tip_xy_dist": 0.0016173486327442166,
+                "target_xy_drift": 2.926556667612113e-08,
+                "depth": 0.016754655390026074,
+                "bottom_clearance": 0.08268584961859127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016255815735848889,
+                  1.7762425058742703e-05
+                ],
+                "rod_tip_xy": [
+                  0.2695305625018644,
+                  -0.34911485008632415
+                ],
+                "target_mouth_xy": [
+                  0.2711561440754493,
+                  -0.3491326125113829
+                ],
+                "gripper_position": [
+                  0.2695332378958203,
+                  -0.3491799891663582,
+                  1.003865867683121
+                ],
+                "rod_tip_xy_dist": 0.0016256786140325188,
+                "target_xy_drift": 3.980633255922374e-08,
+                "depth": 0.01687670632061955,
+                "bottom_clearance": 0.08256388424203853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016229097389957037,
+                  -4.740581979573166e-05
+                ],
+                "rod_tip_xy": [
+                  0.26953323789582034,
+                  -0.3491799891663583
+                ],
+                "target_mouth_xy": [
+                  0.27115614763481605,
+                  -0.34913258334656255
+                ],
+                "gripper_position": [
+                  0.2695218245513404,
+                  -0.349186591024452,
+                  1.003726695849967
+                ],
+                "rod_tip_xy_dist": 0.0016236019625134753,
+                "target_xy_drift": 3.031076793926808e-08,
+                "depth": 0.01739401537463603,
+                "bottom_clearance": 0.08204652528771395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001634323867884313,
+                  -5.400642548447632e-05
+                ],
+                "rod_tip_xy": [
+                  0.26952182455134044,
+                  -0.34918659102445204
+                ],
+                "target_mouth_xy": [
+                  0.27115614841922475,
+                  -0.34913258459896757
+                ],
+                "gripper_position": [
+                  0.2695132588227916,
+                  -0.3491871617739705,
+                  1.003604620728597
+                ],
+                "rod_tip_xy_dist": 0.0016352159487755592,
+                "target_xy_drift": 3.113297578800527e-08,
+                "depth": 0.017533153021803805,
+                "bottom_clearance": 0.08190745623480378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016429510522147361,
+                  -5.45495785209682e-05
+                ],
+                "rod_tip_xy": [
+                  0.26951325882279165,
+                  -0.3491871617739706
+                ],
+                "target_mouth_xy": [
+                  0.2711562098750064,
+                  -0.3491326121954496
+                ],
+                "gripper_position": [
+                  0.26950469612689687,
+                  -0.3491878612089691,
+                  1.0034828075722486
+                ],
+                "rod_tip_xy_dist": 0.0016438563856037802,
+                "target_xy_drift": 9.70352815266701e-08,
+                "depth": 0.01765530020803352,
+                "bottom_clearance": 0.08178537553347787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016514502209731274,
+                  -5.527629625201591e-05
+                ],
+                "rod_tip_xy": [
+                  0.269504696126897,
+                  -0.3491878612089693
+                ],
+                "target_mouth_xy": [
+                  0.2711561463478701,
+                  -0.34913258491271726
+                ],
+                "gripper_position": [
+                  0.2695086994973327,
+                  -0.3492546470585312,
+                  1.002966415571541
+                ],
+                "rod_tip_xy_dist": 0.0016523750486132172,
+                "target_xy_drift": 2.9083026440867892e-08,
+                "depth": 0.017777030432142182,
+                "bottom_clearance": 0.08166351043887599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001647446618284143,
+                  -0.00012206434188410942
+                ],
+                "rod_tip_xy": [
+                  0.26950869949733275,
+                  -0.34925464705853126
+                ],
+                "target_mouth_xy": [
+                  0.2711561461156169,
+                  -0.34913258271664716
+                ],
+                "gripper_position": [
+                  0.2694971698579368,
+                  -0.34926135581851064,
+                  1.002827603515815
+                ],
+                "rod_tip_xy_dist": 0.0016519624885739566,
+                "target_xy_drift": 2.879167818189802e-08,
+                "depth": 0.018293410766672125,
+                "bottom_clearance": 0.08114710139397019,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016589779029291818,
+                  -0.00012874079108793346
+                ],
+                "rod_tip_xy": [
+                  0.26949716985793687,
+                  -0.3492613558185107
+                ],
+                "target_mouth_xy": [
+                  0.27115614776086605,
+                  -0.34913261502742277
+                ],
+                "gripper_position": [
+                  0.26948850182859174,
+                  -0.3492617444513876,
+                  1.0027057170988392
+                ],
+                "rod_tip_xy_dist": 0.0016639657068873903,
+                "target_xy_drift": 4.415839859047393e-08,
+                "depth": 0.018432310922584016,
+                "bottom_clearance": 0.08100829546519439,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016676162547999418,
+                  -0.00012913193341473894
+                ],
+                "rod_tip_xy": [
+                  0.26948850182859185,
+                  -0.3492617444513877
+                ],
+                "target_mouth_xy": [
+                  0.2711561180833918,
+                  -0.34913261251797295
+                ],
+                "gripper_position": [
+                  0.26947984301277383,
+                  -0.34926249050865676,
+                  1.0025838914126224
+                ],
+                "rod_tip_xy_dist": 0.0016726084507440505,
+                "target_xy_drift": 2.9495021768207853e-08,
+                "depth": 0.018554119588640616,
+                "bottom_clearance": 0.08088645315402243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016763036068724313,
+                  -0.00012990653502270577
+                ],
+                "rod_tip_xy": [
+                  0.2694798430127739,
+                  -0.3492624905086569
+                ],
+                "target_mouth_xy": [
+                  0.2711561466196463,
+                  -0.34913258397363417
+                ],
+                "gripper_position": [
+                  0.26947100258393236,
+                  -0.3492631886141414,
+                  1.0024621815523662
+                ],
+                "rod_tip_xy_dist": 0.0016813296792286539,
+                "target_xy_drift": 2.9309081184107353e-08,
+                "depth": 0.01867593193703676,
+                "bottom_clearance": 0.08076458568613465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0016851473728621835,
+                  -0.0001305745334240216
+                ],
+                "rod_tip_xy": [
+                  0.2694710025839324,
+                  -0.3492631886141414
+                ],
+                "target_mouth_xy": [
+                  0.2711561499567946,
+                  -0.3491326140807174
+                ],
+                "gripper_position": [
+                  0.269477006584842,
+                  -0.3493327826801607,
+                  1.0019495890092773
+                ],
+                "rod_tip_xy_dist": 0.001690198620589669,
+                "target_xy_drift": 4.504187337394616e-08,
+                "depth": 0.018797733517358473,
+                "bottom_clearance": 0.08064292354941383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0016791369011011636,
+                  -0.00020019966005146994
+                ],
+                "rod_tip_xy": [
+                  0.2694770065848421,
+                  -0.34933278268016077
+                ],
+                "target_mouth_xy": [
+                  0.27115614348594325,
+                  -0.3491325830201093
+                ],
+                "gripper_position": [
+                  0.2694652360656713,
+                  -0.34933967253941034,
+                  1.001810643542114
+                ],
+                "rod_tip_xy_dist": 0.001691029460572566,
+                "target_xy_drift": 2.6160272973236735e-08,
+                "depth": 0.019310311845497252,
+                "bottom_clearance": 0.08013029011762807,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0016909107566654424,
+                  -0.00020705939197340761
+                ],
+                "rod_tip_xy": [
+                  0.2694652360656714,
+                  -0.34933967253941034
+                ],
+                "target_mouth_xy": [
+                  0.27115614682233685,
+                  -0.34913261314743693
+                ],
+                "gripper_position": [
+                  0.2694564764549635,
+                  -0.34934021783933283,
+                  1.001688853300573
+                ],
+                "rod_tip_xy_dist": 0.001703541246583509,
+                "target_xy_drift": 4.21539014846062e-08,
+                "depth": 0.019449113840108168,
+                "bottom_clearance": 0.07999139558297752,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006012412127265347,
+              "rod_tip_xy_max_step": 3.2443623028471974e-05,
+              "rod_tip_xy_range": 0.0006012337486855518,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2689252957134247,
+            -0.35060386317864367,
+            1.0432879901807008
+          ],
+          "object_origin_world": [
+            0.2689252957134247,
+            -0.35060386317864367,
+            1.0432879901807008
+          ],
+          "frame_world": [
+            0.2689238707260018,
+            -0.35060845017428666,
+            1.0431780824389558
+          ],
+          "center_minus_frame": [
+            1.4249874228933201e-06,
+            4.586995642985592e-06,
+            0.00010990774174501894
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2720322235762318,
+              0.12966356866526474,
+              0.8341648340253268
+            ],
+            "target_position": [
+              0.2819798593711556,
+              0.17731282875077603,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04867655949843979,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17029486110440642,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8341648340253268,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674535344858,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13836207335584527,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec6cfdb1d42d961e8515b37beed49d6577a7557c38d61bd5077478f4a3b1575e",
+    "visual_seed": 9126073562584933829,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..653936b9eb8c455f11413403761cfa047665eb1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2597471433310282,
+              0.02841767628198874,
+              1.1647571312960938
+            ],
+            "current_z": 1.1647571312960938,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30365056367668286,
+            "gripper_z": 1.1579760574861362,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2545353052635956,
+              0.023431822757834925,
+              1.1579760574861362
+            ],
+            "object_minus_gripper": [
+              0.005211838067432639,
+              0.004985853524153816,
+              0.006781073809957627
+            ],
+            "object_to_gripper_xy": 0.007212627219360295,
+            "object_to_gripper_z": 0.006781073809957627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2597471433310282,
+              0.004362176191790344,
+              1.1647571312960938
+            ],
+            "finger_b": [
+              0.24839059507408157,
+              0.02841767628198874,
+              1.1647571312960938
+            ],
+            "finger_midpoint": [
+              0.2540688692025549,
+              0.016389926236889542,
+              1.1647571312960938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005678274128473326,
+              0.012027750045099199,
+              0.0
+            ],
+            "finger_gap": 0.026601471254460593,
+            "fingertip_max_gap": 0.0905985657808599,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013300735627230297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647571312960938,
+            "object_top_z": 1.2145763014626778,
+            "finger_top_clearance": 0.04981917016658399,
+            "fingertip_min_top_clearance": 0.014945751049975198,
+            "object_projection_between_fingers": 0.8177441876010024,
+            "object_to_finger_line_xy": 0.010269636780842096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779928289042995,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.44752523636810243,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2671493004192125,
+              -0.34838053085778004,
+              0.8515395992490284
+            ],
+            "target_position": [
+              0.25857653196356134,
+              -0.34908890744667126,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00860198560716631,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18519021996011145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395992490284,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569415261054972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856435436220334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526405773493785,
+            "release_required_pad_clearance": 0.0528217718110167,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6886993017806423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074645280838012695,
+            "max_z_decrease": 0.0074645280838012695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510387145614815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074645280838012695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109638910096745,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074645280838012695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007464547896734283,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11427646130323407,
+              -0.40535035729408264,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11427646130323407,
+              -0.40535035729408264,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11497858406280495,
+              -0.4042645943631046,
+              0.8076327240309418
+            ],
+            "closest_button": [
+              0.11426503211259839,
+              -0.4053466022014618,
+              0.7725527882575989
+            ],
+            "closest_ee_minus_button": [
+              0.000713551950206559,
+              0.001082007838357213,
+              0.035079935773342896
+            ],
+            "button_min_z_position": [
+              0.11425931751728056,
+              -0.4053489863872528,
+              0.7693443298339844
+            ],
+            "min_active_finger_to_button": 0.14512584344634813,
+            "closest_active_finger": [
+              -0.012228749692440033,
+              -0.4675590693950653,
+              0.8105915784835815
+            ],
+            "closest_active_finger_button": [
+              0.11427757143974301,
+              -0.40534842014312744,
+              0.7761315107345581
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12650632113218305,
+              -0.062210649251937866,
+              0.03446006774902344
+            ],
+            "min_contact_pad_to_button": 0.02109638910096745,
+            "closest_contact_pad": [
+              0.11425931751728056,
+              -0.4053489863872528,
+              0.7904407189349518
+            ],
+            "closest_contact_pad_button": [
+              0.11425931751728056,
+              -0.4053489863872528,
+              0.7693443298339844
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109638910096745
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2765149277727826,
+              0.17422878328777586,
+              1.1017970914326618
+            ],
+            "current_z": 1.1017970914326618,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19188796169829925,
+            "gripper_z": 1.1017972358427535,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2765149008602212,
+              0.1742287334371151,
+              1.1017972358427535
+            ],
+            "object_minus_gripper": [
+              2.6912561401637447e-08,
+              4.985066076601541e-08,
+              -1.4441009166255014e-07
+            ],
+            "object_to_gripper_xy": 5.6651340143065054e-08,
+            "object_to_gripper_z": -1.4441009166255014e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2765149277727826,
+              0.17422878328777586,
+              1.1017970914326618
+            ],
+            "finger_b": [
+              0.2765149277727826,
+              0.17422878328777586,
+              1.1017970914326618
+            ],
+            "finger_midpoint": [
+              0.2765149277727826,
+              0.17422878328777586,
+              1.1017970914326618
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017970914326618,
+            "object_top_z": 1.2268055980529415,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27651492777278264,
+            0.17422878328777588,
+            1.1017970914326618
+          ],
+          "object_origin_world": [
+            0.27651492777278264,
+            0.17422878328777588,
+            1.1017970914326618
+          ],
+          "frame_world": [
+            0.2765149008602212,
+            0.1742287334371151,
+            1.1017972358427535
+          ],
+          "center_minus_frame": [
+            2.6912561457148598e-08,
+            4.9850660793770984e-08,
+            -1.4441009166255014e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432301911334552,
+            "required_z": 0.9112598312121015,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014882308855062732,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.1970484359474794e-08,
+            "max_target_xy_drift": 6.996456910829749e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6886993054645432,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.688699306733613,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2680454347522545,
+              -0.34956515841732627,
+              0.9233398854486131
+            ],
+            "target_mouth_xy": [
+              0.2671493017418859,
+              -0.3483805314876305
+            ],
+            "rod_tip_z": 0.9233398854486131,
+            "rod_tip_depth": -0.02208002980595969,
+            "rod_tip_bottom_clearance": 0.1215205722224052,
+            "rod_tip_xy_dist": 0.0014853939998642732,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04480956494098132,
+            "min_rod_tip_bottom_clearance": 0.0546309821936507,
+            "min_rod_tip_xy_dist": 0.0001674855769270013,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2671492728654523,
+              -0.34838050102990337
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8876433577629257e-08,
+              -3.045772711818273e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0014232866649286358,
+                0.00047239923229247527
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013336281686243678,
+                8.870752323486553e-05
+              ],
+              "first_target_mouth_xy": [
+                0.2671493619970092,
+                -0.34838050071657056
+              ],
+              "last_target_mouth_xy": [
+                0.2671493023196727,
+                -0.34838050198622206
+              ],
+              "first_rod_tip_xy": [
+                0.26857264866193786,
+                -0.3479081014842781
+              ],
+              "last_rod_tip_xy": [
+                0.2684829304882971,
+                -0.3482917944629872
+              ],
+              "min_rod_tip_xy_dist": 0.0013311935414525651,
+              "max_rod_tip_xy_dist": 0.0014996352774038755,
+              "first_target_xy_drift": 8.913210765581669e-08,
+              "last_target_xy_drift": 2.9469741169135465e-08,
+              "max_depth": 0.019869260386960907,
+              "min_bottom_clearance": 0.07957127094447325
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0014232866649286358,
+                  0.00047239923229247527
+                ],
+                "rod_tip_xy": [
+                  0.26857264866193786,
+                  -0.3479081014842781
+                ],
+                "target_mouth_xy": [
+                  0.2671493619970092,
+                  -0.34838050071657056
+                ],
+                "gripper_position": [
+                  0.26856147159003396,
+                  -0.34791499635723067,
+                  1.005609377381544
+                ],
+                "rod_tip_xy_dist": 0.0014996352774038755,
+                "target_xy_drift": 8.913210765581669e-08,
+                "depth": 0.015512130753081999,
+                "bottom_clearance": 0.08392840560747661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0014121072338556528,
+                  0.00046550625169483606
+                ],
+                "rod_tip_xy": [
+                  0.26856147159003396,
+                  -0.34791499635723067
+                ],
+                "target_mouth_xy": [
+                  0.2671493643561783,
+                  -0.3483805026089255
+                ],
+                "gripper_position": [
+                  0.26855318193857813,
+                  -0.34791591245514186,
+                  1.00548796737005
+                ],
+                "rod_tip_xy_dist": 0.0014868567215015841,
+                "target_xy_drift": 9.150435101151734e-08,
+                "depth": 0.015650526659824027,
+                "bottom_clearance": 0.0837900609026695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001403818072226115,
+                  0.0004645885677589945
+                ],
+                "rod_tip_xy": [
+                  0.26855318193857813,
+                  -0.347915912455142
+                ],
+                "target_mouth_xy": [
+                  0.267149363866352,
+                  -0.34838050102290097
+                ],
+                "gripper_position": [
+                  0.2685597981430682,
+                  -0.3479816809089296,
+                  1.0049684367518013
+                ],
+                "rod_tip_xy_dist": 0.0014786979803871377,
+                "target_xy_drift": 9.1000899974009e-08,
+                "depth": 0.01577180041447146,
+                "bottom_clearance": 0.0836687424464847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014104650148442643,
+                  0.00039881789278906066
+                ],
+                "rod_tip_xy": [
+                  0.26855979814306813,
+                  -0.34798168090892967
+                ],
+                "target_mouth_xy": [
+                  0.26714933312822386,
+                  -0.34838049880171873
+                ],
+                "gripper_position": [
+                  0.2685484626317407,
+                  -0.34798871749572,
+                  1.004829849360832
+                ],
+                "rod_tip_xy_dist": 0.0014657650799866728,
+                "target_xy_drift": 6.03039504655068e-08,
+                "depth": 0.016291423285146878,
+                "bottom_clearance": 0.08314916438896536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013991325929936238,
+                  0.0003917864178465402
+                ],
+                "rod_tip_xy": [
+                  0.2685484626317407,
+                  -0.34798871749572013
+                ],
+                "target_mouth_xy": [
+                  0.2671493300387471,
+                  -0.3483805039135667
+                ],
+                "gripper_position": [
+                  0.2685400964886182,
+                  -0.3479897051492522,
+                  1.0047086679139727
+                ],
+                "rod_tip_xy_dist": 0.0014529516887997636,
+                "target_xy_drift": 5.7245970586414745e-08,
+                "depth": 0.016430092441184763,
+                "bottom_clearance": 0.08301058777254389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001390734210744704,
+                  0.0003907962002761556
+                ],
+                "rod_tip_xy": [
+                  0.26854009648861815,
+                  -0.3479897051492523
+                ],
+                "target_mouth_xy": [
+                  0.26714936227787345,
+                  -0.34838050134952847
+                ],
+                "gripper_position": [
+                  0.26854763027953765,
+                  -0.3480563462945501,
+                  1.0041903779394015
+                ],
+                "rod_tip_xy_dist": 0.0014445979769769776,
+                "target_xy_drift": 8.941299241830761e-08,
+                "depth": 0.016551097933801828,
+                "bottom_clearance": 0.08288940517636323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001398297369154089,
+                  0.00032415410185004934
+                ],
+                "rod_tip_xy": [
+                  0.26854763027953765,
+                  -0.3480563462945502
+                ],
+                "target_mouth_xy": [
+                  0.26714933291038356,
+                  -0.34838050039640023
+                ],
+                "gripper_position": [
+                  0.26853619739320755,
+                  -0.34806324509288666,
+                  1.0040519378639428
+                ],
+                "rod_tip_xy_dist": 0.0014353784916632472,
+                "target_xy_drift": 6.004827303898498e-08,
+                "depth": 0.017069451748758957,
+                "bottom_clearance": 0.08237106988788445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001386865331798104,
+                  0.0003172581702816091
+                ],
+                "rod_tip_xy": [
+                  0.26853619739320755,
+                  -0.3480632450928868
+                ],
+                "target_mouth_xy": [
+                  0.26714933206140945,
+                  -0.3483805032631684
+                ],
+                "gripper_position": [
+                  0.26852775008719043,
+                  -0.3480640121250356,
+                  1.0039309319598604
+                ],
+                "rod_tip_xy_dist": 0.001422690477635209,
+                "target_xy_drift": 5.923806895820695e-08,
+                "depth": 0.017207930865402843,
+                "bottom_clearance": 0.08223264894967086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001378416865086829,
+                  0.0003164876338586087
+                ],
+                "rod_tip_xy": [
+                  0.2685277500871904,
+                  -0.3480640121250357
+                ],
+                "target_mouth_xy": [
+                  0.26714933322210355,
+                  -0.3483804997588943
+                ],
+                "gripper_position": [
+                  0.26853595565890676,
+                  -0.3481318318367342,
+                  1.003415185535921
+                ],
+                "rod_tip_xy_dist": 0.0014142833790797451,
+                "target_xy_drift": 6.037003240078506e-08,
+                "depth": 0.01732891160117378,
+                "bottom_clearance": 0.08211164497700418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013866254284660151,
+                  0.0002487015570442619
+                ],
+                "rod_tip_xy": [
+                  0.26853595565890676,
+                  -0.34813183183673424
+                ],
+                "target_mouth_xy": [
+                  0.26714933023044074,
+                  -0.3483805333937785
+                ],
+                "gripper_position": [
+                  0.2685245054458754,
+                  -0.3481385877340467,
+                  1.0032768949533377
+                ],
+                "rod_tip_xy_dist": 0.0014087521227472207,
+                "target_xy_drift": 6.586472736532219e-08,
+                "depth": 0.01784474459966512,
+                "bottom_clearance": 0.08159591668727362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013751720573366155,
+                  0.000241913924631465
+                ],
+                "rod_tip_xy": [
+                  0.26852450544587536,
+                  -0.3481385877340467
+                ],
+                "target_mouth_xy": [
+                  0.26714933338853875,
+                  -0.3483805016586782
+                ],
+                "gripper_position": [
+                  0.26851589728662695,
+                  -0.34813910450792207,
+                  1.003156032824462
+                ],
+                "rod_tip_xy_dist": 0.0013962881272180244,
+                "target_xy_drift": 6.052635251649241e-08,
+                "depth": 0.01798292307833005,
+                "bottom_clearance": 0.08145758567641248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001366597340554776,
+                  0.00024139813448292857
+                ],
+                "rod_tip_xy": [
+                  0.26851589728662695,
+                  -0.34813910450792207
+                ],
+                "target_mouth_xy": [
+                  0.26714929994607217,
+                  -0.348380502642405
+                ],
+                "gripper_position": [
+                  0.26850723088286377,
+                  -0.34813981584469794,
+                  1.0030345956955695
+                ],
+                "rod_tip_xy_dist": 0.0013877540670245664,
+                "target_xy_drift": 2.7128585171180006e-08,
+                "depth": 0.018103894613816895,
+                "bottom_clearance": 0.08133675067511004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013578978345736847,
+                  0.00024068677562077978
+                ],
+                "rod_tip_xy": [
+                  0.2685072308828637,
+                  -0.348139815844698
+                ],
+                "target_mouth_xy": [
+                  0.26714933304829,
+                  -0.3483805026203188
+                ],
+                "gripper_position": [
+                  0.26851692259462423,
+                  -0.34820934000408016,
+                  1.0025214380554315
+                ],
+                "rod_tip_xy_dist": 0.0013790636871075352,
+                "target_xy_drift": 6.02038485182705e-08,
+                "depth": 0.01822517702470039,
+                "bottom_clearance": 0.08121535239020172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013675884036789543,
+                  0.0001711616553278228
+                ],
+                "rod_tip_xy": [
+                  0.2685169225946242,
+                  -0.3482093400040802
+                ],
+                "target_mouth_xy": [
+                  0.2671493341909452,
+                  -0.34838050165940804
+                ],
+                "gripper_position": [
+                  0.26850516011764225,
+                  -0.34821622684403,
+                  1.0023834485004426
+                ],
+                "rod_tip_xy_dist": 0.0013782577241327947,
+                "target_xy_drift": 6.132872374589534e-08,
+                "depth": 0.018738446156802424,
+                "bottom_clearance": 0.08070209382806481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013558296285512972,
+                  0.00016427388628187378
+                ],
+                "rod_tip_xy": [
+                  0.26850516011764225,
+                  -0.34821622684403
+                ],
+                "target_mouth_xy": [
+                  0.26714933048909095,
+                  -0.34838050073031185
+                ],
+                "gripper_position": [
+                  0.2684965414816286,
+                  -0.34821666911297006,
+                  1.0022622208167233
+                ],
+                "rod_tip_xy_dist": 0.0013657451780517836,
+                "target_xy_drift": 5.762441743754273e-08,
+                "depth": 0.018876448826242176,
+                "bottom_clearance": 0.0805641534451379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013472072411352398,
+                  0.0001638331844791563
+                ],
+                "rod_tip_xy": [
+                  0.2684965414816286,
+                  -0.3482166691129702
+                ],
+                "target_mouth_xy": [
+                  0.26714933424049336,
+                  -0.3483805022974494
+                ],
+                "gripper_position": [
+                  0.2684879015389091,
+                  -0.3482170106646009,
+                  1.0021410523058223
+                ],
+                "rod_tip_xy_dist": 0.0013571325148650022,
+                "target_xy_drift": 6.138812863014785e-08,
+                "depth": 0.01899767513244488,
+                "bottom_clearance": 0.08044288926982379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013386035598840218,
+                  0.00016345965019248787
+                ],
+                "rod_tip_xy": [
+                  0.2684879015389091,
+                  -0.348217010664601
+                ],
+                "target_mouth_xy": [
+                  0.2671492979790251,
+                  -0.34838047031479347
+                ],
+                "gripper_position": [
+                  0.26847917656137954,
+                  -0.34821749247649536,
+                  1.0020200655766909
+                ],
+                "rod_tip_xy_dist": 0.0013485468281729139,
+                "target_xy_drift": 3.967504900798467e-08,
+                "depth": 0.019118879402598488,
+                "bottom_clearance": 0.08032185000285375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001329840471057886,
+                  0.0001629799976580193
+                ],
+                "rod_tip_xy": [
+                  0.26847917656137954,
+                  -0.34821749247649547
+                ],
+                "target_mouth_xy": [
+                  0.26714933609032165,
+                  -0.3483804724741535
+                ],
+                "gripper_position": [
+                  0.2684705538853134,
+                  -0.34821807305151875,
+                  1.0018993794539424
+                ],
+                "rod_tip_xy_dist": 0.0013397903410982137,
+                "target_xy_drift": 6.937445462146187e-08,
+                "depth": 0.019239845109228382,
+                "bottom_clearance": 0.08020079044977324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0013212505344080694,
+                  0.00016239849177690502
+                ],
+                "rod_tip_xy": [
+                  0.2684705538853133,
+                  -0.34821807305151886
+                ],
+                "target_mouth_xy": [
+                  0.26714930335090525,
+                  -0.34838047154329577
+                ],
+                "gripper_position": [
+                  0.2684829304882971,
+                  -0.34829179446298714,
+                  1.001390583245145
+                ],
+                "rod_tip_xy_dist": 0.0013311935414525651,
+                "target_xy_drift": 4.241253197706212e-08,
+                "depth": 0.019360435069294968,
+                "bottom_clearance": 0.08008006145175395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0013336281686243678,
+                  8.870752323486553e-05
+                ],
+                "rod_tip_xy": [
+                  0.2684829304882971,
+                  -0.3482917944629872
+                ],
+                "target_mouth_xy": [
+                  0.2671493023196727,
+                  -0.34838050198622206
+                ],
+                "gripper_position": [
+                  0.2684711067791494,
+                  -0.3482983558246907,
+                  1.0012526341482189
+                ],
+                "rod_tip_xy_dist": 0.0013365751444744322,
+                "target_xy_drift": 2.9469741169135465e-08,
+                "depth": 0.019869260386960907,
+                "bottom_clearance": 0.07957127094447325,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006009423779097364,
+              "rod_tip_xy_max_step": 3.262145064357061e-05,
+              "rod_tip_xy_range": 0.0006009332744359496,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26804543475225456,
+            -0.3495651584173262,
+            1.0433398854486133
+          ],
+          "object_origin_world": [
+            0.26804543475225456,
+            -0.3495651584173262,
+            1.0433398854486133
+          ],
+          "frame_world": [
+            0.26804396554058174,
+            -0.34956982029018346,
+            1.0432301911334552
+          ],
+          "center_minus_frame": [
+            1.4692116728221016e-06,
+            4.66187285724784e-06,
+            0.00010969431515817085
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2636021304307135,
+              0.13020742447442954,
+              0.833268728467533
+            ],
+            "target_position": [
+              0.27663534966664716,
+              0.1756547529685803,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04727921817148797,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1671532628562015,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833268728467533,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672547129483,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13702996264487513,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24f29b25da1628343590397fc4f2c9393d569fac8a4121fbab176795ba49d80b",
+    "visual_seed": 6084921806335291428,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88d7625856dfa6cb5d1238e58811b6a004024343
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_35_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25839840718190665,
+              0.03659215560684974,
+              1.161023366458699
+            ],
+            "current_z": 1.161023366458699,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.299916858443933,
+            "gripper_z": 1.1543406741759747,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2531771313336394,
+              0.03163571329898844,
+              1.1543406741759747
+            ],
+            "object_minus_gripper": [
+              0.0052212758482672594,
+              0.004956442307861297,
+              0.006682692282724334
+            ],
+            "object_to_gripper_xy": 0.00719916952396986,
+            "object_to_gripper_z": 0.006682692282724334,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25839840718190665,
+              0.012167946630668364,
+              1.161023366458699
+            ],
+            "finger_b": [
+              0.24754029590830035,
+              0.03659215560684974,
+              1.161023366458699
+            ],
+            "finger_midpoint": [
+              0.25296935154510347,
+              0.02438005111875905,
+              1.161023366458699
+            ],
+            "object_minus_finger_midpoint": [
+              0.005429055636803182,
+              0.012212104488090687,
+              0.0
+            ],
+            "finger_gap": 0.026729021017279985,
+            "fingertip_max_gap": 0.09102667454447169,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013364510508640005,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161023366458699,
+            "object_top_z": 1.2109807034769364,
+            "finger_top_clearance": 0.04995733701823735,
+            "fingertip_min_top_clearance": 0.014987201105471236,
+            "object_projection_between_fingers": 0.834977762628072,
+            "object_to_finger_line_xy": 0.009921829110828348,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801333727223585,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7340809580512254,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27269633184453046,
+              -0.35070464967473863,
+              0.8515395672004283
+            ],
+            "target_position": [
+              0.26548248768699967,
+              -0.351187499146836,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072299855561298206,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18396218850675738,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395672004283,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588601131286388,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08794683993600656,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15095343752206164,
+            "release_required_pad_clearance": 0.05397341996800328,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.957657846111897,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007409274578094482,
+            "max_z_decrease": 0.007409274578094482,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035153890360454104,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007409274578094482,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02126340318373166,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007409274578094482,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007409298444583996,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12118241190910338,
+              -0.407448947429657,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12118241190910338,
+              -0.407448947429657,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12216593972338655,
+              -0.4091593556821823,
+              0.8079244816347076
+            ],
+            "closest_button": [
+              0.12117230892181396,
+              -0.40744596719741816,
+              0.7728264331817627
+            ],
+            "closest_ee_minus_button": [
+              0.0009936308015725814,
+              -0.0017133884847641556,
+              0.03509804845294495
+            ],
+            "button_min_z_position": [
+              0.12116378545761107,
+              -0.40744635462760925,
+              0.7693995833396912
+            ],
+            "min_active_finger_to_button": 0.14505892938082918,
+            "closest_active_finger": [
+              -0.018949106335639954,
+              -0.3926388621330261,
+              0.810789942741394
+            ],
+            "closest_active_finger_button": [
+              0.12118255347013474,
+              -0.4074476361274719,
+              0.7763528823852539
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401316598057747,
+              0.0148087739944458,
+              0.03443706035614014
+            ],
+            "min_contact_pad_to_button": 0.02126340318373166,
+            "closest_contact_pad": [
+              0.12116378545761107,
+              -0.4102450009684103,
+              0.790478005804692
+            ],
+            "closest_contact_pad_button": [
+              0.12116378545761107,
+              -0.40744635462760925,
+              0.7693995833396912
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027986463408010698,
+              0.0210784224650008
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27818535714809917,
+              0.1812743847904986,
+              1.1020384542517108
+            ],
+            "current_z": 1.1020384542517108,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1921293245173482,
+            "gripper_z": 1.102038650737861,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2781854216151348,
+              0.18127436866727709,
+              1.102038650737861
+            ],
+            "object_minus_gripper": [
+              -6.44670356542143e-08,
+              1.612322150790213e-08,
+              -1.9648615023903915e-07
+            ],
+            "object_to_gripper_xy": 6.645266704831806e-08,
+            "object_to_gripper_z": -1.9648615023903915e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27818535714809917,
+              0.1812743847904986,
+              1.1020384542517108
+            ],
+            "finger_b": [
+              0.27818535714809917,
+              0.1812743847904986,
+              1.1020384542517108
+            ],
+            "finger_midpoint": [
+              0.27818535714809917,
+              0.1812743847904986,
+              1.1020384542517108
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1020384542517108,
+            "object_top_z": 1.2270469608719905,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27818535714809917,
+            0.1812743847904986,
+            1.1020384542517108
+          ],
+          "object_origin_world": [
+            0.27818535714809917,
+            0.1812743847904986,
+            1.1020384542517108
+          ],
+          "frame_world": [
+            0.2781854216151348,
+            0.18127436866727709,
+            1.102038650737861
+          ],
+          "center_minus_frame": [
+            -6.44670356542143e-08,
+            1.612322150790213e-08,
+            -1.9648615023903915e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437518924729854,
+            "required_z": 0.9112598719574359,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017251929710052339,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.234502779046001e-08,
+            "max_target_xy_drift": 2.2739614897384176e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.9573931756653056,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.9576578461958523,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27141566342561363,
+              -0.3495239368673295,
+              0.9234405524089132
+            ],
+            "target_mouth_xy": [
+              0.27269639735633044,
+              -0.35070468084099315
+            ],
+            "rod_tip_z": 0.9234405524089132,
+            "rod_tip_depth": -0.022180646642544377,
+            "rod_tip_bottom_clearance": 0.1216212319608515,
+            "rod_tip_xy_dist": 0.0017419631834893446,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044855196433941535,
+            "min_rod_tip_bottom_clearance": 0.054585310989261004,
+            "min_rod_tip_xy_dist": 0.0007806264169866038,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27269633064641663,
+              -0.3507046528483076
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.670991381518832e-08,
+              -2.799268555842005e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0006897541731741286,
+                0.0028811808795787264
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0008033502165974427,
+                0.002495042846052564
+              ],
+              "first_target_mouth_xy": [
+                0.27269639221296327,
+                -0.35070465341343
+              ],
+              "last_target_mouth_xy": [
+                0.27269638961261655,
+                -0.35070468619922984
+              ],
+              "first_rod_tip_xy": [
+                0.27200663803978914,
+                -0.34782347253385126
+              ],
+              "last_rod_tip_xy": [
+                0.2718930393960191,
+                -0.3482096433531773
+              ],
+              "min_rod_tip_xy_dist": 0.0026187266078519997,
+              "max_rod_tip_xy_dist": 0.0029625941470713076,
+              "first_target_xy_drift": 6.156914022722717e-08,
+              "last_target_xy_drift": 6.774434845805892e-08,
+              "max_depth": 0.019595933220239226,
+              "min_bottom_clearance": 0.0798447017753986
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0006897541731741286,
+                  0.0028811808795787264
+                ],
+                "rod_tip_xy": [
+                  0.27200663803978914,
+                  -0.34782347253385126
+                ],
+                "target_mouth_xy": [
+                  0.27269639221296327,
+                  -0.35070465341343
+                ],
+                "gripper_position": [
+                  0.27199526569462623,
+                  -0.3478308656686564,
+                  1.0059249602808444
+                ],
+                "rod_tip_xy_dist": 0.0029625941470713076,
+                "target_xy_drift": 6.156914022722717e-08,
+                "depth": 0.015194436685325496,
+                "bottom_clearance": 0.08424610122216236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007010952978077634,
+                  0.0028737893921256252
+                ],
+                "rod_tip_xy": [
+                  0.27199526569462623,
+                  -0.3478308656686564
+                ],
+                "target_mouth_xy": [
+                  0.272696360992434,
+                  -0.350704655060782
+                ],
+                "gripper_position": [
+                  0.2719980510011806,
+                  -0.34789564193662326,
+                  1.005407211175526
+                ],
+                "rod_tip_xy_dist": 0.00295807371221576,
+                "target_xy_drift": 3.042656426611338e-08,
+                "depth": 0.015334888139596936,
+                "bottom_clearance": 0.08410565331299669,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006983160938051625,
+                  0.002809066505085278
+                ],
+                "rod_tip_xy": [
+                  0.27199805100118063,
+                  -0.34789564193662326
+                ],
+                "target_mouth_xy": [
+                  0.2726963670949858,
+                  -0.35070470844170853
+                ],
+                "gripper_position": [
+                  0.2719866747598287,
+                  -0.3479027093003988,
+                  1.0052669062945416
+                ],
+                "rod_tip_xy_dist": 0.0028945638698877106,
+                "target_xy_drift": 6.647649525889573e-08,
+                "depth": 0.015852671935661644,
+                "bottom_clearance": 0.08358797951205188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000709723479234925,
+                  0.0028020345954098413
+                ],
+                "rod_tip_xy": [
+                  0.27198667475982874,
+                  -0.3479027093003988
+                ],
+                "target_mouth_xy": [
+                  0.27269639823906366,
+                  -0.35070474389580863
+                ],
+                "gripper_position": [
+                  0.2719783342394696,
+                  -0.3479034814757436,
+                  1.0051439398646524
+                ],
+                "rod_tip_xy_dist": 0.0028905198997500295,
+                "target_xy_drift": 1.1339494423720694e-07,
+                "depth": 0.015993018227341338,
+                "bottom_clearance": 0.08344762045443854,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007180317830429161,
+                  0.002801259650359933
+                ],
+                "rod_tip_xy": [
+                  0.27197833423946965,
+                  -0.3479034814757437
+                ],
+                "target_mouth_xy": [
+                  0.27269636602251257,
+                  -0.3507047411261036
+                ],
+                "gripper_position": [
+                  0.27198210456327043,
+                  -0.34796935372311694,
+                  1.004625781484145
+                ],
+                "rod_tip_xy_dist": 0.0028918204076661545,
+                "target_xy_drift": 9.510224725940855e-08,
+                "depth": 0.01611588989636703,
+                "bottom_clearance": 0.0833246273679148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007142880601759272,
+                  0.0027353041525753907
+                ],
+                "rod_tip_xy": [
+                  0.27198210456327043,
+                  -0.347969353723117
+                ],
+                "target_mouth_xy": [
+                  0.27269639262344636,
+                  -0.3507046578756924
+                ],
+                "gripper_position": [
+                  0.2719706495589763,
+                  -0.3479764936000185,
+                  1.0044858830701924
+                ],
+                "rod_tip_xy_dist": 0.002827029578905404,
+                "target_xy_drift": 6.218059835679874e-08,
+                "depth": 0.01663410299127288,
+                "bottom_clearance": 0.08280654844753599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007257411594786545,
+                  0.0027281604894799916
+                ],
+                "rod_tip_xy": [
+                  0.2719706495589763,
+                  -0.3479764936000185
+                ],
+                "target_mouth_xy": [
+                  0.272696390718455,
+                  -0.35070465408949847
+                ],
+                "gripper_position": [
+                  0.2719620809992488,
+                  -0.34797729294719093,
+                  1.0043627011491487
+                ],
+                "rod_tip_xy_dist": 0.002823040893597032,
+                "target_xy_drift": 6.008485953671268e-08,
+                "depth": 0.016773954032522798,
+                "bottom_clearance": 0.08266656419691787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007343132604140101,
+                  0.002727393425346003
+                ],
+                "rod_tip_xy": [
+                  0.27196208099924885,
+                  -0.34797729294719093
+                ],
+                "target_mouth_xy": [
+                  0.27269639425966286,
+                  -0.35070468637253693
+                ],
+                "gripper_position": [
+                  0.2719664789291983,
+                  -0.3480443876195664,
+                  1.0038462707449631
+                ],
+                "rod_tip_xy_dist": 0.0028245160401457197,
+                "target_xy_drift": 7.190632133596438e-08,
+                "depth": 0.01689723472113247,
+                "bottom_clearance": 0.0825434386341024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007298829651835037,
+                  0.0026602966037568843
+                ],
+                "rod_tip_xy": [
+                  0.27196647892919834,
+                  -0.34804438761956635
+                ],
+                "target_mouth_xy": [
+                  0.27269636189438184,
+                  -0.35070468422332324
+                ],
+                "gripper_position": [
+                  0.27195499378539634,
+                  -0.3480512102492725,
+                  1.0037062857594667
+                ],
+                "rod_tip_xy_dist": 0.002758606018050689,
+                "target_xy_drift": 4.428122555417651e-08,
+                "depth": 0.017413485713876797,
+                "bottom_clearance": 0.08202701206405494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007414012841581719,
+                  0.002653444064979804
+                ],
+                "rod_tip_xy": [
+                  0.2719549937853964,
+                  -0.34805121024927255
+                ],
+                "target_mouth_xy": [
+                  0.27269639506955456,
+                  -0.35070465431425235
+                ],
+                "gripper_position": [
+                  0.2719463801505536,
+                  -0.3480518537609944,
+                  1.0035836962252298
+                ],
+                "rod_tip_xy_dist": 0.0027550755470817736,
+                "target_xy_drift": 6.443981452075612e-08,
+                "depth": 0.01755361799828148,
+                "bottom_clearance": 0.08188701197907522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.000750010284027991,
+                  0.002652830808903328
+                ],
+                "rod_tip_xy": [
+                  0.2719463801505536,
+                  -0.34805185376099446
+                ],
+                "target_mouth_xy": [
+                  0.2726963904345816,
+                  -0.3507046845698978
+                ],
+                "gripper_position": [
+                  0.2719377191341663,
+                  -0.34805252629146316,
+                  1.003460770258639
+                ],
+                "rod_tip_xy_dist": 0.002756814597831061,
+                "target_xy_drift": 6.768222776372652e-08,
+                "depth": 0.017676157144376536,
+                "bottom_clearance": 0.08176438644287864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007586752347893411,
+                  0.002652127389866532
+                ],
+                "rod_tip_xy": [
+                  0.2719377191341663,
+                  -0.3480525262914631
+                ],
+                "target_mouth_xy": [
+                  0.27269639436895565,
+                  -0.35070465368132964
+                ],
+                "gripper_position": [
+                  0.27194367774869643,
+                  -0.3481214901841241,
+                  1.0029458235424658
+                ],
+                "rod_tip_xy_dist": 0.002758508257004667,
+                "target_xy_drift": 6.372798369070827e-08,
+                "depth": 0.01779912937763506,
+                "bottom_clearance": 0.0816414773275852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007526823796138449,
+                  0.0025831652233823665
+                ],
+                "rod_tip_xy": [
+                  0.2719436777486965,
+                  -0.3481214901841241
+                ],
+                "target_mouth_xy": [
+                  0.27269636012831033,
+                  -0.35070465540750645
+                ],
+                "gripper_position": [
+                  0.27193198660036855,
+                  -0.34812859046571976,
+                  1.0028056067280735
+                ],
+                "rod_tip_xy_dist": 0.0026905897747284387,
+                "target_xy_drift": 2.959276187091559e-08,
+                "depth": 0.018314057132648442,
+                "bottom_clearance": 0.08112652898195949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007643753661617514,
+                  0.002576032554747032
+                ],
+                "rod_tip_xy": [
+                  0.2719319866003686,
+                  -0.34812859046571976
+                ],
+                "target_mouth_xy": [
+                  0.27269636196653035,
+                  -0.3507046230204668
+                ],
+                "gripper_position": [
+                  0.27192329912167246,
+                  -0.3481290010694728,
+                  1.0026831678414456
+                ],
+                "rod_tip_xy_dist": 0.002687045482218608,
+                "target_xy_drift": 4.325100705212578e-08,
+                "depth": 0.018454230657332538,
+                "bottom_clearance": 0.08098631324600669,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007730951160072608,
+                  0.0025756564414664007
+                ],
+                "rod_tip_xy": [
+                  0.2719232991216725,
+                  -0.34812900106947275
+                ],
+                "target_mouth_xy": [
+                  0.2726963942376798,
+                  -0.35070465751093916
+                ],
+                "gripper_position": [
+                  0.27191445133569125,
+                  -0.3481297397684443,
+                  1.002560639362662
+                ],
+                "rod_tip_xy_dist": 0.002689178715307267,
+                "target_xy_drift": 6.376197049432889e-08,
+                "depth": 0.018576784219540676,
+                "bottom_clearance": 0.08086391992873543,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.000781879100756,
+                  0.0025749448197810443
+                ],
+                "rod_tip_xy": [
+                  0.27191445133569125,
+                  -0.3481297397684443
+                ],
+                "target_mouth_xy": [
+                  0.27269633043644725,
+                  -0.35070468458822535
+                ],
+                "gripper_position": [
+                  0.2719056497950614,
+                  -0.34813036693512994,
+                  1.0024375313881884
+                ],
+                "rod_tip_xy_dist": 0.002691036185768643,
+                "target_xy_drift": 3.174061224821842e-08,
+                "depth": 0.018699225986048673,
+                "bottom_clearance": 0.0807413326839389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007907168525571606,
+                  0.0025742870308667065
+                ],
+                "rod_tip_xy": [
+                  0.2719056497950614,
+                  -0.34813036693513
+                ],
+                "target_mouth_xy": [
+                  0.27269636664761854,
+                  -0.3507046539659967
+                ],
+                "gripper_position": [
+                  0.2719136315190769,
+                  -0.34820262840149324,
+                  1.001926003165247
+                ],
+                "rod_tip_xy_dist": 0.002692988462323303,
+                "target_xy_drift": 3.601854755259303e-08,
+                "depth": 0.01882237855265545,
+                "bottom_clearance": 0.08061829525773379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007827281628198235,
+                  0.0025020267047424216
+                ],
+                "rod_tip_xy": [
+                  0.27191363151907694,
+                  -0.3482026284014933
+                ],
+                "target_mouth_xy": [
+                  0.27269635968189676,
+                  -0.3507046551062357
+                ],
+                "gripper_position": [
+                  0.27190179981806795,
+                  -0.3482093492155284,
+                  1.0017864676961659
+                ],
+                "rod_tip_xy_dist": 0.0026216027555897017,
+                "target_xy_drift": 2.9123141071360316e-08,
+                "depth": 0.019333884849390026,
+                "bottom_clearance": 0.08010670624949978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007945648367195246,
+                  0.002495274687668858
+                ],
+                "rod_tip_xy": [
+                  0.271901799818068,
+                  -0.3482093492155284
+                ],
+                "target_mouth_xy": [
+                  0.2726963646547875,
+                  -0.35070462390319723
+                ],
+                "gripper_position": [
+                  0.27189303939601905,
+                  -0.3482096433531773,
+                  1.0016639760484607
+                ],
+                "rod_tip_xy_dist": 0.0026187266078519997,
+                "target_xy_drift": 4.465857929973094e-08,
+                "depth": 0.019473432119818446,
+                "bottom_clearance": 0.07996717690036581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008033502165974427,
+                  0.002495042846052564
+                ],
+                "rod_tip_xy": [
+                  0.2718930393960191,
+                  -0.3482096433531773
+                ],
+                "target_mouth_xy": [
+                  0.27269638961261655,
+                  -0.35070468619922984
+                ],
+                "gripper_position": [
+                  0.27188411026909054,
+                  -0.3482102570241091,
+                  1.0015416848293632
+                ],
+                "rod_tip_xy_dist": 0.0026211849179608136,
+                "target_xy_drift": 6.774434845805892e-08,
+                "depth": 0.019595933220239226,
+                "bottom_clearance": 0.0798447017753986,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006018483284156872,
+              "rod_tip_xy_max_step": 3.249663393840398e-05,
+              "rod_tip_xy_range": 0.0006018429485586858,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27141566342561363,
+            -0.3495239368673295,
+            1.0434405524089134
+          ],
+          "object_origin_world": [
+            0.27141566342561363,
+            -0.3495239368673295,
+            1.0434405524089134
+          ],
+          "frame_world": [
+            0.27144088051100496,
+            -0.34952147830621316,
+            1.0437518924729854
+          ],
+          "center_minus_frame": [
+            -2.5217085391326943e-05,
+            -2.4585611163585597e-06,
+            -0.00031134006407196324
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26556643429748633,
+              0.13590749292270268,
+              0.833460750967647
+            ],
+            "target_position": [
+              0.2783125843826964,
+              0.1815105716577352,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04735087255910155,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16560939384780488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833460750967647,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567024449973,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13598305772135189,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa50e8aa4f27a47f16830e4190862928c016f5357f0ac2377d26c4ce81e2e6b2",
+    "visual_seed": 676990073395679522,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72bc86e9a8ff42f64930584808a8557aa6fa46ad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_36_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2615638104071548,
+              0.02772922193968632,
+              1.1643363026125222
+            ],
+            "current_z": 1.1643363026125222,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3032298542024011,
+            "gripper_z": 1.1572863638844273,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.256613786415014,
+              0.022791325437113333,
+              1.1572863638844273
+            ],
+            "object_minus_gripper": [
+              0.0049500239921408395,
+              0.004937896502572987,
+              0.0070499387280948955
+            ],
+            "object_to_gripper_xy": 0.006991820892506649,
+            "object_to_gripper_z": 0.0070499387280948955,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2615638104071548,
+              0.00382301071541517,
+              1.1643363026125222
+            ],
+            "finger_b": [
+              0.25030536202212106,
+              0.02772922193968632,
+              1.1643363026125222
+            ],
+            "finger_midpoint": [
+              0.25593458621463794,
+              0.015776116327550747,
+              1.1643363026125222
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056292241925168796,
+              0.011953105612135573,
+              0.0
+            ],
+            "finger_gap": 0.026424602080976304,
+            "fingertip_max_gap": 0.09070139355821552,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01321230104048815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643363026125222,
+            "object_top_z": 1.2142643712299255,
+            "finger_top_clearance": 0.04992806861740329,
+            "fingertip_min_top_clearance": 0.014978420585221018,
+            "object_projection_between_fingers": 0.8184734432279015,
+            "object_to_finger_line_xy": 0.010185464451853985,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04785069677910776,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.38431643875456595,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2724219803362622,
+              -0.3485832851939766,
+              0.8515395934354858
+            ],
+            "target_position": [
+              0.26403349040936336,
+              -0.3493612041084245,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008424483431708974,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18611426048993449,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395934354858,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544680383474875,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512309800344055,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15410921068138114,
+            "release_required_pad_clearance": 0.052561549001720276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1897455452705771,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007554113864898682,
+            "max_z_decrease": 0.007554113864898682,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035156165797702865,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007554113864898682,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108570482892691,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007554113864898682,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007554139956744309,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11973341554403304,
+              -0.40562266111373907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11973341554403304,
+              -0.40562266111373907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12085006651070171,
+              -0.4039666006203589,
+              0.8077171065346044
+            ],
+            "closest_button": [
+              0.11972243338823316,
+              -0.4056196808815003,
+              0.7726179361343384
+            ],
+            "closest_ee_minus_button": [
+              0.001127633122468552,
+              0.0016530802611414153,
+              0.035099170400266
+            ],
+            "button_min_z_position": [
+              0.11971364170312879,
+              -0.4056208729743958,
+              0.769254744052887
+            ],
+            "min_active_finger_to_button": 0.1445117962542602,
+            "closest_active_finger": [
+              -0.007055290043354034,
+              -0.46585461497306824,
+              0.8109338879585266
+            ],
+            "closest_active_finger_button": [
+              0.11973392218351361,
+              -0.4056220352649689,
+              0.7765799760818481
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12678921222686765,
+              -0.06023257970809931,
+              0.03435391187667847
+            ],
+            "min_contact_pad_to_button": 0.02108570482892691,
+            "closest_contact_pad": [
+              0.11971364170312879,
+              -0.4056208729743958,
+              0.7903404488818139
+            ],
+            "closest_contact_pad_button": [
+              0.11971364170312879,
+              -0.4056208729743958,
+              0.769254744052887
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108570482892691
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2769626446260442,
+              0.17612683107876237,
+              1.1034132692558516
+            ],
+            "current_z": 1.1034132692558516,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19350413952148904,
+            "gripper_z": 1.1034135363262656,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2769625251627085,
+              0.17612683147331676,
+              1.1034135363262656
+            ],
+            "object_minus_gripper": [
+              1.1946333572376844e-07,
+              -3.94554389160362e-10,
+              -2.670704140061986e-07
+            ],
+            "object_to_gripper_xy": 1.19463987274056e-07,
+            "object_to_gripper_z": -2.670704140061986e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2769626446260442,
+              0.17612683107876237,
+              1.1034132692558516
+            ],
+            "finger_b": [
+              0.2769626446260442,
+              0.17612683107876237,
+              1.1034132692558516
+            ],
+            "finger_midpoint": [
+              0.2769626446260442,
+              0.17612683107876237,
+              1.1034132692558516
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1034132692558516,
+            "object_top_z": 1.2284217758761313,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27696264462604414,
+            0.17612683107876237,
+            1.1034132692558516
+          ],
+          "object_origin_world": [
+            0.27696264462604414,
+            0.17612683107876237,
+            1.1034132692558516
+          ],
+          "frame_world": [
+            0.2769625251627085,
+            0.17612683147331676,
+            1.1034135363262656
+          ],
+          "center_minus_frame": [
+            1.1946333566825729e-07,
+            -3.94554389160362e-10,
+            -2.670704140061986e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437547239548708,
+            "required_z": 0.9112599437376179,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00045376116412245375,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.50538033554108e-08,
+            "max_target_xy_drift": 1.3581568966745327e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.18974556797264439,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.1938265613537333,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27251323943869304,
+              -0.34902450359041987,
+              0.9234442441138025
+            ],
+            "target_mouth_xy": [
+              0.27242197626448017,
+              -0.3485832874029696
+            ],
+            "rod_tip_z": 0.9234442441138025,
+            "rod_tip_depth": -0.022184392578073475,
+            "rod_tip_bottom_clearance": 0.12162493640785887,
+            "rod_tip_xy_dist": 0.0004505559799131939,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04475758745617431,
+            "min_rod_tip_bottom_clearance": 0.05468295307240201,
+            "min_rod_tip_xy_dist": 0.00013865327704385658,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2724220412558239,
+              -0.3485832845529576
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.49913437511529e-08,
+              -2.8500120041741184e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0006124502344577176,
+                0.0012465823881320781
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005133846285954036,
+                0.0008737535412160491
+              ],
+              "first_target_mouth_xy": [
+                0.2724220108061761,
+                -0.3485832839279073
+              ],
+              "last_target_mouth_xy": [
+                0.2724220084246394,
+                -0.34858325476874985
+              ],
+              "first_rod_tip_xy": [
+                0.27303446104063384,
+                -0.3473367015397752
+              ],
+              "last_rod_tip_xy": [
+                0.2729353930532348,
+                -0.3477095012275338
+              ],
+              "min_rod_tip_xy_dist": 0.0010134145389057857,
+              "max_rod_tip_xy_dist": 0.001388907102756836,
+              "first_target_xy_drift": 3.0456062438728714e-08,
+              "last_target_xy_drift": 4.432815934787466e-08,
+              "max_depth": 0.019511423280187956,
+              "min_bottom_clearance": 0.07992918989062858
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006124502344577176,
+                  0.0012465823881320781
+                ],
+                "rod_tip_xy": [
+                  0.27303446104063384,
+                  -0.3473367015397752
+                ],
+                "target_mouth_xy": [
+                  0.2724220108061761,
+                  -0.3485832839279073
+                ],
+                "gripper_position": [
+                  0.27302626708022576,
+                  -0.3473375531832493,
+                  1.006023133144451
+                ],
+                "rod_tip_xy_dist": 0.001388907102756836,
+                "target_xy_drift": 3.0456062438728714e-08,
+                "depth": 0.015113492805242879,
+                "bottom_clearance": 0.08432723469163494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.000604260049406502,
+                  0.0012457655908357235
+                ],
+                "rod_tip_xy": [
+                  0.2730262670802258,
+                  -0.34733755318324927
+                ],
+                "target_mouth_xy": [
+                  0.2724220070308193,
+                  -0.348583318774085
+                ],
+                "gripper_position": [
+                  0.2730321086325792,
+                  -0.34740178854889814,
+                  1.005500790108373
+                ],
+                "rod_tip_xy_dist": 0.0013845801221377648,
+                "target_xy_drift": 4.8398724149826536e-08,
+                "depth": 0.015236718309073916,
+                "bottom_clearance": 0.08420384719425222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006100995929298469,
+                  0.0011814963317176574
+                ],
+                "rod_tip_xy": [
+                  0.27303210863257926,
+                  -0.3474017885488982
+                ],
+                "target_mouth_xy": [
+                  0.2724220090396494,
+                  -0.34858328488061585
+                ],
+                "gripper_position": [
+                  0.2730207477636707,
+                  -0.3474091024980964,
+                  1.0053599876138946
+                ],
+                "rod_tip_xy_dist": 0.001329719931096562,
+                "target_xy_drift": 3.221784070529509e-08,
+                "depth": 0.015759128655431165,
+                "bottom_clearance": 0.08368149721657259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0005987385318628191,
+                  0.001174182698956694
+                ],
+                "rod_tip_xy": [
+                  0.27302074776367075,
+                  -0.3474091024980965
+                ],
+                "target_mouth_xy": [
+                  0.2724220092318079,
+                  -0.34858328519705317
+                ],
+                "gripper_position": [
+                  0.2730264451662885,
+                  -0.3474738566087112,
+                  1.0048416032990328
+                ],
+                "rod_tip_xy_dist": 0.0013180261150927436,
+                "target_xy_drift": 3.203049265158557e-08,
+                "depth": 0.015899867453550764,
+                "bottom_clearance": 0.08354075458834542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006044047918364881,
+                  0.0011093975177418613
+                ],
+                "rod_tip_xy": [
+                  0.27302644516628854,
+                  -0.34747385660871116
+                ],
+                "target_mouth_xy": [
+                  0.27242204037445206,
+                  -0.348583254126453
+                ],
+                "gripper_position": [
+                  0.27301497048589796,
+                  -0.3474806156676796,
+                  1.0047008415356247
+                ],
+                "rod_tip_xy_dist": 0.0012633558504106085,
+                "target_xy_drift": 3.0439267372075754e-08,
+                "depth": 0.016418344541387464,
+                "bottom_clearance": 0.08302237394278444,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005929945994827546,
+                  0.0011026717311339307
+                ],
+                "rod_tip_xy": [
+                  0.273014970485898,
+                  -0.34748061566767946
+                ],
+                "target_mouth_xy": [
+                  0.27242197588641526,
+                  -0.3485832873988134
+                ],
+                "gripper_position": [
+                  0.2730065505489128,
+                  -0.34748125887847936,
+                  1.0045776278339573
+                ],
+                "rod_tip_xy_dist": 0.0012520094015851526,
+                "target_xy_drift": 6.543132647398515e-08,
+                "depth": 0.016559021493615877,
+                "bottom_clearance": 0.08288153680448451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005845701515022617,
+                  0.0011020253718351802
+                ],
+                "rod_tip_xy": [
+                  0.2730065505489129,
+                  -0.3474812588784794
+                ],
+                "target_mouth_xy": [
+                  0.2724219803974106,
+                  -0.3485832842503146
+                ],
+                "gripper_position": [
+                  0.2730133416082611,
+                  -0.3475468905486494,
+                  1.0040610798341
+                ],
+                "rod_tip_xy_dist": 0.0012474703131521185,
+                "target_xy_drift": 6.085916581146031e-08,
+                "depth": 0.01668231134826159,
+                "bottom_clearance": 0.08275838145260284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0005913642802885533,
+                  0.0010363981124928423
+                ],
+                "rod_tip_xy": [
+                  0.27301334160826113,
+                  -0.34754689054864946
+                ],
+                "target_mouth_xy": [
+                  0.2724219773279726,
+                  -0.3485832886611423
+                ],
+                "gripper_position": [
+                  0.2730017697796745,
+                  -0.3475536831496563,
+                  1.0039207284278753
+                ],
+                "rod_tip_xy_dist": 0.0011932446352613218,
+                "target_xy_drift": 6.405971713237288e-08,
+                "depth": 0.017198766836132973,
+                "bottom_clearance": 0.08224179131879306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005797606379752684,
+                  0.0010295744517369587
+                ],
+                "rod_tip_xy": [
+                  0.2730017697796746,
+                  -0.34755368314965623
+                ],
+                "target_mouth_xy": [
+                  0.27242200914169934,
+                  -0.3485832576013932
+                ],
+                "gripper_position": [
+                  0.2729929778713226,
+                  -0.34755457541917206,
+                  1.0037971464484672
+                ],
+                "rod_tip_xy_dist": 0.001181586200416605,
+                "target_xy_drift": 4.192497850439093e-08,
+                "depth": 0.017339171310260193,
+                "bottom_clearance": 0.08210141899804335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005709693163860607,
+                  0.0010286818680720344
+                ],
+                "rod_tip_xy": [
+                  0.27299297787132265,
+                  -0.34755457541917206
+                ],
+                "target_mouth_xy": [
+                  0.2724220085549366,
+                  -0.3485832572872441
+                ],
+                "gripper_position": [
+                  0.2729843856484256,
+                  -0.34755517909089795,
+                  1.0036739207049898
+                ],
+                "rod_tip_xy_dist": 0.001176517040231265,
+                "target_xy_drift": 4.2576603505051184e-08,
+                "depth": 0.01746268339027135,
+                "bottom_clearance": 0.08197787308418092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005623741406326488,
+                  0.0010280759802588357
+                ],
+                "rod_tip_xy": [
+                  0.27298438564842564,
+                  -0.347555179090898
+                ],
+                "target_mouth_xy": [
+                  0.272422011507793,
+                  -0.34858325507115684
+                ],
+                "gripper_position": [
+                  0.272992686352885,
+                  -0.347622737709764,
+                  1.00315773190335
+                ],
+                "rod_tip_xy_dist": 0.0011718382547252313,
+                "target_xy_drift": 4.188223873197266e-08,
+                "depth": 0.017585958164302196,
+                "bottom_clearance": 0.08185476273996273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005706768195006262,
+                  0.0009605173714113957
+                ],
+                "rod_tip_xy": [
+                  0.2729926863528851,
+                  -0.347622737709764
+                ],
+                "target_mouth_xy": [
+                  0.27242200953338447,
+                  -0.3485832550811754
+                ],
+                "gripper_position": [
+                  0.27298098714774316,
+                  -0.3476295490302224,
+                  1.0030171996837152
+                ],
+                "rod_tip_xy_dist": 0.0011172580960093364,
+                "target_xy_drift": 4.33001052316332e-08,
+                "depth": 0.018102190741206337,
+                "bottom_clearance": 0.08133845401735795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.000558979937602011,
+                  0.0009537092007994574
+                ],
+                "rod_tip_xy": [
+                  0.2729809871477432,
+                  -0.3476295490302224
+                ],
+                "target_mouth_xy": [
+                  0.2724220072101412,
+                  -0.3485832582310219
+                ],
+                "gripper_position": [
+                  0.2729723204208786,
+                  -0.34763008995527334,
+                  1.0028940825448407
+                ],
+                "rod_tip_xy_dist": 0.0011054500487724843,
+                "target_xy_drift": 4.303432133672767e-08,
+                "depth": 0.018242636368572263,
+                "bottom_clearance": 0.08119790230269464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0005503134826055356,
+                  0.0009531657576224428
+                ],
+                "rod_tip_xy": [
+                  0.27297232042087866,
+                  -0.3476300899552733
+                ],
+                "target_mouth_xy": [
+                  0.2724220069382731,
+                  -0.3485832557128957
+                ],
+                "gripper_position": [
+                  0.272963463767926,
+                  -0.34763061543097157,
+                  1.0027711426227954
+                ],
+                "rod_tip_xy_dist": 0.0011006225014242616,
+                "target_xy_drift": 4.48268163384935e-08,
+                "depth": 0.018365751032495603,
+                "bottom_clearance": 0.08107477637533134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005414266266470236,
+                  0.0009526726010261055
+                ],
+                "rod_tip_xy": [
+                  0.27296346376792613,
+                  -0.34763061543097157
+                ],
+                "target_mouth_xy": [
+                  0.2724220371412791,
+                  -0.3485832880319977
+                ],
+                "gripper_position": [
+                  0.27295470251750964,
+                  -0.3476310898978565,
+                  1.0026479363528462
+                ],
+                "rod_tip_xy_dist": 0.001095777293426096,
+                "target_xy_drift": 5.3882463524017395e-09,
+                "depth": 0.018488694425768393,
+                "bottom_clearance": 0.08095184914038966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005326632616198812,
+                  0.0009521664450652945
+                ],
+                "rod_tip_xy": [
+                  0.2729547025175097,
+                  -0.34763108989785646
+                ],
+                "target_mouth_xy": [
+                  0.2724220392558898,
+                  -0.34858325634292175
+                ],
+                "gripper_position": [
+                  0.2729651162525806,
+                  -0.3477017471254956,
+                  1.0021347515844377
+                ],
+                "rod_tip_xy_dist": 0.0010910321211530898,
+                "target_xy_drift": 2.828083909320889e-08,
+                "depth": 0.01861196321849745,
+                "bottom_clearance": 0.08082863368934057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005430791277945546,
+                  0.000881542476430186
+                ],
+                "rod_tip_xy": [
+                  0.27296511625258063,
+                  -0.34770174712549556
+                ],
+                "target_mouth_xy": [
+                  0.2724220371247861,
+                  -0.34858328960192575
+                ],
+                "gripper_position": [
+                  0.2729534169738934,
+                  -0.34770860784190166,
+                  1.0019945745738141
+                ],
+                "rod_tip_xy_dist": 0.0010353994769154364,
+                "target_xy_drift": 6.523615016280069e-09,
+                "depth": 0.019125113488809853,
+                "bottom_clearance": 0.08031548587223802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0005314070126811177,
+                  0.0008746491294687186
+                ],
+                "rod_tip_xy": [
+                  0.27295341697389347,
+                  -0.34770860784190166
+                ],
+                "target_mouth_xy": [
+                  0.27242200996121235,
+                  -0.3485832569713704
+                ],
+                "gripper_position": [
+                  0.27294439261222436,
+                  -0.34770901995583414,
+                  1.001871807539578
+                ],
+                "rod_tip_xy_dist": 0.001023427824913441,
+                "target_xy_drift": 4.171446592874217e-08,
+                "depth": 0.01926532044491569,
+                "bottom_clearance": 0.08017527884286835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005223869845657481,
+                  0.000874208156033951
+                ],
+                "rod_tip_xy": [
+                  0.2729443926122245,
+                  -0.3477090199558342
+                ],
+                "target_mouth_xy": [
+                  0.2724220056276587,
+                  -0.34858322811186815
+                ],
+                "gripper_position": [
+                  0.2729353930532347,
+                  -0.34770950122753386,
+                  1.0017484960732528
+                ],
+                "rod_tip_xy_dist": 0.0010183948456860806,
+                "target_xy_drift": 6.674550723192716e-08,
+                "depth": 0.019388063004059708,
+                "bottom_clearance": 0.08005250897033589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0005133846285954036,
+                  0.0008737535412160491
+                ],
+                "rod_tip_xy": [
+                  0.2729353930532348,
+                  -0.3477095012275338
+                ],
+                "target_mouth_xy": [
+                  0.2724220084246394,
+                  -0.34858325476874985
+                ],
+                "gripper_position": [
+                  0.2729265133255716,
+                  -0.34771008421644123,
+                  1.0016255077893397
+                ],
+                "rod_tip_xy_dist": 0.0010134145389057857,
+                "target_xy_drift": 4.432815934787466e-08,
+                "depth": 0.019511423280187956,
+                "bottom_clearance": 0.07992918989062858,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006013456830707809,
+              "rod_tip_xy_max_step": 3.253064407815056e-05,
+              "rod_tip_xy_range": 0.0006013376723778706,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.272513239438693,
+            -0.34902450359041987,
+            1.0434442441138028
+          ],
+          "object_origin_world": [
+            0.272513239438693,
+            -0.34902450359041987,
+            1.0434442441138028
+          ],
+          "frame_world": [
+            0.272538334686946,
+            -0.3490218759477209,
+            1.0437547239548708
+          ],
+          "center_minus_frame": [
+            -2.5095248253004243e-05,
+            -2.627642698982413e-06,
+            -0.0003104798410680232
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26547704749473,
+              0.1299233474169876,
+              0.8331965340098895
+            ],
+            "target_position": [
+              0.27670442069724843,
+              0.1760089535102593,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04743350079862154,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16933821105476485,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331965340098895,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566870401672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13892771749059402,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9417d9f9a1089209700e4840b63dd3bfd1780f95b55940f7f944a12bdfc476a",
+    "visual_seed": 8911326326418236756,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..56817bdbbd023367382fab4928b0fea2c4287b77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_37_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2587364334333523,
+              0.026303810893018156,
+              1.1624056872408948
+            ],
+            "current_z": 1.1624056872408948,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3012989408075497,
+            "gripper_z": 1.1556406392280865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25348669315827166,
+              0.021336773483801752,
+              1.1556406392280865
+            ],
+            "object_minus_gripper": [
+              0.005249740275080628,
+              0.004967037409216404,
+              0.006765048012808306
+            ],
+            "object_to_gripper_xy": 0.007227117930431109,
+            "object_to_gripper_z": 0.006765048012808306,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2587364334333523,
+              0.0019412152549836482,
+              1.1624056872408948
+            ],
+            "finger_b": [
+              0.2477514685086516,
+              0.026303810893018156,
+              1.1624056872408948
+            ],
+            "finger_midpoint": [
+              0.25324395097100194,
+              0.014122513074000902,
+              1.1624056872408948
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492482462350345,
+              0.012181297819017254,
+              0.0
+            ],
+            "finger_gap": 0.026724623863008484,
+            "fingertip_max_gap": 0.09109175434767885,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013362311931504242,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624056872408948,
+            "object_top_z": 1.2123508833374181,
+            "finger_top_clearance": 0.04994519609652337,
+            "fingertip_min_top_clearance": 0.01498355882895701,
+            "object_projection_between_fingers": 0.8310437949397635,
+            "object_to_finger_line_xy": 0.01001407016728535,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804587717383943,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7520610544056134,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27032331910414764,
+              -0.347030560447758,
+              0.8515395942811977
+            ],
+            "target_position": [
+              0.26230402013455145,
+              -0.3475649179809245,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008037082426914526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18280691962366327,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395942811977,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535742707904672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593636274254811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15112011874616263,
+            "release_required_pad_clearance": 0.052968181371274056,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9715555425086602,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075953006744384766,
+            "max_z_decrease": 0.0075953006744384766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514428643913999,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075953006744384766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110361532273275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075953006744384766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00759532347765784,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11800394952297212,
+              -0.40382638573646545,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11800394952297212,
+              -0.40382638573646545,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11951866473469808,
+              -0.4023164442048646,
+              0.8075496811505184
+            ],
+            "closest_button": [
+              0.11799249053001407,
+              -0.40382176637649536,
+              0.7724708318710327
+            ],
+            "closest_ee_minus_button": [
+              0.001526174204684011,
+              0.0015053221716307408,
+              0.03507884927948568
+            ],
+            "button_min_z_position": [
+              0.1179853975772858,
+              -0.40382489562034607,
+              0.7692135572433472
+            ],
+            "min_active_finger_to_button": 0.1442348702996875,
+            "closest_active_finger": [
+              -0.006809152662754059,
+              -0.4673627018928528,
+              0.8110324144363403
+            ],
+            "closest_active_finger_button": [
+              0.11800482869148256,
+              -0.4038247466087341,
+              0.7765636444091797
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12481398135423662,
+              -0.06353795528411871,
+              0.034468770027160645
+            ],
+            "min_contact_pad_to_button": 0.02110361532273275,
+            "closest_contact_pad": [
+              0.1179853975772858,
+              -0.40382489562034607,
+              0.7903171725660799
+            ],
+            "closest_contact_pad_button": [
+              0.1179853975772858,
+              -0.40382489562034607,
+              0.7692135572433472
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02110361532273275
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2825612528398518,
+              0.17809438550028997,
+              1.1039524476138984
+            ],
+            "current_z": 1.1039524476138984,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19404331787953588,
+            "gripper_z": 1.1039526751266455,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28256136299801576,
+              0.1780943258531324,
+              1.1039526751266455
+            ],
+            "object_minus_gripper": [
+              -1.101581639795235e-07,
+              5.964715757422745e-08,
+              -2.2751274708632252e-07
+            ],
+            "object_to_gripper_xy": 1.2527012611961523e-07,
+            "object_to_gripper_z": -2.2751274708632252e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2825612528398518,
+              0.17809438550028997,
+              1.1039524476138984
+            ],
+            "finger_b": [
+              0.2825612528398518,
+              0.17809438550028997,
+              1.1039524476138984
+            ],
+            "finger_midpoint": [
+              0.2825612528398518,
+              0.17809438550028997,
+              1.1039524476138984
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1039524476138984,
+            "object_top_z": 1.2289609542341782,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28256125283985184,
+            0.17809438550028997,
+            1.1039524476138987
+          ],
+          "object_origin_world": [
+            0.28256125283985184,
+            0.17809438550028997,
+            1.1039524476138987
+          ],
+          "frame_world": [
+            0.28256136299801576,
+            0.1780943258531324,
+            1.1039526751266455
+          ],
+          "center_minus_frame": [
+            -1.1015816392401234e-07,
+            5.964715757422745e-08,
+            -2.2751274686427791e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432899705423495,
+            "required_z": 0.9112598598570667,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008071621098827222,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2380129395424213e-08,
+            "max_target_xy_drift": 5.847266176084572e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9715555414807406,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9715555450041797,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26962498946341035,
+              -0.3466242222438785,
+              0.9233998365936712
+            ],
+            "target_mouth_xy": [
+              0.27032338354979857,
+              -0.34703049698141564
+            ],
+            "rod_tip_z": 0.9233998365936712,
+            "rod_tip_depth": -0.022139939817191534,
+            "rod_tip_bottom_clearance": 0.12158053613508368,
+            "rod_tip_xy_dist": 0.0008079687260425982,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04437514983140134,
+            "min_rod_tip_bottom_clearance": 0.05506541005125354,
+            "min_rod_tip_xy_dist": 0.0008079687260425982,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2703234112774321,
+              -0.3470305290322145
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7727633522545148e-08,
+              3.2050798848271e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.00010231121811771215,
+                0.002065366933987123
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00021442867169935154,
+                0.0016835260182177514
+              ],
+              "first_target_mouth_xy": [
+                0.27032338001878786,
+                -0.34703052937240786
+              ],
+              "last_target_mouth_xy": [
+                0.2703233805044606,
+                -0.3470305268217862
+              ],
+              "first_rod_tip_xy": [
+                0.27022106880067015,
+                -0.34496516243842074
+              ],
+              "last_rod_tip_xy": [
+                0.27010895183276123,
+                -0.34534700080356845
+              ],
+              "min_rod_tip_xy_dist": 0.0016971268394739578,
+              "max_rod_tip_xy_dist": 0.0020678994553314477,
+              "first_target_xy_drift": 3.126049536621465e-08,
+              "last_target_xy_drift": 3.0852257103962696e-08,
+              "max_depth": 0.01983601655571532,
+              "min_bottom_clearance": 0.07960449073024634
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00010231121811771215,
+                  0.002065366933987123
+                ],
+                "rod_tip_xy": [
+                  0.27022106880067015,
+                  -0.34496516243842074
+                ],
+                "target_mouth_xy": [
+                  0.27032338001878786,
+                  -0.34703052937240786
+                ],
+                "gripper_position": [
+                  0.27020967159645337,
+                  -0.34497217523405355,
+                  1.0056586448397433
+                ],
+                "rod_tip_xy_dist": 0.0020678994553314477,
+                "target_xy_drift": 3.126049536621465e-08,
+                "depth": 0.015462387921150511,
+                "bottom_clearance": 0.08397823046671704,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00011368002467676552,
+                  0.002058352213027692
+                ],
+                "rod_tip_xy": [
+                  0.2702096715964532,
+                  -0.3449721752340535
+                ],
+                "target_mouth_xy": [
+                  0.27032335162112997,
+                  -0.3470305274470812
+                ],
+                "gripper_position": [
+                  0.2702125665947448,
+                  -0.3450361538338128,
+                  1.0051420878752622
+                ],
+                "rod_tip_xy_dist": 0.0020614890203167484,
+                "target_xy_drift": 5.967735776887094e-08,
+                "depth": 0.015601126908106777,
+                "bottom_clearance": 0.08383940961362957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00011081510082838752,
+                  0.0019943428605580515
+                ],
+                "rod_tip_xy": [
+                  0.27021256659474463,
+                  -0.34503615383381286
+                ],
+                "target_mouth_xy": [
+                  0.270323381695573,
+                  -0.3470304966943709
+                ],
+                "gripper_position": [
+                  0.2702012780299201,
+                  -0.34504282464749375,
+                  1.0050036042650343
+                ],
+                "rod_tip_xy_dist": 0.001997419192866254,
+                "target_xy_drift": 4.3827189197707214e-08,
+                "depth": 0.016117729514133816,
+                "bottom_clearance": 0.08332278557503259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00012210230165593527,
+                  0.0019876416141386133
+                ],
+                "rod_tip_xy": [
+                  0.27020127802991994,
+                  -0.34504282464749375
+                ],
+                "target_mouth_xy": [
+                  0.2703233803315759,
+                  -0.34703046626163236
+                ],
+                "gripper_position": [
+                  0.2701927128961797,
+                  -0.34504359021578135,
+                  1.004881967792892
+                ],
+                "rod_tip_xy_dist": 0.0019913885000986697,
+                "target_xy_drift": 6.998422676885787e-08,
+                "depth": 0.016256234333287045,
+                "bottom_clearance": 0.083184292685611,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0001306094191269036,
+                  0.001986938188631493
+                ],
+                "rod_tip_xy": [
+                  0.2701927128961795,
+                  -0.3450435902157813
+                ],
+                "target_mouth_xy": [
+                  0.2703233223153064,
+                  -0.3470305284044128
+                ],
+                "gripper_position": [
+                  0.27019637208561853,
+                  -0.3451087392442182,
+                  1.0043655023121743
+                ],
+                "rod_tip_xy_dist": 0.001991226302007601,
+                "target_xy_drift": 8.896434082264333e-08,
+                "depth": 0.016377884624233063,
+                "bottom_clearance": 0.0830627048464827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00012700780109486942,
+                  0.0019217856763458219
+                ],
+                "rod_tip_xy": [
+                  0.2701963720856184,
+                  -0.3451087392442182
+                ],
+                "target_mouth_xy": [
+                  0.2703233798867133,
+                  -0.347030524920564
+                ],
+                "gripper_position": [
+                  0.2701850420589944,
+                  -0.3451152039460433,
+                  1.0042273701778663
+                ],
+                "rod_tip_xy_dist": 0.0019259779768592688,
+                "target_xy_drift": 3.1658851786738735e-08,
+                "depth": 0.016894366396542293,
+                "bottom_clearance": 0.08254621118237349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00013831090545352032,
+                  0.0019152610129192227
+                ],
+                "rod_tip_xy": [
+                  0.27018504205899424,
+                  -0.3451152039460433
+                ],
+                "target_mouth_xy": [
+                  0.27032335296444776,
+                  -0.3470304649589625
+                ],
+                "gripper_position": [
+                  0.2701764812069777,
+                  -0.34511560700850913,
+                  1.0041056094393057
+                ],
+                "rod_tip_xy_dist": 0.0019202485917650712,
+                "target_xy_drift": 8.663593804546855e-08,
+                "depth": 0.017032549832712074,
+                "bottom_clearance": 0.08240807616084689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0001469014492312959,
+                  0.0019149201164141427
+                ],
+                "rod_tip_xy": [
+                  0.2701764812069775,
+                  -0.34511560700850913
+                ],
+                "target_mouth_xy": [
+                  0.2703233826562088,
+                  -0.34703052712492327
+                ],
+                "gripper_position": [
+                  0.27016793221733537,
+                  -0.34511641178660757,
+                  1.0039842603080953
+                ],
+                "rod_tip_xy_dist": 0.001920546559715179,
+                "target_xy_drift": 2.8684702923939025e-08,
+                "depth": 0.01715422639650177,
+                "bottom_clearance": 0.08228634698740345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0001554174792635088,
+                  0.0019141140901010045
+                ],
+                "rod_tip_xy": [
+                  0.27016793221733526,
+                  -0.3451164117866076
+                ],
+                "target_mouth_xy": [
+                  0.27032334969659877,
+                  -0.34703052587670863
+                ],
+                "gripper_position": [
+                  0.2701731945263921,
+                  -0.3451838355759769,
+                  1.003467804883636
+                ],
+                "rod_tip_xy_dist": 0.0019204133260274517,
+                "target_xy_drift": 6.166162704458076e-08,
+                "depth": 0.01727554415698329,
+                "bottom_clearance": 0.08216501504228624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00015018638154806752,
+                  0.001846629718856574
+                ],
+                "rod_tip_xy": [
+                  0.270173194526392,
+                  -0.3451838355759769
+                ],
+                "target_mouth_xy": [
+                  0.27032338090794006,
+                  -0.3470304652948335
+                ],
+                "gripper_position": [
+                  0.2701615066658062,
+                  -0.3451905125274596,
+                  1.003329230596317
+                ],
+                "rod_tip_xy_dist": 0.0018527269814429784,
+                "target_xy_drift": 7.060283125359257e-08,
+                "depth": 0.01779203521070627,
+                "bottom_clearance": 0.08164850815427072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00016187611847712224,
+                  0.0018399828768396187
+                ],
+                "rod_tip_xy": [
+                  0.270161506665806,
+                  -0.3451905125274595
+                ],
+                "target_mouth_xy": [
+                  0.27032338278428314,
+                  -0.34703049540429914
+                ],
+                "gripper_position": [
+                  0.2701528001181,
+                  -0.34519078781627716,
+                  1.0032081780440685
+                ],
+                "rod_tip_xy_dist": 0.0018470898366880315,
+                "target_xy_drift": 4.407602780834174e-08,
+                "depth": 0.01793067797266945,
+                "bottom_clearance": 0.08150992528658108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00017058085780341514,
+                  0.001839709508093923
+                ],
+                "rod_tip_xy": [
+                  0.27015280011809983,
+                  -0.34519078781627727
+                ],
+                "target_mouth_xy": [
+                  0.27032338097590325,
+                  -0.3470304973243712
+                ],
+                "gripper_position": [
+                  0.2701440082419708,
+                  -0.34519142872393327,
+                  1.0030869676287943
+                ],
+                "rod_tip_xy_dist": 0.0018476008506222693,
+                "target_xy_drift": 4.385852228003641e-08,
+                "depth": 0.01805158432485021,
+                "bottom_clearance": 0.08138892347875781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00017934431737853807,
+                  0.001839067955851592
+                ],
+                "rod_tip_xy": [
+                  0.2701440082419707,
+                  -0.3451914287239333
+                ],
+                "target_mouth_xy": [
+                  0.27032335255934925,
+                  -0.3470304966797849
+                ],
+                "gripper_position": [
+                  0.27015059463840996,
+                  -0.3452608391453929,
+                  1.002572884915664
+                ],
+                "rod_tip_xy_dist": 0.001847792014923792,
+                "target_xy_drift": 6.704097964267545e-08,
+                "depth": 0.018172914740028134,
+                "bottom_clearance": 0.08126762611064009,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00017275660343807342,
+                  0.0017696902107153245
+                ],
+                "rod_tip_xy": [
+                  0.27015059463840985,
+                  -0.3452608391453929
+                ],
+                "target_mouth_xy": [
+                  0.2703233512418479,
+                  -0.34703052935610823
+                ],
+                "gripper_position": [
+                  0.27013881397634437,
+                  -0.3452675758528114,
+                  1.0024346541211888
+                ],
+                "rod_tip_xy_dist": 0.0017781024396623243,
+                "target_xy_drift": 6.003645787246088e-08,
+                "depth": 0.018686977112049474,
+                "bottom_clearance": 0.0807536114860603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00018453617442093506,
+                  0.0017628260387774763
+                ],
+                "rod_tip_xy": [
+                  0.2701388139763442,
+                  -0.34526757585281137
+                ],
+                "target_mouth_xy": [
+                  0.27032335015076514,
+                  -0.34703040189158885
+                ],
+                "gripper_position": [
+                  0.27013006381604177,
+                  -0.34526768798287355,
+                  1.0023134504403624
+                ],
+                "rod_tip_xy_dist": 0.0017724585305901525,
+                "target_xy_drift": 1.4107164172948953e-07,
+                "depth": 0.018825338461639585,
+                "bottom_clearance": 0.08061537061087065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00019331831364116647,
+                  0.0017628102782212829
+                ],
+                "rod_tip_xy": [
+                  0.2701300638160416,
+                  -0.3452676879828735
+                ],
+                "target_mouth_xy": [
+                  0.27032338212968277,
+                  -0.3470304982610948
+                ],
+                "gripper_position": [
+                  0.2701212448463378,
+                  -0.34526799467633945,
+                  1.0021920582404622
+                ],
+                "rod_tip_xy_dist": 0.0017733787095236203,
+                "target_xy_drift": 4.238458562736352e-08,
+                "depth": 0.018946397670639437,
+                "bottom_clearance": 0.08049418804309916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00020210367189060774,
+                  0.0017625324798775655
+                ],
+                "rod_tip_xy": [
+                  0.27012124484633765,
+                  -0.34526799467633945
+                ],
+                "target_mouth_xy": [
+                  0.27032334851822826,
+                  -0.347030527156217
+                ],
+                "gripper_position": [
+                  0.27011252067216185,
+                  -0.3452681987232751,
+                  1.0020710184900365
+                ],
+                "rod_tip_xy_dist": 0.0017740819137838668,
+                "target_xy_drift": 6.278723622166389e-08,
+                "depth": 0.019067840798941305,
+                "bottom_clearance": 0.0803727613040981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00021086264162101243,
+                  0.0017622979476566436
+                ],
+                "rod_tip_xy": [
+                  0.2701125206721617,
+                  -0.34526819872327513
+                ],
+                "target_mouth_xy": [
+                  0.2703233833137827,
+                  -0.3470304966709318
+                ],
+                "gripper_position": [
+                  0.27012081617395456,
+                  -0.3453404049609625,
+                  1.00156158581535
+                ],
+                "rod_tip_xy_dist": 0.0017748681950911763,
+                "target_xy_drift": 4.276936176896755e-08,
+                "depth": 0.019188871350069525,
+                "bottom_clearance": 0.08025170589651653,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0002025660444741062,
+                  0.0016901221651387521
+                ],
+                "rod_tip_xy": [
+                  0.27012081617395445,
+                  -0.34534040496096247
+                ],
+                "target_mouth_xy": [
+                  0.27032338221842855,
+                  -0.3470305271261012
+                ],
+                "gripper_position": [
+                  0.2701089518327614,
+                  -0.3453470008035684,
+                  1.0014238104112467
+                ],
+                "rod_tip_xy_dist": 0.0017022179459361803,
+                "target_xy_drift": 2.9121451789670087e-08,
+                "depth": 0.019698186818469687,
+                "bottom_clearance": 0.07974236950763613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00021442867169935154,
+                  0.0016835260182177514
+                ],
+                "rod_tip_xy": [
+                  0.27010895183276123,
+                  -0.34534700080356845
+                ],
+                "target_mouth_xy": [
+                  0.2703233805044606,
+                  -0.3470305268217862
+                ],
+                "gripper_position": [
+                  0.2701177125471602,
+                  -0.34541376096494675,
+                  1.0008296628694893
+                ],
+                "rod_tip_xy_dist": 0.0016971268394739578,
+                "target_xy_drift": 3.0852257103962696e-08,
+                "depth": 0.01983601655571532,
+                "bottom_clearance": 0.07960449073024634,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005949661290231164,
+              "rod_tip_xy_max_step": 3.23253738189408e-05,
+              "rod_tip_xy_range": 0.0005949566246155903,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2696249894634104,
+            -0.3466242222438785,
+            1.0433998365936714
+          ],
+          "object_origin_world": [
+            0.2696249894634104,
+            -0.3466242222438785,
+            1.0433998365936714
+          ],
+          "frame_world": [
+            0.26962332399793476,
+            -0.3466287168232762,
+            1.0432899705423495
+          ],
+          "center_minus_frame": [
+            1.6654654756420584e-06,
+            4.494579397662513e-06,
+            0.00010986605132190519
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2714779376080964,
+              0.1332005172996035,
+              0.833977452022971
+            ],
+            "target_position": [
+              0.2826832957847661,
+              0.17941565862014291,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047554172678587185,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16772930919645393,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833977452022971,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676578939831,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13609809546600252,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "171408b98422b084720c8886c651ef84d3a648291a9093a78e6d24e76600d32c",
+    "visual_seed": 2146033883652635953,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1794e8cb1b16bccab76b7714e95062a6b65d77f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_38_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2569545589701544,
+              0.025684607138231362,
+              1.1623755795960884
+            ],
+            "current_z": 1.1623755795960884,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30126913118596743,
+            "gripper_z": 1.1554172853323474,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2518498892365486,
+              0.02087556361460824,
+              1.1554172853323474
+            ],
+            "object_minus_gripper": [
+              0.005104669733605793,
+              0.004809043523623123,
+              0.0069582942637409495
+            ],
+            "object_to_gripper_xy": 0.007013169946699748,
+            "object_to_gripper_z": 0.0069582942637409495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2569545589701544,
+              0.0014417206036514054,
+              1.1623755795960884
+            ],
+            "finger_b": [
+              0.24618858847060426,
+              0.025684607138231362,
+              1.1623755795960884
+            ],
+            "finger_midpoint": [
+              0.2515715737203793,
+              0.013563163870941385,
+              1.1623755795960884
+            ],
+            "object_minus_finger_midpoint": [
+              0.005382985249775096,
+              0.012121443267289977,
+              0.0
+            ],
+            "finger_gap": 0.02652590560802217,
+            "fingertip_max_gap": 0.0908815018038655,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013262952804011095,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623755795960884,
+            "object_top_z": 1.2123185778891838,
+            "finger_top_clearance": 0.04994299829309545,
+            "fingertip_min_top_clearance": 0.014982899487928601,
+            "object_projection_between_fingers": 0.8352725668353557,
+            "object_to_finger_line_xy": 0.009839370052508076,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047940750901932755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.556820880155707,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2675668782908335,
+              -0.3495623667429597,
+              0.8515395638692497
+            ],
+            "target_position": [
+              0.2594105412308144,
+              -0.3502003106834472,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00818124725869137,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863106445541021,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395638692497,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549787354866028,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08634898924817631,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15412585517881439,
+            "release_required_pad_clearance": 0.05317449462408816,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3728513610971196,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007441103458404541,
+            "max_z_decrease": 0.007441103458404541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511549117197331,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007441103458404541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021086784667455394,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007441103458404541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007441120317919401,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11511046439409255,
+              -0.40646177530288696,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11511046439409255,
+              -0.40646177530288696,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11399524736058747,
+              -0.40513273203979533,
+              0.8075815128227481
+            ],
+            "closest_button": [
+              0.1150999069213867,
+              -0.40645831823349,
+              0.772508442401886
+            ],
+            "closest_ee_minus_button": [
+              -0.0011046595607992343,
+              0.0013255861936946611,
+              0.03507307042086216
+            ],
+            "button_min_z_position": [
+              0.1150948330760002,
+              -0.4064592123031616,
+              0.7693677544593811
+            ],
+            "min_active_finger_to_button": 0.14660850144116402,
+            "closest_active_finger": [
+              -0.013359233736991882,
+              -0.46812212467193604,
+              0.8106028437614441
+            ],
+            "closest_active_finger_button": [
+              0.11511150747537612,
+              -0.40646085143089294,
+              0.7761469483375549
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.128470741212368,
+              -0.06166127324104309,
+              0.03445589542388916
+            ],
+            "min_contact_pad_to_button": 0.021086784667455394,
+            "closest_contact_pad": [
+              0.1150948330760002,
+              -0.4064592123031616,
+              0.7904545391268365
+            ],
+            "closest_contact_pad_button": [
+              0.1150948330760002,
+              -0.4064592123031616,
+              0.7693677544593811
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021086784667455394
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2828452639711185,
+              0.18155702696979598,
+              1.104668990724218
+            ],
+            "current_z": 1.104668990724218,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19475986098985543,
+            "gripper_z": 1.1046691523763932,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28284526066728605,
+              0.18155697028906503,
+              1.1046691523763932
+            ],
+            "object_minus_gripper": [
+              3.303832429857323e-09,
+              5.668073094211579e-08,
+              -1.6165217520125452e-07
+            ],
+            "object_to_gripper_xy": 5.677693694500522e-08,
+            "object_to_gripper_z": -1.6165217520125452e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2828452639711185,
+              0.18155702696979598,
+              1.104668990724218
+            ],
+            "finger_b": [
+              0.2828452639711185,
+              0.18155702696979598,
+              1.104668990724218
+            ],
+            "finger_midpoint": [
+              0.2828452639711185,
+              0.18155702696979598,
+              1.104668990724218
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104668990724218,
+            "object_top_z": 1.2296774973444977,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2828452639711185,
+            0.181557026969796,
+            1.104668990724218
+          ],
+          "object_origin_world": [
+            0.2828452639711185,
+            0.181557026969796,
+            1.104668990724218
+          ],
+          "frame_world": [
+            0.28284526066728605,
+            0.18155697028906503,
+            1.1046691523763932
+          ],
+          "center_minus_frame": [
+            3.303832429857323e-09,
+            5.668073096987136e-08,
+            -1.6165217520125452e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432654155994034,
+            "required_z": 0.9112598710892649,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013868993515298125,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.54567819764531e-08,
+            "max_target_xy_drift": 1.2868571911349083e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.3728513600576655,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3728513611911086,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2663544243270125,
+              -0.3488870295678479,
+              0.9233742054918196
+            ],
+            "target_mouth_xy": [
+              0.26756684977638423,
+              -0.3495623051740687
+            ],
+            "rod_tip_z": 0.9233742054918196,
+            "rod_tip_depth": -0.02211431520248197,
+            "rod_tip_bottom_clearance": 0.12155487890375272,
+            "rod_tip_xy_dist": 0.001387794154275457,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044757600746576864,
+            "min_rod_tip_bottom_clearance": 0.05468289734948062,
+            "min_rod_tip_xy_dist": 0.0012868148002002176,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.26756681695584894,
+              -0.3495623366245296
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.282053528952389e-08,
+              3.145046090224923e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0005837860670449557,
+                0.0022872465610521697
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007007025123896837,
+                0.0019119385731554694
+              ],
+              "first_target_mouth_xy": [
+                0.2675668496183107,
+                -0.34956236451952416
+              ],
+              "last_target_mouth_xy": [
+                0.2675668152722511,
+                -0.3495623667937649
+              ],
+              "first_rod_tip_xy": [
+                0.2669830635512657,
+                -0.347275117958472
+              ],
+              "last_rod_tip_xy": [
+                0.26686611275986144,
+                -0.34765042822060943
+              ],
+              "min_rod_tip_xy_dist": 0.002036293966594457,
+              "max_rod_tip_xy_dist": 0.0023605726006883996,
+              "first_target_xy_drift": 4.29530805274641e-08,
+              "last_target_xy_drift": 3.021617544936258e-08,
+              "max_depth": 0.01982814581438397,
+              "min_bottom_clearance": 0.07961250654544594
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005837860670449557,
+                  0.0022872465610521697
+                ],
+                "rod_tip_xy": [
+                  0.2669830635512657,
+                  -0.347275117958472
+                ],
+                "target_mouth_xy": [
+                  0.2675668496183107,
+                  -0.34956236451952416
+                ],
+                "gripper_position": [
+                  0.2669719116391616,
+                  -0.34728191587126384,
+                  1.0056515246851347
+                ],
+                "rod_tip_xy_dist": 0.0023605726006883996,
+                "target_xy_drift": 4.29530805274641e-08,
+                "depth": 0.015470392842551806,
+                "bottom_clearance": 0.0839701744068887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005949058251143446,
+                  0.00228045121422793
+                ],
+                "rod_tip_xy": [
+                  0.26697191163916156,
+                  -0.3472819158712639
+                ],
+                "target_mouth_xy": [
+                  0.2675668174642759,
+                  -0.3495623670854918
+                ],
+                "gripper_position": [
+                  0.26697345561840213,
+                  -0.34734483106091646,
+                  1.005135477642897
+                ],
+                "rod_tip_xy_dist": 0.002356771240750493,
+                "target_xy_drift": 3.046520500425583e-08,
+                "depth": 0.015608343355954735,
+                "bottom_clearance": 0.0838322372787964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005933936290160591,
+                  0.002217472282568078
+                ],
+                "rod_tip_xy": [
+                  0.2669734556184021,
+                  -0.3473448310609165
+                ],
+                "target_mouth_xy": [
+                  0.26756684924741814,
+                  -0.3495623033434846
+                ],
+                "gripper_position": [
+                  0.26696217403131295,
+                  -0.34735145915108906,
+                  1.0049981050199186
+                ],
+                "rod_tip_xy_dist": 0.0022954954417106848,
+                "target_xy_drift": 4.63721187732243e-08,
+                "depth": 0.016124382092874368,
+                "bottom_clearance": 0.08331622878351619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006046738261152873,
+                  0.002210907295970954
+                ],
+                "rod_tip_xy": [
+                  0.26696217403131295,
+                  -0.3473514591510891
+                ],
+                "target_mouth_xy": [
+                  0.26756684785742824,
+                  -0.34956236644706007
+                ],
+                "gripper_position": [
+                  0.2669539080084019,
+                  -0.3473520005841992,
+                  1.0048773517427845
+                ],
+                "rod_tip_xy_dist": 0.002292104165906623,
+                "target_xy_drift": 4.2945208406789034e-08,
+                "depth": 0.01626173339621817,
+                "bottom_clearance": 0.08317880164190472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006129415884048028,
+                  0.002210365832598038
+                ],
+                "rod_tip_xy": [
+                  0.26695390800840185,
+                  -0.34735200058419924
+                ],
+                "target_mouth_xy": [
+                  0.26756684959680666,
+                  -0.3495623664167973
+                ],
+                "gripper_position": [
+                  0.2669562332139169,
+                  -0.34741587387532324,
+                  1.0043612903455779
+                ],
+                "rod_tip_xy_dist": 0.002293777344188625,
+                "target_xy_drift": 4.419288780357799e-08,
+                "depth": 0.01638255433655622,
+                "bottom_clearance": 0.08305803601532424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006105868800896919,
+                  0.002146461463903848
+                ],
+                "rod_tip_xy": [
+                  0.26695623321391687,
+                  -0.34741587387532324
+                ],
+                "target_mouth_xy": [
+                  0.26756682009400656,
+                  -0.3495623353392271
+                ],
+                "gripper_position": [
+                  0.2669450354676737,
+                  -0.3474224402155379,
+                  1.0042241237353626
+                ],
+                "rod_tip_xy_dist": 0.002231616713094324,
+                "target_xy_drift": 3.3911702789722426e-09,
+                "depth": 0.016898595724571197,
+                "bottom_clearance": 0.08254196204427411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006217831002457985,
+                  0.0021399265359954844
+                ],
+                "rod_tip_xy": [
+                  0.2669450354676736,
+                  -0.34742244021553803
+                ],
+                "target_mouth_xy": [
+                  0.2675668185679194,
+                  -0.3495623667515335
+                ],
+                "gripper_position": [
+                  0.26693651103551713,
+                  -0.3474230522827732,
+                  1.0041035475098192
+                ],
+                "rod_tip_xy_dist": 0.0022284298964088843,
+                "target_xy_drift": 3.017010332610175e-08,
+                "depth": 0.017035718354470375,
+                "bottom_clearance": 0.0824048354180017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000630337187734753,
+                  0.002139315107969386
+                ],
+                "rod_tip_xy": [
+                  0.2669365110355171,
+                  -0.34742305228277326
+                ],
+                "target_mouth_xy": [
+                  0.26756684822325183,
+                  -0.34956236739074265
+                ],
+                "gripper_position": [
+                  0.26692811015415274,
+                  -0.34742368598564605,
+                  1.0039834065001354
+                ],
+                "rod_tip_xy_dist": 0.0022302453007298152,
+                "target_xy_drift": 4.3865822084186e-08,
+                "depth": 0.017156304631527175,
+                "bottom_clearance": 0.08228426558789492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006387377446595566,
+                  0.002138680775381152
+                ],
+                "rod_tip_xy": [
+                  0.2669281101541527,
+                  -0.3474236859856462
+                ],
+                "target_mouth_xy": [
+                  0.26756684789881224,
+                  -0.34956236676102737
+                ],
+                "gripper_position": [
+                  0.2669317786088492,
+                  -0.3474899555451304,
+                  1.003466909725646
+                ],
+                "rod_tip_xy_dist": 0.002232026291385857,
+                "target_xy_drift": 4.319346564115714e-08,
+                "depth": 0.017276436505073045,
+                "bottom_clearance": 0.08216410847389222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006350697498984648,
+                  0.0020723798261420567
+                ],
+                "rod_tip_xy": [
+                  0.2669317786088492,
+                  -0.3474899555451305
+                ],
+                "target_mouth_xy": [
+                  0.26756684835874767,
+                  -0.34956233537127257
+                ],
+                "gripper_position": [
+                  0.26692026718384687,
+                  -0.34749638632172486,
+                  1.00332942510365
+                ],
+                "rod_tip_xy_dist": 0.002167503571170456,
+                "target_xy_drift": 3.1427896869299745e-08,
+                "depth": 0.01779290440071757,
+                "bottom_clearance": 0.08164759403773358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006465830530783534,
+                  0.0020659794674087184
+                ],
+                "rod_tip_xy": [
+                  0.2669202671838468,
+                  -0.34749638632172497
+                ],
+                "target_mouth_xy": [
+                  0.26756685023692517,
+                  -0.3495623657891337
+                ],
+                "gripper_position": [
+                  0.2669117423577263,
+                  -0.34749688033088,
+                  1.0032093259669077
+                ],
+                "rod_tip_xy_dist": 0.0021647957881247223,
+                "target_xy_drift": 4.425160070759254e-08,
+                "depth": 0.017930475261834222,
+                "bottom_clearance": 0.08151011842023481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006550743881599819,
+                  0.002065486450449072
+                ],
+                "rod_tip_xy": [
+                  0.26691174235772624,
+                  -0.3474968803308801
+                ],
+                "target_mouth_xy": [
+                  0.2675668167458862,
+                  -0.3495623667813292
+                ],
+                "gripper_position": [
+                  0.26690304864586434,
+                  -0.34749764611180683,
+                  1.003088520262354
+                ],
+                "rod_tip_xy_dist": 0.0021668771841089384,
+                "target_xy_drift": 3.0157530467439566e-08,
+                "depth": 0.018050558020181406,
+                "bottom_clearance": 0.08139003848886894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006638183761428773,
+                  0.0020647190035198992
+                ],
+                "rod_tip_xy": [
+                  0.2669030486458643,
+                  -0.3474976461118069
+                ],
+                "target_mouth_xy": [
+                  0.26756686702200716,
+                  -0.3495623651153268
+                ],
+                "gripper_position": [
+                  0.26690816194817846,
+                  -0.34756589054820136,
+                  1.0025749598828668
+                ],
+                "rod_tip_xy_dist": 0.002168805984868442,
+                "target_xy_drift": 5.7605084167836997e-08,
+                "depth": 0.01817138399826912,
+                "bottom_clearance": 0.08126926027460302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006586563895302766,
+                  0.00199644355195161
+                ],
+                "rod_tip_xy": [
+                  0.2669081619481784,
+                  -0.34756589054820153
+                ],
+                "target_mouth_xy": [
+                  0.2675668183377087,
+                  -0.34956233410015314
+                ],
+                "gripper_position": [
+                  0.2668966155557168,
+                  -0.34757217119641004,
+                  1.0024378250622412
+                ],
+                "rod_tip_xy_dist": 0.002102288061992985,
+                "target_xy_drift": 2.8778486714873067e-09,
+                "depth": 0.01868487426891796,
+                "bottom_clearance": 0.08075565997989365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00067023441812325,
+                  0.0019901958643400164
+                ],
+                "rod_tip_xy": [
+                  0.2668966155557168,
+                  -0.34757217119641015
+                ],
+                "target_mouth_xy": [
+                  0.26756684997384006,
+                  -0.34956236706075017
+                ],
+                "gripper_position": [
+                  0.2668879476913295,
+                  -0.34757254642287544,
+                  1.0023176781282122
+                ],
+                "rod_tip_xy_dist": 0.002100022322184485,
+                "target_xy_drift": 4.4906026973331046e-08,
+                "depth": 0.018822095551042972,
+                "bottom_clearance": 0.08061853201399494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006788702345003617,
+                  0.00198981876401505
+                ],
+                "rod_tip_xy": [
+                  0.26688794769132945,
+                  -0.3475725464228755
+                ],
+                "target_mouth_xy": [
+                  0.2675668179258298,
+                  -0.34956236518689054
+                ],
+                "gripper_position": [
+                  0.2668793280947732,
+                  -0.34757294739612393,
+                  1.0021974712523802
+                ],
+                "rod_tip_xy_dist": 0.002102437516055342,
+                "target_xy_drift": 2.8578826502642597e-08,
+                "depth": 0.01894214075738121,
+                "bottom_clearance": 0.08049835298794916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006875229841283859,
+                  0.0019893869852258828
+                ],
+                "rod_tip_xy": [
+                  0.26687932809477316,
+                  -0.347572947396124
+                ],
+                "target_mouth_xy": [
+                  0.26756685107890155,
+                  -0.34956233438134987
+                ],
+                "gripper_position": [
+                  0.26687071821881725,
+                  -0.34757315380947135,
+                  1.0020776376190998
+                ],
+                "rod_tip_xy_dist": 0.002104839288565977,
+                "target_xy_drift": 3.419670414731983e-08,
+                "depth": 0.01906243961351617,
+                "bottom_clearance": 0.08037819490219156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006960970048713322,
+                  0.001989212036950183
+                ],
+                "rod_tip_xy": [
+                  0.2668707182188172,
+                  -0.3475731538094714
+                ],
+                "target_mouth_xy": [
+                  0.2675668152236885,
+                  -0.3495623658464216
+                ],
+                "gripper_position": [
+                  0.2668778016855202,
+                  -0.347643910628867,
+                  1.0015686105395307
+                ],
+                "rod_tip_xy_dist": 0.0021074903482906715,
+                "target_xy_drift": 2.927318482037545e-08,
+                "depth": 0.01918227475100376,
+                "bottom_clearance": 0.08025834474111893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0006890503424299976,
+                  0.0019184532265580367
+                ],
+                "rod_tip_xy": [
+                  0.26687780168552017,
+                  -0.3476439106288671
+                ],
+                "target_mouth_xy": [
+                  0.26756685202795016,
+                  -0.34956236385542516
+                ],
+                "gripper_position": [
+                  0.2668661127598615,
+                  -0.3476504282206093,
+                  1.0014317826983368
+                ],
+                "rod_tip_xy_dist": 0.002038443807637051,
+                "target_xy_drift": 4.440240934947931e-08,
+                "depth": 0.019691313423281787,
+                "bottom_clearance": 0.07974936884156303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0007007025123896837,
+                  0.0019119385731554694
+                ],
+                "rod_tip_xy": [
+                  0.26686611275986144,
+                  -0.34765042822060943
+                ],
+                "target_mouth_xy": [
+                  0.2675668152722511,
+                  -0.3495623667937649
+                ],
+                "gripper_position": [
+                  0.26687345396212603,
+                  -0.3477158030640214,
+                  1.00083836391828
+                ],
+                "rod_tip_xy_dist": 0.002036293966594457,
+                "target_xy_drift": 3.021617544936258e-08,
+                "depth": 0.01982814581438397,
+                "bottom_clearance": 0.07961250654544594,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005998606382964325,
+              "rod_tip_xy_max_step": 3.257548461881214e-05,
+              "rod_tip_xy_range": 0.0005998498844016678,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2663544243270125,
+            -0.34888702956784784,
+            1.0433742054918196
+          ],
+          "object_origin_world": [
+            0.2663544243270125,
+            -0.34888702956784784,
+            1.0433742054918196
+          ],
+          "frame_world": [
+            0.266353036341641,
+            -0.348891375403593,
+            1.0432654155994034
+          ],
+          "center_minus_frame": [
+            1.3879853715259571e-06,
+            4.345835745156457e-06,
+            0.00010878989241613901
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2718331503632314,
+              0.1354651212939119,
+              0.834020320759036
+            ],
+            "target_position": [
+              0.28332154267540754,
+              0.18276028002338124,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04867047562089535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1689291275157882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834020320759036,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671622284386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1380903636330387,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1bbc63d157ea2a8c1cdbe8fdd7351d1658a19e1a5ed1333f24f43bdbece61148",
+    "visual_seed": 1806192996117461261,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0de71e1525fea7f8acf07f56a8b28af31752490
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2554937263230711,
+              0.028466717057003686,
+              1.1638139064636015
+            ],
+            "current_z": 1.1638139064636015,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3027072792395459,
+            "gripper_z": 1.1569192097667376,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2503992314576182,
+              0.023607872179450623,
+              1.1569192097667376
+            ],
+            "object_minus_gripper": [
+              0.005094494865452881,
+              0.0048588448775530625,
+              0.006894696696863933
+            ],
+            "object_to_gripper_xy": 0.0070400462696099805,
+            "object_to_gripper_z": 0.006894696696863933,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2554937263230711,
+              0.004366289903102203,
+              1.1638139064636015
+            ],
+            "finger_b": [
+              0.24448090125376146,
+              0.028466717057003686,
+              1.1638139064636015
+            ],
+            "finger_midpoint": [
+              0.24998731378841627,
+              0.016416503480052944,
+              1.1638139064636015
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055064125346548365,
+              0.012050213576950741,
+              0.0
+            ],
+            "finger_gap": 0.026497413175774857,
+            "fingertip_max_gap": 0.090734025451161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013248706587887432,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638139064636015,
+            "object_top_z": 1.2136726358746994,
+            "finger_top_clearance": 0.049858729411097924,
+            "fingertip_min_top_clearance": 0.014957618823329376,
+            "object_projection_between_fingers": 0.8272609502799549,
+            "object_to_finger_line_xy": 0.010016592434170529,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0478670127255805,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5193247973280879,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2737907260810687,
+              -0.34574380201177013,
+              0.851539576529666
+            ],
+            "target_position": [
+              0.26510983863826654,
+              -0.34638868640013104,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008704808020223753,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18522269358431187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539576529666,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517020400660204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852582600748933,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538887399786032,
+            "release_required_pad_clearance": 0.05262913003744665,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3189807651960316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074541568756103516,
+            "max_z_decrease": 0.0074541568756103516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509396791419902,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074541568756103516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021117678860166703,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074541568756103516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007454183666438231,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12080976366996761,
+              -0.4026501476764678,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12080976366996761,
+              -0.4026501476764678,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12025212386099698,
+              -0.40293389043336325,
+              0.8078394493233545
+            ],
+            "closest_button": [
+              0.12079935520887372,
+              -0.40264785289764393,
+              0.7727509140968323
+            ],
+            "closest_ee_minus_button": [
+              -0.0005472313478767366,
+              -0.000286037535719319,
+              0.03508853522652222
+            ],
+            "button_min_z_position": [
+              0.1207899674773216,
+              -0.4026474058628081,
+              0.7693547010421753
+            ],
+            "min_active_finger_to_button": 0.14670564443252404,
+            "closest_active_finger": [
+              -0.0208234041929245,
+              -0.38604477047920227,
+              0.8111740946769714
+            ],
+            "closest_active_finger_button": [
+              0.12081433087587354,
+              -0.40264895558357233,
+              0.7767415642738342
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14163773506879804,
+              0.01660418510437006,
+              0.03443253040313721
+            ],
+            "min_contact_pad_to_button": 0.021117678860166703,
+            "closest_contact_pad": [
+              0.1207899674773216,
+              -0.4041069624309328,
+              0.7904218806129099
+            ],
+            "closest_contact_pad_button": [
+              0.1207899674773216,
+              -0.4026474058628081,
+              0.7693547010421753
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001459556568124687,
+              0.021067179570734562
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2771347166078353,
+              0.17569197186903412,
+              1.1015590224751004
+            ],
+            "current_z": 1.1015590224751004,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19164989274073785,
+            "gripper_z": 1.1015594474333203,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2771347365533062,
+              0.17569190358644388,
+              1.1015594474333203
+            ],
+            "object_minus_gripper": [
+              -1.994547094152921e-08,
+              6.828259024871386e-08,
+              -4.249582199467028e-07
+            ],
+            "object_to_gripper_xy": 7.113602422228233e-08,
+            "object_to_gripper_z": -4.249582199467028e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2771347166078353,
+              0.17569197186903412,
+              1.1015590224751004
+            ],
+            "finger_b": [
+              0.2771347166078353,
+              0.17569197186903412,
+              1.1015590224751004
+            ],
+            "finger_midpoint": [
+              0.2771347166078353,
+              0.17569197186903412,
+              1.1015590224751004
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1015590224751004,
+            "object_top_z": 1.2265675290953801,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27713471660783534,
+            0.1756919718690341,
+            1.1015590224751004
+          ],
+          "object_origin_world": [
+            0.27713471660783534,
+            0.1756919718690341,
+            1.1015590224751004
+          ],
+          "frame_world": [
+            0.2771347365533062,
+            0.17569190358644388,
+            1.1015594474333203
+          ],
+          "center_minus_frame": [
+            -1.9945470886018057e-08,
+            6.828259022095828e-08,
+            -4.249582199467028e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.04327890734103,
+            "required_z": 0.9112599933741135,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026109168764907134,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.700817088785963e-09,
+            "max_target_xy_drift": 2.544352506039237e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3189807648863876,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.31898076588730295,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2716154028480347,
+              -0.3442976067063569,
+              0.9233887872565273
+            ],
+            "target_mouth_xy": [
+              0.27379069774194675,
+              -0.34574377413826785
+            ],
+            "rod_tip_z": 0.9233887872565273,
+            "rod_tip_depth": -0.022128950831526772,
+            "rod_tip_bottom_clearance": 0.12156950383223952,
+            "rod_tip_xy_dist": 0.0026121462663104733,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04437588661411407,
+            "min_rod_tip_bottom_clearance": 0.05506470984611378,
+            "min_rod_tip_xy_dist": 9.78464113360752e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27379069425942293,
+              -0.34574377539049583
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.482523824871464e-09,
+              1.252227987968979e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0015410394301119679,
+                0.0031867299648565828
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016644504759032452,
+                0.0028013896811104333
+              ],
+              "first_target_mouth_xy": [
+                0.2737906988318497,
+                -0.3457438010595799
+              ],
+              "last_target_mouth_xy": [
+                0.2737906972569738,
+                -0.34574377285462365
+              ],
+              "first_rod_tip_xy": [
+                0.27224965940173773,
+                -0.34255707109472333
+              ],
+              "last_rod_tip_xy": [
+                0.27212624678107056,
+                -0.3429423831735132
+              ],
+              "min_rod_tip_xy_dist": 0.0032495087703447775,
+              "max_rod_tip_xy_dist": 0.0035397811223400037,
+              "first_target_xy_drift": 2.6073146417437088e-08,
+              "last_target_xy_drift": 3.926316206203221e-09,
+              "max_depth": 0.01949826390808551,
+              "min_bottom_clearance": 0.07994223829362623
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0015410394301119679,
+                  0.0031867299648565828
+                ],
+                "rod_tip_xy": [
+                  0.27224965940173773,
+                  -0.34255707109472333
+                ],
+                "target_mouth_xy": [
+                  0.2737906988318497,
+                  -0.3457438010595799
+                ],
+                "gripper_position": [
+                  0.2722381127509377,
+                  -0.34256443163068573,
+                  1.0060088093530222
+                ],
+                "rod_tip_xy_dist": 0.0035397811223400037,
+                "target_xy_drift": 2.6073146417437088e-08,
+                "depth": 0.015112061497934426,
+                "bottom_clearance": 0.08432855817711526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0015525849036350792,
+                  0.003179343134100232
+                ],
+                "rod_tip_xy": [
+                  0.27223811275093757,
+                  -0.34256443163068573
+                ],
+                "target_mouth_xy": [
+                  0.27379069765457265,
+                  -0.34574377476478596
+                ],
+                "gripper_position": [
+                  0.27223927362550576,
+                  -0.3426302858980993,
+                  1.0054901044946727
+                ],
+                "rod_tip_xy_dist": 0.003538183523694868,
+                "target_xy_drift": 3.452325947132443e-09,
+                "depth": 0.015251037609511076,
+                "bottom_clearance": 0.08418953457617595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015514229162493787,
+                  0.0031134863167299187
+                ],
+                "rod_tip_xy": [
+                  0.27223927362550565,
+                  -0.3426302858980993
+                ],
+                "target_mouth_xy": [
+                  0.27379069654175503,
+                  -0.3457437722148292
+                ],
+                "gripper_position": [
+                  0.2722278518794343,
+                  -0.3426371897127899,
+                  1.0053512112311727
+                ],
+                "rod_tip_xy_dist": 0.00347860749575576,
+                "target_xy_drift": 3.910741399261508e-09,
+                "depth": 0.015769732812852655,
+                "bottom_clearance": 0.08367079466950356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015628462104329,
+                  0.0031065840990700533
+                ],
+                "rod_tip_xy": [
+                  0.2722278518794342,
+                  -0.3426371897127899
+                ],
+                "target_mouth_xy": [
+                  0.2737906980898671,
+                  -0.34574377381185994
+                ],
+                "gripper_position": [
+                  0.27221942245005837,
+                  -0.3426377182603135,
+                  1.0052291268475433
+                ],
+                "rod_tip_xy_dist": 0.0034775498619084343,
+                "target_xy_drift": 4.142993352182107e-09,
+                "depth": 0.015908622092847824,
+                "bottom_clearance": 0.08353193250416979,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015712128524119073,
+                  0.003106085979229678
+                ],
+                "rod_tip_xy": [
+                  0.27221942245005826,
+                  -0.3426377182603134
+                ],
+                "target_mouth_xy": [
+                  0.27379063530247016,
+                  -0.3457438042395431
+                ],
+                "gripper_position": [
+                  0.2722216237277026,
+                  -0.342704794169594,
+                  1.0047107518695206
+                ],
+                "rod_tip_xy_dist": 0.003480873444690506,
+                "target_xy_drift": 6.56368022315438e-08,
+                "depth": 0.016030829793346357,
+                "bottom_clearance": 0.08340978059457382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001569075202587089,
+                  0.0030389793240246377
+                ],
+                "rod_tip_xy": [
+                  0.27222162372770253,
+                  -0.342704794169594
+                ],
+                "target_mouth_xy": [
+                  0.2737906989302896,
+                  -0.3457437734936186
+                ],
+                "gripper_position": [
+                  0.27221018510765255,
+                  -0.34271163700703233,
+                  1.0045720952347412
+                ],
+                "rod_tip_xy_dist": 0.0034201450734176408,
+                "target_xy_drift": 5.041342958063572e-09,
+                "depth": 0.01654914200104529,
+                "bottom_clearance": 0.08289143337599536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015805429465536314,
+                  0.0030321348936056536
+                ],
+                "rod_tip_xy": [
+                  0.2722101851076525,
+                  -0.34271163700703233
+                ],
+                "target_mouth_xy": [
+                  0.2737907280542061,
+                  -0.345743771900638
+                ],
+                "gripper_position": [
+                  0.2722015207627486,
+                  -0.34271198558261107,
+                  1.0044495234413704
+                ],
+                "rod_tip_xy_dist": 0.003419350525892513,
+                "target_xy_drift": 3.397449747868694e-08,
+                "depth": 0.01668774632567771,
+                "bottom_clearance": 0.08275282815490803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001589173274447575,
+                  0.0030317872571680726
+                ],
+                "rod_tip_xy": [
+                  0.27220152076274856,
+                  -0.34271198558261107
+                ],
+                "target_mouth_xy": [
+                  0.27379069403719614,
+                  -0.34574377283977914
+                ],
+                "gripper_position": [
+                  0.2722045307263191,
+                  -0.3427801342903581,
+                  1.0039331041341484
+                ],
+                "rod_tip_xy_dist": 0.003423040412987427,
+                "target_xy_drift": 2.5603789558170503e-09,
+                "depth": 0.016810438290946084,
+                "bottom_clearance": 0.08263016247916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015861668514947636,
+                  0.0029636376084526406
+                ],
+                "rod_tip_xy": [
+                  0.27220453072631906,
+                  -0.34278013429035803
+                ],
+                "target_mouth_xy": [
+                  0.2737906975778138,
+                  -0.34574377189881067
+                ],
+                "gripper_position": [
+                  0.27219291648735394,
+                  -0.3427866404512839,
+                  1.003794267175736
+                ],
+                "rod_tip_xy_dist": 0.00336140940009034,
+                "target_xy_drift": 4.817009800049906e-09,
+                "depth": 0.017326732029674052,
+                "bottom_clearance": 0.08211381646960525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015977803659251721,
+                  0.0029571339947985775
+                ],
+                "rod_tip_xy": [
+                  0.2721929164873539,
+                  -0.3427866404512838
+                ],
+                "target_mouth_xy": [
+                  0.27379069685327906,
+                  -0.3457437744460824
+                ],
+                "gripper_position": [
+                  0.2721843242088078,
+                  -0.3427871979073033,
+                  1.003672702997573
+                ],
+                "rod_tip_xy_dist": 0.003361181869659744,
+                "target_xy_drift": 2.760435900593388e-09,
+                "depth": 0.017465570423227716,
+                "bottom_clearance": 0.08197496494097145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001606371774425852,
+                  0.0029565438660230647
+                ],
+                "rod_tip_xy": [
+                  0.2721843242088077,
+                  -0.3427871979073033
+                ],
+                "target_mouth_xy": [
+                  0.2737906959832336,
+                  -0.34574374177332634
+                ],
+                "gripper_position": [
+                  0.2721881838742062,
+                  -0.34285573862825297,
+                  1.0031587276944602
+                ],
+                "rod_tip_xy_dist": 0.00336475584692124,
+                "target_xy_drift": 3.3661336988429806e-08,
+                "depth": 0.017587162789412525,
+                "bottom_clearance": 0.08185340898741778,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016025136975419962,
+                  0.002888035501558861
+                ],
+                "rod_tip_xy": [
+                  0.2721881838742061,
+                  -0.342855738628253
+                ],
+                "target_mouth_xy": [
+                  0.2737906975717481,
+                  -0.3457437741298119
+                ],
+                "gripper_position": [
+                  0.2721765100509847,
+                  -0.3428620866271381,
+                  1.003019978414986
+                ],
+                "rod_tip_xy_dist": 0.003302847136800924,
+                "target_xy_drift": 3.544125024453203e-09,
+                "depth": 0.018101107236933367,
+                "bottom_clearance": 0.08133943894066042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016141870283298831,
+                  0.0028816887765126253
+                ],
+                "rod_tip_xy": [
+                  0.2721765100509846,
+                  -0.342862086627138
+                ],
+                "target_mouth_xy": [
+                  0.27379069707931447,
+                  -0.34574377540365064
+                ],
+                "gripper_position": [
+                  0.27216762383085624,
+                  -0.3428626383003957,
+                  1.0028983123931225
+                ],
+                "rod_tip_xy_dist": 0.003302988036173805,
+                "target_xy_drift": 2.819922225961018e-09,
+                "depth": 0.0182399350738206,
+                "bottom_clearance": 0.08120063807380384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016230734616242137,
+                  0.002881133599740404
+                ],
+                "rod_tip_xy": [
+                  0.2721676238308562,
+                  -0.34286263830039565
+                ],
+                "target_mouth_xy": [
+                  0.2737906972924804,
+                  -0.34574377190013605
+                ],
+                "gripper_position": [
+                  0.27215884930688583,
+                  -0.34286313226539084,
+                  1.0027766529292241
+                ],
+                "rod_tip_xy_dist": 0.0033068562535105614,
+                "target_xy_drift": 4.624072773458316e-09,
+                "depth": 0.018361521446580986,
+                "bottom_clearance": 0.08107901597562261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001631846679434834,
+                  0.002880643129003546
+                ],
+                "rod_tip_xy": [
+                  0.2721588493068857,
+                  -0.3428631322653908
+                ],
+                "target_mouth_xy": [
+                  0.27379069598632055,
+                  -0.3457437753943943
+                ],
+                "gripper_position": [
+                  0.2721500630760475,
+                  -0.3428632341265241,
+                  1.002655107931015
+                ],
+                "rod_tip_xy_dist": 0.003310744390897285,
+                "target_xy_drift": 1.7269020253404753e-09,
+                "depth": 0.018483228006494157,
+                "bottom_clearance": 0.08095737461634989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016406648600221785,
+                  0.0028805073338358245
+                ],
+                "rod_tip_xy": [
+                  0.27215006307604744,
+                  -0.3428632341265241
+                ],
+                "target_mouth_xy": [
+                  0.2737907279360696,
+                  -0.3457437414603599
+                ],
+                "gripper_position": [
+                  0.27215594263017484,
+                  -0.3429354150557169,
+                  1.002143404251753
+                ],
+                "rod_tip_xy_dist": 0.0033149817017886487,
+                "target_xy_drift": 4.780555047566445e-08,
+                "depth": 0.01860474402106438,
+                "bottom_clearance": 0.08083584850101166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016347552671986953,
+                  0.0028083593902692994
+                ],
+                "rod_tip_xy": [
+                  0.27215594263017473,
+                  -0.3429354150557168
+                ],
+                "target_mouth_xy": [
+                  0.2737906978973734,
+                  -0.3457437744459861
+                ],
+                "gripper_position": [
+                  0.27214416060144353,
+                  -0.3429418738592607,
+                  1.0020046228070505
+                ],
+                "rod_tip_xy_dist": 0.0032495087703447775,
+                "target_xy_drift": 3.758561224553601e-09,
+                "depth": 0.019116438912491263,
+                "bottom_clearance": 0.08032413110732006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016465360500369508,
+                  0.0028019300712206485
+                ],
+                "rod_tip_xy": [
+                  0.2721441606014434,
+                  -0.3429418738592608
+                ],
+                "target_mouth_xy": [
+                  0.27379069665148037,
+                  -0.34574380393048143
+                ],
+                "gripper_position": [
+                  0.27213512385187943,
+                  -0.34294233981739686,
+                  1.0018833079755796
+                ],
+                "rod_tip_xy_dist": 0.0032499066275943735,
+                "target_xy_drift": 2.8640054411269986e-08,
+                "depth": 0.019255274944986467,
+                "bottom_clearance": 0.08018525692936873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001655574878273669,
+                  0.0028014333577504047
+                ],
+                "rod_tip_xy": [
+                  0.2721351238518794,
+                  -0.34294233981739686
+                ],
+                "target_mouth_xy": [
+                  0.27379069873015305,
+                  -0.34574377317514726
+                ],
+                "gripper_position": [
+                  0.27212624678107067,
+                  -0.3429423831735132,
+                  1.0017614930568755
+                ],
+                "rod_tip_xy_dist": 0.003254067767500791,
+                "target_xy_drift": 4.989508702573979e-09,
+                "depth": 0.019376578612193218,
+                "bottom_clearance": 0.08006397764989115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016644504759032452,
+                  0.0028013896811104333
+                ],
+                "rod_tip_xy": [
+                  0.27212624678107056,
+                  -0.3429423831735132
+                ],
+                "target_mouth_xy": [
+                  0.2737906972569738,
+                  -0.34574377285462365
+                ],
+                "gripper_position": [
+                  0.2721172678096251,
+                  -0.3429427205849736,
+                  1.0016402226415173
+                ],
+                "rod_tip_xy_dist": 0.0032585548226424783,
+                "target_xy_drift": 3.926316206203221e-09,
+                "depth": 0.01949826390808551,
+                "bottom_clearance": 0.07994223829362623,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005961561368294717,
+              "rod_tip_xy_max_step": 3.2397413316345574e-05,
+              "rod_tip_xy_range": 0.000596150385832022,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27161540284803476,
+            -0.3442976067063569,
+            1.0433887872565275
+          ],
+          "object_origin_world": [
+            0.27161540284803476,
+            -0.3442976067063569,
+            1.0433887872565275
+          ],
+          "frame_world": [
+            0.271613912707403,
+            -0.34430207588643763,
+            1.04327890734103
+          ],
+          "center_minus_frame": [
+            1.4901406317768817e-06,
+            4.469180080735047e-06,
+            0.00010987991549749054
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26618686359190075,
+              0.1281700638328492,
+              0.8339917932336925
+            ],
+            "target_position": [
+              0.2772636208379528,
+              0.17498157533191738,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04810418027485095,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16864391670334322,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339917932336925,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672536161074,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13829904815012692,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eed6cfc9014d588c3177ee68c37165265ff46700efc9442a01829da652e6534a",
+    "visual_seed": 2338306403412601337,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67fc32f85469314d130f0aa7d8577d525d716115
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_3_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2539751888947054,
+              0.026803460951826626,
+              1.1637255274616076
+            ],
+            "current_z": 1.1637255274616076,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3026190790514862,
+            "gripper_z": 1.1569196097944734,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2488343772589546,
+              0.021969085359220805,
+              1.1569196097944734
+            ],
+            "object_minus_gripper": [
+              0.0051408116357507805,
+              0.0048343755926058204,
+              0.006805917667134231
+            ],
+            "object_to_gripper_xy": 0.007056849980313702,
+            "object_to_gripper_z": 0.006805917667134231,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2539751888947054,
+              0.002603555736598351,
+              1.1637255274616076
+            ],
+            "finger_b": [
+              0.2430881255471294,
+              0.026803460951826626,
+              1.1637255274616076
+            ],
+            "finger_midpoint": [
+              0.2485316572209174,
+              0.014703508344212489,
+              1.1637255274616076
+            ],
+            "object_minus_finger_midpoint": [
+              0.005443531673787971,
+              0.012099952607614137,
+              0.0
+            ],
+            "finger_gap": 0.026536080357885652,
+            "fingertip_max_gap": 0.09101616556180961,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013268040178942819,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637255274616076,
+            "object_top_z": 1.2136349704327478,
+            "finger_top_clearance": 0.049909442971140194,
+            "fingertip_min_top_clearance": 0.01497283289134209,
+            "object_projection_between_fingers": 0.8316752599265751,
+            "object_to_finger_line_xy": 0.009928591469811053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800808278090481,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5888453118654635,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27234677730414397,
+              -0.34996933521932805,
+              0.8515395996704357
+            ],
+            "target_position": [
+              0.2635811032407307,
+              -0.3507487232001392,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008800254962819493,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459424985165274,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395996704357,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536287005705876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551362686343957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15287542819424493,
+            "release_required_pad_clearance": 0.052756813431719785,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5637105079479495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00765758752822876,
+            "max_z_decrease": 0.00765758752822876,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035094323686888244,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00765758752822876,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021098554166277126,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00765758752822876,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007657608684585869,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.119281031191349,
+              -0.4070101678371429,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.119281031191349,
+              -0.4070101678371429,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11995677173344566,
+              -0.4062521200110636,
+              0.8074260992320906
+            ],
+            "closest_button": [
+              0.11926910281181334,
+              -0.4070061147212981,
+              0.7723466157913208
+            ],
+            "closest_ee_minus_button": [
+              0.0006876689216323145,
+              0.0007539947102345179,
+              0.03507948344076983
+            ],
+            "button_min_z_position": [
+              0.11926309764385222,
+              -0.40700861811637873,
+              0.7691512703895569
+            ],
+            "min_active_finger_to_button": 0.14528292578505975,
+            "closest_active_finger": [
+              -0.006611987948417664,
+              -0.4708130955696106,
+              0.8109594583511353
+            ],
+            "closest_active_finger_button": [
+              0.11928167194128035,
+              -0.4070084989070892,
+              0.7765082120895386
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12589365988969803,
+              -0.06380459666252142,
+              0.03445124626159668
+            ],
+            "min_contact_pad_to_button": 0.021098554166277126,
+            "closest_contact_pad": [
+              0.11926309764385222,
+              -0.4071565011931001,
+              0.7902493062816239
+            ],
+            "closest_contact_pad_button": [
+              0.11926309764385222,
+              -0.40700861811637873,
+              0.7691512703895569
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001478830767213668,
+              0.021098035892067046
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2820755338167446,
+              0.17757324493694215,
+              1.1019957687614093
+            ],
+            "current_z": 1.1019957687614093,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1920866390270467,
+            "gripper_z": 1.1019959163415178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2820755816134598,
+              0.1775732617827317,
+              1.1019959163415178
+            ],
+            "object_minus_gripper": [
+              -4.779671519683504e-08,
+              -1.684578954108673e-08,
+              -1.475801085781825e-07
+            ],
+            "object_to_gripper_xy": 5.067846296870051e-08,
+            "object_to_gripper_z": -1.475801085781825e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2820755338167446,
+              0.17757324493694215,
+              1.1019957687614093
+            ],
+            "finger_b": [
+              0.2820755338167446,
+              0.17757324493694215,
+              1.1019957687614093
+            ],
+            "finger_midpoint": [
+              0.2820755338167446,
+              0.17757324493694215,
+              1.1019957687614093
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019957687614093,
+            "object_top_z": 1.227004275381689,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28207553381674466,
+            0.17757324493694215,
+            1.1019957687614093
+          ],
+          "object_origin_world": [
+            0.28207553381674466,
+            0.17757324493694215,
+            1.1019957687614093
+          ],
+          "frame_world": [
+            0.2820755816134598,
+            0.1775732617827317,
+            1.1019959163415178
+          ],
+          "center_minus_frame": [
+            -4.7796715141323887e-08,
+            -1.684578954108673e-08,
+            -1.475801085781825e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043228496427485,
+            "required_z": 0.9112599169193898,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00020564175210430037,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.487074712996533e-08,
+            "max_target_xy_drift": 1.6460666776958742e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5637105135283772,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5637105136046708,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27215362570154117,
+              -0.3500308779324882,
+              0.9233400126509045
+            ],
+            "target_mouth_xy": [
+              0.27234668558037634,
+              -0.3499693060723498
+            ],
+            "rod_tip_z": 0.9233400126509045,
+            "rod_tip_depth": -0.022080174938363006,
+            "rod_tip_bottom_clearance": 0.12152071788691687,
+            "rod_tip_xy_dist": 0.00020264059508587424,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04442269781982344,
+            "min_rod_tip_bottom_clearance": 0.055017868991982466,
+            "min_rod_tip_xy_dist": 0.00020264059508587424,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2723467504381661,
+              -0.3499693047758383
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.485778974996137e-08,
+              -1.2965114537522027e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.00037393045668265845,
+                0.001626162073891102
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00026879539469293334,
+                0.0012536972821795
+              ],
+              "first_target_mouth_xy": [
+                0.2723467452231063,
+                -0.34996930512230817
+              ],
+              "last_target_mouth_xy": [
+                0.2723466859800921,
+                -0.34996927753574125
+              ],
+              "first_rod_tip_xy": [
+                0.27272067567978897,
+                -0.34834314304841707
+              ],
+              "last_rod_tip_xy": [
+                0.27261548137478503,
+                -0.34871558025356175
+              ],
+              "min_rod_tip_xy_dist": 0.00128218869108739,
+              "max_rod_tip_xy_dist": 0.0016686003347107154,
+              "first_target_xy_drift": 5.22655620786254e-09,
+              "last_target_xy_drift": 6.99776120673311e-08,
+              "max_depth": 0.0195069110106717,
+              "min_bottom_clearance": 0.07993369213816603
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00037393045668265845,
+                  0.001626162073891102
+                ],
+                "rod_tip_xy": [
+                  0.27272067567978897,
+                  -0.34834314304841707
+                ],
+                "target_mouth_xy": [
+                  0.2723467452231063,
+                  -0.34996930512230817
+                ],
+                "gripper_position": [
+                  0.2727124372420112,
+                  -0.34834425518036904,
+                  1.0060292595317735
+                ],
+                "rod_tip_xy_dist": 0.0016686003347107154,
+                "target_xy_drift": 5.22655620786254e-09,
+                "depth": 0.015107134174568437,
+                "bottom_clearance": 0.08433337669125696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.000365692438125953,
+                  0.0016250816537003443
+                ],
+                "rod_tip_xy": [
+                  0.2727124372420113,
+                  -0.34834425518036904
+                ],
+                "target_mouth_xy": [
+                  0.2723467448038853,
+                  -0.3499693368340694
+                ],
+                "gripper_position": [
+                  0.2727169490397334,
+                  -0.34840857407406867,
+                  1.0055072557887057
+                ],
+                "rod_tip_xy_dist": 0.0016657194663255723,
+                "target_xy_drift": 3.254958216402476e-08,
+                "depth": 0.015230656848265633,
+                "bottom_clearance": 0.08420991542603273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00037020316951913435,
+                  0.0015607316843743169
+                ],
+                "rod_tip_xy": [
+                  0.2727169490397335,
+                  -0.34840857407406867
+                ],
+                "target_mouth_xy": [
+                  0.27234674587021435,
+                  -0.349969305758443
+                ],
+                "gripper_position": [
+                  0.27270545586606365,
+                  -0.34841584678202747,
+                  1.0053660892507603
+                ],
+                "rod_tip_xy_dist": 0.0016040367132119841,
+                "target_xy_drift": 4.672439942571491e-09,
+                "depth": 0.015752581924014186,
+                "bottom_clearance": 0.08368797653245463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00035870886915972955,
+                  0.0015534865478465942
+                ],
+                "rod_tip_xy": [
+                  0.2727054558660637,
+                  -0.3484158467820274
+                ],
+                "target_mouth_xy": [
+                  0.272346746996904,
+                  -0.349969333329874
+                ],
+                "gripper_position": [
+                  0.27271005698719203,
+                  -0.3484799498842124,
+                  1.0048476148172596
+                ],
+                "rod_tip_xy_dist": 0.00159436272759814,
+                "target_xy_drift": 2.8760654359202434e-08,
+                "depth": 0.015893877146260782,
+                "bottom_clearance": 0.08354672614016911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00036331070907041907,
+                  0.001489354592229708
+                ],
+                "rod_tip_xy": [
+                  0.27271005698719203,
+                  -0.3484799498842124
+                ],
+                "target_mouth_xy": [
+                  0.2723467462781216,
+                  -0.3499693044764421
+                ],
+                "gripper_position": [
+                  0.2726985010904482,
+                  -0.34848712953847627,
+                  1.004706944625095
+                ],
+                "rod_tip_xy_dist": 0.00153302699673586,
+                "target_xy_drift": 4.17080425592434e-09,
+                "depth": 0.0164122693293699,
+                "bottom_clearance": 0.08302827226034559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003517863424725154,
+                  0.0014821771699610187
+                ],
+                "rod_tip_xy": [
+                  0.2726985010904482,
+                  -0.34848712953847627
+                ],
+                "target_mouth_xy": [
+                  0.27234671474797567,
+                  -0.3499693067084373
+                ],
+                "gripper_position": [
+                  0.2726901926224526,
+                  -0.3484878209982011,
+                  1.0045836047982035
+                ],
+                "rod_tip_xy_dist": 0.0015233524851142773,
+                "target_xy_drift": 3.574247655908818e-08,
+                "depth": 0.01655297358009411,
+                "bottom_clearance": 0.0828875967026742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00034344640496397627,
+                  0.0014814844372031954
+                ],
+                "rod_tip_xy": [
+                  0.2726901926224526,
+                  -0.3484878209982011
+                ],
+                "target_mouth_xy": [
+                  0.2723467462174886,
+                  -0.3499693054354043
+                ],
+                "gripper_position": [
+                  0.27269569368736946,
+                  -0.34855294825738714,
+                  1.0040666342050613
+                ],
+                "rod_tip_xy_dist": 0.0015207733462807495,
+                "target_xy_drift": 4.271901870745533e-09,
+                "depth": 0.01667622999840257,
+                "bottom_clearance": 0.0827643305218505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00034894492912501685,
+                  0.0014163879200626006
+                ],
+                "rod_tip_xy": [
+                  0.2726956936873695,
+                  -0.34855294825738714
+                ],
+                "target_mouth_xy": [
+                  0.2723467487582445,
+                  -0.34996933617744974
+                ],
+                "gripper_position": [
+                  0.2726841587531128,
+                  -0.34855975435719805,
+                  1.003926177246419
+                ],
+                "rod_tip_xy_dist": 0.0014587382574202004,
+                "target_xy_drift": 3.144651549001692e-08,
+                "depth": 0.01719335713648551,
+                "bottom_clearance": 0.08224733509269977,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00033741265145459387,
+                  0.0014095821483043336
+                ],
+                "rod_tip_xy": [
+                  0.27268415875311286,
+                  -0.3485597543571981
+                ],
+                "target_mouth_xy": [
+                  0.27234674610165827,
+                  -0.34996933650550244
+                ],
+                "gripper_position": [
+                  0.27267542985601056,
+                  -0.34856080840250425,
+                  1.003802940920862
+                ],
+                "rod_tip_xy_dist": 0.001449403025448712,
+                "target_xy_drift": 3.202462935198508e-08,
+                "depth": 0.017333679135223767,
+                "bottom_clearance": 0.08210692166429256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00032868578658795666,
+                  0.001408526210498362
+                ],
+                "rod_tip_xy": [
+                  0.27267542985601056,
+                  -0.34856080840250425
+                ],
+                "target_mouth_xy": [
+                  0.2723467440694226,
+                  -0.3499693346130026
+                ],
+                "gripper_position": [
+                  0.2726667676090837,
+                  -0.34856139744202486,
+                  1.0036794461094747
+                ],
+                "rod_tip_xy_dist": 0.001446368014015043,
+                "target_xy_drift": 3.050929803573205e-08,
+                "depth": 0.017456957419098695,
+                "bottom_clearance": 0.08198356271946527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0003200214653044653,
+                  0.0014079387481780725
+                ],
+                "rod_tip_xy": [
+                  0.2726667676090837,
+                  -0.34856139744202486
+                ],
+                "target_mouth_xy": [
+                  0.27234674614377924,
+                  -0.34996933619020293
+                ],
+                "gripper_position": [
+                  0.27267369694158156,
+                  -0.3486288849005015,
+                  1.0031633500140136
+                ],
+                "rod_tip_xy_dist": 0.0014438508430155987,
+                "target_xy_drift": 3.170653027707085e-08,
+                "depth": 0.017580464618380698,
+                "bottom_clearance": 0.08186012668319165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00032694969850627364,
+                  0.0013404189464104599
+                ],
+                "rod_tip_xy": [
+                  0.27267369694158156,
+                  -0.3486288849005015
+                ],
+                "target_mouth_xy": [
+                  0.2723467472430753,
+                  -0.34996930384691194
+                ],
+                "gripper_position": [
+                  0.2726621571680641,
+                  -0.3486356390296891,
+                  1.0030226544291188
+                ],
+                "rod_tip_xy_dist": 0.0013797170207145632,
+                "target_xy_drift": 3.32738778317714e-09,
+                "depth": 0.01809661257515427,
+                "bottom_clearance": 0.08134398857126501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00031541017165237495,
+                  0.001333665761977465
+                ],
+                "rod_tip_xy": [
+                  0.27266215716806413,
+                  -0.3486356390296892
+                ],
+                "target_mouth_xy": [
+                  0.27234674699641176,
+                  -0.34996930479166666
+                ],
+                "gripper_position": [
+                  0.27265347322840666,
+                  -0.34863610356629354,
+                  1.0028996782268933
+                ],
+                "rod_tip_xy_dist": 0.0013704553772570316,
+                "target_xy_drift": 3.4417907223900328e-09,
+                "depth": 0.01823723486045059,
+                "bottom_clearance": 0.08120333312903594,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00030675650372291585,
+                  0.001333201863545963
+                ],
+                "rod_tip_xy": [
+                  0.27265347322840666,
+                  -0.3486361035662935
+                ],
+                "target_mouth_xy": [
+                  0.27234671672468375,
+                  -0.34996930542983945
+                ],
+                "gripper_position": [
+                  0.27264463183429166,
+                  -0.34863683494606473,
+                  1.0027761360981375
+                ],
+                "rod_tip_xy_dist": 0.0013680375585263499,
+                "target_xy_drift": 3.3719825161352756e-08,
+                "depth": 0.01836021859276593,
+                "bottom_clearance": 0.08108035373925604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00029788665861757435,
+                  0.0013324698561856807
+                ],
+                "rod_tip_xy": [
+                  0.2726446318342917,
+                  -0.3486368349460648
+                ],
+                "target_mouth_xy": [
+                  0.27234674517567414,
+                  -0.34996930480225047
+                ],
+                "gripper_position": [
+                  0.27263587788217325,
+                  -0.3486371202859598,
+                  1.0026529768690577
+                ],
+                "rod_tip_xy_dist": 0.0013653616293956088,
+                "target_xy_drift": 5.262558222343865e-09,
+                "depth": 0.018483678961666805,
+                "bottom_clearance": 0.08095681875238114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0002891303416843738,
+                  0.0013322168512842625
+                ],
+                "rod_tip_xy": [
+                  0.2726358778821733,
+                  -0.3486371202859597
+                ],
+                "target_mouth_xy": [
+                  0.27234674754048893,
+                  -0.349969337137244
+                ],
+                "gripper_position": [
+                  0.2726449737315785,
+                  -0.3487079650379948,
+                  1.0021394522028806
+                ],
+                "rod_tip_xy_dist": 0.0013632307557153622,
+                "target_xy_drift": 3.249087732867973e-08,
+                "depth": 0.018606962032578056,
+                "bottom_clearance": 0.08083371687586227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0002982589539052838,
+                  0.0012613394509250475
+                ],
+                "rod_tip_xy": [
+                  0.27264497373157853,
+                  -0.3487079650379947
+                ],
+                "target_mouth_xy": [
+                  0.27234671477767325,
+                  -0.3499693044889198
+                ],
+                "gripper_position": [
+                  0.2726331546288213,
+                  -0.3487147688059361,
+                  1.0019987906090702
+                ],
+                "rod_tip_xy_dist": 0.0012961233020220625,
+                "target_xy_drift": 3.5661647067800026e-08,
+                "depth": 0.01912037164395597,
+                "bottom_clearance": 0.08032013029253571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00028644083777756846,
+                  0.0012545366398122315
+                ],
+                "rod_tip_xy": [
+                  0.2726331546288214,
+                  -0.3487147688059361
+                ],
+                "target_mouth_xy": [
+                  0.2723467137910438,
+                  -0.34996930544574834
+                ],
+                "gripper_position": [
+                  0.272624383159111,
+                  -0.3487151126716648,
+                  1.0018760733490526
+                ],
+                "rod_tip_xy_dist": 0.001286821873523325,
+                "target_xy_drift": 3.665324475304019e-08,
+                "depth": 0.019261133693896038,
+                "bottom_clearance": 0.08017942750405227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0002776669053936587,
+                  0.0012541927632727101
+                ],
+                "rod_tip_xy": [
+                  0.27262438315911103,
+                  -0.3487151126716648
+                ],
+                "target_mouth_xy": [
+                  0.27234671625371737,
+                  -0.3499693054349375
+                ],
+                "gripper_position": [
+                  0.272615481374785,
+                  -0.3487155802535618,
+                  1.0017530120439913
+                ],
+                "rod_tip_xy_dist": 0.0012845615585858575,
+                "target_xy_drift": 3.419080206336908e-08,
+                "depth": 0.01938376012580123,
+                "bottom_clearance": 0.0800567941134619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00026879539469293334,
+                  0.0012536972821795
+                ],
+                "rod_tip_xy": [
+                  0.27261548137478503,
+                  -0.34871558025356175
+                ],
+                "target_mouth_xy": [
+                  0.2723466859800921,
+                  -0.34996927753574125
+                ],
+                "gripper_position": [
+                  0.2726064641414328,
+                  -0.34871603342444213,
+                  1.0016299206486496
+                ],
+                "rod_tip_xy_dist": 0.00128218869108739,
+                "target_xy_drift": 6.99776120673311e-08,
+                "depth": 0.0195069110106717,
+                "bottom_clearance": 0.07993369213816603,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005967302669341943,
+              "rod_tip_xy_max_step": 3.250364581209162e-05,
+              "rod_tip_xy_range": 0.000596722460357326,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2721536257015412,
+            -0.3500308779324882,
+            1.0433400126509045
+          ],
+          "object_origin_world": [
+            0.2721536257015412,
+            -0.3500308779324882,
+            1.0433400126509045
+          ],
+          "frame_world": [
+            0.2721520798972687,
+            -0.3500357677779458,
+            1.043228496427485
+          ],
+          "center_minus_frame": [
+            1.5458042725291499e-06,
+            4.889845457600739e-06,
+            0.00011151622341953882
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27218431901415807,
+              0.1304882164205185,
+              0.8345091120466103
+            ],
+            "target_position": [
+              0.2822250191676816,
+              0.17724913583670487,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04782676284487634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1679053017248092,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8345091120466103,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675427442212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13645078986807682,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "713efcf9c8eb2b29f1ffe78cff5028b271462dd47c8933512e06126c8874a9e9",
+    "visual_seed": 2361305543294373980,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f9faa7d37592a33c3668c19593e520faf919f0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_41_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26309981349519884,
+              0.026660414093423505,
+              1.163626586840116
+            ],
+            "current_z": 1.163626586840116,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3025199000114158,
+            "gripper_z": 1.1567441200453086,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25800184982319707,
+              0.0216150997434902,
+              1.1567441200453086
+            ],
+            "object_minus_gripper": [
+              0.005097963672001771,
+              0.005045314349933307,
+              0.006882466794807529
+            ],
+            "object_to_gripper_xy": 0.007172477291054516,
+            "object_to_gripper_z": 0.006882466794807529,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26309981349519884,
+              0.0027350428891055796,
+              1.163626586840116
+            ],
+            "finger_b": [
+              0.2515780035363245,
+              0.026660414093423505,
+              1.163626586840116
+            ],
+            "finger_midpoint": [
+              0.2573389085157617,
+              0.014697728491264543,
+              1.163626586840116
+            ],
+            "object_minus_finger_midpoint": [
+              0.005760904979437154,
+              0.011962685602158962,
+              0.0
+            ],
+            "finger_gap": 0.026555140594484182,
+            "fingertip_max_gap": 0.09127596299182611,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013277570297242079,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163626586840116,
+            "object_top_z": 1.2136166047407821,
+            "finger_top_clearance": 0.04999001790066604,
+            "fingertip_min_top_clearance": 0.01499700537019981,
+            "object_projection_between_fingers": 0.8117460033200249,
+            "object_to_finger_line_xy": 0.010380799123651953,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813798149591306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8725871887913357,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26628230784805673,
+              -0.3456966327340977,
+              0.8515396096816545
+            ],
+            "target_position": [
+              0.25824683757689154,
+              -0.34636320236299317,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00806306998288775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18434981106390058,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396096816545,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576928096336417,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583831147759284,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15164544639053223,
+            "release_required_pad_clearance": 0.05291915573879642,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8766969231944461,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007439374923706055,
+            "max_z_decrease": 0.007439374923706055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512547690533839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007439374923706055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021114226341933367,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007439374923706055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007439403754867397,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11394676566123958,
+              -0.40262466669082636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11394676566123958,
+              -0.40262466669082636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11573922716621327,
+              -0.40241146796591704,
+              0.8075288297038546
+            ],
+            "closest_button": [
+              0.11393544077873226,
+              -0.4026216864585876,
+              0.77245032787323
+            ],
+            "closest_ee_minus_button": [
+              0.0018037863874810073,
+              0.00021021849267055526,
+              0.035078501830624664
+            ],
+            "button_min_z_position": [
+              0.11392620950937268,
+              -0.4026221334934234,
+              0.7693694829940796
+            ],
+            "min_active_finger_to_button": 0.14450074912104974,
+            "closest_active_finger": [
+              -0.025598295032978058,
+              -0.38803863525390625,
+              0.811311662197113
+            ],
+            "closest_active_finger_button": [
+              0.11395174264907833,
+              -0.4026207029819488,
+              0.7767629027366638
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13955003768205637,
+              0.014582067728042547,
+              0.03454875946044922
+            ],
+            "min_contact_pad_to_button": 0.021114226341933367,
+            "closest_contact_pad": [
+              0.11392620950937268,
+              -0.4033581350932908,
+              0.7904708776319557
+            ],
+            "closest_contact_pad_button": [
+              0.11392620950937268,
+              -0.4026221334934234,
+              0.7693694829940796
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007360015998674196,
+              0.02110139463787608
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2766097696166138,
+              0.1843995967327817,
+              1.1022225914272807
+            ],
+            "current_z": 1.1022225914272807,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1923134616929182,
+            "gripper_z": 1.1022227656901318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27660977917837337,
+              0.18439953545597418,
+              1.1022227656901318
+            ],
+            "object_minus_gripper": [
+              -9.561759550802407e-09,
+              6.127680751699671e-08,
+              -1.7426285103816497e-07
+            ],
+            "object_to_gripper_xy": 6.201833910370727e-08,
+            "object_to_gripper_z": -1.7426285103816497e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2766097696166138,
+              0.1843995967327817,
+              1.1022225914272807
+            ],
+            "finger_b": [
+              0.2766097696166138,
+              0.1843995967327817,
+              1.1022225914272807
+            ],
+            "finger_midpoint": [
+              0.2766097696166138,
+              0.1843995967327817,
+              1.1022225914272807
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1022225914272807,
+            "object_top_z": 1.2272310980475605,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2766097696166139,
+            0.18439959673278172,
+            1.1022225914272807
+          ],
+          "object_origin_world": [
+            0.2766097696166139,
+            0.18439959673278172,
+            1.1022225914272807
+          ],
+          "frame_world": [
+            0.27660977917837337,
+            0.18439953545597418,
+            1.1022227656901318
+          ],
+          "center_minus_frame": [
+            -9.561759495291255e-09,
+            6.127680754475229e-08,
+            -1.7426285103816497e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436549254762704,
+            "required_z": 0.9112598964595703,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023179413008927274,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.158876252833234e-08,
+            "max_target_xy_drift": 4.0331768010916665e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8766969237702477,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8766969247883977,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2641827097554151,
+              -0.34673390784846947,
+              0.9233415202004084
+            ],
+            "target_mouth_xy": [
+              0.26628227770109236,
+              -0.3456965721644926
+            ],
+            "rod_tip_z": 0.9233415202004084,
+            "rod_tip_depth": -0.02208163007858721,
+            "rod_tip_bottom_clearance": 0.12152218352702493,
+            "rod_tip_xy_dist": 0.0023418477490578333,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044663478233959886,
+            "min_rod_tip_bottom_clearance": 0.05477701599222873,
+            "min_rod_tip_xy_dist": 0.001452634722776572,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2662823192698943,
+              -0.34569657345285304
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.156880195615997e-08,
+              1.2883604183500097e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 394,
+              "end_frame": 413,
+              "first_rod_tip_xy_delta": [
+                -0.0014657743187698746,
+                0.0005585403498978847
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015862535171224934,
+                0.00019438736513771593
+              ],
+              "first_target_mouth_xy": [
+                0.26628230607129266,
+                -0.34569660071581854
+              ],
+              "last_target_mouth_xy": [
+                0.26628233874185125,
+                -0.34569660164692934
+              ],
+              "first_rod_tip_xy": [
+                0.2648165317525228,
+                -0.34513806036592065
+              ],
+              "last_rod_tip_xy": [
+                0.26469608522472876,
+                -0.3455022142817916
+              ],
+              "min_rod_tip_xy_dist": 0.001550519691426158,
+              "max_rod_tip_xy_dist": 0.001604070650817052,
+              "first_target_xy_drift": 3.0289806426019085e-08,
+              "last_target_xy_drift": 3.4264603384297166e-08,
+              "max_depth": 0.019812805199731165,
+              "min_bottom_clearance": 0.0796277930096202
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014657743187698746,
+                  0.0005585403498978847
+                ],
+                "rod_tip_xy": [
+                  0.2648165317525228,
+                  -0.34513806036592065
+                ],
+                "target_mouth_xy": [
+                  0.26628230607129266,
+                  -0.34569660071581854
+                ],
+                "gripper_position": [
+                  0.2648053452792065,
+                  -0.3451446520052858,
+                  1.0056375178009749
+                ],
+                "rod_tip_xy_dist": 0.0015685858841738127,
+                "target_xy_drift": 3.0289806426019085e-08,
+                "depth": 0.015485819133544854,
+                "bottom_clearance": 0.08395469268114308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014769656145726673,
+                  0.0005519461362952782
+                ],
+                "rod_tip_xy": [
+                  0.2648053452792064,
+                  -0.3451446520052859
+                ],
+                "target_mouth_xy": [
+                  0.2662823108937791,
+                  -0.34569659814158116
+                ],
+                "gripper_position": [
+                  0.2648063475319231,
+                  -0.34520671479909515,
+                  1.0051225287826895
+                ],
+                "rod_tip_xy_dist": 0.0015767282467189147,
+                "target_xy_drift": 2.607091487978608e-08,
+                "depth": 0.015622448985669446,
+                "bottom_clearance": 0.08381833549474627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014759585155326715,
+                  0.0004898875064404118
+                ],
+                "rod_tip_xy": [
+                  0.26480634753192306,
+                  -0.34520671479909515
+                ],
+                "target_mouth_xy": [
+                  0.26628230604745573,
+                  -0.34569660230553556
+                ],
+                "gripper_position": [
+                  0.26479506789311413,
+                  -0.3452130520741029,
+                  1.004986376232111
+                ],
+                "rod_tip_xy_dist": 0.0015551344985369631,
+                "target_xy_drift": 3.173815008599187e-08,
+                "depth": 0.016137299549508488,
+                "bottom_clearance": 0.08330321661048312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001487223617184119,
+                  0.0004835169313063825
+                ],
+                "rod_tip_xy": [
+                  0.264795067893114,
+                  -0.3452130520741029
+                ],
+                "target_mouth_xy": [
+                  0.26628229151029814,
+                  -0.3456965690054093
+                ],
+                "gripper_position": [
+                  0.2647868384054083,
+                  -0.34521363197304367,
+                  1.004867361797725
+                ],
+                "rod_tip_xy_dist": 0.0015638486852538375,
+                "target_xy_drift": 2.8113607662580796e-08,
+                "depth": 0.016273484380140202,
+                "bottom_clearance": 0.08316710574657771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014954670579705454,
+                  0.0004830052309341415
+                ],
+                "rod_tip_xy": [
+                  0.2647868384054082,
+                  -0.34521363197304367
+                ],
+                "target_mouth_xy": [
+                  0.2662823054633787,
+                  -0.3456966372039778
+                ],
+                "gripper_position": [
+                  0.2647887814253198,
+                  -0.3452763277868962,
+                  1.004352583434374
+                ],
+                "rod_tip_xy_dist": 0.0015715329377982575,
+                "target_xy_drift": 6.522902561083432e-08,
+                "depth": 0.016392577465938918,
+                "bottom_clearance": 0.08304814564131513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00149352599933672,
+                  0.000420271660195759
+                ],
+                "rod_tip_xy": [
+                  0.2647887814253197,
+                  -0.3452763277868962
+                ],
+                "target_mouth_xy": [
+                  0.2662823074246564,
+                  -0.34569659944709197
+                ],
+                "gripper_position": [
+                  0.26477754254966923,
+                  -0.3452825341302198,
+                  1.0042166027207873
+                ],
+                "rod_tip_xy_dist": 0.0015515309146318832,
+                "target_xy_drift": 2.856589082093589e-08,
+                "depth": 0.016907273476905682,
+                "bottom_clearance": 0.08253333185406919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015047632680140755,
+                  0.00041403932781192143
+                ],
+                "rod_tip_xy": [
+                  0.2647775425496691,
+                  -0.3452825341302198
+                ],
+                "target_mouth_xy": [
+                  0.2662823058176832,
+                  -0.34569657345803173
+                ],
+                "gripper_position": [
+                  0.26476898252708125,
+                  -0.34528299351795155,
+                  1.0040979124041767
+                ],
+                "rod_tip_xy_dist": 0.00156068608558523,
+                "target_xy_drift": 1.3452212119629742e-08,
+                "depth": 0.017043250045958303,
+                "bottom_clearance": 0.0823973094773629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001513323657309662,
+                  0.0004136075070399481
+                ],
+                "rod_tip_xy": [
+                  0.2647689825270812,
+                  -0.34528299351795155
+                ],
+                "target_mouth_xy": [
+                  0.26628230618439086,
+                  -0.3456966010249915
+                ],
+                "gripper_position": [
+                  0.26477175992991564,
+                  -0.3453467391043248,
+                  1.0035852487077652
+                ],
+                "rod_tip_xy_dist": 0.0015688274798883693,
+                "target_xy_drift": 3.0519718545426724e-08,
+                "depth": 0.01716190656954797,
+                "bottom_clearance": 0.08227859440001473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015105321940215855,
+                  0.00034986255061753013
+                ],
+                "rod_tip_xy": [
+                  0.2647717599299156,
+                  -0.3453467391043249
+                ],
+                "target_mouth_xy": [
+                  0.26628229212393717,
+                  -0.3456966016549424
+                ],
+                "gripper_position": [
+                  0.26476024795598185,
+                  -0.34535310675527725,
+                  1.0034498558449814
+                ],
+                "rod_tip_xy_dist": 0.001550519691426158,
+                "target_xy_drift": 3.9144103454578885e-08,
+                "depth": 0.017674572338382544,
+                "bottom_clearance": 0.08176595149936261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015220897602900019,
+                  0.00034349553488055573
+                ],
+                "rod_tip_xy": [
+                  0.26476024795598174,
+                  -0.3453531067552773
+                ],
+                "target_mouth_xy": [
+                  0.26628233771627174,
+                  -0.34569660229015786
+                ],
+                "gripper_position": [
+                  0.2647518304287982,
+                  -0.345353394993181,
+                  1.00333104933417
+                ],
+                "rod_tip_xy_dist": 0.001560367399320607,
+                "target_xy_drift": 3.423242599514539e-08,
+                "depth": 0.017810043391131125,
+                "bottom_clearance": 0.08163053742351145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015304772372164432,
+                  0.0003432069755021083
+                ],
+                "rod_tip_xy": [
+                  0.26475183042879813,
+                  -0.3453533949931811
+                ],
+                "target_mouth_xy": [
+                  0.2662823076660146,
+                  -0.3456966019686832
+                ],
+                "gripper_position": [
+                  0.2647433083077611,
+                  -0.34535376968026144,
+                  1.0032119519888516
+                ],
+                "rod_tip_xy_dist": 0.0015684870422387881,
+                "target_xy_drift": 3.07864027425282e-08,
+                "depth": 0.0179287825551967,
+                "bottom_clearance": 0.08151177730025061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015389797045213816,
+                  0.00034283297011183933
+                ],
+                "rod_tip_xy": [
+                  0.264743308307761,
+                  -0.34535376968026144
+                ],
+                "target_mouth_xy": [
+                  0.2662822880122824,
+                  -0.3456966026503733
+                ],
+                "gripper_position": [
+                  0.26474738770673967,
+                  -0.3454194746425791,
+                  1.0027012066817582
+                ],
+                "rod_tip_xy_dist": 0.0015767031985521004,
+                "target_xy_drift": 4.277304632896922e-08,
+                "depth": 0.018047917753882703,
+                "bottom_clearance": 0.08139272971144351,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015349201695248338,
+                  0.0002771244666102124
+                ],
+                "rod_tip_xy": [
+                  0.26474738770673956,
+                  -0.34541947464257916
+                ],
+                "target_mouth_xy": [
+                  0.2662823078762644,
+                  -0.3456965991091894
+                ],
+                "gripper_position": [
+                  0.26473572443303883,
+                  -0.3454257849739907,
+                  1.0025654482358213
+                ],
+                "rod_tip_xy_dist": 0.0015597364831304483,
+                "target_xy_drift": 2.8072449073587273e-08,
+                "depth": 0.018558659791056198,
+                "bottom_clearance": 0.08088197495394056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015465825279263323,
+                  0.00027081732429412586
+                ],
+                "rod_tip_xy": [
+                  0.2647357244330388,
+                  -0.3454257849739908
+                ],
+                "target_mouth_xy": [
+                  0.2662823069609651,
+                  -0.3456966022982849
+                ],
+                "gripper_position": [
+                  0.26472717517678906,
+                  -0.3454259227929535,
+                  1.0024470695987877
+                ],
+                "rod_tip_xy_dist": 0.0015701144986353173,
+                "target_xy_drift": 3.136189851420193e-08,
+                "depth": 0.018694324086067193,
+                "bottom_clearance": 0.08074621984577368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0015551628911332216,
+                  0.000270678544197267
+                ],
+                "rod_tip_xy": [
+                  0.264727175176789,
+                  -0.3454259227929535
+                ],
+                "target_mouth_xy": [
+                  0.26628233806792223,
+                  -0.34569660133715074
+                ],
+                "gripper_position": [
+                  0.26471850253516627,
+                  -0.34542602993169763,
+                  1.002328328755034
+                ],
+                "rod_tip_xy_dist": 0.0015785431550155962,
+                "target_xy_drift": 3.3628855345329085e-08,
+                "depth": 0.01881281940208024,
+                "bottom_clearance": 0.08062774919312332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0015637889226396973,
+                  0.00027057110350681146
+                ],
+                "rod_tip_xy": [
+                  0.2647185025351662,
+                  -0.3454260299316977
+                ],
+                "target_mouth_xy": [
+                  0.2662822914578059,
+                  -0.3456966010352045
+                ],
+                "gripper_position": [
+                  0.26470989746478935,
+                  -0.34542610774827415,
+                  1.0022094964575963
+                ],
+                "rod_tip_xy_dist": 0.0015870237920785934,
+                "target_xy_drift": 3.917012093042063e-08,
+                "depth": 0.018931431774434015,
+                "bottom_clearance": 0.08050907544544894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0015724414066891068,
+                  0.00027049072281915
+                ],
+                "rod_tip_xy": [
+                  0.26470989746478923,
+                  -0.3454261077482741
+                ],
+                "target_mouth_xy": [
+                  0.26628233887147834,
+                  -0.34569659847109324
+                ],
+                "gripper_position": [
+                  0.26470113745185675,
+                  -0.34542651435047006,
+                  1.0020910453606793
+                ],
+                "rod_tip_xy_dist": 0.0015955366522275955,
+                "target_xy_drift": 3.178261221149553e-08,
+                "depth": 0.019050450305589717,
+                "bottom_clearance": 0.08039025290610846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0015811688663247558,
+                  0.00027008826145896725
+                ],
+                "rod_tip_xy": [
+                  0.26470113745185664,
+                  -0.3454265143504701
+                ],
+                "target_mouth_xy": [
+                  0.2662823063181814,
+                  -0.3456966026119291
+                ],
+                "gripper_position": [
+                  0.2647078221831398,
+                  -0.3454960619514081,
+                  1.001582633483582
+                ],
+                "rod_tip_xy_dist": 0.001604070650817052,
+                "target_xy_drift": 3.190609006654415e-08,
+                "depth": 0.01916878682949097,
+                "bottom_clearance": 0.08027174304004725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.001574483702659113,
+                  0.00020050642236568716
+                ],
+                "rod_tip_xy": [
+                  0.2647078221831397,
+                  -0.34549606195140803
+                ],
+                "target_mouth_xy": [
+                  0.2662823058857988,
+                  -0.3456965683737737
+                ],
+                "gripper_position": [
+                  0.26469608522472887,
+                  -0.3455022142817916,
+                  1.0014470910699638
+                ],
+                "rod_tip_xy_dist": 0.0015871993432927816,
+                "target_xy_drift": 1.4315413339889163e-08,
+                "depth": 0.01967724204606036,
+                "bottom_clearance": 0.07976336629048786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 413,
+                "rod_tip_xy_delta": [
+                  -0.0015862535171224934,
+                  0.00019438736513771593
+                ],
+                "rod_tip_xy": [
+                  0.26469608522472876,
+                  -0.3455022142817916
+                ],
+                "target_mouth_xy": [
+                  0.26628233874185125,
+                  -0.34569660164692934
+                ],
+                "gripper_position": [
+                  0.2647029046417553,
+                  -0.3455668851328397,
+                  1.0008540197346318
+                ],
+                "rod_tip_xy_dist": 0.0015981197290280426,
+                "target_xy_drift": 3.4264603384297166e-08,
+                "depth": 0.019812805199731165,
+                "bottom_clearance": 0.0796277930096202,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005985375590795997,
+              "rod_tip_xy_max_step": 3.244614490913415e-05,
+              "rod_tip_xy_range": 0.0005985288042724405,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26418270975541513,
+            -0.34673390784846947,
+            1.0433415202004086
+          ],
+          "object_origin_world": [
+            0.26418270975541513,
+            -0.34673390784846947,
+            1.0433415202004086
+          ],
+          "frame_world": [
+            0.2642082160500281,
+            -0.3467315215071992,
+            1.0436549254762704
+          ],
+          "center_minus_frame": [
+            -2.5506294612953617e-05,
+            -2.3863412702551656e-06,
+            -0.0003134052758617667
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2647356408217298,
+              0.13613901776394538,
+              0.8335754727062421
+            ],
+            "target_position": [
+              0.27674298276231,
+              0.1830943795792499,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04846630028880041,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16998299159058708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335754727062421,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671807845576,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1391450997405547,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "440879ee500e01d4c5c862cb7546494d5fa5a69ff12ffafa9c3e5d841a112bb5",
+    "visual_seed": 1582606506538710740,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d6808f49bf1dfcd10e5d25cbfd31420970deba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_42_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25640694993295193,
+              0.03488935196809512,
+              1.1643611903102222
+            ],
+            "current_z": 1.1643611903102222,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30325474190010093,
+            "gripper_z": 1.1575666285156938,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25136911767583725,
+              0.029898842716647875,
+              1.1575666285156938
+            ],
+            "object_minus_gripper": [
+              0.005037832257114683,
+              0.004990509251447242,
+              0.00679456179452842
+            ],
+            "object_to_gripper_xy": 0.007091187237663784,
+            "object_to_gripper_z": 0.00679456179452842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25640694993295193,
+              0.01104242301203894,
+              1.1643611903102222
+            ],
+            "finger_b": [
+              0.24492700244544108,
+              0.03488935196809512,
+              1.1643611903102222
+            ],
+            "finger_midpoint": [
+              0.25066697618919653,
+              0.02296588749006703,
+              1.1643611903102222
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057399737437554,
+              0.011923464478028088,
+              0.0
+            ],
+            "finger_gap": 0.02646630338659325,
+            "fingertip_max_gap": 0.09092604181746072,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013233151693296613,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643611903102222,
+            "object_top_z": 1.2142511637176074,
+            "finger_top_clearance": 0.04988997340738521,
+            "fingertip_min_top_clearance": 0.01496699202221553,
+            "object_projection_between_fingers": 0.8118547623736193,
+            "object_to_finger_line_xy": 0.01034377518292198,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047963020908730364,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.599432068289313,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26820544144962116,
+              -0.3452071238189505,
+              0.8515395720575043
+            ],
+            "target_position": [
+              0.2601354507319273,
+              -0.345867645693167,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008096977172376356,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850625133978991,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395720575043,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538928635119688,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521428203863125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15312674399281284,
+            "release_required_pad_clearance": 0.05260714101931563,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2769528400495001,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007242739200592041,
+            "max_z_decrease": 0.007242739200592041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513558493421137,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007242739200592041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021081294342952916,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007242739200592041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007242759352442979,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11583537608385083,
+              -0.4021291136741638,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11583537608385083,
+              -0.4021291136741638,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11426400996530309,
+              -0.40053382043587854,
+              0.8077651935673095
+            ],
+            "closest_button": [
+              0.11582552641630169,
+              -0.40212544798851013,
+              0.7727004289627075
+            ],
+            "closest_ee_minus_button": [
+              -0.0015615164509985985,
+              0.0015916275526315915,
+              0.03506476460460195
+            ],
+            "button_min_z_position": [
+              0.11581841856241222,
+              -0.4021270275115967,
+              0.7695661187171936
+            ],
+            "min_active_finger_to_button": 0.14689745183847694,
+            "closest_active_finger": [
+              -0.01274792104959488,
+              -0.464229941368103,
+              0.8107492327690125
+            ],
+            "closest_active_finger_button": [
+              0.11583707481622692,
+              -0.4021284580230713,
+              0.7762794494628906
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12858499586582178,
+              -0.06210148334503174,
+              0.034469783306121826
+            ],
+            "min_contact_pad_to_button": 0.021081294342952916,
+            "closest_contact_pad": [
+              0.11581841856241222,
+              -0.4021270275115967,
+              0.7906474130601465
+            ],
+            "closest_contact_pad_button": [
+              0.11581841856241222,
+              -0.4021270275115967,
+              0.7695661187171936
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021081294342952916
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27629730546342635,
+              0.18072433119379783,
+              1.101393594345872
+            ],
+            "current_z": 1.101393594345872,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19148446461150936,
+            "gripper_z": 1.1013935572189189,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2762972537555336,
+              0.18072431722802101,
+              1.1013935572189189
+            ],
+            "object_minus_gripper": [
+              5.170789274533405e-08,
+              1.3965776812785435e-08,
+              3.7126953067456725e-08
+            ],
+            "object_to_gripper_xy": 5.356070475775599e-08,
+            "object_to_gripper_z": 3.7126953067456725e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27629730546342635,
+              0.18072433119379783,
+              1.101393594345872
+            ],
+            "finger_b": [
+              0.27629730546342635,
+              0.18072433119379783,
+              1.101393594345872
+            ],
+            "finger_midpoint": [
+              0.27629730546342635,
+              0.18072433119379783,
+              1.101393594345872
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101393594345872,
+            "object_top_z": 1.2264021009661517,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2762973054634264,
+            0.18072433119379783,
+            1.101393594345872
+          ],
+          "object_origin_world": [
+            0.2762973054634264,
+            0.18072433119379783,
+            1.101393594345872
+          ],
+          "frame_world": [
+            0.2762972537555336,
+            0.18072431722802101,
+            1.1013935572189189
+          ],
+          "center_minus_frame": [
+            5.17078928008452e-08,
+            1.3965776812785435e-08,
+            3.7126953067456725e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432668158826381,
+            "required_z": 0.9112598387923672,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012911187011705864,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.2944818589184805e-08,
+            "max_target_xy_drift": 1.594565694780065e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.2769528396020648,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.276952840441664,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26925072807210626,
+              -0.3444429364150327,
+              0.9233758702035285
+            ],
+            "target_mouth_xy": [
+              0.2682054274263897,
+              -0.3452071542554598
+            ],
+            "rod_tip_z": 0.9233758702035285,
+            "rod_tip_depth": -0.022116024124195444,
+            "rod_tip_bottom_clearance": 0.12155659201808022,
+            "rod_tip_xy_dist": 0.0012948676950030383,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04466933054236888,
+            "min_rod_tip_bottom_clearance": 0.054771216921253085,
+            "min_rod_tip_xy_dist": 0.000396826305109692,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26820544212412967,
+              -0.34520712477092974
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.4697739969538048e-08,
+              -2.948453003970286e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0015637671978049328,
+                0.002437575420874971
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014663347770066393,
+                0.0020633744446680313
+              ],
+              "first_target_mouth_xy": [
+                0.2682053971208166,
+                -0.34520718214891793
+              ],
+              "last_target_mouth_xy": [
+                0.26820539473256866,
+                -0.34520715677918745
+              ],
+              "first_rod_tip_xy": [
+                0.2697691643186215,
+                -0.34276960672804296
+              ],
+              "last_rod_tip_xy": [
+                0.2696717295095753,
+                -0.3431437823345194
+              ],
+              "min_rod_tip_xy_dist": 0.0025313339916273824,
+              "max_rod_tip_xy_dist": 0.0028960562462397865,
+              "first_target_xy_drift": 7.292140781021014e-08,
+              "last_target_xy_drift": 5.718818598757593e-08,
+              "max_depth": 0.019529223502864013,
+              "min_bottom_clearance": 0.0799113754727726
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015637671978049328,
+                  0.002437575420874971
+                ],
+                "rod_tip_xy": [
+                  0.2697691643186215,
+                  -0.34276960672804296
+                ],
+                "target_mouth_xy": [
+                  0.2682053971208166,
+                  -0.34520718214891793
+                ],
+                "gripper_position": [
+                  0.2697578081824334,
+                  -0.34277670567434443,
+                  1.005957127057668
+                ],
+                "rod_tip_xy_dist": 0.0028960562462397865,
+                "target_xy_drift": 7.292140781021014e-08,
+                "depth": 0.015164823848861975,
+                "bottom_clearance": 0.08427579218240955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001552409281438405,
+                  0.002430449846595406
+                ],
+                "rod_tip_xy": [
+                  0.2697578081824333,
+                  -0.34277670567434443
+                ],
+                "target_mouth_xy": [
+                  0.2682053989009949,
+                  -0.34520715552093983
+                ],
+                "gripper_position": [
+                  0.2697637951235425,
+                  -0.34284035958749587,
+                  1.0054401097726215
+                ],
+                "rod_tip_xy_dist": 0.0028839315237903515,
+                "target_xy_drift": 5.30452872755802e-08,
+                "depth": 0.015302766372930932,
+                "bottom_clearance": 0.08413780592340647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015583965013870604,
+                  0.0023668260527477947
+                ],
+                "rod_tip_xy": [
+                  0.26976379512354237,
+                  -0.342840359587496
+                ],
+                "target_mouth_xy": [
+                  0.2682053986221553,
+                  -0.3452071856402438
+                ],
+                "gripper_position": [
+                  0.269752366584609,
+                  -0.3428472421556406,
+                  1.0053023283725202
+                ],
+                "rod_tip_xy_dist": 0.0028338075480704643,
+                "target_xy_drift": 7.481640972272757e-08,
+                "depth": 0.015819716172708165,
+                "bottom_clearance": 0.08362083411414567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015469725137967072,
+                  0.0023599434706232936
+                ],
+                "rod_tip_xy": [
+                  0.26975236658460894,
+                  -0.3428472421556405
+                ],
+                "target_mouth_xy": [
+                  0.26820539407081223,
+                  -0.3452071856262638
+                ],
+                "gripper_position": [
+                  0.2697438653208496,
+                  -0.3428478685074244,
+                  1.0051814482033143
+                ],
+                "rod_tip_xy_dist": 0.0028217826179527047,
+                "target_xy_drift": 7.754026695169897e-08,
+                "depth": 0.015957513977492677,
+                "bottom_clearance": 0.08348308577792196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001538420410844954,
+                  0.002359316815311485
+                ],
+                "rod_tip_xy": [
+                  0.2697438653208495,
+                  -0.3428478685074244
+                ],
+                "target_mouth_xy": [
+                  0.26820544491000453,
+                  -0.34520718532273587
+                ],
+                "gripper_position": [
+                  0.2697508892159227,
+                  -0.3429126831559269,
+                  1.0046645652811717
+                ],
+                "rod_tip_xy_dist": 0.0028165782778960514,
+                "target_xy_drift": 6.061585868175898e-08,
+                "depth": 0.016078396084592383,
+                "bottom_clearance": 0.08336222655157555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015454950380336951,
+                  0.002294474568651672
+                ],
+                "rod_tip_xy": [
+                  0.2697508892159226,
+                  -0.3429126831559269
+                ],
+                "target_mouth_xy": [
+                  0.2682053941778889,
+                  -0.34520715772457855
+                ],
+                "gripper_position": [
+                  0.2697395884911134,
+                  -0.34291929747944716,
+                  1.0045271785650756
+                ],
+                "rod_tip_xy_dist": 0.0027664360572361058,
+                "target_xy_drift": 5.8178904874991655e-08,
+                "depth": 0.016595362531783286,
+                "bottom_clearance": 0.08284529155978204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015341620100657316,
+                  0.002287858356662842
+                ],
+                "rod_tip_xy": [
+                  0.2697395884911133,
+                  -0.3429192974794471
+                ],
+                "target_mouth_xy": [
+                  0.26820542648104756,
+                  -0.34520715583610995
+                ],
+                "gripper_position": [
+                  0.26973111501671354,
+                  -0.3429196023343193,
+                  1.004406302802745
+                ],
+                "rod_tip_xy_dist": 0.0027546231926129073,
+                "target_xy_drift": 3.478148126593024e-08,
+                "depth": 0.016732584326747957,
+                "bottom_clearance": 0.08270791527347743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015257173830997006,
+                  0.0022875839375625096
+                ],
+                "rod_tip_xy": [
+                  0.26973111501671343,
+                  -0.34291960233431923
+                ],
+                "target_mouth_xy": [
+                  0.26820539763361373,
+                  -0.34520718627188174
+                ],
+                "gripper_position": [
+                  0.2697390823029949,
+                  -0.3429850907420769,
+                  1.0038908522535521
+                ],
+                "rod_tip_xy_dist": 0.0027497006754348,
+                "target_xy_drift": 7.590634430046716e-08,
+                "depth": 0.016853521683587558,
+                "bottom_clearance": 0.08258700348051817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015336570040700992,
+                  0.0022220952071704825
+                ],
+                "rod_tip_xy": [
+                  0.26973908230299487,
+                  -0.3429850907420769
+                ],
+                "target_mouth_xy": [
+                  0.26820542529892477,
+                  -0.3452071859492474
+                ],
+                "gripper_position": [
+                  0.2697275492146419,
+                  -0.34299180245725963,
+                  1.0037529189715848
+                ],
+                "rod_tip_xy_dist": 0.0026999649841920733,
+                "target_xy_drift": 6.34497759517591e-08,
+                "depth": 0.017369007205193188,
+                "bottom_clearance": 0.08207153971847847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001522121937530374,
+                  0.0022153825485440315
+                ],
+                "rod_tip_xy": [
+                  0.2697275492146418,
+                  -0.34299180245725963
+                ],
+                "target_mouth_xy": [
+                  0.26820542727711144,
+                  -0.34520718500580366
+                ],
+                "gripper_position": [
+                  0.2697189377869696,
+                  -0.3429920557215153,
+                  1.0036325690819607
+                ],
+                "rod_tip_xy_dist": 0.002687894162556381,
+                "target_xy_drift": 6.203768198930266e-08,
+                "depth": 0.01750690904600527,
+                "bottom_clearance": 0.08193361946415079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001513544037360648,
+                  0.002215100734339115
+                ],
+                "rod_tip_xy": [
+                  0.2697189377869695,
+                  -0.3429920557215153
+                ],
+                "target_mouth_xy": [
+                  0.26820539374960883,
+                  -0.3452071564558544
+                ],
+                "gripper_position": [
+                  0.26971026916815943,
+                  -0.3429924579312041,
+                  1.0035116130037345
+                ],
+                "rod_tip_xy_dist": 0.002682813227994013,
+                "target_xy_drift": 5.7827577487736944e-08,
+                "depth": 0.01762734937147914,
+                "bottom_clearance": 0.08181327621322221,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015048427636571438,
+                  0.0022147277060288184
+                ],
+                "rod_tip_xy": [
+                  0.2697102691681594,
+                  -0.3429924579312041
+                ],
+                "target_mouth_xy": [
+                  0.26820542640450223,
+                  -0.3452071856372329
+                ],
+                "gripper_position": [
+                  0.26971960629588804,
+                  -0.34306042408873694,
+                  1.002997282573572
+                ],
+                "rod_tip_xy_dist": 0.0026776053770454942,
+                "target_xy_drift": 6.286345160360516e-08,
+                "depth": 0.017748152237427317,
+                "bottom_clearance": 0.08169235033666034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015142088987005198,
+                  0.0021467612332318753
+                ],
+                "rod_tip_xy": [
+                  0.2697196062958879,
+                  -0.3430604240887369
+                ],
+                "target_mouth_xy": [
+                  0.2682053973971874,
+                  -0.34520718532196876
+                ],
+                "gripper_position": [
+                  0.26970796889007426,
+                  -0.3430668643396691,
+                  1.0028597015836533
+                ],
+                "rod_tip_xy_dist": 0.002627053935763612,
+                "target_xy_drift": 7.527899899674634e-08,
+                "depth": 0.018262539192345772,
+                "bottom_clearance": 0.08117797510040614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015025430759491032,
+                  0.002140320661834616
+                ],
+                "rod_tip_xy": [
+                  0.26970796889007415,
+                  -0.3430668643396692
+                ],
+                "target_mouth_xy": [
+                  0.26820542581412504,
+                  -0.3452071850015038
+                ],
+                "gripper_position": [
+                  0.2696993202271857,
+                  -0.3430670960431597,
+                  1.0027391059301198
+                ],
+                "rod_tip_xy_dist": 0.0026150732744148414,
+                "target_xy_drift": 6.239982616415947e-08,
+                "depth": 0.018400152646316892,
+                "bottom_clearance": 0.0810403953247858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001493921888644334,
+                  0.0021400604292332037
+                ],
+                "rod_tip_xy": [
+                  0.26969932022718557,
+                  -0.3430670960431598
+                ],
+                "target_mouth_xy": [
+                  0.26820539833854123,
+                  -0.34520715647239303
+                ],
+                "gripper_position": [
+                  0.2696904461562805,
+                  -0.343067245485795,
+                  1.0026186510687791
+                ],
+                "rod_tip_xy_dist": 0.0026099159469493375,
+                "target_xy_drift": 5.405701183926788e-08,
+                "depth": 0.01852072418018813,
+                "bottom_clearance": 0.080919828115394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014850515328033165,
+                  0.0021399410931796647
+                ],
+                "rod_tip_xy": [
+                  0.2696904461562804,
+                  -0.343067245485795
+                ],
+                "target_mouth_xy": [
+                  0.2682053946234771,
+                  -0.34520718657897465
+                ],
+                "gripper_position": [
+                  0.2697011898806789,
+                  -0.34313702590842904,
+                  1.002108506017561
+                ],
+                "rod_tip_xy_dist": 0.0026047506478280138,
+                "target_xy_drift": 7.79522059356793e-08,
+                "depth": 0.018641246286170587,
+                "bottom_clearance": 0.08079935682581063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014957613500230504,
+                  0.002070130881967669
+                ],
+                "rod_tip_xy": [
+                  0.2697011898806788,
+                  -0.34313702590842904
+                ],
+                "target_mouth_xy": [
+                  0.26820542853065577,
+                  -0.3452071567903967
+                ],
+                "gripper_position": [
+                  0.2696893990940377,
+                  -0.3431434218414657,
+                  1.0019710058685394
+                ],
+                "rod_tip_xy_dist": 0.0025539663045347754,
+                "target_xy_drift": 3.478546819521106e-08,
+                "depth": 0.019151392476005724,
+                "bottom_clearance": 0.08028918619414405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00148400087841416,
+                  0.0020637349480788214
+                ],
+                "rod_tip_xy": [
+                  0.2696893990940376,
+                  -0.3431434218414657
+                ],
+                "target_mouth_xy": [
+                  0.26820539821562345,
+                  -0.3452071567895445
+                ],
+                "gripper_position": [
+                  0.26968064975388184,
+                  -0.34314345044126326,
+                  1.00185084149086
+                ],
+                "rod_tip_xy_dist": 0.002541900970347959,
+                "target_xy_drift": 5.434288002651768e-08,
+                "depth": 0.019288769341820444,
+                "bottom_clearance": 0.08015178962814429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014752192387241791,
+                  0.0020637031788606763
+                ],
+                "rod_tip_xy": [
+                  0.26968064975388173,
+                  -0.3431434504412633
+                ],
+                "target_mouth_xy": [
+                  0.26820543051515755,
+                  -0.345207153620124
+                ],
+                "gripper_position": [
+                  0.2696717295095754,
+                  -0.3431437823345194,
+                  1.0017306705547893
+                ],
+                "rod_tip_xy_dist": 0.002536758288198071,
+                "target_xy_drift": 3.109733497932153e-08,
+                "depth": 0.019409100237055665,
+                "bottom_clearance": 0.08003160927116648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014663347770066393,
+                  0.0020633744446680313
+                ],
+                "rod_tip_xy": [
+                  0.2696717295095753,
+                  -0.3431437823345194
+                ],
+                "target_mouth_xy": [
+                  0.26820539473256866,
+                  -0.34520715677918745
+                ],
+                "gripper_position": [
+                  0.2696627554501182,
+                  -0.34314385643396117,
+                  1.0016101171679936
+                ],
+                "rod_tip_xy_dist": 0.0025313339916273824,
+                "target_xy_drift": 5.718818598757593e-08,
+                "depth": 0.019529223502864013,
+                "bottom_clearance": 0.0799113754727726,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005998542645699478,
+              "rod_tip_xy_max_step": 3.2532569932192714e-05,
+              "rod_tip_xy_range": 0.00059984882478806,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2692507280721063,
+            -0.3444429364150327,
+            1.0433758702035285
+          ],
+          "object_origin_world": [
+            0.2692507280721063,
+            -0.3444429364150327,
+            1.0433758702035285
+          ],
+          "frame_world": [
+            0.269249165903278,
+            -0.3444471559052147,
+            1.0432668158826381
+          ],
+          "center_minus_frame": [
+            1.5621688282951851e-06,
+            4.219490181978092e-06,
+            0.00010905432089036715
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2640302938450023,
+              0.13486034092047006,
+              0.8336146808396194
+            ],
+            "target_position": [
+              0.27641988885898294,
+              0.18077218156131353,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04755417095945065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16573835813919605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336146808396194,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677390952012,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1346580062082887,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ee35bf0d194c9381e67d5b3f25a94a54aefdce24e8144a2a1b67bfa090003c3a",
+    "visual_seed": 973532578618275606,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..550300d8f47eb4cbf60f352e338c29159adc8d6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_43_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2547225569463557,
+              0.0318146295626048,
+              1.1642833883827775
+            ],
+            "current_z": 1.1642833883827775,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30317699957730104,
+            "gripper_z": 1.157566390643142,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24944637931676616,
+              0.026794738568143642,
+              1.157566390643142
+            ],
+            "object_minus_gripper": [
+              0.00527617762958954,
+              0.005019890994461158,
+              0.006716997739635522
+            ],
+            "object_to_gripper_xy": 0.007282675056272478,
+            "object_to_gripper_z": 0.006716997739635522,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2547225569463557,
+              0.007449548142971699,
+              1.1642833883827775
+            ],
+            "finger_b": [
+              0.24363551944621312,
+              0.0318146295626048,
+              1.1642833883827775
+            ],
+            "finger_midpoint": [
+              0.2491790381962844,
+              0.01963208885278825,
+              1.1642833883827775
+            ],
+            "object_minus_finger_midpoint": [
+              0.005543518750071308,
+              0.012182540709816551,
+              0.0
+            ],
+            "finger_gap": 0.026769004335516818,
+            "fingertip_max_gap": 0.09108631707657924,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013384502167758416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642833883827775,
+            "object_top_z": 1.2142611439190996,
+            "finger_top_clearance": 0.04997775553632211,
+            "fingertip_min_top_clearance": 0.014993326660896632,
+            "object_projection_between_fingers": 0.8284595295335813,
+            "object_to_finger_line_xy": 0.01009139406186601,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048043158538289624,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.73464808970713,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27425148313796976,
+              -0.3513175022794272,
+              0.8515396053773263
+            ],
+            "target_position": [
+              0.2673203011615996,
+              -0.35156239571972336,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006935506930762786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18174697595145847,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396053773263,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575405077392741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08808648646015037,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14909785244092147,
+            "release_required_pad_clearance": 0.054043243230075186,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0985420262263657,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007450580596923828,
+            "max_z_decrease": 0.007450580596923828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512817442855565,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007450580596923828,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021092756050728356,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007450580596923828,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074506027980451315,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12302022427320476,
+              -0.40782386064529413,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12302022427320476,
+              -0.40782386064529413,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1239652541444333,
+              -0.40644273600411024,
+              0.8078305308624831
+            ],
+            "closest_button": [
+              0.12300956994295116,
+              -0.40782031416893005,
+              0.7727423906326294
+            ],
+            "closest_ee_minus_button": [
+              0.0009556842014821348,
+              0.0013775781648198149,
+              0.03508814022985374
+            ],
+            "button_min_z_position": [
+              0.12300212681293485,
+              -0.40782204270362854,
+              0.7693582773208618
+            ],
+            "min_active_finger_to_button": 0.14477210623199321,
+            "closest_active_finger": [
+              -0.0023178979754447937,
+              -0.4715692102909088,
+              0.810770571231842
+            ],
+            "closest_active_finger_button": [
+              0.12302058935165402,
+              -0.4078220129013061,
+              0.7763391733169556
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12533848732709882,
+              -0.06374719738960272,
+              0.034431397914886475
+            ],
+            "min_contact_pad_to_button": 0.021092756050728356,
+            "closest_contact_pad": [
+              0.12300212681293485,
+              -0.40782204270362854,
+              0.7904510333715902
+            ],
+            "closest_contact_pad_button": [
+              0.12300212681293485,
+              -0.40782204270362854,
+              0.7693582773208618
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021092756050728356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28361636687908104,
+              0.1785889204796413,
+              1.1029366986753746
+            ],
+            "current_z": 1.1029366986753746,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19302756894101203,
+            "gripper_z": 1.1029366530724272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.283616302494281,
+              0.17858894392024338,
+              1.1029366530724272
+            ],
+            "object_minus_gripper": [
+              6.438480004700153e-08,
+              -2.3440602070490257e-08,
+              4.560294741828841e-08
+            ],
+            "object_to_gripper_xy": 6.851907984291266e-08,
+            "object_to_gripper_z": 4.560294741828841e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28361636687908104,
+              0.1785889204796413,
+              1.1029366986753746
+            ],
+            "finger_b": [
+              0.28361636687908104,
+              0.1785889204796413,
+              1.1029366986753746
+            ],
+            "finger_midpoint": [
+              0.28361636687908104,
+              0.1785889204796413,
+              1.1029366986753746
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029366986753746,
+            "object_top_z": 1.2279452052956543,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28361636687908104,
+            0.1785889204796413,
+            1.1029366986753746
+          ],
+          "object_origin_world": [
+            0.28361636687908104,
+            0.1785889204796413,
+            1.1029366986753746
+          ],
+          "frame_world": [
+            0.283616302494281,
+            0.17858894392024338,
+            1.1029366530724272
+          ],
+          "center_minus_frame": [
+            6.438480004700153e-08,
+            -2.3440602070490257e-08,
+            4.560294741828841e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434105160119784,
+            "required_z": 0.9112599705077101,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0022636766533708262,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1703496844269753e-07,
+            "max_target_xy_drift": 6.134328885223547e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.098794642006749,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.098794644264411,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2720756380851237,
+              -0.35069340139326843,
+              0.923521631033348
+            ],
+            "target_mouth_xy": [
+              0.2742515100482743,
+              -0.3513174754364331
+            ],
+            "rod_tip_z": 0.923521631033348,
+            "rod_tip_depth": -0.022261690612190077,
+            "rod_tip_bottom_clearance": 0.12170240092484808,
+            "rod_tip_xy_dist": 0.002263600497299996,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04501119957537414,
+            "min_rod_tip_bottom_clearance": 0.054429392724197445,
+            "min_rod_tip_xy_dist": 0.0007516192321273419,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27425151331793196,
+              -0.3513175924257197
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.269657655735614e-09,
+              1.1698928659154006e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0015309674161335107,
+                0.0023835475568043107
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001656234938352874,
+                0.001995159260155366
+              ],
+              "first_target_mouth_xy": [
+                0.27425151261004144,
+                -0.3513175622530636
+              ],
+              "last_target_mouth_xy": [
+                0.2742515426692671,
+                -0.351317560038775
+              ],
+              "first_rod_tip_xy": [
+                0.2727205451939079,
+                -0.3489340146962593
+              ],
+              "last_rod_tip_xy": [
+                0.2725953077309142,
+                -0.34932240077861965
+              ],
+              "min_rod_tip_xy_dist": 0.002575294049010337,
+              "max_rod_tip_xy_dist": 0.002832871367501588,
+              "first_target_xy_drift": 3.0180958978662764e-08,
+              "last_target_xy_drift": 4.3708295097410656e-08,
+              "max_depth": 0.019442887743373327,
+              "min_bottom_clearance": 0.07999772569509511
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0015309674161335107,
+                  0.0023835475568043107
+                ],
+                "rod_tip_xy": [
+                  0.2727205451939079,
+                  -0.3489340146962593
+                ],
+                "target_mouth_xy": [
+                  0.27425151261004144,
+                  -0.3513175622530636
+                ],
+                "gripper_position": [
+                  0.272720587844608,
+                  -0.3490003571863797,
+                  1.0056992693790137
+                ],
+                "rod_tip_xy_dist": 0.002832871367501588,
+                "target_xy_drift": 3.0180958978662764e-08,
+                "depth": 0.015042372258453507,
+                "bottom_clearance": 0.08439820539363885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0015309260486932041,
+                  0.0023171742792513217
+                ],
+                "rod_tip_xy": [
+                  0.27272058784460795,
+                  -0.3490003571863797
+                ],
+                "target_mouth_xy": [
+                  0.27425151389330116,
+                  -0.351317531465631
+                ],
+                "gripper_position": [
+                  0.2727092171919571,
+                  -0.34900768976276897,
+                  1.0055583382745896
+                ],
+                "rod_tip_xy_dist": 0.002777234453010993,
+                "target_xy_drift": 6.09628039374974e-08,
+                "depth": 0.015560567547396098,
+                "bottom_clearance": 0.08388003695242119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015423264894633415,
+                  0.0023098737347241327
+                ],
+                "rod_tip_xy": [
+                  0.272709217191957,
+                  -0.34900768976276897
+                ],
+                "target_mouth_xy": [
+                  0.27425154368142035,
+                  -0.3513175634974931
+                ],
+                "gripper_position": [
+                  0.27270087793255454,
+                  -0.34900851477645184,
+                  1.005434250998421
+                ],
+                "rod_tip_xy_dist": 0.002777460651470823,
+                "target_xy_drift": 4.1937855464724625e-08,
+                "depth": 0.015701592843164414,
+                "bottom_clearance": 0.0837390777950241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015506063149143268,
+                  0.0023090490403697705
+                ],
+                "rod_tip_xy": [
+                  0.2727008779325545,
+                  -0.3490085147764518
+                ],
+                "target_mouth_xy": [
+                  0.2742514842474688,
+                  -0.35131756381682155
+                ],
+                "gripper_position": [
+                  0.2727020382350859,
+                  -0.3490759635964766,
+                  1.0049154393486588
+                ],
+                "rod_tip_xy_dist": 0.002781382284887273,
+                "target_xy_drift": 4.078677335090571e-08,
+                "depth": 0.01582562759303241,
+                "bottom_clearance": 0.08361506065339364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001549501293864719,
+                  0.0022415977903151862
+                ],
+                "rod_tip_xy": [
+                  0.2727020382350858,
+                  -0.34907596359647663
+                ],
+                "target_mouth_xy": [
+                  0.27425153952895054,
+                  -0.3513175613867918
+                ],
+                "gripper_position": [
+                  0.27269056245554146,
+                  -0.34908313856889833,
+                  1.0047746283087913
+                ],
+                "rod_tip_xy_dist": 0.002725016497791227,
+                "target_xy_drift": 4.062551585336962e-08,
+                "depth": 0.016344408890045625,
+                "bottom_clearance": 0.08309612434355429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001560979740417967,
+                  0.0022344230596983428
+                ],
+                "rod_tip_xy": [
+                  0.2726905624555414,
+                  -0.3490831385688984
+                ],
+                "target_mouth_xy": [
+                  0.2742515421959594,
+                  -0.35131756162859673
+                ],
+                "gripper_position": [
+                  0.27268204490260123,
+                  -0.34908386156020504,
+                  1.0046510989028856
+                ],
+                "rod_tip_xy_dist": 0.0027256749915767742,
+                "target_xy_drift": 4.221851785777305e-08,
+                "depth": 0.016485197432424603,
+                "bottom_clearance": 0.0829553505165358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015694643064234626,
+                  0.0022336687565717717
+                ],
+                "rod_tip_xy": [
+                  0.2726820449026012,
+                  -0.3490838615602051
+                ],
+                "target_mouth_xy": [
+                  0.27425150920902464,
+                  -0.35131753031677687
+                ],
+                "gripper_position": [
+                  0.27268386852865933,
+                  -0.34915279540284744,
+                  1.0041334274810696
+                ],
+                "rod_tip_xy_dist": 0.0027299256992127396,
+                "target_xy_drift": 6.224470979841426e-08,
+                "depth": 0.016608786120450136,
+                "bottom_clearance": 0.08283181058094125,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015676734034311135,
+                  0.002164765281769121
+                ],
+                "rod_tip_xy": [
+                  0.2726838685286592,
+                  -0.3491527954028476
+                ],
+                "target_mouth_xy": [
+                  0.27425154193209034,
+                  -0.3513175606846167
+                ],
+                "gripper_position": [
+                  0.27267230028855227,
+                  -0.349159768491685,
+                  1.0039927523566121
+                ],
+                "rod_tip_xy_dist": 0.002672790419202043,
+                "target_xy_drift": 4.273485319045849e-08,
+                "depth": 0.01712640775633789,
+                "bottom_clearance": 0.0823141543979059,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015792429096797567,
+                  0.002157790575167684
+                ],
+                "rod_tip_xy": [
+                  0.2726723002885522,
+                  -0.34915976849168506
+                ],
+                "target_mouth_xy": [
+                  0.274251543198232,
+                  -0.35131755906685275
+                ],
+                "gripper_position": [
+                  0.272663738437233,
+                  -0.3491606836645594,
+                  1.003869390102562
+                ],
+                "rod_tip_xy_dist": 0.0026739611691377024,
+                "target_xy_drift": 4.4784442977089074e-08,
+                "depth": 0.01726724050297579,
+                "bottom_clearance": 0.0821734289345083,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001587804698693851,
+                  0.002156876035029731
+                ],
+                "rod_tip_xy": [
+                  0.27266373843723296,
+                  -0.34916068366455943
+                ],
+                "target_mouth_xy": [
+                  0.2742515431359268,
+                  -0.35131755969958917
+                ],
+                "gripper_position": [
+                  0.27265508982178877,
+                  -0.34916128596085605,
+                  1.003745739664723
+                ],
+                "rod_tip_xy_dist": 0.0026782901246279957,
+                "target_xy_drift": 4.42731570621992e-08,
+                "depth": 0.017390471552977016,
+                "bottom_clearance": 0.08205017172253182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015964554021003496,
+                  0.002156274322560381
+                ],
+                "rod_tip_xy": [
+                  0.2726550898217887,
+                  -0.34916128596085605
+                ],
+                "target_mouth_xy": [
+                  0.27425154522388906,
+                  -0.35131756028341643
+                ],
+                "gripper_position": [
+                  0.2726582424126053,
+                  -0.3492324357647857,
+                  1.0032285878926746
+                ],
+                "rod_tip_xy_dist": 0.002682944055515996,
+                "target_xy_drift": 4.528926757470959e-08,
+                "depth": 0.01751418555056672,
+                "bottom_clearance": 0.08192651190187328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015932986317411801,
+                  0.0020850948194383045
+                ],
+                "rod_tip_xy": [
+                  0.27265824241260517,
+                  -0.3492324357647858
+                ],
+                "target_mouth_xy": [
+                  0.27425154104434635,
+                  -0.3513175305842241
+                ],
+                "gripper_position": [
+                  0.27264664598182525,
+                  -0.3492394469345766,
+                  1.0030879342941976
+                ],
+                "rod_tip_xy_dist": 0.0026241609965771484,
+                "target_xy_drift": 6.777259499001598e-08,
+                "depth": 0.018031246577693838,
+                "bottom_clearance": 0.0814092944321404,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016048969910305022,
+                  0.0020780829565676395
+                ],
+                "rod_tip_xy": [
+                  0.2726466459818252,
+                  -0.34923944693457665
+                ],
+                "target_mouth_xy": [
+                  0.2742515429728557,
+                  -0.3513175298911443
+                ],
+                "gripper_position": [
+                  0.2726378145145634,
+                  -0.34924017913822003,
+                  1.0029645082656298
+                ],
+                "rod_tip_xy_dist": 0.0026256662252075497,
+                "target_xy_drift": 6.920973647739524e-08,
+                "depth": 0.018171985936357493,
+                "bottom_clearance": 0.08126865161837771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016137260367450335,
+                  0.0020773831835634304
+                ],
+                "rod_tip_xy": [
+                  0.27263781451456337,
+                  -0.34924017913822003
+                ],
+                "target_mouth_xy": [
+                  0.2742515405513084,
+                  -0.35131756232178346
+                ],
+                "gripper_position": [
+                  0.2726292056216795,
+                  -0.34924078971861433,
+                  1.002841190774496
+                ],
+                "rod_tip_xy_dist": 0.002630519456879376,
+                "target_xy_drift": 4.059438100501208e-08,
+                "depth": 0.018295320162728168,
+                "bottom_clearance": 0.08114519531327724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016223365415314883,
+                  0.0020768020360830697
+                ],
+                "rod_tip_xy": [
+                  0.2726292056216794,
+                  -0.3492407897186145
+                ],
+                "target_mouth_xy": [
+                  0.2742515421632109,
+                  -0.35131759175469757
+                ],
+                "gripper_position": [
+                  0.2726336696929071,
+                  -0.34931393808548494,
+                  1.0023270908879587
+                ],
+                "rod_tip_xy_dist": 0.0026353524529115903,
+                "target_xy_drift": 2.8853082816324698e-08,
+                "depth": 0.01841869991334011,
+                "bottom_clearance": 0.08102185758841662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016178729050231322,
+                  0.0020036533387939315
+                ],
+                "rod_tip_xy": [
+                  0.27263366969290703,
+                  -0.34931393808548505
+                ],
+                "target_mouth_xy": [
+                  0.27425154259793016,
+                  -0.351317591424279
+                ],
+                "gripper_position": [
+                  0.27262183150309166,
+                  -0.3493207879033762,
+                  1.0021866326247466
+                ],
+                "rod_tip_xy_dist": 0.002575294049010337,
+                "target_xy_drift": 2.9297118942071644e-08,
+                "depth": 0.018932738324408227,
+                "bottom_clearance": 0.08050782561892866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016297112390881718,
+                  0.001996773392412554
+                ],
+                "rod_tip_xy": [
+                  0.2726218315030916,
+                  -0.3493207879033763
+                ],
+                "target_mouth_xy": [
+                  0.2742515427421798,
+                  -0.35131756129578884
+                ],
+                "gripper_position": [
+                  0.2726130625789953,
+                  -0.3493210989287907,
+                  1.0020636192640322
+                ],
+                "rod_tip_xy_dist": 0.0025774139565574337,
+                "target_xy_drift": 4.283525364224944e-08,
+                "depth": 0.01907325672377158,
+                "bottom_clearance": 0.0803673119253282,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016384482915187681,
+                  0.001996463693553663
+                ],
+                "rod_tip_xy": [
+                  0.27261306257899526,
+                  -0.3493210989287907
+                ],
+                "target_mouth_xy": [
+                  0.274251510870514,
+                  -0.35131756262234437
+                ],
+                "gripper_position": [
+                  0.27260418083210824,
+                  -0.3493217227971637,
+                  1.001940533203158
+                ],
+                "rod_tip_xy_dist": 0.0025827078974709284,
+                "target_xy_drift": 2.990369601244469e-08,
+                "depth": 0.019196211434850285,
+                "bottom_clearance": 0.08024431095038831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016473615903320749,
+                  0.001995866728563944
+                ],
+                "rod_tip_xy": [
+                  0.27260418083210813,
+                  -0.3493217227971638
+                ],
+                "target_mouth_xy": [
+                  0.2742515424224402,
+                  -0.3513175895257277
+                ],
+                "gripper_position": [
+                  0.27259530773091434,
+                  -0.3493224007786196,
+                  1.0018169644499362
+                ],
+                "rod_tip_xy_dist": 0.0025879111668467222,
+                "target_xy_drift": 2.9248629946897196e-08,
+                "depth": 0.019319442232707318,
+                "bottom_clearance": 0.08012117410300312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001656234938352874,
+                  0.001995159260155366
+                ],
+                "rod_tip_xy": [
+                  0.2725953077309142,
+                  -0.34932240077861965
+                ],
+                "target_mouth_xy": [
+                  0.2742515426692671,
+                  -0.351317560038775
+                ],
+                "gripper_position": [
+                  0.2725863323825093,
+                  -0.34932286585084993,
+                  1.001693982586012
+                ],
+                "rod_tip_xy_dist": 0.0025930242275004787,
+                "target_xy_drift": 4.3708295097410656e-08,
+                "depth": 0.019442887743373327,
+                "bottom_clearance": 0.07999772569509511,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006043082941997015,
+              "rod_tip_xy_max_step": 3.268547584096324e-05,
+              "rod_tip_xy_range": 0.0006043035869434453,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2720756380851237,
+            -0.35069340139326843,
+            1.043521631033348
+          ],
+          "object_origin_world": [
+            0.2720756380851237,
+            -0.35069340139326843,
+            1.043521631033348
+          ],
+          "frame_world": [
+            0.27207403324678914,
+            -0.35069874547109275,
+            1.0434105160119784
+          ],
+          "center_minus_frame": [
+            1.604838334556824e-06,
+            5.344077824320781e-06,
+            0.00011111502136951223
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2735489398415069,
+              0.13235003324680744,
+              0.8339103487192062
+            ],
+            "target_position": [
+              0.28377185779122166,
+              0.17958605992596433,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04832960032775588,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17013367207294375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339103487192062,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673119934799,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13828618879866522,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "667d90e5923c6471b7ad6fc631f7fcc124baf7b8cfcfdc4bdf5d380efa1670fb",
+    "visual_seed": 2770561900409645609,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35ad7b6df87ccca65ced454311617a7dfa1be393
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_44_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25570946313989906,
+              0.03333528419668837,
+              1.1647012318132264
+            ],
+            "current_z": 1.1647012318132264,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30359466419381553,
+            "gripper_z": 1.1578772549873726,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2504948304549277,
+              0.02841801602032623,
+              1.1578772549873726
+            ],
+            "object_minus_gripper": [
+              0.005214632684971354,
+              0.004917268176362136,
+              0.006823976825853784
+            ],
+            "object_to_gripper_xy": 0.007167420760457374,
+            "object_to_gripper_z": 0.006823976825853784,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25570946313989906,
+              0.009099383402070413,
+              1.1647012318132264
+            ],
+            "finger_b": [
+              0.2446735366245618,
+              0.03333528419668837,
+              1.1647012318132264
+            ],
+            "finger_midpoint": [
+              0.25019149988223044,
+              0.02121733379937939,
+              1.1647012318132264
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517963257668623,
+              0.012117950397308976,
+              0.0
+            ],
+            "finger_gap": 0.02663025650230368,
+            "fingertip_max_gap": 0.09086221196986743,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013315128251151834,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647012318132264,
+            "object_top_z": 1.2146390216066452,
+            "finger_top_clearance": 0.049937789793418785,
+            "fingertip_min_top_clearance": 0.014981336938025634,
+            "object_projection_between_fingers": 0.8282618023297733,
+            "object_to_finger_line_xy": 0.010043674201158011,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793110598493372,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5579288160154515,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27138602300686754,
+              -0.3462490134441849,
+              0.8515395785312379
+            ],
+            "target_position": [
+              0.2627309455253975,
+              -0.34681486383845156,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008673554800595978,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532058471205454,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395785312379,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752033142197323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516941964765389,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15400253650931425,
+            "release_required_pad_clearance": 0.052584709823826944,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23406785375487493,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007274985313415527,
+            "max_z_decrease": 0.007274985313415527,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515469265678337,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007274985313415527,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021078604387677058,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007274985313415527,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007275007797159262,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11843087524175645,
+              -0.40307632088661194,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11843087524175645,
+              -0.40307632088661194,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11763613312243268,
+              -0.4011956321545353,
+              0.8080071293241594
+            ],
+            "closest_button": [
+              0.11842085421085359,
+              -0.4030740559101104,
+              0.7729114294052124
+            ],
+            "closest_ee_minus_button": [
+              -0.0007847210884209116,
+              0.0018784237555751204,
+              0.03509569991894701
+            ],
+            "button_min_z_position": [
+              0.11841281503438951,
+              -0.4030753374099731,
+              0.7695338726043701
+            ],
+            "min_active_finger_to_button": 0.1461178148974514,
+            "closest_active_finger": [
+              -0.01069997251033783,
+              -0.4621886610984802,
+              0.8111873269081116
+            ],
+            "closest_active_finger_button": [
+              0.11842918395996097,
+              -0.403077095746994,
+              0.7768085598945618
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1291291564702988,
+              -0.059111565351486206,
+              0.034378767013549805
+            ],
+            "min_contact_pad_to_button": 0.021078604387677058,
+            "closest_contact_pad": [
+              0.11841281503438951,
+              -0.4030753374099731,
+              0.7906124769920472
+            ],
+            "closest_contact_pad_button": [
+              0.11841281503438951,
+              -0.4030753374099731,
+              0.7695338726043701
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021078604387677058
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28280958552087465,
+              0.1817172380911284,
+              1.1026143748992534
+            ],
+            "current_z": 1.1026143748992534,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19270524516489085,
+            "gripper_z": 1.1026150341448497,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2828096600404737,
+              0.1817171933539366,
+              1.1026150341448497
+            ],
+            "object_minus_gripper": [
+              -7.451959904702932e-08,
+              4.4737191812194155e-08,
+              -6.592455963350119e-07
+            ],
+            "object_to_gripper_xy": 8.691712704278176e-08,
+            "object_to_gripper_z": -6.592455963350119e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28280958552087465,
+              0.1817172380911284,
+              1.1026143748992534
+            ],
+            "finger_b": [
+              0.28280958552087465,
+              0.1817172380911284,
+              1.1026143748992534
+            ],
+            "finger_midpoint": [
+              0.28280958552087465,
+              0.1817172380911284,
+              1.1026143748992534
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026143748992534,
+            "object_top_z": 1.2276228815195331,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28280958552087465,
+            0.18171723809112844,
+            1.1026143748992534
+          ],
+          "object_origin_world": [
+            0.28280958552087465,
+            0.18171723809112844,
+            1.1026143748992534
+          ],
+          "frame_world": [
+            0.2828096600404737,
+            0.1817171933539366,
+            1.1026150341448497
+          ],
+          "center_minus_frame": [
+            -7.451959904702932e-08,
+            4.473719183994973e-08,
+            -6.592455963350119e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043184560558515,
+            "required_z": 0.9112598789185552,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018932526990557477,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.240973009776763e-07,
+            "max_target_xy_drift": 2.432734573620975e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.23406784211403728,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.23406785517961626,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2724128702225142,
+              -0.3446531314314112,
+              0.9232946557808038
+            ],
+            "target_mouth_xy": [
+              0.2713860511096645,
+              -0.3462490137668546
+            ],
+            "rod_tip_z": 0.9232946557808038,
+            "rod_tip_depth": -0.022034764284007524,
+            "rod_tip_bottom_clearance": 0.12147535189266234,
+            "rod_tip_xy_dist": 0.0018976822492434448,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04474264505469239,
+            "min_rod_tip_bottom_clearance": 0.05469788067275094,
+            "min_rod_tip_xy_dist": 0.00011739033713166739,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27138602265694256,
+              -0.34624913455833906
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8452721956284677e-08,
+              1.2079148448140842e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0015688298291036684,
+                0.0033245246041407883
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014675990977791042,
+                0.002936072571080639
+              ],
+              "first_target_mouth_xy": [
+                0.2713860510671954,
+                -0.3462489845954053
+              ],
+              "last_target_mouth_xy": [
+                0.27138605444709507,
+                -0.3462489830031057
+              ],
+              "first_rod_tip_xy": [
+                0.27295488089629905,
+                -0.34292445999126453
+              ],
+              "last_rod_tip_xy": [
+                0.2728536535448742,
+                -0.34331291043202505
+              ],
+              "min_rod_tip_xy_dist": 0.0032824334348854835,
+              "max_rod_tip_xy_dist": 0.003676097234326496,
+              "first_target_xy_drift": 1.526303507180308e-07,
+              "last_target_xy_drift": 1.5485348738847518e-07,
+              "max_depth": 0.01955564123486575,
+              "min_bottom_clearance": 0.07988489891005435
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0015688298291036684,
+                  0.0033245246041407883
+                ],
+                "rod_tip_xy": [
+                  0.27295488089629905,
+                  -0.34292445999126453
+                ],
+                "target_mouth_xy": [
+                  0.2713860510671954,
+                  -0.3462489845954053
+                ],
+                "gripper_position": [
+                  0.2729435431984235,
+                  -0.34293161763775476,
+                  1.0059547630302754
+                ],
+                "rod_tip_xy_dist": 0.003676097234326496,
+                "target_xy_drift": 1.526303507180308e-07,
+                "depth": 0.015165665869630307,
+                "bottom_clearance": 0.08427494599015029,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001557458823101543,
+                  0.003317366628487861
+                ],
+                "rod_tip_xy": [
+                  0.2729435431984235,
+                  -0.3429316176377548
+                ],
+                "target_mouth_xy": [
+                  0.27138608437532197,
+                  -0.3462489842662427
+                ],
+                "gripper_position": [
+                  0.27294895679907816,
+                  -0.34299728149188546,
+                  1.0054372892922234
+                ],
+                "rod_tip_xy_dist": 0.003664778210678207,
+                "target_xy_drift": 1.6247114387082585e-07,
+                "depth": 0.015305064252420952,
+                "bottom_clearance": 0.08413547293457524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015629045609460435,
+                  0.0032517021481579533
+                ],
+                "rod_tip_xy": [
+                  0.2729489567990781,
+                  -0.3429972814918856
+                ],
+                "target_mouth_xy": [
+                  0.27138605223813206,
+                  -0.34624898364004353
+                ],
+                "gripper_position": [
+                  0.27293750897729246,
+                  -0.3430041232543676,
+                  1.005297580775591
+                ],
+                "rod_tip_xy_dist": 0.0036078023126220474,
+                "target_xy_drift": 1.5379004745746035e-07,
+                "depth": 0.015822566041591934,
+                "bottom_clearance": 0.08361797469693177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015514249884062692,
+                  0.003244862278006133
+                ],
+                "rod_tip_xy": [
+                  0.27293750897729246,
+                  -0.3430041232543677
+                ],
+                "target_mouth_xy": [
+                  0.2713860839888862,
+                  -0.3462489855323738
+                ],
+                "gripper_position": [
+                  0.2729289139607729,
+                  -0.34300498430924015,
+                  1.0051753115700313
+                ],
+                "rod_tip_xy_dist": 0.003596672169920209,
+                "target_xy_drift": 1.611531744155197e-07,
+                "depth": 0.015962265952627397,
+                "bottom_clearance": 0.08347830130178735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015428324418162442,
+                  0.003243997756099515
+                ],
+                "rod_tip_xy": [
+                  0.27292891396077285,
+                  -0.3430049843092402
+                ],
+                "target_mouth_xy": [
+                  0.2713860815189566,
+                  -0.3462489820653397
+                ],
+                "gripper_position": [
+                  0.2729352412602224,
+                  -0.3430715716506819,
+                  1.0046577930359821
+                ],
+                "rod_tip_xy_dist": 0.0035921933947240872,
+                "target_xy_drift": 1.6345902099410365e-07,
+                "depth": 0.016084587705896713,
+                "bottom_clearance": 0.08335602931171315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015491558296090169,
+                  0.003177413876933266
+                ],
+                "rod_tip_xy": [
+                  0.2729352412602224,
+                  -0.34307157165068203
+                ],
+                "target_mouth_xy": [
+                  0.2713860854306134,
+                  -0.3462489855276153
+                ],
+                "gripper_position": [
+                  0.2729236627804195,
+                  -0.3430784053796232,
+                  1.0045185751137489
+                ],
+                "rod_tip_xy_dist": 0.0035349459302427373,
+                "target_xy_drift": 1.6171175088031592e-07,
+                "depth": 0.01660212476745404,
+                "bottom_clearance": 0.08283849791326936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015376096106037296,
+                  0.0031705487669809185
+                ],
+                "rod_tip_xy": [
+                  0.2729236627804195,
+                  -0.3430784053796233
+                ],
+                "target_mouth_xy": [
+                  0.2713860531698158,
+                  -0.3462489541466042
+                ],
+                "gripper_position": [
+                  0.2729150945791627,
+                  -0.34307906981827735,
+                  1.0043964633236524
+                ],
+                "rod_tip_xy_dist": 0.0035237228606156265,
+                "target_xy_drift": 1.8297384921542935e-07,
+                "depth": 0.016741193880861815,
+                "bottom_clearance": 0.08269931435237321,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015290412982543744,
+                  0.003169882749880004
+                ],
+                "rod_tip_xy": [
+                  0.27291509457916263,
+                  -0.3430790698182775
+                ],
+                "target_mouth_xy": [
+                  0.27138605328090826,
+                  -0.3462489525681575
+                ],
+                "gripper_position": [
+                  0.27292227405891845,
+                  -0.3431469363131368,
+                  1.0038805355645724
+                ],
+                "rod_tip_xy_dist": 0.003519392552665053,
+                "target_xy_drift": 1.84548783389231e-07,
+                "depth": 0.016863382653187542,
+                "bottom_clearance": 0.08257716298361262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001536218303181347,
+                  0.003102020046888476
+                ],
+                "rod_tip_xy": [
+                  0.2729222740589184,
+                  -0.343146936313137
+                ],
+                "target_mouth_xy": [
+                  0.27138605575573704,
+                  -0.34624895636002545
+                ],
+                "gripper_position": [
+                  0.27291074300561813,
+                  -0.3431535058574164,
+                  1.0037413244578266
+                ],
+                "rod_tip_xy_dist": 0.003461574070611138,
+                "target_xy_drift": 1.8124615628456878e-07,
+                "depth": 0.01737939454708759,
+                "bottom_clearance": 0.08206125556325661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015246890965069926,
+                  0.0030954793588743312
+                ],
+                "rod_tip_xy": [
+                  0.2729107430056181,
+                  -0.34315350585741655
+                ],
+                "target_mouth_xy": [
+                  0.2713860539091111,
+                  -0.3462489852162909
+                ],
+                "gripper_position": [
+                  0.2729018583122297,
+                  -0.3431540621381786,
+                  1.0036191121912421
+                ],
+                "rod_tip_xy_dist": 0.0034506041937933636,
+                "target_xy_drift": 1.525770146172599e-07,
+                "depth": 0.01751845481099157,
+                "bottom_clearance": 0.0819220905115271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015158018301603682,
+                  0.003094923395279836
+                ],
+                "rod_tip_xy": [
+                  0.27290185831222963,
+                  -0.3431540621381788
+                ],
+                "target_mouth_xy": [
+                  0.27138605648206926,
+                  -0.3462489855334586
+                ],
+                "gripper_position": [
+                  0.2728932164540109,
+                  -0.34315469031403684,
+                  1.0034968931169799
+                ],
+                "rod_tip_xy_dist": 0.0034461871700428564,
+                "target_xy_drift": 1.528154252200139e-07,
+                "depth": 0.017640812535515527,
+                "bottom_clearance": 0.081799843228607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015071631067984925,
+                  0.0030942942697028686
+                ],
+                "rod_tip_xy": [
+                  0.2728932164540108,
+                  -0.3431546903140369
+                ],
+                "target_mouth_xy": [
+                  0.27138605334721233,
+                  -0.34624898458373976
+                ],
+                "gripper_position": [
+                  0.27290175110071724,
+                  -0.3432250073394698,
+                  1.002982159743789
+                ],
+                "rod_tip_xy_dist": 0.0034418305678825174,
+                "target_xy_drift": 1.5308256952458732e-07,
+                "depth": 0.017762941499976148,
+                "bottom_clearance": 0.08167758270725078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015156976283572376,
+                  0.003023976298645148
+                ],
+                "rod_tip_xy": [
+                  0.27290175110071724,
+                  -0.3432250073394699
+                ],
+                "target_mouth_xy": [
+                  0.27138605347236,
+                  -0.34624898363811507
+                ],
+                "gripper_position": [
+                  0.27289015486199003,
+                  -0.34323138170533607,
+                  1.0028431183479791
+                ],
+                "rod_tip_xy_dist": 0.00338256883970975,
+                "target_xy_drift": 1.5403409998952054e-07,
+                "depth": 0.01827765786218505,
+                "bottom_clearance": 0.08116283522990697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015041000211205025,
+                  0.0030175420076720694
+                ],
+                "rod_tip_xy": [
+                  0.27289015486199003,
+                  -0.3432313817053362
+                ],
+                "target_mouth_xy": [
+                  0.27138605484086953,
+                  -0.34624892371300825
+                ],
+                "gripper_position": [
+                  0.2728812206643981,
+                  -0.3432319381099549,
+                  1.0027210668094158
+                ],
+                "rod_tip_xy_dist": 0.0033716281885166816,
+                "target_xy_drift": 2.132875023945398e-07,
+                "depth": 0.018416709258757935,
+                "bottom_clearance": 0.08102383469922958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001495169606759661,
+                  0.0030170471154924994
+                ],
+                "rod_tip_xy": [
+                  0.2728812206643981,
+                  -0.3432319381099551
+                ],
+                "target_mouth_xy": [
+                  0.27138605105763847,
+                  -0.3462489852254476
+                ],
+                "gripper_position": [
+                  0.2728724118801316,
+                  -0.343232202685369,
+                  1.002598940237835
+                ],
+                "rod_tip_xy_dist": 0.003367210336477282,
+                "target_xy_drift": 1.5200957862656525e-07,
+                "depth": 0.01853884892944946,
+                "bottom_clearance": 0.08090178587505437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014863586860006106,
+                  0.0030167508354272954
+                ],
+                "rod_tip_xy": [
+                  0.2728724118801316,
+                  -0.34323220268536914
+                ],
+                "target_mouth_xy": [
+                  0.271386053194131,
+                  -0.34624895352079643
+                ],
+                "gripper_position": [
+                  0.2728635036938988,
+                  -0.34323277595526747,
+                  1.0024770866941588
+                ],
+                "rod_tip_xy_dist": 0.00336304144287589,
+                "target_xy_drift": 1.8359496648142375e-07,
+                "depth": 0.01866083186423073,
+                "bottom_clearance": 0.08077968318938233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014774488876908576,
+                  0.0030162076789793657
+                ],
+                "rod_tip_xy": [
+                  0.2728635036938988,
+                  -0.3432327759552676
+                ],
+                "target_mouth_xy": [
+                  0.2713860548062079,
+                  -0.34624898363424694
+                ],
+                "gripper_position": [
+                  0.27287453614033375,
+                  -0.343305918110093,
+                  1.0019647558700515
+                ],
+                "rod_tip_xy_dist": 0.0033586253108188542,
+                "target_xy_drift": 1.5431026162668244e-07,
+                "depth": 0.018782734968289527,
+                "bottom_clearance": 0.08065779629098879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014885152389358391,
+                  0.0029430671176349232
+                ],
+                "rod_tip_xy": [
+                  0.2728745361403337,
+                  -0.34330591811009314
+                ],
+                "target_mouth_xy": [
+                  0.27138602090139785,
+                  -0.34624898522772807
+                ],
+                "gripper_position": [
+                  0.2728627009172089,
+                  -0.3433123684264817,
+                  1.0018261636036119
+                ],
+                "rod_tip_xy_dist": 0.003298078482305743,
+                "target_xy_drift": 1.4934092980572778e-07,
+                "depth": 0.019295170656041027,
+                "bottom_clearance": 0.08014547774846903,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014766468616043138,
+                  0.0029365854061105257
+                ],
+                "rod_tip_xy": [
+                  0.2728627009172089,
+                  -0.34331236842648183
+                ],
+                "target_mouth_xy": [
+                  0.27138605405560456,
+                  -0.34624895383259235
+                ],
+                "gripper_position": [
+                  0.27285365354487423,
+                  -0.3433129104320249,
+                  1.0017041888870777
+                ],
+                "rod_tip_xy_dist": 0.003286946881418559,
+                "target_xy_drift": 1.8343301637477775e-07,
+                "depth": 0.019433592498782293,
+                "bottom_clearance": 0.08000690993720871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014675990977791042,
+                  0.002936072571080639
+                ],
+                "rod_tip_xy": [
+                  0.2728536535448742,
+                  -0.34331291043202505
+                ],
+                "target_mouth_xy": [
+                  0.27138605444709507,
+                  -0.3462489830031057
+                ],
+                "gripper_position": [
+                  0.2728446427685156,
+                  -0.3433131602491909,
+                  1.0015822438255282
+                ],
+                "rod_tip_xy_dist": 0.0032824334348854835,
+                "target_xy_drift": 1.5485348738847518e-07,
+                "depth": 0.01955564123486575,
+                "bottom_clearance": 0.07988489891005435,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000602086855699593,
+              "rod_tip_xy_max_step": 3.2642274664147915e-05,
+              "rod_tip_xy_range": 0.0006020774715003222,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2724128702225142,
+            -0.34465313143141113,
+            1.0432946557808038
+          ],
+          "object_origin_world": [
+            0.2724128702225142,
+            -0.34465313143141113,
+            1.0432946557808038
+          ],
+          "frame_world": [
+            0.27241148658397596,
+            -0.3446575088593832,
+            1.043184560558515
+          ],
+          "center_minus_frame": [
+            1.3836385382437477e-06,
+            4.377427972046544e-06,
+            0.00011009522228877522
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2704111725778486,
+              0.13666822943178955,
+              0.8328319370122063
+            ],
+            "target_position": [
+              0.2829511555811174,
+              0.18287008827019996,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0478734052877657,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674713010052312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328319370122063,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668925816202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.137601635660171,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9df24ceef51b496cf220c1b9e3843a1855c4a8fec0e3853fb803b5bdd81f4a15",
+    "visual_seed": 5105499439202716791,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35155eaad321f3536014e8f9bae14f8c569abce1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2599830731643539,
+              0.034244746979936895,
+              1.1630087036883827
+            ],
+            "current_z": 1.1630087036883827,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30190201685968254,
+            "gripper_z": 1.1561668757593666,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2548273853379909,
+              0.029445454485076766,
+              1.1561668757593666
+            ],
+            "object_minus_gripper": [
+              0.005155687826362998,
+              0.004799292494860129,
+              0.006841827929016109
+            ],
+            "object_to_gripper_xy": 0.007043743707300001,
+            "object_to_gripper_z": 0.006841827929016109,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2599830731643539,
+              0.009974258455795271,
+              1.1630087036883827
+            ],
+            "finger_b": [
+              0.24923188635623633,
+              0.034244746979936895,
+              1.1630087036883827
+            ],
+            "finger_midpoint": [
+              0.2546074797602951,
+              0.022109502717866082,
+              1.1630087036883827
+            ],
+            "object_minus_finger_midpoint": [
+              0.005375593404058798,
+              0.012135244262070813,
+              0.0
+            ],
+            "finger_gap": 0.026545143265455002,
+            "fingertip_max_gap": 0.09083874084525304,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013272571632727511,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630087036883827,
+            "object_top_z": 1.2128498399015282,
+            "finger_top_clearance": 0.049841136213145454,
+            "fingertip_min_top_clearance": 0.014952340863943635,
+            "object_projection_between_fingers": 0.8359626786317738,
+            "object_to_finger_line_xy": 0.00982991703747535,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791937042262652,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5995514033214772,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27541381285585126,
+              -0.3487464158892767,
+              0.8515395966796598
+            ],
+            "target_position": [
+              0.2668502870405804,
+              -0.34951871246787936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008598279850884825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869698242352864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395966796598,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524112323331228,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08545746309812817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15552214878454762,
+            "release_required_pad_clearance": 0.05272873154906409,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.509755679918013,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007691323757171631,
+            "max_z_decrease": 0.007691323757171631,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512064001488429,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007691323757171631,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108049347814922,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007691323757171631,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076913510024207805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12255021184682842,
+              -0.4057801663875581,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12255021184682842,
+              -0.4057801663875581,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12274607792558626,
+              -0.40441857177528817,
+              0.8076222762383249
+            ],
+            "closest_button": [
+              0.12253948301076885,
+              -0.4057770967483521,
+              0.7725285291671753
+            ],
+            "closest_ee_minus_button": [
+              0.00020659491481740677,
+              0.0013585249730639348,
+              0.03509374707114965
+            ],
+            "button_min_z_position": [
+              0.12252983450889585,
+              -0.40577819943428045,
+              0.769117534160614
+            ],
+            "min_active_finger_to_button": 0.1454376343552283,
+            "closest_active_finger": [
+              -0.004693344235420227,
+              -0.46726149320602417,
+              0.8108483552932739
+            ],
+            "closest_active_finger_button": [
+              0.12255030870437619,
+              -0.4057797193527222,
+              0.776480495929718
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12724365293979642,
+              -0.061481773853301946,
+              0.03436785936355591
+            ],
+            "min_contact_pad_to_button": 0.02108049347814922,
+            "closest_contact_pad": [
+              0.12252983450889585,
+              -0.40577819943428045,
+              0.7901980276387632
+            ],
+            "closest_contact_pad_button": [
+              0.12252983450889585,
+              -0.40577819943428045,
+              0.769117534160614
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108049347814922
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2841235156470231,
+              0.17912082158468823,
+              1.1026673985393325
+            ],
+            "current_z": 1.1026673985393325,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19275826880496993,
+            "gripper_z": 1.1026673949754182,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2841236147530585,
+              0.17912081207240957,
+              1.1026673949754182
+            ],
+            "object_minus_gripper": [
+              -9.910603537832685e-08,
+              9.512278659196127e-09,
+              3.5639142748067343e-09
+            ],
+            "object_to_gripper_xy": 9.95614870002471e-08,
+            "object_to_gripper_z": 3.5639142748067343e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2841235156470231,
+              0.17912082158468823,
+              1.1026673985393325
+            ],
+            "finger_b": [
+              0.2841235156470231,
+              0.17912082158468823,
+              1.1026673985393325
+            ],
+            "finger_midpoint": [
+              0.2841235156470231,
+              0.17912082158468823,
+              1.1026673985393325
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026673985393325,
+            "object_top_z": 1.2276759051596122,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28412351564702315,
+            0.17912082158468826,
+            1.1026673985393325
+          ],
+          "object_origin_world": [
+            0.28412351564702315,
+            0.17912082158468826,
+            1.1026673985393325
+          ],
+          "frame_world": [
+            0.2841236147530585,
+            0.17912081207240957,
+            1.1026673949754182
+          ],
+          "center_minus_frame": [
+            -9.91060353228157e-08,
+            9.512278686951703e-09,
+            3.5639142748067343e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433970962919876,
+            "required_z": 0.9112599040659702,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001989281024582984,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9675763235795025e-08,
+            "max_target_xy_drift": 8.050186868742946e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5097556840127528,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5097556875154822,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27465866627869606,
+              -0.3469013119238892,
+              0.9235086581646598
+            ],
+            "target_mouth_xy": [
+              0.2754138119235163,
+              -0.3487463845170684
+            ],
+            "rod_tip_z": 0.9235086581646598,
+            "rod_tip_depth": -0.022248756094979005,
+            "rod_tip_bottom_clearance": 0.12168934618306781,
+            "rod_tip_xy_dist": 0.0019936242923359825,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04502557781288852,
+            "min_rod_tip_bottom_clearance": 0.05441494702832905,
+            "min_rod_tip_xy_dist": 0.00025889158399542507,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27541378230817926,
+              -0.3487463864098795
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.961533707157571e-08,
+              1.8928110745441984e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.00017274902021724436,
+                0.003502846466550247
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00028024927234832075,
+                0.0031186815264485634
+              ],
+              "first_target_mouth_xy": [
+                0.2754137819502432,
+                -0.348746385777615
+              ],
+              "last_target_mouth_xy": [
+                0.2754138395700262,
+                -0.3487464143221879
+              ],
+              "first_rod_tip_xy": [
+                0.27524103293002594,
+                -0.3452435393110648
+              ],
+              "last_rod_tip_xy": [
+                0.27513359029767787,
+                -0.34562773279573933
+              ],
+              "min_rod_tip_xy_dist": 0.0031312480128637696,
+              "max_rod_tip_xy_dist": 0.003507103590173744,
+              "first_target_xy_drift": 7.265511552222473e-10,
+              "last_target_xy_drift": 6.370255940419683e-08,
+              "max_depth": 0.019873840141572452,
+              "min_bottom_clearance": 0.07956668509994824
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00017274902021724436,
+                  0.003502846466550247
+                ],
+                "rod_tip_xy": [
+                  0.27524103293002594,
+                  -0.3452435393110648
+                ],
+                "target_mouth_xy": [
+                  0.2754137819502432,
+                  -0.348746385777615
+                ],
+                "gripper_position": [
+                  0.27522980686096016,
+                  -0.34525051570177223,
+                  1.0056417855598823
+                ],
+                "rod_tip_xy_dist": 0.003507103590173744,
+                "target_xy_drift": 7.265511552222473e-10,
+                "depth": 0.01547633847175478,
+                "bottom_clearance": 0.08396422321012953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0001839731246749965,
+                  0.0034958684928991235
+                ],
+                "rod_tip_xy": [
+                  0.27522980686096005,
+                  -0.34525051570177223
+                ],
+                "target_mouth_xy": [
+                  0.27541377998563504,
+                  -0.34874638419467135
+                ],
+                "gripper_position": [
+                  0.2752328030145461,
+                  -0.3453157918792026,
+                  1.0051231082906773
+                ],
+                "rod_tip_xy_dist": 0.0035007060188264123,
+                "target_xy_drift": 3.2095729730911337e-09,
+                "depth": 0.01561799426723487,
+                "bottom_clearance": 0.08382254170253656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0001810099399366938,
+                  0.0034305907169716043
+                ],
+                "rod_tip_xy": [
+                  0.27523280301454606,
+                  -0.3453157918792026
+                ],
+                "target_mouth_xy": [
+                  0.27541381295448275,
+                  -0.3487463825961742
+                ],
+                "gripper_position": [
+                  0.2752213914299111,
+                  -0.3453227818797575,
+                  1.0049816900546893
+                ],
+                "rod_tip_xy_dist": 0.0034353627560605054,
+                "target_xy_drift": 3.088268553716589e-08,
+                "depth": 0.01613683635059382,
+                "bottom_clearance": 0.08330386249473287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0001924180591394986,
+                  0.003423604858077134
+                ],
+                "rod_tip_xy": [
+                  0.275221391429911,
+                  -0.3453227818797575
+                ],
+                "target_mouth_xy": [
+                  0.2754138094890505,
+                  -0.34874638673783465
+                ],
+                "gripper_position": [
+                  0.27521292790391644,
+                  -0.3453234672700698,
+                  1.0048578446140353
+                ],
+                "rod_tip_xy_dist": 0.003429007864343907,
+                "target_xy_drift": 2.7182849646263217e-08,
+                "depth": 0.016278159203226727,
+                "bottom_clearance": 0.08316238917438523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0002008854800039095,
+                  0.0034229150052668134
+                ],
+                "rod_tip_xy": [
+                  0.2752129279039163,
+                  -0.3453234672700698
+                ],
+                "target_mouth_xy": [
+                  0.27541381338392024,
+                  -0.3487463822753366
+                ],
+                "gripper_position": [
+                  0.27521705171669997,
+                  -0.3453899609701563,
+                  1.0043405903952785
+                ],
+                "rod_tip_xy_dist": 0.003428804763960338,
+                "target_xy_drift": 3.13495792997221e-08,
+                "depth": 0.016402109162109935,
+                "bottom_clearance": 0.08303861769309162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00019675656687229148,
+                  0.0033564248171733535
+                ],
+                "rod_tip_xy": [
+                  0.2752170517166999,
+                  -0.3453899609701563
+                ],
+                "target_mouth_xy": [
+                  0.2754138082835722,
+                  -0.34874638578732964
+                ],
+                "gripper_position": [
+                  0.27520540408481664,
+                  -0.3453970985047158,
+                  1.0041995234310939
+                ],
+                "rod_tip_xy_dist": 0.0033621868924770602,
+                "target_xy_drift": 2.598285217400518e-08,
+                "depth": 0.01691927819878647,
+                "bottom_clearance": 0.08252128188126828,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00020843566572492644,
+                  0.0033492863225857983
+                ],
+                "rod_tip_xy": [
+                  0.27520540408481653,
+                  -0.3453970985047159
+                ],
+                "target_mouth_xy": [
+                  0.27541383975054146,
+                  -0.3487463848273017
+                ],
+                "gripper_position": [
+                  0.2751966047795015,
+                  -0.34539758054481323,
+                  1.0040753632802264
+                ],
+                "rod_tip_xy_dist": 0.0033557658287500475,
+                "target_xy_drift": 5.746415863476166e-08,
+                "depth": 0.01706029995135161,
+                "bottom_clearance": 0.08238020740380758,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00021723577746335376,
+                  0.0033488049176589874
+                ],
+                "rod_tip_xy": [
+                  0.2751966047795014,
+                  -0.3453975805448133
+                ],
+                "target_mouth_xy": [
+                  0.2754138405569648,
+                  -0.3487463854624723
+                ],
+                "gripper_position": [
+                  0.2751879362894966,
+                  -0.34539827274367557,
+                  1.0039516814638354
+                ],
+                "rod_tip_xy_dist": 0.0033558435242941713,
+                "target_xy_drift": 5.825648972128177e-08,
+                "depth": 0.017184453327449778,
+                "bottom_clearance": 0.08225605852035678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0002258729477124244,
+                  0.0033481108234441614
+                ],
+                "rod_tip_xy": [
+                  0.2751879362894965,
+                  -0.3453982727436756
+                ],
+                "target_mouth_xy": [
+                  0.27541380923720893,
+                  -0.3487463835671198
+                ],
+                "gripper_position": [
+                  0.27519361272803444,
+                  -0.34546659291308474,
+                  1.0034338752095366
+                ],
+                "rod_tip_xy_dist": 0.003355721185464049,
+                "target_xy_drift": 2.707866174314528e-08,
+                "depth": 0.01730818590793548,
+                "bottom_clearance": 0.08213239365880642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00022019764683245402,
+                  0.0032798236282813864
+                ],
+                "rod_tip_xy": [
+                  0.27519361272803433,
+                  -0.3454665929130848
+                ],
+                "target_mouth_xy": [
+                  0.2754138103748668,
+                  -0.3487464165413662
+                ],
+                "gripper_position": [
+                  0.27518190096831474,
+                  -0.3454737325515118,
+                  1.0032930532254738
+                ],
+                "rod_tip_xy_dist": 0.0032872070266874625,
+                "target_xy_drift": 4.117821559167234e-08,
+                "depth": 0.01782596101548084,
+                "bottom_clearance": 0.08161458125436438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00023187704605620585,
+                  0.0032726827281376325
+                ],
+                "rod_tip_xy": [
+                  0.2751819009683147,
+                  -0.3454737325515118
+                ],
+                "target_mouth_xy": [
+                  0.2754137780143709,
+                  -0.34874641527964945
+                ],
+                "gripper_position": [
+                  0.27517309965854553,
+                  -0.3454740838518251,
+                  1.00316939690401
+                ],
+                "rod_tip_xy_dist": 0.0032808869537882786,
+                "target_xy_drift": 2.918733300624038e-08,
+                "depth": 0.017966883707337344,
+                "bottom_clearance": 0.08147368338395455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0002407109425259235,
+                  0.0032723310989020704
+                ],
+                "rod_tip_xy": [
+                  0.2751730996585455,
+                  -0.3454740838518251
+                ],
+                "target_mouth_xy": [
+                  0.2754138106010714,
+                  -0.34874641495072717
+                ],
+                "gripper_position": [
+                  0.2751642733225974,
+                  -0.34547465372022296,
+                  1.0030457368577856
+                ],
+                "rod_tip_xy_dist": 0.003281172439646132,
+                "target_xy_drift": 4.018790529811195e-08,
+                "depth": 0.01809042388389015,
+                "bottom_clearance": 0.08135009292721307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0002494454862295714,
+                  0.0032717612417434427
+                ],
+                "rod_tip_xy": [
+                  0.27516427332259735,
+                  -0.345474653720223
+                ],
+                "target_mouth_xy": [
+                  0.2754137188088269,
+                  -0.34874641496196646
+                ],
+                "gripper_position": [
+                  0.2751711653383635,
+                  -0.3455451230200827,
+                  1.0025304483486155
+                ],
+                "rod_tip_xy_dist": 0.0032812565693000756,
+                "target_xy_drift": 6.96231959698057e-08,
+                "depth": 0.018214193418031766,
+                "bottom_clearance": 0.08122636941497952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00024264572983540011,
+                  0.0032012614894356695
+                ],
+                "rod_tip_xy": [
+                  0.2751711653383634,
+                  -0.3455451230200828
+                ],
+                "target_mouth_xy": [
+                  0.2754138110681988,
+                  -0.34874638450951845
+                ],
+                "gripper_position": [
+                  0.27515940322524457,
+                  -0.34555194561883945,
+                  1.002389796725903
+                ],
+                "rod_tip_xy_dist": 0.0032104442175423693,
+                "target_xy_drift": 2.8822735740683488e-08,
+                "depth": 0.018729387555058707,
+                "bottom_clearance": 0.08071117014054119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00025437709123937724,
+                  0.003194468383161342
+                ],
+                "rod_tip_xy": [
+                  0.2751594032252445,
+                  -0.3455519456188395
+                ],
+                "target_mouth_xy": [
+                  0.2754137803164839,
+                  -0.34874641400200085
+                ],
+                "gripper_position": [
+                  0.2751505771403222,
+                  -0.345552220636197,
+                  1.0022663143204167
+                ],
+                "rod_tip_xy_dist": 0.0032045804648291863,
+                "target_xy_drift": 2.7663911723975e-08,
+                "depth": 0.018870037314102972,
+                "bottom_clearance": 0.08057049532548965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00026323080567391965,
+                  0.0031941955980115955
+                ],
+                "rod_tip_xy": [
+                  0.27515057714032215,
+                  -0.34555222063619706
+                ],
+                "target_mouth_xy": [
+                  0.27541380794599607,
+                  -0.34874641623420866
+                ],
+                "gripper_position": [
+                  0.2751415835961424,
+                  -0.345552580487058,
+                  1.002142651228105
+                ],
+                "rod_tip_xy_dist": 0.003205023553019914,
+                "target_xy_drift": 3.9329229100059656e-08,
+                "depth": 0.018993576193339634,
+                "bottom_clearance": 0.08044701999105486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00027222565478712824,
+                  0.003193804984662374
+                ],
+                "rod_tip_xy": [
+                  0.27514158359614227,
+                  -0.34555258048705806
+                ],
+                "target_mouth_xy": [
+                  0.2754138092509294,
+                  -0.34874638547172043
+                ],
+                "gripper_position": [
+                  0.27513261695447816,
+                  -0.34555299983134696,
+                  1.0020192457220038
+                ],
+                "rod_tip_xy_dist": 0.0032053856378255812,
+                "target_xy_drift": 2.695907876059561e-08,
+                "depth": 0.01911718230343784,
+                "bottom_clearance": 0.08032332951016719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000281194312691635,
+                  0.0031933843609713852
+                ],
+                "rod_tip_xy": [
+                  0.27513261695447805,
+                  -0.3455529998313469
+                ],
+                "target_mouth_xy": [
+                  0.2754138112671697,
+                  -0.3487463841923183
+                ],
+                "gripper_position": [
+                  0.27512364556466895,
+                  -0.34555352130174555,
+                  1.0018959376096226
+                ],
+                "rod_tip_xy_dist": 0.00320574077529465,
+                "target_xy_drift": 2.904377221082228e-08,
+                "depth": 0.019240597431153472,
+                "bottom_clearance": 0.08019997931003575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00029013245461778636,
+                  0.00319286354517212
+                ],
+                "rod_tip_xy": [
+                  0.2751236455646689,
+                  -0.34555352130174555
+                ],
+                "target_mouth_xy": [
+                  0.2754137780192867,
+                  -0.34874638484691767
+                ],
+                "gripper_position": [
+                  0.275133590297678,
+                  -0.3456277327957392,
+                  1.0013859941868264
+                ],
+                "rod_tip_xy_dist": 0.003206018474574284,
+                "target_xy_drift": 4.564805488925933e-09,
+                "depth": 0.01936401026382817,
+                "bottom_clearance": 0.08007657894587505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00028024927234832075,
+                  0.0031186815264485634
+                ],
+                "rod_tip_xy": [
+                  0.27513359029767787,
+                  -0.34562773279573933
+                ],
+                "target_mouth_xy": [
+                  0.2754138395700262,
+                  -0.3487464143221879
+                ],
+                "gripper_position": [
+                  0.2751215612767488,
+                  -0.3456346696378925,
+                  1.0012451173824244
+                ],
+                "rod_tip_xy_dist": 0.0031312480128637696,
+                "target_xy_drift": 6.370255940419683e-08,
+                "depth": 0.019873840141572452,
+                "bottom_clearance": 0.07956668509994824,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006054025338235301,
+              "rod_tip_xy_max_step": 3.29282614083958e-05,
+              "rod_tip_xy_range": 0.0006053970147373914,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2746586662786961,
+            -0.3469013119238892,
+            1.04350865816466
+          ],
+          "object_origin_world": [
+            0.2746586662786961,
+            -0.3469013119238892,
+            1.04350865816466
+          ],
+          "frame_world": [
+            0.27465717098946274,
+            -0.34690661999635375,
+            1.0433970962919876
+          ],
+          "center_minus_frame": [
+            1.4952892333774948e-06,
+            5.308072464571545e-06,
+            0.00011156187267236106
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2740908786775537,
+              0.13024843424620733,
+              0.8342088090949685
+            ],
+            "target_position": [
+              0.2842731198387614,
+              0.17774532002417898,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0485760454717207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16997699098650762,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342088090949685,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567426894701,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13925323401321937,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6414f6bc468cc9e8c5e10c8c60fbdb85c9add15b60d98d8d83f1929fdf23e3e",
+    "visual_seed": 9110451930503555142,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d798eb86af8b8c364ddcb3f48940adaa9e15f691
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_46_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2586894355163549,
+              0.033300514857104634,
+              1.1646181094665922
+            ],
+            "current_z": 1.1646181094665922,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3035113630332471,
+            "gripper_z": 1.1576290808800171,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2537796755199234,
+              0.028346718705799898,
+              1.1576290808800171
+            ],
+            "object_minus_gripper": [
+              0.004909759996431506,
+              0.004953796151304736,
+              0.006989028586575019
+            ],
+            "object_to_gripper_xy": 0.00697465694720828,
+            "object_to_gripper_z": 0.006989028586575019,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2586894355163549,
+              0.009448576580258248,
+              1.1646181094665922
+            ],
+            "finger_b": [
+              0.2473710252696821,
+              0.033300514857104634,
+              1.1646181094665922
+            ],
+            "finger_midpoint": [
+              0.25303023039301853,
+              0.021374545718681442,
+              1.1646181094665922
+            ],
+            "object_minus_finger_midpoint": [
+              0.005659205123336397,
+              0.011925969138423191,
+              0.0
+            ],
+            "finger_gap": 0.026401162286431218,
+            "fingertip_max_gap": 0.09075656366157073,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013200581143215602,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646181094665922,
+            "object_top_z": 1.2145841832735544,
+            "finger_top_clearance": 0.049966073806962275,
+            "fingertip_min_top_clearance": 0.014989822142088648,
+            "object_projection_between_fingers": 0.8162087763560248,
+            "object_to_finger_line_xy": 0.010225535514942598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047878281830785366,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4761762408626491,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2694745947687913,
+              -0.3517149033554573,
+              0.8515395768722782
+            ],
+            "target_position": [
+              0.261460561740426,
+              -0.35261629824224566,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00806456682789961,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18335663792725318,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395768722782,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561449041070048,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504133650437491,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15114702304573768,
+            "release_required_pad_clearance": 0.05252066825218746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1119058190629384,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007330834865570068,
+            "max_z_decrease": 0.007330834865570068,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509100226121126,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007330834865570068,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021110690623829004,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007330834865570068,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007330856393480298,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11716048419475553,
+              -0.40887776017189026,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11716048419475553,
+              -0.40887776017189026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11624580833519438,
+              -0.4096806940597535,
+              0.8079609683275635
+            ],
+            "closest_button": [
+              0.11715064197778698,
+              -0.4088733494281769,
+              0.7728909254074097
+            ],
+            "closest_ee_minus_button": [
+              -0.0009048336425925979,
+              -0.000807344631576612,
+              0.03507004292015381
+            ],
+            "button_min_z_position": [
+              0.11714290827512738,
+              -0.40887516736984253,
+              0.7694780230522156
+            ],
+            "min_active_finger_to_button": 0.14701965991138527,
+            "closest_active_finger": [
+              -0.024974554777145386,
+              -0.39399921894073486,
+              0.8109256625175476
+            ],
+            "closest_active_finger_button": [
+              0.11716061830520627,
+              -0.40887731313705444,
+              0.7764145731925964
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14213517308235166,
+              0.01487809419631958,
+              0.03451108932495117
+            ],
+            "min_contact_pad_to_button": 0.021110690623829004,
+            "closest_contact_pad": [
+              0.11714290827512738,
+              -0.410682358215518,
+              0.7905112187167438
+            ],
+            "closest_contact_pad_button": [
+              0.11714290827512738,
+              -0.40887516736984253,
+              0.7694780230522156
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018071908456754882,
+              0.021033195664528215
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2776819640333256,
+              0.17519184795711765,
+              1.1045830034187838
+            ],
+            "current_z": 1.1045830034187838,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19467387368442124,
+            "gripper_z": 1.1045831234081658,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2776820088361822,
+              0.1751918328781324,
+              1.1045831234081658
+            ],
+            "object_minus_gripper": [
+              -4.480285659136385e-08,
+              1.5078985254879385e-08,
+              -1.199893819858744e-07
+            ],
+            "object_to_gripper_xy": 4.727231489004093e-08,
+            "object_to_gripper_z": -1.199893819858744e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2776819640333256,
+              0.17519184795711765,
+              1.1045830034187838
+            ],
+            "finger_b": [
+              0.2776819640333256,
+              0.17519184795711765,
+              1.1045830034187838
+            ],
+            "finger_midpoint": [
+              0.2776819640333256,
+              0.17519184795711765,
+              1.1045830034187838
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045830034187838,
+            "object_top_z": 1.2295915100390635,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2776819640333256,
+            0.17519184795711765,
+            1.1045830034187838
+          ],
+          "object_origin_world": [
+            0.2776819640333256,
+            0.17519184795711765,
+            1.1045830034187838
+          ],
+          "frame_world": [
+            0.2776820088361822,
+            0.1751918328781324,
+            1.1045831234081658
+          ],
+          "center_minus_frame": [
+            -4.480285659136385e-08,
+            1.5078985254879385e-08,
+            -1.199893819858744e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437390488891656,
+            "required_z": 0.9112598477658829,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007931261851097683,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.166807519366613e-08,
+            "max_target_xy_drift": 1.2095544514622e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.11190580658253495,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.11190582380497024,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26999045614294787,
+              -0.3511377498454574,
+              0.9234276996207421
+            ],
+            "target_mouth_xy": [
+              0.2694745040681137,
+              -0.3517150259452614
+            ],
+            "rod_tip_z": 0.9234276996207421,
+            "rod_tip_depth": -0.022167739366866557,
+            "rod_tip_bottom_clearance": 0.12160835762256117,
+            "rod_tip_xy_dist": 0.0007742443018392616,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04500189029478019,
+            "min_rod_tip_bottom_clearance": 0.05443859729758049,
+            "min_rod_tip_xy_dist": 0.0006026000695915042,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2694745957356375,
+              -0.35171502562731294
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.166752379385912e-08,
+              -3.179484453497139e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0010346039253531503,
+                0.0022360075789545353
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009365681545120963,
+                0.001870282701930459
+              ],
+              "first_target_mouth_xy": [
+                0.26947459696022,
+                -0.35171493744997245
+              ],
+              "last_target_mouth_xy": [
+                0.26947456802850767,
+                -0.35171496633665233
+              ],
+              "first_rod_tip_xy": [
+                0.2705092008855732,
+                -0.3494789298710179
+              ],
+              "last_rod_tip_xy": [
+                0.27041113618301976,
+                -0.3498446836347219
+              ],
+              "min_rod_tip_xy_dist": 0.0020916781045817,
+              "max_rod_tip_xy_dist": 0.0024637644318193795,
+              "first_target_xy_drift": 8.818584340692506e-08,
+              "last_target_xy_drift": 6.544514861504253e-08,
+              "max_depth": 0.01943069673139386,
+              "min_bottom_clearance": 0.08000993614607965
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010346039253531503,
+                  0.0022360075789545353
+                ],
+                "rod_tip_xy": [
+                  0.2705092008855732,
+                  -0.3494789298710179
+                ],
+                "target_mouth_xy": [
+                  0.26947459696022,
+                  -0.35171493744997245
+                ],
+                "gripper_position": [
+                  0.2705143744234316,
+                  -0.3495416416334831,
+                  1.0056973282826183
+                ],
+                "rod_tip_xy_dist": 0.0024637644318193795,
+                "target_xy_drift": 8.818584340692506e-08,
+                "depth": 0.015042930415458677,
+                "bottom_clearance": 0.08439763592966965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010397776141481407,
+                  0.002173327472508313
+                ],
+                "rod_tip_xy": [
+                  0.27051437442343157,
+                  -0.349541641633483
+                ],
+                "target_mouth_xy": [
+                  0.26947459680928343,
+                  -0.3517149691059913
+                ],
+                "gripper_position": [
+                  0.27050313759362793,
+                  -0.3495488473917118,
+                  1.0055574534595713
+                ],
+                "rod_tip_xy_dist": 0.0024092508772734673,
+                "target_xy_drift": 5.653151787844229e-08,
+                "depth": 0.01556251302694489,
+                "bottom_clearance": 0.0838780615531417,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010285418816254333,
+                  0.0021661192412937846
+                ],
+                "rod_tip_xy": [
+                  0.2705031375936278,
+                  -0.3495488473917119
+                ],
+                "target_mouth_xy": [
+                  0.2694745957120024,
+                  -0.35171496663300567
+                ],
+                "gripper_position": [
+                  0.27049488782818687,
+                  -0.34954976573429136,
+                  1.0054345842791932
+                ],
+                "rod_tip_xy_dist": 0.002397909708425392,
+                "target_xy_drift": 5.899431200713528e-08,
+                "depth": 0.015702323539606877,
+                "bottom_clearance": 0.08373821701402206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010202597926756707,
+                  0.0021652012159243395
+                ],
+                "rod_tip_xy": [
+                  0.2704948878281868,
+                  -0.3495497657342914
+                ],
+                "target_mouth_xy": [
+                  0.26947462803551114,
+                  -0.35171496695021576
+                ],
+                "gripper_position": [
+                  0.27050127039111055,
+                  -0.34961320019357855,
+                  1.004914830429585
+                ],
+                "rod_tip_xy_dist": 0.0023935384580137504,
+                "target_xy_drift": 6.697972508416026e-08,
+                "depth": 0.015825326437499787,
+                "bottom_clearance": 0.08361529992595951,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010266750262474256,
+                  0.002101797475121625
+                ],
+                "rod_tip_xy": [
+                  0.2705012703911105,
+                  -0.34961320019357855
+                ],
+                "target_mouth_xy": [
+                  0.26947459536486307,
+                  -0.3517149976687002
+                ],
+                "gripper_position": [
+                  0.27048980197785755,
+                  -0.3496202900139744,
+                  1.0047749526805678
+                ],
+                "rod_tip_xy_dist": 0.0023391481859744994,
+                "target_xy_drift": 2.7961071171033747e-08,
+                "depth": 0.016344985149287172,
+                "bottom_clearance": 0.083095505478477,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010153032324275446,
+                  0.0020944861142334625
+                ],
+                "rod_tip_xy": [
+                  0.2704898019778575,
+                  -0.3496202900139743
+                ],
+                "target_mouth_xy": [
+                  0.26947449874542995,
+                  -0.3517147761282078
+                ],
+                "gripper_position": [
+                  0.27048145231450765,
+                  -0.34962111517749606,
+                  1.0046523976235655
+                ],
+                "rod_tip_xy_dist": 0.00232759806162804,
+                "target_xy_drift": 2.676880718852979e-07,
+                "depth": 0.016485378950615526,
+                "bottom_clearance": 0.08295586263494148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010067639535408235,
+                  0.002094006064856435
+                ],
+                "rod_tip_xy": [
+                  0.2704814523145076,
+                  -0.34962111517749606
+                ],
+                "target_mouth_xy": [
+                  0.2694746883609668,
+                  -0.3517151212423525
+                ],
+                "gripper_position": [
+                  0.27048861256578005,
+                  -0.34968570425011497,
+                  1.004134061242233
+                ],
+                "rod_tip_xy_dist": 0.0023234532613772723,
+                "target_xy_drift": 1.331228283042731e-07,
+                "depth": 0.016607575609771552,
+                "bottom_clearance": 0.0828331917960069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010140501225628928,
+                  0.0020293229364505283
+                ],
+                "rod_tip_xy": [
+                  0.27048861256578,
+                  -0.349685704250115
+                ],
+                "target_mouth_xy": [
+                  0.2694745624432171,
+                  -0.35171502718656555
+                ],
+                "gripper_position": [
+                  0.27047709342401394,
+                  -0.34969271641450095,
+                  1.0039941791937392
+                ],
+                "rod_tip_xy_dist": 0.0022685786809088226,
+                "target_xy_drift": 3.3328914222011715e-08,
+                "depth": 0.01712585493134844,
+                "bottom_clearance": 0.08231476661503367,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010024353504311523,
+                  0.0020223116895737303
+                ],
+                "rod_tip_xy": [
+                  0.2704770934240139,
+                  -0.34969271641450106
+                ],
+                "target_mouth_xy": [
+                  0.26947465807358273,
+                  -0.3517150281040748
+                ],
+                "gripper_position": [
+                  0.27046860797312583,
+                  -0.3496935069529173,
+                  1.0038715194559134
+                ],
+                "rod_tip_xy_dist": 0.002257126757978068,
+                "target_xy_drift": 6.238712821799599e-08,
+                "depth": 0.01726572401652915,
+                "bottom_clearance": 0.08217489257782973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009939807897167974,
+                  0.0020214922699319793
+                ],
+                "rod_tip_xy": [
+                  0.2704686079731258,
+                  -0.34969350695291734
+                ],
+                "target_mouth_xy": [
+                  0.269474627183409,
+                  -0.3517149992228493
+                ],
+                "gripper_position": [
+                  0.27047640334574297,
+                  -0.34975890455129394,
+                  1.0033565393458803
+                ],
+                "rod_tip_xy_dist": 0.0022526492864449127,
+                "target_xy_drift": 4.106285463793331e-08,
+                "depth": 0.01738839158890182,
+                "bottom_clearance": 0.08205221612242697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010018082015837426,
+                  0.001956093432280037
+                ],
+                "rod_tip_xy": [
+                  0.2704764033457429,
+                  -0.3497589045512939
+                ],
+                "target_mouth_xy": [
+                  0.26947459514415917,
+                  -0.3517149979835739
+                ],
+                "gripper_position": [
+                  0.2704649987773805,
+                  -0.3497656142620045,
+                  1.0032167182754745
+                ],
+                "rod_tip_xy_dist": 0.002197708167289176,
+                "target_xy_drift": 2.765006606868972e-08,
+                "depth": 0.017903224945061136,
+                "bottom_clearance": 0.08153727732942218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009903995847932445,
+                  0.0019493828111106781
+                ],
+                "rod_tip_xy": [
+                  0.27046499877738045,
+                  -0.3497656142620045
+                ],
+                "target_mouth_xy": [
+                  0.2694745991925872,
+                  -0.35171499707311515
+                ],
+                "gripper_position": [
+                  0.27045638499943364,
+                  -0.349766287917211,
+                  1.0030941788711916
+                ],
+                "rod_tip_xy_dist": 0.002186546290800266,
+                "target_xy_drift": 2.8762696544319813e-08,
+                "depth": 0.018043194462630252,
+                "bottom_clearance": 0.0813974575469043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009818224142850163,
+                  0.001948679970107614
+                ],
+                "rod_tip_xy": [
+                  0.2704563849994336,
+                  -0.349766287917211
+                ],
+                "target_mouth_xy": [
+                  0.26947456258514857,
+                  -0.3517149678873186
+                ],
+                "gripper_position": [
+                  0.27044767077797616,
+                  -0.3497670383644335,
+                  1.002971801870451
+                ],
+                "rod_tip_xy_dist": 0.0021820469470410276,
+                "target_xy_drift": 6.657974062337872e-08,
+                "depth": 0.01816572749896761,
+                "bottom_clearance": 0.0812748776250446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.000973075740609286,
+                  0.001947928272962085
+                ],
+                "rod_tip_xy": [
+                  0.2704476707779761,
+                  -0.34976703836443346
+                ],
+                "target_mouth_xy": [
+                  0.2694745950373668,
+                  -0.35171496663739554
+                ],
+                "gripper_position": [
+                  0.27043905801445217,
+                  -0.349767512974331,
+                  1.0028494963224142
+                ],
+                "rod_tip_xy_dist": 0.0021774528590918704,
+                "target_xy_drift": 5.899405000694136e-08,
+                "depth": 0.018288045661379537,
+                "bottom_clearance": 0.08115250154732723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009644946496620288,
+                  0.0019474871855895692
+                ],
+                "rod_tip_xy": [
+                  0.27043905801445206,
+                  -0.34976751297433095
+                ],
+                "target_mouth_xy": [
+                  0.26947456336479003,
+                  -0.3517150001599205
+                ],
+                "gripper_position": [
+                  0.27044915202435593,
+                  -0.34983627552229823,
+                  1.0023351693275648
+                ],
+                "rod_tip_xy_dist": 0.0021732363578916723,
+                "target_xy_drift": 4.118810314844177e-08,
+                "depth": 0.018410426584325568,
+                "bottom_clearance": 0.08103022907058388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009745552463683027,
+                  0.0018786898882576786
+                ],
+                "rod_tip_xy": [
+                  0.2704491520243559,
+                  -0.34983627552229823
+                ],
+                "target_mouth_xy": [
+                  0.2694745967779876,
+                  -0.3517149654105559
+                ],
+                "gripper_position": [
+                  0.27043747504148974,
+                  -0.34984278801583324,
+                  1.0021960131719507
+                ],
+                "rod_tip_xy_dist": 0.0021164200019054896,
+                "target_xy_drift": 6.022577787250872e-08,
+                "depth": 0.018924697779259092,
+                "bottom_clearance": 0.08051592785285011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009628794055253631,
+                  0.0018722102747578129
+                ],
+                "rod_tip_xy": [
+                  0.2704374750414897,
+                  -0.34984278801583324
+                ],
+                "target_mouth_xy": [
+                  0.2694745956359643,
+                  -0.35171499829059105
+                ],
+                "gripper_position": [
+                  0.27042881605282343,
+                  -0.349843121332056,
+                  1.0020734934621156
+                ],
+                "rod_tip_xy_dist": 0.0021053047433788777,
+                "target_xy_drift": 2.7336903596042276e-08,
+                "depth": 0.019063867381802324,
+                "bottom_clearance": 0.08037664006746292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0009542189813890878,
+                  0.0018719055303521026
+                ],
+                "rod_tip_xy": [
+                  0.2704288160528234,
+                  -0.349843121332056
+                ],
+                "target_mouth_xy": [
+                  0.2694745970714343,
+                  -0.3517150268624081
+                ],
+                "gripper_position": [
+                  0.2704200747254556,
+                  -0.349843865410469,
+                  1.001951494456505
+                ],
+                "rod_tip_xy_dist": 0.002101086428257061,
+                "target_xy_drift": 1.8192891761286662e-09,
+                "depth": 0.01918640238678282,
+                "bottom_clearance": 0.08025416805081342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0009454777314372165,
+                  0.0018711617594516783
+                ],
+                "rod_tip_xy": [
+                  0.27042007472545554,
+                  -0.34984386541046897
+                ],
+                "target_mouth_xy": [
+                  0.2694745969940183,
+                  -0.35171502716992065
+                ],
+                "gripper_position": [
+                  0.2704111361830198,
+                  -0.34984468363472176,
+                  1.001829221761801
+                ],
+                "rod_tip_xy_dist": 0.002096467140376392,
+                "target_xy_drift": 1.99076891928469e-09,
+                "depth": 0.019308335654870223,
+                "bottom_clearance": 0.08013222075909687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0009365681545120963,
+                  0.001870282701930459
+                ],
+                "rod_tip_xy": [
+                  0.27041113618301976,
+                  -0.3498446836347219
+                ],
+                "target_mouth_xy": [
+                  0.26947456802850767,
+                  -0.35171496633665233
+                ],
+                "gripper_position": [
+                  0.27040228098879704,
+                  -0.34984522763717424,
+                  1.0017069517344148
+                ],
+                "rod_tip_xy_dist": 0.0020916781045817,
+                "target_xy_drift": 6.544514861504253e-08,
+                "depth": 0.01943069673139386,
+                "bottom_clearance": 0.08000993614607965,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006035073130219054,
+              "rod_tip_xy_max_step": 3.27311260166409e-05,
+              "rod_tip_xy_range": 0.0006034997430688175,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26999045614294787,
+            -0.3511377498454574,
+            1.043427699620742
+          ],
+          "object_origin_world": [
+            0.26999045614294787,
+            -0.3511377498454574,
+            1.043427699620742
+          ],
+          "frame_world": [
+            0.27001581210109016,
+            -0.3511353408937533,
+            1.0437390488891656
+          ],
+          "center_minus_frame": [
+            -2.5355958142292412e-05,
+            -2.4089517041137043e-06,
+            -0.00031134926842346644
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26668170099558647,
+              0.128793687982097,
+              0.8336602346274721
+            ],
+            "target_position": [
+              0.2777971403419588,
+              0.1750983656563817,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04762012354438281,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16920447597517757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336602346274721,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676147639605,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13857729977976074,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dd1779c77bbcf5061d417e3d6523af05d052416d852e52bce93d6b0d2cf127f",
+    "visual_seed": 1677942462509392244,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d32ef4f0482880e3f5ea8bab2a1a64eb2f31a9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_47_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2549827361321727,
+              0.027128461586528315,
+              1.1625229585057586
+            ],
+            "current_z": 1.1625229585057586,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.3014162120724134,
+            "gripper_z": 1.1556927893739768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24980058104216146,
+              0.022262654062487536,
+              1.1556927893739768
+            ],
+            "object_minus_gripper": [
+              0.005182155090011242,
+              0.004865807524040779,
+              0.006830169131781805
+            ],
+            "object_to_gripper_xy": 0.007108502953360946,
+            "object_to_gripper_z": 0.006830169131781805,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2549827361321727,
+              0.002863547790284989,
+              1.1625229585057586
+            ],
+            "finger_b": [
+              0.24409103631314455,
+              0.027128461586528315,
+              1.1625229585057586
+            ],
+            "finger_midpoint": [
+              0.24953688622265863,
+              0.014996004688406651,
+              1.1625229585057586
+            ],
+            "object_minus_finger_midpoint": [
+              0.005445849909514078,
+              0.012132456898121664,
+              0.0
+            ],
+            "finger_gap": 0.026597277426212963,
+            "fingertip_max_gap": 0.09084648768687259,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013298638713106482,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625229585057586,
+            "object_top_z": 1.2124653520787352,
+            "finger_top_clearance": 0.049942393572976584,
+            "fingertip_min_top_clearance": 0.014982718071892975,
+            "object_projection_between_fingers": 0.8323062176671493,
+            "object_to_finger_line_xy": 0.009936586853164526,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0479232438434363,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5171197629651438,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27124653721292763,
+              -0.34459220675424046,
+              0.8515394978924857
+            ],
+            "target_position": [
+              0.2628575471459707,
+              -0.3450242977040076,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00840011053096164,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18476882050746637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394978924857,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520835893159797,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533213275307296,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1534785120924417,
+            "release_required_pad_clearance": 0.05266606637653648,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38966711206508237,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007343709468841553,
+            "max_z_decrease": 0.007343709468841553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510935512497572,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007343709468841553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109043504450836,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007343709468841553,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007343733032741916,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11855747550725934,
+              -0.4012857675552368,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11855747550725934,
+              -0.4012857675552368,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11815195422212996,
+              -0.3998583908669706,
+              0.8078450375219459
+            ],
+            "closest_button": [
+              0.11854686588048932,
+              -0.4012817442417145,
+              0.7727667689323425
+            ],
+            "closest_ee_minus_button": [
+              -0.0003949116583593648,
+              0.0014233533747438631,
+              0.03507826858960339
+            ],
+            "button_min_z_position": [
+              0.1185389161109924,
+              -0.40128448605537415,
+              0.7694651484489441
+            ],
+            "min_active_finger_to_button": 0.14594481346848112,
+            "closest_active_finger": [
+              -0.008629187941551208,
+              -0.46402326226234436,
+              0.8112749457359314
+            ],
+            "closest_active_finger_button": [
+              0.11855575442314147,
+              -0.4012860357761383,
+              0.7768087387084961
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271849423646927,
+              -0.06273722648620605,
+              0.0344662070274353
+            ],
+            "min_contact_pad_to_button": 0.02109043504450836,
+            "closest_contact_pad": [
+              0.1185389161109924,
+              -0.40128448605537415,
+              0.7905555834934525
+            ],
+            "closest_contact_pad_button": [
+              0.1185389161109924,
+              -0.40128448605537415,
+              0.7694651484489441
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109043504450836
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28187967191253743,
+              0.18029847549854705,
+              1.1017363449166608
+            ],
+            "current_z": 1.1017363449166608,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19182721518229828,
+            "gripper_z": 1.1017366230856782,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2818797538910264,
+              0.18029842088694464,
+              1.1017366230856782
+            ],
+            "object_minus_gripper": [
+              -8.19784889416475e-08,
+              5.461160240693985e-08,
+              -2.781690173758733e-07
+            ],
+            "object_to_gripper_xy": 9.850329825244179e-08,
+            "object_to_gripper_z": -2.781690173758733e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28187967191253743,
+              0.18029847549854705,
+              1.1017363449166608
+            ],
+            "finger_b": [
+              0.28187967191253743,
+              0.18029847549854705,
+              1.1017363449166608
+            ],
+            "finger_midpoint": [
+              0.28187967191253743,
+              0.18029847549854705,
+              1.1017363449166608
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017363449166608,
+            "object_top_z": 1.2267448515369406,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28187967191253743,
+            0.18029847549854705,
+            1.101736344916661
+          ],
+          "object_origin_world": [
+            0.28187967191253743,
+            0.18029847549854705,
+            1.101736344916661
+          ],
+          "frame_world": [
+            0.2818797538910264,
+            0.18029842088694464,
+            1.1017366230856782
+          ],
+          "center_minus_frame": [
+            -8.19784889416475e-08,
+            5.461160240693985e-08,
+            -2.781690171538287e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432757501580552,
+            "required_z": 0.911259864310795,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018630101355814955,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3483634321701215e-07,
+            "max_target_xy_drift": 2.409077766105606e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.38966710949105293,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.38966711337735105,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27072843609892056,
+              -0.3463769168006121,
+              0.923385776797928
+            ],
+            "target_mouth_xy": [
+              0.2712465081573529,
+              -0.3445921769476441
+            ],
+            "rod_tip_z": 0.923385776797928,
+            "rod_tip_depth": -0.0221258843999379,
+            "rod_tip_bottom_clearance": 0.12156645181836545,
+            "rod_tip_xy_dist": 0.0018584119566179625,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04438054987405993,
+            "min_rod_tip_bottom_clearance": 0.055060044474015246,
+            "min_rod_tip_xy_dist": 6.171178711192548e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2712465667375712,
+              -0.34459229839391814
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.858021828730742e-08,
+              1.214462740373179e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                6.651357385573098e-05,
+                -2.040355516019776e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -4.471162966085407e-05,
+                -0.00042282811464366965
+              ],
+              "first_target_mouth_xy": [
+                0.27124653817823574,
+                -0.34459226288462486
+              ],
+              "last_target_mouth_xy": [
+                0.27124653562787543,
+                -0.34459229618105824
+              ],
+              "first_rod_tip_xy": [
+                0.27131305175209147,
+                -0.34461266643978505
+              ],
+              "last_rod_tip_xy": [
+                0.2712018239982146,
+                -0.3450151242957019
+              ],
+              "min_rod_tip_xy_dist": 6.171178711192548e-05,
+              "max_rod_tip_xy_dist": 0.0004251855410994706,
+              "first_target_xy_drift": 4.556912936366722e-08,
+              "last_target_xy_drift": 3.118829779644918e-08,
+              "max_depth": 0.01980634624030031,
+              "min_bottom_clearance": 0.07963417426143204
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  6.651357385573098e-05,
+                  -2.040355516019776e-05
+                ],
+                "rod_tip_xy": [
+                  0.27131305175209147,
+                  -0.34461266643978505
+                ],
+                "target_mouth_xy": [
+                  0.27124653817823574,
+                  -0.34459226288462486
+                ],
+                "gripper_position": [
+                  0.2713016746106622,
+                  -0.3446200141102609,
+                  1.0056942199120502
+                ],
+                "rod_tip_xy_dist": 6.957269989181829e-05,
+                "target_xy_drift": 4.556912936366722e-08,
+                "depth": 0.015426434956809065,
+                "bottom_clearance": 0.08401423343295,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  5.513610537988267e-05,
+                  -2.771920908117842e-05
+                ],
+                "rod_tip_xy": [
+                  0.2713016746106621,
+                  -0.3446200141102608
+                ],
+                "target_mouth_xy": [
+                  0.27124653850528224,
+                  -0.3445922949011796
+                ],
+                "gripper_position": [
+                  0.2713049730787907,
+                  -0.3446882336436816,
+                  1.0051764306448754
+                ],
+                "rod_tip_xy_dist": 6.171178711192548e-05,
+                "target_xy_drift": 2.8447519433987736e-08,
+                "depth": 0.015565623479314228,
+                "bottom_clearance": 0.08387497762097684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  5.8405247352788514e-05,
+                  -9.596886020701856e-05
+                ],
+                "rod_tip_xy": [
+                  0.2713049730787907,
+                  -0.34468823364368173
+                ],
+                "target_mouth_xy": [
+                  0.2712465678314379,
+                  -0.3445922647834747
+                ],
+                "gripper_position": [
+                  0.27129358421401073,
+                  -0.3446952108996949,
+                  1.0050375398422968
+                ],
+                "rod_tip_xy_dist": 0.00011234409218011724,
+                "target_xy_drift": 3.362823890504893e-08,
+                "depth": 0.016083474254055763,
+                "bottom_clearance": 0.08335711997162132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  4.704709262259854e-05,
+                  -0.00010291567751624653
+                ],
+                "rod_tip_xy": [
+                  0.27129358421401073,
+                  -0.3446952108996949
+                ],
+                "target_mouth_xy": [
+                  0.27124653712138813,
+                  -0.34459229522217866
+                ],
+                "gripper_position": [
+                  0.2712850220603733,
+                  -0.3446959239853079,
+                  1.00491568521864
+                ],
+                "rod_tip_xy_dist": 0.00011315946978873407,
+                "target_xy_drift": 2.978553727022939e-08,
+                "depth": 0.016222286896907412,
+                "bottom_clearance": 0.08321824966862523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  3.845319983553086e-05,
+                  -0.00010365983637572462
+                ],
+                "rod_tip_xy": [
+                  0.2712850220603733,
+                  -0.3446959239853079
+                ],
+                "target_mouth_xy": [
+                  0.2712465688605378,
+                  -0.3445922641489322
+                ],
+                "gripper_position": [
+                  0.27128931445885734,
+                  -0.34476521599441634,
+                  1.0043983017144016
+                ],
+                "rod_tip_xy_dist": 0.00011056224606543263,
+                "target_xy_drift": 3.4310727919535994e-08,
+                "depth": 0.016344298782798306,
+                "bottom_clearance": 0.08309635772313129,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  4.27779599025957e-05,
+                  -0.00017291918391859618
+                ],
+                "rod_tip_xy": [
+                  0.2712893144588573,
+                  -0.34476521599441634
+                ],
+                "target_mouth_xy": [
+                  0.2712465364989547,
+                  -0.34459229681049774
+                ],
+                "gripper_position": [
+                  0.27127788869093905,
+                  -0.3447720621381747,
+                  1.004259725909075
+                ],
+                "rod_tip_xy_dist": 0.0001781319679914343,
+                "target_xy_drift": 3.0280045375779564e-08,
+                "depth": 0.016861530911338796,
+                "bottom_clearance": 0.08257900315956779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  3.135235286494398e-05,
+                  -0.00017980177613802217
+                ],
+                "rod_tip_xy": [
+                  0.27127788869093905,
+                  -0.3447720621381748
+                ],
+                "target_mouth_xy": [
+                  0.2712465363380741,
+                  -0.3445922603620368
+                ],
+                "gripper_position": [
+                  0.27126927520496513,
+                  -0.34477268329409144,
+                  1.0041377750677432
+                ],
+                "rod_tip_xy_dist": 0.00018251479044876172,
+                "target_xy_drift": 4.868832943701982e-08,
+                "depth": 0.017000185524320033,
+                "bottom_clearance": 0.08244050355554267,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  2.2738671849154013e-05,
+                  -0.00018032624708752554
+                ],
+                "rod_tip_xy": [
+                  0.27126927520496513,
+                  -0.3447726832940915
+                ],
+                "target_mouth_xy": [
+                  0.271246536533116,
+                  -0.34459235704700397
+                ],
+                "gripper_position": [
+                  0.2712743865206258,
+                  -0.3448429338355528,
+                  1.0036227217580704
+                ],
+                "rod_tip_xy_dist": 0.0001817542367762986,
+                "target_xy_drift": 6.597343095905846e-08,
+                "depth": 0.01712212867941032,
+                "bottom_clearance": 0.08231842909790466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  2.7848610995084844e-05,
+                  -0.0002506379842877049
+                ],
+                "rod_tip_xy": [
+                  0.2712743865206258,
+                  -0.34484293383555287
+                ],
+                "target_mouth_xy": [
+                  0.2712465379096307,
+                  -0.34459229585126516
+                ],
+                "gripper_position": [
+                  0.2712627184135306,
+                  -0.34484983391882673,
+                  1.0034840192964793
+                ],
+                "rod_tip_xy_dist": 0.0002521803804861896,
+                "target_xy_drift": 2.893985550126733e-08,
+                "depth": 0.017637164793490867,
+                "bottom_clearance": 0.08180338985134095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  1.620998443407906e-05,
+                  -0.00025753869937750196
+                ],
+                "rod_tip_xy": [
+                  0.2712627184135306,
+                  -0.34484983391882673
+                ],
+                "target_mouth_xy": [
+                  0.27124650842909653,
+                  -0.34459229521944923
+                ],
+                "gripper_position": [
+                  0.27125403049315705,
+                  -0.34485023733952136,
+                  1.0033620654028503
+                ],
+                "rod_tip_xy_dist": 0.00025804833902276606,
+                "target_xy_drift": 5.839482400009476e-08,
+                "depth": 0.017775875834899146,
+                "bottom_clearance": 0.08166470331677922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  7.493177544282137e-06,
+                  -0.00025794148677293904
+                ],
+                "rod_tip_xy": [
+                  0.27125403049315705,
+                  -0.34485023733952147
+                ],
+                "target_mouth_xy": [
+                  0.27124653731561277,
+                  -0.34459229585274853
+                ],
+                "gripper_position": [
+                  0.271245229123116,
+                  -0.344850843288788,
+                  1.0032403773240672
+                ],
+                "rod_tip_xy_dist": 0.00025805030189547234,
+                "target_xy_drift": 2.95314947225507e-08,
+                "depth": 0.017897756775102747,
+                "bottom_clearance": 0.0815427749474592,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -1.3400049536094194e-06,
+                  -0.0002585800907192737
+                ],
+                "rod_tip_xy": [
+                  0.271245229123116,
+                  -0.3448508432887879
+                ],
+                "target_mouth_xy": [
+                  0.2712465691280696,
+                  -0.3445922631980686
+                ],
+                "gripper_position": [
+                  0.271251680258369,
+                  -0.34492317468262956,
+                  1.0027269097840459
+                ],
+                "rod_tip_xy_dist": 0.0002585835627600167,
+                "target_xy_drift": 3.5276937304199543e-08,
+                "depth": 0.018019625858396338,
+                "bottom_clearance": 0.0814210751832497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  5.140797352698456e-06,
+                  -0.00033087819884214387
+                ],
+                "rod_tip_xy": [
+                  0.271251680258369,
+                  -0.3449231746826297
+                ],
+                "target_mouth_xy": [
+                  0.2712465394610163,
+                  -0.34459229648378753
+                ],
+                "gripper_position": [
+                  0.27123978502588697,
+                  -0.34493009544525044,
+                  1.002588217802804
+                ],
+                "rod_tip_xy_dist": 0.00033091813227208145,
+                "target_xy_drift": 2.7343354701935078e-08,
+                "depth": 0.01853300052857232,
+                "bottom_clearance": 0.08090763649669419,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -6.750635178132125e-06,
+                  -0.00033779926662214077
+                ],
+                "rod_tip_xy": [
+                  0.27123978502588697,
+                  -0.34493009544525044
+                ],
+                "target_mouth_xy": [
+                  0.2712465356610651,
+                  -0.3445922961786283
+                ],
+                "gripper_position": [
+                  0.2712310544287645,
+                  -0.34493034927414057,
+                  1.00246705927711
+                ],
+                "rod_tip_xy_dist": 0.00033786671278148193,
+                "target_xy_drift": 3.1155364544197017e-08,
+                "depth": 0.01867161675139417,
+                "bottom_clearance": 0.08076890239451073,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -1.548200310974579e-05,
+                  -0.0003380867007465316
+                ],
+                "rod_tip_xy": [
+                  0.2712310544287645,
+                  -0.34493034927414057
+                ],
+                "target_mouth_xy": [
+                  0.27124653643187424,
+                  -0.34459226257339404
+                ],
+                "gripper_position": [
+                  0.27122229319039004,
+                  -0.3449306319214836,
+                  1.0023452522928948
+                ],
+                "rod_tip_xy_dist": 0.00033844099876044123,
+                "target_xy_drift": 4.692062675111458e-08,
+                "depth": 0.01879281312599368,
+                "bottom_clearance": 0.0806477996678393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -2.4241664434321297e-05,
+                  -0.0003383021236833539
+                ],
+                "rod_tip_xy": [
+                  0.27122229319039004,
+                  -0.34493063192148354
+                ],
+                "target_mouth_xy": [
+                  0.27124653485482436,
+                  -0.3445923297978002
+                ],
+                "gripper_position": [
+                  0.27121335242101363,
+                  -0.34493119388566806,
+                  1.0022237816671962
+                ],
+                "rod_tip_xy_dist": 0.0003391695522643704,
+                "target_xy_drift": 4.475168548061792e-08,
+                "depth": 0.0189146755906473,
+                "bottom_clearance": 0.08052601146347427,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -3.3155813150498314e-05,
+                  -0.0003389278338518098
+                ],
+                "rod_tip_xy": [
+                  0.2712133524210136,
+                  -0.34493119388566806
+                ],
+                "target_mouth_xy": [
+                  0.2712465082341641,
+                  -0.34459226605181625
+                ],
+                "gripper_position": [
+                  0.271204594377929,
+                  -0.3449312184841828,
+                  1.0021017717007905
+                ],
+                "rod_tip_xy_dist": 0.0003405457157345409,
+                "target_xy_drift": 6.684803810791974e-08,
+                "depth": 0.019036105958953442,
+                "bottom_clearance": 0.08040445369286875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -4.1913823211336965e-05,
+                  -0.000338923260724211
+                ],
+                "rod_tip_xy": [
+                  0.27120459437792893,
+                  -0.34493121848418273
+                ],
+                "target_mouth_xy": [
+                  0.27124650820114027,
+                  -0.3445922952234585
+                ],
+                "gripper_position": [
+                  0.27121387429401045,
+                  -0.3450080885817372,
+                  1.0015921161798522
+                ],
+                "rod_tip_xy_dist": 0.00034150511743767865,
+                "target_xy_drift": 5.862222752150915e-08,
+                "depth": 0.019158121562696695,
+                "bottom_clearance": 0.08028244871637258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -3.263493695349062e-05,
+                  -0.00041582284610064413
+                ],
+                "rod_tip_xy": [
+                  0.27121387429401045,
+                  -0.34500808858173715
+                ],
+                "target_mouth_xy": [
+                  0.27124650923096394,
+                  -0.3445922657356365
+                ],
+                "gripper_position": [
+                  0.2712018239982146,
+                  -0.34501512429570186,
+                  1.0014534893659004
+                ],
+                "rod_tip_xy_dist": 0.0004171015205548864,
+                "target_xy_drift": 6.613299658398149e-08,
+                "depth": 0.019667719961878105,
+                "bottom_clearance": 0.079772878438361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -4.471162966085407e-05,
+                  -0.00042282811464366965
+                ],
+                "rod_tip_xy": [
+                  0.2712018239982146,
+                  -0.3450151242957019
+                ],
+                "target_mouth_xy": [
+                  0.27124653562787543,
+                  -0.34459229618105824
+                ],
+                "gripper_position": [
+                  0.2712112834461604,
+                  -0.3450863025780274,
+                  1.0008591073912174
+                ],
+                "rod_tip_xy_dist": 0.0004251855410994706,
+                "target_xy_drift": 3.118829779644918e-08,
+                "depth": 0.01980634624030031,
+                "bottom_clearance": 0.07963417426143204,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005960238260604471,
+              "rod_tip_xy_max_step": 3.2389960616260844e-05,
+              "rod_tip_xy_range": 0.0005960177842267629,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27072843609892056,
+            -0.3463769168006121,
+            1.043385776797928
+          ],
+          "object_origin_world": [
+            0.27072843609892056,
+            -0.3463769168006121,
+            1.043385776797928
+          ],
+          "frame_world": [
+            0.2707269360395411,
+            -0.34638126933756475,
+            1.0432757501580552
+          ],
+          "center_minus_frame": [
+            1.5000593794334272e-06,
+            4.352536952634267e-06,
+            0.0001100266398728067
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27051897985557866,
+              0.13501161221873936,
+              0.8335729278694632
+            ],
+            "target_position": [
+              0.28202782792591324,
+              0.18188289880920694,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04826355861881498,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1705721391555448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335729278694632,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671913869263,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14000272686806847,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69b2251153464cf5b3837e09898359b61ec207cf0107b6341150611843cf4e95",
+    "visual_seed": 1781834993977525624,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39aafd69dab138caaf1152d73835160db500d8bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_48_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2592717175927074,
+              0.03439643806878035,
+              1.1626151258985504
+            ],
+            "current_z": 1.1626151258985504,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.3015084986744947,
+            "gripper_z": 1.155960513628432,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2539032120366345,
+              0.029337515202422698,
+              1.155960513628432
+            ],
+            "object_minus_gripper": [
+              0.005368505556072878,
+              0.005058922866357653,
+              0.006654612270118321
+            ],
+            "object_to_gripper_xy": 0.007376554241198372,
+            "object_to_gripper_z": 0.006654612270118321,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2592717175927074,
+              0.009994257594905015,
+              1.1626151258985504
+            ],
+            "finger_b": [
+              0.24809384777183452,
+              0.03439643806878035,
+              1.1626151258985504
+            ],
+            "finger_midpoint": [
+              0.25368278268227096,
+              0.022195347831842682,
+              1.1626151258985504
+            ],
+            "object_minus_finger_midpoint": [
+              0.005588934910436438,
+              0.012201090236937669,
+              0.0
+            ],
+            "finger_gap": 0.026840476627883556,
+            "fingertip_max_gap": 0.0909934210960136,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013420238313941778,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626151258985504,
+            "object_top_z": 1.2125660403172094,
+            "finger_top_clearance": 0.049950914418658954,
+            "fingertip_min_top_clearance": 0.014985274325597719,
+            "object_projection_between_fingers": 0.8265646394340136,
+            "object_to_finger_line_xy": 0.010162427458499757,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047996710548006805,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7097538427041586,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27294312040050583,
+              -0.3438768647198824,
+              0.8515395967206104
+            ],
+            "target_position": [
+              0.26493273056123307,
+              -0.34424753241260264,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008018961274102213,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840106101033727,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395967206104,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512918211737377,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853062170634226,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528998036344564,
+            "release_required_pad_clearance": 0.052653108531711304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36476848669883344,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007452070713043213,
+            "max_z_decrease": 0.007452070713043213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035112901059140306,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007452070713043213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021090247652145885,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007452070713043213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007452096996312899,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12063265591859818,
+              -0.4005089998245239,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12063265591859818,
+              -0.4005089998245239,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12170054836336536,
+              -0.3999179410689237,
+              0.807776864665767
+            ],
+            "closest_button": [
+              0.12062200903892518,
+              -0.40050655603408813,
+              0.7726854681968689
+            ],
+            "closest_ee_minus_button": [
+              0.0010785393244401725,
+              0.0005886149651644357,
+              0.03509139646889814
+            ],
+            "button_min_z_position": [
+              0.12061293423175812,
+              -0.4005073308944702,
+              0.7693567872047424
+            ],
+            "min_active_finger_to_button": 0.1450099339414671,
+            "closest_active_finger": [
+              -0.005448520183563232,
+              -0.4633423686027527,
+              0.8105398416519165
+            ],
+            "closest_active_finger_button": [
+              0.12063256651163103,
+              -0.400508314371109,
+              0.7761403918266296
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12608108669519424,
+              -0.06283405423164368,
+              0.034399449825286865
+            ],
+            "min_contact_pad_to_button": 0.021090247652145885,
+            "closest_contact_pad": [
+              0.12061293423175812,
+              -0.40092906789219684,
+              0.7904428177447372
+            ],
+            "closest_contact_pad_button": [
+              0.12061293423175812,
+              -0.4005073308944702,
+              0.7693567872047424
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004217369977266294,
+              0.021086030539994804
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2758413589270641,
+              0.18119097434280934,
+              1.1030206250536505
+            ],
+            "current_z": 1.1030206250536505,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19311149531928795,
+            "gripper_z": 1.1030205763126708,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27584130938694845,
+              0.18119098285692492,
+              1.1030205763126708
+            ],
+            "object_minus_gripper": [
+              4.95401156208608e-08,
+              -8.514115579227877e-09,
+              4.874097969675972e-08
+            ],
+            "object_to_gripper_xy": 5.0266422389351595e-08,
+            "object_to_gripper_z": 4.874097969675972e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2758413589270641,
+              0.18119097434280934,
+              1.1030206250536505
+            ],
+            "finger_b": [
+              0.2758413589270641,
+              0.18119097434280934,
+              1.1030206250536505
+            ],
+            "finger_midpoint": [
+              0.2758413589270641,
+              0.18119097434280934,
+              1.1030206250536505
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1030206250536505,
+            "object_top_z": 1.2280291316739302,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2758413589270641,
+            0.18119097434280934,
+            1.1030206250536505
+          ],
+          "object_origin_world": [
+            0.2758413589270641,
+            0.18119097434280934,
+            1.1030206250536505
+          ],
+          "frame_world": [
+            0.27584130938694845,
+            0.18119098285692492,
+            1.1030205763126708
+          ],
+          "center_minus_frame": [
+            4.95401156208608e-08,
+            -8.514115579227877e-09,
+            4.874097969675972e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432749271226431,
+            "required_z": 0.91125989391204,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016597698383193462,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.464709516648308e-08,
+            "max_target_xy_drift": 8.060129130807639e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.36476849566941727,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3647684973720097,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2715691039826445,
+              -0.3429436820453889,
+              0.9233843799555294
+            ],
+            "target_mouth_xy": [
+              0.27294305903032945,
+              -0.34387686441391235
+            ],
+            "rod_tip_z": 0.9233843799555294,
+            "rod_tip_depth": -0.022124520639729695,
+            "rod_tip_bottom_clearance": 0.12156512530298536,
+            "rod_tip_xy_dist": 0.0016608978914978542,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04447643648554911,
+            "min_rod_tip_bottom_clearance": 0.05496409578855366,
+            "min_rod_tip_xy_dist": 0.0009346469572909406,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2729429701942405,
+              -0.3438768970669662
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.883608892951145e-08,
+              3.265305387190054e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0007721670966772121,
+                0.0027228609554660888
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0008887953282039063,
+                0.002326650405863384
+              ],
+              "first_target_mouth_xy": [
+                0.2729430290961655,
+                -0.34387683618763165
+              ],
+              "last_target_mouth_xy": [
+                0.27294299866164773,
+                -0.3438768650444536
+              ],
+              "first_rod_tip_xy": [
+                0.2721708619994883,
+                -0.34115397523216556
+              ],
+              "last_rod_tip_xy": [
+                0.2720542033334438,
+                -0.3415502146385902
+              ],
+              "min_rod_tip_xy_dist": 0.002484563507192836,
+              "max_rod_tip_xy_dist": 0.0028302321120347385,
+              "first_target_xy_drift": 8.470968154414331e-08,
+              "last_target_xy_drift": 4.284664034786073e-08,
+              "max_depth": 0.01951781911212802,
+              "min_bottom_clearance": 0.07992273359054736
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0007721670966772121,
+                  0.0027228609554660888
+                ],
+                "rod_tip_xy": [
+                  0.2721708619994883,
+                  -0.34115397523216556
+                ],
+                "target_mouth_xy": [
+                  0.2729430290961655,
+                  -0.34387683618763165
+                ],
+                "gripper_position": [
+                  0.2721593334926701,
+                  -0.3411611136948778,
+                  1.0059788540069774
+                ],
+                "rod_tip_xy_dist": 0.0028302321120347385,
+                "target_xy_drift": 8.470968154414331e-08,
+                "depth": 0.015142147094093339,
+                "bottom_clearance": 0.0842983957537069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007837269466530183,
+                  0.0027156917364563604
+                ],
+                "rod_tip_xy": [
+                  0.27215933349267013,
+                  -0.34116111369487784
+                ],
+                "target_mouth_xy": [
+                  0.27294306043932315,
+                  -0.3438768054313342
+                ],
+                "gripper_position": [
+                  0.2721620327142025,
+                  -0.3412289866144163,
+                  1.00546173201084
+                ],
+                "rod_tip_xy_dist": 0.0028265189782429243,
+                "target_xy_drift": 1.2861284537586704e-07,
+                "depth": 0.015281064861350724,
+                "bottom_clearance": 0.08415957135532748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.000780996499951836,
+                  0.002647849255839052
+                ],
+                "rod_tip_xy": [
+                  0.27216203271420253,
+                  -0.3412289866144163
+                ],
+                "target_mouth_xy": [
+                  0.27294302921415436,
+                  -0.34387683587025536
+                ],
+                "gripper_position": [
+                  0.2721504486726989,
+                  -0.34123606044841154,
+                  1.0053229587306
+                ],
+                "rod_tip_xy_dist": 0.002760626960417586,
+                "target_xy_drift": 8.501992502365589e-08,
+                "depth": 0.015798104614634156,
+                "bottom_clearance": 0.08364245417528349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007926108170820956,
+                  0.0026407449859170984
+                ],
+                "rod_tip_xy": [
+                  0.27215044867269894,
+                  -0.34123606044841154
+                ],
+                "target_mouth_xy": [
+                  0.27294305948978104,
+                  -0.34387680543432864
+                ],
+                "gripper_position": [
+                  0.27214199904712477,
+                  -0.34123648768431214,
+                  1.0052011790726978
+                ],
+                "rod_tip_xy_dist": 0.0027571300274020164,
+                "target_xy_drift": 1.2794621458948624e-07,
+                "depth": 0.015936952592595977,
+                "bottom_clearance": 0.08350364713864888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000801029382973828,
+                  0.00264034882461478
+                ],
+                "rod_tip_xy": [
+                  0.2721419990471248,
+                  -0.3412364876843122
+                ],
+                "target_mouth_xy": [
+                  0.27294302843009866,
+                  -0.343876836508927
+                ],
+                "gripper_position": [
+                  0.2721457001849511,
+                  -0.34130548739523564,
+                  1.0046836164357982
+                ],
+                "rod_tip_xy_dist": 0.002759182847879437,
+                "target_xy_drift": 8.401601805966535e-08,
+                "depth": 0.016058580329954553,
+                "bottom_clearance": 0.08338192546606449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007973600188773688,
+                  0.0025713475241217476
+                ],
+                "rod_tip_xy": [
+                  0.27214570018495116,
+                  -0.34130548739523564
+                ],
+                "target_mouth_xy": [
+                  0.2729430602038285,
+                  -0.3438768349193574
+                ],
+                "gripper_position": [
+                  0.2721340951805745,
+                  -0.341312583576089,
+                  1.0045452027854016
+                ],
+                "rod_tip_xy_dist": 0.0026921387574772517,
+                "target_xy_drift": 1.093803054348233e-07,
+                "depth": 0.01657630621284112,
+                "bottom_clearance": 0.08286433230345625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008089325446210549,
+                  0.002564254205179528
+                ],
+                "rod_tip_xy": [
+                  0.2721340951805746,
+                  -0.341312583576089
+                ],
+                "target_mouth_xy": [
+                  0.27294302772519563,
+                  -0.34387683778126854
+                ],
+                "gripper_position": [
+                  0.2721255816029485,
+                  -0.3413127459987287,
+                  1.0044237166528405
+                ],
+                "rod_tip_xy_dist": 0.0026888234398204707,
+                "target_xy_drift": 8.261116598807485e-08,
+                "depth": 0.01671463754201652,
+                "bottom_clearance": 0.08272589482928938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008174782893811128,
+                  0.002564090504381944
+                ],
+                "rod_tip_xy": [
+                  0.2721255816029485,
+                  -0.3413127459987288
+                ],
+                "target_mouth_xy": [
+                  0.2729430598923296,
+                  -0.34387683650311074
+                ],
+                "gripper_position": [
+                  0.27213003548231884,
+                  -0.34138309717302995,
+                  1.0039078971274489
+                ],
+                "rod_tip_xy_dist": 0.0026912507999573587,
+                "target_xy_drift": 1.0822997631761332e-07,
+                "depth": 0.01683617513577662,
+                "bottom_clearance": 0.08260439441469303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008129931738485863,
+                  0.002493738698376935
+                ],
+                "rod_tip_xy": [
+                  0.2721300354823189,
+                  -0.3413830971730299
+                ],
+                "target_mouth_xy": [
+                  0.2729430286561675,
+                  -0.3438768358714068
+                ],
+                "gripper_position": [
+                  0.272118293980809,
+                  -0.34138993115575056,
+                  1.003769563125158
+                ],
+                "rod_tip_xy_dist": 0.0026229164295697807,
+                "target_xy_drift": 8.463269695917878e-08,
+                "depth": 0.017351935085802572,
+                "bottom_clearance": 0.08208860230723347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008247666834310663,
+                  0.002486907252896964
+                ],
+                "rod_tip_xy": [
+                  0.27211829398080906,
+                  -0.3413899311557505
+                ],
+                "target_mouth_xy": [
+                  0.2729430606642401,
+                  -0.34387683840864747
+                ],
+                "gripper_position": [
+                  0.27210959186964057,
+                  -0.3413902602206629,
+                  1.0036483620508425
+                ],
+                "rod_tip_xy_dist": 0.002620104533527127,
+                "target_xy_drift": 1.0782216463998606e-07,
+                "depth": 0.017490356189012846,
+                "bottom_clearance": 0.08195028553164396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008334372058184658,
+                  0.002486606092460375
+                ],
+                "rod_tip_xy": [
+                  0.2721095918696406,
+                  -0.34139026022066293
+                ],
+                "target_mouth_xy": [
+                  0.2729430290754591,
+                  -0.3438768663131233
+                ],
+                "gripper_position": [
+                  0.272114773138254,
+                  -0.34146143307192245,
+                  1.0031356096255113
+                ],
+                "rod_tip_xy_dist": 0.0026225612357204447,
+                "target_xy_drift": 6.642888493831694e-08,
+                "depth": 0.017611402395616205,
+                "bottom_clearance": 0.08182912802865583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000828288908531094,
+                  0.002415402485065332
+                ],
+                "rod_tip_xy": [
+                  0.272114773138254,
+                  -0.3414614330719225
+                ],
+                "target_mouth_xy": [
+                  0.2729430620467851,
+                  -0.34387683555698784
+                ],
+                "gripper_position": [
+                  0.27210301989397356,
+                  -0.3414680928690047,
+                  1.0029975129430333
+                ],
+                "rod_tip_xy_dist": 0.0025534744331705012,
+                "target_xy_drift": 1.1054577054505064e-07,
+                "depth": 0.018124316156737486,
+                "bottom_clearance": 0.0813163700604016,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008399789050129169,
+                  0.002408743643809663
+                ],
+                "rod_tip_xy": [
+                  0.2721030198939736,
+                  -0.34146809286900476
+                ],
+                "target_mouth_xy": [
+                  0.27294299879898654,
+                  -0.3438768365128144
+                ],
+                "gripper_position": [
+                  0.2720942456476586,
+                  -0.3414685025437219,
+                  1.0028760414895854
+                ],
+                "rod_tip_xy_dist": 0.00255100186249641,
+                "target_xy_drift": 6.697041731505216e-08,
+                "depth": 0.01826230734096823,
+                "bottom_clearance": 0.0811782048655123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000848815607076947,
+                  0.0024083628158651504
+                ],
+                "rod_tip_xy": [
+                  0.2720942456476586,
+                  -0.3414685025437219
+                ],
+                "target_mouth_xy": [
+                  0.27294306125473555,
+                  -0.34387686535958706
+                ],
+                "gripper_position": [
+                  0.2720854684601971,
+                  -0.34146841232015623,
+                  1.0027547223430797
+                ],
+                "rod_tip_xy_dist": 0.002553566013961519,
+                "target_xy_drift": 9.642287928351924e-08,
+                "depth": 0.01838387801810426,
+                "bottom_clearance": 0.08105677780353826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008575304943373996,
+                  0.0024084539932675564
+                ],
+                "rod_tip_xy": [
+                  0.27208546846019716,
+                  -0.3414684123201563
+                ],
+                "target_mouth_xy": [
+                  0.27294299895453455,
+                  -0.34387686631342385
+                ],
+                "gripper_position": [
+                  0.2720765853325703,
+                  -0.34146875717513403,
+                  1.0026334429027581
+                ],
+                "rod_tip_xy_dist": 0.0025565619856371532,
+                "target_xy_drift": 4.210623328998013e-08,
+                "depth": 0.01850509919522003,
+                "bottom_clearance": 0.08093541902482437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.000866444640285513,
+                  0.002408047629026744
+                ],
+                "rod_tip_xy": [
+                  0.2720765853325703,
+                  -0.341468757175134
+                ],
+                "target_mouth_xy": [
+                  0.2729430299728558,
+                  -0.3438768048041607
+                ],
+                "gripper_position": [
+                  0.2720839851062604,
+                  -0.34154315835715765,
+                  1.0021229586107248
+                ],
+                "rod_tip_xy_dist": 0.002559183404592335,
+                "target_xy_drift": 1.0993592736118233e-07,
+                "depth": 0.018626481979370335,
+                "bottom_clearance": 0.08081415139059345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008590147867268416,
+                  0.0023336771983757942
+                ],
+                "rod_tip_xy": [
+                  0.2720839851062605,
+                  -0.3415431583571576
+                ],
+                "target_mouth_xy": [
+                  0.2729429998929873,
+                  -0.3438768355555334
+                ],
+                "gripper_position": [
+                  0.2720720523925434,
+                  -0.3415499563515517,
+                  1.0019843683594665
+                ],
+                "rod_tip_xy_dist": 0.0024867560535835553,
+                "target_xy_drift": 6.830572399704847e-08,
+                "depth": 0.019136947054167686,
+                "bottom_clearance": 0.0803036414916215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008709470735678848,
+                  0.0023269093270512076
+                ],
+                "rod_tip_xy": [
+                  0.27207205239254345,
+                  -0.3415499563515518
+                ],
+                "target_mouth_xy": [
+                  0.27294299946611134,
+                  -0.343876865678603
+                ],
+                "gripper_position": [
+                  0.27206322590089516,
+                  -0.3415499467600894,
+                  1.0018633075564618
+                ],
+                "rod_tip_xy_dist": 0.002484563507192836,
+                "target_xy_drift": 4.291936355635191e-08,
+                "depth": 0.01927540898078417,
+                "bottom_clearance": 0.0801651516701084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008798348242998189,
+                  0.0023268868968354117
+                ],
+                "rod_tip_xy": [
+                  0.2720632259008952,
+                  -0.3415499467600894
+                ],
+                "target_mouth_xy": [
+                  0.27294306072519503,
+                  -0.3438768336569248
+                ],
+                "gripper_position": [
+                  0.27205420333344377,
+                  -0.34155021463859025,
+                  1.0017420228760485
+                ],
+                "rod_tip_xy_dist": 0.00248767199379561,
+                "target_xy_drift": 1.1052912322109959e-07,
+                "depth": 0.019396701481911527,
+                "bottom_clearance": 0.08004400253294397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008887953282039063,
+                  0.002326650405863384
+                ],
+                "rod_tip_xy": [
+                  0.2720542033334438,
+                  -0.3415502146385902
+                ],
+                "target_mouth_xy": [
+                  0.27294299866164773,
+                  -0.3438768650444536
+                ],
+                "gripper_position": [
+                  0.27204507567278324,
+                  -0.34155027369187907,
+                  1.0016208507746107
+                ],
+                "rod_tip_xy_dist": 0.0024906343060636864,
+                "target_xy_drift": 4.284664034786073e-08,
+                "depth": 0.01951781911212802,
+                "bottom_clearance": 0.07992273359054736,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005969553545018587,
+              "rod_tip_xy_max_step": 3.2399897032688194e-05,
+              "rod_tip_xy_range": 0.0005969515160024174,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2715691039826445,
+            -0.3429436820453889,
+            1.0433843799555294
+          ],
+          "object_origin_world": [
+            0.2715691039826445,
+            -0.3429436820453889,
+            1.0433843799555294
+          ],
+          "frame_world": [
+            0.2715676356828437,
+            -0.3429478614368527,
+            1.0432749271226431
+          ],
+          "center_minus_frame": [
+            1.468299800799766e-06,
+            4.179391463798865e-06,
+            0.00010945283288621432
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2634268286297585,
+              0.13411024704208233,
+              0.8330927073307386
+            ],
+            "target_position": [
+              0.2759811749135097,
+              0.18072401816967748,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04827478916938075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1664331671776059,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330927073307386,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673131430939,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13676690273887573,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "038bf24763de4f4d99f35733e8fd34ba25856d7bba929bd8904e549f39efebce",
+    "visual_seed": 19599221201415980,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae534b44475fc7838f1bd4b36b124f7400879a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2603142636947154,
+              0.031129728482345544,
+              1.1615231257423138
+            ],
+            "current_z": 1.1615231257423138,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30041667733219246,
+            "gripper_z": 1.154641257438442,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25522904518053247,
+              0.02611857991208874,
+              1.154641257438442
+            ],
+            "object_minus_gripper": [
+              0.005085218514182921,
+              0.005011148570256804,
+              0.00688186830387183
+            ],
+            "object_to_gripper_xy": 0.007139401748758475,
+            "object_to_gripper_z": 0.00688186830387183,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2603142636947154,
+              0.007224960607933904,
+              1.1615231257423138
+            ],
+            "finger_b": [
+              0.24885071378053591,
+              0.031129728482345544,
+              1.1615231257423138
+            ],
+            "finger_midpoint": [
+              0.2545824887376257,
+              0.019177344545139724,
+              1.1615231257423138
+            ],
+            "object_minus_finger_midpoint": [
+              0.005731774957089708,
+              0.01195238393720582,
+              0.0
+            ],
+            "finger_gap": 0.02651133538251868,
+            "fingertip_max_gap": 0.09078910302068308,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255667691259328,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615231257423138,
+            "object_top_z": 1.211387101844169,
+            "finger_top_clearance": 0.049863976101855334,
+            "fingertip_min_top_clearance": 0.014959192830556599,
+            "object_projection_between_fingers": 0.813028658096544,
+            "object_to_finger_line_xy": 0.01033646535571676,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789455151034154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5915701645534847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2738939558491885,
+              -0.34264935607942815,
+              0.8515396068059756
+            ],
+            "target_position": [
+              0.26512973376099097,
+              -0.3436586978129879,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008822151639274583,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18504207261702846,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396068059756,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586893870556498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553487844493725,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217020038287823,
+            "release_required_pad_clearance": 0.052767439222468626,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5841661565750045,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007326483726501465,
+            "max_z_decrease": 0.007326483726501465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512829427178322,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007326483726501465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109211642127725,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007326483726501465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073265093406536305,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12082965672016142,
+              -0.3999201655387878,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12082965672016142,
+              -0.3999201655387878,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12198362935124688,
+              -0.39942786745751635,
+              0.8081250382510397
+            ],
+            "closest_button": [
+              0.12082409858703613,
+              -0.3999184370040893,
+              0.7730193138122559
+            ],
+            "closest_ee_minus_button": [
+              0.0011595307642107422,
+              0.0004905695465729498,
+              0.03510572443878379
+            ],
+            "button_min_z_position": [
+              0.120810329914093,
+              -0.39991882443428034,
+              0.7694823741912842
+            ],
+            "min_active_finger_to_button": 0.14496966712843948,
+            "closest_active_finger": [
+              -0.0062545835971832275,
+              -0.4606547951698303,
+              0.8111247420310974
+            ],
+            "closest_active_finger_button": [
+              0.12082797288894652,
+              -0.3999208211898803,
+              0.7768083810806274
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12708255648612976,
+              -0.06073397397995001,
+              0.03431636095046997
+            ],
+            "min_contact_pad_to_button": 0.02109211642127725,
+            "closest_contact_pad": [
+              0.120810329914093,
+              -0.40065446255481707,
+              0.7905616581374795
+            ],
+            "closest_contact_pad_button": [
+              0.120810329914093,
+              -0.39991882443428034,
+              0.7694823741912842
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007356381205367302,
+              0.021079283946195293
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2807863000879973,
+              0.175480566854006,
+              1.102638059990963
+            ],
+            "current_z": 1.102638059990963,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19272893025660054,
+            "gripper_z": 1.1026383287484733,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2807861898759918,
+              0.175480700533661,
+              1.1026383287484733
+            ],
+            "object_minus_gripper": [
+              1.1021200552185917e-07,
+              -1.3367965498445322e-07,
+              -2.687575102466866e-07
+            ],
+            "object_to_gripper_xy": 1.7325396479709424e-07,
+            "object_to_gripper_z": -2.687575102466866e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2807863000879973,
+              0.175480566854006,
+              1.102638059990963
+            ],
+            "finger_b": [
+              0.2807863000879973,
+              0.175480566854006,
+              1.102638059990963
+            ],
+            "finger_midpoint": [
+              0.2807863000879973,
+              0.175480566854006,
+              1.102638059990963
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102638059990963,
+            "object_top_z": 1.2276465666112428,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2807863000879974,
+            0.17548056685400604,
+            1.102638059990963
+          ],
+          "object_origin_world": [
+            0.2807863000879974,
+            0.17548056685400604,
+            1.102638059990963
+          ],
+          "frame_world": [
+            0.2807861898759918,
+            0.175480700533661,
+            1.1026383287484733
+          ],
+          "center_minus_frame": [
+            1.1021200557737032e-07,
+            -1.3367965495669765e-07,
+            -2.687575102466866e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043779105433024,
+            "required_z": 0.9112598928714695,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001992425394343861,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.492117612300143e-10,
+            "max_target_xy_drift": 4.777573283297875e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5841661577105329,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5841661596777423,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2735403117574163,
+              -0.34461708227546706,
+              0.9234689684971192
+            ],
+            "target_mouth_xy": [
+              0.273893955447437,
+              -0.34264932598244535
+            ],
+            "rod_tip_z": 0.9234689684971192,
+            "rod_tip_depth": -0.02220908087402329,
+            "rod_tip_bottom_clearance": 0.12164963352413782,
+            "rod_tip_xy_dist": 0.001999282043189003,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04474092895010806,
+            "min_rod_tip_bottom_clearance": 0.05469962196907974,
+            "min_rod_tip_xy_dist": 0.000222294316745903,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2738939553117177,
+              -0.34264932692190436
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.3571932466760472e-10,
+              9.394590105848977e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00020274200955988642,
+                -0.0002656885154805888
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00010068786861305856,
+                -0.0006491412583028988
+              ],
+              "first_target_mouth_xy": [
+                0.2738939253010624,
+                -0.34264929553494283
+              ],
+              "last_target_mouth_xy": [
+                0.2738939253572481,
+                -0.3426493272424806
+              ],
+              "first_rod_tip_xy": [
+                0.27409666731062227,
+                -0.3429149840504234
+              ],
+              "last_rod_tip_xy": [
+                0.27399461322586116,
+                -0.3432984685007835
+              ],
+              "min_rod_tip_xy_dist": 0.00032894202331724113,
+              "max_rod_tip_xy_dist": 0.0006569036612144215,
+              "first_target_xy_drift": 4.342557754665403e-08,
+              "last_target_xy_drift": 2.9956184944461026e-08,
+              "max_depth": 0.019666787164228094,
+              "min_bottom_clearance": 0.07977377812487119
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00020274200955988642,
+                  -0.0002656885154805888
+                ],
+                "rod_tip_xy": [
+                  0.27409666731062227,
+                  -0.3429149840504234
+                ],
+                "target_mouth_xy": [
+                  0.2738939253010624,
+                  -0.34264929553494283
+                ],
+                "gripper_position": [
+                  0.27408535466057604,
+                  -0.34292211249986665,
+                  1.0058371372352957
+                ],
+                "rod_tip_xy_dist": 0.0003342075847413702,
+                "target_xy_drift": 4.342557754665403e-08,
+                "depth": 0.015282807830247491,
+                "bottom_clearance": 0.08415775500740075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0001914290534146823,
+                  -0.0002728179200295333
+                ],
+                "rod_tip_xy": [
+                  0.274085354660576,
+                  -0.3429221124998668
+                ],
+                "target_mouth_xy": [
+                  0.2738939256071613,
+                  -0.3426492945798373
+                ],
+                "gripper_position": [
+                  0.2740767984431359,
+                  -0.3429227389939448,
+                  1.0057140986585436
+                ],
+                "rod_tip_xy_dist": 0.00033327871216218133,
+                "target_xy_drift": 4.3913209540624894e-08,
+                "depth": 0.015422778822228422,
+                "bottom_clearance": 0.0840178302092599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00018284338106139275,
+                  -0.00027344314346144927
+                ],
+                "rod_tip_xy": [
+                  0.2740767984431358,
+                  -0.3429227389939449
+                ],
+                "target_mouth_xy": [
+                  0.2738939550620744,
+                  -0.3426492958504834
+                ],
+                "gripper_position": [
+                  0.27408153831550164,
+                  -0.34298858396473997,
+                  1.00519412570255
+                ],
+                "rod_tip_xy_dist": 0.00032894202331724113,
+                "target_xy_drift": 3.107242379900697e-08,
+                "depth": 0.015545672664463273,
+                "bottom_clearance": 0.08389487719723776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0001876115513528287,
+                  -0.000339289070641291
+                ],
+                "rod_tip_xy": [
+                  0.2740815383155015,
+                  -0.3429885839647401
+                ],
+                "target_mouth_xy": [
+                  0.2738939267641487,
+                  -0.3426492948940988
+                ],
+                "gripper_position": [
+                  0.27407000975556994,
+                  -0.34299544256390957,
+                  1.0050540416281533
+                ],
+                "rod_tip_xy_dist": 0.0003877050008158858,
+                "target_xy_drift": 4.290389288062716e-08,
+                "depth": 0.016065793747077506,
+                "bottom_clearance": 0.08337484806442841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0001760855586189214,
+                  -0.00034614480689854066
+                ],
+                "rod_tip_xy": [
+                  0.27407000975556983,
+                  -0.3429954425639097
+                ],
+                "target_mouth_xy": [
+                  0.2738939241969509,
+                  -0.34264929775701114
+                ],
+                "gripper_position": [
+                  0.27406144763158596,
+                  -0.34299620968428685,
+                  1.0049310269205576
+                ],
+                "rod_tip_xy_dist": 0.0003883585344716472,
+                "target_xy_drift": 4.2646450115017725e-08,
+                "depth": 0.016205792274256114,
+                "bottom_clearance": 0.08323473915326918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0001675228902879855,
+                  -0.000346944582480635
+                ],
+                "rod_tip_xy": [
+                  0.27406144763158585,
+                  -0.3429962096842869
+                ],
+                "target_mouth_xy": [
+                  0.27389392474129787,
+                  -0.34264926510180627
+                ],
+                "gripper_position": [
+                  0.2740670486070005,
+                  -0.34306331512404503,
+                  1.0044119549755477
+                ],
+                "rod_tip_xy_dist": 0.0003852719326438179,
+                "target_xy_drift": 6.896575306469148e-08,
+                "depth": 0.016328816954231495,
+                "bottom_clearance": 0.08311174733797255,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00017312373727929042,
+                  -0.00041401895202997085
+                ],
+                "rod_tip_xy": [
+                  0.27406704860700043,
+                  -0.3430633151240451
+                ],
+                "target_mouth_xy": [
+                  0.27389392486972114,
+                  -0.3426492961720151
+                ],
+                "gripper_position": [
+                  0.2740555134366017,
+                  -0.3430698780522194,
+                  1.0042721387570162
+                ],
+                "rod_tip_xy_dist": 0.0004487577531915678,
+                "target_xy_drift": 4.32697451073977e-08,
+                "depth": 0.016847867139580752,
+                "bottom_clearance": 0.0825926562355036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0001615861924358919,
+                  -0.0004205828419275859
+                ],
+                "rod_tip_xy": [
+                  0.2740555134366016,
+                  -0.34306987805221945
+                ],
+                "target_mouth_xy": [
+                  0.2738939272441657,
+                  -0.34264929521029186
+                ],
+                "gripper_position": [
+                  0.2740468157360526,
+                  -0.3430704360476769,
+                  1.0041495372382336
+                ],
+                "rod_tip_xy_dist": 0.000450555240242319,
+                "target_xy_drift": 4.234871709911016e-08,
+                "depth": 0.01698777876759472,
+                "bottom_clearance": 0.08245286993651724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00015289166621368366,
+                  -0.0004211398745723183
+                ],
+                "rod_tip_xy": [
+                  0.2740468157360525,
+                  -0.34307043604767695
+                ],
+                "target_mouth_xy": [
+                  0.2738939240698388,
+                  -0.34264929617310463
+                ],
+                "gripper_position": [
+                  0.27405320166969105,
+                  -0.3431384406569964,
+                  1.0036330241224167
+                ],
+                "rod_tip_xy_dist": 0.0004480342124797887,
+                "target_xy_drift": 4.383541581372923e-08,
+                "depth": 0.017110279651641913,
+                "bottom_clearance": 0.08233021525076356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00015924654678611816,
+                  -0.0004891416322662101
+                ],
+                "rod_tip_xy": [
+                  0.27405320166969094,
+                  -0.3431384406569965
+                ],
+                "target_mouth_xy": [
+                  0.2738939551229048,
+                  -0.3426492990247303
+                ],
+                "gripper_position": [
+                  0.2740415004749933,
+                  -0.3431452080424282,
+                  1.0034929350697606
+                ],
+                "rod_tip_xy_dist": 0.0005144113131331343,
+                "target_xy_drift": 2.7897813022370173e-08,
+                "depth": 0.01762684145186799,
+                "bottom_clearance": 0.08181377834443848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00014754393784022213,
+                  -0.0004959112466544346
+                ],
+                "rod_tip_xy": [
+                  0.2740415004749932,
+                  -0.3431452080424283
+                ],
+                "target_mouth_xy": [
+                  0.273893956537153,
+                  -0.3426492967957739
+                ],
+                "gripper_position": [
+                  0.2740327001703162,
+                  -0.343145689958871,
+                  1.0033705044979462
+                ],
+                "rod_tip_xy_dist": 0.0005173946058394451,
+                "target_xy_drift": 3.01510435862937e-08,
+                "depth": 0.01776702161872723,
+                "bottom_clearance": 0.08167357436376343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00013877582105464858,
+                  -0.0004963947349078124
+                ],
+                "rod_tip_xy": [
+                  0.2740327001703161,
+                  -0.34314568995887107
+                ],
+                "target_mouth_xy": [
+                  0.27389392434926146,
+                  -0.34264929522396326
+                ],
+                "gripper_position": [
+                  0.2740237820022631,
+                  -0.34314611086322233,
+                  1.0032477942973654
+                ],
+                "rod_tip_xy_dist": 0.000515428425053944,
+                "target_xy_drift": 4.4310643922991706e-08,
+                "depth": 0.017889270973525995,
+                "bottom_clearance": 0.08155126681499303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00012982656119514546,
+                  -0.0004968470377169631
+                ],
+                "rod_tip_xy": [
+                  0.274023782002263,
+                  -0.34314611086322244
+                ],
+                "target_mouth_xy": [
+                  0.27389395544106787,
+                  -0.3426492638255055
+                ],
+                "gripper_position": [
+                  0.2740315639585059,
+                  -0.34321626897144597,
+                  1.0027334805865005
+                ],
+                "rod_tip_xy_dist": 0.0005135288841729141,
+                "target_xy_drift": 6.309653146992342e-08,
+                "depth": 0.018012139110273107,
+                "bottom_clearance": 0.08142850555177084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00013763870081168195,
+                  -0.0005669442671943914
+                ],
+                "rod_tip_xy": [
+                  0.2740315639585058,
+                  -0.3432162689714461
+                ],
+                "target_mouth_xy": [
+                  0.2738939252576941,
+                  -0.3426493247042517
+                ],
+                "gripper_position": [
+                  0.27401977671826094,
+                  -0.3432229604902227,
+                  1.0025936092051644
+                ],
+                "rod_tip_xy_dist": 0.0005834125590572362,
+                "target_xy_drift": 3.013573152881178e-08,
+                "depth": 0.018526307750278748,
+                "bottom_clearance": 0.08091427631051451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00012582133461713774,
+                  -0.0005736354686763923
+                ],
+                "rod_tip_xy": [
+                  0.27401977671826083,
+                  -0.34322296049022283
+                ],
+                "target_mouth_xy": [
+                  0.2738939553836437,
+                  -0.34264932502154644
+                ],
+                "gripper_position": [
+                  0.2740106743694878,
+                  -0.3432233166000696,
+                  1.0024709839453543
+                ],
+                "rod_tip_xy_dist": 0.0005872722189652955,
+                "target_xy_drift": 1.901718591578346e-09,
+                "depth": 0.018666295168530245,
+                "bottom_clearance": 0.08077428976621193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00011675148637885213,
+                  -0.000573990932129842
+                ],
+                "rod_tip_xy": [
+                  0.27401067436948773,
+                  -0.34322331660006977
+                ],
+                "target_mouth_xy": [
+                  0.2738939228831089,
+                  -0.34264932566793993
+                ],
+                "gripper_position": [
+                  0.27400194501560016,
+                  -0.3432236916058986,
+                  1.0023485720549141
+                ],
+                "rod_tip_xy_dist": 0.000585744397957809,
+                "target_xy_drift": 3.2452844180259744e-08,
+                "depth": 0.01878881515910391,
+                "bottom_clearance": 0.08065173671466586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00010798912501619462,
+                  -0.0005743973413424031
+                ],
+                "rod_tip_xy": [
+                  0.27400194501560005,
+                  -0.3432236916058987
+                ],
+                "target_mouth_xy": [
+                  0.27389395589058385,
+                  -0.3426492942645563
+                ],
+                "gripper_position": [
+                  0.27399293246441103,
+                  -0.34322395392067145,
+                  1.002226119164136
+                ],
+                "rod_tip_xy_dist": 0.0005844603980279454,
+                "target_xy_drift": 3.266247797674041e-08,
+                "depth": 0.018911353421770083,
+                "bottom_clearance": 0.08052928536008552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  9.900886724384383e-05,
+                  -0.0005746577434215805
+                ],
+                "rod_tip_xy": [
+                  0.2739929324644109,
+                  -0.3432239539206715
+                ],
+                "target_mouth_xy": [
+                  0.2738939235971671,
+                  -0.34264929617724993
+                ],
+                "gripper_position": [
+                  0.2739839039644709,
+                  -0.3432244743098373,
+                  1.0021035706037673
+                ],
+                "rod_tip_xy_dist": 0.0005831245817724478,
+                "target_xy_drift": 4.417065197377111e-08,
+                "depth": 0.019033652553265057,
+                "bottom_clearance": 0.08040686056293245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  8.994899033731851e-05,
+                  -0.0005751803588832094
+                ],
+                "rod_tip_xy": [
+                  0.2739839039644708,
+                  -0.3432244743098375
+                ],
+                "target_mouth_xy": [
+                  0.2738939549741335,
+                  -0.3426492939509543
+                ],
+                "gripper_position": [
+                  0.27399461322586127,
+                  -0.3432984685007834,
+                  1.0015930505613875
+                ],
+                "rod_tip_xy_dist": 0.0005821711656443666,
+                "target_xy_drift": 3.297267827067184e-08,
+                "depth": 0.01915629374974559,
+                "bottom_clearance": 0.08028432141868147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00010068786861305856,
+                  -0.0006491412583028988
+                ],
+                "rod_tip_xy": [
+                  0.27399461322586116,
+                  -0.3432984685007835
+                ],
+                "target_mouth_xy": [
+                  0.2738939253572481,
+                  -0.3426493272424806
+                ],
+                "gripper_position": [
+                  0.2739826597238962,
+                  -0.3433052636509311,
+                  1.0014533099791907
+                ],
+                "rod_tip_xy_dist": 0.0006569036612144215,
+                "target_xy_drift": 2.9956184944461026e-08,
+                "depth": 0.019666787164228094,
+                "bottom_clearance": 0.07977377812487119,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006016273267134563,
+              "rod_tip_xy_max_step": 3.264292738504577e-05,
+              "rod_tip_xy_range": 0.0006016204294234815,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27354031175741633,
+            -0.344617082275467,
+            1.0434689684971195
+          ],
+          "object_origin_world": [
+            0.27354031175741633,
+            -0.344617082275467,
+            1.0434689684971195
+          ],
+          "frame_world": [
+            0.2735654624397668,
+            -0.3446144853388178,
+            1.043779105433024
+          ],
+          "center_minus_frame": [
+            -2.5150682350483233e-05,
+            -2.596936649224002e-06,
+            -0.00031013693590464797
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2711369838434667,
+              0.1298732707330326,
+              0.8338166227963082
+            ],
+            "target_position": [
+              0.2809231434244764,
+              0.17727685007812094,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04840318433813084,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1672303020304389,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338166227963082,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674402896713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13576703040962987,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "edcb1224702744189a671d1fc97414cd5587694f4ad7e29d658a9f3114c2c8f1",
+    "visual_seed": 4856947783089708450,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1058bf0bce191be69326f6be51205470b3c78dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_4_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2599535634100457,
+              0.030638986286929543,
+              1.1619961824927931
+            ],
+            "current_z": 1.1619961824927931,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3008894360594483,
+            "gripper_z": 1.1550863975423478,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25483597145749703,
+              0.025751414504024503,
+              1.1550863975423478
+            ],
+            "object_minus_gripper": [
+              0.0051175919525486835,
+              0.00488757178290504,
+              0.0069097849504453634
+            ],
+            "object_to_gripper_xy": 0.007076588537271373,
+            "object_to_gripper_z": 0.0069097849504453634,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2599535634100457,
+              0.00646884706475493,
+              1.1619961824927931
+            ],
+            "finger_b": [
+              0.24896845742187199,
+              0.030638986286929543,
+              1.1619961824927931
+            ],
+            "finger_midpoint": [
+              0.25446101041595887,
+              0.018553916675842237,
+              1.1619961824927931
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492552994086852,
+              0.012085069611087306,
+              0.0
+            ],
+            "finger_gap": 0.026549353732072536,
+            "fingertip_max_gap": 0.09077808488188055,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013274676866036263,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619961824927931,
+            "object_top_z": 1.2118451432115767,
+            "finger_top_clearance": 0.04984896071878353,
+            "fingertip_min_top_clearance": 0.014954688215635092,
+            "object_projection_between_fingers": 0.828801247693314,
+            "object_to_finger_line_xy": 0.010000678125123494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788904244094028,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5066674484095998,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27174944889552183,
+              -0.3439977049563784,
+              0.8515395617073883
+            ],
+            "target_position": [
+              0.2632339981510934,
+              -0.3445597372516495,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008533978068973148,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18369912178583728,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395617073883,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527203809739177,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506772694404709,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521973146710162,
+            "release_required_pad_clearance": 0.052533863472023545,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13705608494474478,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007314205169677734,
+            "max_z_decrease": 0.007314205169677734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035140130641654346,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007314205169677734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108914148127783,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007314205169677734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00731422605983817,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11893392354249957,
+              -0.40082120895385737,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11893392354249957,
+              -0.40082120895385737,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11820466597828111,
+              -0.3989334335047023,
+              0.807848695798589
+            ],
+            "closest_button": [
+              0.11892392486333848,
+              -0.400818407535553,
+              0.7727665305137634
+            ],
+            "closest_ee_minus_button": [
+              -0.000719258885057375,
+              0.0018849740308506946,
+              0.03508216528482555
+            ],
+            "button_min_z_position": [
+              0.11891646683216098,
+              -0.4008202850818634,
+              0.7694946527481079
+            ],
+            "min_active_finger_to_button": 0.1460302952329326,
+            "closest_active_finger": [
+              -0.008905060589313507,
+              -0.4624393582344055,
+              0.8112435936927795
+            ],
+            "closest_active_finger_button": [
+              0.11893206834793092,
+              -0.400821566581726,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12783712893724442,
+              -0.0616177916526795,
+              0.03443491458892822
+            ],
+            "min_contact_pad_to_button": 0.02108914148127783,
+            "closest_contact_pad": [
+              0.11891646683216098,
+              -0.4008202850818634,
+              0.7905837942293857
+            ],
+            "closest_contact_pad_button": [
+              0.11891646683216098,
+              -0.4008202850818634,
+              0.7694946527481079
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108914148127783
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27994241703499684,
+              0.17702830425456673,
+              1.103006125017672
+            ],
+            "current_z": 1.103006125017672,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19309699528330937,
+            "gripper_z": 1.1030062506110971,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2799425560452392,
+              0.17702825109089287,
+              1.1030062506110971
+            ],
+            "object_minus_gripper": [
+              -1.3901024237261694e-07,
+              5.316367385210796e-08,
+              -1.2559342521534234e-07
+            ],
+            "object_to_gripper_xy": 1.4882951220086364e-07,
+            "object_to_gripper_z": -1.2559342521534234e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27994241703499684,
+              0.17702830425456673,
+              1.103006125017672
+            ],
+            "finger_b": [
+              0.27994241703499684,
+              0.17702830425456673,
+              1.103006125017672
+            ],
+            "finger_midpoint": [
+              0.27994241703499684,
+              0.17702830425456673,
+              1.103006125017672
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103006125017672,
+            "object_top_z": 1.2280146316379517,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2799424170349969,
+            0.17702830425456675,
+            1.1030061250176721
+          ],
+          "object_origin_world": [
+            0.2799424170349969,
+            0.17702830425456675,
+            1.1030061250176721
+          ],
+          "frame_world": [
+            0.2799425560452392,
+            0.17702825109089287,
+            1.1030062506110971
+          ],
+          "center_minus_frame": [
+            -1.390102423171058e-07,
+            5.316367387986354e-08,
+            -1.2559342499329773e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432383089040684,
+            "required_z": 0.9112598417989134,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013766353933377183,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.983478977202e-08,
+            "max_target_xy_drift": 1.7967166435862657e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.13705608620522466,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.13705608650837806,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27308779230604185,
+              -0.3443217829850247,
+              0.9233489293102074
+            ],
+            "target_mouth_xy": [
+              0.27174947824291007,
+              -0.3439977639149941
+            ],
+            "rod_tip_z": 0.9233489293102074,
+            "rod_tip_depth": -0.02208909887332544,
+            "rod_tip_bottom_clearance": 0.12152962604700013,
+            "rod_tip_xy_dist": 0.00137697962560083,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04452839324254976,
+            "min_rod_tip_bottom_clearance": 0.05491213915571058,
+            "min_rod_tip_xy_dist": 0.00019152327761153042,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2717494484152237,
+              -0.3439977632639901
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9827686376382445e-08,
+              -6.510039729512584e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0018436644002775004,
+                0.0014469806469291635
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017495573141035892,
+                0.0010428553569106769
+              ],
+              "first_target_mouth_xy": [
+                0.2717494496271365,
+                -0.34399776488307976
+              ],
+              "last_target_mouth_xy": [
+                0.27174944707589027,
+                -0.343997736370568
+              ],
+              "first_rod_tip_xy": [
+                0.273593114027414,
+                -0.3425507842361506
+              ],
+              "last_rod_tip_xy": [
+                0.27349900438999386,
+                -0.34295488101365734
+              ],
+              "min_rod_tip_xy_dist": 0.002036786216265875,
+              "max_rod_tip_xy_dist": 0.002343683300584389,
+              "first_target_xy_drift": 2.0224203022721243e-09,
+              "last_target_xy_drift": 2.6926751870295867e-08,
+              "max_depth": 0.019826562644444823,
+              "min_bottom_clearance": 0.07961400867832602
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0018436644002775004,
+                  0.0014469806469291635
+                ],
+                "rod_tip_xy": [
+                  0.273593114027414,
+                  -0.3425507842361506
+                ],
+                "target_mouth_xy": [
+                  0.2717494496271365,
+                  -0.34399776488307976
+                ],
+                "gripper_position": [
+                  0.27358164856936495,
+                  -0.3425580940861912,
+                  1.0056805242311229
+                ],
+                "rod_tip_xy_dist": 0.002343683300584389,
+                "target_xy_drift": 2.0224203022721243e-09,
+                "depth": 0.015439271687625378,
+                "bottom_clearance": 0.08400126675545538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0018322298319313757,
+                  0.0014396695017311334
+                ],
+                "rod_tip_xy": [
+                  0.2735816485693648,
+                  -0.3425580940861912
+                ],
+                "target_mouth_xy": [
+                  0.2717494187374334,
+                  -0.34399776358792233
+                ],
+                "gripper_position": [
+                  0.2735885728071199,
+                  -0.34262665254921315,
+                  1.005162914433392
+                ],
+                "rod_tip_xy_dist": 0.0023301747640969007,
+                "target_xy_drift": 2.96795580835265e-08,
+                "depth": 0.015579253207511079,
+                "bottom_clearance": 0.08386128939576698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001839090150935696,
+                  0.0013710815423828016
+                ],
+                "rod_tip_xy": [
+                  0.27358857280711973,
+                  -0.3426266525492132
+                ],
+                "target_mouth_xy": [
+                  0.27174948265618404,
+                  -0.343997734091596
+                ],
+                "gripper_position": [
+                  0.27357695394138776,
+                  -0.34263375505183546,
+                  1.0050236240567438
+                ],
+                "rod_tip_xy_dist": 0.0022939305087843185,
+                "target_xy_drift": 4.498301839067101e-08,
+                "depth": 0.0160970109183316,
+                "bottom_clearance": 0.0833436863148389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0018275384381483684,
+                  0.001364010141439942
+                ],
+                "rod_tip_xy": [
+                  0.27357695394138765,
+                  -0.3426337550518356
+                ],
+                "target_mouth_xy": [
+                  0.2717494155032393,
+                  -0.3439977651932755
+                ],
+                "gripper_position": [
+                  0.2735683706615148,
+                  -0.34263439092507786,
+                  1.0049009583465611
+                ],
+                "rod_tip_xy_dist": 0.002280443029075883,
+                "target_xy_drift": 3.2968482833128533e-08,
+                "depth": 0.0162362805601719,
+                "bottom_clearance": 0.08320432440528425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0018189225319396596,
+                  0.0013633435092268442
+                ],
+                "rod_tip_xy": [
+                  0.2735683706615147,
+                  -0.34263439092507797
+                ],
+                "target_mouth_xy": [
+                  0.271749448129575,
+                  -0.3439977344343048
+                ],
+                "gripper_position": [
+                  0.2735762332595141,
+                  -0.34270410464118817,
+                  1.0043842366115114
+                ],
+                "rod_tip_xy_dist": 0.0022731442324121776,
+                "target_xy_drift": 2.883110039505395e-08,
+                "depth": 0.01635886800215902,
+                "bottom_clearance": 0.08308164400485263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001826786384216128,
+                  0.0012936317284348853
+                ],
+                "rod_tip_xy": [
+                  0.27357623325951397,
+                  -0.3427041046411883
+                ],
+                "target_mouth_xy": [
+                  0.27174944687529784,
+                  -0.34399773636962316
+                ],
+                "gripper_position": [
+                  0.27356459188528404,
+                  -0.3427110054204585,
+                  1.004244830758906
+                ],
+                "rod_tip_xy_dist": 0.002238444000275831,
+                "target_xy_drift": 2.6938417651774902e-08,
+                "depth": 0.016875637334534788,
+                "bottom_clearance": 0.08256494171044759,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018151131512472163,
+                  0.0012867290151987731
+                ],
+                "rod_tip_xy": [
+                  0.27356459188528387,
+                  -0.3427110054204585
+                ],
+                "target_mouth_xy": [
+                  0.27174947873403665,
+                  -0.3439977344356573
+                ],
+                "gripper_position": [
+                  0.2735558851848251,
+                  -0.342711474750035,
+                  1.004122253492777
+                ],
+                "rod_tip_xy_dist": 0.0022249286079299275,
+                "target_xy_drift": 4.183662502151742e-08,
+                "depth": 0.017014997860967163,
+                "bottom_clearance": 0.08242553676207776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001806467253584576,
+                  0.0012863212260935675
+                ],
+                "rod_tip_xy": [
+                  0.273555885184825,
+                  -0.34271147475003516
+                ],
+                "target_mouth_xy": [
+                  0.2717494179312404,
+                  -0.34399779597612873
+                ],
+                "gripper_position": [
+                  0.27356466782189093,
+                  -0.34278217810770345,
+                  1.0036075205422739
+                ],
+                "rod_tip_xy_dist": 0.0022176442985682486,
+                "target_xy_drift": 4.4714172799209276e-08,
+                "depth": 0.01713759423650607,
+                "bottom_clearance": 0.08230295171318447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0018152200489646164,
+                  0.0012155858032977807
+                ],
+                "rod_tip_xy": [
+                  0.2735646678218908,
+                  -0.3427821781077035
+                ],
+                "target_mouth_xy": [
+                  0.2717494477729262,
+                  -0.3439977639110013
+                ],
+                "gripper_position": [
+                  0.2735529396481699,
+                  -0.3427890199806932,
+                  1.00346791835599
+                ],
+                "rod_tip_xy_dist": 0.0021846447471710853,
+                "target_xy_drift": 9.116849891952813e-10,
+                "depth": 0.017652322487400673,
+                "bottom_clearance": 0.08178821482805565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0018034915104891414,
+                  0.0012087458712677357
+                ],
+                "rod_tip_xy": [
+                  0.2735529396481698,
+                  -0.34278901998069333
+                ],
+                "target_mouth_xy": [
+                  0.27174944813768065,
+                  -0.34399776585196107
+                ],
+                "gripper_position": [
+                  0.2735441807347485,
+                  -0.3427892915919788,
+                  1.003345752007708
+                ],
+                "rod_tip_xy_dist": 0.0021710937818788948,
+                "target_xy_drift": 2.6028107446378925e-09,
+                "depth": 0.01779191129163371,
+                "bottom_clearance": 0.08164860758287162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001794731668885885,
+                  0.0012084710214630978
+                ],
+                "rod_tip_xy": [
+                  0.2735441807347484,
+                  -0.3427892915919788
+                ],
+                "target_mouth_xy": [
+                  0.2717494490658625,
+                  -0.3439977626134419
+                ],
+                "gripper_position": [
+                  0.2735352200318054,
+                  -0.34278973265915913,
+                  1.0032232607593234
+                ],
+                "rod_tip_xy_dist": 0.002163669099704938,
+                "target_xy_drift": 9.200781867545193e-10,
+                "depth": 0.017914106532473606,
+                "bottom_clearance": 0.08152649086625308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001785742291206427,
+                  0.0012080629944904997
+                ],
+                "rod_tip_xy": [
+                  0.2735352200318053,
+                  -0.34278973265915924
+                ],
+                "target_mouth_xy": [
+                  0.2717494777405989,
+                  -0.34399779565364974
+                ],
+                "gripper_position": [
+                  0.2735455451402968,
+                  -0.34286287282561034,
+                  1.0027107635285937
+                ],
+                "rod_tip_xy_dist": 0.0021559897331064758,
+                "target_xy_drift": 4.3692879054079775e-08,
+                "depth": 0.01803657496976141,
+                "bottom_clearance": 0.08140395157470548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00179609708778955,
+                  0.0011348904374708368
+                ],
+                "rod_tip_xy": [
+                  0.27354554514029666,
+                  -0.34286287282561034
+                ],
+                "target_mouth_xy": [
+                  0.2717494480525071,
+                  -0.3439977632630812
+                ],
+                "gripper_position": [
+                  0.2735336814846227,
+                  -0.34286966843233535,
+                  1.002571399238307
+                ],
+                "rod_tip_xy_dist": 0.0021246037404252234,
+                "target_xy_drift": 3.6271771785857704e-10,
+                "depth": 0.018549082558302454,
+                "bottom_clearance": 0.08089146713612372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017842036215969803,
+                  0.0011280987078665095
+                ],
+                "rod_tip_xy": [
+                  0.2735336814846226,
+                  -0.34286966843233546
+                ],
+                "target_mouth_xy": [
+                  0.2717494778630256,
+                  -0.34399776714020197
+                ],
+                "gripper_position": [
+                  0.27352470293685405,
+                  -0.34286980060443345,
+                  1.002448958544171
+                ],
+                "rod_tip_xy_dist": 0.0021109214239307603,
+                "target_xy_drift": 2.970181907203043e-08,
+                "depth": 0.018688455731263875,
+                "bottom_clearance": 0.08075211212212574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017752531824895557,
+                  0.0011279636301250173
+                ],
+                "rod_tip_xy": [
+                  0.2735247029368539,
+                  -0.3428698006044336
+                ],
+                "target_mouth_xy": [
+                  0.2717494497543643,
+                  -0.34399776423455863
+                ],
+                "gripper_position": [
+                  0.2735157539066242,
+                  -0.3428702119768498,
+                  1.0023268299616337
+                ],
+                "rod_tip_xy_dist": 0.002103289284150923,
+                "target_xy_drift": 1.6538745033261668e-09,
+                "depth": 0.018810936297289804,
+                "bottom_clearance": 0.08062963009533675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00176630483961715,
+                  0.0011275522587956832
+                ],
+                "rod_tip_xy": [
+                  0.273515753906624,
+                  -0.34287021197684986
+                ],
+                "target_mouth_xy": [
+                  0.2717494490670069,
+                  -0.34399776423564554
+                ],
+                "gripper_position": [
+                  0.2735068378694424,
+                  -0.34287040914172867,
+                  1.0022045517330256
+                ],
+                "rod_tip_xy_dist": 0.0020955206710434075,
+                "target_xy_drift": 1.1700152042815722e-09,
+                "depth": 0.01893294017523972,
+                "bottom_clearance": 0.08050759973936372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017573557330646805,
+                  0.00112735443180223
+                ],
+                "rod_tip_xy": [
+                  0.2735068378694423,
+                  -0.34287040914172884
+                ],
+                "target_mouth_xy": [
+                  0.2717494821363776,
+                  -0.34399776357353107
+                ],
+                "gripper_position": [
+                  0.2734978660346816,
+                  -0.3428709205775149,
+                  1.0020822891719103
+                ],
+                "rod_tip_xy_dist": 0.0020878762385350886,
+                "target_xy_drift": 3.372257459944789e-08,
+                "depth": 0.019055375239315997,
+                "bottom_clearance": 0.08038531350537925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017484494115929672,
+                  0.0011268144991361528
+                ],
+                "rod_tip_xy": [
+                  0.2734978660346815,
+                  -0.3428709205775149
+                ],
+                "target_mouth_xy": [
+                  0.27174941662308855,
+                  -0.34399773507665105
+                ],
+                "gripper_position": [
+                  0.2735110584266057,
+                  -0.3429478372933914,
+                  1.0015721780835614
+                ],
+                "rod_tip_xy_dist": 0.0020800928489765193,
+                "target_xy_drift": 4.2488421261043704e-08,
+                "depth": 0.01917757752462179,
+                "bottom_clearance": 0.0802629768149904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0017616090929024053,
+                  0.0010498961698458542
+                ],
+                "rod_tip_xy": [
+                  0.2735110584266056,
+                  -0.3429478372933915
+                ],
+                "target_mouth_xy": [
+                  0.2717494493337032,
+                  -0.34399773346323737
+                ],
+                "gripper_position": [
+                  0.27349900438999397,
+                  -0.34295488101365734,
+                  1.001433305180634
+                ],
+                "rod_tip_xy_dist": 0.002050743417313202,
+                "target_xy_drift": 2.9814903477065524e-08,
+                "depth": 0.01968767102504143,
+                "bottom_clearance": 0.07975291358062864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0017495573141035892,
+                  0.0010428553569106769
+                ],
+                "rod_tip_xy": [
+                  0.27349900438999386,
+                  -0.34295488101365734
+                ],
+                "target_mouth_xy": [
+                  0.27174944707589027,
+                  -0.343997736370568
+                ],
+                "gripper_position": [
+                  0.2735120344871765,
+                  -0.34302645626261785,
+                  1.000839642184566
+                ],
+                "rod_tip_xy_dist": 0.002036786216265875,
+                "target_xy_drift": 2.6926751870295867e-08,
+                "depth": 0.019826562644444823,
+                "bottom_clearance": 0.07961400867832602,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005982205704405105,
+              "rod_tip_xy_max_step": 3.249088301360943e-05,
+              "rod_tip_xy_range": 0.0005982160220416804,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2730877923060419,
+            -0.34432178298502464,
+            1.0433489293102074
+          ],
+          "object_origin_world": [
+            0.2730877923060419,
+            -0.34432178298502464,
+            1.0433489293102074
+          ],
+          "frame_world": [
+            0.2730863686012201,
+            -0.3443261678979903,
+            1.0432383089040684
+          ],
+          "center_minus_frame": [
+            1.4237048218124215e-06,
+            4.38491296567145e-06,
+            0.00011062040613896151
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26933544791022657,
+              0.1291928048797414,
+              0.8337303177734434
+            ],
+            "target_position": [
+              0.28007309641683314,
+              0.1763151919308043,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048330285089595845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16714577747441078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337303177734434,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674613843655,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1368438146444951,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39494cd013073ff2a6060efb200b359fd7dd7fa6cc23af8ce5c8019205fa6dfd",
+    "visual_seed": 350186524647289741,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52488859027a040c867afe865f95a9d2769628d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_50_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25600036068363213,
+              0.030906789881685277,
+              1.1626861845206902
+            ],
+            "current_z": 1.1626861845206902,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.30157949769198966,
+            "gripper_z": 1.1559527297439554,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25082596507451604,
+              0.025981159298363574,
+              1.1559527297439554
+            ],
+            "object_minus_gripper": [
+              0.005174395609116089,
+              0.004925630583321704,
+              0.006733454776734815
+            ],
+            "object_to_gripper_xy": 0.007143962945242225,
+            "object_to_gripper_z": 0.006733454776734815,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25600036068363213,
+              0.006509219832050898,
+              1.1626861845206902
+            ],
+            "finger_b": [
+              0.24519626695910404,
+              0.030906789881685277,
+              1.1626861845206902
+            ],
+            "finger_midpoint": [
+              0.2505983138213681,
+              0.018708004856868087,
+              1.1626861845206902
+            ],
+            "object_minus_finger_midpoint": [
+              0.005402046862264032,
+              0.01219878502481719,
+              0.0
+            ],
+            "finger_gap": 0.02668276345387044,
+            "fingertip_max_gap": 0.09115667503974159,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013341381726935213,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626861845206902,
+            "object_top_z": 1.2126418866140027,
+            "finger_top_clearance": 0.04995570209331257,
+            "fingertip_min_top_clearance": 0.014986710627993737,
+            "object_projection_between_fingers": 0.8360486210738148,
+            "object_to_finger_line_xy": 0.00987879812084283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480783375198708,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8330010634886762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27149241768616433,
+              -0.34887228831923756,
+              0.8515395525141417
+            ],
+            "target_position": [
+              0.2642697631373957,
+              -0.34907712438576965,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007225558562837936,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18486852144490573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395525141417,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542426551732008,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705357377696125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15279723754409277,
+            "release_required_pad_clearance": 0.05352678688848063,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0653649831604826,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007490992546081543,
+            "max_z_decrease": 0.007490992546081543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510436528199803,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007490992546081543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02116519152709224,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007490992546081543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007491014763221471,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11996968835592269,
+              -0.40533858537673945,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11996968835592269,
+              -0.40533858537673945,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11949181509982079,
+              -0.4060654329328091,
+              0.8077054957482868
+            ],
+            "closest_button": [
+              0.11995795369148254,
+              -0.40533640980720514,
+              0.7726117968559265
+            ],
+            "closest_ee_minus_button": [
+              -0.0004661385916617522,
+              -0.000729023125603967,
+              0.03509369889236025
+            ],
+            "button_min_z_position": [
+              0.11995162069797514,
+              -0.40533605217933655,
+              0.7693178653717041
+            ],
+            "min_active_finger_to_button": 0.1465496290876745,
+            "closest_active_finger": [
+              -0.02139671891927719,
+              -0.3877723813056946,
+              0.8110473155975342
+            ],
+            "closest_active_finger_button": [
+              0.11997070163488387,
+              -0.4053382575511932,
+              0.7766454815864563
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14136742055416107,
+              0.0175658762454986,
+              0.03440183401107788
+            ],
+            "min_contact_pad_to_button": 0.02116519152709224,
+            "closest_contact_pad": [
+              0.11995162069797514,
+              -0.40738143019611,
+              0.79038399366209
+            ],
+            "closest_contact_pad_button": [
+              0.11995162069797514,
+              -0.40533605217933655,
+              0.7693178653717041
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002045378016773458,
+              0.0210661282903859
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2839033052145142,
+              0.17846177694077164,
+              1.1016258419091516
+            ],
+            "current_z": 1.1016258419091516,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19171671217478903,
+            "gripper_z": 1.1016261400759877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28390330291731286,
+              0.17846176205308817,
+              1.1016261400759877
+            ],
+            "object_minus_gripper": [
+              2.2972013180577733e-09,
+              1.4887683474906765e-08,
+              -2.981668361101697e-07
+            ],
+            "object_to_gripper_xy": 1.5063872448500697e-08,
+            "object_to_gripper_z": -2.981668361101697e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2839033052145142,
+              0.17846177694077164,
+              1.1016258419091516
+            ],
+            "finger_b": [
+              0.2839033052145142,
+              0.17846177694077164,
+              1.1016258419091516
+            ],
+            "finger_midpoint": [
+              0.2839033052145142,
+              0.17846177694077164,
+              1.1016258419091516
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016258419091516,
+            "object_top_z": 1.2266343485294313,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2839033052145142,
+            0.17846177694077164,
+            1.1016258419091518
+          ],
+          "object_origin_world": [
+            0.2839033052145142,
+            0.17846177694077164,
+            1.1016258419091518
+          ],
+          "frame_world": [
+            0.28390330291731286,
+            0.17846176205308817,
+            1.1016261400759877
+          ],
+          "center_minus_frame": [
+            2.2972013180577733e-09,
+            1.4887683474906765e-08,
+            -2.981668358881251e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043756641936415,
+            "required_z": 0.9112598474705338,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015696256121083064,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.288989161847871e-08,
+            "max_target_xy_drift": 1.586647250815139e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.064985970438497,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.0653649836594576,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27281703829698584,
+              -0.34967639696840846,
+              0.9234461000603998
+            ],
+            "target_mouth_xy": [
+              0.2714923641924681,
+              -0.3488723245334431
+            ],
+            "rod_tip_z": 0.9234461000603998,
+            "rod_tip_depth": -0.022186238408559933,
+            "rod_tip_bottom_clearance": 0.12162689228484436,
+            "rod_tip_xy_dist": 0.0015496109072444854,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0446799175811875,
+            "min_rod_tip_bottom_clearance": 0.05476070909905684,
+            "min_rod_tip_xy_dist": 4.211312408504499e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27149233393898564,
+              -0.3488723549352457
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.025348244145576e-08,
+              3.0401802630919406e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0018332340479265685,
+                0.0008396428070250872
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017432504725411468,
+                0.00046473559635973327
+              ],
+              "first_target_mouth_xy": [
+                0.27149233438873316,
+                -0.34887235304174746
+              ],
+              "last_target_mouth_xy": [
+                0.2714923648359873,
+                -0.3488723216370154
+              ],
+              "first_rod_tip_xy": [
+                0.2733255684366597,
+                -0.3480327102347224
+              ],
+              "last_rod_tip_xy": [
+                0.27323561530852847,
+                -0.3484075860406557
+              ],
+              "min_rod_tip_xy_dist": 0.001804134525067011,
+              "max_rod_tip_xy_dist": 0.0020163697869850657,
+              "first_target_xy_drift": 1.946177905734294e-09,
+              "last_target_xy_drift": 4.542462826301677e-08,
+              "max_depth": 0.01969041171366881,
+              "min_bottom_clearance": 0.07975037354447811
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0018332340479265685,
+                  0.0008396428070250872
+                ],
+                "rod_tip_xy": [
+                  0.2733255684366597,
+                  -0.3480327102347224
+                ],
+                "target_mouth_xy": [
+                  0.27149233438873316,
+                  -0.34887235304174746
+                ],
+                "gripper_position": [
+                  0.27331429970603965,
+                  -0.34803993051973825,
+                  1.0058305785932828
+                ],
+                "rod_tip_xy_dist": 0.0020163697869850657,
+                "target_xy_drift": 1.946177905734294e-09,
+                "depth": 0.015288023504128279,
+                "bottom_clearance": 0.08415267832028428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00182196412813046,
+                  0.0008324244031306938
+                ],
+                "rod_tip_xy": [
+                  0.27331429970603965,
+                  -0.34803993051973825
+                ],
+                "target_mouth_xy": [
+                  0.2714923355779092,
+                  -0.34887235492286894
+                ],
+                "gripper_position": [
+                  0.2733059936163235,
+                  -0.3480406431366031,
+                  1.005707159425419
+                ],
+                "rod_tip_xy_dist": 0.002003118486540843,
+                "target_xy_drift": 1.6389702849790176e-09,
+                "depth": 0.015429281119820337,
+                "bottom_clearance": 0.08401139514797362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0018136277734897566,
+                  0.000831677215841653
+                ],
+                "rod_tip_xy": [
+                  0.2733059936163235,
+                  -0.3480406431366032
+                ],
+                "target_mouth_xy": [
+                  0.27149236584283376,
+                  -0.34887232035244486
+                ],
+                "gripper_position": [
+                  0.27331273245735543,
+                  -0.34810461424784817,
+                  1.0051856789400047
+                ],
+                "rod_tip_xy_dist": 0.0019952274787912116,
+                "target_xy_drift": 4.7051308580050294e-08,
+                "depth": 0.015552790195583976,
+                "bottom_clearance": 0.0838880801761065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0018203687406253555,
+                  0.0007678009300431943
+                ],
+                "rod_tip_xy": [
+                  0.27331273245735543,
+                  -0.3481046142478482
+                ],
+                "target_mouth_xy": [
+                  0.2714923637167301,
+                  -0.3488724151778914
+                ],
+                "gripper_position": [
+                  0.273301404243804,
+                  -0.3481117050431005,
+                  1.0050448873188527
+                ],
+                "rod_tip_xy_dist": 0.001975667132899957,
+                "target_xy_drift": 6.720037518733657e-08,
+                "depth": 0.016074216383652806,
+                "bottom_clearance": 0.08336637390979484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018090713227009725,
+                  0.0007606781339866697
+                ],
+                "rod_tip_xy": [
+                  0.273301404243804,
+                  -0.3481117050431006
+                ],
+                "target_mouth_xy": [
+                  0.27149233292110303,
+                  -0.3488723831770873
+                ],
+                "gripper_position": [
+                  0.2732929156953665,
+                  -0.3481124236833643,
+                  1.0049209929153098
+                ],
+                "rod_tip_xy_dist": 0.0019624908341555353,
+                "target_xy_drift": 2.8260178719671866e-08,
+                "depth": 0.01621498099822627,
+                "bottom_clearance": 0.08322565390961179,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001800551905615233,
+                  0.0007599610642400334
+                ],
+                "rod_tip_xy": [
+                  0.27329291569536646,
+                  -0.34811242368336437
+                ],
+                "target_mouth_xy": [
+                  0.2714923637897512,
+                  -0.3488723847476044
+                ],
+                "gripper_position": [
+                  0.273300475307067,
+                  -0.3481775924370092,
+                  1.0044009216576852
+                ],
+                "rod_tip_xy_dist": 0.0019543612726349987,
+                "target_xy_drift": 4.218820850233509e-08,
+                "depth": 0.016338854728311314,
+                "bottom_clearance": 0.08310176156846072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0018081115283425375,
+                  0.0006947599671198734
+                ],
+                "rod_tip_xy": [
+                  0.273300475307067,
+                  -0.3481775924370093
+                ],
+                "target_mouth_xy": [
+                  0.2714923637787245,
+                  -0.34887235240412917
+                ],
+                "gripper_position": [
+                  0.2732889515225275,
+                  -0.34818441387586424,
+                  1.0042596191032338
+                ],
+                "rod_tip_xy_dist": 0.0019369973440450544,
+                "target_xy_drift": 2.9946895754988365e-08,
+                "depth": 0.01685897200464559,
+                "bottom_clearance": 0.08258173814444125,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001796587665285121,
+                  0.0006879705484507115
+                ],
+                "rod_tip_xy": [
+                  0.27328895152252747,
+                  -0.3481844138758643
+                ],
+                "target_mouth_xy": [
+                  0.27149236385724235,
+                  -0.348872384424315
+                ],
+                "gripper_position": [
+                  0.2732803162910298,
+                  -0.34818519554833677,
+                  1.0041360393902754
+                ],
+                "rod_tip_xy_dist": 0.0019238063090109188,
+                "target_xy_drift": 4.200841930287782e-08,
+                "depth": 0.017000234899035793,
+                "bottom_clearance": 0.08244039589724761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001787983563293627,
+                  0.0006871879490627508
+                ],
+                "rod_tip_xy": [
+                  0.2732803162910298,
+                  -0.3481851955483368
+                ],
+                "target_mouth_xy": [
+                  0.27149233272773615,
+                  -0.3488723834973996
+                ],
+                "gripper_position": [
+                  0.27328881482078093,
+                  -0.34825099925264824,
+                  1.0036184000448505
+                ],
+                "rod_tip_xy_dist": 0.0019154927564324657,
+                "target_xy_drift": 2.8587825357868037e-08,
+                "depth": 0.0171237620942859,
+                "bottom_clearance": 0.08231685374362341,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017964506320239382,
+                  0.0006213223757731701
+                ],
+                "rod_tip_xy": [
+                  0.27328881482078093,
+                  -0.34825099925264824
+                ],
+                "target_mouth_xy": [
+                  0.271492364188757,
+                  -0.3488723216284214
+                ],
+                "gripper_position": [
+                  0.2732772564536859,
+                  -0.34825778145952,
+                  1.003477658511396
+                ],
+                "rod_tip_xy_dist": 0.0019008620065474567,
+                "target_xy_drift": 4.4993257404349406e-08,
+                "depth": 0.0176415738913156,
+                "bottom_clearance": 0.08179918761939753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001784893319355274,
+                  0.0006146023454367544
+                ],
+                "rod_tip_xy": [
+                  0.2732772564536859,
+                  -0.34825778145952013
+                ],
+                "target_mouth_xy": [
+                  0.2714923631343306,
+                  -0.3488723838049569
+                ],
+                "gripper_position": [
+                  0.2732686327021189,
+                  -0.34825848508856266,
+                  1.0033541903078145
+                ],
+                "rod_tip_xy_dist": 0.0018877447402907651,
+                "target_xy_drift": 4.105884060297333e-08,
+                "depth": 0.017782201426738253,
+                "bottom_clearance": 0.08165842546596946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001776297465616361,
+                  0.0006139300852017193
+                ],
+                "rod_tip_xy": [
+                  0.2732686327021188,
+                  -0.3482584850885627
+                ],
+                "target_mouth_xy": [
+                  0.27149233523650246,
+                  -0.34887241517376444
+                ],
+                "gripper_position": [
+                  0.27325979305045167,
+                  -0.3482592428253921,
+                  1.0032303675990606
+                ],
+                "rod_tip_xy_dist": 0.001879399594517062,
+                "target_xy_drift": 6.025249113952325e-08,
+                "depth": 0.017905655180137425,
+                "bottom_clearance": 0.08153498442495344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017674604453271625,
+                  0.000613138757556142
+                ],
+                "rod_tip_xy": [
+                  0.2732597930504516,
+                  -0.3482592428253922
+                ],
+                "target_mouth_xy": [
+                  0.27149233260512445,
+                  -0.34887238158294837
+                ],
+                "gripper_position": [
+                  0.27326980116678284,
+                  -0.348327140259333,
+                  1.0027152261129815
+                ],
+                "rod_tip_xy_dist": 0.0018707900902596158,
+                "target_xy_drift": 2.6681065242791585e-08,
+                "depth": 0.018029527326927863,
+                "bottom_clearance": 0.08141115497800844,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001777470409539017,
+                  0.0005452775325133774
+                ],
+                "rod_tip_xy": [
+                  0.27326980116678284,
+                  -0.3483271402593331
+                ],
+                "target_mouth_xy": [
+                  0.2714923307572438,
+                  -0.34887241779184647
+                ],
+                "gripper_position": [
+                  0.2732580201096632,
+                  -0.3483337394209718,
+                  1.00257447017089
+                ],
+                "rod_tip_xy_dist": 0.001859227969951689,
+                "target_xy_drift": 6.293707762346848e-08,
+                "depth": 0.0185446457764733,
+                "bottom_clearance": 0.0808959436447112,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017657161687412715,
+                  0.0005386427953278372
+                ],
+                "rod_tip_xy": [
+                  0.27325802010966316,
+                  -0.3483337394209718
+                ],
+                "target_mouth_xy": [
+                  0.2714923039409219,
+                  -0.3488723822162996
+                ],
+                "gripper_position": [
+                  0.2732492667286612,
+                  -0.3483343102099778,
+                  1.00245144422861
+                ],
+                "rod_tip_xy_dist": 0.0018460470333967497,
+                "target_xy_drift": 4.054799294450341e-08,
+                "depth": 0.018685481208219,
+                "bottom_clearance": 0.08075521990699996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017569341475990874,
+                  0.0005381056272578677
+                ],
+                "rod_tip_xy": [
+                  0.2732492667286612,
+                  -0.34833431020997796
+                ],
+                "target_mouth_xy": [
+                  0.2714923325810621,
+                  -0.3488724158372358
+                ],
+                "gripper_position": [
+                  0.27324048531008815,
+                  -0.34833475917999795,
+                  1.0023280539336281
+                ],
+                "rod_tip_xy_dist": 0.0018374915687116267,
+                "target_xy_drift": 6.091712695673149e-08,
+                "depth": 0.018808321979205567,
+                "bottom_clearance": 0.08063221794228037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0017481218081832894,
+                  0.0005375618291741935
+                ],
+                "rod_tip_xy": [
+                  0.2732404853100881,
+                  -0.3483347591799981
+                ],
+                "target_mouth_xy": [
+                  0.2714923635019048,
+                  -0.3488723210091723
+                ],
+                "gripper_position": [
+                  0.273231636057211,
+                  -0.34833550484992765,
+                  1.0022046243338623
+                ],
+                "rod_tip_xy_dist": 0.0018289074816488443,
+                "target_xy_drift": 4.499938494859592e-08,
+                "depth": 0.01893198581001021,
+                "bottom_clearance": 0.08050877314289939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0017393328047469736,
+                  0.0005368789664469409
+                ],
+                "rod_tip_xy": [
+                  0.273231636057211,
+                  -0.3483355048499277
+                ],
+                "target_mouth_xy": [
+                  0.27149230325246404,
+                  -0.34887238381637464
+                ],
+                "gripper_position": [
+                  0.27322269638995744,
+                  -0.3483360606542465,
+                  1.0020811909331673
+                ],
+                "rod_tip_xy_dist": 0.001820307015391115,
+                "target_xy_drift": 4.214003104457214e-08,
+                "depth": 0.019055233365492863,
+                "bottom_clearance": 0.08038538279806218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001730364435979015,
+                  0.0005363235039177461
+                ],
+                "rod_tip_xy": [
+                  0.27322269638995744,
+                  -0.3483360606542466
+                ],
+                "target_mouth_xy": [
+                  0.2714923319539784,
+                  -0.34887238415816435
+                ],
+                "gripper_position": [
+                  0.27323561530852847,
+                  -0.34840758604065564,
+                  1.0015695668126519
+                ],
+                "rod_tip_xy_dist": 0.0018115750004224454,
+                "target_xy_drift": 2.9290258235616332e-08,
+                "depth": 0.019178592896250235,
+                "bottom_clearance": 0.080261969671932,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0017432504725411468,
+                  0.00046473559635973327
+                ],
+                "rod_tip_xy": [
+                  0.27323561530852847,
+                  -0.3484075860406557
+                ],
+                "target_mouth_xy": [
+                  0.2714923648359873,
+                  -0.3488723216370154
+                ],
+                "gripper_position": [
+                  0.27322373968922464,
+                  -0.3484144023326326,
+                  1.0014291191675775
+                ],
+                "rod_tip_xy_dist": 0.001804134525067011,
+                "target_xy_drift": 4.542462826301677e-08,
+                "depth": 0.01969041171366881,
+                "bottom_clearance": 0.07975037354447811,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006009246249932073,
+              "rod_tip_xy_max_step": 3.252853341313225e-05,
+              "rod_tip_xy_range": 0.0006009174569386023,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27281703829698584,
+            -0.34967639696840846,
+            1.0434461000603998
+          ],
+          "object_origin_world": [
+            0.27281703829698584,
+            -0.34967639696840846,
+            1.0434461000603998
+          ],
+          "frame_world": [
+            0.2728421684512945,
+            -0.34967341942485136,
+            1.043756641936415
+          ],
+          "center_minus_frame": [
+            -2.513015430866128e-05,
+            -2.977543557103335e-06,
+            -0.00031054187601520233
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27240060773989405,
+              0.1322287465656334,
+              0.833022202469728
+            ],
+            "target_position": [
+              0.28403480985796437,
+              0.17848059868371802,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04769264600834472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1671683286862779,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833022202469728,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674381519397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13682255579972993,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3413cc8905a761842e75cf9cbc69e1ce087976e3b95aa6f047f3b4d8c25e4156",
+    "visual_seed": 9124089820165426486,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..439ef18786caec925ad31968b81f8af47172b966
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_51_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25536719188736834,
+              0.025867230077031053,
+              1.163910441770501
+            ],
+            "current_z": 1.163910441770501,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.30280381454644567,
+            "gripper_z": 1.157021620903828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25048544322117183,
+              0.020946062379184754,
+              1.157021620903828
+            ],
+            "object_minus_gripper": [
+              0.004881748666196506,
+              0.004921167697846299,
+              0.006888820866673084
+            ],
+            "object_to_gripper_xy": 0.006931764677932828,
+            "object_to_gripper_z": 0.006888820866673084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25536719188736834,
+              0.002009612878546725,
+              1.163910441770501
+            ],
+            "finger_b": [
+              0.24413856959917649,
+              0.025867230077031053,
+              1.163910441770501
+            ],
+            "finger_midpoint": [
+              0.2497528807432724,
+              0.01393842147778889,
+              1.163910441770501
+            ],
+            "object_minus_finger_midpoint": [
+              0.00561431114409594,
+              0.011928808599242164,
+              0.0
+            ],
+            "finger_gap": 0.02636793235883872,
+            "fingertip_max_gap": 0.09094250874283591,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013183966179419365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163910441770501,
+            "object_top_z": 1.2138665340958261,
+            "finger_top_clearance": 0.04995609232532505,
+            "fingertip_min_top_clearance": 0.014986827697597549,
+            "object_projection_between_fingers": 0.8186570006894672,
+            "object_to_finger_line_xy": 0.010159619972183847,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797125437141796,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5351757885722213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2713865550022809,
+              -0.3483783513069551,
+              0.8515395579636288
+            ],
+            "target_position": [
+              0.2630531143149192,
+              -0.3491026854801844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008364860649424115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18337866334243913,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395579636288,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528323773236725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564699057880344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15195713784902753,
+            "release_required_pad_clearance": 0.05282349528940172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6921003212403551,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007693171501159668,
+            "max_z_decrease": 0.007693171501159668,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508459653486326,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007693171501159668,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115393724723974,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007693171501159668,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007693195115403678,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1187530383467674,
+              -0.40536415576934814,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1187530383467674,
+              -0.40536415576934814,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1189316952160058,
+              -0.40596264544616095,
+              0.8074119950484393
+            ],
+            "closest_button": [
+              0.11874110996723174,
+              -0.4053604006767273,
+              0.7723330855369568
+            ],
+            "closest_ee_minus_button": [
+              0.0001905852487740639,
+              -0.0006022447694336575,
+              0.035078909511482514
+            ],
+            "button_min_z_position": [
+              0.11873424053192136,
+              -0.40536099672317505,
+              0.769115686416626
+            ],
+            "min_active_finger_to_button": 0.14596682936580374,
+            "closest_active_finger": [
+              -0.02232556790113449,
+              -0.39079535007476807,
+              0.8109851479530334
+            ],
+            "closest_active_finger_button": [
+              0.11875344812870021,
+              -0.4053634405136108,
+              0.7764772176742554
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410790160298347,
+              0.014568090438842718,
+              0.034507930278778076
+            ],
+            "min_contact_pad_to_button": 0.02115393724723974,
+            "closest_contact_pad": [
+              0.11873424053192136,
+              -0.40701862240726033,
+              0.7902045777613984
+            ],
+            "closest_contact_pad_button": [
+              0.11873424053192136,
+              -0.40536099672317505,
+              0.769115686416626
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016576256840852843,
+              0.02108889134477243
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2818705235322601,
+              0.1779221234823626,
+              1.1024156493468156
+            ],
+            "current_z": 1.1024156493468156,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19250651961245302,
+            "gripper_z": 1.102415609491893,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2818704640288376,
+              0.1779221382143107,
+              1.102415609491893
+            ],
+            "object_minus_gripper": [
+              5.950342252258878e-08,
+              -1.4731948078106072e-08,
+              3.9854922473381293e-08
+            ],
+            "object_to_gripper_xy": 6.129998031058199e-08,
+            "object_to_gripper_z": 3.9854922473381293e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2818705235322601,
+              0.1779221234823626,
+              1.1024156493468156
+            ],
+            "finger_b": [
+              0.2818705235322601,
+              0.1779221234823626,
+              1.1024156493468156
+            ],
+            "finger_midpoint": [
+              0.2818705235322601,
+              0.1779221234823626,
+              1.1024156493468156
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1024156493468156,
+            "object_top_z": 1.2274241559670953,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2818705235322601,
+            0.17792212348236264,
+            1.1024156493468156
+          ],
+          "object_origin_world": [
+            0.2818705235322601,
+            0.17792212348236264,
+            1.1024156493468156
+          ],
+          "frame_world": [
+            0.2818704640288376,
+            0.1779221382143107,
+            1.102415609491893
+          ],
+          "center_minus_frame": [
+            5.950342252258878e-08,
+            -1.4731948050350496e-08,
+            3.9854922473381293e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432137312617213,
+            "required_z": 0.9112598909770981,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021552889459002292,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.447709937698173e-08,
+            "max_target_xy_drift": 4.0719490009657904e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6921003218717721,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6932302858605549,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2719948817214619,
+              -0.3504413548069568,
+              0.9233250271233758
+            ],
+            "target_mouth_xy": [
+              0.27138649476693044,
+              -0.34837835003452333
+            ],
+            "rod_tip_z": 0.9233250271233758,
+            "rod_tip_depth": -0.02206518939654578,
+            "rod_tip_bottom_clearance": 0.12150573436666656,
+            "rod_tip_xy_dist": 0.0021508424808728823,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04454084670795633,
+            "min_rod_tip_bottom_clearance": 0.05489982717728281,
+            "min_rod_tip_xy_dist": 0.0009715068588967988,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.271386556158572,
+              -0.3483784080642284
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.139164154816967e-08,
+              5.802970504120708e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0011545634030430407,
+                -0.0002450599431033096
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010533347268631976,
+                -0.0006564153054297583
+              ],
+              "first_target_mouth_xy": [
+                0.27138652513874273,
+                -0.348378378248806
+              ],
+              "last_target_mouth_xy": [
+                0.2713864956492379,
+                -0.3483784067887398
+              ],
+              "first_rod_tip_xy": [
+                0.27254108854178577,
+                -0.34862343819190933
+              ],
+              "last_rod_tip_xy": [
+                0.2724398303761011,
+                -0.3490348220941696
+              ],
+              "min_rod_tip_xy_dist": 0.0011709533996161054,
+              "max_rod_tip_xy_dist": 0.0012548678898709337,
+              "first_target_xy_drift": 4.302544848658177e-08,
+              "last_target_xy_drift": 6.052277574700407e-08,
+              "max_depth": 0.019594128444905823,
+              "min_bottom_clearance": 0.07984645340944085
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0011545634030430407,
+                  -0.0002450599431033096
+                ],
+                "rod_tip_xy": [
+                  0.27254108854178577,
+                  -0.34862343819190933
+                ],
+                "target_mouth_xy": [
+                  0.27138652513874273,
+                  -0.348378378248806
+                ],
+                "gripper_position": [
+                  0.2725299062581513,
+                  -0.3486309874222876,
+                  1.0059344531870773
+                ],
+                "rod_tip_xy_dist": 0.0011802842993788082,
+                "target_xy_drift": 4.302544848658177e-08,
+                "depth": 0.015184496165078776,
+                "bottom_clearance": 0.08425602905353269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011433808763349762,
+                  -0.00025261044258695353
+                ],
+                "rod_tip_xy": [
+                  0.2725299062581514,
+                  -0.3486309874222877
+                ],
+                "target_mouth_xy": [
+                  0.2713865253818164,
+                  -0.34837837697970075
+                ],
+                "gripper_position": [
+                  0.27253499244180657,
+                  -0.34870046017405615,
+                  1.0054158575149452
+                ],
+                "rod_tip_xy_dist": 0.0011709533996161054,
+                "target_xy_drift": 4.374307421551005e-08,
+                "depth": 0.0153253929792595,
+                "bottom_clearance": 0.08411518639956828,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001148468530502933,
+                  -0.0003220825684534523
+                ],
+                "rod_tip_xy": [
+                  0.2725349924418066,
+                  -0.3487004601740562
+                ],
+                "target_mouth_xy": [
+                  0.2713865239113037,
+                  -0.34837837760560275
+                ],
+                "gripper_position": [
+                  0.27252370077971966,
+                  -0.34870769076868474,
+                  1.0052754383610698
+                ],
+                "rod_tip_xy_dist": 0.0011927770732442584,
+                "target_xy_drift": 4.4357797370692525e-08,
+                "depth": 0.015843978553603866,
+                "bottom_clearance": 0.08359654766897584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001137175279443181,
+                  -0.00032931410484010604
+                ],
+                "rod_tip_xy": [
+                  0.2725237007797197,
+                  -0.3487076907686849
+                ],
+                "target_mouth_xy": [
+                  0.27138652550027653,
+                  -0.3483783766638448
+                ],
+                "gripper_position": [
+                  0.2725154240894886,
+                  -0.34870855702977166,
+                  1.0051519689601178
+                ],
+                "rod_tip_xy_dist": 0.0011838983891463478,
+                "target_xy_drift": 4.388525001403745e-08,
+                "depth": 0.015984473982993408,
+                "bottom_clearance": 0.08345612112498169,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011288985519347094,
+                  -0.00033014866082869965
+                ],
+                "rod_tip_xy": [
+                  0.27251542408948864,
+                  -0.34870855702977177
+                ],
+                "target_mouth_xy": [
+                  0.27138652553755394,
+                  -0.34837840836894307
+                ],
+                "gripper_position": [
+                  0.2725213864200392,
+                  -0.3487790233183329,
+                  1.0046332050137683
+                ],
+                "rod_tip_xy_dist": 0.0011761845428363985,
+                "target_xy_drift": 3.062253414957363e-08,
+                "depth": 0.016107853475955336,
+                "bottom_clearance": 0.08333268238305891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00113482960299216,
+                  -0.0004006466500500183
+                ],
+                "rod_tip_xy": [
+                  0.2725213864200392,
+                  -0.348779023318333
+                ],
+                "target_mouth_xy": [
+                  0.27138655681704704,
+                  -0.348378376668283
+                ],
+                "gripper_position": [
+                  0.27250983026139963,
+                  -0.34878653661512815,
+                  1.0044931279721074
+                ],
+                "rod_tip_xy_dist": 0.0012034766163177603,
+                "target_xy_drift": 3.140284982120416e-08,
+                "depth": 0.016626779230835442,
+                "bottom_clearance": 0.08281387459133538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011233036406368413,
+                  -0.0004080993959131307
+                ],
+                "rod_tip_xy": [
+                  0.27250983026139963,
+                  -0.34878653661512815
+                ],
+                "target_mouth_xy": [
+                  0.2713865266207628,
+                  -0.348378437219215
+                ],
+                "gripper_position": [
+                  0.27250150788444627,
+                  -0.3487871471788814,
+                  1.0043695433683784
+                ],
+                "rod_tip_xy_dist": 0.001195138563519998,
+                "target_xy_drift": 4.1502956745816325e-08,
+                "depth": 0.01676677665768922,
+                "bottom_clearance": 0.08267382852553362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011149554455991972,
+                  -0.00040873724356499386
+                ],
+                "rod_tip_xy": [
+                  0.2725015078844463,
+                  -0.3487871471788815
+                ],
+                "target_mouth_xy": [
+                  0.27138655243884713,
+                  -0.3483784099353165
+                ],
+                "gripper_position": [
+                  0.2725084198656368,
+                  -0.34885890240697437,
+                  1.0038525563539347
+                ],
+                "rod_tip_xy_dist": 0.0011875149598840487,
+                "target_xy_drift": 4.16381120963293e-09,
+                "depth": 0.01689034561289826,
+                "bottom_clearance": 0.08255025840211683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001121895004146778,
+                  -0.0004805247937053614
+                ],
+                "rod_tip_xy": [
+                  0.27250841986563684,
+                  -0.3488589024069745
+                ],
+                "target_mouth_xy": [
+                  0.27138652486149006,
+                  -0.3483783776132691
+                ],
+                "gripper_position": [
+                  0.2724967576078595,
+                  -0.3488661194825024,
+                  1.0037123140309712
+                ],
+                "rod_tip_xy_dist": 0.0012204722355281495,
+                "target_xy_drift": 4.366655764522456e-08,
+                "depth": 0.01740727431191391,
+                "bottom_clearance": 0.08203326251525744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011101993625196038,
+                  -0.00048774344092039623
+                ],
+                "rod_tip_xy": [
+                  0.2724967576078596,
+                  -0.34886611948250246
+                ],
+                "target_mouth_xy": [
+                  0.27138655824533997,
+                  -0.34837837604158206
+                ],
+                "gripper_position": [
+                  0.27248820303394455,
+                  -0.34886691335653147,
+                  1.003589100184467
+                ],
+                "rod_tip_xy_dist": 0.0012126154743775138,
+                "target_xy_drift": 3.2090566798592066e-08,
+                "depth": 0.017547633380107563,
+                "bottom_clearance": 0.08189309799408095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001101649675322447,
+                  -0.0004885027875431991
+                ],
+                "rod_tip_xy": [
+                  0.2724882030339446,
+                  -0.3488669133565315
+                ],
+                "target_mouth_xy": [
+                  0.27138655335862216,
+                  -0.34837841056898833
+                ],
+                "gripper_position": [
+                  0.2724796242610597,
+                  -0.34886764210587906,
+                  1.003466144794308
+                ],
+                "rod_tip_xy_dist": 0.0012051004026949492,
+                "target_xy_drift": 3.756799365013606e-09,
+                "depth": 0.017670771624974768,
+                "bottom_clearance": 0.08176981894141411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010929740886607697,
+                  -0.000489421111187549
+                ],
+                "rod_tip_xy": [
+                  0.2724796242610597,
+                  -0.34886764210587917
+                ],
+                "target_mouth_xy": [
+                  0.27138665017239894,
+                  -0.3483782209946916
+                ],
+                "gripper_position": [
+                  0.27248802282116413,
+                  -0.34894154712932784,
+                  1.0029507263098265
+                ],
+                "rod_tip_xy_dist": 0.0011975497411631365,
+                "target_xy_drift": 2.0936478031619646e-07,
+                "depth": 0.01779398964500689,
+                "bottom_clearance": 0.08164705171368103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011014985619579032,
+                  -0.0005631679323658267
+                ],
+                "rod_tip_xy": [
+                  0.2724880228211642,
+                  -0.3489415471293279
+                ],
+                "target_mouth_xy": [
+                  0.2713865242592063,
+                  -0.3483783791969621
+                ],
+                "gripper_position": [
+                  0.27247633726364306,
+                  -0.34894865584933604,
+                  1.002810363102417
+                ],
+                "rod_tip_xy_dist": 0.0012371164868517958,
+                "target_xy_drift": 4.302195481330875e-08,
+                "depth": 0.01830909752085008,
+                "bottom_clearance": 0.08113141249739331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010898093970029277,
+                  -0.0005702477778796178
+                ],
+                "rod_tip_xy": [
+                  0.2724763372636431,
+                  -0.3489486558493361
+                ],
+                "target_mouth_xy": [
+                  0.2713865278666402,
+                  -0.3483784080714565
+                ],
+                "gripper_position": [
+                  0.2724676391529304,
+                  -0.34894905163279394,
+                  1.002687141693805
+                ],
+                "rod_tip_xy_dist": 0.0012299866056069582,
+                "target_xy_drift": 2.8291932720648727e-08,
+                "depth": 0.01844959968185711,
+                "bottom_clearance": 0.08099103084950932,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010811724743335915,
+                  -0.0005706442055039007
+                ],
+                "rod_tip_xy": [
+                  0.2724676391529304,
+                  -0.348949051632794
+                ],
+                "target_mouth_xy": [
+                  0.2713864666785968,
+                  -0.3483784074272901
+                ],
+                "gripper_position": [
+                  0.2724588298306747,
+                  -0.3489496664126565,
+                  1.0025639233580834
+                ],
+                "rod_tip_xy_dist": 0.0012225255533246733,
+                "target_xy_drift": 8.948224211229236e-08,
+                "depth": 0.01857275999408381,
+                "bottom_clearance": 0.08086783170363876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010723349135756122,
+                  -0.000571287519313568
+                ],
+                "rod_tip_xy": [
+                  0.2724588298306747,
+                  -0.34894966641265657
+                ],
+                "target_mouth_xy": [
+                  0.2713864949170991,
+                  -0.348378378893343
+                ],
+                "gripper_position": [
+                  0.27245004221161606,
+                  -0.34895010101757556,
+                  1.0024405667238978
+                ],
+                "rod_tip_xy_dist": 0.0012150191754028684,
+                "target_xy_drift": 6.783405159348205e-08,
+                "depth": 0.01869589859177212,
+                "bottom_clearance": 0.08074461795095267,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010635159546418804,
+                  -0.0005716939150965383
+                ],
+                "rod_tip_xy": [
+                  0.2724500422116161,
+                  -0.3489501010175756
+                ],
+                "target_mouth_xy": [
+                  0.27138652625697424,
+                  -0.3483784071024791
+                ],
+                "gripper_position": [
+                  0.2724606484706503,
+                  -0.34902721682720744,
+                  1.0019287596526802
+                ],
+                "rod_tip_xy_dist": 0.0012074353474767245,
+                "target_xy_drift": 2.9917060515791914e-08,
+                "depth": 0.01881934051432388,
+                "bottom_clearance": 0.08062126160385075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010741231754953229,
+                  -0.0006488087737484549
+                ],
+                "rod_tip_xy": [
+                  0.2724606484706504,
+                  -0.3490272168272075
+                ],
+                "target_mouth_xy": [
+                  0.27138652529515506,
+                  -0.34837840805345904
+                ],
+                "gripper_position": [
+                  0.27244878612865275,
+                  -0.34903445104416125,
+                  1.0017886531179236
+                ],
+                "rod_tip_xy_dist": 0.0012548678898709337,
+                "target_xy_drift": 3.086341881215639e-08,
+                "depth": 0.019331063237093882,
+                "bottom_clearance": 0.08010946798213048,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010622578897259705,
+                  -0.0006560746839146536
+                ],
+                "rod_tip_xy": [
+                  0.2724487861286528,
+                  -0.3490344510441613
+                ],
+                "target_mouth_xy": [
+                  0.27138652823892684,
+                  -0.34837837636024666
+                ],
+                "gripper_position": [
+                  0.2724398303761011,
+                  -0.3490348220941695,
+                  1.0016657181725999
+                ],
+                "rod_tip_xy_dist": 0.0012485294610696156,
+                "target_xy_drift": 4.2245106724145235e-08,
+                "depth": 0.019471346580978488,
+                "bottom_clearance": 0.07996936564798729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010533347268631976,
+                  -0.0006564153054297583
+                ],
+                "rod_tip_xy": [
+                  0.2724398303761011,
+                  -0.3490348220941696
+                ],
+                "target_mouth_xy": [
+                  0.2713864956492379,
+                  -0.3483784067887398
+                ],
+                "gripper_position": [
+                  0.2724308277310571,
+                  -0.3490353792643128,
+                  1.0015425250928323
+                ],
+                "rod_tip_xy_dist": 0.0012411265447239497,
+                "target_xy_drift": 6.052277574700407e-08,
+                "depth": 0.019594128444905823,
+                "bottom_clearance": 0.07984645340944085,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005977094695900648,
+              "rod_tip_xy_max_step": 3.2560843283266214e-05,
+              "rod_tip_xy_range": 0.0005977035321406896,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2719948817214619,
+            -0.35044135480695676,
+            1.0433250271233758
+          ],
+          "object_origin_world": [
+            0.2719948817214619,
+            -0.35044135480695676,
+            1.0433250271233758
+          ],
+          "frame_world": [
+            0.2719933138055086,
+            -0.3504464508770208,
+            1.0432137312617213
+          ],
+          "center_minus_frame": [
+            1.5679159532933085e-06,
+            5.096070064047886e-06,
+            0.00011129586165448124
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2700102190470066,
+              0.13297226215402488,
+              0.8330292591670398
+            ],
+            "target_position": [
+              0.2819970280312342,
+              0.17973966404821445,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04827912043064793,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16658190048786653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330292591670398,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567262416718,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1364978324817286,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3aa32c1bb180ff06f2ac63755202cb1cee3cbfb5db5c1975590f1ce719cbef65",
+    "visual_seed": 7334721124019639985,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..376cc1add5d0d70f50263e441d6b413eff8c1fa5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_52_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.260546925037873,
+              0.031890109891549084,
+              1.161210890879464
+            ],
+            "current_z": 1.161210890879464,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3001043232600532,
+            "gripper_z": 1.1543326430157081,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2553408606388758,
+              0.02695905662286731,
+              1.1543326430157081
+            ],
+            "object_minus_gripper": [
+              0.005206064398997234,
+              0.004931053268681776,
+              0.006878247863755904
+            ],
+            "object_to_gripper_xy": 0.007170661954456064,
+            "object_to_gripper_z": 0.006878247863755904,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.260546925037873,
+              0.007645552217467645,
+              1.161210890879464
+            ],
+            "finger_b": [
+              0.24951368119179418,
+              0.031890109891549084,
+              1.161210890879464
+            ],
+            "finger_midpoint": [
+              0.2550303031148336,
+              0.019767831054508366,
+              1.161210890879464
+            ],
+            "object_minus_finger_midpoint": [
+              0.005516621923039422,
+              0.012122278837040718,
+              0.0
+            ],
+            "finger_gap": 0.02663702398127272,
+            "fingertip_max_gap": 0.0905757212949708,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013318511990636358,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161210890879464,
+            "object_top_z": 1.2110862659741803,
+            "finger_top_clearance": 0.04987537509471629,
+            "fingertip_min_top_clearance": 0.01496261252841492,
+            "object_projection_between_fingers": 0.8284324972755082,
+            "object_to_finger_line_xy": 0.010042267369903145,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477878606474854,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2656048314896418,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26844762745439543,
+              -0.35048915268962855,
+              0.8515395608825946
+            ],
+            "target_position": [
+              0.2597454371699668,
+              -0.3511823167114283,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00872975326727634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18644881959707954,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395608825946,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751898657873095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543946178850047,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15504902120199546,
+            "release_required_pad_clearance": 0.052719730894250236,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.49257669547073496,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007557094097137451,
+            "max_z_decrease": 0.007557094097137451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035122980601155436,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007557094097137451,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021137817901493713,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007557094097137451,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075571166867831295,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11544536054134365,
+              -0.4074437618255614,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11544536054134365,
+              -0.4074437618255614,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1169767614732492,
+              -0.4076819295058177,
+              0.8075491574069219
+            ],
+            "closest_button": [
+              0.11543333530426021,
+              -0.4074402153491973,
+              0.7724609375
+            ],
+            "closest_ee_minus_button": [
+              0.00154342616898899,
+              -0.00024171415662044282,
+              0.0350882199069219
+            ],
+            "button_min_z_position": [
+              0.11542697250843044,
+              -0.4074419438838958,
+              0.7692517638206482
+            ],
+            "min_active_finger_to_button": 0.1446955721165088,
+            "closest_active_finger": [
+              -0.024117015302181244,
+              -0.3910296857357025,
+              0.8111205101013184
+            ],
+            "closest_active_finger_button": [
+              0.11544673889875408,
+              -0.40744212269783014,
+              0.7766328454017639
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395637542009353,
+              0.01641243696212763,
+              0.03448766469955444
+            ],
+            "min_contact_pad_to_button": 0.021137817901493713,
+            "closest_contact_pad": [
+              0.11542697250843044,
+              -0.4088089088586997,
+              0.7903453351729434
+            ],
+            "closest_contact_pad_button": [
+              0.11542697250843044,
+              -0.4074419438838958,
+              0.7692517638206482
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013669649748038748,
+              0.02109357135229517
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28258257649034435,
+              0.17525599158913388,
+              1.1033699172713947
+            ],
+            "current_z": 1.1033699172713947,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1934607875370321,
+            "gripper_z": 1.1033699321142996,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2825824985610262,
+              0.1752559870149819,
+              1.1033699321142996
+            ],
+            "object_minus_gripper": [
+              7.7929318165193e-08,
+              4.574151973857354e-09,
+              -1.484290490516571e-08
+            ],
+            "object_to_gripper_xy": 7.806344532476019e-08,
+            "object_to_gripper_z": -1.484290490516571e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28258257649034435,
+              0.17525599158913388,
+              1.1033699172713947
+            ],
+            "finger_b": [
+              0.28258257649034435,
+              0.17525599158913388,
+              1.1033699172713947
+            ],
+            "finger_midpoint": [
+              0.28258257649034435,
+              0.17525599158913388,
+              1.1033699172713947
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033699172713947,
+            "object_top_z": 1.2283784238916744,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28258257649034435,
+            0.17525599158913388,
+            1.1033699172713947
+          ],
+          "object_origin_world": [
+            0.28258257649034435,
+            0.17525599158913388,
+            1.1033699172713947
+          ],
+          "frame_world": [
+            0.2825824985610262,
+            0.1752559870149819,
+            1.1033699321142996
+          ],
+          "center_minus_frame": [
+            7.7929318165193e-08,
+            4.574151973857354e-09,
+            -1.484290490516571e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432511988771505,
+            "required_z": 0.9112598391548461,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019406260203659127,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.248423269359236e-08,
+            "max_target_xy_drift": 7.477852663743441e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4925766862838413,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.492576696044176,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26923751632103166,
+              -0.3487114424657629,
+              0.9233611500168292
+            ],
+            "target_mouth_xy": [
+              0.2684475937321727,
+              -0.3504891552014223
+            ],
+            "rod_tip_z": 0.9233611500168292,
+            "rod_tip_depth": -0.022101217393234895,
+            "rod_tip_bottom_clearance": 0.12154187304305109,
+            "rod_tip_xy_dist": 0.0019453123828617608,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04460025885596375,
+            "min_rod_tip_bottom_clearance": 0.05484027574400829,
+            "min_rod_tip_xy_dist": 0.00010381090884501545,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2684476562157191,
+              -0.3504891549085648
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.248354639248888e-08,
+              -2.928575160154878e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0013426270368013249,
+                0.0033973623892191718
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012407656113100907,
+                0.003028045345057573
+              ],
+              "first_target_mouth_xy": [
+                0.2684476846005164,
+                -0.3504891542629951
+              ],
+              "last_target_mouth_xy": [
+                0.2684477333818408,
+                -0.35048912162663254
+              ],
+              "first_rod_tip_xy": [
+                0.2697903116373177,
+                -0.3470917918737759
+              ],
+              "last_rod_tip_xy": [
+                0.2696884989931509,
+                -0.34746107628157497
+              ],
+              "min_rod_tip_xy_dist": 0.0032723933006187597,
+              "max_rod_tip_xy_dist": 0.003653042370905504,
+              "first_target_xy_drift": 2.8392137599441353e-08,
+              "last_target_xy_drift": 8.403747590110392e-08,
+              "max_depth": 0.019612158251148704,
+              "min_bottom_clearance": 0.07982849982320539
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013426270368013249,
+                  0.0033973623892191718
+                ],
+                "rod_tip_xy": [
+                  0.2697903116373177,
+                  -0.3470917918737759
+                ],
+                "target_mouth_xy": [
+                  0.2684476846005164,
+                  -0.3504891542629951
+                ],
+                "gripper_position": [
+                  0.26977910954073625,
+                  -0.3470987172036094,
+                  1.005894349535255
+                ],
+                "rod_tip_xy_dist": 0.003653042370905504,
+                "target_xy_drift": 2.8392137599441353e-08,
+                "depth": 0.015226234250212745,
+                "bottom_clearance": 0.08421433142827217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001331437066198704,
+                  0.003390436756059878
+                ],
+                "rod_tip_xy": [
+                  0.26977910954073625,
+                  -0.3470987172036094
+                ],
+                "target_mouth_xy": [
+                  0.26844767247453755,
+                  -0.3504891539596693
+                ],
+                "gripper_position": [
+                  0.2697708896793167,
+                  -0.34709966584681784,
+                  1.005772426273489
+                ],
+                "rod_tip_xy_dist": 0.0036424972282885324,
+                "target_xy_drift": 1.628648459187694e-08,
+                "depth": 0.01536547210354533,
+                "bottom_clearance": 0.08407505678954308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013231866024972505,
+                  0.0033894868442805315
+                ],
+                "rod_tip_xy": [
+                  0.2697708896793167,
+                  -0.34709966584681784
+                ],
+                "target_mouth_xy": [
+                  0.2684477030768195,
+                  -0.35048915269109837
+                ],
+                "gripper_position": [
+                  0.26977630652959933,
+                  -0.3471623377864708,
+                  1.0052515368632493
+                ],
+                "rod_tip_xy_dist": 0.003638604657362354,
+                "target_xy_drift": 4.6913536288011574e-08,
+                "depth": 0.015487478637353336,
+                "bottom_clearance": 0.08395311536884997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013286181226154214,
+                  0.0033268158599385478
+                ],
+                "rod_tip_xy": [
+                  0.26977630652959933,
+                  -0.34716233778647076
+                ],
+                "target_mouth_xy": [
+                  0.2684476884069839,
+                  -0.3504891536464093
+                ],
+                "gripper_position": [
+                  0.26976490942667153,
+                  -0.3471693307681834,
+                  1.0051125351482049
+                ],
+                "rod_tip_xy_dist": 0.003582307898782681,
+                "target_xy_drift": 3.2215998622189436e-08,
+                "depth": 0.016008293335269097,
+                "bottom_clearance": 0.08343227585267565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013172050845786099,
+                  0.0033198225628588984
+                ],
+                "rod_tip_xy": [
+                  0.26976490942667153,
+                  -0.34716933076818346
+                ],
+                "target_mouth_xy": [
+                  0.2684477043420929,
+                  -0.35048915333104236
+                ],
+                "gripper_position": [
+                  0.26977035409531863,
+                  -0.3472323390017302,
+                  1.00459611697884
+                ],
+                "rod_tip_xy_dist": 0.003571589433810494,
+                "target_xy_drift": 4.815222149752173e-08,
+                "depth": 0.01614730902810957,
+                "bottom_clearance": 0.08329331135056595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001322650029948691,
+                  0.0032568149622529963
+                ],
+                "rod_tip_xy": [
+                  0.2697703540953186,
+                  -0.34723233900173023
+                ],
+                "target_mouth_xy": [
+                  0.2684477040653699,
+                  -0.3504891539639832
+                ],
+                "gripper_position": [
+                  0.269759006302581,
+                  -0.3472389558392865,
+                  1.004457058910467
+                ],
+                "rod_tip_xy_dist": 0.003515145345512509,
+                "target_xy_drift": 4.7858973200152105e-08,
+                "depth": 0.016663778365466952,
+                "bottom_clearance": 0.08277681902755296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013113362154104635,
+                  0.003250199380043839
+                ],
+                "rod_tip_xy": [
+                  0.26975900630258093,
+                  -0.34723895583928654
+                ],
+                "target_mouth_xy": [
+                  0.26844767008717046,
+                  -0.3504891552193304
+                ],
+                "gripper_position": [
+                  0.2697505059907458,
+                  -0.3472397585201409,
+                  1.0043351297581244
+                ],
+                "rod_tip_xy_dist": 0.003504767992304825,
+                "target_xy_drift": 1.3874932019093631e-08,
+                "depth": 0.016802817291857508,
+                "bottom_clearance": 0.08263776718252425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013026161933133995,
+                  0.0032493599210857704
+                ],
+                "rod_tip_xy": [
+                  0.2697505059907458,
+                  -0.3472397585201409
+                ],
+                "target_mouth_xy": [
+                  0.2684478897974324,
+                  -0.35048911844122665
+                ],
+                "gripper_position": [
+                  0.26974199009645006,
+                  -0.3472405793145832,
+                  1.0042136996643125
+                ],
+                "rod_tip_xy_dist": 0.003500735471845997,
+                "target_xy_drift": 2.3641125933865513e-07,
+                "depth": 0.016924977406142072,
+                "bottom_clearance": 0.08251607918731108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012943046351034937,
+                  0.0032485451556505396
+                ],
+                "rod_tip_xy": [
+                  0.26974199009645,
+                  -0.3472405793145832
+                ],
+                "target_mouth_xy": [
+                  0.2684476854613465,
+                  -0.3504891244702337
+                ],
+                "gripper_position": [
+                  0.26974914095625513,
+                  -0.34730523609670605,
+                  1.0036958588298373
+                ],
+                "rod_tip_xy_dist": 0.003496894353101188,
+                "target_xy_drift": 4.221135773677992e-08,
+                "depth": 0.01704614536734439,
+                "bottom_clearance": 0.0823943872397509,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013014371694999305,
+                  0.0031839150112130676
+                ],
+                "rod_tip_xy": [
+                  0.26974914095625513,
+                  -0.34730523609670605
+                ],
+                "target_mouth_xy": [
+                  0.2684477037867552,
+                  -0.3504891511079191
+                ],
+                "gripper_position": [
+                  0.26973774837275316,
+                  -0.3473117982380031,
+                  1.003557299679202
+                ],
+                "rod_tip_xy_dist": 0.0034396298499669844,
+                "target_xy_drift": 4.7722619209831036e-08,
+                "depth": 0.01756407995211473,
+                "bottom_clearance": 0.08187659748541132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0012900616412087618,
+                  0.0031773265551467977
+                ],
+                "rod_tip_xy": [
+                  0.26973774837275316,
+                  -0.3473117982380032
+                ],
+                "target_mouth_xy": [
+                  0.2684476867315444,
+                  -0.35048912479315
+                ],
+                "gripper_position": [
+                  0.2697291477819396,
+                  -0.34731226904850726,
+                  1.0034353639978182
+                ],
+                "rod_tip_xy_dist": 0.0034292365150510196,
+                "target_xy_drift": 4.2873695953510285e-08,
+                "depth": 0.01770252831537611,
+                "bottom_clearance": 0.08173799889891564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001281473656174703,
+                  0.0031768560714825478
+                ],
+                "rod_tip_xy": [
+                  0.2697291477819396,
+                  -0.3473122690485072
+                ],
+                "target_mouth_xy": [
+                  0.2684476741257649,
+                  -0.35048912511998975
+                ],
+                "gripper_position": [
+                  0.26973688391724593,
+                  -0.3473779571635226,
+                  1.0029216505813865
+                ],
+                "rod_tip_xy_dist": 0.003425578670879606,
+                "target_xy_drift": 3.475814933791467e-08,
+                "depth": 0.0178245474499118,
+                "bottom_clearance": 0.08161607924242287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0012892415838981486,
+                  0.003111137833609501
+                ],
+                "rod_tip_xy": [
+                  0.26973688391724593,
+                  -0.3473779571635226
+                ],
+                "target_mouth_xy": [
+                  0.2684476423333478,
+                  -0.3504890949971321
+                ],
+                "gripper_position": [
+                  0.26972531131596483,
+                  -0.3473843423582226,
+                  1.0027832597913027
+                ],
+                "rod_tip_xy_dist": 0.003367688002379173,
+                "target_xy_drift": 6.149878048998252e-08,
+                "depth": 0.018338179915107555,
+                "bottom_clearance": 0.08110235918268216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012776393737068958,
+                  0.003104781487115904
+                ],
+                "rod_tip_xy": [
+                  0.26972531131596483,
+                  -0.3473843423582226
+                ],
+                "target_mouth_xy": [
+                  0.26844767194225794,
+                  -0.3504891238453385
+                ],
+                "gripper_position": [
+                  0.26971658784605623,
+                  -0.3473848908794712,
+                  1.0026619113917206
+                ],
+                "rod_tip_xy_dist": 0.003357384465917449,
+                "target_xy_drift": 3.4817352769211345e-08,
+                "depth": 0.01847655770366141,
+                "bottom_clearance": 0.08096395084846919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012689137924962735,
+                  0.0031042313839798608
+                ],
+                "rod_tip_xy": [
+                  0.26971658784605623,
+                  -0.3473848908794712
+                ],
+                "target_mouth_xy": [
+                  0.26844767405355996,
+                  -0.3504891222634511
+                ],
+                "gripper_position": [
+                  0.2697079344797275,
+                  -0.34738525559498834,
+                  1.0025401428229903
+                ],
+                "rod_tip_xy_dist": 0.0033535644765044846,
+                "target_xy_drift": 3.720069914601724e-08,
+                "depth": 0.0185980109398578,
+                "bottom_clearance": 0.08084263533998448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001260264044695647,
+                  0.0031038685605835337
+                ],
+                "rod_tip_xy": [
+                  0.26970793447972746,
+                  -0.34738525559498834
+                ],
+                "target_mouth_xy": [
+                  0.2684476704350318,
+                  -0.3504891241555719
+                ],
+                "gripper_position": [
+                  0.2696990980551968,
+                  -0.34738574648413867,
+                  1.002418226814518
+                ],
+                "rod_tip_xy_dist": 0.0033499650003741125,
+                "target_xy_drift": 3.388119579630441e-08,
+                "depth": 0.018719700510719806,
+                "bottom_clearance": 0.08072082581971207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012514403797240226,
+                  0.003103377681285713
+                ],
+                "rod_tip_xy": [
+                  0.26969909805519676,
+                  -0.34738574648413867
+                ],
+                "target_mouth_xy": [
+                  0.26844765767547274,
+                  -0.3504891241654244
+                ],
+                "gripper_position": [
+                  0.2697091503436518,
+                  -0.3474541766508557,
+                  1.0019078991494255
+                ],
+                "rod_tip_xy_dist": 0.0033462002415734315,
+                "target_xy_drift": 3.077777710860168e-08,
+                "depth": 0.018841595768591235,
+                "bottom_clearance": 0.08059893731502843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0012614921062046869,
+                  0.003034946879667988
+                ],
+                "rod_tip_xy": [
+                  0.2697091503436518,
+                  -0.34745417665085565
+                ],
+                "target_mouth_xy": [
+                  0.2684476582374471,
+                  -0.35048912353052364
+                ],
+                "gripper_position": [
+                  0.26969741746403586,
+                  -0.34746062972228536,
+                  1.0017692313900521
+                ],
+                "rod_tip_xy_dist": 0.0032866799199835683,
+                "target_xy_drift": 3.14431049915748e-08,
+                "depth": 0.019351993253161615,
+                "bottom_clearance": 0.0800885727990952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0012497324809138677,
+                  0.0030285245492268076
+                ],
+                "rod_tip_xy": [
+                  0.26969741746403586,
+                  -0.3474606297222853
+                ],
+                "target_mouth_xy": [
+                  0.268447684983122,
+                  -0.3504891542715121
+                ],
+                "gripper_position": [
+                  0.2696884989931509,
+                  -0.34746107628157497,
+                  1.001647773152784
+                ],
+                "rod_tip_xy_dist": 0.00327624666640358,
+                "target_xy_drift": 2.877445578952377e-08,
+                "depth": 0.019490628289797196,
+                "bottom_clearance": 0.07994992283866476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0012407656113100907,
+                  0.003028045345057573
+                ],
+                "rod_tip_xy": [
+                  0.2696884989931509,
+                  -0.34746107628157497
+                ],
+                "target_mouth_xy": [
+                  0.2684477333818408,
+                  -0.35048912162663254
+                ],
+                "gripper_position": [
+                  0.26967976870712274,
+                  -0.34746118318035807,
+                  1.0015264536227069
+                ],
+                "rod_tip_xy_dist": 0.0032723933006187597,
+                "target_xy_drift": 8.403747590110392e-08,
+                "depth": 0.019612158251148704,
+                "bottom_clearance": 0.07982849982320539,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005974619682008708,
+              "rod_tip_xy_max_step": 3.238348606952926e-05,
+              "rod_tip_xy_range": 0.0005974534164239174,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26923751632103166,
+            -0.3487114424657629,
+            1.0433611500168292
+          ],
+          "object_origin_world": [
+            0.26923751632103166,
+            -0.3487114424657629,
+            1.0433611500168292
+          ],
+          "frame_world": [
+            0.26923606515196996,
+            -0.3487159258955839,
+            1.0432511988771505
+          ],
+          "center_minus_frame": [
+            1.4511690616947348e-06,
+            4.483429821011686e-06,
+            0.00010995113967871006
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27182155375607225,
+              0.12909853317716002,
+              0.8332278981689359
+            ],
+            "target_position": [
+              0.2830800246211124,
+              0.17583046585221795,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048068978538815504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691466887060741,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332278981689359,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672531742193,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1390483235321752,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6835c2471574d3ba4500573449e9f05562788dc5c9266e836540df8c66cb2c8e",
+    "visual_seed": 127569233021554097,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1fb44d5065c029d55f58d99fa6593a551266f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_54_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2574785729534551,
+              0.03672014687048998,
+              1.1642784274441418
+            ],
+            "current_z": 1.1642784274441418,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30317191942937594,
+            "gripper_z": 1.1574148331845673,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.252389490971618,
+              0.03168324776779545,
+              1.1574148331845673
+            ],
+            "object_minus_gripper": [
+              0.005089081981837107,
+              0.005036899102694531,
+              0.006863594259574501
+            ],
+            "object_to_gripper_xy": 0.007160244967079273,
+            "object_to_gripper_z": 0.006863594259574501,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2574785729534551,
+              0.012720607175720239,
+              1.1642784274441418
+            ],
+            "finger_b": [
+              0.2460780571837641,
+              0.03672014687048998,
+              1.1642784274441418
+            ],
+            "finger_midpoint": [
+              0.2517783150686096,
+              0.02472037702310511,
+              1.1642784274441418
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057002578848455165,
+              0.011999769847384871,
+              0.0
+            ],
+            "finger_gap": 0.026569713310003965,
+            "fingertip_max_gap": 0.09091218819116886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013284856655001988,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642784274441418,
+            "object_top_z": 1.2142579066617285,
+            "finger_top_clearance": 0.04997947921758672,
+            "fingertip_min_top_clearance": 0.014993843765276016,
+            "object_projection_between_fingers": 0.8158908967740856,
+            "object_to_finger_line_xy": 0.010297707301664025,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047956094095584434,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5270325153287821,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27095126775251277,
+              -0.34791483604116924,
+              0.8515395598321623
+            ],
+            "target_position": [
+              0.2626512681962829,
+              -0.348736671869008,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008340587914609794,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847392681050918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395598321623,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548451651095224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511861416555931,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15270747111791935,
+            "release_required_pad_clearance": 0.05255930708277966,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18557482565442,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007329821586608887,
+            "max_z_decrease": 0.007329821586608887,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351618643339154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007329821586608887,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021062056000227702,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007329821586608887,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00732984191879203,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11835119128227232,
+              -0.40499812364578247,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11835119128227232,
+              -0.40499812364578247,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1164741036111793,
+              -0.40340713794815025,
+              0.8080906109393808
+            ],
+            "closest_button": [
+              0.11834623664617536,
+              -0.40499767661094666,
+              0.7730146646499634
+            ],
+            "closest_ee_minus_button": [
+              -0.0018721330349960597,
+              0.0015905386627964035,
+              0.03507594628941746
+            ],
+            "button_min_z_position": [
+              0.11833419650793073,
+              -0.4049950838088989,
+              0.7694790363311768
+            ],
+            "min_active_finger_to_button": 0.14720525230872217,
+            "closest_active_finger": [
+              -0.011736124753952026,
+              -0.46471497416496277,
+              0.811165988445282
+            ],
+            "closest_active_finger_button": [
+              0.11835031211376189,
+              -0.40499866008758545,
+              0.7768022418022156
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13008643686771393,
+              -0.05971631407737732,
+              0.034363746643066406
+            ],
+            "min_contact_pad_to_button": 0.021062056000227702,
+            "closest_contact_pad": [
+              0.11833419650793073,
+              -0.4049950838088989,
+              0.7905410923314045
+            ],
+            "closest_contact_pad_button": [
+              0.11833419650793073,
+              -0.4049950838088989,
+              0.7694790363311768
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021062056000227702
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2798348144789985,
+              0.1759531892527239,
+              1.1029326743984105
+            ],
+            "current_z": 1.1029326743984105,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19302354466404792,
+            "gripper_z": 1.1029326755580857,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2798348331443678,
+              0.17595318698685988,
+              1.1029326755580857
+            ],
+            "object_minus_gripper": [
+              -1.8665369305725932e-08,
+              2.2658640241868255e-09,
+              -1.159675244721825e-09
+            ],
+            "object_to_gripper_xy": 1.8802397482641404e-08,
+            "object_to_gripper_z": -1.159675244721825e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2798348144789985,
+              0.1759531892527239,
+              1.1029326743984105
+            ],
+            "finger_b": [
+              0.2798348144789985,
+              0.1759531892527239,
+              1.1029326743984105
+            ],
+            "finger_midpoint": [
+              0.2798348144789985,
+              0.1759531892527239,
+              1.1029326743984105
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029326743984105,
+            "object_top_z": 1.2279411810186902,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27983481447899855,
+            0.17595318925272393,
+            1.1029326743984105
+          ],
+          "object_origin_world": [
+            0.27983481447899855,
+            0.17595318925272393,
+            1.1029326743984105
+          ],
+          "frame_world": [
+            0.2798348331443678,
+            0.17595318698685988,
+            1.1029326755580857
+          ],
+          "center_minus_frame": [
+            -1.866536925021478e-08,
+            2.265864051942401e-09,
+            -1.159675244721825e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043223316600825,
+            "required_z": 0.9112599105113427,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000510221109991096,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.185491805340884e-08,
+            "max_target_xy_drift": 7.175675746371937e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.18557482427766955,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.18557482761643657,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2704910009823058,
+              -0.34812721210662734,
+              0.9233334855658907
+            ],
+            "target_mouth_xy": [
+              0.2709512680545397,
+              -0.34791480719502726
+            ],
+            "rod_tip_z": 0.9233334855658907,
+            "rod_tip_depth": -0.022073656259347874,
+            "rod_tip_bottom_clearance": 0.12151420208310448,
+            "rod_tip_xy_dist": 0.00050691382330195,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04468175916991424,
+            "min_rod_tip_bottom_clearance": 0.05475883575640195,
+            "min_rod_tip_xy_dist": 0.00027708556561381397,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2709512650817628,
+              -0.34791477547912586
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.972776858012338e-09,
+              -3.171590140516045e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00012017435671779486,
+                0.0015035672741316453
+              ],
+              "last_rod_tip_xy_delta": [
+                1.6834075368066248e-05,
+                0.0011103740553930486
+              ],
+              "first_target_mouth_xy": [
+                0.2709512076079155,
+                -0.3479147761234264
+              ],
+              "last_target_mouth_xy": [
+                0.2709512391903285,
+                -0.34791484110464066
+              ],
+              "first_rod_tip_xy": [
+                0.2710713819646333,
+                -0.34641120884929477
+              ],
+              "last_rod_tip_xy": [
+                0.27096807326569655,
+                -0.3468044670492476
+              ],
+              "min_rod_tip_xy_dist": 0.0011105016564523903,
+              "max_rod_tip_xy_dist": 0.0015083621660106042,
+              "first_target_xy_drift": 5.747745858863708e-08,
+              "last_target_xy_drift": 7.05483845629581e-08,
+              "max_depth": 0.019837137361292223,
+              "min_bottom_clearance": 0.0796035528569623
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00012017435671779486,
+                  0.0015035672741316453
+                ],
+                "rod_tip_xy": [
+                  0.2710713819646333,
+                  -0.34641120884929477
+                ],
+                "target_mouth_xy": [
+                  0.2709512076079155,
+                  -0.3479147761234264
+                ],
+                "gripper_position": [
+                  0.2710601034174426,
+                  -0.3464185225307401,
+                  1.0056512075838462
+                ],
+                "rod_tip_xy_dist": 0.0015083621660106042,
+                "target_xy_drift": 5.747745858863708e-08,
+                "depth": 0.015469185220145065,
+                "bottom_clearance": 0.08397137319612125,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00010889584371720495,
+                  0.0014963176320070826
+                ],
+                "rod_tip_xy": [
+                  0.27106010341744247,
+                  -0.3464185225307401
+                ],
+                "target_mouth_xy": [
+                  0.27095120757372526,
+                  -0.3479148401627472
+                ],
+                "gripper_position": [
+                  0.27106377948338767,
+                  -0.34648510765454826,
+                  1.0051342034159991
+                ],
+                "rod_tip_xy_dist": 0.0015002748950222972,
+                "target_xy_drift": 8.655140238051691e-08,
+                "depth": 0.015608651856738653,
+                "bottom_clearance": 0.08383193472440076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00011257364569172701,
+                  0.0014296639914348486
+                ],
+                "rod_tip_xy": [
+                  0.27106377948338756,
+                  -0.3464851076545482
+                ],
+                "target_mouth_xy": [
+                  0.27095120583769583,
+                  -0.34791477164598306
+                ],
+                "gripper_position": [
+                  0.27105243703543414,
+                  -0.34649222950743375,
+                  1.0049952544901746
+                ],
+                "rod_tip_xy_dist": 0.0014340892420312444,
+                "target_xy_drift": 5.9367941321363556e-08,
+                "depth": 0.01612576441004665,
+                "bottom_clearance": 0.08331499917611007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00010122632568210221,
+                  0.0014226423428706503
+                ],
+                "rod_tip_xy": [
+                  0.271052437035434,
+                  -0.34649222950743375
+                ],
+                "target_mouth_xy": [
+                  0.2709512107097519,
+                  -0.3479148718503044
+                ],
+                "gripper_position": [
+                  0.27104391462456623,
+                  -0.34649315281927295,
+                  1.004872817538038
+                ],
+                "rod_tip_xy_dist": 0.0014262391120494458,
+                "target_xy_drift": 1.106513426095389e-07,
+                "depth": 0.016264723445912455,
+                "bottom_clearance": 0.08317605171532383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  9.276831755122839e-05,
+                  0.0014216540540096245
+                ],
+                "rod_tip_xy": [
+                  0.2710439146245661,
+                  -0.34649315281927295
+                ],
+                "target_mouth_xy": [
+                  0.2709511463070149,
+                  -0.3479148068732826
+                ],
+                "gripper_position": [
+                  0.2710485852031279,
+                  -0.346560926415685,
+                  1.0043564763281454
+                ],
+                "rod_tip_xy_dist": 0.0014246775810769557,
+                "target_xy_drift": 1.228537090239217e-07,
+                "depth": 0.016387051282504284,
+                "bottom_clearance": 0.08305351635500269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  9.734571196168273e-05,
+                  0.0013539425979903763
+                ],
+                "rod_tip_xy": [
+                  0.2710485852031278,
+                  -0.34656092641568503
+                ],
+                "target_mouth_xy": [
+                  0.2709512394911661,
+                  -0.3479148690136754
+                ],
+                "gripper_position": [
+                  0.27103712518069367,
+                  -0.3465678602785858,
+                  1.0042170472705174
+                ],
+                "rod_tip_xy_dist": 0.0013574375662586684,
+                "target_xy_drift": 9.69721124801261e-08,
+                "depth": 0.0169034424782859,
+                "bottom_clearance": 0.08253719121344427,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  8.59195195739848e-05,
+                  0.0013469751186200862
+                ],
+                "rod_tip_xy": [
+                  0.27103712518069356,
+                  -0.3465678602785859
+                ],
+                "target_mouth_xy": [
+                  0.2709512056611196,
+                  -0.34791483539720597
+                ],
+                "gripper_position": [
+                  0.2710284927130359,
+                  -0.3465685430808398,
+                  1.0040949789991505
+                ],
+                "rod_tip_xy_dist": 0.001349712611641982,
+                "target_xy_drift": 8.43859536111332e-08,
+                "depth": 0.017042852046328272,
+                "bottom_clearance": 0.08239777084545274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  7.725514424350433e-05,
+                  0.0013463563661714195
+                ],
+                "rod_tip_xy": [
+                  0.2710284927130358,
+                  -0.34656854308083973
+                ],
+                "target_mouth_xy": [
+                  0.2709512375687923,
+                  -0.34791489944701115
+                ],
+                "gripper_position": [
+                  0.27102000531896103,
+                  -0.3465692154474465,
+                  1.0039730890984533
+                ],
+                "rod_tip_xy_dist": 0.001348571029661543,
+                "target_xy_drift": 1.2698425150322405e-07,
+                "depth": 0.017164876219713188,
+                "bottom_clearance": 0.08227570623748148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  6.877037104952022e-05,
+                  0.0013455891891915872
+                ],
+                "rod_tip_xy": [
+                  0.2710200053189609,
+                  -0.34656921544744645
+                ],
+                "target_mouth_xy": [
+                  0.2709512349479114,
+                  -0.34791480463663804
+                ],
+                "gripper_position": [
+                  0.27102619701545916,
+                  -0.346639369610422,
+                  1.0034560825719299
+                ],
+                "rod_tip_xy_dist": 0.0013473454011513016,
+                "target_xy_drift": 4.193100902340191e-08,
+                "depth": 0.01728690260677157,
+                "bottom_clearance": 0.08215377416688974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  7.49292935247059e-05,
+                  0.001275497184645591
+                ],
+                "rod_tip_xy": [
+                  0.27102619701545905,
+                  -0.3466393696104221
+                ],
+                "target_mouth_xy": [
+                  0.27095126772193434,
+                  -0.34791486679506767
+                ],
+                "gripper_position": [
+                  0.27101454965482863,
+                  -0.34664636770271506,
+                  1.0033169068184953
+                ],
+                "rod_tip_xy_dist": 0.001277696156003821,
+                "target_xy_drift": 9.135410080553816e-08,
+                "depth": 0.017803744155499346,
+                "bottom_clearance": 0.08163678901548332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  6.334514612954534e-05,
+                  0.0012685006658698095
+                ],
+                "rod_tip_xy": [
+                  0.2710145496548286,
+                  -0.34664636770271506
+                ],
+                "target_mouth_xy": [
+                  0.27095120450869903,
+                  -0.3479148683685849
+                ],
+                "gripper_position": [
+                  0.2710057961115162,
+                  -0.34664709358062823,
+                  1.003195260854409
+                ],
+                "rod_tip_xy_dist": 0.0012700813150544037,
+                "target_xy_drift": 1.108943084760251e-07,
+                "depth": 0.017943067394828094,
+                "bottom_clearance": 0.08149756034616373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  5.455838437962157e-05,
+                  0.0012677443631178287
+                ],
+                "rod_tip_xy": [
+                  0.2710057961115161,
+                  -0.3466470935806283
+                ],
+                "target_mouth_xy": [
+                  0.2709512377271365,
+                  -0.3479148379437461
+                ],
+                "gripper_position": [
+                  0.2709971116571788,
+                  -0.3466475419135792,
+                  1.0030729173569704
+                ],
+                "rod_tip_xy_dist": 0.0012689178017204832,
+                "target_xy_drift": 6.819167372770158e-08,
+                "depth": 0.018064561613659214,
+                "bottom_clearance": 0.08137595877117443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  4.587742758871416e-05,
+                  0.0012672963356983313
+                ],
+                "rod_tip_xy": [
+                  0.2709971116571787,
+                  -0.34664754191357927
+                ],
+                "target_mouth_xy": [
+                  0.27095123422959,
+                  -0.3479148382492776
+                ],
+                "gripper_position": [
+                  0.2710046215115743,
+                  -0.34671972914788446,
+                  1.0025589119229188
+                ],
+                "rod_tip_xy_dist": 0.001268126468786365,
+                "target_xy_drift": 6.994246576541002e-08,
+                "depth": 0.018186994114025024,
+                "bottom_clearance": 0.08125362549370918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  5.335513066351272e-05,
+                  0.0011951084765112752
+                ],
+                "rod_tip_xy": [
+                  0.2710046215115742,
+                  -0.3467197291478845
+                ],
+                "target_mouth_xy": [
+                  0.27095126638091066,
+                  -0.3479148376243958
+                ],
+                "gripper_position": [
+                  0.2709929008395561,
+                  -0.3467266717911569,
+                  1.002420081337378
+                ],
+                "rod_tip_xy_dist": 0.0011962988926673892,
+                "target_xy_drift": 6.215884779986484e-08,
+                "depth": 0.01870091654053596,
+                "bottom_clearance": 0.08073958993299313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  4.16331137077508e-05,
+                  0.0011881658356710512
+                ],
+                "rod_tip_xy": [
+                  0.27099290083955596,
+                  -0.346726671791157
+                ],
+                "target_mouth_xy": [
+                  0.2709512677258482,
+                  -0.34791483762682807
+                ],
+                "gripper_position": [
+                  0.27098406480507664,
+                  -0.3467273043945365,
+                  1.002298213325737
+                ],
+                "rod_tip_xy_dist": 0.0011888950202658306,
+                "target_xy_drift": 6.220392332601201e-08,
+                "depth": 0.018839737023534142,
+                "bottom_clearance": 0.08060077954887024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  3.283290449695997e-05,
+                  0.0011875335163691325
+                ],
+                "rod_tip_xy": [
+                  0.27098406480507653,
+                  -0.3467273043945365
+                ],
+                "target_mouth_xy": [
+                  0.27095123190057957,
+                  -0.3479148379109056
+                ],
+                "gripper_position": [
+                  0.27097535038731857,
+                  -0.34672752663612905,
+                  1.0021764974100347
+                ],
+                "rod_tip_xy_dist": 0.0011879873114296058,
+                "target_xy_drift": 7.070161273845067e-08,
+                "depth": 0.018961703994582968,
+                "bottom_clearance": 0.08047899402096437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  2.4080005963322826e-05,
+                  0.001187308760931094
+                ],
+                "rod_tip_xy": [
+                  0.27097535038731846,
+                  -0.34672752663612905
+                ],
+                "target_mouth_xy": [
+                  0.27095127038135514,
+                  -0.34791483539706014
+                ],
+                "gripper_position": [
+                  0.2709664901309425,
+                  -0.3467281961084205,
+                  1.0020546000064825
+                ],
+                "rod_tip_xy_dist": 0.0011875529211243276,
+                "target_xy_drift": 6.015184558471141e-08,
+                "depth": 0.019083438473646575,
+                "bottom_clearance": 0.08035725360615464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  1.5282411912509453e-05,
+                  0.0011866421532555904
+                ],
+                "rod_tip_xy": [
+                  0.2709664901309424,
+                  -0.34672819610842054
+                ],
+                "target_mouth_xy": [
+                  0.27095120771902986,
+                  -0.34791483826167613
+                ],
+                "gripper_position": [
+                  0.27095776153091766,
+                  -0.34672852556939876,
+                  1.0019326581272872
+                ],
+                "rod_tip_xy_dist": 0.0011867405579977992,
+                "target_xy_drift": 8.504194112408171e-08,
+                "depth": 0.01920522651659562,
+                "bottom_clearance": 0.08023529736477264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  6.554961389071412e-06,
+                  0.0011862806655751346
+                ],
+                "rod_tip_xy": [
+                  0.27095776153091755,
+                  -0.3467285255693988
+                ],
+                "target_mouth_xy": [
+                  0.2709512065695285,
+                  -0.34791480623497395
+                ],
+                "gripper_position": [
+                  0.27096807326569666,
+                  -0.3468044670492476,
+                  1.0014228130285576
+                ],
+                "rod_tip_xy_dist": 0.001186298775619446,
+                "target_xy_drift": 6.610297844047025e-08,
+                "depth": 0.019327202115583364,
+                "bottom_clearance": 0.08011336314283335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  1.6834075368066248e-05,
+                  0.0011103740553930486
+                ],
+                "rod_tip_xy": [
+                  0.27096807326569655,
+                  -0.3468044670492476
+                ],
+                "target_mouth_xy": [
+                  0.2709512391903285,
+                  -0.34791484110464066
+                ],
+                "gripper_position": [
+                  0.27095599897915645,
+                  -0.3468115224688539,
+                  1.001284113286577
+                ],
+                "rod_tip_xy_dist": 0.0011105016564523903,
+                "target_xy_drift": 7.05483845629581e-08,
+                "depth": 0.019837137361292223,
+                "bottom_clearance": 0.0796035528569623,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006001491349391542,
+              "rod_tip_xy_max_step": 3.258511746639984e-05,
+              "rod_tip_xy_range": 0.0006001329554178262,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27049100098230583,
+            -0.34812721210662734,
+            1.0433334855658907
+          ],
+          "object_origin_world": [
+            0.27049100098230583,
+            -0.34812721210662734,
+            1.0433334855658907
+          ],
+          "frame_world": [
+            0.2704895514439545,
+            -0.3481319323952926,
+            1.043223316600825
+          ],
+          "center_minus_frame": [
+            1.4495383513501992e-06,
+            4.7202886652719656e-06,
+            0.00011016896506577112
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2698460385576601,
+              0.13079404700586172,
+              0.8339688173699231
+            ],
+            "target_position": [
+              0.27994730928257044,
+              0.1778821719233178,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04815939346067263,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16953137599138282,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339688173699231,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675076935462,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13761529069229766,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5be752b97819cff22c3acfd2983066906683c40bd52e90008aa13302c5466ec4",
+    "visual_seed": 4580289983998470032,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5aeb8ee90c9cab582a3545470e13dc2456b91224
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2589346696599909,
+              0.03427982813036485,
+              1.1650014569256104
+            ],
+            "current_z": 1.1650014569256104,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.303895068120134,
+            "gripper_z": 1.1582574092032534,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2536989352546026,
+              0.029304890661598457,
+              1.1582574092032534
+            ],
+            "object_minus_gripper": [
+              0.005235734405388326,
+              0.0049749374687663925,
+              0.006744047722357038
+            ],
+            "object_to_gripper_xy": 0.007222390018678222,
+            "object_to_gripper_z": 0.006744047722357038,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2589346696599909,
+              0.010094242768962933,
+              1.1650014569256104
+            ],
+            "finger_b": [
+              0.24772945516845504,
+              0.03427982813036485,
+              1.1650014569256104
+            ],
+            "finger_midpoint": [
+              0.25333206241422296,
+              0.02218703544966389,
+              1.1650014569256104
+            ],
+            "object_minus_finger_midpoint": [
+              0.005602607245767943,
+              0.012092792680700959,
+              0.0
+            ],
+            "finger_gap": 0.026655194073106726,
+            "fingertip_max_gap": 0.09084500770961237,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332759703655337,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650014569256104,
+            "object_top_z": 1.2149449455779475,
+            "finger_top_clearance": 0.04994348865233711,
+            "fingertip_min_top_clearance": 0.0149830465957011,
+            "object_projection_between_fingers": 0.8232836834023398,
+            "object_to_finger_line_xy": 0.010167049275071052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792250385480619,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4689023909934861,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2666391520190343,
+              -0.35175142422342365,
+              0.8515396006669762
+            ],
+            "target_position": [
+              0.25813166667712767,
+              -0.3525808565867404,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008547822230724835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18361109687993674,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396006669762,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572331558268672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856505771624073,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151137715190115,
+            "release_required_pad_clearance": 0.05282528858120365,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6954847018522188,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007612049579620361,
+            "max_z_decrease": 0.007612049579620361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512646950684164,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007612049579620361,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021120535034608777,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007612049579620361,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007612078886358461,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11383159458637236,
+              -0.4088423252105713,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11383159458637236,
+              -0.4088423252105713,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11549304079094355,
+              -0.40873345607496087,
+              0.8076162104405374
+            ],
+            "closest_button": [
+              0.113820843398571,
+              -0.40883782505989075,
+              0.7725297212600708
+            ],
+            "closest_ee_minus_button": [
+              0.0016721973923725514,
+              0.00010436898492988123,
+              0.03508648918046664
+            ],
+            "button_min_z_position": [
+              0.113810658454895,
+              -0.40883952379226685,
+              0.7691968083381653
+            ],
+            "min_active_finger_to_button": 0.1446235714065446,
+            "closest_active_finger": [
+              -0.025589153170585632,
+              -0.3918706476688385,
+              0.8110542297363281
+            ],
+            "closest_active_finger_button": [
+              0.11383195966482161,
+              -0.40884068608284,
+              0.7765614986419678
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13942111283540726,
+              0.01697003841400152,
+              0.03449273109436035
+            ],
+            "min_contact_pad_to_button": 0.021120535034608777,
+            "closest_contact_pad": [
+              0.113810658454895,
+              -0.4098946649295161,
+              0.7902909705004466
+            ],
+            "closest_contact_pad_button": [
+              0.113810658454895,
+              -0.40883952379226685,
+              0.7691968083381653
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010551411372492492,
+              0.021094162162281327
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28305105160192534,
+              0.1790400607685832,
+              1.1033460251912377
+            ],
+            "current_z": 1.1033460251912377,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19343689545687515,
+            "gripper_z": 1.103346143476558,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.283051025175565,
+              0.17904003258516893,
+              1.103346143476558
+            ],
+            "object_minus_gripper": [
+              2.6426360322240328e-08,
+              2.8183414269022933e-08,
+              -1.1828532020530247e-07
+            ],
+            "object_to_gripper_xy": 3.863492409388484e-08,
+            "object_to_gripper_z": -1.1828532020530247e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28305105160192534,
+              0.1790400607685832,
+              1.1033460251912377
+            ],
+            "finger_b": [
+              0.28305105160192534,
+              0.1790400607685832,
+              1.1033460251912377
+            ],
+            "finger_midpoint": [
+              0.28305105160192534,
+              0.1790400607685832,
+              1.1033460251912377
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033460251912377,
+            "object_top_z": 1.2283545318115174,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28305105160192534,
+            0.17904006076858323,
+            1.1033460251912377
+          ],
+          "object_origin_world": [
+            0.28305105160192534,
+            0.17904006076858323,
+            1.1033460251912377
+          ],
+          "frame_world": [
+            0.283051025175565,
+            0.17904003258516893,
+            1.103346143476558
+          ],
+          "center_minus_frame": [
+            2.6426360322240328e-08,
+            2.818341429677851e-08,
+            -1.1828532020530247e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043287955383287,
+            "required_z": 0.9112599331132654,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021906719712008493,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.5742628348045886e-08,
+            "max_target_xy_drift": 1.2456402562400217e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6954847060383866,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6954847061589198,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26445574180949954,
+              -0.3519074142677201,
+              0.9233966156344514
+            ],
+            "target_mouth_xy": [
+              0.2666390754639779,
+              -0.35175145625999926
+            ],
+            "rod_tip_z": 0.9233966156344514,
+            "rod_tip_depth": -0.022136797234168393,
+            "rod_tip_bottom_clearance": 0.1215773051286313,
+            "rod_tip_xy_dist": 0.00218889669627192,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044652471962307816,
+            "min_rod_tip_bottom_clearance": 0.054788050826887646,
+            "min_rod_tip_xy_dist": 0.001180569363184845,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26663911068306556,
+              -0.3517514270708932
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.5219087646254366e-08,
+              -2.9189106076632498e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0015079100302495818,
+                0.0015317808504023978
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001636174480900976,
+                0.0011506019141709345
+              ],
+              "first_target_mouth_xy": [
+                0.26663913921694216,
+                -0.3517513947211143
+              ],
+              "last_target_mouth_xy": [
+                0.26663909214977205,
+                -0.35175142644466206
+              ],
+              "first_rod_tip_xy": [
+                0.2651312291866926,
+                -0.3502196138707119
+              ],
+              "last_rod_tip_xy": [
+                0.2650029176688711,
+                -0.35060082453049113
+              ],
+              "min_rod_tip_xy_dist": 0.001981092485707766,
+              "max_rod_tip_xy_dist": 0.002152250348596041,
+              "first_target_xy_drift": 4.313571964316402e-08,
+              "last_target_xy_drift": 1.8543870517854628e-08,
+              "max_depth": 0.019512279184770498,
+              "min_bottom_clearance": 0.07992829764829301
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015079100302495818,
+                  0.0015317808504023978
+                ],
+                "rod_tip_xy": [
+                  0.2651312291866926,
+                  -0.3502196138707119
+                ],
+                "target_mouth_xy": [
+                  0.26663913921694216,
+                  -0.3517513947211143
+                ],
+                "gripper_position": [
+                  0.26512006243621344,
+                  -0.3502267306055509,
+                  1.0059704060862873
+                ],
+                "rod_tip_xy_dist": 0.0021494523100052225,
+                "target_xy_drift": 4.313571964316402e-08,
+                "depth": 0.01515176825916198,
+                "bottom_clearance": 0.08428894928313313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001519009626155421,
+                  0.0015247266373612511
+                ],
+                "rod_tip_xy": [
+                  0.2651200624362134,
+                  -0.350226730605551
+                ],
+                "target_mouth_xy": [
+                  0.2666390720623688,
+                  -0.35175145724291224
+                ],
+                "gripper_position": [
+                  0.26511962088376784,
+                  -0.3502911185620918,
+                  1.0054533480735386
+                ],
+                "rod_tip_xy_dist": 0.002152250348596041,
+                "target_xy_drift": 4.9009274133950684e-08,
+                "depth": 0.015289517209385761,
+                "bottom_clearance": 0.08415112356871146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015195013051546025,
+                  0.0014603364198195745
+                ],
+                "rod_tip_xy": [
+                  0.2651196208837678,
+                  -0.35029111856209183
+                ],
+                "target_mouth_xy": [
+                  0.2666391221889224,
+                  -0.3517514549819114
+                ],
+                "gripper_position": [
+                  0.26510845634405433,
+                  -0.35029787596056394,
+                  1.00531612232347
+                ],
+                "rod_tip_xy_dist": 0.002107478748509221,
+                "target_xy_drift": 3.018956242216457e-08,
+                "depth": 0.015806559414613952,
+                "bottom_clearance": 0.08363405334010676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015306216682230422,
+                  0.0014539260642784102
+                ],
+                "rod_tip_xy": [
+                  0.2651084563440543,
+                  -0.35029787596056405
+                ],
+                "target_mouth_xy": [
+                  0.2666390780122773,
+                  -0.35175180202484246
+                ],
+                "gripper_position": [
+                  0.2651003278525438,
+                  -0.3502986260908828,
+                  1.0051956469253107
+                ],
+                "rod_tip_xy_dist": 0.0021110906403141476,
+                "target_xy_drift": 3.763746065870665e-07,
+                "depth": 0.015943774944740974,
+                "bottom_clearance": 0.08349684546424874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001538777839571237,
+                  0.0014527657919751746
+                ],
+                "rod_tip_xy": [
+                  0.2651003278525437,
+                  -0.3502986260908829
+                ],
+                "target_mouth_xy": [
+                  0.26663910569211496,
+                  -0.3517513918828581
+                ],
+                "gripper_position": [
+                  0.26510078583631524,
+                  -0.35036412304332304,
+                  1.0046784851314126
+                ],
+                "rod_tip_xy_dist": 0.002116214943215547,
+                "target_xy_drift": 3.5540222309943256e-08,
+                "depth": 0.016064251391025186,
+                "bottom_clearance": 0.08337642723457095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015382898157041969,
+                  0.0013873367150318838
+                ],
+                "rod_tip_xy": [
+                  0.2651007858363152,
+                  -0.3503641230433231
+                ],
+                "target_mouth_xy": [
+                  0.2666390756520194,
+                  -0.351751459758355
+                ],
+                "gripper_position": [
+                  0.26508937756045226,
+                  -0.3503710841400369,
+                  1.0045410331695357
+                ],
+                "rod_tip_xy_dist": 0.00207148225142643,
+                "target_xy_drift": 4.7912882970788705e-08,
+                "depth": 0.016581456498968028,
+                "bottom_clearance": 0.08285918192621444,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015497132516353873,
+                  0.0013803141009992581
+                ],
+                "rod_tip_xy": [
+                  0.2650893775604522,
+                  -0.35037108414003704
+                ],
+                "target_mouth_xy": [
+                  0.2666390908120876,
+                  -0.3517513982410363
+                ],
+                "gripper_position": [
+                  0.26508115668801846,
+                  -0.35037176912767737,
+                  1.004420675735292
+                ],
+                "rod_tip_xy_dist": 0.002075301949045419,
+                "target_xy_drift": 3.501451718912106e-08,
+                "depth": 0.016718817042193357,
+                "bottom_clearance": 0.08272176411133991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001557918898932198,
+                  0.001379624660496237
+                ],
+                "rod_tip_xy": [
+                  0.2650811566880184,
+                  -0.3503717691276774
+                ],
+                "target_mouth_xy": [
+                  0.2666390755869506,
+                  -0.35175139378817366
+                ],
+                "gripper_position": [
+                  0.2650822597243234,
+                  -0.35043818222039647,
+                  1.0039046026052814
+                ],
+                "rod_tip_xy_dist": 0.002080979456770169,
+                "target_xy_drift": 4.8368137282325194e-08,
+                "depth": 0.016839245566178218,
+                "bottom_clearance": 0.08260135247616407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015568363845037125,
+                  0.0013136175612330492
+                ],
+                "rod_tip_xy": [
+                  0.26508225972432337,
+                  -0.3504381822203966
+                ],
+                "target_mouth_xy": [
+                  0.2666390961088271,
+                  -0.3517517997816296
+                ],
+                "gripper_position": [
+                  0.26507091236140823,
+                  -0.3504448061148258,
+                  1.0037675739745315
+                ],
+                "rod_tip_xy_dist": 0.0020369905805610526,
+                "target_xy_drift": 3.729955783723204e-07,
+                "depth": 0.017355281626255548,
+                "bottom_clearance": 0.08208526610533495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015681841027628263,
+                  0.0013069933478538354
+                ],
+                "rod_tip_xy": [
+                  0.2650709123614082,
+                  -0.350444806114826
+                ],
+                "target_mouth_xy": [
+                  0.266639096464171,
+                  -0.3517517994626798
+                ],
+                "gripper_position": [
+                  0.26506256541037454,
+                  -0.3504457133421214,
+                  1.0036475036106414
+                ],
+                "rod_tip_xy_dist": 0.0020414291541692615,
+                "target_xy_drift": 3.72663145094327e-07,
+                "depth": 0.0174923187460424,
+                "bottom_clearance": 0.08194825405676098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015765260137309278,
+                  0.0013057127841753502
+                ],
+                "rod_tip_xy": [
+                  0.2650625654103745,
+                  -0.3504457133421215
+                ],
+                "target_mouth_xy": [
+                  0.2666390914241054,
+                  -0.35175142612629684
+                ],
+                "gripper_position": [
+                  0.26505418130018576,
+                  -0.35044649735186856,
+                  1.0035269481733078
+                ],
+                "rod_tip_xy_dist": 0.002047027148508117,
+                "target_xy_drift": 1.92821110947922e-08,
+                "depth": 0.01761237939364102,
+                "bottom_clearance": 0.08182816244899238,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015849161200518491,
+                  0.0013053027387902594
+                ],
+                "rod_tip_xy": [
+                  0.2650541813001857,
+                  -0.3504464973518687
+                ],
+                "target_mouth_xy": [
+                  0.26663909742023756,
+                  -0.351751800090659
+                ],
+                "gripper_position": [
+                  0.265056482393458,
+                  -0.35051516948167055,
+                  1.0030123602804677
+                ],
+                "rod_tip_xy_dist": 0.0020532350930893323,
+                "target_xy_drift": 3.7325547321193875e-07,
+                "depth": 0.017732950014686444,
+                "bottom_clearance": 0.08170765509213285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015826394669923305,
+                  0.0012362262057433737
+                ],
+                "rod_tip_xy": [
+                  0.26505648239345797,
+                  -0.3505151694816706
+                ],
+                "target_mouth_xy": [
+                  0.2666391218604503,
+                  -0.351751395687414
+                ],
+                "gripper_position": [
+                  0.2650449989788707,
+                  -0.3505219834209387,
+                  1.0028752909480678
+                ],
+                "rod_tip_xy_dist": 0.0020082337797797415,
+                "target_xy_drift": 3.3314511801787905e-08,
+                "depth": 0.0182475390827469,
+                "bottom_clearance": 0.08119304993664145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015941207522559009,
+                  0.0012294449396285656
+                ],
+                "rod_tip_xy": [
+                  0.2650449989788706,
+                  -0.35052198342093877
+                ],
+                "target_mouth_xy": [
+                  0.26663911973112653,
+                  -0.35175142836056733
+                ],
+                "gripper_position": [
+                  0.2650364090563594,
+                  -0.35052261130979456,
+                  1.002755267085999
+                ],
+                "rod_tip_xy_dist": 0.002013145755366761,
+                "target_xy_drift": 9.139511292507503e-09,
+                "depth": 0.018384559340279494,
+                "bottom_clearance": 0.08105600197915142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016024485055049498,
+                  0.0012280389124466051
+                ],
+                "rod_tip_xy": [
+                  0.26503640905635933,
+                  -0.35052261130979456
+                ],
+                "target_mouth_xy": [
+                  0.2666388575618643,
+                  -0.35175065022224117
+                ],
+                "gripper_position": [
+                  0.26502800818386674,
+                  -0.3505231533056836,
+                  1.0026351969958975
+                ],
+                "rod_tip_xy_dist": 0.0020188909785518604,
+                "target_xy_drift": 8.170460027914522e-07,
+                "depth": 0.01850559934064966,
+                "bottom_clearance": 0.0809363270895439,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016111018459614157,
+                  0.0012286480679714051
+                ],
+                "rod_tip_xy": [
+                  0.2650280081838667,
+                  -0.35052315330568373
+                ],
+                "target_mouth_xy": [
+                  0.2666391100298281,
+                  -0.35175180137365514
+                ],
+                "gripper_position": [
+                  0.26503169321027564,
+                  -0.35059340519152626,
+                  1.0021241861268388
+                ],
+                "rod_tip_xy_dist": 0.0020261355416136767,
+                "target_xy_drift": 3.743033319701434e-07,
+                "depth": 0.018624705243532547,
+                "bottom_clearance": 0.08081585598579355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016074143974783017,
+                  0.0011579923970852501
+                ],
+                "rod_tip_xy": [
+                  0.2650316932102756,
+                  -0.35059340519152626
+                ],
+                "target_mouth_xy": [
+                  0.2666391076077539,
+                  -0.3517513975886115
+                ],
+                "gripper_position": [
+                  0.26502021857224756,
+                  -0.3505998139879758,
+                  1.0019872324142443
+                ],
+                "rod_tip_xy_dist": 0.001981092485707766,
+                "target_xy_drift": 2.9642241386915034e-08,
+                "depth": 0.01913578719819997,
+                "bottom_clearance": 0.08030484462578291,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016188570950207981,
+                  0.0011516425894449456
+                ],
+                "rod_tip_xy": [
+                  0.2650202185722475,
+                  -0.3505998139879758
+                ],
+                "target_mouth_xy": [
+                  0.2666390756672683,
+                  -0.35175145657742074
+                ],
+                "gripper_position": [
+                  0.26501161537630624,
+                  -0.3506001073382444,
+                  1.0018675016726182
+                ],
+                "rod_tip_xy_dist": 0.001986700517924792,
+                "target_xy_drift": 4.579018700776634e-08,
+                "depth": 0.01927259328730524,
+                "bottom_clearance": 0.08016793370305719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016275069191881153,
+                  0.0011513165677532466
+                ],
+                "rod_tip_xy": [
+                  0.2650116153763062,
+                  -0.35060010733824454
+                ],
+                "target_mouth_xy": [
+                  0.2666391222954943,
+                  -0.3517514239059978
+                ],
+                "gripper_position": [
+                  0.26500291766887113,
+                  -0.350600824530491,
+                  1.00174761318348
+                ],
+                "rod_tip_xy_dist": 0.001993566806301787,
+                "target_xy_drift": 1.203599036896117e-08,
+                "depth": 0.01939248913615954,
+                "bottom_clearance": 0.08004817379997797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001636174480900976,
+                  0.0011506019141709345
+                ],
+                "rod_tip_xy": [
+                  0.2650029176688711,
+                  -0.35060082453049113
+                ],
+                "target_mouth_xy": [
+                  0.26663909214977205,
+                  -0.35175142644466206
+                ],
+                "gripper_position": [
+                  0.26499429527582846,
+                  -0.3506010804494107,
+                  1.00162795095191
+                ],
+                "rod_tip_xy_dist": 0.00200023791006105,
+                "target_xy_drift": 1.8543870517854628e-08,
+                "depth": 0.019512279184770498,
+                "bottom_clearance": 0.07992829764829301,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005959397144217162,
+              "rod_tip_xy_max_step": 3.2242255878943895e-05,
+              "rod_tip_xy_range": 0.0005959283452451861,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26445574180949954,
+            -0.35190741426772004,
+            1.0433966156344514
+          ],
+          "object_origin_world": [
+            0.26445574180949954,
+            -0.35190741426772004,
+            1.0433966156344514
+          ],
+          "frame_world": [
+            0.2644543033643052,
+            -0.3519121253544035,
+            1.043287955383287
+          ],
+          "center_minus_frame": [
+            1.4384451943461052e-06,
+            4.7110866834843e-06,
+            0.00010866025116440525
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2692512023733501,
+              0.1334332760325722,
+              0.8332018808625465
+            ],
+            "target_position": [
+              0.2831910003868464,
+              0.17882819334264094,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04748701386953125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1648177037520133,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332018808625465,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670971641576,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13492416292241616,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2767183353039737ad30afb62c19cdb959842a55aa9986df033fedb0b57f98c",
+    "visual_seed": 4917603320674650606,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2438a6984ac937e686a9e051c60832830096fd67
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25651903144560395,
+              0.025313753349572997,
+              1.1640809835673687
+            ],
+            "current_z": 1.1640809835673687,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3029742371340238,
+            "gripper_z": 1.1573619101352846,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2515185179594636,
+              0.02030758340077829,
+              1.1573619101352846
+            ],
+            "object_minus_gripper": [
+              0.005000513486140334,
+              0.005006169948794707,
+              0.0067190734320841106
+            ],
+            "object_to_gripper_xy": 0.007075794844488255,
+            "object_to_gripper_z": 0.0067190734320841106,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25651903144560395,
+              0.0014488605641402926,
+              1.1640809835673687
+            ],
+            "finger_b": [
+              0.24506224995800827,
+              0.025313753349572997,
+              1.1640809835673687
+            ],
+            "finger_midpoint": [
+              0.2507906407018061,
+              0.013381306956856645,
+              1.1640809835673687
+            ],
+            "object_minus_finger_midpoint": [
+              0.005728390743797829,
+              0.011932446392716352,
+              0.0
+            ],
+            "finger_gap": 0.026472456435221742,
+            "fingertip_max_gap": 0.09105680588315795,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013236228217610866,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640809835673687,
+            "object_top_z": 1.2140540411414855,
+            "finger_top_clearance": 0.04997305757411685,
+            "fingertip_min_top_clearance": 0.014991917272235054,
+            "object_projection_between_fingers": 0.8127004321218056,
+            "object_to_finger_line_xy": 0.010328276959739239,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802840294157898,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6490087030655388,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2684293589908343,
+              -0.34800170955288556,
+              0.8515396110363825
+            ],
+            "target_position": [
+              0.26014969260278853,
+              -0.3488282279777926,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008320817760535674,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836417884217522,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396110363825,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561619335284636,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509511866374501,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15136940514529973,
+            "release_required_pad_clearance": 0.05254755933187251,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1631293688580999,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007474720478057861,
+            "max_z_decrease": 0.007474720478057861,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510801240433194,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007474720478057861,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021098766661833745,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007474720478057861,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007474740326980805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11584962159395218,
+              -0.4050896763801575,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11584962159395218,
+              -0.4050896763801575,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11667848660237062,
+              -0.404021061760413,
+              0.8077021692385196
+            ],
+            "closest_button": [
+              0.11583905667066574,
+              -0.4050849080085755,
+              0.7726203203201294
+            ],
+            "closest_ee_minus_button": [
+              0.0008394299317048826,
+              0.00106384624816247,
+              0.03508184891839017
+            ],
+            "button_min_z_position": [
+              0.11583244800567627,
+              -0.4050883352756501,
+              0.7693341374397278
+            ],
+            "min_active_finger_to_button": 0.14502918021698638,
+            "closest_active_finger": [
+              -0.010484665632247925,
+              -0.4674277901649475,
+              0.8111019134521484
+            ],
+            "closest_active_finger_button": [
+              0.11585132777690887,
+              -0.40508791804313665,
+              0.7766574621200562
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263359934091568,
+              -0.06233987212181086,
+              0.034444451332092285
+            ],
+            "min_contact_pad_to_button": 0.021098766661833745,
+            "closest_contact_pad": [
+              0.11583244800567627,
+              -0.4050883352756501,
+              0.7904329041015615
+            ],
+            "closest_contact_pad_button": [
+              0.11583244800567627,
+              -0.4050883352756501,
+              0.7693341374397278
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021098766661833745
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2826614441914512,
+              0.1837443759027656,
+              1.1035674595776128
+            ],
+            "current_z": 1.1035674595776128,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19365832984325027,
+            "gripper_z": 1.1035677616133828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28266147401065367,
+              0.18374435351809787,
+              1.1035677616133828
+            ],
+            "object_minus_gripper": [
+              -2.981920244060632e-08,
+              2.2384667730523944e-08,
+              -3.020357699501375e-07
+            ],
+            "object_to_gripper_xy": 3.7286166115596036e-08,
+            "object_to_gripper_z": -3.020357699501375e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2826614441914512,
+              0.1837443759027656,
+              1.1035674595776128
+            ],
+            "finger_b": [
+              0.2826614441914512,
+              0.1837443759027656,
+              1.1035674595776128
+            ],
+            "finger_midpoint": [
+              0.2826614441914512,
+              0.1837443759027656,
+              1.1035674595776128
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035674595776128,
+            "object_top_z": 1.2285759661978926,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2826614441914513,
+            0.18374437590276563,
+            1.103567459577613
+          ],
+          "object_origin_world": [
+            0.2826614441914513,
+            0.18374437590276563,
+            1.103567459577613
+          ],
+          "frame_world": [
+            0.28266147401065367,
+            0.18374435351809787,
+            1.1035677616133828
+          ],
+          "center_minus_frame": [
+            -2.981920238509517e-08,
+            2.238466775827952e-08,
+            -3.0203576972809287e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432683170267238,
+            "required_z": 0.9112598351689203,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008141349334428622,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.446163914037708e-08,
+            "max_target_xy_drift": 1.8045182403157903e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.15825873771919136,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.16312937613045217,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26787139145401,
+              -0.3474069474471303,
+              0.9233769354798619
+            ],
+            "target_mouth_xy": [
+              0.26842933297844784,
+              -0.3480032948252392
+            ],
+            "rod_tip_z": 0.9233769354798619,
+            "rod_tip_depth": -0.02211709215082014,
+            "rod_tip_bottom_clearance": 0.12155765926317497,
+            "rod_tip_xy_dist": 0.0008166571741369458,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04467170288774136,
+            "min_rod_tip_bottom_clearance": 0.05476879681301006,
+            "min_rod_tip_xy_dist": 0.0008166571741369458,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26842930178121593,
+              -0.34800332650441335
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.119723190891932e-08,
+              3.167917417279398e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                4.815783242284599e-05,
+                0.002253732128385255
+              ],
+              "last_rod_tip_xy_delta": [
+                -6.595535037556832e-05,
+                0.001879748250119273
+              ],
+              "first_target_mouth_xy": [
+                0.2684293355482792,
+                -0.3480033553772571
+              ],
+              "last_target_mouth_xy": [
+                0.26842933437415506,
+                -0.3480033861115892
+              ],
+              "first_rod_tip_xy": [
+                0.26847749338070204,
+                -0.3457496232488718
+              ],
+              "last_rod_tip_xy": [
+                0.2683633790237795,
+                -0.34612363786146993
+              ],
+              "min_rod_tip_xy_dist": 0.0018807028301212549,
+              "max_rod_tip_xy_dist": 0.0022542465888494984,
+              "first_target_xy_drift": 4.4428095456153996e-08,
+              "last_target_xy_drift": 6.793611039098228e-08,
+              "max_depth": 0.019556350000337397,
+              "min_bottom_clearance": 0.07988423304506853
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  4.815783242284599e-05,
+                  0.002253732128385255
+                ],
+                "rod_tip_xy": [
+                  0.26847749338070204,
+                  -0.3457496232488718
+                ],
+                "target_mouth_xy": [
+                  0.2684293355482792,
+                  -0.3480033553772571
+                ],
+                "gripper_position": [
+                  0.2684663995007035,
+                  -0.3457566684012769,
+                  1.0059295402880806
+                ],
+                "rod_tip_xy_dist": 0.0022542465888494984,
+                "target_xy_drift": 4.4428095456153996e-08,
+                "depth": 0.015192611873319328,
+                "bottom_clearance": 0.08424802021700362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  3.706724316832055e-05,
+                  0.0022466863446074514
+                ],
+                "rod_tip_xy": [
+                  0.2684663995007034,
+                  -0.34575666840127695
+                ],
+                "target_mouth_xy": [
+                  0.26842933225753507,
+                  -0.3480033547458844
+                ],
+                "gripper_position": [
+                  0.2684687603881417,
+                  -0.3458195705900653,
+                  1.0054131921958687
+                ],
+                "rod_tip_xy_dist": 0.0022469921031373677,
+                "target_xy_drift": 4.154981004916449e-08,
+                "depth": 0.015330291647187688,
+                "bottom_clearance": 0.08411023641447757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  3.943372040410287e-05,
+                  0.0021822040691917843
+                ],
+                "rod_tip_xy": [
+                  0.26846876038814166,
+                  -0.3458195705900654
+                ],
+                "target_mouth_xy": [
+                  0.26842932666773756,
+                  -0.3480017746592572
+                ],
+                "gripper_position": [
+                  0.26845737960066957,
+                  -0.34582656384122096,
+                  1.0052754850190775
+                ],
+                "rod_tip_xy_dist": 0.0021825603354551485,
+                "target_xy_drift": 1.5520446925403418e-06,
+                "depth": 0.015846735683910262,
+                "bottom_clearance": 0.0835939600616511,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  2.807342839034055e-05,
+                  0.0021768207164729048
+                ],
+                "rod_tip_xy": [
+                  0.26845737960066945,
+                  -0.345826563841221
+                ],
+                "target_mouth_xy": [
+                  0.2684293061722791,
+                  -0.3480033845576939
+                ],
+                "gripper_position": [
+                  0.2684490234403426,
+                  -0.34582714777534246,
+                  1.005154391451661
+                ],
+                "rod_tip_xy_dist": 0.0021770017338181426,
+                "target_xy_drift": 5.821911044473347e-08,
+                "depth": 0.015984436062271956,
+                "bottom_clearance": 0.08345623483462583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  1.9692626692269233e-05,
+                  0.0021762380255170855
+                ],
+                "rod_tip_xy": [
+                  0.26844902344034255,
+                  -0.3458271477753425
+                ],
+                "target_mouth_xy": [
+                  0.2684293308136503,
+                  -0.3480033858008596
+                ],
+                "gripper_position": [
+                  0.26845237092497254,
+                  -0.3458913076633219,
+                  1.0046380767588552
+                ],
+                "rod_tip_xy_dist": 0.0021763271222986088,
+                "target_xy_drift": 6.602235062670572e-08,
+                "depth": 0.016105461605728344,
+                "bottom_clearance": 0.08333507608906165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  2.30089722048632e-05,
+                  0.0021120787600469315
+                ],
+                "rod_tip_xy": [
+                  0.2684523709249724,
+                  -0.3458913076633219
+                ],
+                "target_mouth_xy": [
+                  0.26842936195276756,
+                  -0.3480033864233688
+                ],
+                "gripper_position": [
+                  0.2684410345781806,
+                  -0.34589791907914225,
+                  1.004500076416787
+                ],
+                "rod_tip_xy_dist": 0.002112204086125038,
+                "target_xy_drift": 8.491699976729058e-08,
+                "depth": 0.016621746789001857,
+                "bottom_clearance": 0.08281876196819982,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  1.1704522999644862e-05,
+                  0.002105432875179336
+                ],
+                "rod_tip_xy": [
+                  0.2684410345781805,
+                  -0.34589791907914225
+                ],
+                "target_mouth_xy": [
+                  0.2684293300551809,
+                  -0.3480033519543216
+                ],
+                "gripper_position": [
+                  0.2684327547860753,
+                  -0.34589838156719716,
+                  1.0043795146156622
+                ],
+                "rod_tip_xy_dist": 0.0021054654088216635,
+                "target_xy_drift": 3.8040963750537585e-08,
+                "depth": 0.01675986859127665,
+                "bottom_clearance": 0.08268083616710964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  3.39162218010447e-06,
+                  0.0021050051686734017
+                ],
+                "rod_tip_xy": [
+                  0.2684327547860752,
+                  -0.3458983815671972
+                ],
+                "target_mouth_xy": [
+                  0.2684293631638951,
+                  -0.3480033867358706
+                ],
+                "gripper_position": [
+                  0.26843670641394,
+                  -0.3459638100692639,
+                  1.0038646528007285
+                ],
+                "rod_tip_xy_dist": 0.002105007900992951,
+                "target_xy_drift": 8.59980333815091e-08,
+                "depth": 0.01688032408235529,
+                "bottom_clearance": 0.08256024224463798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  7.375256964259336e-06,
+                  0.0020395148760044
+                ],
+                "rod_tip_xy": [
+                  0.2684367064139399,
+                  -0.345963810069264
+                ],
+                "target_mouth_xy": [
+                  0.26842933115697565,
+                  -0.3480033249452684
+                ],
+                "gripper_position": [
+                  0.26842542415418336,
+                  -0.34597014177157254,
+                  1.0037273967686522
+                ],
+                "rod_tip_xy_dist": 0.0020395282110965106,
+                "target_xy_drift": 2.9417107125743185e-08,
+                "depth": 0.017395208535414652,
+                "bottom_clearance": 0.08204535353041809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -3.939503829042401e-06,
+                  0.0020332145348950226
+                ],
+                "rod_tip_xy": [
+                  0.26842542415418325,
+                  -0.3459701417715727
+                ],
+                "target_mouth_xy": [
+                  0.2684293636580123,
+                  -0.3480033563064677
+                ],
+                "gripper_position": [
+                  0.2684169155202907,
+                  -0.3459708283448503,
+                  1.003606489933486
+                ],
+                "rod_tip_xy_dist": 0.00203321835143174,
+                "target_xy_drift": 6.867969403119573e-08,
+                "depth": 0.017532494293496126,
+                "bottom_clearance": 0.08190806872491818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -1.2414742636968068e-05,
+                  0.0020325276557681127
+                ],
+                "rod_tip_xy": [
+                  0.2684169155202906,
+                  -0.3459708283448504
+                ],
+                "target_mouth_xy": [
+                  0.2684293302629276,
+                  -0.3480033560006185
+                ],
+                "gripper_position": [
+                  0.268408284419319,
+                  -0.3459713087344547,
+                  1.0034858202816135
+                ],
+                "rod_tip_xy_dist": 0.0020325655702330887,
+                "target_xy_drift": 4.100285376413015e-08,
+                "depth": 0.017653379901444777,
+                "bottom_clearance": 0.08178717893966103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -2.1064614501964396e-05,
+                  0.0020320466359298184
+                ],
+                "rod_tip_xy": [
+                  0.2684082844193189,
+                  -0.3459713087344548
+                ],
+                "target_mouth_xy": [
+                  0.2684293490338209,
+                  -0.3480033553703846
+                ],
+                "gripper_position": [
+                  0.26841385376619736,
+                  -0.3460386168283187,
+                  1.0029720436937641
+                ],
+                "rod_tip_xy_dist": 0.0020321558130659686,
+                "target_xy_drift": 5.537195112643455e-08,
+                "depth": 0.017774074989932553,
+                "bottom_clearance": 0.08166650274622167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -1.54777454225985e-05,
+                  0.0019647382303604743
+                ],
+                "rod_tip_xy": [
+                  0.26841385376619725,
+                  -0.3460386168283188
+                ],
+                "target_mouth_xy": [
+                  0.26842933151161985,
+                  -0.3480033550586793
+                ],
+                "gripper_position": [
+                  0.2684021757836979,
+                  -0.3460452302472949,
+                  1.0028341757305455
+                ],
+                "rod_tip_xy_dist": 0.001964799194432697,
+                "target_xy_drift": 4.12218755162929e-08,
+                "depth": 0.018287741646639488,
+                "bottom_clearance": 0.08115279560836075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -2.7157764016128016e-05,
+                  0.001958124498531666
+                ],
+                "rod_tip_xy": [
+                  0.2684021757836978,
+                  -0.34604523024729494
+                ],
+                "target_mouth_xy": [
+                  0.2684293335477139,
+                  -0.3480033547458266
+                ],
+                "gripper_position": [
+                  0.2683936527300099,
+                  -0.34604537590033346,
+                  1.00271368585328
+                ],
+                "rod_tip_xy_dist": 0.0019583128187029373,
+                "target_xy_drift": 4.250515048226018e-08,
+                "depth": 0.01842572606710824,
+                "bottom_clearance": 0.08101485158015953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -3.567859111003324e-05,
+                  0.0019580098985487737
+                ],
+                "rod_tip_xy": [
+                  0.26839365273000987,
+                  -0.3460453759003336
+                ],
+                "target_mouth_xy": [
+                  0.2684293313211199,
+                  -0.34800338579888235
+                ],
+                "gripper_position": [
+                  0.26838494950388075,
+                  -0.3460461135644557,
+                  1.0025930008024317
+                ],
+                "rod_tip_xy_dist": 0.0019583349367967105,
+                "target_xy_drift": 6.624530157349752e-08,
+                "depth": 0.01854609212890812,
+                "bottom_clearance": 0.0808944260590051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -4.437976065085891e-05,
+                  0.0019556245051707277
+                ],
+                "rod_tip_xy": [
+                  0.2683849495038807,
+                  -0.3460461135644558
+                ],
+                "target_mouth_xy": [
+                  0.26842932926453156,
+                  -0.34800173806962653
+                ],
+                "gripper_position": [
+                  0.2683762768438744,
+                  -0.3460464215708278,
+                  1.0024726195264486
+                ],
+                "rod_tip_xy_dist": 0.001956128004088608,
+                "target_xy_drift": 1.588672529063178e-06,
+                "depth": 0.018666915366724823,
+                "bottom_clearance": 0.08077369669417689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -5.3024523390066136e-05,
+                  0.001956965167409841
+                ],
+                "rod_tip_xy": [
+                  0.26837627684387433,
+                  -0.346046421570828
+                ],
+                "target_mouth_xy": [
+                  0.2684293013672644,
+                  -0.34800338673823783
+                ],
+                "gripper_position": [
+                  0.2683839223031293,
+                  -0.34611671905974445,
+                  1.0019613167525727
+                ],
+                "rod_tip_xy_dist": 0.001957683392823306,
+                "target_xy_drift": 6.023524688928667e-08,
+                "depth": 0.018787179915685015,
+                "bottom_clearance": 0.08065337771936221,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -4.541171590766169e-05,
+                  0.0018866356873611378
+                ],
+                "rod_tip_xy": [
+                  0.26838392230312924,
+                  -0.3461167190597445
+                ],
+                "target_mouth_xy": [
+                  0.2684293340190369,
+                  -0.34800335474710564
+                ],
+                "gripper_position": [
+                  0.2683720615779455,
+                  -0.3461234943547053,
+                  1.0018236639324498
+                ],
+                "rod_tip_xy_dist": 0.0018871821429756882,
+                "target_xy_drift": 4.285938367390608e-08,
+                "depth": 0.019298588783946635,
+                "bottom_clearance": 0.08014200696080087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -5.7241384531669937e-05,
+                  0.0018798315241326802
+                ],
+                "rod_tip_xy": [
+                  0.26837206157794546,
+                  -0.34612349435470535
+                ],
+                "target_mouth_xy": [
+                  0.26842930296247713,
+                  -0.34800332587883803
+                ],
+                "gripper_position": [
+                  0.2683633790237796,
+                  -0.34612363786146977,
+                  1.001703545234365
+                ],
+                "rod_tip_xy_dist": 0.0018807028301212549,
+                "target_xy_drift": 1.3366833939831534e-09,
+                "depth": 0.019436095663151964,
+                "bottom_clearance": 0.08000441829983596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -6.595535037556832e-05,
+                  0.001879748250119273
+                ],
+                "rod_tip_xy": [
+                  0.2683633790237795,
+                  -0.34612363786146993
+                ],
+                "target_mouth_xy": [
+                  0.26842933437415506,
+                  -0.3480033861115892
+                ],
+                "gripper_position": [
+                  0.26835464712992596,
+                  -0.34612385118908096,
+                  1.0015834232139258
+                ],
+                "rod_tip_xy_dist": 0.0018809049928344688,
+                "target_xy_drift": 6.793611039098228e-08,
+                "depth": 0.019556350000337397,
+                "bottom_clearance": 0.07988423304506853,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005991610539456214,
+              "rod_tip_xy_max_step": 3.2396374203366576e-05,
+              "rod_tip_xy_range": 0.0005991512683365777,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26787139145401007,
+            -0.34740694744713024,
+            1.043376935479862
+          ],
+          "object_origin_world": [
+            0.26787139145401007,
+            -0.34740694744713024,
+            1.043376935479862
+          ],
+          "frame_world": [
+            0.26786993680190146,
+            -0.34741177846239085,
+            1.0432683170267238
+          ],
+          "center_minus_frame": [
+            1.4546521086011843e-06,
+            4.831015260609028e-06,
+            0.00010861845313825391
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27177792305158616,
+              0.13510307249276315,
+              0.8334596937690735
+            ],
+            "target_position": [
+              0.2828207167387855,
+              0.18232776899658393,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048498610828517884,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17019678783014017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334596937690735,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676610679895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13891653270543206,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "31d016ad84c6f4f81423eae52ae821b7682a1b1bcc05e79c9ef0cd4414075a40",
+    "visual_seed": 6892487603942167493,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00d2910af47310ab6d22fb79ff57a011f189c33c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_58_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2581759475652122,
+              0.03100100304249368,
+              1.1650183584567095
+            ],
+            "current_z": 1.1650183584567095,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30391185044194335,
+            "gripper_z": 1.1581550476893518,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2530891988663805,
+              0.026201593840629242,
+              1.1581550476893518
+            ],
+            "object_minus_gripper": [
+              0.0050867486988317445,
+              0.004799409201864439,
+              0.006863310767357689
+            ],
+            "object_to_gripper_xy": 0.006993521359945038,
+            "object_to_gripper_z": 0.006863310767357689,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2581759475652122,
+              0.006731464259085459,
+              1.1650183584567095
+            ],
+            "finger_b": [
+              0.24747814449735606,
+              0.03100100304249368,
+              1.1650183584567095
+            ],
+            "finger_midpoint": [
+              0.25282704603128414,
+              0.01886623365078957,
+              1.1650183584567095
+            ],
+            "object_minus_finger_midpoint": [
+              0.005348901533928085,
+              0.01213476939170411,
+              0.0
+            ],
+            "finger_gap": 0.026522697887620496,
+            "fingertip_max_gap": 0.09105561837675488,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013261348943810248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650183584567095,
+            "object_top_z": 1.2149926258328299,
+            "finger_top_clearance": 0.04997426737612032,
+            "fingertip_min_top_clearance": 0.014992280212836094,
+            "object_projection_between_fingers": 0.8373126440456219,
+            "object_to_finger_line_xy": 0.009789002142718732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802780918837744,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6442932011235035,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27529103931442955,
+              -0.350977293068914,
+              0.8515395645182903
+            ],
+            "target_position": [
+              0.2671048642741137,
+              -0.3515640466807695,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008207176225213894,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18429923181113803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395645182903,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552264902374199,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865245789580391,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521206328224737,
+            "release_required_pad_clearance": 0.05326228947901955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.544555253603284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073544979095458984,
+            "max_z_decrease": 0.0073544979095458984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512749686798637,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073544979095458984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021041502996316554,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073544979095458984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007354517777395589,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12280479073524475,
+              -0.4078254997730255,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12280479073524475,
+              -0.4078254997730255,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12167117290722052,
+              -0.4067698545793022,
+              0.8080836438135037
+            ],
+            "closest_button": [
+              0.12279526889324188,
+              -0.40782275795936584,
+              0.7729899287223816
+            ],
+            "closest_ee_minus_button": [
+              -0.0011240959860213673,
+              0.0010529033800636411,
+              0.035093715091122135
+            ],
+            "button_min_z_position": [
+              0.12278779596090318,
+              -0.4078236520290375,
+              0.7694543600082397
+            ],
+            "min_active_finger_to_button": 0.1467416129183858,
+            "closest_active_finger": [
+              -0.006164386868476868,
+              -0.46882009506225586,
+              0.8107198476791382
+            ],
+            "closest_active_finger_button": [
+              0.12280481308698654,
+              -0.4078253507614136,
+              0.7763732671737671
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1289691999554634,
+              -0.060994744300842285,
+              0.034346580505371094
+            ],
+            "min_contact_pad_to_button": 0.021041502996316554,
+            "closest_contact_pad": [
+              0.12278779596090318,
+              -0.407894510382241,
+              0.7904957436946274
+            ],
+            "closest_contact_pad_button": [
+              0.12278779596090318,
+              -0.4078236520290375,
+              0.7694543600082397
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.085835320352896e-05,
+              0.021041383686387638
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28259251602711616,
+              0.1762402677672217,
+              1.1033207642398155
+            ],
+            "current_z": 1.1033207642398155,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19341163450545296,
+            "gripper_z": 1.1033207642398157,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2825925160271162,
+              0.17624026776722174,
+              1.1033207642398157
+            ],
+            "object_minus_gripper": [
+              -5.551115123125783e-17,
+              -2.7755575615628914e-17,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 6.206335383118183e-17,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28259251602711616,
+              0.1762402677672217,
+              1.1033207642398155
+            ],
+            "finger_b": [
+              0.28259251602711616,
+              0.1762402677672217,
+              1.1033207642398155
+            ],
+            "finger_midpoint": [
+              0.28259251602711616,
+              0.1762402677672217,
+              1.1033207642398155
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033207642398155,
+            "object_top_z": 1.2283292708600952,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28259251602711616,
+            0.1762402677672217,
+            1.1033207642398155
+          ],
+          "object_origin_world": [
+            0.28259251602711616,
+            0.1762402677672217,
+            1.1033207642398155
+          ],
+          "frame_world": [
+            0.2825925160271162,
+            0.17624026776722174,
+            1.1033207642398157
+          ],
+          "center_minus_frame": [
+            -5.551115123125783e-17,
+            -2.7755575615628914e-17,
+            -2.220446049250313e-16
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043395169612265,
+            "required_z": 0.9112598707106021,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016096015181018886,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.244715877654222e-08,
+            "max_target_xy_drift": 6.80881967873183e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5445552534496503,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.544555253659215,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2743810915212325,
+              -0.35229824601879434,
+              0.9235082909368667
+            ],
+            "target_mouth_xy": [
+              0.2752910098487754,
+              -0.35097726131646007
+            ],
+            "rod_tip_z": 0.9235082909368667,
+            "rod_tip_depth": -0.022248511931930004,
+            "rod_tip_bottom_clearance": 0.12168906888192943,
+            "rod_tip_xy_dist": 0.0016040423768091713,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044828680117397934,
+            "min_rod_tip_bottom_clearance": 0.05461192217414135,
+            "min_rod_tip_xy_dist": 0.00040618280343138473,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2752910079157832,
+              -0.35097729370599007
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.932992210740281e-09,
+              3.238953000250788e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.00033664222555368495,
+                0.0003653886540849749
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0004600141667959745,
+                4.5950371953873415e-05
+              ],
+              "first_target_mouth_xy": [
+                0.2752910733564423,
+                -0.35097729492333796
+              ],
+              "last_target_mouth_xy": [
+                0.2752909783314863,
+                -0.35097726387181116
+              ],
+              "first_rod_tip_xy": [
+                0.27495443113088863,
+                -0.350611906269253
+              ],
+              "last_rod_tip_xy": [
+                0.27483096416469033,
+                -0.3509313134998573
+              ],
+              "min_rod_tip_xy_dist": 0.00040618280343138473,
+              "max_rod_tip_xy_dist": 0.0004991078499664564,
+              "first_target_xy_drift": 6.545198088016847e-08,
+              "last_target_xy_drift": 4.2015578706922145e-08,
+              "max_depth": 0.019518338357057297,
+              "min_bottom_clearance": 0.07992222834137863
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00033664222555368495,
+                  0.0003653886540849749
+                ],
+                "rod_tip_xy": [
+                  0.27495443113088863,
+                  -0.350611906269253
+                ],
+                "target_mouth_xy": [
+                  0.2752910733564423,
+                  -0.35097729492333796
+                ],
+                "gripper_position": [
+                  0.2749431132958224,
+                  -0.3506194412791022,
+                  1.0056314470448957
+                ],
+                "rod_tip_xy_dist": 0.0004968267872808063,
+                "target_xy_drift": 6.545198088016847e-08,
+                "depth": 0.015485846726185026,
+                "bottom_clearance": 0.0839549089526136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0003479257464252816,
+                  0.00035784957855578003
+                ],
+                "rod_tip_xy": [
+                  0.27494311329582233,
+                  -0.3506194412791023
+                ],
+                "target_mouth_xy": [
+                  0.2752910390422476,
+                  -0.35097729085765805
+                ],
+                "gripper_position": [
+                  0.27494672636705364,
+                  -0.35068565700083015,
+                  1.0051116883968525
+                ],
+                "rod_tip_xy_dist": 0.0004991078499664564,
+                "target_xy_drift": 3.12565158275972e-08,
+                "depth": 0.01562839172386532,
+                "bottom_clearance": 0.08381215198951297,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00034434467669736124,
+                  0.00029166680660547284
+                ],
+                "rod_tip_xy": [
+                  0.2749467263670536,
+                  -0.3506856570008301
+                ],
+                "target_mouth_xy": [
+                  0.27529107104375095,
+                  -0.35097732380743557
+                ],
+                "gripper_position": [
+                  0.27493532095433193,
+                  -0.3506928591863668,
+                  1.0049692953050071
+                ],
+                "rod_tip_xy_dist": 0.0004512679718806161,
+                "target_xy_drift": 6.993738151096282e-08,
+                "depth": 0.016148230677603848,
+                "bottom_clearance": 0.08329240206023536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000355749707782238,
+                  0.00028446304005858014
+                ],
+                "rod_tip_xy": [
+                  0.2749353209543319,
+                  -0.35069285918636683
+                ],
+                "target_mouth_xy": [
+                  0.2752910706621141,
+                  -0.3509773222264254
+                ],
+                "gripper_position": [
+                  0.27492687844684816,
+                  -0.350694167334643,
+                  1.0048439744963158
+                ],
+                "rod_tip_xy_dist": 0.00045549651562500136,
+                "target_xy_drift": 6.892399636477295e-08,
+                "depth": 0.016290592665864523,
+                "bottom_clearance": 0.08314997022906123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003641619892434389,
+                  0.0002831238170840078
+                ],
+                "rod_tip_xy": [
+                  0.2749268784468481,
+                  -0.350694167334643
+                ],
+                "target_mouth_xy": [
+                  0.27529104043609154,
+                  -0.350977291151727
+                ],
+                "gripper_position": [
+                  0.2749313952944057,
+                  -0.3507611849674078,
+                  1.004325062822667
+                ],
+                "rod_tip_xy_dist": 0.0004612732923224119,
+                "target_xy_drift": 3.262046465160837e-08,
+                "depth": 0.01641592900392741,
+                "bottom_clearance": 0.08302465617914168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00035964532257293236,
+                  0.00021613725372759962
+                ],
+                "rod_tip_xy": [
+                  0.2749313952944057,
+                  -0.3507611849674078
+                ],
+                "target_mouth_xy": [
+                  0.2752910406169786,
+                  -0.3509773222211354
+                ],
+                "gripper_position": [
+                  0.27491988952360175,
+                  -0.35076843575376204,
+                  1.0041826405215648
+                ],
+                "rod_tip_xy_dist": 0.0004195951268752979,
+                "target_xy_drift": 4.338757536965286e-08,
+                "depth": 0.01693476339993616,
+                "bottom_clearance": 0.08250578974186018,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0003711532536292417,
+                  0.00020888485275205593
+                ],
+                "rod_tip_xy": [
+                  0.2749198895236017,
+                  -0.35076843575376215
+                ],
+                "target_mouth_xy": [
+                  0.27529104277723093,
+                  -0.3509773206065142
+                ],
+                "gripper_position": [
+                  0.2749112648684285,
+                  -0.35076945433311213,
+                  1.0040578177221626
+                ],
+                "rod_tip_xy_dist": 0.0004258962542554469,
+                "target_xy_drift": 4.403360917325211e-08,
+                "depth": 0.017077286813764192,
+                "bottom_clearance": 0.08236339898237677,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0003797446021709394,
+                  0.0002078694722069674
+                ],
+                "rod_tip_xy": [
+                  0.27491126486842843,
+                  -0.35076945433311213
+                ],
+                "target_mouth_xy": [
+                  0.27529100947059937,
+                  -0.3509773238053191
+                ],
+                "gripper_position": [
+                  0.27490267127781587,
+                  -0.3507703610020948,
+                  1.0039330498366665
+                ],
+                "rod_tip_xy_dist": 0.00043291532700236916,
+                "target_xy_drift": 3.013946020276373e-08,
+                "depth": 0.017202025084628647,
+                "bottom_clearance": 0.08223852999015946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0003883050394420384,
+                  0.00020692862007243296
+                ],
+                "rod_tip_xy": [
+                  0.2749026712778158,
+                  -0.3507703610020948
+                ],
+                "target_mouth_xy": [
+                  0.27529097631725785,
+                  -0.35097728962216723
+                ],
+                "gripper_position": [
+                  0.27490881941246725,
+                  -0.35083974077867214,
+                  1.0034139461894631
+                ],
+                "rod_tip_xy_dist": 0.0004400002925694076,
+                "target_xy_drift": 3.186133100424716e-08,
+                "depth": 0.017326899047784172,
+                "bottom_clearance": 0.08211379536628671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00038219373825770786,
+                  0.0001375224208628456
+                ],
+                "rod_tip_xy": [
+                  0.2749088194124672,
+                  -0.3508397407786722
+                ],
+                "target_mouth_xy": [
+                  0.2752910131507249,
+                  -0.35097726319953504
+                ],
+                "gripper_position": [
+                  0.2748971025300508,
+                  -0.35084724238245263,
+                  1.0032714437899395
+                ],
+                "rod_tip_xy_dist": 0.00040618280343138473,
+                "target_xy_drift": 3.095235714852495e-08,
+                "depth": 0.017845969637988457,
+                "bottom_clearance": 0.08159469576775713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003938452914368229,
+                  0.00013001803531526024
+                ],
+                "rod_tip_xy": [
+                  0.27489710253005073,
+                  -0.3508472423824527
+                ],
+                "target_mouth_xy": [
+                  0.27529094782148755,
+                  -0.35097726041776794
+                ],
+                "gripper_position": [
+                  0.27488830798565245,
+                  -0.35084806429687376,
+                  1.003147053272837
+                ],
+                "rod_tip_xy_dist": 0.0004147514955900656,
+                "target_xy_drift": 6.869810843021986e-08,
+                "depth": 0.017988454426093203,
+                "bottom_clearance": 0.08145216771596309,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0004026735105269741,
+                  0.00012919795754934293
+                ],
+                "rod_tip_xy": [
+                  0.2748883079856524,
+                  -0.35084806429687376
+                ],
+                "target_mouth_xy": [
+                  0.27529098149617937,
+                  -0.3509772622544231
+                ],
+                "gripper_position": [
+                  0.27487966200314395,
+                  -0.3508489903519548,
+                  1.003022276604274
+                ],
+                "rod_tip_xy_dist": 0.0004228925020794752,
+                "target_xy_drift": 4.107549794362831e-08,
+                "depth": 0.018112838855077196,
+                "bottom_clearance": 0.08132773800604143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004113181784759501,
+                  0.00012830140511510546
+                ],
+                "rod_tip_xy": [
+                  0.27487966200314395,
+                  -0.3508489903519548
+                ],
+                "target_mouth_xy": [
+                  0.2752909801816199,
+                  -0.35097729175706993
+                ],
+                "gripper_position": [
+                  0.2748869969023173,
+                  -0.35092036309092556,
+                  1.0025062698666485
+                ],
+                "rod_tip_xy_dist": 0.00043086412533336303,
+                "target_xy_drift": 2.7802555702817632e-08,
+                "depth": 0.01823755148309647,
+                "bottom_clearance": 0.08120298707928841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0004039489679083519,
+                  5.6865317834442486e-05
+                ],
+                "rod_tip_xy": [
+                  0.27488699690231727,
+                  -0.35092036309092556
+                ],
+                "target_mouth_xy": [
+                  0.2752909458702256,
+                  -0.35097722840876
+                ],
+                "gripper_position": [
+                  0.27487535247951045,
+                  -0.35092726577246236,
+                  1.0023643302157796
+                ],
+                "rod_tip_xy_dist": 0.00040793189755967214,
+                "target_xy_drift": 9.007429971954685e-08,
+                "depth": 0.018753786018433583,
+                "bottom_clearance": 0.0806869896436998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004156279052556777,
+                  5.0025991997437735e-05
+                ],
+                "rod_tip_xy": [
+                  0.2748753524795104,
+                  -0.35092726577246236
+                ],
+                "target_mouth_xy": [
+                  0.27529098038476607,
+                  -0.3509772917644598
+                ],
+                "gripper_position": [
+                  0.2748664706552503,
+                  -0.3509281691440933,
+                  1.0022396963664053
+                ],
+                "rod_tip_xy_dist": 0.0004186277051301673,
+                "target_xy_drift": 2.7599392097479675e-08,
+                "depth": 0.018895499259963255,
+                "bottom_clearance": 0.08054504665029993,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00042450986940784086,
+                  4.908931743052847e-05
+                ],
+                "rod_tip_xy": [
+                  0.2748664706552502,
+                  -0.3509281691440933
+                ],
+                "target_mouth_xy": [
+                  0.27529098052465806,
+                  -0.35097725846152383
+                ],
+                "gripper_position": [
+                  0.27485756637895653,
+                  -0.3509289839026165,
+                  1.0021151551472656
+                ],
+                "rod_tip_xy_dist": 0.0004273387301783648,
+                "target_xy_drift": 4.463682489716582e-08,
+                "depth": 0.019020257041394317,
+                "bottom_clearance": 0.08042042280067052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0004334133674472329,
+                  4.827744040669657e-05
+                ],
+                "rod_tip_xy": [
+                  0.2748575663789565,
+                  -0.3509289839026165
+                ],
+                "target_mouth_xy": [
+                  0.2752909797464037,
+                  -0.3509772613430232
+                ],
+                "gripper_position": [
+                  0.2748487152813718,
+                  -0.35092988029006766,
+                  1.0019908272915568
+                ],
+                "rod_tip_xy_dist": 0.0004360938641326799,
+                "target_xy_drift": 4.2905425825623785e-08,
+                "depth": 0.019144680734791142,
+                "bottom_clearance": 0.08029586398579325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004422640727826388,
+                  4.7414344263585484e-05
+                ],
+                "rod_tip_xy": [
+                  0.2748487152813717,
+                  -0.35092988029006766
+                ],
+                "target_mouth_xy": [
+                  0.27529097935415436,
+                  -0.35097729463433125
+                ],
+                "gripper_position": [
+                  0.27483986252522563,
+                  -0.35093064753669806,
+                  1.0018660588246677
+                ],
+                "rod_tip_xy_dist": 0.0004447984151458198,
+                "target_xy_drift": 2.8576711835547497e-08,
+                "depth": 0.0192690239920027,
+                "bottom_clearance": 0.0801715405776956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00045121010066051515,
+                  4.639464661587711e-05
+                ],
+                "rod_tip_xy": [
+                  0.27483986252522563,
+                  -0.350930647536698
+                ],
+                "target_mouth_xy": [
+                  0.27529107262588615,
+                  -0.3509770421833139
+                ],
+                "gripper_position": [
+                  0.27483096416469033,
+                  -0.35093131349985734,
+                  1.0017415252163715
+                ],
+                "rod_tip_xy_dist": 0.0004535890410632562,
+                "target_xy_drift": 2.59713407545736e-07,
+                "depth": 0.019394113048329498,
+                "bottom_clearance": 0.08004694985392535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0004600141667959745,
+                  4.5950371953873415e-05
+                ],
+                "rod_tip_xy": [
+                  0.27483096416469033,
+                  -0.3509313134998573
+                ],
+                "target_mouth_xy": [
+                  0.2752909783314863,
+                  -0.35097726387181116
+                ],
+                "gripper_position": [
+                  0.27484181600967217,
+                  -0.35100783367761995,
+                  1.0012305790375515
+                ],
+                "rod_tip_xy_dist": 0.00046230343967538676,
+                "target_xy_drift": 4.2015578706922145e-08,
+                "depth": 0.019518338357057297,
+                "bottom_clearance": 0.07992222834137863,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006030047641224439,
+              "rod_tip_xy_max_step": 3.270689268721337e-05,
+              "rod_tip_xy_range": 0.0006029993067533905,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2743810915212325,
+            -0.35229824601879434,
+            1.0435082909368667
+          ],
+          "object_origin_world": [
+            0.2743810915212325,
+            -0.35229824601879434,
+            1.0435082909368667
+          ],
+          "frame_world": [
+            0.27437948116077204,
+            -0.3523038857915934,
+            1.043395169612265
+          ],
+          "center_minus_frame": [
+            1.6103604604800204e-06,
+            5.6397727990487034e-06,
+            0.00011312132460172819
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27286330810733017,
+              0.131092286915305,
+              0.8337553671648338
+            ],
+            "target_position": [
+              0.2827327678274829,
+              0.17787191451488238,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047809411139678966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17033259839154496,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337553671648338,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675435158569,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1396415133679549,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "061e0c5b4433cf9d49654a7b6d34e0bc039063f80588756d06d131ab5ddd6cea",
+    "visual_seed": 2852337294920699634,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae1769ba7a52e305c3a9cb997feee13af718ae2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_59_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2573299704923375,
+              0.03162031074373025,
+              1.162076098411422
+            ],
+            "current_z": 1.162076098411422,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.30096929237343206,
+            "gripper_z": 1.1551859267156437,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25237141957677856,
+              0.026667051817342816,
+              1.1551859267156437
+            ],
+            "object_minus_gripper": [
+              0.004958550915558968,
+              0.004953258926387434,
+              0.006890171695778324
+            ],
+            "object_to_gripper_xy": 0.007008708952013022,
+            "object_to_gripper_z": 0.006890171695778324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2573299704923375,
+              0.00776644723393977,
+              1.162076098411422
+            ],
+            "finger_b": [
+              0.24597437982790285,
+              0.03162031074373025,
+              1.162076098411422
+            ],
+            "finger_midpoint": [
+              0.2516521751601202,
+              0.01969337898883501,
+              1.162076098411422
+            ],
+            "object_minus_finger_midpoint": [
+              0.00567779533221735,
+              0.011926931754895238,
+              0.0
+            ],
+            "finger_gap": 0.026418861513735025,
+            "fingertip_max_gap": 0.09102855554251954,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013209430756867518,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162076098411422,
+            "object_top_z": 1.2120372651938016,
+            "finger_top_clearance": 0.04996116678237961,
+            "fingertip_min_top_clearance": 0.014988350034713847,
+            "object_projection_between_fingers": 0.8152471010819353,
+            "object_to_finger_line_xy": 0.010253080347222745,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801427777125977,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6837773455596933,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2744923308282926,
+              -0.3423704875157481,
+              0.8515395878943912
+            ],
+            "target_position": [
+              0.26632000384314164,
+              -0.3432861370531396,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008223462921881022,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18428861541860814,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395878943912,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571761816683954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542095515504099,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15171266803775665,
+            "release_required_pad_clearance": 0.052710477577520495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.474776519097464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007228195667266846,
+            "max_z_decrease": 0.007228195667266846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514832118302637,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007228195667266846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021077480467186493,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007228195667266846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007228218871307146,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12201993167400357,
+              -0.3995476067066192,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12201993167400357,
+              -0.3995476067066192,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12127875223374432,
+              -0.3979306387888038,
+              0.8079860054749735
+            ],
+            "closest_button": [
+              0.12200848013162609,
+              -0.3995458781719208,
+              0.7728824019432068
+            ],
+            "closest_ee_minus_button": [
+              -0.0007297278978817684,
+              0.0016152393831169731,
+              0.03510360353176667
+            ],
+            "button_min_z_position": [
+              0.1220016926527023,
+              -0.39954593777656555,
+              0.7695806622505188
+            ],
+            "min_active_finger_to_button": 0.1461568031351911,
+            "closest_active_finger": [
+              -0.007027022540569305,
+              -0.4589708745479584,
+              0.8105894923210144
+            ],
+            "closest_active_finger_button": [
+              0.12202017009258266,
+              -0.399547278881073,
+              0.7762752175331116
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12904719263315195,
+              -0.059423595666885376,
+              0.03431427478790283
+            ],
+            "min_contact_pad_to_button": 0.021077480467186493,
+            "closest_contact_pad": [
+              0.1220016926527023,
+              -0.39954593777656555,
+              0.7906581427177053
+            ],
+            "closest_contact_pad_button": [
+              0.1220016926527023,
+              -0.39954593777656555,
+              0.7695806622505188
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021077480467186493
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.277967092044958,
+              0.176441526377009,
+              1.104265523317848
+            ],
+            "current_z": 1.104265523317848,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19435639358348544,
+            "gripper_z": 1.1042654997365395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27796716666057186,
+              0.1764415559965981,
+              1.1042654997365395
+            ],
+            "object_minus_gripper": [
+              -7.461561385424531e-08,
+              -2.961958911473772e-08,
+              2.3581308461473327e-08
+            ],
+            "object_to_gripper_xy": 8.027957330586488e-08,
+            "object_to_gripper_z": 2.3581308461473327e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.277967092044958,
+              0.176441526377009,
+              1.104265523317848
+            ],
+            "finger_b": [
+              0.277967092044958,
+              0.176441526377009,
+              1.104265523317848
+            ],
+            "finger_midpoint": [
+              0.277967092044958,
+              0.176441526377009,
+              1.104265523317848
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104265523317848,
+            "object_top_z": 1.2292740299381277,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27796709204495806,
+            0.176441526377009,
+            1.104265523317848
+          ],
+          "object_origin_world": [
+            0.27796709204495806,
+            0.176441526377009,
+            1.104265523317848
+          ],
+          "frame_world": [
+            0.27796716666057186,
+            0.1764415559965981,
+            1.1042654997365395
+          ],
+          "center_minus_frame": [
+            -7.461561379873416e-08,
+            -2.961958911473772e-08,
+            2.3581308461473327e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043272583088144,
+            "required_z": 0.9112599322373629,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002396209543503448,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.067177231714242e-08,
+            "max_target_xy_drift": 1.2361693899300846e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.47477652139968857,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4747765219339828,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2721892434783641,
+              -0.3417099729285409,
+              0.9233824030762482
+            ],
+            "target_mouth_xy": [
+              0.2744923630295749,
+              -0.34237045992420434
+            ],
+            "rod_tip_z": 0.9233824030762482,
+            "rod_tip_depth": -0.022122565910275838,
+            "rod_tip_bottom_clearance": 0.12156311809164222,
+            "rod_tip_xy_dist": 0.0023959554959577327,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04447761648865323,
+            "min_rod_tip_bottom_clearance": 0.05496307244255305,
+            "min_rod_tip_xy_dist": 0.0006064394404805416,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2744923305848055,
+              -0.3423705445924229
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.2444769426653863e-08,
+              8.466821854735684e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0016724526559657726,
+                0.002341003518926077
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017928779345344203,
+                0.0019556538189099415
+              ],
+              "first_target_mouth_xy": [
+                0.27449236184890513,
+                -0.342370547443165
+              ],
+              "last_target_mouth_xy": [
+                0.27449230252087253,
+                -0.3423704884689671
+              ],
+              "first_rod_tip_xy": [
+                0.27281990919293936,
+                -0.3400295439242389
+              ],
+              "last_rod_tip_xy": [
+                0.2726994245863381,
+                -0.3404148346500572
+              ],
+              "min_rod_tip_xy_dist": 0.0026498260468864206,
+              "max_rod_tip_xy_dist": 0.002877945771764565,
+              "first_target_xy_drift": 3.1393799656959444e-08,
+              "last_target_xy_drift": 6.274891728685637e-08,
+              "max_depth": 0.019840993530674478,
+              "min_bottom_clearance": 0.07959949929086596
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016724526559657726,
+                  0.002341003518926077
+                ],
+                "rod_tip_xy": [
+                  0.27281990919293936,
+                  -0.3400295439242389
+                ],
+                "target_mouth_xy": [
+                  0.27449236184890513,
+                  -0.342370547443165
+                ],
+                "gripper_position": [
+                  0.272808437641722,
+                  -0.34003662940924956,
+                  1.0056528503378273
+                ],
+                "rod_tip_xy_dist": 0.002877046291263184,
+                "target_xy_drift": 3.1393799656959444e-08,
+                "depth": 0.015468244182055946,
+                "bottom_clearance": 0.08397228169412418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016838632606455683,
+                  0.0023339186756752284
+                ],
+                "rod_tip_xy": [
+                  0.27280843764172186,
+                  -0.3400366294092496
+                ],
+                "target_mouth_xy": [
+                  0.2744923009023674,
+                  -0.34237054808492484
+                ],
+                "gripper_position": [
+                  0.27280968394809346,
+                  -0.34010192251893073,
+                  1.0051365143079893
+                ],
+                "rod_tip_xy_dist": 0.002877945771764565,
+                "target_xy_drift": 2.988719958887068e-08,
+                "depth": 0.015607016643916949,
+                "bottom_clearance": 0.08383353856582121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001682647910451418,
+                  0.002268624929281038
+                ],
+                "rod_tip_xy": [
+                  0.2728096839480933,
+                  -0.3401019225189308
+                ],
+                "target_mouth_xy": [
+                  0.2744923318585447,
+                  -0.3423705474482118
+                ],
+                "gripper_position": [
+                  0.27279832687021033,
+                  -0.340108389866168,
+                  1.0049978696566217
+                ],
+                "rod_tip_xy_dist": 0.002824528820936674,
+                "target_xy_drift": 3.12697011114609e-09,
+                "depth": 0.01612332850586673,
+                "bottom_clearance": 0.08331720448438473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0016940058146949766,
+                  0.0022621569441201306
+                ],
+                "rod_tip_xy": [
+                  0.27279832687021016,
+                  -0.340108389866168
+                ],
+                "target_mouth_xy": [
+                  0.27449233268490514,
+                  -0.3423705468102881
+                ],
+                "gripper_position": [
+                  0.27278967617964944,
+                  -0.3401090106813866,
+                  1.0048761370447785
+                ],
+                "rod_tip_xy_dist": 0.002826129816560329,
+                "target_xy_drift": 3.0543975992391967e-09,
+                "depth": 0.0162619665400342,
+                "bottom_clearance": 0.08317857195368605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017026530212919666,
+                  0.0022615386801869697
+                ],
+                "rod_tip_xy": [
+                  0.2727896761796493,
+                  -0.34010901068138666
+                ],
+                "target_mouth_xy": [
+                  0.27449232920094124,
+                  -0.34237054936157363
+                ],
+                "gripper_position": [
+                  0.27279210305992474,
+                  -0.3401750604241251,
+                  1.0043605115472132
+                ],
+                "rod_tip_xy_dist": 0.002830827531464339,
+                "target_xy_drift": 4.9658714280619674e-09,
+                "depth": 0.016383795292212122,
+                "bottom_clearance": 0.08305685650907813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017002297411998768,
+                  0.0021954575294142464
+                ],
+                "rod_tip_xy": [
+                  0.27279210305992463,
+                  -0.34017506042412504
+                ],
+                "target_mouth_xy": [
+                  0.2744923328011245,
+                  -0.3423705179535393
+                ],
+                "gripper_position": [
+                  0.2727805360205878,
+                  -0.3401817868903128,
+                  1.0042219163396542
+                ],
+                "rod_tip_xy_dist": 0.00277683541757921,
+                "target_xy_drift": 2.6730921970385016e-08,
+                "depth": 0.016899248991545046,
+                "bottom_clearance": 0.08254125983766791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00171179726692694,
+                  0.002188761500942382
+                ],
+                "rod_tip_xy": [
+                  0.2727805360205877,
+                  -0.34018178689031286
+                ],
+                "target_mouth_xy": [
+                  0.27449233328751466,
+                  -0.34237054839125525
+                ],
+                "gripper_position": [
+                  0.2727720141206228,
+                  -0.34018183878700814,
+                  1.0041005069599171
+                ],
+                "rod_tip_xy_dist": 0.0027786555725865143,
+                "target_xy_drift": 4.662163032575666e-09,
+                "depth": 0.017037904595513687,
+                "bottom_clearance": 0.0824026166575137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017203165080542648,
+                  0.002188709300319669
+                ],
+                "rod_tip_xy": [
+                  0.2727720141206227,
+                  -0.34018183878700814
+                ],
+                "target_mouth_xy": [
+                  0.27449233062867695,
+                  -0.3423705480873278
+                ],
+                "gripper_position": [
+                  0.2727630245550563,
+                  -0.34018237534018486,
+                  1.0039786691270738
+                ],
+                "rod_tip_xy_dist": 0.002783870918198226,
+                "target_xy_drift": 3.4951802689057328e-09,
+                "depth": 0.01715936231101367,
+                "bottom_clearance": 0.08228119576401738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017293087303055787,
+                  0.0021881724181406215
+                ],
+                "rod_tip_xy": [
+                  0.27276302455505613,
+                  -0.3401823753401848
+                ],
+                "target_mouth_xy": [
+                  0.2744923332853617,
+                  -0.3423705477583254
+                ],
+                "gripper_position": [
+                  0.2727670170600666,
+                  -0.3402507641159125,
+                  1.003462707237169
+                ],
+                "rod_tip_xy_dist": 0.0027890154564330525,
+                "target_xy_drift": 4.161242940233251e-09,
+                "depth": 0.017281154763937656,
+                "bottom_clearance": 0.08215937247044647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017252824533058875,
+                  0.002119754174976063
+                ],
+                "rod_tip_xy": [
+                  0.2727670170600665,
+                  -0.3402507641159125
+                ],
+                "target_mouth_xy": [
+                  0.2744922995133724,
+                  -0.34237051829088855
+                ],
+                "gripper_position": [
+                  0.27275526749121426,
+                  -0.3402573649565129,
+                  1.0033239528018674
+                ],
+                "rod_tip_xy_dist": 0.0027331222632757633,
+                "target_xy_drift": 4.070877869777004e-08,
+                "depth": 0.017797202213337027,
+                "bottom_clearance": 0.08164340663727199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001737094002115247,
+                  0.0021131523701761745
+                ],
+                "rod_tip_xy": [
+                  0.2727552674912141,
+                  -0.3402573649565128
+                ],
+                "target_mouth_xy": [
+                  0.27449236149332934,
+                  -0.342370517326689
+                ],
+                "gripper_position": [
+                  0.27274643551530225,
+                  -0.3402576412665134,
+                  1.003202590204818
+                ],
+                "rod_tip_xy_dist": 0.0027354905431688026,
+                "target_xy_drift": 4.121598101943021e-08,
+                "depth": 0.017935841168385536,
+                "bottom_clearance": 0.08150470962875922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001745895836431255,
+                  0.002112908402575553
+                ],
+                "rod_tip_xy": [
+                  0.2727464355153021,
+                  -0.3402576412665135
+                ],
+                "target_mouth_xy": [
+                  0.27449233135173334,
+                  -0.34237054966908903
+                ],
+                "gripper_position": [
+                  0.272737602304606,
+                  -0.34025784669789183,
+                  1.0030811679849179
+                ],
+                "rod_tip_xy_dist": 0.00274090025162215,
+                "target_xy_drift": 5.134268931581605e-09,
+                "depth": 0.01805728246852001,
+                "bottom_clearance": 0.0813832984070898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017547297124841377,
+                  0.002112671263953425
+                ],
+                "rod_tip_xy": [
+                  0.27273760230460586,
+                  -0.34025784669789183
+                ],
+                "target_mouth_xy": [
+                  0.27449233201709,
+                  -0.34237051796184526
+                ],
+                "gripper_position": [
+                  0.2727428137988764,
+                  -0.3403283934935244,
+                  1.0025679391765858
+                ],
+                "rod_tip_xy_dist": 0.002746353260855061,
+                "target_xy_drift": 2.6669066424214412e-08,
+                "depth": 0.018178664402262235,
+                "bottom_clearance": 0.08126185124782925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001749513587965601,
+                  0.002042125766574754
+                ],
+                "rod_tip_xy": [
+                  0.2727428137988762,
+                  -0.3403283934935244
+                ],
+                "target_mouth_xy": [
+                  0.2744923273868418,
+                  -0.34237051926009915
+                ],
+                "gripper_position": [
+                  0.27273090316588944,
+                  -0.34033489203495004,
+                  1.002429231872137
+                ],
+                "rod_tip_xy_dist": 0.002689065904916575,
+                "target_xy_drift": 2.5533382025244643e-08,
+                "depth": 0.018691983115075694,
+                "bottom_clearance": 0.08074872698806324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001761429920024482,
+                  0.0020356275022359593
+                ],
+                "rod_tip_xy": [
+                  0.2727309031658893,
+                  -0.34033489203495004
+                ],
+                "target_mouth_xy": [
+                  0.2744923330859138,
+                  -0.342370519537186
+                ],
+                "gripper_position": [
+                  0.2727219079919411,
+                  -0.3403353180598361,
+                  1.0023081201280402
+                ],
+                "rod_tip_xy_dist": 0.0026919165460721223,
+                "target_xy_drift": 2.517976247317691e-08,
+                "depth": 0.0188306042955092,
+                "bottom_clearance": 0.08060994270312605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001770421426069757,
+                  0.0020351713701448615
+                ],
+                "rod_tip_xy": [
+                  0.27272190799194096,
+                  -0.3403353180598361
+                ],
+                "target_mouth_xy": [
+                  0.2744923294180107,
+                  -0.34237048942998094
+                ],
+                "gripper_position": [
+                  0.27271304430539023,
+                  -0.340335210819323,
+                  1.0021868597268937
+                ],
+                "rod_tip_xy_dist": 0.0026974644634812496,
+                "target_xy_drift": 5.5174780576461565e-08,
+                "depth": 0.018951799709418293,
+                "bottom_clearance": 0.08048883204457302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001779288375064303,
+                  0.002035247845652066
+                ],
+                "rod_tip_xy": [
+                  0.27271304430539006,
+                  -0.34033521081932305
+                ],
+                "target_mouth_xy": [
+                  0.27449233268045437,
+                  -0.3423704586649751
+                ],
+                "gripper_position": [
+                  0.2727040959005438,
+                  -0.3403352934113647,
+                  1.0020654828203281
+                ],
+                "rod_tip_xy_dist": 0.00270334994310214,
+                "target_xy_drift": 8.595299892487752e-08,
+                "depth": 0.019072953804165294,
+                "bottom_clearance": 0.08036753902251237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017882374161389825,
+                  0.002035195370026388
+                ],
+                "rod_tip_xy": [
+                  0.2727040959005437,
+                  -0.3403352934113647
+                ],
+                "target_mouth_xy": [
+                  0.27449233331668266,
+                  -0.3423704887813911
+                ],
+                "gripper_position": [
+                  0.2727114860843155,
+                  -0.3404083049694999,
+                  1.001557230987202
+                ],
+                "rod_tip_xy_dist": 0.0027092089713893004,
+                "target_xy_drift": 5.5877852705785265e-08,
+                "depth": 0.019194338258534116,
+                "bottom_clearance": 0.0802461839400449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0017808460779671909,
+                  0.0019621838153818794
+                ],
+                "rod_tip_xy": [
+                  0.27271148608431534,
+                  -0.3404083049694999
+                ],
+                "target_mouth_xy": [
+                  0.2744923321622825,
+                  -0.3423704887848818
+                ],
+                "gripper_position": [
+                  0.2726994245863382,
+                  -0.3404148346500572,
+                  1.0014188240226898
+                ],
+                "rod_tip_xy_dist": 0.0026498260468864206,
+                "target_xy_drift": 5.582983141774653e-08,
+                "depth": 0.019702593922555578,
+                "bottom_clearance": 0.07973790992726204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0017928779345344203,
+                  0.0019556538189099415
+                ],
+                "rod_tip_xy": [
+                  0.2726994245863381,
+                  -0.3404148346500572
+                ],
+                "target_mouth_xy": [
+                  0.27449230252087253,
+                  -0.3423704884689671
+                ],
+                "gripper_position": [
+                  0.2727069854998204,
+                  -0.34048255446734743,
+                  1.0008256757237834
+                ],
+                "rod_tip_xy_dist": 0.0026531100896037933,
+                "target_xy_drift": 6.274891728685637e-08,
+                "depth": 0.019840993530674478,
+                "bottom_clearance": 0.07959949929086596,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005973563955606452,
+              "rod_tip_xy_max_step": 3.261161006015477e-05,
+              "rod_tip_xy_range": 0.0005973455719242104,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27218924347836415,
+            -0.3417099729285409,
+            1.0433824030762482
+          ],
+          "object_origin_world": [
+            0.27218924347836415,
+            -0.3417099729285409,
+            1.0433824030762482
+          ],
+          "frame_world": [
+            0.2721877770156168,
+            -0.34171417989201863,
+            1.043272583088144
+          ],
+          "center_minus_frame": [
+            1.4664627473459646e-06,
+            4.2069634777486264e-06,
+            0.00010981998810422056
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26765983063207904,
+              0.13015386944881702,
+              0.8335803675621937
+            ],
+            "target_position": [
+              0.27809838874039106,
+              0.17737249013093215,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04835867693084745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16912912079365539,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335803675621937,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674198261087,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13801961407366545,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c10b9b34ef2c7555bea8ea63eea15e03d819fbce400c723b46245c1bd56cb7a1",
+    "visual_seed": 8268263830063948790,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57230ff65f947c54d12af740033c3ec61497e30d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_5_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2629916058541605,
+              0.036959952864633175,
+              1.1629326330418253
+            ],
+            "current_z": 1.1629326330418253,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.301825946213125,
+            "gripper_z": 1.156102346008485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2577524932176152,
+              0.03203013300835185,
+              1.156102346008485
+            ],
+            "object_minus_gripper": [
+              0.005239112636545307,
+              0.004929819856281326,
+              0.006830287033340321
+            ],
+            "object_to_gripper_xy": 0.007193846330982776,
+            "object_to_gripper_z": 0.006830287033340321,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2629916058541605,
+              0.012576738275173764,
+              1.1629326330418253
+            ],
+            "finger_b": [
+              0.25210688796592434,
+              0.036959952864633175,
+              1.1629326330418253
+            ],
+            "finger_midpoint": [
+              0.25754924691004244,
+              0.02476834556990347,
+              1.1629326330418253
+            ],
+            "object_minus_finger_midpoint": [
+              0.005442358944118042,
+              0.012191607294729706,
+              0.0
+            ],
+            "finger_gap": 0.026702401338121524,
+            "fingertip_max_gap": 0.09089435554334938,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01335120066906075,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629326330418253,
+            "object_top_z": 1.212740572078749,
+            "finger_top_clearance": 0.04980793903692371,
+            "fingertip_min_top_clearance": 0.014942381711077146,
+            "object_projection_between_fingers": 0.8338372325958042,
+            "object_to_finger_line_xy": 0.009939346227849779,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794717777167469,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7329582880036859,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2670451937781222,
+              -0.35025609232900706,
+              0.8515395496054604
+            ],
+            "target_position": [
+              0.26010798252565887,
+              -0.35034432542189353,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006937772339878565,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18512500851752697,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395496054604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583756576319606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08841289005701784,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520770513759377,
+            "release_required_pad_clearance": 0.05420644502850892,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4297264561649716,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007442772388458252,
+            "max_z_decrease": 0.007442772388458252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510926501593895,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007442772388458252,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021046325955245145,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007442772388458252,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007442795116519782,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11580790579318996,
+              -0.4066057801246643,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11580790579318996,
+              -0.4066057801246643,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1143139024504011,
+              -0.40586071627460907,
+              0.8070547482687346
+            ],
+            "closest_button": [
+              0.11579552292823787,
+              -0.4066012501716613,
+              0.7719845771789551
+            ],
+            "closest_ee_minus_button": [
+              -0.001481620477836773,
+              0.0007405338970522535,
+              0.0350701710897795
+            ],
+            "button_min_z_position": [
+              0.11578982323408123,
+              -0.40660241246223444,
+              0.7693660855293274
+            ],
+            "min_active_finger_to_button": 0.1471524701228849,
+            "closest_active_finger": [
+              -0.013076230883598328,
+              -0.46869152784347534,
+              0.8105553388595581
+            ],
+            "closest_active_finger_button": [
+              0.1158092767000198,
+              -0.4066061377525329,
+              0.7760911583900452
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1288855075836181,
+              -0.06208539009094244,
+              0.03446418046951294
+            ],
+            "min_contact_pad_to_button": 0.021046325955245145,
+            "closest_contact_pad": [
+              0.11578982323408123,
+              -0.4070045997797559,
+              0.7904085683100273
+            ],
+            "closest_contact_pad_button": [
+              0.11578982323408123,
+              -0.40660241246223444,
+              0.7693660855293274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00040218731752145187,
+              0.021042482780699867
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2821022423540146,
+              0.1761254863668627,
+              1.1028423345527707
+            ],
+            "current_z": 1.1028423345527707,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19293320481840814,
+            "gripper_z": 1.1028424592503672,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28210221584807077,
+              0.17612553266802938,
+              1.1028424592503672
+            ],
+            "object_minus_gripper": [
+              2.650594382869187e-08,
+              -4.630116667847517e-08,
+              -1.2469759647082412e-07
+            ],
+            "object_to_gripper_xy": 5.335131764106401e-08,
+            "object_to_gripper_z": -1.2469759647082412e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2821022423540146,
+              0.1761254863668627,
+              1.1028423345527707
+            ],
+            "finger_b": [
+              0.2821022423540146,
+              0.1761254863668627,
+              1.1028423345527707
+            ],
+            "finger_midpoint": [
+              0.2821022423540146,
+              0.1761254863668627,
+              1.1028423345527707
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1028423345527707,
+            "object_top_z": 1.2278508411730504,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28210224235401465,
+            0.1761254863668627,
+            1.1028423345527707
+          ],
+          "object_origin_world": [
+            0.28210224235401465,
+            0.1761254863668627,
+            1.1028423345527707
+          ],
+          "frame_world": [
+            0.28210221584807077,
+            0.17612553266802938,
+            1.1028424592503672
+          ],
+          "center_minus_frame": [
+            2.650594388420302e-08,
+            -4.630116667847517e-08,
+            -1.2469759647082412e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043625187165867,
+            "required_z": 0.9112598480238903,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013659101624506165,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.504144942333652e-08,
+            "max_target_xy_drift": 5.966355219915468e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.429726455758366,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.429954688459939,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26610021195545797,
+              -0.35126955642391705,
+              0.9233123762186889
+            ],
+            "target_mouth_xy": [
+              0.26704519443656904,
+              -0.35025603167953456
+            ],
+            "rod_tip_z": 0.9233123762186889,
+            "rod_tip_depth": -0.02205248078892741,
+            "rod_tip_bottom_clearance": 0.12149306944626093,
+            "rod_tip_xy_dist": 0.0013857215799295461,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04444254808040926,
+            "min_rod_tip_bottom_clearance": 0.05499811636155949,
+            "min_rod_tip_xy_dist": 0.000434151428932684,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26704517810982353,
+              -0.35025600067404217
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.6326745511108243e-08,
+              -3.100549239576367e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0003297822469620626,
+                0.0006194025671059644
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00044434198236875666,
+                0.00025036959085827926
+              ],
+              "first_target_mouth_xy": [
+                0.2670451792883466,
+                -0.3502560621620414
+              ],
+              "last_target_mouth_xy": [
+                0.26704521056679986,
+                -0.35025603008020145
+              ],
+              "first_rod_tip_xy": [
+                0.2667153970413845,
+                -0.34963665959493545
+              ],
+              "last_rod_tip_xy": [
+                0.2666008685844311,
+                -0.3500056604893432
+              ],
+              "min_rod_tip_xy_dist": 0.0004959273080836365,
+              "max_rod_tip_xy_dist": 0.0007040652916527071,
+              "first_target_xy_drift": 6.149929241941788e-08,
+              "last_target_xy_drift": 4.37970035085232e-08,
+              "max_depth": 0.01961097511087284,
+              "min_bottom_clearance": 0.0798297188491317
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0003297822469620626,
+                  0.0006194025671059644
+                ],
+                "rod_tip_xy": [
+                  0.2667153970413845,
+                  -0.34963665959493545
+                ],
+                "target_mouth_xy": [
+                  0.2670451792883466,
+                  -0.3502560621620414
+                ],
+                "gripper_position": [
+                  0.26670420681437007,
+                  -0.3496437220220093,
+                  1.005882577281053
+                ],
+                "rod_tip_xy_dist": 0.0007017235000687989,
+                "target_xy_drift": 6.149929241941788e-08,
+                "depth": 0.015239013632684095,
+                "bottom_clearance": 0.08420156463327766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003409545503967881,
+                  0.0006123411907444365
+                ],
+                "rod_tip_xy": [
+                  0.26670420681437007,
+                  -0.3496437220220093
+                ],
+                "target_mouth_xy": [
+                  0.26704516136476686,
+                  -0.3502560632127537
+                ],
+                "gripper_position": [
+                  0.2666960343579137,
+                  -0.34964464230218206,
+                  1.0057614546402573
+                ],
+                "rod_tip_xy_dist": 0.0007008649936461303,
+                "target_xy_drift": 6.474169726272414e-08,
+                "depth": 0.01537728268985894,
+                "bottom_clearance": 0.08406327839011107,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0003491596142464748,
+                  0.0006113881734947646
+                ],
+                "rod_tip_xy": [
+                  0.2666960343579137,
+                  -0.349644642302182
+                ],
+                "target_mouth_xy": [
+                  0.2670451939721602,
+                  -0.35025603047567677
+                ],
+                "gripper_position": [
+                  0.26669873089524854,
+                  -0.34970726624889636,
+                  1.0052411815302433
+                ],
+                "rod_tip_xy_dist": 0.0007040652916527071,
+                "target_xy_drift": 3.3760200675056106e-08,
+                "depth": 0.015498459625446714,
+                "bottom_clearance": 0.08394215788116777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003464604225942858,
+                  0.0005488277209652614
+                ],
+                "rod_tip_xy": [
+                  0.2666987308952486,
+                  -0.3497072662488963
+                ],
+                "target_mouth_xy": [
+                  0.2670451913178429,
+                  -0.35025609396986157
+                ],
+                "gripper_position": [
+                  0.2666875087673376,
+                  -0.34971410872377046,
+                  1.0051030500652776
+                ],
+                "rod_tip_xy_dist": 0.0006490352006818536,
+                "target_xy_drift": 9.422612001537304e-08,
+                "depth": 0.016018692771867293,
+                "bottom_clearance": 0.0834218990741531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00035768572346583927,
+                  0.0005419229814931925
+                ],
+                "rod_tip_xy": [
+                  0.2666875087673376,
+                  -0.34971410872377046
+                ],
+                "target_mouth_xy": [
+                  0.26704519449080344,
+                  -0.35025603170526365
+                ],
+                "gripper_position": [
+                  0.2666901702102479,
+                  -0.3497770044396938,
+                  1.0045868778762548
+                ],
+                "rod_tip_xy_dist": 0.0006493224119355129,
+                "target_xy_drift": 3.508950283627931e-08,
+                "depth": 0.0161568452673998,
+                "bottom_clearance": 0.08328374438090946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0003550195587641025,
+                  0.00047903026770873547
+                ],
+                "rod_tip_xy": [
+                  0.26669017021024793,
+                  -0.3497770044396938
+                ],
+                "target_mouth_xy": [
+                  0.26704518976901204,
+                  -0.3502560347074025
+                ],
+                "gripper_position": [
+                  0.26667906052963264,
+                  -0.34978335907484837,
+                  1.0044488523667632
+                ],
+                "rod_tip_xy_dist": 0.0005962456578342192,
+                "target_xy_drift": 3.5975078782663024e-08,
+                "depth": 0.01667304865095065,
+                "bottom_clearance": 0.08276761234881935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00036613335123342194,
+                  0.0004726726191319197
+                ],
+                "rod_tip_xy": [
+                  0.2666790605296327,
+                  -0.3497833590748484
+                ],
+                "target_mouth_xy": [
+                  0.2670451938808661,
+                  -0.35025603169398034
+                ],
+                "gripper_position": [
+                  0.2666705983443882,
+                  -0.34978429359604823,
+                  1.0043280205651195
+                ],
+                "rod_tip_xy_dist": 0.0005978904881016633,
+                "target_xy_drift": 3.479888429896657e-08,
+                "depth": 0.01681103896799485,
+                "bottom_clearance": 0.08262952898112397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0003745932767742488,
+                  0.0004717705102624259
+                ],
+                "rod_tip_xy": [
+                  0.2666705983443882,
+                  -0.3497842935960482
+                ],
+                "target_mouth_xy": [
+                  0.26704519162116247,
+                  -0.3502560641063106
+                ],
+                "gripper_position": [
+                  0.26666224071956357,
+                  -0.3497850193994866,
+                  1.0042071516251547
+                ],
+                "rod_tip_xy_dist": 0.0006024014752287204,
+                "target_xy_drift": 6.485529245197495e-08,
+                "depth": 0.016931843622452702,
+                "bottom_clearance": 0.08250873489910637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0003830112308368383,
+                  0.0004709470262657667
+                ],
+                "rod_tip_xy": [
+                  0.26666224071956357,
+                  -0.34978501939948664
+                ],
+                "target_mouth_xy": [
+                  0.2670452519504004,
+                  -0.3502559664257524
+                ],
+                "gripper_position": [
+                  0.2666664380584443,
+                  -0.34984986712858185,
+                  1.0036897702504897
+                ],
+                "rod_tip_xy_dist": 0.0006070327046343702,
+                "target_xy_drift": 8.139641358640856e-08,
+                "depth": 0.017052773220730066,
+                "bottom_clearance": 0.08238795406712074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003787534845038354,
+                  0.000406199247878547
+                ],
+                "rod_tip_xy": [
+                  0.2666664380584443,
+                  -0.34984986712858185
+                ],
+                "target_mouth_xy": [
+                  0.26704519154294815,
+                  -0.3502560663764604
+                ],
+                "gripper_position": [
+                  0.2666551354429624,
+                  -0.3498563545187502,
+                  1.0035518140878774
+                ],
+                "rod_tip_xy_dist": 0.000555384579369012,
+                "target_xy_drift": 6.706158809554546e-08,
+                "depth": 0.01757020043930646,
+                "bottom_clearance": 0.08187046705821299,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00039007349514036394,
+                  0.0003996794050286634
+                ],
+                "rod_tip_xy": [
+                  0.26665513544296243,
+                  -0.34985635451875025
+                ],
+                "target_mouth_xy": [
+                  0.2670452089381028,
+                  -0.3502560339237789
+                ],
+                "gripper_position": [
+                  0.26664658101770494,
+                  -0.3498570442500916,
+                  1.003430997206445
+                ],
+                "rod_tip_xy_dist": 0.0005584809382737122,
+                "target_xy_drift": 4.534233998913715e-08,
+                "depth": 0.017708105140157193,
+                "bottom_clearance": 0.08173251910021462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000398626936481683,
+                  0.00039898875709959425
+                ],
+                "rod_tip_xy": [
+                  0.26664658101770494,
+                  -0.3498570442500916
+                ],
+                "target_mouth_xy": [
+                  0.2670452079541866,
+                  -0.3502560330071912
+                ],
+                "gripper_position": [
+                  0.26665149015413436,
+                  -0.3499225113550726,
+                  1.0029175968109192
+                ],
+                "rod_tip_xy_dist": 0.0005639995237415106,
+                "target_xy_drift": 4.400134697554789e-08,
+                "depth": 0.017828837637482775,
+                "bottom_clearance": 0.08161171614958185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0003937014107160963,
+                  0.0003335508765787143
+                ],
+                "rod_tip_xy": [
+                  0.2666514901541344,
+                  -0.3499225113550725
+                ],
+                "target_mouth_xy": [
+                  0.2670451915648505,
+                  -0.35025606223165123
+                ],
+                "gripper_position": [
+                  0.26664009130527133,
+                  -0.3499289598585235,
+                  1.0027796717780526
+                ],
+                "rod_tip_xy_dist": 0.000516000957427671,
+                "target_xy_drift": 6.301092750432033e-08,
+                "depth": 0.018342232194857422,
+                "bottom_clearance": 0.08109827722352714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00040510586789060943,
+                  0.00032710279895981076
+                ],
+                "rod_tip_xy": [
+                  0.2666400913052714,
+                  -0.3499289598585235
+                ],
+                "target_mouth_xy": [
+                  0.267045197173162,
+                  -0.3502560626574833
+                ],
+                "gripper_position": [
+                  0.2666313587049737,
+                  -0.3499295635220937,
+                  1.0026591152439184
+                ],
+                "rod_tip_xy_dist": 0.0005206793689851234,
+                "target_xy_drift": 6.48487305279916e-08,
+                "depth": 0.01848025720230162,
+                "bottom_clearance": 0.08096045852282197,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0004138046037119314,
+                  0.00032652943999672557
+                ],
+                "rod_tip_xy": [
+                  0.26663135870497373,
+                  -0.34992956352209376
+                ],
+                "target_mouth_xy": [
+                  0.26704516330868566,
+                  -0.3502560929620905
+                ],
+                "gripper_position": [
+                  0.2666229017293178,
+                  -0.34993016973704194,
+                  1.0025384374877024
+                ],
+                "rod_tip_xy_dist": 0.0005271202189612573,
+                "target_xy_drift": 9.346741434304979e-08,
+                "depth": 0.01860072619954478,
+                "bottom_clearance": 0.08083984161858193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0004223404447754042,
+                  0.00032589139853039795
+                ],
+                "rod_tip_xy": [
+                  0.2666229017293178,
+                  -0.349930169737042
+                ],
+                "target_mouth_xy": [
+                  0.2670452421740932,
+                  -0.3502560611355724
+                ],
+                "gripper_position": [
+                  0.2666141609931988,
+                  -0.34993061360761557,
+                  1.0024177082797585
+                ],
+                "rod_tip_xy_dist": 0.0005334572662633671,
+                "target_xy_drift": 8.808988185563356e-08,
+                "depth": 0.0187214852041776,
+                "bottom_clearance": 0.0807192266857667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00043100229100606624,
+                  0.00032544889572855284
+                ],
+                "rod_tip_xy": [
+                  0.26661416099319885,
+                  -0.3499306136076156
+                ],
+                "target_mouth_xy": [
+                  0.2670451632842049,
+                  -0.3502560625033442
+                ],
+                "gripper_position": [
+                  0.26662102402501586,
+                  -0.34999911202466494,
+                  1.001907340220609
+                ],
+                "rod_tip_xy_dist": 0.0005400740306508102,
+                "target_xy_drift": 6.358192789429808e-08,
+                "depth": 0.018842181159520854,
+                "bottom_clearance": 0.08059836377517249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0004241705963882181,
+                  0.00025694980066687245
+                ],
+                "rod_tip_xy": [
+                  0.26662102402501586,
+                  -0.3499991120246649
+                ],
+                "target_mouth_xy": [
+                  0.2670451946214041,
+                  -0.35025606182533175
+                ],
+                "gripper_position": [
+                  0.2666094753696048,
+                  -0.3500053936426713,
+                  1.0017698152889494
+                ],
+                "rod_tip_xy_dist": 0.0004959273080836365,
+                "target_xy_drift": 6.334123862380051e-08,
+                "depth": 0.019352551305241383,
+                "bottom_clearance": 0.08008803323854574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0004357027568063776,
+                  0.0002506685103175754
+                ],
+                "rod_tip_xy": [
+                  0.2666094753696048,
+                  -0.3500053936426713
+                ],
+                "target_mouth_xy": [
+                  0.26704517812641115,
+                  -0.3502560621529889
+                ],
+                "gripper_position": [
+                  0.2666008685844311,
+                  -0.3500056604893432,
+                  1.0016490176748927
+                ],
+                "rod_tip_xy_dist": 0.0005026644948208594,
+                "target_xy_drift": 6.147894894901954e-08,
+                "depth": 0.01949000793524225,
+                "bottom_clearance": 0.0799505229248425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.00044434198236875666,
+                  0.00025036959085827926
+                ],
+                "rod_tip_xy": [
+                  0.2666008685844311,
+                  -0.3500056604893432
+                ],
+                "target_mouth_xy": [
+                  0.26704521056679986,
+                  -0.35025603008020145
+                ],
+                "gripper_position": [
+                  0.2665921364367564,
+                  -0.35000637783161237,
+                  1.0015290111610156
+                ],
+                "rod_tip_xy_dist": 0.0005100242438570334,
+                "target_xy_drift": 4.37970035085232e-08,
+                "depth": 0.01961097511087284,
+                "bottom_clearance": 0.0798297188491317,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005984364846381418,
+              "rod_tip_xy_max_step": 3.2457856275205984e-05,
+              "rod_tip_xy_range": 0.0005984283988086722,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.266100211955458,
+            -0.35126955642391705,
+            1.0433123762186889
+          ],
+          "object_origin_world": [
+            0.266100211955458,
+            -0.35126955642391705,
+            1.0433123762186889
+          ],
+          "frame_world": [
+            0.26612560788518874,
+            -0.3512660173954763,
+            1.043625187165867
+          ],
+          "center_minus_frame": [
+            -2.5395929730720468e-05,
+            -3.5390284407466055e-06,
+            -0.00031281094717816593
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2689359007446913,
+              0.1288334254787194,
+              0.833214716654637
+            ],
+            "target_position": [
+              0.28223795026221504,
+              0.17515586173127645,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04819452896064931,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16538205984245058,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833214716654637,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675983257213,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1355024010235505,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fcc48191412e4136914cd6c706fac70a8f70b9fbbe51e158c5bb389b916675d",
+    "visual_seed": 4127917595881182448,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..317102d9bf176d13828bc9b37eefc07dd8aa4b4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_60_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.262141565938522,
+              0.03326546905144385,
+              1.1626686322240323
+            ],
+            "current_z": 1.1626686322240323,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.30156194539533177,
+            "gripper_z": 1.1557067270923862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2571696803836405,
+              0.028273118082165594,
+              1.1557067270923862
+            ],
+            "object_minus_gripper": [
+              0.004971885554881483,
+              0.0049923509692782544,
+              0.006961905131646073
+            ],
+            "object_to_gripper_xy": 0.007045794076702262,
+            "object_to_gripper_z": 0.006961905131646073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.262141565938522,
+              0.009404446163873491,
+              1.1626686322240323
+            ],
+            "finger_b": [
+              0.25072431527838,
+              0.03326546905144385,
+              1.1626686322240323
+            ],
+            "finger_midpoint": [
+              0.256432940608451,
+              0.021334957607658668,
+              1.1626686322240323
+            ],
+            "object_minus_finger_midpoint": [
+              0.005708625330070993,
+              0.01193051144378518,
+              0.0
+            ],
+            "finger_gap": 0.026451881329645894,
+            "fingertip_max_gap": 0.09099032809636376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013225940664822949,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626686322240323,
+            "object_top_z": 1.212651709650004,
+            "finger_top_clearance": 0.049983077425971745,
+            "fingertip_min_top_clearance": 0.014994923227791522,
+            "object_projection_between_fingers": 0.8137012502243308,
+            "object_to_finger_line_xy": 0.010298975559422793,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799516404818188,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6657793246762498,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.265906697608026,
+              -0.34271374911712316,
+              0.8515395787709327
+            ],
+            "target_position": [
+              0.2577939317184438,
+              -0.34322941836894855,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008129138032808075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18336460357909856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395787709327,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548874478592962,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496553565719663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15131628915504458,
+            "release_required_pad_clearance": 0.052482767828598315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956444346150174,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007468283176422119,
+            "max_z_decrease": 0.007468283176422119,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035169436857029564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007468283176422119,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021104430195233004,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007468283176422119,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007468308836304389,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11349385976791379,
+              -0.39949086308479304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11349385976791379,
+              -0.39949086308479304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11536350568233636,
+              -0.3979752049378201,
+              0.8075030555954898
+            ],
+            "closest_button": [
+              0.11348207294940946,
+              -0.39948832988739014,
+              0.7724165916442871
+            ],
+            "closest_ee_minus_button": [
+              0.001881432732926902,
+              0.0015131249495700105,
+              0.03508646395120274
+            ],
+            "button_min_z_position": [
+              0.11347433924674985,
+              -0.39948937296867365,
+              0.7693405747413635
+            ],
+            "min_active_finger_to_button": 0.14391790774630028,
+            "closest_active_finger": [
+              -0.01236899197101593,
+              -0.46020200848579407,
+              0.8108547329902649
+            ],
+            "closest_active_finger_button": [
+              0.11349412798881528,
+              -0.3994901180267334,
+              0.7764322757720947
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258631199598312,
+              -0.06071189045906067,
+              0.034422457218170166
+            ],
+            "min_contact_pad_to_button": 0.021104430195233004,
+            "closest_contact_pad": [
+              0.11347433924674985,
+              -0.39948937296867365,
+              0.7904450049365965
+            ],
+            "closest_contact_pad_button": [
+              0.11347433924674985,
+              -0.39948937296867365,
+              0.7693405747413635
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021104430195233004
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2845120527112177,
+              0.17733935796450614,
+              1.1025588230826462
+            ],
+            "current_z": 1.1025588230826462,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19264969334828363,
+            "gripper_z": 1.10255881745293,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28451210090043827,
+              0.17733925665927508,
+              1.10255881745293
+            ],
+            "object_minus_gripper": [
+              -4.818922055838115e-08,
+              1.0130523106499645e-07,
+              5.629716248733985e-09
+            ],
+            "object_to_gripper_xy": 1.1218266719576882e-07,
+            "object_to_gripper_z": 5.629716248733985e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2845120527112177,
+              0.17733935796450614,
+              1.1025588230826462
+            ],
+            "finger_b": [
+              0.2845120527112177,
+              0.17733935796450614,
+              1.1025588230826462
+            ],
+            "finger_midpoint": [
+              0.2845120527112177,
+              0.17733935796450614,
+              1.1025588230826462
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1025588230826462,
+            "object_top_z": 1.227567329702926,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2845120527112177,
+            0.17733935796450617,
+            1.1025588230826462
+          ],
+          "object_origin_world": [
+            0.2845120527112177,
+            0.17733935796450617,
+            1.1025588230826462
+          ],
+          "frame_world": [
+            0.28451210090043827,
+            0.17733925665927508,
+            1.10255881745293
+          ],
+          "center_minus_frame": [
+            -4.818922055838115e-08,
+            1.0130523109275202e-07,
+            5.629716248733985e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436173325343983,
+            "required_z": 0.9112598623667723,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011761540901620389,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.504390783979213e-07,
+            "max_target_xy_drift": 1.9094143615753686e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.039564659849065445,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.03956468204968086,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2668794599098613,
+              -0.3433381662042674,
+              0.9233030043599034
+            ],
+            "target_mouth_xy": [
+              0.26590663478380994,
+              -0.3427138750095706
+            ],
+            "rod_tip_z": 0.9233030043599034,
+            "rod_tip_depth": -0.02204310229422235,
+            "rod_tip_bottom_clearance": 0.12148379565295919,
+            "rod_tip_xy_dist": 0.00115591012697905,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04473127718164771,
+            "min_rod_tip_bottom_clearance": 0.05470935810146149,
+            "min_rod_tip_xy_dist": 0.0003321533789058623,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2659067219043524,
+              -0.34271375236403506
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.712054244686129e-08,
+              -1.226455355607392e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0015298233475622425,
+                0.0010361020786511244
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014259620505095438,
+                0.000676831621009566
+              ],
+              "first_target_mouth_xy": [
+                0.2659066935547014,
+                -0.34271378112025075
+              ],
+              "last_target_mouth_xy": [
+                0.26590666338710744,
+                -0.3427137800631625
+              ],
+              "first_rod_tip_xy": [
+                0.26743651690226367,
+                -0.3416776790415996
+              ],
+              "last_rod_tip_xy": [
+                0.267332625437617,
+                -0.34203694844215293
+              ],
+              "min_rod_tip_xy_dist": 0.0015784387263026146,
+              "max_rod_tip_xy_dist": 0.001847665281411037,
+              "first_target_xy_drift": 4.038096891066648e-08,
+              "last_target_xy_drift": 6.474186911051542e-08,
+              "max_depth": 0.019461498607490135,
+              "min_bottom_clearance": 0.07997902128824097
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015298233475622425,
+                  0.0010361020786511244
+                ],
+                "rod_tip_xy": [
+                  0.26743651690226367,
+                  -0.3416776790415996
+                ],
+                "target_mouth_xy": [
+                  0.2659066935547014,
+                  -0.34271378112025075
+                ],
+                "gripper_position": [
+                  0.26742823305896035,
+                  -0.34167824045579287,
+                  1.0060077324891237
+                ],
+                "rod_tip_xy_dist": 0.001847665281411037,
+                "target_xy_drift": 4.038096891066648e-08,
+                "depth": 0.015132194737179305,
+                "bottom_clearance": 0.0843083037473803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015215689602618987,
+                  0.0010355715159812706
+                ],
+                "rod_tip_xy": [
+                  0.26742823305896035,
+                  -0.341678240455793
+                ],
+                "target_mouth_xy": [
+                  0.26590666409869845,
+                  -0.34271381197177425
+                ],
+                "gripper_position": [
+                  0.26743270098134164,
+                  -0.34174099311613504,
+                  1.0054899357819318
+                ],
+                "rod_tip_xy_dist": 0.0018405380913048832,
+                "target_xy_drift": 8.303358475655249e-08,
+                "depth": 0.015252103109694715,
+                "bottom_clearance": 0.08418844627907596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015260354930886066,
+                  0.0009727578342700327
+                ],
+                "rod_tip_xy": [
+                  0.26743270098134164,
+                  -0.34174099311613515
+                ],
+                "target_mouth_xy": [
+                  0.26590666548825304,
+                  -0.3427137509504052
+                ],
+                "gripper_position": [
+                  0.26742146694335334,
+                  -0.341747520776113,
+                  1.0053538278290026
+                ],
+                "rod_tip_xy_dist": 0.0018097077472066896,
+                "target_xy_drift": 5.643380737684383e-08,
+                "depth": 0.015769956966075416,
+                "bottom_clearance": 0.08367061879921533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015148317726092486,
+                  0.0009662915357606661
+                ],
+                "rod_tip_xy": [
+                  0.26742146694335334,
+                  -0.34174752077611315
+                ],
+                "target_mouth_xy": [
+                  0.2659066351707441,
+                  -0.3427138123118738
+                ],
+                "gripper_position": [
+                  0.2674131388198667,
+                  -0.34174772629118183,
+                  1.0052339510326311
+                ],
+                "rod_tip_xy_dist": 0.0017967845255870791,
+                "target_xy_drift": 1.0543463462536744e-07,
+                "depth": 0.015905961386491696,
+                "bottom_clearance": 0.08353463415145368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015064737662739969,
+                  0.0009660236037088987
+                ],
+                "rod_tip_xy": [
+                  0.2674131388198667,
+                  -0.3417477262911818
+                ],
+                "target_mouth_xy": [
+                  0.26590666505359273,
+                  -0.3427137498948907
+                ],
+                "gripper_position": [
+                  0.2674184612646828,
+                  -0.34181181447890713,
+                  1.0047166354197468
+                ],
+                "rod_tip_xy_dist": 0.0017895990644260207,
+                "target_xy_drift": 5.690435438008998e-08,
+                "depth": 0.016026016616712546,
+                "bottom_clearance": 0.08341457993174717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001511825877825057,
+                  0.000901996783145731
+                ],
+                "rod_tip_xy": [
+                  0.2674184612646828,
+                  -0.3418118144789073
+                ],
+                "target_mouth_xy": [
+                  0.26590663538685777,
+                  -0.342713811262053
+                ],
+                "gripper_position": [
+                  0.2674069696537127,
+                  -0.34181837815041954,
+                  1.004580399003152
+                ],
+                "rod_tip_xy_dist": 0.0017604589406364326,
+                "target_xy_drift": 1.0466256921195974e-07,
+                "depth": 0.016543196351641254,
+                "bottom_clearance": 0.08289736994196051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015003375133721408,
+                  0.0008953731602607817
+                ],
+                "rod_tip_xy": [
+                  0.26740696965371274,
+                  -0.3418183781504196
+                ],
+                "target_mouth_xy": [
+                  0.2659066321403406,
+                  -0.3427137513106804
+                ],
+                "gripper_position": [
+                  0.2673985772152835,
+                  -0.3418187036706045,
+                  1.004460739463297
+                ],
+                "rod_tip_xy_dist": 0.0017471994019421706,
+                "target_xy_drift": 8.97701919724886e-08,
+                "depth": 0.016679455518615938,
+                "bottom_clearance": 0.0827610831202813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014919406801539026,
+                  0.0008950756448417585
+                ],
+                "rod_tip_xy": [
+                  0.2673985772152835,
+                  -0.34181870367060463
+                ],
+                "target_mouth_xy": [
+                  0.2659066365351296,
+                  -0.3427137793154464
+                ],
+                "gripper_position": [
+                  0.26740451410934785,
+                  -0.34188374126563026,
+                  1.0039445433469307
+                ],
+                "rod_tip_xy_dist": 0.0017398412005372728,
+                "target_xy_drift": 8.952252663001904e-08,
+                "depth": 0.01679918512144296,
+                "bottom_clearance": 0.08264147342924366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014978830624853279,
+                  0.0008300114248441792
+                ],
+                "rod_tip_xy": [
+                  0.26740451410934785,
+                  -0.34188374126563026
+                ],
+                "target_mouth_xy": [
+                  0.2659066310468625,
+                  -0.34271375269047444
+                ],
+                "gripper_position": [
+                  0.2673931701762535,
+                  -0.341890041226453,
+                  1.003808220700978
+                ],
+                "rod_tip_xy_dist": 0.0017124755864689836,
+                "target_xy_drift": 9.085807629067009e-08,
+                "depth": 0.017315369518113077,
+                "bottom_clearance": 0.08212526119099339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014865067891559613,
+                  0.0008237090342590458
+                ],
+                "rod_tip_xy": [
+                  0.2673931701762535,
+                  -0.34189004122645317
+                ],
+                "target_mouth_xy": [
+                  0.26590666338709756,
+                  -0.3427137502607122
+                ],
+                "gripper_position": [
+                  0.2673845028677032,
+                  -0.34189027674601313,
+                  1.003688815553904
+                ],
+                "rod_tip_xy_dist": 0.0016994702137215396,
+                "target_xy_drift": 5.855504315276694e-08,
+                "depth": 0.017451608186619505,
+                "bottom_clearance": 0.08198891171324141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014778398685714178,
+                  0.0008235091966235508
+                ],
+                "rod_tip_xy": [
+                  0.2673845028677032,
+                  -0.34189027674601313
+                ],
+                "target_mouth_xy": [
+                  0.2659066629991318,
+                  -0.3427137859426367
+                ],
+                "gripper_position": [
+                  0.2673914210863312,
+                  -0.34195640080626083,
+                  1.0031763240140665
+                ],
+                "rod_tip_xy_dist": 0.0016917972910673288,
+                "target_xy_drift": 6.78037425193265e-08,
+                "depth": 0.017571094158366107,
+                "bottom_clearance": 0.08186957874071898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014847570313768488,
+                  0.0007573813634464965
+                ],
+                "rod_tip_xy": [
+                  0.2673914210863312,
+                  -0.3419564008062609
+                ],
+                "target_mouth_xy": [
+                  0.26590666405495433,
+                  -0.3427137821697074
+                ],
+                "gripper_position": [
+                  0.26737977423387116,
+                  -0.34196254312261426,
+                  1.003040292650163
+                ],
+                "rod_tip_xy_dist": 0.0016667723215601665,
+                "target_xy_drift": 6.507634714012787e-08,
+                "depth": 0.01808351123669183,
+                "bottom_clearance": 0.08135703647032366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001473082891978561,
+                  0.0007512064154132636
+                ],
+                "rod_tip_xy": [
+                  0.26737977423387116,
+                  -0.3419625431226144
+                ],
+                "target_mouth_xy": [
+                  0.2659066913418926,
+                  -0.3427137495380277
+                ],
+                "gripper_position": [
+                  0.2673710257480989,
+                  -0.3419626477674534,
+                  1.002920868328326
+                ],
+                "rod_tip_xy_dist": 0.0016535671396099903,
+                "target_xy_drift": 3.069283736948495e-08,
+                "depth": 0.018219604388934996,
+                "bottom_clearance": 0.08122101017471495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014643322103472522,
+                  0.0007511052954068398
+                ],
+                "rod_tip_xy": [
+                  0.2673710257480989,
+                  -0.34196264776745344
+                ],
+                "target_mouth_xy": [
+                  0.26590669353775165,
+                  -0.3427137530628603
+                ],
+                "gripper_position": [
+                  0.2673623943079826,
+                  -0.3419627194040671,
+                  1.0028014577640392
+                ],
+                "rod_tip_xy_dist": 0.0016457302291228249,
+                "target_xy_drift": 2.8375207381585386e-08,
+                "depth": 0.018338976876465796,
+                "bottom_clearance": 0.08110158354992414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001455734828885058,
+                  0.0007510293727095996
+                ],
+                "rod_tip_xy": [
+                  0.2673623943079826,
+                  -0.3419627194040672
+                ],
+                "target_mouth_xy": [
+                  0.26590665947909753,
+                  -0.3427137487767768
+                ],
+                "gripper_position": [
+                  0.267370734861,
+                  -0.34203052269928874,
+                  1.0022918367038907
+                ],
+                "rod_tip_xy_dist": 0.0016380503687926033,
+                "target_xy_drift": 6.252824054375676e-08,
+                "depth": 0.018458514619076105,
+                "bottom_clearance": 0.08098220419528102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014640423336499953,
+                  0.0006832261354777214
+                ],
+                "rod_tip_xy": [
+                  0.267370734861,
+                  -0.3420305226992889
+                ],
+                "target_mouth_xy": [
+                  0.26590669252735,
+                  -0.34271374883476663
+                ],
+                "gripper_position": [
+                  0.267358945213657,
+                  -0.3420367648209152,
+                  1.0021560817707384
+                ],
+                "rod_tip_xy_dist": 0.001615616881231174,
+                "target_xy_drift": 2.9588240989869483e-08,
+                "depth": 0.01896797711485465,
+                "bottom_clearance": 0.08047261691679297,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014522510310546188,
+                  0.0006769843716741275
+                ],
+                "rod_tip_xy": [
+                  0.267358945213657,
+                  -0.3420367648209153
+                ],
+                "target_mouth_xy": [
+                  0.2659066941826024,
+                  -0.3427137491925894
+                ],
+                "gripper_position": [
+                  0.2673501138806035,
+                  -0.3420369101275125,
+                  1.0020368135536497
+                ],
+                "rod_tip_xy_dist": 0.0016022923880148145,
+                "target_xy_drift": 2.7902571405084975e-08,
+                "depth": 0.01910377374457395,
+                "bottom_clearance": 0.08033682177239576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001443448435839878,
+                  0.000676906606363048
+                ],
+                "rod_tip_xy": [
+                  0.2673501138806035,
+                  -0.3420369101275126
+                ],
+                "target_mouth_xy": [
+                  0.2659066654447636,
+                  -0.34271381673387563
+                ],
+                "gripper_position": [
+                  0.26734143649321607,
+                  -0.3420368811789653,
+                  1.0019174361926886
+                ],
+                "rod_tip_xy_dist": 0.0015942854012586734,
+                "target_xy_drift": 8.562220237938042e-08,
+                "depth": 0.019223239458763808,
+                "bottom_clearance": 0.08021753674225429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014347712742293073,
+                  0.0006768995784945386
+                ],
+                "rod_tip_xy": [
+                  0.26734143649321607,
+                  -0.34203688117896547
+                ],
+                "target_mouth_xy": [
+                  0.26590666521898676,
+                  -0.34271378075746
+                ],
+                "gripper_position": [
+                  0.26733262543761693,
+                  -0.34203694844215277,
+                  1.0017983302779296
+                ],
+                "rod_tip_xy_dist": 0.00158643047396338,
+                "target_xy_drift": 6.339887424842266e-08,
+                "depth": 0.01934239479252009,
+                "bottom_clearance": 0.08009817058940494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0014259620505095438,
+                  0.000676831621009566
+                ],
+                "rod_tip_xy": [
+                  0.267332625437617,
+                  -0.34203694844215293
+                ],
+                "target_mouth_xy": [
+                  0.26590666338710744,
+                  -0.3427137800631625
+                ],
+                "gripper_position": [
+                  0.26732379626121927,
+                  -0.34203683843458854,
+                  1.0016793132688242
+                ],
+                "rod_tip_xy_dist": 0.0015784387263026146,
+                "target_xy_drift": 6.474186911051542e-08,
+                "depth": 0.019461498607490135,
+                "bottom_clearance": 0.07997902128824097,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006022382012947462,
+              "rod_tip_xy_max_step": 3.274262634503139e-05,
+              "rod_tip_xy_range": 0.0006022312177705533,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2668794599098613,
+            -0.3433381662042673,
+            1.0433030043599034
+          ],
+          "object_origin_world": [
+            0.2668794599098613,
+            -0.3433381662042673,
+            1.0433030043599034
+          ],
+          "frame_world": [
+            0.26690500867049394,
+            -0.3433356370429824,
+            1.0436173325343983
+          ],
+          "center_minus_frame": [
+            -2.554876063265432e-05,
+            -2.529161284903214e-06,
+            -0.00031432817449483785
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2726725351138045,
+              0.12925437904379877,
+              0.8331343155440285
+            ],
+            "target_position": [
+              0.2850352724025224,
+              0.1761160676434393,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048464988720513844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16734605902038333,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331343155440285,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673118945153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13718919245783007,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a12d67d92c618e8e60308ea8784054ce434ecad4364c2f37cce626f53038c30",
+    "visual_seed": 2802663842921120429,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6650f2515bf8b70e855b8dd360c1cd74b070e570
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_61_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.260232697011748,
+              0.030816850216336678,
+              1.1647052790914678
+            ],
+            "current_z": 1.1647052790914678,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3035987114720572,
+            "gripper_z": 1.157925609533623,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25493727437557145,
+              0.02580142163806759,
+              1.157925609533623
+            ],
+            "object_minus_gripper": [
+              0.00529542263617655,
+              0.005015428578269088,
+              0.006779669557844814
+            ],
+            "object_to_gripper_xy": 0.00729356049672924,
+            "object_to_gripper_z": 0.006779669557844814,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.260232697011748,
+              0.006431914874040028,
+              1.1647052790914678
+            ],
+            "finger_b": [
+              0.24916399410697707,
+              0.030816850216336678,
+              1.1647052790914678
+            ],
+            "finger_midpoint": [
+              0.25469834555936255,
+              0.018624382545188355,
+              1.1647052790914678
+            ],
+            "object_minus_finger_midpoint": [
+              0.005534351452385455,
+              0.012192467671148323,
+              0.0
+            ],
+            "finger_gap": 0.02677949319240513,
+            "fingertip_max_gap": 0.0909131276288753,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013389746596202559,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647052790914678,
+            "object_top_z": 1.2146423374782378,
+            "finger_top_clearance": 0.049937058386769984,
+            "fingertip_min_top_clearance": 0.014981117516031027,
+            "object_projection_between_fingers": 0.8291603180960588,
+            "object_to_finger_line_xy": 0.01007896612219974,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795656381443765,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5895238678022998,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.265134696291982,
+              -0.3453707590274857,
+              0.8515395879830758
+            ],
+            "target_position": [
+              0.2581223988247061,
+              -0.3454734130355386,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070130488102488715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18609616787754482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395879830758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586681997757455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08797365926189461,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15301423129834507,
+            "release_required_pad_clearance": 0.05398682963094731,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.98453094254135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007258355617523193,
+            "max_z_decrease": 0.007258355617523193,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509503288722571,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007258355617523193,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021098226060333847,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007258355617523193,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007258377285449528,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1138223260641098,
+              -0.40173485875129694,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1138223260641098,
+              -0.40173485875129694,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11330715446921671,
+              -0.40047072018216795,
+              0.8077731166749418
+            ],
+            "closest_button": [
+              0.11381227523088455,
+              -0.40172949433326716,
+              0.7727043032646179
+            ],
+            "closest_ee_minus_button": [
+              -0.0005051207616678377,
+              0.0012587741510992068,
+              0.03506881341032386
+            ],
+            "button_min_z_position": [
+              0.11380465328693389,
+              -0.40173336863517756,
+              0.7695505023002625
+            ],
+            "min_active_finger_to_button": 0.14611790032071253,
+            "closest_active_finger": [
+              -0.01298956573009491,
+              -0.4655824899673462,
+              0.8108211159706116
+            ],
+            "closest_active_finger_button": [
+              0.11382456868886946,
+              -0.4017327427864074,
+              0.7762982845306396
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12681413441896439,
+              -0.06384974718093878,
+              0.034522831439971924
+            ],
+            "min_contact_pad_to_button": 0.021098226060333847,
+            "closest_contact_pad": [
+              0.11380465328693389,
+              -0.40173336863517756,
+              0.7906487283605963
+            ],
+            "closest_contact_pad_button": [
+              0.11380465328693389,
+              -0.40173336863517756,
+              0.7695505023002625
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021098226060333847
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28140237258003015,
+              0.18106885144801374,
+              1.10103894866847
+            ],
+            "current_z": 1.10103894866847,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1911298189341074,
+            "gripper_z": 1.101039086817879,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28140239743540507,
+              0.18106882285401404,
+              1.101039086817879
+            ],
+            "object_minus_gripper": [
+              -2.485537492491474e-08,
+              2.8593999695791794e-08,
+              -1.381494090235691e-07
+            ],
+            "object_to_gripper_xy": 3.7886758653400556e-08,
+            "object_to_gripper_z": -1.381494090235691e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28140237258003015,
+              0.18106885144801374,
+              1.10103894866847
+            ],
+            "finger_b": [
+              0.28140237258003015,
+              0.18106885144801374,
+              1.10103894866847
+            ],
+            "finger_midpoint": [
+              0.28140237258003015,
+              0.18106885144801374,
+              1.10103894866847
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10103894866847,
+            "object_top_z": 1.2260474552887497,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2814023725800301,
+            0.18106885144801374,
+            1.10103894866847
+          ],
+          "object_origin_world": [
+            0.2814023725800301,
+            0.18106885144801374,
+            1.10103894866847
+          ],
+          "frame_world": [
+            0.28140239743540507,
+            0.18106882285401404,
+            1.101039086817879
+          ],
+          "center_minus_frame": [
+            -2.4855374980425893e-08,
+            2.8593999695791794e-08,
+            -1.381494090235691e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436523873551924,
+            "required_z": 0.9112599425502266,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001147992269469024,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.395996407348729e-08,
+            "max_target_xy_drift": 1.772111186955675e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.9845309425197257,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.9847932072903283,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2643118000995318,
+              -0.3445469776988068,
+              0.9233386570445853
+            ],
+            "target_mouth_xy": [
+              0.2651347261337084,
+              -0.3453707000003442
+            ],
+            "rod_tip_z": 0.9233386570445853,
+            "rod_tip_depth": -0.02207874365378837,
+            "rod_tip_bottom_clearance": 0.12151939467837303,
+            "rod_tip_xy_dist": 0.0011643563405485768,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0447850555257886,
+            "min_rod_tip_bottom_clearance": 0.0546556013603946,
+            "min_rod_tip_xy_dist": 0.0011643563405485768,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26513466804194935,
+              -0.34537063938167467
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.809175906978936e-08,
+              -6.061866952844497e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0001988874598456425,
+                0.0025538689043465013
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0003191570754766948,
+                0.002185614796927471
+              ],
+              "first_target_mouth_xy": [
+                0.26513463629234024,
+                -0.3453706403096425
+              ],
+              "last_target_mouth_xy": [
+                0.26513460546846157,
+                -0.3453706403651873
+              ],
+              "first_rod_tip_xy": [
+                0.2649357488324946,
+                -0.342816771405296
+              ],
+              "last_rod_tip_xy": [
+                0.2648154483929849,
+                -0.3431850255682598
+              ],
+              "min_rod_tip_xy_dist": 0.0022043367990095307,
+              "max_rod_tip_xy_dist": 0.0025616794434002747,
+              "first_target_xy_drift": 3.176316739248465e-08,
+              "last_target_xy_drift": 6.258121659106185e-08,
+              "max_depth": 0.019363819667730264,
+              "min_bottom_clearance": 0.08007677925352474
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0001988874598456425,
+                  0.0025538689043465013
+                ],
+                "rod_tip_xy": [
+                  0.2649357488324946,
+                  -0.342816771405296
+                ],
+                "target_mouth_xy": [
+                  0.26513463629234024,
+                  -0.3453706403096425
+                ],
+                "gripper_position": [
+                  0.2649275131845398,
+                  -0.34281731695082307,
+                  1.0060877482943422
+                ],
+                "rod_tip_xy_dist": 0.0025616015697746304,
+                "target_xy_drift": 3.176316739248465e-08,
+                "depth": 0.015053442101460313,
+                "bottom_clearance": 0.08438719627599767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0002070913142142028,
+                  0.002553294882757684
+                ],
+                "rod_tip_xy": [
+                  0.2649275131845399,
+                  -0.34281731695082307
+                ],
+                "target_mouth_xy": [
+                  0.2651346044987541,
+                  -0.34537061183358075
+                ],
+                "gripper_position": [
+                  0.26492927146952217,
+                  -0.3428825804002432,
+                  1.0055692575007764
+                ],
+                "rod_tip_xy_dist": 0.0025616794434002747,
+                "target_xy_drift": 6.925774427789949e-08,
+                "depth": 0.015172076800644807,
+                "bottom_clearance": 0.08426846080535066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0002053349062732246,
+                  0.0024880304208423354
+                ],
+                "rod_tip_xy": [
+                  0.2649292714695223,
+                  -0.34288258040024333
+                ],
+                "target_mouth_xy": [
+                  0.2651346063757955,
+                  -0.34537061082108567
+                ],
+                "gripper_position": [
+                  0.2649179201612377,
+                  -0.3428893101561644,
+                  1.0054335583724137
+                ],
+                "rod_tip_xy_dist": 0.002496489094462686,
+                "target_xy_drift": 6.795897126173247e-08,
+                "depth": 0.015690707477435617,
+                "bottom_clearance": 0.08374991490058836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0002166385469916654,
+                  0.0024813013702376097
+                ],
+                "rod_tip_xy": [
+                  0.2649179201612378,
+                  -0.3428893101561644
+                ],
+                "target_mouth_xy": [
+                  0.26513455870822944,
+                  -0.345370611526402
+                ],
+                "gripper_position": [
+                  0.26491953039950916,
+                  -0.3429547719338962,
+                  1.0049188644481621
+                ],
+                "rod_tip_xy_dist": 0.0024907406027095034,
+                "target_xy_drift": 1.1282632017238083e-07,
+                "depth": 0.015826253672977297,
+                "bottom_clearance": 0.08361423373429988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00021507613429988526,
+                  0.0024158388871554637
+                ],
+                "rod_tip_xy": [
+                  0.2649195303995093,
+                  -0.34295477193389623
+                ],
+                "target_mouth_xy": [
+                  0.26513460653380916,
+                  -0.3453706108210517
+                ],
+                "gripper_position": [
+                  0.2649080633467104,
+                  -0.34296143919790456,
+                  1.0047836732744024
+                ],
+                "rod_tip_xy_dist": 0.00242539383858332,
+                "target_xy_drift": 6.78156360641405e-08,
+                "depth": 0.016341042038061304,
+                "bottom_clearance": 0.0830995861208873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0002265114554219072,
+                  0.0024091723078082383
+                ],
+                "rod_tip_xy": [
+                  0.2649080633467105,
+                  -0.34296143919790467
+                ],
+                "target_mouth_xy": [
+                  0.26513457480213243,
+                  -0.3453706115057129
+                ],
+                "gripper_position": [
+                  0.264899756626236,
+                  -0.342961694341554,
+                  1.0046649560293626
+                ],
+                "rod_tip_xy_dist": 0.0024197972328580393,
+                "target_xy_drift": 9.731768957348367e-08,
+                "depth": 0.016476147536974017,
+                "bottom_clearance": 0.08296438426486163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00023485042555154712,
+                  0.002408945966053011
+                ],
+                "rod_tip_xy": [
+                  0.2648997566262361,
+                  -0.342961694341554
+                ],
+                "target_mouth_xy": [
+                  0.26513460705178765,
+                  -0.345370640307607
+                ],
+                "gripper_position": [
+                  0.2649024502605102,
+                  -0.34302814163548395,
+                  1.0041513453591924
+                ],
+                "rod_tip_xy_dist": 0.0024203667882667737,
+                "target_xy_drift": 6.099718989205564e-08,
+                "depth": 0.016594959865784964,
+                "bottom_clearance": 0.08284569913686768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00023213862988696876,
+                  0.0023424689383503283
+                ],
+                "rod_tip_xy": [
+                  0.26490245026051024,
+                  -0.3430281416354839
+                ],
+                "target_mouth_xy": [
+                  0.2651345888903972,
+                  -0.3453706105738342
+                ],
+                "gripper_position": [
+                  0.2648908253211608,
+                  -0.3430348465751326,
+                  1.0040157601603212
+                ],
+                "rod_tip_xy_dist": 0.0023539433023379965,
+                "target_xy_drift": 8.423099119855456e-08,
+                "depth": 0.01710848674236387,
+                "bottom_clearance": 0.08233205044177772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0002438124869960645,
+                  0.0023357642106902055
+                ],
+                "rod_tip_xy": [
+                  0.2648908253211609,
+                  -0.3430348465751326
+                ],
+                "target_mouth_xy": [
+                  0.265134637808157,
+                  -0.3453706107858228
+                ],
+                "gripper_position": [
+                  0.2648823873707624,
+                  -0.34303478936182963,
+                  1.00389691719007
+                ],
+                "rod_tip_xy_dist": 0.002348454593292458,
+                "target_xy_drift": 4.16149605741172e-08,
+                "depth": 0.01724415733070861,
+                "bottom_clearance": 0.08219652600236771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0002521706844093585,
+                  0.0023358212390658384
+                ],
+                "rod_tip_xy": [
+                  0.2648823873707625,
+                  -0.34303478936182974
+                ],
+                "target_mouth_xy": [
+                  0.26513455805517183,
+                  -0.3453706106008956
+                ],
+                "gripper_position": [
+                  0.26488583081471156,
+                  -0.34310231745660985,
+                  1.0033855990794114
+                ],
+                "rod_tip_xy_dist": 0.0023493937334866954,
+                "target_xy_drift": 1.1369003682917378e-07,
+                "depth": 0.017362927675512285,
+                "bottom_clearance": 0.08207761176329886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00024880494443013657,
+                  0.0022683269635321857
+                ],
+                "rod_tip_xy": [
+                  0.2648858308147117,
+                  -0.3431023174566098
+                ],
+                "target_mouth_xy": [
+                  0.2651346357591418,
+                  -0.345370644420142
+                ],
+                "gripper_position": [
+                  0.2648743080854107,
+                  -0.34310860392914044,
+                  1.0032504686290329
+                ],
+                "rod_tip_xy_dist": 0.0022819314437248174,
+                "target_xy_drift": 3.267362568479022e-08,
+                "depth": 0.017874406675578602,
+                "bottom_clearance": 0.08156628337412875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00026029557983331397,
+                  0.002261977133517279
+                ],
+                "rod_tip_xy": [
+                  0.2648743080854108,
+                  -0.34310860392914044
+                ],
+                "target_mouth_xy": [
+                  0.2651346036652441,
+                  -0.3453705810626577
+                ],
+                "gripper_position": [
+                  0.26486584140135283,
+                  -0.3431085466784745,
+                  1.0031321839673901
+                ],
+                "rod_tip_xy_dist": 0.002276904552552831,
+                "target_xy_drift": 8.686465285729382e-08,
+                "depth": 0.01800935727042996,
+                "bottom_clearance": 0.0814311643257245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0002687949494255548,
+                  0.0022620660357186018
+                ],
+                "rod_tip_xy": [
+                  0.2648658414013529,
+                  -0.34310854667847446
+                ],
+                "target_mouth_xy": [
+                  0.26513463635077844,
+                  -0.34537061271419306
+                ],
+                "gripper_position": [
+                  0.26485728306478223,
+                  -0.34310867649607796,
+                  1.0030137398889039
+                ],
+                "rod_tip_xy_dist": 0.002277980130463907,
+                "target_xy_drift": 4.1418412441180174e-08,
+                "depth": 0.018127734287245567,
+                "bottom_clearance": 0.08131291551711428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00027732039295985667,
+                  0.0022619661258885815
+                ],
+                "rod_tip_xy": [
+                  0.26485728306478235,
+                  -0.343108676496078
+                ],
+                "target_mouth_xy": [
+                  0.2651346034577422,
+                  -0.3453706426219666
+                ],
+                "gripper_position": [
+                  0.26486197640005615,
+                  -0.34317839710332737,
+                  1.0025041354346493
+                ],
+                "rod_tip_xy_dist": 0.0022789026646653446,
+                "target_xy_drift": 6.46654413485921e-08,
+                "depth": 0.018246093126751073,
+                "bottom_clearance": 0.08119443573959295,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00027265782243490744,
+                  0.0021922147303309325
+                ],
+                "rod_tip_xy": [
+                  0.26486197640005626,
+                  -0.3431783971033274
+                ],
+                "target_mouth_xy": [
+                  0.2651346342224912,
+                  -0.34537061183365836
+                ],
+                "gripper_position": [
+                  0.2648503271669669,
+                  -0.34318471581179527,
+                  1.0023693106264981
+                ],
+                "rod_tip_xy_dist": 0.0022091056362281247,
+                "target_xy_drift": 4.361936444098416e-08,
+                "depth": 0.018755688963129402,
+                "bottom_clearance": 0.08068484548007693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0002843097871915168,
+                  0.002185925128721178
+                ],
+                "rod_tip_xy": [
+                  0.26485032716696694,
+                  -0.3431847158117953
+                ],
+                "target_mouth_xy": [
+                  0.26513463695415845,
+                  -0.3453706409405165
+                ],
+                "gripper_position": [
+                  0.26484159776167415,
+                  -0.34318466140888815,
+                  1.002251018821124
+                ],
+                "rod_tip_xy_dist": 0.0022043367990095307,
+                "target_xy_drift": 3.112684903301362e-08,
+                "depth": 0.018890594421438034,
+                "bottom_clearance": 0.08055004439553859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0002929749186819097,
+                  0.0021859507985783067
+                ],
+                "rod_tip_xy": [
+                  0.26484159776167426,
+                  -0.34318466140888815
+                ],
+                "target_mouth_xy": [
+                  0.2651345726803562,
+                  -0.34537061220746645
+                ],
+                "gripper_position": [
+                  0.26483285838499915,
+                  -0.3431849571691897,
+                  1.0021323511101878
+                ],
+                "rod_tip_xy_dist": 0.002205496587343043,
+                "target_xy_drift": 9.915780879781903e-08,
+                "depth": 0.019008829204931077,
+                "bottom_clearance": 0.08043170846026393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0003017808765957142,
+                  0.002185654511886903
+                ],
+                "rod_tip_xy": [
+                  0.2648328583849992,
+                  -0.34318495716918973
+                ],
+                "target_mouth_xy": [
+                  0.2651346392615949,
+                  -0.34537061168107663
+                ],
+                "gripper_position": [
+                  0.2648241473159134,
+                  -0.3431850143399629,
+                  1.0020140732350364
+                ],
+                "rod_tip_xy_dist": 0.002206390115734399,
+                "target_xy_drift": 3.994536184500313e-08,
+                "depth": 0.01912757500476825,
+                "bottom_clearance": 0.08031315723105148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000310426534223307,
+                  0.002185627978548821
+                ],
+                "rod_tip_xy": [
+                  0.26482414731591347,
+                  -0.34318501433996285
+                ],
+                "target_mouth_xy": [
+                  0.2651345738501368,
+                  -0.34537064231851167
+                ],
+                "gripper_position": [
+                  0.26481544839298476,
+                  -0.34318502556825975,
+                  1.001896084034219
+                ],
+                "rod_tip_xy_dist": 0.002207562976171982,
+                "target_xy_drift": 9.423758574535542e-08,
+                "depth": 0.01924581583106122,
+                "bottom_clearance": 0.08019471066426387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0003191570754766948,
+                  0.002185614796927471
+                ],
+                "rod_tip_xy": [
+                  0.2648154483929849,
+                  -0.3431850255682598
+                ],
+                "target_mouth_xy": [
+                  0.26513460546846157,
+                  -0.3453706403651873
+                ],
+                "gripper_position": [
+                  0.2648066608340224,
+                  -0.3431852240451976,
+                  1.0017775558469482
+                ],
+                "rod_tip_xy_dist": 0.0022087945308188234,
+                "target_xy_drift": 6.258121659106185e-08,
+                "depth": 0.019363819667730264,
+                "bottom_clearance": 0.08007677925352474,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006018540736560519,
+              "rod_tip_xy_max_step": 3.2693138344059976e-05,
+              "rod_tip_xy_range": 0.0006018488831231791,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26431180009953176,
+            -0.3445469776988068,
+            1.0433386570445853
+          ],
+          "object_origin_world": [
+            0.26431180009953176,
+            -0.3445469776988068,
+            1.0433386570445853
+          ],
+          "frame_world": [
+            0.2643373305431473,
+            -0.34454483892067383,
+            1.0436523873551924
+          ],
+          "center_minus_frame": [
+            -2.553044361552903e-05,
+            -2.138778132987351e-06,
+            -0.00031373031060710765
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26815385543794346,
+              0.13460414290514838,
+              0.833255638686668
+            ],
+            "target_position": [
+              0.2815481493292345,
+              0.1805744488457689,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047881897801993256,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16619067147081992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833255638686668,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672770403942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13572325932670393,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dde98b796f0c2a608f581264162d0796317801d97a9ea8b94dd498c59aded17d",
+    "visual_seed": 1431337361286055282,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7508369814596513f710ccb45f452a5dab9e9dc0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2618827598542861,
+              0.03679584201847311,
+              1.1643833029037358
+            ],
+            "current_z": 1.1643833029037358,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3032767352843252,
+            "gripper_z": 1.1574675098425842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2568548896279299,
+              0.03190485064060576,
+              1.1574675098425842
+            ],
+            "object_minus_gripper": [
+              0.005027870226356201,
+              0.004890991377867346,
+              0.006915793061151643
+            ],
+            "object_to_gripper_xy": 0.007014362100109452,
+            "object_to_gripper_z": 0.006915793061151643,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2618827598542861,
+              0.012749748585674812,
+              1.1643833029037358
+            ],
+            "finger_b": [
+              0.2508108231922495,
+              0.03679584201847311,
+              1.1643833029037358
+            ],
+            "finger_midpoint": [
+              0.2563467915232678,
+              0.02477279530207396,
+              1.1643833029037358
+            ],
+            "object_minus_finger_midpoint": [
+              0.005535968331018326,
+              0.012023046716399147,
+              0.0
+            ],
+            "finger_gap": 0.02647267252898761,
+            "fingertip_max_gap": 0.09077961127897241,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013236336264493817,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643833029037358,
+            "object_top_z": 1.214278703612981,
+            "finger_top_clearance": 0.04989540070924514,
+            "fingertip_min_top_clearance": 0.014968620212773542,
+            "object_projection_between_fingers": 0.8250751095419573,
+            "object_to_finger_line_xy": 0.010057043661376719,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04788980563948621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5142330442312365,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2694461406433517,
+              -0.3432795856528801,
+              0.8515396019760179
+            ],
+            "target_position": [
+              0.2612217927115825,
+              -0.34397431638073656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008253638572594757,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466296582995909,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396019760179,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533822198494096,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518641630518174,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15296154788775498,
+            "release_required_pad_clearance": 0.05259320815259087,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25022905808891815,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007236778736114502,
+            "max_z_decrease": 0.007236778736114502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518018631347558,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007236778736114502,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02109551911456975,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007236778736114502,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072368000504434106,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11692171543836592,
+              -0.40023577213287354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11692171543836592,
+              -0.40023577213287354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11890921191497109,
+              -0.3988918317669361,
+              0.8078689650370571
+            ],
+            "closest_button": [
+              0.11691060662269591,
+              -0.40023374557495117,
+              0.7727712392807007
+            ],
+            "closest_ee_minus_button": [
+              0.001998605292275177,
+              0.0013419138080150717,
+              0.03509772575635639
+            ],
+            "button_min_z_position": [
+              0.11690418422222136,
+              -0.4002346992492676,
+              0.7695720791816711
+            ],
+            "min_active_finger_to_button": 0.14387986803841155,
+            "closest_active_finger": [
+              -0.008823424577713013,
+              -0.46112060546875,
+              0.8106871247291565
+            ],
+            "closest_active_finger_button": [
+              0.11692175269126891,
+              -0.40023520588874817,
+              0.7762991189956665
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12574517726898193,
+              -0.06088539958000183,
+              0.03438800573348999
+            ],
+            "min_contact_pad_to_button": 0.02109551911456975,
+            "closest_contact_pad": [
+              0.11690418422222136,
+              -0.4002346992492676,
+              0.7906675982962409
+            ],
+            "closest_contact_pad_button": [
+              0.11690418422222136,
+              -0.4002346992492676,
+              0.7695720791816711
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109551911456975
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28465230780108863,
+              0.1787877989689525,
+              1.1046628570109776
+            ],
+            "current_z": 1.1046628570109776,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.194753727276615,
+            "gripper_z": 1.1046632491690938,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28465224660638677,
+              0.17878775707821887,
+              1.1046632491690938
+            ],
+            "object_minus_gripper": [
+              6.119470186138898e-08,
+              4.189073363192186e-08,
+              -3.921581162025234e-07
+            ],
+            "object_to_gripper_xy": 7.41594572534408e-08,
+            "object_to_gripper_z": -3.921581162025234e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28465230780108863,
+              0.1787877989689525,
+              1.1046628570109776
+            ],
+            "finger_b": [
+              0.28465230780108863,
+              0.1787877989689525,
+              1.1046628570109776
+            ],
+            "finger_midpoint": [
+              0.28465230780108863,
+              0.1787877989689525,
+              1.1046628570109776
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046628570109776,
+            "object_top_z": 1.2296713636312573,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28465230780108863,
+            0.1787877989689525,
+            1.1046628570109776
+          ],
+          "object_origin_world": [
+            0.28465230780108863,
+            0.1787877989689525,
+            1.1046628570109776
+          ],
+          "frame_world": [
+            0.28465224660638677,
+            0.17878775707821887,
+            1.1046632491690938
+          ],
+          "center_minus_frame": [
+            6.119470186138898e-08,
+            4.189073363192186e-08,
+            -3.921581162025234e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436323743980567,
+            "required_z": 0.911259797436806,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021046951680214372,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.2095952111594714e-08,
+            "max_target_xy_drift": 1.5947630865157842e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.250229067690357,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.2502290688832543,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26846838402257217,
+              -0.34140526556795436,
+              0.9233185412921922
+            ],
+            "target_mouth_xy": [
+              0.2694461390344921,
+              -0.34327955552926454
+            ],
+            "rod_tip_z": 0.9233185412921922,
+            "rod_tip_depth": -0.022058708028910856,
+            "rod_tip_bottom_clearance": 0.12149925353057334,
+            "rod_tip_xy_dist": 0.0021139933118159656,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044614359091368794,
+            "min_rod_tip_bottom_clearance": 0.05482616786327754,
+            "min_rod_tip_xy_dist": 0.000153072404231584,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2694461069526112,
+              -0.34327955647955816
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.208188092962416e-08,
+              9.502936215710633e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0003491771297293167,
+                0.0035195197623300034
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0004708232181114824,
+                0.003158698092256218
+              ],
+              "first_target_mouth_xy": [
+                0.2694461087398986,
+                -0.3432795872364063
+              ],
+              "last_target_mouth_xy": [
+                0.2694461409266464,
+                -0.34327952477638923
+              ],
+              "first_rod_tip_xy": [
+                0.2690969316101693,
+                -0.3397600674740763
+              ],
+              "last_rod_tip_xy": [
+                0.26897531770853494,
+                -0.340120826684133
+              ],
+              "min_rod_tip_xy_dist": 0.0031908042441701396,
+              "max_rod_tip_xy_dist": 0.003536798555948225,
+              "first_target_xy_drift": 3.0808734197831833e-08,
+              "last_target_xy_drift": 4.6468548407213636e-08,
+              "max_depth": 0.019492856098857536,
+              "min_bottom_clearance": 0.07994779606578628
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0003491771297293167,
+                  0.0035195197623300034
+                ],
+                "rod_tip_xy": [
+                  0.2690969316101693,
+                  -0.3397600674740763
+                ],
+                "target_mouth_xy": [
+                  0.2694461087398986,
+                  -0.3432795872364063
+                ],
+                "gripper_position": [
+                  0.26908567983957377,
+                  -0.33976653869841505,
+                  1.0059778865911029
+                ],
+                "rod_tip_xy_dist": 0.003536798555948225,
+                "target_xy_drift": 3.0808734197831833e-08,
+                "depth": 0.015144991032663868,
+                "bottom_clearance": 0.08429553726813144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00036042925241192014,
+                  0.003513014611194354
+                ],
+                "rod_tip_xy": [
+                  0.2690856798395738,
+                  -0.339766538698415
+                ],
+                "target_mouth_xy": [
+                  0.26944610909198574,
+                  -0.34327955330960935
+                ],
+                "gripper_position": [
+                  0.26908716663370974,
+                  -0.33982851424197225,
+                  1.0054613342993626
+                ],
+                "rod_tip_xy_dist": 0.0035314559185213165,
+                "target_xy_drift": 3.824329869638496e-09,
+                "depth": 0.015281984982695729,
+                "bottom_clearance": 0.08415863376301358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00035897376342586274,
+                  0.0034510736303112743
+                ],
+                "rod_tip_xy": [
+                  0.2690871666337098,
+                  -0.33982851424197225
+                ],
+                "target_mouth_xy": [
+                  0.26944614039713566,
+                  -0.3432795878722835
+                ],
+                "gripper_position": [
+                  0.26907579165106527,
+                  -0.3398350121332731,
+                  1.0053246420173128
+                ],
+                "rod_tip_xy_dist": 0.003469693266653115,
+                "target_xy_drift": 4.586980950107365e-08,
+                "depth": 0.015798581503694065,
+                "bottom_clearance": 0.08364204082105053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00037034843801087014,
+                  0.0034445430830155055
+                ],
+                "rod_tip_xy": [
+                  0.2690757916510653,
+                  -0.33983501213327305
+                ],
+                "target_mouth_xy": [
+                  0.2694461400890762,
+                  -0.34327955521628856
+                ],
+                "gripper_position": [
+                  0.26906738568100685,
+                  -0.3398352133927428,
+                  1.0052045507375975
+                ],
+                "rod_tip_xy_dist": 0.0034643953319860965,
+                "target_xy_drift": 3.3160536242075914e-08,
+                "depth": 0.015935205272178288,
+                "bottom_clearance": 0.08350539201277185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003787840029564338,
+                  0.0034443129749712753
+                ],
+                "rod_tip_xy": [
+                  0.26906738568100697,
+                  -0.3398352133927428
+                ],
+                "target_mouth_xy": [
+                  0.2694461696839634,
+                  -0.3432795263677141
+                ],
+                "gripper_position": [
+                  0.2690698142947839,
+                  -0.33989842863659314,
+                  1.0046878365317267
+                ],
+                "rod_tip_xy_dist": 0.003465078525870832,
+                "target_xy_drift": 6.958409089268195e-08,
+                "depth": 0.016055337522043578,
+                "bottom_clearance": 0.083385217913865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00037629499535196675,
+                  0.0033811278492109076
+                ],
+                "rod_tip_xy": [
+                  0.26906981429478394,
+                  -0.33989842863659325
+                ],
+                "target_mouth_xy": [
+                  0.2694461092901359,
+                  -0.34327955648580416
+                ],
+                "gripper_position": [
+                  0.26905832743726255,
+                  -0.3399047170359326,
+                  1.0045509655853393
+                ],
+                "rod_tip_xy_dist": 0.0034020028595279743,
+                "target_xy_drift": 2.337533074164416e-09,
+                "depth": 0.016571921360862274,
+                "bottom_clearance": 0.08286859400890256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00038781276636085105,
+                  0.0033748384985925473
+                ],
+                "rod_tip_xy": [
+                  0.2690583274372626,
+                  -0.3399047170359326
+                ],
+                "target_mouth_xy": [
+                  0.26944614020362345,
+                  -0.34327955553452516
+                ],
+                "gripper_position": [
+                  0.2690498549699265,
+                  -0.3399048461900858,
+                  1.0044311637307375
+                ],
+                "rod_tip_xy_dist": 0.003397047782021156,
+                "target_xy_drift": 3.326443904237017e-08,
+                "depth": 0.01670893656509287,
+                "bottom_clearance": 0.0827316538447248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.000396284319661544,
+                  0.0033746801766800782
+                ],
+                "rod_tip_xy": [
+                  0.2690498549699266,
+                  -0.3399048461900859
+                ],
+                "target_mouth_xy": [
+                  0.26944613928958816,
+                  -0.34327952636676595
+                ],
+                "gripper_position": [
+                  0.26905297651808635,
+                  -0.3399692159084228,
+                  1.0039160469150274
+                ],
+                "rod_tip_xy_dist": 0.0033978680899774635,
+                "target_xy_drift": 4.418665335668405e-08,
+                "depth": 0.01682860058798885,
+                "bottom_clearance": 0.08261193204456674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00039316459567867446,
+                  0.003310308553197805
+                ],
+                "rod_tip_xy": [
+                  0.2690529765180864,
+                  -0.3399692159084228
+                ],
+                "target_mouth_xy": [
+                  0.2694461411137651,
+                  -0.3432795244616206
+                ],
+                "gripper_position": [
+                  0.26904135534757845,
+                  -0.33997539779586894,
+                  1.0037796750506047
+                ],
+                "rod_tip_xy_dist": 0.0033335748254193606,
+                "target_xy_drift": 4.6820217459751204e-08,
+                "depth": 0.017343885101658185,
+                "bottom_clearance": 0.08209678542289167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0004047821961998266,
+                  0.0033041301516841814
+                ],
+                "rod_tip_xy": [
+                  0.2690413553475785,
+                  -0.33997539779586894
+                ],
+                "target_mouth_xy": [
+                  0.26944613754377833,
+                  -0.3432795279475531
+                ],
+                "gripper_position": [
+                  0.2690328225098044,
+                  -0.33997531101917605,
+                  1.0036596417050325
+                ],
+                "rod_tip_xy_dist": 0.0033288323306572363,
+                "target_xy_drift": 4.18317441579994e-08,
+                "depth": 0.017480180368601106,
+                "bottom_clearance": 0.08196037607519902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0004132869438024378,
+                  0.0033042454657362663
+                ],
+                "rod_tip_xy": [
+                  0.2690328225098045,
+                  -0.3399753110191761
+                ],
+                "target_mouth_xy": [
+                  0.2694461094536069,
+                  -0.3432795564849124
+                ],
+                "gripper_position": [
+                  0.26903661718761285,
+                  -0.3400403540205807,
+                  1.0031478764450272
+                ],
+                "rod_tip_xy_dist": 0.003329991620973878,
+                "target_xy_drift": 2.501001475075887e-09,
+                "depth": 0.017600177070084766,
+                "bottom_clearance": 0.08184034453864364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0004094897638634576,
+                  0.003239172339992713
+                ],
+                "rod_tip_xy": [
+                  0.26903661718761296,
+                  -0.34004035402058064
+                ],
+                "target_mouth_xy": [
+                  0.2694461069514764,
+                  -0.34327952636057335
+                ],
+                "gripper_position": [
+                  0.26902505182916375,
+                  -0.3400465372974082,
+                  1.0030111468384288
+                ],
+                "rod_tip_xy_dist": 0.0032649531872421724,
+                "target_xy_drift": 3.011898482758097e-08,
+                "depth": 0.018111985348952087,
+                "bottom_clearance": 0.08132856588882931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004210896439785783,
+                  0.0032330182354240455
+                ],
+                "rod_tip_xy": [
+                  0.2690250518291638,
+                  -0.3400465372974082
+                ],
+                "target_mouth_xy": [
+                  0.2694461414731424,
+                  -0.34327955553283224
+                ],
+                "gripper_position": [
+                  0.2690162073367899,
+                  -0.3400467141619104,
+                  1.0028919559448726
+                ],
+                "rod_tip_xy_dist": 0.003260325658404451,
+                "target_xy_drift": 3.453351075520893e-08,
+                "depth": 0.01824876548848675,
+                "bottom_clearance": 0.08119187387886873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0004299002107360228,
+                  0.003232873705304451
+                ],
+                "rod_tip_xy": [
+                  0.26901620733678994,
+                  -0.34004671416191046
+                ],
+                "target_mouth_xy": [
+                  0.26944610754752596,
+                  -0.3432795878672149
+                ],
+                "gripper_position": [
+                  0.26900755594699743,
+                  -0.34004647675746535,
+                  1.002771845288915
+                ],
+                "rod_tip_xy_dist": 0.00326133202628003,
+                "target_xy_drift": 3.139329418759832e-08,
+                "depth": 0.01836791099923485,
+                "bottom_clearance": 0.08107266415582493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004385529058462123,
+                  0.003233048021504925
+                ],
+                "rod_tip_xy": [
+                  0.2690075559469975,
+                  -0.34004647675746535
+                ],
+                "target_mouth_xy": [
+                  0.2694461088528437,
+                  -0.3432795247789703
+                ],
+                "gripper_position": [
+                  0.2689987270347631,
+                  -0.34004670714874885,
+                  1.0026524101488157
+                ],
+                "rod_tip_xy_dist": 0.003262656610889823,
+                "target_xy_drift": 3.175748975280716e-08,
+                "depth": 0.018488001781845953,
+                "bottom_clearance": 0.08095256269463802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00044741166463502235,
+                  0.003232881353754935
+                ],
+                "rod_tip_xy": [
+                  0.26899872703476313,
+                  -0.34004670714874885
+                ],
+                "target_mouth_xy": [
+                  0.26944613869939815,
+                  -0.3432795885025038
+                ],
+                "gripper_position": [
+                  0.2690049040331445,
+                  -0.3401146035245317,
+                  1.0021419396673519
+                ],
+                "rod_tip_xy_dist": 0.0032636940795834134,
+                "target_xy_drift": 4.509243318001256e-08,
+                "depth": 0.01860744389519564,
+                "bottom_clearance": 0.08083313592969688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00044120283495452384,
+                  0.003164921885031202
+                ],
+                "rod_tip_xy": [
+                  0.2690049040331446,
+                  -0.3401146035245317
+                ],
+                "target_mouth_xy": [
+                  0.2694461068680991,
+                  -0.3432795254095629
+                ],
+                "gripper_position": [
+                  0.26899294520300554,
+                  -0.3401211015489244,
+                  1.002005772068262
+                ],
+                "rod_tip_xy_dist": 0.0031955266357709127,
+                "target_xy_drift": 3.1070110181746524e-08,
+                "depth": 0.01911794174395276,
+                "bottom_clearance": 0.0803226467562933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004531954846133668,
+                  0.0031584562015865014
+                ],
+                "rod_tip_xy": [
+                  0.2689929452030056,
+                  -0.3401211015489244
+                ],
+                "target_mouth_xy": [
+                  0.26944614068761896,
+                  -0.3432795577505109
+                ],
+                "gripper_position": [
+                  0.268984223665621,
+                  -0.3401209140638315,
+                  1.0018865821703287
+                ],
+                "rod_tip_xy_dist": 0.0031908042441701396,
+                "target_xy_drift": 3.3758940612120256e-08,
+                "depth": 0.01925414031983308,
+                "bottom_clearance": 0.08018648168869935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0004618852438547649,
+                  0.0031586427348413437
+                ],
+                "rod_tip_xy": [
+                  0.2689842236656211,
+                  -0.3401209140638315
+                ],
+                "target_mouth_xy": [
+                  0.26944610890947585,
+                  -0.34327955679867284
+                ],
+                "gripper_position": [
+                  0.2689753177085349,
+                  -0.3401208266841329,
+                  1.0017670688304652
+                ],
+                "rod_tip_xy_dist": 0.00319223462559643,
+                "target_xy_drift": 1.9827136748208166e-09,
+                "depth": 0.019373178307933503,
+                "bottom_clearance": 0.08006733368704133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0004708232181114824,
+                  0.003158698092256218
+                ],
+                "rod_tip_xy": [
+                  0.26897531770853494,
+                  -0.340120826684133
+                ],
+                "target_mouth_xy": [
+                  0.2694461409266464,
+                  -0.34327952477638923
+                ],
+                "gripper_position": [
+                  0.26896644301639516,
+                  -0.34012067201555823,
+                  1.0016475076796523
+                ],
+                "rod_tip_xy_dist": 0.0031935948617092813,
+                "target_xy_drift": 4.6468548407213636e-08,
+                "depth": 0.019492856098857536,
+                "bottom_clearance": 0.07994779606578628,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006002037493419261,
+              "rod_tip_xy_max_step": 3.252705272909249e-05,
+              "rod_tip_xy_range": 0.000600198682237368,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26846838402257217,
+            -0.34140526556795436,
+            1.0433185412921924
+          ],
+          "object_origin_world": [
+            0.26846838402257217,
+            -0.34140526556795436,
+            1.0433185412921924
+          ],
+          "frame_world": [
+            0.2684938667410163,
+            -0.3414026114093262,
+            1.0436323743980567
+          ],
+          "center_minus_frame": [
+            -2.5482718444103103e-05,
+            -2.6541586281569884e-06,
+            -0.0003138331058643029
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27303741932338915,
+              0.13255777783138195,
+              0.8334058386490328
+            ],
+            "target_position": [
+              0.28480281684350783,
+              0.1796131338992617,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048503928845830234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1707200368151744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334058386490328,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669591077269,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1404635004894844,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d28b0af0c41fac76914ac58419861c4ba626183552331c3851070f84962dfa6e",
+    "visual_seed": 8528364479847745775,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f27528ed1b2578a6209c244775c55c3cd9b893f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_63_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2568734222963671,
+              0.025629666018143475,
+              1.1616019770227988
+            ],
+            "current_z": 1.1616019770227988,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30049540940338815,
+            "gripper_z": 1.1549391873501087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2516684288876769,
+              0.0207038940970765,
+              1.1549391873501087
+            ],
+            "object_minus_gripper": [
+              0.005204993408690239,
+              0.004925771921066975,
+              0.006662789672690073
+            ],
+            "object_to_gripper_xy": 0.007166253233237064,
+            "object_to_gripper_z": 0.006662789672690073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2568734222963671,
+              0.0013810585231301307,
+              1.1616019770227988
+            ],
+            "finger_b": [
+              0.24585133425368313,
+              0.025629666018143475,
+              1.1616019770227988
+            ],
+            "finger_midpoint": [
+              0.2513623782750251,
+              0.013505362270636803,
+              1.1616019770227988
+            ],
+            "object_minus_finger_midpoint": [
+              0.005511044021342004,
+              0.012124303747506672,
+              0.0
+            ],
+            "finger_gap": 0.026636091873018734,
+            "fingertip_max_gap": 0.09098586525045463,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01331804593650937,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616019770227988,
+            "object_top_z": 1.2115735234127731,
+            "finger_top_clearance": 0.049971546389974364,
+            "fingertip_min_top_clearance": 0.014991463916992276,
+            "object_projection_between_fingers": 0.8287672848264492,
+            "object_to_finger_line_xy": 0.01003414044360079,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047992932625227316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5891511573590618,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2752015196270584,
+              -0.3432352762631903,
+              0.8515395502726518
+            ],
+            "target_position": [
+              0.2668985970188714,
+              -0.34367477192940404,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008314546306213186,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18582836059401478,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395502726518,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520533255292226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509512383503313,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15440305855186726,
+            "release_required_pad_clearance": 0.05254756191751657,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312936792866867,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007425367832183838,
+            "max_z_decrease": 0.007425367832183838,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510610291065892,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007425367832183838,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02117388469582789,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007425367832183838,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007425388297224803,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1225985214114189,
+              -0.3999362289905548,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1225985214114189,
+              -0.3999362289905548,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12185933044696767,
+              -0.4011118203556928,
+              0.8078626973353642
+            ],
+            "closest_button": [
+              0.1225878298282623,
+              -0.3999336063861847,
+              0.7727839350700378
+            ],
+            "closest_ee_minus_button": [
+              -0.0007284993812946283,
+              -0.001178213969508124,
+              0.03507876226532636
+            ],
+            "button_min_z_position": [
+              0.12258120626211165,
+              -0.39993420243263245,
+              0.7693834900856018
+            ],
+            "min_active_finger_to_button": 0.14679680661576078,
+            "closest_active_finger": [
+              -0.019356653094291687,
+              -0.38540929555892944,
+              0.811228334903717
+            ],
+            "closest_active_finger_button": [
+              0.12260075658559796,
+              -0.3999362885951996,
+              0.7767847180366516
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14195740967988965,
+              0.014526993036270142,
+              0.03444361686706543
+            ],
+            "min_contact_pad_to_button": 0.02117388469582789,
+            "closest_contact_pad": [
+              0.12258120626211165,
+              -0.402155115098776,
+              0.7904405777294707
+            ],
+            "closest_contact_pad_button": [
+              0.12258120626211165,
+              -0.39993420243263245,
+              0.7693834900856018
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022209126661435485,
+              0.021057087643868933
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2833157340308907,
+              0.17947275177954625,
+              1.1012987941893626
+            ],
+            "current_z": 1.1012987941893626,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19138966445500005,
+            "gripper_z": 1.1012988968263764,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28331571420822865,
+              0.17947281958018202,
+              1.1012988968263764
+            ],
+            "object_minus_gripper": [
+              1.9822662067348062e-08,
+              -6.780063577238593e-08,
+              -1.0263701377688506e-07
+            ],
+            "object_to_gripper_xy": 7.063897042409394e-08,
+            "object_to_gripper_z": -1.0263701377688506e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2833157340308907,
+              0.17947275177954625,
+              1.1012987941893626
+            ],
+            "finger_b": [
+              0.2833157340308907,
+              0.17947275177954625,
+              1.1012987941893626
+            ],
+            "finger_midpoint": [
+              0.2833157340308907,
+              0.17947275177954625,
+              1.1012987941893626
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012987941893626,
+            "object_top_z": 1.2263073008096423,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 238,
+            "max_stable_success_frames": 238,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2833157340308908,
+            0.17947275177954622,
+            1.1012987941893628
+          ],
+          "object_origin_world": [
+            0.2833157340308908,
+            0.17947275177954622,
+            1.1012987941893628
+          ],
+          "frame_world": [
+            0.28331571420822865,
+            0.17947281958018202,
+            1.1012988968263764
+          ],
+          "center_minus_frame": [
+            1.9822662122859214e-08,
+            -6.78006358001415e-08,
+            -1.0263701355484045e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434306148819066,
+            "required_z": 0.9112599660469766,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000580579323010162,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3395877477275466e-07,
+            "max_target_xy_drift": 1.118668251987144e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.16312936791302918,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.16312937613268635,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2756150007774437,
+              -0.3428214510219787,
+              0.923541779203232
+            ],
+            "target_mouth_xy": [
+              0.2752015195987175,
+              -0.3432352740579141
+            ],
+            "rod_tip_z": 0.923541779203232,
+            "rod_tip_depth": -0.02228186700065582,
+            "rod_tip_bottom_clearance": 0.12172247115412926,
+            "rod_tip_xy_dist": 0.0005849924702349552,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0448812112922472,
+            "min_rod_tip_bottom_clearance": 0.0545594018182487,
+            "min_rod_tip_xy_dist": 0.0004268160435488846,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2752016406264918,
+              -0.3432353314794362
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.210277742469401e-07,
+              5.742152209275986e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0009366069996372128,
+                0.0020994912050312786
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008334080227127005,
+                0.0017323282273591367
+              ],
+              "first_target_mouth_xy": [
+                0.27520154834073973,
+                -0.3432353038602479
+              ],
+              "last_target_mouth_xy": [
+                0.2752015807665783,
+                -0.343235336502979
+              ],
+              "first_rod_tip_xy": [
+                0.27613815534037695,
+                -0.34113581265521664
+              ],
+              "last_rod_tip_xy": [
+                0.276034988789291,
+                -0.34150300827561986
+              ],
+              "min_rod_tip_xy_dist": 0.0019223761389559385,
+              "max_rod_tip_xy_dist": 0.0022989336640653886,
+              "first_target_xy_drift": 9.633005548795378e-08,
+              "last_target_xy_drift": 6.007033563244303e-08,
+              "max_depth": 0.019428082777119937,
+              "min_bottom_clearance": 0.08001256698756143
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0009366069996372128,
+                  0.0020994912050312786
+                ],
+                "rod_tip_xy": [
+                  0.27613815534037695,
+                  -0.34113581265521664
+                ],
+                "target_mouth_xy": [
+                  0.27520154834073973,
+                  -0.3432353038602479
+                ],
+                "gripper_position": [
+                  0.2761430363810908,
+                  -0.34119965097266974,
+                  1.0057121693183941
+                ],
+                "rod_tip_xy_dist": 0.0022989336640653886,
+                "target_xy_drift": 9.633005548795378e-08,
+                "depth": 0.015027757487997895,
+                "bottom_clearance": 0.08441280589389277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009415201172170429,
+                  0.0020356861599504783
+                ],
+                "rod_tip_xy": [
+                  0.2761430363810906,
+                  -0.3411996509726697
+                ],
+                "target_mouth_xy": [
+                  0.27520151626387357,
+                  -0.34323533713262017
+                ],
+                "gripper_position": [
+                  0.2761315496501636,
+                  -0.3412066976934131,
+                  1.0055712816217
+                ],
+                "rod_tip_xy_dist": 0.002242872772347624,
+                "target_xy_drift": 1.2449104102503114e-07,
+                "depth": 0.015547725713839666,
+                "bottom_clearance": 0.08389288794574101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009300308844046867,
+                  0.002028605224758784
+                ],
+                "rod_tip_xy": [
+                  0.2761315496501635,
+                  -0.34120669769341305
+                ],
+                "target_mouth_xy": [
+                  0.2752015187657588,
+                  -0.34323530291817184
+                ],
+                "gripper_position": [
+                  0.2761230242151511,
+                  -0.34120718367779496,
+                  1.0054477145733831
+                ],
+                "rod_tip_xy_dist": 0.0022316354101566856,
+                "target_xy_drift": 1.2516302991031713e-07,
+                "depth": 0.015688581270433377,
+                "bottom_clearance": 0.08375202476374255,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009215062248510986,
+                  0.002028183566945174
+                ],
+                "rod_tip_xy": [
+                  0.276123024215151,
+                  -0.3412071836777949
+                ],
+                "target_mouth_xy": [
+                  0.2752015179902999,
+                  -0.3432353672447401
+                ],
+                "gripper_position": [
+                  0.27612917381306673,
+                  -0.34127170637451454,
+                  1.004927753754941
+                ],
+                "rod_tip_xy_dist": 0.0022277123476036518,
+                "target_xy_drift": 1.277450293277385e-07,
+                "depth": 0.01581213475632437,
+                "bottom_clearance": 0.08362842637755563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009276537818873609,
+                  0.0019635981142727132
+                ],
+                "rod_tip_xy": [
+                  0.2761291738130666,
+                  -0.3412717063745144
+                ],
+                "target_mouth_xy": [
+                  0.27520152003117926,
+                  -0.34323530448878714
+                ],
+                "gripper_position": [
+                  0.27611761814928026,
+                  -0.3412783222051887,
+                  1.004787014631096
+                ],
+                "rod_tip_xy_dist": 0.0021716949816733655,
+                "target_xy_drift": 1.2357881912530347e-07,
+                "depth": 0.016332150624046138,
+                "bottom_clearance": 0.08310844758614189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009161015711994791,
+                  0.0019570142944044244
+                ],
+                "rod_tip_xy": [
+                  0.27611761814928015,
+                  -0.3412783222051886
+                ],
+                "target_mouth_xy": [
+                  0.2752015165780807,
+                  -0.34323533649959304
+                ],
+                "gripper_position": [
+                  0.27610879838580715,
+                  -0.3412788891893413,
+                  1.0046633200167083
+                ],
+                "rod_tip_xy_dist": 0.002160820917442582,
+                "target_xy_drift": 1.241499507485521e-07,
+                "depth": 0.016472859513491422,
+                "bottom_clearance": 0.08296771949098425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009072482623131983,
+                  0.0019564451052146437
+                ],
+                "rod_tip_xy": [
+                  0.276108798385807,
+                  -0.34127888918934124
+                ],
+                "target_mouth_xy": [
+                  0.2752015501234938,
+                  -0.3432353342945559
+                ],
+                "gripper_position": [
+                  0.27611571353756625,
+                  -0.34134467094537035,
+                  1.004145175482062
+                ],
+                "rod_tip_xy_dist": 0.002156565987673147,
+                "target_xy_drift": 9.054676992091854e-08,
+                "depth": 0.016596586620038267,
+                "bottom_clearance": 0.0828440226395567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009141366404702422,
+                  0.0018906354348906529
+                ],
+                "rod_tip_xy": [
+                  0.27611571353756614,
+                  -0.34134467094537024
+                ],
+                "target_mouth_xy": [
+                  0.2752015768970959,
+                  -0.3432353063802609
+                ],
+                "gripper_position": [
+                  0.276104115150523,
+                  -0.34135126576507374,
+                  1.0040043437671253
+                ],
+                "rod_tip_xy_dist": 0.0021000352723500597,
+                "target_xy_drift": 6.849382817879358e-08,
+                "depth": 0.01711467125102506,
+                "bottom_clearance": 0.08232586904671502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009025684232871201,
+                  0.0018840384123645082
+                ],
+                "rod_tip_xy": [
+                  0.27610411515052286,
+                  -0.3413512657650737
+                ],
+                "target_mouth_xy": [
+                  0.27520154672723574,
+                  -0.3432353041774382
+                ],
+                "gripper_position": [
+                  0.27609529601711535,
+                  -0.34135167168255315,
+                  1.0038810389334587
+                ],
+                "rod_tip_xy_dist": 0.0020890740767095777,
+                "target_xy_drift": 9.77878795092665e-08,
+                "depth": 0.017255521260936102,
+                "bottom_clearance": 0.08218504748685007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0008937468663230974,
+                  0.0018836369085201143
+                ],
+                "rod_tip_xy": [
+                  0.2760952960171152,
+                  -0.3413516716825531
+                ],
+                "target_mouth_xy": [
+                  0.2752015491507921,
+                  -0.3432353085910732
+                ],
+                "gripper_position": [
+                  0.27610295837970444,
+                  -0.34141824923609176,
+                  1.003365257475041
+                ],
+                "rod_tip_xy_dist": 0.0020849152175092325,
+                "target_xy_drift": 9.429570929944778e-08,
+                "depth": 0.017378897753551614,
+                "bottom_clearance": 0.08206174942669886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009014391295180113,
+                  0.0018170565104267955
+                ],
+                "rod_tip_xy": [
+                  0.27610295837970433,
+                  -0.34141824923609165
+                ],
+                "target_mouth_xy": [
+                  0.2752015192501863,
+                  -0.34323530574651845
+                ],
+                "gripper_position": [
+                  0.27609121919135254,
+                  -0.34142475531660904,
+                  1.0032248400299582
+                ],
+                "rod_tip_xy_dist": 0.002028370495326382,
+                "target_xy_drift": 1.240741334056602e-07,
+                "depth": 0.017894568211410333,
+                "bottom_clearance": 0.08154597414499631,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00088963812362014,
+                  0.0018105498086539162
+                ],
+                "rod_tip_xy": [
+                  0.27609121919135243,
+                  -0.341424755316609
+                ],
+                "target_mouth_xy": [
+                  0.2752015810677323,
+                  -0.3432353051252629
+                ],
+                "gripper_position": [
+                  0.2760823998868857,
+                  -0.3414250374684164,
+                  1.0031019680542868
+                ],
+                "rod_tip_xy_dist": 0.0020173117261878732,
+                "target_xy_drift": 6.51290125863719e-08,
+                "depth": 0.018035064425114933,
+                "bottom_clearance": 0.08140556616030936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008808839294242032,
+                  0.0018102692332002679
+                ],
+                "rod_tip_xy": [
+                  0.27608239988688554,
+                  -0.34142503746841635
+                ],
+                "target_mouth_xy": [
+                  0.27520151595746134,
+                  -0.3432353067016166
+                ],
+                "gripper_position": [
+                  0.2760732962928968,
+                  -0.34142568830279124,
+                  1.0029785321141353
+                ],
+                "rod_tip_xy_dist": 0.0020132141450400426,
+                "target_xy_drift": 1.2710746434332952e-07,
+                "depth": 0.018157925031622946,
+                "bottom_clearance": 0.08128267787171051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008717178615341159,
+                  0.0018096171303285669
+                ],
+                "rod_tip_xy": [
+                  0.2760732962928966,
+                  -0.3414256883027912
+                ],
+                "target_mouth_xy": [
+                  0.2752015784313625,
+                  -0.34323530543311975
+                ],
+                "gripper_position": [
+                  0.2760643884137323,
+                  -0.3414256012700636,
+                  1.0028552136596642
+                ],
+                "rod_tip_xy_dist": 0.0020086329153173334,
+                "target_xy_drift": 6.742881212597378e-08,
+                "depth": 0.01828128614038038,
+                "bottom_clearance": 0.0811592318307156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008628735628012918,
+                  0.0018097044927793404
+                ],
+                "rod_tip_xy": [
+                  0.2760643884137322,
+                  -0.3414256012700636
+                ],
+                "target_mouth_xy": [
+                  0.2752015148509309,
+                  -0.34323530576284295
+                ],
+                "gripper_position": [
+                  0.27607415302725846,
+                  -0.34149603531362716,
+                  1.0023412381150563
+                ],
+                "rod_tip_xy_dist": 0.0020048893078090683,
+                "target_xy_drift": 1.2837770396964774e-07,
+                "depth": 0.018404696189226022,
+                "bottom_clearance": 0.08103591536858568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008725748379478371,
+                  0.0017392704333550335
+                ],
+                "rod_tip_xy": [
+                  0.2760741530272583,
+                  -0.34149603531362704
+                ],
+                "target_mouth_xy": [
+                  0.27520157818931046,
+                  -0.3432353057469821
+                ],
+                "gripper_position": [
+                  0.27606232573698675,
+                  -0.34150228009834055,
+                  1.0022008516282546
+                ],
+                "rod_tip_xy_dist": 0.0019458798750597891,
+                "target_xy_drift": 6.753192434003115e-08,
+                "depth": 0.018918522657731196,
+                "bottom_clearance": 0.08052199408518279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000860748343029849,
+                  0.0017330237625989842
+                ],
+                "rod_tip_xy": [
+                  0.27606232573698664,
+                  -0.3415022800983405
+                ],
+                "target_mouth_xy": [
+                  0.2752015773939568,
+                  -0.3432353038609395
+                ],
+                "gripper_position": [
+                  0.27605322576880853,
+                  -0.34150271468564136,
+                  1.0020779515530014
+                ],
+                "rod_tip_xy_dist": 0.0019350088040526769,
+                "target_xy_drift": 6.900097710438537e-08,
+                "depth": 0.019058992616090786,
+                "bottom_clearance": 0.08038155406092062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.000851677530256223,
+                  0.001732592323705262
+                ],
+                "rod_tip_xy": [
+                  0.27605322576880836,
+                  -0.3415027146856413
+                ],
+                "target_mouth_xy": [
+                  0.27520154823855214,
+                  -0.34323530700934657
+                ],
+                "gripper_position": [
+                  0.2760441244028099,
+                  -0.3415027528086838,
+                  1.0019549388102065
+                ],
+                "rod_tip_xy_dist": 0.0019306037334745156,
+                "target_xy_drift": 9.557361913995893e-08,
+                "depth": 0.019181890131295787,
+                "bottom_clearance": 0.0802586657998251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0008425486836000085,
+                  0.0017325802372891719
+                ],
+                "rod_tip_xy": [
+                  0.2760441244028098,
+                  -0.3415027528086837
+                ],
+                "target_mouth_xy": [
+                  0.2752015757192098,
+                  -0.34323533304597287
+                ],
+                "gripper_position": [
+                  0.27603498878929117,
+                  -0.34150300827562,
+                  1.0018318347109463
+                ],
+                "rod_tip_xy_dist": 0.0019265831315780563,
+                "target_xy_drift": 6.492618341594142e-08,
+                "depth": 0.01930496768443546,
+                "bottom_clearance": 0.08013566579800413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0008334080227127005,
+                  0.0017323282273591367
+                ],
+                "rod_tip_xy": [
+                  0.276034988789291,
+                  -0.34150300827561986
+                ],
+                "target_mouth_xy": [
+                  0.2752015807665783,
+                  -0.343235336502979
+                ],
+                "gripper_position": [
+                  0.27602594698677535,
+                  -0.34150313028292534,
+                  1.00170889453878
+                ],
+                "rod_tip_xy_dist": 0.0019223761389559385,
+                "target_xy_drift": 6.007033563244303e-08,
+                "depth": 0.019428082777119937,
+                "bottom_clearance": 0.08001256698756143,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006039289375375525,
+              "rod_tip_xy_max_step": 3.263775252738191e-05,
+              "rod_tip_xy_range": 0.000603919365431592,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2756150007774438,
+            -0.34282145102197875,
+            1.0435417792032322
+          ],
+          "object_origin_world": [
+            0.2756150007774438,
+            -0.34282145102197875,
+            1.0435417792032322
+          ],
+          "frame_world": [
+            0.2756135251239916,
+            -0.34282622174163835,
+            1.0434306148819066
+          ],
+          "center_minus_frame": [
+            1.4756534521542797e-06,
+            4.770719659596967e-06,
+            0.0001111643213256297
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27380412448248886,
+              0.1331855465524024,
+              0.8338210010845373
+            ],
+            "target_position": [
+              0.2838034615053601,
+              0.18068627550804822,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04854179634309688,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16835978067719634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338210010845373,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676905897582,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1370105138245918,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a28ea37dc648ac226158bcdfc16feba817ef3ee8ab057d42caa0dab3bb2af109",
+    "visual_seed": 3676159188635293687,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..332fbfd74746c4fe06733c47c4b5c4c4221fec9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_64_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2601997530624075,
+              0.02858783569042465,
+              1.1640786250882749
+            ],
+            "current_z": 1.1640786250882749,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30297223628279824,
+            "gripper_z": 1.157202829558008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25498562946259556,
+              0.023661242145703115,
+              1.157202829558008
+            ],
+            "object_minus_gripper": [
+              0.005214123599811937,
+              0.004926593544721535,
+              0.006875795530266959
+            ],
+            "object_to_gripper_xy": 0.007173451670500589,
+            "object_to_gripper_z": 0.006875795530266959,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2601997530624075,
+              0.004201529910432279,
+              1.1640786250882749
+            ],
+            "finger_b": [
+              0.24933996040873224,
+              0.02858783569042465,
+              1.1640786250882749
+            ],
+            "finger_midpoint": [
+              0.25476985673556984,
+              0.016394682800428464,
+              1.1640786250882749
+            ],
+            "object_minus_finger_midpoint": [
+              0.005429896326837658,
+              0.012193152889996187,
+              0.0
+            ],
+            "finger_gap": 0.026695074565846574,
+            "fingertip_max_gap": 0.0908569535943129,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013347537282923297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640786250882749,
+            "object_top_z": 1.2139924529434905,
+            "finger_top_clearance": 0.04991382785521559,
+            "fingertip_min_top_clearance": 0.014974148356564675,
+            "object_projection_between_fingers": 0.8345065574623709,
+            "object_to_finger_line_xy": 0.009920565073028877,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792847679715645,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5693926529056056,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2668185884956473,
+              -0.35165757483489113,
+              0.8515396113117345
+            ],
+            "target_position": [
+              0.26028935844209755,
+              -0.3514944508975219,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006531267450588776,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18415214837780924,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396113117345,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549093148402643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727244974665992,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520635578027353,
+            "release_required_pad_clearance": 0.05363622487332996,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2824775571562257,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007321059703826904,
+            "max_z_decrease": 0.007321059703826904,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510506722779197,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007321059703826904,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021098102080030868,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007321059703826904,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00732108118206069,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11598928272724149,
+              -0.4077559113502502,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11598928272724149,
+              -0.4077559113502502,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1171830823934368,
+              -0.4072509034757601,
+              0.8078256533888004
+            ],
+            "closest_button": [
+              0.11597878485918045,
+              -0.4077524542808532,
+              0.7727448344230652
+            ],
+            "closest_ee_minus_button": [
+              0.0012042975342563544,
+              0.0005015508050931206,
+              0.03508081896573523
+            ],
+            "button_min_z_position": [
+              0.11597162485122679,
+              -0.40775427222251887,
+              0.7694877982139587
+            ],
+            "min_active_finger_to_button": 0.1449538911909383,
+            "closest_active_finger": [
+              -0.009261958301067352,
+              -0.4720522165298462,
+              0.8109629154205322
+            ],
+            "closest_active_finger_button": [
+              0.11599074304103851,
+              -0.40775394439697266,
+              0.7764792442321777
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12525270134210587,
+              -0.06429827213287354,
+              0.03448367118835449
+            ],
+            "min_contact_pad_to_button": 0.021098102080030868,
+            "closest_contact_pad": [
+              0.11597162485122679,
+              -0.40811898453864737,
+              0.7905827477589533
+            ],
+            "closest_contact_pad_button": [
+              0.11597162485122679,
+              -0.40775427222251887,
+              0.7694877982139587
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003647123161285015,
+              0.02109494954499458
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28349980150874815,
+              0.17991594356089644,
+              1.1035669047540981
+            ],
+            "current_z": 1.1035669047540981,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19365777501973558,
+            "gripper_z": 1.1035671401478255,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28349964603388356,
+              0.17991599957490054,
+              1.1035671401478255
+            ],
+            "object_minus_gripper": [
+              1.5547486459377424e-07,
+              -5.601400410171209e-08,
+              -2.3539372739911357e-07
+            ],
+            "object_to_gripper_xy": 1.6525738160808145e-07,
+            "object_to_gripper_z": -2.3539372739911357e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28349980150874815,
+              0.17991594356089644,
+              1.1035669047540981
+            ],
+            "finger_b": [
+              0.28349980150874815,
+              0.17991594356089644,
+              1.1035669047540981
+            ],
+            "finger_midpoint": [
+              0.28349980150874815,
+              0.17991594356089644,
+              1.1035669047540981
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035669047540981,
+            "object_top_z": 1.2285754113743779,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28349980150874815,
+            0.17991594356089646,
+            1.1035669047540981
+          ],
+          "object_origin_world": [
+            0.28349980150874815,
+            0.17991594356089646,
+            1.1035669047540981
+          ],
+          "frame_world": [
+            0.28349964603388356,
+            0.17991599957490054,
+            1.1035671401478255
+          ],
+          "center_minus_frame": [
+            1.5547486459377424e-07,
+            -5.6014004073956514e-08,
+            -2.3539372739911357e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436469213329307,
+            "required_z": 0.9112597629730177,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002042627974179732,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1743043060155265e-07,
+            "max_target_xy_drift": 2.136343211399006e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.282477557242635,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.282820463548515,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2657280151464939,
+              -0.3499179255417848,
+              0.9233340244241314
+            ],
+            "target_mouth_xy": [
+              0.26681855852835734,
+              -0.35165754441491937
+            ],
+            "rod_tip_z": 0.9233340244241314,
+            "rod_tip_depth": -0.022074122217018544,
+            "rod_tip_bottom_clearance": 0.12151470084793348,
+            "rod_tip_xy_dist": 0.0020531825762683874,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04444283807912175,
+            "min_rod_tip_bottom_clearance": 0.054997669237232705,
+            "min_rod_tip_xy_dist": 0.0002893726574926983,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2668185234393815,
+              -0.3516574323494483
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.508897583603954e-08,
+              -1.1206547106956677e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0004552461514163997,
+                0.003358395952755333
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0005731464225375293,
+                0.0029897613517585464
+              ],
+              "first_target_mouth_xy": [
+                0.26681849356088183,
+                -0.35165743235740066
+              ],
+              "last_target_mouth_xy": [
+                0.26681852338911816,
+                -0.3516574612209956
+              ],
+              "first_rod_tip_xy": [
+                0.26636324740946543,
+                -0.3482990364046453
+              ],
+              "last_rod_tip_xy": [
+                0.2662453769665806,
+                -0.34866769986923707
+              ],
+              "min_rod_tip_xy_dist": 0.0030442026480076287,
+              "max_rod_tip_xy_dist": 0.003389110861843095,
+              "first_target_xy_drift": 2.987850073268296e-08,
+              "last_target_xy_drift": 2.8871591072022762e-08,
+              "max_depth": 0.019627405438584433,
+              "min_bottom_clearance": 0.07981311791405743
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0004552461514163997,
+                  0.003358395952755333
+                ],
+                "rod_tip_xy": [
+                  0.26636324740946543,
+                  -0.3482990364046453
+                ],
+                "target_mouth_xy": [
+                  0.26681849356088183,
+                  -0.35165743235740066
+                ],
+                "gripper_position": [
+                  0.2663521072549482,
+                  -0.34830604479831834,
+                  1.0058586723773044
+                ],
+                "rod_tip_xy_dist": 0.003389110861843095,
+                "target_xy_drift": 2.987850073268296e-08,
+                "depth": 0.015263452240975584,
+                "bottom_clearance": 0.08417706512269718,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0004664164958403938,
+                  0.003351387235038472
+                ],
+                "rod_tip_xy": [
+                  0.26635210725494823,
+                  -0.3483060447983184
+                ],
+                "target_mouth_xy": [
+                  0.2668185237507886,
+                  -0.35165743203335686
+                ],
+                "gripper_position": [
+                  0.2663439665999632,
+                  -0.34830686894799356,
+                  1.005738173246943
+                ],
+                "rod_tip_xy_dist": 0.0033836874481504415,
+                "target_xy_drift": 4.437208451898007e-10,
+                "depth": 0.015401147361868817,
+                "bottom_clearance": 0.0840393743848119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0004745584822564708,
+                  0.0033505620994623286
+                ],
+                "rod_tip_xy": [
+                  0.26634396659996323,
+                  -0.34830686894799356
+                ],
+                "target_mouth_xy": [
+                  0.2668185250822197,
+                  -0.3516574310474559
+                ],
+                "gripper_position": [
+                  0.2663456207425927,
+                  -0.3483686249901982,
+                  1.0052193961207059
+                ],
+                "rod_tip_xy_dist": 0.003384002384076432,
+                "target_xy_drift": 2.0962112403985748e-09,
+                "depth": 0.015521729726971856,
+                "bottom_clearance": 0.08391887014080868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00047287246793664695,
+                  0.0032888076912831465
+                ],
+                "rod_tip_xy": [
+                  0.26634562074259277,
+                  -0.3483686249901983
+                ],
+                "target_mouth_xy": [
+                  0.2668184932105294,
+                  -0.3516574326814814
+                ],
+                "gripper_position": [
+                  0.26633426787073994,
+                  -0.3483754472025903,
+                  1.0050818920235998
+                ],
+                "rod_tip_xy_dist": 0.003322629139879393,
+                "target_xy_drift": 3.023067555582838e-08,
+                "depth": 0.01604042857545196,
+                "bottom_clearance": 0.08340008588957792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00048422535108832987,
+                  0.003281954407608534
+                ],
+                "rod_tip_xy": [
+                  0.26633426787074005,
+                  -0.3483754472025903
+                ],
+                "target_mouth_xy": [
+                  0.2668184932218284,
+                  -0.3516574016101988
+                ],
+                "gripper_position": [
+                  0.2663260755680411,
+                  -0.3483762280412868,
+                  1.0049614246821197
+                ],
+                "rod_tip_xy_dist": 0.003317483824264664,
+                "target_xy_drift": 4.31045470395821e-08,
+                "depth": 0.016177929777761002,
+                "bottom_clearance": 0.08326258029095313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0004923860256936252,
+                  0.003281173910846258
+                ],
+                "rod_tip_xy": [
+                  0.26632607556804117,
+                  -0.3483762280412869
+                ],
+                "target_mouth_xy": [
+                  0.2668184615937348,
+                  -0.35165740195213313
+                ],
+                "gripper_position": [
+                  0.2663285331504053,
+                  -0.3484391722544923,
+                  1.0044435863235706
+                ],
+                "rod_tip_xy_dist": 0.0033179129330825562,
+                "target_xy_drift": 6.891212365636668e-08,
+                "depth": 0.01629844028720684,
+                "bottom_clearance": 0.08314211470537769,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0004899623406433018,
+                  0.0032182594234216877
+                ],
+                "rod_tip_xy": [
+                  0.26632853315040533,
+                  -0.3484391722544923
+                ],
+                "target_mouth_xy": [
+                  0.26681849549104864,
+                  -0.35165743167791397
+                ],
+                "gripper_position": [
+                  0.2663172803177899,
+                  -0.3484457037385401,
+                  1.0043058505156026
+                ],
+                "rod_tip_xy_dist": 0.003255342810164723,
+                "target_xy_drift": 2.7956399420868295e-08,
+                "depth": 0.016816306731724295,
+                "bottom_clearance": 0.08262427748688916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005012146332429301,
+                  0.003211728900078703
+                ],
+                "rod_tip_xy": [
+                  0.26631728031779,
+                  -0.3484457037385401
+                ],
+                "target_mouth_xy": [
+                  0.26681849495103294,
+                  -0.3516574326386188
+                ],
+                "gripper_position": [
+                  0.2663088517632472,
+                  -0.3484466297934146,
+                  1.0041856048002655
+                ],
+                "rod_tip_xy_dist": 0.0032506028111994245,
+                "target_xy_drift": 2.8489816141599666e-08,
+                "depth": 0.016954048132443833,
+                "bottom_clearance": 0.08248653425138996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005096117149031576,
+                  0.0032108320643080557
+                ],
+                "rod_tip_xy": [
+                  0.26630885176324726,
+                  -0.3484466297934147
+                ],
+                "target_mouth_xy": [
+                  0.2668184634781504,
+                  -0.35165746185772273
+                ],
+                "gripper_position": [
+                  0.2663118706562905,
+                  -0.34851062965181717,
+                  1.0036697330974116
+                ],
+                "rod_tip_xy_dist": 0.0032510223999774697,
+                "target_xy_drift": 6.682879240366783e-08,
+                "depth": 0.017074149925203064,
+                "bottom_clearance": 0.08236634594434833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005066544142861007,
+                  0.0031468337687148296
+                ],
+                "rod_tip_xy": [
+                  0.2663118706562906,
+                  -0.3485106296518171
+                ],
+                "target_mouth_xy": [
+                  0.2668185250705767,
+                  -0.35165746342053195
+                ],
+                "gripper_position": [
+                  0.266300552858282,
+                  -0.34851720188785534,
+                  1.0035324166803457
+                ],
+                "rod_tip_xy_dist": 0.0031873596382334343,
+                "target_xy_drift": 3.11138720978724e-08,
+                "depth": 0.017590185468561503,
+                "bottom_clearance": 0.08185044301392363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000517941598890348,
+                  0.003140260601649625
+                ],
+                "rod_tip_xy": [
+                  0.2663005528582821,
+                  -0.3485172018878553
+                ],
+                "target_mouth_xy": [
+                  0.26681849445717243,
+                  -0.3516574624895049
+                ],
+                "gripper_position": [
+                  0.26629218857658765,
+                  -0.3485173722556171,
+                  1.003412038402326
+                ],
+                "rod_tip_xy_dist": 0.003182687566528319,
+                "target_xy_drift": 4.1813771127162955e-08,
+                "depth": 0.01772741893080243,
+                "bottom_clearance": 0.08171314542608121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.000526365634551329,
+                  0.0031400895986591904
+                ],
+                "rod_tip_xy": [
+                  0.26629218857658776,
+                  -0.3485173722556172
+                ],
+                "target_mouth_xy": [
+                  0.2668185542111391,
+                  -0.3516574618542764
+                ],
+                "gripper_position": [
+                  0.26628355011533167,
+                  -0.34851822479541444,
+                  1.0032916307680049
+                ],
+                "rod_tip_xy_dist": 0.003183900668809292,
+                "target_xy_drift": 4.2631396236041255e-08,
+                "depth": 0.01784784697534525,
+                "bottom_clearance": 0.08159270163727161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000534944578819696,
+                  0.003139237381073412
+                ],
+                "rod_tip_xy": [
+                  0.2662835501153317,
+                  -0.3485182247954145
+                ],
+                "target_mouth_xy": [
+                  0.2668184946941514,
+                  -0.3516574621764879
+                ],
+                "gripper_position": [
+                  0.2662880822591428,
+                  -0.3485843321885087,
+                  1.0027772285296184
+                ],
+                "rod_tip_xy_dist": 0.0031844900749000986,
+                "target_xy_drift": 4.142391271835841e-08,
+                "depth": 0.017968201412645324,
+                "bottom_clearance": 0.08147236169955663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005304437534529582,
+                  0.003073128680075976
+                ],
+                "rod_tip_xy": [
+                  0.26628808225914286,
+                  -0.3485843321885088
+                ],
+                "target_mouth_xy": [
+                  0.2668185260125958,
+                  -0.3516574608685848
+                ],
+                "gripper_position": [
+                  0.26627659915273594,
+                  -0.3485908548718237,
+                  1.0026402834675636
+                ],
+                "rod_tip_xy_dist": 0.0031185718622284103,
+                "target_xy_drift": 2.8634988709629318e-08,
+                "depth": 0.01848262125386002,
+                "bottom_clearance": 0.08095801237222733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005419258736534815,
+                  0.003066606333125721
+                ],
+                "rod_tip_xy": [
+                  0.266276599152736,
+                  -0.34859085487182373
+                ],
+                "target_mouth_xy": [
+                  0.2668185250263895,
+                  -0.35165746120494945
+                ],
+                "gripper_position": [
+                  0.26626798923336037,
+                  -0.34859123951876225,
+                  1.0025200032432982
+                ],
+                "rod_tip_xy_dist": 0.00311412235708584,
+                "target_xy_drift": 2.8899109695820405e-08,
+                "depth": 0.018619612649545814,
+                "bottom_clearance": 0.08082097192887738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005505352637274474,
+                  0.0030662229614535352
+                ],
+                "rod_tip_xy": [
+                  0.2662679892333604,
+                  -0.34859123951876225
+                ],
+                "target_mouth_xy": [
+                  0.26681852449708787,
+                  -0.3516574624802158
+                ],
+                "gripper_position": [
+                  0.26625919728620995,
+                  -0.3485917695458041,
+                  1.0023998260732045
+                ],
+                "rod_tip_xy_dist": 0.0031152547770531285,
+                "target_xy_drift": 3.0149326566678196e-08,
+                "depth": 0.018739834265825928,
+                "bottom_clearance": 0.08070073924455257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005593235211918679,
+                  0.0030656914230483556
+                ],
+                "rod_tip_xy": [
+                  0.26625919728621,
+                  -0.3485917695458042
+                ],
+                "target_mouth_xy": [
+                  0.26681852080740187,
+                  -0.35165746096885253
+                ],
+                "gripper_position": [
+                  0.2662504684398077,
+                  -0.34859238383318925,
+                  1.002279652084527
+                ],
+                "rod_tip_xy_dist": 0.0031162969535509163,
+                "target_xy_drift": 2.874017424412798e-08,
+                "depth": 0.018860001265989967,
+                "bottom_clearance": 0.08058058940090829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000568054781811822,
+                  0.0030650786678150244
+                ],
+                "rod_tip_xy": [
+                  0.26625046843980776,
+                  -0.34859238383318936
+                ],
+                "target_mouth_xy": [
+                  0.2668185232216196,
+                  -0.3516574625010044
+                ],
+                "gripper_position": [
+                  0.26625707083127653,
+                  -0.34866109557551633,
+                  1.0017695292663078
+                ],
+                "rod_tip_xy_dist": 0.003117273403959621,
+                "target_xy_drift": 3.015234243990502e-08,
+                "depth": 0.018980174724480436,
+                "bottom_clearance": 0.08046034865100715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0005614511459010041,
+                  0.0029963679164753954
+                ],
+                "rod_tip_xy": [
+                  0.2662570708312766,
+                  -0.3486610955755164
+                ],
+                "target_mouth_xy": [
+                  0.2668185219771776,
+                  -0.3516574634919918
+                ],
+                "gripper_position": [
+                  0.26624537696658057,
+                  -0.348667699869237,
+                  1.0016324188990624
+                ],
+                "rod_tip_xy_dist": 0.0030485157175446304,
+                "target_xy_drift": 3.11768512716618e-08,
+                "depth": 0.019490339755026342,
+                "bottom_clearance": 0.07995023913843391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0005731464225375293,
+                  0.0029897613517585464
+                ],
+                "rod_tip_xy": [
+                  0.2662453769665806,
+                  -0.34866769986923707
+                ],
+                "target_mouth_xy": [
+                  0.26681852338911816,
+                  -0.3516574612209956
+                ],
+                "gripper_position": [
+                  0.2662367823462879,
+                  -0.34866803580625455,
+                  1.0015125408357801
+                ],
+                "rod_tip_xy_dist": 0.0030442026480076287,
+                "target_xy_drift": 2.8871591072022762e-08,
+                "depth": 0.019627405438584433,
+                "bottom_clearance": 0.07981311791405743,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005976073981136185,
+              "rod_tip_xy_max_step": 3.261729119822955e-05,
+              "rod_tip_xy_range": 0.0005975935805464286,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2657280151464939,
+            -0.3499179255417848,
+            1.0433340244241314
+          ],
+          "object_origin_world": [
+            0.2657280151464939,
+            -0.3499179255417848,
+            1.0433340244241314
+          ],
+          "frame_world": [
+            0.2657533810677325,
+            -0.34991463706847825,
+            1.0436469213329307
+          ],
+          "center_minus_frame": [
+            -2.5365921238584832e-05,
+            -3.2884733065507987e-06,
+            -0.00031289690879932053
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27273009103669754,
+              0.1325173342459748,
+              0.833722624935316
+            ],
+            "target_position": [
+              0.2836496247508346,
+              0.17929924007130005,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048039389350654486,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16878598901308153,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833722624935316,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674841351011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13712027163400045,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "113b91f089fc816da46261a5a9f500181c28fbc5f88f713e98103cfea6d982c9",
+    "visual_seed": 8837056089900721123,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6157a36aa5b659ac2c624fd20e8f77be855916e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_65_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2607678393414907,
+              0.034523772777871935,
+              1.1617835842971758
+            ],
+            "current_z": 1.1617835842971758,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3006770762824097,
+            "gripper_z": 1.1548781667488373,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2556094295451845,
+              0.02944693935493238,
+              1.1548781667488373
+            ],
+            "object_minus_gripper": [
+              0.005158409796306218,
+              0.005076833422939554,
+              0.0069054175483385105
+            ],
+            "object_to_gripper_xy": 0.007237639755535233,
+            "object_to_gripper_z": 0.0069054175483385105,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2607678393414907,
+              0.010546446491306436,
+              1.1617835842971758
+            ],
+            "finger_b": [
+              0.24921616633938734,
+              0.034523772777871935,
+              1.1617835842971758
+            ],
+            "finger_midpoint": [
+              0.25499200284043905,
+              0.022535109634589184,
+              1.1617835842971758
+            ],
+            "object_minus_finger_midpoint": [
+              0.005775836501051679,
+              0.01198866314328275,
+              0.0
+            ],
+            "finger_gap": 0.02661490794648648,
+            "fingertip_max_gap": 0.0907409497802325,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013307453973243233,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1617835842971758,
+            "object_top_z": 1.2117072455677036,
+            "finger_top_clearance": 0.04992366127052783,
+            "fingertip_min_top_clearance": 0.014977098381158314,
+            "object_projection_between_fingers": 0.8116178121313488,
+            "object_to_finger_line_xy": 0.010406882987686866,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047870474890116255,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.40457448180778977,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2689693642702194,
+              -0.3511810647152808,
+              0.8515396412720466
+            ],
+            "target_position": [
+              0.260291360153332,
+              -0.35193795221214424,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008710949094996649,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18755671237926366,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396412720466,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530742580026221,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564228773151074,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559189728465617,
+            "release_required_pad_clearance": 0.05282114386575537,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6875618956711737,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007342219352722168,
+            "max_z_decrease": 0.007342219352722168,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509119437042276,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007342219352722168,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021140592232509296,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007342219352722168,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007342240514680251,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11599128693342206,
+              -0.40819939970970154,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11599128693342206,
+              -0.40819939970970154,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11667758128763947,
+              -0.4087463098898625,
+              0.8078161331768063
+            ],
+            "closest_button": [
+              0.11598055809736249,
+              -0.40819513797760015,
+              0.7727361917495728
+            ],
+            "closest_ee_minus_button": [
+              0.0006970231902769797,
+              -0.0005511719122623382,
+              0.035079941427233585
+            ],
+            "button_min_z_position": [
+              0.1159737408161163,
+              -0.40819770097732544,
+              0.7694666385650635
+            ],
+            "min_active_finger_to_button": 0.14550057992249044,
+            "closest_active_finger": [
+              -0.024655714631080627,
+              -0.3942506015300751,
+              0.8110232949256897
+            ],
+            "closest_active_finger_button": [
+              0.11599312722682951,
+              -0.40819764137268066,
+              0.7764718532562256
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14064884185791016,
+              0.01394703984260559,
+              0.03455144166946411
+            ],
+            "min_contact_pad_to_button": 0.021140592232509296,
+            "closest_contact_pad": [
+              0.1159737408161163,
+              -0.40964928525963484,
+              0.7905573365860533
+            ],
+            "closest_contact_pad_button": [
+              0.1159737408161163,
+              -0.40819770097732544,
+              0.7694666385650635
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014515842823094038,
+              0.02109069802098984
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27991356707976367,
+              0.18079301600969605,
+              1.1028889507022859
+            ],
+            "current_z": 1.1028889507022859,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19297982096792332,
+            "gripper_z": 1.1028890685599038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27991358879964173,
+              0.1807930897506402,
+              1.1028890685599038
+            ],
+            "object_minus_gripper": [
+              -2.1719878062764764e-08,
+              -7.374094415646404e-08,
+              -1.1785761788729587e-07
+            ],
+            "object_to_gripper_xy": 7.687314191671964e-08,
+            "object_to_gripper_z": -1.1785761788729587e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27991356707976367,
+              0.18079301600969605,
+              1.1028889507022859
+            ],
+            "finger_b": [
+              0.27991356707976367,
+              0.18079301600969605,
+              1.1028889507022859
+            ],
+            "finger_midpoint": [
+              0.27991356707976367,
+              0.18079301600969605,
+              1.1028889507022859
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1028889507022859,
+            "object_top_z": 1.2278974573225656,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27991356707976367,
+            0.18079301600969605,
+            1.102888950702286
+          ],
+          "object_origin_world": [
+            0.27991356707976367,
+            0.18079301600969605,
+            1.102888950702286
+          ],
+          "frame_world": [
+            0.27991358879964173,
+            0.1807930897506402,
+            1.1028890685599038
+          ],
+          "center_minus_frame": [
+            -2.1719878062764764e-08,
+            -7.374094415646404e-08,
+            -1.1785761766525127e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432175588121992,
+            "required_z": 0.9112598153265614,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015978212173590953,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.221914524982795e-08,
+            "max_target_xy_drift": 1.0813433921905767e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6875618957936256,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6875618965855882,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2685859230811688,
+              -0.3527268389032082,
+              0.9233278418070611
+            ],
+            "target_mouth_xy": [
+              0.2689693664721497,
+              -0.3511810324058329
+            ],
+            "rod_tip_z": 0.9233278418070611,
+            "rod_tip_depth": -0.022068013474458525,
+            "rod_tip_bottom_clearance": 0.12150855573696362,
+            "rod_tip_xy_dist": 0.0015926539364892152,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04469479252812392,
+            "min_rod_tip_bottom_clearance": 0.05474589704150101,
+            "min_rod_tip_xy_dist": 0.0001505062717891927,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2689693359503601,
+              -0.351181003236044
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.052178959572771e-08,
+              -2.9169788917648987e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00020056530500073277,
+                0.00014896162267180602
+              ],
+              "last_rod_tip_xy_delta": [
+                9.416612909801669e-05,
+                -0.00024216008836780434
+              ],
+              "first_target_mouth_xy": [
+                0.2689694263589728,
+                -0.351181034621115
+              ],
+              "last_target_mouth_xy": [
+                0.2689693625631062,
+                -0.3511810326835721
+              ],
+              "first_rod_tip_xy": [
+                0.26916999166397354,
+                -0.3510320729984432
+              ],
+              "last_rod_tip_xy": [
+                0.26906352869220423,
+                -0.3514231927719399
+              ],
+              "min_rod_tip_xy_dist": 0.0001505062717891927,
+              "max_rod_tip_xy_dist": 0.00025982449512624314,
+              "first_target_xy_drift": 9.570130580353585e-08,
+              "last_target_xy_drift": 3.9691247978812875e-08,
+              "max_depth": 0.01962858867833528,
+              "min_bottom_clearance": 0.07981201067062826
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00020056530500073277,
+                  0.00014896162267180602
+                ],
+                "rod_tip_xy": [
+                  0.26916999166397354,
+                  -0.3510320729984432
+                ],
+                "target_mouth_xy": [
+                  0.2689694263589728,
+                  -0.351181034621115
+                ],
+                "gripper_position": [
+                  0.26915883586279044,
+                  -0.35103919956388435,
+                  1.0058886782604572
+                ],
+                "rod_tip_xy_dist": 0.00024983195672102174,
+                "target_xy_drift": 9.570130580353585e-08,
+                "depth": 0.015231547032388937,
+                "bottom_clearance": 0.08420904856927813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00018944124416725439,
+                  0.00014183472444667666
+                ],
+                "rod_tip_xy": [
+                  0.26915883586279044,
+                  -0.3510391995638844
+                ],
+                "target_mouth_xy": [
+                  0.2689693946186232,
+                  -0.3511810342883311
+                ],
+                "gripper_position": [
+                  0.269150760408616,
+                  -0.3510404038674416,
+                  1.0057660920592728
+                ],
+                "rod_tip_xy_dist": 0.00023665391196957212,
+                "target_xy_drift": 6.637928611794733e-08,
+                "depth": 0.015371174317378666,
+                "bottom_clearance": 0.08406937963788164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00018133422739718963,
+                  0.00014062662101516077
+                ],
+                "rod_tip_xy": [
+                  0.269150760408616,
+                  -0.3510404038674416
+                ],
+                "target_mouth_xy": [
+                  0.26896942618121883,
+                  -0.3511810304884568
+                ],
+                "gripper_position": [
+                  0.2691549295265535,
+                  -0.35110631461420505,
+                  1.0052445842953526
+                ],
+                "rod_tip_xy_dist": 0.00022947319792053568,
+                "target_xy_drift": 9.425657467168478e-08,
+                "depth": 0.015493771151624869,
+                "bottom_clearance": 0.0839468427017801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00018553622301931139,
+                  7.47513702318292e-05
+                ],
+                "rod_tip_xy": [
+                  0.2691549295265535,
+                  -0.35110631461420505
+                ],
+                "target_mouth_xy": [
+                  0.2689693933035342,
+                  -0.3511810659844369
+                ],
+                "gripper_position": [
+                  0.26914369241017394,
+                  -0.3511136698687571,
+                  1.0051052711356692
+                ],
+                "rod_tip_xy_dist": 0.00020002864145868626,
+                "target_xy_drift": 8.501027812594221e-08,
+                "depth": 0.01601540144706448,
+                "bottom_clearance": 0.08342527051105753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0001742669487266868,
+                  6.733335165443055e-05
+                ],
+                "rod_tip_xy": [
+                  0.26914369241017394,
+                  -0.35111366986875703
+                ],
+                "target_mouth_xy": [
+                  0.26896942546144725,
+                  -0.35118100322041146
+                ],
+                "gripper_position": [
+                  0.26914785166574845,
+                  -0.3511799262911667,
+                  1.0045878925143406
+                ],
+                "rod_tip_xy_dist": 0.00018682277608345535,
+                "target_xy_drift": 8.951108851855673e-08,
+                "depth": 0.01615454471833877,
+                "bottom_clearance": 0.08328595888980572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0001784594302481901,
+                  1.1086141231686497e-06
+                ],
+                "rod_tip_xy": [
+                  0.26914785166574845,
+                  -0.3511799262911667
+                ],
+                "target_mouth_xy": [
+                  0.26896939223550026,
+                  -0.35118103490528985
+                ],
+                "gripper_position": [
+                  0.2691364926614477,
+                  -0.35118703422901537,
+                  1.0044486047736665
+                ],
+                "rod_tip_xy_dist": 0.00017846287364542442,
+                "target_xy_drift": 6.458295545017817e-08,
+                "depth": 0.016672044094969474,
+                "bottom_clearance": 0.08276862439829347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00016706660429050002,
+                  -6.030370813814301e-06
+                ],
+                "rod_tip_xy": [
+                  0.2691364926614477,
+                  -0.3511870342290154
+                ],
+                "target_mouth_xy": [
+                  0.2689694260571572,
+                  -0.3511810038582016
+                ],
+                "gripper_position": [
+                  0.26912813092566074,
+                  -0.3511877494470785,
+                  1.0043261653181002
+                ],
+                "rod_tip_xy_dist": 0.00016717540381680143,
+                "target_xy_drift": 9.010894494986616e-08,
+                "depth": 0.016811227154919228,
+                "bottom_clearance": 0.08262932219635322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0001587368155282487,
+                  -6.7170670894900475e-06
+                ],
+                "rod_tip_xy": [
+                  0.2691281309256608,
+                  -0.3511877494470784
+                ],
+                "target_mouth_xy": [
+                  0.26896939411013254,
+                  -0.35118103237998893
+                ],
+                "gripper_position": [
+                  0.2691197169880664,
+                  -0.3511884914832364,
+                  1.0042037527985594
+                ],
+                "rod_tip_xy_dist": 0.0001588788708240777,
+                "target_xy_drift": 6.505327552321098e-08,
+                "depth": 0.01693374787635249,
+                "bottom_clearance": 0.08250679613053635,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0001503213689131866,
+                  -7.458142928906675e-06
+                ],
+                "rod_tip_xy": [
+                  0.2691197169880664,
+                  -0.3511884914832364
+                ],
+                "target_mouth_xy": [
+                  0.26896939561915323,
+                  -0.3511810333403075
+                ],
+                "gripper_position": [
+                  0.2691256639747082,
+                  -0.35125664538046364,
+                  1.0036854788407499
+                ],
+                "rod_tip_xy_dist": 0.0001505062717891927,
+                "target_xy_drift": 6.683286281884023e-08,
+                "depth": 0.017056068445946315,
+                "bottom_clearance": 0.08238444512848464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0001562376429710688,
+                  -7.561203427886021e-05
+                ],
+                "rod_tip_xy": [
+                  0.2691256639747082,
+                  -0.35125664538046364
+                ],
+                "target_mouth_xy": [
+                  0.26896942633173715,
+                  -0.3511810333461848
+                ],
+                "gripper_position": [
+                  0.2691142089629693,
+                  -0.35126357377700096,
+                  1.0035459712806962
+                ],
+                "rod_tip_xy_dist": 0.00017357240797126336,
+                "target_xy_drift": 9.526496677411807e-08,
+                "depth": 0.017574468786341946,
+                "bottom_clearance": 0.08186607964476234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00014478337543333275,
+                  -8.254044000399752e-05
+                ],
+                "rod_tip_xy": [
+                  0.2691142089629693,
+                  -0.3512635737770009
+                ],
+                "target_mouth_xy": [
+                  0.26896942558753595,
+                  -0.3511810333369969
+                ],
+                "gripper_position": [
+                  0.26910573619867967,
+                  -0.3512642750002428,
+                  1.0034241820117609
+                ],
+                "rod_tip_xy_dist": 0.00016665878326065775,
+                "target_xy_drift": 9.45562830244647e-08,
+                "depth": 0.0177139107978993,
+                "bottom_clearance": 0.0817266089759131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00013634045394478322,
+                  -8.324229607858946e-05
+                ],
+                "rod_tip_xy": [
+                  0.26910573619867967,
+                  -0.3512642750002428
+                ],
+                "target_mouth_xy": [
+                  0.2689693957447349,
+                  -0.35118103270416423
+                ],
+                "gripper_position": [
+                  0.2691122940029781,
+                  -0.35133333621580143,
+                  1.0029098466769044
+                ],
+                "rod_tip_xy_dist": 0.00015974354208638642,
+                "target_xy_drift": 6.666136336227639e-08,
+                "depth": 0.01783563669121524,
+                "bottom_clearance": 0.08160487445754849,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0001428673101950828,
+                  -0.00015233330496244868
+                ],
+                "rod_tip_xy": [
+                  0.2691122940029781,
+                  -0.35133333621580143
+                ],
+                "target_mouth_xy": [
+                  0.268969426692783,
+                  -0.351181002910839
+                ],
+                "gripper_position": [
+                  0.26910076285159595,
+                  -0.35133996980668963,
+                  1.0027707201543996
+                ],
+                "rod_tip_xy_dist": 0.0002088456466464178,
+                "target_xy_drift": 9.074300564627795e-08,
+                "depth": 0.018350100444074702,
+                "bottom_clearance": 0.08109045493815947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00013136643692107652,
+                  -0.00015893614670303702
+                ],
+                "rod_tip_xy": [
+                  0.26910076285159595,
+                  -0.3513399698066897
+                ],
+                "target_mouth_xy": [
+                  0.2689693964146749,
+                  -0.35118103365998665
+                ],
+                "gripper_position": [
+                  0.2690921721493403,
+                  -0.35134076071173,
+                  1.0026486193846185
+                ],
+                "rod_tip_xy_dist": 0.00020619854383129984,
+                "target_xy_drift": 6.768714536323618e-08,
+                "depth": 0.018489113005971336,
+                "bottom_clearance": 0.08095144240998142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00012277835828811146,
+                  -0.00015975750280616818
+                ],
+                "rod_tip_xy": [
+                  0.2690921721493403,
+                  -0.35134076071173004
+                ],
+                "target_mouth_xy": [
+                  0.26896939379105217,
+                  -0.35118100320892387
+                ],
+                "gripper_position": [
+                  0.2690834450307569,
+                  -0.35134135014311246,
+                  1.0025264470892659
+                ],
+                "rod_tip_xy_dist": 0.00020148693497789552,
+                "target_xy_drift": 5.784069842726372e-08,
+                "depth": 0.018611295884372825,
+                "bottom_clearance": 0.08082924525336777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00011404972109818612,
+                  -0.00016034629560290892
+                ],
+                "rod_tip_xy": [
+                  0.2690834450307569,
+                  -0.3513413501431124
+                ],
+                "target_mouth_xy": [
+                  0.2689693953096587,
+                  -0.3511810038475095
+                ],
+                "gripper_position": [
+                  0.26907484190080305,
+                  -0.3513419584639048,
+                  1.0024045843166287
+                ],
+                "rod_tip_xy_dist": 0.00019676959469427558,
+                "target_xy_drift": 5.936244788461949e-08,
+                "depth": 0.01873337731072222,
+                "bottom_clearance": 0.08070713568537047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00010544306911230983,
+                  -0.0001609244704570134
+                ],
+                "rod_tip_xy": [
+                  0.26907484190080305,
+                  -0.3513419584639048
+                ],
+                "target_mouth_xy": [
+                  0.26896939883169074,
+                  -0.3511810339934478
+                ],
+                "gripper_position": [
+                  0.26906613265084656,
+                  -0.35134272153815016,
+                  1.002282581702615
+                ],
+                "rod_tip_xy_dist": 0.00019239263503495536,
+                "target_xy_drift": 7.000056879270926e-08,
+                "depth": 0.018855333234093052,
+                "bottom_clearance": 0.08058532630006598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  9.676823262105838e-05,
+                  -0.00016168788444737014
+                ],
+                "rod_tip_xy": [
+                  0.26906613265084656,
+                  -0.35134272153815016
+                ],
+                "target_mouth_xy": [
+                  0.2689693644182255,
+                  -0.3511810336537028
+                ],
+                "gripper_position": [
+                  0.2690753412651949,
+                  -0.3514160479555223,
+                  1.0017706666305761
+                ],
+                "rod_tip_xy_dist": 0.00018843317866466453,
+                "target_xy_drift": 4.166117288355962e-08,
+                "depth": 0.018977272001891143,
+                "bottom_clearance": 0.08046327506643947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00010591222913847176,
+                  -0.00023504439957294787
+                ],
+                "rod_tip_xy": [
+                  0.2690753412651949,
+                  -0.3514160479555223
+                ],
+                "target_mouth_xy": [
+                  0.2689694290360564,
+                  -0.35118100355594933
+                ],
+                "gripper_position": [
+                  0.2690635286922042,
+                  -0.35142319277193984,
+                  1.001631312195535
+                ],
+                "rod_tip_xy_dist": 0.0002578047130129465,
+                "target_xy_drift": 9.308624602147793e-08,
+                "depth": 0.01948924264699481,
+                "bottom_clearance": 0.07995140922744026,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  9.416612909801669e-05,
+                  -0.00024216008836780434
+                ],
+                "rod_tip_xy": [
+                  0.26906352869220423,
+                  -0.3514231927719399
+                ],
+                "target_mouth_xy": [
+                  0.2689693625631062,
+                  -0.3511810326835721
+                ],
+                "gripper_position": [
+                  0.26905474120795925,
+                  -0.3514236401277219,
+                  1.0015096091859168
+                ],
+                "rod_tip_xy_dist": 0.00025982449512624314,
+                "target_xy_drift": 3.9691247978812875e-08,
+                "depth": 0.01962858867833528,
+                "bottom_clearance": 0.07981201067062826,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005997171823895057,
+              "rod_tip_xy_max_step": 3.242627274517055e-05,
+              "rod_tip_xy_range": 0.0005997045143649944,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2685859230811688,
+            -0.3527268389032082,
+            1.043327841807061
+          ],
+          "object_origin_world": [
+            0.2685859230811688,
+            -0.3527268389032082,
+            1.043327841807061
+          ],
+          "frame_world": [
+            0.2685844490172802,
+            -0.3527317971189921,
+            1.0432175588121992
+          ],
+          "center_minus_frame": [
+            1.474063888617927e-06,
+            4.9582157838901075e-06,
+            0.00011028299486182114
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26795126595935836,
+              0.13507963349300167,
+              0.8334152956995996
+            ],
+            "target_position": [
+              0.2800582720175649,
+              0.1811360044251361,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047621097206299305,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16583409736596172,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334152956995996,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676251644169,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13516397046022977,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1c8649ebdde5121367d11fad9f273bc607dc8543151110cb02e2fa759d319d6",
+    "visual_seed": 5320339227666957403,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..81132ea428009a7ed40dc20fe9b420d68de711b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_66_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2594738575510034,
+              0.031397418438544475,
+              1.1633842308946463
+            ],
+            "current_z": 1.1633842308946463,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.3022774248566562,
+            "gripper_z": 1.15635557386245,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25454851336907774,
+              0.026541489875771443,
+              1.15635557386245
+            ],
+            "object_minus_gripper": [
+              0.004925344181925639,
+              0.004855928562773032,
+              0.007028657032196239
+            ],
+            "object_to_gripper_xy": 0.006916578454494947,
+            "object_to_gripper_z": 0.007028657032196239,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2594738575510034,
+              0.007491439594127816,
+              1.1633842308946463
+            ],
+            "finger_b": [
+              0.24836176742158114,
+              0.031397418438544475,
+              1.1633842308946463
+            ],
+            "finger_midpoint": [
+              0.25391781248629225,
+              0.019444429016336147,
+              1.1633842308946463
+            ],
+            "object_minus_finger_midpoint": [
+              0.005556045064711135,
+              0.011952989422208328,
+              0.0
+            ],
+            "finger_gap": 0.026362366577265026,
+            "fingertip_max_gap": 0.09079912959234529,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013181183288632516,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633842308946463,
+            "object_top_z": 1.2132542914246085,
+            "finger_top_clearance": 0.049870060529962235,
+            "fingertip_min_top_clearance": 0.014961018158988704,
+            "object_projection_between_fingers": 0.8223264740420847,
+            "object_to_finger_line_xy": 0.010076689843935041,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789956479617265,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5593605743597581,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2735456525554292,
+              -0.3516369683102924,
+              0.8515394952665952
+            ],
+            "target_position": [
+              0.2649702330913107,
+              -0.35259885491893905,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008629197229955756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855453061695069,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394952665952,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560081636833786,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537779631527288,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15339087932486048,
+            "release_required_pad_clearance": 0.05268889815763644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.43340963122583875,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00748133659362793,
+            "max_z_decrease": 0.00748133659362793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035117435179277554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00748133659362793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110527596351033,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00748133659362793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007481357726809542,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12067016214132308,
+              -0.40886032581329346,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12067016214132308,
+              -0.40886032581329346,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12213054888213648,
+              -0.4087463203227528,
+              0.8077536672789947
+            ],
+            "closest_button": [
+              0.12065951526165006,
+              -0.40885666012763977,
+              0.7726672291755676
+            ],
+            "closest_ee_minus_button": [
+              0.0014710336204864227,
+              0.00011033980488694972,
+              0.03508643810342704
+            ],
+            "button_min_z_position": [
+              0.12065246701240535,
+              -0.4088585674762726,
+              0.7693275213241577
+            ],
+            "min_active_finger_to_button": 0.14480796648710556,
+            "closest_active_finger": [
+              -0.019270509481430054,
+              -0.39492538571357727,
+              0.8108562231063843
+            ],
+            "closest_active_finger_button": [
+              0.12067079544067379,
+              -0.4088584184646606,
+              0.7763359546661377
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13994130492210383,
+              0.013933032751083319,
+              0.03452026844024658
+            ],
+            "min_contact_pad_to_button": 0.02110527596351033,
+            "closest_contact_pad": [
+              0.12065246701240535,
+              -0.4095968236162302,
+              0.7904198813478189
+            ],
+            "closest_contact_pad_button": [
+              0.12065246701240535,
+              -0.4088585674762726,
+              0.7693275213241577
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007382561399575938,
+              0.021092360023661216
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2828985059817603,
+              0.1794757966293264,
+              1.1026992443024515
+            ],
+            "current_z": 1.1026992443024515,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19279011456808892,
+            "gripper_z": 1.1026996497991204,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2828985505347772,
+              0.17947585931631138,
+              1.1026996497991204
+            ],
+            "object_minus_gripper": [
+              -4.455301688688351e-08,
+              -6.268698499178882e-08,
+              -4.05496668909322e-07
+            ],
+            "object_to_gripper_xy": 7.69066278098558e-08,
+            "object_to_gripper_z": -4.05496668909322e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2828985059817603,
+              0.1794757966293264,
+              1.1026992443024515
+            ],
+            "finger_b": [
+              0.2828985059817603,
+              0.1794757966293264,
+              1.1026992443024515
+            ],
+            "finger_midpoint": [
+              0.2828985059817603,
+              0.1794757966293264,
+              1.1026992443024515
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026992443024515,
+            "object_top_z": 1.2277077509227312,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2828985059817603,
+            0.17947579662932645,
+            1.1026992443024515
+          ],
+          "object_origin_world": [
+            0.2828985059817603,
+            0.17947579662932645,
+            1.1026992443024515
+          ],
+          "frame_world": [
+            0.2828985505347772,
+            0.17947585931631138,
+            1.1026996497991204
+          ],
+          "center_minus_frame": [
+            -4.455301688688351e-08,
+            -6.268698493627767e-08,
+            -4.05496668909322e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434252302523765,
+            "required_z": 0.9112597750687327,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008247072384092383,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.192034492874437e-08,
+            "max_target_xy_drift": 1.8675026659294648e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.43340963214581885,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.43340963306243513,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27292066420215144,
+              -0.3510953504448334,
+              0.9235371608757307
+            ],
+            "target_mouth_xy": [
+              0.2735456522063962,
+              -0.3516369993842617
+            ],
+            "rod_tip_z": 0.9235371608757307,
+            "rod_tip_depth": -0.022277399377867657,
+            "rod_tip_bottom_clearance": 0.12171792375947577,
+            "rod_tip_xy_dist": 0.0008270390432341242,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04481080416490224,
+            "min_rod_tip_bottom_clearance": 0.054629827730307445,
+            "min_rod_tip_xy_dist": 0.0008270390432341242,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2735456823073114,
+              -0.3516370285604544
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.010091520483371e-08,
+              2.9176192739566176e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -5.627703261090744e-05,
+                0.0021413296900575363
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00017922256400032532,
+                0.0018391790136900177
+              ],
+              "first_target_mouth_xy": [
+                0.273545653128064,
+                -0.35163700033547973
+              ],
+              "last_target_mouth_xy": [
+                0.2735456842801239,
+                -0.3516369686287546
+              ],
+              "first_rod_tip_xy": [
+                0.2734893760954531,
+                -0.3494956706454222
+              ],
+              "last_rod_tip_xy": [
+                0.27336646171612355,
+                -0.3497977896150646
+              ],
+              "min_rod_tip_xy_dist": 0.0018473389335782076,
+              "max_rod_tip_xy_dist": 0.002142069080567056,
+              "first_target_xy_drift": 4.05965229489707e-08,
+              "last_target_xy_drift": 5.996416123788846e-08,
+              "max_depth": 0.019495882877826887,
+              "min_bottom_clearance": 0.07994476275324192
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -5.627703261090744e-05,
+                  0.0021413296900575363
+                ],
+                "rod_tip_xy": [
+                  0.2734893760954531,
+                  -0.3494956706454222
+                ],
+                "target_mouth_xy": [
+                  0.273545653128064,
+                  -0.35163700033547973
+                ],
+                "gripper_position": [
+                  0.27347807066328594,
+                  -0.3495028625634281,
+                  1.0056399395535929
+                ],
+                "rod_tip_xy_dist": 0.002142069080567056,
+                "target_xy_drift": 4.05965229489707e-08,
+                "depth": 0.015478412902061645,
+                "bottom_clearance": 0.08396216739112183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -6.758298760223269e-05,
+                  0.0021341070201875145
+                ],
+                "rod_tip_xy": [
+                  0.273478070663286,
+                  -0.34950286256342833
+                ],
+                "target_mouth_xy": [
+                  0.27354565365088823,
+                  -0.35163696958361584
+                ],
+                "gripper_position": [
+                  0.2734814982046215,
+                  -0.34956584918807065,
+                  1.0051200071821396
+                ],
+                "rod_tip_xy_dist": 0.0021351768624230816,
+                "target_xy_drift": 6.557025299809296e-08,
+                "depth": 0.015619892869948582,
+                "bottom_clearance": 0.08382068669986997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -6.415282215138651e-05,
+                  0.002071148622304675
+                ],
+                "rod_tip_xy": [
+                  0.2734814982046216,
+                  -0.34956584918807077
+                ],
+                "target_mouth_xy": [
+                  0.273545651026773,
+                  -0.35163699781037544
+                ],
+                "gripper_position": [
+                  0.2734702864979876,
+                  -0.3495726701560249,
+                  1.0049787085425257
+                ],
+                "rod_tip_xy_dist": 0.002072141935356876,
+                "target_xy_drift": 4.386387400120084e-08,
+                "depth": 0.016139783299864763,
+                "bottom_clearance": 0.08330077273991987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -7.536743599534379e-05,
+                  0.002064357450455967
+                ],
+                "rod_tip_xy": [
+                  0.2734702864979877,
+                  -0.3495726701560251
+                ],
+                "target_mouth_xy": [
+                  0.27354565393398306,
+                  -0.3516370276064811
+                ],
+                "gripper_position": [
+                  0.273461883164833,
+                  -0.3495734794849498,
+                  1.0048547159196837
+                ],
+                "rod_tip_xy_dist": 0.0020657327837020865,
+                "target_xy_drift": 2.8389361158662886e-08,
+                "depth": 0.01628121408526295,
+                "bottom_clearance": 0.08315943333192888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -8.37697166494733e-05,
+                  0.0020635497151683113
+                ],
+                "rod_tip_xy": [
+                  0.27346188316483305,
+                  -0.34957347948495
+                ],
+                "target_mouth_xy": [
+                  0.2735456528814825,
+                  -0.3516370292001183
+                ],
+                "gripper_position": [
+                  0.27346648489715,
+                  -0.3496372282033385,
+                  1.0043362074557205
+                ],
+                "rod_tip_xy_dist": 0.0020652493293543887,
+                "target_xy_drift": 2.943278062679556e-08,
+                "depth": 0.016405110241769383,
+                "bottom_clearance": 0.08303543946603098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -7.916892972531508e-05,
+                  0.0019997705556942247
+                ],
+                "rod_tip_xy": [
+                  0.2734664848971501,
+                  -0.34963722820333865
+                ],
+                "target_mouth_xy": [
+                  0.2735456538268754,
+                  -0.35163699875903287
+                ],
+                "gripper_position": [
+                  0.27345493572861324,
+                  -0.3496441744317002,
+                  1.0041943921159977
+                ],
+                "rod_tip_xy_dist": 0.00200133705178699,
+                "target_xy_drift": 4.122208099863837e-08,
+                "depth": 0.01692363759328186,
+                "bottom_clearance": 0.08251697129957047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -9.071986728848014e-05,
+                  0.001992853802330774
+                ],
+                "rod_tip_xy": [
+                  0.27345493572861335,
+                  -0.34964417443170037
+                ],
+                "target_mouth_xy": [
+                  0.2735456555959018,
+                  -0.35163702823403115
+                ],
+                "gripper_position": [
+                  0.27344643273698627,
+                  -0.3496450918329698,
+                  1.0040708006979326
+                ],
+                "rod_tip_xy_dist": 0.0019949176353386278,
+                "target_xy_drift": 2.6713404016177335e-08,
+                "depth": 0.017065532351404955,
+                "bottom_clearance": 0.0823751560837912,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -9.918975592487778e-05,
+                  0.0019919075543682885
+                ],
+                "rod_tip_xy": [
+                  0.2734464327369864,
+                  -0.34964509183297
+                ],
+                "target_mouth_xy": [
+                  0.27354562249291126,
+                  -0.3516369993873383
+                ],
+                "gripper_position": [
+                  0.27343780914204163,
+                  -0.3496458805212234,
+                  1.0039467076851767
+                ],
+                "rod_tip_xy_dist": 0.001994375669935304,
+                "target_xy_drift": 6.654947912289495e-08,
+                "depth": 0.017189021046737474,
+                "bottom_clearance": 0.08225150662029501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00010784403326219438,
+                  0.001991116966250983
+                ],
+                "rod_tip_xy": [
+                  0.27343780914204174,
+                  -0.3496458805212236
+                ],
+                "target_mouth_xy": [
+                  0.27354565317530394,
+                  -0.35163699748747457
+                ],
+                "gripper_position": [
+                  0.2734439343597467,
+                  -0.34971168083914095,
+                  1.0034282750338834
+                ],
+                "rod_tip_xy_dist": 0.0019940353830368144,
+                "target_xy_drift": 4.25934729333991e-08,
+                "depth": 0.01731321465863811,
+                "bottom_clearance": 0.08212741515042077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00010169005457272284,
+                  0.0019253483516910586
+                ],
+                "rod_tip_xy": [
+                  0.2734439343597468,
+                  -0.34971168083914106
+                ],
+                "target_mouth_xy": [
+                  0.2735456244143195,
+                  -0.3516370291908321
+                ],
+                "gripper_position": [
+                  0.27343213015023315,
+                  -0.3497188154077675,
+                  1.0032867642069896
+                ],
+                "rod_tip_xy_dist": 0.001928031935046326,
+                "target_xy_drift": 5.789642378608001e-08,
+                "depth": 0.017831561796785023,
+                "bottom_clearance": 0.08160903933414487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00011355365991627675,
+                  0.001918212196071467
+                ],
+                "rod_tip_xy": [
+                  0.27343213015023327,
+                  -0.3497188154077676
+                ],
+                "target_mouth_xy": [
+                  0.27354568381014954,
+                  -0.3516370276038391
+                ],
+                "gripper_position": [
+                  0.2734236259541239,
+                  -0.3497195387444469,
+                  1.0031629664216322
+                ],
+                "rod_tip_xy_dist": 0.0019215703117080316,
+                "target_xy_drift": 1.7814700007694058e-09,
+                "depth": 0.017973159049509024,
+                "bottom_clearance": 0.08146749128937347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00012205563703654443,
+                  0.0019174904509766666
+                ],
+                "rod_tip_xy": [
+                  0.273423625954124,
+                  -0.34971953874444706
+                ],
+                "target_mouth_xy": [
+                  0.27354568159116055,
+                  -0.3516370291954237
+                ],
+                "gripper_position": [
+                  0.2734149287026878,
+                  -0.3497201221555894,
+                  1.0030389154889237
+                ],
+                "rod_tip_xy_dist": 0.001921371179163229,
+                "target_xy_drift": 9.571092239698683e-10,
+                "depth": 0.018096791641599608,
+                "bottom_clearance": 0.08134371646112004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00013078530384003084,
+                  0.0019169057626985953
+                ],
+                "rod_tip_xy": [
+                  0.2734149287026879,
+                  -0.34972012215558956
+                ],
+                "target_mouth_xy": [
+                  0.27354571400652794,
+                  -0.35163702791828816
+                ],
+                "gripper_position": [
+                  0.27342236132623454,
+                  -0.3497878476572597,
+                  1.0025237091120203
+                ],
+                "rod_tip_xy_dist": 0.001921362146698954,
+                "target_xy_drift": 3.1705720400155116e-08,
+                "depth": 0.01822100522797665,
+                "bottom_clearance": 0.08121964885680988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000123319598022531,
+                  0.0018491831295965322
+                ],
+                "rod_tip_xy": [
+                  0.27342236132623465,
+                  -0.3497878476572599
+                ],
+                "target_mouth_xy": [
+                  0.2735456809242572,
+                  -0.35163703078685643
+                ],
+                "gripper_position": [
+                  0.2734107718710647,
+                  -0.3497945439112328,
+                  1.0023822985469937
+                ],
+                "rod_tip_xy_dist": 0.0018532905789543268,
+                "target_xy_drift": 2.6210121883834375e-09,
+                "depth": 0.018736072609113585,
+                "bottom_clearance": 0.08070446751201532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00013494145151210502,
+                  0.0018424244000653234
+                ],
+                "rod_tip_xy": [
+                  0.27341077187106483,
+                  -0.349794543911233
+                ],
+                "target_mouth_xy": [
+                  0.27354571332257693,
+                  -0.3516369683112983
+                ],
+                "gripper_position": [
+                  0.2734019121673066,
+                  -0.34979529185979324,
+                  1.0022586894384702
+                ],
+                "rod_tip_xy_dist": 0.0018473594304553352,
+                "target_xy_drift": 6.776361492149412e-08,
+                "depth": 0.018877616827197685,
+                "bottom_clearance": 0.08056301116209819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00014376853696795866,
+                  0.0018417360677610572
+                ],
+                "rod_tip_xy": [
+                  0.2734019121673067,
+                  -0.3497952918597934
+                ],
+                "target_mouth_xy": [
+                  0.27354568070427465,
+                  -0.35163702792755447
+                ],
+                "gripper_position": [
+                  0.2733929427705874,
+                  -0.349795871924975,
+                  1.002134746491204
+                ],
+                "rod_tip_xy_dist": 0.0018473389335782076,
+                "target_xy_drift": 1.7234526982110676e-09,
+                "depth": 0.019001099310010372,
+                "bottom_clearance": 0.08043945039670553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00015274039043960963,
+                  0.001841096069936432
+                ],
+                "rod_tip_xy": [
+                  0.2733929427705875,
+                  -0.3497958719249752
+                ],
+                "target_mouth_xy": [
+                  0.2735456831610271,
+                  -0.3516369679949116
+                ],
+                "gripper_position": [
+                  0.2733841095005812,
+                  -0.3497966044779153,
+                  1.002011215711787
+                ],
+                "rod_tip_xy_dist": 0.0018474210038881282,
+                "target_xy_drift": 6.057155937862997e-08,
+                "depth": 0.019125171734759472,
+                "bottom_clearance": 0.08031545391808248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00016154338929025291,
+                  0.0018403949075594395
+                ],
+                "rod_tip_xy": [
+                  0.2733841095005813,
+                  -0.3497966044779154
+                ],
+                "target_mouth_xy": [
+                  0.27354565288987154,
+                  -0.3516369993854748
+                ],
+                "gripper_position": [
+                  0.2733752601865849,
+                  -0.3497973576564639,
+                  1.0018875973004715
+                ],
+                "rod_tip_xy_dist": 0.0018474711587448665,
+                "target_xy_drift": 4.143145186054663e-08,
+                "depth": 0.01924861073645412,
+                "bottom_clearance": 0.080191939736039,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.00017042198559730215,
+                  0.0018396106598110307
+                ],
+                "rod_tip_xy": [
+                  0.27337526018658503,
+                  -0.34979735765646414
+                ],
+                "target_mouth_xy": [
+                  0.27354568217218234,
+                  -0.35163696831627517
+                ],
+                "gripper_position": [
+                  0.27336646171612344,
+                  -0.34979778961506436,
+                  1.00176403278379
+                ],
+                "rod_tip_xy_dist": 0.0018474877625752498,
+                "target_xy_drift": 6.02443308049339e-08,
+                "depth": 0.019372188179586303,
+                "bottom_clearance": 0.08006838806519467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.00017922256400032532,
+                  0.0018391790136900177
+                ],
+                "rod_tip_xy": [
+                  0.27336646171612355,
+                  -0.3497977896150646
+                ],
+                "target_mouth_xy": [
+                  0.2735456842801239,
+                  -0.3516369686287546
+                ],
+                "gripper_position": [
+                  0.27337735746822844,
+                  -0.34987029577976925,
+                  1.0012528506151308
+                ],
+                "rod_tip_xy_dist": 0.0018478907359053016,
+                "target_xy_drift": 5.996416123788846e-08,
+                "depth": 0.019495882877826887,
+                "bottom_clearance": 0.07994476275324192,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006027424643335272,
+              "rod_tip_xy_max_step": 3.259732512444311e-05,
+              "rod_tip_xy_range": 0.0006027340037871014,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27292066420215144,
+            -0.35109535044483337,
+            1.0435371608757307
+          ],
+          "object_origin_world": [
+            0.27292066420215144,
+            -0.35109535044483337,
+            1.0435371608757307
+          ],
+          "frame_world": [
+            0.2729191580606518,
+            -0.3511006719521527,
+            1.0434252302523765
+          ],
+          "center_minus_frame": [
+            1.5061414996297984e-06,
+            5.321507319355767e-06,
+            0.0001119306233541284
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2728924895710121,
+              0.1317690046068094,
+              0.8337179930017123
+            ],
+            "target_position": [
+              0.28341701589351864,
+              0.17882759425525513,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04822112103647049,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17116150386539927,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337179930017123,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668392699658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14091407638471104,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa6a689b67ed2eb6dea9aee36c8f7bbff2ab27b6dddc4f861a7628a6a03523d7",
+    "visual_seed": 5162805812043857700,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c80a17f9cb1904e1bb3d4216f501fb7941452050
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_67_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26168109281537866,
+              0.03246197610417726,
+              1.1645744402611018
+            ],
+            "current_z": 1.1645744402611018,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.30346787264169117,
+            "gripper_z": 1.1578181795472267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25646260952370586,
+              0.027447234592723288,
+              1.1578181795472267
+            ],
+            "object_minus_gripper": [
+              0.005218483291672793,
+              0.005014741511453973,
+              0.00675626071387514
+            ],
+            "object_to_gripper_xy": 0.007237416686371442,
+            "object_to_gripper_z": 0.00675626071387514,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26168109281537866,
+              0.008291599398223593,
+              1.1645744402611018
+            ],
+            "finger_b": [
+              0.2504131585378232,
+              0.03246197610417726,
+              1.1645744402611018
+            ],
+            "finger_midpoint": [
+              0.25604712567660093,
+              0.02037678775120043,
+              1.1645744402611018
+            ],
+            "object_minus_finger_midpoint": [
+              0.005633967138777729,
+              0.012085188352976832,
+              0.0
+            ],
+            "finger_gap": 0.02666783555129694,
+            "fingertip_max_gap": 0.09100013951960995,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013333917775648468,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645744402611018,
+            "object_top_z": 1.2145662591046522,
+            "finger_top_clearance": 0.04999181884355042,
+            "fingertip_min_top_clearance": 0.014997545653065124,
+            "object_projection_between_fingers": 0.8214692318036891,
+            "object_to_finger_line_xy": 0.010212685452576918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048000069759804975,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.621834850854666,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26820526808311584,
+              -0.3485202725824778,
+              0.8515395833760472
+            ],
+            "target_position": [
+              0.26018264815131203,
+              -0.34911016664298866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008044277815491068,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841239189565828,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395833760472,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565814514103347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617185642198623,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15165309734117866,
+            "release_required_pad_clearance": 0.053085928210993116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2000616956445223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007582604885101318,
+            "max_z_decrease": 0.007582604885101318,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509234312604451,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007582604885101318,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021198094210850827,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007582604885101318,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007582626219276472,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11588257551193237,
+              -0.40537163615226735,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11588257551193237,
+              -0.40537163615226735,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1153039982836247,
+              -0.4066689491148245,
+              0.8075465767207172
+            ],
+            "closest_button": [
+              0.11587249487638472,
+              -0.40536728501319874,
+              0.7724829912185669
+            ],
+            "closest_ee_minus_button": [
+              -0.0005684965927600233,
+              -0.0013016641016257435,
+              0.035063585502150274
+            ],
+            "button_min_z_position": [
+              0.11586498469114304,
+              -0.40536788105964655,
+              0.7692262530326843
+            ],
+            "min_active_finger_to_button": 0.1466569908400755,
+            "closest_active_finger": [
+              -0.026009991765022278,
+              -0.391909122467041,
+              0.8111202120780945
+            ],
+            "closest_active_finger_button": [
+              0.11588309705257416,
+              -0.40537205338478083,
+              0.776574969291687
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14189308881759644,
+              0.013462930917739813,
+              0.03454524278640747
+            ],
+            "min_contact_pad_to_button": 0.021198094210850827,
+            "closest_contact_pad": [
+              0.11586498469114304,
+              -0.40765786354836275,
+              0.7903002934230196
+            ],
+            "closest_contact_pad_button": [
+              0.11586498469114304,
+              -0.40536788105964655,
+              0.7692262530326843
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022899824887162024,
+              0.021074040390335225
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2821918444046422,
+              0.17456799441420442,
+              1.1012845147859163
+            ],
+            "current_z": 1.1012845147859163,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19137538505155371,
+            "gripper_z": 1.1012846356474948,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2821919338116392,
+              0.1745679869631831,
+              1.1012846356474948
+            ],
+            "object_minus_gripper": [
+              -8.94069970280853e-08,
+              7.451021327709029e-09,
+              -1.2086157852309043e-07
+            ],
+            "object_to_gripper_xy": 8.971693728837397e-08,
+            "object_to_gripper_z": -1.2086157852309043e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2821918444046422,
+              0.17456799441420442,
+              1.1012845147859163
+            ],
+            "finger_b": [
+              0.2821918444046422,
+              0.17456799441420442,
+              1.1012845147859163
+            ],
+            "finger_midpoint": [
+              0.2821918444046422,
+              0.17456799441420442,
+              1.1012845147859163
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012845147859163,
+            "object_top_z": 1.226293021406196,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28219184440464223,
+            0.17456799441420442,
+            1.1012845147859163
+          ],
+          "object_origin_world": [
+            0.28219184440464223,
+            0.17456799441420442,
+            1.1012845147859163
+          ],
+          "frame_world": [
+            0.2821919338116392,
+            0.1745679869631831,
+            1.1012846356474948
+          ],
+          "center_minus_frame": [
+            -8.940699697257415e-08,
+            7.451021327709029e-09,
+            -1.2086157852309043e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432467299278758,
+            "required_z": 0.9112599036262314,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017011817484793117,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.144382275619178e-08,
+            "max_target_xy_drift": 5.285070152867409e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.2000617010359835,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2000617021354758,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26700163802357607,
+              -0.347314914152595,
+              0.9233551761426472
+            ],
+            "target_mouth_xy": [
+              0.26820526236776177,
+              -0.34852021205721084
+            ],
+            "rod_tip_z": 0.9233551761426472,
+            "rod_tip_depth": -0.022095314508153385,
+            "rod_tip_bottom_clearance": 0.12153586191873311,
+            "rod_tip_xy_dist": 0.0017033656685479283,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04488856936812291,
+            "min_rod_tip_bottom_clearance": 0.054552003108240044,
+            "min_rod_tip_xy_dist": 0.000801097599595074,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2682051753847281,
+              -0.3485202402693461
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.69830336647226e-08,
+              2.8212135239069625e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0005711308566495599,
+                0.0028705318810081093
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006909297412699966,
+                0.002508304921465254
+              ],
+              "first_target_mouth_xy": [
+                0.268205264554375,
+                -0.34852027199850955
+              ],
+              "last_target_mouth_xy": [
+                0.2682052932029144,
+                -0.3485203014982548
+              ],
+              "first_rod_tip_xy": [
+                0.26763413369772543,
+                -0.34564974011750144
+              ],
+              "last_rod_tip_xy": [
+                0.2675143634616444,
+                -0.34601199657678955
+              ],
+              "min_rod_tip_xy_dist": 0.002595593945698248,
+              "max_rod_tip_xy_dist": 0.0029267975220881293,
+              "first_target_xy_drift": 9.464653052440367e-08,
+              "last_target_xy_drift": 1.327784029519234e-07,
+              "max_depth": 0.019375645965726385,
+              "min_bottom_clearance": 0.08006486374254806
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0005711308566495599,
+                  0.0028705318810081093
+                ],
+                "rod_tip_xy": [
+                  0.26763413369772543,
+                  -0.34564974011750144
+                ],
+                "target_mouth_xy": [
+                  0.268205264554375,
+                  -0.34852027199850955
+                ],
+                "gripper_position": [
+                  0.26763500671906837,
+                  -0.34571227001637583,
+                  1.0057126947402024
+                ],
+                "rod_tip_xy_dist": 0.0029267975220881293,
+                "target_xy_drift": 9.464653052440367e-08,
+                "depth": 0.015030553632724541,
+                "bottom_clearance": 0.08440996293336156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0005702898618347718,
+                  0.0028080320745811904
+                ],
+                "rod_tip_xy": [
+                  0.2676350067190682,
+                  -0.3457122700163758
+                ],
+                "target_mouth_xy": [
+                  0.268205296580903,
+                  -0.34852030209095697
+                ],
+                "gripper_position": [
+                  0.26762381031776417,
+                  -0.34571904752453747,
+                  1.0055751347389068
+                ],
+                "rod_tip_xy_dist": 0.002865357684197257,
+                "target_xy_drift": 1.3605302046103416e-07,
+                "depth": 0.015547210201851791,
+                "bottom_clearance": 0.08389340368114306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005814536153175287,
+                  0.0028012536304342084
+                ],
+                "rod_tip_xy": [
+                  0.267623810317764,
+                  -0.34571904752453736
+                ],
+                "target_mouth_xy": [
+                  0.26820526393308153,
+                  -0.34852030115497157
+                ],
+                "gripper_position": [
+                  0.26761541960341606,
+                  -0.34571990397724595,
+                  1.0054544936934684
+                ],
+                "rod_tip_xy_dist": 0.0028609631610327767,
+                "target_xy_drift": 1.0746101751566725e-07,
+                "depth": 0.01568468338121065,
+                "bottom_clearance": 0.08375581240815866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005898757996023463,
+                  0.002800395279395851
+                ],
+                "rod_tip_xy": [
+                  0.26761541960341595,
+                  -0.3457199039772459
+                ],
+                "target_mouth_xy": [
+                  0.2682052954030183,
+                  -0.34852029925664174
+                ],
+                "gripper_position": [
+                  0.2676174405510202,
+                  -0.3457832247555861,
+                  1.0049373265183787
+                ],
+                "rod_tip_xy_dist": 0.002861846812780005,
+                "target_xy_drift": 1.337306660064015e-07,
+                "depth": 0.015805427214800827,
+                "bottom_clearance": 0.08363519340375658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000587853426614271,
+                  0.002737108126542709
+                ],
+                "rod_tip_xy": [
+                  0.2676174405510201,
+                  -0.34578322475558604
+                ],
+                "target_mouth_xy": [
+                  0.2682052939776344,
+                  -0.34852033288212875
+                ],
+                "gripper_position": [
+                  0.26760619691768694,
+                  -0.3457896529177815,
+                  1.0048000588737453
+                ],
+                "rod_tip_xy_dist": 0.002799523628685473,
+                "target_xy_drift": 1.5047061152013947e-07,
+                "depth": 0.016322514599917848,
+                "bottom_clearance": 0.08311803173417809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005990984224544249,
+                  0.002730618435698551
+                ],
+                "rod_tip_xy": [
+                  0.26760619691768683,
+                  -0.34578965291778146
+                ],
+                "target_mouth_xy": [
+                  0.26820529534014126,
+                  -0.34852027135348
+                ],
+                "gripper_position": [
+                  0.2675977013695844,
+                  -0.34579060213336194,
+                  1.0046795342399664
+                ],
+                "rod_tip_xy_dist": 0.0027955671984704967,
+                "target_xy_drift": 1.2391741010984417e-07,
+                "depth": 0.016459827316643083,
+                "bottom_clearance": 0.0829807215534829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.000607563924192589,
+                  0.0027296689016918507
+                ],
+                "rod_tip_xy": [
+                  0.2675977013695843,
+                  -0.3457906021333618
+                ],
+                "target_mouth_xy": [
+                  0.26820526529377686,
+                  -0.3485202710350537
+                ],
+                "gripper_position": [
+                  0.2676002770724223,
+                  -0.34585532550047837,
+                  1.004163009479984
+                ],
+                "rod_tip_xy_dist": 0.002796466741236858,
+                "target_xy_drift": 9.502718459942106e-08,
+                "depth": 0.016580296230014002,
+                "bottom_clearance": 0.08286025506130323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006050192851163039,
+                  0.002664944570883454
+                ],
+                "rod_tip_xy": [
+                  0.2676002770724221,
+                  -0.3458553255004783
+                ],
+                "target_mouth_xy": [
+                  0.2682052963575384,
+                  -0.34852027007136177
+                ],
+                "gripper_position": [
+                  0.2675890202115952,
+                  -0.3458617281447446,
+                  1.0040256421822606
+                ],
+                "rod_tip_xy_dist": 0.002732760125083034,
+                "target_xy_drift": 1.2458965036046703e-07,
+                "depth": 0.017096907562109798,
+                "bottom_clearance": 0.08234372653553501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006162432034342857,
+                  0.00265857493613747
+                ],
+                "rod_tip_xy": [
+                  0.2675890202115951,
+                  -0.34586172814474453
+                ],
+                "target_mouth_xy": [
+                  0.26820526341502937,
+                  -0.348520303080882
+                ],
+                "gripper_position": [
+                  0.26758040289958257,
+                  -0.345862224460093,
+                  1.0039055302486601
+                ],
+                "rod_tip_xy_dist": 0.002729061446145415,
+                "target_xy_drift": 1.0814168015178527e-07,
+                "depth": 0.017234217805282892,
+                "bottom_clearance": 0.08220634914001668,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006248614446280332,
+                  0.00265804690073429
+                ],
+                "rod_tip_xy": [
+                  0.2675804028995824,
+                  -0.3458622244600929
+                ],
+                "target_mouth_xy": [
+                  0.26820526434421044,
+                  -0.3485202713608272
+                ],
+                "gripper_position": [
+                  0.2675838110963728,
+                  -0.34592802547909474,
+                  1.0033920434238084
+                ],
+                "rod_tip_xy_dist": 0.0027305063910355158,
+                "target_xy_drift": 9.423624406374596e-08,
+                "depth": 0.017354287132322788,
+                "bottom_clearance": 0.08208621643638458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006214856376589584,
+                  0.0025922458616812194
+                ],
+                "rod_tip_xy": [
+                  0.26758381109637264,
+                  -0.3459280254790948
+                ],
+                "target_mouth_xy": [
+                  0.2682052967340316,
+                  -0.348520271340776
+                ],
+                "gripper_position": [
+                  0.2675724465483962,
+                  -0.34593433782606037,
+                  1.0032549483687707
+                ],
+                "rod_tip_xy_dist": 0.0026657049734019273,
+                "target_xy_drift": 1.2526406993411338e-07,
+                "depth": 0.017867853598726113,
+                "bottom_clearance": 0.0815727483421006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006328170199523253,
+                  0.0025859351306213862
+                ],
+                "rod_tip_xy": [
+                  0.26757244654839607,
+                  -0.34593433782606026
+                ],
+                "target_mouth_xy": [
+                  0.2682052635683484,
+                  -0.34852027295668164
+                ],
+                "gripper_position": [
+                  0.26756385133454397,
+                  -0.34593476890521707,
+                  1.0031346233117322
+                ],
+                "rod_tip_xy_dist": 0.0026622392605705424,
+                "target_xy_drift": 9.40468648831439e-08,
+                "depth": 0.018004901049858413,
+                "bottom_clearance": 0.08143564836329631,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006414131340806706,
+                  0.002585503400253597
+                ],
+                "rod_tip_xy": [
+                  0.2675638513345438,
+                  -0.34593476890521707
+                ],
+                "target_mouth_xy": [
+                  0.26820526446862447,
+                  -0.34852027230547067
+                ],
+                "gripper_position": [
+                  0.26755527568336274,
+                  -0.3459352883523475,
+                  1.0030142598959135
+                ],
+                "rod_tip_xy_dist": 0.002663876619007363,
+                "target_xy_drift": 9.466918121074671e-08,
+                "depth": 0.01812520306498555,
+                "bottom_clearance": 0.08131532085207727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.000650020057464118,
+                  0.002585013114570156
+                ],
+                "rod_tip_xy": [
+                  0.2675552756833626,
+                  -0.3459352883523475
+                ],
+                "target_mouth_xy": [
+                  0.26820529574082674,
+                  -0.34852030146691765
+                ],
+                "gripper_position": [
+                  0.26754656629020673,
+                  -0.3459358439950652,
+                  1.0028942605774465
+                ],
+                "rod_tip_xy_dist": 0.0026654866117850513,
+                "target_xy_drift": 1.350212325751105e-07,
+                "depth": 0.018245627007428822,
+                "bottom_clearance": 0.08119493216807505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006586964038836629,
+                  0.002584459086989399
+                ],
+                "rod_tip_xy": [
+                  0.2675465662902066,
+                  -0.3459358439950652
+                ],
+                "target_mouth_xy": [
+                  0.2682052626940903,
+                  -0.3485203030820546
+                ],
+                "gripper_position": [
+                  0.2675519370729999,
+                  -0.34600499802522666,
+                  1.0023814559343436
+                ],
+                "rod_tip_xy_dist": 0.0026670788748762845,
+                "target_xy_drift": 1.0755631584662329e-07,
+                "depth": 0.018365621145370103,
+                "bottom_clearance": 0.08107497302948985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006533582665592674,
+                  0.002515270776902556
+                ],
+                "rod_tip_xy": [
+                  0.2675519370729998,
+                  -0.3460049980252266
+                ],
+                "target_mouth_xy": [
+                  0.26820529533955906,
+                  -0.34852026880212916
+                ],
+                "gripper_position": [
+                  0.26754036334433395,
+                  -0.34601131183697387,
+                  1.002244366635261
+                ],
+                "rod_tip_xy_dist": 0.0025987427932793426,
+                "target_xy_drift": 1.2330158628457446e-07,
+                "depth": 0.018878476253571308,
+                "bottom_clearance": 0.08056216580249631,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006648996296347298,
+                  0.002508987128993889
+                ],
+                "rod_tip_xy": [
+                  0.2675403633443338,
+                  -0.3460113118369738
+                ],
+                "target_mouth_xy": [
+                  0.2682052629739685,
+                  -0.3485202989659677
+                ],
+                "gripper_position": [
+                  0.2675317307872748,
+                  -0.3460116328377925,
+                  1.002124295279741
+                ],
+                "rod_tip_xy_dist": 0.002595593945698248,
+                "target_xy_drift": 1.0543798379206748e-07,
+                "depth": 0.019015459194511863,
+                "bottom_clearance": 0.08042515065068001,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006735645038207227,
+                  0.002508634389500497
+                ],
+                "rod_tip_xy": [
+                  0.26753173078727466,
+                  -0.3460116328377925
+                ],
+                "target_mouth_xy": [
+                  0.2682052952910954,
+                  -0.348520267227293
+                ],
+                "gripper_position": [
+                  0.2675230439958875,
+                  -0.346011807068374,
+                  1.0020039984374236
+                ],
+                "rod_tip_xy_dist": 0.0025974864082400485,
+                "target_xy_drift": 1.228994215482746e-07,
+                "depth": 0.01913566494992247,
+                "bottom_clearance": 0.0803050328410796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006822226570012413,
+                  0.002508494077914536
+                ],
+                "rod_tip_xy": [
+                  0.26752304399588733,
+                  -0.3460118070683739
+                ],
+                "target_mouth_xy": [
+                  0.2682052666528886,
+                  -0.34852030114628846
+                ],
+                "gripper_position": [
+                  0.2675143634616446,
+                  -0.3460119965767896,
+                  1.0018841851924984
+                ],
+                "rod_tip_xy_dist": 0.0025996096423613548,
+                "target_xy_drift": 1.0970815479852775e-07,
+                "depth": 0.019255896405919626,
+                "bottom_clearance": 0.08018469489395808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006909297412699966,
+                  0.002508304921465254
+                ],
+                "rod_tip_xy": [
+                  0.2675143634616444,
+                  -0.34601199657678955
+                ],
+                "target_mouth_xy": [
+                  0.2682052932029144,
+                  -0.3485203014982548
+                ],
+                "gripper_position": [
+                  0.26750556551522753,
+                  -0.3460125401966832,
+                  1.001763954348844
+                ],
+                "rod_tip_xy_dist": 0.002601725866884949,
+                "target_xy_drift": 1.327784029519234e-07,
+                "depth": 0.019375645965726385,
+                "bottom_clearance": 0.08006486374254806,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000600572465719181,
+              "rod_tip_xy_max_step": 3.251165639615012e-05,
+              "rod_tip_xy_range": 0.0006005628380593482,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2670016380235761,
+            -0.347314914152595,
+            1.0433551761426472
+          ],
+          "object_origin_world": [
+            0.2670016380235761,
+            -0.347314914152595,
+            1.0433551761426472
+          ],
+          "frame_world": [
+            0.26700027647186375,
+            -0.3473193672162568,
+            1.0432467299278758
+          ],
+          "center_minus_frame": [
+            1.3615517123755083e-06,
+            4.453063661757906e-06,
+            0.00010844621477135163
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2712437102162107,
+              0.12867040131590862,
+              0.8337257436111591
+            ],
+            "target_position": [
+              0.2823200113036639,
+              0.17587340765113885,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04848513434923845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16935435782874675,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337257436111591,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567432931149,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13837592137630642,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df0855dfa0f21d987c6e5a66854c334846344c249e80fc1ca12a134cb23f7930",
+    "visual_seed": 6014967928303898479,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8341bad950d8f776693a9256609cdf52062c2e69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_68_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2632069733361186,
+              0.03435841222808367,
+              1.1628692975733497
+            ],
+            "current_z": 1.1628692975733497,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3017626107446493,
+            "gripper_z": 1.155901586940329,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2581053915355246,
+              0.029344955997540195,
+              1.155901586940329
+            ],
+            "object_minus_gripper": [
+              0.005101581800594002,
+              0.005013456230543473,
+              0.006967710633020596
+            ],
+            "object_to_gripper_xy": 0.007152683429575721,
+            "object_to_gripper_z": 0.006967710633020596,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2632069733361186,
+              0.010333073294643199,
+              1.1628692975733497
+            ],
+            "finger_b": [
+              0.25186663028522716,
+              0.03435841222808367,
+              1.1628692975733497
+            ],
+            "finger_midpoint": [
+              0.25753680181067284,
+              0.022345742761363432,
+              1.1628692975733497
+            ],
+            "object_minus_finger_midpoint": [
+              0.005670171525445744,
+              0.012012669466720236,
+              0.0
+            ],
+            "finger_gap": 0.026567278584352448,
+            "fingertip_max_gap": 0.09068208239445272,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013283639292176234,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1628692975733497,
+            "object_top_z": 1.2127808508278841,
+            "finger_top_clearance": 0.049911553254534446,
+            "fingertip_min_top_clearance": 0.014973465976360333,
+            "object_projection_between_fingers": 0.8177958581203206,
+            "object_to_finger_line_xy": 0.010255306525058369,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784104119722636,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4033810535877148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2732059267381399,
+              -0.34341794187620445,
+              0.8515395672706377
+            ],
+            "target_position": [
+              0.2646151770090258,
+              -0.34418391542063187,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008624830223200737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18371595214430586,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395672706377,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560909859425988,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505517338577569,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15144106954543157,
+            "release_required_pad_clearance": 0.052527586692887845,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1251145155956428,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007411181926727295,
+            "max_z_decrease": 0.007411181926727295,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035099180986723044,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007411181926727295,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021112631648324835,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007411181926727295,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007411205177259006,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12031510472297666,
+              -0.40044537186622614,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12031510472297666,
+              -0.40044537186622614,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12075747430674094,
+              -0.40043687316180104,
+              0.808045972415734
+            ],
+            "closest_button": [
+              0.1203106865286827,
+              -0.4004443287849426,
+              0.7729496359825134
+            ],
+            "closest_ee_minus_button": [
+              0.0004467877780582469,
+              7.455623141583434e-06,
+              0.03509633643322052
+            ],
+            "button_min_z_position": [
+              0.12029657512903212,
+              -0.40044423937797546,
+              0.7693976759910583
+            ],
+            "min_active_finger_to_button": 0.14579086968659477,
+            "closest_active_finger": [
+              -0.020274832844734192,
+              -0.38299089670181274,
+              0.8111429810523987
+            ],
+            "closest_active_finger_button": [
+              0.12031857669353484,
+              -0.40044319629669184,
+              0.7767353057861328
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14059340953826904,
+              0.017452299594879095,
+              0.03440767526626587
+            ],
+            "min_contact_pad_to_button": 0.021112631648324835,
+            "closest_contact_pad": [
+              0.12029657512903212,
+              -0.401618424252962,
+              0.7904776310431262
+            ],
+            "closest_contact_pad_button": [
+              0.12029657512903212,
+              -0.40044423937797546,
+              0.7693976759910583
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011741848749865502,
+              0.021079955052067834
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2820589172305822,
+              0.17552355150839397,
+              1.1011459156581522
+            ],
+            "current_z": 1.1011459156581522,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19123678592378968,
+            "gripper_z": 1.101145756269651,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28205886397925395,
+              0.17552355531074693,
+              1.101145756269651
+            ],
+            "object_minus_gripper": [
+              5.325132823585932e-08,
+              -3.802352960269317e-09,
+              1.593885012862728e-07
+            ],
+            "object_to_gripper_xy": 5.338690707390433e-08,
+            "object_to_gripper_z": 1.593885012862728e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2820589172305822,
+              0.17552355150839397,
+              1.1011459156581522
+            ],
+            "finger_b": [
+              0.2820589172305822,
+              0.17552355150839397,
+              1.1011459156581522
+            ],
+            "finger_midpoint": [
+              0.2820589172305822,
+              0.17552355150839397,
+              1.1011459156581522
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1011459156581522,
+            "object_top_z": 1.226154422278432,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2820589172305822,
+            0.175523551508394,
+            1.1011459156581525
+          ],
+          "object_origin_world": [
+            0.2820589172305822,
+            0.175523551508394,
+            1.1011459156581525
+          ],
+          "frame_world": [
+            0.28205886397925395,
+            0.17552355531074693,
+            1.101145756269651
+          ],
+          "center_minus_frame": [
+            5.325132823585932e-08,
+            -3.802352932513742e-09,
+            1.593885015083174e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437385624573399,
+            "required_z": 0.9112598975543192,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013680442683711898,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.764485365704796e-10,
+            "max_target_xy_drift": 1.071327838078282e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.12511450819066608,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.1251145157937303,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2741766578297409,
+              -0.3424824377736484,
+              0.9234267982023631
+            ],
+            "target_mouth_xy": [
+              0.2732059279788793,
+              -0.34341800116753307
+            ],
+            "rod_tip_z": 0.9234267982023631,
+            "rod_tip_depth": -0.02216695496761012,
+            "rod_tip_bottom_clearance": 0.12160753486745757,
+            "rod_tip_xy_dist": 0.0013481822233402656,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04499082900040141,
+            "min_rod_tip_bottom_clearance": 0.054449753529928535,
+            "min_rod_tip_xy_dist": 0.0003792338852476095,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2732059287257776,
+              -0.34341800053856986
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.468982654579293e-10,
+              -6.289632148437363e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0014832948680314484,
+                0.0026339534487059835
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013858301125630468,
+                0.0022601960227904283
+              ],
+              "first_target_mouth_xy": [
+                0.2732059295030626,
+                -0.3434180024416881
+              ],
+              "last_target_mouth_xy": [
+                0.2732059269700154,
+                -0.3434179983369468
+              ],
+              "first_rod_tip_xy": [
+                0.27468922437109405,
+                -0.3407840489929821
+              ],
+              "last_rod_tip_xy": [
+                0.27459175708257844,
+                -0.3411578023141564
+              ],
+              "min_rod_tip_xy_dist": 0.002651228236558327,
+              "max_rod_tip_xy_dist": 0.00302289173399885,
+              "first_target_xy_drift": 2.0557312438766196e-09,
+              "last_target_xy_drift": 2.8159980411302974e-09,
+              "max_depth": 0.019520741048323687,
+              "min_bottom_clearance": 0.07991981546686111
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0014832948680314484,
+                  0.0026339534487059835
+                ],
+                "rod_tip_xy": [
+                  0.27468922437109405,
+                  -0.3407840489929821
+                ],
+                "target_mouth_xy": [
+                  0.2732059295030626,
+                  -0.3434180024416881
+                ],
+                "gripper_position": [
+                  0.27468078859550504,
+                  -0.34078461557184825,
+                  1.0060013280522662
+                ],
+                "rod_tip_xy_dist": 0.00302289173399885,
+                "target_xy_drift": 2.0557312438766196e-09,
+                "depth": 0.015135661705437564,
+                "bottom_clearance": 0.08430502190362399,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001474892517648707,
+                  0.002633384653338733
+                ],
+                "rod_tip_xy": [
+                  0.27468078859550504,
+                  -0.34078461557184825
+                ],
+                "target_mouth_xy": [
+                  0.27320589607785634,
+                  -0.343418000225187
+                ],
+                "gripper_position": [
+                  0.27468696368866197,
+                  -0.3408494204225104,
+                  1.0054816305899759
+                ],
+                "rod_tip_xy_dist": 0.0030182814101829703,
+                "target_xy_drift": 3.2649425280114514e-08,
+                "depth": 0.015258508132460435,
+                "bottom_clearance": 0.08418201042613449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0014810636472731842,
+                  0.0025685500066243705
+                ],
+                "rod_tip_xy": [
+                  0.274686963688662,
+                  -0.3408494204225103
+                ],
+                "target_mouth_xy": [
+                  0.27320590004138884,
+                  -0.3434179704291347
+                ],
+                "gripper_position": [
+                  0.2746754716195424,
+                  -0.34085632317674397,
+                  1.0053417850449542
+                ],
+                "rod_tip_xy_dist": 0.002964961831761785,
+                "target_xy_drift": 4.158572163901982e-08,
+                "depth": 0.015778270303896336,
+                "bottom_clearance": 0.08366234776950832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001469605120105355,
+                  0.0025616485059415384
+                ],
+                "rod_tip_xy": [
+                  0.2746754716195424,
+                  -0.3408563231767441
+                ],
+                "target_mouth_xy": [
+                  0.27320586649943707,
+                  -0.3434179716826856
+                ],
+                "gripper_position": [
+                  0.27466667892837404,
+                  -0.34085697915369173,
+                  1.0052190305435846
+                ],
+                "rod_tip_xy_dist": 0.0029532663742087998,
+                "target_xy_drift": 6.859139530757569e-08,
+                "depth": 0.015918066880998838,
+                "bottom_clearance": 0.08352248814297791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014607500334363754,
+                  0.0025609890710664995
+                ],
+                "rod_tip_xy": [
+                  0.27466667892837404,
+                  -0.34085697915369184
+                ],
+                "target_mouth_xy": [
+                  0.27320592889493767,
+                  -0.34341796822475834
+                ],
+                "gripper_position": [
+                  0.2746738122883306,
+                  -0.3409230051229508,
+                  1.0046991867054953
+                ],
+                "rod_tip_xy_dist": 0.002948297081758625,
+                "target_xy_drift": 3.231425428179285e-08,
+                "depth": 0.01604089286026744,
+                "bottom_clearance": 0.08339974896367652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001467915787069507,
+                  0.0024949665594947157
+                ],
+                "rod_tip_xy": [
+                  0.2746738122883306,
+                  -0.34092300512295093
+                ],
+                "target_mouth_xy": [
+                  0.2732058965012611,
+                  -0.34341797168244564
+                ],
+                "gripper_position": [
+                  0.27466215192950694,
+                  -0.34092980149578195,
+                  1.0045593614505333
+                ],
+                "rod_tip_xy_dist": 0.0028947599021205174,
+                "target_xy_drift": 4.325615988727264e-08,
+                "depth": 0.016560659141661715,
+                "bottom_clearance": 0.08287988821985326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014562237317355398,
+                  0.00248819904362918
+                ],
+                "rod_tip_xy": [
+                  0.27466215192950694,
+                  -0.340929801495782
+                ],
+                "target_mouth_xy": [
+                  0.2732059281977714,
+                  -0.3434180005394112
+                ],
+                "gripper_position": [
+                  0.27465351668227644,
+                  -0.3409301074283415,
+                  1.004436501193275
+                ],
+                "rod_tip_xy_dist": 0.0028830057297180222,
+                "target_xy_drift": 5.280068646088182e-10,
+                "depth": 0.016700531933834584,
+                "bottom_clearance": 0.08274003401893337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014475879035366068,
+                  0.0024878629946339936
+                ],
+                "rod_tip_xy": [
+                  0.2746535166822765,
+                  -0.3409301074283415
+                ],
+                "target_mouth_xy": [
+                  0.2732059287787399,
+                  -0.3434179704229755
+                ],
+                "gripper_position": [
+                  0.2746613369408216,
+                  -0.340997442013633,
+                  1.003919077658684
+                ],
+                "rod_tip_xy_dist": 0.002878362905982276,
+                "target_xy_drift": 3.0115640922230396e-08,
+                "depth": 0.016823331585999912,
+                "bottom_clearance": 0.08261724547172766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014554411904607045,
+                  0.0024205287238696638
+                ],
+                "rod_tip_xy": [
+                  0.2746613369408216,
+                  -0.340997442013633
+                ],
+                "target_mouth_xy": [
+                  0.2732058957503609,
+                  -0.3434179707375027
+                ],
+                "gripper_position": [
+                  0.274649468864679,
+                  -0.34100442756048577,
+                  1.0037793060976616
+                ],
+                "rod_tip_xy_dist": 0.0028244058422910432,
+                "target_xy_drift": 4.444639140959297e-08,
+                "depth": 0.017340774130690795,
+                "bottom_clearance": 0.0820997682426956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014435707908345141,
+                  0.002413544121820932
+                ],
+                "rod_tip_xy": [
+                  0.274649468864679,
+                  -0.3410044275604859
+                ],
+                "target_mouth_xy": [
+                  0.2732058980738445,
+                  -0.3434179716823068
+                ],
+                "gripper_position": [
+                  0.27464072578426324,
+                  -0.3410045369190938,
+                  1.0036566069887385
+                ],
+                "rod_tip_xy_dist": 0.0028123107680565742,
+                "target_xy_drift": 4.20978018416971e-08,
+                "depth": 0.017480541964683294,
+                "bottom_clearance": 0.08196004526043166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014347998063176104,
+                  0.002413432243095426
+                ],
+                "rod_tip_xy": [
+                  0.27464072578426324,
+                  -0.3410045369190938
+                ],
+                "target_mouth_xy": [
+                  0.27320592597794563,
+                  -0.34341796916218925
+                ],
+                "gripper_position": [
+                  0.2746494183733996,
+                  -0.34107274601793736,
+                  1.0031423509734816
+                ],
+                "rod_tip_xy_dist": 0.002807722506983493,
+                "target_xy_drift": 3.149647345891788e-08,
+                "depth": 0.017603239377170676,
+                "bottom_clearance": 0.0818373018086812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014435211326548347,
+                  0.0023452250314011103
+                ],
+                "rod_tip_xy": [
+                  0.2746494183733997,
+                  -0.34107274601793747
+                ],
+                "target_mouth_xy": [
+                  0.27320589724074484,
+                  -0.3434179710493386
+                ],
+                "gripper_position": [
+                  0.2746376761976177,
+                  -0.34107906696264817,
+                  1.0030028546105416
+                ],
+                "rod_tip_xy_dist": 0.0027538761243620664,
+                "target_xy_drift": 4.313840572566376e-08,
+                "depth": 0.018117479177021445,
+                "bottom_clearance": 0.08132305348424007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001431750175527824,
+                  0.0023389034579426315
+                ],
+                "rod_tip_xy": [
+                  0.2746376761976177,
+                  -0.3410790669626482
+                ],
+                "target_mouth_xy": [
+                  0.2732059260220899,
+                  -0.34341797042059086
+                ],
+                "gripper_position": [
+                  0.2746288014583038,
+                  -0.3410791801454045,
+                  1.0028805378058203
+                ],
+                "rod_tip_xy_dist": 0.002742330751514112,
+                "target_xy_drift": 3.023909036827941e-08,
+                "depth": 0.018256977214064496,
+                "bottom_clearance": 0.08118353582190274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001422874019976983,
+                  0.0023387905889040717
+                ],
+                "rod_tip_xy": [
+                  0.2746288014583038,
+                  -0.3410791801454045
+                ],
+                "target_mouth_xy": [
+                  0.27320592743832683,
+                  -0.3434179707343086
+                ],
+                "gripper_position": [
+                  0.2746198910894869,
+                  -0.3410794885624949,
+                  1.0027580048452363
+                ],
+                "rod_tip_xy_dist": 0.002737610617942536,
+                "target_xy_drift": 2.983205524212453e-08,
+                "depth": 0.018379289882950123,
+                "bottom_clearance": 0.08106124677628734,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014139957773012246,
+                  0.00233848154638272
+                ],
+                "rod_tip_xy": [
+                  0.274619891089487,
+                  -0.3410794885624949
+                ],
+                "target_mouth_xy": [
+                  0.27320589531218575,
+                  -0.34341797010887765
+                ],
+                "gripper_position": [
+                  0.2746108573712951,
+                  -0.3410799154458048,
+                  1.0026354276459444
+                ],
+                "rod_tip_xy_dist": 0.0027327422126864095,
+                "target_xy_drift": 4.5193299144105966e-08,
+                "depth": 0.018501851047819984,
+                "bottom_clearance": 0.08093868969106166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014049298161956103,
+                  0.0023380537154360503
+                ],
+                "rod_tip_xy": [
+                  0.2746108573712951,
+                  -0.34107991544580485
+                ],
+                "target_mouth_xy": [
+                  0.2732059275550995,
+                  -0.3434179691612409
+                ],
+                "gripper_position": [
+                  0.27462174708459386,
+                  -0.34115120465443777,
+                  1.002123384933865
+                ],
+                "rod_tip_xy_dist": 0.002727695541056544,
+                "target_xy_drift": 3.1399160175587144e-08,
+                "depth": 0.01862440860150738,
+                "bottom_clearance": 0.08081614788361124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014158221657823433,
+                  0.002266767665103697
+                ],
+                "rod_tip_xy": [
+                  0.27462174708459386,
+                  -0.3411512046544377
+                ],
+                "target_mouth_xy": [
+                  0.2732059249188115,
+                  -0.3434179723195414
+                ],
+                "gripper_position": [
+                  0.27460982973701936,
+                  -0.3411576702668563,
+                  1.0019838328533273
+                ],
+                "rod_tip_xy_dist": 0.0026725994935044555,
+                "target_xy_drift": 2.8474665181718042e-08,
+                "depth": 0.01913651442021258,
+                "bottom_clearance": 0.08030410872257365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014039329684307211,
+                  0.002260299522872544
+                ],
+                "rod_tip_xy": [
+                  0.27460982973701936,
+                  -0.3411576702668563
+                ],
+                "target_mouth_xy": [
+                  0.27320589676858864,
+                  -0.3434179697897288
+                ],
+                "gripper_position": [
+                  0.27460081407393844,
+                  -0.34115760822492214,
+                  1.0018617697678391
+                ],
+                "rod_tip_xy_dist": 0.0026608235027796466,
+                "target_xy_drift": 4.4348090717088104e-08,
+                "depth": 0.019275984297539295,
+                "bottom_clearance": 0.08016451178789719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0013948876087979123,
+                  0.002260392313234827
+                ],
+                "rod_tip_xy": [
+                  0.27460081407393844,
+                  -0.34115760822492225
+                ],
+                "target_mouth_xy": [
+                  0.2732059264651405,
+                  -0.3434180005381571
+                ],
+                "gripper_position": [
+                  0.27459175708257844,
+                  -0.34115780231415627,
+                  1.0017391017902635
+                ],
+                "rod_tip_xy_dist": 0.0026561409696981538,
+                "target_xy_drift": 2.260637104117171e-09,
+                "depth": 0.019398054216823613,
+                "bottom_clearance": 0.08004245310644975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0013858301125630468,
+                  0.0022601960227904283
+                ],
+                "rod_tip_xy": [
+                  0.27459175708257844,
+                  -0.3411578023141564
+                ],
+                "target_mouth_xy": [
+                  0.2732059269700154,
+                  -0.3434179983369468
+                ],
+                "gripper_position": [
+                  0.27458266837518014,
+                  -0.34115819985630946,
+                  1.0016168238779393
+                ],
+                "rod_tip_xy_dist": 0.002651228236558327,
+                "target_xy_drift": 2.8159980411302974e-09,
+                "depth": 0.019520741048323687,
+                "bottom_clearance": 0.07991981546686111,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006048993771655426,
+              "rod_tip_xy_max_step": 3.2651685988566186e-05,
+              "rod_tip_xy_range": 0.0006048915955272837,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2741766578297409,
+            -0.3424824377736484,
+            1.043426798202363
+          ],
+          "object_origin_world": [
+            0.2741766578297409,
+            -0.3424824377736484,
+            1.043426798202363
+          ],
+          "frame_world": [
+            0.27420210632727715,
+            -0.3424803584752421,
+            1.0437385624573399
+          ],
+          "center_minus_frame": [
+            -2.544849753627343e-05,
+            -2.079298406287844e-06,
+            -0.0003117642549768096
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27218342311587135,
+              0.12938738837318417,
+              0.8336266599990588
+            ],
+            "target_position": [
+              0.2822018386491197,
+              0.17626601009489518,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04793718623703425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17014313692838526,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336266599990588,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671847791386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13916251233469246,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd3b134ad9b00c670f3fed1acdca0aa6a276ecab67b93c35393b0639e8e17da5",
+    "visual_seed": 1507033057861962774,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8a8a470b14856f0af5c92c76ff8d8b37f4f4255
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_69_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2611015889966234,
+              0.03135332672846408,
+              1.1651285895528363
+            ],
+            "current_z": 1.1651285895528363,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30402196232878065,
+            "gripper_z": 1.1581386507527431,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25605138642270864,
+              0.026440646369012125,
+              1.1581386507527431
+            ],
+            "object_minus_gripper": [
+              0.005050202573914753,
+              0.004912680359451957,
+              0.006989938800093132
+            ],
+            "object_to_gripper_xy": 0.007045493194356248,
+            "object_to_gripper_z": 0.006989938800093132,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2611015889966234,
+              0.007262400174401657,
+              1.1651285895528363
+            ],
+            "finger_b": [
+              0.25002995986821663,
+              0.03135332672846408,
+              1.1651285895528363
+            ],
+            "finger_midpoint": [
+              0.25556577443242,
+              0.01930786345143287,
+              1.1651285895528363
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055358145642033785,
+              0.012045463277031213,
+              0.0
+            ],
+            "finger_gap": 0.026513274294025155,
+            "fingertip_max_gap": 0.09088004020066723,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013256637147012577,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651285895528363,
+            "object_top_z": 1.215116453552364,
+            "finger_top_clearance": 0.049987863999527704,
+            "fingertip_min_top_clearance": 0.014996359199858311,
+            "object_projection_between_fingers": 0.8256201380656377,
+            "object_to_finger_line_xy": 0.010060085420169059,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047940020100333616,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.537546383748873,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27532308321609505,
+              -0.3469483484316649,
+              0.851539603359814
+            ],
+            "target_position": [
+              0.26730823400314185,
+              -0.3475964817908966,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008041012669914499,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18523620841466365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539603359814,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520295084770041,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500699873857386,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15396315910236666,
+            "release_required_pad_clearance": 0.05250349936928693,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0791293347042685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007394731044769287,
+            "max_z_decrease": 0.007394731044769287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510801325623588,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007394731044769287,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021183649386252338,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007394731044769287,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007394749159565343,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12300816178321837,
+              -0.4038579463958741,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12300816178321837,
+              -0.4038579463958741,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.122854312389404,
+              -0.40517115707114687,
+              0.8079532447853202
+            ],
+            "closest_button": [
+              0.12299812585115433,
+              -0.40385401248931885,
+              0.7728702425956726
+            ],
+            "closest_ee_minus_button": [
+              -0.00014381346175032506,
+              -0.0013171445818280225,
+              0.03508300218964755
+            ],
+            "button_min_z_position": [
+              0.12299188226461409,
+              -0.403856247663498,
+              0.7694141268730164
+            ],
+            "min_active_finger_to_button": 0.1462353943574338,
+            "closest_active_finger": [
+              -0.01848110556602478,
+              -0.39058852195739746,
+              0.8108818531036377
+            ],
+            "closest_active_finger_button": [
+              0.12300864607095718,
+              -0.40385767817497253,
+              0.7763946056365967
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14148975163698196,
+              0.013269156217575073,
+              0.034487247467041016
+            ],
+            "min_contact_pad_to_button": 0.021183649386252338,
+            "closest_contact_pad": [
+              0.12299188226461409,
+              -0.406077383345108,
+              0.7904810098319058
+            ],
+            "closest_contact_pad_button": [
+              0.12299188226461409,
+              -0.403856247663498,
+              0.7694141268730164
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022211356816100314,
+              0.021066882958889477
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28206965074143164,
+              0.1800803945655065,
+              1.1043067167638552
+            ],
+            "current_z": 1.1043067167638552,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1943975870294926,
+            "gripper_z": 1.104306958043471,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.282069664003343,
+              0.1800803348444175,
+              1.104306958043471
+            ],
+            "object_minus_gripper": [
+              -1.326191134687349e-08,
+              5.972108901852735e-08,
+              -2.4127961584241575e-07
+            ],
+            "object_to_gripper_xy": 6.11758675143328e-08,
+            "object_to_gripper_z": -2.4127961584241575e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28206965074143164,
+              0.1800803945655065,
+              1.1043067167638552
+            ],
+            "finger_b": [
+              0.28206965074143164,
+              0.1800803945655065,
+              1.1043067167638552
+            ],
+            "finger_midpoint": [
+              0.28206965074143164,
+              0.1800803945655065,
+              1.1043067167638552
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1043067167638552,
+            "object_top_z": 1.229315223384135,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2820696507414317,
+            0.1800803945655065,
+            1.1043067167638552
+          ],
+          "object_origin_world": [
+            0.2820696507414317,
+            0.1800803945655065,
+            1.1043067167638552
+          ],
+          "frame_world": [
+            0.282069664003343,
+            0.1800803348444175,
+            1.104306958043471
+          ],
+          "center_minus_frame": [
+            -1.3261911291362338e-08,
+            5.972108901852735e-08,
+            -2.4127961584241575e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434035274488989,
+            "required_z": 0.911259931055504,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0022836300663735608,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.803691650863734e-09,
+            "max_target_xy_drift": 1.8080178783860052e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0791293407656831,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.07912936529229901,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27642191083010637,
+              -0.3489459275184378,
+              0.9235167318528218
+            ],
+            "target_mouth_xy": [
+              0.2753230193496644,
+              -0.3469484086579675
+            ],
+            "rod_tip_z": 0.9235167318528218,
+            "rod_tip_depth": -0.022256828950802166,
+            "rod_tip_bottom_clearance": 0.12169745123798592,
+            "rod_tip_xy_dist": 0.0022798342228597247,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044729126740836955,
+            "min_rod_tip_bottom_clearance": 0.054711460445227234,
+            "min_rod_tip_xy_dist": 0.0009468201278265317,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27532302520778207,
+              -0.3469484051978118
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.858117657631112e-09,
+              -3.460155717505131e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0015883278203751572,
+                -0.00017340151681688454
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014941803050971814,
+                -0.0005753199085823946
+              ],
+              "first_target_mouth_xy": [
+                0.2753229969723202,
+                -0.3469483781877747
+              ],
+              "last_target_mouth_xy": [
+                0.2753229654110948,
+                -0.3469483775943968
+              ],
+              "first_rod_tip_xy": [
+                0.27691132479269537,
+                -0.34712177970459157
+              ],
+              "last_rod_tip_xy": [
+                0.276817145716192,
+                -0.3475236975029792
+              ],
+              "min_rod_tip_xy_dist": 0.001594521825165719,
+              "max_rod_tip_xy_dist": 0.001634178961661156,
+              "first_target_xy_drift": 3.907407593562569e-08,
+              "last_target_xy_drift": 6.58604003012301e-08,
+              "max_depth": 0.019473048509758617,
+              "min_bottom_clearance": 0.07996759242910512
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0015883278203751572,
+                  -0.00017340151681688454
+                ],
+                "rod_tip_xy": [
+                  0.27691132479269537,
+                  -0.34712177970459157
+                ],
+                "target_mouth_xy": [
+                  0.2753229969723202,
+                  -0.3469483781877747
+                ],
+                "gripper_position": [
+                  0.27691776560338005,
+                  -0.34719035984408597,
+                  1.0056947570183816
+                ],
+                "rod_tip_xy_dist": 0.0015977651113389896,
+                "target_xy_drift": 3.907407593562569e-08,
+                "depth": 0.015044527271944386,
+                "bottom_clearance": 0.08439620365324152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0015948326915367073,
+                  -0.00024198253927232294
+                ],
+                "rod_tip_xy": [
+                  0.27691776560337994,
+                  -0.3471903598440861
+                ],
+                "target_mouth_xy": [
+                  0.27532293291184323,
+                  -0.34694837730481376
+                ],
+                "gripper_position": [
+                  0.2769062274251016,
+                  -0.34719799245647265,
+                  1.0055520364624557
+                ],
+                "rod_tip_xy_dist": 0.001613086130157624,
+                "target_xy_drift": 9.641866865038513e-08,
+                "depth": 0.015565064344855828,
+                "bottom_clearance": 0.08387546171658145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015832314356864496,
+                  -0.00024961549928648186
+                ],
+                "rod_tip_xy": [
+                  0.2769062274251015,
+                  -0.34719799245647265
+                ],
+                "target_mouth_xy": [
+                  0.27532299598941506,
+                  -0.34694837695718617
+                ],
+                "gripper_position": [
+                  0.2768978276540718,
+                  -0.3471988057797954,
+                  1.0054268152286103
+                ],
+                "rod_tip_xy_dist": 0.0016027880946743447,
+                "target_xy_drift": 4.0635525166180226e-08,
+                "depth": 0.015707871370192916,
+                "bottom_clearance": 0.08373278666250428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015748950186714183,
+                  -0.00025042941417346976
+                ],
+                "rod_tip_xy": [
+                  0.27689782765407167,
+                  -0.34719880577979545
+                ],
+                "target_mouth_xy": [
+                  0.27532293263540025,
+                  -0.346948376365622
+                ],
+                "gripper_position": [
+                  0.2769052674001009,
+                  -0.347268635091603,
+                  1.0049068425118834
+                ],
+                "rod_tip_xy_dist": 0.0015946815391542331,
+                "target_xy_drift": 9.695845008986728e-08,
+                "depth": 0.015833014217626284,
+                "bottom_clearance": 0.08360752175179942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015823032851471908,
+                  -0.0003202587346701202
+                ],
+                "rod_tip_xy": [
+                  0.2769052674001008,
+                  -0.347268635091603
+                ],
+                "target_mouth_xy": [
+                  0.2753229641149536,
+                  -0.3469483763569329
+                ],
+                "gripper_position": [
+                  0.2768937156044383,
+                  -0.34727612623434384,
+                  1.0047638224276108
+                ],
+                "rod_tip_xy_dist": 0.0016143882257127927,
+                "target_xy_drift": 6.755834504877383e-08,
+                "depth": 0.01635305992492364,
+                "bottom_clearance": 0.08308754060746926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015707534417283564,
+                  -0.0003277501823008566
+                ],
+                "rod_tip_xy": [
+                  0.2768937156044382,
+                  -0.3472761262343438
+                ],
+                "target_mouth_xy": [
+                  0.27532296216270985,
+                  -0.34694837605204293
+                ],
+                "gripper_position": [
+                  0.27688506135787205,
+                  -0.3472769586211978,
+                  1.0046389848467405
+                ],
+                "rod_tip_xy_dist": 0.0016045829852954698,
+                "target_xy_drift": 6.945615144176122e-08,
+                "depth": 0.01649595079149524,
+                "bottom_clearance": 0.08294458572664531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015620941088887452,
+                  -0.00032858105914335134
+                ],
+                "rod_tip_xy": [
+                  0.27688506135787194,
+                  -0.3472769586211978
+                ],
+                "target_mouth_xy": [
+                  0.2753229672489832,
+                  -0.34694837756205443
+                ],
+                "gripper_position": [
+                  0.27689335837151685,
+                  -0.3473479201755871,
+                  1.0041198725841525
+                ],
+                "rod_tip_xy_dist": 0.0015962780200994716,
+                "target_xy_drift": 6.421025970106137e-08,
+                "depth": 0.01662093780068219,
+                "bottom_clearance": 0.08281977380737005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015704261255039542,
+                  -0.00039954286941507045
+                ],
+                "rod_tip_xy": [
+                  0.27689335837151674,
+                  -0.34734792017558713
+                ],
+                "target_mouth_xy": [
+                  0.2753229322460128,
+                  -0.34694837730617206
+                ],
+                "gripper_position": [
+                  0.276881766607717,
+                  -0.3473552803453886,
+                  1.0039774084361992
+                ],
+                "rod_tip_xy_dist": 0.0016204544795105442,
+                "target_xy_drift": 9.705582988358286e-08,
+                "depth": 0.017139943481845665,
+                "bottom_clearance": 0.08230055698273164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015588298731699646,
+                  -0.00040693257099971847
+                ],
+                "rod_tip_xy": [
+                  0.2768817666077169,
+                  -0.34735528034538865
+                ],
+                "target_mouth_xy": [
+                  0.27532293673454694,
+                  -0.34694834777438893
+                ],
+                "gripper_position": [
+                  0.2768729677147624,
+                  -0.3473563424889853,
+                  1.003852876041996
+                ],
+                "rod_tip_xy_dist": 0.0016110694245834128,
+                "target_xy_drift": 1.054749393251731e-07,
+                "depth": 0.017282568157008238,
+                "bottom_clearance": 0.08215811608809853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015500355011862088,
+                  -0.0004079956123038686
+                ],
+                "rod_tip_xy": [
+                  0.2768729677147623,
+                  -0.3473563424889853
+                ],
+                "target_mouth_xy": [
+                  0.27532293221357607,
+                  -0.3469483468766814
+                ],
+                "gripper_position": [
+                  0.2768641948024676,
+                  -0.34735699584800844,
+                  1.0037276897167253
+                ],
+                "rod_tip_xy_dist": 0.001602832016961475,
+                "target_xy_drift": 1.0976919694337964e-07,
+                "depth": 0.017406944475532926,
+                "bottom_clearance": 0.08203356414173535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015412922283458141,
+                  -0.00040855613784474
+                ],
+                "rod_tip_xy": [
+                  0.2768641948024675,
+                  -0.3473569958480085
+                ],
+                "target_mouth_xy": [
+                  0.2753229025741217,
+                  -0.34694843971016376
+                ],
+                "gripper_position": [
+                  0.276874124013048,
+                  -0.3474302800045741,
+                  1.003209032983493
+                ],
+                "rod_tip_xy_dist": 0.001594521825165719,
+                "target_xy_drift": 1.2739747682106664e-07,
+                "depth": 0.017532237243687576,
+                "bottom_clearance": 0.08190836882638475,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015511909737485063,
+                  -0.00048190238826251175
+                ],
+                "rod_tip_xy": [
+                  0.2768741240130479,
+                  -0.3474302800045742
+                ],
+                "target_mouth_xy": [
+                  0.2753229330392994,
+                  -0.3469483776163117
+                ],
+                "gripper_position": [
+                  0.2768623343198518,
+                  -0.3474377285866923,
+                  1.0030670976707892
+                ],
+                "rod_tip_xy_dist": 0.0016243224276146506,
+                "target_xy_drift": 9.620690383901099e-08,
+                "depth": 0.018050794965696837,
+                "bottom_clearance": 0.08138974714917235,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015393679250362835,
+                  -0.0004893519475550612
+                ],
+                "rod_tip_xy": [
+                  0.2768623343198517,
+                  -0.3474377285866923
+                ],
+                "target_mouth_xy": [
+                  0.2753229663948154,
+                  -0.34694837663913725
+                ],
+                "gripper_position": [
+                  0.2768533731732663,
+                  -0.3474385502919917,
+                  1.0029424676315217
+                ],
+                "rod_tip_xy_dist": 0.0016152767370350024,
+                "target_xy_drift": 6.538014177887823e-08,
+                "depth": 0.01819281741565748,
+                "bottom_clearance": 0.08124785979522942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015304406537176574,
+                  -0.0004901736125416667
+                ],
+                "rod_tip_xy": [
+                  0.2768533731732662,
+                  -0.3474385502919918
+                ],
+                "target_mouth_xy": [
+                  0.27532293251954854,
+                  -0.3469483766794501
+                ],
+                "gripper_position": [
+                  0.27684449650731574,
+                  -0.34743926066834346,
+                  1.0028172703126645
+                ],
+                "rod_tip_xy_dist": 0.0016070217064445265,
+                "target_xy_drift": 9.697631457164011e-08,
+                "depth": 0.018317355315907613,
+                "bottom_clearance": 0.08112316505530603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015215639440436246,
+                  -0.00049091504968235
+                ],
+                "rod_tip_xy": [
+                  0.27684449650731563,
+                  -0.3474392606683435
+                ],
+                "target_mouth_xy": [
+                  0.275322932563272,
+                  -0.34694834561866117
+                ],
+                "gripper_position": [
+                  0.2768558790484913,
+                  -0.3475146082781308,
+                  1.0023030011439067
+                ],
+                "rod_tip_xy_dist": 0.0015987978051705647,
+                "target_xy_drift": 1.1014844725497945e-07,
+                "depth": 0.018442634911537414,
+                "bottom_clearance": 0.08099793174995606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015329453946207883,
+                  -0.0005662325457326256
+                ],
+                "rod_tip_xy": [
+                  0.2768558790484912,
+                  -0.34751460827813085
+                ],
+                "target_mouth_xy": [
+                  0.2753229336538704,
+                  -0.34694837573239823
+                ],
+                "gripper_position": [
+                  0.27684408380984227,
+                  -0.34752173804743525,
+                  1.0021608209725812
+                ],
+                "rod_tip_xy_dist": 0.001634178961661156,
+                "target_xy_drift": 9.617863244358454e-08,
+                "depth": 0.018956907198563244,
+                "bottom_clearance": 0.08048369028247782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001521151052961578,
+                  -0.0005733607422466203
+                ],
+                "rod_tip_xy": [
+                  0.27684408380984216,
+                  -0.34752173804743525
+                ],
+                "target_mouth_xy": [
+                  0.2753229327568806,
+                  -0.3469483773051886
+                ],
+                "gripper_position": [
+                  0.2768351341403346,
+                  -0.34752253023359975,
+                  1.0020362117058468
+                ],
+                "rod_tip_xy_dist": 0.001625620825000625,
+                "target_xy_drift": 9.65669074414056e-08,
+                "depth": 0.0190989395513792,
+                "bottom_clearance": 0.0803415805491976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001512166933388126,
+                  -0.0005741542374709807
+                ],
+                "rod_tip_xy": [
+                  0.2768351341403345,
+                  -0.3475225302335998
+                ],
+                "target_mouth_xy": [
+                  0.2753229672069464,
+                  -0.3469483759961288
+                ],
+                "gripper_position": [
+                  0.2768260845785431,
+                  -0.3475231569826597,
+                  1.0019117725156228
+                ],
+                "rod_tip_xy_dist": 0.0016174986623915125,
+                "target_xy_drift": 6.493716369270676e-08,
+                "depth": 0.019223721005265704,
+                "bottom_clearance": 0.0802170097342525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015031528460334176,
+                  -0.0005747799891947514
+                ],
+                "rod_tip_xy": [
+                  0.27682608457854296,
+                  -0.3475231569826598
+                ],
+                "target_mouth_xy": [
+                  0.27532293173250955,
+                  -0.34694837699346504
+                ],
+                "gripper_position": [
+                  0.2768171457161921,
+                  -0.3475236975029791,
+                  1.0017868595085802
+                ],
+                "rod_tip_xy_dist": 0.001609298143451698,
+                "target_xy_drift": 9.763765538229569e-08,
+                "depth": 0.01934804705026838,
+                "bottom_clearance": 0.08009244883420086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014941803050971814,
+                  -0.0005753199085823946
+                ],
+                "rod_tip_xy": [
+                  0.276817145716192,
+                  -0.3475236975029792
+                ],
+                "target_mouth_xy": [
+                  0.2753229654110948,
+                  -0.3469483775943968
+                ],
+                "gripper_position": [
+                  0.27680806878856534,
+                  -0.3475243057988747,
+                  1.0016624079208671
+                ],
+                "rod_tip_xy_dist": 0.0016011145434826207,
+                "target_xy_drift": 6.58604003012301e-08,
+                "depth": 0.019473048509758617,
+                "bottom_clearance": 0.07996759242910512,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006031766628875764,
+              "rod_tip_xy_max_step": 3.2628543198959974e-05,
+              "rod_tip_xy_range": 0.0006031685207261595,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2764219108301064,
+            -0.3489459275184378,
+            1.0435167318528218
+          ],
+          "object_origin_world": [
+            0.2764219108301064,
+            -0.3489459275184378,
+            1.0435167318528218
+          ],
+          "frame_world": [
+            0.2764204060773843,
+            -0.34895108403102965,
+            1.0434035274488989
+          ],
+          "center_minus_frame": [
+            1.5047527221478951e-06,
+            5.156512591864004e-06,
+            0.00011320440392292852
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2725997137353805,
+              0.13247557951493377,
+              0.8337359260664269
+            ],
+            "target_position": [
+              0.28258743341840026,
+              0.17985444498271985,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048420155281464684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1680757715368496,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337359260664269,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676483411199,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1368741370465093,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "696f8f0f22db590c802c7f26155801034223ad6cf88de3e719b11cc7efc93daf",
+    "visual_seed": 5581130890352729273,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33d0f8929bf0116c095d6566705e2393ba1514d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_6_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25418961981244353,
+              0.030901972754847833,
+              1.1648064748967433
+            ],
+            "current_z": 1.1648064748967433,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30370008609126664,
+            "gripper_z": 1.1580059812665182,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24920882570791278,
+              0.025900976364300013,
+              1.1580059812665182
+            ],
+            "object_minus_gripper": [
+              0.004980794104530756,
+              0.00500099639054782,
+              0.006800493630225057
+            ],
+            "object_to_gripper_xy": 0.007058206203420289,
+            "object_to_gripper_z": 0.006800493630225057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25418961981244353,
+              0.007058462939823399,
+              1.1648064748967433
+            ],
+            "finger_b": [
+              0.24273377399472038,
+              0.030901972754847833,
+              1.1648064748967433
+            ],
+            "finger_midpoint": [
+              0.24846169690358194,
+              0.018980217847335615,
+              1.1648064748967433
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057279229088615935,
+              0.011921754907512218,
+              0.0
+            ],
+            "finger_gap": 0.026452776105706028,
+            "fingertip_max_gap": 0.09085511743223751,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01322638805285302,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648064748967433,
+            "object_top_z": 1.2147110083063883,
+            "finger_top_clearance": 0.04990453340964507,
+            "fingertip_min_top_clearance": 0.01497136002289352,
+            "object_projection_between_fingers": 0.812452271902358,
+            "object_to_finger_line_xy": 0.01032585657939203,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792755871611876,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5671390341506494,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2667309293678965,
+              -0.35200267905726795,
+              0.8515396109714279
+            ],
+            "target_position": [
+              0.2580794209421699,
+              -0.3527473117203436,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00868349444885741,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186519894718935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396109714279,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544187382799163,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852505179400553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15447216232986855,
+            "release_required_pad_clearance": 0.05262525897002765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3115327085226776,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075380802154541016,
+            "max_z_decrease": 0.0075380802154541016,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511063412388174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075380802154541016,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109422218343715,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075380802154541016,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007538100600497951,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11377934366464613,
+              -0.40900877118110657,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11377934366464613,
+              -0.40900877118110657,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11314049001726675,
+              -0.4075127414473389,
+              0.8075987506811017
+            ],
+            "closest_button": [
+              0.11376934498548506,
+              -0.40900382399559015,
+              0.772525429725647
+            ],
+            "closest_ee_minus_button": [
+              -0.0006288549682183092,
+              0.0014910825482512546,
+              0.03507332095545468
+            ],
+            "button_min_z_position": [
+              0.11376207321882247,
+              -0.4090057611465454,
+              0.7692707777023315
+            ],
+            "min_active_finger_to_button": 0.1461318350868311,
+            "closest_active_finger": [
+              -0.013774111866950989,
+              -0.47141459584236145,
+              0.8106083869934082
+            ],
+            "closest_active_finger_button": [
+              0.1137804090976715,
+              -0.40900710225105286,
+              0.7761169075965881
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275545209646225,
+              -0.062407493591308594,
+              0.03449147939682007
+            ],
+            "min_contact_pad_to_button": 0.02109422218343715,
+            "closest_contact_pad": [
+              0.11376207321882247,
+              -0.4090057611465454,
+              0.7903649998857687
+            ],
+            "closest_contact_pad_button": [
+              0.11376207321882247,
+              -0.4090057611465454,
+              0.7692707777023315
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109422218343715
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.278519484811835,
+              0.18160788456901542,
+              1.1041426519182793
+            ],
+            "current_z": 1.1041426519182793,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19423352218391676,
+            "gripper_z": 1.1041428948654304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2785194795840077,
+              0.18160779308786842,
+              1.1041428948654304
+            ],
+            "object_minus_gripper": [
+              5.22782733769489e-09,
+              9.148114699097931e-08,
+              -2.429471510634329e-07
+            ],
+            "object_to_gripper_xy": 9.163040125121091e-08,
+            "object_to_gripper_z": -2.429471510634329e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.278519484811835,
+              0.18160788456901542,
+              1.1041426519182793
+            ],
+            "finger_b": [
+              0.278519484811835,
+              0.18160788456901542,
+              1.1041426519182793
+            ],
+            "finger_midpoint": [
+              0.278519484811835,
+              0.18160788456901542,
+              1.1041426519182793
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041426519182793,
+            "object_top_z": 1.229151158538559,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.278519484811835,
+            0.18160788456901544,
+            1.1041426519182793
+          ],
+          "object_origin_world": [
+            0.278519484811835,
+            0.18160788456901544,
+            1.1041426519182793
+          ],
+          "frame_world": [
+            0.2785194795840077,
+            0.18160779308786842,
+            1.1041428948654304
+          ],
+          "center_minus_frame": [
+            5.22782733769489e-09,
+            9.148114701873489e-08,
+            -2.429471510634329e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432786263668614,
+            "required_z": 0.9112599966817023,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010322979703474395,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.315803775073989e-08,
+            "max_target_xy_drift": 2.248514767875452e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3115327113211122,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.311532712454759,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26770862974611964,
+              -0.35233348574769374,
+              0.9233887865248539
+            ],
+            "target_mouth_xy": [
+              0.26673091373929936,
+              -0.3520027101221148
+            ],
+            "rod_tip_z": 0.9233887865248539,
+            "rod_tip_depth": -0.022128966317221388,
+            "rod_tip_bottom_clearance": 0.12156948776324306,
+            "rod_tip_xy_dist": 0.0010321536244521608,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04438679331987805,
+            "min_rod_tip_bottom_clearance": 0.05505379111425901,
+            "min_rod_tip_xy_dist": 0.0003705616119370431,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.26673088070575013,
+              -0.35200270725155863
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.303354922934432e-08,
+              -2.870556181644446e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0015029677803651276,
+                0.0014502144370509562
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014116672863584978,
+                0.001041705733393794
+              ],
+              "first_target_mouth_xy": [
+                0.2667308808967264,
+                -0.3520026498779092
+              ],
+              "last_target_mouth_xy": [
+                0.2667309159268043,
+                -0.3520026816013183
+              ],
+              "first_rod_tip_xy": [
+                0.26823384867709155,
+                -0.35055243544085823
+              ],
+              "last_rod_tip_xy": [
+                0.2681425832131628,
+                -0.3509609758679245
+              ],
+              "min_rod_tip_xy_dist": 0.001754410260560587,
+              "max_rod_tip_xy_dist": 0.0020885483145588707,
+              "first_target_xy_drift": 5.73739672873602e-08,
+              "last_target_xy_drift": 4.357129199782647e-08,
+              "max_depth": 0.019840923301385982,
+              "min_bottom_clearance": 0.07959971657319087
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015029677803651276,
+                  0.0014502144370509562
+                ],
+                "rod_tip_xy": [
+                  0.26823384867709155,
+                  -0.35055243544085823
+                ],
+                "target_mouth_xy": [
+                  0.2667308808967264,
+                  -0.3520026498779092
+                ],
+                "gripper_position": [
+                  0.2682225957259612,
+                  -0.3505599012009944,
+                  1.0056400831854906
+                ],
+                "rod_tip_xy_dist": 0.0020885483145588707,
+                "target_xy_drift": 5.73739672873602e-08,
+                "depth": 0.015480960656270581,
+                "bottom_clearance": 0.0839596341207528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014916651717648555,
+                  0.0014427794470575628
+                ],
+                "rod_tip_xy": [
+                  0.26822259572596113,
+                  -0.35055990120099445
+                ],
+                "target_mouth_xy": [
+                  0.2667309305541963,
+                  -0.352002680648052
+                ],
+                "gripper_position": [
+                  0.26822826359980567,
+                  -0.3506291568555698,
+                  1.0051237680235123
+                ],
+                "rod_tip_xy_dist": 0.00207525360317914,
+                "target_xy_drift": 5.65032224559546e-08,
+                "depth": 0.01561981187986694,
+                "bottom_clearance": 0.08382078323231745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014973356793023251,
+                  0.0013735234757326076
+                ],
+                "rod_tip_xy": [
+                  0.26822826359980567,
+                  -0.35062915685556983
+                ],
+                "target_mouth_xy": [
+                  0.26673092792050335,
+                  -0.35200268033130244
+                ],
+                "gripper_position": [
+                  0.2682167775357428,
+                  -0.3506365863116796,
+                  1.00498481215718
+                ],
+                "rod_tip_xy_dist": 0.0020318909603864914,
+                "target_xy_drift": 5.4350097652544886e-08,
+                "depth": 0.01613604617619846,
+                "bottom_clearance": 0.08330444703362316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014858505156886137,
+                  0.0013660607108819667
+                ],
+                "rod_tip_xy": [
+                  0.26821677753574275,
+                  -0.3506365863116797
+                ],
+                "target_mouth_xy": [
+                  0.26673092702005413,
+                  -0.3520026470225617
+                ],
+                "gripper_position": [
+                  0.2682085758479815,
+                  -0.3506374890879996,
+                  1.004863107475529
+                ],
+                "rod_tip_xy_dist": 0.0020183839131313604,
+                "target_xy_drift": 7.597727837759556e-08,
+                "depth": 0.016275087197046845,
+                "bottom_clearance": 0.08316555560382366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001477661516752049,
+                  0.001365193465628689
+                ],
+                "rod_tip_xy": [
+                  0.26820857584798147,
+                  -0.35063748908799963
+                ],
+                "target_mouth_xy": [
+                  0.2667309143312294,
+                  -0.3520026825536283
+                ],
+                "gripper_position": [
+                  0.26821542878766996,
+                  -0.3507074051407527,
+                  1.0043468737590293
+                ],
+                "rod_tip_xy_dist": 0.0020117745292863305,
+                "target_xy_drift": 4.1721225043978377e-08,
+                "depth": 0.016396811265229183,
+                "bottom_clearance": 0.08304380164857517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001484513733027104,
+                  0.0012952463404640735
+                ],
+                "rod_tip_xy": [
+                  0.2682154287876699,
+                  -0.3507074051407528
+                ],
+                "target_mouth_xy": [
+                  0.2667309150546428,
+                  -0.3520026514812169
+                ],
+                "gripper_position": [
+                  0.2682040840243542,
+                  -0.35071435974482473,
+                  1.004208142984955
+                ],
+                "rod_tip_xy_dist": 0.001970138093137545,
+                "target_xy_drift": 6.549944614316033e-08,
+                "depth": 0.016912968338906986,
+                "bottom_clearance": 0.08252762664270874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014731726173143334,
+                  0.001288318668430266
+                ],
+                "rod_tip_xy": [
+                  0.2682040840243542,
+                  -0.3507143597448249
+                ],
+                "target_mouth_xy": [
+                  0.26673091140703986,
+                  -0.35200267841325517
+                ],
+                "gripper_position": [
+                  0.2681956965337078,
+                  -0.3507153642403718,
+                  1.0040863345885014
+                ],
+                "rod_tip_xy_dist": 0.0019570392310402714,
+                "target_xy_drift": 4.212145460608071e-08,
+                "depth": 0.017051749466379662,
+                "bottom_clearance": 0.08238886368425835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014647354959667624,
+                  0.001287316405759853
+                ],
+                "rod_tip_xy": [
+                  0.2681956965337078,
+                  -0.35071536424037186
+                ],
+                "target_mouth_xy": [
+                  0.266730961037741,
+                  -0.3520026806461317
+                ],
+                "gripper_position": [
+                  0.26818725096853024,
+                  -0.3507161349537457,
+                  1.0039646138306442
+                ],
+                "rod_tip_xy_dist": 0.0019500342565410137,
+                "target_xy_drift": 8.462314991901962e-08,
+                "depth": 0.01717356584563756,
+                "bottom_clearance": 0.08226705535310908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001456369681527292,
+                  0.00128654536568229
+                ],
+                "rod_tip_xy": [
+                  0.2681872509685302,
+                  -0.35071613495374576
+                ],
+                "target_mouth_xy": [
+                  0.2667308812870029,
+                  -0.35200268031942805
+                ],
+                "gripper_position": [
+                  0.268195418240556,
+                  -0.3507888440506652,
+                  1.003448186917547
+                ],
+                "rod_tip_xy_dist": 0.0019432477009456316,
+                "target_xy_drift": 2.693840218769181e-08,
+                "depth": 0.01729525396962872,
+                "bottom_clearance": 0.0821453029538719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001464488281377574,
+                  0.0012138353263730917
+                ],
+                "rod_tip_xy": [
+                  0.268195418240556,
+                  -0.35078884405066535
+                ],
+                "target_mouth_xy": [
+                  0.2667309299591784,
+                  -0.35200267937703844
+                ],
+                "gripper_position": [
+                  0.2681838687953646,
+                  -0.3507959818555114,
+                  1.0033095539368297
+                ],
+                "rod_tip_xy_dist": 0.0019021362006553342,
+                "target_xy_drift": 5.6594072775351e-08,
+                "depth": 0.017811720275883403,
+                "bottom_clearance": 0.08162888552990655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014529392829810694,
+                  0.0012066978419021934
+                ],
+                "rod_tip_xy": [
+                  0.2681838687953646,
+                  -0.35079598185551164
+                ],
+                "target_mouth_xy": [
+                  0.26673092951238353,
+                  -0.35200267969741383
+                ],
+                "gripper_position": [
+                  0.2681753989211856,
+                  -0.3507967296016655,
+                  1.003188125791004
+                ],
+                "rod_tip_xy_dist": 0.0018886906156596838,
+                "target_xy_drift": 5.604746523792986e-08,
+                "depth": 0.01795034396779238,
+                "bottom_clearance": 0.08149023323255555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014444692522240232,
+                  0.001205950414104262
+                ],
+                "rod_tip_xy": [
+                  0.2681753989211856,
+                  -0.35079672960166564
+                ],
+                "target_mouth_xy": [
+                  0.26673092966896156,
+                  -0.3520026800157699
+                ],
+                "gripper_position": [
+                  0.2681668890044089,
+                  -0.35079725454996263,
+                  1.0030663826197121
+                ],
+                "rod_tip_xy_dist": 0.0018817034362244413,
+                "target_xy_drift": 5.6028423693314695e-08,
+                "depth": 0.018071708102134876,
+                "bottom_clearance": 0.08136886385151176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014360101041981932,
+                  0.0012054263918913621
+                ],
+                "rod_tip_xy": [
+                  0.2681668890044088,
+                  -0.3507972545499628
+                ],
+                "target_mouth_xy": [
+                  0.26673087890021063,
+                  -0.35200268094185416
+                ],
+                "gripper_position": [
+                  0.26817645013883423,
+                  -0.3508723161856032,
+                  1.002552464916159
+                ],
+                "rod_tip_xy_dist": 0.0018748807443748346,
+                "target_xy_drift": 2.6371585507901396e-08,
+                "depth": 0.018193444937107395,
+                "bottom_clearance": 0.08124721621717701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014455218963488892,
+                  0.0011303631916330104
+                ],
+                "rod_tip_xy": [
+                  0.26817645013883423,
+                  -0.35087231618560333
+                ],
+                "target_mouth_xy": [
+                  0.26673092824248534,
+                  -0.35200267937723634
+                ],
+                "gripper_position": [
+                  0.26816487946976186,
+                  -0.35087939734538315,
+                  1.002413939871524
+                ],
+                "rod_tip_xy_dist": 0.0018350080375363084,
+                "target_xy_drift": 5.510643372855973e-08,
+                "depth": 0.018707368857550644,
+                "bottom_clearance": 0.08073317063814456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001433981860743283,
+                  0.001123345757392591
+                ],
+                "rod_tip_xy": [
+                  0.2681648794697618,
+                  -0.3508793973453833
+                ],
+                "target_mouth_xy": [
+                  0.2667308976090185,
+                  -0.3520027431027759
+                ],
+                "gripper_position": [
+                  0.26815614162244017,
+                  -0.3508800183879532,
+                  1.0022921497379471
+                ],
+                "rod_tip_xy_dist": 0.0018215953632990786,
+                "target_xy_drift": 3.963622411889195e-08,
+                "depth": 0.018845935507872835,
+                "bottom_clearance": 0.0805946689770839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014252571601286457,
+                  0.0011226308677796393
+                ],
+                "rod_tip_xy": [
+                  0.26815614162244017,
+                  -0.35088001838795324
+                ],
+                "target_mouth_xy": [
+                  0.2667308844623115,
+                  -0.3520026492557329
+                ],
+                "gripper_position": [
+                  0.2681475420447934,
+                  -0.3508804810384576,
+                  1.0021708312730155
+                ],
+                "rod_tip_xy_dist": 0.0018142927100635218,
+                "target_xy_drift": 5.8117360214331105e-08,
+                "depth": 0.01896769714698976,
+                "bottom_clearance": 0.08047288933572794,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00141661130160059,
+                  0.0011221992945070758
+                ],
+                "rod_tip_xy": [
+                  0.26814754204479335,
+                  -0.3508804810384577
+                ],
+                "target_mouth_xy": [
+                  0.26673093074319276,
+                  -0.3520026803329648
+                ],
+                "gripper_position": [
+                  0.26813880687522884,
+                  -0.350881318517755,
+                  1.0020494141965088
+                ],
+                "rod_tip_xy_dist": 0.001807240669201171,
+                "target_xy_drift": 5.6818626878880745e-08,
+                "depth": 0.019089124804186564,
+                "bottom_clearance": 0.08035147734224146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001407922490771596,
+                  0.001121362128544412
+                ],
+                "rod_tip_xy": [
+                  0.26813880687522884,
+                  -0.35088131851775517
+                ],
+                "target_mouth_xy": [
+                  0.26673088438445725,
+                  -0.3520026806462996
+                ],
+                "gripper_position": [
+                  0.26813020785028185,
+                  -0.3508819516196159,
+                  1.001928166573066
+                ],
+                "rod_tip_xy_dist": 0.0017999163212088914,
+                "target_xy_drift": 2.6858382215666507e-08,
+                "depth": 0.0192104096317387,
+                "bottom_clearance": 0.08023012917797856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0013992963326168173,
+                  0.0011206992196848287
+                ],
+                "rod_tip_xy": [
+                  0.2681302078502818,
+                  -0.350881951619616
+                ],
+                "target_mouth_xy": [
+                  0.266730911517665,
+                  -0.3520026508393008
+                ],
+                "gripper_position": [
+                  0.26814258321316287,
+                  -0.3509609758679244,
+                  1.0014189910025102
+                ],
+                "rod_tip_xy_dist": 0.0017927623845554821,
+                "target_xy_drift": 6.427843283766945e-08,
+                "depth": 0.019331688597212127,
+                "bottom_clearance": 0.08010885275682345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0014116672863584978,
+                  0.001041705733393794
+                ],
+                "rod_tip_xy": [
+                  0.2681425832131628,
+                  -0.3509609758679245
+                ],
+                "target_mouth_xy": [
+                  0.2667309159268043,
+                  -0.3520026816013183
+                ],
+                "gripper_position": [
+                  0.26813076520317125,
+                  -0.35096805395584363,
+                  1.0012803577183211
+                ],
+                "rod_tip_xy_dist": 0.001754410260560587,
+                "target_xy_drift": 4.357129199782647e-08,
+                "depth": 0.019840923301385982,
+                "bottom_clearance": 0.07959971657319087,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005943490636059629,
+              "rod_tip_xy_max_step": 3.222893418217314e-05,
+              "rod_tip_xy_range": 0.0005943393507736697,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26770862974611964,
+            -0.3523334857476937,
+            1.0433887865248541
+          ],
+          "object_origin_world": [
+            0.26770862974611964,
+            -0.3523334857476937,
+            1.0433887865248541
+          ],
+          "frame_world": [
+            0.26770712754274095,
+            -0.3523383374594304,
+            1.0432786263668614
+          ],
+          "center_minus_frame": [
+            1.5022033786893374e-06,
+            4.851711736697517e-06,
+            0.00011016015799270029
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26740595800726075,
+              0.13383689290418968,
+              0.8338951246149942
+            ],
+            "target_position": [
+              0.2786558470330944,
+              0.1808649746160516,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048354942586990364,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17071112658828885,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338951246149942,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671796916995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14034421224708876,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fdb05c18ef28c9a2d32159ed0a907b39f70b7e24f8ee17318c93ad19a3b84e2",
+    "visual_seed": 5754824645137595825,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0f6fabd8a9a58f86aa1a600a294c7b4dfe0090
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_70_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2548650677482561,
+              0.02694134451230572,
+              1.1629996634949191
+            ],
+            "current_z": 1.1629996634949191,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30189291706157406,
+            "gripper_z": 1.156293609624112,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24966091267316112,
+              0.022031390270397938,
+              1.156293609624112
+            ],
+            "object_minus_gripper": [
+              0.005204155075095002,
+              0.004909954241907783,
+              0.006706053870807027
+            ],
+            "object_to_gripper_xy": 0.007154780269390898,
+            "object_to_gripper_z": 0.006706053870807027,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2548650677482561,
+              0.002552053332778555,
+              1.1629996634949191
+            ],
+            "finger_b": [
+              0.24404308009687192,
+              0.02694134451230572,
+              1.1629996634949191
+            ],
+            "finger_midpoint": [
+              0.24945407392256402,
+              0.014746698922542139,
+              1.1629996634949191
+            ],
+            "object_minus_finger_midpoint": [
+              0.005410993825692101,
+              0.012194645589763582,
+              0.0
+            ],
+            "finger_gap": 0.026682446307759594,
+            "fingertip_max_gap": 0.09096290352197345,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013341223153879797,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629996634949191,
+            "object_top_z": 1.2128939766267732,
+            "finger_top_clearance": 0.04989431313185411,
+            "fingertip_min_top_clearance": 0.014968293939556232,
+            "object_projection_between_fingers": 0.8355011827499043,
+            "object_to_finger_line_xy": 0.009891919388744333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047981451760986726,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7050073889889564,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27430770953183314,
+              -0.34637657948460654,
+              0.8515395936521968
+            ],
+            "target_position": [
+              0.26604128521476234,
+              -0.3471359299270429,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008301227866062218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853011002751812,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395936521968,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560424454984309,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669842613327446,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529933480360915,
+            "release_required_pad_clearance": 0.05334921306663723,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.715043425600303,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007504880428314209,
+            "max_z_decrease": 0.007504880428314209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511849084303138,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007504880428314209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02120146364058252,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007504880428314209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007504900995136503,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12174121290445328,
+              -0.4033973813056946,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12174121290445328,
+              -0.4033973813056946,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12128268099856387,
+              -0.40455844203536845,
+              0.8078145250015232
+            ],
+            "closest_button": [
+              0.12172994017601013,
+              -0.4033958911895752,
+              0.7727181315422058
+            ],
+            "closest_ee_minus_button": [
+              -0.00044725917744625754,
+              -0.0011625508457932532,
+              0.035096393459317365
+            ],
+            "button_min_z_position": [
+              0.12172379344701767,
+              -0.4033950865268707,
+              0.7693039774894714
+            ],
+            "min_active_finger_to_button": 0.1464794657328756,
+            "closest_active_finger": [
+              -0.019624821841716766,
+              -0.38639089465141296,
+              0.8110803961753845
+            ],
+            "closest_active_finger_button": [
+              0.12174379825592041,
+              -0.4033966064453125,
+              0.7767008543014526
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14136862009763718,
+              0.017005711793899536,
+              0.034379541873931885
+            ],
+            "min_contact_pad_to_button": 0.02120146364058252,
+            "closest_contact_pad": [
+              0.12172379344701767,
+              -0.40586027507177996,
+              0.790361634195311
+            ],
+            "closest_contact_pad_button": [
+              0.12172379344701767,
+              -0.4033950865268707,
+              0.7693039774894714
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002465188544909236,
+              0.02105765670583959
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27924528084982736,
+              0.184915562137348,
+              1.1013702636392892
+            ],
+            "current_z": 1.1013702636392892,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1914611339049267,
+            "gripper_z": 1.1013702421631548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2792451995090711,
+              0.18491550330375983,
+              1.1013702421631548
+            ],
+            "object_minus_gripper": [
+              8.13407562416657e-08,
+              5.8833588167939155e-08,
+              2.147613442637919e-08
+            ],
+            "object_to_gripper_xy": 1.0038779668207062e-07,
+            "object_to_gripper_z": 2.147613442637919e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27924528084982736,
+              0.184915562137348,
+              1.1013702636392892
+            ],
+            "finger_b": [
+              0.27924528084982736,
+              0.184915562137348,
+              1.1013702636392892
+            ],
+            "finger_midpoint": [
+              0.27924528084982736,
+              0.184915562137348,
+              1.1013702636392892
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013702636392892,
+            "object_top_z": 1.226378770259569,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27924528084982736,
+            0.18491556213734803,
+            1.1013702636392892
+          ],
+          "object_origin_world": [
+            0.27924528084982736,
+            0.18491556213734803,
+            1.1013702636392892
+          ],
+          "frame_world": [
+            0.2792451995090711,
+            0.18491550330375983,
+            1.1013702421631548
+          ],
+          "center_minus_frame": [
+            8.13407562416657e-08,
+            5.883358819569473e-08,
+            2.147613442637919e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431761631481649,
+            "required_z": 0.9112598392093081,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011886431723167206,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.341613045778015e-08,
+            "max_target_xy_drift": 6.010629404238855e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.715043426801379,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7154997461180703,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27318567998354637,
+              -0.3467599111719457,
+              0.9232866816415198
+            ],
+            "target_mouth_xy": [
+              0.2743076827564448,
+              -0.34637661370957795
+            ],
+            "rod_tip_z": 0.9232866816415198,
+            "rod_tip_depth": -0.022026822634092946,
+            "rod_tip_bottom_clearance": 0.1214674185336937,
+            "rod_tip_xy_dist": 0.0011856673930952617,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04464480200608989,
+            "min_rod_tip_bottom_clearance": 0.05479578756394643,
+            "min_rod_tip_xy_dist": 0.000619797614178303,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2743076823346128,
+              -0.3463765502948505
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.218320137638898e-10,
+              -6.341472746917987e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0005203498970975939,
+                0.0012687937494423318
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006304054960636907,
+                0.0008950312173535147
+              ],
+              "first_target_mouth_xy": [
+                0.27430765288374914,
+                -0.34637661019573207
+              ],
+              "last_target_mouth_xy": [
+                0.2743076827721409,
+                -0.34637658133191157
+              ],
+              "first_rod_tip_xy": [
+                0.27378730298665155,
+                -0.34510781644628974
+              ],
+              "last_rod_tip_xy": [
+                0.2736772772760772,
+                -0.34548155011455806
+              ],
+              "min_rod_tip_xy_dist": 0.0010931396451404627,
+              "max_rod_tip_xy_dist": 0.0013719923661078199,
+              "first_target_xy_drift": 6.674929950192066e-08,
+              "last_target_xy_drift": 3.1040144842318466e-08,
+              "max_depth": 0.019451975847001868,
+              "min_bottom_clearance": 0.07998854437393244
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005203498970975939,
+                  0.0012687937494423318
+                ],
+                "rod_tip_xy": [
+                  0.27378730298665155,
+                  -0.34510781644628974
+                ],
+                "target_mouth_xy": [
+                  0.27430765288374914,
+                  -0.34637661019573207
+                ],
+                "gripper_position": [
+                  0.2737760106847717,
+                  -0.3451145897188597,
+                  1.0060818629925854
+                ],
+                "rod_tip_xy_dist": 0.001371350281304309,
+                "target_xy_drift": 6.674929950192066e-08,
+                "depth": 0.015037262994573974,
+                "bottom_clearance": 0.08440328859996848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00053167089318501,
+                  0.0012620224214103803
+                ],
+                "rod_tip_xy": [
+                  0.2737760106847717,
+                  -0.3451145897188598
+                ],
+                "target_mouth_xy": [
+                  0.2743076815779567,
+                  -0.34637661214027016
+                ],
+                "gripper_position": [
+                  0.27376764039408463,
+                  -0.34511538905068306,
+                  1.0059585355809328
+                ],
+                "rod_tip_xy_dist": 0.001369443146246921,
+                "target_xy_drift": 6.185004820618298e-08,
+                "depth": 0.015178033888351705,
+                "bottom_clearance": 0.08426249306561673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005400720037229689,
+                  0.0012612237245837044
+                ],
+                "rod_tip_xy": [
+                  0.27376764039408463,
+                  -0.3451153890506832
+                ],
+                "target_mouth_xy": [
+                  0.2743077123978076,
+                  -0.3463766127752669
+                ],
+                "gripper_position": [
+                  0.27377129527159805,
+                  -0.34517815087121445,
+                  1.0054381702185808
+                ],
+                "rod_tip_xy_dist": 0.0013719923661078199,
+                "target_xy_drift": 6.933684529872335e-08,
+                "depth": 0.015301305608146909,
+                "bottom_clearance": 0.08413925165971425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005363837628072909,
+                  0.0011984289643308665
+                ],
+                "rod_tip_xy": [
+                  0.27377129527159805,
+                  -0.3451781508712145
+                ],
+                "target_mouth_xy": [
+                  0.27430767903440534,
+                  -0.3463765798355454
+                ],
+                "gripper_position": [
+                  0.2737599667700005,
+                  -0.3451850369741033,
+                  1.0052976513271503
+                ],
+                "rod_tip_xy_dist": 0.0013129887751045176,
+                "target_xy_drift": 2.972446843511735e-08,
+                "depth": 0.01582181967008467,
+                "bottom_clearance": 0.08361883770214085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005477441079920764,
+                  0.0011915742054172673
+                ],
+                "rod_tip_xy": [
+                  0.2737599667700005,
+                  -0.3451850369741033
+                ],
+                "target_mouth_xy": [
+                  0.27430771087799255,
+                  -0.34637661117952057
+                ],
+                "gripper_position": [
+                  0.2737513905861191,
+                  -0.3451858323214773,
+                  1.0051743206968535
+                ],
+                "rod_tip_xy_dist": 0.001311439169331093,
+                "target_xy_drift": 6.724334598980047e-08,
+                "depth": 0.01596218949687167,
+                "bottom_clearance": 0.0834783338881101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005562917994879069,
+                  0.0011907772286336993
+                ],
+                "rod_tip_xy": [
+                  0.2737513905861191,
+                  -0.34518583232147737
+                ],
+                "target_mouth_xy": [
+                  0.274307682385607,
+                  -0.34637660955011107
+                ],
+                "gripper_position": [
+                  0.27375579242699394,
+                  -0.34524973894421895,
+                  1.0046543499812437
+                ],
+                "rod_tip_xy_dist": 0.0013143100754426434,
+                "target_xy_drift": 5.9255282529573595e-08,
+                "depth": 0.016085525213860197,
+                "bottom_clearance": 0.0833550389453418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000551859309367797,
+                  0.0011269356448924683
+                ],
+                "rod_tip_xy": [
+                  0.27375579242699394,
+                  -0.34524973894421895
+                ],
+                "target_mouth_xy": [
+                  0.27430765173636174,
+                  -0.3463766745891114
+                ],
+                "gripper_position": [
+                  0.27374428884087054,
+                  -0.34525661467130403,
+                  1.0045137661908918
+                ],
+                "rod_tip_xy_dist": 0.0012548038273232614,
+                "target_xy_drift": 1.28005141573963e-07,
+                "depth": 0.016605601424749095,
+                "bottom_clearance": 0.08283503177685914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005633940529878867,
+                  0.001120025646506706
+                ],
+                "rod_tip_xy": [
+                  0.27374428884087054,
+                  -0.3452566146713041
+                ],
+                "target_mouth_xy": [
+                  0.27430768289385843,
+                  -0.3463766403178108
+                ],
+                "gripper_position": [
+                  0.27373563803671597,
+                  -0.3452571630400859,
+                  1.0043907248075712
+                ],
+                "rod_tip_xy_dist": 0.001253742520525998,
+                "target_xy_drift": 9.002469738020004e-08,
+                "depth": 0.016746066031528506,
+                "bottom_clearance": 0.08269448154683057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005720144835242857,
+                  0.0011194490682026048
+                ],
+                "rod_tip_xy": [
+                  0.27373563803671597,
+                  -0.3452571630400859
+                ],
+                "target_mouth_xy": [
+                  0.27430765252024025,
+                  -0.3463766121082885
+                ],
+                "gripper_position": [
+                  0.2737409401578593,
+                  -0.3453223279239503,
+                  1.0038729738360948
+                ],
+                "rod_tip_xy_dist": 0.001257126400033519,
+                "target_xy_drift": 6.862796755567099e-08,
+                "depth": 0.01686916192088994,
+                "bottom_clearance": 0.08257136151951794,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005667434329822418,
+                  0.0010542832337064878
+                ],
+                "rod_tip_xy": [
+                  0.2737409401578593,
+                  -0.34532232792395035
+                ],
+                "target_mouth_xy": [
+                  0.27430768359084157,
+                  -0.34637661115765683
+                ],
+                "gripper_position": [
+                  0.2737294741909756,
+                  -0.34532888348431734,
+                  1.0037328058625814
+                ],
+                "rod_tip_xy_dist": 0.0011969591704411248,
+                "target_xy_drift": 6.08757694621009e-08,
+                "depth": 0.017386911557476625,
+                "bottom_clearance": 0.08205363841823143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005781794982326893,
+                  0.001047728635594103
+                ],
+                "rod_tip_xy": [
+                  0.2737294741909756,
+                  -0.34532888348431745
+                ],
+                "target_mouth_xy": [
+                  0.2743076536892083,
+                  -0.34637661211991155
+                ],
+                "gripper_position": [
+                  0.27372069805028376,
+                  -0.3453294859755809,
+                  1.0036093474571401
+                ],
+                "rod_tip_xy_dist": 0.0011966732327667753,
+                "target_xy_drift": 6.813880960914919e-08,
+                "depth": 0.017527031402327364,
+                "bottom_clearance": 0.08191353863976347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005869839712058234,
+                  0.001047093454810466
+                ],
+                "rod_tip_xy": [
+                  0.27372069805028376,
+                  -0.3453294859755809
+                ],
+                "target_mouth_xy": [
+                  0.2743076820214896,
+                  -0.34637657943039135
+                ],
+                "gripper_position": [
+                  0.2737118932616791,
+                  -0.34533000982581363,
+                  1.0034866389025363
+                ],
+                "rod_tip_xy_dist": 0.0012003978030467551,
+                "target_xy_drift": 2.9137223406711333e-08,
+                "depth": 0.017650501490103943,
+                "bottom_clearance": 0.08179006075562334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005957899292121649,
+                  0.001046666011893016
+                ],
+                "rod_tip_xy": [
+                  0.2737118932616791,
+                  -0.34533000982581374
+                ],
+                "target_mouth_xy": [
+                  0.27430768319089127,
+                  -0.34637667583770676
+                ],
+                "gripper_position": [
+                  0.27371871533325276,
+                  -0.34539749893608773,
+                  1.0029700367912284
+                ],
+                "rod_tip_xy_dist": 0.0012043568325885263,
+                "target_xy_drift": 1.2554577641302326e-07,
+                "depth": 0.017773268213294835,
+                "bottom_clearance": 0.08166743198593596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005889653474123735,
+                  0.0009790811498027185
+                ],
+                "rod_tip_xy": [
+                  0.27371871533325276,
+                  -0.34539749893608773
+                ],
+                "target_mouth_xy": [
+                  0.27430768068066513,
+                  -0.34637658008589045
+                ],
+                "gripper_position": [
+                  0.27370694180950716,
+                  -0.345404025507437,
+                  1.0028299176725148
+                ],
+                "rod_tip_xy_dist": 0.0011425760711443204,
+                "target_xy_drift": 2.983691681799712e-08,
+                "depth": 0.018289838165283623,
+                "bottom_clearance": 0.08115074545932677,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006007432686345737,
+                  0.0009725577115208273
+                ],
+                "rod_tip_xy": [
+                  0.27370694180950716,
+                  -0.3454040255074371
+                ],
+                "target_mouth_xy": [
+                  0.27430768507814174,
+                  -0.3463765832189579
+                ],
+                "gripper_position": [
+                  0.2736982795202739,
+                  -0.34540410737968,
+                  1.0027066301955043
+                ],
+                "rod_tip_xy_dist": 0.001143136464753172,
+                "target_xy_drift": 3.303821729297243e-08,
+                "depth": 0.018430008548492305,
+                "bottom_clearance": 0.0810106553223644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000609370108876961,
+                  0.0009724756054746986
+                ],
+                "rod_tip_xy": [
+                  0.2736982795202739,
+                  -0.3454041073796801
+                ],
+                "target_mouth_xy": [
+                  0.2743076496291509,
+                  -0.3463765829851548
+                ],
+                "gripper_position": [
+                  0.27368929338057524,
+                  -0.3454048564680679,
+                  1.002583910588354
+                ],
+                "rod_tip_xy_dist": 0.0011476239509683043,
+                "target_xy_drift": 4.6241790976768236e-08,
+                "depth": 0.018553283511653307,
+                "bottom_clearance": 0.08088734752544835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006184192638234443,
+                  0.0009716944287395668
+                ],
+                "rod_tip_xy": [
+                  0.27368929338057524,
+                  -0.34540485646806796
+                ],
+                "target_mouth_xy": [
+                  0.2743077126443987,
+                  -0.3463765508968075
+                ],
+                "gripper_position": [
+                  0.2736803189805804,
+                  -0.34540551410993914,
+                  1.0024608450899966
+                ],
+                "rod_tip_xy_dist": 0.0011517953154581953,
+                "target_xy_drift": 3.0315762794040894e-08,
+                "depth": 0.018675921502904647,
+                "bottom_clearance": 0.08076462465636558,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006273636838092789,
+                  0.0009710399738593889
+                ],
+                "rod_tip_xy": [
+                  0.2736803189805804,
+                  -0.34540551410993925
+                ],
+                "target_mouth_xy": [
+                  0.27430768266438965,
+                  -0.34637655408379864
+                ],
+                "gripper_position": [
+                  0.27368907305090795,
+                  -0.3454753159549827,
+                  1.0019480418678472
+                ],
+                "rod_tip_xy_dist": 0.0011560725853490305,
+                "target_xy_drift": 3.80327239474213e-09,
+                "depth": 0.018799012762806044,
+                "bottom_clearance": 0.08064157876854983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006186077289577208,
+                  0.0009012650894446028
+                ],
+                "rod_tip_xy": [
+                  0.27368907305090795,
+                  -0.3454753159549828
+                ],
+                "target_mouth_xy": [
+                  0.27430768077986567,
+                  -0.3463765810444274
+                ],
+                "gripper_position": [
+                  0.2736772772760772,
+                  -0.34548155011455806,
+                  1.0018078442759872
+                ],
+                "rod_tip_xy_dist": 0.0010931396451404627,
+                "target_xy_drift": 3.0788857084633834e-08,
+                "depth": 0.01931181377141533,
+                "bottom_clearance": 0.0801287328064576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0006304054960636907,
+                  0.0008950312173535147
+                ],
+                "rod_tip_xy": [
+                  0.2736772772760772,
+                  -0.34548155011455806
+                ],
+                "target_mouth_xy": [
+                  0.2743076827721409,
+                  -0.34637658133191157
+                ],
+                "gripper_position": [
+                  0.2736682734730159,
+                  -0.34548214968848034,
+                  1.0016851203067767
+                ],
+                "rod_tip_xy_dist": 0.0010947565800234417,
+                "target_xy_drift": 3.1040144842318466e-08,
+                "depth": 0.019451975847001868,
+                "bottom_clearance": 0.07998854437393244,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006007191757817825,
+              "rod_tip_xy_max_step": 3.258207005834609e-05,
+              "rod_tip_xy_range": 0.0006007073226491922,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27318567998354637,
+            -0.3467599111719457,
+            1.0432866816415198
+          ],
+          "object_origin_world": [
+            0.27318567998354637,
+            -0.3467599111719457,
+            1.0432866816415198
+          ],
+          "frame_world": [
+            0.2731841574906455,
+            -0.3467646389255186,
+            1.0431761631481649
+          ],
+          "center_minus_frame": [
+            1.5224929008628152e-06,
+            4.727753572908444e-06,
+            0.00011051849335497188
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26677165288018584,
+              0.13758471728636604,
+              0.8330931945724238
+            ],
+            "target_position": [
+              0.2793929300651667,
+              0.18383039285226666,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04793703314063831,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16855968068209873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330931945724238,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671225113673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13844100516073748,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fcf55f7e4c32f2754c53b7ec1fed6066040cbb53f26fb1d1011a4c7aa1537c2",
+    "visual_seed": 7225988379226432959,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dff44ad40de338def614d7ef2dd086d6bc7e1443
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_71_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26323164090552964,
+              0.0336104719627098,
+              1.1625876625889173
+            ],
+            "current_z": 1.1625876625889173,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30148097576021704,
+            "gripper_z": 1.15555212895286,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2582042357356593,
+              0.02866882684309703,
+              1.15555212895286
+            ],
+            "object_minus_gripper": [
+              0.005027405169870325,
+              0.004941645119612766,
+              0.007035533636057245
+            ],
+            "object_to_gripper_xy": 0.007049443895104885,
+            "object_to_gripper_z": 0.007035533636057245,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26323164090552964,
+              0.0097066725493249,
+              1.1625876625889173
+            ],
+            "finger_b": [
+              0.251904214037553,
+              0.0336104719627098,
+              1.1625876625889173
+            ],
+            "finger_midpoint": [
+              0.25756792747154134,
+              0.021658572256017347,
+              1.1625876625889173
+            ],
+            "object_minus_finger_midpoint": [
+              0.005663713433988304,
+              0.01195189970669245,
+              0.0
+            ],
+            "finger_gap": 0.026451885109471874,
+            "fingertip_max_gap": 0.0909041083400701,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013225942554735925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625876625889173,
+            "object_top_z": 1.2124773704017513,
+            "finger_top_clearance": 0.04988970781283397,
+            "fingertip_min_top_clearance": 0.014966912343850157,
+            "object_projection_between_fingers": 0.8166211358060786,
+            "object_to_finger_line_xy": 0.01023626628504237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795205417003505,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.564919879556464,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27318019642668856,
+              -0.35084887752453264,
+              0.8515396047227206
+            ],
+            "target_position": [
+              0.2650416757537947,
+              -0.35159738659126477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008172868808814963,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18684857894010207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396047227206,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579358641838273,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632133806790655,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15404948029865137,
+            "release_required_pad_clearance": 0.05316066903395328,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3457886236482028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074391961097717285,
+            "max_z_decrease": 0.0074391961097717285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035142043284278474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074391961097717285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021239702394715586,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074391961097717285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00743921664004884,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12074159830808641,
+              -0.40785884857177734,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12074159830808641,
+              -0.40785884857177734,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12170964078789953,
+              -0.4093010605894638,
+              0.8078203567577545
+            ],
+            "closest_button": [
+              0.12073007225990295,
+              -0.4078558981418609,
+              0.7727217078208923
+            ],
+            "closest_ee_minus_button": [
+              0.0009795685279965771,
+              -0.001445162447602899,
+              0.03509864893686221
+            ],
+            "button_min_z_position": [
+              0.12072424590587616,
+              -0.4078567624092102,
+              0.7693696618080139
+            ],
+            "min_active_finger_to_button": 0.1450915742950326,
+            "closest_active_finger": [
+              -0.01935836672782898,
+              -0.39243054389953613,
+              0.8107339143753052
+            ],
+            "closest_active_finger_button": [
+              0.12074174731969833,
+              -0.4078579843044281,
+              0.7763025760650635
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401001140475273,
+              0.015427440404891968,
+              0.0344313383102417
+            ],
+            "min_contact_pad_to_button": 0.021239702394715586,
+            "closest_contact_pad": [
+              0.12072424590587616,
+              -0.4104452715253341,
+              0.7904510417052557
+            ],
+            "closest_contact_pad_button": [
+              0.12072424590587616,
+              -0.4078567624092102,
+              0.7693696618080139
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002588509116123905,
+              0.021081379897241792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27868344868812434,
+              0.17938998020486735,
+              1.1037134947575327
+            ],
+            "current_z": 1.1037134947575327,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1938043650231701,
+            "gripper_z": 1.103713845925544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27868337112278985,
+              0.17938997054451605,
+              1.103713845925544
+            ],
+            "object_minus_gripper": [
+              7.756533448866065e-08,
+              9.660351296680858e-09,
+              -3.5116801133661113e-07
+            ],
+            "object_to_gripper_xy": 7.81645923773232e-08,
+            "object_to_gripper_z": -3.5116801133661113e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27868344868812434,
+              0.17938998020486735,
+              1.1037134947575327
+            ],
+            "finger_b": [
+              0.27868344868812434,
+              0.17938998020486735,
+              1.1037134947575327
+            ],
+            "finger_midpoint": [
+              0.27868344868812434,
+              0.17938998020486735,
+              1.1037134947575327
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037134947575327,
+            "object_top_z": 1.2287220013778124,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2786834486881244,
+            0.17938998020486738,
+            1.1037134947575327
+          ],
+          "object_origin_world": [
+            0.2786834486881244,
+            0.17938998020486738,
+            1.1037134947575327
+          ],
+          "frame_world": [
+            0.27868337112278985,
+            0.17938997054451605,
+            1.103713845925544
+          ],
+          "center_minus_frame": [
+            7.75653345441718e-08,
+            9.660351324436434e-09,
+            -3.5116801133661113e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437434329462087,
+            "required_z": 0.9112598128870995,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012617283224643718,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.639658591237671e-07,
+            "max_target_xy_drift": 2.5431694307474297e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.3452069070711274,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3457886252643265,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27310782304684944,
+              -0.3495911100381356,
+              0.9234327108526813
+            ],
+            "target_mouth_xy": [
+              0.27318019984356046,
+              -0.350849040009315
+            ],
+            "rod_tip_z": 0.9234327108526813,
+            "rod_tip_depth": -0.02217287720118144,
+            "rod_tip_bottom_clearance": 0.12161342949922382,
+            "rod_tip_xy_dist": 0.0012600104019783202,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04472940282035931,
+            "min_rod_tip_bottom_clearance": 0.05471114331799476,
+            "min_rod_tip_xy_dist": 0.0007514110949213249,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2731802241129824,
+              -0.35084887784952307
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.4269421916578438e-08,
+              -1.6215979192768515e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0004620703422858474,
+                0.002921482618201021
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00036088808939893635,
+                0.0025535668269435208
+              ],
+              "first_target_mouth_xy": [
+                0.27318022826244504,
+                -0.35084906952577144
+              ],
+              "last_target_mouth_xy": [
+                0.2731802600011588,
+                -0.3508490691795295
+              ],
+              "first_rod_tip_xy": [
+                0.2736422986047309,
+                -0.3479275869075704
+              ],
+              "last_rod_tip_xy": [
+                0.27354114809055774,
+                -0.348295502352586
+              ],
+              "min_rod_tip_xy_dist": 0.002578942370960704,
+              "max_rod_tip_xy_dist": 0.0029577981150969135,
+              "first_target_xy_drift": 1.917211574940779e-07,
+              "last_target_xy_drift": 1.9466672179758165e-07,
+              "max_depth": 0.019502055399526208,
+              "min_bottom_clearance": 0.07993854086057772
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0004620703422858474,
+                  0.002921482618201021
+                ],
+                "rod_tip_xy": [
+                  0.2736422986047309,
+                  -0.3479275869075704
+                ],
+                "target_mouth_xy": [
+                  0.27318022826244504,
+                  -0.35084906952577144
+                ],
+                "gripper_position": [
+                  0.27363401713697755,
+                  -0.3479284763299501,
+                  1.0060403038600783
+                ],
+                "rod_tip_xy_dist": 0.0029577981150969135,
+                "target_xy_drift": 1.917211574940779e-07,
+                "depth": 0.015095681345321466,
+                "bottom_clearance": 0.08434485580150997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004537880628709967,
+                  0.0029205944527309624
+                ],
+                "rod_tip_xy": [
+                  0.27363401713697744,
+                  -0.3479284763299503
+                ],
+                "target_mouth_xy": [
+                  0.27318022907410644,
+                  -0.35084907078268124
+                ],
+                "gripper_position": [
+                  0.2736393442139712,
+                  -0.34799193467111117,
+                  1.0055175373197103
+                ],
+                "rod_tip_xy_dist": 0.002955637928320565,
+                "target_xy_drift": 1.9299693332838214e-07,
+                "depth": 0.015219512317326545,
+                "bottom_clearance": 0.08422099163919616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00045911623645433774,
+                  0.00285713422451922
+                ],
+                "rod_tip_xy": [
+                  0.27363934421397107,
+                  -0.3479919346711112
+                ],
+                "target_mouth_xy": [
+                  0.27318022797751673,
+                  -0.35084906889563044
+                ],
+                "gripper_position": [
+                  0.2736278875210306,
+                  -0.3479990171339776,
+                  1.0053760339325613
+                ],
+                "rod_tip_xy_dist": 0.002893787085377056,
+                "target_xy_drift": 1.9108518982447873e-07,
+                "depth": 0.015742323874842312,
+                "bottom_clearance": 0.08369824641280144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00044765735314800104,
+                  0.0028500853401937087
+                ],
+                "rod_tip_xy": [
+                  0.2736278875210305,
+                  -0.34799901713397763
+                ],
+                "target_mouth_xy": [
+                  0.2731802301678825,
+                  -0.35084910247417134
+                ],
+                "gripper_position": [
+                  0.27363303025038266,
+                  -0.34806267101159627,
+                  1.0048574865202333
+                ],
+                "rod_tip_xy_dist": 0.002885027478589166,
+                "target_xy_drift": 2.2470624029249254e-07,
+                "depth": 0.015883884390191283,
+                "bottom_clearance": 0.0835567282865527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0004528061080237844,
+                  0.002786206200732888
+                ],
+                "rod_tip_xy": [
+                  0.27363303025038255,
+                  -0.3480626710115964
+                ],
+                "target_mouth_xy": [
+                  0.27318022414235876,
+                  -0.35084887721232927
+                ],
+                "gripper_position": [
+                  0.27362173030002473,
+                  -0.34806965818193797,
+                  1.004716434126259
+                ],
+                "rod_tip_xy_dist": 0.0028227607699672394,
+                "target_xy_drift": 6.378706045600129e-10,
+                "depth": 0.016402333453453655,
+                "bottom_clearance": 0.08303816941955311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00044150064656217625,
+                  0.0027794110141917683
+                ],
+                "rod_tip_xy": [
+                  0.2736217303000246,
+                  -0.34806965818193814
+                ],
+                "target_mouth_xy": [
+                  0.27318022965346245,
+                  -0.3508490691961299
+                ],
+                "gripper_position": [
+                  0.2736132015423409,
+                  -0.34807056158883015,
+                  1.004592802481732
+                ],
+                "rod_tip_xy_dist": 0.002814258056171348,
+                "target_xy_drift": 1.9142680289738827e-07,
+                "depth": 0.01654341069059484,
+                "bottom_clearance": 0.08289716443447825,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004329745824619424,
+                  0.002778314960896422
+                ],
+                "rod_tip_xy": [
+                  0.2736132015423408,
+                  -0.3480705615888302
+                ],
+                "target_mouth_xy": [
+                  0.27318022695987887,
+                  -0.35084887654972663
+                ],
+                "gripper_position": [
+                  0.2736195780388281,
+                  -0.34813473550770135,
+                  1.0040754179792364
+                ],
+                "rod_tip_xy_dist": 0.002811850104646224,
+                "target_xy_drift": 3.1295831094248124e-09,
+                "depth": 0.016667110345117808,
+                "bottom_clearance": 0.0827735228424974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0004393540632015025,
+                  0.0027141407602308543
+                ],
+                "rod_tip_xy": [
+                  0.27361957803882797,
+                  -0.34813473550770146
+                ],
+                "target_mouth_xy": [
+                  0.27318022397562647,
+                  -0.3508488762679323
+                ],
+                "gripper_position": [
+                  0.273608019455279,
+                  -0.3481415931676344,
+                  1.0039346324961078
+                ],
+                "rod_tip_xy_dist": 0.0027494712326551424,
+                "target_xy_drift": 1.5875439950725059e-09,
+                "depth": 0.0171844212876634,
+                "bottom_clearance": 0.0822561169157926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004277949165314987,
+                  0.0027072862714562773
+                ],
+                "rod_tip_xy": [
+                  0.27360801945527896,
+                  -0.3481415931676344
+                ],
+                "target_mouth_xy": [
+                  0.27318022453874746,
+                  -0.35084887943909066
+                ],
+                "gripper_position": [
+                  0.27359941384480746,
+                  -0.34814241121293055,
+                  1.0038109076574182
+                ],
+                "rod_tip_xy_dist": 0.002740877130815211,
+                "target_xy_drift": 1.6456005076189482e-09,
+                "depth": 0.01732521204041626,
+                "bottom_clearance": 0.08211534770878448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000419186062041943,
+                  0.0027066580029463383
+                ],
+                "rod_tip_xy": [
+                  0.27359941384480735,
+                  -0.34814241121293066
+                ],
+                "target_mouth_xy": [
+                  0.2731802277827654,
+                  -0.350849069215877
+                ],
+                "gripper_position": [
+                  0.27359071410921865,
+                  -0.34814302890508786,
+                  1.0036872454793155
+                ],
+                "rod_tip_xy_dist": 0.002738925792993248,
+                "target_xy_drift": 1.9140153793514184e-07,
+                "depth": 0.01744895406762781,
+                "bottom_clearance": 0.08199161272472522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00041048355888034793,
+                  0.002706042496244121
+                ],
+                "rod_tip_xy": [
+                  0.2735907141092186,
+                  -0.34814302890508797
+                ],
+                "target_mouth_xy": [
+                  0.27318023055033824,
+                  -0.3508490714013321
+                ],
+                "gripper_position": [
+                  0.2735985703291011,
+                  -0.3482096626459852,
+                  1.003170495633368
+                ],
+                "rod_tip_xy_dist": 0.0027369988570677536,
+                "target_xy_drift": 1.9365882971683315e-07,
+                "depth": 0.017572653609228994,
+                "bottom_clearance": 0.08186792988630509,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00041837416435958064,
+                  0.002639213914493621
+                ],
+                "rod_tip_xy": [
+                  0.273598570329101,
+                  -0.3482096626459852
+                ],
+                "target_mouth_xy": [
+                  0.27318019616474143,
+                  -0.3508488765604788
+                ],
+                "gripper_position": [
+                  0.2735869011678014,
+                  -0.3482162913608963,
+                  1.0030295779979237
+                ],
+                "rod_tip_xy_dist": 0.0026721689744214007,
+                "target_xy_drift": 2.7977952158003675e-08,
+                "depth": 0.018089409493119324,
+                "bottom_clearance": 0.08135118592400203,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004067069286690095,
+                  0.002632586496983391
+                ],
+                "rod_tip_xy": [
+                  0.2735869011678013,
+                  -0.3482162913608964
+                ],
+                "target_mouth_xy": [
+                  0.2731801942391323,
+                  -0.35084887785787977
+                ],
+                "gripper_position": [
+                  0.27357816901577386,
+                  -0.34821701014021883,
+                  1.0029062603500793
+                ],
+                "rod_tip_xy_dist": 0.0026638172215688264,
+                "target_xy_drift": 2.987385122919232e-08,
+                "depth": 0.018230236850650394,
+                "bottom_clearance": 0.08121025315757913,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00039794259370756757,
+                  0.002631867686358369
+                ],
+                "rod_tip_xy": [
+                  0.27357816901577375,
+                  -0.3482170101402189
+                ],
+                "target_mouth_xy": [
+                  0.2731802264220662,
+                  -0.35084887782657725
+                ],
+                "gripper_position": [
+                  0.27356929454402235,
+                  -0.3482177267674718,
+                  1.0027826401580189
+                ],
+                "rod_tip_xy_dist": 0.0026617824528657598,
+                "target_xy_drift": 2.309197818714186e-09,
+                "depth": 0.01835363109713095,
+                "bottom_clearance": 0.0810869465407481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00038909805373693596,
+                  0.0026311504255877027
+                ],
+                "rod_tip_xy": [
+                  0.2735692945440223,
+                  -0.34821772676747187
+                ],
+                "target_mouth_xy": [
+                  0.27318019649028535,
+                  -0.35084887719305957
+                ],
+                "gripper_position": [
+                  0.2735606439240048,
+                  -0.3482183140335964,
+                  1.0026592293873084
+                ],
+                "rod_tip_xy_dist": 0.002659765000426207,
+                "target_xy_drift": 2.763049646499336e-08,
+                "depth": 0.018477196409247054,
+                "bottom_clearance": 0.08096338809712378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0003803880420798489,
+                  0.0026305622065474488
+                ],
+                "rod_tip_xy": [
+                  0.2735606439240047,
+                  -0.3482183140335966
+                ],
+                "target_mouth_xy": [
+                  0.27318025588192485,
+                  -0.35084887624014405
+                ],
+                "gripper_position": [
+                  0.2735705925078801,
+                  -0.3482878679002787,
+                  1.0021447750705113
+                ],
+                "rod_tip_xy_dist": 0.0026579226070510636,
+                "target_xy_drift": 3.180968102503052e-08,
+                "depth": 0.018600682371173516,
+                "bottom_clearance": 0.08083992901449233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003903709687805845,
+                  0.0025610106147012646
+                ],
+                "rod_tip_xy": [
+                  0.27357059250787996,
+                  -0.34828786790027877
+                ],
+                "target_mouth_xy": [
+                  0.2731802215390994,
+                  -0.35084887851498003
+                ],
+                "gripper_position": [
+                  0.2735588606624792,
+                  -0.3482945384544084,
+                  1.0020041952515153
+                ],
+                "rod_tip_xy_dist": 0.002590591604610661,
+                "target_xy_drift": 2.658515873662521e-09,
+                "depth": 0.019115127226974615,
+                "bottom_clearance": 0.08032548096464331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003786001299707076,
+                  0.0025545313573672734
+                ],
+                "rod_tip_xy": [
+                  0.27355886066247914,
+                  -0.3482945384544085
+                ],
+                "target_mouth_xy": [
+                  0.27318026053250843,
+                  -0.35084906981177577
+                ],
+                "gripper_position": [
+                  0.2735499992408419,
+                  -0.34829513161729014,
+                  1.0018811304309783
+                ],
+                "rod_tip_xy_dist": 0.002582434609856854,
+                "target_xy_drift": 1.9538651013313754e-07,
+                "depth": 0.019255706196644184,
+                "bottom_clearance": 0.08018488691018388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00036980805967734565,
+                  0.0025537767060594962
+                ],
+                "rod_tip_xy": [
+                  0.2735499992408418,
+                  -0.3482951316172902
+                ],
+                "target_mouth_xy": [
+                  0.27318019118116443,
+                  -0.3508489083233497
+                ],
+                "gripper_position": [
+                  0.27354114809055785,
+                  -0.3482955023525859,
+                  1.001757853442606
+                ],
+                "rod_tip_xy_dist": 0.002580413429164872,
+                "target_xy_drift": 4.48682375649879e-08,
+                "depth": 0.019378788682598347,
+                "bottom_clearance": 0.0800618406226784,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00036088808939893635,
+                  0.0025535668269435208
+                ],
+                "rod_tip_xy": [
+                  0.27354114809055774,
+                  -0.348295502352586
+                ],
+                "target_mouth_xy": [
+                  0.2731802600011588,
+                  -0.3508490691795295
+                ],
+                "gripper_position": [
+                  0.273532210589963,
+                  -0.3482959213558109,
+                  1.0016342841359684
+                ],
+                "rod_tip_xy_dist": 0.002578942370960704,
+                "target_xy_drift": 1.9466672179758165e-07,
+                "depth": 0.019502055399526208,
+                "bottom_clearance": 0.07993854086057772,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006017180686203539,
+              "rod_tip_xy_max_step": 3.262780434528246e-05,
+              "rod_tip_xy_range": 0.0006017137900819923,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2731078230468495,
+            -0.34959111003813553,
+            1.0434327108526813
+          ],
+          "object_origin_world": [
+            0.2731078230468495,
+            -0.34959111003813553,
+            1.0434327108526813
+          ],
+          "frame_world": [
+            0.27313310212216013,
+            -0.34958819102377087,
+            1.0437434329462087
+          ],
+          "center_minus_frame": [
+            -2.527907531063578e-05,
+            -2.919014364666239e-06,
+            -0.00031072209352744906
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2665443405141462,
+              0.13554362217033877,
+              0.8334487415621578
+            ],
+            "target_position": [
+              0.2791853482773091,
+              0.18122506666508004,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04739820089828802,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16834005247094352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334487415621578,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566920788996,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13855727703266357,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88d1328e60add3685831c7a4f7ee2b4556abeaf4211279cd353c02d5512187f6",
+    "visual_seed": 1329131488878174566,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29a8093b173cd3bce10f73d12cd6920b3ff1159b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_72_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26262159918379746,
+              0.02653702272110769,
+              1.161216098359795
+            ],
+            "current_z": 1.161216098359795,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3001094711357396,
+            "gripper_z": 1.1543696026210613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25743943928851554,
+              0.021622915207696422,
+              1.1543696026210613
+            ],
+            "object_minus_gripper": [
+              0.005182159895281924,
+              0.004914107513411269,
+              0.006846495738733749
+            ],
+            "object_to_gripper_xy": 0.007141654838595425,
+            "object_to_gripper_z": 0.006846495738733749,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26262159918379746,
+              0.0023570670243439435,
+              1.161216098359795
+            ],
+            "finger_b": [
+              0.2515490466293962,
+              0.02653702272110769,
+              1.161216098359795
+            ],
+            "finger_midpoint": [
+              0.2570853229065968,
+              0.014447044872725818,
+              1.161216098359795
+            ],
+            "object_minus_finger_midpoint": [
+              0.005536276277200658,
+              0.012089977848381873,
+              0.0
+            ],
+            "finger_gap": 0.026594579853185037,
+            "fingertip_max_gap": 0.09080974073648995,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01329728992659253,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161216098359795,
+            "object_top_z": 1.211114096116025,
+            "finger_top_clearance": 0.04989799775622994,
+            "fingertip_min_top_clearance": 0.014969399326868981,
+            "object_projection_between_fingers": 0.8266558326050201,
+            "object_to_finger_line_xy": 0.010067232935941507,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790487036824498,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5286399102145051,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2726109677043975,
+              -0.3476282387272547,
+              0.8515396408016219
+            ],
+            "target_position": [
+              0.2640278694986279,
+              -0.3484271248731838,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008620196858775523,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18543026658628117,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396408016219,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563791704528444,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563650335425642,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15311689179065013,
+            "release_required_pad_clearance": 0.05281825167712821,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6818463740607934,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007523000240325928,
+            "max_z_decrease": 0.007523000240325928,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513136027294599,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007523000240325928,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02126127585528908,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007523000240325928,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00752301912387741,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11972779780626297,
+              -0.40468859672546387,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11972779780626297,
+              -0.40468859672546387,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11875915476237792,
+              -0.406441883432672,
+              0.8077280417731609
+            ],
+            "closest_button": [
+              0.11971659958362578,
+              -0.40468630194664,
+              0.7726536393165588
+            ],
+            "closest_ee_minus_button": [
+              -0.0009574448212478631,
+              -0.0017555814860319985,
+              0.035074402456602094
+            ],
+            "button_min_z_position": [
+              0.1197112128138542,
+              -0.40468558669090277,
+              0.7692858576774597
+            ],
+            "min_active_finger_to_button": 0.1469304039853181,
+            "closest_active_finger": [
+              -0.02226117253303528,
+              -0.38912540674209595,
+              0.8110496401786804
+            ],
+            "closest_active_finger_button": [
+              0.11972825974225998,
+              -0.404689371585846,
+              0.7766213417053223
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14198943227529526,
+              0.015563964843750056,
+              0.034428298473358154
+            ],
+            "min_contact_pad_to_button": 0.02126127585528908,
+            "closest_contact_pad": [
+              0.1197112128138542,
+              -0.40766084678844755,
+              0.7903379283201936
+            ],
+            "closest_contact_pad_button": [
+              0.1197112128138542,
+              -0.40468558669090277,
+              0.7692858576774597
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002975260097544785,
+              0.021052070642733844
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2813496295173971,
+              0.18019414488581328,
+              1.1016779825284968
+            ],
+            "current_z": 1.1016779825284968,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19176885279413425,
+            "gripper_z": 1.1016782706786665,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.281349670805199,
+              0.1801941581313091,
+              1.1016782706786665
+            ],
+            "object_minus_gripper": [
+              -4.128780189960324e-08,
+              -1.3245495811275987e-08,
+              -2.8815016972494334e-07
+            ],
+            "object_to_gripper_xy": 4.3360416799050846e-08,
+            "object_to_gripper_z": -2.8815016972494334e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2813496295173971,
+              0.18019414488581328,
+              1.1016779825284968
+            ],
+            "finger_b": [
+              0.2813496295173971,
+              0.18019414488581328,
+              1.1016779825284968
+            ],
+            "finger_midpoint": [
+              0.2813496295173971,
+              0.18019414488581328,
+              1.1016779825284968
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016779825284968,
+            "object_top_z": 1.2266864891487765,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2813496295173971,
+            0.18019414488581328,
+            1.101677982528497
+          ],
+          "object_origin_world": [
+            0.2813496295173971,
+            0.18019414488581328,
+            1.101677982528497
+          ],
+          "frame_world": [
+            0.281349670805199,
+            0.1801941581313091,
+            1.1016782706786665
+          ],
+          "center_minus_frame": [
+            -4.128780189960324e-08,
+            -1.3245495811275987e-08,
+            -2.8815016950289873e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431746338551662,
+            "required_z": 0.9112598318802163,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023742728752839245,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.6947478950629e-08,
+            "max_target_xy_drift": 2.2544782219398117e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6818463780126386,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6818463865176849,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27113087227860133,
+              -0.34947854024762287,
+              0.9232848903809204
+            ],
+            "target_mouth_xy": [
+              0.27261096695305154,
+              -0.3476282377855047
+            ],
+            "rod_tip_z": 0.9232848903809204,
+            "rod_tip_depth": -0.02202489798768681,
+            "rod_tip_bottom_clearance": 0.12146558449506462,
+            "rod_tip_xy_dist": 0.0023694512965360434,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04472516387014602,
+            "min_rod_tip_bottom_clearance": 0.05471535263423788,
+            "min_rod_tip_xy_dist": 0.0008153951153685663,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27261102382855174,
+              -0.3476282406478178
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.687550019839449e-08,
+              2.86231305324236e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.0008612825042224048,
+                -0.00021402046248469864
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009702492732854284,
+                -0.000588908590436199
+              ],
+              "first_target_mouth_xy": [
+                0.27261096250700234,
+                -0.34762824128590597
+              ],
+              "last_target_mouth_xy": [
+                0.27261099666042155,
+                -0.34762818006547214
+              ],
+              "first_rod_tip_xy": [
+                0.27174968000277994,
+                -0.34784226174839067
+              ],
+              "last_rod_tip_xy": [
+                0.2716407473871361,
+                -0.34821708865590834
+              ],
+              "min_rod_tip_xy_dist": 0.0008874752449740675,
+              "max_rod_tip_xy_dist": 0.0011349876564088496,
+              "first_target_xy_drift": 6.132486915279147e-08,
+              "last_target_xy_drift": 6.639524004985063e-08,
+              "max_depth": 0.019676125231691377,
+              "min_bottom_clearance": 0.07976448944097891
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008612825042224048,
+                  -0.00021402046248469864
+                ],
+                "rod_tip_xy": [
+                  0.27174968000277994,
+                  -0.34784226174839067
+                ],
+                "target_mouth_xy": [
+                  0.27261096250700234,
+                  -0.34762824128590597
+                ],
+                "gripper_position": [
+                  0.2717385140868883,
+                  -0.34784937567043184,
+                  1.005832292516887
+                ],
+                "rod_tip_xy_dist": 0.0008874752449740675,
+                "target_xy_drift": 6.132486915279147e-08,
+                "depth": 0.015287652879763969,
+                "bottom_clearance": 0.0841529219728413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008725111337999913,
+                  -0.00022116769800856195
+                ],
+                "rod_tip_xy": [
+                  0.27173851408688837,
+                  -0.3478493756704318
+                ],
+                "target_mouth_xy": [
+                  0.27261102522068836,
+                  -0.3476282079724232
+                ],
+                "gripper_position": [
+                  0.27173023552538034,
+                  -0.3478503213246468,
+                  1.0057090619231992
+                ],
+                "rod_tip_xy_dist": 0.0009001060100051287,
+                "target_xy_drift": 3.270503713239584e-08,
+                "depth": 0.01542763005989134,
+                "bottom_clearance": 0.0840130059031613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008807256268540398,
+                  -0.00022211046684633695
+                ],
+                "rod_tip_xy": [
+                  0.27173023552538034,
+                  -0.3478503213246467
+                ],
+                "target_mouth_xy": [
+                  0.2726109611522344,
+                  -0.3476282108578004
+                ],
+                "gripper_position": [
+                  0.27173325313401464,
+                  -0.347914183525465,
+                  1.005188203608214
+                ],
+                "rod_tip_xy_dist": 0.0009083009904652416,
+                "target_xy_drift": 6.939571956639393e-08,
+                "depth": 0.015550835606519597,
+                "bottom_clearance": 0.08388976812735793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008777115195147123,
+                  -0.00028597300166283146
+                ],
+                "rod_tip_xy": [
+                  0.2717332531340147,
+                  -0.34791418352546494
+                ],
+                "target_mouth_xy": [
+                  0.2726109646535294,
+                  -0.3476282105238021
+                ],
+                "gripper_position": [
+                  0.27172192171697296,
+                  -0.34792121764031064,
+                  1.005047969109952
+                ],
+                "rod_tip_xy_dist": 0.0009231240811336659,
+                "target_xy_drift": 6.640135230171717e-08,
+                "depth": 0.016071626071615053,
+                "bottom_clearance": 0.08336892093681347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008891047805120178,
+                  -0.00029300903836620984
+                ],
+                "rod_tip_xy": [
+                  0.271721921716973,
+                  -0.34792121764031053
+                ],
+                "target_mouth_xy": [
+                  0.27261102649748503,
+                  -0.3476282086019443
+                ],
+                "gripper_position": [
+                  0.27171347335172175,
+                  -0.34792196464946296,
+                  1.0049252149112697
+                ],
+                "rod_tip_xy_dist": 0.0009361418734858592,
+                "target_xy_drift": 3.21568221443842e-08,
+                "depth": 0.01621195209091375,
+                "bottom_clearance": 0.08322870971849639,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008974889837629618,
+                  -0.0002937836072412492
+                ],
+                "rod_tip_xy": [
+                  0.2717134733517218,
+                  -0.34792196464946284
+                ],
+                "target_mouth_xy": [
+                  0.27261096233548476,
+                  -0.3476281810422216
+                ],
+                "gripper_position": [
+                  0.27171728500867903,
+                  -0.3479870186842718,
+                  1.0044053976219167
+                ],
+                "rod_tip_xy_dist": 0.0009443491323973112,
+                "target_xy_drift": 8.564008630127752e-08,
+                "depth": 0.016334646554638677,
+                "bottom_clearance": 0.08310591171383208,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008937114393992029,
+                  -0.00035881071772753126
+                ],
+                "rod_tip_xy": [
+                  0.2717172850086791,
+                  -0.3479870186842718
+                ],
+                "target_mouth_xy": [
+                  0.2726109964480783,
+                  -0.34762820796654426
+                ],
+                "gripper_position": [
+                  0.27170574205481246,
+                  -0.3479938965788957,
+                  1.0042652289314073
+                ],
+                "rod_tip_xy_dist": 0.0009630499821240543,
+                "target_xy_drift": 4.263514940702784e-08,
+                "depth": 0.01685453307287066,
+                "bottom_clearance": 0.08258614232779249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009052213599382575,
+                  -0.00036568447215956645
+                ],
+                "rod_tip_xy": [
+                  0.2717057420548125,
+                  -0.3479938965788956
+                ],
+                "target_mouth_xy": [
+                  0.2726109634147508,
+                  -0.34762821210673606
+                ],
+                "gripper_position": [
+                  0.271697207358219,
+                  -0.34799479199245115,
+                  1.004142422713547
+                ],
+                "rod_tip_xy_dist": 0.0009762944451686125,
+                "target_xy_drift": 6.681632055436676e-08,
+                "depth": 0.016994622835718065,
+                "bottom_clearance": 0.08244594001278793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000913790253437019,
+                  -0.0003665827607982064
+                ],
+                "rod_tip_xy": [
+                  0.27169720735821906,
+                  -0.34799479199245115
+                ],
+                "target_mouth_xy": [
+                  0.2726109976116561,
+                  -0.34762820923165294
+                ],
+                "gripper_position": [
+                  0.2717017479312612,
+                  -0.34806066002981334,
+                  1.003625219625736
+                ],
+                "rod_tip_xy_dist": 0.000984578868243132,
+                "target_xy_drift": 4.0918223700122565e-08,
+                "depth": 0.017117494315663673,
+                "bottom_clearance": 0.08232317963084934,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009092139946969002,
+                  -0.00043244758444394016
+                ],
+                "rod_tip_xy": [
+                  0.27170174793126123,
+                  -0.34806066002981334
+                ],
+                "target_mouth_xy": [
+                  0.27261096192595813,
+                  -0.3476282124453694
+                ],
+                "gripper_position": [
+                  0.27169042131102783,
+                  -0.3480672196126741,
+                  1.0034851084578076
+                ],
+                "rod_tip_xy_dist": 0.001006817263183391,
+                "target_xy_drift": 6.802432792510795e-08,
+                "depth": 0.017634683390036376,
+                "bottom_clearance": 0.0818059483222574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009205424050791611,
+                  -0.00043901130974038916
+                ],
+                "rod_tip_xy": [
+                  0.2716904213110279,
+                  -0.3480672196126741
+                ],
+                "target_mouth_xy": [
+                  0.27261096371610705,
+                  -0.34762820830293373
+                ],
+                "gripper_position": [
+                  0.27168176567091995,
+                  -0.34806796938441764,
+                  1.0033625761509577
+                ],
+                "rod_tip_xy_dist": 0.001019867270594021,
+                "target_xy_drift": 6.82619771950658e-08,
+                "depth": 0.017774733814321597,
+                "bottom_clearance": 0.08166581785377736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009292004672690202,
+                  -0.00043972621086391106
+                ],
+                "rod_tip_xy": [
+                  0.27168176567092,
+                  -0.3480679693844176
+                ],
+                "target_mouth_xy": [
+                  0.272610966138189,
+                  -0.3476282431735537
+                ],
+                "gripper_position": [
+                  0.27167297872539686,
+                  -0.3480686272401681,
+                  1.0032399147110622
+                ],
+                "rod_tip_xy_dist": 0.0010279944790190744,
+                "target_xy_drift": 5.774562573343529e-08,
+                "depth": 0.017897375801200988,
+                "bottom_clearance": 0.0815433292291795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009379855194154296,
+                  -0.0004404164058748883
+                ],
+                "rod_tip_xy": [
+                  0.2716729787253969,
+                  -0.3480686272401681
+                ],
+                "target_mouth_xy": [
+                  0.27261096424481235,
+                  -0.34762821083429324
+                ],
+                "gripper_position": [
+                  0.27167888216944547,
+                  -0.3481364199727068,
+                  1.00272482195391
+                ],
+                "rod_tip_xy_dist": 0.0010362352267688972,
+                "target_xy_drift": 6.662633296752802e-08,
+                "depth": 0.018019917141188224,
+                "bottom_clearance": 0.08142062492028213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009320820166456856,
+                  -0.0005081818749677613
+                ],
+                "rod_tip_xy": [
+                  0.2716788821694455,
+                  -0.3481364199727068
+                ],
+                "target_mouth_xy": [
+                  0.2726109641860912,
+                  -0.347628238097739
+                ],
+                "gripper_position": [
+                  0.2716673075325798,
+                  -0.3481432014353779,
+                  1.002584941678134
+                ],
+                "rod_tip_xy_dist": 0.001061614668229503,
+                "target_xy_drift": 5.969695133978434e-08,
+                "depth": 0.018535083706428646,
+                "bottom_clearance": 0.08090548611970161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009436861630131022,
+                  -0.0005149611089571571
+                ],
+                "rod_tip_xy": [
+                  0.27166730753257984,
+                  -0.34814320143537786
+                ],
+                "target_mouth_xy": [
+                  0.27261099369559294,
+                  -0.3476282403264207
+                ],
+                "gripper_position": [
+                  0.2716586129509735,
+                  -0.34814353125460057,
+                  1.0024624817464292
+                ],
+                "rod_tip_xy_dist": 0.0010750481468291438,
+                "target_xy_drift": 3.013467275102855e-08,
+                "depth": 0.018674881789673026,
+                "bottom_clearance": 0.08076563566573791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009523529240881845,
+                  -0.0005153226393089239
+                ],
+                "rod_tip_xy": [
+                  0.27165861295097354,
+                  -0.34814353125460057
+                ],
+                "target_mouth_xy": [
+                  0.27261096587506173,
+                  -0.34762820861529165
+                ],
+                "gripper_position": [
+                  0.2716497524745006,
+                  -0.3481441583312391,
+                  1.0023403138902187
+                ],
+                "rod_tip_xy_dist": 0.0010828358668808632,
+                "target_xy_drift": 6.621698977116124e-08,
+                "depth": 0.018797490897679014,
+                "bottom_clearance": 0.08064313165417658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0009611823673918996,
+                  -0.0005159183273732437
+                ],
+                "rod_tip_xy": [
+                  0.2716497524745007,
+                  -0.34814415833123896
+                ],
+                "target_mouth_xy": [
+                  0.2726109348418926,
+                  -0.3476282400038657
+                ],
+                "gripper_position": [
+                  0.27164093365538644,
+                  -0.34814472661222623,
+                  1.0022179080745401
+                ],
+                "rod_tip_xy_dist": 0.001090891041261547,
+                "target_xy_drift": 8.898898910185996e-08,
+                "depth": 0.018919509989366756,
+                "bottom_clearance": 0.08052102529512573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.000970095222509737,
+                  -0.0005165186531147503
+                ],
+                "rod_tip_xy": [
+                  0.2716409336553865,
+                  -0.34814472661222623
+                ],
+                "target_mouth_xy": [
+                  0.27261102887789623,
+                  -0.3476282079591115
+                ],
+                "gripper_position": [
+                  0.27163199395785875,
+                  -0.3481452877028988,
+                  1.002095374387063
+                ],
+                "rod_tip_xy_dist": 0.0010990342395720398,
+                "target_xy_drift": 3.3076387336816403e-08,
+                "depth": 0.019042043238740924,
+                "bottom_clearance": 0.08039873260050057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0009789693846568581,
+                  -0.0005170467383323052
+                ],
+                "rod_tip_xy": [
+                  0.2716319939578588,
+                  -0.3481452877028987
+                ],
+                "target_mouth_xy": [
+                  0.27261096334251567,
+                  -0.3476282409645664
+                ],
+                "gripper_position": [
+                  0.27164074738713606,
+                  -0.34821708865590845,
+                  1.00158377296189
+                ],
+                "rod_tip_xy_dist": 0.001107121667078873,
+                "target_xy_drift": 6.048686542542839e-08,
+                "depth": 0.019164462369025137,
+                "bottom_clearance": 0.08027606908318685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0009702492732854284,
+                  -0.000588908590436199
+                ],
+                "rod_tip_xy": [
+                  0.2716407473871361,
+                  -0.34821708865590834
+                ],
+                "target_mouth_xy": [
+                  0.27261099666042155,
+                  -0.34762818006547214
+                ],
+                "gripper_position": [
+                  0.27162872173174635,
+                  -0.34822392896600557,
+                  1.001444389715616
+                ],
+                "rod_tip_xy_dist": 0.0011349876564088496,
+                "target_xy_drift": 6.639524004985063e-08,
+                "depth": 0.019676125231691377,
+                "bottom_clearance": 0.07976448944097891,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006007713012246455,
+              "rod_tip_xy_max_step": 3.253366068819406e-05,
+              "rod_tip_xy_range": 0.00060075952096967,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27113087227860133,
+            -0.34947854024762287,
+            1.0432848903809206
+          ],
+          "object_origin_world": [
+            0.27113087227860133,
+            -0.34947854024762287,
+            1.0432848903809206
+          ],
+          "frame_world": [
+            0.27112944596153776,
+            -0.3494835725903346,
+            1.0431746338551662
+          ],
+          "center_minus_frame": [
+            1.4263170635686606e-06,
+            5.032342711708271e-06,
+            0.00011025652575447076
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27050350763006586,
+              0.13245304921977985,
+              0.8334101709915209
+            ],
+            "target_position": [
+              0.2816038622817053,
+              0.17899584126424756,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04784819081936892,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1685253228022232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334101709915209,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567029952797,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.138444666180235,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "549fd868190997e0e82ee25c25bfc52452924b5d7937928006bb6f97cbe7a020",
+    "visual_seed": 7637736995932814554,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..844f36ae9419185c8c91c59b92dc1a2013961e6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_73_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2565086268752951,
+              0.03258272208356677,
+              1.1633264359417237
+            ],
+            "current_z": 1.1633264359417237,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3022198087176683,
+            "gripper_z": 1.1565032828688269,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2512544861180443,
+              0.0276122104875373,
+              1.1565032828688269
+            ],
+            "object_minus_gripper": [
+              0.00525414075725078,
+              0.004970511596029473,
+              0.006823153072896826
+            ],
+            "object_to_gripper_xy": 0.007232702166083383,
+            "object_to_gripper_z": 0.006823153072896826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2565086268752951,
+              0.008206295409489778,
+              1.1633264359417237
+            ],
+            "finger_b": [
+              0.24553102888687744,
+              0.03258272208356677,
+              1.1633264359417237
+            ],
+            "finger_midpoint": [
+              0.25101982788108623,
+              0.020394508746528275,
+              1.1633264359417237
+            ],
+            "object_minus_finger_midpoint": [
+              0.005488798994208843,
+              0.012188213337038498,
+              0.0
+            ],
+            "finger_gap": 0.026734207207096367,
+            "fingertip_max_gap": 0.09094883358188935,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013367103603548194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633264359417237,
+            "object_top_z": 1.2132747432923177,
+            "finger_top_clearance": 0.04994830735059397,
+            "fingertip_min_top_clearance": 0.014984492205178224,
+            "object_projection_between_fingers": 0.8313912824119383,
+            "object_to_finger_line_xy": 0.010009446337766358,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797441679094468,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6984624843928546,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2679407912195375,
+              -0.34922206974178566,
+              0.8515395737064638
+            ],
+            "target_position": [
+              0.26089318325136135,
+              -0.349564951739061,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070559440287714615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18614186260218987,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395737064638,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573239392495507,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08738963540005572,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15340931867569124,
+            "release_required_pad_clearance": 0.05369481770002786,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3991777497518445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007652223110198975,
+            "max_z_decrease": 0.007652223110198975,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514646039635418,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007652223110198975,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021305907190052088,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007652223110198975,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007652249365031254,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11659310758113857,
+              -0.4058264195919037,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11659310758113857,
+              -0.4058264195919037,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11751271094108737,
+              -0.4078043173548427,
+              0.80722113583658
+            ],
+            "closest_button": [
+              0.11658201366662974,
+              -0.40582236647605896,
+              0.7721429467201233
+            ],
+            "closest_ee_minus_button": [
+              0.0009306972744576314,
+              -0.0019819508787837226,
+              0.03507818911645666
+            ],
+            "button_min_z_position": [
+              0.11657337844371791,
+              -0.40582287311553955,
+              0.7691566348075867
+            ],
+            "min_active_finger_to_button": 0.14512077919255947,
+            "closest_active_finger": [
+              -0.02378329634666443,
+              -0.39312559366226196,
+              0.8110313415527344
+            ],
+            "closest_active_finger_button": [
+              0.1165946796536445,
+              -0.40582469105720514,
+              0.7764944434165955
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14037797600030893,
+              0.012699097394943182,
+              0.034536898136138916
+            ],
+            "min_contact_pad_to_button": 0.021305907190052088,
+            "closest_contact_pad": [
+              0.11657337844371791,
+              -0.40880419313196825,
+              0.7902529238687167
+            ],
+            "closest_contact_pad_button": [
+              0.11657337844371791,
+              -0.40582287311553955,
+              0.7691566348075867
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029813200164287013,
+              0.021096289061130036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.279144914534418,
+              0.18232247753518882,
+              1.1027793084593562
+            ],
+            "current_z": 1.1027793084593562,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19287017872499368,
+            "gripper_z": 1.102779262221261,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2791448783595819,
+              0.18232250357944407,
+              1.102779262221261
+            ],
+            "object_minus_gripper": [
+              3.617483607110117e-08,
+              -2.6044255252433146e-08,
+              4.623809513049082e-08
+            ],
+            "object_to_gripper_xy": 4.45749032127377e-08,
+            "object_to_gripper_z": 4.623809513049082e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.279144914534418,
+              0.18232247753518882,
+              1.1027793084593562
+            ],
+            "finger_b": [
+              0.279144914534418,
+              0.18232247753518882,
+              1.1027793084593562
+            ],
+            "finger_midpoint": [
+              0.279144914534418,
+              0.18232247753518882,
+              1.1027793084593562
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027793084593562,
+            "object_top_z": 1.227787815079636,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.279144914534418,
+            0.18232247753518882,
+            1.1027793084593562
+          ],
+          "object_origin_world": [
+            0.279144914534418,
+            0.18232247753518882,
+            1.1027793084593562
+          ],
+          "frame_world": [
+            0.2791448783595819,
+            0.18232250357944407,
+            1.102779262221261
+          ],
+          "center_minus_frame": [
+            3.617483607110117e-08,
+            -2.6044255252433146e-08,
+            4.623809513049082e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432678758718035,
+            "required_z": 0.9112598517799357,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001000436946893004,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3160200952461382e-07,
+            "max_target_xy_drift": 1.0155529255669178e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3991777438059287,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.399177749801687,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2684392930264134,
+              -0.3483490283215075,
+              0.9233774286563762
+            ],
+            "target_mouth_xy": [
+              0.2679407969148824,
+              -0.3492220045645516
+            ],
+            "rod_tip_z": 0.9233774286563762,
+            "rod_tip_depth": -0.022117473695462242,
+            "rod_tip_bottom_clearance": 0.12155825046726243,
+            "rod_tip_xy_dist": 0.001005279013075951,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04457700903244188,
+            "min_rod_tip_bottom_clearance": 0.054863607341029685,
+            "min_rod_tip_xy_dist": 0.0007673851945884762,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.26794085165985104,
+              -0.34922212423943333
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.4744968669417915e-08,
+              1.196748817267057e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0010443450335579363,
+                0.0025195136619010627
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009431136962821385,
+                0.002141071523262539
+              ],
+              "first_target_mouth_xy": [
+                0.26794073378566263,
+                -0.3492219735725137
+              ],
+              "last_target_mouth_xy": [
+                0.26794079696525874,
+                -0.34922211276514054
+              ],
+              "first_rod_tip_xy": [
+                0.26898507881922057,
+                -0.34670245991061266
+              ],
+              "last_rod_tip_xy": [
+                0.2688839106615409,
+                -0.347081041241878
+              ],
+              "min_rod_tip_xy_dist": 0.0023395834483601404,
+              "max_rod_tip_xy_dist": 0.0027273807291288157,
+              "first_target_xy_drift": 1.912977913025711e-07,
+              "last_target_xy_drift": 5.5885220067053885e-08,
+              "max_depth": 0.019803203638937394,
+              "min_bottom_clearance": 0.07963740589870427
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010443450335579363,
+                  0.0025195136619010627
+                ],
+                "rod_tip_xy": [
+                  0.26898507881922057,
+                  -0.34670245991061266
+                ],
+                "target_mouth_xy": [
+                  0.26794073378566263,
+                  -0.3492219735725137
+                ],
+                "gripper_position": [
+                  0.26897373999884766,
+                  -0.34670948737388946,
+                  1.0056891954455716
+                ],
+                "rod_tip_xy_dist": 0.0027273807291288157,
+                "target_xy_drift": 1.912977913025711e-07,
+                "depth": 0.015432189982743871,
+                "bottom_clearance": 0.0840085008921494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010329767658390776,
+                  0.0025124922030124175
+                ],
+                "rod_tip_xy": [
+                  0.2689737399988476,
+                  -0.3467094873738895
+                ],
+                "target_mouth_xy": [
+                  0.2679407632330085,
+                  -0.34922197957690193
+                ],
+                "gripper_position": [
+                  0.2689788361481819,
+                  -0.3467732790328032,
+                  1.0051715451174477
+                ],
+                "rod_tip_xy_dist": 0.0027165526074349362,
+                "target_xy_drift": 1.6954808895337598e-07,
+                "depth": 0.015570728320560168,
+                "bottom_clearance": 0.0838698941817888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010381052945062086,
+                  0.002448667612537092
+                ],
+                "rod_tip_xy": [
+                  0.26897883614818185,
+                  -0.3467732790328032
+                ],
+                "target_mouth_xy": [
+                  0.26794073085367565,
+                  -0.3492219466453403
+                ],
+                "gripper_position": [
+                  0.2689673549375291,
+                  -0.3467802681465611,
+                  1.005033361229926
+                ],
+                "rod_tip_xy_dist": 0.002659630741131168,
+                "target_xy_drift": 2.1478778805504616e-07,
+                "depth": 0.01608837117074635,
+                "bottom_clearance": 0.083352181313327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010265914424831268,
+                  0.0024417088908116336
+                ],
+                "rod_tip_xy": [
+                  0.26896735493752905,
+                  -0.34678026814656115
+                ],
+                "target_mouth_xy": [
+                  0.2679407634950459,
+                  -0.3492219770373728
+                ],
+                "gripper_position": [
+                  0.2689588522341747,
+                  -0.3467809355076902,
+                  1.0049118752894046
+                ],
+                "rod_tip_xy_dist": 0.0026487416441110605,
+                "target_xy_drift": 1.7158519601028037e-07,
+                "depth": 0.016226526226345017,
+                "bottom_clearance": 0.0832140319507011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010180745081485587,
+                  0.0024410120517287526
+                ],
+                "rod_tip_xy": [
+                  0.26895885223417465,
+                  -0.3467809355076902
+                ],
+                "target_mouth_xy": [
+                  0.2679407777260261,
+                  -0.34922194755941893
+                ],
+                "gripper_position": [
+                  0.26896487703800886,
+                  -0.34684569695521905,
+                  1.0043949016659692
+                ],
+                "rod_tip_xy_dist": 0.0026448091690757093,
+                "target_xy_drift": 1.9152555432385732e-07,
+                "depth": 0.01634794653663474,
+                "bottom_clearance": 0.08309258419598398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010241127640742698,
+                  0.0023762778310471577
+                ],
+                "rod_tip_xy": [
+                  0.2689648770380088,
+                  -0.34684569695521905
+                ],
+                "target_mouth_xy": [
+                  0.26794076427393454,
+                  -0.3492219747862662
+                ],
+                "gripper_position": [
+                  0.26895335761562267,
+                  -0.34685241871847367,
+                  1.0042565365947027
+                ],
+                "rod_tip_xy_dist": 0.0025875670588152927,
+                "target_xy_drift": 1.7312581426578242e-07,
+                "depth": 0.016865032342250674,
+                "bottom_clearance": 0.08257563859663974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010126278015348267,
+                  0.0023695904386170086
+                ],
+                "rod_tip_xy": [
+                  0.2689533576156226,
+                  -0.3468524187184736
+                ],
+                "target_mouth_xy": [
+                  0.2679407298140878,
+                  -0.3492220091570906
+                ],
+                "gripper_position": [
+                  0.26894507839266213,
+                  -0.34685303348385393,
+                  1.004135145143271
+                ],
+                "rod_tip_xy_dist": 0.002576892297172391,
+                "target_xy_drift": 1.6760171725693905e-07,
+                "depth": 0.01700337541730612,
+                "bottom_clearance": 0.08243726157858566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001004342026055427,
+                  0.0023690193841748863
+                ],
+                "rod_tip_xy": [
+                  0.2689450783926621,
+                  -0.3468530334838539
+                ],
+                "target_mouth_xy": [
+                  0.26794073636660665,
+                  -0.34922205286802877
+                ],
+                "gripper_position": [
+                  0.2689516238777699,
+                  -0.3469188634917284,
+                  1.0036204704109717
+                ],
+                "rod_tip_xy_dist": 0.0025731217903351327,
+                "target_xy_drift": 1.3559649550341128e-07,
+                "depth": 0.017124715197251672,
+                "bottom_clearance": 0.08231586852356376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010108607762782107,
+                  0.0023031455648639954
+                ],
+                "rod_tip_xy": [
+                  0.26895162387776983,
+                  -0.3469188634917284
+                ],
+                "target_mouth_xy": [
+                  0.2679407631014916,
+                  -0.3492220090565924
+                ],
+                "gripper_position": [
+                  0.2689402953804845,
+                  -0.3469253715003238,
+                  1.0034821343094433
+                ],
+                "rod_tip_xy_dist": 0.0025152174860179543,
+                "target_xy_drift": 1.45291671712102e-07,
+                "depth": 0.01763938695750178,
+                "bottom_clearance": 0.08180121930239381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009995266138249082,
+                  0.0022967415489384413
+                ],
+                "rod_tip_xy": [
+                  0.2689402953804844,
+                  -0.3469253715003239
+                ],
+                "target_mouth_xy": [
+                  0.2679407687666595,
+                  -0.3492221130492623
+                ],
+                "gripper_position": [
+                  0.2689317212886897,
+                  -0.34692582439630953,
+                  1.0033610310087633
+                ],
+                "rod_tip_xy_dist": 0.0025048104108623547,
+                "target_xy_drift": 8.36450902911879e-08,
+                "depth": 0.01777785351412453,
+                "bottom_clearance": 0.08166280469121345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009909820852779805,
+                  0.0022962905565019343
+                ],
+                "rod_tip_xy": [
+                  0.26893172128868964,
+                  -0.3469258243963095
+                ],
+                "target_mouth_xy": [
+                  0.26794073920341166,
+                  -0.3492221149528114
+                ],
+                "gripper_position": [
+                  0.26892310209091985,
+                  -0.3469263640938864,
+                  1.003239535292502
+                ],
+                "rod_tip_xy_dist": 0.002500998963058933,
+                "target_xy_drift": 1.1283923123309898e-07,
+                "depth": 0.017898864330549213,
+                "bottom_clearance": 0.08154173170246637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009823352034613042,
+                  0.0022957505664642497
+                ],
+                "rod_tip_xy": [
+                  0.2689231020909198,
+                  -0.34692636409388644
+                ],
+                "target_mouth_xy": [
+                  0.2679407668874585,
+                  -0.3492221146603507
+                ],
+                "gripper_position": [
+                  0.2689310601405128,
+                  -0.34699448813088307,
+                  1.0027265719927825
+                ],
+                "rod_tip_xy_dist": 0.0024970889282082617,
+                "target_xy_drift": 8.531188289365292e-08,
+                "depth": 0.018020290460615374,
+                "bottom_clearance": 0.0814202381978365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009902906107095988,
+                  0.00222759572973541
+                ],
+                "rod_tip_xy": [
+                  0.26893106014051277,
+                  -0.34699448813088307
+                ],
+                "target_mouth_xy": [
+                  0.26794076952980317,
+                  -0.3492220838606185
+                ],
+                "gripper_position": [
+                  0.26891950147849597,
+                  -0.3470008898869019,
+                  1.0025880800266864
+                ],
+                "rod_tip_xy_dist": 0.002437797823609461,
+                "target_xy_drift": 9.151936107847625e-08,
+                "depth": 0.018533350582039865,
+                "bottom_clearance": 0.08090731293657949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009787338936850243,
+                  0.0022212257176606465
+                ],
+                "rod_tip_xy": [
+                  0.2689195014784959,
+                  -0.3470008898869019
+                ],
+                "target_mouth_xy": [
+                  0.2679407675848109,
+                  -0.34922211560456257
+                ],
+                "gripper_position": [
+                  0.2689108355986731,
+                  -0.34700123155253454,
+                  1.0024674601325818
+                ],
+                "rod_tip_xy_dist": 0.0024272955574970475,
+                "target_xy_drift": 8.451729627515675e-08,
+                "depth": 0.018671808348527885,
+                "bottom_clearance": 0.08076874115329857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0009700369693424471,
+                  0.0022208824508912484
+                ],
+                "rod_tip_xy": [
+                  0.26891083559867307,
+                  -0.3470012315525346
+                ],
+                "target_mouth_xy": [
+                  0.2679407986293306,
+                  -0.34922211400342584
+                ],
+                "gripper_position": [
+                  0.26890220073890403,
+                  -0.34700157656546654,
+                  1.002346343834628
+                ],
+                "rod_tip_xy_dist": 0.0024234872771623536,
+                "target_xy_drift": 5.4009369050243817e-08,
+                "depth": 0.018792510779092275,
+                "bottom_clearance": 0.08064811406117434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009614629478585379,
+                  0.002220539363259888
+                ],
+                "rod_tip_xy": [
+                  0.268902200738904,
+                  -0.3470015765654666
+                ],
+                "target_mouth_xy": [
+                  0.26794073779104544,
+                  -0.3492221159287265
+                ],
+                "gripper_position": [
+                  0.2688934669818588,
+                  -0.34700184864558614,
+                  1.0022252181867273
+                ],
+                "rod_tip_xy_dist": 0.002419753306411928,
+                "target_xy_drift": 1.1417168098344784e-07,
+                "depth": 0.01891349068609982,
+                "bottom_clearance": 0.08052707020296046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009526671047516699,
+                  0.0022202643741675576
+                ],
+                "rod_tip_xy": [
+                  0.26889346698185873,
+                  -0.34700184864558614
+                ],
+                "target_mouth_xy": [
+                  0.26794079987710706,
+                  -0.3492221130197537
+                ],
+                "gripper_position": [
+                  0.26888472182349754,
+                  -0.3470021057186451,
+                  1.0021042095698216
+                ],
+                "rod_tip_xy_dist": 0.0024160191438963364,
+                "target_xy_drift": 5.2984278661363156e-08,
+                "depth": 0.019034779625218712,
+                "bottom_clearance": 0.08040592803388125,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009439537394813624,
+                  0.0022200095403122067
+                ],
+                "rod_tip_xy": [
+                  0.2688847218234975,
+                  -0.3470021057186452
+                ],
+                "target_mouth_xy": [
+                  0.2679407680840161,
+                  -0.3492221152589574
+                ],
+                "gripper_position": [
+                  0.268895605986106,
+                  -0.3470743498189977,
+                  1.001594281119998
+                ],
+                "rod_tip_xy_dist": 0.002412362124839068,
+                "target_xy_drift": 8.405693980980941e-08,
+                "depth": 0.01915567710167232,
+                "bottom_clearance": 0.08028488055691008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0009548391169137971,
+                  0.0021477661001435555
+                ],
+                "rod_tip_xy": [
+                  0.2688956059861059,
+                  -0.34707434981899776
+                ],
+                "target_mouth_xy": [
+                  0.2679407668691921,
+                  -0.3492221159191413
+                ],
+                "gripper_position": [
+                  0.26888391066154094,
+                  -0.347081041241878,
+                  1.0014566585592832
+                ],
+                "rod_tip_xy_dist": 0.002350450373888923,
+                "target_xy_drift": 8.519790550462358e-08,
+                "depth": 0.019665546925012323,
+                "bottom_clearance": 0.07977498471885014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0009431136962821385,
+                  0.002141071523262539
+                ],
+                "rod_tip_xy": [
+                  0.2688839106615409,
+                  -0.347081041241878
+                ],
+                "target_mouth_xy": [
+                  0.26794079696525874,
+                  -0.34922211276514054
+                ],
+                "gripper_position": [
+                  0.2688950166410494,
+                  -0.3471477324978423,
+                  1.00086156878938
+                ],
+                "rod_tip_xy_dist": 0.0023395834483601404,
+                "target_xy_drift": 5.5885220067053885e-08,
+                "depth": 0.019803203638937394,
+                "bottom_clearance": 0.07963740589870427,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005970353104825893,
+              "rod_tip_xy_max_step": 3.241525958405659e-05,
+              "rod_tip_xy_range": 0.0005970294051906342,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2684392930264134,
+            -0.3483490283215075,
+            1.0433774286563764
+          ],
+          "object_origin_world": [
+            0.2684392930264134,
+            -0.3483490283215075,
+            1.0433774286563764
+          ],
+          "frame_world": [
+            0.2684377711368089,
+            -0.34835373576547546,
+            1.0432678758718035
+          ],
+          "center_minus_frame": [
+            1.5218896045054997e-06,
+            4.707443967966185e-06,
+            0.00010955278457291939
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2656450800777226,
+              0.1372153954003991,
+              0.8334003608866718
+            ],
+            "target_position": [
+              0.2792809173633783,
+              0.1822522962383074,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047055908189774266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1660257269983864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334003608866718,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670416206755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13585511058799868,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7381949fc44867a44608f690ea104f569c9ff03a8a36a44c403afef8a9502ccc",
+    "visual_seed": 5991186221270227452,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96f1d3da7047dbe2a4c75df8b64f3bb7ae8adce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2624604480562328,
+              0.034875329788052266,
+              1.1642558593355117
+            ],
+            "current_z": 1.1642558593355117,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30314929171610094,
+            "gripper_z": 1.1574308853067607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2572055781245053,
+              0.02990379303759362,
+              1.1574308853067607
+            ],
+            "object_minus_gripper": [
+              0.005254869931727524,
+              0.004971536750458645,
+              0.00682497402875093
+            ],
+            "object_to_gripper_xy": 0.007233936387647803,
+            "object_to_gripper_z": 0.00682497402875093,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2624604480562328,
+              0.010447316505915601,
+              1.1642558593355117
+            ],
+            "finger_b": [
+              0.25154623575453344,
+              0.034875329788052266,
+              1.1642558593355117
+            ],
+            "finger_midpoint": [
+              0.2570033419053831,
+              0.022661323146983933,
+              1.1642558593355117
+            ],
+            "object_minus_finger_midpoint": [
+              0.005457106150849711,
+              0.012214006641068333,
+              0.0
+            ],
+            "finger_gap": 0.026755333357646866,
+            "fingertip_max_gap": 0.09089333000597977,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013377666678823445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642558593355117,
+            "object_top_z": 1.214241079096547,
+            "finger_top_clearance": 0.049985219761035315,
+            "fingertip_min_top_clearance": 0.014995565928310594,
+            "object_projection_between_fingers": 0.8335958849492978,
+            "object_to_finger_line_xy": 0.00996483652459416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047946665002989886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6066092288497149,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2650688122732293,
+              -0.3464696430384334,
+              0.851539560260244
+            ],
+            "target_position": [
+              0.25809425467016694,
+              -0.3465181212520623,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006974726080329733,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18330851329158843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560260244,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558529999282061,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08736729291744459,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15107361753025292,
+            "release_required_pad_clearance": 0.0536836464587223,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3768890200915287,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007226526737213135,
+            "max_z_decrease": 0.007226526737213135,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517422343703237,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007226526737213135,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021098257930970754,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007226526737213135,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00722655138037464,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11379417777061461,
+              -0.4027795791625976,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11379417777061461,
+              -0.4027795791625976,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1155063960797755,
+              -0.40101981540266596,
+              0.8078758447803125
+            ],
+            "closest_button": [
+              0.11378327012062071,
+              -0.402776688337326,
+              0.7727878093719482
+            ],
+            "closest_ee_minus_button": [
+              0.0017231259591547893,
+              0.0017568729346600365,
+              0.03508803540836425
+            ],
+            "button_min_z_position": [
+              0.11377538740634915,
+              -0.4027778208255767,
+              0.7695823311805725
+            ],
+            "min_active_finger_to_button": 0.1439576114681422,
+            "closest_active_finger": [
+              -0.012006089091300964,
+              -0.463705450296402,
+              0.8107587695121765
+            ],
+            "closest_active_finger_button": [
+              0.11379467695951459,
+              -0.40277841687202454,
+              0.7763224840164185
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12580076605081555,
+              -0.06092703342437744,
+              0.03443628549575806
+            ],
+            "min_contact_pad_to_button": 0.021098257930970754,
+            "closest_contact_pad": [
+              0.11377538740634915,
+              -0.4027778208255767,
+              0.7906805891115433
+            ],
+            "closest_contact_pad_button": [
+              0.11377538740634915,
+              -0.4027778208255767,
+              0.7695823311805725
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021098257930970754
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27863292531830913,
+              0.17947095304799282,
+              1.1040021640995672
+            ],
+            "current_z": 1.1040021640995672,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19409303436520464,
+            "gripper_z": 1.104002404274891,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2786330235092215,
+              0.17947100492183757,
+              1.104002404274891
+            ],
+            "object_minus_gripper": [
+              -9.819091234541943e-08,
+              -5.187384474747425e-08,
+              -2.4017532385123275e-07
+            ],
+            "object_to_gripper_xy": 1.110511190223264e-07,
+            "object_to_gripper_z": -2.4017532385123275e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27863292531830913,
+              0.17947095304799282,
+              1.1040021640995672
+            ],
+            "finger_b": [
+              0.27863292531830913,
+              0.17947095304799282,
+              1.1040021640995672
+            ],
+            "finger_midpoint": [
+              0.27863292531830913,
+              0.17947095304799282,
+              1.1040021640995672
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040021640995672,
+            "object_top_z": 1.229010670719847,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27863292531830913,
+            0.17947095304799285,
+            1.1040021640995674
+          ],
+          "object_origin_world": [
+            0.27863292531830913,
+            0.17947095304799285,
+            1.1040021640995674
+          ],
+          "frame_world": [
+            0.2786330235092215,
+            0.17947100492183757,
+            1.104002404274891
+          ],
+          "center_minus_frame": [
+            -9.819091234541943e-08,
+            -5.1873844719718676e-08,
+            -2.4017532362918814e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043655894741163,
+            "required_z": 0.911259916667572,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002230701011594962,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.3594326263501356e-08,
+            "max_target_xy_drift": 5.491751275477765e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3768890194976375,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.376889020243069,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26368326662706537,
+              -0.3447033694907796,
+              0.9233417487080634
+            ],
+            "target_mouth_xy": [
+              0.26506874986088746,
+              -0.3464696113364999
+            ],
+            "rod_tip_z": 0.9233417487080634,
+            "rod_tip_depth": -0.022081878267598665,
+            "rod_tip_bottom_clearance": 0.1215224371951964,
+            "rod_tip_xy_dist": 0.002244810470568837,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04480837013954275,
+            "min_rod_tip_bottom_clearance": 0.054632256211386565,
+            "min_rod_tip_xy_dist": 0.00017635224488582324,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2650687833972678,
+              -0.34646960936420407
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.3536380339427296e-08,
+              -1.9722958266576995e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0007554261324178579,
+                0.0033609544286246074
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000875914196464489,
+                0.0030005439128978906
+              ],
+              "first_target_mouth_xy": [
+                0.2650687799194714,
+                -0.3464695802815032
+              ],
+              "last_target_mouth_xy": [
+                0.2650687847832175,
+                -0.3464696087241062
+              ],
+              "first_rod_tip_xy": [
+                0.26431335378705356,
+                -0.3431086258528786
+              ],
+              "last_rod_tip_xy": [
+                0.264192870586753,
+                -0.3434690648112083
+              ],
+              "min_rod_tip_xy_dist": 0.0031232667751894937,
+              "max_rod_tip_xy_dist": 0.003444805264863482,
+              "first_target_xy_drift": 2.9289905375819743e-08,
+              "last_target_xy_drift": 1.5266243197398623e-09,
+              "max_depth": 0.01973700079405838,
+              "min_bottom_clearance": 0.07970369240058528
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007554261324178579,
+                  0.0033609544286246074
+                ],
+                "rod_tip_xy": [
+                  0.26431335378705356,
+                  -0.3431086258528786
+                ],
+                "target_mouth_xy": [
+                  0.2650687799194714,
+                  -0.3464695802815032
+                ],
+                "gripper_position": [
+                  0.26430220453260067,
+                  -0.3431150286960959,
+                  1.0057086560412747
+                ],
+                "rod_tip_xy_dist": 0.003444805264863482,
+                "target_xy_drift": 2.9289905375819743e-08,
+                "depth": 0.0154156260673588,
+                "bottom_clearance": 0.08402496210081445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007665468184542834,
+                  0.003354551562028407
+                ],
+                "rod_tip_xy": [
+                  0.2643022045326007,
+                  -0.343115028696096
+                ],
+                "target_mouth_xy": [
+                  0.265068751351055,
+                  -0.3464695802581244
+                ],
+                "gripper_position": [
+                  0.2643033326342967,
+                  -0.343176694420504,
+                  1.005192932226401
+                ],
+                "rod_tip_xy_dist": 0.0034410187746058015,
+                "target_xy_drift": 4.3291149528550675e-08,
+                "depth": 0.0155511278091931,
+                "bottom_clearance": 0.08388941188722754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007654518491411744,
+                  0.0032928540609181156
+                ],
+                "rod_tip_xy": [
+                  0.2643033326342968,
+                  -0.343176694420504
+                ],
+                "target_mouth_xy": [
+                  0.26506878448343796,
+                  -0.34646954848142214
+                ],
+                "gripper_position": [
+                  0.2642920073932078,
+                  -0.3431831279781583,
+                  1.0050577381217114
+                ],
+                "rod_tip_xy_dist": 0.0033806514756565143,
+                "target_xy_drift": 6.089246998423824e-08,
+                "depth": 0.01606701553165235,
+                "bottom_clearance": 0.08337369037474895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007767719274832108,
+                  0.003286453595277572
+                ],
+                "rod_tip_xy": [
+                  0.26429200739320785,
+                  -0.3431831279781583
+                ],
+                "target_mouth_xy": [
+                  0.26506877932069106,
+                  -0.3464695815734359
+                ],
+                "gripper_position": [
+                  0.2642837792326603,
+                  -0.34318336385912657,
+                  1.004939029691755
+                ],
+                "rod_tip_xy_dist": 0.0033770033848426716,
+                "target_xy_drift": 2.8088169651076015e-08,
+                "depth": 0.016202143252617818,
+                "bottom_clearance": 0.08323842979517493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007849728360990182,
+                  0.0032862163807218514
+                ],
+                "rod_tip_xy": [
+                  0.26428377923266033,
+                  -0.3431833638591265
+                ],
+                "target_mouth_xy": [
+                  0.26506875206875935,
+                  -0.34646958023984836
+                ],
+                "gripper_position": [
+                  0.2642858259204277,
+                  -0.3432459591313916,
+                  1.004423857727139
+                ],
+                "rod_tip_xy_dist": 0.0033786684439787757,
+                "target_xy_drift": 4.27750340407208e-08,
+                "depth": 0.016320744412280708,
+                "bottom_clearance": 0.08311979196563912,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007829724351708922,
+                  0.0032236191769832168
+                ],
+                "rod_tip_xy": [
+                  0.2642858259204278,
+                  -0.34324595913139155
+                ],
+                "target_mouth_xy": [
+                  0.2650687983555987,
+                  -0.34646957830837477
+                ],
+                "gripper_position": [
+                  0.2642744185108007,
+                  -0.34325232437446207,
+                  1.0042888396360714
+                ],
+                "rod_tip_xy_dist": 0.003317343279259985,
+                "target_xy_drift": 3.447051199010786e-08,
+                "depth": 0.01683608214280896,
+                "bottom_clearance": 0.08260458479871569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007943624230062896,
+                  0.0032172882319201346
+                ],
+                "rod_tip_xy": [
+                  0.26427441851080075,
+                  -0.3432523243744622
+                ],
+                "target_mouth_xy": [
+                  0.26506878093380704,
+                  -0.3464696126063823
+                ],
+                "gripper_position": [
+                  0.26426608675693997,
+                  -0.3432525402485948,
+                  1.004170241376726
+                ],
+                "rod_tip_xy_dist": 0.0033139033218149575,
+                "target_xy_drift": 4.071898666642424e-09,
+                "depth": 0.01697095768351431,
+                "bottom_clearance": 0.08246960162901751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008027279468869053,
+                  0.003217040565619056
+                ],
+                "rod_tip_xy": [
+                  0.26426608675694,
+                  -0.34325254024859486
+                ],
+                "target_mouth_xy": [
+                  0.2650688147038269,
+                  -0.3464695808142139
+                ],
+                "gripper_position": [
+                  0.2642689731984455,
+                  -0.3433162220669446,
+                  1.0036574876709798
+                ],
+                "rod_tip_xy_dist": 0.003315678234924469,
+                "target_xy_drift": 4.236983103183681e-08,
+                "depth": 0.017089603799169573,
+                "bottom_clearance": 0.08235102319939946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007998084065061195,
+                  0.003153357222045017
+                ],
+                "rod_tip_xy": [
+                  0.2642689731984456,
+                  -0.3433162220669447
+                ],
+                "target_mouth_xy": [
+                  0.26506878160495173,
+                  -0.3464695792889897
+                ],
+                "gripper_position": [
+                  0.26425754444590965,
+                  -0.34332228709909046,
+                  1.003522374896255
+                ],
+                "rod_tip_xy_dist": 0.0032532069188634964,
+                "target_xy_drift": 3.012857309229424e-08,
+                "depth": 0.017602301795133557,
+                "bottom_clearance": 0.08183826020423812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008112551454750316,
+                  0.003147291490601889
+                ],
+                "rod_tip_xy": [
+                  0.2642575444459097,
+                  -0.3433222870990904
+                ],
+                "target_mouth_xy": [
+                  0.26506879959138474,
+                  -0.3464695785896923
+                ],
+                "gripper_position": [
+                  0.2642490499699556,
+                  -0.3433225001427815,
+                  1.0034037749657259
+                ],
+                "rod_tip_xy_dist": 0.0032501659400521036,
+                "target_xy_drift": 3.4775278549097666e-08,
+                "depth": 0.017737568794697123,
+                "bottom_clearance": 0.08170313334692947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008197305466129401,
+                  0.003147112121584139
+                ],
+                "rod_tip_xy": [
+                  0.26424904996995563,
+                  -0.34332250014278143
+                ],
+                "target_mouth_xy": [
+                  0.26506878051656857,
+                  -0.34646961226436557
+                ],
+                "gripper_position": [
+                  0.26424057886703517,
+                  -0.3433225730631885,
+                  1.0032856522874214
+                ],
+                "rod_tip_xy_dist": 0.003252118213545161,
+                "target_xy_drift": 4.087708992334568e-09,
+                "depth": 0.017856087830547485,
+                "bottom_clearance": 0.08158447415265602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008282036648500357,
+                  0.003147008428786846
+                ],
+                "rod_tip_xy": [
+                  0.2642405788670352,
+                  -0.3433225730631885
+                ],
+                "target_mouth_xy": [
+                  0.26506878253188526,
+                  -0.3464695814919753
+                ],
+                "gripper_position": [
+                  0.2642447897964144,
+                  -0.3433882682211741,
+                  1.0027739116885495
+                ],
+                "rod_tip_xy_dist": 0.003254164003446428,
+                "target_xy_drift": 2.7885659796465513e-08,
+                "depth": 0.017974108201041283,
+                "bottom_clearance": 0.08146641465202087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008240093954592909,
+                  0.003081341467062737
+                ],
+                "rod_tip_xy": [
+                  0.26424478979641447,
+                  -0.3433882682211741
+                ],
+                "target_mouth_xy": [
+                  0.26506879919187376,
+                  -0.3464696096882368
+                ],
+                "gripper_position": [
+                  0.2642331995850936,
+                  -0.3433941492044458,
+                  1.0026392000057305
+                ],
+                "rod_tip_xy_dist": 0.0031896170178323177,
+                "target_xy_drift": 1.579792943837536e-08,
+                "depth": 0.018486005548421724,
+                "bottom_clearance": 0.08095463347982679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008355839432497292,
+                  0.0030754607884532215
+                ],
+                "rod_tip_xy": [
+                  0.26423319958509367,
+                  -0.3433941492044458
+                ],
+                "target_mouth_xy": [
+                  0.2650687835283434,
+                  -0.346469609992899
+                ],
+                "gripper_position": [
+                  0.2642245718169207,
+                  -0.3433943802398537,
+                  1.0025208617408319
+                ],
+                "rod_tip_xy_dist": 0.00318695145672633,
+                "target_xy_drift": 6.422134581850549e-10,
+                "depth": 0.018620646576343103,
+                "bottom_clearance": 0.08081995290367316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008441787263970824,
+                  0.0030752292086437816
+                ],
+                "rod_tip_xy": [
+                  0.26422457181692083,
+                  -0.3433943802398537
+                ],
+                "target_mouth_xy": [
+                  0.2650687505433179,
+                  -0.3464696094484975
+                ],
+                "gripper_position": [
+                  0.2642159309725947,
+                  -0.3433943576248495,
+                  1.002402457951179
+                ],
+                "rod_tip_xy_dist": 0.003188992381269867,
+                "target_xy_drift": 3.2854058029591833e-08,
+                "depth": 0.018738957474771945,
+                "bottom_clearance": 0.08070163533969754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008528381258249285,
+                  0.003075249841053229
+                ],
+                "rod_tip_xy": [
+                  0.26421593097259477,
+                  -0.3433943576248496
+                ],
+                "target_mouth_xy": [
+                  0.2650687690984197,
+                  -0.34646960746590283
+                ],
+                "gripper_position": [
+                  0.26420723176379873,
+                  -0.343394523210699,
+                  1.0022842364713986
+                ],
+                "rod_tip_xy_dist": 0.003191315473869434,
+                "target_xy_drift": 1.4424306040066626e-08,
+                "depth": 0.018857497584157223,
+                "bottom_clearance": 0.08058321356336029,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008615190427914698,
+                  0.0030751188852946587
+                ],
+                "rod_tip_xy": [
+                  0.26420723176379884,
+                  -0.3433945232106991
+                ],
+                "target_mouth_xy": [
+                  0.2650687508065903,
+                  -0.34646964209599374
+                ],
+                "gripper_position": [
+                  0.2642133807453017,
+                  -0.3434628821380211,
+                  1.0017761002458894
+                ],
+                "rod_tip_xy_dist": 0.003193520192481675,
+                "target_xy_drift": 4.61900672667057e-08,
+                "depth": 0.01897556453434357,
+                "bottom_clearance": 0.08046499512858307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008554023823966195,
+                  0.003006727245848273
+                ],
+                "rod_tip_xy": [
+                  0.2642133807453018,
+                  -0.3434628821380211
+                ],
+                "target_mouth_xy": [
+                  0.26506878312769844,
+                  -0.3464696093838694
+                ],
+                "gripper_position": [
+                  0.2642016159696416,
+                  -0.34346913081096747,
+                  1.0016413406251568
+                ],
+                "rod_tip_xy_dist": 0.0031260393418407507,
+                "target_xy_drift": 2.70285716486769e-10,
+                "depth": 0.019483814115520692,
+                "bottom_clearance": 0.07995679326340821,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0008671351369775038,
+                  0.0030004786290226404
+                ],
+                "rod_tip_xy": [
+                  0.2642016159696417,
+                  -0.3434691308109675
+                ],
+                "target_mouth_xy": [
+                  0.2650687511066192,
+                  -0.34646960943999017
+                ],
+                "gripper_position": [
+                  0.2641928705867529,
+                  -0.3434690648112083,
+                  1.0015229375317898
+                ],
+                "rod_tip_xy_dist": 0.0031232667751894937,
+                "target_xy_drift": 3.229073753424596e-08,
+                "depth": 0.019618461144948474,
+                "bottom_clearance": 0.07982210946770618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.000875914196464489,
+                  0.0030005439128978906
+                ],
+                "rod_tip_xy": [
+                  0.264192870586753,
+                  -0.3434690648112083
+                ],
+                "target_mouth_xy": [
+                  0.2650687847832175,
+                  -0.3464696087241062
+                ],
+                "gripper_position": [
+                  0.2641994199389275,
+                  -0.3435303372928716,
+                  1.0009291070422393
+                ],
+                "rod_tip_xy_dist": 0.0031257782155483483,
+                "target_xy_drift": 1.5266243197398623e-09,
+                "depth": 0.01973700079405838,
+                "bottom_clearance": 0.07970369240058528,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006015095471881217,
+              "rod_tip_xy_max_step": 3.267242511899213e-05,
+              "rod_tip_xy_range": 0.0006015014374055385,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26368326662706537,
+            -0.3447033694907796,
+            1.0433417487080634
+          ],
+          "object_origin_world": [
+            0.26368326662706537,
+            -0.3447033694907796,
+            1.0433417487080634
+          ],
+          "frame_world": [
+            0.26370874367747166,
+            -0.34470144556819604,
+            1.043655894741163
+          ],
+          "center_minus_frame": [
+            -2.5477050406286228e-05,
+            -1.9239225835798734e-06,
+            -0.00031414603309953826
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.266395772505815,
+              0.13273731118558038,
+              0.8336051479020902
+            ],
+            "target_position": [
+              0.27876761634252956,
+              0.17939386600149287,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04826900275757,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16858152551496103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336051479020902,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567339419333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13817403477211812,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92945f6f2e3d8570ba912db30dd759d32c2b35d618384b6a9dc78a39e6efd9a7",
+    "visual_seed": 4488043576955991841,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d7d2113dada11a1e074090b2d601d1d40461db3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_75_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25532884522059063,
+              0.028141190127515495,
+              1.161569570282008
+            ],
+            "current_z": 1.161569570282008,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30046306226724173,
+            "gripper_z": 1.1548598559190315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25011766689428483,
+              0.023181136474298453,
+              1.1548598559190315
+            ],
+            "object_minus_gripper": [
+              0.005211178326305799,
+              0.004960053653217042,
+              0.0067097143629764044
+            ],
+            "object_to_gripper_xy": 0.007194338871039578,
+            "object_to_gripper_z": 0.0067097143629764044,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25532884522059063,
+              0.003997310294737499,
+              1.161569570282008
+            ],
+            "finger_b": [
+              0.24411662558901248,
+              0.028141190127515495,
+              1.161569570282008
+            ],
+            "finger_midpoint": [
+              0.24972273540480155,
+              0.0160692502111265,
+              1.161569570282008
+            ],
+            "object_minus_finger_midpoint": [
+              0.005606109815789073,
+              0.012071939916388996,
+              0.0
+            ],
+            "finger_gap": 0.026620308083235445,
+            "fingertip_max_gap": 0.09088322889162295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01331015404161772,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161569570282008,
+            "object_top_z": 1.211455702336159,
+            "finger_top_clearance": 0.049886132054151044,
+            "fingertip_min_top_clearance": 0.014965839616245313,
+            "object_projection_between_fingers": 0.8225986019535471,
+            "object_to_finger_line_xy": 0.010169171693922603,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794161444581148,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5494258300457396,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2764379080744414,
+              -0.34783994885369135,
+              0.8515395857782458
+            ],
+            "target_position": [
+              0.2675846927696561,
+              -0.34873253911887797,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008898097471616682,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836492069616537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395857782458,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536547351302356,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511875864749728,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197668226159405,
+            "release_required_pad_clearance": 0.05255937932374864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18557478952306541,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007649660110473633,
+            "max_z_decrease": 0.007649660110473633,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512207193468385,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007649660110473633,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021075621065951067,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007649660110473633,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007649679999634513,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12328461557626724,
+              -0.4049940109252929,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12328461557626724,
+              -0.4049940109252929,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.123120124578848,
+              -0.4037850222433154,
+              0.8078371291174983
+            ],
+            "closest_button": [
+              0.12327778339385986,
+              -0.4049930274486541,
+              0.7727361917495728
+            ],
+            "closest_ee_minus_button": [
+              -0.00015765881501186851,
+              0.0012080052053387025,
+              0.03510093736792552
+            ],
+            "button_min_z_position": [
+              0.12326719611883165,
+              -0.4049930870532989,
+              0.769159197807312
+            ],
+            "min_active_finger_to_button": 0.14582367200165544,
+            "closest_active_finger": [
+              -0.005071535706520081,
+              -0.465097039937973,
+              0.8107842206954956
+            ],
+            "closest_active_finger_button": [
+              0.12328430265188217,
+              -0.40499389171600336,
+              0.7764777541160583
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12835583835840225,
+              -0.06010314822196966,
+              0.034306466579437256
+            ],
+            "min_contact_pad_to_button": 0.021075621065951067,
+            "closest_contact_pad": [
+              0.12326719611883165,
+              -0.4049930870532989,
+              0.7902348188732631
+            ],
+            "closest_contact_pad_button": [
+              0.12326719611883165,
+              -0.4049930870532989,
+              0.769159197807312
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021075621065951067
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27787897955709867,
+              0.18102302890175276,
+              1.1043731951465792
+            ],
+            "current_z": 1.1043731951465792,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1944640654122166,
+            "gripper_z": 1.104373413099548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2778789978134172,
+              0.18102299327447455,
+              1.104373413099548
+            ],
+            "object_minus_gripper": [
+              -1.8256318512488434e-08,
+              3.562727821093681e-08,
+              -2.179529687840187e-07
+            ],
+            "object_to_gripper_xy": 4.003243832629884e-08,
+            "object_to_gripper_z": -2.179529687840187e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27787897955709867,
+              0.18102302890175276,
+              1.1043731951465792
+            ],
+            "finger_b": [
+              0.27787897955709867,
+              0.18102302890175276,
+              1.1043731951465792
+            ],
+            "finger_midpoint": [
+              0.27787897955709867,
+              0.18102302890175276,
+              1.1043731951465792
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1043731951465792,
+            "object_top_z": 1.229381701766859,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27787897955709867,
+            0.18102302890175276,
+            1.1043731951465794
+          ],
+          "object_origin_world": [
+            0.27787897955709867,
+            0.18102302890175276,
+            1.1043731951465794
+          ],
+          "frame_world": [
+            0.2778789978134172,
+            0.18102299327447455,
+            1.104373413099548
+          ],
+          "center_minus_frame": [
+            -1.8256318512488434e-08,
+            3.562727821093681e-08,
+            -2.179529685619741e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433816615232359,
+            "required_z": 0.9112598517646988,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015355987710395876,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.142746027491406e-08,
+            "max_target_xy_drift": 6.898011624649934e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.18557481859390956,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.18557482761447258,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27571821374941446,
+              -0.34918997594064416,
+              0.923494296848865
+            ],
+            "target_mouth_xy": [
+              0.27643787263125685,
+              -0.34783988768811824
+            ],
+            "rod_tip_z": 0.923494296848865,
+            "rod_tip_depth": -0.022234376892874774,
+            "rod_tip_bottom_clearance": 0.12167503724469664,
+            "rod_tip_xy_dist": 0.0015299173820252907,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04492192449001142,
+            "min_rod_tip_bottom_clearance": 0.054518757898036174,
+            "min_rod_tip_xy_dist": 0.00022267850281914493,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27643790559532566,
+              -0.3478399127800419
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.2964068807928015e-08,
+              2.509192364996693e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0001714876038553248,
+                0.000302450037020785
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0002757403546637671,
+                -7.821371672733779e-05
+              ],
+              "first_target_mouth_xy": [
+                0.27643787598379993,
+                -0.34783988455443726
+              ],
+              "last_target_mouth_xy": [
+                0.2764378769168093,
+                -0.3478398512802888
+              ],
+              "first_rod_tip_xy": [
+                0.2762663883799446,
+                -0.3475374345174165
+              ],
+              "last_rod_tip_xy": [
+                0.27616213656214555,
+                -0.34791806499701616
+              ],
+              "min_rod_tip_xy_dist": 0.00022267850281914493,
+              "max_rod_tip_xy_dist": 0.0003476837976810467,
+              "first_target_xy_drift": 4.090876694485584e-08,
+              "last_target_xy_drift": 6.78577698340212e-08,
+              "max_depth": 0.01963494398553889,
+              "min_bottom_clearance": 0.07980576121440153
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0001714876038553248,
+                  0.000302450037020785
+                ],
+                "rod_tip_xy": [
+                  0.2762663883799446,
+                  -0.3475374345174165
+                ],
+                "target_mouth_xy": [
+                  0.27643787598379993,
+                  -0.34783988455443726
+                ],
+                "gripper_position": [
+                  0.27625516555015206,
+                  -0.3475446300290619,
+                  1.0059233990203384
+                ],
+                "rod_tip_xy_dist": 0.0003476837976810467,
+                "target_xy_drift": 4.090876694485584e-08,
+                "depth": 0.015193851032531125,
+                "bottom_clearance": 0.08424669519425043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00018270920388385736,
+                  0.0002952548416574885
+                ],
+                "rod_tip_xy": [
+                  0.276255165550152,
+                  -0.3475446300290619
+                ],
+                "target_mouth_xy": [
+                  0.27643787475403586,
+                  -0.3478398848707194
+                ],
+                "gripper_position": [
+                  0.27625988987749783,
+                  -0.3476085086545934,
+                  1.0054023249799278
+                ],
+                "rod_tip_xy_dist": 0.0003472147386071933,
+                "target_xy_drift": 4.1594656387873366e-08,
+                "depth": 0.015336357098843623,
+                "bottom_clearance": 0.08410414241272068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00017798668396629136,
+                  0.0002313749561260181
+                ],
+                "rod_tip_xy": [
+                  0.2762598898774978,
+                  -0.3476085086545935
+                ],
+                "target_mouth_xy": [
+                  0.27643787656146407,
+                  -0.3478398836107195
+                ],
+                "gripper_position": [
+                  0.27624843730820836,
+                  -0.34761585684633656,
+                  1.0052597993773862
+                ],
+                "rod_tip_xy_dist": 0.00029191373724378456,
+                "target_xy_drift": 4.11559775533506e-08,
+                "depth": 0.015857581268374443,
+                "bottom_clearance": 0.08358302071564883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00018940812492590497,
+                  0.00022402739359517199
+                ],
+                "rod_tip_xy": [
+                  0.2762484373082083,
+                  -0.34761585684633656
+                ],
+                "target_mouth_xy": [
+                  0.2764378454331342,
+                  -0.34783988423993173
+                ],
+                "gripper_position": [
+                  0.27624003396884456,
+                  -0.34761660252812726,
+                  1.0051346568282542
+                ],
+                "rod_tip_xy_dist": 0.00029336617199158003,
+                "target_xy_drift": 6.658849126050241e-08,
+                "depth": 0.01599996587421748,
+                "bottom_clearance": 0.08344056270343236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00019784090090718687,
+                  0.0002232810837653476
+                ],
+                "rod_tip_xy": [
+                  0.2762400339688445,
+                  -0.3476166025281272
+                ],
+                "target_mouth_xy": [
+                  0.2764378748697517,
+                  -0.34783988361189255
+                ],
+                "gripper_position": [
+                  0.2762456237335952,
+                  -0.3476812728826804,
+                  1.0046140970221105
+                ],
+                "rod_tip_xy_dist": 0.0002983210760894971,
+                "target_xy_drift": 4.2365573665044236e-08,
+                "depth": 0.016125176273683373,
+                "bottom_clearance": 0.08331536050952737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00019225047624071845,
+                  0.00015864461256537288
+                ],
+                "rod_tip_xy": [
+                  0.2762456237335951,
+                  -0.34768127288268036
+                ],
+                "target_mouth_xy": [
+                  0.27643787420983584,
+                  -0.34783991749524573
+                ],
+                "gripper_position": [
+                  0.27623408277051087,
+                  -0.3476884851874477,
+                  1.0044715070457904
+                ],
+                "rod_tip_xy_dist": 0.0002492556091862334,
+                "target_xy_drift": 3.1737708146078365e-08,
+                "depth": 0.016645774725225215,
+                "bottom_clearance": 0.08279482477753664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0002037924926220347,
+                  0.0001513987397649963
+                ],
+                "rod_tip_xy": [
+                  0.2762340827705108,
+                  -0.34768848518744777
+                ],
+                "target_mouth_xy": [
+                  0.27643787526313285,
+                  -0.34783988392721277
+                ],
+                "gripper_position": [
+                  0.27622545170213064,
+                  -0.34768929801234544,
+                  1.0043467471336072
+                ],
+                "rod_tip_xy_dist": 0.0002538758721334722,
+                "target_xy_drift": 4.186320185334765e-08,
+                "depth": 0.0167883235983457,
+                "bottom_clearance": 0.08265221715585547,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00021242215569067247,
+                  0.00015061916862846303
+                ],
+                "rod_tip_xy": [
+                  0.2762254517021306,
+                  -0.3476892980123454
+                ],
+                "target_mouth_xy": [
+                  0.27643787385782126,
+                  -0.34783991718097385
+                ],
+                "gripper_position": [
+                  0.2762320849484112,
+                  -0.3477548183263827,
+                  1.0038285239885687
+                ],
+                "rod_tip_xy_dist": 0.0002604022008098274,
+                "target_xy_drift": 3.204118268316183e-08,
+                "depth": 0.016913129772460844,
+                "bottom_clearance": 0.08252747209335454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00020579086813682368,
+                  8.50637067689175e-05
+                ],
+                "rod_tip_xy": [
+                  0.27623208494841117,
+                  -0.34775481832638266
+                ],
+                "target_mouth_xy": [
+                  0.276437875816548,
+                  -0.3478398820331516
+                ],
+                "gripper_position": [
+                  0.2762204589497128,
+                  -0.34776169733030066,
+                  1.0036861456189048
+                ],
+                "rod_tip_xy_dist": 0.00022267850281914493,
+                "target_xy_drift": 4.280358469930997e-08,
+                "depth": 0.01743134473237118,
+                "bottom_clearance": 0.08200928450669964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0002174147887848421,
+                  7.822078946223554e-05
+                ],
+                "rod_tip_xy": [
+                  0.2762204589497127,
+                  -0.3477616973303007
+                ],
+                "target_mouth_xy": [
+                  0.27643787373849754,
+                  -0.34783991811976295
+                ],
+                "gripper_position": [
+                  0.2762116479332367,
+                  -0.34776277312960824,
+                  1.0035616217081575
+                ],
+                "rod_tip_xy_dist": 0.00023105774664886888,
+                "target_xy_drift": 3.230124020525829e-08,
+                "depth": 0.017573751685845074,
+                "bottom_clearance": 0.08186688835728384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00022622596059135303,
+                  7.710984837910884e-05
+                ],
+                "rod_tip_xy": [
+                  0.27621164793323666,
+                  -0.34776277312960824
+                ],
+                "target_mouth_xy": [
+                  0.276437873893828,
+                  -0.34783988297798735
+                ],
+                "gripper_position": [
+                  0.2762029902195525,
+                  -0.34776344865888076,
+                  1.0034370414567313
+                ],
+                "rod_tip_xy_dist": 0.00023900651447717814,
+                "target_xy_drift": 4.351031381624293e-08,
+                "depth": 0.017698237330682987,
+                "bottom_clearance": 0.08174232929084801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00023488559352352611,
+                  7.643715513083738e-05
+                ],
+                "rod_tip_xy": [
+                  0.27620299021955247,
+                  -0.34776344865888076
+                ],
+                "target_mouth_xy": [
+                  0.276437875813076,
+                  -0.3478398858140116
+                ],
+                "gripper_position": [
+                  0.2762110574893766,
+                  -0.3478310721639987,
+                  1.0029198669499249
+                ],
+                "rod_tip_xy_dist": 0.00024700987982142504,
+                "target_xy_drift": 4.017647551995567e-08,
+                "depth": 0.017822859154666526,
+                "bottom_clearance": 0.08161771485369274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00022678683389437682,
+                  8.812705526217712e-06
+                ],
+                "rod_tip_xy": [
+                  0.2762110574893765,
+                  -0.3478310721639988
+                ],
+                "target_mouth_xy": [
+                  0.2764378443232709,
+                  -0.347839884869525
+                ],
+                "gripper_position": [
+                  0.27619936301828324,
+                  -0.347838038357561,
+                  1.0027781909254994
+                ],
+                "rod_tip_xy_dist": 0.0002269579956875886,
+                "target_xy_drift": 6.732950058039271e-08,
+                "depth": 0.018339897529843108,
+                "bottom_clearance": 0.08110060454291512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00023851327427126812,
+                  1.8455677498474543e-06
+                ],
+                "rod_tip_xy": [
+                  0.2761993630182832,
+                  -0.347838038357561
+                ],
+                "target_mouth_xy": [
+                  0.27643787629255445,
+                  -0.34783988392531084
+                ],
+                "gripper_position": [
+                  0.2761904917895023,
+                  -0.34783879587446603,
+                  1.0026531318018892
+                ],
+                "rod_tip_xy_dist": 0.00023852041448043905,
+                "target_xy_drift": 4.1124784552190946e-08,
+                "depth": 0.018481707582704954,
+                "bottom_clearance": 0.0809588728850158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0002473535642021907,
+                  1.0871047062543937e-06
+                ],
+                "rod_tip_xy": [
+                  0.2761904917895022,
+                  -0.347838795874466
+                ],
+                "target_mouth_xy": [
+                  0.2764378453537044,
+                  -0.34783988297917223
+                ],
+                "gripper_position": [
+                  0.2761816149895911,
+                  -0.34783936620090367,
+                  1.0025286002533407
+                ],
+                "rod_tip_xy_dist": 0.00024735595307202456,
+                "target_xy_drift": 6.720970735694438e-08,
+                "depth": 0.018606655236684255,
+                "bottom_clearance": 0.0808339150332088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00025626090371233534,
+                  5.167802828998092e-07
+                ],
+                "rod_tip_xy": [
+                  0.27618161498959104,
+                  -0.3478393662009036
+                ],
+                "target_mouth_xy": [
+                  0.2764378758933034,
+                  -0.3478398829811865
+                ],
+                "gripper_position": [
+                  0.2761727018821172,
+                  -0.34784015788041234,
+                  1.002404275216978
+                ],
+                "rod_tip_xy_dist": 0.00025626142478594706,
+                "target_xy_drift": 4.207352980244368e-08,
+                "depth": 0.01873125225102168,
+                "bottom_clearance": 0.08070934635351668,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0002651728027271427,
+                  -2.6987432705238845e-07
+                ],
+                "rod_tip_xy": [
+                  0.2761727018821171,
+                  -0.3478401578804122
+                ],
+                "target_mouth_xy": [
+                  0.27643787468484426,
+                  -0.3478398880060852
+                ],
+                "gripper_position": [
+                  0.2761829265499443,
+                  -0.34791073165510517,
+                  1.0018912336751866
+                ],
+                "rod_tip_xy_dist": 0.00026517294005671193,
+                "target_xy_drift": 3.9613214862093015e-08,
+                "depth": 0.01885559615395027,
+                "bottom_clearance": 0.08058501332160661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0002549489887809786,
+                  -7.084962125036842e-05
+                ],
+                "rod_tip_xy": [
+                  0.27618292654994425,
+                  -0.3479107316551052
+                ],
+                "target_mouth_xy": [
+                  0.27643787553872523,
+                  -0.34783988203385485
+                ],
+                "gripper_position": [
+                  0.2761711468132073,
+                  -0.3479175808830082,
+                  1.0017493282350771
+                ],
+                "rod_tip_xy_dist": 0.0002646103847390805,
+                "target_xy_drift": 4.299682833654303e-08,
+                "depth": 0.019368632812438058,
+                "bottom_clearance": 0.08007198570018681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00026672720516696113,
+                  -7.766370192774374e-05
+                ],
+                "rod_tip_xy": [
+                  0.27617114681320726,
+                  -0.3479175808830083
+                ],
+                "target_mouth_xy": [
+                  0.2764378740183742,
+                  -0.34783991718108054
+                ],
+                "gripper_position": [
+                  0.2761621365621456,
+                  -0.3479180649970162,
+                  1.0016250099596375
+                ],
+                "rod_tip_xy_dist": 0.0002778039822848111,
+                "target_xy_drift": 3.1882173758299224e-08,
+                "depth": 0.019510543763525456,
+                "bottom_clearance": 0.07993005190489288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0002757403546637671,
+                  -7.821371672733779e-05
+                ],
+                "rod_tip_xy": [
+                  0.27616213656214555,
+                  -0.34791806499701616
+                ],
+                "target_mouth_xy": [
+                  0.2764378769168093,
+                  -0.3478398512802888
+                ],
+                "gripper_position": [
+                  0.2761530523321667,
+                  -0.3479187030914433,
+                  1.0015004859417
+                ],
+                "rod_tip_xy_dist": 0.00028661843742928386,
+                "target_xy_drift": 6.78577698340212e-08,
+                "depth": 0.01963494398553889,
+                "bottom_clearance": 0.07980576121440153,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006043354865172492,
+              "rod_tip_xy_max_step": 3.26398492193506e-05,
+              "rod_tip_xy_range": 0.0006043252617170603,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27571821374941446,
+            -0.34918997594064416,
+            1.043494296848865
+          ],
+          "object_origin_world": [
+            0.27571821374941446,
+            -0.34918997594064416,
+            1.043494296848865
+          ],
+          "frame_world": [
+            0.27571664869170803,
+            -0.3491955792513582,
+            1.0433816615232359
+          ],
+          "center_minus_frame": [
+            1.5650577064318938e-06,
+            5.6033107140307514e-06,
+            0.00011263532562910683
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2687261118598275,
+              0.13495975706323415,
+              0.8339468314684738
+            ],
+            "target_position": [
+              0.27800219427189354,
+              0.18168448634870948,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04763660390620218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17076864653282364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339468314684738,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673393026323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13884177971541586,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "713095f740381425b5a2707c05e324c206613eab54554eee537d7ccc3a29a451",
+    "visual_seed": 3724570264720472360,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d9067ed2f4e24cd4e663d72993cd8929603cf6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_76_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2620977744786239,
+              0.028854796303753164,
+              1.1618612671297437
+            ],
+            "current_z": 1.1618612671297437,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3007546399056883,
+            "gripper_z": 1.1549190829891327,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2570653544964381,
+              0.02390976257643994,
+              1.1549190829891327
+            ],
+            "object_minus_gripper": [
+              0.005032419982185843,
+              0.004945033727313225,
+              0.006942184140610985
+            ],
+            "object_to_gripper_xy": 0.007055395767876433,
+            "object_to_gripper_z": 0.006942184140610985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2620977744786239,
+              0.00486527593704096,
+              1.1618612671297437
+            ],
+            "finger_b": [
+              0.25086413203956714,
+              0.028854796303753164,
+              1.1618612671297437
+            ],
+            "finger_midpoint": [
+              0.25648095325909553,
+              0.016860036120397062,
+              1.1618612671297437
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056168212195283895,
+              0.011994760183356101,
+              0.0
+            ],
+            "finger_gap": 0.026489466017144952,
+            "fingertip_max_gap": 0.09072622839234845,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013244733008572476,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1618612671297437,
+            "object_top_z": 1.2117535452787198,
+            "finger_top_clearance": 0.04989227814897612,
+            "fingertip_min_top_clearance": 0.014967683444692868,
+            "object_projection_between_fingers": 0.8201564836971207,
+            "object_to_finger_line_xy": 0.01017346646058068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04786311419617423,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.514935657112662,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2679830314316307,
+              -0.3480807186768271,
+              0.8515395917618437
+            ],
+            "target_position": [
+              0.259394793517413,
+              -0.3488079734836961,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008618974998532042,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18629656804916467,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395917618437,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754556392035184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514753737941343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542380066027534,
+            "release_required_pad_clearance": 0.052573768689706715,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21306233891088067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007508337497711182,
+            "max_z_decrease": 0.007508337497711182,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510955241521737,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007508337497711182,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021258031001806045,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007508337497711182,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007508355968570809,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11509472131729122,
+              -0.4050694406032562,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11509472131729122,
+              -0.4050694406032562,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11457374870104961,
+              -0.40681102746549563,
+              0.8074197094351456
+            ],
+            "closest_button": [
+              0.1150836646556854,
+              -0.4050654470920563,
+              0.7723572850227356
+            ],
+            "closest_ee_minus_button": [
+              -0.0005099159546357868,
+              -0.0017455803734393593,
+              0.03506242441241003
+            ],
+            "button_min_z_position": [
+              0.11507852375507352,
+              -0.4050655663013458,
+              0.7693005204200745
+            ],
+            "min_active_finger_to_button": 0.14654668869023296,
+            "closest_active_finger": [
+              -0.0267254039645195,
+              -0.3920744061470032,
+              0.8106164932250977
+            ],
+            "closest_active_finger_button": [
+              0.11509515345096585,
+              -0.4050690829753876,
+              0.7760621905326843
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14182055741548535,
+              0.0129946768283844,
+              0.03455430269241333
+            ],
+            "min_contact_pad_to_button": 0.021258031001806045,
+            "closest_contact_pad": [
+              0.11507852375507352,
+              -0.4078401691481088,
+              0.7903767027384281
+            ],
+            "closest_contact_pad_button": [
+              0.11507852375507352,
+              -0.4050655663013458,
+              0.7693005204200745
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027746028467629524,
+              0.02107618231835362
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28018440384357013,
+              0.18177931327565,
+              1.1025112247799846
+            ],
+            "current_z": 1.1025112247799846,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1926020950456221,
+            "gripper_z": 1.1025114567552123,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2801844038434699,
+              0.18177928347405886,
+              1.1025114567552123
+            ],
+            "object_minus_gripper": [
+              1.0025313912365164e-13,
+              2.9801591139300143e-08,
+              -2.319752276935816e-07
+            ],
+            "object_to_gripper_xy": 2.980159113946877e-08,
+            "object_to_gripper_z": -2.319752276935816e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28018440384357013,
+              0.18177931327565,
+              1.1025112247799846
+            ],
+            "finger_b": [
+              0.28018440384357013,
+              0.18177931327565,
+              1.1025112247799846
+            ],
+            "finger_midpoint": [
+              0.28018440384357013,
+              0.18177931327565,
+              1.1025112247799846
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1025112247799846,
+            "object_top_z": 1.2275197314002644,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28018440384357013,
+            0.18177931327565003,
+            1.1025112247799849
+          ],
+          "object_origin_world": [
+            0.28018440384357013,
+            0.18177931327565003,
+            1.1025112247799849
+          ],
+          "frame_world": [
+            0.2801844038434699,
+            0.18177928347405886,
+            1.1025114567552123
+          ],
+          "center_minus_frame": [
+            1.0025313912365164e-13,
+            2.980159116705572e-08,
+            -2.3197522747153698e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432645081744156,
+            "required_z": 0.9112598623972945,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007106630515854684,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.222767555500581e-08,
+            "max_target_xy_drift": 2.536498588256954e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.21306234138783706,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.21306236305778323,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2679386779517516,
+              -0.34736678367284146,
+              0.9233730133042598
+            ],
+            "target_mouth_xy": [
+              0.2679829505852234,
+              -0.34808072348795105
+            ],
+            "rod_tip_z": 0.9233730133042598,
+            "rod_tip_depth": -0.022112975908340826,
+            "rod_tip_bottom_clearance": 0.12155372390883679,
+            "rod_tip_xy_dist": 0.0007153112089665899,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04468709948548599,
+            "min_rod_tip_bottom_clearance": 0.05475345619852767,
+            "min_rod_tip_xy_dist": 0.000715148075791714,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2679829528614748,
+              -0.3480806613019214
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.2762513540719453e-09,
+              -6.21860296590171e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0005350394364569966,
+                0.0023683378594260285
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00042873339045307324,
+                0.001988818862687536
+              ],
+              "first_target_mouth_xy": [
+                0.26798301490836357,
+                -0.34808065938297517
+              ],
+              "last_target_mouth_xy": [
+                0.2679830149159827,
+                -0.3480806584285212
+              ],
+              "first_rod_tip_xy": [
+                0.26851805434482057,
+                -0.34571232152354914
+              ],
+              "last_rod_tip_xy": [
+                0.26841174830643577,
+                -0.34609183956583367
+              ],
+              "min_rod_tip_xy_dist": 0.002034505539110457,
+              "max_rod_tip_xy_dist": 0.0024280221199476093,
+              "first_target_xy_drift": 6.207655566771343e-08,
+              "last_target_xy_drift": 6.212099791492755e-08,
+              "max_depth": 0.019622384420726058,
+              "min_bottom_clearance": 0.07981820939058315
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0005350394364569966,
+                  0.0023683378594260285
+                ],
+                "rod_tip_xy": [
+                  0.26851805434482057,
+                  -0.34571232152354914
+                ],
+                "target_mouth_xy": [
+                  0.26798301490836357,
+                  -0.34808065938297517
+                ],
+                "gripper_position": [
+                  0.2685067420729703,
+                  -0.34571927838258976,
+                  1.0058704079046557
+                ],
+                "rod_tip_xy_dist": 0.0024280221199476093,
+                "target_xy_drift": 6.207655566771343e-08,
+                "depth": 0.01525147596224874,
+                "bottom_clearance": 0.08418908326524377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.000523728199105955,
+                  0.0023613822785127914
+                ],
+                "rod_tip_xy": [
+                  0.2685067420729703,
+                  -0.34571927838258987
+                ],
+                "target_mouth_xy": [
+                  0.26798301387386436,
+                  -0.34808066066110266
+                ],
+                "gripper_position": [
+                  0.26849852752995373,
+                  -0.34572015005117734,
+                  1.0057494078255396
+                ],
+                "rod_tip_xy_dist": 0.0024187636287601624,
+                "target_xy_drift": 6.101575478119262e-08,
+                "depth": 0.015389423999307095,
+                "bottom_clearance": 0.08405111550263311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0005155437778456284,
+                  0.0023605099715561795
+                ],
+                "rod_tip_xy": [
+                  0.26849852752995373,
+                  -0.3457201500511774
+                ],
+                "target_mouth_xy": [
+                  0.2679829837521081,
+                  -0.3480806600227336
+                ],
+                "gripper_position": [
+                  0.2685026424816449,
+                  -0.3457840064619324,
+                  1.0052301288897783
+                ],
+                "rod_tip_xy_dist": 0.0024161524605644195,
+                "target_xy_drift": 3.091710770636427e-08,
+                "depth": 0.015510469740728228,
+                "bottom_clearance": 0.08393003473262195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0005196585759589811,
+                  0.002296652921097153
+                ],
+                "rod_tip_xy": [
+                  0.2685026424816449,
+                  -0.3457840064619325
+                ],
+                "target_mouth_xy": [
+                  0.2679829839056859,
+                  -0.3480806593830297
+                ],
+                "gripper_position": [
+                  0.26849137391431055,
+                  -0.3457906449763276,
+                  1.0050922188259337
+                ],
+                "rod_tip_xy_dist": 0.0023547101043550566,
+                "target_xy_drift": 3.110345947145526e-08,
+                "depth": 0.01602969164439705,
+                "bottom_clearance": 0.08341082148803658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0005084205996433444,
+                  0.002289987805257132
+                ],
+                "rod_tip_xy": [
+                  0.26849137391431055,
+                  -0.3457906449763277
+                ],
+                "target_mouth_xy": [
+                  0.2679829533146672,
+                  -0.34808063278158485
+                ],
+                "gripper_position": [
+                  0.268482902447269,
+                  -0.3457915216639376,
+                  1.0049715537900215
+                ],
+                "rod_tip_xy_dist": 0.0023457484209454507,
+                "target_xy_drift": 2.852393695747566e-08,
+                "depth": 0.016167712368358234,
+                "bottom_clearance": 0.08327288483614204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0004998875255537438,
+                  0.002289139318265021
+                ],
+                "rod_tip_xy": [
+                  0.268482902447269,
+                  -0.3457915216639377
+                ],
+                "target_mouth_xy": [
+                  0.2679830149217153,
+                  -0.3480806609822027
+                ],
+                "gripper_position": [
+                  0.2684879876228639,
+                  -0.3458566403112924,
+                  1.004452977833369
+                ],
+                "rod_tip_xy_dist": 0.0023430847950151293,
+                "target_xy_drift": 6.206106405169894e-08,
+                "depth": 0.016288351829441328,
+                "bottom_clearance": 0.08315223947730066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.000505002631743745,
+                  0.002223990867070702
+                ],
+                "rod_tip_xy": [
+                  0.2684879876228639,
+                  -0.3458566403112925
+                ],
+                "target_mouth_xy": [
+                  0.26798298499112017,
+                  -0.3480806311783632
+                ],
+                "gripper_position": [
+                  0.26847641554997803,
+                  -0.34586345946746083,
+                  1.004314942440553
+                ],
+                "rod_tip_xy_dist": 0.0022806058482083224,
+                "target_xy_drift": 4.40425120949877e-08,
+                "depth": 0.016806926733383465,
+                "bottom_clearance": 0.08263365957783786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000493401752670819,
+                  0.0022171992797798135
+                ],
+                "rod_tip_xy": [
+                  0.26847641554997803,
+                  -0.3458634594674609
+                ],
+                "target_mouth_xy": [
+                  0.2679830137973072,
+                  -0.3480806587472407
+                ],
+                "gripper_position": [
+                  0.26846807918491833,
+                  -0.3458639215115523,
+                  1.0041941610650278
+                ],
+                "rod_tip_xy_dist": 0.0022714352149675677,
+                "target_xy_drift": 6.098936028546622e-08,
+                "depth": 0.016944830587846238,
+                "bottom_clearance": 0.08249570880766088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00048506340217913113,
+                  0.002216736596683533
+                ],
+                "rod_tip_xy": [
+                  0.26846807918491833,
+                  -0.34586392151155243
+                ],
+                "target_mouth_xy": [
+                  0.2679830157827392,
+                  -0.34808065810823596
+                ],
+                "gripper_position": [
+                  0.2684736467254071,
+                  -0.34593015194894855,
+                  1.0036781784121631
+                ],
+                "rod_tip_xy_dist": 0.002269186559807211,
+                "target_xy_drift": 6.300226299858443e-08,
+                "depth": 0.017065758410677034,
+                "bottom_clearance": 0.08237488024992334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.000490665938461754,
+                  0.00215050904182279
+                ],
+                "rod_tip_xy": [
+                  0.2684736467254071,
+                  -0.3459301519489487
+                ],
+                "target_mouth_xy": [
+                  0.2679829807869453,
+                  -0.3480806609907715
+                ],
+                "gripper_position": [
+                  0.26846216204506357,
+                  -0.3459368027695022,
+                  1.0035404746402672
+                ],
+                "rod_tip_xy_dist": 0.002205774739661357,
+                "target_xy_drift": 2.7927203933194354e-08,
+                "depth": 0.017581735441528412,
+                "bottom_clearance": 0.08185889392516699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0004791478610995936,
+                  0.0021438271290312727
+                ],
+                "rod_tip_xy": [
+                  0.26846216204506357,
+                  -0.34593680276950234
+                ],
+                "target_mouth_xy": [
+                  0.267983014183964,
+                  -0.3480806298985336
+                ],
+                "gripper_position": [
+                  0.2684536290185756,
+                  -0.3459374337025885,
+                  1.0034196649500977
+                ],
+                "rod_tip_xy_dist": 0.0021967196980877614,
+                "target_xy_drift": 6.889572153188867e-08,
+                "depth": 0.017719343974888835,
+                "bottom_clearance": 0.08172117601699691,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0004706132279225783,
+                  0.0021431977962267923
+                ],
+                "rod_tip_xy": [
+                  0.2684536290185756,
+                  -0.34593743370258856
+                ],
+                "target_mouth_xy": [
+                  0.26798301579065303,
+                  -0.34808063149881535
+                ],
+                "gripper_position": [
+                  0.26844505922664574,
+                  -0.34593788706512585,
+                  1.0032991676655025
+                ],
+                "rod_tip_xy_dist": 0.002194259238113648,
+                "target_xy_drift": 6.962978246181372e-08,
+                "depth": 0.01784031288885657,
+                "bottom_clearance": 0.081600323199715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0004620750255958095,
+                  0.0021427729589812983
+                ],
+                "rod_tip_xy": [
+                  0.26844505922664574,
+                  -0.34593788706512596
+                ],
+                "target_mouth_xy": [
+                  0.26798298420104993,
+                  -0.34808066002410726
+                ],
+                "gripper_position": [
+                  0.2684521183354007,
+                  -0.34600622297051487,
+                  1.002784664155055
+                ],
+                "rod_tip_xy_dist": 0.002192028577145115,
+                "target_xy_drift": 3.1365614612049696e-08,
+                "depth": 0.017960653923222103,
+                "bottom_clearance": 0.08147986791966255,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00046910392955190616,
+                  0.0020744690944480837
+                ],
+                "rod_tip_xy": [
+                  0.2684521183354007,
+                  -0.34600622297051487
+                ],
+                "target_mouth_xy": [
+                  0.2679830144058488,
+                  -0.34808069206496295
+                ],
+                "gripper_position": [
+                  0.26844058919313496,
+                  -0.34601281569012426,
+                  1.0026472598135032
+                ],
+                "rod_tip_xy_dist": 0.0021268475546078265,
+                "target_xy_drift": 6.880461250594733e-08,
+                "depth": 0.018475260116368464,
+                "bottom_clearance": 0.08096535676357042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00045760403140393535,
+                  0.002067846572646026
+                ],
+                "rod_tip_xy": [
+                  0.26844058919313496,
+                  -0.3460128156901243
+                ],
+                "target_mouth_xy": [
+                  0.267982985161731,
+                  -0.34808066226277035
+                ],
+                "gripper_position": [
+                  0.26843195076855564,
+                  -0.3460131641947631,
+                  1.0025264452706546
+                ],
+                "rod_tip_xy_dist": 0.0021178741458266707,
+                "target_xy_drift": 3.2314544470985115e-08,
+                "depth": 0.01861272853101259,
+                "bottom_clearance": 0.0808279098632011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00044893612524510296,
+                  0.0020674974273214852
+                ],
+                "rod_tip_xy": [
+                  0.26843195076855564,
+                  -0.34601316419476313
+                ],
+                "target_mouth_xy": [
+                  0.26798301464331054,
+                  -0.3480806616220846
+                ],
+                "gripper_position": [
+                  0.26842331030817945,
+                  -0.3460134261782365,
+                  1.0024058029785454
+                ],
+                "rod_tip_xy_dist": 0.002115677020844875,
+                "target_xy_drift": 6.178266532108255e-08,
+                "depth": 0.01873346951128252,
+                "bottom_clearance": 0.08070713379380778,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00044029551173385695,
+                  0.002067234483258684
+                ],
+                "rod_tip_xy": [
+                  0.26842331030817945,
+                  -0.3460134261782366
+                ],
+                "target_mouth_xy": [
+                  0.2679830147964456,
+                  -0.3480806606614953
+                ],
+                "gripper_position": [
+                  0.2684145179433647,
+                  -0.34601412346348226,
+                  1.0022854990648153
+                ],
+                "rod_tip_xy_dist": 0.0021136032140462832,
+                "target_xy_drift": 6.19382818287355e-08,
+                "depth": 0.01885409592692089,
+                "bottom_clearance": 0.08058647915613737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0004315039919993713,
+                  0.00206653687765479
+                ],
+                "rod_tip_xy": [
+                  0.2684145179433647,
+                  -0.34601412346348237
+                ],
+                "target_mouth_xy": [
+                  0.2679830139513653,
+                  -0.34808066034113716
+                ],
+                "gripper_position": [
+                  0.268423798222593,
+                  -0.3460853806749157,
+                  1.0017750309353242
+                ],
+                "rod_tip_xy_dist": 0.0021111064307179307,
+                "target_xy_drift": 6.109744537971739e-08,
+                "depth": 0.018974327758999876,
+                "bottom_clearance": 0.08046620335568899,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00044081517984995156,
+                  0.0019952819101389796
+                ],
+                "rod_tip_xy": [
+                  0.268423798222593,
+                  -0.3460853806749158
+                ],
+                "target_mouth_xy": [
+                  0.26798298304274304,
+                  -0.34808066258505477
+                ],
+                "gripper_position": [
+                  0.26841174830643577,
+                  -0.34609183956583367,
+                  1.0016375224086096
+                ],
+                "rod_tip_xy_dist": 0.002043396173950123,
+                "target_xy_drift": 3.020853166225468e-08,
+                "depth": 0.01948484293400965,
+                "bottom_clearance": 0.07995575715687242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00042873339045307324,
+                  0.001988818862687536
+                ],
+                "rod_tip_xy": [
+                  0.26841174830643577,
+                  -0.34609183956583367
+                ],
+                "target_mouth_xy": [
+                  0.2679830149159827,
+                  -0.3480806584285212
+                ],
+                "gripper_position": [
+                  0.2684030785424294,
+                  -0.3460920195243855,
+                  1.0015171608379614
+                ],
+                "rod_tip_xy_dist": 0.002034505539110457,
+                "target_xy_drift": 6.212099791492755e-08,
+                "depth": 0.019622384420726058,
+                "bottom_clearance": 0.07981820939058315,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005990826397214155,
+              "rod_tip_xy_max_step": 3.2411132917179614e-05,
+              "rod_tip_xy_range": 0.0005990729208033053,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2679386779517516,
+            -0.3473667836728414,
+            1.0433730133042598
+          ],
+          "object_origin_world": [
+            0.2679386779517516,
+            -0.3473667836728414,
+            1.0433730133042598
+          ],
+          "frame_world": [
+            0.2679370850518731,
+            -0.347371542040267,
+            1.0432645081744156
+          ],
+          "center_minus_frame": [
+            1.592899878499754e-06,
+            4.758367425583554e-06,
+            0.00010850512984417193
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26909115109207493,
+              0.13351385622582299,
+              0.8335550243680545
+            ],
+            "target_position": [
+              0.2803380044737175,
+              0.18063023883264623,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04844011995175817,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16927597347787948,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335550243680545,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671265562724,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13926377699423947,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "401dde60f6622188ef5f96efe468c0ae019a6bf298ecc2a208ccc88a3db41519",
+    "visual_seed": 4167378849330033515,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10d9eef8bf66c6590809812d7fcc4395713e1f4e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_77_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25707573182674637,
+              0.030746754877345128,
+              1.1622060239700112
+            ],
+            "current_z": 1.1622060239700112,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3010992775366663,
+            "gripper_z": 1.1553439641869956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.251915245806862,
+              0.02592889508177848,
+              1.1553439641869956
+            ],
+            "object_minus_gripper": [
+              0.005160486019884392,
+              0.004817859795566648,
+              0.006862059783015573
+            ],
+            "object_to_gripper_xy": 0.0070599142325640015,
+            "object_to_gripper_z": 0.006862059783015573,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25707573182674637,
+              0.006476753525280389,
+              1.1622060239700112
+            ],
+            "finger_b": [
+              0.24629512012307414,
+              0.030746754877345128,
+              1.1622060239700112
+            ],
+            "finger_midpoint": [
+              0.2516854259749103,
+              0.01861175420131276,
+              1.1622060239700112
+            ],
+            "object_minus_finger_midpoint": [
+              0.005390305851836086,
+              0.012135000676032369,
+              0.0
+            ],
+            "finger_gap": 0.02655662919752013,
+            "fingertip_max_gap": 0.09087057703203291,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013278314598760055,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622060239700112,
+            "object_top_z": 1.2120658810171232,
+            "finger_top_clearance": 0.049859857047112044,
+            "fingertip_min_top_clearance": 0.014957957114133613,
+            "object_projection_between_fingers": 0.8352061847866947,
+            "object_to_finger_line_xy": 0.00985235960024033,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793528851601646,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6281501325058915,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2661421371989465,
+              -0.34440147982685276,
+              0.8515395727861508
+            ],
+            "target_position": [
+              0.257956554689182,
+              -0.3450389113159841,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008210364177519728,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18645433886109614,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395727861508,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581290043593972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705619863561671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15361993473665556,
+            "release_required_pad_clearance": 0.05352809931780836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0680161164935638,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007163941860198975,
+            "max_z_decrease": 0.007163941860198975,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035092324246873134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007163941860198975,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021129324495965517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007163941860198975,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007163960619349311,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11365648359060286,
+              -0.4013003706932067,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11365648359060286,
+              -0.4013003706932067,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11229866521600951,
+              -0.4018645599153075,
+              0.807179849809215
+            ],
+            "closest_button": [
+              0.1136447787284851,
+              -0.40129539370536793,
+              0.7721179723739624
+            ],
+            "closest_ee_minus_button": [
+              -0.0013461135124755857,
+              -0.0005691662099395756,
+              0.035061877435252575
+            ],
+            "button_min_z_position": [
+              0.1136401742696762,
+              -0.40129870176315297,
+              0.7696449160575867
+            ],
+            "min_active_finger_to_button": 0.14738466903692835,
+            "closest_active_finger": [
+              -0.028953924775123596,
+              -0.38764479756355286,
+              0.8109771013259888
+            ],
+            "closest_active_finger_button": [
+              0.11365838348865506,
+              -0.40130022168159474,
+              0.7763721942901611
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14261230826377866,
+              0.013655424118041881,
+              0.03460490703582764
+            ],
+            "min_contact_pad_to_button": 0.021129324495965517,
+            "closest_contact_pad": [
+              0.1136401742696762,
+              -0.4027949665956796,
+              0.7907211952644759
+            ],
+            "closest_contact_pad_button": [
+              0.1136401742696762,
+              -0.40129870176315297,
+              0.7696449160575867
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014962648325266281,
+              0.02107627920688926
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28460840298058004,
+              0.1779624413213425,
+              1.1046680609215396
+            ],
+            "current_z": 1.1046680609215396,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19475893118717702,
+            "gripper_z": 1.1046680218619667,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28460835990309985,
+              0.177962460876399,
+              1.1046680218619667
+            ],
+            "object_minus_gripper": [
+              4.3077480194053663e-08,
+              -1.9555056490760947e-08,
+              3.9059572909394547e-08
+            ],
+            "object_to_gripper_xy": 4.730823960184883e-08,
+            "object_to_gripper_z": 3.9059572909394547e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28460840298058004,
+              0.1779624413213425,
+              1.1046680609215396
+            ],
+            "finger_b": [
+              0.28460840298058004,
+              0.1779624413213425,
+              1.1046680609215396
+            ],
+            "finger_midpoint": [
+              0.28460840298058004,
+              0.1779624413213425,
+              1.1046680609215396
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046680609215396,
+            "object_top_z": 1.2296765675418193,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28460840298058004,
+            0.17796244132134248,
+            1.1046680609215396
+          ],
+          "object_origin_world": [
+            0.28460840298058004,
+            0.17796244132134248,
+            1.1046680609215396
+          ],
+          "frame_world": [
+            0.28460835990309985,
+            0.177962460876399,
+            1.1046680218619667
+          ],
+          "center_minus_frame": [
+            4.3077480194053663e-08,
+            -1.9555056518516523e-08,
+            3.9059572909394547e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432981194468876,
+            "required_z": 0.9112598358291113,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000983152129102149,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3486267961024328e-07,
+            "max_target_xy_drift": 1.927548146218597e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.068016115723233,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.0680161165166564,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26532964863073366,
+              -0.34384557052206777,
+              0.9234052209142051
+            ],
+            "target_mouth_xy": [
+              0.26614206114623784,
+              -0.3444013885394236
+            ],
+            "rod_tip_z": 0.9234052209142051,
+            "rod_tip_depth": -0.022145322442427395,
+            "rod_tip_bottom_clearance": 0.12158594051099592,
+            "rod_tip_xy_dist": 0.0009843514432179132,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04492381116440869,
+            "min_rod_tip_bottom_clearance": 0.05451683434592958,
+            "min_rod_tip_xy_dist": 0.0009843514432179132,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2661421231015365,
+              -0.3444015083287525
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.19552986691474e-08,
+              1.1978932890066574e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0001769645795029473,
+                0.0022095576899056057
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000297685993345842,
+                0.0018364510066758433
+              ],
+              "first_target_mouth_xy": [
+                0.26614214738662534,
+                -0.34440154619231544
+              ],
+              "last_target_mouth_xy": [
+                0.2661420510897816,
+                -0.34440144996867783
+              ],
+              "first_rod_tip_xy": [
+                0.2659651828071224,
+                -0.34219198850240984
+              ],
+              "last_rod_tip_xy": [
+                0.2658443650964358,
+                -0.342564998962002
+              ],
+              "min_rod_tip_xy_dist": 0.0018587853199704988,
+              "max_rod_tip_xy_dist": 0.00221663295279567,
+              "first_target_xy_drift": 4.498238476132968e-08,
+              "last_target_xy_drift": 9.2690836425281e-08,
+              "max_depth": 0.019592041496206303,
+              "min_bottom_clearance": 0.0798485610027646
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0001769645795029473,
+                  0.0022095576899056057
+                ],
+                "rod_tip_xy": [
+                  0.2659651828071224,
+                  -0.34219198850240984
+                ],
+                "target_mouth_xy": [
+                  0.26614214738662534,
+                  -0.34440154619231544
+                ],
+                "gripper_position": [
+                  0.2659539801969098,
+                  -0.3421986262151819,
+                  1.0058627552802852
+                ],
+                "rod_tip_xy_dist": 0.00221663295279567,
+                "target_xy_drift": 4.498238476132968e-08,
+                "depth": 0.015261419574649548,
+                "bottom_clearance": 0.08417929441806271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00018815044222408872,
+                  0.0022028892540731926
+                ],
+                "rod_tip_xy": [
+                  0.26595398019690986,
+                  -0.3421986262151818
+                ],
+                "target_mouth_xy": [
+                  0.26614213063913394,
+                  -0.344401515469255
+                ],
+                "gripper_position": [
+                  0.2659458313172164,
+                  -0.3421989055250321,
+                  1.0057432959697374
+                ],
+                "rod_tip_xy_dist": 0.002210909689385857,
+                "target_xy_drift": 1.0382781485173953e-08,
+                "depth": 0.015397146883482926,
+                "bottom_clearance": 0.08404347881992946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00019624673740964438,
+                  0.0022024854618932777
+                ],
+                "rod_tip_xy": [
+                  0.26594583131721644,
+                  -0.34219890552503207
+                ],
+                "target_mouth_xy": [
+                  0.2661420780546261,
+                  -0.34440139098692535
+                ],
+                "gripper_position": [
+                  0.26594736191290547,
+                  -0.34226311075742416,
+                  1.0052271751775708
+                ],
+                "rod_tip_xy_dist": 0.0022112112047009834,
+                "target_xy_drift": 1.2569140199794834e-07,
+                "depth": 0.015516527428616311,
+                "bottom_clearance": 0.08392398369993137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00019478210149187491,
+                  0.002138406006144622
+                ],
+                "rod_tip_xy": [
+                  0.2659473619129055,
+                  -0.3422631107574242
+                ],
+                "target_mouth_xy": [
+                  0.2661421440143974,
+                  -0.34440151676356884
+                ],
+                "gripper_position": [
+                  0.2659360018509327,
+                  -0.3422697807133789,
+                  1.005090818847137
+                ],
+                "rod_tip_xy_dist": 0.0021472587906856927,
+                "target_xy_drift": 2.2549808808023776e-08,
+                "depth": 0.01603272827029978,
+                "bottom_clearance": 0.0834078645896833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0002061075262760892,
+                  0.0021316108844271486
+                ],
+                "rod_tip_xy": [
+                  0.26593600185093275,
+                  -0.3422697807133789
+                ],
+                "target_mouth_xy": [
+                  0.26614210937720884,
+                  -0.34440139159780603
+                ],
+                "gripper_position": [
+                  0.26592763064871694,
+                  -0.34226980485696334,
+                  1.0049720317746162
+                ],
+                "rod_tip_xy_dist": 0.0021415520715116734,
+                "target_xy_drift": 1.175349779112737e-07,
+                "depth": 0.016169028364732774,
+                "bottom_clearance": 0.08327156412626324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00021448240636862126,
+                  0.002131741105163343
+                ],
+                "rod_tip_xy": [
+                  0.265927630648717,
+                  -0.34226980485696323
+                ],
+                "target_mouth_xy": [
+                  0.2661421130550856,
+                  -0.3444015459621266
+                ],
+                "gripper_position": [
+                  0.26592991450847153,
+                  -0.34233515639396955,
+                  1.004455600513926
+                ],
+                "rod_tip_xy_dist": 0.002142503872128287,
+                "target_xy_drift": 3.895127752047199e-08,
+                "depth": 0.016287731903893654,
+                "bottom_clearance": 0.08315279427444922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00021222572014223395,
+                  0.0020662637170458242
+                ],
+                "rod_tip_xy": [
+                  0.2659299145084716,
+                  -0.3423351563939695
+                ],
+                "target_mouth_xy": [
+                  0.2661421402286138,
+                  -0.3444014201110153
+                ],
+                "gripper_position": [
+                  0.2659184779251132,
+                  -0.3423416192490477,
+                  1.0043197769236278
+                ],
+                "rod_tip_xy_dist": 0.0020771339640644065,
+                "target_xy_drift": 8.98649315850744e-08,
+                "depth": 0.016804292696032008,
+                "bottom_clearance": 0.0826362972526754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000223600683227132,
+                  0.0020597996230082294
+                ],
+                "rod_tip_xy": [
+                  0.26591847792511325,
+                  -0.3423416192490476
+                ],
+                "target_mouth_xy": [
+                  0.2661420786083404,
+                  -0.34440141887205583
+                ],
+                "gripper_position": [
+                  0.265910051604629,
+                  -0.34234172155368914,
+                  1.0042009822999591
+                ],
+                "rod_tip_xy_dist": 0.002071900517033693,
+                "target_xy_drift": 9.991068551061156e-08,
+                "depth": 0.016940061347713975,
+                "bottom_clearance": 0.08250049355376299,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00023211979595622045,
+                  0.0020597292915662813
+                ],
+                "rod_tip_xy": [
+                  0.26591005160462905,
+                  -0.342341721553689
+                ],
+                "target_mouth_xy": [
+                  0.26614217140058527,
+                  -0.3444014508452553
+                ],
+                "gripper_position": [
+                  0.26591325552573664,
+                  -0.34240820993371557,
+                  1.0036867885025924
+                ],
+                "rod_tip_xy_dist": 0.002072767317913637,
+                "target_xy_drift": 7.508096003465139e-08,
+                "depth": 0.01705893905560707,
+                "bottom_clearance": 0.08238173726776776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00022882134168283885,
+                  0.0019931772713819296
+                ],
+                "rod_tip_xy": [
+                  0.2659132555257367,
+                  -0.34240820993371546
+                ],
+                "target_mouth_xy": [
+                  0.26614207686741953,
+                  -0.3444013872050974
+                ],
+                "gripper_position": [
+                  0.2659015896441875,
+                  -0.342414727220168,
+                  1.0035510146331084
+                ],
+                "rod_tip_xy_dist": 0.002006268885658911,
+                "target_xy_drift": 1.296477280905314e-07,
+                "depth": 0.017573106794591786,
+                "bottom_clearance": 0.08186752447410617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00024055039158787928,
+                  0.0019867227074653604
+                ],
+                "rod_tip_xy": [
+                  0.26590158964418753,
+                  -0.3424147272201681
+                ],
+                "target_mouth_xy": [
+                  0.2661421400357754,
+                  -0.34440144992763344
+                ],
+                "gripper_position": [
+                  0.265893126670515,
+                  -0.3424148009330967,
+                  1.0034322429606868
+                ],
+                "rod_tip_xy_dist": 0.0020012325220352518,
+                "target_xy_drift": 6.080673608765385e-08,
+                "depth": 0.01770887716861369,
+                "bottom_clearance": 0.08173170560975962,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00024890664369686677,
+                  0.001986678862358482
+                ],
+                "rod_tip_xy": [
+                  0.26589312667051507,
+                  -0.3424148009330966
+                ],
+                "target_mouth_xy": [
+                  0.26614203331421193,
+                  -0.3444014797954551
+                ],
+                "gripper_position": [
+                  0.2658968633370632,
+                  -0.3424820049549668,
+                  1.0029220977144242
+                ],
+                "rod_tip_xy_dist": 0.002002210633129899,
+                "target_xy_drift": 9.421206246773981e-08,
+                "depth": 0.017827569611749694,
+                "bottom_clearance": 0.08161291951997185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00024523227007555715,
+                  0.0019194443500221703
+                ],
+                "rod_tip_xy": [
+                  0.2658968633370632,
+                  -0.3424820049549667
+                ],
+                "target_mouth_xy": [
+                  0.26614209560713875,
+                  -0.3444014493049889
+                ],
+                "gripper_position": [
+                  0.26588521036776636,
+                  -0.3424882750566065,
+                  1.0027865357402497
+                ],
+                "rod_tip_xy_dist": 0.0019350466348691555,
+                "target_xy_drift": 6.511333640262723e-08,
+                "depth": 0.018337804093953913,
+                "bottom_clearance": 0.08110280539286974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0002568527378090102,
+                  0.0019131739908526124
+                ],
+                "rod_tip_xy": [
+                  0.2658852103677664,
+                  -0.3424882750566065
+                ],
+                "target_mouth_xy": [
+                  0.2661420631055754,
+                  -0.3444014490474591
+                ],
+                "gripper_position": [
+                  0.2658766087344059,
+                  -0.34248824932542865,
+                  1.0026676712474039
+                ],
+                "rod_tip_xy_dist": 0.001930338842844669,
+                "target_xy_drift": 8.434326938765025e-08,
+                "depth": 0.018473291358092836,
+                "bottom_clearance": 0.08096722734759287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0002655024778985271,
+                  0.0019132009354859703
+                ],
+                "rod_tip_xy": [
+                  0.26587660873440594,
+                  -0.34248824932542865
+                ],
+                "target_mouth_xy": [
+                  0.26614211121230447,
+                  -0.3444014502609146
+                ],
+                "gripper_position": [
+                  0.26586794959493976,
+                  -0.34248828572938866,
+                  1.002549041997284
+                ],
+                "rod_tip_xy_dist": 0.0019315354993669285,
+                "target_xy_drift": 5.927248631230975e-08,
+                "depth": 0.018592234828056386,
+                "bottom_clearance": 0.08084839826813128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00027410076104655845,
+                  0.0019131337946083349
+                ],
+                "rod_tip_xy": [
+                  0.2658679495949398,
+                  -0.3424882857293887
+                ],
+                "target_mouth_xy": [
+                  0.26614205035598637,
+                  -0.34440141952399705
+                ],
+                "gripper_position": [
+                  0.265859119089749,
+                  -0.342488610988007,
+                  1.0024301771666426
+                ],
+                "rod_tip_xy_dist": 0.0019326696932685599,
+                "target_xy_drift": 1.1479633989589098e-07,
+                "depth": 0.01871085541004225,
+                "bottom_clearance": 0.08072973292521113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0002828998142236361,
+                  0.0019128393240974706
+                ],
+                "rod_tip_xy": [
+                  0.2658591190897491,
+                  -0.34248861098800687
+                ],
+                "target_mouth_xy": [
+                  0.2661420189039727,
+                  -0.34440145031210434
+                ],
+                "gripper_position": [
+                  0.2658648677256892,
+                  -0.34255880240531456,
+                  1.0019220808842304
+                ],
+                "rod_tip_xy_dist": 0.0019336459305419479,
+                "target_xy_drift": 1.1926048702132346e-07,
+                "depth": 0.01882964523383368,
+                "bottom_clearance": 0.08061087434880831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00027724577860149813,
+                  0.0018426176882138101
+                ],
+                "rod_tip_xy": [
+                  0.26586486772568924,
+                  -0.34255880240531456
+                ],
+                "target_mouth_xy": [
+                  0.26614211350429073,
+                  -0.34440142009352837
+                ],
+                "gripper_position": [
+                  0.26585319319567235,
+                  -0.34256514722401227,
+                  1.0017867124953093
+                ],
+                "rod_tip_xy_dist": 0.0018633585716846762,
+                "target_xy_drift": 8.875563026226265e-08,
+                "depth": 0.01933783848960091,
+                "bottom_clearance": 0.08010287311052966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0002888104778369649,
+                  0.0018362111462545405
+                ],
+                "rod_tip_xy": [
+                  0.2658531931956724,
+                  -0.3425651472240122
+                ],
+                "target_mouth_xy": [
+                  0.2661420036735094,
+                  -0.34440135837026675
+                ],
+                "gripper_position": [
+                  0.2658443650964357,
+                  -0.34256499896200204,
+                  1.0016678549925149
+                ],
+                "rod_tip_xy_dist": 0.0018587853199704988,
+                "target_xy_drift": 1.9170446293882706e-07,
+                "depth": 0.01947319851261098,
+                "bottom_clearance": 0.0799673737217389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.000297685993345842,
+                  0.0018364510066758433
+                ],
+                "rod_tip_xy": [
+                  0.2658443650964358,
+                  -0.342564998962002
+                ],
+                "target_mouth_xy": [
+                  0.2661420510897816,
+                  -0.34440144996867783
+                ],
+                "gripper_position": [
+                  0.2658355901979041,
+                  -0.3425649674391594,
+                  1.0015496274662068
+                ],
+                "rod_tip_xy_dist": 0.0018604217937217944,
+                "target_xy_drift": 9.2690836425281e-08,
+                "depth": 0.019592041496206303,
+                "bottom_clearance": 0.0798485610027646,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006034126181225119,
+              "rod_tip_xy_max_step": 3.2814207567256576e-05,
+              "rod_tip_xy_range": 0.0006033979729803154,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26532964863073366,
+            -0.34384557052206777,
+            1.0434052209142053
+          ],
+          "object_origin_world": [
+            0.26532964863073366,
+            -0.34384557052206777,
+            1.0434052209142053
+          ],
+          "frame_world": [
+            0.265328277019869,
+            -0.34384971517172475,
+            1.0432981194468876
+          ],
+          "center_minus_frame": [
+            1.3716108646644187e-06,
+            4.144649656978583e-06,
+            0.0001071014673177384
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27319438245366984,
+              0.1333353218588055,
+              0.8340913309566272
+            ],
+            "target_position": [
+              0.284743133103294,
+              0.17977448421432074,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04785362516935471,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1686221161208761,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340913309566272,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671667363712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1380784401481512,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8026c1e6a512b123bbad09e4bc5f0ad6b31cf8882635afeae4e7114e0ab1a533",
+    "visual_seed": 7043849683957353683,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..162dcaf6b09182c82ce2db511275168dc7dcf4de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_78_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2607301365329931,
+              0.02877475741143698,
+              1.1624592778295546
+            ],
+            "current_z": 1.1624592778295546,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.301352710210144,
+            "gripper_z": 1.1556585069118022,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25552692652216025,
+              0.023908353110684497,
+              1.1556585069118022
+            ],
+            "object_minus_gripper": [
+              0.005203210010832848,
+              0.004866404300752483,
+              0.006800770917752441
+            ],
+            "object_to_gripper_xy": 0.007124274365520564,
+            "object_to_gripper_z": 0.006800770917752441,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2607301365329931,
+              0.004517185831496942,
+              1.1624592778295546
+            ],
+            "finger_b": [
+              0.24982329117802007,
+              0.02877475741143698,
+              1.1624592778295546
+            ],
+            "finger_midpoint": [
+              0.2552767138555066,
+              0.01664597162146696,
+              1.1624592778295546
+            ],
+            "object_minus_finger_midpoint": [
+              0.005453422677486497,
+              0.01212878578997002,
+              0.0
+            ],
+            "finger_gap": 0.02659678654561884,
+            "fingertip_max_gap": 0.09082137111463892,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013298393272809414,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624592778295546,
+            "object_top_z": 1.212367635549969,
+            "finger_top_clearance": 0.049908357720414465,
+            "fingertip_min_top_clearance": 0.014972507316124338,
+            "object_projection_between_fingers": 0.8318333103522056,
+            "object_to_finger_line_xy": 0.009947576992273029,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791068555731946,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.537384555529144,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2675350208479496,
+              -0.34933761768211613,
+              0.8515396217644057
+            ],
+            "target_position": [
+              0.2592982502672167,
+              -0.34983556743175803,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008251808501946444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18625896820269702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396217644057,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550249236337309,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606017240671347,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15402976389972897,
+            "release_required_pad_clearance": 0.05303008620335674,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0914444619315158,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007526397705078125,
+            "max_z_decrease": 0.007526397705078125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035136585562295125,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007526397705078125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021266746638057527,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007526397705078125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007526421805729038,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11499817669391629,
+              -0.4060970246791839,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11499817669391629,
+              -0.4060970246791839,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11349974861865719,
+              -0.4081356665938737,
+              0.8074339294523764
+            ],
+            "closest_button": [
+              0.11498696357011791,
+              -0.40609252452850336,
+              0.7723883390426636
+            ],
+            "closest_ee_minus_button": [
+              -0.0014872149514607164,
+              -0.002043142065370318,
+              0.03504559040971278
+            ],
+            "button_min_z_position": [
+              0.11497957259416576,
+              -0.4060929417610168,
+              0.7692824602127075
+            ],
+            "min_active_finger_to_button": 0.1474642300315883,
+            "closest_active_finger": [
+              -0.02776908129453659,
+              -0.3930472433567047,
+              0.8111479878425598
+            ],
+            "closest_active_finger_button": [
+              0.11499900370836255,
+              -0.40609759092330927,
+              0.7766130566596985
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14276808500289914,
+              0.013050347566604559,
+              0.03453493118286133
+            ],
+            "min_contact_pad_to_button": 0.021266746638057527,
+            "closest_contact_pad": [
+              0.11497957259416576,
+              -0.4091936607002806,
+              0.7903219481966633
+            ],
+            "closest_contact_pad_button": [
+              0.11497957259416576,
+              -0.4060929417610168,
+              0.7692824602127075
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031007189392638357,
+              0.02103948798395583
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28158488079614963,
+              0.1757898510467627,
+              1.1038445986024161
+            ],
+            "current_z": 1.1038445986024161,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19393546886805357,
+            "gripper_z": 1.1038447203052584,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2815848492636852,
+              0.17578985405927677,
+              1.1038447203052584
+            ],
+            "object_minus_gripper": [
+              3.15324644173387e-08,
+              -3.0125140715320242e-09,
+              -1.2170284224843897e-07
+            ],
+            "object_to_gripper_xy": 3.167604068159261e-08,
+            "object_to_gripper_z": -1.2170284224843897e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28158488079614963,
+              0.1757898510467627,
+              1.1038445986024161
+            ],
+            "finger_b": [
+              0.28158488079614963,
+              0.1757898510467627,
+              1.1038445986024161
+            ],
+            "finger_midpoint": [
+              0.28158488079614963,
+              0.1757898510467627,
+              1.1038445986024161
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1038445986024161,
+            "object_top_z": 1.2288531052226959,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2815848807961497,
+            0.1757898510467627,
+            1.1038445986024161
+          ],
+          "object_origin_world": [
+            0.2815848807961497,
+            0.1757898510467627,
+            1.1038445986024161
+          ],
+          "frame_world": [
+            0.2815848492636852,
+            0.17578985405927677,
+            1.1038447203052584
+          ],
+          "center_minus_frame": [
+            3.153246447284985e-08,
+            -3.0125140715320242e-09,
+            -1.2170284224843897e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043255290942597,
+            "required_z": 0.9112598848878466,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020459906140962046,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.860165793583225e-08,
+            "max_target_xy_drift": 2.887151074328491e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0914444778902694,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.091444477945705,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2671010869403032,
+              -0.35133244759127297,
+              0.923365296327448
+            ],
+            "target_mouth_xy": [
+              0.26753492605547124,
+              -0.34933783968819765
+            ],
+            "rod_tip_z": 0.923365296327448,
+            "rod_tip_depth": -0.02210545010653253,
+            "rod_tip_bottom_clearance": 0.12154601036552815,
+            "rod_tip_xy_dist": 0.002041243999344591,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044636848691503084,
+            "min_rod_tip_bottom_clearance": 0.05480368972666272,
+            "min_rod_tip_xy_dist": 0.00019335800364793048,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26753495582208475,
+              -0.34933790149544797
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9766613507398176e-08,
+              6.180725031779133e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00016773612336518084,
+                -0.00027586996682182896
+              ],
+              "last_rod_tip_xy_delta": [
+                5.707241254249151e-05,
+                -0.0006639460315499557
+              ],
+              "first_target_mouth_xy": [
+                0.2675348976633485,
+                -0.349337839656181
+              ],
+              "last_target_mouth_xy": [
+                0.26753495660274945,
+                -0.34933777465237575
+              ],
+              "first_rod_tip_xy": [
+                0.26770263378671366,
+                -0.3496137096230028
+              ],
+              "last_rod_tip_xy": [
+                0.26759202901529194,
+                -0.3500017206839257
+              ],
+              "min_rod_tip_xy_dist": 0.00032048311899610647,
+              "max_rod_tip_xy_dist": 0.0006664741793782749,
+              "first_target_xy_drift": 8.48913043009045e-08,
+              "last_target_xy_drift": 1.2684547451776397e-07,
+              "max_depth": 0.01938964243491148,
+              "min_bottom_clearance": 0.08005100971571844
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00016773612336518084,
+                  -0.00027586996682182896
+                ],
+                "rod_tip_xy": [
+                  0.26770263378671366,
+                  -0.3496137096230028
+                ],
+                "target_mouth_xy": [
+                  0.2675348976633485,
+                  -0.349337839656181
+                ],
+                "gripper_position": [
+                  0.2676915953046244,
+                  -0.34962083799119104,
+                  1.006113878133062
+                ],
+                "rod_tip_xy_dist": 0.0003228616509836004,
+                "target_xy_drift": 8.48913043009045e-08,
+                "depth": 0.01500767125462954,
+                "bottom_clearance": 0.08443294307972782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0001566669181590763,
+                  -0.00028303037766569394
+                ],
+                "rod_tip_xy": [
+                  0.2676915953046243,
+                  -0.349620837991191
+                ],
+                "target_mouth_xy": [
+                  0.2675349283864652,
+                  -0.3493378076135253
+                ],
+                "gripper_position": [
+                  0.2676834214378929,
+                  -0.3496217678142281,
+                  1.005992150428518
+                ],
+                "rod_tip_xy_dist": 0.00032349763202695633,
+                "target_xy_drift": 9.780863267865505e-08,
+                "depth": 0.015145959675184062,
+                "bottom_clearance": 0.08429463724624842,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00014846243535882042,
+                  -0.0002840217154528868
+                ],
+                "rod_tip_xy": [
+                  0.26768342143789275,
+                  -0.3496217678142281
+                ],
+                "target_mouth_xy": [
+                  0.26753495900253393,
+                  -0.3493377460987752
+                ],
+                "gripper_position": [
+                  0.26768657601676027,
+                  -0.3496873468005728,
+                  1.0054725749039644
+                ],
+                "rod_tip_xy_dist": 0.00032048311899610647,
+                "target_xy_drift": 1.554292159130777e-07,
+                "depth": 0.015267787619290263,
+                "bottom_clearance": 0.08417290972399571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00015168038015184182,
+                  -0.00034953661472286734
+                ],
+                "rod_tip_xy": [
+                  0.2676865760167601,
+                  -0.34968734680057284
+                ],
+                "target_mouth_xy": [
+                  0.26753489563660826,
+                  -0.34933781018585
+                ],
+                "gripper_position": [
+                  0.26767524170894763,
+                  -0.3496946047872808,
+                  1.0053338653660964
+                ],
+                "rod_tip_xy_dist": 0.0003810285852202292,
+                "target_xy_drift": 1.0936056997969037e-07,
+                "depth": 0.015787285034748577,
+                "bottom_clearance": 0.08365328864182586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0001401924264092802,
+                  -0.0003568929286166811
+                ],
+                "rod_tip_xy": [
+                  0.26767524170894746,
+                  -0.3496946047872808
+                ],
+                "target_mouth_xy": [
+                  0.2675350492825382,
+                  -0.34933771185866414
+                ],
+                "gripper_position": [
+                  0.2676671023456142,
+                  -0.3496953783053593,
+                  1.0052125509885566
+                ],
+                "rod_tip_xy_dist": 0.00038344031989230457,
+                "target_xy_drift": 2.1141657015882375e-07,
+                "depth": 0.015926218990660046,
+                "bottom_clearance": 0.08351467333398233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0001321473454867772,
+                  -0.00035753894585016655
+                ],
+                "rod_tip_xy": [
+                  0.267667102345614,
+                  -0.3496953783053593
+                ],
+                "target_mouth_xy": [
+                  0.26753495500012725,
+                  -0.34933783935950913
+                ],
+                "gripper_position": [
+                  0.2676710636733381,
+                  -0.34976231929774215,
+                  1.0046936009833634
+                ],
+                "rod_tip_xy_dist": 0.00038117846046025475,
+                "target_xy_drift": 6.21413751818705e-08,
+                "depth": 0.016047304636247373,
+                "bottom_clearance": 0.0833932552503186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0001360442519498517,
+                  -0.0004245757353697477
+                ],
+                "rod_tip_xy": [
+                  0.26767106367333793,
+                  -0.3497623192977422
+                ],
+                "target_mouth_xy": [
+                  0.2675350194213881,
+                  -0.34933774356237246
+                ],
+                "gripper_position": [
+                  0.26765977843046895,
+                  -0.3497692918897167,
+                  1.0045550410469626
+                ],
+                "rod_tip_xy_dist": 0.0004458392014542426,
+                "target_xy_drift": 1.70257827197969e-07,
+                "depth": 0.016566389019155747,
+                "bottom_clearance": 0.08287443166491137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00012482227922144817,
+                  -0.00043148265792763985
+                ],
+                "rod_tip_xy": [
+                  0.2676597784304688,
+                  -0.3497692918897168
+                ],
+                "target_mouth_xy": [
+                  0.26753495615124734,
+                  -0.34933780923178914
+                ],
+                "gripper_position": [
+                  0.267651529944951,
+                  -0.3497701246469856,
+                  1.00443374191294
+                ],
+                "rod_tip_xy_dist": 0.00044917467146126776,
+                "target_xy_drift": 9.226424598735813e-08,
+                "depth": 0.016704796036685177,
+                "bottom_clearance": 0.0827357528393754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00011660219388709425,
+                  -0.00043234620093624
+                ],
+                "rod_tip_xy": [
+                  0.26765152994495084,
+                  -0.3497701246469856
+                ],
+                "target_mouth_xy": [
+                  0.26753492775106374,
+                  -0.34933777844604935
+                ],
+                "gripper_position": [
+                  0.2676562017267387,
+                  -0.3498379369586259,
+                  1.0039160789634514
+                ],
+                "rod_tip_xy_dist": 0.00044779382430230446,
+                "target_xy_drift": 1.2621068385793866e-07,
+                "depth": 0.016826149011232583,
+                "bottom_clearance": 0.08261442034593303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0001212742557315516,
+                  -0.0005001001624676538
+                ],
+                "rod_tip_xy": [
+                  0.26765620172673854,
+                  -0.34983793695862603
+                ],
+                "target_mouth_xy": [
+                  0.267534927471007,
+                  -0.3493378367961584
+                ],
+                "gripper_position": [
+                  0.26764474864276877,
+                  -0.3498447011701801,
+                  1.0037777352012986
+                ],
+                "rod_tip_xy_dist": 0.0005145946148216239,
+                "target_xy_drift": 7.063838676040663e-08,
+                "depth": 0.017343763011150704,
+                "bottom_clearance": 0.08209682188549927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00010978804357725247,
+                  -0.0005069249605202941
+                ],
+                "rod_tip_xy": [
+                  0.2676447486427686,
+                  -0.34984470117018013
+                ],
+                "target_mouth_xy": [
+                  0.26753496059919135,
+                  -0.34933777620965983
+                ],
+                "gripper_position": [
+                  0.26763632320520114,
+                  -0.349845529958538,
+                  1.003656896149931
+                ],
+                "rod_tip_xy_dist": 0.0005186774817851864,
+                "target_xy_drift": 1.2537682981928395e-07,
+                "depth": 0.017482209505080948,
+                "bottom_clearance": 0.08195853699287203,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00010136711993924408,
+                  -0.0005077207133014627
+                ],
+                "rod_tip_xy": [
+                  0.267636323205201,
+                  -0.34984552995853807
+                ],
+                "target_mouth_xy": [
+                  0.26753495608526173,
+                  -0.3493378092452366
+                ],
+                "gripper_position": [
+                  0.26764185849179367,
+                  -0.3499140415855026,
+                  1.0031425676542842
+                ],
+                "rod_tip_xy_dist": 0.0005177408770032778,
+                "target_xy_drift": 9.225058676156052e-08,
+                "depth": 0.01760294062350154,
+                "bottom_clearance": 0.08183760613984525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00010693217263962884,
+                  -0.0005762637561558814
+                ],
+                "rod_tip_xy": [
+                  0.2676418584917935,
+                  -0.3499140415855026
+                ],
+                "target_mouth_xy": [
+                  0.2675349263191539,
+                  -0.3493377778293467
+                ],
+                "gripper_position": [
+                  0.267630411426609,
+                  -0.34992074962066055,
+                  1.0030045699877663
+                ],
+                "rod_tip_xy_dist": 0.0005861010204771159,
+                "target_xy_drift": 1.2713664903647642e-07,
+                "depth": 0.01811725403504394,
+                "bottom_clearance": 0.08132326406846924,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  9.54513768793297e-05,
+                  -0.0005829429707390199
+                ],
+                "rod_tip_xy": [
+                  0.2676304114266088,
+                  -0.3499207496206605
+                ],
+                "target_mouth_xy": [
+                  0.2675349600497295,
+                  -0.3493378066499215
+                ],
+                "gripper_position": [
+                  0.2676219013723044,
+                  -0.3499213776491838,
+                  1.0028838273239242
+                ],
+                "rod_tip_xy_dist": 0.0005907059103159488,
+                "target_xy_drift": 9.493970125728507e-08,
+                "depth": 0.018255359017892325,
+                "bottom_clearance": 0.08118534342633643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  8.697785238737099e-05,
+                  -0.0005835389113513223
+                ],
+                "rod_tip_xy": [
+                  0.26762190137230424,
+                  -0.3499213776491838
+                ],
+                "target_mouth_xy": [
+                  0.26753492351991687,
+                  -0.3493378387378325
+                ],
+                "gripper_position": [
+                  0.2676133861441444,
+                  -0.3499219755759878,
+                  1.0027627817202671
+                ],
+                "rod_tip_xy_dist": 0.0005899854302158704,
+                "target_xy_drift": 7.058291827677246e-08,
+                "depth": 0.01837606743211917,
+                "bottom_clearance": 0.08106453318499551,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  7.842859770534893e-05,
+                  -0.0005841692176867253
+                ],
+                "rod_tip_xy": [
+                  0.26761338614414426,
+                  -0.34992197557598786
+                ],
+                "target_mouth_xy": [
+                  0.2675349575464389,
+                  -0.34933780635830114
+                ],
+                "gripper_position": [
+                  0.26760474132917556,
+                  -0.34992270621329097,
+                  1.0026416432155107
+                ],
+                "rod_tip_xy_dist": 0.0005894104850023862,
+                "target_xy_drift": 9.515277244350003e-08,
+                "depth": 0.018497133395372622,
+                "bottom_clearance": 0.08094348499944382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  6.98134410710427e-05,
+                  -0.0005848678329426482
+                ],
+                "rod_tip_xy": [
+                  0.2676047413291754,
+                  -0.34992270621329097
+                ],
+                "target_mouth_xy": [
+                  0.26753492788810435,
+                  -0.3493378383803483
+                ],
+                "gripper_position": [
+                  0.2676124658609361,
+                  -0.3499943903293456,
+                  1.0021293741848156
+                ],
+                "rod_tip_xy_dist": 0.000589019777736885,
+                "target_xy_drift": 6.902045395937512e-08,
+                "depth": 0.018618195077450772,
+                "bottom_clearance": 0.08082239117234591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  7.753785155151238e-05,
+                  -0.0006565519467111591
+                ],
+                "rod_tip_xy": [
+                  0.26761246586093596,
+                  -0.3499943903293456
+                ],
+                "target_mouth_xy": [
+                  0.26753492800938444,
+                  -0.34933783838263444
+                ],
+                "gripper_position": [
+                  0.2676007760458152,
+                  -0.35000102094830826,
+                  1.0019913835579897
+                ],
+                "rod_tip_xy_dist": 0.0006611146475108815,
+                "target_xy_drift": 6.896936660786446e-08,
+                "depth": 0.01913052475985011,
+                "bottom_clearance": 0.08031006631528714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  6.585111227985774e-05,
+                  -0.0006632129844849621
+                ],
+                "rod_tip_xy": [
+                  0.26760077604581506,
+                  -0.35000102094830826
+                ],
+                "target_mouth_xy": [
+                  0.2675349249335352,
+                  -0.3493378079638233
+                ],
+                "gripper_position": [
+                  0.2675920290152921,
+                  -0.3500017206839257,
+                  1.0018702401751678
+                ],
+                "rod_tip_xy_dist": 0.0006664741793782749,
+                "target_xy_drift": 9.850008784939856e-08,
+                "depth": 0.019268452924607327,
+                "bottom_clearance": 0.0801720634080273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  5.707241254249151e-05,
+                  -0.0006639460315499557
+                ],
+                "rod_tip_xy": [
+                  0.26759202901529194,
+                  -0.3500017206839257
+                ],
+                "target_mouth_xy": [
+                  0.26753495660274945,
+                  -0.34933777465237575
+                ],
+                "gripper_position": [
+                  0.26758340076425774,
+                  -0.3500020860520107,
+                  1.0017493645655544
+                ],
+                "rod_tip_xy_dist": 0.0006663944725793838,
+                "target_xy_drift": 1.2684547451776397e-07,
+                "depth": 0.01938964243491148,
+                "bottom_clearance": 0.08005100971571844,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005962111207258618,
+              "rod_tip_xy_max_step": 3.238956891615669e-05,
+              "rod_tip_xy_range": 0.0005962032702999929,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26710108694030327,
+            -0.35133244759127297,
+            1.043365296327448
+          ],
+          "object_origin_world": [
+            0.26710108694030327,
+            -0.35133244759127297,
+            1.043365296327448
+          ],
+          "frame_world": [
+            0.2670997827399169,
+            -0.35133702149281126,
+            1.043255290942597
+          ],
+          "center_minus_frame": [
+            1.3042003863539264e-06,
+            4.573901538296177e-06,
+            0.00011000538485106404
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2702352371717249,
+              0.12965052615826714,
+              0.8338304535830223
+            ],
+            "target_position": [
+              0.28172207297139,
+              0.17669561436640707,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04842713827184233,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16857711185774685,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338304535830223,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668083818686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13852977683914086,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a7582b555625442f24a3f18847608a1d72dd3c9a93e5e0e462484e50124cb97",
+    "visual_seed": 7124528086721212147,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b90156e0de1125f1e5c22864c89fd4afdf27a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_79_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25656954430168927,
+              0.025938176243855356,
+              1.1644207456756965
+            ],
+            "current_z": 1.1644207456756965,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.30331405884699614,
+            "gripper_z": 1.1575865144680428,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2514214465676504,
+              0.021060337499243867,
+              1.1575865144680428
+            ],
+            "object_minus_gripper": [
+              0.005148097734038848,
+              0.0048778387446114894,
+              0.006834231207653696
+            ],
+            "object_to_gripper_xy": 0.00709198287488407,
+            "object_to_gripper_z": 0.006834231207653696,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25656954430168927,
+              0.00156998251052677,
+              1.1644207456756965
+            ],
+            "finger_b": [
+              0.24581655454228918,
+              0.025938176243855356,
+              1.1644207456756965
+            ],
+            "finger_midpoint": [
+              0.2511930494219892,
+              0.013754079377191064,
+              1.1644207456756965
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053764948797000445,
+              0.012184096866664293,
+              0.0
+            ],
+            "finger_gap": 0.026635233330887072,
+            "fingertip_max_gap": 0.09096216267322985,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013317616665443536,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644207456756965,
+            "object_top_z": 1.214344980082886,
+            "finger_top_clearance": 0.049924234407189516,
+            "fingertip_min_top_clearance": 0.014977270322156887,
+            "object_projection_between_fingers": 0.8370158195214241,
+            "object_to_finger_line_xy": 0.009837756418889716,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047981081336614925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7112911782981263,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26618360884200676,
+              -0.35009807406774485,
+              0.8515395914079221
+            ],
+            "target_position": [
+              0.2585754197399242,
+              -0.35047009923298134,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007617279313286139,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18470151551849612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395914079221,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513184274259788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566220545339441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15349840225039674,
+            "release_required_pad_clearance": 0.05283110272669721,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7066489256960773,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007518112659454346,
+            "max_z_decrease": 0.007518112659454346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512352632043763,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007518112659454346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02116006202312728,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007518112659454346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007518134173567206,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11427534371614456,
+              -0.4067315459251404,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11427534371614456,
+              -0.4067315459251404,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11568726357372494,
+              -0.4072874402360279,
+              0.8074901823874535
+            ],
+            "closest_button": [
+              0.11426358669996262,
+              -0.40672916173934937,
+              0.7723999619483948
+            ],
+            "closest_ee_minus_button": [
+              0.001423676873762325,
+              -0.0005582784966785548,
+              0.03509022043905874
+            ],
+            "button_min_z_position": [
+              0.11425741016864777,
+              -0.4067301750183105,
+              0.7692907452583313
+            ],
+            "min_active_finger_to_button": 0.1447580850062026,
+            "closest_active_finger": [
+              -0.025303125381469727,
+              -0.38988474011421204,
+              0.8110997676849365
+            ],
+            "closest_active_finger_button": [
+              0.11427651345729828,
+              -0.40673041343688965,
+              0.7766229510307312
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139579638838768,
+              0.016845673322677612,
+              0.03447681665420532
+            ],
+            "min_contact_pad_to_button": 0.02116006202312728,
+            "closest_contact_pad": [
+              0.11425741016864777,
+              -0.408460288543085,
+              0.7903799588997639
+            ],
+            "closest_contact_pad_button": [
+              0.11425741016864777,
+              -0.4067301750183105,
+              0.7692907452583313
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017301135247745347,
+              0.02108921364143257
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2802176781008789,
+              0.18063266384942397,
+              1.1018604047944969
+            ],
+            "current_z": 1.1018604047944969,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19195127506013432,
+            "gripper_z": 1.1018603610430435,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2802176184883096,
+              0.18063267132297275,
+              1.1018603610430435
+            ],
+            "object_minus_gripper": [
+              5.961256926978464e-08,
+              -7.473548779834971e-09,
+              4.375145334911679e-08
+            ],
+            "object_to_gripper_xy": 6.007921725779594e-08,
+            "object_to_gripper_z": 4.375145334911679e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2802176781008789,
+              0.18063266384942397,
+              1.1018604047944969
+            ],
+            "finger_b": [
+              0.2802176781008789,
+              0.18063266384942397,
+              1.1018604047944969
+            ],
+            "finger_midpoint": [
+              0.2802176781008789,
+              0.18063266384942397,
+              1.1018604047944969
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018604047944969,
+            "object_top_z": 1.2268689114147766,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28021767810087883,
+            0.180632663849424,
+            1.1018604047944969
+          ],
+          "object_origin_world": [
+            0.28021767810087883,
+            0.180632663849424,
+            1.1018604047944969
+          ],
+          "frame_world": [
+            0.2802176184883096,
+            0.18063267132297275,
+            1.1018603610430435
+          ],
+          "center_minus_frame": [
+            5.961256921427349e-08,
+            -7.473548752079395e-09,
+            4.375145334911679e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436580776950226,
+            "required_z": 0.911259832434957,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002499680375191489,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.576030362170515e-08,
+            "max_target_xy_drift": 8.513208721240282e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.706648932849918,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7066489331114174,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2637537126000143,
+              -0.35078362579549993,
+              0.9233454064620515
+            ],
+            "target_mouth_xy": [
+              0.2661836359519217,
+              -0.3500980744053316
+            ],
+            "rod_tip_z": 0.9233454064620515,
+            "rod_tip_depth": -0.022085590637248687,
+            "rod_tip_bottom_clearance": 0.12152609792553848,
+            "rod_tip_xy_dist": 0.0025247788427318965,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0445238319201674,
+            "min_rod_tip_bottom_clearance": 0.05491672836375516,
+            "min_rod_tip_xy_dist": 0.0010988490430261326,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.266183606248201,
+              -0.3500980157358633
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.970372070532079e-08,
+              -5.8669468283589765e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0017621314541350075,
+                0.0010411073968563667
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018890678523534321,
+                0.0006665899849751522
+              ],
+              "first_target_mouth_xy": [
+                0.26618360589732354,
+                -0.35009807503125867
+              ],
+              "last_target_mouth_xy": [
+                0.266183575288376,
+                -0.3500980449101897
+              ],
+              "first_rod_tip_xy": [
+                0.26442147444318853,
+                -0.3490569676344023
+              ],
+              "last_rod_tip_xy": [
+                0.26429450743602256,
+                -0.34943145492521455
+              ],
+              "min_rod_tip_xy_dist": 0.0019705576218978574,
+              "max_rod_tip_xy_dist": 0.002053147801921337,
+              "first_target_xy_drift": 5.9296433511995305e-08,
+              "last_target_xy_drift": 4.25400056855588e-08,
+              "max_depth": 0.019422176529676594,
+              "min_bottom_clearance": 0.0800183330219747
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017621314541350075,
+                  0.0010411073968563667
+                ],
+                "rod_tip_xy": [
+                  0.26442147444318853,
+                  -0.3490569676344023
+                ],
+                "target_mouth_xy": [
+                  0.26618360589732354,
+                  -0.35009807503125867
+                ],
+                "gripper_position": [
+                  0.264413389149332,
+                  -0.3490579723907595,
+                  1.0060517170739738
+                ],
+                "rod_tip_xy_dist": 0.0020467075691072713,
+                "target_xy_drift": 5.9296433511995305e-08,
+                "depth": 0.015087752615254302,
+                "bottom_clearance": 0.08435276530784142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001770217040651334,
+                  0.0010400709233134298
+                ],
+                "rod_tip_xy": [
+                  0.26441338914933205,
+                  -0.34905797239075953
+                ],
+                "target_mouth_xy": [
+                  0.2661836061899834,
+                  -0.35009804331407296
+                ],
+                "gripper_position": [
+                  0.26441338075068044,
+                  -0.3491229678594842,
+                  1.0055326448579027
+                ],
+                "rod_tip_xy_dist": 0.002053147801921337,
+                "target_xy_drift": 2.757827110897497e-08,
+                "depth": 0.015208181823106126,
+                "bottom_clearance": 0.08423237366849967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017702264931629408,
+                  0.0009751062114733422
+                ],
+                "rod_tip_xy": [
+                  0.26441338075068055,
+                  -0.34912296785948427
+                ],
+                "target_mouth_xy": [
+                  0.2661836072438435,
+                  -0.3500980740709576
+                ],
+                "gripper_position": [
+                  0.2644020514186835,
+                  -0.3491297672261131,
+                  1.0053955340293528
+                ],
+                "rod_tip_xy_dist": 0.0020210229985702433,
+                "target_xy_drift": 5.834359032699455e-08,
+                "depth": 0.015727245069077522,
+                "bottom_clearance": 0.08371331596082077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017815550391628299,
+                  0.0009683074868691022
+                ],
+                "rod_tip_xy": [
+                  0.2644020514186836,
+                  -0.3491297672261131
+                ],
+                "target_mouth_xy": [
+                  0.26618360645784644,
+                  -0.3500980747129822
+                ],
+                "gripper_position": [
+                  0.2644018742768277,
+                  -0.34919537814905116,
+                  1.0048803973932405
+                ],
+                "rod_tip_xy_dist": 0.0020276976467642383,
+                "target_xy_drift": 5.897749152209736e-08,
+                "depth": 0.015864288978533758,
+                "bottom_clearance": 0.08357623953530624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001781732126721225,
+                  0.000902665804346281
+                ],
+                "rod_tip_xy": [
+                  0.2644018742768278,
+                  -0.3491953781490512
+                ],
+                "target_mouth_xy": [
+                  0.26618360640354904,
+                  -0.3500980439533975
+                ],
+                "gripper_position": [
+                  0.2643905460421606,
+                  -0.3492021714162172,
+                  1.004743599026176
+                ],
+                "rod_tip_xy_dist": 0.001997341965144341,
+                "target_xy_drift": 2.821796181946228e-08,
+                "depth": 0.016379491674126112,
+                "bottom_clearance": 0.08306104879206855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001793060650885081,
+                  0.0008959029775698069
+                ],
+                "rod_tip_xy": [
+                  0.26439054604216067,
+                  -0.34920217141621723
+                ],
+                "target_mouth_xy": [
+                  0.26618360669304575,
+                  -0.35009807439378704
+                ],
+                "gripper_position": [
+                  0.2643823322588776,
+                  -0.3492027514776264,
+                  1.0046239403338961
+                ],
+                "rod_tip_xy_dist": 0.002004422271621146,
+                "target_xy_drift": 5.8659610503450244e-08,
+                "depth": 0.01651628082692891,
+                "bottom_clearance": 0.0829242475558617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018012752265705312,
+                  0.000895322909820806
+                ],
+                "rod_tip_xy": [
+                  0.2643823322588777,
+                  -0.34920275147762647
+                ],
+                "target_mouth_xy": [
+                  0.2661836074854482,
+                  -0.3500980743874473
+                ],
+                "gripper_position": [
+                  0.2643831345722458,
+                  -0.34926908680580937,
+                  1.0041094351932103
+                ],
+                "rod_tip_xy_dist": 0.0020115157356348752,
+                "target_xy_drift": 5.866463230887596e-08,
+                "depth": 0.016636005389806585,
+                "bottom_clearance": 0.0828045533797358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018004429400783617,
+                  0.0008289568245212209
+                ],
+                "rod_tip_xy": [
+                  0.26438313457224594,
+                  -0.34926908680580937
+                ],
+                "target_mouth_xy": [
+                  0.2661835775123243,
+                  -0.3500980436303306
+                ],
+                "gripper_position": [
+                  0.2643718688643649,
+                  -0.34927576896928103,
+                  1.0039727469464284
+                ],
+                "rod_tip_xy_dist": 0.001982111045677896,
+                "target_xy_drift": 4.004811998013978e-08,
+                "depth": 0.01715046675014653,
+                "bottom_clearance": 0.0822901200851065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018117067048823432,
+                  0.0008222753086382095
+                ],
+                "rod_tip_xy": [
+                  0.26437186886436503,
+                  -0.34927576896928103
+                ],
+                "target_mouth_xy": [
+                  0.2661835755692474,
+                  -0.35009804427791924
+                ],
+                "gripper_position": [
+                  0.26436347037015884,
+                  -0.3492762951864662,
+                  1.0038529731374506
+                ],
+                "rod_tip_xy_dist": 0.0019895773088049887,
+                "target_xy_drift": 4.1902829872360235e-08,
+                "depth": 0.017287074703870586,
+                "bottom_clearance": 0.08215342679662452,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018201345989039552,
+                  0.0008217484580560486
+                ],
+                "rod_tip_xy": [
+                  0.26436347037015895,
+                  -0.3492762951864662
+                ],
+                "target_mouth_xy": [
+                  0.2661836049690629,
+                  -0.35009804364452224
+                ],
+                "gripper_position": [
+                  0.26435505452263486,
+                  -0.3492770286491648,
+                  1.0037333201908432
+                ],
+                "rod_tip_xy_dist": 0.0019970379281437686,
+                "target_xy_drift": 2.7937956940469027e-08,
+                "depth": 0.017406871957513004,
+                "bottom_clearance": 0.08203366753981534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018285816458594728,
+                  0.0008210156229644383
+                ],
+                "rod_tip_xy": [
+                  0.2643550545226349,
+                  -0.3492770286491649
+                ],
+                "target_mouth_xy": [
+                  0.2661836361684944,
+                  -0.3500980442721293
+                ],
+                "gripper_position": [
+                  0.2643570593348442,
+                  -0.34934552816654646,
+                  1.0032191294749015
+                ],
+                "rod_tip_xy_dist": 0.002004439445013449,
+                "target_xy_drift": 4.1346613354623484e-08,
+                "depth": 0.017526503256603765,
+                "bottom_clearance": 0.08191402424835392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018265483853083242,
+                  0.0007525164148844965
+                ],
+                "rod_tip_xy": [
+                  0.2643570593348443,
+                  -0.3493455281665465
+                ],
+                "target_mouth_xy": [
+                  0.26618360772015265,
+                  -0.350098044581431
+                ],
+                "gripper_position": [
+                  0.26434567765130323,
+                  -0.3493522952433455,
+                  1.0030823824225006
+                ],
+                "rod_tip_xy_dist": 0.001975489802186552,
+                "target_xy_drift": 2.888309918210658e-08,
+                "depth": 0.01804081813831826,
+                "bottom_clearance": 0.08139974969926644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018379012603891853,
+                  0.0007457788193275805
+                ],
+                "rod_tip_xy": [
+                  0.26434567765130335,
+                  -0.34935229524334555
+                ],
+                "target_mouth_xy": [
+                  0.26618357891169253,
+                  -0.3500980740626731
+                ],
+                "gripper_position": [
+                  0.26433694590497225,
+                  -0.34935294458609006,
+                  1.0029631011124192
+                ],
+                "rod_tip_xy_dist": 0.001983448282738372,
+                "target_xy_drift": 6.441507151695099e-08,
+                "depth": 0.01817751907800058,
+                "bottom_clearance": 0.08126309822484223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018466602174348479,
+                  0.0007450692491816069
+                ],
+                "rod_tip_xy": [
+                  0.26433694590497236,
+                  -0.3493529445860901
+                ],
+                "target_mouth_xy": [
+                  0.2661836061224072,
+                  -0.3500980138352717
+                ],
+                "gripper_position": [
+                  0.2643285200755514,
+                  -0.3493534214780473,
+                  1.0028433570836355
+                ],
+                "rod_tip_xy_dist": 0.001991301620732671,
+                "target_xy_drift": 1.9047499569600177e-09,
+                "depth": 0.018296731842900926,
+                "bottom_clearance": 0.08114380936206411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018550881559897259,
+                  0.0007446224654420464
+                ],
+                "rod_tip_xy": [
+                  0.26432852007555147,
+                  -0.3493534214780474
+                ],
+                "target_mouth_xy": [
+                  0.2661836082315412,
+                  -0.3500980439434894
+                ],
+                "gripper_position": [
+                  0.26433191410077306,
+                  -0.3494239222371348,
+                  1.002332221070919
+                ],
+                "rod_tip_xy_dist": 0.001998953396789018,
+                "target_xy_drift": 2.827726666323636e-08,
+                "depth": 0.018416605962045418,
+                "bottom_clearance": 0.08102400443954894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018516633760491397,
+                  0.0006741217123176213
+                ],
+                "rod_tip_xy": [
+                  0.26433191410077317,
+                  -0.3494239222371348
+                ],
+                "target_mouth_xy": [
+                  0.2661835774768223,
+                  -0.35009804394945243
+                ],
+                "gripper_position": [
+                  0.26432022703203006,
+                  -0.3494305746388368,
+                  1.0021958785772864
+                ],
+                "rod_tip_xy_dist": 0.0019705576218978574,
+                "target_xy_drift": 4.0296387458055393e-08,
+                "depth": 0.018927674863605803,
+                "bottom_clearance": 0.08051289906542891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018633485836462849,
+                  0.0006674712240950509
+                ],
+                "rod_tip_xy": [
+                  0.2643202270320302,
+                  -0.34943057463883687
+                ],
+                "target_mouth_xy": [
+                  0.26618357561567646,
+                  -0.3500980458629319
+                ],
+                "gripper_position": [
+                  0.26431165059175965,
+                  -0.34943095026720344,
+                  1.0020762439402064
+                ],
+                "rod_tip_xy_dist": 0.00197928921059343,
+                "target_xy_drift": 4.296500694486042e-08,
+                "depth": 0.019063957808935106,
+                "bottom_clearance": 0.08037657376899454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018719575982851233,
+                  0.0006670933590434691
+                ],
+                "rod_tip_xy": [
+                  0.2643116505917597,
+                  -0.3494309502672035
+                ],
+                "target_mouth_xy": [
+                  0.26618360819004483,
+                  -0.35009804362624697
+                ],
+                "gripper_position": [
+                  0.2643031210611568,
+                  -0.34943121136659683,
+                  1.0019569322663469
+                ],
+                "rod_tip_xy_dist": 0.001987269181428954,
+                "target_xy_drift": 2.795790154436357e-08,
+                "depth": 0.019183724482334408,
+                "bottom_clearance": 0.08025689582621032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018804566542754975,
+                  0.0006668325810968434
+                ],
+                "rod_tip_xy": [
+                  0.2643031210611569,
+                  -0.34943121136659683
+                ],
+                "target_mouth_xy": [
+                  0.2661835777154324,
+                  -0.35009804394769367
+                ],
+                "gripper_position": [
+                  0.26429450743602245,
+                  -0.3494314549252146,
+                  1.0018376523980805
+                ],
+                "rod_tip_xy_dist": 0.001995189945799967,
+                "target_xy_drift": 4.012513247914363e-08,
+                "depth": 0.019302965552906892,
+                "bottom_clearance": 0.08013761752204629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018890678523534321,
+                  0.0006665899849751522
+                ],
+                "rod_tip_xy": [
+                  0.26429450743602256,
+                  -0.34943145492521455
+                ],
+                "target_mouth_xy": [
+                  0.266183575288376,
+                  -0.3500980449101897
+                ],
+                "gripper_position": [
+                  0.26428594994672283,
+                  -0.34943159840896254,
+                  1.0017184673295454
+                ],
+                "rod_tip_xy_dist": 0.0020032272858725698,
+                "target_xy_drift": 4.25400056855588e-08,
+                "depth": 0.019422176529676594,
+                "bottom_clearance": 0.0800183330219747,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005973805004512896,
+              "rod_tip_xy_max_step": 3.2352239032556855e-05,
+              "rod_tip_xy_range": 0.0005973768376491167,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26375371260001423,
+            -0.35078362579549993,
+            1.0433454064620515
+          ],
+          "object_origin_world": [
+            0.26375371260001423,
+            -0.35078362579549993,
+            1.0433454064620515
+          ],
+          "frame_world": [
+            0.26377895254297407,
+            -0.35078064284940846,
+            1.0436580776950226
+          ],
+          "center_minus_frame": [
+            -2.5239942959831563e-05,
+            -2.982946091467653e-06,
+            -0.00031267123297107347
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2692942784557011,
+              0.13297612741386997,
+              0.8337334090046562
+            ],
+            "target_position": [
+              0.2803323255306211,
+              0.18022350530820352,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04851961666293448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16949435641191232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337334090046562,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673730198158,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13801113866693163,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c67d90cf447a408521fc89c98f277dba83398a718326f5d575a5c3998af3a0b",
+    "visual_seed": 7319661890719021965,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..584c72b91e46b371e8aac97b69bd39f3108d15f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_7_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25632580238538927,
+              0.02624450031291993,
+              1.1650810733962969
+            ],
+            "current_z": 1.1650810733962969,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.30397438656759634,
+            "gripper_z": 1.1582882119609046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2511569581986106,
+              0.021320935962389445,
+              1.1582882119609046
+            ],
+            "object_minus_gripper": [
+              0.005168844186778654,
+              0.004923564350530485,
+              0.006792861435392261
+            ],
+            "object_to_gripper_xy": 0.007138517783196324,
+            "object_to_gripper_z": 0.006792861435392261,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25632580238538927,
+              0.0020897451254082012,
+              1.1650810733962969
+            ],
+            "finger_b": [
+              0.24521683539630143,
+              0.02624450031291993,
+              1.1650810733962969
+            ],
+            "finger_midpoint": [
+              0.25077131889084536,
+              0.014167122719164066,
+              1.1650810733962969
+            ],
+            "object_minus_finger_midpoint": [
+              0.005554483494543905,
+              0.012077377593755864,
+              0.0
+            ],
+            "finger_gap": 0.02658686415757353,
+            "fingertip_max_gap": 0.09092737055362912,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01329343207878676,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650810733962969,
+            "object_top_z": 1.2149973683134325,
+            "finger_top_clearance": 0.04991629491713567,
+            "fingertip_min_top_clearance": 0.014974888475140702,
+            "object_projection_between_fingers": 0.8254125107992377,
+            "object_to_finger_line_xy": 0.010092742657321945,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796368527681456,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.617805768929741,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27133296197571155,
+              -0.348804978717081,
+              0.8515395579572119
+            ],
+            "target_position": [
+              0.26240609252182323,
+              -0.3495806485050511,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008960505670258455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18638570085847544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395579572119,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530348101775941,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534655319038902,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15480722283796974,
+            "release_required_pad_clearance": 0.05267327659519451,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4034823769749489,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007569015026092529,
+            "max_z_decrease": 0.007569015026092529,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515664834264724,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007569015026092529,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021245268771528533,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007569015026092529,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007569037886207301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11810601502656934,
+              -0.40584209561347956,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11810601502656934,
+              -0.40584209561347956,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11960318995671271,
+              -0.40726345791910157,
+              0.807617736522345
+            ],
+            "closest_button": [
+              0.11809372156858443,
+              -0.40583935379981995,
+              0.7725223898887634
+            ],
+            "closest_ee_minus_button": [
+              0.0015094683881282794,
+              -0.0014241041192816217,
+              0.0350953466335816
+            ],
+            "button_min_z_position": [
+              0.1180874928832054,
+              -0.4058403670787811,
+              0.7692398428916931
+            ],
+            "min_active_finger_to_button": 0.14457770847893714,
+            "closest_active_finger": [
+              -0.021403469145298004,
+              -0.38991081714630127,
+              0.8110681772232056
+            ],
+            "closest_active_finger_button": [
+              0.11810670047998427,
+              -0.4058409333229065,
+              0.7766318917274475
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395101696252823,
+              0.015930116176605225,
+              0.03443628549575806
+            ],
+            "min_contact_pad_to_button": 0.021245268771528533,
+            "closest_contact_pad": [
+              0.1180874928832054,
+              -0.4084479925923943,
+              0.7903244755504624
+            ],
+            "closest_contact_pad_button": [
+              0.1180874928832054,
+              -0.4058403670787811,
+              0.7692398428916931
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00260762551361321,
+              0.021084632658769253
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27887284540871005,
+              0.17759011970594518,
+              1.1039872380965559
+            ],
+            "current_z": 1.1039872380965559,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1940781083621933,
+            "gripper_z": 1.1039874918363568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27887284552777536,
+              0.17759007479579464,
+              1.1039874918363568
+            ],
+            "object_minus_gripper": [
+              -1.190653131644126e-10,
+              4.491015054286507e-08,
+              -2.5373980094833826e-07
+            ],
+            "object_to_gripper_xy": 4.491030837493328e-08,
+            "object_to_gripper_z": -2.5373980094833826e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27887284540871005,
+              0.17759011970594518,
+              1.1039872380965559
+            ],
+            "finger_b": [
+              0.27887284540871005,
+              0.17759011970594518,
+              1.1039872380965559
+            ],
+            "finger_midpoint": [
+              0.27887284540871005,
+              0.17759011970594518,
+              1.1039872380965559
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1039872380965559,
+            "object_top_z": 1.2289957447168356,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2788728454087101,
+            0.1775901197059452,
+            1.1039872380965559
+          ],
+          "object_origin_world": [
+            0.2788728454087101,
+            0.1775901197059452,
+            1.1039872380965559
+          ],
+          "frame_world": [
+            0.27887284552777536,
+            0.17759007479579464,
+            1.1039874918363568
+          ],
+          "center_minus_frame": [
+            -1.1906525765326137e-10,
+            4.4910150570620644e-08,
+            -2.5373980094833826e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437591682841079,
+            "required_z": 0.9112598299552808,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002960784429673323,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.118920606640558e-08,
+            "max_target_xy_drift": 1.24488882507249e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.40348237137987636,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.40541755855471223,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2690701704837803,
+              -0.3507462102659199,
+              0.9234479023456782
+            ],
+            "target_mouth_xy": [
+              0.27133296334592893,
+              -0.34880494732595024
+            ],
+            "rod_tip_z": 0.9234479023456782,
+            "rod_tip_depth": -0.022187976620409944,
+            "rod_tip_bottom_clearance": 0.1216286240723895,
+            "rod_tip_xy_dist": 0.0029813978833913607,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04496598793351103,
+            "min_rod_tip_bottom_clearance": 0.05447455312127414,
+            "min_rod_tip_xy_dist": 0.0011831784959344363,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27133296080329095,
+              -0.3488049784113418
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.5426379890447492e-09,
+              3.108539153862111e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0016323801875446353,
+                -0.0002517430237902185
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001753839939703683,
+                -0.0006363549173422633
+              ],
+              "first_target_mouth_xy": [
+                0.2713330211094859,
+                -0.34880506749502455
+              ],
+              "last_target_mouth_xy": [
+                0.2713329891754971,
+                -0.348805038653185
+              ],
+              "first_rod_tip_xy": [
+                0.26970064092194124,
+                -0.34905681051881476
+              ],
+              "last_rod_tip_xy": [
+                0.2695791492357934,
+                -0.3494413935705273
+              ],
+              "min_rod_tip_xy_dist": 0.0016516778217059468,
+              "max_rod_tip_xy_dist": 0.0018657175871298146,
+              "first_target_xy_drift": 1.0757666885205304e-07,
+              "last_target_xy_drift": 6.658875098491163e-08,
+              "max_depth": 0.019590058854931258,
+              "min_bottom_clearance": 0.07985049159196855
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0016323801875446353,
+                  -0.0002517430237902185
+                ],
+                "rod_tip_xy": [
+                  0.26970064092194124,
+                  -0.34905681051881476
+                ],
+                "target_mouth_xy": [
+                  0.2713330211094859,
+                  -0.34880506749502455
+                ],
+                "gripper_position": [
+                  0.2696895139189687,
+                  -0.34906395927207207,
+                  1.0059201546812109
+                ],
+                "rod_tip_xy_dist": 0.0016516778217059468,
+                "target_xy_drift": 1.0757666885205304e-07,
+                "depth": 0.015200368175580015,
+                "bottom_clearance": 0.0842401742341724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001643477547277561,
+                  -0.000258891777250414
+                ],
+                "rod_tip_xy": [
+                  0.26968951391896867,
+                  -0.3490639592720721
+                ],
+                "target_mouth_xy": [
+                  0.27133299146624623,
+                  -0.3488050674948217
+                ],
+                "gripper_position": [
+                  0.2696905445578271,
+                  -0.3491288396404497,
+                  1.0054018849324526
+                ],
+                "rod_tip_xy_dist": 0.0016637437905919726,
+                "target_xy_drift": 9.421296738035382e-08,
+                "depth": 0.015339680988837423,
+                "bottom_clearance": 0.08410086751166956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016424453371379766,
+                  -0.00032376960467411786
+                ],
+                "rod_tip_xy": [
+                  0.2696905445578271,
+                  -0.3491288396404497
+                ],
+                "target_mouth_xy": [
+                  0.27133298989496507,
+                  -0.3488050700357756
+                ],
+                "gripper_position": [
+                  0.2696792363333371,
+                  -0.3491359874520488,
+                  1.0052630468845125
+                ],
+                "rod_tip_xy_dist": 0.0016740529986822748,
+                "target_xy_drift": 9.613200495072593e-08,
+                "depth": 0.015857978621342195,
+                "bottom_clearance": 0.08358258984050893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016539076350260973,
+                  -0.0003310448594966431
+                ],
+                "rod_tip_xy": [
+                  0.26967923633333707,
+                  -0.3491359874520489
+                ],
+                "target_mouth_xy": [
+                  0.27133314396836317,
+                  -0.34880494259255224
+                ],
+                "gripper_position": [
+                  0.26967082655608937,
+                  -0.34913662375474,
+                  1.0051404305508376
+                ],
+                "rod_tip_xy_dist": 0.0016867131244514492,
+                "target_xy_drift": 1.8663448064621956e-07,
+                "depth": 0.01599697823296875,
+                "bottom_clearance": 0.08344390950312874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001662192142009411,
+                  -0.0003315254967954928
+                ],
+                "rod_tip_xy": [
+                  0.26967082655608937,
+                  -0.3491366237547402
+                ],
+                "target_mouth_xy": [
+                  0.2713330186980988,
+                  -0.3488050982579447
+                ],
+                "gripper_position": [
+                  0.2696730271791086,
+                  -0.34920204276204875,
+                  1.0046225919628473
+                ],
+                "rod_tip_xy_dist": 0.0016949312292784426,
+                "target_xy_drift": 1.330977723547538e-07,
+                "depth": 0.016119440547662234,
+                "bottom_clearance": 0.08332112074150355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016599939480656523,
+                  -0.00039697304678049106
+                ],
+                "rod_tip_xy": [
+                  0.26967302717910857,
+                  -0.3492020427620488
+                ],
+                "target_mouth_xy": [
+                  0.2713330211271742,
+                  -0.3488050697152683
+                ],
+                "gripper_position": [
+                  0.26966153167118323,
+                  -0.3492091846316873,
+                  1.0044834210790001
+                ],
+                "rod_tip_xy_dist": 0.0017068003713043823,
+                "target_xy_drift": 1.0943206976728956e-07,
+                "depth": 0.01663724268643163,
+                "bottom_clearance": 0.0828033002343933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016715217035465635,
+                  -0.00040414662574983495
+                ],
+                "rod_tip_xy": [
+                  0.2696615316711832,
+                  -0.3492091846316875
+                ],
+                "target_mouth_xy": [
+                  0.27133305337472974,
+                  -0.34880503800593765
+                ],
+                "gripper_position": [
+                  0.26965308913580327,
+                  -0.349209927634439,
+                  1.0043611465609699
+                ],
+                "rod_tip_xy_dist": 0.0017196858144824544,
+                "target_xy_drift": 1.1009535474709264e-07,
+                "depth": 0.01677654631511094,
+                "bottom_clearance": 0.08266407907417828,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016799330897857567,
+                  -0.00040488994186993477
+                ],
+                "rod_tip_xy": [
+                  0.26965308913580327,
+                  -0.34920992763443903
+                ],
+                "target_mouth_xy": [
+                  0.271333022225589,
+                  -0.3488050376925691
+                ],
+                "gripper_position": [
+                  0.26965583637962254,
+                  -0.34927653825740607,
+                  1.003845115294175
+                ],
+                "rod_tip_xy_dist": 0.0017280367621044868,
+                "target_xy_drift": 8.536370782502639e-08,
+                "depth": 0.01689875623708803,
+                "bottom_clearance": 0.08254182887317596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016771849791474835,
+                  -0.0004715002448578143
+                ],
+                "rod_tip_xy": [
+                  0.2696558363796225,
+                  -0.3492765382574061
+                ],
+                "target_mouth_xy": [
+                  0.27133302135876997,
+                  -0.3488050380125483
+                ],
+                "gripper_position": [
+                  0.2696444023057315,
+                  -0.34928338101220935,
+                  1.0037060043312294
+                ],
+                "rod_tip_xy_dist": 0.0017422003143091563,
+                "target_xy_drift": 8.496628660044625e-08,
+                "depth": 0.01741465574036416,
+                "bottom_clearance": 0.08202588467998939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016886216232823714,
+                  -0.000478343638722456
+                ],
+                "rod_tip_xy": [
+                  0.2696444023057315,
+                  -0.34928338101220946
+                ],
+                "target_mouth_xy": [
+                  0.2713330239290139,
+                  -0.348805037373487
+                ],
+                "gripper_position": [
+                  0.26963582637998207,
+                  -0.34928409477657163,
+                  1.0035841478311975
+                ],
+                "rod_tip_xy_dist": 0.0017550657034205387,
+                "target_xy_drift": 8.637934628239367e-08,
+                "depth": 0.01755391761557179,
+                "bottom_clearance": 0.08188674422369091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016971625661864609,
+                  -0.0004790558031716463
+                ],
+                "rod_tip_xy": [
+                  0.26963582637998207,
+                  -0.34928409477657174
+                ],
+                "target_mouth_xy": [
+                  0.27133298894616853,
+                  -0.3488050389734001
+                ],
+                "gripper_position": [
+                  0.2696272485028776,
+                  -0.3492846422140498,
+                  1.0034621618950836
+                ],
+                "rod_tip_xy_dist": 0.0017634781650525317,
+                "target_xy_drift": 6.678161772357003e-08,
+                "depth": 0.01767572176046961,
+                "bottom_clearance": 0.0817648375996266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001705743165139162,
+                  -0.0004796042045440707
+                ],
+                "rod_tip_xy": [
+                  0.26962724850287756,
+                  -0.34928464221404987
+                ],
+                "target_mouth_xy": [
+                  0.2713329916680167,
+                  -0.3488050380095058
+                ],
+                "gripper_position": [
+                  0.2696314462213616,
+                  -0.3493533884266186,
+                  1.0029473841755174
+                ],
+                "rod_tip_xy_dist": 0.001771885983475042,
+                "target_xy_drift": 6.711611171051344e-08,
+                "depth": 0.017797669675348904,
+                "bottom_clearance": 0.08164287512179225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017014837940424465,
+                  -0.000548318388415292
+                ],
+                "rod_tip_xy": [
+                  0.2696314462213616,
+                  -0.34935338842661867
+                ],
+                "target_mouth_xy": [
+                  0.27133293001540404,
+                  -0.3488050700382034
+                ],
+                "gripper_position": [
+                  0.26961992805110935,
+                  -0.3493600526470554,
+                  1.0028080430922273
+                ],
+                "rod_tip_xy_dist": 0.0017876521351939314,
+                "target_xy_drift": 9.666113876049813e-08,
+                "depth": 0.018312487769364005,
+                "bottom_clearance": 0.0811280912800948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017132173014716146,
+                  -0.0005551122540005116
+                ],
+                "rod_tip_xy": [
+                  0.26961992805110935,
+                  -0.3493600526470555
+                ],
+                "target_mouth_xy": [
+                  0.27133314535258096,
+                  -0.348804940393055
+                ],
+                "gripper_position": [
+                  0.2696111607388277,
+                  -0.3493608159006507,
+                  1.002686195264877
+                ],
+                "rod_tip_xy_dist": 0.0018009061987241894,
+                "target_xy_drift": 1.884246018346647e-07,
+                "depth": 0.018452032642882865,
+                "bottom_clearance": 0.08098898786656938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017218292011402236,
+                  -0.0005557458630204293
+                ],
+                "rod_tip_xy": [
+                  0.2696111607388277,
+                  -0.3493608159006507
+                ],
+                "target_mouth_xy": [
+                  0.2713329899399679,
+                  -0.3488050700376303
+                ],
+                "gripper_position": [
+                  0.2696024625383283,
+                  -0.34936143172598977,
+                  1.0025640840518864
+                ],
+                "rod_tip_xy_dist": 0.0018092952390816436,
+                "target_xy_drift": 9.614740084226635e-08,
+                "depth": 0.018573666955892576,
+                "bottom_clearance": 0.0808668998535812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017306808037261256,
+                  -0.0005564900723269428
+                ],
+                "rod_tip_xy": [
+                  0.26960246253832826,
+                  -0.3493614317259899
+                ],
+                "target_mouth_xy": [
+                  0.2713331433420544,
+                  -0.34880494165366294
+                ],
+                "gripper_position": [
+                  0.2695936469711329,
+                  -0.3493620218420946,
+                  1.002442114370456
+                ],
+                "rod_tip_xy_dist": 0.001817948636508896,
+                "target_xy_drift": 1.8620291918107266e-07,
+                "depth": 0.018695953038590618,
+                "bottom_clearance": 0.0807449446806432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017393709833125603,
+                  -0.0005569527466757762
+                ],
+                "rod_tip_xy": [
+                  0.26959364697113286,
+                  -0.34936202184209464
+                ],
+                "target_mouth_xy": [
+                  0.2713330179544454,
+                  -0.34880506909541886
+                ],
+                "gripper_position": [
+                  0.2695997640518496,
+                  -0.34943404138092715,
+                  1.001930561062831
+                ],
+                "rod_tip_xy_dist": 0.0018263646349016382,
+                "target_xy_drift": 1.0719074724017313e-07,
+                "depth": 0.018817785095297412,
+                "bottom_clearance": 0.08062281607160304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017332572952227232,
+                  -0.0006290036889525785
+                ],
+                "rod_tip_xy": [
+                  0.26959976405184954,
+                  -0.34943404138092726
+                ],
+                "target_mouth_xy": [
+                  0.27133302134707227,
+                  -0.3488050376919747
+                ],
+                "gripper_position": [
+                  0.2695880026151491,
+                  -0.34944075772443467,
+                  1.0017916263140172
+                ],
+                "rod_tip_xy_dist": 0.0018438618419390164,
+                "target_xy_drift": 8.473336352376743e-08,
+                "depth": 0.019329275233382237,
+                "bottom_clearance": 0.08011127628833403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017450172007664744,
+                  -0.0006356886385351368
+                ],
+                "rod_tip_xy": [
+                  0.26958800261514904,
+                  -0.3494407577244347
+                ],
+                "target_mouth_xy": [
+                  0.2713330198159155,
+                  -0.3488050690858996
+                ],
+                "gripper_position": [
+                  0.2695791492357934,
+                  -0.34944139357052717,
+                  1.0016698036712246
+                ],
+                "rod_tip_xy_dist": 0.0018571981790141616,
+                "target_xy_drift": 1.0818671494898102e-07,
+                "depth": 0.019468216477872335,
+                "bottom_clearance": 0.07997231328372001,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001753839939703683,
+                  -0.0006363549173422633
+                ],
+                "rod_tip_xy": [
+                  0.2695791492357934,
+                  -0.3494413935705273
+                ],
+                "target_mouth_xy": [
+                  0.2713329891754971,
+                  -0.348805038653185
+                ],
+                "gripper_position": [
+                  0.2695704285314568,
+                  -0.3494415207766866,
+                  1.001547983246061
+                ],
+                "rod_tip_xy_dist": 0.0018657175871298146,
+                "target_xy_drift": 6.658875098491163e-08,
+                "depth": 0.019590058854931258,
+                "bottom_clearance": 0.07985049159196855,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006029076018798237,
+              "rod_tip_xy_max_step": 3.2627782720897304e-05,
+              "rod_tip_xy_range": 0.0006028893383555541,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26907017048378035,
+            -0.35074621026591984,
+            1.0434479023456784
+          ],
+          "object_origin_world": [
+            0.26907017048378035,
+            -0.35074621026591984,
+            1.0434479023456784
+          ],
+          "frame_world": [
+            0.2690954931468732,
+            -0.3507440119322317,
+            1.0437591682841079
+          ],
+          "center_minus_frame": [
+            -2.5322663092852693e-05,
+            -2.198333688141485e-06,
+            -0.0003112659384294503
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2670346776606967,
+              0.13182710298491424,
+              0.833485239519052
+            ],
+            "target_position": [
+              0.27900127356228294,
+              0.1785386923041012,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04822003726871476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.167856218284941,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833485239519052,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668867082123,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1379167635225207,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "992c8768c033b275371fe6af872c6bb3333fb215de797b99da9351b0c4904657",
+    "visual_seed": 5215080041145655573,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86708a8c35428c0d3c9faa977f4ac629788231b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_80_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25479434133193357,
+              0.0318928855195389,
+              1.162333249281407
+            ],
+            "current_z": 1.162333249281407,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3012268008712855,
+            "gripper_z": 1.155519390540687,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24965661690613547,
+              0.026998382311139893,
+              1.155519390540687
+            ],
+            "object_minus_gripper": [
+              0.005137724425798101,
+              0.004894503208399008,
+              0.006813858740719825
+            ],
+            "object_to_gripper_xy": 0.007095940665794114,
+            "object_to_gripper_z": 0.006813858740719825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25479434133193357,
+              0.0077458149621037805,
+              1.162333249281407
+            ],
+            "finger_b": [
+              0.24374735806332584,
+              0.0318928855195389,
+              1.162333249281407
+            ],
+            "finger_midpoint": [
+              0.2492708496976297,
+              0.01981935024082134,
+              1.162333249281407
+            ],
+            "object_minus_finger_midpoint": [
+              0.005523491634303879,
+              0.01207353527871756,
+              0.0
+            ],
+            "finger_gap": 0.02655403652634848,
+            "fingertip_max_gap": 0.09086240060312947,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013277018263174244,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162333249281407,
+            "object_top_z": 1.2122305796318724,
+            "finger_top_clearance": 0.04989733035046551,
+            "fingertip_min_top_clearance": 0.014969199105139651,
+            "object_projection_between_fingers": 0.8269282058346763,
+            "object_to_finger_line_xy": 0.010045639734252413,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04793120030156474,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5815061100197793,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2745653364025341,
+              -0.34503179643222004,
+              0.8515396590012833
+            ],
+            "target_position": [
+              0.26551661816417943,
+              -0.3459403252201557,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009094213892120666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850618197209717,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396590012833,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075252567037594,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531287210359721,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15372999823631234,
+            "release_required_pad_clearance": 0.05265643605179861,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37114976812241335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007478296756744385,
+            "max_z_decrease": 0.007478296756744385,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035167081937984665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007478296756744385,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021278646112501208,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007478296756744385,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007478317626595275,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12121654301881787,
+              -0.402201771736145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12121654301881787,
+              -0.402201771736145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11950109449702695,
+              -0.4041399554605902,
+              0.8063595316801822
+            ],
+            "closest_button": [
+              0.12120282649993894,
+              -0.402197778224945,
+              0.7712873816490173
+            ],
+            "closest_ee_minus_button": [
+              -0.0017017320029119876,
+              -0.0019421772356451594,
+              0.03507215003116482
+            ],
+            "button_min_z_position": [
+              0.12119910866022107,
+              -0.4021989107131958,
+              0.7693305611610413
+            ],
+            "min_active_finger_to_button": 0.1474440386983669,
+            "closest_active_finger": [
+              -0.0213843435049057,
+              -0.38750118017196655,
+              0.8110588788986206
+            ],
+            "closest_active_finger_button": [
+              0.12121788412332533,
+              -0.40220281481742853,
+              0.7765884399414062
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14260222762823105,
+              0.01470163464546198,
+              0.034470438957214355
+            ],
+            "min_contact_pad_to_button": 0.021278646112501208,
+            "closest_contact_pad": [
+              0.12119910866022107,
+              -0.4053479403947809,
+              0.7903749046396475
+            ],
+            "closest_contact_pad_button": [
+              0.12119910866022107,
+              -0.4021989107131958,
+              0.7693305611610413
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031490296815850916,
+              0.021044343478606287
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2831428463110132,
+              0.17622503323215813,
+              1.1014697763755672
+            ],
+            "current_z": 1.1014697763755672,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19156064664120465,
+            "gripper_z": 1.1014700129887531,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2831429390769061,
+              0.1762249605820962,
+              1.1014700129887531
+            ],
+            "object_minus_gripper": [
+              -9.276589285622805e-08,
+              7.265006193857282e-08,
+              -2.366131859332654e-07
+            ],
+            "object_to_gripper_xy": 1.1782844468587222e-07,
+            "object_to_gripper_z": -2.366131859332654e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2831428463110132,
+              0.17622503323215813,
+              1.1014697763755672
+            ],
+            "finger_b": [
+              0.2831428463110132,
+              0.17622503323215813,
+              1.1014697763755672
+            ],
+            "finger_midpoint": [
+              0.2831428463110132,
+              0.17622503323215813,
+              1.1014697763755672
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014697763755672,
+            "object_top_z": 1.226478282995847,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2831428463110132,
+            0.17622503323215813,
+            1.1014697763755674
+          ],
+          "object_origin_world": [
+            0.2831428463110132,
+            0.17622503323215813,
+            1.1014697763755674
+          ],
+          "frame_world": [
+            0.2831429390769061,
+            0.1762249605820962,
+            1.1014700129887531
+          ],
+          "center_minus_frame": [
+            -9.276589285622805e-08,
+            7.265006193857282e-08,
+            -2.366131857112208e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1670,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431772376870883,
+            "required_z": 0.9112599423439676,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008171517806700507,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.066247403788685e-08,
+            "max_target_xy_drift": 8.906599706596245e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.37114977521634623,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3711497769073418,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27426558643327,
+              -0.3442676695460035,
+              0.9232877534474185
+            ],
+            "target_mouth_xy": [
+              0.2745653349271362,
+              -0.3450317945301401
+            ],
+            "rod_tip_z": 0.9232877534474185,
+            "rod_tip_depth": -0.022027927727662155,
+            "rod_tip_bottom_clearance": 0.12146846661774025,
+            "rod_tip_xy_dist": 0.0008208143218516576,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04462290662901047,
+            "min_rod_tip_bottom_clearance": 0.05481764373234643,
+            "min_rod_tip_xy_dist": 0.0008208143218516576,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27456536545606025,
+              -0.3450317916714498
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.0528924055417406e-08,
+              -2.858690284490706e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0002820833640689302,
+                0.002504886213468338
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00017206175637463073,
+                0.002106872050434472
+              ],
+              "first_target_mouth_xy": [
+                0.2745653391455831,
+                -0.34503182560102397
+              ],
+              "last_target_mouth_xy": [
+                0.27456527424496446,
+                -0.3450318240169764
+              ],
+              "first_rod_tip_xy": [
+                0.27484742250965205,
+                -0.34252693938755563
+              ],
+              "last_rod_tip_xy": [
+                0.2747373360013391,
+                -0.34292495196654194
+              ],
+              "min_rod_tip_xy_dist": 0.002113886251648531,
+              "max_rod_tip_xy_dist": 0.0025207193351716476,
+              "first_target_xy_drift": 4.293550056588667e-08,
+              "last_target_xy_drift": 9.677653168587005e-08,
+              "max_depth": 0.019814598460612398,
+              "min_bottom_clearance": 0.07962591055601687
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0002820833640689302,
+                  0.002504886213468338
+                ],
+                "rod_tip_xy": [
+                  0.27484742250965205,
+                  -0.34252693938755563
+                ],
+                "target_mouth_xy": [
+                  0.2745653391455831,
+                  -0.34503182560102397
+                ],
+                "gripper_position": [
+                  0.27483595880712997,
+                  -0.3425339742915312,
+                  1.0057058230649614
+                ],
+                "rod_tip_xy_dist": 0.0025207193351716476,
+                "target_xy_drift": 4.293550056588667e-08,
+                "depth": 0.015413304194786925,
+                "bottom_clearance": 0.0840274180906172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.000270685006881044,
+                  0.0024978814415720363
+                ],
+                "rod_tip_xy": [
+                  0.27483595880713,
+                  -0.3425339742915312
+                ],
+                "target_mouth_xy": [
+                  0.274565273800249,
+                  -0.34503185573310324
+                ],
+                "gripper_position": [
+                  0.27483980647789613,
+                  -0.3426014648529968,
+                  1.0051874618760137
+                ],
+                "rod_tip_xy_dist": 0.002512505138124136,
+                "target_xy_drift": 1.1182434073146098e-07,
+                "depth": 0.015554021612850022,
+                "bottom_clearance": 0.08388652066176716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00027453189499759834,
+                  0.0024303309521985783
+                ],
+                "rod_tip_xy": [
+                  0.2748398064778962,
+                  -0.3426014648529967
+                ],
+                "target_mouth_xy": [
+                  0.2745652745828986,
+                  -0.3450317958051953
+                ],
+                "gripper_position": [
+                  0.2748280948940298,
+                  -0.3426086702997057,
+                  1.0050468851980505
+                ],
+                "rod_tip_xy_dist": 0.0024457874598144093,
+                "target_xy_drift": 9.096713341638028e-08,
+                "depth": 0.01607236834181236,
+                "bottom_clearance": 0.0833681626941839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00026278813329888573,
+                  0.0024231242305723932
+                ],
+                "rod_tip_xy": [
+                  0.2748280948940299,
+                  -0.34260867029970565
+                ],
+                "target_mouth_xy": [
+                  0.274565306760731,
+                  -0.34503179453027805
+                ],
+                "gripper_position": [
+                  0.2748195712764456,
+                  -0.3426092125615659,
+                  1.0049238270254104
+                ],
+                "rod_tip_xy_dist": 0.002437332279314777,
+                "target_xy_drift": 5.876490939507169e-08,
+                "depth": 0.01621301302511957,
+                "bottom_clearance": 0.08322758852233336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0002542969725982669,
+                  0.00242261336360472
+                ],
+                "rod_tip_xy": [
+                  0.27481957127644563,
+                  -0.34260921256156585
+                ],
+                "target_mouth_xy": [
+                  0.27456527430384736,
+                  -0.34503182592517057
+                ],
+                "gripper_position": [
+                  0.2748243670295458,
+                  -0.34267777824231194,
+                  1.0044059180564753
+                ],
+                "rod_tip_xy_dist": 0.002435923327978288,
+                "target_xy_drift": 9.737578394886869e-08,
+                "depth": 0.016336006589645957,
+                "bottom_clearance": 0.08310452490703202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0002590627928357736,
+                  0.0023540137538695105
+                ],
+                "rod_tip_xy": [
+                  0.2748243670295459,
+                  -0.34267777824231194
+                ],
+                "target_mouth_xy": [
+                  0.2745653042367101,
+                  -0.34503179199618145
+                ],
+                "gripper_position": [
+                  0.2748127781472059,
+                  -0.34268454056722775,
+                  1.0042652307600406
+                ],
+                "rod_tip_xy_dist": 0.0023682259782458887,
+                "target_xy_drift": 6.122021139120524e-08,
+                "depth": 0.016853946137699194,
+                "bottom_clearance": 0.08258665006081467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0002474742751650272,
+                  0.0023473173843703288
+                ],
+                "rod_tip_xy": [
+                  0.27481277814720595,
+                  -0.34268454056722775
+                ],
+                "target_mouth_xy": [
+                  0.2745653038720409,
+                  -0.3450318579515981
+                ],
+                "gripper_position": [
+                  0.2748040680080925,
+                  -0.3426849374902134,
+                  1.0041424539282382
+                ],
+                "rod_tip_xy_dist": 0.002360326761242099,
+                "target_xy_drift": 9.04745792466326e-08,
+                "depth": 0.01699464572129672,
+                "bottom_clearance": 0.0824459659080693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00023866807746797392,
+                  0.0023467004372246247
+                ],
+                "rod_tip_xy": [
+                  0.27480406800809254,
+                  -0.34268493749021334
+                ],
+                "target_mouth_xy": [
+                  0.27456539993062457,
+                  -0.34503163792743796
+                ],
+                "gripper_position": [
+                  0.2748097681125037,
+                  -0.34275467240070295,
+                  1.0036267243655939
+                ],
+                "rod_tip_xy_dist": 0.002358805925308927,
+                "target_xy_drift": 1.575617871372819e-07,
+                "depth": 0.01711767022152466,
+                "bottom_clearance": 0.08232334986401912,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00024449265888631944,
+                  0.002277183957213824
+                ],
+                "rod_tip_xy": [
+                  0.27480976811250374,
+                  -0.3427546724007029
+                ],
+                "target_mouth_xy": [
+                  0.2745652754536174,
+                  -0.3450318563579167
+                ],
+                "gripper_position": [
+                  0.27479797492656655,
+                  -0.3427613676748458,
+                  1.0034868598133957
+                ],
+                "rod_tip_xy_dist": 0.002290271476319197,
+                "target_xy_drift": 1.1083672097448048e-07,
+                "depth": 0.017633189355860113,
+                "bottom_clearance": 0.08180740895829741,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00023269943780740432,
+                  0.0022704576103473872
+                ],
+                "rod_tip_xy": [
+                  0.2747979749265666,
+                  -0.3427613676748458
+                ],
+                "target_mouth_xy": [
+                  0.2745652754887592,
+                  -0.34503182528519316
+                ],
+                "gripper_position": [
+                  0.2747890692211463,
+                  -0.34276167524852924,
+                  1.0033635500390596
+                ],
+                "rod_tip_xy_dist": 0.0022823511536878478,
+                "target_xy_drift": 9.604165242469511e-08,
+                "depth": 0.017773031586032384,
+                "bottom_clearance": 0.08166752306130298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00022379378083253743,
+                  0.0022701484501490565
+                ],
+                "rod_tip_xy": [
+                  0.2747890692211464,
+                  -0.3427616752485293
+                ],
+                "target_mouth_xy": [
+                  0.27456527544031384,
+                  -0.34503182369867835
+                ],
+                "gripper_position": [
+                  0.2747802338617263,
+                  -0.34276213910970743,
+                  1.0032407496274296
+                ],
+                "rod_tip_xy_dist": 0.0022811527002928773,
+                "target_xy_drift": 9.554359198741677e-08,
+                "depth": 0.017896287969918045,
+                "bottom_clearance": 0.08154427824583244,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00021492862429584036,
+                  0.0022696551011984756
+                ],
+                "rod_tip_xy": [
+                  0.27478023386172634,
+                  -0.34276213910970743
+                ],
+                "target_mouth_xy": [
+                  0.2745653052374305,
+                  -0.3450317942109059
+                ],
+                "gripper_position": [
+                  0.2747873402520776,
+                  -0.34283400036780876,
+                  1.002726871853552
+                ],
+                "rod_tip_xy_dist": 0.0022798088937316576,
+                "target_xy_drift": 6.027215116555373e-08,
+                "depth": 0.01801914230571211,
+                "bottom_clearance": 0.08142141238586853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0002220652936891221,
+                  0.0021977944781144676
+                ],
+                "rod_tip_xy": [
+                  0.2747873402520777,
+                  -0.34283400036780876
+                ],
+                "target_mouth_xy": [
+                  0.27456527495838856,
+                  -0.3450317948459232
+                ],
+                "gripper_position": [
+                  0.27477548906150573,
+                  -0.3428407750771727,
+                  1.0025867544766522
+                ],
+                "rod_tip_xy_dist": 0.002208984735730802,
+                "target_xy_drift": 9.055333159348306e-08,
+                "depth": 0.01853294534182448,
+                "bottom_clearance": 0.08090756824962153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0002101832296363404,
+                  0.002191048301252718
+                ],
+                "rod_tip_xy": [
+                  0.2747754890615058,
+                  -0.3428407750771727
+                ],
+                "target_mouth_xy": [
+                  0.27456530583186944,
+                  -0.3450318233784254
+                ],
+                "gripper_position": [
+                  0.2747666179819739,
+                  -0.3428408877392231,
+                  1.002464151495825
+                ],
+                "rod_tip_xy_dist": 0.002201106460042945,
+                "target_xy_drift": 6.753055923883705e-08,
+                "depth": 0.018673153523482644,
+                "bottom_clearance": 0.08076744678838266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00020131495692493617,
+                  0.00219093723539443
+                ],
+                "rod_tip_xy": [
+                  0.27476661798197394,
+                  -0.34284088773922317
+                ],
+                "target_mouth_xy": [
+                  0.274565303025049,
+                  -0.3450318249746176
+                ],
+                "gripper_position": [
+                  0.27475757878433327,
+                  -0.34284141599797907,
+                  1.002341099204346
+                ],
+                "rod_tip_xy_dist": 0.002200166739435781,
+                "target_xy_drift": 7.075826559325573e-08,
+                "depth": 0.018795693466583052,
+                "bottom_clearance": 0.08064483650446996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00019226920692111404,
+                  0.0021904096023581676
+                ],
+                "rod_tip_xy": [
+                  0.2747575787843333,
+                  -0.342841415997979
+                ],
+                "target_mouth_xy": [
+                  0.2745653095774122,
+                  -0.3450318256003372
+                ],
+                "gripper_position": [
+                  0.27474845936127346,
+                  -0.34284163286301406,
+                  1.00221844811416
+                ],
+                "rod_tip_xy_dist": 0.0021988318885337596,
+                "target_xy_drift": 6.537272141282898e-08,
+                "depth": 0.018918832247849626,
+                "bottom_clearance": 0.0805218990377673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00018321382627090044,
+                  0.002190220327157877
+                ],
+                "rod_tip_xy": [
+                  0.2747484593612735,
+                  -0.34284163286301406
+                ],
+                "target_mouth_xy": [
+                  0.2745652455350026,
+                  -0.34503185319017193
+                ],
+                "gripper_position": [
+                  0.274739465625197,
+                  -0.34284188692233225,
+                  1.0020958294450748
+                ],
+                "rod_tip_xy_dist": 0.002197869966042664,
+                "target_xy_drift": 1.3477986955129832e-07,
+                "depth": 0.019041394658048216,
+                "bottom_clearance": 0.08039917880903669,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00017415891559741103,
+                  0.002189907287177717
+                ],
+                "rod_tip_xy": [
+                  0.2747394656251971,
+                  -0.3428418869223322
+                ],
+                "target_mouth_xy": [
+                  0.27456530670959967,
+                  -0.3450317942095099
+                ],
+                "gripper_position": [
+                  0.27474953319544804,
+                  -0.34291809607048457,
+                  1.0015849855610188
+                ],
+                "rod_tip_xy_dist": 0.0021968216255117607,
+                "target_xy_drift": 5.8801261723831e-08,
+                "depth": 0.019164133728344912,
+                "bottom_clearance": 0.08027647740506005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00018425672027683193,
+                  0.002113728577121554
+                ],
+                "rod_tip_xy": [
+                  0.2747495331954481,
+                  -0.3429180960704846
+                ],
+                "target_mouth_xy": [
+                  0.27456527647517126,
+                  -0.3450318246476062
+                ],
+                "gripper_position": [
+                  0.27473733600133904,
+                  -0.342924951966542,
+                  1.0014452244385141
+                ],
+                "rod_tip_xy_dist": 0.0021217443382055916,
+                "target_xy_drift": 9.489481278691614e-08,
+                "depth": 0.019674903202340333,
+                "bottom_clearance": 0.07976566849135625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00017206175637463073,
+                  0.002106872050434472
+                ],
+                "rod_tip_xy": [
+                  0.2747373360013391,
+                  -0.34292495196654194
+                ],
+                "target_mouth_xy": [
+                  0.27456527424496446,
+                  -0.3450318240169764
+                ],
+                "gripper_position": [
+                  0.2747476373351745,
+                  -0.34299558687617926,
+                  1.0008498089411129
+                ],
+                "rod_tip_xy_dist": 0.002113886251648531,
+                "target_xy_drift": 9.677653168587005e-08,
+                "depth": 0.019814598460612398,
+                "bottom_clearance": 0.07962591055601687,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006012055421258448,
+              "rod_tip_xy_max_step": 3.265044608192624e-05,
+              "rod_tip_xy_range": 0.0006011994130261921,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27426558643327,
+            -0.3442676695460035,
+            1.0432877534474185
+          ],
+          "object_origin_world": [
+            0.27426558643327,
+            -0.3442676695460035,
+            1.0432877534474185
+          ],
+          "frame_world": [
+            0.2742642211481354,
+            -0.3442721449235792,
+            1.0431772376870883
+          ],
+          "center_minus_frame": [
+            1.3652851345580252e-06,
+            4.475377575696715e-06,
+            0.00011051576033027644
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2733834720702501,
+              0.1278846441319339,
+              0.834620384486291
+            ],
+            "target_position": [
+              0.2831584170182914,
+              0.17454781976037936,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04767600558423897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16792964978302571,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834620384486291,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676295917026,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13650429760937102,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "65483f46ee53c8254b02c510e53a695c63141fa4bf9b7fb1975d6fa255890ee8",
+    "visual_seed": 8210057482780859327,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b86095e772831ab570e72f2652ce829c4cd140e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25952211991914875,
+              0.027747394135137687,
+              1.1637204775867724
+            ],
+            "current_z": 1.1637204775867724,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30261402917665126,
+            "gripper_z": 1.1569550105973514,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25431990426831325,
+              0.022880716540854523,
+              1.1569550105973514
+            ],
+            "object_minus_gripper": [
+              0.005202215650835507,
+              0.004866677594283164,
+              0.006765466989421043
+            ],
+            "object_to_gripper_xy": 0.0071237348690483746,
+            "object_to_gripper_z": 0.006765466989421043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25952211991914875,
+              0.0034953180330568627,
+              1.1637204775867724
+            ],
+            "finger_b": [
+              0.2486086021364057,
+              0.027747394135137687,
+              1.1637204775867724
+            ],
+            "finger_midpoint": [
+              0.2540653610277772,
+              0.015621356084097275,
+              1.1637204775867724
+            ],
+            "object_minus_finger_midpoint": [
+              0.005456758891371538,
+              0.012126038051040412,
+              0.0
+            ],
+            "finger_gap": 0.02659451194617733,
+            "fingertip_max_gap": 0.09088338411353478,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01329725597308867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637204775867724,
+            "object_top_z": 1.213637629599131,
+            "finger_top_clearance": 0.04991715201235847,
+            "fingertip_min_top_clearance": 0.014975145603707506,
+            "object_projection_between_fingers": 0.8315986877141359,
+            "object_to_finger_line_xy": 0.009952258734589823,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794169205676739,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5875972136728141,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27430646059013586,
+              -0.3435571265962095,
+              0.8515396103026347
+            ],
+            "target_position": [
+              0.266033383687748,
+              -0.3440443629371991,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008287412182630034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182347606945138,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396103026347,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533090760316893,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558438846726492,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15072345302922455,
+            "release_required_pad_clearance": 0.05279219423363246,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6317981018999773,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074253082275390625,
+            "max_z_decrease": 0.0074253082275390625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515391572402331,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074253082275390625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021083236163958796,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074253082275390625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074253297547171235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12173330783843991,
+              -0.40030580759048456,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12173330783843991,
+              -0.40030580759048456,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12286189202748363,
+              -0.3987789682520484,
+              0.8080365338703887
+            ],
+            "closest_button": [
+              0.1217277720570564,
+              -0.4003051519393921,
+              0.772934079170227
+            ],
+            "closest_ee_minus_button": [
+              0.0011341199704272276,
+              0.0015261836873436962,
+              0.0351024547001616
+            ],
+            "button_min_z_position": [
+              0.12171544879674909,
+              -0.4003049433231354,
+              0.7693835496902466
+            ],
+            "min_active_finger_to_button": 0.14456448962505428,
+            "closest_active_finger": [
+              -0.005087308585643768,
+              -0.4606093168258667,
+              0.8110365867614746
+            ],
+            "closest_active_finger_button": [
+              0.1217360496520996,
+              -0.40030434727668757,
+              0.776714026927948
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12682335823774338,
+              -0.06030496954917913,
+              0.03432255983352661
+            ],
+            "min_contact_pad_to_button": 0.021083236163958796,
+            "closest_contact_pad": [
+              0.12171544879674909,
+              -0.4003049433231354,
+              0.7904667858542054
+            ],
+            "closest_contact_pad_button": [
+              0.12171544879674909,
+              -0.4003049433231354,
+              0.7693835496902466
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021083236163958796
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2848010195500041,
+              0.18028548815455603,
+              1.1040689944067341
+            ],
+            "current_z": 1.1040689944067341,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19415986467237156,
+            "gripper_z": 1.104069167999357,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2848010523350113,
+              0.18028546043456123,
+              1.104069167999357
+            ],
+            "object_minus_gripper": [
+              -3.278500720904631e-08,
+              2.7719994799557668e-08,
+              -1.7359262294291966e-07
+            ],
+            "object_to_gripper_xy": 4.293314348361558e-08,
+            "object_to_gripper_z": -1.7359262294291966e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2848010195500041,
+              0.18028548815455603,
+              1.1040689944067341
+            ],
+            "finger_b": [
+              0.2848010195500041,
+              0.18028548815455603,
+              1.1040689944067341
+            ],
+            "finger_midpoint": [
+              0.2848010195500041,
+              0.18028548815455603,
+              1.1040689944067341
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040689944067341,
+            "object_top_z": 1.2290775010270139,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28480101955000414,
+            0.18028548815455603,
+            1.1040689944067341
+          ],
+          "object_origin_world": [
+            0.28480101955000414,
+            0.18028548815455603,
+            1.1040689944067341
+          ],
+          "frame_world": [
+            0.2848010523350113,
+            0.18028546043456123,
+            1.104069167999357
+          ],
+          "center_minus_frame": [
+            -3.278500715353516e-08,
+            2.7719994799557668e-08,
+            -1.7359262294291966e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432490578965938,
+            "required_z": 0.9112599160280639,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006390206013460037,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.608191602544069e-08,
+            "max_target_xy_drift": 1.3323452378236008e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.631798103612736,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6317981039432886,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2738080301077275,
+              -0.34315431228608057,
+              0.9233595224734717
+            ],
+            "target_mouth_xy": [
+              0.274306310612065,
+              -0.3435570987094072
+            ],
+            "rod_tip_z": 0.9233595224734717,
+            "rod_tip_depth": -0.022099688570054732,
+            "rod_tip_bottom_clearance": 0.12154023273006465,
+            "rod_tip_xy_dist": 0.0006407186307726147,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04441954891716815,
+            "min_rod_tip_bottom_clearance": 0.05502110626890966,
+            "min_rod_tip_xy_dist": 0.0006407186307726147,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2743064009668561,
+              -0.3435570660330195
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.035479109353872e-08,
+              -3.267638770676484e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                8.335904600997868e-05,
+                0.002080738010684424
+              ],
+              "last_rod_tip_xy_delta": [
+                -2.9384396877329966e-05,
+                0.0017203056721753485
+              ],
+              "first_target_mouth_xy": [
+                0.2743064025485491,
+                -0.34355709803629547
+              ],
+              "last_target_mouth_xy": [
+                0.27430643231432583,
+                -0.3435570974057577
+              ],
+              "first_rod_tip_xy": [
+                0.2743897615945591,
+                -0.34147636002561105
+              ],
+              "last_rod_tip_xy": [
+                0.2742770479174485,
+                -0.34183679173358233
+              ],
+              "min_rod_tip_xy_dist": 0.0017205380268534454,
+              "max_rod_tip_xy_dist": 0.0020824071166942043,
+              "first_target_xy_drift": 3.204233802009815e-08,
+              "last_target_xy_drift": 4.4349887934166026e-08,
+              "max_depth": 0.019408904066257615,
+              "min_bottom_clearance": 0.08003170931390635
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  8.335904600997868e-05,
+                  0.002080738010684424
+                ],
+                "rod_tip_xy": [
+                  0.2743897615945591,
+                  -0.34147636002561105
+                ],
+                "target_mouth_xy": [
+                  0.2743064025485491,
+                  -0.34355709803629547
+                ],
+                "gripper_position": [
+                  0.27439296987155404,
+                  -0.34153900891632183,
+                  1.0057190219840404
+                ],
+                "rod_tip_xy_dist": 0.0020824071166942043,
+                "target_xy_drift": 3.204233802009815e-08,
+                "depth": 0.015021365762450278,
+                "bottom_clearance": 0.08441925287741525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  8.660122449338781e-05,
+                  0.0020180571215525633
+                ],
+                "rod_tip_xy": [
+                  0.274392969871554,
+                  -0.3415390089163218
+                ],
+                "target_mouth_xy": [
+                  0.2743063686470606,
+                  -0.34355706603787434
+                ],
+                "gripper_position": [
+                  0.2743815719469487,
+                  -0.341545944594286,
+                  1.0055786034798693
+                ],
+                "rod_tip_xy_dist": 0.0020199144333195827,
+                "target_xy_drift": 3.231979587118124e-08,
+                "depth": 0.015540848964210374,
+                "bottom_clearance": 0.08389973463343803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  7.51415236762143e-05,
+                  0.0020111845278745766
+                ],
+                "rod_tip_xy": [
+                  0.2743815719469486,
+                  -0.34154594459428606
+                ],
+                "target_mouth_xy": [
+                  0.2743064304232724,
+                  -0.34355712912216063
+                ],
+                "gripper_position": [
+                  0.27437307795652277,
+                  -0.3415465745375905,
+                  1.0054559380890205
+                ],
+                "rod_tip_xy_dist": 0.0020125877505695164,
+                "target_xy_drift": 6.962700762322431e-08,
+                "depth": 0.015681246177354002,
+                "bottom_clearance": 0.08375934290016518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  6.66774706956641e-05,
+                  0.00201045914539294
+                ],
+                "rod_tip_xy": [
+                  0.27437307795652266,
+                  -0.3415465745375906
+                ],
+                "target_mouth_xy": [
+                  0.274306400485827,
+                  -0.3435570336829835
+                ],
+                "gripper_position": [
+                  0.2743771450500896,
+                  -0.3416101530211267,
+                  1.0049363075833466
+                ],
+                "rod_tip_xy_dist": 0.0020115645305066607,
+                "target_xy_drift": 3.235361211864578e-08,
+                "depth": 0.015804019993255536,
+                "bottom_clearance": 0.08363666517945412,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  7.077441308667165e-05,
+                  0.0019469443895487326
+                ],
+                "rod_tip_xy": [
+                  0.2743771450500895,
+                  -0.3416101530211267
+                ],
+                "target_mouth_xy": [
+                  0.2743063706370028,
+                  -0.3435570974106754
+                ],
+                "gripper_position": [
+                  0.2743656216308996,
+                  -0.3416169019914916,
+                  1.0047964510160303
+                ],
+                "rod_tip_xy_dist": 0.0019482303440669048,
+                "target_xy_drift": 4.364008812819399e-08,
+                "depth": 0.01632351644162966,
+                "bottom_clearance": 0.0831170177536259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  5.9191247768874966e-05,
+                  0.0019401630803725367
+                ],
+                "rod_tip_xy": [
+                  0.2743656216308995,
+                  -0.3416169019914916
+                ],
+                "target_mouth_xy": [
+                  0.27430643038313063,
+                  -0.3435570650718641
+                ],
+                "gripper_position": [
+                  0.2743569405346906,
+                  -0.3416174195112091,
+                  1.0046737101547911
+                ],
+                "rod_tip_xy_dist": 0.001941065785143071,
+                "target_xy_drift": 2.94319728650343e-08,
+                "depth": 0.016463479277434523,
+                "bottom_clearance": 0.08297715206343281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  5.0540922830855095e-05,
+                  0.0019396775919197085
+                ],
+                "rod_tip_xy": [
+                  0.2743569405346905,
+                  -0.3416174195112091
+                ],
+                "target_mouth_xy": [
+                  0.27430639961185965,
+                  -0.3435570971031288
+                ],
+                "gripper_position": [
+                  0.2743620411900908,
+                  -0.34168205283531067,
+                  1.0041555716981783
+                ],
+                "rod_tip_xy_dist": 0.0019403359362430087,
+                "target_xy_drift": 3.109964161289137e-08,
+                "depth": 0.016586172557782608,
+                "bottom_clearance": 0.08285434123653401,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  5.5669116794221374e-05,
+                  0.001875044572640927
+                ],
+                "rod_tip_xy": [
+                  0.27436204119009067,
+                  -0.34168205283531067
+                ],
+                "target_mouth_xy": [
+                  0.27430637207329645,
+                  -0.3435570974079516
+                ],
+                "gripper_position": [
+                  0.27435046902904314,
+                  -0.34168849234043486,
+                  1.0040151249016305
+                ],
+                "rod_tip_xy_dist": 0.0018758707844504763,
+                "target_xy_drift": 4.265236398691809e-08,
+                "depth": 0.017104323170453295,
+                "bottom_clearance": 0.08233626586419684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  4.4100179945272266e-05,
+                  0.0018685740136181184
+                ],
+                "rod_tip_xy": [
+                  0.27435046902904303,
+                  -0.3416884923404349
+                ],
+                "target_mouth_xy": [
+                  0.27430636884909776,
+                  -0.34355706635405303
+                ],
+                "gripper_position": [
+                  0.274341743094744,
+                  -0.3416889417986689,
+                  1.0038927360237795
+                ],
+                "rod_tip_xy_dist": 0.0018690943449275453,
+                "target_xy_drift": 3.2119362749440075e-08,
+                "depth": 0.017244734297156228,
+                "bottom_clearance": 0.08219583027497612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  3.5339948006640753e-05,
+                  0.001868155920306258
+                ],
+                "rod_tip_xy": [
+                  0.2743417430947439,
+                  -0.3416889417986689
+                ],
+                "target_mouth_xy": [
+                  0.27430640314673727,
+                  -0.34355709771897514
+                ],
+                "gripper_position": [
+                  0.27434748190341945,
+                  -0.34175472119650313,
+                  1.0033775132177667
+                ],
+                "rod_tip_xy_dist": 0.0018684901537071139,
+                "target_xy_drift": 3.176085116185885e-08,
+                "depth": 0.017367165373240567,
+                "bottom_clearance": 0.08207346528031012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  4.111362152686704e-05,
+                  0.0018023445231288293
+                ],
+                "rod_tip_xy": [
+                  0.27434748190341934,
+                  -0.34175472119650313
+                ],
+                "target_mouth_xy": [
+                  0.2743063682818925,
+                  -0.34355706571963196
+                ],
+                "gripper_position": [
+                  0.274335757333534,
+                  -0.3417610260540738,
+                  1.003237796014533
+                ],
+                "rod_tip_xy_dist": 0.0018028133874385174,
+                "target_xy_drift": 3.268646598953708e-08,
+                "depth": 0.017882374527079192,
+                "bottom_clearance": 0.08155823451546829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  2.9355311179701804e-05,
+                  0.0017960421765889634
+                ],
+                "rod_tip_xy": [
+                  0.27433575733353394,
+                  -0.3417610260540738
+                ],
+                "target_mouth_xy": [
+                  0.27430640202235423,
+                  -0.3435570682306628
+                ],
+                "gripper_position": [
+                  0.27432692503952716,
+                  -0.34176132920463775,
+                  1.0031153483895785
+                ],
+                "rod_tip_xy_dist": 0.001796282058692587,
+                "target_xy_drift": 2.437972997733043e-09,
+                "depth": 0.018022101810478808,
+                "bottom_clearance": 0.08141849628770059,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  2.0556430493590128e-05,
+                  0.0017957377817880427
+                ],
+                "rod_tip_xy": [
+                  0.27432692503952705,
+                  -0.3417613292046378
+                ],
+                "target_mouth_xy": [
+                  0.27430636860903346,
+                  -0.34355706698642585
+                ],
+                "gripper_position": [
+                  0.27431794381427443,
+                  -0.34176176035987144,
+                  1.0029927396738945
+                ],
+                "rod_tip_xy_dist": 0.0017958554362129703,
+                "target_xy_drift": 3.237186540665906e-08,
+                "depth": 0.01814450709176907,
+                "bottom_clearance": 0.08129604447963079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  1.1512226151144667e-05,
+                  0.0017953072404192083
+                ],
+                "rod_tip_xy": [
+                  0.2743179438142743,
+                  -0.34176176035987144
+                ],
+                "target_mouth_xy": [
+                  0.2743064315881232,
+                  -0.34355706760029064
+                ],
+                "gripper_position": [
+                  0.27432507719859334,
+                  -0.3418293673832557,
+                  1.002480357820644
+                ],
+                "rod_tip_xy_dist": 0.0017953441505328687,
+                "target_xy_drift": 3.066134922470703e-08,
+                "depth": 0.018267154590261403,
+                "bottom_clearance": 0.08117343121309484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  1.8677970364811003e-05,
+                  0.0017276980096301853
+                ],
+                "rod_tip_xy": [
+                  0.2743250771985932,
+                  -0.3418293673832557
+                ],
+                "target_mouth_xy": [
+                  0.2743063992282284,
+                  -0.3435570653928859
+                ],
+                "gripper_position": [
+                  0.27431317364905916,
+                  -0.34183591287712173,
+                  1.0023405316995337
+                ],
+                "rod_tip_xy_dist": 0.0017277989695149874,
+                "target_xy_drift": 1.8527269830343078e-09,
+                "depth": 0.018779500529902626,
+                "bottom_clearance": 0.08066107558029822,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  6.771247763492916e-06,
+                  0.0017211864314589653
+                ],
+                "rod_tip_xy": [
+                  0.27431317364905905,
+                  -0.34183591287712173
+                ],
+                "target_mouth_xy": [
+                  0.27430640240129556,
+                  -0.3435570993085807
+                ],
+                "gripper_position": [
+                  0.274304234844336,
+                  -0.341835912191134,
+                  1.0022182846476784
+                ],
+                "rod_tip_xy_dist": 0.0017211997506491575,
+                "target_xy_drift": 3.3306464679095864e-08,
+                "depth": 0.018919391871575097,
+                "bottom_clearance": 0.08052126593972209,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -2.13462561327038e-06,
+                  0.0017211532044186795
+                ],
+                "rod_tip_xy": [
+                  0.27430423484433597,
+                  -0.341835912191134
+                ],
+                "target_mouth_xy": [
+                  0.27430636946994924,
+                  -0.3435570653955527
+                ],
+                "gripper_position": [
+                  0.27429522952658814,
+                  -0.34183626121088406,
+                  1.0020960346045347
+                ],
+                "rod_tip_xy_dist": 0.001721154528131393,
+                "target_xy_drift": 3.150335705442075e-08,
+                "depth": 0.019041572303946985,
+                "bottom_clearance": 0.08039900200006223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -1.1173431949895729e-05,
+                  0.001720866949364852
+                ],
+                "rod_tip_xy": [
+                  0.274295229526588,
+                  -0.3418362612108841
+                ],
+                "target_mouth_xy": [
+                  0.2743064029585379,
+                  -0.34355712816024897
+                ],
+                "gripper_position": [
+                  0.2742861201036967,
+                  -0.341836644948244,
+                  1.0019736277315905
+                ],
+                "rod_tip_xy_dist": 0.0017209032230191886,
+                "target_xy_drift": 6.215914605547533e-08,
+                "depth": 0.01916387661559349,
+                "bottom_clearance": 0.08027676928510896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -2.0249593527310594e-05,
+                  0.0017204188605716708
+                ],
+                "rod_tip_xy": [
+                  0.2742861201036966,
+                  -0.341836644948244
+                ],
+                "target_mouth_xy": [
+                  0.2743063696972239,
+                  -0.3435570638088157
+                ],
+                "gripper_position": [
+                  0.2742770479174486,
+                  -0.34183679173358233,
+                  1.001850995805722
+                ],
+                "rod_tip_xy_dist": 0.0017205380268534454,
+                "target_xy_drift": 3.134863604078305e-08,
+                "depth": 0.019286257253124828,
+                "bottom_clearance": 0.08015437863191688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -2.9384396877329966e-05,
+                  0.0017203056721753485
+                ],
+                "rod_tip_xy": [
+                  0.2742770479174485,
+                  -0.34183679173358233
+                ],
+                "target_mouth_xy": [
+                  0.27430643231432583,
+                  -0.3435570974057577
+                ],
+                "gripper_position": [
+                  0.27426812453385874,
+                  -0.34183695399120223,
+                  1.0017286442986824
+                ],
+                "rod_tip_xy_dist": 0.001720556610082482,
+                "target_xy_drift": 4.4349887934166026e-08,
+                "depth": 0.019408904066257615,
+                "bottom_clearance": 0.08003170931390635,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005974842938139872,
+              "rod_tip_xy_max_step": 3.2473046091206913e-05,
+              "rod_tip_xy_range": 0.0005974778707565879,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27380803010772753,
+            -0.34315431228608057,
+            1.0433595224734717
+          ],
+          "object_origin_world": [
+            0.27380803010772753,
+            -0.34315431228608057,
+            1.0433595224734717
+          ],
+          "frame_world": [
+            0.2738064701982669,
+            -0.3431589694719996,
+            1.0432490578965938
+          ],
+          "center_minus_frame": [
+            1.559909460602249e-06,
+            4.657185919021423e-06,
+            0.00011046457687791111
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27172170487386,
+              0.13363012820458192,
+              0.8332511804846425
+            ],
+            "target_position": [
+              0.28493924741948495,
+              0.17923844345662848,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047484964473772845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1660195195634666,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332511804846425,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672985681592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13614789747156203,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0efb5e5d5838cdf0403f3fb2355598234d39ee9120362ddb71d5e07f903f8769",
+    "visual_seed": 7444932489049453725,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0721d5b669e52581ea4bfd100fab4dd920c4619e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_83_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2608561432930474,
+              0.030051495686314107,
+              1.1626581537263827
+            ],
+            "current_z": 1.1626581537263827,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3015515265023272,
+            "gripper_z": 1.1558524425562346,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2556172081550242,
+              0.025137856345193443,
+              1.1558524425562346
+            ],
+            "object_minus_gripper": [
+              0.005238935138023204,
+              0.004913639341120664,
+              0.006805711170148054
+            ],
+            "object_to_gripper_xy": 0.007182638300445242,
+            "object_to_gripper_z": 0.006805711170148054,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2608561432930474,
+              0.005755956810728279,
+              1.1626581537263827
+            ],
+            "finger_b": [
+              0.24988673987032484,
+              0.030051495686314107,
+              1.1626581537263827
+            ],
+            "finger_midpoint": [
+              0.2553714415816861,
+              0.01790372624852119,
+              1.1626581537263827
+            ],
+            "object_minus_finger_midpoint": [
+              0.005484701711361284,
+              0.012147769437792916,
+              0.0
+            ],
+            "finger_gap": 0.02665710075581251,
+            "fingertip_max_gap": 0.09082032172419408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013328550377906256,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626581537263827,
+            "object_top_z": 1.2126274663139347,
+            "finger_top_clearance": 0.049969312587551995,
+            "fingertip_min_top_clearance": 0.014990793776265597,
+            "object_projection_between_fingers": 0.8306675505039849,
+            "object_to_finger_line_xy": 0.009997620136564503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791016086209704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4322418181777195,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2761936833765493,
+              -0.34511940852567347,
+              0.8515395981761659
+            ],
+            "target_position": [
+              0.2676871196703809,
+              -0.34583316658411045,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008536455743052009,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18315104774181534,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395981761659,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518781848123833,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507934655699818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519521642444975,
+            "release_required_pad_clearance": 0.052539673278499094,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1480374707115017,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076094865798950195,
+            "max_z_decrease": 0.0076094865798950195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509003866000896,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076094865798950195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021099867410318503,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076094865798950195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076095092051398795,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12338704615831374,
+              -0.4020946323871612,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12338704615831374,
+              -0.4020946323871612,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12328565566491057,
+              -0.40177119195438094,
+              0.8076651409534048
+            ],
+            "closest_button": [
+              0.12337584793567656,
+              -0.40209254622459406,
+              0.7725766897201538
+            ],
+            "closest_ee_minus_button": [
+              -9.019227076599579e-05,
+              0.00032135427021312557,
+              0.035088451233250995
+            ],
+            "button_min_z_position": [
+              0.12336868047714232,
+              -0.4020919799804687,
+              0.7691993713378906
+            ],
+            "min_active_finger_to_button": 0.1461385134755625,
+            "closest_active_finger": [
+              -0.003858111798763275,
+              -0.46520671248435974,
+              0.8109098076820374
+            ],
+            "closest_active_finger_button": [
+              0.12338703870773314,
+              -0.40209427475929255,
+              0.7765302062034607
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12724515050649643,
+              -0.0631124377250672,
+              0.03437960147857666
+            ],
+            "min_contact_pad_to_button": 0.021099867410318503,
+            "closest_contact_pad": [
+              0.12336868047714232,
+              -0.4028608970793465,
+              0.7902852237329937
+            ],
+            "closest_contact_pad_button": [
+              0.12336868047714232,
+              -0.4020919799804687,
+              0.7691993713378906
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007689170988778304,
+              0.021085852395103077
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2837709054923393,
+              0.17449748885339705,
+              1.103063705059541
+            ],
+            "current_z": 1.103063705059541,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19315457532517855,
+            "gripper_z": 1.1030639572346739,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28377091531066145,
+              0.17449751237138217,
+              1.1030639572346739
+            ],
+            "object_minus_gripper": [
+              -9.81832215529721e-09,
+              -2.3517985114906992e-08,
+              -2.5217513277553394e-07
+            ],
+            "object_to_gripper_xy": 2.5485193226856e-08,
+            "object_to_gripper_z": -2.5217513277553394e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2837709054923393,
+              0.17449748885339705,
+              1.103063705059541
+            ],
+            "finger_b": [
+              0.2837709054923393,
+              0.17449748885339705,
+              1.103063705059541
+            ],
+            "finger_midpoint": [
+              0.2837709054923393,
+              0.17449748885339705,
+              1.103063705059541
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103063705059541,
+            "object_top_z": 1.2280722116798208,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2837709054923393,
+            0.17449748885339705,
+            1.103063705059541
+          ],
+          "object_origin_world": [
+            0.2837709054923393,
+            0.17449748885339705,
+            1.103063705059541
+          ],
+          "frame_world": [
+            0.28377091531066145,
+            0.17449751237138217,
+            1.1030639572346739
+          ],
+          "center_minus_frame": [
+            -9.81832215529721e-09,
+            -2.3517985114906992e-08,
+            -2.5217513277553394e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043410014062162,
+            "required_z": 0.9112598254175381,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013014115057775803,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.65694123320964e-08,
+            "max_target_xy_drift": 2.987592196011274e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.14803748793304286,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.14803749443759018,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27507378175187847,
+              -0.3444540501659048,
+              0.9235214918257874
+            ],
+            "target_mouth_xy": [
+              0.27619368208433165,
+              -0.34511943864722283
+            ],
+            "rod_tip_z": 0.9235214918257874,
+            "rod_tip_depth": -0.02226166765958737,
+            "rod_tip_bottom_clearance": 0.12170220971407508,
+            "rod_tip_xy_dist": 0.0013026582766402955,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045004042036539404,
+            "min_rod_tip_bottom_clearance": 0.05443657360721499,
+            "min_rod_tip_xy_dist": 0.0013026582766402955,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2761936524492282,
+              -0.34511937903810186
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9635103426794984e-08,
+              -5.960912097258131e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0005260167132748461,
+                0.002412383628285608
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006426978724627941,
+                0.002029789627574996
+              ],
+              "first_target_mouth_xy": [
+                0.2761937403008738,
+                -0.34511946812579014
+              ],
+              "last_target_mouth_xy": [
+                0.2761937392991518,
+                -0.3451194386446161
+              ],
+              "first_rod_tip_xy": [
+                0.27566772358759895,
+                -0.34270708449750453
+              ],
+              "last_rod_tip_xy": [
+                0.275551041426689,
+                -0.3430896490170411
+              ],
+              "min_rod_tip_xy_dist": 0.002121803170317758,
+              "max_rod_tip_xy_dist": 0.002469066291670782,
+              "first_target_xy_drift": 1.251180555821925e-07,
+              "last_target_xy_drift": 1.0533682055633409e-07,
+              "max_depth": 0.019442983967591365,
+              "min_bottom_clearance": 0.07999754048513208
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0005260167132748461,
+                  0.002412383628285608
+                ],
+                "rod_tip_xy": [
+                  0.27566772358759895,
+                  -0.34270708449750453
+                ],
+                "target_mouth_xy": [
+                  0.2761937403008738,
+                  -0.34511946812579014
+                ],
+                "gripper_position": [
+                  0.27566991703850674,
+                  -0.3427726646866925,
+                  1.0056961071454324
+                ],
+                "rod_tip_xy_dist": 0.002469066291670782,
+                "target_xy_drift": 1.251180555821925e-07,
+                "depth": 0.015045049223362583,
+                "bottom_clearance": 0.08439544169942492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0005237905737126014,
+                  0.0023467714191800493
+                ],
+                "rod_tip_xy": [
+                  0.27566991703850674,
+                  -0.34277266468669254
+                ],
+                "target_mouth_xy": [
+                  0.27619370761221934,
+                  -0.3451194361058726
+                ],
+                "gripper_position": [
+                  0.2756583100602373,
+                  -0.3427799337749581,
+                  1.0055553383505074
+                ],
+                "rod_tip_xy_dist": 0.0024045150569273876,
+                "target_xy_drift": 7.937056157966318e-08,
+                "depth": 0.015563833729604126,
+                "bottom_clearance": 0.08387684558034747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0005354292499022972,
+                  0.0023395365938073676
+                ],
+                "rod_tip_xy": [
+                  0.2756583100602373,
+                  -0.3427799337749581
+                ],
+                "target_mouth_xy": [
+                  0.2761937393101396,
+                  -0.34511947036876545
+                ],
+                "gripper_position": [
+                  0.2756498307460875,
+                  -0.3427805722924777,
+                  1.0054318442043284
+                ],
+                "rod_tip_xy_dist": 0.0024000241572564884,
+                "target_xy_drift": 1.2604010485677286e-07,
+                "depth": 0.015704538028606718,
+                "bottom_clearance": 0.08373605474050483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005439100149213782,
+                  0.0023388641162174206
+                ],
+                "rod_tip_xy": [
+                  0.2756498307460875,
+                  -0.3427805722924777
+                ],
+                "target_mouth_xy": [
+                  0.2761937407610089,
+                  -0.34511943640869513
+                ],
+                "gripper_position": [
+                  0.27565301178647106,
+                  -0.3428475624964262,
+                  1.0049132310634563
+                ],
+                "rod_tip_xy_dist": 0.002401275381638114,
+                "target_xy_drift": 1.053107571772775e-07,
+                "depth": 0.015828008027429008,
+                "bottom_clearance": 0.08361256937965422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005406372332403819,
+                  0.0022719098044809427
+                ],
+                "rod_tip_xy": [
+                  0.27565301178647106,
+                  -0.34284756249642623
+                ],
+                "target_mouth_xy": [
+                  0.27619364901971144,
+                  -0.34511947230090717
+                ],
+                "gripper_position": [
+                  0.2756413758694396,
+                  -0.3428545751249806,
+                  1.0047724857530074
+                ],
+                "rod_tip_xy_dist": 0.0023353506755222973,
+                "target_xy_drift": 9.332584015155102e-08,
+                "depth": 0.016346706645492426,
+                "bottom_clearance": 0.08309398876502005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005523638969816558,
+                  0.002264770292240259
+                ],
+                "rod_tip_xy": [
+                  0.2756413758694396,
+                  -0.34285457512498063
+                ],
+                "target_mouth_xy": [
+                  0.27619373976642125,
+                  -0.3451193454172209
+                ],
+                "gripper_position": [
+                  0.27563259161820897,
+                  -0.3428552683892928,
+                  1.0046486907309584
+                ],
+                "rod_tip_xy_dist": 0.002331156440761278,
+                "target_xy_drift": 9.35663178498861e-08,
+                "depth": 0.016487406081549305,
+                "bottom_clearance": 0.08295322821357531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005611199322501093,
+                  0.0022641423727655097
+                ],
+                "rod_tip_xy": [
+                  0.27563259161820897,
+                  -0.3428552683892928
+                ],
+                "target_mouth_xy": [
+                  0.2761937115504591,
+                  -0.3451194107620583
+                ],
+                "gripper_position": [
+                  0.2756365119685942,
+                  -0.3429235346352935,
+                  1.0041314862450914
+                ],
+                "rod_tip_xy_dist": 0.0023326371905036153,
+                "target_xy_drift": 6.707730541707113e-08,
+                "depth": 0.016611164906128684,
+                "bottom_clearance": 0.08282943240339291,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005571371192600871,
+                  0.0021958444075443895
+                ],
+                "rod_tip_xy": [
+                  0.2756365119685942,
+                  -0.34292353463529346
+                ],
+                "target_mouth_xy": [
+                  0.27619364908785426,
+                  -0.34511937904283785
+                ],
+                "gripper_position": [
+                  0.27562499056154505,
+                  -0.3429303309847345,
+                  1.0039909143738506
+                ],
+                "rod_tip_xy_dist": 0.0022654214689106747,
+                "target_xy_drift": 3.3613772933274738e-09,
+                "depth": 0.017128440155603553,
+                "bottom_clearance": 0.08231211518868897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005687204269144153,
+                  0.0021890797769435477
+                ],
+                "rod_tip_xy": [
+                  0.275624990561545,
+                  -0.3429303309847346
+                ],
+                "target_mouth_xy": [
+                  0.2761937109884594,
+                  -0.3451194107616781
+                ],
+                "gripper_position": [
+                  0.2756162041229892,
+                  -0.3429307901329236,
+                  1.003867319801061
+                ],
+                "rod_tip_xy_dist": 0.002261750029029054,
+                "target_xy_drift": 6.658248177107375e-08,
+                "depth": 0.01726893676723107,
+                "bottom_clearance": 0.08217163888739976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005774733591421,
+                  0.0021885565671773133
+                ],
+                "rod_tip_xy": [
+                  0.2756162041229892,
+                  -0.3429307901329237
+                ],
+                "target_mouth_xy": [
+                  0.2761936774821313,
+                  -0.345119346700101
+                ],
+                "gripper_position": [
+                  0.2756073790304754,
+                  -0.34293128115560034,
+                  1.003744055633663
+                ],
+                "rod_tip_xy_dist": 0.002263460918207736,
+                "target_xy_drift": 4.089489619323645e-08,
+                "depth": 0.017392690708262437,
+                "bottom_clearance": 0.08204800127588818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005863610753850113,
+                  0.0021881587674305036
+                ],
+                "rod_tip_xy": [
+                  0.2756073790304754,
+                  -0.34293128115560045
+                ],
+                "target_mouth_xy": [
+                  0.2761937401058604,
+                  -0.34511943992303096
+                ],
+                "gripper_position": [
+                  0.2756128234922518,
+                  -0.34300180894230586,
+                  1.0032270211490806
+                ],
+                "rod_tip_xy_dist": 0.0022653604795285116,
+                "target_xy_drift": 1.0672703385545815e-07,
+                "depth": 0.01751578501717954,
+                "bottom_clearance": 0.08192475426178769,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005809499534713547,
+                  0.0021175669175677037
+                ],
+                "rod_tip_xy": [
+                  0.2756128234922518,
+                  -0.3430018089423059
+                ],
+                "target_mouth_xy": [
+                  0.27619377344572316,
+                  -0.3451193758598736
+                ],
+                "gripper_position": [
+                  0.2756010464981141,
+                  -0.3430088557342727,
+                  1.0030867350927544
+                ],
+                "rod_tip_xy_dist": 0.0021958124917250002,
+                "target_xy_drift": 1.2103822917222243e-07,
+                "depth": 0.01803293073874812,
+                "bottom_clearance": 0.08140779177224666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005926599912602359,
+                  0.0021105540864657657
+                ],
+                "rod_tip_xy": [
+                  0.2756010464981141,
+                  -0.34300885573427276
+                ],
+                "target_mouth_xy": [
+                  0.27619370648937436,
+                  -0.3451194098207385
+                ],
+                "gripper_position": [
+                  0.2755922751006189,
+                  -0.34300899361906123,
+                  1.0029635194697595
+                ],
+                "rod_tip_xy_dist": 0.0021921871309580135,
+                "target_xy_drift": 6.219250850569795e-08,
+                "depth": 0.018173156450959405,
+                "bottom_clearance": 0.0812675179016541,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006014670149179224,
+                  0.0021103844588931664
+                ],
+                "rod_tip_xy": [
+                  0.2755922751006189,
+                  -0.34300899361906134
+                ],
+                "target_mouth_xy": [
+                  0.2761937421155368,
+                  -0.3451193780779545
+                ],
+                "gripper_position": [
+                  0.27558326577576875,
+                  -0.3430095810764672,
+                  1.0028400061210254
+                ],
+                "rod_tip_xy_dist": 0.0021944213666413473,
+                "target_xy_drift": 8.967144908463884e-08,
+                "depth": 0.018296380293927883,
+                "bottom_clearance": 0.08114420341365614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006104764240760785,
+                  0.0021098277622683126
+                ],
+                "rod_tip_xy": [
+                  0.27558326577576875,
+                  -0.3430095810764672
+                ],
+                "target_mouth_xy": [
+                  0.2761937421998448,
+                  -0.3451194088387355
+                ],
+                "gripper_position": [
+                  0.2755901715246666,
+                  -0.3430820606513759,
+                  1.0023265999843856
+                ],
+                "rod_tip_xy_dist": 0.0021963730673068343,
+                "target_xy_drift": 9.456876305436769e-08,
+                "depth": 0.018419821998830854,
+                "bottom_clearance": 0.08102073947420452,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000603539847503054,
+                  0.0020373481877465904
+                ],
+                "rod_tip_xy": [
+                  0.2755901715246666,
+                  -0.3430820606513759
+                ],
+                "target_mouth_xy": [
+                  0.27619371137216964,
+                  -0.3451194088391225
+                ],
+                "gripper_position": [
+                  0.2755781682434978,
+                  -0.34308886242573927,
+                  1.0021861870904087
+                ],
+                "rod_tip_xy_dist": 0.0021248642275774527,
+                "target_xy_drift": 6.603040100472148e-08,
+                "depth": 0.018933219976159488,
+                "bottom_clearance": 0.08050730207503809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006155718120154363,
+                  0.002030546733720384
+                ],
+                "rod_tip_xy": [
+                  0.2755781682434978,
+                  -0.3430888624257393
+                ],
+                "target_mouth_xy": [
+                  0.2761937400555132,
+                  -0.3451194091594597
+                ],
+                "gripper_position": [
+                  0.27556920626679754,
+                  -0.34308913619389636,
+                  1.0020629710928672
+                ],
+                "rod_tip_xy_dist": 0.002121803170317758,
+                "target_xy_drift": 9.263993399771543e-08,
+                "depth": 0.01907369747393084,
+                "bottom_clearance": 0.08036680934429763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006245352275414673,
+                  0.002030272007023326
+                ],
+                "rod_tip_xy": [
+                  0.27556920626679754,
+                  -0.34308913619389647
+                ],
+                "target_mouth_xy": [
+                  0.276193741494339,
+                  -0.3451194082009198
+                ],
+                "gripper_position": [
+                  0.27556009999162256,
+                  -0.3430894512673204,
+                  1.0019399137880187
+                ],
+                "rod_tip_xy_dist": 0.0021241583446021148,
+                "target_xy_drift": 9.369899521764328e-08,
+                "depth": 0.019196858359527558,
+                "bottom_clearance": 0.08024368991928787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000633641020688136,
+                  0.0020299572521314535
+                ],
+                "rod_tip_xy": [
+                  0.2755600999916225,
+                  -0.3430894512673205
+                ],
+                "target_mouth_xy": [
+                  0.27619374101231065,
+                  -0.34511940851945194
+                ],
+                "gripper_position": [
+                  0.275551041426689,
+                  -0.34308964901704103,
+                  1.0018168583211682
+                ],
+                "rod_tip_xy_dist": 0.0021265529357577216,
+                "target_xy_drift": 9.33411461845336e-08,
+                "depth": 0.019319965725576704,
+                "bottom_clearance": 0.08012055258679562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006426978724627941,
+                  0.002029789627574996
+                ],
+                "rod_tip_xy": [
+                  0.275551041426689,
+                  -0.3430896490170411
+                ],
+                "target_mouth_xy": [
+                  0.2761937392991518,
+                  -0.3451194386446161
+                ],
+                "gripper_position": [
+                  0.2755419643848702,
+                  -0.3430899614574,
+                  1.001693625361684
+                ],
+                "rod_tip_xy_dist": 0.0021291093178790145,
+                "target_xy_drift": 1.0533682055633409e-07,
+                "depth": 0.019442983967591365,
+                "bottom_clearance": 0.07999754048513208,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006051187823695604,
+              "rod_tip_xy_max_step": 3.267912339278217e-05,
+              "rod_tip_xy_range": 0.0006051087852842972,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27507378175187847,
+            -0.3444540501659048,
+            1.0435214918257874
+          ],
+          "object_origin_world": [
+            0.27507378175187847,
+            -0.3444540501659048,
+            1.0435214918257874
+          ],
+          "frame_world": [
+            0.2750722867434841,
+            -0.34445902635410913,
+            1.043410014062162
+          ],
+          "center_minus_frame": [
+            1.4950083943587877e-06,
+            4.976188204330878e-06,
+            0.0001114777636253006
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2738168795798016,
+              0.1289336526208631,
+              0.8338991465313653
+            ],
+            "target_position": [
+              0.2838991562724114,
+              0.1756027063842992,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04774571061866011,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16793839885136724,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338991465313653,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669931161223,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362915074974,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2600a34e661a8bafc979d3be7ea45aafff8adab0d0906b8d37fc12d90fdd8e80",
+    "visual_seed": 7575672454542833877,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a10409f3aba20cbbe50bc7a86ba0cadb657f9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_84_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26150512452661767,
+              0.027929800015689895,
+              1.161187243749806
+            ],
+            "current_z": 1.161187243749806,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3000807953396849,
+            "gripper_z": 1.1543353780171417,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25644401878368883,
+              0.022932139158901438,
+              1.1543353780171417
+            ],
+            "object_minus_gripper": [
+              0.00506110574292884,
+              0.004997660856788457,
+              0.006851865732664386
+            ],
+            "object_to_gripper_xy": 0.007112763554384668,
+            "object_to_gripper_z": 0.006851865732664386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26150512452661767,
+              0.004112560506535895,
+              1.161187243749806
+            ],
+            "finger_b": [
+              0.24996296897753514,
+              0.027929800015689895,
+              1.161187243749806
+            ],
+            "finger_midpoint": [
+              0.2557340467520764,
+              0.016021180261112895,
+              1.161187243749806
+            ],
+            "object_minus_finger_midpoint": [
+              0.005771077774541278,
+              0.011908619754577,
+              0.0
+            ],
+            "finger_gap": 0.026466625258155276,
+            "fingertip_max_gap": 0.0910276621813225,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013233312629077645,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161187243749806,
+            "object_top_z": 1.2110332310636727,
+            "finger_top_clearance": 0.04984598731386658,
+            "fingertip_min_top_clearance": 0.01495379619415994,
+            "object_projection_between_fingers": 0.8098148036824988,
+            "object_to_finger_line_xy": 0.01038675239034123,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04801383109066125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.826850312843871,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27383288576790954,
+              -0.3472071244582786,
+              0.851539549031117
+            ],
+            "target_position": [
+              0.26533500578809033,
+              -0.3479761681355384,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008532607592579504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18329032632086953,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539549031117,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535101161859933,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558052185128566,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151637984436561,
+            "release_required_pad_clearance": 0.05279026092564283,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.628070637208466,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007519423961639404,
+            "max_z_decrease": 0.007519423961639404,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511755243899333,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007519423961639404,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021086243141305718,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007519423961639404,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075194453170893,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12103493511676787,
+              -0.40423762798309326,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12103493511676787,
+              -0.40423762798309326,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1217957732638476,
+              -0.4033270678196548,
+              0.8077588931159007
+            ],
+            "closest_button": [
+              0.12102402001619339,
+              -0.40423512458801264,
+              0.772661566734314
+            ],
+            "closest_ee_minus_button": [
+              0.0007717532476542166,
+              0.0009080567683578122,
+              0.03509732638158669
+            ],
+            "button_min_z_position": [
+              0.12101704627275466,
+              -0.4042365550994873,
+              0.7692894339561462
+            ],
+            "min_active_finger_to_button": 0.14513212913042203,
+            "closest_active_finger": [
+              -0.005924351513385773,
+              -0.4655900001525879,
+              0.8109898567199707
+            ],
+            "closest_active_finger_button": [
+              0.12103550881147383,
+              -0.4042367041110992,
+              0.7766343355178833
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12695986032485962,
+              -0.0613532960414887,
+              0.0343555212020874
+            ],
+            "min_contact_pad_to_button": 0.021086243141305718,
+            "closest_contact_pad": [
+              0.12101704627275466,
+              -0.4044521749799458,
+              0.7903745746453001
+            ],
+            "closest_contact_pad_button": [
+              0.12101704627275466,
+              -0.4042365550994873,
+              0.7692894339561462
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00021561988045848413,
+              0.021085140689153903
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2806554794076498,
+              0.17537692598848892,
+              1.1041713944358085
+            ],
+            "current_z": 1.1041713944358085,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19426226470144592,
+            "gripper_z": 1.1041712452739454,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28065538692295944,
+              0.1753769985603348,
+              1.1041712452739454
+            ],
+            "object_minus_gripper": [
+              9.248469035050277e-08,
+              -7.257184589382071e-08,
+              1.491618630833358e-07
+            ],
+            "object_to_gripper_xy": 1.175588821215345e-07,
+            "object_to_gripper_z": 1.491618630833358e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2806554794076498,
+              0.17537692598848892,
+              1.1041713944358085
+            ],
+            "finger_b": [
+              0.2806554794076498,
+              0.17537692598848892,
+              1.1041713944358085
+            ],
+            "finger_midpoint": [
+              0.2806554794076498,
+              0.17537692598848892,
+              1.1041713944358085
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041713944358085,
+            "object_top_z": 1.2291799010560882,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28065547940764984,
+            0.17537692598848892,
+            1.1041713944358085
+          ],
+          "object_origin_world": [
+            0.28065547940764984,
+            0.17537692598848892,
+            1.1041713944358085
+          ],
+          "frame_world": [
+            0.28065538692295944,
+            0.1753769985603348,
+            1.1041712452739454
+          ],
+          "center_minus_frame": [
+            9.248469040601393e-08,
+            -7.257184589382071e-08,
+            1.491618630833358e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437702112950866,
+            "required_z": 0.9112598983001597,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020352762622390997,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.345535788952952e-08,
+            "max_target_xy_drift": 1.3881620979828025e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6280706334875555,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6280706396103449,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27181937508434795,
+              -0.3467748724808585,
+              0.9234597543838549
+            ],
+            "target_mouth_xy": [
+              0.27383288679774975,
+              -0.34720715648615597
+            ],
+            "rod_tip_z": 0.9234597543838549,
+            "rod_tip_depth": -0.0221998127804367,
+            "rod_tip_bottom_clearance": 0.12164050246852909,
+            "rod_tip_xy_dist": 0.002059392842864691,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044872446755601314,
+            "min_rod_tip_bottom_clearance": 0.054568135966832965,
+            "min_rod_tip_xy_dist": 0.0009754601290079977,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27383291616878846,
+              -0.347207124459445
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.937103871225588e-08,
+              -3.202671094992837e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0013978351623626373,
+                0.002097461911338361
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015176945767357841,
+                0.0017339923841593885
+              ],
+              "first_target_mouth_xy": [
+                0.27383294435966277,
+                -0.34720718277721513
+              ],
+              "last_target_mouth_xy": [
+                0.2738329435874245,
+                -0.3472071529806595
+              ],
+              "first_rod_tip_xy": [
+                0.27243510919730013,
+                -0.34510972086587677
+              ],
+              "last_rod_tip_xy": [
+                0.2723152490106887,
+                -0.34547316059650013
+              ],
+              "min_rod_tip_xy_dist": 0.0022850856536119728,
+              "max_rod_tip_xy_dist": 0.0025205732702408296,
+              "first_target_xy_drift": 6.477412836034568e-08,
+              "last_target_xy_drift": 3.956313028917445e-08,
+              "max_depth": 0.01941912559461567,
+              "min_bottom_clearance": 0.0800213841473223
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0013978351623626373,
+                  0.002097461911338361
+                ],
+                "rod_tip_xy": [
+                  0.27243510919730013,
+                  -0.34510972086587677
+                ],
+                "target_mouth_xy": [
+                  0.27383294435966277,
+                  -0.34720718277721513
+                ],
+                "gripper_position": [
+                  0.2724364456607982,
+                  -0.3451722997241807,
+                  1.0057076484819085
+                ],
+                "rod_tip_xy_dist": 0.0025205732702408296,
+                "target_xy_drift": 6.477412836034568e-08,
+                "depth": 0.015032981784681598,
+                "bottom_clearance": 0.0844075570654651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00139646625587303,
+                  0.0020348567329889766
+                ],
+                "rod_tip_xy": [
+                  0.2724364456607981,
+                  -0.3451722997241806
+                ],
+                "target_mouth_xy": [
+                  0.27383291191667114,
+                  -0.3472071564571696
+                ],
+                "gripper_position": [
+                  0.27242493976972454,
+                  -0.34517956728592764,
+                  1.0055678788862048
+                ],
+                "rod_tip_xy_dist": 0.0024679465001459433,
+                "target_xy_drift": 3.227901609576506e-08,
+                "depth": 0.015552267528534891,
+                "bottom_clearance": 0.08388838465613535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014079745033465652,
+                  0.002027555570866757
+                ],
+                "rod_tip_xy": [
+                  0.27242493976972443,
+                  -0.3451795672859277
+                ],
+                "target_mouth_xy": [
+                  0.273832914273071,
+                  -0.34720712285679445
+                ],
+                "gripper_position": [
+                  0.27241662925108157,
+                  -0.3451802108191995,
+                  1.0054450282513177
+                ],
+                "rod_tip_xy_dist": 0.002468476006573049,
+                "target_xy_drift": 2.4823846550709767e-09,
+                "depth": 0.01569195442646676,
+                "bottom_clearance": 0.08374858451525335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014162851760888828,
+                  0.002027005887586142
+                ],
+                "rod_tip_xy": [
+                  0.2724166292510815,
+                  -0.3451802108191995
+                ],
+                "target_mouth_xy": [
+                  0.2738329144271704,
+                  -0.3472072167067856
+                ],
+                "gripper_position": [
+                  0.272418923831243,
+                  -0.3452439109948635,
+                  1.0049255088760805
+                ],
+                "rod_tip_xy_dist": 0.0024727750743482515,
+                "target_xy_drift": 9.226377989870069e-08,
+                "depth": 0.015814847884745076,
+                "bottom_clearance": 0.08362578127305098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014139893735182207,
+                  0.0019632410209976525
+                ],
+                "rod_tip_xy": [
+                  0.2724189238312429,
+                  -0.3452439109948635
+                ],
+                "target_mouth_xy": [
+                  0.2738329132047611,
+                  -0.34720715201586116
+                ],
+                "gripper_position": [
+                  0.27240743440886805,
+                  -0.3452507988703533,
+                  1.0047856995294662
+                ],
+                "rod_tip_xy_dist": 0.002419438210608065,
+                "target_xy_drift": 2.77153663000428e-08,
+                "depth": 0.016334350416999377,
+                "bottom_clearance": 0.08310621625713355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014255119164022223,
+                  0.001956358564581262
+                ],
+                "rod_tip_xy": [
+                  0.272407434408868,
+                  -0.34525079887035326
+                ],
+                "target_mouth_xy": [
+                  0.2738329463252702,
+                  -0.3472071574349345
+                ],
+                "gripper_position": [
+                  0.2723989581036832,
+                  -0.34525138469677735,
+                  1.0046631752438313
+                ],
+                "rod_tip_xy_dist": 0.0024206245179736554,
+                "target_xy_drift": 4.4685526740196485e-08,
+                "depth": 0.016474258521401608,
+                "bottom_clearance": 0.08296646255824902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001433956213081622,
+                  0.001955767643829154
+                ],
+                "rod_tip_xy": [
+                  0.2723989581036831,
+                  -0.3452513846967773
+                ],
+                "target_mouth_xy": [
+                  0.2738329143167647,
+                  -0.34720715234060645
+                ],
+                "gripper_position": [
+                  0.27240205763806746,
+                  -0.3453161529881055,
+                  1.0041445797868076
+                ],
+                "rod_tip_xy_dist": 0.0024251304083872326,
+                "target_xy_drift": 2.794260465611326e-08,
+                "depth": 0.016596664080512302,
+                "bottom_clearance": 0.08284388779033047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001430855831817568,
+                  0.0018910637164327726
+                ],
+                "rod_tip_xy": [
+                  0.27240205763806735,
+                  -0.3453161529881055
+                ],
+                "target_mouth_xy": [
+                  0.2738329134698849,
+                  -0.34720721670453825
+                ],
+                "gripper_position": [
+                  0.27239051441086326,
+                  -0.34532282093855277,
+                  1.0040049482628197
+                ],
+                "rod_tip_xy_dist": 0.002371385753321225,
+                "target_xy_drift": 9.22845669950521e-08,
+                "depth": 0.017115359410131092,
+                "bottom_clearance": 0.08232525509143762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014424005466908696,
+                  0.0018843631075264877
+                ],
+                "rod_tip_xy": [
+                  0.27239051441086315,
+                  -0.3453228209385527
+                ],
+                "target_mouth_xy": [
+                  0.273832914957554,
+                  -0.3472071840460792
+                ],
+                "gripper_position": [
+                  0.27238191376509024,
+                  -0.34532339678376633,
+                  1.0038824210775705
+                ],
+                "rod_tip_xy_dist": 0.002373045228835936,
+                "target_xy_drift": 5.9598943464354944e-08,
+                "depth": 0.017254880671489392,
+                "bottom_clearance": 0.08218566532668814,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014510317817428287,
+                  0.0018837577867101274
+                ],
+                "rod_tip_xy": [
+                  0.2723819137650902,
+                  -0.34532339678376645
+                ],
+                "target_mouth_xy": [
+                  0.273832945546833,
+                  -0.3472071545704766
+                ],
+                "gripper_position": [
+                  0.27238563077779243,
+                  -0.3453890621643169,
+                  1.0033673264244298
+                ],
+                "rod_tip_xy_dist": 0.002377821824825991,
+                "target_xy_drift": 4.206832208638388e-08,
+                "depth": 0.017377539060011493,
+                "bottom_clearance": 0.08206304873749715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0014472845704078807,
+                  0.0018181218880006789
+                ],
+                "rod_tip_xy": [
+                  0.2723856307777923,
+                  -0.345389062164317
+                ],
+                "target_mouth_xy": [
+                  0.2738329153482002,
+                  -0.34720718405231765
+                ],
+                "gripper_position": [
+                  0.27237417485726645,
+                  -0.34539538296208544,
+                  1.0032278500168104
+                ],
+                "rod_tip_xy_dist": 0.002323833003330462,
+                "target_xy_drift": 5.959852208048144e-08,
+                "depth": 0.01789256526896399,
+                "bottom_clearance": 0.0815479958411508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014587397750868702,
+                  0.00181177096786167
+                ],
+                "rod_tip_xy": [
+                  0.2723741748572664,
+                  -0.3453953829620854
+                ],
+                "target_mouth_xy": [
+                  0.27383291463235326,
+                  -0.34720715392994705
+                ],
+                "gripper_position": [
+                  0.27236534644248095,
+                  -0.3453960892520566,
+                  1.0031055727189837
+                ],
+                "rod_tip_xy_dist": 0.002326034344416889,
+                "target_xy_drift": 2.951052563987883e-08,
+                "depth": 0.018031911150253044,
+                "bottom_clearance": 0.08140861111824449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014675990700702135,
+                  0.0018110637282210962
+                ],
+                "rod_tip_xy": [
+                  0.2723653464424809,
+                  -0.34539608925205667
+                ],
+                "target_mouth_xy": [
+                  0.2738329455125511,
+                  -0.34720715298027777
+                ],
+                "gripper_position": [
+                  0.2723567001277616,
+                  -0.3453964574923586,
+                  1.0029834526050863
+                ],
+                "rod_tip_xy_dist": 0.002331051020065638,
+                "target_xy_drift": 4.0920585367297385e-08,
+                "depth": 0.018154326217935224,
+                "bottom_clearance": 0.08128625722238969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014762155715435932,
+                  0.0018106970811654355
+                ],
+                "rod_tip_xy": [
+                  0.27235670012776153,
+                  -0.3453964574923586
+                ],
+                "target_mouth_xy": [
+                  0.2738329156993051,
+                  -0.347207154573524
+                ],
+                "gripper_position": [
+                  0.2723477113792604,
+                  -0.34539698549595654,
+                  1.0028609267258153
+                ],
+                "rod_tip_xy_dist": 0.002336201261323349,
+                "target_xy_drift": 3.0117738446313354e-08,
+                "depth": 0.018276388025592394,
+                "bottom_clearance": 0.08116419815892983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001485202572365063,
+                  0.0018101697020546648
+                ],
+                "rod_tip_xy": [
+                  0.2723477113792603,
+                  -0.34539698549595654
+                ],
+                "target_mouth_xy": [
+                  0.27383291395162535,
+                  -0.3472071551980112
+                ],
+                "gripper_position": [
+                  0.27235361141302794,
+                  -0.3454655183630574,
+                  1.002346785668809
+                ],
+                "rod_tip_xy_dist": 0.002341482656608089,
+                "target_xy_drift": 3.0818424097676764e-08,
+                "depth": 0.018398911508439864,
+                "bottom_clearance": 0.08104163066116399,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0014793004441948643,
+                  0.0017416333254012262
+                ],
+                "rod_tip_xy": [
+                  0.27235361141302783,
+                  -0.3454655183630575
+                ],
+                "target_mouth_xy": [
+                  0.2738329118572227,
+                  -0.3472071516884587
+                ],
+                "gripper_position": [
+                  0.2723419981008438,
+                  -0.3454718606425835,
+                  1.0022074718647087
+                ],
+                "rod_tip_xy_dist": 0.0022850856536119728,
+                "target_xy_drift": 2.7568256873469466e-08,
+                "depth": 0.018913120396834904,
+                "bottom_clearance": 0.08052750938108377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0014909188761975112,
+                  0.0017352939324666306
+                ],
+                "rod_tip_xy": [
+                  0.27234199810084375,
+                  -0.3454718606425835
+                ],
+                "target_mouth_xy": [
+                  0.27383291697704126,
+                  -0.34720715457505014
+                ],
+                "gripper_position": [
+                  0.27233306107887545,
+                  -0.34547246706066437,
+                  1.002085306456897
+                ],
+                "rod_tip_xy_dist": 0.0022878120830735972,
+                "target_xy_drift": 3.0126449249397227e-08,
+                "depth": 0.019052438363149293,
+                "bottom_clearance": 0.08038819659524654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0014998199628430964,
+                  0.001734687804217594
+                ],
+                "rod_tip_xy": [
+                  0.27233306107887534,
+                  -0.3454724670606645
+                ],
+                "target_mouth_xy": [
+                  0.27383288104171843,
+                  -0.3472071548648821
+                ],
+                "gripper_position": [
+                  0.27232425633200247,
+                  -0.3454726875743705,
+                  1.0019629663939797
+                ],
+                "rod_tip_xy_dist": 0.002293164123878604,
+                "target_xy_drift": 4.6458601480845034e-08,
+                "depth": 0.019174614581754512,
+                "bottom_clearance": 0.0802660230995097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0015086896394315152,
+                  0.0017344365672739004
+                ],
+                "rod_tip_xy": [
+                  0.2723242563320024,
+                  -0.34547268757437044
+                ],
+                "target_mouth_xy": [
+                  0.2738329459714339,
+                  -0.34720712414164434
+                ],
+                "gripper_position": [
+                  0.27231524901068876,
+                  -0.3454731605965,
+                  1.0018406985755535
+                ],
+                "rod_tip_xy_dist": 0.002298785469334811,
+                "target_xy_drift": 2.980433984905521e-08,
+                "depth": 0.01929692620614254,
+                "bottom_clearance": 0.08014365513758215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0015176945767357841,
+                  0.0017339923841593885
+                ],
+                "rod_tip_xy": [
+                  0.2723152490106887,
+                  -0.34547316059650013
+                ],
+                "target_mouth_xy": [
+                  0.2738329435874245,
+                  -0.3472071529806595
+                ],
+                "gripper_position": [
+                  0.2723063235144415,
+                  -0.34547369101129505,
+                  1.0017187178239333
+                ],
+                "rod_tip_xy_dist": 0.0023043711542579184,
+                "target_xy_drift": 3.956313028917445e-08,
+                "depth": 0.01941912559461567,
+                "bottom_clearance": 0.0800213841473223,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.000602574792361653,
+              "rod_tip_xy_max_step": 3.262033902792728e-05,
+              "rod_tip_xy_range": 0.0006025636494724544,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.271819375084348,
+            -0.3467748724808585,
+            1.0434597543838549
+          ],
+          "object_origin_world": [
+            0.271819375084348,
+            -0.3467748724808585,
+            1.0434597543838549
+          ],
+          "frame_world": [
+            0.27184457679408924,
+            -0.34677244647594513,
+            1.0437702112950866
+          ],
+          "center_minus_frame": [
+            -2.5201709741240474e-05,
+            -2.426004913347324e-06,
+            -0.0003104569112317712
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2697506092013002,
+              0.12903565377886012,
+              0.8340807623405323
+            ],
+            "target_position": [
+              0.280778855781111,
+              0.17513832170785848,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04740335655622504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16713291065401711,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340807623405323,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835679190239924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13568256998347047,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1f87f3c4a491cdf8048d4fd6b1e7af7e186984268134dd85cce310822d29e61",
+    "visual_seed": 8244523446980026324,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0be3a3b1018d7c9d4a928cb2b7a08a02e627751
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_85_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26087630997201167,
+              0.0345072866761537,
+              1.1638804366854094
+            ],
+            "current_z": 1.1638804366854094,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30277369025206446,
+            "gripper_z": 1.157220072928399,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2555175084342153,
+              0.029499176508453975,
+              1.157220072928399
+            ],
+            "object_minus_gripper": [
+              0.005358801537796387,
+              0.005008110167699725,
+              0.006660363757010401
+            ],
+            "object_to_gripper_xy": 0.007334706631713793,
+            "object_to_gripper_z": 0.006660363757010401,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26087630997201167,
+              0.01004374715584454,
+              1.1638804366854094
+            ],
+            "finger_b": [
+              0.24986418645755032,
+              0.0345072866761537,
+              1.1638804366854094
+            ],
+            "finger_midpoint": [
+              0.255370248214781,
+              0.02227551691599912,
+              1.1638804366854094
+            ],
+            "object_minus_finger_midpoint": [
+              0.005506061757230674,
+              0.012231769760154582,
+              0.0
+            ],
+            "finger_gap": 0.026827814487197437,
+            "fingertip_max_gap": 0.09099297655936583,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341390724359872,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638804366854094,
+            "object_top_z": 1.213826903152642,
+            "finger_top_clearance": 0.049946466467232664,
+            "fingertip_min_top_clearance": 0.014983939940169833,
+            "object_projection_between_fingers": 0.8315109976882887,
+            "object_to_finger_line_xy": 0.010041649830518612,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799648827968292,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7425114428563595,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27427166569240546,
+              -0.34530349550133776,
+              0.8515395937418796
+            ],
+            "target_position": [
+              0.2667743917889999,
+              -0.345626040434397,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007504208900112521,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18325543971099367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395937418796,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527747022767754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626288837763098,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15179257472739593,
+            "release_required_pad_clearance": 0.05313144418881549,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2887469707320067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007540106773376465,
+            "max_z_decrease": 0.007540106773376465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035098883372935485,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007540106773376465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021098929307363977,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007540106773376465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007540131240513052,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12247432023286817,
+              -0.4018875062465667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12247432023286817,
+              -0.4018875062465667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12086155955283295,
+              -0.40219046281712734,
+              0.8076923885252316
+            ],
+            "closest_button": [
+              0.12246467918157575,
+              -0.40188491344451893,
+              0.7726314663887024
+            ],
+            "closest_ee_minus_button": [
+              -0.001603119628742794,
+              -0.00030554937260840465,
+              0.03506092213652923
+            ],
+            "button_min_z_position": [
+              0.12245538830757138,
+              -0.40188425779342646,
+              0.7692687511444092
+            ],
+            "min_active_finger_to_button": 0.14774134203579017,
+            "closest_active_finger": [
+              -0.005851909518241882,
+              -0.46650564670562744,
+              0.8110077977180481
+            ],
+            "closest_active_finger_button": [
+              0.12247484922409055,
+              -0.40188825130462635,
+              0.7765935659408569
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12832675874233243,
+              -0.06461739540100109,
+              0.03441423177719116
+            ],
+            "min_contact_pad_to_button": 0.021098929307363977,
+            "closest_contact_pad": [
+              0.12245538830757138,
+              -0.403177649219612,
+              0.7903279998616786
+            ],
+            "closest_contact_pad_button": [
+              0.12245538830757138,
+              -0.40188425779342646,
+              0.7692687511444092
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001293391426185564,
+              0.021059248717269385
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2813200724550421,
+              0.1756456765502127,
+              1.1048762058804678
+            ],
+            "current_z": 1.1048762058804678,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1949670761461052,
+            "gripper_z": 1.1048760491788037,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2813200515225928,
+              0.17564557471892034,
+              1.1048760491788037
+            ],
+            "object_minus_gripper": [
+              2.0932449273924902e-08,
+              1.0183129237062438e-07,
+              1.5670166408909836e-07
+            ],
+            "object_to_gripper_xy": 1.0396047103816442e-07,
+            "object_to_gripper_z": 1.5670166408909836e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2813200724550421,
+              0.1756456765502127,
+              1.1048762058804678
+            ],
+            "finger_b": [
+              0.2813200724550421,
+              0.1756456765502127,
+              1.1048762058804678
+            ],
+            "finger_midpoint": [
+              0.2813200724550421,
+              0.1756456765502127,
+              1.1048762058804678
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1048762058804678,
+            "object_top_z": 1.2298847125007475,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28132007245504215,
+            0.1756456765502127,
+            1.104876205880468
+          ],
+          "object_origin_world": [
+            0.28132007245504215,
+            0.1756456765502127,
+            1.104876205880468
+          ],
+          "frame_world": [
+            0.2813200515225928,
+            0.17564557471892034,
+            1.1048760491788037
+          ],
+          "center_minus_frame": [
+            2.0932449329436054e-08,
+            1.0183129237062438e-07,
+            1.5670166431114296e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434124685694994,
+            "required_z": 0.91125985500467,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016663993022135106,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.456124384685081e-08,
+            "max_target_xy_drift": 2.549017974965641e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.2887469721540725,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2887469743072524,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2747460777868506,
+              -0.346896278615798,
+              0.9235242670940839
+            ],
+            "target_mouth_xy": [
+              0.2742716650049105,
+              -0.34530349611770345
+            ],
+            "rod_tip_z": 0.9235242670940839,
+            "rod_tip_depth": -0.02226437371072998,
+            "rod_tip_bottom_clearance": 0.12170495719447327,
+            "rod_tip_xy_dist": 0.0016619336851705485,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044912819691958816,
+            "min_rod_tip_bottom_clearance": 0.05452782111179322,
+            "min_rod_tip_xy_dist": 0.0005402956385535363,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.274271691187186,
+              -0.34530355513162264
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.6182275458808135e-08,
+              5.9013919195827214e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.000990197302906115,
+                0.00017212878677613785
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008899758468226548,
+                -0.0002148300968954353
+              ],
+              "first_target_mouth_xy": [
+                0.2742716950376629,
+                -0.34530346630573583
+              ],
+              "last_target_mouth_xy": [
+                0.2742716633163375,
+                -0.3453034957997949
+              ],
+              "first_rod_tip_xy": [
+                0.275261892340569,
+                -0.3451313375189597
+              ],
+              "last_rod_tip_xy": [
+                0.27516163916316017,
+                -0.34551832589669035
+              ],
+              "min_rod_tip_xy_dist": 0.0009155375352544557,
+              "max_rod_tip_xy_dist": 0.001005046773995902,
+              "first_target_xy_drift": 8.890930401643205e-08,
+              "last_target_xy_drift": 6.55518876588636e-08,
+              "max_depth": 0.0194308903514665,
+              "min_bottom_clearance": 0.0800096247334755
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.000990197302906115,
+                  0.00017212878677613785
+                ],
+                "rod_tip_xy": [
+                  0.275261892340569,
+                  -0.3451313375189597
+                ],
+                "target_mouth_xy": [
+                  0.2742716950376629,
+                  -0.34530346630573583
+                ],
+                "gripper_position": [
+                  0.2752673961816342,
+                  -0.34519796769204636,
+                  1.0057173299631461
+                ],
+                "rod_tip_xy_dist": 0.001005046773995902,
+                "target_xy_drift": 8.890930401643205e-08,
+                "depth": 0.015021887806198952,
+                "bottom_clearance": 0.08441870438545584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0009957628615356318,
+                  0.00010549831336870152
+                ],
+                "rod_tip_xy": [
+                  0.2752673961816341,
+                  -0.3451979676920463
+                ],
+                "target_mouth_xy": [
+                  0.27427163332009846,
+                  -0.345303466005415
+                ],
+                "gripper_position": [
+                  0.27525578939135126,
+                  -0.34520540972857167,
+                  1.005576293393496
+                ],
+                "rod_tip_xy_dist": 0.00100133589296363,
+                "target_xy_drift": 1.0626420236656879e-07,
+                "depth": 0.015542486942840106,
+                "bottom_clearance": 0.08389802054696516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009841265766057372,
+                  9.808609338246566e-05
+                ],
+                "rod_tip_xy": [
+                  0.2752557893913512,
+                  -0.34520540972857156
+                ],
+                "target_mouth_xy": [
+                  0.27427166281474546,
+                  -0.345303495821954
+                ],
+                "gripper_position": [
+                  0.27524737177926845,
+                  -0.34520620933119484,
+                  1.0054523324196796
+                ],
+                "rod_tip_xy_dist": 0.000989002528053777,
+                "target_xy_drift": 6.574672746451881e-08,
+                "depth": 0.015683520926921157,
+                "bottom_clearance": 0.08375697445378794,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009757068083622866,
+                  9.731691093534112e-05
+                ],
+                "rod_tip_xy": [
+                  0.2752473717792684,
+                  -0.3452062093311948
+                ],
+                "target_mouth_xy": [
+                  0.2742716649709061,
+                  -0.3453035262421301
+                ],
+                "gripper_position": [
+                  0.2752538670688043,
+                  -0.3452738345268911,
+                  1.0049316918909936
+                ],
+                "rod_tip_xy_dist": 0.0009805479881364893,
+                "target_xy_drift": 3.901148687591176e-08,
+                "depth": 0.015807566372464832,
+                "bottom_clearance": 0.08363302699962594,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009822042515238438,
+                  2.9691103587303758e-05
+                ],
+                "rod_tip_xy": [
+                  0.27525386706880417,
+                  -0.34527383452689103
+                ],
+                "target_mouth_xy": [
+                  0.2742716628172803,
+                  -0.34530352563047834
+                ],
+                "gripper_position": [
+                  0.2752422005916657,
+                  -0.34528117474990333,
+                  1.0047905322491077
+                ],
+                "rod_tip_xy_dist": 0.000982652916010402,
+                "target_xy_drift": 4.092882922504135e-08,
+                "depth": 0.0163281223367574,
+                "bottom_clearance": 0.08311237291257634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009705374251992582,
+                  2.23499268069971e-05
+                ],
+                "rod_tip_xy": [
+                  0.27524220059166565,
+                  -0.3452811747499032
+                ],
+                "target_mouth_xy": [
+                  0.2742716631664664,
+                  -0.3453035246767102
+                ],
+                "gripper_position": [
+                  0.27523365464370253,
+                  -0.3452819551774132,
+                  1.0046664744988483
+                ],
+                "rod_tip_xy_dist": 0.000970794732649845,
+                "target_xy_drift": 4.138432573447916e-08,
+                "depth": 0.016469301825537963,
+                "bottom_clearance": 0.08297124146676116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.000961989549763953,
+                  2.1570753260202746e-05
+                ],
+                "rod_tip_xy": [
+                  0.2752336546437025,
+                  -0.34528195517741317
+                ],
+                "target_mouth_xy": [
+                  0.2742716650939385,
+                  -0.34530352593067337
+                ],
+                "gripper_position": [
+                  0.2752408824644307,
+                  -0.34535071284529134,
+                  1.0041473783112491
+                ],
+                "rod_tip_xy_dist": 0.0009622313605631784,
+                "target_xy_drift": 3.916060521524822e-08,
+                "depth": 0.01659341981709017,
+                "bottom_clearance": 0.08284716753191101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000969220747680577,
+                  -4.7215112164822326e-05
+                ],
+                "rod_tip_xy": [
+                  0.27524088246443057,
+                  -0.34535071284529134
+                ],
+                "target_mouth_xy": [
+                  0.27427166171675,
+                  -0.3453034977331265
+                ],
+                "gripper_position": [
+                  0.2752292207931426,
+                  -0.3453577481441827,
+                  1.0040064854430342
+                ],
+                "rod_tip_xy_dist": 0.0009703700966905532,
+                "target_xy_drift": 6.452204238886137e-08,
+                "depth": 0.01711249182338681,
+                "bottom_clearance": 0.08232808948368342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009575575476409304,
+                  -5.425264612307634e-05
+                ],
+                "rod_tip_xy": [
+                  0.2752292207931425,
+                  -0.3453577481441827
+                ],
+                "target_mouth_xy": [
+                  0.27427166324550156,
+                  -0.3453034954980596
+                ],
+                "gripper_position": [
+                  0.275220509365458,
+                  -0.345358438496009,
+                  1.0038825407842684
+                ],
+                "rod_tip_xy_dist": 0.0009590932210455189,
+                "target_xy_drift": 6.585514078342884e-08,
+                "depth": 0.01725333798017481,
+                "bottom_clearance": 0.08218718547355552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009488141835751196,
+                  -5.497377379370949e-05
+                ],
+                "rod_tip_xy": [
+                  0.2752205093654579,
+                  -0.34535843849600883
+                ],
+                "target_mouth_xy": [
+                  0.27427169518188277,
+                  -0.3453034647222151
+                ],
+                "gripper_position": [
+                  0.2752284783300092,
+                  -0.3454284984504054,
+                  1.0033663572612994
+                ],
+                "rod_tip_xy_dist": 0.000950405424415519,
+                "target_xy_drift": 9.049761637683582e-08,
+                "depth": 0.0173773759728566,
+                "bottom_clearance": 0.08206326350534887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009567862306800734,
+                  -0.00012499944612370806
+                ],
+                "rod_tip_xy": [
+                  0.2752284783300091,
+                  -0.3454284984504053
+                ],
+                "target_mouth_xy": [
+                  0.274271692099329,
+                  -0.3453034990042816
+                ],
+                "gripper_position": [
+                  0.27521672709384115,
+                  -0.34543546863450664,
+                  1.0032256612658907
+                ],
+                "rod_tip_xy_dist": 0.0009649169667646104,
+                "target_xy_drift": 5.6134752324592376e-08,
+                "depth": 0.0178935189678473,
+                "bottom_clearance": 0.08154708695496304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009450335372859775,
+                  -0.0001320029546926227
+                ],
+                "rod_tip_xy": [
+                  0.27521672709384104,
+                  -0.34543546863450664
+                ],
+                "target_mouth_xy": [
+                  0.27427169355655506,
+                  -0.345303465679814
+                ],
+                "gripper_position": [
+                  0.2752079694491585,
+                  -0.34543598274292164,
+                  1.0031018926785675
+                ],
+                "rod_tip_xy_dist": 0.0009542081359131401,
+                "target_xy_drift": 8.948318264634026e-08,
+                "depth": 0.018034166296924115,
+                "bottom_clearance": 0.08140637690389352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009362743552603359,
+                  -0.00013251834631017312
+                ],
+                "rod_tip_xy": [
+                  0.27520796944915843,
+                  -0.3454359827429216
+                ],
+                "target_mouth_xy": [
+                  0.2742716950938981,
+                  -0.3453034643966114
+                ],
+                "gripper_position": [
+                  0.275199034001963,
+                  -0.345436736305072,
+                  1.002978230874408
+                ],
+                "rod_tip_xy_dist": 0.0009456060387005471,
+                "target_xy_drift": 9.081907653076336e-08,
+                "depth": 0.018158029286042043,
+                "bottom_clearance": 0.08128261879015664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.000927341852858532,
+                  -0.00013323952815513795
+                ],
+                "rod_tip_xy": [
+                  0.2751990340019629,
+                  -0.34543673630507193
+                ],
+                "target_mouth_xy": [
+                  0.27427169214910435,
+                  -0.3453034967769168
+                ],
+                "gripper_position": [
+                  0.2751902568402925,
+                  -0.3454371518739968,
+                  1.0028541838722715
+                ],
+                "rod_tip_xy_dist": 0.0009368648162494411,
+                "target_xy_drift": 5.836263343315293e-08,
+                "depth": 0.01828160257724709,
+                "bottom_clearance": 0.08115892004058034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009185622011572692,
+                  -0.00013365544927673723
+                ],
+                "rod_tip_xy": [
+                  0.2751902568402924,
+                  -0.34543715187399676
+                ],
+                "target_mouth_xy": [
+                  0.27427169463913514,
+                  -0.34530349642472
+                ],
+                "gripper_position": [
+                  0.2752004349837919,
+                  -0.34551034603748076,
+                  1.0023400930468733
+                ],
+                "rod_tip_xy_dist": 0.0009282350437880774,
+                "target_xy_drift": 5.880830186258424e-08,
+                "depth": 0.018405713531937873,
+                "bottom_clearance": 0.08103487405128573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0009287439026243738,
+                  -0.00020684861576864
+                ],
+                "rod_tip_xy": [
+                  0.2752004349837918,
+                  -0.3455103460374808
+                ],
+                "target_mouth_xy": [
+                  0.27427169108116745,
+                  -0.3453034974217122
+                ],
+                "gripper_position": [
+                  0.27518856429823313,
+                  -0.3455171233167882,
+                  1.0021994122095625
+                ],
+                "rod_tip_xy_dist": 0.0009514996513437905,
+                "target_xy_drift": 5.7710007844416175e-08,
+                "depth": 0.018919784492315572,
+                "bottom_clearance": 0.08052080191742939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009168401450977415,
+                  -0.0002136272168483111
+                ],
+                "rod_tip_xy": [
+                  0.2751885642982331,
+                  -0.34551712331678813
+                ],
+                "target_mouth_xy": [
+                  0.27427172415313533,
+                  -0.3453034960999398
+                ],
+                "gripper_position": [
+                  0.27517957122712633,
+                  -0.34551761026449823,
+                  1.002076039216626
+                ],
+                "rod_tip_xy_dist": 0.0009413991923945988,
+                "target_xy_drift": 6.761281974361601e-08,
+                "depth": 0.01906047704303193,
+                "bottom_clearance": 0.08038008790668949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000907878145666674,
+                  -0.00021411446029589998
+                ],
+                "rod_tip_xy": [
+                  0.2751795712271263,
+                  -0.34551761026449807
+                ],
+                "target_mouth_xy": [
+                  0.2742716930814596,
+                  -0.34530349580420217
+                ],
+                "gripper_position": [
+                  0.2751705425607473,
+                  -0.3455180829105925,
+                  1.001952423780797
+                ],
+                "rod_tip_xy_dist": 0.0009327849320647087,
+                "target_xy_drift": 5.93576540384409e-08,
+                "depth": 0.01918371933501095,
+                "bottom_clearance": 0.08025679418740317,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008988161536744865,
+                  -0.00021458809769842047
+                ],
+                "rod_tip_xy": [
+                  0.27517054256074724,
+                  -0.34551808291059244
+                ],
+                "target_mouth_xy": [
+                  0.27427172640707276,
+                  -0.345303494812894
+                ],
+                "gripper_position": [
+                  0.2751616391631603,
+                  -0.3455183258966905,
+                  1.0018289281659711
+                ],
+                "rod_tip_xy_dist": 0.0009240771232857273,
+                "target_xy_drift": 6.984833174692318e-08,
+                "depth": 0.019307498565320103,
+                "bottom_clearance": 0.08013318399708247,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0008899758468226548,
+                  -0.0002148300968954353
+                ],
+                "rod_tip_xy": [
+                  0.27516163916316017,
+                  -0.34551832589669035
+                ],
+                "target_mouth_xy": [
+                  0.2742716633163375,
+                  -0.3453034957997949
+                ],
+                "gripper_position": [
+                  0.27515263722481065,
+                  -0.34551866162883593,
+                  1.0017052745979758
+                ],
+                "rod_tip_xy_dist": 0.0009155375352544557,
+                "target_xy_drift": 6.55518876588636e-08,
+                "depth": 0.0194308903514665,
+                "bottom_clearance": 0.0800096247334755,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.000604002036840073,
+              "rod_tip_xy_max_step": 3.266235749646447e-05,
+              "rod_tip_xy_range": 0.0006039961119145551,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2747460777868507,
+            -0.346896278615798,
+            1.0435242670940839
+          ],
+          "object_origin_world": [
+            0.2747460777868507,
+            -0.346896278615798,
+            1.0435242670940839
+          ],
+          "frame_world": [
+            0.27474443019016725,
+            -0.34690142593907447,
+            1.0434124685694994
+          ],
+          "center_minus_frame": [
+            1.6475966834184064e-06,
+            5.147323276444293e-06,
+            0.00011179852458442774
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27133850718768243,
+              0.1278325836541248,
+              0.8339955217788337
+            ],
+            "target_position": [
+              0.28180327922353493,
+              0.17487437306951098,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04819171510917513,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1684547662977263,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339955217788337,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674537464798,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13815725198758677,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58b25e2c1416aa0eb01fee11607c50527b107f71d6e9db8408bb053d35dc4224",
+    "visual_seed": 4439649110306646126,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..495dbd0d0bd331dbb1c2cc1224709b24ccef77d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_86_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25786703255282906,
+              0.03540143270337582,
+              1.1644786190066307
+            ],
+            "current_z": 1.1644786190066307,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30337217059650956,
+            "gripper_z": 1.157599591464586,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2528147202689549,
+              0.03039175493507537,
+              1.157599591464586
+            ],
+            "object_minus_gripper": [
+              0.00505231228387415,
+              0.005009677768300448,
+              0.0068790275420447244
+            ],
+            "object_to_gripper_xy": 0.0071149652673775845,
+            "object_to_gripper_z": 0.0068790275420447244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25786703255282906,
+              0.011445930283350978,
+              1.1644786190066307
+            ],
+            "finger_b": [
+              0.24648722183964705,
+              0.03540143270337582,
+              1.1644786190066307
+            ],
+            "finger_midpoint": [
+              0.2521771271962381,
+              0.0234236814933634,
+              1.1644786190066307
+            ],
+            "object_minus_finger_midpoint": [
+              0.005689905356590974,
+              0.011977751210012419,
+              0.0
+            ],
+            "finger_gap": 0.026521051790297984,
+            "fingertip_max_gap": 0.09084373876070562,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013260525895148978,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644786190066307,
+            "object_top_z": 1.2143445230516083,
+            "finger_top_clearance": 0.049865904044977594,
+            "fingertip_min_top_clearance": 0.014959771213493244,
+            "object_projection_between_fingers": 0.8158852471649807,
+            "object_to_finger_line_xy": 0.010278969523327233,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792186938035281,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.548350167426897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27426911290804795,
+              -0.34739501378658766,
+              0.8515395795278741
+            ],
+            "target_position": [
+              0.2652004269769708,
+              -0.34855812828979227,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009142969969549341,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18552426327507435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395795278741,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591397298117547,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860941217833829,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524978669512412,
+            "release_required_pad_clearance": 0.05304706089169145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1246440789911016,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075414180755615234,
+            "max_z_decrease": 0.0075414180755615234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512220384816349,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075414180755615234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021074748280196603,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075414180755615234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007541437967553935,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1209003552794456,
+              -0.40481957793235773,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1209003552794456,
+              -0.40481957793235773,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11941519203440523,
+              -0.4038304701442293,
+              0.8072654797946877
+            ],
+            "closest_button": [
+              0.12088818103075025,
+              -0.4048134684562682,
+              0.7721879482269287
+            ],
+            "closest_ee_minus_button": [
+              -0.001472988996345015,
+              0.0009829983120389074,
+              0.035077531567758946
+            ],
+            "button_min_z_position": [
+              0.12088321149349208,
+              -0.40481710433959955,
+              0.7692674398422241
+            ],
+            "min_active_finger_to_button": 0.14705417205685306,
+            "closest_active_finger": [
+              -0.007643774151802063,
+              -0.4673920273780823,
+              0.8110035061836243
+            ],
+            "closest_active_finger_button": [
+              0.12090174108743665,
+              -0.4048202037811279,
+              0.7765688300132751
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285455152392387,
+              -0.0625718235969544,
+              0.03443467617034912
+            ],
+            "min_contact_pad_to_button": 0.021074748280196603,
+            "closest_contact_pad": [
+              0.12088321149349208,
+              -0.40489397078688677,
+              0.7903420479435135
+            ],
+            "closest_contact_pad_button": [
+              0.12088321149349208,
+              -0.40481710433959955,
+              0.7692674398422241
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.686644728721603e-05,
+              0.02107460810128936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28234951094476,
+              0.17601193365494996,
+              1.1041102941192653
+            ],
+            "current_z": 1.1041102941192653,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19420116438490276,
+            "gripper_z": 1.104110410841949,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2823495806296191,
+              0.17601186872971417,
+              1.104110410841949
+            ],
+            "object_minus_gripper": [
+              -6.96848591053012e-08,
+              6.492523579870735e-08,
+              -1.1672268374063322e-07
+            ],
+            "object_to_gripper_xy": 9.524319310083755e-08,
+            "object_to_gripper_z": -1.1672268374063322e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28234951094476,
+              0.17601193365494996,
+              1.1041102941192653
+            ],
+            "finger_b": [
+              0.28234951094476,
+              0.17601193365494996,
+              1.1041102941192653
+            ],
+            "finger_midpoint": [
+              0.28234951094476,
+              0.17601193365494996,
+              1.1041102941192653
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041102941192653,
+            "object_top_z": 1.229118800739545,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2823495109447601,
+            0.17601193365494996,
+            1.1041102941192655
+          ],
+          "object_origin_world": [
+            0.2823495109447601,
+            0.17601193365494996,
+            1.1041102941192655
+          ],
+          "frame_world": [
+            0.2823495806296191,
+            0.17601186872971417,
+            1.104110410841949
+          ],
+          "center_minus_frame": [
+            -6.968485904979005e-08,
+            6.492523579870735e-08,
+            -1.1672268351858861e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437495050827479,
+            "required_z": 0.9112598539923176,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001430825944302694,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.8867004338472262e-08,
+            "max_target_xy_drift": 3.271135887997044e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1246440794347836,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.124644079516455,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27445629862846715,
+              -0.3459827744605526,
+              0.9234388283652365
+            ],
+            "target_mouth_xy": [
+              0.27426905370702503,
+              -0.34739494813621913
+            ],
+            "rod_tip_z": 0.9234388283652365,
+            "rod_tip_depth": -0.022179051873692623,
+            "rod_tip_bottom_clearance": 0.12161957677657775,
+            "rod_tip_xy_dist": 0.0014245333098427042,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04471684017346611,
+            "min_rod_tip_bottom_clearance": 0.05472370405029059,
+            "min_rod_tip_xy_dist": 0.0005143054000761542,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27426908256675386,
+              -0.34739494878428656
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.885972882893384e-08,
+              6.480674330511249e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0007261744606753551,
+                0.00307139358821501
+              ],
+              "last_rod_tip_xy_delta": [
+                0.000626961155862138,
+                0.002693322244474494
+              ],
+              "first_target_mouth_xy": [
+                0.27426911490265743,
+                -0.3473949811022114
+              ],
+              "last_target_mouth_xy": [
+                0.2742690854579145,
+                -0.3473949186282551
+              ],
+              "first_rod_tip_xy": [
+                0.2749952893633328,
+                -0.3443235875139964
+              ],
+              "last_rod_tip_xy": [
+                0.27489604661377665,
+                -0.3447015963837806
+              ],
+              "min_rod_tip_xy_dist": 0.002765332711183433,
+              "max_rod_tip_xy_dist": 0.0031560715963148585,
+              "first_target_xy_drift": 4.571716226041055e-08,
+              "last_target_xy_drift": 3.02943070999838e-08,
+              "max_depth": 0.019833694033916882,
+              "min_bottom_clearance": 0.07960686295075525
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007261744606753551,
+                  0.00307139358821501
+                ],
+                "rod_tip_xy": [
+                  0.2749952893633328,
+                  -0.3443235875139964
+                ],
+                "target_mouth_xy": [
+                  0.27426911490265743,
+                  -0.3473949811022114
+                ],
+                "gripper_position": [
+                  0.27498392256147086,
+                  -0.3443306035329205,
+                  1.0056797326871143
+                ],
+                "rod_tip_xy_dist": 0.0031560715963148585,
+                "target_xy_drift": 4.571716226041055e-08,
+                "depth": 0.015438835671257922,
+                "bottom_clearance": 0.08400177775685524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007148388677628015,
+                  0.003064347136711554
+                ],
+                "rod_tip_xy": [
+                  0.2749839225614708,
+                  -0.34433060353292055
+                ],
+                "target_mouth_xy": [
+                  0.274269083693708,
+                  -0.3473949506696321
+                ],
+                "gripper_position": [
+                  0.27498867296259927,
+                  -0.3443952159318545,
+                  1.0051604640809417
+                ],
+                "rod_tip_xy_dist": 0.003146620088465829,
+                "target_xy_drift": 2.1964866185155847e-09,
+                "depth": 0.01558017741864226,
+                "bottom_clearance": 0.08386037932686474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007195901024364959,
+                  0.0029997312564414846
+                ],
+                "rod_tip_xy": [
+                  0.27498867296259916,
+                  -0.3443952159318545
+                ],
+                "target_mouth_xy": [
+                  0.27426908286016266,
+                  -0.347394947188296
+                ],
+                "gripper_position": [
+                  0.2749771688761111,
+                  -0.3444022252018839,
+                  1.0050197911549308
+                ],
+                "rod_tip_xy_dist": 0.0030848334681788862,
+                "target_xy_drift": 1.6227367611790707e-09,
+                "depth": 0.016099408409149363,
+                "bottom_clearance": 0.08334117507630834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007080536396909531,
+                  0.0029927546174045583
+                ],
+                "rod_tip_xy": [
+                  0.274977168876111,
+                  -0.3444022252018839
+                ],
+                "target_mouth_xy": [
+                  0.27426911523642006,
+                  -0.34739497981928846
+                ],
+                "gripper_position": [
+                  0.2749685458474589,
+                  -0.3444030011506964,
+                  1.0048962172148144
+                ],
+                "rod_tip_xy_dist": 0.003075373173563805,
+                "target_xy_drift": 4.506083035521347e-08,
+                "depth": 0.016240111665932644,
+                "bottom_clearance": 0.08320047000519193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006994325981047878,
+                  0.0029919780593720136
+                ],
+                "rod_tip_xy": [
+                  0.2749685458474588,
+                  -0.34440300115069644
+                ],
+                "target_mouth_xy": [
+                  0.274269113249354,
+                  -0.34739497921006846
+                ],
+                "gripper_position": [
+                  0.2749746716397071,
+                  -0.3444681561130176,
+                  1.0043774389938396
+                ],
+                "rod_tip_xy_dist": 0.003072643595839767,
+                "target_xy_drift": 4.321053291072026e-08,
+                "depth": 0.01636361744118109,
+                "bottom_clearance": 0.08307690261516909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007055551287543649,
+                  0.0029267907185961395
+                ],
+                "rod_tip_xy": [
+                  0.27497467163970707,
+                  -0.3444681561130176
+                ],
+                "target_mouth_xy": [
+                  0.2742691165109527,
+                  -0.34739494683161376
+                ],
+                "gripper_position": [
+                  0.2749630979220697,
+                  -0.3444750076536995,
+                  1.0042369186432425
+                ],
+                "rod_tip_xy_dist": 0.003010633147723597,
+                "target_xy_drift": 3.4000317145581464e-08,
+                "depth": 0.016882489221865193,
+                "bottom_clearance": 0.08255817336006499,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006940100801324234,
+                  0.002920202157193297
+                ],
+                "rod_tip_xy": [
+                  0.2749630979220696,
+                  -0.3444750076536994
+                ],
+                "target_mouth_xy": [
+                  0.27426908784193715,
+                  -0.3473952098108927
+                ],
+                "gripper_position": [
+                  0.2749543955872117,
+                  -0.3444755076196397,
+                  1.004113224254212
+                ],
+                "rod_tip_xy_dist": 0.003001538044103689,
+                "target_xy_drift": 2.610799047873662e-07,
+                "depth": 0.017022914061721628,
+                "bottom_clearance": 0.08241759914714353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006852731984372529,
+                  0.002919670440993005
+                ],
+                "rod_tip_xy": [
+                  0.2749543955872116,
+                  -0.34447550761963963
+                ],
+                "target_mouth_xy": [
+                  0.2742691223887743,
+                  -0.34739517806063264
+                ],
+                "gripper_position": [
+                  0.2749611191077954,
+                  -0.3445420581381591,
+                  1.0035973193977654
+                ],
+                "rod_tip_xy_dist": 0.0029990123108291356,
+                "target_xy_drift": 2.3270890868876146e-07,
+                "depth": 0.017146708864043902,
+                "bottom_clearance": 0.08229399370620738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006920333284790026,
+                  0.0028531529522249355
+                ],
+                "rod_tip_xy": [
+                  0.2749611191077953,
+                  -0.3445420581381591
+                ],
+                "target_mouth_xy": [
+                  0.2742690857793163,
+                  -0.347395211090384
+                ],
+                "gripper_position": [
+                  0.2749496038182747,
+                  -0.344548637368328,
+                  1.0034564068511715
+                ],
+                "rod_tip_xy_dist": 0.002935880088919776,
+                "target_xy_drift": 2.6232576945254355e-07,
+                "depth": 0.017662599080829233,
+                "bottom_clearance": 0.08177803864452349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006804553592718032,
+                  0.002846541356228305
+                ],
+                "rod_tip_xy": [
+                  0.27494960381827466,
+                  -0.3445486373683281
+                ],
+                "target_mouth_xy": [
+                  0.27426914845900285,
+                  -0.3473951787245564
+                ],
+                "gripper_position": [
+                  0.27494067564382074,
+                  -0.34454925785933394,
+                  1.0033334143040273
+                ],
+                "rod_tip_xy_dist": 0.002926741735903562,
+                "target_xy_drift": 2.391951424341148e-07,
+                "depth": 0.01780342621527531,
+                "bottom_clearance": 0.08163711109136562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006715594632804023,
+                  0.002845952912889471
+                ],
+                "rod_tip_xy": [
+                  0.2749406756438207,
+                  -0.344549257859334
+                ],
+                "target_mouth_xy": [
+                  0.2742691161805403,
+                  -0.34739521077222346
+                ],
+                "gripper_position": [
+                  0.2749319283248772,
+                  -0.34454972966714925,
+                  1.003209783062832
+                ],
+                "rod_tip_xy_dist": 0.0029241135571495044,
+                "target_xy_drift": 2.64135506357738e-07,
+                "depth": 0.01792653986148729,
+                "bottom_clearance": 0.08151406366061142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006627815226927791,
+                  0.0028454493984967355
+                ],
+                "rod_tip_xy": [
+                  0.27493192832487706,
+                  -0.34454972966714925
+                ],
+                "target_mouth_xy": [
+                  0.2742691468021843,
+                  -0.347395179065646
+                ],
+                "gripper_position": [
+                  0.27492313773911875,
+                  -0.34455020715323953,
+                  1.0030863005181185
+                ],
+                "rod_tip_xy_dist": 0.0029216196922646166,
+                "target_xy_drift": 2.390725727056454e-07,
+                "depth": 0.018050079093585247,
+                "bottom_clearance": 0.0813904789183385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006539898187141735,
+                  0.002845002965065624
+                ],
+                "rod_tip_xy": [
+                  0.27492313773911864,
+                  -0.3445502071532395
+                ],
+                "target_mouth_xy": [
+                  0.27426914792040447,
+                  -0.3473952101183051
+                ],
+                "gripper_position": [
+                  0.2749320758335754,
+                  -0.3446198024721463,
+                  1.0025708486296965
+                ],
+                "rod_tip_xy_dist": 0.0029192027257821593,
+                "target_xy_drift": 2.693818273222294e-07,
+                "depth": 0.018173523575822137,
+                "bottom_clearance": 0.0812669829491438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006629288243628073,
+                  0.002775374363468752
+                ],
+                "rod_tip_xy": [
+                  0.27493207583357526,
+                  -0.3446198024721463
+                ],
+                "target_mouth_xy": [
+                  0.27426914700921246,
+                  -0.34739517683561505
+                ],
+                "gripper_position": [
+                  0.2749201773758866,
+                  -0.3446265740769654,
+                  1.0024300862128215
+                ],
+                "rod_tip_xy_dist": 0.0028534501018189604,
+                "target_xy_drift": 2.3698151593422312e-07,
+                "depth": 0.018689045646620772,
+                "bottom_clearance": 0.08075158225452361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006510270046028999,
+                  0.002768637612009406
+                ],
+                "rod_tip_xy": [
+                  0.2749201773758865,
+                  -0.3446265740769654
+                ],
+                "target_mouth_xy": [
+                  0.2742691503712836,
+                  -0.3473952116889748
+                ],
+                "gripper_position": [
+                  0.2749113848103796,
+                  -0.34462694238982267,
+                  1.0023068983043324
+                ],
+                "rod_tip_xy_dist": 0.0028441502047809237,
+                "target_xy_drift": 2.715075125096286e-07,
+                "depth": 0.018829839873089838,
+                "bottom_clearance": 0.08061080594484593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006422700910471701,
+                  0.002768004139073299
+                ],
+                "rod_tip_xy": [
+                  0.2749113848103795,
+                  -0.3446269423898226
+                ],
+                "target_mouth_xy": [
+                  0.27426911471933235,
+                  -0.3473949465288959
+                ],
+                "gripper_position": [
+                  0.2749022826136174,
+                  -0.3446274166566121,
+                  1.0021837614736218
+                ],
+                "rod_tip_xy_dist": 0.0028415414450225175,
+                "target_xy_drift": 3.223158529230425e-08,
+                "depth": 0.018952902488634682,
+                "bottom_clearance": 0.08048770343911482,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006331616661020001,
+                  0.002767763641324028
+                ],
+                "rod_tip_xy": [
+                  0.27490228261361727,
+                  -0.3446274166566121
+                ],
+                "target_mouth_xy": [
+                  0.27426912094751527,
+                  -0.34739518029793615
+                ],
+                "gripper_position": [
+                  0.27489339315443406,
+                  -0.34462782117768287,
+                  1.0020605071304043
+                ],
+                "rod_tip_xy_dist": 0.0028392620994998514,
+                "target_xy_drift": 2.3467350253014987e-07,
+                "depth": 0.01907619925130999,
+                "bottom_clearance": 0.08036440586555749,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006243067764806209,
+                  0.00276712787784561
+                ],
+                "rod_tip_xy": [
+                  0.274893393154434,
+                  -0.34462782117768287
+                ],
+                "target_mouth_xy": [
+                  0.2742690863779534,
+                  -0.3473949490555285
+                ],
+                "gripper_position": [
+                  0.27488439719465463,
+                  -0.34462801333509213,
+                  1.0019372794240238
+                ],
+                "rod_tip_xy_dist": 0.002836680391498128,
+                "target_xy_drift": 3.820839433862411e-09,
+                "depth": 0.019199386520550088,
+                "bottom_clearance": 0.08024119849890055,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000615314006018941,
+                  0.0027669677820664207
+                ],
+                "rod_tip_xy": [
+                  0.2748843971946546,
+                  -0.3446280133350922
+                ],
+                "target_mouth_xy": [
+                  0.27426908318863563,
+                  -0.3473949811171586
+                ],
+                "gripper_position": [
+                  0.27489604661377676,
+                  -0.3447015963837806,
+                  1.001426195824658
+                ],
+                "rod_tip_xy_dist": 0.0028345585252375093,
+                "target_xy_drift": 3.2338852046769356e-08,
+                "depth": 0.019322598203217578,
+                "bottom_clearance": 0.08011800113122447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.000626961155862138,
+                  0.002693322244474494
+                ],
+                "rod_tip_xy": [
+                  0.27489604661377665,
+                  -0.3447015963837806
+                ],
+                "target_mouth_xy": [
+                  0.2742690854579145,
+                  -0.3473949186282551
+                ],
+                "gripper_position": [
+                  0.2748841223573819,
+                  -0.3447085299456288,
+                  1.00128567659509
+                ],
+                "rod_tip_xy_dist": 0.002765332711183433,
+                "target_xy_drift": 3.02943070999838e-08,
+                "depth": 0.019833694033916882,
+                "bottom_clearance": 0.07960686295075525,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000601567895274827,
+              "rod_tip_xy_max_step": 3.259808229314277e-05,
+              "rod_tip_xy_range": 0.0006015611278792032,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2744562986284672,
+            -0.3459827744605526,
+            1.0434388283652365
+          ],
+          "object_origin_world": [
+            0.2744562986284672,
+            -0.3459827744605526,
+            1.0434388283652365
+          ],
+          "frame_world": [
+            0.2744815800563303,
+            -0.3459799939200903,
+            1.0437495050827479
+          ],
+          "center_minus_frame": [
+            -2.528142786306642e-05,
+            -2.7805404622660568e-06,
+            -0.00031067671751139336
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27321783450091897,
+              0.12732544536347018,
+              0.8344368233078643
+            ],
+            "target_position": [
+              0.28286819744518993,
+              0.17465572762897064,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048304090140360835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.168556637114706,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8344368233078643,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567573467282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13803003122326568,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8f550e9ec9afa44b3dfe9194170db6721bbf9bc9b3677100e3594111575abbe",
+    "visual_seed": 5276964094003074549,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c4994774a8a7a68dcaa63c1646d511dea4275b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_8_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2614647312305498,
+              0.035021177725911935,
+              1.1622224143479465
+            ],
+            "current_z": 1.1622224143479465,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3011157275192463,
+            "gripper_z": 1.1553453076363842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2562581036564211,
+              0.029995851629594367,
+              1.1553453076363842
+            ],
+            "object_minus_gripper": [
+              0.005206627574128708,
+              0.005025326096317569,
+              0.006877106711562275
+            ],
+            "object_to_gripper_xy": 0.0072362195288705675,
+            "object_to_gripper_z": 0.006877106711562275,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2614647312305498,
+              0.010978676303742682,
+              1.1622224143479465
+            ],
+            "finger_b": [
+              0.25003441513747365,
+              0.035021177725911935,
+              1.1622224143479465
+            ],
+            "finger_midpoint": [
+              0.2557495731840117,
+              0.02299992701482731,
+              1.1622224143479465
+            ],
+            "object_minus_finger_midpoint": [
+              0.005715158046538105,
+              0.012021250711084626,
+              0.0
+            ],
+            "finger_gap": 0.026621307267349705,
+            "fingertip_max_gap": 0.09081335487753683,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013310653633674865,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622224143479465,
+            "object_top_z": 1.2120655011111934,
+            "finger_top_clearance": 0.04984308676324689,
+            "fingertip_min_top_clearance": 0.014952926028974066,
+            "object_projection_between_fingers": 0.815643809778484,
+            "object_to_finger_line_xy": 0.010323061454637059,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790667743876842,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5598825081513022,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2666909025379681,
+              -0.3503414410931075,
+              0.8515395795512737
+            ],
+            "target_position": [
+              0.2579746546870049,
+              -0.35138141082038205,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008778070040337345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18625175044219766,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395795512737,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583338953923222,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574368999735478,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533660504137918,
+            "release_required_pad_clearance": 0.05287184499867739,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7853380477363453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007528901100158691,
+            "max_z_decrease": 0.007528901100158691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035087776690633295,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007528901100158691,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021050920800344732,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007528901100158691,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075289203359002015,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11367458105087276,
+              -0.4076428711414337,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11367458105087276,
+              -0.4076428711414337,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11208182591451507,
+              -0.4070969828849871,
+              0.8073677886075956
+            ],
+            "closest_button": [
+              0.11366345733404155,
+              -0.4076380431652069,
+              0.7723198533058167
+            ],
+            "closest_ee_minus_button": [
+              -0.001581631419526483,
+              0.0005410602802198294,
+              0.035047935301778965
+            ],
+            "button_min_z_position": [
+              0.11365770548582074,
+              -0.407640665769577,
+              0.769279956817627
+            ],
+            "min_active_finger_to_button": 0.1473568819020746,
+            "closest_active_finger": [
+              -0.014210589230060577,
+              -0.4721977114677429,
+              0.8111196756362915
+            ],
+            "closest_active_finger_button": [
+              0.11367676407098766,
+              -0.4076412618160248,
+              0.7766038775444031
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12788735330104822,
+              -0.06455644965171814,
+              0.03451579809188843
+            ],
+            "min_contact_pad_to_button": 0.021050920800344732,
+            "closest_contact_pad": [
+              0.11365770548582074,
+              -0.4079585201933722,
+              0.7903284777896017
+            ],
+            "closest_contact_pad_button": [
+              0.11365770548582074,
+              -0.407640665769577,
+              0.769279956817627
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003178544237951719,
+              0.021048520971974738
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2838665775683034,
+              0.17976634203516834,
+              1.1047267797608917
+            ],
+            "current_z": 1.1047267797608917,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19481765002652918,
+            "gripper_z": 1.104726852055701,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28386655313429693,
+              0.17976638097756348,
+              1.104726852055701
+            ],
+            "object_minus_gripper": [
+              2.4434006484774784e-08,
+              -3.894239514190545e-08,
+              -7.229480925019516e-08
+            ],
+            "object_to_gripper_xy": 4.597315316884755e-08,
+            "object_to_gripper_z": -7.229480925019516e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2838665775683034,
+              0.17976634203516834,
+              1.1047267797608917
+            ],
+            "finger_b": [
+              0.2838665775683034,
+              0.17976634203516834,
+              1.1047267797608917
+            ],
+            "finger_midpoint": [
+              0.2838665775683034,
+              0.17976634203516834,
+              1.1047267797608917
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1047267797608917,
+            "object_top_z": 1.2297352863811715,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28386657756830347,
+            0.17976634203516836,
+            1.104726779760892
+          ],
+          "object_origin_world": [
+            0.28386657756830347,
+            0.17976634203516836,
+            1.104726779760892
+          ],
+          "frame_world": [
+            0.28386655313429693,
+            0.17976638097756348,
+            1.104726852055701
+          ],
+          "center_minus_frame": [
+            2.4434006540285935e-08,
+            -3.8942395114149875e-08,
+            -7.229480902815055e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043269031050971,
+            "required_z": 0.9112600797562588,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005586552203311095,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1780961805392493e-07,
+            "max_target_xy_drift": 6.91567468330212e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7853380479062062,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7853380482663486,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26669156445618786,
+              -0.34977790412448473,
+              0.9233778544564105
+            ],
+            "target_mouth_xy": [
+              0.26669093250521125,
+              -0.35034147215879263
+            ],
+            "rod_tip_z": 0.9233778544564105,
+            "rod_tip_depth": -0.02211800634828831,
+            "rod_tip_bottom_clearance": 0.12155854678741596,
+            "rod_tip_xy_dist": 0.0005635683886235209,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04467349628302386,
+            "min_rod_tip_bottom_clearance": 0.05476702184923521,
+            "min_rod_tip_xy_dist": 0.0005617534105152102,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2666910447266334,
+              -0.3503414363055011
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.1222142215494557e-07,
+              -3.585329155786354e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0005866495943925298,
+                0.00219361223134229
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0004783001765494843,
+                0.001833721189188009
+              ],
+              "first_target_mouth_xy": [
+                0.26669088952212483,
+                -0.3503414115782989
+              ],
+              "last_target_mouth_xy": [
+                0.2666908608635369,
+                -0.3503414410512994
+              ],
+              "first_rod_tip_xy": [
+                0.26727753911651736,
+                -0.3481477993469566
+              ],
+              "last_rod_tip_xy": [
+                0.26716916104008637,
+                -0.3485077198621114
+              ],
+              "min_rod_tip_xy_dist": 0.0018950737343344595,
+              "max_rod_tip_xy_dist": 0.0022707030559048053,
+              "first_target_xy_drift": 1.571619356283797e-07,
+              "last_target_xy_drift": 1.8392433462049075e-07,
+              "max_depth": 0.01947473814934031,
+              "min_bottom_clearance": 0.0799658429808967
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0005866495943925298,
+                  0.00219361223134229
+                ],
+                "rod_tip_xy": [
+                  0.26727753911651736,
+                  -0.3481477993469566
+                ],
+                "target_mouth_xy": [
+                  0.26669088952212483,
+                  -0.3503414115782989
+                ],
+                "gripper_position": [
+                  0.2672693374342518,
+                  -0.34814862906706345,
+                  1.0060174148462304
+                ],
+                "rod_tip_xy_dist": 0.0022707030559048053,
+                "target_xy_drift": 1.571619356283797e-07,
+                "depth": 0.015121663011075981,
+                "bottom_clearance": 0.08431886271262123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0005784463675482243,
+                  0.002192811985124221
+                ],
+                "rod_tip_xy": [
+                  0.26726933743425163,
+                  -0.34814862906706356
+                ],
+                "target_mouth_xy": [
+                  0.2666908910667034,
+                  -0.3503414410521878
+                ],
+                "gripper_position": [
+                  0.26727273031129417,
+                  -0.34821091876069543,
+                  1.005497400343315
+                ],
+                "rod_tip_xy_dist": 0.002267823759077006,
+                "target_xy_drift": 1.5373322712747821e-07,
+                "depth": 0.015242483834279175,
+                "bottom_clearance": 0.08419811250250253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000581842217870554,
+                  0.002130492196834033
+                ],
+                "rod_tip_xy": [
+                  0.267272730311294,
+                  -0.34821091876069554
+                ],
+                "target_mouth_xy": [
+                  0.26669088809342345,
+                  -0.3503414109575296
+                ],
+                "gripper_position": [
+                  0.2672613182332898,
+                  -0.3482179133087959,
+                  1.0053591784802336
+                ],
+                "rod_tip_xy_dist": 0.0022085147423703626,
+                "target_xy_drift": 1.5867098701665972e-07,
+                "depth": 0.015762379209269706,
+                "bottom_clearance": 0.08367815039296789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0005704433473401882,
+                  0.0021235267974846206
+                ],
+                "rod_tip_xy": [
+                  0.26726131823328964,
+                  -0.34821791330879603
+                ],
+                "target_mouth_xy": [
+                  0.26669087488594945,
+                  -0.35034144010628065
+                ],
+                "gripper_position": [
+                  0.26726491393178325,
+                  -0.34828004707967986,
+                  1.0048431726170974
+                ],
+                "rod_tip_xy_dist": 0.0021988114226008486,
+                "target_xy_drift": 1.6988320650912738e-07,
+                "depth": 0.015900667694980553,
+                "bottom_clearance": 0.08353991430346175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005740244311654985,
+                  0.0020613955753621127
+                ],
+                "rod_tip_xy": [
+                  0.2672649139317831,
+                  -0.34828004707967997
+                ],
+                "target_mouth_xy": [
+                  0.2666908895006176,
+                  -0.3503414426550421
+                ],
+                "gripper_position": [
+                  0.267253676238573,
+                  -0.3482867514868382,
+                  1.0047055371946758
+                ],
+                "rod_tip_xy_dist": 0.002139826106415512,
+                "target_xy_drift": 1.553558259543488e-07,
+                "depth": 0.016416664859571717,
+                "bottom_clearance": 0.08302389249997744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005627863664929289,
+                  0.0020546892552558704
+                ],
+                "rod_tip_xy": [
+                  0.2672536762385728,
+                  -0.3482867514868382
+                ],
+                "target_mouth_xy": [
+                  0.2666908898720799,
+                  -0.35034144074209406
+                ],
+                "gripper_position": [
+                  0.2672452050744648,
+                  -0.34828759142162585,
+                  1.004584580251807
+                ],
+                "rod_tip_xy_dist": 0.0021303700218446176,
+                "target_xy_drift": 1.5491809481513364e-07,
+                "depth": 0.016554357812425757,
+                "bottom_clearance": 0.08288620435848404,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0005543451880451467,
+                  0.0020538505934838414
+                ],
+                "rod_tip_xy": [
+                  0.26724520507446464,
+                  -0.3482875914216259
+                ],
+                "target_mouth_xy": [
+                  0.2666908598864195,
+                  -0.35034144201510975
+                ],
+                "gripper_position": [
+                  0.2672495991896935,
+                  -0.3483509778778125,
+                  1.0040697663591172
+                ],
+                "rod_tip_xy_dist": 0.0021273459633690843,
+                "target_xy_drift": 1.8492837616354402e-07,
+                "depth": 0.01667530701835529,
+                "bottom_clearance": 0.08276523515493939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005587379220590161,
+                  0.001990463177067525
+                ],
+                "rod_tip_xy": [
+                  0.2672495991896933,
+                  -0.34835097787781255
+                ],
+                "target_mouth_xy": [
+                  0.2666908612676343,
+                  -0.3503414410548801
+                ],
+                "gripper_position": [
+                  0.2672384485495027,
+                  -0.3483573912378879,
+                  1.003931729986605
+                ],
+                "rod_tip_xy_dist": 0.0020673973311409136,
+                "target_xy_drift": 1.835204646706508e-07,
+                "depth": 0.0171901322982011,
+                "bottom_clearance": 0.08225046406466463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005475758995595603,
+                  0.0019840511128018656
+                ],
+                "rod_tip_xy": [
+                  0.2672384485495025,
+                  -0.3483573912378879
+                ],
+                "target_mouth_xy": [
+                  0.26669087264994296,
+                  -0.35034144235068976
+                ],
+                "gripper_position": [
+                  0.26723003893716135,
+                  -0.348357943634112,
+                  1.0038111844773028
+                ],
+                "rod_tip_xy_dist": 0.0020582269515261875,
+                "target_xy_drift": 1.7218284381209325e-07,
+                "depth": 0.01732812559721142,
+                "bottom_clearance": 0.0821124241486405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005391939861427164,
+                  0.001983498701223385
+                ],
+                "rod_tip_xy": [
+                  0.2672300389371612,
+                  -0.3483579436341121
+                ],
+                "target_mouth_xy": [
+                  0.26669084495101847,
+                  -0.3503414423353355
+                ],
+                "gripper_position": [
+                  0.26722151883475265,
+                  -0.3483586048930293,
+                  1.003690534348463
+                ],
+                "rod_tip_xy_dist": 0.0020554798107613043,
+                "target_xy_drift": 1.9986659357563777e-07,
+                "depth": 0.017448648589865945,
+                "bottom_clearance": 0.08199190351641383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005306265416001321,
+                  0.0019828348863718537
+                ],
+                "rod_tip_xy": [
+                  0.2672215188347525,
+                  -0.3483586048930294
+                ],
+                "target_mouth_xy": [
+                  0.26669089229315235,
+                  -0.35034143977940124
+                ],
+                "gripper_position": [
+                  0.26722732702963253,
+                  -0.348424022749951,
+                  1.0031757150065754
+                ],
+                "rod_tip_xy_dist": 0.0020526077835923253,
+                "target_xy_drift": 1.524730603431389e-07,
+                "depth": 0.01756939671728075,
+                "bottom_clearance": 0.08187129241509905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.000536469687214991,
+                  0.00191741928182948
+                ],
+                "rod_tip_xy": [
+                  0.26722732702963237,
+                  -0.3484240227499511
+                ],
+                "target_mouth_xy": [
+                  0.2666908573424174,
+                  -0.3503414420317806
+                ],
+                "gripper_position": [
+                  0.26721576015061743,
+                  -0.348430721165836,
+                  1.0030378694146067
+                ],
+                "rod_tip_xy_dist": 0.0019910540996246257,
+                "target_xy_drift": 1.8747169038330423e-07,
+                "depth": 0.01808414704125494,
+                "bottom_clearance": 0.08135640657590026,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0005248867217828024,
+                  0.00191071990592534
+                ],
+                "rod_tip_xy": [
+                  0.26721576015061727,
+                  -0.3484307211658362
+                ],
+                "target_mouth_xy": [
+                  0.26669087342883446,
+                  -0.3503414410717615
+                ],
+                "gripper_position": [
+                  0.26720730723585917,
+                  -0.34843115746456865,
+                  1.0029176674983422
+                ],
+                "rod_tip_xy_dist": 0.00198150362846078,
+                "target_xy_drift": 1.7136409531213625e-07,
+                "depth": 0.018221957026781754,
+                "bottom_clearance": 0.08121855237734066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005164172223307006,
+                  0.0019102560145104475
+                ],
+                "rod_tip_xy": [
+                  0.267207307235859,
+                  -0.34843115746456876
+                ],
+                "target_mouth_xy": [
+                  0.2666908900135283,
+                  -0.3503414134790792
+                ],
+                "gripper_position": [
+                  0.2671987437897275,
+                  -0.34843164123305137,
+                  1.0027970430778543
+                ],
+                "rod_tip_xy_dist": 0.0019788291458569876,
+                "target_xy_drift": 1.5638794846892893e-07,
+                "depth": 0.018342244904636762,
+                "bottom_clearance": 0.08109835446061286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005078542293729948,
+                  0.0019097703430732693
+                ],
+                "rod_tip_xy": [
+                  0.26719874378972736,
+                  -0.3484316412330515
+                ],
+                "target_mouth_xy": [
+                  0.26669088956035436,
+                  -0.35034141157612475
+                ],
+                "gripper_position": [
+                  0.2671900814190695,
+                  -0.34843231262143415,
+                  1.0026765649591558
+                ],
+                "rod_tip_xy_dist": 0.0019761423738117226,
+                "target_xy_drift": 1.571245245241098e-07,
+                "depth": 0.018462718871899098,
+                "bottom_clearance": 0.08097780838322866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000499159821664874,
+                  0.0019091293828545353
+                ],
+                "rod_tip_xy": [
+                  0.26719008141906936,
+                  -0.34843231262143415
+                ],
+                "target_mouth_xy": [
+                  0.2666909215974045,
+                  -0.3503414420042887
+                ],
+                "gripper_position": [
+                  0.2671978469865588,
+                  -0.34850068634452025,
+                  1.0021636941222023
+                ],
+                "rod_tip_xy_dist": 0.0019733057360791935,
+                "target_xy_drift": 1.2326103681048462e-07,
+                "depth": 0.018583339392548193,
+                "bottom_clearance": 0.08085728440300988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.000506957896694471,
+                  0.0018407556731869779
+                ],
+                "rod_tip_xy": [
+                  0.26719784698655863,
+                  -0.34850068634452025
+                ],
+                "target_mouth_xy": [
+                  0.26669088908986416,
+                  -0.3503414420177072
+                ],
+                "gripper_position": [
+                  0.26718630521126135,
+                  -0.3485070254652156,
+                  1.0020259282716928
+                ],
+                "rod_tip_xy_dist": 0.0019092898568292154,
+                "target_xy_drift": 1.557415591348209e-07,
+                "depth": 0.019096069067717103,
+                "bottom_clearance": 0.0803444498702568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0004954137814471293,
+                  0.0018344159036791652
+                ],
+                "rod_tip_xy": [
+                  0.2671863052112612,
+                  -0.3485070254652157
+                ],
+                "target_mouth_xy": [
+                  0.26669089142981406,
+                  -0.3503414413688949
+                ],
+                "gripper_position": [
+                  0.2671776779746817,
+                  -0.34850736720250036,
+                  1.001905534296282
+                ],
+                "rod_tip_xy_dist": 0.0019001359221168343,
+                "target_xy_drift": 1.5338041850131052e-07,
+                "depth": 0.019233967529794116,
+                "bottom_clearance": 0.08020663113203641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00048682051820253536,
+                  0.0018340748243534932
+                ],
+                "rod_tip_xy": [
+                  0.26717767797468156,
+                  -0.3485073672025004
+                ],
+                "target_mouth_xy": [
+                  0.266690857456479,
+                  -0.3503414420268539
+                ],
+                "gripper_position": [
+                  0.26716916104008653,
+                  -0.34850771986211126,
+                  1.0017851574432715
+                ],
+                "rod_tip_xy_dist": 0.0018975839054624917,
+                "target_xy_drift": 1.8735753147702465e-07,
+                "depth": 0.019354324211571794,
+                "bottom_clearance": 0.08008622489690842,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0004783001765494843,
+                  0.001833721189188009
+                ],
+                "rod_tip_xy": [
+                  0.26716916104008637,
+                  -0.3485077198621114
+                ],
+                "target_mouth_xy": [
+                  0.2666908608635369,
+                  -0.3503414410512994
+                ],
+                "gripper_position": [
+                  0.26716033215785207,
+                  -0.34850810094865614,
+                  1.001665068681664
+                ],
+                "rod_tip_xy_dist": 0.0018950737343344595,
+                "target_xy_drift": 1.8392433462049075e-07,
+                "depth": 0.01947473814934031,
+                "bottom_clearance": 0.0799658429808967,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0005989070274286248,
+              "rod_tip_xy_max_step": 3.243503653604586e-05,
+              "rod_tip_xy_range": 0.0005988993391705592,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2666915644561879,
+            -0.3497779041244847,
+            1.0433778544564105
+          ],
+          "object_origin_world": [
+            0.2666915644561879,
+            -0.3497779041244847,
+            1.0433778544564105
+          ],
+          "frame_world": [
+            0.2666901381318705,
+            -0.3497828175032368,
+            1.043269031050971
+          ],
+          "center_minus_frame": [
+            1.4263243174328366e-06,
+            4.913378752136044e-06,
+            0.00010882340543960645
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27110057416708094,
+              0.13505695985352625,
+              0.8330602450545188
+            ],
+            "target_position": [
+              0.28400364802314243,
+              0.18167629699044513,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04837201577379922,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1686247723655514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330602450545188,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674174085713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13830152232351672,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3d6e89a564c21daa19d88279fd5cb96639c58d4a31ea9660efe0c89654e736e",
+    "visual_seed": 6051409613676716611,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e99a320085e5d8b453144405217f454668fbeb8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/episode_9_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25962391307439003,
+              0.027652826213722045,
+              1.1609145859800614
+            ],
+            "current_z": 1.1609145859800614,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.2998078991513613,
+            "gripper_z": 1.1540434186941513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2544101839238297,
+              0.02274265330155499,
+              1.1540434186941513
+            ],
+            "object_minus_gripper": [
+              0.005213729150560342,
+              0.0049101729121670545,
+              0.006871167285910085
+            ],
+            "object_to_gripper_xy": 0.007161897072897778,
+            "object_to_gripper_z": 0.006871167285910085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25962391307439003,
+              0.0034076604366880775,
+              1.1609145859800614
+            ],
+            "finger_b": [
+              0.24862009659344214,
+              0.027652826213722045,
+              1.1609145859800614
+            ],
+            "finger_midpoint": [
+              0.2541220048339161,
+              0.015530243325205062,
+              1.1609145859800614
+            ],
+            "object_minus_finger_midpoint": [
+              0.005501908240473918,
+              0.012122582888516984,
+              0.0
+            ],
+            "finger_gap": 0.02662540216977463,
+            "fingertip_max_gap": 0.09081728781790571,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013312701084887303,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1609145859800614,
+            "object_top_z": 1.2108371487641436,
+            "finger_top_clearance": 0.04992256278408225,
+            "fingertip_min_top_clearance": 0.014976768835224674,
+            "object_projection_between_fingers": 0.8291974600594509,
+            "object_to_finger_line_xy": 0.010020106102416056,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790864390895286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4164023558511629,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26830514371837044,
+              -0.3453562526333961,
+              0.8515395858121592
+            ],
+            "target_position": [
+              0.25979408639781737,
+              -0.3457350138328879,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008519481014708615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18655668029132516,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395858121592,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516686975917947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499582577642935,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15520199701150572,
+            "release_required_pad_clearance": 0.052497912888214676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852802494931916,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072634220123291016,
+            "max_z_decrease": 0.0072634220123291016,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512820435160679,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072634220123291016,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021161335344067545,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0072634220123291016,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007263447679445254,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1154940128326416,
+              -0.40199646353721613,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1154940128326416,
+              -0.40199646353721613,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1168743355778572,
+              -0.4025313341474359,
+              0.8078009467734732
+            ],
+            "closest_button": [
+              0.11548275500535966,
+              -0.40199446678161616,
+              0.7727044224739075
+            ],
+            "closest_ee_minus_button": [
+              0.0013915805724975389,
+              -0.0005368673658197598,
+              0.03509652429956578
+            ],
+            "button_min_z_position": [
+              0.11547477543354034,
+              -0.4019947946071624,
+              0.7695454359054565
+            ],
+            "min_active_finger_to_button": 0.1447896206695807,
+            "closest_active_finger": [
+              -0.02406303584575653,
+              -0.3846448063850403,
+              0.8107477426528931
+            ],
+            "closest_active_finger_button": [
+              0.1154942736029625,
+              -0.4019958674907684,
+              0.7762987613677979
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13955730944871902,
+              0.017351061105728094,
+              0.034448981285095215
+            ],
+            "min_contact_pad_to_button": 0.021161335344067545,
+            "closest_contact_pad": [
+              0.11547477543354034,
+              -0.403765398800074,
+              0.7906325664436812
+            ],
+            "closest_contact_pad_button": [
+              0.11547477543354034,
+              -0.4019947946071624,
+              0.7695454359054565
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017706041929115846,
+              0.02108713053822464
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28162449044148746,
+              0.17925289266851963,
+              1.1018887376263935
+            ],
+            "current_z": 1.1018887376263935,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19197960789203095,
+            "gripper_z": 1.101888704952071,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2816245168818965,
+              0.17925288337908873,
+              1.101888704952071
+            ],
+            "object_minus_gripper": [
+              -2.6440409028882783e-08,
+              9.289430891179506e-09,
+              3.267432258091674e-08
+            ],
+            "object_to_gripper_xy": 2.8024788239996144e-08,
+            "object_to_gripper_z": 3.267432258091674e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28162449044148746,
+              0.17925289266851963,
+              1.1018887376263935
+            ],
+            "finger_b": [
+              0.28162449044148746,
+              0.17925289266851963,
+              1.1018887376263935
+            ],
+            "finger_midpoint": [
+              0.28162449044148746,
+              0.17925289266851963,
+              1.1018887376263935
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018887376263935,
+            "object_top_z": 1.2268972442466732,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 237,
+            "max_stable_success_frames": 237,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2816244904414875,
+            0.17925289266851965,
+            1.1018887376263937
+          ],
+          "object_origin_world": [
+            0.2816244904414875,
+            0.17925289266851965,
+            1.1018887376263937
+          ],
+          "frame_world": [
+            0.2816245168818965,
+            0.17925288337908873,
+            1.101888704952071
+          ],
+          "center_minus_frame": [
+            -2.6440408973371632e-08,
+            9.289430918935082e-09,
+            3.267432280296134e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043269771791594,
+            "required_z": 0.9112599177156397,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013372737119214404,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.817898641083937e-08,
+            "max_target_xy_drift": 7.051464573878933e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.06852803410773799,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.06852804017612055,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2695869480764918,
+              -0.3457377000618116,
+              0.9233792404148514
+            ],
+            "target_mouth_xy": [
+              0.26830514613337264,
+              -0.3453561933695572
+            ],
+            "rod_tip_z": 0.9233792404148514,
+            "rod_tip_depth": -0.022119474037513798,
+            "rod_tip_bottom_clearance": 0.12156000878229756,
+            "rod_tip_xy_dist": 0.0013373718920401153,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04457022356007745,
+            "min_rod_tip_bottom_clearance": 0.05487035909285576,
+            "min_rod_tip_xy_dist": 0.00023145004680098254,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2683051482986567,
+              -0.3453562214652298
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.1652840631603e-09,
+              2.809567262174184e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0018103322764749241,
+                0.001370204544223097
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017099932503494286,
+                0.000981117428980216
+              ],
+              "first_target_mouth_xy": [
+                0.2683051149866381,
+                -0.3453562502198213
+              ],
+              "last_target_mouth_xy": [
+                0.2683051463594217,
+                -0.34535628174183786
+              ],
+              "first_rod_tip_xy": [
+                0.27011544726311304,
+                -0.3439860456755982
+              ],
+              "last_rod_tip_xy": [
+                0.27001513960977114,
+                -0.34437516431285764
+              ],
+              "min_rod_tip_xy_dist": 0.0019714634984420464,
+              "max_rod_tip_xy_dist": 0.0022704104131756678,
+              "first_target_xy_drift": 4.400587590215842e-08,
+              "last_target_xy_drift": 6.03077947611751e-08,
+              "max_depth": 0.019510919881723376,
+              "min_bottom_clearance": 0.07992962855224661
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0018103322764749241,
+                  0.001370204544223097
+                ],
+                "rod_tip_xy": [
+                  0.27011544726311304,
+                  -0.3439860456755982
+                ],
+                "target_mouth_xy": [
+                  0.2683051149866381,
+                  -0.3453562502198213
+                ],
+                "gripper_position": [
+                  0.2701042517918164,
+                  -0.34399336805986785,
+                  1.0059845839736792
+                ],
+                "rod_tip_xy_dist": 0.0022704104131756678,
+                "target_xy_drift": 4.400587590215842e-08,
+                "depth": 0.015137349255885835,
+                "bottom_clearance": 0.08430323205545076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00179910551508633,
+                  0.0013629150646288224
+                ],
+                "rod_tip_xy": [
+                  0.2701042517918164,
+                  -0.3439933680598679
+                ],
+                "target_mouth_xy": [
+                  0.2683051462767301,
+                  -0.34535628312449673
+                ],
+                "gripper_position": [
+                  0.2701096069827652,
+                  -0.34406007196586563,
+                  1.0054663822327838
+                ],
+                "rod_tip_xy_dist": 0.0022570596199051178,
+                "target_xy_drift": 6.169240944972732e-08,
+                "depth": 0.01527524934820701,
+                "bottom_clearance": 0.08416530329712624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0018044921246221923,
+                  0.0012961782546940803
+                ],
+                "rod_tip_xy": [
+                  0.2701096069827652,
+                  -0.34406007196586563
+                ],
+                "target_mouth_xy": [
+                  0.268305114858143,
+                  -0.3453562502205597
+                ],
+                "gripper_position": [
+                  0.27009818314760714,
+                  -0.3440672037599326,
+                  1.005327945768773
+                ],
+                "rod_tip_xy_dist": 0.002221771792008645,
+                "target_xy_drift": 4.410370679794903e-08,
+                "depth": 0.01579354566014357,
+                "bottom_clearance": 0.0836470405841453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001793036146510496,
+                  0.0012890776405685145
+                ],
+                "rod_tip_xy": [
+                  0.27009818314760714,
+                  -0.3440672037599326
+                ],
+                "target_mouth_xy": [
+                  0.26830514700109664,
+                  -0.3453562814005011
+                ],
+                "gripper_position": [
+                  0.27008978491172964,
+                  -0.3440676736456528,
+                  1.0052069502097534
+                ],
+                "rod_tip_xy_dist": 0.002208325108788762,
+                "target_xy_drift": 5.994931532634781e-08,
+                "depth": 0.015931955415692256,
+                "bottom_clearance": 0.08350863011341536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00178466827677487,
+                  0.0012886074072208098
+                ],
+                "rod_tip_xy": [
+                  0.2700897849117296,
+                  -0.34406767364565294
+                ],
+                "target_mouth_xy": [
+                  0.2683051166349547,
+                  -0.34535628105287375
+                ],
+                "gripper_position": [
+                  0.2700964636420089,
+                  -0.3441352753876411,
+                  1.0046891541700556
+                ],
+                "rod_tip_xy_dist": 0.002201260981362937,
+                "target_xy_drift": 6.747797665238567e-08,
+                "depth": 0.01605289307225566,
+                "bottom_clearance": 0.08338768316660916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001791347062721882,
+                  0.001220972790618946
+                ],
+                "rod_tip_xy": [
+                  0.2700964636420089,
+                  -0.3441352753876411
+                ],
+                "target_mouth_xy": [
+                  0.268305116579287,
+                  -0.34535624817826005
+                ],
+                "gripper_position": [
+                  0.27008502378152116,
+                  -0.34414196085821697,
+                  1.0045509877634853
+                ],
+                "rod_tip_xy_dist": 0.0021678788837373114,
+                "target_xy_drift": 4.146931874882253e-08,
+                "depth": 0.016570804008812057,
+                "bottom_clearance": 0.08286988164300368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017799065840726769,
+                  0.0012143212315505192
+                ],
+                "rod_tip_xy": [
+                  0.2700850237815211,
+                  -0.344141960858217
+                ],
+                "target_mouth_xy": [
+                  0.26830511719744843,
+                  -0.34535628208976754
+                ],
+                "gripper_position": [
+                  0.27007649484137913,
+                  -0.34414267555347,
+                  1.00442988439791
+                ],
+                "rod_tip_xy_dist": 0.0021546794428451846,
+                "target_xy_drift": 6.813677223314254e-08,
+                "depth": 0.016708901035353052,
+                "bottom_clearance": 0.08273165967404605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001771379028858655,
+                  0.0012136061851938384
+                ],
+                "rod_tip_xy": [
+                  0.27007649484137913,
+                  -0.3441426755534701
+                ],
+                "target_mouth_xy": [
+                  0.2683051158125205,
+                  -0.34535628173866395
+                ],
+                "gripper_position": [
+                  0.2700839679945107,
+                  -0.3442110811565353,
+                  1.003913474419142
+                ],
+                "rod_tip_xy_dist": 0.002147236278712935,
+                "target_xy_drift": 6.847069379670921e-08,
+                "depth": 0.01682988035169697,
+                "bottom_clearance": 0.0826106394821352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017788186576020437,
+                  0.001145167736720687
+                ],
+                "rod_tip_xy": [
+                  0.2700839679945107,
+                  -0.3442110811565353
+                ],
+                "target_mouth_xy": [
+                  0.26830514933690863,
+                  -0.345356248893256
+                ],
+                "gripper_position": [
+                  0.2700723944541966,
+                  -0.344218058772749,
+                  1.0037752041741475
+                ],
+                "rod_tip_xy_dist": 0.002115562563919847,
+                "target_xy_drift": 2.7447669981192142e-08,
+                "depth": 0.01734649487304185,
+                "bottom_clearance": 0.0820942795754046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001767279059515403,
+                  0.0011382257417210662
+                ],
+                "rod_tip_xy": [
+                  0.27007239445419656,
+                  -0.344218058772749
+                ],
+                "target_mouth_xy": [
+                  0.26830511539468116,
+                  -0.3453562845144701
+                ],
+                "gripper_position": [
+                  0.27006370511729016,
+                  -0.34421850646292296,
+                  1.0036543418294763
+                ],
+                "rod_tip_xy_dist": 0.002102102070147432,
+                "target_xy_drift": 7.111876198045366e-08,
+                "depth": 0.017484645406525945,
+                "bottom_clearance": 0.08195591539063407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017585902765805406,
+                  0.0011377098888595838
+                ],
+                "rod_tip_xy": [
+                  0.27006370511729016,
+                  -0.34421850646292296
+                ],
+                "target_mouth_xy": [
+                  0.2683051148407096,
+                  -0.34535621635178254
+                ],
+                "gripper_position": [
+                  0.27007196501771064,
+                  -0.3442881349529826,
+                  1.0031410342161649
+                ],
+                "rod_tip_xy_dist": 0.002094522272999862,
+                "target_xy_drift": 3.3846440962516114e-08,
+                "depth": 0.017605601123872106,
+                "bottom_clearance": 0.08183513416738242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017668187017748638,
+                  0.001068210570253525
+                ],
+                "rod_tip_xy": [
+                  0.2700719650177106,
+                  -0.3442881349529826
+                ],
+                "target_mouth_xy": [
+                  0.2683051463159357,
+                  -0.34535634552323613
+                ],
+                "gripper_position": [
+                  0.2700603664524619,
+                  -0.344294632819401,
+                  1.0030032071319581
+                ],
+                "rod_tip_xy_dist": 0.0020646360810909936,
+                "target_xy_drift": 1.240738494311933e-07,
+                "depth": 0.018118848890308903,
+                "bottom_clearance": 0.08132180413227041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017552548615960006,
+                  0.001061616069161997
+                ],
+                "rod_tip_xy": [
+                  0.2700603664524619,
+                  -0.344294632819401
+                ],
+                "target_mouth_xy": [
+                  0.2683051115908659,
+                  -0.345356248888563
+                ],
+                "gripper_position": [
+                  0.27005168753632014,
+                  -0.34429477717658574,
+                  1.0028821329442084
+                ],
+                "rod_tip_xy_dist": 0.002051328425060055,
+                "target_xy_drift": 4.582031326308379e-08,
+                "depth": 0.018256845212626605,
+                "bottom_clearance": 0.08118391635405864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017465719025844817,
+                  0.001061534019015986
+                ],
+                "rod_tip_xy": [
+                  0.2700516875363201,
+                  -0.34429477717658585
+                ],
+                "target_mouth_xy": [
+                  0.2683051156337356,
+                  -0.34535631119560184
+                ],
+                "gripper_position": [
+                  0.27004297094311824,
+                  -0.3442950977428522,
+                  1.0027612638516725
+                ],
+                "rod_tip_xy_dist": 0.002043861023755238,
+                "target_xy_drift": 9.549102959796076e-08,
+                "depth": 0.018377696189567527,
+                "bottom_clearance": 0.08106282918426777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017378553769494265,
+                  0.0010611857267331937
+                ],
+                "rod_tip_xy": [
+                  0.2700429709431182,
+                  -0.3442950977428523
+                ],
+                "target_mouth_xy": [
+                  0.26830511556616876,
+                  -0.34535628346958547
+                ],
+                "gripper_position": [
+                  0.2700342691791544,
+                  -0.34429541506168965,
+                  1.002640173051478
+                ],
+                "rod_tip_xy_dist": 0.002036235855153889,
+                "target_xy_drift": 7.011387798751203e-08,
+                "depth": 0.01849862800582769,
+                "bottom_clearance": 0.08094190202779195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017291533952032978,
+                  0.0010608386057947006
+                ],
+                "rod_tip_xy": [
+                  0.2700342691791544,
+                  -0.3442954150616897
+                ],
+                "target_mouth_xy": [
+                  0.2683051157839511,
+                  -0.3453562536674844
+                ],
+                "gripper_position": [
+                  0.2700447082554073,
+                  -0.3443683218172335,
+                  1.002128993410665
+                ],
+                "rod_tip_xy_dist": 0.002028632547231641,
+                "target_xy_drift": 4.576233473359168e-08,
+                "depth": 0.018619660941210592,
+                "bottom_clearance": 0.08082087747910927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017395644503671037,
+                  0.0009879294372568403
+                ],
+                "rod_tip_xy": [
+                  0.2700447082554072,
+                  -0.34436832181723354
+                ],
+                "target_mouth_xy": [
+                  0.2683051438050401,
+                  -0.3453562512544904
+                ],
+                "gripper_position": [
+                  0.2700327288739415,
+                  -0.3443750594525667,
+                  1.0019909983655824
+                ],
+                "rod_tip_xy_dist": 0.0020005221943231776,
+                "target_xy_drift": 3.0126278141643044e-08,
+                "depth": 0.019130882438609942,
+                "bottom_clearance": 0.08030969962560086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001727579737514473,
+                  0.0009812230108683928
+                ],
+                "rod_tip_xy": [
+                  0.2700327288739415,
+                  -0.34437505945256675
+                ],
+                "target_mouth_xy": [
+                  0.268305149136427,
+                  -0.34535628246343514
+                ],
+                "gripper_position": [
+                  0.27002394238511934,
+                  -0.3443753011300401,
+                  1.001869904242464
+                ],
+                "rod_tip_xy_dist": 0.0019867889536959405,
+                "target_xy_drift": 6.100395816131987e-08,
+                "depth": 0.019268905030602412,
+                "bottom_clearance": 0.08017173300695124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017187974475745271,
+                  0.0009809809551233895
+                ],
+                "rod_tip_xy": [
+                  0.2700239423851193,
+                  -0.3443753011300402
+                ],
+                "target_mouth_xy": [
+                  0.26830514493754476,
+                  -0.3453562820851636
+                ],
+                "gripper_position": [
+                  0.2700151396097712,
+                  -0.34437516431285753,
+                  1.001748910384243
+                ],
+                "rod_tip_xy_dist": 0.001979037215441768,
+                "target_xy_drift": 6.071304181806454e-08,
+                "depth": 0.019389918529375993,
+                "bottom_clearance": 0.08005058286952349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0017099932503494286,
+                  0.000981117428980216
+                ],
+                "rod_tip_xy": [
+                  0.27001513960977114,
+                  -0.34437516431285764
+                ],
+                "target_mouth_xy": [
+                  0.2683051463594217,
+                  -0.34535628174183786
+                ],
+                "gripper_position": [
+                  0.27000609250460716,
+                  -0.34437557697128385,
+                  1.001627977804996
+                ],
+                "rod_tip_xy_dist": 0.0019714634984420464,
+                "target_xy_drift": 6.03077947611751e-08,
+                "depth": 0.019510919881723376,
+                "bottom_clearance": 0.07992962855224661,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005973450466813249,
+              "rod_tip_xy_max_step": 3.2355278171252896e-05,
+              "rod_tip_xy_range": 0.000597336117822039,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26958694807649186,
+            -0.3457377000618116,
+            1.0433792404148516
+          ],
+          "object_origin_world": [
+            0.26958694807649186,
+            -0.3457377000618116,
+            1.0433792404148516
+          ],
+          "frame_world": [
+            0.2695855388579206,
+            -0.3457420631034323,
+            1.043269771791594
+          ],
+          "center_minus_frame": [
+            1.4092185712799576e-06,
+            4.363041620714103e-06,
+            0.00010946862325766915
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27013449078571256,
+              0.13189476614151183,
+              0.8336032282544195
+            ],
+            "target_position": [
+              0.28210359595655093,
+              0.17806863661228545,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04769995589979481,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1667063663185597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336032282544195,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671847250169,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361821755831182,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7079655146366011112,
+    "physical_seed": 8237149056504213804,
+    "layout_id": "layout_00045",
+    "step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "workflow_spec_digest": "013c593373cf6995225930e941a7af5ff16b78f95f5c51a8b937f9ab19cd632f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9eb37a295fdf30454d21f155abb4d005fa1db6d7e72ccb4fcc78da2a9c308879",
+    "visual_seed": 9179036763384725249,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2329962008323510475,
+      8888706755221216905,
+      44862643261375768,
+      8260555333599647234,
+      759565680392795515,
+      6204125465122110840
+    ],
+    "runtime_workflow_digest": "ab23b31b4424c414e3d298f0111788f5e8b74f1aff78faab652939d663981b0c"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff7a75972207e8e6fd069ed86a6ff2a05283421
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00045/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00045",
+  "family": "lab3_v1",
+  "published_episodes": 82,
+  "published_successes": 82,
+  "published_failures": 0,
+  "matched_success_results": 82
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d8f024184fb0efbd3634e2ee99f40e164274e03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d446c50f440e1ff89d85cabccd509eee8cd2af311ba260479a88126e91bc568a
+size 14197290
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..78a2f77f2c8c9708880445c7dfc5c6b34b0ce620
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbc9c3a4f1b6e49820da02510ec7046dad719de0429934315d522a1025af14de
+size 14272157
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cc06ccf3cfbe8caf6dc98d5bac870de62dc798e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef2c81f65f0aa9d78a03340de2b5b56c61fefa74d9313c97d2cd5a85d5a4e980
+size 11757501
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1fe76133147da7342c183a3821398da64849a438
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1d530cd2fbdb9843cf37b2facf455c695500dcf12bc37443e94e3bb0e5c49a7
+size 11463507
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b695dbe06592c47079c6776e07652dd3d125e6c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7876e5018bfc06f515a96e21b94513e61261dd4dac8cac09c6ba232f5d730ea
+size 11219486
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1088f6624c3afc5ef172f0471ad72769dc88ca38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3eca76447a8221c1decc483017d1c999d2f25cb575893b72134ec831270689c3
+size 13678165
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..24b2031de21ab55c4a17f9eae48cea98f3c3253a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33fb29c099f0760c69b5ddebefad77dd02cbd65a1847a218abf5adcffd4ea3ad
+size 13082756
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e25bca7b5b23e23366839de6c9a44cb01a1595fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bad2bea4ce5767e21a761b11996032bfb054f1b1a484135950e716c009dcb54
+size 12369607
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e1a331fe4e03f4833eb569e9b5d0244d4f66617
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e30dd6c8697759a915a80ebde8edaf99fb479c9d180663218a01107970f51d6
+size 11674103
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee19610bb482ec277937d57dd5c7e3120474c15a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47b8f026eaf02c920fba620dbcb5a73cabb08bb9553349bf0bdcaf1ecbe2d1f2
+size 12144689
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8fbe5e0573c0b1e4c0cee075d6d009558ffd1700
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:886314948ae7f05ecf1f019b49079239aa9d86790e00a660cfda140833ba15c0
+size 12321048
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b08907b7e1512076e90b9b87faaac56342e0b00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0215c7756e9b607a56c2af950d305f70584ac84a90a29a278338a30610fbad98
+size 10277189
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..89f809c7d79c44e1ec37feb500d2607c29a2d91c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7831070ac3638048d530aaea76190b35fe4fcc52a084ca1ade95f85e1fb8cc37
+size 12661464
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de3ba09182cd46c96f3eea62d9bce5c035746cb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c012585a80cc8aa89387fd216b4a521e19687c316a6200b97726faa8c199ca95
+size 11552224
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..30c3cd04cc6329f5a7d77b05cb2069d115de467e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c390cd6187de2605c2726117870c5912d85a9556c2d5df711797d9991899ae32
+size 11383805
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee77c1096930d6feadc61be0d55195e11029be28
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35bdd901f272b5df705d1ccc7e51f7b84c76e46e15a5d9263167aa3d19ae4ce7
+size 11660964
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02ec05baa8c2dd0e4466474f92f96c7399363cd1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ffc91b81890ca04d2b718dbab20bfdc90f849401e3a5edb7ddb3b1d3e5e4fda
+size 15300637
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cd5052a2b46112c7017ffaee8c75f97789a6bb1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d299a944052afac219ab75dfa1264e486a366c90f46679da5e0a99075f290671
+size 10549909
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..10555df21705bdbbe6097eafe051a11faa98c869
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c04e97abaeb238c143763145018e6cd664f2f2b56db39fe82fd0578791edf1a
+size 13026042
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6c4ffc276add009444d70ee6fca35934611f7e31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f8e9f65576467e3ba31339ab4a85fc9104dc36d6df59db40e59ca20f5e7cee
+size 13185691
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1883e1de8f89b5ddfa26ee6520b4bcc665cbc233
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:792277af4006c25556b7198be5458ba235c62597fa60f22984bb698525b9bc93
+size 13375311
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a7718dc8b7d83154c16e3479f89bec4dbce54e54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a513eb4a53e3c8f6d53d6248123ca4855ff2f1763878c81d5d8826d3296cf48
+size 10938830
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d1cd57ed62589a858b56e4b397812872feb50cbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed0401d0d8020df51df989a3301797700865e666c0217f37c0097af16efb687f
+size 10483260
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..136bc181a61eefaa74dfe2c6d7b9f691b58a059f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58fd0df23ed14f95a670a6529ba227a8e0803bee748552c818886321d2456519
+size 12356084
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..40beb447167d306492d9360217189cfe99522c44
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e5b4d5908d459959bdf034f0dfbf53ccdf9ba011638afd2adfc2ba8541c5c3
+size 11565102
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d8fa46bb0a6c8de1e004efa23c060af04ad28403
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff7c9e4e0fc6c9f2d6fe2f6dcdaa70c0c8477c7f79cb94cacedd61b227b6025
+size 11646051
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7d66fcb396a842db0a0182641428110b8ca37258
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e592ccd3ac10a1c21d89781eaf2027c7bb5eec5b33ec673d12e619256833b9dc
+size 17351648
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77847ee07d3ae1b8706e3e7bbf2adb99b1a56e86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f522c1e4030f9c3c5d748c64f75267dfcc3f1d91549eec31a6d85f9b571617
+size 12418567
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb001f939301007fe46024d4588490ffc8b18754
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3339a1d4f3904c425219aa5f93f26fff80022dd74f72bd7660f71bdc50e3b71
+size 13895051
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7d5bf88d7b2f97af8099b90ddb5638f458540697
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ffe5594b09c5eacf49ca6559662fa5e00f82c801b09d5a09af7441970a245b2
+size 12793760
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c74bef1532554caf5467a912a2c7611664abb943
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2afb2bd7c2d251e2d88b6bfaf938d212cfd7e76c3de5a88bdebf9f93bfd9ab
+size 12654046
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..37f1619b75bffc04c20f74c28e660c5cb3568915
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05e0fc0002370592823133b7725774b582fd1e60084090a9f8eae7683e10fcae
+size 13663105
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77ed2512c32285308a3248ccbca42f2a88ff5d8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d0780d1ea06a7e648c05f6397a7e98543a909b02aa6d6ce1d17ccc387853cb8
+size 11513425
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..648d71dbb70677467f188367c318e073d094adde
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6e8bf7805b3b5b53aeaf60a7fdaa52c3f25f53c80335dcca5bf55a42843b701
+size 12145261
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b94ed377d7b6f7966fe0b5006ccb17dd3f945e37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e60eaff7bed758667525de3f73049d4e43855de2bb8b32e175e79fb2260df6
+size 11282352
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03de2ea87f34a6b77fd0bac8c6b182337f0b1b2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7eefcaf5bd547da25703a23fca68c70976cea42a0a545b05c940608c6b49b4c1
+size 14149723
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f5c35d6391a253cb55ea3627bc0b6085dfdaef34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf1c894ad05279f5a4ae0aef6e8e27978342c7b2b45e74fddf448b95da563470
+size 11241360
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3579b850476b34e1c2b9b388f3f1b7a4f61faee4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f975005c6d31dd2450c7756881df141b84011616f7fbf68190e3440a087c07
+size 11889269
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e9deee2a91fdfcfc44f63a3acfc3dd3be8681f17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9b9362df06faab960e4140372d78019ded16365568faf8e3885792c4d77f23
+size 17417861
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f2ac9dd547a44bf27fcd09c32739145e43ca6500
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7c2d7a1d9dca9292f756a3ea0d486bd8f2c355bf752b2b7aa873a12a9bd0d4d
+size 14789595
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7437d17f85a08b8b40a6004bfdfa4e6ec065de9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49cae832ca7754a4d4263ecb644d216d075102e344ab5e68cc90771538966f8f
+size 12979526
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd5e9e762e4ecb41e173535c3d1e374eeeb149c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c93f71951820289ca10495aa0e02de74f36c6eab467c449b8fa8cacfb03e9d0
+size 12168911
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..854b566ac2a6d00cfb14dd6b7a558a8f73d72dae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f50456639b064212bdeaf7e346273d02b84dc34cb66ff19437d2a5a2adcfa41f
+size 11003097
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6f188fe37b2c8b0878f101c48fc2b3fd2448421c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:864e9815105bc5b75e286e1d36be3ba47f9c2175d794ad1b2e1e54e1de7ef1df
+size 14398245
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..97b0c0453d3350bcfc265a7874ccdd5b0d321e9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45deac7697851aaf91b289d6efef489d8354c6c4e55654570875c096e4b0b0a6
+size 11127340
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5e2bcc556165b47a92d4265538388824e7c400d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f65d014c9058dfb7fdb6a8794d12dca6dce35e45118fa2b1e1d09c92b1fbc402
+size 11371208
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0ddafd9028cce1bbdf3138db001f4f90ab8d623e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc8ac0bf9f76bdb2d073c6bad0701f45a90987ce9a43c0b151c988592d322e04
+size 12252508
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..064a1e3cf27de19ba226bf4a466e679e6e3fa243
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba857cef584ac018726929a2e282d555d7b533340f0258127424c71f7d7830d
+size 11762602
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2daba092efccc73e2d8c0f21c8dd60d8db633279
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b99a4242b404454e4023199ff9b2bb6470413ae08008dd3fe2325c473faccc4
+size 14385568
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..04067781af47a829e3eef8d9197d2da1b52c6d43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514fee3420895e04c0b9578ff4ca8e90472e82f6ad856f06e650f4a812263e77
+size 15735260
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..878cc738aaaa012ebd161ab588f282fac7fb7e9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5a624ffeee78635d017cc41ed67f632e19a8bb30b583280c85ede61227df01
+size 13414612
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5512db4762d40737d0238b0ade66888d699efb8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2812c736c778e229ea1c8bbcb4451aa86f47e068bb7b114bbe41173b38ba8e72
+size 11856103
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..090538fbe76a6677154cf9c4a6f35c1f708343c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d9fe7ef785cfd8048a047d12ef75408cc190b067207515fc653f7bfe9912215
+size 13147097
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e01d6daca04aef480ddbb2fbd0e7d40c661ac44e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8070e7b43deec18b66acdb5de4e2ef0b9d630a2934fb6841dba2c6ce17cad13f
+size 13268794
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eefe163bfb66ef5c13f47287861f5e89b78e8098
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcd5cdbaedc84b781d30a1d17d846e08fdd69deeaeec1ece0cf2b13df67613dd
+size 11063624
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3068ae940cedc5975e09a54e972817ab6b4deb73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1078c617b7e1335f9e5f99878062cda3f1040ee806d1643bfc3c8d42c9287ec9
+size 12513902
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aaace8d65f4aa2f709020a0ab8e36d379ecba5a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45524f27b44381eddfeddb2d4fbf5e5b30c154763516424e6fb9a86c8830e804
+size 9930268
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9d980c8352ec6ab6f8cd8090402309a9b5e9f5a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7952dbf07c5c1a463c46e5bb1788de0ecfce1e155e6b667fc3b65d6fc98e3ac9
+size 10856383
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..408ed4b9d6ab80deb90c47121037fd71f48b63cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:728e7df06a719a93c5da6c35df335560449f91cb8161c80b395e11984ffd1f15
+size 11188668
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0aec3886fa0109baf62a908541a6630fa6b4f417
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:490a404d7cb0bf43771857b38189e4c74aa7ab41687ff3ea05dc3ffc712da4e7
+size 13542824
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ac96d66cf9d015246de4f039abd94688d28f651f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f143bcf58c629ff069676948378fc319c1bd94163c2c33c57786506d44747549
+size 11402317
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..14d33e8f7ece7fa4daac771d4e96df3c59342bd3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9381a5abe84327f39c8fc89575c70f6aebd55d543448c469ed56993df3d0e60e
+size 11400540
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c22a135ce07e5b2ec1795c642d3abbfb12aecd2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7da9e507d384f19b4b53494e31d7d51fa27c1e931dc742b41147ec56ad45cfa
+size 12154496
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..30e87733761851058ab7b1cc4dd352daf7ca6b8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e66e4e6b7b57d577bb20d40ebe95cfed4e30e4d722abccb0b8e5f728296a728
+size 14766726
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8587f24d883b99b3c7b296b1bfc2d9a62efd7fc8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed9583a504bd2343a8fa8d93c906c001d1391327ec5826b1808e27fc9e19b59
+size 17982011
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b42e5defa9f34ec94b2d0aeec92465cab8d4234
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c91897b2c08f235d8445d35be95b2382885ce8534cd9962943a3d54cfa39a3c2
+size 12241950
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b176fd1286d7e590b8d54fa9cd69840ab488eb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fb87833017d197d51a15afbc5d76be1b9587610e6569d34ea8ebf9bbfe05476
+size 12339010
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e5b7c1fbcb102eae544ee9e4ae8a1a8aa5a4b16b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8c006d035443145a3e2dd15ca616a396bd89023e83c92786ada889fe33f3a21
+size 13936633
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..270e8b7acfa157b9ee9a08437482971fa5641d68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7736f771a7486db0ca1e63baf61f9363be352fc00c70d938d5a0390d4417ca29
+size 15118463
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc036fd414d7ae903539696be5005fc082e4f2cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b61b622c3d63ddc60aeb62a442284b54e6ad6e00c17e64ae9adc13e5b2d6ac4b
+size 11599208
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a995bce3824b110e121f3db6d53e6ec1f313f9c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a8c2860292801fb6937b19371687bfce4ca5f518aa40ba7e4c5bae19d6ed2e7
+size 13031841
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de40ee8f464fa4718a1e86f148995a116fc15994
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db01b7ec9d38c9ce4c08da91ed167cc693129a3825c1e27a122457dc8888fd51
+size 13102130
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cea653ca801503e592f47ef843af30242695dd2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:022f027ac853b3c20f3f236e366d4ae298fdd6d8b76725cc464640c88df58be5
+size 11363437
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc69131c62c68b49b93071a259d72d1fea737582
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07c643a36f045d595304180826f3590529daa6c8611cdf2f945da04f19cd824f
+size 14556567
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..705bdd31f77cb88ab087982685ae9913a2ec97da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67a114194867224a1f3bcceef13ab2a2083960245928da99d195ab148ec9d3f3
+size 13367194
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b5b06d4ca5f4865154cd2453dac591fe2cc3cf7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3355553e8dd51e564947665980655e314d9905c30707a411af9bf1d73c7caf7
+size 12521237
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cc8463aa5cc010b39ef8f97727f66703c3e1c15a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6925ed6b7402b764d3d04a8288814fa8c76abef03ca0ecbf4ba2a661ade90104
+size 11880769
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e6e4c7e6aae2a5a0de32617f5c295345a2f82be9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adb3758a7e7285f5e82635d106f5f3ab00406403b4f60aa8f44d366350f3eb3b
+size 12240841
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..287abbc4cc42e5135d04eeba0dca420002152e23
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90dc76b50e495dc938812c6ab80cc88b9afac5d38c9c322a4f450b391d331691
+size 14270694
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d41358560838e11f756e40981176e7ab0cef954e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:127f2bdd642907a5cc18d3e9df1b076e7a06af179c1172927fa229f444e41417
+size 11227473
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cd09f085af394b1248979d5e5fc73b230a5f4a07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa058099dc619f62dfa69d7c9e053c5bf194ea17193adff60cd8289ed4268ac7
+size 11571594
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a449eded9c5128612d22af57dd8d9e6e4c267318
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a17f1faa2449895475138ca98ceafe11f81e94b2235548e4f080c9535e18295f
+size 12392283
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c3539b7afbc56e7a6a1e97937d9c1aa1de820b4e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4917e0d10bffaeda8ed8873694a05bd7f80aaa7001e7e30d4df1836ecec1fb25
+size 13874198
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8825723f2209b0df43b9997a51aecbebed5ca401
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f090c6046341e00ab52a008961e290992390b8c9d2997170aefd86011bf0896c
+size 10538525
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f623540c52dd69c68ae6b4cc4c4534137ce4248
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/meta/episode.jsonl
@@ -0,0 +1,84 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2732,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2740,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2743,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2679,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2734,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2675,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2743,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2726,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2712,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2732,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2731,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2712,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2712,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2712,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2743,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2726,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2734,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2711,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2737,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2680,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2727,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2711,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2727,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2729,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2722,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2747,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2730,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2684,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2675,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2726,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2744,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9522ae0c6cf42a435ef4be31259eecdb1bd1bb68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,84 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T09:44:49","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.13500551174463915,0.40470604881223604,0.71338606911949],"aabb_xy":[[-0.14823645727932042,0.3914786297902366],[-0.12177456620995783,0.41793346783423546]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.3901446931986151,1.6508313773978869,0.71338606911949],"aabb_xy":[[-0.4401177587311306,1.6008313775853542],[-0.34017162766609965,1.70083137721042]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[0.5099898459818513,-2.2488822713941383,0.71338606911949],"aabb_xy":[[0.48747615415839396,-2.318882271995146],[0.5325035378053083,-2.178882270793131]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.5168253188818386,0.6933799705309935,0.71338606911949],"aabb_xy":[[0.4979409351133284,0.6744940457506408],[0.5357097026503488,0.7122658953113463]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.34995314550842194,-1.8284597799621738,0.71338606911949],"aabb_xy":[[0.3249531459566834,-1.8386022638273085],[0.37495314506016036,-1.818317296097039]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.06129571784003918,0.027895772541841612,0.71338606911949],"aabb_xy":[[-0.07170727652052288,0.022550039205943145],[-0.05088415915955545,0.03324150587774008]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.12778668056837095,-0.7412481027221343,0.71338606911949],"aabb_xy":[[0.11803069105919706,-0.7510106367813687],[0.13754267007754484,-0.7314855686628998]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.35435044235175867,0.604760343062539,0.71338606911949],"aabb_xy":[[-0.40432373635501906,0.5547603425079916],[-0.30437714834849816,0.6547603436170862]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.18895963700320484,-0.673407910165321,0.71338606911949],"aabb_xy":[[-0.25295963905293684,-0.7135023932546289],[-0.12495963495347287,-0.633313427076013]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.3736041221051831,1.4275902165632188,0.71338606911949],"aabb_xy":[[0.3314197079443524,1.3635902162860079],[0.41578853626601386,1.4915902168404302]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.1042183784698073,1.301325121606633,0.71338606911949],"aabb_xy":[[0.10025789470007293,1.2936572570211124],[0.10817886223954168,1.3089929861921537]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.3780133329922731,-1.2995615888592542,0.71338606911949],"aabb_xy":[[-0.41178889218296605,-1.3136000840724191],[-0.3442377738015801,-1.2855230936460889]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[-0.13149845102703261,0.6040112765666321,0.71338606911949],"aabb_xy":[[-0.16649845092305146,0.5956370410546922],[-0.09649845113101373,0.6123855120785721]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[0.28279874301266616,-1.0055381962450671,0.71338606911949],"aabb_xy":[[0.2276735373830753,-1.0655381976863543],[0.33792394864225683,-0.9455381948037801]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.39929755956418056,1.3902785887816131,0.71338606911949],"aabb_xy":[[-0.4492975590043761,1.3403106642972966],[-0.3492975601239849,1.4402465132659292]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.7000820603594329,-1.8760640100287107,0.71338606911949],"aabb_xy":[[0.6762458427188279,-1.9660640108371974],[0.723918278000038,-1.7860640092202245]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.5909109748585254,1.0066812075407556,0.71338606911949],"aabb_xy":[[-0.6128196569978764,0.9847805407206649],[-0.5690022927191744,1.0285818743608464]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.294803087382224,-2.038037238257366,0.71338606911949],"aabb_xy":[[-0.3123497822983429,-2.0755372398216174],[-0.27725639246610506,-2.0005372366931145]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.2267246829421457,-1.2821268255370357,0.71338606911949],"aabb_xy":[[-0.23322631945015035,-1.2918946475633457],[-0.22022304643414112,-1.2723590035107262]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.23399598709898134,-0.19718090547226952,0.71338606911949],"aabb_xy":[[-0.2989959880994818,-0.24796727062694446],[-0.1689959860984808,-0.14639454031759458]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.12370979295831974,0.7433459362433945,0.71338606911949],"aabb_xy":[[0.04370979079555726,0.6633907526172508],[0.20370979512108223,0.823301119869538]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.04037114412282339,-2.2231237037340277,0.71338606911949],"aabb_xy":[[-0.07537114331564165,-2.2340907497316898],[-0.005371144930005123,-2.2121566577363647]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.572004921867105,-0.4855419405493193,0.71338606911949],"aabb_xy":[[-0.6220049228862403,-0.5220081562871473],[-0.5220049208479698,-0.4490757248114914]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.1511059804414251,1.0380283532472236,0.71338606911949],"aabb_xy":[[0.10111114751348349,0.9880283543519801],[0.2011008133693667,1.0880283521424672]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.10227503298483942,-2.229735032320236,0.71338606911949],"aabb_xy":[[0.05728244626638901,-2.274735031594685],[0.14726761970328983,-2.1847350330457873]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[-0.6608701942004722,-1.19333417620847,0.71338606911949],"aabb_xy":[[-0.683042721177123,-1.215509843364593],[-0.6386976672238213,-1.1711585090523464]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.45349759415363733,-0.13880369427437156,0.71338606911949],"aabb_xy":[[-0.47136670190809277,-0.1526366022515825],[-0.4356284863991818,-0.12497078629716063]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[-0.42470269647918707,0.8983780753972685,0.71338606911949],"aabb_xy":[[-0.43980499794020506,0.8832765537662065],[-0.40960039501816886,0.9134795970283301]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680560001848367,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/505.png","name":"505"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/505.png","name":"505"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7377.png","name":"7377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2271.png","name":"2271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2554.png","name":"2554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1854.png","name":"1854"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":658.7965240090261,"rotation_z_degrees":97.67895906635212,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006415398358622686,0.0032137728182254667,0.01606883553236006]},{"name":"camera_2","offset_m":[0.013962037436294494,0.002816511427886529,0.017959192167957872]},{"name":"camera_3","offset_m":[-0.013321122269279107,0.001073473449957764,0.017265698627037685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013545376740789453,0.001660415747242139,-0.0010573945317926441],"end_effector_yaw_offset_degrees":0.9889373179588852},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001229200958892038,-0.0012173761785250292,6.932890293953869e-06],"end_effector_yaw_offset_degrees":-0.9774203476216485},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014931821120945329,0.000406562810647838,0.001914443862658927],"end_effector_yaw_offset_degrees":0.8272307904016032},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009114562609790289,-0.000942706362456205,0.0013987677113631116],"end_effector_yaw_offset_degrees":0.3591482430474995},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00041550946235892816,9.986179571045382e-05,-0.0008736492329389142],"end_effector_yaw_offset_degrees":-0.8637032160413383},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009751011322496233,0.001850282930711588,-0.0008667410694916443],"end_effector_yaw_offset_degrees":-0.6422833919628042}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004219924828196338,0.00492496581194386],"position_m":[0.3000800751718037,-0.02557503418805614,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018256556493772913,0.003611587807799725],"position_m":[0.2331743443506227,-0.36998841219220024,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0036794725896770377,-0.004295338110473161],"position_m":[0.29382052741032294,0.3022046618895268,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015825901077340717,-0.0010762885375142804],"position_m":[0.3118825901077341,0.08142371146248573,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e17f555e9bcdf14404dbba4b738c5772ef97d462d11111dfd079784a58347a80","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_505/tex_ceiling_textures_1854/tex_floor_textures_2554/tex_table_textures_7377/tex_wall_textures_2271","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2865095314077017832,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2865095314077017832,"visual_seed":2865095314077017832,"scene_id":"lab_003","finished_at":"2026-09-08T09:52:44"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T09:52:53","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.6622090774722673,-0.7856269875436754,0.71338606911949],"aabb_xy":[[0.632217414738397,-0.815626986880476],[0.6922007402061376,-0.7556269882068749]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.3295041018712148,-1.604473703740149,0.71338606911949],"aabb_xy":[[0.2457818763711323,-1.694473707274845],[0.4132263273712972,-1.5144737002054531]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.16105168764891986,0.6358063241649847,0.71338606911949],"aabb_xy":[[-0.21605168682550935,0.580816649390027],[-0.10605168847233037,0.6907959989399423]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[0.46251949947626203,0.17355806731733692,0.71338606911949],"aabb_xy":[[0.40752402165560253,0.11855806588342999],[0.5175149772969213,0.22855806875124385]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.5341596850454462,-0.9291168607450824,0.71338606911949],"aabb_xy":[[0.4891670983269958,-0.974116860019531],[0.5791522717638966,-0.8841168614706335]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.6208799224561576,-1.4396502100818087,0.71338606911949],"aabb_xy":[[-0.6433936142796148,-1.5096502106828162],[-0.5983662306327004,-1.3696502094808012]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.053717013036314376,1.184431976973506,0.71338606911949],"aabb_xy":[[-0.1177170123304826,1.120445836604652],[0.010282986257853843,1.2484181173423603]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.5979363136910216,-1.9277317969357217,0.71338606911949],"aabb_xy":[[-0.6480337776720952,-1.9917317974455337],[-0.547838849709948,-1.8637317964259101]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[-0.1674900942453077,-1.2233824929665242,0.71338606911949],"aabb_xy":[[-0.23149009565329834,-1.2751714444904487],[-0.10349009283731701,-1.1715935414425993]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.3579238403609497,1.4002074669183155,0.71338606911949],"aabb_xy":[[-0.4219238376465984,1.3587007479654716],[-0.2939238430753011,1.4417141858711595]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.15806462235014296,0.8356766958800312,0.71338606911949],"aabb_xy":[[-0.22306462498793644,0.7841970971805843],[-0.09306461971234947,0.8871562945794782]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.4671604759607526,0.9538137497893144,0.71338606911949],"aabb_xy":[[-0.4747847440509309,0.9461805262527708],[-0.4595362078705744,0.9614469733258583]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.13500091676018489,0.8045887658931679,0.71338606911949],"aabb_xy":[[0.0710009150821875,0.7560713744138536],[0.1990009184381822,0.8531061573724821]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.37974216555526974,-1.0076427484252872,0.71338606911949],"aabb_xy":[[-0.397417796143868,-1.0253229647046898],[-0.36206653496667135,-0.9899625321458844]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.10822440402415145,-0.7114741294561706,0.71338606911949],"aabb_xy":[[-0.17322440502465197,-0.7622604946108456],[-0.04322440302365094,-0.6606877643014957]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[0.1905731426041577,-1.3651288580271894,0.71338606911949],"aabb_xy":[[0.10057313892723946,-1.4265612646042938],[0.28057314628107577,-1.303696451450085]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.5399660105319629,-2.560406193871983,0.71338606911949],"aabb_xy":[[-0.5774660108801907,-2.572197589453066],[-0.5024660101837352,-2.548614798290899]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.5302821480657374,-1.411614640256853,0.71338606911949],"aabb_xy":[[0.44028214947126754,-1.4278652265702743],[0.6202821466602074,-1.3953640539434322]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.2680282257607483,1.1456465498542467,0.71338606911949],"aabb_xy":[[-0.28791926564108855,1.1329907385695501],[-0.24813718588040806,1.1583023611389438]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.0013022793105101904,-1.7250681325872348,0.71338606911949],"aabb_xy":[[-0.04658089419165945,-1.7890681319354185],[0.04397633557063907,-1.6610681332390511]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.4692155497222448,-1.9093138061860608,0.71338606911949],"aabb_xy":[[0.43236500178525716,-1.9468138070090946],[0.5060660976592324,-1.871813805363027]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.11446732938890614,0.48205601135978027,0.71338606911949],"aabb_xy":[[-0.12239060962765445,0.45955601112177696],[-0.10654404915015779,0.5045560115977836]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.4958737521252623,0.6286846812927518,0.71338606911949],"aabb_xy":[[-0.5598737485208354,0.5647213928740183],[-0.43187375572968917,0.6926479697114855]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.3892005752074764,-0.8795294166393808,0.71338606911949],"aabb_xy":[[-0.4441937865446133,-0.9345294169781746],[-0.3342073638703397,-0.8245294163005874]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[0.055191989901539174,-2.5373755404358382,0.71338606911949],"aabb_xy":[[0.005214573036285592,-2.5873755419250863],[0.10516940676679276,-2.4873755389465892]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[0.24633194018885896,-2.4063425654439277,0.71338606911949],"aabb_xy":[[0.19633266502042282,-2.456342566719875],[0.2963312153572951,-2.3563425641679805]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_26","position":[-0.43937461031283254,-0.2922636234056557,0.71338606911949],"aabb_xy":[[-0.46985886043986275,-0.34226362318715164],[-0.40889036018580244,-0.24226362362415976]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.5801159613864787,1.643297788127056,0.71338606911949],"aabb_xy":[[-0.615115959697174,1.6355827732035102],[-0.5451159630757831,1.6510128030506015]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[-0.07488013708160302,1.7013488469846902,0.71338606911949],"aabb_xy":[[-0.08033808271862308,1.6213488436770311],[-0.06942219144458295,1.7813488502923494]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_29","position":[0.3171024724717455,0.6205694824400845,0.71338606911949],"aabb_xy":[[0.26712366396142967,0.5705694824343657],[0.36708128098206144,0.6705694824458033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666320751201551,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8151.png","name":"8151"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8151.png","name":"8151"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9423.png","name":"9423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8354.png","name":"8354"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4776.png","name":"4776"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4889.png","name":"4889"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":569.4017079090222,"rotation_z_degrees":336.1345457000055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01131559177688907,-0.005955830498110947,-0.014500889117162769]},{"name":"camera_2","offset_m":[0.007389873262899242,0.010830485770307777,0.011476541777349077]},{"name":"camera_3","offset_m":[-0.015023071053257873,0.011231374746178423,0.01830276533706372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001762323830361614,-0.00016690002302399112,4.904657572810892e-05],"end_effector_yaw_offset_degrees":0.4639872546681283},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019421984351429486,-0.001232080424218834,0.0010358063065098208],"end_effector_yaw_offset_degrees":-0.5750017284419617},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013359493735013435,0.0006355475764270708,0.000371153381325073],"end_effector_yaw_offset_degrees":0.19381567979709713},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015506299558730075,0.0004632549581627082,-0.0016476958137478421],"end_effector_yaw_offset_degrees":-0.08276529663619714},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012511794227258732,-0.0006067831841085228,0.0019223550930580731],"end_effector_yaw_offset_degrees":-0.34518342127643353},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005763141622080355,3.994663790139394e-06,-0.0002799991594395106],"end_effector_yaw_offset_degrees":-0.32901676364005406}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006938610311412567,-0.0013529039433480329],"position_m":[0.3049938610311413,-0.031852903943348033,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043075116455430495,0.0030183091180770354],"position_m":[0.23069248835445694,-0.37058169088192294,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004928275095122029,-0.0031186840583712285],"position_m":[0.292571724904878,0.30338131594162876,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004770870227295737,-0.002630277020462858],"position_m":[0.3055291297727043,0.07986972297953715,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"42e8726fff10a4394e4c449d4d20a6c527cc34134a5d76823777ecd5c944b3c1","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8151/tex_ceiling_textures_4889/tex_floor_textures_4776/tex_table_textures_9423/tex_wall_textures_8354","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":4583706788707987481,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":4583706788707987481,"visual_seed":4583706788707987481,"scene_id":"lab_003","finished_at":"2026-09-08T10:01:56"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T10:02:04","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[0.589224349484204,1.606154590638917,0.71338606911949],"aabb_xy":[[0.5252243508976316,1.5591476272394083],[0.6532243480707766,1.6531615540384257]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.27490878426772825,-1.3532715660064818,0.71338606911949],"aabb_xy":[[0.20490878213629865,-1.3760335316321772],[0.34490878639915773,-1.330509600380786]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.4513941764381413,-1.7867519816048754,0.71338606911949],"aabb_xy":[[0.43318835277689366,-1.797777382186867],[0.469600000099389,-1.7757265810228837]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.6289966653325306,-2.048823078339512,0.71338606911949],"aabb_xy":[[-0.6324373415725879,-2.0526845113138767],[-0.6255559890924736,-2.044961645365148]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.3871741450714115,0.6753263474016249,0.71338606911949],"aabb_xy":[[-0.4242082544994712,0.6409491400679155],[-0.3501400356433517,0.7097035547353343]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.5391903397518383,0.5272394277470425,0.71338606911949],"aabb_xy":[[0.5018590632265957,0.49258637295219004],[0.5765216162770809,0.5618924825418946]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.08190905312541341,-1.6212668117642153,0.71338606911949],"aabb_xy":[[0.044409052777185654,-1.6330582073452986],[0.11940905347364117,-1.6094754161831315]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.39913581133363224,1.29170684216488,0.71338606911949],"aabb_xy":[[-0.4631358132459746,1.2357956929068696],[-0.3351358094212899,1.3476179914228905]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.3705133540292913,1.1342196894310521,0.71338606911949],"aabb_xy":[[0.31051335238636946,1.082219540139108],[0.43051335567221316,1.1862198387229963]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.5164767275511626,-0.6238249364855388,0.71338606911949],"aabb_xy":[[0.48216045037654465,-0.6738249364587166],[0.5507930047257805,-0.5738249365123611]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.4548844187433857,-0.33527870673742655,0.71338606911949],"aabb_xy":[[-0.4913802393706644,-0.3717626491641841],[-0.4183885981161069,-0.298794764310669]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.41903090686382594,1.5403058195086943,0.71338606911949],"aabb_xy":[[-0.4806216660878188,1.4763058213996474],[-0.3574401476398332,1.6043058176177412]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.14868119729978224,1.772162540976645,0.71338606911949],"aabb_xy":[[0.11118119887638186,1.758998327008814],[0.18618119572318256,1.7853267549444756]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.4686784818094427,-0.9105890939241026,0.71338606911949],"aabb_xy":[[-0.5021576490704838,-0.9440682072952098],[-0.4351993145484018,-0.8771099805529958]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.5484434742651829,-2.0518956138941604,0.71338606911949],"aabb_xy":[[0.5265347921258319,-2.073796280714251],[0.570352156404534,-2.0299949470740697]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[0.42843983645836436,1.6247929109496932,0.71338606911949],"aabb_xy":[[0.3734661144220315,1.5697929113854598],[0.48341355849469725,1.6797929105139262]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.3929440293863773,-1.4694798120714858,0.71338606911949],"aabb_xy":[[0.3289440322742716,-1.5185121818658964],[0.456944026498483,-1.4204474422770752]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[-0.2761664674950321,-0.7783512686560041,0.71338606911949],"aabb_xy":[[-0.3261494176825114,-0.8283512682985644],[-0.22618351730755273,-0.7283512690134436]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.6976188667900385,-0.5631394298407484,0.71338606911949],"aabb_xy":[[0.6801188675119516,-0.5804775299070944],[0.7151188660681254,-0.5458013297744025]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.09253926781781552,-2.0922294159693515,0.71338606911949],"aabb_xy":[[0.07938802184652614,-2.117229415726038],[0.10569051378910488,-2.067229416212665]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.45998323357122495,-0.1002004198875337,0.71338606911949],"aabb_xy":[[-0.509983232217146,-0.15011996354699608],[-0.4099832349253037,-0.0502808762280713]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.24479558490971182,0.5836720721307409,0.71338606911949],"aabb_xy":[[-0.25350955395964625,0.5611720714715525],[-0.2360816158597773,0.6061720727899289]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.2452112735895599,0.7186162787148325,0.71338606911949],"aabb_xy":[[-0.30921127275932986,0.67184959159587],[-0.18121127441978999,0.765382965833795]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[0.2825502431000486,-0.6736793556699832,0.71338606911949],"aabb_xy":[[0.22755476527938917,-0.7286793571038901],[0.33754572092070795,-0.6186793542360762]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[-0.5882366164423067,0.8566998757736322,0.71338606911949],"aabb_xy":[[-0.67323661485973,0.7718255803113472],[-0.5032366180248835,0.9415741712359171]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.04795070874417573,1.2417315061289123,0.71338606911949],"aabb_xy":[[0.010450707952180283,1.2353636651707223],[0.08545070953617118,1.2480993470871027]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[0.3141354805077199,-1.0093135509842481,0.71338606911949],"aabb_xy":[[0.27954439765367467,-1.074313551269279],[0.3487265633617651,-0.944313550699217]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[-0.16912886461332943,0.26994092251875434,0.71338606911949],"aabb_xy":[[-0.23412886249497722,0.21881725881221353],[-0.10412886673168162,0.32106458622529527]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_28","position":[-0.11629293749310643,-0.8710315687333319,0.71338606911949],"aabb_xy":[[-0.17629293733967322,-0.9278501909263704],[-0.05629293764653964,-0.8142129465402931]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_29","position":[0.09720817131914838,0.7776897251765789,0.71338606911949],"aabb_xy":[[0.05970817013435558,0.7732715024805182],[0.13470817250394115,0.7821079478726393]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_30","position":[0.006723250500986877,1.1294261089153208,0.71338606911949],"aabb_xy":[[-0.04325555800932901,1.0794261089096018],[0.05670205901130276,1.1794261089210394]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6738245195834985,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6538.png","name":"6538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6538.png","name":"6538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8445.png","name":"8445"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/252.png","name":"252"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3309.png","name":"3309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/254.png","name":"254"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":723.9855058589202,"rotation_z_degrees":323.0555235689555,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011344239274456167,-0.004282208433491638,0.016876187245829493]},{"name":"camera_2","offset_m":[-0.0006333596187125604,0.003890619768026172,0.005103340161759732]},{"name":"camera_3","offset_m":[-0.013451555062295579,-0.0006078888992931374,0.01930615849174817]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001986554878718234,3.393769315648224e-05,0.0013112723120405857],"end_effector_yaw_offset_degrees":0.20720405774153683},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008797941837267406,-0.00037855138326756545,-0.0014301845873347001],"end_effector_yaw_offset_degrees":0.6720767934534555},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000588448857100039,-3.033696927429207e-05,-2.0799492314082027e-05],"end_effector_yaw_offset_degrees":-0.8014192976413264},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001514901897400548,0.0005668384259922801,0.0019201660901572949],"end_effector_yaw_offset_degrees":-0.978128997110298},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0002167044224247244,-0.0009508239965193247,-0.0009408069255210144],"end_effector_yaw_offset_degrees":0.38241012964942156},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00036821961975066174,0.0014182369051506678,-0.0016359471903317259],"end_effector_yaw_offset_degrees":-0.2639900425507997}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025655306185309425,-0.004583038784817989],"position_m":[0.30686553061853095,-0.035083038784817985,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034616513645142092,0.0011458630783153121],"position_m":[0.2384616513645142,-0.37245413692168466,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004704457258953505,-0.003962334365307692],"position_m":[0.29279554274104647,0.3025376656346923,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0049663756287779545,-0.0006961004009981252],"position_m":[0.3053336243712221,0.08180389959900188,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"07d15aa1369abdf4a12bc247d1ecbcfe44249f69ac4d5cb3a93771af780a8b03","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0002.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6538/tex_ceiling_textures_254/tex_floor_textures_3309/tex_table_textures_8445/tex_wall_textures_252","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2322586501646145618,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2322586501646145618,"visual_seed":2322586501646145618,"scene_id":"lab_003","finished_at":"2026-09-08T10:10:10"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T10:19:52","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[0.19924641764447615,-0.662195636453796,0.71338606911949],"aabb_xy":[[0.1831844901859585,-0.7471956382663877],[0.2153083451029938,-0.577195634641204]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.2035313317622645,-1.6230016580630329,0.71338606911949],"aabb_xy":[[-0.2260313315761669,-1.6274762744335136],[-0.18103133194836213,-1.6185270416925521]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[0.0853081942764069,-1.5578831077568935,0.71338606911949],"aabb_xy":[[0.0053143706978486804,-1.6378831103497353],[0.16530201785496512,-1.4778831051640522]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.14588684085384862,-1.7134638061406013,0.71338606911949],"aabb_xy":[[0.1083868405616738,-1.7175052815412049],[0.18338684114602344,-1.7094223307399978]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.4499721111734596,-2.27352943121482,0.71338606911949],"aabb_xy":[[0.3999721102229267,-2.3050785782183416],[0.49997211212399234,-2.241980284211299]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[0.023673706469965916,-2.522395739283219,0.71338606911949],"aabb_xy":[[0.004789322701455715,-2.5412816640635714],[0.04255809023847612,-2.503509814502866]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.029743789408911203,1.1898935715911945,0.71338606911949],"aabb_xy":[[-0.053328912872806056,1.124893569345763],[-0.0061586659450163506,1.2548935738366265]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[0.6525463405542014,1.6859430664399384,0.71338606911949],"aabb_xy":[[0.6275463413885682,1.678990820734582],[0.6775463397198345,1.6928953121452952]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.37040584863445014,-1.449375856531768,0.71338606911949],"aabb_xy":[[0.3629933930930617,-1.4552270669533958],[0.37781830417583867,-1.4435246461101399]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[0.02456589921498753,-0.9973261181946227,0.71338606911949],"aabb_xy":[[-0.03943409807066112,-1.0388328371474667],[0.08856589650063618,-0.9558193992417787]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[0.5521736247288516,1.685886158537674,0.71338606911949],"aabb_xy":[[0.5292579118438017,1.662981861401251],[0.5750893376139015,1.708790455674098]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.5914764593348363,0.20894903373739426,0.71338606911949],"aabb_xy":[[0.5114764579047091,0.1294318787247848],[0.6714764607649635,0.28846618875000374]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[0.5791824108941124,-0.8775790736603144,0.71338606911949],"aabb_xy":[[0.5704844486033971,-0.8897040479677893],[0.5878803731848277,-0.8654540993528399]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.25451298604019934,-0.8727792598526853,0.71338606911949],"aabb_xy":[[0.24629844092451528,-0.8814558501503267],[0.2627275311558832,-0.864102669555044]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.37360054991479896,-1.5838432504530646,0.71338606911949],"aabb_xy":[[0.34908692581779316,-1.6081078437551009],[0.3981141740118049,-1.559578657151028]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.36355516151823586,1.6861669529993049,0.71338606911949],"aabb_xy":[[-0.37542724452973697,1.6011669533056545],[-0.35168307850673475,1.7711669526929552]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.5274010733292303,-0.6901483637147598,0.71338606911949],"aabb_xy":[[0.47741812314175086,-0.7401483633573201],[0.5773840235167095,-0.6401483640721993]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.09940329293922634,1.4384253963847775,0.71338606911949],"aabb_xy":[[-0.1338656403373681,1.4039315139869544],[-0.06494094554108452,1.4729192787825998]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.10554710209428142,1.6676605962597724,0.71338606911949],"aabb_xy":[[0.07054710219826253,1.6592863607478323],[0.14054710199030027,1.6760348317717124]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.4365472354806583,-1.0437929989774015,0.71338606911949],"aabb_xy":[[0.3725472363108884,-1.090559686096364],[0.5005472346504283,-0.9970263118584392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672986796551324,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1425.png","name":"1425"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1425.png","name":"1425"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5847.png","name":"5847"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7475.png","name":"7475"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7951.png","name":"7951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6149.png","name":"6149"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":663.1341635599791,"rotation_z_degrees":236.9654842580187,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012836189507627795,-0.017679402061436544,-0.005142990352250805]},{"name":"camera_2","offset_m":[0.01719563369775594,-0.016295608924171333,0.001577755056897591]},{"name":"camera_3","offset_m":[0.014492709509187265,-0.0006004936611997205,0.01673341765021427]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001412418968801361,0.0008302451584960317,-0.0015404043938451073],"end_effector_yaw_offset_degrees":0.2653721325197542},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011055657244213007,-0.00047331524143508154,-0.001319423372854903],"end_effector_yaw_offset_degrees":0.0074847283091281636},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001980094209876677,0.0001988347463452913,-2.3037048303069935e-05],"end_effector_yaw_offset_degrees":-0.5683581164087306},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017589708233784673,0.0016864010837304706,0.0015266992721988605],"end_effector_yaw_offset_degrees":0.0694043434434426},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00010738544340363606,-0.0014639256154622764,0.00031739610632184863],"end_effector_yaw_offset_degrees":-0.6043754536868782},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011102427988590813,0.0008206026513162823,-0.0008813003248325719],"end_effector_yaw_offset_degrees":0.7855228619191164}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007184233449138103,-1.174621893296722e-05],"position_m":[0.3035815766550862,-0.03051174621893297,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015830827090172052,-0.004862396891730656],"position_m":[0.2334169172909828,-0.37846239689173067,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0041993638011024025,0.004844851172690884],"position_m":[0.29330063619889757,0.3113448511726909,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00023088177808643605,-0.0017080505364430445],"position_m":[0.3100691182219136,0.08079194946355696,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"363927c7804617cbbbcc3cc7305235710f496749e231cd34f3914d529ddf88b5","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1425/tex_ceiling_textures_6149/tex_floor_textures_7951/tex_table_textures_5847/tex_wall_textures_7475","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6435262568457386135,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6435262568457386135,"visual_seed":6435262568457386135,"scene_id":"lab_003","finished_at":"2026-09-08T10:27:58"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T10:28:06","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.3626090811888685,1.49924831278422,0.71338606911949],"aabb_xy":[[0.35817845183402836,1.4937999410495375],[0.3670397105437087,1.5046966845189025]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.34736759805880374,-1.338398078392539,0.71338606911949],"aabb_xy":[[-0.4173675944687654,-1.3588360140442204],[-0.27736760164884183,-1.317960142740857]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.1607973479077287,1.8105435114488908,0.71338606911949],"aabb_xy":[[-0.17990965526570757,1.7914087325716488],[-0.14168504054974984,1.8296782903261328]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[0.4279722054930577,1.5228894643122728,0.71338606911949],"aabb_xy":[[0.423856255380985,1.518773909279427],[0.4320881556051303,1.5270050193451181]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.2623187952136977,0.40871020070087427,0.71338606911949],"aabb_xy":[[-0.2792295276500394,0.3952379951082597],[-0.24540806277735586,0.42218240629348874]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.29089451747726597,1.0523659855600753,0.71338606911949],"aabb_xy":[[-0.37089451449151395,1.032231433886664],[-0.210894520463018,1.0725005372334866]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.23976354297945368,-1.7720244199765594,0.71338606911949],"aabb_xy":[[0.1847703316423169,-1.8270244203153534],[0.29475675431659043,-1.7170244196377662]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.2783090397157607,-1.3433959350251847,0.71338606911949],"aabb_xy":[[0.19830903645174758,-1.3569559673340978],[0.35830904297977384,-1.3298359027162712]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.4854160307995947,1.3247987654184246,0.71338606911949],"aabb_xy":[[0.4214160315054264,1.2608126250495704],[0.5494160300937628,1.3887849057872788]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.5748420041795673,0.6831970911703809,0.71338606911949],"aabb_xy":[[-0.5813436406875719,0.6734292691440711],[-0.5683403676715627,0.6929649131966906]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[-0.5719206965421412,-1.1567929032214554,0.71338606911949],"aabb_xy":[[-0.6419206986735707,-1.1795548688471509],[-0.5019206944107116,-1.1340309375957596]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[0.07650767111593648,-1.6063323004604495,0.71338606911949],"aabb_xy":[[0.05400767087242109,-1.6185369351202215],[0.09900767135945188,-1.5941276658006776]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.43733462993309297,1.2731896002937009,0.71338606911949],"aabb_xy":[[-0.47436873936115265,1.2388123929599912],[-0.4003005205050332,1.30756680762741]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.25086376425258866,-0.8399911311323831,0.71338606911949],"aabb_xy":[[-0.2853261116507304,-0.8744850135302057],[-0.21640141685444683,-0.8054972487345603]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[0.28981351280334966,-0.5294962773086955,0.71338606911949],"aabb_xy":[[0.28046650522105443,-0.5437998995263396],[0.2991605203856449,-0.5151926550910515]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[0.4449007911378988,-1.7265288556651783,0.71338606911949],"aabb_xy":[[0.4343333114797998,-1.7370738857781867],[0.45546827079599783,-1.7159838255521696]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.5836856300104327,-0.3337829940020258,0.71338606911949],"aabb_xy":[[0.5337068215001168,-0.38378299400774457],[0.6336644385207486,-0.28378299399630696]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.022723704342330953,-1.3327391080947326,0.71338606911949],"aabb_xy":[[-0.07272370298825215,-1.3826586517541948],[0.027276294303590243,-1.28281956443527]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.1097875100310226,1.1046067124523544,0.71338606911949],"aabb_xy":[[-0.12443091558505559,1.0899479927955702],[-0.09514410447698962,1.1192654321091386]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[0.4799377107692546,1.0659141075511727,0.71338606911949],"aabb_xy":[[0.4299384356008185,1.0159141062752257],[0.5299369859376908,1.11591410882712]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.2221470017940389,0.6434772441517786,0.71338606911949],"aabb_xy":[[0.1321470052931671,0.5975656017333203],[0.3121469982949106,0.6893888865702368]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.5506475838281235,1.604857250310077,0.71338606911949],"aabb_xy":[[0.5281475840142211,1.6003826339395966],[0.5731475836420259,1.609331866680558]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.6432300565707156,1.0023272440319033,0.71338606911949],"aabb_xy":[[0.6243456728022054,0.9834413192515505],[0.6621144403392258,1.021213168812256]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.19195316730112444,0.8266155750585167,0.71338606911949],"aabb_xy":[[0.13695316812453492,0.7716259002835589],[0.2469531664777139,0.8816052498334742]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.5583349114465024,-1.5367365030049207,0.71338606911949],"aabb_xy":[[-0.6083349108866979,-1.5867044274892368],[-0.5083349120063066,-1.4867685785206042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6758592598354739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9420.png","name":"9420"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9583.png","name":"9583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/590.png","name":"590"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/537.png","name":"537"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":603.4315414145992,"rotation_z_degrees":221.54825053615716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013208669629185744,-0.0043752583792131625,-0.01723074355651546]},{"name":"camera_2","offset_m":[-0.0122105518261082,0.011405602585459761,0.014667048424596141]},{"name":"camera_3","offset_m":[-0.004295437853827255,0.004676854435685742,0.017262613140932605]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017892173444283136,-6.322686160607077e-06,-0.0004117041875286898],"end_effector_yaw_offset_degrees":0.6763247517672883},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017842580607772191,0.0016407064786970915,-0.0004916174578165524],"end_effector_yaw_offset_degrees":-0.1831776662659148},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00031590729453789997,0.001760408115698604,-0.0003129190863952239],"end_effector_yaw_offset_degrees":0.5200318919606992},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006121116703219638,-0.001891046164239147,-0.0003942817598927774],"end_effector_yaw_offset_degrees":-0.5228151001038004},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018311943633700016,-0.0014043735982460091,-0.0002508655272848866],"end_effector_yaw_offset_degrees":-0.9552260413015297},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001244625421819764,-0.0008903687571010846,0.00026294036391428296],"end_effector_yaw_offset_degrees":-0.22386893479313819}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00174950581006707,0.004375501434006388],"position_m":[0.30604950581006707,-0.026124498565993613,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002508679310413815,-0.003941507320746079],"position_m":[0.2375086793104138,-0.3775415073207461,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00411580045533218,0.002410122032145594],"position_m":[0.30161580045533215,0.3089101220321456,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004487087750619974,0.0018976868318350427],"position_m":[0.31478708775062,0.08439768683183504,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"39c01dbce6b1ba50dd35223fca8b1c14a9c4bd9a336cab856e47a39ae52d49e6","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4332/tex_ceiling_textures_537/tex_floor_textures_590/tex_table_textures_9420/tex_wall_textures_9583","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3605149165360129446,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3605149165360129446,"visual_seed":3605149165360129446,"scene_id":"lab_003","finished_at":"2026-09-08T10:36:14"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T10:36:21","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.7158571232842965,-0.5569162169556154,0.71338606911949],"aabb_xy":[[0.7070758961370603,-0.5656959642441457],[0.7246383504315329,-0.5481364696670854]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.5466894873040139,0.6479653202327982,0.71338606911949],"aabb_xy":[[-0.6106894905226516,0.6012422083337899],[-0.48268948408537593,0.6946884321318066]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.4323934935650804,-1.2668926616982095,0.71338606911949],"aabb_xy":[[0.4019092434380502,-1.3168926614797052],[0.4628777436921105,-1.2168926619167133]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.5042125964009403,-1.4540837006005667,0.71338606911949],"aabb_xy":[[0.46991568538319956,-1.4883805868105076],[0.5385095074186808,-1.419786814390625]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[-0.4571480183484059,-1.5189526042210495,0.71338606911949],"aabb_xy":[[-0.5371418419269642,-1.5989526068138908],[-0.37715419476984774,-1.4389526016282077]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.18278230263059847,1.3931433376772246,0.71338606911949],"aabb_xy":[[0.13278230319040282,1.3431754131929083],[0.23278230207079406,1.443111262161541]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.4073028119941029,1.2149125507103946,0.71338606911949],"aabb_xy":[[0.40184486635708283,1.1349125474027355],[0.41276075763112297,1.2949125540180537]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.17559762994512318,1.6951251982335296,0.71338606911949],"aabb_xy":[[-0.26528470625323863,1.605125197979079],[-0.08591055363700772,1.7851251984879801]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.6617844018333128,-0.4697020736709887,0.71338606911949],"aabb_xy":[[0.6392844020194104,-0.4741766900414694],[0.6842844016472152,-0.465227457300508]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[0.21960855242519284,-1.232571994327546,0.71338606911949],"aabb_xy":[[0.2114948977518157,-1.240677810781575],[0.2277222070985699,-1.2244661778735169]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[-0.33348896135684736,-0.5909242427548373,0.71338606911949],"aabb_xy":[[-0.38848217269398416,-0.645924243093631],[-0.2784957500197106,-0.5359242424160438]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.09029247830178921,0.5789966317368167,0.71338606911949],"aabb_xy":[[-0.15529247645770827,0.5527003871869045],[-0.025292480145870155,0.6052928762867289]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.3832302031307464,-1.7620272422370986,0.71338606911949],"aabb_xy":[[-0.4284015209789155,-1.8260272393816372],[-0.3380588852825775,-1.6980272450925604]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.18140918132589945,-2.252548474388408,0.71338606911949],"aabb_xy":[[-0.19747110878441704,-2.3375484762009995],[-0.16534725386738175,-2.167548472575816]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.4265338062056858,-1.778746956016787,0.71338606911949],"aabb_xy":[[0.4090338069275989,-1.796085056083133],[0.44403380548377264,-1.761408855950441]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[0.16090679660467422,-0.7293510433095303,0.71338606911949],"aabb_xy":[[0.15459469706833578,-0.7351179825627492],[0.16721889614101265,-0.7235841040563116]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.5195438024906818,1.3684516130891575,0.71338606911949],"aabb_xy":[[0.5019971075745628,1.3309516115249063],[0.5370904974068007,1.4059516146534088]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.06789146015103387,-2.4499517916281155,0.71338606911949],"aabb_xy":[[0.0625589454964209,-2.4552761198733513],[0.07322397480564687,-2.4446274633828797]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.47136708006895756,-1.0355637980813956,0.71338606911949],"aabb_xy":[[-0.5353670764645306,-1.0995270865001292],[-0.4073670836733844,-0.9716005096626621]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.4493774317954433,0.942437632695118,0.71338606911949],"aabb_xy":[[-0.45741376649672805,0.9343995133907012],[-0.44134109709415836,0.9504757519995347]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.6559643193696638,-2.12848194162744,0.71338606911949],"aabb_xy":[[0.6480410391309155,-2.150981941865443],[0.6638875996084121,-2.105981941389436]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.541637500962533,-0.276871222021597,0.71338606911949],"aabb_xy":[[-0.575116668223574,-0.31035033539270396],[-0.5081583337014921,-0.24339210865048996]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.17634098307144008,-0.5788358729782637,0.71338606911949],"aabb_xy":[[-0.19150385604837722,-0.5940013302733825],[-0.16117811009450303,-0.563670415683145]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.03968329021615735,-1.3780799289315848,0.71338606911949],"aabb_xy":[[-0.10368328664347926,-1.4252495527536813],[0.02431670621116455,-1.3309103051094884]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.4658389007138388,1.218802729653567,0.71338606911949],"aabb_xy":[[-0.5108389021800678,1.1738028727920864],[-0.4208388992476101,1.2638025865150477]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.12766151976749218,0.9357639694683773,0.71338606911949],"aabb_xy":[[0.06607076054349939,0.8717639713593305],[0.18925227899148503,0.9997639675774243]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_26","position":[-0.06480769622065408,0.31308718648833356,0.71338606911949],"aabb_xy":[[-0.07537517587875307,0.302542156375325],[-0.05424021656255505,0.3236322166013421]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[0.14705759247045447,-1.985733481794601,0.71338606911949],"aabb_xy":[[0.12455759195841384,-2.0082253401599983],[0.16955759298249504,-1.963241623429202]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[0.48428935843732535,0.44998944035966115,0.71338606911949],"aabb_xy":[[0.404289357364205,0.44021139402227666],[0.5642893595104457,0.45976748669704554]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[-0.0047997780489524855,-1.539452950111716,0.71338606911949],"aabb_xy":[[-0.03479144078282281,-1.5694529494485163],[0.025191884684917842,-1.5094529507749153]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[0.5141794771468231,-2.0791775279231035,0.71338606911949],"aabb_xy":[[0.46809438589209157,-2.143177525175658],[0.5602645684015545,-2.015177530670548]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6756886738533829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8843.png","name":"8843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8843.png","name":"8843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3814.png","name":"3814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/511.png","name":"511"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5450.png","name":"5450"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/783.png","name":"783"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":567.8830919627785,"rotation_z_degrees":13.769049115194868,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005529978318191339,-0.0019594125252840704,0.012614767964751573]},{"name":"camera_2","offset_m":[-0.010583605040339217,-0.0024987586041995725,0.007996102517970387]},{"name":"camera_3","offset_m":[-0.005956229444086979,0.012989924491535406,-0.005953238384081315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007670022804329695,1.8295533229123386e-05,0.0016766213649399286],"end_effector_yaw_offset_degrees":0.13839520077716316},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001864485401032468,-0.0009233598587789688,-0.0017904210132992033],"end_effector_yaw_offset_degrees":0.9574574013109092},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001428382730354488,0.00019271693919990134,-0.0009208628217138117],"end_effector_yaw_offset_degrees":0.9627033617839476},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0006792037842535121,-0.0006740109906732247,0.0015067414928742256],"end_effector_yaw_offset_degrees":-0.5489340878644788},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-1.9591740256378123e-05,-0.0009374524944021937,0.0002852969248067212],"end_effector_yaw_offset_degrees":-0.4106053543627288},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00043117357309854646,-0.0018043483614315142,0.0013373142714796847],"end_effector_yaw_offset_degrees":-0.19683509199491334}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006078266305644649,-0.0027666972037195827],"position_m":[0.30369217336943555,-0.03326669720371958,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004497472954833367,-0.0006638132860455181],"position_m":[0.23949747295483334,-0.3742638132860455,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0024633578379104513,-0.0002498448861021187],"position_m":[0.29996335783791045,0.30625015511389786,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017668494742446926,0.0021544499895307977],"position_m":[0.3085331505257553,0.0846544499895308,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"99b8c8cdac9174ca8467f70753a3ee5baeee1f29141dfebc1cab78cd119345a9","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8843/tex_ceiling_textures_783/tex_floor_textures_5450/tex_table_textures_3814/tex_wall_textures_511","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1285724992889841832,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1285724992889841832,"visual_seed":1285724992889841832,"scene_id":"lab_003","finished_at":"2026-09-08T10:45:58"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T10:46:05","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.7104892970912215,-0.9369527946815761,0.71338606911949],"aabb_xy":[[0.6986172140797204,-1.0219527943752262],[0.7223613801027227,-0.8519527949879256]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[-0.5696027596383133,0.5808216419068644,0.71338606911949],"aabb_xy":[[-0.5784048149472859,0.5730103157519352],[-0.5608007043293405,0.5886329680617933]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.6272586114221997,-2.2675060716586746,0.71338606911949],"aabb_xy":[[-0.6380315853435675,-2.3025060698777136],[-0.616485637500832,-2.2325060734396356]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.284017397001116,-2.5580704556435188,0.71338606911949],"aabb_xy":[[-0.3015173972604527,-2.5721619978322914],[-0.26651739674177943,-2.543978913454746]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.4818765485670248,-0.1287210664468117,0.71338606911949],"aabb_xy":[[-0.5189106579950844,-0.1630982737805211],[-0.444842439138965,-0.09434385911310222]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.43042544241499026,0.17606793662609244,0.71338606911949],"aabb_xy":[[0.3954254441042948,0.1683529217025468],[0.4654254407256857,0.18378295154963808]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[0.644181227580062,-2.2332891735494234,0.71338606911949],"aabb_xy":[[0.5801812302777155,-2.27765560051728],[0.7081812248824083,-2.1889227465815666]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.5715034629071118,-1.5425726733982454,0.71338606911949],"aabb_xy":[[-0.6355034593026848,-1.606535961816979],[-0.5075034665115387,-1.4786093849795119]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.6101504753074929,-1.8458297590970012,0.71338606911949],"aabb_xy":[[0.5301504779038994,-1.925822330295184],[0.6901504727110862,-1.7658371878988184]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.33697097006204046,-1.4531711231043336,0.71338606911949],"aabb_xy":[[0.3194710366280571,-1.470671123024568],[0.35447090349602384,-1.4356711231840988]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.21147393433620837,-1.52448857717463,0.71338606911949],"aabb_xy":[[-0.27547393162185707,-1.565995296127474],[-0.14747393705055975,-1.482981858221786]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.3679012183427192,-1.9612394247648441,0.71338606911949],"aabb_xy":[[-0.3732387940087238,-1.986239425693984],[-0.36256364267671465,-1.9362394238357044]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.3752930127750861,0.9197924279043415,0.71338606911949],"aabb_xy":[[-0.4213781040298175,0.8557924306517863],[-0.32920792152035455,0.9837924251568966]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.11751034623671652,1.4726726705349775,0.71338606911949],"aabb_xy":[[0.02751034390269745,1.395190315949865],[0.20751034857073558,1.5501550251200904]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[0.28382155977823653,-1.302318742989771,0.71338606911949],"aabb_xy":[[0.23669218077640075,-1.3663187440341729],[0.3309509387800721,-1.238318741945369]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[-0.5759497596158545,1.5711680248133022,0.71338606911949],"aabb_xy":[[-0.5793904358559117,1.5673065918389382],[-0.5725090833757973,1.5750294577876671]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[-0.17432679047141253,1.501767488780874,0.71338606911949],"aabb_xy":[[-0.23832678758351822,1.4527351189864637],[-0.11032679335930684,1.550799858575285]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.3358645662417043,0.5617493462831815,0.71338606911949],"aabb_xy":[[-0.36037819033871016,0.5374847529811452],[-0.31135094214469844,0.5860139395852181]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.09248505328624068,0.2134948784620021,0.71338606911949],"aabb_xy":[[-0.15648505496423804,0.16497748698268785],[-0.028485051608243328,0.2620122699413163]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.3519372851829948,1.5742452836724596,0.71338606911949],"aabb_xy":[[-0.411937285779011,1.5194328111272364],[-0.29193728458697865,1.6290577562176833]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.626099585649573,-0.9031548525180688,0.71338606911949],"aabb_xy":[[-0.6688662925289932,-0.9671548559398713],[-0.5833328787701528,-0.8391548490962664]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.16234233243843643,-0.5832757213091098,0.71338606911949],"aabb_xy":[[0.1544190521996881,-0.605775721547113],[0.17026561267718476,-0.5607757210711063]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[-0.5005320440831802,-0.6703037440741502,0.71338606911949],"aabb_xy":[[-0.5805258676617384,-0.7503037466669917],[-0.420538220504622,-0.5903037414813086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6765533254596927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9132.png","name":"9132"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9132.png","name":"9132"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9212.png","name":"9212"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2468.png","name":"2468"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/810.png","name":"810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4852.png","name":"4852"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":837.6117208170749,"rotation_z_degrees":303.5875877658463,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01418670906680946,0.01697569302052793,-0.01358374948303745]},{"name":"camera_2","offset_m":[-0.006820277858388488,-0.012548321314346723,0.014918898851929218]},{"name":"camera_3","offset_m":[0.007750176294983823,0.009842438809873556,0.016554170950626595]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008365510303165375,-0.00010640101537961848,0.0010478319357336702],"end_effector_yaw_offset_degrees":0.3125057295688187},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013669363616190464,-3.673585659469793e-05,-0.0009040372991551311],"end_effector_yaw_offset_degrees":-0.8484249977823108},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003207042658502383,0.0013283817722709156,0.0013207849484528863],"end_effector_yaw_offset_degrees":-0.9500468196810037},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019519536731542105,-0.0012651382002327645,-0.0013255232511747077],"end_effector_yaw_offset_degrees":-0.575501854122966},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001039995871390892,-0.0011641263215941043,0.0013062086150496654],"end_effector_yaw_offset_degrees":0.14495701368102631},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000917213986571833,0.0006833200793672145,-0.0007124609787116732],"end_effector_yaw_offset_degrees":-0.11046100156046101}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002198812645687608,0.0032150873473369415],"position_m":[0.3064988126456876,-0.027284912652663057,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035968773202009136,-0.0035671318578024717],"position_m":[0.2385968773202009,-0.3771671318578025,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0018998732582761035,-0.001333894609953752],"position_m":[0.2993998732582761,0.30516610539004624,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00255507836154062,0.0006204691803849381],"position_m":[0.31285507836154064,0.08312046918038495,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"307079497c0414d9d7679498f6f3dcbfee8d47b3770dcfcf0a2907ddf90c1a5e","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9132/tex_ceiling_textures_4852/tex_floor_textures_810/tex_table_textures_9212/tex_wall_textures_2468","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":7960582149102445061,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":7960582149102445061,"visual_seed":7960582149102445061,"scene_id":"lab_003","finished_at":"2026-09-08T10:54:04"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T10:54:13","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[-0.3451884660783167,-0.19750804394611832,0.71338606911949],"aabb_xy":[[-0.35712120044014484,-0.20989019675397771],[-0.3332557317164887,-0.18512589113825897]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.4881389243222927,0.6438578479037242,0.71338606911949],"aabb_xy":[[-0.5381381994907288,0.5938578466277772],[-0.43813964915385656,0.6938578491796715]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.5726981629048497,1.6887929819049643,0.71338606911949],"aabb_xy":[[-0.6623852392129651,1.5987929816505138],[-0.4830110865967342,1.7787929821594148]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[0.002222214343372775,0.898668447990759,0.71338606911949],"aabb_xy":[[-0.01288008711764532,0.8835669263596969],[0.01732451580439087,0.9137699696218206]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.22747884121968692,1.558971475223982,0.71338606911949],"aabb_xy":[[-0.29147884262767754,1.5071825237000573],[-0.16347883981169625,1.6107604267479068]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[0.5476357766416153,-2.3839055995129055,0.71338606911949],"aabb_xy":[[0.4826357780845425,-2.413658132926788],[0.6126357751986882,-2.354153066099023]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.2649251143773854,1.262944164553491,0.71338606911949],"aabb_xy":[[-0.2862031225208577,1.1979441622274176],[-0.24364710623391322,1.3279441668795637]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.08548871702777971,0.48743677106166006,0.71338606911949],"aabb_xy":[[-0.11048871619341281,0.4804845253563035],[-0.06048871786214659,0.49438901676701663]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.23251260972729026,-2.4674790871534844,0.71338606911949],"aabb_xy":[[0.16851260643758212,-2.510814006157402],[0.2965126130169983,-2.424144168149567]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.5180590359801847,0.27964151048582453,0.71338606911949],"aabb_xy":[[0.5054322486929882,0.2700954367842516],[0.5306858232673809,0.2891875841873974]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[-0.06408974230678488,-2.516044652760316,0.71338606911949],"aabb_xy":[[-0.09786530149747785,-2.530083147973481],[-0.03031418311609191,-2.502006157547151]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.437161123643134,1.3739342610657057,0.71338606911949],"aabb_xy":[[-0.5171611247162542,1.3641562147283213],[-0.3571611225700136,1.3837123074030901]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.5429118501137604,-0.987268278794881,0.71338606911949],"aabb_xy":[[0.5054118489289675,-0.9916865014909414],[0.5804118512985531,-0.9828500560988204]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.63905484937198,-1.6255061668527593,0.71338606911949],"aabb_xy":[[-0.6483484676091305,-1.663006165340893],[-0.6297612311348293,-1.5880061683646252]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_14","position":[-0.18150544924614376,-1.762018577874335,0.71338606911949],"aabb_xy":[[-0.2286348282479794,-1.8260185789187364],[-0.13437607024430806,-1.6980185768299325]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.23905998380561588,0.2006610287347561,0.71338606911949],"aabb_xy":[[-0.3030599811079623,0.15629460176689935],[-0.17505998650326945,0.24502745570261286]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.43767982559234003,-1.6943018561964842,0.71338606911949],"aabb_xy":[[-0.5176798288501829,-1.774298363988468],[-0.3576798223344971,-1.6143053484045]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.2688746602428203,-1.525507744669163,0.71338606911949],"aabb_xy":[[-0.3013363611247477,-1.555640576784065],[-0.23641295936089282,-1.49537491255426]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[0.38393554833996535,0.9175135235262171,0.71338606911949],"aabb_xy":[[0.36176302136331445,0.8953378563700938],[0.4061080753166161,0.9396891906823401]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.4359766871327317,-2.3970282903558404,0.71338606911949],"aabb_xy":[[-0.49997668352830477,-2.460991578774574],[-0.3719766907371586,-2.333065001937107]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.48852368608711183,-0.358731483512424,0.71338606911949],"aabb_xy":[[0.46941137872913297,-0.37786626238966603],[0.5076359934450907,-0.339596704635182]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.5856903582695754,-1.874579742610222,0.71338606911949],"aabb_xy":[[0.5356972461603836,-1.9245797432844178],[0.6356834703787674,-1.8245797419360266]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.4044242707162891,-0.3260970165675863,0.71338606911949],"aabb_xy":[[-0.4330736030767053,-0.354742575844662],[-0.37577493835587283,-0.2974514572905104]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.609368070978109,1.4190462677732962,0.71338606911949],"aabb_xy":[[-0.6130713323072478,1.4153442494645783],[-0.60566480964897,1.4227482860820138]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689558672697882,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6803.png","name":"6803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6791.png","name":"6791"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5289.png","name":"5289"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.1620475356654,"rotation_z_degrees":18.2942804607329,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013769321028009839,0.004018001599870154,0.012962235049822527]},{"name":"camera_2","offset_m":[-0.017630575504749828,-0.012719569567012031,0.0005681496470463891]},{"name":"camera_3","offset_m":[-0.0071137745540372065,-0.018896166401052496,0.004553053388736163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014446854546045326,-0.0002537526598304031,7.239815141533426e-05],"end_effector_yaw_offset_degrees":0.521823048770587},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008467458564926323,-0.0015740444097448348,0.0010288364349707482],"end_effector_yaw_offset_degrees":-0.40555117537477403},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011642306070145428,0.0012107554598857775,0.001145996907822649],"end_effector_yaw_offset_degrees":-0.7802510300068206},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018693688303798705,0.0019733463364102624,-0.0009708809216490799],"end_effector_yaw_offset_degrees":0.9875696892462367},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00025731617063309386,0.0006203099402702036,-0.0016087259598888393],"end_effector_yaw_offset_degrees":0.15619668467528625},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00013490372795872023,-0.001372731997669621,-0.0008153590713145312],"end_effector_yaw_offset_degrees":-0.5703452285537383}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032879024639479214,0.0022868829446822123],"position_m":[0.30758790246394796,-0.028213117055317788,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012063931250977634,0.0029178610949781416],"position_m":[0.23379360687490222,-0.37068213890502183,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0014933025770241812,-0.0025792340796210967],"position_m":[0.29899330257702417,0.3039207659203789,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016961949669099963,0.004115936672372704],"position_m":[0.30860380503309004,0.0866159366723727,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"512951785c3e304ca86083a062012bb714405fbf67889d94d296bbd6fcb831fe","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7064/tex_ceiling_textures_5289/tex_floor_textures_560/tex_table_textures_6803/tex_wall_textures_6791","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2280845442362322852,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2280845442362322852,"visual_seed":2280845442362322852,"scene_id":"lab_003","finished_at":"2026-09-08T11:03:32"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T11:03:40","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.12001123057535079,1.5481241904941174,0.71338606911949],"aabb_xy":[[0.10685998460406144,1.523124190737431],[0.13316247654664015,1.5731241902508042]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.5253367205256904,1.6111813122836511,0.71338606911949],"aabb_xy":[[-0.5326190369023538,1.521181308674142],[-0.5180544041490265,1.70118131589316]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.5209455461653734,0.5330410737865594,0.71338606911949],"aabb_xy":[[0.48594554789525335,0.5259669460915712],[0.5559455444354932,0.5401152014815476]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[0.5408838545316028,-1.783376524235253,0.71338606911949],"aabb_xy":[[0.4768838541540693,-1.833121791086065],[0.6048838549091365,-1.7336312573844406]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.6153717063660115,1.7589187738390417,0.71338606911949],"aabb_xy":[[-0.6328717055003786,1.7490391468014537],[-0.5978717072316443,1.7687984008766293]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[0.15502210458387844,1.7439115569866286,0.71338606911949],"aabb_xy":[[0.10721593697010975,1.6789115542795692],[0.20282827219764704,1.808911559693687]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.6448871281458102,-0.8862758734194325,0.71338606911949],"aabb_xy":[[0.613740209302227,-0.9562758721062394],[0.6760340469893932,-0.8162758747326251]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.6895717543137678,0.07126414065453535,0.71338606911949],"aabb_xy":[[0.6761252276797246,0.05779428900144412],[0.7030182809478113,0.08473399230762657]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.3584403752415716,-0.5028583373845197,0.71338606911949],"aabb_xy":[[-0.41343585306223096,-0.5578583388184266],[-0.3034448974209122,-0.44785833595061275]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.2586950489894136,-0.630301393371238,0.71338606911949],"aabb_xy":[[-0.2627732068964633,-0.6343823736195013],[-0.2546168910823638,-0.6262204131229747]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.5090325140605405,-1.6484641751239368,0.71338606911949],"aabb_xy":[[-0.5890325143341474,-1.7214137229496536],[-0.42903251378693347,-1.5755146272982201]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.20293925301021065,-2.0233466392717467,0.71338606911949],"aabb_xy":[[0.18592915572015997,-2.0394811277700207],[0.21994935030026128,-2.007212150773473]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.6664060316586783,-2.247683630864748,0.71338606911949],"aabb_xy":[[-0.6744000202363817,-2.2556837109598376],[-0.6584120430809749,-2.2396835507696573]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.44833572185237264,-1.053837590400627,0.71338606911949],"aabb_xy":[[-0.4543727348530375,-1.0598642914695755],[-0.442298708851708,-1.0478108893316789]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.17444988870197786,0.03931187253931734,0.71338606911949],"aabb_xy":[[-0.18374350693912841,0.0018118740511834375],[-0.16515627046482725,0.07681187102745124]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.6032055967607969,0.7633348485076752,0.71338606911949],"aabb_xy":[[-0.6682055949167159,0.737038603957763],[-0.5382055986048778,0.7896310930575874]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.37076401495296185,-2.0610969417135507,0.71338606911949],"aabb_xy":[[-0.40453957414365477,-2.0751354369267156],[-0.3369884557622688,-2.047058446500386]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.24781056527117945,-1.0962826892300643,0.71338606911949],"aabb_xy":[[-0.2558040550664615,-1.1042808211705402],[-0.23981707547589742,-1.088284557289589]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[0.3135588793242077,-0.6587795353320924,0.71338606911949],"aabb_xy":[[0.2637420998593729,-0.7087795338163958],[0.36337565878904243,-0.6087795368477891]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[-0.016297157864661016,-2.0158199065774647,0.71338606911949],"aabb_xy":[[-0.06629715881519382,-2.047369053580986],[0.03370284308587179,-1.9842707595739433]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.14314787177759247,-2.3964209491786965,0.71338606911949],"aabb_xy":[[0.1390120154448923,-2.433920948623054],[0.1472837281102927,-2.35892094973434]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.6192611765617382,1.0655029163752423,0.71338606911949],"aabb_xy":[[0.6119999289913308,1.0527159061117328],[0.6265224241321458,1.0782899266387518]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.300928854160216,-2.335494905422267,0.71338606911949],"aabb_xy":[[-0.33592885413671186,-2.344959521469884],[-0.2659288541837202,-2.326030289374651]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[0.07782218679577624,-0.81666082082967,0.71338606911949],"aabb_xy":[[0.007822184664346685,-0.8394227864553655],[0.14782218892720578,-0.7938988552039742]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.20841828194486267,0.5771993581246897,0.71338606911949],"aabb_xy":[[0.1384182785533007,0.5418835844212586],[0.27841828533642465,0.6125151318281203]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[-0.5739698701902298,1.4259967112274592,0.71338606911949],"aabb_xy":[[-0.5989698694621921,1.4096513476312966],[-0.5489698709182675,1.4423420748236213]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.08136020175680803,-0.29172350042264217,0.71338606911949],"aabb_xy":[[-0.1613602039195705,-0.37167868404878573],[-0.0013601995940455275,-0.2117683167964985]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[0.06626194580588274,-1.6532747876932854,0.71338606911949],"aabb_xy":[[0.04376552437201864,-1.6757747875000328],[0.08875836723974684,-1.630774787886538]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[-0.08496933488191494,1.682083754479668,0.71338606911949],"aabb_xy":[[-0.12181988281890255,1.6445837536566343],[-0.04811878694492733,1.7195837553027018]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732471264464002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1926.png","name":"1926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1926.png","name":"1926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8113.png","name":"8113"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4419.png","name":"4419"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5021.png","name":"5021"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":839.8441351443016,"rotation_z_degrees":238.98454604121952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00034835410057099114,0.009549167695118314,0.0033799621723971697]},{"name":"camera_2","offset_m":[-0.019180626387147785,-0.010501111354180095,0.011810668438261531]},{"name":"camera_3","offset_m":[0.0075962565871873534,0.0008717501756907546,0.016965768537386575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005947057845056862,-0.0017676225256654764,-0.00040385224531815393],"end_effector_yaw_offset_degrees":-0.3502035643132404},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028448001325702367,0.0014986253058968573,-0.0008703035967424801],"end_effector_yaw_offset_degrees":0.25739169610516743},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.59335297359784e-05,-0.0002761915480787671,-0.001574196950659564],"end_effector_yaw_offset_degrees":-0.41424650319896505},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010197403034736352,0.0008340136665260464,-0.00035751299630613215],"end_effector_yaw_offset_degrees":-0.5192577771102287},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012256744942776136,-0.0004630265929061758,-0.0013853979149775503],"end_effector_yaw_offset_degrees":-0.40586191152253326},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017227143723876441,-0.0013702831784578047,0.0011031600490808502],"end_effector_yaw_offset_degrees":-0.19293237884715708}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001358650913293953,-0.00035586999228087984],"position_m":[0.30565865091329397,-0.03085586999228088,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016906473619882345,-0.00047226900327566705],"position_m":[0.23669064736198822,-0.37407226900327567,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0027148173426716606,0.0007014313105005669],"position_m":[0.29478518265732834,0.30720143131050054,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003308740104931482,0.003602060403428988],"position_m":[0.3136087401049315,0.08610206040342899,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"59a7b664e640fc1f7bd60e8a643af65f143403bd93e67e20a2aaa8aaae6c8bd0","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1926/tex_ceiling_textures_5021/tex_floor_textures_6580/tex_table_textures_8113/tex_wall_textures_4419","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":9024170719946405500,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":9024170719946405500,"visual_seed":9024170719946405500,"scene_id":"lab_003","finished_at":"2026-09-08T11:11:23"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T11:11:31","dimensions":{"distractor":{"count":35,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.37811149945509853,-0.16990548881132295,0.71338606911949],"aabb_xy":[[-0.4013933416532299,-0.25490549010855096],[-0.3548296572569672,-0.08490548751409487]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.31400108348128164,1.353811738181959,0.71338606911949],"aabb_xy":[[0.22400108488681175,1.3375611518685382],[0.40400108207575164,1.3700623244953802]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.5130573457798888,-0.5517074760993967,0.71338606911949],"aabb_xy":[[0.4757260692546462,-0.5863605308942491],[0.5503886223051314,-0.5170544213045446]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.593412500827325,1.5334611283691042,0.71338606911949],"aabb_xy":[[0.5773505733688072,1.4484611265565122],[0.6094744282858425,1.6184611301816958]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[-0.16448366762103805,0.22929266389561986,0.71338606911949],"aabb_xy":[[-0.20127830074594433,0.1923867887990376],[-0.12768903449613178,0.26619853899220214]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.2591040916707742,-2.3288547809484577,0.71338606911949],"aabb_xy":[[0.250976403477461,-2.3377683893591654],[0.2672317798640874,-2.31994117253775]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[-0.3311808234701696,1.5141036078020078,0.71338606911949],"aabb_xy":[[-0.3661808234466654,1.504638991754391],[-0.29618082349367375,1.5235682238496242]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.44117226515656127,1.0466974799971172,0.71338606911949],"aabb_xy":[[0.4186731294303343,1.024197479218854],[0.46367140088278824,1.06919748077538]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.04395501729496687,-0.9046732077725801,0.71338606911949],"aabb_xy":[[-0.054860793382529575,-0.9846732041714091],[-0.03304924120740415,-0.8246732113737508]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.3991326255979335,-2.0244820871718536,0.71338606911949],"aabb_xy":[[0.39517214182819915,-2.0321499517573747],[0.40309310936766785,-2.0168142225863335]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.33268339692236526,0.8067164580079367,0.71338606911949],"aabb_xy":[[-0.3739879399861012,0.7427164584398196],[-0.2913788538586292,0.8707164575760538]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.47056893858791127,-0.13871507136554362,0.71338606911949],"aabb_xy":[[0.45741769261662196,-0.1637150711222302],[0.4837201845592007,-0.1137150716088571]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.5982327613760499,-2.284716980898041,0.71338606911949],"aabb_xy":[[-0.6325490385506678,-2.3347169808712183],[-0.5639164842014319,-2.234716980924863]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.41313126729968797,0.28212174642313936,0.71338606911949],"aabb_xy":[[-0.44657144249570757,0.24867812059220926],[-0.37969109210366836,0.3155653722540694]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.6690777754446628,-1.6312974235334106,0.71338606911949],"aabb_xy":[[0.6195973542307042,-1.6952974214462624],[0.7185581966586218,-1.5672974256205587]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.04979869738819498,1.6710700360590915,0.71338606911949],"aabb_xy":[[-0.08479869658101324,1.660102990061429],[-0.014798698195376707,1.682037082056754]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.383060063117068,1.6605513908758769,0.71338606911949],"aabb_xy":[[0.375033792486442,1.6517998958985245],[0.39108633374769397,1.6693028858532297]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.35130604495153406,-2.314262851314382,0.71338606911949],"aabb_xy":[[-0.42130604676027944,-2.335616620078569],[-0.28130604314278856,-2.292909082550194]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.30508420915061696,1.6304554328308138,0.71338606911949],"aabb_xy":[[-0.32251492422962336,1.6131833181669628],[-0.28765349407161034,1.6477275474946644]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.10715599296287259,1.2084840563126829,0.71338606911949],"aabb_xy":[[0.052163742327361665,1.1534840545693703],[0.16214824359838356,1.2634840580559958]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.34423774932792495,-1.987114583355564,0.71338606911949],"aabb_xy":[[-0.36923774887966343,-1.9972570672206984],[-0.31923774977618646,-1.976972099490429]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[0.08397583403581987,-2.351032556890619,0.71338606911949],"aabb_xy":[[0.06696573674576922,-2.3671670453888924],[0.10098593132587053,-2.3348980683923446]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.5314543959752949,-1.3161986358539766,0.71338606911949],"aabb_xy":[[0.46986363675130216,-1.3801986339630237],[0.5930451551992878,-1.25219863774493]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.1580997666107259,-1.1772678616100003,0.71338606911949],"aabb_xy":[[-0.16580295728480293,-1.1849772323087384],[-0.15039657593664885,-1.1695584909112622]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.25811259877719506,-2.1307109405132256,0.71338606911949],"aabb_xy":[[-0.2816977222410899,-2.195710942758658],[-0.2345274753133002,-2.0657109382677943]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[-0.36147527023765746,-0.49675995439112874,0.71338606911949],"aabb_xy":[[-0.3708222778199527,-0.5110635766087728],[-0.35212826265536223,-0.4824563321734847]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[0.14215753172070256,-0.9846441858616615,0.71338606911949],"aabb_xy":[[0.1365758600865738,-0.997144185679437],[0.14773920335483132,-0.972144186043886]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[-0.34697641563886966,-1.3314098149952112,0.71338606911949],"aabb_xy":[[-0.4069764161467226,-1.3882565486811325],[-0.28697641513101674,-1.2745630813092899]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[0.6912244852764191,1.3728486139158758,0.71338606911949],"aabb_xy":[[0.6865893701241856,1.3689812788387268],[0.6958596004286524,1.3767159489930243]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[-0.16512219223849156,1.021847328365049,0.71338606911949],"aabb_xy":[[-0.19560644236552174,0.9718473285835532],[-0.13463794211146143,1.071847328146545]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[0.4400246159894985,1.611074184582645,0.71338606911949],"aabb_xy":[[0.4346921013348855,1.6057498563374097],[0.4453571306441115,1.6163985128278808]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_31","position":[0.6121516087228476,-0.9037068669067865,0.71338606911949],"aabb_xy":[[0.5481516055042097,-0.9504299788057947],[0.6761516119414854,-0.856983755007778]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_32","position":[-0.18963138260484647,0.8747104508444328,0.71338606911949],"aabb_xy":[[-0.1961330191128511,0.8649426288181231],[-0.18312974609684185,0.8844782728707427]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_33","position":[0.278839094104277,0.9423920422502792,0.71338606911949],"aabb_xy":[[0.21483909081456884,0.8990571232463614],[0.34283909739398505,0.9857269612541967]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_34","position":[0.29323854807213834,-2.390666168080496,0.71338606911949],"aabb_xy":[[0.2789041229459749,-2.402726383635035],[0.3075729731983018,-2.378605952525957]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661471575818114,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2146.png","name":"2146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2146.png","name":"2146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9526.png","name":"9526"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6863.png","name":"6863"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9421.png","name":"9421"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6966.png","name":"6966"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":502.89557732606613,"rotation_z_degrees":67.22170833301998,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008902070430623056,0.010437429965632947,-0.001546326925184159]},{"name":"camera_2","offset_m":[0.011682361904519833,-0.019923734611520638,-0.005814024689491716]},{"name":"camera_3","offset_m":[-0.019349772699845995,-0.005973201035298952,0.016901830299430053]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011618664792444667,0.0003061126117751599,0.0005599860825868277],"end_effector_yaw_offset_degrees":-0.8193955223653409},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00061799387694432,0.0009125345737673787,0.0007360646538269],"end_effector_yaw_offset_degrees":-0.97851910421545},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016398774439740685,0.0007382382439594312,-0.0008375835373849569],"end_effector_yaw_offset_degrees":0.7804561726009958},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018327619566840445,0.0009918393806170067,-0.00010972904436116907],"end_effector_yaw_offset_degrees":0.3354457214837163},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0007611369113545373,0.0012427458124501132,0.0011527395083794196],"end_effector_yaw_offset_degrees":-0.08828702830411328},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008974791916230673,-0.0015717313682986696,-0.0016678832007604267],"end_effector_yaw_offset_degrees":0.347319081614204}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020032976179090636,0.00018372484881973034],"position_m":[0.3063032976179091,-0.03031627515118027,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034143923280124935,0.004669697945805852],"position_m":[0.2315856076719875,-0.36893030205419414,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00263363286165475,0.00469108698890388],"position_m":[0.29486636713834524,0.31119108698890385,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00023794758271300162,-0.004059150550153268],"position_m":[0.310537947582713,0.07844084944984674,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"182eb154bc02882d8b62ff52be3fdddfc1ffc1f335e71d560628cb8d6bd0db70","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2146/tex_ceiling_textures_6966/tex_floor_textures_9421/tex_table_textures_9526/tex_wall_textures_6863","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3530604723975870817,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3530604723975870817,"visual_seed":3530604723975870817,"scene_id":"lab_003","finished_at":"2026-09-08T11:20:39"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T11:20:49","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[0.0766957107840911,-1.6390723959044973,0.71338606911949],"aabb_xy":[[0.07179641847752759,-1.6667493152070658],[0.08159500309065458,-1.6113954766019283]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.24724168183425987,1.289958882419981,0.71338606911949],"aabb_xy":[[-0.30883244105825275,1.2259588843109344],[-0.1856509226102671,1.3539588805290281]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.0010096202202048987,-2.42065182489803,0.71338606911949],"aabb_xy":[[-0.06299038145779245,-2.469169216377345],[0.06500962189820225,-2.3721344334187164]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.20597671110737814,-0.9491772380462453,0.71338606911949],"aabb_xy":[[0.18346301928392092,-1.0191772386472526],[0.2284904029308353,-0.8791772374452377]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.6291457239335438,1.354054777503496,0.71338606911949],"aabb_xy":[[-0.6666457237505774,1.3494165661923538],[-0.5916457241165103,1.3586929888146375]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.5027971324849312,-1.1915204550153609,0.71338606911949],"aabb_xy":[[-0.5179600054618684,-1.2066859123104798],[-0.4876342595079942,-1.1763549977202423]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.20566245303000213,0.17080431887985936,0.71338606911949],"aabb_xy":[[-0.2138769981456861,0.16212772858221805],[-0.19744790791431813,0.17948090917750062]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.009060899434272018,0.7858079969810228,0.71338606911949],"aabb_xy":[[0.004982741527222277,0.7817270167327595],[0.013139057341321756,0.7898889772292861]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.45811980922915596,-1.5513485198152754,0.71338606911949],"aabb_xy":[[-0.48334064608899563,-1.576572270668162],[-0.4328989723693163,-1.5261247689623885]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.5888743185111387,-0.9404802787442081,0.71338606911949],"aabb_xy":[[-0.668874315670714,-0.9520278797020252],[-0.5088743213515634,-0.9289326777863911]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.0008251107268746338,1.5255530317494217,0.71338606911949],"aabb_xy":[[-0.036454266626834375,1.4899203649925687],[0.03480404517308511,1.5611856985062746]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.4045007109045613,0.4709458367947148,0.71338606911949],"aabb_xy":[[0.391349464933272,0.44594583703802837],[0.4176519568758507,0.49594583655140145]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.016399465288490345,1.7262559428103903,0.71338606911949],"aabb_xy":[[-0.080399466696481,1.6744669912864654],[0.04760053611950032,1.7780448943343148]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.33012894718503816,1.3823267733667577,0.71338606911949],"aabb_xy":[[0.2661332497899416,1.318326775066049],[0.39412464458013474,1.4463267716674664]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[-0.19745365936054027,1.450488929167466,0.71338606911949],"aabb_xy":[[-0.21565948302178795,1.4394635285854747],[-0.1792478356992926,1.461514329749458]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.10425380910489768,-1.9231299318235888,0.71338606911949],"aabb_xy":[[-0.11224729890017972,-1.9311280637640647],[-0.09626031930961566,-1.9151317998831134]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.3681226770512213,-2.2563476608944493,0.71338606911949],"aabb_xy":[[-0.37255330640606155,-2.2617960326291318],[-0.3636920476963812,-2.250899289159767]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[-0.5203136998495742,0.32432509282658817,0.71338606911949],"aabb_xy":[[-0.5553136981602695,0.3166100779030425],[-0.48531370153887865,0.3320401077501338]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.47665227454576575,1.0772551379553956,0.71338606911949],"aabb_xy":[[0.3966522712817527,1.063695105646482],[0.5566522778097789,1.0908151702643087]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.42204402421594445,-1.7320929688325784,0.71338606911949],"aabb_xy":[[0.37687270636777553,-1.796092965977117],[0.46721534206411347,-1.6680929716880402]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.3144227579032943,0.6699081841682704,0.71338606911949],"aabb_xy":[[0.2969227587689271,0.6600285571306823],[0.33192275703766144,0.679787811205858]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.4912635624172589,-0.8163071588527302,0.71338606911949],"aabb_xy":[[-0.5257260404303467,-0.8229708360356529],[-0.4568010844041711,-0.8096434816698073]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.15499267023473207,1.0583817215722888,0.71338606911949],"aabb_xy":[[0.14795121928398447,1.0513549698344944],[0.16203412118547966,1.0654084733100833]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_23","position":[-0.4140677770723969,0.15037718041027537,0.71338606911949],"aabb_xy":[[-0.4292399463540303,0.135208323482072],[-0.3988956077907636,0.16554603733847872]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.2838306620494844,1.6758948310813104,0.71338606911949],"aabb_xy":[[-0.33380947055980026,1.6258948310755916],[-0.23385185353916849,1.7258948310870292]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.33100574099459834,1.0757813240064276,0.71338606911949],"aabb_xy":[[0.3085409710231932,1.0532813231275668],[0.35347051096600346,1.0982813248852878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6748282195828775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3062.png","name":"3062"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3062.png","name":"3062"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3471.png","name":"3471"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2339.png","name":"2339"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4165.png","name":"4165"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2764.png","name":"2764"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":652.6168877011588,"rotation_z_degrees":118.44585508504855,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032431445317977967,0.01608413387589158,0.017160602185732846]},{"name":"camera_2","offset_m":[-0.008860644032133469,-0.01154722342155898,-0.01447706625443269]},{"name":"camera_3","offset_m":[-0.007861154644944426,-0.0035051701212300314,0.019250890106153207]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005520424961159786,-0.0008028442609919022,-9.990157376534503e-05],"end_effector_yaw_offset_degrees":0.6384852476678373},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016051780514552147,-0.0017927898187142391,-0.0010983824256230405],"end_effector_yaw_offset_degrees":0.17905420572381714},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001396403391556133,0.0006050352016776098,-0.0011096058302119047],"end_effector_yaw_offset_degrees":-0.6046121431379334},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010421574332545292,-9.419688253876272e-05,0.0006199529720401576],"end_effector_yaw_offset_degrees":-0.41774480684012727},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016782081081123958,0.0005973098563854988,4.634626743673471e-05],"end_effector_yaw_offset_degrees":-0.5529145550049879},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001866826060162126,1.909135073933834e-05,0.0007288169474857671],"end_effector_yaw_offset_degrees":0.1689835512177793}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012602968935475209,0.00250069968163509],"position_m":[0.3055602968935475,-0.02799930031836491,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002809308291748719,-0.0016437515230246515],"position_m":[0.2378093082917487,-0.37524375152302464,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004151703935164465,-0.0007590490880561053],"position_m":[0.29334829606483553,0.30574095091194387,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002247485998627675,0.0004261075466967454],"position_m":[0.3125474859986277,0.08292610754669674,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"dc225f7ebffa971fada0f237fcc615bae44bc56c8e19f4da274020ab0d1f1a29","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3062/tex_ceiling_textures_2764/tex_floor_textures_4165/tex_table_textures_3471/tex_wall_textures_2339","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5690984561855353252,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5690984561855353252,"visual_seed":5690984561855353252,"scene_id":"lab_003","finished_at":"2026-09-08T11:28:36"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T11:28:43","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.29519274198469225,1.3928410195278214,0.71338606911949],"aabb_xy":[[0.2785156059915967,1.376141095553891],[0.3118698779777877,1.4095409435017516]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.6482452418257499,-1.3005002712290807,0.71338606911949],"aabb_xy":[[-0.6611171453266901,-1.3805002716429169],[-0.6353733383248098,-1.2205002708152446]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.42448500468194617,1.7766813396382672,0.71338606911949],"aabb_xy":[[0.4147290151727722,1.7669188055790326],[0.43424099419112,1.7864438736975015]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.4302207659239343,-1.4650415144385756,0.71338606911949],"aabb_xy":[[0.3652207658896316,-1.5117421911189028],[0.49522076595823705,-1.4183408377582483]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.3151613039497921,-1.4486349054755163,0.71338606911949],"aabb_xy":[[-0.3751613037963588,-1.505453527668555],[-0.25516130410322524,-1.3918162832824776]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.1456523667739411,-1.6402412317229285,0.71338606911949],"aabb_xy":[[-0.15049596153517109,-1.6450928842019126],[-0.14080877201271114,-1.6353895792439443]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.05894004906195505,0.42502888363328895,0.71338606911949],"aabb_xy":[[-0.1042186639431043,0.3610288842851052],[-0.013661434180805787,0.48902888298147257]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[0.5058750216518029,-0.03606570893705463,0.71338606911949],"aabb_xy":[[0.49652801406950764,-0.05036933115469866],[0.5152220292340981,-0.0217620867194106]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.5337297408683817,-2.1640721174333604,0.71338606911949],"aabb_xy":[[-0.5456624752302097,-2.1764542702412193],[-0.5217970065065536,-2.1516899646255006]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.22727249719397558,-1.2809657778031747,0.71338606911949],"aabb_xy":[[0.20816018983599674,-1.3001005566804167],[0.24638480455195447,-1.2618309989259326]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.6422779964190323,-2.021017756861287,0.71338606911949],"aabb_xy":[[-0.6791285443560199,-2.0585177576843208],[-0.6054274484820447,-1.9835177560382533]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.01741084061005449,1.0075520777973082,0.71338606911949],"aabb_xy":[[-0.09741083776962978,0.9960044768394911],[0.0625891565495208,1.0190996787551252]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.6177481648455907,1.566026797261221,0.71338606911949],"aabb_xy":[[-0.6427481647781086,1.5591441290402974],[-0.5927481649130728,1.572909465482144]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[0.1781188155984197,1.3869186891805918,0.71338606911949],"aabb_xy":[[0.13311881413219084,1.3419188323191111],[0.22311881706464856,1.4319185460420725]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.16343297909289023,-0.20828979307508577,0.71338606911949],"aabb_xy":[[-0.24343297707367526,-0.21589133403693772],[-0.08343298111210516,-0.20068825211323382]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.6112368144379643,0.07554893038912835,0.71338606911949],"aabb_xy":[[0.5753233100129747,0.03963542217237374],[0.6471503188629539,0.11146243860588298]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.434573055627865,1.0642670003790617,0.71338606911949],"aabb_xy":[[-0.44541353385437993,1.047080719088413],[-0.4237325774013501,1.0814532816697104]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.045925840962427356,-1.8118526020063936,0.71338606911949],"aabb_xy":[[-0.13092583937985058,-1.8967268974686786],[0.03907415745499587,-1.7269783065441087]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.17101772059101716,-2.1458771901331515,0.71338606911949],"aabb_xy":[[-0.23501772199900783,-2.1976661416570757],[-0.10701771918302651,-2.0940882386092263]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.4831918228931644,-2.46949577098397,0.71338606911949],"aabb_xy":[[0.43321852888990386,-2.519495771538517],[0.5331651168964248,-2.4194957704294224]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.3042064761798908,0.9095584699213286,0.71338606911949],"aabb_xy":[[-0.33920647449058616,0.9018434549977828],[-0.26920647786919527,0.9172734848448741]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_21","position":[-0.06635819380763508,-2.4005734856465866,0.71338606911949],"aabb_xy":[[-0.09750511265121818,-2.4705734843333933],[-0.03521127496405195,-2.330573486959779]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.3119271439628483,1.4254675846815075,0.71338606911949],"aabb_xy":[[-0.33520898616097966,1.3404675833842792],[-0.288645301764717,1.5104675859787353]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[0.6291040374576895,-2.232562072505081,0.71338606911949],"aabb_xy":[[0.6069315104810385,-2.254737739661204],[0.6512765644343402,-2.2103864053489577]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.2024290466414294,1.159133986931773,0.71338606911949],"aabb_xy":[[-0.23742904799291112,1.1387742509749519],[-0.16742904528994765,1.1794937228885936]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[0.21191131421461662,0.578342895691748,0.71338606911949],"aabb_xy":[[0.19441131396956723,0.560843107852181],[0.229411314459666,0.5958426835313148]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[0.36740425893069206,0.5498542974507759,0.71338606911949],"aabb_xy":[[0.3504935264943503,0.5363820918581612],[0.38431499136703384,0.5633265030433903]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[-0.18966519395067893,-0.7468585849811176,0.71338606911949],"aabb_xy":[[-0.2071651942100156,-0.7609501271698904],[-0.17216519369134234,-0.7327670427923451]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[0.3947928871093127,1.4469633804457351,0.71338606911949],"aabb_xy":[[0.38607891805937816,1.4244633797865467],[0.40350685615924714,1.4694633811049231]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_29","position":[-0.40619954303581873,-0.6272696939156477,0.71338606911949],"aabb_xy":[[-0.4213717123174521,-0.642438550843851],[-0.3910273737541854,-0.6121008369874443]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[0.05852284214771908,-1.0677308971681005,0.71338606911949],"aabb_xy":[[0.021191565622476448,-1.1023839519629528],[0.0958541186729617,-1.0330778423732483]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[-0.6161462754216672,1.0852284509979158,0.71338606911949],"aabb_xy":[[-0.6277152561686038,1.0602284508809843],[-0.6045772946747306,1.1102284511148477]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_32","position":[-0.5280287518598388,-0.2290018522072268,0.71338606911949],"aabb_xy":[[-0.5584268629589823,-0.2594087542088962],[-0.49763064076069513,-0.19859495020555723]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725077062034436,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9663.png","name":"9663"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9663.png","name":"9663"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9090.png","name":"9090"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/231.png","name":"231"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1100.png","name":"1100"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3473.png","name":"3473"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":773.0802041121285,"rotation_z_degrees":249.343335346098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002155547692137782,0.017118652378039802,-0.014244790040555486]},{"name":"camera_2","offset_m":[-0.019239245904144303,-0.004985011928518017,0.0025393097339518785]},{"name":"camera_3","offset_m":[-0.003311516444853998,-0.0017694376032757614,0.018516725876072646]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018625148118134836,-0.0017132956179562097,0.0017086362028552668],"end_effector_yaw_offset_degrees":-0.8897253615393663},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004753200248387686,-0.0012431708334461212,0.0013838707792543092],"end_effector_yaw_offset_degrees":0.6937658643936961},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016636340180740065,0.0015979665008554233,0.0014637787958016188],"end_effector_yaw_offset_degrees":-0.7143268032910421},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00014788567872030733,0.0005351242631607737,-0.0011458218310042634],"end_effector_yaw_offset_degrees":0.8552049616495008},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00026895828880084513,-5.063713676499459e-05,0.00031353368164996733],"end_effector_yaw_offset_degrees":-0.18136470405557703},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012604657690214825,0.0010435527803517594,0.00018554721607385617],"end_effector_yaw_offset_degrees":0.9834313622880924}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004080380514153645,-0.0037985827151248734],"position_m":[0.30021961948584636,-0.03429858271512487,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040770344923693755,0.004468882827914467],"position_m":[0.23907703449236936,-0.3691311171720855,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0012428081540269155,0.00475080552541829],"position_m":[0.29625719184597304,0.3112508055254183,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032079179086058522,0.0032317359934430885],"position_m":[0.3135079179086059,0.0857317359934431,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"88ca5954dfdc11bd1c7f238df48ce6e32afb896dc1880a535b932d69042c46d3","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9663/tex_ceiling_textures_3473/tex_floor_textures_1100/tex_table_textures_9090/tex_wall_textures_231","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3317714321024382359,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3317714321024382359,"visual_seed":3317714321024382359,"scene_id":"lab_003","finished_at":"2026-09-08T11:36:28"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T11:36:35","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.10941648884656563,-1.716822485920544,0.71338606911949],"aabb_xy":[[0.09121066518531797,-1.7278478865025357],[0.1276223125078133,-1.7057970853385525]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.45293770619403095,-0.8432207703355059,0.71338606911949],"aabb_xy":[[-0.46470589298868853,-0.9282207702407277],[-0.4411695193993735,-0.7582207704302846]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.4979943521486303,0.52393589087229,0.71338606911949],"aabb_xy":[[0.41799434889078735,0.443939383080306],[0.5779943554064733,0.603932398664274]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.28073729207744086,-0.7061639197609171,0.71338606911949],"aabb_xy":[[-0.3607372900582259,-0.713765460722769],[-0.20073729409665583,-0.6985623787990651]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.14251663202914577,-1.407076731940502,0.71338606911949],"aabb_xy":[[0.13788151687691236,-1.4109440670176503],[0.14715174718137913,-1.4032093968633528]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.4887075660161819,0.08931480512703516,0.71338606911949],"aabb_xy":[[0.477462510445564,0.07807300740293986],[0.49995262158679965,0.10055660285113042]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.1779920925798193,-0.9848672389561826,0.71338606911949],"aabb_xy":[[-0.2356225614670901,-1.044867237882893],[-0.12036162369254841,-0.9248672400294717]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.30164318822066544,0.9112155439870557,0.71338606911949],"aabb_xy":[[-0.33914318803769894,0.9065773326759138],[-0.2641431884036318,0.9158537552981975]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.6472643271858802,-2.1196036422109072,0.71338606911949],"aabb_xy":[[0.61893461723734,-2.1240643844046248],[0.6755940371344205,-2.1151429000171906]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.19076419855335058,0.7429894145931568,0.71338606911949],"aabb_xy":[[-0.28045127486146604,0.6529894143387063],[-0.10107712224523513,0.8329894148476074]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.32264054747571114,1.1104412271183657,0.71338606911949],"aabb_xy":[[-0.4026405446352865,1.0988936261605486],[-0.2426405503161359,1.1219888280761827]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.27936836904293794,-1.149171226192351,0.71338606911949],"aabb_xy":[[-0.343368365438511,-1.2131345146110846],[-0.21536837264736486,-1.0852079377736175]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[-0.4871669990384337,0.16131072681317926,0.71338606911949],"aabb_xy":[[-0.49112748280816804,0.15364286222765866],[-0.48320651526869923,0.16897859139869986]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.6540589628610536,-0.5791276555694069,0.71338606911949],"aabb_xy":[[-0.6656279436079902,-0.6041276556863386],[-0.642489982114117,-0.5541276554524752]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.06884378861970819,-0.7550806753457064,0.71338606911949],"aabb_xy":[[0.027594977589793453,-0.8100806748579238],[0.11009259964962291,-0.7000806758334889]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.15937605033940805,-1.5435442441539877,0.71338606911949],"aabb_xy":[[-0.17028182642697073,-1.6235442405528169],[-0.1484702742518453,-1.4635442477551586]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.2269465292176101,-1.3698073627391179,0.71338606911949],"aabb_xy":[[-0.30694653248162324,-1.383367395048031],[-0.14694652595359697,-1.3562473304302043]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.30009055278915764,1.280536367382369,0.71338606911949],"aabb_xy":[[0.29093067384528104,1.274005149338832],[0.30925043173303424,1.2870675854259062]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.1664021135438748,-2.122149205099417,0.71338606911949],"aabb_xy":[[-0.17124570830510477,-2.127000857578401],[-0.16155851878264482,-2.1172975526204327]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.6206624137594261,-2.4882119756021672,0.71338606911949],"aabb_xy":[[-0.6846624161022276,-2.5331528268462993],[-0.5566624114166244,-2.4432711243580343]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.032708329637424316,1.303312680985274,0.71338606911949],"aabb_xy":[[-0.012462988210744656,1.2393126838407356],[0.0778796474855933,1.3673126781298124]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.49572821511611376,-0.9844439072577658,0.71338606911949],"aabb_xy":[[0.4796662876575961,-1.0694439090703574],[0.5117901425746314,-0.8994439054451738]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.3723018471934314,-1.3604903146965737,0.71338606911949],"aabb_xy":[[0.36488939165204287,-1.3663415251182016],[0.3797143027348198,-1.3546391042749457]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.5615850377390893,-0.8942441068472815,0.71338606911949],"aabb_xy":[[-0.596585036869045,-0.8999893279229456],[-0.5265850386091336,-0.8884988857716174]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[-0.5549620813007649,1.3220623333694692,0.71338606911949],"aabb_xy":[[-0.6449620810239389,1.2989889808342892],[-0.4649620815775906,1.3451356859046488]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6705063052604889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3274.png","name":"3274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3274.png","name":"3274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/76.png","name":"76"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5688.png","name":"5688"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7135.png","name":"7135"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9987.png","name":"9987"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":797.5281819140744,"rotation_z_degrees":287.99169783926953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001035757327763967,0.008135926694572224,-0.0063111144682787765]},{"name":"camera_2","offset_m":[-0.017510828796093177,0.009425498591070308,0.0038085647857522]},{"name":"camera_3","offset_m":[0.008280975256960046,0.01363503824334331,0.019862342538252257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002802353636191283,0.0007313504443588075,-0.0008905482889798298],"end_effector_yaw_offset_degrees":-0.26875817160335447},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013848065559388543,0.0009097105854625458,-0.001690426967558214],"end_effector_yaw_offset_degrees":0.5651532914256869},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007630046641023999,0.001741682903207547,-0.0010945930600351713],"end_effector_yaw_offset_degrees":-0.49635656974970566},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001221958426134584,0.0004547878415540243,0.00029375873405916185],"end_effector_yaw_offset_degrees":-0.09648141245581132},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010299116158768375,0.001960218183023695,-0.00023423321907614452],"end_effector_yaw_offset_degrees":0.9537649674241129},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011523075861109562,0.0010830479996659453,-0.0015720714517150612],"end_effector_yaw_offset_degrees":-0.612001950672904}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014426364170722662,-0.00343930250171657],"position_m":[0.3057426364170723,-0.03393930250171657,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001777817165983366,0.0046155030456136266],"position_m":[0.23677781716598334,-0.36898449695438634,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002015863764575252,0.004197564439971476],"position_m":[0.29548413623542474,0.3106975644399715,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003730145543649483,-0.0006191594480102723],"position_m":[0.3140301455436495,0.08188084055198973,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7a42f0e6cb8781fa3d53bc1624cd59126c81f1dfc0d90c5617e0044fbaae6a36","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3274/tex_ceiling_textures_9987/tex_floor_textures_7135/tex_table_textures_76/tex_wall_textures_5688","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2180126293127807671,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2180126293127807671,"visual_seed":2180126293127807671,"scene_id":"lab_003","finished_at":"2026-09-08T11:45:38"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T11:45:46","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.4521964403455234,-1.3672370658009771,0.71338606911949],"aabb_xy":[[-0.5421964370811336,-1.4204205291182714],[-0.3621964436099132,-1.3140536024836824]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.4956417905267092,-0.5812243122600713,0.71338606911949],"aabb_xy":[[-0.5206417904592271,-0.5881069804809947],[-0.47064179059419137,-0.5743416440391481]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.5596689696992336,-0.3827244797172247,0.71338606911949],"aabb_xy":[[-0.6096639806586858,-0.43272447875281644],[-0.5096739587397817,-0.33272448068163296]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.4977046816303332,1.4679100181928715,0.71338606911949],"aabb_xy":[[-0.535204680205954,1.4551737225293133],[-0.4602046830547124,1.4806463138564292]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.0945994707611939,1.442990450130813,0.71338606911949],"aabb_xy":[[-0.13145001869818151,1.4054904493077793],[-0.05774892282420628,1.4804904509538468]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.398869356781421,-1.9455303028037658,0.71338606911949],"aabb_xy":[[0.39255725724508256,-1.9512972420569847],[0.4051814563177594,-1.939763363550547]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.2162287913790043,1.223398450061092,0.71338606911949],"aabb_xy":[[0.20823530158372233,1.2154003181206166],[0.2242222811742864,1.2313965820015678]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.21200846510789534,-2.2992960269692784,0.71338606911949],"aabb_xy":[[-0.22164010132832496,-2.3089333397489873],[-0.20237682888746572,-2.2896587141895695]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.359300496889357,1.0978776573096476,0.71338606911949],"aabb_xy":[[-0.42330049880169934,1.0419665080516374],[-0.29530049497701466,1.1537888065676583]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[0.6114652488267145,-1.6685772211776688,0.71338606911949],"aabb_xy":[[0.5749694281994358,-1.7050611636044264],[0.6479610694539932,-1.6320932787509113]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.37051379744906,-0.6999421177160157,0.71338606911949],"aabb_xy":[[0.32053638058380635,-0.7499421192052641],[0.4204912143143135,-0.649942116226767]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.2696167346251462,-0.2542444607698999,0.71338606911949],"aabb_xy":[[-0.33461673573108947,-0.2792098338380282],[-0.2046167335192029,-0.22927908770177163]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.3222633111586926,1.5813314970252823,0.71338606911949],"aabb_xy":[[-0.3557424784197336,1.5478523836541755],[-0.2887841438976517,1.6148106103963895]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.23429768992908717,0.4862156577889265,0.71338606911949],"aabb_xy":[[-0.24445070548323652,0.45014611621618605],[-0.22414467437493776,0.5222851993616667]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.2004184561046145,-0.9426598982661578,0.71338606911949],"aabb_xy":[[0.19557486134338456,-0.9475115507451419],[0.2052620508658445,-0.9378082457871737]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.5423767608289378,0.405851160470696,0.71338606911949],"aabb_xy":[[0.5234923770604276,0.3869652356903432],[0.561261144597448,0.42473708525104875]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.03696050209399793,-2.0224408687043254,0.71338606911949],"aabb_xy":[[-0.0005394980115950297,-2.029263030557306],[0.07446050219959087,-2.015618706851344]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[0.28473159402790205,1.307680514823629,0.71338606911949],"aabb_xy":[[0.2722642359181664,1.2952151901903057],[0.2971989521376377,1.3201458394569527]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.5932195392963114,0.07223456317286958,0.71338606911949],"aabb_xy":[[-0.6832195416303305,-0.005247791412243075],[-0.5032195369622924,0.14971691775798224]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.4026077321911099,1.524045417841314,0.71338606911949],"aabb_xy":[[0.3652764556658673,1.489392363046462],[0.4399390087163525,1.5586984726361666]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.4236917435003553,-2.227496428988471,0.71338606911949],"aabb_xy":[[0.3686917438786095,-2.2824801217759436],[0.47869174312210117,-2.172512736200998]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666179756463444,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5270.png","name":"5270"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5270.png","name":"5270"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4141.png","name":"4141"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/169.png","name":"169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":564.3665883797402,"rotation_z_degrees":191.30982017846932,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007367988399248647,-0.010806426530412288,0.016708450058471488]},{"name":"camera_2","offset_m":[-0.015134983502711963,0.0018832873289008761,0.01563995808815938]},{"name":"camera_3","offset_m":[0.002684693042966514,-0.00787779121725415,0.0010413837959603184]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011277391701021745,0.0007095010145906308,0.0016023740529970665],"end_effector_yaw_offset_degrees":0.645971068082984},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010925185097221245,-0.0003811503364451632,0.0003405162175194555],"end_effector_yaw_offset_degrees":-0.1675020161777223},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014040232758910998,0.0008467421744457128,0.00021328111378986605],"end_effector_yaw_offset_degrees":0.45994217730497367},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013012779924264537,-0.0006076559326485674,0.0017915226903882668],"end_effector_yaw_offset_degrees":-0.677860571580559},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019969583711932416,-0.0002450495200557641,-0.00034643992407692266],"end_effector_yaw_offset_degrees":-0.6862829996004585},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-5.133273746500493e-05,-0.0006270144956609278,0.00187237094637483],"end_effector_yaw_offset_degrees":0.779328483345157}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003748573599777297,-0.001416674622443439],"position_m":[0.3005514264002227,-0.031916674622443436,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003760859304672871,0.003301131364293701],"position_m":[0.2312391406953271,-0.37029886863570627,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004598351271768,0.004547858107063718],"position_m":[0.302098351271768,0.3110478581070637,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003669366693576517,-0.0022565043007210907],"position_m":[0.31396936669357656,0.08024349569927891,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"600bfaf7b7bddb48f015f9fbd883725a30e549f276f25478bdc5815774e7f2b9","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5270/tex_ceiling_textures_6629/tex_floor_textures_5466/tex_table_textures_4141/tex_wall_textures_169","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3265680036477395995,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3265680036477395995,"visual_seed":3265680036477395995,"scene_id":"lab_003","finished_at":"2026-09-08T11:53:42"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T11:53:49","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[0.06391279020932239,-2.038888444873608,0.71338606911949],"aabb_xy":[[-0.01608103336923583,-2.1188884474664498],[0.1439066137878806,-1.9588884422807666]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[0.5980722404783021,-2.4400626776132426,0.71338606911949],"aabb_xy":[[0.5908284744320568,-2.520062675816845],[0.6053160065245474,-2.36006267940964]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.3286406913639506,1.8162782107964826,0.71338606911949],"aabb_xy":[[-0.3378005703078271,1.8097469927529455],[-0.3194808124200739,1.8228094288400196]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[-0.3907953497591127,-1.1176689717821313,0.71338606911949],"aabb_xy":[[-0.48079534948228686,-1.140742324317311],[-0.3007953500359385,-1.0945956192469513]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.44463385338304184,-2.3885011557301365,0.71338606911949],"aabb_xy":[[0.42946168410140856,-2.40367001265834],[0.45980602266467524,-2.373332298801933]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[-0.5673760227344905,0.8344520084505738,0.71338606911949],"aabb_xy":[[-0.6125473405826595,0.7704520113060356],[-0.5222047048863215,0.8984520055951124]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.28757813879501476,-1.9746300213962427,0.71338606911949],"aabb_xy":[[-0.3121243544177654,-2.0048789179452795],[-0.263031923172264,-1.9443811248472058]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.5987070067155726,-0.36094679150514564,0.71338606911949],"aabb_xy":[[0.563707007585617,-0.3666920125808097],[0.6337070058455283,-0.3552015704294815]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.35939695896345436,-1.423564047047031,0.71338606911949],"aabb_xy":[[-0.4065263379652899,-1.4875640480914327],[-0.3122675799616186,-1.3595640460026288]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.46593664962039183,-0.6599089518063903,0.71338606911949],"aabb_xy":[[0.44814314268547545,-0.677708697402188],[0.4837301565553083,-0.6421092062105926]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.4420175368822695,-0.12864647970719068,0.71338606911949],"aabb_xy":[[-0.45326259245288736,-0.13988827743128596],[-0.4307724813116517,-0.1174046819830954]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.06767700440672197,-2.4672117608256285,0.71338606911949],"aabb_xy":[[0.030345727881479365,-2.501864815620481],[0.10500828093196461,-2.4325587060307763]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.06249126240155334,0.6546684929988382,0.71338606911949],"aabb_xy":[[-0.08495603237295846,0.6321684921199776],[-0.04002649243014822,0.6771684938776986]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.33692545554964815,-2.264612157014681,0.71338606911949],"aabb_xy":[[0.30013082242474187,-2.3015180321112627],[0.3737200886745544,-2.227706281918098]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[-0.22536640504926703,-0.9754666136692192,0.71338606911949],"aabb_xy":[[-0.28936640709899897,-1.0155610967585271],[-0.161366402999535,-0.9353721305799112]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.5999084696745074,-1.150524870423908,0.71338606911949],"aabb_xy":[[0.5499084710285862,-1.20044441408337],[0.6499084683204286,-1.1006053267644453]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.4139102239967891,0.3866958823998021,0.71338606911949],"aabb_xy":[[0.37891022480397085,0.3757288364021394],[0.4489102231896074,0.39766292839746464]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.37777219777122395,-1.5417842122799854,0.71338606911949],"aabb_xy":[[-0.3859867428869078,-1.5504608025776265],[-0.36955765265553986,-1.5331076219823438]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.5893391544608391,0.16994316270615917,0.71338606911949],"aabb_xy":[[0.5819266989194506,0.16409195228453122],[0.5967516100022275,0.17579437312778712]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.5796852089894708,-1.8270055232205027,0.71338606911949],"aabb_xy":[[-0.6396852088360376,-1.8838241454135412],[-0.5196852091429041,-1.7701869010274638]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[0.07694315347723013,1.5738357889600212,0.71338606911949],"aabb_xy":[[0.06890681877594529,1.5657976696556042],[0.08497948817851497,1.5818739082644377]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.27772765654679876,-0.0662039818203013,0.71338606911949],"aabb_xy":[[-0.3127276565232946,-0.07566859786791791],[-0.24272765657030293,-0.05673936577268468]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.49986087722284767,-1.7732619732543382,0.71338606911949],"aabb_xy":[[0.4358608739331395,-1.8165968922582556],[0.5638608805125557,-1.7299270542504204]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[-0.3746364487509537,-0.4086174157751761,0.71338606911949],"aabb_xy":[[-0.39791829094908504,-0.49361741707240414],[-0.35135460655282236,-0.323617414477948]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[0.6303722721006884,-0.5834096784788381,0.71338606911949],"aabb_xy":[[0.5802748081196146,-0.6474096789886499],[0.6804697360817619,-0.5194096779690263]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.6046456012402441,-2.0632677277813776,0.71338606911949],"aabb_xy":[[0.5869699706516457,-2.08094794406078],[0.6223212318288424,-2.0455875115019744]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.3296273891542432,0.9041109197727426,0.71338606911949],"aabb_xy":[[-0.33376324548694347,0.8666109203283857],[-0.3254915328215431,0.9416109192170997]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_27","position":[0.2407089547245458,-1.58088606235207,0.71338606911949],"aabb_xy":[[0.15070895530617487,-1.6142615591962595],[0.3307089541429167,-1.54751056550788]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[0.32589055326792904,0.7261331401531437,0.71338606911949],"aabb_xy":[[0.24589055630488982,0.6490574985093703],[0.40589055023096815,0.8032087817969172]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700669551318851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6531.png","name":"6531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6531.png","name":"6531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3959.png","name":"3959"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8073.png","name":"8073"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8773.png","name":"8773"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":608.2898565066306,"rotation_z_degrees":136.5003279198723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010289382489922061,-0.01333278454155733,0.008995514717232592]},{"name":"camera_2","offset_m":[0.008086669872623208,-0.003395657772002455,0.013555857661955845]},{"name":"camera_3","offset_m":[-0.01875546965472244,0.009428325048478327,-0.009877894960606582]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001249894997714321,-0.0018655932981806204,-0.0007212246851575857],"end_effector_yaw_offset_degrees":-0.4094394405128552},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012820895480050427,0.0008015549359058592,-0.0015630395102875388],"end_effector_yaw_offset_degrees":-0.024096662171326333},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001867101897811033,-0.001078034217872629,-0.00048760360758321256],"end_effector_yaw_offset_degrees":0.48819928903283705},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011639847000725731,-0.0010468529541953827,-0.0011176182182382397],"end_effector_yaw_offset_degrees":0.17801782350797013},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011977366393050924,0.00019728258656217038,0.001499285643798482],"end_effector_yaw_offset_degrees":-0.04965608724524473},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012371025608005721,8.73679819989241e-05,0.0010205080547824475],"end_effector_yaw_offset_degrees":-0.7203132528545237}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029407535824208476,0.004994273182104767],"position_m":[0.30724075358242087,-0.025505726817895234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003916602725291384,-0.003101453377842375],"position_m":[0.2310833972747086,-0.3767014533778424,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0030921423113390136,-0.0002879973198660433],"position_m":[0.29440785768866096,0.30621200268013393,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038398848960722824,-0.0028738298952835084],"position_m":[0.30646011510392773,0.0796261701047165,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"11d4a256d7317466902b28f3ba0e86f9f7dc7bfdc19ae42795fe072498041bd1","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6531/tex_ceiling_textures_8773/tex_floor_textures_8073/tex_table_textures_2167/tex_wall_textures_3959","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":386139538528215451,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":386139538528215451,"visual_seed":386139538528215451,"scene_id":"lab_003","finished_at":"2026-09-08T12:01:34"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T12:01:41","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.2617364239115479,-1.6560715968923547,0.71338606911949],"aabb_xy":[[-0.273098158564834,-1.6674400632986426],[-0.2503746892582617,-1.6447031304860664]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.3685326825764097,1.719790707003836,0.71338606911949],"aabb_xy":[[0.3556607790754695,1.6397907065899995],[0.3814045860773498,1.7997907074176718]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.03106384359747505,-1.946478648010658,0.71338606911949],"aabb_xy":[[0.000665732498331465,-1.9768855500123275],[0.06146195469661864,-1.9160717460089884]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[0.4381166258062055,1.2234622117069711,0.71338606911949],"aabb_xy":[[0.4010825163781457,1.1890850043732615],[0.47515073523426515,1.2578394190406803]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.46290687764545235,0.8047393443867898,0.71338606911949],"aabb_xy":[[-0.4722004958826029,0.7672393458986558],[-0.4536132594083017,0.8422393428749236]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.6778029547499056,-1.7200748352061215,0.71338606911949],"aabb_xy":[[0.6428029547734098,-1.729539451253738],[0.7128029547264014,-1.7106102191585049]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.5484961062455587,0.6600708238842419,0.71338606911949],"aabb_xy":[[-0.556623794438872,0.6511572154735341],[-0.5403684180522456,0.6689844322949494]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.6025957837931329,0.8470314883556647,0.71338606911949],"aabb_xy":[[-0.6725957871846948,0.8117157146522338],[-0.5325957804015709,0.8823472620590955]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.4967930245064516,-0.8905169408096874,0.71338606911949],"aabb_xy":[[-0.5206292421470567,-0.980516941618174],[-0.4729568068658466,-0.8005169400012011]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.17259708631790394,0.7514193206550286,0.71338606911949],"aabb_xy":[[-0.236597082713477,0.687456032236295],[-0.10859708992233086,0.8153826090737621]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.2461291668207184,-0.5037278660989903,0.71338606911949],"aabb_xy":[[0.23734793967348222,-0.5125076133875206],[0.2549103939679547,-0.4949481188104603]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.6108729626092402,-2.523171354711805,0.71338606911949],"aabb_xy":[[-0.6758729604908881,-2.5742950184183457],[-0.5458729647275925,-2.472047691005264]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.020934663048858493,1.0811191903592858,0.71338606911949],"aabb_xy":[[-0.027348476692043433,1.0747093701116173],[-0.014520849405673554,1.087529010606954]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[0.38624280197095584,0.42263246699229207,0.71338606911949],"aabb_xy":[[0.2962427982940376,0.36120006041518765],[0.4762428056478739,0.4840648735693963]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.6622028511787121,-1.4215459307605554,0.71338606911949],"aabb_xy":[[0.642144439565472,-1.4416110176697128],[0.6822612627919525,-1.401480843851398]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.507575502515607,1.6607275133398471,0.71338606911949],"aabb_xy":[[0.5026762102090435,1.6330505940372781],[0.5124747948221705,1.6884044326424157]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.5895784940076556,-2.162779027326497,0.71338606911949],"aabb_xy":[[-0.6014505770191566,-2.2477790270201474],[-0.5777064109961544,-2.0777790276328467]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.4805252841588117,0.9995873047085557,0.71338606911949],"aabb_xy":[[0.4636145517224699,0.9861150991159411],[0.49743601659515346,1.0130595103011701]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[0.36996480348931016,-2.3600078763566943,0.71338606911949],"aabb_xy":[[0.33652462829329055,-2.393451502187624],[0.40340497868532976,-2.3265642505257635]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[0.014919568042175091,-1.0430452123474245,0.71338606911949],"aabb_xy":[[-0.07508043055229485,-1.0592957986608456],[0.10491956663664503,-1.0267946260340035]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.49204613224788973,-1.3826275396111738,0.71338606911949],"aabb_xy":[[0.4828862533040131,-1.3891587576547109],[0.5012060111917662,-1.3760963215676367]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.19768512350786482,-2.2704756020073598,0.71338606911949],"aabb_xy":[[0.17880073973935465,-2.2893615267877125],[0.21656950727637506,-2.251589677227007]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[-0.5828768338607502,-2.360166365808035,0.71338606911949],"aabb_xy":[[-0.6378723116814095,-2.4151663672419414],[-0.5278813560400907,-2.3051663643741276]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.4630027687339119,0.2548965582843419,0.71338606911949],"aabb_xy":[[-0.5270027694373812,0.20887817581142093],[-0.39900276803044255,0.30091494075726294]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[0.40612299108643324,-1.7783605077286007,0.71338606911949],"aabb_xy":[[0.3902384978211081,-1.7927134480274247],[0.4220074843517584,-1.7640075674297766]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.3420039843696143,-0.898639528652939,0.71338606911949],"aabb_xy":[[-0.3645039843797626,-0.9127357482925422],[-0.31950398435946603,-0.8845433090133357]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[0.5408016892377758,-1.6732224016769588,0.71338606911949],"aabb_xy":[[0.5034704127125333,-1.707875456471811],[0.5781329657630185,-1.6385693468821065]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[-0.668281192952397,1.6640448750291132,0.71338606911949],"aabb_xy":[[-0.690794884775854,1.5940448744281055],[-0.6457675011289397,1.7340448756301206]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_28","position":[0.35455384603822937,-2.203439803728189,0.71338606911949],"aabb_xy":[[0.29455384578682814,-2.257721128764653],[0.4145538462896305,-2.149158478691724]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.14357954480682222,1.6961777156269684,0.71338606911949],"aabb_xy":[[0.13486557575688768,1.6736777149677797],[0.15229351385675666,1.7186777162861562]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_30","position":[-0.18885975194169935,1.0107133291151342,0.71338606911949],"aabb_xy":[[-0.252859749227348,0.9692066101622903],[-0.12485975465605068,1.0522200480679782]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700603132908473,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/192.png","name":"192"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/192.png","name":"192"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/81.png","name":"81"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3282.png","name":"3282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7864.png","name":"7864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5386.png","name":"5386"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":671.7579433223636,"rotation_z_degrees":254.78028249625476,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012816926800626443,0.002471240635118735,-0.009669559842635981]},{"name":"camera_2","offset_m":[0.006990851557074244,0.0036530121415652324,-0.00734496283817407]},{"name":"camera_3","offset_m":[-0.005290785148803989,-0.0045870035707655,0.004241625521262376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010421239500583769,0.0009925392179456019,0.0007795177648030355],"end_effector_yaw_offset_degrees":0.6399276037210859},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005703363546926807,0.0006728385632242119,0.0005085251886190949],"end_effector_yaw_offset_degrees":0.20326854348558454},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019021887815589686,0.0005053637283519256,0.0012598199127822904],"end_effector_yaw_offset_degrees":0.7583121435934206},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004357908272799866,-0.00031369910109758036,-0.00043246208958939297],"end_effector_yaw_offset_degrees":0.6339446290044213},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006818295698474617,0.0017129116682849878,-0.0011142440208919298],"end_effector_yaw_offset_degrees":0.00477207415475811},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00011851386826709862,-0.0007518515836177375,-0.0014561413576315977],"end_effector_yaw_offset_degrees":0.7737691248730427}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009910709364160655,-0.004742406057987396],"position_m":[0.303308929063584,-0.0352424060579874,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00099322357114683,0.004236286476452032],"position_m":[0.23599322357114683,-0.36936371352354797,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0035710483991596457,0.004491115826463411],"position_m":[0.30107104839915966,0.3109911158264634,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000865502304313228,-0.00021434791215304855],"position_m":[0.3111655023043132,0.08228565208784695,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"851187033e8dbf5568b5acd87127db004ba12da13c434c51f4d7064e89a9cb03","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_192/tex_ceiling_textures_5386/tex_floor_textures_7864/tex_table_textures_81/tex_wall_textures_3282","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":311156444585476097,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":311156444585476097,"visual_seed":311156444585476097,"scene_id":"lab_003","finished_at":"2026-09-08T12:10:33"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T12:10:43","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.46129293949676936,-1.7923429195827685,0.71338606911949],"aabb_xy":[[-0.495755286894911,-1.826836801980591],[-0.4268305920986274,-1.7578490371849456]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[0.4407053269159096,0.44410541654527025,0.71338606911949],"aabb_xy":[[0.38573160487957675,0.3891054169810371],[0.4956790489522425,0.4991054161095035]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.36157772731084603,-2.4469821400606504,0.71338606911949],"aabb_xy":[[0.35279650016360986,-2.4557618873491815],[0.3703589544580823,-2.438202392772121]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[0.12060784849597439,-1.17509962985332,0.71338606911949],"aabb_xy":[[0.08560784851947854,-1.1845642459009367],[0.15560784847247022,-1.1656350138057034]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.28688287647189525,-1.532251967514602,0.71338606911949],"aabb_xy":[[0.23188287685014947,-1.587235660302075],[0.34188287609364115,-1.4772682747271295]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.19432758430189767,-2.3747376415353116,0.71338606911949],"aabb_xy":[[-0.2023538549325237,-2.3834891365126643],[-0.1863013136712717,-2.365986146557959]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.3066838538475017,-0.9901556141924548,0.71338606911949],"aabb_xy":[[-0.3966838532658725,-1.0235311110366445],[-0.21668385442913074,-0.9567801173482651]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.5249383800806586,1.7885935860784197,0.71338606911949],"aabb_xy":[[0.5168106918873453,1.7796799776677121],[0.5330660682739717,1.7975071944891277]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.2566057682418658,0.9657154758673494,0.71338606911949],"aabb_xy":[[-0.29410576873922406,0.9617467923192308],[-0.21910576774450757,0.9696841594154676]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[-0.562442168712554,1.4326841674497577,0.71338606911949],"aabb_xy":[[-0.5999421672881747,1.4199478717861995],[-0.5249421701369331,1.4454204631133154]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.4190240763101456,1.7132411893612907,0.71338606911949],"aabb_xy":[[0.40123056937522916,1.695441443765493],[0.43681758324506204,1.7310409349570883]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.45389680848080327,0.7450496438285579,0.71338606911949],"aabb_xy":[[-0.47639680849095156,0.7309534241889544],[-0.431396808470655,0.7591458634681609]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.28092933639508466,1.204307913720183,0.71338606911949],"aabb_xy":[[-0.2891438815107686,1.1956313234225413],[-0.2727147912794006,1.212984504017824]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.4695067233514282,-1.1520746978914476,0.71338606911949],"aabb_xy":[[-0.5495067207550215,-1.2320672690896302],[-0.38950672594783475,-1.0720821266932645]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.11985012993360933,-1.6020091660521043,0.71338606911949],"aabb_xy":[[0.055850128525618666,-1.6537981175760288],[0.1838501313416,-1.5502202145281794]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.5945671439789779,0.790151188761127,0.71338606911949],"aabb_xy":[[0.5904889860719282,0.7860702085128637],[0.5986453018860276,0.7942321690093903]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.0031701052325757706,-0.8458652070194428,0.71338606911949],"aabb_xy":[[-0.018719642356365026,-0.9358652043086918],[0.025059852821516567,-0.7558652097301936]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.4551462211123114,-2.1739542583213614,0.71338606911949],"aabb_xy":[[0.3751462206420955,-2.18226496593571],[0.5351462215825273,-2.1656435507070135]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.4290205926546753,-1.9282029880078646,0.71338606911949],"aabb_xy":[[0.41960311808481254,-1.9376191651455836],[0.43843806722453804,-1.9187868108701456]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[-0.4404104629365968,1.3087793359914106,0.71338606911949],"aabb_xy":[[-0.5204104599508448,1.2886447843179991],[-0.3604104659223488,1.3289138876648217]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.05660757542729433,1.2253013428957331,0.71338606911949],"aabb_xy":[[-0.013392427964267635,1.1899855691923023],[0.12660757881885631,1.260617116599164]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.04994695170874586,0.7715475911176295,0.71338606911949],"aabb_xy":[[0.03917397778737808,0.7365475928985905],[0.060719925630113636,0.8065475893366685]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[0.21815021543940272,-2.364067429487054,0.71338606911949],"aabb_xy":[[0.15415451804430613,-2.4280674277877625],[0.2821459128344993,-2.300067431186345]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.06928963232636254,-2.5480721830453104,0.71338606911949],"aabb_xy":[[0.06439034001979903,-2.575749102347879],[0.07418892463292602,-2.5203952637427416]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.1850220895412058,-0.8426826231042881,0.71338606911949],"aabb_xy":[[0.12102208625149767,-0.8860175421082057],[0.2490220928309139,-0.7993477041003705]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.662557747855927,1.1702881258952629,0.71338606911949],"aabb_xy":[[0.6154283688540914,1.1062881248508607],[0.7096871268577627,1.2342881269396646]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[0.5585844161278617,0.6304160236583831,0.71338606911949],"aabb_xy":[[0.5360844156158211,0.6079241652929847],[0.5810844166399023,0.6529078820237814]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.3005863243537862,0.6253654970868068,0.71338606911949],"aabb_xy":[[-0.3157584936354195,0.6101966401586034],[-0.28541415507215284,0.6405343540150101]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[-0.20257353838535752,-0.5755256252548873,0.71338606911949],"aabb_xy":[[-0.21056702818063955,-0.5835237571953629],[-0.1945800485900755,-0.5675274933144117]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[0.3595570275842026,1.3453492681828578,0.71338606911949],"aabb_xy":[[0.33764834544485156,1.323448601362767],[0.38146570972355365,1.3672499350029486]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_30","position":[-0.03090072245786446,-0.38857925927394765,0.71338606911949],"aabb_xy":[[-0.03731453610104939,-0.394989079521616],[-0.024486908814679516,-0.3821694390262793]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_31","position":[-0.06872054203093259,1.7171507865508366,0.71338606911949],"aabb_xy":[[-0.113713128749383,1.6721507872763877],[-0.023727955312482174,1.7621507858252852]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_32","position":[0.4215814008805745,1.1792711092986745,0.71338606911949],"aabb_xy":[[0.356581398242781,1.1277915105992276],[0.486581403518368,1.2307507079981215]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_33","position":[0.05634065768687013,1.3961397641079794,0.71338606911949],"aabb_xy":[[-0.007659343016599216,1.3501213816350586],[0.1203406583903395,1.4421581465809006]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_34","position":[-0.038721901761397004,-1.984915734842549,0.71338606911949],"aabb_xy":[[-0.05760628552990721,-2.0038016596229022],[-0.0198375179928868,-1.9660298100621965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725929472604234,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9268.png","name":"9268"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9268.png","name":"9268"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4801.png","name":"4801"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1596.png","name":"1596"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/705.png","name":"705"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4619.png","name":"4619"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":760.261722054428,"rotation_z_degrees":245.04198383087208,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012819966518035287,0.011763509105008754,-0.009877394007830498]},{"name":"camera_2","offset_m":[-0.015527091999907684,-0.016263177512367343,-0.0031118626560805544]},{"name":"camera_3","offset_m":[-0.015316149388064129,-0.00020023664167374833,0.00601278591672243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005116432051645928,-9.540231664446463e-06,-0.0018890258852861934],"end_effector_yaw_offset_degrees":-0.16810226692773766},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013419192453275018,-0.00043037133573421075,0.0017179970639795519],"end_effector_yaw_offset_degrees":0.7126842705348904},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017440556466903033,-0.0016978848901202449,-0.00020809584527987468],"end_effector_yaw_offset_degrees":0.5727999259040879},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001762076666788381,-0.0003487582782782379,-0.0005873697839813051],"end_effector_yaw_offset_degrees":-0.6891545512781345},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00046686121895650684,-0.001804101920656938,0.0012129780846167476],"end_effector_yaw_offset_degrees":0.9765833405590343},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015551813406618322,-3.743869818638489e-05,-0.0011413214987377911],"end_effector_yaw_offset_degrees":-0.7849047820439299}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003783071737048012,-0.004849201817134081],"position_m":[0.300516928262952,-0.03534920181713408,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015385564606994607,-0.004096020857493383],"position_m":[0.23346144353930054,-0.3776960208574934,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0013517324398639296,-0.003907725693475453],"position_m":[0.29614826756013607,0.3025922743065245,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003011327752054179,-0.004291100502579669],"position_m":[0.3072886722479458,0.07820889949742034,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"edd54ade548f3445a83b3b5521b418cd0a733d1a5068bedd204ae9e9cd15f6f4","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9268/tex_ceiling_textures_4619/tex_floor_textures_705/tex_table_textures_4801/tex_wall_textures_1596","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3890812064530462470,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3890812064530462470,"visual_seed":3890812064530462470,"scene_id":"lab_003","finished_at":"2026-09-08T12:18:09"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T12:18:20","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.5616574545789463,-1.4546065193414437,0.71338606911949],"aabb_xy":[[0.53300812221853,-1.4832520786185193],[0.5903067869393624,-1.4259609600643677]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.5925612504532753,0.6381077506545747,0.71338606911949],"aabb_xy":[[-0.627023597851417,0.6036138682567519],[-0.5580989030551334,0.6726016330523973]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.4185091296189478,-0.9440651278208971,0.71338606911949],"aabb_xy":[[0.34850912781020243,-0.9654188965850844],[0.4885091314276933,-0.9227113590567096]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.4888659209289391,1.0012329252348682,0.71338606911949],"aabb_xy":[[-0.5388609318883912,0.9512329261992765],[-0.4388709099694872,1.05123292427046]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.20750148806365487,-0.6873528794249504,0.71338606911949],"aabb_xy":[[0.14350148778967664,-0.7374189796222383],[0.2715014883376331,-0.6372867792276624]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[0.02078268627775015,-1.8336553297850378,0.71338606911949],"aabb_xy":[[-0.04321731102459625,-1.8780217567528943],[0.08478268358009655,-1.7892889028171808]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.34061084967440003,0.5073893114823016,0.71338606911949],"aabb_xy":[[-0.39561084787614487,0.46686734485586395],[-0.2856108514726552,0.5479112781087391]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.10795132977621513,0.16863614682439598,0.71338606911949],"aabb_xy":[[-0.13317216663605477,0.1434123959715092],[-0.08273049291637545,0.1938598976772827]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.6555039627815704,-1.4628145726315795,0.71338606911949],"aabb_xy":[[-0.667272149576228,-1.5478145725368015],[-0.643735775986913,-1.3778145727263582]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.3193462261286144,0.7216607807196858,0.71338606911949],"aabb_xy":[[0.2293462264054402,0.6985874281845058],[0.40934622585178854,0.7447341332548655]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[0.29890170834878027,1.5713264742836812,0.71338606911949],"aabb_xy":[[0.25177232934694455,1.507326473239279],[0.3460310873506159,1.635326475328083]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.5757901750896062,0.6307135937633599,0.71338606911949],"aabb_xy":[[0.5703322294525861,0.5507135904557008],[0.5812481207266262,0.710713597071019]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.3159740119171445,-0.5947132287492227,0.71338606911949],"aabb_xy":[[-0.349414187113164,-0.6281568545801527],[-0.2825338367211248,-0.5612696029182925]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.4497294348888462,-0.794767101450959,0.71338606911949],"aabb_xy":[[-0.5137251322839427,-0.8587670997516677],[-0.3857337374937495,-0.7307671031502503]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.09532049520238006,-0.6960265648572201,0.71338606911949],"aabb_xy":[[-0.11782049544589546,-0.7082311995169921],[-0.07282049495886467,-0.6838219301974482]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.4975029694837556,-1.7485543059132942,0.71338606911949],"aabb_xy":[[-0.5083545757326313,-1.7594135966409454],[-0.48665136323488006,-1.7376950151856434]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.3151187166817603,-0.9904039996585761,0.71338606911949],"aabb_xy":[[-0.40480579298987573,-1.0804039999130266],[-0.22543164037364483,-0.9004039994041256]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.11327918623521971,-2.084713196372992,0.71338606911949],"aabb_xy":[[0.04927918418548771,-2.1248076794623],[0.1772791882849517,-2.044618713283684]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.18683090910962674,-0.1888091741876079,0.71338606911949],"aabb_xy":[[-0.22183090830244498,-0.1997762201852705],[-0.15183090991680845,-0.17784212818994524]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[-0.40466251839810885,1.3589412931956097,0.71338606911949],"aabb_xy":[[-0.4292087340208596,1.3286923966465725],[-0.38011630277535813,1.3891901897446466]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[-0.022887491877724986,-1.1742123810191687,0.71338606911949],"aabb_xy":[[-0.07288749289686026,-1.2106785967569968],[0.02711250914141029,-1.137746165281341]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.4874560419195053,0.3251855647283608,0.71338606911949],"aabb_xy":[[0.4695869341650499,0.3113526567511499],[0.5053251496739608,0.3390184727055718]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[0.0970437532521582,-2.3341727600132396,0.71338606911949],"aabb_xy":[[0.054277046372738,-2.398172763435042],[0.13981046013157838,-2.270172756591437]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[-0.5157707628407533,-2.1105452815135526,0.71338606911949],"aabb_xy":[[-0.5658682268218269,-2.1745452820233644],[-0.4656732988596797,-2.046545281003741]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[0.7113962205616569,-0.7341355106972001,0.71338606911949],"aabb_xy":[[0.7034027307663748,-0.7421336426376757],[0.7193897103569389,-0.7261373787567245]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[-0.2853767034027806,0.9941496200884656,0.71338606911949],"aabb_xy":[[-0.3653767055655431,0.914194436462322],[-0.2053767012400181,1.0741048037146093]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[0.013037485749870736,-2.513840199226473,0.71338606911949],"aabb_xy":[[-0.051962512131777064,-2.564963862933014],[0.07803748363151854,-2.4627165355199323]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_27","position":[-0.2122532708098258,-2.098909201928733,0.71338606911949],"aabb_xy":[[-0.29597549630990827,-2.188909205463429],[-0.12853104530974335,-2.0089091983940373]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[-0.3083454671303511,-0.4327604531197884,0.71338606911949],"aabb_xy":[[-0.34689115995555214,-0.471306224175977],[-0.26979977430515006,-0.39421468206359966]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_29","position":[0.16616850287105034,1.2414026779360907,0.71338606911949],"aabb_xy":[[0.13116850297503146,1.2330284424241507],[0.2011685027670692,1.2497769134480308]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[-0.32030070455448423,-1.880352829954177,0.71338606911949],"aabb_xy":[[-0.357800703130105,-1.8930891256177347],[-0.28280070597886336,-1.8676165342906188]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_31","position":[0.008987390538796824,-1.427334731027977,0.71338606911949],"aabb_xy":[[0.001945939588049228,-1.4343614827657714],[0.01602884148954442,-1.4203079792901825]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_32","position":[0.5848110185864868,1.4029267596851254,0.71338606911949],"aabb_xy":[[0.5473110187694531,1.3982885483739833],[0.6223110184035202,1.407564970996267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6738693691529605,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5289.png","name":"5289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1438.png","name":"1438"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/139.png","name":"139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8523.png","name":"8523"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":842.0300470559762,"rotation_z_degrees":99.44786956104083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01788433227168782,0.017764113598385253,-0.009626081417138123]},{"name":"camera_2","offset_m":[0.0042384921359013145,0.017909157525262332,0.005595536910202294]},{"name":"camera_3","offset_m":[0.011434542367369464,0.007454756407467462,0.012776572300344628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00044438956745409706,0.0014121461375660488,3.687897486727345e-06],"end_effector_yaw_offset_degrees":-0.1513285819025083},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017345729439400366,-0.001015480499482201,-0.0019894270996535625],"end_effector_yaw_offset_degrees":-0.10225385541213128},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005395795302834917,-0.0008669230903073481,0.0011060101497796788],"end_effector_yaw_offset_degrees":0.9799139808804187},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0016366234755355112,-0.0009888632776194966,-0.0016261455169439692],"end_effector_yaw_offset_degrees":-0.6734976558947365},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017663466574696263,0.0018918012639628353,0.0009908632678168796],"end_effector_yaw_offset_degrees":-0.4121878205415219},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0015840324944087361,-0.001768087080900686,-0.000577127537883726],"end_effector_yaw_offset_degrees":-0.7935277149633819}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032959705530627693,0.0005812055315462441],"position_m":[0.30100402944693727,-0.029918794468453754,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007985254179061971,-0.0029185272657281324],"position_m":[0.2357985254179062,-0.3765185272657281,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003383376621765637,0.0029596150278469206],"position_m":[0.29411662337823435,0.3094596150278469,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042323377059362,0.0036878917213773706],"position_m":[0.30606766229406385,0.08618789172137738,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"829761f69fc2d0df3a2af82216cbb5862379b4f09f0e57a1ab91c278da291b0f","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2304/tex_ceiling_textures_8523/tex_floor_textures_139/tex_table_textures_5289/tex_wall_textures_1438","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1792698098210712959,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1792698098210712959,"visual_seed":1792698098210712959,"scene_id":"lab_003","finished_at":"2026-09-08T12:25:56"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T12:26:03","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.6620049616479893,0.8728266997327547,0.71338606911949],"aabb_xy":[[-0.6832829697914614,0.8078266974066816],[-0.6407269535045169,0.9378267020588277]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.6497370002880354,-2.3732297984809962,0.71338606911949],"aabb_xy":[[0.6433231866448503,-2.3796396187286644],[0.6561508139312202,-2.3668199782333272]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.4939922279990735,-1.1180345585161293,0.71338606911949],"aabb_xy":[[-0.5307868611239797,-1.1549404336127116],[-0.45719759487416717,-1.081128683419547]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[-0.49569542204167394,0.6843744001337333,0.71338606911949],"aabb_xy":[[-0.5428248010435095,0.6203743990893312],[-0.4485660430398382,0.7483744011781351]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.662196182088802,-2.4897780401962093,0.71338606911949],"aabb_xy":[[0.6310492632452188,-2.5597780388830165],[0.693343100932385,-2.419778041509402]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.23928402668842153,-0.5644413876828311,0.71338606911949],"aabb_xy":[[-0.251886725825498,-0.5770367839076966],[-0.2266813275513451,-0.5518459914579656]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.3602292001585654,-2.335888554892298,0.71338606911949],"aabb_xy":[[0.32272919949398665,-2.3515756128925194],[0.39772920082314406,-2.320201496892075]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.495431729092521,1.0317884434522377,0.71338606911949],"aabb_xy":[[0.47352304695316993,1.009887776632147],[0.517340411231872,1.0536891102723285]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.380432804076964,-2.312024360274556,0.71338606911949],"aabb_xy":[[-0.41793280486895945,-2.3183922012327463],[-0.34293280328496856,-2.305656519316366]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.2057112617593131,-0.8204130528512699,0.71338606911949],"aabb_xy":[[0.1827955488742632,-0.8433173499876936],[0.22862697464436302,-0.7975087557148466]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.13957389136594356,-0.728812099346859,0.71338606911949],"aabb_xy":[[-0.18474520921411255,-0.7928120964913976],[-0.09440257351777462,-0.6648121022023207]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[0.6210495097300375,-2.263386504775221,0.71338606911949],"aabb_xy":[[0.6019372023720586,-2.282521283652463],[0.6401618170880163,-2.244251725897979]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.2684369519601521,1.5915452322256676,0.71338606911949],"aabb_xy":[[-0.28360912124178544,1.5763763752974644],[-0.25326478267851876,1.6067140891538712]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[-0.3384559116907696,-0.9306309503563595,0.71338606911949],"aabb_xy":[[-0.34644940148605163,-0.9386290822968351],[-0.3304624218954876,-0.9226328184158838]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.050137861342799406,1.275443727611409,0.71338606911949],"aabb_xy":[[-0.13013168492135763,1.1954437250185674],[0.029855962235758815,1.3554437302042506]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.6584210114793775,-1.7124693969857852,0.71338606911949],"aabb_xy":[[-0.6689884911374764,-1.7230144270987935],[-0.6478535318212784,-1.7019243668727764]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[-0.18620803462390467,-1.6744290137255526,0.71338606911949],"aabb_xy":[[-0.24620803521992088,-1.7292414862707761],[-0.12620803402788852,-1.6196165411803292]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[-0.2505705080655893,1.1721436009084245,0.71338606911949],"aabb_xy":[[-0.261476284153152,1.0921436045095954],[-0.23966473197802657,1.2521435973072537]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.09460993759679925,1.4695964442433502,0.71338606911949],"aabb_xy":[[-0.13146048553378686,1.4320964434203167],[-0.05775938965981163,1.5070964450663842]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.05863177274297948,-1.1118762615070232,0.71338606911949],"aabb_xy":[[0.008631772382413421,-1.161856248716626],[0.10863177310354555,-1.06189627429742]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.5160210984582869,-1.8950831193827034,0.71338606911949],"aabb_xy":[[-0.5291723444295764,-1.9200831191393901],[-0.5028698524869977,-1.870083119626017]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[-0.5796739877187432,-0.3270687957729832,0.71338606911949],"aabb_xy":[[-0.6139708987364837,-0.36136568198292446],[-0.5453770767010025,-0.2927719095630417]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.3653614998294632,-2.4349859974527024,0.71338606911949],"aabb_xy":[[0.34980573041919794,-2.4505364306971096],[0.3809172692397285,-2.419435564208295]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.15689476214890619,-2.232010738922432,0.71338606911949],"aabb_xy":[[0.14985331119815862,-2.2390374906602264],[0.1639362130996538,-2.2249839871846375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6690513219036388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2291.png","name":"2291"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2291.png","name":"2291"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3686.png","name":"3686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3158.png","name":"3158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1806.png","name":"1806"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5546.png","name":"5546"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":679.3954421729422,"rotation_z_degrees":174.16048816530517,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012276471812351555,0.015739113266943185,0.003046681395788328]},{"name":"camera_2","offset_m":[0.01016290369204317,0.005261160385246599,-0.01737625577562494]},{"name":"camera_3","offset_m":[0.018380671731114084,0.016787970300925322,-0.005565981441434671]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017444102439406924,-0.0012533364321992103,-0.0009484032364267861],"end_effector_yaw_offset_degrees":0.46565171820523066},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014547928539970982,0.001704047565159122,0.0014184644111450099],"end_effector_yaw_offset_degrees":0.36859649613370116},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001964495270361747,0.001073937235944105,9.767296702668446e-05],"end_effector_yaw_offset_degrees":0.8819932973459432},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019615778325072827,0.0016267677497779922,0.001539899928811375],"end_effector_yaw_offset_degrees":0.29559292764161915},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019016108111737063,0.000632530982659368,-0.001119649168431006],"end_effector_yaw_offset_degrees":0.0970434187755993},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018998704644660495,-0.0014228160471169882,4.337275158994682e-05],"end_effector_yaw_offset_degrees":0.5313388852250591}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00021744321024627124,-0.004380182471035125],"position_m":[0.30451744321024626,-0.03488018247103512,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002528213562773777,0.004946071824757804],"position_m":[0.23525282135627737,-0.3686539281752422,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004679159738873063,-0.0007705516419750473],"position_m":[0.2928208402611269,0.30572944835802496,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004974156711557019,0.0011529649581879554],"position_m":[0.305325843288443,0.08365296495818796,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9174d00be56d53c34539aaa633fa911228f5bd908f345f8ab55d3dd6c9a91ad1","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2291/tex_ceiling_textures_5546/tex_floor_textures_1806/tex_table_textures_3686/tex_wall_textures_3158","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":4191211069918136135,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":4191211069918136135,"visual_seed":4191211069918136135,"scene_id":"lab_003","finished_at":"2026-09-08T12:34:01"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T12:34:10","dimensions":{"distractor":{"count":29,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.5940959348175191,1.4545690541555545,0.71338606911949],"aabb_xy":[[-0.6840959384944371,1.3931366475784497],[-0.5040959311406007,1.5160014607326582]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.33505264275014635,-0.7392534316364912,0.71338606911949],"aabb_xy":[[-0.3493870678763098,-0.75131364719103],[-0.3207182176239829,-0.7271932160819523]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.6262556554624514,-2.436284353288297,0.71338606911949],"aabb_xy":[[0.6192142045117038,-2.4433111050260914],[0.633297106413199,-2.4292576015505025]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.020681990467088296,-1.2100142555401057,0.71338606911949],"aabb_xy":[[0.007530744495798937,-1.2350142552967924],[0.03383323643837766,-1.1850142557834193]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.18606577009537018,-1.5369970908149162,0.71338606911949],"aabb_xy":[[0.1647877619518979,-1.6019970931409895],[0.2073437782388424,-1.4719970884888434]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.3437499245840705,-0.41960122632858443,0.71338606911949],"aabb_xy":[[-0.40874992246571834,-0.47072489003512535],[-0.2787499267024227,-0.36847756262204356]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[-0.069509013934553,1.7338002984125658,0.71338606911949],"aabb_xy":[[-0.09999326406158315,1.6838002986310696],[-0.039024763807522844,1.7838002981940615]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.26768411313651974,-2.2343093973420256,0.71338606911949],"aabb_xy":[[0.2342439379405001,-2.2677530231729555],[0.3011242883325393,-2.200865771511095]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.618534427267309,0.7524420357499673,0.71338606911949],"aabb_xy":[[0.6104067390739958,0.7435284273392597],[0.6266621154606222,0.761355644160675]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.26451497568264287,-1.6666530858287456,0.71338606911949],"aabb_xy":[[-0.28951497523438136,-1.6767955696938803],[-0.2395149761309044,-1.6565106019636109]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.5923070478677499,0.2749227044683549,0.71338606911949],"aabb_xy":[[0.5283070474902163,0.2251774376175426],[0.6563070482452835,0.32466797131916714]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.5220359769973504,-2.2628421912082364,0.71338606911949],"aabb_xy":[[0.4580359805700286,-2.310011815030333],[0.5860359734246724,-2.21567256738614]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[0.3674771001313153,-0.539178952075781,0.71338606911949],"aabb_xy":[[0.35004638505230873,-0.5564510667396316],[0.38490781521032175,-0.52190683741193]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[0.32732660747102993,-2.4170631803509335,0.71338606911949],"aabb_xy":[[0.3210145079346915,-2.422830119604152],[0.33363870700736836,-2.411296241097715]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.6746206855106862,1.1788420496053846,0.71338606911949],"aabb_xy":[[0.6318539786312661,1.1148420461835824],[0.7173873923901065,1.2428420530271873]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.26364949447030106,1.320540797544136,0.71338606911949],"aabb_xy":[[-0.3136269113355546,1.2705407960548871],[-0.21367207760504744,1.3705407990333842]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.5364683112569577,0.7299089418541831,0.71338606911949],"aabb_xy":[[-0.5864525469651348,0.6799089430406875],[-0.48648407554878037,0.7799089406676787]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.37015387762150476,0.5233735437762412,0.71338606911949],"aabb_xy":[[0.3061538773475266,0.47330744357895316],[0.43415387789548304,0.5734396439735291]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.6254122968221845,0.4906650091721656,0.71338606911949],"aabb_xy":[[0.5454122998591453,0.41358936752839215],[0.7054122937852236,0.567740650815939]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.2504258191757961,1.107672114663938,0.71338606911949],"aabb_xy":[[0.22002770807665253,1.0772652126622682],[0.2808239302749397,1.1380790166656072]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.4692639470840834,-1.0854763350607042,0.71338606911949],"aabb_xy":[[-0.4786109546663787,-1.0997799572783482],[-0.45991693950178825,-1.0711727128430601]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.4200215951006192,0.48481900360718555,0.71338606911949],"aabb_xy":[[-0.4261162229887376,0.4762496090555169],[-0.41392696721250094,0.4933883981588543]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.6434695833651016,0.30514233970043714,0.71338606911949],"aabb_xy":[[-0.6475477412721512,0.3010613594521739],[-0.6393914254580518,0.3092233199487005]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.29588805356928444,1.03258724180899,0.71338606911949],"aabb_xy":[[-0.3608880521263572,1.0028347083951075],[-0.23088805501221155,1.0623397752228727]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.25287777589696225,-1.316488241024686,0.71338606911949],"aabb_xy":[[0.21787777670414388,-1.3274552870223484],[0.2878777750897804,-1.3055211950270234]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_25","position":[-0.277989238522953,1.7354447437235776,0.71338606911949],"aabb_xy":[[-0.35798923592654636,1.6554521725253948],[-0.19798924111935953,1.8154373149217604]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.11886572490986502,-1.5590180937190927,0.71338606911949],"aabb_xy":[[-0.18286572658786238,-1.607535485198407],[-0.054865723231867655,-1.5105007022397785]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[0.3499463886603289,1.194011850682482,0.71338606911949],"aabb_xy":[[0.3124463879957502,1.1783247926822595],[0.3874463893249076,1.209698908682704]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_28","position":[0.5336125345328362,1.5267743383572303,0.71338606911949],"aabb_xy":[[0.5057674977522292,1.4959898396189186],[0.5614575713134434,1.557558837095542]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6692868132225396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9611.png","name":"9611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9611.png","name":"9611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8299.png","name":"8299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8750.png","name":"8750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4166.png","name":"4166"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2924.png","name":"2924"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":539.5380263256134,"rotation_z_degrees":328.7999631554841,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005942028143658806,-0.007469035981784269,0.014532551130903012]},{"name":"camera_2","offset_m":[0.0017989568830000524,-0.016412174427366345,0.01879677245547127]},{"name":"camera_3","offset_m":[0.015297691961994934,-0.0006438548756493925,0.014197984663688473]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017033365159893278,-0.0005294215602189519,-0.00016773998347631956],"end_effector_yaw_offset_degrees":-0.8972162187237283},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006600009619881337,-1.3043761830071159e-05,0.001482264691423962],"end_effector_yaw_offset_degrees":0.37946464379108447},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00023217915139252861,2.923654516899781e-05,-0.0018954087975709723],"end_effector_yaw_offset_degrees":-0.5883320261091243},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008134461958525679,1.2320224792325939e-05,0.0011578141668844434],"end_effector_yaw_offset_degrees":0.8812215733865008},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00032988682459141484,-0.0006366509161023614,0.001724889063170346],"end_effector_yaw_offset_degrees":-0.7040227157721262},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006290745797368404,0.0007777725787009777,-0.0016220774782247243],"end_effector_yaw_offset_degrees":-0.8094368946982331}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032495082472378855,0.0014943310897603378],"position_m":[0.3075495082472379,-0.02900566891023966,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003876277311886387,-0.0016524850109937007],"position_m":[0.2311237226881136,-0.3752524850109937,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004193911558468921,0.003664874755056102],"position_m":[0.3016939115584689,0.3101648747550561,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003319584045457842,-0.002383473597761654],"position_m":[0.3069804159545422,0.08011652640223835,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b11e5c16a2dbc3f7286003f9820bb9a08a2c427cb8372ddd59747b4a77ce989f","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9611/tex_ceiling_textures_2924/tex_floor_textures_4166/tex_table_textures_8299/tex_wall_textures_8750","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5646386468900008315,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5646386468900008315,"visual_seed":5646386468900008315,"scene_id":"lab_003","finished_at":"2026-09-08T12:42:00"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T12:42:08","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.4305284538392766,-1.985075399795404,0.71338606911949],"aabb_xy":[[0.39403263321199783,-2.0215593422221616],[0.4670242744665553,-1.9485914573686463]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.0030335624679354023,0.9596387560193298,0.71338606911949],"aabb_xy":[[-0.005009797458019771,0.8746387549239634],[0.011076922393890576,1.0446387571146962]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[0.6622252031837357,0.46548553163826467,0.71338606911949],"aabb_xy":[[0.6247252023917402,0.4591176906800745],[0.6997252039757311,0.4718533725964547]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.34807717080531075,-2.4846085865857503,0.71338606911949],"aabb_xy":[[0.27807716741374877,-2.5199243602891808],[0.41807717419687274,-2.449292812882319]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.45453773470628434,1.0051665868734778,0.71338606911949],"aabb_xy":[[-0.47121487069937984,0.9884666628995475],[-0.43786059871318883,1.021866510847408]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.0631675653356194,1.6050695371589154,0.71338606911949],"aabb_xy":[[0.013070101354545782,1.5410695366491036],[0.11326502931669302,1.6690695376687272]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.6869159275580452,-2.031858753959045,0.71338606911949],"aabb_xy":[[0.6519159284280895,-2.037603975034709],[0.7219159266880009,-2.0261135328833806]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.14982618846849693,1.051426765638856,0.71338606911949],"aabb_xy":[[0.12854818032502466,0.9864267633127828],[0.17110419661196916,1.116426767964929]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.26276483429597086,-1.540639152516052,0.71338606911949],"aabb_xy":[[-0.3267648307232928,-1.5878087763381488],[-0.198764837868649,-1.4934695286939559]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.45342902226965653,-0.06449205989224938,0.71338606911949],"aabb_xy":[[-0.537151247769739,-0.15449206342694533],[-0.3697067967695741,0.025507943642446573]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.4877708993080867,1.1816015450304915,0.71338606911949],"aabb_xy":[[-0.49322884494510677,1.1016015417228322],[-0.48231295367106664,1.2616015483381504]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.4880292672602713,-0.14930126268668475,0.71338606911949],"aabb_xy":[[0.4080292686033854,-0.16380612161094754],[0.5680292659171574,-0.13479640376242197]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[-0.5805008399039487,-0.9008377202455309,0.71338606911949],"aabb_xy":[[-0.6305001150723849,-0.950837721521478],[-0.5305015647355126,-0.8508377189695837]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.3931010485356528,-0.6433567768854163,0.71338606911949],"aabb_xy":[[-0.43060104864124576,-0.6501789387383974],[-0.35560104843005985,-0.6365346150324351]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.11392635669162832,-1.2520724726824235,0.71338606911949],"aabb_xy":[[-0.14391801942549864,-1.2820724720192238],[-0.08393469395775797,-1.2220724733456227]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.2744651961576622,-1.7975292793667295,0.71338606911949],"aabb_xy":[[0.2569651959126128,-1.815029067206296],[0.29196519640271157,-1.7800294915271624]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.3997323221957424,1.7314097821256396,0.71338606911949],"aabb_xy":[[-0.44098113322565713,1.6764097826134219],[-0.35848351116582766,1.7864097816378568]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[-0.5199508081069479,-1.9574298115253344,0.71338606911949],"aabb_xy":[[-0.5351229773885814,-1.972598668453538],[-0.5047786388253147,-1.9422609545971312]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.05737558913543095,0.29276144116047575,0.71338606911949],"aabb_xy":[[-0.09115114832612392,0.27872294594731073],[-0.023600029944737977,0.3067999363736408]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.5919809612205109,-1.604828026415289,0.71338606911949],"aabb_xy":[[-0.6519809614719121,-1.6591093514517534],[-0.5319809609691097,-1.550546701378824]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[0.5924502927524409,-1.8894198443060928,0.71338606911949],"aabb_xy":[[0.581544516664878,-1.9694198407049217],[0.6033560688400035,-1.8094198479072634]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.5327147630625904,-0.8243568159778825,0.71338606911949],"aabb_xy":[[0.49521476277041554,-0.828398291378486],[0.5702147633547652,-0.8203153405772787]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[-0.6416805745033796,0.15688135434487815,0.71338606911949],"aabb_xy":[[-0.6598863981646274,0.14585595376288654],[-0.623474750842132,0.16790675492686982]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.5180427869835977,-0.4831706286810262,0.71338606911949],"aabb_xy":[[0.512076248042862,-0.48913177334039026],[0.5240093259243335,-0.4772094840216622]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.3700286665005128,-1.0014057613700313,0.71338606911949],"aabb_xy":[[0.3565821398664694,-1.0148756130231225],[0.3834751931345561,-0.9879359097169401]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[-0.15444549410703845,-2.1012908454751065,0.71338606911949],"aabb_xy":[[-0.2344454920878235,-2.1088923864369584],[-0.07444549612625341,-2.0936893045132545]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[0.6811193248534411,-0.732884681751788,0.71338606911949],"aabb_xy":[[0.6461193256606227,-0.7438517277494505],[0.7161193240462592,-0.7219176357541253]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.2569693477114021,0.6424195547843263,0.71338606911949],"aabb_xy":[[0.20197709707589123,0.5874195530410136],[0.3119615983469131,0.6974195565276391]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[-0.44805342528866005,-1.2130311542084822,0.71338606911949],"aabb_xy":[[-0.5031786309182509,-1.273031155649769],[-0.39292821965906927,-1.1530311527671948]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_29","position":[0.11438546424632812,0.7314696757396537,0.71338606911949],"aabb_xy":[[0.07938546435030924,0.7230954402277138],[0.149385464142347,0.7398439112515937]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_30","position":[-0.3030931159918545,0.47320235362054985,0.71338606911949],"aabb_xy":[[-0.3177365215458875,0.4585436339637656],[-0.2884497104378215,0.48786107327733413]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_31","position":[0.6809082578347734,0.6045486243922968,0.71338606911949],"aabb_xy":[[0.6634082575754368,0.5904570822035242],[0.69840825809411,0.6186401665810695]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6749984936565144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8802.png","name":"8802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8802.png","name":"8802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4505.png","name":"4505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4731.png","name":"4731"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1790.png","name":"1790"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5326.png","name":"5326"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":654.9157739133154,"rotation_z_degrees":178.69623688155738,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01904749934763903,-0.005380909555549001,-0.00018679732883507272]},{"name":"camera_2","offset_m":[0.0008909257916481471,0.005505654344638768,0.01638529418267826]},{"name":"camera_3","offset_m":[-0.0017413042695313234,0.018800843305481544,-0.0030790405285722397]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012700200982861533,0.0007985260175402691,0.000567648642206355],"end_effector_yaw_offset_degrees":-0.5955373809396785},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00031005591511174837,-0.0011528238312890698,-0.00048680434660747403],"end_effector_yaw_offset_degrees":-0.40548992645515214},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.596044124732028e-05,-3.1251314653264316e-05,0.001888233567022518],"end_effector_yaw_offset_degrees":-0.28805295262506747},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-7.640600787635278e-05,0.001054194451645626,-0.0007983646593270918],"end_effector_yaw_offset_degrees":-0.64081243889426},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018896454523553393,-0.00013159540076491624,0.001142439233325911],"end_effector_yaw_offset_degrees":0.6829498092783115},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017652380398916166,0.0008738146765846326,-8.148104634997117e-05],"end_effector_yaw_offset_degrees":0.19503243017542649}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012198218647640259,0.002463097962842647],"position_m":[0.30308017813523597,-0.028036902037157353,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027456357691944657,-0.0020449490166160487],"position_m":[0.23774563576919444,-0.37564494901661605,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003869102815277653,0.0005270338840312793],"position_m":[0.29363089718472235,0.3070270338840313,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002735693245217812,0.003304267517507468],"position_m":[0.31303569324521785,0.08580426751750747,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"dc16fb1b52c1b93920e65ddd9ac836af5310d4727a3e14e0028e16b4ded662e0","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8802/tex_ceiling_textures_5326/tex_floor_textures_1790/tex_table_textures_4505/tex_wall_textures_4731","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6415305032277594836,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6415305032277594836,"visual_seed":6415305032277594836,"scene_id":"lab_003","finished_at":"2026-09-08T12:50:16"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T12:50:24","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.5718240139504248,-1.7995528129294418,0.71338606911949],"aabb_xy":[[-0.5783256504584294,-1.8093206349557516],[-0.5653223774424202,-1.789784990903132]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.06326546167495706,1.5501347606749856,0.71338606911949],"aabb_xy":[[-0.12726546372468905,1.5100402775856774],[0.000734540374774939,1.5902292437642933]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.2583625639038263,-0.359953386024614,0.71338606911949],"aabb_xy":[[-0.27599539949735385,-0.37757633204023694],[-0.24072972831029874,-0.342330440008991]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.16161546342734612,-1.490658365651642,0.71338606911949],"aabb_xy":[[0.14155705181410583,-1.5107234525607993],[0.1816738750405864,-1.470593278742484]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.2587182260928891,-1.1504293665815144,0.71338606911949],"aabb_xy":[[0.23371822654115054,-1.1605718504466491],[0.2837182256446275,-1.1402868827163797]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.5937884222383492,0.25650058180392543,0.71338606911949],"aabb_xy":[[0.5137884242575641,0.2488990408420735],[0.6737884202191342,0.2641021227657774]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.5589683985123273,1.238001767217014,0.71338606911949],"aabb_xy":[[-0.6229683988898608,1.1882565003662018],[-0.49496839813479354,1.2877470340678263]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[0.3104381780478387,-0.5577359630164045,0.71338606911949],"aabb_xy":[[0.24543817709071145,-0.6096841749501101],[0.37543817900496584,-0.5057877510826989]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.2484832002200753,1.2287800738946224,0.71338606911949],"aabb_xy":[[0.18848319971222235,1.1719333402087009],[0.3084832007279282,1.2856268075805435]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.4320252370183908,-1.9640252831557594,0.71338606911949],"aabb_xy":[[-0.4466686425724237,-1.9786840028125434],[-0.41738183146435776,-1.949366563498975]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.24357023323930416,1.5524148373631657,0.71338606911949],"aabb_xy":[[-0.29137640085307276,1.4874148346561067],[-0.19576406562553544,1.6174148400702244]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.05007048011986026,1.2269829541978665,0.71338606911949],"aabb_xy":[[-0.09995317699755649,1.1769829549515918],[-0.00018778324216406356,1.2769829534441413]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.3558937905825343,-1.3884248153359477,0.71338606911949],"aabb_xy":[[-0.4208937915830348,-1.4392111804906227],[-0.29089378958203377,-1.3376384501812728]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[-0.4489839827074173,0.23172266393454866,0.71338606911949],"aabb_xy":[[-0.4714839825213197,0.22724804756406794],[-0.4264839828935149,0.23619728030502932]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[0.4937853564186625,-1.0433942645499537,0.71338606911949],"aabb_xy":[[0.45878535728870684,-1.0491394856256178],[0.5287853555486182,-1.0376490434742895]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.5141797777063293,0.10728353653680767,0.71338606911949],"aabb_xy":[[-0.5316797768406963,0.09740390949921983],[-0.49667977857196205,0.11716316357439548]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.3984063812901184,0.5916746741387349,0.71338606911949],"aabb_xy":[[-0.46340637917176625,0.5405510104321941],[-0.3334063834084706,0.6427983378452758]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.665165073882763,-2.516349567238491,0.71338606911949],"aabb_xy":[[0.615165072598923,-2.566328421629112],[0.7151650751666029,-2.466370712847868]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.41794036217457164,-1.2583352813721016,0.71338606911949],"aabb_xy":[[-0.49794035933414693,-1.2698828823299184],[-0.33794036501499636,-1.2467876804142843]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[0.19762221910458222,-0.9487443586358622,0.71338606911949],"aabb_xy":[[0.19298710395234878,-0.9526116937130109],[0.20225733425681555,-0.9448770235587136]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[0.4592695261092721,0.18749937021742324,0.71338606911949],"aabb_xy":[[0.4519872097326083,0.09749936660791421],[0.4665518424859356,0.2774993738269321]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.6361065146837015,0.4167958155285709,0.71338606911949],"aabb_xy":[[0.6169942073257226,0.39766103665132896],[0.6552188220416804,0.435930594405813]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[-0.08774696756347644,-2.4301773691475312,0.71338606911949],"aabb_xy":[[-0.12233805041752165,-2.495177369432562],[-0.053155884709431216,-2.3651773688624997]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[0.398200850349985,1.4934234356135323,0.71338606911949],"aabb_xy":[[0.3487204291360262,1.4294234377006805],[0.4476812715639438,1.5574234335263841]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_24","position":[0.24132887229136923,-1.9576621645505643,0.71338606911949],"aabb_xy":[[0.17732887586404739,-2.0048317883726607],[0.3053288687186912,-1.9104925407284679]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[-0.35863756137852315,-0.5639478810589735,0.71338606911949],"aabb_xy":[[-0.41363755958026793,-0.604469847685411],[-0.30363756317677826,-0.5234259144325358]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_26","position":[-0.34980765684296933,1.3616845178196328,0.71338606911949],"aabb_xy":[[-0.38730765750754803,1.3459974598194104],[-0.3123076561783906,1.3773715758198548]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.4042146855297333,-0.4215588863151689,0.71338606911949],"aabb_xy":[[0.36975220751664545,-0.42822256349809174],[0.438677163542821,-0.4148952091322461]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[0.3895280933853158,0.4613326221855152,0.71338606911949],"aabb_xy":[[0.3645280934527979,0.4544499539645919],[0.4145280933178337,0.46821529040643856]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[0.2904642593715042,0.8253504263307132,0.71338606911949],"aabb_xy":[[0.22646425615286636,0.7786273144317049],[0.3544642625901421,0.8720735382297216]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_30","position":[-0.5460176867484484,-0.7399105994762714,0.71338606911949],"aabb_xy":[[-0.5746670191088646,-0.768556158753347],[-0.5173683543880322,-0.7112650401991955]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_31","position":[0.5093834637908177,-0.24280622842119293,0.71338606911949],"aabb_xy":[[0.4642121459426487,-0.30680622556573134],[0.5545547816389866,-0.17880623127665451]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670319170905815,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7069.png","name":"7069"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7069.png","name":"7069"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2426.png","name":"2426"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4068.png","name":"4068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4640.png","name":"4640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/912.png","name":"912"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":780.6178591747639,"rotation_z_degrees":188.16734269560428,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008974948072336458,-0.0014680364935107035,0.015074254799757218]},{"name":"camera_2","offset_m":[0.0009857406095003136,-0.011786137980053577,0.006732445467265844]},{"name":"camera_3","offset_m":[0.015803634452966956,-0.01201438077006839,0.013549129672412844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001103008002149786,0.0005649045600404617,0.0007413444456838762],"end_effector_yaw_offset_degrees":-0.02729290142713392},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016463601862801408,-0.0003291269762388275,-0.001650311568476619],"end_effector_yaw_offset_degrees":-0.2566619923789306},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009767904898533189,-0.0010948136848408637,0.0019705619395080374],"end_effector_yaw_offset_degrees":0.18250261785068966},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011851748490977728,0.0011959623551586807,8.104065898555286e-05],"end_effector_yaw_offset_degrees":-0.8444546996842015},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016353882730027582,0.0014434417734949419,0.0002474625094395842],"end_effector_yaw_offset_degrees":0.5498872604791227},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007158088480180144,0.0009688418802974866,-0.0004897832218031643],"end_effector_yaw_offset_degrees":-0.7974675956873811}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031971748429608328,0.003921532192372404],"position_m":[0.30749717484296085,-0.026578467807627595,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002815562789224677,-0.0019270692174184045],"position_m":[0.2321844372107753,-0.3755270692174184,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002341951772922515,-0.002592750458553381],"position_m":[0.2998419517729225,0.3039072495414466,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003095201036179342,-0.004819929019855451],"position_m":[0.31339520103617935,0.07768007098014455,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8e2b5c961dc195c3e99f2475d8aa8c74a9e09f982337eb24ea6e63b5a36102d4","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7069/tex_ceiling_textures_912/tex_floor_textures_4640/tex_table_textures_2426/tex_wall_textures_4068","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":4942095723586667348,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":4942095723586667348,"visual_seed":4942095723586667348,"scene_id":"lab_003","finished_at":"2026-09-08T12:58:04"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T12:58:11","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.2831047558527443,-0.4015091416472716,0.71338606911949],"aabb_xy":[[-0.28718291375979405,-0.40559012189553484],[-0.27902659794569457,-0.3974281613990082]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[-0.6722067324988936,-1.2806454597451011,0.71338606911949],"aabb_xy":[[-0.679619188040282,-1.286496670166729],[-0.664794276957505,-1.2747942493234732]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.3520448008207529,1.738584565830061,0.71338606911949],"aabb_xy":[[-0.3621265078993263,1.658584567937946],[-0.34196309374217937,1.8185845637221754]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.5763606278559482,-2.1622484447738977,0.71338606911949],"aabb_xy":[[-0.6403606281299264,-2.2123145449711856],[-0.51236062758197,-2.1121823445766097]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.5982571812180488,-0.17191144739290287,0.71338606911949],"aabb_xy":[[0.5804636742831324,-0.18971119298870054],[0.6160506881529653,-0.1541117017971052]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.10507439178910005,1.694295709351406,0.71338606911949],"aabb_xy":[[-0.11231815783534539,1.6142957111478036],[-0.09783062574285474,1.7742957075550083]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.08014237880356057,-0.7222634625544946,0.71338606911949],"aabb_xy":[[-0.09329362477484993,-0.7472634623111812],[-0.0669911328322712,-0.6972634627978082]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.28126172279816974,-0.5035538165388678,0.71338606911949],"aabb_xy":[[0.24376172422254896,-0.5162901122024256],[0.31876172137379055,-0.4908175208753098]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.23155404621333503,-0.732592771662157,0.71338606911949],"aabb_xy":[[-0.23968173440664828,-0.7415063800728647],[-0.22342635802002184,-0.7236791632514494]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[-0.46795996440726784,1.2324680299398523,0.71338606911949],"aabb_xy":[[-0.4811909099419491,1.2192406109178524],[-0.4547290188725865,1.2456954489618512]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[0.37760499891397115,-2.0782512815019833,0.71338606911949],"aabb_xy":[[0.29260500022189645,-2.1102371448968626],[0.46260499760604573,-2.046265418107105]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.162887541747316,-1.191015151236197,0.71338606911949],"aabb_xy":[[-0.24660976724739847,-1.281015154770893],[-0.07916531624723355,-1.101015147701501]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.4917240449989162,-2.2132918093284077,0.71338606911949],"aabb_xy":[[0.42172404160735416,-2.248607583031838],[0.5617240483904781,-2.1779760356249764]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.5742442293720538,-0.0922050101194114,0.71338606911949],"aabb_xy":[[-0.5795767440266668,-0.09752933836464699],[-0.5689117147174407,-0.08688068187417579]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.5695616177004073,1.6658984783964583,0.71338606911949],"aabb_xy":[[-0.5744052124616371,1.6610468259174744],[-0.5647180229391772,1.6707501308754427]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.653147325166566,0.38222837858599057,0.71338606911949],"aabb_xy":[[0.6031542130573742,0.33222837791179494],[0.7031404372757579,0.43222837926018626]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[-0.04645507286140804,1.102539307124339,0.71338606911949],"aabb_xy":[[-0.11045507426939871,1.0507503556004143],[0.017544928546582617,1.1543282586482637]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[0.1878563524995368,-1.2078419381566001,0.71338606911949],"aabb_xy":[[0.12385635223906598,-1.2528507375095281],[0.25185635276000756,-1.1628331388036721]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.2583557919703331,1.0921282051326817,0.71338606911949],"aabb_xy":[[-0.33835579224394,1.019178657306965],[-0.17835579169672608,1.1650777529583984]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.4245914735723577,-1.232057331153939,0.71338606911949],"aabb_xy":[[0.3595914726152305,-1.2840055430876445],[0.4895914745294849,-1.1801091192202333]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.22834557365423358,-1.4829062218273574,0.71338606911949],"aabb_xy":[[0.22035158507653016,-1.4909063019224476],[0.23633956223193694,-1.4749061417322669]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[0.13903560438178797,1.466451315930795,0.71338606911949],"aabb_xy":[[0.08404012656112855,1.4114513144968879],[0.19403108220244733,1.5214513173647017]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.3122398332890026,0.6285209974390256,0.71338606911949],"aabb_xy":[[0.2747398331834096,0.6216988355860444],[0.3497398333945955,0.6353431592920067]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.21033917944045977,-2.338210467939832,0.71338606911949],"aabb_xy":[[0.20229581951450462,-2.4232104690351983],[0.21838253936641497,-2.2532104668444655]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[0.5834764401140577,0.6854541388007513,0.71338606911949],"aabb_xy":[[0.5758521720238796,0.6778209152642076],[0.5911007082042361,0.6930873623372951]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[0.03025479657832386,-0.9540429405437854,0.71338606911949],"aabb_xy":[[-0.033745202591446075,-1.0008096276627478],[0.0942547957480938,-0.9072762534248231]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6671219773303388,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9053.png","name":"9053"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9053.png","name":"9053"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3812.png","name":"3812"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2290.png","name":"2290"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5166.png","name":"5166"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2418.png","name":"2418"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":731.1758222776527,"rotation_z_degrees":88.88542625252565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0036863031748629073,0.0055004012685767704,-0.014054428420529104]},{"name":"camera_2","offset_m":[-0.0016515827190373734,0.011982978905404274,-0.008783335265149881]},{"name":"camera_3","offset_m":[0.011499244696256027,0.0034797952328018064,-0.013322986357762452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019108160873938336,0.0011820565653449014,-0.000873909041848362],"end_effector_yaw_offset_degrees":0.884005616361796},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015538141920300817,-0.0016376701174586415,-0.0012174374920477398],"end_effector_yaw_offset_degrees":0.46777435144592894},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009333868892200249,0.0006224332886510938,-0.0012502679435287566],"end_effector_yaw_offset_degrees":0.7319535893310649},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009309912298619315,0.00025944310192807215,-0.001410066908670626],"end_effector_yaw_offset_degrees":0.5271817371002177},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001110849409149322,-0.0002588240401277778,0.0003997209615275608],"end_effector_yaw_offset_degrees":0.001238246293005174},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011596730077383368,0.001650727995051949,-0.00016805933620914616],"end_effector_yaw_offset_degrees":-0.9209105866255025}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003972794252894335,0.0006291458000853619],"position_m":[0.3003272057471057,-0.029870854199914636,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00440915501086975,0.0014283795977452695],"position_m":[0.23059084498913024,-0.3721716204022547,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0025134188110006277,-0.0020258863611983093],"position_m":[0.30001341881100063,0.30447411363880167,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036516006701055584,-0.004743187435793568],"position_m":[0.30664839932989446,0.07775681256420644,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"cd66ba804502d2f4e75f7cab6459bd2a5713e8a78b5f2e30abd68c26a19ac515","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9053/tex_ceiling_textures_2418/tex_floor_textures_5166/tex_table_textures_3812/tex_wall_textures_2290","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":117323799576435233,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":117323799576435233,"visual_seed":117323799576435233,"scene_id":"lab_003","finished_at":"2026-09-08T13:06:05"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T13:06:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[-0.33045856885400127,-1.7131002529637092,0.71338606911949],"aabb_xy":[[-0.3616054876975844,-1.783100251650516],[-0.29931165001041815,-1.6431002542769018]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.17575160530810585,-1.3335496480608662,0.71338606911949],"aabb_xy":[[0.1117516030876988,-1.3779227321861545],[0.23975160752851285,-1.289176563935578]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.2956354860017229,1.4560920112907936,0.71338606911949],"aabb_xy":[[-0.3756354834053163,1.3760994400926105],[-0.21563548859812945,1.5360845824889762]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.18803131687534302,1.7788535276219384,0.71338606911949],"aabb_xy":[[-0.2236604727753028,1.7432208608650852],[-0.1524021609753833,1.814486194378791]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.1637477114227157,1.5637423801746029,0.71338606911949],"aabb_xy":[[-0.17187539961602896,1.554828771763895],[-0.15562002322940252,1.5726559885853104]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.4183550816310183,-1.5470748971280444,0.71338606911949],"aabb_xy":[[-0.44085150306488236,-1.5695748969347918],[-0.39585866019715416,-1.524574897321297]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.37383247274026976,-1.494541447720266,0.71338606911949],"aabb_xy":[[0.351659945763619,-1.5167171148763887],[0.3960049997169206,-1.4723657805641428]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.2278609998700799,-1.9507802288157325,0.71338606911949],"aabb_xy":[[0.17788219135976402,-2.0007802288214513],[0.2778398083803958,-1.9007802288100135]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.19678686969206632,-1.3091853678450918,0.71338606911949],"aabb_xy":[[-0.24206548457321556,-1.3731853671932754],[-0.15150825481091704,-1.245185368496908]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.5082715238321127,0.12050420305140319,0.71338606911949],"aabb_xy":[[0.4582765128726608,0.07050420401581148],[0.5582665347915649,0.1705042020869949]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.20088194129449977,0.15464564101272682,0.71338606911949],"aabb_xy":[[-0.2508819408708345,0.1046650620606209],[-0.15088194171816505,0.2046262199648328]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.23425861401453635,1.0816338151360445,0.71338606911949],"aabb_xy":[[-0.29825861112664204,1.032601445341634],[-0.17025861690243066,1.1306661849304551]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[-0.18654581810159598,-0.0479738931469309,0.71338606911949],"aabb_xy":[[-0.20904581762530336,-0.07046984059755165],[-0.16404581857788855,-0.025477945696310112]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.30741698857764005,-1.5052099566170085,0.71338606911949],"aabb_xy":[[-0.32869499672111224,-1.5702099589430814],[-0.28613898043416774,-1.4402099542909352]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.5649511546010665,0.7747759279310409,0.71338606911949],"aabb_xy":[[-0.6249511551970827,0.7199634553858174],[-0.5049511540050503,0.8295884004762644]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.06737046286698134,-1.9689339330367472,0.71338606911949],"aabb_xy":[[-0.10183281026512311,-2.00342781543457],[-0.03290811546883952,-1.9344400506389245]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.07305350762421747,-2.5482709988854557,0.71338606911949],"aabb_xy":[[-0.07839108329022204,-2.5732709998145955],[-0.0677159319582129,-2.523270997956316]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.4804656872178561,-0.8173877523658177,0.71338606911949],"aabb_xy":[[0.4303682232367825,-0.8813877528756295],[0.5305631511989297,-0.7533877518560059]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[0.35351604779429047,1.3998543855272327,0.71338606911949],"aabb_xy":[[0.3310023559708332,1.3298543849262252],[0.3760297396177476,1.4698543861282403]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[-0.008649007759602756,0.6473568365725879,0.71338606911949],"aabb_xy":[[-0.01664299633730615,0.6393567564774976],[-0.0006550191818993616,0.6553569166676783]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[-0.6669735646395111,-0.33119925938047556,0.71338606911949],"aabb_xy":[[-0.6894735644534133,-0.33567387575095625],[-0.6444735648256086,-0.3267246430099949]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.4356487596902966,-2.356160025285272,0.71338606911949],"aabb_xy":[[-0.47314875811369683,-2.3693242392531024],[-0.39814876126689613,-2.342995811317441]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[-0.3984775599489693,0.37290593081474865,0.71338606911949],"aabb_xy":[[-0.41403332935923454,0.35735549757034146],[-0.382921790538704,0.3884563640591559]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_23","position":[0.25552935830850987,1.0324003225511569,0.71338606911949],"aabb_xy":[[0.24119493318234647,1.020340106996618],[0.2698637834346734,1.0444605381056957]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.14174380771726747,-1.5796932975127682,0.71338606911949],"aabb_xy":[[-0.1888731867191031,-1.64369329855717],[-0.09461442871543177,-1.515693296468366]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[0.20099975816977167,1.5383991804182782,0.71338606911949],"aabb_xy":[[0.1510264641665112,1.4883991798637304],[0.2509730521730321,1.588399180972825]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.6116489753113802,-1.6717483544162222,0.71338606911949],"aabb_xy":[[-0.6241163334211158,-1.6842136790495459],[-0.5991816172016445,-1.6592830297828989]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6746273702262423,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1917.png","name":"1917"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1917.png","name":"1917"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7245.png","name":"7245"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3297.png","name":"3297"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1149.png","name":"1149"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":846.2934939437876,"rotation_z_degrees":348.9803846840783,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01590721386927929,0.013721863654115148,0.00983108421928482]},{"name":"camera_2","offset_m":[0.005590649515413569,-0.01950674481987155,0.013519010907858963]},{"name":"camera_3","offset_m":[0.01734581642584596,0.010914625247606304,-0.01977559944942114]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00011859957193812191,0.0008302151277052167,-0.00148510672096371],"end_effector_yaw_offset_degrees":0.5637864730643436},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001959826157696147,0.0005932826326801818,-0.0012028478098842351],"end_effector_yaw_offset_degrees":0.4989699388679085},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001163574402143657,0.0014100154423888375,0.001458664512730675],"end_effector_yaw_offset_degrees":0.954166372865968},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000624167126331435,-0.0005223644129326189,-0.0007741789087854559],"end_effector_yaw_offset_degrees":-0.5716155122978162},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0019967743365599984,-0.00017850334054681036,-0.0016277300762742018],"end_effector_yaw_offset_degrees":-0.10426524488022593},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0004918677105406389,0.0008667234397102988,0.0014385160027547642],"end_effector_yaw_offset_degrees":0.7887882807039093}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008257840081742516,0.0020112517405400697],"position_m":[0.30512578400817425,-0.02848874825945993,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00288286110753973,-0.00117237096213485],"position_m":[0.23788286110753973,-0.37477237096213484,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001039618787577786,-0.001577469919002079],"position_m":[0.2985396187875778,0.3049225300809979,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004941327921976095,-0.0029033213912013278],"position_m":[0.3053586720780239,0.07959667860879868,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"bbb9666b4dd68f46bd25fd261d18996b88c552f973966d29f444c5bfd834ceda","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1917/tex_ceiling_textures_1149/tex_floor_textures_3297/tex_table_textures_7245/tex_wall_textures_6393","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3085738020273038490,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3085738020273038490,"visual_seed":3085738020273038490,"scene_id":"lab_003","finished_at":"2026-09-08T13:13:18"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T13:13:25","dimensions":{"distractor":{"count":28,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[0.4661992393398704,0.5428147021434899,0.71338606911949],"aabb_xy":[[0.4319023283221297,0.5085178159335485],[0.5004961503576109,0.5771115883534311]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_1","position":[0.5384270129331563,-1.0368401722919254,0.71338606911949],"aabb_xy":[[0.45842701552956283,-1.116832743490108],[0.6184270103367496,-0.9568476010937425]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.27422371715080013,1.015087693689316,0.71338606911949],"aabb_xy":[[-0.3092237154614956,1.0073726787657704],[-0.23922371884010468,1.0228027086128617]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.5750938211404696,-1.4943771566152668,0.71338606911949],"aabb_xy":[[-0.6202651389886386,-1.5583771537598052],[-0.5299225032923006,-1.4303771594707282]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.4635159577130426,1.3634789500180657,0.71338606911949],"aabb_xy":[[-0.5085159591792715,1.3184790931565853],[-0.41851595624681387,1.4084788068795466]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.6342636663571581,-0.42778296362534807,0.71338606911949],"aabb_xy":[[0.5967636658597999,-0.43175164717346654],[0.6717636668545164,-0.4238142800772297]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.5432217528553496,0.894236435053871,0.71338606911949],"aabb_xy":[[-0.5807217512787498,0.8810722210860401],[-0.5057217544319491,0.9074006490217014]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.3205803287978398,-1.8696659990931759,0.71338606911949],"aabb_xy":[[-0.3292942978477742,-1.8921659997523639],[-0.3118663597479052,-1.8471659984339874]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.00627331196783909,-1.656883810834609,0.71338606911949],"aabb_xy":[[-0.0737266851917362,-1.6684314117924257],[0.08627330912741438,-1.6453362098767916]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.1178337264828625,-2.4563440597247252,0.71338606911949],"aabb_xy":[[-0.1553337279984942,-2.46757083274087],[-0.08033372496723079,-2.4451172867085798]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.00042232970810252013,0.8380943994972623,0.71338606911949],"aabb_xy":[[-0.08542232812552575,0.7532201040349773],[0.08457766870932071,0.9229686949595473]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.5124364463724673,-1.637614238507004,0.71338606911949],"aabb_xy":[[-0.5374364455381004,-1.6445664842123606],[-0.4874364472068342,-1.6306619928016475]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.2786986996848636,-0.8405943220884093,0.71338606911949],"aabb_xy":[[0.2652521730508203,-0.8540641737415006],[0.29214522631890694,-0.8271244704353181]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.5291024630744501,0.2317913970560297,0.71338606911949],"aabb_xy":[[0.4691024632278833,0.174972774862991],[0.5891024629210169,0.2886100192490684]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.7071210772383869,1.2884060812180853,0.71338606911949],"aabb_xy":[[0.6984231149476716,1.2762811069106106],[0.7158190395291022,1.30053105552556]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.4411813980144417,-1.9931661205847893,0.71338606911949],"aabb_xy":[[0.4335571299242635,-2.000799344121333],[0.44880566610461997,-1.9855328970482458]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.1103035168272598,-1.5352588867343484,0.71338606911949],"aabb_xy":[[-0.11520280913382329,-1.5629358060369172],[-0.1054042245206963,-1.5075819674317796]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.07423729033765603,-1.7413926514941482,0.71338606911949],"aabb_xy":[[-0.11173729028142242,-1.7496857415289848],[-0.03673729039388961,-1.7330995614593117]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.5539704967449609,0.4666451633935158,0.71338606911949],"aabb_xy":[[-0.5619644853226642,0.4586450832984254],[-0.5459765081672574,0.4746452434886061]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.14203928010372513,-0.9508130457569537,0.71338606911949],"aabb_xy":[[0.07803927688508727,-0.997536157655962],[0.206039283322363,-0.9040899338579453]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.22087659769456924,-1.280042880905486,0.71338606911949],"aabb_xy":[[0.19088493496069892,-1.3100428802422865],[0.25086826042843957,-1.2500428815686855]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[-0.578620361334055,1.7940974016874782,0.71338606911949],"aabb_xy":[[-0.6011203613442033,1.780001182047875],[-0.5561203613239067,1.8081936213270815]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[0.6044054051412253,-0.08733539058768303,0.71338606911949],"aabb_xy":[[0.5694054068711054,-0.09440951828267118],[0.6394054034113452,-0.08026126289269485]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.07581864009807249,-2.2226963193473033,0.71338606911949],"aabb_xy":[[0.010818639097571983,-2.2734826845019787],[0.140818641098573,-2.1719099541926288]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[-0.30474382516369186,-0.6598199245580181,0.71338606911949],"aabb_xy":[[-0.38474382543729885,-0.7327694723837346],[-0.2247438248900849,-0.5868703767323011]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[0.3892896728192474,1.3691758410985058,0.71338606911949],"aabb_xy":[[0.3342896736426579,1.314186166323548],[0.44428967199583685,1.4241655158734632]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[0.6278561413579358,0.604602793960324,0.71338606911949],"aabb_xy":[[0.6065781332144635,0.5396027916342508],[0.649134149501408,0.669602796286397]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[-0.3243582397910723,-0.27466866538407064,0.71338606911949],"aabb_xy":[[-0.34126897222741404,-0.2881408709766851],[-0.3074475073547305,-0.26119645979145606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699772001540044,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/452.png","name":"452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/452.png","name":"452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7672.png","name":"7672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1485.png","name":"1485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5610.png","name":"5610"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3441.png","name":"3441"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":581.4757556470622,"rotation_z_degrees":147.73068575501944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018097322711884207,-0.012345044434850499,0.005655302704995764]},{"name":"camera_2","offset_m":[0.0010792947969371774,0.00015733747186860714,-0.012765000145088483]},{"name":"camera_3","offset_m":[-0.009449271385882611,0.01937690243284158,0.014195010689121348]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001617877139587648,-0.0006780587604877241,-0.0010822585036874399],"end_effector_yaw_offset_degrees":0.7983633986582279},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00038355400327932986,0.0016220236769558674,0.000879934407745097],"end_effector_yaw_offset_degrees":-0.6022797146714509},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001566817915818186,-0.0005578628069401734,0.00023675729302556885],"end_effector_yaw_offset_degrees":0.4654182563968674},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001200920582698009,0.0011089278095467651,-0.001298783241675235],"end_effector_yaw_offset_degrees":-0.940950350828192},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0001990871884011117,0.0018316000855769978,0.0006306081711766128],"end_effector_yaw_offset_degrees":0.2860167355982084},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00149260157728596,-0.0015859186029749434,0.0006967912435604947],"end_effector_yaw_offset_degrees":-0.1540909293565078}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004023338977448276,0.0011207111844504757],"position_m":[0.30027666102255174,-0.029379288815549524,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001514085736696904,0.0006183703046069473],"position_m":[0.2334859142633031,-0.37298162969539306,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002319976401538565,-0.0004343226415275533],"position_m":[0.29981997640153857,0.30606567735847245,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003672841135442741,0.000529845348164153],"position_m":[0.31397284113544277,0.08302984534816416,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"dafe370fe5ce2eff1c3e2e02c0a3b542b8133b2254391b6ecff8eced31abfb96","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_452/tex_ceiling_textures_3441/tex_floor_textures_5610/tex_table_textures_7672/tex_wall_textures_1485","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":8255018519259808213,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":8255018519259808213,"visual_seed":8255018519259808213,"scene_id":"lab_003","finished_at":"2026-09-08T13:20:56"}
+{"episode_id":"ep_000025","started_at":"2026-09-08T13:21:04","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[0.363101612299513,1.203287775531126,0.71338606911949],"aabb_xy":[[0.32851052944546766,1.1382877752460947],[0.3976926951535581,1.2682877758161568]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.02114844588437237,1.612748694219547,0.71338606911949],"aabb_xy":[[-0.04569466150712309,1.58249979767051],[0.0033977697383783495,1.642997590768584]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.5978227137863705,1.436511492176145,0.71338606911949],"aabb_xy":[[0.5613268931590918,1.4000275497493873],[0.6343185344136493,1.4729954346029024]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.25212967914166245,-0.870152003434504,0.71338606911949],"aabb_xy":[[-0.30712967734340724,-0.9106739700609416],[-0.1971296809399176,-0.8296300368080665]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.6585663385310667,0.5233728841492749,0.71338606911949],"aabb_xy":[[0.6085663371701795,0.4733949795738592],[0.708566339891954,0.5733507887246904]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.07285795832322084,-0.7622110776725508,0.71338606911949],"aabb_xy":[[-0.0978579575951831,-0.7785564412687132],[-0.04785795905125855,-0.7458657140763885]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.11618288859328074,-0.3493986639959705,0.71338606911949],"aabb_xy":[[-0.16135420644144974,-0.41339866114050905],[-0.07101157074511179,-0.28539866685143217]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.2725343694369269,-1.6718087058301234,0.71338606911949],"aabb_xy":[[0.22753436797069804,-1.7168085626916043],[0.3175343709031557,-1.626808848968643]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.5529009069055848,-0.1280946496433879,0.71338606911949],"aabb_xy":[[0.5489404231358505,-0.13576251422890848],[0.5568613906753191,-0.12042678505786727]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[-0.40391169400736915,1.004718790649866,0.71338606911949],"aabb_xy":[[-0.45390480611656114,0.9547187899756706],[-0.3539185818981773,1.0547187913240619]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.48402565229071226,-0.8579669850361753,0.71338606911949],"aabb_xy":[[0.39402565578984045,-0.9038786274546335],[0.5740256487915839,-0.8120553426177171]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[0.5406090372561287,-0.5713604142432271,0.71338606911949],"aabb_xy":[[0.4906097620876926,-0.6213604155191744],[0.5906083124245649,-0.5213604129672801]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.312282718095073,-1.4371065194000199,0.71338606911949],"aabb_xy":[[-0.3203190527963578,-1.4451446387044367],[-0.3042463833937881,-1.429068400095603]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.35077617401573735,1.2194910190855173,0.71338606911949],"aabb_xy":[[-0.3552068033705776,1.214042647350835],[-0.34634554466089723,1.2249393908202]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[0.4401116716876141,-2.2813437703047046,0.71338606911949],"aabb_xy":[[0.431330444540378,-2.290123517593235],[0.44889289883485045,-2.2725640230161743]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.5897136121974491,-0.5330246983109328,0.71338606911949],"aabb_xy":[[-0.6272136133822418,-0.5374429210069932],[-0.5522136110126562,-0.5286064756148722]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.42264693179469504,0.7914423103216466,0.71338606911949],"aabb_xy":[[-0.45612609905573603,0.7579631969505397],[-0.38916776453365415,0.8249214236927537]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.5854408776740834,1.2078157374269156,0.71338606911949],"aabb_xy":[[-0.6354408786246161,1.1762665904233942],[-0.5354408767235505,1.239364884430437]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.6388816104428929,0.12602232139559666,0.71338606911949],"aabb_xy":[[0.604565333268275,0.07602232142241894],[0.6731978876175109,0.17602232136877438]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.5378772897047769,-1.0420436253640553,0.71338606911949],"aabb_xy":[[-0.5877599865824732,-1.09204362461033],[-0.4879945928270808,-0.9920436261177805]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.06900013469679633,-1.763128169284669,0.71338606911949],"aabb_xy":[[-0.08455590410706161,-1.7786786025290766],[-0.053444365286531084,-1.7475777360402622]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668683934654991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7298.png","name":"7298"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7298.png","name":"7298"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/376.png","name":"376"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8797.png","name":"8797"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9581.png","name":"9581"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":641.1133188510415,"rotation_z_degrees":10.810632535384585,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0064090116504358675,-0.017059488107646025,-0.005430073972319139]},{"name":"camera_2","offset_m":[-0.006977865667166494,0.0002383426337641166,-0.006914197226844863]},{"name":"camera_3","offset_m":[-0.01716112023523315,0.005494558963550094,-0.014834767232432666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009042430280714129,0.0018661186173748586,-0.0003269613352898037],"end_effector_yaw_offset_degrees":-0.8806140380092458},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009539048604723299,0.0014640215547283863,0.001631187320533192],"end_effector_yaw_offset_degrees":0.6259756360426225},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041104898157160504,-0.0003596615728449421,0.0005117291140386993],"end_effector_yaw_offset_degrees":-0.9131223619080944},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017937322721504165,-4.868663591812137e-05,-0.0004920847291891022],"end_effector_yaw_offset_degrees":-0.34620134053667484},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018749422468220121,-0.0007485206349995229,-0.0016836336587407316],"end_effector_yaw_offset_degrees":0.5586996630536731},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001350029688677107,0.0015333892943655849,0.0002326006461997386],"end_effector_yaw_offset_degrees":-0.7331382356815856}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004197667621781475,0.002607627379977855],"position_m":[0.30010233237821854,-0.027892372620022143,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002452712703215745,0.0015409030633580286],"position_m":[0.23254728729678426,-0.37205909693664196,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0005402646812946513,-0.0022981787328150193],"position_m":[0.29804026468129463,0.304201821267185,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003389942291597927,-0.0026939011783227375],"position_m":[0.3069100577084021,0.07980609882167726,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"344dc76280a81d6d556f0366f47ae552f875bd727c52627eeb791a493e561f2a","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7298/tex_ceiling_textures_9581/tex_floor_textures_6938/tex_table_textures_376/tex_wall_textures_8797","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2657419588619467161,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2657419588619467161,"visual_seed":2657419588619467161,"scene_id":"lab_003","finished_at":"2026-09-08T13:28:48"}
+{"episode_id":"ep_000026","started_at":"2026-09-08T13:28:55","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.4409343024507295,1.2185931479208962,0.71338606911949],"aabb_xy":[[-0.48370100933014976,1.154593144499094],[-0.3981675955713094,1.282593151342699]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.016095696733698595,-1.677051894821912,0.71338606911949],"aabb_xy":[[-0.07609569759451139,-1.728478324828398],[0.04390430412711421,-1.6256254648154251]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.059007771835639766,-2.2449676026703673,0.71338606911949],"aabb_xy":[[0.04467334670947632,-2.2570278182249064],[0.07334219696180322,-2.2329073871158283]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.48486979191565527,-0.34076246368298646,0.71338606911949],"aabb_xy":[[0.4463240990904542,-0.37930823473917513],[0.5234154847408563,-0.3022166926267978]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.37236797564670215,0.7680915983015546,0.71338606911949],"aabb_xy":[[-0.3893780729367528,0.7519571098032808],[-0.3553578783566515,0.7842260867998286]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[0.2238101913642203,-2.4444873761558297,0.71338606911949],"aabb_xy":[[0.15981019098668667,-2.4942326430066415],[0.28781019174175393,-2.394742109305017]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.14425470891566627,-0.9656430951359802,0.71338606911949],"aabb_xy":[[-0.16876833301267216,-0.9899076884380168],[-0.11974108481866044,-0.9413785018339439]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.38925136639551083,-1.1649038802672809,0.71338606911949],"aabb_xy":[[0.3517513665784773,-1.1695420915784225],[0.4267513662125444,-1.1602656689561388]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.452461754948948,1.358337638863968,0.71338606911949],"aabb_xy":[[0.41121294391903324,1.3033376393517502],[0.4937105659788627,1.413337638376185]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.5711618369514964,-0.681606837448306,0.71338606911949],"aabb_xy":[[-0.5820023151780113,-0.6987931187389548],[-0.5603213587249815,-0.6644205561576572]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.559004340884065,-0.7571560557506425,0.71338606911949],"aabb_xy":[[0.5215043400920695,-0.7635238967088325],[0.5965043416760604,-0.7507882147924523]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.07656400210012837,-2.1960774097076587,0.71338606911949],"aabb_xy":[[-0.10156400126576148,-2.2030296554130153],[-0.05156400293449526,-2.189125164002302]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.4224067540032212,0.17668389080283875,0.71338606911949],"aabb_xy":[[-0.430443088704506,0.16864577149842194],[-0.4143704193019363,0.1847220101072555]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.6310408956083554,1.4861918618750383,0.71338606911949],"aabb_xy":[[-0.6535408958518708,1.4739872272152663],[-0.60854089536484,1.4983964965348102]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[0.05275046374375869,-1.4059971574116075,0.71338606911949],"aabb_xy":[[0.043403456161463454,-1.4203007796292517],[0.062097471326053914,-1.3916935351939637]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.5692296811878037,0.8411272693514942,0.71338606911949],"aabb_xy":[[0.5092296795448819,0.78912712005955],[0.6292296828307256,0.8931274186434384]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.16129561108990886,-1.8627107741486526,0.71338606911949],"aabb_xy":[[0.13629561181794655,-1.879056137744815],[0.18629561036187112,-1.8463654105524903]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.4171949062211029,-0.46856940179589524,0.71338606911949],"aabb_xy":[[-0.4721686282574358,-0.5235694013601284],[-0.36222118418477,-0.413569402231662]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.02504979782426886,1.2041868413388617,0.71338606911949],"aabb_xy":[[-0.06254979811644368,1.2001453659382582],[0.012450202467905958,1.2082283167394652]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.3885588471842871,-0.20923217631168844,0.71338606911949],"aabb_xy":[[-0.43837562664912183,-0.2592321747959918],[-0.3387420677194523,-0.1592321778273851]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.07860651867746637,1.4582368234459664,0.71338606911949],"aabb_xy":[[0.02862356848998705,1.408236823803406],[0.1285894688649457,1.5082368230885268]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[0.5037998981305829,1.5723153267233054,0.71338606911949],"aabb_xy":[[0.4237998959678204,1.4923601430971618],[0.5837999002933454,1.652270510349449]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[0.3571938849868155,1.4215768553042447,0.71338606911949],"aabb_xy":[[0.35088178545047705,1.4158099160510258],[0.3635059845231539,1.4273437945574636]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.6191346912985404,-1.394100669040809,0.71338606911949],"aabb_xy":[[-0.6410244388874811,-1.484100666330058],[-0.5972449437095995,-1.3041006717515597]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[0.5131901142508202,0.4014048523263223,0.71338606911949],"aabb_xy":[[0.4956118120618733,0.3838303627522174],[0.530768416439767,0.4189793419004272]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[0.4469332427633024,-2.2502223070053953,0.71338606911949],"aabb_xy":[[0.3669332456037271,-2.2617699079632123],[0.5269332399228777,-2.2386747060475782]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731791393362057,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3712.png","name":"3712"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3712.png","name":"3712"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5969.png","name":"5969"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7528.png","name":"7528"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5444.png","name":"5444"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.9482836285006,"rotation_z_degrees":69.34780929606806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00857041575917493,-0.01050846117650925,-0.011114469570957955]},{"name":"camera_2","offset_m":[0.013797491189729626,-0.011538153594163393,0.013068378230760114]},{"name":"camera_3","offset_m":[-0.01862656968333653,-0.007145218804607913,0.014199488232811214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009569220181168238,-0.0019726189641111514,0.0005386557575090697],"end_effector_yaw_offset_degrees":0.5599652088204186},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.018210103579365e-05,-0.0007265382028725171,0.0014023270956344653],"end_effector_yaw_offset_degrees":0.5540219630972043},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009112532524959143,-0.00027089583777762717,0.00032262647243469717],"end_effector_yaw_offset_degrees":0.6374921118460528},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009359227777601207,0.0018010265361585731,0.0011755031421072193],"end_effector_yaw_offset_degrees":-0.0039964844842304},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007890868976811931,0.001976216617846498,0.00057577649086968],"end_effector_yaw_offset_degrees":-0.06664821905887264},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000537743492528758,0.0013931048991189347,0.0010707199675150303],"end_effector_yaw_offset_degrees":0.48685888647383835}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0043625383511861114,-0.003573949064393631],"position_m":[0.3086625383511861,-0.03407394906439363,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036575101572752294,0.0026110790870241245],"position_m":[0.2386575101572752,-0.37098892091297586,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0004848311574848262,0.0021771444814103437],"position_m":[0.29701516884251516,0.3086771444814103,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001516257541978601,0.004000725046816555],"position_m":[0.3118162575419786,0.08650072504681657,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3e7ddebd6ac4cc9bf3b6cb7ad4f85f43166da641ec44df70f2bb7a49cc837fa1","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0027.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3712/tex_ceiling_textures_5444/tex_floor_textures_7528/tex_table_textures_1321/tex_wall_textures_5969","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5228827009060386493,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5228827009060386493,"visual_seed":5228827009060386493,"scene_id":"lab_003","finished_at":"2026-09-08T13:36:22"}
+{"episode_id":"ep_000027","started_at":"2026-09-08T13:36:30","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[-0.2152165130789399,-1.0264846610923346,0.71338606911949],"aabb_xy":[[-0.30490358938705536,-1.1164846613467851],[-0.12552943677082445,-0.9364846608378841]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.5647371734173308,-0.6593406800474606,0.71338606911949],"aabb_xy":[[0.541821460532281,-0.6822449771838841],[0.5876528863023808,-0.6364363829110371]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[0.5474141569606639,0.20992187377716975,0.71338606911949],"aabb_xy":[[0.536573678734149,0.19273559248652095],[0.5582546351871788,0.22710815506781856]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.6151956721717646,-0.354072121377488,0.71338606911949],"aabb_xy":[[0.5651963970033285,-0.4040721226534352],[0.6651949473402008,-0.30407212010154083]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.5197206607358875,-1.0857949939369542,0.71338606911949],"aabb_xy":[[-0.5747161385565469,-1.140794995370861],[-0.46472518291522813,-1.030794992503047]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.16130543122319652,1.4620101816743518,0.71338606911949],"aabb_xy":[[-0.2026099742869325,1.3980101821062347],[-0.12000088815946053,1.526010181242469]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.6305908593572437,0.4900230203272611,0.71338606911949],"aabb_xy":[[-0.653090859367392,0.47592680068765786],[-0.6080908593470954,0.5041192399668644]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.454156735844644,0.9515393818122764,0.71338606911949],"aabb_xy":[[-0.46295879115361666,0.9437280556573473],[-0.44535468053567123,0.9593507079672055]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.49153742355370783,-2.4558030262459325,0.71338606911949],"aabb_xy":[[-0.555537422847876,-2.5197891666147867],[-0.42753742425953967,-2.3918168858770783]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.12323585108489565,0.6262545774666477,0.71338606911949],"aabb_xy":[[-0.1607358514331234,0.614463181885564],[-0.08573585073666788,0.6380459730477311]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[0.04524867831878909,-2.3564637527148493,0.71338606911949],"aabb_xy":[[-0.03475132311133811,-2.4359809077274583],[0.1252486797489163,-2.2769465977022394]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[0.03861314815466832,0.646660654945133,0.71338606911949],"aabb_xy":[[0.030689867915919995,0.6241606547071298],[0.04653642839341666,0.6691606551831365]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.3018519741918062,0.7852912911095027,0.71338606911949],"aabb_xy":[[0.29789149042207186,0.7776234265239822],[0.30581245796154055,0.7929591556950234]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[0.4361763418440132,0.5339790726551752,0.71338606911949],"aabb_xy":[[0.42302509587272386,0.5089790728984886],[0.4493275878153026,0.5589790724118617]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.22048606768831558,-0.7221603899501157,0.71338606911949],"aabb_xy":[[0.18616979051369764,-0.7721603899232933],[0.2548023448629335,-0.6721603899769378]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.14319915771002767,-0.3357571256583234,0.71338606911949],"aabb_xy":[[-0.15249277594717825,-0.37325712414645723],[-0.1339055394728771,-0.29825712717018943]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.4885587065666539,0.3846700220959338,0.71338606911949],"aabb_xy":[[0.4285587063152526,0.33038869705946916],[0.548558706818055,0.4389513471323985]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.3195239246450766,-0.8067309137399861,0.71338606911949],"aabb_xy":[[-0.3445239239170389,-0.8230762773361485],[-0.29452392537311434,-0.7903855501438238]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.5591044198639583,-2.2508439539826433,0.71338606911949],"aabb_xy":[[0.49410442130688537,-2.280596487396526],[0.624104418421031,-2.2210914205687606]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[0.1419113582748135,0.8320579864103235,0.71338606911949],"aabb_xy":[[0.09691135680858465,0.7870581295488429],[0.18691135974104234,0.8770578432718042]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.3017772972355338,-0.505780236100398,0.71338606911949],"aabb_xy":[[0.2980740359063948,-0.5094822544091158],[0.3054805585646726,-0.50207821779168]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[-0.2671964601011318,-0.25504892154511216,0.71338606911949],"aabb_xy":[[-0.3321964582570508,-0.28134516609502436],[-0.20219646194521268,-0.22875267699519997]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6710708877347561,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7238.png","name":"7238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7238.png","name":"7238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5369.png","name":"5369"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3697.png","name":"3697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4401.png","name":"4401"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1234.png","name":"1234"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":725.4501484934078,"rotation_z_degrees":110.74238506269845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000876620047352096,0.004867556246243642,-0.019972247558973262]},{"name":"camera_2","offset_m":[-0.014943714058683177,-0.007223764216756683,0.00012742494522624895]},{"name":"camera_3","offset_m":[0.019736596177269094,-0.0031169370819327386,-0.006681149250240104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-3.5249713194480253e-06,0.001741916258015157,0.0007956051425241405],"end_effector_yaw_offset_degrees":0.6652948902279623},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00018521420713796298,0.0014535334633341088,0.0005254982388896187],"end_effector_yaw_offset_degrees":0.41305010123796704},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011427087232743233,-0.000602827190337051,0.0002044795390405106],"end_effector_yaw_offset_degrees":-0.6762370852237538},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004651788677742768,0.0003704417214767373,0.0015845213993771695],"end_effector_yaw_offset_degrees":0.8162448246990444},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018758784800451084,-0.000514313321956124,0.0013890982881337058],"end_effector_yaw_offset_degrees":-0.898563740060272},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0015586280436417593,-0.0010385181487218586,0.001358006022978032],"end_effector_yaw_offset_degrees":0.9987446224818706}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004939873693176987,0.004266948261202485],"position_m":[0.299360126306823,-0.026233051738797513,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000886872122253515,-0.00040992274651833766],"position_m":[0.23411312787774646,-0.37400992274651834,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00423552902189095,-0.0018457560504150207],"position_m":[0.30173552902189094,0.30465424394958496,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-2.7931470804824082e-06,-0.0031253936770534985],"position_m":[0.31029720685291956,0.0793746063229465,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7809bbca32b2313e0170e3dd2a395ded07cde4ee98a4d7283c3dedc6296a8ef0","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0028.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7238/tex_ceiling_textures_1234/tex_floor_textures_4401/tex_table_textures_5369/tex_wall_textures_3697","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":635269558701262771,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":635269558701262771,"visual_seed":635269558701262771,"scene_id":"lab_003","finished_at":"2026-09-08T13:44:42"}
+{"episode_id":"ep_000028","started_at":"2026-09-08T13:44:49","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.5426119765003588,-0.33596940041792545,0.71338606911949],"aabb_xy":[[0.4786119748223614,-0.3844867918972396],[0.6066119781783561,-0.28745200893861117]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.6483695250674553,-0.8836868239459252,0.71338606911949],"aabb_xy":[[0.6307912228785084,-0.90126131352003],[0.6659478272564021,-0.8661123343718202]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.06649886805706862,-1.0101270109801037,0.71338606911949],"aabb_xy":[[-0.10149886718702426,-1.0158722320557678],[-0.03149886892711294,-1.0043817899044396]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.6299744351779477,0.6879822595014726,0.71338606911949],"aabb_xy":[[-0.6939744372276798,0.6478877764121647],[-0.5659744331282158,0.7280767425907806]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.1766962443907516,-1.7532699034622174,0.71338606911949],"aabb_xy":[[-0.21169624436724746,-1.7627345195098343],[-0.1416962444142558,-1.743805287414601]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[0.5802701918265809,0.24916042122695936,0.71338606911949],"aabb_xy":[[0.525270193624836,0.2086384546005218],[0.6352701900283256,0.28968238785339695]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.36055721405186114,-0.6001887177135141,0.71338606911949],"aabb_xy":[[-0.420557215694783,-0.6521888670054583],[-0.3005572124089393,-0.5481885684215699]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.1012939513710428,0.8657132113267205,0.71338606911949],"aabb_xy":[[-0.12379395138119109,0.8516169916871174],[-0.07879395136089451,0.8798094309663239]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[0.689229516786358,-0.46998894983963746,0.71338606911949],"aabb_xy":[[0.6855262554572191,-0.47369096814835526],[0.6929327781154969,-0.46628693153091955]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[0.44894896217595814,-1.9788451954344937,0.71338606911949],"aabb_xy":[[0.4370162278141301,-1.991227348242353],[0.4608816965377862,-1.9664630426266343]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.5315598869802027,-0.023135020978247045,0.71338606911949],"aabb_xy":[[0.4940598864828445,-0.027103704526365454],[0.569059887477561,-0.01916633743012863]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.4593426769531813,-0.849888612546501,0.71338606911949],"aabb_xy":[[-0.4769755125467089,-0.8675115585621239],[-0.44170984135965374,-0.832265666530878]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.4880381204791464,1.76893991943404,0.71338606911949],"aabb_xy":[[0.4230381194786459,1.718153554279365],[0.5530381214796469,1.8197262845887148]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.4887477514766079,1.5645578000753324,0.71338606911949],"aabb_xy":[[0.48133529593521934,1.5587065896537045],[0.4961602070179963,1.5704090104969604]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[-0.5606464832063957,1.6273293879076092,0.71338606911949],"aabb_xy":[[-0.5647823395390958,1.5898293884632524],[-0.5565106268736955,1.6648293873519664]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.3640295860795182,0.9561976789775528,0.71338606911949],"aabb_xy":[[0.3462360791446018,0.9383979333817551],[0.3818230930144347,0.9739974245733505]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.4009779668326763,0.7063622040944586,0.71338606911949],"aabb_xy":[[0.380919555219436,0.6862971171853011],[0.42103637844591657,0.7264272910036161]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.6112255169421376,-2.4858857127544387,0.71338606911949],"aabb_xy":[[-0.6612186290513296,-2.5358857134286343],[-0.5612324048329458,-2.435885712080243]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.4115687808825014,1.4161104687056194,0.71338606911949],"aabb_xy":[[-0.4815687835190876,1.3960056037097537],[-0.3415687782459149,1.4362153337014847]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.39869570417831884,-2.0054377508757506,0.71338606911949],"aabb_xy":[[-0.4091072628588026,-2.0107834842116485],[-0.3882841454978352,-2.0000920175398518]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.08367122988647346,1.6027087670338065,0.71338606911949],"aabb_xy":[[-0.12492004091638817,1.5477087675215888],[-0.04242241885655871,1.6577087665460237]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[-0.5766540743643712,-0.5208026536839481,0.71338606911949],"aabb_xy":[[-0.6466540707743328,-0.5412405893356296],[-0.5066540779544092,-0.5003647180322661]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.12287756281387652,-2.214588013606578,0.71338606911949],"aabb_xy":[[0.10036387099041931,-2.284588014207585],[0.1453912546373337,-2.14458801300557]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[-0.25794696461272926,-2.368699128500252,0.71338606911949],"aabb_xy":[[-0.31557743350000006,-2.428699127426962],[-0.20031649572545834,-2.3086991295735406]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.1550486687082443,-2.4222018740947306,0.71338606911949],"aabb_xy":[[0.07504866545040134,-2.5021983818867146],[0.23504867196608725,-2.3422053663027467]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[0.28372576503971625,-0.920416865007496,0.71338606911949],"aabb_xy":[[0.249134682185671,-0.985416865292527],[0.3183168478937614,-0.8554168647224649]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_26","position":[0.609724652493556,-2.1750621838711166,0.71338606911949],"aabb_xy":[[0.6048810577323261,-2.179913836350101],[0.6145682472547861,-2.170210531392133]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[-0.625372951981372,-2.3456890128497467,0.71338606911949],"aabb_xy":[[-0.6753462459846323,-2.395689013404294],[-0.5753996579781114,-2.2956890122951994]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[0.0652982831981277,0.7443700158670148,0.71338606911949],"aabb_xy":[[0.0012982809777206672,0.6999969317417265],[0.12929828541853472,0.7887430999923031]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_29","position":[-0.4083639541830833,1.5427765071341972,0.71338606911949],"aabb_xy":[[-0.47336395421738603,1.49607583045387],[-0.34336395414878057,1.5894771838145245]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[0.07949434938991684,-1.7095282708161517,0.71338606911949],"aabb_xy":[[0.061994349144867435,-1.7270280586557183],[0.0969943496349662,-1.6920284829765846]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[0.5204713628462054,1.1686035780480357,0.71338606911949],"aabb_xy":[[0.5128470947560272,1.160970354511492],[0.5280956309363837,1.1762368015845794]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_32","position":[0.3378684174902997,-1.5073822699507229,0.71338606911949],"aabb_xy":[[0.2578684160601725,-1.5868994249633324],[0.4178684189204269,-1.4278651149381134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674409900395261,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8318.png","name":"8318"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/275.png","name":"275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/559.png","name":"559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":764.2343443330893,"rotation_z_degrees":286.8602343883361,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017698126924072844,0.008708411045841715,-0.0011146288707853495]},{"name":"camera_2","offset_m":[0.0051834577067304335,-0.016955798757146194,-0.018720888739057216]},{"name":"camera_3","offset_m":[0.000161329231077173,-0.010500161893897046,0.006787678066690738]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015608023621334283,-0.0011147361321385296,-0.0009443264448635281],"end_effector_yaw_offset_degrees":0.5952856545572014},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014558641577530366,0.00041894832632051373,0.0007449805044800637],"end_effector_yaw_offset_degrees":0.16007154248083544},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041273406557513635,-0.0009027114024338073,-0.00012246689478892362],"end_effector_yaw_offset_degrees":-0.39016269413130744},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018117301786880506,0.001565082302650139,0.0016334967041757723],"end_effector_yaw_offset_degrees":0.20596508661887136},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015318062709421825,0.0015085348962021266,-0.0004895486226048598],"end_effector_yaw_offset_degrees":-0.6187285981285835},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001582189374598155,-0.001025724178759467,0.0008609117683747885],"end_effector_yaw_offset_degrees":-0.076926496557437}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015662816959451731,0.00361359652106943],"position_m":[0.3027337183040548,-0.02688640347893057,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004736587889842609,0.0020116761398625413],"position_m":[0.2397365878898426,-0.37158832386013746,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003740787953280319,-0.003134999347714023],"position_m":[0.3012407879532803,0.303365000652286,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001379475248020452,-0.0018862663451076301],"position_m":[0.30892052475197956,0.08061373365489237,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ad1ec1f89431ae59596c13139bf27ef6f058f457b17c72b5e3635ad5e81a3909","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6896/tex_ceiling_textures_9291/tex_floor_textures_559/tex_table_textures_8318/tex_wall_textures_275","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5621390697150919902,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5621390697150919902,"visual_seed":5621390697150919902,"scene_id":"lab_003","finished_at":"2026-09-08T13:52:33"}
+{"episode_id":"ep_000029","started_at":"2026-09-08T13:52:42","dimensions":{"distractor":{"count":30,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[-0.38370197895115576,-1.5256308718793299,0.71338606911949],"aabb_xy":[[-0.4737019812851748,-1.6031132264644428],[-0.2937019766171367,-1.4481485172942175]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.6552327440991115,1.630277271420343,0.71338606911949],"aabb_xy":[[0.6202327449062931,1.6193102254226805],[0.6902327432919296,1.6412443174180056]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.5723626761686685,1.1365038106171812,0.71338606911949],"aabb_xy":[[-0.576478626280741,1.1323882555843354],[-0.5682467260565957,1.1406193656500265]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.6989448357973536,-1.6696154520246975,0.71338606911949],"aabb_xy":[[0.676444835285313,-1.6921073103900957],[0.7214448363093942,-1.647123593659299]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.5305533420914905,0.33771517658930605,0.71338606911949],"aabb_xy":[[-0.5680533421970835,0.3308930147363249],[-0.4930533419858976,0.3445373384422871]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.07729105275762027,1.7597507190565538,0.71338606911949],"aabb_xy":[[-0.14729105435989975,1.7463179258548962],[-0.007291051155340789,1.7731835122582114]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.24412510976416474,0.9775116485314199,0.71338606911949],"aabb_xy":[[-0.25497671601304034,0.966652357803769],[-0.23327350351528914,0.988370939259071]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.4614548208342525,-0.33814987930604534,0.71338606911949],"aabb_xy":[[-0.4979506414615311,-0.3746338217328029],[-0.42495900020697364,-0.3016659368792878]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.40987560721267746,0.6323524836909273,0.71338606911949],"aabb_xy":[[0.4039090682719417,0.6263913390315633],[0.41584214615341325,0.6383136283502914]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.6652413203124325,-0.033652698799778946,0.71338606911949],"aabb_xy":[[0.6242233769260617,-0.08365269943073628],[0.7062592636988034,0.016347301831178385]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[-0.5020495781069361,-1.010001485251876,0.71338606911949],"aabb_xy":[[-0.5100929380328912,-1.0950014863472424],[-0.4940062181809809,-0.9250014841565095]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[-0.5438580587087128,-2.2166094536096232,0.71338606911949],"aabb_xy":[[-0.5988535365293722,-2.2716094550435297],[-0.48886258088805346,-2.161609452175716]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.21143508246752696,-1.8695235601163311,0.71338606911949],"aabb_xy":[[-0.275435085757235,-1.9128584791202485],[-0.1474350791778188,-1.8261886411124133]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.03196369673445454,-0.6659095151263228,0.71338606911949],"aabb_xy":[[0.01686139527343643,-0.6810110367573844],[0.04706599819547262,-0.6508079934952608]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.13244347807508827,1.4548245146468175,0.71338606911949],"aabb_xy":[[-0.16744347638578372,1.4471094997232719],[-0.09744347976439283,1.4625395295703632]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.043874138778771776,-1.530295078277205,0.71338606911949],"aabb_xy":[[-0.051117904825017095,-1.610295076480807],[-0.036630372732526444,-1.4502950800736023]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.11684061922767475,-2.1990603760121084,0.71338606911949],"aabb_xy":[[-0.18084061993114411,-2.24507875848503],[-0.05284061852420542,-2.153041993539188]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.13248503328861116,1.2762842854276455,0.71338606911949],"aabb_xy":[[0.09563448535162355,1.2387842846046118],[0.16933558122559877,1.3137842862506792]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.10069783717889347,-1.8274506269379374,0.71338606911949],"aabb_xy":[[0.08319790374491008,-1.8449506268581717],[0.11819777061287683,-1.8099506270177026]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.3227717624830888,-2.478431661437111,0.71338606911949],"aabb_xy":[[0.3057616651930381,-2.4945661499353844],[0.3397818597731394,-2.4622971729388365]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.032525225668591506,-0.10574722779626367,0.71338606911949],"aabb_xy":[[-0.04293678434907521,-0.11109296113216212],[-0.022113666988107787,-0.10040149446036518]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[-0.4635195284616116,0.7213072089168673,0.71338606911949],"aabb_xy":[[-0.5135143613895532,0.6713072100216236],[-0.41352469553367005,0.7713072078121107]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.33500762353124036,-1.1302814636771712,0.71338606911949],"aabb_xy":[[-0.36000762308297884,-1.1404239475423061],[-0.3100076239795019,-1.1201389798120367]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.5844858119909583,0.04049565710350578,0.71338606911949],"aabb_xy":[[-0.6744858114093292,0.007120160259316048],[-0.4944858125725874,0.0738711539476955]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[-0.1856872511336498,0.8773276578024323,0.71338606911949],"aabb_xy":[[-0.22068725111014564,0.8678630417548155],[-0.15068725115715398,0.8867922738500488]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.2186115325843081,-2.2428208055565237,0.71338606911949],"aabb_xy":[[0.19502640912041327,-2.3078208078019555],[0.24219665604820298,-2.177820803311092]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[-0.5127729213653034,-2.4221723508873705,0.71338606911949],"aabb_xy":[[-0.5236786974528661,-2.5021723472861996],[-0.5018671452777407,-2.3421723544885413]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[-0.22616775859094257,-0.8018076110717052,0.71338606911949],"aabb_xy":[[-0.2636677592555212,-0.8174946690719274],[-0.18866775792636387,-0.786120553071483]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[-0.11002700920487951,1.5921889992706624,0.71338606911949],"aabb_xy":[[-0.16502700882662535,1.5372053064831896],[-0.05502700958313368,1.647172692058135]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_29","position":[0.16197316926593763,1.6895627083685612,0.71338606911949],"aabb_xy":[[0.12697317099581773,1.6824885806735728],[0.19697316753605754,1.696636836063549]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.672182180402053,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2909.png","name":"2909"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2909.png","name":"2909"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9012.png","name":"9012"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2650.png","name":"2650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8562.png","name":"8562"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8311.png","name":"8311"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":573.9415844855517,"rotation_z_degrees":233.2452356852005,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006517940771858388,-0.00598711170732444,-0.011794038299010415]},{"name":"camera_2","offset_m":[0.013418805576024425,-0.01897252953787343,0.01305478820503762]},{"name":"camera_3","offset_m":[-0.01756219869174926,0.002825700283188657,-0.009688120839923231]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014929670821256574,0.0013930916701282961,0.001951312921326013],"end_effector_yaw_offset_degrees":0.07668865010303061},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007081811715021176,-0.0016017572794149793,-0.0019992216899712215],"end_effector_yaw_offset_degrees":0.8349878114479734},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001736318373466078,0.0011215143389465471,0.0003208116079907184],"end_effector_yaw_offset_degrees":-0.28479876196144094},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005964558447272101,-0.00014905226373927065,0.00035624669449891124],"end_effector_yaw_offset_degrees":-0.13386871918005538},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011021573931100624,-0.00011540879982459892,-0.0006577431733492452],"end_effector_yaw_offset_degrees":-0.13239260221834415},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005932895590120405,-0.001534452036521352,-0.0014028244960395374],"end_effector_yaw_offset_degrees":-0.8604947101294016}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[6.126408945053043e-05,-0.0035963703298039673],"position_m":[0.3043612640894505,-0.03409637032980397,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007102267905568374,-2.265653104127196e-05],"position_m":[0.23571022679055684,-0.37362265653104126,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002237787296452968,-0.0003823087959081324],"position_m":[0.29973778729645295,0.3061176912040919,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003206820849463411,0.003802943155317053],"position_m":[0.3135068208494634,0.08630294315531706,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"eb0188ca50446f44f17142c12869e97dc9634eaa0b5e996eec1c2005288b9bdb","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2909/tex_ceiling_textures_8311/tex_floor_textures_8562/tex_table_textures_9012/tex_wall_textures_2650","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":4812932046845813355,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":4812932046845813355,"visual_seed":4812932046845813355,"scene_id":"lab_003","finished_at":"2026-09-08T14:00:31"}
+{"episode_id":"ep_000030","started_at":"2026-09-08T14:00:40","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.22650645717850348,-2.110930099798,0.71338606911949],"aabb_xy":[[0.19866142039789636,-2.1417145985363115],[0.2543514939591106,-2.080145601059688]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[0.5577570248764689,1.4906220269243797,0.71338606911949],"aabb_xy":[[0.5277894679666433,1.460622026626494],[0.5877245817862946,1.5206220272222655]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.2508370141521069,-2.549218918421097,0.71338606911949],"aabb_xy":[[0.24108102464293302,-2.558981452480332],[0.2605930036612808,-2.539456384361863]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.12000640290132703,0.9278438278271004,0.71338606911949],"aabb_xy":[[0.10089409554334815,0.9087090489498584],[0.1391187102593059,0.9469786067043424]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.36223204331279735,-2.2511573257882334,0.71338606911949],"aabb_xy":[[-0.4222320435641984,-2.305438650824698],[-0.30223204306139606,-2.196876000751769]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[-0.10652253175860682,-1.5393185288838283,0.71338606911949],"aabb_xy":[[-0.17052253343660417,-1.5878359203631423],[-0.04252253008060945,-1.4908011374045138]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.06435795865557437,1.811533843427004,0.71338606911949],"aabb_xy":[[-0.07519843688208927,1.7943475621363552],[-0.05351748042905946,1.8287201247176526]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.46476466249275744,-0.31862815800653976,0.71338606911949],"aabb_xy":[[-0.4697206826776387,-0.34112815820866144],[-0.45980864230787627,-0.2961281578044182]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.46182070418865034,-2.5082716617921923,0.71338606911949],"aabb_xy":[[-0.5031252472523864,-2.572271661360309],[-0.4205161611249143,-2.4442716622240748]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.4380554434432892,-1.2286805586821399,0.71338606911949],"aabb_xy":[[-0.48802850897580485,-1.278680558494673],[-0.38808237791077393,-1.1786805588696072]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.4802127593542942,-0.9634369565652736,0.71338606911949],"aabb_xy":[[-0.5302127603734296,-0.9999031723031017],[-0.43021275833515904,-0.9269707408274458]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.28201690569161325,-0.7131794928779223,0.71338606911949],"aabb_xy":[[-0.29164854191204287,-0.7228168056576313],[-0.27238526947118363,-0.7035421800982135]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.43442550217444253,0.4775112311855505,0.71338606911949],"aabb_xy":[[0.36442549878288044,0.4421954574821197],[0.5044255055660043,0.5128270048889814]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.11121049184097243,0.8082125064043946,0.71338606911949],"aabb_xy":[[0.08621049190845455,0.8013298381834715],[0.13621049177349032,0.8150951746253181]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.1459890275576623,1.542179169216928,0.71338606911949],"aabb_xy":[[-0.17098902682962455,1.5258338056207654],[-0.1209890282857,1.5585245328130901]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.21040820687469808,1.6652295720883994,0.71338606911949],"aabb_xy":[[0.2039065703666935,1.6554617500620898],[0.21690984338270272,1.6749973941147094]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.2829820725245804,0.9461829108411477,0.71338606911949],"aabb_xy":[[0.22298207267801362,0.889364288648109],[0.3429820723711472,1.0030015330341864]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.037279588015092124,1.3451560292606515,0.71338606911949],"aabb_xy":[[-0.026720414205314902,1.3007829451353632],[0.10127959023549915,1.3895291133859398]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.570351393999821,-2.483285904661456,0.71338606911949],"aabb_xy":[[0.5203513930492881,-2.5148350516649773],[0.6203513949503537,-2.4517367576579345]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.09384823281604304,-0.04912719087812789,0.71338606911949],"aabb_xy":[[-0.1438475079844792,-0.09912719215407506],[-0.04384895764760688,0.0008728103978192792]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.5732094264250476,1.3395855117266215,0.71338606911949],"aabb_xy":[[0.5644073711160748,1.3317741855716922],[0.5820114817340202,1.3473968378815504]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.19139902784948293,-0.25714696722249863,0.71338606911949],"aabb_xy":[[-0.2713990292796101,-0.3366641222351081],[-0.11139902641935573,-0.17762981220988916]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[-0.013400095546004742,-1.6434192399832006,0.71338606911949],"aabb_xy":[[-0.03590009555615303,-1.6575154596228037],[0.00909990446414355,-1.629323020343597]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[-0.40841536525293837,0.6655994258640177,0.71338606911949],"aabb_xy":[[-0.4884091888314966,0.5855994232711762],[-0.32842154167438015,0.7455994284568593]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.6337760699405101,-2.443049222104868,0.71338606911949],"aabb_xy":[[-0.6392340155775301,-2.523049225412527],[-0.62831812430349,-2.363049218797209]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_25","position":[0.5007378949613432,1.1233548825339708,0.71338606911949],"aabb_xy":[[0.480846855081003,1.1106990712492741],[0.5206289348416835,1.1360106938186678]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[0.2563655945200284,1.1821158652251689,0.71338606911949],"aabb_xy":[[0.22136559316854662,1.161756129268348],[0.29136559587151006,1.2024756011819897]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[-0.18505968089573988,0.954330265870138,0.71338606911949],"aabb_xy":[[-0.2350596821795798,0.9043514114795158],[-0.13505967961189985,1.00430912026076]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[0.6051620562170974,0.8881004078167734,0.71338606911949],"aabb_xy":[[0.5701620562406016,0.8786357917691567],[0.6401620561935932,0.89756502386439]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[-0.5105548142807499,-0.6636150054988239,0.71338606911949],"aabb_xy":[[-0.5905548128680693,-0.7429306074369847],[-0.4305548156934305,-0.5842994035606629]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_30","position":[0.6615745123396766,-0.4836243200406529,0.71338606911949],"aabb_xy":[[0.6165745108734477,-0.5286241769021336],[0.7065745138059054,-0.4386244631791723]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700565429560237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3986.png","name":"3986"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3986.png","name":"3986"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2335.png","name":"2335"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7168.png","name":"7168"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1550.png","name":"1550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6939.png","name":"6939"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":672.600752488002,"rotation_z_degrees":132.8764928366394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005690057213257632,0.018901313545235252,0.005430192948709146]},{"name":"camera_2","offset_m":[0.0030028254430228066,0.004285879124945029,0.002987566515036604]},{"name":"camera_3","offset_m":[0.0007748164101127747,0.014119928298973152,-0.00926987958162851]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007922373452597133,-0.00030050075124210996,-0.0009886319952753806],"end_effector_yaw_offset_degrees":0.19451415605089717},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005340081173200394,0.001151554900056606,0.0002114632061376658],"end_effector_yaw_offset_degrees":0.13547515587864},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007777551715312057,0.0002473907351214183,-0.0008290375553610513],"end_effector_yaw_offset_degrees":0.23213640462475427},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012389585531506482,0.0008717258145588352,-0.001370049317074849],"end_effector_yaw_offset_degrees":-0.7888464323706335},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001103211440917754,0.001340407169678117,-0.001946203524318283],"end_effector_yaw_offset_degrees":-0.5033217702681982},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00012269459187511512,0.0007727067221613908,0.0013729927289085264],"end_effector_yaw_offset_degrees":-0.610703961026106}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030825180409745434,-0.0025069120436191474],"position_m":[0.3012174819590255,-0.03300691204361915,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002116888681477126,-0.00042168240613116824],"position_m":[0.23288311131852285,-0.37402168240613115,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001600744756974963,-0.004768276623821477],"position_m":[0.29910074475697496,0.30173172337617854,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002672422861827818,-0.001595168025891359],"position_m":[0.31297242286182786,0.08090483197410865,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"68aaea6b3c88299db2920387df7743c7a9b34e53d3dbc77b2121e20a8217abb6","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3986/tex_ceiling_textures_6939/tex_floor_textures_1550/tex_table_textures_2335/tex_wall_textures_7168","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1383712450004739580,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1383712450004739580,"visual_seed":1383712450004739580,"scene_id":"lab_003","finished_at":"2026-09-08T14:08:56"}
+{"episode_id":"ep_000031","started_at":"2026-09-08T14:09:03","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[0.21953167555802278,-1.3387585817536678,0.71338606911949],"aabb_xy":[[0.1555316782723741,-1.3802653007065118],[0.2835316728436714,-1.2972518628008238]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.5588527887968597,1.517837135033767,0.71338606911949],"aabb_xy":[[0.49885278828900687,1.4609904013478454],[0.6188527893047127,1.574683868719688]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.09260158373656302,1.120058151059622,0.71338606911949],"aabb_xy":[[-0.15660158399703383,1.0750493517066937],[-0.028601583476092218,1.1650669504125497]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.3328946163547415,-2.0187631301894933,0.71338606911949],"aabb_xy":[[0.3240925610457687,-2.0265744563444223],[0.34169667166371415,-2.010951804034564]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.4148886502346585,1.3630294969150705,0.71338606911949],"aabb_xy":[[-0.464861715767174,1.3130294971025376],[-0.364915584702143,1.4130294967276034]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.42339998227370773,-0.9679028367215303,0.71338606911949],"aabb_xy":[[-0.473399983634595,-1.017880741296946],[-0.37339998091282056,-0.9179249321461147]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[-0.15850693024877827,1.7317007409650969,0.71338606911949],"aabb_xy":[[-0.18899118037580842,1.681700741183601],[-0.1280226801217481,1.7817007407465928]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.16525904042227724,-1.0492086565106613,0.71338606911949],"aabb_xy":[[0.1533263060604492,-1.061590809318521],[0.17719177478410533,-1.0368265037028022]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.6226327702598513,-0.12697020291135663,0.71338606911949],"aabb_xy":[[0.5857822223228636,-0.16447020373439036],[0.6594833181968388,-0.0894702020883229]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.1729245217928279,1.3575515570589793,0.71338606911949],"aabb_xy":[[0.1354245232172071,1.3448152613954212],[0.21042452036844872,1.370287852722537]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.23852798662457753,-0.6882564586747988,0.71338606911949],"aabb_xy":[[0.2140143625275717,-0.7125210519768352],[0.2630416107215834,-0.6639918653727623]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.4796131230364997,-1.8189238409715993,0.71338606911949],"aabb_xy":[[0.475497172924427,-1.8230393960044442],[0.48372907314857233,-1.814808285938753]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.5662196511844636,0.7375542325968509,0.71338606911949],"aabb_xy":[[-0.5891353640695135,0.7146499354604275],[-0.5433039382994137,0.7604585297332747]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.5309063202834614,0.4582658029403186,0.71338606911949],"aabb_xy":[[0.48090631926432614,0.4217995872024908],[0.5809063213025967,0.49473201867814665]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.6905228053151016,1.2443209472219192,0.71338606911949],"aabb_xy":[[0.6680228055011993,1.2398463308514382],[0.7130228051290041,1.2487955635923997]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[-0.5029677982279754,-0.6062713774212165,0.71338606911949],"aabb_xy":[[-0.5404677983998474,-0.6389721128041236],[-0.4654677980561035,-0.5735706420383092]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.551836842410296,-1.8707176808317858,0.71338606911949],"aabb_xy":[[0.5422052061898663,-1.880354993611495],[0.5614684786307256,-1.861080368052077]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.5889719011919659,-2.0025459475583878,0.71338606911949],"aabb_xy":[[0.5543808183379204,-2.0675459478434184],[0.6235629840460108,-1.9375459472733565]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.1447320614754395,1.145656004226705,0.71338606911949],"aabb_xy":[[0.12723212804145612,1.1281560043064702],[0.16223199490942286,1.1631560041469393]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.4188402006573446,1.4629174581698856,0.71338606911949],"aabb_xy":[[0.40277827319882686,1.3779174563572936],[0.43490212811586215,1.5479174599824772]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.601312214125274,-0.9753687442462826,0.71338606911949],"aabb_xy":[[0.5838122149909067,-0.9852483712838703],[0.6188122132596411,-0.9654891172086947]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.073236249768321,0.8838955729660505,0.71338606911949],"aabb_xy":[[0.02323624881778817,0.8523464259625291],[0.12323625071885379,0.9154447199695719]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[-0.022183262773902035,1.3528284171741354,0.71338606911949],"aabb_xy":[[-0.10218326075468707,1.3452268762122834],[0.05781673520688301,1.3604299581359873]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.11224188593000839,-1.248731498416986,0.71338606911949],"aabb_xy":[[0.07724188603398953,-1.2571057339289258],[0.14724188582602726,-1.240357262905046]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.06141143858984288,-2.421234148290469,0.71338606911949],"aabb_xy":[[0.027971263393823265,-2.4546777741213988],[0.09485161378586246,-2.387790522459538]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_25","position":[0.6011499250320134,0.8870694345441108,0.71338606911949],"aabb_xy":[[0.5907383663515295,0.8817237012082123],[0.611561483712497,0.8924151678800093]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_26","position":[-0.15687562814406864,-0.34351450367264436,0.71338606911949],"aabb_xy":[[-0.16500331633738183,-0.352428112083352],[-0.1487479399507554,-0.3346008952619367]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[-0.42122401990615355,-1.5466759575672746,0.71338606911949],"aabb_xy":[[-0.435558445032317,-1.5587361731218135],[-0.4068895947799901,-1.5346157420127358]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_28","position":[-0.1757507753716876,-0.9585001058124514,0.71338606911949],"aabb_xy":[[-0.23575077596770377,-1.0133125783576749],[-0.11575077477567142,-0.9036876332672279]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_29","position":[0.5006988945990816,-0.3477759551835824,0.71338606911949],"aabb_xy":[[0.44570664396357074,-0.4027759569268953],[0.5556911452345926,-0.2927759534402697]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_30","position":[-0.04327840270543626,-1.3933931591202555,0.71338606911949],"aabb_xy":[[-0.053431418259585625,-1.4294627006929956],[-0.03312538715128687,-1.357323617547515]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_31","position":[-0.5295626047109268,-1.8928908361790917,0.71338606911949],"aabb_xy":[[-0.5846878103405174,-1.9528908376203788],[-0.4744373990813359,-1.8328908347378046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672746005860133,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7095.png","name":"7095"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7095.png","name":"7095"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6991.png","name":"6991"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8462.png","name":"8462"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8851.png","name":"8851"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9294.png","name":"9294"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":741.6481087259435,"rotation_z_degrees":195.31919081144252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00014749687343348222,0.01789324114609685,-0.01545295861611236]},{"name":"camera_2","offset_m":[-0.019798932409340705,0.0026320817758864433,-0.009409400068965686]},{"name":"camera_3","offset_m":[-0.0006365598201805503,0.0014090678797196374,-0.00358890958335948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00014659868064522373,-0.0007008675382162695,-0.0004293879085383442],"end_effector_yaw_offset_degrees":0.6447325053556849},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006948472901418645,-0.00041068168026484964,-0.0005621181942630567],"end_effector_yaw_offset_degrees":-0.6787110247256314},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001951352975632153,0.0003479707307182732,-0.00092844541843353],"end_effector_yaw_offset_degrees":0.4608153281867502},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011126092451212272,0.0014729492901059916,-0.0012323441430955534],"end_effector_yaw_offset_degrees":-0.09356796999193007},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012166429477116422,-0.0013208618492287938,0.00080409779033615],"end_effector_yaw_offset_degrees":-0.11908465427051951},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00031401846335542445,-0.0009492997480695534,0.0001637731288320226],"end_effector_yaw_offset_degrees":0.40884958813068306}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010597126801467297,-0.0018202799313599052],"position_m":[0.3032402873198533,-0.032320279931359906,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003905514773843516,0.001904637383328028],"position_m":[0.23109448522615647,-0.37169536261667196,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0014485132950226532,-6.090085271362022e-05],"position_m":[0.29894851329502264,0.3064390991472864,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002579303847070267,-0.0024782998930082166],"position_m":[0.3128793038470703,0.08002170010699179,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"363d285df6cb37d6149126bad00579950cd5d2d882ea04a2063ad1684d66cb5d","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7095/tex_ceiling_textures_9294/tex_floor_textures_8851/tex_table_textures_6991/tex_wall_textures_8462","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5094008560133904678,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5094008560133904678,"visual_seed":5094008560133904678,"scene_id":"lab_003","finished_at":"2026-09-08T14:16:46"}
+{"episode_id":"ep_000032","started_at":"2026-09-08T14:25:35","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.45482013445153013,0.5498896299400906,0.71338606911949],"aabb_xy":[[-0.5248201378430921,0.5145738562366596],[-0.3848201310599682,0.5852054036435214]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[-0.02322091118941516,0.7619081384496869,0.71338606911949],"aabb_xy":[[-0.03645185672409645,0.7486807194276874],[-0.00998996565473386,0.7751355574716863]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.17838919725673485,1.4147345628532828,0.71338606911949],"aabb_xy":[[-0.2423891945423835,1.3732278439004388],[-0.11438919997108621,1.4562412818061268]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.036371129604290564,1.6175345565984078,0.71338606911949],"aabb_xy":[[0.0064035726944649055,1.587534556300522],[0.06633868651411623,1.6475345568962936]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[-0.23146231927344457,0.5323645372709738,0.71338606911949],"aabb_xy":[[-0.2657592302911852,0.4980676510610324],[-0.19716540825570392,0.5666614234809151]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.5232357864816247,1.636226326608003,0.71338606911949],"aabb_xy":[[-0.5588649423815846,1.6005936598511499],[-0.4876066305816651,1.6718589933648558]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.46047790526152355,1.0840747106665276,0.71338606911949],"aabb_xy":[[0.4476060017605834,1.0040747102526915],[0.4733498087624637,1.1640747110803638]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.056361467764128204,1.5980470500472763,0.71338606911949],"aabb_xy":[[-0.06516352307310092,1.590235723892347],[-0.0475594124551555,1.6058583762022052]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.3392722213044109,0.379398563547908,0.71338606911949],"aabb_xy":[[-0.35051727687502876,0.3681567658238127],[-0.3280271657337931,0.39064036127200324]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.3236948239480205,-2.06797527079466,0.71338606911949],"aabb_xy":[[-0.37869482312461,-2.1229649455696173],[-0.26869482477143103,-2.012985596019702]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[0.25132509279519644,-1.1881368642304406,0.71338606911949],"aabb_xy":[[0.24720914268312366,-1.192252419263286],[0.255441042907269,-1.1840213091975949]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[-0.6421846051669771,0.23513245689694307,0.71338606911949],"aabb_xy":[[-0.6525961638474608,0.22978672356104451],[-0.6317730464864934,0.24047819023284145]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[-0.2871430411887995,-1.9437355346338676,0.71338606911949],"aabb_xy":[[-0.3090517233281505,-1.9656362014539586],[-0.2652343590494484,-1.921834867813777]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.09614763784101443,-2.103213273171906,0.71338606911949],"aabb_xy":[[0.06114763871105877,-2.1089584942475703],[0.1311476369709701,-2.097468052096242]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.10337300211982259,-2.008951408044625,0.71338606911949],"aabb_xy":[[-0.14087300069544337,-2.0216877037081824],[-0.06587300354420177,-1.9962151123810667]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.18122176580998062,1.0036926276952864,0.71338606911949],"aabb_xy":[[-0.19728369326849823,0.9186926258826947],[-0.16515983835146295,1.0886926295078783]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.4916176381328671,-1.1067285846261958,0.71338606911949],"aabb_xy":[[-0.5034897211443682,-1.1917285843198462],[-0.47974555512136596,-1.0217285849325455]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.16352471833629767,0.042196994122723375,0.71338606911949],"aabb_xy":[[-0.20454266172266855,-0.007803006508233963],[-0.12250677494992679,0.0921969947536807]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.48116516405804854,0.7835998687315282,0.71338606911949],"aabb_xy":[[0.4350800728033171,0.7195998714789731],[0.52725025531278,0.8475998659840833]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.3806941773840699,-0.929393195344048,0.71338606911949],"aabb_xy":[[-0.42194298841398453,-0.9843931948562653],[-0.33944536635415506,-0.8743931958318304]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.5224370781029875,0.8092661289356649,0.71338606911949],"aabb_xy":[[-0.5437150862464596,0.7442661266095918],[-0.5011590699595151,0.8742661312617379]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[-0.4235847757979154,-0.6110191623671286,0.71338606911949],"aabb_xy":[[-0.4270254520379726,-0.6148805953414931],[-0.42014409955785825,-0.6071577293927641]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.3699047817233207,0.8096265777682521,0.71338606911949],"aabb_xy":[[-0.38183751608514876,0.7972444249603926],[-0.35797204736149263,0.8220087305761113]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.14610310078339817,-1.8882105581794182,0.71338606911949],"aabb_xy":[[-0.19608605097087745,-1.9382105578219784],[-0.09612015059591879,-1.8382105585368576]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[-0.5938485394882209,0.6573878200129735,0.71338606911949],"aabb_xy":[[-0.6288485386810391,0.6464207740153106],[-0.5588485402954025,0.6683548660106359]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[0.5499453086535016,0.5817881941862009,0.71338606911949],"aabb_xy":[[0.5451017138922717,0.5769365417072169],[0.5547889034147316,0.5866398466651851]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[-0.5236001472096325,1.4258040269763037,0.71338606911949],"aabb_xy":[[-0.5273034085387713,1.422102008667586],[-0.5198968858804935,1.4295060452850215]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_27","position":[0.12188412166527418,-2.374780138097099,0.71338606911949],"aabb_xy":[[0.05788412249550424,-2.4215468252160615],[0.18588412083504413,-2.3280134509781365]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_28","position":[-0.6126338388398225,0.5206729320659913,0.71338606911949],"aabb_xy":[[-0.6461130061008634,0.4871938186948843],[-0.5791546715787815,0.5541520454370983]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_29","position":[0.13584524335297976,-0.662723582094257,0.71338606911949],"aabb_xy":[[0.1294314297097948,-0.6691334023419252],[0.14225905699616467,-0.6563137618465885]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_30","position":[-0.29155087898651666,1.6507811645880728,0.71338606911949],"aabb_xy":[[-0.3565508799436439,1.5988329526543674],[-0.22655087802938947,1.7027293765217786]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_31","position":[-0.5131937226827001,-0.07166825837406687,0.71338606911949],"aabb_xy":[[-0.5931937259467133,-0.08522829068298021],[-0.433193719418687,-0.058108226065153534]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_32","position":[0.5941788558996295,0.8932904647953817,0.71338606911949],"aabb_xy":[[0.5720063289229785,0.8711147976392584],[0.6163513828762802,0.9154661319515047]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_33","position":[0.02506395873838052,1.1863230025975589,0.71338606911949],"aabb_xy":[[-0.004927703995489807,1.1563230032607585],[0.05505562147225085,1.2163230019343596]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_34","position":[0.5125907760157125,-0.4467403101094485,0.71338606911949],"aabb_xy":[[0.44759077813406467,-0.49786397381598946],[0.5775907738973602,-0.3956166464029077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713154740186021,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2578.png","name":"2578"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2578.png","name":"2578"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4167.png","name":"4167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8636.png","name":"8636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9206.png","name":"9206"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/860.png","name":"860"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":638.4323733711659,"rotation_z_degrees":331.68634688179856,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0076020182904281836,-0.01738886851638783,0.019574999836291105]},{"name":"camera_2","offset_m":[0.014939607680946206,0.016869792731691962,0.017604463485098785]},{"name":"camera_3","offset_m":[-0.005924550543607117,-0.00919412809408319,0.003863113347927733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005611356685322521,0.0013363738590856764,0.0005251345994238439],"end_effector_yaw_offset_degrees":-0.8652275057520642},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001693525774849369,0.0015785371709578755,0.0016579613840189775],"end_effector_yaw_offset_degrees":-0.792990836385868},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00020275681851880732,0.0009407585161396457,0.0010279790574849344],"end_effector_yaw_offset_degrees":0.8508595803224805},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001672463333797108,-0.0019522803929160385,0.0005764900747365371],"end_effector_yaw_offset_degrees":-0.23746346750716252},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008240205611841868,0.0009414454145283344,0.000758662010057845],"end_effector_yaw_offset_degrees":-0.903327636852923},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00120142296139659,-0.0014148774548099667,0.001821934499625063],"end_effector_yaw_offset_degrees":0.08838907103496751}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033908639102799903,0.0028719611385450835],"position_m":[0.30769086391028,-0.027628038861454915,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012264178398034985,-0.001353325228024469],"position_m":[0.23377358216019647,-0.37495332522802444,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004942817605325525,0.002562148479700193],"position_m":[0.3024428176053255,0.3090621484797002,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004204109303769338,0.0009142035228461333],"position_m":[0.30609589069623067,0.08341420352284613,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e4bddcc43b06a7d0afcc51f5a2143bb4ffa3f098bbdaf8b166b0129980a34087","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2578/tex_ceiling_textures_860/tex_floor_textures_9206/tex_table_textures_4167/tex_wall_textures_8636","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":8285948358062061110,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":8285948358062061110,"visual_seed":8285948358062061110,"scene_id":"lab_003","finished_at":"2026-09-08T14:33:57"}
+{"episode_id":"ep_000033","started_at":"2026-09-08T14:34:04","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.15075154353286901,0.8859378921377972,0.71338606911949],"aabb_xy":[[-0.16854505046778545,0.8681381465419994],[-0.13295803659795258,0.9037376377335947]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.25711028326397045,-1.2955151812700467,0.71338606911949],"aabb_xy":[[0.22007617383591074,-1.329892388603756],[0.2941443926920302,-1.261137973936337]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[0.24684899433684904,-2.062586457661479,0.71338606911949],"aabb_xy":[[0.16684899732260106,-2.08272100933489],[0.326848991351097,-2.042451905988067]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.30753129964631554,1.2293638955631776,0.71338606911949],"aabb_xy":[[0.29777531013714154,1.2196013615039432],[0.3172872891554893,1.239126429622412]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.5008596848744207,-1.7037834618871999,0.71338606911949],"aabb_xy":[[0.47457086055397996,-1.7300548955418509],[0.5271485091948612,-1.6775120282325484]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.15618586996070272,1.5588635523505974,0.71338606911949],"aabb_xy":[[0.10636909049586796,1.5088635538662942],[0.20600264942553748,1.608863550834901]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[-0.328390528894053,-1.1604086021315716,0.71338606911949],"aabb_xy":[[-0.378390530177893,-1.2103874565221935],[-0.27839052761021305,-1.1104297477409493]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.18545843528854655,-1.7994690519868364,0.71338606911949],"aabb_xy":[[-0.20795843580058712,-1.8219609103522345],[-0.16295843477650593,-1.7769771936214378]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[0.5303433783465155,-2.3054995404524825,0.71338606911949],"aabb_xy":[[0.45034337968962945,-2.3200043993767454],[0.6103433770034015,-2.2909946815282196]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.31909431590469883,-1.6234648435174457,0.71338606911949],"aabb_xy":[[0.24909431949473695,-1.643902779169127],[0.3890943123146605,-1.6030269078657635]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.441487554903231,0.1924145443482268,0.71338606911949],"aabb_xy":[[-0.4575494823617486,0.107414542535635],[-0.4254256274447133,0.2774145461608186]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[-0.275807758464005,1.1366499886076702,0.71338606911949],"aabb_xy":[[-0.3258077571099262,1.0867304449482076],[-0.22580775981808382,1.1865695322671324]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.6427820924723138,1.3641507793410326,0.71338606911949],"aabb_xy":[[0.6014775494085779,1.3001507797729153],[0.6840866355360499,1.4281507789091494]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.24401152010027788,1.5951480435024217,0.71338606911949],"aabb_xy":[[-0.2675966435641728,1.5301480412569899],[-0.22042639663638305,1.6601480457478535]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.6081642942004349,1.4247138770004786,0.71338606911949],"aabb_xy":[[-0.6582617581815086,1.360713876490667],[-0.5580668302193613,1.4887138775102906]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.5078183292721488,-1.9953842733814828,0.71338606911949],"aabb_xy":[[-0.5307340421571988,-2.0182885705179068],[-0.484902616387099,-1.9724799762450596]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[0.36596586304187717,-0.7379552412131516,0.71338606911949],"aabb_xy":[[0.34212964540127216,-0.8279552420216383],[0.38980208068248234,-0.6479552404046652]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.1512050323707479,1.4303581943397732,0.71338606911949],"aabb_xy":[[-0.20619728300625886,1.3753581925964604],[-0.09621278173523695,1.485358196083086]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.15330287678311927,0.6008293985279085,0.71338606911949],"aabb_xy":[[0.1313941946437682,0.5789287317078178],[0.17521155892247028,0.6227300653479992]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.12486689864933298,-2.15074804152541,0.71338606911949],"aabb_xy":[[-0.14236683208331635,-2.168248041445644],[-0.10736696521534961,-2.133248041605175]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.3168235318287182,-0.5436202627320244,0.71338606911949],"aabb_xy":[[-0.38182353278584547,-0.5955684746657299],[-0.25182353087159104,-0.4916720507983188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6729831299876498,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6024.png","name":"6024"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6024.png","name":"6024"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2967.png","name":"2967"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5174.png","name":"5174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9130.png","name":"9130"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8374.png","name":"8374"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.9088832050264,"rotation_z_degrees":107.28944220355325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016795415279792756,0.015552266712658466,0.0071894834366680455]},{"name":"camera_2","offset_m":[0.011845901571390243,-0.002649663528765743,-0.004728151764772717]},{"name":"camera_3","offset_m":[-0.0016780459967275368,-0.007246778802663268,-0.0015388635680435442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005909757526941701,-0.001369825806107674,0.0015869115126152466],"end_effector_yaw_offset_degrees":0.9870307205551199},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004131917454042828,0.0007533220620217639,-0.0008722607753663208],"end_effector_yaw_offset_degrees":-0.9794913430537702},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.739982707609302e-05,0.0015632042501208423,-9.960696149495713e-05],"end_effector_yaw_offset_degrees":0.018186138675586383},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018364023981031876,0.000749805242655552,0.0016394074969824728],"end_effector_yaw_offset_degrees":0.10737292453963554},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011846045844172894,0.0009617399315690147,0.001719460860193039],"end_effector_yaw_offset_degrees":0.07000539100571945},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00013456438714756487,-0.0014574910178148152,0.0015344112570640795],"end_effector_yaw_offset_degrees":-0.12153571442291633}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045861793230614996,-0.002345359953967037],"position_m":[0.3088861793230615,-0.032845359953967035,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014181034432354635,-0.0004049530312022773],"position_m":[0.23641810344323544,-0.3740049530312023,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0026514933734778116,0.0006837251749936234],"position_m":[0.3001514933734778,0.3071837251749936,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028811240900737836,0.0019169840333761144],"position_m":[0.3074188759099262,0.08441698403337612,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9454e40a2b2d49cb04a02af94f2f1b3d1bea03fdf96a04dd0f3d38a1669e3968","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6024/tex_ceiling_textures_8374/tex_floor_textures_9130/tex_table_textures_2967/tex_wall_textures_5174","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5230764923719585106,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5230764923719585106,"visual_seed":5230764923719585106,"scene_id":"lab_003","finished_at":"2026-09-08T14:41:42"}
+{"episode_id":"ep_000034","started_at":"2026-09-08T14:41:49","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.5713991532432714,-0.26349544830176175,0.71338606911949],"aabb_xy":[[0.491399155839678,-0.3434880194999445],[0.6513991506468648,-0.1835028771035789]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.1162099068453949,0.8315750773677189,0.71338606911949],"aabb_xy":[[-0.19620990482617995,0.823973536405867],[-0.03620990886460985,0.8391766183295709]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.12882449192142587,-0.690311938422403,0.71338606911949],"aabb_xy":[[0.038824488244507675,-0.7517443449995072],[0.218824495598344,-0.6288795318452985]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.43862723806302856,-1.3481949353910208,0.71338606911949],"aabb_xy":[[-0.4561272383080779,-1.3656947232305874],[-0.4211272378179791,-1.3306951475514537]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.45636088218830784,1.3142205651104937,0.71338606911949],"aabb_xy":[[0.4437581830512314,1.3016251688856284],[0.4689635813253843,1.3268159613353594]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.3888318973671075,0.8494882274057898,0.71338606911949],"aabb_xy":[[-0.44883189822792025,0.7980617973993033],[-0.32883189650629463,0.900914657412276]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.6072983960862965,0.9133658506232742,0.71338606911949],"aabb_xy":[[-0.6322983956380349,0.9032233667581394],[-0.582298396534558,0.9235083344884089]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[0.056558566569762214,1.3760563542435182,0.71338606911949],"aabb_xy":[[-0.013441435561667332,1.3532943886178224],[0.12655856870119175,1.3988183198692137]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.5388582884082196,-0.5013100226652183,0.71338606911949],"aabb_xy":[[0.5013582884644532,-0.5096031127000549],[0.576358288351986,-0.4930169326303817]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.4379003894132023,-2.239169618778167,0.71338606911949],"aabb_xy":[[0.3966515783832876,-2.294169618290384],[0.47914920044311704,-2.184169619265949]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[-0.583091729583301,-2.3198012559540206,0.71338606911949],"aabb_xy":[[-0.5901331805340486,-2.326828007691815],[-0.5760502786325534,-2.312774504216226]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.047116842187566066,-2.5185387708439064,0.71338606911949],"aabb_xy":[[-0.08461684253579382,-2.5303301664249895],[-0.009616841839338301,-2.5067473752628224]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.4426334816997198,-2.3116314539360374,0.71338606911949],"aabb_xy":[[-0.46513348170986807,-2.325727673575641],[-0.4201334816895715,-2.2975352342964346]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.17469064867205675,1.091252467830878,0.71338606911949],"aabb_xy":[[-0.24469065048080216,1.0698986990666906],[-0.10469064686331128,1.1126062365950653]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[-0.40405033088927955,-0.19430438131568728,0.71338606911949],"aabb_xy":[[-0.42905033082179755,-0.2011870495366106],[-0.37905033095676177,-0.18742171309476396]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.3892064265235927,-0.03647354478745424,0.71338606911949],"aabb_xy":[[-0.45320642291916574,-0.10043683320618779],[-0.3252064301280196,0.027489743631279318]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.2778490129922563,1.4136469543908592,0.71338606911949],"aabb_xy":[[-0.2897210960037574,1.328646954697209],[-0.2659769299807552,1.4986469540845098]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.2077577883136399,-2.5629927643457235,0.71338606911949],"aabb_xy":[[0.19734622963315615,-2.568338497681622],[0.21816934699412358,-2.557647031009825]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.4025694830747084,1.11149174490442,0.71338606911949],"aabb_xy":[[-0.42006948220907553,1.1016121178668319],[-0.3850694839403412,1.1213713719420075]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.620627021390465,-2.448669714984197,0.71338606911949],"aabb_xy":[[-0.6822177806144578,-2.5126697130932443],[-0.5590362621664722,-2.3846697168751505]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.6504998679083855,-2.035767463582221,0.71338606911949],"aabb_xy":[[0.6434595579748486,-2.1157674629818928],[0.6575401778419225,-1.95576746418255]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.2880326772262989,-0.8209605252769574,0.71338606911949],"aabb_xy":[[-0.3520326776038325,-0.8707057921277697],[-0.22403267684876527,-0.7712152584261451]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.4588480722633146,0.49980425204980206,0.71338606911949],"aabb_xy":[[-0.46647234035349294,0.49217102851325834],[-0.45122380417313646,0.5074374755863458]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[0.10090140992492291,-1.1002400235640388,0.71338606911949],"aabb_xy":[[0.09361909354825924,-1.1902400271735474],[0.10818372630158656,-1.0102400199545294]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6741796424207694,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8228.png","name":"8228"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8228.png","name":"8228"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8544.png","name":"8544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/364.png","name":"364"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6500.png","name":"6500"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":827.6679810814157,"rotation_z_degrees":206.73056928035322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010571188886426528,0.004400924242883041,0.0070623834809930355]},{"name":"camera_2","offset_m":[-0.01762313757752752,-0.015932429026375497,-0.012130161672934042]},{"name":"camera_3","offset_m":[-0.018218495491672013,0.0020270141445070076,-0.005571203995751181]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011671338495217926,0.0013112350256241937,0.0006720201809673498],"end_effector_yaw_offset_degrees":-0.08337952932939019},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010368094837053857,-0.001326630404078797,0.0013350417527955853],"end_effector_yaw_offset_degrees":0.401658992435066},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005681236450320328,-0.00030116975812824183,0.0005380283049717903],"end_effector_yaw_offset_degrees":-0.34595135500473706},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012073908701800734,-0.0018302734591342917,0.0004973433093327629],"end_effector_yaw_offset_degrees":-0.5159134503994356},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010935645361005238,-0.00021976639066569395,8.298965055687909e-05],"end_effector_yaw_offset_degrees":-0.6066448128730455},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014659984330067384,0.001394682071804973,0.001986995838100935],"end_effector_yaw_offset_degrees":0.7125128909778204}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004330053803491245,-0.004055179219772687],"position_m":[0.30863005380349123,-0.034555179219772685,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004369786741959955,0.001874167720207309],"position_m":[0.23936978674195994,-0.37172583227979267,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001109740208218437,-0.0007704853252088299],"position_m":[0.2963902597917816,0.30572951467479115,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004345302085254786,-0.0015375271762008516],"position_m":[0.3059546979147452,0.08096247282379915,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"390d6d3cfe143c654e20a77b88225f6dd462ae1125391d5b4da6de0bcdb5006f","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8228/tex_ceiling_textures_6500/tex_floor_textures_7196/tex_table_textures_8544/tex_wall_textures_364","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6971705082627626596,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6971705082627626596,"visual_seed":6971705082627626596,"scene_id":"lab_003","finished_at":"2026-09-08T14:49:52"}
+{"episode_id":"ep_000035","started_at":"2026-09-08T14:50:01","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[0.2838085121921178,1.1478301533859345,0.71338606911949],"aabb_xy":[[0.27973035428506804,1.143749173137671],[0.2878866700991675,1.1519111336341976]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.5213747323319586,-1.6566807060757953,0.71338606911949],"aabb_xy":[[-0.5458883564289645,-1.6809452993778318],[-0.4968611082349528,-1.6324161127737589]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[0.02595921381044719,1.3489920927527779,0.71338606911949],"aabb_xy":[[-0.054040789447395765,1.268995584960794],[0.10595921706829015,1.4289886005447618]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.49322291005978913,0.6450879594266112,0.71338606911949],"aabb_xy":[[0.44322290839829426,0.5950895171709084],[0.5432229117212837,0.6950864016823138]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.5959438206730832,1.029157497137192,0.71338606911949],"aabb_xy":[[-0.6859438200914539,0.995782000293002],[-0.5059438212547122,1.0625329939813815]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.03160793167563847,-0.7750341295736698,0.71338606911949],"aabb_xy":[[-0.08170539565671209,-0.8390341300834816],[0.018489532305435152,-0.711034129063858]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.27330894721300003,1.5481684677642513,0.71338606911949],"aabb_xy":[[-0.2859116463500765,1.5355730715393863],[-0.2607062480759236,1.5607638639891173]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.25169660946866634,-1.285384081269966,0.71338606911949],"aabb_xy":[[-0.2596198897074147,-1.307884081507969],[-0.243773329229918,-1.2628840810319624]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[-0.42985583048240983,-0.44649130990582453,0.71338606911949],"aabb_xy":[[-0.47110464151232456,-0.5014913094180418],[-0.3886070194524951,-0.39149131039360696]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.4048715235849072,0.9830459862393619,0.71338606911949],"aabb_xy":[[0.3408715232073735,0.9333007193885494],[0.46887152396244075,1.032791253090174]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.15495732706220267,-1.1277504292713312,0.71338606911949],"aabb_xy":[[0.14579744811832607,-1.1342816473148682],[0.16411720600607926,-1.121219211227794]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.44345371520554,1.6242604150792759,0.71338606911949],"aabb_xy":[[0.4385544228989764,1.5965834957767067],[0.4483530075121034,1.6519373343818442]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.6367317905420289,1.2955869846470027,0.71338606911949],"aabb_xy":[[-0.6498830365133184,1.2705869848903162],[-0.6235805445707396,1.3205869844036893]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.482264069122581,-0.9686770737099384,0.71338606911949],"aabb_xy":[[0.4647640688632445,-0.9827686158987112],[0.49976406938191775,-0.954585531521166]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.048618692398960994,0.7553858619255571,0.71338606911949],"aabb_xy":[[0.011118691214168195,0.7509676392294965],[0.08611869358375378,0.7598040846216175]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.2641857797146151,0.8430916403575117,0.71338606911949],"aabb_xy":[[0.21430308283691896,0.793091641111237],[0.31406847659231135,0.8930916396037865]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.28806354859768507,-2.0777463748754164,0.71338606911949],"aabb_xy":[[-0.3055635477320522,-2.0876260019130037],[-0.27056354946331784,-2.067866747837828]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.298500435224955,-1.0096794186227143,0.71338606911949],"aabb_xy":[[-0.3885004317258267,-1.0555910610411723],[-0.20850043872408322,-0.9637677762042559]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.16707903193257068,1.763727647595378,0.71338606911949],"aabb_xy":[[-0.1764260395148659,1.7494240253777338],[-0.15773202435027545,1.7780312698130218]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.1634740349887147,1.164787258559846,0.71338606911949],"aabb_xy":[[0.09947403770306606,1.1232805396070018],[0.22747403227436336,1.2062939775126897]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[-0.0406462262236571,0.546120576230368,0.71338606911949],"aabb_xy":[[-0.07814622657188486,0.5343291806492845],[-0.0031462258754293357,0.5579119718114516]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.3336113128954993,-1.8325806237756312,0.71338606911949],"aabb_xy":[[-0.35719643635939413,-1.897580626021063],[-0.3100261894316044,-1.7675806215301995]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[-0.43590515057846285,-1.5726629102312333,0.71338606911949],"aabb_xy":[[-0.4453226251483256,-1.582079087368952],[-0.4264876760086001,-1.563246733093514]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[0.4826198905731791,-1.1909219034363079,0.71338606911949],"aabb_xy":[[0.39261988823916005,-1.2684042580214205],[0.5726198929071982,-1.1134395488511952]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[0.32035942535239137,-0.7274058219745454,0.71338606911949],"aabb_xy":[[0.3029287102733848,-0.7446779366383961],[0.3377901404313978,-0.7101337073106945]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[0.48216932072205454,-1.9253996042697623,0.71338606911949],"aabb_xy":[[0.44483804419681194,-1.9600526590646146],[0.5195005972472971,-1.89074654947491]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[-0.003586354439487849,-1.1104940533635852,0.71338606911949],"aabb_xy":[[-0.04875767228765683,-1.1744940505081238],[0.041584963408681126,-1.046494056219047]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[-0.17421419109431036,-1.99291848485728,0.71338606911949],"aabb_xy":[[-0.24421419290305582,-2.014272253621468],[-0.10421418928556495,-1.971564716093093]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_28","position":[-0.4155788011614841,-1.440530468028045,0.71338606911949],"aabb_xy":[[-0.46557807632992027,-1.4905304693039925],[-0.36557952599304794,-1.3905304667520981]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6720243928607631,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8030.png","name":"8030"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8030.png","name":"8030"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4704.png","name":"4704"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6772.png","name":"6772"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9614.png","name":"9614"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4642.png","name":"4642"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":621.375500937123,"rotation_z_degrees":130.19208475034858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00736106565974497,-0.007082968429900456,0.010134981773236133]},{"name":"camera_2","offset_m":[-0.00028270077421984827,0.013901770937383272,0.014059321100401877]},{"name":"camera_3","offset_m":[0.015830872779436834,0.018994389274435506,-0.0074288307881580275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00036147633279134386,-0.001248136364889968,0.0010339790848585477],"end_effector_yaw_offset_degrees":0.6987344688995516},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015437956692587245,0.0009851101126277604,-0.0006115201948349292],"end_effector_yaw_offset_degrees":-0.3209597073196764},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001948669771001844,-0.0019077537925630437,-0.0009307850084835682],"end_effector_yaw_offset_degrees":0.42659487731748613},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010282331836187091,-0.00199536224210464,-0.0011811511673252197],"end_effector_yaw_offset_degrees":0.48890265683715417},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016228695520877064,0.0012255542006720543,0.000391470522416604],"end_effector_yaw_offset_degrees":0.9836875237641447},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00047899562485999346,-0.0004827047092125997,0.00016466338015505176],"end_effector_yaw_offset_degrees":-0.6600134177734807}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0046875748892599165,-0.0031243989835030043],"position_m":[0.2996124251107401,-0.033624398983503,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002706784034925049,-0.0003957331543764826],"position_m":[0.2352706784034925,-0.37399573315437645,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0010541396866307375,-0.003893493514130251],"position_m":[0.29855413968663075,0.30260650648586973,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023347282406908122,0.003703681767677553],"position_m":[0.3079652717593092,0.08620368176767755,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"274ab8c8b2554580cc486c3dc8eb3f1d381023439efe14bc0bd3496fce44893b","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8030/tex_ceiling_textures_4642/tex_floor_textures_9614/tex_table_textures_4704/tex_wall_textures_6772","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":4404721795176737165,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":4404721795176737165,"visual_seed":4404721795176737165,"scene_id":"lab_003","finished_at":"2026-09-08T14:57:44"}
+{"episode_id":"ep_000036","started_at":"2026-09-08T14:57:52","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.20947399489954383,-2.5083221851034203,0.71338606911949],"aabb_xy":[[-0.24393647291263157,-2.5149858622863426],[-0.17501151688645603,-2.501658507920497]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.5739042326794558,-1.6929257862583573,0.71338606911949],"aabb_xy":[[-0.5984504483022065,-1.7231746828073942],[-0.5493580170567051,-1.66267688970932]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[-0.14417133906945823,1.6781119265045805,0.71338606911949],"aabb_xy":[[-0.20817133934343646,1.6280458263072926],[-0.08017133879548,1.7281780267018685]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.030054726060058767,-2.5582406411951575,0.71338606911949],"aabb_xy":[[-0.0074452746045199384,-2.573927699195379],[0.06755472672463746,-2.5425535831949344]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[-0.33864429471567253,-1.5332848469226381,0.71338606911949],"aabb_xy":[[-0.3619261369138039,-1.6182848482198662],[-0.3153624525175412,-1.44828484562541]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.18954927303737024,-0.8262339540675261,0.71338606911949],"aabb_xy":[[-0.19889628061966547,-0.8405375762851701],[-0.180202265455075,-0.8119303318498821]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.302303505586043,-1.8909000951891566,0.71338606911949],"aabb_xy":[[0.27233594867621735,-1.9209000954870425],[0.3322710624958687,-1.860900094891271]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.03198521947241484,-2.0208868409882434,0.71338606911949],"aabb_xy":[[0.024741453426169513,-2.1008868391918454],[0.039228985518660164,-1.9408868427846406]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.3863260319758932,-0.6334638588716903,0.71338606911949],"aabb_xy":[[0.33851986436212456,-0.6984638615787494],[0.4341321995896618,-0.5684638561646315]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.38342725588586873,-1.7738484344561174,0.71338606911949],"aabb_xy":[[-0.3942677341123836,-1.791034715746766],[-0.3725867776593538,-1.7566621531654687]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.21278383785674698,0.90515159750823,0.71338606911949],"aabb_xy":[[-0.2471001150313649,0.8551515975350522],[-0.17846756068212902,0.9551515974814077]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.5233338891330224,0.41683315395051546,0.71338606911949],"aabb_xy":[[-0.534239665220585,0.3368331575516863],[-0.5124281130454595,0.4968331503493446]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.42938996225323933,-0.3894620354128744,0.71338606911949],"aabb_xy":[[0.42542947848350493,-0.39712989999839504],[0.4333504460229736,-0.38179417082735384]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.6242071081135412,1.2443220783440463,0.71338606911949],"aabb_xy":[[-0.62791036944268,1.2406200600353283],[-0.6205038467844022,1.2480240966527638]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[-0.2090968101136378,1.4198643173062826,0.71338606911949],"aabb_xy":[[-0.213232666446338,1.3823643178619258],[-0.20496095378093762,1.4573643167506398]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.5331773605348558,-0.9291277074510154,0.71338606911949],"aabb_xy":[[0.5216083797879192,-0.9541277075679472],[0.5447463412817923,-0.9041277073340838]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.33655769078393294,-0.5814454464728178,0.71338606911949],"aabb_xy":[[-0.3715576906799518,-0.5898196819847578],[-0.30155769088791406,-0.5730712109608779]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.17514463894564325,-0.6938849934187001,0.71338606911949],"aabb_xy":[[0.16864300243763863,-0.7036528154450099],[0.18164627545364787,-0.6841171713923904]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.32412874904027633,-2.494881249712382,0.71338606911949],"aabb_xy":[[-0.36097929697726394,-2.532381250535415],[-0.2872782011032887,-2.4573812488893476]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.4584829115910971,-1.7464276468792912,0.71338606911949],"aabb_xy":[[0.4531453359250926,-1.771427647808431],[0.46382048725710173,-1.7214276459501514]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.6787061857720604,-0.032625609044943715,0.71338606911949],"aabb_xy":[[0.6595938784140816,-0.051760387922185735],[0.6978184931300393,-0.013490830167701695]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[0.16632292471254428,-1.1238155410737307,0.71338606911949],"aabb_xy":[[0.1444142425731932,-1.1457162078938214],[0.1882316068518953,-1.10191487425364]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.32510892924235457,-1.9884263702730667,0.71338606911949],"aabb_xy":[[-0.40510892625660255,-2.0085609219464775],[-0.2451089322281066,-1.9682918185996552]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[-0.36980477799711675,-0.8927772292723573,0.71338606911949],"aabb_xy":[[-0.38748040858571503,-0.9104574455517599],[-0.35212914740851836,-0.8750970129929544]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[0.08369733891999565,1.6615617036395345,0.71338606911949],"aabb_xy":[[0.033697339343660926,1.6115811246874288],[0.13369733849633036,1.7115422825916407]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[0.6226257735333363,1.356577713355823,0.71338606911949],"aabb_xy":[[0.5586257762476876,1.315070994402979],[0.6866257708189849,1.398084432308667]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[-0.09182906135736424,-1.1625796263188501,0.71338606911949],"aabb_xy":[[-0.10370114436886535,-1.2475796260125007],[-0.07995697834586313,-1.0775796266252]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[-0.46909817268536647,-0.7580601971482381,0.71338606911949],"aabb_xy":[[-0.4808663594800241,-0.8430601970534599],[-0.45732998589070906,-0.6730601972430167]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[-0.2546516307449027,-2.125902120261505,0.71338606911949],"aabb_xy":[[-0.27682415772155355,-2.1480777874176282],[-0.23247910376825187,-2.103726453105382]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.37274618578246055,-0.9857904792916397,0.71338606911949],"aabb_xy":[[0.3187305895005605,-1.0497904821838966],[0.4267617820643605,-0.9217904763993823]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_30","position":[-0.4604648073480887,1.5377026103086764,0.71338606911949],"aabb_xy":[[-0.5441870328481712,1.4477026067739802],[-0.37674258184800624,1.6277026138433721]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_31","position":[-0.12453569971205058,-1.6538159250081659,0.71338606911949],"aabb_xy":[[-0.17950942174838347,-1.7088159245723993],[-0.0695619776757177,-1.598815925443933]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_32","position":[0.16175414520581521,1.0855013159755362,0.71338606911949],"aabb_xy":[[0.08175414722503017,1.077899775013684],[0.24175414318660027,1.093102856937388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666172117175063,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4640.png","name":"4640"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4640.png","name":"4640"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4142.png","name":"4142"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1711.png","name":"1711"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9048.png","name":"9048"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3445.png","name":"3445"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":837.7255629869516,"rotation_z_degrees":178.10292671015065,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01471847091308192,0.010079303292028309,-0.00026897275357769257]},{"name":"camera_2","offset_m":[0.011078290039325242,-0.01659436944632879,0.017219762013947332]},{"name":"camera_3","offset_m":[0.004887802483536669,-0.014817414816248268,-0.005453712327687247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010053933508141718,-0.0010511514851740027,0.0012425474308737586],"end_effector_yaw_offset_degrees":0.6044491224071908},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015918292238131704,-0.0009547314699543748,0.0016804119346150639],"end_effector_yaw_offset_degrees":0.688423296205775},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.9723259190934476e-05,-0.0019072535536135372,-0.0008983483172308167],"end_effector_yaw_offset_degrees":-0.18083550319718156},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013698484331561133,-0.0004539069845381895,0.0004698490344111992],"end_effector_yaw_offset_degrees":-0.19486828472344242},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00017364436033357388,-0.0013916925662203088,0.0003082421004621007],"end_effector_yaw_offset_degrees":0.2827321264057332},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00025174887759944796,-0.0017456888087117703,0.0017157100529046915],"end_effector_yaw_offset_degrees":-0.7097193101821209}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001997041304460908,0.0034293742228280718],"position_m":[0.3023029586955391,-0.02707062577717193,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026790315798190033,0.004927019351185062],"position_m":[0.232320968420181,-0.36867298064881493,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003508693049414139,0.0005563189553567157],"position_m":[0.30100869304941413,0.30705631895535673,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011595150254446085,0.0025260835223161427],"position_m":[0.30914048497455543,0.08502608352231615,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1a6880ebad674f84a5cf1987698e123e5fbd6711d6e5f8f02221f35d10567371","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4640/tex_ceiling_textures_3445/tex_floor_textures_9048/tex_table_textures_4142/tex_wall_textures_1711","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":8384863471835819340,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":8384863471835819340,"visual_seed":8384863471835819340,"scene_id":"lab_003","finished_at":"2026-09-08T15:05:44"}
+{"episode_id":"ep_000037","started_at":"2026-09-08T15:05:51","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.10618215237453166,-2.473915633350472,0.71338606911949],"aabb_xy":[[-0.14368215355932445,-2.4783338560465316],[-0.06868215118973886,-2.4694974106544105]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.3739559738146422,1.2349400718144157,0.71338606911949],"aabb_xy":[[-0.39145597407397886,1.2208485296256433],[-0.35645597355530556,1.2490316140031885]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.6263581018150701,0.6608374311186838,0.71338606911949],"aabb_xy":[[0.5413581033976469,0.5759631356563988],[0.7113581002324934,0.7457117265809687]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.225667526624235,1.0536838157907327,0.71338606911949],"aabb_xy":[[-0.2364405005456028,1.0186838175716937],[-0.21489455270286725,1.0886838140097717]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.08108300046545402,0.5038132759445602,0.71338606911949],"aabb_xy":[[-0.09895210821990953,0.48998036796734923],[-0.06321389271099855,0.5176461839217711]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.20225361255108354,-0.6320602707489136,0.71338606911949],"aabb_xy":[[-0.22045943621233124,-0.6430856713309052],[-0.1840477888898359,-0.6210348701669219]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.6112711990197046,-1.0317269356038323,0.71338606911949],"aabb_xy":[[-0.6282812963097553,-1.047861424102106],[-0.594261101729654,-1.0155924471055582]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.39291781801781794,1.7517972377865925,0.71338606911949],"aabb_xy":[[-0.44289523488307153,1.7017972362973437],[-0.34294040115256436,1.8017972392758408]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.4706100757529651,-2.1534773863546093,0.71338606911949],"aabb_xy":[[-0.49512369984997096,-2.1777419796566457],[-0.44609645165595924,-2.129212793052573]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.3902327574585248,-1.7984737662094803,0.71338606911949],"aabb_xy":[[-0.47023275604584425,-1.8777893681476412],[-0.3102327588712054,-1.7191581642713194]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.5104226619757386,-2.2483377081138487,0.71338606911949],"aabb_xy":[[0.506344504068689,-2.252418688362112],[0.5145008198827884,-2.2442567278655856]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.3505983943089641,-2.1289570916438514,0.71338606911949],"aabb_xy":[[0.3280983947852566,-2.1514530390944717],[0.3730983938326714,-2.10646114419323]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.29126439602249066,-0.9496960632931339,0.71338606911949],"aabb_xy":[[0.25271870319728956,-0.9882418343493226],[0.32981008884769164,-0.9111502922369453]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[0.25464232009358423,-2.17559723992923,0.71338606911949],"aabb_xy":[[0.2467190398548359,-2.1980972401672334],[0.26256560033233256,-2.1530972396912267]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[0.09984910236226896,-2.2331181243439016,0.71338606911949],"aabb_xy":[[0.019849101892053012,-2.2414288319582503],[0.1798491028324849,-2.2248074167295537]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.20252577928895044,1.7432622379671012,0.71338606911949],"aabb_xy":[[0.19719326463433745,1.737937909721866],[0.20785829394356342,1.748586566212337]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.3564158045260547,0.6447066571888049,0.71338606911949],"aabb_xy":[[-0.3739157379600381,0.6272066572685704],[-0.33891587109207133,0.6622066571090395]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.6213813257177969,1.2775411370255312,0.71338606911949],"aabb_xy":[[-0.6273478646585325,1.271579992366167],[-0.6154147867770611,1.2835022816848953]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.6317456506495471,-1.8010543996835895,0.71338606911949],"aabb_xy":[[0.5677456473598389,-1.844389318687507],[0.6957456539392551,-1.7577194806796719]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.3542889001748881,1.0105000876756747,0.71338606911949],"aabb_xy":[[0.2742889015180021,0.9959952287514119],[0.43428889883177413,1.0250049465999376]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.22995872103234516,1.1308800220459463,0.71338606911949],"aabb_xy":[[0.22066510279519455,1.0933800235578124],[0.2392523392694957,1.1683800205340802]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.6675737035833871,1.8061150619791975,0.71338606911949],"aabb_xy":[[-0.6757013917767004,1.79720145356849],[-0.659446015390074,1.8150286703899055]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[-0.106131892080215,0.31414211853556795,0.71338606911949],"aabb_xy":[[-0.17012758947531156,0.2501421202348592],[-0.042136194685118394,0.3781421168362766]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[0.4373940665089058,0.7613750561271391,0.71338606911949],"aabb_xy":[[0.3998940658443271,0.7456879981269167],[0.4748940671734845,0.777062114127361]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[0.032329440978213664,-0.7989177155633631,0.71338606911949],"aabb_xy":[[-0.0032997149217460775,-0.834550382320216],[0.0679585968781734,-0.7632850488065102]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[0.5853523519234496,-0.8270606729703904,0.71338606911949],"aabb_xy":[[0.5634436697840984,-0.8489613397904812],[0.6072610340628005,-0.8051600061502997]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[-0.5526667426644941,-0.8229490333764287,0.71338606911949],"aabb_xy":[[-0.5701667429095434,-0.8404488212159955],[-0.5351667424194446,-0.8054492455368618]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.3413945442236648,-2.349424228610354,0.71338606911949],"aabb_xy":[[0.32623167124672775,-2.3645896859054734],[0.3565574172006019,-2.334258771315236]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[0.1007094024564894,-1.794603132555836,0.71338606911949],"aabb_xy":[[0.08291589552157297,-1.8124028781516337],[0.11850290939140584,-1.7768033869600384]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[-0.08033852978696321,-0.7599573780344779,0.71338606911949],"aabb_xy":[[-0.11713316291186948,-0.7968632531310603],[-0.043543896662056936,-0.7230515029378958]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731726267213506,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1109.png","name":"1109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1109.png","name":"1109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7343.png","name":"7343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1407.png","name":"1407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7980.png","name":"7980"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":719.2064962776052,"rotation_z_degrees":204.634685722975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014597440872053283,-0.014591123289412523,0.01526029811480251]},{"name":"camera_2","offset_m":[0.003382264943301915,-0.017683169098792095,0.015372090346195761]},{"name":"camera_3","offset_m":[-0.0066421678965229835,8.312145317049963e-06,-0.0004927463284520178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011407221038418143,-0.0012523557508918848,-0.0001459117441449274],"end_effector_yaw_offset_degrees":-0.2732087498193152},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010548074312028842,0.0010988292218595628,0.0004571545210010344],"end_effector_yaw_offset_degrees":-0.758823385818348},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018451628743046124,0.00023801216895660664,-0.0009301496619752352],"end_effector_yaw_offset_degrees":-0.5741645856585809},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0016485854636604795,-0.001850726516966002,0.0014976286420320516],"end_effector_yaw_offset_degrees":-0.11231782246655819},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014095455313546449,0.0016109369308897016,0.00020214199543803655],"end_effector_yaw_offset_degrees":0.9645355677657583},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001616666048776564,0.0015958340736689455,-0.0016629179221179125],"end_effector_yaw_offset_degrees":0.3981189327410848}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003913475528129502,-0.0017051645490278001],"position_m":[0.3082134755281295,-0.0322051645490278,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004366091325149536,0.0036980199497981007],"position_m":[0.23936609132514952,-0.36990198005020186,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001863017976347233,-0.002988823894942758],"position_m":[0.29936301797634723,0.30351117610505723,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009067430274816634,-0.0019842453720010445],"position_m":[0.30939325697251835,0.08051575462799895,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0b3d871eb4c0f503ecfc9de971b9df4f7570312ab15c4beecc429153e1183d3e","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1109/tex_ceiling_textures_5347/tex_floor_textures_7980/tex_table_textures_7343/tex_wall_textures_1407","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6730644634037122520,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6730644634037122520,"visual_seed":6730644634037122520,"scene_id":"lab_003","finished_at":"2026-09-08T15:13:56"}
+{"episode_id":"ep_000038","started_at":"2026-09-08T15:14:03","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[0.44963320271525054,-0.3118772293269636,0.71338606911949],"aabb_xy":[[0.4295747911020103,-0.33194231623612114],[0.4696916143284909,-0.29181214241780606]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.12040658057597498,-2.208025938802129,0.71338606911949],"aabb_xy":[[0.07042363038849563,-2.258025938444689],[0.17038953076345428,-2.158025939159568]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.3134779891886166,0.6112589477615651,0.71338606911949],"aabb_xy":[[0.30339628211004305,0.5312589498694503],[0.32355969626719,0.6912589456536796]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.3418508625519481,1.1375173196199109,0.71338606911949],"aabb_xy":[[0.28685861191643713,1.0825173178765983],[0.3968431131874591,1.1925173213632239]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.5929688180050412,0.14697881080572195,0.71338606911949],"aabb_xy":[[-0.6264089932010606,0.11353518497479183],[-0.5595286428090214,0.18042243663665197]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.7104644636741624,-1.8550370844315718,0.71338606911949],"aabb_xy":[[0.7000529049936787,-1.8603828177674697],[0.7208760223546461,-1.849691351095673]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[0.027090105251916685,1.414159910658658,0.71338606911949],"aabb_xy":[[-0.032909895608896116,1.3627334806521714],[0.08709010611272948,1.4655863406651441]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.12570949968545153,0.8174846939526157,0.71338606911949],"aabb_xy":[[-0.18970950006298512,0.7677394271018034],[-0.06170949930791789,0.867229960803428]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.2787087077821376,0.29498607267462873,0.71338606911949],"aabb_xy":[[-0.28334382293437094,0.2911187375974801],[-0.2740735926299041,0.2988534077517774]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.422546824059598,-2.186644629049031,0.71338606911949],"aabb_xy":[[0.37541744505776226,-2.2506446300934324],[0.4696762030614336,-2.1226446280046285]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.5366201335258813,1.17927493383378,0.71338606911949],"aabb_xy":[[-0.6006201349338719,1.127485982309855],[-0.4726201321178906,1.2310638853577045]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.32819827338936947,-2.5057070362256444,0.71338606911949],"aabb_xy":[[-0.34569827364870614,-2.5197985784144175],[-0.3106982731300329,-2.491615494036872]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.5088169011191956,0.4970483469286062,0.71338606911949],"aabb_xy":[[0.4288168978613527,0.4170518391366223],[0.5888169043770386,0.5770448547205902]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.6826858332984567,-1.0517251438505946,0.71338606911949],"aabb_xy":[[0.6725328177443071,-1.0877946854233345],[0.6928388488526058,-1.0156556022778538]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[-0.4830028000278055,0.4511108818971459,0.71338606911949],"aabb_xy":[[-0.49855856943807086,0.4355604486527388],[-0.46744703061754034,0.4666613151415532]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.1726247486896434,1.2237565042687715,0.71338606911949],"aabb_xy":[[0.1633311304524928,1.1862565057806376],[0.18191836692679397,1.2612565027569054]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.08213793531950098,1.6903680663297087,0.71338606911949],"aabb_xy":[[-0.11078726767991719,1.6617225070526327],[-0.05348860295908474,1.7190136256067843]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[0.5869716094077053,0.2629117255354565,0.71338606911949],"aabb_xy":[[0.5369941925424516,0.21291172404620792],[0.6369490262729588,0.312911727024705]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.017144169716998947,1.0482629543286581,0.71338606911949],"aabb_xy":[[-0.054178279145058655,1.0138857469949487],[0.01988993971106077,1.0826401616623675]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.4033794949360302,0.0618177615020814,0.71338606911949],"aabb_xy":[[-0.4149484756829668,0.036817761385149694],[-0.39181051418909363,0.08681776161901311]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.5191058050773747,0.736237117012545,0.71338606911949],"aabb_xy":[[0.4691269965670588,0.6862371170068262],[0.5690846135876906,0.7862371170182638]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[0.1439408060331313,1.694950795312415,0.71338606911949],"aabb_xy":[[0.12883850457211315,1.6798492736813526],[0.15904310749414935,1.7100523169434765]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.47102706143838025,1.0545688771777169,0.71338606911949],"aabb_xy":[[-0.49887209821898737,1.0237843784394052],[-0.4431820246577731,1.0853533759160285]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.3983981507087887,0.703079002518376,0.71338606911949],"aabb_xy":[[-0.4358981522244204,0.6918522295022308],[-0.360898149193157,0.7143057755345209]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.24473143322554702,1.561590040896689,0.71338606911949],"aabb_xy":[[-0.3047314334769482,1.5073087158602243],[-0.18473143297414582,1.6158713659331536]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.5273605138339257,-0.7609361814748385,0.71338606911949],"aabb_xy":[[0.4633605174383526,-0.824899469893572],[0.5913605102294988,-0.6969728930561049]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[-0.6157978702011272,-0.05451492720475626,0.71338606911949],"aabb_xy":[[-0.6797978687876997,-0.10152189060426497],[-0.5517978716145547,-0.007507963805247542]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[-0.05420300292631053,-1.1907648961651844,0.71338606911949],"aabb_xy":[[-0.10917672496264341,-1.2457648957294176],[0.0007707191100223554,-1.1357648966009513]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[-0.1833388867290494,-2.0704515650201745,0.71338606911949],"aabb_xy":[[-0.19146657492236263,-2.0793651734308822],[-0.1752111985357362,-2.0615379566094667]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6734380039585405,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/357.png","name":"357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6355.png","name":"6355"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5340.png","name":"5340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1710.png","name":"1710"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":849.6026889261293,"rotation_z_degrees":157.0550607858496,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018279013438265056,-0.014297674858565982,0.006428122417809799]},{"name":"camera_2","offset_m":[-0.005509562234294659,-0.001769475212031267,0.009946063412047668]},{"name":"camera_3","offset_m":[-0.015775687994763175,0.013919184255907605,0.01723506141152425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012368250937005564,0.0007030375262857616,0.00015796239294090918],"end_effector_yaw_offset_degrees":-0.6099702219138807},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00028182054317093435,0.00145548176346888,-0.0007188767425552185],"end_effector_yaw_offset_degrees":0.015086633458404997},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013796346189784599,0.0013017064106179569,-0.0001170665447812586],"end_effector_yaw_offset_degrees":-0.5958734976263651},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014753169330817668,-0.0008601869822408678,0.0017374189663560604],"end_effector_yaw_offset_degrees":0.3373253641141136},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001640771834250312,0.0012397427382828704,0.0008965810058872989],"end_effector_yaw_offset_degrees":-0.5684158213758224},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003780307450782284,-0.000562938554495061,0.00030437988801257755],"end_effector_yaw_offset_degrees":-0.08669390368556695}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0046040800453929,-0.001528691752458834],"position_m":[0.30890408004539294,-0.032028691752458836,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042379780387833835,0.0030208352984892354],"position_m":[0.23923797803878338,-0.37057916470151075,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0017075605659891357,-0.001624559475766162],"position_m":[0.29579243943401085,0.3048754405242338,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001692735835164051,0.004905544748631485],"position_m":[0.30860726416483597,0.08740554474863149,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"692a7ee2b4b341f6c24e6fc9f65448074fa6e931e6f97e3d3dc9663ab57c7cc0","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7064/tex_ceiling_textures_1710/tex_floor_textures_5340/tex_table_textures_357/tex_wall_textures_6355","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3603457658415798299,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3603457658415798299,"visual_seed":3603457658415798299,"scene_id":"lab_003","finished_at":"2026-09-08T15:21:55"}
+{"episode_id":"ep_000039","started_at":"2026-09-08T15:22:03","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.553635160740888,0.8411282913597553,0.71338606911949],"aabb_xy":[[0.49600469185361706,0.7811282924330446],[0.6112656296281588,0.9011282902864658]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.021859280617476884,-1.6657389795608748,0.71338606911949],"aabb_xy":[[0.004849183327426232,-1.6818734680591487],[0.038869377907527536,-1.6496044910626009]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.49813314359561844,0.13820443892060297,0.71338606911949],"aabb_xy":[[-0.5621331400229403,0.09103481509850653],[-0.43413314716829654,0.1853740627426994]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[0.42166479854684624,1.094947211482066,0.71338606911949],"aabb_xy":[[0.3971511744498403,1.0706826181800295],[0.44617842264385205,1.1192118047841024]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.35289001615257143,-0.7034511542504616,0.71338606911949],"aabb_xy":[[0.27289001874897795,-0.7834437254486443],[0.4328900135561648,-0.6234585830522786]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.5463633313691947,-1.525574906652766,0.71338606911949],"aabb_xy":[[-0.5557103389514898,-1.53987852887041],[-0.5370163237868993,-1.511271284435122]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.4169658272124323,-2.331694177954657,0.71338606911949],"aabb_xy":[[-0.43887450935178324,-2.3535948447747477],[-0.39505714507308115,-2.309793511134566]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[0.6008142109510306,-1.1813059810270685,0.71338606911949],"aabb_xy":[[0.5622685181258296,-1.2198517520832572],[0.6393599037762316,-1.1427602099708798]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.5805373003181395,-1.4477586849400694,0.71338606911949],"aabb_xy":[[0.5305441882089477,-1.497758685614265],[0.6305304124273314,-1.3977586842658738]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.3353374533186432,1.3018873754990206,0.71338606911949],"aabb_xy":[[-0.3853374527588388,1.251919451014704],[-0.28533745387844756,1.3518552999833366]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[0.1810649779382677,-1.8170341524512177,0.71338606911949],"aabb_xy":[[0.15321994115766058,-1.8478186511895291],[0.20891001471887483,-1.7862496537129058]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.11101235416583777,-1.7686919201979323,0.71338606911949],"aabb_xy":[[-0.15618367201400674,-1.832691917342471],[-0.0658410363176688,-1.7046919230533941]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.3232128654300522,-2.2007165404566056,0.71338606911949],"aabb_xy":[[-0.3457128654402004,-2.214812760096209],[-0.30071286541990383,-2.1866203208170023]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.1764847645696659,-1.9506043695716868,0.71338606911949],"aabb_xy":[[0.15898476431032926,-1.9646959117604597],[0.19398476482900254,-1.9365128273829144]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.2910516791110242,-0.8204790614102511,0.71338606911949],"aabb_xy":[[-0.3135164490824293,-0.8429790622891116],[-0.2685869091396191,-0.7979790605313906]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.38888795092813533,1.515596338804119,0.71338606911949],"aabb_xy":[[0.3773189701811988,1.4905963386871874],[0.40045693167507196,1.5405963389210509]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.05828567815298402,1.3819607811044325,0.71338606911949],"aabb_xy":[[-0.02171431982780103,1.3743592401425806],[0.13828567613376905,1.3895623220662845]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.140922046036834,0.750254939428268,0.71338606911949],"aabb_xy":[[-0.16341846747069808,0.7277549396215205],[-0.11842562460296988,0.7727549392350154]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.3336585370183852,-2.0301074269921315,0.71338606911949],"aabb_xy":[[-0.39765853923879224,-2.07448051111742],[-0.2696585347979782,-1.9857343428668432]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[0.04791711505883223,-1.0298883034979833,0.71338606911949],"aabb_xy":[[-0.0020821601096039366,-1.0798883047739305],[0.09791639022726839,-0.9798883022220362]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_20","position":[-0.06928768166120336,1.3076005946418086,0.71338606911949],"aabb_xy":[[-0.07732401636248819,1.2995624753373916],[-0.061251346959918504,1.3156387139462251]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.44203780758977174,0.24716485634672392,0.71338606911949],"aabb_xy":[[0.37803780567742945,0.19125370708871345],[0.5060378095021141,0.30307600560473436]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.6175751351972925,-0.8856105014729305,0.71338606911949],"aabb_xy":[[0.537575134124172,-0.895388547810315],[0.6975751362704127,-0.8758324551355461]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.42002463560127135,1.8091365034432925,0.71338606911949],"aabb_xy":[[-0.4287225978919867,1.797011529135818],[-0.4113266733105561,1.8212614777507674]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[0.38387609630240926,-0.2549720554773769,0.71338606911949],"aabb_xy":[[0.3766148487320019,-0.2677590657408864],[0.39113734387281673,-0.24218504521386747]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.4964955211574226,1.1051839476609646,0.71338606911949],"aabb_xy":[[-0.5564955217534389,1.0503714751157411],[-0.43649552056140645,1.159996420206188]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[-0.3069226481955272,0.986151584771553,0.71338606911949],"aabb_xy":[[-0.36204785382511795,0.9261515833302658],[-0.2517974425659364,1.04615158621284]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717566866533119,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6043.png","name":"6043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6043.png","name":"6043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6340.png","name":"6340"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1848.png","name":"1848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7329.png","name":"7329"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":747.0844968352485,"rotation_z_degrees":69.78437306338228,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015148222946852152,0.012863300968987832,0.009458686995167453]},{"name":"camera_2","offset_m":[-0.004703260588802492,-0.015606411877004744,-0.004879632554160582]},{"name":"camera_3","offset_m":[-0.0003233023253801093,0.008656724548119499,0.011343021333913478]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00014280327705707492,-0.00036434474613495347,0.0014648736884242774],"end_effector_yaw_offset_degrees":0.5238168179608524},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010489431050052012,5.369059692624488e-05,-0.0008297535286202367],"end_effector_yaw_offset_degrees":-0.8781268249018743},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007200367592983211,-0.0019677822571504827,0.001872606553025397],"end_effector_yaw_offset_degrees":-0.27865572554095364},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0007374499639641891,0.0012129241975075886,-0.0016576578516277326],"end_effector_yaw_offset_degrees":-0.8342844216878131},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014722664167921816,0.0018335093281416932,-0.001954595171600094],"end_effector_yaw_offset_degrees":-0.5877003866517341},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005402537963931035,0.0005670977274405222,0.000679156455006187],"end_effector_yaw_offset_degrees":-0.10426848345201667}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011809964970141127,0.0033743141165321457],"position_m":[0.30311900350298593,-0.027125685883467855,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002969566936957998,0.004151643223765054],"position_m":[0.23796956693695798,-0.36944835677623494,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0008366829681128252,-0.002405116851228828],"position_m":[0.29666331703188714,0.30409488314877114,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018882227480832227,-0.002281270696343941],"position_m":[0.3084117772519168,0.08021872930365606,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e192306d06f17e6a32f678d4c054d417d9ed55ba7459c3093f33bb8c13042fc1","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6043/tex_ceiling_textures_7329/tex_floor_textures_1530/tex_table_textures_6340/tex_wall_textures_1848","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1499882967441849024,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1499882967441849024,"visual_seed":1499882967441849024,"scene_id":"lab_003","finished_at":"2026-09-08T15:29:51"}
+{"episode_id":"ep_000040","started_at":"2026-09-08T15:29:59","dimensions":{"distractor":{"count":31,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.0010572088419193992,-0.7704435104942045,0.71338606911949],"aabb_xy":[[-0.023557209353959996,-0.7929353688596027],[0.021442791670121197,-0.747951652128806]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.6504895623066475,0.03638779038972917,0.71338606911949],"aabb_xy":[[-0.6681651928952457,0.018707574110326416],[-0.632813931718049,0.05406800666913191]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.5094102199625105,0.186390454512948,0.71338606911949],"aabb_xy":[[-0.5504281633488814,0.13639045388199067],[-0.4683922765761397,0.23639045514390533]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.3650868403387273,-1.5429805049248426,0.71338606911949],"aabb_xy":[[0.28509301676016907,-1.6229805075176842],[0.4450806639172855,-1.462980502332001]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.2873703027943819,-1.8948646786914976,0.71338606911949],"aabb_xy":[[-0.29752331834853124,-1.9309342202642374],[-0.2772172872402325,-1.8587951371187568]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.5352644619984943,-0.9302186310119722,0.71338606911949],"aabb_xy":[[0.5002644628685387,-0.9359638520876363],[0.57026446112845,-0.9244734099363081]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[0.32985210155099653,0.9198352638120362,0.71338606911949],"aabb_xy":[[0.23985210505012475,0.8739236213935779],[0.41985209805186824,0.9657469062304944]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.11503338880491554,-1.0207751663875757,0.71338606911949],"aabb_xy":[[0.09175154660678418,-1.1057751676848036],[0.13831523100304685,-0.9357751650903475]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.2118649601586055,-1.156937466847729,0.71338606911949],"aabb_xy":[[-0.22007950527428946,-1.16561405714537],[-0.2036504150429215,-1.1482608765500872]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.34099917905204724,-0.41484222578501084,0.71338606911949],"aabb_xy":[[-0.35655494846231256,-0.4303926590294181],[-0.32544340964178203,-0.3992917925406037]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.659413105343793,-2.2458292308714025,0.71338606911949],"aabb_xy":[[0.609434296833477,-2.295829230877121],[0.7093919138541088,-2.1958292308656833]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.09221917740190377,-2.2905417089252675,0.71338606911949],"aabb_xy":[[0.08830530420648125,-2.2992907243318244],[0.0961330505973263,-2.2817926935187107]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.657591214117359,0.8014289416642773,0.71338606911949],"aabb_xy":[[-0.6753847210522754,0.7836291960684796],[-0.6397977071824426,0.8192286872600749]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.6218709882499788,-1.81228545807834,0.71338606911949],"aabb_xy":[[-0.6279080012506435,-1.8183121591472886],[-0.615833975249314,-1.806258757009392]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[0.006397516987624474,1.4035216913373323,0.71338606911949],"aabb_xy":[[-0.08360247974798574,1.3503382280200373],[0.09639751372323468,1.4567051546546264]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.5755957317989879,-2.0565175139909733,0.71338606911949],"aabb_xy":[[0.5255957323587922,-2.106485438475289],[0.6255957312391834,-2.0065495895066565]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.34539324014788053,-2.2824226852351135,0.71338606911949],"aabb_xy":[[0.3078932386322488,-2.2936494582512585],[0.38289324166351224,-2.2711959122189684]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.5846304217586111,0.414156126390278,0.71338606911949],"aabb_xy":[[0.5206304184689029,0.3708212073863604],[0.6486304250483191,0.4574910453941956]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.5762780873464333,-1.6943937262366413,0.71338606911949],"aabb_xy":[[-0.5887454454561689,-1.706859050869965],[-0.5638107292366976,-1.681928401603318]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.13534820181814455,0.9888783859249326,0.71338606911949],"aabb_xy":[[-0.19534820241416073,0.9340659133797092],[-0.07534820122212837,1.043690858470156]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.44553651275944983,-0.4537465279859414,0.71338606911949],"aabb_xy":[[-0.45111818439357854,-0.46624652780371695],[-0.439954841125321,-0.44124652816816595]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.5250272529528294,1.3994232401408073,0.71338606911949],"aabb_xy":[[-0.5900272508344772,1.3482995764342665],[-0.4600272550711816,1.4505469038473482]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.14322805725380539,-1.6310067600441722,0.71338606911949],"aabb_xy":[[-0.20722805436591105,-1.680039129838583],[-0.07922806014169967,-1.5819743902497618]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[-0.34162419422770046,-2.235304482090431,0.71338606911949],"aabb_xy":[[-0.36413788605115766,-2.3053044826914384],[-0.31911050240424327,-2.1653044814894233]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[0.5480214146214428,-0.38022140326577114,0.71338606911949],"aabb_xy":[[0.5130214146449469,-0.3896860193133878],[0.5830214145979385,-0.3707567872181546]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[0.2787172262181171,0.6590460590672236,0.71338606911949],"aabb_xy":[[0.25488100857751206,0.5690460582587372],[0.3025534438587222,0.7490460598757102]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[0.7180768103940758,-1.755568637354629,0.71338606911949],"aabb_xy":[[0.7141163266243414,-1.7632365019401497],[0.7220372941638101,-1.7479007727691085]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_27","position":[0.6410842327623036,1.6753344385322548,0.71338606911949],"aabb_xy":[[0.5610842322920878,1.6670237309179066],[0.7210842332325197,1.683645146146603]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.6013858632908526,-0.5120984932287653,0.71338606911949],"aabb_xy":[[0.5638858626262738,-0.5277855512289874],[0.6388858639554312,-0.4964114352285431]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_29","position":[0.32365359317516407,1.442895260079211,0.71338606911949],"aabb_xy":[[0.2536535897836021,1.40757948637578],[0.39365359656672605,1.4782110337826417]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.32345337870548424,-1.0635176887099058,0.71338606911949],"aabb_xy":[[-0.34095337783985136,-1.0733973157474934],[-0.305953379571117,-1.0536380616723178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6705390657650854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3837.png","name":"3837"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3837.png","name":"3837"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9443.png","name":"9443"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1478.png","name":"1478"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7549.png","name":"7549"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":590.792021039895,"rotation_z_degrees":304.20891296249255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0059476017040544435,-0.01617079918996403,0.0069237280430085625]},{"name":"camera_2","offset_m":[-0.0170370225470272,-0.006216401688654449,0.008041085332214051]},{"name":"camera_3","offset_m":[-0.012981444369639945,0.014620895895160146,0.009612702338460736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018087712656774321,0.0017809864609893158,0.0018062618952040285],"end_effector_yaw_offset_degrees":-0.4836908256367982},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.260044419145302e-05,0.001430205835281763,-0.0008690333268553921],"end_effector_yaw_offset_degrees":-0.5572031683461773},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005294733167001344,0.0009660372740605111,-0.0005162333124085357],"end_effector_yaw_offset_degrees":0.6926651909219677},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017160768950504203,0.0006246693458103517,-0.00104393650406649],"end_effector_yaw_offset_degrees":-0.1009279974078705},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009158193712541386,-0.0015578196035167528,-0.000732132805777482],"end_effector_yaw_offset_degrees":0.5450440429165282},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00040452883115658315,-0.0014037174135011323,0.001637536409419472],"end_effector_yaw_offset_degrees":0.24835750168813364}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004783541166633344,-0.0017320124538480297],"position_m":[0.30908354116663334,-0.032232012453848026,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010035576282878432,0.0033841169744603912],"position_m":[0.23600355762828784,-0.3702158830255396,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004043698593893044,0.002991862834990185],"position_m":[0.29345630140610696,0.3094918628349902,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005046647235828101,-0.001786581733876619],"position_m":[0.3108046647235828,0.08071341826612338,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b5f828af11bd3ad73014b1da284e269155d2fc8e8f683ed5657d11f0504c51e1","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3837/tex_ceiling_textures_7549/tex_floor_textures_1478/tex_table_textures_9443/tex_wall_textures_3633","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":7724907798140287619,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":7724907798140287619,"visual_seed":7724907798140287619,"scene_id":"lab_003","finished_at":"2026-09-08T15:38:00"}
+{"episode_id":"ep_000041","started_at":"2026-09-08T15:38:07","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.5534754059519368,-1.9744980722431376,0.71338606911949],"aabb_xy":[[-0.6384754043693599,-2.0593723677054223],[-0.46847540753451344,-1.8896237767808528]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.4360185009908845,0.921146865317735,0.71338606911949],"aabb_xy":[[-0.44795123535271264,0.9087647125098757],[-0.4240857666290565,0.9335290181255944]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.6358299625142443,1.54191197548113,0.71338606911949],"aabb_xy":[[-0.6810012803624134,1.4779119783365917],[-0.5906586446660754,1.6059119726256688]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.14246266802534968,1.0187808276665327,0.71338606911949],"aabb_xy":[[-0.22246266542894308,0.9387882564683497],[-0.06246267062175625,1.0987733988647153]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.5501383845202255,-0.17071325685919003,0.71338606911949],"aabb_xy":[[0.5448008088542209,-0.19571325778832985],[0.55547596018623,-0.14571325593005027]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_5","position":[-0.3877300562968924,-0.7270822008579096,0.71338606911949],"aabb_xy":[[-0.4066144400654026,-0.7459681256382624],[-0.3688456725283822,-0.7081962760775569]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.6857784049681741,-0.058449496836116666,0.71338606911949],"aabb_xy":[[0.6749267987192985,-0.06930878756376768],[0.6966300112170497,-0.04759020610846565]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[0.6865272482872806,-0.3361769363503875,0.71338606911949],"aabb_xy":[[0.6581975383387405,-0.34063767854410454],[0.714856958235821,-0.3317161941566704]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.6111887285687316,0.9563406548815947,0.71338606911949],"aabb_xy":[[0.5866425129459809,0.9260917583325576],[0.6357349441914824,0.9865895514306318]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.21070212382587922,0.8215918285173336,0.71338606911949],"aabb_xy":[[-0.24719794445315796,0.7851078860905761],[-0.17420630319860048,0.8580757709440913]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.11206647050416774,-0.8488980206408125,0.71338606911949],"aabb_xy":[[-0.11932771807457516,-0.8616850309043222],[-0.10480522293376034,-0.8361110103773033]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.07690655739447094,-0.3904791797641769,0.71338606911949],"aabb_xy":[[-0.08705957294862031,-0.4265487213369171],[-0.06675354184032155,-0.3544096381914365]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.2937378390756691,-1.4493710934929709,0.71338606911949],"aabb_xy":[[0.2527198956892982,-1.4993710941239282],[0.33475578246203996,-1.3993710928620136]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.44955761129549016,-1.0522007143571155,0.71338606911949],"aabb_xy":[[-0.4908064223254049,-1.1072007138693327],[-0.4083088002655754,-0.9972007148448979]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.655911608652276,-0.7720531281564498,0.71338606911949],"aabb_xy":[[0.5959116081444231,-0.828899861842371],[0.715911609160129,-0.7152063944705284]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.04066796455753918,-2.4778111156891245,0.71338606911949],"aabb_xy":[[-0.05846147149245561,-2.495610861284922],[-0.02287445762262274,-2.460011370093327]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.31692211531565095,-2.39058234743358,0.71338606911949],"aabb_xy":[[0.2924084912186451,-2.4148469407356163],[0.3414357394126568,-2.3663177541315434]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.18665854003670945,0.6683515263792619,0.71338606911949],"aabb_xy":[[-0.19129365518894278,0.6644841913021132],[-0.182023424884476,0.6722188614564105]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[-0.14405424008121248,1.3583416535345507,0.71338606911949],"aabb_xy":[[-0.1504680537243974,1.3519318332868822],[-0.1376404264380275,1.3647514737822188]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[0.5804035149467792,0.41312064198237897,0.71338606911949],"aabb_xy":[[0.5469243476857384,0.379641528611272],[0.6138826822078203,0.44659975535348595]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[0.43872578162945786,-2.4456828193067337,0.71338606911949],"aabb_xy":[[0.3926406903747264,-2.509682816559289],[0.48481087288418934,-2.3816828220541786]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.1326093443619849,-1.8535922953055,0.71338606911949],"aabb_xy":[[-0.14771164582300295,-1.8686938169365612],[-0.11750704290096677,-1.8384907736744374]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[0.009951121752358016,-1.5288815681754104,0.71338606911949],"aabb_xy":[[-0.07004887540721727,-1.5404291691332275],[0.0899511189119333,-1.5173339672175934]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.49428646134527,-1.0480437457121972,0.71338606911949],"aabb_xy":[[0.41428645991514285,-1.1275609007248066],[0.5742864627753972,-0.9685265906995877]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.5857255375590809,-2.306505440770307,0.71338606911949],"aabb_xy":[[0.5710821320050479,-2.3211641604270907],[0.6003689431131138,-2.2918467211135223]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[-0.35411902550573243,-0.14322137162689197,0.71338606911949],"aabb_xy":[[-0.3887101083597776,-0.208221371911923],[-0.31952794265168716,-0.0782213713418609]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.6099254981785514,0.6807157508212325,0.71338606911949],"aabb_xy":[[0.5880168160392003,0.6588150840011417],[0.6318341803179024,0.7026164176413232]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_27","position":[-0.2519101525566816,-0.5865233833010359,0.71338606911949],"aabb_xy":[[-0.2869101539081633,-0.6068831192578567],[-0.21691015120519988,-0.566163647344215]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_28","position":[0.08524343796791889,-2.300700005046282,0.71338606911949],"aabb_xy":[[0.00524343471007592,-2.3806965128382656],[0.16524344122576184,-2.2207034972542976]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_29","position":[0.49266023617737287,-0.5508775782135986,0.71338606911949],"aabb_xy":[[0.437667985541862,-0.6058775799569115],[0.5476524868128838,-0.49587757647028596]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[0.04228828135969298,-1.1013329241298504,0.71338606911949],"aabb_xy":[[-0.0377117208030695,-1.181288107755994],[0.12228828352245547,-1.0213777405037068]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_31","position":[0.39746184317792,-2.083471388891022,0.71338606911949],"aabb_xy":[[0.3074618464423097,-2.136654852208316],[0.48746183991353015,-2.030287925573727]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732311075661891,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8046.png","name":"8046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8046.png","name":"8046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6616.png","name":"6616"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5067.png","name":"5067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6200.png","name":"6200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7781.png","name":"7781"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":676.3528063072696,"rotation_z_degrees":198.1405944586898,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013617029296745947,-0.016897876585685773,0.010694189991800003]},{"name":"camera_2","offset_m":[-0.005137704522610477,-0.011240865468010975,-0.0034145589865654004]},{"name":"camera_3","offset_m":[0.01757237841625651,-0.01113401272110647,0.016373700536161138]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.8462630526483873e-05,-0.0018501077329975645,-0.0003323037060151059],"end_effector_yaw_offset_degrees":-0.8667024518426596},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.42692634907128e-05,0.0006479387693316806,-0.0014393020392249119],"end_effector_yaw_offset_degrees":0.17649081000370792},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002847801107060564,0.0019789467241818045,0.0019107219216999574],"end_effector_yaw_offset_degrees":-0.13219327926366709},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00040866962171969196,0.0010861922076053961,-0.0003166093980829516],"end_effector_yaw_offset_degrees":0.3820051212579596},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00011634438106752215,0.0006876062668241113,0.00179825207953567],"end_effector_yaw_offset_degrees":0.4346994255221628},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015319207092416654,-0.0006760483579962165,-0.0015620082710513516],"end_effector_yaw_offset_degrees":0.8025737026664297}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042778501478332965,-0.00026247847536485687],"position_m":[0.30002214985216674,-0.030762478475364854,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00274492876621459,0.0011390916774541068],"position_m":[0.23774492876621459,-0.37246090832254586,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0009221532457265678,-0.0037094021447615488],"position_m":[0.2965778467542734,0.30279059785523843,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008776152894400292,-0.0047691692322551875],"position_m":[0.31117761528944005,0.07773083076774481,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"150b75557214b4398626fff33f1ceb785eb5cbfa57dab70710add774b1af2482","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8046/tex_ceiling_textures_7781/tex_floor_textures_6200/tex_table_textures_6616/tex_wall_textures_5067","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2308127230310510374,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2308127230310510374,"visual_seed":2308127230310510374,"scene_id":"lab_003","finished_at":"2026-09-08T15:46:06"}
+{"episode_id":"ep_000042","started_at":"2026-09-08T15:46:13","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.6139478894420897,1.7667895529359856,0.71338606911949],"aabb_xy":[[-0.6489478894185855,1.7573249368883692],[-0.5789478894655938,1.7762541689836024]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.5888681284888975,0.26184065226306785,0.71338606911949],"aabb_xy":[[0.5728062010303797,0.176840650450476],[0.604930055947415,0.3468406540756596]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.10616181947161696,0.20566719063502603,0.71338606911949],"aabb_xy":[[-0.18615564305017518,0.1256671880421845],[-0.026167995893058738,0.2856671932278676]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.3079788930564339,0.18408807357962687,0.71338606911949],"aabb_xy":[[-0.3159728816341373,0.17608799348453652],[-0.2999849044787305,0.1920881536747172]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.3975610479636058,1.2035708793011204,0.71338606911949],"aabb_xy":[[0.3335610460512635,1.14765973004311],[0.4615610498759482,1.2594820285591308]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.18349471132756046,-1.4347073453180204,0.71338606911949],"aabb_xy":[[-0.18792534068240066,-1.440155717052703],[-0.1790640819727203,-1.429258973583338]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.2024442363662734,-1.8850899963518937,0.71338606911949],"aabb_xy":[[0.12244423420351092,-1.9650451799780373],[0.2824442385290359,-1.80513481272575]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.5877897891935466,-2.29811711189151,0.71338606911949],"aabb_xy":[[-0.6577897856035083,-2.3185550475431906],[-0.5177897927835847,-2.277679176239827]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.6082099648679529,0.4474555363041719,0.71338606911949],"aabb_xy":[[-0.6368592972283691,0.4188099770270961],[-0.5795606325075366,0.4761010955812477]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.5954796199387433,0.7779277358544499,0.71338606911949],"aabb_xy":[[0.5799238505284783,0.7623773026100429],[0.6110353893490088,0.7934781690988573]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.11789366875376173,-0.6311569717172751,0.71338606911949],"aabb_xy":[[0.09760936603036294,-0.6514395968599839],[0.13817797147716043,-0.6108743465745662]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.17717464755589019,-2.088571595382838,0.71338606911949],"aabb_xy":[[-0.2272721115369638,-2.1525715958926503],[-0.12707718357481657,-2.0245715948730267]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[-0.508714729158831,-1.5564538354667086,0.71338606911949],"aabb_xy":[[-0.5431772071719186,-1.5631175126496313],[-0.4742522511457431,-1.5497901582837859]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.47179781945322974,0.8540894141996458,0.71338606911949],"aabb_xy":[[0.44725160383047896,0.8238405176506087],[0.4963440350759804,0.8843383107486829]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.6408129945076506,-0.4153949585623069,0.71338606911949],"aabb_xy":[[0.6233129952295637,-0.43273305862865286],[0.6583129937857375,-0.39805685849596095]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.1048797595344586,0.4416928732641736,0.71338606911949],"aabb_xy":[[-0.11429723410432134,0.43227669612645464],[-0.09546228496459584,0.4511090504018927]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.12152367810134024,-0.2706557079346754,0.71338606911949],"aabb_xy":[[-0.13919930868993854,-0.2883359242140781],[-0.10384804751274189,-0.2529754916552726]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.6844369742353149,-2.4466402072498377,0.71338606911949],"aabb_xy":[[0.6762224291196308,-2.4553167975474786],[0.6926515193509988,-2.437963616952196]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.32982411933982775,-0.18462410105096216,0.71338606911949],"aabb_xy":[[-0.35482411889156623,-0.1947665849160969],[-0.30482411978808927,-0.17448161718582747]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.2189022738990934,-1.8585213706370078,0.71338606911949],"aabb_xy":[[-0.2298080499866561,-1.9385213670358372],[-0.20799649781153068,-1.778521374238179]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.13141814682283715,1.3708210796546694,0.71338606911949],"aabb_xy":[[0.10783302335894232,1.3058210774092376],[0.15500327028673203,1.4358210819001012]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.4423283262626351,0.5024963057270377,0.71338606911949],"aabb_xy":[[-0.4469634414148684,0.49862897064988904],[-0.43769321111040166,0.5063636408041863]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6719715105014737,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7759.png","name":"7759"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7759.png","name":"7759"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2792.png","name":"2792"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4832.png","name":"4832"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5246.png","name":"5246"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3680.png","name":"3680"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.4198271940244,"rotation_z_degrees":266.6168887320632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003532911321287951,-0.005108555096482914,0.0019282408997615928]},{"name":"camera_2","offset_m":[-0.0025133785138882862,0.008925137382323475,-0.010567949437296527]},{"name":"camera_3","offset_m":[-0.0038314517686115455,0.006927530302520232,0.007680003244362691]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007364365754851207,0.0010789237599090943,-8.343224591514701e-05],"end_effector_yaw_offset_degrees":-0.9338790383132234},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014728457012934096,0.0010779531512026506,0.00023720257468710796],"end_effector_yaw_offset_degrees":0.03391972188982728},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010358660821766677,0.00010920148836282778,0.0004097983926632013],"end_effector_yaw_offset_degrees":-0.9506546643905505},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010488999157384866,0.0002626877978715329,-0.001999166880209778],"end_effector_yaw_offset_degrees":-0.8798938165315104},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008318454393650091,-0.0016149257367833916,-0.001381564363628279],"end_effector_yaw_offset_degrees":-0.5809600817288354},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0015687840227118595,-0.0015234735563763703,0.001488603657298057],"end_effector_yaw_offset_degrees":0.9929128207605074}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001068682925620167,0.002075907133696188],"position_m":[0.304406868292562,-0.02842409286630381,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003266699481203808,0.00421231353854373],"position_m":[0.2382666994812038,-0.36938768646145625,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004976300832792304,-0.004880889185150311],"position_m":[0.29252369916720766,0.3016191108148497,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019145303548412426,0.0018922735855673774],"position_m":[0.31221453035484126,0.08439227358556738,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9ebc65e20822d7881e796aaa36970db66a6065c47c079061868043785eb03785","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7759/tex_ceiling_textures_3680/tex_floor_textures_5246/tex_table_textures_2792/tex_wall_textures_4832","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":837138728737225018,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":837138728737225018,"visual_seed":837138728737225018,"scene_id":"lab_003","finished_at":"2026-09-08T15:54:06"}
+{"episode_id":"ep_000043","started_at":"2026-09-08T15:54:13","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[-0.18685522040614644,-0.21399310420157036,0.71338606911949],"aabb_xy":[[-0.20291714786466408,-0.2989931060141621],[-0.1707932929476288,-0.12899310238897851]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.15167482258350518,0.4090725345300008,0.71338606911949],"aabb_xy":[[-0.18817064321078392,0.3725885921032432],[-0.11517900195622643,0.4455564769567583]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[0.045369541307451966,-2.38786407514773,0.71338606911949],"aabb_xy":[[-0.008646054974448043,-2.4518640780399865],[0.09938513758935197,-2.323864072255472]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.5867076714169976,-0.5632101216150289,0.71338606911949],"aabb_xy":[[0.5227076749896759,-0.6103797454371254],[0.6507076678443197,-0.5160404977929325]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.05265187853685527,1.7046077237624657,0.71338606911949],"aabb_xy":[[0.024806841756248137,1.673823225024154],[0.08049691531746239,1.7353922225007774]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.3595641518773047,0.5790645399192873,0.71338606911949],"aabb_xy":[[0.3245641527473491,0.5733193188436232],[0.39456415100726044,0.5848097609949514]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[-0.23874853096314297,-2.0362602232990272,0.71338606911949],"aabb_xy":[[-0.2468621856365201,-2.0443660397530556],[-0.2306348762897659,-2.028154406844998]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.4368901661053377,-0.7289113643759864,0.71338606911949],"aabb_xy":[[0.41800578233682756,-0.747797289156339],[0.45577454987384797,-0.7100254395956335]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.2854200394385563,0.3111388793874559,0.71338606911949],"aabb_xy":[[-0.29557305499270564,0.2750693378147155],[-0.2752670238844069,0.34720842096019616]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.48465089858414306,0.37853920557012444,0.71338606911949],"aabb_xy":[[-0.506823425560794,0.3563635384140012],[-0.46247837160749217,0.4007148727262475]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.4607831649659504,-0.31294584479166243,0.71338606911949],"aabb_xy":[[0.4533707094245619,-0.31879705521329044],[0.46819562050733887,-0.30709463437003454]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.6375383319332725,-0.8944852142396764,0.71338606911949],"aabb_xy":[[-0.6469558065031352,-0.9039013913773954],[-0.6281208573634097,-0.8850690371019574]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.052336581320960196,1.0033196790261076,0.71338606911949],"aabb_xy":[[-0.11633658337069219,0.9632251959367999],[0.0116634207287718,1.0434141621154158]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.1756900033959381,-1.62112785579722,0.71338606911949],"aabb_xy":[[-0.17913067963599527,-1.6249892887715847],[-0.17224932715588093,-1.6172664228228557]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.6919785234224993,-0.2603916148176926,0.71338606911949],"aabb_xy":[[0.684055243183751,-0.28289161505569593],[0.6999018036612477,-0.23789161457968921]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.21156108842592725,0.7336974889653622,0.71338606911949],"aabb_xy":[[-0.2615560993853793,0.6836974899297706],[-0.16156607746647525,0.7836974880009542]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.2834230558970962,-1.3647578868991908,0.71338606911949],"aabb_xy":[[-0.3012165628320126,-1.3825576324949884],[-0.2656295489621797,-1.346958141303393]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.15634880703299436,-2.503236801009723,0.71338606911949],"aabb_xy":[[-0.16361005460340175,-2.5160238112732327],[-0.14908755946258692,-2.4904497907462138]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.45614512621387293,1.4982233087644707,0.71338606911949],"aabb_xy":[[-0.45984838754301177,1.4945212904557528],[-0.452441864884734,1.5019253270731883]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.3612081463741458,0.49495310890333366,0.71338606911949],"aabb_xy":[[-0.3778852823672413,0.4782531849294034],[-0.3445310103810503,0.5116530328772639]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[0.6314972954607916,-0.048514412528525064,0.71338606911949],"aabb_xy":[[0.589312881299961,-0.11251441280573626],[0.6736817096216224,0.015485587748686136]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.44143291768031045,-1.5904396305683033,0.71338606911949],"aabb_xy":[[0.3514329179571362,-1.613512983103483],[0.5314329174034845,-1.5673662780331232]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[0.5094072119534552,0.20233141481791428,0.71338606911949],"aabb_xy":[[0.4642358941052863,0.1383314176733759],[0.5545785298016243,0.26633141196245275]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_23","position":[0.6409471801867435,1.6072373752081872,0.71338606911949],"aabb_xy":[[0.6301742062653757,1.5722373769891482],[0.6517201541081112,1.6422373734272262]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.23364432969719984,-2.4599410686788,0.71338606911949],"aabb_xy":[[0.17364432910118366,-2.5147535412240236],[0.293644330293216,-2.4051285961335767]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[-0.2910681971028551,-1.3000915803879354,0.71338606911949],"aabb_xy":[[-0.2951463550099049,-1.3041725606361987],[-0.2869900391958054,-1.296010600139672]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.3421464503474443,-1.0656859683446962,0.71338606911949],"aabb_xy":[[0.317146451075482,-1.0820313319408583],[0.36714644961940657,-1.0493406047485336]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[0.5668007496357439,-1.3662314334124455,0.71338606911949],"aabb_xy":[[0.5322096667816985,-1.4312314336974763],[0.6013918324897889,-1.3012314331274142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700682116570938,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8146.png","name":"8146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8146.png","name":"8146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5626.png","name":"5626"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/887.png","name":"887"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/932.png","name":"932"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6671.png","name":"6671"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":707.2984372363724,"rotation_z_degrees":231.58119285332958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000983134153474792,0.016970240254656054,0.014902430961077687]},{"name":"camera_2","offset_m":[0.010084922422873954,0.008067620653383664,0.018154426953761762]},{"name":"camera_3","offset_m":[0.006076397868161932,-7.075732935546766e-05,0.004560527150412094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004118591412274951,0.00109281147328059,-0.001823649889218108],"end_effector_yaw_offset_degrees":0.035383817193815226},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000798431093700092,0.00047425413490424133,0.0017922622640814206],"end_effector_yaw_offset_degrees":0.21169394036124767},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014614166574131162,0.00189894763624395,0.0018262374586056822],"end_effector_yaw_offset_degrees":0.11460754165070663},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019439220886184297,0.0005312766152481179,-0.0007959863716353723],"end_effector_yaw_offset_degrees":-0.5398623917729808},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00037030867226380557,-0.00030121930308671537,-0.0018218853465246676],"end_effector_yaw_offset_degrees":0.9405825192374351},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0009306285642690028,-0.0006574070598034832,-0.000885799576548385],"end_effector_yaw_offset_degrees":-0.29339100241741245}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004856234410385238,-0.0038324893450460097],"position_m":[0.30915623441038526,-0.034332489345046006,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019757487945761022,-0.00023272556315240799],"position_m":[0.2330242512054239,-0.3738327255631524,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0020546036316404703,-0.002056644815246087],"position_m":[0.29955460363164044,0.3044433551847539,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003381208684774821,0.0007897346355713267],"position_m":[0.31368120868477484,0.08328973463557134,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c9e7afc960b43b9af87c600b2196c4e1e7c79be0616c083489f5e603f0273df0","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8146/tex_ceiling_textures_6671/tex_floor_textures_932/tex_table_textures_5626/tex_wall_textures_887","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6774714444098994368,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6774714444098994368,"visual_seed":6774714444098994368,"scene_id":"lab_003","finished_at":"2026-09-08T16:02:15"}
+{"episode_id":"ep_000044","started_at":"2026-09-08T16:02:22","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.626078236440349,-1.2023714338242202,0.71338606911949],"aabb_xy":[[-0.6341145711416338,-1.2104095531286367],[-0.6180419017390641,-1.1943333145198032]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.06695613258743616,-1.1645239757560673,0.71338606911949],"aabb_xy":[[-0.08458896818096372,-1.1821469217716902],[-0.049323296993908576,-1.1469010297404443]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[-0.1264705339772777,1.185138189773471,0.71338606911949],"aabb_xy":[[-0.13576415221442828,1.147638191285337],[-0.11717691574012712,1.2226381882616049]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.6323289833719745,-2.2808965552564238,0.71338606911949],"aabb_xy":[[-0.6923289838798274,-2.3377432889423453],[-0.5723289828641216,-2.2240498215705022]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.37685537519961676,-1.1400845569000655,0.71338606911949],"aabb_xy":[[-0.39353251119271226,-1.1567844808739958],[-0.36017823920652126,-1.1233846329261352]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.47924966361235677,-2.461349201543578,0.71338606911949],"aabb_xy":[[-0.5342496632341026,-2.516332894331051],[-0.4242496639906109,-2.4063655087561053]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.20972418485535377,1.6529529201097222,0.71338606911949],"aabb_xy":[[-0.27372418814506183,1.6096180011058046],[-0.14572418156564565,1.6962878391136398]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.3340354312364454,-1.9610055945419722,0.71338606911949],"aabb_xy":[[-0.33747610747650253,-1.9648670275163371],[-0.3305947549963882,-1.9571441615676082]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.3257538522933674,-0.4929598499679866,0.71338606911949],"aabb_xy":[[0.3087437550033167,-0.5090943384662605],[0.342763949583418,-0.47682536146971266]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.05500581263341109,-1.4876361717065196,0.71338606911949],"aabb_xy":[[-0.06304917255936626,-1.572636172801886],[-0.04696245270745591,-1.4026361706111532]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[-0.1823392100470459,0.611658175959561,0.71338606911949],"aabb_xy":[[-0.23014537766081453,0.546658173252502],[-0.13453304243327724,0.6766581786666199]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.3429457755415035,-1.2934557569992933,0.71338606911949],"aabb_xy":[[0.3196639333433722,-1.3784557582965211],[0.36622761773963486,-1.208455755702065]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.6557734360362635,-2.287709243668343,0.71338606911949],"aabb_xy":[[0.6406105630593265,-2.302874700963462],[0.6709363090132007,-2.2725437863732245]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.11447152922320758,0.07840544883861034,0.71338606911949],"aabb_xy":[[-0.1320182241393265,0.040905447274359075],[-0.09692483430708865,0.1159054504028616]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.4550670641178278,-1.7679114765487742,0.71338606911949],"aabb_xy":[[-0.4725669975518112,-1.7854114764690086],[-0.43756713068384445,-1.7504114766285395]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[0.680678565382324,0.9947286561242699,0.71338606911949],"aabb_xy":[[0.6767646921869014,0.9859796407177129],[0.6845924385777463,1.0034776715308267]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.36536354347918265,-0.9328378765691832,0.71338606911949],"aabb_xy":[[0.32851299554219504,-0.9703378773922169],[0.40221409141617026,-0.8953378757461494]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.14738835891283053,1.4191936579355242,0.71338606911949],"aabb_xy":[[0.13997590337144206,1.413342447513896],[0.154800814454219,1.425044868357152]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[-0.30540957262717033,0.636587983957376,0.71338606911949],"aabb_xy":[[-0.3229095719052572,0.61924988389103],[-0.28790957334908346,0.6539260840237219]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.6032878886336441,-1.9566639459497641,0.71338606911949],"aabb_xy":[[0.595174233960267,-1.964769762403793],[0.6114015433070212,-1.9485581294957348]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.20510164438608292,-0.38555386966879635,0.71338606911949],"aabb_xy":[[-0.2851016415456582,-0.3971014706266134],[-0.12510164722650763,-0.3740062687109793]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.43128339132259863,1.280082105742911,0.71338606911949],"aabb_xy":[[0.38128339003875855,1.2301032513522887],[0.4812833926064385,1.330060960133533]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[-0.2933631377981765,-1.3688657158442274,0.71338606911949],"aabb_xy":[[-0.3733631392283037,-1.4483828708568367],[-0.21336313636804932,-1.2893485608316178]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.3283204942820961,-2.1619379685665243,0.71338606911949],"aabb_xy":[[-0.3833204924838409,-2.202459935192962],[-0.27332049608035125,-2.1214160019400867]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[0.12666245952520205,-1.5749747366141986,0.71338606911949],"aabb_xy":[[0.06266246241309636,-1.624007106408609],[0.19066245663730774,-1.5259423668197878]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[-0.03779668300531658,-1.8954565747121896,0.71338606911949],"aabb_xy":[[-0.08777409987057014,-1.9454565762014382],[0.012180733859937015,-1.845456573222941]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.011681181563694354,-1.064702770272057,0.71338606911949],"aabb_xy":[[0.006781889257130856,-1.0923796895746256],[0.01658047387025785,-1.037025850969488]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.45109594258663366,-0.649201881415338,0.71338606911949],"aabb_xy":[[0.43503401512811596,-0.7342018832279297],[0.46715787004515125,-0.564201879602746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6734655883895826,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2002.png","name":"2002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2002.png","name":"2002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1278.png","name":"1278"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6441.png","name":"6441"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3416.png","name":"3416"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5587.png","name":"5587"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":638.1131903771676,"rotation_z_degrees":51.85637331358763,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033152202981340737,-0.01893543062549235,0.006638814906582458]},{"name":"camera_2","offset_m":[-0.016721651433973434,0.002968708394226853,0.013422518415266971]},{"name":"camera_3","offset_m":[-0.017063888705735736,-0.0180428110405545,-0.004510018910710763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001988582053403554,0.001752709977010086,0.0009623803659393015],"end_effector_yaw_offset_degrees":0.13616799698001714},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011013865362339544,0.0017198681837313576,-0.0017588636787105054],"end_effector_yaw_offset_degrees":0.7367692816812053},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007011893561226887,-0.00016229651552523896,0.0014784852383946633],"end_effector_yaw_offset_degrees":0.10346262277828577},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009207244425659359,0.0015236137311597782,0.001922333274935367],"end_effector_yaw_offset_degrees":0.11728347959611152},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012663693084304568,0.0018400849563074023,-0.0016391333009548425],"end_effector_yaw_offset_degrees":-0.2023609789482057},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014781870690817297,-0.0006314147555869295,0.00016173763343678644],"end_effector_yaw_offset_degrees":0.031152361596894496}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000507655354330447,0.0039902090461440805],"position_m":[0.30480765535433046,-0.02650979095385592,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026487552930084717,0.0005708394475945414],"position_m":[0.23764875529300847,-0.3730291605524054,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0016143635559501524,-0.0013664222569166429],"position_m":[0.29588563644404986,0.30513357774308336,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002345883544212275,0.00024490904810792104],"position_m":[0.30795411645578774,0.08274490904810793,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f9973ebe690c9738e73c3fc0a4d37f7903e59d91b2f2898660067bf113728458","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2002/tex_ceiling_textures_5587/tex_floor_textures_3416/tex_table_textures_1278/tex_wall_textures_6441","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":399444047275609328,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":399444047275609328,"visual_seed":399444047275609328,"scene_id":"lab_003","finished_at":"2026-09-08T16:10:28"}
+{"episode_id":"ep_000045","started_at":"2026-09-08T16:19:18","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.4274053563532168,-0.41204378655355844,0.71338606911949],"aabb_xy":[[-0.46490535664539157,-0.41608526195416207],[-0.38990535606104193,-0.4080023111529548]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.49526175081905194,-0.5180435245834376,0.71338606911949],"aabb_xy":[[-0.49917562401447435,-0.5267925399899944],[-0.4913478776236293,-0.5092945091768808]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.519771100458728,-0.8009313193909051,0.71338606911949],"aabb_xy":[[0.45577110019825723,-0.8459401187438331],[0.5837711007191988,-0.7559225200379771]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.6266030113783563,-2.1677018757779556,0.71338606911949],"aabb_xy":[[0.613372065843675,-2.180929294799955],[0.6398339569130376,-2.154474456755956]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.48494686766981077,0.9945143916672445,0.71338606911949],"aabb_xy":[[0.4624820976984057,0.9720143907883841],[0.5074116376412159,1.017014392546105]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.30528611188949584,-1.8816557840679642,0.71338606911949],"aabb_xy":[[0.2152861132950259,-1.8979063703813852],[0.3952861104839658,-1.8654051977545432]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.6565665731313584,1.5403244219686054,0.71338606911949],"aabb_xy":[[-0.6717387424129917,1.525155565040402],[-0.641394403849725,1.5554932788968088]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.45416931235529134,-2.485974242561134,0.71338606911949],"aabb_xy":[[-0.514169312201858,-2.5427928647541727],[-0.3941693125087245,-2.4291556203680953]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[0.41979066308040935,1.0862602715173497,0.71338606911949],"aabb_xy":[[0.40158483941916173,1.075234870935358],[0.4379964867416571,1.0972856720993414]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.6338903874911714,-1.5981198622947286,0.71338606911949],"aabb_xy":[[-0.6418136677299198,-1.620619862532732],[-0.6259671072524231,-1.5756198620567252]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.020089091034351858,-1.5353853043149726,0.71338606911949],"aabb_xy":[[-0.0750890906560977,-1.5903689971024455],[0.034910908587393985,-1.4804016115275]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.10987630224023537,-2.362397155855163,0.71338606911949],"aabb_xy":[[-0.11929377681009812,-2.371813332992882],[-0.10045882767037262,-2.352980978717444]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.6715538335699655,0.1841330818150806,0.71338606911949],"aabb_xy":[[-0.6844257370709056,0.10413308140124443],[-0.6586819300690253,0.2641330822289167]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.03983802282082416,-0.78188313700793,0.71338606911949],"aabb_xy":[[-0.06816773276936439,-0.7863438792016472],[-0.011508312872283932,-0.777422394814213]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[0.4147427690436156,-1.7238208726525783,0.71338606911949],"aabb_xy":[[0.344742766912186,-1.7465828382782738],[0.4847427711750451,-1.7010589070268824]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.15275859835099947,-0.6978694246463524,0.71338606911949],"aabb_xy":[[-0.15765789065756294,-0.725546343948921],[-0.14785930604443595,-0.6701925053437835]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.4407404247156046,0.3655640777610558,0.71338606911949],"aabb_xy":[[0.42287131696114905,0.3517311697838449],[0.45860953247006003,0.37939698573826675]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.515381748590216,0.6022274796607916,0.71338606911949],"aabb_xy":[[-0.5953817518542291,0.5886674473518783],[-0.4353817453262029,0.6157875119697049]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[0.35453440990907925,1.253367224857561,0.71338606911949],"aabb_xy":[[0.3472731623386719,1.2405802145940517],[0.3617956574794867,1.2661542351210706]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.11684115093760572,-1.1971697667994974,0.71338606911949],"aabb_xy":[[-0.18184114909352478,-1.2234660113494096],[-0.05184115278168665,-1.1708735222495852]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.19560463218461321,1.4064744305696264,0.71338606911949],"aabb_xy":[[0.1874909775112361,1.3983686141155973],[0.20371828685799032,1.4145802470236555]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.19781169281889793,1.3563732616823514,0.71338606911949],"aabb_xy":[[-0.2778055163974562,1.2763732590895098],[-0.11781786924033974,1.436373264275193]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[-0.27264237392988533,1.7135446396857401,0.71338606911949],"aabb_xy":[[-0.33664237322405355,1.649558499316886],[-0.2086423746357171,1.7775307800545943]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.21110113778299766,-2.245960957098057,0.71338606911949],"aabb_xy":[[0.17406702835493792,-2.280338164431766],[0.24813524721105734,-2.211583749764347]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.0874497618209491,0.3252674075410438,0.71338606911949],"aabb_xy":[[-0.16744976398371159,0.24531222391490015],[-0.0074497596581866166,0.4052225911671874]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[0.2872473358921631,0.676116168496236,0.71338606911949],"aabb_xy":[[0.2222473348916626,0.6253298033415612],[0.35224733689266363,0.7269025336509111]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.5869267312021136,-1.7279185758621547,0.71338606911949],"aabb_xy":[[-0.60472023813703,-1.7457183214579524],[-0.5691332242671971,-1.710118830266357]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_27","position":[-0.6355890602824692,-0.22234130313816935,0.71338606911949],"aabb_xy":[[-0.6435830488601725,-0.23034138323325967],[-0.6275950717047657,-0.21434122304307898]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671165268496962,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3046.png","name":"3046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6194.png","name":"6194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8403.png","name":"8403"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3495.png","name":"3495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1742.png","name":"1742"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":561.7439620550741,"rotation_z_degrees":145.41492375306396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009782238093504718,0.01159273693816026,0.010312710777281568]},{"name":"camera_2","offset_m":[0.013600759096349283,0.0004675521346586206,-0.009504002897224636]},{"name":"camera_3","offset_m":[0.014994160168080927,0.00949351408892261,-0.011161974634713513]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004677789608404624,-3.9268656188548665e-05,0.0018853472818172838],"end_effector_yaw_offset_degrees":-0.348111372574579},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009282756811570714,-0.00026993217445283376,-0.0014204846957258752],"end_effector_yaw_offset_degrees":-0.4123960792029393},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012555737152189442,0.0011271372457783923,0.0016235355470890999],"end_effector_yaw_offset_degrees":0.9608986039472833},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[7.43043287391807e-05,0.0019894666379422048,3.2482924288111236e-05],"end_effector_yaw_offset_degrees":0.34934169995738706},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008134656018563531,0.001898563072612272,0.0012035987625625298],"end_effector_yaw_offset_degrees":-0.13336783119810436},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0016081720617819178,0.00027781548243911063,-3.418203607341618e-05],"end_effector_yaw_offset_degrees":-0.836342268973012}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024229954287803245,0.00029689995317569353],"position_m":[0.3018770045712197,-0.030203100046824305,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005428337188021024,-6.644164530296599e-05],"position_m":[0.2344571662811979,-0.37366644164530294,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.000147258112388823,-0.004786407290261925],"position_m":[0.2976472581123888,0.3017135927097381,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00028605613963796593,-0.004687572078351675],"position_m":[0.3100139438603621,0.07781242792164833,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4f8b5f72c2bcbfc5cc4a4e499612c3ddbec12e95c11b8ffcd542fa07e937a10f","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3046/tex_ceiling_textures_1742/tex_floor_textures_3495/tex_table_textures_6194/tex_wall_textures_8403","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":9057457725061314230,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":9057457725061314230,"visual_seed":9057457725061314230,"scene_id":"lab_003","finished_at":"2026-09-08T16:27:10"}
+{"episode_id":"ep_000046","started_at":"2026-09-08T16:27:19","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.4351283283994858,0.361989730640667,0.71338606911949],"aabb_xy":[[-0.44442194663663637,0.324489732152533],[-0.4258347101623352,0.3994897291288008]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.45044170236177716,0.5633976523761022,0.71338606911949],"aabb_xy":[[-0.4717197105052494,0.498397650050029],[-0.4291636942183049,0.6283976547021751]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.4595258002709899,1.2925231931117174,0.71338606911949],"aabb_xy":[[-0.5495257999941641,1.269449840576537],[-0.3695258005478157,1.3155965456468968]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.4475226433520778,-0.8664021236094286,0.71338606911949],"aabb_xy":[[0.38352264100927624,-0.9113429748535611],[0.5115226456948794,-0.8214612723652961]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.2446528226057716,1.344634597066725,0.71338606911949],"aabb_xy":[[0.23408534294767253,1.3340895669537165],[0.25522030226387055,1.3551796271797336]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[0.002245331302533571,-2.0923075261605333,0.71338606911949],"aabb_xy":[[-0.014665401133808207,-2.1057797317531475],[0.019156063738875347,-2.078835320567918]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[-0.11657690068707816,-0.7807539916800923,0.71338606911949],"aabb_xy":[[-0.13478272434832583,-0.7917793922620839],[-0.09837107702583048,-0.7697285910981007]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.15646341850138723,-0.9785353306748961,0.71338606911949],"aabb_xy":[[0.14942310856785027,-1.0585353300745675],[0.16350372843492425,-0.8985353312752247]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.5946256848205789,0.3317592693580007,0.71338606911949],"aabb_xy":[[0.5446482679553252,0.28175926786875216],[0.6446031016858323,0.38175927084724925]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.32160743672782294,-0.5648224456580668,0.71338606911949],"aabb_xy":[[-0.33032140577775737,-0.5873224463172549],[-0.3128934676778884,-0.5423224449988785]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.5742920864055445,-1.5079191444377107,0.71338606911949],"aabb_xy":[[0.5102920841851375,-1.5522922285629988],[0.6382920886259515,-1.4635460603124222]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.29612329896091205,1.1969231447946127,0.71338606911949],"aabb_xy":[[0.27857660404479306,1.1594231432303614],[0.31366999387703093,1.234423146358864]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.1189752066210582,-1.3468969770760841,0.71338606911949],"aabb_xy":[[-0.18297520689503644,-1.396963077273372],[-0.054975206347079975,-1.2968308768787962]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[-0.08705983482388324,-2.5321249663047145,0.71338606911949],"aabb_xy":[[-0.11157345892088909,-2.556389559606751],[-0.06254621072687737,-2.507860373002678]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.27563583605748065,-1.347025252885852,0.71338606911949],"aabb_xy":[[0.19563583904323267,-1.367159804559263],[0.35563583307172864,-1.3268907012124405]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[-0.21138265949216872,-1.9527230280337071,0.71338606911949],"aabb_xy":[[-0.22896096168111554,-1.9702975176078121],[-0.19380435730322185,-1.935148538459602]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.3984546881772774,-0.6729489619347588,0.71338606911949],"aabb_xy":[[-0.4784546886474934,-0.6812596695491073],[-0.3184546877070615,-0.6646382543204106]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[-0.29908784974295655,-1.1515310838936528,0.71338606911949],"aabb_xy":[[-0.3567183186302273,-1.2115310828203631],[-0.24145738085568558,-1.091531084966942]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.15625930797738896,0.9153108239438619,0.71338606911949],"aabb_xy":[[0.1101742167226575,0.8513108266913068],[0.20234439923212044,0.979310821196417]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.4025436459262861,-1.0972939494128036,0.71338606911949],"aabb_xy":[[0.3824852343130458,-1.117359036321961],[0.4226020575395264,-1.0772288625036461]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.5165185544907811,-1.7841853420099034,0.71338606911949],"aabb_xy":[[0.48786922213036477,-1.8128309012869788],[0.5451678868511972,-1.7555397827328272]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[0.20184250015874206,1.5279253326160833,0.71338606911949],"aabb_xy":[[0.18434250102437488,1.5180457055784953],[0.21934249929310923,1.537804959653671]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.29756604421070704,-0.8972236924590591,0.71338606911949],"aabb_xy":[[-0.34756604285662823,-0.9471432361185215],[-0.24756604556478584,-0.8473041487995967]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.4901228087371203,-0.32166937208155844,0.71338606911949],"aabb_xy":[[-0.49816616866307545,-0.40666937317692486],[-0.4820794488111651,-0.236669370986192]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.5213474583514306,-0.05571419827963675,0.71338606911949],"aabb_xy":[[0.45734745506172253,-0.09904911728355437],[0.5853474616411387,-0.01237927927571914]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[0.19954740662548498,-0.6364549373037032,0.71338606911949],"aabb_xy":[[0.1757111889848799,-0.7264549381121896],[0.22338362426609004,-0.5464549364952167]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_26","position":[0.05408370830396747,-1.856905916749991,0.71338606911949],"aabb_xy":[[0.01728907517906119,-1.8938117918465736],[0.09087834142887374,-1.820000041653409]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[0.5641522708264823,1.0609615606653091,0.71338606911949],"aabb_xy":[[0.5549923918826059,1.054430342621772],[0.573312149770359,1.0674927787088462]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_28","position":[-0.6185329093402806,-0.3184839106248676,0.71338606911949],"aabb_xy":[[-0.623432201646844,-0.3461608299274363],[-0.613633617033717,-0.29080699132229876]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.3521603473721371,-0.6043183421104554,0.71338606911949],"aabb_xy":[[0.30503096837030136,-0.6683183431548573],[0.3992897263739727,-0.5403183410660534]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[0.5718166474272506,-0.6663878126552423,0.71338606911949],"aabb_xy":[[0.5332709546020494,-0.7049335837114309],[0.6103623402524515,-0.6278420415990537]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_31","position":[-0.15032542773609048,1.2053591885820971,0.71338606911949],"aabb_xy":[[-0.20531863907322728,1.1503591882433035],[-0.09533221639895376,1.2603591889208907]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707274878415984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9336.png","name":"9336"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9336.png","name":"9336"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4278.png","name":"4278"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/398.png","name":"398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2330.png","name":"2330"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2946.png","name":"2946"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":533.0968688687981,"rotation_z_degrees":314.23257644531674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012262392462736239,-0.008446810408250306,0.016847632845899446]},{"name":"camera_2","offset_m":[-0.001649819242693279,0.012383234668949961,0.01138624990891508]},{"name":"camera_3","offset_m":[-0.01218436690139539,0.016129878253017756,0.011435653411793482]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.245224890593943e-05,0.0006694049920923689,0.001916265742891157],"end_effector_yaw_offset_degrees":-0.44267450803300723},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007884507765119455,0.00020275223653386763,0.0010727529673677234],"end_effector_yaw_offset_degrees":-0.2701969870821739},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010344629032480136,-0.00013545611469836859,0.00028021540745108795],"end_effector_yaw_offset_degrees":-0.8203889636719277},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015271234650611446,-0.0014619293218348646,0.00019689661366655746],"end_effector_yaw_offset_degrees":-0.28549152947865863},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005386625681296489,0.0003369314280023566,-0.0008322886929925059],"end_effector_yaw_offset_degrees":0.04406901352835835},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014771243773310308,-0.0006310971939008589,0.001844514533508633],"end_effector_yaw_offset_degrees":-0.5009345740270277}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027838152721230405,-0.003486306444314277],"position_m":[0.30708381527212303,-0.033986306444314274,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006028095670218472,0.0006307815831916612],"position_m":[0.23439719043297813,-0.3729692184168083,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004553032183276089,0.0007953453140791345],"position_m":[0.2929469678167239,0.30729534531407915,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002231062251909013,-0.0027133921227949086],"position_m":[0.308068937748091,0.0797866078772051,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"504242dd480958b24260747f21686569d2e70df518f250b392dc8f46ee5fa35b","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9336/tex_ceiling_textures_2946/tex_floor_textures_2330/tex_table_textures_4278/tex_wall_textures_398","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1995621853961793080,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1995621853961793080,"visual_seed":1995621853961793080,"scene_id":"lab_003","finished_at":"2026-09-08T16:35:04"}
+{"episode_id":"ep_000047","started_at":"2026-09-08T16:35:13","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.02997197134805074,-2.3462048256646035,0.71338606911949],"aabb_xy":[[-0.04341849798209407,-2.359674677317695],[-0.016525444714007406,-2.332734974011512]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.5981556734396188,-0.1982957826990197,0.71338606911949],"aabb_xy":[[-0.6621556726093888,-0.2450624698179822],[-0.5341556742698489,-0.15152909558005723]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.15243394271053567,0.7360124023216206,0.71338606911949],"aabb_xy":[[-0.22243394431281516,0.7225796091199631],[-0.08243394110825619,0.7494451955232783]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.3493342529418615,0.3654287437340331,0.71338606911949],"aabb_xy":[[0.3379725182885752,0.35406027732774503],[0.36069598759514754,0.3767972101403212]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[0.5574237613349835,-2.2329732797567727,0.71338606911949],"aabb_xy":[[0.5487097922850489,-2.2554732804159605],[0.5661377303849179,-2.210473279097584]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.05821378066315075,-1.97202698419862,0.71338606911949],"aabb_xy":[[0.02071378084611719,-1.9766651955097616],[0.09571378048018431,-1.967388772887478]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.367474828502937,1.2349599118379908,0.71338606911949],"aabb_xy":[[0.313459232221037,1.1709599089457337],[0.421490424784837,1.298959914730248]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[-0.5372185217608504,0.46669708173359004,0.71338606911949],"aabb_xy":[[-0.5541292541971921,0.45322487614097545],[-0.5203077893245085,0.4801692873262045]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.37007432496793274,-0.4600266968370317,0.71338606911949],"aabb_xy":[[-0.3771157759186803,-0.4670534485748262],[-0.3630328740171851,-0.45299994509923713]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.49192357000062376,1.67911386126219,0.71338606911949],"aabb_xy":[[-0.5419235713615108,1.6291359566867742],[-0.4419235686397365,1.7290917658376055]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.4859535824489003,1.652786340100803,0.71338606911949],"aabb_xy":[[0.46345716101503615,1.630286340294055],[0.5084500038827644,1.67528633990755]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_11","position":[-0.09141464499710583,-1.6808431782992264,0.71338606911949],"aabb_xy":[[-0.12891464549446408,-1.6848118618473447],[-0.05391464449974759,-1.6768744947511076]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[-0.6099263158954557,1.3041944892647837,0.71338606911949],"aabb_xy":[[-0.6227982193963958,1.2241944888509477],[-0.5970544123945155,1.38419448967862]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.14866477864720928,1.4902558124961325,0.71338606911949],"aabb_xy":[[0.13543383311252796,1.477028393474133],[0.16189572418189055,1.503483231518132]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.35267839650368216,-0.7731350636282519,0.71338606911949],"aabb_xy":[[0.2976829186830227,-0.8281350650621587],[0.4076738743243415,-0.7181350621943449]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.2070663819037979,-0.28820755651801644,0.71338606911949],"aabb_xy":[[-0.21636000014094847,-0.32570755500615034],[-0.1977727636666473,-0.25070755802988254]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.5737550658670076,-1.3934685352177385,0.71338606911949],"aabb_xy":[[-0.6637550626026177,-1.446651998535033],[-0.4837550691313973,-1.340285071900444]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.594361738161572,-2.35504950227501,0.71338606911949],"aabb_xy":[[-0.6593617391186991,-2.4069977142087158],[-0.5293617372044447,-2.3031012903413046]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.5140068943007514,-1.35228199524417,0.71338606911949],"aabb_xy":[[0.43028466880066885,-1.442281998778866],[0.5977291198008338,-1.262281991709474]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.4856575636990911,-1.6020642063418138,0.71338606911949],"aabb_xy":[[-0.5038633873603386,-1.6130896069238057],[-0.46745174003784334,-1.5910388057598224]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.4205094629928474,-1.7805983221290278,0.71338606911949],"aabb_xy":[[0.37052651280536797,-1.830598321771588],[0.47049241318032664,-1.7305983224864672]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.12645812131941792,-1.8552830174545356,0.71338606911949],"aabb_xy":[[-0.16092059933250566,-1.861946694637458],[-0.09199564330633012,-1.8486193402716127]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_22","position":[0.44479748270218655,-1.9764283165774192,0.71338606911949],"aabb_xy":[[0.43464446714803706,-2.012497858150159],[0.4549504982563358,-1.9403587750046785]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.4015850108936571,0.8992719166848095,0.71338606911949],"aabb_xy":[[-0.43908501099925007,0.8924497548318282],[-0.36408501078806416,0.9060940785377904]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.228810371567364,1.5276704705886632,0.71338606911949],"aabb_xy":[[-0.24196161753865342,1.502670470831977],[-0.2156591255960747,1.55267047034535]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_25","position":[0.6296822268342934,-0.6290763718912475,0.71338606911949],"aabb_xy":[[0.5656822304069716,-0.676245995713344],[0.6936822232616154,-0.5819067480691511]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[0.04586594524050147,-1.1599912230503966,0.71338606911949],"aabb_xy":[[-0.04413405709351758,-1.2374735776355092],[0.13586594757452053,-1.082508868465284]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[0.05368562857690762,0.750170179234003,0.71338606911949],"aabb_xy":[[0.0036856269154128467,0.7001717369783003],[0.10368563023840235,0.8001686214897057]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[-0.4342529733473135,0.1632243727109981,0.71338606911949],"aabb_xy":[[-0.4460211601419712,0.07822437280577656],[-0.42248478655265614,0.2482243726162197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6709069414526273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4927.png","name":"4927"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4927.png","name":"4927"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8967.png","name":"8967"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7011.png","name":"7011"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5355.png","name":"5355"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5418.png","name":"5418"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":797.2805413833452,"rotation_z_degrees":292.0661717305235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024333778326519583,0.005092114011360133,-0.00028444283657634226]},{"name":"camera_2","offset_m":[-0.008186909047374074,-0.013283885476961426,-0.018848652233184753]},{"name":"camera_3","offset_m":[0.005551238454293474,0.013351330814784321,-0.008653966341902302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016928421490851027,-0.0017601375332061044,3.834084013857979e-05],"end_effector_yaw_offset_degrees":-0.8923032327710805},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006724065625834852,0.0010491921339753911,0.0008126295507032365],"end_effector_yaw_offset_degrees":-0.876787995819208},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011139537948842335,0.00016810344251539603,0.0005585092845316734],"end_effector_yaw_offset_degrees":-0.7354463874850055},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00196623426051784,0.001363065958587672,-0.0017391739615686453],"end_effector_yaw_offset_degrees":0.39132024472125293},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010906376462065013,-0.0018497229766097827,-0.0017114731627405854],"end_effector_yaw_offset_degrees":-0.30876937387825887},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007357033006266441,0.0010181412106910663,-0.00011917882270666793],"end_effector_yaw_offset_degrees":-0.7265008395481134}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0043538107860437445,0.004707818848696819],"position_m":[0.30865381078604376,-0.02579218115130318,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007644861869159185,6.684068415155602e-05],"position_m":[0.23423551381308408,-0.3735331593158484,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004581054018211109,0.002241429736975384],"position_m":[0.29291894598178886,0.3087414297369754,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004460715501721107,-8.531939826196804e-05],"position_m":[0.31476071550172113,0.08241468060173804,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"bc0445f2d288711b8b0003749cddb4513f3965a2d265d9ce543464019740f20f","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4927/tex_ceiling_textures_5418/tex_floor_textures_5355/tex_table_textures_8967/tex_wall_textures_7011","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":4136951950688186715,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":4136951950688186715,"visual_seed":4136951950688186715,"scene_id":"lab_003","finished_at":"2026-09-08T16:43:08"}
+{"episode_id":"ep_000048","started_at":"2026-09-08T16:43:17","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.6245197435004555,-1.2853051283807133,0.71338606911949],"aabb_xy":[[0.6165262537051734,-1.2933032603211891],[0.6325132332957375,-1.277306996440238]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.6997890619644787,-1.324088439790804,0.71338606911949],"aabb_xy":[[0.6772890619543303,-1.3381846594304072],[0.7222890619746268,-1.3099922201512006]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.27798852027040566,-0.6040035023717949,0.71338606911949],"aabb_xy":[[-0.3419885195645739,-0.667989642740649],[-0.21398852097623744,-0.5400173620029406]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.5408247213025568,1.5142610449739773,0.71338606911949],"aabb_xy":[[0.49084591279224077,1.4642610449682583],[0.5908035298128725,1.5642610449796959]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[0.47194835847637595,-1.5197358805970866,0.71338606911949],"aabb_xy":[[0.4646660420997122,-1.6097358842065952],[0.4792306748530395,-1.4297358769875772]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.6035559124735594,-0.49548189222335237,0.71338606911949],"aabb_xy":[[0.5395559107955621,-0.5439992837026666],[0.6675559141515568,-0.4469645007440381]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.325976168039412,0.5568675684621627,0.71338606911949],"aabb_xy":[[-0.3484898598628691,0.48686756786115515],[-0.30346247621595474,0.6268675690631702]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.6026113590718313,0.16437743896238155,0.71338606911949],"aabb_xy":[[-0.6478899739529805,0.10037743961419787],[-0.557332744190682,0.22837743831056523]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.5014455621647502,-0.1891388293421321,0.71338606911949],"aabb_xy":[[0.4374455617872166,-0.23888409619294437],[0.5654455625422838,-0.13939356249131984]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.07823296313014061,-1.5794978419461676,0.71338606911949],"aabb_xy":[[-0.09491009912323611,-1.5961977659200979],[-0.061555827137045105,-1.5627979179722373]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.2973849532327705,-1.6617606055702465,0.71338606911949],"aabb_xy":[[-0.37738495649061343,-1.7417571133622305],[-0.21738494997492752,-1.5817640977782625]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.3255204104333214,-0.19129528631176962,0.71338606911949],"aabb_xy":[[-0.40552041259608385,-0.27125046993791324],[-0.24552040827055888,-0.11134010268562597]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.28227011980731564,-1.2904725676000874,0.71338606911949],"aabb_xy":[[-0.33226513076676767,-1.3404725666356792],[-0.23227510884786362,-1.2404725685644957]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.18374822669645607,-0.796498716043484,0.71338606911949],"aabb_xy":[[0.13376399098827882,-0.8464987148569794],[0.23373246240463327,-0.7464987172299882]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.6721759543076373,-1.7802387582696344,0.71338606911949],"aabb_xy":[[0.6684726929784983,-1.7839407765783521],[0.6758792156367761,-1.7765367399609167]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.2029731791998049,1.0472297490476459,0.71338606911949],"aabb_xy":[[-0.23337129029894846,1.0168228470459761],[-0.17257506810066128,1.0776366510493152]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.36017869313939443,-1.4143091244769814,0.71338606911949],"aabb_xy":[[-0.37573446254965975,-1.4298595577213886],[-0.34462292372912917,-1.3987586912325742]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.4120526499622802,-0.912358118280131,0.71338606911949],"aabb_xy":[[-0.42520389593356955,-0.9373581180368176],[-0.39890140399099083,-0.8873581185234445]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.2708696903851593,-1.831168541566612,0.71338606911949],"aabb_xy":[[0.18086969364954908,-1.8843520048839064],[0.3608696871207695,-1.7779850782493174]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.13012538361690318,-1.9484898115068612,0.71338606911949],"aabb_xy":[[0.11269466853789666,-1.9657619261707115],[0.14755609869590966,-1.93121769684301]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.06044184148919152,1.5007027024425317,0.71338606911949],"aabb_xy":[[-0.0035581592142778307,1.4546843199696107],[0.12444184219266088,1.546721084915453]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[0.44096897385984857,-2.236280469929619,0.71338606911949],"aabb_xy":[[0.4239588765697979,-2.2524149584278925],[0.4579790711498992,-2.2201459814313447]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.3986330896752675,1.032722231791594,0.71338606911949],"aabb_xy":[[-0.4485157865529637,0.9827222325453195],[-0.34875039279757125,1.082722231037869]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.161314571607455,-2.4795933450501417,0.71338606911949],"aabb_xy":[[-0.17216617785633062,-2.4904526357777925],[-0.15046296535857942,-2.468734054322491]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.34289796261385075,0.7361505638507171,0.71338606911949],"aabb_xy":[[-0.38789796408007965,0.6911507069892365],[-0.2978979611476219,0.781150420712198]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6742100228136441,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4319.png","name":"4319"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4319.png","name":"4319"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3357.png","name":"3357"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8690.png","name":"8690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7348.png","name":"7348"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1834.png","name":"1834"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":772.4054873224965,"rotation_z_degrees":258.2684335530343,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004403923704613261,0.005928587073433342,-0.01743614926893268]},{"name":"camera_2","offset_m":[0.019572376824007347,0.019965208678443574,0.0029205769237417474]},{"name":"camera_3","offset_m":[-0.01347247264606525,0.00700621205810362,-0.002483620010281587]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005539820501673453,-0.0017971049652996012,0.0002843159746879825],"end_effector_yaw_offset_degrees":-0.6744195499920738},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00042612877343916255,0.00013304200034393397,-0.00042958174025714015],"end_effector_yaw_offset_degrees":-0.8625952158199028},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001860812096489908,-0.0017367359069155764,0.000170132848927515],"end_effector_yaw_offset_degrees":0.5823652634482352},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007833140073503914,-2.0769702947848277e-05,2.5806418481725147e-05],"end_effector_yaw_offset_degrees":-0.43879040848079454},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00022295113458067634,0.0011257436977543706,0.0005488199121099512],"end_effector_yaw_offset_degrees":-0.05794018290092606},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[1.4060787976868418e-05,-0.001344625604466674,0.0010465208541281432],"end_effector_yaw_offset_degrees":-0.028270174151493688}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003259678482624177,-0.0041602703164928655],"position_m":[0.30462596784826246,-0.03466027031649287,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037719770021404668,0.0009162949749688442],"position_m":[0.23877197700214045,-0.3726837050250311,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0018767363180426499,0.004731032023111905],"position_m":[0.2993767363180426,0.3112310320231119,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011157484548395638,-0.003672759540610974],"position_m":[0.30918425154516044,0.07882724045938903,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8e11774bef2fe2e91603538f18ed1158a46fadb0fa71a062d73cb0773573d3b3","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4319/tex_ceiling_textures_1834/tex_floor_textures_7348/tex_table_textures_3357/tex_wall_textures_8690","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2478091158089564110,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2478091158089564110,"visual_seed":2478091158089564110,"scene_id":"lab_003","finished_at":"2026-09-08T16:51:44"}
+{"episode_id":"ep_000049","started_at":"2026-09-08T16:51:51","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.1376802781157872,1.2051827588801718,0.71338606911949],"aabb_xy":[[-0.16018027835930257,1.1929781242203996],[-0.11518027787227178,1.2173873935399435]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.1680560354495756,-1.102694187042644,0.71338606911949],"aabb_xy":[[0.1030560328117821,-1.154173785742091],[0.23305603808736908,-1.0512145883431971]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.6063216203694252,-1.358643493320133,0.71338606911949],"aabb_xy":[[-0.647339563755796,-1.4086434939510903],[-0.5653036769830543,-1.3086434926891757]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.187161437630873,-2.484960275623916,0.71338606911949],"aabb_xy":[[0.16710302601763272,-2.505025362533073],[0.2072198492441133,-2.4648951887147583]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.6036196483898018,-2.1492304079624653,0.71338606911949],"aabb_xy":[[-0.653502345267498,-2.19923040720874],[-0.5537369515121056,-2.0992304087161906]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.1900065959415631,0.15747075891676054,0.71338606911949],"aabb_xy":[[-0.19728891231822673,0.06747075530725151],[-0.18272427956489942,0.24747076252626948]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.5320137379539923,1.5917389857646804,0.71338606911949],"aabb_xy":[[-0.5598587747345996,1.5609544870263687],[-0.5041687011733853,1.622523484502992]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[0.48104335999557213,0.8861733788998252,0.71338606911949],"aabb_xy":[[0.43605077327712166,0.8411733796253763],[0.5260359467140225,0.9311733781742738]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.4292073532259354,-0.24592542448854315,0.71338606911949],"aabb_xy":[[-0.4792073535865014,-0.2959054116981461],[-0.3792073528653693,-0.1959454372789402]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.3176018685000608,1.4796585365577983,0.71338606911949],"aabb_xy":[[0.27243055065189187,1.41565853941326],[0.3627731863482298,1.543658533702337]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.034388024295830544,1.5121607222591495,0.71338606911949],"aabb_xy":[[-0.05822424193643562,1.422160721450663],[-0.010551806655225484,1.6021607230676362]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.39683453230889215,-1.3424179044666964,0.71338606911949],"aabb_xy":[[-0.42731878243592225,-1.3924179042481923],[-0.36635028218186194,-1.2924179046852005]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.28881890417741285,-1.9578283171282431,0.71338606911949],"aabb_xy":[[0.20881890091339972,-1.9713883494371565],[0.368818907441426,-1.9442682848193298]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.641200148939971,1.3893442552689743,0.71338606911949],"aabb_xy":[[0.6166865248429653,1.3650796619669376],[0.665713773036977,1.4136088485710105]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[0.5949997473990449,0.18425678964985837,0.71338606911949],"aabb_xy":[[0.5666700374505047,0.1797960474561413],[0.6233294573475852,0.18871753184357543]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.4873364351739244,0.39286054333834164,0.71338606911949],"aabb_xy":[[-0.557336431583886,0.3724226076866598],[-0.4173364387639625,0.41329847899002325]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.10731185152583633,-0.8403005848954115,0.71338606911949],"aabb_xy":[[0.09723014444726284,-0.9203005827875259],[0.1173935586044098,-0.7603005870032966]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.3751829334897352,-1.5359884852707162,0.71338606911949],"aabb_xy":[[0.34059185063568986,-1.6009884855557472],[0.4097740163437803,-1.4709884849856851]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.4178797482087604,-0.6705533588510035,0.71338606911949],"aabb_xy":[[0.39899536444025024,-0.6894392836313563],[0.43676413197727065,-0.6516674340706508]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[-0.5961403515070721,1.109764462244188,0.71338606911949],"aabb_xy":[[-0.6295805267030916,1.0763208364132577],[-0.5627001763110524,1.1432080880751179]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.6491080164874152,-1.47724850678171,0.71338606911949],"aabb_xy":[[0.6116080149717835,-1.488475279797855],[0.6866080180030469,-1.466021733765565]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[-0.12206691195191632,0.7438527420748993,0.71338606911949],"aabb_xy":[[-0.1445669114756237,0.7213567946242784],[-0.0995669124282089,0.7663486895255199]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.41626704918571217,-0.987554266911955,0.71338606911949],"aabb_xy":[[-0.4962670478425982,-1.002059125836218],[-0.33626705052882616,-0.9730494079876923]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[-0.23008944584150903,-0.7373132464589598,0.71338606911949],"aabb_xy":[[-0.3100894432451024,-0.8173058176571425],[-0.15008944843791558,-0.6573206752607769]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.10139653457818543,-2.0795123870390917,0.71338606911949],"aabb_xy":[[0.03139653276943999,-2.100866155803279],[0.17139653638693086,-2.0581586182749043]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.09672617832692121,-0.6953072950870554,0.71338606911949],"aabb_xy":[[0.006726178603747009,-0.7183806476222351],[0.18672617805009534,-0.6722339425518754]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.3930661064182619,0.5900351223541178,0.71338606911949],"aabb_xy":[[0.3706013364468568,0.5675351214752572],[0.415530876389667,0.6125351232329782]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_27","position":[0.5675347156642214,-0.17717557406076434,0.71338606911949],"aabb_xy":[[0.5035347124455836,-0.2238986859597727],[0.6315347188828593,-0.130452462161756]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[0.5261090387530254,-1.9722681230555739,0.71338606911949],"aabb_xy":[[0.4887777622277829,-2.006921177850426],[0.5634403152782681,-1.9376150682607216]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[-0.2977563561051516,0.4553342355294281,0.71338606911949],"aabb_xy":[[-0.3617563553993198,0.3913480951605739],[-0.23375635681098333,0.5193203758982823]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_30","position":[0.6109402134233242,-1.289686352373379,0.71338606911949],"aabb_xy":[[0.605482267786304,-1.3696863556810381],[0.6163981590603441,-1.20968634906572]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[-0.08944995986632265,-0.5798603773174458,0.71338606911949],"aabb_xy":[[-0.09737324010507098,-0.6023603775554491],[-0.08152667962757432,-0.5573603770794424]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_32","position":[0.23291163924608482,-1.3866213155681515,0.71338606911949],"aabb_xy":[[0.18291680631814322,-1.436621314463395],[0.2829064721740264,-1.336621316672908]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66980130667631,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6278.png","name":"6278"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6278.png","name":"6278"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8800.png","name":"8800"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6305.png","name":"6305"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7837.png","name":"7837"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4393.png","name":"4393"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":601.7785355996965,"rotation_z_degrees":18.327532640600506,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023739107059540347,0.0017761503150868357,-0.018425364555837584]},{"name":"camera_2","offset_m":[-0.01474830907909408,0.006015965984793325,-0.0012986236222150317]},{"name":"camera_3","offset_m":[0.005515167028851398,0.003507560117657578,0.014634597323849776]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000372410410728058,0.0007983756929450816,-0.00023821949867273507],"end_effector_yaw_offset_degrees":-0.47755696503699796},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005098818895901917,-0.0018670584662434928,-0.00035431897305649384],"end_effector_yaw_offset_degrees":-0.7170906067722727},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005984359953165657,0.0018558832756743956,0.0018147147118936966],"end_effector_yaw_offset_degrees":0.7892712633652867},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009304062246534462,0.0016446380364397513,0.0002671136959811449],"end_effector_yaw_offset_degrees":-0.1824253138285603},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008237070093979944,-9.418577176438037e-05,-0.0009217576552226147],"end_effector_yaw_offset_degrees":0.40690563196151897},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0002408040190824954,-0.00043160034832530466,0.0012428874814573803],"end_effector_yaw_offset_degrees":0.8119253197105887}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00413961394749534,0.0015350792368689966],"position_m":[0.30843961394749536,-0.028964920763131,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003052124329352696,-0.0013523080982503501],"position_m":[0.23194787567064729,-0.37495230809825036,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0012050105912276054,0.004551806254263278],"position_m":[0.29629498940877236,0.31105180625426326,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002789883239030317,-0.003185710129968534],"position_m":[0.31308988323903036,0.07931428987003147,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a43be043ed9d3687c5de213e492642665ba00e1ea5c94e8ba20ff90bf8b1c090","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6278/tex_ceiling_textures_4393/tex_floor_textures_7837/tex_table_textures_8800/tex_wall_textures_6305","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5407528680649728906,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5407528680649728906,"visual_seed":5407528680649728906,"scene_id":"lab_003","finished_at":"2026-09-08T16:59:55"}
+{"episode_id":"ep_000050","started_at":"2026-09-08T17:00:02","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.3539177243729603,-2.03441590114274,0.71338606911949],"aabb_xy":[[0.30382026039188664,-2.0984159016525523],[0.4040151883540339,-1.9704159006329287]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.6094942542128811,-1.8706687961341,0.71338606911949],"aabb_xy":[[-0.6320079460363381,-1.9406687967351075],[-0.5869805623894238,-1.8006687955330924]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.06320445432408395,0.33292349908899954,0.71338606911949],"aabb_xy":[[-0.0867895777879788,0.26792349684356775],[-0.039619330860189095,0.39792350133443133]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.5387633752030618,-1.4222206086624867,0.71338606911949],"aabb_xy":[[-0.6287633737975318,-1.438471194975908],[-0.4487633766085919,-1.4059700223490659]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.3957239675455213,0.5394530687184784,0.71338606911949],"aabb_xy":[[0.33072396938960225,0.5131568241685661],[0.46072396570144036,0.5657493132683905]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.2301791954780018,-1.4521044344668927,0.71338606911949],"aabb_xy":[[0.14017919605963086,-1.4854799313110822],[0.32017919489637264,-1.4187289376227028]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.2157073299451694,-2.2724212135601274,0.71338606911949],"aabb_xy":[[0.211746846175435,-2.280089078145648],[0.21966781371490374,-2.264753348974607]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.6295830870469259,0.5517134217493025,0.71338606911949],"aabb_xy":[[0.5655830899348203,0.5026810519548919],[0.6935830841590317,0.6007457915437131]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.47620015780669767,-0.723256491166117,0.71338606911949],"aabb_xy":[[0.4112001577723949,-0.7699571678464442],[0.5412001578410004,-0.6765558144857896]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.22895076152382426,-0.9903842323640752,0.71338606911949],"aabb_xy":[[-0.2929507588094729,-1.0318909513169192],[-0.16495076423817562,-0.9488775134112313]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.1957541824594567,0.8294013350484355,0.71338606911949],"aabb_xy":[[-0.25575418332026945,0.7779749050419489],[-0.13575418159864389,0.8808277650549217]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.6515723597850547,-0.18477758123688792,0.71338606911949],"aabb_xy":[[-0.661725375339204,-0.2208471228096282],[-0.6414193442309052,-0.14870803966414756]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.6787786662122934,-2.109468378087885,0.71338606911949],"aabb_xy":[[-0.6881256737945887,-2.123772000305529],[-0.6694316586299982,-2.095164755870241]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.320200393149348,-0.9374233085911445,0.71338606911949],"aabb_xy":[[0.2502003915470685,-0.950856101792802],[0.3902003947516275,-0.9239905153894868]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.2479232516907416,-2.481588479155551,0.71338606911949],"aabb_xy":[[-0.311923253603084,-2.5374996284135616],[-0.1839232497783993,-2.4256773298975407]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[-0.49994846443023117,0.7857175798272014,0.71338606911949],"aabb_xy":[[-0.5899484641534053,0.7626442272920214],[-0.4099484647070569,0.8087909323623811]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[-0.6064542603113771,0.28123901368733817,0.71338606911949],"aabb_xy":[[-0.6564535354798131,0.231239012411391],[-0.5564549851429408,0.33123901496328534]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.37174997205951366,1.1787947024170928,0.71338606911949],"aabb_xy":[[0.3625900931156371,1.1722634843735558],[0.3809098510033903,1.18532592046063]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[-0.3459641986243393,-0.26965211813549983,0.71338606911949],"aabb_xy":[[-0.43096419731641394,-0.3016379815303787],[-0.26096419993226466,-0.23766625474062097]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.4324264181671586,0.6074013813235029,0.71338606911949],"aabb_xy":[[-0.43738243835203994,0.5849013811213812],[-0.4274703979822775,0.6299013815256245]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.4282287225641057,0.313966867812828,0.71338606911949],"aabb_xy":[[0.42277077692708553,0.2339668645051689],[0.43368666820112567,0.3939668711204871]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.29093426299126746,1.6732917872706632,0.71338606911949],"aabb_xy":[[0.23594105165413076,1.6182917869318696],[0.34592747432840426,1.7282917876094568]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.09949377551744287,-1.2070446146277087,0.71338606911949],"aabb_xy":[[0.07699377500540225,-1.2295364729931069],[0.12199377602948344,-1.1845527562623102]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[0.38565514195845574,-1.1875441449473723,0.71338606911949],"aabb_xy":[[0.3216551402804584,-1.2360615364266863],[0.4496551436364531,-1.1390267534680578]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.3376271971848272,-0.7784459455610286,0.71338606911949],"aabb_xy":[[-0.39262719680657304,-0.8334296383485013],[-0.28262719756308136,-0.7234622527735558]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.4673559504304531,-1.042831638331401,0.71338606911949],"aabb_xy":[[-0.475570495546137,-1.051508228629042],[-0.45914140531476905,-1.0341550480337593]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.5257224948290837,-1.6388011283984478,0.71338606911949],"aabb_xy":[[0.5079289878941673,-1.6566008739942455],[0.5435160017640002,-1.6210013828026502]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_27","position":[-0.26920223100835405,1.1927109644950735,0.71338606911949],"aabb_xy":[[-0.2970472677889612,1.1619264657567618],[-0.24135719422774693,1.2234954632333852]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.5876022073389898,-2.262142203125622,0.71338606911949],"aabb_xy":[[-0.6058080310002375,-2.273167603707614],[-0.5693963836777421,-2.251116802543631]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_29","position":[0.3774737384503031,1.4686760264975391,0.71338606911949],"aabb_xy":[[0.3529601143532972,1.4444114331955027],[0.40198736254730894,1.4929406197995756]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.5474047945154755,1.2914820597485006,0.71338606911949],"aabb_xy":[[-0.597404793955671,1.241514135264184],[-0.4974047950752798,1.3414499842328167]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_31","position":[-0.4568613397623878,-0.5180171247233107,0.71338606911949],"aabb_xy":[[-0.5368613430202307,-0.5980136325152947],[-0.37686133650454484,-0.43802061693132677]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_32","position":[0.33723197436763286,-2.24264013143984,0.71338606911949],"aabb_xy":[[0.27223197336713234,-2.293426496594515],[0.4022319753681334,-2.191853766285165]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6698869388484064,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2394.png","name":"2394"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2394.png","name":"2394"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6706.png","name":"6706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2063.png","name":"2063"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8891.png","name":"8891"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1248.png","name":"1248"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":509.81590808368964,"rotation_z_degrees":207.05606322950055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019403964364418397,-0.003008107722818846,0.0160884595713881]},{"name":"camera_2","offset_m":[-0.00273161138003139,0.01018681694149139,-0.01798467876975429]},{"name":"camera_3","offset_m":[0.00447471632466034,-0.005638628707098548,0.01960256776159117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018752191235206798,0.0012795186368046497,0.0006760780905672808],"end_effector_yaw_offset_degrees":0.9607405969862446},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001987307618154623,-0.0013974792886499619,-0.0003563251756947671],"end_effector_yaw_offset_degrees":-0.44871056029314493},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013378446251846488,-0.0001780838356806732,0.00048539002802511656],"end_effector_yaw_offset_degrees":-0.7178494678793521},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0007519702122568313,-0.0008661801950347573,0.0006899534731142193],"end_effector_yaw_offset_degrees":0.7471788588695549},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019524031575577508,-0.0011481399952589233,-0.00028824625631676515],"end_effector_yaw_offset_degrees":0.0002613612683883826},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0004926874625729089,0.0017743351098938355,0.0017907011974994222],"end_effector_yaw_offset_degrees":-0.3361420316723478}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031646227134116698,-0.002373405289232359],"position_m":[0.3074646227134117,-0.032873405289232355,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033377096359085033,-0.0019274556581914126],"position_m":[0.23166229036409147,-0.3755274556581914,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0024917029430633355,0.004745590901683216],"position_m":[0.29500829705693665,0.3112455909016832,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030855216431151435,0.0017079595231719513],"position_m":[0.30721447835688487,0.08420795952317195,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c904b578a9877e8fef4f05af21147bf12c037b2b48a5771014ec5939eab7f404","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2394/tex_ceiling_textures_1248/tex_floor_textures_8891/tex_table_textures_6706/tex_wall_textures_2063","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3664229310474476066,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3664229310474476066,"visual_seed":3664229310474476066,"scene_id":"lab_003","finished_at":"2026-09-08T17:08:43"}
+{"episode_id":"ep_000051","started_at":"2026-09-08T17:08:50","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.42474473266727875,0.15378241163671946,0.71338606911949],"aabb_xy":[[-0.47971845470361163,0.09878241207248628],[-0.36977101063094586,0.20878241120095264]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[-0.13741554252322785,0.30190454178520376,0.71338606911949],"aabb_xy":[[-0.14231483482979135,0.27422762248263494],[-0.13251625021666436,0.3295814610877725]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.09637534090484978,-2.015925349211465,0.71338606911949],"aabb_xy":[[-0.13387533948047056,-2.0286616448750228],[-0.05887534232922897,-2.003189053547907]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.3991407862559861,-0.48001467346822047,0.71338606911949],"aabb_xy":[[-0.4491182031212396,-0.5300146749574688],[-0.34916336939073245,-0.4300146719789718]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.5708416330701451,1.1400686952014225,0.71338606911949],"aabb_xy":[[-0.5837135365710853,1.0600686947875864],[-0.557969729569205,1.2200686956152587]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.683075534561153,-1.018870275600392,0.71338606911949],"aabb_xy":[[0.6736580599912901,-1.028286452738111],[0.6924930091310156,-1.009454098462673]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[0.39554838983747787,-1.2841093720652108,0.71338606911949],"aabb_xy":[[0.3605483884859961,-1.3044691080220316],[0.43054839118895954,-1.26374963610839]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[-0.6281447841344802,0.581101110440926,0.71338606911949],"aabb_xy":[[-0.685775253021751,0.5211011115142153],[-0.5705143152472093,0.6411011093676365]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.10200820086136575,-1.9169585855598092,0.71338606911949],"aabb_xy":[[0.06823264167067278,-1.9309970807729742],[0.13578376005205872,-1.9029200903466443]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.07549740992661447,-2.19812596442318,0.71338606911949],"aabb_xy":[[-0.1254974102871805,-2.2481059516327826],[-0.025497409566048398,-2.1481459772135767]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[-0.4112178695552539,0.012847359328458818,0.71338606911949],"aabb_xy":[[-0.41914114979400224,-0.009652640909544541],[-0.4032945893165056,0.03534735956646218]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.42118692222764326,-0.7189786406262073,0.71338606911949],"aabb_xy":[[-0.45868692065104355,-0.7321428545940379],[-0.38368692380424285,-0.7058144266583767]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.5243437994360824,1.7334473828403723,0.71338606911949],"aabb_xy":[[0.5162161112427692,1.7245337744296645],[0.5324714876293957,1.74236099125108]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[0.5937521957290455,0.4091126849040805,0.71338606911949],"aabb_xy":[[0.5562521953808176,0.39732128932299693],[0.6312521960772731,0.42090408048516403]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.5856045060227808,0.9995383463941985,0.71338606911949],"aabb_xy":[[0.5206045059884781,0.9528376697138712],[0.6506045060570835,1.0462390230745258]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.602333260108617,-1.7239887683839807,0.71338606911949],"aabb_xy":[[-0.6248332603521325,-1.7361934030437527],[-0.5798332598651017,-1.7117841337242088]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.5957438319892177,1.3938639207339656,0.71338606911949],"aabb_xy":[[0.5744658238457453,1.3288639184078923],[0.6170218401326898,1.4588639230600384]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[0.5705226856107415,-1.1751407052089617,0.71338606911949],"aabb_xy":[[0.562528697033038,-1.1831407853040516],[0.5785166741884448,-1.167140625113871]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.5764016131183308,-0.8674025403967995,0.71338606911949],"aabb_xy":[[-0.5989016136303714,-0.8898943987621978],[-0.5539016126062902,-0.8449106820314011]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.2823602900199118,-2.5041696624796677,0.71338606911949],"aabb_xy":[[0.23237733983243244,-2.5541696621222276],[0.3323432402073911,-2.454169662837107]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.18161894486932362,-1.6999138301733305,0.71338606911949],"aabb_xy":[[-0.24561894627731426,-1.7517027816972552],[-0.11761894346133293,-1.6481248786494058]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.5103684450825651,-1.5428011687188095,0.71338606911949],"aabb_xy":[[-0.5428301459644923,-1.5729340008337118],[-0.47790674420063745,-1.5126683366039066]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.183847129486288,-0.3631043150764377,0.71338606911949],"aabb_xy":[[-0.20142543167523483,-0.3806788046505426],[-0.16626882729734113,-0.3455298255023328]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.22350122839915215,-0.13609706665908217,0.71338606911949],"aabb_xy":[[-0.2288337430537651,-0.14142139490431777],[-0.21816871374453914,-0.13077273841384657]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[-0.5704258532462466,-0.5868591972473856,0.71338606911949],"aabb_xy":[[-0.6344258524160166,-0.633625884366348],[-0.5064258540764767,-0.5400925101284231]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[0.5731767144872921,-1.1143409413544518,0.71338606911949],"aabb_xy":[[0.49317671732771673,-1.1258885423122689],[0.6531767116468673,-1.1027933403966348]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6707692624269055,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3159.png","name":"3159"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3159.png","name":"3159"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4324.png","name":"4324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/576.png","name":"576"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6548.png","name":"6548"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7298.png","name":"7298"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":677.0662450405617,"rotation_z_degrees":290.0813997059372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0022569530169984607,-0.014563953047112412,-0.016172963445480186]},{"name":"camera_2","offset_m":[-0.015216066316486202,-0.002829312092417921,0.014128644762308868]},{"name":"camera_3","offset_m":[0.015271820945550765,0.0028542675829503796,-0.008320059611968711]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008149771432013663,0.001873564466221265,0.0017805930381893102],"end_effector_yaw_offset_degrees":-0.6219968237283362},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019793770151722797,0.001051435577200997,5.9045331123872e-05],"end_effector_yaw_offset_degrees":-0.571843487359716},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.485182219509171e-05,0.0017018042283724415,0.0007054442622552175],"end_effector_yaw_offset_degrees":-0.3085375900286105},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009143812041348784,-0.0015885451957063426,-0.001371975158405177],"end_effector_yaw_offset_degrees":-0.4402636949001528},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010580080195127348,0.0016649941312858424,0.001590252625735221],"end_effector_yaw_offset_degrees":-0.11246255395857263},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008179418371728826,-0.0003446044881456993,0.0006130090936522538],"end_effector_yaw_offset_degrees":0.15508938126771343}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004729333647515903,0.0010620810494799881],"position_m":[0.3090293336475159,-0.02943791895052001,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035746010185766443,-0.003847342530115946],"position_m":[0.23142539898142334,-0.3774473425301159,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002561894442124391,-0.0025960406696680883],"position_m":[0.2949381055578756,0.30390395933033193,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038762615898778785,0.0014849624760026716],"position_m":[0.30642373841012216,0.08398496247600268,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a87888c90888bbdb4501849b7ab7de9e13ce3f9a454378a9ea73c80e1308655a","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3159/tex_ceiling_textures_7298/tex_floor_textures_6548/tex_table_textures_4324/tex_wall_textures_576","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":7382336302469080511,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":7382336302469080511,"visual_seed":7382336302469080511,"scene_id":"lab_003","finished_at":"2026-09-08T17:16:57"}
+{"episode_id":"ep_000052","started_at":"2026-09-08T17:17:04","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.36378483737003386,-2.125942035714077,0.71338606911949],"aabb_xy":[[-0.4287848400078273,-2.1774216344135238],[-0.2987848347322403,-2.07446243701463]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.5196553298141587,0.9497986659903703,0.71338606911949],"aabb_xy":[[-0.526899095860404,0.8697986677867678],[-0.5124115637679133,1.0297986641939727]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.35923668450499874,1.7065238079663438,0.71338606911949],"aabb_xy":[[-0.3967366852969942,1.7001559670081536],[-0.3217366837130033,1.712891648924534]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.3302555936222275,-0.7800868282854563,0.71338606911949],"aabb_xy":[[-0.42025559304059834,-0.813462325129646],[-0.24025559420385656,-0.7467113314412666]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[-0.11408983327561295,-1.6167970333244597,0.71338606911949],"aabb_xy":[[-0.17908983423274014,-1.6687452452581653],[-0.04908983231848573,-1.564848821390754]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.033953350338405186,-2.136004404585116,0.71338606911949],"aabb_xy":[[-0.05145335059774182,-2.1500959467738885],[-0.016453350079068566,-2.1219128623963432]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[0.1740929796083407,-1.6693465641533956,0.71338606911949],"aabb_xy":[[0.13659298103271988,-1.6820828598169535],[0.2115929781839615,-1.6566102684898376]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.6246896102304891,1.0991602142187626,0.71338606911949],"aabb_xy":[[0.6209863489013501,1.0954581959100447],[0.6283928715596279,1.1028622325274802]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.6310023309000405,0.27589573865827566,0.71338606911949],"aabb_xy":[[-0.6485023311450899,0.2583959508187088],[-0.6135023306549912,0.2933955264978425]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.041915044989297656,0.9118989855336541,0.71338606911949],"aabb_xy":[[-0.10691504354637049,0.8821464521197715],[0.023084953567775186,0.9416515189475367]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.42234932485690635,0.29519960900843323,0.71338606911949],"aabb_xy":[[0.3623493250103395,0.2383809868153945],[0.4823493247034731,0.35201823120147185]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.3516732655303153,0.9067668954209429,0.71338606911949],"aabb_xy":[[-0.37295127367378755,0.8417668930948699],[-0.33039525738684306,0.971766897747016]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.06429421573012184,0.2726306503637774,0.71338606911949],"aabb_xy":[[-0.08418525561046208,0.2599748390790806],[-0.04440317584978159,0.28528646164847427]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.26610839829450184,-1.8141186758178716,0.71338606911949],"aabb_xy":[[-0.33010839559684824,-1.858485102785728],[-0.20210840099215543,-1.7697522488500146]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.11626354907552572,-1.4073799628447181,0.71338606911949],"aabb_xy":[[0.11029701013478992,-1.4133411075040818],[0.12223008801626149,-1.401418818185354]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.2798343744829549,-1.9356107539238714,0.71338606911949],"aabb_xy":[[0.2754037451281148,-1.941059125658554],[0.2842650038377951,-1.9301623821891891]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.47634530893579885,-1.2294695639854645,0.71338606911949],"aabb_xy":[[-0.5258257301497578,-1.2934695618983163],[-0.4268648877218401,-1.1654695660726127]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.28434669517100075,1.366916280856021,0.71338606911949],"aabb_xy":[[0.2618466946589601,1.3444244224906223],[0.3068466956830413,1.389408139221419]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.4983012676238392,0.11642948561551725,0.71338606911949],"aabb_xy":[[0.4442856713419391,0.052429482723260076],[0.5523168639057391,0.1804294885077744]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.40038309770185926,1.34649849248833,0.71338606911949],"aabb_xy":[[-0.45538309687844875,1.2915088177133724],[-0.34538309852526977,1.4014881672632877]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[0.5893821242884514,1.4006241350164892,0.71338606911949],"aabb_xy":[[0.5543821251584958,1.394878913940825],[0.6243821234184072,1.4063693560921533]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[0.43812186652878893,1.7415625884174744,0.71338606911949],"aabb_xy":[[0.4102768297481818,1.7107780896791627],[0.46596690330939605,1.772347087155786]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.26985297597832125,-0.9435627512638407,0.71338606911949],"aabb_xy":[[0.2148607253428103,-0.9985627530071535],[0.3248452266138322,-0.8885627495205279]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.20854128584406006,1.7572950961542753,0.71338606911949],"aabb_xy":[[-0.24604128735969177,1.7460683231381304],[-0.17104128432842836,1.7685218691704205]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[0.1928042923058625,0.7673067814203702,0.71338606911949],"aabb_xy":[[0.1886883421937898,0.7631912263875246],[0.19692024241793513,0.7714223364532157]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.4570392141233044,1.5955930953785837,0.71338606911949],"aabb_xy":[[0.4388333904620567,1.584567694796592],[0.47524503778455207,1.6066184959605754]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.26293323468952345,-1.3912026214781341,0.71338606911949],"aabb_xy":[[-0.27034569023091193,-1.3970538318997618],[-0.255520779148135,-1.385351411056506]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[0.3794776203497685,-2.291062497410516,0.71338606911949],"aabb_xy":[[0.3740196747127484,-2.371062500718175],[0.3849355659867885,-2.211062494102857]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[0.3728549978238429,-1.5564361603897499,0.71338606911949],"aabb_xy":[[0.3372258419238832,-1.5920688271466026],[0.4084841537238027,-1.5208034936328967]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_29","position":[0.4435094019325012,-0.2773193192613328,0.71338606911949],"aabb_xy":[[0.3935264517450218,-0.32731931890389315],[0.4934923521199805,-0.22731931961877236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6710300708085781,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2537.png","name":"2537"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2537.png","name":"2537"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4075.png","name":"4075"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4463.png","name":"4463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4374.png","name":"4374"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5861.png","name":"5861"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":841.8366834390979,"rotation_z_degrees":147.25813116663988,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004291176821812678,-0.009675689387155476,0.007962319866779956]},{"name":"camera_2","offset_m":[0.002727269623161468,0.01864799150377704,0.0010061114146624646]},{"name":"camera_3","offset_m":[0.013602242545352177,0.007972136479872109,-0.0034913952059481314]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018096456674743782,-0.001485785580049785,0.0009483379250217108],"end_effector_yaw_offset_degrees":0.09229681010445567},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017509048915561416,0.0010221187854443608,0.0009176815827341431],"end_effector_yaw_offset_degrees":0.42016326538913673},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00162921998650301,-0.00147367097879717,0.0012171661449131817],"end_effector_yaw_offset_degrees":-0.8151058114857785},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0006877651678761968,-0.0007620494388303016,0.0004116863218898712],"end_effector_yaw_offset_degrees":-0.10050686411125986},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012782250692028661,-0.001079651392758809,6.871218908053667e-05],"end_effector_yaw_offset_degrees":-0.6272674682696908},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0004194434744495953,-0.0014907352541416344,0.00135890477901986],"end_effector_yaw_offset_degrees":0.6263006936098332}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013310147917795544,-0.003647151410880298],"position_m":[0.30563101479177956,-0.034147151410880296,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024036538266770493,0.004613444449612454],"position_m":[0.23740365382667702,-0.3689865555503875,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0008244344842367902,-0.0021355407999723254],"position_m":[0.2983244344842368,0.3043644592000277,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004125894386679849,0.0009060284907398009],"position_m":[0.30617410561332015,0.0834060284907398,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"665fc75b0b5135680df3d7955ebd2245c26d638f9cad184303afa57042e514c1","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2537/tex_ceiling_textures_5861/tex_floor_textures_4374/tex_table_textures_4075/tex_wall_textures_4463","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":7143187164619486392,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":7143187164619486392,"visual_seed":7143187164619486392,"scene_id":"lab_003","finished_at":"2026-09-08T17:24:49"}
+{"episode_id":"ep_000053","started_at":"2026-09-08T17:24:56","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.5364248433435204,1.7523243504964197,0.71338606911949],"aabb_xy":[[0.47483408411952754,1.688324352387373],[0.5980156025675132,1.8163243486054668]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[0.479770391067994,-0.2981344336795284,0.71338606911949],"aabb_xy":[[0.4710564220180595,-0.3206344343387166],[0.48848436011792845,-0.27563443302034013]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[0.018016022398254505,-2.3344031993729355,0.71338606911949],"aabb_xy":[[-0.04198397819776167,-2.3892156719181594],[0.07801602299427068,-2.2795907268277125]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.04648105980252515,-0.0682572717419192,0.71338606911949],"aabb_xy":[[-0.05732153802904005,-0.08544355303256801],[-0.035640581576010244,-0.05107099045127039]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.14730717169097574,1.378594267779654,0.71338606911949],"aabb_xy":[[-0.20243237732056651,1.3185942663383667],[-0.09218196606138497,1.438594269220941]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.6821727876666465,0.998948220967478,0.71338606911949],"aabb_xy":[[-0.691466405903797,0.961448222479344],[-0.6728791694294959,1.036448219455612]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.2242878849825668,-1.8501426353385848,0.71338606911949],"aabb_xy":[[-0.23506085890393458,-1.885142633557624],[-0.21351491106119902,-1.815142637119546]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[-0.36061828247459415,0.5283067039565075,0.71338606911949],"aabb_xy":[[-0.41059709098491,0.4783067039507888],[-0.3106394739642782,0.5783067039622264]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.4469469721013617,0.7464543109085229,0.71338606911949],"aabb_xy":[[0.3829469717238281,0.6967090440577105],[0.5109469724788953,0.796199577759335]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[-0.17710794374878525,-1.1011194880986148,0.71338606911949],"aabb_xy":[[-0.19460794302687215,-1.1184575881649605],[-0.1596079444706984,-1.0837813880322686]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.32108773140775315,-2.0991123063884305,0.71338606911949],"aabb_xy":[[0.26608773178600736,-2.1540959991759037],[0.37608773102949905,-2.044128613600958]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.48968164529751046,-2.0684330808889166,0.71338606911949],"aabb_xy":[[-0.4959937448338489,-2.0742000201421353],[-0.483369545761172,-2.062666141635698]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.4404735200105565,-1.795367398844677,0.71338606911949],"aabb_xy":[[-0.44490414936539674,-1.8008157705793595],[-0.4360428906557164,-1.7899190271099945]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[0.23750299858248547,-1.1535080489420924,0.71338606911949],"aabb_xy":[[0.17350300215516357,-1.200677672764189],[0.3015029950098074,-1.1063384251199961]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.5522764778211393,-2.123469283602967,0.71338606911949],"aabb_xy":[[-0.5616234854034345,-2.1377729058206114],[-0.5429294702388441,-2.1091656613853234]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.16578200002661048,-2.2043900674655816,0.71338606911949],"aabb_xy":[[-0.1882467699980156,-2.226890068344442],[-0.14331723005520536,-2.181890066586721]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.242267914229076,-2.4110315752438125,0.71338606911949],"aabb_xy":[[0.17826791711697032,-2.460063945038223],[0.3062679113411817,-2.361999205449402]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.12981773066947533,0.7706210660865498,0.71338606911949],"aabb_xy":[[0.09231772987747985,0.7642532251283597],[0.16731773146147075,0.7769889070447399]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.6132518266303234,-2.478547037073641,0.71338606911949],"aabb_xy":[[-0.6432193835401491,-2.5085470373715264],[-0.5832842697204977,-2.4485470367757554]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.4525722917288516,-1.1090687088548712,0.71338606911949],"aabb_xy":[[-0.5165722931368422,-1.160857660378796],[-0.3885722903208609,-1.0572797573309465]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.05647384021407742,0.25658886882623433,0.71338606911949],"aabb_xy":[[-0.07898753203753461,0.18658886822522674],[-0.03396014839062022,0.3265888694272418]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[0.6694982451458749,-0.12374792564021764,0.71338606911949],"aabb_xy":[[0.6335847407208851,-0.15966143385697226],[0.7054117495708644,-0.08783441742346301]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.6605257712584458,-0.052347984538053005,0.71338606911949],"aabb_xy":[[-0.6808100739818443,-0.07263060968076185],[-0.6402414685350468,-0.03206535939534416]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[0.12715223250352636,-1.7108838084258884,0.71338606911949],"aabb_xy":[[0.08496781834269562,-1.7748838087030998],[0.1693366466643571,-1.6468838081486774]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[-0.37013161919932436,1.544818965094699,0.71338606911949],"aabb_xy":[[-0.4154102340804736,1.4808189657465154],[-0.3248530043181751,1.6088189644428827]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[-0.6185631632461512,-0.5338463905987849,0.71338606911949],"aabb_xy":[[-0.6825631665358594,-0.5771813096027025],[-0.5545631599564431,-0.49051147159486735]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[0.18301989739340951,-0.6313450243605929,0.71338606911949],"aabb_xy":[[0.14855754999526768,-0.6658389067584154],[0.2174822447915513,-0.59685114196277]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[0.2187974178415678,1.19418239943642,0.71338606911949],"aabb_xy":[[0.17099125022779915,1.1291823967293608],[0.26660358545533647,1.2591824021434788]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_28","position":[0.09721162457531796,1.6700595787418453,0.71338606911949],"aabb_xy":[[0.0559628135454032,1.6150595792296278],[0.13846043560523263,1.7250595782540628]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_29","position":[0.5890929547787127,0.94535578232344,0.71338606911949],"aabb_xy":[[0.52409295474441,0.8986551056431126],[0.6540929548130154,0.9920564590037672]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.08154043488024476,0.7914516832859113,0.71338606911949],"aabb_xy":[[-0.13154043432044038,0.7414837588015951],[-0.03154043544004913,0.8414196077702277]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691893970970002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1724.png","name":"1724"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1724.png","name":"1724"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5313.png","name":"5313"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4146.png","name":"4146"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/664.png","name":"664"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/224.png","name":"224"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":641.9111850643451,"rotation_z_degrees":207.06430631934649,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01882777381750431,-0.0069500170562671795,-0.012420883554293924]},{"name":"camera_2","offset_m":[0.006232549395906627,-0.017488923951719703,-0.005418517284182949]},{"name":"camera_3","offset_m":[-0.009890709189356604,0.010762143385467576,-0.006246134572591986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018076113378189245,-0.0011554228930511137,0.0018238368137454466],"end_effector_yaw_offset_degrees":-0.0037788092087982506},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008323697774835362,-0.00020514562089658794,-0.00030144594565859875],"end_effector_yaw_offset_degrees":0.838042455670927},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011847373617946922,-0.0011224228755366097,0.0019259416225035622],"end_effector_yaw_offset_degrees":0.6078805231154158},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013734942532049738,-0.0013759826272032787,0.001019289173439041],"end_effector_yaw_offset_degrees":0.3146333618118957},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009142748070945523,0.0005817208731059322,0.0018084584392809625],"end_effector_yaw_offset_degrees":0.5986274739059008},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0015328159302051068,-0.0019419747410601832,0.0009624151964094758],"end_effector_yaw_offset_degrees":0.03962991452782472}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011475209288438993,-0.003692535256151962],"position_m":[0.3054475209288439,-0.034192535256151964,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004116430662222412,-0.0018332938624283602],"position_m":[0.23088356933777757,-0.37543329386242835,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0002311693972044844,-0.0020801346545635748],"position_m":[0.29773116939720445,0.3044198653454364,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004840679686754224,-0.004703439313526958],"position_m":[0.31514067968675424,0.07779656068647305,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"564d93fdf94cdbe859a1d7033343f506d7f274268abf287b5b4e27f03e369b8e","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1724/tex_ceiling_textures_224/tex_floor_textures_664/tex_table_textures_5313/tex_wall_textures_4146","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":8939341295309773852,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":8939341295309773852,"visual_seed":8939341295309773852,"scene_id":"lab_003","finished_at":"2026-09-08T17:33:07"}
+{"episode_id":"ep_000054","started_at":"2026-09-08T17:33:15","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.12861322535495168,-2.4514438818255897,0.71338606911949],"aabb_xy":[[-0.15361322528746957,-2.458326550046513],[-0.10361322542243379,-2.4445612136046666]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.18442721568650522,1.6109139026850339,0.71338606911949],"aabb_xy":[[-0.26442103926506344,1.5309139000921925],[-0.104433392107947,1.6909139052778757]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[-0.5446885915700406,-1.0132860794559784,0.71338606911949],"aabb_xy":[[-0.5552560712281396,-1.023831109568987],[-0.5341211119119416,-1.0027410493429698]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.18698589955980527,1.070653552665671,0.71338606911949],"aabb_xy":[[-0.22198589782992517,1.063579424970683],[-0.15198590128968537,1.0777276803606592]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.613019381422429,-2.260181022156752,0.71338606911949],"aabb_xy":[[0.5755193829990285,-2.273345236124583],[0.6505193798458292,-2.2470168081889215]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[0.2981715506731798,-0.9625985542193245,0.71338606911949],"aabb_xy":[[0.2606715500086011,-0.9782856122195467],[0.3356715513377585,-0.9469114962191023]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.1288936946398973,1.6930053227390567,0.71338606911949],"aabb_xy":[[0.07389369546330779,1.6380156479640988],[0.18389369381648676,1.747994997514014]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.19554966656569117,0.7248128095349897,0.71338606911949],"aabb_xy":[[-0.25954536396078776,0.6608128112342809],[-0.13155396917059456,0.7888128078356983]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.0670840907407263,-1.3060720767262555,0.71338606911949],"aabb_xy":[[-0.08023533671201566,-1.331072076482942],[-0.05393284476943694,-1.281072076969569]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.5989021290343958,0.8035353833783416,0.71338606911949],"aabb_xy":[[-0.6629021282041657,0.7567686962593791],[-0.5349021298646258,0.8503020704973041]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.17906401913038683,-1.6553350692872948,0.71338606911949],"aabb_xy":[[-0.2430640205383775,-1.7071240208112195],[-0.11506401772239618,-1.60354611776337]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.4040805134451612,-0.9966076199073526,0.71338606911949],"aabb_xy":[[-0.459080511646906,-1.0371295865337902],[-0.3490805152434163,-0.9560856532809151]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.44481606483405645,1.3319375927325838,0.71338606911949],"aabb_xy":[[0.43234870672432085,1.31947226809926],[0.45728342294379215,1.3444029173659071]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.2429722247738978,1.2046982407801647,0.71338606911949],"aabb_xy":[[0.23381234583002122,1.1981670227366277],[0.2521321037177744,1.2112294588237018]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.3985425952384243,1.2580321113796296,0.71338606911949],"aabb_xy":[[0.3932100805838113,1.2527077831343938],[0.40387510989303727,1.2633564396248649]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.6391987832030255,1.0980258237378644,0.71338606911949],"aabb_xy":[[0.60419878489233,1.0903108088143187],[0.6741987815137209,1.10574083866141]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.025474242720217366,-1.6306402692675082,0.71338606911949],"aabb_xy":[[-0.017292464159202825,-1.6946402726893106],[0.06824094959963756,-1.5666402658457057]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.5888703368813336,-0.4054227065662892,0.71338606911949],"aabb_xy":[[-0.6338703383475625,-0.45042256342776993],[-0.5438703354151048,-0.36042284970480853]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.5627751638978482,0.3865047428985875,0.71338606911949],"aabb_xy":[[0.5562735273898437,0.3767369208722778],[0.5692768004058529,0.3962725649248973]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.5768637844934987,0.8328552758443437,0.71338606911949],"aabb_xy":[[0.5704499708503137,0.8264454555966754],[0.5832775981366836,0.839265096092012]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[0.6035571971230538,0.7247596605231048,0.71338606911949],"aabb_xy":[[0.553557195461559,0.674761218267402],[0.6535571987845485,0.7747581027788074]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[-0.15898796850004315,-2.1240285963260286,0.71338606911949],"aabb_xy":[[-0.2002367795299579,-2.1790285958382456],[-0.11773915747012843,-2.0690285968138107]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.4573462725463868,0.5322534585726606,0.71338606911949],"aabb_xy":[[0.4023530612092501,0.477253458233867],[0.5123394838835236,0.5872534589114542]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.3565885822719965,-0.281125199370134,0.71338606911949],"aabb_xy":[[-0.4065816943811884,-0.33112520004432966],[-0.3065954701628046,-0.2311251986959384]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.5989813609594284,-2.3126801186323807,0.71338606911949],"aabb_xy":[[-0.6050183739600932,-2.318706819701329],[-0.5929443479587637,-2.306653417563433]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[-0.591429177938032,0.3661578960195282,0.71338606911949],"aabb_xy":[[-0.6133189255269728,0.276157898730279],[-0.5695394303490912,0.45615789330877726]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[0.6173962457455839,-1.5043896572721864,0.71338606911949],"aabb_xy":[[0.5533962484599353,-1.5458963762250304],[0.6813962430312326,-1.4628829383193425]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[-0.11906361748418581,0.0738068069122213,0.71338606911949],"aabb_xy":[[-0.13099635184601388,0.06142465410436193],[-0.10713088312235776,0.08618895972008067]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[-0.22296277228851252,0.161273798156913,0.71338606911949],"aabb_xy":[[-0.24075627922342896,0.14347405256111534],[-0.2051692653535961,0.17907354375271067]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_29","position":[0.6289392807784837,-2.0262892460146635,0.71338606911949],"aabb_xy":[[0.5916080042532411,-2.0609423008095162],[0.6662705573037263,-1.9916361912198117]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[0.16845119075988735,-1.3252542774953215,0.71338606911949],"aabb_xy":[[0.15869520125071343,-1.335016811554556],[0.1782071802690612,-1.315491743436087]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_31","position":[0.34066066759766245,1.749321809674996,0.71338606911949],"aabb_xy":[[0.31566066843202933,1.7423695639696397],[0.36566066676329556,1.7562740553803529]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_32","position":[-0.4690818044091555,1.3601624444315932,0.71338606911949],"aabb_xy":[[-0.5191792683902291,1.2961624439217814],[-0.41898434042808186,1.424162444941405]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_33","position":[-0.4081480917241975,1.6481868735606908,0.71338606911949],"aabb_xy":[[-0.44261056973728524,1.641523196377768],[-0.3736856137111097,1.6548505507436133]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_34","position":[-0.04437272557715388,-1.8445552945509214,0.71338606911949],"aabb_xy":[[-0.08187272415277469,-1.857291590214479],[-0.0068727270015330804,-1.8318189988873632]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725705588802637,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1139.png","name":"1139"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9277.png","name":"9277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2562.png","name":"2562"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":739.1246187376925,"rotation_z_degrees":214.90145622847623,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003984937202303876,7.712071443204127e-05,0.01813261943956899]},{"name":"camera_2","offset_m":[0.01633997463866069,0.01682987974756055,0.019500353408838978]},{"name":"camera_3","offset_m":[0.015217062028628412,-0.01525817619127198,-0.004653761535112353]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015613065371766748,0.0009352628605153934,-0.0010081415691243793],"end_effector_yaw_offset_degrees":0.6258484519725012},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-3.570593739306207e-05,0.0017555981933891135,0.00030575547932112966],"end_effector_yaw_offset_degrees":-0.17074696448780768},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019121521895921686,0.0008237305386912166,-0.0011326619896469725],"end_effector_yaw_offset_degrees":-0.5944830463779434},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017569211899872827,-0.000967337127672284,-0.0013505170434138592],"end_effector_yaw_offset_degrees":-0.19128669916244911},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012013891393476929,-0.0017215098807147804,-0.001954363329091472],"end_effector_yaw_offset_degrees":-0.10965266661426121},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014711312521929493,0.001677370144464849,-0.0009446197073660989],"end_effector_yaw_offset_degrees":-0.06617415934368864}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036098362273708053,-0.0011317631659474047],"position_m":[0.3006901637726292,-0.0316317631659474,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013161733493280295,0.00018518592458418616],"position_m":[0.23631617334932803,-0.3734148140754158,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002066173989243063,-0.0018236771411454258],"position_m":[0.2954338260107569,0.30467632285885454,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002236244531938927,0.002777753354239525],"position_m":[0.3080637554680611,0.08527775335423952,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"853b9f7ad9002da25f089c0ed80edbc6657d1c90b5bb81af73a95c2d1bd521c9","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6990/tex_ceiling_textures_2562/tex_floor_textures_9277/tex_table_textures_1139/tex_wall_textures_5084","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6295015639686149848,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6295015639686149848,"visual_seed":6295015639686149848,"scene_id":"lab_003","finished_at":"2026-09-08T17:41:21"}
+{"episode_id":"ep_000055","started_at":"2026-09-08T17:41:28","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.31964676580193363,1.1176853660632373,0.71338606911949],"aabb_xy":[[-0.36974422978300725,1.0536853655534255],[-0.26954930182086,1.1816853665730491]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.3301825303376231,-2.0813859732789113,0.71338606911949],"aabb_xy":[[0.31308045237925497,-2.098492778810181],[0.3472846082959913,-2.0642791677476415]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.4558588473843843,-2.3443450406241846,0.71338606911949],"aabb_xy":[[0.4058638364249324,-2.3943450396597767],[0.5058538583438364,-2.2943450415885933]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.5801767382525226,0.8006572524042457,0.71338606911949],"aabb_xy":[[-0.6176767380695561,0.7960190410931037],[-0.542676738435489,0.8052954637153874]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[0.03791174513434559,-2.4082720913691897,0.71338606911949],"aabb_xy":[[0.006764826290762471,-2.478272090055997],[0.0690586639779287,-2.3382720926823826]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.6388362744781617,-0.96078479022134,0.71338606911949],"aabb_xy":[[0.6348757907084274,-0.9684526548068606],[0.6427967582478961,-0.9531169256358194]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.2621220889833688,0.7595245417460106,0.71338606911949],"aabb_xy":[[-0.34212209041349595,0.6800073867334011],[-0.18212208755324155,0.8390416967586201]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.1608070599855016,-0.5958159367751203,0.71338606911949],"aabb_xy":[[-0.21078447685075513,-0.6458159382643688],[-0.11082964312024797,-0.5458159352858717]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.4889683094351149,1.7216910686353306,0.71338606911949],"aabb_xy":[[-0.4933989387899551,1.7162426969006486],[-0.48453768008027476,1.7271394403700135]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.5001247831998332,-0.4745384926926519,0.71338606911949],"aabb_xy":[[-0.5801247811806183,-0.48214003365450386],[-0.4201247852190482,-0.46693695173079997]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.059909984608672584,-2.230561534286531,0.71338606911949],"aabb_xy":[[-0.10518859948982184,-2.2945615336347145],[-0.014631369727523325,-2.166561534938347]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.37401274969350906,-1.7418995913203559,0.71338606911949],"aabb_xy":[[-0.39180625662842555,-1.7596993369161535],[-0.3562192427585927,-1.7240998457245582]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_12","position":[0.526363410747924,-2.1732693100748204,0.71338606911949],"aabb_xy":[[0.5198617742399194,-2.18303713210113],[0.5328650472559286,-2.1635014880485106]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.21775710620668592,0.6241421780762937,0.71338606911949],"aabb_xy":[[-0.22538137429686422,0.61650895453975],[-0.21013283811650774,0.6317754016128374]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.5415887939940542,-1.8685652198505027,0.71338606911949],"aabb_xy":[[-0.6065887949511812,-1.9205134317842083],[-0.47658879303692686,-1.8166170079167971]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[-0.43755277750332877,0.6107562701530864,0.71338606911949],"aabb_xy":[[-0.4501795647905252,0.6012101964515135],[-0.4249259902161325,0.6203023438546593]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[0.25556837407115807,-1.169041984288482,0.71338606911949],"aabb_xy":[[0.24687041178044278,-1.1811669585959566],[0.26426633636187336,-1.156917009981007]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.441007155466233,-0.014795873171588259,0.71338606911949],"aabb_xy":[[-0.47532343264085086,-0.06479587314476598],[-0.406690878291615,0.035204126801589464]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[-0.6331522429333523,-1.436132536475092,0.71338606911949],"aabb_xy":[[-0.6656139438152796,-1.4662653685899942],[-0.6006905420514247,-1.405999704360189]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.36027765522573607,0.4973518255532374,0.71338606911949],"aabb_xy":[[0.2902776518341741,0.46203605184980656],[0.43027765861729805,0.5326675992566683]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.0663192224297866,1.5231379597691475,0.71338606911949],"aabb_xy":[[-0.10908592930920681,1.459137956347345],[-0.02355251555036643,1.58713796319095]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.3160955890681867,-0.9757268385974036,0.71338606911949],"aabb_xy":[[0.2545048298441939,-1.0397268367064507],[0.37768634829217956,-0.9117268404883568]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6683519819654454,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7890.png","name":"7890"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1583.png","name":"1583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7227.png","name":"7227"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4809.png","name":"4809"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":589.7777918632306,"rotation_z_degrees":296.8935002578297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018449833277394644,-0.00177499266345758,-0.0092129815428693]},{"name":"camera_2","offset_m":[0.0159539044362973,0.005793683400709088,-0.01697847372585922]},{"name":"camera_3","offset_m":[0.007202015603423387,0.002743071071709787,0.013358279766404881]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019818366997723467,-0.001170795405546477,-0.0006386514467106158],"end_effector_yaw_offset_degrees":0.40925923653105256},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010857884210423497,0.0013736874387685082,0.0005984987465822511],"end_effector_yaw_offset_degrees":-0.03526094536631108},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006109260131493309,-0.0014793142954139847,0.00044504198624982895],"end_effector_yaw_offset_degrees":-0.08151420084600658},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008741866599796559,0.00033701102261664544,-0.0007577342472237269],"end_effector_yaw_offset_degrees":-0.90193424454983},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00010160437003630968,-0.001131913079108584,-0.001872876841643012],"end_effector_yaw_offset_degrees":0.8301723725916339},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014467136533407162,0.001458824044494174,-0.0010622963658690084],"end_effector_yaw_offset_degrees":-0.3540751314710795}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004142560935649189,0.002174476408341084],"position_m":[0.30015743906435083,-0.028325523591658915,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003492848238695494,0.0005867761007129326],"position_m":[0.23150715176130449,-0.37301322389928704,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004199183195235824,0.0035633933699946814],"position_m":[0.29330081680476416,0.31006339336999467,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00342828910261169,0.0009437726015466604],"position_m":[0.3137282891026117,0.08344377260154666,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b4a2b40a44366be491aedba9fb43709ccea4000759b813205588cdf4ea93bd58","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7237/tex_ceiling_textures_4809/tex_floor_textures_7227/tex_table_textures_7890/tex_wall_textures_1583","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":990860267278218356,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":990860267278218356,"visual_seed":990860267278218356,"scene_id":"lab_003","finished_at":"2026-09-08T17:49:19"}
+{"episode_id":"ep_000056","started_at":"2026-09-08T17:49:28","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.16094256847478916,-1.5020975950147604,0.71338606911949],"aabb_xy":[[-0.19142681860181932,-1.552097594796256],[-0.130458318347759,-1.4520975952332642]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.028876221430401805,1.459518054535621,0.71338606911949],"aabb_xy":[[-0.02611698990673495,1.4045180541968274],[0.08386943276753857,1.5145180548744148]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.25840406441128483,-2.453443015677024,0.71338606911949],"aabb_xy":[[0.24663587761662736,-2.5384430155822457],[0.2701722512059424,-2.3684430157718026]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[0.3117167723515084,1.62036268610191,0.71338606911949],"aabb_xy":[[0.2871705567287577,1.5901137895528732],[0.33626298797425913,1.6506115826509473]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.49412746709438427,1.4264314003147196,0.71338606911949],"aabb_xy":[[0.4241274644577979,1.4063265353188539],[0.5641274697309706,1.4465362653105849]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[-0.5129626812150019,-1.7780494029614091,0.71338606911949],"aabb_xy":[[-0.5497573143399082,-1.8149552780579912],[-0.4761680480900956,-1.7411435278648266]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.413845738402995,1.6640383461988217,0.71338606911949],"aabb_xy":[[0.37793223397800524,1.6281248379820668],[0.44975924282798463,1.6999518544155758]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.4927473194336851,-1.134042796386916,0.71338606911949],"aabb_xy":[[-0.5428447834147587,-1.1980427968967275],[-0.44264985545261143,-1.070042795877104]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.05593348561453826,-1.6681852569279456,0.71338606911949],"aabb_xy":[[-0.1259334874232837,-1.6895390256921332],[0.014066516194207172,-1.6468314881637585]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.6067074537573831,-1.0867625718505751,0.71338606911949],"aabb_xy":[[0.5427074564550366,-1.1311289988184319],[0.6707074510597294,-1.0423961448827184]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.5479909244138138,-0.4347658082995003,0.71338606911949],"aabb_xy":[[-0.6119909208093868,-0.49872909671823384],[-0.4839909280182406,-0.37080251988076673]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.4921738815335679,-1.8219352175616552,0.71338606911949],"aabb_xy":[[0.47028413394462715,-1.9119352148509043],[0.5140636291225087,-1.731935220272406]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.5564281311582333,0.1809281762753887,0.71338606911949],"aabb_xy":[[0.5439607730484977,0.1684628516420652],[0.568895489267969,0.1933935009087122]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.6418609981246987,0.049165771244313206,0.71338606911949],"aabb_xy":[[-0.6455642594538374,0.04546375293559535],[-0.6381577367955596,0.052867789553031064]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.6856444175583949,0.1681857797344084,0.71338606911949],"aabb_xy":[[0.6513475065406541,0.133888893524467],[0.7199413285761352,0.20248266594434974]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.046345499943730495,-2.294641373248526,0.71338606911949],"aabb_xy":[[-0.008779705685860275,-2.354641374689813],[0.10147070557332127,-2.2346413718072387]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.37149701185103845,-0.8314300271204482,0.71338606911949],"aabb_xy":[[-0.3849435384850818,-0.8448998787735396],[-0.3580504852169951,-0.8179601754673571]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.31494558625486424,-1.0041212724848672,0.71338606911949],"aabb_xy":[[0.30453402757438053,-1.0094670058207655],[0.32535714493534795,-0.9987755391489687]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.5287602267208334,0.495556249197564,0.71338606911949],"aabb_xy":[[-0.5630765038954513,0.44555624922438625],[-0.4944439495462154,0.5455562491707417]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.20104513337607055,-0.26323123703445406,0.71338606911949],"aabb_xy":[[-0.23604513164619043,-0.27030536472944217],[-0.16604513510595062,-0.25615710933946584]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.4088848255869048,1.7165488704891554,0.71338606911949],"aabb_xy":[[-0.44743051841210585,1.6780030994329669],[-0.37033913276170377,1.7550946415453443]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[-0.3252958631526034,1.4615510968217449,0.71338606911949],"aabb_xy":[[-0.37527328001785687,1.4115510953324961],[-0.2753184462873497,1.5115510983109932]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.13260333217268783,-1.5100284628095033,0.71338606911949],"aabb_xy":[[0.12702166053855904,-1.5225284626272788],[0.13818500380681656,-1.4975284629917278]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_23","position":[0.6664463746793992,0.3617616201114968,0.71338606911949],"aabb_xy":[[0.6556734007580314,0.32676162189245783],[0.6772193486007669,0.3967616183305358]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_24","position":[0.33485572966045085,-1.910426676734256,0.71338606911949],"aabb_xy":[[0.31234203783699366,-1.9804266773352632],[0.35736942148390805,-1.8404266761332482]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.32134356426449473,-2.436881890929094,0.71338606911949],"aabb_xy":[[-0.3465644011243344,-2.4621056417819798],[-0.29612272740465506,-2.4116581400762067]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.04448758267193764,1.0473561030484593,0.71338606911949],"aabb_xy":[[-0.108487584349935,0.998838711569145],[0.01951241900605972,1.0958734945277735]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[0.1450938976865369,-1.617953753057091,0.71338606911949],"aabb_xy":[[0.09512060368327646,-1.6679537536116382],[0.19506719168979736,-1.5679537525025435]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[-0.18430483099790806,0.8411038210315569,0.71338606911949],"aabb_xy":[[-0.19229832079319015,0.8331056890910815],[-0.17631134120262607,0.8491019529720327]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[0.3573972947348665,0.8961635329714261,0.71338606911949],"aabb_xy":[[0.29580653551087366,0.8321635348623793],[0.4189880539588593,0.960163531080473]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_30","position":[0.19734305364334304,-2.339923663247175,0.71338606911949],"aabb_xy":[[0.18912850852765903,-2.348600253544816],[0.205557598759027,-2.3312470729495334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6759207982243116,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5086.png","name":"5086"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5086.png","name":"5086"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8479.png","name":"8479"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5847.png","name":"5847"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/793.png","name":"793"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1641.png","name":"1641"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":822.9633873007833,"rotation_z_degrees":78.63725069168039,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008160761224354666,0.013438725621924722,0.0025743699058878022]},{"name":"camera_2","offset_m":[-0.018081113605299643,0.01301638767727414,-0.012045657496063834]},{"name":"camera_3","offset_m":[-0.0005932257108039601,-0.002364014670800052,-0.011054631440541729]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008399050524309035,0.001981086310198915,0.0014774083101267298],"end_effector_yaw_offset_degrees":0.3319069386583413},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001185141346250759,0.00030544712035816693,0.0017546445428170965],"end_effector_yaw_offset_degrees":0.8302733105623721},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007839969699779551,-0.0007157190139760207,-0.0001351484369565435],"end_effector_yaw_offset_degrees":0.4752118843126356},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00011337473511828077,9.05432415940063e-05,0.0007373710391668253],"end_effector_yaw_offset_degrees":-0.5483478579678467},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018358688308214139,0.0009904381367040029,5.7838488058622756e-05],"end_effector_yaw_offset_degrees":0.896153000525286},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00029314806786590085,-0.0008163371551261553,-2.6631073834512773e-05],"end_effector_yaw_offset_degrees":-0.5104608894478067}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002033246608202862,0.0007037809031333175],"position_m":[0.30226675339179715,-0.02979621909686668,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018765303821827962,-0.004988287679553279],"position_m":[0.2368765303821828,-0.37858828767955327,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0012709804935734106,-0.004134605331218327],"position_m":[0.29622901950642655,0.30236539466878165,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00039099501151296755,0.003467786868771537],"position_m":[0.310690995011513,0.08596778686877155,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3e671b4d63016c6dcdeed8f8d6b9ce6d1c222253970f9bf25c6f79b99a1164b7","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5086/tex_ceiling_textures_1641/tex_floor_textures_793/tex_table_textures_8479/tex_wall_textures_5847","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3208362354793148882,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3208362354793148882,"visual_seed":3208362354793148882,"scene_id":"lab_003","finished_at":"2026-09-08T17:57:24"}
+{"episode_id":"ep_000057","started_at":"2026-09-08T17:57:31","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.4878477514215513,0.3665198492649724,0.71338606911949],"aabb_xy":[[-0.5053477516666006,0.3490200614254055],[-0.47034775117650185,0.3840196371045392]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.3306018148686882,0.06642705303012697,0.71338606911949],"aabb_xy":[[-0.33544540962991826,0.06157540055114287],[-0.3257582201074583,0.0712787055091111]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.1615509274745851,1.6183010282915098,0.71338606911949],"aabb_xy":[[-0.21654317811009607,1.5633010265481972],[-0.10655867683907416,1.6733010300348228]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.5853734585636827,0.345981172088174,0.71338606911949],"aabb_xy":[[0.5392883673089512,0.2819811748356189],[0.6314585498184142,0.40998116934072915]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.5109716784932476,0.5731392708305711,0.71338606911949],"aabb_xy":[[0.4734716786762141,0.5685010595194293],[0.5484716783102812,0.577777482141713]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.6414417922328541,-0.07167386940304965,0.71338606911949],"aabb_xy":[[0.618942656506627,-0.09417387018131261],[0.663940927959081,-0.04917386862478666]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[0.5547016475192854,-1.6507054700618866,0.71338606911949],"aabb_xy":[[0.5505856974072125,-1.654821025094732],[0.5588175976313579,-1.6465899150290408]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.606110226386767,1.6341865842971397,0.71338606911949],"aabb_xy":[[-0.6661102269827832,1.5793741117519162],[-0.5461102257907509,1.6889990568423632]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.05232565931405708,1.2207154857083116,0.71338606911949],"aabb_xy":[[0.03522358135568891,1.2036086801770418],[0.06942773727242522,1.2378222912395813]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.6300042307786151,1.6081207256354797,0.71338606911949],"aabb_xy":[[0.6133270947855196,1.5914208016615494],[0.6466813667717106,1.62482064960941]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[-0.27466822965148935,1.1294776653859917,0.71338606911949],"aabb_xy":[[-0.27858210284691187,1.1207286499794349],[-0.2707543564560668,1.1382266807925485]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_11","position":[-0.21122922597530136,-1.40641868060429,0.71338606911949],"aabb_xy":[[-0.24714273040029106,-1.4423321888210443],[-0.17531572155031167,-1.3705051723875352]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.31159822642249824,-2.1499396071779553,0.71338606911949],"aabb_xy":[[-0.36159822506841943,-2.1998591508374172],[-0.26159822777657704,-2.1000200635184925]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.1555110485366089,1.4703190742871688,0.71338606911949],"aabb_xy":[[0.09151104685861156,1.4218016828078546],[0.21951105021460626,1.518836465766483]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.2663663229988934,-2.1716803633750392,0.71338606911949],"aabb_xy":[[0.18636632083613092,-2.251635547001183],[0.3463663251616559,-2.0917251797488956]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.00421123013133351,-1.8500007274324144,0.71338606911949],"aabb_xy":[[-0.009669175768353577,-1.9300007307400733],[0.0012467155056865575,-1.770000724124755]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.621252595934924,-0.8045521064014511,0.71338606911949],"aabb_xy":[[-0.6762263179712569,-0.8595521059656844],[-0.5662788738985911,-0.7495521068372181]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.4933928319151073,-2.2006626020868505,0.71338606911949],"aabb_xy":[[-0.5268330071111268,-2.23410622791778],[-0.45995265671908764,-2.16721897625592]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.5586515112501289,-0.0667553408323247,0.71338606911949],"aabb_xy":[[-0.5789358139735276,-0.08703796597503353],[-0.53836720852673,-0.046472715689615855]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.23376358458172558,-1.1091065395235935,0.71338606911949],"aabb_xy":[[-0.2562635850937661,-1.1315983978889916],[-0.21126358406968496,-1.086614681158195]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.36299336456815556,-1.4437820652940667,0.71338606911949],"aabb_xy":[[0.3129933632072683,-1.4937599698694823],[0.41299336592904273,-1.393804160718651]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.613551939590903,0.654943038875718,0.71338606911949],"aabb_xy":[[-0.6775519428095409,0.6082199269767097],[-0.5495519363722652,0.7016661507747264]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.5752483596282063,1.4210646125286792,0.71338606911949],"aabb_xy":[[0.5152483587673933,1.3696381825221926],[0.6352483604890189,1.4724910425351654]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.3419350935960812,0.9914334369533346,0.71338606911949],"aabb_xy":[[0.2843046247088103,0.9314334380266238],[0.39956556248335195,1.051433435880045]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[0.4442037452719012,-0.3420563477293177,0.71338606911949],"aabb_xy":[[0.3942304512686407,-0.392056348283865],[0.4941770392751616,-0.2920563471747703]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[0.4691548314528977,-1.7866875101240656,0.71338606911949],"aabb_xy":[[0.44665841001903367,-1.8091875099308128],[0.49165125288676187,-1.764187510317318]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.30480356102211903,0.9461768378710382,0.71338606911949],"aabb_xy":[[-0.36880356324252606,0.90180375374575],[-0.240803558801712,0.9905499219963265]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.34448312408654347,-2.3594909690687325,0.71338606911949],"aabb_xy":[[-0.3557281796571613,-2.3707327667928277],[-0.33323806851592563,-2.348249171344637]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[-0.2086258482480116,0.5753381070038035,0.71338606911949],"aabb_xy":[[-0.22149775174895175,0.4953381065899673],[-0.19575394474707147,0.6553381074176395]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_29","position":[0.4640179086887277,1.8166352917983173,0.71338606911949],"aabb_xy":[[0.45155055057899207,1.804169967164994],[0.47648526679846337,1.829100616431641]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702424669986125,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8774.png","name":"8774"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8774.png","name":"8774"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3382.png","name":"3382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6907.png","name":"6907"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3702.png","name":"3702"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8316.png","name":"8316"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":820.9690671667421,"rotation_z_degrees":34.62141408220723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01793908251041505,0.015264172166575118,0.015968016518718074]},{"name":"camera_2","offset_m":[0.015942863461269958,0.0005140556302470276,-0.01275216469265469]},{"name":"camera_3","offset_m":[-0.007647395392572819,0.0006917849700760967,0.002123870543874879]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007128461785479846,-0.0019877006252375217,-0.00033015230318632],"end_effector_yaw_offset_degrees":0.8175702318782285},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001780729081176918,-0.0012049237748146839,0.0005603506893430811],"end_effector_yaw_offset_degrees":0.0580977894957635},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010610224512037168,0.0019640440485502036,-0.0013337002915173438],"end_effector_yaw_offset_degrees":-0.7996015901555897},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00019295027393673083,0.0010551377052219323,-0.0018332061894241873],"end_effector_yaw_offset_degrees":0.5860084416465727},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015574232821688218,0.0008302342056452951,0.0004734186318410883],"end_effector_yaw_offset_degrees":0.40782651886526433},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[6.64632878136953e-05,0.0017932328136500602,0.0017351620114360897],"end_effector_yaw_offset_degrees":0.7630802943968373}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004561903759094932,-0.004462888673766712],"position_m":[0.3038438096240905,-0.034962888673766714,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005517100883272027,0.003239167183622562],"position_m":[0.23555171008832718,-0.37036083281637744,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0004713589633132797,0.004483072683369356],"position_m":[0.2979713589633133,0.31098307268336933,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009315372809165804,0.0036152116237189265],"position_m":[0.3112315372809166,0.08611521162371893,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"968c37ae2404b1eecd065b858990bd4ab123b19fbf63447e35d62433092676c1","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8774/tex_ceiling_textures_8316/tex_floor_textures_3702/tex_table_textures_3382/tex_wall_textures_6907","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":7944955432107860424,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":7944955432107860424,"visual_seed":7944955432107860424,"scene_id":"lab_003","finished_at":"2026-09-08T18:05:25"}
+{"episode_id":"ep_000058","started_at":"2026-09-08T18:05:32","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.5162699742082308,-1.995222192983697,0.71338606911949],"aabb_xy":[[-0.5249839432581651,-2.017722193642885],[-0.5075560051582961,-1.9727221923245086]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.22375911000682902,1.5619269415082866,0.71338606911949],"aabb_xy":[[0.215544564891145,1.5532503512106448],[0.23197365512251297,1.5706035318059275]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[-0.11477073812835326,-1.2305255588857156,0.71338606911949],"aabb_xy":[[-0.1369432651050041,-1.2527012260418384],[-0.09259821115170241,-1.2083498917295923]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.3319095723641512,-0.9634338730226104,0.71338606911949],"aabb_xy":[[0.3089938594791013,-0.986338170159034],[0.3548252852492011,-0.940529575886187]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.2104003203854784,-1.924177544498421,0.71338606911949],"aabb_xy":[[-0.2754003214914217,-1.9491429175665498],[-0.14540031927953515,-1.8992121714302932]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.3217923817403689,-0.3727573182506445,0.71338606911949],"aabb_xy":[[-0.3639767959011997,-0.4367573185278557],[-0.2796079675795382,-0.3087573179734333]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.33565207753491955,-2.240552226448282,0.71338606911949],"aabb_xy":[[-0.40565208092648153,-2.2758680001517124],[-0.26565207414335756,-2.2052364527448507]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.4410906054323598,0.8886416678883968,0.71338606911949],"aabb_xy":[[0.41060635530532963,0.8386416681069008],[0.47157485555938994,0.9386416676698927]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.30032649461320443,-0.8712491518751793,0.71338606911949],"aabb_xy":[[-0.3289758269736206,-0.8998947111522548],[-0.27167716225278815,-0.8426035925981032]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.13112591905918747,-1.672023576938392,0.71338606911949],"aabb_xy":[[-0.18112591770510866,-1.7219431205978544],[-0.08112592041326627,-1.6221040332789296]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.4051650180268773,-1.1123999952464236,0.71338606911949],"aabb_xy":[[0.36766501792128436,-1.1192221570994048],[0.4426650181324703,-1.1055778333934425]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[-0.29573318735789106,1.5022536609915869,0.71338606911949],"aabb_xy":[[-0.29969367112762546,1.4945857964060663],[-0.29177270358815666,1.5099215255771075]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.4480114084093254,-0.14904731829442897,0.71338606911949],"aabb_xy":[[0.4403871403191473,-0.15668054183097269],[0.45563567649950376,-0.14141409475788524]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.4610501493188469,0.323307424672695,0.71338606911949],"aabb_xy":[[-0.526050147474766,0.2970111801227829],[-0.39605015116292785,0.34960366922260727]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.41194614275754093,-1.8020923091878034,0.71338606911949],"aabb_xy":[[-0.47694614063918883,-1.8532159728943445],[-0.3469461448758932,-1.7509686454812627]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.6583820572793624,-2.4445959430372866,0.71338606911949],"aabb_xy":[[0.6495800019703897,-2.452407269192215],[0.6671841125883351,-2.436784616882357]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.13951098491746028,-1.0165914774513587,0.71338606911949],"aabb_xy":[[-0.19951098516886143,-1.0708728024878231],[-0.07951098466605908,-0.9623101524148938]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[-0.4115483354871786,1.023565042729897,0.71338606911949],"aabb_xy":[[-0.43404833549732685,1.0094688230902935],[-0.38904833547703027,1.0376612623695]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.06431253038888096,0.8184223350189583,0.71338606911949],"aabb_xy":[[-0.15431252712449117,0.7652388717016638],[0.02568746634672925,0.8716057983362528]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.008041134845836573,-1.9111042630680766,0.71338606911949],"aabb_xy":[[-0.08195886457253432,-1.944479759912266],[0.09804113426420746,-1.8777287662238866]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.49193969220901046,-0.41925961623547847,0.71338606911949],"aabb_xy":[[0.4669396929370482,-0.43560497983164076],[0.5169396914809727,-0.4029142526393161]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.28917945071471446,-0.19520064441195828,0.71338606911949],"aabb_xy":[[-0.33417203743316487,-0.240200643686407],[-0.24418686399626405,-0.1502006451375095]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.292480847685425,-0.5344378697070837,0.71338606911949],"aabb_xy":[[-0.3071242532394579,-0.5490965893638678],[-0.27783744213139194,-0.5197791500502994]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6737354960874572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7304.png","name":"7304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7304.png","name":"7304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4980.png","name":"4980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7664.png","name":"7664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3290.png","name":"3290"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":771.80765521,"rotation_z_degrees":182.85145410156733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018426588302762476,-0.015012289256228283,-0.016218628268075443]},{"name":"camera_2","offset_m":[0.0034079959378843054,0.014806470515670783,-0.01506691593207251]},{"name":"camera_3","offset_m":[0.013632289946575182,-0.0036439470593527916,0.01657113088241328]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004322950103548982,0.001504053093239123,0.0019547577615297287],"end_effector_yaw_offset_degrees":0.64568523024281},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016436672266774335,0.0014995472798303832,-0.0005335618941790319],"end_effector_yaw_offset_degrees":-0.28855484087697003},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015198005884643519,0.0013342558651221804,-0.0011928343714528475],"end_effector_yaw_offset_degrees":0.6084480145254256},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00117923868615883,-0.001968611460783275,-0.00023265632225237358],"end_effector_yaw_offset_degrees":-0.18619647878070977},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001338795978667287,0.0007230706252698339,0.001055451999980351],"end_effector_yaw_offset_degrees":0.26057105030606653},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007920243145004217,-0.00029894302210333725,-0.0005692089907249431],"end_effector_yaw_offset_degrees":0.9033838074500997}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004896008418656859,0.0018372849349162805],"position_m":[0.30919600841865685,-0.028662715065083718,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001554619531482105,-0.0036322062548760437],"position_m":[0.2351554619531482,-0.377232206254876,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003446072404075579,-0.004052905443740304],"position_m":[0.30094607240407556,0.3024470945562597,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002007716159229811,-0.004014585037911128],"position_m":[0.30829228384077023,0.07848541496208887,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f61700d4b08aa9c17bcd7454a6a504afba37af6abf2fcc5a182e2f3275945bd1","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0061.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7304/tex_ceiling_textures_812/tex_floor_textures_3290/tex_table_textures_4980/tex_wall_textures_7664","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1981738791019648011,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1981738791019648011,"visual_seed":1981738791019648011,"scene_id":"lab_003","finished_at":"2026-09-08T18:13:33"}
+{"episode_id":"ep_000059","started_at":"2026-09-08T18:13:41","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.45436109706685046,-2.0015311913598883,0.71338606911949],"aabb_xy":[[-0.46492857672494936,-2.0120762214728964],[-0.44379361740875134,-1.9909861612468793]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.06444945328078067,1.1599869300739254,0.71338606911949],"aabb_xy":[[-0.0005505493570128056,1.1085073313744784],[0.12944945591857415,1.2114665287733724]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.6704496623773879,-2.287624366917211,0.71338606911949],"aabb_xy":[[-0.683321565878328,-2.3676243673310466],[-0.6575777588764478,-2.2076243665033743]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[0.3845096991612518,-2.1873696771189617,0.71338606911949],"aabb_xy":[[0.32050969986708355,-2.2513558174878154],[0.44850969845542,-2.123383536750107]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.014733361226371255,-1.4650970637570204,0.71338606911949],"aabb_xy":[[-0.03260246898082675,-1.4789299717342312],[0.003135746528084236,-1.4512641557798096]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.4488314560682569,-1.3398958169528714,0.71338606911949],"aabb_xy":[[0.44324978443412816,-1.352395816770647],[0.4544131277023857,-1.327395817135096]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.21776738833300385,1.3116092075562813,0.71338606911949],"aabb_xy":[[-0.2552673869086246,1.2988729118927231],[-0.18026738975738302,1.324345503219839]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_7","position":[0.5281088480416818,1.6387842684103577,0.71338606911949],"aabb_xy":[[0.5122243547763565,1.6244313281115332],[0.5439933413070068,1.6531372087091813]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.2073996786207436,-0.46897909705363094,0.71338606911949],"aabb_xy":[[-0.24199076147478882,-0.533979097338662],[-0.17280859576669838,-0.4039790967685999]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.6287680911960647,-2.1434018759641855,0.71338606911949],"aabb_xy":[[0.6037680912635469,-2.1502845441851086],[0.6537680911285827,-2.1365192077432624]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.055022853442195485,-1.0826997259771063,0.71338606911949],"aabb_xy":[[0.030509229345189626,-1.1069643192791425],[0.07953647753920134,-1.0584351326750696]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.44455527158349595,-1.4524560643967686,0.71338606911949],"aabb_xy":[[0.43729402401308853,-1.4652430746602783],[0.45181651915390336,-1.4396690541332593]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.49867389522611116,0.0315554453637934,0.71338606911949],"aabb_xy":[[0.49471341145637676,0.0238875807782728],[0.5026343789958454,0.039223309949314]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.5919782835448166,0.9644850926363566,0.71338606911949],"aabb_xy":[[-0.6519782841408328,0.9096726200911334],[-0.5319782829488005,1.0192975651815803]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.3736976548286828,-1.9067334523753607,0.71338606911949],"aabb_xy":[[0.3236976552523481,-1.956714031327467],[0.42369765440501755,-1.856752873423255]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.23768032970285563,1.5046382388010096,0.71338606911949],"aabb_xy":[[-0.3026803275845035,1.4535145750944687],[-0.17268033182120787,1.5557619025075506]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.48883618238987625,-1.4422621144051149,0.71338606911949],"aabb_xy":[[-0.5199831012334593,-1.512262113091922],[-0.4576892635462931,-1.3722621157183077]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.3078073898029127,-1.9853836697482021,0.71338606911949],"aabb_xy":[[-0.37780738621287435,-2.0058216053998836],[-0.2378073933929508,-1.9649457340965202]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.5651225296271807,1.3475771057208474,0.71338606911949],"aabb_xy":[[0.5151225292666145,1.2975971185112445],[0.6151225299877466,1.3975570929304504]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.19411664804219697,-1.457595714219443,0.71338606911949],"aabb_xy":[[0.134116647534344,-1.5144424479053642],[0.2541166485500498,-1.4007489805335216]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.6259568442357926,1.5053067894792336,0.71338606911949],"aabb_xy":[[0.5559568421043629,1.4825448238535377],[0.695956846367222,1.528068755104929]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.42193970901858524,0.5019350048172928,0.71338606911949],"aabb_xy":[[0.341939712055546,0.42485936317351924],[0.5019397059816244,0.5790106464610661]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[0.015178357698125144,1.6037017872800399,0.71338606911949],"aabb_xy":[[-0.0017323747382166352,1.590229581687425],[0.03208909013446692,1.6171739928726543]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[0.3635786290200982,-1.7636237950914277,0.71338606911949],"aabb_xy":[[0.29357862562853626,-1.7989395687948584],[0.4335786324116602,-1.7283080213879967]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[0.1646546225313711,-0.5604368287276862,0.71338606911949],"aabb_xy":[[0.14215462300766366,-0.5829327761783067],[0.18715462205507846,-0.5379408812770652]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.4451185995781098,-0.9352822556101827,0.71338606911949],"aabb_xy":[[-0.4826186003701052,-0.9416500965683728],[-0.4076185987861143,-0.9289144146519926]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[0.3170565817115576,-1.0132491914468182,0.71338606911949],"aabb_xy":[[0.2795565817677912,-1.0215422814816548],[0.354556581655324,-1.0049561014119817]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[0.716756222974595,-0.0921775088376382,0.71338606911949],"aabb_xy":[[0.7126203666418948,-0.1296775082819952],[0.7208920793072952,-0.0546775093932812]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_28","position":[0.24092342704504532,0.5677034090096877,0.71338606911949],"aabb_xy":[[0.23001765095748264,0.4877034126108586],[0.25182920313260804,0.6477034054085169]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[0.10805052947697513,0.9774580160559596,0.71338606911949],"aabb_xy":[[0.043050531321056074,0.9511617715060473],[0.1730505276328942,1.0037542606058718]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_30","position":[-0.5955643729379487,-0.3112576787638397,0.71338606911949],"aabb_xy":[[-0.6177368999145995,-0.3334333459199628],[-0.5733918459612978,-0.28908201160771646]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6690185448532495,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6363.png","name":"6363"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6363.png","name":"6363"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6089.png","name":"6089"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2184.png","name":"2184"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1030.png","name":"1030"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1843.png","name":"1843"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":512.2017490228344,"rotation_z_degrees":50.72250090072138,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006263478927637477,0.013430488326643893,0.0010051729241302675]},{"name":"camera_2","offset_m":[-0.0014442761477315366,-0.0037834457316846086,0.005344187276916081]},{"name":"camera_3","offset_m":[0.012134061297954902,-0.002559207329213723,0.017823807256350268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018010486487397297,0.001009033362034738,0.0006017294493957689],"end_effector_yaw_offset_degrees":-0.20800741579160742},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00169592578377391,0.0009993515436570542,-0.0011065731653725334],"end_effector_yaw_offset_degrees":0.49764557559329936},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00037767462135245185,0.0005704656499065158,-0.0014393854258554746],"end_effector_yaw_offset_degrees":-0.39500019256677255},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010060359676235255,0.0013064494419004866,-0.0007944307817948858],"end_effector_yaw_offset_degrees":-0.8007017385908306},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019098327336164354,8.923209944314238e-05,0.0010636358821973003],"end_effector_yaw_offset_degrees":-0.6660104515453096},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006452450843905529,-0.001202849568479642,0.0016607205296635588],"end_effector_yaw_offset_degrees":-0.7386937785299399}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002619901824936057,-0.004949114806181038],"position_m":[0.30691990182493606,-0.035449114806181035,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002361312006227043,0.001076177559801451],"position_m":[0.23263868799377294,-0.37252382244019855,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0010019202253356398,0.0031779858315220686],"position_m":[0.2985019202253356,0.30967798583152206,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004363386943462641,-0.0026871626915247306],"position_m":[0.3146633869434627,0.07981283730847527,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a7160309471bf7bae05b0a713bbaa81f8f0b049e8f7c2864c96fe5f6fb46b80d","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6363/tex_ceiling_textures_1843/tex_floor_textures_1030/tex_table_textures_6089/tex_wall_textures_2184","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6502204596093555100,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6502204596093555100,"visual_seed":6502204596093555100,"scene_id":"lab_003","finished_at":"2026-09-08T18:21:23"}
+{"episode_id":"ep_000060","started_at":"2026-09-08T18:21:30","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.6114858242053901,-0.7373684872313042,0.71338606911949],"aabb_xy":[[-0.6249323508394334,-0.7508383388843954],[-0.5980392975713468,-0.723898635578213]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.20358099897157006,-1.853281099552439,0.71338606911949],"aabb_xy":[[-0.2885809973889933,-1.9381553950147241],[-0.11858100055414683,-1.7684068040901542]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.06116297017026506,1.0818694042348151,0.71338606911949],"aabb_xy":[[-0.0028370317420772714,1.0259582549768047],[0.1251629720826074,1.1377805534928256]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.28312344622366437,0.6305601264534899,0.71338606911949],"aabb_xy":[[-0.33300614310136056,0.5805601272072153],[-0.23324074934596817,0.6805601256997648]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[-0.02008443229285506,1.3724100789167162,0.71338606911949],"aabb_xy":[[-0.030166139371428535,1.2924100810246013],[-0.010002725214281583,1.4524100768088306]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[-0.43340740685747325,-0.041686079545148136,0.71338606911949],"aabb_xy":[[-0.4566892490556046,-0.12668608084237618],[-0.4101255646593419,0.043313921752079924]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.06251800374198468,1.7697576904688659,0.71338606911949],"aabb_xy":[[-0.11764320937157546,1.7097576890275785],[-0.007392798112393919,1.8297576919101528]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[-0.5255673337751476,-2.3450180353609897,0.71338606911949],"aabb_xy":[[-0.5296832838872202,-2.3491335903938353],[-0.5214513836630749,-2.340902480328144]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[-0.16064241565367987,-1.5898346660122238,0.71338606911949],"aabb_xy":[[-0.2106355277628718,-1.6398346666864196],[-0.11064930354448801,-1.5398346653380284]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[0.4897825683397137,-2.1733484093648254,0.71338606911949],"aabb_xy":[[0.4257825661193067,-2.2177214934901133],[0.5537825705601207,-2.1289753252395367]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.2505583338793066,0.8517847764206183,0.71338606911949],"aabb_xy":[[0.2005583325954666,0.8018059220299962],[0.3005583351631465,0.9017636308112404]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.4378691198662812,1.7546845696923925,0.71338606911949],"aabb_xy":[[0.38789170300102754,1.7046845682031437],[0.4878465367315347,1.8046845711816408]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.24567822850574056,0.07684113574918072,0.71338606911949],"aabb_xy":[[-0.2569232840763584,0.06559933802508544],[-0.23443317293512272,0.088082933473276]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[-0.03939438792011174,-1.879707792641427,0.71338606911949],"aabb_xy":[[-0.0639080120171176,-1.9039723859434632],[-0.014880763823105887,-1.8554431993393903]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.6008445103319615,-1.545623343868917,0.71338606911949],"aabb_xy":[[-0.6908445126659807,-1.6231056984540295],[-0.5108445079979426,-1.4681409892838042]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[0.4527633256484582,1.5020385710131463,0.71338606911949],"aabb_xy":[[0.43608618965536267,1.4853386470392163],[0.4694404616415537,1.5187384949870768]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[-0.5697533748158933,0.3627291924637879,0.71338606911949],"aabb_xy":[[-0.5856378680812184,0.34837625216496376],[-0.5538688815505681,0.3770821327626119]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.4207566831435921,1.5139703339216743,0.71338606911949],"aabb_xy":[[-0.42565597545015554,1.4862934146191054],[-0.41585739083702855,1.541647253224243]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.48739257080169196,-1.4501643347889062,0.71338606911949],"aabb_xy":[[0.4233925734993455,-1.494530761756763],[0.5513925681040384,-1.4057979078210494]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.6296715615639432,-1.0392256887424998,0.71338606911949],"aabb_xy":[[0.549671563583158,-1.0468272297043517],[0.7096715595447282,-1.0316241477806478]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[-0.39093981465774785,-1.7464333608050813,0.71338606911949],"aabb_xy":[[-0.414776032298353,-1.8364333616135682],[-0.36710359701714285,-1.6564333599965952]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.04569827556453254,-0.8077881571063146,0.71338606911949],"aabb_xy":[[-0.0581656336742682,-0.8202534817396381],[-0.0332309174547969,-0.7953228324729911]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.004800272667674688,-1.1948144561434184,0.71338606911949],"aabb_xy":[[-0.03205027526931292,-1.2323144569664521],[0.0416508206046623,-1.1573144553203847]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.669822328495272,1.5418647110900099,0.71338606911949],"aabb_xy":[[-0.6889346358532509,1.5227299322127676],[-0.6507100211372931,1.5609994899672517]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.5947671525383629,1.0394610461370943,0.71338606911949],"aabb_xy":[[-0.6146581924187031,1.0268052348523977],[-0.5748761126580226,1.0521168574217914]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6736489024720372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8514.png","name":"8514"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8514.png","name":"8514"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8965.png","name":"8965"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1456.png","name":"1456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3324.png","name":"3324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7387.png","name":"7387"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":721.4929908018298,"rotation_z_degrees":154.4500537525881,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014541305529289757,0.01578825651903708,-0.01606501562819474]},{"name":"camera_2","offset_m":[0.007996148167015393,-0.01635386044556568,0.003670703352562782]},{"name":"camera_3","offset_m":[0.003085438470647607,-0.005471822804934683,-0.012415111578548839]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009116463618652022,-0.0004639790779419183,0.0006274397858360833],"end_effector_yaw_offset_degrees":0.8104371971368285},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.137634785161904e-05,-0.00022615439773436465,-0.0007292053867907088],"end_effector_yaw_offset_degrees":-0.35785491591234586},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017772788968488228,0.0010668519118862967,-0.00024639116651624295],"end_effector_yaw_offset_degrees":0.8204137233967139},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0011247385957219285,-0.0019960780207109296,0.00030680245126269877],"end_effector_yaw_offset_degrees":-0.3364711285845088},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017774777087991773,0.00043616246397087943,-0.0016719555636713998],"end_effector_yaw_offset_degrees":-0.43498576967734204},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014272546502039605,0.0009739480455811843,-0.001522100990352406],"end_effector_yaw_offset_degrees":0.7247042507461008}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[3.495546084998722e-05,-0.003591665321732205],"position_m":[0.30433495546085,-0.034091665321732204,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005859014487931387,-0.004572693194162352],"position_m":[0.23441409855120685,-0.37817269319416236,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004505483506955897,0.002979736503199237],"position_m":[0.2929945164930441,0.3094797365031992,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034314353613964597,0.004430245490842039],"position_m":[0.30686856463860357,0.08693024549084204,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2864be6cdf0f4ac7e3e8e13af4ccdc12b0ca9d3a36f77a1363490d61050fc2bb","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8514/tex_ceiling_textures_7387/tex_floor_textures_3324/tex_table_textures_8965/tex_wall_textures_1456","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":7636857730172360588,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":7636857730172360588,"visual_seed":7636857730172360588,"scene_id":"lab_003","finished_at":"2026-09-08T18:29:32"}
+{"episode_id":"ep_000061","started_at":"2026-09-08T18:29:42","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.3274242043027573,-1.4929257673346987,0.71338606911949],"aabb_xy":[[0.2824316175843069,-1.5379257666091473],[0.3724167910212077,-1.4479257680602498]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.5937117730338572,-2.1381346915761474,0.71338606911949],"aabb_xy":[[0.5718030908945062,-2.1600353583962377],[0.6156204551732083,-2.1162340247560563]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.09812156517167514,-1.9195246943077373,0.71338606911949],"aabb_xy":[[-0.12312156444363744,-1.9358700579038992],[-0.07312156589971287,-1.9031793307115745]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.43374450334240233,-2.3533325968031487,0.71338606911949],"aabb_xy":[[0.4161978084262834,-2.3908325983673997],[0.45129119825852126,-2.3158325952388976]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.5587531794172349,-1.2694670293578751,0.71338606911949],"aabb_xy":[[0.49375317831129173,-1.2944324024260034],[0.6237531805231783,-1.2445016562897468]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.16359538601040913,1.1066981237181728,0.71338606911949],"aabb_xy":[[-0.218595385632155,1.0517144309307],[-0.10859538638866331,1.1616818165056455]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.6034226162383842,-2.0075027130972667,0.71338606911949],"aabb_xy":[[0.5534396660509048,-2.0575027127398267],[0.6534055664258634,-1.957502713454706]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.5942324400241041,0.4757934433989184,0.71338606911949],"aabb_xy":[[0.5567324399185111,0.46897128154593726],[0.631732440129697,0.4826156052518995]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.29353397290172323,-1.8136621842205551,0.71338606911949],"aabb_xy":[[0.27595567071277644,-1.83123667379466],[0.31111227509067013,-1.79608769464645]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.43469605934054467,-0.3036766866711802,0.71338606911949],"aabb_xy":[[0.3546960613597596,-0.31127822763303215],[0.5146960573213297,-0.29607514570932825]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.056925483606575455,-0.7441155677280995,0.71338606911949],"aabb_xy":[[-0.06817053917719329,-0.7553573654521947],[-0.045680428035957614,-0.7328737700040041]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.5282916005431608,-1.6656580620107033,0.71338606911949],"aabb_xy":[[0.503070763683321,-1.6908818128635896],[0.5535124374030004,-1.6404343111578161]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.1684258646433775,-1.4666862124694728,0.71338606911949],"aabb_xy":[[-0.25842586697739656,-1.5441685670545857],[-0.07842586230935844,-1.3892038578843604]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[-0.23600827768252475,0.480796996595263,0.71338606911949],"aabb_xy":[[-0.2735082788673175,0.4763787738992024],[-0.19850827649773192,0.48521521929132344]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.10441136573856347,1.5309479534845267,0.71338606911949],"aabb_xy":[[-0.18441136601217042,1.45799840565881],[-0.024411365464956477,1.6038975013102434]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[-0.1146727936262929,-0.26278186066574305,0.71338606911949],"aabb_xy":[[-0.17867279432976227,-0.30880024313866405],[-0.050672792922823576,-0.21676347819282205]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[0.3753516149552554,-1.2770789849757036,0.71338606911949],"aabb_xy":[[0.31135161261245375,-1.322019836219836],[0.4393516172980569,-1.232138133731571]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.4673400230313778,0.8347021233746124,0.71338606911949],"aabb_xy":[[0.45217715005444076,0.8195366660794937],[0.4825028960083149,0.8498675806697312]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.37713588486286165,0.5526621059675776,0.71338606911949],"aabb_xy":[[0.34028533692587404,0.5151621051445439],[0.41398643279984926,0.5901621067906113]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.6019065163489781,-2.3355927524239926,0.71338606911949],"aabb_xy":[[0.544276047461707,-2.3955927513507023],[0.6595369852362487,-2.275592753497281]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[-0.6669720647990114,-0.18080672462228797,0.71338606911949],"aabb_xy":[[-0.6708859379944337,-0.1895557400288447],[-0.6630581916035888,-0.17205770921573119]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.08827519441595555,0.48233148611209353,0.71338606911949],"aabb_xy":[[-0.12418869884094522,0.4464179778953389],[-0.052361689990965854,0.5182449943288481]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[-0.39355014813798567,-0.8392473260891493,0.71338606911949],"aabb_xy":[[-0.4310501496536174,-0.8504740991052943],[-0.35605014662235396,-0.8280205530730042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6688621824702515,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2298.png","name":"2298"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1741.png","name":"1741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7285.png","name":"7285"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":606.6848292045199,"rotation_z_degrees":145.25298077703437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012995021346494117,0.013641963007581043,-0.015885425364657424]},{"name":"camera_2","offset_m":[0.0128253218619187,0.015586508151440217,0.015750552176338747]},{"name":"camera_3","offset_m":[-0.010866412278211493,0.004763145209629206,-0.005000300029008633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017458314986068273,-0.0007132189286084406,0.0017553868622849768],"end_effector_yaw_offset_degrees":0.0850906291901985},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001031075865793811,0.0008454874209702931,0.00010147765184162234],"end_effector_yaw_offset_degrees":-0.43455117377564045},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002833442678589152,-0.0010604530817825792,0.001985836152283431],"end_effector_yaw_offset_degrees":-0.3151304851797063},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014380458922436824,0.0013493514625679752,0.0003842295407063645],"end_effector_yaw_offset_degrees":0.31860376419739045},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[9.272847689451632e-05,-0.0014247183859996087,0.0003200637025064187],"end_effector_yaw_offset_degrees":0.366172339102953},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013189682563281954,0.00029039798461429935,-0.0011846048792111684],"end_effector_yaw_offset_degrees":-0.17707828314520424}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004415716898360174,-0.003213428816095455],"position_m":[0.29988428310163984,-0.03371342881609545,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030854836520649246,0.0002782673027359184],"position_m":[0.23191451634793506,-0.3733217326972641,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0008644219352949255,0.0020958807718199886],"position_m":[0.2966355780647051,0.30859588077182,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00033021975432681507,0.00332211329205362],"position_m":[0.30996978024567323,0.08582211329205362,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"bda13f7cd1975cd4d2968753c17bfe901bdc645a7601a3dc8f8e4c35c2c9e2e4","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3406/tex_ceiling_textures_2857/tex_floor_textures_7285/tex_table_textures_2298/tex_wall_textures_1741","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1037441097518103024,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1037441097518103024,"visual_seed":1037441097518103024,"scene_id":"lab_003","finished_at":"2026-09-08T18:37:36"}
+{"episode_id":"ep_000062","started_at":"2026-09-08T18:37:43","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.2211056827973541,0.726976670317975,0.71338606911949],"aabb_xy":[[0.20367496771834756,0.7097045556541242],[0.23853639787636058,0.7442487849818258]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.1251727062808412,-2.3742188175611565,0.71338606911949],"aabb_xy":[[0.07018045564533025,-2.4292188193044697],[0.18016495691635215,-2.319218815817844]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.26345157062828817,-1.7308078840677523,0.71338606911949],"aabb_xy":[[0.19845157207121533,-1.760560417481635],[0.328451569185361,-1.7010553506538697]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[0.4594963238200882,-0.8852364807778035,0.71338606911949],"aabb_xy":[[0.45150283402480623,-0.8932346127182792],[0.4674898136153703,-0.877238348837328]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.12403290734437888,-2.5582729705182814,0.71338606911949],"aabb_xy":[[0.10886073806274554,-2.5734418274464845],[0.13920507662601223,-2.5431041135900783]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.5441369140558301,0.7836045985171123,0.71338606911949],"aabb_xy":[[0.5368545976791662,0.693604594907603],[0.5514192304324935,0.8736046021266209]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[-0.26543202320086634,-1.9347778851887505,0.71338606911949],"aabb_xy":[[-0.32943201962818824,-1.9819475090108472],[-0.20143202677354444,-1.8876082613666543]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[0.0659643225436497,-1.0156693009829811,0.71338606911949],"aabb_xy":[[-0.02403568113326849,-1.0771017075600853],[0.15596432622056783,-0.9542368944058766]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.21092638074427883,1.2224508052761331,0.71338606911949],"aabb_xy":[[0.16104368386658263,1.1724508060298584],[0.260809077621975,1.2724508045224079]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.36064954316505804,-0.6545782051968514,0.71338606911949],"aabb_xy":[[-0.4156232652013909,-0.7095782047610847],[-0.30567582112872516,-0.5995782056326183]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.5319149749421993,-0.773821266911789,0.71338606911949],"aabb_xy":[[-0.5669149732528946,-0.7815362818353346],[-0.49691497663150375,-0.7661062519882433]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.11804281844737163,1.667607379091827,0.71338606911949],"aabb_xy":[[-0.15934736151110762,1.60360737952371],[-0.07673827538363563,1.7316073786599442]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.5590130971214256,-2.34779323996129,0.71338606911949],"aabb_xy":[[0.5354279736575306,-2.4127932422067215],[0.5825982205853203,-2.282793237715858]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.6067347606789397,-2.2923037147833467,0.71338606911949],"aabb_xy":[[-0.6378816795225228,-2.3623037134701543],[-0.5755878418353566,-2.22230371609654]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[-0.17531818112997422,-1.6454277372992896,0.71338606911949],"aabb_xy":[[-0.23931818029974417,-1.692194424418252],[-0.11131818196020428,-1.5986610501803271]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.4638618641137212,-1.8192351249893202,0.71338606911949],"aabb_xy":[[-0.5338618667503076,-1.8393399899851854],[-0.39386186147713487,-1.7991302599934544]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.039615411833153535,1.4337196760686175,0.71338606911949],"aabb_xy":[[-0.010482052147920085,1.3697196755588057],[0.08971287581422716,1.4977196765784293]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.28585872838906157,-1.1108941683233642,0.71338606911949],"aabb_xy":[[0.22185872768559228,-1.1569125507962852],[0.34985872909253096,-1.0648757858504432]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.39231337884633594,-1.3092218485599434,0.71338606911949],"aabb_xy":[[-0.40989168103528273,-1.326796338134048],[-0.37473507665738903,-1.2916473589858384]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.03554403192562072,-1.580093825573184,0.71338606911949],"aabb_xy":[[0.01643172456764186,-1.5992286044504262],[0.054656339283599586,-1.5609590466959422]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.4494246529859607,-1.7961415197119446,0.71338606911949],"aabb_xy":[[0.413795497086001,-1.8317741864687975],[0.4850538088859205,-1.7605088529550916]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[0.4763089363339461,-1.0732321648094165,0.71338606911949],"aabb_xy":[[0.45810311267269843,-1.0842575653914084],[0.4945147599951938,-1.062206764227425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6744627110082583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3760.png","name":"3760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2773.png","name":"2773"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2232.png","name":"2232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1295.png","name":"1295"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":832.7865207639247,"rotation_z_degrees":124.52745447983501,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015667377877908877,0.008383569438464043,0.01709137133372615]},{"name":"camera_2","offset_m":[-0.004530205272385679,-0.01117804520005834,0.0003843048674190899]},{"name":"camera_3","offset_m":[0.0022347056313558288,0.008357106182623326,0.005063828240152737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004738234526441296,0.0007263263159721016,6.0291682575371736e-05],"end_effector_yaw_offset_degrees":-0.4521351382424714},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001780978224914756,-0.00048385833539733316,0.0004963242697454779],"end_effector_yaw_offset_degrees":-0.4431470329517688},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001257224513282995,0.00021188311793509393,-0.0017946793070256657],"end_effector_yaw_offset_degrees":0.12308516180468398},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008951728501013791,-0.0019472618971538439,2.0459616677492506e-05],"end_effector_yaw_offset_degrees":-0.0622586405732557},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018229549651567162,-0.0002764531791531915,0.0012529191502748224],"end_effector_yaw_offset_degrees":0.5441975169066444},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0003820028150311556,7.507775039422484e-05,-0.00041675244255721727],"end_effector_yaw_offset_degrees":0.10992909568364251}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004836285671034768,0.0030106428123760345],"position_m":[0.3091362856710348,-0.027489357187623964,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023335195941356583,-0.0016974596785398243],"position_m":[0.23733351959413565,-0.37529745967853984,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-3.204821479205894e-05,0.000638851387875985],"position_m":[0.2974679517852079,0.307138851387876,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007713622138307641,0.0025333799272432775],"position_m":[0.3110713622138308,0.08503337992724327,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"98b89370bc0c2c51e4781c01e1d0d6d5528fd9f36c82f36bd66fd8ceab9e4343","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6367/tex_ceiling_textures_1295/tex_floor_textures_2232/tex_table_textures_3760/tex_wall_textures_2773","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5932366670244036062,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5932366670244036062,"visual_seed":5932366670244036062,"scene_id":"lab_003","finished_at":"2026-09-08T18:45:45"}
+{"episode_id":"ep_000063","started_at":"2026-09-08T18:45:52","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.5648632074983906,-0.6431540621166902,0.71338606911949],"aabb_xy":[[-0.6143436287123495,-0.7071540600295422],[-0.5153827862844319,-0.5791540642038385]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.5469983098224738,1.0461500789486933,0.71338606911949],"aabb_xy":[[-0.5844983113381056,1.0349233059325482],[-0.5094983083068422,1.0573768519648383]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.2390899908575867,1.8100867388597481,0.71338606911949],"aabb_xy":[[-0.2461314418083343,1.803059987121954],[-0.2320485399068391,1.8171134905975428]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[0.04041667819005401,1.0363963672112213,0.71338606911949],"aabb_xy":[[0.020525638309713764,1.0237405559265247],[0.06030771807039426,1.0490521784959184]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[-0.2610688453354237,-1.9421128197624573,0.71338606911949],"aabb_xy":[[-0.33106884746685317,-1.9648747853881525],[-0.1910688432039941,-1.9193508541367612]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.3630874058242836,-0.3580294594884945,0.71338606911949],"aabb_xy":[[-0.3973843168420242,-0.3923263456984359],[-0.32879049480654293,-0.32373257327855315]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.2869395769199806,0.2086391029571546,0.71338606911949],"aabb_xy":[[-0.3244395772682084,0.19684770737607102],[-0.24943957657175286,0.22043049853823812]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.5536676653172383,-0.5714409563008882,0.71338606911949],"aabb_xy":[[0.5360893631282915,-0.5890154458749931],[0.5712459675061852,-0.5538664667267833]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.06504930473612403,1.2941689858317247,0.71338606911949],"aabb_xy":[[-0.10004930608760576,1.2738092498749038],[-0.0300493033846423,1.3145287217885455]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.3914946329100082,1.3478676226925006,0.71338606911949],"aabb_xy":[[0.38603668727298807,1.2678676193848415],[0.3969525785470282,1.4278676260001597]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.2077929554409581,0.9420916098306655,0.71338606911949],"aabb_xy":[[-0.22907096358443035,0.8770916075045925],[-0.18651494729748586,1.0070916121567386]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.6946338361194122,-0.7764384043896349,0.71338606911949],"aabb_xy":[[0.6817619326184721,-0.856438404803471],[0.7075057396203523,-0.6964384039757987]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.006313737023341259,1.531089735464223,0.71338606911949],"aabb_xy":[[-0.09600081333145671,1.4410897352097725],[0.0833733392847742,1.6210897357186735]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.46040786344813556,-0.6335606104836033,0.71338606911949],"aabb_xy":[[-0.4648384928029758,-0.6390089822182861],[-0.45597723409329544,-0.6281122387489209]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.4251348465755324,-1.7618895260289134,0.71338606911949],"aabb_xy":[[-0.4397782521295653,-1.7765482456856974],[-0.4104914410214993,-1.747230806372129]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.19676597453498468,-0.36281606868310856,0.71338606911949],"aabb_xy":[[-0.2518911801645754,-0.42281607012439565],[-0.14164076890539387,-0.30281606724182136]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[0.10219018208891384,-1.0809365435130682,0.71338606911949],"aabb_xy":[[0.09414682216295865,-1.1659365446084347],[0.110233542014869,-0.9959365424177018]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[0.4293265794816181,1.1957802633499397,0.71338606911949],"aabb_xy":[[0.33932657975844394,1.1727069108147599],[0.5193265792047923,1.2188536158851195]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.17655471702372538,-0.9445221450389198,0.71338606911949],"aabb_xy":[[-0.23155019484438474,-0.9995221464728268],[-0.12155923920306597,-0.8895221436050129]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.6509488871774143,0.5851678096061033,0.71338606911949],"aabb_xy":[[0.5869488898917656,0.5436610906532593],[0.7149488844630629,0.6266745285589472]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684010945052226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9950.png","name":"9950"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9950.png","name":"9950"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1165.png","name":"1165"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7076.png","name":"7076"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3816.png","name":"3816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7241.png","name":"7241"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":843.57911574938,"rotation_z_degrees":180.81911464289186,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017550485369700383,0.011263708283628136,0.011925112228466647]},{"name":"camera_2","offset_m":[-0.01178884608428772,-0.011893463576231325,-0.0019935431935575107]},{"name":"camera_3","offset_m":[-0.012129820043487035,0.0006298295158261823,-0.0181156223178551]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018426440021779475,0.0015326513190495072,-0.0007094954282084029],"end_effector_yaw_offset_degrees":0.31751327249842665},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002380518064423456,-0.0007817088571079097,0.00105453781978854],"end_effector_yaw_offset_degrees":0.08010022267550343},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00038685660314918954,0.000940005729398704,0.0010476622790209444],"end_effector_yaw_offset_degrees":0.8574803586998665},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019371200580986369,-0.00021405363863004107,-2.1933358000944016e-05],"end_effector_yaw_offset_degrees":-0.8223260853104102},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00019500659549431375,0.0002739587381329345,0.0009159379835722097],"end_effector_yaw_offset_degrees":-0.5898774531534454},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015071195630816576,-0.000845944749012503,0.0012211987396333877],"end_effector_yaw_offset_degrees":-0.7200694753299461}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00047951278055564754,0.004328147831358824],"position_m":[0.3038204872194444,-0.026171852168641176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029145927183686616,0.0013597200104508624],"position_m":[0.23208540728163132,-0.3722402799895491,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00021442027488771925,-0.004736823604144239],"position_m":[0.29728557972511227,0.30176317639585576,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024945624618773086,0.00024068222303711643],"position_m":[0.3127945624618773,0.08274068222303713,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"21c56c79fd1d5cc62bb23e157faad5c1e78040e01672450fd6cbf43b73bf092b","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0066.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9950/tex_ceiling_textures_7241/tex_floor_textures_3816/tex_table_textures_1165/tex_wall_textures_7076","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2324936964999471823,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2324936964999471823,"visual_seed":2324936964999471823,"scene_id":"lab_003","finished_at":"2026-09-08T18:54:22"}
+{"episode_id":"ep_000064","started_at":"2026-09-08T18:54:29","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.4609404051627968,1.6275175068748866,0.71338606911949],"aabb_xy":[[0.39594040700687777,1.6012212623249744],[0.5259404033187158,1.6538137514247988]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.3855056208497132,-1.9073430237653803,0.71338606911949],"aabb_xy":[[0.30550562383546515,-1.9274775754387916],[0.4655056178639611,-1.887208472091969]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.5224346348601945,-0.3185977301151772,0.71338606911949],"aabb_xy":[[-0.5548963357421218,-0.34873056223007975],[-0.48997293397826697,-0.2884648980002745]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.4461283185062417,-0.9378736406135937,0.71338606911949],"aabb_xy":[[-0.49612831986712885,-0.9878515451890093],[-0.3961283171453544,-0.8878957360381781]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[0.48155897514155765,0.4141542395736155,0.71338606911949],"aabb_xy":[[0.4165589751072549,0.3674535628932883],[0.5465589751758604,0.46085491625394287]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.4278847034463539,-1.3837367713836204,0.71338606911949],"aabb_xy":[[-0.45785226035617954,-1.4137367716815061],[-0.3979171465365282,-1.3537367710857346]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.5373110172531537,-0.7836568913195805,0.71338606911949],"aabb_xy":[[0.4473110175299794,-0.8067302438547602],[0.6273110169763277,-0.7605835387844005]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.018719385165475555,1.0146961812782531,0.71338606911949],"aabb_xy":[[0.005568139194186192,0.9896961815215668],[0.031870631136764915,1.0396961810349399]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.5028239812917501,-0.2779741642831235,0.71338606911949],"aabb_xy":[[0.4388239819975819,-0.3419603046519777],[0.5668239805859183,-0.2139880239142693]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[-0.02347678129915798,0.4412976273319944,0.71338606911949],"aabb_xy":[[-0.027180042628296843,0.43759560902327654],[-0.019773519970019107,0.44499964564071226]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.5268136682235427,-2.071884488237392,0.71338606911949],"aabb_xy":[[0.4628136696369701,-2.118891451636901],[0.590813666810115,-2.0248775248378834]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.292569700633679,1.5511935984568122,0.71338606911949],"aabb_xy":[[-0.32756969890379883,1.5441194707618238],[-0.257569702363559,1.5582677261518]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.1258033446487723,-2.4879474619934596,0.71338606911949],"aabb_xy":[[0.03580334605430238,-2.5041980483068813],[0.21580334324324227,-2.471696875680039]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.6776562762580314,-0.32276250021512354,0.71338606911949],"aabb_xy":[[0.6732256469031913,-0.32821087194980614],[0.6820869056128717,-0.31731412848044094]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[0.5724353882441555,-0.9075603813929245,0.71338606911949],"aabb_xy":[[0.5224511525359782,-0.9575603802064201],[0.6224196239523326,-0.8575603825794289]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.3861915343649212,1.6883488509076208,0.71338606911949],"aabb_xy":[[-0.4402071306468212,1.6243488480153634],[-0.3321759380830212,1.7523488537998777]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.6777274042356334,-2.519939586100415,0.71338606911949],"aabb_xy":[[0.6736114541235606,-2.5240551411332595],[0.6818433543477059,-2.5158240310675684]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.6700989284620186,0.8761516755095715,0.71338606911949],"aabb_xy":[[-0.6813439840326364,0.8649098777854763],[-0.6588538728914007,0.8873934732336669]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.09335806684887038,1.1638654548408929,0.71338606911949],"aabb_xy":[[-0.1279491497029156,1.0988654545558616],[-0.05876698399482517,1.2288654551259237]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[0.28978243639077306,-1.4739819963019734,0.71338606911949],"aabb_xy":[[0.27310530039767755,-1.4906819202759034],[0.30645957238386856,-1.4572820723280429]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.49563354850997565,-1.6067116829872097,0.71338606911949],"aabb_xy":[[0.40563355200910384,-1.652623325405668],[0.5856335450108473,-1.5608000405687514]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[-0.19138858839634054,0.7809940060814875,0.71338606911949],"aabb_xy":[[-0.20655146137327768,0.7658285487863689],[-0.1762257154194035,0.7961594633766064]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.22501234404101667,1.0646993429160148,0.71338606911949],"aabb_xy":[[-0.2299116363475801,1.037022423613446],[-0.2201130517344531,1.0923762622185835]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.2522158925093484,1.3970808321330188,0.71338606911949],"aabb_xy":[[0.1972421704730155,1.3420808325687856],[0.3071896145456813,1.452080831697252]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.38023008018158677,-1.735470849256306,0.71338606911949],"aabb_xy":[[-0.43023007882750797,-1.7853903929157686],[-0.3302300815356656,-1.6855513055968439]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[-0.1940892372596974,1.2415285805417575,0.71338606911949],"aabb_xy":[[-0.20208272705497948,1.233530448601282],[-0.1860957474644154,1.2495267124822331]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6752284166290683,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8177.png","name":"8177"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8177.png","name":"8177"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9314.png","name":"9314"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7158.png","name":"7158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2773.png","name":"2773"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4028.png","name":"4028"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":766.1574518056266,"rotation_z_degrees":255.89244796142086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01947791667496489,-0.018062371381673988,-0.0036890742840651643]},{"name":"camera_2","offset_m":[-0.006998634142045801,0.017938800219740734,-0.014433919183031456]},{"name":"camera_3","offset_m":[-0.018746946702859906,-0.018200708754246377,-0.017997392802051634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002558564343112964,-0.0008793481654029191,0.0015088652751947037],"end_effector_yaw_offset_degrees":-0.15772859700206388},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005874329987254423,-0.00039203027645051724,0.0004566461960667707],"end_effector_yaw_offset_degrees":0.03696277060547759},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001763333141052684,-0.0011820146901616786,-0.001392342911954121],"end_effector_yaw_offset_degrees":0.750111270188744},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[8.124582370499459e-05,0.00047582319103295486,-0.0009609429088900758],"end_effector_yaw_offset_degrees":-0.4558675469741571},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011548496516171998,0.0003315694628313634,0.00042023633077067695],"end_effector_yaw_offset_degrees":-0.1827333319076867},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0007792569144432862,0.001489915797944212,-0.0011606005142161817],"end_effector_yaw_offset_degrees":-0.7802292676233793}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004989844971782442,-0.002587495077399582],"position_m":[0.30928984497178247,-0.03308749507739958,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001845169233812307,-0.0037972961410690643],"position_m":[0.2368451692338123,-0.37739729614106904,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0015986588255862437,0.0016844642323692125],"position_m":[0.2990986588255862,0.3081844642323692,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004663127442842669,0.004847977759559591],"position_m":[0.3149631274428427,0.08734797775955959,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"06a7d6d626d264ef8d6cfc5a0c350242af5993520fa22fbf5907a561afe66cee","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8177/tex_ceiling_textures_4028/tex_floor_textures_2773/tex_table_textures_9314/tex_wall_textures_7158","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2982235108378727822,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2982235108378727822,"visual_seed":2982235108378727822,"scene_id":"lab_003","finished_at":"2026-09-08T19:02:16"}
+{"episode_id":"ep_000065","started_at":"2026-09-08T19:02:24","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.07958095447299784,1.1192960890963297,0.71338606911949],"aabb_xy":[[0.021950485585726983,1.0592960901696187],[0.13721142336026868,1.1792960880230399]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.0027276779110314564,-1.6919302191227004,0.71338606911949],"aabb_xy":[[-0.06127231848454162,-1.755893507541434],[0.06672767430660453,-1.6279669307039668]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.6782828273080104,-2.0362118063493746,0.71338606911949],"aabb_xy":[[0.6550009851098789,-2.1212118076466027],[0.7015646695061416,-1.9512118050521468]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.1244663368310649,-2.0117280465916614,0.71338606911949],"aabb_xy":[[-0.188466340120773,-2.0550629655955786],[-0.06046633354135678,-1.9683931275877435]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.2950696129882935,-1.5578848873940898,0.71338606911949],"aabb_xy":[[0.24506961354809786,-1.6078528118784061],[0.3450696124284891,-1.5079169629097735]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.4703078644461376,0.296415216852719,0.71338606911949],"aabb_xy":[[0.43351323132123126,0.2595093417561367],[0.5071024975710439,0.33332109194930126]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.5606475938456956,0.18408063159944765,0.71338606911949],"aabb_xy":[[-0.6106407059548876,0.13408063092525202],[-0.5106544817365039,0.2340806322736433]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.6328388117446292,0.005109154870561294,0.71338606911949],"aabb_xy":[[-0.6653005126265564,-0.02502367724434132],[-0.6003771108627015,0.0352419869854639]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.4788438916469726,-0.07435041438219248,0.71338606911949],"aabb_xy":[[0.4700418363379999,-0.08216174053712154],[0.4876459469559453,-0.06653908822726338]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.09348472876329605,1.6676373701317453,0.71338606911949],"aabb_xy":[[0.028484727806168838,1.6156891581980397],[0.15848472972042324,1.7195855820654509]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.6699809015143194,0.6045512214377342,0.71338606911949],"aabb_xy":[[0.6349809032441995,0.5974770937427459],[0.7049808997844393,0.6116253491327223]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.5227107171890064,-1.3131835271261363,0.71338606911949],"aabb_xy":[[0.5111417364420698,-1.338183527243068],[0.534279697935943,-1.2881835270092046]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.5964869691584296,-0.32130872456487625,0.71338606911949],"aabb_xy":[[0.5114869707410064,-0.4061830200271612],[0.6814869675758528,-0.23643442910259127]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.4493332641341511,-1.6733922522644384,0.71338606911949],"aabb_xy":[[-0.49931621432163037,-1.7233922519069984],[-0.3993503139466717,-1.6233922526218776]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.0579147533113904,-1.345991638617047,0.71338606911949],"aabb_xy":[[-0.13791475656923335,-1.425988146409031],[0.022085249946452556,-1.265995130825063]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.37028436655848007,-0.9269028716329313,0.71338606911949],"aabb_xy":[[0.3208039453445213,-0.9909028695457832],[0.41976478777243886,-0.8629028737200796]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.5326572892103645,-2.366087284062789,0.71338606911949],"aabb_xy":[[0.5229012997011905,-2.3758498181220236],[0.5424132787195383,-2.3563247500035547]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.09569263698249109,-2.2734061285963785,0.71338606911949],"aabb_xy":[[-0.10165917592322687,-2.2793672732557426],[-0.0897260980417553,-2.2674449839370143]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[-0.1685636046664304,0.895508655927566,0.71338606911949],"aabb_xy":[[-0.21856360331235156,0.8455891122681036],[-0.11856360602050917,0.9454281995870284]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.2896743490096866,-1.8194017978875894,0.71338606911949],"aabb_xy":[[0.27910686935158757,-1.8299468280005977],[0.3002418286677856,-1.8088567677745806]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.23885934232407874,0.40244432582389367,0.71338606911949],"aabb_xy":[[-0.25132670043381433,0.38997900119057016],[-0.22639198421434306,0.41490965045721717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67149863896502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8614.png","name":"8614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7401.png","name":"7401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6277.png","name":"6277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8729.png","name":"8729"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":687.5049523159677,"rotation_z_degrees":84.91929043328747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011422063474756026,0.00470084561054945,0.00010896241200028522]},{"name":"camera_2","offset_m":[0.00777841869529864,0.011576806894272502,-0.012107075995879742]},{"name":"camera_3","offset_m":[-0.012901443104247689,-0.00317325780739278,0.004637277333477435]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001276185343782375,-0.0018857122048652527,-0.00025586061143220056],"end_effector_yaw_offset_degrees":0.573910238842134},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014717449741593032,0.00030838816211451294,-0.0017669555625763375],"end_effector_yaw_offset_degrees":-0.5731529478044544},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00036751133670365806,0.0014254252134145986,-0.0008688888467045018],"end_effector_yaw_offset_degrees":0.4451756183715676},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013775574909039032,0.0011358632031529211,-0.0018593921718528077],"end_effector_yaw_offset_degrees":0.022856980540889138},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00012213550328160324,-0.00026307504739546644,-0.0006518092157110095],"end_effector_yaw_offset_degrees":-0.61666509609657},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001239978382329347,-0.0013934942913668982,0.0014365710201128664],"end_effector_yaw_offset_degrees":0.964354802556606}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020244802170347933,0.0001842353420327611],"position_m":[0.30227551978296524,-0.030315764657967238,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027267534935604834,0.004252114917758939],"position_m":[0.23772675349356048,-0.36934788508224103,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0035592674234373985,-0.003572546213590038],"position_m":[0.30105926742343736,0.30292745378640995,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003052286517450373,-0.002362302727498076],"position_m":[0.3133522865174504,0.08013769727250193,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a3202c6c3f009bed309fc21689f8bc504e675581da18d7a28a78ba64d2730d05","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8041/tex_ceiling_textures_8729/tex_floor_textures_6277/tex_table_textures_8614/tex_wall_textures_7401","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6420786626934575744,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6420786626934575744,"visual_seed":6420786626934575744,"scene_id":"lab_003","finished_at":"2026-09-08T19:10:01"}
+{"episode_id":"ep_000066","started_at":"2026-09-08T19:10:09","dimensions":{"distractor":{"count":25,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.6051868357754182,0.288782801493777,0.71338606911949],"aabb_xy":[[0.5979045193987543,0.19878279788426792],[0.6124691521520816,0.3787828051032859]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.5182469092880858,0.6938040352955692,0.71338606911949],"aabb_xy":[[-0.598246906447661,0.6822564343377521],[-0.4382469121285104,0.7053516362533861]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.17998238958749257,-2.5035440145545627,0.71338606911949],"aabb_xy":[[0.14248238977045902,-2.5081822258657045],[0.21748238940452613,-2.498905803243421]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.13526345084994762,-0.8059299315731598,0.71338606911949],"aabb_xy":[[0.07026345229287478,-0.8356824649870425],[0.20026344940702046,-0.7761773981592772]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.4275257790371847,-1.0062626003445576,0.71338606911949],"aabb_xy":[[0.42344762113013495,-1.010343580592821],[0.43160393694423443,-1.0021816200962943]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[0.15612304567658286,1.6115111522018766,0.71338606911949],"aabb_xy":[[0.07612304701969685,1.5970062932776137],[0.23612304433346887,1.6260160111261395]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.31153575571446807,1.1709289647012837,0.71338606911949],"aabb_xy":[[-0.3755357559749389,1.125920165348356],[-0.24753575545399728,1.215937764054212]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.6462371922065531,1.6598374998329626,0.71338606911949],"aabb_xy":[[0.5812371921722503,1.6131368231526353],[0.7112371922408558,1.7065381765132899]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.05360193680085201,-1.732943151534736,0.71338606911949],"aabb_xy":[[-0.10360121196928818,-1.7829431528106832],[-0.003602661632415849,-1.6829431502587888]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[-0.11860028056482508,1.3529289919193879,0.71338606911949],"aabb_xy":[[-0.17359253120033602,1.2979289901760753],[-0.06360802992931414,1.4079289936627009]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.58987885440615,-0.07990871913994324,0.71338606911949],"aabb_xy":[[0.5548788561360299,-0.0869828468349314],[0.6248788526762697,-0.07283459144495508]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.03059333739105108,0.34137760514532767,0.71338606911949],"aabb_xy":[[-0.04322012467824743,0.33183153144375477],[-0.01796655010385473,0.35092367884690057]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[-0.6232232972031477,-2.134899442470289,0.71338606911949],"aabb_xy":[[-0.6607232979951431,-2.1412672834284794],[-0.5857232964111522,-2.128531601512099]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.5374090660246134,-1.2682158515369437,0.71338606911949],"aabb_xy":[[-0.5599090662681288,-1.2804204861967157],[-0.514909065781098,-1.2560112168771718]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.20189432989743006,-1.5142421273132598,0.71338606911949],"aabb_xy":[[0.1673032470433848,-1.5792421275982909],[0.23648541275147525,-1.4492421270282287]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.3404053961352347,0.6047680824065584,0.71338606911949],"aabb_xy":[[0.31851564854629383,0.5147680851173093],[0.36229514372417543,0.6947680796958076]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.012495018974500116,-1.9565365196138336,0.71338606911949],"aabb_xy":[[-0.04750498087206667,-2.013355141806872],[0.0724950188210669,-1.8997178974207947]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.5451243378904327,-2.1861749391235135,0.71338606911949],"aabb_xy":[[0.5350426308118591,-2.2661749370156277],[0.555206044969006,-2.1061749412313984]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[-0.3981813077962413,1.5699941799188193,0.71338606911949],"aabb_xy":[[-0.4054250738424866,1.489994181715217],[-0.39093754174999595,1.6499941781224217]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.5233700952804043,-2.438811237330783,0.71338606911949],"aabb_xy":[[0.494720762919988,-2.467456796607858],[0.5520194276408205,-2.4101656780537066]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.1955486473653446,-2.0126422676428133,0.71338606911949],"aabb_xy":[[0.1580486487897238,-2.0253785633063712],[0.23304864594096542,-1.9999059719792556]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.26757215676398416,0.4563765987201833,0.71338606911949],"aabb_xy":[[0.2541256301299408,0.44290674706709204],[0.2810186833980275,0.4698464503732745]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.11792225071534923,1.594873507603682,0.71338606911949],"aabb_xy":[[-0.14043594253880642,1.5248735070026742],[-0.09540855889189202,1.6648735082046893]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.48893807539037537,1.4122007266015557,0.71338606911949],"aabb_xy":[[0.4461713685109551,1.3482007231797533],[0.5317047822697956,1.4762007300233582]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.6541739279175731,-1.1481950650730994,0.71338606911949],"aabb_xy":[[0.6480793000294548,-1.1567644596247681],[0.6602685558056914,-1.1396256705214307]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.675808331031328,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3327.png","name":"3327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3327.png","name":"3327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5290.png","name":"5290"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3659.png","name":"3659"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1667.png","name":"1667"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5564.png","name":"5564"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":512.5310238003503,"rotation_z_degrees":161.96065635435573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0055207211042619005,0.0147085466461357,-0.01874297950311752]},{"name":"camera_2","offset_m":[0.012049719224697195,0.019649486633729712,0.017865435142203897]},{"name":"camera_3","offset_m":[-0.013382624619787457,-0.019771860908903177,0.006827223348103616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004513809426181488,-0.0015557435870899097,0.001166632018066487],"end_effector_yaw_offset_degrees":-0.5616678590277042},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013223766886740669,0.0014689724457044766,0.0005726385966245582],"end_effector_yaw_offset_degrees":0.14474031693280254},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014284022782920305,0.0005627025793187384,-6.296132046860765e-05],"end_effector_yaw_offset_degrees":-0.9834024581915537},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0003933213510820769,-0.001971025160500554,0.0018041225915399021],"end_effector_yaw_offset_degrees":-0.47911300166061177},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018294319035056872,-0.001208415955843507,0.001156695127025615],"end_effector_yaw_offset_degrees":-0.08599440456774787},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003273564386403751,-0.0014287573911883347,-0.0009593384484197992],"end_effector_yaw_offset_degrees":-0.3170969220008226}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002862826866347443,0.003885210203303637],"position_m":[0.30716282686634744,-0.02661478979669636,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003767622453323392,-0.001973877313337208],"position_m":[0.2387676224533234,-0.3755738773133372,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004980434487394439,-0.001370734523553129],"position_m":[0.29251956551260555,0.30512926547644686,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012277444881913782,0.0006228307746134563],"position_m":[0.31152774448819137,0.08312283077461347,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2b13cfcc31dbf90fd44f857b79acea14dea1171c0d075bc73cac8fe5f2ea5006","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3327/tex_ceiling_textures_5564/tex_floor_textures_1667/tex_table_textures_5290/tex_wall_textures_3659","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":917353280498680867,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":917353280498680867,"visual_seed":917353280498680867,"scene_id":"lab_003","finished_at":"2026-09-08T19:18:34"}
+{"episode_id":"ep_000067","started_at":"2026-09-08T19:18:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[0.13616237635260164,1.4884167624599614,0.71338606911949],"aabb_xy":[[0.0661623799426398,1.4679788268082792],[0.20616237276256338,1.5088546981116426]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.00810093995315464,1.054052839457949,0.71338606911949],"aabb_xy":[[-0.09810093967632881,1.0309794869227689],[0.08189905977001953,1.0771261919931285]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.588585176784858,-0.4957254277352874,0.71338606911949],"aabb_xy":[[0.5512539002596154,-0.5303784825301396],[0.6259164533101006,-0.46107237294043507]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.5412333159818439,-2.24484884635612,0.71338606911949],"aabb_xy":[[0.4712333138504142,-2.267610811981815],[0.6112333181132733,-2.222086880730424]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.12591301093329066,-1.0169990743788035,0.71338606911949],"aabb_xy":[[-0.1810382165628814,-1.0769990758200905],[-0.07078780530369987,-0.9569990729375163]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.6444953675021343,-1.4245528830452523,0.71338606911949],"aabb_xy":[[-0.6645537791153746,-1.4446179699544095],[-0.624436955888894,-1.4044877961360946]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.4183005862214298,1.4014784124457211,0.71338606911949],"aabb_xy":[[-0.46330058768765864,1.3564785555842407],[-0.3733005847552009,1.446478269307202]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[0.5314115729672044,1.1879530818242547,0.71338606911949],"aabb_xy":[[0.45141157595295645,1.1678185301508435],[0.6114115699814524,1.208087633497666]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.4179861484974148,1.6201995740603183,0.71338606911949],"aabb_xy":[[0.40882626955353824,1.6136683560167813],[0.42714602744129143,1.6267307921038554]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.12171747277439471,-2.014535582490905,0.71338606911949],"aabb_xy":[[-0.12971096256967674,-2.022533714431381],[-0.11372398297911268,-2.0065374505504296]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.6128900063027771,-2.13640159541553,0.71338606911949],"aabb_xy":[[-0.6503900074875698,-2.14081981811159],[-0.5753900051179842,-2.131983372719469]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.6695701676761255,-1.0406103597459067,0.71338606911949],"aabb_xy":[[-0.6914599152650663,-1.1306103570351556],[-0.6476804200871847,-0.9506103624566574]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.21474262627542157,1.2650727615640882,0.71338606911949],"aabb_xy":[[-0.2647426272945569,1.2286065458262603],[-0.1647426252562863,1.3015389773019161]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.00258301684834894,-2.533409543213409,0.71338606911949],"aabb_xy":[[-0.05255608238086441,-2.583409543025942],[0.04739004868416653,-2.4834095434008763]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.4283095652831679,1.332083157360651,0.71338606911949],"aabb_xy":[[0.3783321484179142,1.2820831558714023],[0.47828698214842136,1.3820831588498994]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.5751290725709342,-2.06932779141453,0.71338606911949],"aabb_xy":[[0.5401290726749152,-2.0777020269264694],[0.6101290724669529,-2.0609535559025893]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.01775528045229524,-1.7268784238691273,0.71338606911949],"aabb_xy":[[-0.06224472097783196,-1.8063955788817365],[0.09775528188242244,-1.6473612688565176]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.29341314734539314,0.5438065311297038,0.71338606911949],"aabb_xy":[[0.2589507999472513,0.5093126487318809],[0.3278754947435349,0.5783004135275263]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.576939598273387,-1.7978528052935783,0.71338606911949],"aabb_xy":[[-0.6019395974390201,-1.8048050509989344],[-0.5519395991077539,-1.7909005595882213]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[-0.44401258559038104,-0.699514520585627,0.71338606911949],"aabb_xy":[[-0.4665125861024215,-0.7220063789510253],[-0.42151258507834033,-0.6770226622202286]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.06038585849542266,1.696196899789641,0.71338606911949],"aabb_xy":[[0.03654964085481761,1.6061968989811548],[0.08422207613602774,1.7861969005981277]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.656611855994107,0.651219618227155,0.71338606911949],"aabb_xy":[[0.618066163168906,0.6126738471709664],[0.695157548819308,0.6897653892833436]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.4912008305506873,-2.2721800780469885,0.71338606911949],"aabb_xy":[[-0.4993144852240644,-2.2802858945010174],[-0.4830871758773102,-2.2640742615929597]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.60634465991574,-0.2846200851328544,0.71338606911949],"aabb_xy":[[0.546344659407887,-0.34146681881877566],[0.6663446604235929,-0.2277733514469331]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[0.562052490398611,-0.951454147351791,0.71338606911949],"aabb_xy":[[0.5277555793808704,-0.9857510335617322],[0.5963494014163515,-0.9171572611418496]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[-0.6457452539293215,1.6701323475789063,0.71338606911949],"aabb_xy":[[-0.6867631973156924,1.6201323469479494],[-0.6047273105429506,1.720132348209864]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_26","position":[0.47722951026773197,-1.208832112115233,0.71338606911949],"aabb_xy":[[0.4639985647330506,-1.2220595311372322],[0.4904604558024132,-1.1956046930932334]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[-0.40095636313210314,-1.4940976793951006,0.71338606911949],"aabb_xy":[[-0.4509563627084379,-1.5440782583472068],[-0.3509563635557685,-1.444117100442995]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_28","position":[-0.5635558435657666,-0.9417162073876346,0.71338606911949],"aabb_xy":[[-0.5981469264198116,-1.0067162076726655],[-0.5289647607117212,-0.8767162071026035]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_29","position":[-0.2537993096133142,-0.864989031148319,0.71338606911949],"aabb_xy":[[-0.3237993112155937,-0.8784218243499767],[-0.18379930801103472,-0.8515562379466616]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_30","position":[-0.4291229621716655,-1.6938016574218384,0.71338606911949],"aabb_xy":[[-0.4666229626690237,-1.6977703409699572],[-0.3916229616743072,-1.6898329738737201]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_31","position":[0.6272488228234634,-1.76867324544413,0.71338606911949],"aabb_xy":[[0.5672488229768966,-1.8254918676371688],[0.6872488226700302,-1.7118546232510914]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_32","position":[-0.0033994910447939786,0.9617535986570731,0.71338606911949],"aabb_xy":[[-0.08339949211791431,0.9519755523196888],[0.07660051002832635,0.9715316449944577]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_33","position":[-0.28407562828777233,-0.43817520721043257,0.71338606911949],"aabb_xy":[[-0.2941573353663458,-0.5181752051025472],[-0.27399392120919885,-0.35817520931831787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6736629861534987,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4375.png","name":"4375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4375.png","name":"4375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2153.png","name":"2153"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4568.png","name":"4568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3911.png","name":"3911"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":583.8979692560137,"rotation_z_degrees":29.047715254384286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002396192160488836,-0.016106294797035313,-0.015970413544439302]},{"name":"camera_2","offset_m":[0.004225473440343897,0.00017409452997488306,-0.018629491172090666]},{"name":"camera_3","offset_m":[-0.003129475132148389,0.013264239264049366,0.009977994460844068]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016168879674157617,0.0016333967892219778,-0.0003226648290203507],"end_effector_yaw_offset_degrees":0.9129708961007872},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019016187376249094,-0.0009179643704116795,0.0005228725187265766],"end_effector_yaw_offset_degrees":-0.895639297556915},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010093484154655458,5.48127233885266e-05,0.001600440682228857],"end_effector_yaw_offset_degrees":0.07640184197955469},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013629683746989247,0.0006922039078641326,0.0016360423377411947],"end_effector_yaw_offset_degrees":0.16281591975159526},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00043254023070535665,0.0016870023696543145,0.0005861848773301313],"end_effector_yaw_offset_degrees":0.6609341372347073},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013598993759049898,7.61941912291301e-05,-0.0009382080069831153],"end_effector_yaw_offset_degrees":0.36586171526728606}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033735558027983216,-0.0011719623367007935],"position_m":[0.3009264441972017,-0.03167196233670079,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-4.333750723190411e-05,-0.0037967980884776884],"position_m":[0.2349566624927681,-0.3773967980884777,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0028829168307265883,0.0016184613891286797],"position_m":[0.2946170831692734,0.3081184613891287,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003931829113740219,-0.003212207308599583],"position_m":[0.31423182911374026,0.07928779269140042,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7605677f83cba6e77a70e9402066683e7c353436a1194b299861774a5be18ddb","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4375/tex_ceiling_textures_6046/tex_floor_textures_3911/tex_table_textures_2153/tex_wall_textures_4568","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":611701976825264454,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":611701976825264454,"visual_seed":611701976825264454,"scene_id":"lab_003","finished_at":"2026-09-08T19:26:23"}
+{"episode_id":"ep_000068","started_at":"2026-09-08T19:26:30","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.23623725424515318,1.5786813505870065,0.71338606911949],"aabb_xy":[[0.19873725272952142,1.5674545775708613],[0.27373725576078484,1.5899081236031514]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[0.43942139456452556,-2.0960266646380163,0.71338606911949],"aabb_xy":[[0.3744213966828778,-2.147150328344557],[0.5044213924461735,-2.0449030009314755]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.4660832248740501,-0.7490429822712357,0.71338606911949],"aabb_xy":[[0.3860832234439228,-0.8285601372838451],[0.5460832263041773,-0.6695258272586262]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.5477936677717068,1.679765708143624,0.71338606911949],"aabb_xy":[[0.4677936706121315,1.6682181071858069],[0.6277936649312821,1.691313309101441]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.535007945918855,-0.14701900282032287,0.71338606911949],"aabb_xy":[[0.4750079442759332,-0.19901915211226706],[0.5950079475617769,-0.09501885352837869]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[-0.015241364386386347,1.4911319741137867,0.71338606911949],"aabb_xy":[[-0.02868789102042968,1.4776621224606954],[-0.0017948377523430148,1.504601825766878]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.5261886852605157,0.49870587819203926,0.71338606911949],"aabb_xy":[[-0.5626845058877944,0.4622219357652817],[-0.4896928646332369,0.5351898206187968]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.07972762046485427,0.6222154010114029,0.71338606911949],"aabb_xy":[[0.04222761996749602,0.6182467174632845],[0.11722762096221251,0.6261840845595213]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.14542846893022143,1.463657793415757,0.71338606911949],"aabb_xy":[[-0.19542847021406137,1.413678939025135],[-0.09542846764638145,1.5136366478063792]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.490906204641842,-2.411828350471494,0.71338606911949],"aabb_xy":[[0.4409062036227067,-2.448294566209322],[0.5409062056609772,-2.375362134733666]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[0.5230839236482625,0.6063657316918274,0.71338606911949],"aabb_xy":[[0.4590839244784926,0.5595990445728649],[0.5870839228180325,0.6531324188107899]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.33310549414945384,-1.3274945710068413,0.71338606911949],"aabb_xy":[[-0.37587220102887403,-1.3914945744286438],[-0.29033878727003365,-1.2634945675850389]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.07403144607149181,-2.1911604586861206,0.71338606911949],"aabb_xy":[[-0.0848719242980067,-2.208346739976769],[-0.0631909678449769,-2.1739741773954715]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.28593370936106355,-1.5554126518808065,0.71338606911949],"aabb_xy":[[-0.3359337103115963,-1.5869617988843276],[-0.23593370841053068,-1.5238635048772848]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[0.5971086202336022,1.3963088199821816,0.71338606911949],"aabb_xy":[[0.5371086203870353,1.339490197789143],[0.6571086200801689,1.4531274421752203]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.46375226970986194,-0.3772179065956367,0.71338606911949],"aabb_xy":[[-0.4739052852640112,-0.41328744816837687],[-0.45359925415571245,-0.34114836502289625]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[-0.38332948507518516,0.09431837804938104,0.71338606911949],"aabb_xy":[[-0.447329485335656,0.04930957869645302],[-0.31932948481471435,0.13932717740230902]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.62843632705682,1.15658806396157,0.71338606911949],"aabb_xy":[[-0.692436323484142,1.1094184401394735],[-0.5644363306294982,1.2037576877836664]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.5616534563489081,-1.579324264252509,0.71338606911949],"aabb_xy":[[-0.5835432039378489,-1.6693242615417578],[-0.5397637087599673,-1.4893242669632596]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.32870727855355336,-0.47857874796995636,0.71338606911949],"aabb_xy":[[-0.3367506384795085,-0.5635787490653228],[-0.32066391862759813,-0.39357874687458994]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.2124489651280646,1.141639496634712,0.71338606911949],"aabb_xy":[[-0.2184155040688004,1.135678351975348],[-0.20648242618732882,1.1476006412940762]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.6406630701067071,-0.3005928200404129,0.71338606911949],"aabb_xy":[[0.6231163751905882,-0.33809282160466414],[0.658209765022826,-0.2630928184761616]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[-0.46701045866908264,1.7444321634149733,0.71338606911949],"aabb_xy":[[-0.47164557382131594,1.7405648283378243],[-0.4623753435168492,1.7482994984921219]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.298814350045134,-1.0864294176793559,0.71338606911949],"aabb_xy":[[0.20881435062676307,-1.1198049145235456],[0.38881434946350485,-1.0530539208351661]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[-0.6132778833600273,-1.0946465213765937,0.71338606911949],"aabb_xy":[[-0.6478689662140725,-1.1596465216616245],[-0.5786868005059821,-1.0296465210915624]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[-0.45846657082068015,-0.1590329673499178,0.71338606911949],"aabb_xy":[[-0.4628972001755204,-0.16448133908460041],[-0.45403594146584003,-0.15358459561523521]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[0.48455534712916637,0.7315319880064086,0.71338606911949],"aabb_xy":[[0.47370374088029077,0.7206726972787576],[0.49540695337804197,0.7423912787340596]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[0.163491426621171,-0.6749327722885126,0.71338606911949],"aabb_xy":[[0.07349143012029923,-0.7208444147069707],[0.2534914231220427,-0.6290211298700542]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[-0.33336285486414763,-1.9207043284991434,0.71338606911949],"aabb_xy":[[-0.37190854768934867,-1.9592500995553321],[-0.2948171620389466,-1.8821585574429547]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[-0.06498678560706439,1.275438796744996,0.71338606911949],"aabb_xy":[[-0.08319260926831207,1.2644133961630044],[-0.04678096194581671,1.2864641973269877]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_30","position":[0.19578277870626593,-1.56269435674339,0.71338606911949],"aabb_xy":[[0.1646358598626828,-1.6326943554301971],[0.22692969754984904,-1.4926943580565828]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_31","position":[0.6945408692071877,0.3901701559647526,0.71338606911949],"aabb_xy":[[0.6853809902633111,0.3836389379212155],[0.7037007481510643,0.39670137400828953]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_32","position":[0.4586733492608759,-1.5290178741634155,0.71338606911949],"aabb_xy":[[0.4525787213727576,-1.5375872687150844],[0.46476797714899426,-1.520448479611747]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6753185740762041,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1695.png","name":"1695"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9893.png","name":"9893"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8820.png","name":"8820"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1327.png","name":"1327"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":673.7747378116082,"rotation_z_degrees":43.43179154802136,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01992833070090722,-0.0032457635405915355,0.006983248700050359]},{"name":"camera_2","offset_m":[0.016334543534941213,0.0053648680109185005,-0.008451850927594009]},{"name":"camera_3","offset_m":[0.014147326153910681,-0.01818981601887528,-0.011805814433048338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001973360911247412,0.0002956593549424658,-0.0014306680280182726],"end_effector_yaw_offset_degrees":0.46608792165189783},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001519028803859259,-0.0010972204868980734,0.0015414258949930414],"end_effector_yaw_offset_degrees":0.11743192296936189},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00118560280821995,-0.0017027130891703096,0.001273741864324158],"end_effector_yaw_offset_degrees":0.9992855384580461},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009213530050557707,6.367252062937064e-05,-0.00023896583574194033],"end_effector_yaw_offset_degrees":0.20565508191590953},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00018538851893604006,-0.0002929057053659089,-0.000600774120320104],"end_effector_yaw_offset_degrees":0.18311569161014396},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014042865371445027,-0.00036936391076390195,0.0016468311384404337],"end_effector_yaw_offset_degrees":-0.014745109149324254}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003988441446720121,-0.0028735560520005933],"position_m":[0.30828844144672013,-0.03337355605200059,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026541166496148686,-0.002756171700957422],"position_m":[0.23765411664961486,-0.3763561717009574,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0038532594777736587,0.0015976475092721884],"position_m":[0.29364674052222633,0.3080976475092722,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029047544670593294,0.0004017453720863099],"position_m":[0.3073952455329407,0.08290174537208632,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6a7b77e4c5d51b723b415000aa403cae30174dffbd3a70af0e7599c8f2f81aed","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5964/tex_ceiling_textures_1327/tex_floor_textures_8820/tex_table_textures_1695/tex_wall_textures_9893","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1336735538043908688,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1336735538043908688,"visual_seed":1336735538043908688,"scene_id":"lab_003","finished_at":"2026-09-08T19:34:31"}
+{"episode_id":"ep_000069","started_at":"2026-09-08T19:34:38","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.0694291712631202,1.4613553859684498,0.71338606911949],"aabb_xy":[[-0.10592499189039893,1.4248714435416923],[-0.03293335063584145,1.4978393283952074]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.004915515031069684,-0.7876788729410196,0.71338606911949],"aabb_xy":[[-0.05008448459067616,-0.8426625657284924],[0.05991551465281553,-0.732695180153547]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[-0.044230142405280226,0.9208110049301488,0.71338606911949],"aabb_xy":[[-0.07770930966632117,0.8873318915590418],[-0.010750975144239297,0.9542901183012558]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.3082249851803672,0.4027594952870648,0.71338606911949],"aabb_xy":[[-0.31785662140079673,0.3931221825073558],[-0.2985933489599375,0.41239680806677365]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.32731545571579224,1.5012825442369713,0.71338606911949],"aabb_xy":[[-0.35846237455937535,1.4312825455501639],[-0.2961685368722091,1.5712825429237782]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.13541234892297216,1.0759203603651133,0.71338606911949],"aabb_xy":[[-0.1729123490285651,1.069098198512132],[-0.09791234881737919,1.0827425222180942]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.666286649096417,-1.641670942329869,0.71338606911949],"aabb_xy":[[0.631824301698275,-1.6761648247276912],[0.7007489964945586,-1.6071770599320458]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.34004164744248055,0.5780193234885016,0.71338606911949],"aabb_xy":[[0.276041645099679,0.533078472244369],[0.4040416497852821,0.622960174732634]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.5772800905442933,0.5667385324700667,0.71338606911949],"aabb_xy":[[-0.5809833518734321,0.5630365141613488],[-0.5735768292151543,0.5704405507787845]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.2540275121213826,-2.1027799239862675,0.71338606911949],"aabb_xy":[[-0.27170314270998086,-2.1204601402656698],[-0.23635188153278422,-2.0850997077068643]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.2380024554561747,-1.2604745204562184,0.71338606911949],"aabb_xy":[[0.21609377331682358,-1.2823751872763092],[0.25991113759552564,-1.2385738536361277]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.5497934106558071,-2.2477535014598673,0.71338606911949],"aabb_xy":[[0.5463527344157499,-2.2516149344342318],[0.5532340868958643,-2.243892068485503]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.1769856962226496,-1.4909708167915738,0.71338606911949],"aabb_xy":[[0.11298569911054387,-1.5400031865859845],[0.24098569333475525,-1.4419384469971632]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.1441920348272493,-0.738699154371552,0.71338606911949],"aabb_xy":[[-0.19419203648874403,-0.7886975966272546],[-0.09419203316575452,-0.6887007121158492]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.5585714555057311,1.2321866445249494,0.71338606911949],"aabb_xy":[[0.5135714540395023,1.1871867876634687],[0.60357145697196,1.27718650138643]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.6011615265873747,0.762222691841123,0.71338606911949],"aabb_xy":[[0.5924475575374399,0.7397226911819347],[0.6098754956373089,0.7847226925003111]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.3217357249549316,-0.8235105422444291,0.71338606911949],"aabb_xy":[[-0.38332648417892445,-0.8875105403534761],[-0.2601449657309388,-0.7595105441353823]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.20617087380218374,-1.8914072341517072,0.71338606911949],"aabb_xy":[[-0.23117087296781685,-1.8983594798570638],[-0.18117087463655063,-1.8844549884463506]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.0013299165906265342,-1.434681938485316,0.71338606911949],"aabb_xy":[[-0.020559830998314262,-1.5246819357745651],[0.02321966417956733,-1.3446819411960669]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.45665566800010726,0.5950704423577524,0.71338606911949],"aabb_xy":[[0.44508668725317074,0.5700704422408207],[0.4682246487470439,0.6200704424746841]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.18608630622214695,-2.2175398881000965,0.71338606911949],"aabb_xy":[[0.131094055586636,-2.2725398898434093],[0.24107855685765792,-2.1625398863567837]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.13804324463236384,-1.706158055871262,0.71338606911949],"aabb_xy":[[0.1299998847064087,-1.7911580569666283],[0.14608660455831904,-1.6211580547758955]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[0.6138053611860417,-0.32582832717689003,0.71338606911949],"aabb_xy":[[0.5677202699313102,-0.38982832442944515],[0.6598904524407732,-0.2618283299243349]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.48348590781822587,-1.8850717570458349,0.71338606911949],"aabb_xy":[[-0.5334859088373612,-1.9215379727836632],[-0.4334859067990907,-1.8486055413080074]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[-0.3000404886942309,-0.13273072651926787,0.71338606911949],"aabb_xy":[[-0.33754048919158913,-0.13669941006738626],[-0.26254048819687265,-0.12876204297114943]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[-0.37986590783999025,-1.2837804159499093,0.71338606911949],"aabb_xy":[[-0.42983920184325064,-1.3337804165044567],[-0.32989261383672974,-1.233780415395362]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_26","position":[0.4390933179157477,-1.495774757511758,0.71338606911949],"aabb_xy":[[0.40869520681660404,-1.526181659513427],[0.4694914290148912,-1.465367855510088]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[-0.5634942215704103,-0.8151622962255318,0.71338606911949],"aabb_xy":[[-0.6175098178523102,-0.8791622991177889],[-0.5094786252885102,-0.7511622933332746]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[0.5238935343042983,-1.650919212728708,0.71338606911949],"aabb_xy":[[0.5013943985780714,-1.6734192135069708],[0.5463926700305254,-1.6284192119504448]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_29","position":[-0.0950711813535684,-2.5169646805406622,0.71338606911949],"aabb_xy":[[-0.1590711786559148,-2.5613311075085186],[-0.031071184051222,-2.472598253572805]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[0.5804233884390442,-0.7430934898805175,0.71338606911949],"aabb_xy":[[0.5731621408686367,-0.755880500144027],[0.5876846360094516,-0.730306479617008]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_31","position":[-0.18229364815821725,-2.161820586523508,0.71338606911949],"aabb_xy":[[-0.18957596453488085,-2.251820590133016],[-0.17501133178155354,-2.071820582913998]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_32","position":[-0.4922916996085175,-1.0859348026232765,0.71338606911949],"aabb_xy":[[-0.5375703144896666,-1.1499348019714601],[-0.44701308472736817,-1.0219348032750928]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6761176698985855,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3102.png","name":"3102"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3102.png","name":"3102"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8080.png","name":"8080"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/16.png","name":"16"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":538.6824326226046,"rotation_z_degrees":36.552339946606,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034321405175672705,-0.0029956130727381777,-0.0052629327829252365]},{"name":"camera_2","offset_m":[0.013097466501739399,0.006116514021758987,-0.019299659547452833]},{"name":"camera_3","offset_m":[0.0014107808293115538,-0.0033840873219677867,0.0038661259000486274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001370809556261924,-0.0013930223222219317,0.0019399284887800308],"end_effector_yaw_offset_degrees":0.961336813195742},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000403951600253686,-0.0010098947166858516,0.0019418920118678892],"end_effector_yaw_offset_degrees":-0.23849159105756157},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001942783287168397,0.0006085406332481946,0.00010190903580488495],"end_effector_yaw_offset_degrees":-0.6302156304833613},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005460561094204146,-0.0018634514534751543,-0.0019183348414034277],"end_effector_yaw_offset_degrees":0.23817856554063144},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010391513666691953,-0.0014588278531713996,-0.0003854242872973236],"end_effector_yaw_offset_degrees":0.9047225617447667},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014557494099743623,-0.0004164102061833864,-0.0005375969237273086],"end_effector_yaw_offset_degrees":-0.7365745143588831}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023634826315924373,0.003555068110393197],"position_m":[0.30666348263159243,-0.026944931889606803,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003147963821587289,-0.0034541362595122893],"position_m":[0.2381479638215873,-0.3770541362595123,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001983839743428354,-0.00024092688522326083],"position_m":[0.29948383974342835,0.30625907311477674,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006580286029003578,-0.0025674423428887674],"position_m":[0.3109580286029004,0.07993255765711124,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"dceed1afdc96549f30fe6d30e659a52e18b001af1a2ba83884a20e82700d9467","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3102/tex_ceiling_textures_818/tex_floor_textures_16/tex_table_textures_372/tex_wall_textures_8080","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5141291090638530075,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5141291090638530075,"visual_seed":5141291090638530075,"scene_id":"lab_003","finished_at":"2026-09-08T19:42:29"}
+{"episode_id":"ep_000070","started_at":"2026-09-08T19:42:36","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.3076837481027688,0.12187496348840687,0.71338606911949],"aabb_xy":[[-0.3326837472684019,0.11492271778305033],[-0.28268374893713566,0.12882720919376348]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.20858860059557105,1.502996693582293,0.71338606911949],"aabb_xy":[[0.16330998571442182,1.4389966942341093],[0.2538672154767203,1.5669966929304766]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.5848945449050921,0.08348562733471976,0.71338606911949],"aabb_xy":[[-0.6488945422074383,0.039119200366863005],[-0.5208945476027455,0.1278520543025765]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.6637730552379362,-0.2847379213927015,0.71338606911949],"aabb_xy":[[0.60377305464192,-0.33955039393792497],[0.7237730558339524,-0.229925448847478]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.5484921239882128,-0.39831423632091933,0.71338606911949],"aabb_xy":[[-0.6124921232823811,-0.4623003766897735],[-0.4844921246940447,-0.3343280959520651]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.05824594682013329,-1.1580926613264533,0.71338606911949],"aabb_xy":[[-0.10822336368538686,-1.2080926628157016],[-0.008268529954879698,-1.1080926598372045]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.3335721766555133,-2.256216041454846,0.71338606911949],"aabb_xy":[[0.26957217806894085,-2.3032230048543547],[0.39757217524208577,-2.2092090780553373]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.026755819831827954,-1.8451810491918268,0.71338606911949],"aabb_xy":[[0.009209124915709022,-1.8826810507560783],[0.044302514747946886,-1.8076810476275758]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.16965627985611198,-2.143615900102988,0.71338606911949],"aabb_xy":[[0.1616199451548271,-2.151654019407405],[0.1776926145573968,-2.135577780798571]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.4948345611744971,1.0126892623205426,0.71338606911949],"aabb_xy":[[-0.5186707788151022,0.9226892615120563],[-0.4709983435338921,1.1026892631290293]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[-0.4649178896786576,-1.9132222803266774,0.71338606911949],"aabb_xy":[[-0.5249178905394705,-1.9646487103331636],[-0.4049178888178448,-1.8617958503201908]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.19667790877628,-1.8555650116104268,0.71338606911949],"aabb_xy":[[0.17418148734241592,-1.8780650114171742],[0.21917433021014412,-1.8330650118036793]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[-0.3632284150544017,-0.8815933672264982,0.71338606911949],"aabb_xy":[[-0.3882284146061401,-0.8917358510916328],[-0.33822841550266314,-0.8714508833613633]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.19689116146945768,-1.3094619122535773,0.71338606911949],"aabb_xy":[[-0.2343911616413296,-1.3421626476364845],[-0.1593911612975857,-1.2767611768706701]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.09499498126291306,-1.2689757554867949,0.71338606911949],"aabb_xy":[[-0.09963009641514643,-1.2728430905639432],[-0.09035986611067966,-1.265108420409646]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.16791250620482656,-2.340169414228562,0.71338606911949],"aabb_xy":[[0.15041250595977718,-2.3576692020681285],[0.18541250644987595,-2.3226696263889948]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.5529233442855852,-2.022707237617407,0.71338606911949],"aabb_xy":[[0.47292334569826583,-2.102022839555568],[0.6329233428729046,-1.9433916356792464]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.4912369472785686,1.495416544352048,0.71338606911949],"aabb_xy":[[-0.5287369475707433,1.4913750689514442],[-0.4537369469863937,1.4994580197526512]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.015782009288357046,1.6571726839007925,0.71338606911949],"aabb_xy":[[-0.03828200953187244,1.6449680492410204],[0.006717990955158345,1.6693773185605643]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.6365499836301214,1.4806306187324219,0.71338606911949],"aabb_xy":[[0.5715499825241781,1.4556652456642938],[0.7015499847360647,1.5055959918005504]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.18999073782609333,0.477673813585036,0.71338606911949],"aabb_xy":[[-0.21245550779749844,0.4551738127061755],[-0.1675259678546882,0.5001738144638965]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.2370325235903556,-2.539934393900153,0.71338606911949],"aabb_xy":[[-0.24516021178366884,-2.548848002310861],[-0.2289048353970424,-2.5310207854894453]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_22","position":[0.48472294433732777,1.5674733891474042,0.71338606911949],"aabb_xy":[[0.4147229425285824,1.5461196203832168],[0.5547229461460732,1.5888271579115916]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[0.45160441658939554,1.1876415579144632,0.71338606911949],"aabb_xy":[[0.36660441817197226,1.1027672624521783],[0.5366044150068188,1.2725158533767482]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.2544986156215459,0.8738182834405475,0.71338606911949],"aabb_xy":[[-0.30449861426746705,0.8238987397810851],[-0.20449861697562466,0.9237378271000098]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[0.6416858098138558,1.0163796832060847,0.71338606911949],"aabb_xy":[[0.6344420437676105,0.9363796850024824],[0.6489295758601011,1.0963796814096871]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[-0.25891375378885373,-0.6017392484577051,0.71338606911949],"aabb_xy":[[-0.26762772283878816,-0.6242392491168931],[-0.2501997847389192,-0.5792392477985167]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[-0.5483226281323341,-0.7332910179741432,0.71338606911949],"aabb_xy":[[-0.5532219204388976,-0.760967937276712],[-0.5434233358257706,-0.7056140986715744]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[-0.31026014580294603,-0.4354838304189954,0.71338606911949],"aabb_xy":[[-0.37526014676007324,-0.487432042352701],[-0.24526014484581884,-0.38353561848528983]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_29","position":[0.09540166675385886,1.2046736258513668,0.71338606911949],"aabb_xy":[[0.01040166806178422,1.1726877624564878],[0.1804016654459335,1.2366594892462455]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_30","position":[-0.5802114992133818,1.0105889980021252,0.71338606911949],"aabb_xy":[[-0.5930834027143219,0.930588997588289],[-0.5673395957124416,1.0905889984159611]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_31","position":[0.43181090691495605,-0.6890805773889221,0.71338606911949],"aabb_xy":[[0.3718109064071031,-0.7459273110748434],[0.491810907422809,-0.6322338437030008]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700213254021687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6694.png","name":"6694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7897.png","name":"7897"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7426.png","name":"7426"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1962.png","name":"1962"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":619.1775406618121,"rotation_z_degrees":292.81835244090695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004985196380551006,0.0009083248313451579,-0.012134944205822885]},{"name":"camera_2","offset_m":[-0.015559320487282927,0.011865750704477953,-0.010404663500770534]},{"name":"camera_3","offset_m":[0.014434929577494978,0.007351857990858433,-0.006350808881457115]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009219899105098847,0.0009023972717941012,0.0004926859370584795],"end_effector_yaw_offset_degrees":0.10874856556761947},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003292589559425552,-0.0009174808939941431,0.001609918837791349],"end_effector_yaw_offset_degrees":0.33176105528664923},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011030299398416515,-0.0009498134434828924,-0.0005056646099137504],"end_effector_yaw_offset_degrees":0.8495358036804264},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001980388671657435,0.001851954385113643,0.0016056760991968598],"end_effector_yaw_offset_degrees":0.6069421491379765},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001503663229060728,0.00010358005655134676,-0.000676821886377902],"end_effector_yaw_offset_degrees":0.0778661332720203},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014162769407860868,0.0017970438495479384,-9.814433568898235e-05],"end_effector_yaw_offset_degrees":0.4867926343854303}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002098980080547522,0.004951860024856518],"position_m":[0.30409010199194525,-0.02554813997514348,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000793131669230048,0.0016169020359629175],"position_m":[0.23420686833076995,-0.37198309796403706,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0049862679590456415,0.001403081837391019],"position_m":[0.30248626795904565,0.307903081837391,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00419286273294895,0.004264970017931915],"position_m":[0.3061071372670511,0.08676497001793192,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a9820a6993f7b6a88536eabfb12533abd21dcf932f65171489016bbec8054d17","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6694/tex_ceiling_textures_1962/tex_floor_textures_7844/tex_table_textures_7897/tex_wall_textures_7426","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2183374461206291464,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2183374461206291464,"visual_seed":2183374461206291464,"scene_id":"lab_003","finished_at":"2026-09-08T19:50:38"}
+{"episode_id":"ep_000071","started_at":"2026-09-08T19:50:46","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[-0.4913731924932099,0.7729146606659718,0.71338606911949],"aabb_xy":[[-0.5288731909166102,0.7597504466981411],[-0.4538731940698095,0.7860788746338023]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.04432449095211288,1.181338467319852,0.71338606911949],"aabb_xy":[[-0.12432449142232885,1.1730277597055039],[0.03567550951810307,1.1896491749342004]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.0363736852789186,-0.7633080206911889,0.71338606911949],"aabb_xy":[[-0.027626317063882955,-0.8082488719353214],[0.10037368762172016,-0.7183671694470564]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[0.6228383191282183,-1.034824331326177,0.71338606911949],"aabb_xy":[[0.5678460684927075,-1.08982433306949],[0.6778305697637294,-0.9798243295828644]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.2619428333804321,0.9370280958486137,0.71338606911949],"aabb_xy":[[-0.272783311606947,0.9198418145579648],[-0.2511023551539172,0.9542143771392624]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[-0.40364024907139695,1.5815565740461595,0.71338606911949],"aabb_xy":[[-0.43864024826421516,1.570589528048497],[-0.36864024987857863,1.592523620043822]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.3862222503729378,-1.4375204424826054,0.71338606911949],"aabb_xy":[[0.38132295806637423,-1.4651973617851741],[0.3911215426795012,-1.4098435231800366]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[-0.35936258578180696,-0.8843310646152112,0.71338606911949],"aabb_xy":[[-0.36747624045518407,-0.8924368810692402],[-0.35124893110842986,-0.8762252481611821]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_8","position":[-0.5946703164833416,1.6099231211509717,0.71338606911949],"aabb_xy":[[-0.6182554399472364,1.54492311890554],[-0.5710851930194467,1.6749231233964035]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.04086235686740103,-1.0979863753821815,0.71338606911949],"aabb_xy":[[-0.05836235711245041,-1.115486163221748],[-0.02336235662235164,-1.0804865875426144]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.05105432306156854,-0.9027974196646567,0.71338606911949],"aabb_xy":[[0.006061736343118129,-0.9477974189391053],[0.09604690978001895,-0.8577974203902078]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.3023947411614669,1.3800979638725686,0.71338606911949],"aabb_xy":[[0.2223947431806819,1.3724964229107166],[0.38239473914225197,1.3876995048344205]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.11913630264992858,0.13814688705495515,0.71338606911949],"aabb_xy":[[-0.1295478613304123,0.13280115371905668],[-0.10872474396944486,0.14349262039085361]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.6539405895306953,-0.31384154589422764,0.71338606911949],"aabb_xy":[[0.631426897707238,-0.3838415464952351],[0.6764542813541524,-0.24384154529322005]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.3359091271222965,-0.8315892531033822,0.71338606911949],"aabb_xy":[[-0.3405442422745298,-0.8354565881805308],[-0.33127401197006306,-0.8277219180262335]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.21629231615596056,-2.4776374767105382,0.71338606911949],"aabb_xy":[[-0.2408385317787113,-2.5078863732595753],[-0.19174610053320987,-2.447388580161501]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.601785414282551,0.6557029562550003,0.71338606911949],"aabb_xy":[[0.5467922029454142,0.6007029559162067],[0.6567786256196877,0.7107029565937939]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[0.2431599047264359,-1.1133838460399805,0.71338606911949],"aabb_xy":[[0.17315990291769046,-1.134737614804168],[0.31315990653518133,-1.0920300772757932]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[0.2761056855558436,-2.381934009698564,0.71338606911949],"aabb_xy":[[0.22610641038740742,-2.431934010974511],[0.32610496072427975,-2.3319340084226168]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.24602938259347795,-1.6605476691157244,0.71338606911949],"aabb_xy":[[-0.2795085498545189,-1.6940267824868318],[-0.21255021533243704,-1.6270685557446178]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.1828572718766901,1.0326845016143396,0.71338606911949],"aabb_xy":[[-0.207857271809208,1.0258018333934162],[-0.1578572719441722,1.0395671698352629]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.04659039391685804,-1.2400576165365782,0.71338606911949],"aabb_xy":[[-0.07492010386539827,-1.2445183587302953],[-0.01826068396831782,-1.2355968743428611]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.5113344823513997,1.0090273678935002,0.71338606911949],"aabb_xy":[[-0.5282452147877413,0.9955551623008856],[-0.49442374991505783,1.0224995734861146]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[0.6576130317334239,1.3393706455217562,0.71338606911949],"aabb_xy":[[0.6488990626834892,1.3168706448625678],[0.6663270007833582,1.3618706461809442]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.5471267268951978,-1.9102369966029817,0.71338606911949],"aabb_xy":[[0.47712672529291833,-1.9236697898046398],[0.6171267284974773,-1.8968042034013246]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[0.03458193125061404,-2.124862484652206,0.71338606911949],"aabb_xy":[[0.013303923107141784,-2.1898624869782792],[0.05585993939408628,-2.059862482326133]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.3604778886541897,0.7111637842004845,0.71338606911949],"aabb_xy":[[0.3326328518735826,0.6803792854621729],[0.38832292543479685,0.7419482829387962]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[-0.13653009179737396,-1.0945947677464123,0.71338606911949],"aabb_xy":[[-0.15902651323123806,-1.1170947675531597],[-0.11403367036350986,-1.0720947679396648]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6768708877243682,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2441.png","name":"2441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2441.png","name":"2441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6961.png","name":"6961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5211.png","name":"5211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2667.png","name":"2667"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/903.png","name":"903"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.5186633629957,"rotation_z_degrees":155.95171904413814,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010947017928409694,-0.013103652225110531,0.010725000371227401]},{"name":"camera_2","offset_m":[0.0019181814133906877,0.003648711901156544,-0.013699696538348665]},{"name":"camera_3","offset_m":[-0.0176353200694679,-0.017338565975785557,0.01594082967622928]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004444401813792787,-0.0006590425643244547,0.0012804507058470382],"end_effector_yaw_offset_degrees":-0.810572418326575},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.301141713521778e-05,-0.0019688434863713933,-0.0006238603889744531],"end_effector_yaw_offset_degrees":0.19195625488914003},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.4279468663242236e-05,-0.001308296683571777,0.0013232366364802598],"end_effector_yaw_offset_degrees":-0.9269765682794668},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005485510595673797,-0.0019632686585169586,0.0005707572821791415],"end_effector_yaw_offset_degrees":-0.1455945684988611},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008033166600867211,-0.00026412610137261164,0.00019706864544265798],"end_effector_yaw_offset_degrees":0.12049594898296423},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001651248860275606,-0.0003559196954867252,-0.0013073358323415548],"end_effector_yaw_offset_degrees":0.28918837102753714}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019856322440822624,-0.002120941156838616],"position_m":[0.3062856322440823,-0.03262094115683861,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004118229977647069,-0.0033601119127595978],"position_m":[0.23911822997764706,-0.3769601119127596,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004362182425109373,0.0035167473534887],"position_m":[0.30186218242510937,0.3100167473534887,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013671036717652929,-0.0038481790280473693],"position_m":[0.30893289632823473,0.07865182097195264,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ce5e3130af3a9f90dd92c1ef2fdbd470fba6277868fd58c72476dca83c049754","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2441/tex_ceiling_textures_903/tex_floor_textures_2667/tex_table_textures_6961/tex_wall_textures_5211","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":8632579038905547850,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":8632579038905547850,"visual_seed":8632579038905547850,"scene_id":"lab_003","finished_at":"2026-09-08T19:58:35"}
+{"episode_id":"ep_000072","started_at":"2026-09-08T19:58:42","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.04677792930665581,-2.2167010108954326,0.71338606911949],"aabb_xy":[[-0.08177792928315164,-2.2261656269430494],[-0.011777929330159975,-2.2072363948478158]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.4366493337173491,-0.7524664079754553,0.71338606911949],"aabb_xy":[[-0.500649336935987,-0.7991895198744635],[-0.37264933049871124,-0.7057432960764468]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.1292313308202654,-0.753030474344516,0.71338606911949],"aabb_xy":[[-0.13898732032943928,-0.7627930084037503],[-0.1194753413110915,-0.7432679402852814]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.03704758542704911,-1.75059574435114,0.71338606911949],"aabb_xy":[[-0.10104758570102734,-1.800661844548428],[0.026952414846929118,-1.700529644153852]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.11123850462438767,0.6345052801310773,0.71338606911949],"aabb_xy":[[-0.1752385068447947,0.5901321960057891],[-0.04723850240398063,0.6788783642563657]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[-0.4668314418836811,-1.3863017362139736,0.71338606911949],"aabb_xy":[[-0.5168143920711603,-1.4363017358565338],[-0.41684849169620175,-1.336301736571413]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.5185468057542131,0.07795969299377603,0.71338606911949],"aabb_xy":[[-0.5825468061317467,0.028214426142963767],[-0.45454680537667946,0.1277049598445883]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.11526567954412126,1.4962061371334534,0.71338606911949],"aabb_xy":[[-0.14391501190453748,1.4675605778563774],[-0.08661634718370502,1.524851696410529]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.43716957562658054,1.3488999907548131,0.71338606911949],"aabb_xy":[[-0.4714664866443211,1.3146031045448716],[-0.40287266460883986,1.3831968769647542]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.17878233748429528,-2.0018259090803565,0.71338606911949],"aabb_xy":[[-0.18963394373317086,-2.0126851998080078],[-0.16793073123541966,-1.9909666183527055]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.1763207056773708,1.6030620259090118,0.71338606911949],"aabb_xy":[[0.15380701385391357,1.533062025308004],[0.19883439750082796,1.6730620265100191]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.5000983541536788,-1.9850955967485553,0.71338606911949],"aabb_xy":[[-0.5300659110635044,-2.0150955970464413],[-0.4701307972438531,-1.9550955964506695]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.1307581702736913,-0.9252395813344996,0.71338606911949],"aabb_xy":[[-0.1380194178440987,-0.9380265915980093],[-0.12349692270328388,-0.9124525710709903]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.21170536217036018,-0.6111036603412878,0.71338606911949],"aabb_xy":[[0.17924366128843267,-0.6412364924561903],[0.24416706305228758,-0.5809708282263851]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.6148964466911204,-0.9108592804306348,0.71338606911949],"aabb_xy":[[-0.6516910798160266,-0.9477651555272171],[-0.578101813566214,-0.8739534053340525]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.13987375483346187,1.3372712254591819,0.71338606911949],"aabb_xy":[[-0.17335292209450284,1.303792112088075],[-0.10639458757242096,1.370750338830289]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.32801276158948833,0.45969394858827606,0.71338606911949],"aabb_xy":[[0.32255481595246827,0.3796939452806169],[0.3334707072265084,0.5396939518959352]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[0.2747847802064277,-2.1080112159139404,0.71338606911949],"aabb_xy":[[0.22481171467391226,-2.1580112157264737],[0.3247578457389432,-2.058011216101408]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.38615955523571416,-2.2015225402217196,0.71338606911949],"aabb_xy":[[-0.42470524806091514,-2.2400683112779083],[-0.34761386241051306,-2.162976769165531]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.1203578395234518,1.720043093987385,0.71338606911949],"aabb_xy":[[-0.1616066505533665,1.6650430944751673],[-0.07910902849353706,1.7750430934996022]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[-0.34732562434114633,0.32988014340859184,0.71338606911949],"aabb_xy":[[-0.3554392790145234,0.32177432695456276],[-0.3392119696677692,0.3379859598626209]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_21","position":[-0.27823791994519687,-1.768585257424096,0.71338606911949],"aabb_xy":[[-0.2847395564532015,-1.7783530794504059],[-0.27173628343719225,-1.7588174353977863]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.08710947611466813,1.711233543527825,0.71338606911949],"aabb_xy":[[0.06682517339126935,1.690950918385116],[0.10739377883806688,1.7315161686705336]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.6695574785763105,-2.0032238617230194,0.71338606911949],"aabb_xy":[[0.6145574793997209,-2.0582135364979766],[0.7245574777528999,-1.9482341869480613]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[-0.12747461832640128,0.4654142614142085,0.71338606911949],"aabb_xy":[[-0.15247461787813976,0.4552717775490738],[-0.1024746187746628,0.4755567452793432]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6729398154484841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9309.png","name":"9309"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4212.png","name":"4212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7482.png","name":"7482"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/556.png","name":"556"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":796.7418531135438,"rotation_z_degrees":323.78970051035617,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009793481177871955,0.005031234027315031,-0.0027014460321464727]},{"name":"camera_2","offset_m":[-0.004249043767885735,0.00021488517489739664,0.004106176296532808]},{"name":"camera_3","offset_m":[-0.017314111782766647,-0.0044113886721524,-0.019372396436431218]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019480766122325884,0.0009966597432983443,0.0006350695439775542],"end_effector_yaw_offset_degrees":0.6006008580414872},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009449824380059874,-0.00021127327231426434,-0.0007550992182922892],"end_effector_yaw_offset_degrees":-0.6259094370230429},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001854154236799162,0.00023879758141554484,0.0006579296959684307],"end_effector_yaw_offset_degrees":-0.6860288795432907},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006425413453718925,-0.0006290089086956124,0.0015540229038206945],"end_effector_yaw_offset_degrees":0.5084511106403724},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0002177688439711071,0.0005038007603415211,-0.0006135591301284378],"end_effector_yaw_offset_degrees":-0.4569178801941782},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0001614986030445795,0.0017137211835344533,0.0005159151011955242],"end_effector_yaw_offset_degrees":0.11701857019409023}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004965998662601559,-0.004761749103533967],"position_m":[0.30926599866260157,-0.03526174910353397,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011938058461237878,-0.004205718350518335],"position_m":[0.2338061941538762,-0.37780571835051835,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.000656114011073362,-0.004938916918508966],"position_m":[0.29684388598892664,0.30156108308149104,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002688974557863042,-0.002374979004455843],"position_m":[0.307611025442137,0.08012502099554417,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"fbb3366b93c54ae2d94b4f70d1a9021cf2d9d2c0ea8d764d59229eb575d8ed4f","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7219/tex_ceiling_textures_556/tex_floor_textures_7482/tex_table_textures_9309/tex_wall_textures_4212","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2790378362366498847,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2790378362366498847,"visual_seed":2790378362366498847,"scene_id":"lab_003","finished_at":"2026-09-08T20:06:41"}
+{"episode_id":"ep_000073","started_at":"2026-09-08T20:06:49","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[0.580474824470393,-1.9707207741775314,0.71338606911949],"aabb_xy":[[0.5104748218338065,-1.9908256391733967],[0.6504748271069792,-1.9506159091816657]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.14819951348194327,1.2140210986405844,0.71338606911949],"aabb_xy":[[0.09822621947868279,1.164021098086037],[0.1981728074852037,1.2640210991951317]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.18992979308418356,-1.9591921382195183,0.71338606911949],"aabb_xy":[[0.18171524796849953,-1.9678687285171594],[0.1981443381998675,-1.9505155479218768]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.5155979878756407,-0.5524429257349466,0.71338606911949],"aabb_xy":[[0.5021514612415974,-0.5659127773880378],[0.529044514509684,-0.5389730740818554]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.4067016476073857,-0.6436108759548989,0.71338606911949],"aabb_xy":[[-0.4867016478809927,-0.7165604237806156],[-0.3267016473337787,-0.5706613281291821]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.31420995944889746,0.49117387499882303,0.71338606911949],"aabb_xy":[[-0.33920995938141535,0.48429120677789983],[-0.28920995951637957,0.49805654321974646]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.35473384948081305,0.723963020986484,0.71338606911949],"aabb_xy":[[-0.36177530043156064,0.7169362692486896],[-0.34769239853006545,0.7309897727242787]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[0.06814706373931123,-2.3043133461541276,0.71338606911949],"aabb_xy":[[0.057241287651748504,-2.384313342552957],[0.07905283982687393,-2.2243133497552985]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.18883363833980182,0.6826318484040961,0.71338606911949],"aabb_xy":[[0.1388336387634671,0.6326512694519901],[0.23883363791613654,0.732612427356202]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.40964306059918165,1.7163588469790514,0.71338606911949],"aabb_xy":[[0.3746430622884862,1.7086438320555057],[0.4446430589098771,1.724073861902597]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.013600709654388532,1.275923523671998,0.71338606911949],"aabb_xy":[[-0.02389929045120442,1.2691013618190168],[0.05110070975998148,1.282745685524979]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.18494706764018265,1.399197456088873,0.71338606911949],"aabb_xy":[[0.11994706668305545,1.3472492441551671],[0.24994706859730986,1.4511456680225783]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.15868830877620177,-1.3623979049724466,0.71338606911949],"aabb_xy":[[-0.19460181320119144,-1.3983114131892014],[-0.12277480435121206,-1.3264843967556923]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.3113044878740129,1.798751790999654,0.71338606911949],"aabb_xy":[[-0.3192277681127612,1.7762517907616506],[-0.30338120763526455,1.8212517912376573]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.3215912612772775,-0.15894852806519877,0.71338606911949],"aabb_xy":[[-0.32622637642951086,-0.1628158631423474],[-0.316956146125044,-0.1550811929880501]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[0.6388064537617146,0.34547233464920035,0.71338606911949],"aabb_xy":[[0.5960397468822944,0.2814723312273979],[0.6815731606411348,0.4094723380710028]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.5295236627824309,-1.1441009361714665,0.71338606911949],"aabb_xy":[[0.4655236654800845,-1.1884673631393232],[0.5935236600847773,-1.0997345092036097]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.4132797871255491,0.7587014050906618,0.71338606911949],"aabb_xy":[[-0.42139344179892624,0.7505955886366326],[-0.40516613245217203,0.7668072215446907]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.053909467505181,-0.10478901018291698,0.71338606911949],"aabb_xy":[[-0.06907234048211809,-0.11995446747803575],[-0.03874659452824392,-0.08962355288779822]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.019247155979817854,-1.1893211126775722,0.71338606911949],"aabb_xy":[[-0.0010371467435809076,-1.2096037378202809],[0.03953145870321661,-1.1690384875348632]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.09395143157705244,0.7904060271737827,0.71338606911949],"aabb_xy":[[-0.09885072388361592,0.7627291078712138],[-0.08905213927048893,0.8180829464763514]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.07084723199178655,-1.5105653137662447,0.71338606911949],"aabb_xy":[[0.06285324341408315,-1.5185653938613346],[0.07884122056948993,-1.502565233671154]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[0.41224757923870126,-0.43630486310798444,0.71338606911949],"aabb_xy":[[0.39964488010162486,-0.44890025933285],[0.42485027837577777,-0.423709466883119]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.5274168533856547,1.162469112980523,0.71338606911949],"aabb_xy":[[-0.5524168525512878,1.1555168672751663],[-0.5024168542200216,1.1694213586858795]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[-0.43706574794744735,-2.2155353166957825,0.71338606911949],"aabb_xy":[[-0.4595657481909627,-2.2277399513555545],[-0.4145657477039319,-2.2033306820360106]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.6663370592603342,0.9802212657285292,0.71338606911949],"aabb_xy":[[0.6485435523254177,0.9624215201327315],[0.6841305661952506,0.9980210113243269]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[-0.15714272446574606,0.4379518084050793,0.71338606911949],"aabb_xy":[[-0.1620987446506273,0.41545180820295774],[-0.1521867042808649,0.460451808607201]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.3863308558132519,-0.5942746748918528,0.71338606911949],"aabb_xy":[[0.36274573234935703,-0.6592746771372847],[0.40991597927714674,-0.5292746726464211]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[0.6275885870530538,-2.3685661438334376,0.71338606911949],"aabb_xy":[[0.5475885890722687,-2.376167684795289],[0.7075885850338388,-2.360964602871585]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[-0.26041419841656877,0.17813318451488547,0.71338606911949],"aabb_xy":[[-0.26455005474926896,0.1406331850705285],[-0.25627834208386857,0.2156331839592425]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.35093260473412213,0.6777994706136936,0.71338606911949],"aabb_xy":[[0.31593260338264034,0.6574397346568727],[0.3859326060856038,0.6981592065705143]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_31","position":[0.1036472784576633,-1.0112902985209817,0.71338606911949],"aabb_xy":[[0.06864727848116749,-1.0207549145685983],[0.13864727843415914,-1.0018256824733651]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_32","position":[0.18300005702572741,-0.8975848838405107,0.71338606911949],"aabb_xy":[[0.16545336210960848,-0.9350848854047619],[0.20054675194184635,-0.8600848822762593]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[-0.6460170535156362,-2.305509995028631,0.71338606911949],"aabb_xy":[[-0.681017051785756,-2.3125841227236186],[-0.6110170552455162,-2.2984358673336422]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_34","position":[-0.11127970828261158,0.6341441852531338,0.71338606911949],"aabb_xy":[[-0.16627970745920106,0.579154510478176],[-0.05627970910602208,0.6891338600280913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722722445719468,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9449.png","name":"9449"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9449.png","name":"9449"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5938.png","name":"5938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3151.png","name":"3151"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4036.png","name":"4036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7874.png","name":"7874"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":579.5737976295876,"rotation_z_degrees":101.66204928546213,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011091679460121455,0.0038469788923256726,-0.0010720732287941917]},{"name":"camera_2","offset_m":[0.014776721611770637,-0.017998572628454338,0.009558572050233211]},{"name":"camera_3","offset_m":[-0.0015502227913848539,0.010747501062574737,0.002862324393700995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007897390503255547,0.001357379760576793,-0.00014975414243863444],"end_effector_yaw_offset_degrees":-0.25698306122970016},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00013193796102657532,-0.00048299496692987107,0.0012031706471122487],"end_effector_yaw_offset_degrees":0.9636016603381852},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011815434226973794,0.00036790939440626636,0.0002450548287423922],"end_effector_yaw_offset_degrees":0.6244922088240812},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00125049406618917,0.0019586902235617515,0.0010049751340647037],"end_effector_yaw_offset_degrees":0.5241037565077264},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-2.9543228469540092e-05,0.0011047193694816017,0.0005930910875482569],"end_effector_yaw_offset_degrees":-0.9279267374875544},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011833515903869932,0.0010849464914078708,0.0012615644028956203],"end_effector_yaw_offset_degrees":-0.32112642117634427}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027248064383304025,0.004857369569506521],"position_m":[0.3015751935616696,-0.025642630430493477,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003687783906314388,-0.0006945831892731513],"position_m":[0.23536877839063142,-0.3742945831892731,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0027031823849839286,0.0015314402558239968],"position_m":[0.3002031823849839,0.308031440255824,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004663987650898233,0.0009987103275094856],"position_m":[0.30563601234910176,0.0834987103275095,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0013013fb54ea9edb5f16ed4410b2315151120518677a9b2f86b55fab5c6c0f0","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9449/tex_ceiling_textures_7874/tex_floor_textures_4036/tex_table_textures_5938/tex_wall_textures_3151","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5173157106622523691,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5173157106622523691,"visual_seed":5173157106622523691,"scene_id":"lab_003","finished_at":"2026-09-08T20:14:36"}
+{"episode_id":"ep_000074","started_at":"2026-09-08T20:14:43","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.08692293942590401,-0.2544193658216014,0.71338606911949],"aabb_xy":[[-0.09484621966465234,-0.27691936605960477],[-0.07899965918715568,-0.23191936558359805]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.4946140530219043,-0.2931802780687227,0.71338606911949],"aabb_xy":[[0.429614051915961,-0.318145651136851],[0.5596140541278476,-0.2682149050005944]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.06870410907163227,0.4975786115003622,0.71338606911949],"aabb_xy":[[-0.10370410734175217,0.49050448380537404],[-0.033704110801512366,0.5046527391953504]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.467283741815053,-2.0827944614900487,0.71338606911949],"aabb_xy":[[-0.4897974336385102,-2.152794462091056],[-0.4447700499915958,-2.012794460889041]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.24164809859183434,-1.4436663419246154,0.71338606911949],"aabb_xy":[[0.21664809865931647,-1.450549010145539],[0.26664809852435223,-1.4367836737036923]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.03809632009564967,-1.2412287304250944,0.71338606911949],"aabb_xy":[[-0.05190367849882027,-1.2574793167385157],[0.12809631869011961,-1.2249781441116736]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.6511247613365987,1.747040217451031,0.71338606911949],"aabb_xy":[[-0.6670092546019238,1.7326872771522068],[-0.6352402680712735,1.761393157749855]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.3107732672809935,0.8701886356239528,0.71338606911949],"aabb_xy":[[0.3058172470961124,0.8476886354218314],[0.31572928746587475,0.8926886358260746]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.6031660854037241,1.0241342436191214,0.71338606911949],"aabb_xy":[[-0.6671660886934322,0.9807993246152037],[-0.539166082114016,1.0674691626230388]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.02591672528831057,-0.2478876992652177,0.71338606911949],"aabb_xy":[[-0.03784945965013864,-0.26026985207307707],[-0.013983990926482504,-0.23550554645735836]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.43010829059798783,-1.14524994770516,0.71338606911949],"aabb_xy":[[0.34010829087481365,-1.16832330024034],[0.520108290321162,-1.1221765951699803]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.3149206549528961,-1.9031031734153503,0.71338606911949],"aabb_xy":[[-0.33008352792983325,-1.9182686307104695],[-0.2997577819759591,-1.887937716120232]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.4167206679494708,0.9287996845569753,0.71338606911949],"aabb_xy":[[0.40859297975615766,0.9198860761462677],[0.4248483561427841,0.937713292967683]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.5055246521555099,1.5723875577292499,0.71338606911949],"aabb_xy":[[0.4415246550434042,1.5233551879348393],[0.5695246492676156,1.6214199275236605]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.3664734664462481,-1.4411096267467909,0.71338606911949],"aabb_xy":[[0.34884063085272055,-1.4587325727624139],[0.3841063020397757,-1.423486680731168]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.3103433004808709,1.0725002233071583,0.71338606911949],"aabb_xy":[[0.24634330010333727,1.022754956456346],[0.3743433008584045,1.1222454901579706]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[0.266149768386869,-1.3508575027680736,0.71338606911949],"aabb_xy":[[0.24847413779827063,-1.3685377190474763],[0.28382539897546727,-1.3331772864886708]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.3820981711972545,-0.7877671094223797,0.71338606911949],"aabb_xy":[[-0.386997463503818,-0.8154440287249483],[-0.377198878890691,-0.7600901901198107]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.3542875470332101,1.69665986735547,0.71338606911949],"aabb_xy":[[-0.37678754727672553,1.684455232695698],[-0.33178754678969474,1.708864502015242]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.5216450196830793,-2.2884921057547682,0.71338606911949],"aabb_xy":[[0.4721645984691205,-2.3524921036676205],[0.5711254408970381,-2.224492107841917]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.5697195473239938,-2.4465905268319257,0.71338606911949],"aabb_xy":[[0.47971955082312195,-2.492502169250384],[0.6597195438248654,-2.4006788844134674]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.11310571295628735,0.07523069985126485,0.71338606911949],"aabb_xy":[[-0.1506057134536456,0.07126201630314642],[-0.07560571245892912,0.07919938339938325]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.19176418991100552,-2.34397488988024,0.71338606911949],"aabb_xy":[[-0.27176419098412585,-2.3537529362176244],[-0.11176418883788519,-2.3341968435428555]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[0.5096216047292128,-1.9303757303363311,0.71338606911949],"aabb_xy":[[0.41962160239519375,-2.007858084921444],[0.5996216070632319,-1.8528933757512185]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.6457070167910779,0.2142475314117176,0.71338606911949],"aabb_xy":[[-0.658578920292018,0.13424753099788142],[-0.6328351132901378,0.2942475318255537]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[-0.08843721400835736,-2.1643136815196797,0.71338606911949],"aabb_xy":[[-0.09643120258606074,-2.17231376161477],[-0.08044322543065395,-2.1563136014245887]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[-0.5817046980647114,-2.1596989921014687,0.71338606911949],"aabb_xy":[[-0.5904186671146456,-2.182198992760656],[-0.5729907290147767,-2.1371989914422795]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[-0.5227843178057324,-0.3238031447369223,0.71338606911949],"aabb_xy":[[-0.6027843199684949,-0.40375832836306597],[-0.44278431564296994,-0.24384796111077872]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_28","position":[-0.3908793778548027,0.15095788564063728,0.71338606911949],"aabb_xy":[[-0.4408786530232389,0.10095788436469014],[-0.3408801026863666,0.20095788691658448]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[0.4774114370154976,-1.7302853137630394,0.71338606911949],"aabb_xy":[[0.4720789223608846,-1.7356096420082752],[0.4827439516701106,-1.724960985517804]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[0.06512826632345647,-1.8513461065604067,0.71338606911949],"aabb_xy":[[0.0011325689283598894,-1.9153461048611151],[0.12912396371855306,-1.7873461082596978]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.19917401014576674,-1.5917403149163896,0.71338606911949],"aabb_xy":[[-0.22167043157963084,-1.614240314723137],[-0.17667758871190264,-1.5692403151096421]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6777130223787003,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1339.png","name":"1339"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1339.png","name":"1339"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8603.png","name":"8603"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5082.png","name":"5082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3547.png","name":"3547"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8324.png","name":"8324"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":829.2722203048643,"rotation_z_degrees":157.48049135591123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0010326508676197811,0.01052562719607053,-0.01654748518420939]},{"name":"camera_2","offset_m":[-0.014795314319574843,-0.006563970223136421,0.004676183470611189]},{"name":"camera_3","offset_m":[0.0007921555847261626,-0.0012042265478486198,0.017486815375396623]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009591068529765775,0.0009552486734372505,-0.0019153189420633484],"end_effector_yaw_offset_degrees":0.3805423405637687},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002936935049172695,0.0017460170511683975,-0.001146561898464983],"end_effector_yaw_offset_degrees":0.02823844439381329},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.010955382459898e-05,-0.0013999972600524631,-0.0010406500022859429],"end_effector_yaw_offset_degrees":0.5001500278388504},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00023838826676230189,0.0009295385370316992,0.001268964795950968],"end_effector_yaw_offset_degrees":-0.863040436128159},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006449453762996851,-0.0016628680290148741,0.00045133899549826533],"end_effector_yaw_offset_degrees":-0.9872086049306772},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00047210653641676184,0.0019189080049674973,0.0002997363658244507],"end_effector_yaw_offset_degrees":-0.22077946170977292}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002945494928256601,0.002128245078376203],"position_m":[0.3072454949282566,-0.028371754921623797,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0045058075891231805,-0.0042938003806401535],"position_m":[0.23950580758912315,-0.37789380038064013,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0020851051329800964,-0.0005702307390241272],"position_m":[0.2954148948670199,0.30592976926097587,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008114261762144125,-0.0023274133964103004],"position_m":[0.3094885738237856,0.08017258660358971,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"807270cdb3d36a4e8ed05f6c24fd3bf54f78e3597ae45a43f3908ab26faf279a","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1339/tex_ceiling_textures_8324/tex_floor_textures_3547/tex_table_textures_8603/tex_wall_textures_5082","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":3902573872180067236,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":3902573872180067236,"visual_seed":3902573872180067236,"scene_id":"lab_003","finished_at":"2026-09-08T20:24:08"}
+{"episode_id":"ep_000075","started_at":"2026-09-08T20:24:16","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.24026161668570506,-1.4314957811888431,0.71338606911949],"aabb_xy":[[-0.30526161456735285,-1.482619444895384],[-0.17526161880405725,-1.3803721174823023]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[-0.3160778358674574,-0.12698783914122158,0.71338606911949],"aabb_xy":[[-0.3800778375454547,-0.1755052306205358],[-0.25207783418946,-0.07847044766190736]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.09348390805088225,-1.7407615917817743,0.71338606911949],"aabb_xy":[[0.07569040111596581,-1.758561337377572],[0.11127741498579868,-1.7229618461859766]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.5802903869050857,1.600418200695794,0.71338606911949],"aabb_xy":[[0.515290386870783,1.5537175240154668],[0.6452903869393884,1.6471188773761214]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[-0.31829605458632354,-0.9358059706946733,0.71338606911949],"aabb_xy":[[-0.3292018306738862,-1.0158059670935025],[-0.30739027849876077,-0.8558059742958442]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[0.19630659336248013,0.7304034070788972,0.71338606911949],"aabb_xy":[[0.17641555348213991,0.7177475957942003],[0.21619763324282043,0.743059218363594]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[-0.3484329007337272,-1.6100003161214702,0.71338606911949],"aabb_xy":[[-0.4084329005802939,-1.666818938314509],[-0.28843290088716034,-1.5531816939284315]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.5983682710198754,-2.3384586623739403,0.71338606911949],"aabb_xy":[[0.5343682746243024,-2.4024219507926743],[0.6623682674154485,-2.274495373955207]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.3393398992128304,0.8570949372827199,0.71338606911949],"aabb_xy":[[-0.4033398994868086,0.8070288370854319],[-0.27533989893885213,0.9071610374800079]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.10711198500899044,1.4408393779881554,0.71338606911949],"aabb_xy":[[0.07465028412706297,1.4107065458732526],[0.13957368589091787,1.4709722101030578]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[0.09367979915437874,-2.0883136284205244,0.71338606911949],"aabb_xy":[[0.08597660848030168,-2.0960229991192625],[0.10138298982845577,-2.0806042577217863]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.6303639714651126,0.342137690418157,0.71338606911949],"aabb_xy":[[-0.6479106663812315,0.30463768885390574],[-0.6128172765489937,0.37963769198240827]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.26312936518171826,0.5475652085427858,0.71338606911949],"aabb_xy":[[0.25716282624098247,0.5416040638834217],[0.26909590412245404,0.5535263532021498]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.4018972717689172,-1.1935825795241928,0.71338606911949],"aabb_xy":[[-0.4072297864235302,-1.1989069077694285],[-0.3965647571143042,-1.1882582512789575]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.5545377923426368,-0.4124656079575688,0.71338606911949],"aabb_xy":[[-0.5849359034417803,-0.44287250995923827],[-0.5241396812434931,-0.38205870595589925]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.47649454027588045,-1.4691195680049547,0.71338606911949],"aabb_xy":[[0.41649453976802747,-1.5259663016908758],[0.5364945407837333,-1.4122728343190332]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.3531247652053759,-0.4195115758367365,0.71338606911949],"aabb_xy":[[-0.36828763818231297,-0.43467703313185535],[-0.3379618922284388,-0.40434611854161784]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.3559400745391754,0.5886233258805378,0.71338606911949],"aabb_xy":[[-0.44094007323125,0.5566374624856589],[-0.2709400758471007,0.6206091892754166]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.5290826223455491,0.5875672825166944,0.71338606911949],"aabb_xy":[[0.5115826230674622,0.5702291824503486],[0.5465826216236359,0.6049053825830405]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.06425569429536893,-1.3762861833080304,0.71338606911949],"aabb_xy":[[0.04236594670642812,-1.4662861805972798],[0.08614544188430971,-1.2862861860187815]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.03699964949145185,1.5423362989617346,0.71338606911949],"aabb_xy":[[0.024532291381716198,1.5298709743284113],[0.049467007601187496,1.5548016235950584]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[-0.20102782125614754,-0.612737820352788,0.71338606911949],"aabb_xy":[[-0.24602782272237644,-0.6577376772142688],[-0.15602781978991873,-0.5677379634913075]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[0.6739251405760087,0.7984667111556831,0.71338606911949],"aabb_xy":[[0.639462662562921,0.7918030339727602],[0.7083876185890965,0.8051303883386058]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[0.14008887541432535,1.5946135763678764,0.71338606911949],"aabb_xy":[[0.13092899647044878,1.5880823583243395],[0.14924875435820198,1.6011447944114137]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.6370081148181174,0.633387871253682,0.71338606911949],"aabb_xy":[[-0.6920035926387768,0.578387869819775],[-0.582012636997458,0.6883878726875888]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[-0.5049701938543074,-0.8734163910635795,0.71338606911949],"aabb_xy":[[-0.5384493611153484,-0.9068955044346866],[-0.47149102659326647,-0.8399372776924726]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[-0.3629765183095033,0.33089810052019475,0.71338606911949],"aabb_xy":[[-0.4529765177278742,0.297522603676005],[-0.2729765188911324,0.36427359736438447]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.18126805088972442,0.17673955735424807,0.71338606911949],"aabb_xy":[[-0.2187680524053561,0.165512784338103],[-0.14376804937409268,0.1879663303703931]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[-0.5961190609113136,1.3891981480800606,0.71338606911949],"aabb_xy":[[-0.6033803084817212,1.3764111378165511],[-0.5888578133409063,1.40198515834357]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[-0.600124430047936,-1.0258155913272258,0.71338606911949],"aabb_xy":[[-0.6176244291823032,-1.0356952183648134],[-0.5826244309135689,-1.0159359642896377]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_30","position":[-0.4924952802123517,-0.14783189453684065,0.71338606911949],"aabb_xy":[[-0.5403014478261203,-0.2128318972438996],[-0.4446891125985831,-0.08283189182978169]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_31","position":[-0.07886575753460856,-2.4976141489488355,0.71338606911949],"aabb_xy":[[-0.1338657571563544,-2.552597841736308],[-0.02386575791286273,-2.4426304561613628]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684269539659105,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5427.png","name":"5427"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5427.png","name":"5427"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9076.png","name":"9076"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":779.0325466768013,"rotation_z_degrees":253.07984431461136,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014174178216017411,0.003318424199129578,-0.018787971990958257]},{"name":"camera_2","offset_m":[0.0051919532303026095,-0.005784686396543811,0.014907644695179776]},{"name":"camera_3","offset_m":[-0.00027357619082878093,-0.01936977687966136,-0.008124707667671798]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013504879188431526,-5.3633492079338194e-05,-0.0006180086471110312],"end_effector_yaw_offset_degrees":0.0740862350998781},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001335663588138861,0.001246528944410701,0.0017739059732158331],"end_effector_yaw_offset_degrees":0.7430260610448578},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00016635249689531096,0.001019790533223687,-0.0008457555019982066],"end_effector_yaw_offset_degrees":0.549297635920768},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.000538973991990291,-0.0009473729655820461,0.0009313789380184538],"end_effector_yaw_offset_degrees":-0.8781890881167589},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017400394852804956,0.0014679969635012138,0.0012212992231257626],"end_effector_yaw_offset_degrees":0.3901374062702585},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013449296710111632,0.001502098129297216,-0.001757376644429717],"end_effector_yaw_offset_degrees":-0.9282347839840728}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003145025306052076,0.0013746332196193601],"position_m":[0.3011549746939479,-0.02912536678038064,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034761282995013935,0.0004773132104528739],"position_m":[0.2315238717004986,-0.37312268678954713,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002715714470108721,-0.0004914552003703696],"position_m":[0.2947842855298913,0.30600854479962963,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016919153452040802,-0.0034953308111763384],"position_m":[0.30860808465479594,0.07900466918882366,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"12936b3d3804ef9292657fac4368d62c86983a1e9d24374f174e24958eaf373f","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5427/tex_ceiling_textures_4138/tex_floor_textures_6938/tex_table_textures_9076/tex_wall_textures_3393","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":4163417599285915837,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":4163417599285915837,"visual_seed":4163417599285915837,"scene_id":"lab_003","finished_at":"2026-09-08T20:32:09"}
+{"episode_id":"ep_000076","started_at":"2026-09-08T20:32:19","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[-0.4161838323821823,-0.6702167122682161,0.71338606911949],"aabb_xy":[[-0.42322414231571936,-0.7502167116678877],[-0.4091435224486454,-0.5902167128685448]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.5378784234706532,-1.1029159746720782,0.71338606911949],"aabb_xy":[[-0.5487841995582159,-1.1829159710709074],[-0.5269726473830905,-1.022915978273249]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[0.19211008731701262,0.717832735942054,0.71338606911949],"aabb_xy":[[0.18607307431634793,0.7118060348731058],[0.1981471003176774,0.7238594370110022]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.278398564322781,-1.5032242460122212,0.71338606911949],"aabb_xy":[[0.2083985621913514,-1.5259862116379168],[0.34839856645421047,-1.4804622803865255]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[-0.5002756528504202,-2.033722269351175,0.71338606911949],"aabb_xy":[[-0.5802756561144333,-2.0472823016600885],[-0.42027564958640706,-2.020162237042262]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[0.5874773147777337,0.8352315297748918,0.71338606911949],"aabb_xy":[[0.5723750133167154,0.8201300081438296],[0.6025796162387516,0.8503330514059533]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.24499875027372653,-1.0270399651596207,0.71338606911949],"aabb_xy":[[0.19511605339603036,-1.0770399644058954],[0.2948814471514227,-0.977039965913346]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.5518091013925335,-0.2696833854071832,0.71338606911949],"aabb_xy":[[0.4680868758924509,-0.3596833889418791],[0.6355313268926158,-0.17968338187248722]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.6113772362542134,-2.3737417099600346,0.71338606911949],"aabb_xy":[[-0.6523951796405842,-2.423741710590992],[-0.5703592928678425,-2.3237417093290773]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.6950399350092624,-2.1348332319543335,0.71338606911949],"aabb_xy":[[0.67253993519536,-2.1393078483248145],[0.7175399348231648,-2.1303586155838534]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.25719318497126264,-0.27354216842616275,0.71338606911949],"aabb_xy":[[-0.30719318633214987,-0.3235200730015783],[-0.20719318361037545,-0.2235642638507471]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.5313430028980612,-0.02625579526387023,0.71338606911949],"aabb_xy":[[0.5181120573633798,-0.03948321428586964],[0.5445739484327424,-0.013028376241870802]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[-0.17302276925744375,0.40955438821243195,0.71338606911949],"aabb_xy":[[-0.18549012736717943,0.3970890635791085],[-0.16055541114770813,0.4220197128457555]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.6620684439335063,0.5373903313235422,0.71338606911949],"aabb_xy":[[0.6442749369985898,0.5195905857277444],[0.6798619508684227,0.5551900769193397]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.1881189579400594,-1.840263271329516,0.71338606911949],"aabb_xy":[[0.13811895929413823,-1.8901828149889783],[0.23811895658598062,-1.7903437276700536]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.020239703021418753,-1.4434123487027386,0.71338606911949],"aabb_xy":[[-0.02975530793803328,-1.4934123477383305],[0.07023471398087079,-1.393412349667147]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.35897167526996404,1.1956823789114077,0.71338606911949],"aabb_xy":[[-0.381887388155014,1.1727780817749844],[-0.33605596238491414,1.2185866760478314]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.21127793278414614,0.8037128256291459,0.71338606911949],"aabb_xy":[[-0.23627793194977925,0.7967605799237891],[-0.18627793361851303,0.8106650713345023]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.38275795533508905,1.1807462036199632,0.71338606911949],"aabb_xy":[[0.37334048076522625,1.171330026482244],[0.39217542990495174,1.190162380757682]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.006194919300805624,1.2659266932978666,0.71338606911949],"aabb_xy":[[-0.05880508180513766,1.2409613202297385],[0.07119492040674891,1.290892066365995]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.42984298720236097,1.4816671114357702,0.71338606911949],"aabb_xy":[[-0.4998429836123227,1.4612291757840883],[-0.3598429907923991,1.5021050470874517]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.36924222736025536,1.6784993143884717,0.71338606911949],"aabb_xy":[[0.3387579772332252,1.6284993146069762],[0.3997264774872855,1.728499314169968]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6724167417730988,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1557.png","name":"1557"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5884.png","name":"5884"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1724.png","name":"1724"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9277.png","name":"9277"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.6963181235155,"rotation_z_degrees":343.8839074167463,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015915976491344543,-0.01263170231700107,0.007803315044368087]},{"name":"camera_2","offset_m":[0.011335140732513332,-0.006538707753463862,0.012590859817386491]},{"name":"camera_3","offset_m":[-0.0032402424012762526,0.011876392930477143,0.015046524344425844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014903786838567363,0.0011418708117745323,0.0003883411293563498],"end_effector_yaw_offset_degrees":0.9447422608676295},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010991901042003566,0.0017831097930453383,4.176877879844953e-05],"end_effector_yaw_offset_degrees":-0.9519498836248905},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001919146856013636,-0.001712801891431822,-0.0008757368649519068],"end_effector_yaw_offset_degrees":-0.7437580570553586},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00015355826278694003,0.00047466647661225433,-0.0006123555556178336],"end_effector_yaw_offset_degrees":-0.4379083910965782},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001733330838182078,-0.0009597177754274431,0.0013797235218039783],"end_effector_yaw_offset_degrees":0.8660791980550724},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008268488802713725,-1.0010280035872496e-05,3.1692414094784335e-05],"end_effector_yaw_offset_degrees":0.5925536662441253}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002807704069518445,0.004773364600416846],"position_m":[0.3071077040695185,-0.025726635399583152,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008591906221593571,-0.0027783678156249945],"position_m":[0.23414080937784063,-0.376378367815625,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0024998758527804013,0.003664911884950886],"position_m":[0.2999998758527804,0.3101649118849509,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013596273660773494,-0.0021848446760615427],"position_m":[0.30894037263392266,0.08031515532393846,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2d826292b5e074ecc7f321068c892d90e293d0f083335fb2230810546005ef02","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6868/tex_ceiling_textures_9277/tex_floor_textures_1724/tex_table_textures_1557/tex_wall_textures_5884","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":7103540808506544346,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":7103540808506544346,"visual_seed":7103540808506544346,"scene_id":"lab_003","finished_at":"2026-09-08T20:41:35"}
+{"episode_id":"ep_000077","started_at":"2026-09-08T20:41:42","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.1883572740365922,-1.6808983602389855,0.71338606911949],"aabb_xy":[[0.16384364993958633,-1.705162953541022],[0.21287089813359805,-1.656633766936949]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.282830031874882,1.2859548161735943,0.71338606911949],"aabb_xy":[[0.2493898566788623,1.252511190342664],[0.3162702070709015,1.3193984420045242]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.5056988544879673,0.7942529750868026,0.71338606911949],"aabb_xy":[[-0.540698854383986,0.7858787395748625],[-0.4706988545919483,0.8026272105987424]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.2451572740292708,-2.2794175971100112,0.71338606911949],"aabb_xy":[[0.22999440105233374,-2.29458305440513],[0.26032014700620787,-2.2642521398148925]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.6274418727813216,-1.0251323553712315,0.71338606911949],"aabb_xy":[[-0.6552869095619287,-1.0559168541095432],[-0.5995968360007145,-0.9943478566329198]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[-0.41272151073387414,0.19586945690506496,0.71338606911949],"aabb_xy":[[-0.43022151097892347,0.1783696690654981],[-0.3952215104888247,0.2133692447446318]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.1567285700399268,-2.0605400126776225,0.71338606911949],"aabb_xy":[[-0.22672857217135634,-2.0833019783033175],[-0.08672856790849726,-2.0377780470519267]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[0.0037498679032754723,-1.320817713482345,0.71338606911949],"aabb_xy":[[-0.056250132604577445,-1.3776644471682662],[0.06374986841112838,-1.2639709797964236]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[0.6411765340717583,1.5863053266196983,0.71338606911949],"aabb_xy":[[0.5771808366766615,1.5223053283189893],[0.7051722314668547,1.6503053249204067]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.23095132833566384,1.5903642447091229,0.71338606911949],"aabb_xy":[[-0.2365329999697926,1.5778642448913471],[-0.22536965670153508,1.6028642445268981]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[0.1233981964347638,-2.490025278006455,0.71338606911949],"aabb_xy":[[0.07731310518003232,-2.55402527525901],[0.16948328768949528,-2.4260252807539]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.0740751595636483,-1.1626378807320172,0.71338606911949],"aabb_xy":[[0.06608166976836627,-1.170636012672493],[0.08206864935893032,-1.1546397487915419]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.19071590625060486,-1.104190689525516,0.71338606911949],"aabb_xy":[[-0.21060694613094513,-1.116846500810213],[-0.17082486637026462,-1.0915348782408194]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[-0.01721059467770092,1.7986506190877152,0.71338606911949],"aabb_xy":[[-0.02762215335818463,1.7933048857518168],[-0.0067990359972172065,1.8039963524236136]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.23526376056752307,0.7875735104503621,0.71338606911949],"aabb_xy":[[-0.2992637608415013,0.7375074102530741],[-0.17126376029354481,0.83763961064765]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.14400283271626857,1.104952152579807,0.71338606911949],"aabb_xy":[[0.12016661507566354,1.0149521517713205],[0.16783905035687366,1.1949521533882934]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.25022809477588864,1.4031326175359955,0.71338606911949],"aabb_xy":[[-0.3142280979945265,1.3564095056369871],[-0.18622809155725079,1.4498557294350038]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[0.4063496190810132,0.16310184245599535,0.71338606911949],"aabb_xy":[[0.39700261149871796,0.14879822023835132],[0.4156966266633084,0.17740546467363938]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.02169156982511833,-2.0048287130037674,0.71338606911949],"aabb_xy":[[0.008819666324178193,-2.084828713417603],[0.03456347332605847,-1.924828712589931]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.3978717896196944,1.3876068705996678,0.71338606911949],"aabb_xy":[[0.38630280887275775,1.362606870482736],[0.4094407703666309,1.4126068707165995]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.32358592810921416,-1.6607039004343092,0.71338606911949],"aabb_xy":[[-0.40358592838282115,-1.7336534482600259],[-0.2435859278356072,-1.5877543526085924]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[-0.41169006938913355,1.6052408721379714,0.71338606911949],"aabb_xy":[[-0.4756900717319351,1.560300020893839],[-0.347690067046332,1.650181723382104]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[-0.1609177739593426,-2.2672413585015283,0.71338606911949],"aabb_xy":[[-0.19439694122038353,-2.3007204718726357],[-0.12743860669830165,-2.2337622451304218]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[0.5396071775039724,-2.0569447673093917,0.71338606911949],"aabb_xy":[[0.5160220540400775,-2.1219447695548235],[0.5631923009678672,-1.99194476506396]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[0.651454542657399,1.3303555401217517,0.71338606911949],"aabb_xy":[[0.6289897726859939,1.3078555392428912],[0.6739193126288041,1.3528555410006122]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.4708031221253486,0.48951838995231256,0.71338606911949],"aabb_xy":[[0.46637249277050846,0.48407001821763],[0.4752337514801888,0.4949667616869952]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_26","position":[-0.19747981978561507,0.09661578468542276,0.71338606911949],"aabb_xy":[[-0.2474531137888755,0.0466157841308754],[-0.1475065257823546,0.1466157852399701]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.3652404751232923,-0.9675023932087246,0.71338606911949],"aabb_xy":[[0.31024499730263283,-1.0225023946426313],[0.4202359529439516,-0.9125023917748175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6728689230159711,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8577.png","name":"8577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8577.png","name":"8577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7188.png","name":"7188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9435.png","name":"9435"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1883.png","name":"1883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9978.png","name":"9978"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":817.0910841574498,"rotation_z_degrees":155.18890721796075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004581368637281686,0.008242086854344369,0.017388564022323815]},{"name":"camera_2","offset_m":[-0.0007459309498160684,0.01883483004777851,0.017552082072232123]},{"name":"camera_3","offset_m":[0.002786224219062272,0.009966200207012329,-0.019203546309065855]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017268444510401123,0.00010470107414787058,-0.00042783501979105844],"end_effector_yaw_offset_degrees":0.6975070003105077},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018925633462771336,-9.03356076738162e-05,-0.001719450840041917],"end_effector_yaw_offset_degrees":-0.30016488006468633},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00043058142238642117,-0.0013239012344006293,-0.0012078716185575083],"end_effector_yaw_offset_degrees":0.19489469589556374},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001696864751217262,-0.00015342724501669729,-0.00023875061836713487],"end_effector_yaw_offset_degrees":-0.9817912690481709},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010443706407682373,-0.0017265349967147446,0.0007126841380247916],"end_effector_yaw_offset_degrees":-0.09087419774156968},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009577790926208393,-0.00156771998803261,-0.001972587284727153],"end_effector_yaw_offset_degrees":-0.39327591192096945}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038033002058124286,0.0016394882000219345],"position_m":[0.3004966997941876,-0.028860511799978065,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008610676127588602,-0.0035883717439065214],"position_m":[0.23413893238724112,-0.3771883717439065,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0042951667735311215,-5.978408354584408e-05],"position_m":[0.29320483322646884,0.30644021591645415,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0047156923629039635,0.0025278521904645605],"position_m":[0.315015692362904,0.08502785219046456,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e40e2907e0740c639aba7ed3fe7bc0d7ec74bb28b03e3a8050a10c96382f1401","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8577/tex_ceiling_textures_9978/tex_floor_textures_1883/tex_table_textures_7188/tex_wall_textures_9435","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":5273813931548304981,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":5273813931548304981,"visual_seed":5273813931548304981,"scene_id":"lab_003","finished_at":"2026-09-08T20:49:53"}
+{"episode_id":"ep_000078","started_at":"2026-09-08T20:50:00","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[0.3710816436374791,-0.8812867540765035,0.71338606911949],"aabb_xy":[[0.362967988964102,-0.8893925705305326],[0.3791952983108562,-0.8731809376224744]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.6303776681073036,-2.066737022712442,0.71338606911949],"aabb_xy":[[-0.6380019361974819,-2.074370246248986],[-0.6227534000171254,-2.0591037991758987]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.18330872288373223,-2.4016913267146567,0.71338606911949],"aabb_xy":[[0.09330872054971318,-2.4791736812997693],[0.2733087252177513,-2.324208972129544]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.22205790986071405,-1.015735171341839,0.71338606911949],"aabb_xy":[[0.1845579096888421,-1.048435906724746],[0.259557910032586,-0.9830344359589316]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.27910200902848087,-0.35845378225901037,0.71338606911949],"aabb_xy":[[-0.301615700851938,-0.4284537828600179],[-0.2565883172050236,-0.28845378165800284]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.5905994516367528,-2.0367685073337185,0.71338606911949],"aabb_xy":[[0.5405994520604182,-2.0867490862858245],[0.6405994512130876,-1.9867879283816126]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.47445915847553266,-0.22244140349353003,0.71338606911949],"aabb_xy":[[0.4656779313282966,-0.23122115078206026],[0.48324038562276905,-0.21366165620499997]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.1866637357504637,0.754018869844471,0.71338606911949],"aabb_xy":[[-0.19790879132108152,0.7427770721203757],[-0.17541868017984585,0.7652606675685663]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.19921565975778505,-0.05795217951594278,0.71338606911949],"aabb_xy":[[-0.2342156588877407,-0.06369740059160689],[-0.16421566062782939,-0.052206958440278665]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.4891887396801924,1.6223624685190168,0.71338606911949],"aabb_xy":[[0.466688740156485,1.5998665210683958],[0.5116887392038998,1.6448584159696373]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.45448351408177845,-2.4325504665594497,0.71338606911949],"aabb_xy":[[0.42002116668363654,-2.467044348957272],[0.48894586147992014,-2.3980565841616266]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.23586934774134555,1.6209382988645902,0.71338606911949],"aabb_xy":[[-0.26109018460118516,1.5957145480117032],[-0.21064851088150582,1.6461620497174767]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.382848578641516,-1.2805087036743172,0.71338606911949],"aabb_xy":[[-0.44284857923753224,-1.3353211762195407],[-0.3228485780454999,-1.2256962311290938]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.14346904119011572,1.5248201945021749,0.71338606911949],"aabb_xy":[[0.10969348199942272,1.5107816992890097],[0.17724460038080866,1.5388586897153396]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.5325400839207717,-0.06972622016386287,0.71338606911949],"aabb_xy":[[-0.550040017354755,-0.08722622008409742],[-0.5150401504867883,-0.05222622024362833]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.6186297059521666,-0.07577698038113301,0.71338606911949],"aabb_xy":[[0.6072679712988804,-0.08714544678742107],[0.6299914406054528,-0.06440851397484491]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.33628457112710924,0.541721286617812,0.71338606911949],"aabb_xy":[[-0.347190347214672,0.4617212902189829],[-0.3253787950395466,0.6217212830166412]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[-0.0291525202255285,-1.478525636952399,0.71338606911949],"aabb_xy":[[-0.05165252023567679,-1.492621856592002],[-0.006652520215380209,-1.4644294173127954]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.09972808830109081,-1.5737561028363305,0.71338606911949],"aabb_xy":[[-0.1043632034533242,-1.5776234379134793],[-0.09509297314885742,-1.5698887677591817]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.3121064860300278,-1.3671207317627438,0.71338606911949],"aabb_xy":[[0.27460648745440697,-1.3798570274263018],[0.3496064846056486,-1.354384436099186]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.5288645615142511,-1.9130603933360453,0.71338606911949],"aabb_xy":[[-0.5470703851754988,-1.924085793918037],[-0.5106587378530034,-1.9020349927540536]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[-0.512758893384156,-2.4931348966726756,0.71338606911949],"aabb_xy":[[-0.5767588906698047,-2.53464161562552],[-0.4487588960985074,-2.451628177719832]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.2931673029530037,1.3071005873942054,0.71338606911949],"aabb_xy":[[-0.3144453110964759,1.2421005850681324],[-0.2718892948095314,1.3721005897202785]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.03983173239759552,-1.1014677763921519,0.71338606911949],"aabb_xy":[[0.0063525651365545915,-1.1349468897632589],[0.07331089965863646,-1.067988663021045]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.35273788241078385,1.4545225155361359,0.71338606911949],"aabb_xy":[[0.30274304948284225,1.4045225166408923],[0.40273271533872546,1.5045225144313794]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[0.20852954557177894,-2.0912273323040127,0.71338606911949],"aabb_xy":[[0.1385295491618171,-2.1116652679556935],[0.2785295419817406,-2.07078939665233]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.5842783821225019,0.2922058332836084,0.71338606911949],"aabb_xy":[[0.5667783818631653,0.2781142910948358],[0.6017783823818386,0.30629737547238106]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[0.5565716668533296,0.4672488624953708,0.71338606911949],"aabb_xy":[[0.5524557167412568,0.4631333074625252],[0.5606876169654021,0.4713644175282162]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6756737885106533,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3357.png","name":"3357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3357.png","name":"3357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5478.png","name":"5478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4823.png","name":"4823"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8402.png","name":"8402"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2399.png","name":"2399"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":771.8119504355723,"rotation_z_degrees":307.5275170261453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017091156976727678,-0.013315508234142178,-0.014922654284273463]},{"name":"camera_2","offset_m":[0.014725892051583197,0.007348185292889563,-0.002537452571187669]},{"name":"camera_3","offset_m":[-0.014577954331325641,0.015726330595480054,-0.019556376725192007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001524609592923983,-0.0015697873504448472,-0.0014545035109508526],"end_effector_yaw_offset_degrees":0.13805925899149618},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000612944337973826,-0.00186841730913671,0.0003241984471468785],"end_effector_yaw_offset_degrees":0.8214017246573833},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012904947352167478,8.175290066225272e-05,-0.0005833609464696492],"end_effector_yaw_offset_degrees":-0.19617078101359287},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001036415262832247,0.0007307662652135285,-0.0007721175738181118],"end_effector_yaw_offset_degrees":-0.8934773706460291},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016875003108711372,0.0003716497560983835,-0.00039034279764625385],"end_effector_yaw_offset_degrees":-0.1129931524230543},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0007977773297840308,-0.001560896425501077,0.0004607749451386949],"end_effector_yaw_offset_degrees":-0.08754022744933088}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035719064466168586,0.0004758722007458223],"position_m":[0.3078719064466169,-0.030024127799254178,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003880248028566613,-0.0015630924289178226],"position_m":[0.2388802480285666,-0.3751630924289178,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0028782760619085806,-0.00042465383073659463],"position_m":[0.3003782760619086,0.3060753461692634,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014966878260631077,-0.002926750277448629],"position_m":[0.3088033121739369,0.07957324972255138,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"355a24a7a186055b4e0d012a0d60d7a81deb80c512498f1f0c59e429b68ef2ac","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0081.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3357/tex_ceiling_textures_2399/tex_floor_textures_8402/tex_table_textures_5478/tex_wall_textures_4823","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1248799872342238570,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1248799872342238570,"visual_seed":1248799872342238570,"scene_id":"lab_003","finished_at":"2026-09-08T20:57:29"}
+{"episode_id":"ep_000079","started_at":"2026-09-08T20:57:36","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.5410962090823266,-2.2541095704873237,0.71338606911949],"aabb_xy":[[0.48610299774518984,-2.309109570826118],[0.5960894204194633,-2.1991095701485306]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.6386609809720722,1.5594506879701977,0.71338606911949],"aabb_xy":[[0.6018104330350846,1.521950687147164],[0.6755115289090599,1.5969506887932314]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.008463578748204692,1.8010522082191174,0.71338606911949],"aabb_xy":[[-0.027347962516714897,1.7821662834387648],[0.010420805020305512,1.8199381329994704]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.1207390339897727,-2.245564960940119,0.71338606911949],"aabb_xy":[[-0.14528524961252343,-2.275813857489156],[-0.096192818367022,-2.215316064391082]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.39848782748451683,-1.4191557390069538,0.71338606911949],"aabb_xy":[[-0.4289720776115469,-1.4691557387884497],[-0.36800357735748657,-1.3691557392254579]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.4728520088790026,-1.884521104584889,0.71338606911949],"aabb_xy":[[-0.5228520098981378,-1.920987320322717],[-0.4228520078598673,-1.8480548888470612]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.40853973124393417,-2.074683347173117,0.71338606911949],"aabb_xy":[[-0.43042947883287497,-2.1646833444623663],[-0.38664998365499337,-1.9846833498838683]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.1238269672174862,-0.8630994518546837,0.71338606911949],"aabb_xy":[[0.08882696724099037,-0.8725640679023003],[0.15882696719398204,-0.8536348358070671]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.477029932383317,0.4887430214591615,0.71338606911949],"aabb_xy":[[-0.4896567196705133,0.47919694775758853],[-0.4644031450961206,0.49828909516073433]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.6216462413695008,0.3696709458668548,0.71338606911949],"aabb_xy":[[0.6142337858281123,0.3638197354452269],[0.6290586969108892,0.3755221562884828]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.47033787472904437,-0.5602263537863412,0.71338606911949],"aabb_xy":[[-0.520337876390539,-0.6102247960420439],[-0.42033787306754955,-0.5102279115306385]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.08870831548846603,-1.0304211919802524,0.71338606911949],"aabb_xy":[[0.05439203831384809,-1.0804211919534301],[0.12302459266308396,-0.9804211920070747]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.546896876222893,0.06762177525296353,0.71338606911949],"aabb_xy":[[0.4990907086091242,0.0026217725459045794],[0.5947030438366615,0.1326217779600225]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.4681437236628412,0.8581612892382764,0.71338606911949],"aabb_xy":[[0.4480853120496009,0.8380962023291189],[0.4882021352760815,0.8782263761474339]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[-0.24050926618499613,0.30509706411064386,0.71338606911949],"aabb_xy":[[-0.2617872743284683,0.2400970617845708],[-0.21923125804152382,0.3700970664367169]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.28568847383196727,1.4953288917314622,0.71338606911949],"aabb_xy":[[0.23056326820237646,1.4353288902901749],[0.340813679461558,1.5553288931727491]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.3169650521899168,1.1371803661987965,0.71338606911949],"aabb_xy":[[0.3014092827796515,1.1216299329543893],[0.33252082160018204,1.1527307994432037]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[0.5960899063193896,0.6200184967759119,0.71338606911949],"aabb_xy":[[0.5360899054585766,0.5685920667694254],[0.6560899071802022,0.6714449267823982]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.5765952649152746,-1.4417976011215763,0.71338606911949],"aabb_xy":[[-0.656595263502594,-1.5211132030597372],[-0.4965952663279552,-1.3624819991834154]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.6791306329214277,0.8982005038080283,0.71338606911949],"aabb_xy":[[0.6338520180402785,0.8342005044598446],[0.724409247802577,0.962200503156212]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_20","position":[0.18727843786474085,-1.8143163931859774,0.71338606911949],"aabb_xy":[[0.1372954876772615,-1.8643163928285376],[0.23726138805222016,-1.7643163935434167]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[0.6909167130067007,-1.1834988835980387,0.71338606911949],"aabb_xy":[[0.6748547855481829,-1.26849888541063],[0.7069786404652182,-1.0984988817854464]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[0.5402000324353295,-1.5115257301848175,0.71338606911949],"aabb_xy":[[0.49895122140541476,-1.566525729697035],[0.5814488434652442,-1.4565257306726]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.4839926593507523,1.074546503622917,0.71338606911949],"aabb_xy":[[-0.5339714678610681,1.024546503617198],[-0.43401385084043637,1.1245465036286355]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[-0.07448407933696799,1.229709269468057,0.71338606911949],"aabb_xy":[[-0.11965539718513699,1.1657092723235185],[-0.02931276148879903,1.2937092666125953]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.49984374904568507,-2.4927739961868993,0.71338606911949],"aabb_xy":[[0.4773437488021698,-2.5049786308466713],[0.5223437492892006,-2.4805693615271274]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.5931914570616377,0.4738453093645667,0.71338606911949],"aabb_xy":[[-0.6344960001253737,0.4098453097964496],[-0.5518869139979017,0.5378453089326838]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_27","position":[0.5729773411510615,-2.103110629621254,0.71338606911949],"aabb_xy":[[0.5089773397430709,-2.1548995811451785],[0.6369773425590523,-2.051321678097329]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6743281125278998,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4327.png","name":"4327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4327.png","name":"4327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9497.png","name":"9497"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1914.png","name":"1914"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4826.png","name":"4826"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":597.819918593431,"rotation_z_degrees":338.7659437646208,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012725974499559898,0.0004565543358584605,0.01613921950053723]},{"name":"camera_2","offset_m":[-0.013996339197439162,-0.0002162707881883906,0.001223992234461891]},{"name":"camera_3","offset_m":[-0.00025546296627145665,-0.003079239882980967,-0.018566053920297258]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00028113192720735994,-0.000999798328410995,0.0012866827199956568],"end_effector_yaw_offset_degrees":-0.7385470943624168},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014967268790828086,-0.0004519802505247169,-0.0010015179460365173],"end_effector_yaw_offset_degrees":0.2952858025020617},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012184878568798681,0.0006825580737532038,0.0004890884812873701],"end_effector_yaw_offset_degrees":-0.8628308712732542},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00020998308117094362,0.0013119725102814874,7.998196460345551e-05],"end_effector_yaw_offset_degrees":-0.49324446077247064},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014813178475267814,-0.0012960531491065536,0.0008465536811467262],"end_effector_yaw_offset_degrees":0.1312698720897345},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0002632627317627075,-0.0017300975943428827,-0.0009614916158749054],"end_effector_yaw_offset_degrees":0.35596870137644765}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002412871350651293,0.003960105988826584],"position_m":[0.3067128713506513,-0.026539894011173414,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004670709037233476,0.0020603361429379187],"position_m":[0.23967070903723348,-0.37153966385706205,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0046614299832396875,-0.0038082667716472117],"position_m":[0.2928385700167603,0.3026917332283528,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023231468300929673,-0.0013019412477596214],"position_m":[0.312623146830093,0.08119805875224038,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a908d5c6baec678b7f15492bd587a1fe209230531d00988ea5f20b2fc65401fe","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4327/tex_ceiling_textures_4826/tex_floor_textures_9241/tex_table_textures_9497/tex_wall_textures_1914","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":23167250146131439,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":23167250146131439,"visual_seed":23167250146131439,"scene_id":"lab_003","finished_at":"2026-09-08T21:05:36"}
+{"episode_id":"ep_000080","started_at":"2026-09-08T21:05:45","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.3286160979179822,-1.4555711989564404,0.71338606911949],"aabb_xy":[[0.2786160968988469,-1.4920374146942683],[0.3786160989371175,-1.4191049832186124]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.5673487290222201,-0.6524668773076712,0.71338606911949],"aabb_xy":[[0.5639080527821628,-0.6563283102820356],[0.5707894052622772,-0.6486054443333067]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.022943089366915803,-0.9138366107889604,0.71338606911949],"aabb_xy":[[-0.027899109551797006,-0.9363366109910821],[-0.017987069182034604,-0.8913366105868389]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.6543001147572207,0.8510403356270158,0.71338606911949],"aabb_xy":[[0.645586145707286,0.8285403349678274],[0.663014083807155,0.8735403362862039]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.5674002950376005,-0.9024438264782244,0.71338606911949],"aabb_xy":[[0.5024002971559528,-0.9535674901847654],[0.6324002929192484,-0.8513201627716837]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.3833302931959879,1.3328392913992007,0.71338606911949],"aabb_xy":[[0.3794164200005654,1.3240902759926436],[0.38724416639141046,1.3415883068057572]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.6476464010811176,-0.04919032812316049,0.71338606911949],"aabb_xy":[[-0.6525456933876811,-0.07686724742572926],[-0.6427471087745541,-0.02151340882059171]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[0.276379332539058,-2.3950358872480337,0.71338606911949],"aabb_xy":[[0.2676813702483427,-2.4071608615555085],[0.2850772948297733,-2.382910912940559]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.01767345827311262,1.201380534494437,0.71338606911949],"aabb_xy":[[-0.08167345756728084,1.1373943941255829],[0.0463265410210556,1.2653666748632912]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.21096407691311053,-2.0024386992612344,0.71338606911949],"aabb_xy":[[-0.30096407550758053,-2.0186892855746557],[-0.12096407831864062,-1.9861881129478134]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.5729688486998994,1.2451038869262816,0.71338606911949],"aabb_xy":[[-0.657968847391974,1.2131180235314027],[-0.48796885000782475,1.2770897503211605]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.4201401213470038,0.3742044969211853,0.71338606911949],"aabb_xy":[[-0.5001401183100429,0.29712885527741184],[-0.3401401243839646,0.45128013856495874]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.41272617155580077,0.05539837867019548,0.71338606911949],"aabb_xy":[[-0.43522617206784137,0.03290652030479712],[-0.3902261710437602,0.07789023703559383]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.5885244289681644,-2.4659529319831535,0.71338606911949],"aabb_xy":[[-0.6171737613285805,-2.4945984912602293],[-0.559875096607748,-2.4373073727060777]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.22932556608786964,1.825576790243106,0.71338606911949],"aabb_xy":[[-0.25765527603640986,1.8211160480493889],[-0.2009958561393294,1.830037532436823]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[0.07095777100378076,-1.2139385942503123,0.71338606911949],"aabb_xy":[[0.06132613478335114,-1.2235759070300212],[0.08058940722421037,-1.2043012814706033]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[0.6264403192439483,-2.261319435175022,0.71338606911949],"aabb_xy":[[0.5764403196676136,-2.3113000141271285],[0.676440318820283,-2.2113388562229166]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.2958041116974611,-1.5131554930583484,0.71338606911949],"aabb_xy":[[-0.31335080661358006,-1.5506554946225997],[-0.2782574167813422,-1.4756554914940971]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.30228185046850076,0.9071102852528732,0.71338606911949],"aabb_xy":[[0.2322818470769388,0.8717945115494422],[0.37228185386006274,0.9424260589563039]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.17332331909457943,-1.2135946774624387,0.71338606911949],"aabb_xy":[[-0.20895247499453917,-1.2492273442192914],[-0.1376941631946197,-1.1779620107055855]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[-0.45187182546677773,-1.5329782229604756,0.71338606911949],"aabb_xy":[[-0.475153667664909,-1.6179782242577034],[-0.42858998326864634,-1.4479782216632473]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.6353493485219572,-1.3084105891771856,0.71338606911949],"aabb_xy":[[-0.6763672919083281,-1.3584105898081429],[-0.5943314051355864,-1.2584105885462282]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.1658383965925876,-0.6513575039109003,0.71338606911949],"aabb_xy":[[0.14333926086636062,-0.6738575046891632],[0.18833753231881456,-0.6288575031326372]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[0.6318025243448615,-0.285231335078032,0.71338606911949],"aabb_xy":[[0.6220465348356876,-0.2949938691372664],[0.6415585138540354,-0.2754688010187975]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[-0.09943057843570491,0.5308161988174689,0.71338606911949],"aabb_xy":[[-0.1544228290712159,0.4758161970741561],[-0.04443832780019399,0.5858162005607817]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.3715408045875217,1.644214466068672,0.71338606911949],"aabb_xy":[[0.3340408034027288,1.639796243372611],[0.4090408057723144,1.648632688764732]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[-0.22517698942403575,-2.3986989486436725,0.71338606911949],"aabb_xy":[[-0.2951769912327812,-2.42005271740786],[-0.15517698761529028,-2.377345179879485]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[-0.12149904688108193,-0.24268795337680737,0.71338606911949],"aabb_xy":[[-0.1582936800059882,-0.27959382847338965],[-0.08470441375617566,-0.20578207828022507]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[-0.45152269184641824,-1.9979259015527346,0.71338606911949],"aabb_xy":[[-0.48902269219464595,-2.009717297133818],[-0.41402269149819043,-1.9861345059716509]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_29","position":[0.4281360935245013,-2.1951053546403885,0.71338606911949],"aabb_xy":[[0.33844901721638593,-2.285105354894839],[0.5178231698326168,-2.105105354385938]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_30","position":[-0.30756827973942563,-1.2708556540836204,0.71338606911949],"aabb_xy":[[-0.315562268317129,-1.2788557341787106],[-0.29957429116172224,-1.2628555739885299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6728779425224558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4043.png","name":"4043"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4043.png","name":"4043"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3979.png","name":"3979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3185.png","name":"3185"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6004.png","name":"6004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3092.png","name":"3092"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":791.8266068605413,"rotation_z_degrees":243.2896670604391,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015019737031325631,-0.004811912561956837,-0.010949720518832957]},{"name":"camera_2","offset_m":[0.010674839366491985,0.0005075752067385808,-0.0024234671265272213]},{"name":"camera_3","offset_m":[0.016902037732830954,-0.018582547862898292,0.016762261571839365]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010783298247320152,0.0005614488435918266,6.674688712874364e-05],"end_effector_yaw_offset_degrees":0.2587433543572968},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043990933603447243,-0.0010941857658488434,-0.0011151220335441434],"end_effector_yaw_offset_degrees":0.1525557288681223},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012066022807312167,-0.0007440787622919475,-0.0007288825173787541],"end_effector_yaw_offset_degrees":-0.7952899004897578},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001041216094673154,0.00023447076148447755,0.0011371074736010087],"end_effector_yaw_offset_degrees":0.6842067653617812},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008627540492213695,-0.0005102976061428463,-0.0001480984459488379],"end_effector_yaw_offset_degrees":-0.49248576866443994},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018950881753067015,0.0018775784872132489,-0.0016589729331010338],"end_effector_yaw_offset_degrees":0.08950066584798066}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009547846675541129,0.0043018600780319214],"position_m":[0.3052547846675541,-0.026198139921968077,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.458482245752216e-05,-0.002440082143825343],"position_m":[0.23492541517754245,-0.37604008214382534,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[5.1155291892028554e-05,0.001547555873739134],"position_m":[0.297551155291892,0.3080475558737391,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003554587226949439,0.0001263953566766514],"position_m":[0.3138545872269495,0.08262639535667665,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"81256b2a34bddf8d2691017db8a2b9478fa9423df65669ab71e91489b42ca4f6","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4043/tex_ceiling_textures_3092/tex_floor_textures_6004/tex_table_textures_3979/tex_wall_textures_3185","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6852523902001385734,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6852523902001385734,"visual_seed":6852523902001385734,"scene_id":"lab_003","finished_at":"2026-09-08T21:14:06"}
+{"episode_id":"ep_000081","started_at":"2026-09-08T21:14:13","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.5793067299043297,0.6654221102366211,0.71338606911949],"aabb_xy":[[-0.629306730923465,0.6289558944987932],[-0.5293067288851945,0.7018883259744491]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.6728795346967147,-2.150734925750864,0.71338606911949],"aabb_xy":[[0.6417326158531315,-2.220734924437671],[0.7040264535402977,-2.0807349270640567]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.15347530105547202,-1.4701746407218697,0.71338606911949],"aabb_xy":[[0.13597530081042264,-1.4876744285614363],[0.1709753013005214,-1.4526748528823026]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.33733831499510236,-0.9875395350147291,0.71338606911949],"aabb_xy":[[0.3030414039773617,-1.0218364212246702],[0.37163522601284293,-0.9532426488047877]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.22075757801930646,-1.5080617598020478,0.71338606911949],"aabb_xy":[[-0.30075757503355444,-1.528196311475459],[-0.14075758100505847,-1.4879272081286365]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.24774978590361796,-1.3103698717721242,0.71338606911949],"aabb_xy":[[0.23031907082461142,-1.3276419864359748],[0.2651805009826244,-1.2930977571082731]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.3954676806455217,-0.3117202453258945,0.71338606911949],"aabb_xy":[[-0.45546768228844353,-0.3637203946178387],[-0.33546767900259983,-0.25972009603395035]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.48841192784368515,1.063967104218373,0.71338606911949],"aabb_xy":[[0.4638657122209345,1.0337182076693359],[0.5129581434664359,1.09421600076741]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.6317325411004051,0.13804712053036017,0.71338606911949],"aabb_xy":[[0.6148218086640632,0.12457491493774563],[0.6486432735367468,0.15151932612297467]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[0.6123107022285803,-1.7985258387676826,0.71338606911949],"aabb_xy":[[0.5483107036420077,-1.8455328021671913],[0.6763107008151527,-1.7515188753681739]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.14257390657095204,0.7016993771843052,0.71338606911949],"aabb_xy":[[0.13070182355945092,0.6166993774906548],[0.15444598958245315,0.7866993768779555]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.23303440168316814,-2.4167071440848282,0.71338606911949],"aabb_xy":[[-0.28313186566424176,-2.48070714459464],[-0.18293693770209454,-2.3527071435750164]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.5540068994219363,-2.1213925636216464,0.71338606911949],"aabb_xy":[[0.5422387126272787,-2.206392563526868],[0.5657750862165938,-2.036392563716425]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[0.4488847135058083,1.6388999735175669,0.71338606911949],"aabb_xy":[[0.39888471255527547,1.6073508265140453],[0.4988847144563411,1.670449120521088]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.08010138662481958,1.3473783050401558,0.71338606911949],"aabb_xy":[[-0.09760138688415623,1.3332867628513836],[-0.06260138636548297,1.3614698472289288]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.18744501290049342,1.55048603965419,0.71338606911949],"aabb_xy":[[0.17974182222641638,1.5427766689554516],[0.19514820357457047,1.5581954103529279]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.17192518615646468,-2.037467721895656,0.71338606911949],"aabb_xy":[[0.13848501096044505,-2.070911347726585],[0.20536536135248426,-2.0040240960647253]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.02844356715297025,1.0083325333927755,0.71338606911949],"aabb_xy":[[-0.10844356762318622,1.0000218257784275],[0.0515564333172457,1.016643241007124]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.6037781547200075,0.158927037891766,0.71338606911949],"aabb_xy":[[-0.6677781518321131,0.10989466809735535],[-0.5397781576079017,0.20795940768617657]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.6625089880007329,0.6136057972625313,0.71338606911949],"aabb_xy":[[0.6464470605422151,0.5286057954499394],[0.6785709154592504,0.698605799075123]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670410626595907,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2778.png","name":"2778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2778.png","name":"2778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/803.png","name":"803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2615.png","name":"2615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8977.png","name":"8977"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1748.png","name":"1748"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":800.8859194525337,"rotation_z_degrees":183.6585212986367,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01699698832814019,-0.0008818240167331667,0.00948176194637321]},{"name":"camera_2","offset_m":[0.013842465956704197,-0.0043146573129961945,-0.008853522699074303]},{"name":"camera_3","offset_m":[-0.011751855389421851,0.006913591119244073,-0.01746435463800397]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006433837671999112,-0.00039767691322095135,0.0012283425123265062],"end_effector_yaw_offset_degrees":0.8239178101704316},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000714424351593367,0.00017934901327276145,0.0014768553258962583],"end_effector_yaw_offset_degrees":0.22580151963299988},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018415907887345741,-0.0011439347589673795,-0.00022574003008280484],"end_effector_yaw_offset_degrees":0.7831836983536258},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004203073729020881,0.0010657291142545226,-0.0017880391635774857],"end_effector_yaw_offset_degrees":0.2898928150801101},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011898525248333451,-0.00013997500576339614,-0.0005982388260596903],"end_effector_yaw_offset_degrees":0.5552406350379748},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00033866787436391196,0.0012317935230510956,-0.0007114685012636261],"end_effector_yaw_offset_degrees":-0.8028077336880806}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028541846949988003,0.0011863942689281527],"position_m":[0.3014458153050012,-0.02931360573107185,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037794287924879664,-0.0035108780870851206],"position_m":[0.23122057120751202,-0.3771108780870851,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002496605777556912,0.00038862705218276755],"position_m":[0.2999966057775569,0.3068886270521828,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00036101138772175103,-0.001184582974231635],"position_m":[0.30993898861227825,0.08131541702576837,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4dbe4f1c3d999a98e92fb82885e0d61a0a5175f62d1177c9096bfe87870675e8","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2778/tex_ceiling_textures_1748/tex_floor_textures_8977/tex_table_textures_803/tex_wall_textures_2615","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":2523460449045513354,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":2523460449045513354,"visual_seed":2523460449045513354,"scene_id":"lab_003","finished_at":"2026-09-08T21:22:13"}
+{"episode_id":"ep_000082","started_at":"2026-09-08T21:22:20","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.294773629720837,-0.5670423071060862,0.71338606911949],"aabb_xy":[[0.23977363151909217,-0.6075642737325236],[0.3497736279225818,-0.5265203404796485]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.3781637261057331,-1.503132927667552,0.71338606911949],"aabb_xy":[[0.3694657638150179,-1.5152579019750272],[0.3868616883964485,-1.4910079533600775]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.4851359287000499,1.3846132110856568,0.71338606911949],"aabb_xy":[[-0.5273203428608806,1.3206132108084458],[-0.44295151453921916,1.4486132113628682]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.17638909622816845,1.1447141418438616,0.71338606911949],"aabb_xy":[[0.10638909283660646,1.1093983681404305],[0.2463890996197304,1.1800299155472922]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.048216460115049875,-2.3471820641694765,0.71338606911949],"aabb_xy":[[-0.05549877649171352,-2.4371820677789846],[-0.040934143738386206,-2.2571820605599666]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[0.550802482018653,0.9659023946139782,0.71338606911949],"aabb_xy":[[0.4708024815484372,0.9575916869996299],[0.630802482488869,0.9742131022283267]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.6240851693895187,0.389130034481163,0.71338606911949],"aabb_xy":[[-0.6840851698973717,0.33228330079524165],[-0.5640851688816658,0.44597676816708426]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.2071545566475761,-1.9597303426793788,0.71338606911949],"aabb_xy":[[-0.23073968011147095,-2.024730344924811],[-0.18356943318368124,-1.8947303404339475]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.43556862529003787,-0.0005917608371630578,0.71338606911949],"aabb_xy":[[-0.495568625541439,-0.054873085873627714],[-0.37556862503863664,0.0536895641993016]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[-0.12476810790946069,-1.275130756702446,0.71338606911949],"aabb_xy":[[-0.13492112346361004,-1.311200298275186],[-0.11461509235531128,-1.2390612151297054]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.01890506319937224,-1.6972615324541516,0.71338606911949],"aabb_xy":[[-0.053367410597514035,-1.731755414851974],[0.01555728419876956,-1.6627676500563286]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.2964991678025507,0.8175018085980001,0.71338606911949],"aabb_xy":[[0.2552503567726359,0.7625018090857826],[0.3377479788324654,0.8725018081102175]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.3649739879361337,-0.9908956705711596,0.71338606911949],"aabb_xy":[[-0.4006031438360934,-1.0265283373280125],[-0.32934483203617393,-0.9552630038143067]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.6051296769760159,-1.0377734820249045,0.71338606911949],"aabb_xy":[[-0.6183606225106972,-1.0510009010469037],[-0.5918987314413346,-1.0245460630029048]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.27681844004250983,1.5657675876921204,0.71338606911949],"aabb_xy":[[-0.3143184408345053,1.5593997467339304],[-0.23931843925051438,1.5721354286503109]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.20172378408466052,-2.2375083343459528,0.71338606911949],"aabb_xy":[[0.15672378261843167,-2.2825081912074334],[0.2467237855508894,-2.192508477484472]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.5823507815567183,0.08305405429734636,0.71338606911949],"aabb_xy":[[-0.5867814109115584,0.07760568256266377],[-0.5779201522018781,0.08850242603202897]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.4494428152253891,-0.5733431494803183,0.71338606911949],"aabb_xy":[[0.44398486958836897,-0.6533431527879774],[0.4549007608624091,-0.4933431461726592]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.536651328812191,-1.6243750876262004,0.71338606911949],"aabb_xy":[[-0.600651331032598,-1.6687481717514885],[-0.472651326591784,-1.580002003500912]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.6516228494556502,-1.5002886387403531,0.71338606911949],"aabb_xy":[[0.6212247383565064,-1.5306955407420224],[0.6820209605547936,-1.4698817367386834]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.14921497489115276,-2.0144126910315685,0.71338606911949],"aabb_xy":[[0.08921497324823091,-2.0664128403235127],[0.20921497653407461,-1.9624125417396243]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.1906374547709554,-1.2950252704342207,0.71338606911949],"aabb_xy":[[0.14066003790570178,-1.3450252719234692],[0.24061487163620895,-1.2450252689449721]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.35413681984966,0.8668824063632661,0.71338606911949],"aabb_xy":[[-0.3637684560700896,0.8572450935835572],[-0.3445051836292304,0.876519719142975]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[0.027019419661548527,1.32772292823589,0.71338606911949],"aabb_xy":[[-0.02298058169933869,1.2777450236604742],[0.07701942102243574,1.3777008328113054]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[0.05132721936600504,0.8951219276159783,0.71338606911949],"aabb_xy":[[-0.03867278035716914,0.8720485750807985],[0.1413272190891792,0.9181952801511581]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[-0.414734629219436,0.2869139617183363,0.71338606911949],"aabb_xy":[[-0.49473462637901117,0.2753663607605192],[-0.3347346320598606,0.29846156267615326]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[0.18823830001412467,-1.5928247339979877,0.71338606911949],"aabb_xy":[[0.1082382997405177,-1.6657742818237045],[0.26823830028773166,-1.519875186172271]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[-0.11835924153380017,-1.5550056769306506,0.71338606911949],"aabb_xy":[[-0.16548862053563584,-1.6190056779750523],[-0.0712298625319645,-1.4910056758862484]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_28","position":[-0.47245061756914375,-2.4995585338660735,0.71338606911949],"aabb_xy":[[-0.5364506208588518,-2.542893452869991],[-0.40845061427943563,-2.456223614862156]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_29","position":[-0.37122509292281614,-1.355868916419157,0.71338606911949],"aabb_xy":[[-0.4512250903264095,-1.4358614876173394],[-0.29122509551922265,-1.2758763452209738]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_30","position":[-0.2795086750275026,-0.35164628961096955,0.71338606911949],"aabb_xy":[[-0.3205266184138735,-0.4016462902419269],[-0.23849073164113171,-0.3016462889800122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663695752776563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8146.png","name":"8146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8146.png","name":"8146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4710.png","name":"4710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8868.png","name":"8868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7784.png","name":"7784"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9655.png","name":"9655"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":643.0150762849353,"rotation_z_degrees":278.888152832659,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009870854211082754,-0.005275640660775216,0.0038008997001066323]},{"name":"camera_2","offset_m":[-0.011232038292879203,0.00047739121861691686,0.00029144128406273506]},{"name":"camera_3","offset_m":[0.0014793063607633425,-0.014441994081769195,0.005079161488988987]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008955127285219721,-0.001983048060782862,-0.0009534441658244632],"end_effector_yaw_offset_degrees":-0.5275261852414013},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007060318559709046,-0.0008654395430831578,-0.0006647905505290778],"end_effector_yaw_offset_degrees":-0.5345837678102805},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000440550066182834,0.0010286073248420191,0.001128336498466759],"end_effector_yaw_offset_degrees":0.932907907104259},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006519264169102192,0.0017537980505250017,0.00023873844211172663],"end_effector_yaw_offset_degrees":-0.4487346772776717},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018378444245597293,-0.0018915622532779347,-2.430562566866192e-05],"end_effector_yaw_offset_degrees":0.9848598346662711},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005690470132763297,0.001987665294116315,-0.000540285245948871],"end_effector_yaw_offset_degrees":-0.08319073770054031}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042911302474438525,-0.002533252463826177],"position_m":[0.30000886975255614,-0.03303325246382618,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030155854638656745,0.004867860617161451],"position_m":[0.2319844145361343,-0.36873213938283855,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0032941120424697093,0.0027032327504394587],"position_m":[0.2942058879575303,0.3092032327504394,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00288355828195668,-0.001311954993926734],"position_m":[0.30741644171804333,0.08118804500607327,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"77bed18bd8ea720c4d853758364d9e07e22c7fb1123820df952b05f2dfd8fb62","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8146/tex_ceiling_textures_9655/tex_floor_textures_7784/tex_table_textures_4710/tex_wall_textures_8868","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":6564097049026835130,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":6564097049026835130,"visual_seed":6564097049026835130,"scene_id":"lab_003","finished_at":"2026-09-08T21:30:07"}
+{"episode_id":"ep_000083","started_at":"2026-09-08T21:30:14","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.1919045279181203,-1.2342389645111116,0.71338606911949],"aabb_xy":[[-0.22636687531626207,-1.2687328469089338],[-0.15744218051997846,-1.1997450821132885]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[0.1496868056817282,-0.9911455013254136,0.71338606911949],"aabb_xy":[[0.05968680626335729,-1.0245209981696033],[0.23968680510009907,-0.957770004481224]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.035836050425490984,-2.518024066130326,0.71338606911949],"aabb_xy":[[-0.052746782861832764,-2.531496271722941],[-0.018925317989149208,-2.5045518605377115]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[0.04902966034268985,1.5752450773068287,0.71338606911949],"aabb_xy":[[0.013400504442730117,1.5396124105499756],[0.08465881624264959,1.6108777440636814]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[-0.017659294934124214,-1.562596755864377,0.71338606911949],"aabb_xy":[[-0.03545280186904065,-1.5803965014601746],[0.00013421200079222206,-1.5447970102685793]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[0.6843058574585839,-1.404647919468374,0.71338606911949],"aabb_xy":[[0.649305857562565,-1.4130221549803141],[0.7193058573546027,-1.396273683956434]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.10789288644086759,-1.4202565362701018,0.71338606911949],"aabb_xy":[[-0.1619084827227676,-1.4842565391623588],[-0.05387729015896758,-1.3562565333778445]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.6102581440924435,-0.3811728614451497,0.71338606911949],"aabb_xy":[[-0.6902581445626595,-0.38948356905949816],[-0.5302581436222277,-0.37286215383080135]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.11329166925179113,-2.0553728752872127,0.71338606911949],"aabb_xy":[[-0.12132800395307597,-2.0634109945916292],[-0.10525533455050629,-2.0473347559827952]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.4984843841467557,0.3175608110376702,0.71338606911949],"aabb_xy":[[-0.5088959428272395,0.31221507770177165],[-0.488072825466272,0.32290654437356864]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.4409200627822547,-1.9113021116462792,0.71338606911949],"aabb_xy":[[-0.48609138063042373,-1.975302108790818],[-0.3957487449340858,-1.8473021145017412]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.5095864666430214,-2.0410152331074896,0.71338606911949],"aabb_xy":[[0.49801748589608497,-2.0660152332244213],[0.5211554473899581,-2.016015232990558]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.3557263876906923,0.542526406656989,0.71338606911949],"aabb_xy":[[-0.39072638688351047,0.5315593606593263],[-0.32072638849787394,0.5534934526546516]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.2606553243873853,-1.7801362266730818,0.71338606911949],"aabb_xy":[[-0.2699489426245359,-1.8176362251612157],[-0.25136170615023473,-1.742636228184948]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[-0.36452554125935344,-0.5511713203644608,0.71338606911949],"aabb_xy":[[-0.4221560101466241,-0.6111713192911713],[-0.30689507237208247,-0.4911713214377501]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.49769232456118806,-1.5461040403930384,0.71338606911949],"aabb_xy":[[-0.5776923232180741,-1.5606088993173013],[-0.41769232590430205,-1.5315991814687755]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[-0.3237263344148908,-1.8850864690965223,0.71338606911949],"aabb_xy":[[-0.333073341997186,-1.8993900913141664],[-0.31437932683259556,-1.8707828468788783]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.5040295512587375,1.031095255337699,0.71338606911949],"aabb_xy":[[-0.593716627566853,0.9410952550832485],[-0.41434247495062204,1.1210952555921496]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[0.2490642868816313,-2.265762572993482,0.71338606911949],"aabb_xy":[[0.1840642883245584,-2.2955151064073642],[0.31406428543870407,-2.236010039579599]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.4910233821961507,0.25348298987857953,0.71338606911949],"aabb_xy":[[0.4110233811230304,0.2437049435411951],[0.571023383269271,0.263261036215964]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.5469404853275386,-2.222340789979848,0.71338606911949],"aabb_xy":[[-0.5947466529413072,-2.2873407926869067],[-0.4991343177137699,-2.1573407872727888]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.658477436126071,1.386716382344237,0.71338606911949],"aabb_xy":[[0.6381931334026721,1.3664337572015277],[0.6787617388494697,1.4069990074869454]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[0.004989621207214023,0.7526375638910219,0.71338606911949],"aabb_xy":[[-0.044994614500963204,0.7026375650775263],[0.05497385691539125,0.8026375627045175]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.2596709106123364,1.5684658695938078,0.71338606911949],"aabb_xy":[[0.22233963408709376,1.5338128147989556],[0.297002187137579,1.60311892438866]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_24","position":[-0.49731816153528324,-0.2265648978660364,0.71338606911949],"aabb_xy":[[-0.5613181618092615,-0.27663099806332436],[-0.43331816126130507,-0.17649879766874843]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.2384952667289093,0.36970948186695596,0.71338606911949],"aabb_xy":[[-0.2449090803720942,0.3632996616192875],[-0.2320814530857243,0.3761193021146242]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.14013902816708668,0.6706475316312641,0.71338606911949],"aabb_xy":[[0.13363739165908206,0.6608797096049543],[0.1466406646750913,0.6804153536575739]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[-0.16973984460919822,0.9784137173434431,0.71338606911949],"aabb_xy":[[-0.19191237158584903,0.9562380501873199],[-0.14756731763254738,1.0005893844995661]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_28","position":[0.40529770665298415,-1.4571202985828153,0.71338606911949],"aabb_xy":[[0.37181853939194326,-1.4905994119539223],[0.43877687391402515,-1.4236411852117083]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[0.47926502849272223,1.5405746080775224,0.71338606911949],"aabb_xy":[[0.4293823316150261,1.4905746088312475],[0.5291477253704184,1.5905746073237972]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[0.49261708499847945,-1.6868827616074635,0.71338606911949],"aabb_xy":[[0.4558224518735731,-1.723788636704046],[0.5294117181233857,-1.6499768865108815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6745528945143042,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8727.png","name":"8727"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8727.png","name":"8727"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5361.png","name":"5361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4961.png","name":"4961"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":835.6931179212509,"rotation_z_degrees":292.4945680097841,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015904980504279544,0.016578401517857003,-0.003027875528722808]},{"name":"camera_2","offset_m":[0.004040134232304076,-0.015696768092906602,0.005677932825598003]},{"name":"camera_3","offset_m":[-0.003021188968515623,-0.017938160824549906,0.004142494596726321]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017067141509425825,0.0003617474402667414,0.001170370723051897],"end_effector_yaw_offset_degrees":0.2995564841469862},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001684606932928261,-0.001194307037729697,-0.000707482974420438],"end_effector_yaw_offset_degrees":-0.941383558023497},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000903520143683743,0.0010816136235404171,0.0006134406301455918],"end_effector_yaw_offset_degrees":-0.5690684534175903},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014780934209101596,0.0008127442313205693,0.00012901333015792344],"end_effector_yaw_offset_degrees":0.5979217056029251},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0019498934960192676,0.0019003417476210057,0.001222884389114868],"end_effector_yaw_offset_degrees":0.493834280032998},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001048996644733121,-0.001018306169444699,-0.0003690936716857229],"end_effector_yaw_offset_degrees":-0.5945233334073112}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00046","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009989429156673415,-0.0006199596328695187],"position_m":[0.3033010570843327,-0.031119959632869516,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022754919034887414,-0.0019460985641156425],"position_m":[0.23727549190348873,-0.37554609856411564,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0013613554033748473,0.004715726031225431],"position_m":[0.29886135540337483,0.31121572603122544,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029286194619183204,0.00020008913063179843],"position_m":[0.3073713805380817,0.0827000891306318,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"280e0e414a8e9089efc8e24fa8468ac7cb2b8cf21509620dca7f6c4709ac55b8","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8727/tex_ceiling_textures_9616/tex_floor_textures_4961/tex_table_textures_5361/tex_wall_textures_372","seeds":{"action_seed":9032859970554201233,"physical_seed":5425552426504387755,"visual_seed":1454752218765412950,"layout_id":"layout_00046","physical_randomization_enabled":true},"episode_seed":1454752218765412950,"visual_seed":1454752218765412950,"scene_id":"lab_003","finished_at":"2026-09-08T21:38:02"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6ee19064ccd8f1c0a7e2a5a5c4e2ff67473f0388
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00046
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00046
+  reproducibility:
+    enabled: true
+    layout_id: layout_00046
+    action_seed: 9032859970554201233
+    step_seeds:
+    - 5371425038879023178
+    - 5270287827369487949
+    - 8536829748502922744
+    - 8965198113053190260
+    - 1011918286666041404
+    - 7483370860822343823
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3043
+      - 0.3043
+      'y':
+      - -0.0305
+      - -0.0305
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3103
+      - 0.3103
+      'y':
+      - 0.0825
+      - 0.0825
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.235
+      - 0.235
+      'y':
+      - -0.3736
+      - -0.3736
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2975
+      - 0.2975
+      'y':
+      - 0.3065
+      - 0.3065
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..481f2cb80253ecda00a46f36eb4f34fe4ea1a1ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_0_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3285116343651704,
+              -0.026762427276219077,
+              1.164329188348811
+            ],
+            "current_z": 1.164329188348811,
+            "required_z": 0.8611066522826684,
+            "initial_z": 0.7611066522826684,
+            "lift_margin": 0.3032225360661426,
+            "gripper_z": 1.1554027590089535,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3237364199161674,
+              -0.031664305300961745,
+              1.1554027590089535
+            ],
+            "object_minus_gripper": [
+              0.0047752144490029735,
+              0.004901878024742668,
+              0.008926429339857433
+            ],
+            "object_to_gripper_xy": 0.006843323841776148,
+            "object_to_gripper_z": 0.008926429339857433,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3285116343651704,
+              -0.05047319141172558,
+              1.164329188348811
+            ],
+            "finger_b": [
+              0.31721935944203394,
+              -0.026762427276219077,
+              1.164329188348811
+            ],
+            "finger_midpoint": [
+              0.32286549690360217,
+              -0.038617809343972326,
+              1.164329188348811
+            ],
+            "object_minus_finger_midpoint": [
+              0.005646137461568224,
+              0.011855382067753249,
+              0.0
+            ],
+            "finger_gap": 0.02626244102952575,
+            "fingertip_max_gap": 0.0909275117759745,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013131220514762874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164329188348811,
+            "object_top_z": 1.214245929069252,
+            "finger_top_clearance": 0.049916740720441055,
+            "fingertip_min_top_clearance": 0.014975022216132316,
+            "object_projection_between_fingers": 0.8151188195089607,
+            "object_to_finger_line_xy": 0.010195109698857212,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796375588798725,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7712351429944216,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29410933898695096,
+              -0.36879250668794783,
+              0.8515395631113183
+            ],
+            "target_position": [
+              0.28623879747535524,
+              -0.3699962265085191,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007962057842805938,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18384400502760934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395631113183,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513804550115408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557264265075125,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529523380422348,
+            "release_required_pad_clearance": 0.052786321325375626,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6205485454760502,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008063256740570068,
+            "max_z_decrease": 0.008063256740570068,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351656752941343,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008063256740570068,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021023609017448663,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008063256740570068,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008063263923052908,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.141938716173172,
+              -0.4262576997280121,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.141938716173172,
+              -0.4262576997280121,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14364318866381132,
+              -0.4259324040022999,
+              0.8082390200062598
+            ],
+            "closest_button": [
+              0.14193269610404965,
+              -0.42625701427459717,
+              0.7731164693832397
+            ],
+            "closest_ee_minus_button": [
+              0.0017104925597616616,
+              0.00032461027229724326,
+              0.035122550623020055
+            ],
+            "button_min_z_position": [
+              0.1419384330511093,
+              -0.4262469410896302,
+              0.7687456011772156
+            ],
+            "min_active_finger_to_button": 0.1445534002811193,
+            "closest_active_finger": [
+              0.017277821898460388,
+              -0.4909295439720154,
+              0.810734212398529
+            ],
+            "closest_active_finger_button": [
+              0.14193899929523468,
+              -0.4262574017047882,
+              0.776488184928894
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12466117739677429,
+              -0.06467214226722717,
+              0.03424602746963501
+            ],
+            "min_contact_pad_to_button": 0.021023609017448663,
+            "closest_contact_pad": [
+              0.1419384330511093,
+              -0.4267201936586573,
+              0.7897638829367805
+            ],
+            "closest_contact_pad_button": [
+              0.1419384330511093,
+              -0.4262469410896302,
+              0.7687456011772156
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004732525690271383,
+              0.021018281759564883
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2821538264672817,
+              0.1885899039400033,
+              1.10432968313332
+            ],
+            "current_z": 1.10432968313332,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19442055339895747,
+            "gripper_z": 1.1043298054199198,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2821538330592337,
+              0.1885898554347445,
+              1.1043298054199198
+            ],
+            "object_minus_gripper": [
+              -6.5919519842694285e-09,
+              4.850525880950585e-08,
+              -1.2228659973523293e-07
+            ],
+            "object_to_gripper_xy": 4.895113852751597e-08,
+            "object_to_gripper_z": -1.2228659973523293e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2821538264672817,
+              0.1885899039400033,
+              1.10432968313332
+            ],
+            "finger_b": [
+              0.2821538264672817,
+              0.1885899039400033,
+              1.10432968313332
+            ],
+            "finger_midpoint": [
+              0.2821538264672817,
+              0.1885899039400033,
+              1.10432968313332
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10432968313332,
+            "object_top_z": 1.2293381897535998,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28215382646728177,
+            0.18858990394000333,
+            1.1043296831333203
+          ],
+          "object_origin_world": [
+            0.28215382646728177,
+            0.18858990394000333,
+            1.1043296831333203
+          ],
+          "frame_world": [
+            0.2821538330592337,
+            0.1885898554347445,
+            1.1043298054199198
+          ],
+          "center_minus_frame": [
+            -6.591951928758277e-09,
+            4.850525883726142e-08,
+            -1.2228659951318832e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432721997745966,
+            "required_z": 0.911259755946292,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009824727880138127,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.54433511453369e-10,
+            "max_target_xy_drift": 1.220215199733768e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6205485449456839,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6205485456998261,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.293130630541749,
+              -0.3688511075360502,
+              0.9233971106202251
+            ],
+            "target_mouth_xy": [
+              0.2941093394375559,
+              -0.36879253616801266
+            ],
+            "rod_tip_z": 0.9233971106202251,
+            "rod_tip_depth": -0.022137343361759432,
+            "rod_tip_bottom_clearance": 0.12157788093911182,
+            "rod_tip_xy_dist": 0.0009804599471092115,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045048635645125956,
+            "min_rod_tip_bottom_clearance": 0.05439203806119852,
+            "min_rod_tip_xy_dist": 0.0006748205055628493,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2941093387219175,
+              -0.3687925367995228
+            ],
+            "target_mouth_xy_delta_from_start": [
+              7.156383818873735e-10,
+              6.315101219733776e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0004708299831390761,
+                0.0017874769271393753
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0005756335038502036,
+                0.0014259260300422683
+              ],
+              "first_target_mouth_xy": [
+                0.2941093689259103,
+                -0.368792565966584
+              ],
+              "last_target_mouth_xy": [
+                0.2941093387040185,
+                -0.36879253617420765
+              ],
+              "first_rod_tip_xy": [
+                0.2936385389427712,
+                -0.3670050890394446
+              ],
+              "last_rod_tip_xy": [
+                0.2935337052001683,
+                -0.3673666101441654
+              ],
+              "min_rod_tip_xy_dist": 0.0015319791719747727,
+              "max_rod_tip_xy_dist": 0.0018484465472602572,
+              "first_target_xy_drift": 4.1988077329061216e-08,
+              "last_target_xy_drift": 6.255712511994693e-10,
+              "max_depth": 0.01937706340150125,
+              "min_bottom_clearance": 0.08006344545956756
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0004708299831390761,
+                  0.0017874769271393753
+                ],
+                "rod_tip_xy": [
+                  0.2936385389427712,
+                  -0.3670050890394446
+                ],
+                "target_mouth_xy": [
+                  0.2941093689259103,
+                  -0.368792565966584
+                ],
+                "gripper_position": [
+                  0.2936455420203279,
+                  -0.367077337196523,
+                  1.0056270206051363
+                ],
+                "rod_tip_xy_dist": 0.0018484465472602572,
+                "target_xy_drift": 4.1988077329061216e-08,
+                "depth": 0.015101182906219646,
+                "bottom_clearance": 0.08433934260708831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.00046382524506177747,
+                  0.001715195142596937
+                ],
+                "rod_tip_xy": [
+                  0.29364554202032783,
+                  -0.36707733719652313
+                ],
+                "target_mouth_xy": [
+                  0.2941093672653896,
+                  -0.36879253233912007
+                ],
+                "gripper_position": [
+                  0.2936345368806175,
+                  -0.36708654803979096,
+                  1.0054688554649054
+                ],
+                "rod_tip_xy_dist": 0.001776802812679208,
+                "target_xy_drift": 2.8889876965630377e-08,
+                "depth": 0.015632897857004058,
+                "bottom_clearance": 0.08380777749783552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00047483143766802183,
+                  0.0017060195159267488
+                ],
+                "rod_tip_xy": [
+                  0.29363453688061747,
+                  -0.367086548039791
+                ],
+                "target_mouth_xy": [
+                  0.2941093683182855,
+                  -0.36879256755571777
+                ],
+                "gripper_position": [
+                  0.29362618589092526,
+                  -0.36708906659854856,
+                  1.0053301674135386
+                ],
+                "rod_tip_xy_dist": 0.0017708663085961116,
+                "target_xy_drift": 4.2683586148528015e-08,
+                "depth": 0.015790975600980528,
+                "bottom_clearance": 0.08364955000476593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0004831808079630573,
+                  0.0017034961816398964
+                ],
+                "rod_tip_xy": [
+                  0.29362618589092515,
+                  -0.3670890665985487
+                ],
+                "target_mouth_xy": [
+                  0.2941093666988882,
+                  -0.36879256278018857
+                ],
+                "gripper_position": [
+                  0.2936339581408144,
+                  -0.3671623296700971,
+                  1.0047991026763095
+                ],
+                "rod_tip_xy_dist": 0.0017706956073943198,
+                "target_xy_drift": 3.8179914658607326e-08,
+                "depth": 0.015929756620516655,
+                "bottom_clearance": 0.08351091727053872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0004753787192330883,
+                  0.0016302651331403517
+                ],
+                "rod_tip_xy": [
+                  0.2936339581408143,
+                  -0.3671623296700971
+                ],
+                "target_mouth_xy": [
+                  0.29410933686004737,
+                  -0.36879259480323745
+                ],
+                "gripper_position": [
+                  0.29362292308989246,
+                  -0.36717141183959534,
+                  1.0046414028332704
+                ],
+                "rod_tip_xy_dist": 0.0016981605728060053,
+                "target_xy_drift": 5.803358919960183e-08,
+                "depth": 0.016460782135671148,
+                "bottom_clearance": 0.08297981303035729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0004864435735810746,
+                  0.0016211826455940215
+                ],
+                "rod_tip_xy": [
+                  0.2936229230898924,
+                  -0.36717141183959534
+                ],
+                "target_mouth_xy": [
+                  0.2941093666634735,
+                  -0.36879259448518936
+                ],
+                "gripper_position": [
+                  0.29361441704208546,
+                  -0.36717392286443845,
+                  1.004502587408211
+                ],
+                "rod_tip_xy_dist": 0.0016925898855462763,
+                "target_xy_drift": 6.409654185491615e-08,
+                "depth": 0.016618487723770836,
+                "bottom_clearance": 0.08282211887963686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0004949514534149935,
+                  0.0016186716292195813
+                ],
+                "rod_tip_xy": [
+                  0.2936144170420854,
+                  -0.3671739228644385
+                ],
+                "target_mouth_xy": [
+                  0.2941093684955004,
+                  -0.3687925944936581
+                ],
+                "gripper_position": [
+                  0.2936059183239814,
+                  -0.3671767248668391,
+                  1.004363555974326
+                ],
+                "rod_tip_xy_dist": 0.0016926531790292978,
+                "target_xy_drift": 6.492364350248158e-08,
+                "depth": 0.016757256091543327,
+                "bottom_clearance": 0.0826832976757167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.000503451115390352,
+                  0.001615872492684689
+                ],
+                "rod_tip_xy": [
+                  0.29360591832398136,
+                  -0.36717672486683917
+                ],
+                "target_mouth_xy": [
+                  0.2941093694393717,
+                  -0.36879259735952385
+                ],
+                "gripper_position": [
+                  0.29361534450792426,
+                  -0.36725203637265835,
+                  1.0038333840342426
+                ],
+                "rod_tip_xy_dist": 0.0016924854321981092,
+                "target_xy_drift": 6.790490204346224e-08,
+                "depth": 0.016896283844924365,
+                "bottom_clearance": 0.08254428452665918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0004939929608916427,
+                  0.001540495963797739
+                ],
+                "rod_tip_xy": [
+                  0.2936153445079242,
+                  -0.36725203637265835
+                ],
+                "target_mouth_xy": [
+                  0.29410933746881585,
+                  -0.3687925323364561
+                ],
+                "gripper_position": [
+                  0.29360418724141324,
+                  -0.3672611602705593,
+                  1.0036758472395797
+                ],
+                "rod_tip_xy_dist": 0.001617762918318879,
+                "target_xy_drift": 4.635647541648119e-09,
+                "depth": 0.017426534302051988,
+                "bottom_clearance": 0.0820141409299654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005051835867254106,
+                  0.0015314684830594616
+                ],
+                "rod_tip_xy": [
+                  0.2936041872414132,
+                  -0.36726116027055933
+                ],
+                "target_mouth_xy": [
+                  0.2941093708281386,
+                  -0.3687926287536188
+                ],
+                "gripper_position": [
+                  0.2935957512612496,
+                  -0.3672632585475904,
+                  1.0035370593425772
+                ],
+                "rod_tip_xy_dist": 0.0016126395043224008,
+                "target_xy_drift": 9.739797330231424e-08,
+                "depth": 0.01758409159369745,
+                "bottom_clearance": 0.08185658727505618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005136168536372665,
+                  0.0015292763522943842
+                ],
+                "rod_tip_xy": [
+                  0.29359575126124954,
+                  -0.36726325854759034
+                ],
+                "target_mouth_xy": [
+                  0.2941093681148868,
+                  -0.3687925348998847
+                ],
+                "gripper_position": [
+                  0.29358702885233756,
+                  -0.36726594049169364,
+                  1.003398421521758
+                ],
+                "rod_tip_xy_dist": 0.0016132229957532412,
+                "target_xy_drift": 2.9454291162564238e-08,
+                "depth": 0.017722727279430583,
+                "bottom_clearance": 0.08171782336885502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005223393189393022,
+                  0.0015265931286067014
+                ],
+                "rod_tip_xy": [
+                  0.29358702885233745,
+                  -0.3672659404916936
+                ],
+                "target_mouth_xy": [
+                  0.29410936817127675,
+                  -0.3687925336203003
+                ],
+                "gripper_position": [
+                  0.29359806683253,
+                  -0.3673436417357858,
+                  1.0028715844066576
+                ],
+                "rod_tip_xy_dist": 0.0016134822417427379,
+                "target_xy_drift": 2.9620469521596437e-08,
+                "depth": 0.017861446235163947,
+                "bottom_clearance": 0.08157914843191072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.000511303302840882,
+                  0.0014488966663933622
+                ],
+                "rod_tip_xy": [
+                  0.2935980668325299,
+                  -0.3673436417357858
+                ],
+                "target_mouth_xy": [
+                  0.2941093701353708,
+                  -0.3687925384021792
+                ],
+                "gripper_position": [
+                  0.29358655315433024,
+                  -0.3673525477997225,
+                  1.0027140104809928
+                ],
+                "rod_tip_xy_dist": 0.001536467577719033,
+                "target_xy_drift": 3.145430900039048e-08,
+                "depth": 0.01838833206138768,
+                "bottom_clearance": 0.08105228623781036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005227850389864508,
+                  0.0014400194395828292
+                ],
+                "rod_tip_xy": [
+                  0.2935865531543302,
+                  -0.3673525477997225
+                ],
+                "target_mouth_xy": [
+                  0.29410933819331664,
+                  -0.3687925672393053
+                ],
+                "gripper_position": [
+                  0.29357787327485024,
+                  -0.36735485904370807,
+                  1.0025756493966342
+                ],
+                "rod_tip_xy_dist": 0.0015319791719747727,
+                "target_xy_drift": 3.0444371881240486e-08,
+                "depth": 0.018545762350093198,
+                "bottom_clearance": 0.0808947586487424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005314654863383672,
+                  0.0014376761689780526
+                ],
+                "rod_tip_xy": [
+                  0.29357787327485013,
+                  -0.3673548590437081
+                ],
+                "target_mouth_xy": [
+                  0.2941093387611885,
+                  -0.3687925352126862
+                ],
+                "gripper_position": [
+                  0.29356908201211157,
+                  -0.3673573070156467,
+                  1.0024367471073201
+                ],
+                "rod_tip_xy_dist": 0.0015327649297972234,
+                "target_xy_drift": 1.5873224705218468e-09,
+                "depth": 0.018684188912399202,
+                "bottom_clearance": 0.08075635608471621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005402852357914711,
+                  0.001435200610197418
+                ],
+                "rod_tip_xy": [
+                  0.29356908201211146,
+                  -0.36735730701564673
+                ],
+                "target_mouth_xy": [
+                  0.29410936724790293,
+                  -0.36879250762584415
+                ],
+                "gripper_position": [
+                  0.29356042319521447,
+                  -0.36735921424415924,
+                  1.0022981119099228
+                ],
+                "rod_tip_xy_dist": 0.0015335282610781213,
+                "target_xy_drift": 4.080239415538148e-08,
+                "depth": 0.018823108130307853,
+                "bottom_clearance": 0.08061744162334672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005489464799423582,
+                  0.0014333225613756273
+                ],
+                "rod_tip_xy": [
+                  0.29356042319521436,
+                  -0.3673592142441593
+                ],
+                "target_mouth_xy": [
+                  0.2941093696751567,
+                  -0.3687925368055349
+                ],
+                "gripper_position": [
+                  0.2935514679327459,
+                  -0.3673617673005978,
+                  1.0021593902454138
+                ],
+                "rod_tip_xy_dist": 0.0015348471594232094,
+                "target_xy_drift": 3.095323977787519e-08,
+                "depth": 0.01896177231472318,
+                "bottom_clearance": 0.08047877073909693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.000557899747872237,
+                  0.001430739379111201
+                ],
+                "rod_tip_xy": [
+                  0.2935514679327458,
+                  -0.3673617673005979
+                ],
+                "target_mouth_xy": [
+                  0.294109367680618,
+                  -0.3687925066797091
+                ],
+                "gripper_position": [
+                  0.2935425638159024,
+                  -0.36736405461358995,
+                  1.0020211228174833
+                ],
+                "rod_tip_xy_dist": 0.0015356651000838074,
+                "target_xy_drift": 4.178288538978803e-08,
+                "depth": 0.01910038078247489,
+                "bottom_clearance": 0.0803401292793654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005667740616337458,
+                  0.0014284815514774563
+                ],
+                "rod_tip_xy": [
+                  0.2935425638159023,
+                  -0.36736405461359
+                ],
+                "target_mouth_xy": [
+                  0.29410933787753607,
+                  -0.36879253616506746
+                ],
+                "gripper_position": [
+                  0.2935337052001684,
+                  -0.36736661014416533,
+                  1.001882757366229
+                ],
+                "rod_tip_xy_dist": 0.001536812408803447,
+                "target_xy_drift": 1.0561787700881949e-09,
+                "depth": 0.019238713600582047,
+                "bottom_clearance": 0.0802018079378648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005756335038502036,
+                  0.0014259260300422683
+                ],
+                "rod_tip_xy": [
+                  0.2935337052001683,
+                  -0.3673666101441654
+                ],
+                "target_mouth_xy": [
+                  0.2941093387040185,
+                  -0.36879253617420765
+                ],
+                "gripper_position": [
+                  0.29354956411079547,
+                  -0.36745074629780733,
+                  1.0013619880148037
+                ],
+                "rod_tip_xy_dist": 0.0015377317626644011,
+                "target_xy_drift": 6.255712511994693e-10,
+                "depth": 0.01937706340150125,
+                "bottom_clearance": 0.08006344545956756,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000604254134117601,
+              "rod_tip_xy_max_step": 3.281297175818017e-05,
+              "rod_tip_xy_range": 0.0006042431430589049,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29313063054174904,
+            -0.3688511075360502,
+            1.0433971106202253
+          ],
+          "object_origin_world": [
+            0.29313063054174904,
+            -0.3688511075360502,
+            1.0433971106202253
+          ],
+          "frame_world": [
+            0.2931291256579224,
+            -0.3688591223933463,
+            1.0432721997745966
+          ],
+          "center_minus_frame": [
+            1.5048838266640274e-06,
+            8.0148572960681e-06,
+            0.0001249108456287118
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2703817734103739,
+              0.14343719708452818,
+              0.8324250380933628
+            ],
+            "target_position": [
+              0.28230052741032297,
+              0.18970466188952684,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047777976060033055,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1663515188389945,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324250380933628,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671244264413,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13660001831704205,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e17f555e9bcdf14404dbba4b738c5772ef97d462d11111dfd079784a58347a80",
+    "visual_seed": 2865095314077017832,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed01cfa5ab1bf5f6796bdf34cb3084f76f8ff1e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_10_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33445806001236433,
+              -0.033336039079305865,
+              1.1655103753276856
+            ],
+            "current_z": 1.1655103753276856,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.30440398652220935,
+            "gripper_z": 1.1565807209266408,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3297086344750698,
+              -0.03797582427119052,
+              1.1565807209266408
+            ],
+            "object_minus_gripper": [
+              0.004749425537294516,
+              0.0046397851918846544,
+              0.008929654401044873
+            ],
+            "object_to_gripper_xy": 0.006639627215524786,
+            "object_to_gripper_z": 0.008929654401044873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33445806001236433,
+              -0.057426143510814896,
+              1.1655103753276856
+            ],
+            "finger_b": [
+              0.3240775639484833,
+              -0.033336039079305865,
+              1.1655103753276856
+            ],
+            "finger_midpoint": [
+              0.3292678119804238,
+              -0.04538109129506038,
+              1.1655103753276856
+            ],
+            "object_minus_finger_midpoint": [
+              0.005190248031940514,
+              0.012045052215754512,
+              0.0
+            ],
+            "finger_gap": 0.02623142828847222,
+            "fingertip_max_gap": 0.09225923656890297,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013115714144236106,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655103753276856,
+            "object_top_z": 1.215398917247974,
+            "finger_top_clearance": 0.049888541920288354,
+            "fingertip_min_top_clearance": 0.014966562576086539,
+            "object_projection_between_fingers": 0.8433997902216801,
+            "object_to_finger_line_xy": 0.009533115447612041,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862961828445149,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0608907618247727,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29072893839165875,
+              -0.3689810693988801,
+              0.8515396118430415
+            ],
+            "target_position": [
+              0.28465006079672006,
+              -0.368938116370513,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006079029344960716,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18412769443131116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396118430415,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513621492544416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08772581992601046,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15293872898952915,
+            "release_required_pad_clearance": 0.05386290996300523,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7351837173927214,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008097589015960693,
+            "max_z_decrease": 0.008097589015960693,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511171431635076,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008097589015960693,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020950450801625047,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008097589015960693,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008097609752423733,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1403499841690063,
+              -0.42519956827163696,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1403499841690063,
+              -0.42519956827163696,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13842390050760886,
+              -0.42442174027324353,
+              0.803761196144017
+            ],
+            "closest_button": [
+              0.14036105573177332,
+              -0.425184965133667,
+              0.768711268901825
+            ],
+            "closest_ee_minus_button": [
+              -0.0019371552241644607,
+              0.0007632248604234615,
+              0.035049927242192025
+            ],
+            "button_min_z_position": [
+              0.14036105573177332,
+              -0.425184965133667,
+              0.768711268901825
+            ],
+            "min_active_finger_to_button": 0.14717488141353519,
+            "closest_active_finger": [
+              0.01246606558561325,
+              -0.4894666373729706,
+              0.8110905289649963
+            ],
+            "closest_active_finger_button": [
+              0.1403505057096481,
+              -0.4252009093761444,
+              0.776798665523529
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12788444012403485,
+              -0.06426572799682617,
+              0.034291863441467285
+            ],
+            "min_contact_pad_to_button": 0.020950450801625047,
+            "closest_contact_pad": [
+              0.14036105573177332,
+              -0.42540275312409276,
+              0.7896605876779221
+            ],
+            "closest_contact_pad_button": [
+              0.14036105573177332,
+              -0.425184965133667,
+              0.768711268901825
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00021778799042576624,
+              0.02094931877609718
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2831769974864144,
+              0.1994563183802622,
+              1.102600665654958
+            ],
+            "current_z": 1.102600665654958,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1926915359205955,
+            "gripper_z": 1.102600492733456,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28317700071245433,
+              0.1994562172393281,
+              1.102600492733456
+            ],
+            "object_minus_gripper": [
+              -3.2260399351891067e-09,
+              1.0114093410007463e-07,
+              1.7292150200631795e-07
+            ],
+            "object_to_gripper_xy": 1.0119237068227562e-07,
+            "object_to_gripper_z": 1.7292150200631795e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2831769974864144,
+              0.1994563183802622,
+              1.102600665654958
+            ],
+            "finger_b": [
+              0.2831769974864144,
+              0.1994563183802622,
+              1.102600665654958
+            ],
+            "finger_midpoint": [
+              0.2831769974864144,
+              0.1994563183802622,
+              1.102600665654958
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102600665654958,
+            "object_top_z": 1.2276091722752378,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28317699748641445,
+            0.19945631838026223,
+            1.102600665654958
+          ],
+          "object_origin_world": [
+            0.28317699748641445,
+            0.19945631838026223,
+            1.102600665654958
+          ],
+          "frame_world": [
+            0.28317700071245433,
+            0.1994562172393281,
+            1.102600492733456
+          ],
+          "center_minus_frame": [
+            -3.2260398796779555e-09,
+            1.011409341278302e-07,
+            1.7292150200631795e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043374093485118,
+            "required_z": 0.9112598908110537,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010923165316083577,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.002464686812631e-08,
+            "max_target_xy_drift": 1.3036870722234196e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.7351837195010127,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.735183719856127,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2909344464496297,
+              -0.3679000213224849,
+              0.9234982660708223
+            ],
+            "target_mouth_xy": [
+              0.2907290003196552,
+              -0.36898112860722554
+            ],
+            "rod_tip_z": 0.9234982660708223,
+            "rod_tip_depth": -0.02223840186933601,
+            "rod_tip_bottom_clearance": 0.12167895930131589,
+            "rod_tip_xy_dist": 0.0011004549393050038,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04475310770102103,
+            "min_rod_tip_bottom_clearance": 0.05468746690144832,
+            "min_rod_tip_xy_dist": 0.0008615400034098188,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2907289703139795,
+              -0.3689811296743919
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.0005675721866965e-08,
+              1.0671663552841437e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0006716428643522843,
+                0.0028276511878846944
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005746085610651708,
+                0.0024821606583640965
+              ],
+              "first_target_mouth_xy": [
+                0.2907290007107655,
+                -0.3689811258036311
+              ],
+              "last_target_mouth_xy": [
+                0.290728937805947,
+                -0.3689811277638451
+              ],
+              "first_rod_tip_xy": [
+                0.2914006435751178,
+                -0.36615347461574643
+              ],
+              "last_rod_tip_xy": [
+                0.29130354636701217,
+                -0.366498967105481
+              ],
+              "min_rod_tip_xy_dist": 0.0025478022946021283,
+              "max_rod_tip_xy_dist": 0.0029063233436046076,
+              "first_target_xy_drift": 3.064224844940341e-08,
+              "last_target_xy_drift": 3.2564126968684375e-08,
+              "max_depth": 0.019386464808055393,
+              "min_bottom_clearance": 0.08005420020607035
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0006716428643522843,
+                  0.0028276511878846944
+                ],
+                "rod_tip_xy": [
+                  0.2914006435751178,
+                  -0.36615347461574643
+                ],
+                "target_mouth_xy": [
+                  0.2907290007107655,
+                  -0.3689811258036311
+                ],
+                "gripper_position": [
+                  0.2913923147645971,
+                  -0.36615636806284374,
+                  1.0059916056241536
+                ],
+                "rod_tip_xy_dist": 0.0029063233436046076,
+                "target_xy_drift": 3.064224844940341e-08,
+                "depth": 0.015130768144735796,
+                "bottom_clearance": 0.08430983072168197,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006633123873222013,
+                  0.0028247627534995767
+                ],
+                "rod_tip_xy": [
+                  0.2913923147645969,
+                  -0.3661563680628439
+                ],
+                "target_mouth_xy": [
+                  0.2907290023772747,
+                  -0.3689811308163435
+                ],
+                "gripper_position": [
+                  0.2914013749221732,
+                  -0.3662253868836202,
+                  1.0054575723126458
+                ],
+                "rod_tip_xy_dist": 0.0029015974801363453,
+                "target_xy_drift": 3.208362440791186e-08,
+                "depth": 0.015268259444518928,
+                "bottom_clearance": 0.08417234365556692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006724367700629563,
+                  0.0027557091459026184
+                ],
+                "rod_tip_xy": [
+                  0.29140137492217305,
+                  -0.3662253868836203
+                ],
+                "target_mouth_xy": [
+                  0.2907289381521101,
+                  -0.3689810960295229
+                ],
+                "gripper_position": [
+                  0.29139051503118046,
+                  -0.36623434150524964,
+                  1.005300949174087
+                ],
+                "rod_tip_xy_dist": 0.002836565547725636,
+                "target_xy_drift": 4.654420536233529e-08,
+                "depth": 0.015802339168499824,
+                "bottom_clearance": 0.08363837733598323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006615444597426468,
+                  0.0027467877370752625
+                ],
+                "rod_tip_xy": [
+                  0.2913905150311803,
+                  -0.3662343415052497
+                ],
+                "target_mouth_xy": [
+                  0.29072897057143765,
+                  -0.36898112924232496
+                ],
+                "gripper_position": [
+                  0.291381975839499,
+                  -0.3662369667231551,
+                  1.005163971822136
+                ],
+                "rod_tip_xy_dist": 0.002825328997614832,
+                "target_xy_drift": 5.029577973476569e-10,
+                "depth": 0.0159589256776268,
+                "bottom_clearance": 0.08348165358962534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006530045878087587,
+                  0.002744160622524916
+                ],
+                "rod_tip_xy": [
+                  0.2913819758394988,
+                  -0.3662369667231552
+                ],
+                "target_mouth_xy": [
+                  0.29072897125169006,
+                  -0.3689811273456801
+                ],
+                "gripper_position": [
+                  0.29139187822363843,
+                  -0.36630711406493244,
+                  1.0046315465658233
+                ],
+                "rod_tip_xy_dist": 0.0028207857972408364,
+                "target_xy_drift": 2.5104182268219327e-09,
+                "depth": 0.01609587116885658,
+                "bottom_clearance": 0.08334466172604338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006629060649832597,
+                  0.0026740132427472973
+                ],
+                "rod_tip_xy": [
+                  0.29139187822363827,
+                  -0.36630711406493255
+                ],
+                "target_mouth_xy": [
+                  0.290728972158655,
+                  -0.36898112730767985
+                ],
+                "gripper_position": [
+                  0.2913809573926037,
+                  -0.3663157455066879,
+                  1.0044749849934655
+                ],
+                "rod_tip_xy_dist": 0.002754957581049027,
+                "target_xy_drift": 3.0006922047426762e-09,
+                "depth": 0.016628278273297603,
+                "bottom_clearance": 0.08281223877100397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006520200541059173,
+                  0.002665387041010492
+                ],
+                "rod_tip_xy": [
+                  0.29138095739260356,
+                  -0.366315745506688
+                ],
+                "target_mouth_xy": [
+                  0.29072893733849764,
+                  -0.3689811325476985
+                ],
+                "gripper_position": [
+                  0.2913724194238293,
+                  -0.3663182362947788,
+                  1.0043377946415202
+                ],
+                "rod_tip_xy_dist": 0.0027439785402482556,
+                "target_xy_drift": 3.3100427394409456e-08,
+                "depth": 0.016784995588526752,
+                "bottom_clearance": 0.0826558335859483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006434177902753802,
+                  0.0026628926665876462
+                ],
+                "rod_tip_xy": [
+                  0.29137241942382913,
+                  -0.3663182362947789
+                ],
+                "target_mouth_xy": [
+                  0.29072900163355375,
+                  -0.36898112896136653
+                ],
+                "gripper_position": [
+                  0.2913832494669456,
+                  -0.36638920313573625,
+                  1.0038089609739427
+                ],
+                "rod_tip_xy_dist": 0.0027395225508488005,
+                "target_xy_drift": 3.13276896284369e-08,
+                "depth": 0.016922037480668672,
+                "bottom_clearance": 0.08251848498263237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006542493119144899,
+                  0.00259189287891759
+                ],
+                "rod_tip_xy": [
+                  0.2913832494669455,
+                  -0.3663892031357363
+                ],
+                "target_mouth_xy": [
+                  0.290729000155031,
+                  -0.3689810960146539
+                ],
+                "gripper_position": [
+                  0.2913720436175309,
+                  -0.3663979816386344,
+                  1.0036527997680935
+                ],
+                "rod_tip_xy_dist": 0.002673191137559059,
+                "target_xy_drift": 4.498295585840017e-08,
+                "depth": 0.017450935225448827,
+                "bottom_clearance": 0.08198968549743024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006430422588720175,
+                  0.002583118443708121
+                ],
+                "rod_tip_xy": [
+                  0.2913720436175308,
+                  -0.36639798163863446
+                ],
+                "target_mouth_xy": [
+                  0.29072900135865876,
+                  -0.3689811000823426
+                ],
+                "gripper_position": [
+                  0.29136342639100354,
+                  -0.366400402567492,
+                  1.0035157282256493
+                ],
+                "rod_tip_xy_dist": 0.0026619549659827628,
+                "target_xy_drift": 4.288894372104871e-08,
+                "depth": 0.01760705830711462,
+                "bottom_clearance": 0.08183350888265362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006344573840107448,
+                  0.002580694088778257
+                ],
+                "rod_tip_xy": [
+                  0.2913634263910034,
+                  -0.36640040256749207
+                ],
+                "target_mouth_xy": [
+                  0.29072896900699263,
+                  -0.3689810966562703
+                ],
+                "gripper_position": [
+                  0.291354653374708,
+                  -0.36640281172296724,
+                  1.0033782931097557
+                ],
+                "rod_tip_xy_dist": 0.002657539868370895,
+                "target_xy_drift": 3.304397927997815e-08,
+                "depth": 0.017744199615309042,
+                "bottom_clearance": 0.08169645341428156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006256829297412447,
+                  0.002578288391960837
+                ],
+                "rod_tip_xy": [
+                  0.29135465337470784,
+                  -0.3664028117229673
+                ],
+                "target_mouth_xy": [
+                  0.2907289704449666,
+                  -0.36898110011492813
+                ],
+                "gripper_position": [
+                  0.29134601617949857,
+                  -0.3664050726948597,
+                  1.0032412315731465
+                ],
+                "rod_tip_xy_dist": 0.0026531208341667336,
+                "target_xy_drift": 2.9559753986331693e-08,
+                "depth": 0.01788159850715365,
+                "bottom_clearance": 0.08155901071844429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006170159766686334,
+                  0.002575994124076053
+                ],
+                "rod_tip_xy": [
+                  0.2913460161794984,
+                  -0.3664050726948599
+                ],
+                "target_mouth_xy": [
+                  0.29072900020282977,
+                  -0.36898106681893594
+                ],
+                "gripper_position": [
+                  0.291359036629167,
+                  -0.3664791987699555,
+                  1.0027139676015122
+                ],
+                "rod_tip_xy_dist": 0.002648859083216527,
+                "target_xy_drift": 6.959994047491146e-08,
+                "depth": 0.018018653188712208,
+                "bottom_clearance": 0.08142194508262868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006300336855162292,
+                  0.002501902847324655
+                ],
+                "rod_tip_xy": [
+                  0.29135903662916685,
+                  -0.3664791987699556
+                ],
+                "target_mouth_xy": [
+                  0.2907290029436506,
+                  -0.36898110161728026
+                ],
+                "gripper_position": [
+                  0.2913476004187679,
+                  -0.3664879650068759,
+                  1.0025575742114696
+                ],
+                "rod_tip_xy_dist": 0.0025800116864728305,
+                "target_xy_drift": 4.303367229747807e-08,
+                "depth": 0.018545912986911106,
+                "bottom_clearance": 0.08089473325104335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000618663015094445,
+                  0.002493131666118309
+                ],
+                "rod_tip_xy": [
+                  0.2913476004187677,
+                  -0.36648796500687597
+                ],
+                "target_mouth_xy": [
+                  0.2907289374036733,
+                  -0.3689810966729943
+                ],
+                "gripper_position": [
+                  0.2913388298466125,
+                  -0.3664901629889943,
+                  1.002420908285008
+                ],
+                "rod_tip_xy_dist": 0.0025687447188943485,
+                "target_xy_drift": 4.660665723755106e-08,
+                "depth": 0.018702350173670612,
+                "bottom_clearance": 0.08073837460289457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006098274449571339,
+                  0.002490965900875386
+                ],
+                "rod_tip_xy": [
+                  0.29133882984661236,
+                  -0.3664901629889944
+                ],
+                "target_mouth_xy": [
+                  0.2907290024016552,
+                  -0.3689811288898698
+                ],
+                "gripper_position": [
+                  0.29132995821098673,
+                  -0.3664924060808674,
+                  1.0022837476612565
+                ],
+                "rod_tip_xy_dist": 0.0025645273700911964,
+                "target_xy_drift": 3.209726482520423e-08,
+                "depth": 0.018838923373252103,
+                "bottom_clearance": 0.08060161552611189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006009915934316878,
+                  0.002488720113001386
+                ],
+                "rod_tip_xy": [
+                  0.29132995821098656,
+                  -0.3664924060808675
+                ],
+                "target_mouth_xy": [
+                  0.2907289666175549,
+                  -0.3689811261938689
+                ],
+                "gripper_position": [
+                  0.2913211561621455,
+                  -0.366494543864664,
+                  1.0021468350163822
+                ],
+                "rod_tip_xy_dist": 0.002560257544903088,
+                "target_xy_drift": 5.0771640828793324e-09,
+                "depth": 0.01897619977212084,
+                "bottom_clearance": 0.08046455816034637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005922175534866514,
+                  0.002486584484587273
+                ],
+                "rod_tip_xy": [
+                  0.2913211561621454,
+                  -0.3664945438646642
+                ],
+                "target_mouth_xy": [
+                  0.2907289386086587,
+                  -0.36898112834925145
+                ],
+                "gripper_position": [
+                  0.2913122677991856,
+                  -0.3664968488260306,
+                  1.0020102055647906
+                ],
+                "rod_tip_xy_dist": 0.0025561345875457866,
+                "target_xy_drift": 3.1733001142952626e-08,
+                "depth": 0.019113086580314742,
+                "bottom_clearance": 0.08032753851421048,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0005832685560203665,
+                  0.0024842791991308566
+                ],
+                "rod_tip_xy": [
+                  0.29131226779918545,
+                  -0.36649684882603073
+                ],
+                "target_mouth_xy": [
+                  0.2907289992431651,
+                  -0.3689811280251616
+                ],
+                "gripper_position": [
+                  0.2913035463670123,
+                  -0.36649896710548097,
+                  1.0018734258618691
+                ],
+                "rod_tip_xy_dist": 0.002551831763199983,
+                "target_xy_drift": 2.8976158134543658e-08,
+                "depth": 0.019249623413202688,
+                "bottom_clearance": 0.08019095917951957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005746085610651708,
+                  0.0024821606583640965
+                ],
+                "rod_tip_xy": [
+                  0.29130354636701217,
+                  -0.366498967105481
+                ],
+                "target_mouth_xy": [
+                  0.290728937805947,
+                  -0.3689811277638451
+                ],
+                "gripper_position": [
+                  0.2912945857445587,
+                  -0.36650101108825317,
+                  1.001736547681424
+                ],
+                "rod_tip_xy_dist": 0.0025478022946021283,
+                "target_xy_drift": 3.2564126968684375e-08,
+                "depth": 0.019386464808055393,
+                "bottom_clearance": 0.08005420020607035,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005995577010758085,
+              "rod_tip_xy_max_step": 3.2626297284616326e-05,
+              "rod_tip_xy_range": 0.0005995466316724807,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29093444644962974,
+            -0.36790002132248484,
+            1.0434982660708223
+          ],
+          "object_origin_world": [
+            0.29093444644962974,
+            -0.36790002132248484,
+            1.0434982660708223
+          ],
+          "frame_world": [
+            0.2909328151656254,
+            -0.3679079953844675,
+            1.043374093485118
+          ],
+          "center_minus_frame": [
+            1.6312840043219978e-06,
+            7.974061982662928e-06,
+            0.00012417258570440737
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2714020493844512,
+              0.15270344247653367,
+              0.8319775593067543
+            ],
+            "target_position": [
+              0.28334636713834527,
+              0.19869108698890386,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04751347360909452,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16756461701327693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319775593067543,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.118356736666886,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13666972230963412,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "182eb154bc02882d8b62ff52be3fdddfc1ffc1f335e71d560628cb8d6bd0db70",
+    "visual_seed": 3530604723975870817,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63dfd78c1b6b7d14fea50a9d4e0c49938ae63128
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_11_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33364316758283075,
+              -0.0320009949187683,
+              1.1654283482452974
+            ],
+            "current_z": 1.1654283482452974,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3043218998351762,
+            "gripper_z": 1.1562780384229894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32919088536073815,
+              -0.036655757094407895,
+              1.1562780384229894
+            ],
+            "object_minus_gripper": [
+              0.004452282222092596,
+              0.004654762175639593,
+              0.009150309822308023
+            ],
+            "object_to_gripper_xy": 0.006441244281730574,
+            "object_to_gripper_z": 0.009150309822308023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33364316758283075,
+              -0.055593993077169716,
+              1.1654283482452974
+            ],
+            "finger_b": [
+              0.3228485747131192,
+              -0.0320009949187683,
+              1.1654283482452974
+            ],
+            "finger_midpoint": [
+              0.328245871147975,
+              -0.043797493997969006,
+              1.1654283482452974
+            ],
+            "object_minus_finger_midpoint": [
+              0.005397296434855758,
+              0.011796499079200704,
+              0.0
+            ],
+            "finger_gap": 0.025945188327032055,
+            "fingertip_max_gap": 0.09177460651984179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012972594163516014,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1654283482452974,
+            "object_top_z": 1.2153185149744887,
+            "finger_top_clearance": 0.04989016672919133,
+            "fingertip_min_top_clearance": 0.014967050018757366,
+            "object_projection_between_fingers": 0.8268992780155642,
+            "object_to_finger_line_xy": 0.009815955331896872,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483873032599209,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6992784659643516,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29753412811966484,
+              -0.374516930276497,
+              0.8515395564054785
+            ],
+            "target_position": [
+              0.29087376141648125,
+              -0.3752515658393435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006700759213035153,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18175439408955757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395564054785,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755681742248804,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636988599475413,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14967569971710762,
+            "release_required_pad_clearance": 0.05318494299737707,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3932247962031434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008258044719696045,
+            "max_z_decrease": 0.008258044719696045,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500730196918011,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008258044719696045,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020824481104302295,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008258044719696045,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008258212399548893,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14657369256019587,
+              -0.43151301145553583,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14657369256019587,
+              -0.43151301145553583,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1451361455781979,
+              -0.43082199194835846,
+              0.8035881806402722
+            ],
+            "closest_button": [
+              0.14661923050880427,
+              -0.43149077892303467,
+              0.7686187028884888
+            ],
+            "closest_ee_minus_button": [
+              -0.0014830849306063654,
+              0.0006687869746762054,
+              0.034969477751783384
+            ],
+            "button_min_z_position": [
+              0.14662139117717737,
+              -0.43149077892303467,
+              0.7685508131980896
+            ],
+            "min_active_finger_to_button": 0.14674264251932947,
+            "closest_active_finger": [
+              0.017647333443164825,
+              -0.49271970987319946,
+              0.8108468651771545
+            ],
+            "closest_active_finger_button": [
+              0.14657737314701075,
+              -0.43151271343231196,
+              0.7767271995544434
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12893003970384592,
+              -0.06120699644088751,
+              0.03411966562271118
+            ],
+            "min_contact_pad_to_button": 0.020824481104302295,
+            "closest_contact_pad": [
+              0.14662139117717737,
+              -0.43210727206559174,
+              0.7893661668935862
+            ],
+            "closest_contact_pad_button": [
+              0.14662139117717737,
+              -0.43149077892303467,
+              0.7685508131980896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000616493142557073,
+              0.020815353695496586
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28166144787809716,
+              0.19297510374820648,
+              1.1032603647276558
+            ],
+            "current_z": 1.1032603647276558,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1933512349932932,
+            "gripper_z": 1.1032604635069978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2816614777781202,
+              0.19297512592654203,
+              1.1032604635069978
+            ],
+            "object_minus_gripper": [
+              -2.990002301306305e-08,
+              -2.217833555695492e-08,
+              -9.877934203927907e-08
+            ],
+            "object_to_gripper_xy": 3.7227542817900176e-08,
+            "object_to_gripper_z": -9.877934203927907e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28166144787809716,
+              0.19297510374820648,
+              1.1032603647276558
+            ],
+            "finger_b": [
+              0.28166144787809716,
+              0.19297510374820648,
+              1.1032603647276558
+            ],
+            "finger_midpoint": [
+              0.28166144787809716,
+              0.19297510374820648,
+              1.1032603647276558
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1032603647276558,
+            "object_top_z": 1.2282688713479355,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28166144787809716,
+            0.19297510374820645,
+            1.103260364727656
+          ],
+          "object_origin_world": [
+            0.28166144787809716,
+            0.19297510374820645,
+            1.103260364727656
+          ],
+          "frame_world": [
+            0.2816614777781202,
+            0.19297512592654203,
+            1.1032604635069978
+          ],
+          "center_minus_frame": [
+            -2.990002301306305e-08,
+            -2.2178335584710496e-08,
+            -9.877934181723447e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432418811139548,
+            "required_z": 0.9112599351477768,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011896979758865014,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3438609246418646e-07,
+            "max_target_xy_drift": 2.469037092978549e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.3937864741864179,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3937864745444362,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2986461203180697,
+              -0.3740820747744441,
+              0.9233709193704086
+            ],
+            "target_mouth_xy": [
+              0.29753412347998737,
+              -0.3745168937277608
+            ],
+            "rod_tip_z": 0.9233709193704086,
+            "rod_tip_depth": -0.02211108424592234,
+            "rod_tip_bottom_clearance": 0.1215516388531458,
+            "rod_tip_xy_dist": 0.0011939868048134097,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04503261322252139,
+            "min_rod_tip_bottom_clearance": 0.054407908395636584,
+            "min_rod_tip_xy_dist": 0.00034484435923170387,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2975340696787265,
+              -0.3745170168742028
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.380126089082893e-08,
+              1.231464419881867e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0015281568916096777,
+                0.0022544962767725996
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001449121946767884,
+                0.0018698461773911101
+              ],
+              "first_target_mouth_xy": [
+                0.29753409393696056,
+                -0.37451683441033506
+              ],
+              "last_target_mouth_xy": [
+                0.29753406358365037,
+                -0.37451683441890443
+              ],
+              "first_rod_tip_xy": [
+                0.29906225082857024,
+                -0.37226233813356246
+              ],
+              "last_rod_tip_xy": [
+                0.29898318553041825,
+                -0.3726469882415133
+              ],
+              "min_rod_tip_xy_dist": 0.0023656456082237864,
+              "max_rod_tip_xy_dist": 0.0027236036692873775,
+              "first_target_xy_drift": 1.8406934821068597e-07,
+              "last_target_xy_drift": 1.8255707561199893e-07,
+              "max_depth": 0.01944979873714714,
+              "min_bottom_clearance": 0.0799907546817129
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0015281568916096777,
+                  0.0022544962767725996
+                ],
+                "rod_tip_xy": [
+                  0.29906225082857024,
+                  -0.37226233813356246
+                ],
+                "target_mouth_xy": [
+                  0.29753409393696056,
+                  -0.37451683441033506
+                ],
+                "gripper_position": [
+                  0.29905160120721663,
+                  -0.37227187004242857,
+                  1.0060217004203411
+                ],
+                "rod_tip_xy_dist": 0.0027236036692873775,
+                "target_xy_drift": 1.8406934821068597e-07,
+                "depth": 0.01507563563839276,
+                "bottom_clearance": 0.08436493915065113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001517537483061826,
+                  0.0022449333003891625
+                ],
+                "rod_tip_xy": [
+                  0.2990516012072167,
+                  -0.37227187004242845
+                ],
+                "target_mouth_xy": [
+                  0.29753406372415486,
+                  -0.3745168033428176
+                ],
+                "gripper_position": [
+                  0.29904336273508414,
+                  -0.37227534955837466,
+                  1.0058786124768384
+                ],
+                "rod_tip_xy_dist": 0.0027097316353642477,
+                "target_xy_drift": 2.1361439413584531e-07,
+                "depth": 0.01523805837561476,
+                "bottom_clearance": 0.08420245991428887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001509270276537189,
+                  0.0022414839209164428
+                ],
+                "rod_tip_xy": [
+                  0.29904336273508425,
+                  -0.3722753495583746
+                ],
+                "target_mouth_xy": [
+                  0.29753409245854706,
+                  -0.37451683347929104
+                ],
+                "gripper_position": [
+                  0.2990558282092405,
+                  -0.3723484466929656,
+                  1.005343035475508
+                ],
+                "rod_tip_xy_dist": 0.0027022484962278344,
+                "target_xy_drift": 1.848042582956973e-07,
+                "depth": 0.015381208675809499,
+                "bottom_clearance": 0.08405929087969277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015217644329955649,
+                  0.0021683874043926243
+                ],
+                "rod_tip_xy": [
+                  0.29905582820924054,
+                  -0.3723484466929655
+                ],
+                "target_mouth_xy": [
+                  0.297534063776245,
+                  -0.37451683409735814
+                ],
+                "gripper_position": [
+                  0.29904500433084347,
+                  -0.3723579327734824,
+                  1.0051801928134505
+                ],
+                "rod_tip_xy_dist": 0.00264908869709168,
+                "target_xy_drift": 1.8287212535415006e-07,
+                "depth": 0.015916798361710893,
+                "bottom_clearance": 0.08352375145289137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015109110503308543,
+                  0.002158899743114173
+                ],
+                "rod_tip_xy": [
+                  0.2990450043308435,
+                  -0.3723579327734824
+                ],
+                "target_mouth_xy": [
+                  0.29753409328051267,
+                  -0.37451683251659657
+                ],
+                "gripper_position": [
+                  0.2990366576414646,
+                  -0.3723612501948431,
+                  1.0050373820787954
+                ],
+                "rod_tip_xy_dist": 0.0026350901887469296,
+                "target_xy_drift": 1.8586223739302465e-07,
+                "depth": 0.016079635078158572,
+                "bottom_clearance": 0.08336089699782956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015025932169308032,
+                  0.002155584848129277
+                ],
+                "rod_tip_xy": [
+                  0.29903665764146464,
+                  -0.3723612501948431
+                ],
+                "target_mouth_xy": [
+                  0.29753406442453384,
+                  -0.3745168350429724
+                ],
+                "gripper_position": [
+                  0.2990283902803396,
+                  -0.37236457346394025,
+                  1.0048945854557734
+                ],
+                "rod_tip_xy_dist": 0.0026276096386356512,
+                "target_xy_drift": 1.8190712710380148e-07,
+                "depth": 0.016222533503239878,
+                "bottom_clearance": 0.08321807467636322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014943270024415645,
+                  0.0021522317958293513
+                ],
+                "rod_tip_xy": [
+                  0.2990283902803397,
+                  -0.37236457346394025
+                ],
+                "target_mouth_xy": [
+                  0.2975340632778981,
+                  -0.3745168052597696
+                ],
+                "gripper_position": [
+                  0.2990426104324371,
+                  -0.372439869722962,
+                  1.0043580371851788
+                ],
+                "rod_tip_xy_dist": 0.002620136426448979,
+                "target_xy_drift": 2.1171121590932793e-07,
+                "depth": 0.016365261226991223,
+                "bottom_clearance": 0.08307530252457462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015085172457913743,
+                  0.00207693489838201
+                ],
+                "rod_tip_xy": [
+                  0.29904261043243713,
+                  -0.37243986972296195
+                ],
+                "target_mouth_xy": [
+                  0.29753409318664575,
+                  -0.37451680462134396
+                ],
+                "gripper_position": [
+                  0.29903169669408824,
+                  -0.37244935173565696,
+                  1.0041957139460693
+                ],
+                "rod_tip_xy_dist": 0.002566959846387762,
+                "target_xy_drift": 2.135506927087769e-07,
+                "depth": 0.016901799120775607,
+                "bottom_clearance": 0.08253874662432348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014976325843381044,
+                  0.0020674833159189943
+                ],
+                "rod_tip_xy": [
+                  0.2990316966940883,
+                  -0.37244935173565696
+                ],
+                "target_mouth_xy": [
+                  0.2975340641097502,
+                  -0.37451683505157596
+                ],
+                "gripper_position": [
+                  0.29902331258756476,
+                  -0.37245230390732065,
+                  1.0040529718502318
+                ],
+                "rod_tip_xy_dist": 0.0025529180596475533,
+                "target_xy_drift": 1.8190789188236552e-07,
+                "depth": 0.017064139539433087,
+                "bottom_clearance": 0.08237645656107007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014892493248799266,
+                  0.0020645305154313176
+                ],
+                "rod_tip_xy": [
+                  0.2990233125875648,
+                  -0.37245230390732065
+                ],
+                "target_mouth_xy": [
+                  0.2975340632626849,
+                  -0.37451683442275197
+                ],
+                "gripper_position": [
+                  0.29901459872179803,
+                  -0.3724556189920808,
+                  1.0039100226376239
+                ],
+                "rod_tip_xy_dist": 0.0025456138357579728,
+                "target_xy_drift": 1.825642284292047e-07,
+                "depth": 0.017206923022162535,
+                "bottom_clearance": 0.08223361790709371,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014805358887737818,
+                  0.0020611859548798073
+                ],
+                "rod_tip_xy": [
+                  0.2990145987217981,
+                  -0.3724556189920808
+                ],
+                "target_mouth_xy": [
+                  0.2975340628330243,
+                  -0.3745168049469606
+                ],
+                "gripper_position": [
+                  0.2990304660391329,
+                  -0.37253339783641887,
+                  1.0033765497215918
+                ],
+                "rod_tip_xy_dist": 0.0025378089089884122,
+                "target_xy_drift": 2.120377787673084e-07,
+                "depth": 0.017349816813160612,
+                "bottom_clearance": 0.08209072262501571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014963733901158238,
+                  0.0019834378643369677
+                ],
+                "rod_tip_xy": [
+                  0.29903046603913297,
+                  -0.3725333978364188
+                ],
+                "target_mouth_xy": [
+                  0.29753409264901715,
+                  -0.3745168357007558
+                ],
+                "gripper_position": [
+                  0.29901950443931624,
+                  -0.372542489306198,
+                  1.003213872512642
+                ],
+                "rod_tip_xy_dist": 0.002484584288031363,
+                "target_xy_drift": 1.826237995428354e-07,
+                "depth": 0.017883307004548654,
+                "bottom_clearance": 0.08155726677079989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014854397389120755,
+                  0.001974342874667079
+                ],
+                "rod_tip_xy": [
+                  0.29901950443931635,
+                  -0.37254248930619804
+                ],
+                "target_mouth_xy": [
+                  0.2975340647004043,
+                  -0.3745168321808651
+                ],
+                "gripper_position": [
+                  0.299010971486699,
+                  -0.3725453513648638,
+                  1.0030714840949781
+                ],
+                "rod_tip_xy_dist": 0.0024707409829214876,
+                "target_xy_drift": 1.8476041966560617e-07,
+                "depth": 0.018046030260452817,
+                "bottom_clearance": 0.08139456008399715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001476908840308877,
+                  0.0019714840238368447
+                ],
+                "rod_tip_xy": [
+                  0.2990109714866991,
+                  -0.3725453513648638
+                ],
+                "target_mouth_xy": [
+                  0.2975340626463902,
+                  -0.3745168353887006
+                ],
+                "gripper_position": [
+                  0.29900234922408886,
+                  -0.3725485737664884,
+                  1.0029287521683117
+                ],
+                "rod_tip_xy_dist": 0.0024633329005285557,
+                "target_xy_drift": 1.8162169819614313e-07,
+                "depth": 0.018188372852158685,
+                "bottom_clearance": 0.08125219702431796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014682562415647138,
+                  0.0019682603414528654
+                ],
+                "rod_tip_xy": [
+                  0.2990023492240889,
+                  -0.3725485737664884
+                ],
+                "target_mouth_xy": [
+                  0.2975340929825242,
+                  -0.3745168341079413
+                ],
+                "gripper_position": [
+                  0.2989937903498082,
+                  -0.3725514317937633,
+                  1.0027862626983892
+                ],
+                "rod_tip_xy_dist": 0.0024555702316630835,
+                "target_xy_drift": 1.8424595880555083e-07,
+                "depth": 0.018331076847932892,
+                "bottom_clearance": 0.08110944989290092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014597262446780501,
+                  0.001965403251144693
+                ],
+                "rod_tip_xy": [
+                  0.2989937903498083,
+                  -0.3725514317937634
+                ],
+                "target_mouth_xy": [
+                  0.2975340641051302,
+                  -0.37451683504490807
+                ],
+                "gripper_position": [
+                  0.2990119854885254,
+                  -0.3726319014071823,
+                  1.00225768417779
+                ],
+                "rod_tip_xy_dist": 0.002448185174575651,
+                "target_xy_drift": 1.8191469813597194e-07,
+                "depth": 0.018473590630598835,
+                "bottom_clearance": 0.08096700505646126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001477917938573714,
+                  0.0018851189956383685
+                ],
+                "rod_tip_xy": [
+                  0.2990119854885255,
+                  -0.37263190140718216
+                ],
+                "target_mouth_xy": [
+                  0.29753406754995176,
+                  -0.37451702040282053
+                ],
+                "gripper_position": [
+                  0.29900076812766674,
+                  -0.37264113761493434,
+                  1.0020950396768125
+                ],
+                "rod_tip_xy_dist": 0.002395394552234472,
+                "target_xy_drift": 4.12102230868144e-09,
+                "depth": 0.01900214338703987,
+                "bottom_clearance": 0.08043837679915067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001466705018605463,
+                  0.0018756974424535278
+                ],
+                "rod_tip_xy": [
+                  0.2990007681276668,
+                  -0.37264113761493445
+                ],
+                "target_mouth_xy": [
+                  0.29753406310906133,
+                  -0.374516835057388
+                ],
+                "gripper_position": [
+                  0.2989921345734397,
+                  -0.37264405352040164,
+                  1.00195251434058
+                ],
+                "rod_tip_xy_dist": 0.0023810637343903997,
+                "target_xy_drift": 1.8193546837707932e-07,
+                "depth": 0.019164805504174764,
+                "bottom_clearance": 0.08027575144333021,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014580367430684915,
+                  0.001872937388120055
+                ],
+                "rod_tip_xy": [
+                  0.29899213457343976,
+                  -0.37264405352040175
+                ],
+                "target_mouth_xy": [
+                  0.29753409783037127,
+                  -0.3745169909085218
+                ],
+                "gripper_position": [
+                  0.29898318553041814,
+                  -0.3726469882415133,
+                  1.0018100391594378
+                ],
+                "rod_tip_xy_dist": 0.002373555477328421,
+                "target_xy_drift": 3.8297933286924065e-08,
+                "depth": 0.019307322680088612,
+                "bottom_clearance": 0.08013322701827597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001449121946767884,
+                  0.0018698461773911101
+                ],
+                "rod_tip_xy": [
+                  0.29898318553041825,
+                  -0.3726469882415133
+                ],
+                "target_mouth_xy": [
+                  0.29753406358365037,
+                  -0.37451683441890443
+                ],
+                "gripper_position": [
+                  0.2989745808059707,
+                  -0.37264939901536,
+                  1.0016678396333956
+                ],
+                "rod_tip_xy_dist": 0.0023656456082237864,
+                "target_xy_drift": 1.8255707561199893e-07,
+                "depth": 0.01944979873714714,
+                "bottom_clearance": 0.0799907546817129,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006069889091450849,
+              "rod_tip_xy_max_step": 3.289230368277684e-05,
+              "rod_tip_xy_range": 0.0006069811076769648,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2986461203180697,
+            -0.37408207477444416,
+            1.0433709193704086
+          ],
+          "object_origin_world": [
+            0.2986461203180697,
+            -0.37408207477444416,
+            1.0433709193704086
+          ],
+          "frame_world": [
+            0.2986447894707852,
+            -0.37409051088252254,
+            1.0432418811139548
+          ],
+          "center_minus_frame": [
+            1.3308472844864028e-06,
+            8.436108078380133e-06,
+            0.00012903825645382838
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2723699054997259,
+              0.14666406103881255,
+              0.8330545681716497
+            ],
+            "target_position": [
+              0.28182829606483556,
+              0.19324095091194388,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752754803622799,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17061206913853189,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330545681716497,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674133556529,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13956664228563184,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc225f7ebffa971fada0f237fcc615bae44bc56c8e19f4da274020ab0d1f1a29",
+    "visual_seed": 5690984561855353252,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8ae6420a98aed0e23496a957d853f07f537b1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_12_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3282483657260221,
+              -0.039365627186276814,
+              1.1664621252880796
+            ],
+            "current_z": 1.1664621252880796,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30535561727331373,
+            "gripper_z": 1.1577478200432065,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3235979991197804,
+              -0.043931158557641556,
+              1.1577478200432065
+            ],
+            "object_minus_gripper": [
+              0.00465036660624174,
+              0.004565531371364742,
+              0.008714305244873044
+            ],
+            "object_to_gripper_xy": 0.0065169000510491145,
+            "object_to_gripper_z": 0.008714305244873044,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3282483657260221,
+              -0.06340179248475893,
+              1.1664621252880796
+            ],
+            "finger_b": [
+              0.3179993077689271,
+              -0.039365627186276814,
+              1.1664621252880796
+            ],
+            "finger_midpoint": [
+              0.3231238367474746,
+              -0.05138370983551787,
+              1.1664621252880796
+            ],
+            "object_minus_finger_midpoint": [
+              0.005124528978547538,
+              0.012018082649241056,
+              0.0
+            ],
+            "finger_gap": 0.02613006757097747,
+            "fingertip_max_gap": 0.09275003936342982,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013065033785488745,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664621252880796,
+            "object_top_z": 1.2163713129494014,
+            "finger_top_clearance": 0.0499091876613218,
+            "fingertip_min_top_clearance": 0.014972756298396539,
+            "object_projection_between_fingers": 0.8461537791681369,
+            "object_to_finger_line_xy": 0.009427761736218258,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887501968171491,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5469605490552816,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29840119318360464,
+              -0.3687825665084978,
+              0.8515395838098491
+            ],
+            "target_position": [
+              0.2921414876171019,
+              -0.3691389314884044,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006269841288119596,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18435107359524575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395838098491,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577960678495889,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0895263838047307,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15163866163537815,
+            "release_required_pad_clearance": 0.05476319190236535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.57751227532025,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008035719394683838,
+            "max_z_decrease": 0.008035719394683838,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519264946063354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008035719394683838,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021016110367506946,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008035719394683838,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00803573706220949,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14784140884876246,
+              -0.42540037631988525,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14784140884876246,
+              -0.42540037631988525,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1466510639013166,
+              -0.4238318240148263,
+              0.8082420004502208
+            ],
+            "closest_button": [
+              0.14782953262329096,
+              -0.42540284991264343,
+              0.773104190826416
+            ],
+            "closest_ee_minus_button": [
+              -0.0011784687219743573,
+              0.0015710258978171576,
+              0.03513780962380475
+            ],
+            "button_min_z_position": [
+              0.14782500267028803,
+              -0.42539653182029724,
+              0.7687731385231018
+            ],
+            "min_active_finger_to_button": 0.1465123570090827,
+            "closest_active_finger": [
+              0.018579639494419098,
+              -0.48535245656967163,
+              0.8105689883232117
+            ],
+            "closest_active_finger_button": [
+              0.14784106612205497,
+              -0.42540135979652405,
+              0.776462972164154
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12926142662763587,
+              -0.05995109677314758,
+              0.03410601615905762
+            ],
+            "min_contact_pad_to_button": 0.021016110367506946,
+            "closest_contact_pad": [
+              0.14782500267028803,
+              -0.42539653182029724,
+              0.7897892488906088
+            ],
+            "closest_contact_pad_button": [
+              0.14782500267028803,
+              -0.42539653182029724,
+              0.7687731385231018
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021016110367506946
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2841867554454248,
+              0.19895920378857185,
+              1.1014887019987825
+            ],
+            "current_z": 1.1014887019987825,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1915795722644199,
+            "gripper_z": 1.1014889313272775,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2841867969239971,
+              0.19895921663603178,
+              1.1014889313272775
+            ],
+            "object_minus_gripper": [
+              -4.1478572299080696e-08,
+              -1.2847459929243854e-08,
+              -2.2932849508272568e-07
+            ],
+            "object_to_gripper_xy": 4.342268055525351e-08,
+            "object_to_gripper_z": -2.2932849508272568e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2841867554454248,
+              0.19895920378857185,
+              1.1014887019987825
+            ],
+            "finger_b": [
+              0.2841867554454248,
+              0.19895920378857185,
+              1.1014887019987825
+            ],
+            "finger_midpoint": [
+              0.2841867554454248,
+              0.19895920378857185,
+              1.1014887019987825
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014887019987825,
+            "object_top_z": 1.2264972086190622,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2841867554454248,
+            0.19895920378857188,
+            1.1014887019987825
+          ],
+          "object_origin_world": [
+            0.2841867554454248,
+            0.19895920378857188,
+            1.1014887019987825
+          ],
+          "frame_world": [
+            0.2841867969239971,
+            0.19895921663603178,
+            1.1014889313272775
+          ],
+          "center_minus_frame": [
+            -4.1478572299080696e-08,
+            -1.2847459901488278e-08,
+            -2.2932849508272568e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043439213692792,
+            "required_z": 0.9112599213511903,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008458656478910091,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.510109962400811e-07,
+            "max_target_xy_drift": 1.9598723245198058e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 4.580077001333259,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 4.580077001801745,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29758415093347135,
+              -0.36898894047589725,
+              0.923566480928233
+            ],
+            "target_mouth_xy": [
+              0.2984006774905278,
+              -0.36878252506358533
+            ],
+            "rod_tip_z": 0.923566480928233,
+            "rod_tip_depth": -0.022306576322989158,
+            "rod_tip_bottom_clearance": 0.12174719776848553,
+            "rod_tip_xy_dist": 0.0008422131207825877,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045345448360967766,
+            "min_rod_tip_bottom_clearance": 0.05409512587879506,
+            "min_rod_tip_xy_dist": 0.00047167198595688667,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2984007849265941,
+              -0.36878241894189745
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.0743606632113156e-07,
+              -1.0612168788171061e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0003362040771993091,
+                0.0016766676804265135
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0004362701296918847,
+                0.0012995665756026509
+              ],
+              "first_target_mouth_xy": [
+                0.2984008158303337,
+                -0.3687824504494913
+              ],
+              "last_target_mouth_xy": [
+                0.29840078446804236,
+                -0.3687824476101265
+              ],
+              "first_rod_tip_xy": [
+                0.29806461175313437,
+                -0.3671057827690648
+              ],
+              "last_rod_tip_xy": [
+                0.2979645143383505,
+                -0.36748288103452387
+              ],
+              "min_rod_tip_xy_dist": 0.001369282373681471,
+              "max_rod_tip_xy_dist": 0.00171004318428286,
+              "first_target_xy_drift": 4.4133542692078126e-08,
+              "last_target_xy_drift": 2.867189612896129e-08,
+              "max_depth": 0.01945468096006897,
+              "min_bottom_clearance": 0.07998603584228514
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0003362040771993091,
+                  0.0016766676804265135
+                ],
+                "rod_tip_xy": [
+                  0.29806461175313437,
+                  -0.3671057827690648
+                ],
+                "target_mouth_xy": [
+                  0.2984008158303337,
+                  -0.3687824504494913
+                ],
+                "gripper_position": [
+                  0.2980562304621813,
+                  -0.36710901091531467,
+                  1.0059842269621926
+                ],
+                "rod_tip_xy_dist": 0.00171004318428286,
+                "target_xy_drift": 4.4133542692078126e-08,
+                "depth": 0.015134175750607493,
+                "bottom_clearance": 0.08430638438260096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.00034458619169036586,
+                  0.0016734401276552457
+                ],
+                "rod_tip_xy": [
+                  0.29805623046218144,
+                  -0.3671090109153148
+                ],
+                "target_mouth_xy": [
+                  0.2984008166538718,
+                  -0.36878245104297
+                ],
+                "gripper_position": [
+                  0.29806488155539024,
+                  -0.3671842425413998,
+                  1.0054479913337417
+                ],
+                "rod_tip_xy_dist": 0.0017085495323081723,
+                "target_xy_drift": 4.5134233243968356e-08,
+                "depth": 0.01527559778335219,
+                "bottom_clearance": 0.08416490910715313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0003359343035426732,
+                  0.0015982094922417645
+                ],
+                "rod_tip_xy": [
+                  0.29806488155539035,
+                  -0.3671842425413999
+                ],
+                "target_mouth_xy": [
+                  0.298400815858933,
+                  -0.3687824520336417
+                ],
+                "gripper_position": [
+                  0.2980538472198603,
+                  -0.3671935768061984,
+                  1.0052874295743819
+                ],
+                "rod_tip_xy_dist": 0.0016331336250865634,
+                "target_xy_drift": 4.529760619532714e-08,
+                "depth": 0.01581185971658805,
+                "bottom_clearance": 0.08362868014712366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0003469696686545509,
+                  0.001588873271974045
+                ],
+                "rod_tip_xy": [
+                  0.29805384721986045,
+                  -0.36719357680619846
+                ],
+                "target_mouth_xy": [
+                  0.298400816888515,
+                  -0.3687824500781725
+                ],
+                "gripper_position": [
+                  0.29804540753025105,
+                  -0.36719666769238574,
+                  1.0051462158982143
+                ],
+                "rod_tip_xy_dist": 0.0016263167666109074,
+                "target_xy_drift": 4.462098173881419e-08,
+                "depth": 0.015972407105295683,
+                "bottom_clearance": 0.08346813065917036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00035540802975186914,
+                  0.001585814499049376
+                ],
+                "rod_tip_xy": [
+                  0.29804540753025116,
+                  -0.3671966676923859
+                ],
+                "target_mouth_xy": [
+                  0.29840081556000303,
+                  -0.3687824821914353
+                ],
+                "gripper_position": [
+                  0.2980545971165278,
+                  -0.3672734765791608,
+                  1.0046124176212008
+                ],
+                "rod_tip_xy_dist": 0.001625153067562354,
+                "target_xy_drift": 7.027737742499479e-08,
+                "depth": 0.0161136510081884,
+                "bottom_clearance": 0.08332691321430141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00034621886188751505,
+                  0.0015089428049187004
+                ],
+                "rod_tip_xy": [
+                  0.29805459711652793,
+                  -0.367273476579161
+                ],
+                "target_mouth_xy": [
+                  0.29840081597841545,
+                  -0.3687824193840797
+                ],
+                "gripper_position": [
+                  0.2980434383216924,
+                  -0.3672827418787525,
+                  1.004451659641721
+                ],
+                "rod_tip_xy_dist": 0.0015481524113738288,
+                "target_xy_drift": 3.1054969544983357e-08,
+                "depth": 0.0166474571574472,
+                "bottom_clearance": 0.08279313796849619,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0003573471460222577,
+                  0.001499709526509796
+                ],
+                "rod_tip_xy": [
+                  0.2980434383216925,
+                  -0.36728274187875254
+                ],
+                "target_mouth_xy": [
+                  0.29840078546771476,
+                  -0.36878245140526233
+                ],
+                "gripper_position": [
+                  0.2980349515606192,
+                  -0.36728539609558575,
+                  1.0043106983421557
+                ],
+                "rod_tip_xy_dist": 0.0015416957049542849,
+                "target_xy_drift": 3.246787444880029e-08,
+                "depth": 0.01680820358898305,
+                "bottom_clearance": 0.08263234853944723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003658648592209657,
+                  0.0014970857335855348
+                ],
+                "rod_tip_xy": [
+                  0.2980349515606194,
+                  -0.36728539609558586
+                ],
+                "target_mouth_xy": [
+                  0.29840081641984034,
+                  -0.3687824818291714
+                ],
+                "gripper_position": [
+                  0.29804501491958085,
+                  -0.36736310876599965,
+                  1.0037805384728453
+                ],
+                "rod_tip_xy_dist": 0.0015411433382129373,
+                "target_xy_drift": 7.033230966199026e-08,
+                "depth": 0.016949136315728697,
+                "bottom_clearance": 0.08249138337318473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00035580074680746643,
+                  0.0014193702481128945
+                ],
+                "rod_tip_xy": [
+                  0.298045014919581,
+                  -0.36736310876599976
+                ],
+                "target_mouth_xy": [
+                  0.2984008156663885,
+                  -0.36878247901411265
+                ],
+                "gripper_position": [
+                  0.2980337833001666,
+                  -0.3673721186691277,
+                  1.0036202699141494
+                ],
+                "rod_tip_xy_dist": 0.0014632860529154273,
+                "target_xy_drift": 6.748041195500963e-08,
+                "depth": 0.01747934584854194,
+                "bottom_clearance": 0.08196126130914572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00036700447900955835,
+                  0.001410333890681792
+                ],
+                "rod_tip_xy": [
+                  0.2980337833001667,
+                  -0.3673721186691279
+                ],
+                "target_mouth_xy": [
+                  0.2984007877791763,
+                  -0.3687824525598097
+                ],
+                "gripper_position": [
+                  0.2980251464203163,
+                  -0.3673749476852606,
+                  1.0034795164837869
+                ],
+                "rod_tip_xy_dist": 0.0014573036645870064,
+                "target_xy_drift": 3.373872030564743e-08,
+                "depth": 0.0176395653947784,
+                "bottom_clearance": 0.08180098072819841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00037560827244659256,
+                  0.001407469805232986
+                ],
+                "rod_tip_xy": [
+                  0.2980251464203164,
+                  -0.3673749476852607
+                ],
+                "target_mouth_xy": [
+                  0.298400754692763,
+                  -0.3687824174904937
+                ],
+                "gripper_position": [
+                  0.29801632969236574,
+                  -0.36737766854134074,
+                  1.0033381703477378
+                ],
+                "rod_tip_xy_dist": 0.0014567267509635747,
+                "target_xy_drift": 3.026864906506823e-08,
+                "depth": 0.01778044091285602,
+                "bottom_clearance": 0.08166028510057088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0003844568650201996,
+                  0.0014047824644140006
+                ],
+                "rod_tip_xy": [
+                  0.29801632969236586,
+                  -0.3673776685413408
+                ],
+                "target_mouth_xy": [
+                  0.29840078655738606,
+                  -0.3687824510057548
+                ],
+                "gripper_position": [
+                  0.2980075557425941,
+                  -0.36738061546466555,
+                  1.0031974267401291
+                ],
+                "rod_tip_xy_dist": 0.0014564411602897773,
+                "target_xy_drift": 3.210530221535888e-08,
+                "depth": 0.017921604729109863,
+                "bottom_clearance": 0.08151891549336876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00039319804370541167,
+                  0.001401803990395134
+                ],
+                "rod_tip_xy": [
+                  0.2980075557425942,
+                  -0.3673806154646656
+                ],
+                "target_mouth_xy": [
+                  0.2984007537862996,
+                  -0.36878241945506074
+                ],
+                "gripper_position": [
+                  0.29802007706236333,
+                  -0.3674616882247764,
+                  1.0026696881619792
+                ],
+                "rod_tip_xy_dist": 0.0014559049175895669,
+                "target_xy_drift": 3.11445224511696e-08,
+                "depth": 0.01806252931910246,
+                "bottom_clearance": 0.08137817012659998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003806767195497218,
+                  0.0013207638674090916
+                ],
+                "rod_tip_xy": [
+                  0.2980200770623635,
+                  -0.36746168822477654
+                ],
+                "target_mouth_xy": [
+                  0.2984007537819132,
+                  -0.36878245209218563
+                ],
+                "gripper_position": [
+                  0.29800876040083174,
+                  -0.36747041979946166,
+                  1.002509369471317
+                ],
+                "rod_tip_xy_dist": 0.001374529722581712,
+                "target_xy_drift": 4.5485522468414726e-08,
+                "depth": 0.018590176112094237,
+                "bottom_clearance": 0.0808504537744662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00039202596522380784,
+                  0.0013119680849179582
+                ],
+                "rod_tip_xy": [
+                  0.29800876040083185,
+                  -0.3674704197994618
+                ],
+                "target_mouth_xy": [
+                  0.29840078636605566,
+                  -0.3687823878843798
+                ],
+                "gripper_position": [
+                  0.2979998693535097,
+                  -0.3674731746076097,
+                  1.0023685713933308
+                ],
+                "rod_tip_xy_dist": 0.0013692861692330617,
+                "target_xy_drift": 3.109085803412377e-08,
+                "depth": 0.01875046574408723,
+                "bottom_clearance": 0.0806901767846987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00040091716058882065,
+                  0.0013092744743636309
+                ],
+                "rod_tip_xy": [
+                  0.29799986935350986,
+                  -0.36747317460760975
+                ],
+                "target_mouth_xy": [
+                  0.2984007865140987,
+                  -0.3687824490819734
+                ],
+                "gripper_position": [
+                  0.29799111938859957,
+                  -0.3674754230229126,
+                  1.0022275640941
+                ],
+                "rod_tip_xy_dist": 0.001369282373681471,
+                "target_xy_drift": 3.018185461725872e-08,
+                "depth": 0.018891294230468647,
+                "bottom_clearance": 0.08054929036519387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00040966901170069736,
+                  0.0013070310896134418
+                ],
+                "rod_tip_xy": [
+                  0.29799111938859973,
+                  -0.3674754230229127
+                ],
+                "target_mouth_xy": [
+                  0.29840078840030043,
+                  -0.36878245411252614
+                ],
+                "gripper_position": [
+                  0.29798225729619143,
+                  -0.3674779629595573,
+                  1.0020869301333886
+                ],
+                "rod_tip_xy_dist": 0.0013697295237980113,
+                "target_xy_drift": 3.534175657586283e-08,
+                "depth": 0.019032303684595853,
+                "bottom_clearance": 0.08040831853509456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004185288507973506,
+                  0.0013044867918054481
+                ],
+                "rod_tip_xy": [
+                  0.29798225729619154,
+                  -0.36747796295955737
+                ],
+                "target_mouth_xy": [
+                  0.2984007861469889,
+                  -0.3687824497513628
+                ],
+                "gripper_position": [
+                  0.2979733314222416,
+                  -0.36748050512290764,
+                  1.001945934319215
+                ],
+                "rod_tip_xy_dist": 0.0013699825505985913,
+                "target_xy_drift": 3.083362644391242e-08,
+                "depth": 0.019172936889134795,
+                "bottom_clearance": 0.08026764105454809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0004274564392774405,
+                  0.0013019493389478942
+                ],
+                "rod_tip_xy": [
+                  0.29797333142224175,
+                  -0.36748050512290775
+                ],
+                "target_mouth_xy": [
+                  0.2984007878615192,
+                  -0.36878245446185565
+                ],
+                "gripper_position": [
+                  0.29796451433835036,
+                  -0.3674828810345237,
+                  1.0018052724201372
+                ],
+                "rod_tip_xy_dist": 0.0013703251762507346,
+                "target_xy_drift": 3.5641004693227476e-08,
+                "depth": 0.01931393440533935,
+                "bottom_clearance": 0.08012667697660147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0004362701296918847,
+                  0.0012995665756026509
+                ],
+                "rod_tip_xy": [
+                  0.2979645143383505,
+                  -0.36748288103452387
+                ],
+                "target_mouth_xy": [
+                  0.29840078446804236,
+                  -0.3687824476101265
+                ],
+                "gripper_position": [
+                  0.2979556606149382,
+                  -0.36748530546985597,
+                  1.0016646520532655
+                ],
+                "rod_tip_xy_dist": 0.0013708409501050711,
+                "target_xy_drift": 2.867189612896129e-08,
+                "depth": 0.01945468096006897,
+                "bottom_clearance": 0.07998603584228514,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006079052125314272,
+              "rod_tip_xy_max_step": 3.2858736456742164e-05,
+              "rod_tip_xy_range": 0.0006078994188798426,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29758415093347135,
+            -0.3689889404758972,
+            1.043566480928233
+          ],
+          "object_origin_world": [
+            0.29758415093347135,
+            -0.3689889404758972,
+            1.043566480928233
+          ],
+          "frame_world": [
+            0.29758253255018685,
+            -0.3689972983181507,
+            1.043439213692792
+          ],
+          "center_minus_frame": [
+            1.618383284496261e-06,
+            8.357842253503556e-06,
+            0.00012726723544109753
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2756759851602268,
+              0.1516736311331707,
+              0.8331879518758252
+            ],
+            "target_position": [
+              0.28473719184597307,
+              0.1987508055254183,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04794127465305763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17001467568549572,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331879518758252,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672354422459,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13816766564416333,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88ca5954dfdc11bd1c7f238df48ce6e32afb896dc1880a535b932d69042c46d3",
+    "visual_seed": 3317714321024382359,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da0437139184a9c781dd2982c7a58a4140a9c695
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_13_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.333607458826716,
+              -0.03659136838454486,
+              1.1639746876955845
+            ],
+            "current_z": 1.1639746876955845,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.30286829889010836,
+            "gripper_z": 1.1547999127584523,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32916858562775264,
+              -0.04108267533601073,
+              1.1547999127584523
+            ],
+            "object_minus_gripper": [
+              0.004438873198963356,
+              0.004491306951465872,
+              0.009174774937132257
+            ],
+            "object_to_gripper_xy": 0.006314699787698608,
+            "object_to_gripper_z": 0.009174774937132257,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.333607458826716,
+              -0.06032382301718156,
+              1.1639746876955845
+            ],
+            "finger_b": [
+              0.32326575864929996,
+              -0.03659136838454486,
+              1.1639746876955845
+            ],
+            "finger_midpoint": [
+              0.32843660873800795,
+              -0.04845759570086321,
+              1.1639746876955845
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051708500887080455,
+              0.011866227316318347,
+              0.0
+            ],
+            "finger_gap": 0.02588783817644351,
+            "fingertip_max_gap": 0.09237389401610571,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012943919088221763,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639746876955845,
+            "object_top_z": 1.2138583927811681,
+            "finger_top_clearance": 0.049883705085583596,
+            "fingertip_min_top_clearance": 0.014965111525675078,
+            "object_projection_between_fingers": 0.8404149091941607,
+            "object_to_finger_line_xy": 0.009480665346100177,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868694700805286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.132280043274983,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2961017920142737,
+              -0.36854631314222774,
+              0.8515395559270916
+            ],
+            "target_position": [
+              0.2898422702907159,
+              -0.3689923112707052,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006275390548666879,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18140039348616924,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395559270916,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572997422895106,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08861059692825922,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14886787210064228,
+            "release_required_pad_clearance": 0.05430529846412961,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6314914887429817,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008018553256988525,
+            "max_z_decrease": 0.008018553256988525,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517967125467403,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008018553256988525,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103699556699168,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008018553256988525,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008018590183505403,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1455421894788742,
+              -0.4252537786960602,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1455421894788742,
+              -0.4252537786960602,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14519797500234663,
+              -0.42356259333859697,
+              0.8082579824559436
+            ],
+            "closest_button": [
+              0.14553053677082062,
+              -0.42525550723075867,
+              0.773120641708374
+            ],
+            "closest_ee_minus_button": [
+              -0.0003325617684739879,
+              0.001692913892161696,
+              0.03513734074756958
+            ],
+            "button_min_z_position": [
+              0.14551785588264465,
+              -0.4252535104751587,
+              0.7687903046607971
+            ],
+            "min_active_finger_to_button": 0.14571621755946754,
+            "closest_active_finger": [
+              0.017365843057632446,
+              -0.4855809211730957,
+              0.8106076717376709
+            ],
+            "closest_active_finger_button": [
+              0.14554163813591003,
+              -0.4252539575099945,
+              0.7764779329299927
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281757950782776,
+              -0.060326963663101196,
+              0.03412973880767822
+            ],
+            "min_contact_pad_to_button": 0.02103699556699168,
+            "closest_contact_pad": [
+              0.14552322030067444,
+              -0.42525237798690796,
+              0.7899108063351191
+            ],
+            "closest_contact_pad_button": [
+              0.14552322030067444,
+              -0.42525237798690796,
+              0.7688738107681274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02103699556699168
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2837943651214171,
+              0.19846093030282239,
+              1.103067303223443
+            ],
+            "current_z": 1.103067303223443,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1931581734890805,
+            "gripper_z": 1.1030675466974698,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28379439005852614,
+              0.19846090895960816,
+              1.1030675466974698
+            ],
+            "object_minus_gripper": [
+              -2.4937109044387284e-08,
+              2.1343214223756846e-08,
+              -2.434740267176494e-07
+            ],
+            "object_to_gripper_xy": 3.282365307050449e-08,
+            "object_to_gripper_z": -2.434740267176494e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2837943651214171,
+              0.19846093030282239,
+              1.103067303223443
+            ],
+            "finger_b": [
+              0.2837943651214171,
+              0.19846093030282239,
+              1.103067303223443
+            ],
+            "finger_midpoint": [
+              0.2837943651214171,
+              0.19846093030282239,
+              1.103067303223443
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103067303223443,
+            "object_top_z": 1.2280758098437228,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2837943651214171,
+            0.1984609303028224,
+            1.103067303223443
+          ],
+          "object_origin_world": [
+            0.2837943651214171,
+            0.1984609303028224,
+            1.103067303223443
+          ],
+          "frame_world": [
+            0.28379439005852614,
+            0.19846090895960816,
+            1.1030675466974698
+          ],
+          "center_minus_frame": [
+            -2.4937109044387284e-08,
+            2.134321425151242e-08,
+            -2.434740267176494e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433081556539432,
+            "required_z": 0.9112598222937829,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023946356752822086,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.070832209515271e-08,
+            "max_target_xy_drift": 1.6833551984003347e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.631491488594648,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.631707044937839,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2945115721119115,
+              -0.3667495027066151,
+              0.9234338364399247
+            ],
+            "target_mouth_xy": [
+              0.2961017595527933,
+              -0.36854634431077693
+            ],
+            "rod_tip_z": 0.9234338364399247,
+            "rod_tip_depth": -0.02217396389502435,
+            "rod_tip_bottom_clearance": 0.12161453538547595,
+            "rod_tip_xy_dist": 0.002399444904052818,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04483466954836712,
+            "min_rod_tip_bottom_clearance": 0.054605899331647056,
+            "min_rod_tip_xy_dist": 0.00022484206870754207,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2961017608878289,
+              -0.36854637499006515
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.3350356375951833e-09,
+              3.067928822098054e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0010534480444861494,
+                0.0036133711665941037
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00116201890773876,
+                0.003255593148172309
+              ],
+              "first_target_mouth_xy": [
+                0.29610176173114156,
+                -0.36854634547221843
+              ],
+              "last_target_mouth_xy": [
+                0.29610178610064025,
+                -0.36854624058123814
+              ],
+              "first_rod_tip_xy": [
+                0.2950483136866554,
+                -0.3649329743056243
+              ],
+              "last_rod_tip_xy": [
+                0.2949397671929015,
+                -0.36529064743306583
+              ],
+              "min_rod_tip_xy_dist": 0.0034528196309343722,
+              "max_rod_tip_xy_dist": 0.0037638017973858993,
+              "first_target_xy_drift": 2.9529890811549577e-08,
+              "last_target_xy_drift": 1.367531302550307e-07,
+              "max_depth": 0.01940281016164025,
+              "min_bottom_clearance": 0.08003779425921687
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0010534480444861494,
+                  0.0036133711665941037
+                ],
+                "rod_tip_xy": [
+                  0.2950483136866554,
+                  -0.3649329743056243
+                ],
+                "target_mouth_xy": [
+                  0.29610176173114156,
+                  -0.36854634547221843
+                ],
+                "gripper_position": [
+                  0.2950400498867578,
+                  -0.3649357292210886,
+                  1.006001352946715
+                ],
+                "rod_tip_xy_dist": 0.0037638017973858993,
+                "target_xy_drift": 2.9529890811549577e-08,
+                "depth": 0.01511928507035909,
+                "bottom_clearance": 0.08432123603487784,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0010617426001410246,
+                  0.003610616218317042
+                ],
+                "rod_tip_xy": [
+                  0.2950400498867578,
+                  -0.36493572922108863
+                ],
+                "target_mouth_xy": [
+                  0.29610179248689883,
+                  -0.3685463454394057
+                ],
+                "gripper_position": [
+                  0.29504650557878065,
+                  -0.3650076234003023,
+                  1.0054668323722111
+                ],
+                "rod_tip_xy_dist": 0.003763488650830275,
+                "target_xy_drift": 4.326364172115242e-08,
+                "depth": 0.015258538441761393,
+                "bottom_clearance": 0.08418202033895894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001055256773815183,
+                  0.0035387226894723067
+                ],
+                "rod_tip_xy": [
+                  0.29504650557878065,
+                  -0.36500762340030235
+                ],
+                "target_mouth_xy": [
+                  0.29610176235259583,
+                  -0.36854634608977466
+                ],
+                "gripper_position": [
+                  0.29503538615194963,
+                  -0.3650165658133078,
+                  1.0053084242510915
+                ],
+                "rod_tip_xy_dist": 0.003692712435550451,
+                "target_xy_drift": 2.893738641910041e-08,
+                "depth": 0.015792948053082068,
+                "bottom_clearance": 0.08364761882650029,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010664072376960765,
+                  0.0035297792807724715
+                ],
+                "rod_tip_xy": [
+                  0.29503538615194963,
+                  -0.3650165658133079
+                ],
+                "target_mouth_xy": [
+                  0.2961017933896457,
+                  -0.36854634509408035
+                ],
+                "gripper_position": [
+                  0.29502706262320844,
+                  -0.36501907195240135,
+                  1.0051692023017689
+                ],
+                "rod_tip_xy_dist": 0.0036873521892519575,
+                "target_xy_drift": 4.416036686861446e-08,
+                "depth": 0.015951469358111203,
+                "bottom_clearance": 0.08348911465682585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001074698430681642,
+                  0.003527274490510268
+                ],
+                "rod_tip_xy": [
+                  0.29502706262320844,
+                  -0.36501907195240146
+                ],
+                "target_mouth_xy": [
+                  0.2961017610538901,
+                  -0.36854634644291173
+                ],
+                "gripper_position": [
+                  0.29503419145011567,
+                  -0.3650919245076721,
+                  1.0046362579440526
+                ],
+                "rod_tip_xy_dist": 0.003687362478562971,
+                "target_xy_drift": 2.8547636410649168e-08,
+                "depth": 0.016090639918702077,
+                "bottom_clearance": 0.0833499016344178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001067571311234694,
+                  0.0034543898567618303
+                ],
+                "rod_tip_xy": [
+                  0.29503419145011567,
+                  -0.36509192450767214
+                ],
+                "target_mouth_xy": [
+                  0.29610176276135036,
+                  -0.36854631436443397
+                ],
+                "gripper_position": [
+                  0.2950230325376667,
+                  -0.36510100026620385,
+                  1.0044784501067652
+                ],
+                "rod_tip_xy_dist": 0.003615593697730759,
+                "target_xy_drift": 6.065457310728107e-08,
+                "depth": 0.016623638423196696,
+                "bottom_clearance": 0.08281693385775013,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010786992295688247,
+                  0.0034453474391705763
+                ],
+                "rod_tip_xy": [
+                  0.2950230325376667,
+                  -0.36510100026620385
+                ],
+                "target_mouth_xy": [
+                  0.29610173176723553,
+                  -0.3685463477053744
+                ],
+                "gripper_position": [
+                  0.2950143840071159,
+                  -0.365103684576419,
+                  1.0043393679763484
+                ],
+                "rod_tip_xy_dist": 0.003610264672357364,
+                "target_xy_drift": 3.990568013510012e-08,
+                "depth": 0.016781410782283346,
+                "bottom_clearance": 0.0826591779018836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010873773413506704,
+                  0.003442600651469563
+                ],
+                "rod_tip_xy": [
+                  0.2950143840071159,
+                  -0.36510368457641906
+                ],
+                "target_mouth_xy": [
+                  0.29610176134846655,
+                  -0.3685462852278886
+                ],
+                "gripper_position": [
+                  0.2950224150403277,
+                  -0.3651772974275333,
+                  1.0038096398376157
+                ],
+                "rod_tip_xy_dist": 0.0036102477377572733,
+                "target_xy_drift": 8.976335845734419e-08,
+                "depth": 0.016920446938398226,
+                "bottom_clearance": 0.0825200489255501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010793480406918743,
+                  0.0033690169318548735
+                ],
+                "rod_tip_xy": [
+                  0.2950224150403277,
+                  -0.36517729742753335
+                ],
+                "target_mouth_xy": [
+                  0.2961017630810196,
+                  -0.3685463143593882
+                ],
+                "gripper_position": [
+                  0.2950112210868744,
+                  -0.36518607264421,
+                  1.0036513731569765
+                ],
+                "rod_tip_xy_dist": 0.003537692366511002,
+                "target_xy_drift": 6.067033104890516e-08,
+                "depth": 0.01745025880479123,
+                "bottom_clearance": 0.0819903252220181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010905415866691581,
+                  0.0033602724800961825
+                ],
+                "rod_tip_xy": [
+                  0.2950112210868744,
+                  -0.36518607264421
+                ],
+                "target_mouth_xy": [
+                  0.29610176267354354,
+                  -0.3685463451243062
+                ],
+                "gripper_position": [
+                  0.29500262063362864,
+                  -0.36518846398445587,
+                  1.0035124678251786
+                ],
+                "rod_tip_xy_dist": 0.003532805130876402,
+                "target_xy_drift": 2.991909651073706e-08,
+                "depth": 0.017608453069880015,
+                "bottom_clearance": 0.08183209479849485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010991409282937181,
+                  0.0033578501081465983
+                ],
+                "rod_tip_xy": [
+                  0.29500262063362864,
+                  -0.3651884639844559
+                ],
+                "target_mouth_xy": [
+                  0.29610176156192236,
+                  -0.3685463140926025
+                ],
+                "gripper_position": [
+                  0.29499381724881185,
+                  -0.3651908548013505,
+                  1.003373617337547
+                ],
+                "rod_tip_xy_dist": 0.003533166869683698,
+                "target_xy_drift": 6.09011933916297e-08,
+                "depth": 0.017747365731754727,
+                "bottom_clearance": 0.08169317355458372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011079759770598052,
+                  0.0033554925204942743
+                ],
+                "rod_tip_xy": [
+                  0.29499381724881185,
+                  -0.3651908548013505
+                ],
+                "target_mouth_xy": [
+                  0.29610179322587166,
+                  -0.36854634732184477
+                ],
+                "gripper_position": [
+                  0.2949850829501508,
+                  -0.3651934959983434,
+                  1.0032347196565137
+                ],
+                "rod_tip_xy_dist": 0.0035336865764856178,
+                "target_xy_drift": 4.255912860439033e-08,
+                "depth": 0.017886313360120476,
+                "bottom_clearance": 0.08155433796958145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011166735715334997,
+                  0.0033527452051343998
+                ],
+                "rod_tip_xy": [
+                  0.2949850829501508,
+                  -0.3651934959983434
+                ],
+                "target_mouth_xy": [
+                  0.2961017565216843,
+                  -0.3685462412034778
+                ],
+                "gripper_position": [
+                  0.294995490232397,
+                  -0.36527045156449456,
+                  1.0027075783591641
+                ],
+                "rod_tip_xy_dist": 0.003533816672651977,
+                "target_xy_drift": 1.3385781328447595e-07,
+                "depth": 0.0180251381889186,
+                "bottom_clearance": 0.08141544036376891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011062715107058585,
+                  0.0032758641454422865
+                ],
+                "rod_tip_xy": [
+                  0.294995490232397,
+                  -0.36527045156449467
+                ],
+                "target_mouth_xy": [
+                  0.2961017617431029,
+                  -0.36854631570993696
+                ],
+                "gripper_position": [
+                  0.29498403626084135,
+                  -0.36527942275204023,
+                  1.0025497402568164
+                ],
+                "rod_tip_xy_dist": 0.003457618046400404,
+                "target_xy_drift": 5.928629767813788e-08,
+                "depth": 0.018552246132231942,
+                "bottom_clearance": 0.08088827678898658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011177538876357973,
+                  0.003266892965868462
+                ],
+                "rod_tip_xy": [
+                  0.29498403626084135,
+                  -0.3652794227520403
+                ],
+                "target_mouth_xy": [
+                  0.29610179014847715,
+                  -0.36854631571790875
+                ],
+                "gripper_position": [
+                  0.29497526692209963,
+                  -0.3652815643804867,
+                  1.00241138362708
+                ],
+                "rod_tip_xy_dist": 0.0034528196309343722,
+                "target_xy_drift": 6.610124098847463e-08,
+                "depth": 0.018710104481920564,
+                "bottom_clearance": 0.08073042751001991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011265258940542644,
+                  0.0032647503085428964
+                ],
+                "rod_tip_xy": [
+                  0.29497526692209963,
+                  -0.36528156438048665
+                ],
+                "target_mouth_xy": [
+                  0.2961017928161539,
+                  -0.36854631468902954
+                ],
+                "gripper_position": [
+                  0.2949664156856062,
+                  -0.3652838443001625,
+                  1.0022728444633995
+                ],
+                "rod_tip_xy_dist": 0.0034536437521993633,
+                "target_xy_drift": 6.823219791145648e-08,
+                "depth": 0.018848508514588524,
+                "bottom_clearance": 0.08059206052944223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011353449426513285,
+                  0.0032625021955681177
+                ],
+                "rod_tip_xy": [
+                  0.2949664156856062,
+                  -0.3652838443001625
+                ],
+                "target_mouth_xy": [
+                  0.29610176062825755,
+                  -0.3685463464957306
+                ],
+                "gripper_position": [
+                  0.29495745157794173,
+                  -0.3652861217724524,
+                  1.0021341806746054
+                ],
+                "rod_tip_xy_dist": 0.0034544071437644314,
+                "target_xy_drift": 2.8495516826811297e-08,
+                "depth": 0.018987011276116017,
+                "bottom_clearance": 0.08045354766870838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011443399736660864,
+                  0.0032602217995647553
+                ],
+                "rod_tip_xy": [
+                  0.29495745157794173,
+                  -0.36528612177245257
+                ],
+                "target_mouth_xy": [
+                  0.2961017915516078,
+                  -0.3685463435720173
+                ],
+                "gripper_position": [
+                  0.2949486528502161,
+                  -0.3652882527424453,
+                  1.0019955613348153
+                ],
+                "rod_tip_xy_dist": 0.003455222157501215,
+                "target_xy_drift": 4.3901720537808676e-08,
+                "depth": 0.019125660080078766,
+                "bottom_clearance": 0.08031489827577298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011531089831655628,
+                  0.003258063275058176
+                ],
+                "rod_tip_xy": [
+                  0.2949486528502161,
+                  -0.36528825274244536
+                ],
+                "target_mouth_xy": [
+                  0.29610176183338166,
+                  -0.36854631601750354
+                ],
+                "gripper_position": [
+                  0.2949397671929015,
+                  -0.36529064743306583,
+                  1.001857062685208
+                ],
+                "rod_tip_xy_dist": 0.00345610136300137,
+                "target_xy_drift": 5.898014151437473e-08,
+                "depth": 0.019264269302985748,
+                "bottom_clearance": 0.08017626750216567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00116201890773876,
+                  0.003255593148172309
+                ],
+                "rod_tip_xy": [
+                  0.2949397671929015,
+                  -0.36529064743306583
+                ],
+                "target_mouth_xy": [
+                  0.29610178610064025,
+                  -0.36854624058123814
+                ],
+                "gripper_position": [
+                  0.2949306497163897,
+                  -0.3652929436347666,
+                  1.0017185752243605
+                ],
+                "rod_tip_xy_dist": 0.0034567578290023247,
+                "target_xy_drift": 1.367531302550307e-07,
+                "depth": 0.01940281016164025,
+                "bottom_clearance": 0.08003779425921687,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006007600654955993,
+              "rod_tip_xy_max_step": 3.2590447238256545e-05,
+              "rod_tip_xy_range": 0.0006007528393057583,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2945115721119115,
+            -0.3667495027066151,
+            1.0434338364399247
+          ],
+          "object_origin_world": [
+            0.2945115721119115,
+            -0.3667495027066151,
+            1.0434338364399247
+          ],
+          "frame_world": [
+            0.294509982368503,
+            -0.3667573430774327,
+            1.0433081556539432
+          ],
+          "center_minus_frame": [
+            1.5897434084699569e-06,
+            7.840370817580045e-06,
+            0.000125680785981519
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2707217591911936,
+              0.1519641617981297,
+              0.8310542552214452
+            ],
+            "target_position": [
+              0.28396413623542477,
+              0.1981975644399715,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04809249494073108,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16581539788906088,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8310542552214452,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567420447088,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13620709989378235,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 298,
+            "max_placed_release_frames": 298
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a42f0e6cb8781fa3d53bc1624cd59126c81f1dfc0d90c5617e0044fbaae6a36",
+    "visual_seed": 2180126293127807671,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f973402a9cb0d72b8db82cf4591ade64226181b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_14_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.328707264367352,
+              -0.034220249836968045,
+              1.1670173323007995
+            ],
+            "current_z": 1.1670173323007995,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30591088389067833,
+            "gripper_z": 1.1579840572107722,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32413217343360734,
+              -0.03896995001217696,
+              1.1579840572107722
+            ],
+            "object_minus_gripper": [
+              0.004575090933744641,
+              0.004749700175208912,
+              0.00903327509002727
+            ],
+            "object_to_gripper_xy": 0.006594778905043897,
+            "object_to_gripper_z": 0.00903327509002727,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.328707264367352,
+              -0.057898615959060165,
+              1.1670173323007995
+            ],
+            "finger_b": [
+              0.31777488161943485,
+              -0.034220249836968045,
+              1.1670173323007995
+            ],
+            "finger_midpoint": [
+              0.32324107299339344,
+              -0.046059432898014105,
+              1.1670173323007995
+            ],
+            "object_minus_finger_midpoint": [
+              0.00546619137395854,
+              0.01183918306104606,
+              0.0
+            ],
+            "finger_gap": 0.02608029936098886,
+            "fingertip_max_gap": 0.09161768791163241,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01304014968049442,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1670173323007995,
+            "object_top_z": 1.2169440872794182,
+            "finger_top_clearance": 0.04992675497861865,
+            "fingertip_min_top_clearance": 0.014978026493585594,
+            "object_projection_between_fingers": 0.8242867497910262,
+            "object_to_finger_line_xy": 0.00992553642536909,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830884395581621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3716034291246506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.290707902994735,
+              -0.36992093040064866,
+              0.8515395668642117
+            ],
+            "target_position": [
+              0.28430359382005965,
+              -0.3703066829520251,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006415916227299419,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18467622572227596,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395668642117,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543326985399106,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585016184934834,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15273788011623726,
+            "release_required_pad_clearance": 0.05292508092467417,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8882271283986091,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008211493492126465,
+            "max_z_decrease": 0.008211493492126465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503718306853323,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008211493492126465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020902832497068567,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008211493492126465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008211553901496856,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14000351727008814,
+              -0.4265681505203247,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14000351727008814,
+              -0.4265681505203247,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14118053443862888,
+              -0.425740403459484,
+              0.8036062270874136
+            ],
+            "closest_button": [
+              0.1400239616632461,
+              -0.42654418945312494,
+              0.7685973644256592
+            ],
+            "closest_ee_minus_button": [
+              0.0011565727753827804,
+              0.0008037859936409486,
+              0.0350088626617544
+            ],
+            "button_min_z_position": [
+              0.1400239616632461,
+              -0.42654418945312494,
+              0.7685973644256592
+            ],
+            "min_active_finger_to_button": 0.1444246183382826,
+            "closest_active_finger": [
+              0.014845892786979675,
+              -0.4899885654449463,
+              0.810797929763794
+            ],
+            "closest_active_finger_button": [
+              0.1400031298398971,
+              -0.4265678524971008,
+              0.7765641808509827
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12515723705291742,
+              -0.06342071294784551,
+              0.03423374891281128
+            ],
+            "min_contact_pad_to_button": 0.020902832497068567,
+            "closest_contact_pad": [
+              0.1400239616632461,
+              -0.42679784995223174,
+              0.7894986577529081
+            ],
+            "closest_contact_pad_button": [
+              0.1400239616632461,
+              -0.42654418945312494,
+              0.7685973644256592
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025366049910680033,
+              0.020901293327248882
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2904254660755793,
+              0.19772092282891157,
+              1.1045194824437008
+            ],
+            "current_z": 1.1045194824437008,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19461035270933824,
+            "gripper_z": 1.1045196575882408,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2904253735075698,
+              0.19772095082175214,
+              1.1045196575882408
+            ],
+            "object_minus_gripper": [
+              9.256800947987642e-08,
+              -2.7992840573309863e-08,
+              -1.7514453998224155e-07
+            ],
+            "object_to_gripper_xy": 9.670799089232096e-08,
+            "object_to_gripper_z": -1.7514453998224155e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2904254660755793,
+              0.19772092282891157,
+              1.1045194824437008
+            ],
+            "finger_b": [
+              0.2904254660755793,
+              0.19772092282891157,
+              1.1045194824437008
+            ],
+            "finger_midpoint": [
+              0.2904254660755793,
+              0.19772092282891157,
+              1.1045194824437008
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045194824437008,
+            "object_top_z": 1.2295279890639805,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2904254660755793,
+            0.19772092282891154,
+            1.1045194824437008
+          ],
+          "object_origin_world": [
+            0.2904254660755793,
+            0.19772092282891154,
+            1.1045194824437008
+          ],
+          "frame_world": [
+            0.2904253735075698,
+            0.19772095082175214,
+            1.1045196575882408
+          ],
+          "center_minus_frame": [
+            9.256800947987642e-08,
+            -2.799284060106544e-08,
+            -1.7514453998224155e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433511330161886,
+            "required_z": 0.9112598685348656,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002588564814187209,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.8312411166752806e-08,
+            "max_target_xy_drift": 1.372480023527966e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8882271272381541,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8882271284667262,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2881524225364863,
+              -0.3703174506195721,
+              0.9234741583460241
+            ],
+            "target_mouth_xy": [
+              0.2907079013185648,
+              -0.3699209304073391
+            ],
+            "rod_tip_z": 0.9234741583460241,
+            "rod_tip_depth": -0.022214273649156735,
+            "rod_tip_bottom_clearance": 0.12165487154960208,
+            "rod_tip_xy_dist": 0.0025860587936786194,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045074673018089984,
+            "min_rod_tip_bottom_clearance": 0.05436599233573669,
+            "min_rod_tip_xy_dist": 0.001088648078501876,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29070787305128054,
+              -0.3699209288094442
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.826728423555025e-08,
+              -1.5978948719741481e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0019267405266706339,
+                0.00146074220709691
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0020496149827185506,
+                0.0010791593463863602
+              ],
+              "first_target_mouth_xy": [
+                0.29070784125422167,
+                -0.3699209018841155
+              ],
+              "last_target_mouth_xy": [
+                0.2907078426029161,
+                -0.3699209316721648
+              ],
+              "first_rod_tip_xy": [
+                0.28878110072755103,
+                -0.3684601596770186
+              ],
+              "last_rod_tip_xy": [
+                0.28865822762019755,
+                -0.3688417723257784
+              ],
+              "min_rod_tip_xy_dist": 0.0022906357343413087,
+              "max_rod_tip_xy_dist": 0.0024258462478159125,
+              "first_target_xy_drift": 4.166564865798355e-08,
+              "last_target_xy_drift": 3.058264321691157e-08,
+              "max_depth": 0.019526108720413604,
+              "min_bottom_clearance": 0.07991441003746036
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0019267405266706339,
+                  0.00146074220709691
+                ],
+                "rod_tip_xy": [
+                  0.28878110072755103,
+                  -0.3684601596770186
+                ],
+                "target_mouth_xy": [
+                  0.29070784125422167,
+                  -0.3699209018841155
+                ],
+                "gripper_position": [
+                  0.288770231658109,
+                  -0.36846969053317163,
+                  1.0058326981397319
+                ],
+                "rod_tip_xy_dist": 0.002417870313459633,
+                "target_xy_drift": 4.166564865798355e-08,
+                "depth": 0.015271749370611931,
+                "bottom_clearance": 0.08416882154088834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0019376405439044952,
+                  0.0014512107040437483
+                ],
+                "rod_tip_xy": [
+                  0.288770231658109,
+                  -0.3684696905331716
+                ],
+                "target_mouth_xy": [
+                  0.2907078722020135,
+                  -0.3699209012372153
+                ],
+                "gripper_position": [
+                  0.2887619104776562,
+                  -0.3684725074368772,
+                  1.0056960758467326
+                ],
+                "rod_tip_xy_dist": 0.0024208393967617226,
+                "target_xy_drift": 2.758530515362753e-08,
+                "depth": 0.015427154449638159,
+                "bottom_clearance": 0.08401339446472222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0019459933354595282,
+                  0.0014483921970204205
+                ],
+                "rod_tip_xy": [
+                  0.2887619104776562,
+                  -0.3684725074368772
+                ],
+                "target_mouth_xy": [
+                  0.29070790381311573,
+                  -0.3699208996338976
+                ],
+                "gripper_position": [
+                  0.28876469832548723,
+                  -0.368547605245468,
+                  1.0051640401132422
+                ],
+                "rod_tip_xy_dist": 0.0024258462478159125,
+                "target_xy_drift": 4.2396969503528436e-08,
+                "depth": 0.015563788791922328,
+                "bottom_clearance": 0.08387682553130682,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019431439137671536,
+                  0.0013732966233102606
+                ],
+                "rod_tip_xy": [
+                  0.28876469832548723,
+                  -0.3685476052454679
+                ],
+                "target_mouth_xy": [
+                  0.2907078422392544,
+                  -0.3699209018687782
+                ],
+                "gripper_position": [
+                  0.28875375608231246,
+                  -0.36855672673173734,
+                  1.0050082610826931
+                ],
+                "rod_tip_xy_dist": 0.0023794436083264705,
+                "target_xy_drift": 4.0928968248062656e-08,
+                "depth": 0.016095806431936976,
+                "bottom_clearance": 0.08334472655895975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0019540871249241754,
+                  0.001364176086706692
+                ],
+                "rod_tip_xy": [
+                  0.28875375608231246,
+                  -0.3685567267317372
+                ],
+                "target_mouth_xy": [
+                  0.29070784320723664,
+                  -0.3699209028184439
+                ],
+                "gripper_position": [
+                  0.28874535149398306,
+                  -0.3685595922823102,
+                  1.0048719933107637
+                ],
+                "rod_tip_xy_dist": 0.0023831560769989055,
+                "target_xy_drift": 3.9575232821589517e-08,
+                "depth": 0.016251560618562366,
+                "bottom_clearance": 0.08318894416051748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001962488742993762,
+                  0.0013613073864750524
+                ],
+                "rod_tip_xy": [
+                  0.28874535149398306,
+                  -0.36855959228231017
+                ],
+                "target_mouth_xy": [
+                  0.2907078402369768,
+                  -0.3699208996687852
+                ],
+                "gripper_position": [
+                  0.2887489194139123,
+                  -0.3686356270153728,
+                  1.0043421963424164
+                ],
+                "rod_tip_xy_dist": 0.0023884136716341192,
+                "target_xy_drift": 4.388572131479975e-08,
+                "depth": 0.01638795315212016,
+                "bottom_clearance": 0.08305273533353497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001958952652198198,
+                  0.0012852726346374022
+                ],
+                "rod_tip_xy": [
+                  0.2887489194139123,
+                  -0.36863562701537267
+                ],
+                "target_mouth_xy": [
+                  0.2907078720661105,
+                  -0.36992089965001007
+                ],
+                "gripper_position": [
+                  0.2887378359758906,
+                  -0.36864475134390257,
+                  1.0041862537512611
+                ],
+                "rod_tip_xy_dist": 0.0023429513949081667,
+                "target_xy_drift": 2.9176071697544436e-08,
+                "depth": 0.01691768804309912,
+                "bottom_clearance": 0.08252292195618882,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019700060962465904,
+                  0.0012761489440499263
+                ],
+                "rod_tip_xy": [
+                  0.2887378359758906,
+                  -0.3686447513439025
+                ],
+                "target_mouth_xy": [
+                  0.2907078420721372,
+                  -0.36992090028795244
+                ],
+                "gripper_position": [
+                  0.2887294480995656,
+                  -0.36864730062086315,
+                  1.0040501051540922
+                ],
+                "rod_tip_xy_dist": 0.0023472281837623866,
+                "target_xy_drift": 4.210917734591949e-08,
+                "depth": 0.01707362543372981,
+                "bottom_clearance": 0.08236696962397505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019784250782864943,
+                  0.0012736323201023025
+                ],
+                "rod_tip_xy": [
+                  0.2887294480995656,
+                  -0.36864730062086315
+                ],
+                "target_mouth_xy": [
+                  0.29070787317785207,
+                  -0.36992093294096545
+                ],
+                "gripper_position": [
+                  0.28872103019301343,
+                  -0.36864980025662336,
+                  1.0039132973318625
+                ],
+                "rod_tip_xy_dist": 0.0023529354171336904,
+                "target_xy_drift": 4.133459577395608e-09,
+                "depth": 0.017209723017963863,
+                "bottom_clearance": 0.08223079838237235,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019868113894071504,
+                  0.0012710981375226305
+                ],
+                "rod_tip_xy": [
+                  0.28872103019301343,
+                  -0.3686498002566233
+                ],
+                "target_mouth_xy": [
+                  0.2907078415824206,
+                  -0.36992089839414594
+                ],
+                "gripper_position": [
+                  0.28872593130253565,
+                  -0.36872808090940995,
+                  1.0033850809468392
+                ],
+                "rod_tip_xy_dist": 0.0023586245933364365,
+                "target_xy_drift": 4.376504903214522e-08,
+                "depth": 0.01734662988929625,
+                "bottom_clearance": 0.08209405086943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019819411823077115,
+                  0.0011928215914671636
+                ],
+                "rod_tip_xy": [
+                  0.28872593130253565,
+                  -0.3687280809094099
+                ],
+                "target_mouth_xy": [
+                  0.29070787248484337,
+                  -0.36992090250087706
+                ],
+                "gripper_position": [
+                  0.2887147744548069,
+                  -0.36873696600120615,
+                  1.0032300296820589
+                ],
+                "rod_tip_xy_dist": 0.0023132043141922305,
+                "target_xy_drift": 2.631466429553917e-08,
+                "depth": 0.017874750791660676,
+                "bottom_clearance": 0.08156576235145996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019930991102901086,
+                  0.0011839326861923793
+                ],
+                "rod_tip_xy": [
+                  0.2887147744548069,
+                  -0.3687369660012061
+                ],
+                "target_mouth_xy": [
+                  0.29070787356509703,
+                  -0.36992089868739847
+                ],
+                "gripper_position": [
+                  0.2887061206922066,
+                  -0.3687395034964024,
+                  1.0030937763034231
+                ],
+                "rod_tip_xy_dist": 0.0023182192883491257,
+                "target_xy_drift": 3.012642772292569e-08,
+                "depth": 0.018029848563587136,
+                "bottom_clearance": 0.08141078326303852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.002001751537815122,
+                  0.0011813958423937398
+                ],
+                "rod_tip_xy": [
+                  0.2887061206922066,
+                  -0.3687395034964023
+                ],
+                "target_mouth_xy": [
+                  0.2907078722300217,
+                  -0.369920899338796
+                ],
+                "gripper_position": [
+                  0.2886975887056066,
+                  -0.36874185671115833,
+                  1.0029573504584395
+                ],
+                "rod_tip_xy_dist": 0.002324372034673111,
+                "target_xy_drift": 2.9482088992872106e-08,
+                "depth": 0.018166108452574714,
+                "bottom_clearance": 0.08127450608914455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0020102541057442913,
+                  0.0011790759127357497
+                ],
+                "rod_tip_xy": [
+                  0.2886975887056066,
+                  -0.36874185671115833
+                ],
+                "target_mouth_xy": [
+                  0.29070784281135087,
+                  -0.3699209326238941
+                ],
+                "gripper_position": [
+                  0.2886888101516363,
+                  -0.3687444173270504,
+                  1.0028212339964144
+                ],
+                "rod_tip_xy_dist": 0.002330523884806895,
+                "target_xy_drift": 3.04795566621629e-08,
+                "depth": 0.01830248326468109,
+                "bottom_clearance": 0.08113803663808239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0020190335922187774,
+                  0.0011764791404041408
+                ],
+                "rod_tip_xy": [
+                  0.2886888101516363,
+                  -0.3687444173270503
+                ],
+                "target_mouth_xy": [
+                  0.29070784374385505,
+                  -0.36992089646745446
+                ],
+                "gripper_position": [
+                  0.28869579709199006,
+                  -0.36882605500288024,
+                  1.0022968208565692
+                ],
+                "rod_tip_xy_dist": 0.0023367926339994158,
+                "target_xy_drift": 4.364549793308567e-08,
+                "depth": 0.018438684088827317,
+                "bottom_clearance": 0.08100202776617182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0020120446745694465,
+                  0.0010948462426195182
+                ],
+                "rod_tip_xy": [
+                  0.28869579709199006,
+                  -0.3688260550028801
+                ],
+                "target_mouth_xy": [
+                  0.2907078417665595,
+                  -0.36992090124549964
+                ],
+                "gripper_position": [
+                  0.2886844145190317,
+                  -0.3688350870090004,
+                  1.0021417180429395
+                ],
+                "rod_tip_xy_dist": 0.0022906357343413087,
+                "target_xy_drift": 4.169538116657919e-08,
+                "depth": 0.018963051079183058,
+                "bottom_clearance": 0.08047752226123117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0020234286472764484,
+                  0.0010858452952779984
+                ],
+                "rod_tip_xy": [
+                  0.2886844145190317,
+                  -0.36883508700900036
+                ],
+                "target_mouth_xy": [
+                  0.29070784316630816,
+                  -0.36992093230427836
+                ],
+                "gripper_position": [
+                  0.28867579757704276,
+                  -0.36883704235482356,
+                  1.0020055803842158
+                ],
+                "rod_tip_xy_dist": 0.0022963718113355167,
+                "target_xy_drift": 3.008862642573374e-08,
+                "depth": 0.019118099094484253,
+                "bottom_clearance": 0.0803223957453959,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.002032044161538793,
+                  0.001083827177608132
+                ],
+                "rod_tip_xy": [
+                  0.28867579757704276,
+                  -0.3688370423548235
+                ],
+                "target_mouth_xy": [
+                  0.29070784173858155,
+                  -0.36992086953243164
+                ],
+                "gripper_position": [
+                  0.2886670417535083,
+                  -0.3688395363229432,
+                  1.0018694569916118
+                ],
+                "rod_tip_xy_dist": 0.0023030164622437907,
+                "target_xy_drift": 6.70391627181905e-08,
+                "depth": 0.019254385260670248,
+                "bottom_clearance": 0.08018625632581589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0020408001905224404,
+                  0.0010813934462587937
+                ],
+                "rod_tip_xy": [
+                  0.2886670417535083,
+                  -0.3688395363229432
+                ],
+                "target_mouth_xy": [
+                  0.29070784194403076,
+                  -0.369920929769202
+                ],
+                "gripper_position": [
+                  0.28865822762019755,
+                  -0.3688417723257785,
+                  1.0017337266119668
+                ],
+                "rod_tip_xy_dist": 0.002309605421548863,
+                "target_xy_drift": 3.1122052046960535e-08,
+                "depth": 0.01939043172344823,
+                "bottom_clearance": 0.08005017962043659,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0020496149827185506,
+                  0.0010791593463863602
+                ],
+                "rod_tip_xy": [
+                  0.28865822762019755,
+                  -0.3688417723257784
+                ],
+                "target_mouth_xy": [
+                  0.2907078426029161,
+                  -0.3699209316721648
+                ],
+                "gripper_position": [
+                  0.28864933743870613,
+                  -0.3688439300104361,
+                  1.0015974477403196
+                ],
+                "rod_tip_xy_dist": 0.0023163562921703993,
+                "target_xy_drift": 3.058264321691157e-08,
+                "depth": 0.019526108720413604,
+                "bottom_clearance": 0.07991441003746036,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006032542669968782,
+              "rod_tip_xy_max_step": 3.280777692888631e-05,
+              "rod_tip_xy_range": 0.0006032415453815626,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2881524225364863,
+            -0.37031745061957216,
+            1.0434741583460243
+          ],
+          "object_origin_world": [
+            0.2881524225364863,
+            -0.37031745061957216,
+            1.0434741583460243
+          ],
+          "frame_world": [
+            0.2881511112825115,
+            -0.37032527247636804,
+            1.0433511330161886
+          ],
+          "center_minus_frame": [
+            1.3112539748449947e-06,
+            7.821856795875437e-06,
+            0.00012302532983565762
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2814160759989572,
+              0.1512223313850169,
+              0.8335780724278459
+            ],
+            "target_position": [
+              0.290578351271768,
+              0.1985478581070637,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048204281632381246,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17090575053065435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335780724278459,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673061804698,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13926283064231834,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "600bfaf7b7bddb48f015f9fbd883725a30e549f276f25478bdc5815774e7f2b9",
+    "visual_seed": 3265680036477395995,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..813d2f8e7514bc3b78c31dc886fcf9035debe09c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_15_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33546603056889235,
+              -0.030578407054891767,
+              1.1641567142615332
+            ],
+            "current_z": 1.1641567142615332,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3030503254560568,
+            "gripper_z": 1.1551196687659686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33066379905964216,
+              -0.035256371721764615,
+              1.1551196687659686
+            ],
+            "object_minus_gripper": [
+              0.004802231509250188,
+              0.004677964666872848,
+              0.00903704549556461
+            ],
+            "object_to_gripper_xy": 0.006704086879877538,
+            "object_to_gripper_z": 0.00903704549556461,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33546603056889235,
+              -0.054554975295041934,
+              1.1641567142615332
+            ],
+            "finger_b": [
+              0.32483447579023006,
+              -0.030578407054891767,
+              1.1641567142615332
+            ],
+            "finger_midpoint": [
+              0.3301502531795612,
+              -0.04256669117496685,
+              1.1641567142615332
+            ],
+            "object_minus_finger_midpoint": [
+              0.005315777389331144,
+              0.011988284120075084,
+              0.0
+            ],
+            "finger_gap": 0.026227958014040563,
+            "fingertip_max_gap": 0.09162465679993717,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013113979007020281,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641567142615332,
+            "object_top_z": 1.21399740317614,
+            "finger_top_clearance": 0.0498406889146068,
+            "fingertip_min_top_clearance": 0.014952206674382039,
+            "object_projection_between_fingers": 0.835689770260317,
+            "object_to_finger_line_xy": 0.009718949470371718,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831232839996859,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5564394509001667,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2914454081586483,
+              -0.37581816878336843,
+              0.8515396344580979
+            ],
+            "target_position": [
+              0.2841478503994412,
+              -0.37670926769416124,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007351762136915192,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18240158954558747,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396344580979,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548849370842219,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08752541336012824,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15048798829848004,
+            "release_required_pad_clearance": 0.05376270668006412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.534662895881673,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008235633373260498,
+            "max_z_decrease": 0.008235633373260498,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505191226286218,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008235633373260498,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020993579976888437,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008235633373260498,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008235733089574038,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1398477703332901,
+              -0.4329707324504852,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1398477703332901,
+              -0.4329707324504852,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14149703825586107,
+              -0.4340573622398733,
+              0.8036398993690056
+            ],
+            "closest_button": [
+              0.13987508416175837,
+              -0.4329414665699005,
+              0.768643319606781
+            ],
+            "closest_ee_minus_button": [
+              0.0016219540941027066,
+              -0.0011158956699727773,
+              0.03499657976222459
+            ],
+            "button_min_z_position": [
+              0.1398747414350509,
+              -0.4329404830932617,
+              0.7685732245445251
+            ],
+            "min_active_finger_to_button": 0.14405922283836933,
+            "closest_active_finger": [
+              0.0005908533930778503,
+              -0.4194398522377014,
+              0.8105860948562622
+            ],
+            "closest_active_finger_button": [
+              0.13984668254852292,
+              -0.43296954035758967,
+              0.7762666940689087
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13925582915544507,
+              0.01352968811988825,
+              0.034319400787353516
+            ],
+            "min_contact_pad_to_button": 0.020993579976888437,
+            "closest_contact_pad": [
+              0.1398747414350509,
+              -0.435118819728456,
+              0.7894534843549246
+            ],
+            "closest_contact_pad_button": [
+              0.1398747414350509,
+              -0.4329404830932617,
+              0.7685732245445251
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002178336635194289,
+              0.020880259810399426
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2827358440661709,
+              0.19250923430998862,
+              1.1016563012066642
+            ],
+            "current_z": 1.1016563012066642,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1917471714723017,
+            "gripper_z": 1.1016564140497405,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2827358074839642,
+              0.19250930557207457,
+              1.1016564140497405
+            ],
+            "object_minus_gripper": [
+              3.658220670832435e-08,
+              -7.126208595442662e-08,
+              -1.1284307621650669e-07
+            ],
+            "object_to_gripper_xy": 8.01033254130355e-08,
+            "object_to_gripper_z": -1.1284307621650669e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2827358440661709,
+              0.19250923430998862,
+              1.1016563012066642
+            ],
+            "finger_b": [
+              0.2827358440661709,
+              0.19250923430998862,
+              1.1016563012066642
+            ],
+            "finger_midpoint": [
+              0.2827358440661709,
+              0.19250923430998862,
+              1.1016563012066642
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016563012066642,
+            "object_top_z": 1.226664807826944,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2827358440661709,
+            0.19250923430998862,
+            1.1016563012066642
+          ],
+          "object_origin_world": [
+            0.2827358440661709,
+            0.19250923430998862,
+            1.1016563012066642
+          ],
+          "frame_world": [
+            0.2827358074839642,
+            0.19250930557207457,
+            1.1016564140497405
+          ],
+          "center_minus_frame": [
+            3.658220670832435e-08,
+            -7.126208595442662e-08,
+            -1.1284307621650669e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436654188536871,
+            "required_z": 0.91125990147748,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017366347005165874,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.2934006048968113e-07,
+            "max_target_xy_drift": 2.300764182894019e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.5346628931946142,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.5346628959252553,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.289684987520415,
+              -0.3757833739616842,
+              0.92337112206965
+            ],
+            "target_mouth_xy": [
+              0.2914453826570526,
+              -0.37581828853471333
+            ],
+            "rod_tip_z": 0.92337112206965,
+            "rod_tip_depth": -0.022111194801720413,
+            "rod_tip_bottom_clearance": 0.1215518766906113,
+            "rod_tip_xy_dist": 0.001760741339466753,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045153505437255825,
+            "min_rod_tip_bottom_clearance": 0.054287004087023805,
+            "min_rod_tip_xy_dist": 0.0013525470769722614,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2914454988369507,
+              -0.3758183453773252
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.1617989809087348e-07,
+              5.6842611895202566e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0011967028451767558,
+                0.0018086173419757379
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013040260941995507,
+                0.0014352425904218813
+              ],
+              "first_target_mouth_xy": [
+                0.2914454352535235,
+                -0.3758183768446107
+              ],
+              "last_target_mouth_xy": [
+                0.2914454388629735,
+                -0.3758184078419078
+              ],
+              "first_rod_tip_xy": [
+                0.29024873240834675,
+                -0.374009759502635
+              ],
+              "last_rod_tip_xy": [
+                0.290141412768774,
+                -0.3743831652514859
+              ],
+              "min_rod_tip_xy_dist": 0.0019307603990109264,
+              "max_rod_tip_xy_dist": 0.0021686849446956387,
+              "first_target_xy_drift": 7.094393751364058e-08,
+              "last_target_xy_drift": 8.659504612064672e-08,
+              "max_depth": 0.019587840303848414,
+              "min_bottom_clearance": 0.07985270893081287
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0011967028451767558,
+                  0.0018086173419757379
+                ],
+                "rod_tip_xy": [
+                  0.29024873240834675,
+                  -0.374009759502635
+                ],
+                "target_mouth_xy": [
+                  0.2914454352535235,
+                  -0.3758183768446107
+                ],
+                "gripper_position": [
+                  0.2902381093526255,
+                  -0.37401904867687297,
+                  1.0058138724268266
+                ],
+                "rod_tip_xy_dist": 0.0021686849446956387,
+                "target_xy_drift": 7.094393751364058e-08,
+                "depth": 0.015287868085753664,
+                "bottom_clearance": 0.08415274137405537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001207268570414144,
+                  0.0017993284418530986
+                ],
+                "rod_tip_xy": [
+                  0.29023810935262556,
+                  -0.3740190486768729
+                ],
+                "target_mouth_xy": [
+                  0.2914453779230397,
+                  -0.375818377118726
+                ],
+                "gripper_position": [
+                  0.29022997644805143,
+                  -0.3740223829346535,
+                  1.0056747061400435
+                ],
+                "rod_tip_xy_dist": 0.0021668133843899227,
+                "target_xy_drift": 1.2501076112032186e-07,
+                "depth": 0.01544597511584822,
+                "bottom_clearance": 0.08399456078935086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012154916320643028,
+                  0.0017959621620203259
+                ],
+                "rod_tip_xy": [
+                  0.2902299764480515,
+                  -0.37402238293465356
+                ],
+                "target_mouth_xy": [
+                  0.2914454680801158,
+                  -0.3758183450966739
+                ],
+                "gripper_position": [
+                  0.2902357859054843,
+                  -0.37409434952241555,
+                  1.0051408256905525
+                ],
+                "rod_tip_xy_dist": 0.002168617069707574,
+                "target_xy_drift": 3.075811533551461e-08,
+                "depth": 0.01558513707871223,
+                "bottom_clearance": 0.08385540927524715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00120974287345621,
+                  0.0017240595952897064
+                ],
+                "rod_tip_xy": [
+                  0.2902357859054844,
+                  -0.37409434952241566
+                ],
+                "target_mouth_xy": [
+                  0.2914455287789406,
+                  -0.37581840911770537
+                ],
+                "gripper_position": [
+                  0.29022504592821474,
+                  -0.3741036141355969,
+                  1.0049825387005524
+                ],
+                "rod_tip_xy_dist": 0.0021061479786540624,
+                "target_xy_drift": 7.042271521959346e-08,
+                "depth": 0.016119100313383927,
+                "bottom_clearance": 0.08332151263074972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012204216116377675,
+                  0.0017147601269189017
+                ],
+                "rod_tip_xy": [
+                  0.2902250459282148,
+                  -0.37410361413559695
+                ],
+                "target_mouth_xy": [
+                  0.29144546753985257,
+                  -0.37581837426251585
+                ],
+                "gripper_position": [
+                  0.29021677827648973,
+                  -0.3741065249731866,
+                  1.004843518300555
+                ],
+                "rod_tip_xy_dist": 0.0021047164186710414,
+                "target_xy_drift": 4.258946570835617e-08,
+                "depth": 0.01627739151405716,
+                "bottom_clearance": 0.08316319809534856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012286618027094187,
+                  0.001711880620832773
+                ],
+                "rod_tip_xy": [
+                  0.2902167782764898,
+                  -0.3741065249731866
+                ],
+                "target_mouth_xy": [
+                  0.2914454400791992,
+                  -0.37581840559401936
+                ],
+                "gripper_position": [
+                  0.2902234632316585,
+                  -0.37417971416452556,
+                  1.004311678436394
+                ],
+                "rod_tip_xy_dist": 0.0021071651775359137,
+                "target_xy_drift": 8.413396230495345e-08,
+                "depth": 0.016416378118279895,
+                "bottom_clearance": 0.08302419508647041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012219715569389278,
+                  0.0016386928194438988
+                ],
+                "rod_tip_xy": [
+                  0.29022346323165854,
+                  -0.3741797141645256
+                ],
+                "target_mouth_xy": [
+                  0.29144543478859747,
+                  -0.3758184069839695
+                ],
+                "gripper_position": [
+                  0.29021260892881307,
+                  -0.3741886394918187,
+                  1.0041538005012345
+                ],
+                "rod_tip_xy_dist": 0.002044144966108016,
+                "target_xy_drift": 8.886827427115097e-08,
+                "depth": 0.016948251606949127,
+                "bottom_clearance": 0.08249238758138644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012328009573868148,
+                  0.0016297379104946996
+                ],
+                "rod_tip_xy": [
+                  0.29021260892881307,
+                  -0.37418863949181874
+                ],
+                "target_mouth_xy": [
+                  0.2914454098861999,
+                  -0.37581837740231344
+                ],
+                "gripper_position": [
+                  0.29020420750824366,
+                  -0.37419139179294353,
+                  1.0040146906101162
+                ],
+                "rod_tip_xy_dist": 0.0020434881593582766,
+                "target_xy_drift": 9.454012873822074e-08,
+                "depth": 0.017106035218383497,
+                "bottom_clearance": 0.08233452539817898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012412295778210236,
+                  0.001626952643082491
+                ],
+                "rod_tip_xy": [
+                  0.2902042075082437,
+                  -0.37419139179294353
+                ],
+                "target_mouth_xy": [
+                  0.29144543708606474,
+                  -0.375818344436026
+                ],
+                "gripper_position": [
+                  0.2901958748558615,
+                  -0.3741943939231252,
+                  1.003875660306866
+                ],
+                "rod_tip_xy_dist": 0.0020463689226752004,
+                "target_xy_drift": 6.175805988742832e-08,
+                "depth": 0.017245260371923643,
+                "bottom_clearance": 0.08219535613214568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012495647641782015,
+                  0.0016239517244842072
+                ],
+                "rod_tip_xy": [
+                  0.29019587485586157,
+                  -0.3741943939231252
+                ],
+                "target_mouth_xy": [
+                  0.29144543962003977,
+                  -0.3758183456476094
+                ],
+                "gripper_position": [
+                  0.29020392534883116,
+                  -0.374269705852086,
+                  1.003346796405631
+                ],
+                "rod_tip_xy_dist": 0.002049056198187584,
+                "target_xy_drift": 5.921752775719566e-08,
+                "depth": 0.017384179430378066,
+                "bottom_clearance": 0.08205638962536488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012415121135068707,
+                  0.0015486094077570844
+                ],
+                "rod_tip_xy": [
+                  0.2902039253488312,
+                  -0.37426970585208613
+                ],
+                "target_mouth_xy": [
+                  0.2914454374623381,
+                  -0.3758183152598432
+                ],
+                "gripper_position": [
+                  0.2901929352083148,
+                  -0.37427864483864826,
+                  1.0031888224100816
+                ],
+                "rod_tip_xy_dist": 0.00198482831141085,
+                "target_xy_drift": 6.836596957612053e-08,
+                "depth": 0.017913132482324734,
+                "bottom_clearance": 0.08152744767944675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012525062699115241,
+                  0.001539761348771762
+                ],
+                "rod_tip_xy": [
+                  0.29019293520831485,
+                  -0.3742786448386482
+                ],
+                "target_mouth_xy": [
+                  0.2914454414782264,
+                  -0.37581840618741996
+                ],
+                "gripper_position": [
+                  0.2901842771941236,
+                  -0.37428168374849236,
+                  1.003049817056195
+                ],
+                "rod_tip_xy_dist": 0.0019848518754151698,
+                "target_xy_drift": 8.359360548665916e-08,
+                "depth": 0.01807107325663504,
+                "bottom_clearance": 0.08136952934480612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012610966047219008,
+                  0.0015366629882548333
+                ],
+                "rod_tip_xy": [
+                  0.29018427719412365,
+                  -0.3742816837484924
+                ],
+                "target_mouth_xy": [
+                  0.29144537379884555,
+                  -0.37581834673674724
+                ],
+                "gripper_position": [
+                  0.2901758384888328,
+                  -0.374284166134971,
+                  1.0029108125955835
+                ],
+                "rod_tip_xy_dist": 0.0019878877699491438,
+                "target_xy_drift": 1.250454947894475e-07,
+                "depth": 0.018210091921953997,
+                "bottom_clearance": 0.08123059380783981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012695414814249406,
+                  0.0015342108958503187
+                ],
+                "rod_tip_xy": [
+                  0.2901758384888329,
+                  -0.374284166134971
+                ],
+                "target_mouth_xy": [
+                  0.2914453799702578,
+                  -0.3758183770308213
+                ],
+                "gripper_position": [
+                  0.29016737127287784,
+                  -0.37428692295366095,
+                  1.0027725126496672
+                ],
+                "rod_tip_xy_dist": 0.001991366025120563,
+                "target_xy_drift": 1.2300908296187245e-07,
+                "depth": 0.01834907523781526,
+                "bottom_clearance": 0.08109146820962287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012780685999974617,
+                  0.0015314531191458758
+                ],
+                "rod_tip_xy": [
+                  0.29016737127287784,
+                  -0.3742869229536609
+                ],
+                "target_mouth_xy": [
+                  0.2914454398728753,
+                  -0.37581837607280677
+                ],
+                "gripper_position": [
+                  0.29015888391452094,
+                  -0.3742895650064101,
+                  1.0026333237988643
+                ],
+                "rod_tip_xy_dist": 0.001994694964760553,
+                "target_xy_drift": 6.647536968751312e-08,
+                "depth": 0.0184874367778175,
+                "bottom_clearance": 0.08095311831047647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012865549597030346,
+                  0.0015288107771208037
+                ],
+                "rod_tip_xy": [
+                  0.290158883914521,
+                  -0.37428956500641014
+                ],
+                "target_mouth_xy": [
+                  0.291445438874224,
+                  -0.37581837578353094
+                ],
+                "gripper_position": [
+                  0.2901696733508281,
+                  -0.3743691155472681,
+                  1.0021067994620285
+                ],
+                "rod_tip_xy_dist": 0.0019981206311374677,
+                "target_xy_drift": 6.72314356259492e-08,
+                "depth": 0.018626504515731557,
+                "bottom_clearance": 0.08081402457405595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001275763406944963,
+                  0.0014492285699257423
+                ],
+                "rod_tip_xy": [
+                  0.29016967335082816,
+                  -0.3743691155472681
+                ],
+                "target_mouth_xy": [
+                  0.2914454367577731,
+                  -0.37581834411719384
+                ],
+                "gripper_position": [
+                  0.29015854145823206,
+                  -0.37437821226527673,
+                  1.0019493854469765
+                ],
+                "rod_tip_xy_dist": 0.0019307603990109264,
+                "target_xy_drift": 6.209196582217867e-08,
+                "depth": 0.019153167044802077,
+                "bottom_clearance": 0.0802874734368283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012868691657207942,
+                  0.0014401933044502768
+                ],
+                "rod_tip_xy": [
+                  0.2901585414582321,
+                  -0.37437821226527673
+                ],
+                "target_mouth_xy": [
+                  0.2914454106239529,
+                  -0.375818405569727
+                ],
+                "gripper_position": [
+                  0.2901500498742828,
+                  -0.3743807092425897,
+                  1.0018107215332965
+                ],
+                "rod_tip_xy_dist": 0.0019313697222091736,
+                "target_xy_drift": 1.0679259437193714e-07,
+                "depth": 0.019310513905474003,
+                "bottom_clearance": 0.08013007300340391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012953857766061505,
+                  0.001437697700579943
+                ],
+                "rod_tip_xy": [
+                  0.29015004987428283,
+                  -0.37438070924258976
+                ],
+                "target_mouth_xy": [
+                  0.291445435650889,
+                  -0.3758184069431697
+                ],
+                "gripper_position": [
+                  0.2901414127687739,
+                  -0.3743831652514858,
+                  1.0016719993338328
+                ],
+                "rod_tip_xy_dist": 0.0019351999866903614,
+                "target_xy_drift": 8.822035820315965e-08,
+                "depth": 0.019449182137162957,
+                "bottom_clearance": 0.0799914237557171,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0013040260941995507,
+                  0.0014352425904218813
+                ],
+                "rod_tip_xy": [
+                  0.290141412768774,
+                  -0.3743831652514859
+                ],
+                "target_mouth_xy": [
+                  0.2914454388629735,
+                  -0.3758184078419078
+                ],
+                "gripper_position": [
+                  0.29013269679235315,
+                  -0.3743856865716444,
+                  1.0015337782528686
+                ],
+                "rod_tip_xy_dist": 0.0019391764612108533,
+                "target_xy_drift": 8.659504612064672e-08,
+                "depth": 0.019587840303848414,
+                "bottom_clearance": 0.07985270893081287,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006044488525217848,
+              "rod_tip_xy_max_step": 3.263382512936188e-05,
+              "rod_tip_xy_range": 0.0006044401680230261,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.289684987520415,
+            -0.3757833739616842,
+            1.04337112206965
+          ],
+          "object_origin_world": [
+            0.289684987520415,
+            -0.3757833739616842,
+            1.04337112206965
+          ],
+          "frame_world": [
+            0.28970916060335183,
+            -0.3757804327124214,
+            1.0436654188536871
+          ],
+          "center_minus_frame": [
+            -2.4173082936840284e-05,
+            -2.941249262811141e-06,
+            -0.0002942967840371402
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27164792911067054,
+              0.14708492860769698,
+              0.8321294814112331
+            ],
+            "target_position": [
+              0.282887857688661,
+              0.19371200268013394,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047962694159052924,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16990956597228615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321294814112331,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668802268305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13983621186438402,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11d4a256d7317466902b28f3ba0e86f9f7dc7bfdc19ae42795fe072498041bd1",
+    "visual_seed": 386139538528215451,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea699e87db76dba6a92a68b4ef8b85820f490d2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_16_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33133698966737457,
+              -0.03739769262403904,
+              1.1657217800221336
+            ],
+            "current_z": 1.1657217800221336,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3046153316120124,
+            "gripper_z": 1.156711914330433,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3268626967610987,
+              -0.04203349079923045,
+              1.156711914330433
+            ],
+            "object_minus_gripper": [
+              0.0044742929062758785,
+              0.0046357981751914135,
+              0.009009865691700591
+            ],
+            "object_to_gripper_xy": 0.006442819393111892,
+            "object_to_gripper_z": 0.009009865691700591,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33133698966737457,
+              -0.06095108584812938,
+              1.1657217800221336
+            ],
+            "finger_b": [
+              0.3205143033187141,
+              -0.03739769262403904,
+              1.1657217800221336
+            ],
+            "finger_midpoint": [
+              0.32592564649304434,
+              -0.04917438923608421,
+              1.1657217800221336
+            ],
+            "object_minus_finger_midpoint": [
+              0.00541134317433023,
+              0.011776696612045168,
+              0.0
+            ],
+            "finger_gap": 0.025920896438397078,
+            "fingertip_max_gap": 0.09203143973753894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012960448219198535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657217800221336,
+            "object_top_z": 1.2155094338308872,
+            "finger_top_clearance": 0.04978765380875361,
+            "fingertip_min_top_clearance": 0.014936296142626048,
+            "object_projection_between_fingers": 0.825670810551735,
+            "object_to_finger_line_xy": 0.009834188717848108,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851571986876947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.932949856081736,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29711936965022767,
+              -0.3681581149541011,
+              0.8515395762878527
+            ],
+            "target_position": [
+              0.2890576766958794,
+              -0.3693715278398668,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008152500482767904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845455737044285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395762878527,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557461863780614,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08735135576968049,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524530694652645,
+            "release_required_pad_clearance": 0.05367567788484025,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.36102913735302,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008128643035888672,
+            "max_z_decrease": 0.008128643035888672,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511038648760839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008128643035888672,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0209425965042627,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008128643035888672,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008128681183871568,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14475759863853455,
+              -0.42563298344612116,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14475759863853455,
+              -0.42563298344612116,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14647545342896684,
+              -0.42512368402052436,
+              0.8037457643658301
+            ],
+            "closest_button": [
+              0.14476998150348663,
+              -0.42561137676239014,
+              0.768680214881897
+            ],
+            "closest_ee_minus_button": [
+              0.0017054719254802064,
+              0.00048769274186577505,
+              0.035065549483933145
+            ],
+            "button_min_z_position": [
+              0.14476998150348663,
+              -0.42561137676239014,
+              0.768680214881897
+            ],
+            "min_active_finger_to_button": 0.14409078441733864,
+            "closest_active_finger": [
+              0.02048008143901825,
+              -0.4900341033935547,
+              0.8105459809303284
+            ],
+            "closest_active_finger_button": [
+              0.1447564959526062,
+              -0.42563280463218683,
+              0.7763407230377197
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12427641451358795,
+              -0.06440129876136785,
+              0.03420525789260864
+            ],
+            "min_contact_pad_to_button": 0.0209425965042627,
+            "closest_contact_pad": [
+              0.14476998150348663,
+              -0.4261137882395054,
+              0.7896167841101163
+            ],
+            "closest_contact_pad_button": [
+              0.14476998150348663,
+              -0.42561137676239014,
+              0.768680214881897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005024114771152721,
+              0.020936569228219293
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2893870788405895,
+              0.19795950845834454,
+              1.1024423634890121
+            ],
+            "current_z": 1.1024423634890121,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1925332337546496,
+            "gripper_z": 1.1024423878825336,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.289387123552288,
+              0.19795952334894762,
+              1.1024423878825336
+            ],
+            "object_minus_gripper": [
+              -4.471169851028023e-08,
+              -1.4890603083905773e-08,
+              -2.439352142502571e-08
+            ],
+            "object_to_gripper_xy": 4.712606544022766e-08,
+            "object_to_gripper_z": -2.439352142502571e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2893870788405895,
+              0.19795950845834454,
+              1.1024423634890121
+            ],
+            "finger_b": [
+              0.2893870788405895,
+              0.19795950845834454,
+              1.1024423634890121
+            ],
+            "finger_midpoint": [
+              0.2893870788405895,
+              0.19795950845834454,
+              1.1024423634890121
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1024423634890121,
+            "object_top_z": 1.2274508701092919,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2893870788405895,
+            0.19795950845834456,
+            1.1024423634890121
+          ],
+          "object_origin_world": [
+            0.2893870788405895,
+            0.19795950845834456,
+            1.1024423634890121
+          ],
+          "frame_world": [
+            0.289387123552288,
+            0.19795952334894762,
+            1.1024423878825336
+          ],
+          "center_minus_frame": [
+            -4.471169851028023e-08,
+            -1.4890603056150198e-08,
+            -2.439352142502571e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436424866913312,
+            "required_z": 0.9112598484133412,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019827267892963876,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 0.0,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.361360637770333,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.361360637770333,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.295869764472362,
+              -0.36660215419381936,
+              0.9233481981400359
+            ],
+            "target_mouth_xy": [
+              0.29711930510440115,
+              -0.36815803493179683
+            ],
+            "rod_tip_z": 0.9233481981400359,
+            "rod_tip_depth": -0.02208834972669471,
+            "rod_tip_bottom_clearance": 0.12152888468800815,
+            "rod_tip_xy_dist": 0.001995524157189301,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045172663791495093,
+            "min_rod_tip_bottom_clearance": 0.05426787116981835,
+            "min_rod_tip_xy_dist": 0.0005654807161559617,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29711930510440115,
+              -0.36815803493179683
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0006905053707080278,
+                0.003425669792714914
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007982833575548298,
+                0.003034962205876235
+              ],
+              "first_target_mouth_xy": [
+                0.29711930510440115,
+                -0.36815803493179683
+              ],
+              "last_target_mouth_xy": [
+                0.29711930510440115,
+                -0.36815803493179683
+              ],
+              "first_rod_tip_xy": [
+                0.2964287997336931,
+                -0.3647323651390819
+              ],
+              "last_rod_tip_xy": [
+                0.2963210217468463,
+                -0.3651230727259206
+              ],
+              "min_rod_tip_xy_dist": 0.0031380827569295164,
+              "max_rod_tip_xy_dist": 0.003494568813987796,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.019677169999745225,
+              "min_bottom_clearance": 0.07976336496156822
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0006905053707080278,
+                  0.003425669792714914
+                ],
+                "rod_tip_xy": [
+                  0.2964287997336931,
+                  -0.3647323651390819
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2964177016706453,
+                  -0.3647414102859676,
+                  1.00572358481964
+                ],
+                "rod_tip_xy_dist": 0.003494568813987796,
+                "target_xy_drift": 0.0,
+                "depth": 0.01537706554377316,
+                "bottom_clearance": 0.08406346941754028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007016034337558041,
+                  0.0034166246458290916
+                ],
+                "rod_tip_xy": [
+                  0.29641770167064535,
+                  -0.36474141028596774
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29640926110117366,
+                  -0.36474439887560883,
+                  1.005584412725522
+                ],
+                "rod_tip_xy_dist": 0.003487917910264618,
+                "target_xy_drift": 0.0,
+                "depth": 0.015536263593701194,
+                "bottom_clearance": 0.08390427136761225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007100440032274391,
+                  0.0034136360561879964
+                ],
+                "rod_tip_xy": [
+                  0.2964092611011737,
+                  -0.36474439887560883
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2964155523258454,
+                  -0.3648203767484742,
+                  1.0050535947055121
+                ],
+                "rod_tip_xy_dist": 0.003486699529730944,
+                "target_xy_drift": 0.0,
+                "depth": 0.01567543568781915,
+                "bottom_clearance": 0.08376509927349429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007037527785556663,
+                  0.0033376581833227115
+                ],
+                "rod_tip_xy": [
+                  0.2964155523258455,
+                  -0.3648203767484741
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2964044411005306,
+                  -0.36482939460163044,
+                  1.0048947713228247
+                ],
+                "rod_tip_xy_dist": 0.00341104531222115,
+                "target_xy_drift": 0.0,
+                "depth": 0.01620625370782902,
+                "bottom_clearance": 0.08323428125348442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007148640038704968,
+                  0.003328640330166388
+                ],
+                "rod_tip_xy": [
+                  0.29640444110053066,
+                  -0.36482939460163044
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29639580462918935,
+                  -0.36483208546994667,
+                  1.0047553227755723
+                ],
+                "rod_tip_xy_dist": 0.003404537706009431,
+                "target_xy_drift": 0.0,
+                "depth": 0.01636507709051671,
+                "bottom_clearance": 0.08307545787079673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007235004752117469,
+                  0.0033259494618501084
+                ],
+                "rod_tip_xy": [
+                  0.2963958046291894,
+                  -0.3648320854699467
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963872882236804,
+                  -0.36483487054144065,
+                  1.0046156585691426
+                ],
+                "rod_tip_xy_dist": 0.0034037321810642873,
+                "target_xy_drift": 0.0,
+                "depth": 0.01650452563776883,
+                "bottom_clearance": 0.08293600932354461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007320168807206651,
+                  0.003323164390356237
+                ],
+                "rod_tip_xy": [
+                  0.2963872882236805,
+                  -0.3648348705414406
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29639514317623805,
+                  -0.3649134794696655,
+                  1.0040847214111186
+                ],
+                "rod_tip_xy_dist": 0.003402832684542652,
+                "target_xy_drift": 0.0,
+                "depth": 0.016644189844198576,
+                "bottom_clearance": 0.08279634511711487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007241619281630474,
+                  0.003244555462131371
+                ],
+                "rod_tip_xy": [
+                  0.2963951431762381,
+                  -0.36491347946966546
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963840540446593,
+                  -0.3649223101429964,
+                  1.0039261017606882
+                ],
+                "rod_tip_xy_dist": 0.003324387258585759,
+                "target_xy_drift": 0.0,
+                "depth": 0.017175127002222568,
+                "bottom_clearance": 0.08226540795909087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007352510597418149,
+                  0.0032357247888004648
+                ],
+                "rod_tip_xy": [
+                  0.29638405404465934,
+                  -0.36492231014299636
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963751805559517,
+                  -0.3649249611561126,
+                  1.003786549232816
+                ],
+                "rod_tip_xy_dist": 0.0033182087079792425,
+                "target_xy_drift": 0.0,
+                "depth": 0.01733374665265297,
+                "bottom_clearance": 0.08210678830866047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007441245484493542,
+                  0.0032330737756842143
+                ],
+                "rod_tip_xy": [
+                  0.2963751805559518,
+                  -0.3649249611561126
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963665276078956,
+                  -0.3649273151068114,
+                  1.003646974831582
+                ],
+                "rod_tip_xy_dist": 0.0033176026559282134,
+                "target_xy_drift": 0.0,
+                "depth": 0.017473299180525204,
+                "bottom_clearance": 0.08196723578078824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007527774965054301,
+                  0.0032307198249854063
+                ],
+                "rod_tip_xy": [
+                  0.2963665276078957,
+                  -0.3649273151068114
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963759387132082,
+                  -0.3650083336980592,
+                  1.0031191303954443
+                ],
+                "rod_tip_xy_dist": 0.003317261603612039,
+                "target_xy_drift": 0.0,
+                "depth": 0.017612873581759225,
+                "bottom_clearance": 0.08182766137955422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000743366391192879,
+                  0.003149701233737534
+                ],
+                "rod_tip_xy": [
+                  0.2963759387132083,
+                  -0.3650083336980593
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963644920695804,
+                  -0.3650172218281149,
+                  1.0029601305354858
+                ],
+                "rod_tip_xy_dist": 0.0032362341468693003,
+                "target_xy_drift": 0.0,
+                "depth": 0.018140718017897073,
+                "bottom_clearance": 0.08129981694341637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007548130348207227,
+                  0.0031408131036819165
+                ],
+                "rod_tip_xy": [
+                  0.29636449206958043,
+                  -0.3650172218281149
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29635575014645266,
+                  -0.3650195447993818,
+                  1.0028212371800749
+                ],
+                "rod_tip_xy_dist": 0.003230239878057867,
+                "target_xy_drift": 0.0,
+                "depth": 0.018299717877855337,
+                "bottom_clearance": 0.0811408170834581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007635549579484424,
+                  0.003138490132415017
+                ],
+                "rod_tip_xy": [
+                  0.2963557501464527,
+                  -0.3650195447993818
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963468580049926,
+                  -0.3650220841318105,
+                  1.0026817938329986
+                ],
+                "rod_tip_xy_dist": 0.003230036607389161,
+                "target_xy_drift": 0.0,
+                "depth": 0.01843861123326651,
+                "bottom_clearance": 0.08100192372804693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007724470994084909,
+                  0.0031359507999863534
+                ],
+                "rod_tip_xy": [
+                  0.29634685800499266,
+                  -0.3650220841318105
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963379491859892,
+                  -0.3650244047325043,
+                  1.0025424936688363
+                ],
+                "rod_tip_xy_dist": 0.003229684495631058,
+                "target_xy_drift": 0.0,
+                "depth": 0.018578054580342784,
+                "bottom_clearance": 0.08086248038097066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007813559184118857,
+                  0.0031336301992924143
+                ],
+                "rod_tip_xy": [
+                  0.29633794918598927,
+                  -0.3650244047325044
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29632919291621274,
+                  -0.36502677410088974,
+                  1.0024031943576923
+                ],
+                "rod_tip_xy_dist": 0.0032295750954505916,
+                "target_xy_drift": 0.0,
+                "depth": 0.018717354744505088,
+                "bottom_clearance": 0.08072318021680835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007901121881883633,
+                  0.0031312608309070344
+                ],
+                "rod_tip_xy": [
+                  0.2963291929162128,
+                  -0.3650267741008898
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29634154795959844,
+                  -0.3651115410213013,
+                  1.0018798174919588
+                ],
+                "rod_tip_xy_dist": 0.0032294073235032486,
+                "target_xy_drift": 0.0,
+                "depth": 0.018856654055648847,
+                "bottom_clearance": 0.0805838809056646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007777571448026599,
+                  0.0030464939104955513
+                ],
+                "rod_tip_xy": [
+                  0.2963415479595985,
+                  -0.3651115410213013
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29633007486277174,
+                  -0.36512081926361706,
+                  1.0017215633283898
+                ],
+                "rod_tip_xy_dist": 0.0031442059924531125,
+                "target_xy_drift": 0.0,
+                "depth": 0.019380030921382407,
+                "bottom_clearance": 0.08006050403993104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007892302416293573,
+                  0.0030372156681796603
+                ],
+                "rod_tip_xy": [
+                  0.2963300748627718,
+                  -0.36512081926361717
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.29632102174684627,
+                  -0.36512307272592054,
+                  1.0015826784135962
+                ],
+                "rod_tip_xy_dist": 0.0031380827569295164,
+                "target_xy_drift": 0.0,
+                "depth": 0.01953828508495159,
+                "bottom_clearance": 0.07990224987636185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007982833575548298,
+                  0.003034962205876235
+                ],
+                "rod_tip_xy": [
+                  0.2963210217468463,
+                  -0.3651230727259206
+                ],
+                "target_mouth_xy": [
+                  0.29711930510440115,
+                  -0.36815803493179683
+                ],
+                "gripper_position": [
+                  0.2963120227115493,
+                  -0.3651253659469102,
+                  1.0014434262506104
+                ],
+                "rod_tip_xy_dist": 0.0031381924590512533,
+                "target_xy_drift": 0.0,
+                "depth": 0.019677169999745225,
+                "bottom_clearance": 0.07976336496156822,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006060308883162815,
+              "rod_tip_xy_max_step": 3.2874031589342874e-05,
+              "rod_tip_xy_range": 0.0006060213384864253,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.295869764472362,
+            -0.36660215419381936,
+            1.043348198140036
+          ],
+          "object_origin_world": [
+            0.295869764472362,
+            -0.36660215419381936,
+            1.043348198140036
+          ],
+          "frame_world": [
+            0.2958939978873555,
+            -0.36659924445682934,
+            1.0436424866913312
+          ],
+          "center_minus_frame": [
+            -2.423341499346865e-05,
+            -2.909736990019951e-06,
+            -0.00029428855129509657
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27874926856783183,
+              0.15179495780486635,
+              0.8324454599836213
+            ],
+            "target_position": [
+              0.2895510483991597,
+              0.1984911158264634,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04792921469732676,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16779080565476773,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324454599836213,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674766222067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1364593662480521,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "851187033e8dbf5568b5acd87127db004ba12da13c434c51f4d7064e89a9cb03",
+    "visual_seed": 311156444585476097,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b7654c6efff16d4e961f80b270f796239521d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_17_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.328682798852635,
+              -0.03852100148815382,
+              1.1630297448905522
+            ],
+            "current_z": 1.1630297448905522,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30192323687578637,
+            "gripper_z": 1.1540985063670899,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32395008440943585,
+              -0.04317494587858896,
+              1.1540985063670899
+            ],
+            "object_minus_gripper": [
+              0.004732714443199171,
+              0.004653944390435136,
+              0.008931238523462337
+            ],
+            "object_to_gripper_xy": 0.006637603813887109,
+            "object_to_gripper_z": 0.008931238523462337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.328682798852635,
+              -0.062384885279134494,
+              1.1630297448905522
+            ],
+            "finger_b": [
+              0.3180011570260956,
+              -0.03852100148815382,
+              1.1630297448905522
+            ],
+            "finger_midpoint": [
+              0.3233419779393653,
+              -0.05045294338364416,
+              1.1630297448905522
+            ],
+            "object_minus_finger_midpoint": [
+              0.005340820913269706,
+              0.011931941895490336,
+              0.0
+            ],
+            "finger_gap": 0.026145409189758464,
+            "fingertip_max_gap": 0.0913830855864863,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013072704594879232,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630297448905522,
+            "object_top_z": 1.2128298168429223,
+            "finger_top_clearance": 0.04980007195237013,
+            "fingertip_min_top_clearance": 0.014940021585711071,
+            "object_projection_between_fingers": 0.8330889319436521,
+            "object_to_finger_line_xy": 0.00974953030550639,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048191542793243156,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3403498441089716,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29374522792581226,
+              -0.3766524880533566,
+              0.8515395707384984
+            ],
+            "target_position": [
+              0.2865258966640331,
+              -0.37770383517381223,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007295483166658125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18419352492334853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395707384984,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579242199358352,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705235636714974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15169651704757092,
+            "release_required_pad_clearance": 0.05352617818357487,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0642277416248853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00842893123626709,
+            "max_z_decrease": 0.00842893123626709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035071049473711445,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00842893123626709,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021074670659156827,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00842893123626709,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008429040496199618,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14222581684589386,
+              -0.4339652955532074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14222581684589386,
+              -0.4339652955532074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14379950723857568,
+              -0.4356677802487523,
+              0.8036420559512905
+            ],
+            "closest_button": [
+              0.14225119352340698,
+              -0.43393594026565546,
+              0.7686480283737183
+            ],
+            "closest_ee_minus_button": [
+              0.0015483137151686976,
+              -0.001731839983096839,
+              0.034994027577572195
+            ],
+            "button_min_z_position": [
+              0.14224638044834137,
+              -0.43392762541770935,
+              0.7683799266815186
+            ],
+            "min_active_finger_to_button": 0.14409718838065563,
+            "closest_active_finger": [
+              0.002850085496902466,
+              -0.4212421774864197,
+              0.8108924627304077
+            ],
+            "closest_active_finger_button": [
+              0.1422256231307983,
+              -0.4339643120765686,
+              0.7765907645225525
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13937553763389585,
+              0.012722134590148926,
+              0.034301698207855225
+            ],
+            "min_contact_pad_to_button": 0.021074670659156827,
+            "closest_contact_pad": [
+              0.14224638044834137,
+              -0.43674013263221173,
+              0.7892660834979436
+            ],
+            "closest_contact_pad_button": [
+              0.14224638044834137,
+              -0.43392762541770935,
+              0.7683799266815186
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00281250721450238,
+              0.020886156816425028
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2844811706757625,
+              0.18956720809978073,
+              1.102191162217522
+            ],
+            "current_z": 1.102191162217522,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19228203248315945,
+            "gripper_z": 1.1021913049026721,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2844811471530234,
+              0.18956710751164035,
+              1.1021913049026721
+            ],
+            "object_minus_gripper": [
+              2.3522739089898437e-08,
+              1.0058814037261499e-07,
+              -1.426851501395987e-07
+            ],
+            "object_to_gripper_xy": 1.03301951762357e-07,
+            "object_to_gripper_z": -1.426851501395987e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2844811706757625,
+              0.18956720809978073,
+              1.102191162217522
+            ],
+            "finger_b": [
+              0.2844811706757625,
+              0.18956720809978073,
+              1.102191162217522
+            ],
+            "finger_midpoint": [
+              0.2844811706757625,
+              0.18956720809978073,
+              1.102191162217522
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102191162217522,
+            "object_top_z": 1.2271996688378017,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28448117067576256,
+            0.18956720809978073,
+            1.102191162217522
+          ],
+          "object_origin_world": [
+            0.28448117067576256,
+            0.18956720809978073,
+            1.102191162217522
+          ],
+          "frame_world": [
+            0.2844811471530234,
+            0.18956710751164035,
+            1.1021913049026721
+          ],
+          "center_minus_frame": [
+            2.3522739145409588e-08,
+            1.0058814037261499e-07,
+            -1.426851501395987e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434282374777613,
+            "required_z": 0.9112599024000427,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019810970564535387,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.648569372674088e-08,
+            "max_target_xy_drift": 2.584843557652826e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.0642277416360115,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.0642277416713313,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29366788049802645,
+              -0.3786232503851059,
+              0.923556061992791
+            ],
+            "target_mouth_xy": [
+              0.2937452574894543,
+              -0.37665248271002894
+            ],
+            "rod_tip_z": 0.923556061992791,
+            "rod_tip_depth": -0.022296213022067857,
+            "rod_tip_bottom_clearance": 0.12173676844873493,
+            "rod_tip_xy_dist": 0.001972286091805838,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045311319786942694,
+            "min_rod_tip_bottom_clearance": 0.05412916982004312,
+            "min_rod_tip_xy_dist": 0.00039468156640611523,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29374519776052993,
+              -0.37665245350723686
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.972892436201249e-08,
+              -2.920279207341281e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0003982280228124191,
+                -0.0001893235452370412
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0003060928646818062,
+                -0.0005680978923398028
+              ],
+              "first_target_mouth_xy": [
+                0.2937452267277929,
+                -0.37665251664041166
+              ],
+              "last_target_mouth_xy": [
+                0.2937452593579601,
+                -0.376652512785408
+              ],
+              "first_rod_tip_xy": [
+                0.2941434547506053,
+                -0.3768418401856487
+              ],
+              "last_rod_tip_xy": [
+                0.2940513522226419,
+                -0.3772206106777478
+              ],
+              "min_rod_tip_xy_dist": 0.0004302639816597801,
+              "max_rod_tip_xy_dist": 0.0006487382524163731,
+              "first_target_xy_drift": 6.94615007367735e-08,
+              "last_target_xy_drift": 8.548768903600983e-08,
+              "max_depth": 0.019451874443547124,
+              "min_bottom_clearance": 0.07998872582651428
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0003982280228124191,
+                  -0.0001893235452370412
+                ],
+                "rod_tip_xy": [
+                  0.2941434547506053,
+                  -0.3768418401856487
+                ],
+                "target_mouth_xy": [
+                  0.2937452267277929,
+                  -0.37665251664041166
+                ],
+                "gripper_position": [
+                  0.29413292173903194,
+                  -0.3768515045179854,
+                  1.0060012530768543
+                ],
+                "rod_tip_xy_dist": 0.0004409409971120972,
+                "target_xy_drift": 6.94615007367735e-08,
+                "depth": 0.015097230692570851,
+                "bottom_clearance": 0.08434338252447493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0003876643378107336,
+                  -0.00019899263067391093
+                ],
+                "rod_tip_xy": [
+                  0.2941329217390319,
+                  -0.3768515045179853
+                ],
+                "target_mouth_xy": [
+                  0.29374525740122115,
+                  -0.3766525118873114
+                ],
+                "gripper_position": [
+                  0.29412480503167177,
+                  -0.37685512217863193,
+                  1.0058593079200453
+                ],
+                "rod_tip_xy_dist": 0.00043575418055683424,
+                "target_xy_drift": 8.345804427269062e-08,
+                "depth": 0.015258609112756227,
+                "bottom_clearance": 0.08418197127220584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00037957703934610176,
+                  -0.0002026039612519348
+                ],
+                "rod_tip_xy": [
+                  0.2941248050316717,
+                  -0.3768551221786318
+                ],
+                "target_mouth_xy": [
+                  0.2937452279923256,
+                  -0.3766525182173799
+                ],
+                "gripper_position": [
+                  0.2941336494111271,
+                  -0.37692631263026755,
+                  1.0053239844499147
+                ],
+                "rod_tip_xy_dist": 0.0004302639816597801,
+                "target_xy_drift": 7.142383411588669e-08,
+                "depth": 0.015400574553578905,
+                "bottom_clearance": 0.08404005012081261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0003883918254217744,
+                  -0.00027383088562388247
+                ],
+                "rod_tip_xy": [
+                  0.294133649411127,
+                  -0.37692631263026743
+                ],
+                "target_mouth_xy": [
+                  0.29374525758570524,
+                  -0.37665248174464355
+                ],
+                "gripper_position": [
+                  0.29412311906300803,
+                  -0.37693586142181174,
+                  1.0051628981153988
+                ],
+                "rod_tip_xy_dist": 0.00047521738602035376,
+                "target_xy_drift": 6.61543856288078e-08,
+                "depth": 0.015935877699888135,
+                "bottom_clearance": 0.0835047070357482,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0003778916990930248,
+                  -0.0002833127718264161
+                ],
+                "rod_tip_xy": [
+                  0.294123119063008,
+                  -0.3769358614218117
+                ],
+                "target_mouth_xy": [
+                  0.29374522736391495,
+                  -0.37665254864998526
+                ],
+                "gripper_position": [
+                  0.2941148252391198,
+                  -0.3769393622079387,
+                  1.0050211783490628
+                ],
+                "rod_tip_xy_dist": 0.00047230102998339956,
+                "target_xy_drift": 9.964187361839406e-08,
+                "depth": 0.016097015044312157,
+                "bottom_clearance": 0.08334365634069207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003695975578796862,
+                  -0.00028685192074651145
+                ],
+                "rod_tip_xy": [
+                  0.29411482523911975,
+                  -0.37693936220793856
+                ],
+                "target_mouth_xy": [
+                  0.29374522768124006,
+                  -0.37665251028719204
+                ],
+                "gripper_position": [
+                  0.29410663321633196,
+                  -0.37694265399937826,
+                  1.004879229668939
+                ],
+                "rod_tip_xy_dist": 0.0004678529461557241,
+                "target_xy_drift": 6.418108915610452e-08,
+                "depth": 0.01623870809175787,
+                "bottom_clearance": 0.08320192394838011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003614043972984815,
+                  -0.0002901057031645671
+                ],
+                "rod_tip_xy": [
+                  0.2941066332163319,
+                  -0.3769426539993782
+                ],
+                "target_mouth_xy": [
+                  0.2937452288190334,
+                  -0.37665254829621364
+                ],
+                "gripper_position": [
+                  0.2941172856412581,
+                  -0.37701637169656566,
+                  1.0043437791550542
+                ],
+                "rod_tip_xy_dist": 0.00046343765211221945,
+                "target_xy_drift": 9.974758522338534e-08,
+                "depth": 0.016380661363616156,
+                "bottom_clearance": 0.08305999881941739,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003720591695891562,
+                  -0.00036389183891372134
+                ],
+                "rod_tip_xy": [
+                  0.294117285641258,
+                  -0.37701637169656566
+                ],
+                "target_mouth_xy": [
+                  0.29374522647166884,
+                  -0.37665247985765193
+                ],
+                "gripper_position": [
+                  0.2941064318713088,
+                  -0.377025881865212,
+                  1.0041825189961338
+                ],
+                "rod_tip_xy_dist": 0.0005204279931973128,
+                "target_xy_drift": 3.8970166435738336e-08,
+                "depth": 0.016916155451844106,
+                "bottom_clearance": 0.0825245461934273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00036120438120451626,
+                  -0.00037333320262988856
+                ],
+                "rod_tip_xy": [
+                  0.29410643187130875,
+                  -0.377025881865212
+                ],
+                "target_mouth_xy": [
+                  0.29374522749010423,
+                  -0.37665254866258213
+                ],
+                "gripper_position": [
+                  0.29409805988287246,
+                  -0.37702896520135293,
+                  1.004040833763459
+                ],
+                "rod_tip_xy_dist": 0.0005194673090649949,
+                "target_xy_drift": 9.969146062547487e-08,
+                "depth": 0.01707739063668645,
+                "bottom_clearance": 0.08236327652573461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000352801113672474,
+                  -0.00037648379279398014
+                ],
+                "rod_tip_xy": [
+                  0.2940980598828724,
+                  -0.3770289652013529
+                ],
+                "target_mouth_xy": [
+                  0.29374525876919994,
+                  -0.3766524814085589
+                ],
+                "gripper_position": [
+                  0.2940896537452983,
+                  -0.3770324636548905,
+                  1.0038990171048428
+                ],
+                "rod_tip_xy_dist": 0.0005159541375404199,
+                "target_xy_drift": 6.708607595327269e-08,
+                "depth": 0.01721904095256266,
+                "bottom_clearance": 0.08222159583736988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00034442403764550766,
+                  -0.0003799156583003671
+                ],
+                "rod_tip_xy": [
+                  0.29408965374529816,
+                  -0.3770324636548905
+                ],
+                "target_mouth_xy": [
+                  0.29374522970765266,
+                  -0.37665254799659015
+                ],
+                "gripper_position": [
+                  0.29410172362787723,
+                  -0.3771083062420578,
+                  1.003366065151104
+                ],
+                "rod_tip_xy_dist": 0.0005127999855010093,
+                "target_xy_drift": 9.974395487869722e-08,
+                "depth": 0.017360935922429266,
+                "bottom_clearance": 0.08207974929328687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0003564963798364795,
+                  -0.0004557614049852665
+                ],
+                "rod_tip_xy": [
+                  0.2941017236278771,
+                  -0.3771083062420578
+                ],
+                "target_mouth_xy": [
+                  0.29374522724804064,
+                  -0.37665254483707256
+                ],
+                "gripper_position": [
+                  0.2940908797512252,
+                  -0.37711755682730513,
+                  1.0032047139416762
+                ],
+                "rod_tip_xy_dist": 0.0005786260684679352,
+                "target_xy_drift": 9.59721427074055e-08,
+                "depth": 0.017893719648109374,
+                "bottom_clearance": 0.08154681471056457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00034565298760041996,
+                  -0.0004650103901205349
+                ],
+                "rod_tip_xy": [
+                  0.2940908797512251,
+                  -0.3771175568273051
+                ],
+                "target_mouth_xy": [
+                  0.2937452267636247,
+                  -0.37665254643718454
+                ],
+                "gripper_position": [
+                  0.2940824266412807,
+                  -0.37712059682114857,
+                  1.003063463164536
+                ],
+                "rod_tip_xy_dist": 0.0005794054286569536,
+                "target_xy_drift": 9.735067889695164e-08,
+                "depth": 0.018055175225938025,
+                "bottom_clearance": 0.0813854364539689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0003371989568675682,
+                  -0.00046808591476293904
+                ],
+                "rod_tip_xy": [
+                  0.29408242664128065,
+                  -0.3771205968211485
+                ],
+                "target_mouth_xy": [
+                  0.2937452276844131,
+                  -0.3766525109063856
+                ],
+                "gripper_position": [
+                  0.29407388707430926,
+                  -0.37712368162350196,
+                  1.002921788982453
+                ],
+                "rod_tip_xy_dist": 0.0005768947565301955,
+                "target_xy_drift": 6.473098991647947e-08,
+                "depth": 0.018196412800416062,
+                "bottom_clearance": 0.0812441978568933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003286591281009832,
+                  -0.0004711628043881366
+                ],
+                "rod_tip_xy": [
+                  0.2940738870743092,
+                  -0.37712368162350196
+                ],
+                "target_mouth_xy": [
+                  0.2937452279462082,
+                  -0.3766525188191138
+                ],
+                "gripper_position": [
+                  0.29406551514969875,
+                  -0.37712678618246326,
+                  1.002780280756875
+                ],
+                "rod_tip_xy_dist": 0.0005744660222528326,
+                "target_xy_drift": 7.195009691567e-08,
+                "depth": 0.018338106261111986,
+                "bottom_clearance": 0.08110254242636306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00032028793353966467,
+                  -0.00047427495137103426
+                ],
+                "rod_tip_xy": [
+                  0.2940655151496987,
+                  -0.3771267861824632
+                ],
+                "target_mouth_xy": [
+                  0.29374522721615903,
+                  -0.37665251123109217
+                ],
+                "gripper_position": [
+                  0.2940797771389094,
+                  -0.3772055524014225,
+                  1.0022518780051575
+                ],
+                "rod_tip_xy_dist": 0.0005722945831205338,
+                "target_xy_drift": 6.480491923690882e-08,
+                "depth": 0.018479604342850675,
+                "bottom_clearance": 0.08096101377671727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00033455019513944917,
+                  -0.0005530030971392375
+                ],
+                "rod_tip_xy": [
+                  0.2940797771389093,
+                  -0.3772055524014224
+                ],
+                "target_mouth_xy": [
+                  0.29374522694376987,
+                  -0.37665254930428316
+                ],
+                "gripper_position": [
+                  0.29406861366191483,
+                  -0.37721489053488805,
+                  1.0020910808724635
+                ],
+                "rod_tip_xy_dist": 0.0006463251956356277,
+                "target_xy_drift": 1.0014357479192067e-07,
+                "depth": 0.0190080600788759,
+                "bottom_clearance": 0.08043265116330367,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00032335545280198774,
+                  -0.0005624078335971783
+                ],
+                "rod_tip_xy": [
+                  0.2940686136619148,
+                  -0.377214890534888
+                ],
+                "target_mouth_xy": [
+                  0.2937452582091128,
+                  -0.3766524827012908
+                ],
+                "gripper_position": [
+                  0.29406002077383564,
+                  -0.37721747705865777,
+                  1.0019495511203853
+                ],
+                "rod_tip_xy_dist": 0.0006487382524163731,
+                "target_xy_drift": 6.712915876217226e-08,
+                "depth": 0.01916876628816999,
+                "bottom_clearance": 0.08027180173013304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00031479252818428227,
+                  -0.0005649623418896299
+                ],
+                "rod_tip_xy": [
+                  0.2940600207738356,
+                  -0.3772174770586577
+                ],
+                "target_mouth_xy": [
+                  0.2937452282456513,
+                  -0.3766525147167681
+                ],
+                "gripper_position": [
+                  0.294051352222642,
+                  -0.37722061067774787,
+                  1.0018080356274606
+                ],
+                "rod_tip_xy_dist": 0.0006467432129942047,
+                "target_xy_drift": 6.838091354600172e-08,
+                "depth": 0.019310268671415498,
+                "bottom_clearance": 0.08013023918460793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003060928646818062,
+                  -0.0005680978923398028
+                ],
+                "rod_tip_xy": [
+                  0.2940513522226419,
+                  -0.3772206106777478
+                ],
+                "target_mouth_xy": [
+                  0.2937452593579601,
+                  -0.376652512785408
+                ],
+                "gripper_position": [
+                  0.2940426818415666,
+                  -0.3772235581662961,
+                  1.001666841156066
+                ],
+                "rod_tip_xy_dist": 0.0006453123717162415,
+                "target_xy_drift": 8.548768903600983e-08,
+                "depth": 0.019451874443547124,
+                "bottom_clearance": 0.07998872582651428,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006066304782426776,
+              "rod_tip_xy_max_step": 3.30049347757266e-05,
+              "rod_tip_xy_range": 0.0006066248949111596,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2936678804980265,
+            -0.3786232503851059,
+            1.0435560619927913
+          ],
+          "object_origin_world": [
+            0.2936678804980265,
+            -0.3786232503851059,
+            1.0435560619927913
+          ],
+          "frame_world": [
+            0.2936665450494738,
+            -0.3786320154576442,
+            1.0434282374777613
+          ],
+          "center_minus_frame": [
+            1.3354485526861914e-06,
+            8.765072538274854e-06,
+            0.00012782451503001724
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2725887891160113,
+              0.1433623911813692,
+              0.831811286991197
+            ],
+            "target_position": [
+              0.2846282675601361,
+              0.19009227430652453,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04825589101961772,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16599628083853912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831811286991197,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671803297004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13644187678920003,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "edd54ade548f3445a83b3b5521b418cd0a733d1a5068bedd204ae9e9cd15f6f4",
+    "visual_seed": 3890812064530462470,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13e91288b5eb304ebb24b68e3e28ceb31da938a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_18_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3293399174012159,
+              -0.03163615787004913,
+              1.164725951905924
+            ],
+            "current_z": 1.164725951905924,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3036195034958029,
+            "gripper_z": 1.1559668864362544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3244752748866246,
+              -0.036381633192415566,
+              1.1559668864362544
+            ],
+            "object_minus_gripper": [
+              0.004864642514591289,
+              0.004745475322366438,
+              0.008759065469669647
+            ],
+            "object_to_gripper_xy": 0.006795901914386192,
+            "object_to_gripper_z": 0.008759065469669647,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3293399174012159,
+              -0.05558845056974041,
+              1.164725951905924
+            ],
+            "finger_b": [
+              0.3185183319254872,
+              -0.03163615787004913,
+              1.164725951905924
+            ],
+            "finger_midpoint": [
+              0.32392912466335155,
+              -0.043612304219894774,
+              1.164725951905924
+            ],
+            "object_minus_finger_midpoint": [
+              0.005410792737864323,
+              0.011976146349845646,
+              0.0
+            ],
+            "finger_gap": 0.02628343656716501,
+            "fingertip_max_gap": 0.09156690825679112,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013141718283582496,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164725951905924,
+            "object_top_z": 1.2146087943337385,
+            "finger_top_clearance": 0.04988284242781438,
+            "fingertip_min_top_clearance": 0.01496485272834428,
+            "object_projection_between_fingers": 0.8304813477856632,
+            "object_to_finger_line_xy": 0.009861791936035985,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828345412839556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3862019593476556,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2966303506378589,
+              -0.375518657366233,
+              0.8515395056059076
+            ],
+            "target_position": [
+              0.28886297854263876,
+              -0.37652634158204695,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007832464282995829,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18516276615567676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395056059076,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545808503255158,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638756835293863,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15313764763578125,
+            "release_required_pad_clearance": 0.05319378417646932,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.410532817748519,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008348941802978516,
+            "max_z_decrease": 0.008348941802978516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035008241340501636,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008348941802978516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020951941299146643,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008348941802978516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008348975482503476,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14456290006637568,
+              -0.43278780579566956,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14456290006637568,
+              -0.43278780579566956,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14377491798658215,
+              -0.4336734858595002,
+              0.8034473546264391
+            ],
+            "closest_button": [
+              0.14456899464130396,
+              -0.4327648878097534,
+              0.7684599161148071
+            ],
+            "closest_ee_minus_button": [
+              -0.0007940766547218092,
+              -0.0009085980497468005,
+              0.034987438511631996
+            ],
+            "button_min_z_position": [
+              0.14456899464130396,
+              -0.4327648878097534,
+              0.7684599161148071
+            ],
+            "min_active_finger_to_button": 0.1464400103964657,
+            "closest_active_finger": [
+              0.0027548670768737793,
+              -0.42026710510253906,
+              0.8111181259155273
+            ],
+            "closest_active_finger_button": [
+              0.14456366002559656,
+              -0.43278706073760986,
+              0.7767933011054993
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14180879294872278,
+              0.0125199556350708,
+              0.034324824810028076
+            ],
+            "min_contact_pad_to_button": 0.020951941299146643,
+            "closest_contact_pad": [
+              0.14456899464130396,
+              -0.4346128428126952,
+              0.7893302037628006
+            ],
+            "closest_contact_pad_button": [
+              0.14456899464130396,
+              -0.4327648878097534,
+              0.7684599161148071
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018479550029417702,
+              0.02087028764799348
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28244266788464,
+              0.1957934741543518,
+              1.1010051599247626
+            ],
+            "current_z": 1.1010051599247626,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1910960301904,
+            "gripper_z": 1.10100511355242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28244258848012466,
+              0.1957934828668376,
+              1.10100511355242
+            ],
+            "object_minus_gripper": [
+              7.940451535182191e-08,
+              -8.712485788375801e-09,
+              4.637234263249468e-08
+            ],
+            "object_to_gripper_xy": 7.98810645076189e-08,
+            "object_to_gripper_z": 4.637234263249468e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28244266788464,
+              0.1957934741543518,
+              1.1010051599247626
+            ],
+            "finger_b": [
+              0.28244266788464,
+              0.1957934741543518,
+              1.1010051599247626
+            ],
+            "finger_midpoint": [
+              0.28244266788464,
+              0.1957934741543518,
+              1.1010051599247626
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1010051599247626,
+            "object_top_z": 1.2260136665450423,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28244266788464006,
+            0.1957934741543518,
+            1.1010051599247626
+          ],
+          "object_origin_world": [
+            0.28244266788464006,
+            0.1957934741543518,
+            1.1010051599247626
+          ],
+          "frame_world": [
+            0.28244258848012466,
+            0.1957934828668376,
+            1.10100511355242
+          ],
+          "center_minus_frame": [
+            7.940451540733307e-08,
+            -8.712485788375801e-09,
+            4.637234263249468e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434274461889135,
+            "required_z": 0.9112599052322625,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002103974751749593,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.7107780145941593e-08,
+            "max_target_xy_drift": 2.535361862928697e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4110876065974722,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4110876066589504,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29785238930179286,
+              -0.37379633621274017,
+              0.9235557929517718
+            ],
+            "target_mouth_xy": [
+              0.2966304057491146,
+              -0.37551853202085395
+            ],
+            "rod_tip_z": 0.9235557929517718,
+            "rod_tip_depth": -0.022295972098928307,
+            "rod_tip_bottom_clearance": 0.12173648477256338,
+            "rod_tip_xy_dist": 0.0021116823161879466,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045130424587200846,
+            "min_rod_tip_bottom_clearance": 0.054310089162236785,
+            "min_rod_tip_xy_dist": 0.00025205471137185474,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29663037865680447,
+              -0.3755185329365378
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.709231011754909e-08,
+              9.156838620683061e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0016148298963853391,
+                0.0035140481654740152
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015382704260397673,
+                0.0031275122326833715
+              ],
+              "first_target_mouth_xy": [
+                0.2966303812203368,
+                -0.37551868620910334
+              ],
+              "last_target_mouth_xy": [
+                0.29663038030195293,
+                -0.3755186890735827
+              ],
+              "first_rod_tip_xy": [
+                0.29824521111672214,
+                -0.3720046380436293
+              ],
+              "last_rod_tip_xy": [
+                0.2981686507279927,
+                -0.37239117684089934
+              ],
+              "min_rod_tip_xy_dist": 0.0034853419730655833,
+              "max_rod_tip_xy_dist": 0.0038673259629272492,
+              "first_target_xy_drift": 1.5329400197555392e-07,
+              "last_target_xy_drift": 1.5614571177245764e-07,
+              "max_depth": 0.01974903718161236,
+              "min_bottom_clearance": 0.0796915389568521
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016148298963853391,
+                  0.0035140481654740152
+                ],
+                "rod_tip_xy": [
+                  0.29824521111672214,
+                  -0.3720046380436293
+                ],
+                "target_mouth_xy": [
+                  0.2966303812203368,
+                  -0.37551868620910334
+                ],
+                "gripper_position": [
+                  0.29823454940309535,
+                  -0.372013781526466,
+                  1.0057049699709837
+                ],
+                "rod_tip_xy_dist": 0.0038673259629272492,
+                "target_xy_drift": 1.5329400197555392e-07,
+                "depth": 0.01539225266737343,
+                "bottom_clearance": 0.08404828872374559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016041956620641562,
+                  0.0035049357277889825
+                ],
+                "rod_tip_xy": [
+                  0.2982345494030953,
+                  -0.3720137815264661
+                ],
+                "target_mouth_xy": [
+                  0.29663035374103114,
+                  -0.37551871725425506
+                ],
+                "gripper_position": [
+                  0.2982262884082888,
+                  -0.37201723999149566,
+                  1.0055627375045826
+                ],
+                "rod_tip_xy_dist": 0.0038546099904033277,
+                "target_xy_drift": 1.8599413070069984e-07,
+                "depth": 0.015554943608625749,
+                "bottom_clearance": 0.08388570366275605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001595907772808769,
+                  0.0035014148299701287
+                ],
+                "rod_tip_xy": [
+                  0.29822628840828874,
+                  -0.37201723999149566
+                ],
+                "target_mouth_xy": [
+                  0.29663038063548,
+                  -0.3755186548214658
+                ],
+                "gripper_position": [
+                  0.2982392407634493,
+                  -0.37209029508544217,
+                  1.0050284558540543
+                ],
+                "rod_tip_xy_dist": 0.003847964063091831,
+                "target_xy_drift": 1.2190098779894898e-07,
+                "depth": 0.01569711356648551,
+                "bottom_clearance": 0.08374346396512411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001608858194373286,
+                  0.0034284234544978975
+                ],
+                "rod_tip_xy": [
+                  0.2982392407634493,
+                  -0.37209029508544217
+                ],
+                "target_mouth_xy": [
+                  0.29663038256907603,
+                  -0.37551871853994007
+                ],
+                "gripper_position": [
+                  0.29822829698250114,
+                  -0.3720996198672352,
+                  1.0048666911585258
+                ],
+                "rod_tip_xy_dist": 0.0037871509176362864,
+                "target_xy_drift": 1.8564463040632538e-07,
+                "depth": 0.016231472239319422,
+                "bottom_clearance": 0.08320918140050149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001597946439324982,
+                  0.0034190368619758105
+                ],
+                "rod_tip_xy": [
+                  0.2982282969825011,
+                  -0.3720996198672352
+                ],
+                "target_mouth_xy": [
+                  0.2966303505431761,
+                  -0.37551865672921103
+                ],
+                "gripper_position": [
+                  0.29822001733519177,
+                  -0.37210282504230197,
+                  1.0047239293826198
+                ],
+                "rod_tip_xy_dist": 0.0037740225074184156,
+                "target_xy_drift": 1.2694487797426813e-07,
+                "depth": 0.016393063679685516,
+                "bottom_clearance": 0.0830474330055101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015896640354003955,
+                  0.0034158624123863945
+                ],
+                "rod_tip_xy": [
+                  0.2982200173351917,
+                  -0.3721028250423019
+                ],
+                "target_mouth_xy": [
+                  0.2966303532997913,
+                  -0.3755186874546883
+                ],
+                "gripper_position": [
+                  0.29821148731558567,
+                  -0.37210631132198346,
+                  1.0045817315376415
+                ],
+                "rod_tip_xy_dist": 0.0037676448566444885,
+                "target_xy_drift": 1.5658491929040325e-07,
+                "depth": 0.016535980540719697,
+                "bottom_clearance": 0.08290464947748188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015811397382765602,
+                  0.0034121915096734234
+                ],
+                "rod_tip_xy": [
+                  0.29821148731558567,
+                  -0.3721063113219835
+                ],
+                "target_mouth_xy": [
+                  0.2966303475773091,
+                  -0.37551850283165694
+                ],
+                "gripper_position": [
+                  0.29822611058681203,
+                  -0.3721819121726326,
+                  1.0040483998736942
+                ],
+                "rod_tip_xy_dist": 0.003760725165529205,
+                "target_xy_drift": 4.326937582367651e-08,
+                "depth": 0.01667809801974085,
+                "bottom_clearance": 0.08276246399768372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015957634434341506,
+                  0.0033365906667117695
+                ],
+                "rod_tip_xy": [
+                  0.29822611058681203,
+                  -0.3721819121726326
+                ],
+                "target_mouth_xy": [
+                  0.2966303471433779,
+                  -0.37551850283934435
+                ],
+                "gripper_position": [
+                  0.29821499800894713,
+                  -0.37219129453949973,
+                  1.003886054943665
+                ],
+                "rod_tip_xy_dist": 0.003698553534098014,
+                "target_xy_drift": 4.357679554101472e-08,
+                "depth": 0.01721142617300553,
+                "bottom_clearance": 0.08222911904439723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015846229790797972,
+                  0.003327208005670712
+                ],
+                "rod_tip_xy": [
+                  0.29821499800894713,
+                  -0.3721912945394998
+                ],
+                "target_mouth_xy": [
+                  0.29663037502986733,
+                  -0.3755185025451705
+                ],
+                "gripper_position": [
+                  0.2982065413711113,
+                  -0.3721943093706491,
+                  1.0037438134929697
+                ],
+                "rod_tip_xy_dist": 0.003685287383478663,
+                "target_xy_drift": 3.0607023378388724e-08,
+                "depth": 0.017373713298388327,
+                "bottom_clearance": 0.08206679252798177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015761938863206315,
+                  0.0033242248538927766
+                ],
+                "rod_tip_xy": [
+                  0.2982065413711113,
+                  -0.3721943093706492
+                ],
+                "target_mouth_xy": [
+                  0.29663034748479067,
+                  -0.37551853422454196
+                ],
+                "gripper_position": [
+                  0.2981979836094735,
+                  -0.37219742793674865,
+                  1.0036011990818676
+                ],
+                "rod_tip_xy_dist": 0.0036789751353485645,
+                "target_xy_drift": 3.1198612136642266e-08,
+                "depth": 0.017516102971634195,
+                "bottom_clearance": 0.08192451068438622,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015676331348401518,
+                  0.0033212586093694374
+                ],
+                "rod_tip_xy": [
+                  0.29819798360947347,
+                  -0.37219742793674865
+                ],
+                "target_mouth_xy": [
+                  0.2966303504746333,
+                  -0.3755186865461181
+                ],
+                "gripper_position": [
+                  0.29821406650627325,
+                  -0.37227508244589236,
+                  1.0030706765871478
+                ],
+                "rod_tip_xy_dist": 0.003672632896950003,
+                "target_xy_drift": 1.5617342259169518e-07,
+                "depth": 0.017658554976867857,
+                "bottom_clearance": 0.08178193859735738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015837124628299004,
+                  0.0032436363978418647
+                ],
+                "rod_tip_xy": [
+                  0.2982140665062732,
+                  -0.3722750824458924
+                ],
+                "target_mouth_xy": [
+                  0.2966303540434433,
+                  -0.3755187188437343
+                ],
+                "gripper_position": [
+                  0.2982028719336114,
+                  -0.3722845444151692,
+                  1.0029086723201401
+                ],
+                "rod_tip_xy_dist": 0.003609615249071194,
+                "target_xy_drift": 1.8752947301216393e-07,
+                "depth": 0.01818926758851236,
+                "bottom_clearance": 0.0812514468053237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015724960679255329,
+                  0.003233987606755473
+                ],
+                "rod_tip_xy": [
+                  0.29820287193361134,
+                  -0.3722845444151693
+                ],
+                "target_mouth_xy": [
+                  0.2966303758656858,
+                  -0.37551853202192476
+                ],
+                "gripper_position": [
+                  0.2981943510356655,
+                  -0.3722873552406864,
+                  1.0027665741872354
+                ],
+                "rod_tip_xy_dist": 0.0035960283264025125,
+                "target_xy_drift": 2.937151760152035e-09,
+                "depth": 0.01835108829787513,
+                "bottom_clearance": 0.08108942128787355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001563969169475432,
+                  0.0032313613991362122
+                ],
+                "rod_tip_xy": [
+                  0.2981943510356655,
+                  -0.3722873552406864
+                ],
+                "target_mouth_xy": [
+                  0.29663038186619006,
+                  -0.3755187166398226
+                ],
+                "gripper_position": [
+                  0.2981856374165658,
+                  -0.3722902573209977,
+                  1.0026243174949325
+                ],
+                "rod_tip_xy_dist": 0.0035899437397955434,
+                "target_xy_drift": 1.8373131742972436e-07,
+                "depth": 0.01849331445722935,
+                "bottom_clearance": 0.08094724550598287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015552918766673085,
+                  0.0032282743872304454
+                ],
+                "rod_tip_xy": [
+                  0.29818563741656573,
+                  -0.3722902573209978
+                ],
+                "target_mouth_xy": [
+                  0.2966303455398984,
+                  -0.37551853170822824
+                ],
+                "gripper_position": [
+                  0.29817712430380927,
+                  -0.3722931862917788,
+                  1.0024822590318856
+                ],
+                "rod_tip_xy_dist": 0.0035833906207494914,
+                "target_xy_drift": 3.313967728818009e-08,
+                "depth": 0.01863545201862493,
+                "bottom_clearance": 0.08080506374121099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015467413062993374,
+                  0.003225531606166232
+                ],
+                "rod_tip_xy": [
+                  0.2981771243038092,
+                  -0.3722931862917788
+                ],
+                "target_mouth_xy": [
+                  0.2966303829975099,
+                  -0.37551871789794505
+                ],
+                "gripper_position": [
+                  0.2981684752705799,
+                  -0.3722958359773879,
+                  1.0023400764205947
+                ],
+                "rod_tip_xy_dist": 0.00357721439265106,
+                "target_xy_drift": 1.8501233443681932e-07,
+                "depth": 0.01877766132789016,
+                "bottom_clearance": 0.08066298685144224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015381225901624496,
+                  0.0032228204043928677
+                ],
+                "rod_tip_xy": [
+                  0.2981684752705798,
+                  -0.37229583597738786
+                ],
+                "target_mouth_xy": [
+                  0.2966303526804174,
+                  -0.3755186563817807
+                ],
+                "gripper_position": [
+                  0.29815974296952075,
+                  -0.37229884010544434,
+                  1.0021977310187833
+                ],
+                "rod_tip_xy_dist": 0.003571049210153656,
+                "target_xy_drift": 1.2614872446978483e-07,
+                "depth": 0.01891976039941856,
+                "bottom_clearance": 0.08052082937454397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015293628359004385,
+                  0.003219815675195137
+                ],
+                "rod_tip_xy": [
+                  0.29815974296952075,
+                  -0.3722988401054444
+                ],
+                "target_mouth_xy": [
+                  0.2966303801336203,
+                  -0.37551865578063953
+                ],
+                "gripper_position": [
+                  0.29817991565939295,
+                  -0.3723821764570448,
+                  1.0016726514002185
+                ],
+                "rod_tip_xy_dist": 0.0035645706145433207,
+                "target_xy_drift": 1.2285297844762427e-07,
+                "depth": 0.01906209895294808,
+                "bottom_clearance": 0.0803784245435607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0015495650059103028,
+                  0.003136509126781928
+                ],
+                "rod_tip_xy": [
+                  0.29817991565939295,
+                  -0.3723821764570448
+                ],
+                "target_mouth_xy": [
+                  0.29663035065348264,
+                  -0.37551868558382673
+                ],
+                "gripper_position": [
+                  0.2981686507279927,
+                  -0.3723911768408994,
+                  1.0015108181832832
+                ],
+                "rod_tip_xy_dist": 0.003498405523939174,
+                "target_xy_drift": 1.5519465470203644e-07,
+                "depth": 0.01958718098231682,
+                "bottom_clearance": 0.07985335459254672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0015382704260397673,
+                  0.0031275122326833715
+                ],
+                "rod_tip_xy": [
+                  0.2981686507279927,
+                  -0.37239117684089934
+                ],
+                "target_mouth_xy": [
+                  0.29663038030195293,
+                  -0.3755186890735827
+                ],
+                "gripper_position": [
+                  0.2981886150758244,
+                  -0.3724688042093924,
+                  1.0009013884299491
+                ],
+                "rod_tip_xy_dist": 0.0034853419730655833,
+                "target_xy_drift": 1.5614571177245764e-07,
+                "depth": 0.01974903718161236,
+                "bottom_clearance": 0.0796915389568521,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006057973223890217,
+              "rod_tip_xy_max_step": 3.296192570305524e-05,
+              "rod_tip_xy_range": 0.0006057886093745966,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2978523893017929,
+            -0.37379633621274017,
+            1.0435557929517718
+          ],
+          "object_origin_world": [
+            0.2978523893017929,
+            -0.37379633621274017,
+            1.0435557929517718
+          ],
+          "frame_world": [
+            0.2978510113790787,
+            -0.373804813358967,
+            1.0434274461889135
+          ],
+          "center_minus_frame": [
+            1.3779227142074468e-06,
+            8.477146226815169e-06,
+            0.00012834676285833346
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27008440605948775,
+              0.1504857923186713,
+              0.8312318677878132
+            ],
+            "target_position": [
+              0.2825966233782344,
+              0.19695961502784692,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04812870016357632,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16833648148036692,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312318677878132,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673396538247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13856539585879615,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "829761f69fc2d0df3a2af82216cbb5862379b4f09f0e57a1ab91c278da291b0f",
+    "visual_seed": 1792698098210712959,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..935401d779a4647337fe37da24e45b6509a67524
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_19_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33279681856225796,
+              -0.0392679721605452,
+              1.163946665754393
+            ],
+            "current_z": 1.163946665754393,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3028402173442719,
+            "gripper_z": 1.1549958294355263,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32808767885998136,
+              -0.043996580035722696,
+              1.1549958294355263
+            ],
+            "object_minus_gripper": [
+              0.004709139702276599,
+              0.004728607875177496,
+              0.00895083631886684
+            ],
+            "object_to_gripper_xy": 0.006673509509452157,
+            "object_to_gripper_z": 0.00895083631886684,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33279681856225796,
+              -0.06298109632446329,
+              1.163946665754393
+            ],
+            "finger_b": [
+              0.3218300253751284,
+              -0.0392679721605452,
+              1.163946665754393
+            ],
+            "finger_midpoint": [
+              0.3273134219686932,
+              -0.051124534242504245,
+              1.163946665754393
+            ],
+            "object_minus_finger_midpoint": [
+              0.005483396593564782,
+              0.011856562081959045,
+              0.0
+            ],
+            "finger_gap": 0.02612628581376747,
+            "fingertip_max_gap": 0.09152881823594247,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013063142906883735,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163946665754393,
+            "object_top_z": 1.2137520209446047,
+            "finger_top_clearance": 0.049805355190211564,
+            "fingertip_min_top_clearance": 0.014941606557063435,
+            "object_projection_between_fingers": 0.8238007887500159,
+            "object_to_finger_line_xy": 0.009953842286658852,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826440911797124,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4478622105556056,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2958467731852262,
+              -0.3675560318294418,
+              0.8515395975987066
+            ],
+            "target_position": [
+              0.2883172744810099,
+              -0.36866174249156103,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007610252742525608,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18391982256114464,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395975987066,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564245659197916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644828724254837,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15175094816643095,
+            "release_required_pad_clearance": 0.053224143621274186,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4697727708450177,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00808703899383545,
+            "max_z_decrease": 0.00808703899383545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518629738667217,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00808703899383545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020997707718220182,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00808703899383545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008087051717823283,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1440172046422958,
+              -0.42492321133613586,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1440172046422958,
+              -0.42492321133613586,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14578712656584272,
+              -0.42383409201166405,
+              0.8038472452913445
+            ],
+            "closest_button": [
+              0.14401952922344208,
+              -0.4249090552330017,
+              0.7687218189239502
+            ],
+            "closest_ee_minus_button": [
+              0.0017675973424006453,
+              0.0010749632213376548,
+              0.03512542636739435
+            ],
+            "button_min_z_position": [
+              0.14401952922344208,
+              -0.4249090552330017,
+              0.7687218189239502
+            ],
+            "min_active_finger_to_button": 0.14380241798958138,
+            "closest_active_finger": [
+              0.019930362701416016,
+              -0.4890402555465698,
+              0.8106446862220764
+            ],
+            "closest_active_finger_button": [
+              0.14401619136333466,
+              -0.4249231219291687,
+              0.7764272093772888
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12408582866191864,
+              -0.06411713361740112,
+              0.0342174768447876
+            ],
+            "min_contact_pad_to_button": 0.020997707718220182,
+            "closest_contact_pad": [
+              0.14401952922344208,
+              -0.4249090552330017,
+              0.7897195266421704
+            ],
+            "closest_contact_pad_button": [
+              0.14401952922344208,
+              -0.4249090552330017,
+              0.7687218189239502
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020997707718220182
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2811544099312802,
+              0.1946466520222519,
+              1.1044681828340108
+            ],
+            "current_z": 1.1044681828340108,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19455905309964827,
+            "gripper_z": 1.1044682971514972,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28115443808880625,
+              0.19464667718843315,
+              1.1044682971514972
+            ],
+            "object_minus_gripper": [
+              -2.8157526033023572e-08,
+              -2.516618125003589e-08,
+              -1.1431748636603345e-07
+            ],
+            "object_to_gripper_xy": 3.776483749481862e-08,
+            "object_to_gripper_z": -1.1431748636603345e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2811544099312802,
+              0.1946466520222519,
+              1.1044681828340108
+            ],
+            "finger_b": [
+              0.2811544099312802,
+              0.1946466520222519,
+              1.1044681828340108
+            ],
+            "finger_midpoint": [
+              0.2811544099312802,
+              0.1946466520222519,
+              1.1044681828340108
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044681828340108,
+            "object_top_z": 1.2294766894542906,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2811544099312802,
+            0.1946466520222519,
+            1.1044681828340108
+          ],
+          "object_origin_world": [
+            0.2811544099312802,
+            0.1946466520222519,
+            1.1044681828340108
+          ],
+          "frame_world": [
+            0.28115443808880625,
+            0.19464667718843315,
+            1.1044682971514972
+          ],
+          "center_minus_frame": [
+            -2.8157526033023572e-08,
+            -2.516618125003589e-08,
+            -1.1431748636603345e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433088538033168,
+            "required_z": 0.9112599127194092,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0025080985086760226,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.064290022762911e-08,
+            "max_target_xy_drift": 1.8084654452562623e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.469772772128421,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4697727733262644,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2933838990808041,
+              -0.36708268500393076,
+              0.9234337216564593
+            ],
+            "target_mouth_xy": [
+              0.2958467387674306,
+              -0.3675560950175757
+            ],
+            "rod_tip_z": 0.9234337216564593,
+            "rod_tip_depth": -0.02217382204116569,
+            "rod_tip_bottom_clearance": 0.12161443925145521,
+            "rod_tip_xy_dist": 0.00250792670607455,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04495590446277142,
+            "min_rod_tip_bottom_clearance": 0.05448461755756595,
+            "min_rod_tip_xy_dist": 0.0007841434632550788,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2958467090947232,
+              -0.3675560309086856
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9672707402284004e-08,
+              -6.410889008545695e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0018910948496969615,
+                0.0021857225030232907
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.002002189824684253,
+                0.0018265079083859548
+              ],
+              "first_target_mouth_xy": [
+                0.29584676881007044,
+                -0.36755606614833497
+              ],
+              "last_target_mouth_xy": [
+                0.29584673797900585,
+                -0.3675560664779699
+              ],
+              "first_rod_tip_xy": [
+                0.2939556739603735,
+                -0.3653703436453117
+              ],
+              "last_rod_tip_xy": [
+                0.2938445481543216,
+                -0.36572955856958395
+              ],
+              "min_rod_tip_xy_dist": 0.002702288537689479,
+              "max_rod_tip_xy_dist": 0.0028943247994975964,
+              "first_target_xy_drift": 6.933798079913568e-08,
+              "last_target_xy_drift": 4.5820036757904105e-08,
+              "max_depth": 0.019662820061185915,
+              "min_bottom_clearance": 0.07977787304961903
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018910948496969615,
+                  0.0021857225030232907
+                ],
+                "rod_tip_xy": [
+                  0.2939556739603735,
+                  -0.3653703436453117
+                ],
+                "target_mouth_xy": [
+                  0.29584676881007044,
+                  -0.36755606614833497
+                ],
+                "gripper_position": [
+                  0.2939446846667044,
+                  -0.3653791010790057,
+                  1.0057258126192121
+                ],
+                "rod_tip_xy_dist": 0.002890263412004652,
+                "target_xy_drift": 6.933798079913568e-08,
+                "depth": 0.015376195567542328,
+                "bottom_clearance": 0.08406444684595915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0019021166770711861,
+                  0.0021769317421380108
+                ],
+                "rod_tip_xy": [
+                  0.2939446846667044,
+                  -0.3653791010790057
+                ],
+                "target_mouth_xy": [
+                  0.2958468013437756,
+                  -0.3675560328211437
+                ],
+                "gripper_position": [
+                  0.29393624746252434,
+                  -0.36538186386199245,
+                  1.0055869512288453
+                ],
+                "rod_tip_xy_dist": 0.0028908614050349017,
+                "target_xy_drift": 9.226887429701528e-08,
+                "depth": 0.015534021625804084,
+                "bottom_clearance": 0.08390653327750941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019104898154437278,
+                  0.0021741997861449147
+                ],
+                "rod_tip_xy": [
+                  0.29393624746252434,
+                  -0.3653818638619925
+                ],
+                "target_mouth_xy": [
+                  0.29584673727796806,
+                  -0.3675560636481374
+                ],
+                "gripper_position": [
+                  0.293941638447634,
+                  -0.3654510956463697,
+                  1.0050563014553553
+                ],
+                "rod_tip_xy_dist": 0.0028943247994975964,
+                "target_xy_drift": 4.319915503163186e-08,
+                "depth": 0.015673023513376405,
+                "bottom_clearance": 0.0837675920983687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0019051317276131963,
+                  0.0021049679594321025
+                ],
+                "rod_tip_xy": [
+                  0.293941638447634,
+                  -0.36545109564636974
+                ],
+                "target_mouth_xy": [
+                  0.2958467701752472,
+                  -0.36755606360580184
+                ],
+                "gripper_position": [
+                  0.29393045556010655,
+                  -0.3654601023818198,
+                  1.0048984450336669
+                ],
+                "rod_tip_xy_dist": 0.0028390873550833535,
+                "target_xy_drift": 6.928154024628559e-08,
+                "depth": 0.016203519956153545,
+                "bottom_clearance": 0.0832369779393366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0019163132909069125,
+                  0.002095958056346381
+                ],
+                "rod_tip_xy": [
+                  0.29393045556010655,
+                  -0.36546010238181975
+                ],
+                "target_mouth_xy": [
+                  0.29584676885101346,
+                  -0.36755606043816613
+                ],
+                "gripper_position": [
+                  0.29392196471190285,
+                  -0.36546258205241644,
+                  1.0047597361032756
+                ],
+                "rod_tip_xy_dist": 0.0028399466197218883,
+                "target_xy_drift": 6.665436553285102e-08,
+                "depth": 0.01636146765189883,
+                "bottom_clearance": 0.08307918479494747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001924806145653546,
+                  0.0020935154584378335
+                ],
+                "rod_tip_xy": [
+                  0.29392196471190285,
+                  -0.3654625820524165
+                ],
+                "target_mouth_xy": [
+                  0.2958467708575564,
+                  -0.36755609751085433
+                ],
+                "gripper_position": [
+                  0.2939134699649122,
+                  -0.36546509201403815,
+                  1.0046211117213781
+                ],
+                "rod_tip_xy_dist": 0.0028438856645554215,
+                "target_xy_drift": 9.083224340165883e-08,
+                "depth": 0.016500152075169527,
+                "bottom_clearance": 0.08294049235169965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019332965640040944,
+                  0.0020909389430578407
+                ],
+                "rod_tip_xy": [
+                  0.2939134699649122,
+                  -0.36546509201403815
+                ],
+                "target_mouth_xy": [
+                  0.2958467665289163,
+                  -0.367556030957096
+                ],
+                "gripper_position": [
+                  0.29392037465025866,
+                  -0.36553676694746684,
+                  1.0040901314224613
+                ],
+                "rod_tip_xy_dist": 0.0028477467001097336,
+                "target_xy_drift": 5.743421347031681e-08,
+                "depth": 0.016638807768951658,
+                "bottom_clearance": 0.08280192500792616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019264242379710694,
+                  0.002019328061712178
+                ],
+                "rod_tip_xy": [
+                  0.29392037465025866,
+                  -0.3655367669474669
+                ],
+                "target_mouth_xy": [
+                  0.29584679888822973,
+                  -0.3675560950091791
+                ],
+                "gripper_position": [
+                  0.29390924832091736,
+                  -0.3655453482712276,
+                  1.0039323969360077
+                ],
+                "rod_tip_xy_dist": 0.0027908414798158416,
+                "target_xy_drift": 1.1032564106290476e-07,
+                "depth": 0.01716981214130142,
+                "bottom_clearance": 0.08227078538746213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001937520576752394,
+                  0.0020107150316467925
+                ],
+                "rod_tip_xy": [
+                  0.2939092483209173,
+                  -0.3655453482712276
+                ],
+                "target_mouth_xy": [
+                  0.2958467688976697,
+                  -0.3675560633028744
+                ],
+                "gripper_position": [
+                  0.29390060082168656,
+                  -0.3655476955297365,
+                  1.0037940925194837
+                ],
+                "rod_tip_xy_dist": 0.0027923038738341664,
+                "target_xy_drift": 6.80130566478866e-08,
+                "depth": 0.01732746538296126,
+                "bottom_clearance": 0.08211308572596832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019462001579447774,
+                  0.0020083398276599107
+                ],
+                "rod_tip_xy": [
+                  0.29390060082168656,
+                  -0.3655476955297365
+                ],
+                "target_mouth_xy": [
+                  0.29584680097963134,
+                  -0.3675560353573964
+                ],
+                "gripper_position": [
+                  0.2938919217280747,
+                  -0.36554997097514885,
+                  1.0036553652119564
+                ],
+                "rod_tip_xy_dist": 0.0027966272397567248,
+                "target_xy_drift": 9.199253974707745e-08,
+                "depth": 0.017465753397061357,
+                "bottom_clearance": 0.08197481518132455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001954844343154183,
+                  0.002006030518791835
+                ],
+                "rod_tip_xy": [
+                  0.2938919217280747,
+                  -0.3655499709751488
+                ],
+                "target_mouth_xy": [
+                  0.2958467660712289,
+                  -0.36755600149394063
+                ],
+                "gripper_position": [
+                  0.29390029701542575,
+                  -0.36562348837577907,
+                  1.0031272136644078
+                ],
+                "rod_tip_xy_dist": 0.0028009953317144507,
+                "target_xy_drift": 6.412136478079748e-08,
+                "depth": 0.017604562658368406,
+                "bottom_clearance": 0.0818361763735741,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001946503908207664,
+                  0.001932578064181234
+                ],
+                "rod_tip_xy": [
+                  0.29390029701542575,
+                  -0.3656234883757791
+                ],
+                "target_mouth_xy": [
+                  0.2958468009236334,
+                  -0.36755606643996036
+                ],
+                "gripper_position": [
+                  0.2938890467472471,
+                  -0.36563230543489855,
+                  1.0029695722936975
+                ],
+                "rod_tip_xy_dist": 0.002742942842791697,
+                "target_xy_drift": 9.846329384059484e-08,
+                "depth": 0.018132654364424905,
+                "bottom_clearance": 0.08130795643730848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001957719442833794,
+                  0.0019236652748846894
+                ],
+                "rod_tip_xy": [
+                  0.2938890467472471,
+                  -0.3656323054348985
+                ],
+                "target_mouth_xy": [
+                  0.2958467661900809,
+                  -0.3675559707097832
+                ],
+                "gripper_position": [
+                  0.2938803527570484,
+                  -0.36563425714505654,
+                  1.0028314809438323
+                ],
+                "rod_tip_xy_dist": 0.002744659087509166,
+                "target_xy_drift": 8.296859477637222e-08,
+                "depth": 0.01829042827266314,
+                "bottom_clearance": 0.08115034018650225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0019664165478625595,
+                  0.0019218400686188963
+                ],
+                "rod_tip_xy": [
+                  0.2938803527570484,
+                  -0.36563425714505654
+                ],
+                "target_mouth_xy": [
+                  0.29584676930491094,
+                  -0.36755609721367544
+                ],
+                "gripper_position": [
+                  0.2938714937778607,
+                  -0.36563672046514595,
+                  1.0026928268721294
+                ],
+                "rod_tip_xy_dist": 0.0027495932952087275,
+                "target_xy_drift": 8.956348799838128e-08,
+                "depth": 0.018428437497911676,
+                "bottom_clearance": 0.08101223265495061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001975275352827488,
+                  0.0019193399758540841
+                ],
+                "rod_tip_xy": [
+                  0.2938714937778607,
+                  -0.365636720465146
+                ],
+                "target_mouth_xy": [
+                  0.2958467691306882,
+                  -0.3675560604410001
+                ],
+                "gripper_position": [
+                  0.29386252769863885,
+                  -0.36563902908069584,
+                  1.0025547358698317
+                ],
+                "rod_tip_xy_dist": 0.0027541929239614485,
+                "target_xy_drift": 6.690646223982428e-08,
+                "depth": 0.018567077107022878,
+                "bottom_clearance": 0.08087356422482161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00198424009032655,
+                  0.0019170672126571087
+                ],
+                "rod_tip_xy": [
+                  0.29386252769863885,
+                  -0.36563902908069595
+                ],
+                "target_mouth_xy": [
+                  0.2958467677889654,
+                  -0.36755609629335306
+                ],
+                "gripper_position": [
+                  0.29385371603981436,
+                  -0.3656415263522355,
+                  1.0024163169430007
+                ],
+                "rod_tip_xy_dist": 0.0027590497338583824,
+                "target_xy_drift": 8.786449114810521e-08,
+                "depth": 0.018705210953837814,
+                "bottom_clearance": 0.08073548234933081,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019930864503208134,
+                  0.0019145365586749619
+                ],
+                "rod_tip_xy": [
+                  0.29385371603981436,
+                  -0.3656415263522355
+                ],
+                "target_mouth_xy": [
+                  0.2958468024901352,
+                  -0.3675560629109105
+                ],
+                "gripper_position": [
+                  0.29386496049457683,
+                  -0.36571899966877475,
+                  1.0018926491587108
+                ],
+                "rod_tip_xy_dist": 0.002763664927764469,
+                "target_xy_drift": 9.872611291733258e-08,
+                "depth": 0.018843580333356758,
+                "bottom_clearance": 0.0805970070785561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0019818068073312323,
+                  0.0018370642665251347
+                ],
+                "rod_tip_xy": [
+                  0.29386496049457683,
+                  -0.3657189996687747
+                ],
+                "target_mouth_xy": [
+                  0.29584676730190806,
+                  -0.3675560639352998
+                ],
+                "gripper_position": [
+                  0.2938534300415717,
+                  -0.3657275251845628,
+                  1.0017351578387772
+                ],
+                "rod_tip_xy_dist": 0.002702288537689479,
+                "target_xy_drift": 6.69240884514698e-08,
+                "depth": 0.019367264676540707,
+                "bottom_clearance": 0.0800733531563117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019933402536776446,
+                  0.0018285691593499798
+                ],
+                "rod_tip_xy": [
+                  0.2938534300415717,
+                  -0.3657275251845628
+                ],
+                "target_mouth_xy": [
+                  0.29584677029524936,
+                  -0.3675560943439128
+                ],
+                "gripper_position": [
+                  0.29384454815432165,
+                  -0.365729558569584,
+                  1.001597126748538
+                ],
+                "rod_tip_xy_dist": 0.0027050084172618666,
+                "target_xy_drift": 8.814495134898796e-08,
+                "depth": 0.019524617801303656,
+                "bottom_clearance": 0.07991590992276876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.002002189824684253,
+                  0.0018265079083859548
+                ],
+                "rod_tip_xy": [
+                  0.2938445481543216,
+                  -0.36572955856958395
+                ],
+                "target_mouth_xy": [
+                  0.29584673797900585,
+                  -0.3675560664779699
+                ],
+                "gripper_position": [
+                  0.29383538655382685,
+                  -0.3657319297546188,
+                  1.0014594934863257
+                ],
+                "rod_tip_xy_dist": 0.0027101467180700007,
+                "target_xy_drift": 4.5820036757904105e-08,
+                "depth": 0.019662820061185915,
+                "bottom_clearance": 0.07977787304961903,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006014175482817321,
+              "rod_tip_xy_max_step": 3.26565244298416e-05,
+              "rod_tip_xy_range": 0.0006014064856141427,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2933838990808041,
+            -0.36708268500393076,
+            1.0434337216564593
+          ],
+          "object_origin_world": [
+            0.2933838990808041,
+            -0.36708268500393076,
+            1.0434337216564593
+          ],
+          "frame_world": [
+            0.29338222489690535,
+            -0.36709055284847447,
+            1.0433088538033168
+          ],
+          "center_minus_frame": [
+            1.6741838987366364e-06,
+            7.86784454370748e-06,
+            0.00012486785314247406
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27149366816383197,
+              0.14615086191359408,
+              0.8332263108088502
+            ],
+            "target_position": [
+              0.28130084026112695,
+              0.19322944835802497,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048089228795559956,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16987040734811962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332263108088502,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671420063476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13846062747680285,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9174d00be56d53c34539aaa633fa911228f5bd908f345f8ab55d3dd6c9a91ad1",
+    "visual_seed": 4191211069918136135,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1845d50be3b9537e94ed1f2edc3a970c92488fa6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_1_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33314520271664844,
+              -0.0352132063447637,
+              1.165214936821021
+            ],
+            "current_z": 1.165214936821021,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.304108428806255,
+            "gripper_z": 1.1562470918681973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3285819210515979,
+              -0.03988152468047154,
+              1.1562470918681973
+            ],
+            "object_minus_gripper": [
+              0.004563281665050545,
+              0.004668318335707841,
+              0.008967844952823656
+            ],
+            "object_to_gripper_xy": 0.006528149480372864,
+            "object_to_gripper_z": 0.008967844952823656,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33314520271664844,
+              -0.058875452799728015,
+              1.165214936821021
+            ],
+            "finger_b": [
+              0.3223273133830082,
+              -0.0352132063447637,
+              1.165214936821021
+            ],
+            "finger_midpoint": [
+              0.3277362580498283,
+              -0.04704432957224586,
+              1.165214936821021
+            ],
+            "object_minus_finger_midpoint": [
+              0.005408944666820126,
+              0.011831123227482157,
+              0.0
+            ],
+            "finger_gap": 0.026017852273590124,
+            "fingertip_max_gap": 0.09213783379393717,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013008926136795062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165214936821021,
+            "object_top_z": 1.2151102330195398,
+            "finger_top_clearance": 0.049895296198518846,
+            "fingertip_min_top_clearance": 0.014968588859555619,
+            "object_projection_between_fingers": 0.8271210239153659,
+            "object_to_finger_line_xy": 0.009838458641528894,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048568916896968586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.952454060955899,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2904005820713171,
+              -0.37016389691580665,
+              0.8515395960429328
+            ],
+            "target_position": [
+              0.2837569414791895,
+              -0.3705895051982418,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006657259400642478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18600490640102943,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395960429328,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752802730472174,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582531932120228,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15442839182758408,
+            "release_required_pad_clearance": 0.052912659660601144,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8641077392795218,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008114933967590332,
+            "max_z_decrease": 0.008114933967590332,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506671805000926,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008114933967590332,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02091694114994983,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008114933967590332,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008114969314634258,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13945686817169187,
+              -0.4268509745597839,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13945686817169187,
+              -0.4268509745597839,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13788314373253924,
+              -0.4262307832728173,
+              0.8037193060424102
+            ],
+            "closest_button": [
+              0.1394745260477066,
+              -0.42683479189872736,
+              0.7686939239501953
+            ],
+            "closest_ee_minus_button": [
+              -0.0015913823151673667,
+              0.0006040086259100352,
+              0.03502538209221484
+            ],
+            "button_min_z_position": [
+              0.1394745260477066,
+              -0.42683479189872736,
+              0.7686939239501953
+            ],
+            "min_active_finger_to_button": 0.14690931846653912,
+            "closest_active_finger": [
+              0.011257104575634003,
+              -0.48990148305892944,
+              0.810989499092102
+            ],
+            "closest_active_finger_button": [
+              0.13945859670639038,
+              -0.4268514215946197,
+              0.7767635583877563
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12820149213075638,
+              -0.06305006146430975,
+              0.0342259407043457
+            ],
+            "min_contact_pad_to_button": 0.02091694114994983,
+            "closest_contact_pad": [
+              0.1394745260477066,
+              -0.42734375687896675,
+              0.7896046719454095
+            ],
+            "closest_contact_pad_button": [
+              0.1394745260477066,
+              -0.42683479189872736,
+              0.7686939239501953
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005089649802393903,
+              0.020910747995214196
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2808939857207717,
+              0.19119242313941892,
+              1.1010805855194676
+            ],
+            "current_z": 1.1010805855194676,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19117145578510508,
+            "gripper_z": 1.1010809054884045,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28089398759637857,
+              0.19119262812665447,
+              1.1010809054884045
+            ],
+            "object_minus_gripper": [
+              -1.8756068920211533e-09,
+              -2.0498723554696063e-07,
+              -3.1996893690156014e-07
+            ],
+            "object_to_gripper_xy": 2.0499581614852173e-07,
+            "object_to_gripper_z": -3.1996893690156014e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2808939857207717,
+              0.19119242313941892,
+              1.1010805855194676
+            ],
+            "finger_b": [
+              0.2808939857207717,
+              0.19119242313941892,
+              1.1010805855194676
+            ],
+            "finger_midpoint": [
+              0.2808939857207717,
+              0.19119242313941892,
+              1.1010805855194676
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1010805855194676,
+            "object_top_z": 1.2260890921397474,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28089398572077173,
+            0.19119242313941892,
+            1.1010805855194679
+          ],
+          "object_origin_world": [
+            0.28089398572077173,
+            0.19119242313941892,
+            1.1010805855194679
+          ],
+          "frame_world": [
+            0.28089398759637857,
+            0.19119262812665447,
+            1.1010809054884045
+          ],
+          "center_minus_frame": [
+            -1.875606836510002e-09,
+            -2.0498723554696063e-07,
+            -3.1996893667951554e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433386526161377,
+            "required_z": 0.9112598537688483,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010428763886440081,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.840089720812256e-08,
+            "max_target_xy_drift": 1.487528331282976e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8641077378483627,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.864107742402511,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2910947578332641,
+              -0.37093563867144536,
+              0.9234636599959677
+            ],
+            "target_mouth_xy": [
+              0.29040061702115666,
+              -0.37016404052050983
+            ],
+            "rod_tip_z": 0.9234636599959677,
+            "rod_tip_depth": -0.022203705811074892,
+            "rod_tip_bottom_clearance": 0.12164442069302295,
+            "rod_tip_xy_dist": 0.0010378801344858224,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04482108555587583,
+            "min_rod_tip_bottom_clearance": 0.054619451336867075,
+            "min_rod_tip_xy_dist": 0.000202332451681725,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.29040055360910894,
+              -0.37016401487689576
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.341204772386533e-08,
+              -2.5643614065540277e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.001136712591665201,
+                0.0009547445934045551
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010730995336117877,
+                0.0005212127419965129
+              ],
+              "first_target_mouth_xy": [
+                0.290400584001594,
+                -0.37016389562646246
+              ],
+              "last_target_mouth_xy": [
+                0.29040052799781974,
+                -0.37016392476343707
+              ],
+              "first_rod_tip_xy": [
+                0.2915372965932592,
+                -0.3692091510330579
+              ],
+              "last_rod_tip_xy": [
+                0.2914736275314315,
+                -0.36964271202144056
+              ],
+              "min_rod_tip_xy_dist": 0.0011929816978719161,
+              "max_rod_tip_xy_dist": 0.0014844705300831832,
+              "first_target_xy_drift": 1.230624597236119e-07,
+              "last_target_xy_drift": 9.368230127667705e-08,
+              "max_depth": 0.020288720448467745,
+              "min_bottom_clearance": 0.07915188501745851
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001136712591665201,
+                  0.0009547445934045551
+                ],
+                "rod_tip_xy": [
+                  0.2915372965932592,
+                  -0.3692091510330579
+                ],
+                "target_mouth_xy": [
+                  0.290400584001594,
+                  -0.37016389562646246
+                ],
+                "gripper_position": [
+                  0.2915264680425158,
+                  -0.3692181694407528,
+                  1.0055699903405906
+                ],
+                "rod_tip_xy_dist": 0.0014844705300831832,
+                "target_xy_drift": 1.230624597236119e-07,
+                "depth": 0.015532017783075003,
+                "bottom_clearance": 0.08390850441026287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011259131079600082,
+                  0.0009457585237004906
+                ],
+                "rod_tip_xy": [
+                  0.2915264680425157,
+                  -0.36921816944075286
+                ],
+                "target_mouth_xy": [
+                  0.2904005549345557,
+                  -0.37016392796445335
+                ],
+                "gripper_position": [
+                  0.29151813887852235,
+                  -0.36922135232665115,
+                  1.00543165031617
+                ],
+                "rod_tip_xy_dist": 0.0014704215422212423,
+                "target_xy_drift": 8.692254859762005e-08,
+                "depth": 0.01568987896350127,
+                "bottom_clearance": 0.0837507271881196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011175832610931247,
+                  0.0009425429649139727
+                ],
+                "rod_tip_xy": [
+                  0.29151813887852224,
+                  -0.36922135232665126
+                ],
+                "target_mouth_xy": [
+                  0.2904005556174291,
+                  -0.37016389529156524
+                ],
+                "gripper_position": [
+                  0.2915290593125413,
+                  -0.3692923293507619,
+                  1.004897464983963
+                ],
+                "rod_tip_xy_dist": 0.0014619779704853166,
+                "target_xy_drift": 1.196021932372671e-07,
+                "depth": 0.015828173725040195,
+                "bottom_clearance": 0.08361235826095947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011284747410038043,
+                  0.0008715979778924354
+                ],
+                "rod_tip_xy": [
+                  0.29152905931254125,
+                  -0.369292329350762
+                ],
+                "target_mouth_xy": [
+                  0.29040058457153745,
+                  -0.37016392732865444
+                ],
+                "gripper_position": [
+                  0.29151819210419627,
+                  -0.36930126852404577,
+                  1.0047399279501237
+                ],
+                "rod_tip_xy_dist": 0.001425881578585608,
+                "target_xy_drift": 9.286208342491752e-08,
+                "depth": 0.016362391691478684,
+                "bottom_clearance": 0.08307818569388348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011176371347986214,
+                  0.0008626283701560489
+                ],
+                "rod_tip_xy": [
+                  0.2915181921041962,
+                  -0.3693012685240457
+                ],
+                "target_mouth_xy": [
+                  0.2904005549693976,
+                  -0.37016389689420176
+                ],
+                "gripper_position": [
+                  0.2915099030722844,
+                  -0.3693037347254383,
+                  1.00460138789016
+                ],
+                "rod_tip_xy_dist": 0.0014118216849442968,
+                "target_xy_drift": 1.1799053550833377e-07,
+                "depth": 0.01651991917071094,
+                "bottom_clearance": 0.08292064383021158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011093170411309305,
+                  0.0008601615204894553
+                ],
+                "rod_tip_xy": [
+                  0.29150990307228436,
+                  -0.36930373472543826
+                ],
+                "target_mouth_xy": [
+                  0.29040058603115343,
+                  -0.3701638962459277
+                ],
+                "gripper_position": [
+                  0.2915216435173089,
+                  -0.36937602208442283,
+                  1.004070576844667
+                ],
+                "rod_tip_xy_dist": 0.0014037315053364778,
+                "target_xy_drift": 1.2298168786199116e-07,
+                "depth": 0.016658517713240006,
+                "bottom_clearance": 0.0827820716380917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011211481730907247,
+                  0.0007879033353534459
+                ],
+                "rod_tip_xy": [
+                  0.29152164351730886,
+                  -0.36937602208442283
+                ],
+                "target_mouth_xy": [
+                  0.29040049534421813,
+                  -0.3701639254197763
+                ],
+                "gripper_position": [
+                  0.29151049166816195,
+                  -0.369384752074419,
+                  1.0039127931953917
+                ],
+                "rod_tip_xy_dist": 0.0013703156176172531,
+                "target_xy_drift": 1.0675848316393612e-07,
+                "depth": 0.017189187865125688,
+                "bottom_clearance": 0.08225132949421676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011099059881264361,
+                  0.0007791749270343873
+                ],
+                "rod_tip_xy": [
+                  0.29151049166816184,
+                  -0.36938475207441906
+                ],
+                "target_mouth_xy": [
+                  0.2904005856800354,
+                  -0.37016392700145345
+                ],
+                "gripper_position": [
+                  0.2915020269680674,
+                  -0.3693873670170579,
+                  1.0037746549205022
+                ],
+                "rod_tip_xy_dist": 0.0013560991370095195,
+                "target_xy_drift": 9.354484318296479e-08,
+                "depth": 0.017347066810926126,
+                "bottom_clearance": 0.08209354232112442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011014717012531317,
+                  0.0007765580845093267
+                ],
+                "rod_tip_xy": [
+                  0.29150202696806726,
+                  -0.36938736701705793
+                ],
+                "target_mouth_xy": [
+                  0.29040055526681413,
+                  -0.37016392510156726
+                ],
+                "gripper_position": [
+                  0.29149359021873794,
+                  -0.36939000158677054,
+                  1.0036366105273973
+                ],
+                "rod_tip_xy_dist": 0.001347695205630065,
+                "target_xy_drift": 8.979063199804486e-08,
+                "depth": 0.01748516636945807,
+                "bottom_clearance": 0.08195535221229322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010930055457098464,
+                  0.0007738940324709676
+                ],
+                "rod_tip_xy": [
+                  0.29149359021873783,
+                  -0.36939000158677066
+                ],
+                "target_mouth_xy": [
+                  0.290400584673028,
+                  -0.3701638956192416
+                ],
+                "gripper_position": [
+                  0.2915069172566128,
+                  -0.36946405745066735,
+                  1.0031081879597317
+                ],
+                "rod_tip_xy_dist": 0.0013392434791503203,
+                "target_xy_drift": 1.2323698770182496e-07,
+                "depth": 0.017623213174814967,
+                "bottom_clearance": 0.08181730119864172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001106333448347263,
+                  0.0006998689307217698
+                ],
+                "rod_tip_xy": [
+                  0.2915069172566127,
+                  -0.3694640574506674
+                ],
+                "target_mouth_xy": [
+                  0.29040058380826544,
+                  -0.3701639263813892
+                ],
+                "gripper_position": [
+                  0.29149586862900534,
+                  -0.3694726502258323,
+                  1.0029510820255287
+                ],
+                "rod_tip_xy_dist": 0.0013091181073996265,
+                "target_xy_drift": 9.350638342037934e-08,
+                "depth": 0.018151670504688133,
+                "bottom_clearance": 0.08128889358457336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010952832424717118,
+                  0.0006912704330191421
+                ],
+                "rod_tip_xy": [
+                  0.29149586862900523,
+                  -0.3694726502258325
+                ],
+                "target_mouth_xy": [
+                  0.2904005853865335,
+                  -0.3701639206588516
+                ],
+                "gripper_position": [
+                  0.2914871262515916,
+                  -0.3694752932133062,
+                  1.0028127674268
+                ],
+                "rod_tip_xy_dist": 0.0012951834591307205,
+                "target_xy_drift": 9.94326131375397e-08,
+                "depth": 0.018308810164758382,
+                "bottom_clearance": 0.08113185887809671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001086569863714415,
+                  0.0006886616909143606
+                ],
+                "rod_tip_xy": [
+                  0.29148712625159157,
+                  -0.36947529321330624
+                ],
+                "target_mouth_xy": [
+                  0.29040055638787715,
+                  -0.3701639549042206
+                ],
+                "gripper_position": [
+                  0.2914785234335911,
+                  -0.36947764880232686,
+                  1.0026748614944074
+                ],
+                "rod_tip_xy_dist": 0.0012864248883107745,
+                "target_xy_drift": 6.003701623634317e-08,
+                "depth": 0.01844712270328619,
+                "bottom_clearance": 0.08099343960622385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010779994719651298,
+                  0.000686306748997445
+                ],
+                "rod_tip_xy": [
+                  0.291478523433591,
+                  -0.369477648802327
+                ],
+                "target_mouth_xy": [
+                  0.29040052396162586,
+                  -0.3701639555513244
+                ],
+                "gripper_position": [
+                  0.2914699584099673,
+                  -0.3694801124040691,
+                  1.002536587083338
+                ],
+                "rod_tip_xy_dist": 0.0012779279382173867,
+                "target_xy_drift": 6.632116304991222e-08,
+                "depth": 0.018584992705252268,
+                "bottom_clearance": 0.08085555761743246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001069401642248502,
+                  0.0006838120510400114
+                ],
+                "rod_tip_xy": [
+                  0.29146995840996726,
+                  -0.36948011240406914
+                ],
+                "target_mouth_xy": [
+                  0.29040055676771875,
+                  -0.37016392445510915
+                ],
+                "gripper_position": [
+                  0.29146120474877246,
+                  -0.36948275821245236,
+                  1.0023982474048585
+                ],
+                "rod_tip_xy_dist": 0.0012693379351423088,
+                "target_xy_drift": 9.047693800307056e-08,
+                "depth": 0.018723305530087164,
+                "bottom_clearance": 0.08071727052353805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010606773437891182,
+                  0.000681165610395662
+                ],
+                "rod_tip_xy": [
+                  0.2914612047487724,
+                  -0.3694827582124524
+                ],
+                "target_mouth_xy": [
+                  0.2904005274049833,
+                  -0.3701639238228481
+                ],
+                "gripper_position": [
+                  0.291477659013753,
+                  -0.36956035254510633,
+                  1.001874794681519
+                ],
+                "rod_tip_xy_dist": 0.0012605645625723555,
+                "target_xy_drift": 9.47496480298179e-08,
+                "depth": 0.018861659971345035,
+                "bottom_clearance": 0.08057895572639573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010771341834756032,
+                  0.0006035725636046041
+                ],
+                "rod_tip_xy": [
+                  0.2914776590137529,
+                  -0.3695603525451064
+                ],
+                "target_mouth_xy": [
+                  0.2904005248302773,
+                  -0.370163925108711
+                ],
+                "gripper_position": [
+                  0.29146631650569077,
+                  -0.3695694771220492,
+                  1.0017176279940638
+                ],
+                "rod_tip_xy_dist": 0.001234713686952521,
+                "target_xy_drift": 9.42684896924944e-08,
+                "depth": 0.019385021533490088,
+                "bottom_clearance": 0.08005547260751023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010657620811265756,
+                  0.00059441754746975
+                ],
+                "rod_tip_xy": [
+                  0.29146631650569066,
+                  -0.3695694771220493
+                ],
+                "target_mouth_xy": [
+                  0.2904005544245641,
+                  -0.37016389466951904
+                ],
+                "gripper_position": [
+                  0.2914574625115963,
+                  -0.36957163282077166,
+                  1.0015798828703693
+                ],
+                "rod_tip_xy_dist": 0.0012203200540461515,
+                "target_xy_drift": 1.202101426037832e-07,
+                "depth": 0.019542194309329353,
+                "bottom_clearance": 0.07989830753796634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010569083613020114,
+                  0.0005922621693395524
+                ],
+                "rod_tip_xy": [
+                  0.29145746251159627,
+                  -0.3695716328207718
+                ],
+                "target_mouth_xy": [
+                  0.29040055415029425,
+                  -0.3701638949901114
+                ],
+                "gripper_position": [
+                  0.2914736275314316,
+                  -0.3696427120214404,
+                  1.0009711752934456
+                ],
+                "rod_tip_xy_dist": 0.001211540243417814,
+                "target_xy_drift": 1.1988800587478883e-07,
+                "depth": 0.019679942294627106,
+                "bottom_clearance": 0.07976055898784484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0010730995336117877,
+                  0.0005212127419965129
+                ],
+                "rod_tip_xy": [
+                  0.2914736275314315,
+                  -0.36964271202144056
+                ],
+                "target_mouth_xy": [
+                  0.29040052799781974,
+                  -0.37016392476343707
+                ],
+                "gripper_position": [
+                  0.29148628132058996,
+                  -0.36971264163902634,
+                  1.000240182933295
+                ],
+                "rod_tip_xy_dist": 0.0011929816978719161,
+                "target_xy_drift": 9.368230127667705e-08,
+                "depth": 0.020288720448467745,
+                "bottom_clearance": 0.07915188501745851,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005994496308078267,
+              "rod_tip_xy_max_step": 3.2535695380232555e-05,
+              "rod_tip_xy_range": 0.0005994388802181635,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29109475783326416,
+            -0.37093563867144536,
+            1.0434636599959677
+          ],
+          "object_origin_world": [
+            0.29109475783326416,
+            -0.37093563867144536,
+            1.0434636599959677
+          ],
+          "frame_world": [
+            0.2910932606380675,
+            -0.3709436788866411,
+            1.0433386526161377
+          ],
+          "center_minus_frame": [
+            1.497195196653589e-06,
+            8.040215195737055e-06,
+            0.0001250073798300111
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2697194919230088,
+              0.14414288512706003,
+              0.8320363350628844
+            ],
+            "target_position": [
+              0.281051724904878,
+              0.19088131594162877,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048092623336262214,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16740831274383197,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320363350628844,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.118356694878431,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1372425929054241,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "42e8726fff10a4394e4c449d4d20a6c527cc34134a5d76823777ecd5c944b3c1",
+    "visual_seed": 4583706788707987481,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b805fa86f764a5bff3a7d057cce1ee2e4dcb2dbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_20_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33567734067108435,
+              -0.032809306254030314,
+              1.1646808523396688
+            ],
+            "current_z": 1.1646808523396688,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30357434432490293,
+            "gripper_z": 1.1556446856078817,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33091676272326526,
+              -0.03748334070580718,
+              1.1556446856078817
+            ],
+            "object_minus_gripper": [
+              0.004760577947819089,
+              0.0046740344517768664,
+              0.009036166731787088
+            ],
+            "object_to_gripper_xy": 0.006671559072185337,
+            "object_to_gripper_z": 0.009036166731787088,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33567734067108435,
+              -0.056954950555805434,
+              1.1646808523396688
+            ],
+            "finger_b": [
+              0.32530835988013973,
+              -0.032809306254030314,
+              1.1646808523396688
+            ],
+            "finger_midpoint": [
+              0.33049285027561204,
+              -0.04488212840491787,
+              1.1646808523396688
+            ],
+            "object_minus_finger_midpoint": [
+              0.005184490395472308,
+              0.012072822150887556,
+              0.0
+            ],
+            "finger_gap": 0.026277897583155768,
+            "fingertip_max_gap": 0.09215893311775306,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01313894879157788,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646808523396688,
+            "object_top_z": 1.2146270087770534,
+            "finger_top_clearance": 0.04994615643738465,
+            "fingertip_min_top_clearance": 0.014983846931215426,
+            "object_projection_between_fingers": 0.8442991768668202,
+            "object_to_finger_line_xy": 0.009527616170883213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857946655887653,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8936040496517297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2899629150249744,
+              -0.3751074139465786,
+              0.8515395766181707
+            ],
+            "target_position": [
+              0.28418817581284617,
+              -0.37526029932731253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005776762666730698,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18341832441173903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395766181707,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565192772820357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08882216192292701,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1510616430057976,
+            "release_required_pad_clearance": 0.05441108096146351,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8483419505833054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008104324340820312,
+            "max_z_decrease": 0.008104324340820312,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035087731546130346,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104324340820312,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020981131053050384,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008104324340820312,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104349954684979,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13988810777664185,
+              -0.43152174353599543,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13988810777664185,
+              -0.43152174353599543,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13999796208785611,
+              -0.43144512949669683,
+              0.8037920747678937
+            ],
+            "closest_button": [
+              0.13989870250225067,
+              -0.431504338979721,
+              0.7687045335769653
+            ],
+            "closest_ee_minus_button": [
+              9.925958560544346e-05,
+              5.920948302418072e-05,
+              0.035087541190928384
+            ],
+            "button_min_z_position": [
+              0.13989870250225067,
+              -0.431504338979721,
+              0.7687045335769653
+            ],
+            "min_active_finger_to_button": 0.14560849933062128,
+            "closest_active_finger": [
+              -0.000571027398109436,
+              -0.4141780436038971,
+              0.8106079697608948
+            ],
+            "closest_active_finger_button": [
+              0.13988763093948364,
+              -0.43152168393135065,
+              0.7763676643371582
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14045865833759308,
+              0.017343640327453558,
+              0.03424030542373657
+            ],
+            "min_contact_pad_to_button": 0.020981131053050384,
+            "closest_contact_pad": [
+              0.13989870250225067,
+              -0.43272782449395214,
+              0.7896499613229375
+            ],
+            "closest_contact_pad_button": [
+              0.13989870250225067,
+              -0.431504338979721,
+              0.7687045335769653
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012234855142311263,
+              0.02094542774597219
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28967406970043913,
+              0.19731325921403242,
+              1.1040353189990881
+            ],
+            "current_z": 1.1040353189990881,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19412618926472558,
+            "gripper_z": 1.104035443702954,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28967403492457083,
+              0.19731322026537612,
+              1.104035443702954
+            ],
+            "object_minus_gripper": [
+              3.47758682961441e-08,
+              3.8948656300163975e-08,
+              -1.2470386590024418e-07
+            ],
+            "object_to_gripper_xy": 5.221454628108017e-08,
+            "object_to_gripper_z": -1.2470386590024418e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28967406970043913,
+              0.19731325921403242,
+              1.1040353189990881
+            ],
+            "finger_b": [
+              0.28967406970043913,
+              0.19731325921403242,
+              1.1040353189990881
+            ],
+            "finger_midpoint": [
+              0.28967406970043913,
+              0.19731325921403242,
+              1.1040353189990881
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040353189990881,
+            "object_top_z": 1.2290438256193679,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2896740697004391,
+            0.19731325921403245,
+            1.1040353189990881
+          ],
+          "object_origin_world": [
+            0.2896740697004391,
+            0.19731325921403245,
+            1.1040353189990881
+          ],
+          "frame_world": [
+            0.28967403492457083,
+            0.19731322026537612,
+            1.104035443702954
+          ],
+          "center_minus_frame": [
+            3.4775868240632946e-08,
+            3.894865632791955e-08,
+            -1.2470386590024418e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043648946395533,
+            "required_z": 0.9112599119931297,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011762031158108813,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.6396369494369378e-07,
+            "max_target_xy_drift": 2.414653551690077e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.8485453648883174,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.8485453651374755,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28906783340337794,
+              -0.3759010127919322,
+              0.92335428672954
+            ],
+            "target_mouth_xy": [
+              0.28996282049708477,
+              -0.37510729036792867
+            ],
+            "rod_tip_z": 0.92335428672954,
+            "rod_tip_depth": -0.02209440090383963,
+            "rod_tip_bottom_clearance": 0.12153500094253145,
+            "rod_tip_xy_dist": 0.001196242945336723,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04532702301914182,
+            "min_rod_tip_bottom_clearance": 0.05411349742077087,
+            "min_rod_tip_xy_dist": 0.00038762797277154483,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.289962856170312,
+              -0.37510745040390625
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.5673227205546e-08,
+              1.6003597758107446e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.00032918059043046677,
+                0.0010856248988894146
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00043650055440858093,
+                0.0006990259052227499
+              ],
+              "first_target_mouth_xy": [
+                0.289962849729273,
+                -0.37510740983681756
+              ],
+              "last_target_mouth_xy": [
+                0.2899628264084696,
+                -0.3751074446980275
+              ],
+              "first_rod_tip_xy": [
+                0.28963366913884253,
+                -0.37402178493792815
+              ],
+              "last_rod_tip_xy": [
+                0.289526325854061,
+                -0.37440841879280473
+              ],
+              "min_rod_tip_xy_dist": 0.000817258371635911,
+              "max_rod_tip_xy_dist": 0.0011344343445985768,
+              "first_target_xy_drift": 4.10752439771607e-08,
+              "last_target_xy_drift": 3.030386632678664e-08,
+              "max_depth": 0.019383296105383807,
+              "min_bottom_clearance": 0.08005721128885279
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.00032918059043046677,
+                  0.0010856248988894146
+                ],
+                "rod_tip_xy": [
+                  0.28963366913884253,
+                  -0.37402178493792815
+                ],
+                "target_mouth_xy": [
+                  0.289962849729273,
+                  -0.37510740983681756
+                ],
+                "gripper_position": [
+                  0.2896231884238775,
+                  -0.37403112464020066,
+                  1.0060112435232467
+                ],
+                "rod_tip_xy_dist": 0.0011344343445985768,
+                "target_xy_drift": 4.10752439771607e-08,
+                "depth": 0.015090788921195752,
+                "bottom_clearance": 0.08434984155500103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0003396354239668109,
+                  0.0010763224253205195
+                ],
+                "rod_tip_xy": [
+                  0.2896231884238777,
+                  -0.3740311246402007
+                ],
+                "target_mouth_xy": [
+                  0.2899628238478445,
+                  -0.37510744706552124
+                ],
+                "gripper_position": [
+                  0.2896151307819448,
+                  -0.37403446038715893,
+                  1.0058722586150124
+                ],
+                "rod_tip_xy_dist": 0.0011286373130731417,
+                "target_xy_drift": 3.249441057335257e-08,
+                "depth": 0.01524867584274181,
+                "bottom_clearance": 0.08419196484266178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0003477243706471733,
+                  0.0010729558294269026
+                ],
+                "rod_tip_xy": [
+                  0.28961513078194495,
+                  -0.37403446038715904
+                ],
+                "target_mouth_xy": [
+                  0.2899628551525921,
+                  -0.37510741621658594
+                ],
+                "gripper_position": [
+                  0.28962085433891804,
+                  -0.3741092107089704,
+                  1.0053407605214044
+                ],
+                "rod_tip_xy_dist": 0.001127894698029539,
+                "target_xy_drift": 3.4202465167617587e-08,
+                "depth": 0.01538753643518953,
+                "bottom_clearance": 0.08405301018637423,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00034196900340149883,
+                  0.000998266773404588
+                ],
+                "rod_tip_xy": [
+                  0.2896208543389182,
+                  -0.3741092107089704
+                ],
+                "target_mouth_xy": [
+                  0.2899628233423197,
+                  -0.375107477482375
+                ],
+                "gripper_position": [
+                  0.2896101101524987,
+                  -0.37411859433289196,
+                  1.0051830625818154
+                ],
+                "rod_tip_xy_dist": 0.0010552153098638312,
+                "target_xy_drift": 4.255491212528433e-08,
+                "depth": 0.01591918582820495,
+                "bottom_clearance": 0.0835214965305967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0003527162113046156,
+                  0.0009888224889510466
+                ],
+                "rod_tip_xy": [
+                  0.2896101101524989,
+                  -0.37411859433289196
+                ],
+                "target_mouth_xy": [
+                  0.2899628263638035,
+                  -0.375107416821843
+                ],
+                "gripper_position": [
+                  0.2896019505834436,
+                  -0.37412169775098203,
+                  1.005044364067196
+                ],
+                "rod_tip_xy_dist": 0.0010498469604530104,
+                "target_xy_drift": 4.4901925565930777e-08,
+                "depth": 0.016076714859852737,
+                "bottom_clearance": 0.08336381841456142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003608435788542974,
+                  0.0009857495974425756
+                ],
+                "rod_tip_xy": [
+                  0.2896019505834438,
+                  -0.37412169775098214
+                ],
+                "target_mouth_xy": [
+                  0.2899627941622981,
+                  -0.3751074473484247
+                ],
+                "gripper_position": [
+                  0.28959374020072576,
+                  -0.37412469488787187,
+                  1.0049052440926471
+                ],
+                "rod_tip_xy_dist": 0.0010497191801899105,
+                "target_xy_drift": 6.208324857816051e-08,
+                "depth": 0.016215557504369982,
+                "bottom_clearance": 0.08322508978958287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00036911522026095156,
+                  0.0009827210086876814
+                ],
+                "rod_tip_xy": [
+                  0.2895937402007259,
+                  -0.3741246948878719
+                ],
+                "target_mouth_xy": [
+                  0.2899628554209869,
+                  -0.3751074158965596
+                ],
+                "gripper_position": [
+                  0.28960096556972914,
+                  -0.37420236769923204,
+                  1.004372762365756
+                ],
+                "rod_tip_xy_dist": 0.0010497555080800599,
+                "target_xy_drift": 3.4515481464260915e-08,
+                "depth": 0.016354536753705906,
+                "bottom_clearance": 0.08308598797787736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00036185814433531416,
+                  0.0009050805783535343
+                ],
+                "rod_tip_xy": [
+                  0.2896009655697293,
+                  -0.374202367699232
+                ],
+                "target_mouth_xy": [
+                  0.2899628237140646,
+                  -0.3751074482775855
+                ],
+                "gripper_position": [
+                  0.28959000070327934,
+                  -0.37421167028348357,
+                  1.0042150692595675
+                ],
+                "rod_tip_xy_dist": 0.0009747369747447591,
+                "target_xy_drift": 3.2525824083447303e-08,
+                "depth": 0.016887184984993753,
+                "bottom_clearance": 0.08255350682955653,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00037285400067366137,
+                  0.0008957443753129235
+                ],
+                "rod_tip_xy": [
+                  0.2895900007032795,
+                  -0.37421167028348357
+                ],
+                "target_mouth_xy": [
+                  0.28996285470395317,
+                  -0.3751074146587965
+                ],
+                "gripper_position": [
+                  0.2895815861019904,
+                  -0.37421463152037926,
+                  1.0040763588439863
+                ],
+                "rod_tip_xy_dist": 0.0009702464077352177,
+                "target_xy_drift": 3.577517407354708e-08,
+                "depth": 0.01704474234227804,
+                "bottom_clearance": 0.0823958296525239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00038123842454407253,
+                  0.000892815819738213
+                ],
+                "rod_tip_xy": [
+                  0.2895815861019906,
+                  -0.37421463152037926
+                ],
+                "target_mouth_xy": [
+                  0.28996282452653466,
+                  -0.3751074473401175
+                ],
+                "gripper_position": [
+                  0.28958957915513783,
+                  -0.374292878777117,
+                  1.0035477031272007
+                ],
+                "rod_tip_xy_dist": 0.0009708052453111611,
+                "target_xy_drift": 3.179175120685061e-08,
+                "depth": 0.017183546136095074,
+                "bottom_clearance": 0.08225708061970172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00037327650820345726,
+                  0.0008145374154422402
+                ],
+                "rod_tip_xy": [
+                  0.289589579155138,
+                  -0.37429287877711703
+                ],
+                "target_mouth_xy": [
+                  0.28996285566334146,
+                  -0.3751074161925593
+                ],
+                "gripper_position": [
+                  0.2895785183163059,
+                  -0.3743020343125437,
+                  1.0033901551617184
+                ],
+                "rod_tip_xy_dist": 0.0008959947280714828,
+                "target_xy_drift": 3.421510311439324e-08,
+                "depth": 0.017712076513757058,
+                "bottom_clearance": 0.08172845080777469,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00038433635128753973,
+                  0.0008054136492371411
+                ],
+                "rod_tip_xy": [
+                  0.28957851831630604,
+                  -0.3743020343125437
+                ],
+                "target_mouth_xy": [
+                  0.2899628546675936,
+                  -0.37510744796178086
+                ],
+                "gripper_position": [
+                  0.28957011522796094,
+                  -0.37430468812962053,
+                  1.0032514730171462
+                ],
+                "rod_tip_xy_dist": 0.0008924155855309273,
+                "target_xy_drift": 2.8674272434623717e-09,
+                "depth": 0.017869752263358296,
+                "bottom_clearance": 0.08157088605740126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00039270965886678555,
+                  0.0008027902775454843
+                ],
+                "rod_tip_xy": [
+                  0.2895701152279611,
+                  -0.3743046881296206
+                ],
+                "target_mouth_xy": [
+                  0.2899628248868279,
+                  -0.3751074784071661
+                ],
+                "gripper_position": [
+                  0.2895616618042618,
+                  -0.37430747489635363,
+                  1.003113442775153
+                ],
+                "rod_tip_xy_dist": 0.0008936963163674912,
+                "target_xy_drift": 4.1986175545172245e-08,
+                "depth": 0.018008386945092547,
+                "bottom_clearance": 0.08143227517143281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00040116173522064535,
+                  0.000799973061411885
+                ],
+                "rod_tip_xy": [
+                  0.28956166180426196,
+                  -0.37430747489635363
+                ],
+                "target_mouth_xy": [
+                  0.2899628235394826,
+                  -0.3751074479577655
+                ],
+                "gripper_position": [
+                  0.2895531904453813,
+                  -0.37431022647651496,
+                  1.0029744807439593
+                ],
+                "rod_tip_xy_dist": 0.0008949232574863292,
+                "target_xy_drift": 3.27223872904998e-08,
+                "depth": 0.018146503326918695,
+                "bottom_clearance": 0.08129418254919518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00040966461454100545,
+                  0.0007971884569037968
+                ],
+                "rod_tip_xy": [
+                  0.28955319044538147,
+                  -0.374310226476515
+                ],
+                "target_mouth_xy": [
+                  0.2899628550599225,
+                  -0.3751074149334188
+                ],
+                "gripper_position": [
+                  0.28956319820527765,
+                  -0.37439187329885015,
+                  1.002449071567192
+                ],
+                "rod_tip_xy_dist": 0.0008962893127934122,
+                "target_xy_drift": 3.5487863331059975e-08,
+                "depth": 0.01828531526523902,
+                "bottom_clearance": 0.08115523313147766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00039959576462139657,
+                  0.000715574055093593
+                ],
+                "rod_tip_xy": [
+                  0.2895631982052778,
+                  -0.37439187329885026
+                ],
+                "target_mouth_xy": [
+                  0.2899627939698992,
+                  -0.37510744735394386
+                ],
+                "gripper_position": [
+                  0.2895520227095456,
+                  -0.3744009264696466,
+                  1.0022914412700814
+                ],
+                "rod_tip_xy_dist": 0.0008195870932527226,
+                "target_xy_drift": 6.227514446967669e-08,
+                "depth": 0.018810855738292,
+                "bottom_clearance": 0.08062979868988873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00041083439675432265,
+                  0.0007064887433303468
+                ],
+                "rod_tip_xy": [
+                  0.2895520227095458,
+                  -0.3744009264696466
+                ],
+                "target_mouth_xy": [
+                  0.2899628571063001,
+                  -0.37510741521297697
+                ],
+                "gripper_position": [
+                  0.289543348650417,
+                  -0.3744035534754611,
+                  1.00215327751884
+                ],
+                "rod_tip_xy_dist": 0.000817258371635911,
+                "target_xy_drift": 3.520337451825921e-08,
+                "depth": 0.018968321500193897,
+                "bottom_clearance": 0.08047220600058225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004195059762192588,
+                  0.0007038944808580583
+                ],
+                "rod_tip_xy": [
+                  0.28954334865041714,
+                  -0.37440355347546117
+                ],
+                "target_mouth_xy": [
+                  0.2899628546266364,
+                  -0.37510744795631923
+                ],
+                "gripper_position": [
+                  0.2895348464687597,
+                  -0.374406145312862,
+                  1.0020147304665667
+                ],
+                "rod_tip_xy_dist": 0.0008194221770651003,
+                "target_xy_drift": 2.8937201859769414e-09,
+                "depth": 0.019106690599747123,
+                "bottom_clearance": 0.08033394898625279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000428009361875592,
+                  0.0007012721683139489
+                ],
+                "rod_tip_xy": [
+                  0.2895348464687599,
+                  -0.374406145312862
+                ],
+                "target_mouth_xy": [
+                  0.28996285583063547,
+                  -0.37510741748117593
+                ],
+                "gripper_position": [
+                  0.28952632585406085,
+                  -0.3744084187928048,
+                  1.0018765260423708
+                ],
+                "rod_tip_xy_dist": 0.0008215684194909752,
+                "target_xy_drift": 3.292448255990039e-08,
+                "depth": 0.01924512948474233,
+                "bottom_clearance": 0.08019544106043341,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00043650055440858093,
+                  0.0006990259052227499
+                ],
+                "rod_tip_xy": [
+                  0.289526325854061,
+                  -0.37440841879280473
+                ],
+                "target_mouth_xy": [
+                  0.2899628264084696,
+                  -0.3751074446980275
+                ],
+                "gripper_position": [
+                  0.2895176122071515,
+                  -0.3744111899835384,
+                  1.001738200653809
+                ],
+                "rod_tip_xy_dist": 0.0008241176798076131,
+                "target_xy_drift": 3.030386632678664e-08,
+                "depth": 0.019383296105383807,
+                "bottom_clearance": 0.08005721128885279,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006057549834526386,
+              "rod_tip_xy_max_step": 3.280292247612017e-05,
+              "rod_tip_xy_range": 0.0006057436840495185,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2890678334033779,
+            -0.3759010127919322,
+            1.04335428672954
+          ],
+          "object_origin_world": [
+            0.2890678334033779,
+            -0.3759010127919322,
+            1.04335428672954
+          ],
+          "frame_world": [
+            0.28909217205178583,
+            -0.37589812856524957,
+            1.043648946395533
+          ],
+          "center_minus_frame": [
+            -2.433864840795108e-05,
+            -2.8842266826534235e-06,
+            -0.0002946596659929579
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2769231444652359,
+              0.15101962155766982,
+              0.8312474142689144
+            ],
+            "target_position": [
+              0.29017391155846894,
+              0.19766487475505612,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04849084938838857,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1665889406204028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312474142689144,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671005184453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13695254863843512,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 295,
+            "max_placed_release_frames": 295
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b11e5c16a2dbc3f7286003f9820bb9a08a2c427cb8372ddd59747b4a77ce989f",
+    "visual_seed": 5646386468900008315,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6540cc4e43b49d1547b7df4c400560dd920534da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_21_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3313002379144423,
+              -0.030401279309074304,
+              1.165695308762782
+            ],
+            "current_z": 1.165695308762782,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30458886035266053,
+            "gripper_z": 1.1568428578003642,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3265027477446477,
+              -0.03512735000112721,
+              1.1568428578003642
+            ],
+            "object_minus_gripper": [
+              0.004797490169794583,
+              0.004726070692052907,
+              0.008852450962417713
+            ],
+            "object_to_gripper_xy": 0.006734363824115615,
+            "object_to_gripper_z": 0.008852450962417713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3313002379144423,
+              -0.054503490864938095,
+              1.165695308762782
+            ],
+            "finger_b": [
+              0.3207538569688327,
+              -0.030401279309074304,
+              1.165695308762782
+            ],
+            "finger_midpoint": [
+              0.32602704744163746,
+              -0.0424523850870062,
+              1.165695308762782
+            ],
+            "object_minus_finger_midpoint": [
+              0.005273190472804834,
+              0.012051105777931899,
+              0.0
+            ],
+            "finger_gap": 0.026308606062152583,
+            "fingertip_max_gap": 0.09219568912714685,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013154303031076306,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165695308762782,
+            "object_top_z": 1.2156679537305175,
+            "finger_top_clearance": 0.04997264496773557,
+            "fingertip_min_top_clearance": 0.01499179349032067,
+            "object_projection_between_fingers": 0.8393017183543365,
+            "object_to_finger_line_xy": 0.009661899383772068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048597844563573425,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8961926747886295,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29682335926810177,
+              -0.37538344141735014,
+              0.8515395663834772
+            ],
+            "target_position": [
+              0.290810088893927,
+              -0.3756527633329349,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0060192985377984145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18244858561361313,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395663834772,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533679797746709,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0873934688938157,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15079592688257382,
+            "release_required_pad_clearance": 0.053696734446907854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4027638492170342,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00832974910736084,
+            "max_z_decrease": 0.00832974910736084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499690800948858,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00832974910736084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02090019821495664,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00832974910736084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008329789790257173,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14651001989841458,
+              -0.43191421031951904,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14651001989841458,
+              -0.43191421031951904,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14651658898562753,
+              -0.4319167320241437,
+              0.803541392116258
+            ],
+            "closest_button": [
+              0.14652505517005918,
+              -0.43189030885696417,
+              0.7685444951057434
+            ],
+            "closest_ee_minus_button": [
+              -8.466184431649149e-06,
+              -2.6423167179545626e-05,
+              0.03499689701051456
+            ],
+            "button_min_z_position": [
+              0.1465199142694473,
+              -0.4318901300430298,
+              0.7684791088104248
+            ],
+            "min_active_finger_to_button": 0.1457081620822399,
+            "closest_active_finger": [
+              0.005853325128555298,
+              -0.41531723737716675,
+              0.8108428120613098
+            ],
+            "closest_active_finger_button": [
+              0.14651021361351008,
+              -0.43191435933113104,
+              0.7766222953796387
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14065688848495478,
+              0.01659712195396429,
+              0.03422051668167114
+            ],
+            "min_contact_pad_to_button": 0.02090019821495664,
+            "closest_contact_pad": [
+              0.1465199142694473,
+              -0.43313563610925204,
+              0.7893421622797394
+            ],
+            "closest_contact_pad_button": [
+              0.1465199142694473,
+              -0.4318901300430298,
+              0.7684791088104248
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012455060662222572,
+              0.020863053469314607
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2819561552041083,
+              0.19537617240837374,
+              1.1019261899331352
+            ],
+            "current_z": 1.1019261899331352,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19201706019877263,
+            "gripper_z": 1.1019264897107326,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2819562312266491,
+              0.1953762069734617,
+              1.1019264897107326
+            ],
+            "object_minus_gripper": [
+              -7.602254076255477e-08,
+              -3.456508795851576e-08,
+              -2.997775974122874e-07
+            ],
+            "object_to_gripper_xy": 8.351150824631436e-08,
+            "object_to_gripper_z": -2.997775974122874e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2819561552041083,
+              0.19537617240837374,
+              1.1019261899331352
+            ],
+            "finger_b": [
+              0.2819561552041083,
+              0.19537617240837374,
+              1.1019261899331352
+            ],
+            "finger_midpoint": [
+              0.2819561552041083,
+              0.19537617240837374,
+              1.1019261899331352
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019261899331352,
+            "object_top_z": 1.226934696553415,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2819561552041084,
+            0.19537617240837377,
+            1.1019261899331354
+          ],
+          "object_origin_world": [
+            0.2819561552041084,
+            0.19537617240837377,
+            1.1019261899331354
+          ],
+          "frame_world": [
+            0.2819562312266491,
+            0.1953762069734617,
+            1.1019264897107326
+          ],
+          "center_minus_frame": [
+            -7.602254070704362e-08,
+            -3.4565087930760185e-08,
+            -2.9977759719024277e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434419831404689,
+            "required_z": 0.911259831071934,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024543895968370615,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.633594575165748e-08,
+            "max_target_xy_drift": 1.5460233742304002e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.402763854169656,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.40308959849048,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29438908537642605,
+              -0.37567817008544335,
+              0.9235693022733927
+            ],
+            "target_mouth_xy": [
+              0.29682330558474446,
+              -0.3753834117982167
+            ],
+            "rod_tip_z": 0.9235693022733927,
+            "rod_tip_depth": -0.02230952593043234,
+            "rod_tip_bottom_clearance": 0.12175007897500711,
+            "rod_tip_xy_dist": 0.002452001319427557,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04528875592693804,
+            "min_rod_tip_bottom_clearance": 0.054151782116903635,
+            "min_rod_tip_xy_dist": 0.0012001937299858485,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.29682333465384503,
+              -0.3753833521706636
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9069100571099682e-08,
+              -5.962755311728074e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                -0.0018729890774895064,
+                0.0015977778642843887
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019838792337838473,
+                0.001206080230287454
+              ],
+              "first_target_mouth_xy": [
+                0.29682333243205533,
+                -0.37538344322603523
+              ],
+              "last_target_mouth_xy": [
+                0.29682330327780443,
+                -0.3753834146443359
+              ],
+              "first_rod_tip_xy": [
+                0.2949503433545658,
+                -0.37378566536175084
+              ],
+              "last_rod_tip_xy": [
+                0.2948394240440206,
+                -0.37417733441404843
+              ],
+              "min_rod_tip_xy_dist": 0.0022994953681354257,
+              "max_rod_tip_xy_dist": 0.002467852382370109,
+              "first_target_xy_drift": 9.108247390370278e-08,
+              "last_target_xy_drift": 6.991005402077134e-08,
+              "max_depth": 0.019382793219159367,
+              "min_bottom_clearance": 0.08005781056484451
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  -0.0018729890774895064,
+                  0.0015977778642843887
+                ],
+                "rod_tip_xy": [
+                  0.2949503433545658,
+                  -0.37378566536175084
+                ],
+                "target_mouth_xy": [
+                  0.29682333243205533,
+                  -0.37538344322603523
+                ],
+                "gripper_position": [
+                  0.2949396618482123,
+                  -0.37379545872815634,
+                  1.0060595978701796
+                ],
+                "rod_tip_xy_dist": 0.0024619062102346984,
+                "target_xy_drift": 9.108247390370278e-08,
+                "depth": 0.01503925115893201,
+                "bottom_clearance": 0.08440133104026415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0018836726361484146,
+                  0.001587922621380189
+                ],
+                "rod_tip_xy": [
+                  0.29493966184821235,
+                  -0.37379545872815645
+                ],
+                "target_mouth_xy": [
+                  0.29682333448436077,
+                  -0.37538338134953664
+                ],
+                "gripper_position": [
+                  0.29493159723898,
+                  -0.3737986062748708,
+                  1.0059178758374259
+                ],
+                "rod_tip_xy_dist": 0.0024636803468926828,
+                "target_xy_drift": 2.9179365256947577e-08,
+                "depth": 0.015200243802835689,
+                "bottom_clearance": 0.08424030098133473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001891738334174442,
+                  0.0015848095961927822
+                ],
+                "rod_tip_xy": [
+                  0.29493159723898,
+                  -0.37379860627487094
+                ],
+                "target_mouth_xy": [
+                  0.29682333557315443,
+                  -0.3753834158710637
+                ],
+                "gripper_position": [
+                  0.2949367627008197,
+                  -0.37387419418156576,
+                  1.0053828644358402
+                ],
+                "rod_tip_xy_dist": 0.002467852382370109,
+                "target_xy_drift": 6.370703340612092e-08,
+                "depth": 0.015341995883842219,
+                "bottom_clearance": 0.0840986290499458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001886568690592172,
+                  0.0015091875483851935
+                ],
+                "rod_tip_xy": [
+                  0.29493676270081975,
+                  -0.37387419418156587
+                ],
+                "target_mouth_xy": [
+                  0.2968233313914119,
+                  -0.37538338172995106
+                ],
+                "gripper_position": [
+                  0.29492611088733045,
+                  -0.3738837388139088,
+                  1.0052222757305402
+                ],
+                "rod_tip_xy_dist": 0.0024159446352355787,
+                "target_xy_drift": 2.9738778472107165e-08,
+                "depth": 0.01587706752554141,
+                "bottom_clearance": 0.08356358784806017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018972246380972724,
+                  0.0014996434399722203
+                ],
+                "rod_tip_xy": [
+                  0.2949261108873305,
+                  -0.3738837388139088
+                ],
+                "target_mouth_xy": [
+                  0.2968233355254278,
+                  -0.375383382253881
+                ],
+                "gripper_position": [
+                  0.29491789342998,
+                  -0.37388683561948477,
+                  1.0050806425165517
+                ],
+                "rod_tip_xy_dist": 0.0024183448419228884,
+                "target_xy_drift": 3.009584068702147e-08,
+                "depth": 0.01603755652569616,
+                "bottom_clearance": 0.08340299200723911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019054066032941908,
+                  0.0014965477279202943
+                ],
+                "rod_tip_xy": [
+                  0.29491789342998004,
+                  -0.37388683561948477
+                ],
+                "target_mouth_xy": [
+                  0.29682330003327423,
+                  -0.37538338334740506
+                ],
+                "gripper_position": [
+                  0.294923902990742,
+                  -0.3739638444541069,
+                  1.0045475077392267
+                ],
+                "rod_tip_xy_dist": 0.002422855634539644,
+                "target_xy_drift": 4.65894100725229e-08,
+                "depth": 0.01617925436049561,
+                "bottom_clearance": 0.08326141350207117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018994317130489602,
+                  0.0014195384418855816
+                ],
+                "rod_tip_xy": [
+                  0.294923902990742,
+                  -0.373963844454107
+                ],
+                "target_mouth_xy": [
+                  0.29682333470379096,
+                  -0.3753833828959926
+                ],
+                "gripper_position": [
+                  0.2949129184171996,
+                  -0.37397325635945416,
+                  1.0043870103006254
+                ],
+                "rod_tip_xy_dist": 0.0023712718571532562,
+                "target_xy_drift": 3.072536959836683e-08,
+                "depth": 0.016712306913767683,
+                "bottom_clearance": 0.08272818730935183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0019104154411774266,
+                  0.0014101532333764544
+                ],
+                "rod_tip_xy": [
+                  0.2949129184171996,
+                  -0.37397325635945433
+                ],
+                "target_mouth_xy": [
+                  0.296823333858377,
+                  -0.3753834095928308
+                ],
+                "gripper_position": [
+                  0.2949045119254884,
+                  -0.37397640363710466,
+                  1.0042455910342476
+                ],
+                "rod_tip_xy_dist": 0.002374493482722412,
+                "target_xy_drift": 5.74276767240993e-08,
+                "depth": 0.01687287675342175,
+                "bottom_clearance": 0.08256774617337526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0019188234604701204,
+                  0.0014070084588501675
+                ],
+                "rod_tip_xy": [
+                  0.29490451192548844,
+                  -0.3739764036371047
+                ],
+                "target_mouth_xy": [
+                  0.29682333538595856,
+                  -0.3753834120959549
+                ],
+                "gripper_position": [
+                  0.2948962570860273,
+                  -0.37397939569774014,
+                  1.0041039121257722
+                ],
+                "rod_tip_xy_dist": 0.0023794025039338028,
+                "target_xy_drift": 5.992976327160471e-08,
+                "depth": 0.017014239492544103,
+                "bottom_clearance": 0.08242630240420046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00192704447075559,
+                  0.0014040456585872052
+                ],
+                "rod_tip_xy": [
+                  0.2948962570860273,
+                  -0.3739793956977402
+                ],
+                "target_mouth_xy": [
+                  0.2968233015567829,
+                  -0.3753834413563274
+                ],
+                "gripper_position": [
+                  0.2949036066718399,
+                  -0.37405880831642535,
+                  1.0035727965484427
+                ],
+                "rod_tip_xy_dist": 0.0023842912162039417,
+                "target_xy_drift": 9.512885025016924e-08,
+                "depth": 0.017156020484598744,
+                "bottom_clearance": 0.08228463543917985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019197274022924593,
+                  0.0013246320144753576
+                ],
+                "rod_tip_xy": [
+                  0.29490360667183996,
+                  -0.37405880831642546
+                ],
+                "target_mouth_xy": [
+                  0.2968233340741324,
+                  -0.3753834403309008
+                ],
+                "gripper_position": [
+                  0.2948925689097095,
+                  -0.3740683010586938,
+                  1.0034122523676388
+                ],
+                "rod_tip_xy_dist": 0.0023323814595570765,
+                "target_xy_drift": 8.816214320033749e-08,
+                "depth": 0.01768700865721684,
+                "bottom_clearance": 0.08175357375523717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019307355986956098,
+                  0.0013150783647341013
+                ],
+                "rod_tip_xy": [
+                  0.2948925689097095,
+                  -0.3740683010586938
+                ],
+                "target_mouth_xy": [
+                  0.2968233045084051,
+                  -0.3753833794234279
+                ],
+                "gripper_position": [
+                  0.29488409654746145,
+                  -0.3740710698698662,
+                  1.0032709220918483
+                ],
+                "rod_tip_xy_dist": 0.0023360588728587755,
+                "target_xy_drift": 4.06381681592834e-08,
+                "depth": 0.01784762664438,
+                "bottom_clearance": 0.08159299072842463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019392084476247962,
+                  0.0013123447586802506
+                ],
+                "rod_tip_xy": [
+                  0.29488409654746145,
+                  -0.37407106986986627
+                ],
+                "target_mouth_xy": [
+                  0.29682330499508625,
+                  -0.3753834146285465
+                ],
+                "gripper_position": [
+                  0.29487547813451565,
+                  -0.37407424408479767,
+                  1.0031297562719579
+                ],
+                "rod_tip_xy_dist": 0.0023415332944408235,
+                "target_xy_drift": 6.914209362967298e-08,
+                "depth": 0.017988921122205292,
+                "bottom_clearance": 0.08145163050720772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019478249412069881,
+                  0.0013091645645802452
+                ],
+                "rod_tip_xy": [
+                  0.2948754781345157,
+                  -0.3740742440847977
+                ],
+                "target_mouth_xy": [
+                  0.2968233030757227,
+                  -0.37538340864937797
+                ],
+                "gripper_position": [
+                  0.2948670712636624,
+                  -0.3740771490257145,
+                  1.0029888399133653
+                ],
+                "rod_tip_xy_dist": 0.0023468987747111273,
+                "target_xy_drift": 6.470720970326648e-08,
+                "depth": 0.01813017703235531,
+                "bottom_clearance": 0.08131051721705174,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0019562649857837733,
+                  0.0013062925349471288
+                ],
+                "rod_tip_xy": [
+                  0.29486707126366246,
+                  -0.37407714902571454
+                ],
+                "target_mouth_xy": [
+                  0.29682333624944623,
+                  -0.37538344156066167
+                ],
+                "gripper_position": [
+                  0.2948766849973271,
+                  -0.37415937112584585,
+                  1.0024605062174716
+                ],
+                "rod_tip_xy_dist": 0.0023523122414896755,
+                "target_xy_drift": 8.94042375853462e-08,
+                "depth": 0.018271062589859888,
+                "bottom_clearance": 0.08116952380838494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019466204566406797,
+                  0.0012240701556137656
+                ],
+                "rod_tip_xy": [
+                  0.29487668499732717,
+                  -0.37415937112584596
+                ],
+                "target_mouth_xy": [
+                  0.29682330545396785,
+                  -0.37538344128145973
+                ],
+                "gripper_position": [
+                  0.2948654046153497,
+                  -0.3741688387827304,
+                  1.0023002330353887
+                ],
+                "rod_tip_xy_dist": 0.0022994953681354257,
+                "target_xy_drift": 9.37729535345057e-08,
+                "depth": 0.01879927498251277,
+                "bottom_clearance": 0.0806412851334617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0019579314103309042,
+                  0.0012145733179546037
+                ],
+                "rod_tip_xy": [
+                  0.2948654046153497,
+                  -0.37416883878273055
+                ],
+                "target_mouth_xy": [
+                  0.2968233360256806,
+                  -0.37538341210068515
+                ],
+                "gripper_position": [
+                  0.2948568713436665,
+                  -0.3741716377447773,
+                  1.0021593405589122
+                ],
+                "rod_tip_xy_dist": 0.0023040581052238282,
+                "target_xy_drift": 5.994572058657004e-08,
+                "depth": 0.01895966162838303,
+                "bottom_clearance": 0.08048090373009942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0019664347905709034,
+                  0.0012118051174961897
+                ],
+                "rod_tip_xy": [
+                  0.29485687134366656,
+                  -0.37417163774477735
+                ],
+                "target_mouth_xy": [
+                  0.29682330613423746,
+                  -0.37538344286227354
+                ],
+                "gripper_position": [
+                  0.29484814847283664,
+                  -0.3741744771713533,
+                  1.0020181029929252
+                ],
+                "rod_tip_xy_dist": 0.0023098349353054617,
+                "target_xy_drift": 9.507016424666445e-08,
+                "depth": 0.019100425513776886,
+                "bottom_clearance": 0.08034011816865705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019751893682154464,
+                  0.0012089643643381498
+                ],
+                "rod_tip_xy": [
+                  0.29484814847283664,
+                  -0.3741744771713533
+                ],
+                "target_mouth_xy": [
+                  0.2968233378410521,
+                  -0.3753834415356915
+                ],
+                "gripper_position": [
+                  0.2948394240440205,
+                  -0.3741773344140483,
+                  1.0018770954093226
+                ],
+                "rod_tip_xy_dist": 0.002315808255134885,
+                "target_xy_drift": 8.942184574469232e-08,
+                "depth": 0.019241811459594804,
+                "bottom_clearance": 0.08019883469161215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019838792337838473,
+                  0.001206080230287454
+                ],
+                "rod_tip_xy": [
+                  0.2948394240440206,
+                  -0.37417733441404843
+                ],
+                "target_mouth_xy": [
+                  0.29682330327780443,
+                  -0.3753834146443359
+                ],
+                "gripper_position": [
+                  0.29483071797062127,
+                  -0.37417991630718495,
+                  1.0017364128969586
+                ],
+                "rod_tip_xy_dist": 0.0023217248622799864,
+                "target_xy_drift": 6.991005402077134e-08,
+                "depth": 0.019382793219159367,
+                "bottom_clearance": 0.08005781056484451,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006063441872803433,
+              "rod_tip_xy_max_step": 3.294801640970329e-05,
+              "rod_tip_xy_range": 0.0006063393706045372,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2943890853764261,
+            -0.3756781700854433,
+            1.043569302273393
+          ],
+          "object_origin_world": [
+            0.2943890853764261,
+            -0.3756781700854433,
+            1.043569302273393
+          ],
+          "frame_world": [
+            0.29438772136596314,
+            -0.3756866572537233,
+            1.0434419831404689
+          ],
+          "center_minus_frame": [
+            1.3640104629675243e-06,
+            8.48716828000251e-06,
+            0.00012731913292407526
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2713225647114313,
+              0.1482292278484479,
+              0.8322310484931902
+            ],
+            "target_position": [
+              0.2821108971847224,
+              0.1945270338840313,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04753814217302535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16986236412629874,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322310484931902,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672094351392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.138956566377813,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc16fb1b52c1b93920e65ddd9ac836af5310d4727a3e14e0028e16b4ded662e0",
+    "visual_seed": 6415305032277594836,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f104c32d83a99ed101d53061fa0ae0e394844c10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33555233149083086,
+              -0.029326767531862637,
+              1.1658839311267277
+            ],
+            "current_z": 1.1658839311267277,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30477742311196165,
+            "gripper_z": 1.1567639142422532,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3310101026745966,
+              -0.03391624196430884,
+              1.1567639142422532
+            ],
+            "object_minus_gripper": [
+              0.004542228816234284,
+              0.0045894744324462035,
+              0.009120016884474502
+            ],
+            "object_to_gripper_xy": 0.006457175712732813,
+            "object_to_gripper_z": 0.009120016884474502,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33555233149083086,
+              -0.053084496319328885,
+              1.1658839311267277
+            ],
+            "finger_b": [
+              0.3249962469933362,
+              -0.029326767531862637,
+              1.1658839311267277
+            ],
+            "finger_midpoint": [
+              0.3302742892420835,
+              -0.04120563192559576,
+              1.1658839311267277
+            ],
+            "object_minus_finger_midpoint": [
+              0.005278042248747339,
+              0.011878864393733122,
+              0.0
+            ],
+            "finger_gap": 0.02599731903595157,
+            "fingertip_max_gap": 0.09224600846560885,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012998659517975785,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658839311267277,
+            "object_top_z": 1.2157986790174165,
+            "finger_top_clearance": 0.049914747890688727,
+            "fingertip_min_top_clearance": 0.014974424367206585,
+            "object_projection_between_fingers": 0.8351273614655753,
+            "object_to_finger_line_xy": 0.009646709808893778,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048623004232804426,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.010641093413722,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2921677772683666,
+              -0.374915578423645,
+              0.8515395122840481
+            ],
+            "target_position": [
+              0.2852488903355079,
+              -0.37553488353373726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006946548438546293,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814517565119765,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395122840481,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753932051628937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08731576586186833,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14973803515355494,
+            "release_required_pad_clearance": 0.05365788293093417,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3256221603146763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008273482322692871,
+            "max_z_decrease": 0.008273482322692871,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350177624273743,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008273482322692871,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020992586169383917,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008273482322692871,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008273584022659352,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1409488171339035,
+              -0.4317963421344757,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1409488171339035,
+              -0.4317963421344757,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1417387603374336,
+              -0.4328924082804331,
+              0.8035946902567829
+            ],
+            "closest_button": [
+              0.1409764438867569,
+              -0.43176683783531183,
+              0.7686033248901367
+            ],
+            "closest_ee_minus_button": [
+              0.0007623164506767033,
+              -0.0011255704451212933,
+              0.034991365366646154
+            ],
+            "button_min_z_position": [
+              0.14097599685192108,
+              -0.43176561594009394,
+              0.7685353755950928
+            ],
+            "min_active_finger_to_button": 0.14486413167617462,
+            "closest_active_finger": [
+              0.0009306818246841431,
+              -0.4174944758415222,
+              0.8110567331314087
+            ],
+            "closest_active_finger_button": [
+              0.14095216989517212,
+              -0.4317940175533294,
+              0.7767766714096069
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14002148807048798,
+              0.014299541711807195,
+              0.03428006172180176
+            ],
+            "min_contact_pad_to_button": 0.020992586169383917,
+            "closest_contact_pad": [
+              0.14097599685192108,
+              -0.43402102997291037,
+              0.7894064508337953
+            ],
+            "closest_contact_pad_button": [
+              0.14097599685192108,
+              -0.43176561594009394,
+              0.7685353755950928
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022554140328164274,
+              0.020871075238702574
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.296502383294541,
+              0.18947618599149962,
+              1.1098587797418742
+            ],
+            "current_z": 1.1098587797418742,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19994965000751164,
+            "gripper_z": 1.1098591335231802,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2965024171410794,
+              0.18947621370022558,
+              1.1098591335231802
+            ],
+            "object_minus_gripper": [
+              -3.384653840532437e-08,
+              -2.7708725952590996e-08,
+              -3.5378130602836677e-07
+            ],
+            "object_to_gripper_xy": 4.374198962025947e-08,
+            "object_to_gripper_z": -3.5378130602836677e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.296502383294541,
+              0.18947618599149962,
+              1.1098587797418742
+            ],
+            "finger_b": [
+              0.296502383294541,
+              0.18947618599149962,
+              1.1098587797418742
+            ],
+            "finger_midpoint": [
+              0.296502383294541,
+              0.18947618599149962,
+              1.1098587797418742
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1098587797418742,
+            "object_top_z": 1.234867286362154,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.296502383294541,
+            0.18947618599149962,
+            1.1098587797418742
+          ],
+          "object_origin_world": [
+            0.296502383294541,
+            0.18947618599149962,
+            1.1098587797418742
+          ],
+          "frame_world": [
+            0.2965024171410794,
+            0.18947621370022558,
+            1.1098591335231802
+          ],
+          "center_minus_frame": [
+            -3.384653840532437e-08,
+            -2.7708725952590996e-08,
+            -3.5378130602836677e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.04362605182,
+            "required_z": 0.9112597941836951,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016860312691060581,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.0271077364394575e-08,
+            "max_target_xy_drift": 1.450109222301208e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.325622160311541,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3259587064320475,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2932371694641431,
+              -0.3736355798898934,
+              0.923331385231089
+            ],
+            "target_mouth_xy": [
+              0.2921676879829989,
+              -0.3749155470303316
+            ],
+            "rod_tip_z": 0.923331385231089,
+            "rod_tip_depth": -0.022071609664413017,
+            "rod_tip_bottom_clearance": 0.12151214042194092,
+            "rod_tip_xy_dist": 0.0016679647835346767,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04518035142397314,
+            "min_rod_tip_bottom_clearance": 0.054260157791910735,
+            "min_rod_tip_xy_dist": 0.0001069460405490798,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2921677182386294,
+              -0.3749155460634046
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.0255630500963804e-08,
+              -9.669269829259974e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0015611402265085506,
+                0.0031419693392257253
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014624125591128356,
+                0.0027718880527468626
+              ],
+              "first_target_mouth_xy": [
+                0.29216774638473986,
+                -0.3749155784322763
+              ],
+              "last_target_mouth_xy": [
+                0.29216768544242155,
+                -0.3749155159899714
+              ],
+              "first_rod_tip_xy": [
+                0.2937288866112484,
+                -0.37177360909305057
+              ],
+              "last_rod_tip_xy": [
+                0.2936300980015344,
+                -0.37214362793722455
+              ],
+              "min_rod_tip_xy_dist": 0.0031340092325983578,
+              "max_rod_tip_xy_dist": 0.003508436993228995,
+              "first_target_xy_drift": 4.2894607910337124e-08,
+              "last_target_xy_drift": 4.449722051720429e-08,
+              "max_depth": 0.01936359623032846,
+              "min_bottom_clearance": 0.08007707815901166
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015611402265085506,
+                  0.0031419693392257253
+                ],
+                "rod_tip_xy": [
+                  0.2937288866112484,
+                  -0.37177360909305057
+                ],
+                "target_mouth_xy": [
+                  0.29216774638473986,
+                  -0.3749155784322763
+                ],
+                "gripper_position": [
+                  0.2937367564779171,
+                  -0.37184673564521353,
+                  1.005664579355404
+                ],
+                "rod_tip_xy_dist": 0.003508436993228995,
+                "target_xy_drift": 4.2894607910337124e-08,
+                "depth": 0.01506223940375584,
+                "bottom_clearance": 0.08437830384678557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015690712224477044,
+                  0.0030688104757937706
+                ],
+                "rod_tip_xy": [
+                  0.2937367564779171,
+                  -0.37184673564521353
+                ],
+                "target_mouth_xy": [
+                  0.2921676852554694,
+                  -0.3749155461210073
+                ],
+                "gripper_position": [
+                  0.2937258913196332,
+                  -0.3718559189534203,
+                  1.00550530000981
+                ],
+                "rod_tip_xy_dist": 0.0034466769847862335,
+                "target_xy_drift": 3.298321033596e-08,
+                "depth": 0.015595296433452033,
+                "bottom_clearance": 0.08384537419468119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015582358530392137,
+                  0.0030595983033507856
+                ],
+                "rod_tip_xy": [
+                  0.29372589131963317,
+                  -0.3718559189534203
+                ],
+                "target_mouth_xy": [
+                  0.29216765546659396,
+                  -0.3749155172567711
+                ],
+                "gripper_position": [
+                  0.2937176597365657,
+                  -0.37185909283362906,
+                  1.005365070383806
+                ],
+                "rod_tip_xy_dist": 0.003433546381158095,
+                "target_xy_drift": 6.906627665168149e-08,
+                "depth": 0.0157545597772053,
+                "bottom_clearance": 0.08368607829227903,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001549973530342419,
+                  0.003056452959616429
+                ],
+                "rod_tip_xy": [
+                  0.29371765973656566,
+                  -0.37185909283362906
+                ],
+                "target_mouth_xy": [
+                  0.29216768620622324,
+                  -0.3749155457932455
+                ],
+                "gripper_position": [
+                  0.2937265531830384,
+                  -0.3719331772568824,
+                  1.0048333094098247
+                ],
+                "rod_tip_xy_dist": 0.0034269990719447492,
+                "target_xy_drift": 3.2033545403477426e-08,
+                "depth": 0.01589478117794474,
+                "bottom_clearance": 0.08354586269997288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015588361518842908,
+                  0.0029823697929356463
+                ],
+                "rod_tip_xy": [
+                  0.29372655318303836,
+                  -0.37193317725688235
+                ],
+                "target_mouth_xy": [
+                  0.2921677170311541,
+                  -0.374915547049818
+                ],
+                "gripper_position": [
+                  0.29371555609995736,
+                  -0.3719424810998425,
+                  1.0046740517858765
+                ],
+                "rod_tip_xy_dist": 0.0033651894048086555,
+                "target_xy_drift": 1.5591690376690695e-09,
+                "depth": 0.01642648936674318,
+                "bottom_clearance": 0.08301407081401369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015478695940113196,
+                  0.002973065950332976
+                ],
+                "rod_tip_xy": [
+                  0.2937155560999573,
+                  -0.3719424810998425
+                ],
+                "target_mouth_xy": [
+                  0.292167686505946,
+                  -0.3749155470501755
+                ],
+                "gripper_position": [
+                  0.2937071780437651,
+                  -0.37194557129127614,
+                  1.00453382303873
+                ],
+                "rod_tip_xy_dist": 0.0033518683484131786,
+                "target_xy_drift": 3.1748022208622e-08,
+                "depth": 0.016585769543372986,
+                "bottom_clearance": 0.08285481946799711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015395216706576842,
+                  0.002969945324894696
+                ],
+                "rod_tip_xy": [
+                  0.29370717804376506,
+                  -0.37194557129127614
+                ],
+                "target_mouth_xy": [
+                  0.2921676563731074,
+                  -0.37491551661617084
+                ],
+                "gripper_position": [
+                  0.29369881797328556,
+                  -0.3719483844997,
+                  1.004393563937916
+                ],
+                "rod_tip_xy_dist": 0.003345250694236306,
+                "target_xy_drift": 6.851629290446178e-08,
+                "depth": 0.016726019097529687,
+                "bottom_clearance": 0.08271460466447966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015311315589319752,
+                  0.0029671619187933707
+                ],
+                "rod_tip_xy": [
+                  0.2936988179732855,
+                  -0.3719483844997
+                ],
+                "target_mouth_xy": [
+                  0.29216768641435353,
+                  -0.3749155464184934
+                ],
+                "gripper_position": [
+                  0.2937094116098874,
+                  -0.37202483643095696,
+                  1.0038622545422315
+                ],
+                "rod_tip_xy_dist": 0.0033389240337412616,
+                "target_xy_drift": 3.1826256823792824e-08,
+                "depth": 0.01686627074210223,
+                "bottom_clearance": 0.08257434348633141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015417249047847137,
+                  0.0028907106160087626
+                ],
+                "rod_tip_xy": [
+                  0.29370941160988734,
+                  -0.37202483643095696
+                ],
+                "target_mouth_xy": [
+                  0.2921676867051026,
+                  -0.3749155470469657
+                ],
+                "gripper_position": [
+                  0.2936983392471229,
+                  -0.3720339982486216,
+                  1.0037029224279175
+                ],
+                "rod_tip_xy_dist": 0.0032761446163958015,
+                "target_xy_drift": 3.154886217091742e-08,
+                "depth": 0.017397560625263653,
+                "bottom_clearance": 0.08204302054916646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015306832260502112,
+                  0.0028815186902678702
+                ],
+                "rod_tip_xy": [
+                  0.29369833924712285,
+                  -0.3720339982486216
+                ],
+                "target_mouth_xy": [
+                  0.29216765602107264,
+                  -0.37491551693888947
+                ],
+                "gripper_position": [
+                  0.29368990156211594,
+                  -0.3720367649005966,
+                  1.0035628030633492
+                ],
+                "rod_tip_xy_dist": 0.0032628424879044566,
+                "target_xy_drift": 6.869688313572294e-08,
+                "depth": 0.017556925334171525,
+                "bottom_clearance": 0.08188370145906465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015222166299876938,
+                  0.002878721614423485
+                ],
+                "rod_tip_xy": [
+                  0.29368990156211594,
+                  -0.3720367649005967
+                ],
+                "target_mouth_xy": [
+                  0.29216768493212825,
+                  -0.37491548651502016
+                ],
+                "gripper_position": [
+                  0.2936812979510053,
+                  -0.37203987587229564,
+                  1.0034228530225924
+                ],
+                "rod_tip_xy_dist": 0.0032564062403146275,
+                "target_xy_drift": 6.823000154004049e-08,
+                "depth": 0.01769708283937088,
+                "bottom_clearance": 0.0817436007383664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015136119815616356,
+                  0.002875671829367654
+                ],
+                "rod_tip_xy": [
+                  0.2936812979510052,
+                  -0.3720398758722957
+                ],
+                "target_mouth_xy": [
+                  0.2921676859694436,
+                  -0.37491554770166335
+                ],
+                "gripper_position": [
+                  0.29369319883362244,
+                  -0.37211855083259393,
+                  1.002895313547812
+                ],
+                "rod_tip_xy_dist": 0.003249693785719764,
+                "target_xy_drift": 3.231074504623233e-08,
+                "depth": 0.017836974229314295,
+                "bottom_clearance": 0.08160361395340088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001525542562224258,
+                  0.0027969965338323632
+                ],
+                "rod_tip_xy": [
+                  0.2936931988336224,
+                  -0.37211855083259404
+                ],
+                "target_mouth_xy": [
+                  0.2921676562713981,
+                  -0.3749155473664264
+                ],
+                "gripper_position": [
+                  0.29368206168688216,
+                  -0.3721276270185379,
+                  1.0027358021843495
+                ],
+                "rod_tip_xy_dist": 0.003185980181895049,
+                "target_xy_drift": 6.19809294836007e-08,
+                "depth": 0.018364516017521426,
+                "bottom_clearance": 0.08107607944614625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015144043872158397,
+                  0.0027879200153704264
+                ],
+                "rod_tip_xy": [
+                  0.2936820616868821,
+                  -0.37212762701853797
+                ],
+                "target_mouth_xy": [
+                  0.29216765729966626,
+                  -0.3749155470339084
+                ],
+                "gripper_position": [
+                  0.29367341630398897,
+                  -0.37213042257335527,
+                  1.0025958449914927
+                ],
+                "rod_tip_xy_dist": 0.003172683195675487,
+                "target_xy_drift": 6.094669070437638e-08,
+                "depth": 0.018524000814691965,
+                "bottom_clearance": 0.08091656496991984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015057604859771145,
+                  0.0027850940545101066
+                ],
+                "rod_tip_xy": [
+                  0.29367341630398897,
+                  -0.37213042257335527
+                ],
+                "target_mouth_xy": [
+                  0.29216765581801185,
+                  -0.3749155166278654
+                ],
+                "gripper_position": [
+                  0.29366462996420517,
+                  -0.37213320735240973,
+                  1.0024560356939887
+                ],
+                "rod_tip_xy_dist": 0.0031660801527437013,
+                "target_xy_drift": 6.90129297066209e-08,
+                "depth": 0.01866401427420039,
+                "bottom_clearance": 0.08077663123910972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014969121162341503,
+                  0.0027823387301285085
+                ],
+                "rod_tip_xy": [
+                  0.29366462996420517,
+                  -0.37213320735240973
+                ],
+                "target_mouth_xy": [
+                  0.292167717847971,
+                  -0.37491554608253824
+                ],
+                "gripper_position": [
+                  0.2936560493522604,
+                  -0.3721356352573695,
+                  1.0023159574257692
+                ],
+                "rod_tip_xy_dist": 0.003159454809441294,
+                "target_xy_drift": 3.911266768665343e-10,
+                "depth": 0.018803755313042125,
+                "bottom_clearance": 0.08063680860223343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014883639687334749,
+                  0.0027798813787413
+                ],
+                "rod_tip_xy": [
+                  0.29365604935226036,
+                  -0.3721356352573695
+                ],
+                "target_mouth_xy": [
+                  0.2921676853835269,
+                  -0.3749155166361108
+                ],
+                "gripper_position": [
+                  0.29364740425604097,
+                  -0.3721381893339388,
+                  1.0021757560723652
+                ],
+                "rod_tip_xy_dist": 0.0031532471808116617,
+                "target_xy_drift": 4.410695391762841e-08,
+                "depth": 0.018943968698215685,
+                "bottom_clearance": 0.08049668598361281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014796578014948936,
+                  0.002777388471219888
+                ],
+                "rod_tip_xy": [
+                  0.29364740425604097,
+                  -0.37213818933393883
+                ],
+                "target_mouth_xy": [
+                  0.2921677464545461,
+                  -0.3749155778051587
+                ],
+                "gripper_position": [
+                  0.29363868293380135,
+                  -0.37214108605352353,
+                  1.0020361935237458
+                ],
+                "rod_tip_xy_dist": 0.0031469467630689035,
+                "target_xy_drift": 4.246971753055725e-08,
+                "depth": 0.01908403870099018,
+                "bottom_clearance": 0.08035650407106487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014709960877821726,
+                  0.0027744616365130703
+                ],
+                "rod_tip_xy": [
+                  0.2936386829338013,
+                  -0.3721410860535235
+                ],
+                "target_mouth_xy": [
+                  0.2921676868460191,
+                  -0.37491554769003654
+                ],
+                "gripper_position": [
+                  0.2936300980015344,
+                  -0.37214362793722455,
+                  1.0018962791844364
+                ],
+                "rod_tip_xy_dist": 0.0031402972570687064,
+                "target_xy_drift": 3.1434724624686674e-08,
+                "depth": 0.019223606565615836,
+                "bottom_clearance": 0.08021694703704896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0014624125591128356,
+                  0.0027718880527468626
+                ],
+                "rod_tip_xy": [
+                  0.2936300980015344,
+                  -0.37214362793722455
+                ],
+                "target_mouth_xy": [
+                  0.29216768544242155,
+                  -0.3749155159899714
+                ],
+                "gripper_position": [
+                  0.29364678350825285,
+                  -0.37222831824449293,
+                  1.0013739111937956
+                ],
+                "rod_tip_xy_dist": 0.0031340092325983578,
+                "target_xy_drift": 4.449722051720429e-08,
+                "depth": 0.01936359623032846,
+                "bottom_clearance": 0.08007707815901166,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.00060529647952585,
+              "rod_tip_xy_max_step": 3.274196231954436e-05,
+              "rod_tip_xy_range": 0.0006052871715967967,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2932371694641431,
+            -0.3736355798898934,
+            1.043331385231089
+          ],
+          "object_origin_world": [
+            0.2932371694641431,
+            -0.3736355798898934,
+            1.043331385231089
+          ],
+          "frame_world": [
+            0.29326146976287226,
+            -0.37363244810257096,
+            1.04362605182
+          ],
+          "center_minus_frame": [
+            -2.4300298729185155e-05,
+            -3.131787322419033e-06,
+            -0.0002946665889109745
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2765889316776195,
+              0.14451470725375143,
+              0.832003519585059
+            ],
+            "target_position": [
+              0.2883219517729225,
+              0.1914072495414466,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048338124526713544,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1677542772422671,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832003519585059,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567182368371,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1380311129572002,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e2b5c961dc195c3e99f2475d8aa8c74a9e09f982337eb24ea6e63b5a36102d4",
+    "visual_seed": 4942095723586667348,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3f058dd65bd832fe295ad3f4ad89b30f223e511
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_23_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3285715323288625,
+              -0.03170656418365336,
+              1.1641937899012986
+            ],
+            "current_z": 1.1641937899012986,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3030872222818878,
+            "gripper_z": 1.1554014151168923,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3239420728060066,
+              -0.0364597019224156,
+              1.1554014151168923
+            ],
+            "object_minus_gripper": [
+              0.004629459522855872,
+              0.0047531377387622364,
+              0.00879237478440631
+            ],
+            "object_to_gripper_xy": 0.006635074516341675,
+            "object_to_gripper_z": 0.00879237478440631,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3285715323288625,
+              -0.05529996646026291,
+              1.1641937899012986
+            ],
+            "finger_b": [
+              0.3174815785502289,
+              -0.03170656418365336,
+              1.1641937899012986
+            ],
+            "finger_midpoint": [
+              0.3230265554395457,
+              -0.04350326532195814,
+              1.1641937899012986
+            ],
+            "object_minus_finger_midpoint": [
+              0.005544976889316766,
+              0.011796701138304777,
+              0.0
+            ],
+            "finger_gap": 0.026069823662582644,
+            "fingertip_max_gap": 0.09193630799471911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034911831291313,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641937899012986,
+            "object_top_z": 1.2140785145981483,
+            "finger_top_clearance": 0.04988472469684968,
+            "fingertip_min_top_clearance": 0.01496541740905487,
+            "object_projection_between_fingers": 0.8190397094163921,
+            "object_to_finger_line_xy": 0.010036498294533814,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048468153997359556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7609676746450231,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2906157902990669,
+              -0.3713595963518065,
+              0.8515395553581757
+            ],
+            "target_position": [
+              0.2836552981138628,
+              -0.37217943471857357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007008608022133272,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1821341581947451,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395553581757,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568896658657365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698460624586761,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14976980270703166,
+            "release_required_pad_clearance": 0.05349230312293381,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9971601244764223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008043289184570312,
+            "max_z_decrease": 0.008043289184570312,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513922811446178,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008043289184570312,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02103921893967247,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008043289184570312,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008043300791655392,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13935522735118863,
+              -0.42844089865684504,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13935522735118863,
+              -0.42844089865684504,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1404790185599919,
+              -0.4279240507153678,
+              0.8082609825199466
+            ],
+            "closest_button": [
+              0.13934861123561854,
+              -0.42843845486640925,
+              0.7731437087059021
+            ],
+            "closest_ee_minus_button": [
+              0.0011304073243733614,
+              0.0005144041510414255,
+              0.0351172738140445
+            ],
+            "button_min_z_position": [
+              0.13934287428855893,
+              -0.4284350574016571,
+              0.7687655687332153
+            ],
+            "min_active_finger_to_button": 0.14497582848386156,
+            "closest_active_finger": [
+              0.014008305966854095,
+              -0.4927211403846741,
+              0.8107832074165344
+            ],
+            "closest_active_finger_button": [
+              0.13935489952564234,
+              -0.4284399449825287,
+              0.7765173316001892
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12534659355878824,
+              -0.06428119540214539,
+              0.034265875816345215
+            ],
+            "min_contact_pad_to_button": 0.02103921893967247,
+            "closest_contact_pad": [
+              0.13934287428855893,
+              -0.428787956599356,
+              0.789801827805297
+            ],
+            "closest_contact_pad_button": [
+              0.13934287428855893,
+              -0.4284350574016571,
+              0.7687655687332153
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003528991976988749,
+              0.02103625907208162
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2879363070379231,
+              0.19192862496579066,
+              1.1012162413190798
+            ],
+            "current_z": 1.1012162413190798,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19130711158471725,
+            "gripper_z": 1.1012164893020426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28793645274554897,
+              0.19192848609279106,
+              1.1012164893020426
+            ],
+            "object_minus_gripper": [
+              -1.4570762585375263e-07,
+              1.3887299959991495e-07,
+              -2.4798296283101706e-07
+            ],
+            "object_to_gripper_xy": 2.0128691524740287e-07,
+            "object_to_gripper_z": -2.4798296283101706e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2879363070379231,
+              0.19192862496579066,
+              1.1012162413190798
+            ],
+            "finger_b": [
+              0.2879363070379231,
+              0.19192862496579066,
+              1.1012162413190798
+            ],
+            "finger_midpoint": [
+              0.2879363070379231,
+              0.19192862496579066,
+              1.1012162413190798
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012162413190798,
+            "object_top_z": 1.2262247479393595,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2879363070379231,
+            0.19192862496579066,
+            1.1012162413190798
+          ],
+          "object_origin_world": [
+            0.2879363070379231,
+            0.19192862496579066,
+            1.1012162413190798
+          ],
+          "frame_world": [
+            0.28793645274554897,
+            0.19192848609279106,
+            1.1012164893020426
+          ],
+          "center_minus_frame": [
+            -1.4570762585375263e-07,
+            1.3887299959991495e-07,
+            -2.4798296283101706e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432685595919036,
+            "required_z": 0.9112599482205173,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017272754576758721,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0687955150865087e-07,
+            "max_target_xy_drift": 1.2239835665578765e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.997943805319248,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.997943805743643,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28894009627353323,
+              -0.3717662372282321,
+              0.9233921845108709
+            ],
+            "target_mouth_xy": [
+              0.29061557277744543,
+              -0.3713596669593652
+            ],
+            "rod_tip_z": 0.9233921845108709,
+            "rod_tip_depth": -0.022132335307658235,
+            "rod_tip_bottom_clearance": 0.12157292448306134,
+            "rod_tip_xy_dist": 0.0017241000257201921,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045351826152406294,
+            "min_rod_tip_bottom_clearance": 0.05408879819377066,
+            "min_rod_tip_xy_dist": 0.001160035929961282,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.29061566850649,
+              -0.3713596194284431
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.572904458021725e-08,
+              -4.75309220870912e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.001087178777971487,
+                0.00137190311964408
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012008392907376098,
+                0.0010070162638430857
+              ],
+              "first_target_mouth_xy": [
+                0.29061563132915136,
+                -0.37135960505485754
+              ],
+              "last_target_mouth_xy": [
+                0.2906156604261638,
+                -0.371359606309052
+              ],
+              "first_rod_tip_xy": [
+                0.28952845255117987,
+                -0.36998770193521346
+              ],
+              "last_rod_tip_xy": [
+                0.2894148211354262,
+                -0.37035259004520893
+              ],
+              "min_rod_tip_xy_dist": 0.0015491280474211626,
+              "max_rod_tip_xy_dist": 0.0017527268570753465,
+              "first_target_xy_drift": 3.985918301521392e-08,
+              "last_target_xy_drift": 1.5408117776381445e-08,
+              "max_depth": 0.019330848747596163,
+              "min_bottom_clearance": 0.08010966793454377
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001087178777971487,
+                  0.00137190311964408
+                ],
+                "rod_tip_xy": [
+                  0.28952845255117987,
+                  -0.36998770193521346
+                ],
+                "target_mouth_xy": [
+                  0.29061563132915136,
+                  -0.37135960505485754
+                ],
+                "gripper_position": [
+                  0.2895177677281602,
+                  -0.36999686081257904,
+                  1.0060453637671125
+                ],
+                "rod_tip_xy_dist": 0.0017504501892258275,
+                "target_xy_drift": 3.985918301521392e-08,
+                "depth": 0.015057726487678003,
+                "bottom_clearance": 0.08438279497454515,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010978624963082773,
+                  0.001362746796125136
+                ],
+                "rod_tip_xy": [
+                  0.2895177677281602,
+                  -0.369996860812579
+                ],
+                "target_mouth_xy": [
+                  0.29061563022446846,
+                  -0.3713596076087041
+                ],
+                "gripper_position": [
+                  0.28950954587531785,
+                  -0.3699999918104015,
+                  1.0059075836003026
+                ],
+                "rod_tip_xy_dist": 0.0017499659685689792,
+                "target_xy_drift": 4.0065189421431435e-08,
+                "depth": 0.015214505075310414,
+                "bottom_clearance": 0.08422607459330533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001106086564395814,
+                  0.0013596411098434347
+                ],
+                "rod_tip_xy": [
+                  0.28950954587531785,
+                  -0.36999999181040144
+                ],
+                "target_mouth_xy": [
+                  0.29061563243971367,
+                  -0.3713596329202449
+                ],
+                "gripper_position": [
+                  0.28951427318957623,
+                  -0.3700706620846414,
+                  1.0053752400515825
+                ],
+                "rod_tip_xy_dist": 0.0017527268570753465,
+                "target_xy_drift": 3.850767548492287e-08,
+                "depth": 0.015352345581426174,
+                "bottom_clearance": 0.08408828896754428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011013583041685204,
+                  0.0012889438954153398
+                ],
+                "rod_tip_xy": [
+                  0.2895142731895762,
+                  -0.37007066208464134
+                ],
+                "target_mouth_xy": [
+                  0.2906156314937447,
+                  -0.3713596059800567
+                ],
+                "gripper_position": [
+                  0.28950344015829055,
+                  -0.3700797761528487,
+                  1.0052190916880575
+                ],
+                "rod_tip_xy_dist": 0.0016953956705410775,
+                "target_xy_drift": 3.9380228700406355e-08,
+                "depth": 0.015884517768090745,
+                "bottom_clearance": 0.08355598892540372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001112219853269869,
+                  0.0012798289051200729
+                ],
+                "rod_tip_xy": [
+                  0.28950344015829055,
+                  -0.3700797761528486
+                ],
+                "target_mouth_xy": [
+                  0.2906156600115604,
+                  -0.37135960505796867
+                ],
+                "gripper_position": [
+                  0.28949506948225057,
+                  -0.3700825365946964,
+                  1.0050811922168486
+                ],
+                "rod_tip_xy_dist": 0.0016955810297324318,
+                "target_xy_drift": 1.6693542580646836e-08,
+                "depth": 0.016040757203765188,
+                "bottom_clearance": 0.08339978422440775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011205630370375586,
+                  0.0012770417668686584
+                ],
+                "rod_tip_xy": [
+                  0.28949506948225057,
+                  -0.37008253659469637
+                ],
+                "target_mouth_xy": [
+                  0.2906156325192881,
+                  -0.371359578361565
+                ],
+                "gripper_position": [
+                  0.28950039295265484,
+                  -0.3701545641826334,
+                  1.0045507577528276
+                ],
+                "rod_tip_xy_dist": 0.001698969450667628,
+                "target_xy_drift": 5.460372856785857e-08,
+                "depth": 0.016178731982019134,
+                "bottom_clearance": 0.08326189042922583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011152382927186455,
+                  0.0012050715875325801
+                ],
+                "rod_tip_xy": [
+                  0.28950039295265484,
+                  -0.3701545641826335
+                ],
+                "target_mouth_xy": [
+                  0.2906156312453735,
+                  -0.37135963577016606
+                ],
+                "gripper_position": [
+                  0.2894896473860615,
+                  -0.37016344035364335,
+                  1.0043945069018283
+                ],
+                "rod_tip_xy_dist": 0.0016419360464476965,
+                "target_xy_drift": 4.0687132050790916e-08,
+                "depth": 0.016709057323618604,
+                "bottom_clearance": 0.08273143909085823,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011259835944946728,
+                  0.0011961957479003082
+                ],
+                "rod_tip_xy": [
+                  0.2894896473860615,
+                  -0.37016344035364335
+                ],
+                "target_mouth_xy": [
+                  0.29061563098055615,
+                  -0.37135963610154366
+                ],
+                "gripper_position": [
+                  0.28948114952639886,
+                  -0.3701661189785619,
+                  1.0042570479252917
+                ],
+                "rod_tip_xy_dist": 0.001642779145949303,
+                "target_xy_drift": 4.106321948654857e-08,
+                "depth": 0.016865314602153014,
+                "bottom_clearance": 0.08257518844388334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011344833443416857,
+                  0.001193516446259868
+                ],
+                "rod_tip_xy": [
+                  0.28948114952639886,
+                  -0.3701661189785619
+                ],
+                "target_mouth_xy": [
+                  0.29061563287074055,
+                  -0.37135963542482175
+                ],
+                "gripper_position": [
+                  0.28947274490222275,
+                  -0.3701689032828057,
+                  1.0041193875907493
+                ],
+                "rod_tip_xy_dist": 0.001646673606420374,
+                "target_xy_drift": 3.906137184198466e-08,
+                "depth": 0.017002839015097915,
+                "bottom_clearance": 0.0824377187897195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011428875744319833,
+                  0.0011907045743295153
+                ],
+                "rod_tip_xy": [
+                  0.2894727449022227,
+                  -0.3701689032828057
+                ],
+                "target_mouth_xy": [
+                  0.2906156324766547,
+                  -0.37135960785713523
+                ],
+                "gripper_position": [
+                  0.289479725712837,
+                  -0.3702431567757796,
+                  1.0035908616796132
+                ],
+                "rod_tip_xy_dist": 0.0016504452099722227,
+                "target_xy_drift": 3.784235986233659e-08,
+                "depth": 0.017140411644898323,
+                "bottom_clearance": 0.08230019853942294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001135935361535223,
+                  0.0011164799569028938
+                ],
+                "rod_tip_xy": [
+                  0.289479725712837,
+                  -0.37024315677577957
+                ],
+                "target_mouth_xy": [
+                  0.2906156610743722,
+                  -0.37135963673268246
+                ],
+                "gripper_position": [
+                  0.2894686516364663,
+                  -0.3702519479244009,
+                  1.0034341936181268
+                ],
+                "rod_tip_xy_dist": 0.0015927575583722857,
+                "target_xy_drift": 1.883276600717423e-08,
+                "depth": 0.017668970536082407,
+                "bottom_clearance": 0.08177156000149188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011470087891517489,
+                  0.0011076881883192446
+                ],
+                "rod_tip_xy": [
+                  0.2894686516364663,
+                  -0.37025194792440086
+                ],
+                "target_mouth_xy": [
+                  0.29061566042561804,
+                  -0.3713596361127201
+                ],
+                "gripper_position": [
+                  0.2894602635972595,
+                  -0.37025421428169564,
+                  1.0032973627382737
+                ],
+                "rod_tip_xy_dist": 0.0015945539454447226,
+                "target_xy_drift": 1.8538219746006746e-08,
+                "depth": 0.017825638765785023,
+                "bottom_clearance": 0.08161487798650102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011553672615506327,
+                  0.001105362523292408
+                ],
+                "rod_tip_xy": [
+                  0.2894602635972595,
+                  -0.3702542142816957
+                ],
+                "target_mouth_xy": [
+                  0.29061563085881015,
+                  -0.3713595768049881
+                ],
+                "gripper_position": [
+                  0.2894517277543531,
+                  -0.37025674601509473,
+                  1.00316003242805
+                ],
+                "rod_tip_xy_dist": 0.0015989683602130368,
+                "target_xy_drift": 5.6869207081852765e-08,
+                "depth": 0.01796246822732961,
+                "bottom_clearance": 0.08147805075844139,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011639028105726035,
+                  0.0011028612509958458
+                ],
+                "rod_tip_xy": [
+                  0.2894517277543531,
+                  -0.37025674601509484
+                ],
+                "target_mouth_xy": [
+                  0.29061563056492573,
+                  -0.3713596072660907
+                ],
+                "gripper_position": [
+                  0.2894431314494914,
+                  -0.37025947264728976,
+                  1.0030228519974278
+                ],
+                "rod_tip_xy_dist": 0.0016034252996029866,
+                "target_xy_drift": 3.9843256843945833e-08,
+                "depth": 0.01809981977014663,
+                "bottom_clearance": 0.08134073454559021,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011724999003372982,
+                  0.001100134895174798
+                ],
+                "rod_tip_xy": [
+                  0.2894431314494914,
+                  -0.37025947264728976
+                ],
+                "target_mouth_xy": [
+                  0.2906156313498287,
+                  -0.37135960754246455
+                ],
+                "gripper_position": [
+                  0.28945229541598205,
+                  -0.37033664712626463,
+                  1.0024964017808744
+                ],
+                "rod_tip_xy_dist": 0.0016078099402206214,
+                "target_xy_drift": 3.9011459405392624e-08,
+                "depth": 0.018236991638817313,
+                "bottom_clearance": 0.08120356301045717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001163338115728496,
+                  0.0010229575434983484
+                ],
+                "rod_tip_xy": [
+                  0.28945229541598205,
+                  -0.3703366471262647
+                ],
+                "target_mouth_xy": [
+                  0.29061563353171055,
+                  -0.37135960466976303
+                ],
+                "gripper_position": [
+                  0.2894409899199504,
+                  -0.37034558533706,
+                  1.0023400363371502
+                ],
+                "rod_tip_xy_dist": 0.0015491280474211626,
+                "target_xy_drift": 3.7961214882676246e-08,
+                "depth": 0.01876350728979459,
+                "bottom_clearance": 0.08067711040800896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001174641812597188,
+                  0.0010139908379647178
+                ],
+                "rod_tip_xy": [
+                  0.2894409899199504,
+                  -0.3703455853370601
+                ],
+                "target_mouth_xy": [
+                  0.29061563173254756,
+                  -0.3713595761750248
+                ],
+                "gripper_position": [
+                  0.28943239888453703,
+                  -0.37034795669715836,
+                  1.0022030036462888
+                ],
+                "rod_tip_xy_dist": 0.001551760550915636,
+                "target_xy_drift": 5.677306612269902e-08,
+                "depth": 0.01891978309050346,
+                "bottom_clearance": 0.08052073298920481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011832328372801681,
+                  0.001011619460001445
+                ],
+                "rod_tip_xy": [
+                  0.289432398884537,
+                  -0.37034795669715836
+                ],
+                "target_mouth_xy": [
+                  0.29061563172181715,
+                  -0.3713595761571598
+                ],
+                "gripper_position": [
+                  0.28942358877838564,
+                  -0.37035024706538744,
+                  1.0020660554018426
+                ],
+                "rod_tip_xy_dist": 0.0015567317941995314,
+                "target_xy_drift": 5.6793627408783476e-08,
+                "depth": 0.019056815375323444,
+                "bottom_clearance": 0.08038369966470693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011920427213810147,
+                  0.001009359543177324
+                ],
+                "rod_tip_xy": [
+                  0.28942358877838564,
+                  -0.37035024706538744
+                ],
+                "target_mouth_xy": [
+                  0.29061563149976666,
+                  -0.37135960660856476
+                ],
+                "gripper_position": [
+                  0.2894148211354262,
+                  -0.37035259004520893,
+                  1.0019289835945688
+                ],
+                "rod_tip_xy_dist": 0.0015619771243525276,
+                "target_xy_drift": 3.916435692772789e-08,
+                "depth": 0.019193773116519264,
+                "bottom_clearance": 0.08024675540694393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012008392907376098,
+                  0.0010070162638430857
+                ],
+                "rod_tip_xy": [
+                  0.2894148211354262,
+                  -0.37035259004520893
+                ],
+                "target_mouth_xy": [
+                  0.2906156604261638,
+                  -0.371359606309052
+                ],
+                "gripper_position": [
+                  0.28940617865941287,
+                  -0.3703550626357899,
+                  1.0017922604927125
+                ],
+                "rod_tip_xy_dist": 0.001567193912004412,
+                "target_xy_drift": 1.5408117776381445e-08,
+                "depth": 0.019330848747596163,
+                "bottom_clearance": 0.08010966793454377,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006055464408902911,
+              "rod_tip_xy_max_step": 3.273560336623453e-05,
+              "rod_tip_xy_range": 0.00060553710949773,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28894009627353323,
+            -0.3717662372282321,
+            1.043392184510871
+          ],
+          "object_origin_world": [
+            0.28894009627353323,
+            -0.3717662372282321,
+            1.043392184510871
+          ],
+          "frame_world": [
+            0.2889387674490798,
+            -0.37177415989953916,
+            1.0432685595919036
+          ],
+          "center_minus_frame": [
+            1.3288244534170879e-06,
+            7.922671307059037e-06,
+            0.00012362491896733552
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27624548790002423,
+              0.14513106409271395,
+              0.8319355258419325
+            ],
+            "target_position": [
+              0.28849341881100066,
+              0.19197411363880168,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048417797372219254,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16721250709397428,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319355258419325,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671981634707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13766523273047648,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd66ba804502d2f4e75f7cab6459bd2a5713e8a78b5f2e30abd68c26a19ac515",
+    "visual_seed": 117323799576435233,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f29c44f24311093626f02637ae4ef3032a6ac3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_24_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33343520206626337,
+              -0.030701187673856538,
+              1.163295821311792
+            ],
+            "current_z": 1.163295821311792,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30218925369238125,
+            "gripper_z": 1.1544210835882913,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3286797178651617,
+              -0.0354733717396348,
+              1.1544210835882913
+            ],
+            "object_minus_gripper": [
+              0.004755484201101667,
+              0.0047721840657782635,
+              0.00887473772350078
+            ],
+            "object_to_gripper_xy": 0.006737089189300935,
+            "object_to_gripper_z": 0.00887473772350078,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33343520206626337,
+              -0.05442168913484131,
+              1.163295821311792
+            ],
+            "finger_b": [
+              0.32237396645457644,
+              -0.030701187673856538,
+              1.163295821311792
+            ],
+            "finger_midpoint": [
+              0.3279045842604199,
+              -0.04256143840434892,
+              1.163295821311792
+            ],
+            "object_minus_finger_midpoint": [
+              0.005530617805843463,
+              0.011860250730492385,
+              0.0
+            ],
+            "finger_gap": 0.02617275535395216,
+            "fingertip_max_gap": 0.09162184779208585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01308637767697608,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163295821311792,
+            "object_top_z": 1.213103802712858,
+            "finger_top_clearance": 0.049807981401065904,
+            "fingertip_min_top_clearance": 0.01494239442031977,
+            "object_projection_between_fingers": 0.8213889206181115,
+            "object_to_finger_line_xy": 0.010024854163766765,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048310923896042926,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5364401370368714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29865163360078223,
+              -0.3734738823674278,
+              0.8515396176349468
+            ],
+            "target_position": [
+              0.29094731423227227,
+              -0.3747801852784537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007814279507885064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18239778666130482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396176349468,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757014946929679,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627888763461926,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15010382345931875,
+            "release_required_pad_clearance": 0.05313944381730963,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3044420633573814,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008401751518249512,
+            "max_z_decrease": 0.008401751518249512,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350488389659281,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008401751518249512,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02088437569708712,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008401751518249512,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008401791300517686,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14664724469184875,
+              -0.43104165792465216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14664724469184875,
+              -0.43104165792465216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14761899549169355,
+              -0.429629710383869,
+              0.803415239296041
+            ],
+            "closest_button": [
+              0.1466573178768158,
+              -0.4310178458690644,
+              0.7684071063995361
+            ],
+            "closest_ee_minus_button": [
+              0.0009616776148777539,
+              0.0013881354851953964,
+              0.03500813289650484
+            ],
+            "button_min_z_position": [
+              0.1466573178768158,
+              -0.4310178458690644,
+              0.7684071063995361
+            ],
+            "min_active_finger_to_button": 0.14433638272482338,
+            "closest_active_finger": [
+              0.021854951977729797,
+              -0.49498847126960754,
+              0.8108746409416199
+            ],
+            "closest_active_finger_button": [
+              0.14664821326732635,
+              -0.43104055523872375,
+              0.7766650319099426
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12479326128959656,
+              -0.06394791603088379,
+              0.034209609031677246
+            ],
+            "min_contact_pad_to_button": 0.02088437569708712,
+            "closest_contact_pad": [
+              0.1466573178768158,
+              -0.4310178458690644,
+              0.7892914820966233
+            ],
+            "closest_contact_pad_button": [
+              0.1466573178768158,
+              -0.4310178458690644,
+              0.7684071063995361
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02088437569708712
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2868743512810401,
+              0.19171552640226588,
+              1.1021364596875647
+            ],
+            "current_z": 1.1021364596875647,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19222732995320213,
+            "gripper_z": 1.10213660549452,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2868744189937169,
+              0.191715489683994,
+              1.10213660549452
+            ],
+            "object_minus_gripper": [
+              -6.771267679894777e-08,
+              3.67182718952197e-08,
+              -1.458069553983421e-07
+            ],
+            "object_to_gripper_xy": 7.702751515043205e-08,
+            "object_to_gripper_z": -1.458069553983421e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2868743512810401,
+              0.19171552640226588,
+              1.1021364596875647
+            ],
+            "finger_b": [
+              0.2868743512810401,
+              0.19171552640226588,
+              1.1021364596875647
+            ],
+            "finger_midpoint": [
+              0.2868743512810401,
+              0.19171552640226588,
+              1.1021364596875647
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021364596875647,
+            "object_top_z": 1.2271449663078444,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2868743512810401,
+            0.1917155264022659,
+            1.1021364596875647
+          ],
+          "object_origin_world": [
+            0.2868743512810401,
+            0.1917155264022659,
+            1.1021364596875647
+          ],
+          "frame_world": [
+            0.2868744189937169,
+            0.191715489683994,
+            1.10213660549452
+          ],
+          "center_minus_frame": [
+            -6.771267679894777e-08,
+            3.6718271922975276e-08,
+            -1.458069553983421e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432191629833367,
+            "required_z": 0.9112599265877039,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014700157202188948,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.77229663890007e-08,
+            "max_target_xy_drift": 2.6571972732681876e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.304442063148929,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3044420637175629,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.30008079422455375,
+              -0.37381587949360595,
+              0.923348853227581
+            ],
+            "target_mouth_xy": [
+              0.2986516612589233,
+              -0.3734739087081427
+            ],
+            "rod_tip_z": 0.923348853227581,
+            "rod_tip_depth": -0.0220889480169133,
+            "rod_tip_bottom_clearance": 0.12152959585343281,
+            "rod_tip_xy_dist": 0.0014694778159475884,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045050217819290195,
+            "min_rod_tip_bottom_clearance": 0.054390392175566626,
+            "min_rod_tip_xy_dist": 2.786517173311455e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29865169806954445,
+              -0.37347385186292875
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.6810621162342017e-08,
+              -5.684521392490538e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.001831888905171053,
+                0.0014917813835364502
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00174927391605334,
+                0.0011225467490006968
+              ],
+              "first_target_mouth_xy": [
+                0.29865157218306265,
+                -0.37347385224335383
+              ],
+              "last_target_mouth_xy": [
+                0.29865163341858997,
+                -0.373473881402029
+              ],
+              "first_rod_tip_xy": [
+                0.3004834610882337,
+                -0.3719820708598174
+              ],
+              "last_rod_tip_xy": [
+                0.3004009073346433,
+                -0.3723513346530283
+              ],
+              "min_rod_tip_xy_dist": 0.0020784779135407288,
+              "max_rod_tip_xy_dist": 0.002362462413913653,
+              "first_target_xy_drift": 1.258870566094862e-07,
+              "last_target_xy_drift": 7.107956356727344e-08,
+              "max_depth": 0.019398893572562748,
+              "min_bottom_clearance": 0.08004165373791283
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001831888905171053,
+                  0.0014917813835364502
+                ],
+                "rod_tip_xy": [
+                  0.3004834610882337,
+                  -0.3719820708598174
+                ],
+                "target_mouth_xy": [
+                  0.29865157218306265,
+                  -0.37347385224335383
+                ],
+                "gripper_position": [
+                  0.30049562001072094,
+                  -0.3720550094286048,
+                  1.0056943696279725
+                ],
+                "rod_tip_xy_dist": 0.002362462413913653,
+                "target_xy_drift": 1.258870566094862e-07,
+                "depth": 0.015026432250484278,
+                "bottom_clearance": 0.08441409315143411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0018440157767664611,
+                  0.001418874183619634
+                ],
+                "rod_tip_xy": [
+                  0.30049562001072105,
+                  -0.3720550094286048
+                ],
+                "target_mouth_xy": [
+                  0.2986516042339546,
+                  -0.37347388361222444
+                ],
+                "gripper_position": [
+                  0.30048506073304004,
+                  -0.3720643288723509,
+                  1.0055306045849575
+                ],
+                "rod_tip_xy_dist": 0.0023267140206535693,
+                "target_xy_drift": 9.906127245394184e-08,
+                "depth": 0.01556547527979213,
+                "bottom_clearance": 0.08387510764664385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0018334556055873419,
+                  0.0014095233395393092
+                ],
+                "rod_tip_xy": [
+                  0.30048506073304015,
+                  -0.37206432887235086
+                ],
+                "target_mouth_xy": [
+                  0.2986516051274528,
+                  -0.37347385221189017
+                ],
+                "gripper_position": [
+                  0.3004767236928051,
+                  -0.37206757375164995,
+                  1.0053866566489797
+                ],
+                "rod_tip_xy_dist": 0.002312642536659242,
+                "target_xy_drift": 9.294274673892344e-08,
+                "depth": 0.015729348511121954,
+                "bottom_clearance": 0.08371123332020736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0018251489863597148,
+                  0.001406276877636392
+                ],
+                "rod_tip_xy": [
+                  0.3004767236928052,
+                  -0.37206757375165
+                ],
+                "target_mouth_xy": [
+                  0.2986515747064455,
+                  -0.3734738506292864
+                ],
+                "gripper_position": [
+                  0.3004899397957639,
+                  -0.37214149601379654,
+                  1.0048498221706195
+                ],
+                "rod_tip_xy_dist": 0.0023040797466634382,
+                "target_xy_drift": 1.233692670727291e-07,
+                "depth": 0.015873201105747636,
+                "bottom_clearance": 0.0835674153365944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0018383656035135254,
+                  0.0013324170874667862
+                ],
+                "rod_tip_xy": [
+                  0.30048993979576405,
+                  -0.37214149601379654
+                ],
+                "target_mouth_xy": [
+                  0.2986515741922505,
+                  -0.3734739131012633
+                ],
+                "gripper_position": [
+                  0.3004789830406585,
+                  -0.3721510338519825,
+                  1.0046860486368907
+                ],
+                "rod_tip_xy_dist": 0.0022704456362474573,
+                "target_xy_drift": 1.38187255456193e-07,
+                "depth": 0.016410015197815153,
+                "bottom_clearance": 0.08303054741830607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0018273766715039552,
+                  0.0013228186700438016
+                ],
+                "rod_tip_xy": [
+                  0.3004789830406586,
+                  -0.37215103385198256
+                ],
+                "target_mouth_xy": [
+                  0.29865160636915467,
+                  -0.37347385252202636
+                ],
+                "gripper_position": [
+                  0.30047060366643064,
+                  -0.37215419756831325,
+                  1.0045428656075273
+                ],
+                "rod_tip_xy_dist": 0.0022559154978352637,
+                "target_xy_drift": 9.170275838681637e-08,
+                "depth": 0.016573910585101825,
+                "bottom_clearance": 0.08286671131000556,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001819058183443245,
+                  0.0013196540182095484
+                ],
+                "rod_tip_xy": [
+                  0.30047060366643075,
+                  -0.37215419756831336
+                ],
+                "target_mouth_xy": [
+                  0.2986515454829875,
+                  -0.3734738515865229
+                ],
+                "gripper_position": [
+                  0.30048452459486286,
+                  -0.37222896542223205,
+                  1.0040092759287012
+                ],
+                "rod_tip_xy_dist": 0.0022473227188208743,
+                "target_xy_drift": 1.5258680729529168e-07,
+                "depth": 0.016717038863730216,
+                "bottom_clearance": 0.08272356435101724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018329791869396983,
+                  0.001244916597257395
+                ],
+                "rod_tip_xy": [
+                  0.30048452459486297,
+                  -0.37222896542223216
+                ],
+                "target_mouth_xy": [
+                  0.29865154540792327,
+                  -0.37347388201948956
+                ],
+                "gripper_position": [
+                  0.30047356137857306,
+                  -0.37223803054491156,
+                  1.003845873457851
+                ],
+                "rod_tip_xy_dist": 0.002215768497357305,
+                "target_xy_drift": 1.5561166003920152e-07,
+                "depth": 0.017250616597468293,
+                "bottom_clearance": 0.08218996071269624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0018219875621138804,
+                  0.001235851175552305
+                ],
+                "rod_tip_xy": [
+                  0.3004735613785732,
+                  -0.37223803054491167
+                ],
+                "target_mouth_xy": [
+                  0.2986515738164593,
+                  -0.373473881720464
+                ],
+                "gripper_position": [
+                  0.3004650748018553,
+                  -0.3722410248776725,
+                  1.0037025952806897
+                ],
+                "rod_tip_xy_dist": 0.002201582795311522,
+                "target_xy_drift": 1.2779006839291107e-07,
+                "depth": 0.017413954306531143,
+                "bottom_clearance": 0.08202658144603381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0018134693061229168,
+                  0.0012328596926683422
+                ],
+                "rod_tip_xy": [
+                  0.3004650748018554,
+                  -0.37224102487767263
+                ],
+                "target_mouth_xy": [
+                  0.2986516054957325,
+                  -0.373473884570341
+                ],
+                "gripper_position": [
+                  0.30045640641060134,
+                  -0.37224431308893924,
+                  1.0035592162211733
+                ],
+                "rod_tip_xy_dist": 0.0021928552040789678,
+                "target_xy_drift": 9.818189992655857e-08,
+                "depth": 0.01755739632132447,
+                "bottom_clearance": 0.08188326950669955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0018048316284356436,
+                  0.0012295698861393145
+                ],
+                "rod_tip_xy": [
+                  0.30045640641060145,
+                  -0.37224431308893935
+                ],
+                "target_mouth_xy": [
+                  0.2986515747821658,
+                  -0.37347388297507866
+                ],
+                "gripper_position": [
+                  0.30044771040789886,
+                  -0.3722474706142793,
+                  1.0034157818028882
+                ],
+                "rod_tip_xy_dist": 0.0021838633913096083,
+                "target_xy_drift": 1.2715244238284416e-07,
+                "depth": 0.017700679966971333,
+                "bottom_clearance": 0.08173989453394304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017961371748417276,
+                  0.0012264114382358748
+                ],
+                "rod_tip_xy": [
+                  0.30044771040789897,
+                  -0.37224747061427943
+                ],
+                "target_mouth_xy": [
+                  0.29865157323305724,
+                  -0.3734738820525153
+                ],
+                "gripper_position": [
+                  0.3004644093999409,
+                  -0.37232538040312996,
+                  1.0028843572795927
+                ],
+                "rod_tip_xy_dist": 0.002174900863645102,
+                "target_xy_drift": 1.2843504067596393e-07,
+                "depth": 0.017843975953098834,
+                "bottom_clearance": 0.0815965256798874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0018128039007725971,
+                  0.0011485022482665141
+                ],
+                "rod_tip_xy": [
+                  0.300464409399941,
+                  -0.37232538040313
+                ],
+                "target_mouth_xy": [
+                  0.2986516054991684,
+                  -0.3734738826513965
+                ],
+                "gripper_position": [
+                  0.30045321095702093,
+                  -0.3723346461172777,
+                  1.0027210013659769
+                ],
+                "rod_tip_xy_dist": 0.0021459998594896466,
+                "target_xy_drift": 9.755615955192386e-08,
+                "depth": 0.01837554084178894,
+                "bottom_clearance": 0.08106505829597599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0018016087688001448,
+                  0.0011392359318401213
+                ],
+                "rod_tip_xy": [
+                  0.30045321095702104,
+                  -0.37233464611727773
+                ],
+                "target_mouth_xy": [
+                  0.2986516021882209,
+                  -0.37347388204911786
+                ],
+                "gripper_position": [
+                  0.30044444149764904,
+                  -0.37233746936387374,
+                  1.0025774356754555
+                ],
+                "rod_tip_xy_dist": 0.00213158454306021,
+                "target_xy_drift": 1.0052081484858125e-07,
+                "depth": 0.018538833375577046,
+                "bottom_clearance": 0.08090168393791808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017929292303938138,
+                  0.001136384142275182
+                ],
+                "rod_tip_xy": [
+                  0.3004444414976492,
+                  -0.3723374693638738
+                ],
+                "target_mouth_xy": [
+                  0.2986515122672554,
+                  -0.373473853506149
+                ],
+                "gripper_position": [
+                  0.3004358128089041,
+                  -0.3723401209048166,
+                  1.002434131974648
+                ],
+                "rod_tip_xy_dist": 0.0021227256403065975,
+                "target_xy_drift": 1.8580955516487665e-07,
+                "depth": 0.018682427025628168,
+                "bottom_clearance": 0.08075813398268561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017842400028008076,
+                  0.0011337598657917836
+                ],
+                "rod_tip_xy": [
+                  0.3004358128089042,
+                  -0.3723401209048167
+                ],
+                "target_mouth_xy": [
+                  0.2986515728061034,
+                  -0.3734738807706085
+                ],
+                "gripper_position": [
+                  0.3004269881689339,
+                  -0.372343140765677,
+                  1.0022907534412528
+                ],
+                "rod_tip_xy_dist": 0.0021139829282363727,
+                "target_xy_drift": 1.28555760725751e-07,
+                "depth": 0.018825711726165317,
+                "bottom_clearance": 0.0806148336271647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017754143070181083,
+                  0.0011307742468865678
+                ],
+                "rod_tip_xy": [
+                  0.300426988168934,
+                  -0.3723431407656771
+                ],
+                "target_mouth_xy": [
+                  0.2986515738619159,
+                  -0.37347391501256366
+                ],
+                "gripper_position": [
+                  0.30041828204284704,
+                  -0.3723458493970027,
+                  1.0021475722869562
+                ],
+                "rod_tip_xy_dist": 0.0021049338134455616,
+                "target_xy_drift": 1.3933919543537514e-07,
+                "depth": 0.018969114925634578,
+                "bottom_clearance": 0.08047150126584723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017667095818712508,
+                  0.001128002217272439
+                ],
+                "rod_tip_xy": [
+                  0.30041828204284715,
+                  -0.37234584939700277
+                ],
+                "target_mouth_xy": [
+                  0.2986515724609759,
+                  -0.3734738516142752
+                ],
+                "gripper_position": [
+                  0.3004096093833975,
+                  -0.37234875189707406,
+                  1.002004369346872
+                ],
+                "rod_tip_xy_dist": 0.0020961039451437586,
+                "target_xy_drift": 1.2560881466224282e-07,
+                "depth": 0.01911227099056423,
+                "bottom_clearance": 0.08032826541049531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017580061594809626,
+                  0.001125100341482721
+                ],
+                "rod_tip_xy": [
+                  0.3004096093833976,
+                  -0.37234875189707417
+                ],
+                "target_mouth_xy": [
+                  0.29865160322391665,
+                  -0.3734738522385569
+                ],
+                "gripper_position": [
+                  0.3004009073346432,
+                  -0.3723513346530282,
+                  1.001860939917421
+                ],
+                "rod_tip_xy_dist": 0.0020872078083357054,
+                "target_xy_drift": 9.484637161497378e-08,
+                "depth": 0.01925544964993675,
+                "bottom_clearance": 0.08018505950836585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00174927391605334,
+                  0.0011225467490006968
+                ],
+                "rod_tip_xy": [
+                  0.3004009073346433,
+                  -0.3723513346530283
+                ],
+                "target_mouth_xy": [
+                  0.29865163341858997,
+                  -0.373473881402029
+                ],
+                "gripper_position": [
+                  0.30042238340215055,
+                  -0.3724359136011517,
+                  1.0013367921756775
+                ],
+                "rod_tip_xy_dist": 0.0020784779135407288,
+                "target_xy_drift": 7.107956356727344e-08,
+                "depth": 0.019398893572562748,
+                "bottom_clearance": 0.08004165373791283,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006069405040581571,
+              "rod_tip_xy_max_step": 3.294888234695386e-05,
+              "rod_tip_xy_range": 0.0006069349045090336,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.30008079422455375,
+            -0.3738158794936059,
+            1.043348853227581
+          ],
+          "object_origin_world": [
+            0.30008079422455375,
+            -0.3738158794936059,
+            1.043348853227581
+          ],
+          "frame_world": [
+            0.3000793219000637,
+            -0.37382423899719747,
+            1.0432191629833367
+          ],
+          "center_minus_frame": [
+            1.4723244900483046e-06,
+            8.359503591570672e-06,
+            0.00012969024424425157
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27937549236479864,
+              0.1445699209576261,
+              0.8337060600812259
+            ],
+            "target_position": [
+              0.2870196187875778,
+              0.1924225300809979,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04845931147552178,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17129535656885078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337060600812259,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567646402968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13955919123254543,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bbb9666b4dd68f46bd25fd261d18996b88c552f973966d29f444c5bfd834ceda",
+    "visual_seed": 3085738020273038490,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd4903b795eb5c6feee6804f505992ea40fcc67
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_25_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3284365701459911,
+              -0.03315130578139523,
+              1.1642125436226318
+            ],
+            "current_z": 1.1642125436226318,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30310609521251075,
+            "gripper_z": 1.1552671299300674,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32390432545757275,
+              -0.03786047535561364,
+              1.1552671299300674
+            ],
+            "object_minus_gripper": [
+              0.004532244688418341,
+              0.004709169574218408,
+              0.008945413692564408
+            ],
+            "object_to_gripper_xy": 0.006535864135249496,
+            "object_to_gripper_z": 0.008945413692564408,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3284365701459911,
+              -0.056735603738814915,
+              1.1642125436226318
+            ],
+            "finger_b": [
+              0.317481797711454,
+              -0.03315130578139523,
+              1.1642125436226318
+            ],
+            "finger_midpoint": [
+              0.3229591839287226,
+              -0.04494345476010507,
+              1.1642125436226318
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054773862172685095,
+              0.011792148978709838,
+              0.0
+            ],
+            "finger_gap": 0.026004348660115358,
+            "fingertip_max_gap": 0.09157924297498235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013002174330057665,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642125436226318,
+            "object_top_z": 1.2140348997131427,
+            "finger_top_clearance": 0.04982235609051089,
+            "fingertip_min_top_clearance": 0.014946706827153267,
+            "object_projection_between_fingers": 0.8225341637144208,
+            "object_to_finger_line_xy": 0.009935285075919478,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828962148749118,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5613152293174797,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29521450955395795,
+              -0.3715996785300148,
+              0.8515395552792607
+            ],
+            "target_position": [
+              0.28655036738803563,
+              -0.3729894440117119,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008774896441863566,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18571870507996083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395552792607,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527019866099795,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852259245559213,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15442235027642284,
+            "release_required_pad_clearance": 0.052612962277960654,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.28803530494647284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008168935775756836,
+            "max_z_decrease": 0.008168935775756836,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502736433149795,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008168935775756836,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093736063538527,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008168935775756836,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008169030601216312,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1422502994537353,
+              -0.42925089597702026,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1422502994537353,
+              -0.42925089597702026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14361394433217267,
+              -0.42979611297016806,
+              0.8036370879593411
+            ],
+            "closest_button": [
+              0.14227764308452606,
+              -0.42922258377075195,
+              0.7686399221420288
+            ],
+            "closest_ee_minus_button": [
+              0.0013363012476466096,
+              -0.0005735291994161118,
+              0.03499716581731227
+            ],
+            "button_min_z_position": [
+              0.14227764308452606,
+              -0.42922258377075195,
+              0.7686399221420288
+            ],
+            "min_active_finger_to_button": 0.14436740835704695,
+            "closest_active_finger": [
+              0.0027299895882606506,
+              -0.4151039719581604,
+              0.8105573654174805
+            ],
+            "closest_active_finger_button": [
+              0.14224952459335327,
+              -0.4292507767677307,
+              0.7762628197669983
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13951953500509262,
+              0.014146804809570312,
+              0.03429454565048218
+            ],
+            "min_contact_pad_to_button": 0.02093736063538527,
+            "closest_contact_pad": [
+              0.14227764308452606,
+              -0.430851801067628,
+              0.7895137986716948
+            ],
+            "closest_contact_pad_button": [
+              0.14227764308452606,
+              -0.42922258377075195,
+              0.7686399221420288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016292172968760399,
+              0.02087387652966599
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.29646142672501347,
+              0.1916040585092669,
+              1.1076652897432813
+            ],
+            "current_z": 1.1076652897432813,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1977561600089187,
+            "gripper_z": 1.1076655098779553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.29646139274214567,
+              0.19160410113161758,
+              1.1076655098779553
+            ],
+            "object_minus_gripper": [
+              3.3982867797544e-08,
+              -4.262235067664655e-08,
+              -2.2013467404491394e-07
+            ],
+            "object_to_gripper_xy": 5.45114674261149e-08,
+            "object_to_gripper_z": -2.2013467404491394e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29646142672501347,
+              0.1916040585092669,
+              1.1076652897432813
+            ],
+            "finger_b": [
+              0.29646142672501347,
+              0.1916040585092669,
+              1.1076652897432813
+            ],
+            "finger_midpoint": [
+              0.29646142672501347,
+              0.1916040585092669,
+              1.1076652897432813
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1076652897432813,
+            "object_top_z": 1.232673796363561,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2964614267250135,
+            0.19160405850926693,
+            1.1076652897432815
+          ],
+          "object_origin_world": [
+            0.2964614267250135,
+            0.19160405850926693,
+            1.1076652897432815
+          ],
+          "frame_world": [
+            0.29646139274214567,
+            0.19160410113161758,
+            1.1076655098779553
+          ],
+          "center_minus_frame": [
+            3.3982867853055154e-08,
+            -4.262235064889097e-08,
+            -2.2013467382286933e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436320405299029,
+            "required_z": 0.9112599552321515,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017086867255777709,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.900130436703441e-08,
+            "max_target_xy_drift": 1.5696926487527412e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.28530505157085295,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.2853050519936927,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2948456480717398,
+              -0.3699296594729842,
+              0.9233377357462077
+            ],
+            "target_mouth_xy": [
+              0.2952140959735357,
+              -0.371600255523886
+            ],
+            "rod_tip_z": 0.9233377357462077,
+            "rod_tip_depth": -0.02207788594842286,
+            "rod_tip_bottom_clearance": 0.12151845526063376,
+            "rod_tip_xy_dist": 0.0017107439965192107,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04518992564896063,
+            "min_rod_tip_bottom_clearance": 0.05425061655909358,
+            "min_rod_tip_xy_dist": 0.0005201285604645098,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2952141272329692,
+              -0.37160019400943384
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.1259433486141575e-08,
+              -6.151445214319651e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.00017963437910545332,
+                0.003399945965085416
+              ],
+              "last_rod_tip_xy_delta": [
+                7.479253113112927e-05,
+                0.0030307291697256877
+              ],
+              "first_target_mouth_xy": [
+                0.2952141270696887,
+                -0.37160025805806296
+              ],
+              "last_target_mouth_xy": [
+                0.29521409558975203,
+                -0.371600255528274
+              ],
+              "first_rod_tip_xy": [
+                0.29539376144879415,
+                -0.36820031209297754
+              ],
+              "last_rod_tip_xy": [
+                0.29528888812088316,
+                -0.36856952635854834
+              ],
+              "min_rod_tip_xy_dist": 0.0030316518967287713,
+              "max_rod_tip_xy_dist": 0.0034046881025517153,
+              "first_target_xy_drift": 6.404883724941736e-08,
+              "last_target_xy_drift": 6.917991681294854e-08,
+              "max_depth": 0.019833459711878443,
+              "min_bottom_clearance": 0.07960709698155799
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00017963437910545332,
+                  0.003399945965085416
+                ],
+                "rod_tip_xy": [
+                  0.29539376144879415,
+                  -0.36820031209297754
+                ],
+                "target_mouth_xy": [
+                  0.2952141270696887,
+                  -0.37160025805806296
+                ],
+                "gripper_position": [
+                  0.29538281661621296,
+                  -0.36820926965413914,
+                  1.0055796409345852
+                ],
+                "rod_tip_xy_dist": 0.0034046881025517153,
+                "target_xy_drift": 6.404883724941736e-08,
+                "depth": 0.015520773442052938,
+                "bottom_clearance": 0.08391979009605499,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00016872134785644866,
+                  0.003390956071597173
+                ],
+                "rod_tip_xy": [
+                  0.2953828166162128,
+                  -0.36820926965413925
+                ],
+                "target_mouth_xy": [
+                  0.29521409526835635,
+                  -0.3716002257257364
+                ],
+                "gripper_position": [
+                  0.2953744525118144,
+                  -0.36821242239200663,
+                  1.0054397055510462
+                ],
+                "rod_tip_xy_dist": 0.0033951509499172833,
+                "target_xy_drift": 4.502954945341916e-08,
+                "depth": 0.015680216715090012,
+                "bottom_clearance": 0.08376035241163926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00016032701521939696,
+                  0.003387868645739922
+                ],
+                "rod_tip_xy": [
+                  0.2953744525118142,
+                  -0.3682124223920068
+                ],
+                "target_mouth_xy": [
+                  0.2952141254965948,
+                  -0.3716002910377467
+                ],
+                "gripper_position": [
+                  0.29538144801038324,
+                  -0.36828420928490047,
+                  1.0049050927648613
+                ],
+                "rod_tip_xy_dist": 0.003391660170564972,
+                "target_xy_drift": 9.704384832202206e-08,
+                "depth": 0.015820170783372722,
+                "bottom_clearance": 0.0836204446690052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00016732248259149207,
+                  0.003316012653583389
+                ],
+                "rod_tip_xy": [
+                  0.295381448010383,
+                  -0.3682842092849006
+                ],
+                "target_mouth_xy": [
+                  0.2952141255277915,
+                  -0.37160022193848397
+                ],
+                "gripper_position": [
+                  0.2953705076396892,
+                  -0.36829324591065005,
+                  1.0047454174050856
+                ],
+                "rod_tip_xy_dist": 0.0033202314274619065,
+                "target_xy_drift": 2.7981055590042978e-08,
+                "depth": 0.016354823114125616,
+                "bottom_clearance": 0.0830858731956502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0001563822064102327,
+                  0.0033070768417550744
+                ],
+                "rod_tip_xy": [
+                  0.295370507639689,
+                  -0.36829324591065016
+                ],
+                "target_mouth_xy": [
+                  0.29521412543327874,
+                  -0.37160032275240523
+                ],
+                "gripper_position": [
+                  0.2953620748305231,
+                  -0.3682959702838382,
+                  1.0046057522409682
+                ],
+                "rod_tip_xy_dist": 0.0033107722107922873,
+                "target_xy_drift": 1.287555496639859e-07,
+                "depth": 0.016514552934968063,
+                "bottom_clearance": 0.08292612967821855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00014797773502545075,
+                  0.0033042820908619763
+                ],
+                "rod_tip_xy": [
+                  0.2953620748305229,
+                  -0.3682959702838383
+                ],
+                "target_mouth_xy": [
+                  0.29521409709549745,
+                  -0.3716002523747003
+                ],
+                "gripper_position": [
+                  0.29536980519094436,
+                  -0.3683683373871841,
+                  1.0040740993822568
+                ],
+                "rod_tip_xy_dist": 0.003307593920972533,
+                "target_xy_drift": 6.568692054782872e-08,
+                "depth": 0.01665416303942191,
+                "bottom_clearance": 0.08278656287104624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00015567906427887968,
+                  0.0032319517439229895
+                ],
+                "rod_tip_xy": [
+                  0.29536980519094413,
+                  -0.3683683373871842
+                ],
+                "target_mouth_xy": [
+                  0.29521412612666525,
+                  -0.3716002891311072
+                ],
+                "gripper_position": [
+                  0.2953586923586792,
+                  -0.36837741451537914,
+                  1.0039146853587695
+                ],
+                "rod_tip_xy_dist": 0.003235699004249561,
+                "target_xy_drift": 9.512810653726182e-08,
+                "depth": 0.01718580774388212,
+                "bottom_clearance": 0.082254764493075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00014459546750744678,
+                  0.003222870495362684
+                ],
+                "rod_tip_xy": [
+                  0.295358692358679,
+                  -0.3683774145153792
+                ],
+                "target_mouth_xy": [
+                  0.29521409689117156,
+                  -0.3716002850107419
+                ],
+                "gripper_position": [
+                  0.2953501754962544,
+                  -0.36838006669248186,
+                  1.0037748040262051
+                ],
+                "rod_tip_xy_dist": 0.003226112533546065,
+                "target_xy_drift": 9.59263402264968e-08,
+                "depth": 0.01734517735032648,
+                "bottom_clearance": 0.08209543849576673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00013604748985179826,
+                  0.0032201891477751654
+                ],
+                "rod_tip_xy": [
+                  0.2953501754962542,
+                  -0.3683800666924819
+                ],
+                "target_mouth_xy": [
+                  0.2952141280064024,
+                  -0.3716002558402571
+                ],
+                "gripper_position": [
+                  0.2953414817264791,
+                  -0.36838286630726375,
+                  1.0036352772765804
+                ],
+                "rod_tip_xy_dist": 0.0032230617535107704,
+                "target_xy_drift": 6.183566043441219e-08,
+                "depth": 0.017485176952673154,
+                "bottom_clearance": 0.08195546652570318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00012738506483322976,
+                  0.0032174488243216226
+                ],
+                "rod_tip_xy": [
+                  0.2953414817264789,
+                  -0.3683828663072638
+                ],
+                "target_mouth_xy": [
+                  0.29521409666164566,
+                  -0.3716003151315854
+                ],
+                "gripper_position": [
+                  0.295350853470936,
+                  -0.36845725317410843,
+                  1.0031066292580446
+                ],
+                "rod_tip_xy_dist": 0.0032199695482832066,
+                "target_xy_drift": 1.2492070055496332e-07,
+                "depth": 0.017624577900374194,
+                "bottom_clearance": 0.08181601767408575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00013672765115996244,
+                  0.0031430017193088133
+                ],
+                "rod_tip_xy": [
+                  0.29535085347093576,
+                  -0.3684572531741086
+                ],
+                "target_mouth_xy": [
+                  0.2952141258197758,
+                  -0.3716002548934174
+                ],
+                "gripper_position": [
+                  0.29533961773462747,
+                  -0.368466237019542,
+                  1.002947389758205
+                ],
+                "rod_tip_xy_dist": 0.003145974293946134,
+                "target_xy_drift": 6.090038236146176e-08,
+                "depth": 0.018153291809858252,
+                "bottom_clearance": 0.08128730189357858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00012552253945702363,
+                  0.0031340473661610746
+                ],
+                "rod_tip_xy": [
+                  0.29533961773462725,
+                  -0.36846623701954206
+                ],
+                "target_mouth_xy": [
+                  0.2952140951951702,
+                  -0.37160028438570314
+                ],
+                "gripper_position": [
+                  0.2953307938965696,
+                  -0.3684688264536918,
+                  1.002807736167929
+                ],
+                "rod_tip_xy_dist": 0.003136560026725602,
+                "target_xy_drift": 9.588686362417456e-08,
+                "depth": 0.018312486912854253,
+                "bottom_clearance": 0.08112811871365044,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00011666792895775879,
+                  0.0031314610936142295
+                ],
+                "rod_tip_xy": [
+                  0.29533079389656935,
+                  -0.36846882645369183
+                ],
+                "target_mouth_xy": [
+                  0.2952141259676116,
+                  -0.37160028754730606
+                ],
+                "gripper_position": [
+                  0.29532215242931537,
+                  -0.3684713760359494,
+                  1.0026679863901058
+                ],
+                "rod_tip_xy_dist": 0.0031336336713896407,
+                "target_xy_drift": 9.3546430558999e-08,
+                "depth": 0.018452081869403725,
+                "bottom_clearance": 0.08098842799319972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00010802435138018707,
+                  0.0031288484223011004
+                ],
+                "rod_tip_xy": [
+                  0.29532215242931514,
+                  -0.3684713760359495
+                ],
+                "target_mouth_xy": [
+                  0.29521412807793496,
+                  -0.3716002244582506
+                ],
+                "gripper_position": [
+                  0.29531330826186725,
+                  -0.36847386676618665,
+                  1.0025282581579107
+                ],
+                "rod_tip_xy_dist": 0.003130712652133248,
+                "target_xy_drift": 3.0460538543469695e-08,
+                "depth": 0.018591963917454324,
+                "bottom_clearance": 0.08084873921659397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  9.921071230883927e-05,
+                  0.0031264210953281246
+                ],
+                "rod_tip_xy": [
+                  0.2953133082618671,
+                  -0.36847386676618676
+                ],
+                "target_mouth_xy": [
+                  0.29521409754955824,
+                  -0.3716002878615149
+                ],
+                "gripper_position": [
+                  0.2953047497544642,
+                  -0.3684762357616009,
+                  1.0023884278402677
+                ],
+                "rod_tip_xy_dist": 0.003127994825882795,
+                "target_xy_drift": 9.843433345813743e-08,
+                "depth": 0.01873163620853935,
+                "bottom_clearance": 0.08070893825770831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  9.065304543220964e-05,
+                  0.003124049885142921
+                ],
+                "rod_tip_xy": [
+                  0.29530474975446397,
+                  -0.36847623576160105
+                ],
+                "target_mouth_xy": [
+                  0.29521409670903176,
+                  -0.37160028564674397
+                ],
+                "gripper_position": [
+                  0.2952958526824456,
+                  -0.36847879145331197,
+                  1.0022489517520932
+                ],
+                "rod_tip_xy_dist": 0.0031253648842187423,
+                "target_xy_drift": 9.658730436292234e-08,
+                "depth": 0.018871422014443362,
+                "bottom_clearance": 0.08056916394759395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  8.172500921138637e-05,
+                  0.003121497042669341
+                ],
+                "rod_tip_xy": [
+                  0.2952958526824454,
+                  -0.3684787914533121
+                ],
+                "target_mouth_xy": [
+                  0.295214127673234,
+                  -0.3716002884959814
+                ],
+                "gripper_position": [
+                  0.2953091087304498,
+                  -0.368558512994955,
+                  1.0017247794385133
+                ],
+                "rod_tip_xy_dist": 0.0031225666949681063,
+                "target_xy_drift": 9.448757329852521e-08,
+                "depth": 0.01901095649212936,
+                "bottom_clearance": 0.0804296528991505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  9.501266353717508e-05,
+                  0.003041742848382434
+                ],
+                "rod_tip_xy": [
+                  0.29530910873044963,
+                  -0.3685585129949551
+                ],
+                "target_mouth_xy": [
+                  0.29521409606691246,
+                  -0.37160025584333756
+                ],
+                "gripper_position": [
+                  0.2952976423150237,
+                  -0.36856744955261384,
+                  1.0015653167484175
+                ],
+                "rod_tip_xy_dist": 0.003043226406614879,
+                "target_xy_drift": 6.924416756394959e-08,
+                "depth": 0.01953506536395755,
+                "bottom_clearance": 0.07990549602570807,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  8.351512763971058e-05,
+                  0.0030328386240583427
+                ],
+                "rod_tip_xy": [
+                  0.2952976423150235,
+                  -0.3685674495526139
+                ],
+                "target_mouth_xy": [
+                  0.29521412718738377,
+                  -0.37160028817667223
+                ],
+                "gripper_position": [
+                  0.29528888812088333,
+                  -0.3685695263585483,
+                  1.0014263881003926
+                ],
+                "rod_tip_xy_dist": 0.0030339882821337296,
+                "target_xy_drift": 9.416724942956178e-08,
+                "depth": 0.019694581912240827,
+                "bottom_clearance": 0.07974599740065258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  7.479253113112927e-05,
+                  0.0030307291697256877
+                ],
+                "rod_tip_xy": [
+                  0.29528888812088316,
+                  -0.36856952635854834
+                ],
+                "target_mouth_xy": [
+                  0.29521409558975203,
+                  -0.371600255528274
+                ],
+                "gripper_position": [
+                  0.29530199714915106,
+                  -0.3686421206919386,
+                  1.0008178691657126
+                ],
+                "rod_tip_xy_dist": 0.0030316518967287713,
+                "target_xy_drift": 6.917991681294854e-08,
+                "depth": 0.019833459711878443,
+                "bottom_clearance": 0.07960709698155799,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006058952217220561,
+              "rod_tip_xy_max_step": 3.2867159000556023e-05,
+              "rod_tip_xy_range": 0.0006058887535654345,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29484564807173985,
+            -0.3699296594729841,
+            1.0433377357462077
+          ],
+          "object_origin_world": [
+            0.29484564807173985,
+            -0.3699296594729841,
+            1.0433377357462077
+          ],
+          "frame_world": [
+            0.29487013462229383,
+            -0.3699265467932469,
+            1.0436320405299029
+          ],
+          "center_minus_frame": [
+            -2.4486550553981523e-05,
+            -3.1126797372382775e-06,
+            -0.0002943047836951873
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27870480280327703,
+              0.14647481839091306,
+              0.8327284227508293
+            ],
+            "target_position": [
+              0.2882999764015386,
+              0.19356567735847247,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048058468085066405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1687975108535437,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327284227508293,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670575570799,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1382892260038883,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dafe370fe5ce2eff1c3e2e02c0a3b542b8133b2254391b6ecff8eced31abfb96",
+    "visual_seed": 8255018519259808213,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f64d41edfe5249865c8eb6b07ac5bb132139b347
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_26_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3281006026922856,
+              -0.02939890222581154,
+              1.1647426304384378
+            ],
+            "current_z": 1.1647426304384378,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30363618202831677,
+            "gripper_z": 1.155863324382895,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32349080165522714,
+              -0.033956395665098074,
+              1.155863324382895
+            ],
+            "object_minus_gripper": [
+              0.004609801037058436,
+              0.0045574934392865335,
+              0.008879306055542768
+            ],
+            "object_to_gripper_xy": 0.006482361610586441,
+            "object_to_gripper_z": 0.008879306055542768,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3281006026922856,
+              -0.053431168142212916,
+              1.1647426304384378
+            ],
+            "finger_b": [
+              0.3178883542176023,
+              -0.02939890222581154,
+              1.1647426304384378
+            ],
+            "finger_midpoint": [
+              0.32299447845494395,
+              -0.041415035184012225,
+              1.1647426304384378
+            ],
+            "object_minus_finger_midpoint": [
+              0.005106124237341636,
+              0.012016132958200684,
+              0.0
+            ],
+            "finger_gap": 0.0261120628060155,
+            "fingertip_max_gap": 0.09237162135075652,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013056031403007746,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647426304384378,
+            "object_top_z": 1.2146612152374274,
+            "finger_top_clearance": 0.049918584798989585,
+            "fingertip_min_top_clearance": 0.014975575439696874,
+            "object_projection_between_fingers": 0.8470461606376932,
+            "object_to_finger_line_xy": 0.009398854191305568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868581067537826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1939493872546185,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2919064460430231,
+              -0.37168131857770514,
+              0.8515395339816293
+            ],
+            "target_position": [
+              0.2856117404215168,
+              -0.3720669112529608,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006306504624007968,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852988628302824,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395339816293,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575583511743823,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08869088241563026,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526330032326712,
+            "release_required_pad_clearance": 0.054345441207815134,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7135560825884495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008026838302612305,
+            "max_z_decrease": 0.008026838302612305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513998421845887,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008026838302612305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021100150315680067,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008026838302612305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008026867135814478,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14131166040897364,
+              -0.4283283650875092,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14131166040897364,
+              -0.4283283650875092,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14129186650184777,
+              -0.42873580869296735,
+              0.8082597178716164
+            ],
+            "closest_button": [
+              0.14130219817161555,
+              -0.4283305406570435,
+              0.7731220722198486
+            ],
+            "closest_ee_minus_button": [
+              -1.0331669767771334e-05,
+              -0.00040526803592383365,
+              0.0351376456517678
+            ],
+            "button_min_z_position": [
+              0.14129033684730524,
+              -0.42832550406455994,
+              0.7687820196151733
+            ],
+            "min_active_finger_to_button": 0.14611669821939088,
+            "closest_active_finger": [
+              0.00037379562854766846,
+              -0.41053879261016846,
+              0.8106956481933594
+            ],
+            "closest_active_finger_button": [
+              0.14131130278110499,
+              -0.4283286929130554,
+              0.7764870524406433
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14093750715255732,
+              0.017789900302886963,
+              0.034208595752716064
+            ],
+            "min_contact_pad_to_button": 0.021100150315680067,
+            "closest_contact_pad": [
+              0.14129033684730524,
+              -0.4300388358430961,
+              0.7898124936364823
+            ],
+            "closest_contact_pad_button": [
+              0.14129033684730524,
+              -0.42832550406455994,
+              0.7687820196151733
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017133317785361646,
+              0.021030474021308976
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2863736900196233,
+              0.191467709710094,
+              1.1023585034389196
+            ],
+            "current_z": 1.1023585034389196,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19244937370455706,
+            "gripper_z": 1.1023586226482092,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2863736751184621,
+              0.19146773951241636,
+              1.1023586226482092
+            ],
+            "object_minus_gripper": [
+              1.4901161193847656e-08,
+              -2.9802322359939737e-08,
+              -1.1920928955078125e-07
+            ],
+            "object_to_gripper_xy": 3.332000934829994e-08,
+            "object_to_gripper_z": -1.1920928955078125e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2863736900196233,
+              0.191467709710094,
+              1.1023585034389196
+            ],
+            "finger_b": [
+              0.2863736900196233,
+              0.191467709710094,
+              1.1023585034389196
+            ],
+            "finger_midpoint": [
+              0.2863736900196233,
+              0.191467709710094,
+              1.1023585034389196
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023585034389196,
+            "object_top_z": 1.2273670100591993,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2863736900196233,
+            0.191467709710094,
+            1.1023585034389196
+          ],
+          "object_origin_world": [
+            0.2863736900196233,
+            0.191467709710094,
+            1.1023585034389196
+          ],
+          "frame_world": [
+            0.2863736751184621,
+            0.19146773951241636,
+            1.1023586226482092
+          ],
+          "center_minus_frame": [
+            1.4901161193847656e-08,
+            -2.9802322359939737e-08,
+            -1.1920928955078125e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436622693052073,
+            "required_z": 0.9112598284327813,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0025776732675284403,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.894212823939214e-08,
+            "max_target_xy_drift": 2.0530156058606523e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.7133452774815887,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.713556083846168,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28946556993907224,
+              -0.3725803667868503,
+              0.9233677394092529
+            ],
+            "target_mouth_xy": [
+              0.29190641754473634,
+              -0.37168138873010137
+            ],
+            "rod_tip_z": 0.9233677394092529,
+            "rod_tip_depth": -0.022107925172838327,
+            "rod_tip_bottom_clearance": 0.12154841262781468,
+            "rod_tip_xy_dist": 0.0026011340950808843,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045365812828494834,
+            "min_rod_tip_bottom_clearance": 0.0540749662315827,
+            "min_rod_tip_xy_dist": 0.0013167354575447843,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2919065064868592,
+              -0.37168138876111173
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.894212283339087e-08,
+              3.1010360945771254e-11
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0018343850171912424,
+                0.0008625452070880057
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019505899549371875,
+                0.0004944092500403507
+              ],
+              "first_target_mouth_xy": [
+                0.29190647633510125,
+                -0.371681377923454
+              ],
+              "last_target_mouth_xy": [
+                0.2919064739494737,
+                -0.37168128789500254
+              ],
+              "first_rod_tip_xy": [
+                0.29007209131791,
+                -0.370818832716366
+              ],
+              "last_rod_tip_xy": [
+                0.28995588399453653,
+                -0.3711868786449622
+              ],
+              "min_rod_tip_xy_dist": 0.001979578938208522,
+              "max_rod_tip_xy_dist": 0.002039088121619114,
+              "first_target_xy_drift": 3.204033911580167e-08,
+              "last_target_xy_drift": 1.0598421313887126e-07,
+              "max_depth": 0.019577730713572383,
+              "min_bottom_clearance": 0.0798628425696114
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018343850171912424,
+                  0.0008625452070880057
+                ],
+                "rod_tip_xy": [
+                  0.29007209131791,
+                  -0.370818832716366
+                ],
+                "target_mouth_xy": [
+                  0.29190647633510125,
+                  -0.371681377923454
+                ],
+                "gripper_position": [
+                  0.2900612675765264,
+                  -0.37082809509389786,
+                  1.0058056063206187
+                ],
+                "rod_tip_xy_dist": 0.0020270551609579365,
+                "target_xy_drift": 3.204033911580167e-08,
+                "depth": 0.015296602973689732,
+                "bottom_clearance": 0.08414403270504589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018452053094275556,
+                  0.00085322393028614
+                ],
+                "rod_tip_xy": [
+                  0.2900612675765264,
+                  -0.37082809509389786
+                ],
+                "target_mouth_xy": [
+                  0.29190647288595395,
+                  -0.371681319024184
+                ],
+                "gripper_position": [
+                  0.2900530397199649,
+                  -0.37083124748598023,
+                  1.005667383632976
+                ],
+                "rod_tip_xy_dist": 0.002032922455272844,
+                "target_xy_drift": 7.740968880893744e-08,
+                "depth": 0.015454207155265576,
+                "bottom_clearance": 0.0839862846405316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018534313919107426,
+                  0.0008501014311292354
+                ],
+                "rod_tip_xy": [
+                  0.2900530397199649,
+                  -0.37083124748598023
+                ],
+                "target_mouth_xy": [
+                  0.2919064711118756,
+                  -0.37168134891710947
+                ],
+                "gripper_position": [
+                  0.2900571340584983,
+                  -0.37090290620735433,
+                  1.005134424382213
+                ],
+                "rod_tip_xy_dist": 0.002039088121619114,
+                "target_xy_drift": 5.3281647664495326e-08,
+                "depth": 0.015592478258570464,
+                "bottom_clearance": 0.08384807034717745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018493714634130187,
+                  0.0007784425667463069
+                ],
+                "rod_tip_xy": [
+                  0.2900571340584983,
+                  -0.3709029062073544
+                ],
+                "target_mouth_xy": [
+                  0.29190650552191133,
+                  -0.3716813487741007
+                ],
+                "gripper_position": [
+                  0.2900463346278101,
+                  -0.3709121003410813,
+                  1.004977466006469
+                ],
+                "rod_tip_xy_dist": 0.0020065262618288826,
+                "target_xy_drift": 3.999865217616544e-08,
+                "depth": 0.016125473605469676,
+                "bottom_clearance": 0.08331513179461969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018601371893857688,
+                  0.0007692209498237346
+                ],
+                "rod_tip_xy": [
+                  0.2900463346278101,
+                  -0.3709121003410814
+                ],
+                "target_mouth_xy": [
+                  0.29190647181719587,
+                  -0.37168132129090514
+                ],
+                "gripper_position": [
+                  0.2900381345261105,
+                  -0.3709147546069123,
+                  1.0048394268446519
+                ],
+                "rod_tip_xy_dist": 0.0020129111339012747,
+                "target_xy_drift": 7.585653782562905e-08,
+                "depth": 0.016282418308399604,
+                "bottom_clearance": 0.08315818782695783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018683399519456856,
+                  0.0007665332958085025
+                ],
+                "rod_tip_xy": [
+                  0.2900381345261105,
+                  -0.3709147546069123
+                ],
+                "target_mouth_xy": [
+                  0.2919064744780562,
+                  -0.3716812879027208
+                ],
+                "gripper_position": [
+                  0.29004305179000567,
+                  -0.370987328739944,
+                  1.004308632438888
+                ],
+                "rod_tip_xy_dist": 0.0020194720769595833,
+                "target_xy_drift": 1.0581577617550592e-07,
+                "depth": 0.016420477508401143,
+                "bottom_clearance": 0.08302011455542146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018634520035131774,
+                  0.0006939912001859283
+                ],
+                "rod_tip_xy": [
+                  0.29004305179000567,
+                  -0.37098732873994406
+                ],
+                "target_mouth_xy": [
+                  0.29190650379351885,
+                  -0.37168131994013
+                ],
+                "gripper_position": [
+                  0.29003201799350675,
+                  -0.3709965756453964,
+                  1.0041517228137204
+                ],
+                "rod_tip_xy_dist": 0.001988486146628329,
+                "target_xy_drift": 6.887366413015812e-08,
+                "depth": 0.016951147351933815,
+                "bottom_clearance": 0.08248941979728108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018744878336884874,
+                  0.0006847122105707593
+                ],
+                "rod_tip_xy": [
+                  0.29003201799350675,
+                  -0.3709965756453965
+                ],
+                "target_mouth_xy": [
+                  0.29190650582719524,
+                  -0.37168128785596727
+                ],
+                "gripper_position": [
+                  0.29002354180740453,
+                  -0.37099914614977025,
+                  1.00401355434417
+                ],
+                "rod_tip_xy_dist": 0.001995629086265996,
+                "target_xy_drift": 1.0090730070443935e-07,
+                "depth": 0.017108192919429666,
+                "bottom_clearance": 0.08233245675276568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018829293544837533,
+                  0.0006822030848228633
+                ],
+                "rod_tip_xy": [
+                  0.29002354180740453,
+                  -0.3709991461497703
+                ],
+                "target_mouth_xy": [
+                  0.2919064711618883,
+                  -0.3716813492345932
+                ],
+                "gripper_position": [
+                  0.2900150725081717,
+                  -0.37100189161858,
+                  1.003875527222929
+                ],
+                "rod_tip_xy_dist": 0.0020027041725922566,
+                "target_xy_drift": 5.30113123579718e-08,
+                "depth": 0.01724631236796237,
+                "bottom_clearance": 0.08219424654013896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018914315494479306,
+                  0.0006794267191016501
+                ],
+                "rod_tip_xy": [
+                  0.2900150725081717,
+                  -0.37100189161858005
+                ],
+                "target_mouth_xy": [
+                  0.29190650405761964,
+                  -0.3716813183376817
+                ],
+                "gripper_position": [
+                  0.29002152142669224,
+                  -0.37107666407363477,
+                  1.003346789313373
+                ],
+                "rod_tip_xy_dist": 0.002009759680378784,
+                "target_xy_drift": 7.046531559686846e-08,
+                "depth": 0.017384364013111386,
+                "bottom_clearance": 0.08205619588475244,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018849832017937551,
+                  0.0006046247609502453
+                ],
+                "rod_tip_xy": [
+                  0.29002152142669224,
+                  -0.37107666407363477
+                ],
+                "target_mouth_xy": [
+                  0.291906504628486,
+                  -0.371681288834585
+                ],
+                "gripper_position": [
+                  0.290010397621969,
+                  -0.3710856193743954,
+                  1.0031899909400879
+                ],
+                "rod_tip_xy_dist": 0.001979578938208522,
+                "target_xy_drift": 9.99438056768025e-08,
+                "depth": 0.017913040713568362,
+                "bottom_clearance": 0.0815275283744974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018960778197226746,
+                  0.0005957011596381401
+                ],
+                "rod_tip_xy": [
+                  0.290010397621969,
+                  -0.3710856193743954
+                ],
+                "target_mouth_xy": [
+                  0.2919064754416917,
+                  -0.3716813205340335
+                ],
+                "gripper_position": [
+                  0.29000188874147276,
+                  -0.37108809455133296,
+                  1.0030522329537142
+                ],
+                "rod_tip_xy_dist": 0.0019874533881423526,
+                "target_xy_drift": 7.495823254055414e-08,
+                "depth": 0.01806987194463383,
+                "bottom_clearance": 0.08137077393041003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019045848354982131,
+                  0.0005932235152493193
+                ],
+                "rod_tip_xy": [
+                  0.29000188874147276,
+                  -0.3710880945513329
+                ],
+                "target_mouth_xy": [
+                  0.29190647357697097,
+                  -0.3716813180665822
+                ],
+                "gripper_position": [
+                  0.28999334213198225,
+                  -0.37109053231728156,
+                  1.0029139078029483
+                ],
+                "rod_tip_xy_dist": 0.0019948327084381074,
+                "target_xy_drift": 7.797933857082353e-08,
+                "depth": 0.018207539431551623,
+                "bottom_clearance": 0.08123300632702513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001913165057377264,
+                  0.000590754544916916
+                ],
+                "rod_tip_xy": [
+                  0.28999334213198225,
+                  -0.37109053231728156
+                ],
+                "target_mouth_xy": [
+                  0.2919065071893595,
+                  -0.3716812868621985
+                ],
+                "gripper_position": [
+                  0.2899848562476827,
+                  -0.37109306741754644,
+                  1.0027761937876507
+                ],
+                "rod_tip_xy_dist": 0.002002296548743303,
+                "target_xy_drift": 1.0190133477343416e-07,
+                "depth": 0.018346035425917395,
+                "bottom_clearance": 0.08109470131632757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0019216172158154632,
+                  0.0005882519316563473
+                ],
+                "rod_tip_xy": [
+                  0.2899848562476827,
+                  -0.3710930674175465
+                ],
+                "target_mouth_xy": [
+                  0.2919064734634982,
+                  -0.37168131934920284
+                ],
+                "gripper_position": [
+                  0.2899933272908219,
+                  -0.37117085311339065,
+                  1.0022514933985305
+                ],
+                "rod_tip_xy_dist": 0.0020096400322485108,
+                "target_xy_drift": 7.686712864723514e-08,
+                "depth": 0.018483630574826493,
+                "bottom_clearance": 0.08095689550567908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019131443343735621,
+                  0.000510464710420766
+                ],
+                "rod_tip_xy": [
+                  0.2899933272908219,
+                  -0.37117085311339065
+                ],
+                "target_mouth_xy": [
+                  0.29190647162519545,
+                  -0.3716813178238114
+                ],
+                "gripper_position": [
+                  0.289982016373732,
+                  -0.37117987428748667,
+                  1.0020943788102323
+                ],
+                "rod_tip_xy_dist": 0.001980074610899957,
+                "target_xy_drift": 7.904072477524806e-08,
+                "depth": 0.019008369863337093,
+                "bottom_clearance": 0.0804321949087069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019244570766412394,
+                  0.0005014447156796442
+                ],
+                "rod_tip_xy": [
+                  0.28998201637373205,
+                  -0.3711798742874867
+                ],
+                "target_mouth_xy": [
+                  0.2919064734503733,
+                  -0.37168131900316637
+                ],
+                "gripper_position": [
+                  0.2899733088968541,
+                  -0.3711821334815291,
+                  1.0019571688976132
+                ],
+                "rod_tip_xy_dist": 0.001988713615058132,
+                "target_xy_drift": 7.718536351409588e-08,
+                "depth": 0.01916543944468163,
+                "bottom_clearance": 0.08027507463058159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0019331964463051299,
+                  0.0004991546638610789
+                ],
+                "rod_tip_xy": [
+                  0.2899733088968541,
+                  -0.3711821334815291
+                ],
+                "target_mouth_xy": [
+                  0.2919065053431592,
+                  -0.3716812881453902
+                ],
+                "gripper_position": [
+                  0.2899645532078271,
+                  -0.37118465312992355,
+                  1.0018195312767344
+                ],
+                "rod_tip_xy_dist": 0.0019965980763441225,
+                "target_xy_drift": 1.0062222154703625e-07,
+                "depth": 0.019302738234515338,
+                "bottom_clearance": 0.0801378829297471,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019419512151321872,
+                  0.0004966667665648461
+                ],
+                "rod_tip_xy": [
+                  0.2899645532078271,
+                  -0.3711846531299236
+                ],
+                "target_mouth_xy": [
+                  0.2919065044229593,
+                  -0.37168131989648845
+                ],
+                "gripper_position": [
+                  0.28995588399453653,
+                  -0.3711868786449622,
+                  1.0016820509767554
+                ],
+                "rod_tip_xy_dist": 0.0020044581310078185,
+                "target_xy_drift": 6.889554428588622e-08,
+                "depth": 0.01944037270237009,
+                "bottom_clearance": 0.08000021862131124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0019505899549371875,
+                  0.0004944092500403507
+                ],
+                "rod_tip_xy": [
+                  0.28995588399453653,
+                  -0.3711868786449622
+                ],
+                "target_mouth_xy": [
+                  0.2919064739494737,
+                  -0.37168128789500254
+                ],
+                "gripper_position": [
+                  0.2899471558423581,
+                  -0.371189200871214,
+                  1.0015442353456043
+                ],
+                "rod_tip_xy_dist": 0.002012272764519592,
+                "target_xy_drift": 1.0598421313887126e-07,
+                "depth": 0.019577730713572383,
+                "bottom_clearance": 0.0798628425696114,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006058725886693614,
+              "rod_tip_xy_max_step": 3.27635763911545e-05,
+              "rod_tip_xy_range": 0.0006058593667160292,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28946556993907224,
+            -0.3725803667868503,
+            1.043367739409253
+          ],
+          "object_origin_world": [
+            0.28946556993907224,
+            -0.3725803667868503,
+            1.043367739409253
+          ],
+          "frame_world": [
+            0.2894896969036713,
+            -0.37257797158582695,
+            1.0436622693052073
+          ],
+          "center_minus_frame": [
+            -2.412696459908048e-05,
+            -2.3952010233529997e-06,
+            -0.00029452989595424306
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.274958865219004,
+              0.1449099994903475,
+              0.8324204897856621
+            ],
+            "target_position": [
+              0.28652026468129466,
+              0.191701821267185,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04819896827445561,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16776694338508233,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324204897856621,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671516917823,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13797586449628987,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "344dc76280a81d6d556f0366f47ae552f875bd727c52627eeb791a493e561f2a",
+    "visual_seed": 2657419588619467161,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10823f4802f7b21e7ec7c51cfc30e2f711d02de3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_27_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3368337062526993,
+              -0.03917250775902362,
+              1.1660423894203427
+            ],
+            "current_z": 1.1660423894203427,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30493594101022137,
+            "gripper_z": 1.1568314639570305,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3322513768457993,
+              -0.043867773357495185,
+              1.1568314639570305
+            ],
+            "object_minus_gripper": [
+              0.00458232940690001,
+              0.004695265598471568,
+              0.009210925463312147
+            ],
+            "object_to_gripper_xy": 0.0065607363789083285,
+            "object_to_gripper_z": 0.009210925463312147,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3368337062526993,
+              -0.06282907467761695,
+              1.1660423894203427
+            ],
+            "finger_b": [
+              0.32594982910431664,
+              -0.03917250775902362,
+              1.1660423894203427
+            ],
+            "finger_midpoint": [
+              0.331391767678508,
+              -0.05100079121832028,
+              1.1660423894203427
+            ],
+            "object_minus_finger_midpoint": [
+              0.005441938574191341,
+              0.011828283459296665,
+              0.0
+            ],
+            "finger_gap": 0.02604019854292534,
+            "fingertip_max_gap": 0.09179437098337165,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01302009927146267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660423894203427,
+            "object_top_z": 1.2159171609646364,
+            "finger_top_clearance": 0.04987477154429376,
+            "fingertip_min_top_clearance": 0.014962431463288161,
+            "object_projection_between_fingers": 0.8253057221797768,
+            "object_to_finger_line_xy": 0.009887603877905738,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048397185491685826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7069632710577494,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29902008051416706,
+              -0.3698177350100509,
+              0.8515395566346631
+            ],
+            "target_position": [
+              0.2917219632820078,
+              -0.3709967352292947,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007392736749764413,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18483485909999425,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395566346631,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571976681562857,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709073951776379,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15243039781325113,
+            "release_required_pad_clearance": 0.0535453697588819,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1021766450225523,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008259236812591553,
+            "max_z_decrease": 0.008259236812591553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000801840152695,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008259236812591553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020896826461433555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008259236812591553,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008259372008347728,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14742189645767206,
+              -0.42725819349288935,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14742189645767206,
+              -0.42725819349288935,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1481834679094212,
+              -0.4274908826462919,
+              0.8036111853716484
+            ],
+            "closest_button": [
+              0.14746169745922083,
+              -0.42723491787910456,
+              0.7686187624931335
+            ],
+            "closest_ee_minus_button": [
+              0.0007217704502003597,
+              -0.0002559647671873666,
+              0.034992422878514895
+            ],
+            "button_min_z_position": [
+              0.14746214449405667,
+              -0.42723342776298523,
+              0.7685496211051941
+            ],
+            "min_active_finger_to_button": 0.1449566898447679,
+            "closest_active_finger": [
+              0.007271483540534973,
+              -0.41323044896125793,
+              0.8110393285751343
+            ],
+            "closest_active_finger_button": [
+              0.147423967719078,
+              -0.4272568821907043,
+              0.7767904996871948
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14015248417854304,
+              0.014026433229446356,
+              0.03424882888793945
+            ],
+            "min_contact_pad_to_button": 0.020896826461433555,
+            "closest_contact_pad": [
+              0.14746214449405667,
+              -0.4285065113794003,
+              0.789407631898769
+            ],
+            "closest_contact_pad_button": [
+              0.14746214449405667,
+              -0.42723342776298523,
+              0.7685496211051941
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012730836164150938,
+              0.020858010793574855
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2853347720516386,
+              0.1977606034164627,
+              1.1040102929185016
+            ],
+            "current_z": 1.1040102929185016,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19410116318413906,
+            "gripper_z": 1.1040101533026605,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2853347139576573,
+              0.1977606082472923,
+              1.1040101533026605
+            ],
+            "object_minus_gripper": [
+              5.809398129219545e-08,
+              -4.830829597457509e-09,
+              1.396158411104409e-07
+            ],
+            "object_to_gripper_xy": 5.829449010822229e-08,
+            "object_to_gripper_z": 1.396158411104409e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2853347720516386,
+              0.1977606034164627,
+              1.1040102929185016
+            ],
+            "finger_b": [
+              0.2853347720516386,
+              0.1977606034164627,
+              1.1040102929185016
+            ],
+            "finger_midpoint": [
+              0.2853347720516386,
+              0.1977606034164627,
+              1.1040102929185016
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040102929185016,
+            "object_top_z": 1.2290187995387813,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2853347720516386,
+            0.19776060341646273,
+            1.1040102929185018
+          ],
+          "object_origin_world": [
+            0.2853347720516386,
+            0.19776060341646273,
+            1.1040102929185018
+          ],
+          "frame_world": [
+            0.2853347139576573,
+            0.1977606082472923,
+            1.1040101533026605
+          ],
+          "center_minus_frame": [
+            5.809398129219545e-08,
+            -4.830829569701933e-09,
+            1.396158413324855e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435936817268572,
+            "required_z": 0.9112599150747386,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002255057311648504,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 9.004424757363155e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1021766447301764,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.102176645322385,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29766119700458726,
+              -0.3680029431730094,
+              0.9232982269031852
+            ],
+            "target_mouth_xy": [
+              0.2990200480008504,
+              -0.36981773634126336
+            ],
+            "rod_tip_z": 0.9232982269031852,
+            "rod_tip_depth": -0.02203831182844662,
+            "rod_tip_bottom_clearance": 0.12147896656584822,
+            "rod_tip_xy_dist": 0.002267145843034046,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045182191282470585,
+            "min_rod_tip_bottom_clearance": 0.054258513314111356,
+            "min_rod_tip_xy_dist": 0.00030969527779720345,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2990200480008504,
+              -0.36981773634126336
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0008147937104430181,
+                0.0036139758731466576
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009214395037927536,
+                0.0032451364907116753
+              ],
+              "first_target_mouth_xy": [
+                0.2990200796420162,
+                -0.36981776452951537
+              ],
+              "last_target_mouth_xy": [
+                0.29902004873601334,
+                -0.3698177369718828
+              ],
+              "first_rod_tip_xy": [
+                0.2982052859315732,
+                -0.3662037886563687
+              ],
+              "last_rod_tip_xy": [
+                0.2980986092322206,
+                -0.36657260048117113
+              ],
+              "min_rod_tip_xy_dist": 0.003373200725198526,
+              "max_rod_tip_xy_dist": 0.00370468762546367,
+              "first_target_xy_drift": 4.237618345829425e-08,
+              "last_target_xy_drift": 9.685790724232998e-10,
+              "max_depth": 0.019388528988195652,
+              "min_bottom_clearance": 0.08005212183801635
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0008147937104430181,
+                  0.0036139758731466576
+                ],
+                "rod_tip_xy": [
+                  0.2982052859315732,
+                  -0.3662037886563687
+                ],
+                "target_mouth_xy": [
+                  0.2990200796420162,
+                  -0.36981776452951537
+                ],
+                "gripper_position": [
+                  0.29819442310814803,
+                  -0.3662128084709552,
+                  1.0060426383447956
+                ],
+                "rod_tip_xy_dist": 0.00370468762546367,
+                "target_xy_drift": 4.237618345829425e-08,
+                "depth": 0.01505651977978506,
+                "bottom_clearance": 0.08438402592979866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0008256539626447235,
+                  0.0036049288428019466
+                ],
+                "rod_tip_xy": [
+                  0.29819442310814803,
+                  -0.3662128084709553
+                ],
+                "target_mouth_xy": [
+                  0.29902007707079276,
+                  -0.3698177373137572
+                ],
+                "gripper_position": [
+                  0.29818599991841843,
+                  -0.36621587962960245,
+                  1.0059015227554582
+                ],
+                "rod_tip_xy_dist": 0.003698272086758398,
+                "target_xy_drift": 2.9086204497882637e-08,
+                "depth": 0.015217317006494313,
+                "bottom_clearance": 0.08422340098966508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0008340795272944734,
+                  0.0036019169236944926
+                ],
+                "rod_tip_xy": [
+                  0.29818599991841843,
+                  -0.36621587962960245
+                ],
+                "target_mouth_xy": [
+                  0.2990200794457129,
+                  -0.36981779655329694
+                ],
+                "gripper_position": [
+                  0.2981928877812372,
+                  -0.366287613518788,
+                  1.0053675012751055
+                ],
+                "rod_tip_xy_dist": 0.0036972279052079776,
+                "target_xy_drift": 6.792840617233576e-08,
+                "depth": 0.015358295238044994,
+                "bottom_clearance": 0.0840823210285363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008271896305483972,
+                  0.0035301228342724533
+                ],
+                "rod_tip_xy": [
+                  0.29819288778123715,
+                  -0.366287613518788
+                ],
+                "target_mouth_xy": [
+                  0.29902007741178555,
+                  -0.3698177363530605
+                ],
+                "gripper_position": [
+                  0.2981819505640344,
+                  -0.3662965239512959,
+                  1.0052073691519594
+                ],
+                "rod_tip_xy_dist": 0.003625742670121333,
+                "target_xy_drift": 2.9410937497748156e-08,
+                "depth": 0.015892425695754775,
+                "bottom_clearance": 0.08354824401149041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0008381000865013699,
+                  0.003521211708503502
+                ],
+                "rod_tip_xy": [
+                  0.2981819505640344,
+                  -0.36629652395129597
+                ],
+                "target_mouth_xy": [
+                  0.2990200506505358,
+                  -0.3698177356597995
+                ],
+                "gripper_position": [
+                  0.298173494008667,
+                  -0.3662995437724092,
+                  1.0050662779846111
+                ],
+                "rod_tip_xy_dist": 0.00361957782774397,
+                "target_xy_drift": 2.735914021686417e-09,
+                "depth": 0.016052433791353904,
+                "bottom_clearance": 0.08338817611772664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008465539116820908,
+                  0.003518194166453492
+                ],
+                "rod_tip_xy": [
+                  0.29817349400866694,
+                  -0.36629954377240914
+                ],
+                "target_mouth_xy": [
+                  0.29902004792034903,
+                  -0.36981773793886263
+                ],
+                "gripper_position": [
+                  0.29818131662910985,
+                  -0.3663719579994937,
+                  1.004534194387354
+                ],
+                "rod_tip_xy_dist": 0.0036186107442292867,
+                "target_xy_drift": 1.5996261802369839e-09,
+                "depth": 0.01619366977426895,
+                "bottom_clearance": 0.08324704719839182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008387338396165234,
+                  0.0034458081068678426
+                ],
+                "rod_tip_xy": [
+                  0.2981813166291098,
+                  -0.36637195799949374
+                ],
+                "target_mouth_xy": [
+                  0.2990200504687263,
+                  -0.3698177661063616
+                ],
+                "gripper_position": [
+                  0.29817010202991495,
+                  -0.36638105884836597,
+                  1.0043738703103184
+                ],
+                "rod_tip_xy_dist": 0.00354641621402142,
+                "target_xy_drift": 2.986723093111238e-08,
+                "depth": 0.01672561829359276,
+                "bottom_clearance": 0.08271500646451513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008499152493344209,
+                  0.0034366791011708475
+                ],
+                "rod_tip_xy": [
+                  0.29817010202991495,
+                  -0.366381058848366
+                ],
+                "target_mouth_xy": [
+                  0.2990200172792494,
+                  -0.3698177379495369
+                ],
+                "gripper_position": [
+                  0.29816153832360603,
+                  -0.36638381785736884,
+                  1.0042331892614975
+                ],
+                "rod_tip_xy_dist": 0.003540214566304655,
+                "target_xy_drift": 3.076366873786235e-08,
+                "depth": 0.01688610266520907,
+                "bottom_clearance": 0.08255464584568062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008585430959803797,
+                  0.0034339463151558114
+                ],
+                "rod_tip_xy": [
+                  0.29816153832360603,
+                  -0.36638381785736873
+                ],
+                "target_mouth_xy": [
+                  0.2990200814195864,
+                  -0.36981776417252454
+                ],
+                "gripper_position": [
+                  0.29815287953052066,
+                  -0.36638653305799135,
+                  1.0040921273445031
+                ],
+                "rod_tip_xy_dist": 0.0035396445503789995,
+                "target_xy_drift": 4.349012548852958e-08,
+                "depth": 0.017026658985091037,
+                "bottom_clearance": 0.08241394515481948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008671684703297489,
+                  0.0034312032832719552
+                ],
+                "rod_tip_xy": [
+                  0.29815287953052066,
+                  -0.3663865330579914
+                ],
+                "target_mouth_xy": [
+                  0.2990200480008504,
+                  -0.36981773634126336
+                ],
+                "gripper_position": [
+                  0.29816242315363395,
+                  -0.3664614542088549,
+                  1.0035618481459072
+                ],
+                "rod_tip_xy_dist": 0.0035390870471168527,
+                "target_xy_drift": 0.0,
+                "depth": 0.01716778773023564,
+                "bottom_clearance": 0.08227286700716596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008576568014808106,
+                  0.0033563103047070664
+                ],
+                "rod_tip_xy": [
+                  0.29816242315363395,
+                  -0.3664614542088549
+                ],
+                "target_mouth_xy": [
+                  0.29902007995511476,
+                  -0.36981776451356196
+                ],
+                "gripper_position": [
+                  0.298151021085428,
+                  -0.36647054632168397,
+                  1.0034018328921737
+                ],
+                "rod_tip_xy_dist": 0.0034641584909771575,
+                "target_xy_drift": 4.259992275304994e-08,
+                "depth": 0.017697933860191473,
+                "bottom_clearance": 0.0817426237508816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008690559611505555,
+                  0.0033471919384805426
+                ],
+                "rod_tip_xy": [
+                  0.29815102108542796,
+                  -0.3664705463216841
+                ],
+                "target_mouth_xy": [
+                  0.2990200770465785,
+                  -0.3698177382601646
+                ],
+                "gripper_position": [
+                  0.29814238463906484,
+                  -0.3664730615429577,
+                  1.0032613041579355
+                ],
+                "rod_tip_xy_dist": 0.003458171791082746,
+                "target_xy_drift": 2.9109045036426917e-08,
+                "depth": 0.017858141119158732,
+                "bottom_clearance": 0.0815826128696675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008776945342517939,
+                  0.0033447334216938907
+                ],
+                "rod_tip_xy": [
+                  0.2981423846390648,
+                  -0.3664730615429578
+                ],
+                "target_mouth_xy": [
+                  0.2990200791733166,
+                  -0.36981779496465167
+                ],
+                "gripper_position": [
+                  0.29813352159733575,
+                  -0.3664758337913151,
+                  1.003120484494987
+                ],
+                "rod_tip_xy_dist": 0.0034579747479777227,
+                "target_xy_drift": 6.639596602003959e-08,
+                "depth": 0.01799843223809805,
+                "bottom_clearance": 0.08144213522240762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008865566950504999,
+                  0.0033419028658957517
+                ],
+                "rod_tip_xy": [
+                  0.29813352159733575,
+                  -0.3664758337913151
+                ],
+                "target_mouth_xy": [
+                  0.29902007829238625,
+                  -0.36981773665721085
+                ],
+                "gripper_position": [
+                  0.29812475477001354,
+                  -0.3664785780995289,
+                  1.0029797176777762
+                ],
+                "rod_tip_xy_dist": 0.003457498740219742,
+                "target_xy_drift": 3.0293183491891614e-08,
+                "depth": 0.018139421978651593,
+                "bottom_clearance": 0.08130122631079362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008953246882437149,
+                  0.0033391870698380455
+                ],
+                "rod_tip_xy": [
+                  0.2981247547700135,
+                  -0.366478578099529
+                ],
+                "target_mouth_xy": [
+                  0.2990200794582572,
+                  -0.36981776516936704
+                ],
+                "gripper_position": [
+                  0.29813651906581473,
+                  -0.366556845115765,
+                  1.0024525882374995
+                ],
+                "rod_tip_xy_dist": 0.0034571341577601957,
+                "target_xy_drift": 4.266881769965178e-08,
+                "depth": 0.01828007155418432,
+                "bottom_clearance": 0.08116048877898308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008835589062733407,
+                  0.003260891233993979
+                ],
+                "rod_tip_xy": [
+                  0.2981365190658147,
+                  -0.36655684511576503
+                ],
+                "target_mouth_xy": [
+                  0.299020077972088,
+                  -0.369817736349759
+                ],
+                "gripper_position": [
+                  0.29812519887134314,
+                  -0.36656540283703654,
+                  1.0022927885028514
+                ],
+                "rod_tip_xy_dist": 0.0033784742089875003,
+                "target_xy_drift": 2.99712388069323e-08,
+                "depth": 0.018807321960544576,
+                "bottom_clearance": 0.08063332681982305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000894881151113136,
+                  0.003252333140664143
+                ],
+                "rod_tip_xy": [
+                  0.2981251988713431,
+                  -0.3665654028370364
+                ],
+                "target_mouth_xy": [
+                  0.2990200800224562,
+                  -0.36981773597770057
+                ],
+                "gripper_position": [
+                  0.2981162348914378,
+                  -0.3665677825552363,
+                  1.0021524323803077
+                ],
+                "rod_tip_xy_dist": 0.003373200725198526,
+                "target_xy_drift": 3.202366963112293e-08,
+                "depth": 0.018967016308990003,
+                "bottom_clearance": 0.08047358738313204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009038119096562158,
+                  0.0032499553945236626
+                ],
+                "rod_tip_xy": [
+                  0.2981162348914378,
+                  -0.36656778255523625
+                ],
+                "target_mouth_xy": [
+                  0.299020046801094,
+                  -0.3698177379497599
+                ],
+                "gripper_position": [
+                  0.298107438762402,
+                  -0.36657023765962965,
+                  1.0020119348985894
+                ],
+                "rod_tip_xy_dist": 0.0033732900904650744,
+                "target_xy_drift": 2.006658069972356e-09,
+                "depth": 0.019107548963513743,
+                "bottom_clearance": 0.08033320996844928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009126413522519972,
+                  0.0032475281463026917
+                ],
+                "rod_tip_xy": [
+                  0.2981074387624019,
+                  -0.3665702376596297
+                ],
+                "target_mouth_xy": [
+                  0.2990200801146539,
+                  -0.3698177658059324
+                ],
+                "gripper_position": [
+                  0.29809860923222065,
+                  -0.3665726004811711,
+                  1.0018713761148992
+                ],
+                "rod_tip_xy_dist": 0.00337332970503456,
+                "target_xy_drift": 4.358283030156869e-08,
+                "depth": 0.019247871162653696,
+                "bottom_clearance": 0.08019273708285002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009214395037927536,
+                  0.0032451364907116753
+                ],
+                "rod_tip_xy": [
+                  0.2980986092322206,
+                  -0.36657260048117113
+                ],
+                "target_mouth_xy": [
+                  0.29902004873601334,
+                  -0.3698177369718828
+                ],
+                "gripper_position": [
+                  0.29808949597325807,
+                  -0.36657509109803926,
+                  1.0017310043807703
+                ],
+                "rod_tip_xy_dist": 0.0033734198675080935,
+                "target_xy_drift": 9.685790724232998e-10,
+                "depth": 0.019388528988195652,
+                "bottom_clearance": 0.08005212183801635,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006062395707056253,
+              "rod_tip_xy_max_step": 3.2865257001595296e-05,
+              "rod_tip_xy_range": 0.0006062284578252586,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29766119700458726,
+            -0.3680029431730094,
+            1.0432982269031852
+          ],
+          "object_origin_world": [
+            0.29766119700458726,
+            -0.3680029431730094,
+            1.0432982269031852
+          ],
+          "frame_world": [
+            0.29768558102549836,
+            -0.367999913090638,
+            1.0435936817268572
+          ],
+          "center_minus_frame": [
+            -2.4384020911094595e-05,
+            -3.030082371402454e-06,
+            -0.00029545482367199227
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27715295383700844,
+              0.1489033905854274,
+              0.8334216061355864
+            ],
+            "target_position": [
+              0.2854951688425152,
+              0.19617714448141033,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800417022109707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1696642273219853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334216061355864,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670698035466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1383337735052671,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e7ddebd6ac4cc9bf3b6cb7ad4f85f43166da641ec44df70f2bb7a49cc837fa1",
+    "visual_seed": 5228827009060386493,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..166043db0798cf468a5a240d0da7f33f62f126ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_28_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3277110862156193,
+              -0.02752211499754275,
+              1.16584867147272
+            ],
+            "current_z": 1.16584867147272,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30474216345795413,
+            "gripper_z": 1.1569990148976907,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.322980927336207,
+              -0.032336102669845615,
+              1.1569990148976907
+            ],
+            "object_minus_gripper": [
+              0.004730158879412305,
+              0.004813987672302865,
+              0.008849656575029341
+            ],
+            "object_to_gripper_xy": 0.006748991060415403,
+            "object_to_gripper_z": 0.008849656575029341,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3277110862156193,
+              -0.051256540551522844,
+              1.16584867147272
+            ],
+            "finger_b": [
+              0.31662086705684656,
+              -0.02752211499754275,
+              1.16584867147272
+            ],
+            "finger_midpoint": [
+              0.3221659766362329,
+              -0.0393893277745328,
+              1.16584867147272
+            ],
+            "object_minus_finger_midpoint": [
+              0.005545109579386365,
+              0.01186721277699005,
+              0.0
+            ],
+            "finger_gap": 0.026197631903800637,
+            "fingertip_max_gap": 0.09134608263084534,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013098815951900322,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16584867147272,
+            "object_top_z": 1.215697401589968,
+            "finger_top_clearance": 0.049848730117247886,
+            "fingertip_min_top_clearance": 0.014954619035174331,
+            "object_projection_between_fingers": 0.8207924982106534,
+            "object_to_finger_line_xy": 0.01004747230466384,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048173041315422674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1992272113685947,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2956778713138654,
+              -0.3724656182461984,
+              0.851539564694719
+            ],
+            "target_position": [
+              0.28717758100247903,
+              -0.3740177370628372,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008640833767572053,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18559624037489605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539564694719,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566587807618352,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584743517299186,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533308061618344,
+            "release_required_pad_clearance": 0.05292371758649593,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8855796364788204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008194327354431152,
+            "max_z_decrease": 0.008194327354431152,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502515654241207,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008194327354431152,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020949602810063226,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008194327354431152,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008194391294511804,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14287750422954554,
+              -0.4302791953086853,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14287750422954554,
+              -0.4302791953086853,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14395342640483066,
+              -0.430863800181736,
+              0.803618456143579
+            ],
+            "closest_button": [
+              0.14289762079715723,
+              -0.4302538335323334,
+              0.7686145305633545
+            ],
+            "closest_ee_minus_button": [
+              0.0010558056076734323,
+              -0.0006099666494026046,
+              0.03500392558022447
+            ],
+            "button_min_z_position": [
+              0.14289762079715723,
+              -0.4302538335323334,
+              0.7686145305633545
+            ],
+            "min_active_finger_to_button": 0.14458965225363757,
+            "closest_active_finger": [
+              0.0034239962697029114,
+              -0.413297563791275,
+              0.8110265731811523
+            ],
+            "closest_active_finger_button": [
+              0.14287607371807093,
+              -0.4302805364131928,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13945207744836802,
+              0.01698297262191778,
+              0.034217894077301025
+            ],
+            "min_contact_pad_to_button": 0.020949602810063226,
+            "closest_contact_pad": [
+              0.14289762079715723,
+              -0.43217159596674476,
+              0.7894761710823686
+            ],
+            "closest_contact_pad_button": [
+              0.14289762079715723,
+              -0.4302538335323334,
+              0.7686145305633545
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019177624344113853,
+              0.02086164051901407
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2896516376861766,
+              0.19223455605151674,
+              1.1042101065788428
+            ],
+            "current_z": 1.1042101065788428,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19430097684448022,
+            "gripper_z": 1.104210106578843,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.289651741994305,
+              0.1922345113480332,
+              1.104210106578843
+            ],
+            "object_minus_gripper": [
+              -1.0430812841244474e-07,
+              4.470348352603182e-08,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 1.134838626954038e-07,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2896516376861766,
+              0.19223455605151674,
+              1.1042101065788428
+            ],
+            "finger_b": [
+              0.2896516376861766,
+              0.19223455605151674,
+              1.1042101065788428
+            ],
+            "finger_midpoint": [
+              0.2896516376861766,
+              0.19223455605151674,
+              1.1042101065788428
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042101065788428,
+            "object_top_z": 1.2292186131991225,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2896516376861766,
+            0.19223455605151676,
+            1.104210106578843
+          ],
+          "object_origin_world": [
+            0.2896516376861766,
+            0.19223455605151676,
+            1.104210106578843
+          ],
+          "frame_world": [
+            0.289651741994305,
+            0.1922345113480332,
+            1.104210106578843
+          ],
+          "center_minus_frame": [
+            -1.0430812841244474e-07,
+            4.470348355378739e-08,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.04367156603231,
+            "required_z": 0.9112598997924246,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0025073167924668013,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.7560901369455785e-09,
+            "max_target_xy_drift": 6.588907111146134e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8855796364335475,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8855796365689546,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2932411495458162,
+              -0.3731516721803876,
+              0.9233782932680735
+            ],
+            "target_mouth_xy": [
+              0.29567787137230617,
+              -0.37246561665380845
+            ],
+            "rod_tip_z": 0.9233782932680735,
+            "rod_tip_depth": -0.022118466904138767,
+            "rod_tip_bottom_clearance": 0.12155899211374899,
+            "rod_tip_xy_dist": 0.0025314591533821657,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044882328783207415,
+            "min_rod_tip_bottom_clearance": 0.054558196928071956,
+            "min_rod_tip_xy_dist": 0.0013054066981961806,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.295677873964878,
+              -0.3724656175890112
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.5925718238895e-09,
+              9.352027485753922e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0018364317750518278,
+                0.001137837492340088
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001951200608951098,
+                0.000750640227214272
+              ],
+              "first_target_mouth_xy": [
+                0.29567784122877366,
+                -0.37246555608814014
+              ],
+              "last_target_mouth_xy": [
+                0.29567784208910475,
+                -0.37246561728297145
+              ],
+              "first_rod_tip_xy": [
+                0.29384140945372184,
+                -0.37132771859580005
+              ],
+              "last_rod_tip_xy": [
+                0.29372664148015365,
+                -0.3717149770557572
+              ],
+              "min_rod_tip_xy_dist": 0.002075986939600961,
+              "max_rod_tip_xy_dist": 0.002170068857329379,
+              "first_target_xy_drift": 6.967072317676403e-08,
+              "last_target_xy_drift": 3.1877242355272696e-08,
+              "max_depth": 0.019836433303278667,
+              "min_bottom_clearance": 0.07960408874689107
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0018364317750518278,
+                  0.001137837492340088
+                ],
+                "rod_tip_xy": [
+                  0.29384140945372184,
+                  -0.37132771859580005
+                ],
+                "target_mouth_xy": [
+                  0.29567784122877366,
+                  -0.37246555608814014
+                ],
+                "gripper_position": [
+                  0.29383062337567745,
+                  -0.37133714773569027,
+                  1.0055802618874052
+                ],
+                "rod_tip_xy_dist": 0.0021603601142852983,
+                "target_xy_drift": 6.967072317676403e-08,
+                "depth": 0.015520097220602103,
+                "bottom_clearance": 0.08392044996014436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018472498458818598,
+                  0.0011284083403636513
+                ],
+                "rod_tip_xy": [
+                  0.2938306233756774,
+                  -0.37133714773569027
+                ],
+                "target_mouth_xy": [
+                  0.29567787322155925,
+                  -0.3724655560760539
+                ],
+                "gripper_position": [
+                  0.2938224073084813,
+                  -0.3713400922673635,
+                  1.0054398455729119
+                ],
+                "rod_tip_xy_dist": 0.002164633312067613,
+                "target_xy_drift": 6.151744822811724e-08,
+                "depth": 0.015679655833956918,
+                "bottom_clearance": 0.08376097488253609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001855405242439323,
+                  0.0011254644516285328
+                ],
+                "rod_tip_xy": [
+                  0.29382240730848125,
+                  -0.37134009226736364
+                ],
+                "target_mouth_xy": [
+                  0.29567781255092057,
+                  -0.3724655567189922
+                ],
+                "gripper_position": [
+                  0.2938268685956583,
+                  -0.3714154047264033,
+                  1.0049050563659403
+                ],
+                "rod_tip_xy_dist": 0.002170068857329379,
+                "target_xy_drift": 8.646868440111496e-08,
+                "depth": 0.015819933157017352,
+                "bottom_clearance": 0.08362063375510387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018510060225977454,
+                  0.001050181462825761
+                ],
+                "rod_tip_xy": [
+                  0.29382686859565826,
+                  -0.37141540472640333
+                ],
+                "target_mouth_xy": [
+                  0.295677874618256,
+                  -0.3724655861892291
+                ],
+                "gripper_position": [
+                  0.2938158252816564,
+                  -0.37142463583871976,
+                  1.0047455027814234
+                ],
+                "rod_tip_xy_dist": 0.002128169260316477,
+                "target_xy_drift": 3.140657923508001e-08,
+                "depth": 0.016354866537694357,
+                "bottom_clearance": 0.08308580590200931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018619850566236607,
+                  0.0010409221672275648
+                ],
+                "rod_tip_xy": [
+                  0.29381582528165634,
+                  -0.3714246358387199
+                ],
+                "target_mouth_xy": [
+                  0.29567781033828,
+                  -0.37246555800594744
+                ],
+                "gripper_position": [
+                  0.29380750814861695,
+                  -0.3714276685640807,
+                  1.0046055454193463
+                ],
+                "rod_tip_xy_dist": 0.0021331918125934075,
+                "target_xy_drift": 8.716929194919719e-08,
+                "depth": 0.016514341835871416,
+                "bottom_clearance": 0.08292618734455293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018703034936905505,
+                  0.0010378884802049182
+                ],
+                "rod_tip_xy": [
+                  0.2938075081486169,
+                  -0.3714276685640807
+                ],
+                "target_mouth_xy": [
+                  0.29567781164230744,
+                  -0.37246555704428563
+                ],
+                "gripper_position": [
+                  0.29381259319853736,
+                  -0.3715039244628224,
+                  1.0040732873652032
+                ],
+                "rod_tip_xy_dist": 0.002138982855436937,
+                "target_xy_drift": 8.68893928722538e-08,
+                "depth": 0.01665428006736569,
+                "bottom_clearance": 0.08278624056537232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001865276845728181,
+                  0.0009616655704929866
+                ],
+                "rod_tip_xy": [
+                  0.2938125931985373,
+                  -0.37150392446282243
+                ],
+                "target_mouth_xy": [
+                  0.2956778700442655,
+                  -0.3724655900333154
+                ],
+                "gripper_position": [
+                  0.29380159417786295,
+                  -0.3715131501110422,
+                  1.0039142488887185
+                ],
+                "rod_tip_xy_dist": 0.0020985848519136114,
+                "target_xy_drift": 2.7833209882176016e-08,
+                "depth": 0.017186594955411638,
+                "bottom_clearance": 0.0822540111398925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018762487525453841,
+                  0.0009524373680820375
+                ],
+                "rod_tip_xy": [
+                  0.2938015941778629,
+                  -0.37151315011104225
+                ],
+                "target_mouth_xy": [
+                  0.2956778429304083,
+                  -0.3724655874791243
+                ],
+                "gripper_position": [
+                  0.2937929748852774,
+                  -0.3715159292426374,
+                  1.003774145897887
+                ],
+                "rod_tip_xy_dist": 0.002104149785910487,
+                "target_xy_drift": 4.324053192009381e-08,
+                "depth": 0.01734563627104324,
+                "bottom_clearance": 0.08209491775175637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018848371576748457,
+                  0.0009496569757227458
+                ],
+                "rod_tip_xy": [
+                  0.29379297488527734,
+                  -0.37151592924263743
+                ],
+                "target_mouth_xy": [
+                  0.2956778120429522,
+                  -0.3724655862183602
+                ],
+                "gripper_position": [
+                  0.29378437825698395,
+                  -0.3715188169173265,
+                  1.003634023155531
+                ],
+                "rod_tip_xy_dist": 0.0021105590450140603,
+                "target_xy_drift": 6.941500299943338e-08,
+                "depth": 0.017485634369789005,
+                "bottom_clearance": 0.0819549242791705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018935261810660853,
+                  0.0009467696010263538
+                ],
+                "rod_tip_xy": [
+                  0.2937843782569839,
+                  -0.3715188169173266
+                ],
+                "target_mouth_xy": [
+                  0.29567790443805,
+                  -0.37246558651835293
+                ],
+                "gripper_position": [
+                  0.2937909561448262,
+                  -0.3715972328141019,
+                  1.0031046679642266
+                ],
+                "rod_tip_xy_dist": 0.002117029540608802,
+                "target_xy_drift": 4.3520110479076796e-08,
+                "depth": 0.017625893962148198,
+                "bottom_clearance": 0.08181476718465264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018868839736865262,
+                  0.0008683857569271036
+                ],
+                "rod_tip_xy": [
+                  0.29379095614482614,
+                  -0.37159723281410195
+                ],
+                "target_mouth_xy": [
+                  0.29567784011851267,
+                  -0.37246561857102906
+                ],
+                "gripper_position": [
+                  0.29377973874609975,
+                  -0.3716062491494747,
+                  1.0029456665662777
+                ],
+                "rod_tip_xy_dist": 0.0020771193882367267,
+                "target_xy_drift": 3.386060844919208e-08,
+                "depth": 0.018155194920875695,
+                "bottom_clearance": 0.08128536996303282,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001898072728579725,
+                  0.0008593396145758492
+                ],
+                "rod_tip_xy": [
+                  0.2937797387460997,
+                  -0.3716062491494748
+                ],
+                "target_mouth_xy": [
+                  0.2956778114746794,
+                  -0.37246558876405067
+                ],
+                "gripper_position": [
+                  0.2937711876856226,
+                  -0.371608868965041,
+                  1.002806000734836
+                ],
+                "rod_tip_xy_dist": 0.0020835413737570587,
+                "target_xy_drift": 6.881789932141286e-08,
+                "depth": 0.018314167182314378,
+                "bottom_clearance": 0.08112636552990882,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001906651644450419,
+                  0.0008567166325980091
+                ],
+                "rod_tip_xy": [
+                  0.29377118768562255,
+                  -0.3716088689650411
+                ],
+                "target_mouth_xy": [
+                  0.29567783933007297,
+                  -0.3724655855976391
+                ],
+                "gripper_position": [
+                  0.2937624674605418,
+                  -0.3716116374054119,
+                  1.002665730391959
+                ],
+                "rod_tip_xy_dist": 0.0020902832061363264,
+                "target_xy_drift": 4.714888766805344e-08,
+                "depth": 0.018453898016776216,
+                "bottom_clearance": 0.0809867219417354,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019154044208585241,
+                  0.0008539484906648909
+                ],
+                "rod_tip_xy": [
+                  0.29376246746054174,
+                  -0.37161163740541203
+                ],
+                "target_mouth_xy": [
+                  0.29567787188140027,
+                  -0.3724655858960769
+                ],
+                "gripper_position": [
+                  0.29375390220788544,
+                  -0.3716142048485529,
+                  1.002525878184723
+                ],
+                "rod_tip_xy_dist": 0.0020971414163458847,
+                "target_xy_drift": 3.1761343839781904e-08,
+                "depth": 0.01859411707916292,
+                "bottom_clearance": 0.08084646214705049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0019239356026519716,
+                  0.0008514134244902438
+                ],
+                "rod_tip_xy": [
+                  0.2937539022078854,
+                  -0.3716142048485529
+                ],
+                "target_mouth_xy": [
+                  0.29567783781053736,
+                  -0.37246561827304314
+                ],
+                "gripper_position": [
+                  0.2937451455487186,
+                  -0.37161703250010375,
+                  1.002385945316479
+                ],
+                "rod_tip_xy_dist": 0.002103908986281015,
+                "target_xy_drift": 3.616081091821811e-08,
+                "depth": 0.018734048965049377,
+                "bottom_clearance": 0.08070659255587476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0019326958524666371,
+                  0.0008485245417281795
+                ],
+                "rod_tip_xy": [
+                  0.2937451455487185,
+                  -0.3716170325001039
+                ],
+                "target_mouth_xy": [
+                  0.29567784140118514,
+                  -0.3724655570418321
+                ],
+                "gripper_position": [
+                  0.29373649935572277,
+                  -0.371619506501389,
+                  1.002246226162919
+                ],
+                "rod_tip_xy_dist": 0.002110759852767898,
+                "target_xy_drift": 6.874849081737808e-08,
+                "depth": 0.018873820275308928,
+                "bottom_clearance": 0.08056669879895151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019413736631497813,
+                  0.0008460784301975721
+                ],
+                "rod_tip_xy": [
+                  0.2937364993557227,
+                  -0.3716195065013891
+                ],
+                "target_mouth_xy": [
+                  0.2956778730188725,
+                  -0.37246558493158666
+                ],
+                "gripper_position": [
+                  0.29374684768917125,
+                  -0.3717033622308483,
+                  1.0017218799550383
+                ],
+                "rod_tip_xy_dist": 0.0021177300134854744,
+                "target_xy_drift": 3.2671123398818745e-08,
+                "depth": 0.019013707033875504,
+                "bottom_clearance": 0.08042695039679215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019309931215427123,
+                  0.0007622252540742114
+                ],
+                "rod_tip_xy": [
+                  0.2937468476891712,
+                  -0.37170336223084843
+                ],
+                "target_mouth_xy": [
+                  0.2956778408107139,
+                  -0.37246558748492264
+                ],
+                "gripper_position": [
+                  0.29373547561433294,
+                  -0.37171253225902545,
+                  1.0015630240272064
+                ],
+                "rod_tip_xy_dist": 0.002075986939600961,
+                "target_xy_drift": 4.478230391171502e-08,
+                "depth": 0.019537880787082518,
+                "bottom_clearance": 0.0799026150618789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001942396944519753,
+                  0.0007530542636761117
+                ],
+                "rod_tip_xy": [
+                  0.29373547561433283,
+                  -0.37171253225902545
+                ],
+                "target_mouth_xy": [
+                  0.2956778725588526,
+                  -0.37246558652270156
+                ],
+                "gripper_position": [
+                  0.2937266414801537,
+                  -0.3717149770557571,
+                  1.0014233261381449
+                ],
+                "rod_tip_xy_dist": 0.002083265852962709,
+                "target_xy_drift": 3.1098110904669536e-08,
+                "depth": 0.0196968769942355,
+                "bottom_clearance": 0.07974370516764318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001951200608951098,
+                  0.000750640227214272
+                ],
+                "rod_tip_xy": [
+                  0.29372664148015365,
+                  -0.3717149770557572
+                ],
+                "target_mouth_xy": [
+                  0.29567784208910475,
+                  -0.37246561728297145
+                ],
+                "gripper_position": [
+                  0.2937372980294825,
+                  -0.371790890885071,
+                  1.0008146422413289
+                ],
+                "rod_tip_xy_dist": 0.002090608659477768,
+                "target_xy_drift": 3.1877242355272696e-08,
+                "depth": 0.019836433303278667,
+                "bottom_clearance": 0.07960408874689107,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006006582103896675,
+              "rod_tip_xy_max_step": 3.250758079198677e-05,
+              "rod_tip_xy_range": 0.000600649973698736,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2932411495458162,
+            -0.37315167218038753,
+            1.0433782932680735
+          ],
+          "object_origin_world": [
+            0.2932411495458162,
+            -0.37315167218038753,
+            1.0433782932680735
+          ],
+          "frame_world": [
+            0.29326521321190646,
+            -0.3731480520711504,
+            1.04367156603231
+          ],
+          "center_minus_frame": [
+            -2.406366609025712e-05,
+            -3.620109237101321e-06,
+            -0.00029327276423640747
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.28194814854831174,
+              0.14416134012614143,
+              0.8337494925182384
+            ],
+            "target_position": [
+              0.29021552902189096,
+              0.19215424394958497,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04869977820587298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17181444368169652,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337494925182384,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567365607275,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13979083540597412,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7809bbca32b2313e0170e3dd2a395ded07cde4ee98a4d7283c3dedc6296a8ef0",
+    "visual_seed": 635269558701262771,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d95f7a57a5265430d47f62a04109250be5a98a07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_29_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3310904673676852,
+              -0.031048773850590006,
+              1.164354803411353
+            ],
+            "current_z": 1.164354803411353,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30324835500123193,
+            "gripper_z": 1.1553421354025062,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3263582591015553,
+              -0.03586763659184802,
+              1.1553421354025062
+            ],
+            "object_minus_gripper": [
+              0.004732208266129911,
+              0.004818862741258017,
+              0.009012668008846703
+            ],
+            "object_to_gripper_xy": 0.006753905032876387,
+            "object_to_gripper_z": 0.009012668008846703,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3310904673676852,
+              -0.05481814191057264,
+              1.164354803411353
+            ],
+            "finger_b": [
+              0.3200324572462845,
+              -0.031048773850590006,
+              1.164354803411353
+            ],
+            "finger_midpoint": [
+              0.32556146230698485,
+              -0.042933457880581324,
+              1.164354803411353
+            ],
+            "object_minus_finger_midpoint": [
+              0.005529005060700365,
+              0.011884684029991318,
+              0.0
+            ],
+            "finger_gap": 0.026215690832322606,
+            "fingertip_max_gap": 0.09142500827300612,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013107845416161305,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164354803411353,
+            "object_top_z": 1.2142775255686236,
+            "finger_top_clearance": 0.04992272215727067,
+            "fingertip_min_top_clearance": 0.014976816647181201,
+            "object_projection_between_fingers": 0.8220773030893173,
+            "object_to_finger_line_xy": 0.010026129552249569,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821250413650306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1797535949225197,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3009809317078075,
+              -0.3700339142514758,
+              0.85153956913766
+            ],
+            "target_position": [
+              0.29280104101457516,
+              -0.3715961381764563,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008327734106286677,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18417347409682683,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153956913766,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556080797976406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227023376965093,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008249461650848389,
+            "max_z_decrease": 0.008249461650848389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035006985889064236,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008249461650848389,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020960906369560554,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008249461650848389,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008249536382143235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14850096404552454,
+              -0.4278576076030731,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14850096404552454,
+              -0.4278576076030731,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14806056563187592,
+              -0.42875294627469496,
+              0.8035512074061454
+            ],
+            "closest_button": [
+              0.1485267430543899,
+              -0.42783376574516296,
+              0.7685593962669373
+            ],
+            "closest_ee_minus_button": [
+              -0.0004661774225139803,
+              -0.0009191805295319933,
+              0.03499181113920813
+            ],
+            "button_min_z_position": [
+              0.1485267430543899,
+              -0.42783376574516296,
+              0.7685593962669373
+            ],
+            "min_active_finger_to_button": 0.1460169719358811,
+            "closest_active_finger": [
+              0.0074506476521492004,
+              -0.4118537902832031,
+              0.8109630942344666
+            ],
+            "closest_active_finger_button": [
+              0.14850385487079615,
+              -0.4278571307659149,
+              0.7767747640609741
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14105320721864695,
+              0.016003340482711792,
+              0.03418833017349243
+            ],
+            "min_contact_pad_to_button": 0.020960906369560554,
+            "closest_contact_pad": [
+              0.1485267430543899,
+              -0.4299980669659731,
+              0.7894082666454274
+            ],
+            "closest_contact_pad_button": [
+              0.1485267430543899,
+              -0.42783376574516296,
+              0.7685593962669373
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021643012208101275,
+              0.020848870378490147
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2895676094154583,
+              0.19220476210803608,
+              1.1044969426814943
+            ],
+            "current_z": 1.1044969426814943,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1945878129471318,
+            "gripper_z": 1.104496909565676,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28956754007609087,
+              0.19220473412064587,
+              1.104496909565676
+            ],
+            "object_minus_gripper": [
+              6.933936741448932e-08,
+              2.7987390210926222e-08,
+              3.3115818309781275e-08
+            ],
+            "object_to_gripper_xy": 7.477460721568648e-08,
+            "object_to_gripper_z": 3.3115818309781275e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2895676094154583,
+              0.19220476210803608,
+              1.1044969426814943
+            ],
+            "finger_b": [
+              0.2895676094154583,
+              0.19220476210803608,
+              1.1044969426814943
+            ],
+            "finger_midpoint": [
+              0.2895676094154583,
+              0.19220476210803608,
+              1.1044969426814943
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044969426814943,
+            "object_top_z": 1.229505449301774,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28956760941545834,
+            0.19220476210803608,
+            1.1044969426814946
+          ],
+          "object_origin_world": [
+            0.28956760941545834,
+            0.19220476210803608,
+            1.1044969426814946
+          ],
+          "frame_world": [
+            0.28956754007609087,
+            0.19220473412064587,
+            1.104496909565676
+          ],
+          "center_minus_frame": [
+            6.933936747000047e-08,
+            2.7987390210926222e-08,
+            3.311581853182588e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043219750752518,
+            "required_z": 0.9112598185244664,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016517440657992325,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 0.0,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.30194237552901176,
+              -0.3686811841841177,
+              0.9233494124529563
+            ],
+            "target_mouth_xy": [
+              0.3009809317078075,
+              -0.37003376523986387
+            ],
+            "rod_tip_z": 0.9233494124529563,
+            "rod_tip_depth": -0.02208959392848997,
+            "rod_tip_bottom_clearance": 0.12153009270210258,
+            "rod_tip_xy_dist": 0.0016594727276141813,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04514668614710582,
+            "min_rod_tip_bottom_clearance": 0.05429381262650679,
+            "min_rod_tip_xy_dist": 0.0001741204167295819,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.3009809317078075,
+              -0.37003376523986387
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0013909699501660766,
+                0.0031415396303256515
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013030017062332644,
+                0.0027801470386828453
+              ],
+              "first_target_mouth_xy": [
+                0.3009809317078075,
+                -0.37003376523986387
+              ],
+              "last_target_mouth_xy": [
+                0.3009809317078075,
+                -0.37003376523986387
+              ],
+              "first_rod_tip_xy": [
+                0.30237190165797356,
+                -0.3668922256095382
+              ],
+              "last_rod_tip_xy": [
+                0.30228393341404075,
+                -0.367253618201181
+              ],
+              "min_rod_tip_xy_dist": 0.003070347049299768,
+              "max_rod_tip_xy_dist": 0.003435704971497356,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.01942400198277805,
+              "min_bottom_clearance": 0.08001649679083456
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013909699501660766,
+                  0.0031415396303256515
+                ],
+                "rod_tip_xy": [
+                  0.30237190165797356,
+                  -0.3668922256095382
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023831239319069,
+                  -0.3669636531169261,
+                  1.0056617812049342
+                ],
+                "rod_tip_xy_dist": 0.003435704971497356,
+                "target_xy_drift": 0.0,
+                "depth": 0.015060246949184508,
+                "bottom_clearance": 0.0843802518244281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0014021922240993745,
+                  0.0030701121229376738
+                ],
+                "rod_tip_xy": [
+                  0.30238312393190686,
+                  -0.3669636531169262
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023722263710086,
+                  -0.3669726582991851,
+                  1.0054986621049447
+                ],
+                "rod_tip_xy_dist": 0.003375163919090985,
+                "target_xy_drift": 0.0,
+                "depth": 0.015598037319532354,
+                "bottom_clearance": 0.08384246145408025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013912946632010925,
+                  0.0030611069406787927
+                ],
+                "rod_tip_xy": [
+                  0.3023722263710086,
+                  -0.3669726582991851
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023638625775371,
+                  -0.36697578147982113,
+                  1.0053552187142383
+                ],
+                "rod_tip_xy_dist": 0.0033624509724490734,
+                "target_xy_drift": 0.0,
+                "depth": 0.015761156419521916,
+                "bottom_clearance": 0.08367934235409069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001382930869729626,
+                  0.003057983760042682
+                ],
+                "rod_tip_xy": [
+                  0.3023638625775371,
+                  -0.3669757814798212
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023760524997211,
+                  -0.36704787809243833,
+                  1.0048197741190634
+                ],
+                "rod_tip_xy_dist": 0.0033561529266611075,
+                "target_xy_drift": 0.0,
+                "depth": 0.015904599810228293,
+                "bottom_clearance": 0.08353589896338431,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013951207919136177,
+                  0.002985887147425481
+                ],
+                "rod_tip_xy": [
+                  0.3023760524997211,
+                  -0.3670478780924384
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30236497370802906,
+                  -0.36705691022093156,
+                  1.0046569007194113
+                ],
+                "rod_tip_xy_dist": 0.003295737259125848,
+                "target_xy_drift": 0.0,
+                "depth": 0.01644004440540292,
+                "bottom_clearance": 0.08300045436820969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013840420002215192,
+                  0.002976855018932245
+                ],
+                "rod_tip_xy": [
+                  0.302364973708029,
+                  -0.3670569102209316
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023565160845631,
+                  -0.36705998914255256,
+                  1.0045133460564621
+                ],
+                "rod_tip_xy_dist": 0.0032828703998359853,
+                "target_xy_drift": 0.0,
+                "depth": 0.016602917805055073,
+                "bottom_clearance": 0.08283758096855753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001375584376755612,
+                  0.0029737760973112537
+                ],
+                "rod_tip_xy": [
+                  0.3023565160845631,
+                  -0.3670599891425526
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30234784591783226,
+                  -0.36706330006027543,
+                  1.0043701269948249
+                ],
+                "rod_tip_xy_dist": 0.0032765189843054284,
+                "target_xy_drift": 0.0,
+                "depth": 0.016746472468004425,
+                "bottom_clearance": 0.08269402630560818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013669142100247722,
+                  0.0029704651795883774
+                ],
+                "rod_tip_xy": [
+                  0.30234784591783226,
+                  -0.3670633000602755
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30236181791684547,
+                  -0.36713730932831407,
+                  1.0038361059620287
+                ],
+                "rod_tip_xy_dist": 0.0032698804015918776,
+                "target_xy_drift": 0.0,
+                "depth": 0.016889691529641704,
+                "bottom_clearance": 0.0825508072439709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013808862090379792,
+                  0.0028964559115498
+                ],
+                "rod_tip_xy": [
+                  0.30236181791684547,
+                  -0.36713730932831407
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023505268100585,
+                  -0.36714662484440636,
+                  1.0036730099153706
+                ],
+                "rod_tip_xy_dist": 0.003208785372981974,
+                "target_xy_drift": 0.0,
+                "depth": 0.017423712562437688,
+                "bottom_clearance": 0.08201678621117492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013695951022509867,
+                  0.0028871403954573993
+                ],
+                "rod_tip_xy": [
+                  0.3023505268100585,
+                  -0.36714662484440647
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30234185175502293,
+                  -0.36714948927979535,
+                  1.0035302124740269
+                ],
+                "rod_tip_xy_dist": 0.003195523495014831,
+                "target_xy_drift": 0.0,
+                "depth": 0.017586808609096005,
+                "bottom_clearance": 0.0818536901645166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013609200472154415,
+                  0.0028842759600684054
+                ],
+                "rod_tip_xy": [
+                  0.30234185175502293,
+                  -0.36714948927979546
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30233314608587086,
+                  -0.3671525140983419,
+                  1.0033867862395276
+                ],
+                "rod_tip_xy_dist": 0.0031892242299251085,
+                "target_xy_drift": 0.0,
+                "depth": 0.017729606050439495,
+                "bottom_clearance": 0.08171089272317311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013522143780633766,
+                  0.002881251141521879
+                ],
+                "rod_tip_xy": [
+                  0.30233314608587086,
+                  -0.367152514098342
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023486608241004,
+                  -0.36722825455854513,
+                  1.0028563919621307
+                ],
+                "rod_tip_xy_dist": 0.0031827805241270496,
+                "target_xy_drift": 0.0,
+                "depth": 0.01787303228493875,
+                "bottom_clearance": 0.08156746648867386,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001367729116292904,
+                  0.002805510681318679
+                ],
+                "rod_tip_xy": [
+                  0.3023486608241004,
+                  -0.3672282545585452
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023373202332714,
+                  -0.3672371900874449,
+                  1.0026936575294494
+                ],
+                "rod_tip_xy_dist": 0.003121149326537993,
+                "target_xy_drift": 0.0,
+                "depth": 0.018403426562335623,
+                "bottom_clearance": 0.08103707221127698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013563885254639363,
+                  0.0027965751524189897
+                ],
+                "rod_tip_xy": [
+                  0.3023373202332714,
+                  -0.3672371900874449
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023284727775656,
+                  -0.3672400513686408,
+                  1.0025506695110884
+                ],
+                "rod_tip_xy_dist": 0.003108154181365128,
+                "target_xy_drift": 0.0,
+                "depth": 0.018566160995016956,
+                "bottom_clearance": 0.08087433777859565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013475410697580958,
+                  0.0027937138712230136
+                ],
+                "rod_tip_xy": [
+                  0.3023284727775656,
+                  -0.36724005136864085
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3023196055882408,
+                  -0.3672428552585135,
+                  1.00240746812205
+                ],
+                "rod_tip_xy_dist": 0.003101725991919446,
+                "target_xy_drift": 0.0,
+                "depth": 0.018709149013378168,
+                "bottom_clearance": 0.08073134976023444,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013386738804332943,
+                  0.002790909981350287
+                ],
+                "rod_tip_xy": [
+                  0.3023196055882408,
+                  -0.3672428552585136
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30231069813306854,
+                  -0.36724552628977086,
+                  1.0022647303403192
+                ],
+                "rod_tip_xy_dist": 0.0030953555986598684,
+                "target_xy_drift": 0.0,
+                "depth": 0.018852350402416507,
+                "bottom_clearance": 0.0805881483711961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013297664252610586,
+                  0.0027882389500928917
+                ],
+                "rod_tip_xy": [
+                  0.30231069813306854,
+                  -0.367245526289771
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.302301755896352,
+                  -0.36724823142875085,
+                  1.002121582344984
+                ],
+                "rod_tip_xy_dist": 0.003089102651024515,
+                "target_xy_drift": 0.0,
+                "depth": 0.01899508818414719,
+                "bottom_clearance": 0.08044541058946542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013208241885445116,
+                  0.0027855338111128503
+                ],
+                "rod_tip_xy": [
+                  0.302301755896352,
+                  -0.367248231428751
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30229293106888055,
+                  -0.3672509263350599,
+                  1.00197895739509
+                ],
+                "rod_tip_xy_dist": 0.0030828193508373384,
+                "target_xy_drift": 0.0,
+                "depth": 0.019138236179482293,
+                "bottom_clearance": 0.08030226259413031,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0013119993610730685,
+                  0.0027828389048039637
+                ],
+                "rod_tip_xy": [
+                  0.30229293106888055,
+                  -0.3672509263350599
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.30228393341404075,
+                  -0.36725361820118096,
+                  1.0018358165416883
+                ],
+                "rod_tip_xy_dist": 0.003076610910327574,
+                "target_xy_drift": 0.0,
+                "depth": 0.01928086112937666,
+                "bottom_clearance": 0.08015963764423595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0013030017062332644,
+                  0.0027801470386828453
+                ],
+                "rod_tip_xy": [
+                  0.30228393341404075,
+                  -0.367253618201181
+                ],
+                "target_mouth_xy": [
+                  0.3009809317078075,
+                  -0.37003376523986387
+                ],
+                "gripper_position": [
+                  0.3022749914940286,
+                  -0.36725645998160583,
+                  1.0016931831400024
+                ],
+                "rod_tip_xy_dist": 0.003070347049299768,
+                "target_xy_drift": 0.0,
+                "depth": 0.01942400198277805,
+                "bottom_clearance": 0.08001649679083456,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006083488167575289,
+              "rod_tip_xy_max_step": 3.306343712436998e-05,
+              "rod_tip_xy_range": 0.0006083385544103526,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3019423755290118,
+            -0.3686811841841177,
+            1.0433494124529563
+          ],
+          "object_origin_world": [
+            0.3019423755290118,
+            -0.3686811841841177,
+            1.0433494124529563
+          ],
+          "frame_world": [
+            0.30194083625682294,
+            -0.3686895771147555,
+            1.043219750752518
+          ],
+          "center_minus_frame": [
+            1.5392721888773941e-06,
+            8.392930637757257e-06,
+            0.00012966170043826608
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.28183821676281673,
+              0.14322701370382898,
+              0.8333648068058316
+            ],
+            "target_position": [
+              0.2897207879532803,
+              0.190865000652286,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0482857404320788,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16943891333525743,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333648068058316,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567100466836,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13869269169461176,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad1ec1f89431ae59596c13139bf27ef6f058f457b17c72b5e3635ad5e81a3909",
+    "visual_seed": 5621390697150919902,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6983d08d7cf456f865c4a157e6aa99bd52bff04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33508995506721323,
+              -0.038125852092775185,
+              1.1665587014153218
+            ],
+            "current_z": 1.1665587014153218,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.3054523126098453,
+            "gripper_z": 1.15756200111136,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33037500723993724,
+              -0.042848637053136046,
+              1.15756200111136
+            ],
+            "object_minus_gripper": [
+              0.004714947827275995,
+              0.004722784960360861,
+              0.008996700303961713
+            ],
+            "object_to_gripper_xy": 0.0066734871540855886,
+            "object_to_gripper_z": 0.008996700303961713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33508995506721323,
+              -0.06193361189582685,
+              1.1665587014153218
+            ],
+            "finger_b": [
+              0.32424493282862143,
+              -0.038125852092775185,
+              1.1665587014153218
+            ],
+            "finger_midpoint": [
+              0.32966744394791736,
+              -0.05002973199430102,
+              1.1665587014153218
+            ],
+            "object_minus_finger_midpoint": [
+              0.00542251111929587,
+              0.011903879901525832,
+              0.0
+            ],
+            "finger_gap": 0.02616149717037145,
+            "fingertip_max_gap": 0.09179136046025735,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013080748585185712,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1665587014153218,
+            "object_top_z": 1.216437054851122,
+            "finger_top_clearance": 0.04987835343580027,
+            "fingertip_min_top_clearance": 0.01496350603074008,
+            "object_projection_between_fingers": 0.8281554728301184,
+            "object_to_finger_line_xy": 0.009869300783273237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048395680230128676,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6975804779742272,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2980891083735715,
+              -0.37166028473172275,
+              0.85153956427928
+            ],
+            "target_position": [
+              0.29152610448924676,
+              -0.3724619512380035,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006611784114212592,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18193227474561047,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153956427928,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577010165357234,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.087447837554588,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14933797790960832,
+            "release_required_pad_clearance": 0.053723918777294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4572017610071915,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008230388164520264,
+            "max_z_decrease": 0.008230388164520264,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500875658099449,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008230388164520264,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090141075307501,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008230388164520264,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008230450568892182,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14722603559494019,
+              -0.42872339487075806,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14722603559494019,
+              -0.42872339487075806,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1478252595042973,
+              -0.4287047687754169,
+              0.8035824483735131
+            ],
+            "closest_button": [
+              0.14724691212177277,
+              -0.4286990761756897,
+              0.7685784697532654
+            ],
+            "closest_ee_minus_button": [
+              0.0005783473825245466,
+              -5.692599727213921e-06,
+              0.03500397862024773
+            ],
+            "button_min_z_position": [
+              0.14724691212177277,
+              -0.4286990761756897,
+              0.7685784697532654
+            ],
+            "min_active_finger_to_button": 0.14510339125485727,
+            "closest_active_finger": [
+              0.007348001003265381,
+              -0.4108138978481293,
+              0.810981035232544
+            ],
+            "closest_active_finger_button": [
+              0.14722594618797302,
+              -0.4287238121032715,
+              0.7767993211746216
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13987794518470764,
+              0.017909914255142212,
+              0.03418171405792236
+            ],
+            "min_contact_pad_to_button": 0.02090141075307501,
+            "closest_contact_pad": [
+              0.14724691212177277,
+              -0.43004037412017015,
+              0.7894367988160856
+            ],
+            "closest_contact_pad_button": [
+              0.14724691212177277,
+              -0.4286990761756897,
+              0.7685784697532654
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013412979444804574,
+              0.020858329062820258
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28113702732723095,
+              0.19041350566358742,
+              1.104637279840337
+            ],
+            "current_z": 1.104637279840337,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19472815010597444,
+            "gripper_z": 1.104637393682768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2811370522974976,
+              0.19041352927189414,
+              1.104637393682768
+            ],
+            "object_minus_gripper": [
+              -2.4970266632173832e-08,
+              -2.3608306726208284e-08,
+              -1.1384243103762515e-07
+            ],
+            "object_to_gripper_xy": 3.436373614961832e-08,
+            "object_to_gripper_z": -1.1384243103762515e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28113702732723095,
+              0.19041350566358742,
+              1.104637279840337
+            ],
+            "finger_b": [
+              0.28113702732723095,
+              0.19041350566358742,
+              1.104637279840337
+            ],
+            "finger_midpoint": [
+              0.28113702732723095,
+              0.19041350566358742,
+              1.104637279840337
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104637279840337,
+            "object_top_z": 1.2296457864606167,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.281137027327231,
+            0.19041350566358745,
+            1.104637279840337
+          ],
+          "object_origin_world": [
+            0.281137027327231,
+            0.19041350566358745,
+            1.104637279840337
+          ],
+          "frame_world": [
+            0.2811370522974976,
+            0.19041352927189414,
+            1.104637393682768
+          ],
+          "center_minus_frame": [
+            -2.497026657666268e-08,
+            -2.3608306698452708e-08,
+            -1.1384243103762515e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434253383696426,
+            "required_z": 0.9112598960597129,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011719345522310425,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.1620665699344944e-07,
+            "max_target_xy_drift": 2.7948876665988604e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.458475631488845,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.4587939960420546,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29775965351783823,
+              -0.3727763894186181,
+              0.9235539623274504
+            ],
+            "target_mouth_xy": [
+              0.29808837400736,
+              -0.3716602477894422
+            ],
+            "rod_tip_z": 0.9235539623274504,
+            "rod_tip_depth": -0.022294126268178727,
+            "rod_tip_bottom_clearance": 0.12173464968732717,
+            "rod_tip_xy_dist": 0.0011635417038555029,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045199746616122916,
+            "min_rod_tip_bottom_clearance": 0.05424076389747334,
+            "min_rod_tip_xy_dist": 8.94342152896385e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29808858961298623,
+              -0.3716602638994534
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.1560562624145518e-07,
+              1.6110011213932296e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0001241512287629143,
+                0.0006908287942446467
+              ],
+              "last_rod_tip_xy_delta": [
+                3.5763699159807594e-05,
+                0.0003034981398227221
+              ],
+              "first_target_mouth_xy": [
+                0.298088491977662,
+                -0.37166021882060696
+              ],
+              "last_target_mouth_xy": [
+                0.2980884945595327,
+                -0.3716602485679514
+              ],
+              "first_rod_tip_xy": [
+                0.29821264320642493,
+                -0.3709693900263623
+              ],
+              "last_rod_tip_xy": [
+                0.2981242582586925,
+                -0.37135675042812866
+              ],
+              "min_rod_tip_xy_dist": 0.0003055980416387608,
+              "max_rod_tip_xy_dist": 0.0007018959684745695,
+              "first_target_xy_drift": 1.0753956913720029e-07,
+              "last_target_xy_drift": 9.62819504696586e-08,
+              "max_depth": 0.01971605126980014,
+              "min_bottom_clearance": 0.07972447093386814
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0001241512287629143,
+                  0.0006908287942446467
+                ],
+                "rod_tip_xy": [
+                  0.29821264320642493,
+                  -0.3709693900263623
+                ],
+                "target_mouth_xy": [
+                  0.298088491977662,
+                  -0.37166021882060696
+                ],
+                "gripper_position": [
+                  0.2982018836095918,
+                  -0.37097890237331366,
+                  1.0057366209486274
+                ],
+                "rod_tip_xy_dist": 0.0007018959684745695,
+                "target_xy_drift": 1.0753956913720029e-07,
+                "depth": 0.015361517137024605,
+                "bottom_clearance": 0.08407903733507827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00011338817642908561,
+                  0.0006813182640724724
+                ],
+                "rod_tip_xy": [
+                  0.2982018836095916,
+                  -0.37097890237331377
+                ],
+                "target_mouth_xy": [
+                  0.2980884954331625,
+                  -0.37166022063738624
+                ],
+                "gripper_position": [
+                  0.2981937541316475,
+                  -0.3709819586890191,
+                  1.0055941932608694
+                ],
+                "rod_tip_xy_dist": 0.0006906891163994411,
+                "target_xy_drift": 1.0364094581597085e-07,
+                "depth": 0.015523299746266095,
+                "bottom_clearance": 0.0839173210696117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00010526077413064439,
+                  0.0006782600786506832
+                ],
+                "rod_tip_xy": [
+                  0.2981937541316473,
+                  -0.3709819586890192
+                ],
+                "target_mouth_xy": [
+                  0.29808849335751664,
+                  -0.37166021876766986
+                ],
+                "gripper_position": [
+                  0.2982040578266884,
+                  -0.3710560878120488,
+                  1.0050594958477066
+                ],
+                "rod_tip_xy_dist": 0.0006863793155841844,
+                "target_xy_drift": 1.0631083346381059e-07,
+                "depth": 0.015665571062785655,
+                "bottom_clearance": 0.08377493051107143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00011553372354872193,
+                  0.0006041654978033995
+                ],
+                "rod_tip_xy": [
+                  0.2982040578266882,
+                  -0.3710560878120488
+                ],
+                "target_mouth_xy": [
+                  0.29808852410313946,
+                  -0.3716602533098522
+                ],
+                "gripper_position": [
+                  0.2981932310300518,
+                  -0.3710654264153695,
+                  1.0048975666611912
+                ],
+                "rod_tip_xy_dist": 0.0006151129896312238,
+                "target_xy_drift": 6.636022662141752e-08,
+                "depth": 0.016200405565270137,
+                "bottom_clearance": 0.0832402676315277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0001047385798556566,
+                  0.0005947901855665183
+                ],
+                "rod_tip_xy": [
+                  0.29819323103005163,
+                  -0.37106542641536955
+                ],
+                "target_mouth_xy": [
+                  0.298088492450196,
+                  -0.37166021660093607
+                ],
+                "gripper_position": [
+                  0.29818484372431,
+                  -0.37106852840478943,
+                  1.0047551626002251
+                ],
+                "rod_tip_xy_dist": 0.000603941665193281,
+                "target_xy_drift": 1.080636735996585e-07,
+                "depth": 0.01636231626844864,
+                "bottom_clearance": 0.08307828497756697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  9.635113678302387e-05,
+                  0.0005917208430619159
+                ],
+                "rod_tip_xy": [
+                  0.29818484372430976,
+                  -0.37106852840478954
+                ],
+                "target_mouth_xy": [
+                  0.29808849258752673,
+                  -0.37166024924785146
+                ],
+                "gripper_position": [
+                  0.2981763268689153,
+                  -0.3710717274228189,
+                  1.0046127795529987
+                ],
+                "rod_tip_xy_dist": 0.0005995140512725999,
+                "target_xy_drift": 9.812547696885996e-08,
+                "depth": 0.016504697183940542,
+                "bottom_clearance": 0.08293585811323922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  8.780158403859373e-05,
+                  0.000588490050272561
+                ],
+                "rod_tip_xy": [
+                  0.29817632686891515,
+                  -0.3710717274228189
+                ],
+                "target_mouth_xy": [
+                  0.29808852528487656,
+                  -0.37166021747309147
+                ],
+                "gripper_position": [
+                  0.2981883791921809,
+                  -0.37114828810388406,
+                  1.0040789711438707
+                ],
+                "rod_tip_xy_dist": 0.0005950039137934199,
+                "target_xy_drift": 7.933166313201717e-08,
+                "depth": 0.016647123974134037,
+                "bottom_clearance": 0.0827934666764677,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  9.988767043100921e-05,
+                  0.000511990679905705
+                ],
+                "rod_tip_xy": [
+                  0.29818837919218066,
+                  -0.3711482881038842
+                ],
+                "target_mouth_xy": [
+                  0.29808849152174965,
+                  -0.37166027878378993
+                ],
+                "gripper_position": [
+                  0.29817721548713794,
+                  -0.3711578221340654,
+                  1.0039168394119464
+                ],
+                "rod_tip_xy_dist": 0.0005216435593529742,
+                "target_xy_drift": 9.921408250659608e-08,
+                "depth": 0.017180915199012436,
+                "bottom_clearance": 0.08225966948147245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  8.868908267711806e-05,
+                  0.0005024270280819532
+                ],
+                "rod_tip_xy": [
+                  0.2981772154871377,
+                  -0.37115782213406545
+                ],
+                "target_mouth_xy": [
+                  0.2980885264044606,
+                  -0.3716602491621474
+                ],
+                "gripper_position": [
+                  0.2981687994386284,
+                  -0.3711606244807084,
+                  1.0037747047178223
+                ],
+                "rod_tip_xy_dist": 0.0005101947392254965,
+                "target_xy_drift": 6.490382038674981e-08,
+                "depth": 0.017343069129071353,
+                "bottom_clearance": 0.08209755492911508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  8.03052495961798e-05,
+                  0.0004996545602781177
+                ],
+                "rod_tip_xy": [
+                  0.29816879943862823,
+                  -0.3711606244807085
+                ],
+                "target_mouth_xy": [
+                  0.29808849418903205,
+                  -0.37166027904098664
+                ],
+                "gripper_position": [
+                  0.29816024339072933,
+                  -0.3711635514442342,
+                  1.0036324279334703
+                ],
+                "rod_tip_xy_dist": 0.0005060668065773766,
+                "target_xy_drift": 9.661778853311762e-08,
+                "depth": 0.01748512449788797,
+                "bottom_clearance": 0.08195540572283821,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  7.171972878100563e-05,
+                  0.0004966971676896303
+                ],
+                "rod_tip_xy": [
+                  0.29816024339072916,
+                  -0.3711635514442343
+                ],
+                "target_mouth_xy": [
+                  0.29808852366194816,
+                  -0.3716602486119239
+                ],
+                "gripper_position": [
+                  0.29817370732947895,
+                  -0.3712420715503322,
+                  1.0031017977249066
+                ],
+                "rod_tip_xy_dist": 0.0005018483793809858,
+                "target_xy_drift": 6.76996896619275e-08,
+                "depth": 0.01762738743883363,
+                "bottom_clearance": 0.0818131082855248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  8.521362278152145e-05,
+                  0.00041817768166890756
+                ],
+                "rod_tip_xy": [
+                  0.29817370732947873,
+                  -0.3712420715503323
+                ],
+                "target_mouth_xy": [
+                  0.2980884937066972,
+                  -0.3716602492320012
+                ],
+                "gripper_position": [
+                  0.29816249656331617,
+                  -0.37125106521486284,
+                  1.0029400865074298
+                ],
+                "rod_tip_xy_dist": 0.00042677152547180745,
+                "target_xy_drift": 9.702139159920457e-08,
+                "depth": 0.018158028506833568,
+                "bottom_clearance": 0.08128248489449141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  7.397309152817888e-05,
+                  0.0004091840171390748
+                ],
+                "rod_tip_xy": [
+                  0.298162496563316,
+                  -0.37125106521486284
+                ],
+                "target_mouth_xy": [
+                  0.2980885234717878,
+                  -0.3716602492320019
+                ],
+                "gripper_position": [
+                  0.2981537133107012,
+                  -0.3712539847798739,
+                  1.0027983685731399
+                ],
+                "rod_tip_xy_dist": 0.0004158167603071177,
+                "target_xy_drift": 6.774800557592053e-08,
+                "depth": 0.01831974083047483,
+                "bottom_clearance": 0.08112077394505046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  6.519000767474248e-05,
+                  0.000406234337257505
+                ],
+                "rod_tip_xy": [
+                  0.298153713310701,
+                  -0.3712539847798739
+                ],
+                "target_mouth_xy": [
+                  0.29808852330302626,
+                  -0.37166021911713143
+                ],
+                "gripper_position": [
+                  0.29814514180195784,
+                  -0.37125680338676764,
+                  1.00265596938753
+                ],
+                "rod_tip_xy_dist": 0.0004114317365829687,
+                "target_xy_drift": 8.001541820902743e-08,
+                "depth": 0.018461457793461755,
+                "bottom_clearance": 0.08097905154253471,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  5.661772284404343e-05,
+                  0.00040341507812902133
+                ],
+                "rod_tip_xy": [
+                  0.29814514180195767,
+                  -0.3712568033867677
+                ],
+                "target_mouth_xy": [
+                  0.2980885240791136,
+                  -0.3716602184648967
+                ],
+                "gripper_position": [
+                  0.29813652973103233,
+                  -0.37125955143854816,
+                  1.002514400129383
+                ],
+                "rod_tip_xy_dist": 0.00040736874180757817,
+                "target_xy_drift": 7.974325926878472e-08,
+                "depth": 0.018603847814480767,
+                "bottom_clearance": 0.08083666129333023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  4.8035890950426374e-05,
+                  0.00040066862143189885
+                ],
+                "rod_tip_xy": [
+                  0.29813652973103216,
+                  -0.3712595514385483
+                ],
+                "target_mouth_xy": [
+                  0.29808849384008174,
+                  -0.3716602200599802
+                ],
+                "gripper_position": [
+                  0.2981278300648046,
+                  -0.3712623791993812,
+                  1.0023721593429749
+                ],
+                "rod_tip_xy_dist": 0.00040353784335491946,
+                "target_xy_drift": 1.0532971398252695e-07,
+                "depth": 0.018745436952292693,
+                "bottom_clearance": 0.08069510054234008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  3.9335396128659106e-05,
+                  0.0003978706373172214
+                ],
+                "rod_tip_xy": [
+                  0.29812783006480437,
+                  -0.3712623791993813
+                ],
+                "target_mouth_xy": [
+                  0.2980884946686757,
+                  -0.37166024983669854
+                ],
+                "gripper_position": [
+                  0.2981443776362305,
+                  -0.3713448926720896,
+                  1.0018466383463023
+                ],
+                "rod_tip_xy_dist": 0.000399810351826726,
+                "target_xy_drift": 9.598011864427054e-08,
+                "depth": 0.01888768452415679,
+                "bottom_clearance": 0.0805528852187476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  5.5883640868448214e-05,
+                  0.00031535528953419156
+                ],
+                "rod_tip_xy": [
+                  0.2981443776362303,
+                  -0.3713448926720897
+                ],
+                "target_mouth_xy": [
+                  0.29808849399536186,
+                  -0.3716602479616239
+                ],
+                "gripper_position": [
+                  0.29813305876974383,
+                  -0.3713540804909242,
+                  1.0016854660778214
+                ],
+                "rod_tip_xy_dist": 0.00032026854349733987,
+                "target_xy_drift": 9.693680673554124e-08,
+                "depth": 0.01941324199142258,
+                "bottom_clearance": 0.0800272681385894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  4.4564587045325954e-05,
+                  0.0003061370280830755
+                ],
+                "rod_tip_xy": [
+                  0.29813305876974366,
+                  -0.37135408049092433
+                ],
+                "target_mouth_xy": [
+                  0.29808849418269834,
+                  -0.3716602175190074
+                ],
+                "gripper_position": [
+                  0.2981242582586927,
+                  -0.3713567504281286,
+                  1.001543769443049
+                ],
+                "rod_tip_xy_dist": 0.00030936367333941813,
+                "target_xy_drift": 1.0610412629686084e-07,
+                "depth": 0.019574367648637625,
+                "bottom_clearance": 0.07986617330415047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  3.5763699159807594e-05,
+                  0.0003034981398227221
+                ],
+                "rod_tip_xy": [
+                  0.2981242582586925,
+                  -0.37135675042812866
+                ],
+                "target_mouth_xy": [
+                  0.2980884945595327,
+                  -0.3716602485679514
+                ],
+                "gripper_position": [
+                  0.298140572489085,
+                  -0.37143190587036434,
+                  1.0009340026321016
+                ],
+                "rod_tip_xy_dist": 0.0003055980416387608,
+                "target_xy_drift": 9.62819504696586e-08,
+                "depth": 0.01971605126980014,
+                "bottom_clearance": 0.07972447093386814,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006064749062686409,
+              "rod_tip_xy_max_step": 3.291488179559775e-05,
+              "rod_tip_xy_range": 0.0006064666555623061,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2977596535178383,
+            -0.37277638941861807,
+            1.0435539623274506
+          ],
+          "object_origin_world": [
+            0.2977596535178383,
+            -0.37277638941861807,
+            1.0435539623274506
+          ],
+          "frame_world": [
+            0.29775830102159473,
+            -0.3727847398609042,
+            1.0434253383696426
+          ],
+          "center_minus_frame": [
+            1.352496243556267e-06,
+            8.350442286142457e-06,
+            0.00012862395780799396
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2700431990522255,
+              0.14420577287842593,
+              0.8326969253175046
+            ],
+            "target_position": [
+              0.2812755427410465,
+              0.19003766563469232,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04718821821562773,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16642428520237432,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326969253175046,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671904350242,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13616695556378414,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07d15aa1369abdf4a12bc247d1ecbcfe44249f69ac4d5cb3a93771af780a8b03",
+    "visual_seed": 2322586501646145618,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24261689709adb450aad607860a85e6b43b7faea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_30_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33256804573601023,
+              -0.03591317115350662,
+              1.1674009668643928
+            ],
+            "current_z": 1.1674009668643928,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3062944588496267,
+            "gripper_z": 1.158253501977451,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3279076620840287,
+              -0.040596130628551885,
+              1.158253501977451
+            ],
+            "object_minus_gripper": [
+              0.0046603836519815145,
+              0.0046829594750452674,
+              0.009147464886941847
+            ],
+            "object_to_gripper_xy": 0.006606760569944457,
+            "object_to_gripper_z": 0.009147464886941847,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33256804573601023,
+              -0.05973250231833828,
+              1.1674009668643928
+            ],
+            "finger_b": [
+              0.3218403130870354,
+              -0.03591317115350662,
+              1.1674009668643928
+            ],
+            "finger_midpoint": [
+              0.3272041794115228,
+              -0.04782283673592245,
+              1.1674009668643928
+            ],
+            "object_minus_finger_midpoint": [
+              0.005363866324487432,
+              0.01190966558241583,
+              0.0
+            ],
+            "finger_gap": 0.026123644173962422,
+            "fingertip_max_gap": 0.09155305337855876,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013061822086981223,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1674009668643928,
+            "object_top_z": 1.2173262638192615,
+            "finger_top_clearance": 0.04992529695486869,
+            "fingertip_min_top_clearance": 0.01497758908646064,
+            "object_projection_between_fingers": 0.8313647487246087,
+            "object_to_finger_line_xy": 0.009781461380812758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048276526689279384,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3572087961493164,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29529544403447106,
+              -0.37285196048314845,
+              0.8515395667103259
+            ],
+            "target_position": [
+              0.2887746799152894,
+              -0.3736304708473601,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00656707264199142,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831174215370613,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395667103259,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584541245356924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08719442722501484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502501034366845,
+            "release_required_pad_clearance": 0.053597213612507424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2050330538640126,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008227705955505371,
+            "max_z_decrease": 0.008227705955505371,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506060941366438,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008227705955505371,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020865423572490372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008227705955505371,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008227863245194197,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14447461068630219,
+              -0.4298919439315796,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14447461068630219,
+              -0.4298919439315796,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1461236586069938,
+              -0.4287444874522827,
+              0.8035870386188789
+            ],
+            "closest_button": [
+              0.14451695978641504,
+              -0.42986375093460083,
+              0.7685811519622803
+            ],
+            "closest_ee_minus_button": [
+              0.0016066988205787613,
+              0.0011192634823181113,
+              0.03500588665659865
+            ],
+            "button_min_z_position": [
+              0.14451695978641504,
+              -0.42986375093460083,
+              0.7685811519622803
+            ],
+            "min_active_finger_to_button": 0.1438285256098152,
+            "closest_active_finger": [
+              0.018980644643306732,
+              -0.491313099861145,
+              0.8109152317047119
+            ],
+            "closest_active_finger_button": [
+              0.14447522163391113,
+              -0.4298916757106781,
+              0.7767807245254517
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1254945769906044,
+              -0.06142142415046692,
+              0.034134507179260254
+            ],
+            "min_contact_pad_to_button": 0.020865423572490372,
+            "closest_contact_pad": [
+              0.14451695978641504,
+              -0.4299654650296191,
+              0.7894463276170001
+            ],
+            "closest_contact_pad_button": [
+              0.14451695978641504,
+              -0.42986375093460083,
+              0.7685811519622803
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00010171409501824602,
+              0.020865175654719792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28805437393676137,
+              0.19327519647892927,
+              1.1030294907463625
+            ],
+            "current_z": 1.1030294907463625,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19312036101199992,
+            "gripper_z": 1.1030297533846056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28805435063126117,
+              0.1932751628174996,
+              1.1030297533846056
+            ],
+            "object_minus_gripper": [
+              2.3305500196357798e-08,
+              3.366142967142771e-08,
+              -2.626382431536456e-07
+            ],
+            "object_to_gripper_xy": 4.0941887925777277e-08,
+            "object_to_gripper_z": -2.626382431536456e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28805437393676137,
+              0.19327519647892927,
+              1.1030294907463625
+            ],
+            "finger_b": [
+              0.28805437393676137,
+              0.19327519647892927,
+              1.1030294907463625
+            ],
+            "finger_midpoint": [
+              0.28805437393676137,
+              0.19327519647892927,
+              1.1030294907463625
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1030294907463625,
+            "object_top_z": 1.2280379973666422,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28805437393676137,
+            0.1932751964789293,
+            1.1030294907463625
+          ],
+          "object_origin_world": [
+            0.28805437393676137,
+            0.1932751964789293,
+            1.1030294907463625
+          ],
+          "frame_world": [
+            0.28805435063126117,
+            0.1932751628174996,
+            1.1030297533846056
+          ],
+          "center_minus_frame": [
+            2.3305500196357798e-08,
+            3.366142969918329e-08,
+            -2.626382431536456e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434525335751053,
+            "required_z": 0.9112599230004679,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00167399218012399,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.613810087201756e-07,
+            "max_target_xy_drift": 5.034937281772355e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.2082255124206664,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.208225512910652,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29364773122801835,
+              -0.37312015042099667,
+              0.9235790798779143
+            ],
+            "target_mouth_xy": [
+              0.29529695416736823,
+              -0.37285122740131216
+            ],
+            "rod_tip_z": 0.9235790798779143,
+            "rod_tip_depth": -0.022319175741426278,
+            "rod_tip_bottom_clearance": 0.12175976045967563,
+            "rod_tip_xy_dist": 0.0016710044566649418,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045445183394990374,
+            "min_rod_tip_bottom_clearance": 0.053995559610165,
+            "min_rod_tip_xy_dist": 0.0011664982132526534,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2952965160158702,
+              -0.3728513719547624
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.381514980278389e-07,
+              1.4455345026531674e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0010990345550281888,
+                0.0014958608466354995
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012077093093276203,
+                0.0011214445473913814
+              ],
+              "first_target_mouth_xy": [
+                0.29529663155068586,
+                -0.3728513785442544
+              ],
+              "last_target_mouth_xy": [
+                0.29529666357247714,
+                -0.3728514079865859
+              ],
+              "first_rod_tip_xy": [
+                0.2941975969956577,
+                -0.3713555176976189
+              ],
+              "last_rod_tip_xy": [
+                0.2940889542631495,
+                -0.3717299634391945
+              ],
+              "min_rod_tip_xy_dist": 0.0016368938511137513,
+              "max_rod_tip_xy_dist": 0.0018574805078381829,
+              "first_target_xy_drift": 1.1572257789012467e-07,
+              "last_target_xy_drift": 1.5189221359943844e-07,
+              "max_depth": 0.019640431629555755,
+              "min_bottom_clearance": 0.07980019994774468
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010990345550281888,
+                  0.0014958608466354995
+                ],
+                "rod_tip_xy": [
+                  0.2941975969956577,
+                  -0.3713555176976189
+                ],
+                "target_mouth_xy": [
+                  0.29529663155068586,
+                  -0.3728513785442544
+                ],
+                "gripper_position": [
+                  0.29418686175182585,
+                  -0.37136482207213267,
+                  1.005778871427074
+                ],
+                "rod_tip_xy_dist": 0.0018561995112711031,
+                "target_xy_drift": 1.1572257789012467e-07,
+                "depth": 0.015321080125849873,
+                "bottom_clearance": 0.08411964709011621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0011098025941835843,
+                  0.0014865183382625768
+                ],
+                "rod_tip_xy": [
+                  0.29418686175182585,
+                  -0.3713648220721327
+                ],
+                "target_mouth_xy": [
+                  0.29529666434600943,
+                  -0.3728513404103953
+                ],
+                "gripper_position": [
+                  0.2941785239553084,
+                  -0.37136810276847393,
+                  1.0056382733985851
+                ],
+                "rod_tip_xy_dist": 0.0018551006894633904,
+                "target_xy_drift": 1.5164721329442792e-07,
+                "depth": 0.015480959040166664,
+                "bottom_clearance": 0.08395969984649565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011181382602692969,
+                  0.0014832399225751525
+                ],
+                "rod_tip_xy": [
+                  0.2941785239553084,
+                  -0.371368102768474
+                ],
+                "target_mouth_xy": [
+                  0.2952966622155777,
+                  -0.37285134269104914
+                ],
+                "gripper_position": [
+                  0.2941844428154897,
+                  -0.3714405493402469,
+                  1.0051041099695859
+                ],
+                "rod_tip_xy_dist": 0.0018574805078381829,
+                "target_xy_drift": 1.4909969614456143e-07,
+                "depth": 0.015621615980676906,
+                "bottom_clearance": 0.08381899157450612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011121898806236707,
+                  0.0014108272694977053
+                ],
+                "rod_tip_xy": [
+                  0.2941844428154897,
+                  -0.37144054934024695
+                ],
+                "target_mouth_xy": [
+                  0.2952966326961134,
+                  -0.37285137660974466
+                ],
+                "gripper_position": [
+                  0.29417377540512446,
+                  -0.3714494160512457,
+                  1.0049447676058483
+                ],
+                "rod_tip_xy_dist": 0.0017964965669101751,
+                "target_xy_drift": 1.167730620064595e-07,
+                "depth": 0.016155780675910614,
+                "bottom_clearance": 0.08328483220766592,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011228588333221934,
+                  0.001401954486577317
+                ],
+                "rod_tip_xy": [
+                  0.29417377540512446,
+                  -0.3714494160512457
+                ],
+                "target_mouth_xy": [
+                  0.29529663423844665,
+                  -0.372851370537823
+                ],
+                "gripper_position": [
+                  0.2941654260977869,
+                  -0.3714524304760506,
+                  1.004804464636911
+                ],
+                "rod_tip_xy_dist": 0.001796187167865294,
+                "target_xy_drift": 1.1823106740571385e-07,
+                "depth": 0.016315114339023995,
+                "bottom_clearance": 0.08312552113890292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011312080959794968,
+                  0.0013989473750499748
+                ],
+                "rod_tip_xy": [
+                  0.2941654260977869,
+                  -0.3714524304760506
+                ],
+                "target_mouth_xy": [
+                  0.2952966341937664,
+                  -0.37285137785110056
+                ],
+                "gripper_position": [
+                  0.2941720834223003,
+                  -0.37152579048329953,
+                  1.0042729725582467
+                ],
+                "rod_tip_xy_dist": 0.001799079074017808,
+                "target_xy_drift": 1.183248999646004e-07,
+                "depth": 0.01645540927956035,
+                "bottom_clearance": 0.08298520278831023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011245511864477198,
+                  0.0013255527917470644
+                ],
+                "rod_tip_xy": [
+                  0.2941720834223003,
+                  -0.3715257904832995
+                ],
+                "target_mouth_xy": [
+                  0.295296634608748,
+                  -0.37285134327504654
+                ],
+                "gripper_position": [
+                  0.29416101469758693,
+                  -0.37153507796457946,
+                  1.004113637727302
+                ],
+                "rod_tip_xy_dist": 0.0017383053743946747,
+                "target_xy_drift": 1.2201146162080797e-07,
+                "depth": 0.01698686596551502,
+                "bottom_clearance": 0.08245368880348458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001135649204737188,
+                  0.0013162669288393491
+                ],
+                "rod_tip_xy": [
+                  0.29416101469758693,
+                  -0.3715350779645794
+                ],
+                "target_mouth_xy": [
+                  0.2952966639023241,
+                  -0.37285134489341876
+                ],
+                "gripper_position": [
+                  0.2941525889757492,
+                  -0.3715380365924686,
+                  1.0039732641427574
+                ],
+                "rod_tip_xy_dist": 0.0017384641912263766,
+                "target_xy_drift": 1.5034200867656464e-07,
+                "depth": 0.01714618005207058,
+                "bottom_clearance": 0.08229432036903772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011440440300518606,
+                  0.0013133057747521937
+                ],
+                "rod_tip_xy": [
+                  0.29415258897574925,
+                  -0.37153803659246865
+                ],
+                "target_mouth_xy": [
+                  0.2952966330058011,
+                  -0.37285134236722084
+                ],
+                "gripper_position": [
+                  0.29414405978825053,
+                  -0.3715408201859067,
+                  1.0038329795524312
+                ],
+                "rod_tip_xy_dist": 0.0017417258109974608,
+                "target_xy_drift": 1.2067338791612282e-07,
+                "depth": 0.017286612165707704,
+                "bottom_clearance": 0.08215398287008602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011525728306632232,
+                  0.0013105561229517226
+                ],
+                "rod_tip_xy": [
+                  0.29414405978825053,
+                  -0.37154082018590673
+                ],
+                "target_mouth_xy": [
+                  0.29529663261891376,
+                  -0.37285137630885845
+                ],
+                "gripper_position": [
+                  0.29415234199181794,
+                  -0.37161638587198087,
+                  1.003303941162399
+                ],
+                "rod_tip_xy_dist": 0.0017452740419169953,
+                "target_xy_drift": 1.1668430879203694e-07,
+                "depth": 0.017426907671368563,
+                "bottom_clearance": 0.0820136968918076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011442924909733088,
+                  0.0012349564734711604
+                ],
+                "rod_tip_xy": [
+                  0.29415234199181794,
+                  -0.37161638587198087
+                ],
+                "target_mouth_xy": [
+                  0.29529663448279125,
+                  -0.37285134234545203
+                ],
+                "gripper_position": [
+                  0.29414127688118324,
+                  -0.37162550071166295,
+                  1.0031447159487947
+                ],
+                "rod_tip_xy_dist": 0.001683604109126081,
+                "target_xy_drift": 1.2211110778780617e-07,
+                "depth": 0.017955913323438044,
+                "bottom_clearance": 0.0814846713405798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011553567656528152,
+                  0.0012259063564288297
+                ],
+                "rod_tip_xy": [
+                  0.2941412768811833,
+                  -0.3716255007116629
+                ],
+                "target_mouth_xy": [
+                  0.2952966336468361,
+                  -0.3728514070680917
+                ],
+                "gripper_position": [
+                  0.29413255894461976,
+                  -0.37162827810596627,
+                  1.0030044791427692
+                ],
+                "rod_tip_xy_dist": 0.001684546126015059,
+                "target_xy_drift": 1.2275988773202322e-07,
+                "depth": 0.018115158847218482,
+                "bottom_clearance": 0.08132544317355805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011641057083322526,
+                  0.001223063262661861
+                ],
+                "rod_tip_xy": [
+                  0.29413255894461976,
+                  -0.3716282781059663
+                ],
+                "target_mouth_xy": [
+                  0.295296664652952,
+                  -0.3728513413686282
+                ],
+                "gripper_position": [
+                  0.2941239287531676,
+                  -0.37163110325002474,
+                  1.002864096693954
+                ],
+                "rod_tip_xy_dist": 0.0016884981032399213,
+                "target_xy_drift": 1.5175142073907596e-07,
+                "depth": 0.018255395760080617,
+                "bottom_clearance": 0.081185238867727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011727046066526414,
+                  0.0012202743155346196
+                ],
+                "rod_tip_xy": [
+                  0.2941239287531676,
+                  -0.3716311032500247
+                ],
+                "target_mouth_xy": [
+                  0.29529663335982026,
+                  -0.3728513775655593
+                ],
+                "gripper_position": [
+                  0.2941153056459958,
+                  -0.3716336593371139,
+                  1.0027239443106348
+                ],
+                "rod_tip_xy_dist": 0.0016924259214564786,
+                "target_xy_drift": 1.1747801350291867e-07,
+                "depth": 0.018395792352781215,
+                "bottom_clearance": 0.08104483144707386,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011813592191687872,
+                  0.0012176804565860455
+                ],
+                "rod_tip_xy": [
+                  0.2941153056459958,
+                  -0.371633659337114
+                ],
+                "target_mouth_xy": [
+                  0.2952966648651646,
+                  -0.37285133979370005
+                ],
+                "gripper_position": [
+                  0.2941065302354112,
+                  -0.3716365688463913,
+                  1.002584258986229
+                ],
+                "rod_tip_xy_dist": 0.0016965716309860562,
+                "target_xy_drift": 1.5228409757143513e-07,
+                "depth": 0.018535960743021773,
+                "bottom_clearance": 0.08090474033133188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011901332494831385,
+                  0.0012148093319188646
+                ],
+                "rod_tip_xy": [
+                  0.2941065302354112,
+                  -0.3716365688463913
+                ],
+                "target_mouth_xy": [
+                  0.29529666348489436,
+                  -0.37285137817831016
+                ],
+                "gripper_position": [
+                  0.29411772713219025,
+                  -0.371715766019036,
+                  1.002058377266654
+                ],
+                "rod_tip_xy_dist": 0.0017006407217406189,
+                "target_xy_drift": 1.4760029008343107e-07,
+                "depth": 0.018675632094514838,
+                "bottom_clearance": 0.08076500250832186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011789365949378405,
+                  0.0011355747377123082
+                ],
+                "rod_tip_xy": [
+                  0.29411772713219025,
+                  -0.371715766019036
+                ],
+                "target_mouth_xy": [
+                  0.2952966637271281,
+                  -0.3728513407567483
+                ],
+                "gripper_position": [
+                  0.2941064498024776,
+                  -0.3717248104868632,
+                  1.0018988593208031
+                ],
+                "rod_tip_xy_dist": 0.0016368938511137513,
+                "target_xy_drift": 1.5096996983770802e-07,
+                "depth": 0.019201502009320137,
+                "bottom_clearance": 0.08023912105069453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011901835712112563,
+                  0.0011265680214437301
+                ],
+                "rod_tip_xy": [
+                  0.2941064498024776,
+                  -0.37172481048686323
+                ],
+                "target_mouth_xy": [
+                  0.29529663337368883,
+                  -0.37285137850830696
+                ],
+                "gripper_position": [
+                  0.2940977084850211,
+                  -0.37172737416807416,
+                  1.0017590785990358
+                ],
+                "rod_tip_xy_dist": 0.001638808237751086,
+                "target_xy_drift": 1.1754065909113443e-07,
+                "depth": 0.019361047235677664,
+                "bottom_clearance": 0.08007961107770789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011989553544986542,
+                  0.001123966271156851
+                ],
+                "rod_tip_xy": [
+                  0.2940977084850211,
+                  -0.3717273741680742
+                ],
+                "target_mouth_xy": [
+                  0.29529666383951975,
+                  -0.37285134043923107
+                ],
+                "gripper_position": [
+                  0.2940889542631495,
+                  -0.3717299634391945,
+                  1.0016194569550374
+                ],
+                "rod_tip_xy_dist": 0.001643409298008025,
+                "target_xy_drift": 1.5114582389424465e-07,
+                "depth": 0.019500807262085584,
+                "bottom_clearance": 0.0799398317743153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012077093093276203,
+                  0.0011214445473913814
+                ],
+                "rod_tip_xy": [
+                  0.2940889542631495,
+                  -0.3717299634391945
+                ],
+                "target_mouth_xy": [
+                  0.29529666357247714,
+                  -0.3728514079865859
+                ],
+                "gripper_position": [
+                  0.294080199176234,
+                  -0.3717324482947554,
+                  1.001479610801252
+                ],
+                "rod_tip_xy_dist": 0.0016480896968036837,
+                "target_xy_drift": 1.5189221359943844e-07,
+                "depth": 0.019640431629555755,
+                "bottom_clearance": 0.07980019994774468,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006076380126884256,
+              "rod_tip_xy_max_step": 3.290437394352566e-05,
+              "rod_tip_xy_range": 0.0006076317047168896,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29364773122801835,
+            -0.37312015042099667,
+            1.0435790798779143
+          ],
+          "object_origin_world": [
+            0.29364773122801835,
+            -0.37312015042099667,
+            1.0435790798779143
+          ],
+          "frame_world": [
+            0.2936461199084364,
+            -0.373128709055937,
+            1.0434525335751053
+          ],
+          "center_minus_frame": [
+            1.6113195819289494e-06,
+            8.558634940314391e-06,
+            0.00012654630280906076
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27550383273110535,
+              0.14736261703751616,
+              0.8319801329326745
+            ],
+            "target_position": [
+              0.288217787296453,
+              0.1936176912040919,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047970579805180026,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16620821463557856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319801329326745,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567179227624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13665982671655882,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb0188ca50446f44f17142c12869e97dc9634eaa0b5e996eec1c2005288b9bdb",
+    "visual_seed": 4812932046845813355,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f733772f5772a753ee974eed6c8e5d34b10742d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_31_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3292457873187282,
+              -0.036483832284419024,
+              1.164052722012058
+            ],
+            "current_z": 1.164052722012058,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3029462736019367,
+            "gripper_z": 1.1550238368073327,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3246916796180373,
+              -0.041075520603235244,
+              1.1550238368073327
+            ],
+            "object_minus_gripper": [
+              0.004554107700690924,
+              0.00459168831881622,
+              0.009028885204725334
+            ],
+            "object_to_gripper_xy": 0.006467108980575918,
+            "object_to_gripper_z": 0.009028885204725334,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3292457873187282,
+              -0.06015542087219374,
+              1.164052722012058
+            ],
+            "finger_b": [
+              0.31856748472066215,
+              -0.036483832284419024,
+              1.164052722012058
+            ],
+            "finger_midpoint": [
+              0.32390663601969516,
+              -0.04831962657830638,
+              1.164052722012058
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053391512990330625,
+              0.011835794293887356,
+              0.0
+            ],
+            "finger_gap": 0.02596863979196313,
+            "fingertip_max_gap": 0.09172226564117827,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012984319895981573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164052722012058,
+            "object_top_z": 1.2138289435331744,
+            "finger_top_clearance": 0.04977622152111638,
+            "fingertip_min_top_clearance": 0.014932866456334914,
+            "object_projection_between_fingers": 0.8309146260104456,
+            "object_to_finger_line_xy": 0.00973375532727804,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836113282058914,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6638505679798559,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29270221633214893,
+              -0.3733795386139567,
+              0.8515395665215586
+            ],
+            "target_position": [
+              0.2859475644432554,
+              -0.37402949672245,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006785850549704802,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18338250249508545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395665215586,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554690903207112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0873184703108043,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15127843296915053,
+            "release_required_pad_clearance": 0.05365923515540215,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.328313167433126,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008085310459136963,
+            "max_z_decrease": 0.008085310459136963,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510809608679388,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008085310459136963,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020983702739597442,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008085310459136963,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008085324255090476,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1416474878787994,
+              -0.43029096722602844,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1416474878787994,
+              -0.43029096722602844,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1406777475247434,
+              -0.43004421841306034,
+              0.8038172939133954
+            ],
+            "closest_button": [
+              0.14165394008159635,
+              -0.43027749657630915,
+              0.7687235474586487
+            ],
+            "closest_ee_minus_button": [
+              -0.0009761925568529395,
+              0.0002332781632488068,
+              0.03509374645474672
+            ],
+            "button_min_z_position": [
+              0.14165394008159635,
+              -0.43027749657630915,
+              0.7687235474586487
+            ],
+            "min_active_finger_to_button": 0.1465508189477604,
+            "closest_active_finger": [
+              0.01408974826335907,
+              -0.4938145875930786,
+              0.8106500506401062
+            ],
+            "closest_active_finger_button": [
+              0.1416474878787994,
+              -0.43029075860977173,
+              0.7764317989349365
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12755773961544034,
+              -0.06352382898330688,
+              0.03421825170516968
+            ],
+            "min_contact_pad_to_button": 0.020983702739597442,
+            "closest_contact_pad": [
+              0.14165394008159635,
+              -0.4311468284704463,
+              0.7896892347290824
+            ],
+            "closest_contact_pad_button": [
+              0.14165394008159635,
+              -0.43027749657630915,
+              0.7687235474586487
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008693318941371264,
+              0.020965687270433686
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2874261158991107,
+              0.18988692591005396,
+              1.1014859906195862
+            ],
+            "current_z": 1.1014859906195862,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19157686088522363,
+            "gripper_z": 1.1014859288140224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2874261404055164,
+              0.18988686402157873,
+              1.1014859288140224
+            ],
+            "object_minus_gripper": [
+              -2.4506405682522825e-08,
+              6.188847523347363e-08,
+              6.180556377799462e-08
+            ],
+            "object_to_gripper_xy": 6.656385870876677e-08,
+            "object_to_gripper_z": 6.180556377799462e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2874261158991107,
+              0.18988692591005396,
+              1.1014859906195862
+            ],
+            "finger_b": [
+              0.2874261158991107,
+              0.18988692591005396,
+              1.1014859906195862
+            ],
+            "finger_midpoint": [
+              0.2874261158991107,
+              0.18988692591005396,
+              1.1014859906195862
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014859906195862,
+            "object_top_z": 1.226494497239866,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28742611589911077,
+            0.18988692591005396,
+            1.1014859906195862
+          ],
+          "object_origin_world": [
+            0.28742611589911077,
+            0.18988692591005396,
+            1.1014859906195862
+          ],
+          "frame_world": [
+            0.2874261404055164,
+            0.18988686402157873,
+            1.1014859288140224
+          ],
+          "center_minus_frame": [
+            -2.4506405627011674e-08,
+            6.188847523347363e-08,
+            6.180556377799462e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436644277671792,
+            "required_z": 0.9112598477744898,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013050638833937902,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9428907101882812e-08,
+            "max_target_xy_drift": 1.4978239466037718e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3283131669378667,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3283131674456525,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29324236520170444,
+              -0.37220625231738436,
+              0.9233708329563367
+            ],
+            "target_mouth_xy": [
+              0.29270218470808296,
+              -0.3733795678584926
+            ],
+            "rod_tip_z": 0.9233708329563367,
+            "rod_tip_depth": -0.022110964032950542,
+            "rod_tip_bottom_clearance": 0.12155152833399152,
+            "rod_tip_xy_dist": 0.0012916904910601546,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04500312318809807,
+            "min_rod_tip_bottom_clearance": 0.054437497194124385,
+            "min_rod_tip_xy_dist": 0.0005742426505142229,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29270218559155237,
+              -0.3733795972741356
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.834694087411776e-10,
+              2.941564303249322e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0010143207635807672,
+                0.0029893651646478725
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009192390385791005,
+                0.00261586359725563
+              ],
+              "first_target_mouth_xy": [
+                0.2927022155712862,
+                -0.3733795383061709
+              ],
+              "last_target_mouth_xy": [
+                0.29270218846866214,
+                -0.37337953954539504
+              ],
+              "first_rod_tip_xy": [
+                0.29371653633486694,
+                -0.370390173141523
+              ],
+              "last_rod_tip_xy": [
+                0.29362142750724124,
+                -0.3707636759481394
+              ],
+              "min_rod_tip_xy_dist": 0.002772677905833094,
+              "max_rod_tip_xy_dist": 0.0031567626928613547,
+              "first_target_xy_drift": 6.61513817233592e-08,
+              "last_target_xy_drift": 5.7800391416834155e-08,
+              "max_depth": 0.019529741064202244,
+              "min_bottom_clearance": 0.0799108609270257
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0010143207635807672,
+                  0.0029893651646478725
+                ],
+                "rod_tip_xy": [
+                  0.29371653633486694,
+                  -0.370390173141523
+                ],
+                "target_mouth_xy": [
+                  0.2927022155712862,
+                  -0.3733795383061709
+                ],
+                "gripper_position": [
+                  0.2937057047126771,
+                  -0.37039949042574044,
+                  1.0058838942440183
+                ],
+                "rod_tip_xy_dist": 0.0031567626928613547,
+                "target_xy_drift": 6.61513817233592e-08,
+                "depth": 0.015216787939719034,
+                "bottom_clearance": 0.08422372549982027,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0010034880214127018,
+                  0.0029800481799147627
+                ],
+                "rod_tip_xy": [
+                  0.2937057047126771,
+                  -0.3703994904257404
+                ],
+                "target_mouth_xy": [
+                  0.2927022166912644,
+                  -0.37337953860565515
+                ],
+                "gripper_position": [
+                  0.2937147943968368,
+                  -0.3704716277373209,
+                  1.0053518596315407
+                ],
+                "rod_tip_xy_dist": 0.0031444674213182856,
+                "target_xy_drift": 6.640167684639136e-08,
+                "depth": 0.015375921686503813,
+                "bottom_clearance": 0.08406458522389249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0010126090036442492,
+                  0.0029079115330246097
+                ],
+                "rod_tip_xy": [
+                  0.2937147943968368,
+                  -0.3704716277373209
+                ],
+                "target_mouth_xy": [
+                  0.29270218539319254,
+                  -0.3733795392703455
+                ],
+                "gripper_position": [
+                  0.29370388839178185,
+                  -0.3704807219027603,
+                  1.005192900611047
+                ],
+                "rod_tip_xy_dist": 0.003079176266172324,
+                "target_xy_drift": 5.800412927620222e-08,
+                "depth": 0.015907990732278443,
+                "bottom_clearance": 0.08353255076213795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010017022183155255,
+                  0.0028988151168503062
+                ],
+                "rod_tip_xy": [
+                  0.29370388839178185,
+                  -0.3704807219027604
+                ],
+                "target_mouth_xy": [
+                  0.2927021861734663,
+                  -0.3733795370196107
+                ],
+                "gripper_position": [
+                  0.2936956229184714,
+                  -0.3704837068723439,
+                  1.0050530452798891
+                ],
+                "rod_tip_xy_dist": 0.00306700772999647,
+                "target_xy_drift": 6.025733480503646e-08,
+                "depth": 0.01606693979789675,
+                "bottom_clearance": 0.08337360141347339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009934687797187314,
+                  0.002895833377479784
+                ],
+                "rod_tip_xy": [
+                  0.2936956229184714,
+                  -0.3704837068723439
+                ],
+                "target_mouth_xy": [
+                  0.29270215413875267,
+                  -0.37337954024982367
+                ],
+                "gripper_position": [
+                  0.29368717670806577,
+                  -0.37048676411638654,
+                  1.00491300537348
+                ],
+                "rod_tip_xy_dist": 0.0030615079889495305,
+                "target_xy_drift": 6.512335035127676e-08,
+                "depth": 0.01620686697214946,
+                "bottom_clearance": 0.0832337647105611,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009849892748768907,
+                  0.00289277415077549
+                ],
+                "rod_tip_xy": [
+                  0.2936871767080657,
+                  -0.3704867641163865
+                ],
+                "target_mouth_xy": [
+                  0.2927021874331888,
+                  -0.37337953826716197
+                ],
+                "gripper_position": [
+                  0.29369811287999426,
+                  -0.3705610535321199,
+                  1.0043797338377354
+                ],
+                "rod_tip_xy_dist": 0.0030558707693581154,
+                "target_xy_drift": 5.9035705831734244e-08,
+                "depth": 0.016346759611135075,
+                "bottom_clearance": 0.0830937771794047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009959583982058207,
+                  0.002818486072415638
+                ],
+                "rod_tip_xy": [
+                  0.29369811287999426,
+                  -0.3705610535321199
+                ],
+                "target_mouth_xy": [
+                  0.29270215448178843,
+                  -0.3733795396045355
+                ],
+                "gripper_position": [
+                  0.29368701899213623,
+                  -0.3705702515173217,
+                  1.0042210516096781
+                ],
+                "rod_tip_xy_dist": 0.0029892803266601867,
+                "target_xy_drift": 6.552556895623054e-08,
+                "depth": 0.016880155897581628,
+                "bottom_clearance": 0.08256043906510946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009848320155620427,
+                  0.002809285813203166
+                ],
+                "rod_tip_xy": [
+                  0.2936870189921362,
+                  -0.3705702515173217
+                ],
+                "target_mouth_xy": [
+                  0.29270218697657413,
+                  -0.37337953733052487
+                ],
+                "gripper_position": [
+                  0.2936786256847837,
+                  -0.3705730469308178,
+                  1.004081040003401
+                ],
+                "rod_tip_xy_dist": 0.002976907939312294,
+                "target_xy_drift": 5.995960935538779e-08,
+                "depth": 0.017038786691436658,
+                "bottom_clearance": 0.08240176810026367,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009765022346308605,
+                  0.0028064622946734064
+                ],
+                "rod_tip_xy": [
+                  0.29367862568478365,
+                  -0.3705730469308177
+                ],
+                "target_mouth_xy": [
+                  0.2927021234501528,
+                  -0.3733795092254911
+                ],
+                "gripper_position": [
+                  0.2936899815451832,
+                  -0.3706481186518021,
+                  1.0035517353502945
+                ],
+                "rod_tip_xy_dist": 0.0029714957892722285,
+                "target_xy_drift": 1.0776881431042833e-07,
+                "depth": 0.017178875294878826,
+                "bottom_clearance": 0.08226174364623151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000987796296786636,
+                  0.002731389555455377
+                ],
+                "rod_tip_xy": [
+                  0.29368998154518317,
+                  -0.37064811865180214
+                ],
+                "target_mouth_xy": [
+                  0.29270218524839653,
+                  -0.3733795082072575
+                ],
+                "gripper_position": [
+                  0.29367884072953776,
+                  -0.37065732212331787,
+                  1.0033931671000111
+                ],
+                "rod_tip_xy_dist": 0.002904518966644238,
+                "target_xy_drift": 8.906753914603323e-08,
+                "depth": 0.017708057880384986,
+                "bottom_clearance": 0.08173248645129916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009767166147947037,
+                  0.002722216868841665
+                ],
+                "rod_tip_xy": [
+                  0.29367884072953776,
+                  -0.3706573221233179
+                ],
+                "target_mouth_xy": [
+                  0.29270212411474306,
+                  -0.3733795389921596
+                ],
+                "gripper_position": [
+                  0.2936701360983494,
+                  -0.3706598058600308,
+                  1.0032533258713787
+                ],
+                "rod_tip_xy_dist": 0.002892134164699512,
+                "target_xy_drift": 8.471237697103024e-08,
+                "depth": 0.017866727749146216,
+                "bottom_clearance": 0.08157386528819077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009679522285918618,
+                  0.002719732503090766
+                ],
+                "rod_tip_xy": [
+                  0.2936701360983494,
+                  -0.3706598058600308
+                ],
+                "target_mouth_xy": [
+                  0.29270218386975755,
+                  -0.37337953836312154
+                ],
+                "gripper_position": [
+                  0.2936615455369038,
+                  -0.37066247620714426,
+                  1.0031136977939474
+                ],
+                "rod_tip_xy_dist": 0.002886845407222963,
+                "target_xy_drift": 5.893617018260367e-08,
+                "depth": 0.01800650451337571,
+                "bottom_clearance": 0.08143408276550512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009594212576496952,
+                  0.002717062786522284
+                ],
+                "rod_tip_xy": [
+                  0.2936615455369038,
+                  -0.3706624762071443
+                ],
+                "target_mouth_xy": [
+                  0.29270212427925413,
+                  -0.3733795389936666
+                ],
+                "gripper_position": [
+                  0.29365282345886123,
+                  -0.3706652254470058,
+                  1.0029739622487035
+                ],
+                "rod_tip_xy_dist": 0.002881478671712557,
+                "target_xy_drift": 8.459202670987251e-08,
+                "depth": 0.01814619219027669,
+                "bottom_clearance": 0.08129439481944034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.000950638230845291,
+                  0.0027143135138162355
+                ],
+                "rod_tip_xy": [
+                  0.29365282345886123,
+                  -0.37066522544700586
+                ],
+                "target_mouth_xy": [
+                  0.29270218522801594,
+                  -0.3733795389608221
+                ],
+                "gripper_position": [
+                  0.2936441143133566,
+                  -0.37066802588706627,
+                  1.0028343738858916
+                ],
+                "rod_tip_xy_dist": 0.002875971296315404,
+                "target_xy_drift": 5.8314446678264907e-08,
+                "depth": 0.01828582751820451,
+                "bottom_clearance": 0.0811547085563682,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009419593525718528,
+                  0.00271148360364859
+                ],
+                "rod_tip_xy": [
+                  0.2936441143133565,
+                  -0.37066802588706627
+                ],
+                "target_mouth_xy": [
+                  0.29270215496078467,
+                  -0.37337950949071486
+                ],
+                "gripper_position": [
+                  0.2936588765226381,
+                  -0.37074750757444574,
+                  1.0023072635037897
+                ],
+                "rod_tip_xy_dist": 0.0028704408641797045,
+                "target_xy_drift": 9.297404416977937e-08,
+                "depth": 0.018425495656081314,
+                "bottom_clearance": 0.08101506998870434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009566594779245596,
+                  0.002632030713564215
+                ],
+                "rod_tip_xy": [
+                  0.2936588765226381,
+                  -0.37074750757444574
+                ],
+                "target_mouth_xy": [
+                  0.29270221704471355,
+                  -0.37337953828800996
+                ],
+                "gripper_position": [
+                  0.2936476346394283,
+                  -0.3707565936280682,
+                  1.0021484940890673
+                ],
+                "rod_tip_xy_dist": 0.0028004969262343856,
+                "target_xy_drift": 6.684806929076102e-08,
+                "depth": 0.018952559324790008,
+                "bottom_clearance": 0.08048796962980764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009454815189476884,
+                  0.0026229453759140653
+                ],
+                "rod_tip_xy": [
+                  0.2936476346394282,
+                  -0.3707565936280681
+                ],
+                "target_mouth_xy": [
+                  0.29270215312048053,
+                  -0.3733795390039822
+                ],
+                "gripper_position": [
+                  0.2936388582377848,
+                  -0.3707589088961337,
+                  1.0020090013840568
+                ],
+                "rod_tip_xy_dist": 0.0027881495203271657,
+                "target_xy_drift": 6.67066809698036e-08,
+                "depth": 0.019111424680603784,
+                "bottom_clearance": 0.08032919825353069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.000936672861391652,
+                  0.0026206294261586494
+                ],
+                "rod_tip_xy": [
+                  0.2936388582377848,
+                  -0.3707589088961337
+                ],
+                "target_mouth_xy": [
+                  0.29270218537639314,
+                  -0.37337953832229237
+                ],
+                "gripper_position": [
+                  0.2936300826340409,
+                  -0.370761380550562,
+                  1.001869701448233
+                ],
+                "rod_tip_xy_dist": 0.002782993826532182,
+                "target_xy_drift": 5.8952235877235544e-08,
+                "depth": 0.019250782659358534,
+                "bottom_clearance": 0.08018974589315231,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009279279543993324,
+                  0.0026181587425919695
+                ],
+                "rod_tip_xy": [
+                  0.2936300826340409,
+                  -0.37076138055056196
+                ],
+                "target_mouth_xy": [
+                  0.29270215467964156,
+                  -0.37337953929315393
+                ],
+                "gripper_position": [
+                  0.2936214275072413,
+                  -0.3707636759481394,
+                  1.001730164659047
+                ],
+                "rod_tip_xy_dist": 0.002777733876735943,
+                "target_xy_drift": 6.570647203071459e-08,
+                "depth": 0.019390176459691433,
+                "bottom_clearance": 0.08005039958750693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009192390385791005,
+                  0.00261586359725563
+                ],
+                "rod_tip_xy": [
+                  0.29362142750724124,
+                  -0.3707636759481394
+                ],
+                "target_mouth_xy": [
+                  0.29270218846866214,
+                  -0.37337953954539504
+                ],
+                "gripper_position": [
+                  0.29361257683962466,
+                  -0.37076616373528926,
+                  1.00159097064313
+                ],
+                "rod_tip_xy_dist": 0.002772677905833094,
+                "target_xy_drift": 5.7800391416834155e-08,
+                "depth": 0.019529741064202244,
+                "bottom_clearance": 0.0799108609270257,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006040786518828573,
+              "rod_tip_xy_max_step": 3.2613010244368675e-05,
+              "rod_tip_xy_range": 0.0006040726522337505,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2932423652017045,
+            -0.37220625231738436,
+            1.043370832956337
+          ],
+          "object_origin_world": [
+            0.2932423652017045,
+            -0.37220625231738436,
+            1.043370832956337
+          ],
+          "frame_world": [
+            0.29326643326825225,
+            -0.37220278610213936,
+            1.0436644277671792
+          ],
+          "center_minus_frame": [
+            -2.4068066547755507e-05,
+            -3.466215244996018e-06,
+            -0.0002935948108422348
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2785603284434007,
+              0.1414964812013874,
+              0.8332159952954018
+            ],
+            "target_position": [
+              0.287580744756975,
+              0.18923172337617855,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04858004997893846,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1706415219655571,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332159952954018,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567181882298,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14028394889434467,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68aaea6b3c88299db2920387df7743c7a9b34e53d3dbc77b2121e20a8217abb6",
+    "visual_seed": 1383712450004739580,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db9c5f2f01e360cf97562a2c49feb8e4bd58983c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33133684146663606,
+              -0.036166412524968015,
+              1.1645586797410092
+            ],
+            "current_z": 1.1645586797410092,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3034521717262434,
+            "gripper_z": 1.155607528332518,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32680613001896675,
+              -0.04080751021551382,
+              1.155607528332518
+            ],
+            "object_minus_gripper": [
+              0.004530711447669311,
+              0.004641097690545805,
+              0.008951151408491231
+            ],
+            "object_to_gripper_xy": 0.006485918130475542,
+            "object_to_gripper_z": 0.008951151408491231,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33133684146663606,
+              -0.059727544424161595,
+              1.1645586797410092
+            ],
+            "finger_b": [
+              0.32046335868989295,
+              -0.036166412524968015,
+              1.1645586797410092
+            ],
+            "finger_midpoint": [
+              0.32590010007826453,
+              -0.047946978474564805,
+              1.1645586797410092
+            ],
+            "object_minus_finger_midpoint": [
+              0.005436741388371524,
+              0.01178056594959679,
+              0.0
+            ],
+            "finger_gap": 0.025949172704873003,
+            "fingertip_max_gap": 0.09204715605188454,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012974586352436491,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645586797410092,
+            "object_top_z": 1.2143540442581573,
+            "finger_top_clearance": 0.049795364517148055,
+            "fingertip_min_top_clearance": 0.014938609355144416,
+            "object_projection_between_fingers": 0.8244138287990406,
+            "object_to_finger_line_xy": 0.009872821951597102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048523578025942274,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.97995985749912,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29115217512706987,
+              -0.37102210477944564,
+              0.8515395738159997
+            ],
+            "target_position": [
+              0.284158938350889,
+              -0.3717031769329908,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070263233547896925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18287935386371032,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395738159997,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523729829791086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551784034063624,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515665499422974,
+            "release_required_pad_clearance": 0.05275892017031812,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5678605939283689,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008144378662109375,
+            "max_z_decrease": 0.008144378662109375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350430464431883,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008144378662109375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020885463056592904,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008144378662109375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008144454314377587,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13985887169837952,
+              -0.42796462774276733,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13985887169837952,
+              -0.42796462774276733,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13766549478774284,
+              -0.42765085625014393,
+              0.8036357650738012
+            ],
+            "closest_button": [
+              0.139887660741806,
+              -0.427944540977478,
+              0.7686644792556763
+            ],
+            "closest_ee_minus_button": [
+              -0.00222216595406316,
+              0.0002936847273340981,
+              0.03497128581812492
+            ],
+            "button_min_z_position": [
+              0.139887660741806,
+              -0.427944540977478,
+              0.7686644792556763
+            ],
+            "min_active_finger_to_button": 0.14758645280513258,
+            "closest_active_finger": [
+              0.011326365172863007,
+              -0.4919053912162781,
+              0.8108749389648438
+            ],
+            "closest_active_finger_button": [
+              0.139858677983284,
+              -0.42796576023101807,
+              0.7766268849372864
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.128532312810421,
+              -0.06393963098526001,
+              0.03424805402755737
+            ],
+            "min_contact_pad_to_button": 0.020885463056592904,
+            "closest_contact_pad": [
+              0.139887660741806,
+              -0.4287081622364882,
+              0.7895359777562894
+            ],
+            "closest_contact_pad_button": [
+              0.139887660741806,
+              -0.427944540977478,
+              0.7686644792556763
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007636212590101943,
+              0.020871498500613095
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28725648345173715,
+              0.1951909605459393,
+              1.1014335444903218
+            ],
+            "current_z": 1.1014335444903218,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19152441475595927,
+            "gripper_z": 1.1014336984548148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28725647679694544,
+              0.19519086425857032,
+              1.1014336984548148
+            ],
+            "object_minus_gripper": [
+              6.654791717686237e-09,
+              9.628736896694079e-08,
+              -1.539644929327011e-07
+            ],
+            "object_to_gripper_xy": 9.651706416681755e-08,
+            "object_to_gripper_z": -1.539644929327011e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28725648345173715,
+              0.1951909605459393,
+              1.1014335444903218
+            ],
+            "finger_b": [
+              0.28725648345173715,
+              0.1951909605459393,
+              1.1014335444903218
+            ],
+            "finger_midpoint": [
+              0.28725648345173715,
+              0.1951909605459393,
+              1.1014335444903218
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014335444903218,
+            "object_top_z": 1.2264420511106016,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28725648345173715,
+            0.1951909605459393,
+            1.101433544490322
+          ],
+          "object_origin_world": [
+            0.28725648345173715,
+            0.1951909605459393,
+            1.101433544490322
+          ],
+          "frame_world": [
+            0.28725647679694544,
+            0.19519086425857032,
+            1.1014336984548148
+          ],
+          "center_minus_frame": [
+            6.654791717686237e-09,
+            9.628736896694079e-08,
+            -1.5396449271065649e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433415907840737,
+            "required_z": 0.9112598365304195,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023183978916925894,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.6740384338110506e-08,
+            "max_target_xy_drift": 1.9990686845827073e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5678605939071885,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5678605941433823,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2893786378717192,
+              -0.3725053912992518,
+              0.923465663955724
+            ],
+            "target_mouth_xy": [
+              0.2911521757526763,
+              -0.37102211019484826
+            ],
+            "rod_tip_z": 0.923465663955724,
+            "rod_tip_depth": -0.02220578240464588,
+            "rod_tip_bottom_clearance": 0.12164641076082094,
+            "rod_tip_xy_dist": 0.002312046593360634,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04490327907662217,
+            "min_rod_tip_bottom_clearance": 0.05453725413330224,
+            "min_rod_tip_xy_dist": 0.0012326401904811685,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2911521764803378,
+              -0.3710221669305665
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.276614866214004e-10,
+              5.6735718234612875e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.001193845678910177,
+                0.0003341856587880665
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013075400589835362,
+                -3.4372477337230034e-05
+              ],
+              "first_target_mouth_xy": [
+                0.2911521762660972,
+                -0.3710221082694443
+              ],
+              "last_target_mouth_xy": [
+                0.29115220429773814,
+                -0.3710220445476302
+              ],
+              "first_rod_tip_xy": [
+                0.289958330587187,
+                -0.37068792261065625
+              ],
+              "last_rod_tip_xy": [
+                0.2898446642387546,
+                -0.37105641702496744
+              ],
+              "min_rod_tip_xy_dist": 0.0012326401904811685,
+              "max_rod_tip_xy_dist": 0.001307991771015769,
+              "first_target_xy_drift": 5.86615134027182e-08,
+              "last_target_xy_drift": 1.255045451557305e-07,
+              "max_depth": 0.01929760999574881,
+              "min_bottom_clearance": 0.08014298937254816
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.001193845678910177,
+                  0.0003341856587880665
+                ],
+                "rod_tip_xy": [
+                  0.289958330587187,
+                  -0.37068792261065625
+                ],
+                "target_mouth_xy": [
+                  0.2911521762660972,
+                  -0.3710221082694443
+                ],
+                "gripper_position": [
+                  0.2899475216331231,
+                  -0.3706972285645905,
+                  1.0060902565608898
+                ],
+                "rod_tip_xy_dist": 0.0012397368912765788,
+                "target_xy_drift": 5.86615134027182e-08,
+                "depth": 0.015012637440025567,
+                "bottom_clearance": 0.08442794291254307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0012046513276299797,
+                  0.00032487908555639544
+                ],
+                "rod_tip_xy": [
+                  0.2899475216331231,
+                  -0.3706972285645906
+                ],
+                "target_mouth_xy": [
+                  0.2911521729607531,
+                  -0.371022107650147
+                ],
+                "gripper_position": [
+                  0.28993949791837825,
+                  -0.3707001239170339,
+                  1.0059518045902538
+                ],
+                "rod_tip_xy_dist": 0.0012476903627874315,
+                "target_xy_drift": 5.9384809630850354e-08,
+                "depth": 0.015169717045524389,
+                "bottom_clearance": 0.08427091387664498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012126779803990906,
+                  0.0003219824482572631
+                ],
+                "rod_tip_xy": [
+                  0.28993949791837825,
+                  -0.37070012391703383
+                ],
+                "target_mouth_xy": [
+                  0.29115217589877734,
+                  -0.3710221063652911
+                ],
+                "gripper_position": [
+                  0.28994428353588153,
+                  -0.37077188856293825,
+                  1.0054187040027052
+                ],
+                "rod_tip_xy_dist": 0.0012546954136883415,
+                "target_xy_drift": 6.05680674743659e-08,
+                "depth": 0.01530801012758587,
+                "bottom_clearance": 0.08413248870907764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012079235171032487,
+                  0.00025021906345173983
+                ],
+                "rod_tip_xy": [
+                  0.28994428353588153,
+                  -0.37077188856293825
+                ],
+                "target_mouth_xy": [
+                  0.2911522070529848,
+                  -0.37102210762639
+                ],
+                "gripper_position": [
+                  0.2899334698699161,
+                  -0.37078105792121446,
+                  1.0052613564170623
+                ],
+                "rod_tip_xy_dist": 0.0012335675104694305,
+                "target_xy_drift": 6.672085202342758e-08,
+                "depth": 0.015841263343900347,
+                "bottom_clearance": 0.0835993325092258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012187069083909874,
+                  0.00024102022430244618
+                ],
+                "rod_tip_xy": [
+                  0.28993346986991614,
+                  -0.37078105792121446
+                ],
+                "target_mouth_xy": [
+                  0.2911521767783071,
+                  -0.3710220781455169
+                ],
+                "gripper_position": [
+                  0.28992523683630744,
+                  -0.37078403636328255,
+                  1.0051234376044822
+                ],
+                "rod_tip_xy_dist": 0.0012423112641696203,
+                "target_xy_drift": 8.878554959241925e-08,
+                "depth": 0.015998493589283957,
+                "bottom_clearance": 0.08344209528752111,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012269375861521659,
+                  0.00023801230284664632
+                ],
+                "rod_tip_xy": [
+                  0.28992523683630744,
+                  -0.37078403636328267
+                ],
+                "target_mouth_xy": [
+                  0.2911521744224596,
+                  -0.3710220486661293
+                ],
+                "gripper_position": [
+                  0.2899307208823279,
+                  -0.37085681082660354,
+                  1.0045918418229074
+                ],
+                "rod_tip_xy_dist": 0.0012498102642478446,
+                "target_xy_drift": 1.1828234004292316e-07,
+                "depth": 0.016136502965165667,
+                "bottom_clearance": 0.0833040946778536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012215148848886415,
+                  0.00016523687598396508
+                ],
+                "rod_tip_xy": [
+                  0.2899307208823279,
+                  -0.37085681082660354
+                ],
+                "target_mouth_xy": [
+                  0.29115223576721655,
+                  -0.3710220477025875
+                ],
+                "gripper_position": [
+                  0.2899197062008676,
+                  -0.3708661317815831,
+                  1.0044349323202082
+                ],
+                "rod_tip_xy_dist": 0.0012326401904811685,
+                "target_xy_drift": 1.3315496597819537e-07,
+                "depth": 0.01666799178831091,
+                "bottom_clearance": 0.0827725505682565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012324672244593549,
+                  0.00015594764226839475
+                ],
+                "rod_tip_xy": [
+                  0.28991970620086766,
+                  -0.3708661317815832
+                ],
+                "target_mouth_xy": [
+                  0.291152173425327,
+                  -0.37102207942385157
+                ],
+                "gripper_position": [
+                  0.2899113753488247,
+                  -0.37086852779593615,
+                  1.0042968931346639
+                ],
+                "rod_tip_xy_dist": 0.0012422942994699837,
+                "target_xy_drift": 8.756002654626419e-08,
+                "depth": 0.016825055801770294,
+                "bottom_clearance": 0.08261561426663422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012408301796996146,
+                  0.000153490740074258
+                ],
+                "rod_tip_xy": [
+                  0.2899113753488247,
+                  -0.3708685277959361
+                ],
+                "target_mouth_xy": [
+                  0.29115220552852433,
+                  -0.37102201853601036
+                ],
+                "gripper_position": [
+                  0.28990307155963,
+                  -0.37087142087477737,
+                  1.0041591085387103
+                ],
+                "rod_tip_xy_dist": 0.0012502875437841975,
+                "target_xy_drift": 1.5121091704364775e-07,
+                "depth": 0.01696294821898703,
+                "bottom_clearance": 0.08247759964871926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012491027038304403,
+                  0.00015062906016355404
+                ],
+                "rod_tip_xy": [
+                  0.28990307155963,
+                  -0.3708714208747775
+                ],
+                "target_mouth_xy": [
+                  0.29115217426346046,
+                  -0.37102204993494103
+                ],
+                "gripper_position": [
+                  0.2899099703854996,
+                  -0.37094693982102256,
+                  1.0036283761364069
+                ],
+                "rod_tip_xy_dist": 0.001258152088772368,
+                "target_xy_drift": 1.170166266956121e-07,
+                "depth": 0.01710085986413923,
+                "bottom_clearance": 0.08233978957959975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012422659092470312,
+                  7.508030065161986e-05
+                ],
+                "rod_tip_xy": [
+                  0.2899099703854996,
+                  -0.3709469398210225
+                ],
+                "target_mouth_xy": [
+                  0.2911522362947466,
+                  -0.3710220201216741
+                ],
+                "gripper_position": [
+                  0.28989903781507925,
+                  -0.3709556836826504,
+                  1.0034718246924528
+                ],
+                "rod_tip_xy_dist": 0.0012445326997806408,
+                "target_xy_drift": 1.585263838690257e-07,
+                "depth": 0.01763150122442647,
+                "bottom_clearance": 0.08180914002099182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012531651798891597,
+                  6.63589603743242e-05
+                ],
+                "rod_tip_xy": [
+                  0.28989903781507925,
+                  -0.37095568368265047
+                ],
+                "target_mouth_xy": [
+                  0.2911522029949684,
+                  -0.3710220426430248
+                ],
+                "gripper_position": [
+                  0.28989056975652006,
+                  -0.37095836652061565,
+                  1.0033340919089606
+                ],
+                "rod_tip_xy_dist": 0.0012549209057580446,
+                "target_xy_drift": 1.270842974506424e-07,
+                "depth": 0.017788129345389758,
+                "bottom_clearance": 0.08165258808003217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012616656434213946,
+                  6.371385347531122e-05
+                ],
+                "rod_tip_xy": [
+                  0.28989056975652006,
+                  -0.3709583665206157
+                ],
+                "target_mouth_xy": [
+                  0.29115223539994145,
+                  -0.371022080374091
+                ],
+                "gripper_position": [
+                  0.28988211999610336,
+                  -0.3709608285924661,
+                  1.00319576993972
+                ],
+                "rod_tip_xy_dist": 0.0012632733872422845,
+                "target_xy_drift": 1.0470693932061083e-07,
+                "depth": 0.017925789662237457,
+                "bottom_clearance": 0.08151483969856266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012700842598862283,
+                  6.121595437885707e-05
+                ],
+                "rod_tip_xy": [
+                  0.28988211999610336,
+                  -0.3709608285924661
+                ],
+                "target_mouth_xy": [
+                  0.2911522042559896,
+                  -0.37102204454684495
+                ],
+                "gripper_position": [
+                  0.2898905048416712,
+                  -0.37103799680322647,
+                  1.002669702192423
+                ],
+                "rod_tip_xy_dist": 0.0012715586578216761,
+                "target_xy_drift": 1.2549606420574144e-07,
+                "depth": 0.01806411190125856,
+                "bottom_clearance": 0.08137648911673923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012617301656082103,
+                  -1.588725643159039e-05
+                ],
+                "rod_tip_xy": [
+                  0.2898905048416712,
+                  -0.3710379968032264
+                ],
+                "target_mouth_xy": [
+                  0.29115223500727944,
+                  -0.3710221095467948
+                ],
+                "gripper_position": [
+                  0.28987914574100443,
+                  -0.37104697340013015,
+                  1.0025129470561192
+                ],
+                "rod_tip_xy_dist": 0.0012618301849784085,
+                "target_xy_drift": 8.196523743780853e-08,
+                "depth": 0.01859017219891257,
+                "bottom_clearance": 0.08085043409580006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001273087905480974,
+                  -2.4958660510387976e-05
+                ],
+                "rod_tip_xy": [
+                  0.28987914574100443,
+                  -0.3710469734001302
+                ],
+                "target_mouth_xy": [
+                  0.2911522336464854,
+                  -0.3710220147396198
+                ],
+                "gripper_position": [
+                  0.28987051202917724,
+                  -0.3710493463657944,
+                  1.0023751847179947
+                ],
+                "rod_tip_xy_dist": 0.001273332537013174,
+                "target_xy_drift": 1.625732225230884e-07,
+                "depth": 0.018746947510957068,
+                "bottom_clearance": 0.08069366968164371,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012817224109142322,
+                  -2.7266306208029167e-05
+                ],
+                "rod_tip_xy": [
+                  0.28987051202917724,
+                  -0.3710493463657945
+                ],
+                "target_mouth_xy": [
+                  0.2911522344400915,
+                  -0.3710220800595865
+                ],
+                "gripper_position": [
+                  0.2898619534558339,
+                  -0.37105169772429397,
+                  1.0022377107637348
+                ],
+                "rod_tip_xy_dist": 0.001282012398572659,
+                "target_xy_drift": 1.0443131816860872e-07,
+                "depth": 0.018884712584015695,
+                "bottom_clearance": 0.08055592668254996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012902491436818653,
+                  -2.9656339401940013e-05
+                ],
+                "rod_tip_xy": [
+                  0.2898619534558339,
+                  -0.37105169772429397
+                ],
+                "target_mouth_xy": [
+                  0.29115220259951574,
+                  -0.37102204138489203
+                ],
+                "gripper_position": [
+                  0.28985321352567905,
+                  -0.3710541859124817,
+                  1.0021001997897532
+                ],
+                "rod_tip_xy_dist": 0.0012905899237319767,
+                "target_xy_drift": 1.282338794286942e-07,
+                "depth": 0.01902227756656416,
+                "bottom_clearance": 0.08041849981502269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012990507290546183,
+                  -3.210616395549204e-05
+                ],
+                "rod_tip_xy": [
+                  0.28985321352567905,
+                  -0.3710541859124817
+                ],
+                "target_mouth_xy": [
+                  0.2911522642547337,
+                  -0.3710220797485262
+                ],
+                "gripper_position": [
+                  0.28984466423875455,
+                  -0.37105641702496744,
+                  1.0019622705501574
+                ],
+                "rod_tip_xy_dist": 0.0012994474219533748,
+                "target_xy_drift": 1.2371359149884543e-07,
+                "depth": 0.01915969149926211,
+                "bottom_clearance": 0.08028093608834974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013075400589835362,
+                  -3.4372477337230034e-05
+                ],
+                "rod_tip_xy": [
+                  0.2898446642387546,
+                  -0.37105641702496744
+                ],
+                "target_mouth_xy": [
+                  0.29115220429773814,
+                  -0.3710220445476302
+                ],
+                "gripper_position": [
+                  0.28983583898652776,
+                  -0.3710590772067764,
+                  1.0018248008974522
+                ],
+                "rod_tip_xy_dist": 0.001307991771015769,
+                "target_xy_drift": 1.255045451557305e-07,
+                "depth": 0.01929760999574881,
+                "bottom_clearance": 0.08014298937254816,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000599847075361707,
+              "rod_tip_xy_max_step": 3.238269881226069e-05,
+              "rod_tip_xy_range": 0.0005998362771881092,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2893786378717192,
+            -0.3725053912992518,
+            1.0434656639557243
+          ],
+          "object_origin_world": [
+            0.2893786378717192,
+            -0.3725053912992518,
+            1.0434656639557243
+          ],
+          "frame_world": [
+            0.28937714877972703,
+            -0.3725135015014835,
+            1.0433415907840737
+          ],
+          "center_minus_frame": [
+            1.4890919921572987e-06,
+            8.110202231681463e-06,
+            0.00012407317165052945
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27751112156840363,
+              0.14690234340312947,
+              0.8331219786241745
+            ],
+            "target_position": [
+              0.28742851329502267,
+              0.1939390991472864,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04807089607646911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16957097438360028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331219786241745,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669027254035,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13832552518591218,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "363d285df6cb37d6149126bad00579950cd5d2d882ea04a2063ad1684d66cb5d",
+    "visual_seed": 5094008560133904678,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60c9498b698234222ad2837a549a10f7a4b8d417
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3358124883603841,
+              -0.029605254918926873,
+              1.1655293050785915
+            ],
+            "current_z": 1.1655293050785915,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3044228566684706,
+            "gripper_z": 1.15647920047176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33106278596712935,
+              -0.034224855578968955,
+              1.15647920047176
+            ],
+            "object_minus_gripper": [
+              0.004749702393254729,
+              0.0046196006600420815,
+              0.009050104606831644
+            ],
+            "object_to_gripper_xy": 0.006625736418146359,
+            "object_to_gripper_z": 0.009050104606831644,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3358124883603841,
+              -0.053689123862386126,
+              1.1655293050785915
+            ],
+            "finger_b": [
+              0.3254545485042404,
+              -0.029605254918926873,
+              1.1655293050785915
+            ],
+            "finger_midpoint": [
+              0.33063351843231226,
+              -0.0416471893906565,
+              1.1655293050785915
+            ],
+            "object_minus_finger_midpoint": [
+              0.005178969928071819,
+              0.012041934471729628,
+              0.0
+            ],
+            "finger_gap": 0.026216782055569123,
+            "fingertip_max_gap": 0.09214598594663873,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013108391027784553,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655293050785915,
+            "object_top_z": 1.2153474260865755,
+            "finger_top_clearance": 0.049818121007983995,
+            "fingertip_min_top_clearance": 0.014945436302395199,
+            "object_projection_between_fingers": 0.8439053556930332,
+            "object_to_finger_line_xy": 0.009515251165869413,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048572992973319365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0840060346773526,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2931773127595131,
+              -0.37471974990353185,
+              0.8515395799748421
+            ],
+            "target_position": [
+              0.286838035284929,
+              -0.3749611395443433,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00634387167733239,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18565518126530708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395799748421,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519620062250783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0878933313759147,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428607546504652,
+            "release_required_pad_clearance": 0.05394666568795735,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9037048610401377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008158743381500244,
+            "max_z_decrease": 0.008158743381500244,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500648554054624,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008158743381500244,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020877160242531462,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008158743381500244,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008158832700507747,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14253796637058258,
+              -0.4312225878238678,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14253796637058258,
+              -0.4312225878238678,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1420797240232832,
+              -0.43027161321535734,
+              0.8036410112598802
+            ],
+            "closest_button": [
+              0.14256565272808075,
+              -0.4311963021755218,
+              0.7686501145362854
+            ],
+            "closest_ee_minus_button": [
+              -0.00048592870479755024,
+              0.0009246889601644548,
+              0.03499089672359479
+            ],
+            "button_min_z_position": [
+              0.14256565272808075,
+              -0.4311963021755218,
+              0.7686501145362854
+            ],
+            "min_active_finger_to_button": 0.14581306062536595,
+            "closest_active_finger": [
+              0.016180291771888733,
+              -0.4954208731651306,
+              0.8105485439300537
+            ],
+            "closest_active_finger_button": [
+              0.14253751933574677,
+              -0.43122202157974243,
+              0.7762876749038696
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12635722756385803,
+              -0.06419885158538818,
+              0.03426086902618408
+            ],
+            "min_contact_pad_to_button": 0.020877160242531462,
+            "closest_contact_pad": [
+              0.14256565272808075,
+              -0.4312403892137227,
+              0.7895272282286855
+            ],
+            "closest_contact_pad_button": [
+              0.14256565272808075,
+              -0.4311963021755218,
+              0.7686501145362854
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -4.4087038200912865e-05,
+              0.020877113692400084
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.29076530062572264,
+              0.1944418075793991,
+              1.1033860898776355
+            ],
+            "current_z": 1.1033860898776355,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19347696014327298,
+            "gripper_z": 1.1033860220228024,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.29076521155058344,
+              0.19444185539404696,
+              1.1033860220228024
+            ],
+            "object_minus_gripper": [
+              8.907513920908272e-08,
+              -4.781464785219569e-08,
+              6.785483308568985e-08
+            ],
+            "object_to_gripper_xy": 1.010970868736926e-07,
+            "object_to_gripper_z": 6.785483308568985e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29076530062572264,
+              0.1944418075793991,
+              1.1033860898776355
+            ],
+            "finger_b": [
+              0.29076530062572264,
+              0.1944418075793991,
+              1.1033860898776355
+            ],
+            "finger_midpoint": [
+              0.29076530062572264,
+              0.1944418075793991,
+              1.1033860898776355
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033860898776355,
+            "object_top_z": 1.2283945964979153,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29076530062572264,
+            0.19444180757939913,
+            1.1033860898776355
+          ],
+          "object_origin_world": [
+            0.29076530062572264,
+            0.19444180757939913,
+            1.1033860898776355
+          ],
+          "frame_world": [
+            0.29076521155058344,
+            0.19444185539404696,
+            1.1033860220228024
+          ],
+          "center_minus_frame": [
+            8.907513920908272e-08,
+            -4.7814647824440115e-08,
+            6.785483308568985e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1670,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436313201744205,
+            "required_z": 0.9112598885680365,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008278255461727919,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.5242158714710482e-07,
+            "max_target_xy_drift": 1.5446704405886276e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.9039744230268845,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.9039744235170675,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29343671629805734,
+              -0.3739448952153558,
+              0.9233374629274712
+            ],
+            "target_mouth_xy": [
+              0.2931773406423294,
+              -0.37471956961600267
+            ],
+            "rod_tip_z": 0.9233374629274712,
+            "rod_tip_depth": -0.02207757132593835,
+            "rod_tip_bottom_clearance": 0.12151813591285066,
+            "rod_tip_xy_dist": 0.0008169431790534102,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04510955634614877,
+            "min_rod_tip_bottom_clearance": 0.05433098844450224,
+            "min_rod_tip_xy_dist": 0.0007813309468878292,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2931773143833804,
+              -0.3747197197586276
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.6258949015200983e-08,
+              1.501426249439497e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0007568713406346794,
+                0.002615930457452176
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006839807497266981,
+                0.0021508336722881327
+              ],
+              "first_target_mouth_xy": [
+                0.293177315183381,
+                -0.3747197207431651
+              ],
+              "last_target_mouth_xy": [
+                0.2931772833407394,
+                -0.37471969036243663
+              ],
+              "first_rod_tip_xy": [
+                0.2939341865240157,
+                -0.37210379028571294
+              ],
+              "last_rod_tip_xy": [
+                0.2938612640904661,
+                -0.3725688566901485
+              ],
+              "min_rod_tip_xy_dist": 0.0022569703480208045,
+              "max_rod_tip_xy_dist": 0.002723223528192294,
+              "first_target_xy_drift": 1.2685878357157673e-09,
+              "last_target_xy_drift": 4.2752562558225455e-08,
+              "max_depth": 0.020305140347559147,
+              "min_bottom_clearance": 0.0791354031460243
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007568713406346794,
+                  0.002615930457452176
+                ],
+                "rod_tip_xy": [
+                  0.2939341865240157,
+                  -0.37210379028571294
+                ],
+                "target_mouth_xy": [
+                  0.293177315183381,
+                  -0.3747197207431651
+                ],
+                "gripper_position": [
+                  0.2939235348486464,
+                  -0.3721131307749295,
+                  1.005584719245226
+                ],
+                "rod_tip_xy_dist": 0.002723223528192294,
+                "target_xy_drift": 1.2685878357157673e-09,
+                "depth": 0.015515893537588421,
+                "bottom_clearance": 0.08392470675490793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007461909180362936,
+                  0.002606588067430693
+                ],
+                "rod_tip_xy": [
+                  0.2939235348486464,
+                  -0.3721131307749296
+                ],
+                "target_mouth_xy": [
+                  0.2931773439306101,
+                  -0.37471971884236027
+                ],
+                "gripper_position": [
+                  0.2939151988619482,
+                  -0.3721163986036609,
+                  1.005443718460088
+                ],
+                "rod_tip_xy_dist": 0.002711291618294115,
+                "target_xy_drift": 2.9561433149880867e-08,
+                "depth": 0.015675098499548512,
+                "bottom_clearance": 0.0837654092785548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007378845922244581,
+                  0.00260335225799857
+                ],
+                "rod_tip_xy": [
+                  0.2939151988619482,
+                  -0.37211639860366086
+                ],
+                "target_mouth_xy": [
+                  0.29317731426972377,
+                  -0.37471975086165943
+                ],
+                "gripper_position": [
+                  0.2939242965664689,
+                  -0.37219243519200107,
+                  1.0049087189983608
+                ],
+                "rod_tip_xy_dist": 0.002705904035746373,
+                "target_xy_drift": 3.110323947799313e-08,
+                "depth": 0.015816132166352803,
+                "bottom_clearance": 0.08362444202732133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007470192179274693,
+                  0.00252719601782575
+                ],
+                "rod_tip_xy": [
+                  0.2939242965664689,
+                  -0.37219243519200107
+                ],
+                "target_mouth_xy": [
+                  0.29317727734854143,
+                  -0.3747196312098268
+                ],
+                "gripper_position": [
+                  0.2939134093897155,
+                  -0.37220212482614157,
+                  1.0047489515384398
+                ],
+                "rod_tip_xy_dist": 0.0026352907665886318,
+                "target_xy_drift": 9.59816097981481e-08,
+                "depth": 0.01635117873691949,
+                "bottom_clearance": 0.08308943203972596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007360988150299508,
+                  0.0025174764957033857
+                ],
+                "rod_tip_xy": [
+                  0.2939134093897155,
+                  -0.37220212482614157
+                ],
+                "target_mouth_xy": [
+                  0.29317731057468555,
+                  -0.37471960132184495
+                ],
+                "gripper_position": [
+                  0.293904903146434,
+                  -0.37220529934464835,
+                  1.0046085410226782
+                ],
+                "rod_tip_xy_dist": 0.0026228856955474627,
+                "target_xy_drift": 1.1849800691634538e-07,
+                "depth": 0.016510955402394778,
+                "bottom_clearance": 0.0829296317196413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007275605816270958,
+                  0.002514390073303119
+                ],
+                "rod_tip_xy": [
+                  0.293904903146434,
+                  -0.3722052993446485
+                ],
+                "target_mouth_xy": [
+                  0.29317734256480693,
+                  -0.37471968941795164
+                ],
+                "gripper_position": [
+                  0.2939148044775032,
+                  -0.37228236476865906,
+                  1.0040765026139575
+                ],
+                "rod_tip_xy_dist": 0.0026175373618465927,
+                "target_xy_drift": 4.140953295365641e-08,
+                "depth": 0.016651299365088135,
+                "bottom_clearance": 0.08278922253313181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007374583797753465,
+                  0.0024373261340336905
+                ],
+                "rod_tip_xy": [
+                  0.2939148044775031,
+                  -0.37228236476865906
+                ],
+                "target_mouth_xy": [
+                  0.2931773460977278,
+                  -0.37471969090269275
+                ],
+                "gripper_position": [
+                  0.29390381014386013,
+                  -0.3722917936437699,
+                  1.003916970374076
+                ],
+                "rod_tip_xy_dist": 0.002546449203409425,
+                "target_xy_drift": 4.287732274756641e-08,
+                "depth": 0.017183419396818667,
+                "bottom_clearance": 0.08225722434478644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007265042817019562,
+                  0.002427808441857582
+                ],
+                "rod_tip_xy": [
+                  0.29390381014386013,
+                  -0.37229179364376985
+                ],
+                "target_mouth_xy": [
+                  0.2931773058621582,
+                  -0.37471960208562743
+                ],
+                "gripper_position": [
+                  0.2938952831989492,
+                  -0.3722946423175033,
+                  1.0037768341041877
+                ],
+                "rod_tip_xy_dist": 0.002534178821963086,
+                "target_xy_drift": 1.1798112645241173e-07,
+                "depth": 0.01734297858863998,
+                "bottom_clearance": 0.08209770486961665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007179682592606262,
+                  0.002425017237223215
+                ],
+                "rod_tip_xy": [
+                  0.2938952831989492,
+                  -0.3722946423175034
+                ],
+                "target_mouth_xy": [
+                  0.29317731493968857,
+                  -0.37471965955472664
+                ],
+                "gripper_position": [
+                  0.2938867808376934,
+                  -0.372297560736052,
+                  1.0036365016698838
+                ],
+                "rod_tip_xy_dist": 0.00252906840993585,
+                "target_xy_drift": 6.020647117591792e-08,
+                "depth": 0.017482989344928423,
+                "bottom_clearance": 0.081957547738984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007094978710465161,
+                  0.0024221588056191345
+                ],
+                "rod_tip_xy": [
+                  0.2938867808376934,
+                  -0.372297560736052
+                ],
+                "target_mouth_xy": [
+                  0.29317728296664686,
+                  -0.37471971954167116
+                ],
+                "gripper_position": [
+                  0.29389823704505996,
+                  -0.37237682517927734,
+                  1.0031069555272492
+                ],
+                "rod_tip_xy_dist": 0.0025239335388749545,
+                "target_xy_drift": 3.141748266377888e-08,
+                "depth": 0.017623344755050896,
+                "bottom_clearance": 0.0818171889965833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007209528554417144,
+                  0.002342895602171824
+                ],
+                "rod_tip_xy": [
+                  0.29389823704505996,
+                  -0.3723768251792774
+                ],
+                "target_mouth_xy": [
+                  0.29317728418961825,
+                  -0.3747197207814492
+                ],
+                "gripper_position": [
+                  0.293887129191954,
+                  -0.37238599101642605,
+                  1.0029479168005146
+                ],
+                "rod_tip_xy_dist": 0.002451312469361186,
+                "target_xy_drift": 3.0211081364965124e-08,
+                "depth": 0.01815288779324009,
+                "bottom_clearance": 0.08128766585477287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007098458781944483,
+                  0.0023337310538437683
+                ],
+                "rod_tip_xy": [
+                  0.293887129191954,
+                  -0.372385991016426
+                ],
+                "target_mouth_xy": [
+                  0.29317728331375953,
+                  -0.37471972207026977
+                ],
+                "gripper_position": [
+                  0.2938784702839286,
+                  -0.37238879881671605,
+                  1.0028079127925464
+                ],
+                "rod_tip_xy_dist": 0.002439299449117388,
+                "target_xy_drift": 3.11554976021492e-08,
+                "depth": 0.018311968362748954,
+                "bottom_clearance": 0.08112864779039397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007011871633014755,
+                  0.002330919127133846
+                ],
+                "rod_tip_xy": [
+                  0.2938784702839286,
+                  -0.37238879881671605
+                ],
+                "target_mouth_xy": [
+                  0.29317728312062713,
+                  -0.3747197179438499
+                ],
+                "gripper_position": [
+                  0.29386968324077534,
+                  -0.372391814161527,
+                  1.0026673998982198
+                ],
+                "rod_tip_xy_dist": 0.002434100945979271,
+                "target_xy_drift": 3.131538217070763e-08,
+                "depth": 0.018451939362647107,
+                "bottom_clearance": 0.08098861113826505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000692404618468534,
+                  0.0023277884959774786
+                ],
+                "rod_tip_xy": [
+                  0.29386968324077534,
+                  -0.3723918141615271
+                ],
+                "target_mouth_xy": [
+                  0.2931772786223068,
+                  -0.3747196026575046
+                ],
+                "gripper_position": [
+                  0.293861020615776,
+                  -0.37239463495739494,
+                  1.0025276146444877
+                ],
+                "rod_tip_xy_dist": 0.002428584657301789,
+                "target_xy_drift": 1.2243989300006457e-07,
+                "depth": 0.01859248440958927,
+                "bottom_clearance": 0.08084812674841757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006837378839424368,
+                  0.002325083318322374
+                ],
+                "rod_tip_xy": [
+                  0.293861020615776,
+                  -0.372394634957395
+                ],
+                "target_mouth_xy": [
+                  0.2931772827318336,
+                  -0.3747197182757174
+                ],
+                "gripper_position": [
+                  0.29385251544690694,
+                  -0.3723971751893622,
+                  1.0023872179051034
+                ],
+                "rod_tip_xy_dist": 0.002423532531467045,
+                "target_xy_drift": 3.1686265784692995e-08,
+                "depth": 0.01873224430069176,
+                "bottom_clearance": 0.08070831065245143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006752376317424313,
+                  0.0023224271609346703
+                ],
+                "rod_tip_xy": [
+                  0.29385251544690694,
+                  -0.3723971751893622
+                ],
+                "target_mouth_xy": [
+                  0.2931772778151645,
+                  -0.3747196023502969
+                ],
+                "gripper_position": [
+                  0.29386671662964137,
+                  -0.37248099415256436,
+                  1.0018626011686398
+                ],
+                "rod_tip_xy_dist": 0.0024185974814276557,
+                "target_xy_drift": 1.2297134030965967e-07,
+                "depth": 0.018872684307401077,
+                "bottom_clearance": 0.08056794484775642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006894337728030608,
+                  0.0022387241269917757
+                ],
+                "rod_tip_xy": [
+                  0.29386671662964137,
+                  -0.3724809941525644
+                ],
+                "target_mouth_xy": [
+                  0.2931772828568383,
+                  -0.3747197182795562
+                ],
+                "gripper_position": [
+                  0.29385565013546344,
+                  -0.3724899681313799,
+                  1.0017035560724994
+                ],
+                "rod_tip_xy_dist": 0.002342478312355645,
+                "target_xy_drift": 3.15612184333466e-08,
+                "depth": 0.01939719418777419,
+                "bottom_clearance": 0.08004335560570008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006783718592317522,
+                  0.0022296335713468673
+                ],
+                "rod_tip_xy": [
+                  0.29385565013546344,
+                  -0.37248996813138
+                ],
+                "target_mouth_xy": [
+                  0.2931772782762317,
+                  -0.3747196017027269
+                ],
+                "gripper_position": [
+                  0.29384686674788973,
+                  -0.37249251250723203,
+                  1.0015635671285652
+                ],
+                "rod_tip_xy_dist": 0.002330548056117816,
+                "target_xy_drift": 1.2345412866166845e-07,
+                "depth": 0.019556319964034397,
+                "bottom_clearance": 0.07988426795365944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006695830341700848,
+                  0.0022272067046125166
+                ],
+                "rod_tip_xy": [
+                  0.29384686674788973,
+                  -0.37249251250723203
+                ],
+                "target_mouth_xy": [
+                  0.29317728371371965,
+                  -0.37471971921184455
+                ],
+                "gripper_position": [
+                  0.29386126409046615,
+                  -0.37256885669014844,
+                  1.0009547070948803
+                ],
+                "rod_tip_xy_dist": 0.0023256807916649616,
+                "target_xy_drift": 3.067453443126831e-08,
+                "depth": 0.019696250821334416,
+                "bottom_clearance": 0.07974424316796147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006839807497266981,
+                  0.0021508336722881327
+                ],
+                "rod_tip_xy": [
+                  0.2938612640904661,
+                  -0.3725688566901485
+                ],
+                "target_mouth_xy": [
+                  0.2931772833407394,
+                  -0.37471969036243663
+                ],
+                "gripper_position": [
+                  0.293872517541051,
+                  -0.3726437056522667,
+                  1.0002230952495406
+                ],
+                "rod_tip_xy_dist": 0.0022569703480208045,
+                "target_xy_drift": 4.2752562558225455e-08,
+                "depth": 0.020305140347559147,
+                "bottom_clearance": 0.0791354031460243,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006050534638679484,
+              "rod_tip_xy_max_step": 3.2795461627097754e-05,
+              "rod_tip_xy_range": 0.0006050466785884047,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29343671629805734,
+            -0.3739448952153558,
+            1.0433374629274712
+          ],
+          "object_origin_world": [
+            0.29343671629805734,
+            -0.3739448952153558,
+            1.0433374629274712
+          ],
+          "frame_world": [
+            0.2934606954960831,
+            -0.37394174883860565,
+            1.0436313201744205
+          ],
+          "center_minus_frame": [
+            -2.3979198025769755e-05,
+            -3.1463767501405115e-06,
+            -0.0002938572469493028
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.28211524256569653,
+              0.1489898196042656,
+              0.8331482934161406
+            ],
+            "target_position": [
+              0.2909228176053255,
+              0.19656214847970022,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04838077978610106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17058931692784657,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331482934161406,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835666123393376,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13967678519705198,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4bddcc43b06a7d0afcc51f5a2143bb4ffa3f098bbdaf8b166b0129980a34087",
+    "visual_seed": 8285948358062061110,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d9cb7a1af43571f82ce603bec1ad22598915330
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_35_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3371336870127974,
+              -0.03718237391846267,
+              1.1670901009610888
+            ],
+            "current_z": 1.1670901009610888,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3059835929463228,
+            "gripper_z": 1.1579010427827576,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33253108450507957,
+              -0.0419964474037562,
+              1.1579010427827576
+            ],
+            "object_minus_gripper": [
+              0.004602602507717823,
+              0.00481407348529353,
+              0.009189058178331155
+            ],
+            "object_to_gripper_xy": 0.006660274271068466,
+            "object_to_gripper_z": 0.009189058178331155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3371336870127974,
+              -0.060802649683633435,
+              1.1670901009610888
+            ],
+            "finger_b": [
+              0.32601116950010267,
+              -0.03718237391846267,
+              1.1670901009610888
+            ],
+            "finger_midpoint": [
+              0.33157242825645006,
+              -0.04899251180104805,
+              1.1670901009610888
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055612587563473315,
+              0.011810137882585378,
+              0.0
+            ],
+            "finger_gap": 0.02610800304586534,
+            "fingertip_max_gap": 0.09163078203730265,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013054001522932656,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1670901009610888,
+            "object_top_z": 1.2170660903794395,
+            "finger_top_clearance": 0.049975989418350686,
+            "fingertip_min_top_clearance": 0.014992796825505238,
+            "object_projection_between_fingers": 0.8185074146945258,
+            "object_to_finger_line_xy": 0.010062697265327478,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831539101865133,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3414732065265356,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2970343889055173,
+              -0.37299564692231546,
+              0.851539600977701
+            ],
+            "target_position": [
+              0.289482556567968,
+              -0.37401276734752115,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007620020053374267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18445226287876368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539600977701,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513688705517987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522314660670703,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341833009701808,
+            "release_required_pad_clearance": 0.05261157330335352,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.28530503857523654,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00816422700881958,
+            "max_z_decrease": 0.00816422700881958,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504688683856701,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00816422700881958,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02087476814709155,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00816422700881958,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008164323015738884,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1451824754476547,
+              -0.43027421832084656,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1451824754476547,
+              -0.43027421832084656,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1451041593020585,
+              -0.4286846534526544,
+              0.8036563827905024
+            ],
+            "closest_button": [
+              0.14521360397338867,
+              -0.4302497506141662,
+              0.7686446309089661
+            ],
+            "closest_ee_minus_button": [
+              -0.00010944467133017222,
+              0.0015650971615118192,
+              0.03501175188153638
+            ],
+            "button_min_z_position": [
+              0.14521360397338867,
+              -0.4302497506141662,
+              0.7686446309089661
+            ],
+            "min_active_finger_to_button": 0.14516758984608544,
+            "closest_active_finger": [
+              0.01828654110431671,
+              -0.4919482171535492,
+              0.8104215264320374
+            ],
+            "closest_active_finger_button": [
+              0.14518167078495026,
+              -0.43027439713478083,
+              0.7762514352798462
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12689512968063354,
+              -0.061673820018768366,
+              0.03417009115219116
+            ],
+            "min_contact_pad_to_button": 0.02087476814709155,
+            "closest_contact_pad": [
+              0.14521360397338867,
+              -0.4302497506141662,
+              0.7895193990560576
+            ],
+            "closest_contact_pad_button": [
+              0.14521360397338867,
+              -0.4302497506141662,
+              0.7686446309089661
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02087476814709155
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2884713996049755,
+              0.1952150761289942,
+              1.1044952012797342
+            ],
+            "current_z": 1.1044952012797342,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19458607154537166,
+            "gripper_z": 1.104495146860688,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2884713945258487,
+              0.1952150185886754,
+              1.104495146860688
+            ],
+            "object_minus_gripper": [
+              5.079126785823007e-09,
+              5.754031878746346e-08,
+              5.4419046158216133e-08
+            ],
+            "object_to_gripper_xy": 5.776405296609117e-08,
+            "object_to_gripper_z": 5.4419046158216133e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2884713996049755,
+              0.1952150761289942,
+              1.1044952012797342
+            ],
+            "finger_b": [
+              0.2884713996049755,
+              0.1952150761289942,
+              1.1044952012797342
+            ],
+            "finger_midpoint": [
+              0.2884713996049755,
+              0.1952150761289942,
+              1.1044952012797342
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044952012797342,
+            "object_top_z": 1.229503707900014,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2884713996049755,
+            0.1952150761289942,
+            1.1044952012797344
+          ],
+          "object_origin_world": [
+            0.2884713996049755,
+            0.1952150761289942,
+            1.1044952012797344
+          ],
+          "frame_world": [
+            0.2884713945258487,
+            0.1952150185886754,
+            1.104495146860688
+          ],
+          "center_minus_frame": [
+            5.079126785823007e-09,
+            5.754031878746346e-08,
+            5.441904638026074e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043251838252409,
+            "required_z": 0.9112598966299919,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001010099824929086,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.523067019532083e-08,
+            "max_target_xy_drift": 1.6437699049428277e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.2853050519706984,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.28530505199241524,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29765040466693454,
+              -0.3721854475706599,
+              0.9233799761992701
+            ],
+            "target_mouth_xy": [
+              0.29703442165466415,
+              -0.3729956459909898
+            ],
+            "rod_tip_z": 0.9233799761992701,
+            "rod_tip_depth": -0.022120155957065513,
+            "rod_tip_bottom_clearance": 0.12156066077764327,
+            "rod_tip_xy_dist": 0.0010177703826063707,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04524454535977551,
+            "min_rod_tip_bottom_clearance": 0.054196004155351196,
+            "min_rod_tip_xy_dist": 0.0007658238192279141,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29703436347174866,
+              -0.3729956164988098
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.8182915485538444e-08,
+              -2.949217997594289e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.001070797911981336,
+                0.0026203152586710687
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009794782659455215,
+                0.002253019201616413
+              ],
+              "first_target_mouth_xy": [
+                0.2970343606395703,
+                -0.37299558606004835
+              ],
+              "last_target_mouth_xy": [
+                0.2970344213379304,
+                -0.3729956453556027
+              ],
+              "first_rod_tip_xy": [
+                0.2981051585515516,
+                -0.3703752708013773
+              ],
+              "last_rod_tip_xy": [
+                0.2980138996038759,
+                -0.3707426261539863
+              ],
+              "min_rod_tip_xy_dist": 0.0024567200077159597,
+              "max_rod_tip_xy_dist": 0.0028306642724152255,
+              "first_target_xy_drift": 3.057023770505846e-08,
+              "last_target_xy_drift": 6.466227250155109e-08,
+              "max_depth": 0.019426151688280213,
+              "min_bottom_clearance": 0.08001434387657425
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001070797911981336,
+                  0.0026203152586710687
+                ],
+                "rod_tip_xy": [
+                  0.2981051585515516,
+                  -0.3703752708013773
+                ],
+                "target_mouth_xy": [
+                  0.2970343606395703,
+                  -0.37299558606004835
+                ],
+                "gripper_position": [
+                  0.29811499376026496,
+                  -0.3704470898657557,
+                  1.0056368481670606
+                ],
+                "rod_tip_xy_dist": 0.0028306642724152255,
+                "target_xy_drift": 3.057023770505846e-08,
+                "depth": 0.015087297670299482,
+                "bottom_clearance": 0.08435324119328091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0010806016886444891,
+                  0.0025485244136856933
+                ],
+                "rod_tip_xy": [
+                  0.2981149937602649,
+                  -0.37044708986575564
+                ],
+                "target_mouth_xy": [
+                  0.2970343920716204,
+                  -0.37299561427944133
+                ],
+                "gripper_position": [
+                  0.29810411640614654,
+                  -0.3704564814519496,
+                  1.0054753277986959
+                ],
+                "rod_tip_xy_dist": 0.0027681540232894065,
+                "target_xy_drift": 2.8685854709765285e-08,
+                "depth": 0.015622990188951191,
+                "bottom_clearance": 0.08381755558574311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010697270359072975,
+                  0.0025391676894373494
+                ],
+                "rod_tip_xy": [
+                  0.29810411640614654,
+                  -0.3704564814519496
+                ],
+                "target_mouth_xy": [
+                  0.29703438937023924,
+                  -0.37299564914138694
+                ],
+                "gripper_position": [
+                  0.29809584324265,
+                  -0.37045968868312695,
+                  1.0053332950235039
+                ],
+                "rod_tip_xy_dist": 0.002755301886623972,
+                "target_xy_drift": 4.166856916735528e-08,
+                "depth": 0.015784619854452897,
+                "bottom_clearance": 0.08365608421616222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010614522789332281,
+                  0.002535954441246935
+                ],
+                "rod_tip_xy": [
+                  0.2980958432426499,
+                  -0.3704596886831269
+                ],
+                "target_mouth_xy": [
+                  0.2970343909637167,
+                  -0.37299564312437383
+                ],
+                "gripper_position": [
+                  0.2981064873649242,
+                  -0.37053290830017516,
+                  1.004799111692069
+                ],
+                "rod_tip_xy_dist": 0.0027491354765694243,
+                "target_xy_drift": 3.827177767554964e-08,
+                "depth": 0.015926581691582342,
+                "bottom_clearance": 0.0835140157310863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010720650985938662,
+                  0.002462741167441218
+                ],
+                "rod_tip_xy": [
+                  0.2981064873649242,
+                  -0.3705329083001751
+                ],
+                "target_mouth_xy": [
+                  0.2970344222663303,
+                  -0.3729956494676163
+                ],
+                "gripper_position": [
+                  0.29809557643246964,
+                  -0.3705419267088237,
+                  1.0046373164719795
+                ],
+                "rod_tip_xy_dist": 0.0026859667967852486,
+                "target_xy_drift": 6.740730698047342e-08,
+                "depth": 0.016460775723163068,
+                "bottom_clearance": 0.08297987761535086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00106121813109894,
+                  0.002453781713843528
+                ],
+                "rod_tip_xy": [
+                  0.2980955764324696,
+                  -0.37054192670882363
+                ],
+                "target_mouth_xy": [
+                  0.29703435830137065,
+                  -0.37299570842266716
+                ],
+                "gripper_position": [
+                  0.298087214213949,
+                  -0.3705449720872434,
+                  1.0044951501509918
+                ],
+                "rod_tip_xy_dist": 0.002673430122701173,
+                "target_xy_drift": 9.206914988548043e-08,
+                "depth": 0.016622723862407374,
+                "bottom_clearance": 0.08281801778832631,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001052791626657501,
+                  0.0024506431460983857
+                ],
+                "rod_tip_xy": [
+                  0.298087214213949,
+                  -0.3705449720872434
+                ],
+                "target_mouth_xy": [
+                  0.2970344225872915,
+                  -0.3729956152333418
+                ],
+                "gripper_position": [
+                  0.2980788146564054,
+                  -0.37054800841895247,
+                  1.00435285446605
+                ],
+                "rod_tip_xy_dist": 0.0026672124097415154,
+                "target_xy_drift": 5.9129086038107464e-08,
+                "depth": 0.01676467697512729,
+                "bottom_clearance": 0.08267586251972148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010444265161284605,
+                  0.002447639767603038
+                ],
+                "rod_tip_xy": [
+                  0.29807881465640534,
+                  -0.37054800841895247
+                ],
+                "target_mouth_xy": [
+                  0.2970343881402769,
+                  -0.3729956481865555
+                ],
+                "gripper_position": [
+                  0.2980912839687684,
+                  -0.3706233557340735,
+                  1.003820557841164
+                ],
+                "rod_tip_xy_dist": 0.0026611589917823566,
+                "target_xy_drift": 4.015780761474841e-08,
+                "depth": 0.01690711392919564,
+                "bottom_clearance": 0.08253360380597408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010568911454795216,
+                  0.002372227791260062
+                ],
+                "rod_tip_xy": [
+                  0.2980912839687684,
+                  -0.3706233557340734
+                ],
+                "target_mouth_xy": [
+                  0.29703439282328886,
+                  -0.37299558352533346
+                ],
+                "gripper_position": [
+                  0.2980801236435773,
+                  -0.3706326399393889,
+                  1.0036588180770216
+                ],
+                "rod_tip_xy_dist": 0.002597014360187407,
+                "target_xy_drift": 4.414479645261951e-08,
+                "depth": 0.017439303478737678,
+                "bottom_clearance": 0.08200130505328818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010457011698507546,
+                  0.0023629794085635036
+                ],
+                "rod_tip_xy": [
+                  0.2980801236435773,
+                  -0.37063263993938883
+                ],
+                "target_mouth_xy": [
+                  0.2970344224737265,
+                  -0.37299561934795233
+                ],
+                "gripper_position": [
+                  0.29807158638302855,
+                  -0.37063537097741595,
+                  1.0035171896478918
+                ],
+                "rod_tip_xy_dist": 0.0025840206310945666,
+                "target_xy_drift": 5.907072882951067e-08,
+                "depth": 0.017601065275781758,
+                "bottom_clearance": 0.08183958457525342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001037228005708546,
+                  0.0023603374462631277
+                ],
+                "rod_tip_xy": [
+                  0.29807158638302855,
+                  -0.3706353709774159
+                ],
+                "target_mouth_xy": [
+                  0.29703435837732,
+                  -0.372995708423679
+                ],
+                "gripper_position": [
+                  0.2980630783116571,
+                  -0.3706382583033091,
+                  1.0033751150148211
+                ],
+                "rod_tip_xy_dist": 0.0025781843991572965,
+                "target_xy_drift": 9.206592629104888e-08,
+                "depth": 0.01774284837561979,
+                "bottom_clearance": 0.08169789036470065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001028656439019393,
+                  0.002357357245907299
+                ],
+                "rod_tip_xy": [
+                  0.2980630783116571,
+                  -0.37063825830330904
+                ],
+                "target_mouth_xy": [
+                  0.29703442187263773,
+                  -0.37299561554921634
+                ],
+                "gripper_position": [
+                  0.2980543528705589,
+                  -0.3706412623229016,
+                  1.0032336124228185
+                ],
+                "rod_tip_xy_dist": 0.0025720161847017416,
+                "target_xy_drift": 5.840860871316114e-08,
+                "depth": 0.01788470073656334,
+                "bottom_clearance": 0.08155579994192685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001019992273671888,
+                  0.0023544140951961556
+                ],
+                "rod_tip_xy": [
+                  0.29805435287055887,
+                  -0.37064126232290157
+                ],
+                "target_mouth_xy": [
+                  0.297034360596887,
+                  -0.3729956764180977
+                ],
+                "gripper_position": [
+                  0.2980693006943216,
+                  -0.370719513905668,
+                  1.0027027898958698
+                ],
+                "rod_tip_xy_dist": 0.0025658624222683257,
+                "target_xy_drift": 5.99882146305607e-08,
+                "depth": 0.01802631850383829,
+                "bottom_clearance": 0.08141425580521933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001034909294879982,
+                  0.0022761010065618925
+                ],
+                "rod_tip_xy": [
+                  0.2980693006943216,
+                  -0.370719513905668
+                ],
+                "target_mouth_xy": [
+                  0.2970343913994416,
+                  -0.3729956149122299
+                ],
+                "gripper_position": [
+                  0.2980579523021796,
+                  -0.3707289563436799,
+                  1.0025417504022205
+                ],
+                "rod_tip_xy_dist": 0.0025003345857506835,
+                "target_xy_drift": 2.7972723653247604e-08,
+                "depth": 0.01855704499665045,
+                "bottom_clearance": 0.08088347877681545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010235299555977906,
+                  0.0022666909109425037
+                ],
+                "rod_tip_xy": [
+                  0.2980579523021795,
+                  -0.3707289563436798
+                ],
+                "target_mouth_xy": [
+                  0.29703442234658173,
+                  -0.3729956472546223
+                ],
+                "gripper_position": [
+                  0.2980492508528887,
+                  -0.37073146383710465,
+                  1.0023998912125531
+                ],
+                "rod_tip_xy_dist": 0.002487066797606243,
+                "target_xy_drift": 6.64241369637019e-08,
+                "depth": 0.018718097933674627,
+                "bottom_clearance": 0.08072247880607819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010148914786587415,
+                  0.0022642128904408754
+                ],
+                "rod_tip_xy": [
+                  0.2980492508528887,
+                  -0.3707314638371046
+                ],
+                "target_mouth_xy": [
+                  0.29703435937422995,
+                  -0.37299567672754547
+                ],
+                "gripper_position": [
+                  0.29804049605321353,
+                  -0.37073426663654413,
+                  1.0022581413580867
+                ],
+                "rod_tip_xy_dist": 0.0024812627282681595,
+                "target_xy_drift": 6.036795722455798e-08,
+                "depth": 0.018860082649180376,
+                "bottom_clearance": 0.08058055001667175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010060730269549345,
+                  0.0022613482791221107
+                ],
+                "rod_tip_xy": [
+                  0.2980404960532135,
+                  -0.370734266636544
+                ],
+                "target_mouth_xy": [
+                  0.29703442302625854,
+                  -0.37299561491566613
+                ],
+                "gripper_position": [
+                  0.29803161296609065,
+                  -0.3707370412850566,
+                  1.0021165607270512
+                ],
+                "rod_tip_xy_dist": 0.0024750513075600666,
+                "target_xy_drift": 5.95755485986641e-08,
+                "depth": 0.019001754553936823,
+                "bottom_clearance": 0.08043881315847312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009971918835225413,
+                  0.0022586046983714136
+                ],
+                "rod_tip_xy": [
+                  0.2980316129660906,
+                  -0.37073704128505663
+                ],
+                "target_mouth_xy": [
+                  0.29703442108256806,
+                  -0.37299564598342805
+                ],
+                "gripper_position": [
+                  0.2980228173426036,
+                  -0.37073989661338297,
+                  1.001975141377812
+                ],
+                "rod_tip_xy_dist": 0.002468944478125958,
+                "target_xy_drift": 6.471745687431271e-08,
+                "depth": 0.019143272425600766,
+                "bottom_clearance": 0.08029724532481819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009883981696813815,
+                  0.0022557154312818906
+                ],
+                "rod_tip_xy": [
+                  0.2980228173426036,
+                  -0.37073989661338297
+                ],
+                "target_mouth_xy": [
+                  0.2970344191729222,
+                  -0.37299561204466486
+                ],
+                "gripper_position": [
+                  0.2980138996038759,
+                  -0.37074262615398634,
+                  1.001833667529956
+                ],
+                "rod_tip_xy_dist": 0.0024627592348324978,
+                "target_xy_drift": 5.5878977651686804e-08,
+                "depth": 0.019284806659794818,
+                "bottom_clearance": 0.0801558973695149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009794782659455215,
+                  0.002253019201616413
+                ],
+                "rod_tip_xy": [
+                  0.2980138996038759,
+                  -0.3707426261539863
+                ],
+                "target_mouth_xy": [
+                  0.2970344213379304,
+                  -0.3729956453556027
+                ],
+                "gripper_position": [
+                  0.29800500402045127,
+                  -0.37074552834956126,
+                  1.0016920061053693
+                ],
+                "rod_tip_xy_dist": 0.0024567200077159597,
+                "target_xy_drift": 6.466227250155109e-08,
+                "depth": 0.019426151688280213,
+                "bottom_clearance": 0.08001434387657425,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006080154547714187,
+              "rod_tip_xy_max_step": 3.324707314495247e-05,
+              "rod_tip_xy_range": 0.0006080085858580431,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29765040466693454,
+            -0.3721854475706599,
+            1.0433799761992704
+          ],
+          "object_origin_world": [
+            0.29765040466693454,
+            -0.3721854475706599,
+            1.0433799761992704
+          ],
+          "frame_world": [
+            0.2976488684291076,
+            -0.37219392483142255,
+            1.043251838252409
+          ],
+          "center_minus_frame": [
+            1.5362378269490051e-06,
+            8.477260762640437e-06,
+            0.00012813794686139524
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2801740214404002,
+              0.14701247747276236,
+              0.8331368062630718
+            ],
+            "target_position": [
+              0.2886314933734778,
+              0.1946837251749936,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048415665739368736,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.171072015549009,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331368062630718,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670690608031,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14023004402586936,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9454e40a2b2d49cb04a02af94f2f1b3d1bea03fdf96a04dd0f3d38a1669e3968",
+    "visual_seed": 5230764923719585106,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93fadc6ba981c72659845de5c6d77fe599e85acf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3368007643952733,
+              -0.03634128710506864,
+              1.165035450889917
+            ],
+            "current_z": 1.165035450889917,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3039290620844407,
+            "gripper_z": 1.1558063071345224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33200982359246417,
+              -0.04105351618581181,
+              1.1558063071345224
+            ],
+            "object_minus_gripper": [
+              0.004790940802809118,
+              0.004712229080743167,
+              0.009229143755394631
+            ],
+            "object_to_gripper_xy": 0.006719986360508694,
+            "object_to_gripper_z": 0.009229143755394631,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3368007643952733,
+              -0.060211684281564835,
+              1.165035450889917
+            ],
+            "finger_b": [
+              0.32600287003373407,
+              -0.03634128710506864,
+              1.165035450889917
+            ],
+            "finger_midpoint": [
+              0.3314018172145037,
+              -0.04827648569331674,
+              1.165035450889917
+            ],
+            "object_minus_finger_midpoint": [
+              0.005398947180769609,
+              0.011935198588248097,
+              0.0
+            ],
+            "finger_gap": 0.02619905311278707,
+            "fingertip_max_gap": 0.09148702865644456,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013099526556393536,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165035450889917,
+            "object_top_z": 1.214835574635017,
+            "finger_top_clearance": 0.04980012374510001,
+            "fingertip_min_top_clearance": 0.014940037123530002,
+            "object_projection_between_fingers": 0.8301338052518041,
+            "object_to_finger_line_xy": 0.009838142850818887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048243514328222284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4248384309547015,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30041121759555534,
+              -0.37051687534431565,
+              0.8515395663059965
+            ],
+            "target_position": [
+              0.2924342398666925,
+              -0.3717336465961115,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008069244448272147,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18642193158829476,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395663059965,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756596195344574,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08782278264566816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15407036851319156,
+            "release_required_pad_clearance": 0.05391139132283408,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8327486229554992,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008287012577056885,
+            "max_z_decrease": 0.008287012577056885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350062792813589,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008287012577056885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02091322050468746,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008287012577056885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008287058253100846,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14813417196273804,
+              -0.42799511551856995,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14813417196273804,
+              -0.42799511551856995,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1486608383662362,
+              -0.4282589992052217,
+              0.8035231736911729
+            ],
+            "closest_button": [
+              0.1481473743915558,
+              -0.42797097563743586,
+              0.7685218453407288
+            ],
+            "closest_ee_minus_button": [
+              0.0005134639746804115,
+              -0.0002880235677858445,
+              0.035001328350444116
+            ],
+            "button_min_z_position": [
+              0.1481473743915558,
+              -0.42797097563743586,
+              0.7685218453407288
+            ],
+            "min_active_finger_to_button": 0.145153607194917,
+            "closest_active_finger": [
+              0.008037179708480835,
+              -0.4114932417869568,
+              0.8109257221221924
+            ],
+            "closest_active_finger_button": [
+              0.1481373608112335,
+              -0.4279937744140625,
+              0.776731550693512
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14010018110275266,
+              0.016500532627105713,
+              0.03419417142868042
+            ],
+            "min_contact_pad_to_button": 0.02091322050468746,
+            "closest_contact_pad": [
+              0.1481473743915558,
+              -0.42949359536161275,
+              0.7893795638413996
+            ],
+            "closest_contact_pad_button": [
+              0.1481473743915558,
+              -0.42797097563743586,
+              0.7685218453407288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001522619724176888,
+              0.020857718500670863
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28472682729885,
+              0.19124926725700275,
+              1.1032787317552017
+            ],
+            "current_z": 1.1032787317552017,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1933696020208392,
+            "gripper_z": 1.1032788509644913,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2847268869034948,
+              0.19124923745468037,
+              1.1032788509644913
+            ],
+            "object_minus_gripper": [
+              -5.960464477539063e-08,
+              2.9802322387695312e-08,
+              -1.1920928955078125e-07
+            ],
+            "object_to_gripper_xy": 6.664001874625056e-08,
+            "object_to_gripper_z": -1.1920928955078125e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28472682729885,
+              0.19124926725700275,
+              1.1032787317552017
+            ],
+            "finger_b": [
+              0.28472682729885,
+              0.19124926725700275,
+              1.1032787317552017
+            ],
+            "finger_midpoint": [
+              0.28472682729885,
+              0.19124926725700275,
+              1.1032787317552017
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1032787317552017,
+            "object_top_z": 1.2282872383754815,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28472682729885,
+            0.19124926725700275,
+            1.1032787317552017
+          ],
+          "object_origin_world": [
+            0.28472682729885,
+            0.19124926725700275,
+            1.1032787317552017
+          ],
+          "frame_world": [
+            0.2847268869034948,
+            0.19124923745468037,
+            1.1032788509644913
+          ],
+          "center_minus_frame": [
+            -5.960464477539063e-08,
+            2.9802322387695312e-08,
+            -1.1920928955078125e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043194981393297,
+            "required_z": 0.9112600031655755,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006449061051528568,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.939101920197007e-07,
+            "max_target_xy_drift": 2.1827633775002257e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.832748622502942,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.8330249353546226,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.3009326193378109,
+              -0.3708896719554244,
+              0.9233244126339987
+            ],
+            "target_mouth_xy": [
+              0.30041098050351345,
+              -0.37051669475930193
+            ],
+            "rod_tip_z": 0.9233244126339987,
+            "rod_tip_depth": -0.02206450750930078,
+            "rod_tip_bottom_clearance": 0.12150509776256235,
+            "rod_tip_xy_dist": 0.0006412636449032265,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04530343530294989,
+            "min_rod_tip_bottom_clearance": 0.05413716860596118,
+            "min_rod_tip_xy_dist": 0.00033886784344669846,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.30041112976722517,
+              -0.3705168185393768
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.4926371172396813e-07,
+              1.2378007485658316e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0009547841798590029,
+                0.001538459459971886
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008702476530176861,
+                0.0011469936226864985
+              ],
+              "first_target_mouth_xy": [
+                0.30041106614620344,
+                -0.37051675615952157
+              ],
+              "last_target_mouth_xy": [
+                0.30041109977436975,
+                -0.3705167548119085
+              ],
+              "first_rod_tip_xy": [
+                0.30136585032606245,
+                -0.3689782966995497
+              ],
+              "last_rod_tip_xy": [
+                0.30128134742738744,
+                -0.369369761189222
+              ],
+              "min_rod_tip_xy_dist": 0.0014397657267994294,
+              "max_rod_tip_xy_dist": 0.0018106546716825976,
+              "first_target_xy_drift": 8.910039699001086e-08,
+              "last_target_xy_drift": 7.04326741830034e-08,
+              "max_depth": 0.019519804005728725,
+              "min_bottom_clearance": 0.07992077167081146
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0009547841798590029,
+                  0.001538459459971886
+                ],
+                "rod_tip_xy": [
+                  0.30136585032606245,
+                  -0.3689782966995497
+                ],
+                "target_mouth_xy": [
+                  0.30041106614620344,
+                  -0.37051675615952157
+                ],
+                "gripper_position": [
+                  0.3013575987586796,
+                  -0.3689816810877259,
+                  1.0059583407260668
+                ],
+                "rod_tip_xy_dist": 0.0018106546716825976,
+                "target_xy_drift": 8.910039699001086e-08,
+                "depth": 0.015158371180176267,
+                "bottom_clearance": 0.08428220949656173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0009465258150865297,
+                  0.0015350780709431078
+                ],
+                "rod_tip_xy": [
+                  0.30135759875867957,
+                  -0.36898168108772583
+                ],
+                "target_mouth_xy": [
+                  0.30041107294359304,
+                  -0.37051675915866894
+                ],
+                "gripper_position": [
+                  0.3013694103409136,
+                  -0.3690591306107161,
+                  1.005421031436607
+                ],
+                "rod_tip_xy_dist": 0.001803434446414849,
+                "target_xy_drift": 8.218876829379947e-08,
+                "depth": 0.015301631320612574,
+                "bottom_clearance": 0.08413915569664676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0009583430336407295,
+                  0.0014576232750205809
+                ],
+                "rod_tip_xy": [
+                  0.3013694103409136,
+                  -0.3690591306107161
+                ],
+                "target_mouth_xy": [
+                  0.30041106730727285,
+                  -0.3705167538857367
+                ],
+                "gripper_position": [
+                  0.30135836768210644,
+                  -0.36906884849927823,
+                  1.0052577984006226
+                ],
+                "rod_tip_xy_dist": 0.0017444446056007169,
+                "target_xy_drift": 8.989626701505388e-08,
+                "depth": 0.015838839484373035,
+                "bottom_clearance": 0.08360174351974281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0009472944657708537,
+                  0.0014479106438406997
+                ],
+                "rod_tip_xy": [
+                  0.3013583676821064,
+                  -0.3690688484992782
+                ],
+                "target_mouth_xy": [
+                  0.30041107321633553,
+                  -0.3705167591431189
+                ],
+                "gripper_position": [
+                  0.3013500144871635,
+                  -0.3690718542170873,
+                  1.0051147199004218
+                ],
+                "rod_tip_xy_dist": 0.0017302635745536797,
+                "target_xy_drift": 8.201169778011599e-08,
+                "depth": 0.016002175784850414,
+                "bottom_clearance": 0.08343862166535032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009389458624893265,
+                  0.001444929737131062
+                ],
+                "rod_tip_xy": [
+                  0.3013500144871635,
+                  -0.3690718542170874
+                ],
+                "target_mouth_xy": [
+                  0.30041106862467415,
+                  -0.37051678395421844
+                ],
+                "gripper_position": [
+                  0.3013626709320455,
+                  -0.36915059776661174,
+                  1.0045793323929262
+                ],
+                "rod_tip_xy_dist": 0.0017232066846236019,
+                "target_xy_drift": 7.024631466118604e-08,
+                "depth": 0.01614512038014737,
+                "bottom_clearance": 0.08329543069392542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.000951572391113098,
+                  0.0013662195417403766
+                ],
+                "rod_tip_xy": [
+                  0.3013626709320455,
+                  -0.3691505977666118
+                ],
+                "target_mouth_xy": [
+                  0.3004110985409324,
+                  -0.3705168173083522
+                ],
+                "gripper_position": [
+                  0.30135147740310414,
+                  -0.36916013872908454,
+                  1.0044165051666498
+                ],
+                "rod_tip_xy_dist": 0.001664946200861152,
+                "target_xy_drift": 3.1250548507119004e-08,
+                "depth": 0.01668051750488131,
+                "bottom_clearance": 0.08276005141261289,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000940379227415522,
+                  0.0013566468907952878
+                ],
+                "rod_tip_xy": [
+                  0.3013514774031041,
+                  -0.36916013872908454
+                ],
+                "target_mouth_xy": [
+                  0.30041109817568856,
+                  -0.37051678561987983
+                ],
+                "gripper_position": [
+                  0.3013430466542881,
+                  -0.3691630635052278,
+                  1.0042734319437614
+                ],
+                "rod_tip_xy_dist": 0.00165069799710884,
+                "target_xy_drift": 4.562585303887622e-08,
+                "depth": 0.016843308604602147,
+                "bottom_clearance": 0.0825971819405259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.000931947285029433,
+                  0.0013536941632300015
+                ],
+                "rod_tip_xy": [
+                  0.3013430466542881,
+                  -0.3691630635052278
+                ],
+                "target_mouth_xy": [
+                  0.3004110993692587,
+                  -0.3705167576684578
+                ],
+                "gripper_position": [
+                  0.3013344892893766,
+                  -0.3691662117979106,
+                  1.0041300306158578
+                ],
+                "rod_tip_xy_dist": 0.001643476081248737,
+                "target_xy_drift": 6.803899721814706e-08,
+                "depth": 0.016986424664660826,
+                "bottom_clearance": 0.08245417635430108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009234194486917313,
+                  0.001350547135139879
+                ],
+                "rod_tip_xy": [
+                  0.3013344892893766,
+                  -0.3691662117979106
+                ],
+                "target_mouth_xy": [
+                  0.3004110698406849,
+                  -0.37051675893305047
+                ],
+                "gripper_position": [
+                  0.30134866816211453,
+                  -0.3692472204596155,
+                  1.0035968682713432
+                ],
+                "rod_tip_xy_dist": 0.00163605655234062,
+                "target_xy_drift": 8.452280383349305e-08,
+                "depth": 0.01712996967422009,
+                "bottom_clearance": 0.08231068504185302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009376004747911892,
+                  0.0012695651508951578
+                ],
+                "rod_tip_xy": [
+                  0.30134866816211453,
+                  -0.3692472204596155
+                ],
+                "target_mouth_xy": [
+                  0.30041106768732334,
+                  -0.37051678561051066
+                ],
+                "gripper_position": [
+                  0.301337497574056,
+                  -0.3692564507872696,
+                  1.0034341043619737
+                ],
+                "rod_tip_xy_dist": 0.0015782554681343917,
+                "target_xy_drift": 7.027250127976735e-08,
+                "depth": 0.017663023036673886,
+                "bottom_clearance": 0.08177748794423323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009263977843638749,
+                  0.0012603328722178841
+                ],
+                "rod_tip_xy": [
+                  0.3013374975740559,
+                  -0.3692564507872696
+                ],
+                "target_mouth_xy": [
+                  0.30041109978969205,
+                  -0.3705167836594875
+                ],
+                "gripper_position": [
+                  0.3013288143320459,
+                  -0.3692593088540091,
+                  1.0032906485436528
+                ],
+                "rod_tip_xy_dist": 0.0015641776765020264,
+                "target_xy_drift": 4.599194679941809e-08,
+                "depth": 0.017825810548117715,
+                "bottom_clearance": 0.08161480157061418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009177168380870016,
+                  0.0012574767640274875
+                ],
+                "rod_tip_xy": [
+                  0.3013288143320459,
+                  -0.3692593088540091
+                ],
+                "target_mouth_xy": [
+                  0.3004110974939589,
+                  -0.3705167856180366
+                ],
+                "gripper_position": [
+                  0.30132014527488205,
+                  -0.369262413857169,
+                  1.0031477438233185
+                ],
+                "rod_tip_xy_dist": 0.0015567440402896827,
+                "target_xy_drift": 4.6101825968982516e-08,
+                "depth": 0.017969183177706127,
+                "bottom_clearance": 0.08147132792785883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009090468069731794,
+                  0.0012544037764844473
+                ],
+                "rod_tip_xy": [
+                  0.301320145274882,
+                  -0.369262413857169
+                ],
+                "target_mouth_xy": [
+                  0.3004110984679088,
+                  -0.37051681763365346
+                ],
+                "gripper_position": [
+                  0.3013114366099555,
+                  -0.3692650494285795,
+                  1.0030044232942432
+                ],
+                "rod_tip_xy_dist": 0.0015491594274723878,
+                "target_xy_drift": 3.131241829388131e-08,
+                "depth": 0.018112111101454498,
+                "bottom_clearance": 0.08132846586438569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009003371141017569,
+                  0.0012517694518381361
+                ],
+                "rod_tip_xy": [
+                  0.3013114366099555,
+                  -0.3692650494285796
+                ],
+                "target_mouth_xy": [
+                  0.30041109949585376,
+                  -0.3705168188804177
+                ],
+                "gripper_position": [
+                  0.3013279934256328,
+                  -0.3693493288704559,
+                  1.0024749915093198
+                ],
+                "rod_tip_xy_dist": 0.001541925315825714,
+                "target_xy_drift": 3.0273292452620754e-08,
+                "depth": 0.01825552206578196,
+                "bottom_clearance": 0.08118513830622509,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009169264167003255,
+                  0.0011674266417808776
+                ],
+                "rod_tip_xy": [
+                  0.3013279934256328,
+                  -0.36934932887045596
+                ],
+                "target_mouth_xy": [
+                  0.3004110670089325,
+                  -0.37051675551223684
+                ],
+                "gripper_position": [
+                  0.3013167112850279,
+                  -0.36935876503206483,
+                  1.0023124089045672
+                ],
+                "rod_tip_xy_dist": 0.001484465903139131,
+                "target_xy_drift": 8.894393554255436e-08,
+                "depth": 0.018784921806699884,
+                "bottom_clearance": 0.08065561825313183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009056134052445874,
+                  0.001158021532737863
+                ],
+                "rod_tip_xy": [
+                  0.3013167112850279,
+                  -0.36935876503206483
+                ],
+                "target_mouth_xy": [
+                  0.3004110978797833,
+                  -0.3705167865648027
+                ],
+                "gripper_position": [
+                  0.30130796318023334,
+                  -0.3693611954803148,
+                  1.0021693309632955
+                ],
+                "rod_tip_xy_dist": 0.0014700848649119706,
+                "target_xy_drift": 4.515730657178398e-08,
+                "depth": 0.01894742971643304,
+                "bottom_clearance": 0.0804931028168393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008968645797164942,
+                  0.0011555926608763367
+                ],
+                "rod_tip_xy": [
+                  0.30130796318023334,
+                  -0.3693611954803148
+                ],
+                "target_mouth_xy": [
+                  0.30041109860051685,
+                  -0.37051678814119116
+                ],
+                "gripper_position": [
+                  0.30129909294415214,
+                  -0.36936415164566627,
+                  1.0020260288633216
+                ],
+                "rod_tip_xy_dist": 0.0014627920126324507,
+                "target_xy_drift": 4.3536345709666306e-08,
+                "depth": 0.01909053053765819,
+                "bottom_clearance": 0.08035006221975538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008880216787134909,
+                  0.0011526040678634386
+                ],
+                "rod_tip_xy": [
+                  0.30129909294415214,
+                  -0.3693641516456663
+                ],
+                "target_mouth_xy": [
+                  0.30041107126543865,
+                  -0.37051675571352977
+                ],
+                "gripper_position": [
+                  0.30129022385352,
+                  -0.36936696238119643,
+                  1.0018832629828753
+                ],
+                "rod_tip_xy_dist": 0.0014550184325706917,
+                "target_xy_drift": 8.58460603705242e-08,
+                "depth": 0.019233868270134846,
+                "bottom_clearance": 0.08020673499058673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008791563541321046,
+                  0.0011498248349209872
+                ],
+                "rod_tip_xy": [
+                  0.30129022385352,
+                  -0.36936696238119643
+                ],
+                "target_mouth_xy": [
+                  0.3004110674993879,
+                  -0.3705167872161174
+                ],
+                "gripper_position": [
+                  0.30128134742738744,
+                  -0.36936976118922193,
+                  1.0017400933872584
+                ],
+                "rod_tip_xy_dist": 0.0014474159892760375,
+                "target_xy_drift": 6.970243996318238e-08,
+                "depth": 0.0193766053368033,
+                "bottom_clearance": 0.08006397285946953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008702476530176861,
+                  0.0011469936226864985
+                ],
+                "rod_tip_xy": [
+                  0.30128134742738744,
+                  -0.369369761189222
+                ],
+                "target_mouth_xy": [
+                  0.30041109977436975,
+                  -0.3705167548119085
+                ],
+                "gripper_position": [
+                  0.3012725714844071,
+                  -0.36937244652613704,
+                  1.0015970500237728
+                ],
+                "rod_tip_xy_dist": 0.0014397657267994294,
+                "target_xy_drift": 7.04326741830034e-08,
+                "depth": 0.019519804005728725,
+                "bottom_clearance": 0.07992077167081146,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006092470590504991,
+              "rod_tip_xy_max_step": 3.315351846163021e-05,
+              "rod_tip_xy_range": 0.0006092393731237046,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3009326193378109,
+            -0.3708896719554244,
+            1.0433244126339987
+          ],
+          "object_origin_world": [
+            0.3009326193378109,
+            -0.3708896719554244,
+            1.0433244126339987
+          ],
+          "frame_world": [
+            0.3009309308042386,
+            -0.3708982122153105,
+            1.043194981393297
+          ],
+          "center_minus_frame": [
+            1.6885335722971462e-06,
+            8.540259886113954e-06,
+            0.00012943124070163847
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27759924605125863,
+              0.14522406275570246,
+              0.8336555042438223
+            ],
+            "target_position": [
+              0.2848702597917816,
+              0.19322951467479116,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04855297163687111,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17000917413159447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336555042438223,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671958360217,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13850573281960268,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "390d6d3cfe143c654e20a77b88225f6dd462ae1125391d5b4da6de0bcdb5006f",
+    "visual_seed": 6971705082627626596,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7cf99167fcc646fdca164989ceb51a66b97c21a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_37_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3278724798978196,
+              -0.037813488713949836,
+              1.1658695580778873
+            ],
+            "current_z": 1.1658695580778873,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3047630500631211,
+            "gripper_z": 1.1571094881955548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3231658820107914,
+              -0.04260927035082049,
+              1.1571094881955548
+            ],
+            "object_minus_gripper": [
+              0.004706597887028208,
+              0.004795781636870652,
+              0.008760069882332466
+            ],
+            "object_to_gripper_xy": 0.006719492925714271,
+            "object_to_gripper_z": 0.008760069882332466,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3278724798978196,
+              -0.061507291796916705,
+              1.1658695580778873
+            ],
+            "finger_b": [
+              0.31678563006530397,
+              -0.037813488713949836,
+              1.1658695580778873
+            ],
+            "finger_midpoint": [
+              0.3223290549815618,
+              -0.04966039025543327,
+              1.1658695580778873
+            ],
+            "object_minus_finger_midpoint": [
+              0.005543424916257811,
+              0.011846901541483434,
+              0.0
+            ],
+            "finger_gap": 0.026159406410374873,
+            "fingertip_max_gap": 0.09165955418363167,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013079703205187436,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658695580778873,
+            "object_top_z": 1.2157066935338023,
+            "finger_top_clearance": 0.04983713545591506,
+            "fingertip_min_top_clearance": 0.014951140636774551,
+            "object_projection_between_fingers": 0.8203775729558577,
+            "object_to_finger_line_xy": 0.010041880638310918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832977709181584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4756697032558244,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2964552585469283,
+              -0.3728308825563027,
+              0.8515395601482754
+            ],
+            "target_position": [
+              0.28833513152822504,
+              -0.3740035474706953,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008204365045591386,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18576486041505583,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395601482754,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536883679888294,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576709321573094,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15401883997575483,
+            "release_required_pad_clearance": 0.05288354660786547,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8079353393956884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008401989936828613,
+            "max_z_decrease": 0.008401989936828613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510105606291885,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008401989936828613,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021097359625081184,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008401989936828613,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00840205619136619,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14403505623340607,
+              -0.4302650094032288,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14403505623340607,
+              -0.4302650094032288,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1457978678749602,
+              -0.43218341743295374,
+              0.8034088185796491
+            ],
+            "closest_button": [
+              0.14402449131011957,
+              -0.430233359336853,
+              0.768406867980957
+            ],
+            "closest_ee_minus_button": [
+              0.0017733765648406397,
+              -0.0019500580961007152,
+              0.035001950598692044
+            ],
+            "button_min_z_position": [
+              0.14402449131011957,
+              -0.430233359336853,
+              0.768406867980957
+            ],
+            "min_active_finger_to_button": 0.14385013833728835,
+            "closest_active_finger": [
+              0.004926986992359161,
+              -0.4173544645309448,
+              0.8109362721443176
+            ],
+            "closest_active_finger_button": [
+              0.14403696358203885,
+              -0.43026307225227356,
+              0.7766631841659546
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391099765896797,
+              0.012908607721328735,
+              0.03427308797836304
+            ],
+            "min_contact_pad_to_button": 0.021097359625081184,
+            "closest_contact_pad": [
+              0.14402449131011957,
+              -0.43324923440755925,
+              0.7892875547682229
+            ],
+            "closest_contact_pad_button": [
+              0.14402449131011957,
+              -0.430233359336853,
+              0.768406867980957
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00301587507070622,
+              0.020880686787265845
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28652210114966004,
+              0.187845290154521,
+              1.1015767194051844
+            ],
+            "current_z": 1.1015767194051844,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19166758967082187,
+            "gripper_z": 1.1015768289453876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2865221524805419,
+              0.18784534145789705,
+              1.1015768289453876
+            ],
+            "object_minus_gripper": [
+              -5.133088187836421e-08,
+              -5.130337604741797e-08,
+              -1.0954020313036494e-07
+            ],
+            "object_to_gripper_xy": 7.257338236759645e-08,
+            "object_to_gripper_z": -1.0954020313036494e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28652210114966004,
+              0.187845290154521,
+              1.1015767194051844
+            ],
+            "finger_b": [
+              0.28652210114966004,
+              0.187845290154521,
+              1.1015767194051844
+            ],
+            "finger_midpoint": [
+              0.28652210114966004,
+              0.187845290154521,
+              1.1015767194051844
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1015767194051844,
+            "object_top_z": 1.2265852260254642,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2865221011496601,
+            0.187845290154521,
+            1.1015767194051844
+          ],
+          "object_origin_world": [
+            0.2865221011496601,
+            0.187845290154521,
+            1.1015767194051844
+          ],
+          "frame_world": [
+            0.2865221524805419,
+            0.18784534145789705,
+            1.1015768289453876
+          ],
+          "center_minus_frame": [
+            -5.133088182285306e-08,
+            -5.130337604741797e-08,
+            -1.0954020313036494e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043587579905322,
+            "required_z": 0.9112598388963002,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024193572853861843,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.374209889328753e-07,
+            "max_target_xy_drift": 6.214901764635608e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8079353396713234,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8089035111346361,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29426141041238824,
+              -0.37176240250415654,
+              0.9232916064910174
+            ],
+            "target_mouth_xy": [
+              0.29645510829507316,
+              -0.37283088419408694
+            ],
+            "rod_tip_z": 0.9232916064910174,
+            "rod_tip_depth": -0.0220318310469928,
+            "rod_tip_bottom_clearance": 0.12147235238520915,
+            "rod_tip_xy_dist": 0.002440074491119651,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045390298936339946,
+            "min_rod_tip_bottom_clearance": 0.05405026094428922,
+            "min_rod_tip_xy_dist": 0.0006101560131440506,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29645516391902904,
+              -0.3728306533809558
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.5623955885764076e-08,
+              -2.3081313116346536e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0016070436054683723,
+                0.002794053547238773
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017184237812273295,
+                0.0024285509166563357
+              ],
+              "first_target_mouth_xy": [
+                0.2964550770545115,
+                -0.3728310078559338
+              ],
+              "last_target_mouth_xy": [
+                0.2964551682093518,
+                -0.3728309178051926
+              ],
+              "first_rod_tip_xy": [
+                0.29484803344904315,
+                -0.37003695430869504
+              ],
+              "last_rod_tip_xy": [
+                0.2947367444281245,
+                -0.3704023668885363
+              ],
+              "min_rod_tip_xy_dist": 0.002968935860377174,
+              "max_rod_tip_xy_dist": 0.003223247488902203,
+              "first_target_xy_drift": 3.649629494331775e-07,
+              "last_target_xy_drift": 2.6445904011357223e-07,
+              "max_depth": 0.019630324166020063,
+              "min_bottom_clearance": 0.07981032339554384
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0016070436054683723,
+                  0.002794053547238773
+                ],
+                "rod_tip_xy": [
+                  0.29484803344904315,
+                  -0.37003695430869504
+                ],
+                "target_mouth_xy": [
+                  0.2964550770545115,
+                  -0.3728310078559338
+                ],
+                "gripper_position": [
+                  0.294837379672124,
+                  -0.37004580629567646,
+                  1.0057893399064501
+                ],
+                "rod_tip_xy_dist": 0.003223247488902203,
+                "target_xy_drift": 3.649629494331775e-07,
+                "depth": 0.015310950336624773,
+                "bottom_clearance": 0.08412978686501649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016177876248332224,
+                  0.0027850778964592093
+                ],
+                "rod_tip_xy": [
+                  0.29483737967212387,
+                  -0.37004580629567646
+                ],
+                "target_mouth_xy": [
+                  0.2964551672969571,
+                  -0.37283088419213567
+                ],
+                "gripper_position": [
+                  0.2948291065333001,
+                  -0.37004896828100087,
+                  1.0056487029435281
+                ],
+                "rod_tip_xy_dist": 0.0032208532547151497,
+                "target_xy_drift": 2.3083589660312866e-07,
+                "depth": 0.015470513336286573,
+                "bottom_clearance": 0.08397003081078303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001626002015425565,
+                  0.002781913686540738
+                ],
+                "rod_tip_xy": [
+                  0.2948291065332999,
+                  -0.3700489682810009
+                ],
+                "target_mouth_xy": [
+                  0.2964551085487255,
+                  -0.37283088196754166
+                ],
+                "gripper_position": [
+                  0.29483439915260423,
+                  -0.3701196243156128,
+                  1.0051145912906396
+                ],
+                "rod_tip_xy_dist": 0.003222254849252411,
+                "target_xy_drift": 2.351971465855723e-07,
+                "depth": 0.015611142407315426,
+                "bottom_clearance": 0.08382940595734867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016207392988365488,
+                  0.0027112640052267545
+                ],
+                "rod_tip_xy": [
+                  0.2948343991526041,
+                  -0.3701196243156128
+                ],
+                "target_mouth_xy": [
+                  0.29645513845144067,
+                  -0.37283088832083955
+                ],
+                "gripper_position": [
+                  0.2948235089088157,
+                  -0.37012879918845604,
+                  1.0049550837468202
+                ],
+                "rod_tip_xy_dist": 0.0031587574108866623,
+                "target_xy_drift": 2.3631620139807128e-07,
+                "depth": 0.01614530844881845,
+                "bottom_clearance": 0.08329534893631785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001631629220932962,
+                  0.002702117986987662
+                ],
+                "rod_tip_xy": [
+                  0.2948235089088156,
+                  -0.37012879918845615
+                ],
+                "target_mouth_xy": [
+                  0.29645513812974855,
+                  -0.3728309171754438
+                ],
+                "gripper_position": [
+                  0.29481513789018865,
+                  -0.3701315286310784,
+                  1.004814740590905
+                ],
+                "rod_tip_xy_dist": 0.0031565258640164125,
+                "target_xy_drift": 2.650521060165591e-07,
+                "depth": 0.016304808417720862,
+                "bottom_clearance": 0.08313582687110288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016399389157249478,
+                  0.0026995118958719755
+                ],
+                "rod_tip_xy": [
+                  0.2948151378901885,
+                  -0.3701315286310784
+                ],
+                "target_mouth_xy": [
+                  0.29645507680591343,
+                  -0.3728310405269504
+                ],
+                "gripper_position": [
+                  0.29482142636167014,
+                  -0.37020290112482557,
+                  1.00428313107077
+                ],
+                "rod_tip_xy_dist": 0.0031586016088236617,
+                "target_xy_drift": 3.9682580062655466e-07,
+                "depth": 0.016445219546760592,
+                "bottom_clearance": 0.08299563084919259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016337127659805106,
+                  0.002628013493799042
+                ],
+                "rod_tip_xy": [
+                  0.29482142636167,
+                  -0.3702029011248255
+                ],
+                "target_mouth_xy": [
+                  0.29645513912765054,
+                  -0.37283091461862455
+                ],
+                "gripper_position": [
+                  0.29481016202301175,
+                  -0.3702119282628437,
+                  1.0041234580605238
+                ],
+                "rod_tip_xy_dist": 0.0030944260090229234,
+                "target_xy_drift": 2.624113793934633e-07,
+                "depth": 0.01697664598089721,
+                "bottom_clearance": 0.08246390158615646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001644976122726849,
+                  0.0026189876326232486
+                ],
+                "rod_tip_xy": [
+                  0.2948101620230116,
+                  -0.3702119282628436
+                ],
+                "target_mouth_xy": [
+                  0.29645513814573843,
+                  -0.37283091589546685
+                ],
+                "gripper_position": [
+                  0.29480178325196515,
+                  -0.3702148127420688,
+                  1.0039831405789525
+                ],
+                "rod_tip_xy_dist": 0.0030927403163173895,
+                "target_xy_drift": 2.6377666885677344e-07,
+                "depth": 0.017136410238279498,
+                "bottom_clearance": 0.08230417808598511,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016532941327249695,
+                  0.0026162265039358368
+                ],
+                "rod_tip_xy": [
+                  0.294801783251965,
+                  -0.37021481274206886
+                ],
+                "target_mouth_xy": [
+                  0.29645507738468996,
+                  -0.3728310392460047
+                ],
+                "gripper_position": [
+                  0.2947933619977272,
+                  -0.3702175739191294,
+                  1.0038429111143192
+                ],
+                "rod_tip_xy_dist": 0.0030948380586387943,
+                "target_xy_drift": 3.9544914693702843e-07,
+                "depth": 0.017276778696307837,
+                "bottom_clearance": 0.08216400342126595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016617778985420495,
+                  0.0026133416503391627
+                ],
+                "rod_tip_xy": [
+                  0.2947933619977271,
+                  -0.3702175739191294
+                ],
+                "target_mouth_xy": [
+                  0.29645513989626915,
+                  -0.37283091556946857
+                ],
+                "gripper_position": [
+                  0.294800748148585,
+                  -0.37029112413511583,
+                  1.0033133794711153
+                ],
+                "rod_tip_xy_dist": 0.003096943713644187,
+                "target_xy_drift": 2.632867433648421e-07,
+                "depth": 0.01741700832557025,
+                "bottom_clearance": 0.08202360261400599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016543896707293948,
+                  0.0025397308890547365
+                ],
+                "rod_tip_xy": [
+                  0.2948007481485848,
+                  -0.37029112413511583
+                ],
+                "target_mouth_xy": [
+                  0.2964551378193142,
+                  -0.37283085502417057
+                ],
+                "gripper_position": [
+                  0.2947896006116334,
+                  -0.3703001074435117,
+                  1.0031539418001405
+                ],
+                "rod_tip_xy_dist": 0.003031045722425658,
+                "target_xy_drift": 2.0332530876933285e-07,
+                "depth": 0.017946415945809924,
+                "bottom_clearance": 0.08149413887224222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016655681413093593,
+                  0.0025308084545201948
+                ],
+                "rod_tip_xy": [
+                  0.2947896006116333,
+                  -0.3703001074435118
+                ],
+                "target_mouth_xy": [
+                  0.29645516875294264,
+                  -0.37283091589803197
+                ],
+                "gripper_position": [
+                  0.294780855079511,
+                  -0.3703028703224856,
+                  1.0030141210071266
+                ],
+                "rod_tip_xy_dist": 0.003029704386044224,
+                "target_xy_drift": 2.625615775607125e-07,
+                "depth": 0.018105916090022656,
+                "bottom_clearance": 0.08133466954980839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016742837612706563,
+                  0.0025280465299896138
+                ],
+                "rod_tip_xy": [
+                  0.2947808550795109,
+                  -0.3703028703224856
+                ],
+                "target_mouth_xy": [
+                  0.29645513884078156,
+                  -0.3728309168524752
+                ],
+                "gripper_position": [
+                  0.2947722647675277,
+                  -0.37030584081967055,
+                  1.002874078011075
+                ],
+                "rod_tip_xy_dist": 0.0030322014067418316,
+                "target_xy_drift": 2.6466235102478137e-07,
+                "depth": 0.018245752898709555,
+                "bottom_clearance": 0.08119486199459713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001682842725782674,
+                  0.0025250763622992056
+                ],
+                "rod_tip_xy": [
+                  0.2947722647675276,
+                  -0.3703058408196706
+                ],
+                "target_mouth_xy": [
+                  0.2964551074933103,
+                  -0.3728309171819698
+                ],
+                "gripper_position": [
+                  0.29476354937493476,
+                  -0.37030826326264893,
+                  1.002734151631913
+                ],
+                "rod_tip_xy_dist": 0.0030344637541354566,
+                "target_xy_drift": 2.69768116616848e-07,
+                "depth": 0.018385839498815337,
+                "bottom_clearance": 0.08105482768642902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016915266225764891,
+                  0.0025227756803313794
+                ],
+                "rod_tip_xy": [
+                  0.2947635493749346,
+                  -0.37030826326264893
+                ],
+                "target_mouth_xy": [
+                  0.2964550759975111,
+                  -0.3728310389429803
+                ],
+                "gripper_position": [
+                  0.294754881732117,
+                  -0.3703111174749031,
+                  1.0025942904439
+                ],
+                "rod_tip_xy_dist": 0.003037377067167736,
+                "target_xy_drift": 3.9545956566875917e-07,
+                "depth": 0.018525744448477544,
+                "bottom_clearance": 0.08091507933274122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001700286458753808,
+                  0.0025197990527409675
+                ],
+                "rod_tip_xy": [
+                  0.2947548817321169,
+                  -0.37031111747490314
+                ],
+                "target_mouth_xy": [
+                  0.2964551681908707,
+                  -0.3728309165276441
+                ],
+                "gripper_position": [
+                  0.2947655181855121,
+                  -0.3703886748015922,
+                  1.0020685056542329
+                ],
+                "rod_tip_xy_dist": 0.003039796260938526,
+                "target_xy_drift": 2.631813599201278e-07,
+                "depth": 0.018665582060422348,
+                "bottom_clearance": 0.08077501994442737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001689557819735954,
+                  0.002442365095095267
+                ],
+                "rod_tip_xy": [
+                  0.294765518185512,
+                  -0.37038867480159215
+                ],
+                "target_mouth_xy": [
+                  0.29645507600524795,
+                  -0.3728310398966874
+                ],
+                "gripper_position": [
+                  0.29475428814434057,
+                  -0.3703974640040576,
+                  1.0019091639096638
+                ],
+                "rod_tip_xy_dist": 0.0029698068765444366,
+                "target_xy_drift": 3.963877441505001e-07,
+                "depth": 0.019191407589693843,
+                "bottom_clearance": 0.08024945038990261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017008476339741008,
+                  0.0024334538148562124
+                ],
+                "rod_tip_xy": [
+                  0.2947542881443404,
+                  -0.37039746400405765
+                ],
+                "target_mouth_xy": [
+                  0.2964551357783145,
+                  -0.37283091781891387
+                ],
+                "gripper_position": [
+                  0.29474561224788665,
+                  -0.37039987172117184,
+                  1.0017696257925008
+                ],
+                "rod_tip_xy_dist": 0.002968935860377174,
+                "target_xy_drift": 2.659310690601254e-07,
+                "depth": 0.019350811106775834,
+                "bottom_clearance": 0.08008993670502529,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017093713702163726,
+                  0.0024312614341997496
+                ],
+                "rod_tip_xy": [
+                  0.2947456122478865,
+                  -0.3703998717211719
+                ],
+                "target_mouth_xy": [
+                  0.29645498361810285,
+                  -0.37283113315537164
+                ],
+                "gripper_position": [
+                  0.2947367444281246,
+                  -0.3704023668885362,
+                  1.0016295711114231
+                ],
+                "rod_tip_xy_dist": 0.0029720334188468376,
+                "target_xy_drift": 5.125347930636649e-07,
+                "depth": 0.01949032849241339,
+                "bottom_clearance": 0.07995078162352642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0017184237812273295,
+                  0.0024285509166563357
+                ],
+                "rod_tip_xy": [
+                  0.2947367444281245,
+                  -0.3704023668885363
+                ],
+                "target_mouth_xy": [
+                  0.2964551682093518,
+                  -0.3728309178051926
+                ],
+                "gripper_position": [
+                  0.2947279119248736,
+                  -0.37040477682302697,
+                  1.0014900453887035
+                ],
+                "rod_tip_xy_dist": 0.002975036108466578,
+                "target_xy_drift": 2.6445904011357223e-07,
+                "depth": 0.019630324166020063,
+                "bottom_clearance": 0.07981032339554384,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006075894338840249,
+              "rod_tip_xy_max_step": 3.295530660852586e-05,
+              "rod_tip_xy_range": 0.0006075816018534469,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2942614104123883,
+            -0.37176240250415654,
+            1.0432916064910174
+          ],
+          "object_origin_world": [
+            0.2942614104123883,
+            -0.37176240250415654,
+            1.0432916064910174
+          ],
+          "frame_world": [
+            0.29428593676026393,
+            -0.3717594437958731,
+            1.043587579905322
+          ],
+          "center_minus_frame": [
+            -2.4526347875641896e-05,
+            -2.9587082834292566e-06,
+            -0.00029597341430465107
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27609289694451916,
+              0.14308382927912014,
+              0.832743837897469
+            ],
+            "target_position": [
+              0.2870341396866308,
+              0.19010650648586974,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048278804504999696,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16857452084776883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832743837897469,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671241939859,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13852521905342624,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "274ab8c8b2554580cc486c3dc8eb3f1d381023439efe14bc0bd3496fce44893b",
+    "visual_seed": 4404721795176737165,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d981916d0bd6ee0448f7a1fd1972edc52275cec9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_38_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33058054599973474,
+              -0.031197414642511977,
+              1.1664397951008811
+            ],
+            "current_z": 1.1664397951008811,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30533328708611496,
+            "gripper_z": 1.157489193010871,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32590783233263826,
+              -0.0359473061057516,
+              1.157489193010871
+            ],
+            "object_minus_gripper": [
+              0.004672713667096484,
+              0.004749891463239623,
+              0.008950602090010085
+            ],
+            "object_to_gripper_xy": 0.006663011475843856,
+            "object_to_gripper_z": 0.008950602090010085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33058054599973474,
+              -0.05489087431980251,
+              1.1664397951008811
+            ],
+            "finger_b": [
+              0.3195829186608188,
+              -0.031197414642511977,
+              1.1664397951008811
+            ],
+            "finger_midpoint": [
+              0.32508173233027676,
+              -0.043044144481157245,
+              1.1664397951008811
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549881366945798,
+              0.011846729838645268,
+              0.0
+            ],
+            "finger_gap": 0.02612140575399923,
+            "fingertip_max_gap": 0.09161163030217442,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013060702876999617,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664397951008811,
+            "object_top_z": 1.2163579014256292,
+            "finger_top_clearance": 0.049918106324748024,
+            "fingertip_min_top_clearance": 0.01497543189742444,
+            "object_projection_between_fingers": 0.8227423824007752,
+            "object_to_finger_line_xy": 0.00997541412412612,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048305815151087214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3832819147705266,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29249481602076316,
+              -0.36781692269870747,
+              0.8515395753378695
+            ],
+            "target_position": [
+              0.28538542154491353,
+              -0.3686807949651338,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007161687308584601,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18377708486980704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395753378695,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578216056220693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08763805184260502,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512864491459931,
+            "release_required_pad_clearance": 0.05381902592130251,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6473470804505386,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008019745349884033,
+            "max_z_decrease": 0.008019745349884033,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518220831656511,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008019745349884033,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021247287125101457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008019745349884033,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008019783958607387,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1410853415727615,
+              -0.4249422550201416,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1410853415727615,
+              -0.4249422550201416,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14141252741432592,
+              -0.4269125181854248,
+              0.8082506545120471
+            ],
+            "closest_button": [
+              0.14107574522495267,
+              -0.4249430000782013,
+              0.7731252312660217
+            ],
+            "closest_ee_minus_button": [
+              0.000336782189373247,
+              -0.0019695181072235113,
+              0.03512542324602541
+            ],
+            "button_min_z_position": [
+              0.14106047153472898,
+              -0.42494139075279236,
+              0.7687891125679016
+            ],
+            "min_active_finger_to_button": 0.14563593630318447,
+            "closest_active_finger": [
+              0.000269278883934021,
+              -0.41053953766822815,
+              0.8107384443283081
+            ],
+            "closest_active_finger_button": [
+              0.1410848796367645,
+              -0.4249425530433655,
+              0.7764843106269836
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14081560075283048,
+              0.014403015375137329,
+              0.03425413370132446
+            ],
+            "min_contact_pad_to_button": 0.021247287125101457,
+            "closest_contact_pad": [
+              0.14106687903404233,
+              -0.4279809599129096,
+              0.7898999250878068
+            ],
+            "closest_contact_pad_button": [
+              0.14106687903404233,
+              -0.4249400794506073,
+              0.7688713669776917
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030408804623022756,
+              0.02102855811011517
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2893219622639286,
+              0.1939051498930019,
+              1.103252346212031
+            ],
+            "current_z": 1.103252346212031,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1933432164776684,
+            "gripper_z": 1.1032523462120312,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2893219622639287,
+              0.19390514989300195,
+              1.1032523462120312
+            ],
+            "object_minus_gripper": [
+              -1.1102230246251565e-16,
+              -5.551115123125783e-17,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 1.2412670766236366e-16,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2893219622639286,
+              0.1939051498930019,
+              1.103252346212031
+            ],
+            "finger_b": [
+              0.2893219622639286,
+              0.1939051498930019,
+              1.103252346212031
+            ],
+            "finger_midpoint": [
+              0.2893219622639286,
+              0.1939051498930019,
+              1.103252346212031
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103252346212031,
+            "object_top_z": 1.2282608528323107,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28932196226392864,
+            0.19390514989300192,
+            1.1032523462120312
+          ],
+          "object_origin_world": [
+            0.28932196226392864,
+            0.19390514989300192,
+            1.1032523462120312
+          ],
+          "frame_world": [
+            0.2893219622639287,
+            0.19390514989300195,
+            1.1032523462120312
+          ],
+          "center_minus_frame": [
+            -5.551115123125783e-17,
+            -2.7755575615628914e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043308730262702,
+            "required_z": 0.9112598828050177,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016077254446617733,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9999936861825276e-08,
+            "max_target_xy_drift": 1.3233892065250964e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.647642737552051,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.647642737991744,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2921079313098836,
+              -0.3693690033595821,
+              0.9234335721344228
+            ],
+            "target_mouth_xy": [
+              0.29249475091243826,
+              -0.3678167959565919
+            ],
+            "rod_tip_z": 0.9234335721344228,
+            "rod_tip_depth": -0.022173712482068786,
+            "rod_tip_bottom_clearance": 0.12161425812825477,
+            "rod_tip_xy_dist": 0.0015996803514509387,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04495576494804843,
+            "min_rod_tip_bottom_clearance": 0.05448481626471746,
+            "min_rod_tip_xy_dist": 7.930769031010517e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29249478087107766,
+              -0.36781679753016644
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.995863940258303e-08,
+              1.5735745484413144e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00012200876824819407,
+                0.00025941455227640464
+              ],
+              "last_rod_tip_xy_delta": [
+                3.718904250110677e-05,
+                -0.00017757939350571128
+              ],
+              "first_target_mouth_xy": [
+                0.2924948140387898,
+                -0.36781679583506044
+              ],
+              "last_target_mouth_xy": [
+                0.2924947816924603,
+                -0.36781682570404994
+              ],
+              "first_rod_tip_xy": [
+                0.292616822807038,
+                -0.36755738128278403
+              ],
+              "last_rod_tip_xy": [
+                0.2925319707349614,
+                -0.36799440509755565
+              ],
+              "min_rod_tip_xy_dist": 7.930769031010517e-05,
+              "max_rod_tip_xy_dist": 0.00028667411718222665,
+              "first_target_xy_drift": 3.321099987121667e-08,
+              "last_target_xy_drift": 2.818585427332417e-08,
+              "max_depth": 0.01970253261924515,
+              "min_bottom_clearance": 0.07973797569145569
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00012200876824819407,
+                  0.00025941455227640464
+                ],
+                "rod_tip_xy": [
+                  0.292616822807038,
+                  -0.36755738128278403
+                ],
+                "target_mouth_xy": [
+                  0.2924948140387898,
+                  -0.36781679583506044
+                ],
+                "gripper_position": [
+                  0.29262393798238473,
+                  -0.36762844457632843,
+                  1.0057049601620853
+                ],
+                "rod_tip_xy_dist": 0.00028667411718222665,
+                "target_xy_drift": 3.321099987121667e-08,
+                "depth": 0.01502032016360444,
+                "bottom_clearance": 0.08442023874126836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00012912696863209838,
+                  0.00018835291720786795
+                ],
+                "rod_tip_xy": [
+                  0.2926239379823847,
+                  -0.3676284445763285
+                ],
+                "target_mouth_xy": [
+                  0.2924948110137526,
+                  -0.36781679749353635
+                ],
+                "gripper_position": [
+                  0.29261316401204707,
+                  -0.36763727221183923,
+                  1.0055466242432944
+                ],
+                "rod_tip_xy_dist": 0.00022836504865856528,
+                "target_xy_drift": 3.0142697168501495e-08,
+                "depth": 0.015554911848690733,
+                "bottom_clearance": 0.08388566809349463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0001183804234410335,
+                  0.00017955124277901913
+                ],
+                "rod_tip_xy": [
+                  0.29261316401204696,
+                  -0.3676372722118393
+                ],
+                "target_mouth_xy": [
+                  0.2924947835886059,
+                  -0.3678168234546183
+                ],
+                "gripper_position": [
+                  0.292604868891283,
+                  -0.36764001197187296,
+                  1.0054084421637208
+                ],
+                "rod_tip_xy_dist": 0.00021506411471365616,
+                "target_xy_drift": 2.606649505073547e-08,
+                "depth": 0.015713297069466448,
+                "bottom_clearance": 0.08372731977050729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00011008681856711222,
+                  0.00017684290077552012
+                ],
+                "rod_tip_xy": [
+                  0.2926048688912829,
+                  -0.367640011971873
+                ],
+                "target_mouth_xy": [
+                  0.2924947820727158,
+                  -0.36781685487264854
+                ],
+                "gripper_position": [
+                  0.2926126583845925,
+                  -0.3677120836698348,
+                  1.0048750780931515
+                ],
+                "rod_tip_xy_dist": 0.00020830871123630126,
+                "target_xy_drift": 5.73550711542231e-08,
+                "depth": 0.015851386301585335,
+                "bottom_clearance": 0.08358912825162645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00011790823748974999,
+                  0.00010474208598620915
+                ],
+                "rod_tip_xy": [
+                  0.29261265838459244,
+                  -0.3677120836698349
+                ],
+                "target_mouth_xy": [
+                  0.2924947501471027,
+                  -0.3678168257558211
+                ],
+                "gripper_position": [
+                  0.2926017950522477,
+                  -0.3677208416372889,
+                  1.0047171549259504
+                ],
+                "rod_tip_xy_dist": 0.00015771257731925415,
+                "target_xy_drift": 4.17211003992788e-08,
+                "depth": 0.016384805565246574,
+                "bottom_clearance": 0.08305577087042393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0001070122314518196,
+                  9.595517682758903e-05
+                ],
+                "rod_tip_xy": [
+                  0.2926017950522476,
+                  -0.367720841637289
+                ],
+                "target_mouth_xy": [
+                  0.2924947828207958,
+                  -0.3678167968141166
+                ],
+                "gripper_position": [
+                  0.2925931909472887,
+                  -0.36772351199603664,
+                  1.0045784349443365
+                ],
+                "rod_tip_xy_dist": 0.00014373243767609205,
+                "target_xy_drift": 2.077047920751484e-09,
+                "depth": 0.016542675297167908,
+                "bottom_clearance": 0.08289785800005733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  9.844041205703258e-05,
+                  9.328392654162077e-05
+                ],
+                "rod_tip_xy": [
+                  0.2925931909472886,
+                  -0.3677235119960367
+                ],
+                "target_mouth_xy": [
+                  0.29249475053523155,
+                  -0.3678167959225783
+                ],
+                "gripper_position": [
+                  0.2926019354540773,
+                  -0.36779636126749005,
+                  1.0040480439064507
+                ],
+                "rod_tip_xy_dist": 0.00013561860372744168,
+                "target_xy_drift": 3.037841172515318e-08,
+                "depth": 0.016681437073418626,
+                "bottom_clearance": 0.08275912484896752,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00010715293538138271,
+                  2.0434292579307733e-05
+                ],
+                "rod_tip_xy": [
+                  0.2926019354540772,
+                  -0.36779636126749005
+                ],
+                "target_mouth_xy": [
+                  0.2924947825186958,
+                  -0.36781679556006935
+                ],
+                "gripper_position": [
+                  0.29259082161764693,
+                  -0.3678049417573936,
+                  1.0038906757345711
+                ],
+                "rod_tip_xy_dist": 0.00010908396708070133,
+                "target_xy_drift": 2.568253901844664e-09,
+                "depth": 0.01721177541942176,
+                "bottom_clearance": 0.0822287305889563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  9.604128237866716e-05,
+                  1.1854163148750096e-05
+                ],
+                "rod_tip_xy": [
+                  0.2925908216176468,
+                  -0.36780494175739353
+                ],
+                "target_mouth_xy": [
+                  0.29249478033526816,
+                  -0.3678167959205423
+                ],
+                "gripper_position": [
+                  0.29258226550674005,
+                  -0.36780743801706495,
+                  1.003752243536463
+                ],
+                "rod_tip_xy_dist": 9.677008372888839e-05,
+                "target_xy_drift": 1.696461538880507e-09,
+                "depth": 0.017369196388184127,
+                "bottom_clearance": 0.08207136569487461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  8.748422822141277e-05,
+                  9.357256728348418e-06
+                ],
+                "rod_tip_xy": [
+                  0.29258226550673994,
+                  -0.36780743801706495
+                ],
+                "target_mouth_xy": [
+                  0.2924947812785185,
+                  -0.3678167952737933
+                ],
+                "gripper_position": [
+                  0.2925737978274642,
+                  -0.3678100395875445,
+                  1.0036138371725085
+                ],
+                "rod_tip_xy_dist": 8.798322818001427e-05,
+                "target_xy_drift": 2.2928645441630195e-09,
+                "depth": 0.0175076096902137,
+                "bottom_clearance": 0.08193293650414601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  7.901673958904398e-05,
+                  6.787091206161833e-06
+                ],
+                "rod_tip_xy": [
+                  0.29257379782746407,
+                  -0.36781003958754455
+                ],
+                "target_mouth_xy": [
+                  0.292494781087875,
+                  -0.3678168266787507
+                ],
+                "gripper_position": [
+                  0.29258408620474874,
+                  -0.3678848331576691,
+                  1.0030863328622133
+                ],
+                "rod_tip_xy_dist": 7.930769031010517e-05,
+                "target_xy_drift": 2.9149390490236498e-08,
+                "depth": 0.01764602662389636,
+                "bottom_clearance": 0.08179453475091447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  8.930115112609771e-05,
+                  -6.80084602990294e-05
+                ],
+                "rod_tip_xy": [
+                  0.29258408620474863,
+                  -0.3678848331576692
+                ],
+                "target_mouth_xy": [
+                  0.29249478505362253,
+                  -0.36781682469737015
+                ],
+                "gripper_position": [
+                  0.29257276280597583,
+                  -0.3678937149058389,
+                  1.0029289825278342
+                ],
+                "rod_tip_xy_dist": 0.00011224903680963504,
+                "target_xy_drift": 2.7487281402783407e-08,
+                "depth": 0.018173576282772275,
+                "bottom_clearance": 0.08126704790280403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  7.798204064490832e-05,
+                  -7.688821946555402e-05
+                ],
+                "rod_tip_xy": [
+                  0.2925727628059758,
+                  -0.3678937149058389
+                ],
+                "target_mouth_xy": [
+                  0.29249478076533086,
+                  -0.36781682668637333
+                ],
+                "gripper_position": [
+                  0.2925641635590346,
+                  -0.3678958516227169,
+                  1.0027906969486644
+                ],
+                "rod_tip_xy_dist": 0.00010951254245851174,
+                "target_xy_drift": 2.915639865943735e-08,
+                "depth": 0.018330890976581138,
+                "bottom_clearance": 0.08110968254661777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  6.937950229046752e-05,
+                  -7.902562027861659e-05
+                ],
+                "rod_tip_xy": [
+                  0.2925641635590345,
+                  -0.367895851622717
+                ],
+                "target_mouth_xy": [
+                  0.292494784056744,
+                  -0.36781682600243837
+                ],
+                "gripper_position": [
+                  0.29255552587111616,
+                  -0.36789822575426423,
+                  1.0026525435504554
+                ],
+                "rod_tip_xy_dist": 0.00010515970710539796,
+                "target_xy_drift": 2.864993436017745e-08,
+                "depth": 0.018469193011633522,
+                "bottom_clearance": 0.0809713690083741,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  6.071334704632614e-05,
+                  -8.140037748549656e-05
+                ],
+                "rod_tip_xy": [
+                  0.29255552587111605,
+                  -0.36789822575426423
+                ],
+                "target_mouth_xy": [
+                  0.2924948125240697,
+                  -0.36781682537677873
+                ],
+                "gripper_position": [
+                  0.29254672846481844,
+                  -0.3679008485531469,
+                  1.0025143909822969
+                ],
+                "rod_tip_xy_dist": 0.00010154866795950094,
+                "target_xy_drift": 4.215857828059587e-08,
+                "depth": 0.018607276963135022,
+                "bottom_clearance": 0.08083323597595327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  5.1978079160686086e-05,
+                  -8.40538790619072e-05
+                ],
+                "rod_tip_xy": [
+                  0.29254672846481833,
+                  -0.367900848553147
+                ],
+                "target_mouth_xy": [
+                  0.29249475038565764,
+                  -0.36781679467408507
+                ],
+                "gripper_position": [
+                  0.2925380094917469,
+                  -0.36790307138357514,
+                  1.0023762309128732
+                ],
+                "rod_tip_xy_dist": 9.88269968105288e-05,
+                "target_xy_drift": 3.061891628879246e-08,
+                "depth": 0.018745506232534015,
+                "bottom_clearance": 0.0806951040169247,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  4.3226650305261405e-05,
+                  -8.624601772916352e-05
+                ],
+                "rod_tip_xy": [
+                  0.2925380094917468,
+                  -0.36790307138357514
+                ],
+                "target_mouth_xy": [
+                  0.29249478284144154,
+                  -0.367816825365846
+                ],
+                "gripper_position": [
+                  0.29252926363639775,
+                  -0.36790569949360297,
+                  1.0022380858340187
+                ],
+                "rod_tip_xy_dist": 9.64723736141728e-05,
+                "target_xy_drift": 2.790532904649378e-08,
+                "depth": 0.01888359065439249,
+                "bottom_clearance": 0.08055692709748485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  3.451224466649583e-05,
+                  -8.89340257912985e-05
+                ],
+                "rod_tip_xy": [
+                  0.29252926363639764,
+                  -0.3679056994936031
+                ],
+                "target_mouth_xy": [
+                  0.29249475139173114,
+                  -0.3678167654678118
+                ],
+                "gripper_position": [
+                  0.29254335728562464,
+                  -0.36798546964475165,
+                  1.0017145922823016
+                ],
+                "rod_tip_xy_dist": 9.539578594134762e-05,
+                "target_xy_drift": 4.355486720866501e-08,
+                "depth": 0.019021770096412705,
+                "bottom_clearance": 0.08041877960815602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  4.8606757580116344e-05,
+                  -0.00016864452633946758
+                ],
+                "rod_tip_xy": [
+                  0.2925433572856246,
+                  -0.36798546964475176
+                ],
+                "target_mouth_xy": [
+                  0.29249475052804447,
+                  -0.3678168251184123
+                ],
+                "gripper_position": [
+                  0.2925319707349615,
+                  -0.3679944050975557,
+                  1.0015572973339517
+                ],
+                "rod_tip_xy_dist": 0.00017550952437607359,
+                "target_xy_drift": 4.1009888721263323e-08,
+                "depth": 0.01954528992587401,
+                "bottom_clearance": 0.07989529284683583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  3.718904250110677e-05,
+                  -0.00017757939350571128
+                ],
+                "rod_tip_xy": [
+                  0.2925319707349614,
+                  -0.36799440509755565
+                ],
+                "target_mouth_xy": [
+                  0.2924947816924603,
+                  -0.36781682570404994
+                ],
+                "gripper_position": [
+                  0.2925230846743535,
+                  -0.36799654771001933,
+                  1.001419723579706
+                ],
+                "rod_tip_xy_dist": 0.00018143171134067326,
+                "target_xy_drift": 2.818585427332417e-08,
+                "depth": 0.01970253261924515,
+                "bottom_clearance": 0.07973797569145569,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006008630810351725,
+              "rod_tip_xy_max_step": 3.250724362636806e-05,
+              "rod_tip_xy_range": 0.0006008497856856355,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29210793130988366,
+            -0.3693690033595821,
+            1.0434335721344228
+          ],
+          "object_origin_world": [
+            0.29210793130988366,
+            -0.3693690033595821,
+            1.0434335721344228
+          ],
+          "frame_world": [
+            0.292106328415555,
+            -0.3693768950141289,
+            1.043308730262702
+          ],
+          "center_minus_frame": [
+            1.6028943286561237e-06,
+            7.891654546787752e-06,
+            0.0001248418717207933
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27913080898745535,
+              0.14703590440529796,
+              0.8326908111623862
+            ],
+            "target_position": [
+              0.28948869304941416,
+              0.19455631895535674,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048636154877317546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17052774313655825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326908111623862,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669963674064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14039603723385569,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a6880ebad674f84a5cf1987698e123e5fbd6711d6e5f8f02221f35d10567371",
+    "visual_seed": 8384863471835819340,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6f256a99e3f961c1134abf4cccb688d0347f428
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_39_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3361487877204401,
+              -0.03674606301547924,
+              1.1646628892249282
+            ],
+            "current_z": 1.1646628892249282,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3035564408148068,
+            "gripper_z": 1.1554235300153266,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3316382279437392,
+              -0.041338424390995596,
+              1.1554235300153266
+            ],
+            "object_minus_gripper": [
+              0.004510559776700895,
+              0.004592361375516357,
+              0.009239359209601616
+            ],
+            "object_to_gripper_xy": 0.006436997165023961,
+            "object_to_gripper_z": 0.009239359209601616,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3361487877204401,
+              -0.06057907844808428,
+              1.1646628892249282
+            ],
+            "finger_b": [
+              0.3257218757498506,
+              -0.03674606301547924,
+              1.1646628892249282
+            ],
+            "finger_midpoint": [
+              0.33093533173514533,
+              -0.04866257073178176,
+              1.1646628892249282
+            ],
+            "object_minus_finger_midpoint": [
+              0.005213455985294768,
+              0.011916507716302524,
+              0.0
+            ],
+            "finger_gap": 0.026014094599912798,
+            "fingertip_max_gap": 0.09212489337535443,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013007047299956415,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646628892249282,
+            "object_top_z": 1.2146063643159906,
+            "finger_top_clearance": 0.04994347509106234,
+            "fingertip_min_top_clearance": 0.014983042527318734,
+            "object_projection_between_fingers": 0.839345097241119,
+            "object_to_finger_line_xy": 0.00955269663355133,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048562446687677216,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8221577133049607,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2996622225670738,
+              -0.36916279784270245,
+              0.8515396449893774
+            ],
+            "target_position": [
+              0.2924305444498821,
+              -0.3699097943665207,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007270156270484573,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18375190332835203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396449893774,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075214132664477,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699765617209886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15256613967913737,
+            "release_required_pad_clearance": 0.05349882808604943,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.010051792417572,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008084475994110107,
+            "max_z_decrease": 0.008084475994110107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139843755893206,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008084475994110107,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02097269604318405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008084475994110107,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00808448846325562,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1481304764747619,
+              -0.4261712431907653,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1481304764747619,
+              -0.4261712431907653,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14625894350794857,
+              -0.42588684786813696,
+              0.8038130763684649
+            ],
+            "closest_button": [
+              0.14813478291034696,
+              -0.4261577129364013,
+              0.7687243819236755
+            ],
+            "closest_ee_minus_button": [
+              -0.0018758394023983826,
+              0.00027086506826434764,
+              0.03508869444478935
+            ],
+            "button_min_z_position": [
+              0.14813478291034696,
+              -0.4261577129364013,
+              0.7687243819236755
+            ],
+            "min_active_finger_to_button": 0.147268783105855,
+            "closest_active_finger": [
+              0.018801353871822357,
+              -0.4877893328666687,
+              0.8104817867279053
+            ],
+            "closest_active_finger_button": [
+              0.14813084900379175,
+              -0.4261729419231415,
+              0.7763438820838928
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1293294951319694,
+              -0.06161639094352722,
+              0.03413790464401245
+            ],
+            "min_contact_pad_to_button": 0.02097269604318405,
+            "closest_contact_pad": [
+              0.14813478291034696,
+              -0.42717132914409156,
+              0.7896725694706519
+            ],
+            "closest_contact_pad_button": [
+              0.14813478291034696,
+              -0.4261577129364013,
+              0.7687243819236755
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010136162076902488,
+              0.02094818754697636
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28768857903063927,
+              0.1889933994582857,
+              1.1042988296517318
+            ],
+            "current_z": 1.1042988296517318,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1943896999173692,
+            "gripper_z": 1.1042990559505081,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2876886450489703,
+              0.1889933772772066,
+              1.1042990559505081
+            ],
+            "object_minus_gripper": [
+              -6.601833102415355e-08,
+              2.2181079084582223e-08,
+              -2.262987763845814e-07
+            ],
+            "object_to_gripper_xy": 6.964495890278927e-08,
+            "object_to_gripper_z": -2.262987763845814e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28768857903063927,
+              0.1889933994582857,
+              1.1042988296517318
+            ],
+            "finger_b": [
+              0.28768857903063927,
+              0.1889933994582857,
+              1.1042988296517318
+            ],
+            "finger_midpoint": [
+              0.28768857903063927,
+              0.1889933994582857,
+              1.1042988296517318
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042988296517318,
+            "object_top_z": 1.2293073362720115,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2876885790306393,
+            0.1889933994582857,
+            1.104298829651732
+          ],
+          "object_origin_world": [
+            0.2876885790306393,
+            0.1889933994582857,
+            1.104298829651732
+          ],
+          "frame_world": [
+            0.2876886450489703,
+            0.1889933772772066,
+            1.1042990559505081
+          ],
+          "center_minus_frame": [
+            -6.60183309686424e-08,
+            2.2181079084582223e-08,
+            -2.262987761625368e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436215022450877,
+            "required_z": 0.9112598815499413,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024322150514283817,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 7.014949704929742e-09,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.0104411590860733,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.0104411590860733,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2976852527496454,
+              -0.3677157537640301,
+              0.9233270612577199
+            ],
+            "target_mouth_xy": [
+              0.2996623985636928,
+              -0.3691623725173456
+            ],
+            "rod_tip_z": 0.9233270612577199,
+            "rod_tip_depth": -0.022067179707778606,
+            "rod_tip_bottom_clearance": 0.12150780921497739,
+            "rod_tip_xy_dist": 0.002449859462795638,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04507777637764854,
+            "min_rod_tip_bottom_clearance": 0.05436285312955025,
+            "min_rod_tip_xy_dist": 0.0004111353940161408,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2996623985636928,
+              -0.3691623725173456
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0014066842071477903,
+                0.0031775253558791183
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015185632048636544,
+                0.00282208093693459
+              ],
+              "first_target_mouth_xy": [
+                0.2996623978312305,
+                -0.36916236554074056
+              ],
+              "last_target_mouth_xy": [
+                0.2996623985636928,
+                -0.3691623725173456
+              ],
+              "first_rod_tip_xy": [
+                0.2982557136240827,
+                -0.36598484018486144
+              ],
+              "last_rod_tip_xy": [
+                0.29814383535882916,
+                -0.36634029158041104
+              ],
+              "min_rod_tip_xy_dist": 0.003196722053183813,
+              "max_rod_tip_xy_dist": 0.003474971632386907,
+              "first_target_xy_drift": 7.014949704929742e-09,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.019340862685574334,
+              "min_bottom_clearance": 0.08009976682162445
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0014066842071477903,
+                  0.0031775253558791183
+                ],
+                "rod_tip_xy": [
+                  0.2982557136240827,
+                  -0.36598484018486144
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.29824491857888413,
+                  -0.3659937326320371,
+                  1.0060990135690144
+                ],
+                "rod_tip_xy_dist": 0.003474971632386907,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.01500023042423837,
+                "bottom_clearance": 0.08444037420699158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014174799848087338,
+                  0.0031686398853084663
+                ],
+                "rod_tip_xy": [
+                  0.2982449185788841,
+                  -0.36599373263203716
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.2982365251579949,
+                  -0.36599690821022973,
+                  1.0059579874725533
+                ],
+                "rod_tip_xy_dist": 0.003471243038178257,
+                "target_xy_drift": 0.0,
+                "depth": 0.015160867980927084,
+                "bottom_clearance": 0.0842797615262717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014258726732356841,
+                  0.003165457330510879
+                ],
+                "rod_tip_xy": [
+                  0.2982365251579948,
+                  -0.3659969082102297
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.2982425466871474,
+                  -0.3660659445482121,
+                  1.0054214420573029
+                ],
+                "rod_tip_xy_dist": 0.003471776633305394,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.015301887128820524,
+                "bottom_clearance": 0.08413871750240942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0014198518765455304,
+                  0.003096427969133453
+                ],
+                "rod_tip_xy": [
+                  0.2982425466871473,
+                  -0.3660659445482122
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.29823160527660897,
+                  -0.3660750417451547,
+                  1.0052607797303499
+                ],
+                "rod_tip_xy_dist": 0.0034064417680861334,
+                "target_xy_drift": 0.0,
+                "depth": 0.015838439492638856,
+                "bottom_clearance": 0.08360219001455993,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001430792554621585,
+                  0.00308732379558585
+                ],
+                "rod_tip_xy": [
+                  0.2982316052766089,
+                  -0.3660750417451547
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.29822319817355813,
+                  -0.3660777541257056,
+                  1.005120047324078
+                ],
+                "rod_tip_xy_dist": 0.0034027541129430998,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.015999094871024133,
+                "bottom_clearance": 0.08344150976020581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014392003901347317,
+                  0.0030846183916400927
+                ],
+                "rod_tip_xy": [
+                  0.2982231981735581,
+                  -0.36607775412570553
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.2982300195654215,
+                  -0.3661476439671589,
+                  1.0045856537661282
+                ],
+                "rod_tip_xy_dist": 0.003403846116528812,
+                "target_xy_drift": 0.0,
+                "depth": 0.016139834225863514,
+                "bottom_clearance": 0.08330079528133527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014323782658091089,
+                  0.0030147215735817356
+                ],
+                "rod_tip_xy": [
+                  0.2982300195654214,
+                  -0.3661476439671588
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.2982189087575218,
+                  -0.3661563193574223,
+                  1.004425054620533
+                ],
+                "rod_tip_xy_dist": 0.003337701853458671,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.016674220835245612,
+                "bottom_clearance": 0.08276638379598433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014434898061711499,
+                  0.0030060531599233054
+                ],
+                "rod_tip_xy": [
+                  0.29821890875752166,
+                  -0.3661563193574223
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.2982103970118576,
+                  -0.36615905798531134,
+                  1.0042843156970616
+                ],
+                "rod_tip_xy_dist": 0.0033346691621216206,
+                "target_xy_drift": 0.0,
+                "depth": 0.01683482692940841,
+                "bottom_clearance": 0.08260580257779038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014520008193730227,
+                  0.0030033075554292132
+                ],
+                "rod_tip_xy": [
+                  0.2982103970118575,
+                  -0.36615905798531134
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.2982016572149526,
+                  -0.3661620298772446,
+                  1.004143569374759
+                ],
+                "rod_tip_xy_dist": 0.0033358900839143557,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.01697555890431246,
+                "bottom_clearance": 0.08246504572691749,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014607413487402465,
+                  0.0030003426401010724
+                ],
+                "rod_tip_xy": [
+                  0.29820165721495256,
+                  -0.36616202987724455
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.2982100515687236,
+                  -0.3662342890985429,
+                  1.0036110119577244
+                ],
+                "rod_tip_xy_dist": 0.003337037795100341,
+                "target_xy_drift": 0.0,
+                "depth": 0.017116312175182835,
+                "bottom_clearance": 0.08232431733201595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014523462625070094,
+                  0.0029280764421976135
+                ],
+                "rod_tip_xy": [
+                  0.2982100515687235,
+                  -0.36623428909854294
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.2981986766079281,
+                  -0.3662431444307953,
+                  1.0034506824899336
+                ],
+                "rod_tip_xy_dist": 0.0032684769109740876,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.01764886264364962,
+                "bottom_clearance": 0.08179174198758032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014637219557648296,
+                  0.0029192280865503184
+                ],
+                "rod_tip_xy": [
+                  0.298198676607928,
+                  -0.3662431444307953
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.29818988479043557,
+                  -0.36624574437963237,
+                  1.003310257238476
+                ],
+                "rod_tip_xy_dist": 0.003265635402964062,
+                "target_xy_drift": 0.0,
+                "depth": 0.017809199060007885,
+                "bottom_clearance": 0.0816314304471909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0014725130407949871,
+                  0.002916621161108246
+                ],
+                "rod_tip_xy": [
+                  0.2981898847904355,
+                  -0.3662457443796323
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.2981810818082198,
+                  -0.36624839330787734,
+                  1.0031696474057317
+                ],
+                "rod_tip_xy_dist": 0.0032672578185285153,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.017949617362897796,
+                "bottom_clearance": 0.08149098726833215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014813167554730833,
+                  0.0029139792094682315
+                ],
+                "rod_tip_xy": [
+                  0.29818108180821973,
+                  -0.3662483933078774
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.29819078349679917,
+                  -0.36632188116401293,
+                  1.0026413619876757
+                ],
+                "rod_tip_xy_dist": 0.0032688796495524888,
+                "target_xy_drift": 0.0,
+                "depth": 0.01809023414420985,
+                "bottom_clearance": 0.08135039536298894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014716143344313815,
+                  0.002840484376727681
+                ],
+                "rod_tip_xy": [
+                  0.2981907834967991,
+                  -0.3663218811640129
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.29817940243534924,
+                  -0.3663304554337027,
+                  1.0024811729037804
+                ],
+                "rod_tip_xy_dist": 0.003199062400725869,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.01861851261369807,
+                "bottom_clearance": 0.08082209201753188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014829961283436832,
+                  0.002831917083643054
+                ],
+                "rod_tip_xy": [
+                  0.29817940243534913,
+                  -0.3663304554337026
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.29817043926450637,
+                  -0.36633301815650693,
+                  1.0023408010023167
+                ],
+                "rod_tip_xy_dist": 0.003196722053183813,
+                "target_xy_drift": 0.0,
+                "depth": 0.018778708646161157,
+                "bottom_clearance": 0.08066192086103763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014919585667242385,
+                  0.0028293473842336825
+                ],
+                "rod_tip_xy": [
+                  0.29817043926450626,
+                  -0.3663330181565069
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.2981616155514161,
+                  -0.36633531848274564,
+                  1.0022001050674572
+                ],
+                "rod_tip_xy_dist": 0.0031986164173735845,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.018919073599057312,
+                "bottom_clearance": 0.08052153103217263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015007830122767962,
+                  0.0028270540346000406
+                ],
+                "rod_tip_xy": [
+                  0.298161615551416,
+                  -0.3663353184827456
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.2981527401434326,
+                  -0.3663377874480849,
+                  1.0020594569230474
+                ],
+                "rod_tip_xy_dist": 0.0032007161955548294,
+                "target_xy_drift": 0.0,
+                "depth": 0.01905977648248458,
+                "bottom_clearance": 0.0803808530247142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0015096576877979828,
+                  0.002824578092655683
+                ],
+                "rod_tip_xy": [
+                  0.2981527401434325,
+                  -0.3663377874480849
+                ],
+                "target_mouth_xy": [
+                  0.2996623978312305,
+                  -0.36916236554074056
+                ],
+                "gripper_position": [
+                  0.29814383535882927,
+                  -0.3663402915804111,
+                  1.0019190188643672
+                ],
+                "rod_tip_xy_dist": 0.003202703191967368,
+                "target_xy_drift": 7.014949704929742e-09,
+                "depth": 0.019200417678326587,
+                "bottom_clearance": 0.08024018695290336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0015185632048636544,
+                  0.00282208093693459
+                ],
+                "rod_tip_xy": [
+                  0.29814383535882916,
+                  -0.36634029158041104
+                ],
+                "target_mouth_xy": [
+                  0.2996623985636928,
+                  -0.3691623725173456
+                ],
+                "gripper_position": [
+                  0.2981348120258438,
+                  -0.3663426780829436,
+                  1.0017787699220864
+                ],
+                "rod_tip_xy_dist": 0.003204711378856977,
+                "target_xy_drift": 0.0,
+                "depth": 0.019340862685574334,
+                "bottom_clearance": 0.08009976682162445,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006054516042448184,
+              "rod_tip_xy_max_step": 3.2770513756579705e-05,
+              "rod_tip_xy_range": 0.0006054434411162452,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29768525274964547,
+            -0.3677157537640301,
+            1.0433270612577201
+          ],
+          "object_origin_world": [
+            0.29768525274964547,
+            -0.3677157537640301,
+            1.0433270612577201
+          ],
+          "frame_world": [
+            0.2977096204514069,
+            -0.3677124319321588,
+            1.0436215022450877
+          ],
+          "center_minus_frame": [
+            -2.4367701761451865e-05,
+            -3.321831871294645e-06,
+            -0.000294440987367528
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2778592355237485,
+              0.1444463711402395,
+              0.8330133122446706
+            ],
+            "target_position": [
+              0.28784301797634726,
+              0.19101117610505725,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04762307186094082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1665495269615351,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330133122446706,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674123686492,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356463340291378,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b3d871eb4c0f503ecfc9de971b9df4f7570312ab15c4beecc429153e1183d3e",
+    "visual_seed": 6730644634037122520,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..971695c1d7a75aa794d8b39a0bfda42f32d27c71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_40_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33692875453487625,
+              -0.03449685837193945,
+              1.1643525757635778
+            ],
+            "current_z": 1.1643525757635778,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3032460081441669,
+            "gripper_z": 1.1550437226200736,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3321722396544907,
+              -0.039129411908082376,
+              1.1550437226200736
+            ],
+            "object_minus_gripper": [
+              0.004756514880385532,
+              0.004632553536142926,
+              0.009308853143504159
+            ],
+            "object_to_gripper_xy": 0.006639652556614639,
+            "object_to_gripper_z": 0.009308853143504159,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33692875453487625,
+              -0.05846926342395256,
+              1.1643525757635778
+            ],
+            "finger_b": [
+              0.3264203204665517,
+              -0.03449685837193945,
+              1.1643525757635778
+            ],
+            "finger_midpoint": [
+              0.33167453750071396,
+              -0.046483060897946,
+              1.1643525757635778
+            ],
+            "object_minus_finger_midpoint": [
+              0.00525421703416229,
+              0.011986202526006552,
+              0.0
+            ],
+            "finger_gap": 0.026174479756933225,
+            "fingertip_max_gap": 0.09150974243323964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013087239878466621,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643525757635778,
+            "object_top_z": 1.2141702475939127,
+            "finger_top_clearance": 0.04981767183033492,
+            "fingertip_min_top_clearance": 0.014945301549100442,
+            "object_projection_between_fingers": 0.8388167565769888,
+            "object_to_finger_line_xy": 0.009624353197756378,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048254871216619824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4459824692056373,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2995250755353307,
+              -0.36968865857612554,
+              0.8515395576127347
+            ],
+            "target_position": [
+              0.29230243116351595,
+              -0.3705869790178296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007278294534964261,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18382709539494205,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395576127347,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549904144100147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08734886754525843,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15181068252408503,
+            "release_required_pad_clearance": 0.05367443377262922,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3583754521003693,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008207201957702637,
+            "max_z_decrease": 0.008207201957702637,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506621038250513,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008207201957702637,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020869647028945004,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008207201957702637,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0082072975878641,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14800235629081726,
+              -0.426848441362381,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14800235629081726,
+              -0.426848441362381,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14938065065642828,
+              -0.4254788084291491,
+              0.8036161584101893
+            ],
+            "closest_button": [
+              0.14803269505500793,
+              -0.4268229603767395,
+              0.768601655960083
+            ],
+            "closest_ee_minus_button": [
+              0.001347955601420342,
+              0.0013441519475904107,
+              0.03501450245010629
+            ],
+            "button_min_z_position": [
+              0.14803269505500793,
+              -0.4268229603767395,
+              0.768601655960083
+            ],
+            "min_active_finger_to_button": 0.1439522717523222,
+            "closest_active_finger": [
+              0.021899498999118805,
+              -0.4873213768005371,
+              0.8109023571014404
+            ],
+            "closest_active_finger_button": [
+              0.1480018049478531,
+              -0.42684951424598694,
+              0.7767904996871948
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12610230594873428,
+              -0.06047186255455017,
+              0.034111857414245605
+            ],
+            "min_contact_pad_to_button": 0.020869647028945004,
+            "closest_contact_pad": [
+              0.14803269505500793,
+              -0.4268229603767395,
+              0.789471302989028
+            ],
+            "closest_contact_pad_button": [
+              0.14803269505500793,
+              -0.4268229603767395,
+              0.768601655960083
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020869647028945004
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2837362822666766,
+              0.19125949187854113,
+              1.104434790110735
+            ],
+            "current_z": 1.104434790110735,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19452566037637242,
+            "gripper_z": 1.1044348857488668,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28373628237559667,
+              0.1912595214953895,
+              1.1044348857488668
+            ],
+            "object_minus_gripper": [
+              -1.0892009516538792e-10,
+              -2.961684836266798e-08,
+              -9.563813185842207e-08
+            ],
+            "object_to_gripper_xy": 2.961704864641985e-08,
+            "object_to_gripper_z": -9.563813185842207e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2837362822666766,
+              0.19125949187854113,
+              1.104434790110735
+            ],
+            "finger_b": [
+              0.2837362822666766,
+              0.19125949187854113,
+              1.104434790110735
+            ],
+            "finger_midpoint": [
+              0.2837362822666766,
+              0.19125949187854113,
+              1.104434790110735
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104434790110735,
+            "object_top_z": 1.2294432967310147,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2837362822666766,
+            0.19125949187854116,
+            1.1044347901107352
+          ],
+          "object_origin_world": [
+            0.2837362822666766,
+            0.19125949187854116,
+            1.1044347901107352
+          ],
+          "frame_world": [
+            0.28373628237559667,
+            0.1912595214953895,
+            1.1044348857488668
+          ],
+          "center_minus_frame": [
+            -1.0892009516538792e-10,
+            -2.9616848334912405e-08,
+            -9.563813163637747e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436103219484152,
+            "required_z": 0.9112598267711527,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002437170408729623,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.213675208618627e-08,
+            "max_target_xy_drift": 1.1488258059139984e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.358375455488392,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3587073292048357,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29731581036801263,
+              -0.3686123004116326,
+              0.9233159513765542
+            ],
+            "target_mouth_xy": [
+              0.29952514055132784,
+              -0.3696886892665936
+            ],
+            "rod_tip_z": 0.9233159513765542,
+            "rod_tip_depth": -0.022056107694911842,
+            "rod_tip_bottom_clearance": 0.12149668162334903,
+            "rod_tip_xy_dist": 0.002457590858135625,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04513831473977925,
+            "min_rod_tip_bottom_clearance": 0.054302255735037885,
+            "min_rod_tip_xy_dist": 0.0005744392014413846,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2995251101226002,
+              -0.36968871841446505
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.042872764869031e-08,
+              2.914787144980835e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.001651387038982155,
+                0.002910325283118076
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017620937335577347,
+                0.0025453360581359497
+              ],
+              "first_target_mouth_xy": [
+                0.299525112416415,
+                -0.36968868793925214
+              ],
+              "last_target_mouth_xy": [
+                0.29952511119139547,
+                -0.3696886571909434
+              ],
+              "first_rod_tip_xy": [
+                0.29787372537743284,
+                -0.36677836265613406
+              ],
+              "last_rod_tip_xy": [
+                0.29776301745783773,
+                -0.36714332113280745
+              ],
+              "min_rod_tip_xy_dist": 0.0030806046519007563,
+              "max_rod_tip_xy_dist": 0.0033462026845477483,
+              "first_target_xy_drift": 3.056141665881653e-08,
+              "last_target_xy_drift": 6.12328500520732e-08,
+              "max_depth": 0.01943442629361236,
+              "min_bottom_clearance": 0.0800061511507093
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001651387038982155,
+                  0.002910325283118076
+                ],
+                "rod_tip_xy": [
+                  0.29787372537743284,
+                  -0.36677836265613406
+                ],
+                "target_mouth_xy": [
+                  0.299525112416415,
+                  -0.36968868793925214
+                ],
+                "gripper_position": [
+                  0.29787933120935933,
+                  -0.36685038744234694,
+                  1.0056050487140293
+                ],
+                "rod_tip_xy_dist": 0.0033462026845477483,
+                "target_xy_drift": 3.056141665881653e-08,
+                "depth": 0.015120851945617408,
+                "bottom_clearance": 0.08431974325538305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016457788380762062,
+                  0.0028383005733948474
+                ],
+                "rod_tip_xy": [
+                  0.29787933120935933,
+                  -0.3668503874423469
+                ],
+                "target_mouth_xy": [
+                  0.29952511004743554,
+                  -0.36968868801574173
+                ],
+                "gripper_position": [
+                  0.2978683732324363,
+                  -0.36685942029666974,
+                  1.0054448976787205
+                ],
+                "rod_tip_xy_dist": 0.0032809355569399694,
+                "target_xy_drift": 3.039881624320662e-08,
+                "depth": 0.01565476695727419,
+                "bottom_clearance": 0.08378573631592245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016567361720872253,
+                  0.002829299117768913
+                ],
+                "rod_tip_xy": [
+                  0.2978683732324363,
+                  -0.36685942029666974
+                ],
+                "target_mouth_xy": [
+                  0.29952510940452354,
+                  -0.36968871941443865
+                ],
+                "gripper_position": [
+                  0.297859835163936,
+                  -0.3668625315123399,
+                  1.0053038013503524
+                ],
+                "rod_tip_xy_dist": 0.00327867476912703,
+                "target_xy_drift": 1.2310894724266276e-09,
+                "depth": 0.01581495017320822,
+                "bottom_clearance": 0.08362560150737053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0016652445768807755,
+                  0.002826188846870692
+                ],
+                "rod_tip_xy": [
+                  0.297859835163936,
+                  -0.36686253151233994
+                ],
+                "target_mouth_xy": [
+                  0.29952507974081677,
+                  -0.36968872035921063
+                ],
+                "gripper_position": [
+                  0.29786635370872805,
+                  -0.36693567052356546,
+                  1.0047717802537162
+                ],
+                "rod_tip_xy_dist": 0.0032803022572633644,
+                "target_xy_drift": 3.0443961623339065e-08,
+                "depth": 0.01595606041822617,
+                "bottom_clearance": 0.0834845213402916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00165872647952936,
+                  0.002753012069359795
+                ],
+                "rod_tip_xy": [
+                  0.29786635370872805,
+                  -0.36693567052356535
+                ],
+                "target_mouth_xy": [
+                  0.2995250801882574,
+                  -0.36968868259292514
+                ],
+                "gripper_position": [
+                  0.29785520939558136,
+                  -0.36694484799316285,
+                  1.0046113833724577
+                ],
+                "rod_tip_xy_dist": 0.0032141015833250454,
+                "target_xy_drift": 4.6682412091580904e-08,
+                "depth": 0.01648813046273989,
+                "bottom_clearance": 0.0829525666487797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016699001876140374,
+                  0.0027438415768538116
+                ],
+                "rod_tip_xy": [
+                  0.29785520939558136,
+                  -0.36694484799316285
+                ],
+                "target_mouth_xy": [
+                  0.2995251095831954,
+                  -0.36968868957001666
+                ],
+                "gripper_position": [
+                  0.29784667560666855,
+                  -0.36694771897734324,
+                  1.00447036176599
+                ],
+                "rod_tip_xy_dist": 0.0032120450238850963,
+                "target_xy_drift": 2.884949150664992e-08,
+                "depth": 0.016648458361327556,
+                "bottom_clearance": 0.08279208514439151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016784038994696049,
+                  0.00274093540207887
+                ],
+                "rod_tip_xy": [
+                  0.29784667560666855,
+                  -0.36694771897734324
+                ],
+                "target_mouth_xy": [
+                  0.29952507950613816,
+                  -0.3696886543794221
+                ],
+                "gripper_position": [
+                  0.2978382024704663,
+                  -0.36695035866754755,
+                  1.0043295307940814
+                ],
+                "rod_tip_xy_dist": 0.0032139954150751417,
+                "target_xy_drift": 7.097784493094414e-08,
+                "depth": 0.016789520039379613,
+                "bottom_clearance": 0.0826511024204174,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016868765221818571,
+                  0.0027383626322191046
+                ],
+                "rod_tip_xy": [
+                  0.2978382024704663,
+                  -0.36695035866754755
+                ],
+                "target_mouth_xy": [
+                  0.29952507899264813,
+                  -0.36968872129976665
+                ],
+                "gripper_position": [
+                  0.29784622321708276,
+                  -0.36702627352000355,
+                  1.0037987786099587
+                ],
+                "rod_tip_xy_dist": 0.00321623729016102,
+                "target_xy_drift": 3.126337922659999e-08,
+                "depth": 0.0169303711834482,
+                "bottom_clearance": 0.08251027327761762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001678887266209128,
+                  0.0026624122079962897
+                ],
+                "rod_tip_xy": [
+                  0.29784622321708276,
+                  -0.3670262735200035
+                ],
+                "target_mouth_xy": [
+                  0.2995251104832919,
+                  -0.3696886857279998
+                ],
+                "gripper_position": [
+                  0.29783500320603906,
+                  -0.3670354008917037,
+                  1.0036389306033937
+                ],
+                "rod_tip_xy_dist": 0.003147554799829042,
+                "target_xy_drift": 3.268845529352927e-08,
+                "depth": 0.017461078671018537,
+                "bottom_clearance": 0.08197951975507145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016900764308955818,
+                  0.0026532858167495066
+                ],
+                "rod_tip_xy": [
+                  0.29783500320603906,
+                  -0.3670354008917037
+                ],
+                "target_mouth_xy": [
+                  0.29952507963693464,
+                  -0.36968868670845323
+                ],
+                "gripper_position": [
+                  0.29782623280885323,
+                  -0.36703820120920727,
+                  1.003498177555975
+                ],
+                "rod_tip_xy_dist": 0.003145835972779389,
+                "target_xy_drift": 4.3984622189499764e-08,
+                "depth": 0.017620964794155314,
+                "bottom_clearance": 0.0818195662425597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016988774686597097,
+                  0.0026504857922322045
+                ],
+                "rod_tip_xy": [
+                  0.29782623280885323,
+                  -0.36703820120920727
+                ],
+                "target_mouth_xy": [
+                  0.29952511027751294,
+                  -0.3696886870014395
+                ],
+                "gripper_position": [
+                  0.2978173869443193,
+                  -0.36704101423849944,
+                  1.003357379059071
+                ],
+                "rod_tip_xy_dist": 0.003148215302094887,
+                "target_xy_drift": 3.141340754198123e-08,
+                "depth": 0.017761655090898665,
+                "bottom_clearance": 0.08167888825358449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017077233220677557,
+                  0.00264770513359891
+                ],
+                "rod_tip_xy": [
+                  0.2978173869443193,
+                  -0.36704101423849944
+                ],
+                "target_mouth_xy": [
+                  0.29952511026638706,
+                  -0.36968871937209835
+                ],
+                "gripper_position": [
+                  0.29780872312165674,
+                  -0.3670433170023727,
+                  1.0032163445080529
+                ],
+                "rod_tip_xy_dist": 0.003150660473491257,
+                "target_xy_drift": 9.683678087860473e-10,
+                "depth": 0.017902465734060846,
+                "bottom_clearance": 0.08153809927112421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017163857001060712,
+                  0.002645368465616138
+                ],
+                "rod_tip_xy": [
+                  0.29780872312165674,
+                  -0.3670433170023727
+                ],
+                "target_mouth_xy": [
+                  0.2995251088217628,
+                  -0.36968868546798883
+                ],
+                "gripper_position": [
+                  0.29781891392182414,
+                  -0.3671222295524504,
+                  1.0026876089661791
+                ],
+                "rod_tip_xy_dist": 0.0031534035882526817,
+                "target_xy_drift": 3.2972146924439476e-08,
+                "depth": 0.018043531142519664,
+                "bottom_clearance": 0.0813970668582088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017061964161744214,
+                  0.0025664581003116416
+                ],
+                "rod_tip_xy": [
+                  0.29781891392182414,
+                  -0.36712222955245033
+                ],
+                "target_mouth_xy": [
+                  0.29952511033799856,
+                  -0.36968868765276197
+                ],
+                "gripper_position": [
+                  0.2978074267989249,
+                  -0.36713141898168244,
+                  1.002527631664135
+                ],
+                "rod_tip_xy_dist": 0.0030818522662875453,
+                "target_xy_drift": 3.076245719136423e-08,
+                "depth": 0.01857221228133954,
+                "bottom_clearance": 0.08086830902223541,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017176534119675568,
+                  0.002557301659497524
+                ],
+                "rod_tip_xy": [
+                  0.2978074267989249,
+                  -0.36713141898168244
+                ],
+                "target_mouth_xy": [
+                  0.29952508021089247,
+                  -0.36968872064117997
+                ],
+                "gripper_position": [
+                  0.2977986774419018,
+                  -0.3671334660164232,
+                  1.0023875026005304
+                ],
+                "rod_tip_xy_dist": 0.0030806046519007563,
+                "target_xy_drift": 2.9994474794307306e-08,
+                "depth": 0.018732233148812893,
+                "bottom_clearance": 0.08070836501971068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017264321296886487,
+                  0.002555189929113466
+                ],
+                "rod_tip_xy": [
+                  0.2977986774419018,
+                  -0.36713346601642316
+                ],
+                "target_mouth_xy": [
+                  0.29952510957159045,
+                  -0.3696886559455366
+                ],
+                "gripper_position": [
+                  0.29778978223999586,
+                  -0.36713605788772813,
+                  1.0022467505287196
+                ],
+                "rod_tip_xy_dist": 0.0030837580113011725,
+                "target_xy_drift": 6.247135847368901e-08,
+                "depth": 0.018872407330878582,
+                "bottom_clearance": 0.08056815664339889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001735298382388395,
+                  0.002552600588089704
+                ],
+                "rod_tip_xy": [
+                  0.29778978223999586,
+                  -0.3671360578877281
+                ],
+                "target_mouth_xy": [
+                  0.29952508062238425,
+                  -0.3696886584758178
+                ],
+                "gripper_position": [
+                  0.29778084345027944,
+                  -0.36713853465363966,
+                  1.0021062857263845
+                ],
+                "rod_tip_xy_dist": 0.0030865887705095545,
+                "target_xy_drift": 6.680497119674476e-08,
+                "depth": 0.019013073020437088,
+                "bottom_clearance": 0.08042745425861486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017442667073532814,
+                  0.002550155246719088
+                ],
+                "rod_tip_xy": [
+                  0.29778084345027944,
+                  -0.36713853465363955
+                ],
+                "target_mouth_xy": [
+                  0.2995251101576327,
+                  -0.36968868990035864
+                ],
+                "gripper_position": [
+                  0.29777204256683454,
+                  -0.36714075978224775,
+                  1.001965799369519
+                ],
+                "rod_tip_xy_dist": 0.003089621033193222,
+                "target_xy_drift": 2.8514127929899584e-08,
+                "depth": 0.01915362351436989,
+                "bottom_clearance": 0.08028694842189132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001753067817332754,
+                  0.0025479281831718437
+                ],
+                "rod_tip_xy": [
+                  0.29777204256683454,
+                  -0.3671407597822477
+                ],
+                "target_mouth_xy": [
+                  0.2995251103841673,
+                  -0.36968868796541954
+                ],
+                "gripper_position": [
+                  0.29776301745783773,
+                  -0.36714332113280757,
+                  1.001825472716961
+                ],
+                "rod_tip_xy_dist": 0.0030927632949789736,
+                "target_xy_drift": 3.0450168959266e-08,
+                "depth": 0.01929407795419469,
+                "bottom_clearance": 0.08014643704197677,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0017620937335577347,
+                  0.0025453360581359497
+                ],
+                "rod_tip_xy": [
+                  0.29776301745783773,
+                  -0.36714332113280745
+                ],
+                "target_mouth_xy": [
+                  0.29952511119139547,
+                  -0.3696886571909434
+                ],
+                "gripper_position": [
+                  0.29775415814374107,
+                  -0.36714561845736426,
+                  1.0016850295260413
+                ],
+                "rod_tip_xy_dist": 0.0030957567693038306,
+                "target_xy_drift": 6.12328500520732e-08,
+                "depth": 0.01943442629361236,
+                "bottom_clearance": 0.0800061511507093,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006063315722480493,
+              "rod_tip_xy_max_step": 3.2750506327774355e-05,
+              "rod_tip_xy_range": 0.0006063276760464348,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29731581036801263,
+            -0.3686123004116326,
+            1.0433159513765542
+          ],
+          "object_origin_world": [
+            0.29731581036801263,
+            -0.3686123004116326,
+            1.0433159513765542
+          ],
+          "frame_world": [
+            0.2973401280696488,
+            -0.3686090967248936,
+            1.0436103219484152
+          ],
+          "center_minus_frame": [
+            -2.4317701636189515e-05,
+            -3.203686739006173e-06,
+            -0.00029437057186099125
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.274059091163818,
+              0.14555264853895888,
+              0.8325457901388936
+            ],
+            "target_position": [
+              0.28427243943401087,
+              0.19237544052423383,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04792375540569186,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16861342305928845,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325457901388936,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670778956253,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13811594405313615,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "692a7ee2b4b341f6c24e6fc9f65448074fa6e931e6f97e3d3dc9663ab57c7cc0",
+    "visual_seed": 3603457658415798299,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0839506595db1e9093b5d893f80757da5170c38a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_41_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33117788842104523,
+              -0.030629544779749197,
+              1.166744274817992
+            ],
+            "current_z": 1.166744274817992,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3056377071985812,
+            "gripper_z": 1.1576840834863509,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.326673122802789,
+              -0.03525867036395115,
+              1.1576840834863509
+            ],
+            "object_minus_gripper": [
+              0.004504765618256246,
+              0.0046291255842019555,
+              0.009060191331641043
+            ],
+            "object_to_gripper_xy": 0.006459235012734609,
+            "object_to_gripper_z": 0.009060191331641043,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33117788842104523,
+              -0.05422850398402925,
+              1.166744274817992
+            ],
+            "finger_b": [
+              0.3203900907247096,
+              -0.030629544779749197,
+              1.166744274817992
+            ],
+            "finger_midpoint": [
+              0.3257839895728774,
+              -0.042429024381889224,
+              1.166744274817992
+            ],
+            "object_minus_finger_midpoint": [
+              0.005393898848167822,
+              0.011799479602140027,
+              0.0
+            ],
+            "finger_gap": 0.025947783232144108,
+            "fingertip_max_gap": 0.09202359012143349,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012973891616072054,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166744274817992,
+            "object_top_z": 1.2166300835868111,
+            "finger_top_clearance": 0.049885808768819206,
+            "fingertip_min_top_clearance": 0.014965742630645795,
+            "object_projection_between_fingers": 0.8271517190299813,
+            "object_to_finger_line_xy": 0.009811273489616495,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851179506071675,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8344643409797383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2987343988087836,
+              -0.3684161140116996,
+              0.8515395807526227
+            ],
+            "target_position": [
+              0.29103402006169055,
+              -0.3694561710925538,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007770299323714464,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18499974492920138,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395807526227,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517144493894355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655939025967728,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15383332297583036,
+            "release_required_pad_clearance": 0.05327969512983864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5786383313373848,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008130848407745361,
+            "max_z_decrease": 0.008130848407745361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350917434775028,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008130848407745361,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02113082170433822,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008130848407745361,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008130903366371716,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14673393964767456,
+              -0.42571762204170227,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14673393964767456,
+              -0.42571762204170227,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14592365042954242,
+              -0.4276610556451246,
+              0.8037047738103619
+            ],
+            "closest_button": [
+              0.1467520147562027,
+              -0.4256938099861145,
+              0.7686780095100403
+            ],
+            "closest_ee_minus_button": [
+              -0.0008283643266602803,
+              -0.001967245659010075,
+              0.03502676430032159
+            ],
+            "button_min_z_position": [
+              0.1467520147562027,
+              -0.4256938099861145,
+              0.7686780095100403
+            ],
+            "min_active_finger_to_button": 0.14628560463727147,
+            "closest_active_finger": [
+              0.00526321679353714,
+              -0.41107305884361267,
+              0.8105087876319885
+            ],
+            "closest_active_finger_button": [
+              0.1467338353395462,
+              -0.4257185459136963,
+              0.7762881517410278
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14147061854600906,
+              0.014645487070083618,
+              0.03422063589096069
+            ],
+            "min_contact_pad_to_button": 0.02113082170433822,
+            "closest_contact_pad": [
+              0.1467520147562027,
+              -0.4288822931558753,
+              0.7895668869565831
+            ],
+            "closest_contact_pad_button": [
+              0.1467520147562027,
+              -0.4256938099861145,
+              0.7686780095100403
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031884831697607807,
+              0.020888877446542775
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28499032086020404,
+              0.19259901939170854,
+              1.1012324006138554
+            ],
+            "current_z": 1.1012324006138554,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19132327087949286,
+            "gripper_z": 1.1012326312381884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2849903608062222,
+              0.192599072616852,
+              1.1012326312381884
+            ],
+            "object_minus_gripper": [
+              -3.994601815993093e-08,
+              -5.322514345929008e-08,
+              -2.3062433296416884e-07
+            ],
+            "object_to_gripper_xy": 6.654772921066158e-08,
+            "object_to_gripper_z": -2.3062433296416884e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28499032086020404,
+              0.19259901939170854,
+              1.1012324006138554
+            ],
+            "finger_b": [
+              0.28499032086020404,
+              0.19259901939170854,
+              1.1012324006138554
+            ],
+            "finger_midpoint": [
+              0.28499032086020404,
+              0.19259901939170854,
+              1.1012324006138554
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012324006138554,
+            "object_top_z": 1.2262409072341351,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2849903208602041,
+            0.19259901939170856,
+            1.1012324006138554
+          ],
+          "object_origin_world": [
+            0.2849903208602041,
+            0.19259901939170856,
+            1.1012324006138554
+          ],
+          "frame_world": [
+            0.2849903608062222,
+            0.192599072616852,
+            1.1012326312381884
+          ],
+          "center_minus_frame": [
+            -3.994601810441978e-08,
+            -5.3225143431534505e-08,
+            -2.3062433296416884e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432699573670223,
+            "required_z": 0.9112597568495628,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026251603524712814,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.6637606567233302e-07,
+            "max_target_xy_drift": 1.5909636131473479e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5781424403041246,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5786383316491024,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2966998947142105,
+              -0.3667511036296258,
+              0.9233959356896279
+            ],
+            "target_mouth_xy": [
+              0.2987343718998263,
+              -0.3684162489938768
+            ],
+            "rod_tip_z": 0.9233959356896279,
+            "rod_tip_depth": -0.02213601049563807,
+            "rod_tip_bottom_clearance": 0.12157666227561648,
+            "rod_tip_xy_dist": 0.0026290314762052423,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044809602268325976,
+            "min_rod_tip_bottom_clearance": 0.05463122621313432,
+            "min_rod_tip_xy_dist": 0.0001655608935887009,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2987343706636878,
+              -0.36841608262240333
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.2361385248738088e-09,
+              -1.663714734867483e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0014722562780131732,
+                0.0034694140293974884
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015813368754529766,
+                0.003092797815160586
+              ],
+              "first_target_mouth_xy": [
+                0.2987344291526253,
+                -0.36841602364902615
+              ],
+              "last_target_mouth_xy": [
+                0.2987343990949066,
+                -0.36841611625582227
+              ],
+              "first_rod_tip_xy": [
+                0.29726217287461215,
+                -0.36494660961962866
+              ],
+              "last_rod_tip_xy": [
+                0.29715306221945365,
+                -0.3653233184406617
+              ],
+              "min_rod_tip_xy_dist": 0.0034723122568409196,
+              "max_rod_tip_xy_dist": 0.0037688688297059796,
+              "first_target_xy_drift": 8.30591056368641e-08,
+              "last_target_xy_drift": 4.4040221086104833e-08,
+              "max_depth": 0.019649075159110407,
+              "min_bottom_clearance": 0.07979157523316383
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0014722562780131732,
+                  0.0034694140293974884
+                ],
+                "rod_tip_xy": [
+                  0.29726217287461215,
+                  -0.36494660961962866
+                ],
+                "target_mouth_xy": [
+                  0.2987344291526253,
+                  -0.36841602364902615
+                ],
+                "gripper_position": [
+                  0.2972512675070116,
+                  -0.36495558694142943,
+                  1.0057659202042
+                ],
+                "rod_tip_xy_dist": 0.0037688688297059796,
+                "target_xy_drift": 8.30591056368641e-08,
+                "depth": 0.0153345201429399,
+                "bottom_clearance": 0.08410600308697413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0014834448811902878,
+                  0.0034606016482987
+                ],
+                "rod_tip_xy": [
+                  0.2972512675070114,
+                  -0.3649555869414295
+                ],
+                "target_mouth_xy": [
+                  0.2987347123882017,
+                  -0.3684161885897282
+                ],
+                "gripper_position": [
+                  0.29724289013893923,
+                  -0.364958567446109,
+                  1.0056260181349579
+                ],
+                "rod_tip_xy_dist": 0.003765152385194701,
+                "target_xy_drift": 3.577774690273148e-07,
+                "depth": 0.015494173659096222,
+                "bottom_clearance": 0.08394674354220799,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001491536683025152,
+                  0.003457486676821331
+                ],
+                "rod_tip_xy": [
+                  0.2972428901389391,
+                  -0.364958567446109
+                ],
+                "target_mouth_xy": [
+                  0.29873442682196427,
+                  -0.3684160541229303
+                ],
+                "gripper_position": [
+                  0.29724874952197683,
+                  -0.3650311180938483,
+                  1.0050931004391823
+                ],
+                "rod_tip_xy_dist": 0.0037654874581130506,
+                "target_xy_drift": 6.297596349378578e-08,
+                "depth": 0.015633900295997094,
+                "bottom_clearance": 0.08380673494010726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014856179333831987,
+                  0.0033849655166482417
+                ],
+                "rod_tip_xy": [
+                  0.2972487495219767,
+                  -0.36503111809384836
+                ],
+                "target_mouth_xy": [
+                  0.2987343674553599,
+                  -0.3684160836104966
+                ],
+                "gripper_position": [
+                  0.2972376020251428,
+                  -0.3650404840930419,
+                  1.0049335742945575
+                ],
+                "rod_tip_xy_dist": 0.0036966271373899025,
+                "target_xy_drift": 3.357036805098497e-09,
+                "depth": 0.016166804970395687,
+                "bottom_clearance": 0.08327380977970489,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001496835298561705,
+                  0.00337573567190097
+                ],
+                "rod_tip_xy": [
+                  0.2972376020251427,
+                  -0.3650404840930419
+                ],
+                "target_mouth_xy": [
+                  0.2987344373237044,
+                  -0.3684162197649429
+                ],
+                "gripper_position": [
+                  0.29722906495465784,
+                  -0.3650431301510271,
+                  1.0047936469784968
+                ],
+                "rod_tip_xy_dist": 0.0036927100126553404,
+                "target_xy_drift": 1.524848647205411e-07,
+                "depth": 0.01632636681528299,
+                "bottom_clearance": 0.08311432829976673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015053326980442594,
+                  0.0033729534516488413
+                ],
+                "rod_tip_xy": [
+                  0.2972290649546577,
+                  -0.3650431301510272
+                ],
+                "target_mouth_xy": [
+                  0.29873439765270193,
+                  -0.368416083602676
+                ],
+                "gripper_position": [
+                  0.29722051707781016,
+                  -0.36504563891705477,
+                  1.0046535483515557
+                ],
+                "rod_tip_xy_dist": 0.003693621734665184,
+                "target_xy_drift": 2.7006810595119566e-08,
+                "depth": 0.016466246437622845,
+                "bottom_clearance": 0.08297435322743918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015138525247908596,
+                  0.003370443738195228
+                ],
+                "rod_tip_xy": [
+                  0.29722051707781005,
+                  -0.36504563891705477
+                ],
+                "target_mouth_xy": [
+                  0.2987343696026009,
+                  -0.36841608265525
+                ],
+                "gripper_position": [
+                  0.29722786049701255,
+                  -0.3651209368425424,
+                  1.0041207697697168
+                ],
+                "rod_tip_xy_dist": 0.003694812641955622,
+                "target_xy_drift": 1.0615951588472447e-09,
+                "depth": 0.016606274796858167,
+                "bottom_clearance": 0.08283422438639387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015066948113143241,
+                  0.0032950239395792003
+                ],
+                "rod_tip_xy": [
+                  0.2972278604970124,
+                  -0.3651209368425423
+                ],
+                "target_mouth_xy": [
+                  0.2987345553083267,
+                  -0.3684159607821215
+                ],
+                "gripper_position": [
+                  0.297216607215246,
+                  -0.365130012046039,
+                  1.0039615043069496
+                ],
+                "rod_tip_xy_dist": 0.0036231632611354323,
+                "target_xy_drift": 2.2122092340019316e-07,
+                "depth": 0.01713925589102272,
+                "bottom_clearance": 0.08230156678035627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001517791041872496,
+                  0.003286071253770395
+                ],
+                "rod_tip_xy": [
+                  0.29721660721524584,
+                  -0.3651300120460391
+                ],
+                "target_mouth_xy": [
+                  0.29873439825711834,
+                  -0.3684160832998095
+                ],
+                "gripper_position": [
+                  0.2972080037713999,
+                  -0.3651326104824407,
+                  1.0038216463763543
+                ],
+                "rod_tip_xy_dist": 0.0036196621294873,
+                "target_xy_drift": 2.7601744295140593e-08,
+                "depth": 0.017298424924633626,
+                "bottom_clearance": 0.08214214096336636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015263964102383842,
+                  0.003283442023358285
+                ],
+                "rod_tip_xy": [
+                  0.2972080037713997,
+                  -0.3651326104824407
+                ],
+                "target_mouth_xy": [
+                  0.2987344001816381,
+                  -0.368416052505799
+                ],
+                "gripper_position": [
+                  0.2971991292076179,
+                  -0.3651351676722965,
+                  1.00368163661831
+                ],
+                "rod_tip_xy_dist": 0.003620894574817634,
+                "target_xy_drift": 4.217012267163597e-08,
+                "depth": 0.017438172393907325,
+                "bottom_clearance": 0.08200233574268723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015352687207624283,
+                  0.0032809473321600002
+                ],
+                "rod_tip_xy": [
+                  0.29719912920761776,
+                  -0.3651351676722965
+                ],
+                "target_mouth_xy": [
+                  0.2987343979283802,
+                  -0.3684161150044565
+                ],
+                "gripper_position": [
+                  0.29720824990462524,
+                  -0.3652123549880094,
+                  1.003152261906898
+                ],
+                "rod_tip_xy_dist": 0.003622383944498336,
+                "target_xy_drift": 4.23315581744727e-08,
+                "depth": 0.017578278417880955,
+                "bottom_clearance": 0.08186236970360483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015261507381076345,
+                  0.003203699094150747
+                ],
+                "rod_tip_xy": [
+                  0.29720824990462513,
+                  -0.3652123549880095
+                ],
+                "target_mouth_xy": [
+                  0.29873440064273277,
+                  -0.36841605408216027
+                ],
+                "gripper_position": [
+                  0.29719700697772616,
+                  -0.3652211089050987,
+                  1.0029931718284424
+                ],
+                "rod_tip_xy_dist": 0.0035486369159564344,
+                "target_xy_drift": 4.139189064336139e-08,
+                "depth": 0.018107578293726,
+                "bottom_clearance": 0.08133298211049123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015373910069602092,
+                  0.003195037792799005
+                ],
+                "rod_tip_xy": [
+                  0.29719700697772605,
+                  -0.36522110890509873
+                ],
+                "target_mouth_xy": [
+                  0.29873439798468626,
+                  -0.36841614669789774
+                ],
+                "gripper_position": [
+                  0.297188087417091,
+                  -0.3652236675137876,
+                  1.002853474297043
+                ],
+                "rod_tip_xy_dist": 0.003545678722853505,
+                "target_xy_drift": 6.965705952003133e-08,
+                "depth": 0.018266776845713095,
+                "bottom_clearance": 0.08117393864602274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015462811552245936,
+                  0.00319254261808255
+                ],
+                "rod_tip_xy": [
+                  0.2971880874170909,
+                  -0.36522366751378765
+                ],
+                "target_mouth_xy": [
+                  0.2987343685723155,
+                  -0.3684162101318702
+                ],
+                "gripper_position": [
+                  0.29717928464796084,
+                  -0.3652258059679452,
+                  1.002713732932921
+                ],
+                "rod_tip_xy_dist": 0.0035472966861084636,
+                "target_xy_drift": 1.2752661675344937e-07,
+                "depth": 0.018406474570224485,
+                "bottom_clearance": 0.08103436692298127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015551127395390663,
+                  0.0031902805125751388
+                ],
+                "rod_tip_xy": [
+                  0.2971792846479607,
+                  -0.3652258059679453
+                ],
+                "target_mouth_xy": [
+                  0.29873439738749974,
+                  -0.36841608648052043
+                ],
+                "gripper_position": [
+                  0.2971704377077289,
+                  -0.3652284523452035,
+                  1.0025740293344498
+                ],
+                "rod_tip_xy_dist": 0.0035491217761008695,
+                "target_xy_drift": 2.7000873916409655e-08,
+                "depth": 0.01854622220762192,
+                "bottom_clearance": 0.08089449314678909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015639008285548428,
+                  0.0031877882159189186
+                ],
+                "rod_tip_xy": [
+                  0.2971704377077287,
+                  -0.3652284523452035
+                ],
+                "target_mouth_xy": [
+                  0.29873433853628356,
+                  -0.36841624056112243
+                ],
+                "gripper_position": [
+                  0.29716155182642845,
+                  -0.36523047831144045,
+                  1.0024344167677337
+                ],
+                "rod_tip_xy_dist": 0.00355074351525227,
+                "target_xy_drift": 1.6117322697931867e-07,
+                "depth": 0.018685878637978548,
+                "bottom_clearance": 0.08075499462183611,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015728184367391762,
+                  0.0031856068497559953
+                ],
+                "rod_tip_xy": [
+                  0.2971615518264283,
+                  -0.3652304783114405
+                ],
+                "target_mouth_xy": [
+                  0.29873437026316746,
+                  -0.3684160851611965
+                ],
+                "gripper_position": [
+                  0.29717356531706196,
+                  -0.36531196602624405,
+                  1.0019092718994678
+                ],
+                "rod_tip_xy_dist": 0.003552724142986475,
+                "target_xy_drift": 2.5701920805587526e-09,
+                "depth": 0.018825381448935863,
+                "bottom_clearance": 0.08061520040271564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015608347670531542,
+                  0.0031041479784738035
+                ],
+                "rod_tip_xy": [
+                  0.29717356531706185,
+                  -0.36531196602624405
+                ],
+                "target_mouth_xy": [
+                  0.298734400084115,
+                  -0.36841611400471785
+                ],
+                "gripper_position": [
+                  0.29716207342126066,
+                  -0.36532098115017,
+                  1.0017502599410013
+                ],
+                "rod_tip_xy_dist": 0.0034744697210228894,
+                "target_xy_drift": 4.301640619451847e-08,
+                "depth": 0.01935056917983413,
+                "bottom_clearance": 0.0800899802024535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015721081282275007,
+                  0.003096034308945672
+                ],
+                "rod_tip_xy": [
+                  0.29716207342126055,
+                  -0.36532098115017
+                ],
+                "target_mouth_xy": [
+                  0.29873418154948805,
+                  -0.36841701545911565
+                ],
+                "gripper_position": [
+                  0.2971530622194538,
+                  -0.36532331844066157,
+                  1.0016108282639469
+                ],
+                "rod_tip_xy_dist": 0.0034723122568409196,
+                "target_xy_drift": 9.518132760138572e-07,
+                "depth": 0.019510025135172193,
+                "bottom_clearance": 0.07993223865486365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015813368754529766,
+                  0.003092797815160586
+                ],
+                "rod_tip_xy": [
+                  0.29715306221945365,
+                  -0.3653233184406617
+                ],
+                "target_mouth_xy": [
+                  0.2987343990949066,
+                  -0.36841611625582227
+                ],
+                "gripper_position": [
+                  0.2971439740462465,
+                  -0.3653254694114602,
+                  1.0014713816693213
+                ],
+                "rod_tip_xy_dist": 0.003473618378453436,
+                "target_xy_drift": 4.4040221086104833e-08,
+                "depth": 0.019649075159110407,
+                "bottom_clearance": 0.07979157523316383,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006010715874088036,
+              "rod_tip_xy_max_step": 3.245816338329025e-05,
+              "rod_tip_xy_range": 0.0006010540969747916,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29669989471421054,
+            -0.3667511036296258,
+            1.0433959356896279
+          ],
+          "object_origin_world": [
+            0.29669989471421054,
+            -0.3667511036296258,
+            1.0433959356896279
+          ],
+          "frame_world": [
+            0.2966984553635644,
+            -0.3667589889860439,
+            1.0432699573670223
+          ],
+          "center_minus_frame": [
+            1.439350646170734e-06,
+            7.885356418102507e-06,
+            0.00012597832260552444
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27561703185346803,
+              0.14501180238699968,
+              0.8329446967145124
+            ],
+            "target_position": [
+              0.28514331703188717,
+              0.19159488314877116,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04754717155161064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16977943230279952,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329446967145124,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566483796732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13907363746730358,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e192306d06f17e6a32f678d4c054d417d9ed55ba7459c3093f33bb8c13042fc1",
+    "visual_seed": 1499882967441849024,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a30a536b67e4633cd993f65d394344cbd8b04829
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_42_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33713033778232976,
+              -0.03371987852459538,
+              1.1662040903388338
+            ],
+            "current_z": 1.1662040903388338,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3050975823240678,
+            "gripper_z": 1.1570897210203928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3324602356388148,
+              -0.03835515950369578,
+              1.1570897210203928
+            ],
+            "object_minus_gripper": [
+              0.0046701021435149315,
+              0.0046352809791003965,
+              0.009114369318441007
+            ],
+            "object_to_gripper_xy": 0.0065799455762242205,
+            "object_to_gripper_z": 0.009114369318441007,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33713033778232976,
+              -0.057663316683789635,
+              1.1662040903388338
+            ],
+            "finger_b": [
+              0.3266472411635316,
+              -0.03371987852459538,
+              1.1662040903388338
+            ],
+            "finger_midpoint": [
+              0.33188878947293066,
+              -0.04569159760419251,
+              1.1662040903388338
+            ],
+            "object_minus_finger_midpoint": [
+              0.005241548309399102,
+              0.011971719079597126,
+              0.0
+            ],
+            "finger_gap": 0.026137780043496744,
+            "fingertip_max_gap": 0.09190783506681302,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013068890021748382,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662040903388338,
+            "object_top_z": 1.216120790993457,
+            "finger_top_clearance": 0.04991670065462328,
+            "fingertip_min_top_clearance": 0.014975010196386983,
+            "object_projection_between_fingers": 0.8391423279637303,
+            "object_to_finger_line_xy": 0.009603010477223102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845391753340651,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5579797943487654,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2965440210850057,
+              -0.36944813447667696,
+              0.8515395587347996
+            ],
+            "target_position": [
+              0.2890680107530204,
+              -0.37022369734185845,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007516131201741994,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839141286971644,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395587347996,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528597648228841,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709260731433126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15243347076486496,
+            "release_required_pad_clearance": 0.05354630365716563,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1040375250893257,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008084535598754883,
+            "max_z_decrease": 0.008084535598754883,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035131693875575236,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008084535598754883,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02098136356223501,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008084535598754883,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008084549340042642,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14476794004440308,
+              -0.426485151052475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14476794004440308,
+              -0.426485151052475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1440295358419887,
+              -0.42546464950986895,
+              0.8038337018479499
+            ],
+            "closest_button": [
+              0.1447737216949463,
+              -0.42647141218185425,
+              0.7687243223190308
+            ],
+            "closest_ee_minus_button": [
+              -0.0007441858529576018,
+              0.0010067626719852951,
+              0.03510937952891913
+            ],
+            "button_min_z_position": [
+              0.1447737216949463,
+              -0.42647141218185425,
+              0.7687243223190308
+            ],
+            "min_active_finger_to_button": 0.14602015468193397,
+            "closest_active_finger": [
+              0.017964139580726624,
+              -0.49029287695884705,
+              0.8106378316879272
+            ],
+            "closest_active_finger_button": [
+              0.1447676569223404,
+              -0.42648497223854065,
+              0.7764135003089905
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12680351734161377,
+              -0.0638079047203064,
+              0.03422433137893677
+            ],
+            "min_contact_pad_to_button": 0.02098136356223501,
+            "closest_contact_pad": [
+              0.1447737216949463,
+              -0.42647141218185425,
+              0.7897056858812658
+            ],
+            "closest_contact_pad_button": [
+              0.1447737216949463,
+              -0.42647141218185425,
+              0.7687243223190308
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02098136356223501
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28176830452918405,
+              0.1974271462757812,
+              1.1016554237162501
+            ],
+            "current_z": 1.1016554237162501,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19174629398188758,
+            "gripper_z": 1.101655661099836,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28176837052113013,
+              0.19742709046577947,
+              1.101655661099836
+            ],
+            "object_minus_gripper": [
+              -6.599194607437298e-08,
+              5.581000173116024e-08,
+              -2.3738358589930897e-07
+            ],
+            "object_to_gripper_xy": 8.64273870941096e-08,
+            "object_to_gripper_z": -2.3738358589930897e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28176830452918405,
+              0.1974271462757812,
+              1.1016554237162501
+            ],
+            "finger_b": [
+              0.28176830452918405,
+              0.1974271462757812,
+              1.1016554237162501
+            ],
+            "finger_midpoint": [
+              0.28176830452918405,
+              0.1974271462757812,
+              1.1016554237162501
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016554237162501,
+            "object_top_z": 1.2266639303365299,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.281768304529184,
+            0.19742714627578123,
+            1.1016554237162501
+          ],
+          "object_origin_world": [
+            0.281768304529184,
+            0.19742714627578123,
+            1.1016554237162501
+          ],
+          "frame_world": [
+            0.28176837052113013,
+            0.19742709046577947,
+            1.101655661099836
+          ],
+          "center_minus_frame": [
+            -6.599194612988413e-08,
+            5.581000175891582e-08,
+            -2.3738358589930897e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043636796228706,
+            "required_z": 0.9112597758250167,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001769348281559573,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.696358690566644e-07,
+            "max_target_xy_drift": 3.120170693073475e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1044095034195607,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1044095038432804,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2968966415299195,
+              -0.3711808587771246,
+              0.9233433960657044
+            ],
+            "target_mouth_xy": [
+              0.29654398515536856,
+              -0.3694481377796367
+            ],
+            "rod_tip_z": 0.9233433960657044,
+            "rod_tip_depth": -0.022083530023744413,
+            "rod_tip_bottom_clearance": 0.1215243409807486,
+            "rod_tip_xy_dist": 0.0017682444892171596,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04486845811138296,
+            "min_rod_tip_bottom_clearance": 0.05457213439712727,
+            "min_rod_tip_xy_dist": 0.0007363264856687809,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2965440461965345,
+              -0.369447979506758
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.104116595517795e-08,
+              -1.5827287869196738e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0008022915240956108,
+                9.653673958287534e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007161253283250457,
+                -0.0002913451814252621
+              ],
+              "first_target_mouth_xy": [
+                0.2965440810930639,
+                -0.3694479857754057
+              ],
+              "last_target_mouth_xy": [
+                0.2965440486628576,
+                -0.36944801469796573
+              ],
+              "first_rod_tip_xy": [
+                0.2973463726171595,
+                -0.36935144903582284
+              ],
+              "last_rod_tip_xy": [
+                0.29726017399118265,
+                -0.369739359879391
+              ],
+              "min_rod_tip_xy_dist": 0.0007363264856687809,
+              "max_rod_tip_xy_dist": 0.0008080786049172134,
+              "first_target_xy_drift": 3.54550942389253e-08,
+              "last_target_xy_drift": 3.527752614308158e-08,
+              "max_depth": 0.01971052200973933,
+              "min_bottom_clearance": 0.07973001577062044
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0008022915240956108,
+                  9.653673958287534e-05
+                ],
+                "rod_tip_xy": [
+                  0.2973463726171595,
+                  -0.36935144903582284
+                ],
+                "target_mouth_xy": [
+                  0.2965440810930639,
+                  -0.3694479857754057
+                ],
+                "gripper_position": [
+                  0.29733553700917215,
+                  -0.3693610213383333,
+                  1.0057249329228646
+                ],
+                "rod_tip_xy_dist": 0.0008080786049172134,
+                "target_xy_drift": 3.54550942389253e-08,
+                "depth": 0.01537395678161857,
+                "bottom_clearance": 0.08406661724707176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007914561578848955,
+                  8.699583933713395e-05
+                ],
+                "rod_tip_xy": [
+                  0.2973355370091723,
+                  -0.3693610213383334
+                ],
+                "target_mouth_xy": [
+                  0.2965440808512874,
+                  -0.3694480171776705
+                ],
+                "gripper_position": [
+                  0.2973271450221869,
+                  -0.3693640900916001,
+                  1.00558342577557
+                ],
+                "rod_tip_xy_dist": 0.0007962230377952481,
+                "target_xy_drift": 5.1186419558574134e-08,
+                "depth": 0.01553493440694631,
+                "bottom_clearance": 0.08390568484234195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007830930453823215,
+                  8.395750928963386e-05
+                ],
+                "rod_tip_xy": [
+                  0.29732714502218704,
+                  -0.3693640900916001
+                ],
+                "target_mouth_xy": [
+                  0.2965440519768047,
+                  -0.36944804760088973
+                ],
+                "gripper_position": [
+                  0.2973381193679946,
+                  -0.36943808711491805,
+                  1.0050503248033356
+                ],
+                "rod_tip_xy_dist": 0.0007875808409885792,
+                "target_xy_drift": 6.833902471252275e-08,
+                "depth": 0.015676579654650302,
+                "bottom_clearance": 0.08376409775525584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007940980001633902,
+                  9.957650127956352e-06
+                ],
+                "rod_tip_xy": [
+                  0.29733811936799476,
+                  -0.3694380871149181
+                ],
+                "target_mouth_xy": [
+                  0.29654402136783137,
+                  -0.36944804476504606
+                ],
+                "gripper_position": [
+                  0.297327258997353,
+                  -0.36944731935790326,
+                  1.004889591032596
+                ],
+                "rod_tip_xy_dist": 0.0007941604300514893,
+                "target_xy_drift": 6.982197834084149e-08,
+                "depth": 0.016209504698213695,
+                "bottom_clearance": 0.08323104345564192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007831780312079761,
+                  7.292181173901291e-07
+                ],
+                "rod_tip_xy": [
+                  0.2973272589973532,
+                  -0.3694473193579033
+                ],
+                "target_mouth_xy": [
+                  0.2965440809661452,
+                  -0.3694480485760207
+                ],
+                "gripper_position": [
+                  0.2973188253518434,
+                  -0.3694502415610883,
+                  1.0047481390095918
+                ],
+                "rod_tip_xy_dist": 0.0007831783706958871,
+                "target_xy_drift": 7.73271548502691e-08,
+                "depth": 0.01637036489435273,
+                "bottom_clearance": 0.08307031360584438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007748049167853321,
+                  -2.19612437368788e-06
+                ],
+                "rod_tip_xy": [
+                  0.29731882535184356,
+                  -0.3694502415610884
+                ],
+                "target_mouth_xy": [
+                  0.29654402043505823,
+                  -0.3694480454367147
+                ],
+                "gripper_position": [
+                  0.29731021810325586,
+                  -0.369453284529698,
+                  1.0046067371547658
+                ],
+                "rod_tip_xy_dist": 0.000774808029151086,
+                "target_xy_drift": 7.078426981342974e-08,
+                "depth": 0.016511694240275876,
+                "bottom_clearance": 0.08292883985156996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007661715050776285,
+                  -5.330395147717937e-06
+                ],
+                "rod_tip_xy": [
+                  0.2973102181032561,
+                  -0.36945328452969806
+                ],
+                "target_mouth_xy": [
+                  0.29654404659817846,
+                  -0.36944795413455034
+                ],
+                "gripper_position": [
+                  0.2973227189741767,
+                  -0.36953003055953215,
+                  1.0040734926987436
+                ],
+                "rod_tip_xy_dist": 0.00076619004711974,
+                "target_xy_drift": 2.5375386495820203e-08,
+                "depth": 0.016653142891106643,
+                "bottom_clearance": 0.08278750304168658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007786711249284095,
+                  -8.20142813909297e-05
+                ],
+                "rod_tip_xy": [
+                  0.2973227189741769,
+                  -0.36953003055953226
+                ],
+                "target_mouth_xy": [
+                  0.2965440478492485,
+                  -0.36944801627814133
+                ],
+                "gripper_position": [
+                  0.2973115798968202,
+                  -0.36953926398337655,
+                  1.0039133584404594
+                ],
+                "rod_tip_xy_dist": 0.0007829783286588112,
+                "target_xy_drift": 3.680850574587001e-08,
+                "depth": 0.017186413965664893,
+                "bottom_clearance": 0.08225421265027533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007674691131222544,
+                  -9.133970075253517e-05
+                ],
+                "rod_tip_xy": [
+                  0.2973115798968204,
+                  -0.36953926398337655
+                ],
+                "target_mouth_xy": [
+                  0.29654411078369813,
+                  -0.369447924282624
+                ],
+                "gripper_position": [
+                  0.2973030373880089,
+                  -0.3695420348073718,
+                  1.0037719016556568
+                ],
+                "rod_tip_xy_dist": 0.0007728853605355857,
+                "target_xy_drift": 8.497768341660778e-08,
+                "depth": 0.017346475625127922,
+                "bottom_clearance": 0.08209408291039366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007589894235553452,
+                  -9.401884559268048e-05
+                ],
+                "rod_tip_xy": [
+                  0.29730303738800906,
+                  -0.3695420348073719
+                ],
+                "target_mouth_xy": [
+                  0.2965440479644537,
+                  -0.36944801596177923
+                ],
+                "gripper_position": [
+                  0.2972944305464661,
+                  -0.369544661666855,
+                  1.0036305493335347
+                ],
+                "rod_tip_xy_dist": 0.00076479048660104,
+                "target_xy_drift": 3.649786446816685e-08,
+                "depth": 0.017488055178714768,
+                "bottom_clearance": 0.08195255542357305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007503809559943342,
+                  -9.664795236341561e-05
+                ],
+                "rod_tip_xy": [
+                  0.29729443054646626,
+                  -0.36954466166685507
+                ],
+                "target_mouth_xy": [
+                  0.2965440495904719,
+                  -0.36944801371449165
+                ],
+                "gripper_position": [
+                  0.29730863137214236,
+                  -0.36962349519113724,
+                  1.003101010727518
+                ],
+                "rod_tip_xy_dist": 0.0007565794114400762,
+                "target_xy_drift": 3.43756869358443e-08,
+                "depth": 0.01762922520153265,
+                "bottom_clearance": 0.08181129769201179,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007645517294339044,
+                  -0.0001755106438894316
+                ],
+                "rod_tip_xy": [
+                  0.29730863137214253,
+                  -0.36962349519113735
+                ],
+                "target_mouth_xy": [
+                  0.2965440796427086,
+                  -0.3694479845472479
+                ],
+                "gripper_position": [
+                  0.2972972539706095,
+                  -0.3696326658919261,
+                  1.0029405004129945
+                ],
+                "rod_tip_xy_dist": 0.000784438227713857,
+                "target_xy_drift": 3.382385402408845e-08,
+                "depth": 0.01815880500606537,
+                "bottom_clearance": 0.08128168617708476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007532051235545345,
+                  -0.0001846521423115588
+                ],
+                "rod_tip_xy": [
+                  0.2972972539706097,
+                  -0.3696326658919262
+                ],
+                "target_mouth_xy": [
+                  0.29654404884705515,
+                  -0.36944801374961467
+                ],
+                "gripper_position": [
+                  0.29728864495187923,
+                  -0.3696352143023506,
+                  1.0027993022058688
+                ],
+                "rod_tip_xy_dist": 0.0007755091049169246,
+                "target_xy_drift": 3.434528340210413e-08,
+                "depth": 0.018319356289843047,
+                "bottom_clearance": 0.08112119496170667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000744564633908984,
+                  -0.00018720027768881486
+                ],
+                "rod_tip_xy": [
+                  0.2972886449518794,
+                  -0.3696352143023507
+                ],
+                "target_mouth_xy": [
+                  0.2965440803179704,
+                  -0.3694480140246619
+                ],
+                "gripper_position": [
+                  0.2972798207351708,
+                  -0.3696379299826981,
+                  1.0026584173691946
+                ],
+                "rod_tip_xy_dist": 0.0007677372193887624,
+                "target_xy_drift": 4.853615225052953e-08,
+                "depth": 0.01846052092905548,
+                "bottom_clearance": 0.0809800005302096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007357409032233697,
+                  -0.00018991657574379817
+                ],
+                "rod_tip_xy": [
+                  0.29727982073517095,
+                  -0.3696379299826982
+                ],
+                "target_mouth_xy": [
+                  0.2965440798319476,
+                  -0.3694480134069544
+                ],
+                "gripper_position": [
+                  0.2972709904466886,
+                  -0.36964053745766196,
+                  1.0025173448091107
+                ],
+                "rod_tip_xy_dist": 0.0007598572118616693,
+                "target_xy_drift": 4.775525443542798e-08,
+                "depth": 0.018601413418254054,
+                "bottom_clearance": 0.08083911291342682,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007269405697574727,
+                  -0.0001924920208989933
+                ],
+                "rod_tip_xy": [
+                  0.2972709904466888,
+                  -0.3696405374576621
+                ],
+                "target_mouth_xy": [
+                  0.29654404987693134,
+                  -0.36944804543676313
+                ],
+                "gripper_position": [
+                  0.29726205695752717,
+                  -0.36964364886085654,
+                  1.002376167914686
+                ],
+                "rod_tip_xy_dist": 0.0007519945279515652,
+                "target_xy_drift": 6.603265022808842e-08,
+                "depth": 0.018742489173722232,
+                "bottom_clearance": 0.08069803826789856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007180094944009285,
+                  -0.0001956033606643759
+                ],
+                "rod_tip_xy": [
+                  0.29726205695752733,
+                  -0.36964364886085666
+                ],
+                "target_mouth_xy": [
+                  0.2965440474631264,
+                  -0.3694480455001923
+                ],
+                "gripper_position": [
+                  0.2972532204425866,
+                  -0.3696462790029147,
+                  1.0022349738425036
+                ],
+                "rod_tip_xy_dist": 0.0007441762618849616,
+                "target_xy_drift": 6.600558780989593e-08,
+                "depth": 0.0188837392607325,
+                "bottom_clearance": 0.08055688016318407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0007091399740278836,
+                  -0.00019823519045081284
+                ],
+                "rod_tip_xy": [
+                  0.2972532204425868,
+                  -0.3696462790029148
+                ],
+                "target_mouth_xy": [
+                  0.2965440804685589,
+                  -0.369448043812464
+                ],
+                "gripper_position": [
+                  0.29727158950791144,
+                  -0.3697302237147772,
+                  1.001709769214002
+                ],
+                "rod_tip_xy_dist": 0.0007363264856687809,
+                "target_xy_drift": 7.286834345135362e-08,
+                "depth": 0.019024850657090364,
+                "bottom_clearance": 0.08041567693428664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0007275410063488086,
+                  -0.00028223881755168323
+                ],
+                "rod_tip_xy": [
+                  0.2972715895079116,
+                  -0.36973022371477726
+                ],
+                "target_mouth_xy": [
+                  0.2965440485015628,
+                  -0.3694479848972256
+                ],
+                "gripper_position": [
+                  0.2972601739911825,
+                  -0.36973935987939094,
+                  1.001549330423502
+                ],
+                "rod_tip_xy_dist": 0.0007803682887278349,
+                "target_xy_drift": 5.862618529015123e-09,
+                "depth": 0.019550147664344264,
+                "bottom_clearance": 0.07989039616383664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007161253283250457,
+                  -0.0002913451814252621
+                ],
+                "rod_tip_xy": [
+                  0.29726017399118265,
+                  -0.369739359879391
+                ],
+                "target_mouth_xy": [
+                  0.2965440486628576,
+                  -0.36944801469796573
+                ],
+                "gripper_position": [
+                  0.29725136478496456,
+                  -0.36974148387818745,
+                  1.0014084049255632
+                ],
+                "rod_tip_xy_dist": 0.0007731219183339542,
+                "target_xy_drift": 3.527752614308158e-08,
+                "depth": 0.01971052200973933,
+                "bottom_clearance": 0.07973001577062044,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006017433965393575,
+              "rod_tip_xy_max_step": 3.254623065223442e-05,
+              "rod_tip_xy_range": 0.0006017320322383826,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29689664152991946,
+            -0.37118085877712453,
+            1.0433433960657044
+          ],
+          "object_origin_world": [
+            0.29689664152991946,
+            -0.37118085877712453,
+            1.0433433960657044
+          ],
+          "frame_world": [
+            0.2969206845644793,
+            -0.37117692084776105,
+            1.043636796228706
+          ],
+          "center_minus_frame": [
+            -2.404303455982859e-05,
+            -3.937929363484471e-06,
+            -0.00029340016300172245
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27292491088567794,
+              0.14948129279238007,
+              0.8329363752125621
+            ],
+            "target_position": [
+              0.281936301406107,
+              0.1969918628349902,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048357620132564866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17042759407747887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329363752125621,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668035872056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13933851170900294,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5f828af11bd3ad73014b1da284e269155d2fc8e8f683ed5657d11f0504c51e1",
+    "visual_seed": 7724907798140287619,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e62918e162a46e89a79b52dd9b8193b51ad17d91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_43_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3280543758716007,
+              -0.03578966993730094,
+              1.1640264538558445
+            ],
+            "current_z": 1.1640264538558445,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3029200054457233,
+            "gripper_z": 1.1553826523287496,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3233326371970543,
+              -0.04044712553076446,
+              1.1553826523287496
+            ],
+            "object_minus_gripper": [
+              0.004721738674546394,
+              0.004657455593463519,
+              0.008643801527094874
+            ],
+            "object_to_gripper_xy": 0.006632247636796425,
+            "object_to_gripper_z": 0.008643801527094874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3280543758716007,
+              -0.05989851142184214,
+              1.1640264538558445
+            ],
+            "finger_b": [
+              0.31770141737708024,
+              -0.03578966993730094,
+              1.1640264538558445
+            ],
+            "finger_midpoint": [
+              0.32287789662434047,
+              -0.047844090679571544,
+              1.1640264538558445
+            ],
+            "object_minus_finger_midpoint": [
+              0.005176479247260224,
+              0.012054420742270602,
+              0.0
+            ],
+            "finger_gap": 0.02623775880893789,
+            "fingertip_max_gap": 0.09264667657918677,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013118879404468948,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640264538558445,
+            "object_top_z": 1.21399058430981,
+            "finger_top_clearance": 0.04996413045396553,
+            "fingertip_min_top_clearance": 0.014989239136189658,
+            "object_projection_between_fingers": 0.8443047099676033,
+            "object_to_finger_line_xy": 0.009512925134268794,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048823338289593385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2997286129965233,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29660885876017284,
+              -0.37230322223931167,
+              0.8515395869416422
+            ],
+            "target_position": [
+              0.2908093818909471,
+              -0.3724687226388647,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0058018378414892244,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18221464814762656,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395869416422,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755686917246128,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08877776003072128,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1499431605512511,
+            "release_required_pad_clearance": 0.054388880015360644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.802708867675361,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00818014144897461,
+            "max_z_decrease": 0.00818014144897461,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506304228010708,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00818014144897461,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020862754567677277,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00818014144897461,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008180271153466576,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1465093046426773,
+              -0.4287301898002624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1465093046426773,
+              -0.4287301898002624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1467038834088461,
+              -0.4266998424974759,
+              0.8036340371932268
+            ],
+            "closest_button": [
+              0.1465477794408798,
+              -0.42870485782623285,
+              0.768628716468811
+            ],
+            "closest_ee_minus_button": [
+              0.000156103967966309,
+              0.002005015328756965,
+              0.035005320724415756
+            ],
+            "button_min_z_position": [
+              0.1465477794408798,
+              -0.42870485782623285,
+              0.768628716468811
+            ],
+            "min_active_finger_to_button": 0.1447279560022713,
+            "closest_active_finger": [
+              0.019734397530555725,
+              -0.48963087797164917,
+              0.8109473586082458
+            ],
+            "closest_active_finger_button": [
+              0.14650830626487732,
+              -0.4287309050559997,
+              0.7768042683601379
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1267739087343216,
+              -0.06089997291564947,
+              0.03414309024810791
+            ],
+            "min_contact_pad_to_button": 0.020862754567677277,
+            "closest_contact_pad": [
+              0.1465477794408798,
+              -0.42870485782623285,
+              0.7894914710364883
+            ],
+            "closest_contact_pad_button": [
+              0.1465477794408798,
+              -0.42870485782623285,
+              0.768628716468811
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020862754567677277
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2849041054791738,
+              0.19118749817424677,
+              1.102498119018176
+            ],
+            "current_z": 1.102498119018176,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1925889892838134,
+            "gripper_z": 1.1024981013412019,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2849041021742219,
+              0.19118751126086359,
+              1.1024981013412019
+            ],
+            "object_minus_gripper": [
+              3.3049518677330525e-09,
+              -1.3086616817981067e-08,
+              1.767697410670621e-08
+            ],
+            "object_to_gripper_xy": 1.349749038113001e-08,
+            "object_to_gripper_z": 1.767697410670621e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2849041054791738,
+              0.19118749817424677,
+              1.102498119018176
+            ],
+            "finger_b": [
+              0.2849041054791738,
+              0.19118749817424677,
+              1.102498119018176
+            ],
+            "finger_midpoint": [
+              0.2849041054791738,
+              0.19118749817424677,
+              1.102498119018176
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102498119018176,
+            "object_top_z": 1.2275066256384557,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28490410547917383,
+            0.19118749817424677,
+            1.102498119018176
+          ],
+          "object_origin_world": [
+            0.28490410547917383,
+            0.19118749817424677,
+            1.102498119018176
+          ],
+          "frame_world": [
+            0.2849041021742219,
+            0.19118751126086359,
+            1.1024981013412019
+          ],
+          "center_minus_frame": [
+            3.3049519232442037e-09,
+            -1.3086616817981067e-08,
+            1.767697410670621e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434425603106692,
+            "required_z": 0.9112597548660135,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008445558188095654,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0054913161292685e-07,
+            "max_target_xy_drift": 6.333211398230626e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.8027088633395754,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.802914722428959,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29594588368299746,
+              -0.3717736717865358,
+              0.9235699214060321
+            ],
+            "target_mouth_xy": [
+              0.29660889612718766,
+              -0.3723031898879211
+            ],
+            "rod_tip_z": 0.9235699214060321,
+            "rod_tip_depth": -0.02230996193884116,
+            "rod_tip_bottom_clearance": 0.12175076166321408,
+            "rod_tip_xy_dist": 0.0008485133592618064,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04534278728174923,
+            "min_rod_tip_bottom_clearance": 0.0540979423410316,
+            "min_rod_tip_xy_dist": 0.0008485133592618064,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2966088009109591,
+              -0.37230322219887413
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.521622856834e-08,
+              3.2310953024250466e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.00018194190879278205,
+                0.00241026131062122
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0002813238183734801,
+                0.0020317652186170876
+              ],
+              "first_target_mouth_xy": [
+                0.29660883071030353,
+                -0.37230316439497224
+              ],
+              "last_target_mouth_xy": [
+                0.2966088342283052,
+                -0.3723031629874175
+              ],
+              "first_rod_tip_xy": [
+                0.29642688880151075,
+                -0.369892903084351
+              ],
+              "last_rod_tip_xy": [
+                0.2963275104099317,
+                -0.3702713977688004
+              ],
+              "min_rod_tip_xy_dist": 0.0020511491887150427,
+              "max_rod_tip_xy_dist": 0.0024171186242409955,
+              "first_target_xy_drift": 6.503300702132032e-08,
+              "last_target_xy_drift": 6.794146118007037e-08,
+              "max_depth": 0.019452640609447513,
+              "min_bottom_clearance": 0.07998799990052419
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.00018194190879278205,
+                  0.00241026131062122
+                ],
+                "rod_tip_xy": [
+                  0.29642688880151075,
+                  -0.369892903084351
+                ],
+                "target_mouth_xy": [
+                  0.29660883071030353,
+                  -0.37230316439497224
+                ],
+                "gripper_position": [
+                  0.2964186414771981,
+                  -0.3698963200688702,
+                  1.005985750439672
+                ],
+                "rod_tip_xy_dist": 0.0024171186242409955,
+                "target_xy_drift": 6.503300702132032e-08,
+                "depth": 0.015133068406708028,
+                "bottom_clearance": 0.08430747529434302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.00019025334610484057,
+                  0.0024068733582570667
+                ],
+                "rod_tip_xy": [
+                  0.29641864147719793,
+                  -0.36989632006887024
+                ],
+                "target_mouth_xy": [
+                  0.29660889482330277,
+                  -0.3723031934271273
+                ],
+                "gripper_position": [
+                  0.2964270594682291,
+                  -0.36997173473735234,
+                  1.0054492183498478
+                ],
+                "rod_tip_xy_dist": 0.00241438101765064,
+                "target_xy_drift": 9.822088225187407e-08,
+                "depth": 0.01527417744439774,
+                "bottom_clearance": 0.08416652450966466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00018176996353025388,
+                  0.0023314284247700767
+                ],
+                "rod_tip_xy": [
+                  0.29642705946822895,
+                  -0.3699717347373523
+                ],
+                "target_mouth_xy": [
+                  0.2966088294317592,
+                  -0.37230316316212236
+                ],
+                "gripper_position": [
+                  0.2964161531067472,
+                  -0.3699812392387388,
+                  1.0052887833153732
+                ],
+                "rod_tip_xy_dist": 0.0023385035427528587,
+                "target_xy_drift": 6.55650371608634e-08,
+                "depth": 0.015810633015310382,
+                "bottom_clearance": 0.08362990569797113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00019271294766359803,
+                  0.002321955684545296
+                ],
+                "rod_tip_xy": [
+                  0.296416153106747,
+                  -0.3699812392387389
+                ],
+                "target_mouth_xy": [
+                  0.2966088660544106,
+                  -0.3723031949232842
+                ],
+                "gripper_position": [
+                  0.29640778849314714,
+                  -0.36998430622485556,
+                  1.0051477553665822
+                ],
+                "rod_tip_xy_dist": 0.0023299391582591606,
+                "target_xy_drift": 7.062313419479992e-08,
+                "depth": 0.01597117987179064,
+                "bottom_clearance": 0.08346961368710326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00020101346984185975,
+                  0.0023188559732480463
+                ],
+                "rod_tip_xy": [
+                  0.296407788493147,
+                  -0.3699843062248556
+                ],
+                "target_mouth_xy": [
+                  0.29660880196298883,
+                  -0.37230316219810367
+                ],
+                "gripper_position": [
+                  0.2964169539646193,
+                  -0.37006091925549617,
+                  1.0046136552948244
+                ],
+                "rod_tip_xy_dist": 0.0023275522421045696,
+                "target_xy_drift": 6.000999269083025e-08,
+                "depth": 0.016112073496110768,
+                "bottom_clearance": 0.08332847411629174,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0001919398450233034,
+                  0.0022422733000270756
+                ],
+                "rod_tip_xy": [
+                  0.2964169539646192,
+                  -0.3700609192554963
+                ],
+                "target_mouth_xy": [
+                  0.2966088938096425,
+                  -0.37230319255552335
+                ],
+                "gripper_position": [
+                  0.2964059080518926,
+                  -0.3700702652834763,
+                  1.0044534505372584
+                ],
+                "rod_tip_xy_dist": 0.0022504733848952496,
+                "target_xy_drift": 9.75135561083662e-08,
+                "depth": 0.016646307865893162,
+                "bottom_clearance": 0.08279432394480923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00020289327628103537,
+                  0.002232926743245267
+                ],
+                "rod_tip_xy": [
+                  0.2964059080518925,
+                  -0.37007026528347625
+                ],
+                "target_mouth_xy": [
+                  0.2966088013281735,
+                  -0.3723031920267215
+                ],
+                "gripper_position": [
+                  0.2963974294900664,
+                  -0.37007308672160266,
+                  1.004312476345108
+                ],
+                "rod_tip_xy_dist": 0.002242125670487711,
+                "target_xy_drift": 3.017503705023756e-08,
+                "depth": 0.01680637354417025,
+                "bottom_clearance": 0.08263415019426901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00021143605240619978,
+                  0.0022301067132876606
+                ],
+                "rod_tip_xy": [
+                  0.29639742949006626,
+                  -0.3700730867216026
+                ],
+                "target_mouth_xy": [
+                  0.29660886554247246,
+                  -0.37230319343489027
+                ],
+                "gripper_position": [
+                  0.29640738593694554,
+                  -0.370150821319118,
+                  1.0037819710498233
+                ],
+                "rod_tip_xy_dist": 0.0022401073985208408,
+                "target_xy_drift": 7.074319251510613e-08,
+                "depth": 0.016947456435437602,
+                "bottom_clearance": 0.08249326702459803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00020141275803442493,
+                  0.0021523412554553256
+                ],
+                "rod_tip_xy": [
+                  0.2964073859369454,
+                  -0.370150821319118
+                ],
+                "target_mouth_xy": [
+                  0.2966087986949798,
+                  -0.3723031625745733
+                ],
+                "gripper_position": [
+                  0.29639622804047244,
+                  -0.37015982242359163,
+                  1.003622055879515
+                ],
+                "rod_tip_xy_dist": 0.0021617446609241437,
+                "target_xy_drift": 5.966546583803517e-08,
+                "depth": 0.01747790711514885,
+                "bottom_clearance": 0.0819626650672588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00021263665787091268,
+                  0.0021433710063878952
+                ],
+                "rod_tip_xy": [
+                  0.29639622804047233,
+                  -0.37015982242359163
+                ],
+                "target_mouth_xy": [
+                  0.29660886469834324,
+                  -0.37230319342997953
+                ],
+                "gripper_position": [
+                  0.29638772682683295,
+                  -0.3701625299051021,
+                  1.0034809086652703
+                ],
+                "rod_tip_xy_dist": 0.002153892666614279,
+                "target_xy_drift": 6.99748502929105e-08,
+                "depth": 0.01763786910735199,
+                "bottom_clearance": 0.08180281979425752,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00022107101026336284,
+                  0.0021406323350398604
+                ],
+                "rod_tip_xy": [
+                  0.2963877268268328,
+                  -0.37016252990510207
+                ],
+                "target_mouth_xy": [
+                  0.29660879783709615,
+                  -0.3723031622401419
+                ],
+                "gripper_position": [
+                  0.29637897837995,
+                  -0.37016544674839014,
+                  1.0033401858270048
+                ],
+                "rod_tip_xy_dist": 0.0021520174686551845,
+                "target_xy_drift": 6.003747330284328e-08,
+                "depth": 0.017779001912768044,
+                "bottom_clearance": 0.0816616163086451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00022991577685432807,
+                  0.002137746043886335
+                ],
+                "rod_tip_xy": [
+                  0.2963789783799498,
+                  -0.3701654467483901
+                ],
+                "target_mouth_xy": [
+                  0.29660889415680414,
+                  -0.3723031927922764
+                ],
+                "gripper_position": [
+                  0.296370350885526,
+                  -0.3701680649018976,
+                  1.003199228684555
+                ],
+                "rod_tip_xy_dist": 0.002150074280716414,
+                "target_xy_drift": 9.777287766676119e-08,
+                "depth": 0.017919724993489594,
+                "bottom_clearance": 0.0815209287973927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00023847723855591196,
+                  0.00213509579208343
+                ],
+                "rod_tip_xy": [
+                  0.2963703508855258,
+                  -0.3701680649018975
+                ],
+                "target_mouth_xy": [
+                  0.29660882812408174,
+                  -0.37230316069398095
+                ],
+                "gripper_position": [
+                  0.29638271285053286,
+                  -0.37024911326641785,
+                  1.0026707893576496
+                ],
+                "rod_tip_xy_dist": 0.0021483727410953678,
+                "target_xy_drift": 6.725627055481636e-08,
+                "depth": 0.01806069099248553,
+                "bottom_clearance": 0.08137995863354919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00022615051897784122,
+                  0.002054110075615845
+                ],
+                "rod_tip_xy": [
+                  0.2963827128505327,
+                  -0.3702491132664178
+                ],
+                "target_mouth_xy": [
+                  0.29660886336951053,
+                  -0.37230322334203364
+                ],
+                "gripper_position": [
+                  0.29637142671925965,
+                  -0.3702581498843943,
+                  1.0025109291051297
+                ],
+                "rod_tip_xy_dist": 0.002066521778249743,
+                "target_xy_drift": 6.2469012013106e-08,
+                "depth": 0.01858912538911983,
+                "bottom_clearance": 0.08085151299258897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00023740164314445256,
+                  0.0020450108095393937
+                ],
+                "rod_tip_xy": [
+                  0.2963714267192595,
+                  -0.37025814988439437
+                ],
+                "target_mouth_xy": [
+                  0.29660882836240393,
+                  -0.37230316069393377
+                ],
+                "gripper_position": [
+                  0.29636270612197657,
+                  -0.3702609700001541,
+                  1.0023704028517622
+                ],
+                "rod_tip_xy_dist": 0.002058744459931988,
+                "target_xy_drift": 6.735309579244293e-08,
+                "depth": 0.018748983035897004,
+                "bottom_clearance": 0.080691656876133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0002461590513510026,
+                  0.0020422536147606807
+                ],
+                "rod_tip_xy": [
+                  0.2963627061219764,
+                  -0.37026097000015407
+                ],
+                "target_mouth_xy": [
+                  0.2966088651733274,
+                  -0.37230322361491475
+                ],
+                "gripper_position": [
+                  0.2963538458286875,
+                  -0.3702634982928774,
+                  1.0022293775478228
+                ],
+                "rod_tip_xy_dist": 0.0020570352708607336,
+                "target_xy_drift": 6.427796786271014e-08,
+                "depth": 0.01888953308796948,
+                "bottom_clearance": 0.08055118782657344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0002549831324663576,
+                  0.0020396646146891295
+                ],
+                "rod_tip_xy": [
+                  0.29635384582868735,
+                  -0.37026349829287736
+                ],
+                "target_mouth_xy": [
+                  0.2966088289611537,
+                  -0.3723031629075665
+                ],
+                "gripper_position": [
+                  0.29634515297320174,
+                  -0.3702659868162945,
+                  1.0020885002190616
+                ],
+                "rod_tip_xy_dist": 0.002055540838382276,
+                "target_xy_drift": 6.559171121084414e-08,
+                "depth": 0.019030482531803394,
+                "bottom_clearance": 0.08041006341062473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0002637100479692678,
+                  0.002037176554320397
+                ],
+                "rod_tip_xy": [
+                  0.2963451529732016,
+                  -0.3702659868162946
+                ],
+                "target_mouth_xy": [
+                  0.29660886302117084,
+                  -0.372303163370615
+                ],
+                "gripper_position": [
+                  0.29633631850370057,
+                  -0.3702687066643246,
+                  1.0019475475057655
+                ],
+                "rod_tip_xy_dist": 0.002054174116980515,
+                "target_xy_drift": 8.554789581738331e-08,
+                "depth": 0.0191714050042745,
+                "bottom_clearance": 0.08026920704708707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00027251271308126324,
+                  0.0020344576916296875
+                ],
+                "rod_tip_xy": [
+                  0.29633631850370046,
+                  -0.3702687066643246
+                ],
+                "target_mouth_xy": [
+                  0.2966088312167817,
+                  -0.3723031643559543
+                ],
+                "gripper_position": [
+                  0.2963275104099319,
+                  -0.3702713977688003,
+                  1.0018072672092555
+                ],
+                "rod_tip_xy_dist": 0.002052627895606534,
+                "target_xy_drift": 6.53011964758028e-08,
+                "depth": 0.019312296856134892,
+                "bottom_clearance": 0.08012826619786761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0002813238183734801,
+                  0.0020317652186170876
+                ],
+                "rod_tip_xy": [
+                  0.2963275104099317,
+                  -0.3702713977688004
+                ],
+                "target_mouth_xy": [
+                  0.2966088342283052,
+                  -0.3723031629874175
+                ],
+                "gripper_position": [
+                  0.2963187806602882,
+                  -0.3702740152151938,
+                  1.0016665818667343
+                ],
+                "rod_tip_xy_dist": 0.0020511491887150427,
+                "target_xy_drift": 6.794146118007037e-08,
+                "depth": 0.019452640609447513,
+                "bottom_clearance": 0.07998799990052419,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006074089052133434,
+              "rod_tip_xy_max_step": 3.285735588871523e-05,
+              "rod_tip_xy_range": 0.0006074018176803778,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2959458836829975,
+            -0.3717736717865358,
+            1.043569921406032
+          ],
+          "object_origin_world": [
+            0.2959458836829975,
+            -0.3717736717865358,
+            1.043569921406032
+          ],
+          "frame_world": [
+            0.29594428435603093,
+            -0.3717820702042351,
+            1.0434425603106692
+          ],
+          "center_minus_frame": [
+            1.599326966583714e-06,
+            8.398417699284622e-06,
+            0.00012736109536293228
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2753186941263497,
+              0.14342066902636444,
+              0.8330967428649625
+            ],
+            "target_position": [
+              0.2850578467542734,
+              0.19029059785523844,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04787109067416063,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16668989470459214,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330967428649625,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675757462766,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1353895619943634,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "150b75557214b4398626fff33f1ceb785eb5cbfa57dab70710add774b1af2482",
+    "visual_seed": 2308127230310510374,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f6d7d69d838b0db48f0dec49260657d6b59239c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_44_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33248166013814007,
+              -0.030541113131311935,
+              1.1646370600316929
+            ],
+            "current_z": 1.1646370600316929,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30353043280763736,
+            "gripper_z": 1.1557376962203056,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32771670475432546,
+              -0.03520244391491012,
+              1.1557376962203056
+            ],
+            "object_minus_gripper": [
+              0.004764955383814606,
+              0.004661330783598185,
+              0.008899363811387229
+            ],
+            "object_to_gripper_xy": 0.006665793612456349,
+            "object_to_gripper_z": 0.008899363811387229,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33248166013814007,
+              -0.05468301577803385,
+              1.1646370600316929
+            ],
+            "finger_b": [
+              0.3221260804983026,
+              -0.030541113131311935,
+              1.1646370600316929
+            ],
+            "finger_midpoint": [
+              0.32730387031822133,
+              -0.04261206445467289,
+              1.1646370600316929
+            ],
+            "object_minus_finger_midpoint": [
+              0.005177789819918732,
+              0.012070951323360953,
+              0.0
+            ],
+            "finger_gap": 0.026269173818009858,
+            "fingertip_max_gap": 0.09232475712439994,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013134586909004925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646370600316929,
+            "object_top_z": 1.2145649503735378,
+            "finger_top_clearance": 0.04992789034184497,
+            "fingertip_min_top_clearance": 0.014978367102553524,
+            "object_projection_between_fingers": 0.8445982169154411,
+            "object_to_finger_line_xy": 0.009516987372626542,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866237856219997,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0384698181844696,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2973402358022694,
+              -0.36923441768967347,
+              0.8515395048324936
+            ],
+            "target_position": [
+              0.29133115260593634,
+              -0.3693955007777751,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006011241853537839,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1821398128947439,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395048324936,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551131901180873,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843782870499821,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15012687141137568,
+            "release_required_pad_clearance": 0.054218914352499106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4551947432848302,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008156955242156982,
+            "max_z_decrease": 0.008156955242156982,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035048908968011494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008156955242156982,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020922494610454048,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008156955242156982,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815702547317643,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14703108370304105,
+              -0.4256569445133209,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14703108370304105,
+              -0.4256569445133209,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1480987772080731,
+              -0.42546544676693754,
+              0.8036848886879989
+            ],
+            "closest_button": [
+              0.1470559388399124,
+              -0.42563396692276,
+              0.7686519026756287
+            ],
+            "closest_ee_minus_button": [
+              0.0010428383681607145,
+              0.00016852015582247137,
+              0.03503298601237026
+            ],
+            "button_min_z_position": [
+              0.1470559388399124,
+              -0.42563396692276,
+              0.7686519026756287
+            ],
+            "min_active_finger_to_button": 0.14467645103009485,
+            "closest_active_finger": [
+              0.0076667144894599915,
+              -0.4072067439556122,
+              0.8104053139686584
+            ],
+            "closest_active_finger_button": [
+              0.14703047275543213,
+              -0.4256580173969269,
+              0.776220977306366
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13936375826597214,
+              0.018451273441314697,
+              0.03418433666229248
+            ],
+            "min_contact_pad_to_button": 0.020922494610454048,
+            "closest_contact_pad": [
+              0.1470559388399124,
+              -0.42683539552244365,
+              0.7895398740956671
+            ],
+            "closest_contact_pad_button": [
+              0.1470559388399124,
+              -0.42563396692276,
+              0.7686519026756287
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012014285996836405,
+              0.020887971420038398
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2808488570451791,
+              0.1892037237774882,
+              1.100702490980447
+            ],
+            "current_z": 1.100702490980447,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19079336124608448,
+            "gripper_z": 1.1007025903704692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28084877079839904,
+              0.18920368085151756,
+              1.1007025903704692
+            ],
+            "object_minus_gripper": [
+              8.624678005109132e-08,
+              4.29259706391516e-08,
+              -9.939002221237558e-08
+            ],
+            "object_to_gripper_xy": 9.633870470633611e-08,
+            "object_to_gripper_z": -9.939002221237558e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2808488570451791,
+              0.1892037237774882,
+              1.100702490980447
+            ],
+            "finger_b": [
+              0.2808488570451791,
+              0.1892037237774882,
+              1.100702490980447
+            ],
+            "finger_midpoint": [
+              0.2808488570451791,
+              0.1892037237774882,
+              1.100702490980447
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.100702490980447,
+            "object_top_z": 1.2257109976007268,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2808488570451791,
+            0.18920372377748823,
+            1.1007024909804473
+          ],
+          "object_origin_world": [
+            0.2808488570451791,
+            0.18920372377748823,
+            1.1007024909804473
+          ],
+          "frame_world": [
+            0.28084877079839904,
+            0.18920368085151756,
+            1.1007025903704692
+          ],
+          "center_minus_frame": [
+            8.624678005109132e-08,
+            4.2925970666907176e-08,
+            -9.939002199033098e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043581881369077,
+            "required_z": 0.9112598574911432,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001802893528688764,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.5288170216863665e-07,
+            "max_target_xy_drift": 4.579565530786451e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.4551947432522163,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.4554212934736697,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29760367820847966,
+              -0.3710177230230486,
+              0.923287191576102
+            ],
+            "target_mouth_xy": [
+              0.297340206306696,
+              -0.3692345696065515
+            ],
+            "rod_tip_z": 0.923287191576102,
+            "rod_tip_depth": -0.022027341045046556,
+            "rod_tip_bottom_clearance": 0.12146791618672281,
+            "rod_tip_xy_dist": 0.0018025131205610591,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0451172057739202,
+            "min_rod_tip_bottom_clearance": 0.0543233931998266,
+            "min_rod_tip_xy_dist": 0.0006552277740328186,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29734017511158733,
+              -0.3692344199413249
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.1195108662895876e-08,
+              -1.4966522660087023e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0007107191952529512,
+                0.00011066008258064919
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006249191261584741,
+                -0.00028758611375340193
+              ],
+              "first_target_mouth_xy": [
+                0.29734023286861394,
+                -0.36923445012945544
+              ],
+              "last_target_mouth_xy": [
+                0.2973402639319741,
+                -0.36923441704644905
+              ],
+              "first_rod_tip_xy": [
+                0.2980509520638669,
+                -0.3691237900468748
+              ],
+              "last_rod_tip_xy": [
+                0.2979651830581326,
+                -0.36952200316020245
+              ],
+              "min_rod_tip_xy_dist": 0.0006552277740328186,
+              "max_rod_tip_xy_dist": 0.0007192825789477726,
+              "first_target_xy_drift": 6.517052515135204e-08,
+              "last_target_xy_drift": 8.886754982382809e-08,
+              "max_depth": 0.019679332070266953,
+              "min_bottom_clearance": 0.07976125680045165
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007107191952529512,
+                  0.00011066008258064919
+                ],
+                "rod_tip_xy": [
+                  0.2980509520638669,
+                  -0.3691237900468748
+                ],
+                "target_mouth_xy": [
+                  0.29734023286861394,
+                  -0.36923445012945544
+                ],
+                "gripper_position": [
+                  0.2980401622814707,
+                  -0.36913304703293043,
+                  1.0057601732806203
+                ],
+                "rod_tip_xy_dist": 0.0007192825789477726,
+                "target_xy_drift": 6.517052515135204e-08,
+                "depth": 0.015338756235166007,
+                "bottom_clearance": 0.08410188400922591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0006999275276268757,
+                  0.00010139888672527908
+                ],
+                "rod_tip_xy": [
+                  0.2980401622814707,
+                  -0.3691330470329305
+                ],
+                "target_mouth_xy": [
+                  0.2973402347538438,
+                  -0.36923444591965576
+                ],
+                "gripper_position": [
+                  0.2980319709341074,
+                  -0.36913606088847656,
+                  1.005618238169525
+                ],
+                "rod_tip_xy_dist": 0.000707234245606784,
+                "target_xy_drift": 6.505438057146453e-08,
+                "depth": 0.015499699143566303,
+                "bottom_clearance": 0.08394089538569127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006917341652879494,
+                  9.838720264698786e-05
+                ],
+                "rod_tip_xy": [
+                  0.2980319709341074,
+                  -0.3691360608884766
+                ],
+                "target_mouth_xy": [
+                  0.29734023676881943,
+                  -0.3692344480911236
+                ],
+                "gripper_position": [
+                  0.298043096438246,
+                  -0.3692134779224282,
+                  1.0050842434606775
+                ],
+                "rod_tip_xy_dist": 0.0006986960691683584,
+                "target_xy_drift": 6.777924046199248e-08,
+                "depth": 0.01564164740240226,
+                "bottom_clearance": 0.08379889658296158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007028589097485827,
+                  2.0968883862049204e-05
+                ],
+                "rod_tip_xy": [
+                  0.29804309643824606,
+                  -0.3692134779224283
+                ],
+                "target_mouth_xy": [
+                  0.2973402375284975,
+                  -0.36923444680629036
+                ],
+                "gripper_position": [
+                  0.29803224394279243,
+                  -0.36922265246556035,
+                  1.0049234242797973
+                ],
+                "rod_tip_xy_dist": 0.000703171629905094,
+                "target_xy_drift": 6.795290311252081e-08,
+                "depth": 0.016175670864398528,
+                "bottom_clearance": 0.08326494945802687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006920117959142713,
+                  1.1797668969748543e-05
+                ],
+                "rod_tip_xy": [
+                  0.29803224394279243,
+                  -0.3692226524655605
+                ],
+                "target_mouth_xy": [
+                  0.29734023214687816,
+                  -0.36923445013453027
+                ],
+                "gripper_position": [
+                  0.29802384942902505,
+                  -0.36922556027210346,
+                  1.00478174584922
+                ],
+                "rod_tip_xy_dist": 0.0006921123540853861,
+                "target_xy_drift": 6.453413089573911e-08,
+                "depth": 0.01633651635529232,
+                "bottom_clearance": 0.08310415023990159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006836142013197932,
+                  8.85710051679034e-06
+                ],
+                "rod_tip_xy": [
+                  0.29802384942902505,
+                  -0.3692255602721035
+                ],
+                "target_mouth_xy": [
+                  0.29734023522770525,
+                  -0.3692344173726203
+                ],
+                "gripper_position": [
+                  0.29803594517840665,
+                  -0.3693041177896808,
+                  1.0042504510498562
+                ],
+                "rod_tip_xy_dist": 0.000683671576471966,
+                "target_xy_drift": 6.017097204336296e-08,
+                "depth": 0.01647809156308855,
+                "bottom_clearance": 0.0829624418953322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006957105276293452,
+                  -6.970075076245807e-05
+                ],
+                "rod_tip_xy": [
+                  0.29803594517840665,
+                  -0.369304117789681
+                ],
+                "target_mouth_xy": [
+                  0.2973402346507773,
+                  -0.3692344170389185
+                ],
+                "gripper_position": [
+                  0.29802487146664125,
+                  -0.3693134430619271,
+                  1.004089628971909
+                ],
+                "rod_tip_xy_dist": 0.0006991933444414014,
+                "target_xy_drift": 5.960989099709606e-08,
+                "depth": 0.017009409886394877,
+                "bottom_clearance": 0.08243115809747259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006846058790892506,
+                  -7.899433047825477e-05
+                ],
+                "rod_tip_xy": [
+                  0.29802487146664125,
+                  -0.36931344306192726
+                ],
+                "target_mouth_xy": [
+                  0.297340265587552,
+                  -0.369234448731449
+                ],
+                "gripper_position": [
+                  0.2980163285051771,
+                  -0.3693162521515341,
+                  1.0039481470471265
+                ],
+                "rod_tip_xy_dist": 0.0006891482525054195,
+                "target_xy_drift": 9.494615015230271e-08,
+                "depth": 0.017170189742492847,
+                "bottom_clearance": 0.0822703167456672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000676092478186674,
+                  -8.180693156978336e-05
+                ],
+                "rod_tip_xy": [
+                  0.2980163285051771,
+                  -0.3693162521515341
+                ],
+                "target_mouth_xy": [
+                  0.29734023602699045,
+                  -0.3692344452199643
+                ],
+                "gripper_position": [
+                  0.2980077478705726,
+                  -0.3693191116555268,
+                  1.003806701374054
+                ],
+                "rod_tip_xy_dist": 0.0006810237977585375,
+                "target_xy_drift": 6.595222472548247e-08,
+                "depth": 0.01731172638402323,
+                "bottom_clearance": 0.08212889974352566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006675116451071439,
+                  -8.463156954641171e-05
+                ],
+                "rod_tip_xy": [
+                  0.2980077478705726,
+                  -0.3693191116555269
+                ],
+                "target_mouth_xy": [
+                  0.29734023622546546,
+                  -0.3692344800859805
+                ],
+                "gripper_position": [
+                  0.2979991354149835,
+                  -0.36932205288188535,
+                  1.0036649706700735
+                ],
+                "rod_tip_xy_dist": 0.0006728553328298251,
+                "target_xy_drift": 8.574547040748009e-08,
+                "depth": 0.0174531482386705,
+                "bottom_clearance": 0.08198742783961921,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006589006080017223,
+                  -8.763740919576213e-05
+                ],
+                "rod_tip_xy": [
+                  0.2979991354149835,
+                  -0.36932205288188547
+                ],
+                "target_mouth_xy": [
+                  0.2973402348069818,
+                  -0.3692344154726897
+                ],
+                "gripper_position": [
+                  0.2980137258417831,
+                  -0.36940385126747977,
+                  1.0031341455994283
+                ],
+                "rod_tip_xy_dist": 0.0006647031869305163,
+                "target_xy_drift": 5.986241575692738e-08,
+                "depth": 0.017594910388309404,
+                "bottom_clearance": 0.08184570347985509,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006734591704535831,
+                  -0.00016940002461562909
+                ],
+                "rod_tip_xy": [
+                  0.2980137258417831,
+                  -0.3694038512674799
+                ],
+                "target_mouth_xy": [
+                  0.2973402666713295,
+                  -0.36923445124286425
+                ],
+                "gripper_position": [
+                  0.2980025544058367,
+                  -0.36941287696035674,
+                  1.0029734509626826
+                ],
+                "rod_tip_xy_dist": 0.0006944376304664113,
+                "target_xy_drift": 9.676245529044471e-08,
+                "depth": 0.018125726460566205,
+                "bottom_clearance": 0.0813149076835985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006623212944587564,
+                  -0.00017846209492539122
+                ],
+                "rod_tip_xy": [
+                  0.2980025544058367,
+                  -0.36941287696035674
+                ],
+                "target_mouth_xy": [
+                  0.2973402331113779,
+                  -0.36923441486543135
+                ],
+                "gripper_position": [
+                  0.2979937564088667,
+                  -0.3694156761362781,
+                  1.002832077173786
+                ],
+                "rod_tip_xy_dist": 0.0006859433040847341,
+                "target_xy_drift": 5.8221477160105796e-08,
+                "depth": 0.018286493265039172,
+                "bottom_clearance": 0.08115420963107434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006534875778118066,
+                  -0.00018122559560806994
+                ],
+                "rod_tip_xy": [
+                  0.2979937564088667,
+                  -0.36941567613627824
+                ],
+                "target_mouth_xy": [
+                  0.2973402688310549,
+                  -0.36923445054067017
+                ],
+                "gripper_position": [
+                  0.29798500993259747,
+                  -0.36941867792064087,
+                  1.0026905697406205
+                ],
+                "rod_tip_xy_dist": 0.0006781509646515602,
+                "target_xy_drift": 9.858832859001711e-08,
+                "depth": 0.018427861816177837,
+                "bottom_clearance": 0.08101283650696212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006447474242401441,
+                  -0.00018423101864895042
+                ],
+                "rod_tip_xy": [
+                  0.2979850099325975,
+                  -0.36941867792064087
+                ],
+                "target_mouth_xy": [
+                  0.2973402625083574,
+                  -0.3692344469019919
+                ],
+                "gripper_position": [
+                  0.2979762058103073,
+                  -0.36942140912265814,
+                  1.0025491808266882
+                ],
+                "rod_tip_xy_dist": 0.00067055224203393,
+                "target_xy_drift": 9.1460772907345e-08,
+                "depth": 0.01856935153691952,
+                "bottom_clearance": 0.08087129330846532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006359108360377008,
+                  -0.0001869619927065691
+                ],
+                "rod_tip_xy": [
+                  0.2979762058103073,
+                  -0.3694214091226583
+                ],
+                "target_mouth_xy": [
+                  0.2973402949742696,
+                  -0.36923444712995174
+                ],
+                "gripper_position": [
+                  0.2979674048868165,
+                  -0.3694241328615759,
+                  1.0024078466126634
+                ],
+                "rod_tip_xy_dist": 0.0006628252998392403,
+                "target_xy_drift": 1.2290762398339044e-07,
+                "depth": 0.018710653107804953,
+                "bottom_clearance": 0.08072987664797604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006271712208624214,
+                  -0.0001896831452342096
+                ],
+                "rod_tip_xy": [
+                  0.2979674048868165,
+                  -0.36942413286157594
+                ],
+                "target_mouth_xy": [
+                  0.2973402336659541,
+                  -0.36923444971634173
+                ],
+                "gripper_position": [
+                  0.29798546308654755,
+                  -0.3695101084703908,
+                  1.0018822987120057
+                ],
+                "rod_tip_xy_dist": 0.0006552277740328186,
+                "target_xy_drift": 6.568991926233905e-08,
+                "depth": 0.01885210079289934,
+                "bottom_clearance": 0.08058849486668429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006451690404827293,
+                  -0.00027563086482185195
+                ],
+                "rod_tip_xy": [
+                  0.2979854630865476,
+                  -0.3695101084703908
+                ],
+                "target_mouth_xy": [
+                  0.2973402940460649,
+                  -0.36923447760556893
+                ],
+                "gripper_position": [
+                  0.29797406924588554,
+                  -0.3695192702841979,
+                  1.0017215215381854
+                ],
+                "rod_tip_xy_dist": 0.0007015806898994923,
+                "target_xy_drift": 1.3217630268008878e-07,
+                "depth": 0.01937755344238512,
+                "bottom_clearance": 0.08006299096279912,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006338043809587801,
+                  -0.0002848228294726196
+                ],
+                "rod_tip_xy": [
+                  0.2979740692458856,
+                  -0.36951927028419795
+                ],
+                "target_mouth_xy": [
+                  0.2973402648649268,
+                  -0.36923444745472533
+                ],
+                "gripper_position": [
+                  0.2979651830581326,
+                  -0.3695220031602024,
+                  1.0015805451747786
+                ],
+                "rod_tip_xy_dist": 0.0006948611641985264,
+                "target_xy_drift": 9.387571119550608e-08,
+                "depth": 0.01953831660535421,
+                "bottom_clearance": 0.07990221422233756,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006249191261584741,
+                  -0.00028758611375340193
+                ],
+                "rod_tip_xy": [
+                  0.2979651830581326,
+                  -0.36952200316020245
+                ],
+                "target_mouth_xy": [
+                  0.2973402639319741,
+                  -0.36923441704644905
+                ],
+                "gripper_position": [
+                  0.29795621472117295,
+                  -0.3695243461207935,
+                  1.0014392020468466
+                ],
+                "rod_tip_xy_dist": 0.0006879169187208987,
+                "target_xy_drift": 8.886754982382809e-08,
+                "depth": 0.019679332070266953,
+                "bottom_clearance": 0.07976125680045165,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006056914304037044,
+              "rod_tip_xy_max_step": 3.2909584844632e-05,
+              "rod_tip_xy_range": 0.000605679820180431,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29760367820847966,
+            -0.37101772302304853,
+            1.043287191576102
+          ],
+          "object_origin_world": [
+            0.29760367820847966,
+            -0.37101772302304853,
+            1.043287191576102
+          ],
+          "frame_world": [
+            0.2976278111002669,
+            -0.3710143753708142,
+            1.043581881369077
+          ],
+          "center_minus_frame": [
+            -2.4132891787265187e-05,
+            -3.3476522343089954e-06,
+            -0.0002946897929749781
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2735319960573217,
+              0.14215848245221274,
+              0.8342980674056377
+            ],
+            "target_position": [
+              0.2810036991672077,
+              0.18911911081484972,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047551308747246744,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1713742140744831,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342980674056377,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672313323324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1393448019418377,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ebc65e20822d7881e796aaa36970db66a6065c47c079061868043785eb03785",
+    "visual_seed": 837138728737225018,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a4f35c2aa697d445194a357657ba5ecacac6e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_45_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33727042557529996,
+              -0.03646020935900736,
+              1.1631943993516356
+            ],
+            "current_z": 1.1631943993516356,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30208795094151464,
+            "gripper_z": 1.1540775439366349,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33263050803604743,
+              -0.04109086053444841,
+              1.1540775439366349
+            ],
+            "object_minus_gripper": [
+              0.004639917539252525,
+              0.00463065117544105,
+              0.009116855415000735
+            ],
+            "object_to_gripper_xy": 0.0065552852782832256,
+            "object_to_gripper_z": 0.009116855415000735,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33727042557529996,
+              -0.060229833652323504,
+              1.1631943993516356
+            ],
+            "finger_b": [
+              0.32658549392242203,
+              -0.03646020935900736,
+              1.1631943993516356
+            ],
+            "finger_midpoint": [
+              0.331927959748861,
+              -0.04834502150566543,
+              1.1631943993516356
+            ],
+            "object_minus_finger_midpoint": [
+              0.005342465826438936,
+              0.01188481214665807,
+              0.0
+            ],
+            "finger_gap": 0.026060752166276353,
+            "fingertip_max_gap": 0.0920832444984053,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013030376083138163,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631943993516356,
+            "object_top_z": 1.213041660599301,
+            "finger_top_clearance": 0.049847261247665475,
+            "fingertip_min_top_clearance": 0.014954178374299675,
+            "object_projection_between_fingers": 0.8318992679766709,
+            "object_to_finger_line_xy": 0.00974556717965053,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854162224920265,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.984358218002687,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2929830219877699,
+              -0.3730557860796785,
+              0.8515394935037334
+            ],
+            "target_position": [
+              0.28608870433015643,
+              -0.37384053987947125,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006938836681344341,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18435339768971545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394935037334,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755829893125369,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08766627463433367,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15226665045258767,
+            "release_required_pad_clearance": 0.05383313731716684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6755812496153166,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008199214935302734,
+            "max_z_decrease": 0.008199214935302734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035060810539126075,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008199214935302734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020853288645555912,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008199214935302734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00819935572526087,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14178863167762756,
+              -0.430101990699768,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14178863167762756,
+              -0.430101990699768,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14014775343724845,
+              -0.428222884454426,
+              0.8035805345729209
+            ],
+            "closest_button": [
+              0.14183259010314941,
+              -0.4300825893878936,
+              0.7686096429824829
+            ],
+            "closest_ee_minus_button": [
+              -0.0016848366659009684,
+              0.0018597049334675986,
+              0.03497089159043798
+            ],
+            "button_min_z_position": [
+              0.14183259010314941,
+              -0.4300825893878936,
+              0.7686096429824829
+            ],
+            "min_active_finger_to_button": 0.1464246238131283,
+            "closest_active_finger": [
+              0.013437889516353607,
+              -0.4917152225971222,
+              0.8107669949531555
+            ],
+            "closest_active_finger_button": [
+              0.14178833365440371,
+              -0.43010208010673523,
+              0.7765594720840454
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283504441380501,
+              -0.06161314249038696,
+              0.03420752286911011
+            ],
+            "min_contact_pad_to_button": 0.020853288645555912,
+            "closest_contact_pad": [
+              0.14183259010314941,
+              -0.4300825893878936,
+              0.7894629316280388
+            ],
+            "closest_contact_pad_button": [
+              0.14183259010314941,
+              -0.4300825893878936,
+              0.7686096429824829
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020853288645555912
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28787667839880593,
+              0.1922732525745844,
+              1.1019496524556547
+            ],
+            "current_z": 1.1019496524556547,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19204052272129213,
+            "gripper_z": 1.1019496453460176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2878766899946026,
+              0.19227325097383746,
+              1.1019496453460176
+            ],
+            "object_minus_gripper": [
+              -1.159579665621635e-08,
+              1.6007469516576833e-09,
+              7.1096371012657755e-09
+            ],
+            "object_to_gripper_xy": 1.1705763148789559e-08,
+            "object_to_gripper_z": 7.1096371012657755e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28787667839880593,
+              0.1922732525745844,
+              1.1019496524556547
+            ],
+            "finger_b": [
+              0.28787667839880593,
+              0.1922732525745844,
+              1.1019496524556547
+            ],
+            "finger_midpoint": [
+              0.28787667839880593,
+              0.1922732525745844,
+              1.1019496524556547
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019496524556547,
+            "object_top_z": 1.2269581590759344,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28787667839880593,
+            0.1922732525745844,
+            1.1019496524556547
+          ],
+          "object_origin_world": [
+            0.28787667839880593,
+            0.1922732525745844,
+            1.1019496524556547
+          ],
+          "frame_world": [
+            0.2878766899946026,
+            0.19227325097383746,
+            1.1019496453460176
+          ],
+          "center_minus_frame": [
+            -1.159579665621635e-08,
+            1.6007469516576833e-09,
+            7.1096371012657755e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043642719261083,
+            "required_z": 0.9112598186716765,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001020777694542701,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.793868972966417e-07,
+            "max_target_xy_drift": 4.923766494026134e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.6779206628621486,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.677920662875627,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2920470673619089,
+              -0.37351790501022974,
+              0.9233479547541245
+            ],
+            "target_mouth_xy": [
+              0.2929825971095207,
+              -0.37305477162671596
+            ],
+            "rod_tip_z": 0.9233479547541245,
+            "rod_tip_depth": -0.022088135597050473,
+            "rod_tip_bottom_clearance": 0.12152864143793496,
+            "rod_tip_xy_dist": 0.001043891009440887,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04520113194774544,
+            "min_rod_tip_bottom_clearance": 0.05423950602200467,
+            "min_rod_tip_xy_dist": 0.0004271599009897804,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2929827896347676,
+              -0.37305521065499136
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.925252469114902e-07,
+              4.390282754007657e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.00040224525390425425,
+                0.0012634633657465644
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0005067106440378444,
+                0.0009135334687204177
+              ],
+              "first_target_mouth_xy": [
+                0.29298272537641395,
+                -0.37305511473664654
+              ],
+              "last_target_mouth_xy": [
+                0.2929827623234093,
+                -0.37305515036317943
+              ],
+              "first_rod_tip_xy": [
+                0.2925804801225097,
+                -0.3717916513709
+              ],
+              "last_rod_tip_xy": [
+                0.29247605167937146,
+                -0.372141616894459
+              ],
+              "min_rod_tip_xy_dist": 0.0010356533863635077,
+              "max_rod_tip_xy_dist": 0.0013259490642072698,
+              "first_target_xy_drift": 1.1545330175331345e-07,
+              "last_target_xy_drift": 6.618922025118764e-08,
+              "max_depth": 0.019447381600294578,
+              "min_bottom_clearance": 0.07999324397007801
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00040224525390425425,
+                  0.0012634633657465644
+                ],
+                "rod_tip_xy": [
+                  0.2925804801225097,
+                  -0.3717916513709
+                ],
+                "target_mouth_xy": [
+                  0.29298272537641395,
+                  -0.37305511473664654
+                ],
+                "gripper_position": [
+                  0.29258652210838,
+                  -0.37185977995483804,
+                  1.005574545147337
+                ],
+                "rod_tip_xy_dist": 0.0013259490642072698,
+                "target_xy_drift": 1.1545330175331345e-07,
+                "depth": 0.015152262699645647,
+                "bottom_clearance": 0.0842882541237413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003962057889652093,
+                  0.0011954342482156655
+                ],
+                "rod_tip_xy": [
+                  0.29258652210838,
+                  -0.371859779954838
+                ],
+                "target_mouth_xy": [
+                  0.2929827278973452,
+                  -0.37305521420305365
+                ],
+                "gripper_position": [
+                  0.29257586985916895,
+                  -0.3718687231017464,
+                  1.005415457318226
+                ],
+                "rod_tip_xy_dist": 0.0012593816216764865,
+                "target_xy_drift": 6.183929228390942e-08,
+                "depth": 0.01568537957741556,
+                "bottom_clearance": 0.0837552890070189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00040685508713428353,
+                  0.0011863916498775495
+                ],
+                "rod_tip_xy": [
+                  0.29257586985916895,
+                  -0.37186872310174635
+                ],
+                "target_mouth_xy": [
+                  0.29298272494630323,
+                  -0.3730551147516239
+                ],
+                "gripper_position": [
+                  0.2925675567748225,
+                  -0.37187190292756456,
+                  1.00527566731998
+                ],
+                "rod_tip_xy_dist": 0.0012542153757733236,
+                "target_xy_drift": 1.1568082517710379e-07,
+                "depth": 0.015844311844098402,
+                "bottom_clearance": 0.08359620307134097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.000415164163782511,
+                  0.001183183713826974
+                ],
+                "rod_tip_xy": [
+                  0.29256755677482243,
+                  -0.37187190292756445
+                ],
+                "target_mouth_xy": [
+                  0.29298272093860495,
+                  -0.3730550866413914
+                ],
+                "gripper_position": [
+                  0.2925592972607847,
+                  -0.3718750678215239,
+                  1.0051358009564972
+                ],
+                "rod_tip_xy_dist": 0.001253907884796416,
+                "target_xy_drift": 1.4176930462449573e-07,
+                "depth": 0.01598425318787855,
+                "bottom_clearance": 0.08345647243660481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00042345860561693316,
+                  0.0011800142471224406
+                ],
+                "rod_tip_xy": [
+                  0.2925592972607847,
+                  -0.3718750678215239
+                ],
+                "target_mouth_xy": [
+                  0.29298275586640166,
+                  -0.37305508206864635
+                ],
+                "gripper_position": [
+                  0.2925671329096141,
+                  -0.3719454846349547,
+                  1.004601647490501
+                ],
+                "rod_tip_xy_dist": 0.0012536948648227677,
+                "target_xy_drift": 1.3294642027025308e-07,
+                "depth": 0.01612405605537759,
+                "bottom_clearance": 0.08331654353989204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00041559179576239336,
+                  0.0011096063623885488
+                ],
+                "rod_tip_xy": [
+                  0.2925671329096141,
+                  -0.3719454846349546
+                ],
+                "target_mouth_xy": [
+                  0.2929827247053765,
+                  -0.37305509099734313
+                ],
+                "gripper_position": [
+                  0.2925562380002799,
+                  -0.3719545031796653,
+                  1.0044424241108645
+                ],
+                "rod_tip_xy_dist": 0.0011848809307935368,
+                "target_xy_drift": 1.3613882108991632e-07,
+                "depth": 0.016658304879948127,
+                "bottom_clearance": 0.0827824454543521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0004264852037768052,
+                  0.0011006414284618904
+                ],
+                "rod_tip_xy": [
+                  0.29255623800027986,
+                  -0.37195450317966516
+                ],
+                "target_mouth_xy": [
+                  0.29298272320405666,
+                  -0.37305514460812705
+                ],
+                "gripper_position": [
+                  0.2925479393153499,
+                  -0.3719574519733185,
+                  1.0043030955981125
+                ],
+                "rod_tip_xy_dist": 0.0011803817954743176,
+                "target_xy_drift": 9.367618502194997e-08,
+                "depth": 0.01681739772519919,
+                "bottom_clearance": 0.08262318326775564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00043478419794723555,
+                  0.0010976951815692138
+                ],
+                "rod_tip_xy": [
+                  0.2925479393153499,
+                  -0.3719574519733184
+                ],
+                "target_mouth_xy": [
+                  0.2929827235132971,
+                  -0.37305514715488763
+                ],
+                "gripper_position": [
+                  0.2925564689769069,
+                  -0.3720286443119769,
+                  1.0037723424378024
+                ],
+                "rod_tip_xy_dist": 0.0011806659182109433,
+                "target_xy_drift": 9.167503493510719e-08,
+                "depth": 0.016956825729417146,
+                "bottom_clearance": 0.08248383931682979,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0004262559481119643,
+                  0.0010264710821364376
+                ],
+                "rod_tip_xy": [
+                  0.2925564689769069,
+                  -0.3720286443119769
+                ],
+                "target_mouth_xy": [
+                  0.29298272492501887,
+                  -0.37305511539411335
+                ],
+                "gripper_position": [
+                  0.29254529031713816,
+                  -0.3720374532348265,
+                  1.0036136817305457
+                ],
+                "rod_tip_xy_dist": 0.0011114571587619465,
+                "target_xy_drift": 1.151606984225528e-07,
+                "depth": 0.017487439731030396,
+                "bottom_clearance": 0.08195310004215683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000437431347804218,
+                  0.0010176337143049663
+                ],
+                "rod_tip_xy": [
+                  0.29254529031713816,
+                  -0.3720374532348264
+                ],
+                "target_mouth_xy": [
+                  0.2929827216649424,
+                  -0.37305508694913136
+                ],
+                "gripper_position": [
+                  0.29253673161638755,
+                  -0.3720402238167932,
+                  1.0034743157626973
+                ],
+                "rod_tip_xy_dist": 0.001107666267669074,
+                "target_xy_drift": 1.4114898844057942e-07,
+                "depth": 0.01764628278888314,
+                "bottom_clearance": 0.081794427673061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0004459941759359376,
+                  0.0010148893592659136
+                ],
+                "rod_tip_xy": [
+                  0.29253673161638755,
+                  -0.37204022381679314
+                ],
+                "target_mouth_xy": [
+                  0.2929827257923235,
+                  -0.37305511317605905
+                ],
+                "gripper_position": [
+                  0.2925282873316367,
+                  -0.37204285750439847,
+                  1.0033346961187117
+                ],
+                "rod_tip_xy_dist": 0.0011085626804650933,
+                "target_xy_drift": 1.1652467513397289e-07,
+                "depth": 0.01778545593427394,
+                "bottom_clearance": 0.08165508475035577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004544671774933118,
+                  0.0010122274614658977
+                ],
+                "rod_tip_xy": [
+                  0.29252828733163666,
+                  -0.37204285750439836
+                ],
+                "target_mouth_xy": [
+                  0.29298275450913,
+                  -0.37305508496586426
+                ],
+                "gripper_position": [
+                  0.29251966949406455,
+                  -0.3720458773108831,
+                  1.0031953237258064
+                ],
+                "rod_tip_xy_dist": 0.001109569668459098,
+                "target_xy_drift": 1.305050462280408e-07,
+                "depth": 0.017925140064972256,
+                "bottom_clearance": 0.08151538427608829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0004630603325599947,
+                  0.0010093362042032927
+                ],
+                "rod_tip_xy": [
+                  0.2925196694940645,
+                  -0.3720458773108831
+                ],
+                "target_mouth_xy": [
+                  0.2929827298266245,
+                  -0.3730552135150864
+                ],
+                "gripper_position": [
+                  0.2925305415276054,
+                  -0.3721199124397496,
+                  1.0026671907993365
+                ],
+                "rod_tip_xy_dist": 0.0011104883811666306,
+                "target_xy_drift": 5.987649058958131e-08,
+                "depth": 0.01806453323488022,
+                "bottom_clearance": 0.0813760439679766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00045218385387563176,
+                  0.0009351725001376376
+                ],
+                "rod_tip_xy": [
+                  0.2925305415276054,
+                  -0.3721199124397495
+                ],
+                "target_mouth_xy": [
+                  0.292982725381481,
+                  -0.37305508493988715
+                ],
+                "gripper_position": [
+                  0.29251943412413667,
+                  -0.3721289640099829,
+                  1.0025085529698134
+                ],
+                "rod_tip_xy_dist": 0.001038757836417853,
+                "target_xy_drift": 1.4118347022327567e-07,
+                "depth": 0.018592634215157777,
+                "bottom_clearance": 0.0808478829998972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00046329416842844084,
+                  0.0009262485898431372
+                ],
+                "rod_tip_xy": [
+                  0.2925194341241366,
+                  -0.37212896400998285
+                ],
+                "target_mouth_xy": [
+                  0.29298272829256505,
+                  -0.373055212599826
+                ],
+                "gripper_position": [
+                  0.29251070336871776,
+                  -0.37213138353433467,
+                  1.002369203252295
+                ],
+                "rod_tip_xy_dist": 0.0010356533863635077,
+                "target_xy_drift": 6.137302497148084e-08,
+                "depth": 0.018751329167016384,
+                "bottom_clearance": 0.08068926482399574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0004720226553148188,
+                  0.0009237315085862674
+                ],
+                "rod_tip_xy": [
+                  0.29251070336871776,
+                  -0.3721313835343346
+                ],
+                "target_mouth_xy": [
+                  0.2929827260240326,
+                  -0.3730551150429209
+                ],
+                "gripper_position": [
+                  0.2925021438089583,
+                  -0.3721338923862199,
+                  1.0022302511846708
+                ],
+                "rod_tip_xy_dist": 0.0010373453075449436,
+                "target_xy_drift": 1.1483899002921617e-07,
+                "depth": 0.018890632666446083,
+                "bottom_clearance": 0.08054992050271303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004805792745712911,
+                  0.0009211932232406905
+                ],
+                "rod_tip_xy": [
+                  0.2925021438089583,
+                  -0.37213389238621986
+                ],
+                "target_mouth_xy": [
+                  0.2929827230835296,
+                  -0.37305508560946055
+                ],
+                "gripper_position": [
+                  0.2924933589206825,
+                  -0.3721363859317457,
+                  1.0020911892671138
+                ],
+                "rod_tip_xy_dist": 0.0010390155887627678,
+                "target_xy_drift": 1.416525751965619e-07,
+                "depth": 0.019029645499832437,
+                "bottom_clearance": 0.08041096263022585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0004894031950188338,
+                  0.0009187970935969902
+                ],
+                "rod_tip_xy": [
+                  0.2924933589206825,
+                  -0.3721363859317457
+                ],
+                "target_mouth_xy": [
+                  0.29298276211570135,
+                  -0.3730551830253427
+                ],
+                "gripper_position": [
+                  0.29248481044245306,
+                  -0.372138935293954,
+                  1.0019518629010962
+                ],
+                "rod_tip_xy_dist": 0.00104101084840501,
+                "target_xy_drift": 3.8996108694915864e-08,
+                "depth": 0.019168737164658167,
+                "bottom_clearance": 0.08027191646493537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0004979420467283169,
+                  0.0009161516158646688
+                ],
+                "rod_tip_xy": [
+                  0.29248481044245306,
+                  -0.3721389352939539
+                ],
+                "target_mouth_xy": [
+                  0.2929827524891814,
+                  -0.3730550869098186
+                ],
+                "gripper_position": [
+                  0.29247605167937146,
+                  -0.37214161689445907,
+                  1.0018125269595153
+                ],
+                "rod_tip_xy_dist": 0.0010427272247100047,
+                "target_xy_drift": 1.2920008653512838e-07,
+                "depth": 0.019308070582105152,
+                "bottom_clearance": 0.0801326008488974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0005067106440378444,
+                  0.0009135334687204177
+                ],
+                "rod_tip_xy": [
+                  0.29247605167937146,
+                  -0.372141616894459
+                ],
+                "target_mouth_xy": [
+                  0.2929827623234093,
+                  -0.37305515036317943
+                ],
+                "gripper_position": [
+                  0.29246743738945646,
+                  -0.3721439558750552,
+                  1.0016735376205876
+                ],
+                "rod_tip_xy_dist": 0.0010446526098438684,
+                "target_xy_drift": 6.618922025118764e-08,
+                "depth": 0.019447381600294578,
+                "bottom_clearance": 0.07999324397007801,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006055469107228487,
+              "rod_tip_xy_max_step": 3.2782071480492185e-05,
+              "rod_tip_xy_range": 0.0006055415459790865,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2920470673619089,
+            -0.37351790501022974,
+            1.0433479547541247
+          ],
+          "object_origin_world": [
+            0.2920470673619089,
+            -0.37351790501022974,
+            1.0433479547541247
+          ],
+          "frame_world": [
+            0.2920713278726853,
+            -0.37351474497341486,
+            1.043642719261083
+          ],
+          "center_minus_frame": [
+            -2.426051077641933e-05,
+            -3.1600368148865243e-06,
+            -0.0002947645069584226
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2764300164320443,
+              0.14590198039563737,
+              0.8324598944179459
+            ],
+            "target_position": [
+              0.28803460363164046,
+              0.19194335518475392,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047481308285944775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1686189284215976,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324598944179459,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672181030638,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13826292366598247,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9e7afc960b43b9af87c600b2196c4e1e7c79be0616c083489f5e603f0273df0",
+    "visual_seed": 6774714444098994368,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c08ad52e07378ec4bfebddd8835eecdd14a199e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_46_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3327284701888268,
+              -0.02800702377126317,
+              1.165558234393
+            ],
+            "current_z": 1.165558234393,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30445172637823403,
+            "gripper_z": 1.1564606433703544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32828032452288547,
+              -0.0326020144194194,
+              1.1564606433703544
+            ],
+            "object_minus_gripper": [
+              0.0044481456659413166,
+              0.00459499064815623,
+              0.009097591022645624
+            ],
+            "object_to_gripper_xy": 0.0063953060069144255,
+            "object_to_gripper_z": 0.009097591022645624,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3327284701888268,
+              -0.05169330002188701,
+              1.165558234393
+            ],
+            "finger_b": [
+              0.3221654138749428,
+              -0.02800702377126317,
+              1.165558234393
+            ],
+            "finger_midpoint": [
+              0.3274469420318848,
+              -0.03985016189657509,
+              1.165558234393
+            ],
+            "object_minus_finger_midpoint": [
+              0.005281528156941995,
+              0.011843138125311917,
+              0.0
+            ],
+            "finger_gap": 0.02593487692878359,
+            "fingertip_max_gap": 0.09237601829644945,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012967438464391792,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165558234393,
+            "object_top_z": 1.2154864230760414,
+            "finger_top_clearance": 0.049928188683041386,
+            "fingertip_min_top_clearance": 0.014978456604912415,
+            "object_projection_between_fingers": 0.8341135904560869,
+            "object_to_finger_line_xy": 0.009647220250498693,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868800914822473,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.065694947527669,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2974643712578109,
+              -0.3722829734029586,
+              0.8515396102895084
+            ],
+            "target_position": [
+              0.290713208417741,
+              -0.3730369748687243,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006793137559590358,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18190793402343736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396102895084,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580186659663678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716796074071069,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1492354472850292,
+            "release_required_pad_clearance": 0.05358398037035535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.17860660804048,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008225023746490479,
+            "max_z_decrease": 0.008225023746490479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034997894660112557,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008225023746490479,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020896585927649525,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008225023746490479,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008225158017080226,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14641313254833221,
+              -0.42929843068122864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14641313254833221,
+              -0.42929843068122864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14700563056604574,
+              -0.42945046486067834,
+              0.8035768478359293
+            ],
+            "closest_button": [
+              0.14644995331764218,
+              -0.42926922440528875,
+              0.7685838341712952
+            ],
+            "closest_ee_minus_button": [
+              0.0005556772484035521,
+              -0.00018124045538958633,
+              0.03499301366463414
+            ],
+            "button_min_z_position": [
+              0.14644995331764218,
+              -0.42926922440528875,
+              0.7685838341712952
+            ],
+            "min_active_finger_to_button": 0.1451150966369516,
+            "closest_active_finger": [
+              0.006247319281101227,
+              -0.41383713483810425,
+              0.811062216758728
+            ],
+            "closest_active_finger_button": [
+              0.14641156792640686,
+              -0.42929941415786743,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14016424864530563,
+              0.015462279319763184,
+              0.03425335884094238
+            ],
+            "min_contact_pad_to_button": 0.020896585927649525,
+            "closest_contact_pad": [
+              0.14644995331764218,
+              -0.4305861570526965,
+              0.7894388813262126
+            ],
+            "closest_contact_pad_button": [
+              0.14644995331764218,
+              -0.42926922440528875,
+              0.7685838341712952
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013169326474077314,
+              0.020855047154917483
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2842159327797536,
+              0.19396247408520725,
+              1.1047252659566107
+            ],
+            "current_z": 1.1047252659566107,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19481613622224814,
+            "gripper_z": 1.1047254118737344,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2842159971860052,
+              0.19396246581118215,
+              1.1047254118737344
+            ],
+            "object_minus_gripper": [
+              -6.440625160974989e-08,
+              8.274025103949256e-09,
+              -1.4591712371725407e-07
+            ],
+            "object_to_gripper_xy": 6.493554294713482e-08,
+            "object_to_gripper_z": -1.4591712371725407e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2842159327797536,
+              0.19396247408520725,
+              1.1047252659566107
+            ],
+            "finger_b": [
+              0.2842159327797536,
+              0.19396247408520725,
+              1.1047252659566107
+            ],
+            "finger_midpoint": [
+              0.2842159327797536,
+              0.19396247408520725,
+              1.1047252659566107
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1047252659566107,
+            "object_top_z": 1.2297337725768904,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2842159327797536,
+            0.19396247408520728,
+            1.1047252659566107
+          ],
+          "object_origin_world": [
+            0.2842159327797536,
+            0.19396247408520728,
+            1.1047252659566107
+          ],
+          "frame_world": [
+            0.2842159971860052,
+            0.19396246581118215,
+            1.1047254118737344
+          ],
+          "center_minus_frame": [
+            -6.440625160974989e-08,
+            8.274025131704832e-09,
+            -1.4591712371725407e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435903898656134,
+            "required_z": 0.91125982293839,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024729763634466365,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.129907155303363e-08,
+            "max_target_xy_drift": 1.8586807045122273e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1786066108896573,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1789658608550617,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2956278054217464,
+              -0.37060323353789437,
+              0.9232947376295463
+            ],
+            "target_mouth_xy": [
+              0.29746434464564414,
+              -0.37228300255294666
+            ],
+            "rod_tip_z": 0.9232947376295463,
+            "rod_tip_depth": -0.02203491106425093,
+            "rod_tip_bottom_clearance": 0.12147541600187794,
+            "rod_tip_xy_dist": 0.002488875301184197,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045294417977926216,
+            "min_rod_tip_bottom_clearance": 0.05414620636411138,
+            "min_rod_tip_xy_dist": 0.0002801101768564438,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2974644059446929,
+              -0.37228300250010954
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.129904878138248e-08,
+              -5.2837123565296906e-11
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0012775300962004632,
+                0.0033995470047917253
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013825507746835775,
+                0.0030331672877775273
+              ],
+              "first_target_mouth_xy": [
+                0.29746437556939187,
+                -0.37228297206427785
+              ],
+              "last_target_mouth_xy": [
+                0.29746440394524504,
+                -0.3722830028960324
+              ],
+              "first_rod_tip_xy": [
+                0.2961868454731914,
+                -0.3688834250594861
+              ],
+              "last_rod_tip_xy": [
+                0.29608185317056146,
+                -0.36924983560825486
+              ],
+              "min_rod_tip_xy_dist": 0.003331936674463114,
+              "max_rod_tip_xy_dist": 0.0036316666951258557,
+              "first_target_xy_drift": 4.2999985634521354e-08,
+              "last_target_xy_drift": 2.038270528703082e-09,
+              "max_depth": 0.019650993237649406,
+              "min_bottom_clearance": 0.07978952520457949
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012775300962004632,
+                  0.0033995470047917253
+                ],
+                "rod_tip_xy": [
+                  0.2961868454731914,
+                  -0.3688834250594861
+                ],
+                "target_mouth_xy": [
+                  0.29746437556939187,
+                  -0.37228297206427785
+                ],
+                "gripper_position": [
+                  0.29617613072449844,
+                  -0.3688924528945493,
+                  1.0057746312181133
+                ],
+                "rod_tip_xy_dist": 0.0036316666951258557,
+                "target_xy_drift": 4.2999985634521354e-08,
+                "depth": 0.015325047860441754,
+                "bottom_clearance": 0.08411549030381449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012882432918880915,
+                  0.0033905800962724664
+                ],
+                "rod_tip_xy": [
+                  0.2961761307244984,
+                  -0.3688924528945493
+                ],
+                "target_mouth_xy": [
+                  0.2974643740163865,
+                  -0.37228303299082177
+                ],
+                "gripper_position": [
+                  0.29616762313139233,
+                  -0.36889579189664107,
+                  1.005634109407598
+                ],
+                "rod_tip_xy_dist": 0.0036270655037280034,
+                "target_xy_drift": 4.414861588762791e-08,
+                "depth": 0.015485215009710118,
+                "bottom_clearance": 0.08395531899136366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012967822360725467,
+                  0.0033872087446152888
+                ],
+                "rod_tip_xy": [
+                  0.29616762313139233,
+                  -0.368895791896641
+                ],
+                "target_mouth_xy": [
+                  0.2974644053674649,
+                  -0.3722830006412563
+                ],
+                "gripper_position": [
+                  0.2961742759000156,
+                  -0.3689656557674898,
+                  1.0050998723406501
+                ],
+                "rod_tip_xy_dist": 0.0036269584016626927,
+                "target_xy_drift": 1.9464140294956945e-09,
+                "depth": 0.015625743065025954,
+                "bottom_clearance": 0.08381484047857302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012900978213559178,
+                  0.003317378189798159
+                ],
+                "rod_tip_xy": [
+                  0.29617427590001555,
+                  -0.36896565576748985
+                ],
+                "target_mouth_xy": [
+                  0.29746437372137147,
+                  -0.372283033957288
+                ],
+                "gripper_position": [
+                  0.2961633762790983,
+                  -0.36897473571551875,
+                  1.0049396212754838
+                ],
+                "rod_tip_xy_dist": 0.003559403102040537,
+                "target_xy_drift": 4.503217208978618e-08,
+                "depth": 0.01616000104465809,
+                "bottom_clearance": 0.08328057980117931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00130102965335821,
+                  0.003308295039548992
+                ],
+                "rod_tip_xy": [
+                  0.2961633762790983,
+                  -0.36897473571551875
+                ],
+                "target_mouth_xy": [
+                  0.2974644059324565,
+                  -0.37228303075506775
+                ],
+                "gripper_position": [
+                  0.29615499623730634,
+                  -0.36897778038419954,
+                  1.0047990440494832
+                ],
+                "rod_tip_xy_dist": 0.0035549253476862,
+                "target_xy_drift": 2.8254960856092932e-08,
+                "depth": 0.016320229661192065,
+                "bottom_clearance": 0.08312036326487704,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0013093780173459857,
+                  0.0033052519891076937
+                ],
+                "rod_tip_xy": [
+                  0.29615499623730634,
+                  -0.3689777803841996
+                ],
+                "target_mouth_xy": [
+                  0.29746437425465233,
+                  -0.3722830323733073
+                ],
+                "gripper_position": [
+                  0.29616239037649605,
+                  -0.369048544834997,
+                  1.0042677012637697
+                ],
+                "rod_tip_xy_dist": 0.0035551598422306234,
+                "target_xy_drift": 4.355073611826137e-08,
+                "depth": 0.01646078823891306,
+                "bottom_clearance": 0.08297972377690066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001301985960660501,
+                  0.003234517639599699
+                ],
+                "rod_tip_xy": [
+                  0.296162390376496,
+                  -0.36904854483499705
+                ],
+                "target_mouth_xy": [
+                  0.2974643763371565,
+                  -0.37228306247459675
+                ],
+                "gripper_position": [
+                  0.29615136911617346,
+                  -0.36905727055986515,
+                  1.004107550117488
+                ],
+                "rod_tip_xy_dist": 0.0034867279507639617,
+                "target_xy_drift": 6.688456719675496e-08,
+                "depth": 0.016992184583992098,
+                "bottom_clearance": 0.0824483619740245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0013130030255052993,
+                  0.0032257618416118294
+                ],
+                "rod_tip_xy": [
+                  0.29615136911617346,
+                  -0.36905727055986526
+                ],
+                "target_mouth_xy": [
+                  0.29746437214167876,
+                  -0.3722830324014771
+                ],
+                "gripper_position": [
+                  0.2961430016432971,
+                  -0.36906017711071254,
+                  1.00396723580484
+                ],
+                "rod_tip_xy_dist": 0.00348274552670519,
+                "target_xy_drift": 4.513020660219378e-08,
+                "depth": 0.01715240715633526,
+                "bottom_clearance": 0.08228818802259197,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0013214331458950568,
+                  0.0032228561925201626
+                ],
+                "rod_tip_xy": [
+                  0.2961430016432971,
+                  -0.3690601771107126
+                ],
+                "target_mouth_xy": [
+                  0.29746443478919216,
+                  -0.37228303330323276
+                ],
+                "gripper_position": [
+                  0.2961342815863478,
+                  -0.3690630226207057,
+                  1.0038267852587448
+                ],
+                "rod_tip_xy_dist": 0.0034832438325123993,
+                "target_xy_drift": 4.2199970806477894e-08,
+                "depth": 0.017292591544275315,
+                "bottom_clearance": 0.08214793073353321,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0013301210370100236,
+                  0.0032200097741658107
+                ],
+                "rod_tip_xy": [
+                  0.2961342815863478,
+                  -0.3690630226207058
+                ],
+                "target_mouth_xy": [
+                  0.2974644026233578,
+                  -0.3722830323948716
+                ],
+                "gripper_position": [
+                  0.29612558694897007,
+                  -0.369066050051312,
+                  1.0036863104046247
+                ],
+                "rod_tip_xy_dist": 0.0034839180413465494,
+                "target_xy_drift": 3.007869786290011e-08,
+                "depth": 0.01743309134732718,
+                "bottom_clearance": 0.0820074770069329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0013388482584184014,
+                  0.0032169841958485934
+                ],
+                "rod_tip_xy": [
+                  0.29612558694897,
+                  -0.369066050051312
+                ],
+                "target_mouth_xy": [
+                  0.2974644352073884,
+                  -0.3722830342471606
+                ],
+                "gripper_position": [
+                  0.2961354179477905,
+                  -0.36914054092903276,
+                  1.00315551521334
+                ],
+                "rod_tip_xy_dist": 0.003484465809189352,
+                "target_xy_drift": 4.317615774063731e-08,
+                "depth": 0.0175735371157949,
+                "bottom_clearance": 0.0818670341120461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001328985725175924,
+                  0.0031424923943744187
+                ],
+                "rod_tip_xy": [
+                  0.2961354179477905,
+                  -0.3691405409290328
+                ],
+                "target_mouth_xy": [
+                  0.29746440367296645,
+                  -0.37228303332340723
+                ],
+                "gripper_position": [
+                  0.29612420671677564,
+                  -0.3691494034393979,
+                  1.0029957157991307
+                ],
+                "rod_tip_xy_dist": 0.0034119586026829874,
+                "target_xy_drift": 3.090689925858346e-08,
+                "depth": 0.0181043416781429,
+                "bottom_clearance": 0.08133621008392466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0013402281420448192,
+                  0.0031336273263111725
+                ],
+                "rod_tip_xy": [
+                  0.29612420671677564,
+                  -0.36914940343939784
+                ],
+                "target_mouth_xy": [
+                  0.29746443485882046,
+                  -0.372283030765709
+                ],
+                "gripper_position": [
+                  0.296115449048598,
+                  -0.36915229959413837,
+                  1.002855474919541
+                ],
+                "rod_tip_xy_dist": 0.0034082006532675,
+                "target_xy_drift": 4.043477321224885e-08,
+                "depth": 0.018264128558831527,
+                "bottom_clearance": 0.08117643147791076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001348985056036922,
+                  0.0031307657191615434
+                ],
+                "rod_tip_xy": [
+                  0.296115449048598,
+                  -0.3691522995941384
+                ],
+                "target_mouth_xy": [
+                  0.2974644341046349,
+                  -0.37228306531329997
+                ],
+                "gripper_position": [
+                  0.2961066851503146,
+                  -0.3691550384149874,
+                  1.002714806694415
+                ],
+                "rod_tip_xy_dist": 0.00340902547213834,
+                "target_xy_drift": 6.883661252875816e-08,
+                "depth": 0.018404404782275008,
+                "bottom_clearance": 0.08103620489672603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0013577507317687476,
+                  0.0031279929287244546
+                ],
+                "rod_tip_xy": [
+                  0.2961066851503146,
+                  -0.3691550384149874
+                ],
+                "target_mouth_xy": [
+                  0.2974644358820833,
+                  -0.3722830313437119
+                ],
+                "gripper_position": [
+                  0.2960980735638168,
+                  -0.36915761794068097,
+                  1.0025747079540244
+                ],
+                "rod_tip_xy_dist": 0.0034099599428393233,
+                "target_xy_drift": 4.157163383733999e-08,
+                "depth": 0.018545094235214887,
+                "bottom_clearance": 0.08089548227993204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013663609813113764,
+                  0.0031253855470665393
+                ],
+                "rod_tip_xy": [
+                  0.2960980735638168,
+                  -0.3691576179406809
+                ],
+                "target_mouth_xy": [
+                  0.29746443454512816,
+                  -0.37228300348774745
+                ],
+                "gripper_position": [
+                  0.2960892638235746,
+                  -0.36916031550525813,
+                  1.0024343844439492
+                ],
+                "rod_tip_xy_dist": 0.003411008230576789,
+                "target_xy_drift": 2.8617482850588622e-08,
+                "depth": 0.018685057449623454,
+                "bottom_clearance": 0.0807554546625745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001375170868322173,
+                  0.0031227187510732834
+                ],
+                "rod_tip_xy": [
+                  0.2960892638235746,
+                  -0.3691603155052581
+                ],
+                "target_mouth_xy": [
+                  0.29746443469189676,
+                  -0.37228303425633136
+                ],
+                "gripper_position": [
+                  0.296101911486019,
+                  -0.3692387552361585,
+                  1.0019084092470791
+                ],
+                "rod_tip_xy_dist": 0.0034121059941605927,
+                "target_xy_drift": 4.283525829037329e-08,
+                "depth": 0.018825458781240756,
+                "bottom_clearance": 0.08061509224167984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013625207501473668,
+                  0.0030442457778599996
+                ],
+                "rod_tip_xy": [
+                  0.29610191148601894,
+                  -0.36923875523615857
+                ],
+                "target_mouth_xy": [
+                  0.2974644322361663,
+                  -0.37228300101401857
+                ],
+                "gripper_position": [
+                  0.2960905866743416,
+                  -0.369247521187293,
+                  1.001748675083561
+                ],
+                "rod_tip_xy_dist": 0.0033352503879919685,
+                "target_xy_drift": 2.6333439563659192e-08,
+                "depth": 0.019351499609210565,
+                "bottom_clearance": 0.08008913033059839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0013738502417722787,
+                  0.0030355127270058624
+                ],
+                "rod_tip_xy": [
+                  0.2960905866743416,
+                  -0.369247521187293
+                ],
+                "target_mouth_xy": [
+                  0.2974644369161139,
+                  -0.37228303391429884
+                ],
+                "gripper_position": [
+                  0.29608185317056146,
+                  -0.3692498356082548,
+                  1.0016088436609856
+                ],
+                "rod_tip_xy_dist": 0.003331936674463114,
+                "target_xy_drift": 4.411439909425945e-08,
+                "depth": 0.019511240969293797,
+                "bottom_clearance": 0.07992938687246498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013825507746835775,
+                  0.0030331672877775273
+                ],
+                "rod_tip_xy": [
+                  0.29608185317056146,
+                  -0.36924983560825486
+                ],
+                "target_mouth_xy": [
+                  0.29746440394524504,
+                  -0.3722830028960324
+                ],
+                "gripper_position": [
+                  0.29607291371294087,
+                  -0.3692524107392874,
+                  1.0014690151401542
+                ],
+                "rod_tip_xy_dist": 0.0033333992320485465,
+                "target_xy_drift": 2.038270528703082e-09,
+                "depth": 0.019650993237649406,
+                "bottom_clearance": 0.07978952520457949,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006070915538263569,
+              "rod_tip_xy_max_step": 3.28415266213864e-05,
+              "rod_tip_xy_range": 0.0006070801641198256,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2956278054217464,
+            -0.3706032335378943,
+            1.0432947376295463
+          ],
+          "object_origin_world": [
+            0.2956278054217464,
+            -0.3706032335378943,
+            1.0432947376295463
+          ],
+          "frame_world": [
+            0.2956522796165041,
+            -0.370600138201808,
+            1.0435903898656134
+          ],
+          "center_minus_frame": [
+            -2.4474194757706513e-05,
+            -3.095336086333944e-06,
+            -0.0002956522360670899
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27403802618556666,
+              0.14565108817654948,
+              0.8326171821908706
+            ],
+            "target_position": [
+              0.2843656364440499,
+              0.19263357774308337,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04810419794072648,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16983406217957592,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326171821908706,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670313879687,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1390296267491277,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9973ebe690c9738e73c3fc0a4d37f7903e59d91b2f2898660067bf113728458",
+    "visual_seed": 399444047275609328,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..885859174b5b5c31c47fb94b7f48e8d64a618f9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_48_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3302329833782054,
+              -0.033351486962438254,
+              1.1666791890309485
+            ],
+            "current_z": 1.1666791890309485,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3055726810161824,
+            "gripper_z": 1.1578607898307032,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3253126597437709,
+              -0.0381046591710263,
+              1.1578607898307032
+            ],
+            "object_minus_gripper": [
+              0.004920323634434509,
+              0.0047531722085880496,
+              0.008818399200245297
+            ],
+            "object_to_gripper_xy": 0.0068412155873111185,
+            "object_to_gripper_z": 0.008818399200245297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3302329833782054,
+              -0.05738128519658438,
+              1.1666791890309485
+            ],
+            "finger_b": [
+              0.3194511011541052,
+              -0.033351486962438254,
+              1.1666791890309485
+            ],
+            "finger_midpoint": [
+              0.3248420422661553,
+              -0.045366386079511316,
+              1.1666791890309485
+            ],
+            "object_minus_finger_midpoint": [
+              0.005390941112050074,
+              0.012014899117073062,
+              0.0
+            ],
+            "finger_gap": 0.026337809086333284,
+            "fingertip_max_gap": 0.09125765823749785,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01316890454316663,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1666791890309485,
+            "object_top_z": 1.2165014511414705,
+            "finger_top_clearance": 0.049822262110521987,
+            "fingertip_min_top_clearance": 0.014946678633156562,
+            "object_projection_between_fingers": 0.8324170325252268,
+            "object_to_finger_line_xy": 0.009837054159675528,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048128829118748925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2158484582522864,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29565295025526955,
+              -0.3725250528867248,
+              0.8515395542759033
+            ],
+            "target_position": [
+              0.28752161940593046,
+              -0.3736742559616218,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008212137912186225,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18483876726117793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395542759033,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533451158179322,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555540295047535,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15319223766755471,
+            "release_required_pad_clearance": 0.05277770147523768,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6039293554534224,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008220136165618896,
+            "max_z_decrease": 0.008220136165618896,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503883869650266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008220136165618896,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020891812403671994,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008220136165618896,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00822020108176926,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14322154223918915,
+              -0.42993572354316706,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14322154223918915,
+              -0.42993572354316706,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1442322811113196,
+              -0.4288165667781037,
+              0.8035964860016662
+            ],
+            "closest_button": [
+              0.1432429850101471,
+              -0.42991107702255243,
+              0.7685887217521667
+            ],
+            "closest_ee_minus_button": [
+              0.0009892961011725154,
+              0.001094510244448732,
+              0.03500776424949947
+            ],
+            "button_min_z_position": [
+              0.1432429850101471,
+              -0.42991107702255243,
+              0.7685887217521667
+            ],
+            "min_active_finger_to_button": 0.14445316954535725,
+            "closest_active_finger": [
+              0.018460705876350403,
+              -0.49418920278549194,
+              0.8104779720306396
+            ],
+            "closest_active_finger_button": [
+              0.1432209461927414,
+              -0.42993506789207453,
+              0.7762287855148315
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12476024031639099,
+              -0.06425413489341741,
+              0.034249186515808105
+            ],
+            "min_contact_pad_to_button": 0.020891812403671994,
+            "closest_contact_pad": [
+              0.1432429850101471,
+              -0.42991107702255243,
+              0.7894805341558387
+            ],
+            "closest_contact_pad_button": [
+              0.1432429850101471,
+              -0.42991107702255243,
+              0.7685887217521667
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020891812403671994
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2859728743863888,
+              0.19097543073856804,
+              1.1028968627050304
+            ],
+            "current_z": 1.1028968627050304,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19298773297066785,
+            "gripper_z": 1.102896862533903,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2859728942299815,
+              0.1909754073974338,
+              1.102896862533903
+            ],
+            "object_minus_gripper": [
+              -1.9843592713453262e-08,
+              2.3341134247623074e-08,
+              1.7112733452506745e-10
+            ],
+            "object_to_gripper_xy": 3.063619949900735e-08,
+            "object_to_gripper_z": 1.7112733452506745e-10,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2859728743863888,
+              0.19097543073856804,
+              1.1028968627050304
+            ],
+            "finger_b": [
+              0.2859728743863888,
+              0.19097543073856804,
+              1.1028968627050304
+            ],
+            "finger_midpoint": [
+              0.2859728743863888,
+              0.19097543073856804,
+              1.1028968627050304
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1028968627050304,
+            "object_top_z": 1.2279053693253101,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2859728743863888,
+            0.19097543073856807,
+            1.1028968627050304
+          ],
+          "object_origin_world": [
+            0.2859728743863888,
+            0.19097543073856807,
+            1.1028968627050304
+          ],
+          "frame_world": [
+            0.2859728942299815,
+            0.1909754073974338,
+            1.102896862533903
+          ],
+          "center_minus_frame": [
+            -1.9843592713453262e-08,
+            2.334113427537865e-08,
+            1.7112733452506745e-10
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436086798234925,
+            "required_z": 0.9112598481677112,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017596399214213324,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.312969679967369e-08,
+            "max_target_xy_drift": 2.1065626653160062e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6039293568475079,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6039293568583709,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2958989695796182,
+              -0.37078922656138225,
+              0.923314098248683
+            ],
+            "target_mouth_xy": [
+              0.29565288923594135,
+              -0.37252505258660257
+            ],
+            "rod_tip_z": 0.923314098248683,
+            "rod_tip_depth": -0.022054266842323922,
+            "rod_tip_bottom_clearance": 0.12149478930075419,
+            "rod_tip_xy_dist": 0.0017531821141502373,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0451952510072926,
+            "min_rod_tip_bottom_clearance": 0.05424543469303855,
+            "min_rod_tip_xy_dist": 0.0002614548087667891,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29565297818827796,
+              -0.37252508016598324
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.895233660766166e-08,
+              2.7579380668107945e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0007087467458555263,
+                0.003586886020259472
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006406268082640998,
+                0.003139464756814203
+              ],
+              "first_target_mouth_xy": [
+                0.2956529810844229,
+                -0.3725250519283847
+              ],
+              "last_target_mouth_xy": [
+                0.29565291886200507,
+                -0.3725251102837353
+              ],
+              "first_rod_tip_xy": [
+                0.2963617278302784,
+                -0.3689381659081252
+              ],
+              "last_rod_tip_xy": [
+                0.29629354567026917,
+                -0.3693856455269211
+              ],
+              "min_rod_tip_xy_dist": 0.0032041600563556608,
+              "max_rod_tip_xy_dist": 0.003656237584196852,
+              "first_target_xy_drift": 2.838572927780548e-08,
+              "last_target_xy_drift": 6.653334235766148e-08,
+              "max_depth": 0.019738921820456334,
+              "min_bottom_clearance": 0.07970160248242741
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0007087467458555263,
+                  0.003586886020259472
+                ],
+                "rod_tip_xy": [
+                  0.2963617278302784,
+                  -0.3689381659081252
+                ],
+                "target_mouth_xy": [
+                  0.2956529810844229,
+                  -0.3725250519283847
+                ],
+                "gripper_position": [
+                  0.29637106503459154,
+                  -0.36901077823186595,
+                  1.0056858701869043
+                ],
+                "rod_tip_xy_dist": 0.003656237584196852,
+                "target_xy_drift": 2.838572927780548e-08,
+                "depth": 0.015039025598426403,
+                "bottom_clearance": 0.08440156132522969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007181174861045636,
+                  0.0035143044695610803
+                ],
+                "rod_tip_xy": [
+                  0.2963710650345916,
+                  -0.3690107782318661
+                ],
+                "target_mouth_xy": [
+                  0.29565294754848703,
+                  -0.3725250827014272
+                ],
+                "gripper_position": [
+                  0.2963603896057415,
+                  -0.3690198038615071,
+                  1.0055253378036682
+                ],
+                "rod_tip_xy_dist": 0.0035869246756275943,
+                "target_xy_drift": 3.074451600096165e-08,
+                "depth": 0.015574006057996193,
+                "bottom_clearance": 0.08386657689166344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007074410683185484,
+                  0.003505247446727977
+                ],
+                "rod_tip_xy": [
+                  0.2963603896057415,
+                  -0.36901980386150723
+                ],
+                "target_mouth_xy": [
+                  0.29565294853742297,
+                  -0.3725250513082352
+                ],
+                "gripper_position": [
+                  0.2963518707587236,
+                  -0.36902297238852205,
+                  1.0053848443881301
+                ],
+                "rod_tip_xy_dist": 0.0035759240103694443,
+                "target_xy_drift": 4.1375630785442496e-08,
+                "depth": 0.015734489140773467,
+                "bottom_clearance": 0.08370601786699916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.000698952262676078,
+                  0.0035020792375932697
+                ],
+                "rod_tip_xy": [
+                  0.29635187075872366,
+                  -0.3690229723885222
+                ],
+                "target_mouth_xy": [
+                  0.2956529184960476,
+                  -0.3725250516261155
+                ],
+                "gripper_position": [
+                  0.2963622500155014,
+                  -0.3690967267462528,
+                  1.0048515070279989
+                ],
+                "rod_tip_xy_dist": 0.0035711473299041958,
+                "target_xy_drift": 6.616408707785744e-08,
+                "depth": 0.01587498599375392,
+                "bottom_clearance": 0.08356552242741655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007093011629037416,
+                  0.0034283236097486514
+                ],
+                "rod_tip_xy": [
+                  0.2963622500155015,
+                  -0.36909672674625293
+                ],
+                "target_mouth_xy": [
+                  0.29565294885259774,
+                  -0.3725250503560016
+                ],
+                "gripper_position": [
+                  0.2963513017979227,
+                  -0.36910576971221953,
+                  1.0046913363894454
+                ],
+                "rod_tip_xy_dist": 0.0035009300068491265,
+                "target_xy_drift": 4.1823643311349035e-08,
+                "depth": 0.016408326951318997,
+                "bottom_clearance": 0.08303220145342716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006983538971898073,
+                  0.003419286692095014
+                ],
+                "rod_tip_xy": [
+                  0.2963513017979227,
+                  -0.36910576971221976
+                ],
+                "target_mouth_xy": [
+                  0.2956529479007329,
+                  -0.37252505640431477
+                ],
+                "gripper_position": [
+                  0.29634270091254367,
+                  -0.36910890994138185,
+                  1.0045508185351941
+                ],
+                "rod_tip_xy_dist": 0.0034898738728581947,
+                "target_xy_drift": 3.849613325328493e-08,
+                "depth": 0.01656859281468359,
+                "bottom_clearance": 0.08287210315721294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006897816411553515,
+                  0.003416138190240836
+                ],
+                "rod_tip_xy": [
+                  0.2963427009125437,
+                  -0.3691089099413819
+                ],
+                "target_mouth_xy": [
+                  0.29565291927138837,
+                  -0.37252504813162274
+                ],
+                "gripper_position": [
+                  0.2963342613708686,
+                  -0.36911181001038806,
+                  1.0044097880823293
+                ],
+                "rod_tip_xy_dist": 0.0034850823300600665,
+                "target_xy_drift": 6.70626582485522e-08,
+                "depth": 0.016709054947374846,
+                "bottom_clearance": 0.08273155797398057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006813139200066987,
+                  0.0034132749227003822
+                ],
+                "rod_tip_xy": [
+                  0.2963342613708686,
+                  -0.3691118100103882
+                ],
+                "target_mouth_xy": [
+                  0.2956529474508619,
+                  -0.37252508493308856
+                ],
+                "gripper_position": [
+                  0.2963462183212886,
+                  -0.3691877974331039,
+                  1.003876902928065
+                ],
+                "rod_tip_xy_dist": 0.0034806083312447257,
+                "target_xy_drift": 3.110488770273356e-08,
+                "depth": 0.016850131647214828,
+                "bottom_clearance": 0.08259053554218665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006932994820243454,
+                  0.0033372798742361542
+                ],
+                "rod_tip_xy": [
+                  0.29634621832128866,
+                  -0.36918779743310404
+                ],
+                "target_mouth_xy": [
+                  0.2956529188392643,
+                  -0.3725250773073402
+                ],
+                "gripper_position": [
+                  0.2963350736259167,
+                  -0.3691970296824394,
+                  1.0037171075255173
+                ],
+                "rod_tip_xy_dist": 0.0034085335748319846,
+                "target_xy_drift": 5.9417819389876343e-08,
+                "depth": 0.017382987603437483,
+                "bottom_clearance": 0.08205764982859898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000682125019315083,
+                  0.0033281132648586564
+                ],
+                "rod_tip_xy": [
+                  0.29633507362591677,
+                  -0.3691970296824396
+                ],
+                "target_mouth_xy": [
+                  0.2956529486066017,
+                  -0.37252514294729827
+                ],
+                "gripper_position": [
+                  0.2963265496114637,
+                  -0.3691996882765362,
+                  1.00357644816529
+                ],
+                "rod_tip_xy_dist": 0.0033972978152796303,
+                "target_xy_drift": 6.940150638743929e-08,
+                "depth": 0.017542748301479505,
+                "bottom_clearance": 0.08189781749991643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006736303081011918,
+                  0.0033253576402118012
+                ],
+                "rod_tip_xy": [
+                  0.29632654961146376,
+                  -0.3691996882765364
+                ],
+                "target_mouth_xy": [
+                  0.29565291930336257,
+                  -0.3725250459167482
+                ],
+                "gripper_position": [
+                  0.2963178616699298,
+                  -0.36920246934330864,
+                  1.0034356710962395
+                ],
+                "rod_tip_xy_dist": 0.0033929015941090166,
+                "target_xy_drift": 6.812079977811188e-08,
+                "depth": 0.017683465407089427,
+                "bottom_clearance": 0.081757228940333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006649131019866861,
+                  0.003322703406724692
+                ],
+                "rod_tip_xy": [
+                  0.2963178616699298,
+                  -0.3692024693433087
+                ],
+                "target_mouth_xy": [
+                  0.2956529485679431,
+                  -0.3725251727500334
+                ],
+                "gripper_position": [
+                  0.29633120806839564,
+                  -0.3692805066651122,
+                  1.0029064977846258
+                ],
+                "rod_tip_xy_dist": 0.003388578959129244,
+                "target_xy_drift": 9.720684429940585e-08,
+                "depth": 0.017824185910029988,
+                "bottom_clearance": 0.08161638137881344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006782878468745146,
+                  0.003244569051833457
+                ],
+                "rod_tip_xy": [
+                  0.29633120806839564,
+                  -0.36928050666511236
+                ],
+                "target_mouth_xy": [
+                  0.2956529202215211,
+                  -0.3725250757169458
+                ],
+                "gripper_position": [
+                  0.2963199656280683,
+                  -0.36928943859167634,
+                  1.002746577262579
+                ],
+                "rod_tip_xy_dist": 0.0033147100529809727,
+                "target_xy_drift": 5.813724135494453e-08,
+                "depth": 0.01835342297833409,
+                "bottom_clearance": 0.0810873064374874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006670146389288756,
+                  0.003235733510639771
+                ],
+                "rod_tip_xy": [
+                  0.29631996562806834,
+                  -0.3692894385916765
+                ],
+                "target_mouth_xy": [
+                  0.29565295098913946,
+                  -0.3725251721023163
+                ],
+                "gripper_position": [
+                  0.2963113604300176,
+                  -0.3692919363258422,
+                  1.0026061272014137
+                ],
+                "rod_tip_xy_dist": 0.003303767528205124,
+                "target_xy_drift": 9.587534859918999e-08,
+                "depth": 0.018513392759561653,
+                "bottom_clearance": 0.0809272168475147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006584702372653406,
+                  0.0032331717266391724
+                ],
+                "rod_tip_xy": [
+                  0.29631136043001766,
+                  -0.36929193632584234
+                ],
+                "target_mouth_xy": [
+                  0.2956528901927523,
+                  -0.3725251080524815
+                ],
+                "gripper_position": [
+                  0.296302594336715,
+                  -0.36929444764787944,
+                  1.0024652373155065
+                ],
+                "rod_tip_xy_dist": 0.0032995427664000965,
+                "target_xy_drift": 9.230855496381021e-08,
+                "depth": 0.01865374623334881,
+                "bottom_clearance": 0.08078688282242041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.000649644129706084,
+                  0.0032307273184802865
+                ],
+                "rod_tip_xy": [
+                  0.2963025943367151,
+                  -0.36929444764787955
+                ],
+                "target_mouth_xy": [
+                  0.295652950207009,
+                  -0.37252517496635984
+                ],
+                "gripper_position": [
+                  0.2962937148865665,
+                  -0.36929722863937725,
+                  1.0023248665457756
+                ],
+                "rod_tip_xy_dist": 0.0032953962586669905,
+                "target_xy_drift": 9.884362810732062e-08,
+                "depth": 0.01879471757298401,
+                "bottom_clearance": 0.08064596267384905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006407951561831493,
+                  0.003227850251689812
+                ],
+                "rod_tip_xy": [
+                  0.29629371488656653,
+                  -0.3692972286393774
+                ],
+                "target_mouth_xy": [
+                  0.2956529197303834,
+                  -0.37252507889106723
+                ],
+                "gripper_position": [
+                  0.2962849031716612,
+                  -0.36929976611440596,
+                  1.002184429411396
+                ],
+                "rod_tip_xy_dist": 0.0032908411811452968,
+                "target_xy_drift": 5.847179533431271e-08,
+                "depth": 0.018935052913423234,
+                "bottom_clearance": 0.08050554286603229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.000631983233008615,
+                  0.003225343848067108
+                ],
+                "rod_tip_xy": [
+                  0.29628490317166123,
+                  -0.36929976611440607
+                ],
+                "target_mouth_xy": [
+                  0.2956529199386526,
+                  -0.3725251099624732
+                ],
+                "gripper_position": [
+                  0.29627614930718404,
+                  -0.36930232334565066,
+                  1.0020442550353463
+                ],
+                "rod_tip_xy_dist": 0.003286677006501911,
+                "target_xy_drift": 6.542820237287772e-08,
+                "depth": 0.019075409269659782,
+                "bottom_clearance": 0.08036514855383514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006232301091855796,
+                  0.003222788528484788
+                ],
+                "rod_tip_xy": [
+                  0.2962761493071841,
+                  -0.3693023233456507
+                ],
+                "target_mouth_xy": [
+                  0.2956529191979985,
+                  -0.3725251118741355
+                ],
+                "gripper_position": [
+                  0.2962935456702691,
+                  -0.36938564552692105,
+                  1.0015209122672155
+                ],
+                "rod_tip_xy_dist": 0.0032824962556457873,
+                "target_xy_drift": 6.697208365207915e-08,
+                "depth": 0.019215628094175985,
+                "bottom_clearance": 0.08022488227552338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006406268082640998,
+                  0.003139464756814203
+                ],
+                "rod_tip_xy": [
+                  0.29629354567026917,
+                  -0.3693856455269211
+                ],
+                "target_mouth_xy": [
+                  0.29565291886200507,
+                  -0.3725251102837353
+                ],
+                "gripper_position": [
+                  0.296282192382085,
+                  -0.36939455936777554,
+                  1.0013611974537864
+                ],
+                "rod_tip_xy_dist": 0.0032041600563556608,
+                "target_xy_drift": 6.653334235766148e-08,
+                "depth": 0.019738921820456334,
+                "bottom_clearance": 0.07970160248242741,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006060087948662285,
+              "rod_tip_xy_max_step": 3.267424079954712e-05,
+              "rod_tip_xy_range": 0.0006059968889342335,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2958989695796182,
+            -0.3707892265613822,
+            1.043314098248683
+          ],
+          "object_origin_world": [
+            0.2958989695796182,
+            -0.3707892265613822,
+            1.043314098248683
+          ],
+          "frame_world": [
+            0.29592312811427085,
+            -0.3707862876221238,
+            1.0436086798234925
+          ],
+          "center_minus_frame": [
+            -2.415853465265183e-05,
+            -2.938939258401163e-06,
+            -0.00029458157480943825
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2752359659625237,
+              0.1424109683894579,
+              0.8325123632918205
+            ],
+            "target_position": [
+              0.2861272581123888,
+              0.1892135927097381,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048053156898990465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691290593735902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325123632918205,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567179859421,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1391503013292524,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f8b5f72c2bcbfc5cc4a4e499612c3ddbec12e95c11b8ffcd542fa07e937a10f",
+    "visual_seed": 9057457725061314230,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c828f50bd4b12db04e39413a008e09cd67417403
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33520109636248535,
+              -0.03660549624815166,
+              1.1669874866785621
+            ],
+            "current_z": 1.1669874866785621,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30588097866379604,
+            "gripper_z": 1.1577473003599983,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33050193547069295,
+              -0.04120545963013654,
+              1.1577473003599983
+            ],
+            "object_minus_gripper": [
+              0.004699160891792398,
+              0.00459996338198488,
+              0.009240186318563826
+            ],
+            "object_to_gripper_xy": 0.006575847945516448,
+            "object_to_gripper_z": 0.009240186318563826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33520109636248535,
+              -0.06051282140005811,
+              1.1669874866785621
+            ],
+            "finger_b": [
+              0.3246890145887251,
+              -0.03660549624815166,
+              1.1669874866785621
+            ],
+            "finger_midpoint": [
+              0.32994505547560526,
+              -0.04855915882410489,
+              1.1669874866785621
+            ],
+            "object_minus_finger_midpoint": [
+              0.005256040886880087,
+              0.011953662575953226,
+              0.0
+            ],
+            "finger_gap": 0.026116356161172274,
+            "fingertip_max_gap": 0.0916702559740534,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013058178080586125,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1669874866785621,
+            "object_top_z": 1.2168166788418722,
+            "finger_top_clearance": 0.049829192163310054,
+            "fingertip_min_top_clearance": 0.014948757648993049,
+            "object_projection_between_fingers": 0.8379860927461747,
+            "object_to_finger_line_xy": 0.009622925780218587,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483351279870267,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.609586928283409,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2948907306296421,
+              -0.3720788076242306,
+              0.8515395015001903
+            ],
+            "target_position": [
+              0.2874616435577107,
+              -0.37297703273312716,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00748319070107067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18446828656589254,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395015001903,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539370981678255,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723623549319602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15282615099201916,
+            "release_required_pad_clearance": 0.05361811774659801,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.246529621961312,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008159756660461426,
+            "max_z_decrease": 0.008159756660461426,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505262556214873,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008159756660461426,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020937715804478185,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008159756660461426,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008159829245854533,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14316156506538386,
+              -0.429238498210907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14316156506538386,
+              -0.429238498210907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14414488768493594,
+              -0.4292857406845484,
+              0.8036887051195958
+            ],
+            "closest_button": [
+              0.14319166541099543,
+              -0.4292218089103699,
+              0.7686491012573242
+            ],
+            "closest_ee_minus_button": [
+              0.0009532222739405127,
+              -6.393177417851614e-05,
+              0.03503960386227156
+            ],
+            "button_min_z_position": [
+              0.14319166541099543,
+              -0.4292218089103699,
+              0.7686491012573242
+            ],
+            "min_active_finger_to_button": 0.14473026244762854,
+            "closest_active_finger": [
+              0.003664255142211914,
+              -0.4114134907722473,
+              0.8104541301727295
+            ],
+            "closest_active_finger_button": [
+              0.14316077530384058,
+              -0.42923936247825617,
+              0.7762516736984253
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13949652016162867,
+              0.017825871706008856,
+              0.0342024564743042
+            ],
+            "min_contact_pad_to_button": 0.020937715804478185,
+            "closest_contact_pad": [
+              0.14319166541099543,
+              -0.43062024647242,
+              0.7895400637888627
+            ],
+            "closest_contact_pad_button": [
+              0.14319166541099543,
+              -0.4292218089103699,
+              0.7686491012573242
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013984375620501033,
+              0.020890962531538437
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28127637442801945,
+              0.19320904950654882,
+              1.1030346530103001
+            ],
+            "current_z": 1.1030346530103001,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19312552327593757,
+            "gripper_z": 1.1030349062665297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2812763608764143,
+              0.1932089837854314,
+              1.1030349062665297
+            ],
+            "object_minus_gripper": [
+              1.3551605171358005e-08,
+              6.572111743707865e-08,
+              -2.5325622954319726e-07
+            ],
+            "object_to_gripper_xy": 6.710373521569913e-08,
+            "object_to_gripper_z": -2.5325622954319726e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28127637442801945,
+              0.19320904950654882,
+              1.1030346530103001
+            ],
+            "finger_b": [
+              0.28127637442801945,
+              0.19320904950654882,
+              1.1030346530103001
+            ],
+            "finger_midpoint": [
+              0.28127637442801945,
+              0.19320904950654882,
+              1.1030346530103001
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1030346530103001,
+            "object_top_z": 1.2280431596305799,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28127637442801945,
+            0.19320904950654885,
+            1.1030346530103003
+          ],
+          "object_origin_world": [
+            0.28127637442801945,
+            0.19320904950654885,
+            1.1030346530103003
+          ],
+          "frame_world": [
+            0.2812763608764143,
+            0.1932089837854314,
+            1.1030349062665297
+          ],
+          "center_minus_frame": [
+            1.3551605171358005e-08,
+            6.572111746483422e-08,
+            -2.5325622932115266e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436591727242202,
+            "required_z": 0.911259955267242,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00016825090348425307,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1898903958937807e-07,
+            "max_target_xy_drift": 1.5356249897929057e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.246529620225444,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.2468780133688195,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29486754799687204,
+              -0.3719142273258538,
+              0.9233657086858168
+            ],
+            "target_mouth_xy": [
+              0.294890643498832,
+              -0.37207895768999166
+            ],
+            "rod_tip_z": 0.9233657086858168,
+            "rod_tip_depth": -0.02210581402957812,
+            "rod_tip_bottom_clearance": 0.12154641223913154,
+            "rod_tip_xy_dist": 0.0001663415013752827,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044875265785341956,
+            "min_rod_tip_bottom_clearance": 0.05456533262043628,
+            "min_rod_tip_xy_dist": 0.0001663415013752827,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29489064341496574,
+              -0.37207883870098163
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.386624728018433e-11,
+              -1.1898901003393192e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.00044931832013445083,
+                0.001953484042117648
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00035525341829945045,
+                0.0015860094909670996
+              ],
+              "first_target_mouth_xy": [
+                0.29489064134664644,
+                -0.3720788419273073
+              ],
+              "last_target_mouth_xy": [
+                0.2948906392770029,
+                -0.3720788083525325
+              ],
+              "first_rod_tip_xy": [
+                0.2953399596667809,
+                -0.37012535788518963
+              ],
+              "last_rod_tip_xy": [
+                0.2952458926953023,
+                -0.3704927988615654
+              ],
+              "min_rod_tip_xy_dist": 0.0016253095387190597,
+              "max_rod_tip_xy_dist": 0.0020044916701290505,
+              "first_target_xy_drift": 3.832378100759207e-09,
+              "last_target_xy_drift": 3.062925239054334e-08,
+              "max_depth": 0.01939329862182748,
+              "min_bottom_clearance": 0.08004725222397036
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.00044931832013445083,
+                  0.001953484042117648
+                ],
+                "rod_tip_xy": [
+                  0.2953399596667809,
+                  -0.37012535788518963
+                ],
+                "target_mouth_xy": [
+                  0.29489064134664644,
+                  -0.3720788419273073
+                ],
+                "gripper_position": [
+                  0.29532935863071086,
+                  -0.37013447570480373,
+                  1.0060323126683226
+                ],
+                "rod_tip_xy_dist": 0.0020044916701290505,
+                "target_xy_drift": 3.832378100759207e-09,
+                "depth": 0.015068047176579058,
+                "bottom_clearance": 0.0843725788221813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00043871984801385766,
+                  0.0019443634124701736
+                ],
+                "rod_tip_xy": [
+                  0.2953293586307109,
+                  -0.37013447570480373
+                ],
+                "target_mouth_xy": [
+                  0.29489063878269706,
+                  -0.3720788391172739
+                ],
+                "gripper_position": [
+                  0.29532098550153046,
+                  -0.3701376882849717,
+                  1.0058912481147162
+                ],
+                "rod_tip_xy_dist": 0.0019932446374677547,
+                "target_xy_drift": 4.650936720969895e-09,
+                "depth": 0.015227559474919272,
+                "bottom_clearance": 0.08421300617381344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0004303451938109104,
+                  0.0019411511382897984
+                ],
+                "rod_tip_xy": [
+                  0.2953209855015305,
+                  -0.37013768828497173
+                ],
+                "target_mouth_xy": [
+                  0.2948906403077196,
+                  -0.37207883942326153
+                ],
+                "gripper_position": [
+                  0.2953304751594593,
+                  -0.37020874499986123,
+                  1.0053575280005314
+                ],
+                "rod_tip_xy_dist": 0.0019882818531385157,
+                "target_xy_drift": 3.1900888313331228e-09,
+                "depth": 0.015368584442510769,
+                "bottom_clearance": 0.08407193609889141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00043983336158154307,
+                  0.0018700921521996317
+                ],
+                "rod_tip_xy": [
+                  0.2953304751594593,
+                  -0.37020874499986123
+                ],
+                "target_mouth_xy": [
+                  0.2948906417978778,
+                  -0.37207883715206086
+                ],
+                "gripper_position": [
+                  0.29531947918703483,
+                  -0.37021782428385547,
+                  1.0051976078987959
+                ],
+                "rod_tip_xy_dist": 0.0019211189561499753,
+                "target_xy_drift": 2.239225096268509e-09,
+                "depth": 0.015902318810963822,
+                "bottom_clearance": 0.08353826579529045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00042880790540361646,
+                  0.0018610163695808035
+                ],
+                "rod_tip_xy": [
+                  0.2953194791870349,
+                  -0.3702178242838554
+                ],
+                "target_mouth_xy": [
+                  0.29489067128163127,
+                  -0.3720788406534362
+                ],
+                "gripper_position": [
+                  0.2953112372683413,
+                  -0.37022086911290053,
+                  1.0050568419935
+                ],
+                "rod_tip_xy_dist": 0.001909779607071023,
+                "target_xy_drift": 2.7934980342078688e-08,
+                "depth": 0.016062245620680593,
+                "bottom_clearance": 0.08337834213649609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00042059743533767735,
+                  0.0018579687257948008
+                ],
+                "rod_tip_xy": [
+                  0.29531123726834135,
+                  -0.37022086911290053
+                ],
+                "target_mouth_xy": [
+                  0.2948906398330037,
+                  -0.37207883783869533
+                ],
+                "gripper_position": [
+                  0.29532177403740834,
+                  -0.37029273605839713,
+                  1.0045254332622129
+                ],
+                "rod_tip_xy_dist": 0.0019049803118783635,
+                "target_xy_drift": 3.6842896005843487e-09,
+                "depth": 0.01620300468545144,
+                "bottom_clearance": 0.08323753481097296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004311307558410582,
+                  0.0017861048970212456
+                ],
+                "rod_tip_xy": [
+                  0.2953217740374084,
+                  -0.3702927360583972
+                ],
+                "target_mouth_xy": [
+                  0.29489064328156733,
+                  -0.37207884095541843
+                ],
+                "gripper_position": [
+                  0.29531076302699133,
+                  -0.3703016612193205,
+                  1.0043655049778415
+                ],
+                "rod_tip_xy_dist": 0.0018374015434290231,
+                "target_xy_drift": 2.2583800470344692e-09,
+                "depth": 0.01673450076563643,
+                "bottom_clearance": 0.08270616910965545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00042012469957419807,
+                  0.0017771769593630249
+                ],
+                "rod_tip_xy": [
+                  0.2953107630269914,
+                  -0.3703016612193205
+                ],
+                "target_mouth_xy": [
+                  0.2948906383274172,
+                  -0.37207883817868354
+                ],
+                "gripper_position": [
+                  0.2953022778836949,
+                  -0.3703045385534903,
+                  1.0042251048834594
+                ],
+                "rod_tip_xy_dist": 0.0018261606468443889,
+                "target_xy_drift": 5.114288370652702e-09,
+                "depth": 0.016894382990267354,
+                "bottom_clearance": 0.08254620488689512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00041163735598143125,
+                  0.0017743002205238279
+                ],
+                "rod_tip_xy": [
+                  0.2953022778836949,
+                  -0.3703045385534903
+                ],
+                "target_mouth_xy": [
+                  0.29489064052771347,
+                  -0.37207883877401415
+                ],
+                "gripper_position": [
+                  0.29529387497986914,
+                  -0.37030738253036577,
+                  1.0040846174405191
+                ],
+                "rod_tip_xy_dist": 0.0018214243287576588,
+                "target_xy_drift": 2.8881757951546578e-09,
+                "depth": 0.01703470876064006,
+                "bottom_clearance": 0.08240577948099814,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004032318039631222,
+                  0.0017714574642849756
+                ],
+                "rod_tip_xy": [
+                  0.2952938749798692,
+                  -0.37030738253036577
+                ],
+                "target_mouth_xy": [
+                  0.2948906431759061,
+                  -0.37207883999465075
+                ],
+                "gripper_position": [
+                  0.29530590947109747,
+                  -0.370381504096991,
+                  1.0035544741189624
+                ],
+                "rod_tip_xy_dist": 0.0018167711566122765,
+                "target_xy_drift": 1.3155718543287135e-09,
+                "depth": 0.017175298831615504,
+                "bottom_clearance": 0.08226533400189806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000415272096379371,
+                  0.0016973341055041002
+                ],
+                "rod_tip_xy": [
+                  0.29530590947109747,
+                  -0.370381504096991
+                ],
+                "target_mouth_xy": [
+                  0.2948906373747181,
+                  -0.3720788382024951
+                ],
+                "gripper_position": [
+                  0.2952948467631588,
+                  -0.3703901732364712,
+                  1.0033942748469242
+                ],
+                "rod_tip_xy_dist": 0.0017473963430597885,
+                "target_xy_drift": 6.060782153925708e-09,
+                "depth": 0.017705443164468426,
+                "bottom_clearance": 0.08173518187306306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00040417599318370856,
+                  0.0016886655375045745
+                ],
+                "rod_tip_xy": [
+                  0.2952948467631588,
+                  -0.3703901732364713
+                ],
+                "target_mouth_xy": [
+                  0.2948906707699751,
+                  -0.37207883877397585
+                ],
+                "gripper_position": [
+                  0.295286265733942,
+                  -0.37039318243638397,
+                  1.0032541972568354
+                ],
+                "rod_tip_xy_dist": 0.0017363610025054267,
+                "target_xy_drift": 2.7355106757660678e-08,
+                "depth": 0.017865541291881004,
+                "bottom_clearance": 0.08157496184423574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00039562491783223797,
+                  0.001685686762837646
+                ],
+                "rod_tip_xy": [
+                  0.29528626573394207,
+                  -0.37039318243638397
+                ],
+                "target_mouth_xy": [
+                  0.29489064081610983,
+                  -0.3720788691992216
+                ],
+                "gripper_position": [
+                  0.29527751186770146,
+                  -0.37039607016687404,
+                  1.00311381338625
+                ],
+                "rod_tip_xy_dist": 0.0017314903805727097,
+                "target_xy_drift": 3.06087682610659e-08,
+                "depth": 0.018005628489771053,
+                "bottom_clearance": 0.08143488989983438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0003869003464696541,
+                  0.0016828006050374489
+                ],
+                "rod_tip_xy": [
+                  0.2952775118677015,
+                  -0.37039607016687415
+                ],
+                "target_mouth_xy": [
+                  0.29489061152123186,
+                  -0.3720788707719116
+                ],
+                "gripper_position": [
+                  0.2952687962538346,
+                  -0.3703988897920803,
+                  1.0029733091655584
+                ],
+                "rod_tip_xy_dist": 0.0017267048834160232,
+                "target_xy_drift": 4.5230021109067826e-08,
+                "depth": 0.018146044325101363,
+                "bottom_clearance": 0.08129454802983016,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00037815773928828733,
+                  0.001679975958351232
+                ],
+                "rod_tip_xy": [
+                  0.2952687962538347,
+                  -0.37039888979208035
+                ],
+                "target_mouth_xy": [
+                  0.2948906385145464,
+                  -0.3720788657504316
+                ],
+                "gripper_position": [
+                  0.295283359478421,
+                  -0.37047599374885787,
+                  1.0024465958842528
+                ],
+                "rod_tip_xy_dist": 0.0017220111777865347,
+                "target_xy_drift": 2.748975905315137e-08,
+                "depth": 0.018286610113771862,
+                "bottom_clearance": 0.08115404656902381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00039271768987803046,
+                  0.001602848186063155
+                ],
+                "rod_tip_xy": [
+                  0.295283359478421,
+                  -0.37047599374885787
+                ],
+                "target_mouth_xy": [
+                  0.29489064178854296,
+                  -0.372078841934921
+                ],
+                "gripper_position": [
+                  0.2952721233233837,
+                  -0.37048508583719497,
+                  1.0022870852878172
+                ],
+                "rod_tip_xy_dist": 0.0016502574015919709,
+                "target_xy_drift": 3.6198915791733525e-09,
+                "depth": 0.018813282773948448,
+                "bottom_clearance": 0.08062736109111346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003814827966013845,
+                  0.0015937843396576223
+                ],
+                "rod_tip_xy": [
+                  0.29527212332338376,
+                  -0.3704850858371951
+                ],
+                "target_mouth_xy": [
+                  0.2948906405267824,
+                  -0.3720788701768527
+                ],
+                "gripper_position": [
+                  0.29526351190793604,
+                  -0.37048740693785975,
+                  1.0021467131744215
+                ],
+                "rod_tip_xy_dist": 0.001638803723891515,
+                "target_xy_drift": 3.160810122614881e-08,
+                "depth": 0.01897275885592209,
+                "bottom_clearance": 0.08046778895039597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00037287166129529314,
+                  0.001591431837767443
+                ],
+                "rod_tip_xy": [
+                  0.29526351190793604,
+                  -0.37048740693785975
+                ],
+                "target_mouth_xy": [
+                  0.29489064024664075,
+                  -0.3720788387756272
+                ],
+                "gripper_position": [
+                  0.29525474201287516,
+                  -0.37049008462809696,
+                  1.0020066420507245
+                ],
+                "rod_tip_xy_dist": 0.0016345300762167004,
+                "target_xy_drift": 3.169204192057146e-09,
+                "depth": 0.019113108870772666,
+                "bottom_clearance": 0.08032738984341903,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0003640682784332716,
+                  0.0015887870549498584
+                ],
+                "rod_tip_xy": [
+                  0.29525474201287516,
+                  -0.37049008462809707
+                ],
+                "target_mouth_xy": [
+                  0.2948906737344419,
+                  -0.37207887168304693
+                ],
+                "gripper_position": [
+                  0.2952458926953023,
+                  -0.37049279886156533,
+                  1.0018665601304444
+                ],
+                "rod_tip_xy_dist": 0.0016299662626378531,
+                "target_xy_drift": 4.480052751537246e-08,
+                "depth": 0.019253313827043317,
+                "bottom_clearance": 0.08018741357791959,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00035525341829945045,
+                  0.0015860094909670996
+                ],
+                "rod_tip_xy": [
+                  0.2952458926953023,
+                  -0.3704927988615654
+                ],
+                "target_mouth_xy": [
+                  0.2948906392770029,
+                  -0.3720788083525325
+                ],
+                "gripper_position": [
+                  0.29523705241397336,
+                  -0.37049517384894337,
+                  1.0017264843496445
+                ],
+                "rod_tip_xy_dist": 0.0016253095387190597,
+                "target_xy_drift": 3.062925239054334e-08,
+                "depth": 0.01939329862182748,
+                "bottom_clearance": 0.08004725222397036,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006009968434271964,
+              "rod_tip_xy_max_step": 3.262510906022153e-05,
+              "rod_tip_xy_range": 0.0006009837438332562,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29486754799687204,
+            -0.3719142273258538,
+            1.0433657086858168
+          ],
+          "object_origin_world": [
+            0.29486754799687204,
+            -0.3719142273258538,
+            1.0433657086858168
+          ],
+          "frame_world": [
+            0.29489152967835586,
+            -0.3719107091202827,
+            1.0436591727242202
+          ],
+          "center_minus_frame": [
+            -2.3981681483820072e-05,
+            -3.5182055710958338e-06,
+            -0.0002934640384033571
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27167808545344274,
+              0.14735867496590216,
+              0.8331648702193475
+            ],
+            "target_position": [
+              0.28142696781672394,
+              0.19479534531407916,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048428074513186155,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17063085683378845,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331648702193475,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670879518365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14016584676154284,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "504242dd480958b24260747f21686569d2e70df518f250b392dc8f46ee5fa35b",
+    "visual_seed": 1995621853961793080,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ab4a2f7b3ac2475f9e2f488e91c6ddafdc1ea3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_4_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3316433846380525,
+              -0.03283914580716492,
+              1.1636107088803183
+            ],
+            "current_z": 1.1636107088803183,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3025042008655523,
+            "gripper_z": 1.154563887650748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32707961345645775,
+              -0.0374664636237364,
+              1.154563887650748
+            ],
+            "object_minus_gripper": [
+              0.0045637711815947335,
+              0.004627317816571483,
+              0.009046821229570234
+            ],
+            "object_to_gripper_xy": 0.00649923669160575,
+            "object_to_gripper_z": 0.009046821229570234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3316433846380525,
+              -0.056526038504565404,
+              1.1636107088803183
+            ],
+            "finger_b": [
+              0.3209215703371333,
+              -0.03283914580716492,
+              1.1636107088803183
+            ],
+            "finger_midpoint": [
+              0.32628247748759287,
+              -0.04468259215586516,
+              1.1636107088803183
+            ],
+            "object_minus_finger_midpoint": [
+              0.005360907150459615,
+              0.011843446348700243,
+              0.0
+            ],
+            "finger_gap": 0.026000503602075852,
+            "fingertip_max_gap": 0.09171585557750958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013000251801037938,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636107088803183,
+            "object_top_z": 1.2134073061048487,
+            "finger_top_clearance": 0.04979659722453045,
+            "fingertip_min_top_clearance": 0.0149389791673591,
+            "object_projection_between_fingers": 0.8299514071813574,
+            "object_to_finger_line_xy": 0.009767751761817801,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835792778875479,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.680534740112749,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2944619223222667,
+              -0.37736078526490485,
+              0.8515395714599041
+            ],
+            "target_position": [
+              0.28648137041571536,
+              -0.3784702112080495,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00805729698202087,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18316132084172035,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395714599041,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549943293798544,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661988401978142,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15122571790718317,
+            "release_required_pad_clearance": 0.05330994200989071,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6380108877325246,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008203864097595215,
+            "max_z_decrease": 0.008203864097595215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504210235750576,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008203864097595215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020866792142561704,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008203864097595215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008203972299637851,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14218129217624664,
+              -0.434731662273407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14218129217624664,
+              -0.434731662273407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14006859741670022,
+              -0.43448552266868284,
+              0.803580213868813
+            ],
+            "closest_button": [
+              0.1422203183174133,
+              -0.43471577763557434,
+              0.7686049938201904
+            ],
+            "closest_ee_minus_button": [
+              -0.0021517209007130833,
+              0.0002302549668914966,
+              0.034975220048622524
+            ],
+            "button_min_z_position": [
+              0.1422203183174133,
+              -0.43471577763557434,
+              0.7686049938201904
+            ],
+            "min_active_finger_to_button": 0.14752882797951813,
+            "closest_active_finger": [
+              0.012629128992557526,
+              -0.4964830279350281,
+              0.810967743396759
+            ],
+            "closest_active_finger_button": [
+              0.14218200743198395,
+              -0.43473327159881586,
+              0.7767950296401978
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12955287843942642,
+              -0.061749756336212214,
+              0.03417271375656128
+            ],
+            "min_contact_pad_to_button": 0.020866792142561704,
+            "closest_contact_pad": [
+              0.1422203183174133,
+              -0.43576318248260176,
+              0.7894454822359473
+            ],
+            "closest_contact_pad_button": [
+              0.1422203183174133,
+              -0.43471577763557434,
+              0.7686049938201904
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010474048470274222,
+              0.02084048841575692
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2816177734488507,
+              0.2003204490207353,
+              1.104235155613826
+            ],
+            "current_z": 1.104235155613826,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19432602587946335,
+            "gripper_z": 1.1042351094236185,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2816178563375702,
+              0.20032039390409956,
+              1.1042351094236185
+            ],
+            "object_minus_gripper": [
+              -8.288871949924115e-08,
+              5.51166357276589e-08,
+              4.619020743668045e-08
+            ],
+            "object_to_gripper_xy": 9.954086273565909e-08,
+            "object_to_gripper_z": 4.619020743668045e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2816177734488507,
+              0.2003204490207353,
+              1.104235155613826
+            ],
+            "finger_b": [
+              0.2816177734488507,
+              0.2003204490207353,
+              1.104235155613826
+            ],
+            "finger_midpoint": [
+              0.2816177734488507,
+              0.2003204490207353,
+              1.104235155613826
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104235155613826,
+            "object_top_z": 1.2292436622341056,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2816177734488507,
+            0.20032044902073531,
+            1.1042351556138261
+          ],
+          "object_origin_world": [
+            0.2816177734488507,
+            0.20032044902073531,
+            1.1042351556138261
+          ],
+          "frame_world": [
+            0.2816178563375702,
+            0.20032039390409956,
+            1.1042351094236185
+          ],
+          "center_minus_frame": [
+            -8.288871949924115e-08,
+            5.511663575541448e-08,
+            4.619020765872506e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043443324925115,
+            "required_z": 0.911259862818844,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017022263455130496,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.97423373204938e-07,
+            "max_target_xy_drift": 6.012134576655484e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.640875427809235,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6408754289515117,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29402792726486493,
+              -0.37899627862985286,
+              0.9235716865665303
+            ],
+            "target_mouth_xy": [
+              0.294461833644494,
+              -0.37735938530907015
+            ],
+            "rod_tip_z": 0.9235716865665303,
+            "rod_tip_depth": -0.022311794281743125,
+            "rod_tip_bottom_clearance": 0.12175239541508709,
+            "rod_tip_xy_dist": 0.0016934268481117983,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045126922718899176,
+            "min_rod_tip_bottom_clearance": 0.054313647632990514,
+            "min_rod_tip_xy_dist": 2.045323489928557e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29446178385144967,
+              -0.37735988023397854
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.9793044354373706e-08,
+              4.94924908389649e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                3.7877381252049425e-05,
+                0.00011442321592164406
+              ],
+              "last_rod_tip_xy_delta": [
+                -5.5329821898986165e-05,
+                -0.00025558878563380905
+              ],
+              "first_target_mouth_xy": [
+                0.2944618094552445,
+                -0.37735957272441817
+              ],
+              "last_target_mouth_xy": [
+                0.29446184409290777,
+                -0.37735960730010343
+              ],
+              "first_rod_tip_xy": [
+                0.2944996868364966,
+                -0.3772451495084965
+              ],
+              "last_rod_tip_xy": [
+                0.2944065142710088,
+                -0.37761519608573724
+              ],
+              "min_rod_tip_xy_dist": 2.045323489928557e-05,
+              "max_rod_tip_xy_dist": 0.0002615091136712805,
+              "first_target_xy_drift": 3.085736282169047e-07,
+              "last_target_xy_drift": 2.7950301153562716e-07,
+              "max_depth": 0.019398100584140487,
+              "min_bottom_clearance": 0.08004253944119133
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  3.7877381252049425e-05,
+                  0.00011442321592164406
+                ],
+                "rod_tip_xy": [
+                  0.2944996868364966,
+                  -0.3772451495084965
+                ],
+                "target_mouth_xy": [
+                  0.2944618094552445,
+                  -0.37735957272441817
+                ],
+                "gripper_position": [
+                  0.29448922032151237,
+                  -0.3772546061092356,
+                  1.0060637246975885
+                ],
+                "rod_tip_xy_dist": 0.00012052953311269518,
+                "target_xy_drift": 3.085736282169047e-07,
+                "depth": 0.015033992945201247,
+                "bottom_clearance": 0.08440654535877257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  2.7410997002874637e-05,
+                  0.00010496597883580261
+                ],
+                "rod_tip_xy": [
+                  0.2944892203215123,
+                  -0.37725460610923567
+                ],
+                "target_mouth_xy": [
+                  0.29446180932450944,
+                  -0.37735957208807147
+                ],
+                "gripper_position": [
+                  0.2944811325205747,
+                  -0.37725841212521394,
+                  1.0059211853458172
+                ],
+                "rod_tip_xy_dist": 0.00010848603352344376,
+                "target_xy_drift": 3.091969870767262e-07,
+                "depth": 0.015196117943347964,
+                "bottom_clearance": 0.08424440611191275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  1.932399738752144e-05,
+                  0.00010113047305332357
+                ],
+                "rod_tip_xy": [
+                  0.2944811325205746,
+                  -0.37725841212521394
+                ],
+                "target_mouth_xy": [
+                  0.2944618085231871,
+                  -0.37735954259826726
+                ],
+                "gripper_position": [
+                  0.29449044326832385,
+                  -0.37732860871550666,
+                  1.0053835689387682
+                ],
+                "rod_tip_xy_dist": 0.0001029601352709967,
+                "target_xy_drift": 3.3853591856444124e-07,
+                "depth": 0.015338685027958321,
+                "bottom_clearance": 0.08410187624367926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  2.8661255096706917e-05,
+                  3.0933517807696376e-05
+                ],
+                "rod_tip_xy": [
+                  0.29449044326832374,
+                  -0.37732860871550666
+                ],
+                "target_mouth_xy": [
+                  0.29446178201322704,
+                  -0.37735954223331436
+                ],
+                "gripper_position": [
+                  0.29447984856713794,
+                  -0.3773379848062777,
+                  1.0052214885150699
+                ],
+                "rod_tip_xy_dist": 4.217048811286842e-05,
+                "target_xy_drift": 3.3800566274583764e-07,
+                "depth": 0.015876313641734474,
+                "bottom_clearance": 0.0835642272219771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  1.8069648098084645e-05,
+                  2.155716772822558e-05
+                ],
+                "rod_tip_xy": [
+                  0.2944798485671378,
+                  -0.3773379848062778
+                ],
+                "target_mouth_xy": [
+                  0.29446177891903974,
+                  -0.377359541974006
+                ],
+                "gripper_position": [
+                  0.2944716000675374,
+                  -0.37734161656620546,
+                  1.0050794151968523
+                ],
+                "rod_tip_xy_dist": 2.8128698207550674e-05,
+                "target_xy_drift": 3.382959321143202e-07,
+                "depth": 0.016038378120991514,
+                "bottom_clearance": 0.08340218054124804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  9.788828859880194e-06,
+                  1.7958664967010485e-05
+                ],
+                "rod_tip_xy": [
+                  0.29447160006753736,
+                  -0.37734161656620546
+                ],
+                "target_mouth_xy": [
+                  0.2944618112386775,
+                  -0.3773595752311725
+                ],
+                "gripper_position": [
+                  0.2944817497582808,
+                  -0.3774127206932866,
+                  1.0045442394093522
+                ],
+                "rod_tip_xy_dist": 2.045323489928557e-05,
+                "target_xy_drift": 3.0622993314878486e-07,
+                "depth": 0.016180457723010244,
+                "bottom_clearance": 0.08326016797479574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  1.9940004751972662e-05,
+                  -5.3240881634164516e-05
+                ],
+                "rod_tip_xy": [
+                  0.2944817497582807,
+                  -0.3774127206932866
+                ],
+                "target_mouth_xy": [
+                  0.2944618097535287,
+                  -0.3773594798116524
+                ],
+                "gripper_position": [
+                  0.29447103237441297,
+                  -0.37742199102205765,
+                  1.0043827478681078
+                ],
+                "rod_tip_xy_dist": 5.685239895283055e-05,
+                "target_xy_drift": 4.012592141768553e-07,
+                "depth": 0.01671563866438619,
+                "bottom_clearance": 0.08272496776990323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  9.223531539426233e-06,
+                  -6.24782308608074e-05
+                ],
+                "rod_tip_xy": [
+                  0.2944710323744129,
+                  -0.37742199102205776
+                ],
+                "target_mouth_xy": [
+                  0.2944618088428735,
+                  -0.37735951279119695
+                ],
+                "gripper_position": [
+                  0.29446271582712924,
+                  -0.3774252790481153,
+                  1.0042407448191264
+                ],
+                "rod_tip_xy_dist": 6.315538667093358e-05,
+                "target_xy_drift": 3.6829169011440293e-07,
+                "depth": 0.016877112834384422,
+                "bottom_clearance": 0.08256343629785301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  9.064927715130011e-07,
+                  -6.576785088990844e-05
+                ],
+                "rod_tip_xy": [
+                  0.29446271582712913,
+                  -0.3774252790481153
+                ],
+                "target_mouth_xy": [
+                  0.2944618093343576,
+                  -0.3773595111972254
+                ],
+                "gripper_position": [
+                  0.2944543569998995,
+                  -0.37742870719858895,
+                  1.0040987828656691
+                ],
+                "rod_tip_xy_dist": 6.577409778797453e-05,
+                "target_xy_drift": 3.6991553600468814e-07,
+                "depth": 0.017019119357765344,
+                "bottom_clearance": 0.08242144882082592,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -7.458382724701007e-06,
+                  -6.903681474795809e-05
+                ],
+                "rod_tip_xy": [
+                  0.29445435699989947,
+                  -0.3774287071985889
+                ],
+                "target_mouth_xy": [
+                  0.29446181538262417,
+                  -0.37735967038384094
+                ],
+                "gripper_position": [
+                  0.2944659078854911,
+                  -0.377501979697147,
+                  1.0035653774861362
+                ],
+                "rod_tip_xy_dist": 6.943852866681437e-05,
+                "target_xy_drift": 2.1220578506835858e-07,
+                "depth": 0.017161038587848676,
+                "bottom_clearance": 0.08227947770392596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  4.161773500488408e-06,
+                  -0.00014243641600664159
+                ],
+                "rod_tip_xy": [
+                  0.294465907885491,
+                  -0.37750197969714705
+                ],
+                "target_mouth_xy": [
+                  0.2944617461119905,
+                  -0.3773595432811404
+                ],
+                "gripper_position": [
+                  0.29445496117420356,
+                  -0.3775112247664634,
+                  1.003403731077368
+                ],
+                "rod_tip_xy_dist": 0.00014249720335321122,
+                "target_xy_drift": 3.390597025645516e-07,
+                "depth": 0.017694530177036705,
+                "bottom_clearance": 0.08174616123250977,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -6.8794714936371015e-06,
+                  -0.00015168440704432795
+                ],
+                "rod_tip_xy": [
+                  0.29445496117420344,
+                  -0.3775112247664635
+                ],
+                "target_mouth_xy": [
+                  0.2944618406456971,
+                  -0.37735954035941915
+                ],
+                "gripper_position": [
+                  0.29444667434100996,
+                  -0.37751437292772105,
+                  1.0032620702889852
+                ],
+                "rod_tip_xy_dist": 0.00015184033215328901,
+                "target_xy_drift": 3.445871481307189e-07,
+                "depth": 0.01785611853236846,
+                "bottom_clearance": 0.08158445491176458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -1.5139108873407636e-05,
+                  -0.0001546375026145741
+                ],
+                "rod_tip_xy": [
+                  0.29444667434100985,
+                  -0.37751437292772105
+                ],
+                "target_mouth_xy": [
+                  0.29446181344988326,
+                  -0.3773597354251065
+                ],
+                "gripper_position": [
+                  0.2944381844805365,
+                  -0.377517461651428,
+                  1.0031199877944887
+                ],
+                "rod_tip_xy_dist": 0.00015537679953053898,
+                "target_xy_drift": 1.478028304819889e-07,
+                "depth": 0.01799787729564739,
+                "bottom_clearance": 0.08144284422246006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -2.366296948730362e-05,
+                  -0.000157796372546537
+                ],
+                "rod_tip_xy": [
+                  0.29443818448053644,
+                  -0.37751746165142797
+                ],
+                "target_mouth_xy": [
+                  0.29446184745002374,
+                  -0.37735966527888143
+                ],
+                "gripper_position": [
+                  0.29442968301046457,
+                  -0.37752071478170746,
+                  1.0029782789038926
+                ],
+                "rod_tip_xy_dist": 0.00015956074490238055,
+                "target_xy_drift": 2.241661713956228e-07,
+                "depth": 0.01814000252127712,
+                "bottom_clearance": 0.08130078659350792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -3.2126690326039764e-05,
+                  -0.0001612029573390128
+                ],
+                "rod_tip_xy": [
+                  0.29442968301046446,
+                  -0.37752071478170746
+                ],
+                "target_mouth_xy": [
+                  0.2944618097007905,
+                  -0.37735951182436844
+                ],
+                "gripper_position": [
+                  0.29444335461318905,
+                  -0.3775969289545433,
+                  1.0024485654783846
+                ],
+                "rod_tip_xy_dist": 0.00016437310511804794,
+                "target_xy_drift": 3.693153520136724e-07,
+                "depth": 0.018281503656537468,
+                "bottom_clearance": 0.08115902834689315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -1.842877377433716e-05,
+                  -0.00023722683261495625
+                ],
+                "rod_tip_xy": [
+                  0.294443354613189,
+                  -0.37759692895454333
+                ],
+                "target_mouth_xy": [
+                  0.2944617833869633,
+                  -0.3773597021219284
+                ],
+                "gripper_position": [
+                  0.2944323753720323,
+                  -0.3776060876461794,
+                  1.0022869408916377
+                ],
+                "rod_tip_xy_dist": 0.00023794156806945308,
+                "target_xy_drift": 1.781126558144529e-07,
+                "depth": 0.0188113244034932,
+                "bottom_clearance": 0.08062927809723053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -2.9469265742598783e-05,
+                  -0.00024641630833666106
+                ],
+                "rod_tip_xy": [
+                  0.2944323753720322,
+                  -0.3776060876461794
+                ],
+                "target_mouth_xy": [
+                  0.2944618446377748,
+                  -0.37735967133784276
+                ],
+                "gripper_position": [
+                  0.29442366433945283,
+                  -0.3776091718900518,
+                  1.0021452896982976
+                ],
+                "rod_tip_xy_dist": 0.0002481721874781224,
+                "target_xy_drift": 2.175605039227304e-07,
+                "depth": 0.018972881262477315,
+                "bottom_clearance": 0.08046762349157277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -3.81803464067354e-05,
+                  -0.0002495347990949526
+                ],
+                "rod_tip_xy": [
+                  0.2944236643394527,
+                  -0.37760917189005183
+                ],
+                "target_mouth_xy": [
+                  0.29446184468585945,
+                  -0.3773596370909569
+                ],
+                "gripper_position": [
+                  0.29441523256095464,
+                  -0.377612053706703,
+                  1.0020033709411431
+                ],
+                "rod_tip_xy_dist": 0.00025243881399479096,
+                "target_xy_drift": 2.50637894973214e-07,
+                "depth": 0.019114591168936212,
+                "bottom_clearance": 0.08032603496032287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -4.658160013509827e-05,
+                  -0.00025231575517836724
+                ],
+                "rod_tip_xy": [
+                  0.2944152325609546,
+                  -0.37761205370670303
+                ],
+                "target_mouth_xy": [
+                  0.2944618141610897,
+                  -0.37735973795152467
+                ],
+                "gripper_position": [
+                  0.29440651427100883,
+                  -0.3776151960857372,
+                  1.0018617939122312
+                ],
+                "rod_tip_xy_dist": 0.00025657958956701126,
+                "target_xy_drift": 1.454749839617058e-07,
+                "depth": 0.019256602576661508,
+                "bottom_clearance": 0.08018418519683557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -5.5329821898986165e-05,
+                  -0.00025558878563380905
+                ],
+                "rod_tip_xy": [
+                  0.2944065142710088,
+                  -0.37761519608573724
+                ],
+                "target_mouth_xy": [
+                  0.29446184409290777,
+                  -0.37735960730010343
+                ],
+                "gripper_position": [
+                  0.29439784887964643,
+                  -0.37761812677028317,
+                  1.0017204465704195
+                ],
+                "rod_tip_xy_dist": 0.0002615091136712805,
+                "target_xy_drift": 2.7950301153562716e-07,
+                "depth": 0.019398100584140487,
+                "bottom_clearance": 0.08004253944119133,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.000605198297498852,
+              "rod_tip_xy_max_step": 3.2941969723421424e-05,
+              "rod_tip_xy_range": 0.000605192656246033,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29402792726486493,
+            -0.37899627862985286,
+            1.0435716865665303
+          ],
+          "object_origin_world": [
+            0.29402792726486493,
+            -0.37899627862985286,
+            1.0435716865665303
+          ],
+          "frame_world": [
+            0.2940266607603047,
+            -0.3790050459946992,
+            1.043443324925115
+          ],
+          "center_minus_frame": [
+            1.2665045602267e-06,
+            8.767364846340442e-06,
+            0.00012836164141538653
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27097836153066923,
+              0.15194241807946243,
+              0.8327963765315409
+            ],
+            "target_position": [
+              0.2817806361988976,
+              0.1988448511726909,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04813031651747806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1682108021977414,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327963765315409,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669503219778,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1367280024999194,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "363927c7804617cbbbcc3cc7305235710f496749e231cd34f3914d529ddf88b5",
+    "visual_seed": 6435262568457386135,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb187e4496c52ecd855c08e3592960f4bc434637
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_50_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3366500741910047,
+              -0.03081397094071262,
+              1.164468777600492
+            ],
+            "current_z": 1.164468777600492,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3033622695857261,
+            "gripper_z": 1.155371633119998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33195815693265085,
+              -0.03544114690716001,
+              1.155371633119998
+            ],
+            "object_minus_gripper": [
+              0.004691917258353828,
+              0.004627175966447388,
+              0.009097144480494146
+            ],
+            "object_to_gripper_xy": 0.006589753029037342,
+            "object_to_gripper_z": 0.009097144480494146,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3366500741910047,
+              -0.05489667470541714,
+              1.164468777600492
+            ],
+            "finger_b": [
+              0.326340430041358,
+              -0.03081397094071262,
+              1.164468777600492
+            ],
+            "finger_midpoint": [
+              0.33149525211618136,
+              -0.04285532282306488,
+              1.164468777600492
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051548220748233176,
+              0.012041351882352263,
+              0.0
+            ],
+            "finger_gap": 0.026196667404669197,
+            "fingertip_max_gap": 0.09238196272398116,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01309833370233459,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164468777600492,
+            "object_top_z": 1.2143207232803441,
+            "finger_top_clearance": 0.04985194567985207,
+            "fingertip_min_top_clearance": 0.014955583703955621,
+            "object_projection_between_fingers": 0.8451200292071637,
+            "object_to_finger_line_xy": 0.009477698141527989,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048690981361990585,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.199472266643578,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29312205734153773,
+              -0.3735671521655064,
+              0.8515395061410591
+            ],
+            "target_position": [
+              0.2872999669378166,
+              -0.37354097363216726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0058221492581957465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18272697570509203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395061410591,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516691178301588,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0881280722994816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515260928361681,
+            "release_required_pad_clearance": 0.0540640361497408,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1406967923308517,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008161842823028564,
+            "max_z_decrease": 0.008161842823028564,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504155584533258,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008161842823028564,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020910743292542826,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008161842823028564,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816192783053945,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1429998874664306,
+              -0.42980241775512695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1429998874664306,
+              -0.42980241775512695,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14404676557476712,
+              -0.42956679609486825,
+              0.8036731213326505
+            ],
+            "closest_button": [
+              0.14302797615528104,
+              -0.42977795004844666,
+              0.7686470150947571
+            ],
+            "closest_ee_minus_button": [
+              0.001018789419486077,
+              0.0002111539535784024,
+              0.03502610623789337
+            ],
+            "button_min_z_position": [
+              0.14302797615528104,
+              -0.42977795004844666,
+              0.7686470150947571
+            ],
+            "min_active_finger_to_button": 0.14471013263181312,
+            "closest_active_finger": [
+              0.003536425530910492,
+              -0.4118908941745758,
+              0.8104486465454102
+            ],
+            "closest_active_finger_button": [
+              0.14299909770488733,
+              -0.4298032224178314,
+              0.7762385010719299
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13946267217397684,
+              0.017912328243255615,
+              0.034210145473480225
+            ],
+            "min_contact_pad_to_button": 0.020910743292542826,
+            "closest_contact_pad": [
+              0.14302797615528104,
+              -0.43088577482914076,
+              0.7895283921878011
+            ],
+            "closest_contact_pad_button": [
+              0.14302797615528104,
+              -0.42977795004844666,
+              0.7686470150947571
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011078247806941,
+              0.02088137709304405
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28087018088694377,
+              0.19726984462019567,
+              1.101125336726545
+            ],
+            "current_z": 1.101125336726545,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19121620699218245,
+            "gripper_z": 1.101125336726545,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2808701808869437,
+              0.19726984462019576,
+              1.101125336726545
+            ],
+            "object_minus_gripper": [
+              5.551115123125783e-17,
+              -8.326672684688674e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 1.0007415106216802e-16,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28087018088694377,
+              0.19726984462019567,
+              1.101125336726545
+            ],
+            "finger_b": [
+              0.28087018088694377,
+              0.19726984462019567,
+              1.101125336726545
+            ],
+            "finger_midpoint": [
+              0.28087018088694377,
+              0.19726984462019567,
+              1.101125336726545
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101125336726545,
+            "object_top_z": 1.2261338433468247,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2808701808869437,
+            0.1972698446201957,
+            1.101125336726545
+          ],
+          "object_origin_world": [
+            0.2808701808869437,
+            0.1972698446201957,
+            1.101125336726545
+          ],
+          "frame_world": [
+            0.2808701808869437,
+            0.19726984462019576,
+            1.101125336726545
+          ],
+          "center_minus_frame": [
+            0.0,
+            -5.551115123125783e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.04364782150399,
+            "required_z": 0.9112597602441952,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0025898062395308644,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.713738802616703e-08,
+            "max_target_xy_drift": 1.5588563408196687e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.141444415753849,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.1414444164656286,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2914684613928555,
+              -0.3755830424509662,
+              0.9233538170680081
+            ],
+            "target_mouth_xy": [
+              0.29312233933516746,
+              -0.3735670246665499
+            ],
+            "rod_tip_z": 0.9233538170680081,
+            "rod_tip_depth": -0.022093935586575575,
+            "rod_tip_bottom_clearance": 0.12153451101806023,
+            "rod_tip_xy_dist": 0.0026076119257184087,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04511121183922984,
+            "min_rod_tip_bottom_clearance": 0.05432941152279147,
+            "min_rod_tip_xy_dist": 0.0010702070696597787,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2931222872516497,
+              -0.37356710666032605
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.20835177764134e-08,
+              8.199377615758507e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0011086679130550836,
+                -0.00029374609196619605
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012126405905214521,
+                -0.0006530899079449926
+              ],
+              "first_target_mouth_xy": [
+                0.29312225429013655,
+                -0.37356710296457474
+              ],
+              "last_target_mouth_xy": [
+                0.2931222868702468,
+                -0.3735670756309669
+              ],
+              "first_rod_tip_xy": [
+                0.29201358637708147,
+                -0.37386084905654093
+              ],
+              "last_rod_tip_xy": [
+                0.2919096462797253,
+                -0.3742201655389119
+              ],
+              "min_rod_tip_xy_dist": 0.0011469225379175908,
+              "max_rod_tip_xy_dist": 0.0013773248090555165,
+              "first_target_xy_drift": 3.316805580090508e-08,
+              "last_target_xy_drift": 3.10317030901351e-08,
+              "max_depth": 0.019375810425546036,
+              "min_bottom_clearance": 0.08006474215496862
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0011086679130550836,
+                  -0.00029374609196619605
+                ],
+                "rod_tip_xy": [
+                  0.29201358637708147,
+                  -0.37386084905654093
+                ],
+                "target_mouth_xy": [
+                  0.29312225429013655,
+                  -0.37356710296457474
+                ],
+                "gripper_position": [
+                  0.2920030994035574,
+                  -0.37386982558493465,
+                  1.006046342229916
+                ],
+                "rod_tip_xy_dist": 0.0011469225379175908,
+                "target_xy_drift": 3.316805580090508e-08,
+                "depth": 0.015054231591227318,
+                "bottom_clearance": 0.08438647623348794,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011192193556593955,
+                  -0.00030271829255834604
+                ],
+                "rod_tip_xy": [
+                  0.2920030994035574,
+                  -0.37386982558493465
+                ],
+                "target_mouth_xy": [
+                  0.2931223187592168,
+                  -0.3735671072923763
+                ],
+                "gripper_position": [
+                  0.2919949306567331,
+                  -0.37387324442292313,
+                  1.0059059919226288
+                ],
+                "rod_tip_xy_dist": 0.0011594353499579323,
+                "target_xy_drift": 3.151390602195593e-08,
+                "depth": 0.015213558000207628,
+                "bottom_clearance": 0.08422704127388447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011273254057653226,
+                  -0.00030613929558470643
+                ],
+                "rod_tip_xy": [
+                  0.2919949306567331,
+                  -0.37387324442292313
+                ],
+                "target_mouth_xy": [
+                  0.2931222560624984,
+                  -0.37356710512733843
+                ],
+                "gripper_position": [
+                  0.29200177825814067,
+                  -0.37394175733995805,
+                  1.0053704831911845
+                ],
+                "rod_tip_xy_dist": 0.0011681540304193834,
+                "target_xy_drift": 3.122680270990218e-08,
+                "depth": 0.015353864343128465,
+                "bottom_clearance": 0.0840866993188375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011205100162071102,
+                  -0.00037461867643961977
+                ],
+                "rod_tip_xy": [
+                  0.29200177825814067,
+                  -0.37394175733995805
+                ],
+                "target_mouth_xy": [
+                  0.2931222882743478,
+                  -0.3735671386635184
+                ],
+                "gripper_position": [
+                  0.29199093806645277,
+                  -0.3739510722830254,
+                  1.005211211209973
+                ],
+                "rod_tip_xy_dist": 0.0011814744386392077,
+                "target_xy_drift": 3.201952893959257e-08,
+                "depth": 0.015889438226818542,
+                "bottom_clearance": 0.08355118612991685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011313193052608916,
+                  -0.00038396560377523814
+                ],
+                "rod_tip_xy": [
+                  0.2919909380664528,
+                  -0.3739510722830255
+                ],
+                "target_mouth_xy": [
+                  0.2931222573717137,
+                  -0.37356710667925025
+                ],
+                "gripper_position": [
+                  0.29198266887467417,
+                  -0.37395419186409135,
+                  1.005071040216848
+                ],
+                "rod_tip_xy_dist": 0.0011947020362159217,
+                "target_xy_drift": 2.9879941962659196e-08,
+                "depth": 0.01604854814650769,
+                "bottom_clearance": 0.08339196844481134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011396175356482852,
+                  -0.00038711559145454544
+                ],
+                "rod_tip_xy": [
+                  0.29198266887467417,
+                  -0.3739541918640915
+                ],
+                "target_mouth_xy": [
+                  0.29312228641032245,
+                  -0.37356707627263697
+                ],
+                "gripper_position": [
+                  0.2919902745113533,
+                  -0.3740238930846227,
+                  1.0045382151479263
+                ],
+                "rod_tip_xy_dist": 0.0012035724360022013,
+                "target_xy_drift": 3.039933353828058e-08,
+                "depth": 0.016188844056601814,
+                "bottom_clearance": 0.0832516675141255,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001132011102662478,
+                  -0.00045678541936944317
+                ],
+                "rod_tip_xy": [
+                  0.2919902745113533,
+                  -0.3740238930846228
+                ],
+                "target_mouth_xy": [
+                  0.29312228561401577,
+                  -0.37356710766525336
+                ],
+                "gripper_position": [
+                  0.2919795265925624,
+                  -0.37403300553741087,
+                  1.004379026554455
+                ],
+                "rod_tip_xy_dist": 0.0012206973645828999,
+                "target_xy_drift": 1.9213858908943628e-09,
+                "depth": 0.016721635164370974,
+                "bottom_clearance": 0.08271890781458813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011427599793309429,
+                  -0.0004658991515713584
+                ],
+                "rod_tip_xy": [
+                  0.2919795265925624,
+                  -0.37403300553741103
+                ],
+                "target_mouth_xy": [
+                  0.2931222865718933,
+                  -0.3735671063858397
+                ],
+                "gripper_position": [
+                  0.291971049928496,
+                  -0.3740362230211445,
+                  1.0042389596156056
+                ],
+                "rod_tip_xy_dist": 0.0012340836235018146,
+                "target_xy_drift": 7.330835449298985e-10,
+                "depth": 0.01688079356264638,
+                "bottom_clearance": 0.08255971215585778,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011512370270832517,
+                  -0.0004691131440065499
+                ],
+                "rod_tip_xy": [
+                  0.29197104992849604,
+                  -0.3740362230211446
+                ],
+                "target_mouth_xy": [
+                  0.2931222869555793,
+                  -0.37356710987713804
+                ],
+                "gripper_position": [
+                  0.29196270492465815,
+                  -0.37403920166519805,
+                  1.0040990173338373
+                ],
+                "rod_tip_xy_dist": 0.001243146746931831,
+                "target_xy_drift": 3.230408180551534e-09,
+                "depth": 0.017020908079906305,
+                "bottom_clearance": 0.08241969711696273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011595494617669955,
+                  -0.0004721265854195078
+                ],
+                "rod_tip_xy": [
+                  0.29196270492465815,
+                  -0.3740392016651981
+                ],
+                "target_mouth_xy": [
+                  0.29312225438642514,
+                  -0.3735670750797786
+                ],
+                "gripper_position": [
+                  0.2919718673096985,
+                  -0.3741109183486791,
+                  1.0035679546169753
+                ],
+                "rod_tip_xy_dist": 0.001251981815740154,
+                "target_xy_drift": 4.557909566605062e-08,
+                "depth": 0.01716089558998879,
+                "bottom_clearance": 0.08227974398290183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011504488475200803,
+                  -0.0005438103380017711
+                ],
+                "rod_tip_xy": [
+                  0.29197186730969854,
+                  -0.37411091834867916
+                ],
+                "target_mouth_xy": [
+                  0.2931223161572186,
+                  -0.3735671080106774
+                ],
+                "gripper_position": [
+                  0.291960941704966,
+                  -0.3741198174439469,
+                  1.0034088545686748
+                ],
+                "rod_tip_xy_dist": 0.0012725023514626138,
+                "target_xy_drift": 2.8937093225999947e-08,
+                "depth": 0.01769188059145632,
+                "bottom_clearance": 0.08174864842155793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011613431494227333,
+                  -0.0005527725213418933
+                ],
+                "rod_tip_xy": [
+                  0.291960941704966,
+                  -0.37411981744394696
+                ],
+                "target_mouth_xy": [
+                  0.29312228485438874,
+                  -0.37356704492260506
+                ],
+                "gripper_position": [
+                  0.29195251966736613,
+                  -0.3741226600470419,
+                  1.0032692582642402
+                ],
+                "rod_tip_xy_dist": 0.001286186367157492,
+                "target_xy_drift": 6.1784245995308e-08,
+                "depth": 0.017851043163386815,
+                "bottom_clearance": 0.0815895814395372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011697685177033956,
+                  -0.0005555517819509359
+                ],
+                "rod_tip_xy": [
+                  0.2919525196673662,
+                  -0.3741226600470421
+                ],
+                "target_mouth_xy": [
+                  0.2931222881850696,
+                  -0.37356710826509115
+                ],
+                "gripper_position": [
+                  0.29194396944883716,
+                  -0.3741257695808158,
+                  1.0031294771414996
+                ],
+                "rod_tip_xy_dist": 0.0012949888676891627,
+                "target_xy_drift": 1.8564869311741715e-09,
+                "depth": 0.01799065198847838,
+                "bottom_clearance": 0.08144994876509293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011782873040260822,
+                  -0.0005586936409042176
+                ],
+                "rod_tip_xy": [
+                  0.2919439694488372,
+                  -0.3741257695808159
+                ],
+                "target_mouth_xy": [
+                  0.2931222567528633,
+                  -0.3735670759399117
+                ],
+                "gripper_position": [
+                  0.2919352439500432,
+                  -0.3741285938225489,
+                  1.0029892970616405
+                ],
+                "rod_tip_xy_dist": 0.0013040320376493302,
+                "target_xy_drift": 4.328879567039665e-08,
+                "depth": 0.018130295013132902,
+                "bottom_clearance": 0.08131023440848162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011870412652587592,
+                  -0.000561517525257571
+                ],
+                "rod_tip_xy": [
+                  0.2919352439500433,
+                  -0.37412859382254904
+                ],
+                "target_mouth_xy": [
+                  0.29312228521530204,
+                  -0.37356707629729147
+                ],
+                "gripper_position": [
+                  0.2919466659987269,
+                  -0.3742031635512383,
+                  1.002461459384515
+                ],
+                "rod_tip_xy_dist": 0.0013131522747185501,
+                "target_xy_drift": 3.043124350140863e-08,
+                "depth": 0.01827056390931736,
+                "bottom_clearance": 0.08116999334980946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011756194057692682,
+                  -0.0006360862952636825
+                ],
+                "rod_tip_xy": [
+                  0.29194666599872693,
+                  -0.3742031635512384
+                ],
+                "target_mouth_xy": [
+                  0.2931222854044962,
+                  -0.3735670772559747
+                ],
+                "gripper_position": [
+                  0.2919354439913949,
+                  -0.37421227098213433,
+                  1.00230271116094
+                ],
+                "rod_tip_xy_dist": 0.0013366700274351797,
+                "target_xy_drift": 2.9462312432734246e-08,
+                "depth": 0.018798385266784567,
+                "bottom_clearance": 0.08064214242582679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011868418755448529,
+                  -0.0006451940654839672
+                ],
+                "rod_tip_xy": [
+                  0.2919354439913949,
+                  -0.3742122709821344
+                ],
+                "target_mouth_xy": [
+                  0.2931222858669398,
+                  -0.3735670769166504
+                ],
+                "gripper_position": [
+                  0.291926807572393,
+                  -0.37421495803879956,
+                  1.0021631985344335
+                ],
+                "rod_tip_xy_dist": 0.0013508771297503536,
+                "target_xy_drift": 2.9775890611514513e-08,
+                "depth": 0.01895711931407451,
+                "bottom_clearance": 0.08048339084892597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011954774125694234,
+                  -0.0006478814175370773
+                ],
+                "rod_tip_xy": [
+                  0.29192680757239303,
+                  -0.37421495803879967
+                ],
+                "target_mouth_xy": [
+                  0.29312228498496246,
+                  -0.3735670766212626
+                ],
+                "gripper_position": [
+                  0.29191824234275077,
+                  -0.374217614505928,
+                  1.0020235835343196
+                ],
+                "rod_tip_xy_dist": 0.001359748717650999,
+                "target_xy_drift": 3.012446189513047e-08,
+                "depth": 0.019096664442319722,
+                "bottom_clearance": 0.08034389124626073,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012040437768078838,
+                  -0.0006505372825503786
+                ],
+                "rod_tip_xy": [
+                  0.2919182423427508,
+                  -0.37421761450592805
+                ],
+                "target_mouth_xy": [
+                  0.2931222861195587,
+                  -0.3735670772233777
+                ],
+                "gripper_position": [
+                  0.29190964627972527,
+                  -0.37422016553891174,
+                  1.0018840291783295
+                ],
+                "rod_tip_xy_dist": 0.001368546737403522,
+                "target_xy_drift": 2.9458709405527723e-08,
+                "depth": 0.01923623940237984,
+                "bottom_clearance": 0.08020426098868605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0012126405905214521,
+                  -0.0006530899079449926
+                ],
+                "rod_tip_xy": [
+                  0.2919096462797253,
+                  -0.3742201655389119
+                ],
+                "target_mouth_xy": [
+                  0.2931222868702468,
+                  -0.3735670756309669
+                ],
+                "gripper_position": [
+                  0.29190094437383274,
+                  -0.3742230295936215,
+                  1.0017443071809462
+                ],
+                "rod_tip_xy_dist": 0.0013773248090555165,
+                "target_xy_drift": 3.10317030901351e-08,
+                "depth": 0.019375810425546036,
+                "bottom_clearance": 0.08006474215496862,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006043616217417403,
+              "rod_tip_xy_max_step": 3.273397032638907e-05,
+              "rod_tip_xy_range": 0.0006043537061149396,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2914684613928554,
+            -0.37558304245096613,
+            1.0433538170680081
+          ],
+          "object_origin_world": [
+            0.2914684613928554,
+            -0.37558304245096613,
+            1.0433538170680081
+          ],
+          "frame_world": [
+            0.2914925871132641,
+            -0.37557973528994165,
+            1.04364782150399
+          ],
+          "center_minus_frame": [
+            -2.412572040866312e-05,
+            -3.307161024479477e-06,
+            -0.0002940044359818206
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26889981000057434,
+              0.15038525100198005,
+              0.8319220250236558
+            ],
+            "target_position": [
+              0.2813989459817889,
+              0.1962414297369754,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752912295059453,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16721452236094705,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319220250236558,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671058462847,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1375729853430498,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc0445f2d288711b8b0003749cddb4513f3965a2d265d9ce543464019740f20f",
+    "visual_seed": 4136951950688186715,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a265eedc5c700546c1817612e455e978ac20b6ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_51_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33268774044114213,
+              -0.0397245382898812,
+              1.165033372251678
+            ],
+            "current_z": 1.165033372251678,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30392686423691184,
+            "gripper_z": 1.1559899378723508,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3280201136811109,
+              -0.0443877921203439,
+              1.1559899378723508
+            ],
+            "object_minus_gripper": [
+              0.0046676267600312404,
+              0.004663253830462698,
+              0.009043434379327087
+            ],
+            "object_to_gripper_xy": 0.006597929664545141,
+            "object_to_gripper_z": 0.009043434379327087,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33268774044114213,
+              -0.06377463031871387,
+              1.165033372251678
+            ],
+            "finger_b": [
+              0.3222942117818931,
+              -0.0397245382898812,
+              1.165033372251678
+            ],
+            "finger_midpoint": [
+              0.3274909761115176,
+              -0.05174958430429753,
+              1.165033372251678
+            ],
+            "object_minus_finger_midpoint": [
+              0.005196764329624515,
+              0.012025046014416334,
+              0.0
+            ],
+            "finger_gap": 0.026199854285586244,
+            "fingertip_max_gap": 0.0921088153942752,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013099927142793118,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165033372251678,
+            "object_top_z": 1.2149317306863343,
+            "finger_top_clearance": 0.0498983584346564,
+            "fingertip_min_top_clearance": 0.014969507530396919,
+            "object_projection_between_fingers": 0.8426277029408562,
+            "object_to_finger_line_xy": 0.009540714159496944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048554407697137605,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9010894696198801,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.297930177015869,
+              -0.37255317979686925,
+              0.8515395335677372
+            ],
+            "target_position": [
+              0.291836430126873,
+              -0.37269151934135,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006095316970979897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1834431845627898,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395335677372,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517716559937009,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08754212226037743,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15216468943978007,
+            "release_required_pad_clearance": 0.053771061130188716,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5512844978606277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008395373821258545,
+            "max_z_decrease": 0.008395373821258545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508880815850104,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008395373821258545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021061291118595022,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008395373821258545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008395435476912726,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14753635227680206,
+              -0.42895299196243286,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14753635227680206,
+              -0.42895299196243286,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14924785881099295,
+              -0.43069043980365496,
+              0.8034788374819952
+            ],
+            "closest_button": [
+              0.14753106236457825,
+              -0.4289250373840332,
+              0.7684765458106995
+            ],
+            "closest_ee_minus_button": [
+              0.0017167964464147034,
+              -0.0017654024196217533,
+              0.03500229167129576
+            ],
+            "button_min_z_position": [
+              0.14752386510372162,
+              -0.4289233386516571,
+              0.7684134840965271
+            ],
+            "min_active_finger_to_button": 0.14391615268578806,
+            "closest_active_finger": [
+              0.008337676525115967,
+              -0.4162333011627197,
+              0.8109696507453918
+            ],
+            "closest_active_finger_button": [
+              0.14753901958465576,
+              -0.428950697183609,
+              0.7767189145088196
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392013430595398,
+              0.012717396020889282,
+              0.034250736236572266
+            ],
+            "min_contact_pad_to_button": 0.021061291118595022,
+            "closest_contact_pad": [
+              0.14752386510372162,
+              -0.4317213742121052,
+              0.7892880854240897
+            ],
+            "closest_contact_pad_button": [
+              0.14752386510372162,
+              -0.4289233386516571,
+              0.7684134840965271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002798035560448109,
+              0.02087460132756258
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28770691246698127,
+              0.19850640677015097,
+              1.1029690779780572
+            ],
+            "current_z": 1.1029690779780572,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19305994824369466,
+            "gripper_z": 1.1029691871545246,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2877069535143161,
+              0.19850635714221626,
+              1.1029691871545246
+            ],
+            "object_minus_gripper": [
+              -4.104733480891909e-08,
+              4.962793470619786e-08,
+              -1.0917646742214515e-07
+            ],
+            "object_to_gripper_xy": 6.44035371553313e-08,
+            "object_to_gripper_z": -1.0917646742214515e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28770691246698127,
+              0.19850640677015097,
+              1.1029690779780572
+            ],
+            "finger_b": [
+              0.28770691246698127,
+              0.19850640677015097,
+              1.1029690779780572
+            ],
+            "finger_midpoint": [
+              0.28770691246698127,
+              0.19850640677015097,
+              1.1029690779780572
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029690779780572,
+            "object_top_z": 1.227977584598337,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2877069124669812,
+            0.198506406770151,
+            1.1029690779780572
+          ],
+          "object_origin_world": [
+            0.2877069124669812,
+            0.198506406770151,
+            1.1029690779780572
+          ],
+          "frame_world": [
+            0.2877069535143161,
+            0.19850635714221626,
+            1.1029691871545246
+          ],
+          "center_minus_frame": [
+            -4.104733486443024e-08,
+            4.962793473395344e-08,
+            -1.0917646742214515e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436224426166365,
+            "required_z": 0.9112598515704595,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010039184460369811,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.95551484034572e-08,
+            "max_target_xy_drift": 1.3970643112751241e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.550977675086207,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.551284498679031,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2975894742505436,
+              -0.3716043495336905,
+              0.9233293548151363
+            ],
+            "target_mouth_xy": [
+              0.2979302123582793,
+              -0.3725532497178087
+            ],
+            "rod_tip_z": 0.9233293548151363,
+            "rod_tip_depth": -0.022069497141179117,
+            "rod_tip_bottom_clearance": 0.12151005083429756,
+            "rod_tip_xy_dist": 0.0010082231982467284,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487432733524155,
+            "min_rod_tip_bottom_clearance": 0.05456623140501249,
+            "min_rod_tip_xy_dist": 0.0010082231982467284,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2979302107994577,
+              -0.37255327923182013
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.5588216273343392e-09,
+              2.951401145701027e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.00015737841302720934,
+                0.0028425836473578436
+              ],
+              "last_rod_tip_xy_delta": [
+                6.288739327703352e-05,
+                0.0024439241141995804
+              ],
+              "first_target_mouth_xy": [
+                0.2979301826724637,
+                -0.3725532478162538
+              ],
+              "last_target_mouth_xy": [
+                0.2979302141444288,
+                -0.3725532207833645
+              ],
+              "first_rod_tip_xy": [
+                0.2980875610854909,
+                -0.369710664168896
+              ],
+              "last_rod_tip_xy": [
+                0.2979931015377058,
+                -0.3701092966691649
+              ],
+              "min_rod_tip_xy_dist": 0.002444733093856952,
+              "max_rod_tip_xy_dist": 0.002846936907820963,
+              "first_target_xy_drift": 4.2167115137585854e-08,
+              "last_target_xy_drift": 5.8544092760559626e-08,
+              "max_depth": 0.019692549619160338,
+              "min_bottom_clearance": 0.07974796311584653
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00015737841302720934,
+                  0.0028425836473578436
+                ],
+                "rod_tip_xy": [
+                  0.2980875610854909,
+                  -0.369710664168896
+                ],
+                "target_mouth_xy": [
+                  0.2979301826724637,
+                  -0.3725532478162538
+                ],
+                "gripper_position": [
+                  0.2980767697158333,
+                  -0.3697201563807834,
+                  1.005750858127326
+                ],
+                "rod_tip_xy_dist": 0.002846936907820963,
+                "target_xy_drift": 4.2167115137585854e-08,
+                "depth": 0.015347760617325679,
+                "bottom_clearance": 0.08409285302239378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00014655504359817328,
+                  0.0028331560937658873
+                ],
+                "rod_tip_xy": [
+                  0.2980767697158334,
+                  -0.3697201563807835
+                ],
+                "target_mouth_xy": [
+                  0.29793021467223524,
+                  -0.37255331247454937
+                ],
+                "gripper_position": [
+                  0.2980684964917206,
+                  -0.36972335555523766,
+                  1.0056086728126719
+                ],
+                "rod_tip_xy_dist": 0.0028369441010437347,
+                "target_xy_drift": 3.3467558216218094e-08,
+                "depth": 0.01550900395909216,
+                "bottom_clearance": 0.08393160748386941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0001382888916629521,
+                  0.0028298223075039486
+                ],
+                "rod_tip_xy": [
+                  0.2980684964917207,
+                  -0.3697233555552377
+                ],
+                "target_mouth_xy": [
+                  0.29793020760005773,
+                  -0.37255317786274167
+                ],
+                "gripper_position": [
+                  0.2980775866263467,
+                  -0.36979995885113187,
+                  1.0050748963591356
+                ],
+                "rod_tip_xy_dist": 0.0028331992710722517,
+                "target_xy_drift": 1.0141955545608243e-07,
+                "depth": 0.01565119129505388,
+                "bottom_clearance": 0.08378937011476806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00014737551809274052,
+                  0.0027533213540928414
+                ],
+                "rod_tip_xy": [
+                  0.2980775866263468,
+                  -0.3697999588511319
+                ],
+                "target_mouth_xy": [
+                  0.2979302111082541,
+                  -0.37255328020522477
+                ],
+                "gripper_position": [
+                  0.2980665289771405,
+                  -0.3698095720638802,
+                  1.0049136438142876
+                ],
+                "rod_tip_xy_dist": 0.002757262777146339,
+                "target_xy_drift": 1.0212109407338369e-09,
+                "depth": 0.01618498911231192,
+                "bottom_clearance": 0.08325559135154392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00013631655527052144,
+                  0.002743708717850013
+                ],
+                "rod_tip_xy": [
+                  0.29806652897714053,
+                  -0.3698095720638802
+                ],
+                "target_mouth_xy": [
+                  0.29793021242187,
+                  -0.3725532807817302
+                ],
+                "gripper_position": [
+                  0.2980581252843728,
+                  -0.36981241393988756,
+                  1.004771867421895
+                ],
+                "rod_tip_xy_dist": 0.002747092960139315,
+                "target_xy_drift": 2.243756449864292e-09,
+                "depth": 0.01634620514888252,
+                "bottom_clearance": 0.08309433128884702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0001279124133053977,
+                  0.0027408360620255756
+                ],
+                "rod_tip_xy": [
+                  0.29805812528437287,
+                  -0.3698124139398876
+                ],
+                "target_mouth_xy": [
+                  0.29793021287106747,
+                  -0.3725532500019132
+                ],
+                "gripper_position": [
+                  0.29804965182766685,
+                  -0.36981555881407596,
+                  1.0046298169560428
+                ],
+                "rod_tip_xy_dist": 0.002743819218603419,
+                "target_xy_drift": 2.9303225534595163e-08,
+                "depth": 0.01648796953351861,
+                "bottom_clearance": 0.08295255398015644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00011943998363211916,
+                  0.0027376912162550004
+                ],
+                "rod_tip_xy": [
+                  0.2980496518276669,
+                  -0.3698155588140759
+                ],
+                "target_mouth_xy": [
+                  0.2979302118440348,
+                  -0.3725532500303309
+                ],
+                "gripper_position": [
+                  0.29806022442252605,
+                  -0.3698949436309926,
+                  1.0040968166635613
+                ],
+                "rod_tip_xy_dist": 0.0027402954412343618,
+                "target_xy_drift": 2.9220166227397813e-08,
+                "depth": 0.01663005164712894,
+                "bottom_clearance": 0.08281051201569345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00012998304100309,
+                  0.0026583067382046632
+                ],
+                "rod_tip_xy": [
+                  0.2980602244225261,
+                  -0.3698949436309926
+                ],
+                "target_mouth_xy": [
+                  0.297930241381523,
+                  -0.3725532503691973
+                ],
+                "gripper_position": [
+                  0.29804913362295815,
+                  -0.369904367752501,
+                  1.0039355925182565
+                ],
+                "rod_tip_xy_dist": 0.0026614827268522196,
+                "target_xy_drift": 4.205132241846773e-08,
+                "depth": 0.017163054635588093,
+                "bottom_clearance": 0.08227750811812817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00011892094397591979,
+                  0.0026488825739711674
+                ],
+                "rod_tip_xy": [
+                  0.29804913362295826,
+                  -0.369904367752501
+                ],
+                "target_mouth_xy": [
+                  0.29793021267898234,
+                  -0.3725532503264722
+                ],
+                "gripper_position": [
+                  0.29804063263216307,
+                  -0.36990722703872175,
+                  1.003793688368782
+                ],
+                "rod_tip_xy_dist": 0.002651550693764734,
+                "target_xy_drift": 2.8966390056826198e-08,
+                "depth": 0.01732424509350916,
+                "bottom_clearance": 0.08211627508365527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0001104180744607719,
+                  0.0026460241734956313
+                ],
+                "rod_tip_xy": [
+                  0.2980406326321632,
+                  -0.3699072270387217
+                ],
+                "target_mouth_xy": [
+                  0.2979302145577024,
+                  -0.37255325121221733
+                ],
+                "gripper_position": [
+                  0.2980319831167485,
+                  -0.36991026734848825,
+                  1.003651972245945
+                ],
+                "rod_tip_xy_dist": 0.0026483270337877203,
+                "target_xy_drift": 2.8270524308373057e-08,
+                "depth": 0.017466143733093742,
+                "bottom_clearance": 0.08197440682512636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00010177291539631428,
+                  0.002643011587198485
+                ],
+                "rod_tip_xy": [
+                  0.29803198311674856,
+                  -0.3699102673484883
+                ],
+                "target_mouth_xy": [
+                  0.29793021020135224,
+                  -0.3725532789356868
+                ],
+                "gripper_position": [
+                  0.29804427799076777,
+                  -0.3699915407884047,
+                  1.0031219058910712
+                ],
+                "rod_tip_xy_dist": 0.002644970316728284,
+                "target_xy_drift": 6.674017450304976e-10,
+                "depth": 0.017607962516801634,
+                "bottom_clearance": 0.08183269738919752,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00011403660105913094,
+                  0.0025617384095479867
+                ],
+                "rod_tip_xy": [
+                  0.2980442779907678,
+                  -0.3699915407884047
+                ],
+                "target_mouth_xy": [
+                  0.2979302413897087,
+                  -0.37255327919795267
+                ],
+                "gripper_position": [
+                  0.2980329305926507,
+                  -0.37000101324374224,
+                  1.0029608356642403
+                ],
+                "rod_tip_xy_dist": 0.002564275341170399,
+                "target_xy_drift": 3.0590269746822214e-08,
+                "depth": 0.018137921596668716,
+                "bottom_clearance": 0.08130267390411239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00010271805117662014,
+                  0.002552234853303248
+                ],
+                "rod_tip_xy": [
+                  0.29803293059265074,
+                  -0.37000101324374224
+                ],
+                "target_mouth_xy": [
+                  0.2979302125414741,
+                  -0.3725532480970455
+                ],
+                "gripper_position": [
+                  0.29802434192541305,
+                  -0.3700036641804997,
+                  1.0028191299989726
+                ],
+                "rod_tip_xy_dist": 0.0025543010285503497,
+                "target_xy_drift": 3.118347019733153e-08,
+                "depth": 0.01829904300286711,
+                "bottom_clearance": 0.08114155842554815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  9.412885468895738e-05,
+                  0.0025496159252894057
+                ],
+                "rod_tip_xy": [
+                  0.29802434192541316,
+                  -0.3700036641804997
+                ],
+                "target_mouth_xy": [
+                  0.2979302130707242,
+                  -0.3725532801057891
+                ],
+                "gripper_position": [
+                  0.2980155389038822,
+                  -0.3700064990437734,
+                  1.0026775354604873
+                ],
+                "rod_tip_xy_dist": 0.0025513528975377765,
+                "target_xy_drift": 2.433613215298889e-09,
+                "depth": 0.018440695742307223,
+                "bottom_clearance": 0.08099980953484975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  8.532819301870775e-05,
+                  0.002546752264830532
+                ],
+                "rod_tip_xy": [
+                  0.2980155389038823,
+                  -0.3700064990437735
+                ],
+                "target_mouth_xy": [
+                  0.2979302107108636,
+                  -0.372553251308604
+                ],
+                "gripper_position": [
+                  0.29800675624788475,
+                  -0.37000934169474836,
+                  1.0025362966126812
+                ],
+                "rod_tip_xy_dist": 0.0025481813120230047,
+                "target_xy_drift": 2.7923356672384785e-08,
+                "depth": 0.018582370595694786,
+                "bottom_clearance": 0.08085824118441332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  7.648434457491193e-05,
+                  0.002543878178818737
+                ],
+                "rod_tip_xy": [
+                  0.2980067562478848,
+                  -0.3700093416947483
+                ],
+                "target_mouth_xy": [
+                  0.2979302719033099,
+                  -0.37255321987356704
+                ],
+                "gripper_position": [
+                  0.29799793317860507,
+                  -0.37001210394862855,
+                  1.00239459138447
+                ],
+                "rod_tip_xy_dist": 0.0025450277097971226,
+                "target_xy_drift": 8.518851427084603e-08,
+                "depth": 0.018723504011877723,
+                "bottom_clearance": 0.08071705349189429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  6.771952963635641e-05,
+                  0.0025411158893539065
+                ],
+                "rod_tip_xy": [
+                  0.2979979331786052,
+                  -0.3700121039486285
+                ],
+                "target_mouth_xy": [
+                  0.2979302136489688,
+                  -0.3725532198379824
+                ],
+                "gripper_position": [
+                  0.2980133061062769,
+                  -0.37009785243456583,
+                  1.0018692567151237
+                ],
+                "rod_tip_xy_dist": 0.0025420180758250056,
+                "target_xy_drift": 5.946215329754089e-08,
+                "depth": 0.01886523702848597,
+                "bottom_clearance": 0.08057528727308283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  8.312504263213727e-05,
+                  0.0024554280654637273
+                ],
+                "rod_tip_xy": [
+                  0.298013306106277,
+                  -0.37009785243456583
+                ],
+                "target_mouth_xy": [
+                  0.2979301810636449,
+                  -0.37255328050002956
+                ],
+                "gripper_position": [
+                  0.2980020653979988,
+                  -0.3701068715535227,
+                  1.0017087722033997
+                ],
+                "rod_tip_xy_dist": 0.0024568347029011815,
+                "target_xy_drift": 2.9762844601005805e-08,
+                "depth": 0.019390633010856306,
+                "bottom_clearance": 0.08004995021273575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  7.185297136214075e-05,
+                  0.002446378141452432
+                ],
+                "rod_tip_xy": [
+                  0.29800206539799884,
+                  -0.37010687155352273
+                ],
+                "target_mouth_xy": [
+                  0.2979302124266367,
+                  -0.37255324969497516
+                ],
+                "gripper_position": [
+                  0.29799310153770575,
+                  -0.37010929666916487,
+                  1.001567267908264
+                ],
+                "rod_tip_xy_dist": 0.0024474331166489155,
+                "target_xy_drift": 2.9581631501333948e-08,
+                "depth": 0.01955108370938874,
+                "bottom_clearance": 0.07988946802297281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  6.288739327703352e-05,
+                  0.0024439241141995804
+                ],
+                "rod_tip_xy": [
+                  0.2979931015377058,
+                  -0.3701092966691649
+                ],
+                "target_mouth_xy": [
+                  0.2979302141444288,
+                  -0.3725532207833645
+                ],
+                "gripper_position": [
+                  0.29798428136350263,
+                  -0.37011218257261197,
+                  1.0014261488421954
+                ],
+                "rod_tip_xy_dist": 0.002444733093856952,
+                "target_xy_drift": 5.8544092760559626e-08,
+                "depth": 0.019692549619160338,
+                "bottom_clearance": 0.07974796311584653,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000601820488368236,
+              "rod_tip_xy_max_step": 3.2502237221184483e-05,
+              "rod_tip_xy_range": 0.0006018140671768742,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29758947425054355,
+            -0.3716043495336905,
+            1.0433293548151366
+          ],
+          "object_origin_world": [
+            0.29758947425054355,
+            -0.3716043495336905,
+            1.0433293548151366
+          ],
+          "frame_world": [
+            0.2976136528550045,
+            -0.3716005470741786,
+            1.0436224426166365
+          ],
+          "center_minus_frame": [
+            -2.417860446096709e-05,
+            -3.802459511870193e-06,
+            -0.0002930878014999472
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27823670650107235,
+              0.15119306627445284,
+              0.8327222167878939
+            ],
+            "target_position": [
+              0.28785673631804265,
+              0.19873103202311193,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04850157895574208,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17006526732998842,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327222167878939,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669248238669,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13930160190197333,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e11774bef2fe2e91603538f18ed1158a46fadb0fa71a062d73cb0773573d3b3",
+    "visual_seed": 2478091158089564110,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37bfa3d5b3b7ad88a350641db8c30fc06cef47ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_52_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33633501818465456,
+              -0.03148384176286763,
+              1.1645308817710323
+            ],
+            "current_z": 1.1645308817710323,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.30342449296555596,
+            "gripper_z": 1.155378748461518,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3317884235598713,
+              -0.03597967176724169,
+              1.155378748461518
+            ],
+            "object_minus_gripper": [
+              0.00454659462478324,
+              0.004495830004374063,
+              0.009152133309514365
+            ],
+            "object_to_gripper_xy": 0.006394060533834344,
+            "object_to_gripper_z": 0.009152133309514365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33633501818465456,
+              -0.055292611249354875,
+              1.1645308817710323
+            ],
+            "finger_b": [
+              0.32599505032418247,
+              -0.03148384176286763,
+              1.1645308817710323
+            ],
+            "finger_midpoint": [
+              0.3311650342544185,
+              -0.04338822650611125,
+              1.1645308817710323
+            ],
+            "object_minus_finger_midpoint": [
+              0.005169983930236044,
+              0.011904384743243623,
+              0.0
+            ],
+            "finger_gap": 0.025957126956122897,
+            "fingertip_max_gap": 0.09228023884935657,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012978563478061448,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645308817710323,
+            "object_top_z": 1.2143435901661659,
+            "finger_top_clearance": 0.04981270839513363,
+            "fingertip_min_top_clearance": 0.014943812518540088,
+            "object_projection_between_fingers": 0.8413189245544855,
+            "object_to_finger_line_xy": 0.00948417410385228,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864011942467829,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1013294457212006,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2910369001611719,
+              -0.3749870079385328,
+              0.8515395117194886
+            ],
+            "target_position": [
+              0.28501232879537985,
+              -0.3749601224145692,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006024631355769429,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18266098236572803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395117194886,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522857202416768,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749525144549618,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15125419548843633,
+            "release_required_pad_clearance": 0.05374762572274809,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.504528587541283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00813138484954834,
+            "max_z_decrease": 0.00813138484954834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035096869790959134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00813138484954834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093292019471238,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00813138484954834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008131428709629174,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14071226119995117,
+              -0.4312215745449066,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14071226119995117,
+              -0.4312215745449066,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14105409859798285,
+              -0.4293547358757302,
+              0.8037242681513952
+            ],
+            "closest_button": [
+              0.14072851836681363,
+              -0.43120038509368896,
+              0.7686774730682373
+            ],
+            "closest_ee_minus_button": [
+              0.00032558023116921464,
+              0.001845649217958767,
+              0.03504679508315789
+            ],
+            "button_min_z_position": [
+              0.14072851836681363,
+              -0.43120038509368896,
+              0.7686774730682373
+            ],
+            "min_active_finger_to_button": 0.14472139480344662,
+            "closest_active_finger": [
+              0.015088625252246857,
+              -0.4943794906139374,
+              0.8106071352958679
+            ],
+            "closest_active_finger_button": [
+              0.14071172475814817,
+              -0.4312209486961365,
+              0.7763417363166809
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256230995059013,
+              -0.0631585419178009,
+              0.03426539897918701
+            ],
+            "min_contact_pad_to_button": 0.02093292019471238,
+            "closest_contact_pad": [
+              0.14072851836681363,
+              -0.43120038509368896,
+              0.7896103932629497
+            ],
+            "closest_contact_pad_button": [
+              0.14072851836681363,
+              -0.43120038509368896,
+              0.7686774730682373
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02093292019471238
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28460282077993204,
+              0.19996906724467997,
+              1.1029986123617253
+            ],
+            "current_z": 1.1029986123617253,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1930894826273627,
+            "gripper_z": 1.1029985490575274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2846028575752162,
+              0.1999691108320642,
+              1.1029985490575274
+            ],
+            "object_minus_gripper": [
+              -3.6795284152901786e-08,
+              -4.35873842297152e-08,
+              6.330419788369568e-08
+            ],
+            "object_to_gripper_xy": 5.7041677744274055e-08,
+            "object_to_gripper_z": 6.330419788369568e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28460282077993204,
+              0.19996906724467997,
+              1.1029986123617253
+            ],
+            "finger_b": [
+              0.28460282077993204,
+              0.19996906724467997,
+              1.1029986123617253
+            ],
+            "finger_midpoint": [
+              0.28460282077993204,
+              0.19996906724467997,
+              1.1029986123617253
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029986123617253,
+            "object_top_z": 1.228007118982005,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2846028207799321,
+            0.19996906724468,
+            1.1029986123617253
+          ],
+          "object_origin_world": [
+            0.2846028207799321,
+            0.19996906724468,
+            1.1029986123617253
+          ],
+          "frame_world": [
+            0.2846028575752162,
+            0.1999691108320642,
+            1.1029985490575274
+          ],
+          "center_minus_frame": [
+            -3.6795284097390635e-08,
+            -4.358738420195962e-08,
+            6.330419788369568e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043266202087094,
+            "required_z": 0.9112598156375162,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0003781405434957583,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.771740013987299e-08,
+            "max_target_xy_drift": 1.8763801742657062e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.5042160365848183,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.5045285878276164,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29130115976644205,
+              -0.37525080850829196,
+              0.9233921418916374
+            ],
+            "target_mouth_xy": [
+              0.29103708487875934,
+              -0.3749870895430355
+            ],
+            "rod_tip_z": 0.9233921418916374,
+            "rod_tip_depth": -0.022132321474667704,
+            "rod_tip_bottom_clearance": 0.12157284286740577,
+            "rod_tip_xy_dist": 0.0003732066973415266,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04494979732660842,
+            "min_rod_tip_bottom_clearance": 0.05449074928236364,
+            "min_rod_tip_xy_dist": 0.00025007536291686127,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2910371094618252,
+              -0.37498701581605837
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.4583065860728226e-08,
+              -7.372697713448062e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0007483508750996126,
+                0.0015468828766501685
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006533134605765656,
+                0.0011739529046236319
+              ],
+              "first_target_mouth_xy": [
+                0.29103708098531506,
+                -0.37498715022643125
+              ],
+              "last_target_mouth_xy": [
+                0.2910370484674139,
+                -0.3749870437567838
+              ],
+              "first_rod_tip_xy": [
+                0.29178543186041467,
+                -0.3734402673497811
+              ],
+              "last_rod_tip_xy": [
+                0.29169036192799047,
+                -0.3738130908521602
+              ],
+              "min_rod_tip_xy_dist": 0.0013434968924581812,
+              "max_rod_tip_xy_dist": 0.0017183933386555757,
+              "first_target_xy_drift": 1.3739381343431443e-07,
+              "last_target_xy_drift": 6.708950997548752e-08,
+              "max_depth": 0.019382325529798572,
+              "min_bottom_clearance": 0.08005826254060378
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007483508750996126,
+                  0.0015468828766501685
+                ],
+                "rod_tip_xy": [
+                  0.29178543186041467,
+                  -0.3734402673497811
+                ],
+                "target_mouth_xy": [
+                  0.29103708098531506,
+                  -0.37498715022643125
+                ],
+                "gripper_position": [
+                  0.291774781677257,
+                  -0.3734496912799596,
+                  1.0060308366020236
+                ],
+                "rod_tip_xy_dist": 0.0017183933386555757,
+                "target_xy_drift": 1.3739381343431443e-07,
+                "depth": 0.015070512270170755,
+                "bottom_clearance": 0.08437012866842586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007377024499385376,
+                  0.0015373543626587827
+                ],
+                "rod_tip_xy": [
+                  0.29177478167725696,
+                  -0.37344969127995964
+                ],
+                "target_mouth_xy": [
+                  0.2910370792273184,
+                  -0.3749870456426184
+                ],
+                "gripper_position": [
+                  0.2917666849367811,
+                  -0.37345286985151654,
+                  1.0058907618391377
+                ],
+                "rod_tip_xy_dist": 0.0017051871865080715,
+                "target_xy_drift": 4.247056728346794e-08,
+                "depth": 0.0152289271336159,
+                "bottom_clearance": 0.08421157479586228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007296318106608246,
+                  0.0015342816062494657
+                ],
+                "rod_tip_xy": [
+                  0.291766684936781,
+                  -0.3734528698515166
+                ],
+                "target_mouth_xy": [
+                  0.29103705312612016,
+                  -0.37498715145776607
+                ],
+                "gripper_position": [
+                  0.29177566444616604,
+                  -0.3735248344974561,
+                  1.0053566801555784
+                ],
+                "rod_tip_xy_dist": 0.0016989357334530443,
+                "target_xy_drift": 1.4687540478416964e-07,
+                "depth": 0.0153691286176042,
+                "bottom_clearance": 0.08407148667821607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007385808265495952,
+                  0.0014623144000946997
+                ],
+                "rod_tip_xy": [
+                  0.291775664446166,
+                  -0.3735248344974561
+                ],
+                "target_mouth_xy": [
+                  0.2910370836196164,
+                  -0.3749871488975508
+                ],
+                "gripper_position": [
+                  0.29176503340314885,
+                  -0.3735338055137035,
+                  1.0051982780889555
+                ],
+                "rod_tip_xy_dist": 0.0016382506041723302,
+                "target_xy_drift": 1.355673389348049e-07,
+                "depth": 0.015903145076157754,
+                "bottom_clearance": 0.08353735784861449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007279547335476422,
+                  0.0014532401327066458
+                ],
+                "rod_tip_xy": [
+                  0.29176503340314874,
+                  -0.3735338055137035
+                ],
+                "target_mouth_xy": [
+                  0.2910370786696011,
+                  -0.37498704564641017
+                ],
+                "gripper_position": [
+                  0.2917567198892642,
+                  -0.3735369574144022,
+                  1.0050582866468294
+                ],
+                "rod_tip_xy_dist": 0.001625369181879504,
+                "target_xy_drift": 4.287202997016398e-08,
+                "depth": 0.016061561884438302,
+                "bottom_clearance": 0.08337896075317242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007196395945798795,
+                  0.0014500865986591949
+                ],
+                "rod_tip_xy": [
+                  0.29175671988926416,
+                  -0.3735369574144023
+                ],
+                "target_mouth_xy": [
+                  0.2910370802946843,
+                  -0.3749870440130615
+                ],
+                "gripper_position": [
+                  0.29176648123541005,
+                  -0.3736100056304842,
+                  1.0045267033504235
+                ],
+                "rod_tip_xy_dist": 0.0016188367087813663,
+                "target_xy_drift": 4.0568375549731146e-08,
+                "depth": 0.016201554800930107,
+                "bottom_clearance": 0.08323900897476466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007294044183588921,
+                  0.0013770422905046154
+                ],
+                "rod_tip_xy": [
+                  0.29176648123541,
+                  -0.3736100056304842
+                ],
+                "target_mouth_xy": [
+                  0.2910370768170511,
+                  -0.3749870479209888
+                ],
+                "gripper_position": [
+                  0.2917557095855764,
+                  -0.3736190618843743,
+                  1.0043681771831738
+                ],
+                "rod_tip_xy_dist": 0.001558292743793563,
+                "target_xy_drift": 4.5786546438501955e-08,
+                "depth": 0.016733235233039045,
+                "bottom_clearance": 0.08270744068409408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.000718631242457024,
+                  0.001367981851610467
+                ],
+                "rod_tip_xy": [
+                  0.2917557095855763,
+                  -0.3736190618843743
+                ],
+                "target_mouth_xy": [
+                  0.29103707834311926,
+                  -0.3749870437359848
+                ],
+                "gripper_position": [
+                  0.291747411820346,
+                  -0.37362196238721024,
+                  1.0042283553987104
+                ],
+                "rod_tip_xy_dist": 0.0015452524741837264,
+                "target_xy_drift": 4.180784796387705e-08,
+                "depth": 0.016891637521877167,
+                "bottom_clearance": 0.08254894832018678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007103336883162448,
+                  0.0013650842175361166
+                ],
+                "rod_tip_xy": [
+                  0.2917474118203459,
+                  -0.37362196238721024
+                ],
+                "target_mouth_xy": [
+                  0.29103707813202967,
+                  -0.37498704660474635
+                ],
+                "gripper_position": [
+                  0.29173898551936783,
+                  -0.37362489585564945,
+                  1.0040884377550998
+                ],
+                "rod_tip_xy_dist": 0.0015388401053141134,
+                "target_xy_drift": 4.392606738975177e-08,
+                "depth": 0.01703151891054966,
+                "bottom_clearance": 0.08240905935438425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007019063639359113,
+                  0.0013621485081012352
+                ],
+                "rod_tip_xy": [
+                  0.2917389855193677,
+                  -0.3736248958556495
+                ],
+                "target_mouth_xy": [
+                  0.2910370791554318,
+                  -0.37498704436375074
+                ],
+                "gripper_position": [
+                  0.2917501745353276,
+                  -0.3737004348437836,
+                  1.0035582722529057
+                ],
+                "rod_tip_xy_dist": 0.0015323580201298105,
+                "target_xy_drift": 4.163469971836372e-08,
+                "depth": 0.017171400798615566,
+                "bottom_clearance": 0.08226913119872459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007130954712136761,
+                  0.0012866123837581012
+                ],
+                "rod_tip_xy": [
+                  0.2917501745353275,
+                  -0.3737004348437837
+                ],
+                "target_mouth_xy": [
+                  0.2910370790641138,
+                  -0.3749870472275418
+                ],
+                "gripper_position": [
+                  0.2917392413971923,
+                  -0.3737092995773935,
+                  1.0033993585562102
+                ],
+                "rod_tip_xy_dist": 0.0014710120927800554,
+                "target_xy_drift": 4.371157911656778e-08,
+                "depth": 0.017701586320540974,
+                "bottom_clearance": 0.08173898084095499,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007021636370358464,
+                  0.0012777432200755667
+                ],
+                "rod_tip_xy": [
+                  0.29173924139719226,
+                  -0.3737092995773935
+                ],
+                "target_mouth_xy": [
+                  0.2910370777601564,
+                  -0.3749870427974691
+                ],
+                "gripper_position": [
+                  0.29173081547213864,
+                  -0.3737121075219698,
+                  1.003260186039406
+                ],
+                "rod_tip_xy_dist": 0.0014579648519852891,
+                "target_xy_drift": 4.1629224450413105e-08,
+                "depth": 0.017860549474249976,
+                "bottom_clearance": 0.0815800916108308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006937359465211679,
+                  0.0012749685599096061
+                ],
+                "rod_tip_xy": [
+                  0.2917308154721386,
+                  -0.3737121075219698
+                ],
+                "target_mouth_xy": [
+                  0.2910370795256174,
+                  -0.3749870760818794
+                ],
+                "gripper_position": [
+                  0.29172219903728247,
+                  -0.373715199811118,
+                  1.00312066415962
+                ],
+                "rod_tip_xy_dist": 0.001451486959036696,
+                "target_xy_drift": 6.729149815839443e-08,
+                "depth": 0.017999640655556703,
+                "bottom_clearance": 0.08144087407094269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006851524732393588,
+                  0.0012718411169393429
+                ],
+                "rod_tip_xy": [
+                  0.29172219903728236,
+                  -0.373715199811118
+                ],
+                "target_mouth_xy": [
+                  0.291037046564043,
+                  -0.37498704092805735
+                ],
+                "gripper_position": [
+                  0.2917135823851861,
+                  -0.373718154198121,
+                  1.0029810247652637
+                ],
+                "rod_tip_xy_dist": 0.0014446500400870537,
+                "target_xy_drift": 6.772550109868238e-08,
+                "depth": 0.018139318317797137,
+                "bottom_clearance": 0.08130144212754686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006765328610514598,
+                  0.0012688920883195398
+                ],
+                "rod_tip_xy": [
+                  0.29171358238518597,
+                  -0.37371815419812104
+                ],
+                "target_mouth_xy": [
+                  0.2910370495241345,
+                  -0.3749870462864406
+                ],
+                "gripper_position": [
+                  0.29172734666751726,
+                  -0.3737962143789608,
+                  1.002453846107966
+                ],
+                "rod_tip_xy_dist": 0.0014379790832562192,
+                "target_xy_drift": 6.723816593921427e-08,
+                "depth": 0.018278748370967546,
+                "bottom_clearance": 0.08116177395741675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006902674056618041,
+                  0.0011908328414614866
+                ],
+                "rod_tip_xy": [
+                  0.29172734666751715,
+                  -0.3737962143789608
+                ],
+                "target_mouth_xy": [
+                  0.29103707926185535,
+                  -0.3749870472204223
+                ],
+                "gripper_position": [
+                  0.2917162601501978,
+                  -0.37380523548914774,
+                  1.0022954737390186
+                ],
+                "rod_tip_xy_dist": 0.00137642724022097,
+                "target_xy_drift": 4.356916632298321e-08,
+                "depth": 0.018806006457332214,
+                "bottom_clearance": 0.08063455314609158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006791820214430144,
+                  0.0011818076237293251
+                ],
+                "rod_tip_xy": [
+                  0.2917162601501977,
+                  -0.3738052354891478
+                ],
+                "target_mouth_xy": [
+                  0.2910370781287547,
+                  -0.3749870431128771
+                ],
+                "gripper_position": [
+                  0.2917077117273078,
+                  -0.3738078476521403,
+                  1.0021562795647543
+                ],
+                "rod_tip_xy_dist": 0.0013630691390227325,
+                "target_xy_drift": 4.155571708577039e-08,
+                "depth": 0.018964417560854097,
+                "bottom_clearance": 0.0804761980496953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006706634502164355,
+                  0.0011792275222000104
+                ],
+                "rod_tip_xy": [
+                  0.2917077117273077,
+                  -0.37380784765214026
+                ],
+                "target_mouth_xy": [
+                  0.29103704827709126,
+                  -0.37498707517434027
+                ],
+                "gripper_position": [
+                  0.2916989930538044,
+                  -0.37381053400083164,
+                  1.0020169283826579
+                ],
+                "rod_tip_xy_dist": 0.00135660127250795,
+                "target_xy_drift": 8.524656766265657e-08,
+                "depth": 0.019103575975623066,
+                "bottom_clearance": 0.08033696478090002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006619128444819711,
+                  0.0011765423897328597
+                ],
+                "rod_tip_xy": [
+                  0.2916989930538043,
+                  -0.37381053400083164
+                ],
+                "target_mouth_xy": [
+                  0.29103708020932234,
+                  -0.3749870763905645
+                ],
+                "gripper_position": [
+                  0.2916903619279906,
+                  -0.3738130908521602,
+                  1.001877550730238
+                ],
+                "rod_tip_xy_dist": 0.0013499557802122714,
+                "target_xy_drift": 6.726796947378275e-08,
+                "depth": 0.019242909027352373,
+                "bottom_clearance": 0.08019764221574877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006533134605765656,
+                  0.0011739529046236319
+                ],
+                "rod_tip_xy": [
+                  0.29169036192799047,
+                  -0.3738130908521602
+                ],
+                "target_mouth_xy": [
+                  0.2910370484674139,
+                  -0.3749870437567838
+                ],
+                "gripper_position": [
+                  0.2916818637269968,
+                  -0.3738155815712458,
+                  1.0017382013544647
+                ],
+                "rod_tip_xy_dist": 0.0013434968924581812,
+                "target_xy_drift": 6.708950997548752e-08,
+                "depth": 0.019382325529798572,
+                "bottom_clearance": 0.08005826254060378,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006006989449548064,
+              "rod_tip_xy_max_step": 3.25472190385979e-05,
+              "rod_tip_xy_range": 0.0006006893991242174,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2913011597664421,
+            -0.37525080850829196,
+            1.0433921418916374
+          ],
+          "object_origin_world": [
+            0.2913011597664421,
+            -0.37525080850829196,
+            1.0433921418916374
+          ],
+          "frame_world": [
+            0.29129969224747276,
+            -0.37525916975277646,
+            1.043266202087094
+          ],
+          "center_minus_frame": [
+            1.4675189693447166e-06,
+            8.361244484500485e-06,
+            0.00012593980454345122
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2758425903451572,
+              0.15131017618226983,
+              0.8335686962615312
+            ],
+            "target_position": [
+              0.2847749894087724,
+              0.19855180625426327,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04807867890126297,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16994366627322272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335686962615312,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670234957202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13828477789424018,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a43be043ed9d3687c5de213e492642665ba00e1ea5c94e8ba20ff90bf8b1c090",
+    "visual_seed": 5407528680649728906,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b5c6e94d01a9645ab29c517e3f939af48453a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_53_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33562993708274486,
+              -0.034728019785944,
+              1.166156872280712
+            ],
+            "current_z": 1.166156872280712,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30505048347523567,
+            "gripper_z": 1.156999503385006,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3311408527688644,
+              -0.03944207128515431,
+              1.156999503385006
+            ],
+            "object_minus_gripper": [
+              0.004489084313880454,
+              0.004714051499210309,
+              0.009157368895706064
+            ],
+            "object_to_gripper_xy": 0.006509543725510606,
+            "object_to_gripper_z": 0.009157368895706064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33562993708274486,
+              -0.05826053280454914,
+              1.166156872280712
+            ],
+            "finger_b": [
+              0.3246406418017902,
+              -0.034728019785944,
+              1.166156872280712
+            ],
+            "finger_midpoint": [
+              0.33013528944226755,
+              -0.04649427629524657,
+              1.166156872280712
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054946476404773015,
+              0.011766256509302568,
+              0.0
+            ],
+            "finger_gap": 0.025971980666534323,
+            "fingertip_max_gap": 0.09168759976287286,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012985990333267148,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166156872280712,
+            "object_top_z": 1.2160097791027473,
+            "finger_top_clearance": 0.04985290682203525,
+            "fingertip_min_top_clearance": 0.014955872046610573,
+            "object_projection_between_fingers": 0.820968461353163,
+            "object_to_finger_line_xy": 0.009957104834810796,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834379988143643,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6085790334534258,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2930483638249593,
+              -0.3741576955908943,
+              0.851539571933291
+            ],
+            "target_position": [
+              0.28472674348882404,
+              -0.37553526997451026,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00843487262507116,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18329379258226558,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539571933291,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532562414442431,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562550156140479,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15193158853975688,
+            "release_required_pad_clearance": 0.0528127507807024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6714358765274033,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008164525032043457,
+            "max_z_decrease": 0.008164525032043457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503969022677921,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008164525032043457,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093051907312457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008164525032043457,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816461364728152,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14042666554450986,
+              -0.43179672956466675,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14042666554450986,
+              -0.43179672956466675,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1416675626584904,
+              -0.4319379735090246,
+              0.8036626329673645
+            ],
+            "closest_button": [
+              0.14045482873916626,
+              -0.4317711591720581,
+              0.7686443328857422
+            ],
+            "closest_ee_minus_button": [
+              0.0012127339193241382,
+              -0.00016681433696646986,
+              0.03501830008162232
+            ],
+            "button_min_z_position": [
+              0.14045482873916626,
+              -0.4317711591720581,
+              0.7686443328857422
+            ],
+            "min_active_finger_to_button": 0.14448694999465092,
+            "closest_active_finger": [
+              0.001144498586654663,
+              -0.4143095910549164,
+              0.8104649782180786
+            ],
+            "closest_active_finger_button": [
+              0.1404256969690323,
+              -0.431797057390213,
+              0.7762390375137329
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13928119838237762,
+              0.01748746633529663,
+              0.0342259407043457
+            ],
+            "min_contact_pad_to_button": 0.02093051907312457,
+            "closest_contact_pad": [
+              0.14045482873916626,
+              -0.4332532578337753,
+              0.7895223120079505
+            ],
+            "closest_contact_pad_button": [
+              0.14045482873916626,
+              -0.4317711591720581,
+              0.7686443328857422
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014820986617171683,
+              0.020877979122208346
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28336448389212127,
+              0.19767645459224312,
+              1.1034973077750139
+            ],
+            "current_z": 1.1034973077750139,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19358817804065132,
+            "gripper_z": 1.103497664661034,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28336434632416346,
+              0.1976765423599296,
+              1.103497664661034
+            ],
+            "object_minus_gripper": [
+              1.375679578030642e-07,
+              -8.776768647966726e-08,
+              -3.568860200697799e-07
+            ],
+            "object_to_gripper_xy": 1.6318121768175043e-07,
+            "object_to_gripper_z": -3.568860200697799e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28336448389212127,
+              0.19767645459224312,
+              1.1034973077750139
+            ],
+            "finger_b": [
+              0.28336448389212127,
+              0.19767645459224312,
+              1.1034973077750139
+            ],
+            "finger_midpoint": [
+              0.28336448389212127,
+              0.19767645459224312,
+              1.1034973077750139
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1034973077750139,
+            "object_top_z": 1.2285058143952936,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28336448389212127,
+            0.19767645459224312,
+            1.103497307775014
+          ],
+          "object_origin_world": [
+            0.28336448389212127,
+            0.19767645459224312,
+            1.103497307775014
+          ],
+          "frame_world": [
+            0.28336434632416346,
+            0.1976765423599296,
+            1.103497664661034
+          ],
+          "center_minus_frame": [
+            1.375679578030642e-07,
+            -8.776768647966726e-08,
+            -3.5688601984773527e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043664659535024,
+            "required_z": 0.911259897391073,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0028137843845745312,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.260841710262393e-09,
+            "max_target_xy_drift": 1.5034890572506255e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.671435873424608,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.671435876665824,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29053390252179995,
+              -0.37547064727901236,
+              0.923370388816208
+            ],
+            "target_mouth_xy": [
+              0.29304839176210745,
+              -0.37415766706355913
+            ],
+            "rod_tip_z": 0.923370388816208,
+            "rod_tip_depth": -0.022110499090438718,
+            "rod_tip_bottom_clearance": 0.12155109231609484,
+            "rod_tip_xy_dist": 0.0028366482308869075,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045075630752949514,
+            "min_rod_tip_bottom_clearance": 0.054364947696110666,
+            "min_rod_tip_xy_dist": 0.0012620863709428035,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2930483969893883,
+              -0.3741576676568471
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.2272808304110185e-09,
+              5.932879743042463e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0019185418206124627,
+                0.0005482628053971594
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0020304539453609993,
+                0.00015456807677272089
+              ],
+              "first_target_mouth_xy": [
+                0.29304836427008624,
+                -0.374157668948409
+              ],
+              "last_target_mouth_xy": [
+                0.29304839460072674,
+                -0.374157666402821
+              ],
+              "first_rod_tip_xy": [
+                0.2911298224494738,
+                -0.37360940614301186
+              ],
+              "last_rod_tip_xy": [
+                0.29101794065536574,
+                -0.3740030983260483
+              ],
+              "min_rod_tip_xy_dist": 0.001987204171345804,
+              "max_rod_tip_xy_dist": 0.002036328685303349,
+              "first_target_xy_drift": 3.274478368413251e-08,
+              "last_target_xy_drift": 2.6978297676880475e-09,
+              "max_depth": 0.019675744237958148,
+              "min_bottom_clearance": 0.07976481712478434
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0019185418206124627,
+                  0.0005482628053971594
+                ],
+                "rod_tip_xy": [
+                  0.2911298224494738,
+                  -0.37360940614301186
+                ],
+                "target_mouth_xy": [
+                  0.29304836427008624,
+                  -0.374157668948409
+                ],
+                "gripper_position": [
+                  0.2911190770891707,
+                  -0.37361879901649453,
+                  1.005725485245736
+                ],
+                "rod_tip_xy_dist": 0.001995343284054387,
+                "target_xy_drift": 3.274478368413251e-08,
+                "depth": 0.01537581866641513,
+                "bottom_clearance": 0.08406470991967308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0019293153635635552,
+                  0.000538866765512569
+                ],
+                "rod_tip_xy": [
+                  0.29111907708917073,
+                  -0.37361879901649453
+                ],
+                "target_mouth_xy": [
+                  0.2930483924527343,
+                  -0.3741576657820071
+                ],
+                "gripper_position": [
+                  0.2911108651395288,
+                  -0.3736220369789421,
+                  1.005585867203616
+                ],
+                "rod_tip_xy_dist": 0.0020031563002063397,
+                "target_xy_drift": 4.908793592502458e-09,
+                "depth": 0.01553440570610276,
+                "bottom_clearance": 0.08390620586995101,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001937529873124788,
+                  0.0005356611272300249
+                ],
+                "rod_tip_xy": [
+                  0.29111086513952883,
+                  -0.37362203697894203
+                ],
+                "target_mouth_xy": [
+                  0.2930483950126536,
+                  -0.37415769810617205
+                ],
+                "gripper_position": [
+                  0.29111515429947293,
+                  -0.3736975610849172,
+                  1.0050543719007035
+                ],
+                "rod_tip_xy_dist": 0.0020102126386221677,
+                "target_xy_drift": 3.051342114326297e-08,
+                "depth": 0.01567396066488247,
+                "bottom_clearance": 0.08376658175428886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019332058737007718,
+                  0.00046010375840999096
+                ],
+                "rod_tip_xy": [
+                  0.291115154299473,
+                  -0.37369756108491725
+                ],
+                "target_mouth_xy": [
+                  0.29304836017317376,
+                  -0.37415766484332724
+                ],
+                "gripper_position": [
+                  0.2911043392800803,
+                  -0.37370696985699586,
+                  1.0048962712704224
+                ],
+                "rod_tip_xy_dist": 0.001987204171345804,
+                "target_xy_drift": 3.692356355636273e-08,
+                "depth": 0.016205552029808,
+                "bottom_clearance": 0.08323518914865724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0019440553316096287,
+                  0.00045072761736542066
+                ],
+                "rod_tip_xy": [
+                  0.29110433928008034,
+                  -0.3737069698569959
+                ],
+                "target_mouth_xy": [
+                  0.29304839461168997,
+                  -0.37415769747436134
+                ],
+                "gripper_position": [
+                  0.2910960529298432,
+                  -0.37371007752012214,
+                  1.0047566785468387
+                ],
+                "rod_tip_xy_dist": 0.0019956218372767253,
+                "target_xy_drift": 2.991216482411018e-08,
+                "depth": 0.016363547748409313,
+                "bottom_clearance": 0.08307696810438137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0019523090015793332,
+                  0.00044758857869731106
+                ],
+                "rod_tip_xy": [
+                  0.29109605292984325,
+                  -0.3737100775201222
+                ],
+                "target_mouth_xy": [
+                  0.2930483619314226,
+                  -0.3741576660988195
+                ],
+                "gripper_position": [
+                  0.2910877198768195,
+                  -0.37371308605124415,
+                  1.004617048201656
+                ],
+                "rod_tip_xy_dist": 0.0020029593039869713,
+                "target_xy_drift": 3.509256913950715e-08,
+                "depth": 0.016503288551141693,
+                "bottom_clearance": 0.0829373398253731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001960674518656391,
+                  0.0004446098343034999
+                ],
+                "rod_tip_xy": [
+                  0.29108771987681953,
+                  -0.3737130860512442
+                ],
+                "target_mouth_xy": [
+                  0.2930483943954759,
+                  -0.3741576958855477
+                ],
+                "gripper_position": [
+                  0.29109365675406473,
+                  -0.3737913536508597,
+                  1.0040853768972968
+                ],
+                "rod_tip_xy_dist": 0.0020104533003449387,
+                "target_xy_drift": 2.83476263356947e-08,
+                "depth": 0.016642797676098442,
+                "bottom_clearance": 0.08279776744267975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019547376209355094,
+                  0.00036637425977659177
+                ],
+                "rod_tip_xy": [
+                  0.2910936567540648,
+                  -0.3737913536508598
+                ],
+                "target_mouth_xy": [
+                  0.2930483943750003,
+                  -0.3741577279106364
+                ],
+                "gripper_position": [
+                  0.29108265590318383,
+                  -0.3738004450046166,
+                  1.003927054468976
+                ],
+                "rod_tip_xy_dist": 0.001988775820681522,
+                "target_xy_drift": 6.031048124904763e-08,
+                "depth": 0.017174505401481244,
+                "bottom_clearance": 0.08226601230181363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001965738226689717,
+                  0.00035725215369353247
+                ],
+                "rod_tip_xy": [
+                  0.2910826559031839,
+                  -0.3738004450046166
+                ],
+                "target_mouth_xy": [
+                  0.2930483941298736,
+                  -0.37415769715831015
+                ],
+                "gripper_position": [
+                  0.2910743132996316,
+                  -0.37380335835665274,
+                  1.0037878127679833
+                ],
+                "rod_tip_xy_dist": 0.001997937906239306,
+                "target_xy_drift": 2.963972243989383e-08,
+                "depth": 0.017332766483117434,
+                "bottom_clearance": 0.08210774246415642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019740492359750506,
+                  0.00035430900791688646
+                ],
+                "rod_tip_xy": [
+                  0.2910743132996317,
+                  -0.3738033583566528
+                ],
+                "target_mouth_xy": [
+                  0.29304836253560673,
+                  -0.3741576673645697
+                ],
+                "gripper_position": [
+                  0.29106572671212383,
+                  -0.3738063967340508,
+                  1.0036482208994093
+                ],
+                "rod_tip_xy_dist": 0.00200559349299521,
+                "target_xy_drift": 3.4455021247804965e-08,
+                "depth": 0.01747205399464713,
+                "bottom_clearance": 0.08196850619854756,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001982638773753209,
+                  0.0003513004218249627
+                ],
+                "rod_tip_xy": [
+                  0.2910657267121239,
+                  -0.3738063967340508
+                ],
+                "target_mouth_xy": [
+                  0.2930483654858771,
+                  -0.37415769715587577
+                ],
+                "gripper_position": [
+                  0.2910731251886664,
+                  -0.3738866117153856,
+                  1.0031196219872551
+                ],
+                "rod_tip_xy_dist": 0.002013521416216879,
+                "target_xy_drift": 4.315859021498845e-08,
+                "depth": 0.017611609095735226,
+                "bottom_clearance": 0.08182894403582575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001975236417512294,
+                  0.0002710559860449324
+                ],
+                "rod_tip_xy": [
+                  0.29107312518866646,
+                  -0.3738866117153856
+                ],
+                "target_mouth_xy": [
+                  0.29304836160617875,
+                  -0.37415766770143055
+                ],
+                "gripper_position": [
+                  0.29106201667442083,
+                  -0.3738957887943701,
+                  1.002961376668906
+                ],
+                "rod_tip_xy_dist": 0.001993747790628893,
+                "target_xy_drift": 3.538323761694687e-08,
+                "depth": 0.018140327042502458,
+                "bottom_clearance": 0.0813002574466617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001986377546820739,
+                  0.00026193785824291105
+                ],
+                "rod_tip_xy": [
+                  0.2910620166744209,
+                  -0.37389578879437
+                ],
+                "target_mouth_xy": [
+                  0.2930483942212416,
+                  -0.37415772665261293
+                ],
+                "gripper_position": [
+                  0.29105352082680297,
+                  -0.3738985801774575,
+                  1.0028224173369222
+                ],
+                "rod_tip_xy_dist": 0.0020035736073562307,
+                "target_xy_drift": 5.9060672376450906e-08,
+                "depth": 0.018298450524461995,
+                "bottom_clearance": 0.08114207304524579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019948716874351735,
+                  0.00025911636630004953
+                ],
+                "rod_tip_xy": [
+                  0.291053520826803,
+                  -0.3738985801774576
+                ],
+                "target_mouth_xy": [
+                  0.2930483925142382,
+                  -0.37415769654375763
+                ],
+                "gripper_position": [
+                  0.29104490685373474,
+                  -0.37390146298889093,
+                  1.0026830389067676
+                ],
+                "rod_tip_xy_dist": 0.002011629772253085,
+                "target_xy_drift": 2.9231499589596598e-08,
+                "depth": 0.018437454919737806,
+                "bottom_clearance": 0.08100312039831448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0020034885258339297,
+                  0.00025620658320030243
+                ],
+                "rod_tip_xy": [
+                  0.2910449068537348,
+                  -0.37390146298889093
+                ],
+                "target_mouth_xy": [
+                  0.2930483953795687,
+                  -0.37415766957209123
+                ],
+                "gripper_position": [
+                  0.291036330775075,
+                  -0.3739040454405926,
+                  1.0025437681236886
+                ],
+                "rod_tip_xy_dist": 0.002019803972276366,
+                "target_xy_drift": 2.501935066784122e-09,
+                "depth": 0.018576874085484474,
+                "bottom_clearance": 0.08086372730379321,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0020120632640414637,
+                  0.0002536203306092166
+                ],
+                "rod_tip_xy": [
+                  0.29103633077507507,
+                  -0.37390404544059264
+                ],
+                "target_mouth_xy": [
+                  0.29304839403911653,
+                  -0.37415766577120185
+                ],
+                "gripper_position": [
+                  0.29102780073055967,
+                  -0.37390695138695706,
+                  1.0024046997905338
+                ],
+                "rod_tip_xy_dist": 0.002027984677112605,
+                "target_xy_drift": 3.501394208955403e-09,
+                "depth": 0.018716020989302695,
+                "bottom_clearance": 0.08072454186273248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0020205608968678623,
+                  0.0002506858681700086
+                ],
+                "rod_tip_xy": [
+                  0.2910278007305597,
+                  -0.37390695138695706
+                ],
+                "target_mouth_xy": [
+                  0.2930483616274276,
+                  -0.3741576372551271
+                ],
+                "gripper_position": [
+                  0.29103780214739156,
+                  -0.37399142521299317,
+                  1.0018805866294076
+                ],
+                "rod_tip_xy_dist": 0.0020360524901022596,
+                "target_xy_drift": 4.663403097368156e-08,
+                "depth": 0.01885520025563059,
+                "bottom_clearance": 0.08058540612441178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0020105629800884484,
+                  0.0001662427733361005
+                ],
+                "rod_tip_xy": [
+                  0.2910378021473916,
+                  -0.3739914252129932
+                ],
+                "target_mouth_xy": [
+                  0.29304836512748006,
+                  -0.3741576679863293
+                ],
+                "gripper_position": [
+                  0.2910265319647567,
+                  -0.3740007943149966,
+                  1.0017225007433301
+                ],
+                "rod_tip_xy_dist": 0.00201742413899225,
+                "target_xy_drift": 3.186361175601124e-08,
+                "depth": 0.019379234921411137,
+                "bottom_clearance": 0.08006129307956955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0020218613302038224,
+                  0.0001568435594473394
+                ],
+                "rod_tip_xy": [
+                  0.29102653196475675,
+                  -0.37400079431499655
+                ],
+                "target_mouth_xy": [
+                  0.2930483932949606,
+                  -0.3741576378744439
+                ],
+                "gripper_position": [
+                  0.2910179406553657,
+                  -0.3740030983260483,
+                  1.0015840974917842
+                ],
+                "rod_tip_xy_dist": 0.002027935684560455,
+                "target_xy_drift": 3.001067038689108e-08,
+                "depth": 0.019537331153891224,
+                "bottom_clearance": 0.07990318078812175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0020304539453609993,
+                  0.00015456807677272089
+                ],
+                "rod_tip_xy": [
+                  0.29101794065536574,
+                  -0.3740030983260483
+                ],
+                "target_mouth_xy": [
+                  0.29304839460072674,
+                  -0.374157666402821
+                ],
+                "gripper_position": [
+                  0.2910091625515656,
+                  -0.37400572314671304,
+                  1.001445027148419
+                ],
+                "rod_tip_xy_dist": 0.002036328685303349,
+                "target_xy_drift": 2.6978297676880475e-09,
+                "depth": 0.019675744237958148,
+                "bottom_clearance": 0.07976481712478434,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000603965676939021,
+              "rod_tip_xy_max_step": 3.277529878596502e-05,
+              "rod_tip_xy_range": 0.0006039560904111369,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29053390252179995,
+            -0.37547064727901236,
+            1.043370388816208
+          ],
+          "object_origin_world": [
+            0.29053390252179995,
+            -0.37547064727901236,
+            1.043370388816208
+          ],
+          "frame_world": [
+            0.29055803963200066,
+            -0.37546744904196167,
+            1.043664659535024
+          ],
+          "center_minus_frame": [
+            -2.413711020071707e-05,
+            -3.1982370506944413e-06,
+            -0.0002942707188160476
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2726729184962188,
+              0.1515742972586695,
+              0.8325420089542681
+            ],
+            "target_position": [
+              0.2834882970569367,
+              0.1987455909016832,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04839528238751233,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16960035012207927,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325420089542681,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670926640211,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13926617448593695,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c904b578a9877e8fef4f05af21147bf12c037b2b48a5771014ec5939eab7f404",
+    "visual_seed": 3664229310474476066,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b962eea05139ed5503b05472cfb616febb598bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_54_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3370468580789847,
+              -0.03081124614234779,
+              1.1662648123182477
+            ],
+            "current_z": 1.1662648123182477,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30515842351277134,
+            "gripper_z": 1.1570342116614678,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3323627096155757,
+              -0.03543918845031073,
+              1.1570342116614678
+            ],
+            "object_minus_gripper": [
+              0.0046841484634090325,
+              0.004627942307962939,
+              0.009230600656779941
+            ],
+            "object_to_gripper_xy": 0.006584762473551384,
+            "object_to_gripper_z": 0.009230600656779941,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3370468580789847,
+              -0.05479528515452128,
+              1.1662648123182477
+            ],
+            "finger_b": [
+              0.32661711710432834,
+              -0.03081124614234779,
+              1.1662648123182477
+            ],
+            "finger_midpoint": [
+              0.33183198759165655,
+              -0.042803265648434535,
+              1.1662648123182477
+            ],
+            "object_minus_finger_midpoint": [
+              0.00521487048732816,
+              0.011992019506086745,
+              0.0
+            ],
+            "finger_gap": 0.02615365412587476,
+            "fingertip_max_gap": 0.09203586167673242,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013076827062937372,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662648123182477,
+            "object_top_z": 1.2161104693787315,
+            "finger_top_clearance": 0.04984565706048372,
+            "fingertip_min_top_clearance": 0.01495369711814508,
+            "object_projection_between_fingers": 0.8409688155907024,
+            "object_to_finger_line_xy": 0.009564526364808949,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851793083836621,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8372286368811888,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29160982102924676,
+              -0.37684803001921685,
+              0.8515396060078286
+            ],
+            "target_position": [
+              0.2844898521061559,
+              -0.37745515684643477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007145807193740067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18235569736199395,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396060078286,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527542392725282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699216249411788,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15099461403114264,
+            "release_required_pad_clearance": 0.053496081247058944,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.004592723892256,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008131146430969238,
+            "max_z_decrease": 0.008131146430969238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509331104040546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008131146430969238,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020917374261145705,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008131146430969238,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008131193742343352,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1401897817850113,
+              -0.4337166249752044,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1401897817850113,
+              -0.4337166249752044,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14002408184279144,
+              -0.43200657240447043,
+              0.8037298299395459
+            ],
+            "closest_button": [
+              0.14020872116088867,
+              -0.4336963593959808,
+              0.7686777114868164
+            ],
+            "closest_ee_minus_button": [
+              -0.00018463931809722944,
+              0.0016897869915103447,
+              0.035052118452729486
+            ],
+            "button_min_z_position": [
+              0.14020872116088867,
+              -0.4336963593959808,
+              0.7686777114868164
+            ],
+            "min_active_finger_to_button": 0.14521112462399946,
+            "closest_active_finger": [
+              0.01284894347190857,
+              -0.4945610463619232,
+              0.8105119466781616
+            ],
+            "closest_active_finger_button": [
+              0.140188992023468,
+              -0.43371656537055964,
+              0.7763252258300781
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12734004855155942,
+              -0.06084448099136358,
+              0.034186720848083496
+            ],
+            "min_contact_pad_to_button": 0.020917374261145705,
+            "closest_contact_pad": [
+              0.14020872116088867,
+              -0.4336963593959808,
+              0.7895950857479621
+            ],
+            "closest_contact_pad_button": [
+              0.14020872116088867,
+              -0.4336963593959808,
+              0.7686777114868164
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020917374261145705
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28325283162200077,
+              0.18967501208125429,
+              1.101296848878186
+            ],
+            "current_z": 1.101296848878186,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19138771914382346,
+            "gripper_z": 1.1012969640681287,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2832528315177364,
+              0.1896749973637532,
+              1.1012969640681287
+            ],
+            "object_minus_gripper": [
+              1.0426437491162233e-10,
+              1.4717501078953532e-08,
+              -1.1518994269543725e-07
+            ],
+            "object_to_gripper_xy": 1.4717870398562221e-08,
+            "object_to_gripper_z": -1.1518994269543725e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28325283162200077,
+              0.18967501208125429,
+              1.101296848878186
+            ],
+            "finger_b": [
+              0.28325283162200077,
+              0.18967501208125429,
+              1.101296848878186
+            ],
+            "finger_midpoint": [
+              0.28325283162200077,
+              0.18967501208125429,
+              1.101296848878186
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101296848878186,
+            "object_top_z": 1.2263053554984658,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28325283162200077,
+            0.18967501208125429,
+            1.1012968488781862
+          ],
+          "object_origin_world": [
+            0.28325283162200077,
+            0.18967501208125429,
+            1.1012968488781862
+          ],
+          "frame_world": [
+            0.2832528315177364,
+            0.1896749973637532,
+            1.1012969640681287
+          ],
+          "center_minus_frame": [
+            1.0426437491162233e-10,
+            1.4717501078953532e-08,
+            -1.1518994247339265e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436601087541284,
+            "required_z": 0.9112598165648556,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021954510921473737,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.8077650152104673e-07,
+            "max_target_xy_drift": 2.689243741929493e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.004592724637303,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.0049831511648417,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2899880956849887,
+              -0.3753447220765387,
+              0.9233656675197507
+            ],
+            "target_mouth_xy": [
+              0.29160958162654876,
+              -0.37684788287863813
+            ],
+            "rod_tip_z": 0.9233656675197507,
+            "rod_tip_depth": -0.022105847522566946,
+            "rod_tip_bottom_clearance": 0.1215463710752499,
+            "rod_tip_xy_dist": 0.0022110425268739736,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045180584876666985,
+            "min_rod_tip_bottom_clearance": 0.05425998483753591,
+            "min_rod_tip_xy_dist": 0.0005254014304516342,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2916097257313682,
+              -0.3768479920296552
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.441048194106287e-07,
+              1.091510170581067e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0010618622193163119,
+                0.0032676353972175276
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011682660879460682,
+                0.002896778813052281
+              ],
+              "first_target_mouth_xy": [
+                0.2916096720157858,
+                -0.3768478803175205
+              ],
+              "last_target_mouth_xy": [
+                0.29160967288273876,
+                -0.3768479091716559
+              ],
+              "first_rod_tip_xy": [
+                0.2905478097964695,
+                -0.37358024492030295
+              ],
+              "last_rod_tip_xy": [
+                0.2904414067947927,
+                -0.3739511303586036
+              ],
+              "min_rod_tip_xy_dist": 0.0031216042853448875,
+              "max_rod_tip_xy_dist": 0.003435839411550009,
+              "first_target_xy_drift": 1.2395549536339812e-07,
+              "last_target_xy_drift": 9.827728973904618e-08,
+              "max_depth": 0.019588129485618055,
+              "min_bottom_clearance": 0.079852592916552
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0010618622193163119,
+                  0.0032676353972175276
+                ],
+                "rod_tip_xy": [
+                  0.2905478097964695,
+                  -0.37358024492030295
+                ],
+                "target_mouth_xy": [
+                  0.2916096720157858,
+                  -0.3768478803175205
+                ],
+                "gripper_position": [
+                  0.2905371916165087,
+                  -0.3735894743614146,
+                  1.0058139416128058
+                ],
+                "rod_tip_xy_dist": 0.003435839411550009,
+                "target_xy_drift": 1.2395549536339812e-07,
+                "depth": 0.015287538678606327,
+                "bottom_clearance": 0.0841531163173207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001072446685732087,
+                  0.003258438386730067
+                ],
+                "rod_tip_xy": [
+                  0.29053719161650865,
+                  -0.37358947436141465
+                ],
+                "target_mouth_xy": [
+                  0.29160963830224074,
+                  -0.3768479127481447
+                ],
+                "gripper_position": [
+                  0.29052902822140203,
+                  -0.37359269070798723,
+                  1.0056747273816704
+                ],
+                "rod_tip_xy_dist": 0.003430388114172182,
+                "target_xy_drift": 1.1802292246245056e-07,
+                "depth": 0.015445931096784049,
+                "bottom_clearance": 0.08399463187362999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010806110526249135,
+                  0.0032551918812077085
+                ],
+                "rod_tip_xy": [
+                  0.290529028221402,
+                  -0.3735926907079873
+                ],
+                "target_mouth_xy": [
+                  0.2916096392740269,
+                  -0.376847882589195
+                ],
+                "gripper_position": [
+                  0.29053512811742166,
+                  -0.37366408354351166,
+                  1.0051409136808198
+                ],
+                "rod_tip_xy_dist": 0.003429867990249144,
+                "target_xy_drift": 1.39470735962082e-07,
+                "depth": 0.015585121076656105,
+                "bottom_clearance": 0.0838554155548622,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00107454221504516,
+                  0.003183829785272818
+                ],
+                "rod_tip_xy": [
+                  0.2905351281174216,
+                  -0.37366408354351166
+                ],
+                "target_mouth_xy": [
+                  0.29160967033246676,
+                  -0.3768479133287845
+                ],
+                "gripper_position": [
+                  0.2905243495445591,
+                  -0.3736734840637185,
+                  1.00498257103267
+                ],
+                "rod_tip_xy_dist": 0.003360269791773351,
+                "target_xy_drift": 9.624378072327856e-08,
+                "depth": 0.016118908130851373,
+                "bottom_clearance": 0.08332160275389999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010852592694548524,
+                  0.0031744562610004357
+                ],
+                "rod_tip_xy": [
+                  0.290524349544559,
+                  -0.3736734840637186
+                ],
+                "target_mouth_xy": [
+                  0.2916096088140139,
+                  -0.376847940324719
+                ],
+                "gripper_position": [
+                  0.2905160476173869,
+                  -0.37367648381436386,
+                  1.0048433027591859
+                ],
+                "rod_tip_xy_dist": 0.0033548413129300984,
+                "target_xy_drift": 1.27840010012455e-07,
+                "depth": 0.01627732926202219,
+                "bottom_clearance": 0.0831632977055834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010935914956473058,
+                  0.0031714276521776497
+                ],
+                "rod_tip_xy": [
+                  0.29051604761738686,
+                  -0.3736764838143639
+                ],
+                "target_mouth_xy": [
+                  0.29160963911303417,
+                  -0.37684791146654156
+                ],
+                "gripper_position": [
+                  0.2905230649278039,
+                  -0.3737487372854398,
+                  1.0043121566385556
+                ],
+                "rod_tip_xy_dist": 0.0033546826544919492,
+                "target_xy_drift": 1.1829265007924418e-07,
+                "depth": 0.01641650662799632,
+                "bottom_clearance": 0.0830240681743285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010865742654333488,
+                  0.00309917418088701
+                ],
+                "rod_tip_xy": [
+                  0.29052306492780383,
+                  -0.3737487372854399
+                ],
+                "target_mouth_xy": [
+                  0.2916096391932372,
+                  -0.3768479114663269
+                ],
+                "gripper_position": [
+                  0.29051214308386697,
+                  -0.3737579726910538,
+                  1.0041541047285234
+                ],
+                "rod_tip_xy_dist": 0.0032841321894495493,
+                "target_xy_drift": 1.182340812988547e-07,
+                "depth": 0.016947709861519056,
+                "bottom_clearance": 0.08249286176347492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010974648175932078,
+                  0.00308993975917099
+                ],
+                "rod_tip_xy": [
+                  0.2905121430838669,
+                  -0.37375797269105393
+                ],
+                "target_mouth_xy": [
+                  0.2916096079014601,
+                  -0.3768479124502249
+                ],
+                "gripper_position": [
+                  0.29050384489804143,
+                  -0.373760787240557,
+                  1.0040150344194103
+                ],
+                "rod_tip_xy_dist": 0.0032790481455996596,
+                "target_xy_drift": 1.4218569883599514e-07,
+                "depth": 0.017105791602360698,
+                "bottom_clearance": 0.08233480536950433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011057934391363045,
+                  0.0030871248876179758
+                ],
+                "rod_tip_xy": [
+                  0.29050384489804143,
+                  -0.37376078724055706
+                ],
+                "target_mouth_xy": [
+                  0.29160963833717773,
+                  -0.37684791212817503
+                ],
+                "gripper_position": [
+                  0.29049520053372835,
+                  -0.3737639835470133,
+                  1.003876100571029
+                ],
+                "rod_tip_xy_dist": 0.0032791949014639547,
+                "target_xy_drift": 1.1841448835991343e-07,
+                "depth": 0.01724484760760403,
+                "bottom_clearance": 0.08219573527299573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011144701022627324,
+                  0.003083927909033224
+                ],
+                "rod_tip_xy": [
+                  0.2904952005337283,
+                  -0.37376398354701335
+                ],
+                "target_mouth_xy": [
+                  0.291609670635991,
+                  -0.37684791145604657
+                ],
+                "gripper_position": [
+                  0.29050380085102906,
+                  -0.3738383336296254,
+                  1.0033462560993516
+                ],
+                "rod_tip_xy_dist": 0.003279124114295087,
+                "target_xy_drift": 9.760946157539609e-08,
+                "depth": 0.017383738713229957,
+                "bottom_clearance": 0.08205681542751353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011058357217117454,
+                  0.0030096451376075972
+                ],
+                "rod_tip_xy": [
+                  0.290503800851029,
+                  -0.3738383336296254
+                ],
+                "target_mouth_xy": [
+                  0.29160963657274075,
+                  -0.37684797876723297
+                ],
+                "gripper_position": [
+                  0.29049266006781377,
+                  -0.37384745338291814,
+                  1.0031888756035983
+                ],
+                "rod_tip_xy_dist": 0.003206374353960995,
+                "target_xy_drift": 9.013962884004348e-08,
+                "depth": 0.01791378469861471,
+                "bottom_clearance": 0.08152707044870378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011170408933133258,
+                  0.003000458382468929
+                ],
+                "rod_tip_xy": [
+                  0.2904926600678137,
+                  -0.37384745338291825
+                ],
+                "target_mouth_xy": [
+                  0.29160970096112704,
+                  -0.3768479117653872
+                ],
+                "gripper_position": [
+                  0.2904840932388274,
+                  -0.3738503910125282,
+                  1.0030497294721108
+                ],
+                "rod_tip_xy_dist": 0.0032016450243995344,
+                "target_xy_drift": 8.399950931452729e-08,
+                "depth": 0.018070961912242445,
+                "bottom_clearance": 0.08136960022065332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011255431998397625,
+                  0.00299755348951547
+                ],
+                "rod_tip_xy": [
+                  0.29048409323882735,
+                  -0.37385039101252815
+                ],
+                "target_mouth_xy": [
+                  0.2916096364386671,
+                  -0.3768479445020436
+                ],
+                "gripper_position": [
+                  0.2904756252478391,
+                  -0.37385304732547453,
+                  1.002910701443158
+                ],
+                "rod_tip_xy_dist": 0.0032019016876243876,
+                "target_xy_drift": 1.0115364711746168e-07,
+                "depth": 0.018210171359483884,
+                "bottom_clearance": 0.08123052356273408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011340475926511773,
+                  0.0029948948553173427
+                ],
+                "rod_tip_xy": [
+                  0.29047562524783904,
+                  -0.37385304732547464
+                ],
+                "target_mouth_xy": [
+                  0.2916096728404902,
+                  -0.376847942180792
+                ],
+                "gripper_position": [
+                  0.2904671535379404,
+                  -0.37385570738726487,
+                  1.002772115154692
+                ],
+                "rod_tip_xy_dist": 0.003202414579158079,
+                "target_xy_drift": 7.267980554175071e-08,
+                "depth": 0.018349196919895894,
+                "bottom_clearance": 0.0810914050836189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011425174513297054,
+                  0.0029922043629340145
+                ],
+                "rod_tip_xy": [
+                  0.29046715353794034,
+                  -0.3738557073872649
+                ],
+                "target_mouth_xy": [
+                  0.29160967098927004,
+                  -0.37684791175019894
+                ],
+                "gripper_position": [
+                  0.290458625035692,
+                  -0.3738582985515828,
+                  1.002633053108064
+                ],
+                "rod_tip_xy_dist": 0.0032029100949221593,
+                "target_xy_drift": 9.716732168590579e-08,
+                "depth": 0.018487661786538045,
+                "bottom_clearance": 0.08095289460078725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011510469144734858,
+                  0.002989613500924193
+                ],
+                "rod_tip_xy": [
+                  0.2904586250356919,
+                  -0.3738582985515829
+                ],
+                "target_mouth_xy": [
+                  0.2916096719501654,
+                  -0.3768479120525071
+                ],
+                "gripper_position": [
+                  0.290469792140815,
+                  -0.37393705819610784,
+                  1.0021071388106637
+                ],
+                "rod_tip_xy_dist": 0.0032035445812766744,
+                "target_xy_drift": 9.637822360277026e-08,
+                "depth": 0.018626844621078553,
+                "bottom_clearance": 0.0808137363228868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001139847469193822,
+                  0.0029108840210062548
+                ],
+                "rod_tip_xy": [
+                  0.2904697921408149,
+                  -0.3739370581961079
+                ],
+                "target_mouth_xy": [
+                  0.29160963961000874,
+                  -0.37684794221711415
+                ],
+                "gripper_position": [
+                  0.2904587049351794,
+                  -0.3739462407244994,
+                  1.0019491709117663
+                ],
+                "rod_tip_xy_dist": 0.0031260994924629483,
+                "target_xy_drift": 9.948958636486026e-08,
+                "depth": 0.019152639199261245,
+                "bottom_clearance": 0.08028788329202141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011509649369271235,
+                  0.0029016707305012934
+                ],
+                "rod_tip_xy": [
+                  0.29045870493517933,
+                  -0.37394624072449945
+                ],
+                "target_mouth_xy": [
+                  0.29160966987210646,
+                  -0.37684791145500074
+                ],
+                "gripper_position": [
+                  0.29044991111588825,
+                  -0.37394878732585934,
+                  1.0018105452350783
+                ],
+                "rod_tip_xy_dist": 0.0031216042853448875,
+                "target_xy_drift": 9.804352124936975e-08,
+                "depth": 0.01931066850752783,
+                "bottom_clearance": 0.08012986870289585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001159698526653763,
+                  0.0028991285929740873
+                ],
+                "rod_tip_xy": [
+                  0.2904499111158882,
+                  -0.37394878732585934
+                ],
+                "target_mouth_xy": [
+                  0.29160960964254196,
+                  -0.37684791591883343
+                ],
+                "gripper_position": [
+                  0.2904414067947927,
+                  -0.3739511303586036,
+                  1.0016718273373106
+                ],
+                "rod_tip_xy_dist": 0.0031224745429423153,
+                "target_xy_drift": 1.3881452647765397e-07,
+                "depth": 0.019449348506424324,
+                "bottom_clearance": 0.07999127975827369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011682660879460682,
+                  0.002896778813052281
+                ],
+                "rod_tip_xy": [
+                  0.2904414067947927,
+                  -0.3739511303586036
+                ],
+                "target_mouth_xy": [
+                  0.29160967288273876,
+                  -0.3768479091716559
+                ],
+                "gripper_position": [
+                  0.29043262986041185,
+                  -0.3739539788060248,
+                  1.0015330942502996
+                ],
+                "rod_tip_xy_dist": 0.003123487336935015,
+                "target_xy_drift": 9.827728973904618e-08,
+                "depth": 0.019588129485618055,
+                "bottom_clearance": 0.079852592916552,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006047808931679249,
+              "rod_tip_xy_max_step": 3.267917940246217e-05,
+              "rod_tip_xy_range": 0.0006047751554165446,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2899880956849887,
+            -0.3753447220765387,
+            1.0433656675197507
+          ],
+          "object_origin_world": [
+            0.2899880956849887,
+            -0.3753447220765387,
+            1.0433656675197507
+          ],
+          "frame_world": [
+            0.2900123110010329,
+            -0.3753416518051055,
+            1.0436601087541284
+          ],
+          "center_minus_frame": [
+            -2.421531604424043e-05,
+            -3.0702714332031533e-06,
+            -0.0002944412343777181
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27325232238836306,
+              0.14403392562093076,
+              0.8333700349542098
+            ],
+            "target_position": [
+              0.2834181055578756,
+              0.19140395933033194,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0484485628381209,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16969772895024537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333700349542098,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669616049847,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1387219740406356,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a87888c90888bbdb4501849b7ab7de9e13ce3f9a454378a9ea73c80e1308655a",
+    "visual_seed": 7382336302469080511,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2d1f6dced24ff9bdeece29a6a1872a756cbe26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_55_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3335755041116816,
+              -0.03882334652324063,
+              1.1657750816661139
+            ],
+            "current_z": 1.1657750816661139,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3046685736513478,
+            "gripper_z": 1.1564969247392947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32907872871539423,
+              -0.043435659658178014,
+              1.1564969247392947
+            ],
+            "object_minus_gripper": [
+              0.004496775396287345,
+              0.0046123131349373805,
+              0.009278156926819214
+            ],
+            "object_to_gripper_xy": 0.006441616366982055,
+            "object_to_gripper_z": 0.009278156926819214,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3335755041116816,
+              -0.06254087925346517,
+              1.1657750816661139
+            ],
+            "finger_b": [
+              0.3229841423444877,
+              -0.03882334652324063,
+              1.1657750816661139
+            ],
+            "finger_midpoint": [
+              0.32827982322808463,
+              -0.050682112888352907,
+              1.1657750816661139
+            ],
+            "object_minus_finger_midpoint": [
+              0.005295680883596943,
+              0.011858766365112273,
+              0.0
+            ],
+            "finger_gap": 0.025974955301075086,
+            "fingertip_max_gap": 0.09187210257061021,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012987477650537546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657750816661139,
+            "object_top_z": 1.2156120864883437,
+            "finger_top_clearance": 0.04983700482222986,
+            "fingertip_min_top_clearance": 0.014951101446668957,
+            "object_projection_between_fingers": 0.8337376222785733,
+            "object_to_finger_line_xy": 0.009670891305082332,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843605128530511,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6419165164552265,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2976513962513908,
+              -0.3681614955457966,
+              0.851539588444694
+            ],
+            "target_position": [
+              0.29046810695140957,
+              -0.36899436986670636,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007231412365620976,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18617208920112074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539588444694,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566839458020239,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08650012816483958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15370021588905095,
+            "release_required_pad_clearance": 0.05325006408241979,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5205514213758355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008061408996582031,
+            "max_z_decrease": 0.008061408996582031,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517281105807214,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008061408996582031,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021155164437279567,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008061408996582031,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008061417383838176,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14616803824901578,
+              -0.42525583505630493,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14616803824901578,
+              -0.42525583505630493,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14451917639729037,
+              -0.42675435837039244,
+              0.8038494169926322
+            ],
+            "closest_button": [
+              0.1461628377437591,
+              -0.4252454340457917,
+              0.7687474489212036
+            ],
+            "closest_ee_minus_button": [
+              -0.0016436613464687333,
+              -0.0015089243246007578,
+              0.035101968071428624
+            ],
+            "button_min_z_position": [
+              0.1461628377437591,
+              -0.4252454340457917,
+              0.7687474489212036
+            ],
+            "min_active_finger_to_button": 0.1471199383252799,
+            "closest_active_finger": [
+              0.0040245503187179565,
+              -0.4087780714035034,
+              0.8105793595314026
+            ],
+            "closest_active_finger_button": [
+              0.1461673527956009,
+              -0.4252571165561676,
+              0.7764012813568115
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14214280247688293,
+              0.016479045152664185,
+              0.034178078174591064
+            ],
+            "min_contact_pad_to_button": 0.021155164437279567,
+            "closest_contact_pad": [
+              0.1461628377437591,
+              -0.4280957235636538,
+              0.7897097205546098
+            ],
+            "closest_contact_pad_button": [
+              0.1461628377437591,
+              -0.4252454340457917,
+              0.7687474489212036
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028502895178620924,
+              0.020962271633406138
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28664649613199966,
+              0.19092547337741822,
+              1.1030800140821673
+            ],
+            "current_z": 1.1030800140821673,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19317088434780472,
+            "gripper_z": 1.103080137255266,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28664652929135315,
+              0.1909255122437486,
+              1.103080137255266
+            ],
+            "object_minus_gripper": [
+              -3.31593534852459e-08,
+              -3.8866330376308156e-08,
+              -1.23173098831586e-07
+            ],
+            "object_to_gripper_xy": 5.108947406736366e-08,
+            "object_to_gripper_z": -1.23173098831586e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28664649613199966,
+              0.19092547337741822,
+              1.1030800140821673
+            ],
+            "finger_b": [
+              0.28664649613199966,
+              0.19092547337741822,
+              1.1030800140821673
+            ],
+            "finger_midpoint": [
+              0.28664649613199966,
+              0.19092547337741822,
+              1.1030800140821673
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1030800140821673,
+            "object_top_z": 1.228088520702447,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28664649613199966,
+            0.19092547337741825,
+            1.1030800140821673
+          ],
+          "object_origin_world": [
+            0.28664649613199966,
+            0.19092547337741825,
+            1.1030800140821673
+          ],
+          "frame_world": [
+            0.28664652929135315,
+            0.1909255122437486,
+            1.103080137255266
+          ],
+          "center_minus_frame": [
+            -3.31593534852459e-08,
+            -3.886633034855258e-08,
+            -1.23173098831586e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043419293775734,
+            "required_z": 0.9112599234185946,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014419770284273517,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.7498968623882547e-07,
+            "max_target_xy_drift": 3.0606937986363433e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5205514128928423,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.520551422276226,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2983805702085063,
+              -0.3693978836313605,
+              0.9235469718403758
+            ],
+            "target_mouth_xy": [
+              0.2976512435236619,
+              -0.36816155808419504
+            ],
+            "rod_tip_z": 0.9235469718403758,
+            "rod_tip_depth": -0.022287039633121064,
+            "rod_tip_bottom_clearance": 0.12172788012298141,
+            "rod_tip_xy_dist": 0.0014354157139310096,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045387996322373114,
+            "min_rod_tip_bottom_clearance": 0.05405251885271434,
+            "min_rod_tip_xy_dist": 0.0002092033211181252,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2976513697491302,
+              -0.36816143688798453
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.2622546829987868e-07,
+              -1.211962105118758e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0011469418307493706,
+                0.0007063964082574259
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010573163040847877,
+                0.0003191855439247382
+              ],
+              "first_target_mouth_xy": [
+                0.2976513405972492,
+                -0.3681614977503995
+              ],
+              "last_target_mouth_xy": [
+                0.29765133834998303,
+                -0.36816149650129903
+              ],
+              "first_rod_tip_xy": [
+                0.29879828242799855,
+                -0.3674551013421421
+              ],
+              "last_rod_tip_xy": [
+                0.2987086546540678,
+                -0.3678423109573743
+              ],
+              "min_rod_tip_xy_dist": 0.001104444284848288,
+              "max_rod_tip_xy_dist": 0.0013470231804693302,
+              "first_target_xy_drift": 6.748381825482205e-08,
+              "last_target_xy_drift": 6.737695236197926e-08,
+              "max_depth": 0.01944872593740843,
+              "min_bottom_clearance": 0.07999183875047466
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011469418307493706,
+                  0.0007063964082574259
+                ],
+                "rod_tip_xy": [
+                  0.29879828242799855,
+                  -0.3674551013421421
+                ],
+                "target_mouth_xy": [
+                  0.2976513405972492,
+                  -0.3681614977503995
+                ],
+                "gripper_position": [
+                  0.2988087491627356,
+                  -0.3675320604220207,
+                  1.0056009032724929
+                ],
+                "rod_tip_xy_dist": 0.0013470231804693302,
+                "target_xy_drift": 6.748381825482205e-08,
+                "depth": 0.015124804856417762,
+                "bottom_clearance": 0.084315888871492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0011574420079701886,
+                  0.0006294056723347152
+                ],
+                "rod_tip_xy": [
+                  0.2988087491627357,
+                  -0.3675320604220207
+                ],
+                "target_mouth_xy": [
+                  0.2976513071547655,
+                  -0.3681614660943554
+                ],
+                "gripper_position": [
+                  0.29879789873952417,
+                  -0.3675415408291679,
+                  1.0054400494799274
+                ],
+                "rod_tip_xy_dist": 0.0013175065473010662,
+                "target_xy_drift": 6.907290779280347e-08,
+                "depth": 0.015658919546103545,
+                "bottom_clearance": 0.0837816751912489,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011465584861663491,
+                  0.0006199575641230304
+                ],
+                "rod_tip_xy": [
+                  0.2987978987395243,
+                  -0.367541540829168
+                ],
+                "target_mouth_xy": [
+                  0.29765134025335793,
+                  -0.36816149839329104
+                ],
+                "gripper_position": [
+                  0.2987894754752609,
+                  -0.3675444994091122,
+                  1.0052981613451768
+                ],
+                "rod_tip_xy_dist": 0.0013034353622306829,
+                "target_xy_drift": 6.821219327357317e-08,
+                "depth": 0.01581991003366734,
+                "bottom_clearance": 0.08362079242734577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011381679299680147,
+                  0.000616998083365683
+                ],
+                "rod_tip_xy": [
+                  0.298789475475261,
+                  -0.36754449940911227
+                ],
+                "target_mouth_xy": [
+                  0.297651307545293,
+                  -0.36816149749247795
+                ],
+                "gripper_position": [
+                  0.2988009530531248,
+                  -0.3676226693948747,
+                  1.0047661408807111
+                ],
+                "rod_tip_xy_dist": 0.0012946477790057812,
+                "target_xy_drift": 8.68459670024096e-08,
+                "depth": 0.015961679519276184,
+                "bottom_clearance": 0.08347895915181625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001149612515497278,
+                  0.0005388296259707381
+                ],
+                "rod_tip_xy": [
+                  0.29880095305312493,
+                  -0.36762266939487476
+                ],
+                "target_mouth_xy": [
+                  0.29765134053762765,
+                  -0.3681614990208455
+                ],
+                "gripper_position": [
+                  0.2987898476964127,
+                  -0.36763194146940037,
+                  1.0046054847869637
+                ],
+                "rod_tip_xy_dist": 0.001269624472673611,
+                "target_xy_drift": 6.865715034304626e-08,
+                "depth": 0.016493832091801774,
+                "bottom_clearance": 0.08294690331476628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011385083973748378,
+                  0.0005295245928751413
+                ],
+                "rod_tip_xy": [
+                  0.29878984769641276,
+                  -0.36763194146940026
+                ],
+                "target_mouth_xy": [
+                  0.2976513392990379,
+                  -0.3681614660622754
+                ],
+                "gripper_position": [
+                  0.2987813891096166,
+                  -0.36763489062229787,
+                  1.004463686278145
+                ],
+                "rod_tip_xy_dist": 0.0012556264035741705,
+                "target_xy_drift": 4.2170456101455846e-08,
+                "depth": 0.016654302880894645,
+                "bottom_clearance": 0.08278627432395724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011300485153464268,
+                  0.0005266065018567079
+                ],
+                "rod_tip_xy": [
+                  0.29878138910961666,
+                  -0.3676348906222979
+                ],
+                "target_mouth_xy": [
+                  0.29765134059427023,
+                  -0.36816149712415464
+                ],
+                "gripper_position": [
+                  0.2987727700898351,
+                  -0.36763800443461425,
+                  1.004322338856113
+                ],
+                "rod_tip_xy_dist": 0.0012467253325550189,
+                "target_xy_drift": 6.692086407929903e-08,
+                "depth": 0.01679631334257392,
+                "bottom_clearance": 0.0826443585609824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011214315674143438,
+                  0.0005234299384183627
+                ],
+                "rod_tip_xy": [
+                  0.2987727700898352,
+                  -0.36763800443461436
+                ],
+                "target_mouth_xy": [
+                  0.29765133852242087,
+                  -0.3681614343730327
+                ],
+                "gripper_position": [
+                  0.29878599508385006,
+                  -0.36771826759797205,
+                  1.0037911860308417
+                ],
+                "rod_tip_xy_dist": 0.0012375732951328754,
+                "target_xy_drift": 3.132782083248946e-08,
+                "depth": 0.016937477944654722,
+                "bottom_clearance": 0.08250302195241566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011346538598187017,
+                  0.0004432295075562642
+                ],
+                "rod_tip_xy": [
+                  0.2987859950838502,
+                  -0.3677182675979721
+                ],
+                "target_mouth_xy": [
+                  0.2976513412240315,
+                  -0.36816149710552837
+                ],
+                "gripper_position": [
+                  0.29877471689447366,
+                  -0.36772758866503685,
+                  1.003630116630506
+                ],
+                "rod_tip_xy_dist": 0.0012181509668222764,
+                "target_xy_drift": 6.663207818734544e-08,
+                "depth": 0.017468758968221643,
+                "bottom_clearance": 0.0819719370973302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011233463683540945,
+                  0.00043384378117572453
+                ],
+                "rod_tip_xy": [
+                  0.29877471689447377,
+                  -0.36772758866503685
+                ],
+                "target_mouth_xy": [
+                  0.2976513705261197,
+                  -0.3681614324462126
+                ],
+                "gripper_position": [
+                  0.29876613465440727,
+                  -0.3677303307667719,
+                  1.0034888920019596
+                ],
+                "rod_tip_xy_dist": 0.0012042123939568065,
+                "target_xy_drift": 4.509218413293939e-09,
+                "depth": 0.01762981110297035,
+                "bottom_clearance": 0.08181084218624968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011148277982938049,
+                  0.0004311648478648733
+                ],
+                "rod_tip_xy": [
+                  0.2987661346544074,
+                  -0.36773033076677186
+                ],
+                "target_mouth_xy": [
+                  0.2976513068561136,
+                  -0.36816149561463674
+                ],
+                "gripper_position": [
+                  0.2987574121425296,
+                  -0.367733205077176,
+                  1.0033471806741994
+                ],
+                "rod_tip_xy_dist": 0.0011953008599858664,
+                "target_xy_drift": 8.604853990690395e-08,
+                "depth": 0.017770934518146153,
+                "bottom_clearance": 0.08166966106410667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011060715405484256,
+                  0.0004282600217817567
+                ],
+                "rod_tip_xy": [
+                  0.2987574121425297,
+                  -0.367733205077176
+                ],
+                "target_mouth_xy": [
+                  0.2976513406019813,
+                  -0.36816146509895775
+                ],
+                "gripper_position": [
+                  0.2987486500252545,
+                  -0.3677361444890438,
+                  1.0032059956650805
+                ],
+                "rod_tip_xy_dist": 0.0011860863792606668,
+                "target_xy_drift": 4.0563719013711966e-08,
+                "depth": 0.017912720205767507,
+                "bottom_clearance": 0.08152787492833002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010973127188746434,
+                  0.00042529085285514245
+                ],
+                "rod_tip_xy": [
+                  0.2987486500252546,
+                  -0.3677361444890438
+                ],
+                "target_mouth_xy": [
+                  0.29765133730637994,
+                  -0.36816143534189893
+                ],
+                "gripper_position": [
+                  0.298764210524442,
+                  -0.3678200797484522,
+                  1.0026772798002486
+                ],
+                "rod_tip_xy_dist": 0.0011768464269080808,
+                "target_xy_drift": 3.2479569352984466e-08,
+                "depth": 0.018053858546310475,
+                "bottom_clearance": 0.08138668820279193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011128424028526984,
+                  0.0003413248139689795
+                ],
+                "rod_tip_xy": [
+                  0.29876421052444213,
+                  -0.3678200797484522
+                ],
+                "target_mouth_xy": [
+                  0.29765136812158943,
+                  -0.3681614045624212
+                ],
+                "gripper_position": [
+                  0.29875288488161716,
+                  -0.36782928274485455,
+                  1.0025163692008403
+                ],
+                "rod_tip_xy_dist": 0.0011640106710068968,
+                "target_xy_drift": 3.236650945069842e-08,
+                "depth": 0.01858253562747303,
+                "bottom_clearance": 0.08085795695264009,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001101575311804548,
+                  0.000332212796838649
+                ],
+                "rod_tip_xy": [
+                  0.2987528848816173,
+                  -0.3678292827448545
+                ],
+                "target_mouth_xy": [
+                  0.2976513095698127,
+                  -0.36816149554169314
+                ],
+                "gripper_position": [
+                  0.2987439912709159,
+                  -0.36783194242685546,
+                  1.0023755727645218
+                ],
+                "rod_tip_xy_dist": 0.0011505796408596166,
+                "target_xy_drift": 8.403456304147308e-08,
+                "depth": 0.018743472993695942,
+                "bottom_clearance": 0.08069709589472995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010926851534547866,
+                  0.0003295832790939368
+                ],
+                "rod_tip_xy": [
+                  0.29874399127091594,
+                  -0.3678319424268556
+                ],
+                "target_mouth_xy": [
+                  0.29765130611746116,
+                  -0.3681615257059495
+                ],
+                "gripper_position": [
+                  0.2987351235618123,
+                  -0.3678346314729892,
+                  1.0022345019586214
+                ],
+                "rod_tip_xy_dist": 0.0011413088900200604,
+                "target_xy_drift": 1.09259417027202e-07,
+                "depth": 0.01888434091995783,
+                "bottom_clearance": 0.08055629297182254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010837851171154878,
+                  0.00032683301578328994
+                ],
+                "rod_tip_xy": [
+                  0.29873512356181237,
+                  -0.3678346314729892
+                ],
+                "target_mouth_xy": [
+                  0.2976513384446969,
+                  -0.3681614644887725
+                ],
+                "gripper_position": [
+                  0.2987262983397482,
+                  -0.3678371986855254,
+                  1.0020932035157315
+                ],
+                "rod_tip_xy_dist": 0.0011319938163643084,
+                "target_xy_drift": 4.1734530586545545e-08,
+                "depth": 0.019025310347454805,
+                "bottom_clearance": 0.0804151786221895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001074988678328892,
+                  0.0003242978061778201
+                ],
+                "rod_tip_xy": [
+                  0.2987262983397483,
+                  -0.36783719868552545
+                ],
+                "target_mouth_xy": [
+                  0.2976513096614194,
+                  -0.36816149649170327
+                ],
+                "gripper_position": [
+                  0.29871738045801444,
+                  -0.36783987750652175,
+                  1.0019522953949034
+                ],
+                "rod_tip_xy_dist": 0.001122840026730008,
+                "target_xy_drift": 8.463531341862674e-08,
+                "depth": 0.01916665620559399,
+                "bottom_clearance": 0.08027394923174846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001066072950994812,
+                  0.00032164817975632864
+                ],
+                "rod_tip_xy": [
+                  0.29871738045801455,
+                  -0.3678398775065218
+                ],
+                "target_mouth_xy": [
+                  0.29765130750701974,
+                  -0.36816152568627813
+                ],
+                "gripper_position": [
+                  0.2987086546540677,
+                  -0.3678423109573743,
+                  1.0018111259551918
+                ],
+                "rod_tip_xy_dist": 0.0011135389927538894,
+                "target_xy_drift": 1.0843992467146091e-07,
+                "depth": 0.019307576218176026,
+                "bottom_clearance": 0.08013300484054775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010573163040847877,
+                  0.0003191855439247382
+                ],
+                "rod_tip_xy": [
+                  0.2987086546540678,
+                  -0.3678423109573743
+                ],
+                "target_mouth_xy": [
+                  0.29765133834998303,
+                  -0.36816149650129903
+                ],
+                "gripper_position": [
+                  0.29869979153379966,
+                  -0.3678445633592013,
+                  1.0016703399927818
+                ],
+                "rod_tip_xy_dist": 0.001104444284848288,
+                "target_xy_drift": 6.737695236197926e-08,
+                "depth": 0.01944872593740843,
+                "bottom_clearance": 0.07999183875047466,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006085250299938264,
+              "rod_tip_xy_max_step": 3.29270176333333e-05,
+              "rod_tip_xy_range": 0.000608520414558538,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2983805702085063,
+            -0.3693978836313605,
+            1.0435469718403758
+          ],
+          "object_origin_world": [
+            0.2983805702085063,
+            -0.3693978836313605,
+            1.0435469718403758
+          ],
+          "frame_world": [
+            0.29837903462631643,
+            -0.3694063945639823,
+            1.043419293775734
+          ],
+          "center_minus_frame": [
+            1.5355821898488387e-06,
+            8.510932621774714e-06,
+            0.00012767806464175635
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27896611036463015,
+              0.14429666361996132,
+              0.8335892155830812
+            ],
+            "target_position": [
+              0.2868044344842368,
+              0.1918644592000277,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04820927816666611,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17064930145574048,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335892155830812,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674601294978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1391543791744685,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "665fc75b0b5135680df3d7955ebd2245c26d638f9cad184303afa57042e514c1",
+    "visual_seed": 7143187164619486392,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..474a2313bd9b230983e689f0f07914376ca8fafa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_56_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3334737843580063,
+              -0.038612899661679245,
+              1.1670744825519743
+            ],
+            "current_z": 1.1670744825519743,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30596797453720825,
+            "gripper_z": 1.1578010033281818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32892716916189046,
+              -0.043183375668946186,
+              1.1578010033281818
+            ],
+            "object_minus_gripper": [
+              0.004546615196115822,
+              0.004570476007266941,
+              0.009273479223792513
+            ],
+            "object_to_gripper_xy": 0.006446779093047478,
+            "object_to_gripper_z": 0.009273479223792513,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3334737843580063,
+              -0.06233625494798865,
+              1.1670744825519743
+            ],
+            "finger_b": [
+              0.3229005860272011,
+              -0.038612899661679245,
+              1.1670744825519743
+            ],
+            "finger_midpoint": [
+              0.3281871851926037,
+              -0.05047457730483394,
+              1.1670744825519743
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052865991654025835,
+              0.011861677643154697,
+              0.0
+            ],
+            "finger_gap": 0.025972872559326305,
+            "fingertip_max_gap": 0.09176308924129664,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012986436279663149,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1670744825519743,
+            "object_top_z": 1.216847184525692,
+            "finger_top_clearance": 0.04977270197371775,
+            "fingertip_min_top_clearance": 0.014931810592115291,
+            "object_projection_between_fingers": 0.8342808151885346,
+            "object_to_finger_line_xy": 0.009657450863063494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838154462064832,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7177773059457713,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29079753674290676,
+              -0.37460283500032426,
+              0.8515395745533731
+            ],
+            "target_position": [
+              0.2839480224625101,
+              -0.3754411081787472,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006900619377926952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18455125064447359,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395745533731,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584743210771089,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08805248566643785,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517118416878492,
+            "release_required_pad_clearance": 0.054026242833218927,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0642475543783787,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008207321166992188,
+            "max_z_decrease": 0.008207321166992188,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035031079583299624,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008207321166992188,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021001084079115568,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008207321166992188,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00820736379528833,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13964794576168055,
+              -0.4317025542259217,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13964794576168055,
+              -0.4317025542259217,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14058533660680242,
+              -0.4328554122939655,
+              0.8036005009331997
+            ],
+            "closest_button": [
+              0.13965691626071924,
+              -0.43167766928672796,
+              0.7686015367507935
+            ],
+            "closest_ee_minus_button": [
+              0.0009284203460831753,
+              -0.0011777430072375528,
+              0.03499896418240622
+            ],
+            "button_min_z_position": [
+              0.13965691626071924,
+              -0.43167766928672796,
+              0.7686015367507935
+            ],
+            "min_active_finger_to_button": 0.14474654283640295,
+            "closest_active_finger": [
+              -0.00034877657890319824,
+              -0.4185188412666321,
+              0.8105994462966919
+            ],
+            "closest_active_finger_button": [
+              0.13964740931987757,
+              -0.43170145153999334,
+              0.7762650847434998
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13999618589878077,
+              0.013182610273361262,
+              0.03433436155319214
+            ],
+            "min_contact_pad_to_button": 0.021001084079115568,
+            "closest_contact_pad": [
+              0.13965691626071924,
+              -0.4338792293337712,
+              0.789486906411332
+            ],
+            "closest_contact_pad_button": [
+              0.13965691626071924,
+              -0.43167766928672796,
+              0.7686015367507935
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022015600470432495,
+              0.020885369660538555
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2860502159469807,
+              0.19037555019967015,
+              1.1037740530444058
+            ],
+            "current_z": 1.1037740530444058,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19386492331004324,
+            "gripper_z": 1.1037741521264537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2860501363827947,
+              0.19037575256450834,
+              1.1037741521264537
+            ],
+            "object_minus_gripper": [
+              7.956418601740012e-08,
+              -2.0236483819213724e-07,
+              -9.90820478996568e-08
+            ],
+            "object_to_gripper_xy": 2.1744421683075717e-07,
+            "object_to_gripper_z": -9.90820478996568e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2860502159469807,
+              0.19037555019967015,
+              1.1037740530444058
+            ],
+            "finger_b": [
+              0.2860502159469807,
+              0.19037555019967015,
+              1.1037740530444058
+            ],
+            "finger_midpoint": [
+              0.2860502159469807,
+              0.19037555019967015,
+              1.1037740530444058
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037740530444058,
+            "object_top_z": 1.2287825596646855,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2860502159469807,
+            0.19037555019967015,
+            1.1037740530444058
+          ],
+          "object_origin_world": [
+            0.2860502159469807,
+            0.19037555019967015,
+            1.1037740530444058
+          ],
+          "frame_world": [
+            0.2860501363827947,
+            0.19037575256450834,
+            1.1037741521264537
+          ],
+          "center_minus_frame": [
+            7.956418601740012e-08,
+            -2.0236483819213724e-07,
+            -9.90820478996568e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436286468326816,
+            "required_z": 0.9112598276124977,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005670740850431163,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.395357619723781e-08,
+            "max_target_xy_drift": 3.076873365455128e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.0642475544466836,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.064247554477623,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29114486354416036,
+              -0.37417732395653774,
+              0.9233336374086153
+            ],
+            "target_mouth_xy": [
+              0.29079753740446174,
+              -0.37460284193956683
+            ],
+            "rod_tip_z": 0.9233336374086153,
+            "rod_tip_depth": -0.022073759022783412,
+            "rod_tip_bottom_clearance": 0.12151437321436653,
+            "rod_tip_xy_dist": 0.0005492731571805517,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045352336576917174,
+            "min_rod_tip_bottom_clearance": 0.054088196206710015,
+            "min_rod_tip_xy_dist": 0.0004340426745554454,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29079753812448766,
+              -0.374602807993626
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.200259277695409e-10,
+              -3.39459408360554e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0008390117666619568,
+                0.002099367858953427
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007469202385941287,
+                0.0017391396760613742
+              ],
+              "first_target_mouth_xy": [
+                0.2907975977509079,
+                -0.3746028371566307
+              ],
+              "last_target_mouth_xy": [
+                0.29079756668012763,
+                -0.374602838191898
+              ],
+              "first_rod_tip_xy": [
+                0.29163660951756987,
+                -0.37250346929767725
+              ],
+              "last_rod_tip_xy": [
+                0.29154448691872176,
+                -0.3728636985158366
+              ],
+              "min_rod_tip_xy_dist": 0.0018927484396169428,
+              "max_rod_tip_xy_dist": 0.0022608153732235443,
+              "first_target_xy_drift": 6.637613150188625e-08,
+              "last_target_xy_drift": 4.156152313342139e-08,
+              "max_depth": 0.019684484765493337,
+              "min_bottom_clearance": 0.07975602836925488
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0008390117666619568,
+                  0.002099367858953427
+                ],
+                "rod_tip_xy": [
+                  0.29163660951756987,
+                  -0.37250346929767725
+                ],
+                "target_mouth_xy": [
+                  0.2907975977509079,
+                  -0.3746028371566307
+                ],
+                "gripper_position": [
+                  0.29162589890194723,
+                  -0.37251256027880464,
+                  1.0057199874458105
+                ],
+                "rod_tip_xy_dist": 0.0022608153732235443,
+                "target_xy_drift": 6.637613150188625e-08,
+                "depth": 0.015381248108087164,
+                "bottom_clearance": 0.08405931064268202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0008283636633505953,
+                  0.0020902823648177304
+                ],
+                "rod_tip_xy": [
+                  0.2916258989019473,
+                  -0.3725125602788047
+                ],
+                "target_mouth_xy": [
+                  0.2907975352385967,
+                  -0.3746028426436224
+                ],
+                "gripper_position": [
+                  0.29161776380065396,
+                  -0.3725158987177251,
+                  1.005580176817241
+                ],
+                "rod_tip_xy_dist": 0.0022484365064256587,
+                "target_xy_drift": 3.4769967200606994e-08,
+                "depth": 0.015539968539039495,
+                "bottom_clearance": 0.08390075127177765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0008201980060643654,
+                  0.002086939771361318
+                ],
+                "rod_tip_xy": [
+                  0.291617763800654,
+                  -0.3725158987177251
+                ],
+                "target_mouth_xy": [
+                  0.29079756579458965,
+                  -0.37460283848908643
+                ],
+                "gripper_position": [
+                  0.2916267553027979,
+                  -0.37258427355670826,
+                  1.0050477102077375
+                ],
+                "rod_tip_xy_dist": 0.0022423296765733606,
+                "target_xy_drift": 4.1177756751887816e-08,
+                "depth": 0.015679618108756843,
+                "bottom_clearance": 0.08376092075469366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0008291870960897008,
+                  0.002018596895541902
+                ],
+                "rod_tip_xy": [
+                  0.29162675530279797,
+                  -0.37258427355670837
+                ],
+                "target_mouth_xy": [
+                  0.29079756820670827,
+                  -0.37460287045225027
+                ],
+                "gripper_position": [
+                  0.29161605380464695,
+                  -0.37259291321772403,
+                  1.004888961104954
+                ],
+                "rod_tip_xy_dist": 0.0021822659478196223,
+                "target_xy_drift": 6.932546243952373e-08,
+                "depth": 0.016212147299059843,
+                "bottom_clearance": 0.08322844918573546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008185165577868636,
+                  0.002009923321270868
+                ],
+                "rod_tip_xy": [
+                  0.291616053804647,
+                  -0.3725929132177241
+                ],
+                "target_mouth_xy": [
+                  0.29079753724686014,
+                  -0.37460283653899495
+                ],
+                "gripper_position": [
+                  0.2916077857072229,
+                  -0.3725960574052355,
+                  1.0047496830278644
+                ],
+                "rod_tip_xy_dist": 0.002170198404008208,
+                "target_xy_drift": 2.8558857102353673e-08,
+                "depth": 0.016370885610892172,
+                "bottom_clearance": 0.083069668199524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008102168348047001,
+                  0.002006815570929077
+                ],
+                "rod_tip_xy": [
+                  0.29160778570722296,
+                  -0.37259605740523555
+                ],
+                "target_mouth_xy": [
+                  0.29079756887241826,
+                  -0.3746028729761646
+                ],
+                "gripper_position": [
+                  0.2915992628142216,
+                  -0.3725993023359843,
+                  1.0046103684201293
+                ],
+                "rod_tip_xy_dist": 0.002164199633842577,
+                "target_xy_drift": 7.188995452858376e-08,
+                "depth": 0.016510283935239234,
+                "bottom_clearance": 0.08293042419122798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008017243830161225,
+                  0.002003503460197009
+                ],
+                "rod_tip_xy": [
+                  0.29159926281422166,
+                  -0.3725993023359843
+                ],
+                "target_mouth_xy": [
+                  0.29079753843120554,
+                  -0.3746028057961813
+                ],
+                "gripper_position": [
+                  0.2916101683098993,
+                  -0.3726698023902926,
+                  1.0040776882777775
+                ],
+                "rod_tip_xy_dist": 0.0021579592445975368,
+                "target_xy_drift": 2.2187471542458973e-09,
+                "depth": 0.016649441868479165,
+                "bottom_clearance": 0.08279118607695402,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008125968620361079,
+                  0.0019330375455012816
+                ],
+                "rod_tip_xy": [
+                  0.29161016830989933,
+                  -0.3726698023902926
+                ],
+                "target_mouth_xy": [
+                  0.2907975714478632,
+                  -0.3746028399357939
+                ],
+                "gripper_position": [
+                  0.291599088208419,
+                  -0.37267891320870267,
+                  1.003919092668091
+                ],
+                "rod_tip_xy_dist": 0.0020968900334801892,
+                "target_xy_drift": 4.616004169709425e-08,
+                "depth": 0.017182304891098288,
+                "bottom_clearance": 0.08225839828522508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000801550574618004,
+                  0.0019239544674664044
+                ],
+                "rod_tip_xy": [
+                  0.29159908820841907,
+                  -0.37267891320870267
+                ],
+                "target_mouth_xy": [
+                  0.29079753763380106,
+                  -0.37460286767616907
+                ],
+                "gripper_position": [
+                  0.291590766186511,
+                  -0.37268167381660566,
+                  1.0037801263768669
+                ],
+                "rod_tip_xy_dist": 0.0020842466544424123,
+                "target_xy_drift": 5.968456015720541e-08,
+                "depth": 0.01734073008363779,
+                "bottom_clearance": 0.08209978289679187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007931958141441098,
+                  0.001921167124600276
+                ],
+                "rod_tip_xy": [
+                  0.29159076618651103,
+                  -0.3726816738166056
+                ],
+                "target_mouth_xy": [
+                  0.2907975703723669,
+                  -0.3746028409412059
+                ],
+                "gripper_position": [
+                  0.29158213552272927,
+                  -0.3726845848492007,
+                  1.0036405886971758
+                ],
+                "rod_tip_xy_dist": 0.002078471245945113,
+                "target_xy_drift": 4.610280617143697e-08,
+                "depth": 0.017479874708313692,
+                "bottom_clearance": 0.08196081889086881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007845976209451822,
+                  0.001918284088913702
+                ],
+                "rod_tip_xy": [
+                  0.2915821355227293,
+                  -0.3726845848492007
+                ],
+                "target_mouth_xy": [
+                  0.29079753790178414,
+                  -0.3746028689381144
+                ],
+                "gripper_position": [
+                  0.2915944697419558,
+                  -0.37275722716341764,
+                  1.0031112796792543
+                ],
+                "rod_tip_xy_dist": 0.0020725364345584646,
+                "target_xy_drift": 6.09448953008903e-08,
+                "depth": 0.017619237976564728,
+                "bottom_clearance": 0.08182128735744798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007969018537045125,
+                  0.0018455792742350652
+                ],
+                "rod_tip_xy": [
+                  0.29159446974195585,
+                  -0.3727572271634177
+                ],
+                "target_mouth_xy": [
+                  0.29079756788825134,
+                  -0.37460280643765276
+                ],
+                "gripper_position": [
+                  0.29158348412990615,
+                  -0.37276587522034715,
+                  1.0029529826474675
+                ],
+                "rod_tip_xy_dist": 0.0020102774489914863,
+                "target_xy_drift": 2.9804407071383246e-08,
+                "depth": 0.018148635683047698,
+                "bottom_clearance": 0.0812919554499224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007859465236843,
+                  0.0018369638712278369
+                ],
+                "rod_tip_xy": [
+                  0.2915834841299062,
+                  -0.37276587522034715
+                ],
+                "target_mouth_xy": [
+                  0.2907975376062219,
+                  -0.374602839091575
+                ],
+                "gripper_position": [
+                  0.2915749694402435,
+                  -0.37276851225353375,
+                  1.0028141069214158
+                ],
+                "rod_tip_xy_dist": 0.001998036086332726,
+                "target_xy_drift": 3.110226729703693e-08,
+                "depth": 0.018306840621726495,
+                "bottom_clearance": 0.08113367130640048,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007774298672703628,
+                  0.0018343274155194211
+                ],
+                "rod_tip_xy": [
+                  0.2915749694402436,
+                  -0.37276851225353375
+                ],
+                "target_mouth_xy": [
+                  0.2907975395729732,
+                  -0.37460283966905317
+                ],
+                "gripper_position": [
+                  0.29156633669448634,
+                  -0.37277135498493663,
+                  1.0026750920561502
+                ],
+                "rod_tip_xy_dist": 0.0019922736423117616,
+                "target_xy_drift": 3.170852877077016e-08,
+                "depth": 0.01844580353414582,
+                "bottom_clearance": 0.08099480711331786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0007687698060991344,
+                  0.001831513919940353
+                ],
+                "rod_tip_xy": [
+                  0.2915663366944864,
+                  -0.3727713549849367
+                ],
+                "target_mouth_xy": [
+                  0.29079756688838726,
+                  -0.37460286890487704
+                ],
+                "gripper_position": [
+                  0.29155779719747144,
+                  -0.3727738950121632,
+                  1.0025359963506728
+                ],
+                "rod_tip_xy_dist": 0.0019863157487431293,
+                "target_xy_drift": 6.736128282303701e-08,
+                "depth": 0.018584740515700804,
+                "bottom_clearance": 0.08085577830118462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0007602272521314846,
+                  0.001828911046511117
+                ],
+                "rod_tip_xy": [
+                  0.29155779719747155,
+                  -0.3727738950121631
+                ],
+                "target_mouth_xy": [
+                  0.29079756994534006,
+                  -0.37460280605867424
+                ],
+                "gripper_position": [
+                  0.2915492636065694,
+                  -0.3727761664260857,
+                  1.002396862166578
+                ],
+                "rod_tip_xy_dist": 0.0019806213901030598,
+                "target_xy_drift": 3.1879628065511684e-08,
+                "depth": 0.01872394035246383,
+                "bottom_clearance": 0.08071674020284247,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007516972644524555,
+                  0.0018267025103104184
+                ],
+                "rod_tip_xy": [
+                  0.29154926360656946,
+                  -0.37277616642608574
+                ],
+                "target_mouth_xy": [
+                  0.290797566342117,
+                  -0.37460286893639616
+                ],
+                "gripper_position": [
+                  0.29156435722301455,
+                  -0.3728525183814666,
+                  1.0018720689423268
+                ],
+                "rod_tip_xy_dist": 0.0019753204394628455,
+                "target_xy_drift": 6.715843834567651e-08,
+                "depth": 0.018862987136200604,
+                "bottom_clearance": 0.08057755281374412,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0007667886296403026,
+                  0.0017503187894783445
+                ],
+                "rod_tip_xy": [
+                  0.2915643572230146,
+                  -0.37285251838146655
+                ],
+                "target_mouth_xy": [
+                  0.2907975685933743,
+                  -0.3746028371709449
+                ],
+                "gripper_position": [
+                  0.29155330501572363,
+                  -0.3728612013560234,
+                  1.0017140455018172
+                ],
+                "rod_tip_xy_dist": 0.0019109109522284365,
+                "target_xy_drift": 4.2186123200559046e-08,
+                "depth": 0.01938783435960445,
+                "bottom_clearance": 0.08005274739639667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0007557343193663746,
+                  0.0017416389163372181
+                ],
+                "rod_tip_xy": [
+                  0.2915533050157237,
+                  -0.37286120135602346
+                ],
+                "target_mouth_xy": [
+                  0.2907975706963573,
+                  -0.3746028402723607
+                ],
+                "gripper_position": [
+                  0.2915444869187217,
+                  -0.3728636985158367,
+                  1.0015753467597404
+                ],
+                "rod_tip_xy_dist": 0.001898536403751173,
+                "target_xy_drift": 4.5856770548118896e-08,
+                "depth": 0.01954594682988675,
+                "bottom_clearance": 0.07989473735774599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0007469202385941287,
+                  0.0017391396760613742
+                ],
+                "rod_tip_xy": [
+                  0.29154448691872176,
+                  -0.3728636985158366
+                ],
+                "target_mouth_xy": [
+                  0.29079756668012763,
+                  -0.374602838191898
+                ],
+                "gripper_position": [
+                  0.29155972992498025,
+                  -0.3729333486319162,
+                  1.0009658997879354
+                ],
+                "rod_tip_xy_dist": 0.0018927484396169428,
+                "target_xy_drift": 4.156152313342139e-08,
+                "depth": 0.019684484765493337,
+                "bottom_clearance": 0.07975602836925488,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006064437013083339,
+              "rod_tip_xy_max_step": 3.296079287891265e-05,
+              "rod_tip_xy_range": 0.000606435185796228,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29114486354416036,
+            -0.37417732395653774,
+            1.0433336374086153
+          ],
+          "object_origin_world": [
+            0.29114486354416036,
+            -0.37417732395653774,
+            1.0433336374086153
+          ],
+          "frame_world": [
+            0.2911692303102008,
+            -0.3741745693607683,
+            1.0436286468326816
+          ],
+          "center_minus_frame": [
+            -2.4366766040451182e-05,
+            -2.7545957694274925e-06,
+            -0.00029500942406635033
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2762599000513458,
+              0.14495126222445195,
+              0.8332996061588148
+            ],
+            "target_position": [
+              0.2862111693972045,
+              0.19191986534543642,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04801122202912959,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17091665976104362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332996061588148,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670725872854,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13994779369967902,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "564d93fdf94cdbe859a1d7033343f506d7f274268abf287b5b4e27f03e369b8e",
+    "visual_seed": 8939341295309773852,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..213609d34ddf1ca8fc939fd17351569eade234a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_57_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3290661148523032,
+              -0.03369828675058297,
+              1.164031788304245
+            ],
+            "current_z": 1.164031788304245,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3029252206848343,
+            "gripper_z": 1.1553084605241286,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32429450163247453,
+              -0.03852450903903325,
+              1.1553084605241286
+            ],
+            "object_minus_gripper": [
+              0.004771613219828663,
+              0.004826222288450276,
+              0.008723327780116419
+            ],
+            "object_to_gripper_xy": 0.006786804424556367,
+            "object_to_gripper_z": 0.008723327780116419,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3290661148523032,
+              -0.057461501456663094,
+              1.164031788304245
+            ],
+            "finger_b": [
+              0.3179566041778792,
+              -0.03369828675058297,
+              1.164031788304245
+            ],
+            "finger_midpoint": [
+              0.3235113595150912,
+              -0.045579894103623037,
+              1.164031788304245
+            ],
+            "object_minus_finger_midpoint": [
+              0.005554755337212003,
+              0.011881607353040065,
+              0.0
+            ],
+            "finger_gap": 0.026231881377293615,
+            "fingertip_max_gap": 0.09149034247961049,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013115940688646811,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164031788304245,
+            "object_top_z": 1.2139476755152199,
+            "finger_top_clearance": 0.04991588721097484,
+            "fingertip_min_top_clearance": 0.014974766163292418,
+            "object_projection_between_fingers": 0.820637775443858,
+            "object_to_finger_line_xy": 0.010064001267722394,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824517123980525,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2697019499107944,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2974442124673467,
+              -0.3720656303515568,
+              0.8515395680283172
+            ],
+            "target_position": [
+              0.2893806264740606,
+              -0.3734226283917347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008176971490238081,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18514195268973196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395680283172,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754315337713608,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500689395992482,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341564114207817,
+            "release_required_pad_clearance": 0.05250344697996241,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0791293652278159,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008238673210144043,
+            "max_z_decrease": 0.008238673210144043,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507442110138885,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008238673210144043,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020877245826966394,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008238673210144043,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008238739306560688,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14508055150508878,
+              -0.4296840727329254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14508055150508878,
+              -0.4296840727329254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14695257314182641,
+              -0.4288225074585432,
+              0.8035858024248272
+            ],
+            "closest_button": [
+              0.14510327577590942,
+              -0.42966014146804804,
+              0.7685701847076416
+            ],
+            "closest_ee_minus_button": [
+              0.001849297365916991,
+              0.0008376340095048174,
+              0.03501561771718564
+            ],
+            "button_min_z_position": [
+              0.14510327577590942,
+              -0.42966014146804804,
+              0.7685701847076416
+            ],
+            "min_active_finger_to_button": 0.143738909050753,
+            "closest_active_finger": [
+              0.01947048306465149,
+              -0.49066707491874695,
+              0.8109043836593628
+            ],
+            "closest_active_finger_button": [
+              0.14507877826690674,
+              -0.4296856224536895,
+              0.7767767906188965
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12560829520225525,
+              -0.06098145246505743,
+              0.03412759304046631
+            ],
+            "min_contact_pad_to_button": 0.020877245826966394,
+            "closest_contact_pad": [
+              0.14510327577590942,
+              -0.4301119206102836,
+              0.789442541760122
+            ],
+            "closest_contact_pad_button": [
+              0.14510327577590942,
+              -0.42966014146804804,
+              0.7685701847076416
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00045177914223554216,
+              0.02087235705248036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2837441208393099,
+              0.1910386236267518,
+              1.1013482612157803
+            ],
+            "current_z": 1.1013482612157803,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19143913148141778,
+            "gripper_z": 1.1013483804250699,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28374421024627716,
+              0.19103857147268768,
+              1.1013483804250699
+            ],
+            "object_minus_gripper": [
+              -8.940696727410824e-08,
+              5.2154064122955646e-08,
+              -1.1920928955078125e-07
+            ],
+            "object_to_gripper_xy": 1.0350677369957404e-07,
+            "object_to_gripper_z": -1.1920928955078125e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2837441208393099,
+              0.1910386236267518,
+              1.1013482612157803
+            ],
+            "finger_b": [
+              0.2837441208393099,
+              0.1910386236267518,
+              1.1013482612157803
+            ],
+            "finger_midpoint": [
+              0.2837441208393099,
+              0.1910386236267518,
+              1.1013482612157803
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013482612157803,
+            "object_top_z": 1.22635676783606,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28374412083930994,
+            0.19103862362675184,
+            1.1013482612157803
+          ],
+          "object_origin_world": [
+            0.28374412083930994,
+            0.19103862362675184,
+            1.1013482612157803
+          ],
+          "frame_world": [
+            0.28374421024627716,
+            0.19103857147268768,
+            1.1013483804250699
+          ],
+          "center_minus_frame": [
+            -8.940696721859709e-08,
+            5.215406415071122e-08,
+            -1.1920928955078125e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432329642228926,
+            "required_z": 0.9112598671141902,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001991026136576262,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.098084994895936e-09,
+            "max_target_xy_drift": 6.900874317997563e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.079129330476017,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.07912936528308713,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29807760130050676,
+              -0.3739452584238936,
+              0.9233613455427304
+            ],
+            "target_mouth_xy": [
+              0.29744423981319196,
+              -0.3720656267438031
+            ],
+            "rod_tip_z": 0.9233613455427304,
+            "rod_tip_depth": -0.022101411056059672,
+            "rod_tip_bottom_clearance": 0.12154208873651007,
+            "rod_tip_xy_dist": 0.0019834722146814567,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04517208555077168,
+            "min_rod_tip_bottom_clearance": 0.05426852987901254,
+            "min_rod_tip_xy_dist": 0.0009142338820171453,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2974442409307411,
+              -0.3720656306865667
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.117549164320053e-09,
+              3.942763560083051e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.001080447033014742,
+                -9.211250694851625e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.000997744495709163,
+                -0.00048065206609332334
+              ],
+              "first_target_mouth_xy": [
+                0.29744418328040967,
+                -0.37206569228829844
+              ],
+              "last_target_mouth_xy": [
+                0.2974441805743681,
+                -0.3720656601621813
+              ],
+              "first_rod_tip_xy": [
+                0.2985246303134244,
+                -0.37215780479524696
+              ],
+              "last_rod_tip_xy": [
+                0.2984419250700773,
+                -0.3725463122282746
+              ],
+              "min_rod_tip_xy_dist": 0.0010630466962755537,
+              "max_rod_tip_xy_dist": 0.0011137844755594274,
+              "first_target_xy_drift": 8.437022030230698e-08,
+              "last_target_xy_drift": 6.716921631202439e-08,
+              "max_depth": 0.01974836042793926,
+              "min_bottom_clearance": 0.07969222461265002
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001080447033014742,
+                  -9.211250694851625e-05
+                ],
+                "rod_tip_xy": [
+                  0.2985246303134244,
+                  -0.37215780479524696
+                ],
+                "target_mouth_xy": [
+                  0.29744418328040967,
+                  -0.37206569228829844
+                ],
+                "gripper_position": [
+                  0.2985140281062518,
+                  -0.3721671103064501,
+                  1.0057092536554217
+                ],
+                "rod_tip_xy_dist": 0.0010843664072105422,
+                "target_xy_drift": 8.437022030230698e-08,
+                "depth": 0.015388393498926956,
+                "bottom_clearance": 0.08405222513598676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010698461430043715,
+                  -0.00010151468542018982
+                ],
+                "rod_tip_xy": [
+                  0.2985140281062517,
+                  -0.3721671103064501
+                ],
+                "target_mouth_xy": [
+                  0.29744418196324734,
+                  -0.3720655956210299
+                ],
+                "gripper_position": [
+                  0.29850569301859203,
+                  -0.37217051232413445,
+                  1.0055661708182333
+                ],
+                "rod_tip_xy_dist": 0.0010746515719326382,
+                "target_xy_drift": 6.860581017684053e-08,
+                "depth": 0.015550650986136838,
+                "bottom_clearance": 0.08389000658145729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010614776715245355,
+                  -0.0001048521559012805
+                ],
+                "rod_tip_xy": [
+                  0.2985056930185919,
+                  -0.37217051232413445
+                ],
+                "target_mouth_xy": [
+                  0.2974442153470674,
+                  -0.37206566016823317
+                ],
+                "gripper_position": [
+                  0.2985170630109497,
+                  -0.3722439575515756,
+                  1.0050318672383438
+                ],
+                "rod_tip_xy_dist": 0.0010666437182781775,
+                "target_xy_drift": 3.903451064405108e-08,
+                "depth": 0.015693735917082008,
+                "bottom_clearance": 0.08374688717308143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010728810633057195,
+                  -0.0001782987199779873
+                ],
+                "rod_tip_xy": [
+                  0.29851706301094966,
+                  -0.3722439575515756
+                ],
+                "target_mouth_xy": [
+                  0.29744418194764394,
+                  -0.3720656588315976
+                ],
+                "gripper_position": [
+                  0.2985061632207764,
+                  -0.37225333219373624,
+                  1.00486978276061
+                ],
+                "rod_tip_xy_dist": 0.0010875956093814464,
+                "target_xy_drift": 6.535402450316343e-08,
+                "depth": 0.016227972889037656,
+                "bottom_clearance": 0.08321255518638615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010619799048983136,
+                  -0.00018767303261391088
+                ],
+                "rod_tip_xy": [
+                  0.2985061632207763,
+                  -0.37225333219373635
+                ],
+                "target_mouth_xy": [
+                  0.29744418331587796,
+                  -0.37206565916112244
+                ],
+                "gripper_position": [
+                  0.29849785631959735,
+                  -0.37225658438231307,
+                  1.0047269877791039
+                ],
+                "rod_tip_xy_dist": 0.0010784352023085733,
+                "target_xy_drift": 6.426719834381163e-08,
+                "depth": 0.01639003859504895,
+                "bottom_clearance": 0.08305048275548621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010536766493006167,
+                  -0.00019092454161173666
+                ],
+                "rod_tip_xy": [
+                  0.29849785631959724,
+                  -0.3722565843823131
+                ],
+                "target_mouth_xy": [
+                  0.2974441796702966,
+                  -0.3720656598407014
+                ],
+                "gripper_position": [
+                  0.29848930451521993,
+                  -0.372260091391969,
+                  1.004584237941901
+                ],
+                "rod_tip_xy_dist": 0.0010708345632594357,
+                "target_xy_drift": 6.784398006340894e-08,
+                "depth": 0.016532917968191563,
+                "bottom_clearance": 0.08290769000337306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001045119954941276,
+                  -0.0001944030818837872
+                ],
+                "rod_tip_xy": [
+                  0.2984893045152199,
+                  -0.37226009139196903
+                ],
+                "target_mouth_xy": [
+                  0.2974441845602786,
+                  -0.37206568831008524
+                ],
+                "gripper_position": [
+                  0.2985024702819208,
+                  -0.37233586990397816,
+                  1.0040502746723
+                ],
+                "rod_tip_xy_dist": 0.0010630466962755537,
+                "target_xy_drift": 8.06107867277395e-08,
+                "depth": 0.01667560515043509,
+                "bottom_clearance": 0.08276498773261554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010582875065008879,
+                  -0.0002702395533314972
+                ],
+                "rod_tip_xy": [
+                  0.2985024702819207,
+                  -0.37233586990397827
+                ],
+                "target_mouth_xy": [
+                  0.2974441827754198,
+                  -0.37206563035064677
+                ],
+                "gripper_position": [
+                  0.2984914264073646,
+                  -0.37234517908258324,
+                  1.003887907476726
+                ],
+                "rod_tip_xy_dist": 0.001092246246320249,
+                "target_xy_drift": 5.815629150758695e-08,
+                "depth": 0.017209550354623793,
+                "bottom_clearance": 0.08223096613003122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010472761209643355,
+                  -0.0002795533137165407
+                ],
+                "rod_tip_xy": [
+                  0.29849142640736454,
+                  -0.37234517908258324
+                ],
+                "target_mouth_xy": [
+                  0.2974441502864002,
+                  -0.3720656257688667
+                ],
+                "gripper_position": [
+                  0.29848290031796293,
+                  -0.3723483151937018,
+                  1.0037453905354388
+                ],
+                "rod_tip_xy_dist": 0.0010839452609573991,
+                "target_xy_drift": 9.077764214932556e-08,
+                "depth": 0.017372048331202428,
+                "bottom_clearance": 0.08206866932228263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010387147613854508,
+                  -0.00028262588429317503
+                ],
+                "rod_tip_xy": [
+                  0.2984829003179629,
+                  -0.3723483151937018
+                ],
+                "target_mouth_xy": [
+                  0.2974441855565774,
+                  -0.37206568930940864
+                ],
+                "gripper_position": [
+                  0.29847433356689645,
+                  -0.3723515566679815,
+                  1.003602763962489
+                ],
+                "rod_tip_xy_dist": 0.001076478400151407,
+                "target_xy_drift": 8.064078128307971e-08,
+                "depth": 0.01751450448947456,
+                "bottom_clearance": 0.08192609546707297,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010301513789930383,
+                  -0.00028592862779519557
+                ],
+                "rod_tip_xy": [
+                  0.29847433356689634,
+                  -0.3723515566679815
+                ],
+                "target_mouth_xy": [
+                  0.2974441821879033,
+                  -0.3720656280401863
+                ],
+                "gripper_position": [
+                  0.29848895166180867,
+                  -0.3724297363893511,
+                  1.0030724509086828
+                ],
+                "rod_tip_xy_dist": 0.001069096367889304,
+                "target_xy_drift": 5.880241767044895e-08,
+                "depth": 0.017657026948417864,
+                "bottom_clearance": 0.08178352734759675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010447679372245777,
+                  -0.00036410834718270113
+                ],
+                "rod_tip_xy": [
+                  0.29848895166180855,
+                  -0.3724297363893512
+                ],
+                "target_mouth_xy": [
+                  0.297444183724584,
+                  -0.3720656280421685
+                ],
+                "gripper_position": [
+                  0.29847776276049887,
+                  -0.37243896306843094,
+                  1.0029101295532807
+                ],
+                "rod_tip_xy_dist": 0.0011063972754578788,
+                "target_xy_drift": 5.726724418986972e-08,
+                "depth": 0.018187397381034587,
+                "bottom_clearance": 0.08125318708753848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010335803024525414,
+                  -0.00037327078074583797
+                ],
+                "rod_tip_xy": [
+                  0.2984777627604988,
+                  -0.37243896306843094
+                ],
+                "target_mouth_xy": [
+                  0.29744418245804627,
+                  -0.3720656922876851
+                ],
+                "gripper_position": [
+                  0.2984692304946157,
+                  -0.37244188094595343,
+                  1.0027680635514287
+                ],
+                "rod_tip_xy_dist": 0.0010989173387368563,
+                "target_xy_drift": 8.493382032485318e-08,
+                "depth": 0.018349798229733927,
+                "bottom_clearance": 0.08109079733421709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001025046395208451,
+                  -0.000376252244178199
+                ],
+                "rod_tip_xy": [
+                  0.2984692304946156,
+                  -0.37244188094595343
+                ],
+                "target_mouth_xy": [
+                  0.29744418409940715,
+                  -0.37206562870177523
+                ],
+                "gripper_position": [
+                  0.29846060288069276,
+                  -0.37244471862709455,
+                  1.0026255419394043
+                ],
+                "rod_tip_xy_dist": 0.0010919184326583058,
+                "target_xy_drift": 5.686598208177681e-08,
+                "depth": 0.018491835490231034,
+                "bottom_clearance": 0.08094873969791694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010164198616307574,
+                  -0.00037908926946039756
+                ],
+                "rod_tip_xy": [
+                  0.2984606028806927,
+                  -0.3724447186270946
+                ],
+                "target_mouth_xy": [
+                  0.29744418301906195,
+                  -0.3720656293576342
+                ],
+                "gripper_position": [
+                  0.29845192717746094,
+                  -0.37244755644763977,
+                  1.0024830943659888
+                ],
+                "rod_tip_xy_dist": 0.0010848124304862596,
+                "target_xy_drift": 5.792692505464838e-08,
+                "depth": 0.018634217460751334,
+                "bottom_clearance": 0.08080629250027538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010077449919590475,
+                  -0.0003819310211685689
+                ],
+                "rod_tip_xy": [
+                  0.29845192717746083,
+                  -0.3724475564476397
+                ],
+                "target_mouth_xy": [
+                  0.2974441821855018,
+                  -0.37206562542647115
+                ],
+                "gripper_position": [
+                  0.29844323573955267,
+                  -0.37245069807111647,
+                  1.0023407113072629
+                ],
+                "rod_tip_xy_dist": 0.0010776925692187946,
+                "target_xy_drift": 5.8980265767608174e-08,
+                "depth": 0.018776803425916366,
+                "bottom_clearance": 0.08066384545005678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009990203756768956,
+                  -0.0003850077675463526
+                ],
+                "rod_tip_xy": [
+                  0.29844323573955256,
+                  -0.3724506980711165
+                ],
+                "target_mouth_xy": [
+                  0.29744421536387566,
+                  -0.3720656903035702
+                ],
+                "gripper_position": [
+                  0.2984346894157117,
+                  -0.3724535507341246,
+                  1.002198286324426
+                ],
+                "rod_tip_xy_dist": 0.0010706412527493193,
+                "target_xy_drift": 6.486795600090306e-08,
+                "depth": 0.018919201491935156,
+                "bottom_clearance": 0.0805214340943573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009905092037384988,
+                  -0.000387861758298913
+                ],
+                "rod_tip_xy": [
+                  0.2984346894157116,
+                  -0.37245355073412456
+                ],
+                "target_mouth_xy": [
+                  0.2974441802119731,
+                  -0.37206568897582565
+                ],
+                "gripper_position": [
+                  0.29845339792397985,
+                  -0.3725368980470566,
+                  1.0016730053628256
+                ],
+                "rod_tip_xy_dist": 0.0010637411462575844,
+                "target_xy_drift": 8.416891647719264e-08,
+                "depth": 0.019061600861940975,
+                "bottom_clearance": 0.08037898221331241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010091821181819616,
+                  -0.00047124018328126294
+                ],
+                "rod_tip_xy": [
+                  0.29845339792397974,
+                  -0.3725368980470567
+                ],
+                "target_mouth_xy": [
+                  0.2974442158057978,
+                  -0.37206565786377543
+                ],
+                "gripper_position": [
+                  0.2984419250700774,
+                  -0.3725463122282746,
+                  1.0015115236738223
+                ],
+                "rod_tip_xy_dist": 0.0011137844755594274,
+                "target_xy_drift": 3.70116664619933e-08,
+                "depth": 0.01958692067283896,
+                "bottom_clearance": 0.07985375142596829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000997744495709163,
+                  -0.00048065206609332334
+                ],
+                "rod_tip_xy": [
+                  0.2984419250700773,
+                  -0.3725463122282746
+                ],
+                "target_mouth_xy": [
+                  0.2974441805743681,
+                  -0.3720656601621813
+                ],
+                "gripper_position": [
+                  0.29846058021701494,
+                  -0.3726241795424111,
+                  1.000901868258506
+                ],
+                "rod_tip_xy_dist": 0.0011074838542198763,
+                "target_xy_drift": 6.716921631202439e-08,
+                "depth": 0.01974836042793926,
+                "bottom_clearance": 0.07969222461265002,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006081453322666493,
+              "rod_tip_xy_max_step": 3.311596228959105e-05,
+              "rod_tip_xy_range": 0.0006081364712172038,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2980776013005068,
+            -0.3739452584238936,
+            1.0433613455427304
+          ],
+          "object_origin_world": [
+            0.2980776013005068,
+            -0.3739452584238936,
+            1.0433613455427304
+          ],
+          "frame_world": [
+            0.2980761641728101,
+            -0.3739537095492571,
+            1.0432329642228926
+          ],
+          "center_minus_frame": [
+            1.4371276967350965e-06,
+            8.451125363517775e-06,
+            0.00012838131983783363
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2734068019870936,
+              0.14551904608528524,
+              0.8325857795371897
+            ],
+            "target_position": [
+              0.28391382601075693,
+              0.19217632285885455,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04782571515157185,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16878170802433784,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325857795371897,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670800023619,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13808750326980218,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "853b9f7ad9002da25f089c0ed80edbc6657d1c90b5bb81af73a95c2d1bd521c9",
+    "visual_seed": 6295015639686149848,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..656e1b726c47bc9fc54d932abe6e841a87bace14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_58_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32841773353421516,
+              -0.03252994799352363,
+              1.1643888827745719
+            ],
+            "current_z": 1.1643888827745719,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3032824343644508,
+            "gripper_z": 1.1555910865107928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32370468801816654,
+              -0.03729146269730091,
+              1.1555910865107928
+            ],
+            "object_minus_gripper": [
+              0.0047130455160486195,
+              0.004761514703777281,
+              0.008797796263779079
+            ],
+            "object_to_gripper_xy": 0.006699613444866297,
+            "object_to_gripper_z": 0.008797796263779079,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32841773353421516,
+              -0.05630301980281448,
+              1.1643888827745719
+            ],
+            "finger_b": [
+              0.31747069418304413,
+              -0.03252994799352363,
+              1.1643888827745719
+            ],
+            "finger_midpoint": [
+              0.32294421385862965,
+              -0.04441648389816905,
+              1.1643888827745719
+            ],
+            "object_minus_finger_midpoint": [
+              0.005473519675585514,
+              0.011886535904645425,
+              0.0
+            ],
+            "finger_gap": 0.026172439966609656,
+            "fingertip_max_gap": 0.09148982216289123,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013086219983304828,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643888827745719,
+            "object_top_z": 1.2142227755634734,
+            "finger_top_clearance": 0.04983389278890149,
+            "fingertip_min_top_clearance": 0.014950167836670414,
+            "object_projection_between_fingers": 0.8250536307175614,
+            "object_to_finger_line_xy": 0.009943465451694144,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048244911081445616,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4127735273491626,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29305040824472073,
+              -0.3716502182219087,
+              0.8515396652006056
+            ],
+            "target_position": [
+              0.28457160488603706,
+              -0.3730210382156059,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00858890294801062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863445999828079,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396652006056,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547923861684067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561337516703375,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15439951809018806,
+            "release_required_pad_clearance": 0.05280668758351688,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6596759840091726,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008102595806121826,
+            "max_z_decrease": 0.008102595806121826,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511973366282534,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008102595806121826,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021125946558455035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008102595806121826,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008102621683309066,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14027152955532074,
+              -0.4292824864387512,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14027152955532074,
+              -0.4292824864387512,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14070434370329493,
+              -0.4307571110369725,
+              0.8037917588541948
+            ],
+            "closest_button": [
+              0.1402825564146042,
+              -0.42926523089408875,
+              0.7687062621116638
+            ],
+            "closest_ee_minus_button": [
+              0.0004217872886907448,
+              -0.0014918801428837614,
+              0.03508549674253103
+            ],
+            "button_min_z_position": [
+              0.1402825564146042,
+              -0.42926523089408875,
+              0.7687062621116638
+            ],
+            "min_active_finger_to_button": 0.14516103046323423,
+            "closest_active_finger": [
+              -3.0435621738433838e-05,
+              -0.4147096276283264,
+              0.8106714487075806
+            ],
+            "closest_active_finger_button": [
+              0.14027100801467896,
+              -0.42928221821784973,
+              0.7763950824737549
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403014436364174,
+              0.014572590589523315,
+              0.034276366233825684
+            ],
+            "min_contact_pad_to_button": 0.021125946558455035,
+            "closest_contact_pad": [
+              0.1402825564146042,
+              -0.431931113736607,
+              0.7896633298135315
+            ],
+            "closest_contact_pad_button": [
+              0.1402825564146042,
+              -0.42926523089408875,
+              0.7687062621116638
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00266588284251823,
+              0.02095706770186767
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2816290432624923,
+              0.1977253071763234,
+              1.1021518094382383
+            ],
+            "current_z": 1.1021518094382383,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19224267970387576,
+            "gripper_z": 1.1021521612529102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2816289930950029,
+              0.19772532004942087,
+              1.1021521612529102
+            ],
+            "object_minus_gripper": [
+              5.0167489384911335e-08,
+              -1.2873097476884254e-08,
+              -3.518146718395343e-07
+            ],
+            "object_to_gripper_xy": 5.179279515371375e-08,
+            "object_to_gripper_z": -3.518146718395343e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2816290432624923,
+              0.1977253071763234,
+              1.1021518094382383
+            ],
+            "finger_b": [
+              0.2816290432624923,
+              0.1977253071763234,
+              1.1021518094382383
+            ],
+            "finger_midpoint": [
+              0.2816290432624923,
+              0.1977253071763234,
+              1.1021518094382383
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021518094382383,
+            "object_top_z": 1.227160316058518,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28162904326249233,
+            0.1977253071763234,
+            1.1021518094382383
+          ],
+          "object_origin_world": [
+            0.28162904326249233,
+            0.1977253071763234,
+            1.1021518094382383
+          ],
+          "frame_world": [
+            0.2816289930950029,
+            0.19772532004942087,
+            1.1021521612529102
+          ],
+          "center_minus_frame": [
+            5.0167489440422486e-08,
+            -1.2873097476884254e-08,
+            -3.518146718395343e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432973184898342,
+            "required_z": 0.9112598936623677,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001469214945802937,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.9795056804152667e-07,
+            "max_target_xy_drift": 2.345169307535443e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6596759870805352,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6596759870960051,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29239045685749265,
+              -0.3729535887589181,
+              0.9234231400096294
+            ],
+            "target_mouth_xy": [
+              0.29305040608896826,
+              -0.37165018842610764
+            ],
+            "rod_tip_z": 0.9234231400096294,
+            "rod_tip_depth": -0.022163244937027038,
+            "rod_tip_bottom_clearance": 0.12160377531850108,
+            "rod_tip_xy_dist": 0.0014609535980638314,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04481356889148358,
+            "min_rod_tip_bottom_clearance": 0.05462707628539698,
+            "min_rod_tip_xy_dist": 0.0002516976399794936,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2930504724709807,
+              -0.37165058080103425
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.638201244246744e-08,
+              3.9237492660548767e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.00015567916279396465,
+                0.000513098455404537
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000255230085377256,
+                0.00014132772887082146
+              ],
+              "first_target_mouth_xy": [
+                0.293050405089778,
+                -0.3716502157000613
+              ],
+              "last_target_mouth_xy": [
+                0.2930503747368537,
+                -0.371650187804047
+              ],
+              "first_rod_tip_xy": [
+                0.292894725926984,
+                -0.37113711724465676
+              ],
+              "last_rod_tip_xy": [
+                0.29279514465147644,
+                -0.3715088600751762
+              ],
+              "min_rod_tip_xy_dist": 0.00026911557126154393,
+              "max_rod_tip_xy_dist": 0.0005361958846044526,
+              "first_target_xy_drift": 3.7126667899689916e-07,
+              "last_target_xy_drift": 4.049673956697513e-07,
+              "max_depth": 0.019348752195541663,
+              "min_bottom_clearance": 0.08009181466504633
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.00015567916279396465,
+                  0.000513098455404537
+                ],
+                "rod_tip_xy": [
+                  0.292894725926984,
+                  -0.37113711724465676
+                ],
+                "target_mouth_xy": [
+                  0.293050405089778,
+                  -0.3716502157000613
+                ],
+                "gripper_position": [
+                  0.2928839205359467,
+                  -0.3711464118582598,
+                  1.0060654009497423
+                ],
+                "rod_tip_xy_dist": 0.0005361958846044526,
+                "target_xy_drift": 3.7126667899689916e-07,
+                "depth": 0.015035339718495133,
+                "bottom_clearance": 0.08440523119301113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00016645699206563336,
+                  0.0005038054186626284
+                ],
+                "rod_tip_xy": [
+                  0.2928839205359466,
+                  -0.37114641185825975
+                ],
+                "target_mouth_xy": [
+                  0.2930503775280122,
+                  -0.3716502172769224
+                ],
+                "gripper_position": [
+                  0.29287584579750664,
+                  -0.37114933110156,
+                  1.0059255702615375
+                ],
+                "rod_tip_xy_dist": 0.0005305919619456788,
+                "target_xy_drift": 3.7571790904179395e-07,
+                "depth": 0.015194423870677931,
+                "bottom_clearance": 0.08424611343105937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00017453089090241347,
+                  0.0005008855449131211
+                ],
+                "rod_tip_xy": [
+                  0.2928758457975066,
+                  -0.37114933110156006
+                ],
+                "target_mouth_xy": [
+                  0.293050376688409,
+                  -0.3716502166464732
+                ],
+                "gripper_position": [
+                  0.2928837874197549,
+                  -0.37122157761872937,
+                  1.0053909057998398
+                ],
+                "rod_tip_xy_dist": 0.0005304218707614764,
+                "target_xy_drift": 3.76540629128489e-07,
+                "depth": 0.01533430866799479,
+                "bottom_clearance": 0.08410619888960202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0001665911412898069,
+                  0.0004286396525512992
+                ],
+                "rod_tip_xy": [
+                  0.29288378741975485,
+                  -0.37122157761872937
+                ],
+                "target_mouth_xy": [
+                  0.29305037856104466,
+                  -0.37165021727128067
+                ],
+                "gripper_position": [
+                  0.2928728785607707,
+                  -0.37123088201284843,
+                  1.0052322002350917
+                ],
+                "rod_tip_xy_dist": 0.00045987450472442906,
+                "target_xy_drift": 3.7546365712946166e-07,
+                "depth": 0.015868986957759512,
+                "bottom_clearance": 0.08357159028530625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00017749714157178076,
+                  0.0004193365428552531
+                ],
+                "rod_tip_xy": [
+                  0.29287287856077066,
+                  -0.37123088201284843
+                ],
+                "target_mouth_xy": [
+                  0.29305037570234244,
+                  -0.3716502185557037
+                ],
+                "gripper_position": [
+                  0.29286470501416,
+                  -0.37123375383548546,
+                  1.0050923894959563
+                ],
+                "rod_tip_xy_dist": 0.0004553552145742358,
+                "target_xy_drift": 3.7494779485780493e-07,
+                "depth": 0.016027658889553487,
+                "bottom_clearance": 0.08341290555586334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00018570367669634713,
+                  0.00041646375721537954
+                ],
+                "rod_tip_xy": [
+                  0.2928647050141599,
+                  -0.37123375383548546
+                ],
+                "target_mouth_xy": [
+                  0.29305040869085625,
+                  -0.37165021759270084
+                ],
+                "gripper_position": [
+                  0.2928736462698407,
+                  -0.3713069096433496,
+                  1.0045601996491098
+                ],
+                "rod_tip_xy_dist": 0.00045599113655036324,
+                "target_xy_drift": 3.6876577625106296e-07,
+                "depth": 0.016167511643204957,
+                "bottom_clearance": 0.08327308965814262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00017673152353236965,
+                  0.0003432756082880628
+                ],
+                "rod_tip_xy": [
+                  0.2928736462698406,
+                  -0.3713069096433496
+                ],
+                "target_mouth_xy": [
+                  0.29305037779337295,
+                  -0.3716501852516377
+                ],
+                "gripper_position": [
+                  0.2928627041108774,
+                  -0.37131611003520876,
+                  1.00440125702942
+                ],
+                "rod_tip_xy_dist": 0.0003860986592253488,
+                "target_xy_drift": 4.0672247852434486e-07,
+                "depth": 0.016699716475217063,
+                "bottom_clearance": 0.08274089078045022,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0001876731754106853,
+                  0.00033407680682084884
+                ],
+                "rod_tip_xy": [
+                  0.29286270411087734,
+                  -0.37131611003520876
+                ],
+                "target_mouth_xy": [
+                  0.293050377286288,
+                  -0.3716501868420296
+                ],
+                "gripper_position": [
+                  0.2928543652197684,
+                  -0.37131874318810437,
+                  1.0042618336426494
+                ],
+                "rod_tip_xy_dist": 0.0003831821154808045,
+                "target_xy_drift": 4.0529473603646305e-07,
+                "depth": 0.016858566979897183,
+                "bottom_clearance": 0.08258196341757917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00019597702005402784,
+                  0.0003314741253634401
+                ],
+                "rod_tip_xy": [
+                  0.29285436521976826,
+                  -0.3713187431881045
+                ],
+                "target_mouth_xy": [
+                  0.2930503422398223,
+                  -0.3716502173134679
+                ],
+                "gripper_position": [
+                  0.29284581113209224,
+                  -0.37132180485414834,
+                  1.0041224203846286
+                ],
+                "rod_tip_xy_dist": 0.0003850741333493,
+                "target_xy_drift": 3.8611315115338443e-07,
+                "depth": 0.016998113679410953,
+                "bottom_clearance": 0.0824425450187184,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0002045955532785082,
+                  0.00032838103780141736
+                ],
+                "rod_tip_xy": [
+                  0.2928458111320921,
+                  -0.3713218048541484
+                ],
+                "target_mouth_xy": [
+                  0.29305040668537063,
+                  -0.3716501858919498
+                ],
+                "gripper_position": [
+                  0.29285643092408853,
+                  -0.3713970830258344,
+                  1.0035913293592593
+                ],
+                "rod_tip_xy_dist": 0.0003869023732272455,
+                "target_xy_drift": 4.0035101031528463e-07,
+                "depth": 0.017137417553658385,
+                "bottom_clearance": 0.08230313186306126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00019397495404960274,
+                  0.00025310541743378545
+                ],
+                "rod_tip_xy": [
+                  0.2928564309240884,
+                  -0.37139708302583446
+                ],
+                "target_mouth_xy": [
+                  0.293050405878138,
+                  -0.37165018844326825
+                ],
+                "gripper_position": [
+                  0.29284520420337273,
+                  -0.37140614079572565,
+                  1.0034328183195709
+                ],
+                "rod_tip_xy_dist": 0.0003188865552714261,
+                "target_xy_drift": 3.979688721956983e-07,
+                "depth": 0.017668512808077574,
+                "bottom_clearance": 0.08177202621763069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0002051731534684076,
+                  0.0002440447746185348
+                ],
+                "rod_tip_xy": [
+                  0.2928452042033726,
+                  -0.3714061407957256
+                ],
+                "target_mouth_xy": [
+                  0.29305037735684103,
+                  -0.3716501855703441
+                ],
+                "gripper_position": [
+                  0.29283667664545965,
+                  -0.37140871459240943,
+                  1.0032932593914405
+                ],
+                "rod_tip_xy_dist": 0.0003188320481425639,
+                "target_xy_drift": 4.06514449901801e-07,
+                "depth": 0.017827029078963608,
+                "bottom_clearance": 0.0816135500164451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00021369886175082176,
+                  0.00024147416466413496
+                ],
+                "rod_tip_xy": [
+                  0.29283667664545954,
+                  -0.3714087145924095
+                ],
+                "target_mouth_xy": [
+                  0.29305037550721036,
+                  -0.3716501887570736
+                ],
+                "gripper_position": [
+                  0.29282809808815324,
+                  -0.3714116627010689,
+                  1.0031538717564925
+                ],
+                "rod_tip_xy_dist": 0.0003224546103156824,
+                "target_xy_drift": 4.0385695465741296e-07,
+                "depth": 0.017966665315523822,
+                "bottom_clearance": 0.08147390668790988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00022230972128911564,
+                  0.0002385254060386921
+                ],
+                "rod_tip_xy": [
+                  0.29282809808815313,
+                  -0.3714116627010688
+                ],
+                "target_mouth_xy": [
+                  0.29305040780944225,
+                  -0.3716501881071075
+                ],
+                "gripper_position": [
+                  0.2928195655135506,
+                  -0.37141416618917156,
+                  1.0030146010041772
+                ],
+                "rod_tip_xy_dist": 0.0003260613155613024,
+                "target_xy_drift": 3.979819526986397e-07,
+                "depth": 0.01810602781650472,
+                "bottom_clearance": 0.08133455041155735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00023081245900202774,
+                  0.0002360212879393142
+                ],
+                "rod_tip_xy": [
+                  0.2928195655135505,
+                  -0.3714141661891716
+                ],
+                "target_mouth_xy": [
+                  0.2930503779725525,
+                  -0.3716501874771109
+                ],
+                "gripper_position": [
+                  0.29283231080627337,
+                  -0.3714924862710151,
+                  1.0024869120463877
+                ],
+                "rod_tip_xy_dist": 0.00033012185567013794,
+                "target_xy_drift": 4.0451657764167393e-07,
+                "depth": 0.018245287095450924,
+                "bottom_clearance": 0.08119526757048512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00021806700912424537,
+                  0.00015770215669747012
+                ],
+                "rod_tip_xy": [
+                  0.29283231080627325,
+                  -0.3714924862710151
+                ],
+                "target_mouth_xy": [
+                  0.2930503778153975,
+                  -0.3716501884277126
+                ],
+                "gripper_position": [
+                  0.29282124134041226,
+                  -0.37150159863059445,
+                  1.0023285367629515
+                ],
+                "rod_tip_xy_dist": 0.00026911557126154393,
+                "target_xy_drift": 4.036291651849689e-07,
+                "depth": 0.01877299165521029,
+                "bottom_clearance": 0.08066759042727167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0002291363521006451,
+                  0.00014858916289356427
+                ],
+                "rod_tip_xy": [
+                  0.2928212413404122,
+                  -0.37150159863059445
+                ],
+                "target_mouth_xy": [
+                  0.29305037769251285,
+                  -0.371650187793488
+                ],
+                "gripper_position": [
+                  0.2928125662458597,
+                  -0.3715038004879507,
+                  1.0021896558262
+                ],
+                "rod_tip_xy_dist": 0.00027309743166752955,
+                "target_xy_drift": 4.0427452227557486e-07,
+                "depth": 0.018931295066028864,
+                "bottom_clearance": 0.08050925987638402,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00023783865455029307,
+                  0.00014641711811397284
+                ],
+                "rod_tip_xy": [
+                  0.2928125662458596,
+                  -0.37150380048795056
+                ],
+                "target_mouth_xy": [
+                  0.2930504049004099,
+                  -0.37165021760606454
+                ],
+                "gripper_position": [
+                  0.2928037451886585,
+                  -0.37150651924651495,
+                  1.0020502789213799
+                ],
+                "rod_tip_xy_dist": 0.00027929410676756986,
+                "target_xy_drift": 3.694270808451886e-07,
+                "depth": 0.01907026391882427,
+                "bottom_clearance": 0.080370289190419,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0002466324510039808,
+                  0.00014369739340663878
+                ],
+                "rod_tip_xy": [
+                  0.29280374518865837,
+                  -0.37150651924651495
+                ],
+                "target_mouth_xy": [
+                  0.29305037763966235,
+                  -0.3716502166399216
+                ],
+                "gripper_position": [
+                  0.29279514465147655,
+                  -0.3715088600751762,
+                  1.0019111784945238
+                ],
+                "rod_tip_xy_dist": 0.00028544089889168524,
+                "target_xy_drift": 3.7630611861866435e-07,
+                "depth": 0.019209547915135183,
+                "bottom_clearance": 0.08023099609957918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000255230085377256,
+                  0.00014132772887082146
+                ],
+                "rod_tip_xy": [
+                  0.29279514465147644,
+                  -0.3715088600751762
+                ],
+                "target_mouth_xy": [
+                  0.2930503747368537,
+                  -0.371650187804047
+                ],
+                "gripper_position": [
+                  0.2927864065140736,
+                  -0.3715111652759625,
+                  1.0017720903158764
+                ],
+                "rod_tip_xy_dist": 0.00029174633404631807,
+                "target_xy_drift": 4.049673956697513e-07,
+                "depth": 0.019348752195541663,
+                "bottom_clearance": 0.08009181466504633,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005997971649977028,
+              "rod_tip_xy_max_step": 3.2393607881381645e-05,
+              "rod_tip_xy_range": 0.0005997876880872703,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2923904568574927,
+            -0.3729535887589181,
+            1.0434231400096294
+          ],
+          "object_origin_world": [
+            0.2923904568574927,
+            -0.3729535887589181,
+            1.0434231400096294
+          ],
+          "frame_world": [
+            0.29238894765855505,
+            -0.3729620822106062,
+            1.0432973184898342
+          ],
+          "center_minus_frame": [
+            1.5091989376547765e-06,
+            8.49345168812965e-06,
+            0.00012582151979523282
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26895651270146687,
+              0.15164127028779983,
+              0.8318371357053547
+            ],
+            "target_position": [
+              0.2817808168047642,
+              0.19756339336999468,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047679179566243596,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16743922702063493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318371357053547,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669724949548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13728704162660538,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4a2b40a44366be491aedba9fb43709ccea4000759b813205588cdf4ea93bd58",
+    "visual_seed": 990860267278218356,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7bbfc8a51df51f708b8b7f5526122872ad5ee3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_59_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33055116176349225,
+              -0.03078804453139108,
+              1.1666995977305736
+            ],
+            "current_z": 1.1666995977305736,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3055932089250972,
+            "gripper_z": 1.157681121707034,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3257854296810345,
+              -0.035592414937302766,
+              1.157681121707034
+            ],
+            "object_minus_gripper": [
+              0.00476573208245773,
+              0.004804370405911685,
+              0.009018476023539668
+            ],
+            "object_to_gripper_xy": 0.006767139519691234,
+            "object_to_gripper_z": 0.009018476023539668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33055116176349225,
+              -0.05463023275616172,
+              1.1666995977305736
+            ],
+            "finger_b": [
+              0.3195838247001142,
+              -0.03078804453139108,
+              1.1666995977305736
+            ],
+            "finger_midpoint": [
+              0.32506749323180323,
+              -0.0427091386437764,
+              1.1666995977305736
+            ],
+            "object_minus_finger_midpoint": [
+              0.005483668531689023,
+              0.01192109411238532,
+              0.0
+            ],
+            "finger_gap": 0.026243712039403597,
+            "fingertip_max_gap": 0.091361334631084,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0131218560197018,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1666995977305736,
+            "object_top_z": 1.216635413383526,
+            "finger_top_clearance": 0.04993581565295235,
+            "fingertip_min_top_clearance": 0.014980744695885706,
+            "object_projection_between_fingers": 0.8253567300039831,
+            "object_to_finger_line_xy": 0.009963732043582708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048180667315542006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0992125536694042,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2972905825900675,
+              -0.37730784517568183,
+              0.8515395620862478
+            ],
+            "target_position": [
+              0.28994098350691533,
+              -0.3785961019958721,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00746164943680942,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18434511394359182,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395620862478,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584280546295094,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08729163669114053,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15177937167217087,
+            "release_required_pad_clearance": 0.053645818345570265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.301601623463136,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008162319660186768,
+            "max_z_decrease": 0.008162319660186768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035016022250237346,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008162319660186768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020941041186336978,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008162319660186768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816241061258785,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14564090967178348,
+              -0.43485754728317255,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14564090967178348,
+              -0.43485754728317255,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14627001717634508,
+              -0.43556402869916183,
+              0.8036496498654697
+            ],
+            "closest_button": [
+              0.14566685259342196,
+              -0.4348290562629699,
+              0.7686465382575989
+            ],
+            "closest_ee_minus_button": [
+              0.0006031645829231158,
+              -0.0007349724361919163,
+              0.03500311160787084
+            ],
+            "button_min_z_position": [
+              0.14566685259342196,
+              -0.4348290562629699,
+              0.7686465382575989
+            ],
+            "min_active_finger_to_button": 0.1450527815428402,
+            "closest_active_finger": [
+              0.005386754870414734,
+              -0.4208982288837433,
+              0.8107840418815613
+            ],
+            "closest_active_finger_button": [
+              0.14564031362533572,
+              -0.43485707044601435,
+              0.7765145301818848
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140253558754921,
+              0.013958841562271063,
+              0.034269511699676514
+            ],
+            "min_contact_pad_to_button": 0.020941041186336978,
+            "closest_contact_pad": [
+              0.14566685259342196,
+              -0.43661575897912513,
+              0.789511218925463
+            ],
+            "closest_contact_pad_button": [
+              0.14566685259342196,
+              -0.4348290562629699,
+              0.7686465382575989
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017867027161552196,
+              0.020864680667864177
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28456927416072386,
+              0.18978230895802542,
+              1.1035368083750106
+            ],
+            "current_z": 1.1035368083750106,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.193627678640648,
+            "gripper_z": 1.1035372030810315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2845693331687877,
+              0.18978250434981647,
+              1.1035372030810315
+            ],
+            "object_minus_gripper": [
+              -5.900806382408419e-08,
+              -1.9539179105243498e-07,
+              -3.9470602097857466e-07
+            ],
+            "object_to_gripper_xy": 2.0410757851423746e-07,
+            "object_to_gripper_z": -3.9470602097857466e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28456927416072386,
+              0.18978230895802542,
+              1.1035368083750106
+            ],
+            "finger_b": [
+              0.28456927416072386,
+              0.18978230895802542,
+              1.1035368083750106
+            ],
+            "finger_midpoint": [
+              0.28456927416072386,
+              0.18978230895802542,
+              1.1035368083750106
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035368083750106,
+            "object_top_z": 1.2285453149952903,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2845692741607239,
+            0.18978230895802542,
+            1.1035368083750106
+          ],
+          "object_origin_world": [
+            0.2845692741607239,
+            0.18978230895802542,
+            1.1035368083750106
+          ],
+          "frame_world": [
+            0.2845693331687877,
+            0.18978250434981647,
+            1.1035372030810315
+          ],
+          "center_minus_frame": [
+            -5.900806376857304e-08,
+            -1.9539179105243498e-07,
+            -3.9470602097857466e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043187682007504,
+            "required_z": 0.9112599013001391,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015081598085172644,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.655087859697357e-08,
+            "max_target_xy_drift": 1.7862525473651685e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3019416798988495,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.301941681027249,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2985558367763627,
+              -0.3764759163061418,
+              0.9233173316181961
+            ],
+            "target_mouth_xy": [
+              0.2972905798306543,
+              -0.37730776575619346
+            ],
+            "rod_tip_z": 0.9233173316181961,
+            "rod_tip_depth": -0.022057397675801726,
+            "rod_tip_bottom_clearance": 0.12149805889440624,
+            "rod_tip_xy_dist": 0.0015142155217189451,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045299259383729806,
+            "min_rod_tip_bottom_clearance": 0.05414136833423622,
+            "min_rod_tip_xy_dist": 0.0001748405100454902,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.29729054330659094,
+              -0.37730776435636487
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.652406338483516e-08,
+              -1.3998285863792148e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                0.0016866660608018114,
+                0.002676099499117679
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016063503484054498,
+                0.002288735702002498
+              ],
+              "first_target_mouth_xy": [
+                0.2972905765802275,
+                -0.37730779754204147
+              ],
+              "last_target_mouth_xy": [
+                0.29729054743690403,
+                -0.37730776609370337
+              ],
+              "first_rod_tip_xy": [
+                0.2989772426410293,
+                -0.3746316980429238
+              ],
+              "last_rod_tip_xy": [
+                0.2988968977853095,
+                -0.37501903039170087
+              ],
+              "min_rod_tip_xy_dist": 0.002796188934146471,
+              "max_rod_tip_xy_dist": 0.0031632816709611226,
+              "first_target_xy_drift": 4.6993872170566346e-08,
+              "last_target_xy_drift": 4.480829307325925e-09,
+              "max_depth": 0.019401700269283784,
+              "min_bottom_clearance": 0.08003889587644986
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  0.0016866660608018114,
+                  0.002676099499117679
+                ],
+                "rod_tip_xy": [
+                  0.2989772426410293,
+                  -0.3746316980429238
+                ],
+                "target_mouth_xy": [
+                  0.2972905765802275,
+                  -0.37730779754204147
+                ],
+                "gripper_position": [
+                  0.2989667020050979,
+                  -0.3746412557326226,
+                  1.0060800173928293
+                ],
+                "rod_tip_xy_dist": 0.0031632816709611226,
+                "target_xy_drift": 4.6993872170566346e-08,
+                "depth": 0.015016311459404519,
+                "bottom_clearance": 0.08442437033353223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0016761237546362162,
+                  0.002666504978602491
+                ],
+                "rod_tip_xy": [
+                  0.29896670200509784,
+                  -0.3746412557326227
+                ],
+                "target_mouth_xy": [
+                  0.2972905782504616,
+                  -0.3773077607112252
+                ],
+                "gripper_position": [
+                  0.2989586387672788,
+                  -0.3746446083185713,
+                  1.0059364987339257
+                ],
+                "rod_tip_xy_dist": 0.0031495459421585956,
+                "target_xy_drift": 3.5133476085845625e-08,
+                "depth": 0.015179845411783077,
+                "bottom_clearance": 0.0842607617301212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001668124246666236,
+                  0.00266318768513224
+                ],
+                "rod_tip_xy": [
+                  0.29895863876727874,
+                  -0.3746446083185713
+                ],
+                "target_mouth_xy": [
+                  0.2972905145206125,
+                  -0.37730779600370357
+                ],
+                "gripper_position": [
+                  0.2989713129856405,
+                  -0.3747189973191639,
+                  1.005399000059647
+                ],
+                "rod_tip_xy_dist": 0.0031424842320297835,
+                "target_xy_drift": 4.2780680228768725e-08,
+                "depth": 0.015323467107452915,
+                "bottom_clearance": 0.0841172482665844,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0016807361181044866,
+                  0.0025887666297456646
+                ],
+                "rod_tip_xy": [
+                  0.29897131298564045,
+                  -0.37471899731916386
+                ],
+                "target_mouth_xy": [
+                  0.29729057686753596,
+                  -0.3773077639489095
+                ],
+                "gripper_position": [
+                  0.29896063151621166,
+                  -0.37472831405762813,
+                  1.0052357251336543
+                ],
+                "rod_tip_xy_dist": 0.00308651689805607,
+                "target_xy_drift": 3.356341834050928e-08,
+                "depth": 0.01586078163130933,
+                "bottom_clearance": 0.08357974842768245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016700856035705702,
+                  0.002579479711747379
+                ],
+                "rod_tip_xy": [
+                  0.29896063151621166,
+                  -0.37472831405762813
+                ],
+                "target_mouth_xy": [
+                  0.2972905459126411,
+                  -0.3773077937693755
+                ],
+                "gripper_position": [
+                  0.2989522133980772,
+                  -0.3747320809175349,
+                  1.0050918349447007
+                ],
+                "rod_tip_xy_dist": 0.0030729304428460495,
+                "target_xy_drift": 2.952823550780898e-08,
+                "depth": 0.016024150807334436,
+                "bottom_clearance": 0.0834164225775651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016616353434165676,
+                  0.002575712493455229
+                ],
+                "rod_tip_xy": [
+                  0.29895221339807715,
+                  -0.374732080917535
+                ],
+                "target_mouth_xy": [
+                  0.2972905780546606,
+                  -0.37730779341099024
+                ],
+                "gripper_position": [
+                  0.29896569959536345,
+                  -0.3748074521338892,
+                  1.0045568552452986
+                ],
+                "rod_tip_xy_dist": 0.00306517974406599,
+                "target_xy_drift": 4.529458686751946e-08,
+                "depth": 0.016167986351105945,
+                "bottom_clearance": 0.08327253074273355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001675121843421834,
+                  0.002500340325903405
+                ],
+                "rod_tip_xy": [
+                  0.2989656995953634,
+                  -0.3748074521338893
+                ],
+                "target_mouth_xy": [
+                  0.29729057775194156,
+                  -0.3773077924597927
+                ],
+                "gripper_position": [
+                  0.2989550099132109,
+                  -0.3748165713351664,
+                  1.0043930735735576
+                ],
+                "rod_tip_xy_dist": 0.00300960710652532,
+                "target_xy_drift": 4.4455425252174324e-08,
+                "depth": 0.016702968584139888,
+                "bottom_clearance": 0.08273754762248287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001664433945797128,
+                  0.002491221473195193
+                ],
+                "rod_tip_xy": [
+                  0.29895500991321083,
+                  -0.3748165713351664
+                ],
+                "target_mouth_xy": [
+                  0.2972905759674137,
+                  -0.3773077928083616
+                ],
+                "gripper_position": [
+                  0.29894648029689186,
+                  -0.3748201335600666,
+                  1.004249747026234
+                ],
+                "rod_tip_xy_dist": 0.0029960849100835953,
+                "target_xy_drift": 4.331564913874304e-08,
+                "depth": 0.016866788485114692,
+                "bottom_clearance": 0.08257376368840064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016559008013365406,
+                  0.0024876296613858817
+                ],
+                "rod_tip_xy": [
+                  0.29894648029689186,
+                  -0.37482013356006666
+                ],
+                "target_mouth_xy": [
+                  0.2972905794955553,
+                  -0.37730776322145254
+                ],
+                "gripper_position": [
+                  0.298938039586248,
+                  -0.3748233833168232,
+                  1.0041064789952518
+                ],
+                "rod_tip_xy_dist": 0.0029883622263831796,
+                "target_xy_drift": 3.620675584678399e-08,
+                "depth": 0.017010139595524776,
+                "bottom_clearance": 0.08243042173141213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016474923871667713,
+                  0.0024844097707436563
+                ],
+                "rod_tip_xy": [
+                  0.298938039586248,
+                  -0.37482338331682324
+                ],
+                "target_mouth_xy": [
+                  0.2972905471990812,
+                  -0.3773077930875669
+                ],
+                "gripper_position": [
+                  0.29895316176228115,
+                  -0.37490108316352244,
+                  1.0035732572907263
+                ],
+                "rod_tip_xy_dist": 0.002981027184501848,
+                "target_xy_drift": 2.899367949306951e-08,
+                "depth": 0.01715328655898196,
+                "bottom_clearance": 0.08228721484102974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00166264531052146,
+                  0.0024066493655153787
+                ],
+                "rod_tip_xy": [
+                  0.29895316176228115,
+                  -0.3749010831635224
+                ],
+                "target_mouth_xy": [
+                  0.2972905164517597,
+                  -0.37730773252903776
+                ],
+                "gripper_position": [
+                  0.2989421631387606,
+                  -0.374910409727935,
+                  1.0034100123901954
+                ],
+                "rod_tip_xy_dist": 0.002925124031068525,
+                "target_xy_drift": 4.164325530173748e-08,
+                "depth": 0.017686613205191715,
+                "bottom_clearance": 0.0817539584568957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016516121718373467,
+                  0.00239735727548146
+                ],
+                "rod_tip_xy": [
+                  0.2989421631387606,
+                  -0.37491040972793505
+                ],
+                "target_mouth_xy": [
+                  0.29729055096692325,
+                  -0.3773077670034165
+                ],
+                "gripper_position": [
+                  0.29893353615355145,
+                  -0.3749135788595401,
+                  1.0032666575144624
+                ],
+                "rod_tip_xy_dist": 0.0029112101731866022,
+                "target_xy_drift": 8.104787072741152e-09,
+                "depth": 0.017849951543371545,
+                "bottom_clearance": 0.08159078966025446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016430205420683297,
+                  0.002394180662391221
+                ],
+                "rod_tip_xy": [
+                  0.29893353615355145,
+                  -0.3749135788595401
+                ],
+                "target_mouth_xy": [
+                  0.2972905156114831,
+                  -0.3773077595219313
+                ],
+                "gripper_position": [
+                  0.2989249721952019,
+                  -0.3749169712261368,
+                  1.003123462153129
+                ],
+                "rod_tip_xy_dist": 0.002903724771018523,
+                "target_xy_drift": 2.811388882846064e-08,
+                "depth": 0.017993285905915757,
+                "bottom_clearance": 0.081447415230129,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016344529384943463,
+                  0.00239079391071112
+                ],
+                "rod_tip_xy": [
+                  0.29892497219520187,
+                  -0.3749169712261368
+                ],
+                "target_mouth_xy": [
+                  0.2972905192567075,
+                  -0.37730776513684794
+                ],
+                "gripper_position": [
+                  0.2989163663277973,
+                  -0.37492029669325594,
+                  1.0029803789007015
+                ],
+                "rod_tip_xy_dist": 0.002896089075226481,
+                "target_xy_drift": 2.4062544467315692e-08,
+                "depth": 0.018136452526541502,
+                "bottom_clearance": 0.0813041489043842,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016258199285037467,
+                  0.0023874665987154153
+                ],
+                "rod_tip_xy": [
+                  0.2989163663277972,
+                  -0.37492029669325594
+                ],
+                "target_mouth_xy": [
+                  0.2972905463992935,
+                  -0.37730776329197135
+                ],
+                "gripper_position": [
+                  0.2989339868308153,
+                  -0.37500122381487194,
+                  1.0024503274842853
+                ],
+                "rod_tip_xy_dist": 0.0028884748916862134,
+                "target_xy_drift": 3.270740367619064e-09,
+                "depth": 0.018279411494124154,
+                "bottom_clearance": 0.08116112157492228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0016434096142797228,
+                  0.0023065388065957593
+                ],
+                "rod_tip_xy": [
+                  0.2989339868308153,
+                  -0.37500122381487194
+                ],
+                "target_mouth_xy": [
+                  0.29729057721653557,
+                  -0.3773077626214677
+                ],
+                "gripper_position": [
+                  0.29892283151325205,
+                  -0.37501043188144895,
+                  1.002287400783115
+                ],
+                "rod_tip_xy_dist": 0.0028321222478274516,
+                "target_xy_drift": 3.3954295943283795e-08,
+                "depth": 0.01880950199512199,
+                "bottom_clearance": 0.08063101349007185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016322850144962486,
+                  0.002297364364444554
+                ],
+                "rod_tip_xy": [
+                  0.29892283151325205,
+                  -0.37501043188144895
+                ],
+                "target_mouth_xy": [
+                  0.2972905464987558,
+                  -0.3773077962458935
+                ],
+                "gripper_position": [
+                  0.29891423195440436,
+                  -0.37501327763550085,
+                  1.0021442019424243
+                ],
+                "rod_tip_xy_dist": 0.002818197543035042,
+                "target_xy_drift": 3.20488993992274e-08,
+                "depth": 0.018972504931115353,
+                "bottom_clearance": 0.08046813895448235,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016236835890467427,
+                  0.0022945134766391706
+                ],
+                "rod_tip_xy": [
+                  0.2989142319544043,
+                  -0.3750132776355009
+                ],
+                "target_mouth_xy": [
+                  0.29729054836535757,
+                  -0.3773077911121401
+                ],
+                "gripper_position": [
+                  0.2989054429920244,
+                  -0.3750163106248408,
+                  1.002001121219356
+                ],
+                "rod_tip_xy_dist": 0.0028108967415788303,
+                "target_xy_drift": 2.7229811359895054e-08,
+                "depth": 0.0191155897806341,
+                "bottom_clearance": 0.0803249920019855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016148963699997299,
+                  0.0022914526274172564
+                ],
+                "rod_tip_xy": [
+                  0.2989054429920244,
+                  -0.3750163106248408
+                ],
+                "target_mouth_xy": [
+                  0.29729054662202464,
+                  -0.37730776325225807
+                ],
+                "gripper_position": [
+                  0.2988968977853095,
+                  -0.37501903039170087,
+                  1.0018581708561725
+                ],
+                "rod_tip_xy_dist": 0.002803327563724181,
+                "target_xy_drift": 3.494445949447286e-09,
+                "depth": 0.0192587224910451,
+                "bottom_clearance": 0.0801818030502649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016063503484054498,
+                  0.002288735702002498
+                ],
+                "rod_tip_xy": [
+                  0.2988968977853095,
+                  -0.37501903039170087
+                ],
+                "target_mouth_xy": [
+                  0.29729054743690403,
+                  -0.37730776609370337
+                ],
+                "gripper_position": [
+                  0.29888832302636037,
+                  -0.3750217806756606,
+                  1.0017150789857028
+                ],
+                "rod_tip_xy_dist": 0.002796188934146471,
+                "target_xy_drift": 4.480829307325925e-09,
+                "depth": 0.019401700269283784,
+                "bottom_clearance": 0.08003889587644986,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006082161538401462,
+              "rod_tip_xy_max_step": 3.3084893329461386e-05,
+              "rod_tip_xy_range": 0.0006082089364685021,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29855583677636277,
+            -0.3764759163061418,
+            1.043317331618196
+          ],
+          "object_origin_world": [
+            0.29855583677636277,
+            -0.3764759163061418,
+            1.043317331618196
+          ],
+          "frame_world": [
+            0.2985544074325601,
+            -0.37648479200163754,
+            1.043187682007504
+          ],
+          "center_minus_frame": [
+            1.4293438026502514e-06,
+            8.875695495735858e-06,
+            0.00012964961069217296
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27414894228969483,
+              0.14327049357547464,
+              0.8328577096484796
+            ],
+            "target_position": [
+              0.2847090195064266,
+              0.18986539466878166,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04777656369726062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16846986916221973,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328577096484796,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669626869333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13832608153316825,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e671b4d63016c6dcdeed8f8d6b9ce6d1c222253970f9bf25c6f79b99a1164b7",
+    "visual_seed": 3208362354793148882,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d09479499096d3d1edf324e8c07ddba366a9de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_5_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3343922872687401,
+              -0.029199779194899137,
+              1.16463645385749
+            ],
+            "current_z": 1.16463645385749,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30353000544736886,
+            "gripper_z": 1.1557474182861036,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3296759179745131,
+              -0.03399634746067039,
+              1.1557474182861036
+            ],
+            "object_minus_gripper": [
+              0.004716369294226974,
+              0.00479656826577125,
+              0.008889035571386428
+            ],
+            "object_to_gripper_xy": 0.0067269016974927515,
+            "object_to_gripper_z": 0.008889035571386428,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3343922872687401,
+              -0.05291465982309,
+              1.16463645385749
+            ],
+            "finger_b": [
+              0.3233154978054657,
+              -0.029199779194899137,
+              1.16463645385749
+            ],
+            "finger_midpoint": [
+              0.3288538925371029,
+              -0.04105721950899457,
+              1.16463645385749
+            ],
+            "object_minus_finger_midpoint": [
+              0.005538394731637197,
+              0.01185744031409543,
+              0.0
+            ],
+            "finger_gap": 0.026174239779276284,
+            "fingertip_max_gap": 0.0917625298276569,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01308711988963814,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16463645385749,
+            "object_top_z": 1.2145388103403838,
+            "finger_top_clearance": 0.04990235648289376,
+            "fingertip_min_top_clearance": 0.014970706944868094,
+            "object_projection_between_fingers": 0.8209065720996944,
+            "object_to_finger_line_xy": 0.010036002653003032,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838126491382845,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.573063462871179,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29774322092073763,
+              -0.3765321987940652,
+              0.8515395580565225
+            ],
+            "target_position": [
+              0.2905731324351464,
+              -0.37754932163706495,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007241871841517232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854857991804563,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395580565225,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542634079759039,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085615782188519,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15360953502254815,
+            "release_required_pad_clearance": 0.0528078910942595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6620446756043853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008333146572113037,
+            "max_z_decrease": 0.008333146572113037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504452222103784,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008333146572113037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02086698036318302,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008333146572113037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008333191466433885,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14627306163311007,
+              -0.4338107705116272,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14627306163311007,
+              -0.4338107705116272,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1457740549885231,
+              -0.4320401593414658,
+              0.8034727002862166
+            ],
+            "closest_button": [
+              0.14629092812538147,
+              -0.43379005789756775,
+              0.7684757113456726
+            ],
+            "closest_ee_minus_button": [
+              -0.000516873136858359,
+              0.0017498985561019698,
+              0.03499698894054404
+            ],
+            "button_min_z_position": [
+              0.14629092812538147,
+              -0.43379005789756775,
+              0.7684757113456726
+            ],
+            "min_active_finger_to_button": 0.14546478288202372,
+            "closest_active_finger": [
+              0.019513830542564392,
+              -0.49643823504447937,
+              0.8109630942344666
+            ],
+            "closest_active_finger_button": [
+              0.14627599716186523,
+              -0.4338083863258362,
+              0.776774525642395
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12676216661930084,
+              -0.06262984871864319,
+              0.03418856859207153
+            ],
+            "min_contact_pad_to_button": 0.02086698036318302,
+            "closest_contact_pad": [
+              0.14629092812538147,
+              -0.43379005789756775,
+              0.7893426917088556
+            ],
+            "closest_contact_pad_button": [
+              0.14629092812538147,
+              -0.43379005789756775,
+              0.7684757113456726
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02086698036318302
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2899463268900532,
+              0.19433774917519017,
+              1.1023733204741157
+            ],
+            "current_z": 1.1023733204741157,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19246419073975318,
+            "gripper_z": 1.102373558892695,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2899462970877307,
+              0.1943377491751902,
+              1.102373558892695
+            ],
+            "object_minus_gripper": [
+              2.9802322498717615e-08,
+              -2.7755575615628914e-17,
+              -2.384185793236071e-07
+            ],
+            "object_to_gripper_xy": 2.9802322498717615e-08,
+            "object_to_gripper_z": -2.384185793236071e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2899463268900532,
+              0.19433774917519017,
+              1.1023733204741157
+            ],
+            "finger_b": [
+              0.2899463268900532,
+              0.19433774917519017,
+              1.1023733204741157
+            ],
+            "finger_midpoint": [
+              0.2899463268900532,
+              0.19433774917519017,
+              1.1023733204741157
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023733204741157,
+            "object_top_z": 1.2273818270943955,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2899463268900531,
+            0.19433774917519017,
+            1.1023733204741157
+          ],
+          "object_origin_world": [
+            0.2899463268900531,
+            0.19433774917519017,
+            1.1023733204741157
+          ],
+          "frame_world": [
+            0.2899462970877307,
+            0.1943377491751902,
+            1.102373558892695
+          ],
+          "center_minus_frame": [
+            2.9802322443206464e-08,
+            -2.7755575615628914e-17,
+            -2.384185793236071e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043710068137583,
+            "required_z": 0.9112598633480192,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020396716264011266,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.117408894906482e-08,
+            "max_target_xy_drift": 1.3330791889056378e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6620446735085328,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6620446762925429,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29902141581670516,
+              -0.37810530777447393,
+              0.9234180555134249
+            ],
+            "target_mouth_xy": [
+              0.2977432179903579,
+              -0.37653223015786463
+            ],
+            "rod_tip_z": 0.9234180555134249,
+            "rod_tip_depth": -0.02215820186685591,
+            "rod_tip_bottom_clearance": 0.1215988466404826,
+            "rod_tip_xy_dist": 0.002026909685002275,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045425971249152486,
+            "min_rod_tip_bottom_clearance": 0.05401461342203917,
+            "min_rod_tip_xy_dist": 0.0007562928900995005,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.29774321872247794,
+              -0.3765321689881568
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.321200312659926e-10,
+              -6.11697078545248e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.001706245771494419,
+                0.00027225802638630725
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016228903475700163,
+                -0.00011547542694667623
+              ],
+              "first_target_mouth_xy": [
+                0.29774321754936167,
+                -0.3765322298409183
+              ],
+              "last_target_mouth_xy": [
+                0.2977432176467856,
+                -0.3765322308034471
+              ],
+              "first_rod_tip_xy": [
+                0.2994494633208561,
+                -0.37625997181453197
+              ],
+              "last_rod_tip_xy": [
+                0.2993661079943556,
+                -0.3766477062303938
+              ],
+              "min_rod_tip_xy_dist": 0.0016269934402032618,
+              "max_rod_tip_xy_dist": 0.0017278307398800243,
+              "first_target_xy_drift": 6.086406808234168e-08,
+              "last_target_xy_drift": 6.182464907109486e-08,
+              "max_depth": 0.019424834467855367,
+              "min_bottom_clearance": 0.08001584647262838
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.001706245771494419,
+                  0.00027225802638630725
+                ],
+                "rod_tip_xy": [
+                  0.2994494633208561,
+                  -0.37625997181453197
+                ],
+                "target_mouth_xy": [
+                  0.29774321754936167,
+                  -0.3765322298409183
+                ],
+                "gripper_position": [
+                  0.29943895213183247,
+                  -0.3762696164033034,
+                  1.0060714235333947
+                ],
+                "rod_tip_xy_dist": 0.0017278307398800243,
+                "target_xy_drift": 6.086406808234168e-08,
+                "depth": 0.015024207604710349,
+                "bottom_clearance": 0.08441644314553909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0016957317215627876,
+                  0.00026261187114057227
+                ],
+                "rod_tip_xy": [
+                  0.2994389521318325,
+                  -0.3762696164033035
+                ],
+                "target_mouth_xy": [
+                  0.29774322041026974,
+                  -0.37653222827444405
+                ],
+                "gripper_position": [
+                  0.2994309394227401,
+                  -0.37627307936153354,
+                  1.0059271335336515
+                ],
+                "rod_tip_xy_dist": 0.0017159461140660122,
+                "target_xy_drift": 5.9310306854807126e-08,
+                "depth": 0.015188340864427663,
+                "bottom_clearance": 0.08425217944258512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0016877814434773653,
+                  0.0002591498487546362
+                ],
+                "rod_tip_xy": [
+                  0.2994309394227402,
+                  -0.37627307936153354
+                ],
+                "target_mouth_xy": [
+                  0.2977431579792628,
+                  -0.37653222921028817
+                ],
+                "gripper_position": [
+                  0.2994425883105398,
+                  -0.3763475940006405,
+                  1.005388205380803
+                ],
+                "rod_tip_xy_dist": 0.0017075610809151424,
+                "target_xy_drift": 8.553621042080062e-08,
+                "depth": 0.015332775607465932,
+                "bottom_clearance": 0.0841078515419238,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016993990893278688,
+                  0.000184633629214781
+                ],
+                "rod_tip_xy": [
+                  0.29944258831053994,
+                  -0.37634759400064055
+                ],
+                "target_mouth_xy": [
+                  0.29774318922121207,
+                  -0.37653222762985533
+                ],
+                "gripper_position": [
+                  0.29943205960858355,
+                  -0.3763570634581414,
+                  1.0052239638978324
+                ],
+                "rod_tip_xy_dist": 0.001709399555939281,
+                "target_xy_drift": 6.564429523838281e-08,
+                "depth": 0.015871634784145106,
+                "bottom_clearance": 0.08356888643644333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016888405196116563,
+                  0.00017513786196976522
+                ],
+                "rod_tip_xy": [
+                  0.29943205960858366,
+                  -0.37635706345814135
+                ],
+                "target_mouth_xy": [
+                  0.297743219088972,
+                  -0.3765322013201111
+                ],
+                "gripper_position": [
+                  0.2994238942566061,
+                  -0.3763606191265636,
+                  1.0050796604586094
+                ],
+                "rod_tip_xy_dist": 0.001697897397187919,
+                "target_xy_drift": 3.233403143875742e-08,
+                "depth": 0.01603593250834845,
+                "bottom_clearance": 0.083404703578286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0016806753151718534,
+                  0.00017157806782913676
+                ],
+                "rod_tip_xy": [
+                  0.2994238942566062,
+                  -0.3763606191265636
+                ],
+                "target_mouth_xy": [
+                  0.29774321894143435,
+                  -0.37653219719439274
+                ],
+                "gripper_position": [
+                  0.29943644807878744,
+                  -0.3764360076218446,
+                  1.0045434022032507
+                ],
+                "rod_tip_xy_dist": 0.0016894107103922328,
+                "target_xy_drift": 2.82070857911192e-08,
+                "depth": 0.016180193717275415,
+                "bottom_clearance": 0.08326035351062289,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016932280447188863,
+                  9.619244230474333e-05
+                ],
+                "rod_tip_xy": [
+                  0.29943644807878755,
+                  -0.3764360076218447
+                ],
+                "target_mouth_xy": [
+                  0.29774322003406867,
+                  -0.37653220006414945
+                ],
+                "gripper_position": [
+                  0.2994257837347478,
+                  -0.3764454468089433,
+                  1.0043794254664797
+                ],
+                "rod_tip_xy_dist": 0.0016959581944668018,
+                "target_xy_drift": 3.11036587965855e-08,
+                "depth": 0.016716447464319883,
+                "bottom_clearance": 0.08272411611141839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016825651662587537,
+                  8.671963920786618e-05
+                ],
+                "rod_tip_xy": [
+                  0.29942578373474793,
+                  -0.3764454468089433
+                ],
+                "target_mouth_xy": [
+                  0.2977432185684892,
+                  -0.3765321664481512
+                ],
+                "gripper_position": [
+                  0.2994173962604865,
+                  -0.3764487781201586,
+                  1.0042352703630124
+                ],
+                "rod_tip_xy_dist": 0.0016847984551665788,
+                "target_xy_drift": 2.5446691261207675e-09,
+                "depth": 0.016880457178908848,
+                "bottom_clearance": 0.0825601383397373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016742057697625157,
+                  8.33921542270355e-05
+                ],
+                "rod_tip_xy": [
+                  0.29941739626048663,
+                  -0.37644877812015864
+                ],
+                "target_mouth_xy": [
+                  0.2977431904907241,
+                  -0.3765321702743857
+                ],
+                "gripper_position": [
+                  0.299408895702056,
+                  -0.3764522849708411,
+                  1.0040908320863615
+                ],
+                "rod_tip_xy_dist": 0.0016762813638803967,
+                "target_xy_drift": 2.8261038706013432e-08,
+                "depth": 0.017024581541730255,
+                "bottom_clearance": 0.08241599234648977,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016657380099678876,
+                  7.991222294645439e-05
+                ],
+                "rod_tip_xy": [
+                  0.2994088957020561,
+                  -0.37645228497084104
+                ],
+                "target_mouth_xy": [
+                  0.2977431576920882,
+                  -0.3765321971937875
+                ],
+                "gripper_position": [
+                  0.29942304270529996,
+                  -0.3765297210989843,
+                  1.003556700268284
+                ],
+                "rod_tip_xy_dist": 0.0016676537653925714,
+                "target_xy_drift": 6.723292405034702e-08,
+                "depth": 0.017169071901756205,
+                "bottom_clearance": 0.0822715378951534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00167982183418941,
+                  2.4783349279466904e-06
+                ],
+                "rod_tip_xy": [
+                  0.29942304270530007,
+                  -0.3765297210989843
+                ],
+                "target_mouth_xy": [
+                  0.29774322087111066,
+                  -0.37653219943391225
+                ],
+                "gripper_position": [
+                  0.29941216951740435,
+                  -0.3765391269864544,
+                  1.0033924761502255
+                ],
+                "rod_tip_xy_dist": 0.0016798236624013512,
+                "target_xy_drift": 3.0521478483640314e-08,
+                "depth": 0.017703084978818895,
+                "bottom_clearance": 0.08173748766009048,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016689805648799072,
+                  -6.956726979479022e-06
+                ],
+                "rod_tip_xy": [
+                  0.29941216951740446,
+                  -0.3765391269864544
+                ],
+                "target_mouth_xy": [
+                  0.29774318895252455,
+                  -0.37653217025947494
+                ],
+                "gripper_position": [
+                  0.29940357653932215,
+                  -0.37654255883902,
+                  1.003248688342894
+                ],
+                "rod_tip_xy_dist": 0.0016689950635029216,
+                "target_xy_drift": 2.9797086682932877e-08,
+                "depth": 0.0178674084684165,
+                "bottom_clearance": 0.0815731961876407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016603889642942682,
+                  -1.0391447444579871e-05
+                ],
+                "rod_tip_xy": [
+                  0.29940357653932226,
+                  -0.3765425588390201
+                ],
+                "target_mouth_xy": [
+                  0.297743187575028,
+                  -0.3765321673915755
+                ],
+                "gripper_position": [
+                  0.2993950892666012,
+                  -0.3765454907921591,
+                  1.0031046755946411
+                ],
+                "rod_tip_xy_dist": 0.0016604214811095964,
+                "target_xy_drift": 3.118834253781449e-08,
+                "depth": 0.018011213202685283,
+                "bottom_clearance": 0.08142939352548662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016519000669379946,
+                  -1.3291367544965293e-05
+                ],
+                "rod_tip_xy": [
+                  0.2993950892666013,
+                  -0.37654549079215915
+                ],
+                "target_mouth_xy": [
+                  0.2977431891996633,
+                  -0.3765321994246142
+                ],
+                "gripper_position": [
+                  0.2993863859003653,
+                  -0.3765489152738056,
+                  1.0029606894585028
+                ],
+                "rod_tip_xy_dist": 0.0016519535379667814,
+                "target_xy_drift": 4.2402529686139646e-08,
+                "depth": 0.018155130667054986,
+                "bottom_clearance": 0.08128544188660214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001643228532424712,
+                  -1.6715226188068755e-05
+                ],
+                "rod_tip_xy": [
+                  0.2993863859003654,
+                  -0.3765489152738055
+                ],
+                "target_mouth_xy": [
+                  0.2977431573679407,
+                  -0.37653220004761745
+                ],
+                "gripper_position": [
+                  0.2994030144929909,
+                  -0.37662964380377306,
+                  1.0024301800693605
+                ],
+                "rod_tip_xy_dist": 0.0016433135454201036,
+                "target_xy_drift": 6.876822911522979e-08,
+                "depth": 0.01829924967289076,
+                "bottom_clearance": 0.08114142385048695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016597950967983666,
+                  -9.747481025451643e-05
+                ],
+                "rod_tip_xy": [
+                  0.29940301449299095,
+                  -0.37662964380377306
+                ],
+                "target_mouth_xy": [
+                  0.2977432193961926,
+                  -0.37653216899351855
+                ],
+                "gripper_position": [
+                  0.2993919361284483,
+                  -0.37663916052482393,
+                  1.002266378126527
+                ],
+                "rod_tip_xy_dist": 0.0016626548354935408,
+                "target_xy_drift": 6.737359751380247e-10,
+                "depth": 0.018829603074246415,
+                "bottom_clearance": 0.08061093196111646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016487774549590606,
+                  -0.00010698995208580087
+                ],
+                "rod_tip_xy": [
+                  0.2993919361284484,
+                  -0.37663916052482393
+                ],
+                "target_mouth_xy": [
+                  0.2977431586734893,
+                  -0.37653217057273813
+                ],
+                "gripper_position": [
+                  0.2993833564007415,
+                  -0.3766418829964084,
+                  1.0021226233629077
+                ],
+                "rod_tip_xy_dist": 0.0016522451228036955,
+                "target_xy_drift": 6.006989205701994e-08,
+                "depth": 0.01899352662521092,
+                "bottom_clearance": 0.08044710763817597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016401370001796756,
+                  -0.00010968388673815443
+                ],
+                "rod_tip_xy": [
+                  0.29938335640074154,
+                  -0.37664188299640833
+                ],
+                "target_mouth_xy": [
+                  0.29774321940056186,
+                  -0.3765321991096702
+                ],
+                "gripper_position": [
+                  0.29937484098778067,
+                  -0.3766446486750815,
+                  1.0019787972236256
+                ],
+                "rod_tip_xy_dist": 0.0016438004545468324,
+                "target_xy_drift": 3.012914481013483e-08,
+                "depth": 0.019137224746068826,
+                "bottom_clearance": 0.08030332119088812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016316214254258887,
+                  -0.00011242071417627564
+                ],
+                "rod_tip_xy": [
+                  0.2993748409877808,
+                  -0.3766446486750815
+                ],
+                "target_mouth_xy": [
+                  0.2977432195623549,
+                  -0.37653222796090524
+                ],
+                "gripper_position": [
+                  0.2993661079943555,
+                  -0.3766477062303938,
+                  1.0018351006531065
+                ],
+                "rod_tip_xy_dist": 0.0016354898021341232,
+                "target_xy_drift": 5.897872883070843e-08,
+                "depth": 0.01928102926606623,
+                "bottom_clearance": 0.08015947682995639,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016228903475700163,
+                  -0.00011547542694667623
+                ],
+                "rod_tip_xy": [
+                  0.2993661079943556,
+                  -0.3766477062303938
+                ],
+                "target_mouth_xy": [
+                  0.2977432176467856,
+                  -0.3765322308034471
+                ],
+                "gripper_position": [
+                  0.29935735274583486,
+                  -0.37665072748646317,
+                  1.0016912110687817
+                ],
+                "rod_tip_xy_dist": 0.0016269934402032618,
+                "target_xy_drift": 6.182464907109486e-08,
+                "depth": 0.019424834467855367,
+                "bottom_clearance": 0.08001584647262838,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006084797150423193,
+              "rod_tip_xy_max_step": 3.323256857440289e-05,
+              "rod_tip_xy_range": 0.0006084717452573368,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2990214158167051,
+            -0.37810530777447393,
+            1.0434180555134251
+          ],
+          "object_origin_world": [
+            0.2990214158167051,
+            -0.37810530777447393,
+            1.0434180555134251
+          ],
+          "frame_world": [
+            0.29904550686703557,
+            -0.37810204034550754,
+            1.043710068137583
+          ],
+          "center_minus_frame": [
+            -2.409105033046588e-05,
+            -3.267428966391428e-06,
+            -0.0002920126241579002
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2798573612145944,
+              0.14924515442433756,
+              0.8324675300472107
+            ],
+            "target_position": [
+              0.2900958004553322,
+              0.19641012203214558,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04826344172903398,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17034229678760043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324675300472107,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667962704462,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13973654069282473,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "39c01dbce6b1ba50dd35223fca8b1c14a9c4bd9a336cab856e47a39ae52d49e6",
+    "visual_seed": 3605149165360129446,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30541be113bb8263599613b5c10e9fb50570d0cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_60_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3319292712176496,
+              -0.04003669194914774,
+              1.165044799568645
+            ],
+            "current_z": 1.165044799568645,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3039383511585241,
+            "gripper_z": 1.1560533858309174,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32746172931595846,
+              -0.044733352742889074,
+              1.1560533858309174
+            ],
+            "object_minus_gripper": [
+              0.00446754190169113,
+              0.004696660793741335,
+              0.008991413737727605
+            ],
+            "object_to_gripper_xy": 0.006482094819950799,
+            "object_to_gripper_z": 0.008991413737727605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3319292712176496,
+              -0.06360135751217993,
+              1.165044799568645
+            ],
+            "finger_b": [
+              0.3210223516309166,
+              -0.04003669194914774,
+              1.165044799568645
+            ],
+            "finger_midpoint": [
+              0.32647581142428306,
+              -0.05181902473066384,
+              1.165044799568645
+            ],
+            "object_minus_finger_midpoint": [
+              0.005453459793366533,
+              0.011782332781516101,
+              0.0
+            ],
+            "finger_gap": 0.02596640826084762,
+            "fingertip_max_gap": 0.09210020515414427,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012983204130423826,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165044799568645,
+            "object_top_z": 1.214969042631972,
+            "finger_top_clearance": 0.04992424306332688,
+            "fingertip_min_top_clearance": 0.014977272918998063,
+            "object_projection_between_fingers": 0.8235667393685177,
+            "object_to_finger_line_xy": 0.009898092558753409,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855010257707214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.834543728083261,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29607162085157646,
+              -0.3692896642948263,
+              0.8515396441291098
+            ],
+            "target_position": [
+              0.2886161632130597,
+              -0.3703686471326963,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00753313032969267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18337091304313238,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396441291098,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552161229419725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660527064992078,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15150229787107655,
+            "release_required_pad_clearance": 0.05330263532496039,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.62361237987255,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008076727390289307,
+            "max_z_decrease": 0.008076727390289307,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035222636749895765,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008076727390289307,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020996839181089855,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008076727390289307,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00807673360439169,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.144316092133522,
+              -0.4266301095485688,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.144316092133522,
+              -0.4266301095485688,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14536883526417363,
+              -0.42458560312328014,
+              0.8038802087182662
+            ],
+            "closest_button": [
+              0.14431641995906824,
+              -0.42662009596824646,
+              0.7687321305274963
+            ],
+            "closest_ee_minus_button": [
+              0.0010524153051053864,
+              0.002034492844966318,
+              0.035148078190769816
+            ],
+            "button_min_z_position": [
+              0.14431641995906824,
+              -0.42662009596824646,
+              0.7687321305274963
+            ],
+            "min_active_finger_to_button": 0.1439784947444227,
+            "closest_active_finger": [
+              0.017669491469860077,
+              -0.486018568277359,
+              0.8105053305625916
+            ],
+            "closest_active_finger_button": [
+              0.14431498944759363,
+              -0.426630973815918,
+              0.7763902544975281
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12664549797773356,
+              -0.059387594461440985,
+              0.03411507606506348
+            ],
+            "min_contact_pad_to_button": 0.020996839181089855,
+            "closest_contact_pad": [
+              0.14431641995906824,
+              -0.42662009596824646,
+              0.7897289697085862
+            ],
+            "closest_contact_pad_button": [
+              0.14431641995906824,
+              -0.42662009596824646,
+              0.7687321305274963
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020996839181089855
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.285914912480281,
+              0.1992134180153792,
+              1.1008574811730285
+            ],
+            "current_z": 1.1008574811730285,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19094835143866595,
+            "gripper_z": 1.1008574423128703,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2859148545209779,
+              0.19921343758125593,
+              1.1008574423128703
+            ],
+            "object_minus_gripper": [
+              5.795930307916919e-08,
+              -1.9565876724358944e-08,
+              3.8860158202425055e-08
+            ],
+            "object_to_gripper_xy": 6.117274184974712e-08,
+            "object_to_gripper_z": 3.8860158202425055e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.285914912480281,
+              0.1992134180153792,
+              1.1008574811730285
+            ],
+            "finger_b": [
+              0.285914912480281,
+              0.1992134180153792,
+              1.1008574811730285
+            ],
+            "finger_midpoint": [
+              0.285914912480281,
+              0.1992134180153792,
+              1.1008574811730285
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1008574811730285,
+            "object_top_z": 1.2258659877933082,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28591491248028106,
+            0.1992134180153792,
+            1.1008574811730285
+          ],
+          "object_origin_world": [
+            0.28591491248028106,
+            0.1992134180153792,
+            1.1008574811730285
+          ],
+          "frame_world": [
+            0.2859148545209779,
+            0.19921343758125593,
+            1.1008574423128703
+          ],
+          "center_minus_frame": [
+            5.795930313468034e-08,
+            -1.9565876724358944e-08,
+            3.8860158202425055e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1670,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436306606230032,
+            "required_z": 0.9112598920454847,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001214734361685259,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.1191722401131255e-08,
+            "max_target_xy_drift": 1.8327982913255994e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.62361238021919,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6236123804062048,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2970624935429021,
+              -0.36862590100877995,
+              0.9233367508574705
+            ],
+            "target_mouth_xy": [
+              0.29607165275762926,
+              -0.3692896328525751
+            ],
+            "rod_tip_z": 0.9233367508574705,
+            "rod_tip_depth": -0.022076920102250264,
+            "rod_tip_bottom_clearance": 0.12151746099252614,
+            "rod_tip_xy_dist": 0.0011926044701525318,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0450367111303237,
+            "min_rod_tip_bottom_clearance": 0.05440384247149288,
+            "min_rod_tip_xy_dist": 0.000493914353618896,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29607162157265715,
+              -0.3692896335014674
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.1184972104636444e-08,
+              6.488922732472702e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0014157096798145252,
+                0.0025753431103837654
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013502673514618202,
+                0.0021132039823431037
+              ],
+              "first_target_mouth_xy": [
+                0.2960716814492028,
+                -0.36928963286621613
+              ],
+              "last_target_mouth_xy": [
+                0.2960716513299277,
+                -0.3692895770514849
+              ],
+              "first_rod_tip_xy": [
+                0.29748739112901734,
+                -0.36671428975583237
+              ],
+              "last_rod_tip_xy": [
+                0.2974219186813895,
+                -0.3671763730691418
+              ],
+              "min_rod_tip_xy_dist": 0.002507758559234615,
+              "max_rod_tip_xy_dist": 0.002938813711980001,
+              "first_target_xy_drift": 5.987991537269384e-08,
+              "last_target_xy_drift": 6.38129741527841e-08,
+              "max_depth": 0.019737206377879124,
+              "min_bottom_clearance": 0.07970341156801086
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0014157096798145252,
+                  0.0025753431103837654
+                ],
+                "rod_tip_xy": [
+                  0.29748739112901734,
+                  -0.36671428975583237
+                ],
+                "target_mouth_xy": [
+                  0.2960716814492028,
+                  -0.36928963286621613
+                ],
+                "gripper_position": [
+                  0.29749830744881595,
+                  -0.3667890140521162,
+                  1.005704868039284
+                ],
+                "rod_tip_xy_dist": 0.002938813711980001,
+                "target_xy_drift": 5.987991537269384e-08,
+                "depth": 0.01501946309173563,
+                "bottom_clearance": 0.08442106087179313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0014266539678756684,
+                  0.002500591844542155
+                ],
+                "rod_tip_xy": [
+                  0.29749830744881595,
+                  -0.3667890140521162
+                ],
+                "target_mouth_xy": [
+                  0.2960716534809403,
+                  -0.3692896058966584
+                ],
+                "gripper_position": [
+                  0.29748748831059035,
+                  -0.3667983515120358,
+                  1.005544671087114
+                ],
+                "rod_tip_xy_dist": 0.0028789409714417777,
+                "target_xy_drift": 4.219198989984876e-08,
+                "depth": 0.015555050596310571,
+                "bottom_clearance": 0.08388556131931268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0014158059774428966,
+                  0.0024912822899901266
+                ],
+                "rod_tip_xy": [
+                  0.29748748831059035,
+                  -0.3667983515120358
+                ],
+                "target_mouth_xy": [
+                  0.29607168233314746,
+                  -0.36928963380202595
+                ],
+                "gripper_position": [
+                  0.29747908392619093,
+                  -0.36680139303443926,
+                  1.0054038952046132
+                ],
+                "rod_tip_xy_dist": 0.0028654832077996,
+                "target_xy_drift": 6.076123367459473e-08,
+                "depth": 0.01571508686063139,
+                "bottom_clearance": 0.08372542190955523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001407432303307532,
+                  0.0024881792645073952
+                ],
+                "rod_tip_xy": [
+                  0.2974790839261909,
+                  -0.3668013930344393
+                ],
+                "target_mouth_xy": [
+                  0.29607165162288335,
+                  -0.3692895722989467
+                ],
+                "gripper_position": [
+                  0.2974908795468817,
+                  -0.3668771596220478,
+                  1.004869739587422
+                ],
+                "rod_tip_xy_dist": 0.0028586538336633394,
+                "target_xy_drift": 6.818184971015408e-08,
+                "depth": 0.015856016306101894,
+                "bottom_clearance": 0.08358454193403997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0014191982584208507,
+                  0.0024124729356661545
+                ],
+                "rod_tip_xy": [
+                  0.29749087954688164,
+                  -0.36687715962204787
+                ],
+                "target_mouth_xy": [
+                  0.2960716812884608,
+                  -0.369289632557714
+                ],
+                "gripper_position": [
+                  0.2974797973963219,
+                  -0.36688642345741396,
+                  1.0047097650094374
+                ],
+                "rod_tip_xy_dist": 0.0027989550482325452,
+                "target_xy_drift": 5.972326074654412e-08,
+                "depth": 0.01639010544212549,
+                "bottom_clearance": 0.08305043554749691,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014081425794511548,
+                  0.002403181472940108
+                ],
+                "rod_tip_xy": [
+                  0.29747979739632185,
+                  -0.366886423457414
+                ],
+                "target_mouth_xy": [
+                  0.2960716548168707,
+                  -0.3692896049303541
+                ],
+                "gripper_position": [
+                  0.2974712096952895,
+                  -0.36688921166393673,
+                  1.0045692256335452
+                ],
+                "rod_tip_xy_dist": 0.002785344990471726,
+                "target_xy_drift": 4.383476071553264e-08,
+                "depth": 0.016550147911040702,
+                "bottom_clearance": 0.08289048328049808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013995887826094289,
+                  0.002400393307121551
+                ],
+                "rod_tip_xy": [
+                  0.29747120969528945,
+                  -0.3668892116639367
+                ],
+                "target_mouth_xy": [
+                  0.29607162091268,
+                  -0.3692896049710582
+                ],
+                "gripper_position": [
+                  0.29748380283102416,
+                  -0.3669660745895135,
+                  1.0040379854665633
+                ],
+                "rod_tip_xy_dist": 0.0027786213828587874,
+                "target_xy_drift": 2.8538041556234536e-08,
+                "depth": 0.01669064415313193,
+                "bottom_clearance": 0.08274992756819144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014121459082306331,
+                  0.0023234989001799655
+                ],
+                "rod_tip_xy": [
+                  0.2974838028310241,
+                  -0.3669660745895135
+                ],
+                "target_mouth_xy": [
+                  0.29607165692279347,
+                  -0.3692895734896935
+                ],
+                "gripper_position": [
+                  0.29747265763940356,
+                  -0.3669752604227549,
+                  1.0038784155382534
+                ],
+                "rod_tip_xy_dist": 0.0027189709827929445,
+                "target_xy_drift": 6.964944466662177e-08,
+                "depth": 0.017221931648459088,
+                "bottom_clearance": 0.08221875641041765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001401008475173382,
+                  0.002314344259522094
+                ],
+                "rod_tip_xy": [
+                  0.29747265763940356,
+                  -0.3669752604227549
+                ],
+                "target_mouth_xy": [
+                  0.2960716491642302,
+                  -0.369289604682277
+                ],
+                "gripper_position": [
+                  0.29746398977525723,
+                  -0.36697795431845065,
+                  1.0037376838826508
+                ],
+                "rod_tip_xy_dist": 0.002705367645827553,
+                "target_xy_drift": 3.9897877581441725e-08,
+                "depth": 0.017381495333862018,
+                "bottom_clearance": 0.08205912381537783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013923056933469735,
+                  0.0023116512626892294
+                ],
+                "rod_tip_xy": [
+                  0.2974639897752572,
+                  -0.36697795431845065
+                ],
+                "target_mouth_xy": [
+                  0.2960716840819102,
+                  -0.3692896055811399
+                ],
+                "gripper_position": [
+                  0.29745515719892557,
+                  -0.36698066075897123,
+                  1.0035971668922437
+                ],
+                "rod_tip_xy_dist": 0.002698563822483935,
+                "target_xy_drift": 6.846131319551605e-08,
+                "depth": 0.01752223595698099,
+                "bottom_clearance": 0.08191839655610733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013835063054512542,
+                  0.0023089445486039195
+                ],
+                "rod_tip_xy": [
+                  0.29745515719892557,
+                  -0.36698066075897123
+                ],
+                "target_mouth_xy": [
+                  0.2960716508934743,
+                  -0.36928960530757515
+                ],
+                "gripper_position": [
+                  0.29744653255617526,
+                  -0.3669832006123526,
+                  1.0034561622448015
+                ],
+                "rod_tip_xy_dist": 0.002691712210796529,
+                "target_xy_drift": 4.067684694853309e-08,
+                "depth": 0.01766270384054247,
+                "bottom_clearance": 0.0817778735778224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013748788002647117,
+                  0.002306340596353429
+                ],
+                "rod_tip_xy": [
+                  0.2974465325561752,
+                  -0.3669832006123526
+                ],
+                "target_mouth_xy": [
+                  0.2960716537559105,
+                  -0.36928954120870605
+                ],
+                "gripper_position": [
+                  0.29746166299469434,
+                  -0.36706378723839134,
+                  1.002927084190901
+                ],
+                "rod_tip_xy_dist": 0.002685050960746411,
+                "target_xy_drift": 9.774311018196206e-08,
+                "depth": 0.017803776024141627,
+                "bottom_clearance": 0.08163688459662577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013900099605144156,
+                  0.0022257888504480516
+                ],
+                "rod_tip_xy": [
+                  0.29746166299469434,
+                  -0.36706378723839134
+                ],
+                "target_mouth_xy": [
+                  0.2960716530341799,
+                  -0.3692895760888394
+                ],
+                "gripper_position": [
+                  0.2974502543869611,
+                  -0.36707286364471076,
+                  1.0027673170383145
+                ],
+                "rod_tip_xy_dist": 0.0026241691441498483,
+                "target_xy_drift": 6.546783383870112e-08,
+                "depth": 0.01833277095877739,
+                "bottom_clearance": 0.0811078231354544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013786632152348877,
+                  0.0022167105677664
+                ],
+                "rod_tip_xy": [
+                  0.2974502543869611,
+                  -0.36707286364471076
+                ],
+                "target_mouth_xy": [
+                  0.2960715911717262,
+                  -0.36928957421247716
+                ],
+                "gripper_position": [
+                  0.29744152415267444,
+                  -0.36707526169074106,
+                  1.002626815892282
+                ],
+                "rod_tip_xy_dist": 0.002610463177730924,
+                "target_xy_drift": 6.66288298183978e-08,
+                "depth": 0.018492592617313952,
+                "bottom_clearance": 0.08094794162528929,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013698710701213757,
+                  0.0022143429129007908
+                ],
+                "rod_tip_xy": [
+                  0.2974415241526744,
+                  -0.36707526169074106
+                ],
+                "target_mouth_xy": [
+                  0.296071653082553,
+                  -0.36928960460364185
+                ],
+                "gripper_position": [
+                  0.29743263040016166,
+                  -0.36707763889613526,
+                  1.0024866296978863
+                ],
+                "rod_tip_xy_dist": 0.002603816676471184,
+                "target_xy_drift": 4.275462380752879e-08,
+                "depth": 0.018633016978909844,
+                "bottom_clearance": 0.08080753446982591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013610091472331387,
+                  0.002211935936949294
+                ],
+                "rod_tip_xy": [
+                  0.29743263040016166,
+                  -0.36707763889613526
+                ],
+                "target_mouth_xy": [
+                  0.2960716212529285,
+                  -0.36928957483308456
+                ],
+                "gripper_position": [
+                  0.2974239396038656,
+                  -0.3670801147894657,
+                  1.0023460372673723
+                ],
+                "rod_tip_xy_dist": 0.0025971150317265555,
+                "target_xy_drift": 5.866925403429813e-08,
+                "depth": 0.018773283211058867,
+                "bottom_clearance": 0.08066726342309216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013522873390331425,
+                  0.0022094907841022637
+                ],
+                "rod_tip_xy": [
+                  0.29742393960386554,
+                  -0.3670801147894656
+                ],
+                "target_mouth_xy": [
+                  0.2960716522648324,
+                  -0.3692896055735679
+                ],
+                "gripper_position": [
+                  0.2974149350458911,
+                  -0.3670825363357547,
+                  1.002205609461329
+                ],
+                "rod_tip_xy_dist": 0.002590469179963771,
+                "target_xy_drift": 4.14967130193305e-08,
+                "depth": 0.018913805767701408,
+                "bottom_clearance": 0.080526746972162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013433759593195482,
+                  0.0022070692935636793
+                ],
+                "rod_tip_xy": [
+                  0.2974149350458911,
+                  -0.36708253633575477
+                ],
+                "target_mouth_xy": [
+                  0.29607155908657157,
+                  -0.36928960562931845
+                ],
+                "gripper_position": [
+                  0.2974333616224505,
+                  -0.36716730131502984,
+                  1.0016822254828823
+                ],
+                "rod_tip_xy_dist": 0.0025837596317516446,
+                "target_xy_drift": 6.842052014635601e-08,
+                "depth": 0.0190543988398596,
+                "bottom_clearance": 0.08038628024806782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001361708581533616,
+                  0.002122302662194764
+                ],
+                "rod_tip_xy": [
+                  0.2974333616224505,
+                  -0.3671673013150299
+                ],
+                "target_mouth_xy": [
+                  0.29607165304091687,
+                  -0.36928960397722466
+                ],
+                "gripper_position": [
+                  0.29742191868138956,
+                  -0.36717637306914186,
+                  1.00152273980183
+                ],
+                "rod_tip_xy_dist": 0.0025215905399135034,
+                "target_xy_drift": 4.3150113300536765e-08,
+                "depth": 0.019577536390323336,
+                "bottom_clearance": 0.07986299173387856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013502673514618202,
+                  0.0021132039823431037
+                ],
+                "rod_tip_xy": [
+                  0.2974219186813895,
+                  -0.3671763730691418
+                ],
+                "target_mouth_xy": [
+                  0.2960716513299277,
+                  -0.3692895770514849
+                ],
+                "gripper_position": [
+                  0.2974400705021057,
+                  -0.36725536535950115,
+                  1.000915114415441
+                ],
+                "rod_tip_xy_dist": 0.002507758559234615,
+                "target_xy_drift": 6.38129741527841e-08,
+                "depth": 0.019737206377879124,
+                "bottom_clearance": 0.07970341156801086,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.000605284345384229,
+              "rod_tip_xy_max_step": 3.272555450073873e-05,
+              "rod_tip_xy_range": 0.0006052770040282873,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29706249354290215,
+            -0.36862590100877995,
+            1.0433367508574707
+          ],
+          "object_origin_world": [
+            0.29706249354290215,
+            -0.36862590100877995,
+            1.0433367508574707
+          ],
+          "frame_world": [
+            0.29708678691233736,
+            -0.3686224880276653,
+            1.0436306606230032
+          ],
+          "center_minus_frame": [
+            -2.4293369435213208e-05,
+            -3.412981114669922e-06,
+            -0.00029390976553256287
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2781201104531831,
+              0.15082419604299954,
+              0.8337140524747264
+            ],
+            "target_position": [
+              0.2864513589633133,
+              0.19848307268336934,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048381589725426895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17077222428434874,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337140524747264,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668933558026,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13912641526872166,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "968c37ae2404b1eecd065b858990bd4ab123b19fbf63447e35d62433092676c1",
+    "visual_seed": 7944955432107860424,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca20a67e0a3877dbda23510b3931e5052877567d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_61_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3373056098139769,
+              -0.03024967495391091,
+              1.1670433202803454
+            ],
+            "current_z": 1.1670433202803454,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30593687187022434,
+            "gripper_z": 1.1579150894091224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3327361050069805,
+              -0.03491114376645238,
+              1.1579150894091224
+            ],
+            "object_minus_gripper": [
+              0.004569504806996416,
+              0.00466146881254147,
+              0.009128230871223053
+            ],
+            "object_to_gripper_xy": 0.006527607959387584,
+            "object_to_gripper_z": 0.009128230871223053,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3373056098139769,
+              -0.05382967250657913,
+              1.1670433202803454
+            ],
+            "finger_b": [
+              0.3263943443177414,
+              -0.03024967495391091,
+              1.1670433202803454
+            ],
+            "finger_midpoint": [
+              0.33184997706585917,
+              -0.04203967373024502,
+              1.1670433202803454
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054556327481177225,
+              0.011789998776334108,
+              0.0
+            ],
+            "finger_gap": 0.025982147704013588,
+            "fingertip_max_gap": 0.09202035599274841,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012991073852006782,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1670433202803454,
+            "object_top_z": 1.2168207644535622,
+            "finger_top_clearance": 0.049777444173216834,
+            "fingertip_min_top_clearance": 0.01493323325196505,
+            "object_projection_between_fingers": 0.8236399749205014,
+            "object_to_finger_line_xy": 0.00990247675553018,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851017799637421,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.976334599578838,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.295354150681059,
+              -0.37641381434967913,
+              0.8515395728790157
+            ],
+            "target_position": [
+              0.28821991507788075,
+              -0.3772400205711949,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007181917178729354,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18508048694848442,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395728790157,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538080870867064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086739618907946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15326436743806668,
+            "release_required_pad_clearance": 0.053369809453973,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.755637236620143,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00840747356414795,
+            "max_z_decrease": 0.00840747356414795,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035058571568254315,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00840747356414795,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020887276626798346,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00840747356414795,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008407509340739992,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1439198404550552,
+              -0.4335014820098877,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1439198404550552,
+              -0.4335014820098877,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1452329513744058,
+              -0.4321603584526439,
+              0.8034106941778955
+            ],
+            "closest_button": [
+              0.14392225444316864,
+              -0.43347707390785223,
+              0.7684013843536377
+            ],
+            "closest_ee_minus_button": [
+              0.0013106969312371708,
+              0.0013167154552083393,
+              0.03500930982425776
+            ],
+            "button_min_z_position": [
+              0.14392225444316864,
+              -0.43347707390785223,
+              0.7684013843536377
+            ],
+            "min_active_finger_to_button": 0.14408331484892659,
+            "closest_active_finger": [
+              0.01906595379114151,
+              -0.4967517852783203,
+              0.8108763098716736
+            ],
+            "closest_active_finger_button": [
+              0.1439209133386612,
+              -0.4335002899169922,
+              0.7766638994216919
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12485495954751968,
+              -0.06325149536132812,
+              0.03421241044998169
+            ],
+            "min_contact_pad_to_button": 0.020887276626798346,
+            "closest_contact_pad": [
+              0.14392225444316864,
+              -0.43347707390785223,
+              0.789288660980436
+            ],
+            "closest_contact_pad_button": [
+              0.14392225444316864,
+              -0.43347707390785223,
+              0.7684013843536377
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020887276626798346
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2892731032816321,
+              0.18782367411291864,
+              1.1027338801823405
+            ],
+            "current_z": 1.1027338801823405,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19282475044797798,
+            "gripper_z": 1.1027338454588707,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28927313998736703,
+              0.1878237104166709,
+              1.1027338454588707
+            ],
+            "object_minus_gripper": [
+              -3.67057349515143e-08,
+              -3.63037522543852e-08,
+              3.472346987720698e-08
+            ],
+            "object_to_gripper_xy": 5.1626285999271704e-08,
+            "object_to_gripper_z": 3.472346987720698e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2892731032816321,
+              0.18782367411291864,
+              1.1027338801823405
+            ],
+            "finger_b": [
+              0.2892731032816321,
+              0.18782367411291864,
+              1.1027338801823405
+            ],
+            "finger_midpoint": [
+              0.2892731032816321,
+              0.18782367411291864,
+              1.1027338801823405
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027338801823405,
+            "object_top_z": 1.2277423868026203,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28927310328163214,
+            0.18782367411291867,
+            1.1027338801823408
+          ],
+          "object_origin_world": [
+            0.28927310328163214,
+            0.18782367411291867,
+            1.1027338801823408
+          ],
+          "frame_world": [
+            0.28927313998736703,
+            0.1878237104166709,
+            1.1027338454588707
+          ],
+          "center_minus_frame": [
+            -3.670573489600315e-08,
+            -3.6303752226629626e-08,
+            3.4723470099251585e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043648895744684,
+            "required_z": 0.9112616272318393,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019548439299775454,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1769540298213392e-06,
+            "max_target_xy_drift": 1.3246586027553247e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7556372363913355,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7556372366498336,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2934544846765065,
+              -0.3758660975782049,
+              0.9233557598795886
+            ],
+            "target_mouth_xy": [
+              0.2953540029819985,
+              -0.3764137258519322
+            ],
+            "rod_tip_z": 0.9233557598795886,
+            "rod_tip_depth": -0.0220959247028093,
+            "rod_tip_bottom_clearance": 0.12153647823105984,
+            "rod_tip_xy_dist": 0.001976883031209693,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487020032027966,
+            "min_rod_tip_bottom_clearance": 0.054570351615757406,
+            "min_rod_tip_xy_dist": 0.001179502323446133,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2953544402975848,
+              -0.37641263315990503
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.3731558629911405e-07,
+              -1.0926920271936424e-06
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.00132109128201513,
+                0.002391684032630348
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001432698498922802,
+                0.0020194947804736962
+              ],
+              "first_target_mouth_xy": [
+                0.2953539718687062,
+                -0.3764136960054011
+              ],
+              "last_target_mouth_xy": [
+                0.29535400125139233,
+                -0.3764137280693415
+              ],
+              "first_rod_tip_xy": [
+                0.2940328805866911,
+                -0.37402201197277074
+              ],
+              "last_rod_tip_xy": [
+                0.2939213027524695,
+                -0.3743942332888678
+              ],
+              "min_rod_tip_xy_dist": 0.002463039425817429,
+              "max_rod_tip_xy_dist": 0.002733031452375524,
+              "first_target_xy_drift": 1.16149307478529e-06,
+              "last_target_xy_drift": 1.1796559808428718e-06,
+              "max_depth": 0.019449886498863034,
+              "min_bottom_clearance": 0.079990740185643
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.00132109128201513,
+                  0.002391684032630348
+                ],
+                "rod_tip_xy": [
+                  0.2940328805866911,
+                  -0.37402201197277074
+                ],
+                "target_mouth_xy": [
+                  0.2953539718687062,
+                  -0.3764136960054011
+                ],
+                "gripper_position": [
+                  0.29402476130357513,
+                  -0.3740256554457899,
+                  1.0059885822868575
+                ],
+                "rod_tip_xy_dist": 0.002732294765825119,
+                "target_xy_drift": 1.16149307478529e-06,
+                "depth": 0.015129979791851933,
+                "bottom_clearance": 0.08431054783405167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0013292424066642106,
+                  0.002388006604680859
+                ],
+                "rod_tip_xy": [
+                  0.2940247613035751,
+                  -0.37402565544579003
+                ],
+                "target_mouth_xy": [
+                  0.2953540037102393,
+                  -0.3764136620504709
+                ],
+                "gripper_position": [
+                  0.2940297706266827,
+                  -0.3740988773737424,
+                  1.0054516296513558
+                ],
+                "rod_tip_xy_dist": 0.002733031452375524,
+                "target_xy_drift": 1.117687034352313e-06,
+                "depth": 0.015271359685490427,
+                "bottom_clearance": 0.08416930752277618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0013242013070662306,
+                  0.002314817370735356
+                ],
+                "rod_tip_xy": [
+                  0.29402977062668256,
+                  -0.3740988773737425
+                ],
+                "target_mouth_xy": [
+                  0.2953539719337488,
+                  -0.37641369474447783
+                ],
+                "gripper_position": [
+                  0.2940189702164371,
+                  -0.3741084471545247,
+                  1.0052912094726274
+                ],
+                "rod_tip_xy_dist": 0.0026668124346294134,
+                "target_xy_drift": 1.1603130991590255e-06,
+                "depth": 0.01580813586185914,
+                "bottom_clearance": 0.08363237038958782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0013350330647179387,
+                  0.0023052491620886295
+                ],
+                "rod_tip_xy": [
+                  0.294018970216437,
+                  -0.3741084471545246
+                ],
+                "target_mouth_xy": [
+                  0.29535400328115496,
+                  -0.37641369631661326
+                ],
+                "gripper_position": [
+                  0.2940107578519485,
+                  -0.3741116901542855,
+                  1.0051502280411826
+                ],
+                "rod_tip_xy_dist": 0.002663923231476557,
+                "target_xy_drift": 1.1494718553225417e-06,
+                "depth": 0.015968632950779105,
+                "bottom_clearance": 0.08347194162383187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0013432127020598927,
+                  0.002302004934947144
+                ],
+                "rod_tip_xy": [
+                  0.2940107578519484,
+                  -0.3741116901542856
+                ],
+                "target_mouth_xy": [
+                  0.2953539705540083,
+                  -0.3764136950892327
+                ],
+                "gripper_position": [
+                  0.2940165919548807,
+                  -0.37418606348123745,
+                  1.004616048975552
+                ],
+                "rod_tip_xy_dist": 0.002665229274095578,
+                "target_xy_drift": 1.1611859991678954e-06,
+                "depth": 0.01610963407128896,
+                "bottom_clearance": 0.08333091485805943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0013374134143281369,
+                  0.0022276321606164995
+                ],
+                "rod_tip_xy": [
+                  0.29401659195488067,
+                  -0.3741860634812374
+                ],
+                "target_mouth_xy": [
+                  0.2953540053692088,
+                  -0.3764136956418539
+                ],
+                "gripper_position": [
+                  0.29400574916985933,
+                  -0.3741952242185555,
+                  1.0044556779501643
+                ],
+                "rod_tip_xy_dist": 0.0025982724421888055,
+                "target_xy_drift": 1.1480551310364049e-06,
+                "depth": 0.01664385893971365,
+                "bottom_clearance": 0.08279677490133952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0013481886856673286,
+                  0.002218472166811314
+                ],
+                "rod_tip_xy": [
+                  0.2940057491698592,
+                  -0.37419522421855556
+                ],
+                "target_mouth_xy": [
+                  0.29535393785552655,
+                  -0.37641369638536687
+                ],
+                "gripper_position": [
+                  0.2939972584369871,
+                  -0.37419857483422286,
+                  1.0043146906621818
+                ],
+                "rod_tip_xy_dist": 0.0025960029828715307,
+                "target_xy_drift": 1.1759661579264812e-06,
+                "depth": 0.01680423260349828,
+                "bottom_clearance": 0.08263646629876042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0013567443344135177,
+                  0.0022151497003387033
+                ],
+                "rod_tip_xy": [
+                  0.293997258436987,
+                  -0.3741985748342229
+                ],
+                "target_mouth_xy": [
+                  0.2953540027714005,
+                  -0.3764137245345616
+                ],
+                "gripper_position": [
+                  0.2940037363419984,
+                  -0.3742738490412722,
+                  1.003783953469299
+                ],
+                "rod_tip_xy_dist": 0.002597622640776336,
+                "target_xy_drift": 1.1758094246026988e-06,
+                "depth": 0.016945132612714908,
+                "bottom_clearance": 0.08249539327821276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001350292937738029,
+                  0.0021398466790625847
+                ],
+                "rod_tip_xy": [
+                  0.29400373634199833,
+                  -0.37427384904127226
+                ],
+                "target_mouth_xy": [
+                  0.29535402927973636,
+                  -0.37641369572033484
+                ],
+                "gripper_position": [
+                  0.29399266746380226,
+                  -0.3742830752485092,
+                  1.0036235513154177
+                ],
+                "rod_tip_xy_dist": 0.002530263786169412,
+                "target_xy_drift": 1.139285012066671e-06,
+                "depth": 0.017475943820857154,
+                "bottom_clearance": 0.08196465523412311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0013613641886432992,
+                  0.002130619486302554
+                ],
+                "rod_tip_xy": [
+                  0.2939926674638022,
+                  -0.37428307524850923
+                ],
+                "target_mouth_xy": [
+                  0.2953540316524455,
+                  -0.3764136947348118
+                ],
+                "gripper_position": [
+                  0.2939842926812165,
+                  -0.3742859983762315,
+                  1.0034828877255475
+                ],
+                "rod_tip_xy_dist": 0.0025284089561486266,
+                "target_xy_drift": 1.1375113768736595e-06,
+                "depth": 0.017636270426079403,
+                "bottom_clearance": 0.08180423164790585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0013697102669183447,
+                  0.0021276995315061
+                ],
+                "rod_tip_xy": [
+                  0.2939842926812164,
+                  -0.37428599837623155
+                ],
+                "target_mouth_xy": [
+                  0.29535400294813474,
+                  -0.37641369790773765
+                ],
+                "gripper_position": [
+                  0.2939756308815351,
+                  -0.37428909506886443,
+                  1.0033423070731802
+                ],
+                "rod_tip_xy_dist": 0.002530456779254054,
+                "target_xy_drift": 1.1510701492663234e-06,
+                "depth": 0.017776979867593856,
+                "bottom_clearance": 0.0816636364480311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0013783688105038494,
+                  0.002124566420380669
+                ],
+                "rod_tip_xy": [
+                  0.293975630881535,
+                  -0.37428909506886454
+                ],
+                "target_mouth_xy": [
+                  0.29535399969203885,
+                  -0.3764136614892452
+                ],
+                "gripper_position": [
+                  0.29396724953694997,
+                  -0.37429201506121135,
+                  1.0032017833744318
+                ],
+                "rod_tip_xy_dist": 0.002532525034896778,
+                "target_xy_drift": 1.1187468341792851e-06,
+                "depth": 0.01791763992716522,
+                "bottom_clearance": 0.08152306643895368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0013867835049368171,
+                  0.002121710133672461
+                ],
+                "rod_tip_xy": [
+                  0.2939672495369499,
+                  -0.37429201506121135
+                ],
+                "target_mouth_xy": [
+                  0.29535403304188673,
+                  -0.3764137251948838
+                ],
+                "gripper_position": [
+                  0.2939758612373352,
+                  -0.37437058349384017,
+                  1.0026728278090793
+                ],
+                "rod_tip_xy_dist": 0.0025347233341911804,
+                "target_xy_drift": 1.1655031524933574e-06,
+                "depth": 0.018058042427498755,
+                "bottom_clearance": 0.08138249860536839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0013781409255149146,
+                  0.002043142020162425
+                ],
+                "rod_tip_xy": [
+                  0.29397586123733516,
+                  -0.3743705834938402
+                ],
+                "target_mouth_xy": [
+                  0.29535400216285007,
+                  -0.37641372551400265
+                ],
+                "gripper_position": [
+                  0.29396478233557366,
+                  -0.3743798224921515,
+                  1.0025128611126388
+                ],
+                "rod_tip_xy_dist": 0.0024644881263930856,
+                "target_xy_drift": 1.1769449946160696e-06,
+                "depth": 0.018586994444536598,
+                "bottom_clearance": 0.08085351502234916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001389219439813405,
+                  0.002033871323652403
+                ],
+                "rod_tip_xy": [
+                  0.29396478233557355,
+                  -0.3743798224921516
+                ],
+                "target_mouth_xy": [
+                  0.29535400177538695,
+                  -0.37641369381580403
+                ],
+                "gripper_position": [
+                  0.29395606236044525,
+                  -0.3743827141932042,
+                  1.0023724723377687
+                ],
+                "rod_tip_xy_dist": 0.002463039425817429,
+                "target_xy_drift": 1.1477337034664032e-06,
+                "depth": 0.018746978497356293,
+                "bottom_clearance": 0.08069355826487634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0013979389799249065,
+                  0.0020309840833231396
+                ],
+                "rod_tip_xy": [
+                  0.2939560623604452,
+                  -0.3743827141932041
+                ],
+                "target_mouth_xy": [
+                  0.2953540013403701,
+                  -0.37641369827652726
+                ],
+                "gripper_position": [
+                  0.29394735705818525,
+                  -0.374385585229612,
+                  1.0022317901501447
+                ],
+                "rod_tip_xy_dist": 0.0024655891260113518,
+                "target_xy_drift": 1.1520229404339641e-06,
+                "depth": 0.018887417184732525,
+                "bottom_clearance": 0.08055320652613107,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014070197310775412,
+                  0.002026866567331864
+                ],
+                "rod_tip_xy": [
+                  0.2939473570581852,
+                  -0.3743855852296121
+                ],
+                "target_mouth_xy": [
+                  0.29535437678926274,
+                  -0.37641245179694394
+                ],
+                "gripper_position": [
+                  0.2939387038211938,
+                  -0.37438844849619596,
+                  1.0020912282725833
+                ],
+                "rod_tip_xy_dist": 0.002467365519214608,
+                "target_xy_drift": 1.9216094979392925e-07,
+                "depth": 0.0190299140035588,
+                "bottom_clearance": 0.08041310895890286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014152681226483055,
+                  0.0020252462615203415
+                ],
+                "rod_tip_xy": [
+                  0.2939387038211937,
+                  -0.374388448496196
+                ],
+                "target_mouth_xy": [
+                  0.295353971943842,
+                  -0.37641369475771635
+                ],
+                "gripper_position": [
+                  0.29393001923497475,
+                  -0.3743913898910974,
+                  1.0019503195503128
+                ],
+                "rod_tip_xy_dist": 0.0024707501449532645,
+                "target_xy_drift": 1.1603211371830515e-06,
+                "depth": 0.019168596308042685,
+                "bottom_clearance": 0.08027190908710902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014239521608585548,
+                  0.0020223324693268707
+                ],
+                "rod_tip_xy": [
+                  0.2939300192349747,
+                  -0.37439138989109744
+                ],
+                "target_mouth_xy": [
+                  0.29535397139583325,
+                  -0.3764137223604243
+                ],
+                "gripper_position": [
+                  0.29392130275246964,
+                  -0.37439423328886773,
+                  1.0018100055091195
+                ],
+                "rod_tip_xy_dist": 0.0024733516476448444,
+                "target_xy_drift": 1.1858442662465622e-06,
+                "depth": 0.019309559259695686,
+                "bottom_clearance": 0.08013104377082647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001432698498922802,
+                  0.0020194947804736962
+                ],
+                "rod_tip_xy": [
+                  0.2939213027524695,
+                  -0.3743942332888678
+                ],
+                "target_mouth_xy": [
+                  0.29535400125139233,
+                  -0.3764137280693415
+                ],
+                "gripper_position": [
+                  0.2939125643938507,
+                  -0.37439709434364365,
+                  1.0016692997779628
+                ],
+                "rod_tip_xy_dist": 0.0024760824213212597,
+                "target_xy_drift": 1.1796559808428718e-06,
+                "depth": 0.019449886498863034,
+                "bottom_clearance": 0.079990740185643,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006008307132202182,
+              "rod_tip_xy_max_step": 3.25569356158136e-05,
+              "rod_tip_xy_range": 0.0006008198852585259,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29345448467650653,
+            -0.3758660975782049,
+            1.0433557598795886
+          ],
+          "object_origin_world": [
+            0.29345448467650653,
+            -0.3758660975782049,
+            1.0433557598795886
+          ],
+          "frame_world": [
+            0.2934785177826573,
+            -0.37586239105562214,
+            1.043648895744684
+          ],
+          "center_minus_frame": [
+            -2.403310615078924e-05,
+            -3.7065225827470627e-06,
+            -0.0002931358650952731
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2807383478171853,
+              0.14302571390163057,
+              0.8334602136376267
+            ],
+            "target_position": [
+              0.2894260724040756,
+              0.1899470945562597,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04771889060984403,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1687747721120368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334602136376267,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671754284986,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13708473408160154,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f61700d4b08aa9c17bcd7454a6a504afba37af6abf2fcc5a182e2f3275945bd1",
+    "visual_seed": 1981738791019648011,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad8ebc639a7b7f947ff47e06db51279cc09efa6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_62_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.335187938575692,
+              -0.03761903729748119,
+              1.1653494980030135
+            ],
+            "current_z": 1.1653494980030135,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3042429899882476,
+            "gripper_z": 1.1563189989484837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3303751288703714,
+              -0.04234453801404439,
+              1.1563189989484837
+            ],
+            "object_minus_gripper": [
+              0.004812809705320609,
+              0.004725500716563198,
+              0.009030499054529795
+            ],
+            "object_to_gripper_xy": 0.006744886528464919,
+            "object_to_gripper_z": 0.009030499054529795,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.335187938575692,
+              -0.06156561841588294,
+              1.1653494980030135
+            ],
+            "finger_b": [
+              0.32443852617494906,
+              -0.03761903729748119,
+              1.1653494980030135
+            ],
+            "finger_midpoint": [
+              0.32981323237532056,
+              -0.049592327856682064,
+              1.1653494980030135
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053747062003714485,
+              0.01197329055920087,
+              0.0
+            ],
+            "finger_gap": 0.026248592614108692,
+            "fingertip_max_gap": 0.09155444175368219,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013124296307054332,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653494980030135,
+            "object_top_z": 1.2151900753421918,
+            "finger_top_clearance": 0.04984057733917835,
+            "fingertip_min_top_clearance": 0.01495217320175347,
+            "object_projection_between_fingers": 0.8322906001983532,
+            "object_to_finger_line_xy": 0.009806684869313175,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048277220876841095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3771095297740645,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29315481141023286,
+              -0.37153672795657067,
+              0.8515395795988474
+            ],
+            "target_position": [
+              0.2857031411185055,
+              -0.3725316367565174,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007517794467583159,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18529540216578916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395795988474,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570125483836633,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742990829090906,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15271954883333444,
+            "release_required_pad_clearance": 0.05371495414545453,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4392977344928233,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008061826229095459,
+            "max_z_decrease": 0.008061826229095459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514624798627741,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008061826229095459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02101142115773363,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008061826229095459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008061835282602063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14140306413173673,
+              -0.42879310250282293,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14140306413173673,
+              -0.42879310250282293,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1421080285284388,
+              -0.4282932683403607,
+              0.8082187222236044
+            ],
+            "closest_button": [
+              0.14139458537101746,
+              -0.4287929832935333,
+              0.7730832695960999
+            ],
+            "closest_ee_minus_button": [
+              0.000713443157421334,
+              0.0004997149531726364,
+              0.035135452627504504
+            ],
+            "button_min_z_position": [
+              0.14139576256275174,
+              -0.42878347635269165,
+              0.7687470316886902
+            ],
+            "min_active_finger_to_button": 0.14531430607832985,
+            "closest_active_finger": [
+              0.014382384717464447,
+              -0.4905568063259125,
+              0.8106098771095276
+            ],
+            "closest_active_finger_button": [
+              0.14140284061431885,
+              -0.4287929832935333,
+              0.7764443755149841
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270204558968544,
+              -0.06176382303237915,
+              0.03416550159454346
+            ],
+            "min_contact_pad_to_button": 0.02101142115773363,
+            "closest_contact_pad": [
+              0.14139576256275174,
+              -0.42940633079965285,
+              0.7897492189891967
+            ],
+            "closest_contact_pad_button": [
+              0.14139576256275174,
+              -0.42878347635269165,
+              0.7687470316886902
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006228544469611963,
+              0.021002187300506514
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2952515023279051,
+              0.19564888889449455,
+              1.1092541936567057
+            ],
+            "current_z": 1.1092541936567057,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1993450639223432,
+            "gripper_z": 1.1092544157457438,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2952514786495909,
+              0.19564886769017303,
+              1.1092544157457438
+            ],
+            "object_minus_gripper": [
+              2.367831419824995e-08,
+              2.120432152086238e-08,
+              -2.2208903804887825e-07
+            ],
+            "object_to_gripper_xy": 3.178499354146785e-08,
+            "object_to_gripper_z": -2.2208903804887825e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2952515023279051,
+              0.19564888889449455,
+              1.1092541936567057
+            ],
+            "finger_b": [
+              0.2952515023279051,
+              0.19564888889449455,
+              1.1092541936567057
+            ],
+            "finger_midpoint": [
+              0.2952515023279051,
+              0.19564888889449455,
+              1.1092541936567057
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1092541936567057,
+            "object_top_z": 1.2342627002769855,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 161,
+            "max_stable_success_frames": 161,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29525150232790515,
+            0.19564888889449455,
+            1.1092541936567057
+          ],
+          "object_origin_world": [
+            0.29525150232790515,
+            0.19564888889449455,
+            1.1092541936567057
+          ],
+          "frame_world": [
+            0.2952514786495909,
+            0.19564886769017303,
+            1.1092544157457438
+          ],
+          "center_minus_frame": [
+            2.36783142537611e-08,
+            2.120432152086238e-08,
+            -2.2208903804887825e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433220617779435,
+            "required_z": 0.9112599009422448,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024709791922894347,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.963573682550426e-08,
+            "max_target_xy_drift": 1.684572812780395e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4392977346249447,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.439297734651548,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29068669591286256,
+              -0.37161225842764395,
+              0.9234465835828952
+            ],
+            "target_mouth_xy": [
+              0.2931547828095465,
+              -0.37153687536471225
+            ],
+            "rod_tip_z": 0.9234465835828952,
+            "rod_tip_depth": -0.02218675957990468,
+            "rod_tip_bottom_clearance": 0.12162727697638165,
+            "rod_tip_xy_dist": 0.0024692378451173706,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044892447216375864,
+            "min_rod_tip_bottom_clearance": 0.05454811366979295,
+            "min_rod_tip_xy_dist": 0.0010744758317598848,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29315478526321925,
+              -0.37153681577947417
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.4536727649682177e-09,
+              -5.958523807692018e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.001832897613410489,
+                0.0016446915186121847
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019559749424724604,
+                0.0012879023140990875
+              ],
+              "first_target_mouth_xy": [
+                0.29315475640224714,
+                -0.3715368301205566
+              ],
+              "last_target_mouth_xy": [
+                0.2931548178881272,
+                -0.3715369227068338
+              ],
+              "first_rod_tip_xy": [
+                0.29132185878883665,
+                -0.3698921386019444
+              ],
+              "last_rod_tip_xy": [
+                0.29119884294565473,
+                -0.3702490203927347
+              ],
+              "min_rod_tip_xy_dist": 0.002319579032244716,
+              "max_rod_tip_xy_dist": 0.0024689224478371217,
+              "first_target_xy_drift": 3.2227664460863514e-08,
+              "last_target_xy_drift": 1.1179376036413253e-07,
+              "max_depth": 0.01952126247852959,
+              "min_bottom_clearance": 0.07991926110640779
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001832897613410489,
+                  0.0016446915186121847
+                ],
+                "rod_tip_xy": [
+                  0.29132185878883665,
+                  -0.3698921386019444
+                ],
+                "target_mouth_xy": [
+                  0.29315475640224714,
+                  -0.3715368301205566
+                ],
+                "gripper_position": [
+                  0.2913111579176509,
+                  -0.36990104242324723,
+                  1.0058727691811686
+                ],
+                "rod_tip_xy_dist": 0.002462625398358573,
+                "target_xy_drift": 3.2227664460863514e-08,
+                "depth": 0.015228684290880423,
+                "bottom_clearance": 0.08421194115768427,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001843626124229003,
+                  0.0016358498869915583
+                ],
+                "rod_tip_xy": [
+                  0.29131115791765083,
+                  -0.36990104242324734
+                ],
+                "target_mouth_xy": [
+                  0.29315478404187983,
+                  -0.3715368923102389
+                ],
+                "gripper_position": [
+                  0.2913028921089117,
+                  -0.36990415083710537,
+                  1.005734365536814
+                ],
+                "rod_tip_xy_dist": 0.0024647438282121635,
+                "target_xy_drift": 7.654050966279361e-08,
+                "depth": 0.015387145170155825,
+                "bottom_clearance": 0.08405347868149093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018519536598184394,
+                  0.0016327417723936422
+                ],
+                "rod_tip_xy": [
+                  0.2913028921089116,
+                  -0.3699041508371053
+                ],
+                "target_mouth_xy": [
+                  0.29315484576873,
+                  -0.37153689260949896
+                ],
+                "gripper_position": [
+                  0.2913054011551448,
+                  -0.36997330985248106,
+                  1.0052010395048083
+                ],
+                "rod_tip_xy_dist": 0.0024689224478371217,
+                "target_xy_drift": 9.779452715796496e-08,
+                "depth": 0.015525417959584842,
+                "bottom_clearance": 0.08391511087792647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018493851447509146,
+                  0.0015635208978694304
+                ],
+                "rod_tip_xy": [
+                  0.2913054011551447,
+                  -0.36997330985248117
+                ],
+                "target_mouth_xy": [
+                  0.2931547862998956,
+                  -0.3715368307503506
+                ],
+                "gripper_position": [
+                  0.29129459920143297,
+                  -0.3699823584257155,
+                  1.0050427983830945
+                ],
+                "rod_tip_xy_dist": 0.002421739666376176,
+                "target_xy_drift": 1.500672645423741e-08,
+                "depth": 0.016058836661499654,
+                "bottom_clearance": 0.08338176352555571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018602156511081103,
+                  0.0015545345086055429
+                ],
+                "rod_tip_xy": [
+                  0.29129459920143286,
+                  -0.3699823584257154
+                ],
+                "target_mouth_xy": [
+                  0.29315481485254097,
+                  -0.37153689293432096
+                ],
+                "gripper_position": [
+                  0.29128632068574356,
+                  -0.36998499512373295,
+                  1.0049044582267597
+                ],
+                "rod_tip_xy_dist": 0.002424248297322914,
+                "target_xy_drift": 8.263412335489747e-08,
+                "depth": 0.016217074140329024,
+                "bottom_clearance": 0.08322348815595226,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001868524371477498,
+                  0.0015518962077286091
+                ],
+                "rod_tip_xy": [
+                  0.29128632068574345,
+                  -0.3699849951237329
+                ],
+                "target_mouth_xy": [
+                  0.29315484505722095,
+                  -0.3715368913314615
+                ],
+                "gripper_position": [
+                  0.2912896201257802,
+                  -0.37005514793204286,
+                  1.0043727913525233
+                ],
+                "rod_tip_xy_dist": 0.0024289432200790156,
+                "target_xy_drift": 9.635053413758863e-08,
+                "depth": 0.016355428248722714,
+                "bottom_clearance": 0.08308517254613357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018652243918659273,
+                  0.0014817440566348705
+                ],
+                "rod_tip_xy": [
+                  0.2912896201257801,
+                  -0.3700551479320428
+                ],
+                "target_mouth_xy": [
+                  0.293154844517646,
+                  -0.3715368919886777
+                ],
+                "gripper_position": [
+                  0.2912786984830071,
+                  -0.3700638369513058,
+                  1.0042150082852017
+                ],
+                "rod_tip_xy_dist": 0.0023821476615408163,
+                "target_xy_drift": 9.65346040991549e-08,
+                "depth": 0.016887101104075986,
+                "bottom_clearance": 0.08255349887636154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018761463617748553,
+                  0.00147305566040562
+                ],
+                "rod_tip_xy": [
+                  0.29127869848300697,
+                  -0.3700638369513057
+                ],
+                "target_mouth_xy": [
+                  0.2931548448447818,
+                  -0.3715368926117113
+                ],
+                "gripper_position": [
+                  0.29127026154001123,
+                  -0.3700665504043999,
+                  1.0040766513305186
+                ],
+                "rod_tip_xy_dist": 0.0023853339702134086,
+                "target_xy_drift": 9.722733803150752e-08,
+                "depth": 0.01704486364268243,
+                "bottom_clearance": 0.08239570204714697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018845836146001993,
+                  0.001470341572034184
+                ],
+                "rod_tip_xy": [
+                  0.2912702615400111,
+                  -0.3700665504043999
+                ],
+                "target_mouth_xy": [
+                  0.2931548451546113,
+                  -0.3715368919764341
+                ],
+                "gripper_position": [
+                  0.2912618378131818,
+                  -0.3700693115856767,
+                  1.0039384801989264
+                ],
+                "rod_tip_xy_dist": 0.002390305365193223,
+                "target_xy_drift": 9.691726132693497e-08,
+                "depth": 0.01718322142973905,
+                "bottom_clearance": 0.08225735350861363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018929798152583222,
+                  0.0014675511705816713
+                ],
+                "rod_tip_xy": [
+                  0.2912618378131817,
+                  -0.37006931158567663
+                ],
+                "target_mouth_xy": [
+                  0.29315481762844003,
+                  -0.3715368627562583
+                ],
+                "gripper_position": [
+                  0.29126651523147296,
+                  -0.3701416296668846,
+                  1.003408459452421
+                ],
+                "rod_tip_xy_dist": 0.0023952200356650044,
+                "target_xy_drift": 5.704669809333062e-08,
+                "depth": 0.017321343205243367,
+                "bottom_clearance": 0.08211918370206528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001888269249032959,
+                  0.0013952001506130074
+                ],
+                "rod_tip_xy": [
+                  0.2912665152314729,
+                  -0.3701416296668845
+                ],
+                "target_mouth_xy": [
+                  0.29315478448050586,
+                  -0.3715368298174975
+                ],
+                "gripper_position": [
+                  0.29125542021268247,
+                  -0.3701501685120985,
+                  1.0032508931347908
+                ],
+                "rod_tip_xy_dist": 0.0023477956080361962,
+                "target_xy_drift": 1.4059827167113725e-08,
+                "depth": 0.01785148899157951,
+                "bottom_clearance": 0.0815892156886091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001899395392951142,
+                  0.0013867244034840298
+                ],
+                "rod_tip_xy": [
+                  0.29125542021268236,
+                  -0.37015016851209853
+                ],
+                "target_mouth_xy": [
+                  0.2931548156056335,
+                  -0.37153689291558256
+                ],
+                "gripper_position": [
+                  0.291246862570983,
+                  -0.37015280592227545,
+                  1.0031127503691044
+                ],
+                "rod_tip_xy_dist": 0.002351745613365136,
+                "target_xy_drift": 8.28893317615186e-08,
+                "depth": 0.018008896567516586,
+                "bottom_clearance": 0.08143163626682737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019079225585429405,
+                  0.0013840553061367777
+                ],
+                "rod_tip_xy": [
+                  0.29124686257098287,
+                  -0.37015280592227556
+                ],
+                "target_mouth_xy": [
+                  0.2931547851295258,
+                  -0.37153686122841234
+                ],
+                "gripper_position": [
+                  0.29123831751858026,
+                  -0.37015519759359505,
+                  1.0029743539632048
+                ],
+                "rod_tip_xy_dist": 0.0023570697019482494,
+                "target_xy_drift": 4.544913480563291e-08,
+                "depth": 0.018147151175140652,
+                "bottom_clearance": 0.08129347277333554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0019164995794914153,
+                  0.001381695938009908
+                ],
+                "rod_tip_xy": [
+                  0.29123831751858015,
+                  -0.370155197593595
+                ],
+                "target_mouth_xy": [
+                  0.29315481709807156,
+                  -0.3715368935316049
+                ],
+                "gripper_position": [
+                  0.2912298034444598,
+                  -0.3701577128585053,
+                  1.002836229327903
+                ],
+                "rod_tip_xy_dist": 0.002362637150157394,
+                "target_xy_drift": 8.401697242364343e-08,
+                "depth": 0.0182854690385843,
+                "bottom_clearance": 0.08115504419158137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001925012884144539,
+                  0.0013791486532272468
+                ],
+                "rod_tip_xy": [
+                  0.2912298034444597,
+                  -0.37015771285850524
+                ],
+                "target_mouth_xy": [
+                  0.29315481632860424,
+                  -0.3715368615117325
+                ],
+                "gripper_position": [
+                  0.2912364481250378,
+                  -0.37023293504197496,
+                  1.0023100321530651
+                ],
+                "rod_tip_xy_dist": 0.0023680636840720743,
+                "target_xy_drift": 5.528560024845401e-08,
+                "depth": 0.018423623894591734,
+                "bottom_clearance": 0.08101693458149917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001918369087308136,
+                  0.0013039581786583043
+                ],
+                "rod_tip_xy": [
+                  0.29123644812503774,
+                  -0.3702329350419749
+                ],
+                "target_mouth_xy": [
+                  0.2931548172123459,
+                  -0.3715368932206332
+                ],
+                "gripper_position": [
+                  0.29122519761294097,
+                  -0.37024179207924524,
+                  1.002152769176871
+                ],
+                "rod_tip_xy_dist": 0.002319579032244716,
+                "target_xy_drift": 8.377278678377934e-08,
+                "depth": 0.018949786402868818,
+                "bottom_clearance": 0.08049072080624875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019296197766247025,
+                  0.00129506878541491
+                ],
+                "rod_tip_xy": [
+                  0.29122519761294086,
+                  -0.3702417920792453
+                ],
+                "target_mouth_xy": [
+                  0.29315481738956556,
+                  -0.3715368608646602
+                ],
+                "gripper_position": [
+                  0.2912164396518099,
+                  -0.3702439228844515,
+                  1.002014999844855
+                ],
+                "rod_tip_xy_dist": 0.0023239267719309094,
+                "target_xy_drift": 5.536042021340296e-08,
+                "depth": 0.01910708690494034,
+                "bottom_clearance": 0.08033350179400611,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001938377434359373,
+                  0.0012929684226890559
+                ],
+                "rod_tip_xy": [
+                  0.29121643965180977,
+                  -0.37024392288445146
+                ],
+                "target_mouth_xy": [
+                  0.29315481708616914,
+                  -0.3715368913071405
+                ],
+                "gripper_position": [
+                  0.2912076418698171,
+                  -0.37024644979036025,
+                  1.0018766989050705
+                ],
+                "rod_tip_xy_dist": 0.0023300374289063792,
+                "target_xy_drift": 8.195809003837948e-08,
+                "depth": 0.019244842408319696,
+                "bottom_clearance": 0.08019571118962487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00194717414153045,
+                  0.0012904739219127825
+                ],
+                "rod_tip_xy": [
+                  0.291207641869817,
+                  -0.3702464497903602
+                ],
+                "target_mouth_xy": [
+                  0.29315481601134746,
+                  -0.371536923712273
+                ],
+                "gripper_position": [
+                  0.29119884294565485,
+                  -0.3702490203927347,
+                  1.0017385565073242
+                ],
+                "rod_tip_xy_dist": 0.0023359816096411813,
+                "target_xy_drift": 1.1222716448039099e-07,
+                "depth": 0.01938315423545478,
+                "bottom_clearance": 0.08005739444573501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0019559749424724604,
+                  0.0012879023140990875
+                ],
+                "rod_tip_xy": [
+                  0.29119884294565473,
+                  -0.3702490203927347
+                ],
+                "target_mouth_xy": [
+                  0.2931548178881272,
+                  -0.3715369227068338
+                ],
+                "gripper_position": [
+                  0.2911902241902943,
+                  -0.37025106382860107,
+                  1.0016006854097534
+                ],
+                "rod_tip_xy_dist": 0.0023419074162404304,
+                "target_xy_drift": 1.1179376036413253e-07,
+                "depth": 0.01952126247852959,
+                "bottom_clearance": 0.07991926110640779,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006005681590548245,
+              "rod_tip_xy_max_step": 3.266594821588822e-05,
+              "rod_tip_xy_range": 0.000600556727769911,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2906866959128626,
+            -0.37161225842764395,
+            1.0434465835828952
+          ],
+          "object_origin_world": [
+            0.2906866959128626,
+            -0.37161225842764395,
+            1.0434465835828952
+          ],
+          "frame_world": [
+            0.2906852132150951,
+            -0.37162032706864084,
+            1.0433220617779435
+          ],
+          "center_minus_frame": [
+            1.4826977675075348e-06,
+            8.068640996894416e-06,
+            0.00012452180495170495
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27588759499791266,
+              0.15069202312027566,
+              0.8327848458943876
+            ],
+            "target_position": [
+              0.28698192022533564,
+              0.19717798583152207,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0477915136969235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16906015121948467,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327848458943876,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667454645406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13913626073893043,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7160309471bf7bae05b0a713bbaa81f8f0b049e8f7c2864c96fe5f6fb46b80d",
+    "visual_seed": 6502204596093555100,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf694f0ec539ff662709da91ea7108ae3c413904
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_63_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33256301436212815,
+              -0.03761914628261146,
+              1.1659756808902355
+            ],
+            "current_z": 1.1659756808902355,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3048692324801143,
+            "gripper_z": 1.1569437741866866,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32796639959587065,
+              -0.04237069403953839,
+              1.1569437741866866
+            ],
+            "object_minus_gripper": [
+              0.004596614766257501,
+              0.004751547756926926,
+              0.00903190670354892
+            ],
+            "object_to_gripper_xy": 0.0066110569045905055,
+            "object_to_gripper_z": 0.00903190670354892,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33256301436212815,
+              -0.06124053959509798,
+              1.1659756808902355
+            ],
+            "finger_b": [
+              0.3215381922990499,
+              -0.03761914628261146,
+              1.1659756808902355
+            ],
+            "finger_midpoint": [
+              0.327050603330589,
+              -0.04942984293885472,
+              1.1659756808902355
+            ],
+            "object_minus_finger_midpoint": [
+              0.005512411031539155,
+              0.011810696656243257,
+              0.0
+            ],
+            "finger_gap": 0.026067545406994498,
+            "fingertip_max_gap": 0.09154701930770212,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013033772703497258,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659756808902355,
+            "object_top_z": 1.215810870018783,
+            "finger_top_clearance": 0.04983518912854756,
+            "fingertip_min_top_clearance": 0.014950556738564269,
+            "object_projection_between_fingers": 0.8211277787044563,
+            "object_to_finger_line_xy": 0.009990263911932175,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827350965385106,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4714637952223955,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2952673797880458,
+              -0.3770043102199404,
+              0.8515394968876182
+            ],
+            "target_position": [
+              0.2874785516759394,
+              -0.3781805075104812,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007877136753047681,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18407512025200548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394968876182,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535456462350508,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577111341241404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15247468070557055,
+            "release_required_pad_clearance": 0.052885556706207024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8118010965788122,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008293449878692627,
+            "max_z_decrease": 0.008293449878692627,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035055825299077796,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008293449878692627,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020873056111887167,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008293449878692627,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008293513652594875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14317847788333893,
+              -0.4344419538974762,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14317847788333893,
+              -0.4344419538974762,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14116628349527185,
+              -0.4334209705538795,
+              0.8035651771049905
+            ],
+            "closest_button": [
+              0.14320695400238037,
+              -0.43441787362098694,
+              0.7685829997062683
+            ],
+            "closest_ee_minus_button": [
+              -0.0020406705071085163,
+              0.0009969030671074242,
+              0.034982177398722225
+            ],
+            "button_min_z_position": [
+              0.1432032287120819,
+              -0.4344208538532257,
+              0.768515408039093
+            ],
+            "min_active_finger_to_button": 0.14711997000659818,
+            "closest_active_finger": [
+              0.015226118266582489,
+              -0.4984695017337799,
+              0.8110532164573669
+            ],
+            "closest_active_finger_button": [
+              0.14317777752876282,
+              -0.4344426691532135,
+              0.7768008708953857
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12795165926218033,
+              -0.0640268325805664,
+              0.0342523455619812
+            ],
+            "min_contact_pad_to_button": 0.020873056111887167,
+            "closest_contact_pad": [
+              0.1432032287120819,
+              -0.4344208538532257,
+              0.7893884641509802
+            ],
+            "closest_contact_pad_button": [
+              0.1432032287120819,
+              -0.4344208538532257,
+              0.768515408039093
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020873056111887167
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2813178740178441,
+              0.19483916862360717,
+              1.1031593444743586
+            ],
+            "current_z": 1.1031593444743586,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19325021473999604,
+            "gripper_z": 1.1031593785089424,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28131789860434336,
+              0.19483915162481247,
+              1.1031593785089424
+            ],
+            "object_minus_gripper": [
+              -2.458649928094303e-08,
+              1.6998794705180842e-08,
+              -3.4034583817899033e-08
+            ],
+            "object_to_gripper_xy": 2.989071709278144e-08,
+            "object_to_gripper_z": -3.4034583817899033e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2813178740178441,
+              0.19483916862360717,
+              1.1031593444743586
+            ],
+            "finger_b": [
+              0.2813178740178441,
+              0.19483916862360717,
+              1.1031593444743586
+            ],
+            "finger_midpoint": [
+              0.2813178740178441,
+              0.19483916862360717,
+              1.1031593444743586
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1031593444743586,
+            "object_top_z": 1.2281678510946383,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2813178740178441,
+            0.19483916862360717,
+            1.1031593444743588
+          ],
+          "object_origin_world": [
+            0.2813178740178441,
+            0.19483916862360717,
+            1.1031593444743588
+          ],
+          "frame_world": [
+            0.28131789860434336,
+            0.19483915162481247,
+            1.1031593785089424
+          ],
+          "center_minus_frame": [
+            -2.458649928094303e-08,
+            1.6998794705180842e-08,
+            -3.403458359585443e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435787049038947,
+            "required_z": 0.9112597630615089,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023376159971591555,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.0520658819763485e-08,
+            "max_target_xy_drift": 1.9688243685437815e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8118010972765164,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8118010973241077,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29292148292467773,
+              -0.37673282890644877,
+              0.923283468487016
+            ],
+            "target_mouth_xy": [
+              0.2952672895301847,
+              -0.3770043102131231
+            ],
+            "rod_tip_z": 0.923283468487016,
+            "rod_tip_depth": -0.02202371100175171,
+            "rod_tip_bottom_clearance": 0.12146421302886357,
+            "rod_tip_xy_dist": 0.0023614636838862864,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04531190290972331,
+            "min_rod_tip_bottom_clearance": 0.05412863295276393,
+            "min_rod_tip_xy_dist": 0.0010430413614499453,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2952673200508435,
+              -0.3770043102115277
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.052065877806598e-08,
+              -1.59539048638635e-12
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0017713649365070916,
+                0.002030845429200956
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001879216739810452,
+                0.0016557669703014533
+              ],
+              "first_target_mouth_xy": [
+                0.2952672908366617,
+                -0.3770043710682556
+              ],
+              "last_target_mouth_xy": [
+                0.2952673782023745,
+                -0.3770044275207848
+              ],
+              "first_rod_tip_xy": [
+                0.2934959259001546,
+                -0.3749735256390546
+              ],
+              "last_rod_tip_xy": [
+                0.293388161462564,
+                -0.3753486605504833
+              ],
+              "min_rod_tip_xy_dist": 0.0024930925700384324,
+              "max_rod_tip_xy_dist": 0.002697568087379681,
+              "first_target_xy_drift": 6.750562751485415e-08,
+              "last_target_xy_drift": 1.3093151779973023e-07,
+              "max_depth": 0.01964140052438057,
+              "min_bottom_clearance": 0.07979917615243037
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0017713649365070916,
+                  0.002030845429200956
+                ],
+                "rod_tip_xy": [
+                  0.2934959259001546,
+                  -0.3749735256390546
+                ],
+                "target_mouth_xy": [
+                  0.2952672908366617,
+                  -0.3770043710682556
+                ],
+                "gripper_position": [
+                  0.29348531906916003,
+                  -0.3749827922734338,
+                  1.005791118827822
+                ],
+                "rod_tip_xy_dist": 0.002694822238217799,
+                "target_xy_drift": 6.750562751485415e-08,
+                "depth": 0.015308550765679496,
+                "bottom_clearance": 0.08413202845106704,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001781972228794726,
+                  0.0020215768862341665
+                ],
+                "rod_tip_xy": [
+                  0.29348531906916,
+                  -0.3749827922734337
+                ],
+                "target_mouth_xy": [
+                  0.2952672912979547,
+                  -0.37700436915966784
+                ],
+                "gripper_position": [
+                  0.29347715069056696,
+                  -0.37498635172959915,
+                  1.0056497746086674
+                ],
+                "rod_tip_xy_dist": 0.002694846587683958,
+                "target_xy_drift": 6.558667426144263e-08,
+                "depth": 0.015468723750973523,
+                "bottom_clearance": 0.08397186929137856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017901391490884322,
+                  0.002017987961547396
+                ],
+                "rod_tip_xy": [
+                  0.2934771506905669,
+                  -0.37498635172959915
+                ],
+                "target_mouth_xy": [
+                  0.29526728983965533,
+                  -0.37700433969114655
+                ],
+                "gripper_position": [
+                  0.29348306040005445,
+                  -0.3750581138897267,
+                  1.0051145888829616
+                ],
+                "rod_tip_xy_dist": 0.002697568087379681,
+                "target_xy_drift": 4.221094429336482e-08,
+                "depth": 0.015610050700107791,
+                "bottom_clearance": 0.08383047484052564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017842584162769959,
+                  0.001946222317569135
+                ],
+                "rod_tip_xy": [
+                  0.2934830604000544,
+                  -0.37505811388972676
+                ],
+                "target_mouth_xy": [
+                  0.2952673188163314,
+                  -0.3770043362072959
+                ],
+                "gripper_position": [
+                  0.2934722011067284,
+                  -0.37506747712868904,
+                  1.0049544699640909
+                ],
+                "rod_tip_xy_dist": 0.002640333199704058,
+                "target_xy_drift": 2.6025064547235072e-08,
+                "depth": 0.016145300048348687,
+                "bottom_clearance": 0.08329533524807009,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017951774390856934,
+                  0.0019368942749689033
+                ],
+                "rod_tip_xy": [
+                  0.29347220110672834,
+                  -0.37506747712868915
+                ],
+                "target_mouth_xy": [
+                  0.29526737854581403,
+                  -0.37700437140365806
+                ],
+                "gripper_position": [
+                  0.293463971206421,
+                  -0.3750709479876435,
+                  1.0048131501816349
+                ],
+                "rod_tip_xy_dist": 0.0026408751333998324,
+                "target_xy_drift": 8.465304717560124e-08,
+                "depth": 0.01630536866223975,
+                "bottom_clearance": 0.083135167114755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018033489671564484,
+                  0.0019334186469582848
+                ],
+                "rod_tip_xy": [
+                  0.2934639712064209,
+                  -0.3750709479876435
+                ],
+                "target_mouth_xy": [
+                  0.2952673201735774,
+                  -0.3770043666346018
+                ],
+                "gripper_position": [
+                  0.2934704102647504,
+                  -0.3751438274529903,
+                  1.0042808276490673
+                ],
+                "rod_tip_xy_dist": 0.0026438939392022204,
+                "target_xy_drift": 5.64232075896352e-08,
+                "depth": 0.01644673065374247,
+                "bottom_clearance": 0.08299391882955043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017969708709436039,
+                  0.0018605439369488996
+                ],
+                "rod_tip_xy": [
+                  0.29347041026475035,
+                  -0.37514382745299024
+                ],
+                "target_mouth_xy": [
+                  0.29526738113569395,
+                  -0.37700437138993914
+                ],
+                "gripper_position": [
+                  0.2934595348641801,
+                  -0.3751528667098877,
+                  1.0041206244573937
+                ],
+                "rod_tip_xy_dist": 0.0025866441680944684,
+                "target_xy_drift": 8.64532068952887e-08,
+                "depth": 0.01697908615315058,
+                "bottom_clearance": 0.0824615391199871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018077536102708014,
+                  0.001851530694696235
+                ],
+                "rod_tip_xy": [
+                  0.29345953486417997,
+                  -0.3751528667098877
+                ],
+                "target_mouth_xy": [
+                  0.2952672884744508,
+                  -0.3770043974045839
+                ],
+                "gripper_position": [
+                  0.2934511718626319,
+                  -0.3751559962814677,
+                  1.0039794511371938
+                ],
+                "rod_tip_xy_dist": 0.0025876899019877633,
+                "target_xy_drift": 9.27345546724724e-08,
+                "depth": 0.01713925327801935,
+                "bottom_clearance": 0.08230134696217462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018161503802394674,
+                  0.0018483747857884758
+                ],
+                "rod_tip_xy": [
+                  0.2934511718626318,
+                  -0.37515599628146756
+                ],
+                "target_mouth_xy": [
+                  0.2952673222428713,
+                  -0.37700437106725604
+                ],
+                "gripper_position": [
+                  0.2934428713480015,
+                  -0.37515894172213865,
+                  1.0038386838020188
+                ],
+                "rod_tip_xy_dist": 0.0025913107788110936,
+                "target_xy_drift": 6.089519404889067e-08,
+                "depth": 0.017280462781639527,
+                "bottom_clearance": 0.08216017886504867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018244161982464702,
+                  0.0018454255604170577
+                ],
+                "rod_tip_xy": [
+                  0.2934428713480014,
+                  -0.3751589417221387
+                ],
+                "target_mouth_xy": [
+                  0.29526728754624787,
+                  -0.37700436728255576
+                ],
+                "gripper_position": [
+                  0.2934509096370225,
+                  -0.37523394119781917,
+                  1.0033089109268896
+                ],
+                "rod_tip_xy_dist": 0.0025950125170150365,
+                "target_xy_drift": 6.567839052380378e-08,
+                "depth": 0.017421228064553707,
+                "bottom_clearance": 0.08201941962814263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018163797425885253,
+                  0.0017704901255271022
+                ],
+                "rod_tip_xy": [
+                  0.29345090963702236,
+                  -0.37523394119781917
+                ],
+                "target_mouth_xy": [
+                  0.2952672893796109,
+                  -0.37700443132334627
+                ],
+                "gripper_position": [
+                  0.29343984903553216,
+                  -0.37524316037696687,
+                  1.0031482887947405
+                ],
+                "rod_tip_xy_dist": 0.002536507570238049,
+                "target_xy_drift": 1.2493517162140715e-07,
+                "depth": 0.017950929802186266,
+                "bottom_clearance": 0.08148961550403655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018274720971450664,
+                  0.0017612068854107044
+                ],
+                "rod_tip_xy": [
+                  0.2934398490355321,
+                  -0.3752431603769669
+                ],
+                "target_mouth_xy": [
+                  0.2952673211326772,
+                  -0.3770043672623776
+                ],
+                "gripper_position": [
+                  0.2934313821825114,
+                  -0.3752460863225137,
+                  1.00300766636991
+                ],
+                "rod_tip_xy_dist": 0.002538011812238442,
+                "target_xy_drift": 5.7061106212545817e-08,
+                "depth": 0.018111647762567906,
+                "bottom_clearance": 0.08132901536319437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018359666838910216,
+                  0.0017583117009105087
+                ],
+                "rod_tip_xy": [
+                  0.29343138218251136,
+                  -0.37524608632251377
+                ],
+                "target_mouth_xy": [
+                  0.2952673488664024,
+                  -0.3770043980234243
+                ],
+                "gripper_position": [
+                  0.2934228585392893,
+                  -0.37524870803527355,
+                  1.0028670438688683
+                ],
+                "rod_tip_xy_dist": 0.0025421317239507084,
+                "target_xy_drift": 9.241896783698329e-08,
+                "depth": 0.018252117750628405,
+                "bottom_clearance": 0.08118843200920056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018443977605187567,
+                  0.0017556272407543427
+                ],
+                "rod_tip_xy": [
+                  0.29342285853928923,
+                  -0.37524870803527355
+                ],
+                "target_mouth_xy": [
+                  0.295267256299808,
+                  -0.3770043352760279
+                ],
+                "gripper_position": [
+                  0.2934142542425094,
+                  -0.37525178487040883,
+                  1.0027261682989743
+                ],
+                "rod_tip_xy_dist": 0.0025463758771016726,
+                "target_xy_drift": 6.850126785878415e-08,
+                "depth": 0.018393010510866503,
+                "bottom_clearance": 0.08104777116761097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018530663441690964,
+                  0.0017526137815799259
+                ],
+                "rod_tip_xy": [
+                  0.2934142542425093,
+                  -0.3752517848704089
+                ],
+                "target_mouth_xy": [
+                  0.2952673205866784,
+                  -0.3770043986519888
+                ],
+                "gripper_position": [
+                  0.29340577819767083,
+                  -0.3752547039735221,
+                  1.002585734180825
+                ],
+                "rod_tip_xy_dist": 0.0025505901166742,
+                "target_xy_drift": 8.844208433968988e-08,
+                "depth": 0.018533675882995926,
+                "bottom_clearance": 0.08090690889339203,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018615091430679853,
+                  0.0017496623607712314
+                ],
+                "rod_tip_xy": [
+                  0.2934057781976708,
+                  -0.3752547039735221
+                ],
+                "target_mouth_xy": [
+                  0.29526728734073876,
+                  -0.37700436633429335
+                ],
+                "gripper_position": [
+                  0.2934168061080169,
+                  -0.37533374043235906,
+                  1.002059284487033
+                ],
+                "rod_tip_xy_dist": 0.0025547083329463,
+                "target_xy_drift": 6.495933941189361e-08,
+                "depth": 0.018674200555420684,
+                "bottom_clearance": 0.08076648854936008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018505134358541842,
+                  0.001670661721146438
+                ],
+                "rod_tip_xy": [
+                  0.29341680610801685,
+                  -0.375333740432359
+                ],
+                "target_mouth_xy": [
+                  0.29526731954387103,
+                  -0.37700440215350545
+                ],
+                "gripper_position": [
+                  0.293405592992549,
+                  -0.3753430045647799,
+                  1.0018995198086569
+                ],
+                "rod_tip_xy_dist": 0.0024930925700384324,
+                "target_xy_drift": 9.194337547800432e-08,
+                "depth": 0.01920057043368617,
+                "bottom_clearance": 0.0802400112082271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018617230199261536,
+                  0.0016612993269338183
+                ],
+                "rod_tip_xy": [
+                  0.2934055929925489,
+                  -0.37534300456477987
+                ],
+                "target_mouth_xy": [
+                  0.2952673160124751,
+                  -0.3770043038917137
+                ],
+                "gripper_position": [
+                  0.29339688683692905,
+                  -0.37534581463270644,
+                  1.0017587809456023
+                ],
+                "rod_tip_xy_dist": 0.0024951809667023584,
+                "target_xy_drift": 7.499897901873713e-09,
+                "depth": 0.01936055887980659,
+                "bottom_clearance": 0.08008027435482445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018704637131777835,
+                  0.0016586135064330376
+                ],
+                "rod_tip_xy": [
+                  0.293396886836929,
+                  -0.37534581463270644
+                ],
+                "target_mouth_xy": [
+                  0.2952673505501068,
+                  -0.3770044281391395
+                ],
+                "gripper_position": [
+                  0.2933881614625641,
+                  -0.3753486605504833,
+                  1.001618461863947
+                ],
+                "rod_tip_xy_dist": 0.0024999266521314014,
+                "target_xy_drift": 1.2180774475570824e-07,
+                "depth": 0.019501129753704105,
+                "bottom_clearance": 0.07993947257836898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001879216739810452,
+                  0.0016557669703014533
+                ],
+                "rod_tip_xy": [
+                  0.293388161462564,
+                  -0.3753486605504833
+                ],
+                "target_mouth_xy": [
+                  0.2952673782023745,
+                  -0.3770044275207848
+                ],
+                "gripper_position": [
+                  0.2933794736089349,
+                  -0.3753514411942486,
+                  1.0014778487401954
+                ],
+                "rod_tip_xy_dist": 0.002504599731519006,
+                "target_xy_drift": 1.3093151779973023e-07,
+                "depth": 0.01964140052438057,
+                "bottom_clearance": 0.07979917615243037,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006061846128760103,
+              "rod_tip_xy_max_step": 3.291959771446002e-05,
+              "rod_tip_xy_range": 0.0006061752371312838,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29292148292467773,
+            -0.37673282890644877,
+            1.0432834684870163
+          ],
+          "object_origin_world": [
+            0.29292148292467773,
+            -0.37673282890644877,
+            1.0432834684870163
+          ],
+          "frame_world": [
+            0.2929458410116952,
+            -0.3767298556154623,
+            1.0435787049038947
+          ],
+          "center_minus_frame": [
+            -2.4358087017450902e-05,
+            -2.973290986474364e-06,
+            -0.0002952364168784527
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2700391495532407,
+              0.15110929305891124,
+              0.8329995313936813
+            ],
+            "target_position": [
+              0.2814745164930441,
+              0.19697973650319922,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04727436090338579,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16566287670691418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329995313936813,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670587660699,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13464770716818425,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 215,
+            "max_placed_release_frames": 215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2864be6cdf0f4ac7e3e8e13af4ccdc12b0ca9d3a36f77a1363490d61050fc2bb",
+    "visual_seed": 7636857730172360588,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a6c402dcb2909100cee3ff0c5bdae4400d12c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_64_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3279561808086112,
+              -0.037621248377610286,
+              1.1668687426062512
+            ],
+            "current_z": 1.1668687426062512,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3057623538007749,
+            "gripper_z": 1.1578991092774191,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32337704172233406,
+              -0.04223253102177153,
+              1.1578991092774191
+            ],
+            "object_minus_gripper": [
+              0.004579139086277162,
+              0.0046112826441612464,
+              0.00896963332883205
+            ],
+            "object_to_gripper_xy": 0.00649864927471963,
+            "object_to_gripper_z": 0.00896963332883205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3279561808086112,
+              -0.061355998111480695,
+              1.1668687426062512
+            ],
+            "finger_b": [
+              0.3173063443112474,
+              -0.037621248377610286,
+              1.1668687426062512
+            ],
+            "finger_midpoint": [
+              0.3226312625599293,
+              -0.04948862324454549,
+              1.1668687426062512
+            ],
+            "object_minus_finger_midpoint": [
+              0.00532491824868192,
+              0.011867374866935204,
+              0.0
+            ],
+            "finger_gap": 0.026014560583451037,
+            "fingertip_max_gap": 0.09179861686523424,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013007280291725518,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1668687426062512,
+            "object_top_z": 1.2166723618566044,
+            "finger_top_clearance": 0.04980361925035326,
+            "fingertip_min_top_clearance": 0.014941085775105977,
+            "object_projection_between_fingers": 0.8324081513842204,
+            "object_to_finger_line_xy": 0.009716527909849398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048399308432617125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7890242595349837,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2928068973683122,
+              -0.3723125561502957,
+              0.8515395174997598
+            ],
+            "target_position": [
+              0.2849789694726676,
+              -0.37332954701358295,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007893714306675983,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18560229667957837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395174997598,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533042240575842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08692253112196101,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15399969203775943,
+            "release_required_pad_clearance": 0.053461265560980506,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9358643196914163,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008099734783172607,
+            "max_z_decrease": 0.008099734783172607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511023135449974,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008099734783172607,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108711281165298,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008099734783172607,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008099757095023986,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14067889750003817,
+              -0.4295910000801087,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14067889750003817,
+              -0.4295910000801087,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1408114227951827,
+              -0.4306521885083478,
+              0.8038025552906547
+            ],
+            "closest_button": [
+              0.14068619906902313,
+              -0.4295734465122223,
+              0.768709123134613
+            ],
+            "closest_ee_minus_button": [
+              0.0001252237261595568,
+              -0.0010787419961255096,
+              0.03509343215604166
+            ],
+            "button_min_z_position": [
+              0.14068619906902313,
+              -0.4295734465122223,
+              0.768709123134613
+            ],
+            "min_active_finger_to_button": 0.14548437842793568,
+            "closest_active_finger": [
+              0.00014715641736984253,
+              -0.4140072464942932,
+              0.8106524348258972
+            ],
+            "closest_active_finger_button": [
+              0.14067879319190982,
+              -0.4295910298824311,
+              0.7763929963111877
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14053163677453998,
+              0.015583783388137873,
+              0.03425943851470947
+            ],
+            "min_contact_pad_to_button": 0.02108711281165298,
+            "closest_contact_pad": [
+              0.14068619906902313,
+              -0.4318785494726301,
+              0.7896698680420179
+            ],
+            "closest_contact_pad_button": [
+              0.14068619906902313,
+              -0.4295734465122223,
+              0.768709123134613
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002305102960407812,
+              0.02096074490740485
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2849660801101695,
+              0.19723158086764722,
+              1.103318537146028
+            ],
+            "current_z": 1.103318537146028,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19340940741166535,
+            "gripper_z": 1.1033188314617275,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28496620909592224,
+              0.19723151200526934,
+              1.1033188314617275
+            ],
+            "object_minus_gripper": [
+              -1.289857527453364e-07,
+              6.886237788328309e-08,
+              -2.9431569958937587e-07
+            ],
+            "object_to_gripper_xy": 1.4621679622745513e-07,
+            "object_to_gripper_z": -2.9431569958937587e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2849660801101695,
+              0.19723158086764722,
+              1.103318537146028
+            ],
+            "finger_b": [
+              0.2849660801101695,
+              0.19723158086764722,
+              1.103318537146028
+            ],
+            "finger_midpoint": [
+              0.2849660801101695,
+              0.19723158086764722,
+              1.103318537146028
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103318537146028,
+            "object_top_z": 1.2283270437663076,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2849660801101695,
+            0.19723158086764722,
+            1.103318537146028
+          ],
+          "object_origin_world": [
+            0.2849660801101695,
+            0.19723158086764722,
+            1.103318537146028
+          ],
+          "frame_world": [
+            0.28496620909592224,
+            0.19723151200526934,
+            1.1033188314617275
+          ],
+          "center_minus_frame": [
+            -1.289857527453364e-07,
+            6.886237788328309e-08,
+            -2.9431569958937587e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436637381543028,
+            "required_z": 0.9112598439702575,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016504621994219279,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.7352393904636626e-08,
+            "max_target_xy_drift": 1.9890981110248993e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9358643195354988,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9362686030755403,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29233733438589543,
+              -0.3739052440505342,
+              0.9233702470819597
+            ],
+            "target_mouth_xy": [
+              0.29280689700798584,
+              -0.37231258534023426
+            ],
+            "rod_tip_z": 0.9233702470819597,
+            "rod_tip_depth": -0.022110451367372774,
+            "rod_tip_bottom_clearance": 0.121551000148998,
+            "rod_tip_xy_dist": 0.0016604369375434705,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045004281471981655,
+            "min_rod_tip_bottom_clearance": 0.05443622735682874,
+            "min_rod_tip_xy_dist": 2.1892883324204315e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29280689830334933,
+              -0.3723125580185307
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.2953634831447403e-09,
+              -2.732170356622987e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                3.9826953520338826e-05,
+                0.00020943504765497112
+              ],
+              "last_rod_tip_xy_delta": [
+                -5.6404185317215916e-05,
+                -0.0001733888190413313
+              ],
+              "first_target_mouth_xy": [
+                0.2928068667905201,
+                -0.37231258562073577
+              ],
+              "last_target_mouth_xy": [
+                0.2928068991198027,
+                -0.37231258562255143
+              ],
+              "first_rod_tip_xy": [
+                0.29284669374404043,
+                -0.3721031505730808
+              ],
+              "last_rod_tip_xy": [
+                0.29275049493448546,
+                -0.37248597444159276
+              ],
+              "min_rod_tip_xy_dist": 2.1892883324204315e-05,
+              "max_rod_tip_xy_dist": 0.0002131882393870526,
+              "first_target_xy_drift": 4.189200557997571e-08,
+              "last_target_xy_drift": 2.7616092353157897e-08,
+              "max_depth": 0.019683476868823102,
+              "min_bottom_clearance": 0.07975705958956592
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  3.9826953520338826e-05,
+                  0.00020943504765497112
+                ],
+                "rod_tip_xy": [
+                  0.29284669374404043,
+                  -0.3721031505730808
+                ],
+                "target_mouth_xy": [
+                  0.2928068667905201,
+                  -0.37231258562073577
+                ],
+                "gripper_position": [
+                  0.2928360139067797,
+                  -0.37211237499336847,
+                  1.0057278554473637
+                ],
+                "rod_tip_xy_dist": 0.0002131882393870526,
+                "target_xy_drift": 4.189200557997571e-08,
+                "depth": 0.015372866990589595,
+                "bottom_clearance": 0.08406768860929048,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  2.917526727796993e-05,
+                  0.0002002096488056826
+                ],
+                "rod_tip_xy": [
+                  0.29283601390677966,
+                  -0.3721123749933684
+                ],
+                "target_mouth_xy": [
+                  0.2928068386395017,
+                  -0.3723125846421741
+                ],
+                "gripper_position": [
+                  0.29282778814934984,
+                  -0.37211565263708285,
+                  1.005588092113483
+                ],
+                "rod_tip_xy_dist": 0.00020232424396407798,
+                "target_xy_drift": 6.533447101782897e-08,
+                "depth": 0.015531981354877877,
+                "bottom_clearance": 0.08390855876110892,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  2.0889282974168033e-05,
+                  0.000196964674838096
+                ],
+                "rod_tip_xy": [
+                  0.2928277881493498,
+                  -0.37211565263708274
+                ],
+                "target_mouth_xy": [
+                  0.2928068988663756,
+                  -0.37231261731192083
+                ],
+                "gripper_position": [
+                  0.29283598965556445,
+                  -0.37218915428044536,
+                  1.00505566521425
+                ],
+                "rod_tip_xy_dist": 0.00019806929413024055,
+                "target_xy_drift": 5.9296063218078394e-08,
+                "depth": 0.015671751211383644,
+                "bottom_clearance": 0.08376881377931034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  2.9091009093040743e-05,
+                  0.00012340025248686048
+                ],
+                "rod_tip_xy": [
+                  0.2928359896555644,
+                  -0.37218915428044536
+                ],
+                "target_mouth_xy": [
+                  0.29280689864647136,
+                  -0.3723125545329322
+                ],
+                "gripper_position": [
+                  0.2928251367504873,
+                  -0.3721982690647558,
+                  1.0048963344557706
+                ],
+                "rod_tip_xy_dist": 0.00012678292126257502,
+                "target_xy_drift": 3.502446211935575e-09,
+                "depth": 0.016204180113612687,
+                "bottom_clearance": 0.08323638634719732,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  1.823919016097353e-05,
+                  0.00011431878568662901
+                ],
+                "rod_tip_xy": [
+                  0.2928251367504873,
+                  -0.3721982690647558
+                ],
+                "target_mouth_xy": [
+                  0.29280689756032635,
+                  -0.3723125878504424
+                ],
+                "gripper_position": [
+                  0.29281679262368976,
+                  -0.37220129144479996,
+                  1.0047563927087921
+                ],
+                "rod_tip_xy_dist": 0.00011576464407837813,
+                "target_xy_drift": 2.984116351509666e-08,
+                "depth": 0.016363525957353686,
+                "bottom_clearance": 0.08307704353950995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  9.89294841080568e-06,
+                  0.00011126275985079426
+                ],
+                "rod_tip_xy": [
+                  0.2928167926236897,
+                  -0.3722012914447999
+                ],
+                "target_mouth_xy": [
+                  0.2928068996752789,
+                  -0.3723125542046507
+                ],
+                "gripper_position": [
+                  0.292808471707677,
+                  -0.3722043618000725,
+                  1.0046165008442351
+                ],
+                "rod_tip_xy_dist": 0.00011170171063092264,
+                "target_xy_drift": 4.053131051418644e-09,
+                "depth": 0.01650352575337999,
+                "bottom_clearance": 0.08293709118447745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  1.6045696938915555e-06,
+                  0.00010819307366355391
+                ],
+                "rod_tip_xy": [
+                  0.29280847170767693,
+                  -0.3722043618000725
+                ],
+                "target_mouth_xy": [
+                  0.29280686713798304,
+                  -0.37231255487373605
+                ],
+                "gripper_position": [
+                  0.2928183439652179,
+                  -0.3722801661534105,
+                  1.0040839632603757
+                ],
+                "rod_tip_xy_dist": 0.00010820497138611404,
+                "target_xy_drift": 3.132362988568985e-08,
+                "depth": 0.016643308147208047,
+                "bottom_clearance": 0.0827972661695805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  1.1445212026228724e-05,
+                  3.238866646332328e-05
+                ],
+                "rod_tip_xy": [
+                  0.29281834396521783,
+                  -0.3722801661534105
+                ],
+                "target_mouth_xy": [
+                  0.2928068987531916,
+                  -0.3723125548198738
+                ],
+                "gripper_position": [
+                  0.2928075092300511,
+                  -0.37228905678699725,
+                  1.0039249512873258
+                ],
+                "rod_tip_xy_dist": 3.4351398713847634e-05,
+                "target_xy_drift": 3.230133743874383e-09,
+                "depth": 0.017175877653397564,
+                "bottom_clearance": 0.08226468216406702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  5.810656051319363e-07,
+                  2.3530071598276692e-05
+                ],
+                "rod_tip_xy": [
+                  0.29280750923005106,
+                  -0.37228905678699725
+                ],
+                "target_mouth_xy": [
+                  0.2928069281644459,
+                  -0.37231258685859553
+                ],
+                "gripper_position": [
+                  0.29279886552423,
+                  -0.3722921757586288,
+                  1.00378502520857
+                ],
+                "rod_tip_xy_dist": 2.353724509490214e-05,
+                "target_xy_drift": 4.15142677839991e-08,
+                "depth": 0.01733487627404784,
+                "bottom_clearance": 0.08210564632989648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -8.002692662489874e-06,
+                  2.0377812699035047e-05
+                ],
+                "rod_tip_xy": [
+                  0.29279886552422996,
+                  -0.3722921757586288
+                ],
+                "target_mouth_xy": [
+                  0.29280686821689245,
+                  -0.3723125535713278
+                ],
+                "gripper_position": [
+                  0.29279047681022247,
+                  -0.3722947958334372,
+                  1.0036456362255686
+                ],
+                "rod_tip_xy_dist": 2.1892883324204315e-05,
+                "target_xy_drift": 3.04133605700811e-08,
+                "depth": 0.017474832928202844,
+                "bottom_clearance": 0.08196574575715232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -1.6419952145130257e-05,
+                  1.7762527283082807e-05
+                ],
+                "rod_tip_xy": [
+                  0.2927904768102224,
+                  -0.3722947958334371
+                ],
+                "target_mouth_xy": [
+                  0.29280689676236754,
+                  -0.3723125583607202
+                ],
+                "gripper_position": [
+                  0.2928017986945666,
+                  -0.3723726443952937,
+                  1.0031159745685074
+                ],
+                "rod_tip_xy_dist": 2.4189299368328733e-05,
+                "target_xy_drift": 1.5785178237472054e-09,
+                "depth": 0.017614253930842927,
+                "bottom_clearance": 0.08182635684554052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -5.159803164234145e-06,
+                  -6.011873346295493e-05
+                ],
+                "rod_tip_xy": [
+                  0.2928017986945665,
+                  -0.3723726443952938
+                ],
+                "target_mouth_xy": [
+                  0.29280695849773075,
+                  -0.3723125256618308
+                ],
+                "gripper_position": [
+                  0.29279063464346844,
+                  -0.37238178183705173,
+                  1.0029570963138628
+                ],
+                "rod_tip_xy_dist": 6.033975208669205e-05,
+                "target_xy_drift": 6.833973647735468e-08,
+                "depth": 0.01814379609580763,
+                "bottom_clearance": 0.08129674509192542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -1.623221582608414e-05,
+                  -6.922473759740644e-05
+                ],
+                "rod_tip_xy": [
+                  0.2927906346434684,
+                  -0.3723817818370518
+                ],
+                "target_mouth_xy": [
+                  0.29280686685929447,
+                  -0.3723125570994544
+                ],
+                "gripper_position": [
+                  0.29278204755036147,
+                  -0.3723848400968632,
+                  1.0028177791569235
+                ],
+                "rod_tip_xy_dist": 7.11023848127076e-05,
+                "target_xy_drift": 3.1457483804405154e-08,
+                "depth": 0.018302773046412146,
+                "bottom_clearance": 0.08113779482891614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -2.4850643405904815e-05,
+                  -7.2284592669003e-05
+                ],
+                "rod_tip_xy": [
+                  0.2927820475503614,
+                  -0.3723848400968632
+                ],
+                "target_mouth_xy": [
+                  0.2928068981937673,
+                  -0.3723125555041942
+                ],
+                "gripper_position": [
+                  0.2927734718698626,
+                  -0.37238724493241604,
+                  1.0026782426152618
+                ],
+                "rod_tip_xy_dist": 7.643701207537565e-05,
+                "target_xy_drift": 2.51672333332397e-09,
+                "depth": 0.018442045235415483,
+                "bottom_clearance": 0.08099846842061043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -3.3458540437125706e-05,
+                  -7.46897924571166e-05
+                ],
+                "rod_tip_xy": [
+                  0.2927734718698625,
+                  -0.372387244932416
+                ],
+                "target_mouth_xy": [
+                  0.29280693041029965,
+                  -0.37231255513995887
+                ],
+                "gripper_position": [
+                  0.29276480588413856,
+                  -0.3723901671862765,
+                  1.002538765553861
+                ],
+                "rod_tip_xy_dist": 8.184154828368002e-05,
+                "target_xy_drift": 3.2235732264758695e-08,
+                "depth": 0.018581665770808775,
+                "bottom_clearance": 0.08085895130659038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -4.212142334009128e-05,
+                  -7.761230495323401e-05
+                ],
+                "rod_tip_xy": [
+                  0.2927648058841385,
+                  -0.37239016718627654
+                ],
+                "target_mouth_xy": [
+                  0.2928069273074786,
+                  -0.3723125548813233
+                ],
+                "gripper_position": [
+                  0.29275619134271313,
+                  -0.372392762453406,
+                  1.0023990240458875
+                ],
+                "rod_tip_xy_dist": 8.830562940350394e-05,
+                "target_xy_drift": 2.9173302599851968e-08,
+                "depth": 0.018721025747463593,
+                "bottom_clearance": 0.08071952590311915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -5.0678925244518336e-05,
+                  -8.020825933779951e-05
+                ],
+                "rod_tip_xy": [
+                  0.29275619134271313,
+                  -0.3723927624534061
+                ],
+                "target_mouth_xy": [
+                  0.29280687026795765,
+                  -0.3723125541940683
+                ],
+                "gripper_position": [
+                  0.29277051072816773,
+                  -0.3724743922471445,
+                  1.0018742471786606
+                ],
+                "rod_tip_xy_dist": 9.487738576678418e-05,
+                "target_xy_drift": 2.8295047254130148e-08,
+                "depth": 0.01886089751916098,
+                "bottom_clearance": 0.08057973452762035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -3.641669813836401e-05,
+                  -0.00016183576483874695
+                ],
+                "rod_tip_xy": [
+                  0.2927705107281677,
+                  -0.37247439224714446
+                ],
+                "target_mouth_xy": [
+                  0.29280692742630604,
+                  -0.3723125564823057
+                ],
+                "gripper_position": [
+                  0.29275921749716016,
+                  -0.3724833483860723,
+                  1.0017154070587178
+                ],
+                "rod_tip_xy_dist": 0.00016588246044788138,
+                "target_xy_drift": 2.916344621080442e-08,
+                "depth": 0.019385522170564662,
+                "bottom_clearance": 0.08005498703309832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -4.768020120060612e-05,
+                  -0.00017076210673128145
+                ],
+                "rod_tip_xy": [
+                  0.2927592174971601,
+                  -0.3724833483860723
+                ],
+                "target_mouth_xy": [
+                  0.2928068976983607,
+                  -0.372312586279341
+                ],
+                "gripper_position": [
+                  0.2927504949344855,
+                  -0.37248597444159276,
+                  1.0015763486182514
+                ],
+                "rod_tip_xy_dist": 0.0001772938202020472,
+                "target_xy_drift": 2.8267285158092452e-08,
+                "depth": 0.019544419572795846,
+                "bottom_clearance": 0.07989608666507153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -5.6404185317215916e-05,
+                  -0.0001733888190413313
+                ],
+                "rod_tip_xy": [
+                  0.29275049493448546,
+                  -0.37248597444159276
+                ],
+                "target_mouth_xy": [
+                  0.2928068991198027,
+                  -0.37231258562255143
+                ],
+                "gripper_position": [
+                  0.2927648001968552,
+                  -0.37256021276659024,
+                  1.0009670090137737
+                ],
+                "rod_tip_xy_dist": 0.00018233242906802498,
+                "target_xy_drift": 2.7616092353157897e-08,
+                "depth": 0.019683476868823102,
+                "bottom_clearance": 0.07975705958956592,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006036309742464392,
+              "rod_tip_xy_max_step": 3.2598502905665586e-05,
+              "rod_tip_xy_range": 0.0006036224302214085,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29233733438589543,
+            -0.3739052440505342,
+            1.0433702470819597
+          ],
+          "object_origin_world": [
+            0.29233733438589543,
+            -0.3739052440505342,
+            1.0433702470819597
+          ],
+          "frame_world": [
+            0.2923614577243925,
+            -0.3739018019133773,
+            1.0436637381543028
+          ],
+          "center_minus_frame": [
+            -2.4123338497050728e-05,
+            -3.442137156917102e-06,
+            -0.00029349107234311056
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27310615625301143,
+              0.14970048854812826,
+              0.8316544806645445
+            ],
+            "target_position": [
+              0.2851155780647051,
+              0.19609588077182,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04792450971936364,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16816473484112537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316544806645445,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672355843342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13772670386836053,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bda13f7cd1975cd4d2968753c17bfe901bdc645a7601a3dc8f8e4c35c2c9e2e4",
+    "visual_seed": 1037441097518103024,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e9500d3b8242818d7b028dead835200cb5723e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_65_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33700091773943625,
+              -0.030020570055160914,
+              1.1645896875651207
+            ],
+            "current_z": 1.1645896875651207,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30348317955035453,
+            "gripper_z": 1.1554300030391347,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33247695383682346,
+              -0.03458350878759335,
+              1.1554300030391347
+            ],
+            "object_minus_gripper": [
+              0.004523963902612782,
+              0.004562938732432437,
+              0.009159684525986034
+            ],
+            "object_to_gripper_xy": 0.006425469575686714,
+            "object_to_gripper_z": 0.009159684525986034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33700091773943625,
+              -0.053881297475068785,
+              1.1645896875651207
+            ],
+            "finger_b": [
+              0.3266488006404258,
+              -0.030020570055160914,
+              1.1645896875651207
+            ],
+            "finger_midpoint": [
+              0.331824859189931,
+              -0.04195093376511485,
+              1.1645896875651207
+            ],
+            "object_minus_finger_midpoint": [
+              0.005176058549505258,
+              0.011930363709953935,
+              0.0
+            ],
+            "finger_gap": 0.02600962593807854,
+            "fingertip_max_gap": 0.09241062409563436,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013004812969039282,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645896875651207,
+            "object_top_z": 1.2145462064245272,
+            "finger_top_clearance": 0.04995651885940644,
+            "fingertip_min_top_clearance": 0.014986955657821965,
+            "object_projection_between_fingers": 0.8415872478646798,
+            "object_to_finger_line_xy": 0.009496831861654367,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870531204781718,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0528772074252895,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.297554319367876,
+              -0.37457215475077715,
+              0.85153956305645
+            ],
+            "target_position": [
+              0.2903979727188682,
+              -0.3753052739948587,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007193800190914969,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18590195686053493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153956305645,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532756693930368,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08792840964666669,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15424061884503615,
+            "release_required_pad_clearance": 0.05396420482333335,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9390733845512584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008273005485534668,
+            "max_z_decrease": 0.008273005485534668,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501588822980977,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008273005485534668,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02087515883966561,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008273005485534668,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008273066261023991,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14609789848327634,
+              -0.43156674504280085,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14609789848327634,
+              -0.43156674504280085,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1446956177170632,
+              -0.4313508503607989,
+              0.8035894990987849
+            ],
+            "closest_button": [
+              0.14612229168415064,
+              -0.431541383266449,
+              0.7686032056808472
+            ],
+            "closest_ee_minus_button": [
+              -0.0014266739670874273,
+              0.00019053290565007597,
+              0.034986293417937686
+            ],
+            "button_min_z_position": [
+              0.14611846208572385,
+              -0.43154260516166687,
+              0.768535852432251
+            ],
+            "min_active_finger_to_button": 0.1469094065784784,
+            "closest_active_finger": [
+              0.017987854778766632,
+              -0.49483227729797363,
+              0.8109450936317444
+            ],
+            "closest_active_finger_button": [
+              0.1460994929075241,
+              -0.4315664768218994,
+              0.7767804861068726
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12811163812875748,
+              -0.06326580047607422,
+              0.034164607524871826
+            ],
+            "min_contact_pad_to_button": 0.02087515883966561,
+            "closest_contact_pad": [
+              0.14611846208572385,
+              -0.43248174280357005,
+              0.7893898754750797
+            ],
+            "closest_contact_pad_button": [
+              0.14611846208572385,
+              -0.43154260516166687,
+              0.768535852432251
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009391376419031761,
+              0.020854023042828684
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28579322216725567,
+              0.19253857898179413,
+              1.1027589590979727
+            ],
+            "current_z": 1.1027589590979727,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19284982936361017,
+            "gripper_z": 1.1027592211088226,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28579323697312065,
+              0.19253854934681186,
+              1.1027592211088226
+            ],
+            "object_minus_gripper": [
+              -1.4805864978484351e-08,
+              2.9634982273707422e-08,
+              -2.62010849905181e-07
+            ],
+            "object_to_gripper_xy": 3.312771969399739e-08,
+            "object_to_gripper_z": -2.62010849905181e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28579322216725567,
+              0.19253857898179413,
+              1.1027589590979727
+            ],
+            "finger_b": [
+              0.28579322216725567,
+              0.19253857898179413,
+              1.1027589590979727
+            ],
+            "finger_midpoint": [
+              0.28579322216725567,
+              0.19253857898179413,
+              1.1027589590979727
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027589590979727,
+            "object_top_z": 1.2277674657182525,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28579322216725567,
+            0.19253857898179413,
+            1.102758959097973
+          ],
+          "object_origin_world": [
+            0.28579322216725567,
+            0.19253857898179413,
+            1.102758959097973
+          ],
+          "frame_world": [
+            0.28579323697312065,
+            0.19253854934681186,
+            1.1027592211088226
+          ],
+          "center_minus_frame": [
+            -1.4805864978484351e-08,
+            2.9634982273707422e-08,
+            -2.6201084968313637e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435803223658413,
+            "required_z": 0.9112598140887603,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024072183946445658,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.539907913090479e-08,
+            "max_target_xy_drift": 8.539907913090479e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.939073384684996,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.9390733847135304,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29516388209630257,
+              -0.3750183987273827,
+              0.923285543777654
+            ],
+            "target_mouth_xy": [
+              0.29755431881939864,
+              -0.3745722223760075
+            ],
+            "rod_tip_z": 0.923285543777654,
+            "rod_tip_depth": -0.022025623611695244,
+            "rod_tip_bottom_clearance": 0.12146619701322703,
+            "rod_tip_xy_dist": 0.002431719774902688,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04518655576749797,
+            "min_rod_tip_bottom_clearance": 0.05425401763403381,
+            "min_rod_tip_xy_dist": 0.0013075709116931959,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2975542596249655,
+              -0.37457216082097683
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.919443313295858e-08,
+              -6.155503068372425e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0018122096402480858,
+                0.0014084805160904934
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019037053205538945,
+                0.0009574168381012993
+              ],
+              "first_target_mouth_xy": [
+                0.2975542596103823,
+                -0.37457216018812034
+              ],
+              "last_target_mouth_xy": [
+                0.2975543190942992,
+                -0.37457222109142285
+              ],
+              "first_rod_tip_xy": [
+                0.2957420499701342,
+                -0.37316367967202985
+              ],
+              "last_rod_tip_xy": [
+                0.2956506137737453,
+                -0.37361480425332155
+              ],
+              "min_rod_tip_xy_dist": 0.0021309014405610353,
+              "max_rod_tip_xy_dist": 0.002295195230130683,
+              "first_target_xy_drift": 6.330244913339368e-10,
+              "last_target_xy_drift": 8.467070515889952e-08,
+              "max_depth": 0.019748204644311262,
+              "min_bottom_clearance": 0.07969231034863855
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0018122096402480858,
+                  0.0014084805160904934
+                ],
+                "rod_tip_xy": [
+                  0.2957420499701342,
+                  -0.37316367967202985
+                ],
+                "target_mouth_xy": [
+                  0.2975542596103823,
+                  -0.37457216018812034
+                ],
+                "gripper_position": [
+                  0.2957469566135781,
+                  -0.37323647578728897,
+                  1.0056920401734404
+                ],
+                "rod_tip_xy_dist": 0.002295195230130683,
+                "target_xy_drift": 6.330244913339368e-10,
+                "depth": 0.015030710484973286,
+                "bottom_clearance": 0.08440979327290588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018073623026179653,
+                  0.001335716138912535
+                ],
+                "rod_tip_xy": [
+                  0.2957469566135781,
+                  -0.37323647578728897
+                ],
+                "target_mouth_xy": [
+                  0.29755431891619605,
+                  -0.3745721919262015
+                ],
+                "gripper_position": [
+                  0.2957362013253696,
+                  -0.3732460394297408,
+                  1.0055310851764112
+                ],
+                "rod_tip_xy_dist": 0.0022473753795652215,
+                "target_xy_drift": 6.695509704662898e-08,
+                "depth": 0.015567864573822532,
+                "bottom_clearance": 0.08387268091650524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001818058299595915,
+                  0.0013261213912360015
+                ],
+                "rod_tip_xy": [
+                  0.2957362013253696,
+                  -0.37324603942974083
+                ],
+                "target_mouth_xy": [
+                  0.2975542596249655,
+                  -0.37457216082097683
+                ],
+                "gripper_position": [
+                  0.29572795911625116,
+                  -0.37324933729394105,
+                  1.005389065647715
+                ],
+                "rod_tip_xy_dist": 0.002250318627444411,
+                "target_xy_drift": 0.0,
+                "depth": 0.01572872891234911,
+                "bottom_clearance": 0.08371176302801664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018263597031474843,
+                  0.0013228850820665161
+                ],
+                "rod_tip_xy": [
+                  0.29572795911625116,
+                  -0.373249337293941
+                ],
+                "target_mouth_xy": [
+                  0.29755431881939864,
+                  -0.3745722223760075
+                ],
+                "gripper_position": [
+                  0.2957337063814167,
+                  -0.37332360330800124,
+                  1.0048534825538222
+                ],
+                "rod_tip_xy_dist": 0.002255130751339066,
+                "target_xy_drift": 8.539907913090479e-08,
+                "depth": 0.015870854518243882,
+                "bottom_clearance": 0.0835697188832879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018205529820111144,
+                  0.0012485581564803394
+                ],
+                "rod_tip_xy": [
+                  0.29573370638141677,
+                  -0.37332360330800113
+                ],
+                "target_mouth_xy": [
+                  0.2975542593634279,
+                  -0.37457216146448147
+                ],
+                "gripper_position": [
+                  0.2957228129674352,
+                  -0.3733328566855762,
+                  1.0046928924030636
+                ],
+                "rod_tip_xy_dist": 0.002207557616557979,
+                "target_xy_drift": 6.946223066952943e-10,
+                "depth": 0.016406348265468385,
+                "bottom_clearance": 0.08303417050734407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018315064971125006,
+                  0.0012393647091628046
+                ],
+                "rod_tip_xy": [
+                  0.2957228129674352,
+                  -0.3733328566855762
+                ],
+                "target_mouth_xy": [
+                  0.2975543194645477,
+                  -0.374572221394739
+                ],
+                "gripper_position": [
+                  0.29571437955164387,
+                  -0.3733362150155084,
+                  1.0045510150016683
+                ],
+                "rod_tip_xy_dist": 0.0022114341345116986,
+                "target_xy_drift": 8.514667497347854e-08,
+                "depth": 0.016567000263116638,
+                "bottom_clearance": 0.08287353378978746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001839879857396698,
+                  0.001235944875207673
+                ],
+                "rod_tip_xy": [
+                  0.29571437955164387,
+                  -0.37333621501550845
+                ],
+                "target_mouth_xy": [
+                  0.29755425940904057,
+                  -0.3745721598907161
+                ],
+                "gripper_position": [
+                  0.29572072107479663,
+                  -0.3734111587469976,
+                  1.0040193024213262
+                ],
+                "rod_tip_xy_dist": 0.002216465119104337,
+                "target_xy_drift": 9.5499139002229e-10,
+                "depth": 0.016708811783283872,
+                "bottom_clearance": 0.08273170176541389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018335982585636068,
+                  0.0011610328231197453
+                ],
+                "rod_tip_xy": [
+                  0.2957207210747967,
+                  -0.37341115874699765
+                ],
+                "target_mouth_xy": [
+                  0.2975543193333603,
+                  -0.3745721915701174
+                ],
+                "gripper_position": [
+                  0.2957097885189984,
+                  -0.3734203379195363,
+                  1.0038583953423112
+                ],
+                "rod_tip_xy_dist": 0.002170271824027787,
+                "target_xy_drift": 6.716101587450044e-08,
+                "depth": 0.01724058869175371,
+                "bottom_clearance": 0.08219993932870495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018444712017717801,
+                  0.001151823540613106
+                ],
+                "rod_tip_xy": [
+                  0.29570978851899843,
+                  -0.3734203379195364
+                ],
+                "target_mouth_xy": [
+                  0.2975542597207702,
+                  -0.3745721614601495
+                ],
+                "gripper_position": [
+                  0.29570139349303565,
+                  -0.3734232822954806,
+                  1.0037169778152637
+                ],
+                "rod_tip_xy_dist": 0.00217457386236383,
+                "target_xy_drift": 6.463127945435538e-10,
+                "depth": 0.01740143073494327,
+                "bottom_clearance": 0.08203908659978953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018529256012634887,
+                  0.0011489387959421893
+                ],
+                "rod_tip_xy": [
+                  0.2957013934930357,
+                  -0.37342328229548066
+                ],
+                "target_mouth_xy": [
+                  0.2975543190942992,
+                  -0.37457222109142285
+                ],
+                "gripper_position": [
+                  0.29569278888931505,
+                  -0.3734265036686691,
+                  1.0035752062923078
+                ],
+                "rod_tip_xy_dist": 0.0021802278873179174,
+                "target_xy_drift": 8.467070515889952e-08,
+                "depth": 0.01754290931143354,
+                "bottom_clearance": 0.08189760568151627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018614707210672377,
+                  0.0011456565194512547
+                ],
+                "rod_tip_xy": [
+                  0.29569278888931505,
+                  -0.3734265036686691
+                ],
+                "target_mouth_xy": [
+                  0.2975542596103823,
+                  -0.37457216018812034
+                ],
+                "gripper_position": [
+                  0.2956842857614175,
+                  -0.3734294280187141,
+                  1.0034332000243242
+                ],
+                "rod_tip_xy_dist": 0.0021857726565111353,
+                "target_xy_drift": 6.330244913339368e-10,
+                "depth": 0.017684613503714863,
+                "bottom_clearance": 0.0817558902541643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018700331547785165,
+                  0.0011427639074874096
+                ],
+                "rod_tip_xy": [
+                  0.29568428576141753,
+                  -0.3734294280187141
+                ],
+                "target_mouth_xy": [
+                  0.29755431891619605,
+                  -0.3745721919262015
+                ],
+                "gripper_position": [
+                  0.29569296359353614,
+                  -0.37350774707630413,
+                  1.0029035971537805
+                ],
+                "rod_tip_xy_dist": 0.002191559569855856,
+                "target_xy_drift": 6.695509704662898e-08,
+                "depth": 0.017826704722938902,
+                "bottom_clearance": 0.08161384076738887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018612960314293714,
+                  0.0010644137446726987
+                ],
+                "rod_tip_xy": [
+                  0.29569296359353614,
+                  -0.37350774707630413
+                ],
+                "target_mouth_xy": [
+                  0.2975542596249655,
+                  -0.37457216082097683
+                ],
+                "gripper_position": [
+                  0.2956816547632568,
+                  -0.37351719236067166,
+                  1.0027424466913288
+                ],
+                "rod_tip_xy_dist": 0.00214415473706141,
+                "target_xy_drift": 0.0,
+                "depth": 0.018356216934979797,
+                "bottom_clearance": 0.08108427500538595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018726640561418373,
+                  0.001055030015335856
+                ],
+                "rod_tip_xy": [
+                  0.2956816547632568,
+                  -0.37351719236067166
+                ],
+                "target_mouth_xy": [
+                  0.29755431881939864,
+                  -0.3745722223760075
+                ],
+                "gripper_position": [
+                  0.2956730910703329,
+                  -0.3735199437584837,
+                  1.0026011883450308
+                ],
+                "rod_tip_xy_dist": 0.002149408988635056,
+                "target_xy_drift": 8.539907913090479e-08,
+                "depth": 0.018517473474629953,
+                "bottom_clearance": 0.08092309992690183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018811682930949813,
+                  0.0010522177059977822
+                ],
+                "rod_tip_xy": [
+                  0.2956730910703329,
+                  -0.3735199437584837
+                ],
+                "target_mouth_xy": [
+                  0.2975542593634279,
+                  -0.37457216146448147
+                ],
+                "gripper_position": [
+                  0.2956643957972912,
+                  -0.3735228047528964,
+                  1.0024597315044026
+                ],
+                "rod_tip_xy_dist": 0.0021554480387522964,
+                "target_xy_drift": 6.946223066952943e-10,
+                "depth": 0.018658642474259857,
+                "bottom_clearance": 0.0807818762985526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018899236672564879,
+                  0.0010494166418426043
+                ],
+                "rod_tip_xy": [
+                  0.2956643957972912,
+                  -0.3735228047528964
+                ],
+                "target_mouth_xy": [
+                  0.2975543194645477,
+                  -0.374572221394739
+                ],
+                "gripper_position": [
+                  0.295655840045867,
+                  -0.3735256139873708,
+                  1.0023186088308478
+                ],
+                "rod_tip_xy_dist": 0.0021617323507391985,
+                "target_xy_drift": 8.514667497347854e-08,
+                "depth": 0.01880016116177763,
+                "bottom_clearance": 0.08064037289112647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018984193631735313,
+                  0.0010465459033453528
+                ],
+                "rod_tip_xy": [
+                  0.29565584004586704,
+                  -0.3735256139873708
+                ],
+                "target_mouth_xy": [
+                  0.29755425940904057,
+                  -0.3745721598907161
+                ],
+                "gripper_position": [
+                  0.2956470773957258,
+                  -0.37352844612099195,
+                  1.0021768714416694
+                ],
+                "rod_tip_xy_dist": 0.0021677763736790605,
+                "target_xy_drift": 9.5499139002229e-10,
+                "depth": 0.018941217954104195,
+                "bottom_clearance": 0.08049929559459357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001907241937634474,
+                  0.0010437454491254439
+                ],
+                "rod_tip_xy": [
+                  0.2956470773957258,
+                  -0.37352844612099195
+                ],
+                "target_mouth_xy": [
+                  0.2975543193333603,
+                  -0.3745721915701174
+                ],
+                "gripper_position": [
+                  0.2956384116293937,
+                  -0.37353118894787923,
+                  1.0020359420271057
+                ],
+                "rod_tip_xy_dist": 0.002174161072975454,
+                "target_xy_drift": 6.716101587450044e-08,
+                "depth": 0.01908301967141046,
+                "bottom_clearance": 0.0803575083490482,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0019158480913765152,
+                  0.0010409725122702551
+                ],
+                "rod_tip_xy": [
+                  0.2956384116293937,
+                  -0.37353118894787923
+                ],
+                "target_mouth_xy": [
+                  0.2975542597207702,
+                  -0.3745721614601495
+                ],
+                "gripper_position": [
+                  0.2956506137737453,
+                  -0.3736148042533216,
+                  1.001511682482386
+                ],
+                "rod_tip_xy_dist": 0.0021803893415014855,
+                "target_xy_drift": 6.463127945435538e-10,
+                "depth": 0.019223884050148854,
+                "bottom_clearance": 0.08021663328458395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019037053205538945,
+                  0.0009574168381012993
+                ],
+                "rod_tip_xy": [
+                  0.2956506137737453,
+                  -0.37361480425332155
+                ],
+                "target_mouth_xy": [
+                  0.2975543190942992,
+                  -0.37457222109142285
+                ],
+                "gripper_position": [
+                  0.29563939235472514,
+                  -0.3736238543725218,
+                  1.0013509482680225
+                ],
+                "rod_tip_xy_dist": 0.0021309014405610353,
+                "target_xy_drift": 8.467070515889952e-08,
+                "depth": 0.019748204644311262,
+                "bottom_clearance": 0.07969231034863855,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006060235911420433,
+              "rod_tip_xy_max_step": 3.286987193520093e-05,
+              "rod_tip_xy_range": 0.000606012022924859,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29516388209630257,
+            -0.3750183987273827,
+            1.043285543777654
+          ],
+          "object_origin_world": [
+            0.29516388209630257,
+            -0.3750183987273827,
+            1.043285543777654
+          ],
+          "frame_world": [
+            0.2951881677346475,
+            -0.3750149745003911,
+            1.0435803223658413
+          ],
+          "center_minus_frame": [
+            -2.4285638344945237e-05,
+            -3.4242269915663037e-06,
+            -0.0002947785881872722
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27528731023777,
+              0.14783264829907145,
+              0.8327448013282275
+            ],
+            "target_position": [
+              0.28594795178520793,
+              0.194638851387876,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800489481077298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1685853618984822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327448013282275,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667189007615,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1378059459645078,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98b89370bc0c2c51e4781c01e1d0d6d5528fd9f36c82f36bd66fd8ceab9e4343",
+    "visual_seed": 5932366670244036062,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a86d3514362e821919790e1268cc04a56e6245b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_66_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3319385373422458,
+              -0.027767840708932408,
+              1.1641966607917436
+            ],
+            "current_z": 1.1641966607917436,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30309021238162215,
+            "gripper_z": 1.1551962368071023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32731427831442933,
+              -0.03242098514813509,
+              1.1551962368071023
+            ],
+            "object_minus_gripper": [
+              0.004624259027816491,
+              0.004653144439202679,
+              0.009000423984641293
+            ],
+            "object_to_gripper_xy": 0.006560146700221355,
+            "object_to_gripper_z": 0.009000423984641293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3319385373422458,
+              -0.05145671439190078,
+              1.1641966607917436
+            ],
+            "finger_b": [
+              0.32113084186709595,
+              -0.027767840708932408,
+              1.1641966607917436
+            ],
+            "finger_midpoint": [
+              0.3265346896046709,
+              -0.039612277550416596,
+              1.1641966607917436
+            ],
+            "object_minus_finger_midpoint": [
+              0.005403847737574907,
+              0.011844436841484188,
+              0.0
+            ],
+            "finger_gap": 0.0260378381946583,
+            "fingertip_max_gap": 0.09178577046221284,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01301891909732914,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641966607917436,
+            "object_top_z": 1.2139909314363568,
+            "finger_top_clearance": 0.04979427064461328,
+            "fingertip_min_top_clearance": 0.01493828119338395,
+            "object_projection_between_fingers": 0.8277114758816156,
+            "object_to_finger_line_xy": 0.00983269544118056,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839288523110642,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6819696442111498,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2928873963020403,
+              -0.3710781944370445,
+              0.8515395819046122
+            ],
+            "target_position": [
+              0.28514986040636386,
+              -0.37224809430586797,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007825479374450783,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854682472703299,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395819046122,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552958073128649,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08781649526754552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15347132142226988,
+            "release_required_pad_clearance": 0.05390824763377276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8263859834794394,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008036613464355469,
+            "max_z_decrease": 0.008036613464355469,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035124034446165825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008036613464355469,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021036381734631484,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008036613464355469,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008036628862494627,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14084978401660914,
+              -0.42850956320762634,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14084978401660914,
+              -0.42850956320762634,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1406427947161815,
+              -0.4276731201949828,
+              0.8082703058518201
+            ],
+            "closest_button": [
+              0.14084389805793757,
+              -0.4285076260566711,
+              0.7731567621231079
+            ],
+            "closest_ee_minus_button": [
+              -0.00020110334175607592,
+              0.0008345058616882617,
+              0.035113543728712227
+            ],
+            "button_min_z_position": [
+              0.1408346742391586,
+              -0.4285051822662353,
+              0.7687722444534302
+            ],
+            "min_active_finger_to_button": 0.14598822901181432,
+            "closest_active_finger": [
+              0.01431332528591156,
+              -0.492747038602829,
+              0.8108052611351013
+            ],
+            "closest_active_finger_button": [
+              0.14084938168525693,
+              -0.4285088181495666,
+              0.7765322327613831
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12653605639934537,
+              -0.06423822045326238,
+              0.03427302837371826
+            ],
+            "min_contact_pad_to_button": 0.021036381734631484,
+            "closest_contact_pad": [
+              0.1408346742391586,
+              -0.42851561328017956,
+              0.7898086236019216
+            ],
+            "closest_contact_pad_button": [
+              0.1408346742391586,
+              -0.4285051822662353,
+              0.7687722444534302
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -1.0431013944267598e-05,
+              0.021036379148491435
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2856180363078643,
+              0.1888693699518648,
+              1.1027438739243776
+            ],
+            "current_z": 1.1027438739243776,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.192834744190015,
+            "gripper_z": 1.1027438579743873,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28561810234999596,
+              0.1888693733240699,
+              1.1027438579743873
+            ],
+            "object_minus_gripper": [
+              -6.604213165228856e-08,
+              -3.372205098495229e-09,
+              1.594999021747867e-08
+            ],
+            "object_to_gripper_xy": 6.612817039964535e-08,
+            "object_to_gripper_z": 1.594999021747867e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2856180363078643,
+              0.1888693699518648,
+              1.1027438739243776
+            ],
+            "finger_b": [
+              0.2856180363078643,
+              0.1888693699518648,
+              1.1027438739243776
+            ],
+            "finger_midpoint": [
+              0.2856180363078643,
+              0.1888693699518648,
+              1.1027438739243776
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027438739243776,
+            "object_top_z": 1.2277523805446573,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2856180363078643,
+            0.1888693699518648,
+            1.1027438739243778
+          ],
+          "object_origin_world": [
+            0.2856180363078643,
+            0.1888693699518648,
+            1.1027438739243778
+          ],
+          "frame_world": [
+            0.28561810234999596,
+            0.1888693733240699,
+            1.1027438579743873
+          ],
+          "center_minus_frame": [
+            -6.604213165228856e-08,
+            -3.372205098495229e-09,
+            1.5949990439523276e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436621802422743,
+            "required_z": 0.9112599261363941,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0003649785935659408,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.205044515707749e-08,
+            "max_target_xy_drift": 1.5168654604093228e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.826385983587931,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.8263859836888114,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29251746061158057,
+              -0.3709642982484799,
+              0.9233682009345309
+            ],
+            "target_mouth_xy": [
+              0.2928873966342512,
+              -0.3710782235830208
+            ],
+            "rod_tip_z": 0.9233682009345309,
+            "rod_tip_depth": -0.02210836078837164,
+            "rod_tip_bottom_clearance": 0.12154888547687026,
+            "rod_tip_xy_dist": 0.0003870809252851436,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04515193110969895,
+            "min_rod_tip_bottom_clearance": 0.054288644213501436,
+            "min_rod_tip_xy_dist": 0.0003870809252851436,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2928874230187744,
+              -0.3710782563259112
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.6384523232891866e-08,
+              3.2742890399006797e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0001398663186351068,
+                0.001899869732907622
+              ],
+              "last_rod_tip_xy_delta": [
+                3.9527746087564264e-05,
+                0.0015292432074038853
+              ],
+              "first_target_mouth_xy": [
+                0.29288742837631837,
+                -0.3710781931195038
+              ],
+              "last_target_mouth_xy": [
+                0.29288742596455275,
+                -0.37107819380025864
+              ],
+              "first_rod_tip_xy": [
+                0.2930272946949535,
+                -0.3691783233865962
+              ],
+              "last_rod_tip_xy": [
+                0.2929269537106403,
+                -0.36954895059285475
+              ],
+              "min_rod_tip_xy_dist": 0.0015297539769850855,
+              "max_rod_tip_xy_dist": 0.0019050111782105154,
+              "first_target_xy_drift": 6.343306087477483e-08,
+              "last_target_xy_drift": 6.259500647935386e-08,
+              "max_depth": 0.01958239142182272,
+              "min_bottom_clearance": 0.07985815157862808
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0001398663186351068,
+                  0.001899869732907622
+                ],
+                "rod_tip_xy": [
+                  0.2930272946949535,
+                  -0.3691783233865962
+                ],
+                "target_mouth_xy": [
+                  0.29288742837631837,
+                  -0.3710781931195038
+                ],
+                "gripper_position": [
+                  0.29301654772379604,
+                  -0.3691874717454085,
+                  1.0058184452791306
+                ],
+                "rod_tip_xy_dist": 0.0019050111782105154,
+                "target_xy_drift": 6.343306087477483e-08,
+                "depth": 0.015282958714986195,
+                "bottom_clearance": 0.08415760276435169,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00012912177886498233,
+                  0.0018907540802018397
+                ],
+                "rod_tip_xy": [
+                  0.293016547723796,
+                  -0.36918747174540856
+                ],
+                "target_mouth_xy": [
+                  0.292887425944931,
+                  -0.3710782258256104
+                ],
+                "gripper_position": [
+                  0.29300816065614876,
+                  -0.3691903181765782,
+                  1.0056793357824336
+                ],
+                "rod_tip_xy_dist": 0.0018951578893530645,
+                "target_xy_drift": 3.064034497835514e-08,
+                "depth": 0.015441440408853757,
+                "bottom_clearance": 0.08399916180761913,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00012073252449606997,
+                  0.0018879063291536435
+                ],
+                "rod_tip_xy": [
+                  0.2930081606561487,
+                  -0.3691903181765782
+                ],
+                "target_mouth_xy": [
+                  0.29288742813165264,
+                  -0.37107822450573186
+                ],
+                "gripper_position": [
+                  0.2930164971386407,
+                  -0.3692629160672896,
+                  1.0051455685474786
+                ],
+                "rod_tip_xy_dist": 0.0018917628419359493,
+                "target_xy_drift": 3.2228331264219605e-08,
+                "depth": 0.015580493484229074,
+                "bottom_clearance": 0.08386004656690293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00012907225946839906,
+                  0.001815308221517542
+                ],
+                "rod_tip_xy": [
+                  0.2930164971386407,
+                  -0.36926291606728956
+                ],
+                "target_mouth_xy": [
+                  0.2928874248791723,
+                  -0.3710782242888071
+                ],
+                "gripper_position": [
+                  0.29300541831518967,
+                  -0.3692721008182193,
+                  1.0049873244164045
+                ],
+                "rod_tip_xy_dist": 0.0018198910921463018,
+                "target_xy_drift": 3.209107536673377e-08,
+                "depth": 0.016114318948163286,
+                "bottom_clearance": 0.08332626460702197,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00011796215839710023,
+                  0.001806092058163511
+                ],
+                "rod_tip_xy": [
+                  0.2930054183151896,
+                  -0.3692721008182194
+                ],
+                "target_mouth_xy": [
+                  0.2928874561567925,
+                  -0.3710781928763829
+                ],
+                "gripper_position": [
+                  0.29299718354066884,
+                  -0.36927479808595925,
+                  1.0048481876675788
+                ],
+                "rod_tip_xy_dist": 0.0018099402181771113,
+                "target_xy_drift": 7.158191730688115e-08,
+                "depth": 0.016272533075149975,
+                "bottom_clearance": 0.08316802546118696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00010969504695640397,
+                  0.0018034276744639532
+                ],
+                "rod_tip_xy": [
+                  0.29299718354066884,
+                  -0.3692747980859593
+                ],
+                "target_mouth_xy": [
+                  0.29288748849371243,
+                  -0.37107822576042326
+                ],
+                "gripper_position": [
+                  0.2930061275802605,
+                  -0.36934814546847144,
+                  1.0043168518914332
+                ],
+                "rod_tip_xy_dist": 0.0018067607424197677,
+                "target_xy_drift": 7.225798614214715e-08,
+                "depth": 0.016411729783632478,
+                "bottom_clearance": 0.08302888307858958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00011870109713535415,
+                  0.0017300486198973397
+                ],
+                "rod_tip_xy": [
+                  0.2930061275802605,
+                  -0.3693481454684715
+                ],
+                "target_mouth_xy": [
+                  0.29288742648312516,
+                  -0.37107819408836884
+                ],
+                "gripper_position": [
+                  0.29299504439512924,
+                  -0.3693571713212959,
+                  1.0041585839207263
+                ],
+                "rod_tip_xy_dist": 0.0017341159643085656,
+                "target_xy_drift": 6.233388647356551e-08,
+                "depth": 0.01694292216547033,
+                "bottom_clearance": 0.08249759025958403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00010761808500742154,
+                  0.0017210548179631413
+                ],
+                "rod_tip_xy": [
+                  0.29299504439512924,
+                  -0.369357171321296
+                ],
+                "target_mouth_xy": [
+                  0.2928874263101218,
+                  -0.3710782261392591
+                ],
+                "gripper_position": [
+                  0.29298656639706,
+                  -0.36935977068000686,
+                  1.004019791454
+                ],
+                "rod_tip_xy_dist": 0.0017244162312663395,
+                "target_xy_drift": 3.036555500605345e-08,
+                "depth": 0.017101297028530693,
+                "bottom_clearance": 0.08233930358037056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  9.913886356860413e-05,
+                  0.0017184237273443204
+                ],
+                "rod_tip_xy": [
+                  0.29298656639705994,
+                  -0.3693597706800069
+                ],
+                "target_mouth_xy": [
+                  0.29288742753349134,
+                  -0.37107819440735124
+                ],
+                "gripper_position": [
+                  0.29297788975599043,
+                  -0.36936266613065677,
+                  1.0038803957372116
+                ],
+                "rod_tip_xy_dist": 0.0017212810987661548,
+                "target_xy_drift": 6.208293432799268e-08,
+                "depth": 0.01724002735954866,
+                "bottom_clearance": 0.08220047865296853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  9.046569045373376e-05,
+                  0.0017155277448088757
+                ],
+                "rod_tip_xy": [
+                  0.29297788975599043,
+                  -0.3693626661306567
+                ],
+                "target_mouth_xy": [
+                  0.2928874240655367,
+                  -0.3710781938754656
+                ],
+                "gripper_position": [
+                  0.2929885580927182,
+                  -0.3694381908587568,
+                  1.0033512557613107
+                ],
+                "rod_tip_xy_dist": 0.0017179113726727283,
+                "target_xy_drift": 6.245921762240575e-08,
+                "depth": 0.017379517195790117,
+                "bottom_clearance": 0.08206109960284891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00010110211091668431,
+                  0.0016400029743475208
+                ],
+                "rod_tip_xy": [
+                  0.2929885580927182,
+                  -0.36943819085875673
+                ],
+                "target_mouth_xy": [
+                  0.2928874559818015,
+                  -0.37107819383310425
+                ],
+                "gripper_position": [
+                  0.29297753736648313,
+                  -0.3694468471239944,
+                  1.0031929256714596
+                ],
+                "rod_tip_xy_dist": 0.0016431163661471224,
+                "target_xy_drift": 7.065346468892609e-08,
+                "depth": 0.017908531983945486,
+                "bottom_clearance": 0.08153200126807503,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  9.011191704771937e-05,
+                  0.001631346097684394
+                ],
+                "rod_tip_xy": [
+                  0.29297753736648313,
+                  -0.36944684712399434
+                ],
+                "target_mouth_xy": [
+                  0.2928874254494354,
+                  -0.37107819322167873
+                ],
+                "gripper_position": [
+                  0.2929689246611479,
+                  -0.3694492176776859,
+                  1.0030545162374374
+                ],
+                "rod_tip_xy_dist": 0.0016338329926966573,
+                "target_xy_drift": 6.315102743506108e-08,
+                "depth": 0.018066954552455328,
+                "bottom_clearance": 0.08137362869781961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  8.146836622796583e-05,
+                  0.0016289761339239317
+                ],
+                "rod_tip_xy": [
+                  0.2929689246611479,
+                  -0.3694492176776859
+                ],
+                "target_mouth_xy": [
+                  0.2928874562949199,
+                  -0.37107819381160984
+                ],
+                "gripper_position": [
+                  0.29296036060720787,
+                  -0.3694518065071905,
+                  1.0029155661962081
+                ],
+                "rod_tip_xy_dist": 0.0016310120599154418,
+                "target_xy_drift": 7.081906334156442e-08,
+                "depth": 0.018205321647537076,
+                "bottom_clearance": 0.08123519974502935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  7.290480936589239e-05,
+                  0.0016263866755509837
+                ],
+                "rod_tip_xy": [
+                  0.29296036060720787,
+                  -0.36945180650719045
+                ],
+                "target_mouth_xy": [
+                  0.292887455797842,
+                  -0.37107819318274143
+                ],
+                "gripper_position": [
+                  0.29295173737690966,
+                  -0.3694542532967805,
+                  1.0027763705422892
+                ],
+                "rod_tip_xy_dist": 0.0016280198799887113,
+                "target_xy_drift": 7.114441057966018e-08,
+                "depth": 0.018344297543852806,
+                "bottom_clearance": 0.08109626507118906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  6.428155472976149e-05,
+                  0.0016239408405754885
+                ],
+                "rod_tip_xy": [
+                  0.2929517373769096,
+                  -0.3694542532967806
+                ],
+                "target_mouth_xy": [
+                  0.29288745582217984,
+                  -0.3710781941373561
+                ],
+                "gripper_position": [
+                  0.29296471291817866,
+                  -0.3695327949249175,
+                  1.0022513293609636
+                ],
+                "rod_tip_xy_dist": 0.001625212592852855,
+                "target_xy_drift": 7.030988402479042e-08,
+                "depth": 0.018483476842292013,
+                "bottom_clearance": 0.08095705254888219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  7.725722568524551e-05,
+                  0.001545398585223623
+                ],
+                "rod_tip_xy": [
+                  0.29296471291817866,
+                  -0.36953279492491753
+                ],
+                "target_mouth_xy": [
+                  0.2928874556924934,
+                  -0.37107819351014115
+                ],
+                "gripper_position": [
+                  0.292953372876577,
+                  -0.3695419396260176,
+                  1.0020934755934428
+                ],
+                "rod_tip_xy_dist": 0.0015473284932850414,
+                "target_xy_drift": 7.080531673740257e-08,
+                "depth": 0.019008532333873673,
+                "bottom_clearance": 0.08043202345617384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  6.594759805039763e-05,
+                  0.0015362538728994068
+                ],
+                "rod_tip_xy": [
+                  0.292953372876577,
+                  -0.36954193962601756
+                ],
+                "target_mouth_xy": [
+                  0.2928874252785266,
+                  -0.37107819349891696
+                ],
+                "gripper_position": [
+                  0.29294463105769114,
+                  -0.3695441512668932,
+                  1.001955136673922
+                ],
+                "rod_tip_xy_dist": 0.001537668705439193,
+                "target_xy_drift": 6.286762030319369e-08,
+                "depth": 0.01916640546010584,
+                "bottom_clearance": 0.0802741752952486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  5.7204975790314805e-05,
+                  0.0015340422293598777
+                ],
+                "rod_tip_xy": [
+                  0.2929446310576911,
+                  -0.3695441512668932
+                ],
+                "target_mouth_xy": [
+                  0.29288742608190077,
+                  -0.3710781934962531
+                ],
+                "gripper_position": [
+                  0.2929358166117617,
+                  -0.3695465092260764,
+                  1.00181637784493
+                ],
+                "rod_tip_xy_dist": 0.0015351084556846771,
+                "target_xy_drift": 6.290428187725343e-08,
+                "depth": 0.019304659632430887,
+                "bottom_clearance": 0.08013588892010715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  4.84208279419307e-05,
+                  0.0015316865149722636
+                ],
+                "rod_tip_xy": [
+                  0.29293581661176166,
+                  -0.36954650922607635
+                ],
+                "target_mouth_xy": [
+                  0.2928873957838197,
+                  -0.3710781957410486
+                ],
+                "gripper_position": [
+                  0.29292695371064037,
+                  -0.36954895059285475,
+                  1.0016774632024288
+                ],
+                "rod_tip_xy_dist": 0.0015324516816938995,
+                "target_xy_drift": 6.642490744603844e-08,
+                "depth": 0.019443512999308576,
+                "bottom_clearance": 0.07999709176898129,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  3.9527746087564264e-05,
+                  0.0015292432074038853
+                ],
+                "rod_tip_xy": [
+                  0.2929269537106403,
+                  -0.36954895059285475
+                ],
+                "target_mouth_xy": [
+                  0.29288742596455275,
+                  -0.37107819380025864
+                ],
+                "gripper_position": [
+                  0.29291820109827793,
+                  -0.36955125332202626,
+                  1.0015392775724827
+                ],
+                "rod_tip_xy_dist": 0.0015297539769850855,
+                "target_xy_drift": 6.259500647935386e-08,
+                "depth": 0.01958239142182272,
+                "bottom_clearance": 0.07985815157862808,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006051659281540638,
+              "rod_tip_xy_max_step": 3.27258641112542e-05,
+              "rod_tip_xy_range": 0.0006051546192267815,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29251746061158057,
+            -0.3709642982484799,
+            1.043368200934531
+          ],
+          "object_origin_world": [
+            0.29251746061158057,
+            -0.3709642982484799,
+            1.043368200934531
+          ],
+          "frame_world": [
+            0.29254167444644125,
+            -0.3709612383590936,
+            1.0436621802422743
+          ],
+          "center_minus_frame": [
+            -2.4213834860675743e-05,
+            -3.059889386258785e-06,
+            -0.00029397930774321956
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27535894704454855,
+              0.1428823456901321,
+              0.8330824880830693
+            ],
+            "target_position": [
+              0.2857655797251123,
+              0.18926317639585577,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04753398216751018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16828813177684124,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330824880830693,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671648269329,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384150148593107,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21c56c79fd1d5cc62bb23e157faad5c1e78040e01672450fd6cbf43b73bf092b",
+    "visual_seed": 2324936964999471823,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b424e03ef8efd38a05940ed5a5d2668a170702c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_67_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3374982272629443,
+              -0.03710155666620807,
+              1.1665434107439387
+            ],
+            "current_z": 1.1665434107439387,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30543696233381756,
+            "gripper_z": 1.1574089543327264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3327250020111446,
+              -0.041789533156243716,
+              1.1574089543327264
+            ],
+            "object_minus_gripper": [
+              0.00477322525179974,
+              0.004687976490035647,
+              0.009134456411212355
+            ],
+            "object_to_gripper_xy": 0.006690351476233938,
+            "object_to_gripper_z": 0.009134456411212355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3374982272629443,
+              -0.06099613667997005,
+              1.1665434107439387
+            ],
+            "finger_b": [
+              0.32677358001005957,
+              -0.03710155666620807,
+              1.1665434107439387
+            ],
+            "finger_midpoint": [
+              0.3321359036365019,
+              -0.049048846673089064,
+              1.1665434107439387
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053623236264424,
+              0.011947290006880995,
+              0.0
+            ],
+            "finger_gap": 0.02619101015105912,
+            "fingertip_max_gap": 0.09185233639378224,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013095505075529576,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1665434107439387,
+            "object_top_z": 1.2163543433354547,
+            "finger_top_clearance": 0.04981093259151592,
+            "fingertip_min_top_clearance": 0.014943279777454743,
+            "object_projection_between_fingers": 0.8323276174814668,
+            "object_to_finger_line_xy": 0.00978430921241365,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842616819689112,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8025865006408488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29743850925438664,
+              -0.3764963304020747,
+              0.8515396092546389
+            ],
+            "target_position": [
+              0.28990962235854484,
+              -0.3774051104573879,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007583536053801911,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18508736768583747,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396092546389,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550718159273372,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0874906119461785,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15303326724279254,
+            "release_required_pad_clearance": 0.053745305973089255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4998362181482396,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00842195749282837,
+            "max_z_decrease": 0.00842195749282837,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035049862828348974,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00842195749282837,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020946879439304934,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00842195749282837,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008422040289217538,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1456095427274704,
+              -0.43366655707359314,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1456095427274704,
+              -0.43366655707359314,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14360068689714608,
+              -0.4347113595159027,
+              0.8033611094233225
+            ],
+            "closest_button": [
+              0.14564229547977448,
+              -0.43364861607551575,
+              0.7683869004249573
+            ],
+            "closest_ee_minus_button": [
+              -0.0020416085826283903,
+              -0.0010627434403869263,
+              0.03497420899836523
+            ],
+            "button_min_z_position": [
+              0.14564229547977448,
+              -0.43364861607551575,
+              0.7683869004249573
+            ],
+            "min_active_finger_to_button": 0.147563021815351,
+            "closest_active_finger": [
+              0.002667926251888275,
+              -0.4208771288394928,
+              0.8109745383262634
+            ],
+            "closest_active_finger_button": [
+              0.145610973238945,
+              -0.4336673319339753,
+              0.7766446471214294
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14294304698705673,
+              0.012790203094482477,
+              0.034329891204833984
+            ],
+            "min_contact_pad_to_button": 0.020946879439304934,
+            "closest_contact_pad": [
+              0.14564229547977448,
+              -0.43569320763994834,
+              0.7892337563888533
+            ],
+            "closest_contact_pad_button": [
+              0.14564229547977448,
+              -0.43364861607551575,
+              0.7683869004249573
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020445915644325963,
+              0.020846855963896016
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2874047951633534,
+              0.1959613766574142,
+              1.1017877522798418
+            ],
+            "current_z": 1.1017877522798418,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19187862254547927,
+            "gripper_z": 1.1017878788930884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2874048594884997,
+              0.19596131617738893,
+              1.1017878788930884
+            ],
+            "object_minus_gripper": [
+              -6.432514632059849e-08,
+              6.048002526570784e-08,
+              -1.2661324655383055e-07
+            ],
+            "object_to_gripper_xy": 8.829245667273656e-08,
+            "object_to_gripper_z": -1.2661324655383055e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2874047951633534,
+              0.1959613766574142,
+              1.1017877522798418
+            ],
+            "finger_b": [
+              0.2874047951633534,
+              0.1959613766574142,
+              1.1017877522798418
+            ],
+            "finger_midpoint": [
+              0.2874047951633534,
+              0.1959613766574142,
+              1.1017877522798418
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017877522798418,
+            "object_top_z": 1.2267962589001216,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2874047951633534,
+            0.1959613766574142,
+            1.1017877522798418
+          ],
+          "object_origin_world": [
+            0.2874047951633534,
+            0.1959613766574142,
+            1.1017877522798418
+          ],
+          "frame_world": [
+            0.2874048594884997,
+            0.19596131617738893,
+            1.1017878788930884
+          ],
+          "center_minus_frame": [
+            -6.432514632059849e-08,
+            6.048002526570784e-08,
+            -1.2661324655383055e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436093228067878,
+            "required_z": 0.9112598831503964,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017006671842151769,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.6621126556978523e-08,
+            "max_target_xy_drift": 2.2997198248830248e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4998362165753365,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.499836218730877,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2957209961427526,
+              -0.37634498263897737,
+              0.923315851607769
+            ],
+            "target_mouth_xy": [
+              0.29743860023346963,
+              -0.3764963586284732
+            ],
+            "rod_tip_z": 0.923315851607769,
+            "rod_tip_depth": -0.022055875660925706,
+            "rod_tip_bottom_clearance": 0.12149652677428935,
+            "rod_tip_xy_dist": 0.0017242617268395514,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044896814208817304,
+            "min_rod_tip_bottom_clearance": 0.054543810302965845,
+            "min_rod_tip_xy_dist": 0.0013762775185122212,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29743856692966064,
+              -0.37649632600354793
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.330380898836083e-08,
+              -3.2624925261348636e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.001154911108415202,
+                0.0020196941894218834
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001258547466210902,
+                0.0016212859721806416
+              ],
+              "first_target_mouth_xy": [
+                0.2974385437280663,
+                -0.3764964347616141
+              ],
+              "last_target_mouth_xy": [
+                0.29743854398582603,
+                -0.3764964651975139
+              ],
+              "first_rod_tip_xy": [
+                0.29628363261965107,
+                -0.3744767405721922
+              ],
+              "last_rod_tip_xy": [
+                0.29617999651961513,
+                -0.37487517922533325
+              ],
+              "min_rod_tip_xy_dist": 0.002052439993835535,
+              "max_rod_tip_xy_dist": 0.002326582104101497,
+              "first_target_xy_drift": 1.1120535480345421e-07,
+              "last_target_xy_drift": 1.4107224995561824e-07,
+              "max_depth": 0.019712634322593847,
+              "min_bottom_clearance": 0.07972798666367742
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.001154911108415202,
+                  0.0020196941894218834
+                ],
+                "rod_tip_xy": [
+                  0.29628363261965107,
+                  -0.3744767405721922
+                ],
+                "target_mouth_xy": [
+                  0.2974385437280663,
+                  -0.3764964347616141
+                ],
+                "gripper_position": [
+                  0.29627305000551835,
+                  -0.37448635146436937,
+                  1.0057380769968924
+                ],
+                "rod_tip_xy_dist": 0.002326582104101497,
+                "target_xy_drift": 1.1120535480345421e-07,
+                "depth": 0.015360198872509057,
+                "bottom_clearance": 0.08408039026423475,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001165492598950657,
+                  0.0020101127925299944
+                ],
+                "rod_tip_xy": [
+                  0.29627305000551835,
+                  -0.3744863514643694
+                ],
+                "target_mouth_xy": [
+                  0.297438542604469,
+                  -0.3764964642568994
+                ],
+                "gripper_position": [
+                  0.29626485495686905,
+                  -0.3744897039692804,
+                  1.0055955604038576
+                ],
+                "rod_tip_xy_dist": 0.0023235590022423554,
+                "target_xy_drift": 1.4037700718525816e-07,
+                "depth": 0.01552175072994888,
+                "bottom_clearance": 0.08391878303208833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001173689047875237,
+                  0.0020067288783309767
+                ],
+                "rod_tip_xy": [
+                  0.29626485495686905,
+                  -0.37448970396928044
+                ],
+                "target_mouth_xy": [
+                  0.2974385440047443,
+                  -0.3764964328476114
+                ],
+                "gripper_position": [
+                  0.29627085493203015,
+                  -0.3745656574498735,
+                  1.0050617238871618
+                ],
+                "rod_tip_xy_dist": 0.002324759508471743,
+                "target_xy_drift": 1.0927582391332299e-07,
+                "depth": 0.01566440311091266,
+                "bottom_clearance": 0.0837761969085119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001167687591345834,
+                  0.0019308065066601654
+                ],
+                "rod_tip_xy": [
+                  0.29627085493203015,
+                  -0.3745656574498735
+                ],
+                "target_mouth_xy": [
+                  0.297438542523376,
+                  -0.3764964639565337
+                ],
+                "gripper_position": [
+                  0.29625999599452346,
+                  -0.37457512358140044,
+                  1.0048998470284858
+                ],
+                "rod_tip_xy_dist": 0.002256437031504373,
+                "target_xy_drift": 1.4009529974335626e-07,
+                "depth": 0.016198097876372164,
+                "bottom_clearance": 0.08324242242875923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011785482174430095,
+                  0.001921341284726763
+                ],
+                "rod_tip_xy": [
+                  0.29625999599452346,
+                  -0.3745751235814004
+                ],
+                "target_mouth_xy": [
+                  0.29743854421196647,
+                  -0.37649646486612715
+                ],
+                "gripper_position": [
+                  0.2962517696140031,
+                  -0.3745784428030835,
+                  1.004757541476042
+                ],
+                "rod_tip_xy_dist": 0.0022540027136704124,
+                "target_xy_drift": 1.4070859793964212e-07,
+                "depth": 0.0163601246140882,
+                "bottom_clearance": 0.08308049414790053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011867724121992218,
+                  0.0019180205151450025
+                ],
+                "rod_tip_xy": [
+                  0.2962517696140031,
+                  -0.37457844280308344
+                ],
+                "target_mouth_xy": [
+                  0.29743854202620235,
+                  -0.37649646331822845
+                ],
+                "gripper_position": [
+                  0.2962434340982486,
+                  -0.37458158909451156,
+                  1.004615223883342
+                ],
+                "rod_tip_xy_dist": 0.0022554891830541463,
+                "target_xy_drift": 1.3955466212213357e-07,
+                "depth": 0.016502276449489317,
+                "bottom_clearance": 0.08293822561526021,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011951099611762772,
+                  0.0019148446971831157
+                ],
+                "rod_tip_xy": [
+                  0.2962434340982486,
+                  -0.3745815890945116
+                ],
+                "target_mouth_xy": [
+                  0.2974385440594249,
+                  -0.37649643379169473
+                ],
+                "gripper_position": [
+                  0.2962511898353455,
+                  -0.37465996818574987,
+                  1.0040818943168957
+                ],
+                "rod_tip_xy_dist": 0.0022571925114249916,
+                "target_xy_drift": 1.1018771380552182e-07,
+                "depth": 0.01664472417307239,
+                "bottom_clearance": 0.08279584523282824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011873527396893957,
+                  0.001836496091706219
+                ],
+                "rod_tip_xy": [
+                  0.2962511898353455,
+                  -0.3746599681857499
+                ],
+                "target_mouth_xy": [
+                  0.2974385425750349,
+                  -0.37649646427745614
+                ],
+                "gripper_position": [
+                  0.2962400925020299,
+                  -0.3746695182916047,
+                  1.0039199409756774
+                ],
+                "rod_tip_xy_dist": 0.002186898356874441,
+                "target_xy_drift": 1.4040235570759447e-07,
+                "depth": 0.017177933512235177,
+                "bottom_clearance": 0.08226259977160277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001198451280876478,
+                  0.0018269151962873598
+                ],
+                "rod_tip_xy": [
+                  0.2962400925020299,
+                  -0.3746695182916047
+                ],
+                "target_mouth_xy": [
+                  0.29743854378290635,
+                  -0.3764964334878921
+                ],
+                "gripper_position": [
+                  0.2962316965799808,
+                  -0.3746726345681579,
+                  1.0037779184502407
+                ],
+                "rod_tip_xy_dist": 0.0021849266823077045,
+                "target_xy_drift": 1.0994842641433355e-07,
+                "depth": 0.01734000929640145,
+                "bottom_clearance": 0.08210055861474463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012068454455135824,
+                  0.0018237989476880823
+                ],
+                "rod_tip_xy": [
+                  0.29623169657998083,
+                  -0.37467263456815786
+                ],
+                "target_mouth_xy": [
+                  0.2974385420254944,
+                  -0.37649643351584594
+                ],
+                "gripper_position": [
+                  0.2962233596294619,
+                  -0.37467564385074914,
+                  1.0036357649333913
+                ],
+                "rod_tip_xy_dist": 0.0021869427360918787,
+                "target_xy_drift": 1.1035901285666889e-07,
+                "depth": 0.017481899471296747,
+                "bottom_clearance": 0.08195860256958853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012151543720158586,
+                  0.0018207890021132989
+                ],
+                "rod_tip_xy": [
+                  0.29622335962946195,
+                  -0.3746756438507491
+                ],
+                "target_mouth_xy": [
+                  0.2974385140014778,
+                  -0.3764964328528624
+                ],
+                "gripper_position": [
+                  0.29623246501033396,
+                  -0.3747560531757443,
+                  1.0031052857252898
+                ],
+                "rod_tip_xy_dist": 0.0021890346589412417,
+                "target_xy_drift": 1.1923996199764887e-07,
+                "depth": 0.017624197040945977,
+                "bottom_clearance": 0.08181639536906837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012060762317591678,
+                  0.001740380984037948
+                ],
+                "rod_tip_xy": [
+                  0.29623246501033396,
+                  -0.3747560531757443
+                ],
+                "target_mouth_xy": [
+                  0.2974385412420931,
+                  -0.37649643415978223
+                ],
+                "gripper_position": [
+                  0.29622118262461816,
+                  -0.37476543430666664,
+                  1.0029435854711148
+                ],
+                "rod_tip_xy_dist": 0.0021174385106574618,
+                "target_xy_drift": 1.1116484220896079e-07,
+                "depth": 0.01815454848862219,
+                "bottom_clearance": 0.08128596786959308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012173600436252152,
+                  0.0017309992054326262
+                ],
+                "rod_tip_xy": [
+                  0.29622118262461816,
+                  -0.3747654343066667
+                ],
+                "target_mouth_xy": [
+                  0.2974385426682434,
+                  -0.3764964335120993
+                ],
+                "gripper_position": [
+                  0.2962128583158258,
+                  -0.3747683122069757,
+                  1.0028017111337797
+                ],
+                "rod_tip_xy_dist": 0.0021162050290611184,
+                "target_xy_drift": 1.1021209094574796e-07,
+                "depth": 0.018316296742656335,
+                "bottom_clearance": 0.08112422914566919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012256841217627157,
+                  0.001728151423401325
+                ],
+                "rod_tip_xy": [
+                  0.2962128583158258,
+                  -0.37476831220697565
+                ],
+                "target_mouth_xy": [
+                  0.2974385424375885,
+                  -0.376496463630377
+                ],
+                "gripper_position": [
+                  0.29620411077165654,
+                  -0.3747713414425705,
+                  1.002659865227413
+                ],
+                "rod_tip_xy_dist": 0.0021186809359942014,
+                "target_xy_drift": 1.3978914718566018e-07,
+                "depth": 0.018458163778636627,
+                "bottom_clearance": 0.0809823420043495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012344014029818107,
+                  0.0017250930362168737
+                ],
+                "rod_tip_xy": [
+                  0.29620411077165654,
+                  -0.37477134144257057
+                ],
+                "target_mouth_xy": [
+                  0.29743851217463835,
+                  -0.37649643447878745
+                ],
+                "gripper_position": [
+                  0.29619562377596775,
+                  -0.3747740462896072,
+                  1.0025181174658868
+                ],
+                "rod_tip_xy_dist": 0.002121247936307167,
+                "target_xy_drift": 1.215112754185259e-07,
+                "depth": 0.018599957436929215,
+                "bottom_clearance": 0.08084055205082097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012428888172402175,
+                  0.0017223856452514563
+                ],
+                "rod_tip_xy": [
+                  0.29619562377596775,
+                  -0.37477404628960714
+                ],
+                "target_mouth_xy": [
+                  0.29743851259320797,
+                  -0.3764964319348586
+                ],
+                "gripper_position": [
+                  0.29618689046662927,
+                  -0.3747771857533198,
+                  1.0023761180910384
+                ],
+                "rod_tip_xy_dist": 0.0021240021005142773,
+                "target_xy_drift": 1.1905415855234135e-07,
+                "depth": 0.018741791481337144,
+                "bottom_clearance": 0.08069878328486435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012516523182044548,
+                  0.0017192775576510555
+                ],
+                "rod_tip_xy": [
+                  0.29618689046662927,
+                  -0.3747771857533199
+                ],
+                "target_mouth_xy": [
+                  0.2974385427848337,
+                  -0.376496463310971
+                ],
+                "gripper_position": [
+                  0.2961783610164741,
+                  -0.37477983648840923,
+                  1.002234130259607
+                ],
+                "rod_tip_xy_dist": 0.002126628516198625,
+                "target_xy_drift": 1.39414135185039e-07,
+                "depth": 0.0188837650235395,
+                "bottom_clearance": 0.08055676529429767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001260180821428758,
+                  0.0017165970463300373
+                ],
+                "rod_tip_xy": [
+                  0.2961783610164741,
+                  -0.37477983648840923
+                ],
+                "target_mouth_xy": [
+                  0.29743854183790286,
+                  -0.37649643353473927
+                ],
+                "gripper_position": [
+                  0.29619139366023506,
+                  -0.3748656704451764,
+                  1.001708915407197
+                ],
+                "rod_tip_xy_dist": 0.002129497856811757,
+                "target_xy_drift": 1.1041989594110831e-07,
+                "depth": 0.019025745574854924,
+                "bottom_clearance": 0.08041474884125843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012471477997156866,
+                  0.001630762456536372
+                ],
+                "rod_tip_xy": [
+                  0.29619139366023506,
+                  -0.3748656704451763
+                ],
+                "target_mouth_xy": [
+                  0.29743854145995074,
+                  -0.3764964329017127
+                ],
+                "gripper_position": [
+                  0.29617999651961513,
+                  -0.37487517922533325,
+                  1.0015472815355837
+                ],
+                "rod_tip_xy_dist": 0.0020529889975312147,
+                "target_xy_drift": 1.0989050801702793e-07,
+                "depth": 0.019550922692651906,
+                "bottom_clearance": 0.07988960757771923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001258547466210902,
+                  0.0016212859721806416
+                ],
+                "rod_tip_xy": [
+                  0.29617999651961513,
+                  -0.37487517922533325
+                ],
+                "target_mouth_xy": [
+                  0.29743854398582603,
+                  -0.3764964651975139
+                ],
+                "gripper_position": [
+                  0.29617139702151596,
+                  -0.3748778089140278,
+                  1.0014055309065055
+                ],
+                "rod_tip_xy_dist": 0.002052439993835535,
+                "target_xy_drift": 1.4107224995561824e-07,
+                "depth": 0.019712634322593847,
+                "bottom_clearance": 0.07972798666367742,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006015985570792871,
+              "rod_tip_xy_max_step": 3.259196076973898e-05,
+              "rod_tip_xy_range": 0.0006015945084504887,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2957209961427526,
+            -0.37634498263897737,
+            1.0433158516077692
+          ],
+          "object_origin_world": [
+            0.2957209961427526,
+            -0.37634498263897737,
+            1.0433158516077692
+          ],
+          "frame_world": [
+            0.29574502417707516,
+            -0.3763412167170704,
+            1.0436093228067878
+          ],
+          "center_minus_frame": [
+            -2.402803432255407e-05,
+            -3.7659219069841043e-06,
+            -0.000293471199018569
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27503361773565993,
+              0.14950182850506116,
+              0.8319585355185733
+            ],
+            "target_position": [
+              0.28757865882558625,
+              0.19568446423236924,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047856179315415186,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16713326574153758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319585355185733,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671257182857,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13738440144673775,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06a7d6d626d264ef8d6cfc5a0c350242af5993520fa22fbf5907a561afe66cee",
+    "visual_seed": 2982235108378727822,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e81698b863dd92d50679eabc0f32c562d0c32d22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_68_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3305101511354271,
+              -0.035332478568831496,
+              1.1651951863647518
+            ],
+            "current_z": 1.1651951863647518,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30408873795463065,
+            "gripper_z": 1.156112744932256,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3258982891509732,
+              -0.0400591346094841,
+              1.156112744932256
+            ],
+            "object_minus_gripper": [
+              0.004611861984453902,
+              0.004726656040652602,
+              0.009082441432495925
+            ],
+            "object_to_gripper_xy": 0.006603828305633696,
+            "object_to_gripper_z": 0.009082441432495925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3305101511354271,
+              -0.05901837853397289,
+              1.1651951863647518
+            ],
+            "finger_b": [
+              0.3195880236118349,
+              -0.035332478568831496,
+              1.1651951863647518
+            ],
+            "finger_midpoint": [
+              0.32504908737363103,
+              -0.04717542855140219,
+              1.1651951863647518
+            ],
+            "object_minus_finger_midpoint": [
+              0.005461063761796059,
+              0.011842949982570697,
+              0.0
+            ],
+            "finger_gap": 0.02608284353363902,
+            "fingertip_max_gap": 0.091513609586626,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013041421766819498,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651951863647518,
+            "object_top_z": 1.215109264973739,
+            "finger_top_clearance": 0.04991407860898711,
+            "fingertip_min_top_clearance": 0.0149742235826961,
+            "object_projection_between_fingers": 0.8246504669938919,
+            "object_to_finger_line_xy": 0.009918413212757101,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048256804793313,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3669921151488875,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2987952482066281,
+              -0.3682071111921601,
+              0.8515395668268598
+            ],
+            "target_position": [
+              0.29079120661829305,
+              -0.3693556993985599,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008086033429047767,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851826361566034,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395668268598,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528079520171732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547926976756275,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536755987637457,
+            "release_required_pad_clearance": 0.052739634883781375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5308163834368338,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008110225200653076,
+            "max_z_decrease": 0.008110225200653076,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511235767185851,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008110225200653076,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094758071383651,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008110225200653076,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008110250105552275,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1464911252260208,
+              -0.4256171584129333,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1464911252260208,
+              -0.4256171584129333,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1467033334855547,
+              -0.42416260993152355,
+              0.8037810034345708
+            ],
+            "closest_button": [
+              0.14650000631809232,
+              -0.42559912800788874,
+              0.7686986327171326
+            ],
+            "closest_ee_minus_button": [
+              0.00020332716746238044,
+              0.0014365180763651897,
+              0.03508237071743825
+            ],
+            "button_min_z_position": [
+              0.14650000631809232,
+              -0.42559912800788874,
+              0.7686986327171326
+            ],
+            "min_active_finger_to_button": 0.14497582583446436,
+            "closest_active_finger": [
+              0.020355388522148132,
+              -0.48838233947753906,
+              0.8105238676071167
+            ],
+            "closest_active_finger_button": [
+              0.1464904099702835,
+              -0.42561745643615717,
+              0.7763403058052063
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12613502144813538,
+              -0.06276488304138189,
+              0.0341835618019104
+            ],
+            "min_contact_pad_to_button": 0.02094758071383651,
+            "closest_contact_pad": [
+              0.14650000631809232,
+              -0.42559912800788874,
+              0.7896462134309691
+            ],
+            "closest_contact_pad_button": [
+              0.14650000631809232,
+              -0.42559912800788874,
+              0.7686986327171326
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094758071383651
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28937909048803095,
+              0.19135152884570486,
+              1.101049920741609
+            ],
+            "current_z": 1.101049920741609,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19114079100724635,
+            "gripper_z": 1.1010501574147016,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28937912355128004,
+              0.19135154555509773,
+              1.1010501574147016
+            ],
+            "object_minus_gripper": [
+              -3.306324908303182e-08,
+              -1.6709392869351802e-08,
+              -2.3667309267949577e-07
+            ],
+            "object_to_gripper_xy": 3.704567788540182e-08,
+            "object_to_gripper_z": -2.3667309267949577e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28937909048803095,
+              0.19135152884570486,
+              1.101049920741609
+            ],
+            "finger_b": [
+              0.28937909048803095,
+              0.19135152884570486,
+              1.101049920741609
+            ],
+            "finger_midpoint": [
+              0.28937909048803095,
+              0.19135152884570486,
+              1.101049920741609
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101049920741609,
+            "object_top_z": 1.2260584273618886,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28937909048803095,
+            0.1913515288457049,
+            1.101049920741609
+          ],
+          "object_origin_world": [
+            0.28937909048803095,
+            0.1913515288457049,
+            1.101049920741609
+          ],
+          "frame_world": [
+            0.28937912355128004,
+            0.19135154555509773,
+            1.1010501574147016
+          ],
+          "center_minus_frame": [
+            -3.306324908303182e-08,
+            -1.6709392841596227e-08,
+            -2.3667309267949577e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435901231772298,
+            "required_z": 0.9112599159181056,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007914775246010594,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.569148175525081e-08,
+            "max_target_xy_drift": 2.403261591885233e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.530816378852262,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5308163835000029,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2981041607017289,
+              -0.3686360276887881,
+              0.9232952076775024
+            ],
+            "target_mouth_xy": [
+              0.2987954245239572,
+              -0.3682069606132113
+            ],
+            "rod_tip_z": 0.9232952076775024,
+            "rod_tip_depth": -0.022035327311537567,
+            "rod_tip_bottom_clearance": 0.12147589846654927,
+            "rod_tip_xy_dist": 0.000813599549696106,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04513336654819744,
+            "min_rod_tip_bottom_clearance": 0.054307162017105615,
+            "min_rod_tip_xy_dist": 0.0001947612716059076,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29879536733208706,
+              -0.3682069929313295
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.719187012864779e-08,
+              3.231811823711794e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0001630323614428275,
+                0.0013144620168651366
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00026472681141004317,
+                0.0009503483656511102
+              ],
+              "first_target_mouth_xy": [
+                0.29879527685537727,
+                -0.3682069904039126
+              ],
+              "last_target_mouth_xy": [
+                0.2987953328084156,
+                -0.36820705003349086
+              ],
+              "first_rod_tip_xy": [
+                0.29863224449393444,
+                -0.36689252838704745
+              ],
+              "last_rod_tip_xy": [
+                0.29853060599700554,
+                -0.36725670166783975
+              ],
+              "min_rod_tip_xy_dist": 0.0009865304358077681,
+              "max_rod_tip_xy_dist": 0.0013245338593855529,
+              "first_target_xy_drift": 9.05120039054889e-08,
+              "last_target_xy_drift": 6.672736111317936e-08,
+              "max_depth": 0.019463467503417875,
+              "min_bottom_clearance": 0.07997719293309913
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0001630323614428275,
+                  0.0013144620168651366
+                ],
+                "rod_tip_xy": [
+                  0.29863224449393444,
+                  -0.36689252838704745
+                ],
+                "target_mouth_xy": [
+                  0.29879527685537727,
+                  -0.3682069904039126
+                ],
+                "gripper_position": [
+                  0.29862135058225,
+                  -0.36690166781715333,
+                  1.0059776648062286
+                ],
+                "rod_tip_xy_dist": 0.0013245338593855529,
+                "target_xy_drift": 9.05120039054889e-08,
+                "depth": 0.01512151322369959,
+                "bottom_clearance": 0.08431900617974819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00017395909125589304,
+                  0.0013053232055498798
+                ],
+                "rod_tip_xy": [
+                  0.2986213505822499,
+                  -0.3669016678171534
+                ],
+                "target_mouth_xy": [
+                  0.2987953096735058,
+                  -0.36820699102270327
+                ],
+                "gripper_position": [
+                  0.2986130056133168,
+                  -0.3669047478624656,
+                  1.0058363086979243
+                ],
+                "rod_tip_xy_dist": 0.0013168638640260388,
+                "target_xy_drift": 5.769016246403823e-08,
+                "depth": 0.015282233005690093,
+                "bottom_clearance": 0.08415835191357379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0001822981122253653,
+                  0.0013022422275467127
+                ],
+                "rod_tip_xy": [
+                  0.29861300561331666,
+                  -0.36690474786246563
+                ],
+                "target_mouth_xy": [
+                  0.298795303725542,
+                  -0.36820699009001234
+                ],
+                "gripper_position": [
+                  0.29862055323918535,
+                  -0.3669743399983409,
+                  1.0053020623649984
+                ],
+                "rod_tip_xy_dist": 0.0013149400826375154,
+                "target_xy_drift": 6.366997451003506e-08,
+                "depth": 0.015423566573126157,
+                "bottom_clearance": 0.08401707786552093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00017478531583370316,
+                  0.0012326805097121474
+                ],
+                "rod_tip_xy": [
+                  0.29862055323918524,
+                  -0.36697433999834106
+                ],
+                "target_mouth_xy": [
+                  0.29879533855501894,
+                  -0.3682070205080532
+                ],
+                "gripper_position": [
+                  0.29860972571563976,
+                  -0.36698310690121266,
+                  1.0051415843409544
+                ],
+                "rod_tip_xy_dist": 0.0012450105002188884,
+                "target_xy_drift": 3.985718678585699e-08,
+                "depth": 0.015957822332892557,
+                "bottom_clearance": 0.08348271567765997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0001856106953718184,
+                  0.0012239136174978515
+                ],
+                "rod_tip_xy": [
+                  0.29860972571563965,
+                  -0.36698310690121283
+                ],
+                "target_mouth_xy": [
+                  0.29879533641101147,
+                  -0.3682070205187107
+                ],
+                "gripper_position": [
+                  0.29860112749552675,
+                  -0.3669863171881567,
+                  1.005000342842111
+                ],
+                "rod_tip_xy_dist": 0.0012379078614069333,
+                "target_xy_drift": 4.14388285873281e-08,
+                "depth": 0.01611832102730537,
+                "bottom_clearance": 0.08332221001537377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00019420900301120314,
+                  0.0012207331360982732
+                ],
+                "rod_tip_xy": [
+                  0.2986011274955267,
+                  -0.3669863171881568
+                ],
+                "target_mouth_xy": [
+                  0.2987953364985379,
+                  -0.36820705032425505
+                ],
+                "gripper_position": [
+                  0.2985926291779307,
+                  -0.36698902757773977,
+                  1.0048585408149338
+                ],
+                "rod_tip_xy_dist": 0.0012360851614751027,
+                "target_xy_drift": 6.515102189383961e-08,
+                "depth": 0.01625950032552914,
+                "bottom_clearance": 0.08318102749656464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0002027705561957749,
+                  0.0012180246405130157
+                ],
+                "rod_tip_xy": [
+                  0.29859262917793067,
+                  -0.3669890275777399
+                ],
+                "target_mouth_xy": [
+                  0.29879539973412644,
+                  -0.3682070522182529
+                ],
+                "gripper_position": [
+                  0.29860183875248175,
+                  -0.3670612807522365,
+                  1.0043245316738927
+                ],
+                "rod_tip_xy_dist": 0.001234787400063997,
+                "target_xy_drift": 6.75635363125673e-08,
+                "depth": 0.01640145017973116,
+                "bottom_clearance": 0.0830392162912128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00019349713737959462,
+                  0.0011457388180180494
+                ],
+                "rod_tip_xy": [
+                  0.29860183875248164,
+                  -0.36706128075223654
+                ],
+                "target_mouth_xy": [
+                  0.29879533588986124,
+                  -0.3682070195702546
+                ],
+                "gripper_position": [
+                  0.2985907129346341,
+                  -0.36706991974846964,
+                  1.0041633845619284
+                ],
+                "rod_tip_xy_dist": 0.0011619632443788809,
+                "target_xy_drift": 4.120977909871525e-08,
+                "depth": 0.016935336360816344,
+                "bottom_clearance": 0.08250522768015134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00020462525712333646,
+                  0.0011371337489345934
+                ],
+                "rod_tip_xy": [
+                  0.29859071293463396,
+                  -0.3670699197484697
+                ],
+                "target_mouth_xy": [
+                  0.2987953381917573,
+                  -0.3682070534974043
+                ],
+                "gripper_position": [
+                  0.29858216958770734,
+                  -0.3670726881534246,
+                  1.004022436542505
+                ],
+                "rod_tip_xy_dist": 0.0011553980521096764,
+                "target_xy_drift": 6.721166737382025e-08,
+                "depth": 0.01709649420669923,
+                "bottom_clearance": 0.08234414230467901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00021316583068509143,
+                  0.0011343609074411787
+                ],
+                "rod_tip_xy": [
+                  0.2985821695877073,
+                  -0.36707268815342464
+                ],
+                "target_mouth_xy": [
+                  0.29879533541839237,
+                  -0.3682070490608658
+                ],
+                "gripper_position": [
+                  0.29857338308358017,
+                  -0.3670756924802342,
+                  1.0038810609008975
+                ],
+                "rod_tip_xy_dist": 0.00115421589821941,
+                "target_xy_drift": 6.456786161431013e-08,
+                "depth": 0.01723751104687532,
+                "bottom_clearance": 0.08220308233671159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00022195302268623873,
+                  0.001131357215852502
+                ],
+                "rod_tip_xy": [
+                  0.29857338308358006,
+                  -0.3670756924802342
+                ],
+                "target_mouth_xy": [
+                  0.2987953361062663,
+                  -0.3682070496960867
+                ],
+                "gripper_position": [
+                  0.298584433788709,
+                  -0.36714949696987115,
+                  1.0033497664227073
+                ],
+                "rod_tip_xy_dist": 0.0011529233687201778,
+                "target_xy_drift": 6.478649194966408e-08,
+                "depth": 0.017378794805133158,
+                "bottom_clearance": 0.08206174938670263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00021090499535225682,
+                  0.001057555572447022
+                ],
+                "rod_tip_xy": [
+                  0.29858443378870897,
+                  -0.3671494969698712
+                ],
+                "target_mouth_xy": [
+                  0.2987953387840612,
+                  -0.3682070525423182
+                ],
+                "gripper_position": [
+                  0.2985732103238675,
+                  -0.36715839141504353,
+                  1.0031891009511944
+                ],
+                "rod_tip_xy_dist": 0.001078380594168072,
+                "target_xy_drift": 6.609432466406786e-08,
+                "depth": 0.017910159804783166,
+                "bottom_clearance": 0.08153046595960867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00022212590440295887,
+                  0.0010486570164731646
+                ],
+                "rod_tip_xy": [
+                  0.29857321032386747,
+                  -0.3671583914150436
+                ],
+                "target_mouth_xy": [
+                  0.2987953362282704,
+                  -0.36820704843151675
+                ],
+                "gripper_position": [
+                  0.2985643528092988,
+                  -0.36716104556082696,
+                  1.003047965435501
+                ],
+                "rod_tip_xy_dist": 0.0010719241837020151,
+                "target_xy_drift": 6.362168019660331e-08,
+                "depth": 0.018070773254806105,
+                "bottom_clearance": 0.08136981094978923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00023098557438921974,
+                  0.0010460694600023523
+                ],
+                "rod_tip_xy": [
+                  0.29856435280929877,
+                  -0.36716104556082707
+                ],
+                "target_mouth_xy": [
+                  0.298795338383688,
+                  -0.3682071150208294
+                ],
+                "gripper_position": [
+                  0.29855554851899135,
+                  -0.36716398650557003,
+                  1.0029073185794015
+                ],
+                "rod_tip_xy_dist": 0.0010712682440572627,
+                "target_xy_drift": 1.2547452248987602e-07,
+                "depth": 0.018211948934421796,
+                "bottom_clearance": 0.0812287627033964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0002397847791125174,
+                  0.0010431221856456174
+                ],
+                "rod_tip_xy": [
+                  0.29855554851899124,
+                  -0.36716398650557014
+                ],
+                "target_mouth_xy": [
+                  0.29879533329810376,
+                  -0.36820710869121576
+                ],
+                "gripper_position": [
+                  0.2985466505940958,
+                  -0.36716657310516193,
+                  1.0027659165752218
+                ],
+                "rod_tip_xy_dist": 0.0010703273492161773,
+                "target_xy_drift": 1.2065928592383358e-07,
+                "depth": 0.018352574441345193,
+                "bottom_clearance": 0.08108810044703596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00024871751136329445,
+                  0.0010405073381265506
+                ],
+                "rod_tip_xy": [
+                  0.2985466505940957,
+                  -0.367166573105162
+                ],
+                "target_mouth_xy": [
+                  0.298795368105459,
+                  -0.36820708044328854
+                ],
+                "gripper_position": [
+                  0.2985597199482735,
+                  -0.3672431014905988,
+                  1.002238773157929
+                ],
+                "rod_tip_xy_dist": 0.001069820508849008,
+                "target_xy_drift": 8.751537621680012e-08,
+                "depth": 0.01849391235012854,
+                "bottom_clearance": 0.08094662758045879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00023561450954590057,
+                  0.0009639491741837425
+                ],
+                "rod_tip_xy": [
+                  0.29855971994827346,
+                  -0.3672431014905989
+                ],
+                "target_mouth_xy": [
+                  0.29879533445781936,
+                  -0.36820705066478265
+                ],
+                "gripper_position": [
+                  0.2985484244277848,
+                  -0.3672516098622294,
+                  1.0020779527912764
+                ],
+                "rod_tip_xy_dist": 0.0009923266637141593,
+                "target_xy_drift": 6.643695573131543e-08,
+                "depth": 0.019021197658911526,
+                "bottom_clearance": 0.08041942020252824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00024691140470795014,
+                  0.0009554401537967827
+                ],
+                "rod_tip_xy": [
+                  0.29854842442778473,
+                  -0.3672516098622295
+                ],
+                "target_mouth_xy": [
+                  0.2987953358324927,
+                  -0.36820705001602627
+                ],
+                "gripper_position": [
+                  0.29853950824977304,
+                  -0.3672542233181883,
+                  1.001937519795681
+                ],
+                "rod_tip_xy_dist": 0.0009868288247016667,
+                "target_xy_drift": 6.519882704983477e-08,
+                "depth": 0.019181905690106027,
+                "bottom_clearance": 0.08025863781733567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0002558599170449649,
+                  0.0009528257317684141
+                ],
+                "rod_tip_xy": [
+                  0.298539508249773,
+                  -0.36725422331818836
+                ],
+                "target_mouth_xy": [
+                  0.29879536816681795,
+                  -0.36820704904995677
+                ],
+                "gripper_position": [
+                  0.29853060599700565,
+                  -0.3672567016678396,
+                  1.0017964835112918
+                ],
+                "rod_tip_xy_dist": 0.0009865805452522719,
+                "target_xy_drift": 5.612483496236735e-08,
+                "depth": 0.01932231570108245,
+                "bottom_clearance": 0.08011823908693616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00026472681141004317,
+                  0.0009503483656511102
+                ],
+                "rod_tip_xy": [
+                  0.29853060599700554,
+                  -0.36725670166783975
+                ],
+                "target_mouth_xy": [
+                  0.2987953328084156,
+                  -0.36820705003349086
+                ],
+                "gripper_position": [
+                  0.2985218191880711,
+                  -0.36725902976523817,
+                  1.001655530195788
+                ],
+                "rod_tip_xy_dist": 0.0009865304358077681,
+                "target_xy_drift": 6.672736111317936e-08,
+                "depth": 0.019463467503417875,
+                "bottom_clearance": 0.07997719293309913,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006062462333335254,
+              "rod_tip_xy_max_step": 3.2916456534006963e-05,
+              "rod_tip_xy_range": 0.0006062386000926876,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2981041607017289,
+            -0.36863602768878806,
+            1.0432952076775024
+          ],
+          "object_origin_world": [
+            0.2981041607017289,
+            -0.36863602768878806,
+            1.0432952076775024
+          ],
+          "frame_world": [
+            0.2981283597480333,
+            -0.3686329433084822,
+            1.0435901231772298
+          ],
+          "center_minus_frame": [
+            -2.419904630440728e-05,
+            -3.0843803058844266e-06,
+            -0.0002949154997273773
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2820349924754423,
+              0.14293280810777773,
+              0.8336069957885321
+            ],
+            "target_position": [
+              0.2895392674234374,
+              0.19042745378640996,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04808383835171571,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17007916537111858,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336069957885321,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671662489511,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13835257982224702,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 212,
+            "max_placed_release_frames": 212
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3202c6c3f009bed309fc21689f8bc504e675581da18d7a28a78ba64d2730d05",
+    "visual_seed": 6420786626934575744,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0577cd3bf8439413f02717c58d11758bc11bae20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_69_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3353199112173982,
+              -0.03140552158421,
+              1.1662077246160112
+            ],
+            "current_z": 1.1662077246160112,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.305101216601245,
+            "gripper_z": 1.1571649414981038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33058688160966154,
+              -0.036079926276588445,
+              1.1571649414981038
+            ],
+            "object_minus_gripper": [
+              0.0047330296077366385,
+              0.004674404692378446,
+              0.009042783117907405
+            ],
+            "object_to_gripper_xy": 0.0066521897519419325,
+            "object_to_gripper_z": 0.009042783117907405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3353199112173982,
+              -0.05543752611226046,
+              1.1662077246160112
+            ],
+            "finger_b": [
+              0.3248220409392832,
+              -0.03140552158421,
+              1.1662077246160112
+            ],
+            "finger_midpoint": [
+              0.3300709760783407,
+              -0.04342152384823523,
+              1.1662077246160112
+            ],
+            "object_minus_finger_midpoint": [
+              0.005248935139057498,
+              0.01201600226402523,
+              0.0
+            ],
+            "finger_gap": 0.026224845509790293,
+            "fingertip_max_gap": 0.09214188146403288,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013112422754895147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662077246160112,
+            "object_top_z": 1.2160668493737083,
+            "finger_top_clearance": 0.04985912475769716,
+            "fingertip_min_top_clearance": 0.014957737427309114,
+            "object_projection_between_fingers": 0.8397579372383952,
+            "object_to_finger_line_xy": 0.009620070629753083,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857094073201644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.95082286595163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29742307331326606,
+              -0.37541460454482506,
+              0.8515396074529038
+            ],
+            "target_position": [
+              0.29183207557805596,
+              -0.37558169162965604,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0055934938785200975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18191828280195022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396074529038,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555031263974472,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08878777429974548,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1498147093766467,
+            "release_required_pad_clearance": 0.05439388714987274,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8129879805501172,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008132994174957275,
+            "max_z_decrease": 0.008132994174957275,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511218847245642,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008132994174957275,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020935498937625405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008132994174957275,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008133039467813146,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14753200113773343,
+              -0.4318431615829467,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14753200113773343,
+              -0.4318431615829467,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14899888311878717,
+              -0.4311535774208318,
+              0.803751787270686
+            ],
+            "closest_button": [
+              0.14755110442638392,
+              -0.4318238794803619,
+              0.7686758637428284
+            ],
+            "closest_ee_minus_button": [
+              0.0014477786924032565,
+              0.0006703020595300591,
+              0.0350759235278576
+            ],
+            "button_min_z_position": [
+              0.14755110442638392,
+              -0.4318238794803619,
+              0.7686758637428284
+            ],
+            "min_active_finger_to_button": 0.14418487323909593,
+            "closest_active_finger": [
+              0.02108943462371826,
+              -0.49216121435165405,
+              0.8106123208999634
+            ],
+            "closest_active_finger_button": [
+              0.14753143489360807,
+              -0.4318443834781646,
+              0.7765010595321655
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264420002698898,
+              -0.060316830873489435,
+              0.03411126136779785
+            ],
+            "min_contact_pad_to_button": 0.020935498937625405,
+            "closest_contact_pad": [
+              0.14755110442638392,
+              -0.43252617889413564,
+              0.7895995797440727
+            ],
+            "closest_contact_pad_button": [
+              0.14755110442638392,
+              -0.4318238794803619,
+              0.7686758637428284
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007022994137737548,
+              0.02092371600124432
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2808455241758741,
+              0.19053557807021268,
+              1.104466950386434
+            ],
+            "current_z": 1.104466950386434,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1945578206520714,
+            "gripper_z": 1.10446711980126,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2808455338148671,
+              0.19053550889841747,
+              1.10446711980126
+            ],
+            "object_minus_gripper": [
+              -9.638992992666573e-09,
+              6.917179520837813e-08,
+              -1.6941482616772419e-07
+            ],
+            "object_to_gripper_xy": 6.984015634477402e-08,
+            "object_to_gripper_z": -1.6941482616772419e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2808455241758741,
+              0.19053557807021268,
+              1.104466950386434
+            ],
+            "finger_b": [
+              0.2808455241758741,
+              0.19053557807021268,
+              1.104466950386434
+            ],
+            "finger_midpoint": [
+              0.2808455241758741,
+              0.19053557807021268,
+              1.104466950386434
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104466950386434,
+            "object_top_z": 1.2294754570067137,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2808455241758741,
+            0.19053557807021268,
+            1.104466950386434
+          ],
+          "object_origin_world": [
+            0.2808455241758741,
+            0.19053557807021268,
+            1.104466950386434
+          ],
+          "frame_world": [
+            0.2808455338148671,
+            0.19053550889841747,
+            1.10446711980126
+          ],
+          "center_minus_frame": [
+            -9.638992992666573e-09,
+            6.917179520837813e-08,
+            -1.6941482616772419e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432349843013826,
+            "required_z": 0.9112598191751577,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018765504406751058,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.228996323574541e-08,
+            "max_target_xy_drift": 1.265456199505067e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.8129879809427845,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.8131932807320443,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.298687905094952,
+              -0.3767934946118262,
+              0.9233646059737516
+            ],
+            "target_mouth_xy": [
+              0.29742310143145007,
+              -0.37541469435400543
+            ],
+            "rod_tip_z": 0.9233646059737516,
+            "rod_tip_depth": -0.022104718516349098,
+            "rod_tip_bottom_clearance": 0.12154535926900623,
+            "rod_tip_xy_dist": 0.0018710474227487167,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04494865031044515,
+            "min_rod_tip_bottom_clearance": 0.05449189924276998,
+            "min_rod_tip_xy_dist": 0.0005901501205524233,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29742303777757095,
+              -0.3754146600899943
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.365387911211329e-08,
+              -3.4264011128382066e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0016562969335709443,
+                0.000375804040961214
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015790090005410318,
+                1.3872759618061004e-05
+              ],
+              "first_target_mouth_xy": [
+                0.29742307171600024,
+                -0.3754146931261348
+              ],
+              "last_target_mouth_xy": [
+                0.29742306862905965,
+                -0.37541469857984344
+              ],
+              "first_rod_tip_xy": [
+                0.2990793686495712,
+                -0.3750388890851736
+              ],
+              "last_rod_tip_xy": [
+                0.2990020776296007,
+                -0.3754008258202254
+              ],
+              "min_rod_tip_xy_dist": 0.0015790699405817997,
+              "max_rod_tip_xy_dist": 0.0016983957752418283,
+              "first_target_xy_drift": 4.7362469963882e-08,
+              "last_target_xy_drift": 4.932831683466347e-08,
+              "max_depth": 0.019471693983795446,
+              "min_bottom_clearance": 0.07996891522098559
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016562969335709443,
+                  0.000375804040961214
+                ],
+                "rod_tip_xy": [
+                  0.2990793686495712,
+                  -0.3750388890851736
+                ],
+                "target_mouth_xy": [
+                  0.29742307171600024,
+                  -0.3754146931261348
+                ],
+                "gripper_position": [
+                  0.2990920080919375,
+                  -0.37510910621117016,
+                  1.0056228622890881
+                ],
+                "rod_tip_xy_dist": 0.0016983957752418283,
+                "target_xy_drift": 4.7362469963882e-08,
+                "depth": 0.015098975574834639,
+                "bottom_clearance": 0.08434171522505662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0016689378379902142,
+                  0.00030562724798310903
+                ],
+                "rod_tip_xy": [
+                  0.29909200809193737,
+                  -0.3751091062111702
+                ],
+                "target_mouth_xy": [
+                  0.29742307025394715,
+                  -0.3754147334591533
+                ],
+                "gripper_position": [
+                  0.2990814025813454,
+                  -0.3751184689131344,
+                  1.0054587784394522
+                ],
+                "rod_tip_xy_dist": 0.0016966913454677546,
+                "target_xy_drift": 8.023558130423575e-08,
+                "depth": 0.015637091992906638,
+                "bottom_clearance": 0.08380363755324838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016583294009390182,
+                  0.0002962254189150526
+                ],
+                "rod_tip_xy": [
+                  0.2990814025813453,
+                  -0.3751184689131343
+                ],
+                "target_mouth_xy": [
+                  0.2974230731804063,
+                  -0.3754146943320493
+                ],
+                "gripper_position": [
+                  0.29907308333248656,
+                  -0.37512217497741845,
+                  1.0053152731926878
+                ],
+                "rod_tip_xy_dist": 0.0016845788496921601,
+                "target_xy_drift": 4.9253213922772896e-08,
+                "depth": 0.01580117952505511,
+                "bottom_clearance": 0.0836395179413959,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016500448429418446,
+                  0.0002925261925542655
+                ],
+                "rod_tip_xy": [
+                  0.2990730833324865,
+                  -0.3751221749774184
+                ],
+                "target_mouth_xy": [
+                  0.29742303848954466,
+                  -0.37541470116997266
+                ],
+                "gripper_position": [
+                  0.29908681922217695,
+                  -0.37519296072942115,
+                  1.0047791053150195
+                ],
+                "rod_tip_xy_dist": 0.0016757743156670208,
+                "target_xy_drift": 4.1086147652143986e-08,
+                "depth": 0.015944689126099587,
+                "bottom_clearance": 0.08349601610907265,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001663746686950629,
+                  0.00022170892136536002
+                ],
+                "rod_tip_xy": [
+                  0.2990868192221769,
+                  -0.3751929607294211
+                ],
+                "target_mouth_xy": [
+                  0.29742307253522626,
+                  -0.37541466965078646
+                ],
+                "gripper_position": [
+                  0.2990760630115653,
+                  -0.37520217372009074,
+                  1.004615257449192
+                ],
+                "rod_tip_xy_dist": 0.001678454016097011,
+                "target_xy_drift": 3.604862479068803e-08,
+                "depth": 0.016480667986784048,
+                "bottom_clearance": 0.08295987639448643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016530214344765426,
+                  0.00021255781405837837
+                ],
+                "rod_tip_xy": [
+                  0.2990760630115652,
+                  -0.3752021737200908
+                ],
+                "target_mouth_xy": [
+                  0.29742304157708865,
+                  -0.37541473153414917
+                ],
+                "gripper_position": [
+                  0.299067870101781,
+                  -0.37520527077941274,
+                  1.0044715318677018
+                ],
+                "rod_tip_xy_dist": 0.0016666315391099986,
+                "target_xy_drift": 7.154511583493422e-08,
+                "depth": 0.016644625721292772,
+                "bottom_clearance": 0.08279598978866776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016448025072639538,
+                  0.00020935788392340005
+                ],
+                "rod_tip_xy": [
+                  0.2990678701017809,
+                  -0.3752052707794127
+                ],
+                "target_mouth_xy": [
+                  0.2974230675945169,
+                  -0.3754146286633361
+                ],
+                "gripper_position": [
+                  0.29905946558958957,
+                  -0.37520883447381664,
+                  1.0043279270783458
+                ],
+                "rod_tip_xy_dist": 0.001658072981343907,
+                "target_xy_drift": 4.3320723836718834e-08,
+                "depth": 0.01678831721461005,
+                "bottom_clearance": 0.08265225451415847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016363998497649912,
+                  0.0002058332921385242
+                ],
+                "rod_tip_xy": [
+                  0.2990594655895895,
+                  -0.3752088344738167
+                ],
+                "target_mouth_xy": [
+                  0.2974230657398245,
+                  -0.3754146677659552
+                ],
+                "gripper_position": [
+                  0.29907483538679225,
+                  -0.3752819826311073,
+                  1.0037934254436913
+                ],
+                "rod_tip_xy_dist": 0.0016492943377285538,
+                "target_xy_drift": 2.89966894781595e-08,
+                "depth": 0.016932071796835424,
+                "bottom_clearance": 0.08250874388470752,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001651768566483136,
+                  0.00013267746187584084
+                ],
+                "rod_tip_xy": [
+                  0.2990748353867922,
+                  -0.37528198263110724
+                ],
+                "target_mouth_xy": [
+                  0.29742306682030906,
+                  -0.3754146600929831
+                ],
+                "gripper_position": [
+                  0.2990640544265686,
+                  -0.3752911960051077,
+                  1.0036298264472783
+                ],
+                "rod_tip_xy_dist": 0.0016570886234934961,
+                "target_xy_drift": 2.9042738257122185e-08,
+                "depth": 0.01746640220577178,
+                "bottom_clearance": 0.08197410681310369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001640983465609147,
+                  0.0001235038324738924
+                ],
+                "rod_tip_xy": [
+                  0.2990640544265685,
+                  -0.37529119600510763
+                ],
+                "target_mouth_xy": [
+                  0.2974230709609594,
+                  -0.3754146998375815
+                ],
+                "gripper_position": [
+                  0.29905556438949665,
+                  -0.3752943456884689,
+                  1.0034864408907005
+                ],
+                "rod_tip_xy_dist": 0.0016456244805660696,
+                "target_xy_drift": 5.177845070456321e-08,
+                "depth": 0.017630031372060873,
+                "bottom_clearance": 0.08181052686630641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0016324925082118469,
+                  0.00012034900078078392
+                ],
+                "rod_tip_xy": [
+                  0.2990555643894966,
+                  -0.37529434568846887
+                ],
+                "target_mouth_xy": [
+                  0.29742307188128475,
+                  -0.37541469468924965
+                ],
+                "gripper_position": [
+                  0.29904699338036134,
+                  -0.37529757139047876,
+                  1.0033428630552035
+                ],
+                "rod_tip_xy_dist": 0.0016369226222875473,
+                "target_xy_drift": 4.858159904250536e-08,
+                "depth": 0.017773442119623395,
+                "bottom_clearance": 0.0816671949055483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016239202496439176,
+                  0.00011716258677807456
+                ],
+                "rod_tip_xy": [
+                  0.2990469933803613,
+                  -0.3752975713904788
+                ],
+                "target_mouth_xy": [
+                  0.29742307313071736,
+                  -0.3754147339772569
+                ],
+                "gripper_position": [
+                  0.299038527123361,
+                  -0.37530065319010864,
+                  1.0031994928025625
+                ],
+                "rod_tip_xy_dist": 0.0016281412865424467,
+                "target_xy_drift": 8.19095387215214e-08,
+                "depth": 0.01791705690731671,
+                "bottom_clearance": 0.08152366789888477,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016154608359268963,
+                  0.00011400533429467563
+                ],
+                "rod_tip_xy": [
+                  0.29903852712336093,
+                  -0.3753006531901085
+                ],
+                "target_mouth_xy": [
+                  0.29742306628743403,
+                  -0.3754146585244032
+                ],
+                "gripper_position": [
+                  0.2990562729493723,
+                  -0.37537680948070595,
+                  1.0026674782889697
+                ],
+                "rod_tip_xy_dist": 0.0016194785977780835,
+                "target_xy_drift": 2.855281717132603e-08,
+                "depth": 0.018060376470234396,
+                "bottom_clearance": 0.08138020616571595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016331704210758025,
+                  3.792102659416763e-05
+                ],
+                "rod_tip_xy": [
+                  0.29905627294937226,
+                  -0.37537680948070606
+                ],
+                "target_mouth_xy": [
+                  0.29742310252829646,
+                  -0.37541473050730023
+                ],
+                "gripper_position": [
+                  0.29904509173994887,
+                  -0.37538593119489044,
+                  1.002504609183167
+                ],
+                "rod_tip_xy_dist": 0.001633610611049913,
+                "target_xy_drift": 9.56621838961609e-08,
+                "depth": 0.018592378001861753,
+                "bottom_clearance": 0.08084821556080346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016220203630853414,
+                  2.8763822756738833e-05
+                ],
+                "rod_tip_xy": [
+                  0.2990450917399488,
+                  -0.3753859311948905
+                ],
+                "target_mouth_xy": [
+                  0.29742307137686347,
+                  -0.37541469501764724
+                ],
+                "gripper_position": [
+                  0.2990366275700038,
+                  -0.37538897589362924,
+                  1.002361177871356
+                ],
+                "rod_tip_xy_dist": 0.0016222753822218606,
+                "target_xy_drift": 4.8464970825928415e-08,
+                "depth": 0.018755268745060838,
+                "bottom_clearance": 0.08068534628346258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001613525664502069,
+                  2.575842518703908e-05
+                ],
+                "rod_tip_xy": [
+                  0.29903662757000377,
+                  -0.3753889758936292
+                ],
+                "target_mouth_xy": [
+                  0.2974231019055017,
+                  -0.3754147343188162
+                ],
+                "gripper_position": [
+                  0.29902789895838855,
+                  -0.37539199930772577,
+                  1.0022175366785955
+                ],
+                "rod_tip_xy_dist": 0.0016137312559639414,
+                "target_xy_drift": 9.8093371363316e-08,
+                "depth": 0.018898739379936025,
+                "bottom_clearance": 0.08054195639088713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0016047950738164452,
+                  2.2665447390268767e-05
+                ],
+                "rod_tip_xy": [
+                  0.2990278989583885,
+                  -0.3753919993077258
+                ],
+                "target_mouth_xy": [
+                  0.29742310388457205,
+                  -0.3754146647551161
+                ],
+                "gripper_position": [
+                  0.2990193857569654,
+                  -0.37539487728493004,
+                  1.0020744755692277
+                ],
+                "rod_tip_xy_dist": 0.0016049551244352383,
+                "target_xy_drift": 6.627140375107031e-08,
+                "depth": 0.019042423254349683,
+                "bottom_clearance": 0.08039829808671073,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001596314316900438,
+                  1.9823126966578286e-05
+                ],
+                "rod_tip_xy": [
+                  0.29901938575696535,
+                  -0.37539487728493004
+                ],
+                "target_mouth_xy": [
+                  0.2974230714400649,
+                  -0.3754147004118966
+                ],
+                "gripper_position": [
+                  0.29901065669528926,
+                  -0.37539789366640947,
+                  1.0019311667055761
+                ],
+                "rod_tip_xy_dist": 0.001596437394545757,
+                "target_xy_drift": 5.2526367721410905e-08,
+                "depth": 0.01918537963468292,
+                "bottom_clearance": 0.08025518328348669,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001587583309212881,
+                  1.680191928721264e-05
+                ],
+                "rod_tip_xy": [
+                  0.2990106566952892,
+                  -0.3753978936664094
+                ],
+                "target_mouth_xy": [
+                  0.2974230733860763,
+                  -0.3754146955856966
+                ],
+                "gripper_position": [
+                  0.29900207762960074,
+                  -0.3754008258202253,
+                  1.0017881549843903
+                ],
+                "rod_tip_xy_dist": 0.0015876722168580819,
+                "target_xy_drift": 5.027833069784392e-08,
+                "depth": 0.019328769640914012,
+                "bottom_clearance": 0.080111887334957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0015790090005410318,
+                  1.3872759618061004e-05
+                ],
+                "rod_tip_xy": [
+                  0.2990020776296007,
+                  -0.3754008258202254
+                ],
+                "target_mouth_xy": [
+                  0.29742306862905965,
+                  -0.37541469857984344
+                ],
+                "gripper_position": [
+                  0.2989935602696826,
+                  -0.37540369306456683,
+                  1.0016449610862377
+                ],
+                "rod_tip_xy_dist": 0.0015790699405817997,
+                "target_xy_drift": 4.932831683466347e-08,
+                "depth": 0.019471693983795446,
+                "bottom_clearance": 0.07996891522098559,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006064313883436171,
+              "rod_tip_xy_max_step": 3.300374029971657e-05,
+              "rod_tip_xy_range": 0.0006064239756924537,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.298687905094952,
+            -0.3767934946118262,
+            1.0433646059737516
+          ],
+          "object_origin_world": [
+            0.298687905094952,
+            -0.3767934946118262,
+            1.0433646059737516
+          ],
+          "frame_world": [
+            0.2986864520131799,
+            -0.3768022774556757,
+            1.0432349843013826
+          ],
+          "center_minus_frame": [
+            1.4530817721292166e-06,
+            8.782843849475253e-06,
+            0.0001296216723689625
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2696265666291234,
+              0.14613269371274135,
+              0.832333931951903
+            ],
+            "target_position": [
+              0.2809995655126056,
+              0.19262926547644688,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04786727785639273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16664800467936702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832333931951903,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671041371518,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13652130943196636,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b13cfcc31dbf90fd44f857b79acea14dea1171c0d075bc73cac8fe5f2ea5006",
+    "visual_seed": 917353280498680867,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76cb4184087dd66adfc850cda30eda559f308991
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_6_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33196818212572904,
+              -0.03633086414741933,
+              1.1669657379613976
+            ],
+            "current_z": 1.1669657379613976,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3058592299466316,
+            "gripper_z": 1.1578391964611225,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32721969250388644,
+              -0.04110222193460149,
+              1.1578391964611225
+            ],
+            "object_minus_gripper": [
+              0.0047484896218426,
+              0.004771357787182157,
+              0.009126541500275032
+            ],
+            "object_to_gripper_xy": 0.006731568080473574,
+            "object_to_gripper_z": 0.009126541500275032,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33196818212572904,
+              -0.060210520377695476,
+              1.1669657379613976
+            ],
+            "finger_b": [
+              0.3211123921290615,
+              -0.03633086414741933,
+              1.1669657379613976
+            ],
+            "finger_midpoint": [
+              0.32654028712739525,
+              -0.0482706922625574,
+              1.1669657379613976
+            ],
+            "object_minus_finger_midpoint": [
+              0.005427894998333793,
+              0.011939828115138072,
+              0.0
+            ],
+            "finger_gap": 0.026231396419708827,
+            "fingertip_max_gap": 0.09135826670364569,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013115698209854426,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1669657379613976,
+            "object_top_z": 1.2169226695319186,
+            "finger_top_clearance": 0.04995693157052106,
+            "fingertip_min_top_clearance": 0.014987079471156316,
+            "object_projection_between_fingers": 0.8287304939073644,
+            "object_to_finger_line_xy": 0.009882528900890624,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817913335182285,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0745231264623167,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29983258366266013,
+              -0.37300840972106897,
+              0.8515396399014419
+            ],
+            "target_position": [
+              0.2925619260795659,
+              -0.3742716276023644,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007379578653705809,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18481099909097598,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396399014419,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589856372513025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875658956723394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1518347184148426,
+            "release_required_pad_clearance": 0.0537829478361697,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5751041086727247,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008377373218536377,
+            "max_z_decrease": 0.008377373218536377,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498831732903515,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008377373218536377,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020887023612440443,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008377373218536377,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008377510598770994,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1482618451118469,
+              -0.430533081293106,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1482618451118469,
+              -0.430533081293106,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14794851955036095,
+              -0.43033415103478884,
+              0.8036205505581253
+            ],
+            "closest_button": [
+              0.1482964605093002,
+              -0.43050467967987055,
+              0.7686343789100647
+            ],
+            "closest_ee_minus_button": [
+              -0.00034794095893925236,
+              0.0001705286450817134,
+              0.034986171648060616
+            ],
+            "button_min_z_position": [
+              0.14829927682876587,
+              -0.4305030703544616,
+              0.7684314846992493
+            ],
+            "min_active_finger_to_button": 0.1460155691045411,
+            "closest_active_finger": [
+              0.022159449756145477,
+              -0.4957115054130554,
+              0.8108159899711609
+            ],
+            "closest_active_finger_button": [
+              0.14826200902462006,
+              -0.4305323660373687,
+              0.7766053080558777
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12610255926847458,
+              -0.0651791393756867,
+              0.0342106819152832
+            ],
+            "min_contact_pad_to_button": 0.020887023612440443,
+            "closest_contact_pad": [
+              0.14829927682876587,
+              -0.4312968411259303,
+              0.7893034200036001
+            ],
+            "closest_contact_pad_button": [
+              0.14829927682876587,
+              -0.4305030703544616,
+              0.7684314846992493
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007937707714686937,
+              0.02087193530435083
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2882906136143038,
+              0.1928585761060051,
+              1.1042116413986847
+            ],
+            "current_z": 1.1042116413986847,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1943025116643221,
+            "gripper_z": 1.1042116413986849,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28829061361430375,
+              0.1928585761060051,
+              1.1042116413986849
+            ],
+            "object_minus_gripper": [
+              5.551115123125783e-17,
+              0.0,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 5.551115123125783e-17,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2882906136143038,
+              0.1928585761060051,
+              1.1042116413986847
+            ],
+            "finger_b": [
+              0.2882906136143038,
+              0.1928585761060051,
+              1.1042116413986847
+            ],
+            "finger_midpoint": [
+              0.2882906136143038,
+              0.1928585761060051,
+              1.1042116413986847
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042116413986847,
+            "object_top_z": 1.2292201480189644,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2882906136143038,
+            0.1928585761060051,
+            1.1042116413986847
+          ],
+          "object_origin_world": [
+            0.2882906136143038,
+            0.1928585761060051,
+            1.1042116413986847
+          ],
+          "frame_world": [
+            0.28829061361430375,
+            0.1928585761060051,
+            1.1042116413986849
+          ],
+          "center_minus_frame": [
+            5.551115123125783e-17,
+            0.0,
+            -2.220446049250313e-16
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432619852738085,
+            "required_z": 0.9112598266461542,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012578565467161044,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.2057025546501e-08,
+            "max_target_xy_drift": 1.355134023538338e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.5751041082863484,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.5751041088907605,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2992487955790467,
+              -0.37411347225642727,
+              0.9233914287183264
+            ],
+            "target_mouth_xy": [
+              0.2998326127176733,
+              -0.37300841036516774
+            ],
+            "rod_tip_z": 0.9233914287183264,
+            "rod_tip_depth": -0.022131479313518443,
+            "rod_tip_bottom_clearance": 0.12157208084708981,
+            "rod_tip_xy_dist": 0.0012498016782146813,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04492383556148705,
+            "min_rod_tip_bottom_clearance": 0.05451674761042813,
+            "min_rod_tip_xy_dist": 0.00014698645617420872,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.299832614690512,
+              -0.37300844236142994
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.97283867020559e-09,
+              3.199626219529961e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -9.10275437830399e-05,
+                0.0006584160795010674
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00018869293175260982,
+                0.00029975217384009545
+              ],
+              "first_target_mouth_xy": [
+                0.29983261321485516,
+                -0.3730084109949189
+              ],
+              "last_target_mouth_xy": [
+                0.2998325822116112,
+                -0.3730084125977676
+              ],
+              "first_rod_tip_xy": [
+                0.2997415856710721,
+                -0.3723499949154178
+              ],
+              "last_rod_tip_xy": [
+                0.2996438892798586,
+                -0.37270866042392753
+              ],
+              "min_rod_tip_xy_dist": 0.0003452263491867137,
+              "max_rod_tip_xy_dist": 0.0006646786798692502,
+              "first_target_xy_drift": 3.1401203461360847e-08,
+              "last_target_xy_drift": 4.405399630965354e-08,
+              "max_depth": 0.019416281021242154,
+              "min_bottom_clearance": 0.08002432823003636
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -9.10275437830399e-05,
+                  0.0006584160795010674
+                ],
+                "rod_tip_xy": [
+                  0.2997415856710721,
+                  -0.3723499949154178
+                ],
+                "target_mouth_xy": [
+                  0.29983261321485516,
+                  -0.3730084109949189
+                ],
+                "gripper_position": [
+                  0.29975020473341174,
+                  -0.37242050682455846,
+                  1.0056719741945677
+                ],
+                "rod_tip_xy_dist": 0.0006646786798692502,
+                "target_xy_drift": 3.1401203461360847e-08,
+                "depth": 0.015048471359234594,
+                "bottom_clearance": 0.08439208887807459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -8.240922523672367e-05,
+                  0.00058790542099324
+                ],
+                "rod_tip_xy": [
+                  0.2997502047334118,
+                  -0.3724205068245586
+                ],
+                "target_mouth_xy": [
+                  0.2998326139586485,
+                  -0.3730084122455518
+                ],
+                "gripper_position": [
+                  0.2997394773718864,
+                  -0.37242972073768105,
+                  1.0055084746266907
+                ],
+                "rod_tip_xy_dist": 0.0005936531516275778,
+                "target_xy_drift": 3.012476953172474e-08,
+                "depth": 0.01558786405448409,
+                "bottom_clearance": 0.08385266040632533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -9.313757924839239e-05,
+                  0.0005786616838960867
+                ],
+                "rod_tip_xy": [
+                  0.29973947737188644,
+                  -0.37242972073768105
+                ],
+                "target_mouth_xy": [
+                  0.29983261495113483,
+                  -0.37300838242157713
+                ],
+                "gripper_position": [
+                  0.29973114066182066,
+                  -0.3724333401274729,
+                  1.0053652613327155
+                ],
+                "rod_tip_xy_dist": 0.0005861091648129256,
+                "target_xy_drift": 5.994041940431961e-08,
+                "depth": 0.015751348444228208,
+                "bottom_clearance": 0.08368916802218296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00010144324692867857,
+                  0.0005750699075670052
+                ],
+                "rod_tip_xy": [
+                  0.2997311406618207,
+                  -0.37243334012747303
+                ],
+                "target_mouth_xy": [
+                  0.2998325839087494,
+                  -0.37300841003504004
+                ],
+                "gripper_position": [
+                  0.29974069617078036,
+                  -0.37250445489215783,
+                  1.004828523828443
+                ],
+                "rod_tip_xy_dist": 0.0005839487399905549,
+                "target_xy_drift": 4.4637567043792043e-08,
+                "depth": 0.015894602834073956,
+                "bottom_clearance": 0.08354597012728393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -9.191623889970302e-05,
+                  0.0005039573895080918
+                ],
+                "rod_tip_xy": [
+                  0.2997406961707804,
+                  -0.37250445489215794
+                ],
+                "target_mouth_xy": [
+                  0.2998326124096801,
+                  -0.37300841228166604
+                ],
+                "gripper_position": [
+                  0.2997297360118388,
+                  -0.3725136244739087,
+                  1.0046651195166922
+                ],
+                "rod_tip_xy_dist": 0.0005122710663440575,
+                "target_xy_drift": 3.0166113278856435e-08,
+                "depth": 0.016431361068629635,
+                "bottom_clearance": 0.0830092217860664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00010287870080255557,
+                  0.0004947861622291438
+                ],
+                "rod_tip_xy": [
+                  0.29972973601183883,
+                  -0.37251362447390873
+                ],
+                "target_mouth_xy": [
+                  0.2998326147126414,
+                  -0.3730084106361379
+                ],
+                "gripper_position": [
+                  0.2997213372876364,
+                  -0.3725169857733213,
+                  1.0045220045144128
+                ],
+                "rod_tip_xy_dist": 0.0005053685520610343,
+                "target_xy_drift": 3.17252997780665e-08,
+                "depth": 0.016594711685822494,
+                "bottom_clearance": 0.08284581728285567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00011127436873159535,
+                  0.0004914281148024613
+                ],
+                "rod_tip_xy": [
+                  0.29972133728763645,
+                  -0.37251698577332143
+                ],
+                "target_mouth_xy": [
+                  0.29983261165636804,
+                  -0.3730084138881239
+                ],
+                "gripper_position": [
+                  0.29973149141963296,
+                  -0.37258885912721623,
+                  1.0039885963666115
+                ],
+                "rod_tip_xy_dist": 0.0005038686110038173,
+                "target_xy_drift": 2.8634510413654235e-08,
+                "depth": 0.016737933586850606,
+                "bottom_clearance": 0.08270273709384879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00010112225095232352,
+                  0.0004195531114538631
+                ],
+                "rod_tip_xy": [
+                  0.299731491419633,
+                  -0.37258885912721623
+                ],
+                "target_mouth_xy": [
+                  0.29983261367058534,
+                  -0.3730084122386701
+                ],
+                "gripper_position": [
+                  0.29972048024356224,
+                  -0.37259794049603795,
+                  1.0038256579609348
+                ],
+                "rod_tip_xy_dist": 0.0004315675184351602,
+                "target_xy_drift": 3.014002174615748e-08,
+                "depth": 0.017271250296832297,
+                "bottom_clearance": 0.08216928451571526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00011213492554651427,
+                  0.0004104710730214456
+                ],
+                "rod_tip_xy": [
+                  0.2997204802435623,
+                  -0.37259794049603806
+                ],
+                "target_mouth_xy": [
+                  0.2998326151691088,
+                  -0.3730084115690595
+                ],
+                "gripper_position": [
+                  0.29971206263807165,
+                  -0.37260099568671035,
+                  1.003682432312653
+                ],
+                "rod_tip_xy_dist": 0.0004255123303909056,
+                "target_xy_drift": 3.0796089552075526e-08,
+                "depth": 0.01743415953153382,
+                "bottom_clearance": 0.08200635134730672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00012054953598067408,
+                  0.00040741690043311074
+                ],
+                "rod_tip_xy": [
+                  0.2997120626380717,
+                  -0.3726009956867104
+                ],
+                "target_mouth_xy": [
+                  0.2998326121740524,
+                  -0.3730084125871435
+                ],
+                "gripper_position": [
+                  0.2997035399374294,
+                  -0.37260388022728086,
+                  1.0035392441666546
+                ],
+                "rod_tip_xy_dist": 0.00042487730156326204,
+                "target_xy_drift": 2.988044010774794e-08,
+                "depth": 0.017577525047226206,
+                "bottom_clearance": 0.0818630779108519,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00012910381685837802,
+                  0.0004045022015519151
+                ],
+                "rod_tip_xy": [
+                  0.29970353993742943,
+                  -0.3726038802272809
+                ],
+                "target_mouth_xy": [
+                  0.2998326437542878,
+                  -0.37300838242883283
+                ],
+                "gripper_position": [
+                  0.2996949498377064,
+                  -0.3726072019406939,
+                  1.00339597813304
+                ],
+                "rod_tip_xy_dist": 0.00042460549523969625,
+                "target_xy_drift": 6.660795193934776e-08,
+                "depth": 0.01772059400412007,
+                "bottom_clearance": 0.08171993016427903,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00013766678351934125,
+                  0.00040131298452034114
+                ],
+                "rod_tip_xy": [
+                  0.29969494983770645,
+                  -0.3726072019406939
+                ],
+                "target_mouth_xy": [
+                  0.2998326166212258,
+                  -0.37300851492521425
+                ],
+                "gripper_position": [
+                  0.29970716150640275,
+                  -0.37268242223765613,
+                  1.0028646330021558
+                ],
+                "rod_tip_xy_dist": 0.00042426908304657874,
+                "target_xy_drift": 7.258946514392832e-08,
+                "depth": 0.017863952515892123,
+                "bottom_clearance": 0.08157671273699774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00012545298347566014,
+                  0.00032598934059052675
+                ],
+                "rod_tip_xy": [
+                  0.2997071615064028,
+                  -0.3726824222376562
+                ],
+                "target_mouth_xy": [
+                  0.29983261448987847,
+                  -0.3730084115782467
+                ],
+                "gripper_position": [
+                  0.29969611855913636,
+                  -0.372691405554129,
+                  1.0027017458057674
+                ],
+                "rod_tip_xy_dist": 0.00034929572176250703,
+                "target_xy_drift": 3.0783837045602484e-08,
+                "depth": 0.018395181386011372,
+                "bottom_clearance": 0.08104530798604526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00013646944380274473,
+                  0.0003171077468006045
+                ],
+                "rod_tip_xy": [
+                  0.2996961185591364,
+                  -0.3726914055541291
+                ],
+                "target_mouth_xy": [
+                  0.29983258800293916,
+                  -0.3730085133009297
+                ],
+                "gripper_position": [
+                  0.2996875340093421,
+                  -0.3726941933245021,
+                  1.0025588266642522
+                ],
+                "rod_tip_xy_dist": 0.0003452263491867137,
+                "target_xy_drift": 7.579339793926812e-08,
+                "depth": 0.01855811851844069,
+                "bottom_clearance": 0.08088244238039644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0001451156928949926,
+                  0.0003143193013169787
+                ],
+                "rod_tip_xy": [
+                  0.29968753400934217,
+                  -0.3726941933245022
+                ],
+                "target_mouth_xy": [
+                  0.29983264970223716,
+                  -0.3730085126258192
+                ],
+                "gripper_position": [
+                  0.2996787313539401,
+                  -0.3726971003420357,
+                  1.0024156036726855
+                ],
+                "rod_tip_xy_dist": 0.00034620107958350946,
+                "target_xy_drift": 7.850417375752636e-08,
+                "depth": 0.0187010534948161,
+                "bottom_clearance": 0.08073946769648865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0001538869520237851,
+                  0.0003114135919901062
+                ],
+                "rod_tip_xy": [
+                  0.29967873135394013,
+                  -0.3726971003420358
+                ],
+                "target_mouth_xy": [
+                  0.2998326183059639,
+                  -0.3730085139340259
+                ],
+                "gripper_position": [
+                  0.2996700283615203,
+                  -0.372700191304369,
+                  1.002272634300731
+                ],
+                "rod_tip_xy_dist": 0.0003473609351659324,
+                "target_xy_drift": 7.166385410591977e-08,
+                "depth": 0.018844317562011104,
+                "bottom_clearance": 0.08059624857797354,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00016258639665661656,
+                  0.00030822123343249297
+                ],
+                "rod_tip_xy": [
+                  0.29967002836152035,
+                  -0.372700191304369
+                ],
+                "target_mouth_xy": [
+                  0.29983261475817696,
+                  -0.3730084125378015
+                ],
+                "gripper_position": [
+                  0.29966122743939994,
+                  -0.3727031069034458,
+                  1.002129696017941
+                ],
+                "rod_tip_xy_dist": 0.0003484747696985106,
+                "target_xy_drift": 2.982370521606543e-08,
+                "depth": 0.018987192566140232,
+                "bottom_clearance": 0.08045332683108763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0001713549251913804,
+                  0.0003053053660924121
+                ],
+                "rod_tip_xy": [
+                  0.2996612274394,
+                  -0.3727031069034458
+                ],
+                "target_mouth_xy": [
+                  0.29983258236459137,
+                  -0.37300841226953824
+                ],
+                "gripper_position": [
+                  0.2996526509947422,
+                  -0.372705816811059,
+                  1.0019866344004418
+                ],
+                "rod_tip_xy_dist": 0.0003501055225959244,
+                "target_xy_drift": 4.416431918657226e-08,
+                "depth": 0.01913025545259428,
+                "bottom_clearance": 0.08031033588763536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00017996441850093303,
+                  0.0003025947667832374
+                ],
+                "rod_tip_xy": [
+                  0.29965265099474225,
+                  -0.372705816811059
+                ],
+                "target_mouth_xy": [
+                  0.2998326154132432,
+                  -0.37300841157784226
+                ],
+                "gripper_position": [
+                  0.2996438892798585,
+                  -0.3727086604239274,
+                  1.0018436812926539
+                ],
+                "rod_tip_xy_dist": 0.0003520664494253617,
+                "target_xy_drift": 3.0792070582964964e-08,
+                "depth": 0.019273184681039557,
+                "bottom_clearance": 0.08016733486219996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.00018869293175260982,
+                  0.00029975217384009545
+                ],
+                "rod_tip_xy": [
+                  0.2996438892798586,
+                  -0.37270866042392753
+                ],
+                "target_mouth_xy": [
+                  0.2998325822116112,
+                  -0.3730084125977676
+                ],
+                "gripper_position": [
+                  0.299635149415867,
+                  -0.3727115312619558,
+                  1.0017010754183595
+                ],
+                "rod_tip_xy_dist": 0.0003541982329363853,
+                "target_xy_drift": 4.405399630965354e-08,
+                "depth": 0.019416281021242154,
+                "bottom_clearance": 0.08002432823003636,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.000606388706416342,
+              "rod_tip_xy_max_step": 3.286294526803394e-05,
+              "rod_tip_xy_range": 0.0006063803700356335,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2992487955790467,
+            -0.37411347225642727,
+            1.0433914287183266
+          ],
+          "object_origin_world": [
+            0.2992487955790467,
+            -0.37411347225642727,
+            1.0433914287183266
+          ],
+          "frame_world": [
+            0.2992475156689375,
+            -0.3741219024107959,
+            1.0432619852738085
+          ],
+          "center_minus_frame": [
+            1.2799101092308973e-06,
+            8.430154368632703e-06,
+            0.00012944344451804035
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.28013239601166096,
+              0.14612248425612734,
+              0.8330945916516123
+            ],
+            "target_position": [
+              0.2884433578379105,
+              0.19375015511389787,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048347358953861184,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1711550362651833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330945916516123,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668912890232,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1403388901623114,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99b8c8cdac9174ca8467f70753a3ee5baeee1f29141dfebc1cab78cd119345a9",
+    "visual_seed": 1285724992889841832,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb8cac024371853a3e4ea1ccf07b1c79b12a983
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_70_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3292771768058183,
+              -0.032925489357580225,
+              1.165020505137269
+            ],
+            "current_z": 1.165020505137269,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3039139971225031,
+            "gripper_z": 1.1562037194546515,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32454975068131703,
+              -0.037788195897817,
+              1.1562037194546515
+            ],
+            "object_minus_gripper": [
+              0.004727426124501277,
+              0.004862706540236773,
+              0.008816785682617567
+            ],
+            "object_to_gripper_xy": 0.006781922489904958,
+            "object_to_gripper_z": 0.008816785682617567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3292771768058183,
+              -0.05662535669017974,
+              1.165020505137269
+            ],
+            "finger_b": [
+              0.3180694665032168,
+              -0.032925489357580225,
+              1.165020505137269
+            ],
+            "finger_midpoint": [
+              0.32367332165451757,
+              -0.04477542302387998,
+              1.165020505137269
+            ],
+            "object_minus_finger_midpoint": [
+              0.005603855151300741,
+              0.011849933666299758,
+              0.0
+            ],
+            "finger_gap": 0.02621633997738542,
+            "fingertip_max_gap": 0.09169679757743607,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01310816998869271,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165020505137269,
+            "object_top_z": 1.2149641825038395,
+            "finger_top_clearance": 0.04994367736657046,
+            "fingertip_min_top_clearance": 0.014983103209971137,
+            "object_projection_between_fingers": 0.8172364131760672,
+            "object_to_finger_line_xy": 0.010131896653117586,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048348398788718036,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4212775807148224,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2960000959530781,
+              -0.3762578727178722,
+              0.8515395860523698
+            ],
+            "target_position": [
+              0.28802111561750066,
+              -0.37740461240479656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008060963906698665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18672574375564296,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395860523698,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516476542380697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503378926758091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15555882745499477,
+            "release_required_pad_clearance": 0.05251689463379046,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10467830217665805,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008405566215515137,
+            "max_z_decrease": 0.008405566215515137,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501393163369908,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008405566215515137,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0209033938357417,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008405566215515137,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008405606743845481,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1437210440635681,
+              -0.433666080236435,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1437210440635681,
+              -0.433666080236435,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14458081016052304,
+              -0.4336005321984125,
+              0.8035342694244915
+            ],
+            "closest_button": [
+              0.14372895658016202,
+              -0.4336421489715576,
+              0.7685307264328003
+            ],
+            "closest_ee_minus_button": [
+              0.0008518535803610228,
+              4.1616773145125574e-05,
+              0.03500354299169117
+            ],
+            "button_min_z_position": [
+              0.14371860027313232,
+              -0.43364009261131287,
+              0.7684032917022705
+            ],
+            "min_active_finger_to_button": 0.14492010920299456,
+            "closest_active_finger": [
+              0.003792479634284973,
+              -0.4179217219352722,
+              0.8109121918678284
+            ],
+            "closest_active_finger_button": [
+              0.14372141659259793,
+              -0.43366575241088867,
+              0.776650607585907
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13992893695831296,
+              0.015744030475616455,
+              0.03426158428192139
+            ],
+            "min_contact_pad_to_button": 0.0209033938357417,
+            "closest_contact_pad": [
+              0.14371860027313232,
+              -0.4347318529673085,
+              0.7892781553707403
+            ],
+            "closest_contact_pad_button": [
+              0.14371860027313232,
+              -0.43364009261131287,
+              0.7684032917022705
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001091760355995619,
+              0.0208748636684698
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2829430910517571,
+              0.19610802318569523,
+              1.1044909962924012
+            ],
+            "current_z": 1.1044909962924012,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19458186655803866,
+            "gripper_z": 1.1044912826095372,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28294316873549713,
+              0.1961080102722886,
+              1.1044912826095372
+            ],
+            "object_minus_gripper": [
+              -7.768374005179268e-08,
+              1.2913406621795076e-08,
+              -2.86317136000136e-07
+            ],
+            "object_to_gripper_xy": 7.874972723136455e-08,
+            "object_to_gripper_z": -2.86317136000136e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2829430910517571,
+              0.19610802318569523,
+              1.1044909962924012
+            ],
+            "finger_b": [
+              0.2829430910517571,
+              0.19610802318569523,
+              1.1044909962924012
+            ],
+            "finger_midpoint": [
+              0.2829430910517571,
+              0.19610802318569523,
+              1.1044909962924012
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044909962924012,
+            "object_top_z": 1.229499502912681,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28294309105175713,
+            0.19610802318569523,
+            1.1044909962924012
+          ],
+          "object_origin_world": [
+            0.28294309105175713,
+            0.19610802318569523,
+            1.1044909962924012
+          ],
+          "frame_world": [
+            0.28294316873549713,
+            0.1961080102722886,
+            1.1044912826095372
+          ],
+          "center_minus_frame": [
+            -7.768373999628153e-08,
+            1.2913406621795076e-08,
+            -2.86317136000136e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434341521753665,
+            "required_z": 0.911259893346416,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001517768213107355,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.440105106398905e-08,
+            "max_target_xy_drift": 1.510809415023079e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.10467831129539201,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.10467831254186265,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2958876540079366,
+              -0.3747359127030038,
+              0.9235618595338769
+            ],
+            "target_mouth_xy": [
+              0.2959999777305129,
+              -0.37625784259227407
+            ],
+            "rod_tip_z": 0.9235618595338769,
+            "rod_tip_depth": -0.022302014350089383,
+            "rod_tip_bottom_clearance": 0.12174255483217489,
+            "rod_tip_xy_dist": 0.0015260692010874018,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04525184461267373,
+            "min_rod_tip_bottom_clearance": 0.05418867144126582,
+            "min_rod_tip_xy_dist": 0.0006154484636163096,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2960000683219947,
+              -0.3762578160452994
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.059148181611576e-08,
+              -2.654697467407985e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0003438772469121498,
+                0.003329517063505094
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00025082023421374444,
+                0.0029491843668657536
+              ],
+              "first_target_mouth_xy": [
+                0.29600000816065497,
+                -0.37625781082034726
+              ],
+              "last_target_mouth_xy": [
+                0.2960000359258168,
+                -0.37625784258705813
+              ],
+              "first_rod_tip_xy": [
+                0.2963438854075671,
+                -0.37292829375684217
+              ],
+              "last_rod_tip_xy": [
+                0.29625085616003055,
+                -0.3733086582201924
+              ],
+              "min_rod_tip_xy_dist": 0.002959830944438617,
+              "max_rod_tip_xy_dist": 0.00334722802287437,
+              "first_target_xy_drift": 6.03878044355663e-08,
+              "last_target_xy_drift": 4.188051217143172e-08,
+              "max_depth": 0.01958300539204816,
+              "min_bottom_clearance": 0.07985758940737442
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0003438772469121498,
+                  0.003329517063505094
+                ],
+                "rod_tip_xy": [
+                  0.2963438854075671,
+                  -0.37292829375684217
+                ],
+                "target_mouth_xy": [
+                  0.29600000816065497,
+                  -0.37625781082034726
+                ],
+                "gripper_position": [
+                  0.2963332231659692,
+                  -0.37293754196298634,
+                  1.0058672168727785
+                ],
+                "rod_tip_xy_dist": 0.00334722802287437,
+                "target_xy_drift": 6.03878044355663e-08,
+                "depth": 0.015230641913171694,
+                "bottom_clearance": 0.08420987739190944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00033321499068822424,
+                  0.003320334981597839
+                ],
+                "rod_tip_xy": [
+                  0.2963332231659691,
+                  -0.3729375419629864
+                ],
+                "target_mouth_xy": [
+                  0.2960000081752809,
+                  -0.37625787694458424
+                ],
+                "gripper_position": [
+                  0.29634216432825244,
+                  -0.37301018479071874,
+                  1.00533347016881
+                ],
+                "rod_tip_xy_dist": 0.0033370131285390047,
+                "target_xy_drift": 8.55941007221657e-08,
+                "depth": 0.015392695618155261,
+                "bottom_clearance": 0.0840479941409501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0003421545975112461,
+                  0.0032476276679911376
+                ],
+                "rod_tip_xy": [
+                  0.2963421643282523,
+                  -0.37301018479071874
+                ],
+                "target_mouth_xy": [
+                  0.29600000973074103,
+                  -0.3762578124587099
+                ],
+                "gripper_position": [
+                  0.29633153248206434,
+                  -0.37301941125638416,
+                  1.0051723039685565
+                ],
+                "rod_tip_xy_dist": 0.0032656018187310646,
+                "target_xy_drift": 5.870092531184618e-08,
+                "depth": 0.015926426385234227,
+                "bottom_clearance": 0.08351414713738181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0003315229882326909,
+                  0.0032384012025031272
+                ],
+                "rod_tip_xy": [
+                  0.29633153248206423,
+                  -0.3730194112563841
+                ],
+                "target_mouth_xy": [
+                  0.29600000949383154,
+                  -0.37625781245888723
+                ],
+                "gripper_position": [
+                  0.296323355546006,
+                  -0.37302259597939225,
+                  1.0050301037223133
+                ],
+                "rod_tip_xy_dist": 0.003255326379965676,
+                "target_xy_drift": 5.893738316788395e-08,
+                "depth": 0.01608753108304184,
+                "bottom_clearance": 0.08335303330593546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00032334588410171117,
+                  0.0032353094715116826
+                ],
+                "rod_tip_xy": [
+                  0.2963233555460058,
+                  -0.3730225959793923
+                ],
+                "target_mouth_xy": [
+                  0.2960000096619041,
+                  -0.376257905450904
+                ],
+                "gripper_position": [
+                  0.2963150036097941,
+                  -0.3730259400134759,
+                  1.0048879785521814
+                ],
+                "rod_tip_xy_dist": 0.003251427369205519,
+                "target_xy_drift": 1.0693160600495363e-07,
+                "depth": 0.016229797157862103,
+                "bottom_clearance": 0.0832109028228446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00031502602035171634,
+                  0.003231871462251845
+                ],
+                "rod_tip_xy": [
+                  0.296315003609794,
+                  -0.37302594001347594
+                ],
+                "target_mouth_xy": [
+                  0.2959999775894423,
+                  -0.3762578114757278
+                ],
+                "gripper_position": [
+                  0.296325942306127,
+                  -0.3731009014611606,
+                  1.0043535630714004
+                ],
+                "rod_tip_xy_dist": 0.00324718871364393,
+                "target_xy_drift": 9.084754841258981e-08,
+                "depth": 0.016371796928196236,
+                "bottom_clearance": 0.08306872012370192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003259326472738744,
+                  0.0031569722365450414
+                ],
+                "rod_tip_xy": [
+                  0.29632594230612685,
+                  -0.37310090146116065
+                ],
+                "target_mouth_xy": [
+                  0.296000009658853,
+                  -0.3762578736977057
+                ],
+                "gripper_position": [
+                  0.29631497396456874,
+                  -0.3731100495220633,
+                  1.0041922833628625
+                ],
+                "rod_tip_xy_dist": 0.003173752635741348,
+                "target_xy_drift": 8.225061792733843e-08,
+                "depth": 0.01690636221315589,
+                "bottom_clearance": 0.08253426721797241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003149642677658382,
+                  0.003147793393475651
+                ],
+                "rod_tip_xy": [
+                  0.2963149739645686,
+                  -0.37311004952206334
+                ],
+                "target_mouth_xy": [
+                  0.29600000969680273,
+                  -0.376257842915539
+                ],
+                "gripper_position": [
+                  0.29630650946231196,
+                  -0.3731132316582719,
+                  1.0040504790824063
+                ],
+                "rod_tip_xy_dist": 0.0031635116149586404,
+                "target_xy_drift": 6.448971166093461e-08,
+                "depth": 0.017067624638034684,
+                "bottom_clearance": 0.08237297104052954,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003065009311560285,
+                  0.0031445814586790743
+                ],
+                "rod_tip_xy": [
+                  0.2963065094623118,
+                  -0.373113231658272
+                ],
+                "target_mouth_xy": [
+                  0.29600000853115577,
+                  -0.37625781311695106
+                ],
+                "gripper_position": [
+                  0.29629796222030125,
+                  -0.37311622814919115,
+                  1.0039082352040627
+                ],
+                "rod_tip_xy_dist": 0.0031594834025624706,
+                "target_xy_drift": 5.986250617829086e-08,
+                "depth": 0.017209360058765277,
+                "bottom_clearance": 0.08223119084550579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00029795394162906996,
+                  0.0031415515502307145
+                ],
+                "rod_tip_xy": [
+                  0.2962979622203011,
+                  -0.37311622814919115
+                ],
+                "target_mouth_xy": [
+                  0.296000008278672,
+                  -0.37625777969942187
+                ],
+                "gripper_position": [
+                  0.2963105349650381,
+                  -0.3731933436833231,
+                  1.0033764474436848
+                ],
+                "rod_tip_xy_dist": 0.0031556493300253286,
+                "target_xy_drift": 7.018706016494896e-08,
+                "depth": 0.017351616688594418,
+                "bottom_clearance": 0.08208895388092874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00031052634684658464,
+                  0.0030644720384954693
+                ],
+                "rod_tip_xy": [
+                  0.296310534965038,
+                  -0.3731933436833231
+                ],
+                "target_mouth_xy": [
+                  0.2960000086181914,
+                  -0.37625781572181854
+                ],
+                "gripper_position": [
+                  0.2962993674339161,
+                  -0.3732025565620254,
+                  1.0032152190304426
+                ],
+                "rod_tip_xy_dist": 0.0030801648473428272,
+                "target_xy_drift": 5.970467960862127e-08,
+                "depth": 0.01788343926492908,
+                "bottom_clearance": 0.08155720884252127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0002993586631117595,
+                  0.003055254916635053
+                ],
+                "rod_tip_xy": [
+                  0.296299367433916,
+                  -0.37320255656202544
+                ],
+                "target_mouth_xy": [
+                  0.29600000877080423,
+                  -0.3762578114786605
+                ],
+                "gripper_position": [
+                  0.29629091426476317,
+                  -0.3732053753842994,
+                  1.0030734770787797
+                ],
+                "rod_tip_xy_dist": 0.0030698857006088557,
+                "target_xy_drift": 5.972602848251404e-08,
+                "depth": 0.01804460169278299,
+                "bottom_clearance": 0.08139591770789767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0002908734525768897,
+                  0.0030524665440531673
+                ],
+                "rod_tip_xy": [
+                  0.29629091426476306,
+                  -0.3732053753842994
+                ],
+                "target_mouth_xy": [
+                  0.29600004081218617,
+                  -0.37625784192835254
+                ],
+                "gripper_position": [
+                  0.2962823925600033,
+                  -0.3732082556000551,
+                  1.0029316932968992
+                ],
+                "rod_tip_xy_dist": 0.0030662940772172988,
+                "target_xy_drift": 3.7771973818564915e-08,
+                "depth": 0.018186423843245647,
+                "bottom_clearance": 0.08125418722295596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0002823264709803097,
+                  0.0030495853511796067
+                ],
+                "rod_tip_xy": [
+                  0.2962823925600032,
+                  -0.37320825560005516
+                ],
+                "target_mouth_xy": [
+                  0.2960000660890229,
+                  -0.37625784095123477
+                ],
+                "gripper_position": [
+                  0.29627372522484385,
+                  -0.37321135801315836,
+                  1.0027900131099674
+                ],
+                "rod_tip_xy_dist": 0.003062626168886017,
+                "target_xy_drift": 2.5005834913662067e-08,
+                "depth": 0.01832817522228869,
+                "bottom_clearance": 0.08111238823956046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0002736566743760105,
+                  0.0030464835989363337
+                ],
+                "rod_tip_xy": [
+                  0.2962737252248437,
+                  -0.37321135801315836
+                ],
+                "target_mouth_xy": [
+                  0.2960000685504677,
+                  -0.3762578416120947
+                ],
+                "gripper_position": [
+                  0.2962885366935135,
+                  -0.37329095217347696,
+                  1.002261965062794
+                ],
+                "rod_tip_xy_dist": 0.00305874979264709,
+                "target_xy_drift": 2.5567816124896426e-08,
+                "depth": 0.018469805956169094,
+                "bottom_clearance": 0.08097071408746304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0002884683948841116,
+                  0.0029668904217461933
+                ],
+                "rod_tip_xy": [
+                  0.2962885366935134,
+                  -0.373290952173477
+                ],
+                "target_mouth_xy": [
+                  0.2960000682986293,
+                  -0.3762578425952232
+                ],
+                "gripper_position": [
+                  0.2962771139946824,
+                  -0.3733001278765051,
+                  1.0021005365064248
+                ],
+                "rod_tip_xy_dist": 0.002980881210229002,
+                "target_xy_drift": 2.6549934096449086e-08,
+                "depth": 0.018997929175573636,
+                "bottom_clearance": 0.08044261636929873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0002770745872869296,
+                  0.0029577137334315107
+                ],
+                "rod_tip_xy": [
+                  0.2962771139946822,
+                  -0.3733001278765052
+                ],
+                "target_mouth_xy": [
+                  0.2960000394073953,
+                  -0.3762578416099367
+                ],
+                "gripper_position": [
+                  0.29626851837370427,
+                  -0.37330281018454636,
+                  1.0019595205033496
+                ],
+                "rod_tip_xy_dist": 0.0029706633696616634,
+                "target_xy_drift": 3.859539792094686e-08,
+                "depth": 0.019159347403588156,
+                "bottom_clearance": 0.08028119797261046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002684504717919145,
+                  0.0029550320826958187
+                ],
+                "rod_tip_xy": [
+                  0.29626851837370416,
+                  -0.3733028101845463
+                ],
+                "target_mouth_xy": [
+                  0.29600006790191224,
+                  -0.3762578422672421
+                ],
+                "gripper_position": [
+                  0.29625976392688014,
+                  -0.3733055255842082,
+                  1.001818106489262
+                ],
+                "rod_tip_xy_dist": 0.0029672007457478993,
+                "target_xy_drift": 2.6225307428620453e-08,
+                "depth": 0.019300245496535418,
+                "bottom_clearance": 0.08014027303767834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00025969386293672736,
+                  0.002952347133179156
+                ],
+                "rod_tip_xy": [
+                  0.29625976392688,
+                  -0.3733055255842082
+                ],
+                "target_mouth_xy": [
+                  0.2960000700639433,
+                  -0.37625787271738736
+                ],
+                "gripper_position": [
+                  0.29625085616003066,
+                  -0.37330865822019227,
+                  1.001676882827904
+                ],
+                "rod_tip_xy_dist": 0.002963746699236995,
+                "target_xy_drift": 5.669885306953898e-08,
+                "depth": 0.01944180764081993,
+                "bottom_clearance": 0.0799988174766938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00025082023421374444,
+                  0.0029491843668657536
+                ],
+                "rod_tip_xy": [
+                  0.29625085616003055,
+                  -0.3733086582201924
+                ],
+                "target_mouth_xy": [
+                  0.2960000359258168,
+                  -0.37625784258705813
+                ],
+                "gripper_position": [
+                  0.29624203247995773,
+                  -0.3733113261286529,
+                  1.0015353363373325
+                ],
+                "rod_tip_xy_dist": 0.002959830944438617,
+                "target_xy_drift": 4.188051217143172e-08,
+                "depth": 0.01958300539204816,
+                "bottom_clearance": 0.07985758940737442,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006063810310881752,
+              "rod_tip_xy_max_step": 3.29009298004316e-05,
+              "rod_tip_xy_range": 0.0006063732814796018,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29588765400793665,
+            -0.3747359127030038,
+            1.043561859533877
+          ],
+          "object_origin_world": [
+            0.29588765400793665,
+            -0.3747359127030038,
+            1.043561859533877
+          ],
+          "frame_world": [
+            0.2958863807789305,
+            -0.37474433141580055,
+            1.0434341521753665
+          ],
+          "center_minus_frame": [
+            1.273229006171217e-06,
+            8.418712796720573e-06,
+            0.00012770735851042048
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2724466540572547,
+              0.14865596793931735,
+              0.8326943795753133
+            ],
+            "target_position": [
+              0.2830970831692734,
+              0.1956184613891287,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048155035368003925,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16858100352785882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326943795753133,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674249057179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13748361373402987,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7605677f83cba6e77a70e9402066683e7c353436a1194b299861774a5be18ddb",
+    "visual_seed": 611701976825264454,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a77a81d6594dcea2a57d671e68aa3e6760c650b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_71_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33657013478723896,
+              -0.03617908302519521,
+              1.1639604537950126
+            ],
+            "current_z": 1.1639604537950126,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.3028539457802468,
+            "gripper_z": 1.1548645996024816,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3318818410404354,
+              -0.040948403244621276,
+              1.1548645996024816
+            ],
+            "object_minus_gripper": [
+              0.0046882937468035735,
+              0.004769320219426068,
+              0.009095854192531005
+            ],
+            "object_to_gripper_xy": 0.006687788394659613,
+            "object_to_gripper_z": 0.009095854192531005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33657013478723896,
+              -0.05994611785228086,
+              1.1639604537950126
+            ],
+            "finger_b": [
+              0.32562238678883026,
+              -0.03617908302519521,
+              1.1639604537950126
+            ],
+            "finger_midpoint": [
+              0.3310962607880346,
+              -0.04806260043873803,
+              1.1639604537950126
+            ],
+            "object_minus_finger_midpoint": [
+              0.005473873999204348,
+              0.011883517413542821,
+              0.0
+            ],
+            "finger_gap": 0.02616725302183177,
+            "fingertip_max_gap": 0.091756873666227,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013083626510915882,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639604537950126,
+            "object_top_z": 1.2138851586499677,
+            "finger_top_clearance": 0.04992470485495515,
+            "fingertip_min_top_clearance": 0.014977411456486577,
+            "object_projection_between_fingers": 0.8249616074224765,
+            "object_to_finger_line_xy": 0.009943554554207557,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048378436833113506,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5588045146842988,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2983923388584279,
+              -0.3750563134944895,
+              0.8515395692082051
+            ],
+            "target_position": [
+              0.2907185697743474,
+              -0.3763639860172763,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007784390752181029,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18655604471430498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395692082051,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553935342234712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663297788431666,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15448857086800613,
+            "release_required_pad_clearance": 0.05331648894215833,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6508621833684423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008427858352661133,
+            "max_z_decrease": 0.008427858352661133,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035050414889230705,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008427858352661133,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103832455861957,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008427858352661133,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008427898788717608,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.146418496966362,
+              -0.43262544274330134,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.146418496966362,
+              -0.43262544274330134,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14500540948117455,
+              -0.4343384283714476,
+              0.8037258129595797
+            ],
+            "closest_button": [
+              0.14643004536628723,
+              -0.4325957596302032,
+              0.7687477469444275
+            ],
+            "closest_ee_minus_button": [
+              -0.001424635885112685,
+              -0.001742668741244402,
+              0.03497806601515219
+            ],
+            "button_min_z_position": [
+              0.14642390608787537,
+              -0.43259990215301514,
+              0.7683809995651245
+            ],
+            "min_active_finger_to_button": 0.14697857232605321,
+            "closest_active_finger": [
+              0.003975659608840942,
+              -0.4209653437137604,
+              0.8109216094017029
+            ],
+            "closest_active_finger_button": [
+              0.14641766250133514,
+              -0.4326264560222626,
+              0.776614248752594
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1424420028924942,
+              0.011661112308502197,
+              0.03430736064910889
+            ],
+            "min_contact_pad_to_button": 0.02103832455861957,
+            "closest_contact_pad": [
+              0.14642390608787537,
+              -0.4352686793748463,
+              0.7892493662566998
+            ],
+            "closest_contact_pad_button": [
+              0.14642390608787537,
+              -0.43259990215301514,
+              0.7683809995651245
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026687772218311756,
+              0.020868366691575324
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28197637310797774,
+              0.19551045091084462,
+              1.1026995480211927
+            ],
+            "current_z": 1.1026995480211927,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1927904182868302,
+            "gripper_z": 1.1026995466220506,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28197628871151914,
+              0.19551071279965515,
+              1.1026995466220506
+            ],
+            "object_minus_gripper": [
+              8.439645859947831e-08,
+              -2.618888105265782e-07,
+              1.399142135483089e-09
+            ],
+            "object_to_gripper_xy": 2.751517968379626e-07,
+            "object_to_gripper_z": 1.399142135483089e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28197637310797774,
+              0.19551045091084462,
+              1.1026995480211927
+            ],
+            "finger_b": [
+              0.28197637310797774,
+              0.19551045091084462,
+              1.1026995480211927
+            ],
+            "finger_midpoint": [
+              0.28197637310797774,
+              0.19551045091084462,
+              1.1026995480211927
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026995480211927,
+            "object_top_z": 1.2277080546414725,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2819763731079778,
+            0.19551045091084462,
+            1.102699548021193
+          ],
+          "object_origin_world": [
+            0.2819763731079778,
+            0.19551045091084462,
+            1.102699548021193
+          ],
+          "frame_world": [
+            0.28197628871151914,
+            0.19551071279965515,
+            1.1026995466220506
+          ],
+          "center_minus_frame": [
+            8.439645865498946e-08,
+            -2.618888105265782e-07,
+            1.399142357527694e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432010089839052,
+            "required_z": 0.911259901513774,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008838138047995515,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.399252176225908e-08,
+            "max_target_xy_drift": 1.3385950668873124e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6508621814441449,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6508621834298254,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.297636405538152,
+              -0.37550290232278427,
+              0.9233298555806987
+            ],
+            "target_mouth_xy": [
+              0.29839239593680833,
+              -0.3750562875929816
+            ],
+            "rod_tip_z": 0.9233298555806987,
+            "rod_tip_depth": -0.022069944793952412,
+            "rod_tip_bottom_clearance": 0.12151056852158482,
+            "rod_tip_xy_dist": 0.0008780581983771059,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04536036857939163,
+            "min_rod_tip_bottom_clearance": 0.05408019089128746,
+            "min_rod_tip_xy_dist": 0.0002604938992324375,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.29839233833775775,
+              -0.3750563154747357
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.7599050584666855e-08,
+              2.78817541277121e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.00026636667209162246,
+                0.0014005465719866272
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000361286951372386,
+                0.001022212394123756
+              ],
+              "first_target_mouth_xy": [
+                0.2983923702090555,
+                -0.3750563477895018
+              ],
+              "last_target_mouth_xy": [
+                0.2983923686947534,
+                -0.375056348112005
+              ],
+              "first_rod_tip_xy": [
+                0.2981260035369639,
+                -0.3736558012175152
+              ],
+              "last_rod_tip_xy": [
+                0.298031081743381,
+                -0.37403413571788124
+              ],
+              "min_rod_tip_xy_dist": 0.001083974099528004,
+              "max_rod_tip_xy_dist": 0.0014256513964867633,
+              "first_target_xy_drift": 4.538748427192656e-08,
+              "last_target_xy_drift": 4.4572845209297525e-08,
+              "max_depth": 0.019472831603695173,
+              "min_bottom_clearance": 0.07996772996450408
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.00026636667209162246,
+                  0.0014005465719866272
+                ],
+                "rod_tip_xy": [
+                  0.2981260035369639,
+                  -0.3736558012175152
+                ],
+                "target_mouth_xy": [
+                  0.2983923702090555,
+                  -0.3750563477895018
+                ],
+                "gripper_position": [
+                  0.29813434367369374,
+                  -0.37372929748509975,
+                  1.0056038935777305
+                ],
+                "rod_tip_xy_dist": 0.0014256513964867633,
+                "target_xy_drift": 4.538748427192656e-08,
+                "depth": 0.01512015172980774,
+                "bottom_clearance": 0.08432044993605137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0002580249333707374,
+                  0.001327051608593921
+                ],
+                "rod_tip_xy": [
+                  0.2981343436736937,
+                  -0.37372929748509987
+                ],
+                "target_mouth_xy": [
+                  0.2983923686070644,
+                  -0.3750563490936938
+                ],
+                "gripper_position": [
+                  0.29812356915583393,
+                  -0.37373897962184793,
+                  1.0054413643767734
+                ],
+                "rod_tip_xy_dist": 0.0013519034130117014,
+                "target_xy_drift": 4.5237874260241216e-08,
+                "depth": 0.015655978602304055,
+                "bottom_clearance": 0.08378462236930728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.000268769557048798,
+                  0.0013173967187246616
+                ],
+                "rod_tip_xy": [
+                  0.2981235691558339,
+                  -0.3737389796218479
+                ],
+                "target_mouth_xy": [
+                  0.2983923387128827,
+                  -0.37505637634057254
+                ],
+                "gripper_position": [
+                  0.2981154591222982,
+                  -0.37374220900884725,
+                  1.0052986544796654
+                ],
+                "rod_tip_xy_dist": 0.0013445338185790316,
+                "target_xy_drift": 6.086699277863352e-08,
+                "depth": 0.015818403102218936,
+                "bottom_clearance": 0.08362210726649832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00027691012539232673,
+                  0.001314138786378427
+                ],
+                "rod_tip_xy": [
+                  0.29811545912229814,
+                  -0.37374220900884714
+                ],
+                "target_mouth_xy": [
+                  0.29839236924769047,
+                  -0.37505634779522556
+                ],
+                "gripper_position": [
+                  0.2981071674693433,
+                  -0.37374554603655374,
+                  1.0051556914461233
+                ],
+                "rod_tip_xy_dist": 0.001342996637154747,
+                "target_xy_drift": 4.472178445155428e-08,
+                "depth": 0.01596119153199338,
+                "bottom_clearance": 0.08347937237423564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0002851994154631221,
+                  0.0013108005229091058
+                ],
+                "rod_tip_xy": [
+                  0.29810716746934324,
+                  -0.37374554603655374
+                ],
+                "target_mouth_xy": [
+                  0.29839236688480636,
+                  -0.37505634655946285
+                ],
+                "gripper_position": [
+                  0.2981173443038373,
+                  -0.37382187963729885,
+                  1.0046196260583027
+                ],
+                "rod_tip_xy_dist": 0.001341468120172556,
+                "target_xy_drift": 4.220419700740091e-08,
+                "depth": 0.016104184902970164,
+                "bottom_clearance": 0.08333638726246995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00027502536573598135,
+                  0.0012344373911657436
+                ],
+                "rod_tip_xy": [
+                  0.2981173443038372,
+                  -0.37382187963729885
+                ],
+                "target_mouth_xy": [
+                  0.29839236966957317,
+                  -0.3750563170284646
+                ],
+                "gripper_position": [
+                  0.2981063193146837,
+                  -0.37383156489711944,
+                  1.004456799723416
+                ],
+                "rod_tip_xy_dist": 0.0012647033741183336,
+                "target_xy_drift": 3.1370316079099845e-08,
+                "depth": 0.016640206539866198,
+                "bottom_clearance": 0.08280034066731001,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00028611026693875496,
+                  0.0012247508721887623
+                ],
+                "rod_tip_xy": [
+                  0.29810631931468357,
+                  -0.37383156489711933
+                ],
+                "target_mouth_xy": [
+                  0.2983924295816223,
+                  -0.3750563157693081
+                ],
+                "gripper_position": [
+                  0.29809803112151,
+                  -0.3738348175452736,
+                  1.0043144205333854
+                ],
+                "rod_tip_xy_dist": 0.0012577256393088677,
+                "target_xy_drift": 9.124434007360447e-08,
+                "depth": 0.016803028092649885,
+                "bottom_clearance": 0.08263751729123126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0002943362931195348,
+                  0.0012215001521395097
+                ],
+                "rod_tip_xy": [
+                  0.29809803112150995,
+                  -0.3738348175452736
+                ],
+                "target_mouth_xy": [
+                  0.2983923674146295,
+                  -0.3750563176974131
+                ],
+                "gripper_position": [
+                  0.29810901330024897,
+                  -0.3739116254241398,
+                  1.0037816266216235
+                ],
+                "rod_tip_xy_dist": 0.0012564618876528622,
+                "target_xy_drift": 2.9161700312477055e-08,
+                "depth": 0.016945457545130882,
+                "bottom_clearance": 0.0824951294016325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00028338597168570123,
+                  0.0011446326192041112
+                ],
+                "rod_tip_xy": [
+                  0.2981090133002489,
+                  -0.3739116254241398
+                ],
+                "target_mouth_xy": [
+                  0.2983923992719346,
+                  -0.3750562580433439
+                ],
+                "gripper_position": [
+                  0.2980978865226964,
+                  -0.3739209397445089,
+                  1.0036192444238232
+                ],
+                "rod_tip_xy_dist": 0.0011791910116237796,
+                "target_xy_drift": 8.373373678539387e-08,
+                "depth": 0.017478155591259426,
+                "bottom_clearance": 0.08196240514884623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0002944822749518239,
+                  0.0011353779206852987
+                ],
+                "rod_tip_xy": [
+                  0.29809788652269636,
+                  -0.3739209397445089
+                ],
+                "target_mouth_xy": [
+                  0.2983923687976482,
+                  -0.3750563176651942
+                ],
+                "gripper_position": [
+                  0.29808948812622804,
+                  -0.37392400963407146,
+                  1.0034768379855898
+                ],
+                "rod_tip_xy_dist": 0.001172946219159461,
+                "target_xy_drift": 3.053854996841519e-08,
+                "depth": 0.017640591997091337,
+                "bottom_clearance": 0.08179994280428804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00030288091691205166,
+                  0.0011323058085852544
+                ],
+                "rod_tip_xy": [
+                  0.298089488126228,
+                  -0.3739240096340716
+                ],
+                "target_mouth_xy": [
+                  0.29839236904314004,
+                  -0.37505631544265683
+                ],
+                "gripper_position": [
+                  0.298080838533471,
+                  -0.37392727690452265,
+                  1.0033341159437443
+                ],
+                "rod_tip_xy_dist": 0.0011721148808821564,
+                "target_xy_drift": 3.0705399049248025e-08,
+                "depth": 0.017782929169238515,
+                "bottom_clearance": 0.08165759328106159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0003115302682625276,
+                  0.0011290410760745884
+                ],
+                "rod_tip_xy": [
+                  0.2980808385334709,
+                  -0.37392727690452265
+                ],
+                "target_mouth_xy": [
+                  0.2983923688017334,
+                  -0.37505631798059724
+                ],
+                "gripper_position": [
+                  0.2980722128901677,
+                  -0.37393044449526397,
+                  1.0031914621552325
+                ],
+                "rod_tip_xy_dist": 0.0011712321970930389,
+                "target_xy_drift": 3.056686369094481e-08,
+                "depth": 0.017925726068260373,
+                "bottom_clearance": 0.08151481980257347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0003201553894428,
+                  0.0011258706357264447
+                ],
+                "rod_tip_xy": [
+                  0.29807221289016766,
+                  -0.373930444495264
+                ],
+                "target_mouth_xy": [
+                  0.29839236827961046,
+                  -0.37505631513099047
+                ],
+                "gripper_position": [
+                  0.29808560013055063,
+                  -0.37401047833410184,
+                  1.0026617919333447
+                ],
+                "rod_tip_xy_dist": 0.0011705059426505872,
+                "target_xy_drift": 2.9943825825567465e-08,
+                "depth": 0.01806838126295529,
+                "bottom_clearance": 0.08137215751050275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00030673814501919194,
+                  0.0010458390226442127
+                ],
+                "rod_tip_xy": [
+                  0.2980856001305506,
+                  -0.37401047833410184
+                ],
+                "target_mouth_xy": [
+                  0.29839233827556977,
+                  -0.37505631735674605
+                ],
+                "gripper_position": [
+                  0.2980744628441999,
+                  -0.3740196844697181,
+                  1.00249924648057
+                ],
+                "rod_tip_xy_dist": 0.0010898933667543888,
+                "target_xy_drift": 1.883037495443162e-09,
+                "depth": 0.01859805988557206,
+                "bottom_clearance": 0.0808424897013672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.000317846045295167,
+                  0.001036599275835104
+                ],
+                "rod_tip_xy": [
+                  0.2980744628441998,
+                  -0.3740196844697181
+                ],
+                "target_mouth_xy": [
+                  0.298392308889495,
+                  -0.3750562837455532
+                ],
+                "gripper_position": [
+                  0.2980657104613773,
+                  -0.374022509004821,
+                  1.002357118981053
+                ],
+                "rod_tip_xy_dist": 0.0010842343691156628,
+                "target_xy_drift": 4.32890425243972e-08,
+                "depth": 0.018760617166533877,
+                "bottom_clearance": 0.08067996792412646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0003266580689158527,
+                  0.0010338115307953477
+                ],
+                "rod_tip_xy": [
+                  0.2980657104613772,
+                  -0.37402250900482104
+                ],
+                "target_mouth_xy": [
+                  0.29839236853029305,
+                  -0.3750563205356164
+                ],
+                "gripper_position": [
+                  0.29805717694180567,
+                  -0.37402549170784094,
+                  1.002214340165968
+                ],
+                "rod_tip_xy_dist": 0.0010841917612642398,
+                "target_xy_drift": 3.061375019826964e-08,
+                "depth": 0.01890277879032254,
+                "bottom_clearance": 0.08053787082722541,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00033516065868693934,
+                  0.0010309166765382627
+                ],
+                "rod_tip_xy": [
+                  0.2980571769418056,
+                  -0.37402549170784094
+                ],
+                "target_mouth_xy": [
+                  0.29839233760049255,
+                  -0.3750564083843792
+                ],
+                "gripper_position": [
+                  0.29804849898881913,
+                  -0.37402836370575493,
+                  1.0020722011830516
+                ],
+                "rod_tip_xy_dist": 0.0010840303783087263,
+                "target_xy_drift": 9.291256864016164e-08,
+                "depth": 0.0190455026281372,
+                "bottom_clearance": 0.08039513186213132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0003438690458200666,
+                  0.001027985373327045
+                ],
+                "rod_tip_xy": [
+                  0.298048498988819,
+                  -0.3740283637057549
+                ],
+                "target_mouth_xy": [
+                  0.2983923680346391,
+                  -0.3750563490790819
+                ],
+                "gripper_position": [
+                  0.2980396602144633,
+                  -0.37403127901119526,
+                  1.001929526190691
+                ],
+                "rod_tip_xy_dist": 0.001083974099528004,
+                "target_xy_drift": 4.484592338954592e-08,
+                "depth": 0.01918768788202796,
+                "bottom_clearance": 0.08025293397675226,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0003527097034492499,
+                  0.0010250979464416776
+                ],
+                "rod_tip_xy": [
+                  0.29803966021446326,
+                  -0.37403127901119526
+                ],
+                "target_mouth_xy": [
+                  0.2983923699179125,
+                  -0.37505637695763694
+                ],
+                "gripper_position": [
+                  0.29803108174338105,
+                  -0.3740341357178813,
+                  1.0017870195685292
+                ],
+                "rod_tip_xy_dist": 0.0010840802252168437,
+                "target_xy_drift": 6.911912410473708e-08,
+                "depth": 0.01933025462663651,
+                "bottom_clearance": 0.08011031361073906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000361286951372386,
+                  0.001022212394123756
+                ],
+                "rod_tip_xy": [
+                  0.298031081743381,
+                  -0.37403413571788124
+                ],
+                "target_mouth_xy": [
+                  0.2983923686947534,
+                  -0.375056348112005
+                ],
+                "gripper_position": [
+                  0.2980222899447016,
+                  -0.3740369677961466,
+                  1.0016447439438831
+                ],
+                "rod_tip_xy_dist": 0.0010841800772621556,
+                "target_xy_drift": 4.4572845209297525e-08,
+                "depth": 0.019472831603695173,
+                "bottom_clearance": 0.07996772996450408,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006108554169083233,
+              "rod_tip_xy_max_step": 3.31691077531362e-05,
+              "rod_tip_xy_range": 0.0006108467770882765,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29763640553815207,
+            -0.37550290232278427,
+            1.0433298555806987
+          ],
+          "object_origin_world": [
+            0.29763640553815207,
+            -0.37550290232278427,
+            1.0433298555806987
+          ],
+          "frame_world": [
+            0.29763497310177445,
+            -0.3755117406537063,
+            1.0432010089839052
+          ],
+          "center_minus_frame": [
+            1.4324363776241356e-06,
+            8.838330922023019e-06,
+            0.00012884659679346377
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27307923741639123,
+              0.14804785127836262,
+              0.8327822950649653
+            ],
+            "target_position": [
+              0.28212674052222636,
+              0.19559764750927222,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04840289695928459,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16933271758853216,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327822950649653,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670409863078,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13868335528169662,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6a7b77e4c5d51b723b415000aa403cae30174dffbd3a70af0e7599c8f2f81aed",
+    "visual_seed": 1336735538043908688,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9088027a747dd3eb555a288c08b514edd82d3f4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_72_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33504196894428184,
+              -0.031266342291815394,
+              1.1674725723790829
+            ],
+            "current_z": 1.1674725723790829,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30636612396896157,
+            "gripper_z": 1.1584301315448675,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3303244296809771,
+              -0.036126008875702845,
+              1.1584301315448675
+            ],
+            "object_minus_gripper": [
+              0.00471753926330476,
+              0.004859666583887451,
+              0.009042440834215348
+            ],
+            "object_to_gripper_xy": 0.006772852870642794,
+            "object_to_gripper_z": 0.009042440834215348,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33504196894428184,
+              -0.054950024231161104,
+              1.1674725723790829
+            ],
+            "finger_b": [
+              0.3238263303493235,
+              -0.031266342291815394,
+              1.1674725723790829
+            ],
+            "finger_midpoint": [
+              0.3294341496468027,
+              -0.04310818326148825,
+              1.1674725723790829
+            ],
+            "object_minus_finger_midpoint": [
+              0.005607819297479166,
+              0.011841840969672855,
+              0.0
+            ],
+            "finger_gap": 0.026205101398330995,
+            "fingertip_max_gap": 0.09145609264067164,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013102550699165497,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1674725723790829,
+            "object_top_z": 1.2174497699396951,
+            "finger_top_clearance": 0.04997719756061225,
+            "fingertip_min_top_clearance": 0.014993159268183676,
+            "object_projection_between_fingers": 0.8168207300339487,
+            "object_to_finger_line_xy": 0.01013648499931242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048228046320335824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.210999302510377,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2985302098070334,
+              -0.375871711108687,
+              0.8515395093852948
+            ],
+            "target_position": [
+              0.29121241694631983,
+              -0.37706195057583114,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007413957265958423,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18519827824832144,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395093852948,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540537441944559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525305819632216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536009173806038,
+            "release_required_pad_clearance": 0.05262652909816108,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31403502498186064,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008278191089630127,
+            "max_z_decrease": 0.008278191089630127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500274579530845,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008278191089630127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020794893439744378,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008278191089630127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00827847701109653,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14691233634948728,
+              -0.4333234131336211,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14691233634948728,
+              -0.4333234131336211,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14491003382314224,
+              -0.43263085580082944,
+              0.8034655235483087
+            ],
+            "closest_button": [
+              0.14698006212711334,
+              -0.43331128358840937,
+              0.7685306668281555
+            ],
+            "closest_ee_minus_button": [
+              -0.0020700283039711,
+              0.0006804277875799292,
+              0.03493485672015317
+            ],
+            "button_min_z_position": [
+              0.14698006212711334,
+              -0.43331128358840937,
+              0.7685306668281555
+            ],
+            "min_active_finger_to_button": 0.1472271986418158,
+            "closest_active_finger": [
+              0.01740514487028122,
+              -0.4944632053375244,
+              0.8108053207397461
+            ],
+            "closest_active_finger_button": [
+              0.14691416919231415,
+              -0.4333252310752868,
+              0.7766672372817993
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12950902432203293,
+              -0.061137974262237604,
+              0.03413808345794678
+            ],
+            "min_contact_pad_to_button": 0.020794893439744378,
+            "closest_contact_pad": [
+              0.14698006212711334,
+              -0.4339210521328777,
+              0.7893166182254936
+            ],
+            "closest_contact_pad_button": [
+              0.14698006212711334,
+              -0.43331128358840937,
+              0.7685306668281555
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006097685444683143,
+              0.020785951397338076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28779095240155356,
+              0.19172973388747203,
+              1.1007393723251795
+            ],
+            "current_z": 1.1007393723251795,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19083024259081693,
+            "gripper_z": 1.1007396202831548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28779100695506166,
+              0.191729642485873,
+              1.1007396202831548
+            ],
+            "object_minus_gripper": [
+              -5.45535080997972e-08,
+              9.140159903942013e-08,
+              -2.4795797526344643e-07
+            ],
+            "object_to_gripper_xy": 1.0644405832622865e-07,
+            "object_to_gripper_z": -2.4795797526344643e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28779095240155356,
+              0.19172973388747203,
+              1.1007393723251795
+            ],
+            "finger_b": [
+              0.28779095240155356,
+              0.19172973388747203,
+              1.1007393723251795
+            ],
+            "finger_midpoint": [
+              0.28779095240155356,
+              0.19172973388747203,
+              1.1007393723251795
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1007393723251795,
+            "object_top_z": 1.2257478789454592,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2877909524015535,
+            0.19172973388747205,
+            1.1007393723251797
+          ],
+          "object_origin_world": [
+            0.2877909524015535,
+            0.19172973388747205,
+            1.1007393723251797
+          ],
+          "frame_world": [
+            0.28779100695506166,
+            0.191729642485873,
+            1.1007396202831548
+          ],
+          "center_minus_frame": [
+            -5.455350815530835e-08,
+            9.140159906717571e-08,
+            -2.479579750414018e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432239168586894,
+            "required_z": 0.9112598030887444,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002288636423175873,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.016592242666171e-08,
+            "max_target_xy_drift": 8.87259475136896e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.31651755375432805,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.31651755551495514,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2969241605410109,
+              -0.3774912402740608,
+              0.923353322902743
+            ],
+            "target_mouth_xy": [
+              0.298530233981282,
+              -0.3758709156862503
+            ],
+            "rod_tip_z": 0.923353322902743,
+            "rod_tip_depth": -0.022093471344492133,
+            "rod_tip_bottom_clearance": 0.12153401199197467,
+            "rod_tip_xy_dist": 0.0022814301798230363,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04516076554126913,
+            "min_rod_tip_bottom_clearance": 0.054279776381911615,
+            "min_rod_tip_xy_dist": 0.0010654625056620171,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.29853020381535955,
+              -0.3758709156862467
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.0165922426661496e-08,
+              -3.608224830031759e-15
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.001046125276057408,
+                0.00021062884673545001
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011489178873713701,
+                -0.00017974091302153106
+              ],
+              "first_target_mouth_xy": [
+                0.2985301491160455,
+                -0.37587168004076094
+              ],
+              "last_target_mouth_xy": [
+                0.2985301775516631,
+                -0.3758717111186861
+              ],
+              "first_rod_tip_xy": [
+                0.29748402383998807,
+                -0.3756610511940255
+              ],
+              "last_rod_tip_xy": [
+                0.29738125966429174,
+                -0.37605145203170764
+              ],
+              "min_rod_tip_xy_dist": 0.0010654625056620171,
+              "max_rod_tip_xy_dist": 0.00116289256070185,
+              "first_target_xy_drift": 7.663092315744491e-07,
+              "last_target_xy_drift": 7.958659104554996e-07,
+              "max_depth": 0.019482608826921877,
+              "min_bottom_clearance": 0.07995800749254645
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001046125276057408,
+                  0.00021062884673545001
+                ],
+                "rod_tip_xy": [
+                  0.29748402383998807,
+                  -0.3756610511940255
+                ],
+                "target_mouth_xy": [
+                  0.2985301491160455,
+                  -0.37587168004076094
+                ],
+                "gripper_position": [
+                  0.2974734944244022,
+                  -0.37567063268473483,
+                  1.0059897805587577
+                ],
+                "rod_tip_xy_dist": 0.0010671188332530234,
+                "target_xy_drift": 7.663092315744491e-07,
+                "depth": 0.015107082869465382,
+                "bottom_clearance": 0.08433344636776485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010567159214925348,
+                  0.00020104798353165476
+                ],
+                "rod_tip_xy": [
+                  0.29747349442440224,
+                  -0.3756706326847349
+                ],
+                "target_mouth_xy": [
+                  0.2985302103458948,
+                  -0.37587168066826654
+                ],
+                "gripper_position": [
+                  0.29746543294643224,
+                  -0.3756740354300407,
+                  1.005846505093456
+                ],
+                "rod_tip_xy_dist": 0.0010756713394052858,
+                "target_xy_drift": 7.650098944261865e-07,
+                "depth": 0.015270043001146427,
+                "bottom_clearance": 0.08417047835896396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0010647460558099175,
+                  0.00019764429597662891
+                ],
+                "rod_tip_xy": [
+                  0.2974654329464323,
+                  -0.37567403543004085
+                ],
+                "target_mouth_xy": [
+                  0.2985301790022422,
+                  -0.3758716797260175
+                ],
+                "gripper_position": [
+                  0.2974719118178144,
+                  -0.37574809923556096,
+                  1.0053106745157527
+                ],
+                "rod_tip_xy_dist": 0.0010829346384223166,
+                "target_xy_drift": 7.644425826260888e-07,
+                "depth": 0.015413343679400504,
+                "bottom_clearance": 0.08402719349454124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010582677413995545,
+                  0.00012361123931370344
+                ],
+                "rod_tip_xy": [
+                  0.29747191181781446,
+                  -0.37574809923556096
+                ],
+                "target_mouth_xy": [
+                  0.298530179559214,
+                  -0.37587171047487467
+                ],
+                "gripper_position": [
+                  0.2974612113434355,
+                  -0.375757969821511,
+                  1.0051475335073616
+                ],
+                "rod_tip_xy_dist": 0.0010654625056620171,
+                "target_xy_drift": 7.951586783414903e-07,
+                "depth": 0.015949157680465675,
+                "bottom_clearance": 0.08349135877266278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010689687362022138,
+                  0.00011374096974225978
+                ],
+                "rod_tip_xy": [
+                  0.2974612113434356,
+                  -0.3757579698215111
+                ],
+                "target_mouth_xy": [
+                  0.29853018007963783,
+                  -0.37587171079125337
+                ],
+                "gripper_position": [
+                  0.29745289506403966,
+                  -0.3757612524653814,
+                  1.0050045642238716
+                ],
+                "rod_tip_xy_dist": 0.001075002868449972,
+                "target_xy_drift": 7.954592108423969e-07,
+                "depth": 0.016112292022495756,
+                "bottom_clearance": 0.08332822278475749,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010772842096351543,
+                  0.00011045548330024246
+                ],
+                "rod_tip_xy": [
+                  0.2974528950640397,
+                  -0.3757612524653815
+                ],
+                "target_mouth_xy": [
+                  0.29853017927367487,
+                  -0.37587170794868174
+                ],
+                "gripper_position": [
+                  0.2974446290973021,
+                  -0.3757648049127501,
+                  1.0048617212170734
+                ],
+                "rod_tip_xy_dist": 0.001082931984069327,
+                "target_xy_drift": 7.926424542447757e-07,
+                "depth": 0.016255304231979184,
+                "bottom_clearance": 0.08318527861880087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010855215289927167,
+                  0.00010690619156183967
+                ],
+                "rod_tip_xy": [
+                  0.29744462909730224,
+                  -0.3757648049127501
+                ],
+                "target_mouth_xy": [
+                  0.29853015062629495,
+                  -0.37587171110431195
+                ],
+                "gripper_position": [
+                  0.2974527091894047,
+                  -0.3758413523164521,
+                  1.0043252643840763
+                ],
+                "rod_tip_xy_dist": 0.0010907730853394497,
+                "target_xy_drift": 7.971944399667811e-07,
+                "depth": 0.016398112701372924,
+                "bottom_clearance": 0.08304242670743978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010774380713014509,
+                  3.0356905300621406e-05
+                ],
+                "rod_tip_xy": [
+                  0.2974527091894048,
+                  -0.3758413523164522
+                ],
+                "target_mouth_xy": [
+                  0.29853014726070626,
+                  -0.37587170922175284
+                ],
+                "gripper_position": [
+                  0.2974418222535653,
+                  -0.3758507963607463,
+                  1.0041624480006488
+                ],
+                "rod_tip_xy_dist": 0.0010778656406014717,
+                "target_xy_drift": 7.955482564316592e-07,
+                "depth": 0.016934649228654064,
+                "bottom_clearance": 0.08250597396997728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001088356397853596,
+                  2.0914117997206105e-05
+                ],
+                "rod_tip_xy": [
+                  0.29744182225356536,
+                  -0.37585079636074636
+                ],
+                "target_mouth_xy": [
+                  0.29853017865141895,
+                  -0.37587171047874357
+                ],
+                "gripper_position": [
+                  0.29743345263327503,
+                  -0.37585404057949984,
+                  1.0040193538163227
+                ],
+                "rod_tip_xy_dist": 0.0010885573246643724,
+                "target_xy_drift": 7.951907550962747e-07,
+                "depth": 0.017097352248290787,
+                "bottom_clearance": 0.08234319906520626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001096720731941836,
+                  1.687606145206466e-05
+                ],
+                "rod_tip_xy": [
+                  0.2974334526332751,
+                  -0.3758540405794999
+                ],
+                "target_mouth_xy": [
+                  0.2985301733652169,
+                  -0.37587091664095196
+                ],
+                "gripper_position": [
+                  0.2974251763678273,
+                  -0.3758572118627229,
+                  1.0038764988676088
+                ],
+                "rod_tip_xy_dist": 0.0010968505665409352,
+                "target_xy_drift": 3.046510542070215e-08,
+                "depth": 0.017240469468096653,
+                "bottom_clearance": 0.08220011093355961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001104997076076697,
+                  1.3675293836556968e-05
+                ],
+                "rod_tip_xy": [
+                  0.2974251763678274,
+                  -0.37585721186272303
+                ],
+                "target_mouth_xy": [
+                  0.2985301734439041,
+                  -0.3758708871565596
+                ],
+                "gripper_position": [
+                  0.29743461793810233,
+                  -0.3759360511232723,
+                  1.0033433943477728
+                ],
+                "rod_tip_xy_dist": 0.0011050816946269475,
+                "target_xy_drift": 4.166975346235641e-08,
+                "depth": 0.01738332775712015,
+                "bottom_clearance": 0.0820572610585023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001095554917012076,
+                  -6.51642797256935e-05
+                ],
+                "rod_tip_xy": [
+                  0.29743461793810244,
+                  -0.37593605112327233
+                ],
+                "target_mouth_xy": [
+                  0.2985301728551145,
+                  -0.37587088684354664
+                ],
+                "gripper_position": [
+                  0.2974236410467006,
+                  -0.37594540841190394,
+                  1.0031808517045249
+                ],
+                "rod_tip_xy_dist": 0.0010974912116010337,
+                "target_xy_drift": 4.231356897536831e-08,
+                "depth": 0.017916444513364937,
+                "bottom_clearance": 0.08152415554789572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011065624431563226,
+                  -7.452189232304285e-05
+                ],
+                "rod_tip_xy": [
+                  0.29742364104670066,
+                  -0.37594540841190405
+                ],
+                "target_mouth_xy": [
+                  0.298530203489857,
+                  -0.375870886519581
+                ],
+                "gripper_position": [
+                  0.2974152007141959,
+                  -0.37594837104676304,
+                  1.003038143355731
+                ],
+                "rod_tip_xy_dist": 0.0011090689577476671,
+                "target_xy_drift": 2.9168481955930826e-08,
+                "depth": 0.018078956039177085,
+                "bottom_clearance": 0.08136160058298192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011149709471354186,
+                  -7.748292054499117e-05
+                ],
+                "rod_tip_xy": [
+                  0.297415200714196,
+                  -0.37594837104676315
+                ],
+                "target_mouth_xy": [
+                  0.29853017166133144,
+                  -0.37587088812621816
+                ],
+                "gripper_position": [
+                  0.29740657226572276,
+                  -0.3759515137779806,
+                  1.0028953097863267
+                ],
+                "rod_tip_xy_dist": 0.0011176599733068344,
+                "target_xy_drift": 4.234898695901836e-08,
+                "depth": 0.018221754839343185,
+                "bottom_clearance": 0.08121893683288961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011236327868476836,
+                  -8.062471162695317e-05
+                ],
+                "rod_tip_xy": [
+                  0.2974065722657228,
+                  -0.37595151377798064
+                ],
+                "target_mouth_xy": [
+                  0.2985302050525705,
+                  -0.3758708890663537
+                ],
+                "gripper_position": [
+                  0.29739796387405004,
+                  -0.3759547511737017,
+                  1.0027526361742045
+                ],
+                "rod_tip_xy_dist": 0.0011265216304199497,
+                "target_xy_drift": 2.664862838681103e-08,
+                "depth": 0.018364496334125402,
+                "bottom_clearance": 0.08107609193460164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011321775858227356,
+                  -8.389252836682459e-05
+                ],
+                "rod_tip_xy": [
+                  0.29739796387405015,
+                  -0.3759547511737017
+                ],
+                "target_mouth_xy": [
+                  0.2985301414598729,
+                  -0.37587085864533487
+                ],
+                "gripper_position": [
+                  0.29740972718485414,
+                  -0.3760362892654974,
+                  1.0022247100039718
+                ],
+                "rod_tip_xy_dist": 0.001135281481464036,
+                "target_xy_drift": 8.450959909419726e-08,
+                "depth": 0.018507279913631325,
+                "bottom_clearance": 0.08093343851117896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011204822344714205,
+                  -0.000164576887702661
+                ],
+                "rod_tip_xy": [
+                  0.2974097271848542,
+                  -0.3760362892654975
+                ],
+                "target_mouth_xy": [
+                  0.2985302094193256,
+                  -0.3758717123777948
+                ],
+                "gripper_position": [
+                  0.29739855313945707,
+                  -0.3760455353613663,
+                  1.0020621846986901
+                ],
+                "rod_tip_xy_dist": 0.0011325043000942475,
+                "target_xy_drift": 7.96711257159213e-07,
+                "depth": 0.019035154701737445,
+                "bottom_clearance": 0.08040542783743698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011316505086421125,
+                  -0.00017464820578860785
+                ],
+                "rod_tip_xy": [
+                  0.2973985531394572,
+                  -0.3760455353613664
+                ],
+                "target_mouth_xy": [
+                  0.2985302036480993,
+                  -0.3758708871555778
+                ],
+                "gripper_position": [
+                  0.2973899725235921,
+                  -0.3760484979476471,
+                  1.0019199082312524
+                ],
+                "rod_tip_xy_dist": 0.0011450479769403252,
+                "target_xy_drift": 2.8531159158102373e-08,
+                "depth": 0.019197629702532804,
+                "bottom_clearance": 0.0802429437209039,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001140200049633,
+                  -0.0001776088709860013
+                ],
+                "rod_tip_xy": [
+                  0.2973899725235922,
+                  -0.37604849794764716
+                ],
+                "target_mouth_xy": [
+                  0.2985301725732252,
+                  -0.37587088907666116
+                ],
+                "gripper_position": [
+                  0.2973812596642917,
+                  -0.37605145203170753,
+                  1.0017772363539663
+                ],
+                "rod_tip_xy_dist": 0.0011539502000675844,
+                "target_xy_drift": 4.103828699479103e-08,
+                "depth": 0.019339979394767726,
+                "bottom_clearance": 0.08010071156700072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0011489178873713701,
+                  -0.00017974091302153106
+                ],
+                "rod_tip_xy": [
+                  0.29738125966429174,
+                  -0.37605145203170764
+                ],
+                "target_mouth_xy": [
+                  0.2985301775516631,
+                  -0.3758717111186861
+                ],
+                "gripper_position": [
+                  0.29737259155683804,
+                  -0.3760542645624558,
+                  1.0016342908170393
+                ],
+                "rod_tip_xy_dist": 0.00116289256070185,
+                "target_xy_drift": 7.958659104554996e-07,
+                "depth": 0.019482608826921877,
+                "bottom_clearance": 0.07995800749254645,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006067477272171136,
+              "rod_tip_xy_max_step": 3.2959008771302567e-05,
+              "rod_tip_xy_range": 0.0006067373984249641,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29692416054101084,
+            -0.3774912402740607,
+            1.0433533229027432
+          ],
+          "object_origin_world": [
+            0.29692416054101084,
+            -0.3774912402740607,
+            1.0433533229027432
+          ],
+          "frame_world": [
+            0.29692281788312347,
+            -0.37750004740740367,
+            1.0432239168586894
+          ],
+          "center_minus_frame": [
+            1.3426578873709794e-06,
+            8.80713334294736e-06,
+            0.00012940604405375922
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2765515705714235,
+              0.1469467301217118,
+              0.8316995985218935
+            ],
+            "target_position": [
+              0.2879638397434284,
+              0.19375907311477675,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048183351317178526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16728005700707188,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316995985218935,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668988855687,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13757866375871253,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dceed1afdc96549f30fe6d30e659a52e18b001af1a2ba83884a20e82700d9467",
+    "visual_seed": 5141291090638530075,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be81cce3cd026fef11e6767ae11fff99f371ffc4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_73_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33220504459697414,
+              -0.027829932294164327,
+              1.1656991501618423
+            ],
+            "current_z": 1.1656991501618423,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3045926421470764,
+            "gripper_z": 1.1567341923671801,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.327600461611472,
+              -0.03247239313225077,
+              1.1567341923671801
+            ],
+            "object_minus_gripper": [
+              0.004604582985502148,
+              0.0046424608380864416,
+              0.00896495779466222
+            ],
+            "object_to_gripper_xy": 0.006538702249188453,
+            "object_to_gripper_z": 0.00896495779466222,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33220504459697414,
+              -0.051595260452806754,
+              1.1656991501618423
+            ],
+            "finger_b": [
+              0.3215196698166055,
+              -0.027829932294164327,
+              1.1656991501618423
+            ],
+            "finger_midpoint": [
+              0.3268623572067898,
+              -0.03971259637348554,
+              1.1656991501618423
+            ],
+            "object_minus_finger_midpoint": [
+              0.005342687390184342,
+              0.01188266407932121,
+              0.0
+            ],
+            "finger_gap": 0.02605701549842001,
+            "fingertip_max_gap": 0.09212074880894103,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013028507749210013,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656991501618423,
+            "object_top_z": 1.2156088131080116,
+            "finger_top_clearance": 0.049909662946169275,
+            "fingertip_min_top_clearance": 0.014972898883850783,
+            "object_projection_between_fingers": 0.8318371047462606,
+            "object_to_finger_line_xy": 0.009745607211575726,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048560374404470516,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9575522876717015,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29441037006903625,
+              -0.37092916484573174,
+              0.8515395673533096
+            ],
+            "target_position": [
+              0.2872713214555025,
+              -0.3719909122803559,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007217570416790495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480719772078605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395673533096,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563162030777046,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08789944292880146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526251433448971,
+            "release_required_pad_clearance": 0.05394972146440073,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.909898478540897,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008104860782623291,
+            "max_z_decrease": 0.008104860782623291,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508893399504767,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104860782623291,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021026247679992255,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008104860782623291,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104888341785146,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1429712474346161,
+              -0.4282523691654205,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1429712474346161,
+              -0.4282523691654205,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14162813291950394,
+              -0.4292230363430174,
+              0.8037528379192872
+            ],
+            "closest_button": [
+              0.1429828405380249,
+              -0.42823469638824463,
+              0.7687039971351624
+            ],
+            "closest_ee_minus_button": [
+              -0.0013547076185209672,
+              -0.0009883399547727656,
+              0.035048840784124846
+            ],
+            "button_min_z_position": [
+              0.1429828405380249,
+              -0.42823469638824463,
+              0.7687039971351624
+            ],
+            "min_active_finger_to_button": 0.1469682072951899,
+            "closest_active_finger": [
+              0.0006395205855369568,
+              -0.4154839515686035,
+              0.8107340931892395
+            ],
+            "closest_active_finger_button": [
+              0.14297087490558624,
+              -0.4282528758049011,
+              0.7764063477516174
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14233135432004929,
+              0.012768924236297607,
+              0.03432774543762207
+            ],
+            "min_contact_pad_to_button": 0.021026247679992255,
+            "closest_contact_pad": [
+              0.1429828405380249,
+              -0.4301923051793781,
+              0.7896389167509922
+            ],
+            "closest_contact_pad_button": [
+              0.1429828405380249,
+              -0.42823469638824463,
+              0.7687039971351624
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019576087911334916,
+              0.020934919615829828
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2907923390993993,
+              0.19700167161080073,
+              1.1042660008262857
+            ],
+            "current_z": 1.1042660008262857,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19435687109192312,
+            "gripper_z": 1.1042661161249514,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2907924368832297,
+              0.1970016602862038,
+              1.1042661161249514
+            ],
+            "object_minus_gripper": [
+              -9.778383042169381e-08,
+              1.132459692687604e-08,
+              -1.1529866572601577e-07
+            ],
+            "object_to_gripper_xy": 9.843741152374325e-08,
+            "object_to_gripper_z": -1.1529866572601577e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2907923390993993,
+              0.19700167161080073,
+              1.1042660008262857
+            ],
+            "finger_b": [
+              0.2907923390993993,
+              0.19700167161080073,
+              1.1042660008262857
+            ],
+            "finger_midpoint": [
+              0.2907923390993993,
+              0.19700167161080073,
+              1.1042660008262857
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042660008262857,
+            "object_top_z": 1.2292745074465654,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29079233909939933,
+            0.19700167161080076,
+            1.1042660008262857
+          ],
+          "object_origin_world": [
+            0.29079233909939933,
+            0.19700167161080076,
+            1.1042660008262857
+          ],
+          "frame_world": [
+            0.2907924368832297,
+            0.1970016602862038,
+            1.1042661161249514
+          ],
+          "center_minus_frame": [
+            -9.778383036618266e-08,
+            1.1324596954631616e-08,
+            -1.1529866572601577e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435925084965807,
+            "required_z": 0.9112598448477882,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009598758013116958,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.088592977382958e-08,
+            "max_target_xy_drift": 1.2930045612110312e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.909898476782633,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.909898478550545,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29534432659419046,
+              -0.3709861978257548,
+              0.9232971467315273
+            ],
+            "target_mouth_xy": [
+              0.2944103964573863,
+              -0.3709291953433632
+            ],
+            "rod_tip_z": 0.9232971467315273,
+            "rod_tip_depth": -0.02203722930005958,
+            "rod_tip_bottom_clearance": 0.12147785183783022,
+            "rod_tip_xy_dist": 0.0009356680946948146,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04529062435216824,
+            "min_rod_tip_bottom_clearance": 0.05414994051760935,
+            "min_rod_tip_xy_dist": 9.61448575393889e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2944104601132391,
+              -0.37092916415446386
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.365585281109531e-08,
+              -3.11888993520526e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0014004665075699196,
+                0.0017910799759837115
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013110570517628206,
+                0.001398175776905597
+              ],
+              "first_target_mouth_xy": [
+                0.2944104294683774,
+                -0.37092913729257226
+              ],
+              "last_target_mouth_xy": [
+                0.29441040264465596,
+                -0.3709291061348977
+              ],
+              "first_rod_tip_xy": [
+                0.29581089597594734,
+                -0.36913805731658855
+              ],
+              "last_rod_tip_xy": [
+                0.2957214596964188,
+                -0.3695309303579921
+              ],
+              "min_rod_tip_xy_dist": 0.001916707097107586,
+              "max_rod_tip_xy_dist": 0.0022736037295876563,
+              "first_target_xy_drift": 4.0751303895357003e-08,
+              "last_target_xy_drift": 8.166338290797823e-08,
+              "max_depth": 0.019844748691265512,
+              "min_bottom_clearance": 0.07959584989151025
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0014004665075699196,
+                  0.0017910799759837115
+                ],
+                "rod_tip_xy": [
+                  0.29581089597594734,
+                  -0.36913805731658855
+                ],
+                "target_mouth_xy": [
+                  0.2944104294683774,
+                  -0.37092913729257226
+                ],
+                "gripper_position": [
+                  0.2958001019576731,
+                  -0.36914737263456776,
+                  1.0055754195401416
+                ],
+                "rod_tip_xy_dist": 0.0022736037295876563,
+                "target_xy_drift": 4.0751303895357003e-08,
+                "depth": 0.015524374205327152,
+                "bottom_clearance": 0.08391616260745305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013896726493747846,
+                  0.0017817918997033444
+                ],
+                "rod_tip_xy": [
+                  0.295800101957673,
+                  -0.36914737263456787
+                ],
+                "target_mouth_xy": [
+                  0.2944104293082982,
+                  -0.3709291645342712
+                ],
+                "gripper_position": [
+                  0.2957915797766789,
+                  -0.3691506441976671,
+                  1.005435121711425
+                ],
+                "rod_tip_xy_dist": 0.002259639893051277,
+                "target_xy_drift": 3.0807282246479874e-08,
+                "depth": 0.015684418642360698,
+                "bottom_clearance": 0.08375611515015835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001381118465998199,
+                  0.0017785256615445721
+                ],
+                "rod_tip_xy": [
+                  0.2957915797766788,
+                  -0.3691506441976672
+                ],
+                "target_mouth_xy": [
+                  0.2944104613106806,
+                  -0.37092916985921176
+                ],
+                "gripper_position": [
+                  0.2958024073578269,
+                  -0.3692270431215661,
+                  1.0048995965032237
+                ],
+                "rod_tip_xy_dist": 0.0022518085500090315,
+                "target_xy_drift": 5.829066362347633e-09,
+                "depth": 0.01582483731975315,
+                "bottom_clearance": 0.08361586237759022,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013919766802316658,
+                  0.0017020925086592698
+                ],
+                "rod_tip_xy": [
+                  0.29580240735782687,
+                  -0.3692270431215662
+                ],
+                "target_mouth_xy": [
+                  0.2944104306775952,
+                  -0.37092913563022545
+                ],
+                "gripper_position": [
+                  0.29579132195727387,
+                  -0.36923645388730386,
+                  1.0047396868094103
+                ],
+                "rod_tip_xy_dist": 0.0021987992146493903,
+                "target_xy_drift": 4.0988892523682834e-08,
+                "depth": 0.016360168012302778,
+                "bottom_clearance": 0.08308036744113878,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00138086021481576,
+                  0.001692745154632469
+                ],
+                "rod_tip_xy": [
+                  0.29579132195727376,
+                  -0.369236453887304
+                ],
+                "target_mouth_xy": [
+                  0.294410461742458,
+                  -0.37092919904193644
+                ],
+                "gripper_position": [
+                  0.29578283340764766,
+                  -0.36923945494629656,
+                  1.004599360490935
+                ],
+                "rod_tip_xy_dist": 0.0021845276586467677,
+                "target_xy_drift": 3.492549351084843e-08,
+                "depth": 0.01652026525358352,
+                "bottom_clearance": 0.0829204309324224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013724046178179017,
+                  0.0016896810721760414
+                ],
+                "rod_tip_xy": [
+                  0.2957828334076476,
+                  -0.3692394549462966
+                ],
+                "target_mouth_xy": [
+                  0.2944104287898297,
+                  -0.37092913601847266
+                ],
+                "gripper_position": [
+                  0.29579431068094386,
+                  -0.3693171472314246,
+                  1.0040676374812039
+                ],
+                "rod_tip_xy_dist": 0.00217681339592485,
+                "target_xy_drift": 4.210451257064939e-08,
+                "depth": 0.016660414620555453,
+                "bottom_clearance": 0.08278009910069051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013838492933629376,
+                  0.0016120515287794124
+                ],
+                "rod_tip_xy": [
+                  0.2957943106809438,
+                  -0.3693171472314247
+                ],
+                "target_mouth_xy": [
+                  0.29441046138758087,
+                  -0.37092919876020414
+                ],
+                "gripper_position": [
+                  0.2957831577015473,
+                  -0.3693265665115776,
+                  1.0039082824982009
+                ],
+                "rod_tip_xy_dist": 0.0021245585419519845,
+                "target_xy_drift": 3.462919587206808e-08,
+                "depth": 0.017192306526879975,
+                "bottom_clearance": 0.08224836588575268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013727262621107128,
+                  0.001602568822908934
+                ],
+                "rod_tip_xy": [
+                  0.2957831577015472,
+                  -0.3693265665115777
+                ],
+                "target_mouth_xy": [
+                  0.29441043143943646,
+                  -0.3709291353344866
+                ],
+                "gripper_position": [
+                  0.29577465691367066,
+                  -0.36932936687927054,
+                  1.0037678614742631
+                ],
+                "rod_tip_xy_dist": 0.0021101194807043927,
+                "target_xy_drift": 4.0654373040362375e-08,
+                "depth": 0.017351552394024528,
+                "bottom_clearance": 0.08208902208550606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013642257498096555,
+                  0.0015998017371559037
+                ],
+                "rod_tip_xy": [
+                  0.29577465691367055,
+                  -0.36932936687927065
+                ],
+                "target_mouth_xy": [
+                  0.2944104311638609,
+                  -0.37092916861642655
+                ],
+                "gripper_position": [
+                  0.29576589676929244,
+                  -0.3693322989557905,
+                  1.0036275365403922
+                ],
+                "rod_tip_xy_dist": 0.002102493161618074,
+                "target_xy_drift": 2.929122071228707e-08,
+                "depth": 0.017492013243435967,
+                "bottom_clearance": 0.081948630705583,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013555272125925222,
+                  0.0015968364074994135
+                ],
+                "rod_tip_xy": [
+                  0.2957658967692923,
+                  -0.36933229895579056
+                ],
+                "target_mouth_xy": [
+                  0.2944103695566998,
+                  -0.37092913536329
+                ],
+                "gripper_position": [
+                  0.2957791640891586,
+                  -0.3694116644633489,
+                  1.0030986586717066
+                ],
+                "rod_tip_xy_dist": 0.0020945979414662102,
+                "target_xy_drift": 9.502325245984948e-08,
+                "depth": 0.017632236363770093,
+                "bottom_clearance": 0.08180828205233881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013687326782297893,
+                  0.0015175342671258085
+                ],
+                "rod_tip_xy": [
+                  0.2957791640891585,
+                  -0.36941166446334894
+                ],
+                "target_mouth_xy": [
+                  0.2944104314109287,
+                  -0.37092919873047475
+                ],
+                "gripper_position": [
+                  0.295768028500794,
+                  -0.36942071749725114,
+                  1.0029397393453003
+                ],
+                "rod_tip_xy_dist": 0.002043609404058211,
+                "target_xy_drift": 4.4936879644675974e-08,
+                "depth": 0.01816128327290556,
+                "bottom_clearance": 0.08127938112384447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013575992185703711,
+                  0.0015084191401853464
+                ],
+                "rod_tip_xy": [
+                  0.29576802850079387,
+                  -0.36942071749725125
+                ],
+                "target_mouth_xy": [
+                  0.2944104292822235,
+                  -0.3709291366374366
+                ],
+                "gripper_position": [
+                  0.2957592749364536,
+                  -0.369423606071634,
+                  1.0027994909539735
+                ],
+                "rod_tip_xy_dist": 0.002029385113954565,
+                "target_xy_drift": 4.1324790554843433e-08,
+                "depth": 0.01832003321025011,
+                "bottom_clearance": 0.08112048577131603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013488420306372872,
+                  0.001505593261791116
+                ],
+                "rod_tip_xy": [
+                  0.29575927493645354,
+                  -0.36942360607163416
+                ],
+                "target_mouth_xy": [
+                  0.29441043290581626,
+                  -0.3709291993334253
+                ],
+                "gripper_position": [
+                  0.29575059865771325,
+                  -0.3694264555173906,
+                  1.0026590285606878
+                ],
+                "rod_tip_xy_dist": 0.002021431644544166,
+                "target_xy_drift": 4.447249920081077e-08,
+                "depth": 0.018460474747065025,
+                "bottom_clearance": 0.08098027011243836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013402009059917397,
+                  0.001502680519927635
+                ],
+                "rod_tip_xy": [
+                  0.29575059865771314,
+                  -0.36942645551739073
+                ],
+                "target_mouth_xy": [
+                  0.2944103977517214,
+                  -0.37092913603731836
+                ],
+                "gripper_position": [
+                  0.29574192952215933,
+                  -0.3694289488871474,
+                  1.0025188930311177
+                ],
+                "rod_tip_xy_dist": 0.0020135012325278243,
+                "target_xy_drift": 6.8407110481248e-08,
+                "depth": 0.018600843396334832,
+                "bottom_clearance": 0.08083971697671488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013315297834094464,
+                  0.0015001883992145637
+                ],
+                "rod_tip_xy": [
+                  0.2957419295221592,
+                  -0.3694289488871475
+                ],
+                "target_mouth_xy": [
+                  0.2944103997387498,
+                  -0.37092913728636207
+                ],
+                "gripper_position": [
+                  0.2957331940604363,
+                  -0.36943157587810926,
+                  1.0023785552221551
+                ],
+                "rod_tip_xy_dist": 0.0020058755687341035,
+                "target_xy_drift": 6.608308300040834e-08,
+                "depth": 0.018740944055809505,
+                "bottom_clearance": 0.08069958986176173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013227961804628818,
+                  0.0014975604868980863
+                ],
+                "rod_tip_xy": [
+                  0.29573319406043624,
+                  -0.36943157587810926
+                ],
+                "target_mouth_xy": [
+                  0.29441039787997336,
+                  -0.37092913636500735
+                ],
+                "gripper_position": [
+                  0.2957245263093934,
+                  -0.3694340743544445,
+                  1.0022387875076884
+                ],
+                "rod_tip_xy_dist": 0.001998118401638307,
+                "target_xy_drift": 6.815594809587586e-08,
+                "depth": 0.01888131894469225,
+                "bottom_clearance": 0.08055924835918093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013141265029154026,
+                  0.0014950327963020316
+                ],
+                "rod_tip_xy": [
+                  0.2957245263093933,
+                  -0.36943407435444464
+                ],
+                "target_mouth_xy": [
+                  0.2944103998064779,
+                  -0.3709291071507467
+                ],
+                "gripper_position": [
+                  0.29574173898870537,
+                  -0.36951932016256106,
+                  1.0017141899691646
+                ],
+                "rod_tip_xy_dist": 0.0019904902731948575,
+                "target_xy_drift": 8.298390944170525e-08,
+                "depth": 0.019021041117407766,
+                "bottom_clearance": 0.0804194777818078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013313395066699152,
+                  0.001409813629021539
+                ],
+                "rod_tip_xy": [
+                  0.29574173898870526,
+                  -0.36951932016256117
+                ],
+                "target_mouth_xy": [
+                  0.29441039948203535,
+                  -0.3709291337915827
+                ],
+                "gripper_position": [
+                  0.29573034701196643,
+                  -0.3695285361734893,
+                  1.0015548408976362
+                ],
+                "rod_tip_xy_dist": 0.0019390820896999113,
+                "target_xy_drift": 6.780890372032743e-08,
+                "depth": 0.01954566428343585,
+                "bottom_clearance": 0.07989490218618867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013198536886857015,
+                  0.001400665060163564
+                ],
+                "rod_tip_xy": [
+                  0.2957303470119663,
+                  -0.36952853617348946
+                ],
+                "target_mouth_xy": [
+                  0.2944104933232806,
+                  -0.370929201233653
+                ],
+                "gripper_position": [
+                  0.29572145969641883,
+                  -0.369530930357992,
+                  1.0014151468655477
+                ],
+                "rod_tip_xy_dist": 0.0019245457568736195,
+                "target_xy_drift": 4.977723500854682e-08,
+                "depth": 0.01970522471678271,
+                "bottom_clearance": 0.07973561687765585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0013110570517628206,
+                  0.001398175776905597
+                ],
+                "rod_tip_xy": [
+                  0.2957214596964188,
+                  -0.3695309303579921
+                ],
+                "target_mouth_xy": [
+                  0.29441040264465596,
+                  -0.3709291061348977
+                ],
+                "gripper_position": [
+                  0.29573818994044176,
+                  -0.3696083824391171,
+                  1.0008060299697692
+                ],
+                "rod_tip_xy_dist": 0.001916707097107586,
+                "target_xy_drift": 8.166338290797823e-08,
+                "depth": 0.019844748691265512,
+                "bottom_clearance": 0.07959584989151025,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006072395788182787,
+              "rod_tip_xy_max_step": 3.285189270829638e-05,
+              "rod_tip_xy_range": 0.0006072334062772586,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2953443265941905,
+            -0.37098619782575476,
+            1.0432971467315273
+          ],
+          "object_origin_world": [
+            0.2953443265941905,
+            -0.37098619782575476,
+            1.0432971467315273
+          ],
+          "frame_world": [
+            0.2953687603285883,
+            -0.37098304925982767,
+            1.0435925084965807
+          ],
+          "center_minus_frame": [
+            -2.4433734397755202e-05,
+            -3.14856592709134e-06,
+            -0.0002953617650534035
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.28117566723348814,
+              0.14815280876044856,
+              0.8328148974806723
+            ],
+            "target_position": [
+              0.2909662679590457,
+              0.19540308183739102,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04825395495099776,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17071161870803622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328148974806723,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668353463559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13936580952988817,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9820a6993f7b6a88536eabfb12533abd21dcf932f65171489016bbec8054d17",
+    "visual_seed": 2183374461206291464,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eba6062f9f1c5b20c50242c001baeca9955989f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_74_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3343761386419499,
+              -0.0365967925678819,
+              1.166359851185117
+            ],
+            "current_z": 1.166359851185117,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3052534027749957,
+            "gripper_z": 1.1573121308207817,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3296709766378612,
+              -0.041199704719948965,
+              1.1573121308207817
+            ],
+            "object_minus_gripper": [
+              0.004705162004088714,
+              0.004602912152067068,
+              0.009047720364335321
+            ],
+            "object_to_gripper_xy": 0.006582199462517587,
+            "object_to_gripper_z": 0.009047720364335321,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3343761386419499,
+              -0.06064461158130192,
+              1.166359851185117
+            ],
+            "finger_b": [
+              0.32403590181325775,
+              -0.0365967925678819,
+              1.166359851185117
+            ],
+            "finger_midpoint": [
+              0.3292060202276038,
+              -0.048620702074591904,
+              1.166359851185117
+            ],
+            "object_minus_finger_midpoint": [
+              0.005170118414346114,
+              0.012023909506710007,
+              0.0
+            ],
+            "finger_gap": 0.02617667085356057,
+            "fingertip_max_gap": 0.09224852115242446,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013088335426780293,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166359851185117,
+            "object_top_z": 1.21618399206562,
+            "finger_top_clearance": 0.04982414088050291,
+            "fingertip_min_top_clearance": 0.014947242264150905,
+            "object_projection_between_fingers": 0.8439613633303646,
+            "object_to_finger_line_xy": 0.009499303605235428,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862426057621223,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1830145850297495,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29843835201604246,
+              -0.37642983328640744,
+              0.8515396631460803
+            ],
+            "target_position": [
+              0.2921826831023796,
+              -0.37696792622907843,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00627876879430356,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831742696596368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396631460803,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755747936912123,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08851937470233427,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15096885602525717,
+            "release_required_pad_clearance": 0.05425968735116714,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.538249697502331,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008163273334503174,
+            "max_z_decrease": 0.008163273334503174,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503319035908926,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008163273334503174,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021029780617676134,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008163273334503174,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00816336306886481,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1478826105594635,
+              -0.433229386806488,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1478826105594635,
+              -0.433229386806488,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14786194671532119,
+              -0.4344879038776108,
+              0.8036553421848591
+            ],
+            "closest_button": [
+              0.14791424572467804,
+              -0.4332078397274017,
+              0.7686455845832825
+            ],
+            "closest_ee_minus_button": [
+              -5.2299009356854276e-05,
+              -0.001280064150209148,
+              0.03500975760157665
+            ],
+            "button_min_z_position": [
+              0.14791424572467804,
+              -0.4332078397274017,
+              0.7686455845832825
+            ],
+            "min_active_finger_to_button": 0.14557324210473724,
+            "closest_active_finger": [
+              0.0074019283056259155,
+              -0.4162701666355133,
+              0.8106322884559631
+            ],
+            "closest_active_finger_button": [
+              0.1478824019432068,
+              -0.4332301616668701,
+              0.7764392495155334
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14048047363758087,
+              0.01695999503135681,
+              0.03419303894042969
+            ],
+            "min_contact_pad_to_button": 0.021029780617676134,
+            "closest_contact_pad": [
+              0.14791424572467804,
+              -0.4358512199962164,
+              0.7895085712722019
+            ],
+            "closest_contact_pad_button": [
+              0.14791424572467804,
+              -0.4332078397274017,
+              0.7686455845832825
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002643380268814721,
+              0.020862986688919394
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.29018221964422314,
+              0.1953813138872051,
+              1.1032703956228063
+            ],
+            "current_z": 1.1032703956228063,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1933612658884437,
+            "gripper_z": 1.103270334340428,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2901822245929774,
+              0.19538132760775334,
+              1.103270334340428
+            ],
+            "object_minus_gripper": [
+              -4.948754239730846e-09,
+              -1.3720548253104425e-08,
+              6.128237828306737e-08
+            ],
+            "object_to_gripper_xy": 1.4585733196895551e-08,
+            "object_to_gripper_z": 6.128237828306737e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29018221964422314,
+              0.1953813138872051,
+              1.1032703956228063
+            ],
+            "finger_b": [
+              0.29018221964422314,
+              0.1953813138872051,
+              1.1032703956228063
+            ],
+            "finger_midpoint": [
+              0.29018221964422314,
+              0.1953813138872051,
+              1.1032703956228063
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1032703956228063,
+            "object_top_z": 1.228278902243086,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2901822196442232,
+            0.1953813138872051,
+            1.1032703956228063
+          ],
+          "object_origin_world": [
+            0.2901822196442232,
+            0.1953813138872051,
+            1.1032703956228063
+          ],
+          "frame_world": [
+            0.2901822245929774,
+            0.19538132760775334,
+            1.103270334340428
+          ],
+          "center_minus_frame": [
+            -4.948754184219695e-09,
+            -1.3720548253104425e-08,
+            6.128237828306737e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043237132755467,
+            "required_z": 0.911259842469384,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001437854476763078,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.706668991742312e-08,
+            "max_target_xy_drift": 1.1121139568523457e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.538470932324972,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.5384709324008288,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2970692999115551,
+              -0.3768568373563001,
+              0.9233659868422609
+            ],
+            "target_mouth_xy": [
+              0.2984384052706004,
+              -0.37642972776576944
+            ],
+            "rod_tip_z": 0.9233659868422609,
+            "rod_tip_depth": -0.022106108473540553,
+            "rod_tip_bottom_clearance": 0.12154673982481867,
+            "rod_tip_xy_dist": 0.001434179935185875,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04509635602467177,
+            "min_rod_tip_bottom_clearance": 0.05434421516894439,
+            "min_rod_tip_xy_dist": 0.000848227254371633,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29843834661379054,
+              -0.37642979210850136
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.8656809853729897e-08,
+              6.434273192024165e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0008137043150904244,
+                0.0013798873852935434
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009159516811381163,
+                0.0009897590037348802
+              ],
+              "first_target_mouth_xy": [
+                0.29843834518560586,
+                -0.3764297906062364
+              ],
+              "last_target_mouth_xy": [
+                0.2984383172092696,
+                -0.376429759469822
+              ],
+              "first_rod_tip_xy": [
+                0.29762464087051543,
+                -0.37504990322094284
+              ],
+              "last_rod_tip_xy": [
+                0.2975223655281315,
+                -0.3754400004660871
+              ],
+              "min_rod_tip_xy_dist": 0.001344101872129435,
+              "max_rod_tip_xy_dist": 0.0016019375482486913,
+              "first_target_xy_drift": 2.0728028252132304e-09,
+              "last_target_xy_drift": 4.3930732319379595e-08,
+              "max_depth": 0.01967802475717728,
+              "min_bottom_clearance": 0.07976258298177052
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0008137043150904244,
+                  0.0013798873852935434
+                ],
+                "rod_tip_xy": [
+                  0.29762464087051543,
+                  -0.37504990322094284
+                ],
+                "target_mouth_xy": [
+                  0.29843834518560586,
+                  -0.3764297906062364
+                ],
+                "gripper_position": [
+                  0.29761402695414263,
+                  -0.3750595668492455,
+                  1.0057911046735228
+                ],
+                "rod_tip_xy_dist": 0.0016019375482486913,
+                "target_xy_drift": 2.0728028252132304e-09,
+                "depth": 0.015305762023324454,
+                "bottom_clearance": 0.0841347371226201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0008243196574344025,
+                  0.0013701926259728214
+                ],
+                "rod_tip_xy": [
+                  0.2976140269541426,
+                  -0.37505956684924563
+                ],
+                "target_mouth_xy": [
+                  0.298438346611577,
+                  -0.37642975947521845
+                ],
+                "gripper_position": [
+                  0.29760590855747726,
+                  -0.3750628632206406,
+                  1.0056480939910273
+                ],
+                "rod_tip_xy_dist": 0.0015990405654338687,
+                "target_xy_drift": 3.263328298433029e-08,
+                "depth": 0.01546880484306612,
+                "bottom_clearance": 0.08397178820859186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008324368108653668,
+                  0.0013669283139005617
+                ],
+                "rod_tip_xy": [
+                  0.2976059085574772,
+                  -0.3750628632206406
+                ],
+                "target_mouth_xy": [
+                  0.2984383453683426,
+                  -0.37642979153454115
+                ],
+                "gripper_position": [
+                  0.29761270847247034,
+                  -0.37513724673880466,
+                  1.00511117462267
+                ],
+                "rod_tip_xy_dist": 0.0016004512049502587,
+                "target_xy_drift": 1.3713391134969062e-09,
+                "depth": 0.015611667644704341,
+                "bottom_clearance": 0.08382883696605525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0008256073673779674,
+                  0.001292512162378745
+                ],
+                "rod_tip_xy": [
+                  0.29761270847247034,
+                  -0.3751372467388047
+                ],
+                "target_mouth_xy": [
+                  0.2984383158398483,
+                  -0.37642975890118346
+                ],
+                "gripper_position": [
+                  0.2976019358402648,
+                  -0.37514675110370715,
+                  1.0049484265293311
+                ],
+                "rod_tip_xy_dist": 0.0015336933249400799,
+                "target_xy_drift": 4.5274291623975326e-08,
+                "depth": 0.01614867915899232,
+                "bottom_clearance": 0.08329190062940584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008364084490073975,
+                  0.0012830376202987437
+                ],
+                "rod_tip_xy": [
+                  0.29760193584026473,
+                  -0.37514675110370715
+                ],
+                "target_mouth_xy": [
+                  0.29843834428927213,
+                  -0.3764297887240059
+                ],
+                "gripper_position": [
+                  0.29759360224192755,
+                  -0.3751501268685563,
+                  1.0048056150886922
+                ],
+                "rod_tip_xy_dist": 0.0015315889228748108,
+                "target_xy_drift": 4.105873277822775e-09,
+                "depth": 0.016311451676540467,
+                "bottom_clearance": 0.0831291465066234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008447451049400923,
+                  0.001279664284174753
+                ],
+                "rod_tip_xy": [
+                  0.2975936022419275,
+                  -0.37515012686855637
+                ],
+                "target_mouth_xy": [
+                  0.2984383473468676,
+                  -0.3764297911527311
+                ],
+                "gripper_position": [
+                  0.297601114293193,
+                  -0.37522537482549784,
+                  1.0042712330837835
+                ],
+                "rod_tip_xy_dist": 0.0015333411142054237,
+                "target_xy_drift": 1.2045325669278128e-09,
+                "depth": 0.016454277059567257,
+                "bottom_clearance": 0.08298629518370815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008372318544933588,
+                  0.0012044170259568054
+                ],
+                "rod_tip_xy": [
+                  0.297601114293193,
+                  -0.37522537482549795
+                ],
+                "target_mouth_xy": [
+                  0.2984383461476864,
+                  -0.37642979185145475
+                ],
+                "gripper_position": [
+                  0.29759026215234363,
+                  -0.37523481089386707,
+                  1.0041089252749236
+                ],
+                "rod_tip_xy_dist": 0.0014668256715073625,
+                "target_xy_drift": 5.322837977362422e-10,
+                "depth": 0.016988600708922053,
+                "bottom_clearance": 0.08245194609239392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.000848084280431316,
+                  0.0011949466837240519
+                ],
+                "rod_tip_xy": [
+                  0.29759026215234363,
+                  -0.37523481089386707
+                ],
+                "target_mouth_xy": [
+                  0.29843834643277495,
+                  -0.3764297575775911
+                ],
+                "gripper_position": [
+                  0.2975818647085007,
+                  -0.3752380011573401,
+                  1.003966175762313
+                ],
+                "rod_tip_xy_dist": 0.0014653137969929215,
+                "target_xy_drift": 3.45313846928605e-08,
+                "depth": 0.01715101778187733,
+                "bottom_clearance": 0.08228964096806413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008564807789988027,
+                  0.0011917903771987426
+                ],
+                "rod_tip_xy": [
+                  0.2975818647085007,
+                  -0.37523800115734013
+                ],
+                "target_mouth_xy": [
+                  0.2984383454874995,
+                  -0.37642979153453887
+                ],
+                "gripper_position": [
+                  0.2975734794267907,
+                  -0.3752413040367688,
+                  1.0038231559529747
+                ],
+                "rod_tip_xy_dist": 0.001467625166034542,
+                "target_xy_drift": 1.2641062024798198e-09,
+                "depth": 0.017293646557480336,
+                "bottom_clearance": 0.08214686289182327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008648364093964411,
+                  0.0011884545541556713
+                ],
+                "rod_tip_xy": [
+                  0.29757347942679063,
+                  -0.375241304036769
+                ],
+                "target_mouth_xy": [
+                  0.2984383158361871,
+                  -0.37642975859092465
+                ],
+                "gripper_position": [
+                  0.2975649661243771,
+                  -0.3752445777272281,
+                  1.0036803217857975
+                ],
+                "rod_tip_xy_dist": 0.0014698184385532399,
+                "target_xy_drift": 4.55048219849805e-08,
+                "depth": 0.01743676309233133,
+                "bottom_clearance": 0.08200382836318831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008733794581758381,
+                  0.0011852128692020902
+                ],
+                "rod_tip_xy": [
+                  0.29756496612437705,
+                  -0.37524457772722825
+                ],
+                "target_mouth_xy": [
+                  0.2984383455825529,
+                  -0.37642979059643034
+                ],
+                "gripper_position": [
+                  0.2975748579608212,
+                  -0.3753233919560872,
+                  1.0031476933494587
+                ],
+                "rod_tip_xy_dist": 0.001472250394221639,
+                "target_xy_drift": 1.8302485825542945e-09,
+                "depth": 0.017579496911134362,
+                "bottom_clearance": 0.08186100873467039,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008635187043198322,
+                  0.0011063976457433844
+                ],
+                "rod_tip_xy": [
+                  0.29757485796082117,
+                  -0.37532339195608727
+                ],
+                "target_mouth_xy": [
+                  0.298438376665141,
+                  -0.37642978960183066
+                ],
+                "gripper_position": [
+                  0.2975639653032646,
+                  -0.3753327501699526,
+                  1.0029851298847394
+                ],
+                "rod_tip_xy_dist": 0.0014034886188411737,
+                "target_xy_drift": 3.01557135997163e-08,
+                "depth": 0.01811221194923851,
+                "bottom_clearance": 0.08132837786585223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008743806141254806,
+                  0.001097039466651517
+                ],
+                "rod_tip_xy": [
+                  0.29756396530326457,
+                  -0.37533275016995266
+                ],
+                "target_mouth_xy": [
+                  0.29843834591739005,
+                  -0.3764297896366042
+                ],
+                "gripper_position": [
+                  0.2975553068970551,
+                  -0.375335643014278,
+                  1.0028426397126864
+                ],
+                "rod_tip_xy_dist": 0.001402867438409452,
+                "target_xy_drift": 2.5681217551376806e-09,
+                "depth": 0.018274708689821395,
+                "bottom_clearance": 0.08116584557615703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.000883008828625409,
+                  0.0010941149199385491
+                ],
+                "rod_tip_xy": [
+                  0.29755530689705506,
+                  -0.3753356430142782
+                ],
+                "target_mouth_xy": [
+                  0.29843831572568047,
+                  -0.37642975793421674
+                ],
+                "gripper_position": [
+                  0.29754675157280874,
+                  -0.3753386703928744,
+                  1.0026997799458084
+                ],
+                "rod_tip_xy_dist": 0.0014059843702767662,
+                "target_xy_drift": 4.6064705287940093e-08,
+                "depth": 0.018417231002129664,
+                "bottom_clearance": 0.0810233814297755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008915950820677643,
+                  0.0010911201593220565
+                ],
+                "rod_tip_xy": [
+                  0.2975467515728087,
+                  -0.37533867039287444
+                ],
+                "target_mouth_xy": [
+                  0.29843834665487645,
+                  -0.3764297905521965
+                ],
+                "gripper_position": [
+                  0.2975381408289338,
+                  -0.3753420355103193,
+                  1.0025568186467517
+                ],
+                "rod_tip_xy_dist": 0.0014090723872272897,
+                "target_xy_drift": 1.5568470952703415e-09,
+                "depth": 0.01856010651804707,
+                "bottom_clearance": 0.08088043962930092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009002058014260794,
+                  0.0010877544093724212
+                ],
+                "rod_tip_xy": [
+                  0.29753814082893376,
+                  -0.37534203551031936
+                ],
+                "target_mouth_xy": [
+                  0.29843834663035984,
+                  -0.3764297899196918
+                ],
+                "gripper_position": [
+                  0.29752947009097863,
+                  -0.37534508444592923,
+                  1.0024143530761218
+                ],
+                "rod_tip_xy_dist": 0.0014119419747391586,
+                "target_xy_drift": 2.18887229198662e-09,
+                "depth": 0.018703019630494255,
+                "bottom_clearance": 0.08073754968116487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009088772777830489,
+                  0.0010847048140191773
+                ],
+                "rod_tip_xy": [
+                  0.2975294700909786,
+                  -0.37534508444592934
+                ],
+                "target_mouth_xy": [
+                  0.2984383473687616,
+                  -0.3764297892599485
+                ],
+                "gripper_position": [
+                  0.29754236231458864,
+                  -0.3754278226536167,
+                  1.001886871001127
+                ],
+                "rod_tip_xy_dist": 0.0014151474974809883,
+                "target_xy_drift": 2.9469025452741974e-09,
+                "depth": 0.01884550235060989,
+                "bottom_clearance": 0.08059511878349468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008959529587166393,
+                  0.0010019371928562948
+                ],
+                "rod_tip_xy": [
+                  0.2975423623145886,
+                  -0.3754278226536168
+                ],
+                "target_mouth_xy": [
+                  0.2984383152733052,
+                  -0.3764297598464731
+                ],
+                "gripper_position": [
+                  0.2975311271145282,
+                  -0.3754371732983578,
+                  1.0017244610069853
+                ],
+                "rod_tip_xy_dist": 0.001344101872129435,
+                "target_xy_drift": 4.497848917135013e-08,
+                "depth": 0.019372967650512884,
+                "bottom_clearance": 0.08006756782234425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009072192325847994,
+                  0.0009926175786530433
+                ],
+                "rod_tip_xy": [
+                  0.29753112711452817,
+                  -0.37543717329835785
+                ],
+                "target_mouth_xy": [
+                  0.29843834634711297,
+                  -0.3764297908770109
+                ],
+                "gripper_position": [
+                  0.29752236552813155,
+                  -0.3754400004660871,
+                  1.001581887601318
+                ],
+                "rod_tip_xy_dist": 0.0013447439880597285,
+                "target_xy_drift": 1.2600340041207147e-09,
+                "depth": 0.01953535779229465,
+                "bottom_clearance": 0.07990516486218502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009159516811381163,
+                  0.0009897590037348802
+                ],
+                "rod_tip_xy": [
+                  0.2975223655281315,
+                  -0.3754400004660871
+                ],
+                "target_mouth_xy": [
+                  0.2984383172092696,
+                  -0.376429759469822
+                ],
+                "gripper_position": [
+                  0.2975137619214806,
+                  -0.3754428763418434,
+                  1.0014395746466724
+                ],
+                "rod_tip_xy_dist": 0.0013485512106160464,
+                "target_xy_drift": 4.3930732319379595e-08,
+                "depth": 0.01967802475717728,
+                "bottom_clearance": 0.07976258298177052,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006066256560223726,
+              "rod_tip_xy_max_step": 3.296944203698902e-05,
+              "rod_tip_xy_range": 0.0006066195554450394,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2970692999115552,
+            -0.3768568373563001,
+            1.043365986842261
+          ],
+          "object_origin_world": [
+            0.2970692999115552,
+            -0.3768568373563001,
+            1.043365986842261
+          ],
+          "frame_world": [
+            0.29706813366746654,
+            -0.37686536664143666,
+            1.043237132755467
+          ],
+          "center_minus_frame": [
+            1.1662440886350822e-06,
+            8.529285136560372e-06,
+            0.00012885408679386146
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27947470349484843,
+              0.15090523419891005,
+              0.8320378566313242
+            ],
+            "target_position": [
+              0.2903421824251094,
+              0.19751674735348873,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04786162614098195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.167112776124754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320378566313242,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676823721061,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13641937700050613,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 213,
+            "max_placed_release_frames": 213
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce5e3130af3a9f90dd92c1ef2fdbd470fba6277868fd58c72476dca83c049754",
+    "visual_seed": 8632579038905547850,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..256727f532cb5895f19fa87f69a0bfe7b359b296
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_75_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3375401993582394,
+              -0.0373082203843287,
+              1.1663814411211102
+            ],
+            "current_z": 1.1663814411211102,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3052750523156339,
+            "gripper_z": 1.157137261438098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3328709598256046,
+              -0.042084857699034486,
+              1.157137261438098
+            ],
+            "object_minus_gripper": [
+              0.004669239532634817,
+              0.0047766373147057894,
+              0.009244179683012277
+            ],
+            "object_to_gripper_xy": 0.006679675280233279,
+            "object_to_gripper_z": 0.009244179683012277,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3375401993582394,
+              -0.061040310158475566,
+              1.1663814411211102
+            ],
+            "finger_b": [
+              0.3265507958341728,
+              -0.0373082203843287,
+              1.1663814411211102
+            ],
+            "finger_midpoint": [
+              0.3320454975962061,
+              -0.04917426527140213,
+              1.1663814411211102
+            ],
+            "object_minus_finger_midpoint": [
+              0.005494701762033316,
+              0.011866044887073435,
+              0.0
+            ],
+            "finger_gap": 0.026152993611878058,
+            "fingertip_max_gap": 0.09152182845869725,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013076496805939029,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1663814411211102,
+            "object_top_z": 1.2163550200700006,
+            "finger_top_clearance": 0.04997357894889043,
+            "fingertip_min_top_clearance": 0.014992073684667128,
+            "object_projection_between_fingers": 0.8234346718297352,
+            "object_to_finger_line_xy": 0.00997214754333229,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048260914229348625,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.304468418916717,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2945217918338072,
+              -0.37666640037074545,
+              0.8515396069236137
+            ],
+            "target_position": [
+              0.2868706472786088,
+              -0.3778135326668372,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077366611344480835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18353271829672582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396069236137,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526124535780591,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550198788681983,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522500521591546,
+            "release_required_pad_clearance": 0.052750993943409916,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5524912401966969,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008382201194763184,
+            "max_z_decrease": 0.008382201194763184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350494787400038,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008382201194763184,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02089631023961809,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008382201194763184,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00838232074025917,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1425705701112747,
+              -0.4340749979019165,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1425705701112747,
+              -0.4340749979019165,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14436215886127032,
+              -0.4338034156329573,
+              0.8035601801699227
+            ],
+            "closest_button": [
+              0.14260464906692502,
+              -0.4340470731258392,
+              0.7685556411743164
+            ],
+            "closest_ee_minus_button": [
+              0.0017575097943453022,
+              0.00024365749288185468,
+              0.035004538995606294
+            ],
+            "button_min_z_position": [
+              0.14260368049144742,
+              -0.43404486775398254,
+              0.7684266567230225
+            ],
+            "min_active_finger_to_button": 0.14402057449960592,
+            "closest_active_finger": [
+              0.003817841410636902,
+              -0.4162241816520691,
+              0.8108504414558411
+            ],
+            "closest_active_finger_button": [
+              0.1425713151693344,
+              -0.4340748190879822,
+              0.776634156703949
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1387534737586975,
+              0.017850637435913086,
+              0.03421628475189209
+            ],
+            "min_contact_pad_to_button": 0.02089631023961809,
+            "closest_contact_pad": [
+              0.14260368049144742,
+              -0.43512391572132825,
+              0.7892950883151315
+            ],
+            "closest_contact_pad_button": [
+              0.14260368049144742,
+              -0.43404486775398254,
+              0.7684266567230225
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010790479673457032,
+              0.02086843159210905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2848356955965306,
+              0.18827046630728803,
+              1.1044256699950945
+            ],
+            "current_z": 1.1044256699950945,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19451654026073195,
+            "gripper_z": 1.10442567961181,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2848357204320625,
+              0.1882703376909305,
+              1.10442567961181
+            ],
+            "object_minus_gripper": [
+              -2.4835531908795616e-08,
+              1.2861635753647072e-07,
+              -9.616715423987898e-09
+            ],
+            "object_to_gripper_xy": 1.3099225576782037e-07,
+            "object_to_gripper_z": -9.616715423987898e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2848356955965306,
+              0.18827046630728803,
+              1.1044256699950945
+            ],
+            "finger_b": [
+              0.2848356955965306,
+              0.18827046630728803,
+              1.1044256699950945
+            ],
+            "finger_midpoint": [
+              0.2848356955965306,
+              0.18827046630728803,
+              1.1044256699950945
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044256699950945,
+            "object_top_z": 1.2294341766153742,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28483569559653066,
+            0.18827046630728803,
+            1.1044256699950945
+          ],
+          "object_origin_world": [
+            0.28483569559653066,
+            0.18827046630728803,
+            1.1044256699950945
+          ],
+          "frame_world": [
+            0.2848357204320625,
+            0.1882703376909305,
+            1.10442567961181
+          ],
+          "center_minus_frame": [
+            -2.4835531853284465e-08,
+            1.2861635753647072e-07,
+            -9.616715423987898e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434299111816145,
+            "required_z": 0.9112597873296296,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00046849571557275267,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 4.256988389121482e-09,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.552491249777307,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.552491249777307,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29419422648402266,
+              -0.3763242603930331,
+              0.9235575810114006
+            ],
+            "target_mouth_xy": [
+              0.29452170596050115,
+              -0.3766666372296653
+            ],
+            "rod_tip_z": 0.9235575810114006,
+            "rod_tip_depth": -0.022297793681770983,
+            "rod_tip_bottom_clearance": 0.12173835365745189,
+            "rod_tip_xy_dist": 0.000473777063371462,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045368588863005876,
+            "min_rod_tip_bottom_clearance": 0.05407203558654239,
+            "min_rod_tip_xy_dist": 0.000473777063371462,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.29452170596050115,
+              -0.3766666372296653
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                0.00015711507052962315,
+                0.0022161598297216756
+              ],
+              "last_rod_tip_xy_delta": [
+                6.04699036738654e-05,
+                0.0018275828005401284
+              ],
+              "first_target_mouth_xy": [
+                0.29452170596050115,
+                -0.3766666372296653
+              ],
+              "last_target_mouth_xy": [
+                0.2945217021635226,
+                -0.376666639154478
+              ],
+              "first_rod_tip_xy": [
+                0.29467882103103077,
+                -0.37445047739994364
+              ],
+              "last_rod_tip_xy": [
+                0.29458217206719645,
+                -0.3748390563539379
+              ],
+              "min_rod_tip_xy_dist": 0.0018285829218497108,
+              "max_rod_tip_xy_dist": 0.002221722200514622,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 4.256988389121482e-09,
+              "max_depth": 0.019378049405756825,
+              "min_bottom_clearance": 0.08006257504379144
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  0.00015711507052962315,
+                  0.0022161598297216756
+                ],
+                "rod_tip_xy": [
+                  0.29467882103103077,
+                  -0.37445047739994364
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.29466835754901416,
+                  -0.3744599609190546,
+                  1.0060653266551998
+                ],
+                "rod_tip_xy_dist": 0.002221722200514622,
+                "target_xy_drift": 0.0,
+                "depth": 0.015033432968521332,
+                "bottom_clearance": 0.08440712700715958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.00014665538549152313,
+                  0.002206678235423476
+                ],
+                "rod_tip_xy": [
+                  0.2946683575490141,
+                  -0.37445996091905454
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.29466024284894005,
+                  -0.3744634318497903,
+                  1.0059236817168609
+                ],
+                "rod_tip_xy_dist": 0.002211546209507125,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.015194595499174457,
+                "bottom_clearance": 0.08424602895037381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00013853688843884493,
+                  0.0022032053798749507
+                ],
+                "rod_tip_xy": [
+                  0.29466024284894,
+                  -0.37446343184979036
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.2946687467548396,
+                  -0.37453832667313713,
+                  1.0053884996614078
+                ],
+                "rod_tip_xy_dist": 0.0022075566618703682,
+                "target_xy_drift": 0.0,
+                "depth": 0.015336105612768769,
+                "bottom_clearance": 0.08410445436291214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00014704459131698044,
+                  0.002128312481340877
+                ],
+                "rod_tip_xy": [
+                  0.29466874675483956,
+                  -0.37453832667313713
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.29465802250017187,
+                  -0.3745479824299238,
+                  1.0052276043677544
+                ],
+                "rod_tip_xy_dist": 0.002133386071499235,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.01587142249296647,
+                "bottom_clearance": 0.0835692019565818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0001363165396706667,
+                  0.002118654799741382
+                ],
+                "rod_tip_xy": [
+                  0.2946580225001718,
+                  -0.37454798242992393
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.29464976793860087,
+                  -0.37455112412450864,
+                  1.0050862789350143
+                ],
+                "rod_tip_xy_dist": 0.0021230356472407568,
+                "target_xy_drift": 0.0,
+                "depth": 0.016032182961875474,
+                "bottom_clearance": 0.08340837701380543,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00012806577507823436,
+                  0.0021155150299693726
+                ],
+                "rod_tip_xy": [
+                  0.2946497679386008,
+                  -0.37455112412450864
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.29465907156300997,
+                  -0.37462731648049025,
+                  1.0045530153936968
+                ],
+                "rod_tip_xy_dist": 0.0021193878089610465,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.0161736432193601,
+                "bottom_clearance": 0.08326698123018816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00013736560250871,
+                  0.002039320749175122
+                ],
+                "rod_tip_xy": [
+                  0.29465907156300986,
+                  -0.3746273164804902
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.29464825631236374,
+                  -0.37463667835160086,
+                  1.004392482103274
+                ],
+                "rod_tip_xy_dist": 0.0020439418843912274,
+                "target_xy_drift": 0.0,
+                "depth": 0.016706771935933062,
+                "bottom_clearance": 0.08273378803974785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00012655414884110705,
+                  0.002029960802877151
+                ],
+                "rod_tip_xy": [
+                  0.2946482563123637,
+                  -0.37463667835160086
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.2946398413242669,
+                  -0.3746399950242681,
+                  1.0042509613582078
+                ],
+                "rod_tip_xy_dist": 0.0020339018692666923,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.016867440051100302,
+                "bottom_clearance": 0.08257318439844796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00011813536376564793,
+                  0.0020266422053972777
+                ],
+                "rod_tip_xy": [
+                  0.2946398413242668,
+                  -0.37463999502426804
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.2946314560332234,
+                  -0.374643259698891,
+                  1.0041090057916089
+                ],
+                "rod_tip_xy_dist": 0.0020300824103640677,
+                "target_xy_drift": 0.0,
+                "depth": 0.01700882597142206,
+                "bottom_clearance": 0.08243173400425885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00010975386970074608,
+                  0.0020233794555870044
+                ],
+                "rod_tip_xy": [
+                  0.2946314560332233,
+                  -0.374643259698891
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.29464235582451626,
+                  -0.3747215721733028,
+                  1.0035776746259357
+                ],
+                "rod_tip_xy_dist": 0.0020263539506231013,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.017150916362765556,
+                "bottom_clearance": 0.08228970808678271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0001206498640150544,
+                  0.0019450650563624938
+                ],
+                "rod_tip_xy": [
+                  0.2946423558245162,
+                  -0.3747215721733028
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.2946315072761454,
+                  -0.37473095213185137,
+                  1.003417597884654
+                ],
+                "rod_tip_xy_dist": 0.0019488033413275138,
+                "target_xy_drift": 0.0,
+                "depth": 0.01768211270369413,
+                "bottom_clearance": 0.08175844727198678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00010980511262276282,
+                  0.001935687022626642
+                ],
+                "rod_tip_xy": [
+                  0.29463150727614534,
+                  -0.37473095213185137
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.2946230654849658,
+                  -0.37473372366040164,
+                  1.0032758860926558
+                ],
+                "rod_tip_xy_dist": 0.0019387989612962174,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.01784232426972021,
+                "bottom_clearance": 0.08159830017982805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00010135952446460594,
+                  0.0019329135692636168
+                ],
+                "rod_tip_xy": [
+                  0.29462306548496575,
+                  -0.3747337236604017
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.2946146501238338,
+                  -0.37473667010785344,
+                  1.0031347698736481
+                ],
+                "rod_tip_xy_dist": 0.0019355693269534691,
+                "target_xy_drift": 0.0,
+                "depth": 0.01798390123697402,
+                "bottom_clearance": 0.08145665873870689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  9.29479603111738e-05,
+                  0.0019299690466245134
+                ],
+                "rod_tip_xy": [
+                  0.29461465012383375,
+                  -0.3747366701078535
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.2946061755529843,
+                  -0.37473968344360803,
+                  1.002993539201725
+                ],
+                "rod_tip_xy_dist": 0.001932205952856667,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.018125152280726087,
+                "bottom_clearance": 0.08131547216882218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  8.446959248309405e-05,
+                  0.0019269537860573394
+                ],
+                "rod_tip_xy": [
+                  0.29460617555298424,
+                  -0.374739683443608
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.29461934503573317,
+                  -0.3748211548279509,
+                  1.0024651042391186
+                ],
+                "rod_tip_xy_dist": 0.0019288042942857044,
+                "target_xy_drift": 0.0,
+                "depth": 0.01826624812790456,
+                "bottom_clearance": 0.08117431184777635,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  9.764287221053491e-05,
+                  0.001845484326527147
+                ],
+                "rod_tip_xy": [
+                  0.2946193450357331,
+                  -0.37482115482795086
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.2946081414178266,
+                  -0.37483076248154984,
+                  1.0023047612052023
+                ],
+                "rod_tip_xy_dist": 0.001848065618410472,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.018794817915255613,
+                "bottom_clearance": 0.08064580653429265,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  8.643545732539559e-05,
+                  0.001835874748115418
+                ],
+                "rod_tip_xy": [
+                  0.29460814141782654,
+                  -0.3748307624815499
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.29459951914209487,
+                  -0.3748334443724151,
+                  1.0021641848943372
+                ],
+                "rod_tip_xy_dist": 0.0018379083706896,
+                "target_xy_drift": 0.0,
+                "depth": 0.018955026124427565,
+                "bottom_clearance": 0.08048553385125334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  7.781697857223158e-05,
+                  0.0018331947820629524
+                ],
+                "rod_tip_xy": [
+                  0.2945995191420948,
+                  -0.37483344437241506
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.2945909296069046,
+                  -0.3748361478739995,
+                  1.0020230950539628
+                ],
+                "rod_tip_xy_dist": 0.0018348456586691282,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.019095737260036993,
+                "bottom_clearance": 0.08034488718951127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  6.92236464033269e-05,
+                  0.0018304893556657653
+                ],
+                "rod_tip_xy": [
+                  0.2945909296069045,
+                  -0.37483614787399955
+                ],
+                "target_mouth_xy": [
+                  0.29452170596050115,
+                  -0.3766666372296653
+                ],
+                "gripper_position": [
+                  0.2945821720671965,
+                  -0.37483905635393794,
+                  1.0018818727486176
+                ],
+                "rod_tip_xy_dist": 0.0018317978039147883,
+                "target_xy_drift": 0.0,
+                "depth": 0.019236692275666822,
+                "bottom_clearance": 0.08020386770001409,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  6.04699036738654e-05,
+                  0.0018275828005401284
+                ],
+                "rod_tip_xy": [
+                  0.29458217206719645,
+                  -0.3748390563539379
+                ],
+                "target_mouth_xy": [
+                  0.2945217021635226,
+                  -0.376666639154478
+                ],
+                "gripper_position": [
+                  0.2945734364974628,
+                  -0.3748419593824832,
+                  1.0017410325983767
+                ],
+                "rod_tip_xy_dist": 0.0018285829218497108,
+                "target_xy_drift": 4.256988389121482e-09,
+                "depth": 0.019378049405756825,
+                "bottom_clearance": 0.08006257504379144,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006068469509766725,
+              "rod_tip_xy_max_step": 3.286462127493114e-05,
+              "rod_tip_xy_range": 0.0006068380784302903,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2941942264840227,
+            -0.3763242603930331,
+            1.0435575810114006
+          ],
+          "object_origin_world": [
+            0.2941942264840227,
+            -0.3763242603930331,
+            1.0435575810114006
+          ],
+          "frame_world": [
+            0.29419269064577136,
+            -0.37633311487931487,
+            1.0434299111816145
+          ],
+          "center_minus_frame": [
+            1.5358382513541713e-06,
+            8.854486281739682e-06,
+            0.0001276698297860701
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2758691315364841,
+              0.14205319934077887,
+              0.832715888569914
+            ],
+            "target_position": [
+              0.28532388598892666,
+              0.18906108308149105,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04794928065713077,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16927982435881808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832715888569914,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669278127432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1384481816465714,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbb3366b93c54ae2d94b4f70d1a9021cf2d9d2c0ea8d764d59229eb575d8ed4f",
+    "visual_seed": 2790378362366498847,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..febdf5ae05d729168fec57b3d819dd564fab7cf8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_76_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32990335358019635,
+              -0.027421147769697424,
+              1.1643812706832777
+            ],
+            "current_z": 1.1643812706832777,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3032748222731564,
+            "gripper_z": 1.1555914089838284,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3250068785162076,
+              -0.03215114880265975,
+              1.1555914089838284
+            ],
+            "object_minus_gripper": [
+              0.00489647506398877,
+              0.004730001032962325,
+              0.008789861699449286
+            ],
+            "object_to_gripper_xy": 0.006807964293684896,
+            "object_to_gripper_z": 0.008789861699449286,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32990335358019635,
+              -0.05139004688064837,
+              1.1643812706832777
+            ],
+            "finger_b": [
+              0.3191015755465903,
+              -0.027421147769697424,
+              1.1643812706832777
+            ],
+            "finger_midpoint": [
+              0.3245024645633933,
+              -0.039405597325172896,
+              1.1643812706832777
+            ],
+            "object_minus_finger_midpoint": [
+              0.005400889016803023,
+              0.011984449555475472,
+              0.0
+            ],
+            "finger_gap": 0.02629042664694202,
+            "fingertip_max_gap": 0.09158472603952347,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01314521332347101,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643812706832777,
+            "object_top_z": 1.2141786444573937,
+            "finger_top_clearance": 0.04979737377411597,
+            "fingertip_min_top_clearance": 0.014939212132234824,
+            "object_projection_between_fingers": 0.8311911429554361,
+            "object_to_finger_line_xy": 0.009847946987825115,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829236301976174,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5367739202826942,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29610195312018356,
+              -0.37286647330877154,
+              0.8515395562782261
+            ],
+            "target_position": [
+              0.288433231515364,
+              -0.37430239750559197,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007801997779494741,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18513603483101634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395562782261,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590122816853848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761196325609004,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15237792191066474,
+            "release_required_pad_clearance": 0.05380598162804502,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6211986557841915,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008280813694000244,
+            "max_z_decrease": 0.008280813694000244,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502108344734666,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008280813694000244,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02089153523179043,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008280813694000244,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008280863685229248,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14413315057754517,
+              -0.43056386709213257,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14413315057754517,
+              -0.43056386709213257,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14512423436246974,
+              -0.43020825436257887,
+              0.8035339390706558
+            ],
+            "closest_button": [
+              0.1441473364830017,
+              -0.4305388331413269,
+              0.7685280442237854
+            ],
+            "closest_ee_minus_button": [
+              0.0009768978794680305,
+              0.0003305787787480363,
+              0.035005894846870445
+            ],
+            "button_min_z_position": [
+              0.1441473364830017,
+              -0.4305388331413269,
+              0.7685280442237854
+            ],
+            "min_active_finger_to_button": 0.1447805682989206,
+            "closest_active_finger": [
+              0.01898227632045746,
+              -0.4948204457759857,
+              0.8109964728355408
+            ],
+            "closest_active_finger_button": [
+              0.14413341879844666,
+              -0.43056321144104004,
+              0.7767968773841858
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1251511424779892,
+              -0.06425723433494568,
+              0.03419959545135498
+            ],
+            "min_contact_pad_to_button": 0.02089153523179043,
+            "closest_contact_pad": [
+              0.1441473364830017,
+              -0.43122662903535364,
+              0.7894082544992903
+            ],
+            "closest_contact_pad_button": [
+              0.1441473364830017,
+              -0.4305388331413269,
+              0.7685280442237854
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006877958940267326,
+              0.020880210275504907
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28852627667777553,
+              0.197213790576328,
+              1.1037853042299126
+            ],
+            "current_z": 1.1037853042299126,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19387617449555006,
+            "gripper_z": 1.1037855231906075,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2885264227383402,
+              0.19721373013897542,
+              1.1037855231906075
+            ],
+            "object_minus_gripper": [
+              -1.460605646985691e-07,
+              6.043735259475547e-08,
+              -2.1896069490878745e-07
+            ],
+            "object_to_gripper_xy": 1.5807075045285159e-07,
+            "object_to_gripper_z": -2.1896069490878745e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28852627667777553,
+              0.197213790576328,
+              1.1037853042299126
+            ],
+            "finger_b": [
+              0.28852627667777553,
+              0.197213790576328,
+              1.1037853042299126
+            ],
+            "finger_midpoint": [
+              0.28852627667777553,
+              0.197213790576328,
+              1.1037853042299126
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037853042299126,
+            "object_top_z": 1.2287938108501923,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28852627667777553,
+            0.19721379057632804,
+            1.1037853042299128
+          ],
+          "object_origin_world": [
+            0.28852627667777553,
+            0.19721379057632804,
+            1.1037853042299128
+          ],
+          "frame_world": [
+            0.2885264227383402,
+            0.19721373013897542,
+            1.1037855231906075
+          ],
+          "center_minus_frame": [
+            -1.460605646985691e-07,
+            6.043735262251104e-08,
+            -2.1896069468674284e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436112214425382,
+            "required_z": 0.9112599202640916,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001103062397121496,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.885044483051565e-08,
+            "max_target_xy_drift": 6.511917752223862e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.621198655753452,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.6214972616821797,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.295505530261553,
+              -0.3719269081864097,
+              0.9233168996377873
+            ],
+            "target_mouth_xy": [
+              0.29610192342555675,
+              -0.3728665040656484
+            ],
+            "rod_tip_z": 0.9233168996377873,
+            "rod_tip_depth": -0.022057077212270904,
+            "rod_tip_bottom_clearance": 0.12149761094728373,
+            "rod_tip_xy_dist": 0.001112890480843788,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04515297782366867,
+            "min_rod_tip_bottom_clearance": 0.05428756518163602,
+            "min_rod_tip_xy_dist": 0.001112890480843788,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2961019261546259,
+              -0.37286644527851515
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.729069137341611e-09,
+              -5.878713327245322e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -6.703238332683714e-05,
+                0.0027331285821636797
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00016838289476722723,
+                0.0023596675485881846
+              ],
+              "first_target_mouth_xy": [
+                0.29610189265558867,
+                -0.3728663857610507
+              ],
+              "last_target_mouth_xy": [
+                0.2961018635613764,
+                -0.372866414620903
+              ],
+              "first_rod_tip_xy": [
+                0.29603486027226183,
+                -0.370133257178887
+              ],
+              "last_rod_tip_xy": [
+                0.2959334806666092,
+                -0.3705067470723148
+              ],
+              "min_rod_tip_xy_dist": 0.002365667715278366,
+              "max_rod_tip_xy_dist": 0.0027339504726776823,
+              "first_target_xy_drift": 6.829724789058472e-08,
+              "last_target_xy_drift": 6.969794877580854e-08,
+              "max_depth": 0.0194127184533196,
+              "min_bottom_clearance": 0.08002780360190787
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -6.703238332683714e-05,
+                  0.0027331285821636797
+                ],
+                "rod_tip_xy": [
+                  0.29603486027226183,
+                  -0.370133257178887
+                ],
+                "target_mouth_xy": [
+                  0.29610189265558867,
+                  -0.3728663857610507
+                ],
+                "gripper_position": [
+                  0.29602415705737894,
+                  -0.37014258633934655,
+                  1.0060197162620255
+                ],
+                "rod_tip_xy_dist": 0.0027339504726776823,
+                "target_xy_drift": 6.829724789058472e-08,
+                "depth": 0.015079940080107046,
+                "bottom_clearance": 0.08436058557060477,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -7.777044974793812e-05,
+                  0.0027237977269886082
+                ],
+                "rod_tip_xy": [
+                  0.296024157057379,
+                  -0.3701425863393466
+                ],
+                "target_mouth_xy": [
+                  0.29610192750712694,
+                  -0.3728663840663352
+                ],
+                "gripper_position": [
+                  0.29601597652391337,
+                  -0.37014582741667196,
+                  1.0058785074979968
+                ],
+                "rod_tip_xy_dist": 0.002724907759980566,
+                "target_xy_drift": 6.12271200663099e-08,
+                "depth": 0.015240204718959371,
+                "bottom_clearance": 0.08420049960253018,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -8.588464748771063e-05,
+                  0.002720557744078256
+                ],
+                "rod_tip_xy": [
+                  0.29601597652391337,
+                  -0.3701458274166719
+                ],
+                "target_mouth_xy": [
+                  0.2961018611714011,
+                  -0.37286638516075016
+                ],
+                "gripper_position": [
+                  0.2960234484403708,
+                  -0.37021724983240883,
+                  1.0053453469162907
+                ],
+                "rod_tip_xy_dist": 0.002721913042611438,
+                "target_xy_drift": 8.852663538596997e-08,
+                "depth": 0.015381352975741835,
+                "bottom_clearance": 0.08405919690620234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -7.844564419529076e-05,
+                  0.0026491650788590393
+                ],
+                "rod_tip_xy": [
+                  0.2960234484403709,
+                  -0.3702172498324089
+                ],
+                "target_mouth_xy": [
+                  0.29610189408456616,
+                  -0.37286641491126793
+                ],
+                "gripper_position": [
+                  0.2960125737784589,
+                  -0.3702261946560451,
+                  1.0051850022233135
+                ],
+                "rod_tip_xy_dist": 0.0026503262693750433,
+                "target_xy_drift": 4.4166258998302446e-08,
+                "depth": 0.01591454357728217,
+                "bottom_clearance": 0.08352601720813768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -8.935050444797143e-05,
+                  0.0026401894625620592
+                ],
+                "rod_tip_xy": [
+                  0.2960125737784589,
+                  -0.3702261946560451
+                ],
+                "target_mouth_xy": [
+                  0.2961019242829069,
+                  -0.3728663841186072
+                ],
+                "gripper_position": [
+                  0.2960042583016145,
+                  -0.3702293081133305,
+                  1.0050441232805325
+                ],
+                "rod_tip_xy_dist": 0.0026417009503100163,
+                "target_xy_drift": 6.11885420245679e-08,
+                "depth": 0.01607483513127994,
+                "bottom_clearance": 0.08336574851975065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -9.766691024148955e-05,
+                  0.0026370760015428374
+                ],
+                "rod_tip_xy": [
+                  0.2960042583016145,
+                  -0.37022930811333055
+                ],
+                "target_mouth_xy": [
+                  0.29610192521185597,
+                  -0.3728663841148734
+                ],
+                "gripper_position": [
+                  0.29599578528300585,
+                  -0.37023251048628414,
+                  1.0049032051012992
+                ],
+                "rod_tip_xy_dist": 0.0026388839806382692,
+                "target_xy_drift": 6.117090720892755e-08,
+                "depth": 0.0162157207865673,
+                "bottom_clearance": 0.08322489720265558,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0001061430844045419,
+                  0.0026338729255520055
+                ],
+                "rod_tip_xy": [
+                  0.29599578528300585,
+                  -0.37023251048628414
+                ],
+                "target_mouth_xy": [
+                  0.2961019283674104,
+                  -0.37286638341183614
+                ],
+                "gripper_position": [
+                  0.2960048530599737,
+                  -0.37030624501214826,
+                  1.0043687420260758
+                ],
+                "rod_tip_xy_dist": 0.002636010800873697,
+                "target_xy_drift": 6.190623866806843e-08,
+                "depth": 0.016356733955778968,
+                "bottom_clearance": 0.08308402655645686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -9.698051766088289e-05,
+                  0.0025601394657100984
+                ],
+                "rod_tip_xy": [
+                  0.2960048530599737,
+                  -0.37030624501214815
+                ],
+                "target_mouth_xy": [
+                  0.2961018335776346,
+                  -0.37286638447785825
+                ],
+                "gripper_position": [
+                  0.2959937861700823,
+                  -0.37031555727328913,
+                  1.0042085772227773
+                ],
+                "rod_tip_xy_dist": 0.00256197566434425,
+                "target_xy_drift": 1.1075747918990227e-07,
+                "depth": 0.01689107950473423,
+                "bottom_clearance": 0.0825494429057071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00010814154478117066,
+                  0.0025508550131048136
+                ],
+                "rod_tip_xy": [
+                  0.2959937861700823,
+                  -0.37031555727328913
+                ],
+                "target_mouth_xy": [
+                  0.2961019277148635,
+                  -0.37286641228639394
+                ],
+                "gripper_position": [
+                  0.2959853212868724,
+                  -0.3703184400025263,
+                  1.0040679499690297
+                ],
+                "rod_tip_xy_dist": 0.0025531462730501,
+                "target_xy_drift": 3.302899336601292e-08,
+                "depth": 0.01705137405583368,
+                "bottom_clearance": 0.0823893971673294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00011654089161278192,
+                  0.0025479749653479766
+                ],
+                "rod_tip_xy": [
+                  0.2959853212868724,
+                  -0.37031844000252623
+                ],
+                "target_mouth_xy": [
+                  0.29610186217848516,
+                  -0.3728664149678742
+                ],
+                "gripper_position": [
+                  0.2959951620824555,
+                  -0.3703931261615643,
+                  1.0035379116985683
+                ],
+                "rod_tip_xy_dist": 0.002550638783414446,
+                "target_xy_drift": 7.079323085939857e-08,
+                "depth": 0.017191880733748888,
+                "bottom_clearance": 0.08224863226892432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00010673256817267385,
+                  0.0024733191746652006
+                ],
+                "rod_tip_xy": [
+                  0.2959951620824555,
+                  -0.3703931261615643
+                ],
+                "target_mouth_xy": [
+                  0.2961018946506282,
+                  -0.3728664453362295
+                ],
+                "gripper_position": [
+                  0.29598401176971356,
+                  -0.3704022789553545,
+                  1.003377849179912
+                ],
+                "rod_tip_xy_dist": 0.0024756210495298515,
+                "target_xy_drift": 3.150405055374237e-08,
+                "depth": 0.017721994643295047,
+                "bottom_clearance": 0.08171860993831415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00011785081932985664,
+                  0.0024641350451656274
+                ],
+                "rod_tip_xy": [
+                  0.29598401176971356,
+                  -0.3704022789553545
+                ],
+                "target_mouth_xy": [
+                  0.2961018625890434,
+                  -0.3728664140005201
+                ],
+                "gripper_position": [
+                  0.29597544083499755,
+                  -0.3704048668967174,
+                  1.0032373060368656
+                ],
+                "rod_tip_xy_dist": 0.002466951628311777,
+                "target_xy_drift": 7.084416875764053e-08,
+                "depth": 0.017881971788881512,
+                "bottom_clearance": 0.0815585319835711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00012648536485826423,
+                  0.002461545104546048
+                ],
+                "rod_tip_xy": [
+                  0.29597544083499755,
+                  -0.3704048668967175
+                ],
+                "target_mouth_xy": [
+                  0.2961019261998558,
+                  -0.3728664120012635
+                ],
+                "gripper_position": [
+                  0.2959667490513883,
+                  -0.3704077659040242,
+                  1.0030964217639884
+                ],
+                "rod_tip_xy_dist": 0.0024647926584680387,
+                "target_xy_drift": 3.327728235884513e-08,
+                "depth": 0.018022639590183354,
+                "bottom_clearance": 0.08141808652256033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00013514237009037977,
+                  0.0024586506539571173
+                ],
+                "rod_tip_xy": [
+                  0.29596674905138837,
+                  -0.37040776590402413
+                ],
+                "target_mouth_xy": [
+                  0.29610189142147875,
+                  -0.37286641655798125
+                ],
+                "gripper_position": [
+                  0.29595800469224265,
+                  -0.3704107479320958,
+                  1.002955892219598
+                ],
+                "rod_tip_xy_dist": 0.0024623619755018565,
+                "target_xy_drift": 4.506950828699992e-08,
+                "depth": 0.018163456107026077,
+                "bottom_clearance": 0.08127713700414052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0001438916786163369,
+                  0.002455694506273698
+                ],
+                "rod_tip_xy": [
+                  0.2959580046922427,
+                  -0.3704107479320957
+                ],
+                "target_mouth_xy": [
+                  0.29610189637085904,
+                  -0.3728664424383694
+                ],
+                "gripper_position": [
+                  0.29594934568425063,
+                  -0.37041343795686893,
+                  1.0028151859558396
+                ],
+                "rod_tip_xy_dist": 0.002459906568005754,
+                "target_xy_drift": 2.991887690150045e-08,
+                "depth": 0.018304041657212777,
+                "bottom_clearance": 0.08113665970051975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00015254814199416877,
+                  0.002452978212538426
+                ],
+                "rod_tip_xy": [
+                  0.29594934568425063,
+                  -0.3704134379568689
+                ],
+                "target_mouth_xy": [
+                  0.2961018938262448,
+                  -0.3728664161694073
+                ],
+                "gripper_position": [
+                  0.29596232883518947,
+                  -0.37049266721811364,
+                  1.002287998911644
+                ],
+                "rod_tip_xy_dist": 0.0024577170396150334,
+                "target_xy_drift": 4.350246410348742e-08,
+                "depth": 0.01844466465001493,
+                "bottom_clearance": 0.08099592845838766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0001395357658152685,
+                  0.0023737165971874363
+                ],
+                "rod_tip_xy": [
+                  0.2959623288351895,
+                  -0.3704926672181136
+                ],
+                "target_mouth_xy": [
+                  0.2961018646010048,
+                  -0.372866383815301
+                ],
+                "gripper_position": [
+                  0.2959511593747336,
+                  -0.3705013037410502,
+                  1.0021281236572979
+                ],
+                "rod_tip_xy_dist": 0.002377814272331789,
+                "target_xy_drift": 8.69860618736579e-08,
+                "depth": 0.018971843412639133,
+                "bottom_clearance": 0.08046874875136667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00015073843683582888,
+                  0.0023651098010756266
+                ],
+                "rod_tip_xy": [
+                  0.2959511593747336,
+                  -0.3705013037410503
+                ],
+                "target_mouth_xy": [
+                  0.2961018978115694,
+                  -0.3728664135421259
+                ],
+                "gripper_position": [
+                  0.29594239441239845,
+                  -0.3705040403035037,
+                  1.0019876452604752
+                ],
+                "rod_tip_xy_dist": 0.002369908531459326,
+                "target_xy_drift": 4.255029084816767e-08,
+                "depth": 0.019131744428525832,
+                "bottom_clearance": 0.08030897605157816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00015956035081232667,
+                  0.00236237331236383
+                ],
+                "rod_tip_xy": [
+                  0.29594239441239845,
+                  -0.3705040403035037
+                ],
+                "target_mouth_xy": [
+                  0.2961019547632108,
+                  -0.37286641361586753
+                ],
+                "gripper_position": [
+                  0.29593348066660913,
+                  -0.37050674707231485,
+                  1.0018471010337053
+                ],
+                "rod_tip_xy_dist": 0.0023677557248416078,
+                "target_xy_drift": 4.26728764368039e-08,
+                "depth": 0.0192722621021868,
+                "bottom_clearance": 0.08016835793044241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00016838289476722723,
+                  0.0023596675485881846
+                ],
+                "rod_tip_xy": [
+                  0.2959334806666092,
+                  -0.3705067470723148
+                ],
+                "target_mouth_xy": [
+                  0.2961018635613764,
+                  -0.372866414620903
+                ],
+                "gripper_position": [
+                  0.29592475752353364,
+                  -0.37050930867760257,
+                  1.001706834050039
+                ],
+                "rod_tip_xy_dist": 0.002365667715278366,
+                "target_xy_drift": 6.969794877580854e-08,
+                "depth": 0.0194127184533196,
+                "bottom_clearance": 0.08002780360190787,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006058953614797327,
+              "rod_tip_xy_max_step": 3.290235762114272e-05,
+              "rod_tip_xy_range": 0.0006058865378089554,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.295505530261553,
+            -0.3719269081864097,
+            1.0433168996377873
+          ],
+          "object_origin_world": [
+            0.295505530261553,
+            -0.3719269081864097,
+            1.0433168996377873
+          ],
+          "frame_world": [
+            0.2955297030510571,
+            -0.3719234714601936,
+            1.0436112214425382
+          ],
+          "center_minus_frame": [
+            -2.417278950406221e-05,
+            -3.436726216110575e-06,
+            -0.00029432180475086334
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27883086593675366,
+              0.14808906844458544,
+              0.8328991020155749
+            ],
+            "target_position": [
+              0.2886831823849839,
+              0.19553144025582403,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04845458474150691,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17111754537728835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328991020155749,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671270368701,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14052683974843597,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0013013fb54ea9edb5f16ed4410b2315151120518677a9b2f86b55fab5c6c0f0",
+    "visual_seed": 5173157106622523691,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..250603be7be33379afef25850de5cf88dae3d2e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_77_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3354216318112681,
+              -0.03050244582813943,
+              1.163188001697856
+            ],
+            "current_z": 1.163188001697856,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3020815532877348,
+            "gripper_z": 1.154123026470521,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3307575291087485,
+              -0.035204480335431707,
+              1.154123026470521
+            ],
+            "object_minus_gripper": [
+              0.004664102702519601,
+              0.004702034507292275,
+              0.00906497522733507
+            ],
+            "object_to_gripper_xy": 0.006622913447072817,
+            "object_to_gripper_z": 0.00906497522733507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3354216318112681,
+              -0.054222619021583665,
+              1.163188001697856
+            ],
+            "finger_b": [
+              0.324543630978405,
+              -0.03050244582813943,
+              1.163188001697856
+            ],
+            "finger_midpoint": [
+              0.3299826313948365,
+              -0.04236253242486155,
+              1.163188001697856
+            ],
+            "object_minus_finger_midpoint": [
+              0.005439000416431583,
+              0.011860086596722118,
+              0.0
+            ],
+            "finger_gap": 0.02609554595034871,
+            "fingertip_max_gap": 0.09187688685630843,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013047772975174367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163188001697856,
+            "object_top_z": 1.213009597978833,
+            "finger_top_clearance": 0.04982159628097693,
+            "fingertip_min_top_clearance": 0.014946478884293079,
+            "object_projection_between_fingers": 0.8262337611531273,
+            "object_to_finger_line_xy": 0.009887820099448644,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843844342815422,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7630064397314142,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3010318259418183,
+              -0.37639699428813544,
+              0.8515395714834042
+            ],
+            "target_position": [
+              0.2925702607138557,
+              -0.377901614696959,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008594298614879172,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18425336026269448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395714834042,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550363971314375,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08739420987432871,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15231662576774482,
+            "release_required_pad_clearance": 0.053697104937164356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.403740954434913,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008171916007995605,
+            "max_z_decrease": 0.008171916007995605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500732696667647,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008171916007995605,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020975867853159812,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008171916007995605,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008172034702837831,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14827018976211542,
+              -0.43416306376457214,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14827018976211542,
+              -0.43416306376457214,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14809263530462238,
+              -0.4355165172906538,
+              0.803616495064547
+            ],
+            "closest_button": [
+              0.14830701053142542,
+              -0.4341388940811157,
+              0.76863694190979
+            ],
+            "closest_ee_minus_button": [
+              -0.00021437522680303744,
+              -0.0013776232095381036,
+              0.03497955315475698
+            ],
+            "button_min_z_position": [
+              0.14830701053142542,
+              -0.4341388940811157,
+              0.76863694190979
+            ],
+            "min_active_finger_to_button": 0.14576647588231617,
+            "closest_active_finger": [
+              0.0072060227394104,
+              -0.4209327697753906,
+              0.8107715845108032
+            ],
+            "closest_active_finger_button": [
+              0.14826987683773035,
+              -0.43416285514831543,
+              0.7765105366706848
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14106385409831995,
+              0.013230085372924805,
+              0.03426104784011841
+            ],
+            "min_contact_pad_to_button": 0.020975867853159812,
+            "closest_contact_pad": [
+              0.14830701053142542,
+              -0.4365589949549235,
+              0.789472731886506
+            ],
+            "closest_contact_pad_button": [
+              0.14830701053142542,
+              -0.4341388940811157,
+              0.76863694190979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024201008738077845,
+              0.02083578997671598
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2837463133736058,
+              0.19415239068990287,
+              1.1040137939873627
+            ],
+            "current_z": 1.1040137939873627,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1941046642530001,
+            "gripper_z": 1.1040137417218472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2837463465261316,
+              0.19415238467244242,
+              1.1040137417218472
+            ],
+            "object_minus_gripper": [
+              -3.315252583568906e-08,
+              6.017460446594569e-09,
+              5.226551547110603e-08
+            ],
+            "object_to_gripper_xy": 3.3694210177897934e-08,
+            "object_to_gripper_z": 5.226551547110603e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2837463133736058,
+              0.19415239068990287,
+              1.1040137939873627
+            ],
+            "finger_b": [
+              0.2837463133736058,
+              0.19415239068990287,
+              1.1040137939873627
+            ],
+            "finger_midpoint": [
+              0.2837463133736058,
+              0.19415239068990287,
+              1.1040137939873627
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040137939873627,
+            "object_top_z": 1.2290223006076424,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2837463133736058,
+            0.19415239068990287,
+            1.1040137939873627
+          ],
+          "object_origin_world": [
+            0.2837463133736058,
+            0.19415239068990287,
+            1.1040137939873627
+          ],
+          "frame_world": [
+            0.2837463465261316,
+            0.19415238467244242,
+            1.1040137417218472
+          ],
+          "center_minus_frame": [
+            -3.315252583568906e-08,
+            6.017460446594569e-09,
+            5.226551547110603e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043185601403125,
+            "required_z": 0.9112598448231277,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002205119512579668,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.393217309791528e-08,
+            "max_target_xy_drift": 1.73255964980023e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.403740953951546,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.40374095444189,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29981902248268966,
+              -0.37822854403230133,
+              0.9233157824514017
+            ],
+            "target_mouth_xy": [
+              0.30103185739201216,
+              -0.37639696159933245
+            ],
+            "rod_tip_z": 0.9233157824514017,
+            "rod_tip_depth": -0.022055858498289282,
+            "rod_tip_bottom_clearance": 0.12149648405323576,
+            "rod_tip_xy_dist": 0.0021967391119638055,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0450965307759712,
+            "min_rod_tip_bottom_clearance": 0.05434404501181289,
+            "min_rod_tip_xy_dist": 0.0006931824046398148,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.30103176705009527,
+              -0.37639693587791734
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.034191689183402e-08,
+              -2.5721415108925783e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0007071279307155898,
+                6.504803067008957e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0008035768647543517,
+                -0.0003233033163346777
+              ],
+              "first_target_mouth_xy": [
+                0.30103179662926915,
+                -0.3763969314236054
+              ],
+              "last_target_mouth_xy": [
+                0.3010318267283827,
+                -0.3763969641479995
+              ],
+              "first_rod_tip_xy": [
+                0.30032466869855357,
+                -0.37633188339293533
+              ],
+              "last_rod_tip_xy": [
+                0.30022824986362834,
+                -0.3767202674643342
+              ],
+              "min_rod_tip_xy_dist": 0.000699326805563482,
+              "max_rod_tip_xy_dist": 0.0008661759705287571,
+              "first_target_xy_drift": 2.991267996305337e-08,
+              "last_target_xy_drift": 6.603556265603169e-08,
+              "max_depth": 0.01950514978563256,
+              "min_bottom_clearance": 0.07993536255430989
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0007071279307155898,
+                  6.504803067008957e-05
+                ],
+                "rod_tip_xy": [
+                  0.30032466869855357,
+                  -0.37633188339293533
+                ],
+                "target_mouth_xy": [
+                  0.30103179662926915,
+                  -0.3763969314236054
+                ],
+                "gripper_position": [
+                  0.30033257168080707,
+                  -0.37640717386982714,
+                  1.0056055035906288
+                ],
+                "rod_tip_xy_dist": 0.0007101134815592285,
+                "target_xy_drift": 2.991267996305337e-08,
+                "depth": 0.015116294406871011,
+                "bottom_clearance": 0.08432430229012944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0006992523433479447,
+                  -1.0204964577709141e-05
+                ],
+                "rod_tip_xy": [
+                  0.30033257168080707,
+                  -0.376407173869827
+                ],
+                "target_mouth_xy": [
+                  0.301031824024155,
+                  -0.3763969689052493
+                ],
+                "gripper_position": [
+                  0.30032188526408576,
+                  -0.3764171739651717,
+                  1.0054410592415746
+                ],
+                "rod_tip_xy_dist": 0.000699326805563482,
+                "target_xy_drift": 6.585475033655853e-08,
+                "depth": 0.01565446360726841,
+                "bottom_clearance": 0.08378628047517545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0007099714017269054,
+                  -2.0213359446574763e-05
+                ],
+                "rod_tip_xy": [
+                  0.30032188526408576,
+                  -0.3764171739651717
+                ],
+                "target_mouth_xy": [
+                  0.30103185666581267,
+                  -0.37639696060572514
+                ],
+                "gripper_position": [
+                  0.3003137870670335,
+                  -0.37642049398901245,
+                  1.005296215550829
+                ],
+                "rod_tip_xy_dist": 0.0007102590873548774,
+                "target_xy_drift": 9.296473139965202e-08,
+                "depth": 0.015818817932707008,
+                "bottom_clearance": 0.08362181786452494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.000717976614256044,
+                  -2.3465435664227208e-05
+                ],
+                "rod_tip_xy": [
+                  0.30031378706703343,
+                  -0.37642049398901245
+                ],
+                "target_mouth_xy": [
+                  0.3010317636812895,
+                  -0.3763970285533482
+                ],
+                "gripper_position": [
+                  0.30030561620152996,
+                  -0.37642389207552646,
+                  1.005151130683585
+                ],
+                "rod_tip_xy_dist": 0.0007183599691585578,
+                "target_xy_drift": 9.273663969632938e-08,
+                "depth": 0.015963774418697008,
+                "bottom_clearance": 0.08347699854735258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007262108156286251,
+                  -2.6930496003885196e-05
+                ],
+                "rod_tip_xy": [
+                  0.30030561620152996,
+                  -0.3764238920755265
+                ],
+                "target_mouth_xy": [
+                  0.3010318270171586,
+                  -0.3763969615795226
+                ],
+                "gripper_position": [
+                  0.3003151896834806,
+                  -0.37650227016678733,
+                  1.0046130961496127
+                ],
+                "rod_tip_xy_dist": 0.0007267099836599248,
+                "target_xy_drift": 6.524278655170599e-08,
+                "depth": 0.0161087298919117,
+                "bottom_clearance": 0.08333187524689134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000716605929705072,
+                  -0.00010524069960715643
+                ],
+                "rod_tip_xy": [
+                  0.3003151896834806,
+                  -0.3765022701667874
+                ],
+                "target_mouth_xy": [
+                  0.30103179561318566,
+                  -0.37639702946718023
+                ],
+                "gripper_position": [
+                  0.300304416997732,
+                  -0.37651204000036426,
+                  1.0044480206021176
+                ],
+                "rod_tip_xy_dist": 0.0007242925260847817,
+                "target_xy_drift": 9.785090833523455e-08,
+                "depth": 0.01664684798476579,
+                "bottom_clearance": 0.08279388038788305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007274106556281468,
+                  -0.00011507873682514713
+                ],
+                "rod_tip_xy": [
+                  0.30030441699773197,
+                  -0.3765120400003643
+                ],
+                "target_mouth_xy": [
+                  0.3010318276533601,
+                  -0.37639696126353916
+                ],
+                "gripper_position": [
+                  0.30029623727563415,
+                  -0.3765151920935345,
+                  1.0043039194484658
+                ],
+                "rod_tip_xy_dist": 0.0007364573155252393,
+                "target_xy_drift": 6.570529283190125e-08,
+                "depth": 0.016811909916663592,
+                "bottom_clearance": 0.0826287305203145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.000735558956647453,
+                  -0.00011822508134973209
+                ],
+                "rod_tip_xy": [
+                  0.30029623727563415,
+                  -0.37651519209353446
+                ],
+                "target_mouth_xy": [
+                  0.3010317962322816,
+                  -0.3763969670121847
+                ],
+                "gripper_position": [
+                  0.30030631304164923,
+                  -0.37659436360824605,
+                  1.0037695898709094
+                ],
+                "rod_tip_xy_dist": 0.0007449994285665194,
+                "target_xy_drift": 4.2672504085496556e-08,
+                "depth": 0.01695595180578302,
+                "bottom_clearance": 0.0824846474372517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007254821961147906,
+                  -0.0001973702692600332
+                ],
+                "rod_tip_xy": [
+                  0.30030631304164923,
+                  -0.37659436360824605
+                ],
+                "target_mouth_xy": [
+                  0.301031795237764,
+                  -0.376396993338986
+                ],
+                "gripper_position": [
+                  0.3002954782627948,
+                  -0.37660387354710223,
+                  1.0036051429011097
+                ],
+                "rod_tip_xy_dist": 0.0007518506767086916,
+                "target_xy_drift": 6.400249279351806e-08,
+                "depth": 0.01749026199953163,
+                "bottom_clearance": 0.08195027937176724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007363476422289628,
+                  -0.00020684565261203103
+                ],
+                "rod_tip_xy": [
+                  0.3002954782627948,
+                  -0.37660387354710223
+                ],
+                "target_mouth_xy": [
+                  0.30103182590502375,
+                  -0.3763970278944902
+                ],
+                "gripper_position": [
+                  0.3002869757385011,
+                  -0.3766071037144783,
+                  1.0034606386625278
+                ],
+                "rod_tip_xy_dist": 0.0007648483341294857,
+                "target_xy_drift": 1.0922889859496294e-07,
+                "depth": 0.017654756626467205,
+                "bottom_clearance": 0.0817858950387177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007448511231599175,
+                  -0.00021011232092799093
+                ],
+                "rod_tip_xy": [
+                  0.3002869757385011,
+                  -0.37660710371447825
+                ],
+                "target_mouth_xy": [
+                  0.301031826861661,
+                  -0.37639699139355026
+                ],
+                "gripper_position": [
+                  0.30027852978808267,
+                  -0.37661024234669666,
+                  1.003316334615676
+                ],
+                "rod_tip_xy_dist": 0.000773918847863481,
+                "target_xy_drift": 8.160520140966163e-08,
+                "depth": 0.01779922057770611,
+                "bottom_clearance": 0.08164137837892971,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007532632330393141,
+                  -0.00021321504426985438
+                ],
+                "rod_tip_xy": [
+                  0.30027852978808267,
+                  -0.3766102423466966
+                ],
+                "target_mouth_xy": [
+                  0.301031793021122,
+                  -0.37639702730242675
+                ],
+                "gripper_position": [
+                  0.30026986306739284,
+                  -0.3766135158519295,
+                  1.0031717503564237
+                ],
+                "rod_tip_xy_dist": 0.0007828576839706154,
+                "target_xy_drift": 9.504175476698436e-08,
+                "depth": 0.0179436451912256,
+                "bottom_clearance": 0.08149709822029383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007619645418424636,
+                  -0.00021652479425704474
+                ],
+                "rod_tip_xy": [
+                  0.3002698630673928,
+                  -0.3766135158519296
+                ],
+                "target_mouth_xy": [
+                  0.30103182760923525,
+                  -0.37639699105767255
+                ],
+                "gripper_position": [
+                  0.30028246827758875,
+                  -0.37669562006879076,
+                  1.0026405589254097
+                ],
+                "rod_tip_xy_dist": 0.0007921319016131411,
+                "target_xy_drift": 8.192810763199072e-08,
+                "depth": 0.01808817999268908,
+                "bottom_clearance": 0.08135245911934286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007493260961944914,
+                  -0.0002986542916747492
+                ],
+                "rod_tip_xy": [
+                  0.30028246827758875,
+                  -0.37669562006879076
+                ],
+                "target_mouth_xy": [
+                  0.30103179437378325,
+                  -0.376396965777116
+                ],
+                "gripper_position": [
+                  0.3002714044624826,
+                  -0.37670537928191017,
+                  1.0024762058507515
+                ],
+                "rod_tip_xy_dist": 0.0008066498523980665,
+                "target_xy_drift": 4.050365423047641e-08,
+                "depth": 0.018619343962942847,
+                "bottom_clearance": 0.0808212778771632,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007604510930067088,
+                  -0.0003084144734413208
+                ],
+                "rod_tip_xy": [
+                  0.3002714044624826,
+                  -0.37670537928191017
+                ],
+                "target_mouth_xy": [
+                  0.30103185555548934,
+                  -0.37639696480846885
+                ],
+                "gripper_position": [
+                  0.3002627392642234,
+                  -0.37670826473771185,
+                  1.0023315330945832
+                ],
+                "rod_tip_xy_dist": 0.0008206127907138574,
+                "target_xy_drift": 9.311380987803847e-08,
+                "depth": 0.018783631639022524,
+                "bottom_clearance": 0.08065689582188929,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007691468712055505,
+                  -0.0003113335754187374
+                ],
+                "rod_tip_xy": [
+                  0.3002627392642234,
+                  -0.3767082647377118
+                ],
+                "target_mouth_xy": [
+                  0.30103188613542897,
+                  -0.37639693116229306
+                ],
+                "gripper_position": [
+                  0.3002542182945024,
+                  -0.37671118635920214,
+                  1.0021874869251821
+                ],
+                "rod_tip_xy_dist": 0.0008297683439781867,
+                "target_xy_drift": 1.1917866342608022e-07,
+                "depth": 0.018928335151823794,
+                "bottom_clearance": 0.08051227496058744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007776056304428791,
+                  -0.0003142177106746913
+                ],
+                "rod_tip_xy": [
+                  0.30025421829450233,
+                  -0.3767111863592021
+                ],
+                "target_mouth_xy": [
+                  0.3010318239249452,
+                  -0.3763969686485274
+                ],
+                "gripper_position": [
+                  0.30024548643966864,
+                  -0.3767142702279578,
+                  1.0020432572756979
+                ],
+                "rod_tip_xy_dist": 0.0008386914129750653,
+                "target_xy_drift": 6.564039487554872e-08,
+                "depth": 0.019072478315207753,
+                "bottom_clearance": 0.08036825986143825,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.000786370756181709,
+                  -0.00031730801345375426
+                ],
+                "rod_tip_xy": [
+                  0.3002454864396686,
+                  -0.37671427022795767
+                ],
+                "target_mouth_xy": [
+                  0.3010318571958503,
+                  -0.3763969622145039
+                ],
+                "gripper_position": [
+                  0.30023689310726154,
+                  -0.37671724989926625,
+                  1.001898958709003
+                ],
+                "rod_tip_xy_dist": 0.0008479760265359869,
+                "target_xy_drift": 9.391417859959285e-08,
+                "depth": 0.01921659447114521,
+                "bottom_clearance": 0.08022400088316683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007949305437247034,
+                  -0.00032028283109936106
+                ],
+                "rod_tip_xy": [
+                  0.30023689310726154,
+                  -0.37671724989926614
+                ],
+                "target_mouth_xy": [
+                  0.30103182365098624,
+                  -0.3763969670681668
+                ],
+                "gripper_position": [
+                  0.3002282498636284,
+                  -0.3767202674643341,
+                  1.00175466885454
+                ],
+                "rod_tip_xy_dist": 0.0008570272231635787,
+                "target_xy_drift": 6.462578834427698e-08,
+                "depth": 0.01936098446796819,
+                "bottom_clearance": 0.08007970490799232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008035768647543517,
+                  -0.0003233033163346777
+                ],
+                "rod_tip_xy": [
+                  0.30022824986362834,
+                  -0.3767202674643342
+                ],
+                "target_mouth_xy": [
+                  0.3010318267283827,
+                  -0.3763969641479995
+                ],
+                "gripper_position": [
+                  0.30021962945694125,
+                  -0.37672318998518634,
+                  1.0016106373286482
+                ],
+                "rod_tip_xy_dist": 0.0008661759705287571,
+                "target_xy_drift": 6.603556265603169e-08,
+                "depth": 0.01950514978563256,
+                "bottom_clearance": 0.07993536255430989,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006033273952075732,
+              "rod_tip_xy_max_step": 3.273720325751537e-05,
+              "rod_tip_xy_range": 0.0006033156844776197,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29981902248268966,
+            -0.37822854403230133,
+            1.0433157824514019
+          ],
+          "object_origin_world": [
+            0.29981902248268966,
+            -0.37822854403230133,
+            1.0433157824514019
+          ],
+          "frame_world": [
+            0.29981749696982035,
+            -0.37823758128568097,
+            1.043185601403125
+          ],
+          "center_minus_frame": [
+            1.5255128693048015e-06,
+            9.03725337964012e-06,
+            0.00013018104827677845
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27357224642626177,
+              0.1468708581157559,
+              0.8319963180281894
+            ],
+            "target_position": [
+              0.2838948948670199,
+              0.19342976926097588,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04768950909644569,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16839464880344107,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319963180281894,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671919158759,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13808593824471405,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "807270cdb3d36a4e8ed05f6c24fd3bf54f78e3597ae45a43f3908ab26faf279a",
+    "visual_seed": 3902573872180067236,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d957e471206d477e2bb551812535081dba6d25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_78_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3294553378078437,
+              -0.03223112846219624,
+              1.164447800856804
+            ],
+            "current_z": 1.164447800856804,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30334123323739315,
+            "gripper_z": 1.1555459999535154,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32463890082298463,
+              -0.036979477975479666,
+              1.1555459999535154
+            ],
+            "object_minus_gripper": [
+              0.004816436984859063,
+              0.004748349513283429,
+              0.008901800903288626
+            ],
+            "object_to_gripper_xy": 0.006763496753116485,
+            "object_to_gripper_z": 0.008901800903288626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3294553378078437,
+              -0.05610944546232468,
+              1.164447800856804
+            ],
+            "finger_b": [
+              0.3185719827105633,
+              -0.03223112846219624,
+              1.164447800856804
+            ],
+            "finger_midpoint": [
+              0.32401366025920353,
+              -0.044170286962260455,
+              1.164447800856804
+            ],
+            "object_minus_finger_midpoint": [
+              0.005441677548640167,
+              0.011939158500064218,
+              0.0
+            ],
+            "finger_gap": 0.02624159753010708,
+            "fingertip_max_gap": 0.09157978630087013,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013120798765053525,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164447800856804,
+            "object_top_z": 1.2143338261683567,
+            "finger_top_clearance": 0.04988602531155273,
+            "fingertip_min_top_clearance": 0.01496580759346585,
+            "object_projection_between_fingers": 0.827993421155798,
+            "object_to_finger_line_xy": 0.009903215790870522,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828989315043507,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4237086303978455,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2917004302874299,
+              -0.37225659170264463,
+              0.8515395676592079
+            ],
+            "target_position": [
+              0.28458832482523116,
+              -0.373130501105866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007165595701019987,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18381081704419375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395676592079,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580076363538872,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08836151287778497,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15125009172819132,
+            "release_required_pad_clearance": 0.05418075643889249,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.377518863190656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00823599100112915,
+            "max_z_decrease": 0.00823599100112915,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500421308192891,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00823599100112915,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020886235363717656,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00823599100112915,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00823609455691349,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14028824865818024,
+              -0.4293919503688813,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14028824865818024,
+              -0.4293919503688813,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13990348310145354,
+              -0.42839755787921635,
+              0.8036304703046465
+            ],
+            "closest_button": [
+              0.1403200328350067,
+              -0.42936569452285767,
+              0.7686421275138855
+            ],
+            "closest_ee_minus_button": [
+              -0.0004165497335531787,
+              0.0009681366436413152,
+              0.03498834279076102
+            ],
+            "button_min_z_position": [
+              0.14032065868377686,
+              -0.4293663501739502,
+              0.7685728669166565
+            ],
+            "min_active_finger_to_button": 0.14572621689173498,
+            "closest_active_finger": [
+              0.013665534555912018,
+              -0.49287304282188416,
+              0.8108179569244385
+            ],
+            "closest_active_finger_button": [
+              0.14028805494308472,
+              -0.42939108610153204,
+              0.776570200920105
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266225203871727,
+              -0.06348195672035212,
+              0.034247756004333496
+            ],
+            "min_contact_pad_to_button": 0.020886235363717656,
+            "closest_contact_pad": [
+              0.14032065868377686,
+              -0.42944130153100185,
+              0.7894589677964925
+            ],
+            "closest_contact_pad_button": [
+              0.14032065868377686,
+              -0.4293663501739502,
+              0.7685728669166565
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.495135705165579e-05,
+              0.020886100879836
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28312610159057106,
+              0.19239511628468545,
+              1.1037490301825934
+            ],
+            "current_z": 1.1037490301825934,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19383990044823085,
+            "gripper_z": 1.1037492717932897,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2831259362913917,
+              0.1923951858286052,
+              1.1037492717932897
+            ],
+            "object_minus_gripper": [
+              1.6529917934438032e-07,
+              -6.954391976177199e-08,
+              -2.4161069633876764e-07
+            ],
+            "object_to_gripper_xy": 1.793325833967642e-07,
+            "object_to_gripper_z": -2.4161069633876764e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28312610159057106,
+              0.19239511628468545,
+              1.1037490301825934
+            ],
+            "finger_b": [
+              0.28312610159057106,
+              0.19239511628468545,
+              1.1037490301825934
+            ],
+            "finger_midpoint": [
+              0.28312610159057106,
+              0.19239511628468545,
+              1.1037490301825934
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037490301825934,
+            "object_top_z": 1.2287575368028731,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2831261015905711,
+            0.19239511628468542,
+            1.1037490301825936
+          ],
+          "object_origin_world": [
+            0.2831261015905711,
+            0.19239511628468542,
+            1.1037490301825936
+          ],
+          "frame_world": [
+            0.2831259362913917,
+            0.1923951858286052,
+            1.1037492717932897
+          ],
+          "center_minus_frame": [
+            1.6529917939989147e-07,
+            -6.954391978952756e-08,
+            -2.4161069611672303e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432537189691717,
+            "required_z": 0.9112599263487362,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017496748619123472,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 2.4713229290700918e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.3775188629223467,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.377518863201777,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29287708271961427,
+              -0.3709522555617675,
+              0.9233789213907407
+            ],
+            "target_mouth_xy": [
+              0.29170045857046684,
+              -0.37225656330136325
+            ],
+            "rod_tip_z": 0.9233789213907407,
+            "rod_tip_depth": -0.02211899504200454,
+            "rod_tip_bottom_clearance": 0.12155967638853393,
+            "rod_tip_xy_dist": 0.0017566055527426655,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04501852307701315,
+            "min_rod_tip_bottom_clearance": 0.05442215826951624,
+            "min_rod_tip_xy_dist": 4.2093963987108255e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29170045857046684,
+              -0.37225656330136325
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0015979679347715714,
+                0.0030622669071400654
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015380240373467635,
+                0.002638098327638061
+              ],
+              "first_target_mouth_xy": [
+                0.2917004599198339,
+                -0.37225658797772665
+              ],
+              "last_target_mouth_xy": [
+                0.29170045857046684,
+                -0.37225656330136325
+              ],
+              "first_rod_tip_xy": [
+                0.29329842785460547,
+                -0.3691943210705866
+              ],
+              "last_rod_tip_xy": [
+                0.2932384826078136,
+                -0.3696184649737252
+              ],
+              "min_rod_tip_xy_dist": 0.0030536995146450106,
+              "max_rod_tip_xy_dist": 0.0034541250890961234,
+              "first_target_xy_drift": 2.4713229290700918e-08,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.01972478089659735,
+              "min_bottom_clearance": 0.07971590044993204
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015979679347715714,
+                  0.0030622669071400654
+                ],
+                "rod_tip_xy": [
+                  0.29329842785460547,
+                  -0.3691943210705866
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.2933093653475303,
+                  -0.36926293460657955,
+                  1.005677480346662
+                ],
+                "rod_tip_xy_dist": 0.0034541250890961234,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.015048028585052609,
+                "bottom_clearance": 0.08439249886389077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016089067770633236,
+                  0.002993628694783701
+                ],
+                "rod_tip_xy": [
+                  0.29330936534753016,
+                  -0.36926293460657955
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.2932985273993131,
+                  -0.3692718221955667,
+                  1.0055190228806785
+                ],
+                "rod_tip_xy_dist": 0.0033985870269146643,
+                "target_xy_drift": 0.0,
+                "depth": 0.015582446002074257,
+                "bottom_clearance": 0.08385823534445513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015980674794790484,
+                  0.0029847657821600038
+                ],
+                "rod_tip_xy": [
+                  0.29329852739931295,
+                  -0.36927182219556665
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.2932902452601713,
+                  -0.36927484327333904,
+                  1.0053797956025878
+                ],
+                "rod_tip_xy_dist": 0.0033856530305572865,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.01574074833697281,
+                "bottom_clearance": 0.08369977911197057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015897866897043311,
+                  0.002981720028024215
+                ],
+                "rod_tip_xy": [
+                  0.29329024526017117,
+                  -0.36927484327333904
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.293302127108686,
+                  -0.3693443457277535,
+                  1.004846587527606
+                ],
+                "rod_tip_xy_dist": 0.003379064374095554,
+                "target_xy_drift": 0.0,
+                "depth": 0.015880130746148358,
+                "bottom_clearance": 0.08356055060038103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016016671888519074,
+                  0.002912242249973218
+                ],
+                "rod_tip_xy": [
+                  0.2933021271086858,
+                  -0.36934434572775343
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.29329113562065373,
+                  -0.36935342673539395,
+                  1.0046883892912062
+                ],
+                "rod_tip_xy_dist": 0.0033236264390532583,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.016413183690045297,
+                "bottom_clearance": 0.08302734375889809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015906770501867284,
+                  0.0029031365659693
+                ],
+                "rod_tip_xy": [
+                  0.29329113562065356,
+                  -0.36935342673539395
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.29328266017451377,
+                  -0.36935604798225297,
+                  1.0045489241749341
+                ],
+                "rod_tip_xy_dist": 0.003310355781280733,
+                "target_xy_drift": 0.0,
+                "depth": 0.016571537057530006,
+                "bottom_clearance": 0.08286914428899939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015822002546797553,
+                  0.0029005399954736832
+                ],
+                "rod_tip_xy": [
+                  0.29328266017451365,
+                  -0.36935604798225297
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.29327417538706535,
+                  -0.36935876059010286,
+                  1.004409683154892
+                ],
+                "rod_tip_xy_dist": 0.0033040111850977678,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.01671084704271697,
+                "bottom_clearance": 0.08272968040622641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015737168165984028,
+                  0.002897802711260389
+                ],
+                "rod_tip_xy": [
+                  0.29327417538706524,
+                  -0.36935876059010286
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.29328760157290057,
+                  -0.36943080840699066,
+                  1.003877547969968
+                ],
+                "rod_tip_xy_dist": 0.003297551390385398,
+                "target_xy_drift": 0.0,
+                "depth": 0.016850243193844094,
+                "bottom_clearance": 0.0825904381526853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001587141653066504,
+                  0.0028257795707360422
+                ],
+                "rod_tip_xy": [
+                  0.2932876015729004,
+                  -0.3694308084069906
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.29327663347448707,
+                  -0.369439688484859,
+                  1.003719014254761
+                ],
+                "rod_tip_xy_dist": 0.0032409950338264707,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.017382223247683348,
+                "bottom_clearance": 0.08205830420126003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015761749040200668,
+                  0.002816874816504278
+                ],
+                "rod_tip_xy": [
+                  0.2932766334744869,
+                  -0.369439688484859
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.29326793220544844,
+                  -0.36944240908550235,
+                  1.003579862482123
+                ],
+                "rod_tip_xy_dist": 0.0032278647834007353,
+                "target_xy_drift": 0.0,
+                "depth": 0.017540912093975458,
+                "bottom_clearance": 0.08189976925255393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015674722856144352,
+                  0.0028141788922243505
+                ],
+                "rod_tip_xy": [
+                  0.29326793220544833,
+                  -0.3694424090855023
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.2932593333992264,
+                  -0.3694448589693913,
+                  1.0034405304002363
+                ],
+                "rod_tip_xy_dist": 0.00322126872576791,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.01767990873552827,
+                "bottom_clearance": 0.08176061871341511,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015588748287593823,
+                  0.002811704331971976
+                ],
+                "rod_tip_xy": [
+                  0.2932593333992262,
+                  -0.3694448589693913
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.2932743050520456,
+                  -0.3695187938821885,
+                  1.0029119368623214
+                ],
+                "rod_tip_xy_dist": 0.0032149295454441252,
+                "target_xy_drift": 0.0,
+                "depth": 0.017819395948500127,
+                "bottom_clearance": 0.08162128539802926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015738451322115377,
+                  0.002737794095538204
+                ],
+                "rod_tip_xy": [
+                  0.29327430505204544,
+                  -0.36951879388218845
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.293263066459862,
+                  -0.3695274534967489,
+                  1.002753393874216
+                ],
+                "rod_tip_xy_dist": 0.0031579273281299248,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.01834783435532994,
+                "bottom_clearance": 0.08109269309361344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015626078893950512,
+                  0.0027291098046143825
+                ],
+                "rod_tip_xy": [
+                  0.2932630664598619,
+                  -0.36952745349674887
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.2932544480526421,
+                  -0.36952981005522056,
+                  1.0026146875322597
+                ],
+                "rod_tip_xy_dist": 0.003144802655436746,
+                "target_xy_drift": 0.0,
+                "depth": 0.0185065324745205,
+                "bottom_clearance": 0.0809341488720089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015539881328080485,
+                  0.002726777922506196
+                ],
+                "rod_tip_xy": [
+                  0.29325444805264195,
+                  -0.36952981005522045
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.29324569703222547,
+                  -0.36953240081306526,
+                  1.0024755154088263
+                ],
+                "rod_tip_xy_dist": 0.003138502342770426,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.01864508368539164,
+                "bottom_clearance": 0.08079544376355174,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015452384617585246,
+                  0.0027241624882979876
+                ],
+                "rod_tip_xy": [
+                  0.29324569703222536,
+                  -0.36953240081306526
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.29323700844677447,
+                  -0.3695348643517888,
+                  1.002336407517855
+                ],
+                "rod_tip_xy_dist": 0.0031319040800043244,
+                "target_xy_drift": 0.0,
+                "depth": 0.0187844109399099,
+                "bottom_clearance": 0.08065627040661949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015365485269404622,
+                  0.002721723625937811
+                ],
+                "rod_tip_xy": [
+                  0.29323700844677436,
+                  -0.36953486435178884
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.29322833893725175,
+                  -0.3695371360176082,
+                  1.002197086853013
+                ],
+                "rod_tip_xy_dist": 0.003125501699188623,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.018923363699796414,
+                "bottom_clearance": 0.08051716374914697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015278803667847507,
+                  0.0027194272837551825
+                ],
+                "rod_tip_xy": [
+                  0.2932283389372516,
+                  -0.36953713601760807
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.293219529311971,
+                  -0.36953960159265653,
+                  1.0020585295427642
+                ],
+                "rod_tip_xy_dist": 0.0031192472115621735,
+                "target_xy_drift": 0.0,
+                "depth": 0.019062839495723183,
+                "bottom_clearance": 0.08037784185080621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015190693921369736,
+                  0.0027169863850701192
+                ],
+                "rod_tip_xy": [
+                  0.2932195293119709,
+                  -0.36953960159265653
+                ],
+                "target_mouth_xy": [
+                  0.2917004599198339,
+                  -0.37225658797772665
+                ],
+                "gripper_position": [
+                  0.2932384826078137,
+                  -0.3696184649737252,
+                  1.001535145452139
+                ],
+                "rod_tip_xy_dist": 0.0031128101186522427,
+                "target_xy_drift": 2.4713229290700918e-08,
+                "depth": 0.019201241674886904,
+                "bottom_clearance": 0.08023928577405648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0015380240373467635,
+                  0.002638098327638061
+                ],
+                "rod_tip_xy": [
+                  0.2932384826078136,
+                  -0.3696184649737252
+                ],
+                "target_mouth_xy": [
+                  0.29170045857046684,
+                  -0.37225656330136325
+                ],
+                "gripper_position": [
+                  0.2932272121421566,
+                  -0.36962717271407936,
+                  1.0013768101380975
+                ],
+                "rod_tip_xy_dist": 0.0030536995146450106,
+                "target_xy_drift": 0.0,
+                "depth": 0.01972478089659735,
+                "bottom_clearance": 0.07971590044993204,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006037735009459083,
+              "rod_tip_xy_max_step": 3.257026594379999e-05,
+              "rod_tip_xy_range": 0.0006037630528015712,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2928770827196143,
+            -0.3709522555617675,
+            1.0433789213907407
+          ],
+          "object_origin_world": [
+            0.2928770827196143,
+            -0.3709522555617675,
+            1.0433789213907407
+          ],
+          "frame_world": [
+            0.29287552709393516,
+            -0.37096019295012794,
+            1.0432537189691717
+          ],
+          "center_minus_frame": [
+            1.5556256791615652e-06,
+            7.937388360468312e-06,
+            0.00012520242156899286
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2703098502460716,
+              0.14766483297251473,
+              0.832173074274647
+            ],
+            "target_position": [
+              0.2832642855298913,
+              0.19350854479962964,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04763888440770027,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1650322696627179,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832173074274647,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668669588204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356594301389267,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12936b3d3804ef9292657fac4368d62c86983a1e9d24374f174e24958eaf373f",
+    "visual_seed": 4163417599285915837,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa13249c671189815e339042232b6b1688bed515
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_79_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3353830115119956,
+              -0.027586582129002956,
+              1.1658082769796585
+            ],
+            "current_z": 1.1658082769796585,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30470176896489265,
+            "gripper_z": 1.1567768025050047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33076028488733955,
+              -0.032386049056196534,
+              1.1567768025050047
+            ],
+            "object_minus_gripper": [
+              0.0046227266246560705,
+              0.004799466927193578,
+              0.0090314744746538
+            ],
+            "object_to_gripper_xy": 0.006663668976737145,
+            "object_to_gripper_z": 0.0090314744746538,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3353830115119956,
+              -0.05121274618534352,
+              1.1658082769796585
+            ],
+            "finger_b": [
+              0.3242677766252435,
+              -0.027586582129002956,
+              1.1658082769796585
+            ],
+            "finger_midpoint": [
+              0.32982539406861955,
+              -0.03939966415717324,
+              1.1658082769796585
+            ],
+            "object_minus_finger_midpoint": [
+              0.005557617443376073,
+              0.011813082028170285,
+              0.0
+            ],
+            "finger_gap": 0.026110229309693755,
+            "fingertip_max_gap": 0.09177823649711156,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01305511465484688,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658082769796585,
+            "object_top_z": 1.215720805037156,
+            "finger_top_clearance": 0.04991252805749746,
+            "fingertip_min_top_clearance": 0.014973758417249239,
+            "object_projection_between_fingers": 0.8187759143204972,
+            "object_to_finger_line_xy": 0.010057757817610166,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838911824855578,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.605803129131082,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2954002680267772,
+              -0.3751982096864276,
+              0.8515396287423048
+            ],
+            "target_position": [
+              0.28720526250257317,
+              -0.37638618213194386,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008280663866686097,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18576500222130754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396287423048,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514061914213556,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15468509132691702,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008198261260986328,
+            "max_z_decrease": 0.008198261260986328,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035040927821389296,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008198261260986328,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021008270582249248,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008198261260986328,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008198476205027273,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14290519058704376,
+              -0.4326476454734802,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14290519058704376,
+              -0.4326476454734802,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1408570974803419,
+              -0.434246615866636,
+              0.8035508691195818
+            ],
+            "closest_button": [
+              0.1429618000984192,
+              -0.4326297640800476,
+              0.7686105966567993
+            ],
+            "closest_ee_minus_button": [
+              -0.0021047026180772976,
+              -0.0016168517865883802,
+              0.03494027246278253
+            ],
+            "button_min_z_position": [
+              0.1429618000984192,
+              -0.4326297640800476,
+              0.7686105966567993
+            ],
+            "min_active_finger_to_button": 0.14748064876288333,
+            "closest_active_finger": [
+              0.0003566741943359375,
+              -0.4166221618652344,
+              0.8109953999519348
+            ],
+            "closest_active_finger_button": [
+              0.14290963113307953,
+              -0.43264999985694885,
+              0.7767564654350281
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425529569387436,
+              0.016027837991714478,
+              0.03423893451690674
+            ],
+            "min_contact_pad_to_button": 0.021008270582249248,
+            "closest_contact_pad": [
+              0.1429618000984192,
+              -0.43556200801811285,
+              0.7894132257777705
+            ],
+            "closest_contact_pad_button": [
+              0.1429618000984192,
+              -0.4326297640800476,
+              0.7686105966567993
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029322439380652376,
+              0.020802629120971194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2883043939322541,
+              0.19792916306414365,
+              1.1021035459762571
+            ],
+            "current_z": 1.1021035459762571,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1921944162418946,
+            "gripper_z": 1.1021035167955344,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28830431620487745,
+              0.1979291985394686,
+              1.1021035167955344
+            ],
+            "object_minus_gripper": [
+              7.772737664613061e-08,
+              -3.5475324955402954e-08,
+              2.9180722727062403e-08
+            ],
+            "object_to_gripper_xy": 8.544029354456179e-08,
+            "object_to_gripper_z": 2.9180722727062403e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2883043939322541,
+              0.19792916306414365,
+              1.1021035459762571
+            ],
+            "finger_b": [
+              0.2883043939322541,
+              0.19792916306414365,
+              1.1021035459762571
+            ],
+            "finger_midpoint": [
+              0.2883043939322541,
+              0.19792916306414365,
+              1.1021035459762571
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021035459762571,
+            "object_top_z": 1.2271120525965369,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28830439393225415,
+            0.19792916306414368,
+            1.1021035459762571
+          ],
+          "object_origin_world": [
+            0.28830439393225415,
+            0.19792916306414368,
+            1.1021035459762571
+          ],
+          "frame_world": [
+            0.28830431620487745,
+            0.1979291985394686,
+            1.1021035167955344
+          ],
+          "center_minus_frame": [
+            7.772737670164176e-08,
+            -3.547532492764738e-08,
+            2.9180722727062403e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043257037952624,
+            "required_z": 0.9112598185244664,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016230429938127132,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.777675730550706e-07,
+            "max_target_xy_drift": 6.02714670185944e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29656871112715577,
+              -0.37631957379326764,
+              0.9233856371683024
+            ],
+            "target_mouth_xy": [
+              0.2954004766430339,
+              -0.37520020644202756
+            ],
+            "rod_tip_z": 0.9233856371683024,
+            "rod_tip_depth": -0.02212575903919123,
+            "rod_tip_bottom_clearance": 0.12156625781280384,
+            "rod_tip_xy_dist": 0.0016179477979569217,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04521896379482093,
+            "min_rod_tip_bottom_clearance": 0.054221534978791674,
+            "min_rod_tip_xy_dist": 0.00028510321006609715,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2954005064453563,
+              -0.37519972960486936
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9802322387695312e-08,
+              -4.76837158203125e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0015995171122494267,
+                0.0008012464652903395
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001515284108863868,
+                0.0004078911087437298
+              ],
+              "first_target_mouth_xy": [
+                0.2954005064453563,
+                -0.3751998190118365
+              ],
+              "last_target_mouth_xy": [
+                0.2954004766430339,
+                -0.3751998488141589
+              ],
+              "first_rod_tip_xy": [
+                0.29700002355760574,
+                -0.3743985725465462
+              ],
+              "last_rod_tip_xy": [
+                0.2969157607518978,
+                -0.3747919577054152
+              ],
+              "min_rod_tip_xy_dist": 0.001569223083939169,
+              "max_rod_tip_xy_dist": 0.0017889804052920782,
+              "first_target_xy_drift": 8.940696716308594e-08,
+              "last_target_xy_drift": 1.228781230931777e-07,
+              "max_depth": 0.019500794838449353,
+              "min_bottom_clearance": 0.07993970393516325
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0015995171122494267,
+                  0.0008012464652903395
+                ],
+                "rod_tip_xy": [
+                  0.29700002355760574,
+                  -0.3743985725465462
+                ],
+                "target_mouth_xy": [
+                  0.2954005064453563,
+                  -0.3751998190118365
+                ],
+                "gripper_position": [
+                  0.2969918892433817,
+                  -0.37440190006251456,
+                  1.0059652985269956
+                ],
+                "rod_tip_xy_dist": 0.0017889804052920782,
+                "target_xy_drift": 8.940696716308594e-08,
+                "depth": 0.015152112634304826,
+                "bottom_clearance": 0.08428838613930778,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015914126003476192,
+                  0.0007980083562891815
+                ],
+                "rod_tip_xy": [
+                  0.29699188924338155,
+                  -0.3744019000625145
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751999084188037
+                ],
+                "gripper_position": [
+                  0.29700329882813964,
+                  -0.37448009728631354,
+                  1.005427302339177
+                ],
+                "rod_tip_xy_dist": 0.0017802840788066754,
+                "target_xy_drift": 1.812804499357408e-07,
+                "depth": 0.015294579602115776,
+                "bottom_clearance": 0.08414591917149683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016028221851056013,
+                  0.0007197515278454247
+                ],
+                "rod_tip_xy": [
+                  0.29700329882813953,
+                  -0.3744800972863135
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998488141589
+                ],
+                "gripper_position": [
+                  0.29699255713867967,
+                  -0.37448973527161344,
+                  1.0052652238538382
+                ],
+                "rod_tip_xy_dist": 0.001757009168701893,
+                "target_xy_drift": 1.228781230931777e-07,
+                "depth": 0.01583251618528947,
+                "bottom_clearance": 0.08360798258832314,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015921102979679636,
+                  0.0007101135425454652
+                ],
+                "rod_tip_xy": [
+                  0.2969925571386795,
+                  -0.37448973527161344
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998488141589
+                ],
+                "gripper_position": [
+                  0.2969842689775906,
+                  -0.37449308085050104,
+                  1.0051225034256925
+                ],
+                "rod_tip_xy_dist": 0.0017432947095090113,
+                "target_xy_drift": 1.3328003749250113e-07,
+                "depth": 0.015994654275272913,
+                "bottom_clearance": 0.0834458444983397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015837923345565774,
+                  0.0007067679636577617
+                ],
+                "rod_tip_xy": [
+                  0.2969842689775905,
+                  -0.37449308085050115
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998488141589
+                ],
+                "gripper_position": [
+                  0.296996577914264,
+                  -0.37457200904786225,
+                  1.0045869080869692
+                ],
+                "rod_tip_xy_dist": 0.0017343353520738465,
+                "target_xy_drift": 1.228781230931777e-07,
+                "depth": 0.01613731509877403,
+                "bottom_clearance": 0.08330318367483858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015961012712298883,
+                  0.0006278695686190439
+                ],
+                "rod_tip_xy": [
+                  0.2969965779142638,
+                  -0.37457200904786225
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.29698559883228515,
+                  -0.3745818960333235,
+                  1.0044249988610772
+                ],
+                "rod_tip_xy_dist": 0.0017151558131025678,
+                "target_xy_drift": 1.519626234052415e-07,
+                "depth": 0.016672910437497412,
+                "bottom_clearance": 0.0827675883361152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015851221892511091,
+                  0.000617952780835318
+                ],
+                "rod_tip_xy": [
+                  0.29698559883228504,
+                  -0.3745818960333236
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998488141589
+                ],
+                "gripper_position": [
+                  0.2969772511870249,
+                  -0.37458502427491686,
+                  1.0042825188862632
+                ],
+                "rod_tip_xy_dist": 0.0017013165473239635,
+                "target_xy_drift": 1.228781230931777e-07,
+                "depth": 0.016834879268033953,
+                "bottom_clearance": 0.08260561950557865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015767745439908554,
+                  0.0006148543415643859
+                ],
+                "rod_tip_xy": [
+                  0.2969772511870248,
+                  -0.3745850242749169
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.2969689382445675,
+                  -0.3745880747941443,
+                  1.0041400572226729
+                ],
+                "rod_tip_xy_dist": 0.0016924136089969686,
+                "target_xy_drift": 1.519626234052415e-07,
+                "depth": 0.016977299638203158,
+                "bottom_clearance": 0.08246319913540945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015684616015334552,
+                  0.0006118038223369426
+                ],
+                "rod_tip_xy": [
+                  0.2969689382445674,
+                  -0.37458807479414435
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.296982927325739,
+                  -0.37466927393156774,
+                  1.003606993151183
+                ],
+                "rod_tip_xy_dist": 0.001683560427341705,
+                "target_xy_drift": 1.519626234052415e-07,
+                "depth": 0.017119820906438266,
+                "bottom_clearance": 0.08232067786717434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015824804850272933,
+                  0.0005305748825911172
+                ],
+                "rod_tip_xy": [
+                  0.29698292732573883,
+                  -0.3746692739315678
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998488141589
+                ],
+                "gripper_position": [
+                  0.29697193384437925,
+                  -0.3746788929478172,
+                  1.0034448661286233
+                ],
+                "rod_tip_xy_dist": 0.0016690578754281697,
+                "target_xy_drift": 1.3328003749250113e-07,
+                "depth": 0.017652825373283276,
+                "bottom_clearance": 0.08178767340032933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015714870036676043,
+                  0.0005209856686640979
+                ],
+                "rod_tip_xy": [
+                  0.29697193384437914,
+                  -0.3746788929478172
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.2969632851657247,
+                  -0.37468206783553765,
+                  1.0033025151417727
+                ],
+                "rod_tip_xy_dist": 0.0016555958050350219,
+                "target_xy_drift": 1.6049041769309353e-07,
+                "depth": 0.017815012000488073,
+                "bottom_clearance": 0.08162548677312453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015628383250130273,
+                  0.000517810780943706
+                ],
+                "rod_tip_xy": [
+                  0.29696328516572457,
+                  -0.3746820678355376
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.29695483038056736,
+                  -0.37468504860136553,
+                  1.003159954135481
+                ],
+                "rod_tip_xy_dist": 0.0016463874498401205,
+                "target_xy_drift": 1.6049041769309353e-07,
+                "depth": 0.017957303382693857,
+                "bottom_clearance": 0.08148319539091875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015543835398556527,
+                  0.0005148300151157637
+                ],
+                "rod_tip_xy": [
+                  0.2969548303805672,
+                  -0.37468504860136553
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.29697030272662406,
+                  -0.3747677652088234,
+                  1.0026314032359234
+                ],
+                "rod_tip_xy_dist": 0.0016374242374651376,
+                "target_xy_drift": 1.6049041769309353e-07,
+                "depth": 0.01809992399363014,
+                "bottom_clearance": 0.08134057477998247,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015698260835899647,
+                  0.00043211340765791917
+                ],
+                "rod_tip_xy": [
+                  0.2969703027266239,
+                  -0.3747677652088234
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.2969591934854757,
+                  -0.3747773973127283,
+                  1.0024694434842039
+                ],
+                "rod_tip_xy_dist": 0.001628212495283446,
+                "target_xy_drift": 1.519626234052415e-07,
+                "depth": 0.018628415288542977,
+                "bottom_clearance": 0.08081208348506963,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015587466447640752,
+                  0.0004224813037529973
+                ],
+                "rod_tip_xy": [
+                  0.2969591934854756,
+                  -0.3747773973127283
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.29695045501726747,
+                  -0.3747803181513337,
+                  1.0023275340807876
+                ],
+                "rod_tip_xy_dist": 0.001614986549350828,
+                "target_xy_drift": 1.6049041769309353e-07,
+                "depth": 0.018790434644907483,
+                "bottom_clearance": 0.08065006412870512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015499783742334294,
+                  0.0004195306628251849
+                ],
+                "rod_tip_xy": [
+                  0.29695045501726736,
+                  -0.3747803181513337
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998488141589
+                ],
+                "gripper_position": [
+                  0.29694195743423873,
+                  -0.3747830004748305,
+                  1.0021854732116793
+                ],
+                "rod_tip_xy_dist": 0.0016057518294063514,
+                "target_xy_drift": 1.228781230931777e-07,
+                "depth": 0.018932284443679004,
+                "bottom_clearance": 0.0805082143299336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015414211865599214,
+                  0.0004168781416508116
+                ],
+                "rod_tip_xy": [
+                  0.2969419574342386,
+                  -0.3747830004748305
+                ],
+                "target_mouth_xy": [
+                  0.2954005362476787,
+                  -0.3751998786164813
+                ],
+                "gripper_position": [
+                  0.29693327395726954,
+                  -0.3747859934637412,
+                  1.002043159400414
+                ],
+                "rod_tip_xy_dist": 0.0015967988788078574,
+                "target_xy_drift": 1.519626234052415e-07,
+                "depth": 0.01907446452207684,
+                "bottom_clearance": 0.08036603425153577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015328271165578333,
+                  0.00041382554809521466
+                ],
+                "rod_tip_xy": [
+                  0.2969332739572694,
+                  -0.3747859934637413
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998190118365
+                ],
+                "gripper_position": [
+                  0.29692456057767785,
+                  -0.3747889681268517,
+                  1.0019011433133362
+                ],
+                "rod_tip_xy_dist": 0.0015877060664717844,
+                "target_xy_drift": 1.0745380149674383e-07,
+                "depth": 0.01921665912405257,
+                "bottom_clearance": 0.08022383964956004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015241137369661484,
+                  0.0004108508849848258
+                ],
+                "rod_tip_xy": [
+                  0.2969245605776777,
+                  -0.3747889681268517
+                ],
+                "target_mouth_xy": [
+                  0.29540044684071154,
+                  -0.3751998190118365
+                ],
+                "gripper_position": [
+                  0.29691576075189796,
+                  -0.3747919577054151,
+                  1.0017590832906618
+                ],
+                "rod_tip_xy_dist": 0.0015785186514266254,
+                "target_xy_drift": 1.0745380149674383e-07,
+                "depth": 0.019358675211130327,
+                "bottom_clearance": 0.08008182356248228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001515284108863868,
+                  0.0004078911087437298
+                ],
+                "rod_tip_xy": [
+                  0.2969157607518978,
+                  -0.3747919577054152
+                ],
+                "target_mouth_xy": [
+                  0.2954004766430339,
+                  -0.3751998488141589
+                ],
+                "gripper_position": [
+                  0.2969072001384905,
+                  -0.3747946595809022,
+                  1.0016165471382128
+                ],
+                "rod_tip_xy_dist": 0.001569223083939169,
+                "target_xy_drift": 1.228781230931777e-07,
+                "depth": 0.019500794838449353,
+                "bottom_clearance": 0.07993970393516325,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006059332634735433,
+              "rod_tip_xy_max_step": 3.2885560238461045e-05,
+              "rod_tip_xy_range": 0.0006059225269802065,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2965687111271558,
+            -0.3763195737932676,
+            1.0433856371683023
+          ],
+          "object_origin_world": [
+            0.2965687111271558,
+            -0.3763195737932676,
+            1.0433856371683023
+          ],
+          "frame_world": [
+            0.296567381913037,
+            -0.37632830247100896,
+            1.043257037952624
+          ],
+          "center_minus_frame": [
+            1.329214118828137e-06,
+            8.728677741376423e-06,
+            0.00012859921567831556
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2786257775604295,
+              0.15095824607807456,
+              0.8325531911087155
+            ],
+            "target_position": [
+              0.2884798758527804,
+              0.1976649118849509,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04773484978451847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17016871825230417,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325531911087155,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567306642915,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13883044211152218,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d826292b5e074ecc7f321068c892d90e293d0f083335fb2230810546005ef02",
+    "visual_seed": 7103540808506544346,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3f1658523dd344e1165f91fae76366e10c8038
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_7_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3348583188375711,
+              -0.030445410111204642,
+              1.1664504271399858
+            ],
+            "current_z": 1.1664504271399858,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30534391912521974,
+            "gripper_z": 1.1572922972030244,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.330062503851119,
+              -0.03524484372310946,
+              1.1572922972030244
+            ],
+            "object_minus_gripper": [
+              0.004795814986452096,
+              0.004799433611904817,
+              0.009158129936961412
+            ],
+            "object_to_gripper_xy": 0.006784865833556345,
+            "object_to_gripper_z": 0.009158129936961412,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3348583188375711,
+              -0.05429601055693967,
+              1.1664504271399858
+            ],
+            "finger_b": [
+              0.3238781080938219,
+              -0.030445410111204642,
+              1.1664504271399858
+            ],
+            "finger_midpoint": [
+              0.3293682134656965,
+              -0.04237071033407215,
+              1.1664504271399858
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054901053718746096,
+              0.011925300222867509,
+              0.0
+            ],
+            "finger_gap": 0.026256735699611282,
+            "fingertip_max_gap": 0.09114330945993884,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013128367849805637,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664504271399858,
+            "object_top_z": 1.216364104621942,
+            "finger_top_clearance": 0.04991367748195619,
+            "fingertip_min_top_clearance": 0.014974103244586855,
+            "object_projection_between_fingers": 0.8251201040915093,
+            "object_to_finger_line_xy": 0.009973997615514953,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048071654729969424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9553635648005016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2998299990786228,
+              -0.3759247079361277,
+              0.8515395429665618
+            ],
+            "target_position": [
+              0.2916613304449335,
+              -0.37717494617412134,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008263791073034281,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18477963348044452,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395429665618,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518191093696344,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537219108902903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536484716325723,
+            "release_required_pad_clearance": 0.05268609554451452,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4279577062663546,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008375763893127441,
+            "max_z_decrease": 0.008375763893127441,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501745109544269,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008375763893127441,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020850083017228682,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008375763893127441,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008375910711588405,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14736126363277438,
+              -0.4334363937377929,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14736126363277438,
+              -0.4334363937377929,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14705793130846412,
+              -0.4320109397508969,
+              0.8036190485437643
+            ],
+            "closest_button": [
+              0.14739957451820374,
+              -0.43341135978698725,
+              0.7686312794685364
+            ],
+            "closest_ee_minus_button": [
+              -0.00034164320973961715,
+              0.0014004200360903662,
+              0.03498776907522794
+            ],
+            "button_min_z_position": [
+              0.14740455150604248,
+              -0.4334121942520141,
+              0.7684330940246582
+            ],
+            "min_active_finger_to_button": 0.14545239303272509,
+            "closest_active_finger": [
+              0.01916617900133133,
+              -0.49308842420578003,
+              0.8106505274772644
+            ],
+            "closest_active_finger_button": [
+              0.14736109972000128,
+              -0.4334367215633391,
+              0.7765311002731323
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12819492071866995,
+              -0.05965170264244091,
+              0.03411942720413208
+            ],
+            "min_contact_pad_to_button": 0.020850083017228682,
+            "closest_contact_pad": [
+              0.14740455150604248,
+              -0.4334121942520141,
+              0.7892831770418869
+            ],
+            "closest_contact_pad_button": [
+              0.14740455150604248,
+              -0.4334121942520141,
+              0.7684330940246582
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020850083017228682
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28773673945896594,
+              0.19122966091948196,
+              1.1015869945633434
+            ],
+            "current_z": 1.1015869945633434,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19167786482898086,
+            "gripper_z": 1.1015871481769768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2877368284689142,
+              0.19122956815820147,
+              1.1015871481769768
+            ],
+            "object_minus_gripper": [
+              -8.900994824534436e-08,
+              9.27612804901834e-08,
+              -1.536136333690763e-07
+            ],
+            "object_to_gripper_xy": 1.2855903719621334e-07,
+            "object_to_gripper_z": -1.536136333690763e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28773673945896594,
+              0.19122966091948196,
+              1.1015869945633434
+            ],
+            "finger_b": [
+              0.28773673945896594,
+              0.19122966091948196,
+              1.1015869945633434
+            ],
+            "finger_midpoint": [
+              0.28773673945896594,
+              0.19122966091948196,
+              1.1015869945633434
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1015869945633434,
+            "object_top_z": 1.2265955011836231,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28773673945896594,
+            0.19122966091948196,
+            1.1015869945633434
+          ],
+          "object_origin_world": [
+            0.28773673945896594,
+            0.19122966091948196,
+            1.1015869945633434
+          ],
+          "frame_world": [
+            0.2877368284689142,
+            0.19122956815820147,
+            1.1015871481769768
+          ],
+          "center_minus_frame": [
+            -8.900994824534436e-08,
+            9.27612804901834e-08,
+            -1.536136333690763e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431845212956388,
+            "required_z": 0.9112598312968399,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002091192196956098,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.301335761148686e-07,
+            "max_target_xy_drift": 1.0011416327974951e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4261248620356141,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4261249102655842,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2982214750466382,
+              -0.3772470733678204,
+              0.9233141207858041
+            ],
+            "target_mouth_xy": [
+              0.2998322351799647,
+              -0.3759239271346484
+            ],
+            "rod_tip_z": 0.9233141207858041,
+            "rod_tip_depth": -0.022054094259894352,
+            "rod_tip_bottom_clearance": 0.12149498117983382,
+            "rod_tip_xy_dist": 0.0020845297218968165,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04530288359631207,
+            "min_rod_tip_bottom_clearance": 0.054137971762540316,
+            "min_rod_tip_xy_dist": 0.0011393102477029024,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2998317061885907,
+              -0.3759238923534075
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.28991374038057e-07,
+              -3.478124088740486e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0010657680523976643,
+                0.0006190720531445426
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011694016300188292,
+                0.00022281066330354093
+              ],
+              "first_target_mouth_xy": [
+                0.29983197594979605,
+                -0.37592386284520535
+              ],
+              "last_target_mouth_xy": [
+                0.29983194452665046,
+                -0.3759238327326384
+              ],
+              "first_rod_tip_xy": [
+                0.2987662078973984,
+                -0.3753047907920608
+              ],
+              "last_rod_tip_xy": [
+                0.29866254289663163,
+                -0.37570102206933487
+              ],
+              "min_rod_tip_xy_dist": 0.0011421832206014088,
+              "max_rod_tip_xy_dist": 0.0012325225143972462,
+              "first_target_xy_drift": 2.713703040484671e-07,
+              "last_target_xy_drift": 2.4568204421890843e-07,
+              "max_depth": 0.019502427183632265,
+              "min_bottom_clearance": 0.07993811455234157
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010657680523976643,
+                  0.0006190720531445426
+                ],
+                "rod_tip_xy": [
+                  0.2987662078973984,
+                  -0.3753047907920608
+                ],
+                "target_mouth_xy": [
+                  0.29983197594979605,
+                  -0.37592386284520535
+                ],
+                "gripper_position": [
+                  0.29877246658667256,
+                  -0.3753825138467059,
+                  1.0055820578376342
+                ],
+                "rod_tip_xy_dist": 0.0012325225143972462,
+                "target_xy_drift": 2.713703040484671e-07,
+                "depth": 0.015141814224142514,
+                "bottom_clearance": 0.08429877925203988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010593231852098484,
+                  0.0005415036894304004
+                ],
+                "rod_tip_xy": [
+                  0.29877246658667256,
+                  -0.37538251384670585
+                ],
+                "target_mouth_xy": [
+                  0.2998317897718824,
+                  -0.37592401753613625
+                ],
+                "gripper_position": [
+                  0.2987617751601187,
+                  -0.37539223796673993,
+                  1.0054185900583195
+                ],
+                "rod_tip_xy_dist": 0.0011897024234613772,
+                "target_xy_drift": 1.505220323780809e-07,
+                "depth": 0.015677936319170693,
+                "bottom_clearance": 0.0837629226807809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0010702006373196626,
+                  0.0005316530871846137
+                ],
+                "rod_tip_xy": [
+                  0.2987617751601187,
+                  -0.37539223796673993
+                ],
+                "target_mouth_xy": [
+                  0.29983197579743837,
+                  -0.37592389105392454
+                ],
+                "gripper_position": [
+                  0.2987535601743002,
+                  -0.3753956498155312,
+                  1.0052752595005474
+                ],
+                "rod_tip_xy_dist": 0.0011949830162945173,
+                "target_xy_drift": 2.6961197935108327e-07,
+                "depth": 0.015841335159797354,
+                "bottom_clearance": 0.08359930881092492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010783829174855208,
+                  0.0005282434559266691
+                ],
+                "rod_tip_xy": [
+                  0.2987535601743002,
+                  -0.3753956498155312
+                ],
+                "target_mouth_xy": [
+                  0.29983194309178574,
+                  -0.37592389327145787
+                ],
+                "gripper_position": [
+                  0.29876068268810474,
+                  -0.37547435965081405,
+                  1.004741503303556
+                ],
+                "rod_tip_xy_dist": 0.0012008125854828199,
+                "target_xy_drift": 2.36904973874784e-07,
+                "depth": 0.015984513232015884,
+                "bottom_clearance": 0.08345599914189539,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010710456908443744,
+                  0.00044962901814393774
+                ],
+                "rod_tip_xy": [
+                  0.29876068268810474,
+                  -0.3754743596508141
+                ],
+                "target_mouth_xy": [
+                  0.2998317283789491,
+                  -0.37592398866895804
+                ],
+                "gripper_position": [
+                  0.2987499752296478,
+                  -0.3754840816444435,
+                  1.0045781097671724
+                ],
+                "rod_tip_xy_dist": 0.0011615959391429469,
+                "target_xy_drift": 9.883874383340402e-08,
+                "depth": 0.016518621932286925,
+                "bottom_clearance": 0.08292233988213094,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010819993739031863,
+                  0.00043978119475490685
+                ],
+                "rod_tip_xy": [
+                  0.29874997522964775,
+                  -0.3754840816444436
+                ],
+                "target_mouth_xy": [
+                  0.29983197460355093,
+                  -0.3759238628391985
+                ],
+                "gripper_position": [
+                  0.298741658728484,
+                  -0.3754874074100222,
+                  1.0044344903865208
+                ],
+                "rod_tip_xy_dist": 0.0011679598213923887,
+                "target_xy_drift": 2.7003273769048465e-07,
+                "depth": 0.016681717976112398,
+                "bottom_clearance": 0.08275882362027442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001090344638647378,
+                  0.00043645606370362744
+                ],
+                "rod_tip_xy": [
+                  0.298741658728484,
+                  -0.3754874074100222
+                ],
+                "target_mouth_xy": [
+                  0.2998320033671314,
+                  -0.3759238634737258
+                ],
+                "gripper_position": [
+                  0.29873324980357074,
+                  -0.3754910529141791,
+                  1.0042911774590062
+                ],
+                "rod_tip_xy_dist": 0.001174455331875481,
+                "target_xy_drift": 2.985785006991871e-07,
+                "depth": 0.0168254425474218,
+                "bottom_clearance": 0.08261504771383288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010987250336643717,
+                  0.0004328403662907099
+                ],
+                "rod_tip_xy": [
+                  0.29873324980357074,
+                  -0.37549105291417917
+                ],
+                "target_mouth_xy": [
+                  0.2998319748372351,
+                  -0.3759238932804699
+                ],
+                "gripper_position": [
+                  0.2987421608887652,
+                  -0.37557234605842066,
+                  1.0037587628926952
+                ],
+                "rod_tip_xy_dist": 0.001180909599542425,
+                "target_xy_drift": 2.6865024400669474e-07,
+                "depth": 0.016968646331265824,
+                "bottom_clearance": 0.08247189273138733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010897504980086903,
+                  0.0003515779562797139
+                ],
+                "rod_tip_xy": [
+                  0.2987421608887652,
+                  -0.3755723460584206
+                ],
+                "target_mouth_xy": [
+                  0.2998319113867739,
+                  -0.3759239240147003
+                ],
+                "gripper_position": [
+                  0.2987311009794988,
+                  -0.37558203385827005,
+                  1.0035953563638007
+                ],
+                "rod_tip_xy_dist": 0.0011450603509212992,
+                "target_xy_drift": 2.0762642380098218e-07,
+                "depth": 0.017501144365608456,
+                "bottom_clearance": 0.08193947513862432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001100846959091184,
+                  0.0003418587908132209
+                ],
+                "rod_tip_xy": [
+                  0.2987311009794988,
+                  -0.37558203385827005
+                ],
+                "target_mouth_xy": [
+                  0.29983194793858997,
+                  -0.37592389264908327
+                ],
+                "gripper_position": [
+                  0.2987227288906297,
+                  -0.37558521846490245,
+                  1.0034521720223302
+                ],
+                "rod_tip_xy_dist": 0.0011527061465076798,
+                "target_xy_drift": 2.417501801119723e-07,
+                "depth": 0.01766455616740037,
+                "bottom_clearance": 0.0817761064864172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001109152925591772,
+                  0.00033870618918907525
+                ],
+                "rod_tip_xy": [
+                  0.2987227288906297,
+                  -0.37558521846490245
+                ],
+                "target_mouth_xy": [
+                  0.29983188181622145,
+                  -0.3759239246540915
+                ],
+                "gripper_position": [
+                  0.29871415684902103,
+                  -0.3755884148277553,
+                  1.003308919796152
+                ],
+                "rod_tip_xy_dist": 0.0011597163855632,
+                "target_xy_drift": 1.7857323113628864e-07,
+                "depth": 0.017807739409167245,
+                "bottom_clearance": 0.08163289377058314,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011176993288459225,
+                  0.00033550794109232784
+                ],
+                "rod_tip_xy": [
+                  0.29871415684902103,
+                  -0.3755884148277553
+                ],
+                "target_mouth_xy": [
+                  0.29983185617786695,
+                  -0.3759239227688476
+                ],
+                "gripper_position": [
+                  0.29870571969681675,
+                  -0.3755916186034276,
+                  1.0031658893000517
+                ],
+                "rod_tip_xy_dist": 0.001166969309038862,
+                "target_xy_drift": 1.530420922334662e-07,
+                "depth": 0.01795096810622765,
+                "bottom_clearance": 0.08148959230925434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011261657973075656,
+                  0.0003322451984874575
+                ],
+                "rod_tip_xy": [
+                  0.29870571969681675,
+                  -0.3755916186034276
+                ],
+                "target_mouth_xy": [
+                  0.2998318854941243,
+                  -0.37592386380191506
+                ],
+                "gripper_position": [
+                  0.29871676375806644,
+                  -0.37567619525997453,
+                  1.0026359819797526
+                ],
+                "rod_tip_xy_dist": 0.0011741534290472242,
+                "target_xy_drift": 1.8156448473202743e-07,
+                "depth": 0.018093940792320296,
+                "bottom_clearance": 0.0813466123675598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011149669168995513,
+                  0.000247853351082683
+                ],
+                "rod_tip_xy": [
+                  0.2987167637580664,
+                  -0.37567619525997453
+                ],
+                "target_mouth_xy": [
+                  0.29983173067496594,
+                  -0.3759240486110572
+                ],
+                "gripper_position": [
+                  0.2987055646691438,
+                  -0.3756858936022403,
+                  1.00247314439049
+                ],
+                "rod_tip_xy_dist": 0.0011421832206014088,
+                "target_xy_drift": 1.5816458410708197e-07,
+                "depth": 0.01862401911926803,
+                "bottom_clearance": 0.08081686541780575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001126322910277755,
+                  0.00023802693893404392
+                ],
+                "rod_tip_xy": [
+                  0.2987055646691438,
+                  -0.37568589360224036
+                ],
+                "target_mouth_xy": [
+                  0.29983188757942153,
+                  -0.3759239205411744
+                ],
+                "gripper_position": [
+                  0.2986970293831402,
+                  -0.37568896850461797,
+                  1.00233006367842
+                ],
+                "rod_tip_xy_dist": 0.0011511994274993637,
+                "target_xy_drift": 1.8356792672258053e-07,
+                "depth": 0.01878679601554789,
+                "bottom_clearance": 0.08065390506714754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001134823683707209,
+                  0.00023495679750185072
+                ],
+                "rod_tip_xy": [
+                  0.2986970293831402,
+                  -0.37568896850461797
+                ],
+                "target_mouth_xy": [
+                  0.2998318530668474,
+                  -0.3759239253021198
+                ],
+                "gripper_position": [
+                  0.2986885074656095,
+                  -0.37569188927684455,
+                  1.002187034897081
+                ],
+                "rod_tip_xy_dist": 0.0011588914918123808,
+                "target_xy_drift": 1.5052853530599893e-07,
+                "depth": 0.018929826909601544,
+                "bottom_clearance": 0.08051078841576331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011432841667005644,
+                  0.00023197228079469
+                ],
+                "rod_tip_xy": [
+                  0.2986885074656095,
+                  -0.3756918892768446
+                ],
+                "target_mouth_xy": [
+                  0.29983179163231005,
+                  -0.3759238615576393
+                ],
+                "gripper_position": [
+                  0.29867977888592045,
+                  -0.37569503920313957,
+                  1.0020437307160859
+                ],
+                "rod_tip_xy_dist": 0.0011665803979517633,
+                "target_xy_drift": 9.082405254623443e-08,
+                "depth": 0.019072900558419814,
+                "bottom_clearance": 0.0803677625789958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011521060762031965,
+                  0.00022882269562496393
+                ],
+                "rod_tip_xy": [
+                  0.29867977888592045,
+                  -0.3756950392031396
+                ],
+                "target_mouth_xy": [
+                  0.29983188496212365,
+                  -0.3759238618987646
+                ],
+                "gripper_position": [
+                  0.2986712533754089,
+                  -0.37569781748490405,
+                  1.0019004271592982
+                ],
+                "rod_tip_xy_dist": 0.0011746098232423396,
+                "target_xy_drift": 1.8134900432167967e-07,
+                "depth": 0.019216111850643425,
+                "bottom_clearance": 0.08022445395234723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011607534921591611,
+                  0.00022607993850476404
+                ],
+                "rod_tip_xy": [
+                  0.2986712533754089,
+                  -0.37569781748490405
+                ],
+                "target_mouth_xy": [
+                  0.29983200686756806,
+                  -0.3759238974234088
+                ],
+                "gripper_position": [
+                  0.29866254289663163,
+                  -0.37570102206933487,
+                  1.0017574037482413
+                ],
+                "rod_tip_xy_dist": 0.0011825653504792053,
+                "target_xy_drift": 3.0072171912470336e-07,
+                "depth": 0.019359548100860158,
+                "bottom_clearance": 0.08008122558699382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0011694016300188292,
+                  0.00022281066330354093
+                ],
+                "rod_tip_xy": [
+                  0.29866254289663163,
+                  -0.37570102206933487
+                ],
+                "target_mouth_xy": [
+                  0.29983194452665046,
+                  -0.3759238327326384
+                ],
+                "gripper_position": [
+                  0.298654003508632,
+                  -0.37570366454676557,
+                  1.0016143825709907
+                ],
+                "rod_tip_xy_dist": 0.0011904388955223443,
+                "target_xy_drift": 2.4568204421890843e-07,
+                "depth": 0.019502427183632265,
+                "bottom_clearance": 0.07993811455234157,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006082432761799543,
+              "rod_tip_xy_max_step": 3.295597833431591e-05,
+              "rod_tip_xy_range": 0.0006082364525886228,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2982214750466382,
+            -0.3772470733678204,
+            1.043314120785804
+          ],
+          "object_origin_world": [
+            0.2982214750466382,
+            -0.3772470733678204,
+            1.043314120785804
+          ],
+          "frame_world": [
+            0.2982200104750098,
+            -0.3772557740873209,
+            1.0431845212956388
+          ],
+          "center_minus_frame": [
+            1.4645716284178434e-06,
+            8.700719500542853e-06,
+            0.000129599490165333
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2775601586114187,
+              0.14627022709469867,
+              0.832517218137808
+            ],
+            "target_position": [
+              0.28787987325827613,
+              0.19266610539004625,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752971736912885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674688616612935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832517218137808,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667581020373,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13699480756018537,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 214,
+            "max_placed_release_frames": 214
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "307079497c0414d9d7679498f6f3dcbfee8d47b3770dcfcf0a2907ddf90c1a5e",
+    "visual_seed": 7960582149102445061,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f429808329c3f5a0f4a7ae4d3ac2c8099e9e086
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_80_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3286905608309664,
+              -0.03185441179821338,
+              1.1649293273827923
+            ],
+            "current_z": 1.1649293273827923,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3038228789726709,
+            "gripper_z": 1.1560417623564498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32412965841229824,
+              -0.03658467731285897,
+              1.1560417623564498
+            ],
+            "object_minus_gripper": [
+              0.004560902418668189,
+              0.004730265514645587,
+              0.00888756502634247
+            ],
+            "object_to_gripper_xy": 0.006570939256427396,
+            "object_to_gripper_z": 0.00888756502634247,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3286905608309664,
+              -0.055501937485074766,
+              1.1649293273827923
+            ],
+            "finger_b": [
+              0.3177570866424251,
+              -0.03185441179821338,
+              1.1649293273827923
+            ],
+            "finger_midpoint": [
+              0.3232238237366958,
+              -0.04367817464164407,
+              1.1649293273827923
+            ],
+            "object_minus_finger_midpoint": [
+              0.005466737094270646,
+              0.011823762843430688,
+              0.0
+            ],
+            "finger_gap": 0.026052760486026595,
+            "fingertip_max_gap": 0.09167922964188666,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013026380243013284,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649293273827923,
+            "object_top_z": 1.2148451089709584,
+            "finger_top_clearance": 0.04991578158816612,
+            "fingertip_min_top_clearance": 0.014974734476449801,
+            "object_projection_between_fingers": 0.8238799198843734,
+            "object_to_finger_line_xy": 0.009924077406647204,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833961482094333,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5345698122485822,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29487587411512334,
+              -0.3760080099029905,
+              0.8515395738126947
+            ],
+            "target_position": [
+              0.28720338551197366,
+              -0.37719618606022537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077639451277094354,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1818602753464832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395738126947,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537640248108608,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612589783513534,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503011887831625,
+            "release_required_pad_clearance": 0.05306294891756767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1555374722037135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008358538150787354,
+            "max_z_decrease": 0.008358538150787354,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501042715559814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008358538150787354,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210063001948023,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008358538150787354,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00835867797267364,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14290331304073328,
+              -0.4334576427936554,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14290331304073328,
+              -0.4334576427936554,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1431527551964229,
+              -0.43476328564767686,
+              0.8037994138745017
+            ],
+            "closest_button": [
+              0.14292469620704645,
+              -0.4334464371204376,
+              0.7688145041465759
+            ],
+            "closest_ee_minus_button": [
+              0.0002280589893764451,
+              -0.0013168485272392338,
+              0.034984909727925784
+            ],
+            "button_min_z_position": [
+              0.14294102787971497,
+              -0.4334273934364319,
+              0.7684503197669983
+            ],
+            "min_active_finger_to_button": 0.14535241187421605,
+            "closest_active_finger": [
+              0.002351604402065277,
+              -0.4194074869155884,
+              0.8108994960784912
+            ],
+            "closest_active_finger_button": [
+              0.14290334284305573,
+              -0.4334571659564972,
+              0.7766191959381104
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14055173844099045,
+              0.014049679040908813,
+              0.03428030014038086
+            ],
+            "min_contact_pad_to_button": 0.0210063001948023,
+            "closest_contact_pad": [
+              0.14294102787971497,
+              -0.43587066168478056,
+              0.7893140463790099
+            ],
+            "closest_contact_pad_button": [
+              0.14294102787971497,
+              -0.4334273934364319,
+              0.7684503197669983
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024432682483486734,
+              0.020863726612011635
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2898800056440153,
+              0.1907763374539029,
+              1.1114576564766958
+            ],
+            "current_z": 1.1114576564766958,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20154852674233326,
+            "gripper_z": 1.1114581713731146,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28988006480073836,
+              0.1907763710753289,
+              1.1114581713731146
+            ],
+            "object_minus_gripper": [
+              -5.9156723075659556e-08,
+              -3.3621426004382116e-08,
+              -5.148964188350647e-07
+            ],
+            "object_to_gripper_xy": 6.804350205286625e-08,
+            "object_to_gripper_z": -5.148964188350647e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2898800056440153,
+              0.1907763374539029,
+              1.1114576564766958
+            ],
+            "finger_b": [
+              0.2898800056440153,
+              0.1907763374539029,
+              1.1114576564766958
+            ],
+            "finger_midpoint": [
+              0.2898800056440153,
+              0.1907763374539029,
+              1.1114576564766958
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1114576564766958,
+            "object_top_z": 1.2364661630969755,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28988000564401534,
+            0.1907763374539029,
+            1.1114576564766958
+          ],
+          "object_origin_world": [
+            0.28988000564401534,
+            0.1907763374539029,
+            1.1114576564766958
+          ],
+          "frame_world": [
+            0.28988006480073836,
+            0.1907763710753289,
+            1.1114581713731146
+          ],
+          "center_minus_frame": [
+            -5.9156723020148405e-08,
+            -3.3621426004382116e-08,
+            -5.148964188350647e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434257661198314,
+            "required_z": 0.9112598606350188,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002476345439719216,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.830616639367607e-08,
+            "max_target_xy_drift": 1.2629674205721641e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1555374720513616,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1555374724437548,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2932861392062711,
+              -0.37789681424824606,
+              0.9235530870582217
+            ],
+            "target_mouth_xy": [
+              0.29487590517082113,
+              -0.37600807838438094
+            ],
+            "rod_tip_z": 0.9235530870582217,
+            "rod_tip_depth": -0.02229312127137517,
+            "rod_tip_bottom_clearance": 0.12173381021195684,
+            "rod_tip_xy_dist": 0.002468740364131467,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04539591824694744,
+            "min_rod_tip_bottom_clearance": 0.05404469137310608,
+            "min_rod_tip_xy_dist": 0.0009880670477552952,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29487587424050615,
+              -0.37600804127910736
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.0930314975918805e-08,
+              -3.7105273575921416e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.0010310282580481278,
+                -0.00027005426500481544
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001138589356839026,
+                -0.0006207663638341243
+              ],
+              "first_target_mouth_xy": [
+                0.2948759053962229,
+                -0.3760080783694396
+              ],
+              "last_target_mouth_xy": [
+                0.29487590273409703,
+                -0.3760080403547217
+              ],
+              "first_rod_tip_xy": [
+                0.29384487713817475,
+                -0.37627813263444443
+              ],
+              "last_rod_tip_xy": [
+                0.293737313377258,
+                -0.3766288067185558
+              ],
+              "min_rod_tip_xy_dist": 0.0010658088829340127,
+              "max_rod_tip_xy_dist": 0.0012968178754069312,
+              "first_target_xy_drift": 4.843935828739112e-08,
+              "last_target_xy_drift": 2.8508581337421222e-08,
+              "max_depth": 0.019611421016247577,
+              "min_bottom_clearance": 0.07982923835768807
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010310282580481278,
+                  -0.00027005426500481544
+                ],
+                "rod_tip_xy": [
+                  0.29384487713817475,
+                  -0.37627813263444443
+                ],
+                "target_mouth_xy": [
+                  0.2948759053962229,
+                  -0.3760080783694396
+                ],
+                "gripper_position": [
+                  0.2938344116626578,
+                  -0.37628734540010583,
+                  1.0058355614319188
+                ],
+                "rod_tip_xy_dist": 0.0010658088829340127,
+                "target_xy_drift": 4.843935828739112e-08,
+                "depth": 0.015263056316694779,
+                "bottom_clearance": 0.08417764093407143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010414911930448634,
+                  -0.00027927524234583334
+                ],
+                "rod_tip_xy": [
+                  0.2938344116626578,
+                  -0.3762873454001059
+                ],
+                "target_mouth_xy": [
+                  0.29487590285570264,
+                  -0.37600807015776005
+                ],
+                "gripper_position": [
+                  0.2938262462987492,
+                  -0.37629087979932135,
+                  1.005693903710342
+                ],
+                "rod_tip_xy_dist": 0.001078285011570381,
+                "target_xy_drift": 4.06547174561431e-08,
+                "depth": 0.015424351778242085,
+                "bottom_clearance": 0.08401630280323891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001049690929353475,
+                  -0.00028280494085775043
+                ],
+                "rod_tip_xy": [
+                  0.2938262462987492,
+                  -0.3762908797993213
+                ],
+                "target_mouth_xy": [
+                  0.2948759372281027,
+                  -0.37600807485846355
+                ],
+                "gripper_position": [
+                  0.2938318492743267,
+                  -0.376357103008744,
+                  1.0051577256340505
+                ],
+                "rod_tip_xy_dist": 0.0010871199021913443,
+                "target_xy_drift": 7.137934209610559e-08,
+                "depth": 0.015566018504412527,
+                "bottom_clearance": 0.0838746356927188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010440525200501316,
+                  -0.00034903157443028077
+                ],
+                "rod_tip_xy": [
+                  0.2938318492743267,
+                  -0.37635710300874403
+                ],
+                "target_mouth_xy": [
+                  0.29487590179437684,
+                  -0.37600807143431375
+                ],
+                "gripper_position": [
+                  0.29382115544884657,
+                  -0.3763662125066831,
+                  1.0049965683256294
+                ],
+                "rod_tip_xy_dist": 0.001100849083467989,
+                "target_xy_drift": 4.084791625044308e-08,
+                "depth": 0.016102198311612415,
+                "bottom_clearance": 0.08333845325232347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010547474818580205,
+                  -0.00035817027644574617
+                ],
+                "rod_tip_xy": [
+                  0.2938211554488465,
+                  -0.3763662125066831
+                ],
+                "target_mouth_xy": [
+                  0.29487590293070454,
+                  -0.37600804223023737
+                ],
+                "gripper_position": [
+                  0.29381309777516507,
+                  -0.37636944818432433,
+                  1.0048548667633208
+                ],
+                "rod_tip_xy_dist": 0.001113902238715345,
+                "target_xy_drift": 2.8705959861814922e-08,
+                "depth": 0.016263310225116956,
+                "bottom_clearance": 0.08317727587520751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010628061261985788,
+                  -0.0003613748892219437
+                ],
+                "rod_tip_xy": [
+                  0.29381309777516507,
+                  -0.3763694481843243
+                ],
+                "target_mouth_xy": [
+                  0.29487590390136365,
+                  -0.37600807329510233
+                ],
+                "gripper_position": [
+                  0.2938193074651727,
+                  -0.37643654222841544,
+                  1.0043211379390211
+                ],
+                "rod_tip_xy_dist": 0.00112256343804945,
+                "target_xy_drift": 4.3643904509809715e-08,
+                "depth": 0.016404960058231555,
+                "bottom_clearance": 0.08303554387618062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010565963021278435,
+                  -0.0004284702017744446
+                ],
+                "rod_tip_xy": [
+                  0.2938193074651727,
+                  -0.3764365422284154
+                ],
+                "target_mouth_xy": [
+                  0.29487590376730055,
+                  -0.37600807202664094
+                ],
+                "gripper_position": [
+                  0.2938087244108842,
+                  -0.37644539924696185,
+                  1.004160160835078
+                ],
+                "rod_tip_xy_dist": 0.0011401677330458299,
+                "target_xy_drift": 4.262912629150839e-08,
+                "depth": 0.016938714893961704,
+                "bottom_clearance": 0.08250183861963278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010671792435972827,
+                  -0.0004373268996579194
+                ],
+                "rod_tip_xy": [
+                  0.2938087244108842,
+                  -0.37644539924696185
+                ],
+                "target_mouth_xy": [
+                  0.29487590365448146,
+                  -0.37600807234730393
+                ],
+                "gripper_position": [
+                  0.2938002181909082,
+                  -0.3764487209069265,
+                  1.0040190075889874
+                ],
+                "rod_tip_xy_dist": 0.0011533110400621664,
+                "target_xy_drift": 4.2783347014532294e-08,
+                "depth": 0.01709968994919253,
+                "bottom_clearance": 0.08234085677977376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0010756865499038648,
+                  -0.0004406473015340362
+                ],
+                "rod_tip_xy": [
+                  0.2938002181909082,
+                  -0.3764487209069265
+                ],
+                "target_mouth_xy": [
+                  0.29487590474081204,
+                  -0.37600807360539246
+                ],
+                "gripper_position": [
+                  0.2937919125442181,
+                  -0.3764519528727243,
+                  1.0038773410504178
+                ],
+                "rod_tip_xy_dist": 0.001162442083715704,
+                "target_xy_drift": 4.444386760210784e-08,
+                "depth": 0.017240810506250592,
+                "bottom_clearance": 0.08219969474499844,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0010839896196196408,
+                  -0.00044391538672927666
+                ],
+                "rod_tip_xy": [
+                  0.2937919125442181,
+                  -0.37645195287272437
+                ],
+                "target_mouth_xy": [
+                  0.29487590216383774,
+                  -0.3760080374859951
+                ],
+                "gripper_position": [
+                  0.2937996043153315,
+                  -0.37652071302547646,
+                  1.0033454617840603
+                ],
+                "rod_tip_xy_dist": 0.0011713643182281663,
+                "target_xy_drift": 2.8179782608224132e-08,
+                "depth": 0.017382643052896052,
+                "bottom_clearance": 0.08205813903309767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0010763290277535087,
+                  -0.0005126387884477612
+                ],
+                "rod_tip_xy": [
+                  0.2937996043153314,
+                  -0.3765207130254764
+                ],
+                "target_mouth_xy": [
+                  0.29487593334308493,
+                  -0.37600807423702864
+                ],
+                "gripper_position": [
+                  0.2937888092623454,
+                  -0.3765296169806401,
+                  1.0031848815723259
+                ],
+                "rod_tip_xy_dist": 0.001192175617686422,
+                "target_xy_drift": 6.767081640618143e-08,
+                "depth": 0.017914391614405223,
+                "bottom_clearance": 0.08152615692250509,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0010871262739749477,
+                  -0.0005215760508506806
+                ],
+                "rod_tip_xy": [
+                  0.29378880926234535,
+                  -0.37652961698064014
+                ],
+                "target_mouth_xy": [
+                  0.2948759355363203,
+                  -0.37600804092978946
+                ],
+                "gripper_position": [
+                  0.2937803362529211,
+                  -0.3765327444698999,
+                  1.0030434234063361
+                ],
+                "rod_tip_xy_dist": 0.001205771583836526,
+                "target_xy_drift": 6.129680950013109e-08,
+                "depth": 0.018074985870850546,
+                "bottom_clearance": 0.081365641755759,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010955973443062539,
+                  -0.0005246962140732503
+                ],
+                "rod_tip_xy": [
+                  0.2937803362529211,
+                  -0.3765327444698999
+                ],
+                "target_mouth_xy": [
+                  0.29487593359722736,
+                  -0.3760080482558267
+                ],
+                "gripper_position": [
+                  0.29377179859680064,
+                  -0.37653558945026633,
+                  1.0029020267599147
+                ],
+                "rod_tip_xy_dist": 0.0012147590946001263,
+                "target_xy_drift": 5.976533246427568e-08,
+                "depth": 0.01821649286365523,
+                "bottom_clearance": 0.08122418540512744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011041055260111454,
+                  -0.0005275779751443554
+                ],
+                "rod_tip_xy": [
+                  0.2937717985968006,
+                  -0.37653558945026633
+                ],
+                "target_mouth_xy": [
+                  0.2948759041228117,
+                  -0.376008011475122
+                ],
+                "gripper_position": [
+                  0.29376334951279753,
+                  -0.37653859085428504,
+                  1.0027607172005806
+                ],
+                "rod_tip_xy_dist": 0.0012236778711841472,
+                "target_xy_drift": 4.220461742057165e-08,
+                "depth": 0.018357831435556138,
+                "bottom_clearance": 0.08108274124194281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011125528748708868,
+                  -0.0005305124442032683
+                ],
+                "rod_tip_xy": [
+                  0.29376334951279753,
+                  -0.376538590854285
+                ],
+                "target_mouth_xy": [
+                  0.2948759023876684,
+                  -0.3760080784100817
+                ],
+                "gripper_position": [
+                  0.293754889372852,
+                  -0.3765412850687663,
+                  1.0026196193289043
+                ],
+                "rod_tip_xy_dist": 0.0012325653543881561,
+                "target_xy_drift": 4.6593690559526156e-08,
+                "depth": 0.018499247962894705,
+                "bottom_clearance": 0.0809414962320103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011210149724747431,
+                  -0.0005332726302287316
+                ],
+                "rod_tip_xy": [
+                  0.293754889372852,
+                  -0.3765412850687663
+                ],
+                "target_mouth_xy": [
+                  0.29487590434532673,
+                  -0.37600801243853754
+                ],
+                "gripper_position": [
+                  0.29376541151304925,
+                  -0.3766145304401703,
+                  1.0020915718830856
+                ],
+                "rod_tip_xy_dist": 0.0012413920680685933,
+                "target_xy_drift": 4.1690270925219764e-08,
+                "depth": 0.018640215381092173,
+                "bottom_clearance": 0.08080031490033257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0011104920650966688,
+                  -0.0006065154560517261
+                ],
+                "rod_tip_xy": [
+                  0.2937654115130492,
+                  -0.37661453044017024
+                ],
+                "target_mouth_xy": [
+                  0.29487590357814586,
+                  -0.3760080149841185
+                ],
+                "gripper_position": [
+                  0.2937544024452656,
+                  -0.3766233116135104,
+                  1.0019307111484739
+                ],
+                "rod_tip_xy_dist": 0.001265327477403497,
+                "target_xy_drift": 3.9396999153809095e-08,
+                "depth": 0.01916828688415928,
+                "bottom_clearance": 0.08027227307262186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0011215012550548908,
+                  -0.0006152998040703794
+                ],
+                "rod_tip_xy": [
+                  0.29375440244526557,
+                  -0.3766233116135105
+                ],
+                "target_mouth_xy": [
+                  0.29487590370032046,
+                  -0.3760080118094401
+                ],
+                "gripper_position": [
+                  0.2937459255942013,
+                  -0.37662625907472563,
+                  1.0017893528494792
+                ],
+                "rod_tip_xy_dist": 0.0012792024523032867,
+                "target_xy_drift": 4.166943661400321e-08,
+                "depth": 0.01932915431770421,
+                "bottom_clearance": 0.08011142323175047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0011299789193282561,
+                  -0.0006182152573636635
+                ],
+                "rod_tip_xy": [
+                  0.29374592559420126,
+                  -0.3766262590747256
+                ],
+                "target_mouth_xy": [
+                  0.2948759045135295,
+                  -0.3760080438173619
+                ],
+                "gripper_position": [
+                  0.293737313377258,
+                  -0.37662880671855575,
+                  1.001648495959686
+                ],
+                "rod_tip_xy_dist": 0.001288038222477685,
+                "target_xy_drift": 3.03792475199325e-08,
+                "depth": 0.01947046360543858,
+                "bottom_clearance": 0.07997003323861973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.001138589356839026,
+                  -0.0006207663638341243
+                ],
+                "rod_tip_xy": [
+                  0.293737313377258,
+                  -0.3766288067185558
+                ],
+                "target_mouth_xy": [
+                  0.29487590273409703,
+                  -0.3760080403547217
+                ],
+                "gripper_position": [
+                  0.29372867442048706,
+                  -0.37663169818766884,
+                  1.0015073875410554
+                ],
+                "rod_tip_xy_dist": 0.0012968178754069312,
+                "target_xy_drift": 2.8508581337421222e-08,
+                "depth": 0.019611421016247577,
+                "bottom_clearance": 0.07982923835768807,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006070417825189478,
+              "rod_tip_xy_max_step": 3.288061255771676e-05,
+              "rod_tip_xy_range": 0.000607035036880775,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29328613920627117,
+            -0.37789681424824606,
+            1.043553087058222
+          ],
+          "object_origin_world": [
+            0.29328613920627117,
+            -0.37789681424824606,
+            1.043553087058222
+          ],
+          "frame_world": [
+            0.29328478339393943,
+            -0.377905607890858,
+            1.0434257661198314
+          ],
+          "center_minus_frame": [
+            1.3558123317380932e-06,
+            8.793642611915065e-06,
+            0.00012732093839051828
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26910340300386676,
+              0.1482533711202644,
+              0.8320411070355542
+            ],
+            "target_position": [
+              0.28168483322646887,
+              0.19394021591645416,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04738755294249047,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16531702681522079,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320411070355542,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835666298148757,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13545894573322784,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e40e2907e0740c639aba7ed3fe7bc0d7ec74bb28b03e3a8050a10c96382f1401",
+    "visual_seed": 5273813931548304981,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ccafe8f9cd3840bc98c565185f7672d463432a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_81_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3360877828114552,
+              -0.03474390705332059,
+              1.1633641067201665
+            ],
+            "current_z": 1.1633641067201665,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3022575987054006,
+            "gripper_z": 1.1543628282017055,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3313818089093546,
+              -0.03947041175021351,
+              1.1543628282017055
+            ],
+            "object_minus_gripper": [
+              0.004705973902100591,
+              0.004726504696892925,
+              0.009001278518460998
+            ],
+            "object_to_gripper_xy": 0.006669785380130513,
+            "object_to_gripper_z": 0.009001278518460998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3360877828114552,
+              -0.0585718492823403,
+              1.1633641067201665
+            ],
+            "finger_b": [
+              0.3252747268092617,
+              -0.03474390705332059,
+              1.1633641067201665
+            ],
+            "finger_midpoint": [
+              0.3306812548103585,
+              -0.046657878167830444,
+              1.1633641067201665
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054065280010967,
+              0.011913971114509855,
+              0.0
+            ],
+            "finger_gap": 0.026166639275536946,
+            "fingertip_max_gap": 0.09180686819809161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013083319637768463,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633641067201665,
+            "object_top_z": 1.2132132826465027,
+            "finger_top_clearance": 0.0498491759263362,
+            "fingertip_min_top_clearance": 0.014954752777900825,
+            "object_projection_between_fingers": 0.8292341556986363,
+            "object_to_finger_line_xy": 0.00984661694711017,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840343409904581,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6212797306094646,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29900798338898577,
+              -0.37418671756379407,
+              0.8515396015129271
+            ],
+            "target_position": [
+              0.2919447011532992,
+              -0.3751709067452367,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007131520475034364,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839398780760853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396015129271,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584000891797987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696833610756742,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15124444343473106,
+            "release_required_pad_clearance": 0.05348416805378371,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9810263525390055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008349239826202393,
+            "max_z_decrease": 0.008349239826202393,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500889535263101,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008349239826202393,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02085620354864979,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008349239826202393,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00834929232318503,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14764462411403656,
+              -0.43143236637115484,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14764462411403656,
+              -0.43143236637115484,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14627777407676495,
+              -0.43128844798130095,
+              0.8035046003844495
+            ],
+            "closest_button": [
+              0.14766919612884521,
+              -0.4314087927341462,
+              0.7685235738754272
+            ],
+            "closest_ee_minus_button": [
+              -0.00139142205208026,
+              0.00012034475284522506,
+              0.03498102650902224
+            ],
+            "button_min_z_position": [
+              0.14766427874565125,
+              -0.4314102232456208,
+              0.7684596180915833
+            ],
+            "min_active_finger_to_button": 0.14690496027036667,
+            "closest_active_finger": [
+              0.019232317805290222,
+              -0.49409157037734985,
+              0.8107907176017761
+            ],
+            "closest_active_finger_button": [
+              0.1476448029279709,
+              -0.43143284320831304,
+              0.776655912399292
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12841248512268066,
+              -0.06265872716903681,
+              0.03413480520248413
+            ],
+            "min_contact_pad_to_button": 0.02085620354864979,
+            "closest_contact_pad": [
+              0.14766427874565125,
+              -0.4324703913754979,
+              0.7892888588362457
+            ],
+            "closest_contact_pad_button": [
+              0.14766427874565125,
+              -0.4314102232456208,
+              0.7684596180915833
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001060168129877137,
+              0.020829240744662414
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.29700486683692096,
+              0.19125691941418912,
+              1.1083009627799485
+            ],
+            "current_z": 1.1083009627799485,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19839183304558594,
+            "gripper_z": 1.1083009331977212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.29700477233195255,
+              0.19125690353038421,
+              1.1083009331977212
+            ],
+            "object_minus_gripper": [
+              9.450496840646139e-08,
+              1.588380491024388e-08,
+              2.9582227334401523e-08
+            ],
+            "object_to_gripper_xy": 9.583049781741171e-08,
+            "object_to_gripper_z": 2.9582227334401523e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29700486683692096,
+              0.19125691941418912,
+              1.1083009627799485
+            ],
+            "finger_b": [
+              0.29700486683692096,
+              0.19125691941418912,
+              1.1083009627799485
+            ],
+            "finger_midpoint": [
+              0.29700486683692096,
+              0.19125691941418912,
+              1.1083009627799485
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1083009627799485,
+            "object_top_z": 1.2333094694002282,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.297004866836921,
+            0.19125691941418915,
+            1.1083009627799487
+          ],
+          "object_origin_world": [
+            0.297004866836921,
+            0.19125691941418915,
+            1.1083009627799487
+          ],
+          "frame_world": [
+            0.29700477233195255,
+            0.19125690353038421,
+            1.1083009331977212
+          ],
+          "center_minus_frame": [
+            9.450496846197254e-08,
+            1.5883804937999457e-08,
+            2.9582227556446128e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432300054494055,
+            "required_z": 0.9112598294764647,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011372325739500615,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3375483317095576e-07,
+            "max_target_xy_drift": 1.9447207421183346e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9810263539351223,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9810263539507635,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.30012945341071556,
+              -0.37398153101476705,
+              0.9233597890549158
+            ],
+            "target_mouth_xy": [
+              0.2990079216898735,
+              -0.3741867499489738
+            ],
+            "rod_tip_z": 0.9233597890549158,
+            "rod_tip_depth": -0.022099972093640008,
+            "rod_tip_bottom_clearance": 0.12154047302346893,
+            "rod_tip_xy_dist": 0.0011401527142501121,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04498946262892811,
+            "min_rod_tip_bottom_clearance": 0.05445103830090081,
+            "min_rod_tip_xy_dist": 0.00010943493675443839,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.29900804077638526,
+              -0.37418681084854777
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.1908651176284479e-07,
+              6.089957399479928e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0015997352197021364,
+                0.0018968533276108035
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015151485457411407,
+                0.001532942111719393
+              ],
+              "first_target_mouth_xy": [
+                0.2990079522324775,
+                -0.37418675342701546
+              ],
+              "last_target_mouth_xy": [
+                0.2990079798261386,
+                -0.37418674997950585
+              ],
+              "first_rod_tip_xy": [
+                0.30060768745217964,
+                -0.37228990009940466
+              ],
+              "last_rod_tip_xy": [
+                0.3005231283718797,
+                -0.37265380786778646
+              ],
+              "min_rod_tip_xy_dist": 0.002155362297513855,
+              "max_rod_tip_xy_dist": 0.0024813716609213585,
+              "first_target_xy_drift": 1.0553319844539394e-07,
+              "last_target_xy_drift": 8.61392641873248e-08,
+              "max_depth": 0.019721362620744753,
+              "min_bottom_clearance": 0.0797191774993572
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015997352197021364,
+                  0.0018968533276108035
+                ],
+                "rod_tip_xy": [
+                  0.30060768745217964,
+                  -0.37228990009940466
+                ],
+                "target_mouth_xy": [
+                  0.2990079522324775,
+                  -0.37418675342701546
+                ],
+                "gripper_position": [
+                  0.30059696489847076,
+                  -0.37229927639416904,
+                  1.005736859124089
+                ],
+                "rod_tip_xy_dist": 0.0024813716609213585,
+                "target_xy_drift": 1.0553319844539394e-07,
+                "depth": 0.01535931693291992,
+                "bottom_clearance": 0.08408131450551426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001588985546949584,
+                  0.0018874716884338394
+                ],
+                "rod_tip_xy": [
+                  0.30059696489847065,
+                  -0.37229927639416904
+                ],
+                "target_mouth_xy": [
+                  0.29900797935152107,
+                  -0.3741867480826029
+                ],
+                "gripper_position": [
+                  0.30058867702604886,
+                  -0.3723027430694384,
+                  1.005592958765845
+                ],
+                "rod_tip_xy_dist": 0.0024672706464946154,
+                "target_xy_drift": 8.782128317671988e-08,
+                "depth": 0.015523040603951155,
+                "bottom_clearance": 0.083917583560153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015807271852897875,
+                  0.001884037355839474
+                ],
+                "rod_tip_xy": [
+                  0.30058867702604875,
+                  -0.37230274306943845
+                ],
+                "target_mouth_xy": [
+                  0.29900794984075896,
+                  -0.3741867804252779
+                ],
+                "gripper_position": [
+                  0.30059867953441943,
+                  -0.3723720159263393,
+                  1.0050573303163859
+                ],
+                "rod_tip_xy_dist": 0.002459328199430237,
+                "target_xy_drift": 9.588985076660876e-08,
+                "depth": 0.015666902052533183,
+                "bottom_clearance": 0.08377364887898586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015906971438243156,
+                  0.0018147308375765503
+                ],
+                "rod_tip_xy": [
+                  0.3005986795344193,
+                  -0.3723720159263393
+                ],
+                "target_mouth_xy": [
+                  0.299007982390595,
+                  -0.37418674676391583
+                ],
+                "gripper_position": [
+                  0.3005878171612192,
+                  -0.3723811198061774,
+                  1.0048932974368117
+                ],
+                "rod_tip_xy_dist": 0.0024132064595102764,
+                "target_xy_drift": 8.669337087822352e-08,
+                "depth": 0.01620255244722546,
+                "bottom_clearance": 0.0832381072501146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001579865974858763,
+                  0.0018056326978223014
+                ],
+                "rod_tip_xy": [
+                  0.3005878171612191,
+                  -0.3723811198061774
+                ],
+                "target_mouth_xy": [
+                  0.2990079511863603,
+                  -0.3741867525039997
+                ],
+                "gripper_position": [
+                  0.300579529422341,
+                  -0.37238442470906863,
+                  1.0047498514495616
+                ],
+                "rod_tip_xy_dist": 0.002399226112304022,
+                "target_xy_drift": 1.0691332406282225e-07,
+                "depth": 0.01636655874380366,
+                "bottom_clearance": 0.08307401174767393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015715476496255265,
+                  0.0018023531244956148
+                ],
+                "rod_tip_xy": [
+                  0.30057952942234084,
+                  -0.37238442470906863
+                ],
+                "target_mouth_xy": [
+                  0.2990079817727153,
+                  -0.37418677783356424
+                ],
+                "gripper_position": [
+                  0.30057114846224425,
+                  -0.3723876686461768,
+                  1.004605651272049
+                ],
+                "rod_tip_xy_dist": 0.0023912839230050918,
+                "target_xy_drift": 6.761229329570305e-08,
+                "depth": 0.016510003791218586,
+                "bottom_clearance": 0.08293058595959713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015631980625226416,
+                  0.0017991139917171717
+                ],
+                "rod_tip_xy": [
+                  0.30057114846224414,
+                  -0.3723876686461768
+                ],
+                "target_mouth_xy": [
+                  0.2990079503997215,
+                  -0.37418678263789396
+                ],
+                "gripper_position": [
+                  0.300582812953398,
+                  -0.37245951209936023,
+                  1.0040707261401516
+                ],
+                "rod_tip_xy_dist": 0.0023833588353135236,
+                "target_xy_drift": 9.467725355989734e-08,
+                "depth": 0.01665423466844229,
+                "bottom_clearance": 0.08278637737075567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015748297402075062,
+                  0.0017272349344306659
+                ],
+                "rod_tip_xy": [
+                  0.3005828129533979,
+                  -0.3724595120993601
+                ],
+                "target_mouth_xy": [
+                  0.2990079832131904,
+                  -0.3741867470337908
+                ],
+                "gripper_position": [
+                  0.3005720123372302,
+                  -0.37246833492521775,
+                  1.003907083601371
+                ],
+                "rod_tip_xy_dist": 0.0023373979612722664,
+                "target_xy_drift": 8.594093676904398e-08,
+                "depth": 0.017189217384698807,
+                "bottom_clearance": 0.0822514629393225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001564062162815627,
+                  0.0017184172546163001
+                ],
+                "rod_tip_xy": [
+                  0.30057201233723,
+                  -0.3724683349252178
+                ],
+                "target_mouth_xy": [
+                  0.2990079501744144,
+                  -0.3741867521798341
+                ],
+                "gripper_position": [
+                  0.3005634790417635,
+                  -0.37247141490207253,
+                  1.003763563741744
+                ],
+                "rod_tip_xy_dist": 0.0023236282641839506,
+                "target_xy_drift": 1.0793857090339714e-07,
+                "depth": 0.01735273707225493,
+                "bottom_clearance": 0.08208785907973237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015555285266657393,
+                  0.0017153344092541989
+                ],
+                "rod_tip_xy": [
+                  0.3005634790417634,
+                  -0.3724714149020726
+                ],
+                "target_mouth_xy": [
+                  0.29900795051509765,
+                  -0.3741867493113268
+                ],
+                "gripper_position": [
+                  0.30055485823272543,
+                  -0.3724746344770403,
+                  1.0036200021482213
+                ],
+                "rod_tip_xy_dist": 0.0023156081561530087,
+                "target_xy_drift": 1.0924252655347388e-07,
+                "depth": 0.017496285300069192,
+                "bottom_clearance": 0.08194425828486251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015469060966841197,
+                  0.0017121179994430968
+                ],
+                "rod_tip_xy": [
+                  0.3005548582327253,
+                  -0.37247463447704043
+                ],
+                "target_mouth_xy": [
+                  0.2990079521360412,
+                  -0.37418675247648353
+                ],
+                "gripper_position": [
+                  0.3005682016580189,
+                  -0.37254804017396875,
+                  1.0030883303735207
+                ],
+                "rod_tip_xy_dist": 0.0023074372182088796,
+                "target_xy_drift": 1.0613391766675642e-07,
+                "depth": 0.01763985556294967,
+                "bottom_clearance": 0.08180073939637966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015602487818175415,
+                  0.0016387395471171295
+                ],
+                "rod_tip_xy": [
+                  0.3005682016580188,
+                  -0.3725480401739688
+                ],
+                "target_mouth_xy": [
+                  0.29900795287620124,
+                  -0.37418677972108594
+                ],
+                "gripper_position": [
+                  0.3005571474839863,
+                  -0.3725570711080824,
+                  1.0029249425519915
+                ],
+                "rod_tip_xy_dist": 0.002262707131833189,
+                "target_xy_drift": 9.324892080241554e-08,
+                "depth": 0.018171556916250053,
+                "bottom_clearance": 0.08126899665051968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015491658635394256,
+                  0.0016297095782762394
+                ],
+                "rod_tip_xy": [
+                  0.3005571474839862,
+                  -0.37255707110808245
+                ],
+                "target_mouth_xy": [
+                  0.2990079816204468,
+                  -0.3741867806863587
+                ],
+                "gripper_position": [
+                  0.30054854726978064,
+                  -0.37255992995909704,
+                  1.0027812917895078
+                ],
+                "rod_tip_xy_dist": 0.002248525779767973,
+                "target_xy_drift": 6.640167699428162e-08,
+                "depth": 0.01833482484843796,
+                "bottom_clearance": 0.08110570278006113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001540595491368757,
+                  0.0016268209249363785
+                ],
+                "rod_tip_xy": [
+                  0.30054854726978053,
+                  -0.37255992995909704
+                ],
+                "target_mouth_xy": [
+                  0.2990079517784118,
+                  -0.3741867508840334
+                ],
+                "gripper_position": [
+                  0.30053974491309243,
+                  -0.37256287387670856,
+                  1.0026379900167608
+                ],
+                "rod_tip_xy_dist": 0.002240531363278942,
+                "target_xy_drift": 1.0731440847892203e-07,
+                "depth": 0.01847853487464668,
+                "bottom_clearance": 0.08096199117774872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015317943014037105,
+                  0.001623876076705999
+                ],
+                "rod_tip_xy": [
+                  0.3005397449130923,
+                  -0.3725628738767086
+                ],
+                "target_mouth_xy": [
+                  0.2990079506116886,
+                  -0.3741867499534146
+                ],
+                "gripper_position": [
+                  0.30053109347657325,
+                  -0.3725654954773358,
+                  1.002494518205206
+                ],
+                "rod_tip_xy_dist": 0.0022323456932811614,
+                "target_xy_drift": 1.0880206691486589e-07,
+                "depth": 0.018621845236252654,
+                "bottom_clearance": 0.0808186724460217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015231417594765984,
+                  0.0016212833252738923
+                ],
+                "rod_tip_xy": [
+                  0.30053109347657314,
+                  -0.37256549547733575
+                ],
+                "target_mouth_xy": [
+                  0.29900795171709654,
+                  -0.37418677880260964
+                ],
+                "gripper_position": [
+                  0.30052234922374926,
+                  -0.3725684045487594,
+                  1.0023512112155806
+                ],
+                "rod_tip_xy_dist": 0.0022245270149568058,
+                "target_xy_drift": 9.464934790008436e-08,
+                "depth": 0.018765317605516918,
+                "bottom_clearance": 0.08067522682654693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015143978289870463,
+                  0.0016183780710434803
+                ],
+                "rod_tip_xy": [
+                  0.30052234922374915,
+                  -0.3725684045487595
+                ],
+                "target_mouth_xy": [
+                  0.2990079513947621,
+                  -0.374186782619803
+                ],
+                "gripper_position": [
+                  0.30051365030980004,
+                  -0.3725711719068461,
+                  1.002208100497959
+                ],
+                "rod_tip_xy_dist": 0.002216426936597526,
+                "target_xy_drift": 9.373332700077204e-08,
+                "depth": 0.01890864612275578,
+                "bottom_clearance": 0.08053193113286417,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015056683933405424,
+                  0.0016155793042972322
+                ],
+                "rod_tip_xy": [
+                  0.30051365030979993,
+                  -0.3725711719068462
+                ],
+                "target_mouth_xy": [
+                  0.2990079819164594,
+                  -0.3741867512111434
+                ],
+                "gripper_position": [
+                  0.30050506529071525,
+                  -0.3725738333281787,
+                  1.0020646065434633
+                ],
+                "rod_tip_xy_dist": 0.002208423374078942,
+                "target_xy_drift": 8.379206926508799e-08,
+                "depth": 0.019051734795249353,
+                "bottom_clearance": 0.08038881582048052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014971123529367025,
+                  0.0016128880506102727
+                ],
+                "rod_tip_xy": [
+                  0.30050506529071513,
+                  -0.3725738333281787
+                ],
+                "target_mouth_xy": [
+                  0.29900795293777843,
+                  -0.374186721378789
+                ],
+                "gripper_position": [
+                  0.30052312837187983,
+                  -0.37265380786778646,
+                  1.0015384308756294
+                ],
+                "rod_tip_xy_dist": 0.002200625652199182,
+                "target_xy_drift": 1.2538125292225502e-07,
+                "depth": 0.01919529489466809,
+                "bottom_clearance": 0.08024528737220393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0015151485457411407,
+                  0.001532942111719393
+                ],
+                "rod_tip_xy": [
+                  0.3005231283718797,
+                  -0.37265380786778646
+                ],
+                "target_mouth_xy": [
+                  0.2990079798261386,
+                  -0.37418674997950585
+                ],
+                "gripper_position": [
+                  0.3005118596954957,
+                  -0.3726630558776694,
+                  1.001375046635928
+                ],
+                "rod_tip_xy_dist": 0.002155362297513855,
+                "target_xy_drift": 8.61392641873248e-08,
+                "depth": 0.019721362620744753,
+                "bottom_clearance": 0.0797191774993572,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006063115542326041,
+              "rod_tip_xy_max_step": 3.290531639963264e-05,
+              "rod_tip_xy_range": 0.0006063040093817083,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.3001294534107156,
+            -0.37398153101476705,
+            1.0433597890549158
+          ],
+          "object_origin_world": [
+            0.3001294534107156,
+            -0.37398153101476705,
+            1.0433597890549158
+          ],
+          "frame_world": [
+            0.3001280087970471,
+            -0.3739900196777988,
+            1.0432300054494055
+          ],
+          "center_minus_frame": [
+            1.444613668521999e-06,
+            8.488663031769317e-06,
+            0.000129783605510303
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2791659835214886,
+              0.1465067296289001,
+              0.8324998049762606
+            ],
+            "target_position": [
+              0.2888582760619086,
+              0.19357534616926342,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048056167114251265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17024941853464567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324998049762606,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670257954733,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1395603179090364,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "355a24a7a186055b4e0d012a0d60d7a81deb80c512498f1f0c59e429b68ef2ac",
+    "visual_seed": 1248799872342238570,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a818d8bd29ed9080e5ac47b2a59689c59fda0047
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3349088198798225,
+              -0.03077081884439484,
+              1.1662950599487178
+            ],
+            "current_z": 1.1662950599487178,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.305188551933952,
+            "gripper_z": 1.157347009547465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33010735899375,
+              -0.03544629199096887,
+              1.157347009547465
+            ],
+            "object_minus_gripper": [
+              0.004801460886072528,
+              0.004675473146574027,
+              0.008948050401252905
+            ],
+            "object_to_gripper_xy": 0.006701796459518837,
+            "object_to_gripper_z": 0.008948050401252905,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3349088198798225,
+              -0.05486804933668186,
+              1.1662950599487178
+            ],
+            "finger_b": [
+              0.32443551819651073,
+              -0.03077081884439484,
+              1.1662950599487178
+            ],
+            "finger_midpoint": [
+              0.32967216903816665,
+              -0.04281943409053835,
+              1.1662950599487178
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052366508416558655,
+              0.01204861524614351,
+              0.0
+            ],
+            "finger_gap": 0.02627482760263269,
+            "fingertip_max_gap": 0.09210722546480901,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013137413801316335,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662950599487178,
+            "object_top_z": 1.216135310878826,
+            "finger_top_clearance": 0.04984025093010813,
+            "fingertip_min_top_clearance": 0.014952075279032438,
+            "object_projection_between_fingers": 0.8411133249731167,
+            "object_to_finger_line_xy": 0.009605298595859624,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855361273240451,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0265102289595474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 357,
+            "max_stable_success_frames": 357,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2992455929925557,
+              -0.370850761408431,
+              0.8515395688338024
+            ],
+            "target_position": [
+              0.29273516216196604,
+              -0.3715474781733809,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0065476044360097616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18424543579123462,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395688338024,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561581506608804,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08833793894903218,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15186980373913517,
+            "release_required_pad_clearance": 0.05416896947451609,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.353561985694729,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008234083652496338,
+            "max_z_decrease": 0.008234083652496338,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500045127912084,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008234083652496338,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020856966534915512,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008234083652496338,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008234232052855658,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1484350860118866,
+              -0.42780894041061396,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1484350860118866,
+              -0.42780894041061396,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14856713971170574,
+              -0.4270386069538649,
+              0.8035671992776712
+            ],
+            "closest_button": [
+              0.1484769731760025,
+              -0.42778268456459045,
+              0.7685747742652893
+            ],
+            "closest_ee_minus_button": [
+              9.016653570323441e-05,
+              0.0007440776107255354,
+              0.03499242501238187
+            ],
+            "button_min_z_position": [
+              0.1484769731760025,
+              -0.42778268456459045,
+              0.7685747742652893
+            ],
+            "min_active_finger_to_button": 0.1453038651004127,
+            "closest_active_finger": [
+              0.02080034464597702,
+              -0.4882916510105133,
+              0.8108500838279724
+            ],
+            "closest_active_finger_button": [
+              0.1484392136335373,
+              -0.42780783772468567,
+              0.7767437696456909
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12763886898756027,
+              -0.06048381328582764,
+              0.034106314182281494
+            ],
+            "min_contact_pad_to_button": 0.020856966534915512,
+            "closest_contact_pad": [
+              0.1484769731760025,
+              -0.4283879204454179,
+              0.7894229574611255
+            ],
+            "closest_contact_pad_button": [
+              0.1484769731760025,
+              -0.42778268456459045,
+              0.7685747742652893
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006052358808274483,
+              0.020848183195836145
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2811607233499856,
+              0.1913288588555458,
+              1.1030552810371144
+            ],
+            "current_z": 1.1030552810371144,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1931461513027518,
+            "gripper_z": 1.103055363874633,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28116066467529865,
+              0.19132905887210355,
+              1.103055363874633
+            ],
+            "object_minus_gripper": [
+              5.867468694242817e-08,
+              -2.000165577609181e-07,
+              -8.283751862236954e-08
+            ],
+            "object_to_gripper_xy": 2.084450581479893e-07,
+            "object_to_gripper_z": -8.283751862236954e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2811607233499856,
+              0.1913288588555458,
+              1.1030552810371144
+            ],
+            "finger_b": [
+              0.2811607233499856,
+              0.1913288588555458,
+              1.1030552810371144
+            ],
+            "finger_midpoint": [
+              0.2811607233499856,
+              0.1913288588555458,
+              1.1030552810371144
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1030552810371144,
+            "object_top_z": 1.228063787657394,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2811607233499856,
+            0.1913288588555458,
+            1.1030552810371144
+          ],
+          "object_origin_world": [
+            0.2811607233499856,
+            0.1913288588555458,
+            1.1030552810371144
+          ],
+          "frame_world": [
+            0.28116066467529865,
+            0.19132905887210355,
+            1.103055363874633
+          ],
+          "center_minus_frame": [
+            5.867468694242817e-08,
+            -2.000165577609181e-07,
+            -8.283751862236954e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436232828007916,
+            "required_z": 0.9112599018616234,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024983007357431124,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.29916848464423e-08,
+            "max_target_xy_drift": 1.5039674678066392e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.3535619856868992,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.353561985695272,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29720095824612947,
+              -0.3723238969021102,
+              0.9233301261627337
+            ],
+            "target_mouth_xy": [
+              0.29924556329864904,
+              -0.3708507632289379
+            ],
+            "rod_tip_z": 0.9233301261627337,
+            "rod_tip_depth": -0.02207027985552723,
+            "rod_tip_bottom_clearance": 0.12151083484142466,
+            "rod_tip_xy_dist": 0.0025200263172877237,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487597918862285,
+            "min_rod_tip_bottom_clearance": 0.054564533765570467,
+            "min_rod_tip_xy_dist": 0.001545397408861957,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29924556081760223,
+              -0.3708507303306754
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.4810468124414342e-09,
+              -3.289826250307826e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0015023140949365077,
+                0.00042701712651088686
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016069633756363166,
+                3.1289811200152506e-05
+              ],
+              "first_target_mouth_xy": [
+                0.29924562155203477,
+                -0.3708507297591436
+              ],
+              "last_target_mouth_xy": [
+                0.2992455923724437,
+                -0.37085076263553085
+              ],
+              "first_rod_tip_xy": [
+                0.29774330745709826,
+                -0.37042371263263274
+              ],
+              "last_rod_tip_xy": [
+                0.2976386289968074,
+                -0.3708194728243307
+              ],
+              "min_rod_tip_xy_dist": 0.001545397408861957,
+              "max_rod_tip_xy_dist": 0.0016072679748322639,
+              "first_target_xy_drift": 6.073712163382424e-08,
+              "last_target_xy_drift": 4.5158738975004085e-08,
+              "max_depth": 0.019635860374107916,
+              "min_bottom_clearance": 0.07980469637205878
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0015023140949365077,
+                  0.00042701712651088686
+                ],
+                "rod_tip_xy": [
+                  0.29774330745709826,
+                  -0.37042371263263274
+                ],
+                "target_mouth_xy": [
+                  0.29924562155203477,
+                  -0.3708507297591436
+                ],
+                "gripper_position": [
+                  0.29773258841264805,
+                  -0.37043314031175667,
+                  1.0058100053366874
+                ],
+                "rod_tip_xy_dist": 0.001561823058537206,
+                "target_xy_drift": 6.073712163382424e-08,
+                "depth": 0.015288486505192878,
+                "bottom_clearance": 0.08415210119631389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0015130628492651677,
+                  0.00041762304187731303
+                ],
+                "rod_tip_xy": [
+                  0.29773258841264805,
+                  -0.37043314031175667
+                ],
+                "target_mouth_xy": [
+                  0.2992456512619132,
+                  -0.370850763353634
+                ],
+                "gripper_position": [
+                  0.2977243525137495,
+                  -0.370436155662612,
+                  1.005667868867624
+                ],
+                "rod_tip_xy_dist": 0.00156963950986629,
+                "target_xy_drift": 9.628441817649652e-08,
+                "depth": 0.015449884764676902,
+                "bottom_clearance": 0.08399072517172468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015213002837152767,
+                  0.0004145467302453798
+                ],
+                "rod_tip_xy": [
+                  0.29772435251374946,
+                  -0.370436155662612
+                ],
+                "target_mouth_xy": [
+                  0.29924565279746473,
+                  -0.3708507023928574
+                ],
+                "gripper_position": [
+                  0.297731480046074,
+                  -0.37051328039607523,
+                  1.0051324882983455
+                ],
+                "rod_tip_xy_dist": 0.0015767699720597539,
+                "target_xy_drift": 9.612916717160891e-08,
+                "depth": 0.015591897284766731,
+                "bottom_clearance": 0.08384862028986595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015141128377891833,
+                  0.00033745308800287033
+                ],
+                "rod_tip_xy": [
+                  0.29773148004607397,
+                  -0.37051328039607523
+                ],
+                "target_mouth_xy": [
+                  0.29924559288386315,
+                  -0.3708507334840781
+                ],
+                "gripper_position": [
+                  0.2977205710161809,
+                  -0.3705228187931053,
+                  1.0049708756557614
+                ],
+                "rod_tip_xy_dist": 0.001551261509920454,
+                "target_xy_drift": 3.222094099015998e-08,
+                "depth": 0.016127364415656875,
+                "bottom_clearance": 0.08331319842462392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015250205660601313,
+                  0.00032791154135408673
+                ],
+                "rod_tip_xy": [
+                  0.2977205710161808,
+                  -0.3705228187931052
+                ],
+                "target_mouth_xy": [
+                  0.29924559158224096,
+                  -0.3708507303344593
+                ],
+                "gripper_position": [
+                  0.2977121056376431,
+                  -0.3705258578390064,
+                  1.0048291254077861
+                ],
+                "rod_tip_xy_dist": 0.0015598761828618244,
+                "target_xy_drift": 3.07646389581251e-08,
+                "depth": 0.01628899583289578,
+                "bottom_clearance": 0.08315157943045892,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015335155926116673,
+                  0.0003249061226676675
+                ],
+                "rod_tip_xy": [
+                  0.29771210563764305,
+                  -0.3705258578390064
+                ],
+                "target_mouth_xy": [
+                  0.2992456212302547,
+                  -0.37085076396167405
+                ],
+                "gripper_position": [
+                  0.2977200750029915,
+                  -0.370603993842551,
+                  1.0042964931912013
+                ],
+                "rod_tip_xy_dist": 0.001567556717101506,
+                "target_xy_drift": 6.914284237325396e-08,
+                "depth": 0.01643078335974313,
+                "bottom_clearance": 0.08300985794909421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001525577987879001,
+                  0.00024670823702566125
+                ],
+                "rod_tip_xy": [
+                  0.29772007500299147,
+                  -0.37060399384255105
+                ],
+                "target_mouth_xy": [
+                  0.29924565299087047,
+                  -0.3708507020795767
+                ],
+                "gripper_position": [
+                  0.2977090188058452,
+                  -0.3706132460741107,
+                  1.004135303445271
+                ],
+                "rod_tip_xy_dist": 0.001545397408861957,
+                "target_xy_drift": 9.6405580517174e-08,
+                "depth": 0.01696326926356917,
+                "bottom_clearance": 0.08247724567907821,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015365436815263367,
+                  0.00023748803625817105
+                ],
+                "rod_tip_xy": [
+                  0.29770901880584516,
+                  -0.3706132460741107
+                ],
+                "target_mouth_xy": [
+                  0.2992455624873715,
+                  -0.3708507341103689
+                ],
+                "gripper_position": [
+                  0.29770028452773245,
+                  -0.37061642499151276,
+                  1.0039935928871544
+                ],
+                "rod_tip_xy_dist": 0.0015547884269585593,
+                "target_xy_drift": 4.132095398197588e-09,
+                "depth": 0.017124579021725816,
+                "bottom_clearance": 0.08231602913429681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015453370211325201,
+                  0.00023427513564816538
+                ],
+                "rod_tip_xy": [
+                  0.29770028452773245,
+                  -0.3706164249915128
+                ],
+                "target_mouth_xy": [
+                  0.29924562154886497,
+                  -0.370850700127161
+                ],
+                "gripper_position": [
+                  0.2976917676723211,
+                  -0.37061932480070797,
+                  1.0038517642334097
+                ],
+                "rod_tip_xy_dist": 0.0015629943531778024,
+                "target_xy_drift": 6.782727000944221e-08,
+                "depth": 0.017266279924460615,
+                "bottom_clearance": 0.08217430221424304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001553824689272565,
+                  0.00023140799332255213
+                ],
+                "rod_tip_xy": [
+                  0.29769176767232103,
+                  -0.370619324800708
+                ],
+                "target_mouth_xy": [
+                  0.2992455923615936,
+                  -0.3708507327940306
+                ],
+                "gripper_position": [
+                  0.29770127152588866,
+                  -0.3706996526122539,
+                  1.0033217669062309
+                ],
+                "rod_tip_xy_dist": 0.001570961751401527,
+                "target_xy_drift": 3.164003018186453e-08,
+                "depth": 0.0174080903071,
+                "bottom_clearance": 0.08203246534820019,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015443214562519958,
+                  0.00015108052425560903
+                ],
+                "rod_tip_xy": [
+                  0.2977012715258886,
+                  -0.3706996526122539
+                ],
+                "target_mouth_xy": [
+                  0.2992455929821406,
+                  -0.3708507331365095
+                ],
+                "gripper_position": [
+                  0.297689935775634,
+                  -0.3707089954981102,
+                  1.0031606093594676
+                ],
+                "rod_tip_xy_dist": 0.0015516939405210148,
+                "target_xy_drift": 3.2286688176631645e-08,
+                "depth": 0.01793807610212028,
+                "bottom_clearance": 0.08150246999555011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001555657427868784,
+                  0.00014173349433760363
+                ],
+                "rod_tip_xy": [
+                  0.297689935775634,
+                  -0.3707089954981103
+                ],
+                "target_mouth_xy": [
+                  0.2992455932035028,
+                  -0.3708507289924479
+                ],
+                "gripper_position": [
+                  0.29768135962792963,
+                  -0.37071180067011505,
+                  1.0030192630470691
+                ],
+                "rod_tip_xy_dist": 0.0015621006421804161,
+                "target_xy_drift": 3.241353742893223e-08,
+                "depth": 0.01809924762174564,
+                "bottom_clearance": 0.08134133686293343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015642040126411239,
+                  0.0001389619231848549
+                ],
+                "rod_tip_xy": [
+                  0.2976813596279296,
+                  -0.3707118006701151
+                ],
+                "target_mouth_xy": [
+                  0.2992455636405707,
+                  -0.37085076259329997
+                ],
+                "gripper_position": [
+                  0.29767264268374927,
+                  -0.3707145920716145,
+                  1.0028775450574245
+                ],
+                "rod_tip_xy_dist": 0.0015703644829331267,
+                "target_xy_drift": 3.238589346074112e-08,
+                "depth": 0.01824057530437495,
+                "bottom_clearance": 0.08119997229874698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015729198982622483,
+                  0.00013610746384284944
+                ],
+                "rod_tip_xy": [
+                  0.2976726426837492,
+                  -0.3707145920716145
+                ],
+                "target_mouth_xy": [
+                  0.29924556258201146,
+                  -0.37085069953545735
+                ],
+                "gripper_position": [
+                  0.29766391597256003,
+                  -0.3707176573160226,
+                  1.0027358805622915
+                ],
+                "rod_tip_xy_dist": 0.001578797722339076,
+                "target_xy_drift": 3.0845722461985065e-08,
+                "depth": 0.01838231716008898,
+                "bottom_clearance": 0.08105825891624807,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015816463639766187,
+                  0.00013310660629639592
+                ],
+                "rod_tip_xy": [
+                  0.29766391597256,
+                  -0.3707176573160226
+                ],
+                "target_mouth_xy": [
+                  0.2992455623365366,
+                  -0.37085076392231897
+                ],
+                "gripper_position": [
+                  0.29765512674970573,
+                  -0.37072044929953646,
+                  1.0025943243871749
+                ],
+                "rod_tip_xy_dist": 0.0015872374079891774,
+                "target_xy_drift": 3.362596734480022e-08,
+                "depth": 0.01852400652888364,
+                "bottom_clearance": 0.0809166074700538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015904359018267256,
+                  0.00013030953695170044
+                ],
+                "rod_tip_xy": [
+                  0.2976551267497057,
+                  -0.3707204492995364
+                ],
+                "target_mouth_xy": [
+                  0.2992455626515324,
+                  -0.3708507588364881
+                ],
+                "gripper_position": [
+                  0.2976677344966759,
+                  -0.37080495789499446,
+                  1.0020676877560581
+                ],
+                "rod_tip_xy_dist": 0.0015957653127073406,
+                "target_xy_drift": 2.8564745021778702e-08,
+                "depth": 0.018665480908222398,
+                "bottom_clearance": 0.0807751024971014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015778285840536976,
+                  4.5803451173886955e-05
+                ],
+                "rod_tip_xy": [
+                  0.29766773449667583,
+                  -0.37080495789499446
+                ],
+                "target_mouth_xy": [
+                  0.2992455630807295,
+                  -0.37085076134616834
+                ],
+                "gripper_position": [
+                  0.2976563629901142,
+                  -0.3708142726941166,
+                  1.0019070986236178
+                ],
+                "rod_tip_xy_dist": 0.0015784932678970585,
+                "target_xy_drift": 3.1097950868153206e-08,
+                "depth": 0.019192126932424336,
+                "bottom_clearance": 0.08024836239590372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00158922796711497,
+                  3.646051277728102e-05
+                ],
+                "rod_tip_xy": [
+                  0.29765636299011416,
+                  -0.3708142726941166
+                ],
+                "target_mouth_xy": [
+                  0.29924559095722914,
+                  -0.3708507332068939
+                ],
+                "gripper_position": [
+                  0.2976475437628928,
+                  -0.3708166603125153,
+                  1.0017654270155576
+                ],
+                "rod_tip_xy_dist": 0.0015896461557379248,
+                "target_xy_drift": 3.0276554341112804e-08,
+                "depth": 0.019352805307954468,
+                "bottom_clearance": 0.08008781699681256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015980187783540822,
+                  3.4072559584208406e-05
+                ],
+                "rod_tip_xy": [
+                  0.29764754376289276,
+                  -0.37081666031251526
+                ],
+                "target_mouth_xy": [
+                  0.29924556254124685,
+                  -0.37085073287209946
+                ],
+                "gripper_position": [
+                  0.29763862899680743,
+                  -0.37081947282433064,
+                  1.0016239946156273
+                ],
+                "rod_tip_xy_dist": 0.0015983819804067153,
+                "target_xy_drift": 3.070795836852404e-09,
+                "depth": 0.019494369981274295,
+                "bottom_clearance": 0.0799461892876353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016069633756363166,
+                  3.1289811200152506e-05
+                ],
+                "rod_tip_xy": [
+                  0.2976386289968074,
+                  -0.3708194728243307
+                ],
+                "target_mouth_xy": [
+                  0.2992455923724437,
+                  -0.37085076263553085
+                ],
+                "gripper_position": [
+                  0.2976297891675727,
+                  -0.3708222642368523,
+                  1.0014829881695866
+                ],
+                "rod_tip_xy_dist": 0.0016072679748322639,
+                "target_xy_drift": 4.5158738975004085e-08,
+                "depth": 0.019635860374107916,
+                "bottom_clearance": 0.07980469637205878,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006017457713662481,
+              "rod_tip_xy_max_step": 3.261106866195062e-05,
+              "rod_tip_xy_range": 0.0006017323135120876,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29720095824612947,
+            -0.3723238969021102,
+            1.043330126162734
+          ],
+          "object_origin_world": [
+            0.29720095824612947,
+            -0.3723238969021102,
+            1.043330126162734
+          ],
+          "frame_world": [
+            0.297225023353768,
+            -0.3723200912717366,
+            1.0436232828007916
+          ],
+          "center_minus_frame": [
+            -2.406510763852676e-05,
+            -3.805630373610036e-06,
+            -0.0002931566380577344
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27127709870385014,
+              0.14321391870491118,
+              0.8328906323690215
+            ],
+            "target_position": [
+              0.2813185700167603,
+              0.1901917332283528,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04803900710388258,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16721433580464784,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328906323690215,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567098676943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362809565330287,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a908d5c6baec678b7f15492bd587a1fe209230531d00988ea5f20b2fc65401fe",
+    "visual_seed": 23167250146131439,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84a39e1b9ad839d7980b562a437ae0d167992b18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_83_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.333349319227485,
+              -0.02875158773659611,
+              1.16466024983655
+            ],
+            "current_z": 1.16466024983655,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3035538014264286,
+            "gripper_z": 1.1555044586701493,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32871893139941977,
+              -0.03343645424478249,
+              1.1555044586701493
+            ],
+            "object_minus_gripper": [
+              0.004630387828065241,
+              0.004684866508186381,
+              0.00915579116640064
+            ],
+            "object_to_gripper_xy": 0.0065869921540731464,
+            "object_to_gripper_z": 0.00915579116640064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.333349319227485,
+              -0.05248100659119804,
+              1.16466024983655
+            ],
+            "finger_b": [
+              0.3225460444822412,
+              -0.02875158773659611,
+              1.16466024983655
+            ],
+            "finger_midpoint": [
+              0.3279476818548631,
+              -0.04061629716389707,
+              1.16466024983655
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054016373726218925,
+              0.011864709427300963,
+              0.0
+            ],
+            "finger_gap": 0.026072899040926762,
+            "fingertip_max_gap": 0.09163474810435038,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01303644952046338,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16466024983655,
+            "object_top_z": 1.2144543132128467,
+            "finger_top_clearance": 0.04979406337629677,
+            "fingertip_min_top_clearance": 0.014938219012889031,
+            "object_projection_between_fingers": 0.828315061922998,
+            "object_to_finger_line_xy": 0.00983225651389325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831737405217519,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5018734252281758,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29558107261515143,
+              -0.37504955941300533,
+              0.8515395671546956
+            ],
+            "target_position": [
+              0.287989868302275,
+              -0.3760478964601442,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00765656971362002,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184211691432958,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395671546956,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555749587778307,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665648099277172,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520443786297841,
+            "release_required_pad_clearance": 0.05332824049638586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6739329370623335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008342444896697998,
+            "max_z_decrease": 0.008342444896697998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502146422552309,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008342444896697998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02096088573687924,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008342444896697998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008342566325870614,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1436897963285446,
+              -0.43230935931205744,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1436897963285446,
+              -0.43230935931205744,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14485458430586198,
+              -0.43301263717875405,
+              0.8035938612740282
+            ],
+            "closest_button": [
+              0.14372356235980988,
+              -0.43228071928024286,
+              0.7685983180999756
+            ],
+            "closest_ee_minus_button": [
+              0.0011310219460521076,
+              -0.0007319178985111807,
+              0.034995543174052623
+            ],
+            "button_min_z_position": [
+              0.143722265958786,
+              -0.4322781860828399,
+              0.7684664130210876
+            ],
+            "min_active_finger_to_button": 0.1444994009762783,
+            "closest_active_finger": [
+              0.004349350929260254,
+              -0.4151613712310791,
+              0.8108769655227661
+            ],
+            "closest_active_finger_button": [
+              0.1436908096075058,
+              -0.432308942079544,
+              0.7766717672348022
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13934145867824554,
+              0.01714757084846491,
+              0.03420519828796387
+            ],
+            "min_contact_pad_to_button": 0.02096088573687924,
+            "closest_contact_pad": [
+              0.143722265958786,
+              -0.4343628367356922,
+              0.78932337738626
+            ],
+            "closest_contact_pad_button": [
+              0.143722265958786,
+              -0.4322781860828399,
+              0.7684664130210876
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020846506528522935,
+              0.02085696436517237
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2858872208357575,
+              0.19557777630076253,
+              1.1038913273665636
+            ],
+            "current_z": 1.1038913273665636,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19398219763220104,
+            "gripper_z": 1.1038914315125326,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2858871825060795,
+              0.19557789773392792,
+              1.1038914315125326
+            ],
+            "object_minus_gripper": [
+              3.832967804262566e-08,
+              -1.2143316538426596e-07,
+              -1.0414596895991224e-07
+            ],
+            "object_to_gripper_xy": 1.273388309750558e-07,
+            "object_to_gripper_z": -1.0414596895991224e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2858872208357575,
+              0.19557777630076253,
+              1.1038913273665636
+            ],
+            "finger_b": [
+              0.2858872208357575,
+              0.19557777630076253,
+              1.1038913273665636
+            ],
+            "finger_midpoint": [
+              0.2858872208357575,
+              0.19557777630076253,
+              1.1038913273665636
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1038913273665636,
+            "object_top_z": 1.2288998339868433,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2858872208357575,
+            0.19557777630076256,
+            1.1038913273665638
+          ],
+          "object_origin_world": [
+            0.2858872208357575,
+            0.19557777630076256,
+            1.1038913273665638
+          ],
+          "frame_world": [
+            0.2858871825060795,
+            0.19557789773392792,
+            1.1038914315125326
+          ],
+          "center_minus_frame": [
+            3.832967804262566e-08,
+            -1.2143316535651039e-07,
+            -1.0414596873786763e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436055233779922,
+            "required_z": 0.9112598644714844,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000756940898712314,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.105912404908035e-07,
+            "max_target_xy_drift": 3.9332496597474623e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6725295824026287,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.672997501021882,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29588074894208666,
+              -0.3757377500003699,
+              0.9233119247474472
+            ],
+            "target_mouth_xy": [
+              0.29558167812119357,
+              -0.3750493682609478
+            ],
+            "rod_tip_z": 0.9233119247474472,
+            "rod_tip_depth": -0.02205204234898328,
+            "rod_tip_bottom_clearance": 0.12149269949471575,
+            "rod_tip_xy_dist": 0.0007505416544599336,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04493851592200393,
+            "min_rod_tip_bottom_clearance": 0.05450205871140401,
+            "min_rod_tip_xy_dist": 0.00014344226207222801,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.295581378614453,
+              -0.37504945049616545
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.995067405753282e-07,
+              8.223521763550679e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0007552797741655626,
+                0.0012641476765193893
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006641857744120738,
+                0.0008761551017245073
+              ],
+              "first_target_mouth_xy": [
+                0.29558143967625533,
+                -0.37504929822946087
+              ],
+              "last_target_mouth_xy": [
+                0.29558143850877033,
+                -0.37504933278943137
+              ],
+              "first_rod_tip_xy": [
+                0.2963367194504209,
+                -0.3737851505529415
+              ],
+              "last_rod_tip_xy": [
+                0.2962456242831824,
+                -0.37417317768770686
+              ],
+              "min_rod_tip_xy_dist": 0.0010994500921866568,
+              "max_rod_tip_xy_dist": 0.0014725884982957575,
+              "first_target_xy_drift": 1.6405393328949407e-07,
+              "last_target_xy_drift": 1.320689384288817e-07,
+              "max_depth": 0.019397657011716696,
+              "min_bottom_clearance": 0.08004285097422903
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007552797741655626,
+                  0.0012641476765193893
+                ],
+                "rod_tip_xy": [
+                  0.2963367194504209,
+                  -0.3737851505529415
+                ],
+                "target_mouth_xy": [
+                  0.29558143967625533,
+                  -0.37504929822946087
+                ],
+                "gripper_position": [
+                  0.2963463854680485,
+                  -0.37386184764809405,
+                  1.005667980254964
+                ],
+                "rod_tip_xy_dist": 0.0014725884982957575,
+                "target_xy_drift": 1.6405393328949407e-07,
+                "depth": 0.015055403825344649,
+                "bottom_clearance": 0.08438527622350367,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007649462012266905,
+                  0.0011874870529117176
+                ],
+                "rod_tip_xy": [
+                  0.2963463854680485,
+                  -0.37386184764809416
+                ],
+                "target_mouth_xy": [
+                  0.2955814392668218,
+                  -0.3750493347010059
+                ],
+                "gripper_position": [
+                  0.296335731869913,
+                  -0.37387139525554697,
+                  1.0055062345043142
+                ],
+                "rod_tip_xy_dist": 0.0014125396247907883,
+                "target_xy_drift": 1.30718127360538e-07,
+                "depth": 0.015591864591971594,
+                "bottom_clearance": 0.08384868890714359,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007542949204608074,
+                  0.0011779318471322187
+                ],
+                "rod_tip_xy": [
+                  0.29633573186991297,
+                  -0.37387139525554713
+                ],
+                "target_mouth_xy": [
+                  0.29558143694945216,
+                  -0.37504932710267935
+                ],
+                "gripper_position": [
+                  0.29632754094194724,
+                  -0.3738747938660212,
+                  1.005364165142043
+                ],
+                "rod_tip_xy_dist": 0.0013987438162584656,
+                "target_xy_drift": 1.3648781827820702e-07,
+                "depth": 0.015753740368346203,
+                "bottom_clearance": 0.08368702598853528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007461014533526322,
+                  0.0011745693721740835
+                ],
+                "rod_tip_xy": [
+                  0.29632754094194724,
+                  -0.3738747938660213
+                ],
+                "target_mouth_xy": [
+                  0.2955814394885946,
+                  -0.3750493632381954
+                ],
+                "gripper_position": [
+                  0.2963382164731334,
+                  -0.37395256066870053,
+                  1.0048294942993505
+                ],
+                "rod_tip_xy_dist": 0.0013915029963116612,
+                "target_xy_drift": 1.0639367677904306e-07,
+                "depth": 0.015895659302398002,
+                "bottom_clearance": 0.08354485921879484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007567789172786554,
+                  0.0010967718264988102
+                ],
+                "rod_tip_xy": [
+                  0.2963382164731334,
+                  -0.37395256066870064
+                ],
+                "target_mouth_xy": [
+                  0.29558143755585475,
+                  -0.37504933249519945
+                ],
+                "gripper_position": [
+                  0.2963273199609079,
+                  -0.37396223737349554,
+                  1.004668028553444
+                ],
+                "rod_tip_xy_dist": 0.0013325249600059995,
+                "target_xy_drift": 1.3190267934322983e-07,
+                "depth": 0.016430370245054005,
+                "bottom_clearance": 0.08301018556538697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007458519491772009,
+                  0.0010870944609983058
+                ],
+                "rod_tip_xy": [
+                  0.2963273199609079,
+                  -0.37396223737349565
+                ],
+                "target_mouth_xy": [
+                  0.2955814680117307,
+                  -0.37504933183449396
+                ],
+                "gripper_position": [
+                  0.2963189743912433,
+                  -0.37396527626898096,
+                  1.0045257187693035
+                ],
+                "rod_tip_xy_dist": 0.0013183586375583188,
+                "target_xy_drift": 1.4856805019648574e-07,
+                "depth": 0.016591826927938147,
+                "bottom_clearance": 0.08284872591047465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007374762013412361,
+                  0.0010840568277653007
+                ],
+                "rod_tip_xy": [
+                  0.2963189743912433,
+                  -0.373965276268981
+                ],
+                "target_mouth_xy": [
+                  0.29558149818990204,
+                  -0.3750493330967463
+                ],
+                "gripper_position": [
+                  0.2963105631115108,
+                  -0.37396862729608743,
+                  1.0043836713715852
+                ],
+                "rod_tip_xy_dist": 0.0013111256054891408,
+                "target_xy_drift": 1.6757360062339446e-07,
+                "depth": 0.0167341128886207,
+                "bottom_clearance": 0.08270639993745932,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007290903392719872,
+                  0.0010807016111636925
+                ],
+                "rod_tip_xy": [
+                  0.29631056311151077,
+                  -0.3739686272960875
+                ],
+                "target_mouth_xy": [
+                  0.2955814727722388,
+                  -0.3750493289072512
+                ],
+                "gripper_position": [
+                  0.2963226818641779,
+                  -0.37404891924092526,
+                  1.0038498114555117
+                ],
+                "rod_tip_xy_dist": 0.0013036443898515968,
+                "target_xy_drift": 1.5378411068244018e-07,
+                "depth": 0.016876298259926092,
+                "bottom_clearance": 0.08256447281330981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007412473367695571,
+                  0.0010004155129082482
+                ],
+                "rod_tip_xy": [
+                  0.2963226818641778,
+                  -0.3740489192409253
+                ],
+                "target_mouth_xy": [
+                  0.29558143452740826,
+                  -0.37504933475383356
+                ],
+                "gripper_position": [
+                  0.29631170229491377,
+                  -0.3740585010664774,
+                  1.0036882053582532
+                ],
+                "rod_tip_xy_dist": 0.0012451019286530056,
+                "target_xy_drift": 1.2854005584569884e-07,
+                "depth": 0.017410113224510693,
+                "bottom_clearance": 0.08203061237448084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007302045180309635,
+                  0.0009908307726660404
+                ],
+                "rod_tip_xy": [
+                  0.29631170229491377,
+                  -0.3740585010664774
+                ],
+                "target_mouth_xy": [
+                  0.2955814977768828,
+                  -0.37504933183914346
+                ],
+                "gripper_position": [
+                  0.2963032774667502,
+                  -0.37406136430430864,
+                  1.0035465673667352
+                ],
+                "rod_tip_xy_dist": 0.0012308307187484451,
+                "target_xy_drift": 1.6816412680873068e-07,
+                "depth": 0.01757165119710491,
+                "bottom_clearance": 0.0818689029490467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007217797412655824,
+                  0.0009879716635700087
+                ],
+                "rod_tip_xy": [
+                  0.29630327746675017,
+                  -0.3740613643043087
+                ],
+                "target_mouth_xy": [
+                  0.2955814977254846,
+                  -0.3750493359678787
+                ],
+                "gripper_position": [
+                  0.2962946725238287,
+                  -0.3740645927105661,
+                  1.0034042330816477
+                ],
+                "rod_tip_xy_dist": 0.0012235415820145638,
+                "target_xy_drift": 1.6523972377000278e-07,
+                "depth": 0.017713332003657878,
+                "bottom_clearance": 0.08172730389898997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007131740581816648,
+                  0.0009847695588286465
+                ],
+                "rod_tip_xy": [
+                  0.2962946725238287,
+                  -0.37406459271056614
+                ],
+                "target_mouth_xy": [
+                  0.295581498465647,
+                  -0.3750493622693948
+                ],
+                "gripper_position": [
+                  0.29630833785815225,
+                  -0.3741468074371965,
+                  1.0028746184389572
+                ],
+                "rod_tip_xy_dist": 0.0012158899297464683,
+                "target_xy_drift": 1.4882295445090997e-07,
+                "depth": 0.01785559146021687,
+                "bottom_clearance": 0.08158491375834032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007268405334631689,
+                  0.0009025279079873938
+                ],
+                "rod_tip_xy": [
+                  0.29630833785815225,
+                  -0.3741468074371965
+                ],
+                "target_mouth_xy": [
+                  0.2955814973246891,
+                  -0.3750493353451839
+                ],
+                "gripper_position": [
+                  0.29629722115375623,
+                  -0.3741563186720157,
+                  1.0027135521171024
+                ],
+                "rod_tip_xy_dist": 0.001158815682402135,
+                "target_xy_drift": 1.6538400375582969e-07,
+                "depth": 0.01838528127657313,
+                "bottom_clearance": 0.08105534669922376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007157523377868125,
+                  0.0008930432775352548
+                ],
+                "rod_tip_xy": [
+                  0.2962972211537562,
+                  -0.3741563186720157
+                ],
+                "target_mouth_xy": [
+                  0.29558146881596936,
+                  -0.37504936194955096
+                ],
+                "gripper_position": [
+                  0.2962886461526305,
+                  -0.3741590467937094,
+                  1.002571403669719
+                ],
+                "rod_tip_xy_dist": 0.0011444770441551885,
+                "target_xy_drift": 1.2639943232361277e-07,
+                "depth": 0.01854627311630852,
+                "bottom_clearance": 0.08089423713363997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.000707148456702833,
+                  0.0008902894977882991
+                ],
+                "rod_tip_xy": [
+                  0.2962886461526305,
+                  -0.3741590467937095
+                ],
+                "target_mouth_xy": [
+                  0.2955814976959277,
+                  -0.3750493362914978
+                ],
+                "gripper_position": [
+                  0.2962799976461533,
+                  -0.37416204219740257,
+                  1.0024296584555865
+                ],
+                "rod_tip_xy_dist": 0.001136958367614813,
+                "target_xy_drift": 1.6499425362470757e-07,
+                "depth": 0.018688502648146144,
+                "bottom_clearance": 0.08075214627087945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006984976551258626,
+                  0.0008873187751036737
+                ],
+                "rod_tip_xy": [
+                  0.2962799976461533,
+                  -0.3741620421974027
+                ],
+                "target_mouth_xy": [
+                  0.29558149999102745,
+                  -0.37504936097250635
+                ],
+                "gripper_position": [
+                  0.29627142168311116,
+                  -0.3741648224213256,
+                  1.0022877126091776
+                ],
+                "rod_tip_xy_dist": 0.001129262406559172,
+                "target_xy_drift": 1.50820284992572e-07,
+                "depth": 0.01883019136185815,
+                "bottom_clearance": 0.0806103996160733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006900170573029274,
+                  0.0008845113782924852
+                ],
+                "rod_tip_xy": [
+                  0.2962714216831111,
+                  -0.37416482242132565
+                ],
+                "target_mouth_xy": [
+                  0.2955814046258082,
+                  -0.37504933379961813
+                ],
+                "gripper_position": [
+                  0.2962627794317775,
+                  -0.37416773391879776,
+                  1.00214568320772
+                ],
+                "rod_tip_xy_dist": 0.0011218216960363456,
+                "target_xy_drift": 1.1956033938317074e-07,
+                "depth": 0.01897225676975478,
+                "bottom_clearance": 0.080468437409563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.000681310545220859,
+                  0.0008815972849748333
+                ],
+                "rod_tip_xy": [
+                  0.2962627794317775,
+                  -0.37416773391879776
+                ],
+                "target_mouth_xy": [
+                  0.2955814688865566,
+                  -0.3750493312037726
+                ],
+                "gripper_position": [
+                  0.29625415022016044,
+                  -0.37417037316636653,
+                  1.0020037886745419
+                ],
+                "rod_tip_xy_dist": 0.0011141803408354239,
+                "target_xy_drift": 1.4959855509171682e-07,
+                "depth": 0.01911415630157387,
+                "bottom_clearance": 0.08032638471055586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006727125354550889,
+                  0.0008789599617805566
+                ],
+                "rod_tip_xy": [
+                  0.29625415022016044,
+                  -0.3741703731663666
+                ],
+                "target_mouth_xy": [
+                  0.29558143768470535,
+                  -0.37504933312814714
+                ],
+                "gripper_position": [
+                  0.29624562428318246,
+                  -0.3741731776877068,
+                  1.0018621729863868
+                ],
+                "rod_tip_xy_dist": 0.0011068481240765111,
+                "target_xy_drift": 1.3139462102414263e-07,
+                "depth": 0.01925607055797418,
+                "bottom_clearance": 0.08018447711430221,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006641857744120738,
+                  0.0008761551017245073
+                ],
+                "rod_tip_xy": [
+                  0.2962456242831824,
+                  -0.37417317768770686
+                ],
+                "target_mouth_xy": [
+                  0.29558143850877033,
+                  -0.37504933278943137
+                ],
+                "gripper_position": [
+                  0.2962640214483386,
+                  -0.3742624021789338,
+                  1.0013392283295515
+                ],
+                "rod_tip_xy_dist": 0.0010994500921866568,
+                "target_xy_drift": 1.320689384288817e-07,
+                "depth": 0.019397657011716696,
+                "bottom_clearance": 0.08004285097422903,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006039633880826723,
+              "rod_tip_xy_max_step": 3.2746326417440875e-05,
+              "rod_tip_xy_range": 0.0006039556531791661,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29588074894208666,
+            -0.37573775000036985,
+            1.0433119247474472
+          ],
+          "object_origin_world": [
+            0.29588074894208666,
+            -0.37573775000036985,
+            1.0433119247474472
+          ],
+          "frame_world": [
+            0.2959049736078936,
+            -0.37573379470142393,
+            1.0436055233779922
+          ],
+          "center_minus_frame": [
+            -2.4224665806926726e-05,
+            -3.955298945923502e-06,
+            -0.0002935986305450111
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27464446689803634,
+              0.14972143630239748,
+              0.8320869014840655
+            ],
+            "target_position": [
+              0.28603115529189205,
+              0.19554755587373912,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047219592411896875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1687589154262916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320869014840655,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669826175434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13800785522443046,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81256b2a34bddf8d2691017db8a2b9478fa9423df65669ab71e91489b42ca4f6",
+    "visual_seed": 6852523902001385734,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f098dfc029815d277ec9d8d4c3b5e3a7f7e3f92
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_84_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3296018562036633,
+              -0.03273672286559295,
+              1.1665932969659798
+            ],
+            "current_z": 1.1665932969659798,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30548678895121373,
+            "gripper_z": 1.1576169936428087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32506701034423124,
+              -0.03748501360269803,
+              1.1576169936428087
+            ],
+            "object_minus_gripper": [
+              0.004534845859432035,
+              0.004748290737105081,
+              0.00897630332317112
+            ],
+            "object_to_gripper_xy": 0.006565903737710886,
+            "object_to_gripper_z": 0.00897630332317112,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3296018562036633,
+              -0.05635112014713345,
+              1.1665932969659798
+            ],
+            "finger_b": [
+              0.31862630884803245,
+              -0.03273672286559295,
+              1.1665932969659798
+            ],
+            "finger_midpoint": [
+              0.32411408252584784,
+              -0.0445439215063632,
+              1.1665932969659798
+            ],
+            "object_minus_finger_midpoint": [
+              0.005487773677815444,
+              0.011807198640770254,
+              0.0
+            ],
+            "finger_gap": 0.026040399358038317,
+            "fingertip_max_gap": 0.09166094676410477,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013020199679019174,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1665932969659798,
+            "object_top_z": 1.2165645896393813,
+            "finger_top_clearance": 0.0499712926734015,
+            "fingertip_min_top_clearance": 0.01499138780202045,
+            "object_projection_between_fingers": 0.8223533201150812,
+            "object_to_finger_line_xy": 0.00995303228935396,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833047338205239,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.400681799569364,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29137257888927665,
+              -0.3760933017575678,
+              0.8515395746636019
+            ],
+            "target_position": [
+              0.28428502433224456,
+              -0.37711869240340395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007161344536850226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844640440779048,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746636019,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558871507862275,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641903100519581,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523952841103348,
+            "release_required_pad_clearance": 0.05320951550259791,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4412721738667291,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008163511753082275,
+            "max_z_decrease": 0.008163511753082275,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505089738182017,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008163511753082275,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02098014845662885,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008163511753082275,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008163607333645649,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13998495042324066,
+              -0.43338015675544733,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13998495042324066,
+              -0.43338015675544733,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13787384658770865,
+              -0.4345873842031336,
+              0.8036090757509806
+            ],
+            "closest_button": [
+              0.14001400768756866,
+              -0.4333533942699432,
+              0.7686453461647034
+            ],
+            "closest_ee_minus_button": [
+              -0.0021401610998600107,
+              -0.0012339899331904047,
+              0.03496372958627725
+            ],
+            "button_min_z_position": [
+              0.14001400768756866,
+              -0.4333533942699432,
+              0.7686453461647034
+            ],
+            "min_active_finger_to_button": 0.1477110701263269,
+            "closest_active_finger": [
+              -0.003112778067588806,
+              -0.4206676483154297,
+              0.810677707195282
+            ],
+            "closest_active_finger_button": [
+              0.1399848610162735,
+              -0.4333799481391906,
+              0.7763262391090393
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1430976390838623,
+              0.01271229982376093,
+              0.034351468086242676
+            ],
+            "min_contact_pad_to_button": 0.02098014845662885,
+            "closest_contact_pad": [
+              0.14001400768756866,
+              -0.4355747671045885,
+              0.7895075639756574
+            ],
+            "closest_contact_pad_button": [
+              0.14001400768756866,
+              -0.4333533942699432,
+              0.7686453461647034
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022213728346452966,
+              0.020862217810953987
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2883311865257748,
+              0.19523933650523306,
+              1.1010961081876967
+            ],
+            "current_z": 1.1010961081876967,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1911869784533341,
+            "gripper_z": 1.1010964148420685,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2883312477985259,
+              0.19523931875706135,
+              1.1010964148420685
+            ],
+            "object_minus_gripper": [
+              -6.127275115064279e-08,
+              1.77481717100747e-08,
+              -3.066543718954762e-07
+            ],
+            "object_to_gripper_xy": 6.37914385526686e-08,
+            "object_to_gripper_z": -3.066543718954762e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2883311865257748,
+              0.19523933650523306,
+              1.1010961081876967
+            ],
+            "finger_b": [
+              0.2883311865257748,
+              0.19523933650523306,
+              1.1010961081876967
+            ],
+            "finger_midpoint": [
+              0.2883311865257748,
+              0.19523933650523306,
+              1.1010961081876967
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1010961081876967,
+            "object_top_z": 1.2261046148079764,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2883311865257748,
+            0.19523933650523306,
+            1.1010961081876967
+          ],
+          "object_origin_world": [
+            0.2883311865257748,
+            0.19523933650523306,
+            1.1010961081876967
+          ],
+          "frame_world": [
+            0.2883312477985259,
+            0.19523931875706135,
+            1.1010964148420685
+          ],
+          "center_minus_frame": [
+            -6.127275115064279e-08,
+            1.77481717100747e-08,
+            -3.066543718954762e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436713289537878,
+            "required_z": 0.9112599095820331,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000725734728968494,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.108234929266906e-08,
+            "max_target_xy_drift": 2.169586124721731e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4412721738702696,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4418151354218867,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.29200359321102715,
+              -0.37640950277387547,
+              0.9233784350518729
+            ],
+            "target_mouth_xy": [
+              0.2913725790396366,
+              -0.3760932747992617
+            ],
+            "rod_tip_z": 0.9233784350518729,
+            "rod_tip_depth": -0.022118565431478276,
+            "rod_tip_bottom_clearance": 0.12155915712007548,
+            "rod_tip_xy_dist": 0.0007058179768354169,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0448254323324877,
+            "min_rod_tip_bottom_clearance": 0.054615174112083276,
+            "min_rod_tip_xy_dist": 0.00034930472475562594,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29137257849941595,
+              -0.37609330587691603
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.402206459947934e-10,
+              3.1077654338851346e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0010940147341512718,
+                0.0015806647687768849
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010209325497055888,
+                0.0011201241181056365
+              ],
+              "first_target_mouth_xy": [
+                0.2913725790519342,
+                -0.3760932989064979
+              ],
+              "last_target_mouth_xy": [
+                0.29137257898157903,
+                -0.37609327067623033
+              ],
+              "first_rod_tip_xy": [
+                0.29246659378608547,
+                -0.374512634137721
+              ],
+              "last_rod_tip_xy": [
+                0.2923935115312846,
+                -0.3749731465581247
+              ],
+              "min_rod_tip_xy_dist": 0.0015155795297543064,
+              "max_rod_tip_xy_dist": 0.0019223343491163447,
+              "first_target_xy_drift": 6.9922818413853535e-09,
+              "last_target_xy_drift": 3.520398777079392e-08,
+              "max_depth": 0.019715643338013566,
+              "min_bottom_clearance": 0.07972490760725048
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0010940147341512718,
+                  0.0015806647687768849
+                ],
+                "rod_tip_xy": [
+                  0.29246659378608547,
+                  -0.374512634137721
+                ],
+                "target_mouth_xy": [
+                  0.2913725790519342,
+                  -0.3760932989064979
+                ],
+                "gripper_position": [
+                  0.2924756987947754,
+                  -0.37458674125291397,
+                  1.0057233790624966
+                ],
+                "rod_tip_xy_dist": 0.0019223343491163447,
+                "target_xy_drift": 6.9922818413853535e-09,
+                "depth": 0.015000055590308481,
+                "bottom_clearance": 0.0844405472273746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0011031194102713027,
+                  0.001506561767965986
+                ],
+                "rod_tip_xy": [
+                  0.2924756987947755,
+                  -0.37458674125291397
+                ],
+                "target_mouth_xy": [
+                  0.29137257938450417,
+                  -0.37609330302087995
+                ],
+                "gripper_position": [
+                  0.29246503011025937,
+                  -0.3745963458649058,
+                  1.0055637020585098
+                ],
+                "rod_tip_xy_dist": 0.001867244170968035,
+                "target_xy_drift": 2.9900373281367976e-09,
+                "depth": 0.015536450773079413,
+                "bottom_clearance": 0.08390407000975053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0010924507561432817,
+                  0.001496954938043804
+                ],
+                "rod_tip_xy": [
+                  0.2924650301102594,
+                  -0.3745963458649058
+                ],
+                "target_mouth_xy": [
+                  0.29137257935411615,
+                  -0.3760933008029496
+                ],
+                "gripper_position": [
+                  0.29245688694373073,
+                  -0.3745994605928958,
+                  1.0054231165441774
+                ],
+                "rod_tip_xy_dist": 0.0018531925806919683,
+                "target_xy_drift": 5.145449212490678e-09,
+                "depth": 0.015696129603196884,
+                "bottom_clearance": 0.08374439540439116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010843064519361345,
+                  0.0014938446419313633
+                ],
+                "rod_tip_xy": [
+                  0.2924568869437308,
+                  -0.3745994605928958
+                ],
+                "target_mouth_xy": [
+                  0.29137258049179465,
+                  -0.37609330523482715
+                ],
+                "gripper_position": [
+                  0.2924668223797853,
+                  -0.3746746585105286,
+                  1.0048885377346413
+                ],
+                "rod_tip_xy_dist": 0.0018458852336852832,
+                "target_xy_drift": 2.0932871380749377e-09,
+                "depth": 0.015836760630043023,
+                "bottom_clearance": 0.08360387851682705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010942474036030325,
+                  0.0014184910671388162
+                ],
+                "rod_tip_xy": [
+                  0.29246682237978533,
+                  -0.37467465851052867
+                ],
+                "target_mouth_xy": [
+                  0.2913725749761823,
+                  -0.3760931495776675
+                ],
+                "gripper_position": [
+                  0.2924560492594602,
+                  -0.3746839846817287,
+                  1.0047287437370012
+                ],
+                "rod_tip_xy_dist": 0.0017915061506577632,
+                "target_xy_drift": 1.5633895314570128e-07,
+                "depth": 0.016371311983535253,
+                "bottom_clearance": 0.08306925313960012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010834701650124234,
+                  0.001409349742889976
+                ],
+                "rod_tip_xy": [
+                  0.2924560492594603,
+                  -0.37468398468172875
+                ],
+                "target_mouth_xy": [
+                  0.29137257909444786,
+                  -0.37609333442461873
+                ],
+                "gripper_position": [
+                  0.29244766584811976,
+                  -0.3746872733622783,
+                  1.004588293265264
+                ],
+                "rod_tip_xy_dist": 0.0017776879074393483,
+                "target_xy_drift": 2.8553903280042325e-08,
+                "depth": 0.016531124622131133,
+                "bottom_clearance": 0.08290946576680813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010750852497966035,
+                  0.001406057555393636
+                ],
+                "rod_tip_xy": [
+                  0.2924476658481198,
+                  -0.3746872733622783
+                ],
+                "target_mouth_xy": [
+                  0.2913725805983232,
+                  -0.37609333091767194
+                ],
+                "gripper_position": [
+                  0.29245823422956113,
+                  -0.3747635665388522,
+                  1.0040571254130655
+                ],
+                "rod_tip_xy_dist": 0.0017699734866403376,
+                "target_xy_drift": 2.5128566780380315e-08,
+                "depth": 0.01667154204578969,
+                "bottom_clearance": 0.08276901810894666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010856558320015974,
+                  0.001329737128607511
+                ],
+                "rod_tip_xy": [
+                  0.2924582342295612,
+                  -0.3747635665388522
+                ],
+                "target_mouth_xy": [
+                  0.2913725783975596,
+                  -0.3760933036674597
+                ],
+                "gripper_position": [
+                  0.29244734330166267,
+                  -0.37477272473957085,
+                  1.0038974572372747
+                ],
+                "rod_tip_xy_dist": 0.0017166389884761529,
+                "target_xy_drift": 2.2118028927185866e-09,
+                "depth": 0.01720274611013617,
+                "bottom_clearance": 0.08223783545092933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010747637941664334,
+                  0.0013205760574220293
+                ],
+                "rod_tip_xy": [
+                  0.2924473433016627,
+                  -0.37477272473957085
+                ],
+                "target_mouth_xy": [
+                  0.2913725795074963,
+                  -0.3760933007969929
+                ],
+                "gripper_position": [
+                  0.29243894418586647,
+                  -0.37477574877180203,
+                  1.0037574012510084
+                ],
+                "rod_tip_xy_dist": 0.001702656259110258,
+                "target_xy_drift": 5.178981094044138e-09,
+                "depth": 0.01736237561635201,
+                "bottom_clearance": 0.08207815523329576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010663647226301087,
+                  0.0013175269894723507
+                ],
+                "rod_tip_xy": [
+                  0.2924389441858665,
+                  -0.37477574877180203
+                ],
+                "target_mouth_xy": [
+                  0.2913725794632364,
+                  -0.3760932757612744
+                ],
+                "gripper_position": [
+                  0.2924305714681652,
+                  -0.374778620828875,
+                  1.0036166798545674
+                ],
+                "rod_tip_xy_dist": 0.0016949958966493294,
+                "target_xy_drift": 3.013106074654771e-08,
+                "depth": 0.017502473544775854,
+                "bottom_clearance": 0.08193813749085244,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010579909931821563,
+                  0.0013146485617610004
+                ],
+                "rod_tip_xy": [
+                  0.29243057146816526,
+                  -0.374778620828875
+                ],
+                "target_mouth_xy": [
+                  0.2913725804749831,
+                  -0.376093269390636
+                ],
+                "gripper_position": [
+                  0.2924427377181543,
+                  -0.37485691603221793,
+                  1.0030880791261938
+                ],
+                "rod_tip_xy_dist": 0.001687496898543767,
+                "target_xy_drift": 3.653972492608214e-08,
+                "depth": 0.017643189250223013,
+                "bottom_clearance": 0.08179743680326379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010701579755306723,
+                  0.001236360041887541
+                ],
+                "rod_tip_xy": [
+                  0.2924427377181544,
+                  -0.3748569160322179
+                ],
+                "target_mouth_xy": [
+                  0.2913725797426237,
+                  -0.3760932760741054
+                ],
+                "gripper_position": [
+                  0.2924316247122007,
+                  -0.37486621395166786,
+                  1.0029285692523826
+                ],
+                "rod_tip_xy_dist": 0.001635183245317805,
+                "target_xy_drift": 2.982872919995712e-08,
+                "depth": 0.018171803060372804,
+                "bottom_clearance": 0.08126882887265152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010590446363527573,
+                  0.0012270284937495046
+                ],
+                "rod_tip_xy": [
+                  0.29243162471220074,
+                  -0.3748662139516679
+                ],
+                "target_mouth_xy": [
+                  0.291372580075848,
+                  -0.3760932424454174
+                ],
+                "gripper_position": [
+                  0.29242294810884006,
+                  -0.374868998780865,
+                  1.0027884115738834
+                ],
+                "rod_tip_xy_dist": 0.0016208560905462033,
+                "target_xy_drift": 6.345108473295535e-08,
+                "depth": 0.018331248219560115,
+                "bottom_clearance": 0.081109263958548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010503379093317333,
+                  0.0012242763268967005
+                ],
+                "rod_tip_xy": [
+                  0.2924229481088401,
+                  -0.37486899878086505
+                ],
+                "target_mouth_xy": [
+                  0.2913726101995084,
+                  -0.37609327510776175
+                ],
+                "gripper_position": [
+                  0.29241444623437696,
+                  -0.37487175399273753,
+                  1.0026482829455152
+                ],
+                "rod_tip_xy_dist": 0.0016130908989821476,
+                "target_xy_drift": 4.417733260176107e-08,
+                "depth": 0.018471518679903043,
+                "bottom_clearance": 0.08096910546980662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010418678510192847,
+                  0.001221519235054258
+                ],
+                "rod_tip_xy": [
+                  0.292414446234377,
+                  -0.3748717539927375
+                ],
+                "target_mouth_xy": [
+                  0.2913725783833577,
+                  -0.37609327322779174
+                ],
+                "gripper_position": [
+                  0.29240586062401897,
+                  -0.37487463245956787,
+                  1.0025082258627367
+                ],
+                "rod_tip_xy_dist": 0.0016054899129533894,
+                "target_xy_drift": 3.264933056910834e-08,
+                "depth": 0.018611577139548086,
+                "bottom_clearance": 0.08082898158655327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010332496111530864,
+                  0.001218638818827389
+                ],
+                "rod_tip_xy": [
+                  0.292405860624019,
+                  -0.3748746324595679
+                ],
+                "target_mouth_xy": [
+                  0.29137261101286593,
+                  -0.3760932712783953
+                ],
+                "gripper_position": [
+                  0.29239715150259604,
+                  -0.37487751576869915,
+                  1.0023680733181883
+                ],
+                "rod_tip_xy_dist": 0.001597712530369909,
+                "target_xy_drift": 4.7478227281427715e-08,
+                "depth": 0.018751674286262676,
+                "bottom_clearance": 0.08068891014490698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010245725251093463,
+                  0.0012157574440834762
+                ],
+                "rod_tip_xy": [
+                  0.2923971515025961,
+                  -0.37487751576869927
+                ],
+                "target_mouth_xy": [
+                  0.29137257897748675,
+                  -0.37609327321278274
+                ],
+                "gripper_position": [
+                  0.29238852485112576,
+                  -0.37488050788006017,
+                  1.002227935511073
+                ],
+                "rod_tip_xy_dist": 0.0015899103817678935,
+                "target_xy_drift": 3.26676316112725e-08,
+                "depth": 0.01889176863844988,
+                "bottom_clearance": 0.08054876722183735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010159447185336679,
+                  0.0012127630907296516
+                ],
+                "rod_tip_xy": [
+                  0.2923885248511258,
+                  -0.37488050788006017
+                ],
+                "target_mouth_xy": [
+                  0.29137258013259215,
+                  -0.3760932709707898
+                ],
+                "gripper_position": [
+                  0.2924046939036661,
+                  -0.374964166256529,
+                  1.0017033351665725
+                ],
+                "rod_tip_xy_dist": 0.0015820676298289498,
+                "target_xy_drift": 3.494431157750271e-08,
+                "depth": 0.0190319024759823,
+                "bottom_clearance": 0.08040865273419906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010321161956887703,
+                  0.0011291396346505
+                ],
+                "rod_tip_xy": [
+                  0.29240469390366614,
+                  -0.374964166256529
+                ],
+                "target_mouth_xy": [
+                  0.29137257770797736,
+                  -0.3760933058911795
+                ],
+                "gripper_position": [
+                  0.29239351153128457,
+                  -0.3749731465581247,
+                  1.0015442053962496
+                ],
+                "rod_tip_xy_dist": 0.0015297778126060414,
+                "target_xy_drift": 7.915671006753034e-10,
+                "depth": 0.019556598455489294,
+                "bottom_clearance": 0.07988409051053447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010209325497055888,
+                  0.0011201241181056365
+                ],
+                "rod_tip_xy": [
+                  0.2923935115312846,
+                  -0.3749731465581247
+                ],
+                "target_mouth_xy": [
+                  0.29137257898157903,
+                  -0.37609327067623033
+                ],
+                "gripper_position": [
+                  0.2923847838481781,
+                  -0.3749759488063905,
+                  1.001404404167828
+                ],
+                "rod_tip_xy_dist": 0.0015155795297543064,
+                "target_xy_drift": 3.520398777079392e-08,
+                "depth": 0.019715643338013566,
+                "bottom_clearance": 0.07972490760725048,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006002266502015426,
+              "rod_tip_xy_max_step": 3.260964572855201e-05,
+              "rod_tip_xy_range": 0.0006002187205400514,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29200359321102715,
+            -0.37640950277387547,
+            1.0433784350518729
+          ],
+          "object_origin_world": [
+            0.29200359321102715,
+            -0.37640950277387547,
+            1.0433784350518729
+          ],
+          "frame_world": [
+            0.29202756944379094,
+            -0.3764058103449148,
+            1.0436713289537878
+          ],
+          "center_minus_frame": [
+            -2.397623276378935e-05,
+            -3.692428960644367e-06,
+            -0.0002928939019148924
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27622050395726533,
+              0.14819279390375978,
+              0.8321689506116798
+            ],
+            "target_position": [
+              0.2884766057775569,
+              0.1943886270521828,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047794006236203855,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16802482094201968,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321689506116798,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670765576414,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1382324062123312,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4dbe4f1c3d999a98e92fb82885e0d61a0a5175f62d1177c9096bfe87870675e8",
+    "visual_seed": 2523460449045513354,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa036de22d43b067fceb7f31787d8666e158695
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_85_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3281201033093672,
+              -0.03833945084235174,
+              1.164049817746784
+            ],
+            "current_z": 1.164049817746784,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30294336933666255,
+            "gripper_z": 1.1552903272063542,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.323472107505824,
+              -0.042955926663998556,
+              1.1552903272063542
+            ],
+            "object_minus_gripper": [
+              0.004647995803543192,
+              0.004616475821646815,
+              0.008759490540429793
+            ],
+            "object_to_gripper_xy": 0.0065510086247542645,
+            "object_to_gripper_z": 0.008759490540429793,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3281201033093672,
+              -0.06230655605243712,
+              1.164049817746784
+            ],
+            "finger_b": [
+              0.3176974261918859,
+              -0.03833945084235174,
+              1.164049817746784
+            ],
+            "finger_midpoint": [
+              0.3229087647506266,
+              -0.05032300344739443,
+              1.164049817746784
+            ],
+            "object_minus_finger_midpoint": [
+              0.005211338558740619,
+              0.011983552605042691,
+              0.0
+            ],
+            "finger_gap": 0.02613530811845481,
+            "fingertip_max_gap": 0.09228160113156528,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013067654059227395,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164049817746784,
+            "object_top_z": 1.2138982534726872,
+            "finger_top_clearance": 0.04984843572590325,
+            "fingertip_min_top_clearance": 0.014954530717771008,
+            "object_projection_between_fingers": 0.8409611161907923,
+            "object_to_finger_line_xy": 0.009558004746423187,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864080056578264,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1893294920590396,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29147933668841813,
+              -0.3684565710962391,
+              0.851539655599653
+            ],
+            "target_position": [
+              0.28504886766086684,
+              -0.3687399536991574,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006436710154569117,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824148060649547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539655599653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528990776658262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08733878169326008,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15088826298599822,
+            "release_required_pad_clearance": 0.05366939084663004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.348397444901591,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008174479007720947,
+            "max_z_decrease": 0.008174479007720947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350073866511149,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008174479007720947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020890878788536127,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008174479007720947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008174573806309047,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14074879884719846,
+              -0.4250014126300812,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14074879884719846,
+              -0.4250014126300812,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14092152421208873,
+              -0.42399168566574336,
+              0.8036276560584972
+            ],
+            "closest_button": [
+              0.14077807962894437,
+              -0.42497509717941284,
+              0.7686343789100647
+            ],
+            "closest_ee_minus_button": [
+              0.0001434445831443587,
+              0.0009834115136694854,
+              0.03499327714843248
+            ],
+            "button_min_z_position": [
+              0.14077807962894437,
+              -0.42497509717941284,
+              0.7686343789100647
+            ],
+            "min_active_finger_to_button": 0.14522740893687275,
+            "closest_active_finger": [
+              0.015129849314689636,
+              -0.4893127381801605,
+              0.8109430074691772
+            ],
+            "closest_active_finger_button": [
+              0.14074994623661038,
+              -0.42500001192092896,
+              0.7766725420951843
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12562009692192075,
+              -0.06431272625923157,
+              0.03427046537399292
+            ],
+            "min_contact_pad_to_button": 0.020890878788536127,
+            "closest_contact_pad": [
+              0.14077807962894437,
+              -0.42497509717941284,
+              0.7895252576986008
+            ],
+            "closest_contact_pad_button": [
+              0.14077807962894437,
+              -0.42497509717941284,
+              0.7686343789100647
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020890878788536127
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28251087012169396,
+              0.19824714907566557,
+              1.1029584515295667
+            ],
+            "current_z": 1.1029584515295667,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19304932179520418,
+            "gripper_z": 1.1029585692345074,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28251092651443155,
+              0.19824716219020438,
+              1.1029585692345074
+            ],
+            "object_minus_gripper": [
+              -5.639273759072694e-08,
+              -1.3114538816028087e-08,
+              -1.1770494068308324e-07
+            ],
+            "object_to_gripper_xy": 5.7897599098181046e-08,
+            "object_to_gripper_z": -1.1770494068308324e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28251087012169396,
+              0.19824714907566557,
+              1.1029584515295667
+            ],
+            "finger_b": [
+              0.28251087012169396,
+              0.19824714907566557,
+              1.1029584515295667
+            ],
+            "finger_midpoint": [
+              0.28251087012169396,
+              0.19824714907566557,
+              1.1029584515295667
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029584515295667,
+            "object_top_z": 1.2279669581498465,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28251087012169396,
+            0.1982471490756656,
+            1.102958451529567
+          ],
+          "object_origin_world": [
+            0.28251087012169396,
+            0.1982471490756656,
+            1.102958451529567
+          ],
+          "frame_world": [
+            0.28251092651443155,
+            0.19824716219020438,
+            1.1029585692345074
+          ],
+          "center_minus_frame": [
+            -5.639273759072694e-08,
+            -1.3114538788272512e-08,
+            -1.1770494046103863e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043375795930179,
+            "required_z": 0.9112600217397069,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.003158989653565349,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.238003156884454e-08,
+            "max_target_xy_drift": 2.2131331463566635e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3483974465851767,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3487307297892945,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2890868940764102,
+              -0.37050971875797356,
+              0.923499741765066
+            ],
+            "target_mouth_xy": [
+              0.29147930450080917,
+              -0.36845659995417823
+            ],
+            "rod_tip_z": 0.923499741765066,
+            "rod_tip_depth": -0.022239926106010333,
+            "rod_tip_bottom_clearance": 0.12168043181504296,
+            "rod_tip_xy_dist": 0.0031526059793876605,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04478244976626089,
+            "min_rod_tip_bottom_clearance": 0.05465819141625283,
+            "min_rod_tip_xy_dist": 0.0011763059287509497,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.29147933665183196,
+              -0.36845659610993864
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.2151022788529104e-08,
+              -3.844239593320253e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0018231215210348095,
+                -0.00022208589492878072
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019219265207798264,
+                -0.0006636033524608509
+              ],
+              "first_target_mouth_xy": [
+                0.29147933208629573,
+                -0.36845660100802224
+              ],
+              "last_target_mouth_xy": [
+                0.2914793329725509,
+                -0.3684565994099389
+              ],
+              "first_rod_tip_xy": [
+                0.2896562105652609,
+                -0.368678686902951
+              ],
+              "last_rod_tip_xy": [
+                0.2895574064517711,
+                -0.36912020276239976
+              ],
+              "min_rod_tip_xy_dist": 0.001836598547638159,
+              "max_rod_tip_xy_dist": 0.0020332660821137326,
+              "first_target_xy_drift": 6.69591995501402e-09,
+              "last_target_xy_drift": 4.942379064904394e-09,
+              "max_depth": 0.019701999428222705,
+              "min_bottom_clearance": 0.07973853468853698
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0018231215210348095,
+                  -0.00022208589492878072
+                ],
+                "rod_tip_xy": [
+                  0.2896562105652609,
+                  -0.368678686902951
+                ],
+                "target_mouth_xy": [
+                  0.29147933208629573,
+                  -0.36845660100802224
+                ],
+                "gripper_position": [
+                  0.28966054610344494,
+                  -0.3687496203326265,
+                  1.0056798573295065
+                ],
+                "rod_tip_xy_dist": 0.001836598547638159,
+                "target_xy_drift": 6.69591995501402e-09,
+                "depth": 0.015047599699925862,
+                "bottom_clearance": 0.08439298128084938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018187878792108036,
+                  -0.0002930218966986642
+                ],
+                "rod_tip_xy": [
+                  0.28966054610344494,
+                  -0.3687496203326265
+                ],
+                "target_mouth_xy": [
+                  0.29147933398265574,
+                  -0.3684565984359278
+                ],
+                "gripper_position": [
+                  0.2896496217146697,
+                  -0.3687589811950565,
+                  1.0055235956048874
+                ],
+                "rod_tip_xy_dist": 0.001842240804430576,
+                "target_xy_drift": 3.5404416841878523e-09,
+                "depth": 0.015579983601708869,
+                "bottom_clearance": 0.08386056683853715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018297135220667893,
+                  -0.0003023834234622269
+                ],
+                "rod_tip_xy": [
+                  0.2896496217146697,
+                  -0.36875898119505646
+                ],
+                "target_mouth_xy": [
+                  0.29147933523673647,
+                  -0.36845659777159423
+                ],
+                "gripper_position": [
+                  0.2896413487198757,
+                  -0.3687616415250797,
+                  1.0053864314103833
+                ],
+                "rod_tip_xy_dist": 0.0018545315601571173,
+                "target_xy_drift": 2.1825660436986533e-09,
+                "depth": 0.015736326079975105,
+                "bottom_clearance": 0.0837042955048003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001837953895792055,
+                  -0.00030501039415392617
+                ],
+                "rod_tip_xy": [
+                  0.2896413487198757,
+                  -0.3687616415250796
+                ],
+                "target_mouth_xy": [
+                  0.29147930261566773,
+                  -0.3684566311309257
+                ],
+                "gripper_position": [
+                  0.2896463774397168,
+                  -0.36883427345958003,
+                  1.0048552842587322
+                ],
+                "rod_tip_xy_dist": 0.0018630904067165194,
+                "target_xy_drift": 4.8835745198845216e-08,
+                "depth": 0.015873443579411117,
+                "bottom_clearance": 0.08356713708220564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001833019369171629,
+                  -0.0003776135755528265
+                ],
+                "rod_tip_xy": [
+                  0.2896463774397168,
+                  -0.3688342734595801
+                ],
+                "target_mouth_xy": [
+                  0.2914793968088884,
+                  -0.36845665988402726
+                ],
+                "gripper_position": [
+                  0.2896354793094317,
+                  -0.3688430552123965,
+                  1.0046990139735563
+                ],
+                "rod_tip_xy_dist": 0.0018715106251902891,
+                "target_xy_drift": 8.766986836915652e-08,
+                "depth": 0.016404620563966965,
+                "bottom_clearance": 0.08303600927603538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018438210735210459,
+                  -0.00038645415788229887
+                ],
+                "rod_tip_xy": [
+                  0.2896354793094317,
+                  -0.36884305521239646
+                ],
+                "target_mouth_xy": [
+                  0.2914793003829527,
+                  -0.36845660105451417
+                ],
+                "gripper_position": [
+                  0.2896270613037508,
+                  -0.3688458557628773,
+                  1.0045617271765088
+                ],
+                "rod_tip_xy_dist": 0.0018838850727432444,
+                "target_xy_drift": 3.6604377169624594e-08,
+                "depth": 0.016560922185270388,
+                "bottom_clearance": 0.08287973080323219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018522736782263793,
+                  -0.00038925513026161207
+                ],
+                "rod_tip_xy": [
+                  0.2896270613037508,
+                  -0.3688458557628772
+                ],
+                "target_mouth_xy": [
+                  0.2914793349819772,
+                  -0.3684566006326156
+                ],
+                "gripper_position": [
+                  0.28963269704368527,
+                  -0.36891923576374974,
+                  1.004033375833821
+                ],
+                "rod_tip_xy_dist": 0.0018927327691687658,
+                "target_xy_drift": 4.821101714526948e-09,
+                "depth": 0.016698104913482115,
+                "bottom_clearance": 0.08274244831391175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018466363373721983,
+                  -0.00046260402870412776
+                ],
+                "rod_tip_xy": [
+                  0.2896326970436852,
+                  -0.36891923576374963
+                ],
+                "target_mouth_xy": [
+                  0.2914793333810574,
+                  -0.3684566317350455
+                ],
+                "gripper_position": [
+                  0.2896217721846906,
+                  -0.3689279307863802,
+                  1.0038773213847472
+                ],
+                "rod_tip_xy_dist": 0.0019036985711705246,
+                "target_xy_drift": 3.5774938227749035e-08,
+                "depth": 0.017226541647403226,
+                "bottom_clearance": 0.08221402591136873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018575601762110816,
+                  -0.0004713320015745093
+                ],
+                "rod_tip_xy": [
+                  0.2896217721846906,
+                  -0.3689279307863803
+                ],
+                "target_mouth_xy": [
+                  0.2914793323609017,
+                  -0.3684565987848058
+                ],
+                "gripper_position": [
+                  0.2896132728906589,
+                  -0.3689304644671959,
+                  1.0037404413920477
+                ],
+                "rod_tip_xy_dist": 0.001916424708657655,
+                "target_xy_drift": 5.056381806998742e-09,
+                "depth": 0.017382552670599072,
+                "bottom_clearance": 0.08205802718549071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018661201762384394,
+                  -0.0004739423094035633
+                ],
+                "rod_tip_xy": [
+                  0.2896132728906589,
+                  -0.3689304644671959
+                ],
+                "target_mouth_xy": [
+                  0.29147939306689735,
+                  -0.36845652215779234
+                ],
+                "gripper_position": [
+                  0.28960475171252875,
+                  -0.3689329936837863,
+                  1.0036035576609283
+                ],
+                "rod_tip_xy_dist": 0.0019253638162194091,
+                "target_xy_drift": 9.301386749012015e-08,
+                "depth": 0.01751951513805461,
+                "bottom_clearance": 0.08192123352341751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001874515793925502,
+                  -0.00047647298369490887
+                ],
+                "rod_tip_xy": [
+                  0.28960475171252875,
+                  -0.3689329936837863
+                ],
+                "target_mouth_xy": [
+                  0.29147926750645425,
+                  -0.3684565207000914
+                ],
+                "gripper_position": [
+                  0.28959609943399434,
+                  -0.36893569010956634,
+                  1.003466461504386
+                ],
+                "rod_tip_xy_dist": 0.0019341240823347616,
+                "target_xy_drift": 1.0231191680618853e-07,
+                "depth": 0.01765634142279271,
+                "bottom_clearance": 0.08178426991750365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018832343929727213,
+                  -0.00047912176927306094
+                ],
+                "rod_tip_xy": [
+                  0.28959609943399434,
+                  -0.3689356901095663
+                ],
+                "target_mouth_xy": [
+                  0.29147933382696706,
+                  -0.3684565683402932
+                ],
+                "gripper_position": [
+                  0.28960405878763906,
+                  -0.3690122353995109,
+                  1.002938991470581
+                ],
+                "rod_tip_xy_dist": 0.0019432265561860466,
+                "target_xy_drift": 2.7912955204493624e-08,
+                "depth": 0.017793383631449333,
+                "bottom_clearance": 0.08164717198383131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018752748810531572,
+                  -0.0005556350533946208
+                ],
+                "rod_tip_xy": [
+                  0.289604058787639,
+                  -0.3690122353995108
+                ],
+                "target_mouth_xy": [
+                  0.29147933366869216,
+                  -0.36845660034611616
+                ],
+                "gripper_position": [
+                  0.2895927552882289,
+                  -0.36902118334680684,
+                  1.0027829980614065
+                ],
+                "rod_tip_xy_dist": 0.0019558594510009596,
+                "target_xy_drift": 5.181150740044032e-09,
+                "depth": 0.01832082755966502,
+                "bottom_clearance": 0.08111967024678501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018865797465293932,
+                  -0.0005645842841545679
+                ],
+                "rod_tip_xy": [
+                  0.2895927552882289,
+                  -0.3690211833468069
+                ],
+                "target_mouth_xy": [
+                  0.2914793350347583,
+                  -0.3684565990626523
+                ],
+                "gripper_position": [
+                  0.2895841615248851,
+                  -0.36902343722442504,
+                  1.002646016886352
+                ],
+                "rod_tip_xy_dist": 0.0019692482204966533,
+                "target_xy_drift": 3.366518270582563e-09,
+                "depth": 0.018476839092543385,
+                "bottom_clearance": 0.08096372690053877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018951749253503514,
+                  -0.0005668388196069518
+                ],
+                "rod_tip_xy": [
+                  0.2895841615248851,
+                  -0.3690234372244251
+                ],
+                "target_mouth_xy": [
+                  0.29147933645023544,
+                  -0.36845659840481815
+                ],
+                "gripper_position": [
+                  0.28957544598834206,
+                  -0.3690258961052561,
+                  1.0025092032217198
+                ],
+                "rod_tip_xy_dist": 0.0019781289758481657,
+                "target_xy_drift": 2.3037172385028884e-09,
+                "depth": 0.018613961678517144,
+                "bottom_clearance": 0.08082668119207181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001903858972532646,
+                  -0.0005692951195054308
+                ],
+                "rod_tip_xy": [
+                  0.28957544598834206,
+                  -0.36902589610525616
+                ],
+                "target_mouth_xy": [
+                  0.2914793049608747,
+                  -0.3684566009857507
+                ],
+                "gripper_position": [
+                  0.2895666920029296,
+                  -0.3690285021501743,
+                  1.00237247157227
+                ],
+                "rod_tip_xy_dist": 0.0019871527169258445,
+                "target_xy_drift": 3.206384747285632e-08,
+                "depth": 0.018750633151394802,
+                "bottom_clearance": 0.08068992339079728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019126442097221474,
+                  -0.000571903745391733
+                ],
+                "rod_tip_xy": [
+                  0.2895666920029296,
+                  -0.36902850215017435
+                ],
+                "target_mouth_xy": [
+                  0.29147933621265176,
+                  -0.3684565984047826
+                ],
+                "gripper_position": [
+                  0.289557998863713,
+                  -0.3690306423962118,
+                  1.0022359171005266
+                ],
+                "rod_tip_xy_dist": 0.001996317050715329,
+                "target_xy_drift": 2.3364905607990847e-09,
+                "depth": 0.01888750527310401,
+                "bottom_clearance": 0.0805531288097473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019213054308979682,
+                  -0.0005740426757889217
+                ],
+                "rod_tip_xy": [
+                  0.289557998863713,
+                  -0.36903064239621186
+                ],
+                "target_mouth_xy": [
+                  0.29147930429461094,
+                  -0.36845659972042294
+                ],
+                "gripper_position": [
+                  0.28956873846458486,
+                  -0.36911141385418544,
+                  1.0017135632290532
+                ],
+                "rod_tip_xy_dist": 0.0020052280549665495,
+                "target_xy_drift": 3.255803047809214e-08,
+                "depth": 0.019023901314316194,
+                "bottom_clearance": 0.08041660547997409,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0019106268357614864,
+                  -0.0006548154412772123
+                ],
+                "rod_tip_xy": [
+                  0.28956873846458486,
+                  -0.36911141385418544
+                ],
+                "target_mouth_xy": [
+                  0.29147936530034635,
+                  -0.36845659841290823
+                ],
+                "gripper_position": [
+                  0.2895574064517711,
+                  -0.36912020276239976,
+                  1.0015578451610756
+                ],
+                "rod_tip_xy_dist": 0.002019722299640973,
+                "target_xy_drift": 2.8740929802887413e-08,
+                "depth": 0.019546348690811288,
+                "bottom_clearance": 0.07989425865425737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019219265207798264,
+                  -0.0006636033524608509
+                ],
+                "rod_tip_xy": [
+                  0.2895574064517711,
+                  -0.36912020276239976
+                ],
+                "target_mouth_xy": [
+                  0.2914793329725509,
+                  -0.3684565994099389
+                ],
+                "gripper_position": [
+                  0.2895484576464202,
+                  -0.36912235728041604,
+                  1.001421528187526
+                ],
+                "rod_tip_xy_dist": 0.0020332660821137326,
+                "target_xy_drift": 4.942379064904394e-09,
+                "depth": 0.019701999428222705,
+                "bottom_clearance": 0.07973853468853698,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005990431360668553,
+              "rod_tip_xy_max_step": 3.2709346049851854e-05,
+              "rod_tip_xy_range": 0.000599035068207728,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2890868940764102,
+            -0.37050971875797356,
+            1.0434997417650662
+          ],
+          "object_origin_world": [
+            0.2890868940764102,
+            -0.37050971875797356,
+            1.0434997417650662
+          ],
+          "frame_world": [
+            0.289085287145174,
+            -0.37051764253798153,
+            1.043375795930179
+          ],
+          "center_minus_frame": [
+            1.606931236186604e-06,
+            7.923780007967896e-06,
+            0.0001239458348871736
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27050957618301175,
+              0.1508459939801295,
+              0.8324712804017104
+            ],
+            "target_position": [
+              0.2826858879575303,
+              0.19670323275043944,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047446273995620535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16666474211862745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324712804017104,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671998231267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13634234091633857,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77bed18bd8ea720c4d853758364d9e07e22c7fb1123820df952b05f2dfd8fb62",
+    "visual_seed": 6564097049026835130,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44ad6f980236617e7de9f3df8da5424202d292f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_86_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3315941160190964,
+              -0.033773870069129755,
+              1.1662045464630202
+            ],
+            "current_z": 1.1662045464630202,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30509803844825434,
+            "gripper_z": 1.1571641821977152,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3268181489621561,
+              -0.038565701269124356,
+              1.1571641821977152
+            ],
+            "object_minus_gripper": [
+              0.004775967056940278,
+              0.004791831199994601,
+              0.009040364265304968
+            ],
+            "object_to_gripper_xy": 0.0067654643283532635,
+            "object_to_gripper_z": 0.009040364265304968,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3315941160190964,
+              -0.057609674835099246,
+              1.1662045464630202
+            ],
+            "finger_b": [
+              0.32063252323733554,
+              -0.033773870069129755,
+              1.1662045464630202
+            ],
+            "finger_midpoint": [
+              0.326113319628216,
+              -0.045691772452114504,
+              1.1662045464630202
+            ],
+            "object_minus_finger_midpoint": [
+              0.005480796390880394,
+              0.011917902382984749,
+              0.0
+            ],
+            "finger_gap": 0.026235512290682744,
+            "fingertip_max_gap": 0.09132029716377835,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013117756145341363,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662045464630202,
+            "object_top_z": 1.2161282806122362,
+            "finger_top_clearance": 0.049923734149216026,
+            "fingertip_min_top_clearance": 0.014977120244764807,
+            "object_projection_between_fingers": 0.8254305552557202,
+            "object_to_finger_line_xy": 0.009958958779810137,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048160148581889176,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0394853752854918,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 354,
+            "max_stable_success_frames": 354,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2981180028603925,
+              -0.3744775357950389,
+              0.8515395771578067
+            ],
+            "target_position": [
+              0.2903399450282213,
+              -0.3755539128804345,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007852182580057853,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18266573341880762,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395771578067,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514416153247558,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530611326052316,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15171885725111545,
+            "release_required_pad_clearance": 0.05265305663026158,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3647684966496069,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008281588554382324,
+            "max_z_decrease": 0.008281588554382324,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350238093004532,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008281588554382324,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02084471245150585,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008281588554382324,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008281674753454413,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14603987336158752,
+              -0.43181538581848145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14603987336158752,
+              -0.43181538581848145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1450715820560949,
+              -0.4306620685755464,
+              0.8035184381333026
+            ],
+            "closest_button": [
+              0.14607197046279907,
+              -0.4317954480648041,
+              0.7685272693634033
+            ],
+            "closest_ee_minus_button": [
+              -0.0010003884067041613,
+              0.0011333794892576798,
+              0.03499116876989927
+            ],
+            "button_min_z_position": [
+              0.14607197046279907,
+              -0.4317954480648041,
+              0.7685272693634033
+            ],
+            "min_active_finger_to_button": 0.14612342530980119,
+            "closest_active_finger": [
+              0.017627887427806854,
+              -0.4926166832447052,
+              0.8108329176902771
+            ],
+            "closest_active_finger_button": [
+              0.14604215323925018,
+              -0.43181508779525757,
+              0.7767008543014526
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12841426581144333,
+              -0.06080159544944763,
+              0.03413206338882446
+            ],
+            "min_contact_pad_to_button": 0.02084471245150585,
+            "closest_contact_pad": [
+              0.14607197046279907,
+              -0.4319397583262829,
+              0.7893714822709322
+            ],
+            "closest_contact_pad_button": [
+              0.14607197046279907,
+              -0.4317954480648041,
+              0.7685272693634033
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014431026147881942,
+              0.020844212907528914
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28677805506064735,
+              0.1992792922220259,
+              1.1027647476945521
+            ],
+            "current_z": 1.1027647476945521,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19285561796018957,
+            "gripper_z": 1.10276485265344,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2867780452947923,
+              0.1992792434420014,
+              1.10276485265344
+            ],
+            "object_minus_gripper": [
+              9.76585506906602e-09,
+              4.8780024491934526e-08,
+              -1.0495888780326368e-07
+            ],
+            "object_to_gripper_xy": 4.9747992066652646e-08,
+            "object_to_gripper_z": -1.0495888780326368e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28677805506064735,
+              0.1992792922220259,
+              1.1027647476945521
+            ],
+            "finger_b": [
+              0.28677805506064735,
+              0.1992792922220259,
+              1.1027647476945521
+            ],
+            "finger_midpoint": [
+              0.28677805506064735,
+              0.1992792922220259,
+              1.1027647476945521
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027647476945521,
+            "object_top_z": 1.2277732543148319,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2867780550606474,
+            0.19927929222202587,
+            1.1027647476945523
+          ],
+          "object_origin_world": [
+            0.2867780550606474,
+            0.19927929222202587,
+            1.1027647476945523
+          ],
+          "frame_world": [
+            0.2867780452947923,
+            0.1992792434420014,
+            1.10276485265344
+          ],
+          "center_minus_frame": [
+            9.765855124577172e-09,
+            4.878002446417895e-08,
+            -1.0495888758121907e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432286595283917,
+            "required_z": 0.9112598433614182,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002215843992934443,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.566327182774709e-08,
+            "max_target_xy_drift": 2.3231868804088036e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.36476849407573486,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3647684973710105,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2995001303821345,
+              -0.37273574676725774,
+              0.92335740874689
+            ],
+            "target_mouth_xy": [
+              0.29811800208627076,
+              -0.37447756783362773
+            ],
+            "rod_tip_z": 0.92335740874689,
+            "rod_tip_depth": -0.02209747488402558,
+            "rod_tip_bottom_clearance": 0.1215381705314259,
+            "rod_tip_xy_dist": 0.002223560040448105,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045098886260724336,
+            "min_rod_tip_bottom_clearance": 0.05434174292175442,
+            "min_rod_tip_xy_dist": 0.0003783677194379792,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.29811800345690087,
+              -0.37447750218466247
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.3706301094096318e-09,
+              -6.564896526395358e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0018076286389148155,
+                0.003466157933795788
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001725380925957809,
+                0.0031029721251332187
+              ],
+              "first_target_mouth_xy": [
+                0.29811797373960425,
+                -0.37447750790072565
+              ],
+              "last_target_mouth_xy": [
+                0.29811800302389063,
+                -0.37447756782476505
+              ],
+              "first_rod_tip_xy": [
+                0.29992560237851906,
+                -0.37101134996692986
+              ],
+              "last_rod_tip_xy": [
+                0.29984338394984844,
+                -0.3713745956996318
+              ],
+              "min_rod_tip_xy_dist": 0.003550404955637144,
+              "max_rod_tip_xy_dist": 0.003909190724208851,
+              "first_target_xy_drift": 3.026204052715485e-08,
+              "last_target_xy_drift": 6.564153078654705e-08,
+              "max_depth": 0.019389002979014358,
+              "min_bottom_clearance": 0.08005165651822044
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0018076286389148155,
+                  0.003466157933795788
+                ],
+                "rod_tip_xy": [
+                  0.29992560237851906,
+                  -0.37101134996692986
+                ],
+                "target_mouth_xy": [
+                  0.29811797373960425,
+                  -0.37447750790072565
+                ],
+                "gripper_position": [
+                  0.29991509776868197,
+                  -0.37102025986344844,
+                  1.0060900929032548
+                ],
+                "rod_tip_xy_dist": 0.003909190724208851,
+                "target_xy_drift": 3.026204052715485e-08,
+                "depth": 0.015006275113197076,
+                "bottom_clearance": 0.08443435312619252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0017971243163101835,
+                  0.003457245491950256
+                ],
+                "rod_tip_xy": [
+                  0.29991509776868186,
+                  -0.37102025986344833
+                ],
+                "target_mouth_xy": [
+                  0.2981179734523717,
+                  -0.3744775053553986
+                ],
+                "gripper_position": [
+                  0.29990681106952255,
+                  -0.3710239198165807,
+                  1.0059472935847964
+                ],
+                "rod_tip_xy_dist": 0.003896434549672779,
+                "target_xy_drift": 3.017159822941506e-08,
+                "depth": 0.015169753704436517,
+                "bottom_clearance": 0.08427079417089323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017888348612654648,
+                  0.0034536112045823186
+                ],
+                "rod_tip_xy": [
+                  0.2999068110695225,
+                  -0.37102391981658067
+                ],
+                "target_mouth_xy": [
+                  0.29811797620825703,
+                  -0.374477531021163
+                ],
+                "gripper_position": [
+                  0.29991931022185403,
+                  -0.3710932992738069,
+                  1.0054083189531255
+                ],
+                "rod_tip_xy_dist": 0.003889390763769458,
+                "target_xy_drift": 3.967407659258004e-08,
+                "depth": 0.015312583719495287,
+                "bottom_clearance": 0.0841280882367289,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0018013056075824596,
+                  0.0033842666376879826
+                ],
+                "rod_tip_xy": [
+                  0.299919310221854,
+                  -0.37109329927380696
+                ],
+                "target_mouth_xy": [
+                  0.2981180046142715,
+                  -0.37447756591149495
+                ],
+                "gripper_position": [
+                  0.2999085275195323,
+                  -0.37110248710867416,
+                  1.0052453493848905
+                ],
+                "rod_tip_xy_dist": 0.0038337921914047375,
+                "target_xy_drift": 6.37373413663126e-08,
+                "depth": 0.015851543496171572,
+                "bottom_clearance": 0.08358906655910603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017905242449451908,
+                  0.003375081037079064
+                ],
+                "rod_tip_xy": [
+                  0.29990852751953223,
+                  -0.3711024871086741
+                ],
+                "target_mouth_xy": [
+                  0.29811800327458704,
+                  -0.37447756814575317
+                ],
+                "gripper_position": [
+                  0.2999001648205831,
+                  -0.3711057042671453,
+                  1.0051025780717677
+                ],
+                "rod_tip_xy_dist": 0.0038206215565778348,
+                "target_xy_drift": 6.596134265416795e-08,
+                "depth": 0.01601461360138534,
+                "bottom_clearance": 0.08342604781305096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017821912524090822,
+                  0.0033718004514634026
+                ],
+                "rod_tip_xy": [
+                  0.299900164820583,
+                  -0.3711057042671454
+                ],
+                "target_mouth_xy": [
+                  0.29811797356817393,
+                  -0.3744775047186088
+                ],
+                "gripper_position": [
+                  0.29991339504982384,
+                  -0.3711763120346975,
+                  1.0045665210900523
+                ],
+                "rod_tip_xy_dist": 0.0038138227468843197,
+                "target_xy_drift": 2.9995947759206026e-08,
+                "depth": 0.01615725352907793,
+                "bottom_clearance": 0.08328326703308897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017954213811969266,
+                  0.003301225989028489
+                ],
+                "rod_tip_xy": [
+                  0.29991339504982373,
+                  -0.3711763120346976
+                ],
+                "target_mouth_xy": [
+                  0.2981179736686268,
+                  -0.3744775380237261
+                ],
+                "gripper_position": [
+                  0.29990256518792324,
+                  -0.3711851232380574,
+                  1.0044035782917307
+                ],
+                "rod_tip_xy_dist": 0.003757875858340215,
+                "target_xy_drift": 4.660235779638024e-08,
+                "depth": 0.016693370573580557,
+                "bottom_clearance": 0.08274727187502418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017845913667238755,
+                  0.0032924131923466327
+                ],
+                "rod_tip_xy": [
+                  0.2999025651879232,
+                  -0.3711851232380574
+                ],
+                "target_mouth_xy": [
+                  0.2981179738211993,
+                  -0.37447753643040405
+                ],
+                "gripper_position": [
+                  0.2998941133180574,
+                  -0.3711881811151528,
+                  1.0042605501895077
+                ],
+                "rod_tip_xy_dist": 0.0037449634144172267,
+                "target_xy_drift": 4.528847119301212e-08,
+                "depth": 0.016856281864440992,
+                "bottom_clearance": 0.08258430123547267,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017761701201912672,
+                  0.0032893569131413614
+                ],
+                "rod_tip_xy": [
+                  0.2998941133180573,
+                  -0.37118818111515284
+                ],
+                "target_mouth_xy": [
+                  0.29811794319786605,
+                  -0.3744775380282942
+                ],
+                "gripper_position": [
+                  0.2998855343627961,
+                  -0.3711915830548556,
+                  1.0041174983882304
+                ],
+                "rod_tip_xy_dist": 0.003738268208394246,
+                "target_xy_drift": 7.011360219453017e-08,
+                "depth": 0.01699936186543971,
+                "bottom_clearance": 0.08244130630433533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017675591993597806,
+                  0.003286010751322399
+                ],
+                "rod_tip_xy": [
+                  0.299885534362796,
+                  -0.37119158305485556
+                ],
+                "target_mouth_xy": [
+                  0.29811797516343624,
+                  -0.37447759380617796
+                ],
+                "gripper_position": [
+                  0.29990044618902423,
+                  -0.37126382744284303,
+                  1.0035831806514526
+                ],
+                "rod_tip_xy_dist": 0.0037312373525477827,
+                "target_xy_drift": 9.589067859004735e-08,
+                "depth": 0.01714233295785783,
+                "bottom_clearance": 0.08229822308420276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017824432053668016,
+                  0.00321373783765444
+                ],
+                "rod_tip_xy": [
+                  0.2999004461890241,
+                  -0.37126382744284303
+                ],
+                "target_mouth_xy": [
+                  0.2981180029836573,
+                  -0.37447756528049747
+                ],
+                "gripper_position": [
+                  0.29988940481491555,
+                  -0.3712727702488134,
+                  1.0034202568507105
+                ],
+                "rod_tip_xy_dist": 0.0036749441723011407,
+                "target_xy_drift": 6.309760973254425e-08,
+                "depth": 0.01767667996992206,
+                "bottom_clearance": 0.0817638897799845,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017714300952768047,
+                  0.003204822921226924
+                ],
+                "rod_tip_xy": [
+                  0.29988940481491544,
+                  -0.37127277024881344
+                ],
+                "target_mouth_xy": [
+                  0.29811797471963863,
+                  -0.37447759317004037
+                ],
+                "gripper_position": [
+                  0.2998807709764837,
+                  -0.3712759937710181,
+                  1.0032775934541265
+                ],
+                "rod_tip_xy_dist": 0.0036618102816604065,
+                "target_xy_drift": 9.541577035369462e-08,
+                "depth": 0.01783950347589125,
+                "bottom_clearance": 0.0816010198283027,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017627675853796876,
+                  0.0032015737366916097
+                ],
+                "rod_tip_xy": [
+                  0.29988077097648363,
+                  -0.37127599377101805
+                ],
+                "target_mouth_xy": [
+                  0.29811800339110395,
+                  -0.37447756750770966
+                ],
+                "gripper_position": [
+                  0.2998722351344134,
+                  -0.3712788207867568,
+                  1.0031348446686716
+                ],
+                "rod_tip_xy_dist": 0.0036547809717599783,
+                "target_xy_drift": 6.53230803307542e-08,
+                "depth": 0.01798229490760106,
+                "bottom_clearance": 0.08145833918383805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001754261497358467,
+                  0.0031987178766782476
+                ],
+                "rod_tip_xy": [
+                  0.2998722351344133,
+                  -0.3712788207867568
+                ],
+                "target_mouth_xy": [
+                  0.29811797363705483,
+                  -0.37447753866343503
+                ],
+                "gripper_position": [
+                  0.2998634630203614,
+                  -0.3712818472136557,
+                  1.002991984408149
+                ],
+                "rod_tip_xy_dist": 0.003648181664294607,
+                "target_xy_drift": 4.711607013553062e-08,
+                "depth": 0.018125059460625148,
+                "bottom_clearance": 0.08131560711618369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017454893154121298,
+                  0.0031956889005373412
+                ],
+                "rod_tip_xy": [
+                  0.2998634630203613,
+                  -0.37128184721365576
+                ],
+                "target_mouth_xy": [
+                  0.2981179737049492,
+                  -0.3744775361141931
+                ],
+                "gripper_position": [
+                  0.2998808274888751,
+                  -0.3713573262379062,
+                  1.0024623841097908
+                ],
+                "rod_tip_xy_dist": 0.003641313018573859,
+                "target_xy_drift": 4.512639668214757e-08,
+                "depth": 0.01826787176811251,
+                "bottom_clearance": 0.08117270079806505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017628544591321016,
+                  0.003120210196465356
+                ],
+                "rod_tip_xy": [
+                  0.29988082748887507,
+                  -0.3713573262379062
+                ],
+                "target_mouth_xy": [
+                  0.29811797302974297,
+                  -0.37447753643437154
+                ],
+                "gripper_position": [
+                  0.2998696514600341,
+                  -0.37136610884756066,
+                  1.0022994835227206
+                ],
+                "rod_tip_xy_dist": 0.0035837644334147174,
+                "target_xy_drift": 4.581325691802703e-08,
+                "depth": 0.018797498350757946,
+                "bottom_clearance": 0.08064311152476789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001751676819150838,
+                  0.0031114849573868897
+                ],
+                "rod_tip_xy": [
+                  0.299869651460034,
+                  -0.3713661088475606
+                ],
+                "target_mouth_xy": [
+                  0.2981179746408832,
+                  -0.3744775938049475
+                ],
+                "gripper_position": [
+                  0.2998608432180735,
+                  -0.3713691756096344,
+                  1.002156914125108
+                ],
+                "rod_tip_xy_dist": 0.003570673650558854,
+                "target_xy_drift": 9.604498687204152e-08,
+                "depth": 0.018960283980783532,
+                "bottom_clearance": 0.08048025181165597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017428696730193427,
+                  0.0031083912604641384
+                ],
+                "rod_tip_xy": [
+                  0.29986084321807344,
+                  -0.37136917560963445
+                ],
+                "target_mouth_xy": [
+                  0.2981179735450541,
+                  -0.3744775668700986
+                ],
+                "gripper_position": [
+                  0.2998522556058163,
+                  -0.3713718522095147,
+                  1.0020141227537367
+                ],
+                "rod_tip_xy_dist": 0.0035636625717455892,
+                "target_xy_drift": 7.126657157095901e-08,
+                "depth": 0.019103023692110255,
+                "bottom_clearance": 0.08033758920724476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00173425084124873,
+                  0.0031056242917957277
+                ],
+                "rod_tip_xy": [
+                  0.29985225560581624,
+                  -0.37137185220951474
+                ],
+                "target_mouth_xy": [
+                  0.2981180047645675,
+                  -0.37447747650131047
+                ],
+                "gripper_position": [
+                  0.29984338394984855,
+                  -0.3713745956996318,
+                  1.0018709618499
+                ],
+                "rod_tip_xy_dist": 0.0035570392494550357,
+                "target_xy_drift": 2.5716620346339513e-08,
+                "depth": 0.01924574085103259,
+                "bottom_clearance": 0.08019487490204902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001725380925957809,
+                  0.0031029721251332187
+                ],
+                "rod_tip_xy": [
+                  0.29984338394984844,
+                  -0.3713745956996318
+                ],
+                "target_mouth_xy": [
+                  0.29811800302389063,
+                  -0.37447756782476505
+                ],
+                "gripper_position": [
+                  0.29983455124533526,
+                  -0.37137733043906757,
+                  1.0017285284096276
+                ],
+                "rod_tip_xy_dist": 0.003550404955637144,
+                "target_xy_drift": 6.564153078654705e-08,
+                "depth": 0.019389002979014358,
+                "bottom_clearance": 0.08005165651822044,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006069649088740502,
+              "rod_tip_xy_max_step": 3.2942140511036756e-05,
+              "rod_tip_xy_range": 0.0006069541146875752,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2995001303821346,
+            -0.37273574676725774,
+            1.0433574087468902
+          ],
+          "object_origin_world": [
+            0.2995001303821346,
+            -0.37273574676725774,
+            1.0433574087468902
+          ],
+          "frame_world": [
+            0.2994986359076802,
+            -0.3727444161229561,
+            1.0432286595283917
+          ],
+          "center_minus_frame": [
+            1.4944744543554656e-06,
+            8.669355698376346e-06,
+            0.00012874921849848064
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2757599247865676,
+              0.15222883746999663,
+              0.8319269954967939
+            ],
+            "target_position": [
+              0.28734135540337485,
+              0.19871572603122545,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04790783175260625,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16709226482671363,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319269954967939,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668670935029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1372488396002487,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 216,
+            "max_placed_release_frames": 216
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "280e0e414a8e9089efc8e24fa8468ac7cb2b8cf21509620dca7f6c4709ac55b8",
+    "visual_seed": 1454752218765412950,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c96bc5c5826f1a59eaafaed12fe85926b7d63b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_8_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33594229892505323,
+              -0.03154485914628012,
+              1.1653496261524752
+            ],
+            "current_z": 1.1653496261524752,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.304243118137709,
+            "gripper_z": 1.1563118486449586,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33119730495348343,
+              -0.03634163009135977,
+              1.1563118486449586
+            ],
+            "object_minus_gripper": [
+              0.0047449939715698,
+              0.004796770945079645,
+              0.009037777507516553
+            ],
+            "object_to_gripper_xy": 0.006747146010706602,
+            "object_to_gripper_z": 0.009037777507516553,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33594229892505323,
+              -0.05531847241845776,
+              1.1653496261524752
+            ],
+            "finger_b": [
+              0.3249131096976122,
+              -0.03154485914628012,
+              1.1653496261524752
+            ],
+            "finger_midpoint": [
+              0.3304277043113327,
+              -0.04343166578236894,
+              1.1653496261524752
+            ],
+            "object_minus_finger_midpoint": [
+              0.005514594613720503,
+              0.01188680663608882,
+              0.0
+            ],
+            "finger_gap": 0.026207397868345524,
+            "fingertip_max_gap": 0.09168200468139412,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013103698934172762,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653496261524752,
+            "object_top_z": 1.2152852333116362,
+            "finger_top_clearance": 0.04993560715916101,
+            "fingertip_min_top_clearance": 0.014980682147748302,
+            "object_projection_between_fingers": 0.8228915134347315,
+            "object_to_finger_line_xy": 0.010004949011574784,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834100234069706,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4612398607257098,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2945245571039715,
+              -0.3695824622780466,
+              0.8515395383579322
+            ],
+            "target_position": [
+              0.28685805999963476,
+              -0.3706899532213407,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007746077332449135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18567516548198085,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395383579322,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533742719680192,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595369446487892,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15410433302498652,
+            "release_required_pad_clearance": 0.052976847232439464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9883284962883011,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814664363861084,
+            "max_z_decrease": 0.00814664363861084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506786199571656,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814664363861084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02089302007511476,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00814664363861084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008146721413670689,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1425579786300659,
+              -0.4269514083862304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1425579786300659,
+              -0.4269514083862304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14132081846374545,
+              -0.4257353584423696,
+              0.8036865964653273
+            ],
+            "closest_button": [
+              0.14258939027786252,
+              -0.4269346594810486,
+              0.7686622142791748
+            ],
+            "closest_ee_minus_button": [
+              -0.0012685718141170754,
+              0.0011993010386789904,
+              0.03502438218615245
+            ],
+            "button_min_z_position": [
+              0.14258939027786252,
+              -0.4269346594810486,
+              0.7686622142791748
+            ],
+            "min_active_finger_to_button": 0.1463297626595589,
+            "closest_active_finger": [
+              0.013641536235809326,
+              -0.487181156873703,
+              0.8107312917709351
+            ],
+            "closest_active_finger_button": [
+              0.14255781471729279,
+              -0.4269520342350006,
+              0.7765926718711853
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12891627848148346,
+              -0.06022912263870239,
+              0.034138619899749756
+            ],
+            "min_contact_pad_to_button": 0.02089302007511476,
+            "closest_contact_pad": [
+              0.14258939027786252,
+              -0.4270661463749019,
+              0.7895548206042816
+            ],
+            "closest_contact_pad_button": [
+              0.14258939027786252,
+              -0.4269346594810486,
+              0.7686622142791748
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00013148689385333867,
+              0.02089260632510681
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28732531255151966,
+              0.19316096323283224,
+              1.1018514040471161
+            ],
+            "current_z": 1.1018514040471161,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19194227431275357,
+            "gripper_z": 1.1018514039865082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28732525462745107,
+              0.19316094553371882,
+              1.1018514039865082
+            ],
+            "object_minus_gripper": [
+              5.7924068597170475e-08,
+              1.7699113424862745e-08,
+              6.0607963092707e-11
+            ],
+            "object_to_gripper_xy": 6.056778301106841e-08,
+            "object_to_gripper_z": 6.0607963092707e-11,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28732531255151966,
+              0.19316096323283224,
+              1.1018514040471161
+            ],
+            "finger_b": [
+              0.28732531255151966,
+              0.19316096323283224,
+              1.1018514040471161
+            ],
+            "finger_midpoint": [
+              0.28732531255151966,
+              0.19316096323283224,
+              1.1018514040471161
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018514040471161,
+            "object_top_z": 1.2268599106673959,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28732531255151966,
+            0.19316096323283227,
+            1.1018514040471163
+          ],
+          "object_origin_world": [
+            0.28732531255151966,
+            0.19316096323283227,
+            1.1018514040471163
+          ],
+          "frame_world": [
+            0.28732525462745107,
+            0.19316094553371882,
+            1.1018514039865082
+          ],
+          "center_minus_frame": [
+            5.7924068597170475e-08,
+            1.769911345261832e-08,
+            6.060818513731192e-11
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436460822949547,
+            "required_z": 0.9112597818588272,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009267010143793074,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.019089394313898e-08,
+            "max_target_xy_drift": 2.624028968691771e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9891201171528643,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9891201172081381,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2937000022367538,
+              -0.36911755267409374,
+              0.9233516441141282
+            ],
+            "target_mouth_xy": [
+              0.2945245250437609,
+              -0.36958213922045813
+            ],
+            "rod_tip_z": 0.9233516441141282,
+            "rod_tip_depth": -0.022091848642765144,
+            "rod_tip_bottom_clearance": 0.12153241443440777,
+            "rod_tip_xy_dist": 0.0009464029365643858,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04524013730545284,
+            "min_rod_tip_bottom_clearance": 0.05420053911012446,
+            "min_rod_tip_xy_dist": 0.0009464029365643858,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2945245552324779,
+              -0.36958213885790503
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.018871697069159e-08,
+              -3.6255309865396157e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0002890472958639312,
+                0.0022050245952621728
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0003917311757778985,
+                0.001837781042697495
+              ],
+              "first_target_mouth_xy": [
+                0.2945245229498845,
+                -0.36958217062741516
+              ],
+              "last_target_mouth_xy": [
+                0.2945245550758659,
+                -0.3695821097238372
+              ],
+              "first_rod_tip_xy": [
+                0.2942354756540206,
+                -0.367377146032153
+              ],
+              "last_rod_tip_xy": [
+                0.294132823900088,
+                -0.3677443286811397
+              ],
+              "min_rod_tip_xy_dist": 0.001879066916044936,
+              "max_rod_tip_xy_dist": 0.002223888892224016,
+              "first_target_xy_drift": 4.5293129823801486e-08,
+              "last_target_xy_drift": 2.913448876065433e-08,
+              "max_depth": 0.019669330626822634,
+              "min_bottom_clearance": 0.07977123758074833
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0002890472958639312,
+                  0.0022050245952621728
+                ],
+                "rod_tip_xy": [
+                  0.2942354756540206,
+                  -0.367377146032153
+                ],
+                "target_mouth_xy": [
+                  0.2945245229498845,
+                  -0.36958217062741516
+                ],
+                "gripper_position": [
+                  0.29422464578939533,
+                  -0.3673860569183117,
+                  1.0057310551504273
+                ],
+                "rod_tip_xy_dist": 0.002223888892224016,
+                "target_xy_drift": 4.5293129823801486e-08,
+                "depth": 0.015370684219327746,
+                "bottom_clearance": 0.08407001912626955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0002999091853274072,
+                  0.002196050898611468
+                ],
+                "rod_tip_xy": [
+                  0.29422464578939533,
+                  -0.3673860569183117
+                ],
+                "target_mouth_xy": [
+                  0.29452455497472274,
+                  -0.3695821078169232
+                ],
+                "gripper_position": [
+                  0.29421632817230525,
+                  -0.3673888765724303,
+                  1.0055910291015357
+                ],
+                "rod_tip_xy_dist": 0.0022164352164536607,
+                "target_xy_drift": 3.1042051983376467e-08,
+                "depth": 0.015528707011212672,
+                "bottom_clearance": 0.08391179568184248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00030816432127145355,
+                  0.002193263298047643
+                ],
+                "rod_tip_xy": [
+                  0.29421632817230525,
+                  -0.36738887657243025
+                ],
+                "target_mouth_xy": [
+                  0.2945244924935767,
+                  -0.3695821398704779
+                ],
+                "gripper_position": [
+                  0.2942233895891864,
+                  -0.36745931708694596,
+                  1.0050600597984436
+                ],
+                "rod_tip_xy_dist": 0.0022148067959683344,
+                "target_xy_drift": 6.274707184993043e-08,
+                "depth": 0.01566892085089544,
+                "bottom_clearance": 0.0837717725361734,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00030116568630389473,
+                  0.0021228183117155686
+                ],
+                "rod_tip_xy": [
+                  0.29422338958918637,
+                  -0.367459317086946
+                ],
+                "target_mouth_xy": [
+                  0.29452455527549026,
+                  -0.3695821353986616
+                ],
+                "gripper_position": [
+                  0.29421239650600717,
+                  -0.3674682645531745,
+                  1.0049015090816253
+                ],
+                "rod_tip_xy_dist": 0.00214407517479258,
+                "target_xy_drift": 3.459510845684701e-09,
+                "depth": 0.016199724667799842,
+                "bottom_clearance": 0.08324083027403018,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00031209599164450097,
+                  0.0021138753213489903
+                ],
+                "rod_tip_xy": [
+                  0.29421239650600717,
+                  -0.3674682645531744
+                ],
+                "target_mouth_xy": [
+                  0.29452449249765167,
+                  -0.3695821398745234
+                ],
+                "gripper_position": [
+                  0.29420399035796163,
+                  -0.36747092038911705,
+                  1.0047624058333735
+                ],
+                "rod_tip_xy_dist": 0.002136790299072153,
+                "target_xy_drift": 6.274306283614241e-08,
+                "depth": 0.0163585004268062,
+                "bottom_clearance": 0.08308219295320074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00032056448815942495,
+                  0.0021112162791747102
+                ],
+                "rod_tip_xy": [
+                  0.29420399035796163,
+                  -0.3674709203891171
+                ],
+                "target_mouth_xy": [
+                  0.29452455484612106,
+                  -0.3695821366682918
+                ],
+                "gripper_position": [
+                  0.2941954637003391,
+                  -0.36747380115549605,
+                  1.0046232916329958
+                ],
+                "rod_tip_xy_dist": 0.002135414659620286,
+                "target_xy_drift": 2.2234382444013957e-09,
+                "depth": 0.01649736118128453,
+                "bottom_clearance": 0.08294314869049513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00032902844264115494,
+                  0.0021083390408170866
+                ],
+                "rod_tip_xy": [
+                  0.2941954637003391,
+                  -0.367473801155496
+                ],
+                "target_mouth_xy": [
+                  0.29452449214298027,
+                  -0.3695821401963131
+                ],
+                "gripper_position": [
+                  0.29420432186586437,
+                  -0.36754656293751786,
+                  1.0040915325851238
+                ],
+                "rod_tip_xy_dist": 0.0021338587645625415,
+                "target_xy_drift": 6.31036928145075e-08,
+                "depth": 0.016636674882751556,
+                "bottom_clearance": 0.08280404360594784,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00032023247792350995,
+                  0.002035604179417727
+                ],
+                "rod_tip_xy": [
+                  0.29420432186586437,
+                  -0.36754656293751786
+                ],
+                "target_mouth_xy": [
+                  0.2945245543437879,
+                  -0.3695821671169356
+                ],
+                "gripper_position": [
+                  0.29419313542468517,
+                  -0.3675556804299278,
+                  1.003932998178453
+                ],
+                "rod_tip_xy_dist": 0.002060639030781459,
+                "target_xy_drift": 2.8273000868803902e-08,
+                "depth": 0.017168243023647056,
+                "bottom_clearance": 0.08227227246818791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000331357693371781,
+                  0.0020264581649445113
+                ],
+                "rod_tip_xy": [
+                  0.29419313542468517,
+                  -0.3675556804299278
+                ],
+                "target_mouth_xy": [
+                  0.29452449311805695,
+                  -0.3695821385948723
+                ],
+                "gripper_position": [
+                  0.2941845437594791,
+                  -0.3675583472787936,
+                  1.003794296024453
+                ],
+                "rod_tip_xy_dist": 0.002053370549907382,
+                "target_xy_drift": 6.211497786302507e-08,
+                "depth": 0.017326909493838305,
+                "bottom_clearance": 0.08211371389748578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0003400436282975927,
+                  0.0020237595612444537
+                ],
+                "rod_tip_xy": [
+                  0.29418454375947906,
+                  -0.36755834727879355
+                ],
+                "target_mouth_xy": [
+                  0.29452458738777665,
+                  -0.369582106840038
+                ],
+                "gripper_position": [
+                  0.2941758717019437,
+                  -0.3675609966161832,
+                  1.0036548668409717
+                ],
+                "rod_tip_xy_dist": 0.00205212875592009,
+                "target_xy_drift": 4.537738475209702e-08,
+                "depth": 0.017465602980489048,
+                "bottom_clearance": 0.08197499417678411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00034871256303725673,
+                  0.0020211416407669436
+                ],
+                "rod_tip_xy": [
+                  0.2941758717019437,
+                  -0.36756099661618324
+                ],
+                "target_mouth_xy": [
+                  0.29452458426498096,
+                  -0.3695821382569502
+                ],
+                "gripper_position": [
+                  0.29418602609108724,
+                  -0.3676361063247452,
+                  1.003126051056574
+                ],
+                "rod_tip_xy_dist": 0.002051003165200411,
+                "target_xy_drift": 2.903872209881034e-08,
+                "depth": 0.017604982105136724,
+                "bottom_clearance": 0.08183556316351903,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00033852949494517226,
+                  0.0019460287489475592
+                ],
+                "rod_tip_xy": [
+                  0.29418602609108724,
+                  -0.3676361063247452
+                ],
+                "target_mouth_xy": [
+                  0.2945245555860324,
+                  -0.36958213507369275
+                ],
+                "gripper_position": [
+                  0.29417477677395454,
+                  -0.36764500770259423,
+                  1.002967771855514
+                ],
+                "rod_tip_xy_dist": 0.0019752544420094933,
+                "target_xy_drift": 3.800692483523351e-09,
+                "depth": 0.01813380124616415,
+                "bottom_clearance": 0.08130677728182689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003497148237309733,
+                  0.0019371334519350802
+                ],
+                "rod_tip_xy": [
+                  0.2941747767739545,
+                  -0.36764500770259423
+                ],
+                "target_mouth_xy": [
+                  0.29452449159768546,
+                  -0.3695821411545293
+                ],
+                "gripper_position": [
+                  0.2941661275207982,
+                  -0.36764728292553067,
+                  1.0028290949783705
+                ],
+                "rod_tip_xy_dist": 0.001968447730711462,
+                "target_xy_drift": 6.367622233912792e-08,
+                "depth": 0.018292169104033862,
+                "bottom_clearance": 0.08114860482444097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0003584260599406308,
+                  0.001934854388824847
+                ],
+                "rod_tip_xy": [
+                  0.2941661275207981,
+                  -0.3676472829255307
+                ],
+                "target_mouth_xy": [
+                  0.29452455358073876,
+                  -0.3695821373143556
+                ],
+                "gripper_position": [
+                  0.29415740304612636,
+                  -0.3676496012498818,
+                  1.002690054871549
+                ],
+                "rod_tip_xy_dist": 0.0019677730424008093,
+                "target_xy_drift": 2.2607049979472866e-09,
+                "depth": 0.018430763262673233,
+                "bottom_clearance": 0.08100978109428758,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0003671525002649223,
+                  0.0019325078346992264
+                ],
+                "rod_tip_xy": [
+                  0.2941574030461263,
+                  -0.3676496012498818
+                ],
+                "target_mouth_xy": [
+                  0.29452455554639123,
+                  -0.369582109084581
+                ],
+                "gripper_position": [
+                  0.2941485576687993,
+                  -0.36765207957398316,
+                  1.0025509456638368
+                ],
+                "rod_tip_xy_dist": 0.00196707587286934,
+                "target_xy_drift": 2.9774978846113857e-08,
+                "depth": 0.018569789703982598,
+                "bottom_clearance": 0.08087077099333106,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0003759334079793675,
+                  0.0019300285957193353
+                ],
+                "rod_tip_xy": [
+                  0.2941485576687993,
+                  -0.36765207957398305
+                ],
+                "target_mouth_xy": [
+                  0.2945244910767787,
+                  -0.3695821081697024
+                ],
+                "gripper_position": [
+                  0.294139943003439,
+                  -0.3676545294666648,
+                  1.0024120365667697
+                ],
+                "rod_tip_xy_dist": 0.0019663001570282526,
+                "target_xy_drift": 7.111764563846622e-08,
+                "depth": 0.01870895254511329,
+                "bottom_clearance": 0.0807317253850438,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0003845514076868395,
+                  0.001927548236654253
+                ],
+                "rod_tip_xy": [
+                  0.294139943003439,
+                  -0.36765452946666477
+                ],
+                "target_mouth_xy": [
+                  0.2945244944111258,
+                  -0.369582077703319
+                ],
+                "gripper_position": [
+                  0.2941530848859537,
+                  -0.3677333360084093,
+                  1.001887546655325
+                ],
+                "rod_tip_xy_dist": 0.001965533512760047,
+                "target_xy_drift": 8.625033482093091e-08,
+                "depth": 0.018847808425907275,
+                "bottom_clearance": 0.08059271923734468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00037140807221358596,
+                  0.0018487432977751794
+                ],
+                "rod_tip_xy": [
+                  0.29415308488595365,
+                  -0.3677333360084094
+                ],
+                "target_mouth_xy": [
+                  0.29452449295816724,
+                  -0.3695820793061846
+                ],
+                "gripper_position": [
+                  0.2941417401077851,
+                  -0.3677420045806574,
+                  1.0017295116449692
+                ],
+                "rod_tip_xy_dist": 0.0018856817698578035,
+                "target_xy_drift": 8.616552196255335e-08,
+                "depth": 0.019372371647749298,
+                "bottom_clearance": 0.08006826928022337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0003828135400168464,
+                  0.001840130833571596
+                ],
+                "rod_tip_xy": [
+                  0.2941417401077851,
+                  -0.3677420045806574
+                ],
+                "target_mouth_xy": [
+                  0.29452455364780195,
+                  -0.369582135414229
+                ],
+                "gripper_position": [
+                  0.29413282390008805,
+                  -0.36774432868113976,
+                  1.0015905231282782
+                ],
+                "rod_tip_xy_dist": 0.0018795285821399806,
+                "target_xy_drift": 3.790791780452725e-09,
+                "depth": 0.019530373640075926,
+                "bottom_clearance": 0.07991022705478501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0003917311757778985,
+                  0.001837781042697495
+                ],
+                "rod_tip_xy": [
+                  0.294132823900088,
+                  -0.3677443286811397
+                ],
+                "target_mouth_xy": [
+                  0.2945245550758659,
+                  -0.3695821097238372
+                ],
+                "gripper_position": [
+                  0.29412389173893494,
+                  -0.36774658296253443,
+                  1.0014522625206252
+                ],
+                "rod_tip_xy_dist": 0.001879066916044936,
+                "target_xy_drift": 2.913448876065433e-08,
+                "depth": 0.019669330626822634,
+                "bottom_clearance": 0.07977123758074833,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006060002997778474,
+              "rod_tip_xy_max_step": 3.283984029371912e-05,
+              "rod_tip_xy_range": 0.0006059911167573686,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2937000022367538,
+            -0.36911755267409374,
+            1.0433516441141282
+          ],
+          "object_origin_world": [
+            0.2937000022367538,
+            -0.36911755267409374,
+            1.0433516441141282
+          ],
+          "frame_world": [
+            0.29372424406886477,
+            -0.3691148864716477,
+            1.0436460822949547
+          ],
+          "center_minus_frame": [
+            -2.424183211097164e-05,
+            -2.66620244604443e-06,
+            -0.0002944381808265284
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2758563485851812,
+              0.14472158923879205,
+              0.8321161743152169
+            ],
+            "target_position": [
+              0.2874733025770242,
+              0.19142076592037893,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04812241393349532,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.167579247809875,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321161743152169,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670306144928,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1375587490399494,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "512951785c3e304ca86083a062012bb714405fbf67889d94d296bbd6fcb831fe",
+    "visual_seed": 2280845442362322852,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e99023a4a594ceaf459f1d964fb02d781ada19
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/episode_9_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.33365798366499055,
+              -0.035885120953432284,
+              1.164557175485631
+            ],
+            "current_z": 1.164557175485631,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30345078668015446,
+            "gripper_z": 1.1554622606638696,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32905788481824294,
+              -0.0404426940840151,
+              1.1554622606638696
+            ],
+            "object_minus_gripper": [
+              0.004600098846747613,
+              0.004557573130582818,
+              0.00909491482176139
+            ],
+            "object_to_gripper_xy": 0.006475521773607065,
+            "object_to_gripper_z": 0.00909491482176139,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.33365798366499055,
+              -0.05971660053920343,
+              1.164557175485631
+            ],
+            "finger_b": [
+              0.3232005544129712,
+              -0.035885120953432284,
+              1.164557175485631
+            ],
+            "finger_midpoint": [
+              0.32842926903898084,
+              -0.047800860746317855,
+              1.164557175485631
+            ],
+            "object_minus_finger_midpoint": [
+              0.005228714626009712,
+              0.011915739792885571,
+              0.0
+            ],
+            "finger_gap": 0.026024935077882845,
+            "fingertip_max_gap": 0.09206323029451682,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013012467538941435,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164557175485631,
+            "object_top_z": 1.2144294999383076,
+            "finger_top_clearance": 0.04987232445267664,
+            "fingertip_min_top_clearance": 0.014961697335802993,
+            "object_projection_between_fingers": 0.8385379133935112,
+            "object_to_finger_line_xy": 0.009576047394290717,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048531615147258414,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8038141830134435,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29698780709629924,
+              -0.373225082099247,
+              0.8515396038877878
+            ],
+            "target_position": [
+              0.28975510048672076,
+              -0.3740800833195945,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072830674847234505,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18346903122074826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396038877878,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560009539579672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08739820955355375,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15123415718375663,
+            "release_required_pad_clearance": 0.053699104776776876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.407645388997857,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008279263973236084,
+            "max_z_decrease": 0.008279263973236084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499808762530984,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008279263973236084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020912804340129272,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008279263973236084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008279314385443562,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14545503258705136,
+              -0.43034154176712036,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14545503258705136,
+              -0.43034154176712036,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1454430686978312,
+              -0.4305980319756714,
+              0.8035265443575077
+            ],
+            "closest_button": [
+              0.14547067880630488,
+              -0.43031725287437445,
+              0.7685295939445496
+            ],
+            "closest_ee_minus_button": [
+              -2.7610108473685724e-05,
+              -0.0002807791012969796,
+              0.03499695041295814
+            ],
+            "button_min_z_position": [
+              0.14547067880630488,
+              -0.43031725287437445,
+              0.7685295939445496
+            ],
+            "min_active_finger_to_button": 0.14567859445790485,
+            "closest_active_finger": [
+              0.004836432635784149,
+              -0.4136819541454315,
+              0.8109387755393982
+            ],
+            "closest_active_finger_button": [
+              0.1454581022262573,
+              -0.4303398430347443,
+              0.7767289280891418
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14062166959047315,
+              0.0166578888893128,
+              0.03420984745025635
+            ],
+            "min_contact_pad_to_button": 0.020912804340129272,
+            "closest_contact_pad": [
+              0.14547067880630488,
+              -0.43184659247150603,
+              0.7893864035223631
+            ],
+            "closest_contact_pad_button": [
+              0.14547067880630488,
+              -0.43031725287437445,
+              0.7685295939445496
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015293395971315848,
+              0.02085680957781355
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28309320036938485,
+              0.1953417130773787,
+              1.1023848447567208
+            ],
+            "current_z": 1.1023848447567208,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19247571502235827,
+            "gripper_z": 1.102384824477877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2830931358471894,
+              0.19534175902467937,
+              1.102384824477877
+            ],
+            "object_minus_gripper": [
+              6.452219541985826e-08,
+              -4.594730068641084e-08,
+              2.0278843937404645e-08
+            ],
+            "object_to_gripper_xy": 7.921027800838619e-08,
+            "object_to_gripper_z": 2.0278843937404645e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28309320036938485,
+              0.1953417130773787,
+              1.1023848447567208
+            ],
+            "finger_b": [
+              0.28309320036938485,
+              0.1953417130773787,
+              1.1023848447567208
+            ],
+            "finger_midpoint": [
+              0.28309320036938485,
+              0.1953417130773787,
+              1.1023848447567208
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023848447567208,
+            "object_top_z": 1.2273933513770006,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2830932003693849,
+            0.19534171307737871,
+            1.1023848447567208
+          ],
+          "object_origin_world": [
+            0.2830932003693849,
+            0.19534171307737871,
+            1.1023848447567208
+          ],
+          "frame_world": [
+            0.2830931358471894,
+            0.19534175902467937,
+            1.102384824477877
+          ],
+          "center_minus_frame": [
+            6.452219547536941e-08,
+            -4.5947300658655266e-08,
+            2.0278843937404645e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435896231029012,
+            "required_z": 0.9112598439046955,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018770281002579404,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.0946340306710283e-08,
+            "max_target_xy_drift": 9.626918656333853e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4076453899460657,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.407645390118082,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2951946573941715,
+              -0.37385640665701003,
+              0.9232947316101413
+            ],
+            "target_mouth_xy": [
+              0.2969878061510782,
+              -0.37322512013484765
+            ],
+            "rod_tip_z": 0.9232947316101413,
+            "rod_tip_depth": -0.02203496726907639,
+            "rod_tip_bottom_clearance": 0.1214754975219704,
+            "rod_tip_xy_dist": 0.001901027389981535,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0451705006344314,
+            "min_rod_tip_bottom_clearance": 0.05427026492453546,
+            "min_rod_tip_xy_dist": 0.001276737368197451,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2969877774637581,
+              -0.3732250909177217
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.86873201305049e-08,
+              -2.921712594083914e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0012367916749455587,
+                0.0011027574953879626
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001341096388497498,
+                0.0007364228907564274
+              ],
+              "first_target_mouth_xy": [
+                0.2969878102176917,
+                -0.37322518158556545
+              ],
+              "last_target_mouth_xy": [
+                0.2969877772779125,
+                -0.3732250855614904
+              ],
+              "first_rod_tip_xy": [
+                0.29575101854274616,
+                -0.3721224240901775
+              ],
+              "last_rod_tip_xy": [
+                0.295646680889415,
+                -0.372488662670734
+              ],
+              "min_rod_tip_xy_dist": 0.0015119686427733185,
+              "max_rod_tip_xy_dist": 0.0016627288956714483,
+              "first_target_xy_drift": 9.640268696886444e-08,
+              "last_target_xy_drift": 5.359454472688963e-09,
+              "max_depth": 0.01946675782164775,
+              "min_bottom_clearance": 0.07997396020549263
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012367916749455587,
+                  0.0011027574953879626
+                ],
+                "rod_tip_xy": [
+                  0.29575101854274616,
+                  -0.3721224240901775
+                ],
+                "target_mouth_xy": [
+                  0.2969878102176917,
+                  -0.37322518158556545
+                ],
+                "gripper_position": [
+                  0.29574039919753803,
+                  -0.37213167245360995,
+                  1.0059743128324947
+                ],
+                "rod_tip_xy_dist": 0.0016570237598927098,
+                "target_xy_drift": 9.640268696886444e-08,
+                "depth": 0.015124978321129912,
+                "bottom_clearance": 0.08431577719592853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012473449321968033,
+                  0.001093446760790151
+                ],
+                "rod_tip_xy": [
+                  0.2957403991975379,
+                  -0.37213167245361
+                ],
+                "target_mouth_xy": [
+                  0.2969877441297347,
+                  -0.37322511921440016
+                ],
+                "gripper_position": [
+                  0.2957321997858271,
+                  -0.3721351769373229,
+                  1.0058330247670055
+                ],
+                "rod_tip_xy_dist": 0.0016587631532438624,
+                "target_xy_drift": 4.372481132457413e-08,
+                "depth": 0.015285554297372217,
+                "bottom_clearance": 0.08415500879056248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012556102844614725,
+                  0.0010900046761621596
+                ],
+                "rod_tip_xy": [
+                  0.295732199785827,
+                  -0.372135176937323
+                ],
+                "target_mouth_xy": [
+                  0.29698781007028846,
+                  -0.37322518161348517
+                ],
+                "gripper_position": [
+                  0.29573865796098675,
+                  -0.37220439542752537,
+                  1.0052988465855026
+                ],
+                "rod_tip_xy_dist": 0.0016627288956714483,
+                "target_xy_drift": 9.637897764089495e-08,
+                "depth": 0.015426925720368412,
+                "bottom_clearance": 0.08401382486317532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012490900299105823,
+                  0.0010207247053306556
+                ],
+                "rod_tip_xy": [
+                  0.29573865796098664,
+                  -0.3722043954275255
+                ],
+                "target_mouth_xy": [
+                  0.2969877479908972,
+                  -0.37322512013285614
+                ],
+                "gripper_position": [
+                  0.29572782563357053,
+                  -0.37221338548557054,
+                  1.0051380324592425
+                ],
+                "rod_tip_xy_dist": 0.0016131040967322515,
+                "target_xy_drift": 4.149907959754282e-08,
+                "depth": 0.015961049513628423,
+                "bottom_clearance": 0.08347953835669575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012599232083876366,
+                  0.0010117653760117196
+                ],
+                "rod_tip_xy": [
+                  0.2957278256335704,
+                  -0.3722133854855706
+                ],
+                "target_mouth_xy": [
+                  0.29698774884195805,
+                  -0.3732251508615823
+                ],
+                "gripper_position": [
+                  0.2957195056840547,
+                  -0.3722166778905152,
+                  1.0049967905719441
+                ],
+                "rod_tip_xy_dist": 0.0016158823184656524,
+                "target_xy_drift": 6.642645452624134e-08,
+                "depth": 0.016121887270048263,
+                "bottom_clearance": 0.08331876614303357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012682388639932984,
+                  0.0010084429498178338
+                ],
+                "rod_tip_xy": [
+                  0.2957195056840546,
+                  -0.37221667789051527
+                ],
+                "target_mouth_xy": [
+                  0.2969877445480479,
+                  -0.3732251208403331
+                ],
+                "gripper_position": [
+                  0.2957112593049078,
+                  -0.3722196605111695,
+                  1.004855356708413
+                ],
+                "rod_tip_xy_dist": 0.001620304600740338,
+                "target_xy_drift": 4.4483779640959415e-08,
+                "depth": 0.016263071030057308,
+                "bottom_clearance": 0.08317748888011378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012765486476211674,
+                  0.0010053930232112318
+                ],
+                "rod_tip_xy": [
+                  0.2957112593049077,
+                  -0.3722196605111696
+                ],
+                "target_mouth_xy": [
+                  0.2969878079525289,
+                  -0.37322505353438085
+                ],
+                "gripper_position": [
+                  0.2957191389454621,
+                  -0.37229154311803836,
+                  1.004321120351061
+                ],
+                "rod_tip_xy_dist": 0.001624928177140532,
+                "target_xy_drift": 4.8239810514073136e-08,
+                "depth": 0.016404654782807726,
+                "bottom_clearance": 0.08303617852839851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012686679778965981,
+                  0.00093358052899295
+                ],
+                "rod_tip_xy": [
+                  0.295719138945462,
+                  -0.37229154311803836
+                ],
+                "target_mouth_xy": [
+                  0.2969878069233586,
+                  -0.3732251236470313
+                ],
+                "gripper_position": [
+                  0.295708209903926,
+                  -0.3723006663516353,
+                  1.0041607015458205
+                ],
+                "rod_tip_xy_dist": 0.0015751479429739288,
+                "target_xy_drift": 4.403493802809844e-08,
+                "depth": 0.016938831403512933,
+                "bottom_clearance": 0.08250184931901561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001279568158932709,
+                  0.0009244531493153296
+                ],
+                "rod_tip_xy": [
+                  0.2957082099039259,
+                  -0.3723006663516353
+                ],
+                "target_mouth_xy": [
+                  0.2969877780628586,
+                  -0.3732251195009506
+                ],
+                "gripper_position": [
+                  0.2956997406566044,
+                  -0.3723036321154069,
+                  1.0040194949191719
+                ],
+                "rod_tip_xy_dist": 0.0015785779355589238,
+                "target_xy_drift": 2.858950673683616e-08,
+                "depth": 0.017099134008731642,
+                "bottom_clearance": 0.0823414586500455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012880372044303257,
+                  0.0009214547042561416
+                ],
+                "rod_tip_xy": [
+                  0.29569974065660437,
+                  -0.37230363211540696
+                ],
+                "target_mouth_xy": [
+                  0.2969877778610347,
+                  -0.3732250868196631
+                ],
+                "gripper_position": [
+                  0.295691189376613,
+                  -0.3723067112237914,
+                  1.0038783721448792
+                ],
+                "rod_tip_xy_dist": 0.0015837040796791747,
+                "target_xy_drift": 4.117270103677241e-09,
+                "depth": 0.017240451129233114,
+                "bottom_clearance": 0.08220024148956473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012965553415305586,
+                  0.0009184086453505325
+                ],
+                "rod_tip_xy": [
+                  0.29569118937661293,
+                  -0.37230671122379144
+                ],
+                "target_mouth_xy": [
+                  0.2969877447181435,
+                  -0.373225119869142
+                ],
+                "gripper_position": [
+                  0.2957007505007739,
+                  -0.37238028712720084,
+                  1.0033467260507658
+                ],
+                "rod_tip_xy_dist": 0.0015888770227761567,
+                "target_xy_drift": 4.3708809309374085e-08,
+                "depth": 0.01738140622398021,
+                "bottom_clearance": 0.08205911117763065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001287057199373054,
+                  0.0008448640684053932
+                ],
+                "rod_tip_xy": [
+                  0.29570075050077377,
+                  -0.37238028712720084
+                ],
+                "target_mouth_xy": [
+                  0.2969878077001468,
+                  -0.37322515119560623
+                ],
+                "gripper_position": [
+                  0.29568968971781395,
+                  -0.37238924391671846,
+                  1.0031860028930248
+                ],
+                "rod_tip_xy_dist": 0.0015395816082756128,
+                "target_xy_drift": 6.743635936983073e-08,
+                "depth": 0.017913193024861163,
+                "bottom_clearance": 0.0815274419602775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012980867077544422,
+                  0.0008358756057760264
+                ],
+                "rod_tip_xy": [
+                  0.29568968971781384,
+                  -0.37238924391671846
+                ],
+                "target_mouth_xy": [
+                  0.2969877764255683,
+                  -0.3732251195224945
+                ],
+                "gripper_position": [
+                  0.29568106128508465,
+                  -0.37239224531673615,
+                  1.0030447479865257
+                ],
+                "rod_tip_xy_dist": 0.001543929120516938,
+                "target_xy_drift": 2.8623606751446052e-08,
+                "depth": 0.018073820449747147,
+                "bottom_clearance": 0.0813667109061017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0013067469784042163,
+                  0.0008328113895821887
+                ],
+                "rod_tip_xy": [
+                  0.29568106128508453,
+                  -0.3723922453167362
+                ],
+                "target_mouth_xy": [
+                  0.29698780826348875,
+                  -0.3732250567063184
+                ],
+                "gripper_position": [
+                  0.29567248636882293,
+                  -0.37239503029132515,
+                  1.0029040591381153
+                ],
+                "rod_tip_xy_dist": 0.0015495684806378727,
+                "target_xy_drift": 4.60330699131134e-08,
+                "depth": 0.01821526765677517,
+                "bottom_clearance": 0.08122545874727904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0013152914642769464,
+                  0.0008301199497656175
+                ],
+                "rod_tip_xy": [
+                  0.2956724863688228,
+                  -0.37239503029132526
+                ],
+                "target_mouth_xy": [
+                  0.29698777783309976,
+                  -0.3732251502410909
+                ],
+                "gripper_position": [
+                  0.295663820374799,
+                  -0.3723979424400437,
+                  1.0027627386288758
+                ],
+                "rod_tip_xy_dist": 0.0015553426526005983,
+                "target_xy_drift": 5.932451889343163e-08,
+                "depth": 0.018355842664100508,
+                "bottom_clearance": 0.08108475722062225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013239562671990557,
+                  0.00082720752009946
+                ],
+                "rod_tip_xy": [
+                  0.2956638203747989,
+                  -0.37239794244004376
+                ],
+                "target_mouth_xy": [
+                  0.29698777664199794,
+                  -0.3732251499601432
+                ],
+                "gripper_position": [
+                  0.29567551699560524,
+                  -0.3724741038075291,
+                  1.0022355063869888
+                ],
+                "rod_tip_xy_dist": 0.001561131794168819,
+                "target_xy_drift": 5.904813991332607e-08,
+                "depth": 0.018497088274050166,
+                "bottom_clearance": 0.08094345447302176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0013122591551124607,
+                  0.0007510160361492435
+                ],
+                "rod_tip_xy": [
+                  0.2956755169956051,
+                  -0.3724741038075291
+                ],
+                "target_mouth_xy": [
+                  0.2969877761507176,
+                  -0.37322511984367834
+                ],
+                "gripper_position": [
+                  0.2956642732635501,
+                  -0.3724831031847227,
+                  1.0020749727746259
+                ],
+                "rod_tip_xy_dist": 0.0015119686427733185,
+                "target_xy_drift": 2.895574282138215e-08,
+                "depth": 0.019024310735306416,
+                "bottom_clearance": 0.08041620168811636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001323534724379849,
+                  0.0007419836431553639
+                ],
+                "rod_tip_xy": [
+                  0.29566427326355005,
+                  -0.3724831031847228
+                ],
+                "target_mouth_xy": [
+                  0.2969878079879299,
+                  -0.37322508682787814
+                ],
+                "gripper_position": [
+                  0.29565549874630126,
+                  -0.3724859278444713,
+                  1.0019343889057442
+                ],
+                "rod_tip_xy_dist": 0.0015173278793159208,
+                "target_xy_drift": 3.079694602750145e-08,
+                "depth": 0.019185035072872503,
+                "bottom_clearance": 0.0802556692339248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001332247507599471,
+                  0.0007392214673263009
+                ],
+                "rod_tip_xy": [
+                  0.29565549874630115,
+                  -0.3724859278444713
+                ],
+                "target_mouth_xy": [
+                  0.2969877462539006,
+                  -0.3732251493117976
+                ],
+                "gripper_position": [
+                  0.2956466808894151,
+                  -0.3724886626707339,
+                  1.001793266503797
+                ],
+                "rod_tip_xy_dist": 0.0015235917429748207,
+                "target_xy_drift": 6.621120226090777e-08,
+                "depth": 0.01932543200815917,
+                "bottom_clearance": 0.0801150861875547,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001341096388497498,
+                  0.0007364228907564274
+                ],
+                "rod_tip_xy": [
+                  0.295646680889415,
+                  -0.372488662670734
+                ],
+                "target_mouth_xy": [
+                  0.2969877772779125,
+                  -0.3732250855614904
+                ],
+                "gripper_position": [
+                  0.29563790975728965,
+                  -0.372491337470743,
+                  1.0016525554547535
+                ],
+                "rod_tip_xy_dist": 0.0015299863389164902,
+                "target_xy_drift": 5.359454472688963e-09,
+                "depth": 0.01946675782164775,
+                "bottom_clearance": 0.07997396020549263,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.000605797612347976,
+              "rod_tip_xy_max_step": 3.278256681988317e-05,
+              "rod_tip_xy_range": 0.0006057927435102198,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29519465739417156,
+            -0.37385640665701003,
+            1.0432947316101413
+          ],
+          "object_origin_world": [
+            0.29519465739417156,
+            -0.37385640665701003,
+            1.0432947316101413
+          ],
+          "frame_world": [
+            0.29521897663854957,
+            -0.37385319389227234,
+            1.0435896231029012
+          ],
+          "center_minus_frame": [
+            -2.4319244378012694e-05,
+            -3.2127647376922752e-06,
+            -0.00029489149275985227
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2730924070921894,
+              0.14807000774113224,
+              0.8329376001944016
+            ],
+            "target_position": [
+              0.28326518265732836,
+              0.19470143131050055,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047728136636626894,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16828192163807765,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329376001944016,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670735657479,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13794549811960619,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9032859970554201233,
+    "physical_seed": 5425552426504387755,
+    "layout_id": "layout_00046",
+    "step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "workflow_spec_digest": "b34e9f298ab3efb75e7cb74bd1896b34bcc3331291ac80c7e4e5d37ebee3b61b",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59a7b664e640fc1f7bd60e8a643af65f143403bd93e67e20a2aaa8aaae6c8bd0",
+    "visual_seed": 9024170719946405500,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5371425038879023178,
+      5270287827369487949,
+      8536829748502922744,
+      8965198113053190260,
+      1011918286666041404,
+      7483370860822343823
+    ],
+    "runtime_workflow_digest": "be56b4fe1f586149643c0d761fc3bb94a0233193540938033d9737f5b5fce646"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..050f536d3aa22b58ddbbe3e429b3a600039e9f6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00046/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00046",
+  "family": "lab3_v1",
+  "published_episodes": 84,
+  "published_successes": 84,
+  "published_failures": 0,
+  "matched_success_results": 84
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f330068d30133435a4b01b0e67b61d1a2ae4cbb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1795e08a447f110109542b39d5a6993130f0b1f545d90f26096ccef6f61112f9
+size 11389395
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7eef7590ba7fcfddb28371f214c68451b946c139
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bf60222391c20a6793857dc954f00a5dffa2bb8c1782b80c9a1f4320d67ab20
+size 13936686
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..98b323d4398697f0b1c370d444583bf696ac00cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb49edf25e8eea814ee019d2a3e6032ca607c27a9cc39c8c437d7e2425f110c8
+size 9914613
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1aef7436e0b43e403d7f349c5dcd2db120b801f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce8d57667b59fa72cf956ca6e3778c7473554694d2b0c0990c270623e055c329
+size 9778276
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b0bb97c85e566cddf7605346864c7fcd36627241
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42d9a570c96ab3ad54e153f98d602b8f76a4492238ba7aa26538004e42cb55b7
+size 12741086
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..96f3e2db254455279b54e07ede80b0f09295f476
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b4ad3e829c5d039d1afe582d6c8c534d9c58ae06d070f7df210a30e8d170534
+size 14967493
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d13866fdff40050ad8eb92c10d2b183ad983ec47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fabaf1b9a04c4f915abe6e3bef25440951f487e44e27e116b350db70b8524b05
+size 13401029
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b97e62068b9a3bd19201b31128d3dd7efa24f6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b38d2aaea10f340036b0f3d1904aba3980c6a7428f59b60037587242ebfd2fcc
+size 11556834
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a9cb0c5b56945971afaa1a2c3030ad3065bc418a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:886ba1728592f94376cafa24880e095fa25900e24e12db357e60def35af47cae
+size 9976839
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b9f9321cb7bec16620fcbe727b4b6ca0a8750a8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:486bed0061646e9b1821925803991edff78e84b96d5989e20a6e1e1c4951a24d
+size 13988657
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..087a99a7d74a9440abda7649a3dabcbdc75db012
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e0d926f6aa17a42465b11acb34b0042d230c493c91727e22024d6c3eb925414
+size 14976713
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c8d83b7f2e47b57bac8a3e34c7885ec6f837c707
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dcfa03a5a409703f672ed29c2f678b4fdd4bbbc36ee9ab5e1550a59aabc7c51
+size 11740299
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1f676bc33f424198c9531ad3460cc5c1633c8d3a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1cc3d661ece9ca8a72394bec60b060e3afe2f5b67fbf3dd851bd64b8c741f2e
+size 13708352
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3edc1bc1b88d782cebf3035550ee5b577e66eb8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb047b0659191a13f1fb6e90b46cfea713f81d0063e37ce3972a6e5fb2b6a7aa
+size 12284991
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a4661261c435f589574bf91823e49dcdd8c1def
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a1da2d87909eeb88877495d6dc7b52c5cfcadc6bb9e42491be524e3f310e556
+size 12400316
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8a797091a433069f8551a9f6f5d8031253910b9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca0ae9b8b902dbe228ba8bc516a2c20d409172b33030fc83301ab4834785b373
+size 12845331
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1bb740b2bc0b06b61844c73b30be9d5ef35d8513
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15e550e476885c8967d5609edb0b6ade8ae0bd07ed27e0fcfddc1951a805980a
+size 12245412
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5f535f635b9e544adb0c204b390aa9030c4a3fa6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f7e1f32f172e00ac961881be9b42bd71e9de2a4ec07874d3c15e6684570cacd
+size 11703320
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e3b313be04e42ebb97cd2b1b4e9126f38b255f76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f48f25ac82c4b5f0583bde1776a12fd3a52c4be52e59b25cbe63e336c633b71
+size 10607978
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..63156476db1bd4b343e7c02d4646264baf81eb73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d69225c7b317a4bab3df9e5ce6012f6abc74bfe14c0714aa061cad8a3a1b3910
+size 16731277
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d037ad3341b8315a150806b9d46469a8f1a66821
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:decc05630d285e66cd00fba4895cb02c9a5517c77c0c619d21d0f661cf4717e1
+size 11495964
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b9eb550c6b5ba717a4944a1779659383920baa2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9cbe16cb04f165d856e1d8a637d36dc1bca158b137403b5a16a2ccd5ead00d
+size 12314534
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..155f38c878248386bfc8e55e70a507f441eac45a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b6bf45e844ba099f8b4add0fde389d958371e8042607aeedb264d8bbdff3ef6
+size 10765554
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7839ad9772d65961c0d99d7f395f3d9e5a9d50cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9496f0900e2eea7d20b9abddb6313782e17f93f25742e01402bd8766e1d33b68
+size 11646341
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7665339f0a263cb2ce264586c9e296820aecfe9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870cbf875d32f7319489470d76406f54bb2e9057fa95004cb1c7f34d963de960
+size 12503365
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c693d2b9180843064ae76b1b9321877ea49833da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f349725a0993c418712a314f2c53f49527fe4fc28745177c59d0b36e3d209ca
+size 12791249
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f1e72a51dd2e8e592d9639e9ab733f31d79bf609
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59962983ee5e1abac05cf9bc5ed354d03fd5b3094001631382eda86a2bfa000d
+size 11504301
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..97240a00df1d6d24f609d075b5959502f35dfd9e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:764ef925740854a08fa6a60ba8620526d86bba9cb6cfbee6cf0dac768eb4c216
+size 14278537
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f757302040e1b3517c3e725b8da939df01d17978
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f040e32db61c123d4799e782a9233ba3a37ac2aac8f6dfe7ddce2822616a7a
+size 13172288
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a3edf8c15736d22697993f3387f9a62fc548bedd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a4f91ae2e4425fe4253523418ebef960e81a5a21539072c3fb2921d75b1d28
+size 13999953
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0460d0fa411cba809f495e6e82690886298f4705
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1de2019c34d89816fdb7fdee204ce7f0b0208e367408340885192507b9dc6ba5
+size 11650996
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5fa062bcd1b96a939843eaadfa6d26785afe82b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:191a9ab0f36a7e8eee25154f140049d16fa124b60b936c99983bc97f05ae61d4
+size 11356567
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d435ed93a8c8f2c1fa488f3070d3d8031419590a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45faaa4eb4d1aaedaaa4e5ea8e3552c666a4987ae7fdec13b7618d47ff42879
+size 15258280
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..971f092c30b90932be118a8422ef8cb605659c77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e7c6c757c20efca8d584045d6ceb9a2525aeb6b4758318494839c09a5297f2b
+size 14311349
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..56540a1bd4431b0ba883c522b47f074450bb1cdd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b2f025972517690a006b9e51e7e6f0389961d4126a10330f4ad91f3c44c167c
+size 12919152
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2bec4cf23a98f69ab8c341b69bb4fe0a15bc1d29
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58825d4f340221923993a35aea863a023573ef34d53ee87f849ca3b0aa6c4a71
+size 12078401
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..596b0674e8d17c5d0ae20be67b8cb0bbbcdfb962
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acea5d2585c0c4da178f1016fa43247de2efb9160094f0069c2cac44decdf3bd
+size 16589157
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..762d609313f4e3944e59eb09e6f95c3f1e9d8f53
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d73901c71ed4d195a914d556c3a5e077869b2927b4df780dfa7ab6390fe9691
+size 11287043
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7470cfc8cee1f42079da3c85b7f4f0c1be8868f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa0953f5a4c48fcd23a556e226d6d8edb3a12d3a1a1dfa224d9c4b023ef0cdac
+size 10937533
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..127664782d032b56932c514edb7e5cc933d516b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa3eecd0ce120014bf2c615b4f10afdfe44ad9581a79b7df82a6b5f3f64c1080
+size 14065250
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bab91e613d1f0d5365723346a7c71ecd456068fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda477ca6da85f2331842c7e99dedd8ef1c50436f9a105fd13893c9839bb06a6
+size 11899175
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0c09095ce389539c1d6c3b59699b5c152b87e4da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f22a3a56559cd3f851e93e9c991f06d2ca64eda1e09f3721b4cb02cf3868309b
+size 12347101
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5fc52248e0928bcdf341f00f6c240562457b0f79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d8f43b60bec812051ff53b8e7097b82546490e092bb40808943165bb49c057f
+size 12122628
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a28213c55b289fe352233eac65ca3628372cb6ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f44f4b7d1be91f83777119d50f9caa67737bffbabc13afd4095e82ab8f40509b
+size 11720973
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cdc9a4e5371260f88d0b557c823a3bd31867e394
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51ad6f3f076d458fe76a29c23bfd6d62d9216bff48a10dccf58389011c862bc4
+size 15555032
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ffdc2ce0a641b9968ab83a43ef90b8ad6403666a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b66d6c883d96b899b8164108d3626cbbbb13269bec8094e8a99d6326606ae0c5
+size 10115233
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..daf406ab084ec5f4b0fb4377a30e59bc460acfa1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9788f09c0f95e57f637e37f405efacc6d49c4261081c7c7903b19872a68489cb
+size 15310328
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f7cb11060ffa51a09d93e965826b82ebc0c8ff79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71e4ed21119c26d7247b51a791df3f2bf4169e5c05cbb56cf904a9c358d5e575
+size 10911223
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d1e07e2f149f02e1ccf305e70e232e619e105b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58a48a46c483845e2700f4c2b54a2196115fe3024cbb3eee28811bbbf6dce380
+size 12561538
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..41bc1fc35eb1de0677d8d7edc347fadcdcbcf7d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af4ede63fedab7d8a67d9de674d73363dbb2de2b7c0553cc7d8e8326d1b7e1d
+size 14158814
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7477ed7e824b108dd82c93e3a7bff74444c63ab5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8dd6a9902502f98160cce646e0a452afc1d07407eada586864a52b0279a3219
+size 13706606
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b59898d7a8e560d386f15f3a16fc6762f100265a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8131b0538d9c0e841ff584fa21600c3bd82dde01cecd5ff2880271579a6d3c5d
+size 12057639
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da2f1f0a557e503398f17debd0b2c78ec58bfc5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5b79bc9437c1eaa077bedc81af0de6f682473725d675800df81faac20ecef0d
+size 10954485
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6858d19b5d634486f05368a487626f88a45b5b3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:545dffef69ae79ebbc6b3609e3844a569cc0b5d91d233a485bad96d00868e928
+size 15691234
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ed69fca26b285c6d92ea6c779b10b1c2a5704fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:514a7bb891a682ee2f77230ff979f2b6ac59f84fb9ad55b56d12eb2c3f1fec3c
+size 14960012
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4c5ce2ca8439020e8ec45d62e135dfb36ce9dd49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ed023b7b1901589bff653a2393726a7628404cfa7e462ff1d10fcba0b1e41d
+size 11244605
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..efc6187207563d6b3cea1b7dc94bd7f6032c1786
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcd48e461164c322996059be7bb3fdfb8d40918f99882c65de2bab94a21e98c8
+size 11767313
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..450ec63551f854705e12b614cc0a1bc556b69000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c561aa0b8f0809a5c2859a9469e7e783bdb64baa59ca648e42f743ba96aa6ff
+size 12732224
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0dc1ab7162dc92af797e7505aa5f74917d58794b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32ceaaa01342030c1afea8783666e976b441b943700441537c08e3036b7cd877
+size 11119453
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c429410adc90710021c631a8c9c03f5715da2389
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1fda7a235e463cff2479060bdfa28b0b9d1d5f770bbb54967c7c0db8e31b4b
+size 14294241
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d980764397bfa779ec2130618bfd679df721747f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695294e5aaa812d4d7d345a0ca68c7a2c54247b7c2e363ccfae1885fd385444b
+size 11248190
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ec5473361915aabfbeb6455848d4cb2a0a4b6b7a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb6fd9be583ae63c54872aaa102232c81cb47c3ccf9dabe412d6d2f2851892b4
+size 13290553
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..652ce18be99d19f28e28d51d3f2f2d8a67258a68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e143a6a0b234b2d33a7826be0d7a522ef5d1b956be50821f3261ad92568b2076
+size 10945185
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f03c0e8f5e44bab6a886717ed688d5370497bef5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b17444028f1eef88b8de1d463f9bab9851e6e80d1977b6e763076f07446088
+size 13944661
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..104ad2f72d1674d6b2e10e9af826fc5fa9cfc89a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af8abb8b55967c86eb1f231b6b7b16f3a658f0a014b60df96b7c4c13ff12dffe
+size 11298012
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..355daf2863fd8d05da9f2ccb1974d58cda53bd9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5948d754187e569899f53f19afc17e3d4ef35a8914dbf2307d663f239995d062
+size 10272562
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d89663320dd740cf3ae761af152716d754b8c71c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/meta/episode.jsonl
@@ -0,0 +1,66 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2703,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2705,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2700,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2701,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2735,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2726,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2666,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2703,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2702,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2707,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2704,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2704,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2707,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2709,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2703,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2707,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2701,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2711,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2706,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2662,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2725,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2712,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2707,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2724,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2704,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2707,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2707,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2727,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2726,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2714,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2708,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2716,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2713,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3de0190f8ec5acae4ecc132e148dc58dbc65ca2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,66 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T12:20:42","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.476569074055786,-0.5028787825115577,0.71338606911949],"aabb_xy":[[-0.5415690719374339,-0.5540024462180987],[-0.41156907617413835,-0.45175511880501695]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.45687500597424147,-2.3908236918254318,0.71338606911949],"aabb_xy":[[0.3928750086885929,-2.432330410778276],[0.5208750032598901,-2.3493169728725882]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.4807702587110174,-0.7335999479735791,0.71338606911949],"aabb_xy":[[-0.5036859715960673,-0.7565042451100027],[-0.4578545458259676,-0.7106956508371556]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.2425195434128844,-2.465244230950989,0.71338606911949],"aabb_xy":[[-0.2624105832932247,-2.4779000422356865],[-0.2226285035325442,-2.452588419666293]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[-0.34934072815380257,-1.444083464548248,0.71338606911949],"aabb_xy":[[-0.3605857837244204,-1.4553252622723436],[-0.33809567258318474,-1.432841666824153]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.6184941393474207,-0.6747364628330361,0.71338606911949],"aabb_xy":[[-0.6434941386193829,-0.6910818264291984],[-0.5934941400754583,-0.6583910992368737]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_6","position":[-0.4860090378036792,1.5489570774970667,0.71338606911949],"aabb_xy":[[-0.5660090380772862,1.47600752967135],[-0.4060090375300722,1.6219066253227834]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.3353108199892464,-0.9548073496266125,0.71338606911949],"aabb_xy":[[-0.38531082165074115,-1.004805791882315],[-0.2853108183277516,-0.9048089073709098]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.6650309984868013,-2.487903717346472,0.71338606911949],"aabb_xy":[[-0.675803972408169,-2.522903715565511],[-0.6542580245654335,-2.452903719127433]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.45356767217491845,-1.5063142419877154,0.71338606911949],"aabb_xy":[[0.42856767300928533,-1.513266487693072],[0.47856767134055156,-1.4993619962823588]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[0.67953131587984,-0.885903983806368,0.71338606911949],"aabb_xy":[[0.6748962007276065,-0.8897713188835163],[0.6841664310320732,-0.882036648729219]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.1413478342324389,1.55815546885079,0.71338606911949],"aabb_xy":[[-0.15740976169095655,1.4731554670381979],[-0.12528590677392126,1.6431554706633815]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.49460690944732966,-0.1730536489018335,0.71338606911949],"aabb_xy":[[-0.5496069086239191,-0.22804332367679112],[-0.43960691027074017,-0.11806397412687583]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.6007932535592289,-0.6483715117837419,0.71338606911949],"aabb_xy":[[0.5856210842775955,-0.6635403687119452],[0.6159654228408622,-0.6332026548555385]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.37672556815653224,-0.12165439743497553,0.71338606911949],"aabb_xy":[[0.3711438965224035,-0.13415439725275102],[0.382307239790661,-0.10915439761720004]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.1671734058560389,-1.1174127701969512,0.71338606911949],"aabb_xy":[[-0.17595463300327516,-1.1261925174854814],[-0.1583921787088027,-1.1086330229084214]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.15210155516720392,0.6048137741192123,0.71338606911949],"aabb_xy":[[-0.24210155190281413,0.5516303108019178],[-0.062101558431593706,0.6579972374365068]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.33026267157097866,1.4886285805684687,0.71338606911949],"aabb_xy":[[0.3230014240005713,1.4758415703049592],[0.33752391914138613,1.5014155908319782]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.34122724662732173,0.7378109238134134,0.71338606911949],"aabb_xy":[[-0.3461265389338852,0.7101340045108444],[-0.3363279543207582,0.765487843115982]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.07398076398930586,-1.034636472769619,0.71338606911949],"aabb_xy":[[-0.11148076465388455,-1.0503235307698409],[-0.036480763324727154,-1.0189494147693965]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.6723169472245105,-0.32062102256947034,0.71338606911949],"aabb_xy":[[-0.6898169465025974,-0.3379591226358163],[-0.6548169479464236,-0.3032829225031244]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.2186221912109576,1.3474757086711957,0.71338606911949],"aabb_xy":[[0.20846917565680817,1.3114061670984551],[0.22877520676510693,1.3835452502439358]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.5789052089746618,0.7992942031729489,0.71338606911949],"aabb_xy":[[-0.6156998420995681,0.7623883280763666],[-0.5421105758497555,0.8362000782695311]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_23","position":[0.49076303339682026,0.7064216341029006,0.71338606911949],"aabb_xy":[[0.4307630317538984,0.6544214848109564],[0.5507630350397421,0.7584217833948448]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.3841180579661061,1.254578425543849,0.71338606911949],"aabb_xy":[[0.3662489502116506,1.240745517566638],[0.4019871657205616,1.26841133352106]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_25","position":[-0.16234365054043554,-0.13238271316279882,0.71338606911949],"aabb_xy":[[-0.18688986616318626,-0.16263160971183585],[-0.1377974349176848,-0.10213381661376174]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.6044169020290371,0.15232418280774151,0.71338606911949],"aabb_xy":[[0.5819521320576319,0.129824181928881],[0.6268816720004421,0.17482418368660202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6465072597530515,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7519.png","name":"7519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7519.png","name":"7519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8274.png","name":"8274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1317.png","name":"1317"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1569.png","name":"1569"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9582.png","name":"9582"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":567.0871590046473,"rotation_z_degrees":57.94308785047927,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010783164111934848,-0.016783633398599524,-0.005594523898707151]},{"name":"camera_2","offset_m":[-0.017153331361636454,0.011224792103836347,-0.002808672817883214]},{"name":"camera_3","offset_m":[0.005300857731988691,-0.0010528820687594476,-0.014947692215135162]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00033685887930831084,-0.0018238761177566186,-0.0004066764033542527],"end_effector_yaw_offset_degrees":-0.26098977650237276},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009428615550471466,-0.0003916787476957388,-0.00021680371818729675],"end_effector_yaw_offset_degrees":0.3593246944270705},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018514717069385083,-0.0005361357134351379,0.00090309021721637],"end_effector_yaw_offset_degrees":-0.22165963268430877},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001205068240061694,0.0006037155154435319,-0.0003969118965896539],"end_effector_yaw_offset_degrees":-0.42218668719460517},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00037033515748266586,-0.0009226842199516123,0.0014510457650024735],"end_effector_yaw_offset_degrees":-0.5734681362076977},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006553796099176513,-5.4437597288371385e-05,-0.00020197775721059142],"end_effector_yaw_offset_degrees":0.3197434514482369}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004010478288613128,0.0017028562079937316],"position_m":[0.1702010478288613,-0.10459714379200627,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034925044069219428,0.0034526788717309078],"position_m":[0.20750749559307805,-0.3646473211282691,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0028953169442271246,-0.0010598122621051113],"position_m":[0.29309531694422714,0.3176401877378949,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006920280701917048,-0.004192943887508032],"position_m":[0.3541920280701917,0.11090705611249196,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"84ae302fe8507d473779fd2d0c3d17177f94605f3dd7bd77f04a6d1713affc7a","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7519/tex_ceiling_textures_9582/tex_floor_textures_1569/tex_table_textures_8274/tex_wall_textures_1317","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6279973180987191046,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6279973180987191046,"visual_seed":6279973180987191046,"scene_id":"lab_003","finished_at":"2026-09-08T12:28:27"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T12:28:36","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[0.3879137365145544,-1.0931795044587589,0.71338606911949],"aabb_xy":[[0.31791373312299237,-1.1284952781621895],[0.45791373990611633,-1.0578637307553278]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[0.4392085960251264,-0.7935618431301266,0.71338606911949],"aabb_xy":[[0.37920859617855956,-0.8503804653231651],[0.49920859587169314,-0.7367432209370878]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.06261822704278386,-2.472235683526263,0.71338606911949],"aabb_xy":[[0.03147130819920074,-2.5422356822130703],[0.09376514588636697,-2.402235684839456]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[0.6126033923135275,-0.5028614478940785,0.71338606911949],"aabb_xy":[[0.5751033916489487,-0.5185485058943006],[0.6501033929781062,-0.48717438989385625]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.3822571511656374,-2.0461017249560722,0.71338606911949],"aabb_xy":[[0.3671548497046192,-2.0612032465871333],[0.3973594526266554,-2.0310002033250094]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[-0.3712148963953424,0.5085494061977109,0.71338606911949],"aabb_xy":[[-0.39643573325518194,0.48332565534482413],[-0.3459940595355026,0.5337731570505976]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.10721782455135387,1.7737341886787852,0.71338606911949],"aabb_xy":[[-0.13221782371698698,1.7667819429734286],[-0.08221782538572076,1.7806864343841418]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.45758109301469807,-1.1073663357360108,0.71338606911949],"aabb_xy":[[-0.49508109419949076,-1.1117845584320711],[-0.42008109182990516,-1.10294811303995]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.16000299346984204,-1.6778846798757456,0.71338606911949],"aabb_xy":[[-0.1950029933658609,-1.6862589153876855],[-0.12500299357382316,-1.6695104443638054]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.12858875286023685,1.4672591502396464,0.71338606911949],"aabb_xy":[[0.07859374190078482,1.4172591512040549],[0.17858376381968888,1.5172591492752385]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.23429628845891615,-1.5327662745731283,0.71338606911949],"aabb_xy":[[0.18429628750838334,-1.5643154215766493],[0.28429628940944895,-1.5012171275696065]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.3824701639325853,1.16091486321403,0.71338606911949],"aabb_xy":[[-0.44647016121823396,1.1194081442611858],[-0.31847016664693667,1.2024215821668738]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.6796118112835311,1.0817699429707024,0.71338606911949],"aabb_xy":[[-0.6859239108198696,1.0760030037174835],[-0.6732997117471926,1.0875368822239213]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.5465654587594266,0.511040513362929,0.71338606911949],"aabb_xy":[[0.5352037241061404,0.4996720469566409],[0.5579271934127127,0.5224089797692171]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.2301524880138085,1.7660962062073815,0.71338606911949],"aabb_xy":[[0.21890743244319064,1.7548544084832862],[0.2413975435844263,1.7773380039314768]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.23807950699430314,1.0899945922084546,0.71338606911949],"aabb_xy":[[0.1740795037756653,1.043271480309446],[0.302079510212941,1.1367177041074628]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.40837125361516746,-0.3625522244529549,0.71338606911949],"aabb_xy":[[-0.4433712535916633,-0.3720168405005715],[-0.37337125363867163,-0.35308760840533826]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[0.23202928799032496,-2.144646547989443,0.71338606911949],"aabb_xy":[[0.21013954040138416,-2.234646545278692],[0.25391903557926576,-2.054646550700194]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.641556811063537,-1.229062976645911,0.71338606911949],"aabb_xy":[[0.5765568101064097,-1.2810111885796165],[0.7065568120206641,-1.1771147647122053]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.41383999316347414,-1.6050329325806274,0.71338606911949],"aabb_xy":[[-0.473839994806396,-1.6570330818725716],[-0.3538399915205523,-1.5530327832886832]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.6638687600163706,-0.3657725904268614,0.71338606911949],"aabb_xy":[[0.6456629363551231,-0.37679799100885303],[0.6820745836776184,-0.35474718984486975]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.49965873295741225,0.9246539327105316,0.71338606911949],"aabb_xy":[[-0.5636587322515805,0.8606677923416775],[-0.4356587336632441,0.9886400730793858]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[-0.15472973940357804,-0.33100857217520163,0.71338606911949],"aabb_xy":[[-0.1922297397518058,-0.3427999677562852],[-0.11722973905535028,-0.3192171765941181]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.3787143278307907,-2.1653623601010974,0.71338606911949],"aabb_xy":[[-0.386708316408494,-2.1733624401961875],[-0.3707203392530872,-2.1573622800060064]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[-0.15135058499389165,-1.1984386287389082,0.71338606911949],"aabb_xy":[[-0.1791956217744988,-1.2292231274772198],[-0.12350554821328455,-1.1676541300005965]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[0.5021715237886053,-0.16149447828224384,0.71338606911949],"aabb_xy":[[0.4738418138400651,-0.16595522047596092],[0.5305012337371455,-0.1570337360885268]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[0.6865761265040446,0.22015910784640713,0.71338606911949],"aabb_xy":[[0.675670350416482,0.14015911144757795],[0.6974819025916075,0.3001591042452363]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_27","position":[0.4359778158374237,-1.430985649282362,0.71338606911949],"aabb_xy":[[0.4279344559114685,-1.5159856503777283],[0.44402117576337885,-1.3459856481869954]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[-0.1266649590554061,-1.3495741576343023,0.71338606911949],"aabb_xy":[[-0.13130007420763945,-1.3534414927114506],[-0.12202984390317269,-1.3457068225571536]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_29","position":[0.22284973285806742,0.6602603095360662,0.71338606911949],"aabb_xy":[[0.15784973022027393,0.6087807108366192],[0.2878497354958609,0.7117399082355131]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_30","position":[0.24736052435029288,-2.3453278025241704,0.71338606911949],"aabb_xy":[[0.18336052397275926,-2.395073069374982],[0.3113605247278265,-2.2955825356733577]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[0.05151130755674138,-2.127859659325224,0.71338606911949],"aabb_xy":[[0.035626814291416224,-2.142212599624048],[0.06739580082206653,-2.1135067190264003]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_32","position":[0.2494228492026208,-1.3567426603737947,0.71338606911949],"aabb_xy":[[0.18942284834180798,-1.4081690903802806],[0.30942285006343356,-1.3053162303673078]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_33","position":[0.5390537887052111,1.6852841873899567,0.71338606911949],"aabb_xy":[[0.5040537873537294,1.6649244514331354],[0.5740537900566929,1.705643923346777]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_34","position":[-0.24227263584538938,-2.287821366739269,0.71338606911949],"aabb_xy":[[-0.33227263952230757,-2.3492537733163723],[-0.1522726321684712,-2.2263889601621636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.64977955823347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5674.png","name":"5674"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5674.png","name":"5674"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9424.png","name":"9424"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7932.png","name":"7932"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6098.png","name":"6098"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2772.png","name":"2772"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":693.6377852304305,"rotation_z_degrees":323.30771081636266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008747912726084404,-0.01194713399438534,-0.008178021286433794]},{"name":"camera_2","offset_m":[0.010582262359086096,-0.016969758873517576,-0.012871990671887597]},{"name":"camera_3","offset_m":[0.0033470285938800755,0.016899275098986682,0.00792115954409061]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001153418231969215,-0.0018417609699579627,-0.0013473991695107696],"end_effector_yaw_offset_degrees":0.5285767360378522},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001711273684283276,-0.0012251392953009721,-0.0003745759520935774],"end_effector_yaw_offset_degrees":-0.7754974884234309},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009061389938626288,0.00040547799774478784,-0.0006396978049819611],"end_effector_yaw_offset_degrees":0.4136968541696395},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008436473932700458,0.00023038715839423596,-0.0010922928536324958],"end_effector_yaw_offset_degrees":0.134145595557444},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001466316556285659,0.0008120444598631216,-0.0012485225116478965],"end_effector_yaw_offset_degrees":0.146726245912163},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006411985263906318,0.0006284851241295363,0.0008291820512675717],"end_effector_yaw_offset_degrees":-0.035620949139851366}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004243957852467097,0.0037286369224659053],"position_m":[0.16555604214753292,-0.1025713630775341,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00383760635023975,0.0035878050321363113],"position_m":[0.21483760635023974,-0.3645121949678637,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-5.5612480350314235e-05,-0.0021010057724432317],"position_m":[0.2901443875196497,0.3165989942275568,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010082120476127832,0.0010933809663377734],"position_m":[0.3524917879523872,0.11619338096633777,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"92714ccb4f2d12d15fce3b6251cf2039cb77aecd6ed14fb113f2c14bf9fcc69f","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5674/tex_ceiling_textures_2772/tex_floor_textures_6098/tex_table_textures_9424/tex_wall_textures_7932","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8723064934721481860,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8723064934721481860,"visual_seed":8723064934721481860,"scene_id":"lab_003","finished_at":"2026-09-08T12:37:13"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T12:37:20","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.1650879678259024,-1.4778131785953725,0.71338606911949],"aabb_xy":[[-0.174247846769779,-1.4843443966389094],[-0.1559280888820258,-1.4712819605518352]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.33526770013530394,1.43175733740649,0.71338606911949],"aabb_xy":[[0.32822739020176694,1.3517573380068189],[0.34230801006884093,1.5117573368061619]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.12159335178901631,0.3962595010903982,0.71338606911949],"aabb_xy":[[-0.20659335048109093,0.3642736376955194],[-0.036593353096941644,0.4282453644852771]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_3","position":[-0.5979353581817486,-0.3469209281030432,0.71338606911949],"aabb_xy":[[-0.6347299913066549,-0.3838268031996255],[-0.5611407250568423,-0.31001505300646093]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.4912541446386387,0.8260842069349636,0.71338606911949],"aabb_xy":[[0.4687404528151815,0.756084206333956],[0.5137678364620959,0.8960842075359711]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.41918068851930956,-0.319567937582971,0.71338606911949],"aabb_xy":[[-0.4264630048959731,-0.40956794119247986],[-0.4118983721426458,-0.2295679339734619]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.4756043831403012,1.1259034027751595,0.71338606911949],"aabb_xy":[[0.46383619634564377,1.0409034028699382],[0.4873725699349588,1.2109034026803813]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.19140678915671305,-1.685667851584213,0.71338606911949],"aabb_xy":[[0.1539067888084853,-1.6974592471652967],[0.2289067895049408,-1.6738764560031296]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.10256583794956431,1.1805752749568792,0.71338606911949],"aabb_xy":[[-0.1665615353446609,1.1165752766561703],[-0.03857014055446771,1.2445752732575877]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.5291387138043997,0.06552127310834566,0.71338606911949],"aabb_xy":[[-0.5666387153200314,0.054294500092200604],[-0.491638712288768,0.07674804612449071]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.6378948129953101,1.7155836327717666,0.71338606911949],"aabb_xy":[[-0.6455190810854884,1.7079504092352236],[-0.6302705449051319,1.723216856308311]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.17170894435877626,1.536297532037342,0.71338606911949],"aabb_xy":[[-0.2357089416444249,1.494790813084498],[-0.10770894707312761,1.577804250990186]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.5317885961079161,0.8639034162393826,0.71338606911949],"aabb_xy":[[-0.6217885984419351,0.7864210616542701],[-0.441788593773897,0.9413857708244954]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.27014901858607177,-1.1847267916460984,0.71338606911949],"aabb_xy":[[-0.3341490156981775,-1.2337591614405088],[-0.20614902147396613,-1.1356944218516876]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_14","position":[0.5196250268558835,-0.9674851515059153,0.71338606911949],"aabb_xy":[[0.49834701871241116,-1.0324851538319881],[0.5409030349993557,-0.902485149179842]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.20499863806903967,-1.8652214606968356,0.71338606911949],"aabb_xy":[[-0.22999863762077813,-1.87536394456197],[-0.17999863851730116,-1.8550789768317006]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.5843080457605441,1.0973601357086045,0.71338606911949],"aabb_xy":[[0.5737405661024451,1.086815105595596],[0.5948755254186431,1.107905165821613]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[0.526596631676002,1.2720069023741587,0.71338606911949],"aabb_xy":[[0.5178154045287658,1.2632271550856287],[0.5353778588232384,1.2807866496626892]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.39881600924786587,-0.8715468367218999,0.71338606911949],"aabb_xy":[[-0.4564464781351366,-0.9315468356486103],[-0.34118554036059495,-0.8115468377951891]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[0.16243632115250528,0.9813322621320166,0.71338606911949],"aabb_xy":[[0.15280468493207566,0.9716949493523077],[0.1720679573729349,0.9909695749117255]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.4701413292931004,1.5873231117092854,0.71338606911949],"aabb_xy":[[-0.504438240310841,1.553026225499344],[-0.4358444182753597,1.6216199979192267]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.5548773902067572,-1.1015859587457881,0.71338606911949],"aabb_xy":[[-0.6448773867076288,-1.1474976011642464],[-0.4648773937058854,-1.0556743163273299]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.2193739806752485,-2.0735049875621776,0.71338606911949],"aabb_xy":[[0.1974842330863077,-2.1635049848514263],[0.2412637282641893,-1.9835049902729283]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.20046917497497813,0.8355265232549418,0.71338606911949],"aabb_xy":[[-0.23796917508057105,0.8287043614019606],[-0.16296917486938514,0.8423486851079228]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[-0.6168150435364641,1.5067394432028896,0.71338606911949],"aabb_xy":[[-0.6268967506150376,1.4267394453107747],[-0.6067333364578906,1.586739441095004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6516811500266135,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9423.png","name":"9423"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9423.png","name":"9423"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/729.png","name":"729"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3282.png","name":"3282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4475.png","name":"4475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2351.png","name":"2351"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":593.1807935545839,"rotation_z_degrees":53.41807943059089,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0101247621380752,0.0005093718117576002,-0.016381845132891447]},{"name":"camera_2","offset_m":[0.014997486616308207,-0.000510967733337829,-0.01488834624046064]},{"name":"camera_3","offset_m":[-0.015586884807270685,0.003655165756531926,-0.009567439150959376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001525175580231589,-0.0013114127155874188,0.00019325950268184048],"end_effector_yaw_offset_degrees":-0.744291241077349},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00016762122919593064,-0.0009210879813991522,0.0014148610678946468],"end_effector_yaw_offset_degrees":-0.9296213007425298},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.397832455140018e-05,-0.0006115373402195297,-0.0012328459539741152],"end_effector_yaw_offset_degrees":-0.4611431040922289},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004871437032032686,-0.000888208460446236,-0.0012546564849911133],"end_effector_yaw_offset_degrees":0.31691686170271294},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0002931955120194689,-0.0003590879220546151,0.001452755856119922],"end_effector_yaw_offset_degrees":0.39263041861959813},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011829973280186958,-0.0009817430527579703,0.0007100332392400684],"end_effector_yaw_offset_degrees":0.8594750936114801}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003297845202818883,1.967990177290102e-05],"position_m":[0.1730978452028189,-0.1062803200982271,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036450191821101206,-7.262127676453504e-05],"position_m":[0.21464501918211012,-0.36817262127676453,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0029229427357846172,0.0027475345698053646],"position_m":[0.2872770572642154,0.32144753456980535,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024891666378096403,-0.004746122330642953],"position_m":[0.3559891666378096,0.11035387766935705,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"db662adb37920dfadc6a9f173cc8affad7c197201d01c7cd43fdc4c2caf039e6","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9423/tex_ceiling_textures_2351/tex_floor_textures_4475/tex_table_textures_729/tex_wall_textures_3282","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1817263508522660346,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1817263508522660346,"visual_seed":1817263508522660346,"scene_id":"lab_003","finished_at":"2026-09-08T12:46:15"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T13:05:10","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[0.2179397732329983,1.6994642684657078,0.71338606911949],"aabb_xy":[[0.1679397736566636,1.649483689513602],[0.267939772809333,1.749444847417814]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[0.4292945088930018,0.6940190448509869,0.71338606911949],"aabb_xy":[[0.4213005203152983,0.6860189647558964],[0.4372884974707051,0.7020191249460771]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.3689860121695234,0.8935506075207971,0.71338606911949],"aabb_xy":[[0.3189860108856834,0.8435717531301749],[0.41898601345336334,0.9435294619114191]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.6288520065063505,1.166769777690043,0.71338606911949],"aabb_xy":[[0.5938520073763949,1.1610245566143786],[0.6638520056363062,1.1725149987657069]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.5315140172583623,-0.6567793655011547,0.71338606911949],"aabb_xy":[[-0.5369719628953823,-0.7367793688088138],[-0.5260560716213422,-0.5767793621934956]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.5965758274509172,-1.6890193931130253,0.71338606911949],"aabb_xy":[[-0.6605758293632595,-1.7449305423710357],[-0.5325758255385749,-1.6331082438550149]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.621744899792856,0.5024098714778034,0.71338606911949],"aabb_xy":[[-0.6395384067277724,0.4846101258820057],[-0.6039513928579395,0.520209617073601]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.518618265273536,-1.0820591323202982,0.71338606911949],"aabb_xy":[[0.4886266025396656,-1.1120591316570987],[0.5486099280074063,-1.0520591329834976]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[0.38180992157737315,-1.3841735036702298,0.71338606911949],"aabb_xy":[[0.3599201739884324,-1.474173500959479],[0.403699669166314,-1.2941735063809807]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.6475405220063875,-2.308017396867474,0.71338606911949],"aabb_xy":[[0.622540522454649,-2.3181598807326087],[0.6725405215581259,-2.2978749130023393]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.3327240872560395,-0.6553269893116382,0.71338606911949],"aabb_xy":[[0.32714241562191076,-0.6678269891294136],[0.3383057588901683,-0.6428269894938626]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.1868027430028033,0.6055297742894639,0.71338606911949],"aabb_xy":[[0.17357179746812199,0.5923023552674643],[0.20003368853748457,0.6187571933114632]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.2619185444922002,-1.2503127562369125,0.71338606911949],"aabb_xy":[[-0.26562180582133904,-1.2540147745456303],[-0.25821528316306125,-1.2466107379281943]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.41442619842971995,1.2336652791649967,0.71338606911949],"aabb_xy":[[0.3643287344486463,1.1696652786551849],[0.4645236624107935,1.2976652796748085]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.3181253527684429,-0.45036248109039567,0.71338606911949],"aabb_xy":[[-0.32623900744182,-0.4584682975444248],[-0.3100116980950658,-0.44225666463636665]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.3964979077463888,-0.5204990715708573,0.71338606911949],"aabb_xy":[[0.3324979063383982,-0.5722880230947819],[0.46049790915437955,-0.4687101200469325]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.43171309361048277,0.8549553707546864,0.71338606911949],"aabb_xy":[[-0.45177150522372306,0.8348902838455288],[-0.4116546819972425,0.8750204576638438]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.11233886602515719,1.6101945914767977,0.71338606911949],"aabb_xy":[[-0.16733111666066813,1.555194589733485],[-0.057346615389646236,1.6651945932201104]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.2603147729940466,-1.3038385735406381,0.71338606911949],"aabb_xy":[[0.21906596196413183,-1.3588385730528552],[0.3015635840239613,-1.2488385740284202]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.1776046132243726,1.3397430645529504,0.71338606911949],"aabb_xy":[[0.1722720985697596,1.3344187363077151],[0.18293712787898558,1.3450673927981862]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.257833217170485,0.7987990566145808,0.71338606911949],"aabb_xy":[[-0.3218332157570575,0.751792093215072],[-0.19383321858391256,0.8458060200140894]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.662679696097092,1.455683298910936,0.71338606911949],"aabb_xy":[[0.6126796950779568,1.4192170831731084],[0.7126796971162274,1.4921495146487642]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.330288087391553,-0.9106017966583881,0.71338606911949],"aabb_xy":[[-0.3411938634791158,-0.9906017930572173],[-0.31938231130399036,-0.830601800259559]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.39970445621296596,0.7076992874565304,0.71338606911949],"aabb_xy":[[-0.4155889494782911,0.6933463471577063],[-0.3838199629476408,0.7220522277553544]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[0.5775623046934426,-2.0844857126186738,0.71338606911949],"aabb_xy":[[0.5530486805964367,-2.10875030592071],[0.6020759287904485,-2.0602211193166373]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.14493171058032128,-2.1231466383441715,0.71338606911949],"aabb_xy":[[0.08093170890232393,-2.1716640298234857],[0.20893171225831864,-2.0746292468648573]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.09581579885874503,-0.724154830715825,0.71338606911949],"aabb_xy":[[0.09091650655218152,-0.7518317500183935],[0.10071509116530851,-0.696477911413256]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_27","position":[0.5971195978219215,0.5357610702729558,0.71338606911949],"aabb_xy":[[0.5890762378959663,0.4507610691775894],[0.6051629577478767,0.6207610713683223]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[0.038587666811602195,-1.8410053166265492,0.71338606911949],"aabb_xy":[[0.005147491615582581,-1.874448942457479],[0.07202784200762177,-1.807561690795619]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_29","position":[0.5471163782503563,-1.6593027913082539,0.71338606911949],"aabb_xy":[[0.5319535052734193,-1.6744682486033728],[0.5622792512272935,-1.6441373340131353]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[-0.37126950110393325,1.6074203426747364,0.71338606911949],"aabb_xy":[[-0.42626949930567815,1.5668983760482988],[-0.31626950290218847,1.647942309301174]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6512169915442257,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/374.png","name":"374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/374.png","name":"374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8905.png","name":"8905"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1814.png","name":"1814"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1104.png","name":"1104"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":833.5989235018556,"rotation_z_degrees":151.59539843513122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020877718635038504,0.015158417934494722,-0.012177766720496749]},{"name":"camera_2","offset_m":[-0.0023678566571185417,-0.012504859747747284,0.01944540019764623]},{"name":"camera_3","offset_m":[-0.010093548981141507,0.010244330537487297,0.0031481862482769553]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008700825672386795,-0.0018359391762271988,0.0005304692621475229],"end_effector_yaw_offset_degrees":-0.13606221474775548},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019364527255339688,-0.0019663053568753585,0.00028505587850083305],"end_effector_yaw_offset_degrees":-0.6685587664965074},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016915889012751807,-0.0014979942764082024,-0.0005070743402918884],"end_effector_yaw_offset_degrees":0.2563733124675731},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017207323105510044,0.0015065061936831744,0.00026628793992572756],"end_effector_yaw_offset_degrees":-0.13623240890706345},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018214375251141592,-0.0005226628491523347,-0.0005125950773103205],"end_effector_yaw_offset_degrees":-0.5273227920086434},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0010214353624798736,-0.001117565072748882,0.0018949637534441091],"end_effector_yaw_offset_degrees":0.861326244360821}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034949173999270994,0.002090788827503242],"position_m":[0.1732949173999271,-0.10420921117249676,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00392220354300504,0.001155616095023666],"position_m":[0.21492220354300504,-0.3669443839049763,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004752809728416984,0.0008689973643224193],"position_m":[0.294952809728417,0.3195689973643224,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001734481850093176,-0.0037324529482897504],"position_m":[0.35523448185009315,0.11136754705171024,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e0f2e94e76358848c8fa88b10421223dabb5b0965a3b223523609f4fc3900e11","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_374/tex_ceiling_textures_1104/tex_floor_textures_8041/tex_table_textures_8905/tex_wall_textures_1814","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7039110581106204684,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7039110581106204684,"visual_seed":7039110581106204684,"scene_id":"lab_003","finished_at":"2026-09-08T13:12:46"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T13:12:53","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.36543825337260083,0.9292917668731726,0.71338606911949],"aabb_xy":[[0.3354706964627751,0.8992917665752869],[0.39540581028242644,0.9592917671710584]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.3550724621480503,-2.2154176167357025,0.71338606911949],"aabb_xy":[[0.3485708256400457,-2.2251854387620122],[0.36157409865605494,-2.2056497947093927]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.48197747908660804,0.09587173657919656,0.71338606911949],"aabb_xy":[[-0.519477479192201,0.08904957472621543],[-0.4444774789810151,0.10269389843217767]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[0.6148488754119128,0.7641118027888951,0.71338606911949],"aabb_xy":[[0.6005144502857493,0.7520515872343562],[0.6291833005380763,0.7761720183434339]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.06579138499316817,-1.420899149666677,0.71338606911949],"aabb_xy":[[-0.123421853880439,-1.4808991485933873],[-0.008160916105897307,-1.3608991507399661]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.026909771094728807,-0.7174622078760164,0.71338606911949],"aabb_xy":[[-0.05309022749259061,-0.7967778098141771],[0.10690976968204823,-0.6381466059378553]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.2870899070074522,-0.9603295590186773,0.71338606911949],"aabb_xy":[[-0.3570899091388816,-0.9830915246443728],[-0.21708990487602253,-0.9375675933929815]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.3699214669843055,0.5259910694744558,0.71338606911949],"aabb_xy":[[-0.37791495677958764,0.5179929375339803],[-0.36192797718902353,0.5339892014149316]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.7040112460796093,-1.4693673232401456,0.71338606911949],"aabb_xy":[[0.6865805310006027,-1.486639437903996],[0.7214419611586157,-1.4520952085762944]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[-0.28020230323619805,1.762142597759588,0.71338606911949],"aabb_xy":[[-0.32968272445015684,1.6981425998467363],[-0.23072188202223926,1.82614259567244]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.6338264889152003,-0.15247254541714828,0.71338606911949],"aabb_xy":[[0.6135421861918016,-0.1727551705598571],[0.6541107916385991,-0.1321899202744394]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.3526831866391954,0.8458430989219288,0.71338606911949],"aabb_xy":[[-0.35996550301585895,0.7558430953124197],[-0.34540087026253163,0.9358431025314377]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.016944220819769207,-1.0129709242819476,0.71338606911949],"aabb_xy":[[-0.013540029307260948,-1.0629709240634435],[0.04742847094679936,-0.9629709245004516]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.44766970870017286,0.028133441798663394,0.71338606911949],"aabb_xy":[[0.39766970733928564,-0.021844462776752217],[0.4976697100610601,0.07811134637407902]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.09344748479976295,0.18968232939162766,0.71338606911949],"aabb_xy":[[-0.12177719474830319,0.18522158719791063],[-0.06511777485122273,0.19414307158534475]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.6795835011735154,0.9819634240076391,0.71338606911949],"aabb_xy":[[0.6420835012297489,0.9736703339728024],[0.7170835011172817,0.9902565140424756]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[0.1523179379243892,-2.5040030283981496,0.71338606911949],"aabb_xy":[[0.1469854232697762,-2.5093273566433854],[0.15765045257900218,-2.498678700152914]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.02256125602955883,-1.917480630536084,0.71338606911949],"aabb_xy":[[0.017661963722995326,-1.9451575498386529],[0.02746054833612232,-1.8898037112335153]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.1523897380116439,-1.576927075403464,0.71338606911949],"aabb_xy":[[-0.20238474897109596,-1.626927074439056],[-0.10239472705219188,-1.5269270763678726]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.17183686627255834,1.2304288755953001,0.71338606911949],"aabb_xy":[[0.1296524521117276,1.166428875318089],[0.21402128043338908,1.2944288758725113]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.4183677010917066,0.471743690351381,0.71338606911949],"aabb_xy":[[0.40659951429704916,0.3867436904461595],[0.4301358878863642,0.5567436902566026]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6461247815341331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/207.png","name":"207"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/207.png","name":"207"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5153.png","name":"5153"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6140.png","name":"6140"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":800.09263162789,"rotation_z_degrees":334.4474637080543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010663632412567153,-0.01632352528146054,0.003908996360327422]},{"name":"camera_2","offset_m":[0.001556413304406,-0.019708018439427512,-0.008686855035593638]},{"name":"camera_3","offset_m":[-0.010363132418827834,-0.003967403906668391,0.0010171010632507443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00023837147462228052,-0.0019528318636778434,0.0010361523373056195],"end_effector_yaw_offset_degrees":0.19580567819858619},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00035692282887801133,-0.0014971579011480106,-0.00017547699584411218],"end_effector_yaw_offset_degrees":0.8277732761178189},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00027067121144219806,-0.0010649451705213053,-0.001578189601519227],"end_effector_yaw_offset_degrees":-0.10701918060644311},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00014733292474309093,0.0016155572165087026,-0.0002725442995072664],"end_effector_yaw_offset_degrees":-0.3681180486626019},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017405687825764553,0.001578660628467256,0.0005980536348111362],"end_effector_yaw_offset_degrees":-0.018388747088835977},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014594996365330983,0.001181616938630936,0.0006726564395569466],"end_effector_yaw_offset_degrees":-0.012505669531583274}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035494435414345805,-0.004562921367688909],"position_m":[0.16625055645856543,-0.11086292136768891,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003202492368540032,-0.00021650003661655842],"position_m":[0.20779750763145996,-0.36831650003661653,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0019231821811542512,-0.0012717265833995482],"position_m":[0.29212318218115424,0.31742827341660046,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003832766107791252,-0.0008220682321982064],"position_m":[0.35733276610779124,0.1142779317678018,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b67fbfad66a7c7af370dd60bda2af1e9612cff6322b7ad02d01a95f50c0b98fe","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_207/tex_ceiling_textures_6140/tex_floor_textures_6255/tex_table_textures_5153/tex_wall_textures_2285","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7635298675166048072,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7635298675166048072,"visual_seed":7635298675166048072,"scene_id":"lab_003","finished_at":"2026-09-08T13:21:50"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T13:21:56","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.13311997879987403,1.2044366737357337,0.71338606911949],"aabb_xy":[[-0.16811997877636986,1.1949720576881173],[-0.0981199788233782,1.2139012897833505]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.5585737595756826,0.16457365781833122,0.71338606911949],"aabb_xy":[[-0.6235737574573305,0.11344999411179038],[-0.4935737616940349,0.21569732152487214]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[0.2888642462630169,-1.7869708738337862,0.71338606911949],"aabb_xy":[[0.25386424636699795,-1.795345109345726],[0.3238642461590357,-1.7785966383218463]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.33810328743351564,-2.161574212680505,0.71338606911949],"aabb_xy":[[-0.3556815896224625,-2.17914870225461],[-0.3205249852445688,-2.1439997231064]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[0.016703375149937028,-1.6714096717236968,0.71338606911949],"aabb_xy":[[0.0008188818846118773,-1.6857626120225209],[0.03258786841526218,-1.6570567314248728]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.13703149561192385,1.2388574812853315,0.71338606911949],"aabb_xy":[[0.12974917923526014,1.1488574776758222],[0.14431381198858745,1.3288574848948402]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.4560455870421992,1.4834073494743483,0.71338606911949],"aabb_xy":[[-0.4871925058857823,1.4134073507875409],[-0.42489866819861605,1.5534073481611552]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.08861161458423117,-1.080744917062107,0.71338606911949],"aabb_xy":[[0.07673953157273006,-1.1657449167557574],[0.10048369759573228,-0.9957449173684567]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.22294111231067276,1.52593764894022,0.71338606911949],"aabb_xy":[[-0.2604411138263044,1.5147108759240748],[-0.185441110795041,1.537164421956365]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.060223879672805736,0.8179330166716339,0.71338606911949],"aabb_xy":[[-0.0047761188842671,0.7881804832577513],[0.12522387822987857,0.8476855500855165]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.1806598920171999,-2.063036347528166,0.71338606911949],"aabb_xy":[[-0.22583120986536892,-2.1270363446727045],[-0.13548857416903096,-1.9990363503836277]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[-0.3157500285119251,0.6115560537741094,0.71338606911949],"aabb_xy":[[-0.36976562479382497,0.5475560508818521],[-0.26173443223002496,0.6755560566663664]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.4018471787228646,0.6465715423256158,0.71338606911949],"aabb_xy":[[0.34184717887629773,0.5897529201325771],[0.4618471785694313,0.7033901645186544]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.3372347647384887,1.2272127830747928,0.71338606911949],"aabb_xy":[[-0.3722347660899704,1.2068530471179717],[-0.30223476338700694,1.2475725190316134]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.39383679032663377,-2.3938091475161785,0.71338606911949],"aabb_xy":[[0.3638692334168081,-2.4238091478140644],[0.42380434723645943,-2.3638091472182925]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.41527055151686243,-1.9490107816364375,0.71338606911949],"aabb_xy":[[0.3252705491828434,-2.02649313622155],[0.5052705538508815,-1.8715284270513248]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[-0.4795459189561355,-0.9609531142068974,0.71338606911949],"aabb_xy":[[-0.5208504620198715,-1.0249531137750147],[-0.43824137589239953,-0.8969531146387805]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[-0.4812432853803485,-0.25190437879300065,0.71338606911949],"aabb_xy":[[-0.516243283691044,-0.25961939371654624],[-0.4462432870696531,-0.24418936386945495]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.14154580162448593,-0.585063416797655,0.71338606911949],"aabb_xy":[[0.13178981211531202,-0.5948259508568893],[0.1513017911336598,-0.5753008827384204]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.4058792990787097,-1.111708184574298,0.71338606911949],"aabb_xy":[[-0.4698793022973476,-1.1584312964733063],[-0.3418792958600719,-1.0649850726752896]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.6492872607340843,-1.5096439483974662,0.71338606911949],"aabb_xy":[[0.6146961778800389,-1.574643948682497],[0.6838783435881294,-1.444643948112435]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.18905977386650374,0.9480806520605256,0.71338606911949],"aabb_xy":[[-0.1945177195035238,0.8680806487528665],[-0.18360182822948368,1.0280806553681847]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.1697869259861362,-0.998580211972981,0.71338606911949],"aabb_xy":[[-0.18035440564423522,-1.0091252420859895],[-0.1592194463280372,-0.9880351818599724]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[-0.08532233984986048,0.5609699165648494,0.71338606911949],"aabb_xy":[[-0.15032234248765397,0.5094903178654024],[-0.020322337212067,0.6124495152642964]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.42714229491186906,-1.3869769770680613,0.71338606911949],"aabb_xy":[[-0.5071422920714443,-1.3985245780258782],[-0.3471422977522937,-1.375429376110244]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[0.46940461169560876,-1.132759150891807,0.71338606911949],"aabb_xy":[[0.4561736661609274,-1.145986569913806],[0.48263555723029,-1.1195317318698073]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[-0.16968736024466646,1.2981792744058502,0.71338606911949],"aabb_xy":[[-0.18433076579869945,1.2835205547490658],[-0.15504395469063348,1.3128379940626342]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[0.6801783655062146,1.702097366406901,0.71338606911949],"aabb_xy":[[0.6719638203905304,1.6934207761092592],[0.6883929106218983,1.710773956704542]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_28","position":[0.39214926805079653,0.9510501641663174,0.71338606911949],"aabb_xy":[[0.34266884683683774,0.8870501662534657],[0.4416296892647553,1.0150501620791692]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_29","position":[-0.33261511668280935,-0.6714451454682353,0.71338606911949],"aabb_xy":[[-0.41261511884557184,-0.7514003290943788],[-0.25261511452004687,-0.5914899618420916]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_30","position":[-0.005479304544235508,1.3978171291282555,0.71338606911949],"aabb_xy":[[-0.04766371870506625,1.333817128851044],[0.03670510961659523,1.4618171294054665]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6456326478140929,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3917.png","name":"3917"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8207.png","name":"8207"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6110.png","name":"6110"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":845.2008945691373,"rotation_z_degrees":201.41477283537776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004798551417485201,-0.005668753777167855,0.019107418592099034]},{"name":"camera_2","offset_m":[0.015553830091830017,-0.003727048586016121,0.0034137937112108385]},{"name":"camera_3","offset_m":[-0.018405556389951134,0.016386319983954654,0.017792787494457857]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000632890903514152,0.00046234522795960764,0.0002577046888364255],"end_effector_yaw_offset_degrees":0.0035995846157479416},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010040658998869017,8.507260739352897e-05,0.0016610169339240075],"end_effector_yaw_offset_degrees":0.3326852559850635},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017335804617601997,-0.001285683210696313,0.0018606572317069687],"end_effector_yaw_offset_degrees":-0.09256124141107991},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010415213730554191,-0.000979775189652945,-0.00011442490414083437],"end_effector_yaw_offset_degrees":-0.6521358957458567},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0004995465104752407,0.001031477659924382,0.001142736568265374],"end_effector_yaw_offset_degrees":0.6292410881772734},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0010389136333385958,0.001309034970451727,-0.0008453875004058747],"end_effector_yaw_offset_degrees":0.600525109545917}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004966025523004823,-0.0024500330437463693],"position_m":[0.17476602552300483,-0.10875003304374638,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004759648636754411,-0.0015919672791408945],"position_m":[0.2062403513632456,-0.3696919672791409,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006584615068505103,0.0018180738088708868],"position_m":[0.2895415384931495,0.3205180738088709,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006022026571168961,0.002025049102086056],"position_m":[0.3541022026571169,0.11712504910208604,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7026bd5265d25b5cc1017c6c004dde5933709928b3d2365de6bf125baf1b8e6f","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_471/tex_ceiling_textures_9281/tex_floor_textures_6110/tex_table_textures_3917/tex_wall_textures_8207","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3479729563784011776,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3479729563784011776,"visual_seed":3479729563784011776,"scene_id":"lab_003","finished_at":"2026-09-08T13:29:42"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T13:29:49","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.5714807453506252,-0.6632306828283101,0.71338606911949],"aabb_xy":[[-0.5787419929210327,-0.6760176930918197],[-0.5642194977802177,-0.6504436725648007]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[-0.05586207817235256,0.5295913606416391,0.71338606911949],"aabb_xy":[[-0.06594378525092603,0.4495913627495244],[-0.045780371093779075,0.6095913585337537]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.2869309949052733,-1.8247785672987085,0.71338606911949],"aabb_xy":[[-0.37693099349974324,-1.8410291536121295],[-0.19693099631080335,-1.8085279809852874]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.6244329032877145,-2.3486642489233773,0.71338606911949],"aabb_xy":[[0.6041486005643156,-2.3689468740660855],[0.6447172060111132,-2.3283816237806674]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.5357573290834781,0.8488099205352837,0.71338606911949],"aabb_xy":[[0.4757573274405562,0.7968097712433395],[0.5957573307263999,0.9008100698272279]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.43993868202811104,1.32668000641522,0.71338606911949],"aabb_xy":[[-0.5039386793137597,1.285173287462376],[-0.3759386847424624,1.368186725368064]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.34317974406273044,-1.4224247778977386,0.71338606911949],"aabb_xy":[[0.33376226949286764,-1.4318409550354576],[0.35259721863259313,-1.4130086007600196]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.24169277776491171,-0.18542502251786308,0.71338606911949],"aabb_xy":[[-0.25919277802424834,-0.19951656470663573],[-0.2241927775055751,-0.17133348032909046]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.09302398615735352,1.1081151965906852,0.71338606911949],"aabb_xy":[[-0.11190836992586373,1.0892292718103325],[-0.07413960238884332,1.127001121371038]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[0.061466318715753476,-2.0432244469928293,0.71338606911949],"aabb_xy":[[0.04018831057228122,-2.108224449318902],[0.08274432685922573,-1.9782244446667558]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.4355041925223244,-2.137202925246428,0.71338606911949],"aabb_xy":[[0.38053047048599153,-2.192202924810662],[0.4904779145586573,-2.0822029256821954]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.14625607044882727,0.5251539171415307,0.71338606911949],"aabb_xy":[[-0.18125606964164548,0.514186871143868],[-0.11125607125600895,0.5361209631391932]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.47695187340489853,0.49342091599737614,0.71338606911949],"aabb_xy":[[0.3969518701470556,0.4134244082053921],[0.5569518766627415,0.5734174237893601]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.19313474587575707,-0.8798417490363823,0.71338606911949],"aabb_xy":[[0.18298173032160767,-0.9159112906091226],[0.2032877614299064,-0.8437722074636419]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[-0.5524634223208418,0.38195680821971933,0.71338606911949],"aabb_xy":[[-0.6100938912081125,0.32195680929300863],[-0.4948329534335708,0.44195680714642976]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[-0.11488315660491821,1.7389744384033023,0.71338606911949],"aabb_xy":[[-0.13179388904126,1.7255022328106873],[-0.09797242416857643,1.7524466439959165]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[-0.2143412488438649,0.16102698510852598,0.71338606911949],"aabb_xy":[[-0.27834124743043737,0.11402002170901729],[-0.15034125025729245,0.20803394850803472]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.015594258382900739,1.8081151120160217,0.71338606911949],"aabb_xy":[[-0.03115002779316601,1.7925646787716147],[-3.848897263547362e-05,1.8236655452604291]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.5856451140408295,-1.3872354705351462,0.71338606911949],"aabb_xy":[[-0.6496451157188269,-1.4357528620144602],[-0.5216451123628322,-1.3387180790558317]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.4098192754208674,-1.7162940728672678,0.71338606911949],"aabb_xy":[[-0.42297052139215674,-1.7412940726239545],[-0.396668029449578,-1.6912940731105814]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.3076941883861719,-0.8419497030535033,0.71338606911949],"aabb_xy":[[0.3013820888498335,-0.8477166423067222],[0.31400628792251034,-0.8361827638002846]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.030547575657736914,-2.287426289447987,0.71338606911949],"aabb_xy":[[-0.019445536451454973,-2.3374262901221825],[0.08054068776692881,-2.2374262887737912]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.33228257321785626,1.5341574300335892,0.71338606911949],"aabb_xy":[[0.26728257533620847,1.4830337663270485],[0.3972825710995041,1.5852810937401305]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.005373180672209599,0.7545158125898315,0.71338606911949],"aabb_xy":[[-0.013416540598164772,0.6695158114944652],[0.002670179253745575,0.839515813685198]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[0.5813312090129188,1.5583765241016345,0.71338606911949],"aabb_xy":[[0.5313312076520315,1.508398619526219],[0.6313312103738059,1.6083544286770501]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.4060843338480067,-0.22329688930231395,0.71338606911949],"aabb_xy":[[-0.49608433618202574,-0.3007792438874266],[-0.3160843315139876,-0.14581453471720132]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[-0.6433446376403573,-2.467130728055532,0.71338606911949],"aabb_xy":[[-0.6520425999310726,-2.479255702363007],[-0.634646675349642,-2.4550057537480576]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[-0.07414677794257263,-0.5991944140485266,0.71338606911949],"aabb_xy":[[-0.07899037270380262,-0.6040460665275108],[-0.06930318318134267,-0.5943427615695426]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_28","position":[-0.06338183446341039,-1.0261597259238715,0.71338606911949],"aabb_xy":[[-0.14338183147765837,-1.0462942775972826],[0.01661816255083759,-1.00602517425046]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_29","position":[0.022612285569266977,1.6410238482717605,0.71338606911949],"aabb_xy":[[0.01651765768114866,1.6324544537200916],[0.0287069134573853,1.649593242823429]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_30","position":[-0.6074571212179521,-2.1450339834256797,0.71338606911949],"aabb_xy":[[-0.6714571176452739,-2.192203607247776],[-0.5434571247906301,-2.0978643596035833]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_31","position":[-0.015408526830989366,-1.4662700711084127,0.71338606911949],"aabb_xy":[[-0.08040852498690843,-1.4925663156583249],[0.04959147132492969,-1.4399738265585005]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_32","position":[-0.5699354735456557,1.0802252007639375,0.71338606911949],"aabb_xy":[[-0.6249286848827924,1.0252252004251439],[-0.5149422622085189,1.135225201102731]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_33","position":[0.5676080290773626,-1.5547500072163203,0.71338606911949],"aabb_xy":[[0.5517235358120375,-1.5691029475151443],[0.5834925223426878,-1.5403970669174962]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_34","position":[-0.15853526698456488,-2.142598628191561,0.71338606911949],"aabb_xy":[[-0.18893337808370844,-2.17300553019323],[-0.12813715588542127,-2.112191726189891]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.646998221228074,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6150.png","name":"6150"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6150.png","name":"6150"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5104.png","name":"5104"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6641.png","name":"6641"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7407.png","name":"7407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3458.png","name":"3458"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":517.996488507452,"rotation_z_degrees":322.2189386690659,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013213264360832252,0.00270294879885603,0.010072963821402419]},{"name":"camera_2","offset_m":[0.0004986431669856649,-0.015086981468784746,0.0019827019432571147]},{"name":"camera_3","offset_m":[0.005007796068278378,0.006952945212807191,0.01758895659654121]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.384479796018398e-05,0.0010664494893928384,-0.001836507684320646],"end_effector_yaw_offset_degrees":0.5612940731395042},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010691737358056214,0.0008135086109313863,-0.0012671410389964092],"end_effector_yaw_offset_degrees":0.9056222307158512},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005045789319182543,0.000756491100482426,-0.000439116504026103],"end_effector_yaw_offset_degrees":-0.7193018199803549},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001221293905589274,0.0008600458615804405,0.0001325267839214499],"end_effector_yaw_offset_degrees":0.5275293995269488},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009231683227824137,0.001195844089329474,-0.0005806636909123464],"end_effector_yaw_offset_degrees":0.10956943832227783},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00031181584843430784,0.0012324760586119492,0.0014407083318280743],"end_effector_yaw_offset_degrees":-0.46304168385779554}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003220909153090982,0.00022100032081952097],"position_m":[0.16657909084690903,-0.10607899967918048,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032404963574144477,0.004687005789859182],"position_m":[0.20775950364258555,-0.3634129942101408,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0020712545751714554,0.001390178677388062],"position_m":[0.29227125457517145,0.32009017867738804,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003664696771157141,-0.003827207819963606],"position_m":[0.3498353032288428,0.11127279218003638,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"78ca891f13fcf388f7d116bb53696f3fc1f6f724b7e06a3094c07bbc8c31980d","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6150/tex_ceiling_textures_3458/tex_floor_textures_7407/tex_table_textures_5104/tex_wall_textures_6641","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":463051853595528506,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":463051853595528506,"visual_seed":463051853595528506,"scene_id":"lab_003","finished_at":"2026-09-08T13:37:51"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T13:37:58","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[-0.19755687237210395,-1.113070565430747,0.71338606911949],"aabb_xy":[[-0.20240046713333396,-1.117922217909731],[-0.192713277610874,-1.1082189129517628]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.35462344652493816,1.0985339873216233,0.71338606911949],"aabb_xy":[[-0.372201748713885,1.0809594977475183],[-0.3370451443359913,1.1161084768957283]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.38093644655760445,-1.8049028562910292,0.71338606911949],"aabb_xy":[[-0.39028345413989973,-1.8192064785086732],[-0.37158943897530927,-1.7905992340733852]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.604970357929962,-1.99920137967165,0.71338606911949],"aabb_xy":[[-0.6549703589490973,-2.0356675954094783],[-0.5549703569108267,-1.9627351639338222]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[0.083274044566231,-2.2433188356756246,0.71338606911949],"aabb_xy":[[0.07385656999636823,-2.2527350128133437],[0.09269151913609373,-2.2339026585379056]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.3873240959955444,-1.543953290788115,0.71338606911949],"aabb_xy":[[0.357332433261674,-1.5739532901249154],[0.4173157587294147,-1.5139532914513143]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.6690739372368306,-0.6354203792006445,0.71338606911949],"aabb_xy":[[0.65978031899968,-0.6729203776887783],[0.6783675554739812,-0.5979203807125105]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[0.6983551234220666,1.3304599042553344,0.71338606911949],"aabb_xy":[[0.6808551899880833,1.3129599043350997],[0.71585505685605,1.3479599041755688]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.26382695997230426,1.3375823051622349,0.71338606911949],"aabb_xy":[[-0.32782696326201227,1.294247386158317],[-0.19982695668259606,1.3809172241661523]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[0.17778820006634444,-1.5696797721137492,0.71338606911949],"aabb_xy":[[0.15278820079438216,-1.5860251357099115],[0.20278819933830672,-1.5533344085175869]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.3511699756854721,-0.5290885054980046,0.71338606911949],"aabb_xy":[[-0.36194294960683987,-0.5640885037170436],[-0.3403970017641043,-0.4940885072789656]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[0.3055993733088185,1.5493015442981126,0.71338606911949],"aabb_xy":[[0.29215284667477515,1.535831692645021],[0.3190458999428618,1.5627713959512037]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.22122626186452854,-1.939362398671432,0.71338606911949],"aabb_xy":[[-0.3012262621381355,-2.0123119464971486],[-0.14122626159092155,-1.8664128508457152]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.3688854367977281,0.41444290521507066,0.71338606911949],"aabb_xy":[[0.3513854365526787,0.3969431173755038],[0.38638543704277745,0.4319426930546375]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.3489592476538914,-0.8353203347523721,0.71338606911949],"aabb_xy":[[-0.3864592491695231,-0.8465471077685172],[-0.3114592461382597,-0.824093561736227]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.07159405562967003,1.2658094325903422,0.71338606911949],"aabb_xy":[[-0.008405947628172927,1.1858129247983582],[0.15159405888751298,1.3458059403823261]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.5777605566174466,0.019083216422451255,0.71338606911949],"aabb_xy":[[-0.5924039621714796,0.004424496765666974],[-0.5631171510634136,0.033741936079235535]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.36798223240083416,0.8373020634875177,0.71338606911949],"aabb_xy":[[0.30298222976304073,0.7858224647880707],[0.4329822350386277,0.8887816621869646]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.295391144194876,-2.3948589374308775,0.71338606911949],"aabb_xy":[[0.21539114203211351,-2.474814121057021],[0.3753911463576385,-2.314903753804734]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.5114123383281293,-1.9703367005589696,0.71338606911949],"aabb_xy":[[0.44641233977105654,-2.0000892339728518],[0.5764123368852022,-1.9405841671450867]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.19663178649780932,1.669881581273994,0.71338606911949],"aabb_xy":[[-0.2803540119978918,1.579881577739298],[-0.11290956099772684,1.75988158480869]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.5146219659245492,-0.696636784338655,0.71338606911949],"aabb_xy":[[0.4894011290647094,-0.7218605351915416],[0.5398428027843887,-0.6714130334857681]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.4022109800961356,1.6509431987029353,0.71338606911949],"aabb_xy":[[-0.4081775190368714,1.644982054043571],[-0.3962444411553998,1.6569043433622992]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.528176901735563,-1.1854525773583129,0.71338606911949],"aabb_xy":[[-0.5456769010136499,-1.2027906774246588],[-0.5106769024574761,-1.168114477291967]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[-0.3238136466536248,-0.6891815029865098,0.71338606911949],"aabb_xy":[[-0.3318399172842508,-0.6979329979638625],[-0.3157873760229988,-0.6804300080091573]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[0.4210558542631708,-0.3474302940418297,0.71338606911949],"aabb_xy":[[0.3977740120650395,-0.4324302953390577],[0.44433769646130217,-0.26243029274460156]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[0.04824629903059907,-2.1016094547505975,0.71338606911949],"aabb_xy":[[-0.015753698255049582,-2.1431161737034414],[0.11224629631624772,-2.0601027357977535]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.616839497655433,-1.4184465310998537,0.71338606911949],"aabb_xy":[[-0.651839496848251,-1.4294135770975158],[-0.5818394984626145,-1.4074794851021908]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[0.6884638718578491,-0.11961003883439103,0.71338606911949],"aabb_xy":[[0.6771021372045629,-0.1309785052406791],[0.6998256065111352,-0.10824157242810294]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[-0.5472738322261307,0.22412678210346693,0.71338606911949],"aabb_xy":[[-0.6372738316445015,0.1907512852592772],[-0.4572738328077597,0.25750227894765665]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_30","position":[0.41953092410276627,-1.2518471442513737,0.71338606911949],"aabb_xy":[[0.33953092713972705,-1.328922785895147],[0.4995309210658054,-1.1747715026076]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_31","position":[-0.17185777318736328,-0.7331392293830272,0.71338606911949],"aabb_xy":[[-0.23585777553016485,-0.7780800806271597],[-0.10785777084456173,-0.6881983781388947]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_32","position":[-0.009605170214061709,-0.7032336814425884,0.71338606911949],"aabb_xy":[[-0.04338072940475468,-0.7172721766557534],[0.024170388976631263,-0.6891951862294233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6442912367685684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2342.png","name":"2342"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2342.png","name":"2342"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4847.png","name":"4847"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2997.png","name":"2997"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/215.png","name":"215"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2412.png","name":"2412"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.5655823922147,"rotation_z_degrees":117.64211768291908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007672133756179145,-0.006141851238335128,-0.01397493510769007]},{"name":"camera_2","offset_m":[0.011885387779572484,-0.018544378973848225,-0.012296831206103006]},{"name":"camera_3","offset_m":[-0.018465140192387885,-0.014764801503856763,-0.0055774705820898565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000639472621498769,-0.0003503745475740563,-0.001636870065946755],"end_effector_yaw_offset_degrees":0.7218360721373007},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013528812841530713,0.00018769230510518216,0.0004736771943277935],"end_effector_yaw_offset_degrees":-0.3668819171062023},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012212640287134657,-0.00044060905742085324,-0.0014379395773746599],"end_effector_yaw_offset_degrees":-0.1867170598463015},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017042381334813864,0.0010177962956588234,-0.0008675389828870128],"end_effector_yaw_offset_degrees":-0.8474504394054261},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018382679751888925,-0.0002926816113952252,-0.00097721979232097],"end_effector_yaw_offset_degrees":-0.8961118582129688},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015905431615822448,0.0007005149489863181,0.0016278570963191934],"end_effector_yaw_offset_degrees":-0.10263365915827882}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003492352681238797,-0.00040745972997118136],"position_m":[0.1701492352681239,-0.10670745972997119,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018902359613396434,0.004924955491619803],"position_m":[0.20910976403866036,-0.3631750445083802,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0019496858803821748,-0.004145189788863737],"position_m":[0.2882503141196178,0.31455481021113624,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025442452711210073,0.0009812769662819257],"position_m":[0.35095575472887897,0.11608127696628193,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"10d42a71fddd5a51d1d5d4740d1504e1bff8c11b2d96e2e6bb0196a06df69d91","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2342/tex_ceiling_textures_2412/tex_floor_textures_215/tex_table_textures_4847/tex_wall_textures_2997","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3130556292862062116,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3130556292862062116,"visual_seed":3130556292862062116,"scene_id":"lab_003","finished_at":"2026-09-08T13:45:45"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T13:45:52","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.3603997992431457,-0.79372793555381,0.71338606911949],"aabb_xy":[[-0.4031665061225659,-0.8577279389756126],[-0.3176330923637255,-0.7297279321320077]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[0.04981517634454913,1.3782421889771062,0.71338606911949],"aabb_xy":[[0.01984761943472347,1.3482421886792204],[0.0797827332543748,1.408242189274992]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.38632528406040234,-1.9712600239538087,0.71338606911949],"aabb_xy":[[0.3775440569131662,-1.9800397712423392],[0.3951065112076387,-1.9624802766652787]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.5552077253300964,-1.0668199003091412,0.71338606911949],"aabb_xy":[[0.5052127143706445,-1.1168198993447331],[0.6052027362895486,-1.0168199012735497]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.21060816643449376,-1.4874240005993493,0.71338606911949],"aabb_xy":[[-0.2491538592596948,-1.525969771655538],[-0.17206247360929272,-1.4488782295431606]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.4199249565629267,0.34890900661521806,0.71338606911949],"aabb_xy":[[-0.442424956573075,0.3348127869756148],[-0.39742495655277843,0.36300522625482134]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.24454033283284515,-1.5915599576493549,0.71338606911949],"aabb_xy":[[-0.26121746882594066,-1.6082598816232854],[-0.22786319683974965,-1.5748600336754248]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.16465027265309362,-1.8912292445619485,0.71338606911949],"aabb_xy":[[-0.20198154917833624,-1.9258822993568008],[-0.127318996127851,-1.8565761897670963]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.244359320777373,1.6338272581628455,0.71338606911949],"aabb_xy":[[-0.2786562317951137,1.599530371952904],[-0.2100624097596324,1.6681241443727866]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.4624259675524514,-2.0117133310213378,0.71338606911949],"aabb_xy":[[-0.48010159814104975,-2.02939354730074],[-0.4447503369638531,-1.9940331147419348]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[-0.2824019729578723,1.4250409899156131,0.71338606911949],"aabb_xy":[[-0.323650783987787,1.3700409904033954],[-0.24115316192795758,1.4800409894278304]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.13199705277564644,1.770176930647374,0.71338606911949],"aabb_xy":[[0.0770038414385097,1.7151769303085804],[0.18699026411278322,1.8251769309861676]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.46500600823441157,-2.577403728883691,0.71338606911949],"aabb_xy":[[-0.4747619977435854,-2.587166262942925],[-0.4552500187252376,-2.567641194824456]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.6047358765009514,-0.3151761377173554,0.71338606911949],"aabb_xy":[[-0.6088717328336516,-0.3526761371617124],[-0.6006000201682512,-0.2776761382729984]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.14455913951186017,-1.7779851551861388,0.71338606911949],"aabb_xy":[[0.09456430658391854,-1.8279851540813823],[0.19455397243980174,-1.7279851562908952]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.5413515495835937,0.9123730056986172,0.71338606911949],"aabb_xy":[[-0.5638515500956341,0.8898811473332188],[-0.518851549071553,0.9348648640640155]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.37794630319010647,-1.0096701252028653,0.71338606911949],"aabb_xy":[[0.3329463017238777,-1.054669982064346],[0.4229463046563354,-0.9646702683413846]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.3870758761611566,-2.5307989130615374,0.71338606911949],"aabb_xy":[[0.36516719402180553,-2.552699579881628],[0.4089845583005076,-2.5088982462414466]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.05952938044688738,-1.3858036243514105,0.71338606911949],"aabb_xy":[[-0.09637992838387499,-1.4233036251744442],[-0.02267883250989977,-1.3483036235283767]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[-0.5978554530347386,-0.15039666999253676,0.71338606911949],"aabb_xy":[[-0.6778554510155236,-0.1579982109543887],[-0.5178554550539535,-0.1427951290306848]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.12481157175841673,0.7366891873465922,0.71338606911949],"aabb_xy":[[-0.16980415847686714,0.6916891880721433],[-0.0798189850399663,0.7816891866210408]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.4948716577254355,1.3521719350912864,0.71338606911949],"aabb_xy":[[0.44487238255699935,1.3021719338153392],[0.5448709328938717,1.4021719363672336]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[-0.579939505719638,-1.6714122631715114,0.71338606911949],"aabb_xy":[[-0.6349349835402973,-1.726412264605418],[-0.5249440278989785,-1.6164122617376042]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[0.45108610526788007,0.07495285454589773,0.71338606911949],"aabb_xy":[[0.43358610598979314,0.05761475447955178],[0.4685861045459669,0.09229095461224368]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[0.38079690276993583,0.9392150942617787,0.71338606911949],"aabb_xy":[[0.3595188946264636,0.8742150919357056],[0.4020749109134081,1.0042150965878518]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_25","position":[-0.2945315362111557,1.023778003440038,0.71338606911949],"aabb_xy":[[-0.3195315357628942,1.0136355195749034],[-0.26953153665941726,1.0339204873051728]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[0.6483332066103655,-2.047618810754155,0.71338606911949],"aabb_xy":[[0.5843332045606336,-2.087713293843463],[0.7123332086600976,-2.007524327664847]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.16889053793816866,-1.1504703929819136,0.71338606911949],"aabb_xy":[[0.15378823647715054,-1.1655719146129753],[0.18399283939918673,-1.1353688713508514]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_28","position":[-0.3060777293255155,-0.1713084729664751,0.71338606911949],"aabb_xy":[[-0.3700777326152236,-0.2146433919703927],[-0.24207772603580738,-0.12797355396255747]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_29","position":[0.5653698176941324,1.6414225623836516,0.71338606911949],"aabb_xy":[[0.5401489808342926,1.6161988115307646],[0.590590654553972,1.6666463132365381]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[0.24183315216125256,1.3664657505489353,0.71338606911949],"aabb_xy":[[0.19666183431308362,1.3024657534043969],[0.28700447000942153,1.4304657476934737]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.648794028745548,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1824.png","name":"1824"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1824.png","name":"1824"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5835.png","name":"5835"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2738.png","name":"2738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2866.png","name":"2866"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/398.png","name":"398"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":673.67014303257,"rotation_z_degrees":281.646178643488,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007442421013233518,-0.013228717961811638,0.019504539193526117]},{"name":"camera_2","offset_m":[-0.012394740403530604,0.0008440458509656884,0.00043960854584064457]},{"name":"camera_3","offset_m":[-0.0046897604690964104,0.012861032047641215,0.019963715524124976]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005778813341356171,-0.0004944162248294078,-0.0009388295221901234],"end_effector_yaw_offset_degrees":0.5433009277649712},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018758672138801864,0.0015398497425306032,-0.0014882556336041706],"end_effector_yaw_offset_degrees":0.8048611889848278},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001356043929657794,-0.0012512450542537276,-0.001298004439243505],"end_effector_yaw_offset_degrees":0.4707313119891334},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0002611807091746684,-0.0007778172251755068,-0.0002264722725449607],"end_effector_yaw_offset_degrees":-0.39011258970248575},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017769840785274678,0.00013318171629408092,0.0007419745272242229],"end_effector_yaw_offset_degrees":0.7074778570478804},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001507205170713912,-3.179656654765618e-05,0.0007541181546173656],"end_effector_yaw_offset_degrees":-0.5263058735465043}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004565512919056019,-0.0030858946443372785],"position_m":[0.17436551291905603,-0.10938589464433729,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017584532819395135,0.0022834121664985895],"position_m":[0.2127584532819395,-0.3658165878335014,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0026303341837466475,-0.0036033109135753336],"position_m":[0.2875696658162534,0.31509668908642463,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011562674622450113,0.003489906578533929],"position_m":[0.354656267462245,0.11858990657853392,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"092188432067549e81e107943d2b3fcc5fcb36056207fca1f9c9b28ea06df8fe","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1824/tex_ceiling_textures_398/tex_floor_textures_2866/tex_table_textures_5835/tex_wall_textures_2738","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4166555573217337986,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4166555573217337986,"visual_seed":4166555573217337986,"scene_id":"lab_003","finished_at":"2026-09-08T13:53:38"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T13:53:46","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.345999895609449,-0.5171525809958597,0.71338606911949],"aabb_xy":[[0.2809998946523218,-0.5691007929295653],[0.4109998965665762,-0.4652043690621542]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[-0.10513838586094859,0.6267544874199156,0.71338606911949],"aabb_xy":[[-0.14246966238619121,0.5921014326250634],[-0.06780710933570597,0.6614075422147679]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.49811372751841687,1.5407524211025794,0.71338606911949],"aabb_xy":[[-0.5781137254992019,1.5331508801407272],[-0.4181137295376318,1.548353962064431]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.4392537805153749,-0.35716873432270724,0.71338606911949],"aabb_xy":[[0.35925377725136176,-0.3707287666316206],[0.519253783779388,-0.3436087020137939]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.594269424698236,0.9238521389205601,0.71338606911949],"aabb_xy":[[-0.6642694273348223,0.9037472739246944],[-0.5242694220616496,0.9439570039164255]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.0081066889770941,1.4265606571290372,0.71338606911949],"aabb_xy":[[-0.011005618380884763,1.4074258782517952],[0.027218996335072965,1.4456954360062793]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.37472067962478683,0.3977410894859772,0.71338606911949],"aabb_xy":[[0.33347186859487205,0.3427410899737597],[0.4159694906547015,0.4527410889981946]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.653979310706337,0.5030170920311412,0.71338606911949],"aabb_xy":[[0.6405327840722935,0.48954724037805],[0.6674258373403802,0.5164869436842324]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.4770894030377506,-2.1167512029325284,0.71338606911949],"aabb_xy":[[0.4271051673295733,-2.166751201746024],[0.5270736387459278,-2.066751204119033]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.4741813224619229,-1.6333025714220963,0.71338606911949],"aabb_xy":[[0.45668132221687346,-1.650802359261663],[0.49168132270697223,-1.6158027835825293]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.043375301750953055,-1.4462373008440168,0.71338606911949],"aabb_xy":[[0.032013567097666895,-1.4576057672503047],[0.054737036404239214,-1.4348688344377285]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.654223724449384,-0.741877906472636,0.71338606911949],"aabb_xy":[[-0.6630049515966204,-0.7506576537611662],[-0.6454424973021479,-0.7330981591841058]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.2236767210962593,-2.0256701084656807,0.71338606911949],"aabb_xy":[[-0.2349217766668771,-2.0369119061897756],[-0.21243166552564144,-2.014428310741585]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.5209807715005711,0.44929520695181324,0.71338606911949],"aabb_xy":[[-0.5568942759255606,0.41338169873505864],[-0.4850672670755813,0.48520871516856784]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.34174314643967274,0.8925596821071204,0.71338606911949],"aabb_xy":[[0.3336154582463596,0.8836460736964129],[0.349870834632986,0.9014732905178282]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.5949213860690427,-1.1611971234770164,0.71338606911949],"aabb_xy":[[-0.6235707184294587,-1.189842682754092],[-0.5662720537086262,-1.1325515641999404]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[0.23372298607164177,1.1173316694827822,0.71338606911949],"aabb_xy":[[0.2101378626077469,1.0523316672373506],[0.2573081095355366,1.1823316717282142]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.42468543006112336,-0.1052766355090422,0.71338606911949],"aabb_xy":[[-0.4352529097192223,-0.11582166562205076],[-0.4141179504030243,-0.09473160539603365]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.2411992625953538,1.1951772394587952,0.71338606911949],"aabb_xy":[[-0.3051992640033444,1.1433882879348702],[-0.1771992611873631,1.2469661909827197]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[-0.5233844123765438,0.6115096475122432,0.71338606911949],"aabb_xy":[[-0.5409311072926627,0.574009645947992],[-0.5058377174604248,0.6490096490764945]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.33780131080682474,-0.6347181893007807,0.71338606911949],"aabb_xy":[[-0.3753013109124177,-0.6415403511537617],[-0.3003013107012318,-0.6278960274477995]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.06414181383204931,-2.1272988764584375,0.71338606911949],"aabb_xy":[[-0.12814181410602754,-2.1773649766557255],[-0.00014181355807107998,-2.0772327762611495]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.075077652352736,-1.2825274140824072,0.71338606911949],"aabb_xy":[[-0.1550776497563294,-1.36251998528059],[0.004922345050857423,-1.2025348428842244]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.021631277502045854,-2.0090937945821885,0.71338606911949],"aabb_xy":[[-0.04051566127055606,-2.0279797193625413],[-0.0027468937335356526,-1.9902078698018357]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[0.07975769179450853,-1.5818914725260227,0.71338606911949],"aabb_xy":[[0.06232697671550202,-1.5991635871898735],[0.09718840687351503,-1.5646193578621719]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_25","position":[0.5061588315256538,1.0149642972010824,0.71338606911949],"aabb_xy":[[0.49853456343547564,1.007331073664539],[0.5137830996158321,1.0225975207376263]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[0.3176902188183366,1.5381706451692483,0.71338606911949],"aabb_xy":[[0.23769639523977837,1.4581706425764067],[0.3976840423968948,1.6181706477620899]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[0.25386309815134955,-2.1098701029199844,0.71338606911949],"aabb_xy":[[0.18986309580854802,-2.1548109541641165],[0.3178631004941511,-2.0649292516758515]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_28","position":[0.5950219952811808,0.30680695412917336,0.71338606911949],"aabb_xy":[[0.5890554563404451,0.3008458094698093],[0.6009885342219166,0.3127680987885374]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[-0.5898303442801085,-0.6730412456817065,0.71338606911949],"aabb_xy":[[-0.6097213841604489,-0.6856970569664035],[-0.5699393043997684,-0.6603854343970098]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[0.434703937103027,-1.249727843789276,0.71338606911949],"aabb_xy":[[0.4122039370928788,-1.2638240634288793],[0.45720393711317536,-1.2356316241496728]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6543297890488645,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1598.png","name":"1598"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1598.png","name":"1598"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5626.png","name":"5626"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3902.png","name":"3902"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2996.png","name":"2996"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4597.png","name":"4597"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":712.1863301822345,"rotation_z_degrees":299.6331000357811,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006281628577939586,-0.001022219399970773,-0.014956695988254776]},{"name":"camera_2","offset_m":[0.007886192391702553,-0.01989260946538865,0.017844703563442723]},{"name":"camera_3","offset_m":[-0.012438667647412839,-0.014834019377859513,0.009587253019282569]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000977317726930837,-0.0019192947871857458,0.0013848486719199205],"end_effector_yaw_offset_degrees":0.48365467718517685},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010285605897405708,-0.00017760306399455046,-0.0018314281480831163],"end_effector_yaw_offset_degrees":0.4402787548447964},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009375564324362608,0.0005250516468205987,0.0019410259032764518],"end_effector_yaw_offset_degrees":0.7398339939003786},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015357055109315007,-0.0014054341673900889,0.00038317307771652126],"end_effector_yaw_offset_degrees":-0.5296161808435396},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005956702844039717,-0.0013609949897796939,-0.0015979207967461075],"end_effector_yaw_offset_degrees":0.9423623236268035},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017954795740049159,0.0004313485881546229,0.0001333990598154206],"end_effector_yaw_offset_degrees":0.2357806715167856}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008017393657200559,0.004878422519447337],"position_m":[0.17060173936572007,-0.10142157748055267,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004691111460411619,-0.00322748282742661],"position_m":[0.21569111146041162,-0.3713274828274266,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004550012275440554,-0.001170382239958685],"position_m":[0.28564998772455946,0.3175296177600413,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033092931581940365,0.0018931092758980375],"position_m":[0.35680929315819404,0.11699310927589804,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4bcfa889bb32f4c37b0006b9d32dd8cfb1e2072290dd38ab73973b6ebdbb2bab","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1598/tex_ceiling_textures_4597/tex_floor_textures_2996/tex_table_textures_5626/tex_wall_textures_3902","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7559848710104770027,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7559848710104770027,"visual_seed":7559848710104770027,"scene_id":"lab_003","finished_at":"2026-09-08T14:01:55"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T14:02:02","dimensions":{"distractor":{"count":28,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.5443129165848062,-1.4329007777585843,0.71338606911949],"aabb_xy":[[0.4543129142507871,-1.510383132343697],[0.6343129189188252,-1.3554184231734716]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.6387026010343222,-1.9701200135655481,0.71338606911949],"aabb_xy":[[0.619818217265812,-1.989005938345901],[0.6575869848028324,-1.9512340887851953]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.014333545743874465,1.1799464706485958,0.71338606911949],"aabb_xy":[[-0.03791866920776932,1.114946468403164],[0.009251577720020387,1.2449464728940276]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.4786208631664133,1.547789633113895,0.71338606911949],"aabb_xy":[[0.4666881288045852,1.5354074803060358],[0.49055359752824135,1.5601717859217545]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.40954769091039545,1.6766900261113267,0.71338606911949],"aabb_xy":[[-0.4229942175444388,1.6632201744582353],[-0.3961011642763521,1.690159877764418]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.5279261746335895,-1.4545812307584711,0.71338606911949],"aabb_xy":[[-0.5779254498020256,-1.5045812320344185],[-0.4779268994651533,-1.4045812294825242]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.4817149463211964,1.4983746300284095,0.71338606911949],"aabb_xy":[[-0.5067149455931585,1.4820292664322472],[-0.45671494704923404,1.5147199936245719]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.651069976998125,-1.6658693763256727,0.71338606911949],"aabb_xy":[[0.5870699747777179,-1.7102424604509607],[0.715069979218532,-1.6214962922003842]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.42862756773159183,0.3007302526532123,0.71338606911949],"aabb_xy":[[0.4244917113988916,0.2632302532088553],[0.43276342406429197,0.3382302520975693]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.5989912106247418,-0.9499986272638721,0.71338606911949],"aabb_xy":[[-0.678991207587781,-1.0270742689076455],[-0.5189912136617026,-0.8729229856200986]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.6091477536245908,-2.253873485969677,0.71338606911949],"aabb_xy":[[0.5716477538075572,-2.258511697280819],[0.6466477534416243,-2.249235274658535]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[0.42416434228758915,-2.094651857974914,0.71338606911949],"aabb_xy":[[0.3341643455519789,-2.147835321292208],[0.5141643390231994,-2.041468394657619]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.4872134142149025,-1.7067683603395287,0.71338606911949],"aabb_xy":[[0.4572458573050769,-1.7367683606374145],[0.5171809711247282,-1.676768360041643]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.05207534615213427,-1.1321800507972235,0.71338606911949],"aabb_xy":[[0.019613645270206797,-1.1623128829121259],[0.0845370470340617,-1.1020472186823207]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.4256335057329492,-0.5105962502986614,0.71338606911949],"aabb_xy":[[0.3911711583348073,-0.545090132696484],[0.4600958531310909,-0.47610236790083865]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.37860783986296626,1.3426553630729168,0.71338606911949],"aabb_xy":[[-0.38985289543358403,1.3314135653488213],[-0.36736278429234837,1.3538971607970118]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.0222226176019229,-1.4323987455687488,0.71338606911949],"aabb_xy":[[-0.04228102921516319,-1.4524638324779064],[-0.0021642059886826104,-1.4123336586595912]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.3124439731474955,1.6586870793905697,0.71338606911949],"aabb_xy":[[0.2874439732149776,1.6518044111696462],[0.3374439730800134,1.6655697476114928]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.5213609870024815,1.1125924738249662,0.71338606911949],"aabb_xy":[[-0.5713540991116733,1.0625924731507705],[-0.4713678748932896,1.1625924744991618]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.04037956883335392,-2.032317749526074,0.71338606911949],"aabb_xy":[[-0.03962042818089406,-2.0524523011994855],[0.1203795658476019,-2.0121831978526625]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.5719928073014083,0.1871200867847751,0.71338606911949],"aabb_xy":[[-0.6054719745624494,0.1536409734136681],[-0.5385136400403675,0.22059920015588214]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.12991723080120343,0.7571569753972014,0.71338606911949],"aabb_xy":[[0.0749249801656925,0.7021569736538886],[0.1849094814367144,0.8121569771405143]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[-0.07046685660778129,-2.43672171449242,0.71338606911949],"aabb_xy":[[-0.08635134987310644,-2.4510746547912436],[-0.05458236334245614,-2.422368774193596]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[-0.39442982931193654,-0.2357471546313077,0.71338606911949],"aabb_xy":[[-0.40245609994256254,-0.2444986496086603],[-0.38640355868131054,-0.22699565965395507]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[-0.5211787975500185,0.011221772503810179,0.71338606911949],"aabb_xy":[[-0.6111787940508903,-0.03468986991464806],[-0.4311788010491468,0.057133414922268415]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[0.16581176036339484,0.973296325724804,0.71338606911949],"aabb_xy":[[0.07581176094502393,0.9399208288806141],[0.25581175978176574,1.0066718225689937]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[0.3666079032466185,-0.9637792156154077,0.71338606911949],"aabb_xy":[[0.34206168762386774,-0.9940281121644448],[0.3911541188693692,-0.9335303190663706]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.19302289591113675,-2.0590405724216923,0.71338606911949],"aabb_xy":[[-0.2580228940670558,-2.0853368169716044],[-0.1280228977552177,-2.03274432787178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6538980980281446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4728.png","name":"4728"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4728.png","name":"4728"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/333.png","name":"333"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9668.png","name":"9668"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6277.png","name":"6277"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":542.447459886975,"rotation_z_degrees":47.02862844227967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015293761448583212,0.010720673274555007,-0.01944836415667426]},{"name":"camera_2","offset_m":[-0.005650433606019667,-0.01723494421175585,0.0018178690377589173]},{"name":"camera_3","offset_m":[-0.005129450166448439,-0.011007001519350372,-0.013203987653219973]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001995949462151492,3.2947181666759945e-05,-0.0015272421624092148],"end_effector_yaw_offset_degrees":-0.9152125690914223},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009083070352371135,0.0008476440179989134,-0.0015927650664713652],"end_effector_yaw_offset_degrees":-0.2334464284779343},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00186695176123943,-0.0001580799007447648,0.0010919341186364229],"end_effector_yaw_offset_degrees":0.24960162225529103},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015675849571660972,-0.0015058921676829953,0.0019299206766109685],"end_effector_yaw_offset_degrees":-0.2829130658779433},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008850238561142491,-0.0006710750528029213,-0.0014974751591476938],"end_effector_yaw_offset_degrees":-0.828120577256076},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0008314940124518483,-0.0006868195732086999,-0.00043854090674243424],"end_effector_yaw_offset_degrees":0.7144296484659469}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004185532215888281,-0.002340221969593058],"position_m":[0.17398553221588828,-0.10864022196959307,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036472387617983272,-0.003979336060186616],"position_m":[0.2146472387617983,-0.3720793360601866,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001871390748926294,-0.00486483735877245],"position_m":[0.2920713907489263,0.3138351626412275,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003090730463953293,-0.0005402158766060492],"position_m":[0.3565907304639533,0.11455978412339395,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"fb986f9b9e699865e0420ed3cc1a20fc711a2d073b3f6783b44155a42a5b1966","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4728/tex_ceiling_textures_6277/tex_floor_textures_7919/tex_table_textures_333/tex_wall_textures_9668","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6403003986721818278,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6403003986721818278,"visual_seed":6403003986721818278,"scene_id":"lab_003","finished_at":"2026-09-08T14:09:59"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T14:10:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.25477260074504915,1.5044295654854714,0.71338606911949],"aabb_xy":[[-0.2793188163677998,1.4741806689364345],[-0.2302263851222984,1.5346784620345086]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.322256396064171,0.9725110408169879,0.71338606911949],"aabb_xy":[[-0.3447563958780734,0.9680364244465073],[-0.2997563962502686,0.9769856571874688]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.5304104314307105,-0.6115189377327304,0.71338606911949],"aabb_xy":[[-0.5944104316911814,-0.6565277370856583],[-0.4664104311702398,-0.5665101383798022]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.4242381018543633,-1.1746295442630632,0.71338606911949],"aabb_xy":[[0.4110868558830739,-1.1996295440197497],[0.43738934782565264,-1.1496295445063767]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.4828152041758389,1.2572570349439838,0.71338606911949],"aabb_xy":[[0.39281520558136906,1.2410064486305628],[0.572815202770309,1.2735076212574048]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_5","position":[0.707359553024927,0.6953948219124002,0.71338606911949],"aabb_xy":[[0.6898595537468402,0.6780567218460543],[0.7248595523030139,0.7127329219787462]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.5199806503054154,-2.43592807686757,0.71338606911949],"aabb_xy":[[-0.557014759733475,-2.470305284201279],[-0.48294654087735556,-2.4015508695338603]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.5965230183525378,-1.0206800152621118,0.71338606911949],"aabb_xy":[[-0.6186955453291887,-1.0428556824182351],[-0.574350491375887,-0.9985043481059886]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.25056618376483314,-0.5631988655791491,0.71338606911949],"aabb_xy":[[-0.2682418143534314,-0.5808790818585519],[-0.23289055317623478,-0.5455186492997464]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.2667643747351427,-1.9617862821730694,0.71338606911949],"aabb_xy":[[0.18677055115658447,-2.041786284765911],[0.3467581983137009,-1.8817862795802278]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[0.09091295074030914,-2.4935892901600196,0.71338606911949],"aabb_xy":[[0.026912948827966812,-2.5495004394180305],[0.15491295265265148,-2.4376781409020096]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.4030052897225227,-0.17484465119495862,0.71338606911949],"aabb_xy":[[-0.467005287024869,-0.21921107816281535],[-0.3390052924201762,-0.13047822422710184]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[-0.2869305020053317,1.3871369440834878,0.71338606911949],"aabb_xy":[[-0.29455477009550995,1.3795037205469443],[-0.27930623391515347,1.3947701676200317]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.5410820057601283,-2.26868577254181,0.71338606911949],"aabb_xy":[[-0.6060820083979219,-2.320165371241257],[-0.47608200312233495,-2.217206173842363]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.12787821185120052,-1.3386477730599189,0.71338606911949],"aabb_xy":[[-0.135290667392589,-1.3444989834815468],[-0.12046575630981204,-1.332796562638291]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[-0.5012623548912697,0.200837034456955,0.71338606911949],"aabb_xy":[[-0.5187623551506064,0.18674549226818238],[-0.4837623546319332,0.21492857664572765]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.5670879453378423,-1.477190817314583,0.71338606911949],"aabb_xy":[[-0.5796906444749188,-1.4897862135394484],[-0.5544852462007659,-1.4645954210897174]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.07407180291393167,-2.356044964813611,0.71338606911949],"aabb_xy":[[-0.09657180243763906,-2.3785409122642314],[-0.05157180339022426,-2.33354901736299]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.48203252873376357,1.1765595177954133,0.71338606911949],"aabb_xy":[[-0.4908345840427362,1.168748191640484],[-0.4732304734247908,1.1843708439503422]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.5206712677876097,0.08934478915668853,0.71338606911949],"aabb_xy":[[0.5158276730263798,0.08449313667770442],[0.5255148625488397,0.09419644163567265]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.42964491114648395,-0.8245089260452743,0.71338606911949],"aabb_xy":[[0.3950538282924387,-0.8895089263303051],[0.4642359940005291,-0.759508925760243]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.3692109107075954,-1.5101320637516746,0.71338606911949],"aabb_xy":[[-0.4332109139973035,-1.5534669827555923],[-0.30521090741788726,-1.466797144747757]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.3647993479444783,1.7266709652210754,0.71338606911949],"aabb_xy":[[-0.44479934534807175,1.6466783940228926],[-0.2847993505408849,1.8066635364192583]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[0.03232235237969616,-1.4167669623651973,0.71338606911949],"aabb_xy":[[-0.04767764620762326,-1.496082564303358],[0.11232235096701558,-1.3374513604270362]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[-0.36561681894402026,-2.004989913262188,0.71338606911949],"aabb_xy":[[-0.42060906957953126,-2.059989915005501],[-0.3106245683085093,-1.9499899115188755]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[0.3434210454592479,-2.367739787499554,0.71338606911949],"aabb_xy":[[0.2939406242452891,-2.431739785412406],[0.3929014666732067,-2.3037397895867024]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[0.5880938652355245,-2.1458429145265945,0.71338606911949],"aabb_xy":[[0.5505938644435291,-2.1522107554847847],[0.62559386602752,-2.1394750735684043]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[0.5679850072639239,-2.3624797460955844,0.71338606911949],"aabb_xy":[[0.547700704540525,-2.3827623712382926],[0.5882693099873225,-2.3421971209528754]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[0.23258264271592943,-0.9716354401652163,0.71338606911949],"aabb_xy":[[0.2155725454258788,-0.9877699286634902],[0.2495927400059801,-0.9555009516669424]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_29","position":[-0.6716663459256188,-1.8155250434920056,0.71338606911949],"aabb_xy":[[-0.6891662793596021,-1.83302504341224],[-0.6541664124916353,-1.7980250435717708]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_30","position":[0.13944532284683886,-1.6744013658886505,0.71338606911949],"aabb_xy":[[0.0794453230002721,-1.731219988081689],[0.19944532269340567,-1.6175827436956116]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[0.2677875899651686,-2.1456666957303625,0.71338606911949],"aabb_xy":[[0.237389478866025,-2.1760735977320316],[0.29818570106431214,-2.1152597937286926]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_32","position":[0.4380143966280756,0.9282044019656954,0.71338606911949],"aabb_xy":[[0.42212990336275047,0.9138514616668713],[0.45389888989340077,0.9425573422645194]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_33","position":[-0.6294926835758881,0.6102633950324208,0.71338606911949],"aabb_xy":[[-0.6334065567713104,0.601514379625864],[-0.6255788103804655,0.6190124104389776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535056097103751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7846.png","name":"7846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7846.png","name":"7846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3641.png","name":"3641"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8436.png","name":"8436"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5416.png","name":"5416"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3521.png","name":"3521"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":743.8731546740178,"rotation_z_degrees":265.3672139322702,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017595663448155097,-0.0009001618228794313,-0.0036124362658239706]},{"name":"camera_2","offset_m":[-0.01741561331934011,0.012713517756276469,0.012541831537972895]},{"name":"camera_3","offset_m":[0.01395235493430538,-0.0050565904461555185,0.003016014664461112]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006091061426598272,0.0011461929331786757,0.0006792577214439137],"end_effector_yaw_offset_degrees":-0.38447873673776645},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017649057595825342,-0.0007038748196468881,-0.0016307775667176038],"end_effector_yaw_offset_degrees":0.5384016550130781},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017608411915356198,-2.813407970095154e-07,-0.0015852312677816945],"end_effector_yaw_offset_degrees":0.018277470590640776},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001508484486257232,0.0011474870480425894,-0.0017570538547868743],"end_effector_yaw_offset_degrees":-0.9645674967303333},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001009546912076488,-0.0018055482370418208,-0.0014769528906452222],"end_effector_yaw_offset_degrees":-0.8896365701225764},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0010267750435551289,0.001921544703276835,0.0013721722733869902],"end_effector_yaw_offset_degrees":0.6697905101019441}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038872172350007976,0.0024776355964689313],"position_m":[0.1659127827649992,-0.10382236440353107,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0047918799639513785,-0.0016264451871031128],"position_m":[0.21579187996395138,-0.36972644518710307,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0022260868325821885,0.0026420923578970076],"position_m":[0.2924260868325822,0.321342092357897,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003479003160998522,-1.191386736748741e-06],"position_m":[0.35002099683900145,0.11509880861326324,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"002aa1bf241c0138df5c7c2aa0bfc9b7af531315301da57fd404d8d6cbfe2329","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7846/tex_ceiling_textures_3521/tex_floor_textures_5416/tex_table_textures_3641/tex_wall_textures_8436","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3383498938900499238,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3383498938900499238,"visual_seed":3383498938900499238,"scene_id":"lab_003","finished_at":"2026-09-08T14:17:56"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T14:18:03","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.2900053253806595,-1.0775996764543578,0.71338606911949],"aabb_xy":[[0.2616756154321193,-1.082060418648075],[0.31833503532919977,-1.0731389342606408]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.2641989795760967,-2.444794944381014,0.71338606911949],"aabb_xy":[[0.18419898241652144,-2.456342545338831],[0.344198976735672,-2.4332473434231967]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.4925063156366176,-2.2576025436239946,0.71338606911949],"aabb_xy":[[0.4550063151392593,-2.261571227172113],[0.5300063161339759,-2.253633860075876]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.20144577894758375,0.7233935733434622,0.71338606911949],"aabb_xy":[[-0.23574268996532433,0.6890966871335208],[-0.16714886792984307,0.7576904595534034]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.6047935338522221,-2.506776604501286,0.71338606911949],"aabb_xy":[[0.5447935333443692,-2.5636233381872064],[0.664793534360075,-2.4499298708153643]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.31359737392469844,0.6456153467980918,0.71338606911949],"aabb_xy":[[0.30946151759199825,0.6081153473537348],[0.31773323025739864,0.6831153462424489]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.5658317670950342,0.1640043589214346,0.71338606911949],"aabb_xy":[[-0.6298317674725679,0.11425909207062235],[-0.5018317667175006,0.21374962577224688]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[0.413332724386569,-0.5527362483748939,0.71338606911949],"aabb_xy":[[0.3683401376681185,-0.5977362476493426],[0.45832531110501934,-0.5077362491004451]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.37923623868257433,-2.105332157531686,0.71338606911949],"aabb_xy":[[-0.4342362383043202,-2.1603158503191593],[-0.3242362390608285,-2.050348464744214]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[-0.3407963874849949,-0.5423940250843633,0.71338606911949],"aabb_xy":[[-0.4257963861770696,-0.5743798884792422],[-0.2557963887929203,-0.5104081616894844]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.21036126418379075,-1.2830012689407062,0.71338606911949],"aabb_xy":[[-0.27436126148613715,-1.327367695908563],[-0.14636126688144432,-1.2386348419728495]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[-0.13463470282812884,-2.475062569673399,0.71338606911949],"aabb_xy":[[-0.19963470546592232,-2.526542168372846],[-0.06963470019033535,-2.423582970973952]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_12","position":[0.11996281389079855,1.138234227520699,0.71338606911949],"aabb_xy":[[0.08550033587771078,1.131570550337776],[0.15442529190388632,1.1448979047036214]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.641264558076824,1.0638086276448595,0.71338606911949],"aabb_xy":[[-0.6587645583218733,1.0463088398052927],[-0.6237645578317745,1.0813084154844264]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.45700811049931933,1.5766613819390023,0.71338606911949],"aabb_xy":[[0.4394298083103724,1.5590868923648973],[0.4745864126882661,1.5942358715131073]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.33572514363049516,1.5140001547722224,0.71338606911949],"aabb_xy":[[-0.4194473691305776,1.4240001512375262],[-0.2520029181304127,1.6040001583069181]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.5466655011220767,0.40706225435583443,0.71338606911949],"aabb_xy":[[0.5131863338610358,0.3735831409847275],[0.5801446683831177,0.44054136772694147]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[0.19190886875022428,-1.5517134738434637,0.71338606911949],"aabb_xy":[[0.11190887178718512,-1.628789115487237],[0.27190886571326345,-1.47463783219969]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[0.4839685557646103,1.008112126338045,0.71338606911949],"aabb_xy":[[0.4501929965739173,0.99407363112488],[0.5177441149553033,1.02215062155121]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.4699487264822614,-1.4694185865885345,0.71338606911949],"aabb_xy":[[-0.5127154333616816,-1.533418590010337],[-0.4271820196028412,-1.405418583166732]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[-0.46820542335190773,-1.1557357692086143,0.71338606911949],"aabb_xy":[[-0.4747070598599123,-1.165503591234924],[-0.46170378684390306,-1.1459679471823045]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[0.07399071142779523,-1.09849351933201,0.71338606911949],"aabb_xy":[[0.04399904869392489,-1.1284935186688103],[0.10398237416166554,-1.0684935199952093]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[0.6988391092048918,-1.468517039664675,0.71338606911949],"aabb_xy":[[0.6869670261933907,-1.5535170393583253],[0.7107111922163929,-1.3835170399710246]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.2152467181598604,-2.1580834533211184,0.71338606911949],"aabb_xy":[[0.19737761040540489,-2.1719163612983294],[0.23311582591431587,-2.1442505453439074]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[0.6177502147090654,-1.2447483485669386,0.71338606911949],"aabb_xy":[[0.5755658005482348,-1.3087483488441498],[0.6599346288698963,-1.1807483482897274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.650614810063738,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1273.png","name":"1273"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1273.png","name":"1273"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1201.png","name":"1201"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1629.png","name":"1629"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3593.png","name":"3593"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5806.png","name":"5806"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":682.3393669979388,"rotation_z_degrees":283.7196483846069,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013380636122318584,-0.014812794550072379,-0.003534208901017126]},{"name":"camera_2","offset_m":[0.01884488495068497,0.004710942928559291,0.012494436430517803]},{"name":"camera_3","offset_m":[-0.018724827379718624,-0.014175202850165483,0.016443656809211494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009579487920668224,0.0012614042259566126,0.0012657110919494612],"end_effector_yaw_offset_degrees":-0.3632995122872962},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001922605583818616,0.0012561117141796276,-0.0002362289788392772],"end_effector_yaw_offset_degrees":-0.7361245909567538},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00197058687761089,-0.0008920919791765721,-0.0007787229916642788],"end_effector_yaw_offset_degrees":0.846464322110986},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001316205687475481,-0.0016658270368625288,-0.00012312603365433983],"end_effector_yaw_offset_degrees":0.22465335980798673},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001884523904088527,-0.0014368877860679425,0.0007444208194483715],"end_effector_yaw_offset_degrees":0.4321315386387712},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012724700083233424,0.00043413660822258634,-0.0016589588088950773],"end_effector_yaw_offset_degrees":0.41961689777694566}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00258121114051195,-0.001823561237616015],"position_m":[0.17238121114051197,-0.10812356123761602,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007629477996591357,-0.0023773686783359893],"position_m":[0.21176294779965912,-0.37047736867833597,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00216193106360149,0.002004094839227104],"position_m":[0.28803806893639855,0.32070409483922707,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033208195007291006,0.0026859881835503896],"position_m":[0.3501791804992709,0.11778598818355038,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"50bf535d3c2463fb1534be250437540dd55b0f3c7ad89cc187dc2b98f8045583","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1273/tex_ceiling_textures_5806/tex_floor_textures_3593/tex_table_textures_1201/tex_wall_textures_1629","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3417878265630940514,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3417878265630940514,"visual_seed":3417878265630940514,"scene_id":"lab_003","finished_at":"2026-09-08T14:25:53"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T14:43:28","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.4228988544311949,-0.45547572626440935,0.71338606911949],"aabb_xy":[[0.4151956637571178,-0.4631850969631473],[0.4306020451052719,-0.4477663555656713]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.13734891522058912,-0.6546513962511655,0.71338606911949],"aabb_xy":[[0.1313823762798533,-0.6606125409105296],[0.14331545416132488,-0.6486902515918015]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[0.27909318141572703,-2.260000833291372,0.71338606911949],"aabb_xy":[[0.21509318282915452,-2.3070077966908804],[0.34309318000229944,-2.212993869891863]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[0.04707507547066825,-1.9858147250315423,0.71338606911949],"aabb_xy":[[-0.0429249210302035,-2.03172636745],[0.13707507197153998,-1.939903082613084]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.4239845046697601,0.43030388361294847,0.71338606911949],"aabb_xy":[[0.38648450400518136,0.4146168256127262],[0.46148450533433877,0.4459909416131706]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.027802882367451875,-1.1597899010505393,0.71338606911949],"aabb_xy":[[-0.052197118705668455,-1.1695679473879237],[0.1078028834405722,-1.1500118547131548]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.05450415093175731,-1.6731050419176365,0.71338606911949],"aabb_xy":[[-0.11850414732733039,-1.7370683303363699],[0.009495845463815766,-1.6091417534989028]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.4436096479158438,0.6543314153001449,0.71338606911949],"aabb_xy":[[0.38863592587951085,0.5993314157359116],[0.4985833699521766,0.709331414864378]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.0762457166365047,-1.6296410851527343,0.71338606911949],"aabb_xy":[[0.052963874438373366,-1.7146410864499624],[0.09952755883463604,-1.5446410838555062]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.34434938524878356,-2.1222278895654267,0.71338606911949],"aabb_xy":[[-0.37864629626652413,-2.1565247757753676],[-0.3100524742310429,-2.087931003355485]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.5453197321585372,-0.17780030705988992,0.71338606911949],"aabb_xy":[[-0.5568887129054739,-0.20280030717682163],[-0.5337507514116008,-0.1528003069429582]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[0.2220980503127582,1.7072663785565632,0.71338606911949],"aabb_xy":[[0.17209805073642348,1.6572857996044574],[0.2720980498890929,1.7572469575086693]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.5493437397002535,-2.519968453359546,0.71338606911949],"aabb_xy":[[-0.5644460411612714,-2.535069974990607],[-0.5342414382392352,-2.504866931728483]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.5750864065702774,-0.5040584049792747,0.71338606911949],"aabb_xy":[[0.5525727147468202,-0.5740584055802822],[0.5976000983937346,-0.43405840437826715]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.028031137116741878,0.3619073452706423,0.71338606911949],"aabb_xy":[[-0.03298715730162308,0.33940734506852066],[-0.02307511693186068,0.38440734547276395]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.21635856446910307,0.9960958608006205,0.71338606911949],"aabb_xy":[[0.13635856588178363,0.9167802588624596],[0.2963585630564225,1.0754114627387814]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.5846410249797601,0.8728705084714554,0.71338606911949],"aabb_xy":[[-0.6446410252311613,0.8185891834349905],[-0.5246410247283589,0.9271518335079199]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.5290101491999111,1.066366116277159,0.71338606911949],"aabb_xy":[[-0.5416128483369875,1.0537707200522937],[-0.5164074500628346,1.0789615125020247]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.612144490085255,-0.6985937072620645,0.71338606911949],"aabb_xy":[[-0.6771444910423821,-0.7505419191957701],[-0.5471444891281276,-0.6466454953283589]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.3261780526563618,-2.4026836770615274,0.71338606911949],"aabb_xy":[[0.2611780516558613,-2.453470042216202],[0.3911780536568623,-2.351897311906852]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.47184504509610625,-0.34545914800443045,0.71338606911949],"aabb_xy":[[0.4536392214348586,-0.35648454858642215],[0.49005086875735393,-0.33443374742243887]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.2444060938656259,1.566387464728201,0.71338606911949],"aabb_xy":[[-0.28144020329368563,1.5320102573944916],[-0.2073719844375662,1.6007646720619104]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.322308157803983,-1.793311763536781,0.71338606911949],"aabb_xy":[[-0.3302314380427313,-1.8158117637747844],[-0.31438487756523464,-1.7708117632987777]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.32779816971724435,0.23979030289162795,0.71338606911949],"aabb_xy":[[-0.35408699403768495,0.2135188692369767],[-0.30150934539680363,0.2660617365462791]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.13617903113379237,-2.4334700513907395,0.71338606911949],"aabb_xy":[[0.10273885593777272,-2.4669136772216693],[0.16961920632981192,-2.4000264255598087]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.5086795972498559,-1.1906582774788963,0.71338606911949],"aabb_xy":[[0.4586795968892898,-1.2406382646884992],[0.5586795976104219,-1.1406782902692933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6487982065113549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6512.png","name":"6512"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6512.png","name":"6512"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4356.png","name":"4356"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5503.png","name":"5503"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6169.png","name":"6169"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2392.png","name":"2392"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":532.2837210560289,"rotation_z_degrees":290.84353266733615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016680648878218286,-0.016823864308578376,-0.019292527137362438]},{"name":"camera_2","offset_m":[0.014413112254888758,0.016899109108284145,-0.0024059816070250845]},{"name":"camera_3","offset_m":[-0.016690307916012507,-0.013630555972383234,0.011657678220412828]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013918916453834066,0.0015660612096288769,0.0006945614597684471],"end_effector_yaw_offset_degrees":0.49863757941768116},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001294945274776031,0.0007268959920701586,-0.0005686899719067444],"end_effector_yaw_offset_degrees":-0.5407495313451389},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018529678636705397,-0.0019711594778371814,0.0006638913574130234],"end_effector_yaw_offset_degrees":0.26852447803546653},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0003815665911025112,0.0008223692169041339,-0.0011662895852814978],"end_effector_yaw_offset_degrees":0.047459061384078405},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001422385597015766,-0.0014189992081453987,-0.0009518628245124986],"end_effector_yaw_offset_degrees":-0.623512570456594},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00047175198983568376,0.0011725333121174902,-0.0009038360767665229],"end_effector_yaw_offset_degrees":0.7694036133590421}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033136554521235413,0.003732010766381158],"position_m":[0.17311365545212354,-0.10256798923361884,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007056952632614492,0.000738804068433384],"position_m":[0.21170569526326144,-0.3673611959315666,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004297670624005835,0.003730562788015282],"position_m":[0.2859023293759942,0.32243056278801524,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021250559256844655,-0.00447889105933264],"position_m":[0.35562505592568444,0.11062110894066736,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"10dfa39d32ba571af1e2c98e4f5989a5e7d6d0abd36bef5c165b1da76a6cbdac","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0017.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6512/tex_ceiling_textures_2392/tex_floor_textures_6169/tex_table_textures_4356/tex_wall_textures_5503","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8507203084940346179,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8507203084940346179,"visual_seed":8507203084940346179,"scene_id":"lab_003","finished_at":"2026-09-08T14:51:09"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T14:51:17","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.21001306933143832,0.7427222414500845,0.71338606911949],"aabb_xy":[[-0.222480427441174,0.7302569168167611],[-0.1975457112217027,0.7551875660834081]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.5629299018983238,1.3788909126905535,0.71338606911949],"aabb_xy":[[0.5547153567826397,1.370214322392912],[0.5711444470140077,1.3875675029881946]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.4696308443456724,-2.4649522396256063,0.71338606911949],"aabb_xy":[[-0.5196041383489329,-2.5149522401801536],[-0.419657550342412,-2.414952239071059]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[-0.4736916630012775,-1.0090030150604845,0.71338606911949],"aabb_xy":[[-0.49697350519940886,-1.0940030163577126],[-0.4504098208031462,-0.9240030137632566]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.46004769435978643,1.5898049413580426,0.71338606911949],"aabb_xy":[[0.425047696049091,1.582089926434497],[0.4950476926704819,1.5975199562815883]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.0809152263669688,-0.7906991307526068,0.71338606911949],"aabb_xy":[[-0.14091522687482172,-0.8475458644385281],[-0.02091522585911588,-0.7338523970666855]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.325544088181939,-0.7486112344753171,0.71338606911949],"aabb_xy":[[-0.3477166151585898,-0.7707869016314401],[-0.30337156120528813,-0.7264355673191939]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.04636375092386025,-2.0890631483513404,0.71338606911949],"aabb_xy":[[0.0383274162225754,-2.097101267655757],[0.05440008562514508,-2.081025029046923]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.6464920956850496,0.6546803556442482,0.71338606911949],"aabb_xy":[[-0.6727809200054902,0.6284089219895969],[-0.6202032713646088,0.6809517892988993]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.33405450408712833,-0.49791436323248517,0.71338606911949],"aabb_xy":[[0.3121458219477773,-0.5198150300525759],[0.3559631862264794,-0.4760136964123944]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[-0.6774123439219955,-1.492423096243821,0.71338606911949],"aabb_xy":[[-0.6925845132036288,-1.5075919531720243],[-0.6622401746403621,-1.4772542393156176]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.32047598037336367,1.207314561808381,0.71338606911949],"aabb_xy":[[0.2654837297378527,1.1523145600650684],[0.37546823100887466,1.262314563551694]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.4065750841029174,0.811078502987026,0.71338606911949],"aabb_xy":[[-0.41535631125015365,0.8022987556984961],[-0.3977938569556812,0.8198582502755564]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.3704083229726106,-2.0470208431644474,0.71338606911949],"aabb_xy":[[-0.4203871314829265,-2.097020843170166],[-0.32042951446229473,-1.9970208431587282]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.3608979779321189,-0.3969948046405549,0.71338606911949],"aabb_xy":[[-0.44089797591290397,-0.40459634560240687],[-0.28089797995133386,-0.38939326367870297]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.01429564305055353,-1.5267223652584898,0.71338606911949],"aabb_xy":[[-0.06429065401000557,-1.5767223642940817],[0.03569936790889851,-1.476722366222898]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[-0.10400960275928994,-1.2992252994657953,0.71338606911949],"aabb_xy":[[-0.12589935034823072,-1.3892252967550445],[-0.08211985517034913,-1.2092253021765462]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[0.27702919141803684,1.618353148845498,0.71338606911949],"aabb_xy":[[0.22702991624960067,1.5683531475695511],[0.327028466586473,1.6683531501214455]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.4236678229653952,1.7833500447819417,0.71338606911949],"aabb_xy":[[0.4197539497699726,1.7746010293753849],[0.42758169616081765,1.7920990601884985]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.09267778165844898,1.4632744818188468,0.71338606911949],"aabb_xy":[[0.07356547430047011,1.444139702941605],[0.11179008901642784,1.482409260696089]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.4941897442871046,-1.1071545066611599,0.71338606911949],"aabb_xy":[[0.4573951111621984,-1.1440603817577422],[0.5309843774120109,-1.0702486315645776]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[0.5801833221150401,-0.07720992744150923,0.71338606911949],"aabb_xy":[[0.5350120042668712,-0.14120992458604764],[0.6253546399632092,-0.013209930296970807]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.04569665027248526,1.698071372184987,0.71338606911949],"aabb_xy":[[-0.004303351011354712,1.6480925177943648],[0.0956966515563252,1.748050226575609]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.22060515659616153,-1.605732290140464,0.71338606911949],"aabb_xy":[[-0.2285284368349099,-1.6282322903784674],[-0.21268187635741323,-1.5832322899024607]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[-0.00663005334843747,-2.352011808359478,0.71338606911949],"aabb_xy":[[-0.08663005200532348,-2.366516667283741],[0.07336994530844854,-2.337506949435215]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.29866583954916,-1.7634331850989002,0.71338606911949],"aabb_xy":[[-0.3336658387419782,-1.7744002310965625],[-0.26366584035634166,-1.7524661391012375]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[-0.12259178979134233,1.3527282861773973,0.71338606911949],"aabb_xy":[[-0.16009179058333778,1.346360445219207],[-0.08509178899934688,1.3590961271355875]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[-0.17787079622164226,1.4628092747855672,0.71338606911949],"aabb_xy":[[-0.1843724327296469,1.4530414527592577],[-0.17136915971363767,1.4725770968118772]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[0.16151194367162336,-0.879473451451807,0.71338606911949],"aabb_xy":[[0.14717751854545988,-0.8915336670063458],[0.17584636879778678,-0.8674132358972682]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[0.4726934620739842,-1.5309620641896846,0.71338606911949],"aabb_xy":[[0.38269346347951433,-1.5472126505031059],[0.5626934606684542,-1.5147114778762638]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_30","position":[0.4461259270640221,-2.10473478252179,0.71338606911949],"aabb_xy":[[0.4111259271680032,-2.1131090180337297],[0.481125926960041,-2.0963605470098496]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_31","position":[-0.2117278964290889,-1.2444924498731624,0.71338606911949],"aabb_xy":[[-0.2487620058571486,-1.2788696572068716],[-0.1746937870010292,-1.2101152425394528]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_32","position":[0.4036286522773531,-0.31123954015229405,0.71338606911949],"aabb_xy":[[0.35362865283715744,-0.36120746463661035],[0.4536286517175487,-0.26127161566797774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.649259832346832,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/155.png","name":"155"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/155.png","name":"155"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7773.png","name":"7773"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1389.png","name":"1389"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4978.png","name":"4978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1727.png","name":"1727"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":754.3557075634941,"rotation_z_degrees":223.3899850137976,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006342965599230862,0.0005911214995874027,-0.013552412783002038]},{"name":"camera_2","offset_m":[-0.009303047465349894,-0.013260434205361866,-0.01426229121059158]},{"name":"camera_3","offset_m":[-0.0132884991737731,0.0021323021109580197,-0.002756487881778527]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016654583680976924,0.001513177319364325,0.001962918392120736],"end_effector_yaw_offset_degrees":0.3720970964298538},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016127311658729057,0.0013886139142441785,0.0018941458483419005],"end_effector_yaw_offset_degrees":0.36449028027272523},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005194081603104059,0.0010254840978824497,-0.001294787851575328],"end_effector_yaw_offset_degrees":-0.5372365522169884},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001825403422422642,-0.0002651215891468564,0.00027033631828569504],"end_effector_yaw_offset_degrees":-0.23915357333453868},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006204464696697226,-0.0013897625274819406,-0.0018089816333965803],"end_effector_yaw_offset_degrees":0.9270002235732246},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012513966081196832,-0.0007304032004809113,-0.0006860367889919585],"end_effector_yaw_offset_degrees":0.16453259918089813}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003759780350854068,0.004210438537200407],"position_m":[0.17355978035085406,-0.1020895614627996,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005109818443558463,-0.0018367919896538597],"position_m":[0.21048901815564414,-0.36993679198965385,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0005132022862063476,0.000750278523164399],"position_m":[0.29071320228620634,0.3194502785231644,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004600634970637234,0.0027683605493593133],"position_m":[0.3581006349706372,0.11786836054935931,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"bce7ecbcdf8f71d1d604556ab08e2698468e7a2a170c4f25e389a4770941aca4","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0018.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_155/tex_ceiling_textures_1727/tex_floor_textures_4978/tex_table_textures_7773/tex_wall_textures_1389","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2150793573917693599,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2150793573917693599,"visual_seed":2150793573917693599,"scene_id":"lab_003","finished_at":"2026-09-08T14:59:11"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T14:59:19","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.44186055991397005,-1.343546612518636,0.71338606911949],"aabb_xy":[[-0.5118605633055319,-1.3788623862220666],[-0.371860556522408,-1.3082308388152049]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.13120202704683492,-0.5336451775851563,0.71338606911949],"aabb_xy":[[0.1251650140461702,-0.5396718786541046],[0.13723904004749965,-0.5276184765162082]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[0.6103765354852315,0.22817192293317268,0.71338606911949],"aabb_xy":[[0.6023331755592763,0.14317192183780625],[0.6184198954111867,0.3131719240285391]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.5186834786694421,0.14996655995652564,0.71338606911949],"aabb_xy":[[-0.5686608955346955,0.09996655846727708],[-0.46870606180418833,0.19996656144577415]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.365643361146877,1.6182647296005075,0.71338606911949],"aabb_xy":[[0.3006433601463765,1.5674783644458326],[0.43064336214737753,1.6690510947551824]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.25748080287900826,-1.8905812875943484,0.71338606911949],"aabb_xy":[[-0.2707117484136895,-1.9038087066163476],[-0.24424985734432691,-1.8773538685723488]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.42530195489433353,-1.0482988560952549,0.71338606911949],"aabb_xy":[[0.3603019567384144,-1.0745951006451673],[0.49030195305025254,-1.0220026115453429]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.6339053888453723,1.0834227355839077,0.71338606911949],"aabb_xy":[[0.5789121775082356,1.028422735245114],[0.6888986001825091,1.1384227359227013]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[0.4471783553955686,0.8235125271099002,0.71338606911949],"aabb_xy":[[0.3671783567386826,0.8090076681856373],[0.5271783540524546,0.8380173860341629]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.16465054878137853,-1.5280375067003742,0.71338606911949],"aabb_xy":[[-0.2286462461764751,-1.5920375050010827],[-0.10065485138628194,-1.4640375083996653]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[-0.3400673501278448,-0.7808346376019044,0.71338606911949],"aabb_xy":[[-0.40506735123378806,-0.8058000106700327],[-0.2750673490219015,-0.7558692645337761]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.28420848038518176,-2.2200232316170005,0.71338606911949],"aabb_xy":[[-0.34820847678075484,-2.283986520035734],[-0.22020848398960868,-2.156059943198267]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_12","position":[0.09070993416867545,1.3823990087905633,0.71338606911949],"aabb_xy":[[0.026709937056569766,1.3333666389961525],[0.15470993128078114,1.4314313785849737]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.4186178979945414,0.9729869933231514,0.71338606911949],"aabb_xy":[[0.4137743032333115,0.9681353408441673],[0.42346149275577144,0.9778386458021355]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[0.5216281641664056,-1.963126335112794,0.71338606911949],"aabb_xy":[[0.4991281646426981,-1.9856222825634149],[0.5441281636901129,-1.9406303876621733]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[0.37455406566288785,-1.1885627149127433,0.71338606911949],"aabb_xy":[[0.36965477335632435,-1.216239634215312],[0.37945335796945134,-1.1608857956101744]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.4367901094359756,-0.053933675698209615,0.71338606911949],"aabb_xy":[[0.3867908342675395,-0.10393367697415679],[0.48678938460441185,-0.003933674422262452]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.15386055554029632,-2.3754581099791974,0.71338606911949],"aabb_xy":[[-0.17840677116304704,-2.4057070065282344],[-0.1293143399175456,-2.3452092134301603]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[0.5366641623733308,-2.503027369197558,0.71338606911949],"aabb_xy":[[0.495415351343416,-2.558027368709775],[0.5779129734032454,-2.4480273696853403]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.47885332913452494,-1.7735089423345571,0.71338606911949],"aabb_xy":[[-0.5163533296318832,-1.7774776258826759],[-0.4413533286371667,-1.7695402587864388]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.574459494339177,-1.2334456782497485,0.71338606911949],"aabb_xy":[[0.5398684114851315,-1.2984456785347793],[0.609050577193222,-1.1684456779647172]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[0.29518272284820024,-1.966692071765635,0.71338606911949],"aabb_xy":[[0.27754988725467267,-1.9843150177812583],[0.3128155584417278,-1.9490691257500123]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.30673033745114625,0.2623615498877445,0.71338606911949],"aabb_xy":[[-0.3353796698115624,0.23371599061066867],[-0.27808100509072997,0.29100710916482025]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[0.47394962877591684,-2.2080729355385,0.71338606911949],"aabb_xy":[[0.4439579660420465,-2.2380729348753006],[0.5039412915097872,-2.1780729362016995]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[-0.45392004846561407,-1.8518041326715757,0.71338606911949],"aabb_xy":[[-0.48769560765630704,-1.8658426278847406],[-0.4201444892749211,-1.8377656374584104]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.4799750150350579,-0.5628181722214998,0.71338606911949],"aabb_xy":[[0.4648727135740397,-0.5779196938525615],[0.4950773164960759,-0.5477166505904378]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[-0.24135204681538952,1.6861100430547338,0.71338606911949],"aabb_xy":[[-0.2913349970028688,1.636110043412173],[-0.19136909662791016,1.7361100426972937]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654637703837386,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/269.png","name":"269"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/269.png","name":"269"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3015.png","name":"3015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5418.png","name":"5418"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8209.png","name":"8209"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2632.png","name":"2632"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":550.1300071089895,"rotation_z_degrees":309.5075685354176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005962341441665502,-0.015377349851670066,0.018115803862744955]},{"name":"camera_2","offset_m":[0.015468413135227007,0.017785336322258354,-0.016832620077995814]},{"name":"camera_3","offset_m":[-0.014886870460231162,0.006065617332227716,-0.010179922715151961]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011456672504699442,0.0011723099175674069,-0.0008912297570061729],"end_effector_yaw_offset_degrees":0.9147866541651226},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001580979510464126,0.0018937256819721864,0.0008944071913643699],"end_effector_yaw_offset_degrees":0.3264429065388703},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00170629439578267,-0.0016893641676402425,-0.0015929316458600145],"end_effector_yaw_offset_degrees":0.3904055194547389},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009699893541381048,-0.0004780073901875959,0.001952179112658531],"end_effector_yaw_offset_degrees":-0.5242694602139386},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0002424371993114214,6.166029088657031e-05,0.0008787079612039401],"end_effector_yaw_offset_degrees":0.5589122804034892},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000839777797411621,-0.0014550725360668575,0.0005691864556769954],"end_effector_yaw_offset_degrees":-0.16391696685768986}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002715245248462932,0.0028671442841323837],"position_m":[0.16708475475153708,-0.10343285571586762,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004138589770621321,-0.004568984471964153],"position_m":[0.2151385897706213,-0.3726689844719641,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0016008471078489354,5.748552268218781e-05],"position_m":[0.2918008471078489,0.3187574855226822,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020621009136827916,0.004566431783787551],"position_m":[0.3514378990863172,0.11966643178378754,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a9bef76a947a80fc1a70706bfeed52fa01ccd95eb47685d6937e46e1a910c7d4","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_269/tex_ceiling_textures_2632/tex_floor_textures_8209/tex_table_textures_3015/tex_wall_textures_5418","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1357761719165672842,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1357761719165672842,"visual_seed":1357761719165672842,"scene_id":"lab_003","finished_at":"2026-09-08T15:07:46"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T15:07:54","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.14927312368089962,1.2055739500237026,0.71338606911949],"aabb_xy":[[-0.18576894430817836,1.169090007596945],[-0.11277730305362088,1.2420578924504602]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.04584606176953587,0.9921381572129073,0.71338606911949],"aabb_xy":[[0.02226093830564102,0.9271381549674754],[0.06943118523343073,1.057138159458339]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.4402094221035284,-0.6613720883826797,0.71338606911949],"aabb_xy":[[0.4077477212216009,-0.6915049204975822],[0.4726711229854558,-0.631239256267777]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[0.23771398339370353,0.9892586470295157,0.71338606911949],"aabb_xy":[[0.18369838711180353,0.9252586441372586],[0.29172957967560353,1.0532586499217729]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.047531947431880606,-2.248822020479624,0.71338606911949],"aabb_xy":[[-0.01646805585782751,-2.2921569394835415],[0.11153195072158871,-2.2054871014757063]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.3666588101082115,-0.5916834754491689,0.71338606911949],"aabb_xy":[[-0.40415881077279014,-0.607370533449391],[-0.32915880944363274,-0.5759964174489466]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.40288176588141056,-2.392402178328597,0.71338606911949],"aabb_xy":[[0.3653817659376442,-2.4006952683634335],[0.440381765825177,-2.3841090882937603]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.695601200016255,-1.3726076799029325,0.71338606911949],"aabb_xy":[[0.6743231918727828,-1.4376076822290054],[0.7168792081597273,-1.3076076775768593]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.16575490821870675,0.5612765312576089,0.71338606911949],"aabb_xy":[[-0.17374889679641012,0.5532764511625186],[-0.15776091964100333,0.5692766113526992]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.5061122394449118,0.1192088686528816,0.71338606911949],"aabb_xy":[[0.4835985476214545,0.04920886805187406],[0.5286259312683689,0.18920886925388913]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.5213085608071382,-0.8028878880667436,0.71338606911949],"aabb_xy":[[0.5116769245867085,-0.8125252008464524],[0.5309401970275678,-0.7932505752870346]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.30882365502987863,-1.1425689169916748,0.71338606911949],"aabb_xy":[[-0.3888236519929178,-1.2196445586354483],[-0.22882365806683946,-1.0654932753479014]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[0.12030093357417238,-1.0458961919094616,0.71338606911949],"aabb_xy":[[0.07530093210794353,-1.0908960487709423],[0.16530093504040122,-1.000896335047981]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.1557497183869373,-2.061224791929201,0.71338606911949],"aabb_xy":[[-0.1665901966134522,-2.0784110732198497],[-0.1449092401604224,-2.0440385106385524]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.3988183878655909,-1.9073661512362088,0.71338606911949],"aabb_xy":[[0.361318386680798,-1.9117843739322689],[0.4363183890503836,-1.9029479285401478]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[-0.47789073644436036,-2.5335999006152528,0.71338606911949],"aabb_xy":[[-0.5678907361675344,-2.556673253150432],[-0.3878907367211861,-2.5105265480800725]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[0.3857387709421267,-0.8788169745313985,0.71338606911949],"aabb_xy":[[0.3357387715019311,-0.9287848990157147],[0.43573877038232234,-0.8288490500470821]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.6206291309798264,-2.134666338304327,0.71338606911949],"aabb_xy":[[-0.6619336740435624,-2.1986663378724436],[-0.5793245879160904,-2.0706663387362094]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[0.32152330418269104,-1.1284598898420506,0.71338606911949],"aabb_xy":[[0.2715233031635558,-1.1649261055798787],[0.3715233052018263,-1.0919936741042229]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.0008988271696270811,-0.8009752974058268,0.71338606911949],"aabb_xy":[[-0.011703871967449375,-0.8135706936306923],[0.013501526306703537,-0.7883799011809614]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.5726166702887487,1.6582233073604198,0.71338606911949],"aabb_xy":[[0.5176166720870039,1.617701340733982],[0.6276166684904936,1.6987452739868572]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.5310149483477213,-2.537702238741513,0.71338606911949],"aabb_xy":[[0.5080992354626714,-2.560606535877937],[0.5539306612327712,-2.51479794160509]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[-0.0009642140790130371,-1.9876076447915871,0.71338606911949],"aabb_xy":[[-0.05106167806008666,-2.0516076453013987],[0.04913324990206058,-1.9236076442817753]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[-0.16344878347328673,-0.05051978648281441,0.71338606911949],"aabb_xy":[[-0.17532086648478784,-0.13551978617646476],[-0.15157670046178562,0.03448021321083595]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.27957241910588015,-2.17925787904387,0.71338606911949],"aabb_xy":[[-0.31457241741657566,-2.1869728939674156],[-0.24457242079518476,-2.1715428641203243]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[-0.24391660965281659,0.26123193878212403,0.71338606911949],"aabb_xy":[[-0.29891660927456243,0.2062482459946513],[-0.18891661003107074,0.31621563156959676]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[-0.15008528733331716,-1.517760647193225,0.71338606911949],"aabb_xy":[[-0.16699601976965892,-1.531232852785839],[-0.13317455489697536,-1.5042884416006101]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.4563729450122793,0.47197922090748534,0.71338606911949],"aabb_xy":[[-0.5363729424158725,0.39198664970930247],[-0.3763729476086858,0.551971792105668]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_28","position":[-0.20072084028650966,1.618149474741918,0.71338606911949],"aabb_xy":[[-0.22572084021902755,1.6112668065209947],[-0.17572084035399177,1.6250321429628414]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_29","position":[-0.21687089189913517,-2.3875497722261767,0.71338606911949],"aabb_xy":[[-0.26467705951290377,-2.452549774933236],[-0.1690647242853665,-2.322549769519118]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_30","position":[-0.290297006779189,0.7459259516312335,0.71338606911949],"aabb_xy":[[-0.3402901188883809,0.6959259509570378],[-0.24030389466999713,0.7959259523054292]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_31","position":[0.557949448075844,-0.06455509907093271,0.71338606911949],"aabb_xy":[[0.49794944643292216,-0.1165552483628769],[0.6179494497187659,-0.012554949778988522]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.42746757502997834,0.8520864777575317,0.71338606911949],"aabb_xy":[[0.3724675758533888,0.7970968029825739],[0.4824675742065678,0.9070761525324892]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_33","position":[-0.5610521890968381,-1.1392783661130237,0.71338606911949],"aabb_xy":[[-0.6410521862564132,-1.1508259670708407],[-0.4810521919372627,-1.1277307651552066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6526658560845942,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4963.png","name":"4963"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4963.png","name":"4963"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9253.png","name":"9253"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4493.png","name":"4493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5259.png","name":"5259"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4743.png","name":"4743"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":502.72220250041835,"rotation_z_degrees":75.6095418698086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010575375626501727,-0.00027013607439166365,0.00741161328681712]},{"name":"camera_2","offset_m":[-0.0012884804904499253,0.0055436428373478105,-0.004844897827316284]},{"name":"camera_3","offset_m":[-0.01624734905399439,0.014482386723169673,-0.012278416191634585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015788923272660122,-0.0005044120820895039,0.0018601003783496168],"end_effector_yaw_offset_degrees":-0.37915358365255236},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00063829927308042,-0.0017467719396772395,-0.0008389626501376028],"end_effector_yaw_offset_degrees":-0.7536983847563228},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009760766211403997,-0.0013198405668095933,0.00013832187344024575],"end_effector_yaw_offset_degrees":-0.8224454633025378},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000380285826848088,0.001119412420437537,-0.0016155600381941402],"end_effector_yaw_offset_degrees":-0.5554055153938882},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012300913174108157,-2.0709510486899112e-05,-0.00046655554768390366],"end_effector_yaw_offset_degrees":-0.9532341417909238},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0007971462576606947,0.0019409967230993135,0.0013486450800104396],"end_effector_yaw_offset_degrees":-0.9110469652635811}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026466037476461325,0.003690711037172642],"position_m":[0.17244660374764614,-0.10260928896282737,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021628227628725342,-0.003958062628349794],"position_m":[0.21316282276287252,-0.3720580626283498,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00491120381371547,0.0016791560952922413],"position_m":[0.2951112038137155,0.3203791560952922,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002514203583488379,0.001204544343531214],"position_m":[0.3509857964165116,0.11630454434353121,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0dc22d2d0248c10700c6fdfa92a88158670db994251105ec685b0327bbdbcde7","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4963/tex_ceiling_textures_4743/tex_floor_textures_5259/tex_table_textures_9253/tex_wall_textures_4493","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":763468289424050251,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":763468289424050251,"visual_seed":763468289424050251,"scene_id":"lab_003","finished_at":"2026-09-08T15:15:46"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T15:15:52","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.35924470521439844,-2.5608370214645744,0.71338606911949],"aabb_xy":[[-0.39424470519089433,-2.570301637512191],[-0.32424470523790266,-2.5513724054169575]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.4998877268586692,1.1176491883894188,0.71338606911949],"aabb_xy":[[0.44488772768207974,1.062659513614461],[0.5548877260352587,1.1726388631643763]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.20206364480972605,-1.5922962901793867,0.71338606911949],"aabb_xy":[[-0.23071297717014225,-1.6209418494564622],[-0.1734143124493098,-1.5636507309023107]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.31824133649656833,-0.7705359030251886,0.71338606911949],"aabb_xy":[[-0.33147228203124957,-0.7837633220471879],[-0.305010390961887,-0.7573084840031891]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.5088633292935417,0.4308272855355235,0.71338606911949],"aabb_xy":[[-0.5447768337185313,0.39491377731876887],[-0.4729498248685519,0.46674079375227806]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.37869968333856474,-0.5916933368008828,0.71338606911949],"aabb_xy":[[0.36263775588004715,-0.6766933386134746],[0.39476161079708244,-0.5066933349882909]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.4014306065696017,-1.0929919758709614,0.71338606911949],"aabb_xy":[[-0.48143060703981766,-1.1013026834853097],[-0.32143060609938573,-1.0846812682566132]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.6125899589113881,-1.6178457636530885,0.71338606911949],"aabb_xy":[[-0.65008995908326,-1.6505464990359957],[-0.5750899587395161,-1.5851450282701813]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[0.21548064582969872,1.7951125476463994,0.71338606911949],"aabb_xy":[[0.19880350983660325,1.778412623672469],[0.23215778182279426,1.8118124716203297]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.2673325274832316,-2.4075431002192578,0.71338606911949],"aabb_xy":[[-0.31233252894946045,-2.4525429570807384],[-0.22233252601700276,-2.362543243357777]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.19132223397664117,-1.7600605511209817,0.71338606911949],"aabb_xy":[[0.14132223261575394,-1.8100384556963973],[0.2413222353375284,-1.710082646545566]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.1943906430048723,-0.6393143432444162,0.71338606911949],"aabb_xy":[[0.18348486691730959,-0.7193143396432452],[0.205296419092435,-0.5593143468455869]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.01710358652299948,-1.73547629598241,0.71338606911949],"aabb_xy":[[-0.06707665205551495,-1.7854762957949433],[0.032869479009515985,-1.6854762961698775]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.26606045883934626,-0.888503271524175,0.71338606911949],"aabb_xy":[[0.22920991090235865,-0.9260032723472087],[0.30291100677633387,-0.8510032707011412]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[-0.22538129681469965,-2.5695532411512363,0.71338606911949],"aabb_xy":[[-0.2422920292510414,-2.5830254467438505],[-0.20847056437835784,-2.556081035558621]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.168165161490892,-0.1565591933517836,0.71338606911949],"aabb_xy":[[-0.19066516130479438,-0.16103380972226428],[-0.14566516167698962,-0.1520845769813029]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.11381039301520812,0.7820660014617675,0.71338606911949],"aabb_xy":[[0.06381728090601625,0.7320660007875719],[0.16380350512440003,0.8320660021359633]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.5126273877183449,0.06335904057878627,0.71338606911949],"aabb_xy":[[0.5061257512103403,0.053591218552476505],[0.5191290242263495,0.07312686260509604]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.6069437554665998,0.246795359480521,0.71338606911949],"aabb_xy":[[-0.638090674310183,0.1767953607937138],[-0.5757968366230167,0.3167953581673282]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.4803059199558706,0.15089734997374205,0.71338606911949],"aabb_xy":[[-0.5140814791465634,0.13685885476057702],[-0.4465303607651775,0.16493584518690707]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.13873185911927832,1.223648531301051,0.71338606911949],"aabb_xy":[[-0.18873185776519952,1.1737289876415886],[-0.08873186047335713,1.2735680749605134]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.6537829369373562,-2.2495224121291115,0.71338606911949],"aabb_xy":[[0.6493523075825162,-2.2549707838637945],[0.6582135662921965,-2.2440740403944295]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.4659509244383342,1.3040343247542818,0.71338606911949],"aabb_xy":[[-0.47679140266484915,1.2868480434636331],[-0.45511044621181934,1.3212206060449305]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[0.03222484666952541,-2.4087070546479077,0.71338606911949],"aabb_xy":[[-0.027775154191287395,-2.4601334846543934],[0.0922248475303382,-2.357280624641421]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6456470661696673,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9145.png","name":"9145"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2944.png","name":"2944"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/84.png","name":"84"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4783.png","name":"4783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9532.png","name":"9532"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":639.9995299306748,"rotation_z_degrees":195.8749218878437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017590294672342428,-0.006018867864713213,-0.010445231346981521]},{"name":"camera_2","offset_m":[0.017955964819885418,-0.005543094150942594,0.00821385281529496]},{"name":"camera_3","offset_m":[-0.003527445176217881,-0.011010039972192751,0.017157625562543324]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00018515268346720455,6.474861682378681e-05,-0.00038323647716618624],"end_effector_yaw_offset_degrees":-0.5191524207689224},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001062644658898332,-0.000795918041678437,-0.0016900483464920503],"end_effector_yaw_offset_degrees":-0.9973396438890907},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011394863995552553,-0.0017690577512347297,0.001568396004920878],"end_effector_yaw_offset_degrees":-0.4747300335634448},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008902767538747848,0.0007271785612357703,-0.0007483427215871337],"end_effector_yaw_offset_degrees":0.15720510240937724},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010556729470811493,0.0011993553087406026,-0.0018310725315602437],"end_effector_yaw_offset_degrees":0.16689306331247833},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0016959345810276525,0.0004524191214808279,-0.0007709754258966358],"end_effector_yaw_offset_degrees":-0.736850700436724}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000988549346117599,0.003074266132738905],"position_m":[0.1688114506538824,-0.1032257338672611,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003396815530819445,0.0047925368894031544],"position_m":[0.21066031844691804,-0.3633074631105968,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0026921435743860913,0.0034397184836911536],"position_m":[0.28750785642561394,0.32213971848369116,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002142921248966563,0.0048226697860358],"position_m":[0.3513570787510334,0.11992266978603579,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"85ac781e241d50ab99a04cd6e07bf06fbc9055aeafee84cd5931ea01d78017c3","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9145/tex_ceiling_textures_9532/tex_floor_textures_4783/tex_table_textures_2944/tex_wall_textures_84","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7278008370922953597,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7278008370922953597,"visual_seed":7278008370922953597,"scene_id":"lab_003","finished_at":"2026-09-08T15:23:58"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T15:24:04","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.0020150562762061286,-0.7719692022933411,0.71338606911949],"aabb_xy":[[-0.06601505768419678,-0.8237581538172657],[0.061984945131784534,-0.7201802507694163]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.5975564942642222,0.13577001286707047,0.71338606911949],"aabb_xy":[[0.5514714030094906,0.07177001561451536],[0.6436415855189536,0.19977001011962559]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[-0.050367352845968494,-2.2555093379875744,0.71338606911949],"aabb_xy":[[-0.09536735431219737,-2.300509194849055],[-0.00536735137973965,-2.2105094811260937]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[-0.4161852796248018,0.5361497524266521,0.71338606911949],"aabb_xy":[[-0.4270910557123644,0.4561497560278228],[-0.40527950353723896,0.6161497488254811]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[0.5439209148304602,-0.6028894187988447,0.71338606911949],"aabb_xy":[[0.5398427569234105,-0.6069703990471079],[0.5479990727375099,-0.5988084385505813]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.22011543237620063,-1.8713073386770205,0.71338606911949],"aabb_xy":[[-0.22735919842244592,-1.9513073368806229],[-0.21287166632995527,-1.791307340473418]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.7108498622936448,-1.2239406466686251,0.71338606911949],"aabb_xy":[[0.6982471631565684,-1.2365360428934906],[0.7234525614307213,-1.2113452504437596]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.39985616450374145,-2.1432959988809688,0.71338606911949],"aabb_xy":[[-0.4498404002119186,-2.1932959976944644],[-0.34987192879556417,-2.093296000067473]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.5571161360964633,-0.6151418768445156,0.71338606911949],"aabb_xy":[[-0.5664631436787585,-0.6294454990621597],[-0.547769128514168,-0.6008382546268717]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.5573512383046334,0.6666681021134462,0.71338606911949],"aabb_xy":[[-0.5679187179627324,0.6561230720004375],[-0.5467837586465344,0.6772131322264546]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.6651638476863613,-1.6655711592494007,0.71338606911949],"aabb_xy":[[0.659069219798243,-1.6741405538010694],[0.6712584755744796,-1.657001764697732]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.3182193423969357,0.921137745911623,0.71338606911949],"aabb_xy":[[0.25421934600136264,0.8571744574928895],[0.3822193387925088,0.9851010343303566]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.2914445825868001,-1.6127629753088435,0.71338606911949],"aabb_xy":[[-0.34644006040745945,-1.6677629767427502],[-0.23644910476614067,-1.5577629738749363]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.4942210045934248,0.8126344614511138,0.71338606911949],"aabb_xy":[[0.4658912946448846,0.8081737192573969],[0.522550714541965,0.817095203644831]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.4412170800790782,1.6263584457687883,0.71338606911949],"aabb_xy":[[0.37721708296697254,1.577326075974378],[0.5052170771911839,1.6753908155631991]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.03532877335846485,0.7450111203715553,0.71338606911949],"aabb_xy":[[-0.09532877395448103,0.6901986478263318],[0.024671227237551323,0.7998235929167787]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.5989415184414155,-1.38627459401017,0.71338606911949],"aabb_xy":[[-0.6189999300546557,-1.4063396809193274],[-0.5788831068281751,-1.366209507101012]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[-0.5927846656152691,-0.7949545933620406,0.71338606911949],"aabb_xy":[[-0.6377772523337195,-0.8399545926364892],[-0.5477920788968187,-0.7499545940875917]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[0.33944682021945205,-0.574285805801201,0.71338606911949],"aabb_xy":[[0.33141048551816715,-0.5823239251056178],[0.34748315492073684,-0.5662476864967843]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.35607523709071826,-1.383755840058789,0.71338606911949],"aabb_xy":[[-0.37991145473132343,-1.4737558408672755],[-0.33223901945011325,-1.2937558392503026]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[0.4295886739664647,-1.4121754806199884,0.71338606911949],"aabb_xy":[[0.36458867286052143,-1.4371408536881167],[0.494588675072408,-1.3872101075518601]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.2775841977905248,-2.376062436135777,0.71338606911949],"aabb_xy":[[0.26954083786456956,-2.4610624372311434],[0.2856275577164799,-2.2910624350404105]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.047780444421843926,-1.4604397973842533,0.71338606911949],"aabb_xy":[[-0.04221955791217514,-1.5379221519693658],[0.13778044675586298,-1.3829574427991405]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.43886338083628595,-1.762434190648424,0.71338606911949],"aabb_xy":[[-0.47317965801090395,-1.8124341906216015],[-0.4045471036616681,-1.712434190675246]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[-0.42026113109438223,-2.504657518672252,0.71338606911949],"aabb_xy":[[-0.45526112936450214,-2.5117316463672403],[-0.38526113282426233,-2.497583390977264]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6468856888858566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9651.png","name":"9651"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9651.png","name":"9651"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/779.png","name":"779"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2488.png","name":"2488"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1482.png","name":"1482"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5431.png","name":"5431"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.5667867054831,"rotation_z_degrees":215.1027496667065,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014986016193812967,-0.01031364921396786,0.014832901636693218]},{"name":"camera_2","offset_m":[0.017593260457592092,0.011609359658109542,-0.011701806741159945]},{"name":"camera_3","offset_m":[0.0024537697927699484,0.0023624530837861625,0.0015827552189372172]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006956716288092793,-0.0006513720654041362,-0.0001640359381969692],"end_effector_yaw_offset_degrees":-0.5064005976489023},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00170414397078282,0.0004976851542101779,-0.0007221791819573135],"end_effector_yaw_offset_degrees":0.8918049995939705},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005928684439275398,0.0019104858431473965,0.0018363985869310493],"end_effector_yaw_offset_degrees":-0.1665965810148471},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019320992948271146,0.0017474926141040382,0.0006631484497544465],"end_effector_yaw_offset_degrees":-0.49490119415517864},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008999230222305221,0.00051408584793127,-0.00022794535024895117],"end_effector_yaw_offset_degrees":0.6290373822591568},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008861713879803773,0.0009498195841101116,-0.001371507861479262],"end_effector_yaw_offset_degrees":-0.7038547937371085}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00036606677120863945,-0.00488946902324857],"position_m":[0.16943393322879136,-0.11118946902324858,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00460876276793548,-0.0035610639520264366],"position_m":[0.2063912372320645,-0.3716610639520264,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0030828376218923906,0.003745694863612416],"position_m":[0.28711716237810764,0.3224456948636124,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016196332499816167,-0.0034121022861040027],"position_m":[0.3518803667500184,0.11168789771389599,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"612d95be036a336dc8e684eeaeade020840ba700f4cacb819b31041ce7edcde9","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9651/tex_ceiling_textures_5431/tex_floor_textures_1482/tex_table_textures_779/tex_wall_textures_2488","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5832692763461585303,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5832692763461585303,"visual_seed":5832692763461585303,"scene_id":"lab_003","finished_at":"2026-09-08T15:32:15"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T15:32:21","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.4743536602056646,-2.455807038124753,0.71338606911949],"aabb_xy":[[0.46631732550437976,-2.4638451574291698],[0.48238999490694945,-2.4477689188203358]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[-0.09125718150045414,1.2346583469626897,0.71338606911949],"aabb_xy":[[-0.11375718151060243,1.2205621273230862],[-0.06875718149030585,1.2487545666022928]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.472828232802055,-0.9110500199761675,0.71338606911949],"aabb_xy":[[-0.5087417372270446,-0.9469635281929222],[-0.43691472837706524,-0.8751365117594129]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[-0.6338186647419368,-0.1599408484167717,0.71338606911949],"aabb_xy":[[-0.6432361393117996,-0.1693570255544907],[-0.6244011901720741,-0.15052467127905264]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.5821256435249338,-2.4105791459208668,0.71338606911949],"aabb_xy":[[-0.5882202714130522,-2.4191485404725355],[-0.5760310156368156,-2.402009751369198]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.6434554534825576,-0.46369077769187994,0.71338606911949],"aabb_xy":[[0.6354614649048541,-0.47169085778697023],[0.6514494420602609,-0.45569069759678954]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[0.08501147829262745,-1.0617764342512481,0.71338606911949],"aabb_xy":[[0.06251234256640048,-1.0842764350295113],[0.10751061401885442,-1.0392764334729854]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.37709880396458373,0.5506079389425245,0.71338606911949],"aabb_xy":[[-0.4009350216051889,0.4606079381340381],[-0.3532625863239787,0.640607939751011]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.6629742311504169,-0.6318816344060749,0.71338606911949],"aabb_xy":[[-0.6747424179450745,-0.7168816343112966],[-0.6512060443557595,-0.5468816345008535]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[-0.6114863201946543,0.35597188821629144,0.71338606911949],"aabb_xy":[[-0.6202675473418907,0.34719214092776135],[-0.6027050930474182,0.36475163550482165]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.017156758347413037,0.5875018926940259,0.71338606911949],"aabb_xy":[[-0.032319631324350125,0.5723364353989071],[-0.0019938853704759567,0.6026673499891446]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.5869862111798496,1.181188506149093,0.71338606911949],"aabb_xy":[[0.5494862110742565,1.1743663442961119],[0.6244862112854425,1.188010668002074]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.35092642112263017,1.542463696933447,0.71338606911949],"aabb_xy":[[0.34077340556848074,1.5063941553607063],[0.3610794366767795,1.578533238506187]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.7142414175368854,0.12084172833053497,0.71338606911949],"aabb_xy":[[0.7071999665861377,0.11381497659274042],[0.7212828684876329,0.12786848006832952]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[0.1472341251937962,-1.8981901155009013,0.71338606911949],"aabb_xy":[[0.06723412660647678,-1.977505717439062],[0.22723412378111563,-1.8188745135627402]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[0.6573456787998457,-0.24090822096648612,0.71338606911949],"aabb_xy":[[0.5973456779390327,-0.29233465097297245],[0.7173456796606583,-0.1894817909599997]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.15480479928308333,0.6822662127455619,0.71338606911949],"aabb_xy":[[0.13963263000145001,0.6670973558173585],[0.1699769685647167,0.6974350696737652]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.3536253682540659,-2.105733901137497,0.71338606911949],"aabb_xy":[[-0.3710560833330723,-2.1230060158013475],[-0.33619465317505925,-2.0884617864736454]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.35254528605368074,-0.7273713270302105,0.71338606911949],"aabb_xy":[[-0.372436325934021,-0.7400271383149073],[-0.3326542461733405,-0.7147155157455136]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.3554850009688016,0.9882387606525138,0.71338606911949],"aabb_xy":[[-0.36369954608448546,0.9795621703548724],[-0.3472704558531175,0.996915350950155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6485414289146884,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5509.png","name":"5509"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5509.png","name":"5509"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/626.png","name":"626"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3493.png","name":"3493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3608.png","name":"3608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/237.png","name":"237"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":843.5309056089968,"rotation_z_degrees":198.72780958577417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007471816151770092,0.016755953192872295,0.01996955379729128]},{"name":"camera_2","offset_m":[-0.011269438084348495,-0.01823829334840619,-0.008631510113816038]},{"name":"camera_3","offset_m":[0.01172182281239632,-0.014359846105471856,0.002845555401177872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00086539874260105,0.00017275657702824467,0.0012644664386030876],"end_effector_yaw_offset_degrees":-0.164750753031351},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012490799136013059,0.000537639390231812,-0.001992296678060169],"end_effector_yaw_offset_degrees":-0.01891393828476029},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000677578916861652,0.00046192537606802543,0.0010769972521624364],"end_effector_yaw_offset_degrees":-0.1988007098804987},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012565566324364138,-0.0011907096671579605,-0.000725563965202328],"end_effector_yaw_offset_degrees":-0.18015348577814017},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009986002874618118,0.0008527908400315998,0.0016136253973565075],"end_effector_yaw_offset_degrees":0.8613722814050186},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017909922101803164,-0.0007029111763076222,0.0015663067884226656],"end_effector_yaw_offset_degrees":0.17257194626397498}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009546253126162885,0.0007036975869970877],"position_m":[0.1707546253126163,-0.10559630241300291,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018927993725036665,-0.0025663074431568466],"position_m":[0.20910720062749633,-0.3706663074431568,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0011755748002440039,0.002450771141687986],"position_m":[0.289024425199756,0.321150771141688,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004602927366707642,-0.0012687224526883225],"position_m":[0.34889707263329234,0.11383127754731168,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"caeebccd1931ae880dbe8c847d5b6bd8525200df7d90894534c5443d9ec3f1b8","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5509/tex_ceiling_textures_237/tex_floor_textures_3608/tex_table_textures_626/tex_wall_textures_3493","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6147044886627078907,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6147044886627078907,"visual_seed":6147044886627078907,"scene_id":"lab_003","finished_at":"2026-09-08T15:40:09"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T15:40:17","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[0.09055061113070506,1.322470448568092,0.71338606911949],"aabb_xy":[[0.026550610753171444,1.2727251817172796],[0.15455061150823868,1.372215715418904]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.4786216482589709,0.16192916468412077,0.71338606911949],"aabb_xy":[[0.4682100895784871,0.1565834313482223],[0.4890332069394545,0.16727489802001924]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.4972394193872443,-2.3362372119634953,0.71338606911949],"aabb_xy":[[-0.5224602562470838,-2.361460962816382],[-0.4720185825274046,-2.311013461110608]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.3202743281516104,1.433690072709124,0.71338606911949],"aabb_xy":[[-0.3652743296178393,1.3886902158476433],[-0.2752743266853816,1.4786899295706046]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.004642459298002777,-2.445031155550025,0.71338606911949],"aabb_xy":[[-0.07464246193458912,-2.46513602054589],[0.06535754333858357,-2.424926290554159]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.10253220769646643,1.8213083674011572,0.71338606911949],"aabb_xy":[[-0.10696283705130662,1.815859995666475],[-0.09810157834162626,1.82675673913584]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.3591367870072143,-0.9358663174564614,0.71338606911949],"aabb_xy":[[-0.41411050904354724,-0.9908663170206945],[-0.30416306497088147,-0.8808663178922281]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.16161649521466104,-0.9193087726501166,0.71338606911949],"aabb_xy":[[0.10662101739400165,-0.9743087740840234],[0.21661197303532043,-0.8643087712162095]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[0.5608123686107209,-1.973264582059579,0.71338606911949],"aabb_xy":[[0.5296654497671377,-2.043264580746386],[0.5919592874543039,-1.9032645833727717]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.029456976449602434,-1.8764829260461093,0.71338606911949],"aabb_xy":[[-0.09345697284517551,-1.9404462144648429],[0.03454301994597064,-1.8125196376273758]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.4825956860082333,-1.3428049850963355,0.71338606911949],"aabb_xy":[[-0.5465956851780032,-1.3895716722152978],[-0.4185956868384634,-1.2960382979773728]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.2743509447287622,1.3297370860973312,0.71338606911949],"aabb_xy":[[0.2637834650706632,1.3191920559843227],[0.2849184243868612,1.3402821162103398]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[-0.5317909289394025,1.1839684803290007,0.71338606911949],"aabb_xy":[[-0.5812713501533613,1.1199684824161489],[-0.4823105077254437,1.2479684782418525]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.14265193136120602,1.582621216405879,0.71338606911949],"aabb_xy":[[0.13180032511233042,1.571761925678228],[0.15350353761008162,1.59348050713353]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.4196251973527614,-1.694613682409595,0.71338606911949],"aabb_xy":[[0.4019923617592338,-1.7122366284252177],[0.43725803294628895,-1.6769907363939718]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.13860844044520315,-0.8512479974455269,0.71338606911949],"aabb_xy":[[-0.14394601611120772,-0.8762479983746668],[-0.13327086477919858,-0.8262479965163873]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.3252911822460667,-0.6877691623585209,0.71338606911949],"aabb_xy":[[0.3077911831116995,-0.6976487893961086],[0.34279118138043385,-0.677889535320933]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.1422422455885174,1.3723448906339124,0.71338606911949],"aabb_xy":[[-0.17724224693999913,1.3519851546770913],[-0.10724224423703567,1.392704626590733]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.6045134748694392,-1.1914525922982069,0.71338606911949],"aabb_xy":[[0.5245134779063999,-1.2685282339419803],[0.6845134718324782,-1.1143769506544334]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.36526580282536036,-1.8716953675562533,0.71338606911949],"aabb_xy":[[-0.40117930725035,-1.9076088757730076],[-0.3293522984003706,-1.8357818593394986]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.2135083468859189,-0.7691641506428202,0.71338606911949],"aabb_xy":[[0.14350835047595706,-0.7896020862945017],[0.2835083432958806,-0.7487262149911382]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.36207014568687645,0.625150432293244,0.71338606911949],"aabb_xy":[[0.29807014838453,0.5807840053253872],[0.4260701429892228,0.6695168592611007]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[0.6131849834841288,-0.4278839303257804,0.71338606911949],"aabb_xy":[[0.5281849850667056,-0.5127582257880654],[0.6981849819015521,-0.3430096348634955]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.5925471480567677,0.7311968331890117,0.71338606911949],"aabb_xy":[[0.5575471497460721,0.7234818182654662],[0.627547146367463,0.7389118481125575]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.2778301870008632,-1.9366569167454089,0.71338606911949],"aabb_xy":[[-0.2874618232212928,-1.946294229525118],[-0.2681985507804336,-1.9270196039657002]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[-0.5963276344486016,0.44449291995763307,0.71338606911949],"aabb_xy":[[-0.6603276330351739,0.39748595655812435],[-0.532327635862029,0.4914998833571418]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.035209093727140206,0.9288810540048642,0.71338606911949],"aabb_xy":[[-0.05772278555059739,0.8588810534038566],[-0.012695401903683005,0.9988810546058716]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6511920998886978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4433.png","name":"4433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1218.png","name":"1218"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2822.png","name":"2822"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7751.png","name":"7751"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":711.7919351964451,"rotation_z_degrees":199.2132794356591,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011069469275737674,0.012945596568689242,0.004474280255322607]},{"name":"camera_2","offset_m":[-0.01220155659797129,0.019811318303662662,0.012335730941441237]},{"name":"camera_3","offset_m":[-0.00968960995455599,-0.012384691228200628,0.00627698082050418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018771643016380261,-0.00032238910767030406,0.0013985102779208022],"end_effector_yaw_offset_degrees":0.6151278259629966},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001302022806665801,0.0016805711439695265,-0.00020881883681686596],"end_effector_yaw_offset_degrees":-0.3005382354921873},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006410407745217209,0.0017846177213730126,0.0019376663230751337],"end_effector_yaw_offset_degrees":0.6481944220952207},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012021517762831756,0.0016601531653819175,-0.001483910297454297],"end_effector_yaw_offset_degrees":0.22183245888707126},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019728170731664967,0.0016145798063312545,0.0013541913010103653],"end_effector_yaw_offset_degrees":-0.9672465038706144},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-3.0489847465561565e-05,0.0005156317707036961,0.0010894229068263215],"end_effector_yaw_offset_degrees":0.21630966547929886}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037609269759798416,0.0003187447328586168],"position_m":[0.16603907302402016,-0.10598125526714139,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003302111316759171,-0.004959067661771661],"position_m":[0.21066978886832408,-0.37305906766177166,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00042170466429814184,0.004166899850705054],"position_m":[0.2897782953357019,0.32286689985070505,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032622368542638705,-0.00400607964535574],"position_m":[0.35676223685426384,0.11109392035464426,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a81550f43d633b9023e2769d33358367ca042b8c08c8bf46e43a8496c382de23","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5038/tex_ceiling_textures_7751/tex_floor_textures_2822/tex_table_textures_4433/tex_wall_textures_1218","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4319346315580727811,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4319346315580727811,"visual_seed":4319346315580727811,"scene_id":"lab_003","finished_at":"2026-09-08T15:48:12"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T15:48:19","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.296318060931375,-1.0584683910685293,0.71338606911949],"aabb_xy":[[-0.30228459987211076,-1.064429535727893],[-0.2903515219906392,-1.0525072464091652]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.6437945007235182,-1.2830909502947965,0.71338606911949],"aabb_xy":[[0.6282387313132528,-1.2986413835392039],[0.6593502701337833,-1.2675405170503895]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.04705122331650191,0.8140729474771384,0.71338606911949],"aabb_xy":[[0.0020512218502730596,0.7690730906156579],[0.09205122478273076,0.8590728043386192]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.14561851014186344,-0.5643310068504372,0.71338606911949],"aabb_xy":[[-0.15120018177599218,-0.5768310066682127],[-0.14003683850773466,-0.5518310070326617]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.3256739582621735,-1.3934516566259834,0.71338606911949],"aabb_xy":[[-0.3329177243084188,-1.4734516548295857],[-0.31843019221592817,-1.313451658422381]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.5154449611982052,-1.0908341976666003,0.71338606911949],"aabb_xy":[[-0.5794449614586759,-1.135842997019528],[-0.4514449609377343,-1.045825398313672]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.3998583916470211,0.4443420823608175,0.71338606911949],"aabb_xy":[[0.3823583914019717,0.42684229452125066],[0.41735839189207047,0.46184187020038436]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.6321286645647735,0.41563209995441763,0.71338606911949],"aabb_xy":[[-0.6821279397332096,0.3656320986784705],[-0.5821293893963373,0.46563210123036486]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.6619680351688524,-1.9941747777183731,0.71338606911949],"aabb_xy":[[0.6206634921051164,-2.0581747772864905],[0.7032725782325884,-1.930174778150256]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.4755425705208869,-0.9887620908691619,0.71338606911949],"aabb_xy":[[0.44054257221019144,-0.9964771057927075],[0.5105425688315823,-0.9810470759456162]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.5126604853554522,-1.9137607753263608,0.71338606911949],"aabb_xy":[[-0.5626337793587126,-1.9637607758809081],[-0.4626871913521917,-1.8637607747718135]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.08168235257314571,1.7644644331047385,0.71338606911949],"aabb_xy":[[-0.11599862974776365,1.7144644331315606],[-0.047366075398527774,1.814464433077916]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[0.6059272549332846,0.7132757956317781,0.71338606911949],"aabb_xy":[[0.5419272576476359,0.6717690766789343],[0.6699272522189332,0.7547825145846222]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.39911336309633527,-1.931689146361375,0.71338606911949],"aabb_xy":[[0.3766142273701083,-1.954189147139638],[0.42161249882256224,-1.909189145583112]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.035066142255440136,-2.368349401973763,0.71338606911949],"aabb_xy":[[-0.03493386113612184,-2.4036651756771934],[0.1050661456470021,-2.3330336282703317]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.15721635009640134,0.8686812566395159,0.71338606911949],"aabb_xy":[[-0.16491954077047838,0.8609718859407777],[-0.1495131594223243,0.8763906273382537]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.6380834988304481,-0.27147895977594816,0.71338606911949],"aabb_xy":[[-0.6507102861176445,-0.281025033477521],[-0.6254567115432518,-0.2619328860743752]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.5562411321968725,-1.5894508970526737,0.71338606911949],"aabb_xy":[[0.501241133020283,-1.6444405718276314],[0.6112411313734619,-1.534461222277716]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.36837052832745093,-0.149610827363869,0.71338606911949],"aabb_xy":[[-0.3859488305163977,-0.16718531693797387],[-0.350792226138504,-0.13203633778976406]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[0.252199654319465,-1.4951910846719376,0.71338606911949],"aabb_xy":[[0.24290603608231442,-1.5326910831600715],[0.2614932725566156,-1.4576910861838037]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.04224421110210985,-2.003741357775459,0.71338606911949],"aabb_xy":[[-0.022755791535683634,-2.0552209564749058],[0.10724421373990334,-1.9522617590760118]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.19618677129780826,1.3797710103604919,0.71338606911949],"aabb_xy":[[0.13618677104640708,1.3254896853240272],[0.25618677154920944,1.4340523353969565]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.17574881119614538,-1.0943056913312124,0.71338606911949],"aabb_xy":[[0.13824881137911182,-1.0989439026423542],[0.21324881101317894,-1.0896674800200705]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.3431892304819635,1.6929766724330082,0.71338606911949],"aabb_xy":[[-0.43318922990033437,1.6596011755888187],[-0.2531892310635926,1.7263521692771981]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_24","position":[-0.3538740859832721,-0.9020118278022793,0.71338606911949],"aabb_xy":[[-0.4138740858298388,-0.958830449995318],[-0.29387408613670524,-0.8451932056092406]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[0.1739567341021392,-1.7886419287018178,0.71338606911949],"aabb_xy":[[0.15145673359009856,-1.811133787067216],[0.19645673461417976,-1.7661500703364192]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[-0.29799806417412594,-0.6680301387507579,0.71338606911949],"aabb_xy":[[-0.3154980644334626,-0.6821216809395307],[-0.2804980639147894,-0.6539385965619855]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[0.1377241480420679,-2.129862506282242,0.71338606911949],"aabb_xy":[[0.13376366427233352,-2.137530370867762],[0.14168463181180227,-2.122194641696721]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[-0.086896349952718,-0.99860327471143,0.71338606911949],"aabb_xy":[[-0.17689635228673706,-1.0760856292965426],[0.0031036523813010586,-0.9211209201263173]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_29","position":[-0.4352907165755506,-0.3549728160127863,0.71338606911949],"aabb_xy":[[-0.4447081911454133,-0.36438899315050527],[-0.4258732420056878,-0.3455566388750672]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6450348288662886,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/274.png","name":"274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/432.png","name":"432"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9670.png","name":"9670"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6486.png","name":"6486"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":803.137864560075,"rotation_z_degrees":144.2679877397463,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008119808313846138,-0.016644267749081804,0.00011610141269952773]},{"name":"camera_2","offset_m":[0.009820887919620692,0.0003133236601105087,0.01552196829773941]},{"name":"camera_3","offset_m":[0.014632782439813325,0.00752494875748836,0.008642343481224727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015227013343699185,-0.0011743794102016688,0.00022460294857558436],"end_effector_yaw_offset_degrees":0.1161676586072884},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00013272338731574107,-0.0013958453247729175,0.0005441310873445485],"end_effector_yaw_offset_degrees":-0.9001350837335393},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.979961171511557e-05,-0.0003804917127121427,-0.00012436548607581174],"end_effector_yaw_offset_degrees":-0.2933748270584662},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014658782938100422,0.0009479134214489403,0.0017489873739432813],"end_effector_yaw_offset_degrees":-0.26568779350883},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005776110084716492,0.0014429128457316975,0.00031260530441995114],"end_effector_yaw_offset_degrees":0.9411277415841686},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0016434512033403092,0.0014156150745579616,0.0017057173038146807],"end_effector_yaw_offset_degrees":0.04138940948925307}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003994686668917656,-0.0013016927097759647],"position_m":[0.16580531333108234,-0.10760169270977597,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026586658550780498,0.0024880551345294747],"position_m":[0.20834133414492195,-0.3656119448654705,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004896202530526103,0.0005350776726173812],"position_m":[0.28530379746947393,0.3192350776726174,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004082868800743462,0.0009116514119131948],"position_m":[0.3494171311992565,0.11601165141191319,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"fca143b8e07a442500c1b79f2670c20864e6b68c9dba67a2df53932fd5c216aa","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6102/tex_ceiling_textures_6486/tex_floor_textures_9670/tex_table_textures_274/tex_wall_textures_432","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1643637935414422640,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1643637935414422640,"visual_seed":1643637935414422640,"scene_id":"lab_003","finished_at":"2026-09-08T15:56:20"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T15:56:26","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[-0.035326688440860954,1.2981396184632956,0.71338606911949],"aabb_xy":[[-0.06032668760649407,1.291187372757939],[-0.01032668927522784,1.3050918641686522]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.40981514799816404,-2.290110278165987,0.71338606911949],"aabb_xy":[[-0.4376601847787711,-2.3208947769042982],[-0.38197011121755686,-2.259325779427675]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.30964384023857483,-1.06718795121206,0.71338606911949],"aabb_xy":[[0.2945415387775566,-1.0822894728431216],[0.3247461416995928,-1.0520864295809977]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.0797710322219346,1.4393622840407159,0.71338606911949],"aabb_xy":[[-0.10227103223208289,1.4252660644011126],[-0.05727103221178631,1.4534585036803191]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.016502110206980336,-2.052540888364727,0.71338606911949],"aabb_xy":[[-0.06349789006662664,-2.1254904361904434],[0.09650211048058731,-1.9795913405390102]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[0.3997628322412172,0.8916425497107521,0.71338606911949],"aabb_xy":[[0.3697711695073469,0.8616425503739514],[0.42975449497508755,0.9216425490475525]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[-0.09680921019831601,1.743713235316211,0.71338606911949],"aabb_xy":[[-0.12180920947027829,1.7273678717200487],[-0.07180921092635373,1.7600585989123734]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.6137705389461989,-1.879497031320255,0.71338606911949],"aabb_xy":[[0.5912714032199721,-1.901997032098518],[0.636269674672426,-1.856997030541992]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.7090078045162178,1.5319792892809976,0.71338606911949],"aabb_xy":[[0.7017465569458103,1.519192279017488],[0.7162690520866253,1.544766299544507]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.5029330834316106,-0.9935688964698879,0.71338606911949],"aabb_xy":[[0.45296001789909524,-1.0435688962824208],[0.5529061489641262,-0.9435688966573551]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[0.20888665397559625,-1.9453370332761395,0.71338606911949],"aabb_xy":[[0.20077299930221915,-1.9534428497301681],[0.21700030864897335,-1.93723121682211]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.5967434127538256,-0.3543055326191129,0.71338606911949],"aabb_xy":[[0.5617434114023439,-0.37466526857593374],[0.6317434141053073,-0.33394579666229207]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.6511886426548896,-1.2826621596184518,0.71338606911949],"aabb_xy":[[0.603382475041121,-1.3476621623255107],[0.6989948102686583,-1.2176621569113928]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.36517000423528456,1.7277038121179227,0.71338606911949],"aabb_xy":[[-0.42916570163038104,1.663703813817214],[-0.30117430684018787,1.7917038104186314]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[-0.25138878152801947,-0.7535251689794926,0.71338606911949],"aabb_xy":[[-0.26655165450495655,-0.7686906262746116],[-0.2362259085510824,-0.738359711684374]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.3878862317063032,-0.8073550959307005,0.71338606911949],"aabb_xy":[[0.36799519182596296,-0.8200109072153975],[0.4077772715866435,-0.7946992846460038]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.46289533932161786,1.356067144133454,0.71338606911949],"aabb_xy":[[-0.4820076466795967,1.3369323652562122],[-0.443783031963639,1.3752019230106962]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[0.23941681935745163,-1.275475861114401,0.71338606911949],"aabb_xy":[[0.2312891311641384,-1.2843894695251088],[0.24754450755076485,-1.2665622527036937]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.6326287905204687,1.1317958911988288,0.71338606911949],"aabb_xy":[[-0.6452314896575453,1.1192004949739633],[-0.6200260913833924,1.1443912874236943]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[-0.5916936548977292,-0.3063411382514061,0.71338606911949],"aabb_xy":[[-0.6716936581617423,-0.31990117056031947],[-0.511693651633716,-0.2927811059424928]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[-0.20489578529452745,0.8203079436525185,0.71338606911949],"aabb_xy":[[-0.29489578203013767,0.7671244803352238],[-0.11489578855891724,0.8734914069698129]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_21","position":[-0.4738824999476967,-2.502114015443939,0.71338606911949],"aabb_xy":[[-0.4854514806946334,-2.527114015560871],[-0.46231351920076025,-2.4771140153270075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.649018039335315,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8443.png","name":"8443"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8443.png","name":"8443"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1792.png","name":"1792"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6205.png","name":"6205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9528.png","name":"9528"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6712.png","name":"6712"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":614.735310926951,"rotation_z_degrees":335.1900500289874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031060872077257745,-0.00521065797463594,-0.0012778968628215231]},{"name":"camera_2","offset_m":[-0.01001662645099405,-0.00416026901840446,0.01110856493268321]},{"name":"camera_3","offset_m":[0.014641320758355555,-0.003441881988916002,-0.004773323350195939]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00037546472690528796,0.001794772458991629,-0.0012652235644075663],"end_effector_yaw_offset_degrees":-0.8687245652524804},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028532061748083267,-0.0003098047649120522,6.477213231866584e-05],"end_effector_yaw_offset_degrees":0.13596293526836933},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010080025250936565,-0.0005451424819057284,0.0006252249848865102],"end_effector_yaw_offset_degrees":-0.3807379495978418},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001410769647837761,-0.0013245700245747751,-0.0013807315491690523],"end_effector_yaw_offset_degrees":-0.857682847400731},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-7.296767656822956e-05,0.00042417666376169975,-0.001014745788776847],"end_effector_yaw_offset_degrees":0.1491608631002077},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00033099004134188063,-0.00117581717461569,-0.0010304812867566017],"end_effector_yaw_offset_degrees":0.20091086407913994}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00022062867336177655,0.000127001257877765],"position_m":[0.16957937132663822,-0.10617299874212224,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004590858599787936,-0.00011111479635622992],"position_m":[0.20640914140021205,-0.3682111147963562,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0047569092605718915,0.0007496735617962711],"position_m":[0.2949569092605719,0.31944967356179627,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0047111748197171755,-0.0037677853374644002],"position_m":[0.35821117481971715,0.1113322146625356,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8d13a7e800d741f167801b48e442d404bee85ed951f8a22284d220f167518dd1","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8443/tex_ceiling_textures_6712/tex_floor_textures_9528/tex_table_textures_1792/tex_wall_textures_6205","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6178169800636270670,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6178169800636270670,"visual_seed":6178169800636270670,"scene_id":"lab_003","finished_at":"2026-09-08T16:04:36"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T16:04:43","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[0.5798954934084637,-1.7585744351007309,0.71338606911949],"aabb_xy":[[0.5413498005832627,-1.7971202061569196],[0.6184411862336647,-1.7200286640445421]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.36767973787543706,1.7151875298955086,0.71338606911949],"aabb_xy":[[0.3181993166614783,1.6511875319826568],[0.4171601590893959,1.7791875278083604]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.6427920161564277,-1.176595655164247,0.71338606911949],"aabb_xy":[[-0.665292016166576,-1.1906918748038502],[-0.6202920161462794,-1.1624994355246436]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.6589665733602028,-1.253305718968313,0.71338606911949],"aabb_xy":[[0.6364665731166875,-1.265510353628085],[0.6814665736037183,-1.241101084308541]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.3945447477589732,1.4763699212772123,0.71338606911949],"aabb_xy":[[-0.4445289834671505,1.4263699224637167],[-0.344560512050796,1.526369920090708]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.24344808583356986,0.7710189100895639,0.71338606911949],"aabb_xy":[[-0.3234480890914128,0.6910224022975799],[-0.1634480825757269,0.8510154178815479]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[0.5220878676271141,1.739258644053304,0.71338606911949],"aabb_xy":[[0.4580878703414655,1.69775192510046],[0.5860878649127628,1.780765363006148]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.5858277921223334,0.19363722185137933,0.71338606911949],"aabb_xy":[[-0.6498277907089058,0.1466302584518706],[-0.5218277935357609,0.24064418525088804]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[-0.5260793238978145,-1.6657334365497256,0.71338606911949],"aabb_xy":[[-0.6160793206334247,-1.71891689986702],[-0.4360793271622043,-1.6125499732324309]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.5248790254077149,-0.17174921852459413,0.71338606911949],"aabb_xy":[[-0.5798790245843044,-0.22673889329955174],[-0.46987902623112543,-0.11675954374963646]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.6491616914308647,-2.3240313580716108,0.71338606911949],"aabb_xy":[[-0.653297547763565,-2.3615313575159678],[-0.6450258350981646,-2.2865313586272538]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[0.4726645993269061,0.5795776070510659,0.71338606911949],"aabb_xy":[[0.4376645993504102,0.5701129910034493],[0.5076645993034019,0.5890422230986825]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.4525594807562787,-0.731409972150862,0.71338606911949],"aabb_xy":[[-0.5165551781513753,-0.7954099704515706],[-0.38856378336118214,-0.6674099738501532]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.06769052736733172,0.15025106636761487,0.71338606911949],"aabb_xy":[[-0.0751029829087202,0.14439985594598692],[-0.06027807182594325,0.15610227678924282]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.1825946372077104,-2.0775302397289166,0.71338606911949],"aabb_xy":[[0.11859463791354219,-2.141516380097771],[0.24659463650187863,-2.0135440993600624]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[0.41321898141541413,-1.8039657327229728,0.71338606911949],"aabb_xy":[[0.35822577007827744,-1.8589657330617664],[0.468212192752551,-1.7489657323841792]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[-0.28441803442330155,-1.5272598790482317,0.71338606911949],"aabb_xy":[[-0.3194180326934214,-1.5343340067432196],[-0.2494180361531816,-1.5201857513532433]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.023969420067202818,1.0980649543934025,0.71338606911949],"aabb_xy":[[0.01692796911645522,1.0910382026556082],[0.031010871017950414,1.1050917061311971]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[0.41764074996651934,-1.4436331437744006,0.71338606911949],"aabb_xy":[[0.38030947344127675,-1.4782861985692528],[0.45497202649176194,-1.4089800889795483]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[0.2787638958383024,1.194205864438231,0.71338606911949],"aabb_xy":[[0.2316345168364667,1.1302058633938288],[0.325893274840138,1.2582058654826327]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.5518100867240838,1.0016084879682379,0.71338606911949],"aabb_xy":[[-0.5564452018763171,0.9977411528910891],[-0.5471749715718504,1.0054758230453864]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.15124570154882133,0.9388867060613775,0.71338606911949],"aabb_xy":[[-0.21524569885116773,0.8945202790935207],[-0.08724570424647493,0.9832531330292342]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.2311341597901681,-0.9924247282824286,0.71338606911949],"aabb_xy":[[-0.24249589444345426,-1.0037931946887166],[-0.21977242513688194,-0.9810562618761404]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.3889244497852371,0.5519994715771679,0.71338606911949],"aabb_xy":[[0.38093095998995513,0.5440013396366923],[0.3969179395805192,0.5599976035176435]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.24227037131062162,1.07488455309791,0.71338606911949],"aabb_xy":[[-0.312270373119367,1.0535307843337227],[-0.17227036950187613,1.0962383218620975]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[-0.5414178171981269,-1.0926754688784686,0.71338606911949],"aabb_xy":[[-0.5493410974368752,-1.115175469116472],[-0.5334945369593785,-1.0701754686404652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6537417487466556,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4044.png","name":"4044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4044.png","name":"4044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9656.png","name":"9656"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9107.png","name":"9107"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2881.png","name":"2881"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4642.png","name":"4642"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":556.2791240971213,"rotation_z_degrees":31.71370104998131,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01882105444648045,0.01276433353893289,-0.01723542306164802]},{"name":"camera_2","offset_m":[0.018442547294120166,0.01603645625683225,0.015519258234323766]},{"name":"camera_3","offset_m":[0.017129065996621246,-0.01340628671796151,-0.006655570077706284]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001985217896884716,0.0009429042211931992,3.499860598991846e-05],"end_effector_yaw_offset_degrees":-0.8947801437665448},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007928595539845467,0.0006990814334439355,0.0009384178200824026],"end_effector_yaw_offset_degrees":-0.5422302229966811},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00191661843356952,0.0003913454598767712,0.001491893317583664],"end_effector_yaw_offset_degrees":0.6948089136387561},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014822234219007014,0.00187171437798215,-0.00044558378956783824],"end_effector_yaw_offset_degrees":-0.5368014430354842},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-6.198618331596244e-05,0.0004100611293797675,0.0006897341582849173],"end_effector_yaw_offset_degrees":0.15044645819260594},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013043109825479995,-0.0018238074574690928,0.00012078476245164617],"end_effector_yaw_offset_degrees":0.9709409635888775}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002838759084450794,0.0038008558322548064],"position_m":[0.1726387590844508,-0.1024991441677452,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0045216087615225125,-0.0024368070714260994],"position_m":[0.21552160876152252,-0.37053680707142606,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0008536900420512503,-0.0004701049283714013],"position_m":[0.28934630995794874,0.3182298950716286,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003223046728359649,0.0018373953198088898],"position_m":[0.3502769532716403,0.11693739531980889,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"49d7f0effb7572d9a5fef7d047ad45c831484e12fa430d124f6dc292511bdcb8","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4044/tex_ceiling_textures_4642/tex_floor_textures_2881/tex_table_textures_9656/tex_wall_textures_9107","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1222989799264993897,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1222989799264993897,"visual_seed":1222989799264993897,"scene_id":"lab_003","finished_at":"2026-09-08T16:12:41"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T16:12:49","dimensions":{"distractor":{"count":33,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[0.03190034121773033,-1.6428863122526243,0.71338606911949],"aabb_xy":[[-0.051821884282352126,-1.7328863157873202],[0.11562256671781279,-1.5528863087179283]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[0.4161054695773867,-1.662457492744542,0.71338606911949],"aabb_xy":[[0.4116748402225466,-1.6679058644792246],[0.42053609893222693,-1.6570091210098596]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.012345190656857685,1.0946259071723072,0.71338606911949],"aabb_xy":[[-0.020339179234561078,1.0866258270772169],[-0.004351202079154291,1.1026259872673976]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.6273278484976088,1.1438828820067655,0.71338606911949],"aabb_xy":[[0.5898278480002506,1.139914198458647],[0.664827848994967,1.147851565554884]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.06421325027724079,-2.2346059544204535,0.71338606911949],"aabb_xy":[[0.03899241341740111,-2.259829705273339],[0.08943408713708044,-2.209382203567566]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.5075698618535756,-0.8281524409697902,0.71338606911949],"aabb_xy":[[-0.5575691370220118,-0.8781524422457374],[-0.4575705866851395,-0.7781524396938431]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.20552977603823908,1.2529280937779252,0.71338606911949],"aabb_xy":[[-0.22881161823637042,1.1679280924806972],[-0.18224793384010773,1.3379280950751533]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.5235676839537021,1.420674484318028,0.71338606911949],"aabb_xy":[[-0.6135676836768762,1.3976011317828478],[-0.4335676842305279,1.4437478368532075]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.5924296184269213,1.748845751713922,0.71338606911949],"aabb_xy":[[0.5836275631179485,1.7410344255589927],[0.6012316737358939,1.7566570778688508]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.503965686872484,0.8164714594638647,0.71338606911949],"aabb_xy":[[0.4539656872961493,0.7664908805117586],[0.5539656864488187,0.8664520384159705]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.29936983545757323,-0.28186099964804967,0.71338606911949],"aabb_xy":[[-0.3609605946815661,-0.34586099775709656],[-0.23777907623358047,-0.21786100153900279]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.31994163199909026,0.5520928353096068,0.71338606911949],"aabb_xy":[[-0.36493421871754067,0.5070928360351581],[-0.27494904528063985,0.5970928345840556]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.5503994839521136,1.384984928024895,0.71338606911949],"aabb_xy":[[0.5377967848150371,1.3723895318000296],[0.56300218308919,1.3975803242497606]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.6363538208989892,0.365786464537881,0.71338606911949],"aabb_xy":[[0.5763538203029731,0.3109739919926576],[0.6963538214950055,0.42059893708310453]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.14262920924588418,-1.911983668179992,0.71338606911949],"aabb_xy":[[0.13666267030514836,-1.917944812839356],[0.14859574818661994,-1.9060225235206276]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.1671811735254526,1.5271765449124461,0.71338606911949],"aabb_xy":[[-0.20468117387368032,1.5153851493313624],[-0.1296811731772248,1.5389679404935295]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.15025678772116946,0.7231010585847453,0.71338606911949],"aabb_xy":[[0.0862567906090638,0.6740686887903347],[0.21425678483327518,0.7721334283791559]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.017289060507554077,-1.0064960925614974,0.71338606911949],"aabb_xy":[[-0.08128906285035563,-1.05143694380563],[0.046710941835247474,-0.961555241317365]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.293884834206835,-1.928719918980176,0.71338606911949],"aabb_xy":[[0.2763848349287481,-1.946058019046522],[0.31138483348492185,-1.91138181891383]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.410128537935152,1.3400846240306414,0.71338606911949],"aabb_xy":[[0.3301285393478326,1.2607690220924803],[0.49012853652247146,1.419400225968802]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.2872822436606014,-0.7052346366180353,0.71338606911949],"aabb_xy":[[0.2648174736891963,-0.7277346374968957],[0.3097470136320065,-0.6827346357391747]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.3844472204773608,1.1974875655083839,0.71338606911949],"aabb_xy":[[-0.4212977684143484,1.1599875646853501],[-0.3475966725403732,1.2349875663314176]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.551262492881187,1.6124894592210794,0.71338606911949],"aabb_xy":[[-0.606262492502933,1.557505766433607],[-0.4962624932594413,1.6674731520085524]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.34160240921390794,0.9727820736542787,0.71338606911949],"aabb_xy":[[-0.405602405609481,0.9088187852355452],[-0.27760241281833486,1.0367453620730123]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[-0.3114298660007966,0.11022056014141013,0.71338606911949],"aabb_xy":[[-0.3449090332618375,0.0767414467703031],[-0.27795069873975564,0.1436996735125171]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[0.37514727385435953,-0.3295015010004336,0.71338606911949],"aabb_xy":[[0.3698147591997466,-0.3348258292456692],[0.38047978850897257,-0.32417717275519803]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[0.6195604629327487,-0.45228217160053674,0.71338606911949],"aabb_xy":[[0.569560463492553,-0.502250096084853],[0.6695604623729442,-0.4023142471162204]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[-0.6292851169950598,1.3025983128741774,0.71338606911949],"aabb_xy":[[-0.6791018964598945,1.252598314389874],[-0.579468337530225,1.3525983113584807]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_28","position":[0.5829614452887777,-0.12152935079055283,0.71338606911949],"aabb_xy":[[0.5566726209683369,-0.14780078444520403],[0.6092502696092182,-0.09525791713590158]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[-0.3762876985763243,-1.378858828738975,0.71338606911949],"aabb_xy":[[-0.38685517823442334,-1.3894038588519835],[-0.3657202189182253,-1.3683137986259664]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[0.18546639175539037,0.5257809131616074,0.71338606911949],"aabb_xy":[[0.18062279699416042,0.5209292606826232],[0.19030998651662037,0.5306325656405915]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_31","position":[0.6576954524064809,1.4127774599252718,0.71338606911949],"aabb_xy":[[0.6077006194785393,1.3627774610300283],[0.7076902853344225,1.4627774588205154]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[-0.18184729036960035,-2.25805362701141,0.71338606911949],"aabb_xy":[[-0.2518472930061867,-2.2781584920072753],[-0.11184728773301397,-2.2379487620155443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6534192388040662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8121.png","name":"8121"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8121.png","name":"8121"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5080.png","name":"5080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1386.png","name":"1386"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3723.png","name":"3723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9382.png","name":"9382"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":623.1734739785545,"rotation_z_degrees":100.83209581394492,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006262557154992257,0.0013218208976968938,0.010438949222550321]},{"name":"camera_2","offset_m":[0.008352841394460766,-0.019303159761942742,-0.015841696319046278]},{"name":"camera_3","offset_m":[0.003044911185248002,0.00011193786014212712,0.011221084251799317]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015555408496685354,-0.0014811288252709206,-0.0018822207304731659],"end_effector_yaw_offset_degrees":-0.45185152561784747},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009207991214963966,0.0017654925399844261,-0.0003669192967243604],"end_effector_yaw_offset_degrees":0.1761365048214938},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000985460336393754,-8.174876480958782e-05,0.0014565846564195627],"end_effector_yaw_offset_degrees":0.7214287918257627},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011718437507170078,-0.0007253638593349599,-0.00027096073885330254],"end_effector_yaw_offset_degrees":-0.1980286339432218},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016449896081183618,0.0008027619588991796,-9.366297530689362e-05],"end_effector_yaw_offset_degrees":0.45971058644304086},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0004517240995449176,0.0002601242167407239,-0.0007150489776736615],"end_effector_yaw_offset_degrees":0.6077933719489899}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004520747777799541,-0.0012316638349168432],"position_m":[0.16527925222220047,-0.10753166383491684,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004236395382951703,-0.0022823672281021947],"position_m":[0.2152363953829517,-0.3703823672281022,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0037752068015427962,-0.004555660585086675],"position_m":[0.2939752068015428,0.3141443394149133,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002115957624531618,0.00026579852243463747],"position_m":[0.3556159576245316,0.11536579852243463,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"dd6e5bebd20dbbb237d6179d2abea2efe34809cc1931ff7ff10767c470de1374","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8121/tex_ceiling_textures_9382/tex_floor_textures_3723/tex_table_textures_5080/tex_wall_textures_1386","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7027380885070785178,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7027380885070785178,"visual_seed":7027380885070785178,"scene_id":"lab_003","finished_at":"2026-09-08T16:21:05"}
+{"episode_id":"ep_000025","started_at":"2026-09-08T16:21:13","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.022729995985817264,0.8500231636674904,0.71338606911949],"aabb_xy":[[-0.029231632493821883,0.8402553416411808],[-0.01622835947781265,0.8597909856938003]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.06607498986836213,1.6317430872159782,0.71338606911949],"aabb_xy":[[0.05804871923773615,1.6229915922386253],[0.07410126049898814,1.6404945821933306]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[-0.333013027646644,-0.07353659701051729,0.71338606911949],"aabb_xy":[[-0.3364537038867011,-0.07739802998488177],[-0.32957235140658675,-0.06967516403615281]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.2036084635066484,-1.7065542348946385,0.71338606911949],"aabb_xy":[[0.14201770428265562,-1.7705542330036856],[0.2651992227306412,-1.6425542367855919]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.5112883535612183,1.7797661287573914,0.71338606911949],"aabb_xy":[[-0.5457508315743059,1.7731024515744687],[-0.4768258755481304,1.786429805940314]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.006758735610441824,1.1416992601008946,0.71338606911949],"aabb_xy":[[-0.08292834069767363,1.051699259846444],[0.09644581191855728,1.2316992603553452]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.3286078521119169,1.3979897877979757,0.71338606911949],"aabb_xy":[[0.3053260099137855,1.3129897865007476],[0.3518896943100482,1.4829897890952037]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.03530015009186882,-1.9293810896384262,0.71338606911949],"aabb_xy":[[-0.034699851510410655,-1.9428138828400843],[0.1053001516941483,-1.9159482964367691]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.016182413714484478,0.6301150313787596,0.71338606911949],"aabb_xy":[[-0.04069603781149034,0.6058504380767231],[0.008331210382521381,0.654379624680796]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.6282377828458594,-1.425441094382345,0.71338606911949],"aabb_xy":[[-0.6782151997111129,-1.4754410958715933],[-0.5782603659806057,-1.3754410928930962]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.3783460461386179,1.219022077840973,0.71338606911949],"aabb_xy":[[0.36918616719474134,1.2124908597974362],[0.38750592508249454,1.2255532958845103]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_11","position":[-0.25237903166078085,1.7260187348848643,0.71338606911949],"aabb_xy":[[-0.28697011451482607,1.6610187345998328],[-0.21778794880673566,1.791018735169895]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[-0.22759980594932283,-0.5730843021765808,0.71338606911949],"aabb_xy":[[-0.307599802912362,-0.6501599438203542],[-0.14759980898628366,-0.49600866053280734]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.5189691719614589,-2.004288911098922,0.71338606911949],"aabb_xy":[[-0.5439691718939768,-2.0111715793198455],[-0.493969172028941,-1.9974062428779986]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.34427647378354226,1.2995535516109742,0.71338606911949],"aabb_xy":[[-0.3817764736005758,1.2949153402998324],[-0.3067764739665087,1.304191762922116]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[0.22522202385976386,1.589270043724325,0.71338606911949],"aabb_xy":[[0.18772202368789193,1.5565693083414176],[0.2627220240316358,1.621970779107232]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.49709069101665104,0.15721377589398555,0.71338606911949],"aabb_xy":[[0.4330906891043088,0.10130262663597511],[0.5610906929289935,0.213124925151996]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.26509925927081535,0.8337158680653185,0.71338606911949],"aabb_xy":[[0.20109926010104542,0.786949180946356],[0.3290992584405853,0.880482555184281]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.6606844743276681,-1.903203086832268,0.71338606911949],"aabb_xy":[[0.646041068773635,-1.9178618064890522],[0.675327879881701,-1.8885443671754838]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.6138455707556807,1.278832911387457,0.71338606911949],"aabb_xy":[[0.5498455734533342,1.2344664844196],[0.677845568058027,1.3231993383553136]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.4712513021563802,-0.9119247919544673,0.71338606911949],"aabb_xy":[[0.406251301199253,-0.9638730038881728],[0.5362513031135074,-0.8599765800207616]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_21","position":[0.10965147766597794,-2.3895565676214536,0.71338606911949],"aabb_xy":[[0.06688477078655775,-2.4535565710432556],[0.15241818454539813,-2.3255565641996507]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[-0.2292889828548379,0.9150310007959721,0.71338606911949],"aabb_xy":[[-0.2792889822950335,0.8650630763116557],[-0.1792889834146423,0.9649989252802883]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.6034180863568539,0.7989691933440031,0.71338606911949],"aabb_xy":[[0.5534180867805192,0.7489886143918971],[0.6534180859331886,0.848949772296109]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.649193585057518,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/283.png","name":"283"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/283.png","name":"283"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1947.png","name":"1947"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6382.png","name":"6382"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3074.png","name":"3074"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7381.png","name":"7381"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":642.4916765368549,"rotation_z_degrees":164.63480738783963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01306454657235406,0.005984866162226928,0.00604144222757853]},{"name":"camera_2","offset_m":[0.010199041182632436,0.01908638299229774,0.011495689983292607]},{"name":"camera_3","offset_m":[-0.0057232328502573055,0.013027061921760705,-0.008303754995665215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011096022831359647,-0.0004353110877997968,-0.0015046857700892172],"end_effector_yaw_offset_degrees":0.8730954495306911},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009409124039314672,-0.0015616760511838925,-0.00037733403268271504],"end_effector_yaw_offset_degrees":0.31251826182313014},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016938280448952887,-0.00031118830419839456,0.0007605147981114583],"end_effector_yaw_offset_degrees":0.5593394790700581},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019908143838713597,0.0005501873315903886,0.0016254873731428791],"end_effector_yaw_offset_degrees":-0.6214067974461348},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009197855873359774,0.0017135044285099968,-0.0009441493658525531],"end_effector_yaw_offset_degrees":0.4909337568405798},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00038021432701921447,-0.001954663346914495,0.001138818218757031],"end_effector_yaw_offset_degrees":-0.8770751675757227}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003942810770417207,0.003201170318830539],"position_m":[0.1658571892295828,-0.10309882968116947,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038145045531809167,0.004599181371344845],"position_m":[0.2148145045531809,-0.36350081862865513,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003860943503759551,0.0022424128874349736],"position_m":[0.2863390564962405,0.32094241288743497,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011494028558693315,-0.002152146777561387],"position_m":[0.35235059714413064,0.11294785322243861,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9dd7eba87715ae301b07c94e1bbe4cbf34c23b151f2d9c4ff45b588d650c69c6","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_283/tex_ceiling_textures_7381/tex_floor_textures_3074/tex_table_textures_1947/tex_wall_textures_6382","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6995427005253008079,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6995427005253008079,"visual_seed":6995427005253008079,"scene_id":"lab_003","finished_at":"2026-09-08T16:29:25"}
+{"episode_id":"ep_000026","started_at":"2026-09-08T16:29:32","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.35958813270529344,-1.8351279573338757,0.71338606911949],"aabb_xy":[[0.3332993083848528,-1.8613993909885267],[0.3858769570257341,-1.8088565236792242]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.46518669641230814,-0.4123648063085388,0.71338606911949],"aabb_xy":[[-0.49303173319291527,-0.44314930504685046],[-0.437341659631701,-0.3815803075702271]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.6456443740206046,-2.0993158656119877,0.71338606911949],"aabb_xy":[[0.615676817110779,-2.1293158659098737],[0.6756119309304304,-2.0693158653141017]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.10295821387549753,-0.8221910678009057,0.71338606911949],"aabb_xy":[[-0.10759332902773089,-0.8260584028780542],[-0.09832309872326411,-0.8183237327237569]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.23355248674156293,-0.697528256954876,0.71338606911949],"aabb_xy":[[0.21105248721785552,-0.7200242044054967],[0.25605248626527033,-0.6750323095042552]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.5474753612357446,-1.6541957496391162,0.71338606911949],"aabb_xy":[[0.5099753612919782,-1.6624888396739528],[0.584975361179511,-1.6459026596042796]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.3579916558599576,-1.204003608025622,0.71338606911949],"aabb_xy":[[0.3167428448300428,-1.2590036075378392],[0.39924046688987225,-1.1490036085134043]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.15888501602031302,-2.1114079185507046,0.71338606911949],"aabb_xy":[[0.12388501770961757,-2.1191229334742503],[0.19388501433100847,-2.103692903627159]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.5153822751292426,0.02241708489363159,0.71338606911949],"aabb_xy":[[-0.5803822777670361,-0.02906251380581537],[-0.45038227249144913,0.07389668359307855]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.42140933262448454,0.4241308316333239,0.71338606911949],"aabb_xy":[[0.3864093327284656,0.415756596121384],[0.45640933252050336,0.4325050671452639]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.5472066271684473,-1.2093382146380287,0.71338606911949],"aabb_xy":[[0.5222066280028141,-1.2162904603433853],[0.5722066263340804,-1.2023859689326721]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[0.31809144022782787,0.5885575396392864,0.71338606911949],"aabb_xy":[[0.294506316763933,0.5235575373938546],[0.3416765636917227,0.6535575418847182]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.5871884795186346,0.5649399678675322,0.71338606911949],"aabb_xy":[[-0.5944497270890421,0.5521529576040228],[-0.5799272319482272,0.5777269781310418]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.5538485431857461,0.8789660149794605,0.71338606911949],"aabb_xy":[[0.48984854588339954,0.8345995880116036],[0.6178485404880923,0.9233324419473171]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.5077035693347649,-0.18291557326202845,0.71338606911949],"aabb_xy":[[0.4727035693582692,-0.19238018930964507],[0.5427035693112608,-0.17345095721441184]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.525450802808002,1.1244597031041956,0.71338606911949],"aabb_xy":[[0.48795080129237034,1.1132329300880506],[0.5629508043236338,1.1356864761203407]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[0.4278820480412864,-2.2337652113741533,0.71338606911949],"aabb_xy":[[0.4053683562178292,-2.303765211975161],[0.45039573986474357,-2.1637652107731458]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.37309178190517733,-0.28785897620548395,0.71338606911949],"aabb_xy":[[-0.43709178331316795,-0.33964792772940866],[-0.3090917804971866,-0.23607002468155927]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.6974017601757825,0.21866868659405814,0.71338606911949],"aabb_xy":[[0.6876457706666085,0.20890615253482367],[0.7071577496849563,0.22843122065329255]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.24728764227537042,1.4181970782524114,0.71338606911949],"aabb_xy":[[-0.3072876431361832,1.3667706482459245],[-0.1872876414145576,1.4696235082588973]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.14405197964978078,-1.0432361602364753,0.71338606911949],"aabb_xy":[[0.13321150142326585,-1.0604224415271242],[0.15489245787629566,-1.0260498789458263]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.06028553252601365,-2.2963608655735017,0.71338606911949],"aabb_xy":[[0.03778553201397304,-2.3188527239388996],[0.08278553303805423,-2.273869007208103]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[-0.21625919213412637,-2.3061373708747652,0.71338606911949],"aabb_xy":[[-0.252172696559116,-2.3420508790915195],[-0.18034568770913664,-2.27022386265801]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.21096100652999478,0.9801812756624275,0.71338606911949],"aabb_xy":[[-0.2909610068036017,0.9072317278367108],[-0.13096100625638776,1.0531308234881442]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[0.32444830380173606,-2.5550465806956133,0.71338606911949],"aabb_xy":[[0.23444830407856185,-2.5781199332307927],[0.4144483035249102,-2.531973228160433]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[0.7191948159371553,-2.3247139217288617,0.71338606911949],"aabb_xy":[[0.7136131443030265,-2.3372139215466374],[0.7247764875712841,-2.312213921911086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6498904719018115,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6821.png","name":"6821"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6821.png","name":"6821"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9286.png","name":"9286"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6819.png","name":"6819"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6851.png","name":"6851"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1212.png","name":"1212"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":698.4862954705193,"rotation_z_degrees":358.8900893686044,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013220975937032534,-0.008127470828862981,-0.014551481538833788]},{"name":"camera_2","offset_m":[0.017068535839446442,0.016654522461876608,0.006499753683324411]},{"name":"camera_3","offset_m":[0.0013404838493303074,-0.010129539564758532,0.01873986022609647]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017623597032233197,0.0007277197036925113,0.001062092415022817],"end_effector_yaw_offset_degrees":0.06034651182148587},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00024897439259097395,0.00045247614148682513,-0.0013749332204299103],"end_effector_yaw_offset_degrees":0.7617700574834534},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001593206935104546,-0.0007082517573745873,0.0002454719954868116],"end_effector_yaw_offset_degrees":0.6811973528921382},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004777680794345342,0.001924538789978487,0.001679484529768817],"end_effector_yaw_offset_degrees":-0.3979230833305778},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00100078316702028,-7.060813099801473e-05,-0.0003776673492752751],"end_effector_yaw_offset_degrees":-0.5434438435489122},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0002637610717875795,-0.001460388376025024,0.001595416096831059],"end_effector_yaw_offset_degrees":-0.3932122850321953}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026502081533161938,0.0035084788791757407],"position_m":[0.16714979184668383,-0.10279152112082426,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011110910481796918,-0.0005990487936117315],"position_m":[0.21211109104817968,-0.3686990487936117,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0011441483544400535,-0.00361450211140444],"position_m":[0.28905585164555997,0.3150854978885955,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00041669754387873084,0.003960923113664669],"position_m":[0.3539166975438787,0.11906092311366466,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d987608e88d89b3a12bb79887b62ff4d554b89a59008b2897fcac720e92579df","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6821/tex_ceiling_textures_1212/tex_floor_textures_6851/tex_table_textures_9286/tex_wall_textures_6819","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1043453685036406905,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1043453685036406905,"visual_seed":1043453685036406905,"scene_id":"lab_003","finished_at":"2026-09-08T16:37:59"}
+{"episode_id":"ep_000027","started_at":"2026-09-08T16:47:03","dimensions":{"distractor":{"count":20,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.0229887651116365,-2.190141243226709,0.71338606911949],"aabb_xy":[[-0.028446710748656567,-2.270141246534368],[-0.017530819474616433,-2.11014123991905]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.5957289773712204,1.7848153779134202,0.71338606911949],"aabb_xy":[[0.5583977008459778,1.7501623231185681],[0.633060253896463,1.8194684327082726]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.5853107878320745,-2.4548558686152044,0.71338606911949],"aabb_xy":[[-0.6203107891835562,-2.4752156045720253],[-0.5503107864805927,-2.4344961326583836]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.3839769210971944,-1.9353939592607379,0.71338606911949],"aabb_xy":[[-0.4489769222031377,-1.9603593323288662],[-0.3189769199912511,-1.9104285861926096]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.03509790239856092,-1.5451628900537793,0.71338606911949],"aabb_xy":[[0.012925375421910076,-1.5673385572099023],[0.05727042937521175,-1.5229872228976558]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.5916149482961712,1.6291921786718162,0.71338606911949],"aabb_xy":[[-0.6816149506301904,1.5517098240867038],[-0.5016149459621523,1.706674533256929]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[0.1907376537715364,-1.4071336092531213,0.71338606911949],"aabb_xy":[[0.12673765648588775,-1.4486403282059652],[0.25473765105718504,-1.3656268903002773]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.6092277304343452,1.4312990182425334,0.71338606911949],"aabb_xy":[[0.5542540083980123,1.3762990186783002],[0.6642014524706781,1.4862990178067665]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.03430838918801549,0.6076069586044639,0.71338606911949],"aabb_xy":[[-0.0031916113093427567,0.6036382750563455],[0.07180838968537373,0.6115756421525823]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.26786321625313203,-2.3270123027282072,0.71338606911949],"aabb_xy":[[0.23789565934330636,-2.357012303026093],[0.2978307731629577,-2.2970123024303213]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.3323500533231534,1.4956096147616464,0.71338606911949],"aabb_xy":[[-0.3502191610776089,1.4817767067844356],[-0.31448094556869793,1.5094425227388577]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[0.6525834797777619,-1.9706160816420795,0.71338606911949],"aabb_xy":[[0.617583479801266,-1.980080697689696],[0.6875834797542577,-1.9611514655944629]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.41292188809884856,-1.011119914604492,0.71338606911949],"aabb_xy":[[0.40896140432911415,-1.0187877791900126],[0.41688237186858285,-1.0034520500189714]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[0.08235343165053632,1.5319121613898008,0.71338606911949],"aabb_xy":[[0.076258803762418,1.523342766838132],[0.08844805953865464,1.5404815559414695]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.050503200391284975,0.7787341094263294,0.71338606911949],"aabb_xy":[[0.03382606439818947,0.7620341854523992],[0.06718033638438048,0.7954340334002598]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.6005138368404905,0.8633333017006204,0.71338606911949],"aabb_xy":[[0.5405138369939236,0.8065146795075817],[0.6605138366870572,0.9201519238936591]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.22902906428643433,-0.696550716497232,0.71338606911949],"aabb_xy":[[-0.27902906372662994,-0.7465186409815483],[-0.1790290648462387,-0.6465827920129157]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.3520227898289132,0.659979778507275,0.71338606911949],"aabb_xy":[[-0.36259026948701223,0.6494347483942663],[-0.3414553101708142,0.6705248086202834]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.05628587347070724,1.0054204272207143,0.71338606911949],"aabb_xy":[[-0.06071650282554743,0.999972055486032],[-0.051855244115867075,1.010868798955397]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.44275585756979186,0.2999773987823384,0.71338606911949],"aabb_xy":[[-0.45791873054672905,0.28481194148721967],[-0.4275929845928549,0.3151428560774572]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.643218311832483,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9859.png","name":"9859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9859.png","name":"9859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2579.png","name":"2579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3592.png","name":"3592"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1160.png","name":"1160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4492.png","name":"4492"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":603.5442231237369,"rotation_z_degrees":96.69173585872818,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01178091760582098,0.003116417277081937,-0.01897506989793158]},{"name":"camera_2","offset_m":[0.012368725094849844,-0.0018400814015356592,-0.013941531721427558]},{"name":"camera_3","offset_m":[0.011761035284937976,-0.0003519879310951539,-0.011797463626304436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016111276607695723,-0.0002920712275154421,0.0015903473308056144],"end_effector_yaw_offset_degrees":0.8523644799901049},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006397588434723486,-0.0016147380013043287,-0.00023869662882887487],"end_effector_yaw_offset_degrees":-0.8933480129986151},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001990241057138282,-0.0003762722276284558,-0.00127886232676296],"end_effector_yaw_offset_degrees":0.13533317196098027},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011469452344434624,0.0014884312977325258,-0.0005777722147774758],"end_effector_yaw_offset_degrees":-0.05524139888901369},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015171936144184207,0.0007352814644083576,-0.001049500364673142],"end_effector_yaw_offset_degrees":-0.06464967810949562},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0016530970601766617,-0.0016308353272927753,0.0011239145774409537],"end_effector_yaw_offset_degrees":-0.23053285134742718}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002976224485564705,-0.002387072724071555],"position_m":[0.1727762244855647,-0.10868707272407156,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003729631182246753,0.004136988655647986],"position_m":[0.20727036881775324,-0.363963011344352,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006906790148218482,-0.0031362340582943905],"position_m":[0.2895093209851782,0.3155637659417056,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003151788556097861,0.0009610357027035211],"position_m":[0.3503482114439021,0.11606103570270351,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d6ee9bc0d7d20b24954f0514472a21961eb9344e46a5793854a6cd055e1d497a","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9859/tex_ceiling_textures_4492/tex_floor_textures_1160/tex_table_textures_2579/tex_wall_textures_3592","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8552058104471384940,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8552058104471384940,"visual_seed":8552058104471384940,"scene_id":"lab_003","finished_at":"2026-09-08T16:54:52"}
+{"episode_id":"ep_000028","started_at":"2026-09-08T16:54:59","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.5482764159317381,0.772552162494867,0.71338606911949],"aabb_xy":[[0.46827641734441866,0.693236560556706],[0.6282764145190575,0.8518677644330278]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[-0.5963729031379124,1.5041821260843222,0.71338606911949],"aabb_xy":[[-0.6463558533253916,1.4541821264417614],[-0.5463899529504329,1.5541821257268822]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.7106773666536925,-2.355986347652746,0.71338606911949],"aabb_xy":[[0.7026838768584105,-2.363984479593222],[0.7186708564489745,-2.3479882157122707]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.12868316355782272,-2.2819887759563127,0.71338606911949],"aabb_xy":[[0.12310149192369398,-2.2944887757740875],[0.13426483519195148,-2.269488776138537]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.3336456430082696,-2.4085391474379345,0.71338606911949],"aabb_xy":[[-0.34014727951627427,-2.4183069694642447],[-0.32714400650026504,-2.398771325411625]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.4727306405648879,1.5499420943245679,0.71338606911949],"aabb_xy":[[0.4678313482583244,1.5222651750219989],[0.4776299328714514,1.5776190136271364]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.47513923397224744,0.3903607570078913,0.71338606911949],"aabb_xy":[[-0.4912011614307651,0.3053607551952994],[-0.4590773065137298,0.47536075882048306]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.6398220832577368,-0.87219004086432,0.71338606911949],"aabb_xy":[[0.6227200052993687,-0.8892968463955897],[0.656924161216105,-0.8550832353330502]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.6424829820233096,-0.6574906271474961,0.71338606911949],"aabb_xy":[[0.5784829806153188,-0.7092795786714207],[0.7064829834313001,-0.6057016756235712]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.0026450827813262467,1.310276929533439,0.71338606911949],"aabb_xy":[[-0.07264508438360573,1.2968441363317815],[0.06735491882095324,1.3237097227350967]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.44703687223696287,-1.797759285744789,0.71338606911949],"aabb_xy":[[-0.5110368726144965,-1.8475045525956013],[-0.38303687185942925,-1.7480140188939768]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.3191017595241974,-1.5477387743532238,0.71338606911949],"aabb_xy":[[0.30142612893559906,-1.5654189906326264],[0.3367773901127957,-1.5300585580738209]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[-0.536693322883107,0.3533389982934523,0.71338606911949],"aabb_xy":[[-0.5406538066528414,0.3456711337079317],[-0.5327328391133727,0.3610068628789729]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.07327484456168176,-2.292276461888687,0.71338606911949],"aabb_xy":[[-0.08411532278819667,-2.3094627431793358],[-0.06243436633516686,-2.2750901805980384]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.5298113528109698,1.3293879677423064,0.71338606911949],"aabb_xy":[[-0.5898113534069861,1.274575495197083],[-0.46981135221495374,1.3842004402875299]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.4128045570900951,-0.3219348344984323,0.71338606911949],"aabb_xy":[[0.3328045599305198,-0.33348243545624934],[0.4928045542496704,-0.31038723354061526]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.2952528732232721,-2.368280427319797,0.71338606911949],"aabb_xy":[[0.24525287220413683,-2.4047466430576248],[0.34525287424240736,-2.331814211581969]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.4868785125021036,-0.15545685169267687,0.71338606911949],"aabb_xy":[[-0.4981235680727214,-0.16669864941677215],[-0.47563345693148573,-0.14421505396858159]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.5604370130771813,1.0152688535513268,0.71338606911949],"aabb_xy":[[-0.6017415561409173,0.9512688539832097],[-0.5191324700134453,1.0792688531194439]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[0.6508102689105582,-0.18464779281054522,0.71338606911949],"aabb_xy":[[0.6332319667216113,-0.20222228238465012],[0.668388571099505,-0.16707330323644032]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.584349174852939,-1.5248777969268112,0.71338606911949],"aabb_xy":[[-0.6093491741249012,-1.5412231605229736],[-0.5593491755809766,-1.508532433330649]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.5134589476205069,0.2953810650962012,0.71338606911949],"aabb_xy":[[0.49017710542237564,0.21038106379897317],[0.5367407898186383,0.3803810663934293]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[-0.040410471719732555,-1.048907160287815,0.71338606911949],"aabb_xy":[[-0.09540272235524352,-1.1039071620311278],[0.014581778915778398,-0.9939071585445023]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[-0.28039432188018887,1.4415694138628914,0.71338606911949],"aabb_xy":[[-0.3148567998932766,1.4349057366799687],[-0.24593184386710104,1.448233091045814]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.6541851918208192,1.5788036967351133,0.71338606911949],"aabb_xy":[[0.631685192006917,1.5743290803646324],[0.6766851916347217,1.5832783131055939]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[-0.6773051265829928,-0.09023166310099962,0.71338606911949],"aabb_xy":[[-0.6865987448201433,-0.12773166158913352],[-0.6680115083458421,-0.052731664612865714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6511915429303877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/861.png","name":"861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/861.png","name":"861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9685.png","name":"9685"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5253.png","name":"5253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3399.png","name":"3399"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":566.9577665577676,"rotation_z_degrees":79.31579960698673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01480685373947278,-0.0008750590668566566,0.018301991368201074]},{"name":"camera_2","offset_m":[-0.011624101088920162,0.008283201728467988,0.019628712863514305]},{"name":"camera_3","offset_m":[0.006302031463465498,-0.004341813237474269,-0.004139431098673842]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017869023486881113,0.00031558415996698654,0.0010756574900232388],"end_effector_yaw_offset_degrees":-0.8802079400675429},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018332853599785969,0.0011323818114320544,-0.001984476047893769],"end_effector_yaw_offset_degrees":0.3263460243520113},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001358189029821297,0.0014465145832240848,0.0019252851358706928],"end_effector_yaw_offset_degrees":-0.12972493368181715},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014142422409222115,0.001961798443533303,0.00023914630804126435],"end_effector_yaw_offset_degrees":-0.7353777824641818},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012673988896386022,0.0009763477865193664,-0.0013782416151426483],"end_effector_yaw_offset_degrees":0.8433487947826703},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000890807532983096,-0.00041156238455320924,0.00038828615635504507],"end_effector_yaw_offset_degrees":-0.053334038236615866}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004734806057418543,-0.0029543130444123268],"position_m":[0.16932651939425816,-0.10925431304441233,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004547966399467219,0.002120006375975589],"position_m":[0.21554796639946722,-0.3659799936240244,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0022402893555562918,-0.0006748611572542631],"position_m":[0.2879597106444437,0.31802513884274575,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002888350145071443,-0.0025365191917751883],"position_m":[0.35061164985492854,0.1125634808082248,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"63f3e9db163af428c27248de7c26de25305af36654b1e09ccb8dd4a61671dc49","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_861/tex_ceiling_textures_3399/tex_floor_textures_680/tex_table_textures_9685/tex_wall_textures_5253","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5995975330956476482,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5995975330956476482,"visual_seed":5995975330956476482,"scene_id":"lab_003","finished_at":"2026-09-08T17:02:54"}
+{"episode_id":"ep_000029","started_at":"2026-09-08T17:03:01","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[-0.33228962192006994,0.06752580533664121,0.71338606911949],"aabb_xy":[[-0.3419212581404996,0.05788849255693229],[-0.3226579856996404,0.07716311811635013]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.056880249561567675,1.4624402963165166,0.71338606911949],"aabb_xy":[[0.05154773490695468,1.4571159680712809],[0.062212764216180653,1.467764624561752]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.6155232087013169,0.8253364446861369,0.71338606911949],"aabb_xy":[[0.5505232060635233,0.7738568459866899],[0.6805232113391103,0.8768160433855838]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.03845275008961757,0.8825891180583332,0.71338606911949],"aabb_xy":[[-0.04154724692463042,0.8624545663849218],[0.11845274710386555,0.9027236697317443]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.3773977503194362,0.4335906983463813,0.71338606911949],"aabb_xy":[[-0.44139775172742685,0.3818017468224566],[-0.3133977489114455,0.485379649870306]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.304449314951757,-1.2818691579103991,0.71338606911949],"aabb_xy":[[-0.3190927205057899,-1.2965278775671834],[-0.28980590939772394,-1.267210438253615]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.3521410669115064,-1.9213542515505273,0.71338606911949],"aabb_xy":[[0.3441470783338029,-1.9293543316456174],[0.3601350554892097,-1.9133541714554367]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.5672940539614855,-1.5493032208532196,0.71338606911949],"aabb_xy":[[0.5032940553749129,-1.5963101842527283],[0.6312940525480578,-1.5022962574537109]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.380751147201144,-0.4687430209077963,0.71338606911949],"aabb_xy":[[-0.3887945071270992,-0.5537430220031627],[-0.37270778727518883,-0.3837430198124298]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.5396418816530508,-1.6823154518242953,0.71338606911949],"aabb_xy":[[0.5021418814811788,-1.7150161872072023],[0.5771418818249227,-1.649614716441388]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.5567481032456613,-1.5544601713395612,0.71338606911949],"aabb_xy":[[-0.5853974356060774,-1.583105730616637],[-0.5280987708852449,-1.5258146120624854]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.5776907609472781,-0.5910210971493723,0.71338606911949],"aabb_xy":[[-0.6576907642112912,-0.6045811294582857],[-0.497690757683265,-0.577461064840459]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.10464615205738326,-1.2290375477481918,0.71338606911949],"aabb_xy":[[-0.16864615440018482,-1.2739783989923243],[-0.0406461497145817,-1.1840966965040594]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.45551120898701436,-0.7409479653278992,0.71338606911949],"aabb_xy":[[0.39151121168466796,-0.7853143922957558],[0.5195112062893608,-0.6965815383600423]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.6483443064687753,-0.989077461498632,0.71338606911949],"aabb_xy":[[0.6430067308027707,-1.0140774624277717],[0.6536818821347798,-0.9640774605694922]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[0.5772934845945694,-0.01725848033467825,0.71338606911949],"aabb_xy":[[0.5547797927711122,-0.08725848093568578],[0.5998071764180266,0.05274152026632928]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.19266783809960109,-2.3230585737390106,0.71338606911949],"aabb_xy":[[-0.19824950973372982,-2.3355585735567854],[-0.1870861664654723,-2.310558573921235]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.5886398285331593,-1.228967891665277,0.71338606911949],"aabb_xy":[[-0.6436398281549053,-1.28395158445275],[-0.5336398289114136,-1.1739841988778046]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[-0.5071068962654016,1.2542355802191762,0.71338606911949],"aabb_xy":[[-0.5241169935554522,1.238101091720902],[-0.49009679897535086,1.27037006871745]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.25706836839571945,-1.3879498793843816,0.71338606911949],"aabb_xy":[[-0.3470683678140903,-1.4213253762285711],[-0.1670683689773485,-1.3545743825401917]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.5129336424546931,0.19766783397475596,0.71338606911949],"aabb_xy":[[-0.5342116505981652,0.1326678316486829],[-0.4916556343112207,0.262667836300829]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.08352819444544113,-0.6816185811551339,0.71338606911949],"aabb_xy":[[0.019528192533098787,-0.7375297304131444],[0.14752819635778347,-0.6257074318971235]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[0.7069819809158551,-0.5307799197816139,0.71338606911949],"aabb_xy":[[0.6898799029574869,-0.5478867253128836],[0.7240840588742232,-0.5136731142503441]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6485244911370377,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5981.png","name":"5981"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5981.png","name":"5981"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7146.png","name":"7146"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6083.png","name":"6083"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2769.png","name":"2769"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5056.png","name":"5056"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":785.9505483366602,"rotation_z_degrees":229.00659034316186,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008664022703251648,-0.01954708668761169,0.014342907083431802]},{"name":"camera_2","offset_m":[-0.017225845760027877,-0.01650339283951515,0.0033364169288946817]},{"name":"camera_3","offset_m":[-0.012346820711681406,-0.003982219511234807,0.005752230281265706]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019546650113546594,0.0006421126819657775,0.0004443242990326535],"end_effector_yaw_offset_degrees":0.4567225926144278},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00042264922875600696,-0.0013741060257026567,-0.0008568735386410657],"end_effector_yaw_offset_degrees":-0.05863239734723602},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007149682639609732,0.0009643941172041079,0.0009657646292071864],"end_effector_yaw_offset_degrees":-0.005428616582367596},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013664872034211371,0.0002957861588953601,0.001033617674544993],"end_effector_yaw_offset_degrees":-0.22838238803099786},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011984965886022024,0.001279436456444718,0.0016929136187731073],"end_effector_yaw_offset_degrees":0.3941240369111194},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001960403561086746,-0.000532480791001046,-0.000527020095206023],"end_effector_yaw_offset_degrees":0.17295297978283064}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034329687426721484,-0.004935720207455534],"position_m":[0.17323296874267216,-0.11123572020745554,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031263536700259923,-0.004301555543358668],"position_m":[0.207873646329974,-0.37240155554335863,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004743461313089428,0.0012616791361539847],"position_m":[0.28545653868691057,0.319961679136154,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034135249280268795,0.0021412916868593056],"position_m":[0.35691352492802686,0.1172412916868593,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d66cb6fb4ee3d167edcc4e52629db24d63b3830cf413d35a9b3ea9d013c5969f","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5981/tex_ceiling_textures_5056/tex_floor_textures_2769/tex_table_textures_7146/tex_wall_textures_6083","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6624904646034722986,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6624904646034722986,"visual_seed":6624904646034722986,"scene_id":"lab_003","finished_at":"2026-09-08T17:11:07"}
+{"episode_id":"ep_000030","started_at":"2026-09-08T17:11:15","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.00846488379417032,-1.5965875395101223,0.71338606911949],"aabb_xy":[[-0.05845989475362236,-1.6465875385457145],[0.04153012716528171,-1.546587540474531]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[0.5248884810155576,-1.9403026698511807,0.71338606911949],"aabb_xy":[[0.4996676441557178,-1.9655264207040675],[0.5501093178753971,-1.915078918998294]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[-0.12094908573003837,1.3388373799682878,0.71338606911949],"aabb_xy":[[-0.15744490635731712,1.3023534375415302],[-0.08445326510275962,1.3753213223950453]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.14327218993133506,-2.5210029748108953,0.71338606911949],"aabb_xy":[[-0.17671236512735464,-2.554446600641825],[-0.10983201473531544,-2.4875593489799646]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[0.0451344136632984,-1.9180344442071924,0.71338606911949],"aabb_xy":[[0.00411647027692752,-1.9680344448381502],[0.08615235704966928,-1.8680344435762355]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.4348896709974961,-1.8482729771325266,0.71338606911949],"aabb_xy":[[0.431448994757439,-1.8521344101068915],[0.4383303472375533,-1.8444115441581626]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.42537090791363896,0.620998256567153,0.71338606911949],"aabb_xy":[[-0.4489560313775338,0.5559982543217213],[-0.4017857844497441,0.6859982588125849]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.37821439667762013,-2.028963850903857,0.71338606911949],"aabb_xy":[[0.3282143980316989,-2.0788833945633187],[0.4282143953235413,-1.979044307244394]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.11246927132885354,-1.3776017104005953,0.71338606911949],"aabb_xy":[[-0.13498296315231073,-1.4476017110016028],[-0.08995557950539634,-1.3076017097995878]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.5422244693926699,0.5416428156808797,0.71338606911949],"aabb_xy":[[0.517224469460152,0.5347601474599564],[0.5672244693251878,0.548525483901803]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.3617348097881814,1.0544286210496554,0.71338606911949],"aabb_xy":[[0.31656349194001243,0.990428623905117],[0.4069061276363504,1.1184286181941938]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.27552311024524123,-1.5194068193591364,0.71338606911949],"aabb_xy":[[0.2405231110524229,-1.5303738653567989],[0.31052310943805944,-1.5084397733614734]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.03589215600322748,0.7226883906811916,0.71338606911949],"aabb_xy":[[-0.04410166757533073,0.6426883880883502],[0.1158859795817857,0.8026883932740333]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.34768790859395193,1.2960733751508697,0.71338606911949],"aabb_xy":[[0.29771461459069143,1.2460733745963222],[0.3976612025972123,1.3460733757054169]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[0.2931124311462787,-0.6425601150930456,0.71338606911949],"aabb_xy":[[0.2131124341832395,-0.719635756736819],[0.37311242810931783,-0.5654844734492721]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[0.2976731425204766,-0.8425859583997763,0.71338606911949],"aabb_xy":[[0.23367314084247925,-0.8911033498790905],[0.36167314419847396,-0.794068566920462]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.25703264870918696,0.2644690381636461,0.71338606911949],"aabb_xy":[[-0.3070326481493825,0.21450111367932972],[-0.2070326492689913,0.31443696264796234]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.44823810067837944,1.071191505178278,0.71338606911949],"aabb_xy":[[-0.4562315904736615,1.0631933732378027],[-0.44024461088309746,1.079189637118754]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.28622524805095195,1.482522226023136,0.71338606911949],"aabb_xy":[[-0.3040187549858684,1.4647224804273384],[-0.2684317411160355,1.5003219716189338]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.22017733228262726,-1.0271793882162998,0.71338606911949],"aabb_xy":[[-0.2576773324544992,-1.0598801235992068],[-0.18267733211075535,-0.9944786528333924]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.543882779915033,0.3769888102760306,0.71338606911949],"aabb_xy":[[0.4939039714047171,0.3269888102703118],[0.5938615884253489,0.4269888102817494]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.24771058506754884,0.48693456804383795,0.71338606911949],"aabb_xy":[[-0.2852105854157766,0.4751431724627544],[-0.21021058471932105,0.4987259636249215]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.34381565842208145,-1.9228903357504374,0.71338606911949],"aabb_xy":[[-0.37827813643516917,-1.9295540129333602],[-0.3093531804089936,-1.9162266585675147]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.08490721350447439,-2.1203024268042223,0.71338606911949],"aabb_xy":[[0.004907211341711903,-2.200257610430366],[0.16490721566723687,-2.0403472431780787]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[-0.5230017117846777,0.24982694725866006,0.71338606911949],"aabb_xy":[[-0.5396788477777732,0.23312702328472978],[-0.5063245757915822,0.26652687123259033]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.4798402471968064,-0.5186906573550885,0.71338606911949],"aabb_xy":[[-0.5023050171682115,-0.5411906582339489],[-0.45737547722540123,-0.49619065647622784]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[0.0821122965857316,1.171079448835982,0.71338606911949],"aabb_xy":[[0.044612295793736156,1.1647116078777917],[0.11961229737772705,1.1774472897941721]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[-0.497218945892645,0.8302255559541338,0.71338606911949],"aabb_xy":[[-0.5471963627578986,0.7802255544648851],[-0.4472415290273914,0.8802255574433822]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_28","position":[-0.5492743776823252,-0.852076369703997,0.71338606911949],"aabb_xy":[[-0.5945529925634745,-0.9160763690521807],[-0.503995762801176,-0.7880763703558133]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_29","position":[-0.2687596706433644,1.0400314620134261,0.71338606911949],"aabb_xy":[[-0.2731902999982046,1.0345830902787438],[-0.26432904128852425,1.0454798337481088]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[0.5970513225973575,-0.4477326107425923,0.71338606911949],"aabb_xy":[[0.5861455465097947,-0.5277326071414215],[0.6079570986849201,-0.3677326143437631]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[-0.5649558848322158,0.3714843811648336,0.71338606911949],"aabb_xy":[[-0.5953539959313593,0.341077479163164],[-0.5345577737330721,0.401891283166503]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_32","position":[-0.38825429670607775,-2.244471420187657,0.71338606911949],"aabb_xy":[[-0.4257542978908705,-2.248889642883717],[-0.3507542955212849,-2.240053197491596]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_33","position":[-0.04868966230263394,0.9346832503960512,0.71338606911949],"aabb_xy":[[-0.08993847333254866,0.8796832508838337],[-0.007440851272719206,0.9896832499082686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6475659378193493,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9673.png","name":"9673"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8737.png","name":"8737"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3958.png","name":"3958"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7564.png","name":"7564"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":801.8620649134024,"rotation_z_degrees":211.45698847567755,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030162632004127853,0.015402233333279256,0.002287450632781428]},{"name":"camera_2","offset_m":[-0.01229056016647263,-0.01024160321840767,0.015633721916642144]},{"name":"camera_3","offset_m":[-0.007492175385271929,-0.016906903408450972,-0.011313439093409695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013793588444570128,-0.0013209711767024584,-0.0009506387455078126],"end_effector_yaw_offset_degrees":0.19210489948826548},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009780047147438702,-0.0016249958132238133,0.0016476363551987568],"end_effector_yaw_offset_degrees":0.014252355308665976},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018356979998482206,-0.0009867519911575529,-0.001955020243419543],"end_effector_yaw_offset_degrees":-0.5484105413759468},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00010915700071440697,-0.001497550997931989,-0.0019571507521523143],"end_effector_yaw_offset_degrees":0.32026090163164067},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[7.404436989252947e-05,-0.0015218994711185259,-0.0002971051559272468],"end_effector_yaw_offset_degrees":-0.6366664644916165},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0008084348275382732,-0.0004150442363588182,-0.0009419272981886025],"end_effector_yaw_offset_degrees":-0.06753642458515619}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004668391752583582,-0.0029927292653258854],"position_m":[0.17446839175258358,-0.10929272926532589,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002495124912177196,0.001524615675322285],"position_m":[0.21075048750878228,-0.3665753843246777,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0020108430064738527,-0.0024208984116832646],"position_m":[0.2922108430064739,0.31627910158831674,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016458166997705302,-0.004985651854932789],"position_m":[0.3551458166997705,0.11011434814506721,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7d144cc8f568d6e07d4944b55601e072790ce1feb18a5f4bf7297a379d5302a2","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2603/tex_ceiling_textures_7564/tex_floor_textures_3958/tex_table_textures_9673/tex_wall_textures_8737","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6160697985915786152,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6160697985915786152,"visual_seed":6160697985915786152,"scene_id":"lab_003","finished_at":"2026-09-08T17:19:24"}
+{"episode_id":"ep_000031","started_at":"2026-09-08T17:19:31","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.211554158079587,1.4823707382889082,0.71338606911949],"aabb_xy":[[0.14755415486094917,1.4356476263898998],[0.27555416129822485,1.5290938501879165]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.4800055167730739,1.0451096698378746,0.71338606911949],"aabb_xy":[[0.47350388026506934,1.0353418478115648],[0.4865071532810786,1.0548774918641843]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.1249584751292574,-1.8892503901511635,0.71338606911949],"aabb_xy":[[0.08995847515276159,-1.8987150061987803],[0.15995847510575326,-1.879785774103547]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[-0.22812712173922833,-0.6225038685822395,0.71338606911949],"aabb_xy":[[-0.23345963639384135,-0.6278281968274751],[-0.22279460708461538,-0.6171795403370041]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.6515836708796168,-0.34233804253791256,0.71338606911949],"aabb_xy":[[0.6165836716867983,-0.35330508853557513],[0.6865836700724348,-0.3313709965402499]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.5417508828335187,-1.188721586620743,0.71338606911949],"aabb_xy":[[0.477750885721413,-1.2377539564151536],[0.6057508799456244,-1.1396892168263324]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.08530285098984347,0.6152849011349302,0.71338606911949],"aabb_xy":[[-0.10280285124918011,0.6011933589461577],[-0.06780285073050685,0.6293764433237029]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.1494612966270893,-1.6345044251678162,0.71338606911949],"aabb_xy":[[0.10815675356335333,-1.6985044247359333],[0.1907658396908253,-1.5705044255996992]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.2959072171670929,-0.8083545956476603,0.71338606911949],"aabb_xy":[[-0.3659072187693724,-0.8217873888493179],[-0.2259072155648134,-0.7949218024460027]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.6154238694775955,-1.9728671874183368,0.71338606911949],"aabb_xy":[[0.5935151873382444,-1.9947678542384275],[0.6373325516169465,-1.950966520598246]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[-0.36606708941194177,1.6830442805524428,0.71338606911949],"aabb_xy":[[-0.4035670900765204,1.6673572225522204],[-0.328567088747363,1.6987313385526648]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.47729214105120654,-1.99110682891172,0.71338606911949],"aabb_xy":[[-0.5622921394686298,-2.075981124374005],[-0.3922921426337833,-1.9062325334494352]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[0.5044819705725445,0.06693958083567253,0.71338606911949],"aabb_xy":[[0.4819819703290291,0.05473494617590058],[0.5269819708160599,0.07914421549544448]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.6428341758157036,-2.1647345592507907,0.71338606911949],"aabb_xy":[[-0.6673803914384543,-2.1949834557998273],[-0.6182879601929528,-2.134485662701753]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[0.15221948291370868,-1.4550199296784487,0.71338606911949],"aabb_xy":[[0.14305960396983208,-1.4615511477219858],[0.16137936185758528,-1.4484887116349117]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[0.2181349162324624,-2.0595755700293337,0.71338606911949],"aabb_xy":[[0.1838380052147217,-2.093872456239275],[0.25243182725020297,-2.0252786838193924]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.0026273444466758944,1.058386984111352,0.71338606911949],"aabb_xy":[[-0.005366145348606134,1.0503888521708766],[0.010620834241957923,1.0663851160518278]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.055139349949098415,0.022929303021333336,0.71338606911949],"aabb_xy":[[-0.06385331899903289,0.0004293023621451119],[-0.04642538089916392,0.04542930368052155]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.11655182755879712,-1.3989212648576073,0.71338606911949],"aabb_xy":[[-0.18655182396875886,-1.4193592005092885],[-0.0465518311488353,-1.378483329205925]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.23928928450945763,1.3430978601197299,0.71338606911949],"aabb_xy":[[0.20225517508139793,1.3087206527860205],[0.27632339393751737,1.3774750674534393]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.18864938637052675,-0.9559424899446733,0.71338606911949],"aabb_xy":[[-0.2386443973299788,-1.0059424889802653],[-0.13865437541107473,-0.9059424909090817]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[-0.4849872287636736,-0.6167386038746765,0.71338606911949],"aabb_xy":[[-0.5223185052889163,-0.6513916586695288],[-0.4476559522384311,-0.5820855490798242]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.39013431738703397,-1.4934647113934854,0.71338606911949],"aabb_xy":[[0.3827218618456455,-1.4993159218151133],[0.39754677292842244,-1.4876135009718574]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[0.2967097660135666,1.7283706743032243,0.71338606911949],"aabb_xy":[[0.24171655467642983,1.673370673964431],[0.3517029773507033,1.7833706746420181]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.550782082409943,1.6388626282798877,0.71338606911949],"aabb_xy":[[0.5148685779849533,1.602949120063133],[0.5866955868349326,1.674776136496642]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.50797536196006,-0.2669509431751842,0.71338606911949],"aabb_xy":[[-0.5177313514692339,-0.27671347723441864],[-0.4982193724508861,-0.25718840911594976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.647783570460566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4497.png","name":"4497"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4497.png","name":"4497"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2029.png","name":"2029"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/424.png","name":"424"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6390.png","name":"6390"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7006.png","name":"7006"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":761.9823709001716,"rotation_z_degrees":104.77651002348108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013714734803172805,0.011020532545424754,-0.0057137062509345655]},{"name":"camera_2","offset_m":[0.0015639785941848061,-0.007764230818694854,-0.0033983777233405586]},{"name":"camera_3","offset_m":[0.01792070065979855,0.00586910802621568,-0.012098242785080981]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005484027663439238,-0.0004239984995230283,-0.0011588980451477525],"end_effector_yaw_offset_degrees":-0.31278090466377795},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009957765685036381,-0.0008082151504967916,0.0009022309667362123],"end_effector_yaw_offset_degrees":-0.46765459297650147},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001256620267432347,0.0004847883172101261,-8.615756401345607e-05],"end_effector_yaw_offset_degrees":-0.3927781540815416},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005090901385523964,-0.0008814049172848053,-0.0007695739788381468],"end_effector_yaw_offset_degrees":-0.2261199243038119},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-3.9170592959959175e-05,0.0018278043056787021,0.0019791903656624],"end_effector_yaw_offset_degrees":0.4677670108373593},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0009241731392764518,-0.00023679815773126564,0.0012450593379263139],"end_effector_yaw_offset_degrees":0.040723619217996054}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001182567665588493,-0.00022198251293172565],"position_m":[0.1709825676655885,-0.10652198251293173,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007837319594674328,0.00264788273122783],"position_m":[0.21178373195946743,-0.36545211726877214,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002699778621183528,-0.0019878800293320177],"position_m":[0.29289977862118355,0.31671211997066795,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00417664816870428,0.0027241820395811737],"position_m":[0.35767664816870426,0.11782418203958117,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"aeda3daf51ad5b8f874346ef17733f7ed535ad98eaa091b86ae7a8bed9fec9fa","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4497/tex_ceiling_textures_7006/tex_floor_textures_6390/tex_table_textures_2029/tex_wall_textures_424","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2738477163645947688,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2738477163645947688,"visual_seed":2738477163645947688,"scene_id":"lab_003","finished_at":"2026-09-08T17:27:23"}
+{"episode_id":"ep_000032","started_at":"2026-09-08T17:36:22","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.1916453665460084,-1.49257344937569,0.71338606911949],"aabb_xy":[[-0.19956864678475672,-1.5150734496136933],[-0.18372208630726006,-1.4700734491376866]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[0.5001860043720896,1.3807600425528066,0.71338606911949],"aabb_xy":[[0.47829625678314874,1.2907600452635575],[0.5220757519610303,1.4707600398420557]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.2996522316473356,-2.5720965163864142,0.71338606911949],"aabb_xy":[[-0.37965223272045595,-2.5818745627237987],[-0.2196522305742153,-2.56231847004903]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.14929547264601717,1.5962320934804501,0.71338606911949],"aabb_xy":[[-0.15633578257955416,1.5162320940807794],[-0.14225516271248018,1.6762320928801222]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.06682846071646875,-0.99288886358828,0.71338606911949],"aabb_xy":[[-0.11681141090394807,-1.0428888632308402],[-0.016845510528989412,-0.9428888639457194]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[-0.09288297690511316,0.9098609554917516,0.71338606911949],"aabb_xy":[[-0.10345045656321217,0.899315925378743],[-0.08231549724701415,0.9204059856047602]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.45488327861242717,0.8521908086617418,0.71338606911949],"aabb_xy":[[-0.4923832785561935,0.8438977186269052],[-0.4173832786686607,0.8604838986965784]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.6636932477346827,-0.6121406673286645,0.71338606911949],"aabb_xy":[[-0.6718209359279959,-0.6210542757393721],[-0.6555655595413694,-0.6032270589179568]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.40028792833430016,-0.24976855640110207,0.71338606911949],"aabb_xy":[[-0.4095815465714507,-0.28726855488923597],[-0.3909943100971495,-0.21226855791296817]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.5885242924950564,-0.6612580895985867,0.71338606911949],"aabb_xy":[[0.5245285950999597,-0.7252580878992952],[0.6525199898901529,-0.5972580912978779]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.15871346480412596,-1.8076009096897434,0.71338606911949],"aabb_xy":[[0.12523429754308504,-1.8410800230608504],[0.19219263206516693,-1.7741217963186364]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.556385634162515,-0.9585553596966243,0.71338606911949],"aabb_xy":[[-0.5660172703829446,-0.968192672476333],[-0.5467539979420853,-0.9489180469169152]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.2560349781725274,-1.6324171117488766,0.71338606911949],"aabb_xy":[[-0.30602998913197943,-1.6824171107844688],[-0.20603996721307538,-1.5824171127132853]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.07868608851392767,-1.2269172529824826,0.71338606911949],"aabb_xy":[[0.01468609121158125,-1.271283679950339],[0.14268608581627407,-1.1825508260146256]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.3559529654514111,-1.9228556062137874,0.71338606911949],"aabb_xy":[[0.3184529652795391,-1.9555563415966946],[0.39345296562328297,-1.8901548708308802]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.2532154876263878,-2.116461541987264,0.71338606911949],"aabb_xy":[[-0.26083975571656604,-2.124094765523808],[-0.24559121953620955,-2.1088283184507204]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.011399920186637158,0.8837985280104164,0.71338606911949],"aabb_xy":[[0.005941974549617091,0.8037985247027573],[0.016857865823657225,0.9637985313180755]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.3616459094830955,0.4358670102996971,0.71338606911949],"aabb_xy":[[0.27164591006472455,0.4024915134555073],[0.45164590890146633,0.46924250714388677]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.21775840111659872,-2.2404284636999052,0.71338606911949],"aabb_xy":[[0.2116637732284804,-2.2489978582515744],[0.22385302900471704,-2.231859069148237]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.2751541054760699,1.5469665244567756,0.71338606911949],"aabb_xy":[[0.22987549059492057,1.482966525108592],[0.3204327203572191,1.6109665238049593]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.5578002341451909,0.15664591471897804,0.71338606911949],"aabb_xy":[[0.5028002349686014,0.10165623994402037],[0.6128002333217804,0.21163558949393566]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[0.6044827913085675,0.332762301198803,0.71338606911949],"aabb_xy":[[0.5947268017993935,0.32299976713956857],[0.6142387808177413,0.34252483525803745]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.037364850619686196,-2.3755992399753265,0.71338606911949],"aabb_xy":[[-0.10236484850133401,-2.426722903681868],[0.027635147261961604,-2.324475576268786]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[0.4619862035507496,-1.4481627683692992,0.71338606911949],"aabb_xy":[[0.4244862032025218,-1.4599541639503828],[0.4994862038989773,-1.4363713727882157]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[0.45570853047666215,-1.6964058571874505,0.71338606911949],"aabb_xy":[[0.41469058709029133,-1.7464058578184076],[0.4967264738630331,-1.646405856556493]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.3458060747617447,-2.448832878550676,0.71338606911949],"aabb_xy":[[-0.3604494803157776,-2.46349159820746],[-0.33116266920771165,-2.4341741588938914]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[0.3095151520082693,-2.0814279916407603,0.71338606911949],"aabb_xy":[[0.2720151504926376,-2.0926547646569054],[0.347015153523901,-2.0702012186246153]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[-0.08391787957346075,1.6473344531739094,0.71338606911949],"aabb_xy":[[-0.10146457448957968,1.609834451609658],[-0.06637118465734182,1.6848344547381606]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[-0.375227820199069,1.3367594809161276,0.71338606911949],"aabb_xy":[[-0.4552278173586442,1.3252118799583104],[-0.29522782303949363,1.3483070818739444]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[0.538820187370237,-2.414584184089762,0.71338606911949],"aabb_xy":[[0.5301062183203022,-2.43708418474895],[0.5475341564201712,-2.3920841834305735]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[-0.4996904709108022,-0.329804799317031,0.71338606911949],"aabb_xy":[[-0.5496897460792384,-0.3798048005929782],[-0.44969119574236605,-0.2798047980410839]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_31","position":[0.10398822162834864,0.8728117791329764,0.71338606911949],"aabb_xy":[[0.07054804643232901,0.8393681533020462],[0.1374283968243682,0.9062554049639063]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[-0.5708811261898672,-1.698877499720405,0.71338606911949],"aabb_xy":[[-0.6008727889237376,-1.7288774990572053],[-0.540889463455997,-1.6688775003836043]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_33","position":[0.6128531340694712,-2.1560815101891793,0.71338606911949],"aabb_xy":[[0.6009203997076431,-2.168463662997039],[0.6247858684312992,-2.1436993573813203]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_34","position":[-0.2541649604966768,1.4844509705797866,0.71338606911949],"aabb_xy":[[-0.25812544426641115,1.476783105994266],[-0.25020447672694246,1.4921188351653072]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6502149833582176,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9581.png","name":"9581"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9581.png","name":"9581"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4372.png","name":"4372"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7854.png","name":"7854"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5531.png","name":"5531"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":638.8634101996714,"rotation_z_degrees":140.84995515037522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003342388907921011,0.009811932006863148,-0.009930460861591772]},{"name":"camera_2","offset_m":[-0.012591046650672753,-0.006721640735546651,-0.019047971003958587]},{"name":"camera_3","offset_m":[0.010348278553157723,-0.01902627358876596,0.016054192957215944]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004138463439252705,0.0007387010766499139,-0.0008195420935275259],"end_effector_yaw_offset_degrees":-0.7788928280111544},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012452327441239983,0.001951138935951527,0.0004826475023799615],"end_effector_yaw_offset_degrees":-0.8622492771666361},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001480647538916449,-5.3726685459483045e-05,0.0014901516367024788],"end_effector_yaw_offset_degrees":0.6651760982582446},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001228415447434987,0.0018224436193937169,-0.0002134581258900212],"end_effector_yaw_offset_degrees":-0.30805484015002316},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0003039206183672264,-0.0007331351984898383,-0.0019273933632262762],"end_effector_yaw_offset_degrees":0.8375400189397837},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011793173083058028,0.0012305795158031427,0.0011259598574966758],"end_effector_yaw_offset_degrees":0.5216144954620936}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0044483560216360815,-0.0015863561238330793],"position_m":[0.17424835602163607,-0.10788635612383309,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.3635233005387755e-05,-0.002712982125377127],"position_m":[0.21104363523300537,-0.3708129821253771,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0026167927422166056,-0.0006829869731814729],"position_m":[0.2928167927422166,0.3180170130268185,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003059440916914084,-0.0027456430941031054],"position_m":[0.3504405590830859,0.11235435690589689,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"240e9cc86b2ba2e18acefe5cc5575070981eab21461b4c10327b16772a0bd537","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9581/tex_ceiling_textures_4206/tex_floor_textures_5531/tex_table_textures_4372/tex_wall_textures_7854","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4830815433698534063,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4830815433698534063,"visual_seed":4830815433698534063,"scene_id":"lab_003","finished_at":"2026-09-08T17:44:26"}
+{"episode_id":"ep_000033","started_at":"2026-09-08T17:53:47","dimensions":{"distractor":{"count":35,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.0914319911562026,1.220714370259008,0.71338606911949],"aabb_xy":[[0.08414967477953891,1.1307143666494985],[0.09871430753286622,1.3107143738685165]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.20353924098398518,-0.15824419419985558,0.71338606911949],"aabb_xy":[[-0.21510822173092176,-0.1832441943167873],[-0.1919702602370486,-0.13324419408292387]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.4070552692044439,0.033730531334070335,0.71338606911949],"aabb_xy":[[-0.4870552671852289,0.02612899037221839],[-0.3270552712236588,0.041332072295922284]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.13563289885871777,1.604903026513313,0.71338606911949],"aabb_xy":[[-0.15752264644765854,1.514903029224064],[-0.11374315126977695,1.6949030238025622]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.38040472197523223,-2.0676530782546427,0.71338606911949],"aabb_xy":[[-0.38536074216011357,-2.0901530784567646],[-0.3754487017903512,-2.045153078052521]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[0.3120151316876516,-2.2027002626308714,0.71338606911949],"aabb_xy":[[0.2775527842895097,-2.2371941450286936],[0.3464774790857933,-2.1682063802330482]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.17081950371906585,-2.546265983897822,0.71338606911949],"aabb_xy":[[-0.25081950087864113,-2.557813584855639],[-0.09081950655949056,-2.534718382940005]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.46365662986225886,-0.6611449870326152,0.71338606911949],"aabb_xy":[[0.4350072975018426,-0.6897905463096908],[0.49230596222267503,-0.6324994277555392]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.3384488978465207,1.2390715811717432,0.71338606911949],"aabb_xy":[[-0.35594889809157004,1.2215717933321764],[-0.3209488976014713,1.25657136901131]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.4007896491516918,-1.3926112439296692,0.71338606911949],"aabb_xy":[[0.3935284015812844,-1.4053982541931784],[0.4080508967220992,-1.3798242336661595]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[0.5048919049185121,-2.009513208439054,0.71338606911949],"aabb_xy":[[0.49685557021722726,-2.0175513277434707],[0.5129282396197969,-2.0014750891346376]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.5656367672843161,0.4652824744592645,0.71338606911949],"aabb_xy":[[0.4806367688668929,0.3804081789969796],[0.6506367657017393,0.5501567699215495]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.0964480967765885,-1.2364009678146337,0.71338606911949],"aabb_xy":[[0.07824227311534084,-1.2474263683966254],[0.11465392043783619,-1.225375567232642]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.6158811493298026,-0.3207735690538076,0.71338606911949],"aabb_xy":[[0.565881149753468,-0.37075414800591355],[0.6658811489061375,-0.27079299010170166]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.3854589985731314,0.9727729618068364,0.71338606911949],"aabb_xy":[[0.3479589979085526,0.9570859038066141],[0.42295899923771,0.9884600198070584]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[0.29098725203067866,-0.5787462821842477,0.71338606911949],"aabb_xy":[[0.2410141864981632,-0.6287462819967807],[0.3409603175631941,-0.528746282371715]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.36609129436456556,-0.3355657467114379,0.71338606911949],"aabb_xy":[[0.3285912940163378,-0.3473571422925214],[0.4035912947127933,-0.3237743511303543]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[-0.5542040241851999,1.0285065782920784,0.71338606911949],"aabb_xy":[[-0.6192040251857004,0.9777202131374034],[-0.48920402318469935,1.0792929434467533]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[-0.21588897019175862,0.8364053517012073,0.71338606911949],"aabb_xy":[[-0.23195089765027627,0.7514053498886154],[-0.19982704273324098,0.921405353513799]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.32024067971576087,1.7809251888449231,0.71338606911949],"aabb_xy":[[0.3122466911380574,1.7729251087498326],[0.3282346682934642,1.7889252689400132]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[0.4829840692927698,0.6440356348662863,0.71338606911949],"aabb_xy":[[0.41898407218066414,0.5950032650718757],[0.5469840664048755,0.693068004660697]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.4446878021257141,-0.028057947425722762,0.71338606911949],"aabb_xy":[[-0.45604953677900023,-0.03942641383201084],[-0.4333260674724279,-0.01668948101943468]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.3412591595677464,-0.9947979599093721,0.71338606911949],"aabb_xy":[[-0.4312591581622163,-1.0110485462227932],[-0.25125916097327644,-0.9785473735959511]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[0.52642770169759,1.1885680632925504,0.71338606911949],"aabb_xy":[[0.5224672179278556,1.1809001987070298],[0.5303881854673242,1.196235927878071]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[-0.13420624287552618,0.37875010074496807,0.71338606911949],"aabb_xy":[[-0.1423339310688394,0.36983649233426047],[-0.12607855468221296,0.3876637091556758]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_25","position":[-0.2853498326529255,-2.272664871798649,0.71338606911949],"aabb_xy":[[-0.31034983181855863,-2.2796171175040056],[-0.2603498334872924,-2.2657126260932925]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[-0.24873535302845218,0.26434686944521824,0.71338606911949],"aabb_xy":[[-0.3127353494557741,0.21717724562312174],[-0.1847353566011303,0.3115164932673146]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.10108551962473877,1.3061258781935194,0.71338606911949],"aabb_xy":[[-0.19108552195875783,1.2286435236084068],[-0.011085517290719715,1.383608232778632]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_28","position":[-0.3283084578953906,-1.349311773193312,0.71338606911949],"aabb_xy":[[-0.34580845717347747,-1.3666498732596581],[-0.3108084586173037,-1.3319736731269662]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_29","position":[0.3173314937527518,-1.274133478533565,0.71338606911949],"aabb_xy":[[0.28233149240127015,-1.2944932144903858],[0.3523314951042336,-1.2537737425767441]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[0.12392028082921813,-2.2932340611050015,0.71338606911949],"aabb_xy":[[0.11416429132004421,-2.302996595164236],[0.133676270338392,-2.283471527045767]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_31","position":[0.042332936491564,-1.8567684806349047,0.71338606911949],"aabb_xy":[[0.027170063514626926,-1.8719339379300237],[0.057495809468501094,-1.8416030233397862]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_32","position":[0.6961148024255934,1.5059755673614776,0.71338606911949],"aabb_xy":[[0.6900777894249288,1.4999488662925298],[0.7021518154262583,1.5120022684304262]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_33","position":[0.004901253955764018,-1.513723799109687,0.71338606911949],"aabb_xy":[[-0.03159456667151472,-1.5502077415364446],[0.04139707458304276,-1.4772398566829295]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_34","position":[0.5133233289389378,-1.0858346984705458,0.71338606911949],"aabb_xy":[[0.4633459120736842,-1.1358346999597941],[0.5633007458041913,-1.035834696981297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6484493473526659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1366.png","name":"1366"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6820.png","name":"6820"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5489.png","name":"5489"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1397.png","name":"1397"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":693.693323269605,"rotation_z_degrees":112.17773060738276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011484200913581603,0.018723528368085798,-0.012067663217281983]},{"name":"camera_2","offset_m":[0.0077450124681736066,0.009569295112449309,-0.014692673284217254]},{"name":"camera_3","offset_m":[0.0005964040277130836,-0.00852693880599377,-0.00827522594533705]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004548592277544205,-0.0016411338918352052,0.0008596704307168032],"end_effector_yaw_offset_degrees":-0.6703199245408604},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008604396998935517,-0.000999997417459893,0.0003890159186138928],"end_effector_yaw_offset_degrees":-0.28704211260124923},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007700452913959625,0.0018518961015708472,0.0002681993695138928],"end_effector_yaw_offset_degrees":-0.757572391025298},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010056729333958604,-0.0005058294754610247,6.592245898037188e-05],"end_effector_yaw_offset_degrees":-0.668682799185973},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.000967803782538597,-0.0002934288957690207,0.0010351701611439842],"end_effector_yaw_offset_degrees":-0.34269533750020975},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00047040544453827806,0.0003409008890612052,-0.0009851197231825935],"end_effector_yaw_offset_degrees":0.8104343537339962}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016247992457953443,0.003435119772662732],"position_m":[0.16817520075420467,-0.10286488022733728,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014468696276579017,-0.0017638585691583876],"position_m":[0.20955313037234208,-0.3698638585691584,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0017699161014093539,-0.004533056549065319],"position_m":[0.2919699161014094,0.31416694345093465,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034359213740700082,0.0007320228338572685],"position_m":[0.35693592137407,0.11583202283385727,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1c769952874426d5992dfe89ac84c2673f4410e15c3fad5f2a4618d15b9a7c15","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3853/tex_ceiling_textures_1397/tex_floor_textures_5489/tex_table_textures_1366/tex_wall_textures_6820","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6223109927570546655,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6223109927570546655,"visual_seed":6223109927570546655,"scene_id":"lab_003","finished_at":"2026-09-08T18:01:41"}
+{"episode_id":"ep_000034","started_at":"2026-09-08T18:01:48","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.1598517545914253,-1.4883657656198424,0.71338606911949],"aabb_xy":[[-0.17752738518002364,-1.5060459818992449],[-0.14217612400282698,-1.4706855493404394]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.019559735605569117,0.7159341612033359,0.71338606911949],"aabb_xy":[[-0.005440263666393163,0.6995887976071735],[0.04455973487753139,0.7322795247994982]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[0.5872535983876757,-0.9535796437391066,0.71338606911949],"aabb_xy":[[0.5697069034715568,-0.9910796453033579],[0.6048002933037947,-0.9160796421748554]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.2299196040413729,1.7334394805895763,0.71338606911949],"aabb_xy":[[0.21080729668339404,1.7143047017123343],[0.24903191139935177,1.7525742594668183]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_4","position":[0.22910573687900093,-1.7774965911091782,0.71338606911949],"aabb_xy":[[0.1878569258490862,-1.8324965906213955],[0.27035454790891567,-1.7224965915969606]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.04447080208574106,-1.2672932603209899,0.71338606911949],"aabb_xy":[[-0.05422679159491495,-1.2770557943802243],[-0.03471481257656717,-1.2575307262617554]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.5650410665003437,1.3068536289847161,0.71338606911949],"aabb_xy":[[-0.6150253022085209,1.2568536301712203],[-0.5150568307921665,1.3568536277982115]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[-0.5786527354686939,0.4527273231943467,0.71338606911949],"aabb_xy":[[-0.616152735966052,0.4487586396462283],[-0.5411527349713355,0.45669600674246513]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.05267503210946478,-0.8963991566617109,0.71338606911949],"aabb_xy":[[-0.011324965002640915,-0.9454315264561216],[0.11667502922157047,-0.8473667868673004]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.594069092387886,0.6846692747709473,0.71338606911949],"aabb_xy":[[-0.6393477072690352,0.6206692754227636],[-0.5487904775067367,0.748669274119131]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.5907484021687986,0.09709976306229606,0.71338606911949],"aabb_xy":[[-0.6257484035202803,0.07674002710547523],[-0.5557484008173168,0.1174594990191169]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.6629609844247355,1.4642333618394763,0.71338606911949],"aabb_xy":[[0.6535435098548728,1.4548171847017572],[0.6723784589945982,1.4736495389771953]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.06020647605680385,1.1263784588535861,0.71338606911949],"aabb_xy":[[-0.07763719113581034,1.109106344189735],[-0.04277576097779733,1.1436505735174367]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.12800234017961987,1.6137013665180402,0.71338606911949],"aabb_xy":[[-0.1830023398013657,1.5587176737305672],[-0.07300234055787402,1.6686850593055127]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.6977277156192905,1.1483778257208765,0.71338606911949],"aabb_xy":[[0.6744458734211591,1.0633778244236483],[0.7210095578174218,1.2333778270181044]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.4440707391903364,0.41878260921487964,0.71338606911949],"aabb_xy":[[-0.4778462983810293,0.4047441140017146],[-0.4102951799996434,0.43282110442804467]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.38654047286519705,-1.5861631368825821,0.71338606911949],"aabb_xy":[[-0.39382278924186065,-1.6761631404920907],[-0.37925815648853334,-1.4961631332730727]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.19686515106157676,-1.733320611269693,0.71338606911949],"aabb_xy":[[-0.2608651483472254,-1.7748273302225368],[-0.1328651537759281,-1.6918138923168489]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.16144639360623003,0.5421975028321389,0.71338606911949],"aabb_xy":[[-0.25144639728314816,0.4807650962550343],[-0.07144638992931183,0.603629909409243]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[-0.15641583661593117,-1.1808357973687995,0.71338606911949],"aabb_xy":[[-0.20141583808216007,-1.2258356542302804],[-0.11141583514970235,-1.135835940507319]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[0.42050539362022654,1.1815313349035823,0.71338606911949],"aabb_xy":[[0.37053232808771114,1.1315313350910496],[0.4704784591527421,1.2315313347161154]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.5977922311312227,0.2588199004391707,0.71338606911949],"aabb_xy":[[-0.6281903422303662,0.22841299843750115],[-0.567394120032079,0.28922680244084015]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.6523649650072014,-1.767648334767165,0.71338606911949],"aabb_xy":[[0.6443286303059167,-1.7756864540715815],[0.6604012997084864,-1.759610215462748]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[0.587849029664806,-1.8702033797211755,0.71338606911949],"aabb_xy":[[0.5528490296883101,-1.879667995768792],[0.6228490296413017,-1.8607387636735588]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.12989825276501132,0.7357480834343346,0.71338606911949],"aabb_xy":[[0.10698253987996142,0.7128437862979111],[0.15281396565006122,0.7586523805707582]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.4307283410304628,1.4874880315751864,0.71338606911949],"aabb_xy":[[-0.48072834198099557,1.455938884571665],[-0.38072834007992995,1.5190371785787078]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[-0.33360845402481254,-2.149025870683474,0.71338606911949],"aabb_xy":[[-0.3976084559371549,-2.204937019941485],[-0.2696084521124702,-2.093114721425464]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[0.6072060012297313,-0.48735436561381507,0.71338606911949],"aabb_xy":[[0.5963002251421686,-0.5673543620126442],[0.618111777317294,-0.40735436921498586]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_28","position":[0.5205185731420938,1.575785718026927,0.71338606911949],"aabb_xy":[[0.4952977362822541,1.55056196717404],[0.5457394100019334,1.6010094688798135]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[-0.41578991629924683,-2.309964671503885,0.71338606911949],"aabb_xy":[[-0.45328991611628044,-2.3146028828150267],[-0.37828991648221333,-2.305326460192743]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_30","position":[-0.24709814597328222,-0.2749648887150302,0.71338606911949],"aabb_xy":[[-0.3070981476162041,-0.3269650380069744],[-0.18709814433036037,-0.22296473942308603]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_31","position":[-0.5065099999429626,0.9140446090418473,0.71338606911949],"aabb_xy":[[-0.5705099992371309,0.8500584686729931],[-0.4425100006487944,0.9780307494107014]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_32","position":[0.4062487367276528,1.0464316427811995,0.71338606911949],"aabb_xy":[[0.38837962897319733,1.0325987348039884],[0.4241178444821083,1.0602645507584105]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_33","position":[-0.0183931541834661,-0.6960127836556624,0.71338606911949],"aabb_xy":[[-0.05402231008342584,-0.7316454504125154],[0.017236001716493643,-0.6603801168988095]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6500376037666156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8433.png","name":"8433"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8433.png","name":"8433"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3088.png","name":"3088"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5097.png","name":"5097"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9905.png","name":"9905"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":551.4312136456394,"rotation_z_degrees":137.40539266526127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008809253304238915,-0.013006192655592316,0.013909946818127347]},{"name":"camera_2","offset_m":[0.008328419319374409,0.012364047347345853,0.00477613644116302]},{"name":"camera_3","offset_m":[0.019195217839799123,0.011058990759763427,-0.002816855947342732]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004438803972796866,0.00019469002790583516,-0.0017038735438783719],"end_effector_yaw_offset_degrees":0.18326773326818713},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001164683588681941,0.0009240780488319012,-0.0010997939319037071],"end_effector_yaw_offset_degrees":0.7636568856605428},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001694093288310639,0.000864047796437728,0.001958294032188096],"end_effector_yaw_offset_degrees":-0.47185860603869845},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0003532280894112546,-0.000852413128093768,-0.0001228381579406058],"end_effector_yaw_offset_degrees":0.2600792674525705},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009667742498946175,-0.0013272669014817852,0.0011156792961946852],"end_effector_yaw_offset_degrees":0.37977497643854297},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00026103996537393966,-0.0006144953816312854,-0.000706432773695413],"end_effector_yaw_offset_degrees":0.6343550514356762}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011560532817010902,-0.004271244819696402],"position_m":[0.1709560532817011,-0.11057124481969641,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010169604984090778,-0.003926116229639033],"position_m":[0.20998303950159092,-0.372026116229639,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001301769314086868,-8.029884557031464e-05],"position_m":[0.28889823068591314,0.31861970115442967,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026423092080879508,0.004261839382717178],"position_m":[0.35085769079191204,0.11936183938271717,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8078bb8549db9824a990925ab9fdcacb8d1f3177d956cca8345ae7dbb5965420","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8433/tex_ceiling_textures_9905/tex_floor_textures_5097/tex_table_textures_8504/tex_wall_textures_3088","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6530240924584196149,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6530240924584196149,"visual_seed":6530240924584196149,"scene_id":"lab_003","finished_at":"2026-09-08T18:09:42"}
+{"episode_id":"ep_000035","started_at":"2026-09-08T18:09:49","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.11078043876467325,0.27546909873586944,0.71338606911949],"aabb_xy":[[-0.16078044012556048,0.22549119416045385],[-0.060780437403786046,0.32544700331128507]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.6074004788335423,0.5558144296473841,0.71338606911949],"aabb_xy":[[0.592228309551909,0.5406455727191808],[0.6225726481151757,0.5709832865755875]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.5528961614160035,-2.201899276421772,0.71338606911949],"aabb_xy":[[-0.5616982167249761,-2.2097106025767013],[-0.5440941061070307,-2.194087950266843]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.6208647310608177,-2.193467663351608,0.71338606911949],"aabb_xy":[[0.598364730548777,-2.215959521717006],[0.6433647315728582,-2.170975804986209]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.3401660791321302,0.7779103166667656,0.71338606911949],"aabb_xy":[[-0.395291284761721,0.7179103152254784],[-0.2850408735025394,0.8379103181080527]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.5357510024593237,-0.9054444298577888,0.71338606911949],"aabb_xy":[[0.5046040836157406,-0.9754444285445959],[0.5668979213029068,-0.8354444311709815]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.5039248543852013,-0.12281412109285217,0.71338606911949],"aabb_xy":[[-0.5839248513994493,-0.14294867276626344],[-0.4239248573709533,-0.1026795694194409]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.2918821676900368,1.782099221543454,0.71338606911949],"aabb_xy":[[-0.3558821649923831,1.737732794575597],[-0.22788217038769032,1.8264656485113104]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[-0.2814373361876732,-1.3706560914668946,0.71338606911949],"aabb_xy":[[-0.34543733535744314,-1.4174227785858569],[-0.21743733701790327,-1.323889404347932]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[0.20014696208568317,-1.1664888508006614,0.71338606911949],"aabb_xy":[[0.13014696027693773,-1.1878426195648488],[0.2701469638944286,-1.145135082036474]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.4690957334301409,1.2286024874407406,0.71338606911949],"aabb_xy":[[-0.5540957321222155,1.1966166240458618],[-0.38409573473806624,1.2605883508356195]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.6244687490724835,-0.8224318317594101,0.71338606911949],"aabb_xy":[[-0.6618000255977262,-0.8570848865542624],[-0.587137472547241,-0.7877787769645579]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.11969424240003845,-0.9035779644421897,0.71338606911949],"aabb_xy":[[0.09469424312807617,-0.9199233280383521],[0.14469424167200073,-0.8872326008460274]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.586809892575983,-1.4082047308308367,0.71338606911949],"aabb_xy":[[0.536814881616531,-1.4582047298664285],[0.6368049035354351,-1.358204731795245]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.03859928514879807,1.3911305248738608,0.71338606911949],"aabb_xy":[[0.028517578070224585,1.3111305269817461],[0.04868099222737154,1.4711305227659754]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.6950870613535269,-2.1175481588324785,0.71338606911949],"aabb_xy":[[0.68804675141999,-2.1975481582321503],[0.702127371287064,-2.0375481594328075]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.1381887609938922,-2.2908042509544524,0.71338606911949],"aabb_xy":[[-0.15252318612005566,-2.302864466508991],[-0.12385433586772876,-2.2787440353999138]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[0.0888932341661075,-0.7324803951055503,0.71338606911949],"aabb_xy":[[0.05139323337411204,-0.7388482360637404],[0.12639323495810295,-0.7261125541473602]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.2912547432534659,-2.0757904699258227,0.71338606911949],"aabb_xy":[[0.28363047516328765,-2.0834236934623664],[0.29887901134364414,-2.068157246389279]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.3071518875891279,1.6452353885456747,0.71338606911949],"aabb_xy":[[0.2421518849513345,1.5937557898462278],[0.37215189022692147,1.6967149872451217]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[-0.15121406527324788,-1.9363906975591014,0.71338606911949],"aabb_xy":[[-0.2152140656507815,-1.9861359644099132],[-0.08721406489571426,-1.8866454307082887]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.5861382028027109,0.35640624150030575,0.71338606911949],"aabb_xy":[[0.5753652288813431,0.3214062432812667],[0.5969111767240787,0.3914062397193447]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.5621304142665722,-1.6488063090568916,0.71338606911949],"aabb_xy":[[-0.5796303477005554,-1.6663063089771262],[-0.5446304808325887,-1.631306309136657]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.34575947190275236,0.2460868586596141,0.71338606911949],"aabb_xy":[[-0.37822117278467976,0.2159540265447115],[-0.31329777102082484,0.2762196907745167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6483108118555462,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2241.png","name":"2241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2241.png","name":"2241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3113.png","name":"3113"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2942.png","name":"2942"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5299.png","name":"5299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":811.5264053986189,"rotation_z_degrees":73.73980401742195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012461545291609612,-0.015165150088793058,0.01599497034328475]},{"name":"camera_2","offset_m":[-0.00584689216226046,-0.01710876381148354,0.0108146892013107]},{"name":"camera_3","offset_m":[0.006579153602206945,-0.00879699317917511,-0.017658077160721385]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00023320330946735536,-0.0010886558954768723,0.0003314721194701657],"end_effector_yaw_offset_degrees":-0.08704625429806612},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010087581831500002,0.0012317941223564067,-0.0015882175105275023],"end_effector_yaw_offset_degrees":0.81099651916487},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003334401040728291,0.0012637727077943728,0.0019485014660158232],"end_effector_yaw_offset_degrees":-0.5431912758274289},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007319575517874982,0.0016787372482958119,0.000886439470534954],"end_effector_yaw_offset_degrees":-0.5851240172080208},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016336567069665576,-0.0014875707860369767,0.001512674350115613],"end_effector_yaw_offset_degrees":0.7972799168384055},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-7.017432213178056e-05,0.000621069679460128,0.00040929729271850686],"end_effector_yaw_offset_degrees":0.588113649287104}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003059892889270493,0.001452753052749803],"position_m":[0.1728598928892705,-0.1048472469472502,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003580127587650407,0.0019844140959763747],"position_m":[0.20741987241234958,-0.3661155859040236,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004909041519147741,-0.000960062572891259],"position_m":[0.29510904151914774,0.3177399374271087,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018183825183714173,0.0019833323012393815],"position_m":[0.3553183825183714,0.11708333230123938,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f88dfb2cc35119c0a5cb954c8ffc42da041cad6cb0f6644ae9d9d2356cc8364a","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2241/tex_ceiling_textures_9492/tex_floor_textures_5299/tex_table_textures_3113/tex_wall_textures_2942","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4868718595938237281,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4868718595938237281,"visual_seed":4868718595938237281,"scene_id":"lab_003","finished_at":"2026-09-08T18:18:37"}
+{"episode_id":"ep_000036","started_at":"2026-09-08T18:18:44","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.4123968793563616,-1.6171687590943327,0.71338606911949],"aabb_xy":[[-0.46239688071724877,-1.6671466636697483],[-0.3623968779954743,-1.567190854518917]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[-0.13656965695272705,-1.5839753831884649,0.71338606911949],"aabb_xy":[[-0.17406965724490187,-1.5880168585890686],[-0.09906965666055223,-1.5799339077878616]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.2291778363915875,-1.2256475097161819,0.71338606911949],"aabb_xy":[[0.21130872863713202,-1.2394804176933925],[0.247046944146043,-1.2118146017389708]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.6479534819992379,-1.7026676860489582,0.71338606911949],"aabb_xy":[[0.611457661371959,-1.7391516284757156],[0.6844493026265165,-1.6661837436222005]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.2907579926291791,0.38412052059270296,0.71338606911949],"aabb_xy":[[0.2861228774769457,0.38025318551555426],[0.2953931077814124,0.38798785566985156]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.41086941529437415,0.9260201625622262,0.71338606911949],"aabb_xy":[[0.35586941611778466,0.8710304877872683],[0.46586941447096364,0.9810098373371836]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.0361002381898331,-0.812294937333887,0.71338606911949],"aabb_xy":[[0.018306731254916664,-0.8300946829296847],[0.05389374512474954,-0.7944951917380894]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.4001133298609263,-0.9942323670919413,0.71338606911949],"aabb_xy":[[0.36261332906893085,-1.0006002080501313],[0.43761333065292174,-0.9878645261337512]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.3004891639721391,-0.8413801301271329,0.71338606911949],"aabb_xy":[[0.2775734510870892,-0.8642844272635564],[0.323404876857189,-0.8184758329907094]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.3827596838457117,0.1303841582116223,0.71338606911949],"aabb_xy":[[-0.4527596856544571,0.10903038944743493],[-0.31275968203696625,0.15173792697580968]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.47252890449394847,-0.4298234010794064,0.71338606911949],"aabb_xy":[[0.4475289053283154,-0.43677564678476305],[0.49752890365958163,-0.4228711553740499]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.5258490250263106,-2.2424863471039522,0.71338606911949],"aabb_xy":[[-0.6158490236207805,-2.258736933417374],[-0.43584902643184065,-2.2262357607905314]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.3312128895886406,0.6384617097073102,0.71338606911949],"aabb_xy":[[0.2672128876762983,0.5825505604492996],[0.395212891500983,0.6943728589653205]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[-0.05048812516994339,-2.0830558383149667,0.71338606911949],"aabb_xy":[[-0.0875222345980031,-2.1174330456486756],[-0.01345401574188368,-2.048678630981257]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.5913713836649741,0.7852793026142888,0.71338606911949],"aabb_xy":[[-0.6104836910229531,0.7661445237370467],[-0.5722590763069954,0.8044140814915307]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.3017762356384637,1.6936308428173796,0.71338606911949],"aabb_xy":[[-0.31370897000029174,1.6812486900095203],[-0.2898435012766356,1.706012995625239]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.5682468537590516,-1.8246208295834538,0.71338606911949],"aabb_xy":[[-0.5885311564824502,-1.8449034547261625],[-0.5479625510356527,-1.8043382044407448]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.2218300725052093,-1.124139347334645,0.71338606911949],"aabb_xy":[[-0.26710868738635857,-1.1881393466828287],[-0.17655145762406005,-1.0601393479864614]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.010717041578912512,1.4645258174185245,0.71338606911949],"aabb_xy":[[-0.021128600259396224,1.4591800840826261],[-0.0003054828984287994,1.4698715507544229]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.38524285822786974,1.7545645371874454,0.71338606911949],"aabb_xy":[[0.36781214314886324,1.7372924225235942],[0.40267357330687625,1.7718366518512958]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.19333569143176932,0.3675297775087576,0.71338606911949],"aabb_xy":[[-0.1993022303725051,0.3615686328493935],[-0.18736915249103353,0.3734909221681216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6475957261790253,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4943.png","name":"4943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4943.png","name":"4943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4334.png","name":"4334"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2242.png","name":"2242"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":751.8854942952564,"rotation_z_degrees":284.2372638301987,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01064962277044966,-0.013678032344090596,-0.007082155230132194]},{"name":"camera_2","offset_m":[-0.01728608493590099,-0.008782830531409092,-0.013797910220194125]},{"name":"camera_3","offset_m":[0.008926471217616513,0.014046081076010502,-0.0054097811963949825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013898155790295383,-0.0008104632494806566,0.0015794696715359519],"end_effector_yaw_offset_degrees":0.8426730905011306},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001817412546344956,0.0015388683840588356,-4.841167565541003e-05],"end_effector_yaw_offset_degrees":-0.32583777080695664},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014810379785008408,0.0011929128192425418,-0.0004537132244852198],"end_effector_yaw_offset_degrees":0.5987892345843548},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008684163099260569,-0.0014380365738731063,-0.0016796490736279428],"end_effector_yaw_offset_degrees":-0.31735231047640977},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018890132958302563,-0.0004308169327849,0.000476574156865871],"end_effector_yaw_offset_degrees":-0.9926108267352318},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006702861734876157,-1.3733812424633791e-05,0.0007372253427308886],"end_effector_yaw_offset_degrees":-0.6848200754066223}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005617473926610586,0.0018674334477165279],"position_m":[0.16923825260733893,-0.10443256655228347,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033748780510867386,-0.003037424217236031],"position_m":[0.20762512194891325,-0.371137424217236,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001440649831911338,-0.0024306348091565288],"position_m":[0.29164064983191135,0.3162693651908435,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012815028136404939,0.002013160878131196],"position_m":[0.35478150281364046,0.11711316087813119,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"312c3f4d0d3fd35c431a4b7f5c416d12edb924ef38d80ab1883d7437696ed719","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4943/tex_ceiling_textures_2242/tex_floor_textures_3624/tex_table_textures_4334/tex_wall_textures_6275","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6416868928805103201,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6416868928805103201,"visual_seed":6416868928805103201,"scene_id":"lab_003","finished_at":"2026-09-08T18:27:24"}
+{"episode_id":"ep_000037","started_at":"2026-09-08T18:27:31","dimensions":{"distractor":{"count":34,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.5406451438946249,-2.4669083303673025,0.71338606911949],"aabb_xy":[[0.5235430659362568,-2.4840151358985723],[0.5577472218529931,-2.4498015248360328]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.21181794456706438,-1.7329258814772341,0.71338606911949],"aabb_xy":[[0.19665507159012735,-1.7480913387723531],[0.2269808175440015,-1.7177604241821156]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.0820415152139563,0.8474950082470554,0.71338606911949],"aabb_xy":[[-0.14204151546535748,0.7932136832105906],[-0.02204151496255513,0.9017763332835199]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.21105441786368084,0.6279574361642548,0.71338606911949],"aabb_xy":[[0.14605441998203306,0.576833772457714],[0.27605441574532863,0.6790810998707957]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[-0.5677719454434199,1.0611380481331003,0.71338606911949],"aabb_xy":[[-0.5785449193647877,1.0261380499140613],[-0.5569989715220521,1.0961380463521393]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.6566140487085941,-1.315465378376519,0.71338606911949],"aabb_xy":[[-0.6941140490568218,-1.3272567739576024],[-0.6191140483603663,-1.3036739827954353]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.6091956739961434,-0.4389003297524221,0.71338606911949],"aabb_xy":[[-0.6941956724135666,-0.5237746252147071],[-0.5241956755787202,-0.3540260342901371]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.5070369036843687,-1.265787699796667,0.71338606911949],"aabb_xy":[[0.4735577364233279,-1.2992668131677743],[0.5405160709454098,-1.2323085864255603]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.3254697345651915,0.6742141864345039,0.71338606911949],"aabb_xy":[[-0.34296973369955863,0.6643345593969161],[-0.3079697354308243,0.6840938134720917]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.07816046372783914,1.7720774987761065,0.71338606911949],"aabb_xy":[[-0.09371623313810441,1.7565270655316998],[-0.06260469431757389,1.7876279320205142]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.5298131508644142,-2.2162697054915883,0.71338606911949],"aabb_xy":[[0.47981315128807944,-2.2662502844436943],[0.5798131504407489,-2.1662891265394824]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.4138457579504561,1.1278408798124366,0.71338606911949],"aabb_xy":[[-0.43139245286657496,1.0903408782481854],[-0.3962990630343371,1.165340881376688]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.4134207570098112,-1.891165315843987,0.71338606911949],"aabb_xy":[[0.3884207570772933,-1.8980479840649103],[0.43842075694232907,-1.8842826476230636]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.5732578980137617,0.6961461944413965,0.71338606911949],"aabb_xy":[[-0.6632579016906797,0.634713787864292],[-0.4832578943368433,0.7575786010185006]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.23466968145320766,1.3194627115440456,0.71338606911949],"aabb_xy":[[0.19716968287758682,1.3067264158804874],[0.2721696800288284,1.3321990072076033]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.45887066739545057,-1.7065989201811282,0.71338606911949],"aabb_xy":[[-0.5388706678656665,-1.7149096277954767],[-0.37887066692523463,-1.6982882125667802]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.2519522118855393,-1.041278448334635,0.71338606911949],"aabb_xy":[[-0.25923452826220283,-1.1312784519441434],[-0.24466989550887555,-0.9512784447251256]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.0436269404473697,-2.404854374531975,0.71338606911949],"aabb_xy":[[-0.0936269390932909,-2.4547739181914374],[0.006373058198551496,-2.3549348308725127]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.295885034989367,1.5093087094558961,0.71338606911949],"aabb_xy":[[-0.34588503665086173,1.4593102672001932],[-0.24588503332787223,1.5593071517115986]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.09012849770063891,1.0076152466474415,0.71338606911949],"aabb_xy":[[0.04014968919032301,0.9576152466417225],[0.1401073062109548,1.05761524665316]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.4152398796162626,-2.1762385450302233,0.71338606911949],"aabb_xy":[[-0.41868055585631975,-2.180099978004588],[-0.4117992033762054,-2.1723771120558593]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.4539030491121483,0.4558326839694753,0.71338606911949],"aabb_xy":[[-0.5439030456130199,0.40992104155101705],[-0.3639030526112765,0.5017443263879335]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.292348434440995,0.4831847462697363,0.71338606911949],"aabb_xy":[[-0.29793010607512377,0.4706847464519608],[-0.28676676280686625,0.4956847460875118]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.4200297678163267,0.9389705047340078,0.71338606911949],"aabb_xy":[[0.4031190353799849,0.9254982991413933],[0.43694050025266845,0.9524427103266223]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[0.6732222895320861,-0.0419039947084654,0.71338606911949],"aabb_xy":[[0.6671276616439676,-0.05047338926013412],[0.6793169174202043,-0.033334600156796686]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[0.35616302687760415,1.72275638898742,0.71338606911949],"aabb_xy":[[0.34531142062872855,1.7118970982597692],[0.36701463312647975,1.7336156797150712]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[-0.6326452915870275,-0.2496814583561595,0.71338606911949],"aabb_xy":[[-0.6452720788742239,-0.2592275320577324],[-0.6200185042998312,-0.24013538465458661]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[0.5553986351368809,-1.4189425075118762,0.71338606911949],"aabb_xy":[[0.475398634863274,-1.491892055337593],[0.6353986354104879,-1.3459929596861595]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[0.22113842676840711,-2.1782314104946146,0.71338606911949],"aabb_xy":[[0.15713842354976926,-2.2249545223936225],[0.285138429987045,-2.1315082985956058]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_29","position":[-0.46366981761819903,-0.9211522456840222,0.71338606911949],"aabb_xy":[[-0.5136646505461406,-0.9711522445792655],[-0.4136749846902575,-0.8711522467887785]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[-0.16804785838666547,0.9781304141615461,0.71338606911949],"aabb_xy":[[-0.17682908553390173,0.9693506668730162],[-0.15926663123942927,0.9869101614500765]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_31","position":[0.422864267120606,0.03271539686531799,0.71338606911949],"aabb_xy":[[0.3860137191836184,-0.004784603957715738],[0.4597148150575936,0.07021539768835172]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_32","position":[-0.49254398014160616,-1.3441113244170424,0.71338606911949],"aabb_xy":[[-0.5150431158678331,-1.3666113251953054],[-0.4700448444153792,-1.3216113236387794]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_33","position":[0.377954309364148,-2.46072392853728,0.71338606911949],"aabb_xy":[[0.342954311094028,-2.467798056232268],[0.4129543076342678,-2.4536498008422916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6477601894824495,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8796.png","name":"8796"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8796.png","name":"8796"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3686.png","name":"3686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5669.png","name":"5669"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4257.png","name":"4257"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4745.png","name":"4745"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":665.3351790240195,"rotation_z_degrees":232.521758471801,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0036266347301952308,-0.00928776854887154,-0.01687048629749597]},{"name":"camera_2","offset_m":[0.0019817236264858575,0.0005026376897286598,0.01566404660157526]},{"name":"camera_3","offset_m":[-0.017110391208199342,-0.016068750984668544,-0.009826176481005042]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011989043351830144,0.0004893148689901509,0.0004722690517692833],"end_effector_yaw_offset_degrees":-0.17189749477630967},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015369589387175938,0.001079860867191809,0.0010234165247717908],"end_effector_yaw_offset_degrees":0.2917209784617587},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014747702343560825,-0.0006821010602347944,0.001160960003815405],"end_effector_yaw_offset_degrees":0.12066426462672863},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0003658832561047741,-0.0009343195650800542,0.001070223378754751],"end_effector_yaw_offset_degrees":-0.7198866506369033},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0019878538127299757,0.0016329324389896876,0.0004681979135889554],"end_effector_yaw_offset_degrees":-0.7129955732986806},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0018765544154558315,-0.0013309325300579714,-0.00013080205030655944],"end_effector_yaw_offset_degrees":0.9719997297089642}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026651730527352587,-0.004759723232293663],"position_m":[0.17246517305273526,-0.11105972323229367,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009349652755711773,0.00018635418615480567],"position_m":[0.2100650347244288,-0.36791364581384517,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0049596027350946904,0.0029546265003296103],"position_m":[0.2852403972649053,0.3216546265003296,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0049386689907473915,0.003345745185301387],"position_m":[0.3485613310092526,0.11844574518530138,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"82e744c2a4dedd839eb4ae3a68c4820ee6e5ad93fd82c7f1e405b9002bcddbe7","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8796/tex_ceiling_textures_4745/tex_floor_textures_4257/tex_table_textures_3686/tex_wall_textures_5669","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2676839196654119273,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2676839196654119273,"visual_seed":2676839196654119273,"scene_id":"lab_003","finished_at":"2026-09-08T18:35:23"}
+{"episode_id":"ep_000038","started_at":"2026-09-08T18:35:30","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[0.43950771230740915,-1.852015302859678,0.71338606911949],"aabb_xy":[[0.36950770891584717,-1.8873310765631088],[0.5095077156989711,-1.816699529156247]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[0.004493140426107933,1.424772048282303,0.71338606911949],"aabb_xy":[[-0.029823136748510004,1.3747720483091252],[0.03880941760072587,1.4747720482554807]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.10963873634939747,1.0253553715119703,0.71338606911949],"aabb_xy":[[0.08509252072664673,0.9951064749629334],[0.13418495197214816,1.0556042680610074]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.5162266900143637,1.379030194241595,0.71338606911949],"aabb_xy":[[-0.5962266932722068,1.299033686449611],[-0.4362266867565209,1.459026702033579]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.4462678290619717,-2.2715038410489763,0.71338606911949],"aabb_xy":[[0.4087678287697969,-2.27554531644958],[0.48376782935414653,-2.2674623656483726]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.4757487229645757,-2.3854646980664036,0.71338606911949],"aabb_xy":[[-0.555748720368169,-2.465457269264586],[-0.39574872556098223,-2.3054721268682203]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.5757762335986345,-1.0152468802540413,0.71338606911949],"aabb_xy":[[0.48608915729051905,-1.1052468805084918],[0.66546330990675,-0.9252468799995908]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.34793523905518126,1.6515993209713957,0.71338606911949],"aabb_xy":[[-0.4119352376417537,1.604592357571887],[-0.2839352404686088,1.6986062843709044]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.16365377434162665,-1.5967045985367372,0.71338606911949],"aabb_xy":[[-0.21365377570251387,-1.6466825031121528],[-0.11365377298073943,-1.5467266939613216]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.11420090239668312,-1.0854067637259703,0.71338606911949],"aabb_xy":[[-0.12219489097438652,-1.0934068438210605],[-0.10620691381897973,-1.0774066836308798]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.18219026986086362,-2.4284231934635163,0.71338606911949],"aabb_xy":[[-0.24619027153886094,-2.47694058494283],[-0.11819026818286624,-2.3799058019842017]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.5356583626064879,-0.7099590620545737,0.71338606911949],"aabb_xy":[[0.518158363328401,-0.7272971621209197],[0.5531583618845748,-0.6926209619882278]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.35271172291448555,-1.3699232903759404,0.71338606911949],"aabb_xy":[[-0.35816966855150556,-1.4499232936835993],[-0.3472537772774654,-1.289923287068281]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.5622475245404752,-1.5576320147458118,0.71338606911949],"aabb_xy":[[-0.5730880027669901,-1.5748182960364607],[-0.5514070463139603,-1.540445733455163]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[-0.19525239309951659,-0.1790991538031692,0.71338606911949],"aabb_xy":[[-0.20466986766937934,-0.1885153309408882],[-0.18583491852965384,-0.16968297666545015]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.34504125085207926,1.311653690643526,0.71338606911949],"aabb_xy":[[-0.3627168814406776,1.2939734743641231],[-0.3273656202634809,1.3293339069229286]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.12090232744853346,0.8289751445363875,0.71338606911949],"aabb_xy":[[0.09840232743838519,0.8148789248967844],[0.14340232745868176,0.8430713641759909]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.030506578212152746,-1.627056135519276,0.71338606911949],"aabb_xy":[[0.025607285905589246,-1.6547330548218446],[0.03540587051871624,-1.599379216216707]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.2606269436902572,-1.4494665762307912,0.71338606911949],"aabb_xy":[[0.24985396976888935,-1.4844665744498302],[0.2713999176116249,-1.4144665780117522]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.03623723743441465,-1.735571451318683,0.71338606911949],"aabb_xy":[[-0.10123723854035793,-1.7605368243868116],[0.028762763671528635,-1.710606078250555]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.6744120050915028,0.43973258126089876,0.71338606911949],"aabb_xy":[[0.6369120039067099,0.43531435856483824],[0.7119120062762955,0.4441508039569593]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.5027934330593387,0.5175152639430163,0.71338606911949],"aabb_xy":[[-0.5667891304544352,0.4535152656423075],[-0.4387977356642421,0.5815152622437249]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.13131705603167598,-2.562528033955083,0.71338606911949],"aabb_xy":[[0.12310251091599199,-2.571204624252724],[0.13953160114735993,-2.5538514436574413]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.021225733797600732,-1.4581628345024897,0.71338606911949],"aabb_xy":[[-0.028266043731137735,-1.5381628339021616],[-0.014185423864063747,-1.3781628351028186]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[0.6359855825760745,0.38198593932119085,0.71338606911949],"aabb_xy":[[0.6306530679214615,0.37666161107595525],[0.6413180972306876,0.38731026756642645]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.5471242456606652,-1.08775272121407,0.71338606911949],"aabb_xy":[[-0.6371242423962753,-1.1409361845313644],[-0.4571242489250549,-1.0345692578967753]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[-0.5989091657407699,-0.2704409540788939,0.71338606911949],"aabb_xy":[[-0.6339091648707256,-0.27618617515455796],[-0.5639091666108142,-0.26469573300322974]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.49612264301111264,-1.7539922755208393,0.71338606911949],"aabb_xy":[[-0.5861226453451318,-1.831474630105952],[-0.40612264067709364,-1.6765099209357266]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[-0.3483049915667998,-0.9507530094833805,0.71338606911949],"aabb_xy":[[-0.36077234967653543,-0.963218334116704],[-0.33583763345706413,-0.938287684850057]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6438159675968604,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4689.png","name":"4689"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4689.png","name":"4689"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8929.png","name":"8929"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7813.png","name":"7813"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3340.png","name":"3340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8588.png","name":"8588"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":611.1365283802704,"rotation_z_degrees":29.253874064947215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012095451623111972,0.00870784164231898,-0.008948320824684282]},{"name":"camera_2","offset_m":[-0.0014313258024404515,0.011555444951290409,0.016235928056605353]},{"name":"camera_3","offset_m":[0.008562847011396608,0.006472014963537175,-0.0017134880210400716]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012187892585959442,-0.00022365524791681936,-0.0006207302976038425],"end_effector_yaw_offset_degrees":-0.39663882119784066},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017124447336324927,0.000695199228327708,-0.001950717534653547],"end_effector_yaw_offset_degrees":-0.6094034164875624},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006223028873340911,0.0011322924756246165,0.0019255596711170737],"end_effector_yaw_offset_degrees":-0.6267601986883398},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007074072980291384,0.0015939182616106873,0.0016470816192890024],"end_effector_yaw_offset_degrees":-0.5019969404318081},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005453755824394264,9.926612941763696e-06,0.000365582409841365],"end_effector_yaw_offset_degrees":0.028005497743088137},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001658898880792434,0.0016940773524732923,-0.0017741526838287917],"end_effector_yaw_offset_degrees":0.5185901413258789}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004857236357163757,-0.0013446146361948677],"position_m":[0.16494276364283625,-0.10764461463619487,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036988968410887916,0.0035561772905661525],"position_m":[0.2073011031589112,-0.3645438227094338,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001247286947821823,0.0007852934181272475],"position_m":[0.2889527130521782,0.31948529341812726,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007721612553635579,0.002398935375903132],"position_m":[0.35427216125536354,0.11749893537590313,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ed888ee0a317352a551301f7c67107f7bc15a059b791522fb7bfb20e79983a53","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4689/tex_ceiling_textures_8588/tex_floor_textures_3340/tex_table_textures_8929/tex_wall_textures_7813","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6031317135504935939,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6031317135504935939,"visual_seed":6031317135504935939,"scene_id":"lab_003","finished_at":"2026-09-08T18:43:42"}
+{"episode_id":"ep_000039","started_at":"2026-09-08T18:43:50","dimensions":{"distractor":{"count":21,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.24906544949763665,0.14324445857631707,0.71338606911949],"aabb_xy":[[-0.2563477658743002,0.05324445496680804],[-0.24178313312097294,0.233244462185826]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.3893339054766236,-1.1141001483789523,0.71338606911949],"aabb_xy":[[0.38229245452587607,-1.121126900116747],[0.39637535642737126,-1.1070733966411581]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.15134179749176646,1.1234789406182726,0.71338606911949],"aabb_xy":[[-0.20131509149502688,1.073478940063725],[-0.10136850348850598,1.1734789411728197]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.04932749654853574,1.435245394011813,0.71338606911949],"aabb_xy":[[-0.0617948546582714,1.4227800693784898],[-0.0368601384388001,1.4477107186451368]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[0.3834256537598646,0.47937444129030027,0.71338606911949],"aabb_xy":[[0.37538229383390936,0.39437444019493384],[0.3914690136858197,0.5643744423856667]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[-0.5453120306201404,0.3492896467644089,0.71338606911949],"aabb_xy":[[-0.5799031134741855,0.28428964647937777],[-0.5107209477660951,0.4142896470494399]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.45710732958540445,-0.5852479359212737,0.71338606911949],"aabb_xy":[[0.4396073293260679,-0.5993394781100464],[0.47460732984474113,-0.5711563937325012]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[0.21373741220238174,-2.098627851691364,0.71338606911949],"aabb_xy":[[0.18540770225384157,-2.103088593885081],[0.24206712215092202,-2.094167109497647]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.6255902215333131,0.13369097453129752,0.71338606911949],"aabb_xy":[[-0.6895902188189617,0.09218425557845356],[-0.5615902242476644,0.1751976934841415]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.013511528590035016,0.9963021875599294,0.71338606911949],"aabb_xy":[[-0.02055183852357201,0.9163021881602581],[-0.006471218656498025,1.0763021869596008]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.6241559311694183,0.31917916083567777,0.71338606911949],"aabb_xy":[[0.616028242976105,0.31026555242497017],[0.6322836193627315,0.3280927692463855]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[-0.24667191801033633,-0.13165720302166184,0.71338606911949],"aabb_xy":[[-0.25478557268371343,-0.13976301947569092],[-0.23855826333695923,-0.12355138656763276]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.604347075648876,1.4236025331373212,0.71338606911949],"aabb_xy":[[-0.6943470723844862,1.3704190698200267],[-0.5143470789132658,1.4767859964546157]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.5869867175820689,-1.9522836825593401,0.71338606911949],"aabb_xy":[[0.5776930993449182,-1.989783681047474],[0.5962803358192194,-1.9147836840712062]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.279095431010703,-1.9800041978951368,0.71338606911949],"aabb_xy":[[-0.33909543151855587,-2.036850931581058],[-0.21909543050285005,-1.9231574642092155]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_15","position":[-0.4200917885977208,-0.7311047967424604,0.71338606911949],"aabb_xy":[[-0.4586374814229218,-0.769650567798649],[-0.38154609577251974,-0.6925590256862718]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.49727934193192835,0.5877132804049499,0.71338606911949],"aabb_xy":[[0.4332793448198227,0.5386809106105392],[0.561279339044034,0.6367456501993605]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.4686067852406203,1.2412558070495896,0.71338606911949],"aabb_xy":[[-0.4735060775471837,1.2135788877470206],[-0.4637074929340567,1.2689327263521581]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.6862253782839225,-1.8597774977143082,0.71338606911949],"aabb_xy":[[0.6671130709259435,-1.8789122765915502],[0.7053376856419012,-1.8406427188370662]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.3112086171369173,-1.3697462676119536,0.71338606911949],"aabb_xy":[[0.2617281959229585,-1.4337462655248057],[0.36068903835087607,-1.305746269699102]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[-0.4099316161704963,-0.9602075151973477,0.71338606911949],"aabb_xy":[[-0.44743161474611703,-0.9729438108609058],[-0.3724316175948754,-0.9474712195337899]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6502967057974236,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7021.png","name":"7021"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7021.png","name":"7021"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8895.png","name":"8895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/971.png","name":"971"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":592.8631980766634,"rotation_z_degrees":59.263562057527515,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016451609600271522,-0.00924943918529284,0.018651557654769054]},{"name":"camera_2","offset_m":[0.00473589187210996,0.017682951291022906,0.0036078638395885022]},{"name":"camera_3","offset_m":[0.01383849442599153,0.012571646732855681,-0.0036581744392400126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016523614552046847,-4.56001490046448e-05,-0.00043433490200854184],"end_effector_yaw_offset_degrees":0.17560653906683976},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011708034819328636,-0.000528585027635244,-0.001502686725507752],"end_effector_yaw_offset_degrees":0.8942276234381878},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011427674514127959,-0.00043261206105525934,0.0014773253501843852],"end_effector_yaw_offset_degrees":-0.6895092193812598},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019033675498699584,-0.00031079703258520214,0.0015111337274922908],"end_effector_yaw_offset_degrees":-0.40025453910187214},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009420965394356137,0.0015615906628368812,0.000983971982112834],"end_effector_yaw_offset_degrees":0.48967216464504815},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011601179248955898,-0.0013425533000614586,-0.0019506088565999415],"end_effector_yaw_offset_degrees":-0.7273717539905735}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038103243183056383,0.0020656400589582234],"position_m":[0.17361032431830564,-0.10423435994104178,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00045663194749590366,-0.0035755015582055716],"position_m":[0.2105433680525041,-0.37167550155820556,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004310517907125463,-0.0043646211554283915],"position_m":[0.28588948209287457,0.3143353788445716,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004627978504173391,-0.0026099265736449885],"position_m":[0.3581279785041734,0.112490073426355,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2d8dbbe3d3b8a28367d0aab8a122f2e4ba4cdbb8c4d906b0e16aaf83fa19bb40","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7021/tex_ceiling_textures_2934/tex_floor_textures_971/tex_table_textures_8895/tex_wall_textures_425","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1364723735885124677,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1364723735885124677,"visual_seed":1364723735885124677,"scene_id":"lab_003","finished_at":"2026-09-08T18:51:47"}
+{"episode_id":"ep_000040","started_at":"2026-09-08T18:51:56","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.3559793422383457,-0.5613043370062574,0.71338606911949],"aabb_xy":[[0.30098613090120896,-0.6163043373450511],[0.4109725535754825,-0.5063043366674639]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.20638877055340976,-2.3501519762644145,0.71338606911949],"aabb_xy":[[-0.25156008840157873,-2.4141519734089534],[-0.1612174527052408,-2.2861519791198766]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.08016132822312183,0.9156503655367132,0.71338606911949],"aabb_xy":[[-0.11516132819961768,0.9061857494890966],[-0.04516132824662601,0.9251149815843298]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.1375638315647002,-1.049511035067542,0.71338606911949],"aabb_xy":[[0.08759076603218476,-1.099511034880075],[0.18753689709721572,-0.9995110352550092]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.30210526149969574,1.7258137606187076,0.71338606911949],"aabb_xy":[[0.2846745464206892,1.7085416459548566],[0.3195359765787022,1.7430858752825582]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.4078283349108968,0.13934932070606232,0.71338606911949],"aabb_xy":[[-0.4148686448444339,0.05934932130639094],[-0.40078802497735994,0.21934932010573377]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.48875284092028726,-0.25356353930710185,0.71338606911949],"aabb_xy":[[0.48063918624691016,-0.26166935576113093],[0.49686649559366436,-0.24545772285307277]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.3063665098079123,-0.9352747962229762,0.71338606911949],"aabb_xy":[[-0.3230436458010078,-0.9519747201969065],[-0.2896893738148168,-0.918574872249046]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.11831493739803656,0.42342676542426494,0.71338606911949],"aabb_xy":[[-0.19831493480162998,0.3434341942260821],[-0.03831493999444314,0.5034193366224478]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.11057695631122155,-2.110617864443139,0.71338606911949],"aabb_xy":[[-0.11783820388162897,-2.123404874706648],[-0.10331570874081414,-2.097830854179629]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[0.23092672925194224,-1.5156678932078933,0.71338606911949],"aabb_xy":[[0.1759267296301964,-1.5706515859953663],[0.2859267288736881,-1.4606842004204208]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[-0.07954373308412988,-1.2533981066042506,0.71338606911949],"aabb_xy":[[-0.12954373410326514,-1.2898643223420785],[-0.029543732064994603,-1.2169318908664226]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.3635334049786918,1.275719574812717,0.71338606911949],"aabb_xy":[[0.35160067061686373,1.2633374220048577],[0.37546613934051987,1.2881017276205764]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.13937341386221247,-0.8539887057924138,0.71338606911949],"aabb_xy":[[-0.2293734103630842,-0.8999003482108721],[-0.0493734173613407,-0.8080770633739556]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.22149488085997582,-1.6575561784174841,0.71338606911949],"aabb_xy":[[0.19899574513374885,-1.680056179195747],[0.2439940165862028,-1.635056177639221]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.17525903130038045,0.14848681016948273,0.71338606911949],"aabb_xy":[[-0.18404025844761673,0.1397070628809526],[-0.16647780415314428,0.1572665574580129]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.2505902976180153,-2.361325890558006,0.71338606911949],"aabb_xy":[[0.2280902980943079,-2.3838218380086262],[0.27309029714172267,-2.3388299431073847]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.06128579575559845,1.2881304477686433,0.71338606911949],"aabb_xy":[[0.036739580132847734,1.2578815512196062],[0.08583201137834917,1.3183793443176803]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.03685833526930804,-1.112811606472564,0.71338606911949],"aabb_xy":[[-0.0527428285346332,-1.127164546771388],[-0.020973842003982897,-1.0984586661737399]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[0.5955299693214919,-2.3515722665555177,0.71338606911949],"aabb_xy":[[0.5315299690475137,-2.401638366752806],[0.6595299695954702,-2.30150616635823]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[-0.4000656917958061,-1.3964575226450457,0.71338606911949],"aabb_xy":[[-0.44787185940957475,-1.4614575253521047],[-0.3522595241820375,-1.3314575199379868]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[0.4247043732797773,-2.5251960321610185,0.71338606911949],"aabb_xy":[[0.4058199895112671,-2.5440819569413717],[0.4435887570482875,-2.506310107380666]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.4712930300423746,1.5891106733324842,0.71338606911949],"aabb_xy":[[-0.4772595689831104,1.5831495286731199],[-0.4653264911016388,1.5950718179918482]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6469845455678218,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3490.png","name":"3490"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3490.png","name":"3490"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2260.png","name":"2260"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3806.png","name":"3806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3537.png","name":"3537"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2476.png","name":"2476"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":552.4218244605964,"rotation_z_degrees":65.83178502804671,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004385051107400293,-0.004073706967678687,-0.0122906349647918]},{"name":"camera_2","offset_m":[-0.002281646570079135,-0.014018250450710958,-0.011136323813993045]},{"name":"camera_3","offset_m":[0.00144390616005095,0.018719839855599333,0.012529356470279442]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013401327776780061,0.0017663320613640547,-0.00031961116167448936],"end_effector_yaw_offset_degrees":0.0027222264540633923},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005729799234221846,-0.0015245369865569543,-0.0019597198281464607],"end_effector_yaw_offset_degrees":-0.6065080393671505},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008084242976793918,-0.0005295090610032433,-0.0015637528187819627],"end_effector_yaw_offset_degrees":-0.9018201480500547},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00043852894550480324,0.00042743637433013916,0.0003363471227165902],"end_effector_yaw_offset_degrees":-0.16121067962872804},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00128456843764495,1.6399125525788823e-05,0.0003651877227144138],"end_effector_yaw_offset_degrees":0.9884947561228665},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002088860713584154,0.0016718246109863233,-0.00015349896246092342],"end_effector_yaw_offset_degrees":0.9772708307718294}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00045477588848782426,0.001433003422313451],"position_m":[0.17025477588848784,-0.10486699657768656,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013883491943008372,0.004955935341799248],"position_m":[0.21238834919430083,-0.36314406465820076,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002289030921860529,-0.003883338243861445],"position_m":[0.2924890309218605,0.31481666175613854,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032585355617818544,0.0021295826704821512],"position_m":[0.35024146443821813,0.11722958267048214,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ccbd8ca9e745b71003b81684a88f84fa1ac3053a1198cf2dd87bcee92fa36baf","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3490/tex_ceiling_textures_2476/tex_floor_textures_3537/tex_table_textures_2260/tex_wall_textures_3806","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":9002660762701515423,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":9002660762701515423,"visual_seed":9002660762701515423,"scene_id":"lab_003","finished_at":"2026-09-08T18:59:50"}
+{"episode_id":"ep_000041","started_at":"2026-09-08T19:09:23","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.1347541621088827,1.7060678927982855,0.71338606911949],"aabb_xy":[[-0.13887011222095536,1.7019523377654397],[-0.13063821199681003,1.7101834478311309]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.2845458094317606,-1.1785304829300798,0.71338606911949],"aabb_xy":[[-0.30909202505451133,-1.2087793794791168],[-0.2599995938090099,-1.1482815863810427]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.3267958183323634,1.3666218397491603,0.71338606911949],"aabb_xy":[[0.31955205228611805,1.286621841545558],[0.3340395843786087,1.4466218379527627]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.4861130736466499,1.5834277106535626,0.71338606911949],"aabb_xy":[[0.45111307451669425,1.5776824895778985],[0.5211130727766056,1.5891729317292267]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.14166128356222252,0.5874246809696002,0.71338606911949],"aabb_xy":[[0.13770079979248817,0.5797568163840796],[0.14562176733195692,0.5950925455551208]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.002675227108255851,-1.4310315444471644,0.71338606911949],"aabb_xy":[[-0.03482477146736495,-1.4437678401107221],[0.04017522568387665,-1.4182952487836062]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.5610929477552709,-1.9178053727195405,0.71338606911949],"aabb_xy":[[0.554052637821734,-1.9978053721192124],[0.568133257688808,-1.8378053733198696]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.5980913843951325,-0.04942525674788101,0.71338606911949],"aabb_xy":[[-0.6596821436191255,-0.11342525485692789],[-0.5365006251711398,0.01457474136116587]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.4091024662038198,-0.24951977576775963,0.71338606911949],"aabb_xy":[[-0.41405848638870113,-0.27201977596988125],[-0.4041464460189387,-0.22701977556563804]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.14488431002561974,-1.5641932068363995,0.71338606911949],"aabb_xy":[[-0.1624626122145666,-1.5817676964105045],[-0.1273060078366729,-1.5466187172622945]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.018773375103651624,-0.9843579833552645,0.71338606911949],"aabb_xy":[[-0.031226624472683095,-1.0343385623073704],[0.06877337467998634,-0.9343774044031586]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.22939158104666402,-1.4248753684046962,0.71338606911949],"aabb_xy":[[-0.2485038884046429,-1.4440101472819382],[-0.21027927368868518,-1.4057405895274542]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.4286883178307863,-1.453364745815935,0.71338606911949],"aabb_xy":[[0.3787150238275258,-1.5033647463704822],[0.4786616118340467,-1.4033647452613875]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.6234389774289439,1.197213807935538,0.71338606911949],"aabb_xy":[[0.5584389788718711,1.1674612745216555],[0.6884389759860168,1.2269663413494207]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.4761332676429031,0.293614016143084,0.71338606911949],"aabb_xy":[[0.41213326726536936,0.24386874929227176],[0.5401332680204366,0.3433592829938963]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.5625303631802289,1.4358129676175628,0.71338606911949],"aabb_xy":[[-0.5803994709346844,1.4219800596403518],[-0.5446612554257734,1.4496458755947739]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.27904502547426235,0.1815193323716877,0.71338606911949],"aabb_xy":[[-0.33904502633507505,0.1300929023652013],[-0.21904502461344946,0.23294576237817408]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[0.4619738915507303,0.8459734159903487,0.71338606911949],"aabb_xy":[[0.45004115718890225,0.8335912631824893],[0.4739066259125584,0.8583555687982081]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[-0.42959328132981517,-0.558152129402528,0.71338606911949],"aabb_xy":[[-0.4895932815812163,-0.6124334544389927],[-0.36959328107841394,-0.5038708043660634]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.3951483104549688,-1.3645977929622046,0.71338606911949],"aabb_xy":[[-0.40598878868148364,-1.381784074252853],[-0.3843078322284538,-1.3474115116715557]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.2518792520249329,-1.597478961475805,0.71338606911949],"aabb_xy":[[0.16187925230175867,-1.6205523140109845],[0.341879251748107,-1.5744056089406249]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.5658601412972166,1.2340604610547197,0.71338606911949],"aabb_xy":[[-0.6158601422477493,1.2025113140511983],[-0.5158601403466837,1.265609608058241]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6511134937368271,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2237.png","name":"2237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2237.png","name":"2237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8376.png","name":"8376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7845.png","name":"7845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/747.png","name":"747"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":557.6548624792116,"rotation_z_degrees":310.4613007396419,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01648093752427346,0.010325822776663104,-0.016931789491669035]},{"name":"camera_2","offset_m":[0.010258175948895564,0.012517668449852078,0.013304289429883615]},{"name":"camera_3","offset_m":[0.00965922514445787,0.006781919729803892,-0.019756000063743763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019032386276615352,-0.0008607640658225325,-5.0748630438399384e-05],"end_effector_yaw_offset_degrees":0.22414404430229484},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.254453294434912e-05,0.001726357805356371,0.0019357481039746745],"end_effector_yaw_offset_degrees":-0.011228704060748829},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011253108112629447,-6.105414404860231e-05,0.0013102666459910168],"end_effector_yaw_offset_degrees":-0.1872770713086378},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010831455595481441,-0.001685345108535699,-0.0019714937887289853],"end_effector_yaw_offset_degrees":-0.8685776221108208},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018190489541137383,0.0007423446991980773,-0.0008624377897102327],"end_effector_yaw_offset_degrees":-0.9882941413581179},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012859336876115787,0.0019885524435468427,-0.0008612266447234754],"end_effector_yaw_offset_degrees":-0.9524253053330951}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004446760577857498,0.0030428883986437514],"position_m":[0.1742467605778575,-0.10325711160135626,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048568440268395305,0.0027140463910194637],"position_m":[0.21585684402683952,-0.3653859536089805,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004695952012023007,-0.0009560357950561442],"position_m":[0.285504047987977,0.31774396420494383,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014477150318078077,-0.00335086410511476],"position_m":[0.3549477150318078,0.11174913589488523,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"04b12928e0b17ec4d88ffa581098e6ff62438215fa5f674637da3d212daece97","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2237/tex_ceiling_textures_747/tex_floor_textures_7845/tex_table_textures_332/tex_wall_textures_8376","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4359378376245279333,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4359378376245279333,"visual_seed":4359378376245279333,"scene_id":"lab_003","finished_at":"2026-09-08T19:17:14"}
+{"episode_id":"ep_000042","started_at":"2026-09-08T19:17:22","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[0.6153294899424022,-0.8569339532868117,0.71338606911949],"aabb_xy":[[0.5503294913853295,-0.8866864867006943],[0.6803294884994752,-0.827181419872929]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.15249808369926343,-0.6723484737901675,0.71338606911949],"aabb_xy":[[0.14164647745038783,-0.6832077645178185],[0.16334968994813903,-0.6614891830625165]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.28595378767406704,-2.536486461589091,0.71338606911949],"aabb_xy":[[-0.3357705671389018,-2.5864864600733943],[-0.23613700820923228,-2.4864864631047876]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[-0.18031191178177208,-2.1492927711202796,0.71338606911949],"aabb_xy":[[-0.197858606697891,-2.1867927726845315],[-0.16276521686565312,-2.1117927695560286]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.04051396218557035,-0.7308852763983105,0.71338606911949],"aabb_xy":[[-0.07551396353705207,-0.7512450123551312],[-0.005513960834088615,-0.7105255404414895]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.4968363012888628,-0.5311585913996804,0.71338606911949],"aabb_xy":[[0.43283630417675717,-0.580190961194091],[0.5608362984009685,-0.48212622160526974]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.468400452460049,-1.9911664154636275,0.71338606911949],"aabb_xy":[[-0.49090045198375637,-2.013662362914247],[-0.44590045293634156,-1.9686704680130063]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.26130424087377746,-0.6986393651877763,0.71338606911949],"aabb_xy":[[0.2313366839639518,-0.728639365485662],[0.2912717977836031,-0.6686393648898905]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.22637706022881565,-0.5596565228203314,0.71338606911949],"aabb_xy":[[0.18535911684244474,-0.6096565234512887],[0.26739500361518653,-0.5096565221893741]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.35111039840814035,1.2749963475926043,0.71338606911949],"aabb_xy":[[-0.3555410277629806,1.269547975857922],[-0.3466797690533002,1.280444719327287]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.6824686474620101,-1.3694442015983244,0.71338606911949],"aabb_xy":[[0.6449686488863893,-1.3821804972618823],[0.7199686460376309,-1.3567079059347664]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.5117350306698354,0.2355189868976777,0.71338606911949],"aabb_xy":[[0.5029538035225992,0.2267392396091476],[0.5205162578170718,0.2442987341862079]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.08328256713312954,1.618231780859292,0.71338606911949],"aabb_xy":[[-0.12031667656118923,1.5838545735255827],[-0.04624845770506981,1.6526089881930015]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.573208560542142,-1.6002904889256562,0.71338606911949],"aabb_xy":[[-0.653208558522927,-1.6078920298875081],[-0.493208562561357,-1.5926889479638042]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.057469677087853666,1.4708865879177266,0.71338606911949],"aabb_xy":[[-0.12246967496950148,1.4197629242111858],[0.0075303207937941295,1.5220102516242677]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[0.5674327777536117,1.3666639948936714,0.71338606911949],"aabb_xy":[[0.5594392879583298,1.3586658629531962],[0.5754262675488938,1.3746621268341475]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[0.028502551333592585,-1.0790503124074875,0.71338606911949],"aabb_xy":[[-0.016668766514576393,-1.143050309552026],[0.07367386918176155,-1.015050315262949]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.44096499947078516,-1.4958628411300317,0.71338606911949],"aabb_xy":[[0.43726173814164626,-1.4995648594387492],[0.44466826079992405,-1.4921608228213137]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.166300308287055,-1.0065214980214687,0.71338606911949],"aabb_xy":[[-0.17026079205678937,-1.0141893626069893],[-0.16233982451732062,-0.9988536334359481]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.5316913658021238,0.7267129247432238,0.71338606911949],"aabb_xy":[[0.5116329541888835,0.7066478378340663],[0.5517497774153641,0.7467780116523813]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.6310544326642678,0.34733644499462546,0.71338606911949],"aabb_xy":[[0.5410544329410936,0.32426309245944557],[0.7210544323874419,0.37040979752980524]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.5315852526099719,-0.01740987432400276,0.71338606911949],"aabb_xy":[[-0.5965852536104724,-0.0681962394786777],[-0.4665852516094714,0.03337649083067218]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.29356845805543286,-2.1913896373146584,0.71338606911949],"aabb_xy":[[0.25856845892547714,-2.1971348583903225],[0.32856845718538846,-2.1856444162389943]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.3589636079966749,-2.5737179659885783,0.71338606911949],"aabb_xy":[[0.35126041732259783,-2.5814273366873164],[0.3666667986707519,-2.56600859528984]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.6580586991331443,-1.751714651038462,0.71338606911949],"aabb_xy":[[0.6080594239647081,-1.8017146523144092],[0.7080579743015805,-1.7017146497625149]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[-0.3149653057921662,0.9177748299564978,0.71338606911949],"aabb_xy":[[-0.36496530674269895,0.8862256829529763],[-0.26496530484163333,0.9493239769600191]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[0.15031535611497315,0.5606726913543478,0.71338606911949],"aabb_xy":[[0.12781535560293253,0.5381808329889494],[0.17281535662701372,0.5831645497197461]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[0.295492912832618,-1.8090596066867488,0.71338606911949],"aabb_xy":[[0.28679495054190274,-1.8211845809942235],[0.3041908751233333,-1.796934632379274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6476145952348645,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7459.png","name":"7459"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7459.png","name":"7459"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9940.png","name":"9940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/716.png","name":"716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2086.png","name":"2086"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":501.1820122569366,"rotation_z_degrees":98.54794172728019,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008670221607775233,-0.008269717672856008,0.014426859099990658]},{"name":"camera_2","offset_m":[-0.017984077423799847,-0.014677859575715076,-0.005841533659084774]},{"name":"camera_3","offset_m":[-0.012729329966214068,0.002235785868526966,0.001237487116778166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013823180633283382,5.345311039123626e-06,-0.0015270569660068838],"end_effector_yaw_offset_degrees":-0.29239975675703866},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002896900032442959,0.0014994036186683191,0.0019394665248809806],"end_effector_yaw_offset_degrees":-0.6625147443796175},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017663540747146485,-0.0016815894509531017,0.000560689539523243],"end_effector_yaw_offset_degrees":0.5650968509436822},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001914226812248519,0.0017275360734695746,0.0015834694377217001],"end_effector_yaw_offset_degrees":-0.7320059403490877},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0015941819974060046,0.0009576678656381381,0.0005787912524708922],"end_effector_yaw_offset_degrees":-0.0167502246615161},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003995412533771079,-0.0007158055730680931,0.000525996652721644],"end_effector_yaw_offset_degrees":-0.2926729953539349}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020739729014429575,0.0026293928674739186],"position_m":[0.16772602709855705,-0.10367060713252609,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002166741101100933,0.004981446788318228],"position_m":[0.21316674110110093,-0.36311855321168174,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0011008647451719138,-0.0030850867469345887],"position_m":[0.2913008647451719,0.3156149132530654,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00394951378478542,0.003956001594937169],"position_m":[0.3574495137847854,0.11905600159493716,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e1c56ddf476bbfdc975a3a7a627e525f096c0a8e3db54a455d6efe63fe50d1df","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7459/tex_ceiling_textures_1700/tex_floor_textures_2086/tex_table_textures_9940/tex_wall_textures_716","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3857084591527085578,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3857084591527085578,"visual_seed":3857084591527085578,"scene_id":"lab_003","finished_at":"2026-09-08T19:25:24"}
+{"episode_id":"ep_000043","started_at":"2026-09-08T19:34:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[0.11675101750401295,-1.6493085059162125,0.71338606911949],"aabb_xy":[[0.07157969965584399,-1.713308503060751],[0.16192233535218192,-1.5853085087716743]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.15945977131959965,-1.8774904454953343,0.71338606911949],"aabb_xy":[[0.10948235445434605,-1.9274904469845826],[0.2094371881848532,-1.8274904440060855]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.05080471579344137,0.8237056379640051,0.71338606911949],"aabb_xy":[[0.04259017067775738,0.8150290476663637],[0.05901926090912534,0.8323822282616464]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.1787794946450587,-1.986980882666828,0.71338606911949],"aabb_xy":[[0.16057367098381103,-1.9980062832488201],[0.1969853183063064,-1.9759554820848368]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.6885016315639627,-1.4154010590102635,0.71338606911949],"aabb_xy":[[0.6733387585870256,-1.4305665163053822],[0.7036645045408998,-1.4002356017151447]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[0.5029219075284408,-0.825642111849566,0.71338606911949],"aabb_xy":[[0.4601552006490206,-0.8896421152713684],[0.545688614407861,-0.7616421084277635]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.45975866131492293,1.4140685331866734,0.71338606911949],"aabb_xy":[[0.389758664904961,1.3936305975349914],[0.5297586577248845,1.4345064688383549]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.3684983278969951,-0.3527536608622426,0.71338606911949],"aabb_xy":[[-0.39349832782951305,-0.3596363290831659],[-0.34349832796447727,-0.34587099264131926]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.41841038848405177,0.9496357356439762,0.71338606911949],"aabb_xy":[[0.368593609019217,0.8996357371596727],[0.4682271679488865,0.9996357341282794]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.48426890284674795,-1.9623201407914985,0.71338606911949],"aabb_xy":[[-0.5092689023984864,-1.972462624656633],[-0.45926890329500947,-1.9521776569263636]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.425245254916864,1.6215778593146317,0.71338606911949],"aabb_xy":[[-0.5152452514177357,1.5756662168961733],[-0.33524525841599223,1.6674895017330897]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.015802962011771338,1.2780740080255177,0.71338606911949],"aabb_xy":[[-0.05080296198826717,1.2686093919779011],[0.01919703796472449,1.2875386240731344]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.12222472423789088,0.28737828448101466,0.71338606911949],"aabb_xy":[[-0.18622472152353953,0.2458715655281707],[-0.058224726952242234,0.3288850034338586]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.324234127342824,-2.23461271364531,0.71338606911949],"aabb_xy":[[0.3161977926415391,-2.242650832949727],[0.33227046204410876,-2.2265745943408937]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.28860709954174035,-0.17968924130282726,0.71338606911949],"aabb_xy":[[-0.352607096653846,-0.22872161109723785],[-0.2246071024296346,-0.13065687150841662]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.056226067437054716,-0.8375092816247063,0.71338606911949],"aabb_xy":[[0.0188947909118121,-0.8721623364195585],[0.09355734396229734,-0.802856226829854]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[0.5247140070170502,-1.4908293997981277,0.71338606911949],"aabb_xy":[[0.4547140054147708,-1.504262192999785],[0.5947140086193298,-1.4773966065964699]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[-0.002407203080389886,-2.2034357347019036,0.71338606911949],"aabb_xy":[[-0.0924071998160001,-2.2566191980191976],[0.08759279365522032,-2.1502522713846086]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.5706199178602908,-0.35984448095592914,0.71338606911949],"aabb_xy":[[-0.6346199142876128,-0.40701410477802563],[-0.506619921432969,-0.31267485713383275]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[0.579266556968159,1.0878115842034566,0.71338606911949],"aabb_xy":[[0.5468048560862313,1.0576787520885538],[0.6117282578500862,1.117944416318359]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[-0.5815845693329512,0.8838157491368706,0.71338606911949],"aabb_xy":[[-0.6228891123966871,0.8198157495687535],[-0.5402800262692151,0.9478157487049876]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.6740191104187585,-1.47502445807555,0.71338606911949],"aabb_xy":[[0.6365191099214003,-1.4789931416236684],[0.7115191109161167,-1.4710557745274317]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.23961935495362424,-1.5082987047222,0.71338606911949],"aabb_xy":[[-0.31961935196787217,-1.5284332563956113],[-0.15961935793937623,-1.4881641530487888]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.23297888525383303,1.384721880930985,0.71338606911949],"aabb_xy":[[0.1529788838237058,1.3052047259183754],[0.31297888668396023,1.4642390359435944]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_24","position":[0.5388474267129733,1.779775058287807,0.71338606911949],"aabb_xy":[[0.47484742633543975,1.7300297914369944],[0.602847427090507,1.829520325138619]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[-0.5755298792866005,-1.9569416735578136,0.71338606911949],"aabb_xy":[[-0.5842438483365349,-1.9794416742170018],[-0.5668159102366659,-1.9344416728986253]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[0.574867375651833,-0.334108733505897,0.71338606911949],"aabb_xy":[[0.5574366605728264,-0.35138084816974774],[0.5922980907308394,-0.3168366188420461]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6489811901013953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6311.png","name":"6311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6311.png","name":"6311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6280.png","name":"6280"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9360.png","name":"9360"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6014.png","name":"6014"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":725.7171129827021,"rotation_z_degrees":192.89758876849803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008313443369507668,0.0028464066990245354,-0.016265403074675115]},{"name":"camera_2","offset_m":[0.016288843234542407,0.004198405372945167,-0.013256455315059026]},{"name":"camera_3","offset_m":[-0.00595704125768271,-2.137263023872446e-05,-0.008343372408914763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007305889442917146,-0.0009048694630464746,-0.0015194334462036978],"end_effector_yaw_offset_degrees":0.656984292818573},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019270776753272877,0.0005620474649884744,-0.0004239185011329369],"end_effector_yaw_offset_degrees":0.6147256963573635},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001056186355201535,0.0005663861569367486,-0.0014503850601835055],"end_effector_yaw_offset_degrees":-0.1300612685993756},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0016686080030717885,0.0009767604605711022,-0.0009154440155331174],"end_effector_yaw_offset_degrees":-0.91244173544921},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008038632816569401,0.0013722472061943615,-0.0017846838348522058],"end_effector_yaw_offset_degrees":0.5089179443738272},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0019531897062951956,-0.0005579911894255183,0.0014957086160213061],"end_effector_yaw_offset_degrees":0.6296115125428301}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004268091382568226,0.004893208011592132],"position_m":[0.17406809138256824,-0.10140679198840788,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001327482427087693,0.001321706396138377],"position_m":[0.21232748242708768,-0.3667782936038616,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00491229008584932,0.002501846805238809],"position_m":[0.2852877099141507,0.3212018468052388,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004009448631923926,0.004474853364250994],"position_m":[0.3575094486319239,0.11957485336425099,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"df748eb5fe412137fc561952beb621dce25b1d39eae84309147b20ee685aab78","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6311/tex_ceiling_textures_6014/tex_floor_textures_9360/tex_table_textures_6280/tex_wall_textures_3899","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6248433234708376527,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6248433234708376527,"visual_seed":6248433234708376527,"scene_id":"lab_003","finished_at":"2026-09-08T19:42:11"}
+{"episode_id":"ep_000044","started_at":"2026-09-08T19:51:03","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.27712556653876963,-0.9332222443451132,0.71338606911949],"aabb_xy":[[-0.3144568430640122,-0.9678752991399656],[-0.239794290013527,-0.8985691895502611]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.3636257956279389,-0.6738598139485936,0.71338606911949],"aabb_xy":[[-0.45362579796195796,-0.7513421685337063],[-0.27362579329391984,-0.596377459363481]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[0.05660971605829357,1.2668427979554715,0.71338606911949],"aabb_xy":[[-0.00339028453772261,1.212030325410248],[0.11660971665430975,1.321655270500695]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[-0.16164422435354442,-0.6478757641774704,0.71338606911949],"aabb_xy":[[-0.18492606655167573,-0.7328757654746983],[-0.13836238215541305,-0.5628757628802422]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.11688955445802174,1.2844369947770535,0.71338606911949],"aabb_xy":[[-0.16687379016619897,1.234436995963558],[-0.06690531874984453,1.3344369935905491]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.16946912162324534,0.6894207883930221,0.71338606911949],"aabb_xy":[[-0.17758277629662245,0.681314971938993],[-0.16135546694986824,0.6975266048470512]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.2862771217072033,-1.5877558807583336,0.71338606911949],"aabb_xy":[[-0.3512771243449968,-1.6392354794577804],[-0.22127711906940983,-1.5362762820588864]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.38794354669189335,-1.391531254057798,0.71338606911949],"aabb_xy":[[-0.41294354585752646,-1.3984834997631546],[-0.36294354752626024,-1.3845790083524414]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.5162845093040129,-1.413324012747924,0.71338606911949],"aabb_xy":[[-0.5762845101648255,-1.4647504427544102],[-0.45628450844319995,-1.3618975827414375]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.18694081303492804,0.09721688558992936,0.71338606911949],"aabb_xy":[[-0.23694081168084924,0.047297341930466974],[-0.13694081438900685,0.14713642924939174]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.2161764631299966,-1.3440502325922496,0.71338606911949],"aabb_xy":[[0.20675898856013386,-1.3534664097299687],[0.22559393769985936,-1.3346340554545306]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.06193322668660384,0.7897100141424254,0.71338606911949],"aabb_xy":[[-0.12593322379870953,0.7406776443480148],[0.0020667704255018585,0.838742383936836]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[-0.17836987582155284,-2.028578619629511,0.71338606911949],"aabb_xy":[[-0.22834316982481326,-2.078578620184058],[-0.12839658181829236,-1.9785786190749635]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.3905347769662287,-1.05925038305344,0.71338606911949],"aabb_xy":[[-0.4248510541408466,-1.1092503830266178],[-0.35621849979161074,-1.0092503830802624]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.0016434974649800482,-1.1595246070116707,0.71338606911949],"aabb_xy":[[-0.032818980548107723,-1.1661882841945934],[0.03610597547806782,-1.1528609298287475]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.2608667156110793,-0.6188867845682988,0.71338606911949],"aabb_xy":[[0.20587123779041988,-0.6738867860022058],[0.31586219343173866,-0.5638867831343919]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.5316297532959835,-0.907331150115291,0.71338606911949],"aabb_xy":[[0.4903809422660687,-0.9623311496275083],[0.5728785643258981,-0.8523311506030734]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.4141454588543676,-2.0079470409495417,0.71338606911949],"aabb_xy":[[0.3491454609727198,-2.059070704656083],[0.47914545673601544,-1.9568233772430013]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.46090391091097505,1.6140219329001417,0.71338606911949],"aabb_xy":[[-0.4696178799609095,1.5915219322409533],[-0.4521899418610405,1.6365219335593297]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.4024363593497323,0.6577213004593943,0.71338606911949],"aabb_xy":[[-0.4574295706868692,0.6027213001206007],[-0.3474431480125956,0.7127213007981879]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.6626047222896598,-0.1012141017895094,0.71338606911949],"aabb_xy":[[0.628307811271919,-0.13551098799945074],[0.6969016333074002,-0.066917215579568]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.6940548507081574,0.6056359901623098,0.71338606911949],"aabb_xy":[[0.6887172750421529,0.5806359892331702],[0.699392426374162,0.6306359910914497]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6481166786371709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1096.png","name":"1096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1096.png","name":"1096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/534.png","name":"534"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/356.png","name":"356"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4570.png","name":"4570"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5774.png","name":"5774"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":769.8754633036415,"rotation_z_degrees":294.6996946717854,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[7.317257841969044e-05,0.0038626466201687124,-0.006641889657050863]},{"name":"camera_2","offset_m":[0.00981201437023211,0.018160958018585107,0.006305096334299966]},{"name":"camera_3","offset_m":[-0.011254394148910456,0.004353895157192679,-0.0179098925035012]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004813189668949778,-0.001464749849191631,-0.001376123214764645],"end_effector_yaw_offset_degrees":0.5663035345977578},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019845111153070577,0.0009963871822595604,-0.0011589989654352032],"end_effector_yaw_offset_degrees":-0.2047683848040207},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000641467476775084,-0.0007616707376852871,0.00046559124378803144],"end_effector_yaw_offset_degrees":-0.519270235678255},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001061033889567606,0.0006833247840739055,0.0008135158321923418],"end_effector_yaw_offset_degrees":-0.8183034743282083},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[2.655943881599591e-05,0.001926270523039248,0.0009327233276543506],"end_effector_yaw_offset_degrees":0.4342358256408787},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005509988842564025,-0.0006268312170785238,-0.0008883493129199448],"end_effector_yaw_offset_degrees":-0.3822970085553403}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003333962120168603,0.0012259626288970938],"position_m":[0.1664660378798314,-0.10507403737110291,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001346315951753262,0.0028811367639593197],"position_m":[0.21234631595175327,-0.36521886323604064,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003909061689760578,-0.0002545073910692128],"position_m":[0.28629093831023944,0.3184454926089308,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004367326298838712,0.004258431323986207],"position_m":[0.34913267370116124,0.1193584313239862,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"051e76b978ebdda2f0d85b059b1904dd423be983d4d313735a903d088eb3eb89","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1096/tex_ceiling_textures_5774/tex_floor_textures_4570/tex_table_textures_534/tex_wall_textures_356","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1797861054520595233,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1797861054520595233,"visual_seed":1797861054520595233,"scene_id":"lab_003","finished_at":"2026-09-08T19:59:28"}
+{"episode_id":"ep_000045","started_at":"2026-09-08T19:59:36","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[-0.40855368207927767,0.3878159185809995,0.71338606911949],"aabb_xy":[[-0.4288379848026763,0.3675332934382906],[-0.3882693793558788,0.4080985437237083]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.35243172813923096,0.8834120924080491,0.71338606911949],"aabb_xy":[[-0.43243172679611697,0.8689072334837862],[-0.27243172948234495,0.8979169513323118]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_2","position":[-0.6283830659393477,-2.4409478699496154,0.71338606911949],"aabb_xy":[[-0.6618232411353671,-2.4743914957805444],[-0.5949428907433278,-2.4075042441186847]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.42839205131792757,-0.26583986978611174,0.71338606911949],"aabb_xy":[[0.364392048975126,-0.31078072103024423],[0.49239205366072913,-0.22089901854197927]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.58314012571807,-1.7957445590873566,0.71338606911949],"aabb_xy":[[0.5181401246121267,-1.820709932155485],[0.6481401268240132,-1.7707791860192283]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.3265938177184491,1.1594352016744343,0.71338606911949],"aabb_xy":[[0.3193325701480417,1.1466481914109248],[0.3338550652888565,1.1722222119379437]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.07156290527190579,1.6082144908055107,0.71338606911949],"aabb_xy":[[-0.08292463992519195,1.5968460243992226],[-0.060201170618619626,1.6195829572117988]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[0.020962257464535172,-1.709570608802116,0.71338606911949],"aabb_xy":[[0.013679941087871511,-1.7995706124116249],[0.02824457384119882,-1.6195706051926069]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.5851822342257293,1.4289018794683996,0.71338606911949],"aabb_xy":[[-0.635279698206803,1.3649018789585878],[-0.5350847702446557,1.4929018799782114]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.08073764374276415,-1.264413664139335,0.71338606911949],"aabb_xy":[[-0.09984995110074302,-1.2835484430165771],[-0.06162533638478529,-1.245278885262093]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[-0.259388820572489,-1.3500321753188258,0.71338606911949],"aabb_xy":[[-0.2633493043422233,-1.3577000399043462],[-0.2554283368027546,-1.342364310733305]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.4772867884099872,-1.3926885086763598,0.71338606911949],"aabb_xy":[[0.39729296483142895,-1.4726885112692012],[0.5572806119885454,-1.312688506083518]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.44258033718011225,1.3511898799073805,0.71338606911949],"aabb_xy":[[0.4255702398900616,1.3350553914091063],[0.4595904344701629,1.3673243684056542]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.20812584307837412,-0.9015518169440542,0.71338606911949],"aabb_xy":[[-0.2881258402379494,-0.9130994179018711],[-0.1281258459187988,-0.890004215986237]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.1596441303702495,-2.4098979260971105,0.71338606911949],"aabb_xy":[[0.13464413081851104,-2.4200404099622452],[0.184644129921988,-2.399755442231976]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.12248628692856856,-1.4854402901016035,0.71338606911949],"aabb_xy":[[0.11164580870205365,-1.5026265713922524],[0.13332676515508346,-1.4682540088109546]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.5545167958542758,-0.45976736144687,0.71338606911949],"aabb_xy":[[-0.6345167991121188,-0.539763869238854],[-0.47451679259643287,-0.3797708536548861]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.26265999008523455,-1.537872363783367,0.71338606911949],"aabb_xy":[[0.19265998744864815,-1.5579772287792324],[0.33265999272182084,-1.5177674987875014]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.24343998331139827,-0.6604240090146698,0.71338606911949],"aabb_xy":[[-0.25359299886554765,-0.69649355058741],[-0.23328696775724886,-0.6243544674419294]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.26047654546635446,0.9625675551280084,0.71338606911949],"aabb_xy":[[-0.2729439035760901,0.950102230494685],[-0.2480091873566188,0.975032879761332]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.3950334228415848,-1.1291268417768134,0.71338606911949],"aabb_xy":[[0.3731247407022338,-1.151027508596904],[0.41694210498093587,-1.1072261749567225]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.28390137062322063,-1.991893391902706,0.71338606911949],"aabb_xy":[[-0.3183637180213623,-2.0263872743005287],[-0.24943902322507874,-1.9573995095048833]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.15982090780163705,1.3514497715966587,0.71338606911949],"aabb_xy":[[0.13976249618839678,1.3313846846875013],[0.17987931941487736,1.3715148585058161]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.6253947815011973,-1.5360208704383829,0.71338606911949],"aabb_xy":[[-0.675394781077532,-1.5860014493904888],[-0.5753947819248626,-1.486040291486277]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[-0.63298146870575,0.4403781682017036,0.71338606911949],"aabb_xy":[[-0.6829814697248853,0.4039119524638758],[-0.5829814676866147,0.47684438393953166]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.10790149651972614,-2.571491380994381,0.71338606911949],"aabb_xy":[[-0.12300379798074419,-2.586592902625442],[-0.092799195058708,-2.556389859363318]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[-0.15569793481036753,-0.7965611147320149,0.71338606911949],"aabb_xy":[[-0.21969793192247322,-0.8455934845264255],[-0.09169793769826184,-0.7475287449376042]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_27","position":[-0.5532311904809848,1.7833261326218133,0.71338606911949],"aabb_xy":[[-0.5640827967298604,1.772466841894162],[-0.5423795842321092,1.794185423349464]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_28","position":[0.6842748129713401,-2.554033634372356,0.71338606911949],"aabb_xy":[[0.6597285973485894,-2.584282530921393],[0.7088210285940908,-2.523784737823319]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_29","position":[0.36262631531374834,0.7985328741829409,0.71338606911949],"aabb_xy":[[0.3533326970765977,0.761032875694807],[0.37191993355089886,0.8360328726710748]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6456553764210199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2170.png","name":"2170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7828.png","name":"7828"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7067.png","name":"7067"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7739.png","name":"7739"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3244.png","name":"3244"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":646.5840640709251,"rotation_z_degrees":291.8817434511811,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004981222313171685,-0.01027907395762615,0.007013866097680507]},{"name":"camera_2","offset_m":[-0.0146727931774603,0.00920048261030797,-0.011102225943183823]},{"name":"camera_3","offset_m":[0.010637960674134788,-0.009295030641305125,-0.014385357996788986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017337407033611173,0.00044868623261470897,0.0002599425309494506],"end_effector_yaw_offset_degrees":0.35075320655215547},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013552383182064533,-0.001897369023274942,0.0014055430805898902],"end_effector_yaw_offset_degrees":-0.3429023334961021},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010801394269820126,0.0006163213668797731,0.0010442096428156683],"end_effector_yaw_offset_degrees":0.8671896948370521},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0004043380097608815,0.0016831490340744335,0.001993611369984922],"end_effector_yaw_offset_degrees":-0.9936514916610535},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007550535518318462,-0.0008801858669898834,0.001674107641911051],"end_effector_yaw_offset_degrees":-0.393800997235366},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006377297399996608,-0.0011211297310577727,0.001392134355319632],"end_effector_yaw_offset_degrees":0.15631871074038872}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024897409176177264,0.0010655068853136383],"position_m":[0.17228974091761773,-0.10523449311468637,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002092265299880993,0.0022165120593166734],"position_m":[0.208907734700119,-0.3658834879406833,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0001104617893563243,-0.003045349290991234],"position_m":[0.2903104617893563,0.3156546507090088,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00254260705166143,0.0034840711713918894],"position_m":[0.3560426070516614,0.11858407117139189,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9a47ee54ed64b19b7939ab6d7a226e89de2160f009623aa343771f0a9a07cf28","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0055.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2170/tex_ceiling_textures_3244/tex_floor_textures_7739/tex_table_textures_7828/tex_wall_textures_7067","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":2231733097482725123,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":2231733097482725123,"visual_seed":2231733097482725123,"scene_id":"lab_003","finished_at":"2026-09-08T20:07:35"}
+{"episode_id":"ep_000046","started_at":"2026-09-08T20:07:43","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.30726224797676593,-0.45263668041249394,0.71338606911949],"aabb_xy":[[0.2869779452533671,-0.47291930555520273],[0.32754655070016464,-0.43235405526978504]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.16302585237999856,-0.9162701603462537,0.71338606911949],"aabb_xy":[[-0.20802585384622743,-0.9612700172077348],[-0.11802585091376971,-0.8712703034847734]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.6159523098561643,-1.495328693634398,0.71338606911949],"aabb_xy":[[0.5660696129784681,-1.5453286928806726],[0.6658350067338605,-1.445328694388123]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[0.05661606808720765,1.5790010779848145,0.71338606911949],"aabb_xy":[[0.007135646873248858,1.5150010800719627],[0.10609648930116644,1.6430010758976663]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[0.6213473319369689,1.340838502220974,0.71338606911949],"aabb_xy":[[0.5785806250575486,1.2768384987991714],[0.664114038816389,1.4048385056427763]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.3975209714179477,-1.6132097037099182,0.71338606911949],"aabb_xy":[[-0.4525209696196924,-1.6537316703363558],[-0.34252097321620273,-1.5726877370834806]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.3030833270069231,0.8131659217141167,0.71338606911949],"aabb_xy":[[-0.3404146035321657,0.7785128669192646],[-0.2657520504816805,0.8478189765089691]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.3627224009792364,-1.7601672770932026,0.71338606911949],"aabb_xy":[[-0.41771787879989575,-1.8151672785271091],[-0.30772692315857697,-1.7051672756592953]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.22543921375598652,1.4890734600200575,0.71338606911949],"aabb_xy":[[-0.2379065718657222,1.4766081353867342],[-0.2129718556462509,1.5015387846533812]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[0.1973372555997659,1.2779575975379553,0.71338606911949],"aabb_xy":[[0.1913002425991012,1.2719308964690073],[0.20337426860043065,1.2839842986069034]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.48138075541325476,0.7461313001973569,0.71338606911949],"aabb_xy":[[0.4631749317520072,0.7351058996153653],[0.49958657907450255,0.7571567007793486]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.05663930763182912,-1.9009985025070146,0.71338606911949],"aabb_xy":[[-0.07427214322535668,-1.9186214485226374],[-0.039006472038301536,-1.8833755564913914]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.23966326571823005,0.9625201391776397,0.71338606911949],"aabb_xy":[[0.2288902917968623,0.9275201409586006],[0.2504362396395978,0.9975201373966786]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.4627463349541405,-0.3969172149989424,0.71338606911949],"aabb_xy":[[0.4391612114902457,-0.4619172172443742],[0.4863314584180354,-0.3319172127535106]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.017514145670234904,0.9764613372447224,0.71338606911949],"aabb_xy":[[-0.07751414626625108,0.9216488646994989],[0.042485854925781275,1.0312738097899459]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[-0.5358935035992475,1.5604705692218466,0.71338606911949],"aabb_xy":[[-0.5533935028773344,1.5431324691555006],[-0.5183935043211606,1.5778086692881925]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.3207584986118506,-1.0484674446630997,0.71338606911949],"aabb_xy":[[0.31019101895375156,-1.0590124747761083],[0.3313259782699496,-1.0379224145500912]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.03547269614353998,-1.5826703946654446,0.71338606911949],"aabb_xy":[[-0.041054367777668736,-1.59517039448322],[-0.02989102450941122,-1.570170394847669]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[0.4146386589733986,-1.7685009223793995,0.71338606911949],"aabb_xy":[[0.3841544088463684,-1.8185009221608952],[0.44512290910042873,-1.7185009225979033]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.38125655650691204,-0.234691256072737,0.71338606911949],"aabb_xy":[[-0.3914095720610613,-0.2707607976454772],[-0.3711035409527626,-0.19862171449999658]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.23385314940971663,-0.6051033648244764,0.71338606911949],"aabb_xy":[[-0.278845736128167,-0.6501033640989251],[-0.1888605626912662,-0.5601033655500276]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6502816029337213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4210.png","name":"4210"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4210.png","name":"4210"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5674.png","name":"5674"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/984.png","name":"984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4720.png","name":"4720"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/76.png","name":"76"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":772.770620718211,"rotation_z_degrees":160.20222175171867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019009040014434753,0.013634244408046125,-0.009940902026864715]},{"name":"camera_2","offset_m":[0.012975866059111964,-0.014020435442547106,0.012530108149287521]},{"name":"camera_3","offset_m":[-0.011394058228689876,0.008140836537903783,-0.0071102888300946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00040947634010766835,-0.0015503265767542152,0.000517666133086416],"end_effector_yaw_offset_degrees":0.8393504546078396},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000515153326184804,0.00153776626413953,-0.0006037928116046011],"end_effector_yaw_offset_degrees":0.7242662914095568},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003286837302560266,-0.0011881789126555002,-0.0015911483993775004],"end_effector_yaw_offset_degrees":0.7656467439583268},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009317951975461635,-0.0005714002632207257,0.001690237356898972],"end_effector_yaw_offset_degrees":0.27446661809794914},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011992341705660972,-0.0005401149673953448,-0.0005642955453870457],"end_effector_yaw_offset_degrees":-0.19251787090508699},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0001439022388528314,-0.00029300401938531185,0.0017559301890313615],"end_effector_yaw_offset_degrees":-0.4079751379379004}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015247670760608232,0.0009043511177658529],"position_m":[0.17132476707606084,-0.10539564888223416,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004486968663488528,0.0036513455194600248],"position_m":[0.21548696866348852,-0.36444865448054,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0009049086744858251,-0.0014186679787889745],"position_m":[0.29110490867448585,0.317281332021211,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0039452947071849445,-0.0017031056548789947],"position_m":[0.349554705292815,0.113396894345121,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c9b58287dd7afa974efdda2e299e5e438142d8f06d09ba24b7520ca331adc7fe","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4210/tex_ceiling_textures_76/tex_floor_textures_4720/tex_table_textures_5674/tex_wall_textures_984","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5089756910824849028,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5089756910824849028,"visual_seed":5089756910824849028,"scene_id":"lab_003","finished_at":"2026-09-08T20:15:49"}
+{"episode_id":"ep_000047","started_at":"2026-09-08T20:25:04","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.2608132154416398,1.7326916281423883,0.71338606911949],"aabb_xy":[[0.2107157514605662,1.6686916276325765],[0.31091067942271344,1.7966916286522001]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.33352937504665037,1.0228060704736834,0.71338606911949],"aabb_xy":[[0.2885293735804215,0.977806213612203],[0.37852937651287927,1.0678059273351643]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.5700060805489355,-1.4078003206557779,0.71338606911949],"aabb_xy":[[0.5272393736695153,-1.47180032407758],[0.6127727874283557,-1.3438003172339752]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.163945414859742,-1.681525438815879,0.71338606911949],"aabb_xy":[[-0.17571360165439956,-1.766525438721101],[-0.15217722806508452,-1.5965254389106578]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[-0.5223249804607977,0.4367809993824494,0.71338606911949],"aabb_xy":[[-0.5673175671792481,0.3917810001080006],[-0.47733239374234726,0.4817809986568981]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[-0.18595685008483087,0.6740968709604997,0.71338606911949],"aabb_xy":[[-0.2499568465121528,0.6269272471384033],[-0.121956853657509,0.7212664947825962]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.4412143271387322,-1.1459574273684103,0.71338606911949],"aabb_xy":[[-0.4912143274992983,-1.195937414578013],[-0.39121432677816614,-1.0959774401588072]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.4552762742592522,1.4985435441123323,0.71338606911949],"aabb_xy":[[0.4002762750826627,1.4435538693373744],[0.5102762734358417,1.5535332188872897]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.42909710571017246,1.3670489365366065,0.71338606911949],"aabb_xy":[[-0.49309710301251886,1.3226825095687496],[-0.36509710840782605,1.411415363504463]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.1454347175479126,1.6072180111006857,0.71338606911949],"aabb_xy":[[0.1251504148245138,1.5869353859579765],[0.16571902027131133,1.6275006362433941]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.6554149751047507,1.6468524518336243,0.71338606911949],"aabb_xy":[[0.6375458673502951,1.6330195438564132],[0.673284082859206,1.6606853598108353]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.19752848580743915,0.12808752262943068,0.71338606911949],"aabb_xy":[[-0.2825284844995138,0.09610165923455183],[-0.1125284871153645,0.16007338602430954]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.019688968548509433,-1.6138051304049308,0.71338606911949],"aabb_xy":[[-0.030594744636072146,-1.69380512680376],[-0.00878319246094672,-1.5338051340061016]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.5403421886180819,0.7968160976360439,0.71338606911949],"aabb_xy":[[-0.5746390996358224,0.7625192114261026],[-0.5060452776003412,0.8311129838459852]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.008719827833906235,1.5199046203852915,0.71338606911949],"aabb_xy":[[5.858783971744371e-06,1.4974046197261028],[0.017433796883840717,1.5424046210444793]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.6537460947897256,-2.3946119097664136,0.71338606911949],"aabb_xy":[[0.6037460953495299,-2.4445798342507294],[0.7037460942299212,-2.344643985282097]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.21043223436240055,0.9142850937305753,0.71338606911949],"aabb_xy":[[-0.2255345358234186,0.8991835720995133],[-0.1953299329013824,0.9293866153616369]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.4000270221212021,-1.105131532482421,0.71338606911949],"aabb_xy":[[0.3500270234752809,-1.155051076141883],[0.4500270207671233,-1.0552119888229583]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.39534176613488525,-0.23998263035708556,0.71338606911949],"aabb_xy":[[-0.40618224436140016,-0.25716891164773437],[-0.38450128790837035,-0.22279634906643672]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.43586963138841206,0.7888656699276226,0.71338606911949],"aabb_xy":[[0.42069746210677866,0.7736968129994194],[0.45104180067004535,0.8040345268558261]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.06901909372977955,-1.8388755416887028,0.71338606911949],"aabb_xy":[[-0.010980903284468435,-1.8590100933621139],[0.14901909074402753,-1.8187409900152913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6450780785937449,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/928.png","name":"928"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/928.png","name":"928"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/252.png","name":"252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4860.png","name":"4860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8234.png","name":"8234"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8066.png","name":"8066"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":739.8818121618694,"rotation_z_degrees":51.190928772747334,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010497395926741558,0.014901042653485474,-0.003891078947100314]},{"name":"camera_2","offset_m":[-0.005732679631292644,0.0005395725151449947,0.006895726351850241]},{"name":"camera_3","offset_m":[0.007666782703722251,0.00480258429985541,-0.003158469905387585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000813599768173392,-0.0015746918676922204,0.0018264709061642428],"end_effector_yaw_offset_degrees":0.4057523346914633},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016546231279516142,-0.0013111919415500143,-0.0018931786786711103],"end_effector_yaw_offset_degrees":-0.939563717235947},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005744308405618375,-0.0004064349273656923,0.0002741775978558625],"end_effector_yaw_offset_degrees":0.09178559664486508},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007428130734522661,-0.0004733018391569815,0.0008661575435970252],"end_effector_yaw_offset_degrees":-0.04216977438595482},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0003732280979746067,-0.0018447562729649995,-0.001324639573316965],"end_effector_yaw_offset_degrees":-0.5562307827621606},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005744878927747398,0.0015015552822553366,-0.0016491724334037482],"end_effector_yaw_offset_degrees":0.9725119136803759}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003521424314956686,-0.0033879147909770192],"position_m":[0.1662785756850433,-0.10968791479097703,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00195358823713386,0.0034384523829247464],"position_m":[0.20904641176286615,-0.36466154761707525,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0007598438246808484,0.0006689814926726222],"position_m":[0.28944015617531915,0.3193689814926726,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004772463695840714,0.0004581338312169593],"position_m":[0.34872753630415926,0.11555813383121695,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e325a821c6c246bc9eb28cbb3130cf5684a9f69a0207c84cbdd5af862105a043","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_928/tex_ceiling_textures_8066/tex_floor_textures_8234/tex_table_textures_252/tex_wall_textures_4860","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":139692025098221554,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":139692025098221554,"visual_seed":139692025098221554,"scene_id":"lab_003","finished_at":"2026-09-08T20:33:05"}
+{"episode_id":"ep_000048","started_at":"2026-09-08T20:33:13","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.029837181977083183,-0.8849244504456661,0.71338606911949],"aabb_xy":[[-0.0416053687717407,-0.9699244503508878],[-0.018068995182425662,-0.7999244505404447]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.14833992330652457,1.1978128132119217,0.71338606911949],"aabb_xy":[[-0.18583992397110324,1.1821257552116995],[-0.11083992264194585,1.2134998712121439]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.1642271742975704,-2.5077950914748763,0.71338606911949],"aabb_xy":[[0.12672717448053683,-2.5124333027860177],[0.20172717411460395,-2.503156880163734]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.06167837579687874,-1.6850112697745312,0.71338606911949],"aabb_xy":[[-0.09614072319502051,-1.7195051521723537],[-0.027216028398736925,-1.6505173873767083]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.1637315097355101,-1.6103556816309563,0.71338606911949],"aabb_xy":[[0.15085960623456995,-1.6903556820447925],[0.17660341323645024,-1.5303556812171202]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.19988605009651872,-1.1249839872948524,0.71338606911949],"aabb_xy":[[0.17204101331591162,-1.155768486033164],[0.22773108687712587,-1.0941994885565407]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.24413462057774404,-0.736477557173602,0.71338606911949],"aabb_xy":[[-0.2991278319148808,-0.7914775575123957],[-0.18914140924060732,-0.6814775568348084]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.4423506766215049,-1.9924116890330124,0.71338606911949],"aabb_xy":[[-0.4642593587608559,-2.0143123558531024],[-0.4204419944821538,-1.9705110222129212]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.32560487350280404,1.2216226835308688,0.71338606911949],"aabb_xy":[[-0.33056089368768526,1.1991226833287472],[-0.3206488533179228,1.2441226837329904]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.3022437529093717,-1.1730701384193594,0.71338606911949],"aabb_xy":[[-0.3110458082183444,-1.1808814645742882],[-0.29344169760039895,-1.16525881226443]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.40913390382738446,0.8832183759933381,0.71338606911949],"aabb_xy":[[0.34513390177765246,0.8431238929040301],[0.47313390587711646,0.923312859082646]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.30193471859553517,1.558918977472294,0.71338606911949],"aabb_xy":[[-0.31508596456682453,1.5339189777156077],[-0.2887834726242458,1.5839189772289808]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[0.6525275577182503,-0.39112137135964975,0.71338606911949],"aabb_xy":[[0.6366430644529252,-0.40547431165847375],[0.6684120509835755,-0.37676843106082564]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.25254989342936074,1.0656831017643746,0.71338606911949],"aabb_xy":[[0.21504989263736524,1.0593152608061844],[0.29004989422135613,1.0720509427225648]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.3670058752830461,1.3486950627422702,0.71338606911949],"aabb_xy":[[-0.37676186479221996,1.3389325286830358],[-0.3572498857738722,1.3584575968015047]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.36806089585301716,-2.0792503881806788,0.71338606911949],"aabb_xy":[[0.31806089549245103,-2.1292303753902813],[0.41806089621358317,-2.0292704009710754]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_16","position":[-0.15478000490379162,-0.06078948973960019,0.71338606911949],"aabb_xy":[[-0.16740679219098797,-0.07033556344117309],[-0.14215321761659527,-0.05124341603802729]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.41305158333706493,1.1136848889233857,0.71338606911949],"aabb_xy":[[0.4043536210463497,1.101559914615911],[0.4217495456277803,1.1258098632308604]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[0.3759297189327766,-0.8247600874902838,0.71338606911949],"aabb_xy":[[0.3259297172712817,-0.8747585297459864],[0.42592972059427125,-0.774761645234581]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.5338058943728021,-1.6293624494007721,0.71338606911949],"aabb_xy":[[-0.5938058942193689,-1.6861810715938108],[-0.47380589452623534,-1.5725438272077334]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.09417045232645282,-1.3016328256262886,0.71338606911949],"aabb_xy":[[0.0595793694724076,-1.3666328259113194],[0.12876153518049802,-1.2366328253412573]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.3891577888425862,-1.8099269918051706,0.71338606911949],"aabb_xy":[[-0.4791577925195043,-1.8713593983822745],[-0.299157785165668,-1.7484945852280658]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[-0.24465341185435935,-2.048119147387649,0.71338606911949],"aabb_xy":[[-0.294750875835433,-2.1121191478974612],[-0.19455594787328576,-1.9841191468778376]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[0.6629242306523204,-1.965235508925058,0.71338606911949],"aabb_xy":[[0.6404242306421721,-1.9793317285646612],[0.6854242306624687,-1.9511392892854547]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.43743339269264586,-2.339988657736932,0.71338606911949],"aabb_xy":[[-0.4483391687802085,-2.419988654135761],[-0.4265276166050831,-2.259988661338103]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[0.024526478867268997,1.559755336357505,0.71338606911949],"aabb_xy":[[0.016823288193191954,1.5520459656587668],[0.03222966954134604,1.567464707056243]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[-0.5944322937006775,-1.2694142556406809,0.71338606911949],"aabb_xy":[[-0.6397109085818268,-1.3334142549888648],[-0.5491536788195283,-1.2054142562924974]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.19903217281829783,-0.8877258954161162,0.71338606911949],"aabb_xy":[[-0.26403217137537066,-0.9174784288299989],[-0.134032174261225,-0.8579733620022336]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_28","position":[-0.18574268512828263,1.4171337861840878,0.71338606911949],"aabb_xy":[[-0.2307426865945115,1.3721339293226071],[-0.14074268366205378,1.4621336430455685]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.38260181802938587,-0.3205335252238939,0.71338606911949],"aabb_xy":[[-0.4325949301385778,-0.3705335258980896],[-0.332608705920194,-0.2705335245496983]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_30","position":[-0.4037707948371121,0.0859868318457706,0.71338606911949],"aabb_xy":[[-0.4837707928178972,0.07838529088391866],[-0.3237707968563271,0.09358837280762256]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_31","position":[-0.024735969527869495,1.184436831780301,0.71338606911949],"aabb_xy":[[-0.03197973557411482,1.1044368335766985],[-0.01749220348162417,1.2644368299839033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6469172623373599,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2399.png","name":"2399"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5271.png","name":"5271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6408.png","name":"6408"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1296.png","name":"1296"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":600.2179394553082,"rotation_z_degrees":94.21074659072137,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013839175302525469,0.005983535713226549,-0.0007645232293498304]},{"name":"camera_2","offset_m":[-0.01371393412358336,-0.015033516225701104,0.0010437130563377209]},{"name":"camera_3","offset_m":[-0.01935698238300592,0.001869283874153957,0.005213693943310841]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[3.863911107842167e-06,-0.0012915032107272478,-0.00017560982184572946],"end_effector_yaw_offset_degrees":-0.6734047827563832},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007313854375654728,0.0006265534655670577,0.0005881086442348984],"end_effector_yaw_offset_degrees":0.888889917259283},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001200940392197794,0.0014078583737097746,-0.0006912854427506511],"end_effector_yaw_offset_degrees":0.7393825161638863},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014571908052971297,0.0007391072146256598,-0.00018033947954987752],"end_effector_yaw_offset_degrees":0.28288703426083095},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009003157020690379,0.0003627310726608615,-0.001835602762648632],"end_effector_yaw_offset_degrees":0.37557390523684764},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011694867403893405,-0.0007365201774391524,-0.0007573448499943734],"end_effector_yaw_offset_degrees":-0.4729966563208252}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017192002190556067,-0.0023429558071019585],"position_m":[0.17151920021905562,-0.10864295580710197,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004838544429414096,-0.0033425502827664332],"position_m":[0.2061614555705859,-0.3714425502827664,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004601641451923557,-0.0032621487456701258],"position_m":[0.29480164145192356,0.3154378512543299,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013041746663713673,0.004892305923510756],"position_m":[0.3521958253336286,0.11999230592351075,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d0c41320ae044908e4fec10db646500573b0a8298e968b160f63c239293b1d00","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3469/tex_ceiling_textures_1296/tex_floor_textures_6408/tex_table_textures_2399/tex_wall_textures_5271","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4210022512522910150,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4210022512522910150,"visual_seed":4210022512522910150,"scene_id":"lab_003","finished_at":"2026-09-08T20:41:34"}
+{"episode_id":"ep_000049","started_at":"2026-09-08T20:59:35","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[-0.5365868174343781,-1.718120747451779,0.71338606911949],"aabb_xy":[[-0.6065868208259401,-1.75343652115521],[-0.46658681404281616,-1.6828049737483484]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.5754161267490014,0.4544733741775455,0.71338606911949],"aabb_xy":[[-0.6591383522490839,0.36447337064284957],[-0.491693901248919,0.5444733777122415]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.34179640727719307,0.10063133647375988,0.71338606911949],"aabb_xy":[[-0.4217964083503134,0.09085329013637546],[-0.26179640620407274,0.11040938281114433]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.5643486658074617,1.818207481938812,0.71338606911949],"aabb_xy":[[-0.6443486690714748,1.804647449629899],[-0.48434866254344855,1.8317675142477257]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.5653557238568949,1.4641077478241198,0.71338606911949],"aabb_xy":[[0.5152582598758213,1.4001077473143078],[0.6154531878379685,1.5281077483339314]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.5062118361261982,-1.1139461582092536,0.71338606911949],"aabb_xy":[[-0.556211837787693,-1.1639446004649563],[-0.45621183446470354,-1.0639477159535509]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.5892206106164618,-2.1128702307758407,0.71338606911949],"aabb_xy":[[-0.6251341150414514,-2.148783738992596],[-0.5533071061914722,-2.0769567225590864]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[-0.18184860617458976,-0.07117517959593567,0.71338606911949],"aabb_xy":[[-0.20096091353256862,-0.09030995847317769],[-0.1627362988166109,-0.05204040071869365]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.4557496407556081,0.8792144104823398,0.71338606911949],"aabb_xy":[[0.3857496389468627,0.8578606417181525],[0.5257496425643535,0.9005681792465272]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.08695079746708112,-2.2532983907949906,0.71338606911949],"aabb_xy":[[0.08210720270585115,-2.258150043273975],[0.0917943922283111,-2.248446738316007]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.11889236959366067,1.4413262055799287,0.71338606911949],"aabb_xy":[[-0.16389237105988952,1.3963263487184483],[-0.07389236812743183,1.4863260624414096]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.060726636444987436,1.729212831038296,0.71338606911949],"aabb_xy":[[-0.13072663804726692,1.7157800378366386],[0.009273365157292046,1.7426456242399537]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[-0.49063779069151103,-0.5634327766073355,0.71338606911949],"aabb_xy":[[-0.5144740083321162,-0.653432777415822],[-0.4668015730509061,-0.473432775798849]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[0.26587085244311004,-1.082821042579793,0.71338606911949],"aabb_xy":[[0.17587085594223825,-1.128732684998251],[0.35587084894398174,-1.0369094001613346]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.5784709861089741,-0.2790991814361803,0.71338606911949],"aabb_xy":[[-0.6424709893986822,-0.32243410044009785],[-0.514470982819266,-0.23576426243226264]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[0.4579395039523084,-1.9771901875798936,0.71338606911949],"aabb_xy":[[0.44547214584257283,-1.9896555122132173],[0.47040686206204413,-1.9647248629465703]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.24035461629963084,-0.7090037477435542,0.71338606911949],"aabb_xy":[[0.1603546158294149,-0.7173144553579026],[0.3203546167698468,-0.7006930401292059]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[-0.30361218504464826,1.4794695467082337,0.71338606911949],"aabb_xy":[[-0.3286121842102814,1.4725173010028771],[-0.27861218587901515,1.4864217924135903]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.5591880367013911,-1.1325882219322603,0.71338606911949],"aabb_xy":[[0.46918803728302017,-1.16596371877645],[0.649188036119762,-1.0992127250880706]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.5964021852426378,-1.7903446507868015,0.71338606911949],"aabb_xy":[[0.5414089739055011,-1.845344651125595],[0.6513953965797746,-1.735344650448008]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.4479831640517027,-0.1836764625579459,0.71338606911949],"aabb_xy":[[0.38398316676605404,-0.2251831815107899],[0.5119831613373513,-0.14216974360510196]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.09521008961629118,-0.9146537230085661,0.71338606911949],"aabb_xy":[[0.08962841798216242,-0.9271537228263415],[0.10079176125041994,-0.9021537231907905]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[-0.26707276065810254,0.8452242773457477,0.71338606911949],"aabb_xy":[[-0.35707276038127667,0.8221509248105677],[-0.17707276093492832,0.8682976298809274]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[0.27363569637729834,1.5100680920829617,0.71338606911949],"aabb_xy":[[0.2627840901284227,1.4992088013553104],[0.2844873026261739,1.5209273828106125]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_24","position":[-0.28528088582245964,-1.997610414925044,0.71338606911949],"aabb_xy":[[-0.3492808890410975,-2.0443335268240523],[-0.22128088260382178,-1.9508873030260356]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[0.03361778500449408,-1.802504927831738,0.71338606911949],"aabb_xy":[[0.009104160907488223,-1.8267695211337742],[0.05813140910149994,-1.7782403345297013]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[-0.289381399870344,-0.559375927194703,0.71338606911949],"aabb_xy":[[-0.30493716928060927,-0.57492636043911],[-0.27382563046007874,-0.5438254939502957]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.42513082543497593,-1.290583289529994,0.71338606911949],"aabb_xy":[[0.417137335639694,-1.2985814214704696],[0.4331243152302581,-1.2825851575895184]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[0.43244153937140317,0.17549036602754553,0.71338606911949],"aabb_xy":[[0.4220299806909194,0.17014463269164706],[0.44285309805188683,0.180836099363444]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_29","position":[0.6931869754595534,-0.15115683177943762,0.71338606911949],"aabb_xy":[[0.6712972278706126,-0.2411568290686867],[0.7150767230484942,-0.06115683449018849]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[0.6857447062664892,-2.014094248225982,0.71338606911949],"aabb_xy":[[0.6748389301789265,-2.094094244624811],[0.6966504823540519,-1.9340942518271529]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_31","position":[-0.6440466023652196,0.07583868038530683,0.71338606911949],"aabb_xy":[[-0.6775257696262607,0.04235956701419983],[-0.6105674351041788,0.10931779375641384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65068565932747,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7466.png","name":"7466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7466.png","name":"7466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9382.png","name":"9382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6390.png","name":"6390"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4455.png","name":"4455"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1231.png","name":"1231"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":689.9737131663878,"rotation_z_degrees":141.69938658221577,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013058059311361798,-0.009609329447960939,0.009894700541157792]},{"name":"camera_2","offset_m":[0.0038609783002241972,0.00673330548799057,-0.007654370893419587]},{"name":"camera_3","offset_m":[-0.01434612396114833,-0.0020680316690607804,0.014642513317700941]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013272610327130772,0.0009283920873290417,0.0011292272908760429],"end_effector_yaw_offset_degrees":-0.419162061528235},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005430835544122975,0.0005233769061667014,0.0017175977659624896],"end_effector_yaw_offset_degrees":0.4680446695596334},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012336481068202735,-0.0005033691037263867,-0.001218342615034485],"end_effector_yaw_offset_degrees":-0.15374785900994303},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017971197235236947,-0.00014533757969365218,-0.0015734786095469421],"end_effector_yaw_offset_degrees":-0.4908728683522059},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.000830304908820776,-0.0017208831228639689,0.001017671132730468],"end_effector_yaw_offset_degrees":-0.10951031777598441},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015856835063788063,0.001530473337899305,-0.0012256842031421536],"end_effector_yaw_offset_degrees":-0.040845740879225545}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003032861994681325,-0.0019982677399703096],"position_m":[0.16676713800531867,-0.10829826773997031,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003996191734593699,0.0022081584508598625],"position_m":[0.2149961917345937,-0.3658918415491401,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0020272993760622193,-0.0036040524349313097],"position_m":[0.2881727006239378,0.31509594756506865,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00324989502243309,-0.004654896561651196],"position_m":[0.3567498950224331,0.11044510343834879,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2b467c325bb8fb89afc98f6346371193ed9084ab690b72daad97f12499af3acc","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7466/tex_ceiling_textures_1231/tex_floor_textures_4455/tex_table_textures_9382/tex_wall_textures_6390","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3830144072968007455,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3830144072968007455,"visual_seed":3830144072968007455,"scene_id":"lab_003","finished_at":"2026-09-08T21:07:48"}
+{"episode_id":"ep_000050","started_at":"2026-09-08T21:17:49","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.6006743306337541,-0.6313916374561066,0.71338606911949],"aabb_xy":[[-0.6131416887434898,-0.6438569620894301],[-0.5882069725240185,-0.6189263128227831]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.5441030457694069,-1.352604493604807,0.71338606911949],"aabb_xy":[[0.5238187430460081,-1.3728871187475158],[0.5643873484928056,-1.332321868462098]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.19705842159014464,-2.573437799870767,0.71338606911949],"aabb_xy":[[0.1890220868888598,-2.5814759191751837],[0.20509475629142948,-2.5653996805663497]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.579671266911127,-0.6644841338731531,0.71338606911949],"aabb_xy":[[0.5715576122377499,-0.6725899503271822],[0.5877849215845041,-0.656378317419124]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.2333962227046933,-1.3540199846189722,0.71338606911949],"aabb_xy":[[0.14839622401261865,-1.386005848013851],[0.31839622139676793,-1.3220341212240934]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.0422469959583569,0.2862067083978568,0.71338606911949],"aabb_xy":[[-0.05974699621769354,0.2721151662090842],[-0.024746995699020287,0.30029825058662946]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.23453324753117177,-1.1476716354265286,0.71338606911949],"aabb_xy":[[-0.2896584531607625,-1.2076716368678155],[-0.17940804190158097,-1.0876716339852412]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[0.5727620767793884,-2.230528966370644,0.71338606911949],"aabb_xy":[[0.5553313617003818,-2.247801081034494],[0.5901927918583948,-2.213256851706793]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.5178677235324196,-1.3786016925144664,0.71338606911949],"aabb_xy":[[-0.5417039411730248,-1.468601693322953],[-0.49403150589181466,-1.2886016917059802]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[0.4149942139245395,0.13014109978469124,0.71338606911949],"aabb_xy":[[0.4055767393546767,0.12072492264697221],[0.4244116884944022,0.13955727692241027]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.33651079936898576,-0.8637698959499982,0.71338606911949],"aabb_xy":[[0.30191971651494054,-0.9287698962350291],[0.371101882223031,-0.798769895664967]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[0.3898313591259208,-1.1083027226984157,0.71338606911949],"aabb_xy":[[0.37638483249187743,-1.1217725743515068],[0.4032778857599641,-1.0948328710453246]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.2792146188746278,-2.2575171706621253,0.71338606911949],"aabb_xy":[[-0.3432146220932657,-2.3042402825611337],[-0.21521461565598998,-2.210794058763117]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.16085248895227,1.4497870809200673,0.71338606911949],"aabb_xy":[[0.14949075429898384,1.4384186145137792],[0.17221422360555616,1.4611555473263553]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[-0.49137156340866817,-2.3801242352879863,0.71338606911949],"aabb_xy":[[-0.5069273328189334,-2.395674668532394],[-0.47581579399840296,-2.3645738020435796]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.6400357861896804,-2.0495941740878507,0.71338606911949],"aabb_xy":[[-0.6850357876559093,-2.0945940309493314],[-0.5950357847234516,-2.00459431722637]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.21202795492650695,-0.8257997496886551,0.71338606911949],"aabb_xy":[[0.194481260010388,-0.8632997512529064],[0.22957464984262588,-0.7882997481244038]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.13625223200606718,0.04492664118221912,0.71338606911949],"aabb_xy":[[-0.17375223279806262,0.03855880022402902],[-0.09875223121407173,0.051294482140409214]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.49113053883550917,1.5101168495521997,0.71338606911949],"aabb_xy":[[0.4261305361977157,1.4586372508527528],[0.5561305414733027,1.5615964482516467]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.37553435949261277,-0.49569916975015405,0.71338606911949],"aabb_xy":[[-0.38194817313579765,-0.5021089899978223],[-0.3691205458494278,-0.48928934950248565]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.18174746004858777,1.5106594091645609,0.71338606911949],"aabb_xy":[[-0.20063184381709798,1.491773484384208],[-0.16286307628007757,1.5295453339449137]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.44953005714451644,0.6882145793410648,0.71338606911949],"aabb_xy":[[0.3995512486342005,0.638214579335346],[0.49950886565483227,0.7382145793467836]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.6167125328165748,0.8693191114673597,0.71338606911949],"aabb_xy":[[0.5867449759067492,0.839319111169474],[0.6466800897264006,0.8993191117652455]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[0.2717884657968518,-1.119227850840356,0.71338606911949],"aabb_xy":[[0.20778846721027927,-1.1662348142398644],[0.3357884643834242,-1.072220887440847]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[0.2567193101430265,-2.009447236110137,0.71338606911949],"aabb_xy":[[0.22240303296840858,-2.0594472360833147],[0.29103558731764445,-1.9594472361369593]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[0.054946508158727037,-1.1464316889992814,0.71338606911949],"aabb_xy":[[0.007140340544958384,-1.2114316917063401],[0.10275267577249567,-1.0814316862922222]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[-0.5104486121779738,1.4583647763637555,0.71338606911949],"aabb_xy":[[-0.5454486104886692,1.4506497614402096],[-0.4754486138672783,1.466079791287301]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[-0.6065397464827875,-0.49745627290251715,0.71338606911949],"aabb_xy":[[-0.6865397497468007,-0.5110163052114305],[-0.5265397432187744,-0.48389624059360387]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[0.337290075331518,1.4948650447163563,0.71338606911949],"aabb_xy":[[0.3154003277425772,1.4048650474271072],[0.3591798229204588,1.5848650420056054]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_29","position":[-0.27501740094338534,0.9231602504386025,0.71338606911949],"aabb_xy":[[-0.3450174025456648,0.9097274572369448],[-0.20501739934110585,0.93659304364026]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[-0.6159258552536349,-0.9790261221609806,0.71338606911949],"aabb_xy":[[-0.6334258554986842,-0.9965259100005474],[-0.5984258550085855,-0.9615263343214137]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_31","position":[0.38974606550844215,-2.465768782110327,0.71338606911949],"aabb_xy":[[0.3820428748343651,-2.473478152809065],[0.3974492561825192,-2.458059411411589]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_32","position":[-0.599589027007508,-1.118949213847535,0.71338606911949],"aabb_xy":[[-0.6139234521336715,-1.1310094294020738],[-0.5852546018813446,-1.1068889982929961]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_33","position":[-0.143976337122119,-2.0135539765063317,0.71338606911949],"aabb_xy":[[-0.207976339171851,-2.0536484595956397],[-0.079976335072387,-1.9734594934170238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6534421127462724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2143.png","name":"2143"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2143.png","name":"2143"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4972.png","name":"4972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5939.png","name":"5939"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3314.png","name":"3314"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":824.2866228072642,"rotation_z_degrees":345.6197840374224,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018481540453812683,0.003940126261709965,-0.013158186919779854]},{"name":"camera_2","offset_m":[-0.009433988126681224,-0.016931622936900027,0.013715381737197208]},{"name":"camera_3","offset_m":[-0.009562773304296522,0.005300542344583107,-0.01688217811683137]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010491150653311326,-0.0019377705569474006,-0.001025268588745415],"end_effector_yaw_offset_degrees":-0.34838465502689786},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001093910863932933,-1.037389047453931e-05,0.0012424789528847524],"end_effector_yaw_offset_degrees":0.36354394832724957},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014058763095182278,0.0006348965883320509,-0.0004643781603639887],"end_effector_yaw_offset_degrees":-0.01617534170405932},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019223539443910403,0.001637977857209746,-0.0006020680453409377],"end_effector_yaw_offset_degrees":0.25607276618975394},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017893617878892596,0.0003084946876464067,-0.0005197487150817009],"end_effector_yaw_offset_degrees":0.5177828007048089},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0009547908349518078,-0.00031494744258543997,-0.0011128476927186322],"end_effector_yaw_offset_degrees":-0.07600540299080749}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007025124104185479,0.0046991625065673495],"position_m":[0.16909748758958146,-0.10160083749343266,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032624872398448893,-0.003734010037758566],"position_m":[0.2142624872398449,-0.37183401003775857,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004555249205526559,0.002286588210184559],"position_m":[0.2947552492055266,0.32098658821018455,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016562373170527448,0.0006862095769269794],"position_m":[0.3551562373170527,0.11578620957692698,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"801bfc9d5fa9cd6f56cda2e08f03ea99ad56a662ba5f66a1a6854828beef6795","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0064.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2143/tex_ceiling_textures_3314/tex_floor_textures_6344/tex_table_textures_4972/tex_wall_textures_5939","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6859500837039832156,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6859500837039832156,"visual_seed":6859500837039832156,"scene_id":"lab_003","finished_at":"2026-09-08T21:26:00"}
+{"episode_id":"ep_000051","started_at":"2026-09-08T21:35:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.08338918786144178,0.9506593717969993,0.71338606911949],"aabb_xy":[[-0.173389184597052,0.8974759084797048],[0.006610808874168442,1.0038428351142938]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.34649774003349637,-0.785491672554165,0.71338606911949],"aabb_xy":[[-0.4104977386200689,-0.8324986359536737],[-0.28249774144692397,-0.7384847091546562]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.20378276350476532,-1.6199590119162959,0.71338606911949],"aabb_xy":[[0.19893916874353537,-1.62481066439528],[0.20862635826599532,-1.6151073594373118]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.5577234392470469,0.326003001948338,0.71338606911949],"aabb_xy":[[0.5402234390019975,0.3085032141087711],[0.5752234394920963,0.34350278978790477]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.4162153561105193,-1.8809158767032328,0.71338606911949],"aabb_xy":[[0.3362153556403034,-1.8892265843175815],[0.49621535658073535,-1.8726051690888845]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.0023937707670719233,-2.455639539862731,0.71338606911949],"aabb_xy":[[-0.002241344385161464,-2.4595068749398794],[0.00702888591930531,-2.451772204785582]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[0.2156656857066349,0.878229390315882,0.71338606911949],"aabb_xy":[[0.18066568651381662,0.8672623443182191],[0.2506656848994532,0.8891964363135444]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.4435704905554271,-1.3841559032452755,0.71338606911949],"aabb_xy":[[-0.46606691198929123,-1.406655903052023],[-0.42107406912156303,-1.361655903438528]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.5519057567561141,-2.4773713520355685,0.71338606911949],"aabb_xy":[[-0.5695813873447124,-2.4950515683149708],[-0.5342301261675158,-2.4596911357561653]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.47397156254824124,-1.6894996678332879,0.71338606911949],"aabb_xy":[[-0.4820992507415545,-1.6984132762439954],[-0.4658438743549281,-1.6805860594225799]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.3914322545867148,-2.427266011074078,0.71338606911949],"aabb_xy":[[0.3414322550103802,-2.4772465900261844],[0.44143225416304965,-2.3772854321219725]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.6346533401479991,-1.56197374837793,0.71338606911949],"aabb_xy":[[-0.6681325074090401,-1.5954528617490369],[-0.6011741728869582,-1.528494635006823]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.482449396345338,-2.2461735764619686,0.71338606911949],"aabb_xy":[[0.42244939583748514,-2.303020310147889],[0.5424493968531909,-2.189326842776047]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.49260958207453703,-2.570962147850538,0.71338606911949],"aabb_xy":[[-0.5276095803852325,-2.5786771627740834],[-0.4576095837638416,-2.563247132926992]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[0.4642960827604039,1.0476625381082156,0.71338606911949],"aabb_xy":[[0.409296084558659,1.007140571481778],[0.5192960809621486,1.0881845047346532]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.4918304755343198,-1.1956791799298294,0.71338606911949],"aabb_xy":[[-0.5379155667890512,-1.2596791771823845],[-0.4457453842795883,-1.1316791826772743]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[0.5474180624907605,-1.3273629273280494,0.71338606911949],"aabb_xy":[[0.46741806547651243,-1.3474974790014607],[0.6274180595050084,-1.3072283756546381]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.08932306713801264,-1.3224639951370452,0.71338606911949],"aabb_xy":[[0.05817614829442953,-1.392463993823852],[0.12046998598159576,-1.2524639964502378]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.6827692151881344,-0.46545952064510265,0.71338606911949],"aabb_xy":[[0.6740552461381997,-0.4879595213042908],[0.6914831842380686,-0.4429595199859144]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.23484596162812954,0.9540047591731082,0.71338606911949],"aabb_xy":[[0.21783586433807883,0.9378702706748342],[0.25185605891818014,0.970139247671382]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[-0.6139203008376449,0.6533700127776036,0.71338606911949],"aabb_xy":[[-0.6299822282961625,0.5683700109650117],[-0.5978583733791272,0.7383700145901954]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.3105813477154201,-1.9674899862447666,0.71338606911949],"aabb_xy":[[-0.32821418330894764,-1.9851129322603895],[-0.2929485121218925,-1.9498670402291436]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[-0.4483772431186301,1.7821129976100223,0.71338606911949],"aabb_xy":[[-0.4702859252579811,1.7602123307899316],[-0.426468560979279,1.804013664430113]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.43127885778017294,-0.8136921858653228,0.71338606911949],"aabb_xy":[[0.41340975002571745,-0.8275250938425337],[0.44914796553462843,-0.7998592778881118]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[-0.6121817905111366,-1.8170204517328323,0.71338606911949],"aabb_xy":[[-0.6256283171451799,-1.8304903033859234],[-0.5987352638770932,-1.8035506000797408]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.46245804519517697,-2.3164539180078307,0.71338606911949],"aabb_xy":[[-0.5264537425902736,-2.3804539163085394],[-0.3984623478000804,-2.252453919707122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.646959694146754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/814.png","name":"814"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/814.png","name":"814"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6366.png","name":"6366"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6108.png","name":"6108"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3291.png","name":"3291"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":816.0019345611868,"rotation_z_degrees":108.498875528882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016829573235854232,-0.013089666212232873,-0.0033744641617369335]},{"name":"camera_2","offset_m":[0.01791782193430892,-0.018864481275077002,-0.013420232692586378]},{"name":"camera_3","offset_m":[-0.013781760165556678,0.013582083456957193,0.01691328370834973]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004776810042207377,-0.0011630729998211495,0.0007394616656892054],"end_effector_yaw_offset_degrees":0.3446014128230386},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00125656218785572,0.0018458684879466523,0.0002347077954208839],"end_effector_yaw_offset_degrees":-0.890623549691496},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004604321729316089,-0.0008215102302572843,-4.991542501901194e-05],"end_effector_yaw_offset_degrees":0.29496447234752265},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017030028154107176,-0.0008477645851495126,-0.0011946913024785384],"end_effector_yaw_offset_degrees":0.3671260428952454},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016284508526266334,0.0010878678817442043,-0.0017116252395558266],"end_effector_yaw_offset_degrees":-0.2470391558454943},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009668454118474342,-0.0016526872957335628,-0.000776951441046088],"end_effector_yaw_offset_degrees":-0.23508678502889868}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037648205281410815,0.004779214737345311],"position_m":[0.1694235179471859,-0.10152078526265469,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027316145277838343,0.0022307396500307773],"position_m":[0.20826838547221616,-0.3658692603499692,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004233338070868015,-0.0025167610178978227],"position_m":[0.294433338070868,0.31618323898210215,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018939114853756935,0.0018253374130698151],"position_m":[0.35160608851462427,0.1169253374130698,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b3e0ba093f69b5f35d807a0d9ab1f136ab23f92e531a8f34d96897398e75ae24","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0066.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_814/tex_ceiling_textures_3291/tex_floor_textures_6108/tex_table_textures_6366/tex_wall_textures_9289","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":6951363344759208322,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":6951363344759208322,"visual_seed":6951363344759208322,"scene_id":"lab_003","finished_at":"2026-09-08T21:43:08"}
+{"episode_id":"ep_000052","started_at":"2026-09-08T21:43:17","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.3123048149726952,1.6069184593415762,0.71338606911949],"aabb_xy":[[-0.3422723718825208,1.5769184590436907],[-0.28233725806286947,1.6369184596394621]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[-0.29706907320651976,-1.5123853847368125,0.71338606911949],"aabb_xy":[[-0.30622895215039636,-1.5189166027803496],[-0.28790919426264316,-1.5058541666932754]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.513863723628772,1.6169192021163705,0.71338606911949],"aabb_xy":[[0.4979792303634468,1.6025662618175462],[0.5297482168940971,1.6312721424151944]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.5107569192675503,-2.436649658408651,0.71338606911949],"aabb_xy":[[-0.5907569214303128,-2.516604842034795],[-0.4307569171047878,-2.3566944747825076]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[-0.3132941367152478,-0.3256020510028641,0.71338606911949],"aabb_xy":[[-0.37829413674955054,-0.3723027276831914],[-0.24829413668094508,-0.2789013743225368]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.19045495202758111,1.203331413478001,0.71338606911949],"aabb_xy":[[0.17782816474038476,1.193785339776428],[0.20308173931477747,1.2128774871795738]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.661578127496434,0.7901915660234637,0.71338606911949],"aabb_xy":[[-0.6840745489302981,0.7676915662167164],[-0.6390817060625699,0.8126915658302113]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.3098105508968231,-1.387731703195261,0.71338606911949],"aabb_xy":[[-0.33230968662305005,-1.410231703973524],[-0.2873114151705961,-1.365231702416998]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.21360271781820916,1.5158652124707737,0.71338606911949],"aabb_xy":[[0.17083601093878895,1.4518652090489712],[0.25636942469762936,1.5798652158925761]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.3305615806248823,0.6041794292507836,0.71338606911949],"aabb_xy":[[-0.343028938734618,0.5917141046174602],[-0.3180942225151467,0.6166447538841072]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.6412090174387506,-1.2653324687465195,0.71338606911949],"aabb_xy":[[-0.649990244585987,-1.2741122160350495],[-0.6324277902915144,-1.2565527214579895]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[0.709932441307149,0.6301074234103039,0.71338606911949],"aabb_xy":[[0.7052973261549156,0.6262400883331551],[0.7145675564593823,0.6339747584874524]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.5630566842374202,-1.7933950690042386,0.71338606911949],"aabb_xy":[[-0.6181818898670107,-1.8533950704455255],[-0.5079314786078292,-1.7333950675629513]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.11795634663238708,-2.4579660292297163,0.71338606911949],"aabb_xy":[[0.0579563463809859,-2.512247354266181],[0.17795634688378825,-2.4036847041932514]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[-0.4575657893878394,0.3862032288291646,0.71338606911949],"aabb_xy":[[-0.46246508169440287,0.3585263095265958],[-0.4526664970812759,0.41388014813173335]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.0847832681806413,0.6000161703499032,0.71338606911949],"aabb_xy":[[0.0765687230649573,0.5913395800522617],[0.09299781329632525,0.6086927606475444]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.4264230110723952,-2.2227834092348435,0.71338606911949],"aabb_xy":[[0.39050950664740547,-2.2586969174515983],[0.46233651549738486,-2.1868699010180888]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.14865223329588118,-2.079234291169856,0.71338606911949],"aabb_xy":[[0.09365223367413533,-2.134217983957329],[0.20365223291762702,-2.0242505983823835]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.42888521080912023,0.0077602713715809735,0.71338606911949],"aabb_xy":[[-0.46573575874610784,-0.029739729451452757],[-0.3920346628721326,0.045260272194614704]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[-0.05150399718283105,1.0357762994053328,0.71338606911949],"aabb_xy":[[-0.12150399931426059,1.013014333779637],[0.018496004948598488,1.0585382650310282]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.4352309836142609,-1.5490428921441732,0.71338606911949],"aabb_xy":[[-0.48520840047951436,-1.5990428936334218],[-0.3852535667490072,-1.4990428906549247]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[0.6398530467280192,-1.039103912662326,0.71338606911949],"aabb_xy":[[0.5948604600095688,-1.0841039119367748],[0.6848456334464696,-0.9941039133878773]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.45613664385945807,-0.5001610343807248,0.71338606911949],"aabb_xy":[[0.414832100795722,-0.5641610339488418],[0.497441186923194,-0.4361610348126076]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.4131409783935147,-1.5277318318709856,0.71338606911949],"aabb_xy":[[0.4051469898158113,-1.5357319119660757],[0.4211349669712181,-1.519731751775895]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.6103724396682508,-0.4877495687908815,0.71338606911949],"aabb_xy":[[0.548781680444258,-0.5517495668999285],[0.6719631988922437,-0.4237495706818347]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.4594324832732544,1.4872327475253848,0.71338606911949],"aabb_xy":[[-0.523428180668351,1.423232749224676],[-0.3954367858781578,1.5512327458260933]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[0.268823078418028,-1.0570311695771348,0.71338606911949],"aabb_xy":[[0.20882307677510614,-1.109031318869079],[0.32882308006094985,-1.0050310202851906]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[0.47166234625472603,0.3430967977029029,0.71338606911949],"aabb_xy":[[0.40766234985915295,0.27913350928416936],[0.5356623426502991,0.40706008612163647]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[-0.04222559635557788,0.44035157212398524,0.71338606911949],"aabb_xy":[[-0.07722559548553354,0.4346063510483211],[-0.007225597225622216,0.44609679319964934]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[0.5814772154351793,-1.2267719410928992,0.71338606911949],"aabb_xy":[[0.5214772155886124,-1.283590563285938],[0.641477215281746,-1.1699533188998605]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[0.6908277600546768,1.5023475379999796,0.71338606911949],"aabb_xy":[[0.6847907470540122,1.4963208369310317],[0.6968647730553417,1.508374239068928]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_31","position":[0.4377348455620227,0.953846304021988,0.71338606911949],"aabb_xy":[[0.43069453562848575,0.8738463046223168],[0.44477515549555974,1.0338463034216596]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6495247995712486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4910.png","name":"4910"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4910.png","name":"4910"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1945.png","name":"1945"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5749.png","name":"5749"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6332.png","name":"6332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4555.png","name":"4555"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":548.8268104810737,"rotation_z_degrees":264.8005987686878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00610966802023627,0.017229756065000528,-0.003408345931785923]},{"name":"camera_2","offset_m":[0.009625476865849868,0.009202724237673935,0.006291045735432262]},{"name":"camera_3","offset_m":[-0.017940891984034594,0.008458909751259177,0.01033664855664512]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006691953059284486,-0.0002957360687158559,0.00038642983566352946],"end_effector_yaw_offset_degrees":0.3855327169647309},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001982738481044362,7.381301932186122e-05,0.00040820477731642966],"end_effector_yaw_offset_degrees":-0.7589152134917012},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.097087135209801e-05,-0.0016648882504592493,-0.00013734665148319725],"end_effector_yaw_offset_degrees":-0.5288878295658843},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001893663949884283,-0.0002047074893324185,-0.00014620975892655074],"end_effector_yaw_offset_degrees":-0.48698429622045736},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010025473873386793,-0.0015351957638322334,0.0013463931080911406],"end_effector_yaw_offset_degrees":-0.4142905774067962},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00041070756472486275,-0.0018480181419665272,0.0011547778259044772],"end_effector_yaw_offset_degrees":0.6062555149151128}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029250553683824116,0.0033253938624114064],"position_m":[0.17272505536838242,-0.1029746061375886,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001248159550086867,-0.00336123032461784],"position_m":[0.20975184044991313,-0.3714612303246178,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0014849003597506984,-0.0029481807897821745],"position_m":[0.28871509964024933,0.31575181921021783,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003200980203714966,-0.0030215043770007977],"position_m":[0.350299019796285,0.1120784956229992,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6b73010affe8fb226d206cf7f187d731b3d1001dbc65609294c1ad3babd13cf9","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4910/tex_ceiling_textures_4555/tex_floor_textures_6332/tex_table_textures_1945/tex_wall_textures_5749","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3962801545289618979,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3962801545289618979,"visual_seed":3962801545289618979,"scene_id":"lab_003","finished_at":"2026-09-08T21:51:00"}
+{"episode_id":"ep_000053","started_at":"2026-09-08T21:51:09","dimensions":{"distractor":{"count":20,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.2173449584384063,0.8976601859609001,0.71338606911949],"aabb_xy":[[-0.22458872448465164,0.8176601877572977],[-0.210101192392161,0.9776601841645024]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[0.22789507791753627,1.240300171013216,0.71338606911949],"aabb_xy":[[0.19289507872471798,1.2293331250155533],[0.26289507711035454,1.2512672170108783]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.06858112045024278,-1.4100996649307138,0.71338606911949],"aabb_xy":[[0.004581119042252112,-1.4618886164546383],[0.13258112185823342,-1.3583107134067889]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.2818477362501812,-1.7783022448049672,0.71338606911949],"aabb_xy":[[0.2757531083620629,-1.786871639356636],[0.28794236413829954,-1.7697328502532985]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[-0.24830209969468647,0.18408163313319115,0.71338606911949],"aabb_xy":[[-0.3183020961046482,0.16364369748150936],[-0.17830210328472462,0.20451956878487282]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.4234878590814338,-2.003585919244443,0.71338606911949],"aabb_xy":[[-0.4410661612703807,-2.021160408818548],[-0.405909556892487,-1.986011429670338]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.25520742688392567,-2.4174318492951126,0.71338606911949],"aabb_xy":[[-0.34520742921794473,-2.4949142038802252],[-0.1652074245499066,-2.33994949471]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.3262822422145646,-2.0105237714290616,0.71338606911949],"aabb_xy":[[0.319240791263817,-2.017550523166856],[0.3333236931653122,-2.003497019691267]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[-0.6100326643076894,-1.201045367815145,0.71338606911949],"aabb_xy":[[-0.660005729840205,-1.251045367627678],[-0.5600595987751741,-1.1510453680026123]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.3152135092399074,1.2316310045475851,0.71338606911949],"aabb_xy":[[-0.32450712747705796,1.194131006059451],[-0.3059198910027568,1.2691310030357188]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[-0.29067676472031784,1.5115016417743816,0.71338606911949],"aabb_xy":[[-0.35467676677004983,1.4714071586850737],[-0.22667676267058584,1.5515961248636896]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.4969127339788617,-1.2888530736142094,0.71338606911949],"aabb_xy":[[0.46642848385183155,-1.3388530733957054],[0.5273969841058919,-1.2388530738327135]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.06388983479073695,-1.5930654218015674,0.71338606911949],"aabb_xy":[[0.018897248072286543,-1.6380654210760162],[0.10888242150918737,-1.5480654225271187]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.19123550923703825,-0.8992357845835501,0.71338606911949],"aabb_xy":[[0.12623550659924476,-0.950715383282997],[0.25623551187483173,-0.8477561858841031]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.46665412030375886,-0.9499422698967555,0.71338606911949],"aabb_xy":[[0.41665411864226404,-0.999940712152458],[0.5166541219652535,-0.8999438276410526]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.03128393181248512,0.5158817204544999,0.71338606911949],"aabb_xy":[[-0.05319261395183616,0.49398105363440914],[-0.009375249673134071,0.5377823872745906]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.7155547377154865,-1.3627250974240506,0.71338606911949],"aabb_xy":[[0.7075607491377829,-1.3707251775191407],[0.7235487262931897,-1.35472501732896]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[0.5933954361452662,-0.12042521937447948,0.71338606911949],"aabb_xy":[[0.5887603209930328,-0.12429255445162811],[0.5980305512974995,-0.11655788429733081]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.27407698195198116,-1.1418746823509602,0.71338606911949],"aabb_xy":[[-0.2965769824640217,-1.1643665407163584],[-0.2515769814399405,-1.1193828239855617]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.3368467350087078,-0.9740680497792122,0.71338606911949],"aabb_xy":[[-0.36799365385229094,-1.0440680484660194],[-0.3056998161651247,-0.9040680510924051]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6525133611417812,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8583.png","name":"8583"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8583.png","name":"8583"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3493.png","name":"3493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3172.png","name":"3172"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/378.png","name":"378"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6299.png","name":"6299"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":718.7728169107036,"rotation_z_degrees":220.99634596635067,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006148374072532842,-0.0011330397821884726,0.011610314496181804]},{"name":"camera_2","offset_m":[0.010735121367193678,0.003673394111555695,-0.012099343840091757]},{"name":"camera_3","offset_m":[0.002988209221741065,-0.011449213338120713,-0.019514306737280215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005107060955202819,-0.0015577932488883132,-0.0017001654130656282],"end_effector_yaw_offset_degrees":-0.07692950705908941},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005867807611454276,0.0014454525216356807,-0.0005691790798145289],"end_effector_yaw_offset_degrees":0.4845477660405746},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001186069175868575,-0.0014042187050012376,0.00025306699065960093],"end_effector_yaw_offset_degrees":-0.9342497757596873},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00038880601517657853,-0.00028774561915026627,-0.0013633573190902216],"end_effector_yaw_offset_degrees":-0.3318977781708796},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015984416725329555,0.001853155334204798,-0.00012207596684342945],"end_effector_yaw_offset_degrees":-0.626296224295644},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014032608402283083,-0.0015343369031284647,-0.00012258212628795426],"end_effector_yaw_offset_degrees":0.28206653468806464}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004541612549909698,0.004102014555517771],"position_m":[0.1652583874500903,-0.10219798544448223,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004965444944923057,0.0003844891257153808],"position_m":[0.21596544494492306,-0.3677155108742846,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0024045393038248496,0.0034292095243445763],"position_m":[0.2877954606961752,0.32212920952434454,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004715226372672196,-0.0005248573145626876],"position_m":[0.3487847736273278,0.11457514268543731,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"5ef7fe707fcade61a0d44ad625a0c6fccca9a7f5fe9dfd5b26b73a487edf6956","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8583/tex_ceiling_textures_6299/tex_floor_textures_378/tex_table_textures_3493/tex_wall_textures_3172","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4732666889559417480,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4732666889559417480,"visual_seed":4732666889559417480,"scene_id":"lab_003","finished_at":"2026-09-08T21:59:17"}
+{"episode_id":"ep_000054","started_at":"2026-09-08T21:59:24","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[0.5808944393315285,-1.2576365663006421,0.71338606911949],"aabb_xy":[[0.5348093480767969,-1.321636563553197],[0.6269795305862599,-1.1936365690480868]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.16040131597983553,0.6322714075752143,0.71338606911949],"aabb_xy":[[-0.1686158610955195,0.6235948172775728],[-0.15218677086415153,0.6409479978728555]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.6980275796883211,0.6175403597404316,0.71338606911949],"aabb_xy":[[0.673027580522688,0.6105881140350751],[0.7230275788539542,0.6244926054457882]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.5443136096995769,0.38838546095334614,0.71338606911949],"aabb_xy":[[0.5218144739733499,0.36588546017508317],[0.5668127454258038,0.4108854617316091]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.3904218016080705,0.6332726839558993,0.71338606911949],"aabb_xy":[[-0.41292180185158595,0.6210680492961274],[-0.36792180136455516,0.6454773186156713]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[0.19222665597087008,-1.870343984217811,0.71338606911949],"aabb_xy":[[0.1272266533330766,-1.9218235829172576],[0.25722665860866356,-1.8188643855183637]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.3406163603573395,-2.256814253199955,0.71338606911949],"aabb_xy":[[-0.34703017400052444,-2.2632240734476228],[-0.33420254671415456,-2.2504044329522865]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.5466585765202229,-0.1930233689233707,0.71338606911949],"aabb_xy":[[-0.569123346491628,-0.2155233698022312],[-0.5241938065488178,-0.17052336804451018]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[-0.5105918388302552,-0.9648844858958969,0.71338606911949],"aabb_xy":[[-0.6005918425071731,-1.026316892473001],[-0.42059183515333676,-0.9034520793187923]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.5763721818154487,-2.375118614194698,0.71338606911949],"aabb_xy":[[-0.5817046964700616,-2.3804429424399336],[-0.5710396671608358,-2.369794285949462]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.44539499201410093,0.8653637397476581,0.71338606911949],"aabb_xy":[[0.36539498985133845,0.7854085561215144],[0.5253949941768634,0.9453189233738016]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[0.21591561580361973,1.0116564158238646,0.71338606911949],"aabb_xy":[[0.15591561494280692,0.9602299858173781],[0.27591561666443254,1.0630828458303507]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[-0.3062134038516863,-1.6769243231332824,0.71338606911949],"aabb_xy":[[-0.3287270956751435,-1.74692432373429],[-0.28369971202822913,-1.606924322532275]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.1680445739142581,1.4788070690000272,0.71338606911949],"aabb_xy":[[-0.19801213082408375,1.4488070687021415],[-0.13807701700443242,1.508807069297913]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.5580454503657086,1.6518827094660913,0.71338606911949],"aabb_xy":[[0.4964546911417159,1.5878827113570444],[0.6196362095897016,1.7158827075751382]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.44010844663301185,0.09173487003147685,0.71338606911949],"aabb_xy":[[0.40260844613565355,0.08776618648335842],[0.47760844713037004,0.09570355357959524]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.30540062946477553,0.5328930548954851,0.71338606911949],"aabb_xy":[[0.24140062876130625,0.4868746724225642],[0.3694006301682449,0.5789114373684062]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.5651926967714209,-2.020763095098931,0.71338606911949],"aabb_xy":[[-0.6291926953579935,-2.0677700584984398],[-0.5011926981848486,-1.9737561316994223]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.555442029868396,-1.9286649705774932,0.71338606911949],"aabb_xy":[[0.5186473967434897,-1.9655708456740753],[0.5922366629933022,-1.8917590954809107]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.1652423110119755,-0.9432252531953296,0.71338606911949],"aabb_xy":[[-0.2292423074075486,-1.0071885416140631],[-0.10124231461640246,-0.879261964776596]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.3392385125895955,0.38395075696421843,0.71338606911949],"aabb_xy":[[-0.3942339904102548,0.3289507555303115],[-0.28424303476893603,0.43895075839812536]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6511994575018384,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1796.png","name":"1796"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1796.png","name":"1796"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/20.png","name":"20"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/238.png","name":"238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2309.png","name":"2309"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":589.7242359040232,"rotation_z_degrees":149.83183003178098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0009923652310705848,-0.014154161363988105,-0.01273540425015276]},{"name":"camera_2","offset_m":[-0.0045967001467328225,0.009896672834165014,-0.010327832471299496]},{"name":"camera_3","offset_m":[-0.004460750759791986,-0.01900422171016193,-0.010575505691804996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00043656202225997504,0.0005063412896805439,-0.0010695830714975503],"end_effector_yaw_offset_degrees":-0.32099957529167233},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001475630746746043,-0.000149290313668705,0.0017423606706544344],"end_effector_yaw_offset_degrees":0.357730818008851},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008877877452175857,0.0014652912430712212,-0.00047527904371222666],"end_effector_yaw_offset_degrees":-0.9553451425970856},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011827161549590273,-0.0009273436344822818,-0.001183361413476038],"end_effector_yaw_offset_degrees":0.1861891831393645},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-8.783190051749219e-05,0.0012316936922818055,-0.0002736796120576322],"end_effector_yaw_offset_degrees":-0.4576009734129691},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009621088222760354,-0.0016198157669682614,-0.0007650668691374888],"end_effector_yaw_offset_degrees":-0.6982539672303698}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003086879232392127,0.0037331141357386096],"position_m":[0.1667131207676079,-0.1025668858642614,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007751375019926302,-0.003385569571622078],"position_m":[0.21177513750199262,-0.37148556957162204,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0033614106510321084,-0.002071181856118082],"position_m":[0.2868385893489679,0.3166288181438819,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028067612910483764,-0.000790927830152389],"position_m":[0.3506932387089516,0.1143090721698476,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a184b0614309f08b7d6ddc0fe630b0bd1fd24b5bc140ef6fbc3918f04f1451c3","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1796/tex_ceiling_textures_4887/tex_floor_textures_2309/tex_table_textures_20/tex_wall_textures_238","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3526004852045193318,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3526004852045193318,"visual_seed":3526004852045193318,"scene_id":"lab_003","finished_at":"2026-09-08T22:07:38"}
+{"episode_id":"ep_000055","started_at":"2026-09-08T22:07:47","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[0.24369052694547932,1.7760376246100464,0.71338606911949],"aabb_xy":[[0.23283892069660372,1.7651783338823952],[0.2545421331943549,1.7868969153376972]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.6302622917437644,1.5934662563401276,0.71338606911949],"aabb_xy":[[-0.6645785689183822,1.54346625636695],[-0.5959460145691463,1.6434662563133053]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.20208235801580215,-0.7686525216867461,0.71338606911949],"aabb_xy":[[-0.25707460865131315,-0.823652523430059],[-0.14709010738029124,-0.7136525199434334]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.5207117603691924,0.5412303198138755,0.71338606911949],"aabb_xy":[[-0.5283360284593707,0.5335970962773319],[-0.5130874922790142,0.5488635433504193]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.44565065203949644,1.6412882154853947,0.71338606911949],"aabb_xy":[[-0.4957481160205701,1.5772882149755831],[-0.3955531880584229,1.7052882159952067]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.05043138973317007,-2.192139496194489,0.71338606911949],"aabb_xy":[[-0.11043139059398287,-2.2435659262009753],[0.009568611127642733,-2.140713066188002]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[-0.12708060634643437,0.05446502087008476,0.71338606911949],"aabb_xy":[[-0.17705941485675025,0.004465020864365961],[-0.07710179783611848,0.10446502087580356]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[0.5318911689749257,0.9744805846486955,0.71338606911949],"aabb_xy":[[0.4518973453963675,0.894480582055854],[0.6118849925534839,1.054480587241537]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.23438726778359942,0.9714873703044247,0.71338606911949],"aabb_xy":[[-0.2983872710022373,0.9247642584054163],[-0.17038726456496156,1.018210482203433]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.593555743423763,0.2809021683425521,0.71338606911949],"aabb_xy":[[-0.6635557398337246,0.26046423269087027],[-0.523555747013801,0.3013401039942337]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[0.3853787368946686,-0.1734148115226093,0.71338606911949],"aabb_xy":[[0.36827665893630046,-0.19052161705387904],[0.4024808148530368,-0.15630800599133954]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.1041380919104099,-2.514474707257295,0.71338606911949],"aabb_xy":[[-0.14163809220258472,-2.5185161826578986],[-0.06663809161823507,-2.510433231856691]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[-0.4346137007785344,-2.3186111954274162,0.71338606911949],"aabb_xy":[[-0.4721137019633272,-2.3230294181234763],[-0.3971136995937416,-2.3141929727313553]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.0026360391800025473,-0.6322594824932293,0.71338606911949],"aabb_xy":[[-0.0172550007003377,-0.6449152937779261],[0.022527079060342795,-0.6196036712085324]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.14154503247780725,-1.2736889130581162,0.71338606911949],"aabb_xy":[[-0.2065450303594551,-1.324812576764657],[-0.07654503459615948,-1.2225652493515753]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.03413192944299803,1.3685107145769049,0.71338606911949],"aabb_xy":[[0.008911092583158363,1.343286963724018],[0.059352766302837694,1.3937344654297914]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[0.22439887700179173,1.3064855246156895,0.71338606911949],"aabb_xy":[[0.18939887787183604,1.3007403035400253],[0.2593988761317474,1.3122307456913536]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.1524674790097712,-0.7895911961424769,0.71338606911949],"aabb_xy":[[0.062467482508899434,-0.8355028385609349],[0.24246747551064293,-0.7436795537240184]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.3305974420776716,-2.2481712026967635,0.71338606911949],"aabb_xy":[[0.2955974421011758,-2.257635818744381],[0.36559744205416744,-2.238706586649147]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.2765075432231323,0.7541756927374603,0.71338606911949],"aabb_xy":[[0.2115075422226318,0.7033893275827853],[0.34150754422363283,0.8049620578921352]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.2669800691208375,0.8560474708280394,0.71338606911949],"aabb_xy":[[-0.28989578200588745,0.8331431736916161],[-0.24406435623578765,0.8789517679644631]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.5125037379557482,-1.7617009706831994,0.71338606911949],"aabb_xy":[[-0.5174030302623117,-1.7893778899857682],[-0.5076044456491847,-1.7340240513806306]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.31217905005311275,-1.9754916458832579,0.71338606911949],"aabb_xy":[[0.28967905004296446,-1.9895878655228612],[0.33467905006326104,-1.9613954262436546]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.4388861182883128,-0.37823843379183053,0.71338606911949],"aabb_xy":[[0.4105564083397726,-0.3826991759855476],[0.46721582823685304,-0.37377769159811347]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.535825793813306,-2.065476881481711,0.71338606911949],"aabb_xy":[[0.5270237385043332,-2.0732882076366397],[0.5446278491222786,-2.0576655553267815]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_25","position":[-0.6794885318381925,0.5880645094980128,0.71338606911949],"aabb_xy":[[-0.691057512585129,0.5630645093810812],[-0.6679195510912559,0.6130645096149446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6469348154072617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/230.png","name":"230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5260.png","name":"5260"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8034.png","name":"8034"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3745.png","name":"3745"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4758.png","name":"4758"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":742.0372298560011,"rotation_z_degrees":233.80582057541864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010721731316919843,0.017258027549062537,0.014371025880030985]},{"name":"camera_2","offset_m":[0.016404444633205933,0.010410829189739693,0.008777043791175963]},{"name":"camera_3","offset_m":[-0.014577483391983335,-0.014257074033987207,-0.00037848876078701993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014261222054209686,0.001831558382568134,0.0014088827291887755],"end_effector_yaw_offset_degrees":0.427788641022},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004464416346651799,0.001806997992400259,-0.0012681017016304822],"end_effector_yaw_offset_degrees":-0.543340627913613},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005956321001673363,0.0007513715804068075,0.0007841853746976095],"end_effector_yaw_offset_degrees":-0.5566491271883733},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0005653810290979625,-0.0014815642859940096,0.0004639305103243444],"end_effector_yaw_offset_degrees":0.04803101111834618},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008440166947261951,0.0016320996934139154,0.00019221062408566634],"end_effector_yaw_offset_degrees":0.07398250861928202},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0019782779106175194,0.0005215293273775389,-0.0009759577790839015],"end_effector_yaw_offset_degrees":-0.18163178164187177}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005883295581750334,-0.002737781999755421],"position_m":[0.17038832955817504,-0.10903778199975543,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-5.55293930803967e-05,0.0029241436759109155],"position_m":[0.2109444706069196,-0.36517585632408905,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003077449460461669,-0.0028130278358859816],"position_m":[0.2932774494604617,0.315886972164114,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023305934743630755,0.0011579042905754],"position_m":[0.3558305934743631,0.11625790429057539,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"47f7d388ef7221a8dc6848fa23cfe40e1fa28b8bca4c251215ff75b1cb72ab71","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0070.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_230/tex_ceiling_textures_4758/tex_floor_textures_3745/tex_table_textures_5260/tex_wall_textures_8034","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1171409928704302773,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1171409928704302773,"visual_seed":1171409928704302773,"scene_id":"lab_003","finished_at":"2026-09-08T22:15:48"}
+{"episode_id":"ep_000056","started_at":"2026-09-08T22:34:11","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.6760052232434892,0.2959319583784623,0.71338606911949],"aabb_xy":[[0.6601207299781641,0.28157901807963825],[0.6918897165088144,0.31028489867728637]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.6112256801123008,-1.7959841537242283,0.71338606911949],"aabb_xy":[[0.6025277178215855,-1.8081091280317032],[0.6199236424030161,-1.7838591794167538]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.5327122924085196,-0.23325628596928993,0.71338606911949],"aabb_xy":[[-0.547046717534683,-0.2453165015238288],[-0.5183778672823561,-0.22119607041475112]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.18776547534728194,0.8728241721894054,0.71338606911949],"aabb_xy":[[-0.25176547264962834,0.8284577452215486],[-0.12376547804493551,0.9171905991572621]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.012369251345053067,-1.7972422016109189,0.71338606911949],"aabb_xy":[[-0.01263074792690921,-1.8135875652070812],[0.03736925061701534,-1.7808968380147565]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.2434610444909771,-0.4015992674238684,0.71338606911949],"aabb_xy":[[-0.28096104478315187,-0.405640742824472],[-0.20596104419880226,-0.39755779202326474]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[-0.3510239034270143,1.5186256951947565,0.71338606911949],"aabb_xy":[[-0.3793536133755545,1.5141649530010395],[-0.32269419347847406,1.5230864373884736]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[-0.34583841223621253,0.5004312612878792,0.71338606911949],"aabb_xy":[[-0.358441111373289,0.4878358650630137],[-0.3332357130991361,0.5130266575127447]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.12874508963157438,-2.4367534437704,0.71338606911949],"aabb_xy":[[0.06374508863107384,-2.487539808925075],[0.19374509063207487,-2.385967078615725]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.5940262494719493,1.3228042110205136,0.71338606911949],"aabb_xy":[[0.5867650019015418,1.3100172007570041],[0.6012874970423567,1.335591221284023]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[0.6804676039897999,-2.042505838405864,0.71338606911949],"aabb_xy":[[0.6504759412559294,-2.0725058377426646],[0.7104592667236701,-2.0125058390690636]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.4082177339187877,1.3008942052307995,0.71338606911949],"aabb_xy":[[-0.42571766735277106,1.2833942053105647],[-0.3907178004848043,1.3183942051510338]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.16043600570178584,1.2917707138352101,0.71338606911949],"aabb_xy":[[-0.21043600672092116,1.2553044980973824],[-0.11043600468265061,1.3282369295730383]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.4930170263175944,0.6832114890960077,0.71338606911949],"aabb_xy":[[-0.54301702575779,0.6332435646116914],[-0.4430170268773988,0.733179413580324]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[0.3067898891836056,-0.6658546896741095,0.71338606911949],"aabb_xy":[[0.22679606560504745,-0.7458546922669512],[0.3867837127621639,-0.5858546870812681]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.6516957446529983,-1.5497801542067033,0.71338606911949],"aabb_xy":[[-0.6581973811610029,-1.5595479762330133],[-0.6451941081449937,-1.5400123321803938]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.5294020617237295,1.7097271923845176,0.71338606911949],"aabb_xy":[[-0.6194020582246011,1.6638155499660594],[-0.4394020652228577,1.755638834802976]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.5390014592385022,0.45362917016319804,0.71338606911949],"aabb_xy":[[0.4937228443573529,0.3896291708150143],[0.5842800741196514,0.5176291695113817]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.11849695453153453,-1.7539394815459661,0.71338606911949],"aabb_xy":[[-0.15349695450803036,-1.7634040975935827],[-0.08349695455503868,-1.7444748654983495]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[0.3816542871618134,-2.1327405600988696,0.71338606911949],"aabb_xy":[[0.34415428873841303,-2.1459047740667],[0.4191542855852137,-2.1195763461310384]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.07007718477523028,-1.4458201448955799,0.71338606911949],"aabb_xy":[[-0.09198586691458131,-1.4677208117156704],[-0.048168502635879226,-1.423919478075489]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.054273320712136974,1.3405492044378309,0.71338606911949],"aabb_xy":[[0.049638205559903587,1.336681869360682],[0.05890843586437036,1.3444165395149794]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.6860829083915456,-1.8835699860712074,0.71338606911949],"aabb_xy":[[-0.692395007927884,-1.8893369253244263],[-0.6797708088552072,-1.8778030468179885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6504875484771595,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7127.png","name":"7127"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7127.png","name":"7127"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8249.png","name":"8249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1198.png","name":"1198"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7654.png","name":"7654"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8086.png","name":"8086"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":720.8822366669147,"rotation_z_degrees":138.75454831548498,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019064716606325794,0.019110400028538987,0.01807403560213042]},{"name":"camera_2","offset_m":[0.006760219095368537,-0.01815240124217717,0.015720280253772517]},{"name":"camera_3","offset_m":[-0.01772643725817194,-0.00374982688767218,0.005057760929544831]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00010995094820532452,-0.0008222191150692778,-0.0012192642780824853],"end_effector_yaw_offset_degrees":0.18699855024629009},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019251294940331063,-0.0007684932798934022,-0.0017566038551728909],"end_effector_yaw_offset_degrees":0.6946900129067055},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018513690226974202,-0.00018905103587507372,-0.00014574023102951247],"end_effector_yaw_offset_degrees":-0.16357310692399452},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011749892740390059,-0.00042102561383430717,0.0016632424235447055],"end_effector_yaw_offset_degrees":-0.1335345888046735},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017767260594175834,-0.0003689357809149717,0.0016148104718333865],"end_effector_yaw_offset_degrees":0.03813161494035788},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00040255001728935593,-0.0013075944361621706,-0.00010392070822288222],"end_effector_yaw_offset_degrees":0.29923624154456707}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016801675822221175,-0.0036188345783882657],"position_m":[0.1681198324177779,-0.10991883457838827,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004824480941965797,0.00378274531751874],"position_m":[0.2158244809419658,-0.3643172546824812,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0037644506191047864,0.002422654252728802],"position_m":[0.2939644506191048,0.3211226542527288,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014146933783705795,-0.000361052037102922],"position_m":[0.35491469337837056,0.11473894796289708,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f69f573bc416967911b960d61d9e60c70cb1e7f4fc47dc2d7873a9de09cf32cc","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7127/tex_ceiling_textures_8086/tex_floor_textures_7654/tex_table_textures_8249/tex_wall_textures_1198","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5296103704676751926,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5296103704676751926,"visual_seed":5296103704676751926,"scene_id":"lab_003","finished_at":"2026-09-08T22:42:07"}
+{"episode_id":"ep_000057","started_at":"2026-09-08T22:51:00","dimensions":{"distractor":{"count":29,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[-0.11607116152447838,1.163807672669896,0.71338606911949],"aabb_xy":[[-0.20607116011894833,1.1475570863564752],[-0.026071162930008426,1.1800582589833173]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.23450445708017148,0.6087670075558531,0.71338606911949],"aabb_xy":[[-0.2985044574577051,0.5590217407050408],[-0.17050445670263786,0.6585122744066654]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.2754928999765945,-2.1576921767641584,0.71338606911949],"aabb_xy":[[-0.32547170848691037,-2.207692176769877],[-0.2255140914662786,-2.1076921767584396]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.4589612190841059,1.7781925088909314,0.71338606911949],"aabb_xy":[[0.4526491195477675,1.772425569637713],[0.46527331862044435,1.7839594481441508]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[-0.34699627304322406,-1.2236196542283824,0.71338606911949],"aabb_xy":[[-0.43199627146064734,-1.3084939496906673],[-0.2619962746258009,-1.1387453587660974]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.13026764178609862,1.6233296416190037,0.71338606911949],"aabb_xy":[[0.12085016721623587,1.6139134644812847],[0.13968511635596137,1.6327458187567228]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[0.5148556312706056,-0.607504489274215,0.71338606911949],"aabb_xy":[[0.5095180556046011,-0.6325044902033549],[0.5201932069366102,-0.5825044883450753]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.5930319049772078,0.8004909843897003,0.71338606911949],"aabb_xy":[[-0.6480241556127189,0.7454909826463876],[-0.538039654341697,0.8554909861330132]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.4869742317659702,0.34146476580912166,0.71338606911949],"aabb_xy":[[0.4804725952579657,0.33169694378281195],[0.49347586827397494,0.3512325878354315]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.42933866143220056,0.8802013432658757,0.71338606911949],"aabb_xy":[[0.3693386611807993,0.825920018229411],[0.48933866168360163,0.9344826683023403]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[0.47528534460622973,1.047379306362167,0.71338606911949],"aabb_xy":[[0.41028534350028645,1.0224139332940385],[0.540285345712173,1.072344679430295]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.40031526567591436,0.3457037980800699,0.71338606911949],"aabb_xy":[[0.3922016110025373,0.3375979816260408],[0.4084289203492915,0.353809614534099]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.5972200123868371,0.30090655615068185,0.71338606911949],"aabb_xy":[[-0.6612200156054749,0.2541834442516735],[-0.5332200091681992,0.3476296680496902]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.5220068091303116,-2.0685887145266326,0.71338606911949],"aabb_xy":[[-0.5366502146843446,-2.083247434183417],[-0.5073634035762786,-2.0539299948698484]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.37304087061554303,-0.4866784093686376,0.71338606911949],"aabb_xy":[[0.33554086995096427,-0.5023654673688597],[0.4105408712801217,-0.47099135136841536]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.10923114592885519,-1.670736094003483,0.71338606911949],"aabb_xy":[[0.04923114542100226,-1.727582827689404],[0.16923114643670809,-1.6138893603175615]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.4521121805898485,-1.6276553629018198,0.71338606911949],"aabb_xy":[[0.44170062190936465,-1.6330010962377182],[0.4625237392703321,-1.6223096295659214]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.4002866871843178,-2.5224912091475975,0.71338606911949],"aabb_xy":[[0.380002384460919,-2.5427738342903057],[0.4205709899077165,-2.5022085840048875]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.44463525772673423,-1.5198016249444801,0.71338606911949],"aabb_xy":[[-0.4698560945865739,-1.5450253757973667],[-0.41941442086689457,-1.4945778740915932]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.5722110706566271,0.6663151952939637,0.71338606911949],"aabb_xy":[[-0.5815580782389224,0.6520115730763197],[-0.5628640630743319,0.6806188175116078]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.6393606387811039,-0.4757581487828775,0.71338606911949],"aabb_xy":[[-0.6560377747741994,-0.49245807275680775],[-0.6226835027880084,-0.4590582248089472]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.33609611167381326,1.4658843413854226,0.71338606911949],"aabb_xy":[[0.25609611471077404,1.388808699741649],[0.41609610863685237,1.542959983029196]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[0.434233780478527,-0.23807284119678762,0.71338606911949],"aabb_xy":[[0.4233933022520121,-0.25525912248743643],[0.4450742587050419,-0.2208865599061388]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[0.2485739681511414,-1.6479289593633732,0.71338606911949],"aabb_xy":[[0.2389423319307118,-1.657566272143082],[0.25820560437157103,-1.638291646583664]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.57705761816216,1.324948203360793,0.71338606911949],"aabb_xy":[[-0.6670576204961789,1.2474658487756805],[-0.4870576158281408,1.4024305579459058]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[-0.5010270459759781,-1.2932351449965402,0.71338606911949],"aabb_xy":[[-0.5161899189529152,-1.3084006022916592],[-0.48586417299904106,-1.2780696877014217]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_26","position":[-0.4099129861274858,-0.5172152479898964,0.71338606911949],"aabb_xy":[[-0.4699129859740525,-0.5740338701829351],[-0.34991298628091894,-0.4603966257968577]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.6427811192386812,-1.15066627461894,0.71338606911949],"aabb_xy":[[0.5877856414180217,-1.2056662760528467],[0.6977765970593405,-1.0956662731850328]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_28","position":[-0.5369660189458809,-2.3358619002081698,0.71338606911949],"aabb_xy":[[-0.6009660160579866,-2.3848942700025804],[-0.47296602183377523,-2.286829530413759]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6484632374778823,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8002.png","name":"8002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8002.png","name":"8002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9826.png","name":"9826"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6699.png","name":"6699"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9912.png","name":"9912"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8373.png","name":"8373"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":629.8526993592318,"rotation_z_degrees":177.6443365356035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006414593288462906,-0.01567345914227554,0.01680290649920613]},{"name":"camera_2","offset_m":[0.0010333287337596607,-0.01954841461817326,-0.0007925278981381068]},{"name":"camera_3","offset_m":[-0.009274064545287933,0.007998434714726294,-0.0136219933724731]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011961035174644198,-0.0017207702485313781,-0.0008563272886249139],"end_effector_yaw_offset_degrees":0.08523906801361991},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00047114169020475664,-0.0011328032223658305,0.0002444098092244211],"end_effector_yaw_offset_degrees":0.8808922111380737},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016604036638204458,-0.0004475961417098025,0.00016127651217894],"end_effector_yaw_offset_degrees":0.517772982283675},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0015389145462838365,-0.0003909656615288743,-0.0018226843340555844],"end_effector_yaw_offset_degrees":-0.187329784986477},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0004536395634436824,0.0004082632486862186,0.0007745916940771779],"end_effector_yaw_offset_degrees":-0.8868855858260165},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001392429918418051,0.0006194860609030585,-0.0017119130167603505],"end_effector_yaw_offset_degrees":-0.6186048835303815}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004701054122951166,-0.0008839192875795855],"position_m":[0.17027010541229512,-0.10718391928757959,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.1555755512388305e-05,0.0003642485294511203],"position_m":[0.2110415557555124,-0.3677357514705489,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0017787770780144873,0.0005816814187853793],"position_m":[0.2884212229219855,0.3192816814187854,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004254423664515624,-0.0017052374061833375],"position_m":[0.3577544236645156,0.11339476259381666,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d90adac2018619a8c057c1571ac60c62d18543eb3d850f228c672cbb08339420","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8002/tex_ceiling_textures_8373/tex_floor_textures_9912/tex_table_textures_9826/tex_wall_textures_6699","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":8864859941734883953,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":8864859941734883953,"visual_seed":8864859941734883953,"scene_id":"lab_003","finished_at":"2026-09-08T22:59:02"}
+{"episode_id":"ep_000058","started_at":"2026-09-08T22:59:10","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.03559325190420448,-1.217751875687273,0.71338606911949],"aabb_xy":[[0.026433372960327883,-1.22428309373081],[0.04475313084808108,-1.2112206576437359]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[0.20532406596196795,-0.7360242507436738,0.71338606911949],"aabb_xy":[[0.15032858814130853,-0.7910242521775805],[0.26031954378262734,-0.6810242493097667]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.2802639187827167,-0.727370276502207,0.71338606911949],"aabb_xy":[[-0.3147263967958045,-0.7340339536851298],[-0.24580144076962895,-0.7207065993192842]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.18976943559787463,1.6061177216610623,0.71338606911949],"aabb_xy":[[0.12476943296008117,1.5546381229616153],[0.2547694382356681,1.6575973203605092]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.5752419911815421,-1.050029524190484,0.71338606911949],"aabb_xy":[[-0.6127419916789003,-1.0539982077386023],[-0.5377419906841838,-1.0460608406423657]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.12841618878379657,1.7660037330804967,0.71338606911949],"aabb_xy":[[0.10624366180714573,1.7438280659243734],[0.1505887157604474,1.7881794002366196]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.6955584655486964,0.3989163440601571,0.71338606911949],"aabb_xy":[[0.691597981778962,0.3912484794746365],[0.6995189493184307,0.4065842086456777]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[0.4512419788516733,-0.034106967734161664,0.71338606911949],"aabb_xy":[[0.4411602717730997,-0.11410696562627631],[0.46132368593024664,0.04589303015795299]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.6049962585851223,-2.39320363852787,0.71338606911949],"aabb_xy":[[-0.6649962588365235,-2.447484963564334],[-0.5449962583337211,-2.338922313491405]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.6300417051477567,-2.2872370591391733,0.71338606911949],"aabb_xy":[[0.5800628966374408,-2.337237059144892],[0.6800205136580726,-2.2372370591334545]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.10208393079285072,0.633211393936588,0.71338606911949],"aabb_xy":[[0.0846532157138442,0.615939279272737],[0.11951464587185721,0.6504835086004386]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[-0.44353924880124906,-1.0176108451103323,0.71338606911949],"aabb_xy":[[-0.48572366296207986,-1.0816108453875435],[-0.4013548346404184,-0.9536108448331211]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.20300961388062566,0.5611845172805539,0.71338606911949],"aabb_xy":[[0.18543131169167879,0.543610027706449],[0.22058791606957248,0.5787590068546588]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.6499568744584638,-0.4683974263862689,0.71338606911949],"aabb_xy":[[0.6329467771684131,-0.4845319148845429],[0.6669669717485144,-0.45226293788799504]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.41921835220048564,0.14280538102865403,0.71338606911949],"aabb_xy":[[-0.4367650471166046,0.10530537946440277],[-0.4016716572843667,0.1803053825929053]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.526618294422333,-1.9841578499521353,0.71338606911949],"aabb_xy":[[-0.6166182911579431,-2.0373413132694296],[-0.43661829768672267,-1.9309743866348406]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.6769155275553753,-0.6937497342235186,0.71338606911949],"aabb_xy":[[-0.692977455013893,-0.7787497360361104],[-0.6608536000968577,-0.6087497324109268]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.3620964934880051,1.646010963123723,0.71338606911949],"aabb_xy":[[0.32778021631338716,1.5960109631505455],[0.39641277066262304,1.696010963096901]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[-0.25371643300333263,-0.4244199341767665,0.71338606911949],"aabb_xy":[[-0.27360747288367293,-0.43707574546146344],[-0.23382539312299244,-0.41176412289206976]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.11102559254755151,-1.3176537861157531,0.71338606911949],"aabb_xy":[[-0.1750212899426481,-1.3816537844164616],[-0.04702989515245491,-1.2536537878150442]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.23792938735093272,0.7668793007707326,0.71338606911949],"aabb_xy":[[0.17792938675491654,0.7120668282255092],[0.2979293879469489,0.8216917733159561]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.4064458165160146,-1.7950754446405246,0.71338606911949],"aabb_xy":[[-0.44775035957975057,-1.8590754442086415],[-0.3651412734522786,-1.7310754450724073]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.36578752697135974,1.2472664296181124,0.71338606911949],"aabb_xy":[[-0.38706553511483194,1.1822664272920393],[-0.34450951882788744,1.3122664319441855]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6502395185565565,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6173.png","name":"6173"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6442.png","name":"6442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5529.png","name":"5529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6232.png","name":"6232"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":651.781600095693,"rotation_z_degrees":30.575861552309078,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0023757014425708906,-0.014799831193100462,-0.006671545869084073]},{"name":"camera_2","offset_m":[0.009364589769327396,-0.0068002249779877885,-0.010695725966480137]},{"name":"camera_3","offset_m":[0.009153398764239724,0.0016155973169521866,-0.018368774421429784]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015866531099135055,0.0019663871843148854,0.001272477539817421],"end_effector_yaw_offset_degrees":-0.8430265213328842},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015753301799289576,0.000846569910066544,-7.149738837434636e-05],"end_effector_yaw_offset_degrees":-0.03702353130116465},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014649196881091333,-0.0007584164035641745,0.0015714158135557797],"end_effector_yaw_offset_degrees":0.5711840755481759},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001963809902887801,0.001151328621985611,0.00047712634720366775],"end_effector_yaw_offset_degrees":0.5081191667870102},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0014937488582464835,0.0017917478497161258,0.000844175122082695],"end_effector_yaw_offset_degrees":-0.682185056311075},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0016940708555185395,-0.0009231705267140891,-9.309773159353846e-05],"end_effector_yaw_offset_degrees":-0.7613320195763378}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004745291411814358,2.032622910649179e-05],"position_m":[0.17454529141181435,-0.1062796737708935,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00391192626410261,0.0028779754906533674],"position_m":[0.2149119262641026,-0.3652220245093466,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0009184721815667131,0.004473879122036049],"position_m":[0.2911184721815667,0.32317387912203605,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013153880770081514,0.00027156140232342026],"position_m":[0.35481538807700813,0.11537156140232341,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7bfcc608c24ee15c76a4862d47b35131191d9e9416cf1797c639e1ba6d1d0b0c","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8385/tex_ceiling_textures_6232/tex_floor_textures_5529/tex_table_textures_6173/tex_wall_textures_6442","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":232208832681780494,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":232208832681780494,"visual_seed":232208832681780494,"scene_id":"lab_003","finished_at":"2026-09-08T23:07:43"}
+{"episode_id":"ep_000059","started_at":"2026-09-08T23:07:51","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[-0.09007242111619118,-1.3996433064765876,0.71338606911949],"aabb_xy":[[-0.0997040573366208,-1.4092806192562966],[-0.08044078489576156,-1.3900059936968787]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.5158514442820112,1.2445977321426094,0.71338606911949],"aabb_xy":[[0.502979540781071,1.164597731728773],[0.5287233477829513,1.3245977325564453]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.15959374199138787,1.0715290925793766,0.71338606911949],"aabb_xy":[[0.07459374329931323,1.0395432291844977],[0.2445937406834625,1.1035149559742554]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.23300213884598536,-2.2979140129622295,0.71338606911949],"aabb_xy":[[-0.25551583066944256,-2.3679140135632366],[-0.21048844702252817,-2.2279140123612216]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.2521402095367571,0.8282214829673102,0.71338606911949],"aabb_xy":[[-0.2949069164161773,0.7642214795455078],[-0.2093735026573369,0.8922214863891127]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.46898715168067584,-0.3098458898569194,0.71338606911949],"aabb_xy":[[0.460185096371703,-0.31765721601184843],[0.47778920698964844,-0.3020345637019903]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.1626315145491407,1.0927758496599909,0.71338606911949],"aabb_xy":[[-0.21043768216290934,1.0277758469529317],[-0.11482534693537205,1.1577758523670496]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.5232608154711309,-0.9336216483578337,0.71338606911949],"aabb_xy":[[-0.58826081362705,-0.9599178929077459],[-0.45826081731521184,-0.9073254038079215]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.6074233621390366,-0.7287740833355656,0.71338606911949],"aabb_xy":[[0.5174233624158623,-0.7518474358707453],[0.6974233618622107,-0.7057007308003856]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.26598228579913197,-1.2520231246758975,0.71338606911949],"aabb_xy":[[-0.2700982359112046,-1.2561386797087426],[-0.26186633568705925,-1.2479075696430515]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.2274743661712495,-0.845211407738776,0.71338606911949],"aabb_xy":[[0.2233385098385493,-0.8827114071831331],[0.2316102225039497,-0.8077114082944191]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.5567419457138243,1.3345440734299796,0.71338606911949],"aabb_xy":[[-0.5942419455308577,1.3299058621188378],[-0.5192419458967906,1.3391822847411214]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.5290826337860006,-1.099026522069361,0.71338606911949],"aabb_xy":[[-0.5930826351939912,-1.1508154735932856],[-0.4650826323780099,-1.0472375705454362]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.599737833368359,0.5454510085478077,0.71338606911949],"aabb_xy":[[-0.6547378329901048,0.490467315760335],[-0.5447378337466131,0.6004347013352804]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.09616165442738189,-1.5019045727981533,0.71338606911949],"aabb_xy":[[-0.10657321310786559,-1.5072503061340516],[-0.08575009574689817,-1.4965588394622549]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.22723408744003154,-0.61963581240762,0.71338606911949],"aabb_xy":[[-0.24473408657439868,-0.6295154394452077],[-0.20973408830566434,-0.6097561853700321]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.4470681596109969,-0.4863851571817177,0.71338606911949],"aabb_xy":[[0.42378631741286543,-0.5713851584789457],[0.4703500018091281,-0.4013851558844896]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.153351788451201,1.3712881798070944,0.71338606911949],"aabb_xy":[[0.13306748572780222,1.3510055546643853],[0.17363609117459974,1.391570804949803]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.7033096188730843,-2.291559250198553,0.71338606911949],"aabb_xy":[[0.6856339882844859,-2.3092394664779556],[0.7209852494616825,-2.27387903391915]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.4659404618899554,-2.1600884262647306,0.71338606911949],"aabb_xy":[[0.3959404584983935,-2.195404199968161],[0.5359404652815174,-2.1247726525612993]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.34430586318279444,-2.3534009552306356,0.71338606911949],"aabb_xy":[[0.3068058625182157,-2.369088013230857],[0.3818058638473731,-2.3377138972304126]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.546615375943569,0.8094965686611051,0.71338606911949],"aabb_xy":[[0.4826153795162471,0.7623269448390088],[0.6106153723708909,0.8566661924832016]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.649634086966683,0.5062449177284769,0.71338606911949],"aabb_xy":[[0.6110883941414819,0.46769914667228824],[0.6881797797918839,0.5447906887846655]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[-0.44915370554460077,1.7186212083882624,0.71338606911949],"aabb_xy":[[-0.4841537055210966,1.7091565923406455],[-0.41415370556810494,1.7280858244358788]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.3672983951010923,-2.423468420529487,0.71338606911949],"aabb_xy":[[-0.3765920133382428,-2.4609684190176204],[-0.35800477686394166,-2.3859684220413526]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[0.2739539920355619,1.6924492226498216,0.71338606911949],"aabb_xy":[[0.21395399152770897,1.6356024889639],[0.3339539925434148,1.7492959563357426]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[-0.046357716938117854,-2.188665865934517,0.71338606911949],"aabb_xy":[[-0.12635771395236584,-2.208800417607928],[0.03364228007613013,-2.168531314261106]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[-0.18978499015262218,-1.6936377668400577,0.71338606911949],"aabb_xy":[[-0.21228141158648628,-1.7161377666468052],[-0.16728856871875808,-1.6711377670333103]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[0.5693924063407474,-1.5918447924067658,0.71338606911949],"aabb_xy":[[0.561398417763044,-1.5998448725018557],[0.5773863949184508,-1.583844712311675]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_29","position":[-0.6717101227737549,-0.28928449598036954,0.71338606911949],"aabb_xy":[[-0.6935998703626957,-0.37928449326961866],[-0.6498203751848141,-0.19928449869112044]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[-0.07921395012158094,-0.9681431155568314,0.71338606911949],"aabb_xy":[[-0.12634332912341661,-1.0321431166012331],[-0.03208457111974526,-0.9041431145124293]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_31","position":[-0.08788208503015749,0.4604895504643389,0.71338606911949],"aabb_xy":[[-0.11242830065290821,0.43024065391530186],[-0.06333586940740676,0.490738447013376]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_32","position":[0.3660112157904405,-1.935254849043195,0.71338606911949],"aabb_xy":[[0.3310112175203206,-1.9423289767381828],[0.4010112140605604,-1.9281807213482065]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_33","position":[0.6146825572345369,1.3605020277823634,0.71338606911949],"aabb_xy":[[0.5883937329140962,1.334230594127712],[0.6409713815549776,1.3867734614370144]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_34","position":[-0.334289267349255,1.0755402655987432,0.71338606911949],"aabb_xy":[[-0.34228275714453704,1.0675421336582678],[-0.326295777553973,1.083538397539219]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6505726247134098,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9589.png","name":"9589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9589.png","name":"9589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2467.png","name":"2467"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4778.png","name":"4778"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3679.png","name":"3679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":575.8651423356482,"rotation_z_degrees":124.32283192630624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010302281495545306,-0.013844927738664659,-0.007928209870338624]},{"name":"camera_2","offset_m":[-0.003884067467631383,0.0033518994294512647,0.007662350456950035]},{"name":"camera_3","offset_m":[0.016794111005808254,-0.0023231088039462576,0.015216841222545425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001206163364666207,-0.0009155259901185309,0.0011787467833420766],"end_effector_yaw_offset_degrees":0.8495792670099016},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00037185191149538945,0.0002445323342731851,0.0005828922620564475],"end_effector_yaw_offset_degrees":0.38610648373188794},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014112357744449585,0.0001973128232918733,0.0006631141363509572],"end_effector_yaw_offset_degrees":-0.7084923546538162},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005024794294705374,0.0005171212461556876,0.0014390025251173992],"end_effector_yaw_offset_degrees":0.1146629648353592},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0007044405596314772,3.8522964183088006e-05,-0.0012319676797384017],"end_effector_yaw_offset_degrees":-0.35896516760347574},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0010993539282685557,0.0015446290562723093,-0.00011532216293274364],"end_effector_yaw_offset_degrees":0.1782344309986068}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[1.7138047545412795e-05,-0.002660047895980451],"position_m":[0.16981713804754542,-0.10896004789598046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00362982641298355,0.001870745955886469],"position_m":[0.21462982641298353,-0.3662292540441135,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0014603780473377223,0.0016488336014212433],"position_m":[0.29166037804733774,0.32034883360142125,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003313494011738722,0.0024113733073335775],"position_m":[0.35681349401173873,0.11751137330733358,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"baaf47f07438457e5693a73b3d1c313a5c79a4c5beb79982b01eac844c302cbf","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9589/tex_ceiling_textures_3624/tex_floor_textures_3679/tex_table_textures_2467/tex_wall_textures_4778","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":3634625055064003824,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":3634625055064003824,"visual_seed":3634625055064003824,"scene_id":"lab_003","finished_at":"2026-09-08T23:15:51"}
+{"episode_id":"ep_000060","started_at":"2026-09-08T23:24:49","dimensions":{"distractor":{"count":34,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.19028435978992153,0.7324057798398655,0.71338606911949],"aabb_xy":[[0.16778435997601912,0.7279311634693848],[0.21278435960382389,0.7368803962103463]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[-0.5440562502931225,-1.7083348112313685,0.71338606911949],"aabb_xy":[[-0.5813875268183651,-1.742987866026221],[-0.50672497376788,-1.6736817564365165]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[-0.3510395948763053,-0.2866163456647981,0.71338606911949],"aabb_xy":[[-0.35707660787697004,-0.29264304673374636],[-0.3450025818756406,-0.28058964459584995]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.06683018803315288,-2.256113554058174,0.71338606911949],"aabb_xy":[[-0.09183018719878601,-2.2630657997635306],[-0.04183018886751978,-2.2491613083528175]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.06425253052059532,-0.04928813403688492,0.71338606911949],"aabb_xy":[[-0.08175253077993194,-0.06337967622565756],[-0.04675253026125869,-0.03519659184811231]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[0.5107604577577649,0.3601192360439769,0.71338606911949],"aabb_xy":[[0.5070571964286259,0.35641721773525903],[0.5144637190869037,0.36382125435269475]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.5482921815739303,-0.4182013950767569,0.71338606911949],"aabb_xy":[[-0.5982914567423666,-0.4682013963527041],[-0.4982929064054943,-0.36820139380080974]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.4624520348920476,-0.2729037152657372,0.71338606911949],"aabb_xy":[[-0.4967489459097882,-0.3072006014756785],[-0.42815512387430693,-0.23860682905579578]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.5684539216529456,-0.4082589399606529,0.71338606911949],"aabb_xy":[[0.5309539218359121,-0.41289715127179466],[0.6059539214699792,-0.403620728649511]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[0.34976147255644596,0.9227921184002454,0.71338606911949],"aabb_xy":[[0.3388556964688833,0.8427921220014163],[0.36066724864400873,1.0027921147990746]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.21956747435273183,-2.0851177590211916,0.71338606911949],"aabb_xy":[[-0.24821680671314802,-2.113763318298267],[-0.19091814199231558,-2.0564721997441153]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.3081800655094334,-0.5678717427917226,0.71338606911949],"aabb_xy":[[-0.31833308106358266,-0.6039412843644627],[-0.2980270499552839,-0.531802201218982]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.1134814336388612,-1.121314505832239,0.71338606911949],"aabb_xy":[[-0.1222834889478339,-1.1291258319871678],[-0.10467937832988848,-1.1135031796773096]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.5608286452009347,-2.2694063769916037,0.71338606911949],"aabb_xy":[[-0.6208286454523358,-2.3236877020280677],[-0.5008286449495335,-2.215125051955139]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.026080325261414794,-2.502218724733492,0.71338606911949],"aabb_xy":[[-0.07556074647537359,-2.5662187226463438],[0.023400095952543998,-2.43821872682064]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[-0.38106799011868675,-2.1249136162424915,0.71338606911949],"aabb_xy":[[-0.4610679872782621,-2.136461217200308],[-0.3010679929591115,-2.113366015284674]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.14254416473653453,-1.5814022337533737,0.71338606911949],"aabb_xy":[[0.10504416355174169,-1.5858204564494343],[0.18004416592132727,-1.5769840110573132]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[0.6140809786368373,-1.2352640689991452,0.71338606911949],"aabb_xy":[[0.5728321676069225,-1.2902640685113624],[0.6553297896667519,-1.1802640694869275]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[-0.03271129853370547,-0.9212511688796949,0.71338606911949],"aabb_xy":[[-0.047354704087738446,-0.9359098885364792],[-0.018067892979672477,-0.9065924492229107]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[-0.17707818859283386,-1.4954638145437584,0.71338606911949],"aabb_xy":[[-0.22707818954336664,-1.5270129615472794],[-0.12707818764230103,-1.4639146675402366]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.36954388649038106,-1.0096384508499747,0.71338606911949],"aabb_xy":[[0.3145438882886362,-1.050160417476412],[0.4245438846921259,-0.969116484223537]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.061031937140718084,1.2674392417144071,0.71338606911949],"aabb_xy":[[0.05062037846023437,1.2620935083785088],[0.0714434958212018,1.2727849750503055]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.6623783624150148,-2.2276991300753237,0.71338606911949],"aabb_xy":[[0.6123833514555629,-2.277699129110916],[0.7123733733744669,-2.1776991310397324]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.39561908305032994,-1.5033881889524119,0.71338606911949],"aabb_xy":[[-0.40324335114050824,-1.511021412488956],[-0.38799481496015176,-1.4957549654158684]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_24","position":[-0.2624315203219083,0.3029372506660195,0.71338606911949],"aabb_xy":[[-0.2999315188975291,0.2902009550024615],[-0.22493152174628753,0.3156735463295774]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[0.6023216234113284,0.6204797563501292,0.71338606911949],"aabb_xy":[[0.552338673223849,0.5704797567075687],[0.6523045735988077,0.6704797559926895]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[-0.5654199556814529,-1.2236368101790112,0.71338606911949],"aabb_xy":[[-0.645419958945466,-1.2371968424879245],[-0.48541995241743974,-1.2100767778700978]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[0.4339695107703716,0.8311082716689104,0.71338606911949],"aabb_xy":[[0.42260777611708544,0.8197398052626224],[0.44533124542365776,0.8424767380751985]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[0.5464312456187546,-1.6668691763621586,0.71338606911949],"aabb_xy":[[0.48243124632458634,-1.7308553167310128],[0.6104312449129228,-1.6028830359933044]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[0.42207320856042463,-1.9497047440499833,0.71338606911949],"aabb_xy":[[0.3570732075599241,-2.000491109204658],[0.48707320956092515,-1.8989183788953081]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[0.5537014741624151,0.9814399804403804,0.71338606911949],"aabb_xy":[[0.523217224035385,0.9314399806588844],[0.5841857242894453,1.0314399802218763]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_31","position":[-0.5760066760721071,0.7229990464141087,0.71338606911949],"aabb_xy":[[-0.636006677715029,0.6709988971221645],[-0.5160066744291852,0.7749991957060529]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_32","position":[-0.05532307989912921,-2.1138470409369674,0.71338606911949],"aabb_xy":[[-0.115323079745696,-2.170665663130006],[0.004676919947437581,-2.0570284187439287]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_33","position":[-0.5000299288720428,0.011855734652292949,0.71338606911949],"aabb_xy":[[-0.5097859183812167,0.0020932005930585085],[-0.4902739393628689,0.02161826871152739]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6517866968453677,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9573.png","name":"9573"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9573.png","name":"9573"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6386.png","name":"6386"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3181.png","name":"3181"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2984.png","name":"2984"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":710.8453290651248,"rotation_z_degrees":242.34544961584965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008860445506288051,0.010777704330311763,-0.0078345756665794]},{"name":"camera_2","offset_m":[0.018962063266965225,-0.012796551206823846,-0.016661370081685944]},{"name":"camera_3","offset_m":[0.014960666961463465,0.019754419070441672,-0.004614034059737456]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004359733387647828,-3.509193130267398e-05,0.00035970892947484326],"end_effector_yaw_offset_degrees":-0.42953476884312014},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011376797637832835,0.000640998960426355,-0.00025048381898746543],"end_effector_yaw_offset_degrees":-0.49197589517739115},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.468803974825485e-05,-1.1972379954401993e-05,0.0009014853199209509],"end_effector_yaw_offset_degrees":-0.477430894972088},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00014975087391852645,0.0013488924011095223,0.0005809544939298786],"end_effector_yaw_offset_degrees":0.47117776525705524},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001723112275418996,0.0015053310967897567,0.0012542070851968268],"end_effector_yaw_offset_degrees":0.7306103349836148},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017927663190103467,0.0005873328526204325,0.0008930200571134503],"end_effector_yaw_offset_degrees":0.2766601833807505}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002218672521244871,-0.004441428419984046],"position_m":[0.16758132747875515,-0.11074142841998405,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001798898881916802,-0.002939830417363435],"position_m":[0.2127988988819168,-0.37103983041736344,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0003919476998163118,0.004380285421815402],"position_m":[0.2898080523001837,0.3230802854218154,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003918102932817123,-0.0005519578187362676],"position_m":[0.3574181029328171,0.11454804218126373,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ab12ad0afb77fe2050181ee7bc97f5aee2ba6f7ab97fc0ae36ee84f8f9462ce4","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0079.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9573/tex_ceiling_textures_2984/tex_floor_textures_3181/tex_table_textures_3034/tex_wall_textures_6386","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":9006945063674863748,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":9006945063674863748,"visual_seed":9006945063674863748,"scene_id":"lab_003","finished_at":"2026-09-08T23:32:59"}
+{"episode_id":"ep_000061","started_at":"2026-09-08T23:33:06","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[0.6444778694632489,0.9187936789182327,0.71338606911949],"aabb_xy":[[0.5804778723511431,0.8697613091238221],[0.7084778665753545,0.9678260487126433]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[-0.40017471148903366,-0.9714407229648356,0.71338606911949],"aabb_xy":[[-0.40501830625026364,-0.9762923754438196],[-0.3953311167278037,-0.9665890704858514]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.4579118990231481,-2.373914233233145,0.71338606911949],"aabb_xy":[[0.4515997994868097,-2.379681172486364],[0.4642239985594866,-2.3681472939799266]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.5513618158562144,-1.5449437722291897,0.71338606911949],"aabb_xy":[[-0.5941285227356345,-1.6089437756509921],[-0.5085951089767942,-1.4809437688073872]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.357666719424961,1.7244774908509624,0.71338606911949],"aabb_xy":[[0.3351667199012535,1.7019815434003414],[0.3801667189486683,1.746973438301583]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[0.523450316209527,-0.46696182560395005,0.71338606911949],"aabb_xy":[[0.47345031584896086,-0.5169418128135528],[0.5734503165700929,-0.416981838394347]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.2897231475195526,0.25972732851303126,0.71338606911949],"aabb_xy":[[-0.35972315015613887,0.23962246351716576],[-0.21972314488296618,0.27983219350889676]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.27729919668985736,1.049286545965804,0.71338606911949],"aabb_xy":[[0.25975250177373843,1.0117865444015528],[0.2948458916059763,1.0867865475300553]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.02537844309282422,-1.6200982321214183,0.71338606911949],"aabb_xy":[[-0.039621559544969265,-1.671577830820865],[0.0903784457306177,-1.5686186334219712]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.6519315973465067,0.4848191739916943,0.71338606911949],"aabb_xy":[[0.5819315939549446,0.4495034002882633],[0.7219316007380686,0.5201349476951249]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[-0.4551417911179323,1.0485575392464925,0.71338606911949],"aabb_xy":[[-0.5051417920684651,1.0170083922429711],[-0.40514179016739943,1.080106686250014]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.44033111904634636,-1.7983390026792938,0.71338606911949],"aabb_xy":[[0.4236539830532508,-1.8150389266532239],[0.4570082550394418,-1.7816390787053633]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.35739625498453886,-0.48389861179050264,0.71338606911949],"aabb_xy":[[0.3074188381192852,-0.5338986132797511],[0.4073736718497924,-0.43389861030125404]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.553383545250493,-1.362224436837299,0.71338606911949],"aabb_xy":[[-0.5946880883142289,-1.4262244364054162],[-0.512079002186757,-1.298224437269182]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.3763479543111594,-1.0332541736179117,0.71338606911949],"aabb_xy":[[0.353066112113028,-1.1182541749151396],[0.3996297965092907,-0.9482541723206835]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.48319857599188554,0.19068768197312425,0.71338606911949],"aabb_xy":[[0.40319857801110043,0.1830861410112723],[0.5631985739726705,0.1982892229349762]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.5594402087666821,0.7146387317456036,0.71338606911949],"aabb_xy":[[0.49544021148103345,0.6731320127927596],[0.6234402060523307,0.7561454506984475]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.4038129255219241,-1.2451120904924484,0.71338606911949],"aabb_xy":[[-0.41085437647267165,-1.2521388422302429],[-0.39677147457117645,-1.238085338754654]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[0.4740809884038608,1.1337724204642168,0.71338606911949],"aabb_xy":[[0.43658098846009435,1.1254793304293802],[0.5115809883476272,1.1420655104990534]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_19","position":[-0.2708446058647825,-1.0843208495670853,0.71338606911949],"aabb_xy":[[-0.32596981149437326,-1.1443208510083722],[-0.21571940023519173,-1.024320848125798]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[-0.14960748858581774,-2.353015426336414,0.71338606911949],"aabb_xy":[[-0.2146074864674656,-2.404139090042955],[-0.08460749070417,-2.3018917626298734]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.649734509146094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5328.png","name":"5328"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5328.png","name":"5328"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1942.png","name":"1942"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3241.png","name":"3241"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2134.png","name":"2134"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2963.png","name":"2963"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":619.162056450676,"rotation_z_degrees":255.63310469432253,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024255501240907675,0.012228089737936178,-0.014954622591299845]},{"name":"camera_2","offset_m":[0.00015398567790302076,-0.006150507677819422,0.0020009090233882518]},{"name":"camera_3","offset_m":[-0.004237972972513757,-0.011551485882766643,0.019235986906623603]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009434551889596699,-0.0012338547367012642,-0.00184397695209976],"end_effector_yaw_offset_degrees":0.773410779695801},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019877263166805767,-0.0008924842917690822,0.0010827356502149214],"end_effector_yaw_offset_degrees":-0.9661683847355242},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001368368659896487,0.00022023992987822791,0.0012243381263999866],"end_effector_yaw_offset_degrees":0.11451604504245827},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015063468500436448,0.001113271162838411,-0.001710248586297774],"end_effector_yaw_offset_degrees":-0.9891582034913711},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019181832865786072,-0.0018723084588804207,-0.00042564521304444157],"end_effector_yaw_offset_degrees":0.3694683784435262},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011400057381019991,-0.0002850803072028767,0.0014505376023221822],"end_effector_yaw_offset_degrees":0.2372279646740938}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002163598198014207,-0.004605689092943376],"position_m":[0.1676364018019858,-0.11090568909294338,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001705522700992215,-0.004382306559689626],"position_m":[0.20929447729900777,-0.3724823065596896,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003152413943004937,0.0009487286002191255],"position_m":[0.2870475860569951,0.3196487286002191,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016466687315286862,-0.002885346719866343],"position_m":[0.35514666873152867,0.11221465328013365,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c2986caaafb45f9294bbf8cddf6289cd1c4337ff583423021ff93371ee166f52","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5328/tex_ceiling_textures_2963/tex_floor_textures_2134/tex_table_textures_1942/tex_wall_textures_3241","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4036720671524968378,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4036720671524968378,"visual_seed":4036720671524968378,"scene_id":"lab_003","finished_at":"2026-09-08T23:41:18"}
+{"episode_id":"ep_000062","started_at":"2026-09-08T23:41:25","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.572670852047872,0.3094158355917629,0.71338606911949],"aabb_xy":[[0.5609026652532145,0.2244158356865414],[0.5844390388425296,0.39441583549698456]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.288239168770467,-2.1006801859462847,0.71338606911949],"aabb_xy":[[-0.30573916901551634,-2.1181799737858515],[-0.2707391685254176,-2.083180398106718]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.5597699177602167,-1.7114622108480533,0.71338606911949],"aabb_xy":[[-0.6494569940683322,-1.8014622111025038],[-0.47008284145210133,-1.6214622105936027]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.4713613722406579,-2.180372895302503,0.71338606911949],"aabb_xy":[[-0.5213606474090939,-2.23037289657845],[-0.42136209707222166,-2.130372894026556]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.6241712619207842,0.11533563115069922,0.71338606911949],"aabb_xy":[[-0.6302658898089026,0.10676623659903052],[-0.618076634032666,0.12390502570236796]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.14372655311340132,0.06181598959345269,0.71338606911949],"aabb_xy":[[-0.22372655109418638,0.054214448631600735],[-0.06372655513261628,0.06941753055530463]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[-0.6182585049289615,-1.473808336760475,0.71338606911949],"aabb_xy":[[-0.6882585013389231,-1.4942462724121564],[-0.5482585085189995,-1.453370401108793]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[0.3339517082269061,0.9233639157705862,0.71338606911949],"aabb_xy":[[0.2844712870129473,0.8593639178577344],[0.3834321294408649,0.987363913683438]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.07108973691488707,1.2748437683753258,0.71338606911949],"aabb_xy":[[-0.12108474787433912,1.2248437693397338],[-0.02109472595543505,1.3248437674109173]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.5705904940424777,-1.320291667623278,0.71338606911949],"aabb_xy":[[-0.6080904952272703,-1.3247098903193384],[-0.5330904928576847,-1.3158734449272174]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[-0.23404413540444474,-2.017788583909386,0.71338606911949],"aabb_xy":[[-0.24215779007782182,-2.0258944003634154],[-0.2259304807310676,-2.009682767455357]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.49459891323440375,1.623235744664433,0.71338606911949],"aabb_xy":[[0.452414499073573,1.5592357443872216],[0.5367833273952345,1.687235744941644]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.6127720818827554,1.5565964169012498,0.71338606911949],"aabb_xy":[[-0.6414214142431716,1.5279508576241738],[-0.5841227495223391,1.5852419761783254]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.3005984264162823,-2.302412055848062,0.71338606911949],"aabb_xy":[[0.2506141907081051,-2.3524120546615572],[0.35058266212445954,-2.252412057034566]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[0.6242869095814882,-1.1769705215771895,0.71338606911949],"aabb_xy":[[0.6160723644658042,-1.1856471118748304],[0.6325014546971721,-1.1682939312795477]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.5554186100140659,-0.4958510323183565,0.71338606911949],"aabb_xy":[[0.5054186113681447,-0.5457705759778188],[0.6054186086599871,-0.445931488658894]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.44575351294875987,-1.9619103984366084,0.71338606911949],"aabb_xy":[[-0.5097535136522293,-2.0079287809095296],[-0.3817535122452906,-1.9158920159636876]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.50746578864168,0.21919759588145826,0.71338606911949],"aabb_xy":[[-0.5417626996594206,0.18490070967151687],[-0.4731688776239394,0.2534944820913996]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.5760180300462414,-2.5001057244766662,0.71338606911949],"aabb_xy":[[0.5310180285800127,-2.545105581338147],[0.6210180315124704,-2.4551058676151856]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.6015205514714702,-0.11537884611068483,0.71338606911949],"aabb_xy":[[-0.6085608614050073,-0.19537884551035628],[-0.5944802415379333,-0.035378846711013455]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.23692086168694704,-0.738203054526485,0.71338606911949],"aabb_xy":[[0.22987941073619947,-0.7452298062642796],[0.24396231263769466,-0.7311763027886905]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[0.06054028304410508,1.4611970673502177,0.71338606911949],"aabb_xy":[[-0.00345972024560303,1.4178621483463],[0.1245402863338132,1.5045319863541353]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.04941818630468664,-2.200698733389635,0.71338606911949],"aabb_xy":[[-0.1134181848912591,-2.247705696789143],[0.01458181228188582,-2.1536917699901257]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.06558632918286045,-0.8481480107456665,0.71338606911949],"aabb_xy":[[-0.07189842871919888,-0.8539149499988853],[-0.059274229646522014,-0.8423810714924477]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[-0.35040904920110827,-0.9964513260879593,0.71338606911949],"aabb_xy":[[-0.4354090476185315,-1.0813256215502443],[-0.26540905078368504,-0.9115770306256744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6509984376206688,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7410.png","name":"7410"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3371.png","name":"3371"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5023.png","name":"5023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1130.png","name":"1130"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.3630644824991,"rotation_z_degrees":301.2833211085903,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006884466914347196,0.01489861812828323,-0.005595712836705853]},{"name":"camera_2","offset_m":[0.006194024704267526,0.017522687353423504,0.01644202014039049]},{"name":"camera_3","offset_m":[-0.004964475123910664,0.012278018489926417,0.005754712670991299]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00032189991788874966,0.00018915703669641426,-0.0016842114461478937],"end_effector_yaw_offset_degrees":-0.43305220451645776},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017362039848545497,-0.00021446346380315975,1.6274229515875205e-06],"end_effector_yaw_offset_degrees":0.21312950003065412},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014149082745110323,-0.0011408897686091385,0.0016135119627747607],"end_effector_yaw_offset_degrees":-0.14266410764057857},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018720702541365698,0.0018853404413656759,-0.001271170712470347],"end_effector_yaw_offset_degrees":-0.4490673085335659},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011476260022084263,-0.0019006945554235833,0.001842708800622745],"end_effector_yaw_offset_degrees":0.06452369464647356},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00016058301636633272,-0.0013058638836090865,-0.0010901326678797586],"end_effector_yaw_offset_degrees":-0.20077279574890827}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003601098049334727,-0.004323855271688555],"position_m":[0.16619890195066528,-0.11062385527168855,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005695275653757317,-0.0033292072687675887],"position_m":[0.21156952756537573,-0.37142920726876755,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0008011233705469576,-0.002546924930482546],"position_m":[0.29100112337054695,0.31615307506951745,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014677289845395226,0.001361111599438936],"position_m":[0.3549677289845395,0.11646111159943894,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"2823843d7c123fcec2d701827413bb8c1e53caf09af70097e977d185f6f5c279","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1813/tex_ceiling_textures_1130/tex_floor_textures_5023/tex_table_textures_7410/tex_wall_textures_3371","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":5637640554545516440,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":5637640554545516440,"visual_seed":5637640554545516440,"scene_id":"lab_003","finished_at":"2026-09-08T23:49:27"}
+{"episode_id":"ep_000063","started_at":"2026-09-08T23:49:34","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.6302161832199348,-1.8659920918586317,0.71338606911949],"aabb_xy":[[-0.6382424538505609,-1.8747435868359843],[-0.6221899125893089,-1.857240596881279]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[0.5639502508996623,-2.494981439305193,0.71338606911949],"aabb_xy":[[0.5289502526295424,-2.5020555670001805],[0.5989502491697822,-2.487907311610204]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.5276838509172381,-0.049600959198214056,0.71338606911949],"aabb_xy":[[0.4636838516230699,-0.11358709956706825],[0.5916838502114063,0.014385181170640138]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.5601510229873952,0.34626009211843334,0.71338606911949],"aabb_xy":[[-0.5694980305696904,0.3319564699007893],[-0.5508040154050999,0.36056371433607737]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.13383299088351308,-1.8243127369517131,0.71338606911949],"aabb_xy":[[-0.1713329923991448,-1.835539509967858],[-0.09633298936788137,-1.8130859639355679]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.04695938356339591,-2.4635100393243974,0.71338606911949],"aabb_xy":[[-0.11095938394092952,-2.5132553061752096],[0.01704061681413771,-2.413764772473585]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.3808410642787996,-2.271456446559479,0.71338606911949],"aabb_xy":[[0.29084106060188136,-2.332888853136583],[0.4708410679557177,-2.210024039982374]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.6189630614350239,0.9614438051074683,0.71338606911949],"aabb_xy":[[-0.6689363554382843,0.9114438045529208],[-0.5689897674317634,1.0114438056620156]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.3537125178440139,-0.9439154014138091,0.71338606911949],"aabb_xy":[[-0.36099483422067746,-1.033915405023318],[-0.34643020146735015,-0.8539153978043]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.34970432786960637,-1.9994425877992783,0.71338606911949],"aabb_xy":[[0.3126702184415466,-2.0338197951329877],[0.38673843729766605,-1.965065380465569]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[-0.17307206766412553,-1.4531880843596428,0.71338606911949],"aabb_xy":[[-0.262759143972241,-1.543188084614093],[-0.08338499135601007,-1.363188084105192]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.401002824981191,-1.8435623153395877,0.71338606911949],"aabb_xy":[[0.391246835472017,-1.8533248493988221],[0.4107588144903648,-1.8337997812803533]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[0.5079308001772627,1.0232235476586649,0.71338606911949],"aabb_xy":[[0.483384584554512,0.9929746511096279],[0.5324770158000134,1.053472444207702]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.46583183468752115,0.7520610713503344,0.71338606911949],"aabb_xy":[[-0.5558318314231314,0.6988776080330399],[-0.3758318379519109,0.8052445346676289]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.4300580534551422,0.4484080415028706,0.71338606911949],"aabb_xy":[[-0.485051264792279,0.3934080411640772],[-0.3750648421180055,0.5034080418416644]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_15","position":[0.17875486091221904,-0.7828279788915586,0.71338606911949],"aabb_xy":[[0.16117655872327216,-0.8004024684656637],[0.19633316310116586,-0.7652534893174538]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.4012685024023095,1.2379331243354255,0.71338606911949],"aabb_xy":[[0.376268502850571,1.2277906404702907],[0.426268501954048,1.2480756082005602]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.3391279981635491,1.1939640523627015,0.71338606911949],"aabb_xy":[[-0.41912800142756224,1.1804040200537882],[-0.259127994899536,1.2075240846716149]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.5902589032673351,-0.8304965439047494,0.71338606911949],"aabb_xy":[[-0.6071696357036768,-0.8439687494973638],[-0.5733481708309932,-0.8170243383121347]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.374832300360993,0.1686870766775388,0.71338606911949],"aabb_xy":[[0.3660302450520202,0.1608757505226097],[0.3836343556699656,0.17649840283246784]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.14626908616176448,-0.9823131109398477,0.71338606911949],"aabb_xy":[[-0.16447490982301216,-0.9933385115218393],[-0.1280632625005168,-0.971287710357856]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.1112748048870904,1.2688614209111067,0.71338606911949],"aabb_xy":[[-0.15908097250085906,1.2038614182040477],[-0.06346863727332175,1.3338614236181656]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.04349246318238842,-1.027697804498391,0.71338606911949],"aabb_xy":[[0.01849246391042614,-1.0440431680945532],[0.0684924624543507,-1.0113524409022285]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.252257278044576,-1.7454151585369357,0.71338606911949],"aabb_xy":[[0.2321988664313357,-1.7654802454460936],[0.2723156896578163,-1.7253500716277783]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[-0.40728931517381767,-2.1211940148637334,0.71338606911949],"aabb_xy":[[-0.4291790627627584,-2.211194012152982],[-0.3853995675848768,-2.031194017574484]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6473926949222198,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7216.png","name":"7216"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7216.png","name":"7216"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8390.png","name":"8390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1944.png","name":"1944"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1629.png","name":"1629"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9359.png","name":"9359"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":567.8400667566814,"rotation_z_degrees":119.47932484031921,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007179378727522003,-0.0148248261359466,0.017079203843798376]},{"name":"camera_2","offset_m":[0.004476793522517158,-0.002805784080049511,0.0025067055083576907]},{"name":"camera_3","offset_m":[0.013837145122882848,0.013321071494676564,-0.011511939870177583]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010757345566222063,-0.00013599509238980986,-0.0013295370116637862],"end_effector_yaw_offset_degrees":-0.5623803846466509},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017591293665610245,0.0007730581053849686,-0.0018683350269951475],"end_effector_yaw_offset_degrees":0.8786302862254569},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011655117974650638,-0.0013031134592385865,0.0011812051882892395],"end_effector_yaw_offset_degrees":0.14659900009531146},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008171778276619066,0.0007109041516613801,-0.0003999767358281016],"end_effector_yaw_offset_degrees":-0.09685029797575906},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-7.274460311840116e-05,-0.0013027959012882526,-6.234026039318068e-05],"end_effector_yaw_offset_degrees":-0.6360640499792278},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018826328588205893,-0.001471104949430024,0.000369509613475896],"end_effector_yaw_offset_degrees":-0.7175086751148518}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002378051301203157,0.0038600539392597234],"position_m":[0.16742194869879684,-0.10243994606074028,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00131122457806079,0.004115817597966069],"position_m":[0.2123112245780608,-0.3639841824020339,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002312477386093046,0.00013622279027823616],"position_m":[0.287887522613907,0.31883622279027823,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028216876228348933,-0.0021324969136195717],"position_m":[0.35067831237716507,0.11296750308638043,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ffc784f05f5f9f1e3fbc0834b61a6b5d6f497b0919d8bf4d7d65e1a69143a5fd","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7216/tex_ceiling_textures_9359/tex_floor_textures_1629/tex_table_textures_8390/tex_wall_textures_1944","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":1656883445338403858,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":1656883445338403858,"visual_seed":1656883445338403858,"scene_id":"lab_003","finished_at":"2026-09-08T23:57:45"}
+{"episode_id":"ep_000064","started_at":"2026-09-08T23:57:52","dimensions":{"distractor":{"count":28,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[0.14644785178494246,1.320859691088038,0.71338606911949],"aabb_xy":[[0.11198537377185469,1.314196013905115],[0.18091032979803023,1.3275233682709604]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.10663551678789207,-1.7649848796696046,0.71338606911949],"aabb_xy":[[0.0865771051746518,-1.785049966578762],[0.12669392840113236,-1.7449197927604467]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[0.47948056401927963,-1.5227147976450213,0.71338606911949],"aabb_xy":[[0.46198056375994306,-1.536806339833794],[0.4969805642786163,-1.5086232554562489]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.3929692016230536,1.488617866898855,0.71338606911949],"aabb_xy":[[-0.41546920186656905,1.476413232239083],[-0.37046920137953826,1.500822501558627]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.5798353263583349,1.272363445657121,0.71338606911949],"aabb_xy":[[-0.5997263662386753,1.2597076343724243],[-0.5599442864779948,1.285019256941818]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.2794282825623484,0.8595944788755085,0.71338606911949],"aabb_xy":[[0.25614644036421697,0.7745944775782804],[0.30271012476047965,0.9445944801727365]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.20477324356130955,-2.338684083075795,0.71338606911949],"aabb_xy":[[-0.26877324067341524,-2.3877164528702055],[-0.14077324644920386,-2.2896517132813843]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.46064347331297517,0.7010980252702246,0.71338606911949],"aabb_xy":[[0.453019205222797,0.6934648017336809],[0.46826774140315347,0.7087312488067683]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.1845145699367049,1.3512596671843142,0.71338606911949],"aabb_xy":[[-0.22184584646194752,1.316606612389462],[-0.14718329341146227,1.3859127219791665]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[0.5469510224630212,-2.1889104295665534,0.71338606911949],"aabb_xy":[[0.5294510233286539,-2.1987900566041407],[0.5644510215973882,-2.179030802528965]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.24617398550016867,1.6067831429364694,0.71338606911949],"aabb_xy":[[0.2086739870767683,1.5936189289686387],[0.283673983923569,1.6199473569043001]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[-0.23661943933792845,1.6820988541289608,0.71338606911949],"aabb_xy":[[-0.29161265067506525,1.6270988537901674],[-0.18162622800079173,1.7370988544677546]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.4902421580288636,-1.9362843563225771,0.71338606911949],"aabb_xy":[[0.45274215651323185,-1.9475111293387222],[0.5277421595444953,-1.925057583306432]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.5552615509545247,-0.9305788620787845,0.71338606911949],"aabb_xy":[[0.5302615517888916,-0.9375311077841411],[0.5802615501201578,-0.9236266163734279]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.4278238226878499,1.2476124847866918,0.71338606911949],"aabb_xy":[[0.42078351275431297,1.1676124853870207],[0.43486413262138696,1.3276124841863635]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.18844611101550024,-0.4024608433166872,0.71338606911949],"aabb_xy":[[-0.20873041373889897,-0.42274346845939603],[-0.16816180829210145,-0.38217821817397835]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.6042071666857333,-0.39785148416463967,0.71338606911949],"aabb_xy":[[-0.6217071669307825,-0.41535127200420646],[-0.5867071664406838,-0.38035169632507276]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.2882658449309437,-0.5312122670208459,0.71338606911949],"aabb_xy":[[-0.3225627559486843,-0.5655091532307871],[-0.253968933913203,-0.4969153808109044]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.37930921533362655,0.2190287527407504,0.71338606911949],"aabb_xy":[[-0.43693968422089724,0.1590287538140398],[-0.3216787464463556,0.279028751667461]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[0.16273574112988742,1.7425870566818786,0.71338606911949],"aabb_xy":[[0.15460805293657423,1.7336734482711709],[0.17086342932320067,1.7515006650925864]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.32660796768843153,-0.8278237149771697,0.71338606911949],"aabb_xy":[[-0.3491071034146585,-0.8503237157554326],[-0.30410883196220456,-0.8053237141989067]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[0.4750138765624661,-1.6424483680892208,0.71338606911949],"aabb_xy":[[0.39501387858168097,-1.6500499090510727],[0.555013874543251,-1.6348468271273688]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.10251363632810495,-1.0713795987841008,0.71338606911949],"aabb_xy":[[0.05251363675177023,-1.121360177736207],[0.15251363590443967,-1.021399019831995]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.060017044179879075,1.09018908559,0.71338606911949],"aabb_xy":[[-0.07764987977340665,1.072566139574377],[-0.0423842085863515,1.107812031605623]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[0.5806325609839786,-0.04347387700558025,0.71338606911949],"aabb_xy":[[0.530535097002905,-0.10747387751539206],[0.6307300249650523,0.020526123504231553]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[-0.4907853256155223,-1.8974774780460382,0.71338606911949],"aabb_xy":[[-0.5357853270817512,-1.942477334907519],[-0.4457853241492935,-1.8524776211845577]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.10839680029827381,-1.560569668815809,0.71338606911949],"aabb_xy":[[-0.17239680100174318,-1.6065880512887303],[-0.04439679959480448,-1.5145512863428883]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[0.4567167917470083,-2.397412976500375,0.71338606911949],"aabb_xy":[[0.39671679010408645,-2.4494131257923186],[0.5167167933899302,-2.3454128272084303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6467190341195342,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3306.png","name":"3306"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3306.png","name":"3306"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/556.png","name":"556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1220.png","name":"1220"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8431.png","name":"8431"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":839.1154858991031,"rotation_z_degrees":246.97150555067154,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01780584270845415,0.014885394483943857,-0.015761897839087498]},{"name":"camera_2","offset_m":[-0.011009493213234158,0.01692753732151638,-0.003151379809841072]},{"name":"camera_3","offset_m":[0.011539847899238332,0.013841469906099756,-0.0019699715272267805]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017939498552338273,0.0007657651389810791,0.001478322720588298],"end_effector_yaw_offset_degrees":-0.43013856686683294},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003424613257371125,0.0011384243631649663,0.00042430630219356157],"end_effector_yaw_offset_degrees":0.6961251190455631},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010932742987790852,-0.0008175292820401623,0.0012518049825664401],"end_effector_yaw_offset_degrees":-0.7814396631545728},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[8.991392172754764e-05,0.00018437480621123683,-0.0003106916675050871],"end_effector_yaw_offset_degrees":-0.8759683136177019},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00031981600464320824,-0.0001470002916342814,0.0018055887751929384],"end_effector_yaw_offset_degrees":0.06982547352748791},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002990927354892237,0.001243050884258543,0.0012904284851697387],"end_effector_yaw_offset_degrees":0.188348490228198}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003126780189707842,0.002565811286582843],"position_m":[0.16667321981029218,-0.10373418871341716,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004230259381880934,-0.002730728535360948],"position_m":[0.20676974061811906,-0.3708307285353609,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0005385616241036619,0.0030915961087734306],"position_m":[0.29073856162410366,0.3217915961087734,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004946867295128139,0.0004916139769978499],"position_m":[0.35844686729512815,0.11559161397699784,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"aac4546d9e49f8c542d492ef05ae8b1e76ce653603798e99777f462082c911b3","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3306/tex_ceiling_textures_8431/tex_floor_textures_1220/tex_table_textures_556/tex_wall_textures_6183","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":7792198462447627730,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":7792198462447627730,"visual_seed":7792198462447627730,"scene_id":"lab_003","finished_at":"2026-09-09T00:05:53"}
+{"episode_id":"ep_000065","started_at":"2026-09-09T00:06:00","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.6209916709852612,1.627351632091043,0.71338606911949],"aabb_xy":[[-0.6280331219360089,1.6203248803532484],[-0.6139502200345137,1.6343783838288373]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.2012324727744152,-0.9404362544517584,0.71338606911949],"aabb_xy":[[-0.2652324713609876,-0.9874432178512671],[-0.13723247418784268,-0.8934292910522497]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[0.3533385363028876,-0.3695099329727367,0.71338606911949],"aabb_xy":[[0.34534454772518414,-0.377510013067827],[0.3613325248805909,-0.3615098528776463]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.40899985211281975,1.2955292623266015,0.71338606911949],"aabb_xy":[[0.32899984995005727,1.2155740787004576],[0.48899985427558224,1.3754844459527449]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.5437244626572699,-2.3022980013676784,0.71338606911949],"aabb_xy":[[0.508724462761251,-2.310672236879618],[0.5787244625532888,-2.293923765855738]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.13461280011888666,-0.7174519453311832,0.71338606911949],"aabb_xy":[[0.1171128009845195,-0.7273315723687709],[0.15211279925325383,-0.7075723182935952]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[-0.1958948614261874,0.5220337590776563,0.71338606911949],"aabb_xy":[[-0.2147792451946976,0.5031478342973035],[-0.1770104776576772,0.540919683858009]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.462337464134137,-0.07630948579003771,0.71338606911949],"aabb_xy":[[-0.5123107581373973,-0.12630948634458505],[-0.41236417013087645,-0.026309485235490357]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.3770699357263754,-1.7362821179132726,0.71338606911949],"aabb_xy":[[-0.38357157223438015,-1.7460499399395828],[-0.37056829921837087,-1.7265142958869633]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[-0.5394120859285625,-1.152924516220339,0.71338606911949],"aabb_xy":[[-0.5744120841986823,-1.1599986439153271],[-0.5044120876584425,-1.1458503885253508]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.47716640202720584,1.4960400574473494,0.71338606911949],"aabb_xy":[[-0.5106455692882468,1.4625609440762424],[-0.4436872347661649,1.5295191708184563]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.33220295369726327,-1.1385818005651096,0.71338606911949],"aabb_xy":[[0.30355362133684705,-1.1672273598421852],[0.3608522860576795,-1.1099362412880336]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.03690362379041756,1.355320664254981,0.71338606911949],"aabb_xy":[[-0.10090362584014956,1.3152261811656731],[0.027096378259314435,1.395415147344289]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.6320957726752514,1.2322138264711509,0.71338606911949],"aabb_xy":[[0.6240594379739665,1.224175707166734],[0.6401321073765361,1.2402519457755676]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.09672105835370925,-2.0188587915779888,0.71338606911949],"aabb_xy":[[0.08409427106651289,-2.028404865279562],[0.10934784564090559,-2.0093127178764156]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.10114219812478864,1.0150486340486893,0.71338606911949],"aabb_xy":[[-0.12360696809619375,0.9925486331698286],[-0.07867742815338351,1.0375486349275496]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.16861255289985488,-0.7656309389544413,0.71338606911949],"aabb_xy":[[-0.2010742537817823,-0.7957637710693438],[-0.13615085201792737,-0.7354981068395386]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.36228336113606513,-1.9913780242066839,0.71338606911949],"aabb_xy":[[-0.42387412036005795,-2.0553780223157307],[-0.3006926019120723,-1.9273780260976372]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[0.0726941028454069,-1.0859761621274702,0.71338606911949],"aabb_xy":[[0.06465074291945172,-1.1709761632228366],[0.08073746277136207,-1.0009761610321037]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.015667703172418057,0.8491762102635789,0.71338606911949],"aabb_xy":[[-0.021249374806546817,0.8366762104458033],[-0.010086031538289299,0.8616762100813543]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.6593519613519271,-0.6531715575406409,0.71338606911949],"aabb_xy":[[-0.6818483827857912,-0.6756715573473883],[-0.636855539918063,-0.6306715577338934]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.4987415479790543,0.1723442037569618,0.71338606911949],"aabb_xy":[[-0.5637415506168477,0.12086460505751484],[-0.4337415453412608,0.22382380245640876]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[-0.6252518229517967,0.7483439736470832,0.71338606911949],"aabb_xy":[[-0.6752518223919923,0.6983760491627669],[-0.5752518235116011,0.7983118981313995]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.5334268241440705,-0.14012512072406613,0.71338606911949],"aabb_xy":[[0.49488113131886946,-0.17867089178025483],[0.5719725169692715,-0.1015793496678775]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[-0.5656585144330528,0.45965789558387504,0.71338606911949],"aabb_xy":[[-0.5743564767237681,0.44753292127640043],[-0.5569605521423375,0.4717828698913499]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[0.22146509821146132,-2.097966070596613,0.71338606911949],"aabb_xy":[[0.19818325601332998,-2.182966071893841],[0.24474694040959266,-2.012966069299385]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[0.5765836688528052,-1.039051010587139,0.71338606911949],"aabb_xy":[[0.5415836697228495,-1.044796231662803],[0.6115836679827609,-1.0333057895114748]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6497641636814003,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7452.png","name":"7452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7452.png","name":"7452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/108.png","name":"108"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7925.png","name":"7925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8620.png","name":"8620"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1997.png","name":"1997"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":582.1963917061232,"rotation_z_degrees":280.69111454732786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009351739315992558,0.005283533578306375,-0.011751710134666872]},{"name":"camera_2","offset_m":[0.010092334905150352,0.010363228906433833,-0.017953860153369125]},{"name":"camera_3","offset_m":[0.019606967865159027,-0.002246039886158173,-0.005690812823004942]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007694447759842627,0.0002818707112700312,-9.575773961994203e-05],"end_effector_yaw_offset_degrees":-0.8828826443345923},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003607848403643513,0.0017194547782625543,0.00020169101724967688],"end_effector_yaw_offset_degrees":-0.4897083388129988},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006730417782659104,0.0015703558769489768,-0.00040888707724865553],"end_effector_yaw_offset_degrees":0.9070848469688555},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019771200087573496,0.0012087386965604682,0.0001703898906598865],"end_effector_yaw_offset_degrees":-0.2553612773564369},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0002552687978827888,-0.00024650847139804136,-0.00035364832904514554],"end_effector_yaw_offset_degrees":0.0713320125903234},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014606054505798324,-0.0003785218585793371,0.0004982110788651611],"end_effector_yaw_offset_degrees":-0.04941181456859911}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00049","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015558452082572016,0.0006786202727550828],"position_m":[0.1713558452082572,-0.10562137972724492,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019152232958729153,-0.004733511422201357],"position_m":[0.2090847767041271,-0.37283351142220134,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003465126590577545,-0.0036538026556967532],"position_m":[0.28673487340942244,0.3150461973443032,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027306329375629042,0.0005823070164014598],"position_m":[0.3562306329375629,0.11568230701640145,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"672566441f06b199b10fd8da42ada81af7ce68bc285bff51e43cd3e08edd5066","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7452/tex_ceiling_textures_1997/tex_floor_textures_8620/tex_table_textures_108/tex_wall_textures_7925","seeds":{"action_seed":9141974314119947804,"physical_seed":210423211217300059,"visual_seed":4405802789617898095,"layout_id":"layout_00049","physical_randomization_enabled":true},"episode_seed":4405802789617898095,"visual_seed":4405802789617898095,"scene_id":"lab_003","finished_at":"2026-09-09T00:13:59"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e40493bdd7cdf2627219a7fca571c4a2f68ea863
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00049
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00049
+  reproducibility:
+    enabled: true
+    layout_id: layout_00049
+    action_seed: 9141974314119947804
+    step_seeds:
+    - 4852920287294042381
+    - 693334814367054326
+    - 1251271704136841748
+    - 1523358855677225369
+    - 6093207976759283165
+    - 6022292891678446872
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1698
+      - 0.1698
+      'y':
+      - -0.1063
+      - -0.1063
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3535
+      - 0.3535
+      'y':
+      - 0.1151
+      - 0.1151
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.211
+      - 0.211
+      'y':
+      - -0.3681
+      - -0.3681
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2902
+      - 0.2902
+      'y':
+      - 0.3187
+      - 0.3187
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f8a31c3aa488b307091c44767baddb16b18e6e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_0_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19993205812367681,
+              -0.10848791547380915,
+              1.163180431174772
+            ],
+            "current_z": 1.163180431174772,
+            "required_z": 0.8611066548900637,
+            "initial_z": 0.7611066548900637,
+            "lift_margin": 0.30207377628470833,
+            "gripper_z": 1.1572877028385062,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19499330037316617,
+              -0.11322092306626842,
+              1.1572877028385062
+            ],
+            "object_minus_gripper": [
+              0.004938757750510642,
+              0.0047330075924592735,
+              0.005892728336265751
+            ],
+            "object_to_gripper_xy": 0.006840518181286127,
+            "object_to_gripper_z": 0.005892728336265751,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19993205812367681,
+              -0.13247750673604602,
+              1.163180431174772
+            ],
+            "finger_b": [
+              0.18921168750687134,
+              -0.10848791547380915,
+              1.163180431174772
+            ],
+            "finger_midpoint": [
+              0.19457187281527408,
+              -0.12048271110492759,
+              1.163180431174772
+            ],
+            "object_minus_finger_midpoint": [
+              0.005360185308402737,
+              0.011994795631118438,
+              0.0
+            ],
+            "finger_gap": 0.026275974484133945,
+            "fingertip_max_gap": 0.09171258679943362,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013137987242066973,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163180431174772,
+            "object_top_z": 1.2132779826237425,
+            "finger_top_clearance": 0.050097551448970545,
+            "fingertip_min_top_clearance": 0.015029265434691163,
+            "object_projection_between_fingers": 0.8335430485598924,
+            "object_to_finger_line_xy": 0.009787546012124016,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835629339971681,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1263486162290821,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.268507373253549,
+              -0.36404836563970017,
+              0.8515395939251608
+            ],
+            "target_position": [
+              0.2605719487178106,
+              -0.36465513544458794,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00795858857829219,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379681259117994,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395939251608,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563971629343558,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644061915618069,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1514138586745512,
+            "release_required_pad_clearance": 0.05322030957809035,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.462298295859768,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007734358310699463,
+            "max_z_decrease": 0.007734358310699463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511262351684354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007734358310699463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021129278409942553,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007734358310699463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007734368277619514,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11627187579870223,
+              -0.42091658711433405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11627187579870223,
+              -0.42091658711433405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11444309245288536,
+              -0.42157481159774923,
+              0.8079022814207925
+            ],
+            "closest_button": [
+              0.11627149581909178,
+              -0.42091307044029236,
+              0.7728435397148132
+            ],
+            "closest_ee_minus_button": [
+              -0.0018284033662064186,
+              -0.0006617411574568743,
+              0.035058741705979224
+            ],
+            "button_min_z_position": [
+              0.11626011878252028,
+              -0.42091259360313416,
+              0.7690744996070862
+            ],
+            "min_active_finger_to_button": 0.1479397146657002,
+            "closest_active_finger": [
+              -0.0267241969704628,
+              -0.4051695168018341,
+              0.8111653327941895
+            ],
+            "closest_active_finger_button": [
+              0.11627358198165891,
+              -0.4209163784980774,
+              0.7766714096069336
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1429977789521217,
+              0.015746861696243286,
+              0.03449392318725586
+            ],
+            "min_contact_pad_to_button": 0.021129278409942553,
+            "closest_contact_pad": [
+              0.11626011878252028,
+              -0.42267378318835497,
+              0.7901302498281012
+            ],
+            "closest_contact_pad_button": [
+              0.11626011878252028,
+              -0.42091259360313416,
+              0.7690744996070862
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017611895852208126,
+              0.021055750221015024
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2814038890364345,
+              0.20556178899900698,
+              1.102519040650916
+            ],
+            "current_z": 1.102519040650916,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19260991091655344,
+            "gripper_z": 1.1025194146230137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2814038012458022,
+              0.20556174145250458,
+              1.1025194146230137
+            ],
+            "object_minus_gripper": [
+              8.779063226382888e-08,
+              4.7546502401907276e-08,
+              -3.739720977335992e-07
+            ],
+            "object_to_gripper_xy": 9.983919572962017e-08,
+            "object_to_gripper_z": -3.739720977335992e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2814038890364345,
+              0.20556178899900698,
+              1.102519040650916
+            ],
+            "finger_b": [
+              0.2814038890364345,
+              0.20556178899900698,
+              1.102519040650916
+            ],
+            "finger_midpoint": [
+              0.2814038890364345,
+              0.20556178899900698,
+              1.102519040650916
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102519040650916,
+            "object_top_z": 1.2275275472711957,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28140388903643454,
+            0.205561788999007,
+            1.102519040650916
+          ],
+          "object_origin_world": [
+            0.28140388903643454,
+            0.205561788999007,
+            1.102519040650916
+          ],
+          "frame_world": [
+            0.2814038012458022,
+            0.20556174145250458,
+            1.1025194146230137
+          ],
+          "center_minus_frame": [
+            8.779063231934003e-08,
+            4.754650242966285e-08,
+            -3.739720977335992e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433769663461505,
+            "required_z": 0.9112598775222795,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014069760467198878,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.368806818923687e-09,
+            "max_target_xy_drift": 1.3756596744289822e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4622982972501852,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.462298297426916,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2675758688508861,
+              -0.36509534014257294,
+              0.9234899104191393
+            ],
+            "target_mouth_xy": [
+              0.26850743431479185,
+              -0.36404836529105256
+            ],
+            "rod_tip_z": 0.9234899104191393,
+            "rod_tip_depth": -0.022230074393922883,
+            "rod_tip_bottom_clearance": 0.12167059160338412,
+            "rod_tip_xy_dist": 0.0014014173372903988,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044967211904601956,
+            "min_rod_tip_bottom_clearance": 0.05447335065624859,
+            "min_rod_tip_xy_dist": 0.00044236585026567147,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26850743568358654,
+              -0.36404836529681517
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.3687946887053215e-09,
+              5.762612609316875e-12
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0003449096445729549,
+                0.0006011730969778806
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00046323821635058104,
+                0.00027543575997385217
+              ],
+              "first_target_mouth_xy": [
+                0.2685074347982107,
+                -0.36404836560350057
+              ],
+              "last_target_mouth_xy": [
+                0.26850746425183225,
+                -0.3640483370650454
+              ],
+              "first_rod_tip_xy": [
+                0.26816252515363775,
+                -0.3634471925065227
+              ],
+              "last_rod_tip_xy": [
+                0.26804422603548167,
+                -0.36377290130507156
+              ],
+              "min_rod_tip_xy_dist": 0.0005077851836433468,
+              "max_rod_tip_xy_dist": 0.0006946708219108705,
+              "first_target_xy_drift": 9.369878821615747e-10,
+              "last_target_xy_drift": 4.016438082012615e-08,
+              "max_depth": 0.019559631211035433,
+              "min_bottom_clearance": 0.07988092637201072
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0003449096445729549,
+                  0.0006011730969778806
+                ],
+                "rod_tip_xy": [
+                  0.26816252515363775,
+                  -0.3634471925065227
+                ],
+                "target_mouth_xy": [
+                  0.2685074347982107,
+                  -0.36404836560350057
+                ],
+                "gripper_position": [
+                  0.2681517210885504,
+                  -0.36345475082142076,
+                  1.0055983740982715
+                ],
+                "rod_tip_xy_dist": 0.0006930885624863667,
+                "target_xy_drift": 9.369878821615747e-10,
+                "depth": 0.015518841098029812,
+                "bottom_clearance": 0.08392165702861298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0003556838742059809,
+                  0.0005936151037657655
+                ],
+                "rod_tip_xy": [
+                  0.26815172108855034,
+                  -0.36345475082142065
+                ],
+                "target_mouth_xy": [
+                  0.2685074049627563,
+                  -0.3640483659251864
+                ],
+                "gripper_position": [
+                  0.2681437355246434,
+                  -0.36345651311525146,
+                  1.0054732179400723
+                ],
+                "rod_tip_xy_dist": 0.0006920187206925955,
+                "target_xy_drift": 3.0727255969239783e-08,
+                "depth": 0.015661454019549548,
+                "bottom_clearance": 0.0837790571529532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003636996440279927,
+                  0.0005918531234590518
+                ],
+                "rod_tip_xy": [
+                  0.2681437355246433,
+                  -0.3634565131152514
+                ],
+                "target_mouth_xy": [
+                  0.2685074351686713,
+                  -0.36404836623871045
+                ],
+                "gripper_position": [
+                  0.26814753098632027,
+                  -0.36352294130195034,
+                  1.0049500704698113
+                ],
+                "rod_tip_xy_dist": 0.0006946708219108705,
+                "target_xy_drift": 1.0734544291257151e-09,
+                "depth": 0.015786607520225426,
+                "bottom_clearance": 0.08365390724767241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0003599329276431362,
+                  0.0005253941829058695
+                ],
+                "rod_tip_xy": [
+                  0.2681475309863202,
+                  -0.3635229413019503
+                ],
+                "target_mouth_xy": [
+                  0.26850746391396335,
+                  -0.36404833548485616
+                ],
+                "gripper_position": [
+                  0.2681365137923335,
+                  -0.36353067362252195,
+                  1.004806890736885
+                ],
+                "rod_tip_xy_dist": 0.0006368600786931815,
+                "target_xy_drift": 4.1057363227857966e-08,
+                "depth": 0.01630977190968741,
+                "bottom_clearance": 0.08313075343471343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003709819327853414,
+                  0.0005177230277682576
+                ],
+                "rod_tip_xy": [
+                  0.26813651379233344,
+                  -0.3635306736225219
+                ],
+                "target_mouth_xy": [
+                  0.2685074957251188,
+                  -0.36404839665029015
+                ],
+                "gripper_position": [
+                  0.26812832967430333,
+                  -0.363532335400491,
+                  1.0046822786560206
+                ],
+                "rod_tip_xy_dist": 0.0006369181485361205,
+                "target_xy_drift": 6.773496872338868e-08,
+                "depth": 0.016452953491733147,
+                "bottom_clearance": 0.08298761990143155,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0003791330540679483,
+                  0.0005160007313503301
+                ],
+                "rod_tip_xy": [
+                  0.2681283296743033,
+                  -0.363532335400491
+                ],
+                "target_mouth_xy": [
+                  0.2685074627283712,
+                  -0.36404833613184134
+                ],
+                "gripper_position": [
+                  0.2681327160715863,
+                  -0.3635998383512798,
+                  1.00416028578995
+                ],
+                "rod_tip_xy_dist": 0.0006403113519538486,
+                "target_xy_drift": 3.977456570608888e-08,
+                "depth": 0.016577604861546136,
+                "bottom_clearance": 0.0828629756823337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0003747481222941551,
+                  0.0004485272494302306
+                ],
+                "rod_tip_xy": [
+                  0.2681327160715862,
+                  -0.36359983835127974
+                ],
+                "target_mouth_xy": [
+                  0.26850746419388033,
+                  -0.36404836560070997
+                ],
+                "gripper_position": [
+                  0.2681215765384082,
+                  -0.36360728156854344,
+                  1.0040174962319768
+                ],
+                "rod_tip_xy_dist": 0.0005844765595337792,
+                "target_xy_drift": 2.851191337285953e-08,
+                "depth": 0.017099547501763568,
+                "bottom_clearance": 0.08234096579175099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0003858569299139969,
+                  0.00044108594990166505
+                ],
+                "rod_tip_xy": [
+                  0.2681215765384081,
+                  -0.3636072815685434
+                ],
+                "target_mouth_xy": [
+                  0.2685074334683221,
+                  -0.36404836751844505
+                ],
+                "gripper_position": [
+                  0.26811358516559347,
+                  -0.3636086484420698,
+                  1.003892893732996
+                ],
+                "rod_tip_xy_dist": 0.0005860395767892381,
+                "target_xy_drift": 3.1373612731605344e-09,
+                "depth": 0.017242400511526812,
+                "bottom_clearance": 0.08219821778758374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00039388042002280743,
+                  0.0004396873358462061
+                ],
+                "rod_tip_xy": [
+                  0.2681135851655934,
+                  -0.36360864844206986
+                ],
+                "target_mouth_xy": [
+                  0.2685074655856162,
+                  -0.36404833577791607
+                ],
+                "gripper_position": [
+                  0.2681186398031015,
+                  -0.3636769061316407,
+                  1.0033739863980429
+                ],
+                "rod_tip_xy_dist": 0.000590310713591476,
+                "target_xy_drift": 4.201781507369335e-08,
+                "depth": 0.017366865678957066,
+                "bottom_clearance": 0.08207365042426196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0003887954733535759,
+                  0.00037143028677200096
+                ],
+                "rod_tip_xy": [
+                  0.26811863980310147,
+                  -0.3636769061316407
+                ],
+                "target_mouth_xy": [
+                  0.26850743527645504,
+                  -0.3640483364184127
+                ],
+                "gripper_position": [
+                  0.26810730619714485,
+                  -0.363684535803326,
+                  1.003231603427931
+                ],
+                "rod_tip_xy_dist": 0.0005377010117451538,
+                "target_xy_drift": 2.888127220108936e-08,
+                "depth": 0.017885839653092206,
+                "bottom_clearance": 0.08155467873459143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00040012868257433,
+                  0.0003638009368227002
+                ],
+                "rod_tip_xy": [
+                  0.26810730619714473,
+                  -0.36368453580332594
+                ],
+                "target_mouth_xy": [
+                  0.26850743487971906,
+                  -0.36404833674014864
+                ],
+                "gripper_position": [
+                  0.268098979328594,
+                  -0.3636859036196369,
+                  1.0031070088035685
+                ],
+                "rod_tip_xy_dist": 0.0005407902405293047,
+                "target_xy_drift": 2.8567978687722244e-08,
+                "depth": 0.018028232745954553,
+                "bottom_clearance": 0.08141229676595263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0004084839969027976,
+                  0.00036243281949377426
+                ],
+                "rod_tip_xy": [
+                  0.2680989793285939,
+                  -0.3636859036196368
+                ],
+                "target_mouth_xy": [
+                  0.2685074633254967,
+                  -0.3640483364391306
+                ],
+                "gripper_position": [
+                  0.26809074549538825,
+                  -0.3636872221402642,
+                  1.0029822469805032
+                ],
+                "rod_tip_xy_dist": 0.0005460922306459702,
+                "target_xy_drift": 3.996049493900681e-08,
+                "depth": 0.018152862506462086,
+                "bottom_clearance": 0.08128770689547216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004166901017831903,
+                  0.0003611139663847185
+                ],
+                "rod_tip_xy": [
+                  0.2680907454953882,
+                  -0.36368722214026417
+                ],
+                "target_mouth_xy": [
+                  0.2685074355971714,
+                  -0.3640483361066489
+                ],
+                "gripper_position": [
+                  0.2680823378733017,
+                  -0.36368868244302327,
+                  1.0028576271476706
+                ],
+                "rod_tip_xy_dist": 0.0005513927254164576,
+                "target_xy_drift": 2.9190294196404044e-08,
+                "depth": 0.018277576270303242,
+                "bottom_clearance": 0.0811629439199798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000425096961244098,
+                  0.00035965428907225316
+                ],
+                "rod_tip_xy": [
+                  0.26808233787330166,
+                  -0.3636886824430232
+                ],
+                "target_mouth_xy": [
+                  0.26850743483454576,
+                  -0.36404833673209547
+                ],
+                "gripper_position": [
+                  0.26808950239006646,
+                  -0.3637599265503356,
+                  1.0023404634332154
+                ],
+                "rod_tip_xy_dist": 0.0005568290887759314,
+                "target_xy_drift": 2.8577335107197756e-08,
+                "depth": 0.018402210233097516,
+                "bottom_clearance": 0.08103832067969863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00041793048718363757,
+                  0.00028840925888423685
+                ],
+                "rod_tip_xy": [
+                  0.2680895023900664,
+                  -0.3637599265503356
+                ],
+                "target_mouth_xy": [
+                  0.26850743287725004,
+                  -0.36404833580921986
+                ],
+                "gripper_position": [
+                  0.2680779816318936,
+                  -0.3637675915918683,
+                  1.0021977811500138
+                ],
+                "rod_tip_xy_dist": 0.0005077851836433468,
+                "target_xy_drift": 2.9620833912903765e-08,
+                "depth": 0.01891941553901544,
+                "bottom_clearance": 0.08052115500054169,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0004294526863635739,
+                  0.00028074452414528217
+                ],
+                "rod_tip_xy": [
+                  0.26807798163189356,
+                  -0.36376759159186833
+                ],
+                "target_mouth_xy": [
+                  0.26850743431825713,
+                  -0.3640483361160136
+                ],
+                "gripper_position": [
+                  0.26806969122031754,
+                  -0.36376863987942487,
+                  1.0020738176859876
+                ],
+                "rod_tip_xy_dist": 0.0005130761129330142,
+                "target_xy_drift": 2.9212725029582014e-08,
+                "depth": 0.019062060261052616,
+                "bottom_clearance": 0.08037846743747512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00043777526086924423,
+                  0.00027969716326886607
+                ],
+                "rod_tip_xy": [
+                  0.26806969122031743,
+                  -0.36376863987942476
+                ],
+                "target_mouth_xy": [
+                  0.2685074664811867,
+                  -0.3640483370426936
+                ],
+                "gripper_position": [
+                  0.2680612122089397,
+                  -0.3637700788646078,
+                  1.0019494793783403
+                ],
+                "rod_tip_xy_dist": 0.000519497528550219,
+                "target_xy_drift": 4.179458766776559e-08,
+                "depth": 0.01918609079701805,
+                "bottom_clearance": 0.08025450447488436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004462528208180605,
+                  0.0002782569224393794
+                ],
+                "rod_tip_xy": [
+                  0.2680612122089396,
+                  -0.36377007886460777
+                ],
+                "target_mouth_xy": [
+                  0.26850746502975764,
+                  -0.36404833578704715
+                ],
+                "gripper_position": [
+                  0.2680527424804352,
+                  -0.3637714910048429,
+                  1.0018246313529735
+                ],
+                "rod_tip_xy_dist": 0.0005258977989814283,
+                "target_xy_drift": 4.161759443988276e-08,
+                "depth": 0.019310275512397945,
+                "bottom_clearance": 0.08013021902267004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00045469229021682933,
+                  0.0002768755506692422
+                ],
+                "rod_tip_xy": [
+                  0.26805274248043515,
+                  -0.36377149100484285
+                ],
+                "target_mouth_xy": [
+                  0.268507434770652,
+                  -0.3640483665555121
+                ],
+                "gripper_position": [
+                  0.2680442260354817,
+                  -0.3637729013050716,
+                  1.0017002239369401
+                ],
+                "rod_tip_xy_dist": 0.0005323581025409696,
+                "target_xy_drift": 1.5549171877767055e-09,
+                "depth": 0.01943520833993595,
+                "bottom_clearance": 0.08000532574584251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00046323821635058104,
+                  0.00027543575997385217
+                ],
+                "rod_tip_xy": [
+                  0.26804422603548167,
+                  -0.36377290130507156
+                ],
+                "target_mouth_xy": [
+                  0.26850746425183225,
+                  -0.3640483370650454
+                ],
+                "gripper_position": [
+                  0.2680356391345613,
+                  -0.3637742355691581,
+                  1.0015757459121217
+                ],
+                "rod_tip_xy_dist": 0.0005389383109039857,
+                "target_xy_drift": 4.016438082012615e-08,
+                "depth": 0.019559631211035433,
+                "bottom_clearance": 0.07988092637201072,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006016244204262888,
+              "rod_tip_xy_max_step": 3.258047365309932e-05,
+              "rod_tip_xy_range": 0.0006016180597469364,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26757586885088613,
+            -0.36509534014257294,
+            1.0434899104191393
+          ],
+          "object_origin_world": [
+            0.26757586885088613,
+            -0.36509534014257294,
+            1.0434899104191393
+          ],
+          "frame_world": [
+            0.2675744423882602,
+            -0.3651015070958777,
+            1.0433769663461505
+          ],
+          "center_minus_frame": [
+            1.42646262590862e-06,
+            6.166953304742595e-06,
+            0.0001129440729887854
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26696719291808924,
+              0.15895114630365423,
+              0.8317468737202857
+            ],
+            "target_position": [
+              0.28157531694422716,
+              0.20514018773789489,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048444038190235836,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16840963372482776,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317468737202857,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673575318605,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13761110459980655,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84ae302fe8507d473779fd2d0c3d17177f94605f3dd7bd77f04a6d1713affc7a",
+    "visual_seed": 6279973180987191046,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4111173739ff5de79e9a396b2d02f23643186f31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_10_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20325326877769803,
+              -0.11216404229616694,
+              1.162487142438613
+            ],
+            "current_z": 1.162487142438613,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30138069402849166,
+            "gripper_z": 1.1563022240730614,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19878003157609753,
+              -0.11677969414402667,
+              1.1563022240730614
+            ],
+            "object_minus_gripper": [
+              0.004473237201600505,
+              0.004615651847859725,
+              0.006184918365551573
+            ],
+            "object_to_gripper_xy": 0.006427603989235305,
+            "object_to_gripper_z": 0.006184918365551573,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20325326877769803,
+              -0.13571957710617527,
+              1.162487142438613
+            ],
+            "finger_b": [
+              0.19255058418993642,
+              -0.11216404229616694,
+              1.162487142438613
+            ],
+            "finger_midpoint": [
+              0.19790192648381721,
+              -0.12394180970117111,
+              1.162487142438613
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053513422938808175,
+              0.011777767405004164,
+              0.0
+            ],
+            "finger_gap": 0.025872971950872282,
+            "fingertip_max_gap": 0.09262267902168297,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012936485975436146,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162487142438613,
+            "object_top_z": 1.2125544756637887,
+            "finger_top_clearance": 0.05006733322517576,
+            "fingertip_min_top_clearance": 0.01502019996755276,
+            "object_projection_between_fingers": 0.8288831337426271,
+            "object_to_finger_line_xy": 0.009744047179669237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881133951084149,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0180381177000473,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 324,
+            "max_stable_success_frames": 324,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.272428089938495,
+              -0.3655749433369846,
+              0.8515395664026857
+            ],
+            "target_position": [
+              0.26582290640667205,
+              -0.36582440214982026,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00660989252472128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1811974283522123,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395664026857,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582880105728321,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695015594273393,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14839540198165957,
+            "release_required_pad_clearance": 0.05347507797136697,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9631659520574338,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007803082466125488,
+            "max_z_decrease": 0.007803082466125488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035114308161588496,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007803082466125488,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021177916163386334,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007803082466125488,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007803102158685061,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1215228289365768,
+              -0.42208585143089294,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1215228289365768,
+              -0.42208585143089294,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12015421435830201,
+              -0.4234522834797899,
+              0.807687486239188
+            ],
+            "closest_button": [
+              0.12151237577199933,
+              -0.42208045721054077,
+              0.7726262807846069
+            ],
+            "closest_ee_minus_button": [
+              -0.001358161413697323,
+              -0.0013718262692491434,
+              0.035061205454581024
+            ],
+            "button_min_z_position": [
+              0.12150575220584865,
+              -0.4220818877220154,
+              0.7690057754516602
+            ],
+            "min_active_finger_to_button": 0.14739889163017425,
+            "closest_active_finger": [
+              -0.02115955948829651,
+              -0.40875592827796936,
+              0.8107661008834839
+            ],
+            "closest_active_finger_button": [
+              0.12152369320392606,
+              -0.4220845401287079,
+              0.7762657999992371
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14268325269222257,
+              0.013328611850738525,
+              0.034500300884246826
+            ],
+            "min_contact_pad_to_button": 0.021177916163386334,
+            "closest_contact_pad": [
+              0.12150575220584865,
+              -0.4244270359526841,
+              0.7900534454604666
+            ],
+            "closest_contact_pad_button": [
+              0.12150575220584865,
+              -0.4220818877220154,
+              0.7690057754516602
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023451482306687255,
+              0.021047670008806474
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2758867939934118,
+              0.2016755654121886,
+              1.1025481140910345
+            ],
+            "current_z": 1.1025481140910345,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19263898435667193,
+            "gripper_z": 1.102548234005313,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27588678220529805,
+              0.20167551523209587,
+              1.102548234005313
+            ],
+            "object_minus_gripper": [
+              1.1788113762900565e-08,
+              5.0180092719953606e-08,
+              -1.1991427850688297e-07
+            ],
+            "object_to_gripper_xy": 5.15461087907732e-08,
+            "object_to_gripper_z": -1.1991427850688297e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2758867939934118,
+              0.2016755654121886,
+              1.1025481140910345
+            ],
+            "finger_b": [
+              0.2758867939934118,
+              0.2016755654121886,
+              1.1025481140910345
+            ],
+            "finger_midpoint": [
+              0.2758867939934118,
+              0.2016755654121886,
+              1.1025481140910345
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1025481140910345,
+            "object_top_z": 1.2275566207113142,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2758867939934118,
+            0.2016755654121886,
+            1.1025481140910345
+          ],
+          "object_origin_world": [
+            0.2758867939934118,
+            0.2016755654121886,
+            1.1025481140910345
+          ],
+          "frame_world": [
+            0.27588678220529805,
+            0.20167551523209587,
+            1.102548234005313
+          ],
+          "center_minus_frame": [
+            1.1788113762900565e-08,
+            5.0180092719953606e-08,
+            -1.1991427850688297e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043386956002678,
+            "required_z": 0.9112598869393709,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002336510595042608,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0392305459959519e-07,
+            "max_target_xy_drift": 1.48100840498075e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9631659518516917,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9631659520745168,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2700928995412276,
+              -0.3655822448661998,
+              0.9235012539792461
+            ],
+            "target_mouth_xy": [
+              0.27242806080308146,
+              -0.3655750019996056
+            ],
+            "rod_tip_z": 0.9235012539792461,
+            "rod_tip_depth": -0.022241416317956175,
+            "rod_tip_bottom_clearance": 0.12168197458021124,
+            "rod_tip_xy_dist": 0.002335172494266612,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0446412551023031,
+            "min_rod_tip_bottom_clearance": 0.05479941332779481,
+            "min_rod_tip_xy_dist": 0.0010427761733909934,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2724281472377976,
+              -0.3655749443017623
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.643471616220921e-08,
+              -5.7697843280912764e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0017102942500886176,
+                0.0017748536034570273
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001836798058034106,
+                0.0014329506697771666
+              ],
+              "first_target_mouth_xy": [
+                0.27242809026923265,
+                -0.3655750032713202
+              ],
+              "last_target_mouth_xy": [
+                0.27242809116330713,
+                -0.36557494392744005
+              ],
+              "first_rod_tip_xy": [
+                0.27071779601914403,
+                -0.36380014966786317
+              ],
+              "last_rod_tip_xy": [
+                0.270591293105273,
+                -0.3641419932576629
+              ],
+              "min_rod_tip_xy_dist": 0.0022967554006145478,
+              "max_rod_tip_xy_dist": 0.002470838471510701,
+              "first_target_xy_drift": 8.199284209493772e-08,
+              "last_target_xy_drift": 5.607573986543671e-08,
+              "max_depth": 0.01934099815421708,
+              "min_bottom_clearance": 0.08009955630807097
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0017102942500886176,
+                  0.0017748536034570273
+                ],
+                "rod_tip_xy": [
+                  0.27071779601914403,
+                  -0.36380014966786317
+                ],
+                "target_mouth_xy": [
+                  0.27242809026923265,
+                  -0.3655750032713202
+                ],
+                "gripper_position": [
+                  0.27070688547002697,
+                  -0.36380831279300935,
+                  1.0058347415761937
+                ],
+                "rod_tip_xy_dist": 0.0024647944611246152,
+                "target_xy_drift": 8.199284209493772e-08,
+                "depth": 0.015280771802994586,
+                "bottom_clearance": 0.08415973822523592,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017212647405816517,
+                  0.0017666321253672623
+                ],
+                "rod_tip_xy": [
+                  0.27070688547002697,
+                  -0.36380831279300935
+                ],
+                "target_mouth_xy": [
+                  0.2724281502106086,
+                  -0.3655749449183766
+                ],
+                "gripper_position": [
+                  0.27069892115149863,
+                  -0.36381006022445744,
+                  1.0057086352691407
+                ],
+                "rod_tip_xy_dist": 0.0024665241481788237,
+                "target_xy_drift": 3.036086039582898e-09,
+                "depth": 0.015425101128998642,
+                "bottom_clearance": 0.08401546528588788,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017291968211123887,
+                  0.0017649139089916388
+                ],
+                "rod_tip_xy": [
+                  0.27069892115149863,
+                  -0.36381006022445744
+                ],
+                "target_mouth_xy": [
+                  0.272428117972611,
+                  -0.3655749741334491
+                ],
+                "gripper_position": [
+                  0.27070093054122013,
+                  -0.36387973101279775,
+                  1.0051855102397973
+                ],
+                "rod_tip_xy_dist": 0.002470838471510701,
+                "target_xy_drift": 4.1789719833387404e-08,
+                "depth": 0.015551236181334693,
+                "bottom_clearance": 0.08388933332947446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017271889088399939,
+                  0.0016952136097092008
+                ],
+                "rod_tip_xy": [
+                  0.2707009305412201,
+                  -0.36387973101279775
+                ],
+                "target_mouth_xy": [
+                  0.27242811945006007,
+                  -0.36557494462250695
+                ],
+                "gripper_position": [
+                  0.2706897640072138,
+                  -0.36388793785966694,
+                  1.005041112436057
+                ],
+                "rod_tip_xy_dist": 0.0024201096482108385,
+                "target_xy_drift": 2.778958861841322e-08,
+                "depth": 0.01607432258089625,
+                "bottom_clearance": 0.0833662027153973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017383567236768371,
+                  0.0016870352619858253
+                ],
+                "rod_tip_xy": [
+                  0.2706897640072138,
+                  -0.36388793785966694
+                ],
+                "target_mouth_xy": [
+                  0.2724281207308906,
+                  -0.36557497312165277
+                ],
+                "gripper_position": [
+                  0.27068172008597824,
+                  -0.3638895836772577,
+                  1.0049151199438855
+                ],
+                "rod_tip_xy_dist": 0.002422389744433387,
+                "target_xy_drift": 3.915612603140772e-08,
+                "depth": 0.016218710850214202,
+                "bottom_clearance": 0.08322182522575383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017463954678769156,
+                  0.0016853905011840475
+                ],
+                "rod_tip_xy": [
+                  0.27068172008597824,
+                  -0.3638895836772576
+                ],
+                "target_mouth_xy": [
+                  0.27242811555385515,
+                  -0.36557497417844165
+                ],
+                "gripper_position": [
+                  0.2706844221673877,
+                  -0.36396060489632387,
+                  1.0043935629479364
+                ],
+                "rod_tip_xy_dist": 0.002427022511577189,
+                "target_xy_drift": 4.3548687460891655e-08,
+                "depth": 0.01634476499041171,
+                "bottom_clearance": 0.08309589619640867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017436679860020066,
+                  0.0016143086019128616
+                ],
+                "rod_tip_xy": [
+                  0.27068442216738764,
+                  -0.3639606048963239
+                ],
+                "target_mouth_xy": [
+                  0.27242809015338965,
+                  -0.3655749134982368
+                ],
+                "gripper_position": [
+                  0.2706732006369532,
+                  -0.363968478689261,
+                  1.0042491946785486
+                ],
+                "rod_tip_xy_dist": 0.002376209230606209,
+                "target_xy_drift": 6.486514332033921e-08,
+                "depth": 0.01686625497457961,
+                "bottom_clearance": 0.08257425293233689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001754855249336884,
+                  0.0016064361564782081
+                ],
+                "rod_tip_xy": [
+                  0.27067320063695316,
+                  -0.363968478689261
+                ],
+                "target_mouth_xy": [
+                  0.27242805588629004,
+                  -0.36557491484573923
+                ],
+                "gripper_position": [
+                  0.2706650421163198,
+                  -0.36397008456348834,
+                  1.0041233393552624
+                ],
+                "rod_tip_xy_dist": 0.002379107830882345,
+                "target_xy_drift": 9.598309867926725e-08,
+                "depth": 0.017010697271871433,
+                "bottom_clearance": 0.08242997632044557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001763049260756766,
+                  0.0016047990918535149
+                ],
+                "rod_tip_xy": [
+                  0.2706650421163198,
+                  -0.3639700845634883
+                ],
+                "target_mouth_xy": [
+                  0.2724280913770766,
+                  -0.3655748836553418
+                ],
+                "gripper_position": [
+                  0.2706683466987549,
+                  -0.36404241781518387,
+                  1.0036040438995029
+                ],
+                "rod_tip_xy_dist": 0.002384055960137858,
+                "target_xy_drift": 8.245246191076379e-08,
+                "depth": 0.017136547912142697,
+                "bottom_clearance": 0.08230400706248042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017597737492482945,
+                  0.0015324963100815103
+                ],
+                "rod_tip_xy": [
+                  0.27066834669875484,
+                  -0.3640424178151838
+                ],
+                "target_mouth_xy": [
+                  0.27242812044800313,
+                  -0.3655749141252653
+                ],
+                "gripper_position": [
+                  0.27065720779971053,
+                  -0.3640499295567192,
+                  1.0034600940028466
+                ],
+                "rod_tip_xy_dist": 0.0023335270705429675,
+                "target_xy_drift": 4.03523736387168e-08,
+                "depth": 0.017655722130411333,
+                "bottom_clearance": 0.08178481180235508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017709121520990134,
+                  0.0015250131152822477
+                ],
+                "rod_tip_xy": [
+                  0.2706572077997105,
+                  -0.36404992955671917
+                ],
+                "target_mouth_xy": [
+                  0.2724281199518095,
+                  -0.3655749426720014
+                ],
+                "gripper_position": [
+                  0.27064877327334047,
+                  -0.3640515422629861,
+                  1.003334237060219
+                ],
+                "rod_tip_xy_dist": 0.0023370483204749586,
+                "target_xy_drift": 2.733461668048205e-08,
+                "depth": 0.017799735282606144,
+                "bottom_clearance": 0.08164079574747729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001779344574767916,
+                  0.0015233417743041877
+                ],
+                "rod_tip_xy": [
+                  0.27064877327334047,
+                  -0.36405154226298614
+                ],
+                "target_mouth_xy": [
+                  0.2724281178481084,
+                  -0.3655748840372903
+                ],
+                "gripper_position": [
+                  0.27064051949282114,
+                  -0.36405280522091105,
+                  1.0032081141524394
+                ],
+                "rod_tip_xy_dist": 0.002342357205273407,
+                "target_xy_drift": 6.704894044733896e-08,
+                "depth": 0.01792562508863116,
+                "bottom_clearance": 0.08151492354729573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017875992298301835,
+                  0.0015221085993854522
+                ],
+                "rod_tip_xy": [
+                  0.2706405194928211,
+                  -0.36405280522091105
+                ],
+                "target_mouth_xy": [
+                  0.27242811872265127,
+                  -0.3655749138202965
+                ],
+                "gripper_position": [
+                  0.27064528569595525,
+                  -0.3641269154332354,
+                  1.0026910627726853
+                ],
+                "rod_tip_xy_dist": 0.0023478342349519924,
+                "target_xy_drift": 4.1740068623893344e-08,
+                "depth": 0.01805172150828549,
+                "bottom_clearance": 0.08138879385966102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017828033737753435,
+                  0.0014479977557673718
+                ],
+                "rod_tip_xy": [
+                  0.27064528569595525,
+                  -0.36412691543323544
+                ],
+                "target_mouth_xy": [
+                  0.2724280890697306,
+                  -0.3655749131890028
+                ],
+                "gripper_position": [
+                  0.2706338016967389,
+                  -0.36413482428639643,
+                  1.002547001535103
+                ],
+                "rod_tip_xy_dist": 0.0022967554006145478,
+                "target_xy_drift": 6.596611118163967e-08,
+                "depth": 0.018568776394079722,
+                "bottom_clearance": 0.08087174983753675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017943172550847764,
+                  0.0014400892107497287
+                ],
+                "rod_tip_xy": [
+                  0.27063380169673884,
+                  -0.3641348242863964
+                ],
+                "target_mouth_xy": [
+                  0.2724281189518236,
+                  -0.3655749134971461
+                ],
+                "gripper_position": [
+                  0.270625275418797,
+                  -0.3641364028036662,
+                  1.0024214605824633
+                ],
+                "rod_tip_xy_dist": 0.00230074582403462,
+                "target_xy_drift": 4.1821294865660627e-08,
+                "depth": 0.018712829972524103,
+                "bottom_clearance": 0.0807276824992833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001802845074685755,
+                  0.0014384821425033611
+                ],
+                "rod_tip_xy": [
+                  0.270625275418797,
+                  -0.36413640280366627
+                ],
+                "target_mouth_xy": [
+                  0.27242812049348275,
+                  -0.36557488494616963
+                ],
+                "gripper_position": [
+                  0.2706168362300637,
+                  -0.36413769730690426,
+                  1.0022956526090812
+                ],
+                "rod_tip_xy_dist": 0.0023064000601846473,
+                "target_xy_drift": 6.510257105875733e-08,
+                "depth": 0.018838376394543555,
+                "bottom_clearance": 0.08060218076620418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018112521063116671,
+                  0.001437246346948584
+                ],
+                "rod_tip_xy": [
+                  0.27061683623006366,
+                  -0.3641376973069043
+                ],
+                "target_mouth_xy": [
+                  0.27242808833637533,
+                  -0.3655749436538529
+                ],
+                "gripper_position": [
+                  0.27060841322601653,
+                  -0.36413914873187136,
+                  1.002170128760592
+                ],
+                "rod_tip_xy_dist": 0.0023122091718604312,
+                "target_xy_drift": 5.890498565462942e-08,
+                "depth": 0.018964201085097332,
+                "bottom_clearance": 0.08047633717590152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018196759392560824,
+                  0.0014357945905114078
+                ],
+                "rod_tip_xy": [
+                  0.27060841322601653,
+                  -0.3641391487318713
+                ],
+                "target_mouth_xy": [
+                  0.2724280891652726,
+                  -0.3655749433223827
+                ],
+                "gripper_position": [
+                  0.27059988082191533,
+                  -0.36414047334510774,
+                  1.0020442849173352
+                ],
+                "rod_tip_xy_dist": 0.0023179142844482682,
+                "target_xy_drift": 5.8080782927831075e-08,
+                "depth": 0.019089701871492948,
+                "bottom_clearance": 0.08035080918669257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018282081590605959,
+                  0.0014344703139335668
+                ],
+                "rod_tip_xy": [
+                  0.27059988082191533,
+                  -0.36414047334510763
+                ],
+                "target_mouth_xy": [
+                  0.2724280889809759,
+                  -0.3655749436590412
+                ],
+                "gripper_position": [
+                  0.2705912931052731,
+                  -0.3641419932576628,
+                  1.0019188915215367
+                ],
+                "rod_tip_xy_dist": 0.0023238007992107236,
+                "target_xy_drift": 5.826036701736846e-08,
+                "depth": 0.019215549619878036,
+                "bottom_clearance": 0.08022496483861219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001836798058034106,
+                  0.0014329506697771666
+                ],
+                "rod_tip_xy": [
+                  0.270591293105273,
+                  -0.3641419932576629
+                ],
+                "target_mouth_xy": [
+                  0.27242809116330713,
+                  -0.36557494392744005
+                ],
+                "gripper_position": [
+                  0.270599469336041,
+                  -0.36422130580454526,
+                  1.0014054345983487
+                ],
+                "rod_tip_xy_dist": 0.002329629740540907,
+                "target_xy_drift": 5.607573986543671e-08,
+                "depth": 0.01934099815421708,
+                "bottom_clearance": 0.08009955630807097,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005991685025493835,
+              "rod_tip_xy_max_step": 3.247660178271049e-05,
+              "rod_tip_xy_range": 0.0005991620259087774,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2700928995412276,
+            -0.3655822448661998,
+            1.043501253979246
+          ],
+          "object_origin_world": [
+            0.2700928995412276,
+            -0.3655822448661998,
+            1.043501253979246
+          ],
+          "frame_world": [
+            0.2700915885724726,
+            -0.36558839141109734,
+            1.043386956002678
+          ],
+          "center_minus_frame": [
+            1.3109687549972548e-06,
+            6.146544897556172e-06,
+            0.00011429797656803409
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.261316961154861,
+              0.1560808314091228,
+              0.8319303340487376
+            ],
+            "target_position": [
+              0.2760496658162534,
+              0.20259668908642464,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048793212664209905,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16849020046589722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319303340487376,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566904384368,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13837023875380994,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "092188432067549e81e107943d2b3fcc5fcb36056207fca1f9c9b28ea06df8fe",
+    "visual_seed": 4166555573217337986,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ab7622be8b8156f7e7a35c0a9950426944f8da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_11_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19975698628963728,
+              -0.10558329884440139,
+              1.1646096687440934
+            ],
+            "current_z": 1.1646096687440934,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30350322033397215,
+            "gripper_z": 1.158580299621543,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19515856230179288,
+              -0.11027563145402679,
+              1.158580299621543
+            ],
+            "object_minus_gripper": [
+              0.004598423987844408,
+              0.004692332609625399,
+              0.006029369122550365
+            ],
+            "object_to_gripper_xy": 0.006569892578371185,
+            "object_to_gripper_z": 0.006029369122550365,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19975698628963728,
+              -0.1292381135747369,
+              1.1646096687440934
+            ],
+            "finger_b": [
+              0.1889468205782701,
+              -0.10558329884440139,
+              1.1646096687440934
+            ],
+            "finger_midpoint": [
+              0.1943519034339537,
+              -0.11741070620956914,
+              1.1646096687440934
+            ],
+            "object_minus_finger_midpoint": [
+              0.005405082855683585,
+              0.011827407365167755,
+              0.0
+            ],
+            "finger_gap": 0.026007882317361345,
+            "fingertip_max_gap": 0.09245671932348107,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013003941158680667,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646096687440934,
+            "object_top_z": 1.2146988474670755,
+            "finger_top_clearance": 0.05008917872298202,
+            "fingertip_min_top_clearance": 0.015026753616894572,
+            "object_projection_between_fingers": 0.8272354154757019,
+            "object_to_finger_line_xy": 0.009832114125490244,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048728359661740536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8100937849438292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27673399161014944,
+              -0.3704244513379259,
+              0.8515396050041617
+            ],
+            "target_position": [
+              0.26875556458514416,
+              -0.37133529714374547,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008030251420429737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18300945143692443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396050041617,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567771252065907,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08734675997618195,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15058772913218654,
+            "release_required_pad_clearance": 0.05367337998809098,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3563832326818774,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008073389530181885,
+            "max_z_decrease": 0.008073389530181885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509045537193494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008073389530181885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021027155704758396,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008073389530181885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008073401352247184,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12445548921823499,
+              -0.42759674787521357,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12445548921823499,
+              -0.42759674787521357,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12351103389537088,
+              -0.4271891296971477,
+              0.807439145875981
+            ],
+            "closest_button": [
+              0.12444510310888288,
+              -0.42759078741073603,
+              0.7723634243011475
+            ],
+            "closest_ee_minus_button": [
+              -0.0009340692135119955,
+              0.0004016577135883548,
+              0.03507572157483352
+            ],
+            "button_min_z_position": [
+              0.1244561895728111,
+              -0.4275829493999481,
+              0.7687354683876038
+            ],
+            "min_active_finger_to_button": 0.1468433895405796,
+            "closest_active_finger": [
+              -0.0029160529375076294,
+              -0.4920482039451599,
+              0.8110158443450928
+            ],
+            "closest_active_finger_button": [
+              0.12445645779371259,
+              -0.4275954067707062,
+              0.7765911221504211
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12737251073122022,
+              -0.06445279717445374,
+              0.03442472219467163
+            ],
+            "min_contact_pad_to_button": 0.021027155704758396,
+            "closest_contact_pad": [
+              0.1244561895728111,
+              -0.4281134528885325,
+              0.7897559308725434
+            ],
+            "closest_contact_pad_button": [
+              0.1244561895728111,
+              -0.4275829493999481,
+              0.7687354683876038
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005305034885843551,
+              0.021020462484939606
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2739687639328004,
+              0.20351231985925436,
+              1.1032342011949083
+            ],
+            "current_z": 1.1032342011949083,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19332507146054578,
+            "gripper_z": 1.1032344664898375,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2739686297271938,
+              0.20351237963701646,
+              1.1032344664898375
+            ],
+            "object_minus_gripper": [
+              1.3420560657229075e-07,
+              -5.97777621014206e-08,
+              -2.6529492913596187e-07
+            ],
+            "object_to_gripper_xy": 1.469167304199577e-07,
+            "object_to_gripper_z": -2.6529492913596187e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2739687639328004,
+              0.20351231985925436,
+              1.1032342011949083
+            ],
+            "finger_b": [
+              0.2739687639328004,
+              0.20351231985925436,
+              1.1032342011949083
+            ],
+            "finger_midpoint": [
+              0.2739687639328004,
+              0.20351231985925436,
+              1.1032342011949083
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1032342011949083,
+            "object_top_z": 1.228242707815188,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27396876393280045,
+            0.20351231985925436,
+            1.1032342011949083
+          ],
+          "object_origin_world": [
+            0.27396876393280045,
+            0.20351231985925436,
+            1.1032342011949083
+          ],
+          "frame_world": [
+            0.2739686297271938,
+            0.20351237963701646,
+            1.1032344664898375
+          ],
+          "center_minus_frame": [
+            1.342056066278019e-07,
+            -5.97777621014206e-08,
+            -2.6529492913596187e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432534042458856,
+            "required_z": 0.9112598236340601,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019049005589457484,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.057591394184669e-08,
+            "max_target_xy_drift": 8.240804139698548e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3563832335204316,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3563832335787596,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2755676247397661,
+              -0.3719220010089744,
+              0.9233719926455529
+            ],
+            "target_mouth_xy": [
+              0.2767339602761062,
+              -0.3704244228192972
+            ],
+            "rod_tip_z": 0.9233719926455529,
+            "rod_tip_depth": -0.022112174632122006,
+            "rod_tip_bottom_clearance": 0.12155268418716214,
+            "rod_tip_xy_dist": 0.0018981778150443335,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045013043591880186,
+            "min_rod_tip_bottom_clearance": 0.054427535258700144,
+            "min_rod_tip_xy_dist": 0.0006244199833809039,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27673399084978634,
+              -0.3704244224497084
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.057368014314221e-08,
+              -3.695888040056161e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0006171686708271729,
+                0.00018812287394615046
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007100209149571435,
+                -0.00021360805935904947
+              ],
+              "first_target_mouth_xy": [
+                0.27673399180174907,
+                -0.37042436222093544
+              ],
+              "last_target_mouth_xy": [
+                0.2767339628087436,
+                -0.37042439203621313
+              ],
+              "first_rod_tip_xy": [
+                0.2761168231309219,
+                -0.3702362393469893
+              ],
+              "last_rod_tip_xy": [
+                0.2760239418937865,
+                -0.3706380000955722
+              ],
+              "min_rod_tip_xy_dist": 0.0006244199833809039,
+              "max_rod_tip_xy_dist": 0.0007414567436470709,
+              "first_target_xy_drift": 6.023629575586251e-08,
+              "last_target_xy_drift": 4.136762951000494e-08,
+              "max_depth": 0.01962689247561411,
+              "min_bottom_clearance": 0.07981373395154978
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006171686708271729,
+                  0.00018812287394615046
+                ],
+                "rod_tip_xy": [
+                  0.2761168231309219,
+                  -0.3702362393469893
+                ],
+                "target_mouth_xy": [
+                  0.27673399180174907,
+                  -0.37042436222093544
+                ],
+                "gripper_position": [
+                  0.27612171322684187,
+                  -0.37030184641728503,
+                  1.0056459745318491
+                ],
+                "rod_tip_xy_dist": 0.0006452033663522987,
+                "target_xy_drift": 6.023629575586251e-08,
+                "depth": 0.015087099226024359,
+                "bottom_clearance": 0.08435349774855716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006122763568285339,
+                  0.00012254786213633517
+                ],
+                "rod_tip_xy": [
+                  0.2761217132268418,
+                  -0.370301846417285
+                ],
+                "target_mouth_xy": [
+                  0.27673398958367035,
+                  -0.3704243942794213
+                ],
+                "gripper_position": [
+                  0.27611100643361414,
+                  -0.3703101113871945,
+                  1.005496591920714
+                ],
+                "rod_tip_xy_dist": 0.0006244199833809039,
+                "target_xy_drift": 2.8198725594701338e-08,
+                "depth": 0.015613862149844393,
+                "bottom_clearance": 0.08382667243377873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0006229848183113562,
+                  0.00011424956370814643
+                ],
+                "rod_tip_xy": [
+                  0.2761110064336141,
+                  -0.37031011138719455
+                ],
+                "target_mouth_xy": [
+                  0.27673399125192544,
+                  -0.3704243609509027
+                ],
+                "gripper_position": [
+                  0.27610304081164183,
+                  -0.3703125820776744,
+                  1.0053658381725248
+                ],
+                "rod_tip_xy_dist": 0.0006333743337505359,
+                "target_xy_drift": 6.15001204891309e-08,
+                "depth": 0.015763388257633903,
+                "bottom_clearance": 0.08367723572468078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006309487141871739,
+                  0.00011180905675528541
+                ],
+                "rod_tip_xy": [
+                  0.2761030408116418,
+                  -0.3703125820776744
+                ],
+                "target_mouth_xy": [
+                  0.27673398952582895,
+                  -0.3704243911344297
+                ],
+                "gripper_position": [
+                  0.2761088806861566,
+                  -0.3703787132764824,
+                  1.0048394363155282
+                ],
+                "rod_tip_xy_dist": 0.0006407788581928673,
+                "target_xy_drift": 3.1343253555468156e-08,
+                "depth": 0.015894003382120103,
+                "bottom_clearance": 0.08354654255877192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006251101763956046,
+                  4.568099930218894e-05
+                ],
+                "rod_tip_xy": [
+                  0.2761088806861565,
+                  -0.37037871327648236
+                ],
+                "target_mouth_xy": [
+                  0.2767339908625521,
+                  -0.37042439427578455
+                ],
+                "gripper_position": [
+                  0.276098003341043,
+                  -0.37038702823676173,
+                  1.0046901810975195
+                ],
+                "rod_tip_xy_dist": 0.0006267770627029921,
+                "target_xy_drift": 2.817392675269463e-08,
+                "depth": 0.01642041056510324,
+                "bottom_clearance": 0.08302017321105748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006359889825462428,
+                  3.736378325980283e-05
+                ],
+                "rod_tip_xy": [
+                  0.27609800334104295,
+                  -0.3703870282367617
+                ],
+                "target_mouth_xy": [
+                  0.2767339923235892,
+                  -0.3704243920200215
+                ],
+                "gripper_position": [
+                  0.27608990716922777,
+                  -0.37038934811167973,
+                  1.0045590173047558
+                ],
+                "rod_tip_xy_dist": 0.0006370855815506192,
+                "target_xy_drift": 3.0465356422341304e-08,
+                "depth": 0.01656978381172125,
+                "bottom_clearance": 0.08287083258524242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006440829638190704,
+                  3.501573975955852e-05
+                ],
+                "rod_tip_xy": [
+                  0.2760899071692277,
+                  -0.37038934811167984
+                ],
+                "target_mouth_xy": [
+                  0.2767339901330468,
+                  -0.3704243638514394
+                ],
+                "gripper_position": [
+                  0.2760965346300176,
+                  -0.3704565730499459,
+                  1.0040351183257987
+                ],
+                "rod_tip_xy_dist": 0.0006450340815126492,
+                "target_xy_drift": 5.860265221927266e-08,
+                "depth": 0.01670081233712173,
+                "bottom_clearance": 0.08273972111449779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006374565773563101,
+                  -3.221112057621989e-05
+                ],
+                "rod_tip_xy": [
+                  0.27609653463001754,
+                  -0.3704565730499459
+                ],
+                "target_mouth_xy": [
+                  0.27673399120737385,
+                  -0.37042436192936967
+                ],
+                "gripper_position": [
+                  0.27608567423295594,
+                  -0.37046463535135776,
+                  1.003885779824078
+                ],
+                "rod_tip_xy_dist": 0.0006382698835943908,
+                "target_xy_drift": 6.052139514332482e-08,
+                "depth": 0.017224784141270155,
+                "bottom_clearance": 0.08221580171831777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006483161387679792,
+                  -4.024200564844982e-05
+                ],
+                "rod_tip_xy": [
+                  0.2760856742329559,
+                  -0.3704646353513577
+                ],
+                "target_mouth_xy": [
+                  0.27673399037172386,
+                  -0.37042439334570926
+                ],
+                "gripper_position": [
+                  0.2760773503683246,
+                  -0.37046702600158093,
+                  1.0037552804202319
+                ],
+                "rod_tip_xy_dist": 0.0006495638804656795,
+                "target_xy_drift": 2.9107925218996664e-08,
+                "depth": 0.017374046498412787,
+                "bottom_clearance": 0.08206648597312316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000656642218853587,
+                  -4.260321985866122e-05
+                ],
+                "rod_tip_xy": [
+                  0.27607735036832454,
+                  -0.37046702600158093
+                ],
+                "target_mouth_xy": [
+                  0.2767339925871781,
+                  -0.3704244227817223
+                ],
+                "gripper_position": [
+                  0.2760690497342049,
+                  -0.3704692925148446,
+                  1.0036246350954146
+                ],
+                "rod_tip_xy_dist": 0.0006580228247737972,
+                "target_xy_drift": 1.7688310891195176e-09,
+                "depth": 0.017504618354669654,
+                "bottom_clearance": 0.08193599002833762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006649111383114081,
+                  -4.4900421716287386e-05
+                ],
+                "rod_tip_xy": [
+                  0.2760690497342048,
+                  -0.3704692925148447
+                ],
+                "target_mouth_xy": [
+                  0.2767339608725162,
+                  -0.3704243920931284
+                ],
+                "gripper_position": [
+                  0.2760771911530788,
+                  -0.37053858817296725,
+                  1.0031020285531334
+                ],
+                "rod_tip_xy_dist": 0.0006664254419819766,
+                "target_xy_drift": 4.266331766579892e-08,
+                "depth": 0.017635197345531317,
+                "bottom_clearance": 0.08180535534731259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006568012223708286,
+                  -0.00011419422946840063
+                ],
+                "rod_tip_xy": [
+                  0.27607719115307877,
+                  -0.3705385881729672
+                ],
+                "target_mouth_xy": [
+                  0.2767339923754496,
+                  -0.3704243939434988
+                ],
+                "gripper_position": [
+                  0.2760662225219584,
+                  -0.37054644086086874,
+                  1.0029529760748175
+                ],
+                "rod_tip_xy_dist": 0.0006666544590353359,
+                "target_xy_drift": 2.8547007461489056e-08,
+                "depth": 0.018157944871935006,
+                "bottom_clearance": 0.0812826879422811,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006677683352432906,
+                  -0.0001220475055004333
+                ],
+                "rod_tip_xy": [
+                  0.27606622252195834,
+                  -0.3705464408608687
+                ],
+                "target_mouth_xy": [
+                  0.27673399085720163,
+                  -0.37042439335536825
+                ],
+                "gripper_position": [
+                  0.2760577471089417,
+                  -0.3705485268646616,
+                  1.002822619789293
+                ],
+                "rod_tip_xy_dist": 0.000678829981035365,
+                "target_xy_drift": 2.9094341104266502e-08,
+                "depth": 0.01830685463918369,
+                "bottom_clearance": 0.08113369753594613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006762138534764373,
+                  -0.0001241639451621812
+                ],
+                "rod_tip_xy": [
+                  0.27605774710894165,
+                  -0.3705485268646616
+                ],
+                "target_mouth_xy": [
+                  0.2767339609624181,
+                  -0.37042436291949943
+                ],
+                "gripper_position": [
+                  0.2760495070052269,
+                  -0.3705505297066657,
+                  1.0026922646191945
+                ],
+                "rod_tip_xy_dist": 0.000687518625865285,
+                "target_xy_drift": 6.66115647802205e-08,
+                "depth": 0.0184371422722146,
+                "bottom_clearance": 0.08100339031256787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006844855888450962,
+                  -0.00012613671935762794
+                ],
+                "rod_tip_xy": [
+                  0.27604950700522685,
+                  -0.37055052970666574
+                ],
+                "target_mouth_xy": [
+                  0.27673399259407194,
+                  -0.3704243929873081
+                ],
+                "gripper_position": [
+                  0.27604115321547157,
+                  -0.3705524776341749,
+                  1.0025618697993524
+                ],
+                "rod_tip_xy_dist": 0.0006960107709704808,
+                "target_xy_drift": 2.9513989285504726e-08,
+                "depth": 0.018567634354152873,
+                "bottom_clearance": 0.0808729745736202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006928067485865164,
+                  -0.00012808490729704358
+                ],
+                "rod_tip_xy": [
+                  0.2760411532154715,
+                  -0.3705524776341749
+                ],
+                "target_mouth_xy": [
+                  0.27673395996405803,
+                  -0.3704243927268779
+                ],
+                "gripper_position": [
+                  0.276032756560135,
+                  -0.3705545787231441,
+                  1.002431293817703
+                ],
+                "rod_tip_xy_dist": 0.0007045473258513673,
+                "target_xy_drift": 4.286461090286404e-08,
+                "depth": 0.018697944553790147,
+                "bottom_clearance": 0.08074255092433213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007012356766535888,
+                  -0.0001301857277067331
+                ],
+                "rod_tip_xy": [
+                  0.27603275656013493,
+                  -0.3705545787231442
+                ],
+                "target_mouth_xy": [
+                  0.2767339922367885,
+                  -0.37042439299543745
+                ],
+                "gripper_position": [
+                  0.2760437502388631,
+                  -0.37062795689254663,
+                  1.0019121983792336
+                ],
+                "rod_tip_xy_dist": 0.0007132179175471884,
+                "target_xy_drift": 2.9486909862262347e-08,
+                "depth": 0.018828602192172528,
+                "bottom_clearance": 0.08061199275755204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006902403046434302,
+                  -0.0002035632226797257
+                ],
+                "rod_tip_xy": [
+                  0.276043750238863,
+                  -0.37062795689254663
+                ],
+                "target_mouth_xy": [
+                  0.27673399054350645,
+                  -0.3704243936698669
+                ],
+                "gripper_position": [
+                  0.2760323215761597,
+                  -0.3706362051873932,
+                  1.0017631661469668
+                ],
+                "rod_tip_xy_dist": 0.0007196316167192843,
+                "target_xy_drift": 2.8781471204737944e-08,
+                "depth": 0.019347635114868367,
+                "bottom_clearance": 0.08009291526691042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0007016403215106548,
+                  -0.0002117833292207827
+                ],
+                "rod_tip_xy": [
+                  0.27603232157615964,
+                  -0.3706362051873932
+                ],
+                "target_mouth_xy": [
+                  0.2767339618976703,
+                  -0.3704244218581724
+                ],
+                "gripper_position": [
+                  0.27602394189378654,
+                  -0.37063800009557213,
+                  1.0016329550109315
+                ],
+                "rod_tip_xy_dist": 0.00073290607809283,
+                "target_xy_drift": 2.895815839961857e-08,
+                "depth": 0.01949673399336216,
+                "bottom_clearance": 0.07994385800278636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0007100209149571435,
+                  -0.00021360805935904947
+                ],
+                "rod_tip_xy": [
+                  0.2760239418937865,
+                  -0.3706380000955722
+                ],
+                "target_mouth_xy": [
+                  0.2767339628087436,
+                  -0.37042439203621313
+                ],
+                "gripper_position": [
+                  0.27601526228669326,
+                  -0.3706399312526847,
+                  1.0015027206944869
+                ],
+                "rod_tip_xy_dist": 0.0007414567436470709,
+                "target_xy_drift": 4.136762951000494e-08,
+                "depth": 0.01962689247561411,
+                "bottom_clearance": 0.07981373395154978,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006011321425868386,
+              "rod_tip_xy_max_step": 3.255898928781767e-05,
+              "rod_tip_xy_range": 0.0006011253095770186,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27556762473976615,
+            -0.3719220010089744,
+            1.0433719926455531
+          ],
+          "object_origin_world": [
+            0.27556762473976615,
+            -0.3719220010089744,
+            1.0433719926455531
+          ],
+          "frame_world": [
+            0.27556610197688347,
+            -0.3719293324951278,
+            1.0432534042458856
+          ],
+          "center_minus_frame": [
+            1.5227628826774975e-06,
+            7.3314861533946285e-06,
+            0.00011858839966749635
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25984055489240193,
+              0.1590489443420995,
+              0.8321626139624336
+            ],
+            "target_position": [
+              0.2741299877245595,
+              0.2050296177600413,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04814987246745479,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16527856451720854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321626139624336,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675390278083,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13492114410539838,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bcfa889bb32f4c37b0006b9d32dd8cfb1e2072290dd38ab73973b6ebdbb2bab",
+    "visual_seed": 7559848710104770027,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..461d38cbcc22344a9adfe5097b1c176e949572a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2044345907469936,
+              -0.10988632067008228,
+              1.1632445169892074
+            ],
+            "current_z": 1.1632445169892074,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3021380089744413,
+            "gripper_z": 1.157259454450274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19974655459624446,
+              -0.11440505711430184,
+              1.157259454450274
+            ],
+            "object_minus_gripper": [
+              0.004688036150749142,
+              0.004518736444219559,
+              0.005985062538933494
+            ],
+            "object_to_gripper_xy": 0.006511271918991624,
+            "object_to_gripper_z": 0.005985062538933494,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2044345907469936,
+              -0.13395911751253814,
+              1.1632445169892074
+            ],
+            "finger_b": [
+              0.19443632433123836,
+              -0.10988632067008228,
+              1.1632445169892074
+            ],
+            "finger_midpoint": [
+              0.19943545753911598,
+              -0.12192271909131021,
+              1.1632445169892074
+            ],
+            "object_minus_finger_midpoint": [
+              0.004999133207877621,
+              0.012036398421227931,
+              0.0
+            ],
+            "finger_gap": 0.02606654712727737,
+            "fingertip_max_gap": 0.09293162652877845,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013033273563638686,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632445169892074,
+            "object_top_z": 1.2136579134804524,
+            "finger_top_clearance": 0.05041339649124499,
+            "fingertip_min_top_clearance": 0.015124018947373495,
+            "object_projection_between_fingers": 0.8528763820035031,
+            "object_to_finger_line_xy": 0.009233529666511102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896581326438923,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8320362321692538,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27319924758062186,
+              -0.3724900323383406,
+              0.8515396656236336
+            ],
+            "target_position": [
+              0.2677116918865309,
+              -0.37208715037650547,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005502325087717238,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18115542027585074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396656236336,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540812597799519,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08819801257672415,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1492066759415935,
+            "release_required_pad_clearance": 0.054099006288362075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2114316670287173,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007797837257385254,
+            "max_z_decrease": 0.007797837257385254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515427306931314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007797837257385254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021112653542537614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007797837257385254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00779785939024985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12341161817312242,
+              -0.42834860086441034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12341161817312242,
+              -0.42834860086441034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12530569541351938,
+              -0.42862858017226996,
+              0.807904118773112
+            ],
+            "closest_button": [
+              0.12340175360441209,
+              -0.42834451794624323,
+              0.7728025913238525
+            ],
+            "closest_ee_minus_button": [
+              0.0019039418091072874,
+              -0.0002840622260267267,
+              0.03510152744925943
+            ],
+            "button_min_z_position": [
+              0.1233933046460152,
+              -0.42834547162055964,
+              0.7690110206604004
+            ],
+            "min_active_finger_to_button": 0.1443376905387953,
+            "closest_active_finger": [
+              -0.015950240194797516,
+              -0.4133743643760681,
+              0.8109957575798035
+            ],
+            "closest_active_finger_button": [
+              0.12341184169054033,
+              -0.42834636569023127,
+              0.7765368223190308
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13936208188533783,
+              0.014972001314163152,
+              0.034458935260772705
+            ],
+            "min_contact_pad_to_button": 0.021112653542537614,
+            "closest_contact_pad": [
+              0.1233933046460152,
+              -0.42961997975919863,
+              0.7900851699578636
+            ],
+            "closest_contact_pad_button": [
+              0.1233933046460152,
+              -0.42834547162055964,
+              0.7690110206604004
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012745081386389967,
+              0.021074149297463207
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2803883150129904,
+              0.19968060618391922,
+              1.104624383282573
+            ],
+            "current_z": 1.104624383282573,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1947152535482105,
+            "gripper_z": 1.1046243227340575,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28038827513026765,
+              0.1996806126322574,
+              1.1046243227340575
+            ],
+            "object_minus_gripper": [
+              3.9882722735473664e-08,
+              -6.448338168985046e-09,
+              6.054851553471963e-08
+            ],
+            "object_to_gripper_xy": 4.0400651454354756e-08,
+            "object_to_gripper_z": 6.054851553471963e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2803883150129904,
+              0.19968060618391922,
+              1.104624383282573
+            ],
+            "finger_b": [
+              0.2803883150129904,
+              0.19968060618391922,
+              1.104624383282573
+            ],
+            "finger_midpoint": [
+              0.2803883150129904,
+              0.19968060618391922,
+              1.104624383282573
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104624383282573,
+            "object_top_z": 1.2296328899028528,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28038831501299033,
+            0.19968060618391922,
+            1.104624383282573
+          ],
+          "object_origin_world": [
+            0.28038831501299033,
+            0.19968060618391922,
+            1.104624383282573
+          ],
+          "frame_world": [
+            0.28038827513026765,
+            0.1996806126322574,
+            1.1046243227340575
+          ],
+          "center_minus_frame": [
+            3.988272267996251e-08,
+            -6.448338168985046e-09,
+            6.054851553471963e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432685147741185,
+            "required_z": 0.9112599216515538,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00167272739469726,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.71509160226119e-08,
+            "max_target_xy_drift": 1.7217897825722905e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.211431667602595,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.2116754078422343,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27175184891385634,
+              -0.373319336243199,
+              0.9233857689097272
+            ],
+            "target_mouth_xy": [
+              0.2731991849033334,
+              -0.3724901485603493
+            ],
+            "rod_tip_z": 0.9233857689097272,
+            "rod_tip_depth": -0.022125931339412208,
+            "rod_tip_bottom_clearance": 0.12156644829826191,
+            "rod_tip_xy_dist": 0.0016680328773214321,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044637780906587654,
+            "min_rod_tip_bottom_clearance": 0.05480277262322364,
+            "min_rod_tip_xy_dist": 0.0009364316738065712,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27319922010597786,
+              -0.37249005801160934
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.520264446610355e-08,
+              -9.054873995051338e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0008583057498259272,
+                0.0009270756579412565
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009622229233412494,
+                0.0005201030764521164
+              ],
+              "first_target_mouth_xy": [
+                0.2731991288890046,
+                -0.37249011839918844
+              ],
+              "last_target_mouth_xy": [
+                0.27319912624515463,
+                -0.37249011813362665
+              ],
+              "first_rod_tip_xy": [
+                0.2723408231391787,
+                -0.3715630427412472
+              ],
+              "last_rod_tip_xy": [
+                0.2722369033218134,
+                -0.37197001505717453
+              ],
+              "min_rod_tip_xy_dist": 0.001068916084416445,
+              "max_rod_tip_xy_dist": 0.0012633914815810105,
+              "first_target_xy_drift": 1.0939467957529166e-07,
+              "last_target_xy_drift": 1.1146529101813031e-07,
+              "max_depth": 0.019523120357404777,
+              "min_bottom_clearance": 0.07991738669282189
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0008583057498259272,
+                  0.0009270756579412565
+                ],
+                "rod_tip_xy": [
+                  0.2723408231391787,
+                  -0.3715630427412472
+                ],
+                "target_mouth_xy": [
+                  0.2731991288890046,
+                  -0.37249011839918844
+                ],
+                "gripper_position": [
+                  0.27234379797733466,
+                  -0.37162974750406463,
+                  1.0057295165313522
+                ],
+                "rod_tip_xy_dist": 0.0012633914815810105,
+                "target_xy_drift": 1.0939467957529166e-07,
+                "depth": 0.015002807932538054,
+                "bottom_clearance": 0.08443778536399116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008553301152701143,
+                  0.0008603401295984581
+                ],
+                "rod_tip_xy": [
+                  0.2723437979773348,
+                  -0.37162974750406463
+                ],
+                "target_mouth_xy": [
+                  0.27319912809260494,
+                  -0.3724900876336631
+                ],
+                "gripper_position": [
+                  0.2723331036875495,
+                  -0.37163832132885405,
+                  1.0055815358265454
+                ],
+                "rod_tip_xy_dist": 0.0012131672368991336,
+                "target_xy_drift": 9.666398949411965e-08,
+                "depth": 0.015530330656994051,
+                "bottom_clearance": 0.08391027006009,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0008660243982884785,
+                  0.0008517983497009496
+                ],
+                "rod_tip_xy": [
+                  0.2723331036875496,
+                  -0.3716383213288541
+                ],
+                "target_mouth_xy": [
+                  0.27319912808583807,
+                  -0.37249011967855505
+                ],
+                "gripper_position": [
+                  0.27232518773060566,
+                  -0.3716407481164766,
+                  1.005452472768384
+                ],
+                "rod_tip_xy_dist": 0.0012147257661646034,
+                "target_xy_drift": 1.1077237164657165e-07,
+                "depth": 0.015678308481472225,
+                "bottom_clearance": 0.08376228349199177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008739386389403636,
+                  0.0008493415000782045
+                ],
+                "rod_tip_xy": [
+                  0.27232518773060577,
+                  -0.3716407481164766
+                ],
+                "target_mouth_xy": [
+                  0.27319912636954613,
+                  -0.37249008961655483
+                ],
+                "gripper_position": [
+                  0.2723290476655146,
+                  -0.3717085223662036,
+                  1.0049254774987033
+                ],
+                "rod_tip_xy_dist": 0.0012186671934486585,
+                "target_xy_drift": 9.892113632953492e-08,
+                "depth": 0.015807292045833976,
+                "bottom_clearance": 0.08363322186640054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008701115691658878,
+                  0.0007815636421945049
+                ],
+                "rod_tip_xy": [
+                  0.27232904766551475,
+                  -0.37170852236620355
+                ],
+                "target_mouth_xy": [
+                  0.27319915923468063,
+                  -0.37249008600839806
+                ],
+                "gripper_position": [
+                  0.2723181937357296,
+                  -0.37171667493224636,
+                  1.0047776668444008
+                ],
+                "rod_tip_xy_dist": 0.0011695879058867971,
+                "target_xy_drift": 6.700100748886184e-08,
+                "depth": 0.016334468335998387,
+                "bottom_clearance": 0.08310624265619782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008809355229751348,
+                  0.0007734418330309634
+                ],
+                "rod_tip_xy": [
+                  0.27231819373572974,
+                  -0.37171667493224636
+                ],
+                "target_mouth_xy": [
+                  0.2731991292587049,
+                  -0.3724901167652773
+                ],
+                "gripper_position": [
+                  0.2723101952558708,
+                  -0.3717190072956115,
+                  1.0046490241323887
+                ],
+                "rod_tip_xy_dist": 0.0011722882174285344,
+                "target_xy_drift": 1.0819066738930255e-07,
+                "depth": 0.016482200725184026,
+                "bottom_clearance": 0.08295846783449023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008889642662997521,
+                  0.0007711113636763578
+                ],
+                "rod_tip_xy": [
+                  0.27231019525587097,
+                  -0.37171900729561147
+                ],
+                "target_mouth_xy": [
+                  0.2731991595221707,
+                  -0.3724901186592878
+                ],
+                "gripper_position": [
+                  0.2723148722979953,
+                  -0.3717878997487791,
+                  1.0041237065945725
+                ],
+                "rod_tip_xy_dist": 0.0011768050823941357,
+                "target_xy_drift": 8.572361747829672e-08,
+                "depth": 0.01661087669529515,
+                "bottom_clearance": 0.08282974715479952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000884224281101631,
+                  0.000702217434255803
+                ],
+                "rod_tip_xy": [
+                  0.2723148722979954,
+                  -0.371787899748779
+                ],
+                "target_mouth_xy": [
+                  0.273199096579097,
+                  -0.3724901171830348
+                ],
+                "gripper_position": [
+                  0.27230382853118335,
+                  -0.37179613552898105,
+                  1.003976038036075
+                ],
+                "rod_tip_xy_dist": 0.0011291421098615086,
+                "target_xy_drift": 1.3696768919135594e-07,
+                "depth": 0.017136133305708845,
+                "bottom_clearance": 0.08230441465868144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008952986320978074,
+                  0.0006939841456752305
+                ],
+                "rod_tip_xy": [
+                  0.2723038285311835,
+                  -0.37179613552898105
+                ],
+                "target_mouth_xy": [
+                  0.2731991271632813,
+                  -0.3724901196746563
+                ],
+                "gripper_position": [
+                  0.27229574909667476,
+                  -0.3717981262914143,
+                  1.0038470327230622
+                ],
+                "rod_tip_xy_dist": 0.0011327725434017125,
+                "target_xy_drift": 1.1153777924385787e-07,
+                "depth": 0.017283797940151557,
+                "bottom_clearance": 0.08215675662023314,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000903348785385949,
+                  0.0006919620194144604
+                ],
+                "rod_tip_xy": [
+                  0.2722957490966749,
+                  -0.3717981262914142
+                ],
+                "target_mouth_xy": [
+                  0.27319909788206087,
+                  -0.37249008831082864
+                ],
+                "gripper_position": [
+                  0.2722874723371538,
+                  -0.37180053188880685,
+                  1.0037178884634055
+                ],
+                "rod_tip_xy_dist": 0.0011379149635936806,
+                "target_xy_drift": 1.2592350286556005e-07,
+                "depth": 0.017412858849780277,
+                "bottom_clearance": 0.08202770138860915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009116255998243283,
+                  0.0006895858737742677
+                ],
+                "rod_tip_xy": [
+                  0.27228747233715395,
+                  -0.3718005318888068
+                ],
+                "target_mouth_xy": [
+                  0.2731990979369783,
+                  -0.37249011776258106
+                ],
+                "gripper_position": [
+                  0.2722933681758146,
+                  -0.3718715713030025,
+                  1.003194309674508
+                ],
+                "rod_tip_xy_dist": 0.0011430616394421111,
+                "target_xy_drift": 1.3599795248974255e-07,
+                "depth": 0.017541950295120512,
+                "bottom_clearance": 0.08189862520189661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009057610113129,
+                  0.0006185480156281065
+                ],
+                "rod_tip_xy": [
+                  0.2722933681758148,
+                  -0.3718715713030025
+                ],
+                "target_mouth_xy": [
+                  0.2731991291871277,
+                  -0.37249011931863063
+                ],
+                "gripper_position": [
+                  0.27228237827509116,
+                  -0.371879744017832,
+                  1.0030467513473291
+                ],
+                "rod_tip_xy_dist": 0.0010968156897364458,
+                "target_xy_drift": 1.0965759515958935e-07,
+                "depth": 0.018065538240134016,
+                "bottom_clearance": 0.08137508617634848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009167508035446414,
+                  0.0006103448435662018
+                ],
+                "rod_tip_xy": [
+                  0.27228237827509133,
+                  -0.3718797440178321
+                ],
+                "target_mouth_xy": [
+                  0.27319912907863597,
+                  -0.3724900888613983
+                ],
+                "gripper_position": [
+                  0.27227414551477364,
+                  -0.3718815719350745,
+                  1.0029180024843107
+                ],
+                "rod_tip_xy_dist": 0.0011013413929693177,
+                "target_xy_drift": 9.61128838860261e-08,
+                "depth": 0.01821308421095169,
+                "bottom_clearance": 0.08122751387876648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009249830719699204,
+                  0.000608516322534447
+                ],
+                "rod_tip_xy": [
+                  0.27227414551477375,
+                  -0.37188157193507454
+                ],
+                "target_mouth_xy": [
+                  0.27319912858674367,
+                  -0.372490088257609
+                ],
+                "gripper_position": [
+                  0.27226602280036694,
+                  -0.37188356069891615,
+                  1.002789400185734
+                ],
+                "rod_tip_xy_dist": 0.0011071972715924465,
+                "target_xy_drift": 9.638771042876454e-08,
+                "depth": 0.018341896344261532,
+                "bottom_clearance": 0.08109869877290177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009330739880760164,
+                  0.0006065568040179437
+                ],
+                "rod_tip_xy": [
+                  0.2722660228003671,
+                  -0.37188356069891615
+                ],
+                "target_mouth_xy": [
+                  0.2731990967884431,
+                  -0.3724901175029341
+                ],
+                "gripper_position": [
+                  0.2722730305540003,
+                  -0.3719563545196198,
+                  1.0022700508303535
+                ],
+                "rod_tip_xy_dist": 0.0011128963220913906,
+                "target_xy_drift": 1.3691761061060403e-07,
+                "depth": 0.0184703757192497,
+                "bottom_clearance": 0.08097016776959465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009261275651430423,
+                  0.000533731513596869
+                ],
+                "rod_tip_xy": [
+                  0.27227303055400043,
+                  -0.37195635451961984
+                ],
+                "target_mouth_xy": [
+                  0.27319915811914347,
+                  -0.3724900860332167
+                ],
+                "gripper_position": [
+                  0.2722619420821726,
+                  -0.37196435173377124,
+                  1.0021227834362774
+                ],
+                "rod_tip_xy_dist": 0.001068916084416445,
+                "target_xy_drift": 6.802630459517173e-08,
+                "depth": 0.018989886781742293,
+                "bottom_clearance": 0.08045078263788141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009371854407362323,
+                  0.0005257666658943783
+                ],
+                "rod_tip_xy": [
+                  0.27226194208217275,
+                  -0.3719643517337712
+                ],
+                "target_mouth_xy": [
+                  0.273199127522909,
+                  -0.37249011839966556
+                ],
+                "gripper_position": [
+                  0.2722536285872325,
+                  -0.37196612606199003,
+                  1.0019940537385934
+                ],
+                "rod_tip_xy_dist": 0.0010745916141928788,
+                "target_xy_drift": 1.1053660921692476e-07,
+                "depth": 0.019136982566144156,
+                "bottom_clearance": 0.08030356095569469,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009455315285915034,
+                  0.0005239602373640628
+                ],
+                "rod_tip_xy": [
+                  0.2722536285872327,
+                  -0.3719661260619901
+                ],
+                "target_mouth_xy": [
+                  0.2731991601158242,
+                  -0.37249008629935415
+                ],
+                "gripper_position": [
+                  0.2722452346585039,
+                  -0.3719680654359145,
+                  1.0018651725452046
+                ],
+                "rod_tip_xy_dist": 0.0010810014809884351,
+                "target_xy_drift": 6.63250710133399e-08,
+                "depth": 0.01926589291479075,
+                "bottom_clearance": 0.08017483917053003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009538917128334989,
+                  0.0005220532951909496
+                ],
+                "rod_tip_xy": [
+                  0.2722452346585041,
+                  -0.37196806543591454
+                ],
+                "target_mouth_xy": [
+                  0.2731991263713376,
+                  -0.3724901187311055
+                ],
+                "gripper_position": [
+                  0.2722369033218133,
+                  -0.3719700150571744,
+                  1.00173670121848
+                ],
+                "rod_tip_xy_dist": 0.001087404728163417,
+                "target_xy_drift": 1.1168276500875089e-07,
+                "depth": 0.019394639933835722,
+                "bottom_clearance": 0.08004585100720052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0009622229233412494,
+                  0.0005201030764521164
+                ],
+                "rod_tip_xy": [
+                  0.2722369033218134,
+                  -0.37197001505717453
+                ],
+                "target_mouth_xy": [
+                  0.27319912624515463,
+                  -0.37249011813362665
+                ],
+                "gripper_position": [
+                  0.27222842726987734,
+                  -0.37197193509326154,
+                  1.0016075941566667
+                ],
+                "rod_tip_xy_dist": 0.0010937916457618132,
+                "target_xy_drift": 1.1146529101813031e-07,
+                "depth": 0.019523120357404777,
+                "bottom_clearance": 0.07991738669282189,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.00059659479320772,
+              "rod_tip_xy_max_step": 3.227640468916705e-05,
+              "rod_tip_xy_range": 0.0005965890411894106,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2717518489138563,
+            -0.373319336243199,
+            1.0433857689097275
+          ],
+          "object_origin_world": [
+            0.2717518489138563,
+            -0.373319336243199,
+            1.0433857689097275
+          ],
+          "frame_world": [
+            0.2717504949405044,
+            -0.373326398719434,
+            1.0432685147741185
+          ],
+          "center_minus_frame": [
+            1.3539733518808106e-06,
+            7.062476234998005e-06,
+            0.00011725413560892406
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26735276781280676,
+              0.15491118606075216,
+              0.8326375982147195
+            ],
+            "target_position": [
+              0.2805513907489263,
+              0.20133516264122753,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04826374673556112,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16678908450566654,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326375982147195,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671294245854,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356646061355788,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb986f9b9e699865e0420ed3cc1a20fc711a2d073b3f6783b44155a42a5b1966",
+    "visual_seed": 6403003986721818278,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7149456d01ed96cc783039f7eed6e43ad7fa85e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_13_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19499334579534658,
+              -0.10510553721407788,
+              1.1644846573523147
+            ],
+            "current_z": 1.1644846573523147,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3033781493375487,
+            "gripper_z": 1.1584594106080315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.190327390812284,
+              -0.10966845770080082,
+              1.1584594106080315
+            ],
+            "object_minus_gripper": [
+              0.004665954983062576,
+              0.004562920486722938,
+              0.006025246744283175
+            ],
+            "object_to_gripper_xy": 0.006526207112260717,
+            "object_to_gripper_z": 0.006025246744283175,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19499334579534658,
+              -0.12895806283529201,
+              1.1644846573523147
+            ],
+            "finger_b": [
+              0.18455577352987418,
+              -0.10510553721407788,
+              1.1644846573523147
+            ],
+            "finger_midpoint": [
+              0.18977455966261036,
+              -0.11703180002468494,
+              1.1644846573523147
+            ],
+            "object_minus_finger_midpoint": [
+              0.005218786132736214,
+              0.01192626281060706,
+              0.0
+            ],
+            "finger_gap": 0.02603624191982467,
+            "fingertip_max_gap": 0.0920849899801838,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013018120959912335,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644846573523147,
+            "object_top_z": 1.2145970630676342,
+            "finger_top_clearance": 0.0501124057153195,
+            "fingertip_min_top_clearance": 0.015033721714595848,
+            "object_projection_between_fingers": 0.8392901875190394,
+            "object_to_finger_line_xy": 0.00956215035380693,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485424949900919,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4505513768002065,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2762107483413835,
+              -0.36904210257360875,
+              0.8515395465734524
+            ],
+            "target_position": [
+              0.26885633308868395,
+              -0.3697342595034219,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007386914438696843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18462126084748148,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395465734524,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571394436009084,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770655515926833,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519235636897878,
+            "release_required_pad_clearance": 0.053853277579634165,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.715941953809615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008042871952056885,
+            "max_z_decrease": 0.008042871952056885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509406988286777,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008042871952056885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021078289299915,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008042871952056885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008042885549412265,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12455625832080841,
+              -0.4259957075119018,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12455625832080841,
+              -0.4259957075119018,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12441366101999984,
+              -0.42612152372703294,
+              0.8075536233126149
+            ],
+            "closest_button": [
+              0.12454462796449661,
+              -0.42599022388458246,
+              0.7724600434303284
+            ],
+            "closest_ee_minus_button": [
+              -0.0001309669444967687,
+              -0.00013129984245047188,
+              0.03509357988228656
+            ],
+            "button_min_z_position": [
+              0.12454313784837723,
+              -0.42598888278007496,
+              0.7687659859657288
+            ],
+            "min_active_finger_to_button": 0.1463146338164455,
+            "closest_active_finger": [
+              -0.016774877905845642,
+              -0.41029953956604004,
+              0.811143696308136
+            ],
+            "closest_active_finger_button": [
+              0.12455964833498001,
+              -0.42599311470985407,
+              0.7767019271850586
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14133452624082565,
+              0.01569357514381403,
+              0.03444176912307739
+            ],
+            "min_contact_pad_to_button": 0.021078289299915,
+            "closest_contact_pad": [
+              0.12454313784837723,
+              -0.4271526166294939,
+              0.7898121258336149
+            ],
+            "closest_contact_pad_button": [
+              0.12454313784837723,
+              -0.42598888278007496,
+              0.7687659859657288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011637338494189242,
+              0.02104613986788617
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28074206025240356,
+              0.20978291560590567,
+              1.1011925277712886
+            ],
+            "current_z": 1.1011925277712886,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19128339803692607,
+            "gripper_z": 1.1011924946649192,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2807421763911203,
+              0.20978293602517395,
+              1.1011924946649192
+            ],
+            "object_minus_gripper": [
+              -1.1613871675475451e-07,
+              -2.041926827622831e-08,
+              3.3106369423663295e-08
+            ],
+            "object_to_gripper_xy": 1.1792009178413016e-07,
+            "object_to_gripper_z": 3.3106369423663295e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28074206025240356,
+              0.20978291560590567,
+              1.1011925277712886
+            ],
+            "finger_b": [
+              0.28074206025240356,
+              0.20978291560590567,
+              1.1011925277712886
+            ],
+            "finger_midpoint": [
+              0.28074206025240356,
+              0.20978291560590567,
+              1.1011925277712886
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1011925277712886,
+            "object_top_z": 1.2262010343915684,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28074206025240356,
+            0.20978291560590567,
+            1.1011925277712886
+          ],
+          "object_origin_world": [
+            0.28074206025240356,
+            0.20978291560590567,
+            1.1011925277712886
+          ],
+          "frame_world": [
+            0.2807421763911203,
+            0.20978293602517395,
+            1.1011924946649192
+          ],
+          "center_minus_frame": [
+            -1.1613871675475451e-07,
+            -2.041926827622831e-08,
+            3.3106369423663295e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436351609026788,
+            "required_z": 0.9112598652707543,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002496237407429567,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.779726072659252e-08,
+            "max_target_xy_drift": 2.7649314915451157e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.716230145649585,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.7162301469046417,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27463252448444897,
+              -0.37099958324962984,
+              0.9233309697624318
+            ],
+            "target_mouth_xy": [
+              0.2762107742850899,
+              -0.36904209684380673
+            ],
+            "rod_tip_z": 0.9233309697624318,
+            "rod_tip_depth": -0.022071072294325034,
+            "rod_tip_bottom_clearance": 0.12151166961000548,
+            "rod_tip_xy_dist": 0.002514483140171228,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044861363464403836,
+            "min_rod_tip_bottom_clearance": 0.054579531875176834,
+            "min_rod_tip_xy_dist": 0.000941094208884473,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2762107156530954,
+              -0.36904213088433824
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.863199448175038e-08,
+              3.4040531504686555e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0009830176508138777,
+                -0.0002544820772898415
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010988832275780624,
+                -0.0005943699244798095
+              ],
+              "first_target_mouth_xy": [
+                0.27621077642731173,
+                -0.369042160320359
+              ],
+              "last_target_mouth_xy": [
+                0.27621080718455315,
+                -0.36904213209024755
+              ],
+              "first_rod_tip_xy": [
+                0.27522775877649786,
+                -0.36929664239764887
+              ],
+              "last_rod_tip_xy": [
+                0.2751119239569751,
+                -0.36963650201472736
+              ],
+              "min_rod_tip_xy_dist": 0.0010154234729773523,
+              "max_rod_tip_xy_dist": 0.0012493278012509423,
+              "first_target_xy_drift": 6.75276587026143e-08,
+              "last_target_xy_drift": 9.153940121328775e-08,
+              "max_depth": 0.01940885165623485,
+              "min_bottom_clearance": 0.08003169293801815
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009830176508138777,
+                  -0.0002544820772898415
+                ],
+                "rod_tip_xy": [
+                  0.27522775877649786,
+                  -0.36929664239764887
+                ],
+                "target_mouth_xy": [
+                  0.27621077642731173,
+                  -0.369042160320359
+                ],
+                "gripper_position": [
+                  0.2752169895258314,
+                  -0.3693051884862175,
+                  1.005839585637039
+                ],
+                "rod_tip_xy_dist": 0.0010154234729773523,
+                "target_xy_drift": 6.75276587026143e-08,
+                "depth": 0.015271723291007455,
+                "bottom_clearance": 0.08416884518302703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009937848866649612,
+                  -0.0002630249204571
+                ],
+                "rod_tip_xy": [
+                  0.27521698952583135,
+                  -0.3693051884862176
+                ],
+                "target_mouth_xy": [
+                  0.2762107744124963,
+                  -0.3690421635657605
+                ],
+                "gripper_position": [
+                  0.275208984448432,
+                  -0.3693074529761038,
+                  1.0057095176719377
+                ],
+                "rod_tip_xy_dist": 0.001028003166213584,
+                "target_xy_drift": 6.723646743765903e-08,
+                "depth": 0.01542030001709771,
+                "bottom_clearance": 0.08402029268624289,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010017921114916506,
+                  -0.0002652920228025657
+                ],
+                "rod_tip_xy": [
+                  0.2752089844484319,
+                  -0.36930745297610384
+                ],
+                "target_mouth_xy": [
+                  0.27621077655992354,
+                  -0.3690421609533013
+                ],
+                "gripper_position": [
+                  0.2752131907623364,
+                  -0.3693750300775548,
+                  1.005181492434195
+                ],
+                "rod_tip_xy_dist": 0.0010363239319872801,
+                "target_xy_drift": 6.792484267229346e-08,
+                "depth": 0.015550320873507606,
+                "bottom_clearance": 0.08389022873263186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009975852132353413,
+                  -0.0003328690903148801
+                ],
+                "rod_tip_xy": [
+                  0.2752131907623363,
+                  -0.36937503007755484
+                ],
+                "target_mouth_xy": [
+                  0.27621077597557164,
+                  -0.36904216098723996
+                ],
+                "gripper_position": [
+                  0.27520235245299635,
+                  -0.3693833237361913,
+                  1.0050330147140385
+                ],
+                "rod_tip_xy_dist": 0.0010516549286495344,
+                "target_xy_drift": 6.741651008218579e-08,
+                "depth": 0.016078345427788965,
+                "bottom_clearance": 0.08336218962344588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010084248078041091,
+                  -0.0003411291716678977
+                ],
+                "rod_tip_xy": [
+                  0.27520235245299624,
+                  -0.36938332373619126
+                ],
+                "target_mouth_xy": [
+                  0.27621077726080034,
+                  -0.36904219456452336
+                ],
+                "gripper_position": [
+                  0.27519426886528875,
+                  -0.3693857804143275,
+                  1.004903119525836
+                ],
+                "rod_tip_xy_dist": 0.001064560803692105,
+                "target_xy_drift": 8.860403650643617e-08,
+                "depth": 0.016226848052302567,
+                "bottom_clearance": 0.08321376170335892,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010165072145981169,
+                  -0.0003436524412629427
+                ],
+                "rod_tip_xy": [
+                  0.27519426886528864,
+                  -0.3693857804143276
+                ],
+                "target_mouth_xy": [
+                  0.27621077607988676,
+                  -0.3690421279730647
+                ],
+                "gripper_position": [
+                  0.2751990508879768,
+                  -0.3694542881780829,
+                  1.0043765334835235
+                ],
+                "rod_tip_xy_dist": 0.0010730255904292322,
+                "target_xy_drift": 6.049688112938082e-08,
+                "depth": 0.01635683311793068,
+                "bottom_clearance": 0.08308381806454346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010117263262257037,
+                  -0.0004120971106403304
+                ],
+                "rod_tip_xy": [
+                  0.2751990508879767,
+                  -0.36945428817808296
+                ],
+                "target_mouth_xy": [
+                  0.2762107772142024,
+                  -0.3690421910674426
+                ],
+                "gripper_position": [
+                  0.275188172357098,
+                  -0.3694624014190959,
+                  1.0042285490320089
+                ],
+                "rod_tip_xy_dist": 0.0010924349810291997,
+                "target_xy_drift": 8.609167176739519e-08,
+                "depth": 0.016883304038447178,
+                "bottom_clearance": 0.08255725791343693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010225725558011267,
+                  -0.0004202397774490385
+                ],
+                "rod_tip_xy": [
+                  0.27518817235709797,
+                  -0.369462401419096
+                ],
+                "target_mouth_xy": [
+                  0.2762107449128991,
+                  -0.36904216164164694
+                ],
+                "gripper_position": [
+                  0.2751799149483045,
+                  -0.3694646954394812,
+                  1.0040983718602368
+                ],
+                "rod_tip_xy_dist": 0.001105556919578574,
+                "target_xy_drift": 4.2451715518966996e-08,
+                "depth": 0.017031377176325413,
+                "bottom_clearance": 0.08240918629364391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010308621040744925,
+                  -0.00042253576739054166
+                ],
+                "rod_tip_xy": [
+                  0.27517991494830446,
+                  -0.3694646954394812
+                ],
+                "target_mouth_xy": [
+                  0.27621077705237895,
+                  -0.36904215967209064
+                ],
+                "gripper_position": [
+                  0.2751854129499055,
+                  -0.3695339445523159,
+                  1.0035755501225623
+                ],
+                "rod_tip_xy_dist": 0.0011140974608808709,
+                "target_xy_drift": 6.781302757200378e-08,
+                "depth": 0.017161493535500894,
+                "bottom_clearance": 0.08227912222264555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010253628254952019,
+                  -0.0004917508973316109
+                ],
+                "rod_tip_xy": [
+                  0.27518541294990545,
+                  -0.369533944552316
+                ],
+                "target_mouth_xy": [
+                  0.27621077577540065,
+                  -0.36904219365498436
+                ],
+                "gripper_position": [
+                  0.27517435530142786,
+                  -0.36954204435823124,
+                  1.0034271436598805
+                ],
+                "rod_tip_xy_dist": 0.0011371841842612604,
+                "target_xy_drift": 8.691861482456555e-08,
+                "depth": 0.017684300692618726,
+                "bottom_clearance": 0.0817562527005572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001036513196573885,
+                  -0.0005000112412859026
+                ],
+                "rod_tip_xy": [
+                  0.2751743553014278,
+                  -0.3695420443582313
+                ],
+                "target_mouth_xy": [
+                  0.2762108684980017,
+                  -0.3690420331169454
+                ],
+                "gripper_position": [
+                  0.27516603630729347,
+                  -0.3695441953054518,
+                  1.0032976272188878
+                ],
+                "rod_tip_xy_dist": 0.0011508131247444488,
+                "target_xy_drift": 1.8143877337062338e-07,
+                "depth": 0.0178329893770226,
+                "bottom_clearance": 0.08160797697156785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00104474076672173,
+                  -0.000502001714468514
+                ],
+                "rod_tip_xy": [
+                  0.27516603630729336,
+                  -0.36954419530545185
+                ],
+                "target_mouth_xy": [
+                  0.2762107770740151,
+                  -0.36904219359098334
+                ],
+                "gripper_position": [
+                  0.2751577022570444,
+                  -0.3695461801174754,
+                  1.0031678292417698
+                ],
+                "rod_tip_xy_dist": 0.0011590897251635163,
+                "target_xy_drift": 8.7776151170544e-08,
+                "depth": 0.017962216907179474,
+                "bottom_clearance": 0.0814783524034427,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0010530735124011925,
+                  -0.0005040505461582079
+                ],
+                "rod_tip_xy": [
+                  0.27515770225704433,
+                  -0.3695461801174755
+                ],
+                "target_mouth_xy": [
+                  0.2762107757694455,
+                  -0.36904212957131727
+                ],
+                "gripper_position": [
+                  0.2751494802669747,
+                  -0.36954795643322697,
+                  1.0030383007131953
+                ],
+                "rod_tip_xy_dist": 0.0011674890901431894,
+                "target_xy_drift": 6.01306874718383e-08,
+                "depth": 0.01809204153497601,
+                "bottom_clearance": 0.08134855642938998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001061299020925166,
+                  -0.0005058231179473904
+                ],
+                "rod_tip_xy": [
+                  0.27514948026697467,
+                  -0.36954795643322697
+                ],
+                "target_mouth_xy": [
+                  0.27621077928789983,
+                  -0.3690421333152796
+                ],
+                "gripper_position": [
+                  0.27515687110280695,
+                  -0.3696208783618762,
+                  1.0025174779926909
+                ],
+                "rod_tip_xy_dist": 0.0011756753967259567,
+                "target_xy_drift": 6.368122023092208e-08,
+                "depth": 0.01822161079575968,
+                "bottom_clearance": 0.08121902461523567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010539356651430576,
+                  -0.000578715822756426
+                ],
+                "rod_tip_xy": [
+                  0.2751568711028069,
+                  -0.36962087836187624
+                ],
+                "target_mouth_xy": [
+                  0.27621080676794996,
+                  -0.3690421625391198
+                ],
+                "gripper_position": [
+                  0.2751457691752151,
+                  -0.3696287596455692,
+                  1.002368905300526
+                ],
+                "rod_tip_xy_dist": 0.001202369489703222,
+                "target_xy_drift": 9.645694332798151e-08,
+                "depth": 0.018742283757845035,
+                "bottom_clearance": 0.08069823890565853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010650391429166683,
+                  -0.0005865987302087761
+                ],
+                "rod_tip_xy": [
+                  0.27514576917521505,
+                  -0.3696287596455691
+                ],
+                "target_mouth_xy": [
+                  0.2762108083181317,
+                  -0.36904216091536035
+                ],
+                "gripper_position": [
+                  0.27513730898790145,
+                  -0.36963085568659515,
+                  1.0022397336728168
+                ],
+                "rod_tip_xy_dist": 0.001215897383099092,
+                "target_xy_drift": 9.740981081842493e-08,
+                "depth": 0.018891007466882437,
+                "bottom_clearance": 0.08054961543496408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001073467209116774,
+                  -0.0005887235735482221
+                ],
+                "rod_tip_xy": [
+                  0.2751373089879014,
+                  -0.3696308556865951
+                ],
+                "target_mouth_xy": [
+                  0.27621077619701817,
+                  -0.3690421321130469
+                ],
+                "gripper_position": [
+                  0.27512886742110976,
+                  -0.3696326454923649,
+                  1.0021100741728808
+                ],
+                "rod_tip_xy_dist": 0.001224306863127192,
+                "target_xy_drift": 6.05563894942227e-08,
+                "depth": 0.019020025157545528,
+                "bottom_clearance": 0.08042047503279492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0010819114841228439,
+                  -0.0005904849037754456
+                ],
+                "rod_tip_xy": [
+                  0.27512886742110965,
+                  -0.3696326454923649
+                ],
+                "target_mouth_xy": [
+                  0.2762107789052325,
+                  -0.36904216058858946
+                ],
+                "gripper_position": [
+                  0.27512037717202453,
+                  -0.36963453181662187,
+                  1.0019805873718273
+                ],
+                "rod_tip_xy_dist": 0.0012325602951026745,
+                "target_xy_drift": 6.9879720853058e-08,
+                "depth": 0.01914984732198366,
+                "bottom_clearance": 0.08029080214835493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0010903967402830506,
+                  -0.0005923688949172612
+                ],
+                "rod_tip_xy": [
+                  0.2751203771720245,
+                  -0.3696345318166218
+                ],
+                "target_mouth_xy": [
+                  0.27621077391230753,
+                  -0.36904216292170455
+                ],
+                "gripper_position": [
+                  0.27511192395697515,
+                  -0.3696365020147274,
+                  1.0018509160263516
+                ],
+                "rod_tip_xy_dist": 0.0012409133567197186,
+                "target_xy_drift": 6.648705616443134e-08,
+                "depth": 0.01927930067859107,
+                "bottom_clearance": 0.08016128624755303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0010988832275780624,
+                  -0.0005943699244798095
+                ],
+                "rod_tip_xy": [
+                  0.2751119239569751,
+                  -0.36963650201472736
+                ],
+                "target_mouth_xy": [
+                  0.27621080718455315,
+                  -0.36904213209024755
+                ],
+                "gripper_position": [
+                  0.275103451022232,
+                  -0.3696385445255618,
+                  1.001721801027831
+                ],
+                "rod_tip_xy_dist": 0.0012493278012509423,
+                "target_xy_drift": 9.153940121328775e-08,
+                "depth": 0.01940885165623485,
+                "bottom_clearance": 0.08003169293801815,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005991227447887574,
+              "rod_tip_xy_max_step": 3.255686518232972e-05,
+              "rod_tip_xy_range": 0.0005991173598270101,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27463252448444897,
+            -0.37099958324962984,
+            1.0433309697624318
+          ],
+          "object_origin_world": [
+            0.27463252448444897,
+            -0.37099958324962984,
+            1.0433309697624318
+          ],
+          "frame_world": [
+            0.27465733171685974,
+            -0.37099607160860315,
+            1.0436351609026788
+          ],
+          "center_minus_frame": [
+            -2.4807232410772873e-05,
+            -3.511641026687773e-06,
+            -0.0003041911402470454
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2683195684435873,
+              0.1623944518838356,
+              0.8327793299201943
+            ],
+            "target_position": [
+              0.2809060868325822,
+              0.20884209235789702,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048122798658891144,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16977015409559013,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327793299201943,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567181896902,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1383905398000329,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "002aa1bf241c0138df5c7c2aa0bfc9b7af531315301da57fd404d8d6cbfe2329",
+    "visual_seed": 3383498938900499238,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d259582008e6ba078a6872c89b54552a2f149c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_14_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2019454905810267,
+              -0.1089774002394934,
+              1.1654896357382283
+            ],
+            "current_z": 1.1654896357382283,
+            "required_z": 0.8611062695961869,
+            "initial_z": 0.7611062695961869,
+            "lift_margin": 0.3043833661420414,
+            "gripper_z": 1.1593842281719984,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1974191684582462,
+              -0.11346459864589784,
+              1.1593842281719984
+            ],
+            "object_minus_gripper": [
+              0.004526322122780507,
+              0.004487198406404436,
+              0.0061054075662299034
+            ],
+            "object_to_gripper_xy": 0.006373581528278331,
+            "object_to_gripper_z": 0.0061054075662299034,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2019454905810267,
+              -0.13278144443115328,
+              1.1654896357382283
+            ],
+            "finger_b": [
+              0.19173710822238269,
+              -0.1089774002394934,
+              1.1654896357382283
+            ],
+            "finger_midpoint": [
+              0.1968412994017047,
+              -0.12087942233532334,
+              1.1654896357382283
+            ],
+            "object_minus_finger_midpoint": [
+              0.00510419117932201,
+              0.01190202209582994,
+              0.0
+            ],
+            "finger_gap": 0.025900648452476454,
+            "fingertip_max_gap": 0.09267263881311397,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012950324226238227,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1654896357382283,
+            "object_top_z": 1.2157344837943937,
+            "finger_top_clearance": 0.05024484805616547,
+            "fingertip_min_top_clearance": 0.015073454416849607,
+            "object_projection_between_fingers": 0.8446566801956383,
+            "object_to_finger_line_xy": 0.009382034787136343,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048836319406556986,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8738081765070451,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2719842163912812,
+              -0.3701713571674399,
+              0.8515396082694502
+            ],
+            "target_position": [
+              0.26482740092439166,
+              -0.3704851829946548,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007163692782143583,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18246987168672663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396082694502,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752226221969156,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614256742471034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15119238701821056,
+            "release_required_pad_clearance": 0.05307128371235517,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1716809420450596,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008003532886505127,
+            "max_z_decrease": 0.008003532886505127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511539024913048,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008003532886505127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021100119039209275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008003532886505127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00800355949783286,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12052732706069948,
+              -0.4267466366291046,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12052732706069948,
+              -0.4267466366291046,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11851219847008393,
+              -0.42773622674540834,
+              0.8073877813458599
+            ],
+            "closest_button": [
+              0.1205163300037384,
+              -0.4267410933971405,
+              0.7723437547683716
+            ],
+            "closest_ee_minus_button": [
+              -0.002004131533654474,
+              -0.0009951333482678404,
+              0.035044026577488285
+            ],
+            "button_min_z_position": [
+              0.1205071583390236,
+              -0.4267422556877136,
+              0.7688053250312805
+            ],
+            "min_active_finger_to_button": 0.14807084361743048,
+            "closest_active_finger": [
+              -0.02289225161075592,
+              -0.4139716625213623,
+              0.8111703395843506
+            ],
+            "closest_active_finger_button": [
+              0.12052837014198305,
+              -0.42674505710601807,
+              0.7766400575637817
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14342062175273895,
+              0.012773394584655762,
+              0.03453028202056885
+            ],
+            "min_contact_pad_to_button": 0.021100119039209275,
+            "closest_contact_pad": [
+              0.1205071583390236,
+              -0.42861739878944743,
+              0.7898219580112995
+            ],
+            "closest_contact_pad_button": [
+              0.1205071583390236,
+              -0.4267422556877136,
+              0.7688053250312805
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018751431017338116,
+              0.02101663298001899
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2759991468160902,
+              0.20633350728681296,
+              1.1028438854097726
+            ],
+            "current_z": 1.1028438854097726,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19293475567541007,
+            "gripper_z": 1.1028440549965692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27599927602699803,
+              0.20633350080174484,
+              1.1028440549965692
+            ],
+            "object_minus_gripper": [
+              -1.2921090780659839e-07,
+              6.48506812139793e-09,
+              -1.6958679660561415e-07
+            ],
+            "object_to_gripper_xy": 1.2937354754641476e-07,
+            "object_to_gripper_z": -1.6958679660561415e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2759991468160902,
+              0.20633350728681296,
+              1.1028438854097726
+            ],
+            "finger_b": [
+              0.2759991468160902,
+              0.20633350728681296,
+              1.1028438854097726
+            ],
+            "finger_midpoint": [
+              0.2759991468160902,
+              0.20633350728681296,
+              1.1028438854097726
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1028438854097726,
+            "object_top_z": 1.2278523920300524,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2759991468160902,
+            0.206333507286813,
+            1.1028438854097729
+          ],
+          "object_origin_world": [
+            0.2759991468160902,
+            0.206333507286813,
+            1.1028438854097729
+          ],
+          "frame_world": [
+            0.27599927602699803,
+            0.20633350080174484,
+            1.1028440549965692
+          ],
+          "center_minus_frame": [
+            -1.2921090780659839e-07,
+            6.485068149153506e-09,
+            -1.6958679638356955e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043633655214722,
+            "required_z": 0.9112599869544094,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002072530731866576,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.309639796883688e-07,
+            "max_target_xy_drift": 2.3006680461853204e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1716809433214335,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.171680943394849,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2732993921265237,
+              -0.37175577828944173,
+              0.9233289393776133
+            ],
+            "target_mouth_xy": [
+              0.27198418441499445,
+              -0.3701712966127501
+            ],
+            "rod_tip_z": 0.9233289393776133,
+            "rod_tip_depth": -0.022069095631691127,
+            "rod_tip_bottom_clearance": 0.12150963725827602,
+            "rod_tip_xy_dist": 0.002059211865796603,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04497529246735865,
+            "min_rod_tip_bottom_clearance": 0.05446531597948734,
+            "min_rod_tip_xy_dist": 0.0007692880063934837,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27198427705574024,
+              -0.37017138918302717
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.264074579684589e-08,
+              9.257027705489307e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0017850786510065775,
+                0.00011672971883258665
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017112179214904821,
+                -0.00028919002107907765
+              ],
+              "first_target_mouth_xy": [
+                0.27198418541209557,
+                -0.37017129754647005
+              ],
+              "last_target_mouth_xy": [
+                0.27198421770881315,
+                -0.37017126802546874
+              ],
+              "first_rod_tip_xy": [
+                0.27376926406310215,
+                -0.37005456782763746
+              ],
+              "last_rod_tip_xy": [
+                0.27369543563030363,
+                -0.3704604580465478
+              ],
+              "min_rod_tip_xy_dist": 0.0017203453592039976,
+              "max_rod_tip_xy_dist": 0.001788891169841865,
+              "first_target_xy_drift": 1.2959867364207395e-07,
+              "last_target_xy_drift": 1.3491186649218107e-07,
+              "max_depth": 0.019661008825116233,
+              "min_bottom_clearance": 0.07977959433246051
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0017850786510065775,
+                  0.00011672971883258665
+                ],
+                "rod_tip_xy": [
+                  0.27376926406310215,
+                  -0.37005456782763746
+                ],
+                "target_mouth_xy": [
+                  0.27198418541209557,
+                  -0.37017129754647005
+                ],
+                "gripper_position": [
+                  0.27376133514951684,
+                  -0.3700571338011466,
+                  1.0059918227421387
+                ],
+                "rod_tip_xy_dist": 0.001788891169841865,
+                "target_xy_drift": 1.2959867364207395e-07,
+                "depth": 0.015138557963823907,
+                "bottom_clearance": 0.08430196128309775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001777086143754547,
+                  0.00011416529276686571
+                ],
+                "rod_tip_xy": [
+                  0.27376133514951695,
+                  -0.3700571338011466
+                ],
+                "target_mouth_xy": [
+                  0.2719842490057624,
+                  -0.37017129909391344
+                ],
+                "gripper_position": [
+                  0.2737700398921741,
+                  -0.37012329801853344,
+                  1.005463778411037
+                ],
+                "rod_tip_xy_dist": 0.001780749526574962,
+                "target_xy_drift": 9.435491332476417e-08,
+                "depth": 0.015268166723602206,
+                "bottom_clearance": 0.08417253910522338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017858842718276868,
+                  4.800016712375177e-05
+                ],
+                "rod_tip_xy": [
+                  0.2737700398921742,
+                  -0.3701232980185335
+                ],
+                "target_mouth_xy": [
+                  0.2719841556203465,
+                  -0.37017129818565725
+                ],
+                "gripper_position": [
+                  0.27375937767733605,
+                  -0.3701317114410114,
+                  1.005315648770228
+                ],
+                "rod_tip_xy_dist": 0.0017865292184583536,
+                "target_xy_drift": 1.517467501621147e-07,
+                "depth": 0.015796102269625578,
+                "bottom_clearance": 0.0836444159924723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017751620621785924,
+                  3.955693030688323e-05
+                ],
+                "rod_tip_xy": [
+                  0.27375937767733616,
+                  -0.3701317114410114
+                ],
+                "target_mouth_xy": [
+                  0.27198421561515757,
+                  -0.3701712683713183
+                ],
+                "gripper_position": [
+                  0.27375135172855825,
+                  -0.3701339513305193,
+                  1.0051860783159194
+                ],
+                "rod_tip_xy_dist": 0.0017756027420944857,
+                "target_xy_drift": 1.3553750107319357e-07,
+                "depth": 0.015944234948613745,
+                "bottom_clearance": 0.08349629818474769,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001767194208106171,
+                  3.731734029588374e-05
+                ],
+                "rod_tip_xy": [
+                  0.2737513517285584,
+                  -0.3701339513305193
+                ],
+                "target_mouth_xy": [
+                  0.27198415752045224,
+                  -0.3701712686708152
+                ],
+                "gripper_position": [
+                  0.27376074216722995,
+                  -0.37020167390852543,
+                  1.0046591742562423
+                ],
+                "rod_tip_xy_dist": 0.0017675881740526426,
+                "target_xy_drift": 1.6974062070003256e-07,
+                "depth": 0.016073882879705237,
+                "bottom_clearance": 0.08336671987487787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017765546104108743,
+                  -3.0375756078671046e-05
+                ],
+                "rod_tip_xy": [
+                  0.27376074216723006,
+                  -0.37020167390852554
+                ],
+                "target_mouth_xy": [
+                  0.2719841875568192,
+                  -0.37017129815244687
+                ],
+                "gripper_position": [
+                  0.27375003986721025,
+                  -0.37020966983858816,
+                  1.0045112957670783
+                ],
+                "rod_tip_xy_dist": 0.0017768142756994846,
+                "target_xy_drift": 1.2765822894936723e-07,
+                "depth": 0.016600723609204837,
+                "bottom_clearance": 0.08283987711450214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017658544105888518,
+                  -3.840177606406758e-05
+                ],
+                "rod_tip_xy": [
+                  0.27375003986721036,
+                  -0.37020966983858816
+                ],
+                "target_mouth_xy": [
+                  0.2719841854566215,
+                  -0.3701712680625241
+                ],
+                "gripper_position": [
+                  0.2737418414296743,
+                  -0.37021212984045015,
+                  1.0043820475918985
+                ],
+                "rod_tip_xy_dist": 0.001766271920119033,
+                "target_xy_drift": 1.5185708681927901e-07,
+                "depth": 0.016748520374716414,
+                "bottom_clearance": 0.08269198893160579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017575927663938673,
+                  -4.08329650603001e-05
+                ],
+                "rod_tip_xy": [
+                  0.27374184142967445,
+                  -0.37021212984045015
+                ],
+                "target_mouth_xy": [
+                  0.2719842486632806,
+                  -0.37017129687538985
+                ],
+                "gripper_position": [
+                  0.27375210040109066,
+                  -0.3702805080235099,
+                  1.0038574706995707
+                ],
+                "rod_tip_xy_dist": 0.001758067024750667,
+                "target_xy_drift": 9.657552314981236e-08,
+                "depth": 0.016877933029338377,
+                "bottom_clearance": 0.08256274841735356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017679139387406506,
+                  -0.00010920827434302005
+                ],
+                "rod_tip_xy": [
+                  0.2737521004010908,
+                  -0.37028050802351
+                ],
+                "target_mouth_xy": [
+                  0.2719841864623502,
+                  -0.37017129974916696
+                ],
+                "gripper_position": [
+                  0.2737411178412716,
+                  -0.3702887069052718,
+                  1.003709843028559
+                ],
+                "rod_tip_xy_dist": 0.001771283755353292,
+                "target_xy_drift": 1.2730112990597204e-07,
+                "depth": 0.017402446297668628,
+                "bottom_clearance": 0.0820381672983862,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017569312186873631,
+                  -0.00011741096039841192
+                ],
+                "rod_tip_xy": [
+                  0.2737411178412717,
+                  -0.3702887069052718
+                ],
+                "target_mouth_xy": [
+                  0.27198418662258433,
+                  -0.3701712959448734
+                ],
+                "gripper_position": [
+                  0.27373298095840437,
+                  -0.3702905883379819,
+                  1.0035809579696822
+                ],
+                "rod_tip_xy_dist": 0.001760849976806639,
+                "target_xy_drift": 1.2989037301830108e-07,
+                "depth": 0.017550076198725173,
+                "bottom_clearance": 0.08189054721989442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001748765235557559,
+                  -0.00011925813823143727
+                ],
+                "rod_tip_xy": [
+                  0.27373298095840454,
+                  -0.370290588337982
+                ],
+                "target_mouth_xy": [
+                  0.271984215722847,
+                  -0.37017133019975057
+                ],
+                "gripper_position": [
+                  0.2737248800324844,
+                  -0.37029256094628565,
+                  1.003451321669341
+                ],
+                "rod_tip_xy_dist": 0.0017528269602642222,
+                "target_xy_drift": 8.509260081924203e-08,
+                "depth": 0.017678906373136405,
+                "bottom_clearance": 0.08176170861881604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017406314352446661,
+                  -0.0001212003328061595
+                ],
+                "rod_tip_xy": [
+                  0.2737248800324846,
+                  -0.3702925609462857
+                ],
+                "target_mouth_xy": [
+                  0.2719842485972399,
+                  -0.37017136061347955
+                ],
+                "gripper_position": [
+                  0.27373653156082745,
+                  -0.37036277904404646,
+                  1.0029294585836448
+                ],
+                "rod_tip_xy_dist": 0.0017448459284516299,
+                "target_xy_drift": 4.032499587448931e-08,
+                "depth": 0.01780869826155973,
+                "bottom_clearance": 0.08163205841221699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017523455734725357,
+                  -0.00019148054151962857
+                ],
+                "rod_tip_xy": [
+                  0.27373653156082756,
+                  -0.3703627790440466
+                ],
+                "target_mouth_xy": [
+                  0.271984185987355,
+                  -0.37017129850252695
+                ],
+                "gripper_position": [
+                  0.2737253923781401,
+                  -0.3703708192401558,
+                  1.0027817225231215
+                ],
+                "rod_tip_xy_dist": 0.0017627761646475256,
+                "target_xy_drift": 1.2851616204597628e-07,
+                "depth": 0.01833037280280314,
+                "bottom_clearance": 0.08111017865498271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017411737026939988,
+                  -0.00019955089629386524
+                ],
+                "rod_tip_xy": [
+                  0.2737253923781402,
+                  -0.3703708192401558
+                ],
+                "target_mouth_xy": [
+                  0.2719842186754462,
+                  -0.37017126834386194
+                ],
+                "gripper_position": [
+                  0.2737171128170303,
+                  -0.3703725785924582,
+                  1.0026525650924378
+                ],
+                "rod_tip_xy_dist": 0.001752571374627811,
+                "target_xy_drift": 1.3420269217121243e-07,
+                "depth": 0.01847824578695334,
+                "bottom_clearance": 0.08096240627273754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017329560647768583,
+                  -0.00020131118335142695
+                ],
+                "rod_tip_xy": [
+                  0.27371711281703043,
+                  -0.3703725785924582
+                ],
+                "target_mouth_xy": [
+                  0.27198415675225357,
+                  -0.3701712674091068
+                ],
+                "gripper_position": [
+                  0.27370882613936043,
+                  -0.370374539779619,
+                  1.0025235153775198
+                ],
+                "rod_tip_xy_dist": 0.0017446096741074338,
+                "target_xy_drift": 1.7117773392930042e-07,
+                "depth": 0.01860733078628085,
+                "bottom_clearance": 0.08083324381959289,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017246414322754644,
+                  -0.00020323840938196724
+                ],
+                "rod_tip_xy": [
+                  0.27370882613936054,
+                  -0.3703745397796191
+                ],
+                "target_mouth_xy": [
+                  0.2719841847070851,
+                  -0.3701713013702371
+                ],
+                "gripper_position": [
+                  0.2737004443977527,
+                  -0.37037648844526727,
+                  1.0023943010854774
+                ],
+                "rod_tip_xy_dist": 0.0017365753427275412,
+                "target_xy_drift": 1.274337482997964e-07,
+                "depth": 0.018736361519310685,
+                "bottom_clearance": 0.08070425079707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00171622570703317,
+                  -0.00020518934142266243
+                ],
+                "rod_tip_xy": [
+                  0.2737004443977528,
+                  -0.37037648844526727
+                ],
+                "target_mouth_xy": [
+                  0.27198421869071965,
+                  -0.3701712991038446
+                ],
+                "gripper_position": [
+                  0.2736920632917284,
+                  -0.3703782952520079,
+                  1.0022651197398151
+                ],
+                "rod_tip_xy_dist": 0.0017284482472191551,
+                "target_xy_drift": 1.0733468572278794e-07,
+                "depth": 0.0188656842926872,
+                "bottom_clearance": 0.0805750018060124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0017078469347690528,
+                  -0.00020699517466521433
+                ],
+                "rod_tip_xy": [
+                  0.2736920632917285,
+                  -0.37037829525200794
+                ],
+                "target_mouth_xy": [
+                  0.27198421635695946,
+                  -0.3701713000773427
+                ],
+                "gripper_position": [
+                  0.2737066703679718,
+                  -0.37045237445112555,
+                  1.0017465124595553
+                ],
+                "rod_tip_xy_dist": 0.0017203453592039976,
+                "target_xy_drift": 1.0781542091927648e-07,
+                "depth": 0.018994803829319284,
+                "bottom_clearance": 0.08044582483829976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0017224551528911558,
+                  -0.00028110670695136175
+                ],
+                "rod_tip_xy": [
+                  0.2737066703679719,
+                  -0.37045237445112555
+                ],
+                "target_mouth_xy": [
+                  0.27198421521508076,
+                  -0.3701712677441742
+                ],
+                "gripper_position": [
+                  0.2736954356303035,
+                  -0.3704604580465477,
+                  1.0015989458485044
+                ],
+                "rod_tip_xy_dist": 0.001745242886939905,
+                "target_xy_drift": 1.362778858682343e-07,
+                "depth": 0.019513309085281594,
+                "bottom_clearance": 0.07992721018568905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0017112179214904821,
+                  -0.00028919002107907765
+                ],
+                "rod_tip_xy": [
+                  0.27369543563030363,
+                  -0.3704604580465478
+                ],
+                "target_mouth_xy": [
+                  0.27198421770881315,
+                  -0.37017126802546874
+                ],
+                "gripper_position": [
+                  0.27368691745347745,
+                  -0.37046219731914004,
+                  1.0014700580209905
+                ],
+                "rod_tip_xy_dist": 0.0017354819627763128,
+                "target_xy_drift": 1.3491186649218107e-07,
+                "depth": 0.019661008825116233,
+                "bottom_clearance": 0.07977959433246051,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005998818413946176,
+              "rod_tip_xy_max_step": 3.2589818281476164e-05,
+              "rod_tip_xy_range": 0.0005998749645395398,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2732993921265237,
+            -0.37175577828944173,
+            1.0433289393776135
+          ],
+          "object_origin_world": [
+            0.2732993921265237,
+            -0.37175577828944173,
+            1.0433289393776135
+          ],
+          "frame_world": [
+            0.2733244439421966,
+            -0.3717521470276456,
+            1.043633655214722
+          ],
+          "center_minus_frame": [
+            -2.5051815672916256e-05,
+            -3.6312617961442584e-06,
+            -0.0003047158371085601
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26108495306547186,
+              0.16289048989175284,
+              0.8318682472880752
+            ],
+            "target_position": [
+              0.2765180689363986,
+              0.20820409483922708,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04786965488512751,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16443082875375795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318682472880752,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673776466357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1339876254082269,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50bf535d3c2463fb1534be250437540dd55b0f3c7ad89cc187dc2b98f8045583",
+    "visual_seed": 3417878265630940514,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f9898fc0913c5351b26338225f82f8992120ffc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_17_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2024827047652591,
+              -0.10300499960647028,
+              1.164900079897718
+            ],
+            "current_z": 1.164900079897718,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30379363148759664,
+            "gripper_z": 1.158748850667822,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19791531318294345,
+              -0.10762852488112497,
+              1.158748850667822
+            ],
+            "object_minus_gripper": [
+              0.004567391582315644,
+              0.004623525274654691,
+              0.006151229229895971
+            ],
+            "object_to_gripper_xy": 0.006499080845133298,
+            "object_to_gripper_z": 0.006151229229895971,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2024827047652591,
+              -0.12662231535183685,
+              1.164900079897718
+            ],
+            "finger_b": [
+              0.19177669859282448,
+              -0.10300499960647028,
+              1.164900079897718
+            ],
+            "finger_midpoint": [
+              0.19712970167904179,
+              -0.11481365747915356,
+              1.164900079897718
+            ],
+            "object_minus_finger_midpoint": [
+              0.005353003086217306,
+              0.011808657872683287,
+              0.0
+            ],
+            "finger_gap": 0.025930602985286478,
+            "fingertip_max_gap": 0.09242225101671192,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012965301492643239,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164900079897718,
+            "object_top_z": 1.215021990490376,
+            "finger_top_clearance": 0.050121910592658026,
+            "fingertip_min_top_clearance": 0.015036573177797373,
+            "object_projection_between_fingers": 0.8295371492628095,
+            "object_to_finger_line_xy": 0.009750915869164399,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871112550835596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7443213843212138,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2731286094688791,
+              -0.36651384987600266,
+              0.8515395732179063
+            ],
+            "target_position": [
+              0.264770148387994,
+              -0.36736901024788543,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008402093245275837,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856990818687313,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395732179063,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752884013131122,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531931450339032,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15410130914509362,
+            "release_required_pad_clearance": 0.05265965725169516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3774231806185469,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0079994797706604,
+            "max_z_decrease": 0.0079994797706604,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520057960389096,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0079994797706604,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02130622291409434,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0079994797706604,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00799950379885985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12047007679939269,
+              -0.42363047599792475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12047007679939269,
+              -0.42363047599792475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12229587663449018,
+              -0.42569854690779607,
+              0.8073770437921401
+            ],
+            "closest_button": [
+              0.12045900523662566,
+              -0.4236258864402771,
+              0.7722855806350708
+            ],
+            "closest_ee_minus_button": [
+              0.001836871397864523,
+              -0.002072660467518972,
+              0.03509146315706935
+            ],
+            "button_min_z_position": [
+              0.12045063823461531,
+              -0.42362791299819946,
+              0.7688093781471252
+            ],
+            "min_active_finger_to_button": 0.1442296306111842,
+            "closest_active_finger": [
+              -0.018955886363983154,
+              -0.4104951024055481,
+              0.8111494183540344
+            ],
+            "closest_active_finger_button": [
+              0.12047275900840758,
+              -0.4236273765563965,
+              0.7766619920730591
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13942864537239075,
+              0.013132274150848389,
+              0.03448742628097534
+            ],
+            "min_contact_pad_to_button": 0.02130622291409434,
+            "closest_contact_pad": [
+              0.12045063823461531,
+              -0.42669961546556084,
+              0.7898930158507352
+            ],
+            "closest_contact_pad_button": [
+              0.12045063823461531,
+              -0.42362791299819946,
+              0.7688093781471252
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030717024673613813,
+              0.021083637703609992
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27420283122593925,
+              0.21056411430757146,
+              1.1016239518847732
+            ],
+            "current_z": 1.1016239518847732,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1917148221504107,
+            "gripper_z": 1.1016239063031388,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27420278650572927,
+              0.21056411432731678,
+              1.1016239063031388
+            ],
+            "object_minus_gripper": [
+              4.4720209979587366e-08,
+              -1.974531649295841e-11,
+              4.558163446688468e-08
+            ],
+            "object_to_gripper_xy": 4.472021433866243e-08,
+            "object_to_gripper_z": 4.558163446688468e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27420283122593925,
+              0.21056411430757146,
+              1.1016239518847732
+            ],
+            "finger_b": [
+              0.27420283122593925,
+              0.21056411430757146,
+              1.1016239518847732
+            ],
+            "finger_midpoint": [
+              0.27420283122593925,
+              0.21056411430757146,
+              1.1016239518847732
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1016239518847732,
+            "object_top_z": 1.226632458505053,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27420283122593925,
+            0.21056411430757146,
+            1.1016239518847732
+          ],
+          "object_origin_world": [
+            0.27420283122593925,
+            0.21056411430757146,
+            1.1016239518847732
+          ],
+          "frame_world": [
+            0.27420278650572927,
+            0.21056411432731678,
+            1.1016239063031388
+          ],
+          "center_minus_frame": [
+            4.4720209979587366e-08,
+            -1.974531649295841e-11,
+            4.558163446688468e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432938565894385,
+            "required_z": 0.911259825978209,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002531836550877773,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 0.0,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3774231794761559,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3774231794761559,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2711426106711469,
+              -0.3680758976645341,
+              0.9234090868056218
+            ],
+            "target_mouth_xy": [
+              0.2731286406570266,
+              -0.3665139101085809
+            ],
+            "rod_tip_z": 0.9234090868056218,
+            "rod_tip_depth": -0.022149260827412864,
+            "rod_tip_bottom_clearance": 0.12158979747938392,
+            "rod_tip_xy_dist": 0.0025266816637173886,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04477916163797402,
+            "min_rod_tip_bottom_clearance": 0.05466137501399704,
+            "min_rod_tip_xy_dist": 0.0013953325844435359,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2731286406570266,
+              -0.3665139101085809
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0013866175505001244,
+                0.00015570738535763962
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014884740032429233,
+                -0.0002477104913582995
+              ],
+              "first_target_mouth_xy": [
+                0.2731286406570266,
+                -0.3665139101085809
+              ],
+              "last_target_mouth_xy": [
+                0.2731286406570266,
+                -0.3665139101085809
+              ],
+              "first_rod_tip_xy": [
+                0.27174202310652645,
+                -0.3663582027232233
+              ],
+              "last_rod_tip_xy": [
+                0.27164016665378365,
+                -0.3667616205999392
+              ],
+              "min_rod_tip_xy_dist": 0.0013953325844435359,
+              "max_rod_tip_xy_dist": 0.0015089451102869795,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.019504944281118486,
+              "min_bottom_clearance": 0.07993559237085257
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0013866175505001244,
+                  0.00015570738535763962
+                ],
+                "rod_tip_xy": [
+                  0.27174202310652645,
+                  -0.3663582027232233
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27173141148920205,
+                  -0.3663661471076902,
+                  1.0060885741673922
+                ],
+                "rod_tip_xy_dist": 0.0013953325844435359,
+                "target_xy_drift": 0.0,
+                "depth": 0.015025537287336355,
+                "bottom_clearance": 0.0844149993646347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0013972291678245874,
+                  0.00014776300089069938
+                ],
+                "rod_tip_xy": [
+                  0.271731411489202,
+                  -0.3663661471076902
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2717234672681603,
+                  -0.36636842714472356,
+                  1.0059612728616851
+                ],
+                "rod_tip_xy_dist": 0.0014050207300435158,
+                "target_xy_drift": 0.0,
+                "depth": 0.015171251810817021,
+                "bottom_clearance": 0.08426928484115404,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014051733888663098,
+                  0.00014548296385741288
+                ],
+                "rod_tip_xy": [
+                  0.27172346726816027,
+                  -0.3663684271447235
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2717268080792958,
+                  -0.3664347122785168,
+                  1.0054360890987917
+                ],
+                "rod_tip_xy_dist": 0.0014126845173465896,
+                "target_xy_drift": 0.0,
+                "depth": 0.01529855311652406,
+                "bottom_clearance": 0.084141983535447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0014018325777307994,
+                  7.919783006404835e-05
+                ],
+                "rod_tip_xy": [
+                  0.2717268080792958,
+                  -0.36643471227851687
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27171602600026395,
+                  -0.3664425925058264,
+                  1.005290663931312
+                ],
+                "rod_tip_xy_dist": 0.001404067972811228,
+                "target_xy_drift": 0.0,
+                "depth": 0.015823736879417516,
+                "bottom_clearance": 0.08361679977255354,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001412614656762623,
+                  7.131760275447263e-05
+                ],
+                "rod_tip_xy": [
+                  0.27171602600026395,
+                  -0.36644259250582645
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2717079446098233,
+                  -0.36644484855911474,
+                  1.0051631222612956
+                ],
+                "rod_tip_xy_dist": 0.0014144137898660447,
+                "target_xy_drift": 0.0,
+                "depth": 0.015969162046897245,
+                "bottom_clearance": 0.08347137460507381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014206960472033514,
+                  6.906154946617615e-05
+                ],
+                "rod_tip_xy": [
+                  0.2717079446098232,
+                  -0.36644484855911474
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27171205411930155,
+                  -0.3665121861081503,
+                  1.0046388873452308
+                ],
+                "rod_tip_xy_dist": 0.0014223736345116555,
+                "target_xy_drift": 0.0,
+                "depth": 0.01609670371691363,
+                "bottom_clearance": 0.08334383293505743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014165865377250286,
+                  1.7240004306362522e-06
+                ],
+                "rod_tip_xy": [
+                  0.27171205411930155,
+                  -0.3665121861081503
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2717009715035944,
+                  -0.36652034196991934,
+                  1.004493005979984
+                ],
+                "rod_tip_xy_dist": 0.0014165875867877952,
+                "target_xy_drift": 0.0,
+                "depth": 0.01662093863297842,
+                "bottom_clearance": 0.08281959801899264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014276691534322317,
+                  -6.431861338418443e-06
+                ],
+                "rod_tip_xy": [
+                  0.27170097150359435,
+                  -0.36652034196991934
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27169283334695205,
+                  -0.36652215680122674,
+                  1.004366112201361
+                ],
+                "rod_tip_xy_dist": 0.0014276836416034827,
+                "target_xy_drift": 0.0,
+                "depth": 0.01676681999822527,
+                "bottom_clearance": 0.08267371665374579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014358073100745883,
+                  -8.24669264576361e-06
+                ],
+                "rod_tip_xy": [
+                  0.271692833346952,
+                  -0.3665221568012267
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27169763232491745,
+                  -0.3665908524030605,
+                  1.0038442257994578
+                ],
+                "rod_tip_xy_dist": 0.0014358309927018633,
+                "target_xy_drift": 0.0,
+                "depth": 0.01689371377684823,
+                "bottom_clearance": 0.08254682287512283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014310083321091294,
+                  -7.694229447963163e-05
+                ],
+                "rod_tip_xy": [
+                  0.27169763232491745,
+                  -0.36659085240306055
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2716865547756195,
+                  -0.3665987826225982,
+                  1.0036987885979622
+                ],
+                "rod_tip_xy_dist": 0.0014330753515588573,
+                "target_xy_drift": 0.0,
+                "depth": 0.01741560017875121,
+                "bottom_clearance": 0.08202493647321984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014420858814071513,
+                  -8.487251401723128e-05
+                ],
+                "rod_tip_xy": [
+                  0.2716865547756194,
+                  -0.36659878262259815
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2716783292816978,
+                  -0.36660044200453895,
+                  1.0035716818670233
+                ],
+                "rod_tip_xy_dist": 0.0014445812656231722,
+                "target_xy_drift": 0.0,
+                "depth": 0.017561037380246947,
+                "bottom_clearance": 0.08187949927172411,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001450311375328861,
+                  -8.65318959580863e-05
+                ],
+                "rod_tip_xy": [
+                  0.2716783292816977,
+                  -0.366600442004539
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.271669955306957,
+                  -0.3666023486704206,
+                  1.003444271642545
+                ],
+                "rod_tip_xy_dist": 0.0014528905170130314,
+                "target_xy_drift": 0.0,
+                "depth": 0.01768814411118569,
+                "bottom_clearance": 0.08175239254078537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001458685350069655,
+                  -8.843856183959886e-05
+                ],
+                "rod_tip_xy": [
+                  0.2716699553069569,
+                  -0.3666023486704205
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27167619296547585,
+                  -0.36667278226208977,
+                  1.0029243759236268
+                ],
+                "rod_tip_xy_dist": 0.0014613638594573523,
+                "target_xy_drift": 0.0,
+                "depth": 0.017815554335664063,
+                "bottom_clearance": 0.081624982316307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014524476915507845,
+                  -0.00015887215350884887
+                ],
+                "rod_tip_xy": [
+                  0.2716761929654758,
+                  -0.36667278226208977
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2716650245137164,
+                  -0.3666805204384829,
+                  1.002779105418712
+                ],
+                "rod_tip_xy_dist": 0.0014611107616644748,
+                "target_xy_drift": 0.0,
+                "depth": 0.01833545005458237,
+                "bottom_clearance": 0.08110508659738869,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001463616143310198,
+                  -0.0001666103299020616
+                ],
+                "rod_tip_xy": [
+                  0.2716650245137164,
+                  -0.366680520438483
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2716566150287422,
+                  -0.36668216015524135,
+                  1.0026522844294137
+                ],
+                "rod_tip_xy_dist": 0.0014730686396051923,
+                "target_xy_drift": 0.0,
+                "depth": 0.01848072055949712,
+                "bottom_clearance": 0.08095981609247394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001472025628284357,
+                  -0.0001682500466604342
+                ],
+                "rod_tip_xy": [
+                  0.2716566150287422,
+                  -0.36668216015524135
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27164815418934785,
+                  -0.3666840398068322,
+                  1.0025253957430096
+                ],
+                "rod_tip_xy_dist": 0.0014816097760635876,
+                "target_xy_drift": 0.0,
+                "depth": 0.018607541548795292,
+                "bottom_clearance": 0.08083299510317576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014804864676787322,
+                  -0.00017012969825125346
+                ],
+                "rod_tip_xy": [
+                  0.27164815418934785,
+                  -0.3666840398068322
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27163981335118503,
+                  -0.36668548687790736,
+                  1.0023983720333702
+                ],
+                "rod_tip_xy_dist": 0.0014902296115722946,
+                "target_xy_drift": 0.0,
+                "depth": 0.018734430235199606,
+                "bottom_clearance": 0.08070610641677145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0014888273058416002,
+                  -0.0001715767693264425
+                ],
+                "rod_tip_xy": [
+                  0.271639813351185,
+                  -0.36668548687790736
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.27163137823589834,
+                  -0.3666870790067984,
+                  1.0022715600065002
+                ],
+                "rod_tip_xy_dist": 0.0014986811983847856,
+                "target_xy_drift": 0.0,
+                "depth": 0.018861453944838735,
+                "bottom_clearance": 0.08057908270713232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001497262421128298,
+                  -0.0001731688982175017
+                ],
+                "rod_tip_xy": [
+                  0.2716313782358983,
+                  -0.3666870790067984
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2716401666537837,
+                  -0.36676162059993916,
+                  1.0017548816970905
+                ],
+                "rod_tip_xy_dist": 0.0015072432534374923,
+                "target_xy_drift": 0.0,
+                "depth": 0.018988265971708773,
+                "bottom_clearance": 0.08045227068026228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0014884740032429233,
+                  -0.0002477104913582995
+                ],
+                "rod_tip_xy": [
+                  0.27164016665378365,
+                  -0.3667616205999392
+                ],
+                "target_mouth_xy": [
+                  0.2731286406570266,
+                  -0.3665139101085809
+                ],
+                "gripper_position": [
+                  0.2716288073382594,
+                  -0.36676953566688353,
+                  1.0016092329070576
+                ],
+                "rod_tip_xy_dist": 0.0015089451102869795,
+                "target_xy_drift": 0.0,
+                "depth": 0.019504944281118486,
+                "bottom_clearance": 0.07993559237085257,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006011107939517154,
+              "rod_tip_xy_max_step": 3.2463470421459135e-05,
+              "rod_tip_xy_range": 0.0006011030708669554,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2711426106711469,
+            -0.3680758976645341,
+            1.0434090868056218
+          ],
+          "object_origin_world": [
+            0.2711426106711469,
+            -0.3680758976645341,
+            1.0434090868056218
+          ],
+          "frame_world": [
+            0.27114128217536315,
+            -0.36808254090826614,
+            1.0432938565894385
+          ],
+          "center_minus_frame": [
+            1.328495783770034e-06,
+            6.643243732062931e-06,
+            0.00011523021618331519
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25922321907719653,
+              0.16366348625851174,
+              0.8315509524887748
+            ],
+            "target_position": [
+              0.2743823293759942,
+              0.20993056278801525,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04868717485784166,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16667149813701596,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315509524887748,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674882905237,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356313263758522,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10dfa39d32ba571af1e2c98e4f5989a5e7d6d0abd36bef5c165b1da76a6cbdac",
+    "visual_seed": 8507203084940346179,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..44835cb327d3b41f2c17d5c7c29ea6b1adb9d028
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_18_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2032367080634273,
+              -0.10244646342863957,
+              1.1660960085233743
+            ],
+            "current_z": 1.1660960085233743,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30498956011325296,
+            "gripper_z": 1.1600182125169516,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19864680767277662,
+              -0.10705381472215587,
+              1.1600182125169516
+            ],
+            "object_minus_gripper": [
+              0.004589900390650686,
+              0.004607351293516304,
+              0.006077796006422664
+            ],
+            "object_to_gripper_xy": 0.006503450740796127,
+            "object_to_gripper_z": 0.006077796006422664,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2032367080634273,
+              -0.12610074378959954,
+              1.1660960085233743
+            ],
+            "finger_b": [
+              0.19260354590350012,
+              -0.10244646342863957,
+              1.1660960085233743
+            ],
+            "finger_midpoint": [
+              0.19792012698346373,
+              -0.11427360360911956,
+              1.1660960085233743
+            ],
+            "object_minus_finger_midpoint": [
+              0.005316581079963578,
+              0.011827140180479992,
+              0.0
+            ],
+            "finger_gap": 0.025934323143552523,
+            "fingertip_max_gap": 0.09248362164293686,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012967161571776261,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660960085233743,
+            "object_top_z": 1.2162721614876466,
+            "finger_top_clearance": 0.05017615296427236,
+            "fingertip_min_top_clearance": 0.015052845889281706,
+            "object_projection_between_fingers": 0.8318971647384982,
+            "object_to_finger_line_xy": 0.009698336735539529,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874181082146843,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7662158124110916,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2709828848270368,
+              -0.369199727390096,
+              0.8515395728269639
+            ],
+            "target_position": [
+              0.2635534712803767,
+              -0.3699446063059727,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007466661251631435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.186792592780615,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395728269639,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756458672400679,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086622326617821,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15437492833389316,
+            "release_required_pad_clearance": 0.0533111633089105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6403983527500223,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007818758487701416,
+            "max_z_decrease": 0.007818758487701416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035113856469668754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007818758487701416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107577868689418,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007818758487701416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007818781299931004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11925339698791507,
+              -0.4262060523033142,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11925339698791507,
+              -0.4262060523033142,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11979534832954508,
+              -0.42529881217561766,
+              0.8077072441016195
+            ],
+            "closest_button": [
+              0.11924249678850177,
+              -0.4262017607688903,
+              0.7726093530654907
+            ],
+            "closest_ee_minus_button": [
+              0.0005528515410433144,
+              0.0009029485932726677,
+              0.035097891036128814
+            ],
+            "button_min_z_position": [
+              0.11923468858003619,
+              -0.4262034595012664,
+              0.7689900994300842
+            ],
+            "min_active_finger_to_button": 0.1453300890487674,
+            "closest_active_finger": [
+              -0.008048877120018005,
+              -0.48730364441871643,
+              0.8106245994567871
+            ],
+            "closest_active_finger_button": [
+              0.11925395578145984,
+              -0.42620417475700373,
+              0.7762490510940552
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12730283290147784,
+              -0.0610994696617127,
+              0.034375548362731934
+            ],
+            "min_contact_pad_to_button": 0.02107577868689418,
+            "closest_contact_pad": [
+              0.11923468858003619,
+              -0.4264575783012909,
+              0.7900643460570557
+            ],
+            "closest_contact_pad_button": [
+              0.11923468858003619,
+              -0.4262034595012664,
+              0.7689900994300842
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025411880002446097,
+              0.021074246626971438
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2790222021750079,
+              0.20650538491527118,
+              1.1029775397497144
+            ],
+            "current_z": 1.1029775397497144,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1930684100153518,
+            "gripper_z": 1.1029775397497144,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27902220217500795,
+              0.2065053849152712,
+              1.1029775397497144
+            ],
+            "object_minus_gripper": [
+              -5.551115123125783e-17,
+              -2.7755575615628914e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 6.206335383118183e-17,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2790222021750079,
+              0.20650538491527118,
+              1.1029775397497144
+            ],
+            "finger_b": [
+              0.2790222021750079,
+              0.20650538491527118,
+              1.1029775397497144
+            ],
+            "finger_midpoint": [
+              0.2790222021750079,
+              0.20650538491527118,
+              1.1029775397497144
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029775397497144,
+            "object_top_z": 1.227986046369994,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2790222021750079,
+            0.20650538491527118,
+            1.1029775397497146
+          ],
+          "object_origin_world": [
+            0.2790222021750079,
+            0.20650538491527118,
+            1.1029775397497146
+          ],
+          "frame_world": [
+            0.27902220217500795,
+            0.2065053849152712,
+            1.1029775397497144
+          ],
+          "center_minus_frame": [
+            -5.551115123125783e-17,
+            -2.7755575615628914e-17,
+            2.220446049250313e-16
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436657126618138,
+            "required_z": 0.9112598993258122,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019152744225956948,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.729162310232709e-08,
+            "max_target_xy_drift": 2.205008897171574e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.640398352320266,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6403983527811319,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26979410224900535,
+              -0.37072341032427814,
+              0.9233611123603757
+            ],
+            "target_mouth_xy": [
+              0.2709828267346661,
+              -0.36919972954214264
+            ],
+            "rod_tip_z": 0.9233611123603757,
+            "rod_tip_depth": -0.022101170384508317,
+            "rod_tip_bottom_clearance": 0.12154182214536025,
+            "rod_tip_xy_dist": 0.0019325291792515011,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045140471142523064,
+            "min_rod_tip_bottom_clearance": 0.0543000739844085,
+            "min_rod_tip_xy_dist": 0.0006273593130038487,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27098285750993345,
+              -0.36919963724619015
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.077526733452629e-08,
+              -9.229595249182765e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0005973766796310565,
+                0.00026005610042345584
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007153651203771205,
+                -9.387743139088744e-05
+              ],
+              "first_target_mouth_xy": [
+                0.270982885907993,
+                -0.36919966741232335
+              ],
+              "last_target_mouth_xy": [
+                0.2709828560070934,
+                -0.3691996953292931
+              ],
+              "first_rod_tip_xy": [
+                0.27038550922836196,
+                -0.3689396113118999
+              ],
+              "last_rod_tip_xy": [
+                0.27026749088671626,
+                -0.369293572760684
+              ],
+              "min_rod_tip_xy_dist": 0.0006273593130038487,
+              "max_rod_tip_xy_dist": 0.0007214985984579062,
+              "first_target_xy_drift": 4.143000579005475e-08,
+              "last_target_xy_drift": 5.810254190003383e-08,
+              "max_depth": 0.019561866415645612,
+              "min_bottom_clearance": 0.07987867610917632
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005973766796310565,
+                  0.00026005610042345584
+                ],
+                "rod_tip_xy": [
+                  0.27038550922836196,
+                  -0.3689396113118999
+                ],
+                "target_mouth_xy": [
+                  0.270982885907993,
+                  -0.36919966741232335
+                ],
+                "gripper_position": [
+                  0.2703746121588566,
+                  -0.3689481277778866,
+                  1.0056337468244763
+                ],
+                "rod_tip_xy_dist": 0.0006515274919253065,
+                "target_xy_drift": 4.143000579005475e-08,
+                "depth": 0.015480427784633544,
+                "bottom_clearance": 0.08396011960937833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006082437697110255,
+                  0.00025153644847053513
+                ],
+                "rod_tip_xy": [
+                  0.2703746121588566,
+                  -0.36894812777788666
+                ],
+                "target_mouth_xy": [
+                  0.27098285592856763,
+                  -0.3691996642263572
+                ],
+                "gripper_position": [
+                  0.2703779282104526,
+                  -0.3690191908586262,
+                  1.00511093755168
+                ],
+                "rod_tip_xy_dist": 0.0006582029081532906,
+                "target_xy_drift": 2.7026470942712483e-08,
+                "depth": 0.015626108410533468,
+                "bottom_clearance": 0.08381447905837824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006049591450449365,
+                  0.00018050791321361226
+                ],
+                "rod_tip_xy": [
+                  0.27037792821045253,
+                  -0.3690191908586262
+                ],
+                "target_mouth_xy": [
+                  0.27098288735549747,
+                  -0.36919969877183983
+                ],
+                "gripper_position": [
+                  0.27036697462452264,
+                  -0.3690275176753157,
+                  1.0049653135045118
+                ],
+                "rod_tip_xy_dist": 0.0006313150353874313,
+                "target_xy_drift": 6.838247773354508e-08,
+                "depth": 0.016148995986124848,
+                "bottom_clearance": 0.08329166241034536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000615879971440747,
+                  0.0001721500708630197
+                ],
+                "rod_tip_xy": [
+                  0.27036697462452264,
+                  -0.3690275176753157
+                ],
+                "target_mouth_xy": [
+                  0.2709828545959634,
+                  -0.36919966774617874
+                ],
+                "gripper_position": [
+                  0.2703589488709165,
+                  -0.3690298298565803,
+                  1.00483790478752
+                ],
+                "rod_tip_xy_dist": 0.0006394871274075797,
+                "target_xy_drift": 3.063887278521339e-08,
+                "depth": 0.016294483248219804,
+                "bottom_clearance": 0.08314607418137554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006239379838895442,
+                  0.0001698667159948375
+                ],
+                "rod_tip_xy": [
+                  0.27035894887091644,
+                  -0.3690298298565803
+                ],
+                "target_mouth_xy": [
+                  0.270982886854806,
+                  -0.3691996965725751
+                ],
+                "gripper_position": [
+                  0.27036321051026885,
+                  -0.3691015866775364,
+                  1.0043161832877021
+                ],
+                "rod_tip_xy_dist": 0.0006466477471877715,
+                "target_xy_drift": 6.61871701893807e-08,
+                "depth": 0.016421985758440782,
+                "bottom_clearance": 0.08301857679590852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.000619645361054133,
+                  9.80782041880568e-05
+                ],
+                "rod_tip_xy": [
+                  0.27036321051026885,
+                  -0.36910158667753634
+                ],
+                "target_mouth_xy": [
+                  0.270982855871323,
+                  -0.3691996648817244
+                ],
+                "gripper_position": [
+                  0.2703520659546541,
+                  -0.3691100016782061,
+                  1.0041709327220518
+                ],
+                "rod_tip_xy_dist": 0.0006273593130038487,
+                "target_xy_drift": 2.768407118810099e-08,
+                "depth": 0.016943600062030106,
+                "bottom_clearance": 0.08249696113358806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006308216690282253,
+                  8.966318214276292e-05
+                ],
+                "rod_tip_xy": [
+                  0.27035206595465405,
+                  -0.36911000167820607
+                ],
+                "target_mouth_xy": [
+                  0.2709828876236823,
+                  -0.36919966486034883
+                ],
+                "gripper_position": [
+                  0.27034405415477325,
+                  -0.36911188224825486,
+                  1.0040436985792907
+                ],
+                "rod_tip_xy_dist": 0.000637162039317725,
+                "target_xy_drift": 4.085804239288475e-08,
+                "depth": 0.017088984776959193,
+                "bottom_clearance": 0.08235165023272428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006388009799455641,
+                  8.78134077252346e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703440541547732,
+                  -0.36911188224825486
+                ],
+                "target_mouth_xy": [
+                  0.27098285513471876,
+                  -0.3691996956559801
+                ],
+                "gripper_position": [
+                  0.27033585115755937,
+                  -0.3691138338950716,
+                  1.003916695309268
+                ],
+                "rod_tip_xy_dist": 0.00064480841073588,
+                "target_xy_drift": 5.845806365883739e-08,
+                "depth": 0.017216127546022864,
+                "bottom_clearance": 0.08222438277428801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006470052190247211,
+                  8.583288411379009e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703358511575593,
+                  -0.3691138338950716
+                ],
+                "target_mouth_xy": [
+                  0.27098285637658404,
+                  -0.36919966677918536
+                ],
+                "gripper_position": [
+                  0.27034159879357117,
+                  -0.3691884192019953,
+                  1.0033952145086344
+                ],
+                "rod_tip_xy_dist": 0.0006526737603431891,
+                "target_xy_drift": 2.9554733754922634e-08,
+                "depth": 0.017343130060904488,
+                "bottom_clearance": 0.08209740612225891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006412872911518708,
+                  1.1214283191451901e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703415987935711,
+                  -0.3691884192019953
+                ],
+                "target_mouth_xy": [
+                  0.270982886084723,
+                  -0.36919963348518675
+                ],
+                "gripper_position": [
+                  0.2703303286073866,
+                  -0.3691965664908075,
+                  1.0032496263033304
+                ],
+                "rod_tip_xy_dist": 0.000641385336549256,
+                "target_xy_drift": 2.882123771632243e-08,
+                "depth": 0.017864660349669048,
+                "bottom_clearance": 0.08157597494068414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000652528324007362,
+                  3.1323068953592603e-06
+                ],
+                "rod_tip_xy": [
+                  0.27033032860738654,
+                  -0.36919656649080745
+                ],
+                "target_mouth_xy": [
+                  0.2709828569313939,
+                  -0.3691996987977028
+                ],
+                "gripper_position": [
+                  0.2703220732057995,
+                  -0.36919849649364644,
+                  1.0031226240220428
+                ],
+                "rod_tip_xy_dist": 0.000652535841910882,
+                "target_xy_drift": 6.155423153041876e-08,
+                "depth": 0.018010302421225144,
+                "bottom_clearance": 0.08143033232778463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006607827097653285,
+                  1.1687044622066267e-06
+                ],
+                "rod_tip_xy": [
+                  0.2703220732057995,
+                  -0.36919849649364644
+                ],
+                "target_mouth_xy": [
+                  0.2709828559155648,
+                  -0.36919966519810865
+                ],
+                "gripper_position": [
+                  0.2703138663217357,
+                  -0.36920035976663657,
+                  1.0029955207343348
+                ],
+                "rod_tip_xy_dist": 0.0006607837432889298,
+                "target_xy_drift": 2.7997352719404285e-08,
+                "depth": 0.018137153935825934,
+                "bottom_clearance": 0.08130339726843694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006690225282161566,
+                  -6.949294708569198e-07
+                ],
+                "rod_tip_xy": [
+                  0.27031386632173565,
+                  -0.3692003597666367
+                ],
+                "target_mouth_xy": [
+                  0.2709828888499518,
+                  -0.3691996648371658
+                ],
+                "gripper_position": [
+                  0.2703207973361834,
+                  -0.3692766541838677,
+                  1.0024777296735197
+                ],
+                "rod_tip_xy_dist": 0.0006690228891358706,
+                "target_xy_drift": 4.1754744510828296e-08,
+                "depth": 0.018264406342538897,
+                "bottom_clearance": 0.08117627545709871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006620596357321262,
+                  -7.698995404226139e-05
+                ],
+                "rod_tip_xy": [
+                  0.27032079733618336,
+                  -0.3692766541838677
+                ],
+                "target_mouth_xy": [
+                  0.2709828569719155,
+                  -0.3691996642298254
+                ],
+                "gripper_position": [
+                  0.27030942129501334,
+                  -0.3692850661760451,
+                  1.0023323285264587
+                ],
+                "rod_tip_xy_dist": 0.0006665211281641305,
+                "target_xy_drift": 2.6988998420625428e-08,
+                "depth": 0.018782192888649463,
+                "bottom_clearance": 0.0806584335221231,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006734359881929719,
+                  -8.53404353240439e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703094212950133,
+                  -0.3692850661760452
+                ],
+                "target_mouth_xy": [
+                  0.27098285728320626,
+                  -0.36919972574072113
+                ],
+                "gripper_position": [
+                  0.27030114446768816,
+                  -0.36928657490484734,
+                  1.0022057320169784
+                ],
+                "rod_tip_xy_dist": 0.0006788217881703134,
+                "target_xy_drift": 8.849482142336317e-08,
+                "depth": 0.018927502280296493,
+                "bottom_clearance": 0.08051306561051697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000681746362449609,
+                  -8.691041207953276e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703011444676881,
+                  -0.3692865749048474
+                ],
+                "target_mouth_xy": [
+                  0.2709828908301377,
+                  -0.36919966449276787
+                ],
+                "gripper_position": [
+                  0.27029273519396557,
+                  -0.3692883491265802,
+                  1.0020783691899817
+                ],
+                "rod_tip_xy_dist": 0.0006872637939256714,
+                "target_xy_drift": 4.3041979616818504e-08,
+                "depth": 0.01905421608929092,
+                "bottom_clearance": 0.08038655259141969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006901179610615538,
+                  -8.865343808572845e-05
+                ],
+                "rod_tip_xy": [
+                  0.27029273519396557,
+                  -0.36928834912658015
+                ],
+                "target_mouth_xy": [
+                  0.2709828531550271,
+                  -0.3691996956884944
+                ],
+                "gripper_position": [
+                  0.27028435562487585,
+                  -0.36929012272154277,
+                  1.001951579949524
+                ],
+                "rod_tip_xy_dist": 0.0006957889279545746,
+                "target_xy_drift": 5.860433548741922e-08,
+                "depth": 0.01918151776674215,
+                "bottom_clearance": 0.08025906960788853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006985016512634501,
+                  -9.042710519879815e-05
+                ],
+                "rod_tip_xy": [
+                  0.2702843556248758,
+                  -0.3692901227215428
+                ],
+                "target_mouth_xy": [
+                  0.27098285727613924,
+                  -0.369199695616344
+                ],
+                "gripper_position": [
+                  0.2702759353956742,
+                  -0.3692918556850506,
+                  1.0018248417446332
+                ],
+                "rod_tip_xy_dist": 0.0007043306170914346,
+                "target_xy_drift": 5.837062209155485e-08,
+                "depth": 0.01930831623256435,
+                "bottom_clearance": 0.08013226324818945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007069214497157916,
+                  -9.213024941595593e-05
+                ],
+                "rod_tip_xy": [
+                  0.2702759353956741,
+                  -0.3692918556850505
+                ],
+                "target_mouth_xy": [
+                  0.2709828568453899,
+                  -0.36919972543563456
+                ],
+                "gripper_position": [
+                  0.2702674908867163,
+                  -0.3692935727606839,
+                  1.0016979062778297
+                ],
+                "rod_tip_xy_dist": 0.0007128996555797476,
+                "target_xy_drift": 8.819194818190435e-08,
+                "depth": 0.01943505091558484,
+                "bottom_clearance": 0.08000551180878979,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0007153651203771205,
+                  -9.387743139088744e-05
+                ],
+                "rod_tip_xy": [
+                  0.27026749088671626,
+                  -0.369293572760684
+                ],
+                "target_mouth_xy": [
+                  0.2709828560070934,
+                  -0.3691996953292931
+                ],
+                "gripper_position": [
+                  0.2702591748083292,
+                  -0.3692949954217472,
+                  1.0015708405761374
+                ],
+                "rod_tip_xy_dist": 0.0007214985984579062,
+                "target_xy_drift": 5.810254190003383e-08,
+                "depth": 0.019561866415645612,
+                "bottom_clearance": 0.07987867610917632,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006006205677336869,
+              "rod_tip_xy_max_step": 3.2710902885813013e-05,
+              "rod_tip_xy_range": 0.0006006120303165464,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26979410224900535,
+            -0.37072341032427814,
+            1.0433611123603757
+          ],
+          "object_origin_world": [
+            0.26979410224900535,
+            -0.37072341032427814,
+            1.0433611123603757
+          ],
+          "frame_world": [
+            0.2698190509179449,
+            -0.3707208810672262,
+            1.0436657126618138
+          ],
+          "center_minus_frame": [
+            -2.494866893953951e-05,
+            -2.529257051908651e-06,
+            -0.00030460030143819594
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26412627848621556,
+              0.16135080355141918,
+              0.8316829283145506
+            ],
+            "target_position": [
+              0.27919320228620637,
+              0.2069502785231644,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04802420546446914,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16617769942559613,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316829283145506,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676730032094,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13583011923143823,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 317,
+            "max_placed_release_frames": 317
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bce7ecbcdf8f71d1d604556ab08e2698468e7a2a170c4f25e389a4770941aca4",
+    "visual_seed": 2150793573917693599,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e190fa299fdc4c82f6f4e74e8502c4ad8ab9884c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_19_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19571869133106992,
+              -0.10480430633838009,
+              1.1630064230741883
+            ],
+            "current_z": 1.1630064230741883,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30189997466406693,
+            "gripper_z": 1.1569461833588872,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19119369746100426,
+              -0.10949061705955324,
+              1.1569461833588872
+            ],
+            "object_minus_gripper": [
+              0.004524993870065663,
+              0.004686310721173148,
+              0.006060239715301119
+            ],
+            "object_to_gripper_xy": 0.006514374697506601,
+            "object_to_gripper_z": 0.006060239715301119,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19571869133106992,
+              -0.12831002502444921,
+              1.1630064230741883
+            ],
+            "finger_b": [
+              0.18472182031385448,
+              -0.10480430633838009,
+              1.1630064230741883
+            ],
+            "finger_midpoint": [
+              0.19022025582246221,
+              -0.11655716568141465,
+              1.1630064230741883
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054984355086077075,
+              0.011752859343034563,
+              0.0
+            ],
+            "finger_gap": 0.025950914880171226,
+            "fingertip_max_gap": 0.09229736591964408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012975457440085606,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630064230741883,
+            "object_top_z": 1.2129043163025153,
+            "finger_top_clearance": 0.04989789322832694,
+            "fingertip_min_top_clearance": 0.014969367968498048,
+            "object_projection_between_fingers": 0.8204303583030855,
+            "object_to_finger_line_xy": 0.009960703033061919,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864868295982204,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9547172212126267,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2767201650782307,
+              -0.3715583014344017,
+              0.8515395802130153
+            ],
+            "target_position": [
+              0.26820304289535385,
+              -0.37267679878828297,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008590250672052161,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18684221193347397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395802130153,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562531187657308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08620346670123659,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15446062022481738,
+            "release_required_pad_clearance": 0.053101733350618296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.230969931295165,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007754981517791748,
+            "max_z_decrease": 0.007754981517791748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035149323151132505,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007754981517791748,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021219895693885122,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007754981517791748,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007754998561290377,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12390296906232831,
+              -0.42893826961517334,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12390296906232831,
+              -0.42893826961517334,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1222079366533581,
+              -0.43073239100651745,
+              0.8080503897192423
+            ],
+            "closest_button": [
+              0.12389513105154036,
+              -0.4289330244064331,
+              0.7729877233505249
+            ],
+            "closest_ee_minus_button": [
+              -0.001687194398182254,
+              -0.00179936660008434,
+              0.035062666368717355
+            ],
+            "button_min_z_position": [
+              0.12388769537210462,
+              -0.42893269658088684,
+              0.7690538763999939
+            ],
+            "min_active_finger_to_button": 0.14768337567250928,
+            "closest_active_finger": [
+              -0.01910257339477539,
+              -0.4158441126346588,
+              0.8110455870628357
+            ],
+            "closest_active_finger_button": [
+              0.1239035278558731,
+              -0.42893823981285095,
+              0.7765756249427795
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1430061012506485,
+              0.013094127178192139,
+              0.03446996212005615
+            ],
+            "min_contact_pad_to_button": 0.021219895693885122,
+            "closest_contact_pad": [
+              0.12388769537210462,
+              -0.43173549496181096,
+              0.7900878559211224
+            ],
+            "closest_contact_pad_button": [
+              0.12388769537210462,
+              -0.42893269658088684,
+              0.7690538763999939
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002802798380924121,
+              0.02103397952112851
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2801116865938841,
+              0.20560468202894647,
+              1.1046543698726108
+            ],
+            "current_z": 1.1046543698726108,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19474524013824823,
+            "gripper_z": 1.1046545133845833,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2801117063097863,
+              0.20560465861657706,
+              1.1046545133845833
+            ],
+            "object_minus_gripper": [
+              -1.971590224414399e-08,
+              2.341236940428537e-08,
+              -1.4351197252793213e-07
+            ],
+            "object_to_gripper_xy": 3.060810092807719e-08,
+            "object_to_gripper_z": -1.4351197252793213e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2801116865938841,
+              0.20560468202894647,
+              1.1046543698726108
+            ],
+            "finger_b": [
+              0.2801116865938841,
+              0.20560468202894647,
+              1.1046543698726108
+            ],
+            "finger_midpoint": [
+              0.2801116865938841,
+              0.20560468202894647,
+              1.1046543698726108
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046543698726108,
+            "object_top_z": 1.2296628764928905,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2801116865938841,
+            0.2056046820289465,
+            1.1046543698726108
+          ],
+          "object_origin_world": [
+            0.2801116865938841,
+            0.2056046820289465,
+            1.1046543698726108
+          ],
+          "frame_world": [
+            0.2801117063097863,
+            0.20560465861657706,
+            1.1046545133845833
+          ],
+          "center_minus_frame": [
+            -1.971590224414399e-08,
+            2.3412369432040947e-08,
+            -1.4351197252793213e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043247683131892,
+            "required_z": 0.9112599694084806,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008193952511588955,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3211398414535415e-07,
+            "max_target_xy_drift": 7.140880597682746e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.230969926836164,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2309699316605551,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2759060873270505,
+              -0.37163219308075035,
+              0.9233664164020438
+            ],
+            "target_mouth_xy": [
+              0.2767201099462022,
+              -0.3715583292911
+            ],
+            "rod_tip_z": 0.9233664164020438,
+            "rod_tip_depth": -0.022106436883930658,
+            "rod_tip_bottom_clearance": 0.1215470987710795,
+            "rod_tip_xy_dist": 0.0008173669212245531,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04503594882000117,
+            "min_rod_tip_bottom_clearance": 0.05440473830872761,
+            "min_rod_tip_xy_dist": 0.0005206785549828036,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2767200511481064,
+              -0.37155821098265257
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.879809583664297e-08,
+              -1.1830844742766189e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.00024249451489999352,
+                0.0016688315992935965
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00035340224627289363,
+                0.0013173483189019564
+              ],
+              "first_target_mouth_xy": [
+                0.27672016965758817,
+                -0.37155829978606697
+              ],
+              "last_target_mouth_xy": [
+                0.27672010592753593,
+                -0.37155830175864923
+              ],
+              "first_rod_tip_xy": [
+                0.2764776751426882,
+                -0.3698894681867734
+              ],
+              "last_rod_tip_xy": [
+                0.27636670368126304,
+                -0.3702409534397473
+              ],
+              "min_rod_tip_xy_dist": 0.001363075102233132,
+              "max_rod_tip_xy_dist": 0.0016863577605470928,
+              "first_target_xy_drift": 1.480896474492649e-07,
+              "last_target_xy_drift": 1.0602390047503997e-07,
+              "max_depth": 0.019417130182727615,
+              "min_bottom_clearance": 0.0800234078792258
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.00024249451489999352,
+                  0.0016688315992935965
+                ],
+                "rod_tip_xy": [
+                  0.2764776751426882,
+                  -0.3698894681867734
+                ],
+                "target_mouth_xy": [
+                  0.27672016965758817,
+                  -0.37155829978606697
+                ],
+                "gripper_position": [
+                  0.2764669492052611,
+                  -0.3698981433221922,
+                  1.0058467036359493
+                ],
+                "rod_tip_xy_dist": 0.0016863577605470928,
+                "target_xy_drift": 1.480896474492649e-07,
+                "depth": 0.01526364976062855,
+                "bottom_clearance": 0.0841770052885421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.00025318724174094864,
+                  0.0016601267054139335
+                ],
+                "rod_tip_xy": [
+                  0.27646694920526105,
+                  -0.3698981433221922
+                ],
+                "target_mouth_xy": [
+                  0.276720136447002,
+                  -0.3715582700276061
+                ],
+                "gripper_position": [
+                  0.2764590141063147,
+                  -0.36990061352036263,
+                  1.0057157555732457
+                ],
+                "rod_tip_xy_dist": 0.0016793226186200526,
+                "target_xy_drift": 1.037410628976597e-07,
+                "depth": 0.01541312544490181,
+                "bottom_clearance": 0.08402739944817139,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00026112295364716376,
+                  0.0016576910681289636
+                ],
+                "rod_tip_xy": [
+                  0.2764590141063146,
+                  -0.36990061352036263
+                ],
+                "target_mouth_xy": [
+                  0.2767201370599618,
+                  -0.3715583045884916
+                ],
+                "gripper_position": [
+                  0.2764642169505665,
+                  -0.36997011149131825,
+                  1.0051881711185744
+                ],
+                "rod_tip_xy_dist": 0.0016781313638317959,
+                "target_xy_drift": 1.2705471262028944e-07,
+                "depth": 0.015544129129619444,
+                "bottom_clearance": 0.08389651851203972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00025588850954177955,
+                  0.001588189612735602
+                ],
+                "rod_tip_xy": [
+                  0.2764642169505665,
+                  -0.3699701114913183
+                ],
+                "target_mouth_xy": [
+                  0.2767201054601083,
+                  -0.3715583011040539
+                ],
+                "gripper_position": [
+                  0.2764532984831111,
+                  -0.3699786506634304,
+                  1.0050387119161608
+                ],
+                "rod_tip_xy_dist": 0.0016086718668879539,
+                "target_xy_drift": 1.0522195840082811e-07,
+                "depth": 0.016071675049703082,
+                "bottom_clearance": 0.08336885671712102,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0002668116839571466,
+                  0.0015796488026095235
+                ],
+                "rod_tip_xy": [
+                  0.27645329848311107,
+                  -0.3699786506634304
+                ],
+                "target_mouth_xy": [
+                  0.2767201101670682,
+                  -0.3715582994660399
+                ],
+                "gripper_position": [
+                  0.27644518738244084,
+                  -0.3699810044988106,
+                  1.0049077638361816
+                ],
+                "rod_tip_xy_dist": 0.0016020233501050317,
+                "target_xy_drift": 1.0636046112346608e-07,
+                "depth": 0.016221210086694193,
+                "bottom_clearance": 0.08321946096570543,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00027494949321088535,
+                  0.0015772978697448647
+                ],
+                "rod_tip_xy": [
+                  0.2764451873824408,
+                  -0.36998100449881055
+                ],
+                "target_mouth_xy": [
+                  0.27672013687565167,
+                  -0.3715583023685554
+                ],
+                "gripper_position": [
+                  0.27645113371407215,
+                  -0.3700517730184284,
+                  1.0043814146860763
+                ],
+                "rod_tip_xy_dist": 0.0016010826942162017,
+                "target_xy_drift": 1.2530201618236876e-07,
+                "depth": 0.016352080096226795,
+                "bottom_clearance": 0.08308848292718396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00026900260189477443,
+                  0.0015065293485276854
+                ],
+                "rod_tip_xy": [
+                  0.27645113371407215,
+                  -0.3700517730184284
+                ],
+                "target_mouth_xy": [
+                  0.2767201363159669,
+                  -0.3715583023669561
+                ],
+                "gripper_position": [
+                  0.27644008469666226,
+                  -0.3700602767838458,
+                  1.004232576818747
+                ],
+                "rod_tip_xy_dist": 0.00153035717327734,
+                "target_xy_drift": 1.2491859508447205e-07,
+                "depth": 0.016878424543259496,
+                "bottom_clearance": 0.08256211646694067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00028020763308356234,
+                  0.0014980229783962962
+                ],
+                "rod_tip_xy": [
+                  0.27644008469666226,
+                  -0.3700602767838459
+                ],
+                "target_mouth_xy": [
+                  0.2767202923297458,
+                  -0.3715582997622422
+                ],
+                "gripper_position": [
+                  0.2764319378722845,
+                  -0.37006253669382955,
+                  1.0041019134274676
+                ],
+                "rod_tip_xy_dist": 0.001524004318052151,
+                "target_xy_drift": 2.570027212612486e-07,
+                "depth": 0.017027424937071767,
+                "bottom_clearance": 0.08241336170679803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00028816945659004833,
+                  0.0014957643912147933
+                ],
+                "rod_tip_xy": [
+                  0.2764319378722845,
+                  -0.3700625366938295
+                ],
+                "target_mouth_xy": [
+                  0.27672010732887453,
+                  -0.3715583010850443
+                ],
+                "gripper_position": [
+                  0.27642365371973243,
+                  -0.3700647661592368,
+                  1.0039708335053874
+                ],
+                "rod_tip_xy_dist": 0.0015232704125458373,
+                "target_xy_drift": 1.0618248303006396e-07,
+                "depth": 0.017157850341383063,
+                "bottom_clearance": 0.08228267794209188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00029648761550804537,
+                  0.0014935345648586784
+                ],
+                "rod_tip_xy": [
+                  0.27642365371973243,
+                  -0.3700647661592368
+                ],
+                "target_mouth_xy": [
+                  0.2767201413352405,
+                  -0.37155830072409546
+                ],
+                "gripper_position": [
+                  0.27643096379655474,
+                  -0.37013767460376806,
+                  1.0034454258243632
+                ],
+                "rod_tip_xy_dist": 0.0015226786931513976,
+                "target_xy_drift": 1.2722910723467251e-07,
+                "depth": 0.017289078153375992,
+                "bottom_clearance": 0.08215160237062402,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00028917272083134327,
+                  0.0014206277674061463
+                ],
+                "rod_tip_xy": [
+                  0.2764309637965547,
+                  -0.3701376746037681
+                ],
+                "target_mouth_xy": [
+                  0.27672013651738603,
+                  -0.37155830237117426
+                ],
+                "gripper_position": [
+                  0.2764199411490856,
+                  -0.37014599320939456,
+                  1.0032959764840956
+                ],
+                "rod_tip_xy_dist": 0.0014497600201407038,
+                "target_xy_drift": 1.250590892526919e-07,
+                "depth": 0.017814415162069164,
+                "bottom_clearance": 0.08162613389758233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0003001974563102694,
+                  0.0014123081793007142
+                ],
+                "rod_tip_xy": [
+                  0.2764199411490855,
+                  -0.37014599320939456
+                ],
+                "target_mouth_xy": [
+                  0.2767201386053958,
+                  -0.3715583013886953
+                ],
+                "gripper_position": [
+                  0.2764114985367879,
+                  -0.3701480930400065,
+                  1.003165546319608
+                ],
+                "rod_tip_xy_dist": 0.0014438604178018228,
+                "target_xy_drift": 1.2578565112556484e-07,
+                "depth": 0.017963924168100998,
+                "bottom_clearance": 0.0814766725255508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00030857843296971943,
+                  0.0014102077392612045
+                ],
+                "rod_tip_xy": [
+                  0.2764114985367879,
+                  -0.3701480930400065
+                ],
+                "target_mouth_xy": [
+                  0.27672007696975764,
+                  -0.3715583007792677
+                ],
+                "gripper_position": [
+                  0.27640327977077694,
+                  -0.3701500613263313,
+                  1.0030349080779541
+                ],
+                "rod_tip_xy_dist": 0.0014435742160229398,
+                "target_xy_drift": 9.343548450739392e-08,
+                "depth": 0.018094207391927908,
+                "bottom_clearance": 0.08134628838217961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003168906778697189,
+                  0.0014082378202837642
+                ],
+                "rod_tip_xy": [
+                  0.2764032797707769,
+                  -0.3701500613263313
+                ],
+                "target_mouth_xy": [
+                  0.2767201704486466,
+                  -0.3715582991466151
+                ],
+                "gripper_position": [
+                  0.2764117939422909,
+                  -0.3702249752850272,
+                  1.0025135470776323
+                ],
+                "rod_tip_xy_dist": 0.001443451925142745,
+                "target_xy_drift": 1.483425198147053e-07,
+                "depth": 0.01822502483391253,
+                "bottom_clearance": 0.08121568344052099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00030831292748523254,
+                  0.0013333270785080842
+                ],
+                "rod_tip_xy": [
+                  0.2764117939422909,
+                  -0.3702249752850273
+                ],
+                "target_mouth_xy": [
+                  0.2767201068697761,
+                  -0.3715583023635354
+                ],
+                "gripper_position": [
+                  0.2764005509628715,
+                  -0.3702332197051007,
+                  1.0023642349138417
+                ],
+                "rod_tip_xy_dist": 0.0013685093932952806,
+                "target_xy_drift": 1.0702976323874275e-07,
+                "depth": 0.018746295066008778,
+                "bottom_clearance": 0.08069425979691502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00031958659828290603,
+                  0.0013250804279461015
+                ],
+                "rod_tip_xy": [
+                  0.2764005509628715,
+                  -0.3702332197051007
+                ],
+                "target_mouth_xy": [
+                  0.27672013756115443,
+                  -0.3715583001330468
+                ],
+                "gripper_position": [
+                  0.2763921788749448,
+                  -0.3702350315895663,
+                  1.0022339532764517
+                ],
+                "rod_tip_xy_dist": 0.001363075102233132,
+                "target_xy_drift": 1.24157189342231e-07,
+                "depth": 0.018895597158256394,
+                "bottom_clearance": 0.08054495866880507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00032798998846705896,
+                  0.0013232704397551087
+                ],
+                "rod_tip_xy": [
+                  0.2763921788749448,
+                  -0.3702350315895663
+                ],
+                "target_mouth_xy": [
+                  0.2767201688634119,
+                  -0.3715583020293214
+                ],
+                "gripper_position": [
+                  0.27638365735543813,
+                  -0.37023709242248914,
+                  1.0021039513483794
+                ],
+                "rod_tip_xy_dist": 0.0013633129095201512,
+                "target_xy_drift": 1.488166289501192e-07,
+                "depth": 0.019025962503881222,
+                "bottom_clearance": 0.08041467440133643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00033644950821959396,
+                  0.0013212086820214575
+                ],
+                "rod_tip_xy": [
+                  0.2763836573554381,
+                  -0.37023709242248914
+                ],
+                "target_mouth_xy": [
+                  0.27672010686365767,
+                  -0.3715583011045106
+                ],
+                "gripper_position": [
+                  0.27637519929671484,
+                  -0.37023893483848735,
+                  1.001973082808772
+                ],
+                "rod_tip_xy_dist": 0.0013633747294966572,
+                "target_xy_drift": 1.0595363113151029e-07,
+                "depth": 0.019155868484262095,
+                "bottom_clearance": 0.08028464222827258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0003449417292265,
+                  0.0013193662105269732
+                ],
+                "rod_tip_xy": [
+                  0.27637519929671484,
+                  -0.37023893483848747
+                ],
+                "target_mouth_xy": [
+                  0.27672014102594134,
+                  -0.37155830104901444
+                ],
+                "gripper_position": [
+                  0.27636670368126304,
+                  -0.3702409534397472,
+                  1.0018427140267787
+                ],
+                "rod_tip_xy_dist": 0.0013637125775038058,
+                "target_xy_drift": 1.27239831640705e-07,
+                "depth": 0.01928683201903192,
+                "bottom_clearance": 0.08015384771810374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00035340224627289363,
+                  0.0013173483189019564
+                ],
+                "rod_tip_xy": [
+                  0.27636670368126304,
+                  -0.3702409534397473
+                ],
+                "target_mouth_xy": [
+                  0.27672010592753593,
+                  -0.37155830175864923
+                ],
+                "gripper_position": [
+                  0.2763582392156024,
+                  -0.37024288700324504,
+                  1.0017126755412524
+                ],
+                "rod_tip_xy_dist": 0.0013639280556482947,
+                "target_xy_drift": 1.0602390047503997e-07,
+                "depth": 0.019417130182727615,
+                "bottom_clearance": 0.0800234078792258,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006016247549025451,
+              "rod_tip_xy_max_step": 3.2660331808581725e-05,
+              "rod_tip_xy_range": 0.000601621103140494,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2759060873270505,
+            -0.37163219308075035,
+            1.0433664164020438
+          ],
+          "object_origin_world": [
+            0.2759060873270505,
+            -0.37163219308075035,
+            1.0433664164020438
+          ],
+          "frame_world": [
+            0.2759047440580683,
+            -0.37163948991017937,
+            1.043247683131892
+          ],
+          "center_minus_frame": [
+            1.3432689822123756e-06,
+            7.296829429015439e-06,
+            0.00011873327015177182
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2665331905064278,
+              0.15980078661985916,
+              0.8315575353488831
+            ],
+            "target_position": [
+              0.28028084710784895,
+              0.2062574855226822,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04844814686835975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16750372629173524,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315575353488831,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675865216357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13724699370672222,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 302,
+            "max_placed_release_frames": 302
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9bef76a947a80fc1a70706bfeed52fa01ccd95eb47685d6937e46e1a910c7d4",
+    "visual_seed": 1357761719165672842,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9211868b1ee8dfc9217e9e224fa64e9a0b994aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_1_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19418450357061795,
+              -0.10696691746101594,
+              1.1623771880152485
+            ],
+            "current_z": 1.1623771880152485,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30127079920977184,
+            "gripper_z": 1.1564784793307537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.189621288727765,
+              -0.11163656122500439,
+              1.1564784793307537
+            ],
+            "object_minus_gripper": [
+              0.004563214842852936,
+              0.004669643763988443,
+              0.0058987086844948244
+            ],
+            "object_to_gripper_xy": 0.006529050664881496,
+            "object_to_gripper_z": 0.0058987086844948244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19418450357061795,
+              -0.13059542268083732,
+              1.1623771880152485
+            ],
+            "finger_b": [
+              0.18333296021048434,
+              -0.10696691746101594,
+              1.1623771880152485
+            ],
+            "finger_midpoint": [
+              0.18875873189055115,
+              -0.11878117007092663,
+              1.1623771880152485
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425771680066804,
+              0.011814252609910689,
+              0.0
+            ],
+            "finger_gap": 0.026001197130516622,
+            "fingertip_max_gap": 0.09231807856130958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013000598565258311,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623771880152485,
+            "object_top_z": 1.2123004880772028,
+            "finger_top_clearance": 0.049923300061954334,
+            "fingertip_min_top_clearance": 0.0149769900185863,
+            "object_projection_between_fingers": 0.8258207836479786,
+            "object_to_finger_line_xy": 0.009861305525317573,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865903928065479,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.114806869734635,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27525544164657345,
+              -0.36405917221068257,
+              0.8515395647747576
+            ],
+            "target_position": [
+              0.2679020594749723,
+              -0.36452000928418254,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007367808369517596,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18272748636931643,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395647747576,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520900417137429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547774038442628,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15150212788815468,
+            "release_required_pad_clearance": 0.05273887019221314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5293398371683742,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007832944393157959,
+            "max_z_decrease": 0.007832944393157959,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510687858739571,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007832944393157959,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108808628364401,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007832944393157959,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007832967196758031,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1236019879579544,
+              -0.42078146338462824,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1236019879579544,
+              -0.42078146338462824,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12452166721345356,
+              -0.420482334743746,
+              0.8076955627548539
+            ],
+            "closest_button": [
+              0.1235910952091217,
+              -0.42077741026878357,
+              0.7726022601127625
+            ],
+            "closest_ee_minus_button": [
+              0.0009305720043318588,
+              0.00029507552503754697,
+              0.03509330264209143
+            ],
+            "button_min_z_position": [
+              0.12358324974775314,
+              -0.4207789897918701,
+              0.7689759135246277
+            ],
+            "min_active_finger_to_button": 0.14526447935602568,
+            "closest_active_finger": [
+              -0.002274133265018463,
+              -0.4846041202545166,
+              0.8106440305709839
+            ],
+            "closest_active_finger_button": [
+              0.12360215932130812,
+              -0.42077976465225214,
+              0.7762437462806702
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258762925863266,
+              -0.06382435560226446,
+              0.03440028429031372
+            ],
+            "min_contact_pad_to_button": 0.02108808628364401,
+            "closest_contact_pad": [
+              0.12358324974775314,
+              -0.4214374904783129,
+              0.7900537160655087
+            ],
+            "closest_contact_pad_button": [
+              0.12358324974775314,
+              -0.4207789897918701,
+              0.7689759135246277
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006585006864427978,
+              0.021077802540880985
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27845189550068067,
+              0.20415422916871537,
+              1.1018453953746636
+            ],
+            "current_z": 1.1018453953746636,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19193626564030108,
+            "gripper_z": 1.1018452638320502,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2784518057565455,
+              0.20415419994506973,
+              1.1018452638320502
+            ],
+            "object_minus_gripper": [
+              8.97441351788153e-08,
+              2.9223645642284524e-08,
+              1.3154261346848273e-07
+            ],
+            "object_to_gripper_xy": 9.438236733426052e-08,
+            "object_to_gripper_z": 1.3154261346848273e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27845189550068067,
+              0.20415422916871537,
+              1.1018453953746636
+            ],
+            "finger_b": [
+              0.27845189550068067,
+              0.20415422916871537,
+              1.1018453953746636
+            ],
+            "finger_midpoint": [
+              0.27845189550068067,
+              0.20415422916871537,
+              1.1018453953746636
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018453953746636,
+            "object_top_z": 1.2268539019949434,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2784518955006806,
+            0.20415422916871534,
+            1.1018453953746636
+          ],
+          "object_origin_world": [
+            0.2784518955006806,
+            0.20415422916871534,
+            1.1018453953746636
+          ],
+          "frame_world": [
+            0.2784518057565455,
+            0.20415419994506973,
+            1.1018452638320502
+          ],
+          "center_minus_frame": [
+            8.974413512330415e-08,
+            2.9223645614528948e-08,
+            1.3154261346848273e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043660217822184,
+            "required_z": 0.9112598312149587,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011433077359638652,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.2542412877472823e-08,
+            "max_target_xy_drift": 1.8566115116421693e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5293398351420106,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5293398373060816,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2761518073831254,
+              -0.363385159395188,
+              0.9233560281769934
+            ],
+            "target_mouth_xy": [
+              0.27525540990927727,
+              -0.3640591126092473
+            ],
+            "rod_tip_z": 0.9233560281769934,
+            "rod_tip_depth": -0.022096169949380795,
+            "rod_tip_bottom_clearance": 0.1215367132592381,
+            "rod_tip_xy_dist": 0.00112149068915534,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044936500414203384,
+            "min_rod_tip_bottom_clearance": 0.054504058542434675,
+            "min_rod_tip_xy_dist": 0.0005641102010263001,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27525544244545497,
+              -0.36405911197224117
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.253617769649608e-08,
+              -6.370061145233308e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0013868521121507826,
+                0.0023955235738318814
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012833723929378538,
+                0.0020584507747769543
+              ],
+              "first_target_mouth_xy": [
+                0.27525550116083786,
+                -0.364059201382516
+              ],
+              "last_target_mouth_xy": [
+                0.27525550263928,
+                -0.36405916967547103
+              ],
+              "first_rod_tip_xy": [
+                0.27664235327298864,
+                -0.36166367780868414
+              ],
+              "last_rod_tip_xy": [
+                0.27653887503221786,
+                -0.3620007189006941
+              ],
+              "min_rod_tip_xy_dist": 0.0024257502532484413,
+              "max_rod_tip_xy_dist": 0.002768012278470122,
+              "first_target_xy_drift": 1.0696585173155187e-07,
+              "last_target_xy_drift": 8.338440686841298e-08,
+              "max_depth": 0.01955885857942119,
+              "min_bottom_clearance": 0.07988178216361097
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013868521121507826,
+                  0.0023955235738318814
+                ],
+                "rod_tip_xy": [
+                  0.27664235327298864,
+                  -0.36166367780868414
+                ],
+                "target_mouth_xy": [
+                  0.27525550116083786,
+                  -0.364059201382516
+                ],
+                "gripper_position": [
+                  0.27663132578991595,
+                  -0.361672025439001,
+                  1.0056556560203938
+                ],
+                "rod_tip_xy_dist": 0.002768012278470122,
+                "target_xy_drift": 1.0696585173155187e-07,
+                "depth": 0.01545754468624605,
+                "bottom_clearance": 0.08398297145135347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0013758569698184009,
+                  0.0023871749742474524
+                ],
+                "rod_tip_xy": [
+                  0.27663132578991606,
+                  -0.361672025439001
+                ],
+                "target_mouth_xy": [
+                  0.27525546882009766,
+                  -0.36405920041324846
+                ],
+                "gripper_position": [
+                  0.2766390152177889,
+                  -0.3617399936579139,
+                  1.0051316710461904
+                ],
+                "rod_tip_xy_dist": 0.002755283426268738,
+                "target_xy_drift": 9.228994283542178e-08,
+                "depth": 0.015604251256583601,
+                "bottom_clearance": 0.08383637418603429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013835130633992332,
+                  0.0023192093173507455
+                ],
+                "rod_tip_xy": [
+                  0.27663901521778894,
+                  -0.36173999365791376
+                ],
+                "target_mouth_xy": [
+                  0.2752555021543897,
+                  -0.3640592029752645
+                ],
+                "gripper_position": [
+                  0.27662793764523796,
+                  -0.3617481155636048,
+                  1.0049853192560445
+                ],
+                "rod_tip_xy_dist": 0.0027005259217942794,
+                "target_xy_drift": 1.0884257964956901e-07,
+                "depth": 0.016128166986325243,
+                "bottom_clearance": 0.08331240007883489,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0013724385581949106,
+                  0.002311085493967191
+                ],
+                "rod_tip_xy": [
+                  0.276627937645238,
+                  -0.36174811556360476
+                ],
+                "target_mouth_xy": [
+                  0.2752554990870431,
+                  -0.36405920105757195
+                ],
+                "gripper_position": [
+                  0.27661968422350236,
+                  -0.36174971794193383,
+                  1.0048565914356453
+                ],
+                "rod_tip_xy_dist": 0.002687880904438606,
+                "target_xy_drift": 1.0556735133190155e-07,
+                "depth": 0.01627456225986257,
+                "bottom_clearance": 0.08316602226297864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013641813564330696,
+                  0.0023094840846419884
+                ],
+                "rod_tip_xy": [
+                  0.27661968422350247,
+                  -0.3617497179419338
+                ],
+                "target_mouth_xy": [
+                  0.2752555028670694,
+                  -0.36405920202657577
+                ],
+                "gripper_position": [
+                  0.27662843716098107,
+                  -0.3618186006243147,
+                  1.0043339346967588
+                ],
+                "rod_tip_xy_dist": 0.0026822951945030607,
+                "target_xy_drift": 1.0844609108285584e-07,
+                "depth": 0.016403294766541565,
+                "bottom_clearance": 0.08303726528864397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013729363621535762,
+                  0.0022406010765957385
+                ],
+                "rod_tip_xy": [
+                  0.2766284371609812,
+                  -0.3618186006243146
+                ],
+                "target_mouth_xy": [
+                  0.2752555007988276,
+                  -0.36405920170091033
+                ],
+                "gripper_position": [
+                  0.2766173462249304,
+                  -0.36182649417259205,
+                  1.0041877065591536
+                ],
+                "rod_tip_xy_dist": 0.002627783750418873,
+                "target_xy_drift": 1.0703434106510635e-07,
+                "depth": 0.01692588324229749,
+                "bottom_clearance": 0.08251461282856776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013618445166608262,
+                  0.0022327395581667187
+                ],
+                "rod_tip_xy": [
+                  0.2766173462249305,
+                  -0.36182649417259194
+                ],
+                "target_mouth_xy": [
+                  0.2752555017082697,
+                  -0.36405923373075866
+                ],
+                "gripper_position": [
+                  0.27660891389614883,
+                  -0.3618279936770136,
+                  1.0040592853592976
+                ],
+                "rod_tip_xy_dist": 0.002615290886720189,
+                "target_xy_drift": 1.3541498362073273e-07,
+                "depth": 0.017072145086817314,
+                "bottom_clearance": 0.08236843935212701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013534131708990982,
+                  0.00223120484071182
+                ],
+                "rod_tip_xy": [
+                  0.27660891389614894,
+                  -0.36182799367701357
+                ],
+                "target_mouth_xy": [
+                  0.27525550072524985,
+                  -0.3640591985177254
+                ],
+                "gripper_position": [
+                  0.27660047879584687,
+                  -0.36182982002566244,
+                  1.0039308863971388
+                ],
+                "rod_tip_xy_dist": 0.0026095981016966982,
+                "target_xy_drift": 1.0433913614089375e-07,
+                "depth": 0.01720059247232264,
+                "bottom_clearance": 0.08224002106331141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013449777326061674,
+                  0.002229445728190782
+                ],
+                "rod_tip_xy": [
+                  0.276600478795847,
+                  -0.36182982002566233
+                ],
+                "target_mouth_xy": [
+                  0.2752555010632408,
+                  -0.3640592657538531
+                ],
+                "gripper_position": [
+                  0.2766107394279059,
+                  -0.3619009707207898,
+                  1.003408877838976
+                ],
+                "rod_tip_xy_dist": 0.0026037268205698068,
+                "target_xy_drift": 1.6457469121931083e-07,
+                "depth": 0.01732900009121141,
+                "bottom_clearance": 0.08211163996165527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013552707093409944,
+                  0.0021581992646839687
+                ],
+                "rod_tip_xy": [
+                  0.276610739427906,
+                  -0.36190097072078975
+                ],
+                "target_mouth_xy": [
+                  0.275255468718565,
+                  -0.3640591699854737
+                ],
+                "gripper_position": [
+                  0.2765993609461183,
+                  -0.3619090961222464,
+                  1.0032624213917107
+                ],
+                "rod_tip_xy_dist": 0.002548447127503348,
+                "target_xy_drift": 6.368525309054198e-08,
+                "depth": 0.017851043845124814,
+                "bottom_clearance": 0.08158960799395942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013438593746446514,
+                  0.0021501068626700315
+                ],
+                "rod_tip_xy": [
+                  0.27659936094611837,
+                  -0.3619090961222463
+                ],
+                "target_mouth_xy": [
+                  0.2752555015714737,
+                  -0.36405920298491634
+                ],
+                "gripper_position": [
+                  0.2765908860089469,
+                  -0.3619103833719658,
+                  1.0031344072277828
+                ],
+                "rod_tip_xy_dist": 0.002535531017306055,
+                "target_xy_drift": 1.0853199129885948e-07,
+                "depth": 0.017997412256868017,
+                "bottom_clearance": 0.08144313290874394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013354162878954634,
+                  0.002148818641519612
+                ],
+                "rod_tip_xy": [
+                  0.276590886008947,
+                  -0.3619103833719658
+                ],
+                "target_mouth_xy": [
+                  0.2752554697210515,
+                  -0.3640592020134854
+                ],
+                "gripper_position": [
+                  0.27658232362879553,
+                  -0.3619119948614771,
+                  1.0030061712232152
+                ],
+                "rod_tip_xy_dist": 0.002529971979314927,
+                "target_xy_drift": 9.408179330590055e-08,
+                "depth": 0.018125444596549634,
+                "bottom_clearance": 0.08131509057295216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013268223975202997,
+                  0.002147207160657638
+                ],
+                "rod_tip_xy": [
+                  0.2765823236287956,
+                  -0.36191199486147707
+                ],
+                "target_mouth_xy": [
+                  0.2752555012312753,
+                  -0.3640592020221347
+                ],
+                "gripper_position": [
+                  0.2765939282196782,
+                  -0.3619853828430778,
+                  1.0024874302797382
+                ],
+                "rod_tip_xy_dist": 0.002524075328777046,
+                "target_xy_drift": 1.0753955550363155e-07,
+                "depth": 0.018253642503408662,
+                "bottom_clearance": 0.08118685495289302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013384267228774283,
+                  0.002073791288795368
+                ],
+                "rod_tip_xy": [
+                  0.2765939282196783,
+                  -0.3619853828430777
+                ],
+                "target_mouth_xy": [
+                  0.2752555014968009,
+                  -0.36405917413187305
+                ],
+                "gripper_position": [
+                  0.2765825343446086,
+                  -0.3619933101017169,
+                  1.002341084039789
+                ],
+                "rod_tip_xy_dist": 0.0024681969941631413,
+                "target_xy_drift": 8.573728064082594e-08,
+                "depth": 0.018772419816969532,
+                "bottom_clearance": 0.08066815676004968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013270340693812277,
+                  0.0020658928701077217
+                ],
+                "rod_tip_xy": [
+                  0.27658253434460867,
+                  -0.36199331010171687
+                ],
+                "target_mouth_xy": [
+                  0.27525550027522744,
+                  -0.3640592029718246
+                ],
+                "gripper_position": [
+                  0.27657379110061064,
+                  -0.3619947526478661,
+                  1.0022131113086146
+                ],
+                "rod_tip_xy_dist": 0.0024553885175386037,
+                "target_xy_drift": 1.0782025212077657e-07,
+                "depth": 0.01891876156289063,
+                "bottom_clearance": 0.08052177830261786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013182913307571154,
+                  0.0020644484095617144
+                ],
+                "rod_tip_xy": [
+                  0.27657379110061076,
+                  -0.36199475264786607
+                ],
+                "target_mouth_xy": [
+                  0.27525549976985364,
+                  -0.3640592010574278
+                ],
+                "gripper_position": [
+                  0.2765651580059716,
+                  -0.3619960545419567,
+                  1.0020849688875098
+                ],
+                "rod_tip_xy_dist": 0.0024494569333816133,
+                "target_xy_drift": 1.0593515543779797e-07,
+                "depth": 0.019046749505564398,
+                "bottom_clearance": 0.08039380899798987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013096555746307526,
+                  0.002063148116769997
+                ],
+                "rod_tip_xy": [
+                  0.27656515800597165,
+                  -0.3619960545419567
+                ],
+                "target_mouth_xy": [
+                  0.2752555024313409,
+                  -0.3640592026587267
+                ],
+                "gripper_position": [
+                  0.2765563109560531,
+                  -0.36199769339587207,
+                  1.001957132977647
+                ],
+                "rod_tip_xy_dist": 0.002443722135573722,
+                "target_xy_drift": 1.08730608249961e-07,
+                "depth": 0.019174925238984453,
+                "bottom_clearance": 0.08026564097895827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013008093959225864,
+                  0.0020615089397036934
+                ],
+                "rod_tip_xy": [
+                  0.2765563109560532,
+                  -0.36199769339587196
+                ],
+                "target_mouth_xy": [
+                  0.2752555015601306,
+                  -0.36405920233557565
+                ],
+                "gripper_position": [
+                  0.27654763503164703,
+                  -0.36199901250849287,
+                  1.0018293011465664
+                ],
+                "rod_tip_xy_dist": 0.002437606242402314,
+                "target_xy_drift": 1.0798183688197641e-07,
+                "depth": 0.019302629332933363,
+                "bottom_clearance": 0.08013789197523702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012921343934170215,
+                  0.002060220264343715
+                ],
+                "rod_tip_xy": [
+                  0.2765476350316471,
+                  -0.36199901250849276
+                ],
+                "target_mouth_xy": [
+                  0.27525550063823007,
+                  -0.36405923277283647
+                ],
+                "gripper_position": [
+                  0.27653887503221775,
+                  -0.3620007189006942,
+                  1.0017010707981358
+                ],
+                "rod_tip_xy_dist": 0.0024318961384614396,
+                "target_xy_drift": 1.3408647545383986e-07,
+                "depth": 0.019430533299069075,
+                "bottom_clearance": 0.08000999243082896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0012833723929378538,
+                  0.0020584507747769543
+                ],
+                "rod_tip_xy": [
+                  0.27653887503221786,
+                  -0.3620007189006941
+                ],
+                "target_mouth_xy": [
+                  0.27525550263928,
+                  -0.36405916967547103
+                ],
+                "gripper_position": [
+                  0.2765301226175989,
+                  -0.36200218792094707,
+                  1.0015733488743168
+                ],
+                "rod_tip_xy_dist": 0.0024257502532484413,
+                "target_xy_drift": 8.338440686841298e-08,
+                "depth": 0.01955885857942119,
+                "bottom_clearance": 0.07988178216361097,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006004357449732902,
+              "rod_tip_xy_max_step": 3.2699861040162455e-05,
+              "rod_tip_xy_range": 0.00060042868194614,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27615180738312534,
+            -0.36338515939518806,
+            1.0433560281769936
+          ],
+          "object_origin_world": [
+            0.27615180738312534,
+            -0.36338515939518806,
+            1.0433560281769936
+          ],
+          "frame_world": [
+            0.2761766855527884,
+            -0.3633820573915671,
+            1.043660217822184
+          ],
+          "center_minus_frame": [
+            -2.487816966306733e-05,
+            -3.1020036209694624e-06,
+            -0.0003041896451905224
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26507831658221465,
+              0.15738128615101313,
+              0.8323620144280417
+            ],
+            "target_position": [
+              0.27862438751964974,
+              0.20409899422755678,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0486419601349203,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16763945569993774,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323620144280417,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671278607589,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13722078892999878,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92714ccb4f2d12d15fce3b6251cf2039cb77aecd6ed14fb113f2c14bf9fcc69f",
+    "visual_seed": 8723064934721481860,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e6fcdf785a40f2c21cc1b756691ceccd3cd9bb0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_20_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2026869052692766,
+              -0.10446852772364529,
+              1.1660042037209646
+            ],
+            "current_z": 1.1660042037209646,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30489781491548806,
+            "gripper_z": 1.160135093670177,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19790356656705646,
+              -0.1091000427833091,
+              1.160135093670177
+            ],
+            "object_minus_gripper": [
+              0.004783338702220141,
+              0.004631515059663818,
+              0.005869110050787496
+            ],
+            "object_to_gripper_xy": 0.006658172488607501,
+            "object_to_gripper_z": 0.005869110050787496,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2026869052692766,
+              -0.12842915256350676,
+              1.1660042037209646
+            ],
+            "finger_b": [
+              0.19227959766850333,
+              -0.10446852772364529,
+              1.1660042037209646
+            ],
+            "finger_midpoint": [
+              0.19748325146888995,
+              -0.11644884014357602,
+              1.1660042037209646
+            ],
+            "object_minus_finger_midpoint": [
+              0.005203653800386648,
+              0.011980312419930736,
+              0.0
+            ],
+            "finger_gap": 0.026123238585858754,
+            "fingertip_max_gap": 0.09274655764778408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013061619292929382,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660042037209646,
+            "object_top_z": 1.2163164231705879,
+            "finger_top_clearance": 0.050312219449623274,
+            "fingertip_min_top_clearance": 0.015093665834887015,
+            "object_projection_between_fingers": 0.8412832551284923,
+            "object_to_finger_line_xy": 0.00954573806749045,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048873278823892044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8394413862665986,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2728726865039792,
+              -0.3719623175734554,
+              0.8515394996460104
+            ],
+            "target_position": [
+              0.2662272758876051,
+              -0.37206587694466864,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006646217480912295,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836798090440587,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394996460104,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521117488968984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656644981099838,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222422401708133,
+            "release_required_pad_clearance": 0.053283224905499194,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5855644970685565,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008044898509979248,
+            "max_z_decrease": 0.008044898509979248,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035150101664346844,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008044898509979248,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021220700071889476,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008044898509979248,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008044909695257648,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12192720174789426,
+              -0.4283273220062256,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12192720174789426,
+              -0.4283273220062256,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12298253625665334,
+              -0.42975723956930884,
+              0.8075787401139062
+            ],
+            "closest_button": [
+              0.12191557139158248,
+              -0.42832329869270325,
+              0.7724741101264954
+            ],
+            "closest_ee_minus_button": [
+              0.0010669648650708657,
+              -0.0014339408766055883,
+              0.03510462998741082
+            ],
+            "button_min_z_position": [
+              0.12191570550203322,
+              -0.42832040786743164,
+              0.7687639594078064
+            ],
+            "min_active_finger_to_button": 0.14499162303055982,
+            "closest_active_finger": [
+              -0.01795758306980133,
+              -0.411848783493042,
+              0.8110307455062866
+            ],
+            "closest_active_finger_button": [
+              0.12192789465188979,
+              -0.4283256232738495,
+              0.7766339778900146
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13988547772169113,
+              0.016476839780807495,
+              0.03439676761627197
+            ],
+            "min_contact_pad_to_button": 0.021220700071889476,
+            "closest_contact_pad": [
+              0.12191570550203322,
+              -0.4310013911279504,
+              0.7898146230623782
+            ],
+            "closest_contact_pad_button": [
+              0.12191570550203322,
+              -0.42832040786743164,
+              0.7687639594078064
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026809832605187434,
+              0.021050663654571755
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2834088852480103,
+              0.20879220998379291,
+              1.1012413473122393
+            ],
+            "current_z": 1.1012413473122393,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19133221757787677,
+            "gripper_z": 1.1012414648648594,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28340888684838994,
+              0.2087921773463339,
+              1.1012414648648594
+            ],
+            "object_minus_gripper": [
+              -1.6003796621255617e-09,
+              3.263745901316284e-08,
+              -1.1755262008250611e-07
+            ],
+            "object_to_gripper_xy": 3.267667280949561e-08,
+            "object_to_gripper_z": -1.1755262008250611e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2834088852480103,
+              0.20879220998379291,
+              1.1012413473122393
+            ],
+            "finger_b": [
+              0.2834088852480103,
+              0.20879220998379291,
+              1.1012413473122393
+            ],
+            "finger_midpoint": [
+              0.2834088852480103,
+              0.20879220998379291,
+              1.1012413473122393
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012413473122393,
+            "object_top_z": 1.226249853932519,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28340888524801033,
+            0.20879220998379294,
+            1.1012413473122395
+          ],
+          "object_origin_world": [
+            0.28340888524801033,
+            0.20879220998379294,
+            1.1012413473122395
+          ],
+          "frame_world": [
+            0.28340888684838994,
+            0.2087921773463339,
+            1.1012414648648594
+          ],
+          "center_minus_frame": [
+            -1.6003796066144105e-09,
+            3.2637459040918415e-08,
+            -1.175526198604615e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432597805568367,
+            "required_z": 0.9112597639409692,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001805302620632053,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.659803132308001e-08,
+            "max_target_xy_drift": 2.585899503198574e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5855644967708444,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.585564497305807,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27107738948816684,
+              -0.3721318989666388,
+              0.9233762578674375
+            ],
+            "target_mouth_xy": [
+              0.2728727465588321,
+              -0.37196237718464775
+            ],
+            "rod_tip_z": 0.9233762578674375,
+            "rod_tip_depth": -0.02211642591310725,
+            "rod_tip_bottom_clearance": 0.12155698145657112,
+            "rod_tip_xy_dist": 0.0018033426312703636,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04484952827649735,
+            "min_rod_tip_bottom_clearance": 0.05459106573096317,
+            "min_rod_tip_xy_dist": 0.0013024626726671651,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27287268653059904,
+              -0.3719623483418148
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.002823305095717e-08,
+              -2.8842832955344733e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0011783951110877489,
+                0.0014894079513187997
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012858527057255653,
+                0.0010968504640729848
+              ],
+              "first_target_mouth_xy": [
+                0.27287271793811696,
+                -0.37196232009220176
+              ],
+              "last_target_mouth_xy": [
+                0.2728727481043003,
+                -0.371962347670822
+              ],
+              "first_rod_tip_xy": [
+                0.2716943228270292,
+                -0.37047291214088296
+              ],
+              "last_rod_tip_xy": [
+                0.2715868953985747,
+                -0.370865497206749
+              ],
+              "min_rod_tip_xy_dist": 0.0016815193576069241,
+              "max_rod_tip_xy_dist": 0.0018991974840145433,
+              "first_target_xy_drift": 4.224302094618263e-08,
+              "last_target_xy_drift": 6.157735717647359e-08,
+              "max_depth": 0.01961448993113224,
+              "min_bottom_clearance": 0.07982611294054964
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011783951110877489,
+                  0.0014894079513187997
+                ],
+                "rod_tip_xy": [
+                  0.2716943228270292,
+                  -0.37047291214088296
+                ],
+                "target_mouth_xy": [
+                  0.27287271793811696,
+                  -0.37196232009220176
+                ],
+                "gripper_position": [
+                  0.2716960446830985,
+                  -0.3705362310487287,
+                  1.0056244056714494
+                ],
+                "rod_tip_xy_dist": 0.0018991974840145433,
+                "target_xy_drift": 4.224302094618263e-08,
+                "depth": 0.015110854094538717,
+                "bottom_clearance": 0.08432979157419618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011766417200547163,
+                  0.0014260868588096276
+                ],
+                "rod_tip_xy": [
+                  0.27169604468309844,
+                  -0.3705362310487288
+                ],
+                "target_mouth_xy": [
+                  0.27287268640315315,
+                  -0.3719623179075384
+                ],
+                "gripper_position": [
+                  0.27168537583243907,
+                  -0.37054429229085917,
+                  1.0054772087481738
+                ],
+                "rod_tip_xy_dist": 0.0018488400326266282,
+                "target_xy_drift": 3.043454322042094e-08,
+                "depth": 0.01563541624158582,
+                "bottom_clearance": 0.08380510660394902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001187341834208877,
+                  0.00141802558507792
+                ],
+                "rod_tip_xy": [
+                  0.271685375832439,
+                  -0.3705442922908593
+                ],
+                "target_mouth_xy": [
+                  0.2728727176666479,
+                  -0.3719623178759372
+                ],
+                "gripper_position": [
+                  0.271677461533648,
+                  -0.37054669795001205,
+                  1.0053487168538726
+                ],
+                "rod_tip_xy_dist": 0.0018494802489342993,
+                "target_xy_drift": 4.356171754939678e-08,
+                "depth": 0.015782684270840397,
+                "bottom_clearance": 0.08365789450763716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011951952904985519,
+                  0.0014156221649370138
+                ],
+                "rod_tip_xy": [
+                  0.27167746153364797,
+                  -0.37054669795001216
+                ],
+                "target_mouth_xy": [
+                  0.2728726568241465,
+                  -0.3719623201149492
+                ],
+                "gripper_position": [
+                  0.27168013283136727,
+                  -0.3706110029291231,
+                  1.004824449750169
+                ],
+                "rod_tip_xy_dist": 0.0018526947660882718,
+                "target_xy_drift": 4.097839997129908e-08,
+                "depth": 0.015911135275376243,
+                "bottom_clearance": 0.0835294516561651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011925855102754013,
+                  0.001351317477656766
+                ],
+                "rod_tip_xy": [
+                  0.2716801328313672,
+                  -0.3706110029291232
+                ],
+                "target_mouth_xy": [
+                  0.2728727183416426,
+                  -0.37196232040677996
+                ],
+                "gripper_position": [
+                  0.271669359625064,
+                  -0.3706188976464502,
+                  1.0046771165682349
+                ],
+                "rod_tip_xy_dist": 0.001802309386520384,
+                "target_xy_drift": 4.233566658296984e-08,
+                "depth": 0.01643548330348088,
+                "bottom_clearance": 0.08300518916963806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012032943623770942,
+                  0.0013433889001163157
+                ],
+                "rod_tip_xy": [
+                  0.27166935962506394,
+                  -0.3706188976464503
+                ],
+                "target_mouth_xy": [
+                  0.27287265398744104,
+                  -0.3719622865465666
+                ],
+                "gripper_position": [
+                  0.27166123955686683,
+                  -0.3706213510761883,
+                  1.0045489569213055
+                ],
+                "rod_tip_xy_dist": 0.0018034996699429202,
+                "target_xy_drift": 6.984060303551044e-08,
+                "depth": 0.016582783312815486,
+                "bottom_clearance": 0.08285783757873577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012114780317860618,
+                  0.0013409969153032053
+                ],
+                "rod_tip_xy": [
+                  0.2716612395568668,
+                  -0.37062135107618843
+                ],
+                "target_mouth_xy": [
+                  0.27287271758865284,
+                  -0.37196234799149164
+                ],
+                "gripper_position": [
+                  0.27165322590269514,
+                  -0.3706233313196523,
+                  1.004420291677137
+                ],
+                "rod_tip_xy_dist": 0.0018071944412134911,
+                "target_xy_drift": 3.1060029489304835e-08,
+                "depth": 0.016710930673145996,
+                "bottom_clearance": 0.08272963530419675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012194585131261038,
+                  0.001339017349206717
+                ],
+                "rod_tip_xy": [
+                  0.2716532259026951,
+                  -0.3706233313196524
+                ],
+                "target_mouth_xy": [
+                  0.2728726844158212,
+                  -0.37196234866885913
+                ],
+                "gripper_position": [
+                  0.2716572306888626,
+                  -0.3706901352035831,
+                  1.003895423357392
+                ],
+                "rod_tip_xy_dist": 0.0018110898726215413,
+                "target_xy_drift": 2.1399166723471374e-09,
+                "depth": 0.016839567658527677,
+                "bottom_clearance": 0.0826009846733281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001215485686746065,
+                  0.001272182350221862
+                ],
+                "rod_tip_xy": [
+                  0.27165723068886255,
+                  -0.3706901352035833
+                ],
+                "target_mouth_xy": [
+                  0.2728727163756086,
+                  -0.37196231755380516
+                ],
+                "gripper_position": [
+                  0.27164614370955387,
+                  -0.3706984065815503,
+                  1.0037488344106535
+                ],
+                "rod_tip_xy_dist": 0.001759503733130616,
+                "target_xy_drift": 4.287920398305374e-08,
+                "depth": 0.01736440622169,
+                "bottom_clearance": 0.082076136008439,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012265730460242485,
+                  0.0012639122428932392
+                ],
+                "rod_tip_xy": [
+                  0.2716461437095538,
+                  -0.3706984065815504
+                ],
+                "target_mouth_xy": [
+                  0.27287271675557806,
+                  -0.37196231882444364
+                ],
+                "gripper_position": [
+                  0.27163822271292576,
+                  -0.37069999535459,
+                  1.0036203918997615
+                ],
+                "rod_tip_xy_dist": 0.0017612369502621225,
+                "target_xy_drift": 4.2247184010767066e-08,
+                "depth": 0.017510997734280997,
+                "bottom_clearance": 0.08192955739354446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012344938072128553,
+                  0.0012623237909001328
+                ],
+                "rod_tip_xy": [
+                  0.2716382227129257,
+                  -0.3706999953545901
+                ],
+                "target_mouth_xy": [
+                  0.27287271652013856,
+                  -0.3719623191454902
+                ],
+                "gripper_position": [
+                  0.271629911242071,
+                  -0.3707022884605474,
+                  1.0034924169584867
+                ],
+                "rod_tip_xy_dist": 0.0017656263231837514,
+                "target_xy_drift": 4.1854484222330526e-08,
+                "depth": 0.017639443913436637,
+                "bottom_clearance": 0.08180111304786752,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012428069018606824,
+                  0.0012600300300467104
+                ],
+                "rod_tip_xy": [
+                  0.2716299112420709,
+                  -0.37070228846054754
+                ],
+                "target_mouth_xy": [
+                  0.2728727181439316,
+                  -0.37196231849059425
+                ],
+                "gripper_position": [
+                  0.27163530555663035,
+                  -0.37077107110779856,
+                  1.0029697607028598
+                ],
+                "rod_tip_xy_dist": 0.001769814869395119,
+                "target_xy_drift": 4.347985929270495e-08,
+                "depth": 0.017767480645433986,
+                "bottom_clearance": 0.08167311766974805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001237378509229059,
+                  0.00119127819875664
+                ],
+                "rod_tip_xy": [
+                  0.2716353055566303,
+                  -0.3707710711077986
+                ],
+                "target_mouth_xy": [
+                  0.27287268406585935,
+                  -0.37196234930655525
+                ],
+                "gripper_position": [
+                  0.27162429827015366,
+                  -0.37077875840472185,
+                  1.0028225897989294
+                ],
+                "rod_tip_xy_dist": 0.0017176289826195859,
+                "target_xy_drift": 2.6468218459154214e-09,
+                "depth": 0.01829012104982597,
+                "bottom_clearance": 0.08115046783629654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012484188589558798,
+                  0.0011835911741249205
+                ],
+                "rod_tip_xy": [
+                  0.27162429827015366,
+                  -0.37077875840472196
+                ],
+                "target_mouth_xy": [
+                  0.27287271712910954,
+                  -0.3719623495788469
+                ],
+                "gripper_position": [
+                  0.27161586403644233,
+                  -0.3707808014837082,
+                  1.0026946558869207
+                ],
+                "rod_tip_xy_dist": 0.0017203016348486997,
+                "target_xy_drift": 3.0623505570015104e-08,
+                "depth": 0.018437321893675418,
+                "bottom_clearance": 0.0810032809398128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012568533266927862,
+                  0.0011815176605979305
+                ],
+                "rod_tip_xy": [
+                  0.2716158640364423,
+                  -0.3707808014837083
+                ],
+                "target_mouth_xy": [
+                  0.27287271736313506,
+                  -0.3719623191443062
+                ],
+                "gripper_position": [
+                  0.27160766081016374,
+                  -0.37078260714360045,
+                  1.0025665892807747
+                ],
+                "rod_tip_xy_dist": 0.0017250113817373872,
+                "target_xy_drift": 4.246339346810236e-08,
+                "depth": 0.018565246640217303,
+                "bottom_clearance": 0.08087534352756065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012650550877421063,
+                  0.0011797421425528976
+                ],
+                "rod_tip_xy": [
+                  0.2716076608101637,
+                  -0.37078260714360056
+                ],
+                "target_mouth_xy": [
+                  0.2728727158979058,
+                  -0.37196234928615346
+                ],
+                "gripper_position": [
+                  0.2715993779449074,
+                  -0.3707845448893425,
+                  1.0024384124903698
+                ],
+                "rod_tip_xy_dist": 0.0017297849282316832,
+                "target_xy_drift": 2.9382485964244043e-08,
+                "depth": 0.018693247232260624,
+                "bottom_clearance": 0.0807472969030375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012733689257547476,
+                  0.001177835450611897
+                ],
+                "rod_tip_xy": [
+                  0.27159937794490735,
+                  -0.37078454488934254
+                ],
+                "target_mouth_xy": [
+                  0.2728727468706621,
+                  -0.37196238033995443
+                ],
+                "gripper_position": [
+                  0.2716065993764545,
+                  -0.3708558292708879,
+                  1.0019198929462316
+                ],
+                "rod_tip_xy_dist": 0.0017345791333334812,
+                "target_xy_drift": 6.829937152008441e-08,
+                "depth": 0.01882151558683287,
+                "bottom_clearance": 0.0806191180493413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012661185908892647,
+                  0.001106549169179294
+                ],
+                "rod_tip_xy": [
+                  0.2716065993764544,
+                  -0.3708558292708879
+                ],
+                "target_mouth_xy": [
+                  0.2728727179673437,
+                  -0.3719623784400672
+                ],
+                "gripper_position": [
+                  0.27159540445251334,
+                  -0.3708636682183788,
+                  1.0017733809996259
+                ],
+                "rod_tip_xy_dist": 0.0016815193576069241,
+                "target_xy_drift": 4.352210600678315e-08,
+                "depth": 0.019339949639710086,
+                "bottom_clearance": 0.08010065365643226,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0012773444587944605,
+                  0.0010986800770462768
+                ],
+                "rod_tip_xy": [
+                  0.2715954044525133,
+                  -0.3708636682183789
+                ],
+                "target_mouth_xy": [
+                  0.27287274891130775,
+                  -0.3719623482954252
+                ],
+                "gripper_position": [
+                  0.2715868953985747,
+                  -0.3708654972067489,
+                  1.0016454079772275
+                ],
+                "rod_tip_xy_dist": 0.0016848462179413662,
+                "target_xy_drift": 6.238072595856552e-08,
+                "depth": 0.019486465200656,
+                "bottom_clearance": 0.07995417125147031,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0012858527057255653,
+                  0.0010968504640729848
+                ],
+                "rod_tip_xy": [
+                  0.2715868953985747,
+                  -0.370865497206749
+                ],
+                "target_mouth_xy": [
+                  0.2728727481043003,
+                  -0.371962347670822
+                ],
+                "gripper_position": [
+                  0.2715785112042509,
+                  -0.37086741780970833,
+                  1.0015175205235334
+                ],
+                "rod_tip_xy_dist": 0.0016901177832798753,
+                "target_xy_drift": 6.157735717647359e-08,
+                "depth": 0.01961448993113224,
+                "bottom_clearance": 0.07982611294054964,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005986102170822634,
+              "rod_tip_xy_max_step": 3.246440243258909e-05,
+              "rod_tip_xy_range": 0.0005986055465427767,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2710773894881669,
+            -0.37213189896663873,
+            1.0433762578674377
+          ],
+          "object_origin_world": [
+            0.2710773894881669,
+            -0.37213189896663873,
+            1.0433762578674377
+          ],
+          "frame_world": [
+            0.2710760758171483,
+            -0.3721387058494713,
+            1.0432597805568367
+          ],
+          "center_minus_frame": [
+            1.313671018576823e-06,
+            6.80688283255515e-06,
+            0.0001164773106010486
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2690376836979246,
+              0.16107366979097512,
+              0.8315582732900082
+            ],
+            "target_position": [
+              0.2835912038137155,
+              0.20787915609529223,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04901590044000362,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1692933069773153,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315582732900082,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670184544012,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13952230432413448,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0dc22d2d0248c10700c6fdfa92a88158670db994251105ec685b0327bbdbcde7",
+    "visual_seed": 763468289424050251,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49facca834cce72479cb5def625cbfa9fb22707f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_21_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19847579861417386,
+              -0.10506049638619774,
+              1.1629391128705175
+            ],
+            "current_z": 1.1629391128705175,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3018325452511066,
+            "gripper_z": 1.1568461487025035,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1937851295238675,
+              -0.10965530990138032,
+              1.1568461487025035
+            ],
+            "object_minus_gripper": [
+              0.004690669090306354,
+              0.00459481351518258,
+              0.006092964168014081
+            ],
+            "object_to_gripper_xy": 0.006566177560351223,
+            "object_to_gripper_z": 0.006092964168014081,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19847579861417386,
+              -0.12898413042947302,
+              1.1629391128705175
+            ],
+            "finger_b": [
+              0.18813104739614245,
+              -0.10506049638619774,
+              1.1629391128705175
+            ],
+            "finger_midpoint": [
+              0.19330342300515815,
+              -0.11702231340783538,
+              1.1629391128705175
+            ],
+            "object_minus_finger_midpoint": [
+              0.005172375609015706,
+              0.011961817021637636,
+              0.0
+            ],
+            "finger_gap": 0.026064422947756235,
+            "fingertip_max_gap": 0.09220055175382716,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013032211473878117,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629391128705175,
+            "object_top_z": 1.2131246038609107,
+            "finger_top_clearance": 0.050185490990393156,
+            "fingertip_min_top_clearance": 0.01505564729711798,
+            "object_projection_between_fingers": 0.8424770367985761,
+            "object_to_finger_line_xy": 0.009495090027696721,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860027587691358,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.332147612149842,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 322,
+            "max_stable_success_frames": 322,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2712559829092469,
+              -0.3630940836013364,
+              0.8515396084345618
+            ],
+            "target_position": [
+              0.2637247715716506,
+              -0.36331527742691566,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00753445890028035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845148137610447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396084345618,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513237054130728,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574990443619056,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15325047518259058,
+            "release_required_pad_clearance": 0.05287495221809528,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7912952074441573,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007861077785491943,
+            "max_z_decrease": 0.007861077785491943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035137021020123,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007861077785491943,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021272735428604223,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007861077785491943,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007861101940157813,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11942470073699946,
+              -0.41957673430442805,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11942470073699946,
+              -0.41957673430442805,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11830942529056346,
+              -0.4214464628940978,
+              0.8075882985110433
+            ],
+            "closest_button": [
+              0.11941544711589806,
+              -0.4195730090141296,
+              0.7725186944007874
+            ],
+            "closest_ee_minus_button": [
+              -0.001106021825334605,
+              -0.0018734538799682343,
+              0.03506960411025595
+            ],
+            "button_min_z_position": [
+              0.11940576136112206,
+              -0.4195721447467804,
+              0.7689477801322937
+            ],
+            "min_active_finger_to_button": 0.14707548110109853,
+            "closest_active_finger": [
+              -0.02275298535823822,
+              -0.40441253781318665,
+              0.8109858632087708
+            ],
+            "closest_active_finger_button": [
+              0.1194245666265487,
+              -0.4195766746997833,
+              0.7765360474586487
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14217755198478693,
+              0.01516413688659668,
+              0.03444981575012207
+            ],
+            "min_contact_pad_to_button": 0.021272735428604223,
+            "closest_contact_pad": [
+              0.11940576136112206,
+              -0.4226660429259177,
+              0.7899943253754571
+            ],
+            "closest_contact_pad_button": [
+              0.11940576136112206,
+              -0.4195721447467804,
+              0.7689477801322937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030938981791373,
+              0.021046545243163406
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27546212104461487,
+              0.21013448327901751,
+              1.1021076305740127
+            ],
+            "current_z": 1.1021076305740127,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19219850083965018,
+            "gripper_z": 1.102107637209071,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2754621128646972,
+              0.2101345122571328,
+              1.102107637209071
+            ],
+            "object_minus_gripper": [
+              8.179917687645144e-09,
+              -2.8978115296229845e-08,
+              -6.635058280579642e-09
+            ],
+            "object_to_gripper_xy": 3.0110500153571676e-08,
+            "object_to_gripper_z": -6.635058280579642e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27546212104461487,
+              0.21013448327901751,
+              1.1021076305740127
+            ],
+            "finger_b": [
+              0.27546212104461487,
+              0.21013448327901751,
+              1.1021076305740127
+            ],
+            "finger_midpoint": [
+              0.27546212104461487,
+              0.21013448327901751,
+              1.1021076305740127
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021076305740127,
+            "object_top_z": 1.2271161371942925,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27546212104461487,
+            0.21013448327901754,
+            1.1021076305740127
+          ],
+          "object_origin_world": [
+            0.27546212104461487,
+            0.21013448327901754,
+            1.1021076305740127
+          ],
+          "frame_world": [
+            0.2754621128646972,
+            0.2101345122571328,
+            1.102107637209071
+          ],
+          "center_minus_frame": [
+            8.179917687645144e-09,
+            -2.897811526847427e-08,
+            -6.635058280579642e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433423003561062,
+            "required_z": 0.9112598356655343,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011707205738578949,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.7440612587962828e-08,
+            "max_target_xy_drift": 1.763844142442431e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7912952059785051,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7912952094150957,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2717484701921335,
+              -0.3620255192006202,
+              0.9234564008395153
+            ],
+            "target_mouth_xy": [
+              0.27125601326456006,
+              -0.36309417177168984
+            ],
+            "rod_tip_z": 0.9234564008395153,
+            "rod_tip_depth": -0.022196476147696598,
+            "rod_tip_bottom_clearance": 0.1216371215058788,
+            "rod_tip_xy_dist": 0.0011766614394841108,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044839501337167076,
+            "min_rod_tip_bottom_clearance": 0.05460108371535066,
+            "min_rod_tip_xy_dist": 0.0006468576486093315,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27125604069799547,
+              -0.3630941723992571
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7433435412227425e-08,
+              6.275672759237239e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0010023448856880668,
+                0.0028576195222466128
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009123391931872837,
+                0.002434556395469023
+              ],
+              "first_target_mouth_xy": [
+                0.2712560118357402,
+                -0.36309417272766475
+              ],
+              "last_target_mouth_xy": [
+                0.27125604081070986,
+                -0.36309426469589706
+              ],
+              "first_rod_tip_xy": [
+                0.2722583567214283,
+                -0.36023655320541814
+              ],
+              "last_rod_tip_xy": [
+                0.27216838000389715,
+                -0.36065970830042804
+              ],
+              "min_rod_tip_xy_dist": 0.002599889929621011,
+              "max_rod_tip_xy_dist": 0.0030283138218800873,
+              "first_target_xy_drift": 2.886412357636806e-08,
+              "last_target_xy_drift": 9.229670876636786e-08,
+              "max_depth": 0.019681492397778277,
+              "min_bottom_clearance": 0.07975904617167318
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0010023448856880668,
+                  0.0028576195222466128
+                ],
+                "rod_tip_xy": [
+                  0.2722583567214283,
+                  -0.36023655320541814
+                ],
+                "target_mouth_xy": [
+                  0.2712560118357402,
+                  -0.36309417272766475
+                ],
+                "gripper_position": [
+                  0.27224722371362275,
+                  -0.3602445612991956,
+                  1.0059009249198638
+                ],
+                "rod_tip_xy_dist": 0.0030283138218800873,
+                "target_xy_drift": 2.886412357636806e-08,
+                "depth": 0.015214875818501783,
+                "bottom_clearance": 0.08422568056437174,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0009911803848021705,
+                  0.002849609828402433
+                ],
+                "rod_tip_xy": [
+                  0.27224722371362275,
+                  -0.3602445612991956
+                ],
+                "target_mouth_xy": [
+                  0.2712560433288206,
+                  -0.363094171127598
+                ],
+                "gripper_position": [
+                  0.27223919395700746,
+                  -0.3602461984361811,
+                  1.0057746026185372
+                ],
+                "rod_tip_xy_dist": 0.0030170705542536327,
+                "target_xy_drift": 2.9220468292474923e-09,
+                "depth": 0.015359013385011333,
+                "bottom_clearance": 0.08408166530118277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0009832133246778785,
+                  0.0028480072793446443
+                ],
+                "rod_tip_xy": [
+                  0.27223919395700746,
+                  -0.3602461984361812
+                ],
+                "target_mouth_xy": [
+                  0.2712559806323296,
+                  -0.36309420571552586
+                ],
+                "gripper_position": [
+                  0.2722462363950532,
+                  -0.36031629838321655,
+                  1.0052500966039406
+                ],
+                "rod_tip_xy_dist": 0.0030129477103036837,
+                "target_xy_drift": 6.868666523632051e-08,
+                "depth": 0.015485261179913556,
+                "bottom_clearance": 0.08395531655478095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009901325738466138,
+                  0.0027776860129106185
+                ],
+                "rod_tip_xy": [
+                  0.2722462363950532,
+                  -0.36031629838321666
+                ],
+                "target_mouth_xy": [
+                  0.2712561038212066,
+                  -0.3630939843961273
+                ],
+                "gripper_position": [
+                  0.2722351163773068,
+                  -0.36032439442434117,
+                  1.0051062326090416
+                ],
+                "rod_tip_xy_dist": 0.0029488814998421702,
+                "target_xy_drift": 1.9831721208763473e-07,
+                "depth": 0.0160100508348614,
+                "bottom_clearance": 0.08343094937465378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009791056913903695,
+                  0.0027698119283132705
+                ],
+                "rod_tip_xy": [
+                  0.2722351163773068,
+                  -0.3603243944243413
+                ],
+                "target_mouth_xy": [
+                  0.2712560106859164,
+                  -0.36309420635265455
+                ],
+                "gripper_position": [
+                  0.27224203821283377,
+                  -0.36039460456078276,
+                  1.0045859123258996
+                ],
+                "rod_tip_xy_dist": 0.0029377722977010135,
+                "target_xy_drift": 4.531620113587565e-08,
+                "depth": 0.016153635224330998,
+                "bottom_clearance": 0.08328695604284642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009862460916417182,
+                  0.002698854094631553
+                ],
+                "rod_tip_xy": [
+                  0.2722420382128337,
+                  -0.36039460456078287
+                ],
+                "target_mouth_xy": [
+                  0.271255792121192,
+                  -0.3630934586554144
+                ],
+                "gripper_position": [
+                  0.2722308251886783,
+                  -0.3604024783769164,
+                  1.0044425891349629
+                ],
+                "rod_tip_xy_dist": 0.002873411696466078,
+                "target_xy_drift": 7.557914396252476e-07,
+                "depth": 0.01667497095808035,
+                "bottom_clearance": 0.08276696033882802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009747832795808931,
+                  0.0026917273288059596
+                ],
+                "rod_tip_xy": [
+                  0.27223082518867825,
+                  -0.3604024783769165
+                ],
+                "target_mouth_xy": [
+                  0.27125604190909736,
+                  -0.3630942057057225
+                ],
+                "gripper_position": [
+                  0.27222263602192165,
+                  -0.3604037702562969,
+                  1.004316297797693
+                ],
+                "rod_tip_xy_dist": 0.002862795566363646,
+                "target_xy_drift": 3.332847735474378e-08,
+                "depth": 0.016817328045779845,
+                "bottom_clearance": 0.08262327491974275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009665954654421993,
+                  0.0026904040771630333
+                ],
+                "rod_tip_xy": [
+                  0.27222263602192165,
+                  -0.360403770256297
+                ],
+                "target_mouth_xy": [
+                  0.27125604055647945,
+                  -0.36309417433346003
+                ],
+                "gripper_position": [
+                  0.27221434771433983,
+                  -0.36040514912361465,
+                  1.0041904076637023
+                ],
+                "rod_tip_xy_dist": 0.0028587726198893285,
+                "target_xy_drift": 1.9393730113673503e-09,
+                "depth": 0.016943527471126596,
+                "bottom_clearance": 0.08249698089421986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009585879042094403,
+                  0.0026884021117720702
+                ],
+                "rod_tip_xy": [
+                  0.27221434771433983,
+                  -0.36040514912361477
+                ],
+                "target_mouth_xy": [
+                  0.2712557598101304,
+                  -0.36309355123538684
+                ],
+                "gripper_position": [
+                  0.2722229822465582,
+                  -0.3604778067288441,
+                  1.003669510233818
+                ],
+                "rod_tip_xy_dist": 0.002854189321800005,
+                "target_xy_drift": 6.817202846441638e-07,
+                "depth": 0.017070437375652836,
+                "bottom_clearance": 0.0823714791362361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009669110814181647,
+                  0.002616428475410437
+                ],
+                "rod_tip_xy": [
+                  0.2722229822465582,
+                  -0.3604778067288442
+                ],
+                "target_mouth_xy": [
+                  0.27125607116514006,
+                  -0.36309423520425466
+                ],
+                "gripper_position": [
+                  0.2722117491574,
+                  -0.36048541428112607,
+                  1.0035256681158082
+                ],
+                "rod_tip_xy_dist": 0.0027893753792395583,
+                "target_xy_drift": 6.98048323159353e-08,
+                "depth": 0.01759033746849903,
+                "bottom_clearance": 0.08185023353641963,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009557102534455408,
+                  0.0026087882725473466
+                ],
+                "rod_tip_xy": [
+                  0.2722117491574,
+                  -0.3604854142811261
+                ],
+                "target_mouth_xy": [
+                  0.27125603890395444,
+                  -0.3630942025536735
+                ],
+                "gripper_position": [
+                  0.27220341669849946,
+                  -0.36048663581651397,
+                  1.0033999512227423
+                ],
+                "rod_tip_xy_dist": 0.0027783373336442625,
+                "target_xy_drift": 3.020773756479331e-08,
+                "depth": 0.01773421658105001,
+                "bottom_clearance": 0.0817063739020144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009473752341498387,
+                  0.002607599057607324
+                ],
+                "rod_tip_xy": [
+                  0.2722034166984994,
+                  -0.3604866358165141
+                ],
+                "target_mouth_xy": [
+                  0.27125604146434956,
+                  -0.3630942348741214
+                ],
+                "gripper_position": [
+                  0.27219487788043506,
+                  -0.3604883818325848,
+                  1.0032741874265318
+                ],
+                "rod_tip_xy_dist": 0.0027743634728555422,
+                "target_xy_drift": 6.247956438416828e-08,
+                "depth": 0.017859891457669197,
+                "bottom_clearance": 0.0815806718936597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009388401306924532,
+                  0.0026058191518849583
+                ],
+                "rod_tip_xy": [
+                  0.27219487788043506,
+                  -0.3604883818325849
+                ],
+                "target_mouth_xy": [
+                  0.2712560377497426,
+                  -0.3630942009844699
+                ],
+                "gripper_position": [
+                  0.2722050635349358,
+                  -0.3605626591049175,
+                  1.0027559812538078
+                ],
+                "rod_tip_xy_dist": 0.0027697859562300234,
+                "target_xy_drift": 2.8736850611196985e-08,
+                "depth": 0.017985760163441777,
+                "bottom_clearance": 0.08145493059045716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009489911567859277,
+                  0.0025315450133466255
+                ],
+                "rod_tip_xy": [
+                  0.2722050635349358,
+                  -0.3605626591049176
+                ],
+                "target_mouth_xy": [
+                  0.27125607237814986,
+                  -0.3630942041182642
+                ],
+                "gripper_position": [
+                  0.2721935689209205,
+                  -0.360570500959965,
+                  1.0026120764862942
+                ],
+                "rod_tip_xy_dist": 0.0027035725198814365,
+                "target_xy_drift": 4.482998541948605e-08,
+                "depth": 0.018503853632742318,
+                "bottom_clearance": 0.08093671946902081,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009375607331464364,
+                  0.00252370128547047
+                ],
+                "rod_tip_xy": [
+                  0.2721935689209205,
+                  -0.3605705009599651
+                ],
+                "target_mouth_xy": [
+                  0.27125600818777407,
+                  -0.3630942022454356
+                ],
+                "gripper_position": [
+                  0.2721849800156044,
+                  -0.36057184504403356,
+                  1.0024867956358687
+                ],
+                "rod_tip_xy_dist": 0.0026922273876148323,
+                "target_xy_drift": 4.4132854713641446e-08,
+                "depth": 0.018647782097213628,
+                "bottom_clearance": 0.08079285487567611,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009289095867061059,
+                  0.0025223581376139226
+                ],
+                "rod_tip_xy": [
+                  0.2721849800156044,
+                  -0.3605718450440336
+                ],
+                "target_mouth_xy": [
+                  0.2712560704288983,
+                  -0.36309420318164753
+                ],
+                "gripper_position": [
+                  0.27217638698009783,
+                  -0.3605731853556935,
+                  1.002361086073186
+                ],
+                "rod_tip_xy_dist": 0.0026879664422499185,
+                "target_xy_drift": 4.279581923443902e-08,
+                "depth": 0.01877302512869561,
+                "bottom_clearance": 0.08066747610429659,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0009203459712683881,
+                  0.0025210162371021583
+                ],
+                "rod_tip_xy": [
+                  0.2721763869800978,
+                  -0.3605731853556936
+                ],
+                "target_mouth_xy": [
+                  0.2712560410088294,
+                  -0.36309420159279576
+                ],
+                "gripper_position": [
+                  0.27216776214995225,
+                  -0.36057456221076295,
+                  1.0022354887254212
+                ],
+                "rod_tip_xy_dist": 0.002683758479178534,
+                "target_xy_drift": 2.9195193374381786e-08,
+                "depth": 0.018898762758441268,
+                "bottom_clearance": 0.08054180371515407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009117229059485976,
+                  0.002519642880668971
+                ],
+                "rod_tip_xy": [
+                  0.27216776214995225,
+                  -0.360574562210763
+                ],
+                "target_mouth_xy": [
+                  0.27125603924400365,
+                  -0.363094205091432
+                ],
+                "gripper_position": [
+                  0.2721800246099353,
+                  -0.36065217864831595,
+                  1.001721619705806
+                ],
+                "rod_tip_xy_dist": 0.0026795221408559373,
+                "target_xy_drift": 3.2724492188945026e-08,
+                "depth": 0.019024393706826848,
+                "bottom_clearance": 0.08041619911846332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009239827522187771,
+                  0.0024419899682641133
+                ],
+                "rod_tip_xy": [
+                  0.27218002460993523,
+                  -0.3606521786483161
+                ],
+                "target_mouth_xy": [
+                  0.27125604185771646,
+                  -0.3630941686165802
+                ],
+                "gripper_position": [
+                  0.2721683800038972,
+                  -0.36065970830042793,
+                  1.0015784048625325
+                ],
+                "rod_tip_xy_dist": 0.002610949852352655,
+                "target_xy_drift": 3.956462719284725e-09,
+                "depth": 0.019538292802981805,
+                "bottom_clearance": 0.07990242113784352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009123391931872837,
+                  0.002434556395469023
+                ],
+                "rod_tip_xy": [
+                  0.27216838000389715,
+                  -0.36065970830042804
+                ],
+                "target_mouth_xy": [
+                  0.27125604081070986,
+                  -0.36309426469589706
+                ],
+                "gripper_position": [
+                  0.2721597060598361,
+                  -0.3606608020235177,
+                  1.0014528066396517
+                ],
+                "rod_tip_xy_dist": 0.002599889929621011,
+                "target_xy_drift": 9.229670876636786e-08,
+                "depth": 0.019681492397778277,
+                "bottom_clearance": 0.07975904617167318,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006011500725786333,
+              "rod_tip_xy_max_step": 3.249870733444087e-05,
+              "rod_tip_xy_range": 0.0006011440266492356,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2717484701921335,
+            -0.36202551920062015,
+            1.0434564008395153
+          ],
+          "object_origin_world": [
+            0.2717484701921335,
+            -0.36202551920062015,
+            1.0434564008395153
+          ],
+          "frame_world": [
+            0.27174720910631034,
+            -0.3620314802326714,
+            1.0433423003561062
+          ],
+          "center_minus_frame": [
+            1.261085823156538e-06,
+            5.961032051249315e-06,
+            0.0001141004834090964
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25885020005710496,
+              0.16372926810799548,
+              0.8304269027548569
+            ],
+            "target_position": [
+              0.27598785642561396,
+              0.20963971848369117,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04900478261868237,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16449605807919332,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8304269027548569,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673621220116,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13527578387040093,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85ac781e241d50ab99a04cd6e07bf06fbc9055aeafee84cd5931ea01d78017c3",
+    "visual_seed": 7278008370922953597,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b9499239463a3c99d323873e5d1e4c9e463968
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_22_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19839340571540504,
+              -0.114263874684643,
+              1.1633874866070117
+            ],
+            "current_z": 1.1633874866070117,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3022809785922458,
+            "gripper_z": 1.1572346216820735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1937902483356612,
+              -0.11878533699808673,
+              1.1572346216820735
+            ],
+            "object_minus_gripper": [
+              0.004603157379743844,
+              0.004521462313443733,
+              0.006152864924938273
+            ],
+            "object_to_gripper_xy": 0.006452339057627255,
+            "object_to_gripper_z": 0.006152864924938273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19839340571540504,
+              -0.1381060107623711,
+              1.1633874866070117
+            ],
+            "finger_b": [
+              0.18807775395952708,
+              -0.114263874684643,
+              1.1633874866070117
+            ],
+            "finger_midpoint": [
+              0.19323557983746606,
+              -0.12618494272350705,
+              1.1633874866070117
+            ],
+            "object_minus_finger_midpoint": [
+              0.005157825877938976,
+              0.011921068038864058,
+              0.0
+            ],
+            "finger_gap": 0.025978070057212727,
+            "fingertip_max_gap": 0.09292401160104327,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012989035028606363,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633874866070117,
+            "object_top_z": 1.2134453559645841,
+            "finger_top_clearance": 0.05005786935757239,
+            "fingertip_min_top_clearance": 0.01501736080727175,
+            "object_projection_between_fingers": 0.8423189230177159,
+            "object_to_finger_line_xy": 0.009467492094387154,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896200580052164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.283012598986634,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2659061422416129,
+              -0.37152490946373573,
+              0.8515395570066566
+            ],
+            "target_position": [
+              0.25945569035679705,
+              -0.37166887826834527,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006452058317701811,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843098231149965,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395570066566,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758665795132454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08917403092831593,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15121022189162217,
+            "release_required_pad_clearance": 0.054587015464157965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.211227828286453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007637739181518555,
+            "max_z_decrease": 0.007637739181518555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513415031858549,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007637739181518555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021079382907552624,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007637739181518555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007637767368928351,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11515561491250989,
+              -0.42793032526969904,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11515561491250989,
+              -0.42793032526969904,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11452654055047323,
+              -0.42616400217926276,
+              0.8077779740831553
+            ],
+            "closest_button": [
+              0.11514561623334883,
+              -0.4279240071773529,
+              0.772693395614624
+            ],
+            "closest_ee_minus_button": [
+              -0.0006190756828756,
+              0.0017600049980901478,
+              0.0350845784685313
+            ],
+            "button_min_z_position": [
+              0.1151352524757385,
+              -0.4279263317584991,
+              0.7691711187362671
+            ],
+            "min_active_finger_to_button": 0.1460123837066126,
+            "closest_active_finger": [
+              -0.012914568185806274,
+              -0.48900410532951355,
+              0.8108780980110168
+            ],
+            "closest_active_finger_button": [
+              0.11515743285417555,
+              -0.4279274642467498,
+              0.7764278054237366
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12807200103998184,
+              -0.06107664108276373,
+              0.03445029258728027
+            ],
+            "min_contact_pad_to_button": 0.021079382907552624,
+            "closest_contact_pad": [
+              0.1151352524757385,
+              -0.4279263317584991,
+              0.7902505016438197
+            ],
+            "closest_contact_pad_button": [
+              0.1151352524757385,
+              -0.4279263317584991,
+              0.7691711187362671
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021079382907552624
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2754426265356396,
+              0.21149513394332356,
+              1.103522742760629
+            ],
+            "current_z": 1.103522742760629,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19361361302626634,
+            "gripper_z": 1.1035225746343411,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2754425520114382,
+              0.21149513396165726,
+              1.1035225746343411
+            ],
+            "object_minus_gripper": [
+              7.452420142106675e-08,
+              -1.8333695672723138e-11,
+              1.6812628778062333e-07
+            ],
+            "object_to_gripper_xy": 7.452420367620257e-08,
+            "object_to_gripper_z": 1.6812628778062333e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2754426265356396,
+              0.21149513394332356,
+              1.103522742760629
+            ],
+            "finger_b": [
+              0.2754426265356396,
+              0.21149513394332356,
+              1.103522742760629
+            ],
+            "finger_midpoint": [
+              0.2754426265356396,
+              0.21149513394332356,
+              1.103522742760629
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103522742760629,
+            "object_top_z": 1.2285312493809086,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27544262653563967,
+            0.21149513394332356,
+            1.1035227427606291
+          ],
+          "object_origin_world": [
+            0.27544262653563967,
+            0.21149513394332356,
+            1.1035227427606291
+          ],
+          "frame_world": [
+            0.2754425520114382,
+            0.21149513396165726,
+            1.1035225746343411
+          ],
+          "center_minus_frame": [
+            7.45242014765779e-08,
+            -1.8333695672723138e-11,
+            1.6812628800266793e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433646101264102,
+            "required_z": 0.9112599287282765,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015099643714209304,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.380821165016949e-09,
+            "max_target_xy_drift": 1.3831241235292415e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 4.211413722161255,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 4.211413722174854,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2644462545638566,
+              -0.3711379987466646,
+              0.9234779910310179
+            ],
+            "target_mouth_xy": [
+              0.2659061667944872,
+              -0.37152487817529317
+            ],
+            "rod_tip_z": 0.9234779910310179,
+            "rod_tip_depth": -0.022218173630509486,
+            "rod_tip_bottom_clearance": 0.12165867754094506,
+            "rod_tip_xy_dist": 0.0015103044108525701,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04504555412968436,
+            "min_rod_tip_bottom_clearance": 0.05439496049584536,
+            "min_rod_tip_xy_dist": 0.0012955577142141472,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2659061741742865,
+              -0.3715248782981059
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.3797993271895734e-09,
+              1.2281270445058112e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0008562938178197643,
+                0.0021668024842397826
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009638391044038963,
+                0.0017543543720386912
+              ],
+              "first_target_mouth_xy": [
+                0.2659061426000535,
+                -0.3715248805963788
+              ],
+              "last_target_mouth_xy": [
+                0.2659061415498051,
+                -0.3715248784038373
+              ],
+              "first_rod_tip_xy": [
+                0.26504984878223375,
+                -0.369358078112139
+              ],
+              "last_rod_tip_xy": [
+                0.2649423024454012,
+                -0.3697705240317986
+              ],
+              "min_rod_tip_xy_dist": 0.001996275908986478,
+              "max_rod_tip_xy_dist": 0.0023307854332134084,
+              "first_target_xy_drift": 3.165776758174642e-08,
+              "last_target_xy_drift": 3.262465277969105e-08,
+              "max_depth": 0.019518311745152395,
+              "min_bottom_clearance": 0.07992225764485028
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0008562938178197643,
+                  0.0021668024842397826
+                ],
+                "rod_tip_xy": [
+                  0.26504984878223375,
+                  -0.369358078112139
+                ],
+                "target_mouth_xy": [
+                  0.2659061426000535,
+                  -0.3715248805963788
+                ],
+                "gripper_position": [
+                  0.2650421702175888,
+                  -0.36936013547202917,
+                  1.00605589007798
+                ],
+                "rod_tip_xy_dist": 0.0023298652553622153,
+                "target_xy_drift": 3.165776758174642e-08,
+                "depth": 0.015079004629495851,
+                "bottom_clearance": 0.0843615432663426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0008639701080932483,
+                  0.0021647439543745484
+                ],
+                "rod_tip_xy": [
+                  0.2650421702175888,
+                  -0.3693601354720291
+                ],
+                "target_mouth_xy": [
+                  0.26590614032568205,
+                  -0.37152487942640366
+                ],
+                "gripper_position": [
+                  0.26504468398652736,
+                  -0.3694290381270704,
+                  1.0055310911762343
+                ],
+                "rod_tip_xy_dist": 0.0023307854332134084,
+                "target_xy_drift": 3.38674044000313e-08,
+                "depth": 0.01520396284047243,
+                "bottom_clearance": 0.0842365863190414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008614271909341831,
+                  0.002095841899300621
+                ],
+                "rod_tip_xy": [
+                  0.26504468398652736,
+                  -0.36942903812707045
+                ],
+                "target_mouth_xy": [
+                  0.26590611117746155,
+                  -0.3715248800263711
+                ],
+                "gripper_position": [
+                  0.26503385291401393,
+                  -0.3694371591464946,
+                  1.0053880962808026
+                ],
+                "rod_tip_xy_dist": 0.002265967800332739,
+                "target_xy_drift": 6.302052727486117e-08,
+                "depth": 0.015728731642924765,
+                "bottom_clearance": 0.08371177102358318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0008722899574249987,
+                  0.0020877204887274625
+                ],
+                "rod_tip_xy": [
+                  0.2650338529140139,
+                  -0.3694371591464946
+                ],
+                "target_mouth_xy": [
+                  0.2659061428714389,
+                  -0.37152487963522207
+                ],
+                "gripper_position": [
+                  0.26503635415024207,
+                  -0.3695063058894508,
+                  1.0048674168948597
+                ],
+                "rod_tip_xy_dist": 0.0022626238328270435,
+                "target_xy_drift": 3.133139241320502e-08,
+                "depth": 0.01587179788003179,
+                "bottom_clearance": 0.08356877141530306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008697574093827765,
+                  0.002018574470747714
+                ],
+                "rod_tip_xy": [
+                  0.26503635415024207,
+                  -0.3695063058894508
+                ],
+                "target_mouth_xy": [
+                  0.26590611155962485,
+                  -0.37152488036019854
+                ],
+                "gripper_position": [
+                  0.2650252910450609,
+                  -0.3695142886694292,
+                  1.0047244017850898
+                ],
+                "rod_tip_xy_dist": 0.0021979810838882695,
+                "target_xy_drift": 6.264860799072405e-08,
+                "depth": 0.016392395271502158,
+                "bottom_clearance": 0.08304809412465253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008808520880843052,
+                  0.0020105913034431655
+                ],
+                "rod_tip_xy": [
+                  0.2650252910450609,
+                  -0.3695142886694292
+                ],
+                "target_mouth_xy": [
+                  0.2659061431331452,
+                  -0.37152487997287237
+                ],
+                "gripper_position": [
+                  0.2650174439158828,
+                  -0.3695162165340956,
+                  1.004599500492576
+                ],
+                "rod_tip_xy_dist": 0.002195080360844169,
+                "target_xy_drift": 3.10862879337638e-08,
+                "depth": 0.01653548790232151,
+                "bottom_clearance": 0.08290507776835032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008886673167291526,
+                  0.002008663809161537
+                ],
+                "rod_tip_xy": [
+                  0.2650174439158828,
+                  -0.36951621653409555
+                ],
+                "target_mouth_xy": [
+                  0.26590611123261193,
+                  -0.3715248803432571
+                ],
+                "gripper_position": [
+                  0.2650095636843934,
+                  -0.36951788604817876,
+                  1.004474628770033
+                ],
+                "rod_tip_xy_dist": 0.0021964653191111233,
+                "target_xy_drift": 6.297489217343767e-08,
+                "depth": 0.016660315642387125,
+                "bottom_clearance": 0.08278017437069363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008966073898301619,
+                  0.002006994289068198
+                ],
+                "rod_tip_xy": [
+                  0.2650095636843934,
+                  -0.36951788604817876
+                ],
+                "target_mouth_xy": [
+                  0.26590617107422354,
+                  -0.37152488033724695
+                ],
+                "gripper_position": [
+                  0.2650135321915149,
+                  -0.36958955913829133,
+                  1.0039526086434436
+                ],
+                "rod_tip_xy_dist": 0.0021981653458851584,
+                "target_xy_drift": 3.710591171528037e-09,
+                "depth": 0.01678518224974146,
+                "bottom_clearance": 0.08265530286778822,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008926078508836865,
+                  0.0019353222071198384
+                ],
+                "rod_tip_xy": [
+                  0.26501353219151486,
+                  -0.36958955913829133
+                ],
+                "target_mouth_xy": [
+                  0.26590614004239854,
+                  -0.3715248813454112
+                ],
+                "gripper_position": [
+                  0.2650025415007755,
+                  -0.3695974400200783,
+                  1.0038096130302916
+                ],
+                "rod_tip_xy_dist": 0.0021312486529803123,
+                "target_xy_drift": 3.42676501504187e-08,
+                "depth": 0.017307255986151238,
+                "bottom_clearance": 0.08213330705484434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009035699077027948,
+                  0.001927440652260748
+                ],
+                "rod_tip_xy": [
+                  0.2650025415007755,
+                  -0.36959744002007827
+                ],
+                "target_mouth_xy": [
+                  0.2659061114084783,
+                  -0.371524880672339
+                ],
+                "gripper_position": [
+                  0.264994503884811,
+                  -0.3695992807919721,
+                  1.0036848491166108
+                ],
+                "rod_tip_xy_dist": 0.002128724041789676,
+                "target_xy_drift": 6.281069705246832e-08,
+                "depth": 0.01745020409308895,
+                "bottom_clearance": 0.08199029130421864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009116094577472089,
+                  0.001925601685693723
+                ],
+                "rod_tip_xy": [
+                  0.264994503884811,
+                  -0.3695992807919721
+                ],
+                "target_mouth_xy": [
+                  0.2659061133425582,
+                  -0.3715248824776658
+                ],
+                "gripper_position": [
+                  0.2649992245090711,
+                  -0.3696715847434645,
+                  1.0031664695563955
+                ],
+                "rod_tip_xy_dist": 0.002130486717959224,
+                "target_xy_drift": 6.09751415880401e-08,
+                "depth": 0.017575075636087734,
+                "bottom_clearance": 0.08186555628439063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009068824319565238,
+                  0.00185326331225516
+                ],
+                "rod_tip_xy": [
+                  0.2649992245090711,
+                  -0.36967158474346457
+                ],
+                "target_mouth_xy": [
+                  0.2659061069410276,
+                  -0.3715248480557197
+                ],
+                "gripper_position": [
+                  0.26498791687495626,
+                  -0.36967945240217354,
+                  1.0030234722960238
+                ],
+                "rod_tip_xy_dist": 0.0020632548679071004,
+                "target_xy_drift": 7.372186258528347e-08,
+                "depth": 0.018093292423731033,
+                "bottom_clearance": 0.08134721478905427,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000918226687047885,
+                  0.0018454281904878855
+                ],
+                "rod_tip_xy": [
+                  0.26498791687495626,
+                  -0.36967945240217354
+                ],
+                "target_mouth_xy": [
+                  0.26590614356200415,
+                  -0.3715248805926614
+                ],
+                "gripper_position": [
+                  0.26497981778848545,
+                  -0.36968112030357314,
+                  1.0028989751803117
+                ],
+                "rod_tip_xy_dist": 0.0020612485185087038,
+                "target_xy_drift": 3.0698156579818826e-08,
+                "depth": 0.01823648345740858,
+                "bottom_clearance": 0.08120410374750542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009262906556620765,
+                  0.0018437289459715678
+                ],
+                "rod_tip_xy": [
+                  0.26497981778848545,
+                  -0.3696811203035731
+                ],
+                "target_mouth_xy": [
+                  0.2659061084441475,
+                  -0.37152484924954465
+                ],
+                "gripper_position": [
+                  0.2649717200051812,
+                  -0.369682809714804,
+                  1.002774555969365
+                ],
+                "rod_tip_xy_dist": 0.002063334874658088,
+                "target_xy_drift": 7.186285606539137e-08,
+                "depth": 0.018360919963544386,
+                "bottom_clearance": 0.08107964695948189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009343867496253155,
+                  0.0018420399254169273
+                ],
+                "rod_tip_xy": [
+                  0.2649717200051812,
+                  -0.369682809714804
+                ],
+                "target_mouth_xy": [
+                  0.2659061067548065,
+                  -0.3715248496402209
+                ],
+                "gripper_position": [
+                  0.2649636819980238,
+                  -0.369684308543676,
+                  1.0026497220956596
+                ],
+                "rod_tip_xy_dist": 0.002065475655800707,
+                "target_xy_drift": 7.325749554374129e-08,
+                "depth": 0.018485278316944576,
+                "bottom_clearance": 0.08095524749251137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009424891218328124,
+                  0.0018405708414938604
+                ],
+                "rod_tip_xy": [
+                  0.2649636819980237,
+                  -0.369684308543676
+                ],
+                "target_mouth_xy": [
+                  0.26590617111985654,
+                  -0.37152487938516987
+                ],
+                "gripper_position": [
+                  0.26497024263909286,
+                  -0.36975955759516943,
+                  1.002133284962626
+                ],
+                "rod_tip_xy_dist": 0.0020678459244659895,
+                "target_xy_drift": 3.2421059007401513e-09,
+                "depth": 0.018610106741927646,
+                "bottom_clearance": 0.08083041661195678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009359004011167404,
+                  0.0017653223369067939
+                ],
+                "rod_tip_xy": [
+                  0.26497024263909286,
+                  -0.3697595575951694
+                ],
+                "target_mouth_xy": [
+                  0.2659061430402096,
+                  -0.37152487993207617
+                ],
+                "gripper_position": [
+                  0.26495895332557917,
+                  -0.36976760763118827,
+                  1.001990889202043
+                ],
+                "rod_tip_xy_dist": 0.0019980671945639215,
+                "target_xy_drift": 3.117692423980947e-08,
+                "depth": 0.019126604858019647,
+                "bottom_clearance": 0.08031395905824468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009471584331301464,
+                  0.0017572730030789852
+                ],
+                "rod_tip_xy": [
+                  0.26495895332557917,
+                  -0.3697676076311884
+                ],
+                "target_mouth_xy": [
+                  0.2659061117587093,
+                  -0.37152488063426736
+                ],
+                "gripper_position": [
+                  0.2649506432462759,
+                  -0.3697688401301523,
+                  1.0018661120794459
+                ],
+                "rod_tip_xy_dist": 0.001996275908986478,
+                "target_xy_drift": 6.245928216470849e-08,
+                "depth": 0.019268929528968637,
+                "bottom_clearance": 0.08017157701664479,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009554983443541554,
+                  0.0017560392143730064
+                ],
+                "rod_tip_xy": [
+                  0.2649506432462759,
+                  -0.3697688401301524
+                ],
+                "target_mouth_xy": [
+                  0.26590614159063003,
+                  -0.3715248793445254
+                ],
+                "gripper_position": [
+                  0.26494230244540123,
+                  -0.36977052403179855,
+                  1.0017415366889486
+                ],
+                "rod_tip_xy_dist": 0.0019991625267794756,
+                "target_xy_drift": 3.2600454971960116e-08,
+                "depth": 0.01939377892380223,
+                "bottom_clearance": 0.08004675575611564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009638391044038963,
+                  0.0017543543720386912
+                ],
+                "rod_tip_xy": [
+                  0.2649423024454012,
+                  -0.3697705240317986
+                ],
+                "target_mouth_xy": [
+                  0.2659061415498051,
+                  -0.3715248784038373
+                ],
+                "gripper_position": [
+                  0.2649339738638731,
+                  -0.36977214724057866,
+                  1.001616924119618
+                ],
+                "rod_tip_xy_dist": 0.002001685560189056,
+                "target_xy_drift": 3.262465277969105e-08,
+                "depth": 0.019518311745152395,
+                "bottom_clearance": 0.07992225764485028,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006016219977670118,
+              "rod_tip_xy_max_step": 3.2475723926874064e-05,
+              "rod_tip_xy_range": 0.0006016155061869866,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2644462545638567,
+            -0.3711379987466646,
+            1.043477991031018
+          ],
+          "object_origin_world": [
+            0.2644462545638567,
+            -0.3711379987466646,
+            1.043477991031018
+          ],
+          "frame_world": [
+            0.2644449346976364,
+            -0.3711443612083999,
+            1.0433646101264102
+          ],
+          "center_minus_frame": [
+            1.3198662202618117e-06,
+            6.362461735298641e-06,
+            0.00011338090460766281
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2579633596153901,
+              0.16567508569578202,
+              0.8330365570489369
+            ],
+            "target_position": [
+              0.27559716237810766,
+              0.20994569486361242,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047653308761986465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16425490375195118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8330365570489369,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673905758211,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1348494446322526,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "612d95be036a336dc8e684eeaeade020840ba700f4cacb819b31041ce7edcde9",
+    "visual_seed": 5832692763461585303,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85b75197f02f7ad754e362c8334c477bb478aa58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_23_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20026524694581932,
+              -0.10758260250312199,
+              1.1648797181112847
+            ],
+            "current_z": 1.1648797181112847,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.3037732100965189,
+            "gripper_z": 1.1588781522720457,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1955383469190649,
+              -0.11219719819725978,
+              1.1588781522720457
+            ],
+            "object_minus_gripper": [
+              0.00472690002675441,
+              0.004614595694137788,
+              0.006001565839238943
+            ],
+            "object_to_gripper_xy": 0.006605912297577517,
+            "object_to_gripper_z": 0.006001565839238943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20026524694581932,
+              -0.13141470267846142,
+              1.1648797181112847
+            ],
+            "finger_b": [
+              0.18971158248456682,
+              -0.10758260250312199,
+              1.1648797181112847
+            ],
+            "finger_midpoint": [
+              0.19498841471519307,
+              -0.1194986525907917,
+              1.1648797181112847
+            ],
+            "object_minus_finger_midpoint": [
+              0.005276832230626249,
+              0.011916050087669716,
+              0.0
+            ],
+            "finger_gap": 0.026064321060179522,
+            "fingertip_max_gap": 0.09224019943812581,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013032160530089761,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648797181112847,
+            "object_top_z": 1.214961447120845,
+            "finger_top_clearance": 0.050081729009560316,
+            "fingertip_min_top_clearance": 0.015024518702868061,
+            "object_projection_between_fingers": 0.8360491278405425,
+            "object_to_finger_line_xy": 0.009649819309575257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048620099719062906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.576982117616913,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2700298297847953,
+              -0.3699508899192067,
+              0.851539554855871
+            ],
+            "target_position": [
+              0.2621716537522289,
+              -0.37067412175947567,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007891387384584517,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824353750446927,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539554855871,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548658159949025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713572867041429,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15042923501184044,
+            "release_required_pad_clearance": 0.053567864335207147,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.146757217006815,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007828712463378906,
+            "max_z_decrease": 0.007828712463378906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035099205032825743,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007828712463378906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109140769582052,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007828712463378906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0078287349108415,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11787158250808714,
+              -0.42693558335304255,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11787158250808714,
+              -0.42693558335304255,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11855166293934022,
+              -0.426604405901776,
+              0.8077188403420705
+            ],
+            "closest_button": [
+              0.1178610622882843,
+              -0.42693099379539484,
+              0.7726279497146606
+            ],
+            "closest_ee_minus_button": [
+              0.0006906006510559171,
+              0.0003265878936188349,
+              0.03509089062740989
+            ],
+            "button_min_z_position": [
+              0.11785304546356201,
+              -0.4269327819347381,
+              0.7689801454544067
+            ],
+            "min_active_finger_to_button": 0.14546368705648707,
+            "closest_active_finger": [
+              -0.008923828601837158,
+              -0.48936882615089417,
+              0.8106932044029236
+            ],
+            "closest_active_finger_button": [
+              0.11787213385105133,
+              -0.42693313956260676,
+              0.7762802243232727
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1267959624528885,
+              -0.06243568658828741,
+              0.03441298007965088
+            ],
+            "min_contact_pad_to_button": 0.02109140769582052,
+            "closest_contact_pad": [
+              0.11785304546356201,
+              -0.4276875021616716,
+              0.7900580456337504
+            ],
+            "closest_contact_pad_button": [
+              0.11785304546356201,
+              -0.4269327819347381,
+              0.7689801454544067
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000754720226933514,
+              0.021077900179343634
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2773340398165736,
+              0.20731453715376075,
+              1.1020670131434325
+            ],
+            "current_z": 1.1020670131434325,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19215788340906992,
+            "gripper_z": 1.1020667844227818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27733396711029173,
+              0.20731460468890472,
+              1.1020667844227818
+            ],
+            "object_minus_gripper": [
+              7.270628188393857e-08,
+              -6.753514397717097e-08,
+              2.2872065064127867e-07
+            ],
+            "object_to_gripper_xy": 9.923305445971089e-08,
+            "object_to_gripper_z": 2.2872065064127867e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2773340398165736,
+              0.20731453715376075,
+              1.1020670131434325
+            ],
+            "finger_b": [
+              0.2773340398165736,
+              0.20731453715376075,
+              1.1020670131434325
+            ],
+            "finger_midpoint": [
+              0.2773340398165736,
+              0.20731453715376075,
+              1.1020670131434325
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1020670131434325,
+            "object_top_z": 1.2270755197637122,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2773340398165736,
+            0.20731453715376075,
+            1.1020670131434325
+          ],
+          "object_origin_world": [
+            0.2773340398165736,
+            0.20731453715376075,
+            1.1020670131434325
+          ],
+          "frame_world": [
+            0.27733396711029173,
+            0.20731460468890472,
+            1.1020667844227818
+          ],
+          "center_minus_frame": [
+            7.270628188393857e-08,
+            -6.753514397717097e-08,
+            2.2872065064127867e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433359886100468,
+            "required_z": 0.9112599877249317,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017139342838267508,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.183908238538068e-08,
+            "max_target_xy_drift": 1.9628170057777502e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1467572172532163,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1467572173680107,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2684704077590523,
+              -0.3692361260000964,
+              0.9234504566117058
+            ],
+            "target_mouth_xy": [
+              0.2700298292713922,
+              -0.369950861351913
+            ],
+            "rod_tip_z": 0.9234504566117058,
+            "rod_tip_depth": -0.02219063860853343,
+            "rod_tip_bottom_clearance": 0.12163115230086585,
+            "rod_tip_xy_dist": 0.0017154130920232743,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04480941547946882,
+            "min_rod_tip_bottom_clearance": 0.054631123198142784,
+            "min_rod_tip_xy_dist": 0.001163654386986729,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2700298319065204,
+              -0.3699508296220648
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.635128226735617e-09,
+              -3.1729848193329246e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0009529521232499727,
+                0.0024402559292071024
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010735706323520833,
+                0.0021057446450244988
+              ],
+              "first_target_mouth_xy": [
+                0.2700298334099499,
+                -0.3699508301983284
+              ],
+              "last_target_mouth_xy": [
+                0.2700298325442332,
+                -0.3699508007237904
+              ],
+              "first_rod_tip_xy": [
+                0.26907688128669993,
+                -0.3675105742691213
+              ],
+              "last_rod_tip_xy": [
+                0.2689562619118811,
+                -0.3678450560787659
+              ],
+              "min_rod_tip_xy_dist": 0.002351801071414937,
+              "max_rod_tip_xy_dist": 0.0026197264645830966,
+              "first_target_xy_drift": 1.6100869434211365e-09,
+              "last_target_xy_drift": 2.8905309948055512e-08,
+              "max_depth": 0.019324535255968,
+              "min_bottom_clearance": 0.08011613052231958
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0009529521232499727,
+                  0.0024402559292071024
+                ],
+                "rod_tip_xy": [
+                  0.26907688128669993,
+                  -0.3675105742691213
+                ],
+                "target_mouth_xy": [
+                  0.2700298334099499,
+                  -0.3699508301983284
+                ],
+                "gripper_position": [
+                  0.2690662154558475,
+                  -0.3675186945850132,
+                  1.0058598071838514
+                ],
+                "rod_tip_xy_dist": 0.0026197264645830966,
+                "target_xy_drift": 1.6100869434211365e-09,
+                "depth": 0.015255653821239501,
+                "bottom_clearance": 0.08418505628007711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0009635838059467439,
+                  0.0024321074534787157
+                ],
+                "rod_tip_xy": [
+                  0.2690662154558475,
+                  -0.36751869458501324
+                ],
+                "target_mouth_xy": [
+                  0.27002979926179427,
+                  -0.36995080203849195
+                ],
+                "gripper_position": [
+                  0.26905820581306317,
+                  -0.36752078726836274,
+                  1.0057333549780139
+                ],
+                "rod_tip_xy_dist": 0.0026160352475357697,
+                "target_xy_drift": 4.273794142606771e-08,
+                "depth": 0.01540007374456509,
+                "bottom_clearance": 0.08404044167612479,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009716239877189947,
+                  0.0024300154066675406
+                ],
+                "rod_tip_xy": [
+                  0.26905820581306317,
+                  -0.36752078726836274
+                ],
+                "target_mouth_xy": [
+                  0.27002982980078216,
+                  -0.3699508026750303
+                ],
+                "gripper_position": [
+                  0.26906115924903357,
+                  -0.3675883631240123,
+                  1.005208904927905
+                ],
+                "rod_tip_xy_dist": 0.002617064777599625,
+                "target_xy_drift": 2.7029184311056636e-08,
+                "depth": 0.015526483874529706,
+                "bottom_clearance": 0.08391408265330136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009686722051684971,
+                  0.002362436982114191
+                ],
+                "rod_tip_xy": [
+                  0.2690611592490335,
+                  -0.3675883631240123
+                ],
+                "target_mouth_xy": [
+                  0.270029831454202,
+                  -0.36995080010612647
+                ],
+                "gripper_position": [
+                  0.26905019646170114,
+                  -0.3675963807556098,
+                  1.0050644517798422
+                ],
+                "rod_tip_xy_dist": 0.002553318298905721,
+                "target_xy_drift": 2.9519403944121204e-08,
+                "depth": 0.01605107429452246,
+                "bottom_clearance": 0.08338957395163671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009796031513972792,
+                  0.002354452055730538
+                ],
+                "rod_tip_xy": [
+                  0.2690501964617011,
+                  -0.3675963807556098
+                ],
+                "target_mouth_xy": [
+                  0.27002979961309836,
+                  -0.36995083281134034
+                ],
+                "gripper_position": [
+                  0.26904231040791066,
+                  -0.3675981119594753,
+                  1.0049382002231688
+                ],
+                "rod_tip_xy_dist": 0.0025501111381587348,
+                "target_xy_drift": 3.2450525201051226e-08,
+                "depth": 0.016195389605685118,
+                "bottom_clearance": 0.08324517302935985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009875216990127278,
+                  0.0023526887730454527
+                ],
+                "rod_tip_xy": [
+                  0.2690423104079106,
+                  -0.3675981119594753
+                ],
+                "target_mouth_xy": [
+                  0.27002983210692333,
+                  -0.36995080073252073
+                ],
+                "gripper_position": [
+                  0.26904596015502974,
+                  -0.3676669777495941,
+                  1.0044150621834893
+                ],
+                "rod_tip_xy_dist": 0.002551537491167845,
+                "target_xy_drift": 2.8890239166102406e-08,
+                "depth": 0.016321772399989,
+                "bottom_clearance": 0.08311887681588248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000983840339543074,
+                  0.0022838531616953817
+                ],
+                "rod_tip_xy": [
+                  0.26904596015502974,
+                  -0.36766697774959417
+                ],
+                "target_mouth_xy": [
+                  0.2700298004945728,
+                  -0.36995083091128955
+                ],
+                "gripper_position": [
+                  0.2690348004324723,
+                  -0.36767510583468777,
+                  1.00427065658337
+                ],
+                "rod_tip_xy_dist": 0.002486750304694507,
+                "target_xy_drift": 3.1438392966774335e-08,
+                "depth": 0.016844830781744036,
+                "bottom_clearance": 0.08259573725458236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009950274500384326,
+                  0.0022757257434898315
+                ],
+                "rod_tip_xy": [
+                  0.2690348004324723,
+                  -0.3676751058346878
+                ],
+                "target_mouth_xy": [
+                  0.27002982788251073,
+                  -0.36995083157817765
+                ],
+                "gripper_position": [
+                  0.2690267997688112,
+                  -0.3676768134185406,
+                  1.0041442549968536
+                ],
+                "rod_tip_xy_dist": 0.002483748635814891,
+                "target_xy_drift": 4.4742632137598596e-09,
+                "depth": 0.016989176114194038,
+                "bottom_clearance": 0.08245133567069707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00100300172771145,
+                  0.0022739572042974054
+                ],
+                "rod_tip_xy": [
+                  0.2690267997688112,
+                  -0.3676768134185406
+                ],
+                "target_mouth_xy": [
+                  0.27002980149652267,
+                  -0.369950770622838
+                ],
+                "gripper_position": [
+                  0.26903126530045407,
+                  -0.3677464332064431,
+                  1.0036240784118562
+                ],
+                "rod_tip_xy_dist": 0.0024853357585582327,
+                "target_xy_drift": 6.637527197751046e-08,
+                "depth": 0.017115657695838782,
+                "bottom_clearance": 0.08232497293278496,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009985642484680035,
+                  0.002204400238753068
+                ],
+                "rod_tip_xy": [
+                  0.26903126530045407,
+                  -0.3677464332064431
+                ],
+                "target_mouth_xy": [
+                  0.2700298295489221,
+                  -0.3699508334451962
+                ],
+                "gripper_position": [
+                  0.26901994488851777,
+                  -0.36775460723633013,
+                  1.0034798213367788
+                ],
+                "rod_tip_xy_dist": 0.0024200229277701176,
+                "target_xy_drift": 4.491614784981107e-09,
+                "depth": 0.017635775246384267,
+                "bottom_clearance": 0.08180481440502474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001009885936679944,
+                  0.0021961912927638827
+                ],
+                "rod_tip_xy": [
+                  0.26901994488851777,
+                  -0.3677546072363302
+                ],
+                "target_mouth_xy": [
+                  0.2700298308251977,
+                  -0.36995079852909407
+                ],
+                "gripper_position": [
+                  0.26901173390228517,
+                  -0.3677561084500114,
+                  1.0033535408742038
+                ],
+                "rod_tip_xy_dist": 0.0024172558407243167,
+                "target_xy_drift": 3.111176769431348e-08,
+                "depth": 0.017780181916592475,
+                "bottom_clearance": 0.08166050155965843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010180669913545382,
+                  0.0021947525636041854
+                ],
+                "rod_tip_xy": [
+                  0.26901173390228517,
+                  -0.36775610845001133
+                ],
+                "target_mouth_xy": [
+                  0.2700298008936397,
+                  -0.3699508610136155
+                ],
+                "gripper_position": [
+                  0.26900361059150113,
+                  -0.3677576769676535,
+                  1.0032274460271953
+                ],
+                "rod_tip_xy_dist": 0.002419379923520245,
+                "target_xy_drift": 4.4127408995620115e-08,
+                "depth": 0.017906349561355284,
+                "bottom_clearance": 0.08153422214790618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010262200309696934,
+                  0.0021931545597068114
+                ],
+                "rod_tip_xy": [
+                  0.2690036105915011,
+                  -0.36775767696765355
+                ],
+                "target_mouth_xy": [
+                  0.27002983062247077,
+                  -0.36995083152736036
+                ],
+                "gripper_position": [
+                  0.2690092424266496,
+                  -0.36782958211076994,
+                  1.0027094444424247
+                ],
+                "rod_tip_xy_dist": 0.002421374501130756,
+                "target_xy_drift": 2.2975932092638326e-09,
+                "depth": 0.018032442853080255,
+                "bottom_clearance": 0.08140812382408846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0010205587025755025,
+                  0.002121249085723531
+                ],
+                "rod_tip_xy": [
+                  0.26900924242664953,
+                  -0.36782958211076994
+                ],
+                "target_mouth_xy": [
+                  0.27002980112922503,
+                  -0.36995083119649347
+                ],
+                "gripper_position": [
+                  0.26899804802556837,
+                  -0.3678374163496686,
+                  1.002565218424167
+                ],
+                "rod_tip_xy_dist": 0.002353983379101371,
+                "target_xy_drift": 3.081753942795506e-08,
+                "depth": 0.018550447982328522,
+                "bottom_clearance": 0.0808901330223245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0010317795376106886,
+                  0.0021133857350886798
+                ],
+                "rod_tip_xy": [
+                  0.26899804802556837,
+                  -0.36783741634966866
+                ],
+                "target_mouth_xy": [
+                  0.27002982756317906,
+                  -0.36995080208475734
+                ],
+                "gripper_position": [
+                  0.26898953628224415,
+                  -0.3678389382160485,
+                  1.002439210784293
+                ],
+                "rod_tip_xy_dist": 0.002351801071414937,
+                "target_xy_drift": 2.7877731577379178e-08,
+                "depth": 0.018694629658707496,
+                "bottom_clearance": 0.08074590544603633,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0010402961211115058,
+                  0.0021118621650507152
+                ],
+                "rod_tip_xy": [
+                  0.26898953628224415,
+                  -0.36783893821604857
+                ],
+                "target_mouth_xy": [
+                  0.27002983240335565,
+                  -0.3699508003810993
+                ],
+                "gripper_position": [
+                  0.26898135033424686,
+                  -0.3678402352331839,
+                  1.0023130898657115
+                ],
+                "rod_tip_xy_dist": 0.002354183048059844,
+                "target_xy_drift": 2.9245186113927653e-08,
+                "depth": 0.01882071077813985,
+                "bottom_clearance": 0.08061996249680548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0010484785120788986,
+                  0.002110596650379104
+                ],
+                "rod_tip_xy": [
+                  0.26898135033424686,
+                  -0.36784023523318393
+                ],
+                "target_mouth_xy": [
+                  0.27002982884632576,
+                  -0.36995083188356304
+                ],
+                "gripper_position": [
+                  0.2689728630260062,
+                  -0.3678419945198898,
+                  1.0021870971680467
+                ],
+                "rod_tip_xy_dist": 0.002356676772678569,
+                "target_xy_drift": 3.8051498621864076e-09,
+                "depth": 0.018946730327629058,
+                "bottom_clearance": 0.08049377789232304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001056969086631776,
+                  0.0021088360267224604
+                ],
+                "rod_tip_xy": [
+                  0.2689728630260062,
+                  -0.3678419945198898
+                ],
+                "target_mouth_xy": [
+                  0.270029832112638,
+                  -0.36995083054661226
+                ],
+                "gripper_position": [
+                  0.26896465567617034,
+                  -0.3678434168728665,
+                  1.0020612543151306
+                ],
+                "rod_tip_xy_dist": 0.0023588923327904953,
+                "target_xy_drift": 9.4724464519522e-10,
+                "depth": 0.019072815678639388,
+                "bottom_clearance": 0.08036783331231911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010651732536775538,
+                  0.0021073842290380562
+                ],
+                "rod_tip_xy": [
+                  0.2689646556761703,
+                  -0.36784341687286654
+                ],
+                "target_mouth_xy": [
+                  0.27002982892984784,
+                  -0.3699508011019046
+                ],
+                "gripper_position": [
+                  0.2689562619118811,
+                  -0.36784505607876583,
+                  1.001935381116724
+                ],
+                "rod_tip_xy_dist": 0.0023612840466890783,
+                "target_xy_drift": 2.8675078367148266e-08,
+                "depth": 0.019198569193485837,
+                "bottom_clearance": 0.08024194836419862,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010735706323520833,
+                  0.0021057446450244988
+                ],
+                "rod_tip_xy": [
+                  0.2689562619118811,
+                  -0.3678450560787659
+                ],
+                "target_mouth_xy": [
+                  0.2700298325442332,
+                  -0.3699508007237904
+                ],
+                "gripper_position": [
+                  0.2689652970096924,
+                  -0.36792203742130164,
+                  1.0014207367758163
+                ],
+                "rod_tip_xy_dist": 0.0023636231536981957,
+                "target_xy_drift": 2.8905309948055512e-08,
+                "depth": 0.019324535255968,
+                "bottom_clearance": 0.08011613052231958,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006005520135820403,
+              "rod_tip_xy_max_step": 3.257354223495475e-05,
+              "rod_tip_xy_range": 0.0006005438944064293,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2684704077590523,
+            -0.3692361260000964,
+            1.043450456611706
+          ],
+          "object_origin_world": [
+            0.2684704077590523,
+            -0.3692361260000964,
+            1.043450456611706
+          ],
+          "frame_world": [
+            0.26846900461038503,
+            -0.3692427673561267,
+            1.0433359886100468
+          ],
+          "center_minus_frame": [
+            1.4031486672561044e-06,
+            6.6413560302902575e-06,
+            0.0001144680016591515
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2635731586359133,
+              0.16208505281627802,
+              0.8321068296970219
+            ],
+            "target_position": [
+              0.27750442519975604,
+              0.208650771141688,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04860500294449396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16757312556626902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321068296970219,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668681925758,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1370629237665714,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 303,
+            "max_placed_release_frames": 303
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caeebccd1931ae880dbe8c847d5b6bd8525200df7d90894534c5443d9ec3f1b8",
+    "visual_seed": 6147044886627078907,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86c148445a07dc081916bf9ce955b39aa62c8adf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_24_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19453504346682904,
+              -0.108899738294834,
+              1.1650356778631896
+            ],
+            "current_z": 1.1650356778631896,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3039292890577132,
+            "gripper_z": 1.1589383541113008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19004403202064116,
+              -0.11351672540343091,
+              1.1589383541113008
+            ],
+            "object_minus_gripper": [
+              0.004491011446187881,
+              0.004616987108596912,
+              0.006097323751888872
+            ],
+            "object_to_gripper_xy": 0.006440943546619598,
+            "object_to_gripper_z": 0.006097323751888872,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19453504346682904,
+              -0.1324354908983282,
+              1.1650356778631896
+            ],
+            "finger_b": [
+              0.1837131108759463,
+              -0.108899738294834,
+              1.1650356778631896
+            ],
+            "finger_midpoint": [
+              0.18912407717138768,
+              -0.1206676145965811,
+              1.1650356778631896
+            ],
+            "object_minus_finger_midpoint": [
+              0.005410966295441355,
+              0.011767876301747096,
+              0.0
+            ],
+            "finger_gap": 0.02590455318306985,
+            "fingertip_max_gap": 0.09235549125017309,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012952276591534913,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650356778631896,
+            "object_top_z": 1.2149560436723368,
+            "finger_top_clearance": 0.04992036580914716,
+            "fingertip_min_top_clearance": 0.014976109742744114,
+            "object_projection_between_fingers": 0.8254750841075278,
+            "object_to_finger_line_xy": 0.009832338212927378,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048677745625086546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9863786224275846,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2711458979997491,
+              -0.3726038973945648,
+              0.8515395855551651
+            ],
+            "target_position": [
+              0.2637342419930566,
+              -0.3730668819780905,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007426102577134459,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18308709802132642,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395855551651,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537738729757046,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08585567409224905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15135837443839623,
+            "release_required_pad_clearance": 0.052927837046124526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8934985778672584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008035123348236084,
+            "max_z_decrease": 0.008035123348236084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035124385073633455,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008035123348236084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107838606735979,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008035123348236084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00803513980448401,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1194341704249382,
+              -0.4293283522129059,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1194341704249382,
+              -0.4293283522129059,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11880073727868443,
+              -0.4276649238587035,
+              0.8078483107814362
+            ],
+            "closest_button": [
+              0.11943646520376207,
+              -0.4293232560157776,
+              0.7727688550949097
+            ],
+            "closest_ee_minus_button": [
+              -0.0006357279250776421,
+              0.0016583321570740606,
+              0.035079455686526484
+            ],
+            "button_min_z_position": [
+              0.11941907554864885,
+              -0.4293223023414611,
+              0.7687737345695496
+            ],
+            "min_active_finger_to_button": 0.14607390558929145,
+            "closest_active_finger": [
+              -0.007774390280246735,
+              -0.49231380224227905,
+              0.8110915422439575
+            ],
+            "closest_active_finger_button": [
+              0.11943574249744415,
+              -0.4293262362480163,
+              0.7766280174255371
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272101327776909,
+              -0.06298756599426275,
+              0.03446352481842041
+            ],
+            "min_contact_pad_to_button": 0.02107838606735979,
+            "closest_contact_pad": [
+              0.11941907554864885,
+              -0.4293223023414611,
+              0.7898521206369093
+            ],
+            "closest_contact_pad_button": [
+              0.11941907554864885,
+              -0.4293223023414611,
+              0.7687737345695496
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107838606735979
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27801538701086276,
+              0.21176180674184625,
+              1.1014287389369875
+            ],
+            "current_z": 1.1014287389369875,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1915196092026249,
+            "gripper_z": 1.10142858959499,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27801532564251696,
+              0.21176185446510937,
+              1.10142858959499
+            ],
+            "object_minus_gripper": [
+              6.136834579395511e-08,
+              -4.7723263119081594e-08,
+              1.4934199743521503e-07
+            ],
+            "object_to_gripper_xy": 7.774048950334402e-08,
+            "object_to_gripper_z": 1.4934199743521503e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27801538701086276,
+              0.21176180674184625,
+              1.1014287389369875
+            ],
+            "finger_b": [
+              0.27801538701086276,
+              0.21176180674184625,
+              1.1014287389369875
+            ],
+            "finger_midpoint": [
+              0.27801538701086276,
+              0.21176180674184625,
+              1.1014287389369875
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014287389369875,
+            "object_top_z": 1.2264372455572672,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2780153870108628,
+            0.21176180674184628,
+            1.1014287389369875
+          ],
+          "object_origin_world": [
+            0.2780153870108628,
+            0.21176180674184628,
+            1.1014287389369875
+          ],
+          "frame_world": [
+            0.27801532564251696,
+            0.21176185446510937,
+            1.10142858959499
+          ],
+          "center_minus_frame": [
+            6.136834584946627e-08,
+            -4.772326309132602e-08,
+            1.4934199743521503e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433152045188865,
+            "required_z": 0.9112599713794325,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0029281784102328447,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 3.059319151468879e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8934985769249542,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8934985782560099,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2686115543372485,
+              -0.37113282544448634,
+              0.9234301691914052
+            ],
+            "target_mouth_xy": [
+              0.27114596096860283,
+              -0.37260380476942134
+            ],
+            "rod_tip_z": 0.9234301691914052,
+            "rod_tip_depth": -0.022170197811972714,
+            "rod_tip_bottom_clearance": 0.1216108079653978,
+            "rod_tip_xy_dist": 0.0029303578531365646,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044801907641453975,
+            "min_rod_tip_bottom_clearance": 0.054638649378819015,
+            "min_rod_tip_xy_dist": 9.670287638879177e-06,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27114596096860283,
+              -0.37260380476942134
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0018932092391198418,
+                0.003233457285219954
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0020096352249266425,
+                0.002828220559646988
+              ],
+              "first_target_mouth_xy": [
+                0.27114596096860283,
+                -0.37260380476942134
+              ],
+              "last_target_mouth_xy": [
+                0.2711459606611595,
+                -0.3726038054090391
+              ],
+              "first_rod_tip_xy": [
+                0.269252751729483,
+                -0.3693703474842014
+              ],
+              "last_rod_tip_xy": [
+                0.26913632543623284,
+                -0.3697755848493921
+              ],
+              "min_rod_tip_xy_dist": 0.003459216921443782,
+              "max_rod_tip_xy_dist": 0.0037469303754447754,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 7.096705402422648e-10,
+              "max_depth": 0.019484927159369447,
+              "min_bottom_clearance": 0.07995564809163958
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0018932092391198418,
+                  0.003233457285219954
+                ],
+                "rod_tip_xy": [
+                  0.269252751729483,
+                  -0.3693703474842014
+                ],
+                "target_mouth_xy": [
+                  0.27114596096860283,
+                  -0.37260380476942134
+                ],
+                "gripper_position": [
+                  0.26925326375760084,
+                  -0.36943712331063855,
+                  1.0057272058968865
+                ],
+                "rod_tip_xy_dist": 0.0037469303754447754,
+                "target_xy_drift": 0.0,
+                "depth": 0.015008442761212826,
+                "bottom_clearance": 0.08443216739221227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0018926969035588104,
+                  0.003166682098400375
+                ],
+                "rod_tip_xy": [
+                  0.26925326375760067,
+                  -0.3694371233106387
+                ],
+                "target_mouth_xy": [
+                  0.2711459606611595,
+                  -0.3726038054090391
+                ],
+                "gripper_position": [
+                  0.26924245476058195,
+                  -0.3694452589297567,
+                  1.0055816507751836
+                ],
+                "rod_tip_xy_dist": 0.0036891973491628926,
+                "target_xy_drift": 7.096705402422648e-10,
+                "depth": 0.015532692002310333,
+                "bottom_clearance": 0.08390788324869869,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0019034756216032567,
+                  0.003158546483414515
+                ],
+                "rod_tip_xy": [
+                  0.2692424547605818,
+                  -0.36944525892975677
+                ],
+                "target_mouth_xy": [
+                  0.27114593038218504,
+                  -0.3726038054131713
+                ],
+                "gripper_position": [
+                  0.2692345022359285,
+                  -0.3694475225539172,
+                  1.0054544650054273
+                ],
+                "rod_tip_xy_dist": 0.0036877683400571818,
+                "target_xy_drift": 3.059319151468879e-08,
+                "depth": 0.0156781837740404,
+                "bottom_clearance": 0.08376237324623259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0019114587326745092,
+                  0.003156282215504125
+                ],
+                "rod_tip_xy": [
+                  0.2692345022359283,
+                  -0.3694475225539172
+                ],
+                "target_mouth_xy": [
+                  0.27114596096860283,
+                  -0.37260380476942134
+                ],
+                "gripper_position": [
+                  0.26923591675133596,
+                  -0.36951547022452197,
+                  1.004930468105249
+                ],
+                "rod_tip_xy_dist": 0.0036899582532361076,
+                "target_xy_drift": 0.0,
+                "depth": 0.01580550637400513,
+                "bottom_clearance": 0.08363510377941996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019100439098236888,
+                  0.003088335184517066
+                ],
+                "rod_tip_xy": [
+                  0.2692359167513358,
+                  -0.369515470224522
+                ],
+                "target_mouth_xy": [
+                  0.2711459606611595,
+                  -0.3726038054090391
+                ],
+                "gripper_position": [
+                  0.26922501648555336,
+                  -0.3695235044963936,
+                  1.0047850891294945
+                ],
+                "rod_tip_xy_dist": 0.003631264511073329,
+                "target_xy_drift": 7.096705402422648e-10,
+                "depth": 0.016329429793947692,
+                "bottom_clearance": 0.08311114545706133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0019209138966318484,
+                  0.0030803009167775786
+                ],
+                "rod_tip_xy": [
+                  0.2692250164855532,
+                  -0.3695235044963937
+                ],
+                "target_mouth_xy": [
+                  0.27114593038218504,
+                  -0.3726038054131713
+                ],
+                "gripper_position": [
+                  0.2692170561244406,
+                  -0.36952559978852995,
+                  1.0046581786429176
+                ],
+                "rod_tip_xy_dist": 0.00363017409171711,
+                "target_xy_drift": 3.059319151468879e-08,
+                "depth": 0.016474745419729264,
+                "bottom_clearance": 0.08296581160054373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0019289048441623602,
+                  0.003078204980891286
+                ],
+                "rod_tip_xy": [
+                  0.26921705612444047,
+                  -0.36952559978853006
+                ],
+                "target_mouth_xy": [
+                  0.27114596096860283,
+                  -0.37260380476942134
+                ],
+                "gripper_position": [
+                  0.26921918151325114,
+                  -0.36959471166341734,
+                  1.0041358709031847
+                ],
+                "rod_tip_xy_dist": 0.0036326326269273284,
+                "target_xy_drift": 0.0,
+                "depth": 0.016601792736515075,
+                "bottom_clearance": 0.08283881741691002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0019267791479084528,
+                  0.0030090937456216937
+                ],
+                "rod_tip_xy": [
+                  0.269219181513251,
+                  -0.3695947116634174
+                ],
+                "target_mouth_xy": [
+                  0.2711459606611595,
+                  -0.3726038054090391
+                ],
+                "gripper_position": [
+                  0.2692082600972806,
+                  -0.3696028429240931,
+                  1.0039907226387261
+                ],
+                "rod_tip_xy_dist": 0.003573111117045539,
+                "target_xy_drift": 7.096705402422648e-10,
+                "depth": 0.017124026996012343,
+                "bottom_clearance": 0.08231654825499668,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019376702849045468,
+                  0.0030009624890781073
+                ],
+                "rod_tip_xy": [
+                  0.2692082600972805,
+                  -0.3696028429240932
+                ],
+                "target_mouth_xy": [
+                  0.27114593038218504,
+                  -0.3726038054131713
+                ],
+                "gripper_position": [
+                  0.2692000695884089,
+                  -0.3696049508791901,
+                  1.0038643550527149
+                ],
+                "rod_tip_xy_dist": 0.0035721620895272847,
+                "target_xy_drift": 3.059319151468879e-08,
+                "depth": 0.017269111910497625,
+                "bottom_clearance": 0.08217144510977537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019458913801940758,
+                  0.0029988538902311346
+                ],
+                "rod_tip_xy": [
+                  0.26920006958840875,
+                  -0.3696049508791902
+                ],
+                "target_mouth_xy": [
+                  0.27114596096860283,
+                  -0.37260380476942134
+                ],
+                "gripper_position": [
+                  0.26919199236075353,
+                  -0.3696066931619086,
+                  1.0037372159871294
+                ],
+                "rod_tip_xy_dist": 0.0035748591466613078,
+                "target_xy_drift": 0.0,
+                "depth": 0.0173956163267176,
+                "bottom_clearance": 0.08204499382670749,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019539683004060615,
+                  0.00299711224713034
+                ],
+                "rod_tip_xy": [
+                  0.2691919923607534,
+                  -0.36960669316190875
+                ],
+                "target_mouth_xy": [
+                  0.2711459606611595,
+                  -0.3726038054090391
+                ],
+                "gripper_position": [
+                  0.2691956212685189,
+                  -0.3696777284639321,
+                  1.0032151343935443
+                ],
+                "rod_tip_xy_dist": 0.0035778029488626717,
+                "target_xy_drift": 7.096705402422648e-10,
+                "depth": 0.017522681912067628,
+                "bottom_clearance": 0.0819178933389414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001950309113666282,
+                  0.002926076949239076
+                ],
+                "rod_tip_xy": [
+                  0.26919562126851876,
+                  -0.3696777284639322
+                ],
+                "target_mouth_xy": [
+                  0.27114593038218504,
+                  -0.3726038054131713
+                ],
+                "gripper_position": [
+                  0.2691844222313722,
+                  -0.3696859908958737,
+                  1.0030702385173944
+                ],
+                "rod_tip_xy_dist": 0.003516480051374956,
+                "target_xy_drift": 3.059319151468879e-08,
+                "depth": 0.018044700155679494,
+                "bottom_clearance": 0.0813958568645935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001961538737230817,
+                  0.0029178138735476145
+                ],
+                "rod_tip_xy": [
+                  0.269184422231372,
+                  -0.36968599089587373
+                ],
+                "target_mouth_xy": [
+                  0.27114596096860283,
+                  -0.37260380476942134
+                ],
+                "gripper_position": [
+                  0.2691761865675098,
+                  -0.3696875611932705,
+                  1.0029434817979594
+                ],
+                "rod_tip_xy_dist": 0.0035158600680806396,
+                "target_xy_drift": 0.0,
+                "depth": 0.018189732862038066,
+                "bottom_clearance": 0.08125087729138702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00196977409364979,
+                  0.002916244215768471
+                ],
+                "rod_tip_xy": [
+                  0.2691761865675097,
+                  -0.3696875611932706
+                ],
+                "target_mouth_xy": [
+                  0.2711459606611595,
+                  -0.3726038054090391
+                ],
+                "gripper_position": [
+                  0.2691678867389215,
+                  -0.36968967321009527,
+                  1.0028168906364905
+                ],
+                "rod_tip_xy_dist": 0.0035191604547131572,
+                "target_xy_drift": 7.096705402422648e-10,
+                "depth": 0.018316416101237354,
+                "bottom_clearance": 0.08112415914977167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019780436432636495,
+                  0.002914132203076014
+                ],
+                "rod_tip_xy": [
+                  0.2691678867389214,
+                  -0.36968967321009527
+                ],
+                "target_mouth_xy": [
+                  0.27114593038218504,
+                  -0.3726038054131713
+                ],
+                "gripper_position": [
+                  0.2691726165460736,
+                  -0.3697626617776528,
+                  1.0022996159391449
+                ],
+                "rod_tip_xy_dist": 0.0035220481472660755,
+                "target_xy_drift": 3.059319151468879e-08,
+                "depth": 0.018442943912733267,
+                "bottom_clearance": 0.08099761310753972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001973344422529333,
+                  0.0028411429917685194
+                ],
+                "rod_tip_xy": [
+                  0.2691726165460735,
+                  -0.3697626617776528
+                ],
+                "target_mouth_xy": [
+                  0.27114596096860283,
+                  -0.37260380476942134
+                ],
+                "gripper_position": [
+                  0.26916139862596167,
+                  -0.3697704572270619,
+                  1.002154655827166
+                ],
+                "rod_tip_xy_dist": 0.003459216921443782,
+                "target_xy_drift": 0.0,
+                "depth": 0.018960355440287624,
+                "bottom_clearance": 0.08048025471313747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0019845620351979787,
+                  0.002833348181977058
+                ],
+                "rod_tip_xy": [
+                  0.2691613986259615,
+                  -0.36977045722706203
+                ],
+                "target_mouth_xy": [
+                  0.2711459606611595,
+                  -0.3726038054090391
+                ],
+                "gripper_position": [
+                  0.26915307404525907,
+                  -0.3697720491539328,
+                  1.002028018641844
+                ],
+                "rod_tip_xy_dist": 0.003459241013844199,
+                "target_xy_drift": 7.096705402422648e-10,
+                "depth": 0.019105242072030904,
+                "bottom_clearance": 0.08033533317897812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001992856336926141,
+                  0.0028317562592383716
+                ],
+                "rod_tip_xy": [
+                  0.2691530740452589,
+                  -0.3697720491539329
+                ],
+                "target_mouth_xy": [
+                  0.27114593038218504,
+                  -0.3726038054131713
+                ],
+                "gripper_position": [
+                  0.2691447123931374,
+                  -0.36977399744852973,
+                  1.0019018645525615
+                ],
+                "rod_tip_xy_dist": 0.003462704129919617,
+                "target_xy_drift": 3.059319151468879e-08,
+                "depth": 0.01923181590737999,
+                "bottom_clearance": 0.080208741112893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0020012485754655196,
+                  0.002829807320891553
+                ],
+                "rod_tip_xy": [
+                  0.2691447123931373,
+                  -0.3697739974485298
+                ],
+                "target_mouth_xy": [
+                  0.27114596096860283,
+                  -0.37260380476942134
+                ],
+                "gripper_position": [
+                  0.26913632543623295,
+                  -0.36977558484939205,
+                  1.0017749707398276
+                ],
+                "rod_tip_xy_dist": 0.0034659494131008607,
+                "target_xy_drift": 0.0,
+                "depth": 0.019358106826871224,
+                "bottom_clearance": 0.08008250332655387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0020096352249266425,
+                  0.002828220559646988
+                ],
+                "rod_tip_xy": [
+                  0.26913632543623284,
+                  -0.3697755848493921
+                ],
+                "target_mouth_xy": [
+                  0.2711459606611595,
+                  -0.3726038054090391
+                ],
+                "gripper_position": [
+                  0.2691279134809191,
+                  -0.36977717536322874,
+                  1.001648929418398
+                ],
+                "rod_tip_xy_dist": 0.0034695050470169198,
+                "target_xy_drift": 7.096705402422648e-10,
+                "depth": 0.019484927159369447,
+                "bottom_clearance": 0.07995564809163958,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006007306297127564,
+              "rod_tip_xy_max_step": 3.246768104240212e-05,
+              "rod_tip_xy_range": 0.0006007223194668246,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26861155433724854,
+            -0.3711328254444863,
+            1.0434301691914052
+          ],
+          "object_origin_world": [
+            0.26861155433724854,
+            -0.3711328254444863,
+            1.0434301691914052
+          ],
+          "frame_world": [
+            0.2686101089823984,
+            -0.37113967243038337,
+            1.0433152045188865
+          ],
+          "center_minus_frame": [
+            1.4453548501380808e-06,
+            6.846985897090985e-06,
+            0.00011496467251870257
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2638091347012406,
+              0.16407834573206095,
+              0.8317949520008644
+            ],
+            "target_position": [
+              0.2782582953357019,
+              0.21036689985070506,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04849132381607157,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1683143201308404,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317949520008644,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673239600118,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376595235051619,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a81550f43d633b9023e2769d33358367ca042b8c08c8bf46e43a8496c382de23",
+    "visual_seed": 4319346315580727811,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94be4ec61dcc036b068f8699fbefd01144f6b62c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_25_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19450756863104876,
+              -0.11140100769348202,
+              1.1638559770946235
+            ],
+            "current_z": 1.1638559770946235,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30274952868450233,
+            "gripper_z": 1.1577944369203883,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18984451811958233,
+              -0.11603047273532771,
+              1.1577944369203883
+            ],
+            "object_minus_gripper": [
+              0.004663050511466427,
+              0.004629465041845693,
+              0.006061540174235214
+            ],
+            "object_to_gripper_xy": 0.006570843678414412,
+            "object_to_gripper_z": 0.006061540174235214,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19450756863104876,
+              -0.13513024623730238,
+              1.1638559770946235
+            ],
+            "finger_b": [
+              0.18376908349960064,
+              -0.11140100769348202,
+              1.1638559770946235
+            ],
+            "finger_midpoint": [
+              0.1891383260653247,
+              -0.1232656269653922,
+              1.1638559770946235
+            ],
+            "object_minus_finger_midpoint": [
+              0.005369242565724047,
+              0.011864619271910182,
+              0.0
+            ],
+            "finger_gap": 0.02604595601600875,
+            "fingertip_max_gap": 0.09241991847417286,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013022978008004369,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638559770946235,
+            "object_top_z": 1.213826081963482,
+            "finger_top_clearance": 0.049970104868858556,
+            "fingertip_min_top_clearance": 0.014991031460657566,
+            "object_projection_between_fingers": 0.8300170215724634,
+            "object_to_finger_line_xy": 0.00978332586935115,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870995923708643,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9664795556910393,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26932768093892445,
+              -0.36520845824059783,
+              0.8515395704628812
+            ],
+            "target_position": [
+              0.2614057872696545,
+              -0.36561975918178935,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00793256375779256,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18509398868109486,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395704628812,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516025153343199,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559326582080161,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15385158365341206,
+            "release_required_pad_clearance": 0.052796632910400806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6404111560180047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075225830078125,
+            "max_z_decrease": 0.0075225830078125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035091732705803784,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075225830078125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021140178699527203,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075225830078125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007522603302142901,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11710571497678754,
+              -0.42188122868537903,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11710571497678754,
+              -0.42188122868537903,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11703530967005876,
+              -0.4223619355581772,
+              0.8079773334335717
+            ],
+            "closest_button": [
+              0.11709714680910106,
+              -0.4218761324882507,
+              0.7728890180587769
+            ],
+            "closest_ee_minus_button": [
+              -6.183713904230059e-05,
+              -0.0004858030699265159,
+              0.03508831537479484
+            ],
+            "button_min_z_position": [
+              0.11708868294954297,
+              -0.42187732458114624,
+              0.7692862749099731
+            ],
+            "min_active_finger_to_button": 0.14622861480937563,
+            "closest_active_finger": [
+              -0.024080514907836914,
+              -0.4057762622833252,
+              0.8109734058380127
+            ],
+            "closest_active_finger_button": [
+              0.11710639297962186,
+              -0.42187994718551636,
+              0.7764808535575867
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14118690788745877,
+              0.016103684902191162,
+              0.034492552280426025
+            ],
+            "min_contact_pad_to_button": 0.021140178699527203,
+            "closest_contact_pad": [
+              0.11708868294954297,
+              -0.4235043598791257,
+              0.7903637489423868
+            ],
+            "closest_contact_pad_button": [
+              0.11708868294954297,
+              -0.42187732458114624,
+              0.7692862749099731
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016270352979794733,
+              0.021077474032413668
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2736241871415266,
+              0.20751617276403733,
+              1.1046765069645081
+            ],
+            "current_z": 1.1046765069645081,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1947673772301456,
+            "gripper_z": 1.1046764681018253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2736241226815198,
+              0.2075162110566746,
+              1.1046764681018253
+            ],
+            "object_minus_gripper": [
+              6.446000677673425e-08,
+              -3.8292637255521456e-08,
+              3.886268284958305e-08
+            ],
+            "object_to_gripper_xy": 7.497611980917374e-08,
+            "object_to_gripper_z": 3.886268284958305e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2736241871415266,
+              0.20751617276403733,
+              1.1046765069645081
+            ],
+            "finger_b": [
+              0.2736241871415266,
+              0.20751617276403733,
+              1.1046765069645081
+            ],
+            "finger_midpoint": [
+              0.2736241871415266,
+              0.20751617276403733,
+              1.1046765069645081
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046765069645081,
+            "object_top_z": 1.2296850135847879,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2736241871415266,
+            0.20751617276403733,
+            1.1046765069645081
+          ],
+          "object_origin_world": [
+            0.2736241871415266,
+            0.20751617276403733,
+            1.1046765069645081
+          ],
+          "frame_world": [
+            0.2736241226815198,
+            0.2075162110566746,
+            1.1046764681018253
+          ],
+          "center_minus_frame": [
+            6.446000677673425e-08,
+            -3.8292637255521456e-08,
+            3.886268284958305e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437484231475376,
+            "required_z": 0.9112598475763798,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017077492832421742,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.075758529615154e-08,
+            "max_target_xy_drift": 1.0923728052735955e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6404111559952399,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6404111560396315,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2681925279202959,
+              -0.36391474363367143,
+              0.9234390348705138
+            ],
+            "target_mouth_xy": [
+              0.26932768092762904,
+              -0.3652085200766741
+            ],
+            "rod_tip_z": 0.9234390348705138,
+            "rod_tip_depth": -0.02217918710396871,
+            "rod_tip_bottom_clearance": 0.12161974089482785,
+            "rod_tip_xy_dist": 0.001721171064864289,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044471916438210024,
+            "min_rod_tip_bottom_clearance": 0.05496862785555201,
+            "min_rod_tip_xy_dist": 0.0007645410177387224,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26932768036351973,
+              -0.36520848932426225
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.641093148156529e-10,
+              -3.075241183925215e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.000560997721796741,
+                0.002946779724099291
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006636479575832244,
+                0.00256216798766834
+              ],
+              "first_target_mouth_xy": [
+                0.2693277138079967,
+                -0.3652085181502321
+              ],
+              "last_target_mouth_xy": [
+                0.26932767989359885,
+                -0.3652085200828442
+              ],
+              "first_rod_tip_xy": [
+                0.26876671608619995,
+                -0.3622617384261328
+              ],
+              "last_rod_tip_xy": [
+                0.2686640319360156,
+                -0.3626463520951759
+              ],
+              "min_rod_tip_xy_dist": 0.0026467212563163534,
+              "max_rod_tip_xy_dist": 0.002999704849851703,
+              "first_target_xy_drift": 4.415279805784343e-08,
+              "last_target_xy_drift": 3.076217140865814e-08,
+              "max_depth": 0.01945763703048231,
+              "min_bottom_clearance": 0.07998295634139996
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.000560997721796741,
+                  0.002946779724099291
+                ],
+                "rod_tip_xy": [
+                  0.26876671608619995,
+                  -0.3622617384261328
+                ],
+                "target_mouth_xy": [
+                  0.2693277138079967,
+                  -0.3652085181502321
+                ],
+                "gripper_position": [
+                  0.26875596475500546,
+                  -0.3622694133506281,
+                  1.0061163336389234
+                ],
+                "rod_tip_xy_dist": 0.002999704849851703,
+                "target_xy_drift": 4.415279805784343e-08,
+                "depth": 0.01500065808819595,
+                "bottom_clearance": 0.08443994045609371,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005717148001592731,
+                  0.00293907502125762
+                ],
+                "rod_tip_xy": [
+                  0.2687559647550054,
+                  -0.36226941335062807
+                ],
+                "target_mouth_xy": [
+                  0.2693276795551647,
+                  -0.3652084883718857
+                ],
+                "gripper_position": [
+                  0.2687480193744208,
+                  -0.36227124888480444,
+                  1.005991311298255
+                ],
+                "rod_tip_xy_dist": 0.002994164289631021,
+                "target_xy_drift": 1.249183337453586e-09,
+                "depth": 0.015143524443947731,
+                "bottom_clearance": 0.0842970195366155,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005796619390701641,
+                  0.0029372397992515897
+                ],
+                "rod_tip_xy": [
+                  0.2687480193744208,
+                  -0.3622712488848044
+                ],
+                "target_mouth_xy": [
+                  0.26932768131349094,
+                  -0.365208488684056
+                ],
+                "gripper_position": [
+                  0.26875205118340706,
+                  -0.3623337159378011,
+                  1.0054677984119218
+                ],
+                "rod_tip_xy_dist": 0.002993891381114903,
+                "target_xy_drift": 1.1455607282527864e-09,
+                "depth": 0.01526850545306735,
+                "bottom_clearance": 0.08417199540149534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005756275514857689,
+                  0.0028747733966498767
+                ],
+                "rod_tip_xy": [
+                  0.26875205118340706,
+                  -0.362333715937801
+                ],
+                "target_mouth_xy": [
+                  0.26932767873489283,
+                  -0.3652084893344509
+                ],
+                "gripper_position": [
+                  0.2687412548494135,
+                  -0.3623412010166232,
+                  1.005324530406104
+                ],
+                "rod_tip_xy_dist": 0.0029318371646657616,
+                "target_xy_drift": 1.6286587695288774e-09,
+                "depth": 0.015792098679161093,
+                "bottom_clearance": 0.08364850459452855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005864557167043483,
+                  0.0028672876745527986
+                ],
+                "rod_tip_xy": [
+                  0.26874125484941347,
+                  -0.3623412010166232
+                ],
+                "target_mouth_xy": [
+                  0.2693277105661178,
+                  -0.365208488691176
+                ],
+                "gripper_position": [
+                  0.26873308398701773,
+                  -0.3623429611187546,
+                  1.005199827455162
+                ],
+                "rod_tip_xy_dist": 0.00292664806840481,
+                "target_xy_drift": 3.0209232521464304e-08,
+                "depth": 0.015935293522549854,
+                "bottom_clearance": 0.0835052093000046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005945968930743395,
+                  0.002865528202262213
+                ],
+                "rod_tip_xy": [
+                  0.26873308398701773,
+                  -0.36234296111875447
+                ],
+                "target_mouth_xy": [
+                  0.26932768088009207,
+                  -0.3652084893210167
+                ],
+                "gripper_position": [
+                  0.26873783350257474,
+                  -0.36240685496804065,
+                  1.00467665947952
+                ],
+                "rod_tip_xy_dist": 0.0029265675019062463,
+                "target_xy_drift": 5.165825361496271e-10,
+                "depth": 0.01606000441077038,
+                "bottom_clearance": 0.08338051674793046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005898451922250469,
+                  0.00280163468348793
+                ],
+                "rod_tip_xy": [
+                  0.26873783350257474,
+                  -0.36240685496804054
+                ],
+                "target_mouth_xy": [
+                  0.2693276786947998,
+                  -0.36520848965152847
+                ],
+                "gripper_position": [
+                  0.26872678194893207,
+                  -0.362414316623703,
+                  1.004533857323767
+                ],
+                "rod_tip_xy_dist": 0.00286305330905897,
+                "target_xy_drift": 1.7005085748346103e-09,
+                "depth": 0.016583244594055135,
+                "bottom_clearance": 0.08285737166146212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00060092889115404,
+                  0.002794171113981503
+                ],
+                "rod_tip_xy": [
+                  0.26872678194893207,
+                  -0.362414316623703
+                ],
+                "target_mouth_xy": [
+                  0.2693277108400861,
+                  -0.3652084877376845
+                ],
+                "gripper_position": [
+                  0.268718712884525,
+                  -0.3624157304391238,
+                  1.0044090582895595
+                ],
+                "rod_tip_xy_dist": 0.0028580601369516804,
+                "target_xy_drift": 3.051783621750445e-08,
+                "depth": 0.016725966344165677,
+                "bottom_clearance": 0.0827145423697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006089974834971867,
+                  0.00279275920251415
+                ],
+                "rod_tip_xy": [
+                  0.268718712884525,
+                  -0.36241573043912373
+                ],
+                "target_mouth_xy": [
+                  0.26932771036802217,
+                  -0.3652084896416379
+                ],
+                "gripper_position": [
+                  0.26872407253156727,
+                  -0.3624806557401041,
+                  1.0038879502595195
+                ],
+                "rod_tip_xy_dist": 0.0028583879894327462,
+                "target_xy_drift": 3.0006180927439954e-08,
+                "depth": 0.01685078893523817,
+                "bottom_clearance": 0.08258975577706373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.000603607668835715,
+                  0.0027278323167634344
+                ],
+                "rod_tip_xy": [
+                  0.26872407253156727,
+                  -0.3624806557401041
+                ],
+                "target_mouth_xy": [
+                  0.269327680200403,
+                  -0.3652084880568675
+                ],
+                "gripper_position": [
+                  0.2687129223496846,
+                  -0.3624882691934834,
+                  1.003744956657278
+                ],
+                "rod_tip_xy_dist": 0.0027938166307501736,
+                "target_xy_drift": 1.2778483910638893e-09,
+                "depth": 0.017371893526489712,
+                "bottom_clearance": 0.0820686364770904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006147584873149592,
+                  0.0027202194923767187
+                ],
+                "rod_tip_xy": [
+                  0.2687129223496846,
+                  -0.36248826919348337
+                ],
+                "target_mouth_xy": [
+                  0.26932768083699954,
+                  -0.3652084886858601
+                ],
+                "gripper_position": [
+                  0.2687046861483069,
+                  -0.3624896046694623,
+                  1.0036206464498794
+                ],
+                "rod_tip_xy_dist": 0.0027888209129365103,
+                "target_xy_drift": 7.948210206943652e-10,
+                "depth": 0.01751486495652821,
+                "bottom_clearance": 0.08192563488698967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006229959974171084,
+                  0.0027188843250765538
+                ],
+                "rod_tip_xy": [
+                  0.2687046861483069,
+                  -0.3624896046694623
+                ],
+                "target_mouth_xy": [
+                  0.269327682145724,
+                  -0.36520848899453884
+                ],
+                "gripper_position": [
+                  0.2686964359143837,
+                  -0.3624909606427711,
+                  1.0034958327903885
+                ],
+                "rod_tip_xy_dist": 0.0027893468744393775,
+                "target_xy_drift": 1.812448510007636e-09,
+                "depth": 0.017639182613821913,
+                "bottom_clearance": 0.08180136153794393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006312422283377139,
+                  0.0027175597671686424
+                ],
+                "rod_tip_xy": [
+                  0.2686964359143837,
+                  -0.36249096064277103
+                ],
+                "target_mouth_xy": [
+                  0.2693276781427214,
+                  -0.3652085204099397
+                ],
+                "gripper_position": [
+                  0.26870318727943476,
+                  -0.3625580207525847,
+                  1.0029768716178935
+                ],
+                "rod_tip_xy_dist": 0.0027899100055325168,
+                "target_xy_drift": 3.1164904715353864e-08,
+                "depth": 0.017764105387622187,
+                "bottom_clearance": 0.08167656639760434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006244939827926288,
+                  0.0026504676080107425
+                ],
+                "rod_tip_xy": [
+                  0.26870318727943476,
+                  -0.36255802075258464
+                ],
+                "target_mouth_xy": [
+                  0.2693276812622274,
+                  -0.3652084883605954
+                ],
+                "gripper_position": [
+                  0.26869191207819876,
+                  -0.36256539367102475,
+                  1.0028342139767872
+                ],
+                "rod_tip_xy_dist": 0.0027230444865367857,
+                "target_xy_drift": 1.3176984854450704e-09,
+                "depth": 0.018282882414712875,
+                "bottom_clearance": 0.08115761113817721,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006358005428621083,
+                  0.00264309531820478
+                ],
+                "rod_tip_xy": [
+                  0.2686919120781987,
+                  -0.36256539367102464
+                ],
+                "target_mouth_xy": [
+                  0.2693277126210608,
+                  -0.3652084889892294
+                ],
+                "gripper_position": [
+                  0.26868347171642537,
+                  -0.3625667204689878,
+                  1.0027093021881324
+                ],
+                "rod_tip_xy_dist": 0.0027184913447388017,
+                "target_xy_drift": 3.225928089253373e-08,
+                "depth": 0.018425680088300145,
+                "bottom_clearance": 0.08101489002171369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006442101936013356,
+                  0.0026417678961310753
+                ],
+                "rod_tip_xy": [
+                  0.2686834717164253,
+                  -0.3625667204689878
+                ],
+                "target_mouth_xy": [
+                  0.26932768191002665,
+                  -0.3652084883651189
+                ],
+                "gripper_position": [
+                  0.268675185238109,
+                  -0.36256800443298665,
+                  1.0025848762655594
+                ],
+                "rod_tip_xy_dist": 0.002719180830796047,
+                "target_xy_drift": 1.8197911080168239e-09,
+                "depth": 0.018550456801060267,
+                "bottom_clearance": 0.08089006125910558,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006524973942154122,
+                  0.0026404851970725507
+                ],
+                "rod_tip_xy": [
+                  0.268675185238109,
+                  -0.3625680044329866
+                ],
+                "target_mouth_xy": [
+                  0.2693276826323244,
+                  -0.36520848963005914
+                ],
+                "gripper_position": [
+                  0.2686667034338194,
+                  -0.3625695609457873,
+                  1.0024602964772256
+                ],
+                "rod_tip_xy_dist": 0.002719910830416536,
+                "target_xy_drift": 2.289320095973847e-09,
+                "depth": 0.018675027662819033,
+                "bottom_clearance": 0.08076555781235728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000660979119208871,
+                  0.0026389280516019853
+                ],
+                "rod_tip_xy": [
+                  0.2686667034338193,
+                  -0.36256956094578724
+                ],
+                "target_mouth_xy": [
+                  0.2693276825530282,
+                  -0.3652084889973892
+                ],
+                "gripper_position": [
+                  0.26867549723427536,
+                  -0.36263919724477905,
+                  1.0019447789660756
+                ],
+                "rod_tip_xy_dist": 0.0027204475105324097,
+                "target_xy_drift": 2.21377354041907e-09,
+                "depth": 0.018799535960758118,
+                "bottom_clearance": 0.08064102411566132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006521823377804714,
+                  0.0025692930355802335
+                ],
+                "rod_tip_xy": [
+                  0.26867549723427536,
+                  -0.36263919724477894
+                ],
+                "target_mouth_xy": [
+                  0.26932767957205583,
+                  -0.3652084902803592
+                ],
+                "gripper_position": [
+                  0.2686640319360156,
+                  -0.362646352095176,
+                  1.0018022421758823
+                ],
+                "rod_tip_xy_dist": 0.002650775076160535,
+                "target_xy_drift": 1.2411834771614262e-09,
+                "depth": 0.019315050372388343,
+                "bottom_clearance": 0.08012555522857523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0006636479575832244,
+                  0.00256216798766834
+                ],
+                "rod_tip_xy": [
+                  0.2686640319360156,
+                  -0.3626463520951759
+                ],
+                "target_mouth_xy": [
+                  0.26932767989359885,
+                  -0.3652085200828442
+                ],
+                "gripper_position": [
+                  0.2686554573140658,
+                  -0.36264775165112484,
+                  1.0016779514961256
+                ],
+                "rod_tip_xy_dist": 0.0026467212563163534,
+                "target_xy_drift": 3.076217140865814e-08,
+                "depth": 0.01945763703048231,
+                "bottom_clearance": 0.07998295634139996,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.00059463734664703,
+              "rod_tip_xy_max_step": 3.218522049863605e-05,
+              "rod_tip_xy_range": 0.0005946296305917803,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2681925279202959,
+            -0.36391474363367143,
+            1.0434390348705138
+          ],
+          "object_origin_world": [
+            0.2681925279202959,
+            -0.36391474363367143,
+            1.0434390348705138
+          ],
+          "frame_world": [
+            0.2682174515219762,
+            -0.3639109075454315,
+            1.0437484231475376
+          ],
+          "center_minus_frame": [
+            -2.492360168027119e-05,
+            -3.836088239950186e-06,
+            -0.0003093882770237588
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25958176022439994,
+              0.1606306077908524,
+              0.8325465227969038
+            ],
+            "target_position": [
+              0.27378379746947396,
+              0.2067350776726174,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048242305137597294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1666949477347502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325465227969038,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672044778967,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1363373470956183,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fca143b8e07a442500c1b79f2670c20864e6b68c9dba67a2df53932fd5c216aa",
+    "visual_seed": 1643637935414422640,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f101b8b74a3a381ed3407efa34e33c683f172b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_26_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19944660610563103,
+              -0.10614207352594779,
+              1.162730937776246
+            ],
+            "current_z": 1.162730937776246,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30162448936612485,
+            "gripper_z": 1.1566492625306255,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19478544037287904,
+              -0.11063194531510916,
+              1.1566492625306255
+            ],
+            "object_minus_gripper": [
+              0.004661165732751993,
+              0.004489871789161368,
+              0.0060816752456205325
+            ],
+            "object_to_gripper_xy": 0.0064718942104524954,
+            "object_to_gripper_z": 0.0060816752456205325,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19944660610563103,
+              -0.13011447718062422,
+              1.162730937776246
+            ],
+            "finger_b": [
+              0.18936357806541915,
+              -0.10614207352594779,
+              1.162730937776246
+            ],
+            "finger_midpoint": [
+              0.1944050920855251,
+              -0.118128275353286,
+              1.162730937776246
+            ],
+            "object_minus_finger_midpoint": [
+              0.005041514020105942,
+              0.011986201827338214,
+              0.0
+            ],
+            "finger_gap": 0.026006606688348304,
+            "fingertip_max_gap": 0.09224244025615316,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013003303344174152,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162730937776246,
+            "object_top_z": 1.2129718717772955,
+            "finger_top_clearance": 0.05024093400104945,
+            "fingertip_min_top_clearance": 0.015072280200314835,
+            "object_projection_between_fingers": 0.849680760273233,
+            "object_to_finger_line_xy": 0.009294346668828392,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048621220128076584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.32414323826296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2657906608354449,
+              -0.3683499273107897,
+              0.8515395835917292
+            ],
+            "target_position": [
+              0.2594735945249446,
+              -0.36821892911267506,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006318424431705014,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833680960417005,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395835917292,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555365645202265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08738128799880797,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15108711951162018,
+            "release_required_pad_clearance": 0.053690643999403986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.390680119011457,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007506191730499268,
+            "max_z_decrease": 0.007506191730499268,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509471277235387,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007506191730499268,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02114070470848558,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007506191730499268,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007506214278336407,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11517351865768431,
+              -0.4244803786277771,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11517351865768431,
+              -0.4244803786277771,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11414789632532521,
+              -0.42513827940827625,
+              0.8079194508195244
+            ],
+            "closest_button": [
+              0.11516500264406203,
+              -0.4244753122329712,
+              0.7728457450866699
+            ],
+            "closest_ee_minus_button": [
+              -0.0010171063187368184,
+              -0.0006629671753050626,
+              0.03507370573285451
+            ],
+            "button_min_z_position": [
+              0.11515574902296065,
+              -0.42447561025619507,
+              0.7693026661872864
+            ],
+            "min_active_finger_to_button": 0.14712565947227688,
+            "closest_active_finger": [
+              -0.026936426758766174,
+              -0.4083479344844818,
+              0.8110157251358032
+            ],
+            "closest_active_finger_button": [
+              0.1151737868785858,
+              -0.4244799017906189,
+              0.7765134572982788
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142110213637352,
+              0.016131967306137085,
+              0.034502267837524414
+            ],
+            "min_contact_pad_to_button": 0.02114070470848558,
+            "closest_contact_pad": [
+              0.11515574902296065,
+              -0.4263210518452354,
+              0.7903626695327948
+            ],
+            "closest_contact_pad_button": [
+              0.11515574902296065,
+              -0.42447561025619507,
+              0.7693026661872864
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018454415890403197,
+              0.021060003345508393
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.29171773309220816,
+              0.2029165559734091,
+              1.1054677614595758
+            ],
+            "current_z": 1.1054677614595758,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19555863172521326,
+            "gripper_z": 1.1054678586090787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.29171771384351575,
+              0.20291654420757627,
+              1.1054678586090787
+            ],
+            "object_minus_gripper": [
+              1.9248692417761504e-08,
+              1.176583283579724e-08,
+              -9.714950288675084e-08
+            ],
+            "object_to_gripper_xy": 2.2559853326507105e-08,
+            "object_to_gripper_z": -9.714950288675084e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29171773309220816,
+              0.2029165559734091,
+              1.1054677614595758
+            ],
+            "finger_b": [
+              0.29171773309220816,
+              0.2029165559734091,
+              1.1054677614595758
+            ],
+            "finger_midpoint": [
+              0.29171773309220816,
+              0.2029165559734091,
+              1.1054677614595758
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1054677614595758,
+            "object_top_z": 1.2304762680798556,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 156,
+            "max_stable_success_frames": 156,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2917177330922082,
+            0.20291655597340913,
+            1.105467761459576
+          ],
+          "object_origin_world": [
+            0.2917177330922082,
+            0.20291655597340913,
+            1.105467761459576
+          ],
+          "frame_world": [
+            0.29171771384351575,
+            0.20291654420757627,
+            1.1054678586090787
+          ],
+          "center_minus_frame": [
+            1.9248692473272655e-08,
+            1.1765832863552816e-08,
+            -9.714950266470623e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043373442275586,
+            "required_z": 0.9112598140361206,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007007016277286423,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.3513357077468834e-08,
+            "max_target_xy_drift": 1.2313452694170993e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3906801163557296,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.390680122215714,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2651570988044143,
+              -0.368047332554182,
+              0.9234866388340418
+            ],
+            "target_mouth_xy": [
+              0.2657906472944217,
+              -0.3683499254159186
+            ],
+            "rod_tip_z": 0.9234866388340418,
+            "rod_tip_depth": -0.02222668435018693,
+            "rod_tip_bottom_clearance": 0.1216674585359857,
+            "rod_tip_xy_dist": 0.0007021012243007566,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045064678051233376,
+            "min_rod_tip_bottom_clearance": 0.054375901059484644,
+            "min_rod_tip_xy_dist": 0.0007021012243007566,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26579065683977543,
+              -0.36834995754116295
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.54535372965637e-09,
+              3.212524435358688e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -1.4746452144109856e-05,
+                0.0019573370526739797
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00012761883337253366,
+                0.001577737529183998
+              ],
+              "first_target_mouth_xy": [
+                0.2657906607318056,
+                -0.3683498956476833
+              ],
+              "last_target_mouth_xy": [
+                0.2657906892771146,
+                -0.3683498953153955
+              ],
+              "first_rod_tip_xy": [
+                0.26577591427966146,
+                -0.3663925585950093
+              ],
+              "last_rod_tip_xy": [
+                0.26566307044374204,
+                -0.36677215778621153
+              ],
+              "min_rod_tip_xy_dist": 0.0015828904818802193,
+              "max_rod_tip_xy_dist": 0.001957392601299315,
+              "first_target_xy_drift": 6.201572965694563e-08,
+              "last_target_xy_drift": 7.017283735865819e-08,
+              "max_depth": 0.019436156987981956,
+              "min_bottom_clearance": 0.08000452772699806
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -1.4746452144109856e-05,
+                  0.0019573370526739797
+                ],
+                "rod_tip_xy": [
+                  0.26577591427966146,
+                  -0.3663925585950093
+                ],
+                "target_mouth_xy": [
+                  0.2657906607318056,
+                  -0.3683498956476833
+                ],
+                "gripper_position": [
+                  0.2657772580851944,
+                  -0.3664555873488949,
+                  1.0057347414717865
+                ],
+                "rod_tip_xy_dist": 0.001957392601299315,
+                "target_xy_drift": 6.201572965694563e-08,
+                "depth": 0.015001509813768465,
+                "bottom_clearance": 0.0844392089760525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -1.3401488037911857e-05,
+                  0.0018943397066025214
+                ],
+                "rod_tip_xy": [
+                  0.2657772580851943,
+                  -0.36645558734889483
+                ],
+                "target_mouth_xy": [
+                  0.2657906595732322,
+                  -0.36834992705549735
+                ],
+                "gripper_position": [
+                  0.2657664771198609,
+                  -0.36646345933505775,
+                  1.0055926301878377
+                ],
+                "rod_tip_xy_dist": 0.0018943871103585341,
+                "target_xy_drift": 3.06079661739634e-08,
+                "depth": 0.015525164244311496,
+                "bottom_clearance": 0.08391545182861826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -2.4150313039428273e-05,
+                  0.001886468086040205
+                ],
+                "rod_tip_xy": [
+                  0.26576647711986084,
+                  -0.36646345933505775
+                ],
+                "target_mouth_xy": [
+                  0.2657906274329003,
+                  -0.36834992742109796
+                ],
+                "gripper_position": [
+                  0.26575868082015136,
+                  -0.3664652102944558,
+                  1.0054676765707322
+                ],
+                "rod_tip_xy_dist": 0.0018866226642516772,
+                "target_xy_drift": 4.209492394547509e-08,
+                "depth": 0.01566719238777181,
+                "bottom_clearance": 0.08377332363557355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -3.19784140078716e-05,
+                  0.0018846863219734722
+                ],
+                "rod_tip_xy": [
+                  0.26575868082015125,
+                  -0.3664652102944558
+                ],
+                "target_mouth_xy": [
+                  0.2657906592341591,
+                  -0.36834989661642925
+                ],
+                "gripper_position": [
+                  0.26576093528776307,
+                  -0.36652933274593413,
+                  1.0049441642633046
+                ],
+                "rod_tip_xy_dist": 0.0018849575993099563,
+                "target_xy_drift": 6.09717660066992e-08,
+                "depth": 0.015792238270439407,
+                "bottom_clearance": 0.08364838901771043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -2.9692180373463994e-05,
+                  0.0018205946637264159
+                ],
+                "rod_tip_xy": [
+                  0.26576093528776296,
+                  -0.36652933274593424
+                ],
+                "target_mouth_xy": [
+                  0.2657906274681364,
+                  -0.36834992740966066
+                ],
+                "gripper_position": [
+                  0.2657500805879057,
+                  -0.36653711073956863,
+                  1.0048018798889333
+                ],
+                "rod_tip_xy_dist": 0.0018208367733447257,
+                "target_xy_drift": 4.207850530345484e-08,
+                "depth": 0.016315658774658792,
+                "bottom_clearance": 0.08312485897739086,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -4.0581006408413334e-05,
+                  0.0018127848737568009
+                ],
+                "rod_tip_xy": [
+                  0.26575008058790567,
+                  -0.36653711073956863
+                ],
+                "target_mouth_xy": [
+                  0.2657906615943141,
+                  -0.36834989561332543
+                ],
+                "gripper_position": [
+                  0.2657421654870098,
+                  -0.36653870886159456,
+                  1.004677381111314
+                ],
+                "rod_tip_xy_dist": 0.0018132390401164927,
+                "target_xy_drift": 6.211008531851467e-08,
+                "depth": 0.016458070251145762,
+                "bottom_clearance": 0.08298268171106582,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -4.84605369186486e-05,
+                  0.0018112198437199578
+                ],
+                "rod_tip_xy": [
+                  0.2657421654870097,
+                  -0.36653870886159456
+                ],
+                "target_mouth_xy": [
+                  0.26579062602392833,
+                  -0.3683499287053145
+                ],
+                "gripper_position": [
+                  0.2657450123575,
+                  -0.36660401645221247,
+                  1.004155382389637
+                ],
+                "rod_tip_xy_dist": 0.0018118680266298074,
+                "target_xy_drift": 4.220334805455533e-08,
+                "depth": 0.016582474604572517,
+                "bottom_clearance": 0.08285807477327689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -4.561666903352135e-05,
+                  0.0017458811399523322
+                ],
+                "rod_tip_xy": [
+                  0.26574501235749987,
+                  -0.3666040164522124
+                ],
+                "target_mouth_xy": [
+                  0.2657906290265334,
+                  -0.36834989759216474
+                ],
+                "gripper_position": [
+                  0.26573391043259276,
+                  -0.36661158425633006,
+                  1.0040129707532808
+                ],
+                "rod_tip_xy_dist": 0.0017464769781863627,
+                "target_xy_drift": 6.608675222251834e-08,
+                "depth": 0.017104511785487886,
+                "bottom_clearance": 0.08233606412908545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -5.671865642864482e-05,
+                  0.001738343791227892
+                ],
+                "rod_tip_xy": [
+                  0.26573391043259265,
+                  -0.36661158425633
+                ],
+                "target_mouth_xy": [
+                  0.2657906290890213,
+                  -0.3683499280475579
+                ],
+                "gripper_position": [
+                  0.265725964541665,
+                  -0.36661298516431096,
+                  1.0038885418566958
+                ],
+                "rod_tip_xy_dist": 0.0017392688528481248,
+                "target_xy_drift": 4.0496630657594614e-08,
+                "depth": 0.017246919138794614,
+                "bottom_clearance": 0.0821936490026215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -6.472220693065633e-05,
+                  0.0017369140360651292
+                ],
+                "rod_tip_xy": [
+                  0.26572596454166497,
+                  -0.36661298516431096
+                ],
+                "target_mouth_xy": [
+                  0.26579068674859563,
+                  -0.3683498992003761
+                ],
+                "gripper_position": [
+                  0.2657294677813318,
+                  -0.3666790225347664,
+                  1.0033699252109451
+                ],
+                "rod_tip_xy_dist": 0.0017381194817244388,
+                "target_xy_drift": 6.556054406462491e-08,
+                "depth": 0.017371288217587266,
+                "bottom_clearance": 0.08206923481168416,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -6.118722578374314e-05,
+                  0.0016708443335016199
+                ],
+                "rod_tip_xy": [
+                  0.26572946778133166,
+                  -0.3666790225347665
+                ],
+                "target_mouth_xy": [
+                  0.2657906550071154,
+                  -0.3683498668682681
+                ],
+                "gripper_position": [
+                  0.26571841426641585,
+                  -0.36668654643378945,
+                  1.0032275892235776
+                ],
+                "rod_tip_xy_dist": 0.001671964312834931,
+                "target_xy_drift": 9.069141362273564e-08,
+                "depth": 0.017889967029204867,
+                "bottom_clearance": 0.08155063905493154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -7.227595788095176e-05,
+                  0.0016633244436109473
+                ],
+                "rod_tip_xy": [
+                  0.26571841426641574,
+                  -0.3666865464337894
+                ],
+                "target_mouth_xy": [
+                  0.2657906902242967,
+                  -0.36834987087740034
+                ],
+                "gripper_position": [
+                  0.26571020102129583,
+                  -0.36668825672033534,
+                  1.0031033430817153
+                ],
+                "rod_tip_xy_dist": 0.001664893996265611,
+                "target_xy_drift": 9.287159958514914e-08,
+                "depth": 0.01803235661359215,
+                "bottom_clearance": 0.0814083555882893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -8.045451458976727e-05,
+                  0.0016616418586417048
+                ],
+                "rod_tip_xy": [
+                  0.2657102010212958,
+                  -0.36668825672033534
+                ],
+                "target_mouth_xy": [
+                  0.26579065553588554,
+                  -0.36834989857897704
+                ],
+                "gripper_position": [
+                  0.26570198919025545,
+                  -0.3666897057383435,
+                  1.002978990779784
+                ],
+                "rod_tip_xy_dist": 0.001663588469336132,
+                "target_xy_drift": 5.8976601260964996e-08,
+                "depth": 0.018156515073253665,
+                "bottom_clearance": 0.08128403295056952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -8.869731762578548e-05,
+                  0.001660191561491442
+                ],
+                "rod_tip_xy": [
+                  0.2657019891902554,
+                  -0.3666897057383435
+                ],
+                "target_mouth_xy": [
+                  0.2657906865078812,
+                  -0.3683498972998349
+                ],
+                "gripper_position": [
+                  0.2656937782897739,
+                  -0.36669117688452,
+                  1.0028550244220389
+                ],
+                "rod_tip_xy_dist": 0.0016625592425539013,
+                "target_xy_drift": 6.715068206991814e-08,
+                "depth": 0.018280837998224997,
+                "bottom_clearance": 0.08115967880576302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -9.69078184729355e-05,
+                  0.0016587223160945963
+                ],
+                "rod_tip_xy": [
+                  0.2656937782897738,
+                  -0.3666911768845199
+                ],
+                "target_mouth_xy": [
+                  0.26579068610824674,
+                  -0.3683498992006145
+                ],
+                "gripper_position": [
+                  0.26569925754483426,
+                  -0.3667603991162906,
+                  1.0023377600097612
+                ],
+                "rod_tip_xy_dist": 0.001661550735665753,
+                "target_xy_drift": 6.527069025375207e-08,
+                "depth": 0.01840482272154531,
+                "bottom_clearance": 0.08103572003044646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -9.149157304844113e-05,
+                  0.001589495894771198
+                ],
+                "rod_tip_xy": [
+                  0.26569925754483414,
+                  -0.36676039911629055
+                ],
+                "target_mouth_xy": [
+                  0.2657907491178826,
+                  -0.36834989501106175
+                ],
+                "gripper_position": [
+                  0.2656880253815961,
+                  -0.3667677676957891,
+                  1.0021956860168144
+                ],
+                "rod_tip_xy_dist": 0.0015921268502959711,
+                "target_xy_drift": 1.114686620413648e-07,
+                "depth": 0.018922187465005735,
+                "bottom_clearance": 0.08051851733222615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00010265977097867474,
+                  0.0015821328153583503
+                ],
+                "rod_tip_xy": [
+                  0.26568802538159597,
+                  -0.3667677676957891
+                ],
+                "target_mouth_xy": [
+                  0.26579068515257465,
+                  -0.36834990051114747
+                ],
+                "gripper_position": [
+                  0.2656796820128442,
+                  -0.3667694198015644,
+                  1.0020717393039256
+                ],
+                "rod_tip_xy_dist": 0.0015854599566091645,
+                "target_xy_drift": 6.36713221631389e-08,
+                "depth": 0.019064214585407302,
+                "bottom_clearance": 0.08037641233794501,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00011100605024716437,
+                  0.0015804764861288012
+                ],
+                "rod_tip_xy": [
+                  0.2656796820128441,
+                  -0.3667694198015644
+                ],
+                "target_mouth_xy": [
+                  0.26579068806309125,
+                  -0.3683498962876932
+                ],
+                "gripper_position": [
+                  0.26567134834055384,
+                  -0.36677087653474205,
+                  1.0019474076229236
+                ],
+                "rod_tip_xy_dist": 0.00158436999037394,
+                "target_xy_drift": 6.875233091463429e-08,
+                "depth": 0.019188174480971543,
+                "bottom_clearance": 0.08025242909018104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00011931020722150132,
+                  0.0015790498678611709
+                ],
+                "rod_tip_xy": [
+                  0.2656713483405538,
+                  -0.36677087653474205
+                ],
+                "target_mouth_xy": [
+                  0.2657906585477753,
+                  -0.3683499264026032
+                ],
+                "gripper_position": [
+                  0.26566307044374216,
+                  -0.3667721577862115,
+                  1.0018237832465533
+                ],
+                "rod_tip_xy_dist": 0.0015835508866909262,
+                "target_xy_drift": 3.11853678124628e-08,
+                "depth": 0.01931244294783696,
+                "bottom_clearance": 0.0801281595717468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00012761883337253366,
+                  0.001577737529183998
+                ],
+                "rod_tip_xy": [
+                  0.26566307044374204,
+                  -0.36677215778621153
+                ],
+                "target_mouth_xy": [
+                  0.2657906892771146,
+                  -0.3683498953153955
+                ],
+                "gripper_position": [
+                  0.26565465036176045,
+                  -0.3667736674253759,
+                  1.0016995263362365
+                ],
+                "rod_tip_xy_dist": 0.0015828904818802193,
+                "target_xy_drift": 7.017283735865819e-08,
+                "depth": 0.019436156987981956,
+                "bottom_clearance": 0.08000452772699806,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006017828087933009,
+              "rod_tip_xy_max_step": 3.250277998819485e-05,
+              "rod_tip_xy_range": 0.0006017731313204149,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26515709880441435,
+            -0.368047332554182,
+            1.043486638834042
+          ],
+          "object_origin_world": [
+            0.26515709880441435,
+            -0.368047332554182,
+            1.043486638834042
+          ],
+          "frame_world": [
+            0.2651556232502502,
+            -0.36805373757952814,
+            1.043373442275586
+          ],
+          "center_minus_frame": [
+            1.4755541641320313e-06,
+            6.405025346156723e-06,
+            0.00011319655845598575
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26799204090500445,
+              0.16127809069252988,
+              0.8321338116115782
+            ],
+            "target_position": [
+              0.2834369092605719,
+              0.20694967356179628,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04821241997976328,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16687305746808512,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321338116115782,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674947166332,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13627049257961263,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 321,
+            "max_placed_release_frames": 321
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d13a7e800d741f167801b48e442d404bee85ed951f8a22284d220f167518dd1",
+    "visual_seed": 6178169800636270670,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a043fe68b025fb8cb284a122d78ffb1fe158396a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_27_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20366256730603705,
+              -0.10210876235429658,
+              1.164874615492586
+            ],
+            "current_z": 1.164874615492586,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3037681670824647,
+            "gripper_z": 1.1588143501273964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19888612724748492,
+              -0.10662825860470834,
+              1.1588143501273964
+            ],
+            "object_minus_gripper": [
+              0.004776440058552128,
+              0.004519496250411759,
+              0.006060265365189554
+            ],
+            "object_to_gripper_xy": 0.006575730072807689,
+            "object_to_gripper_z": 0.006060265365189554,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20366256730603705,
+              -0.1261679385713598,
+              1.164874615492586
+            ],
+            "finger_b": [
+              0.1936032413794494,
+              -0.10210876235429658,
+              1.164874615492586
+            ],
+            "finger_midpoint": [
+              0.19863290434274322,
+              -0.11413835046282819,
+              1.164874615492586
+            ],
+            "object_minus_finger_midpoint": [
+              0.005029662963293824,
+              0.012029588108531608,
+              0.0
+            ],
+            "finger_gap": 0.026077461501093597,
+            "fingertip_max_gap": 0.09235136570058022,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013038730750546798,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164874615492586,
+            "object_top_z": 1.2152968459934534,
+            "finger_top_clearance": 0.05042223050086747,
+            "fingertip_min_top_clearance": 0.01512666915026024,
+            "object_projection_between_fingers": 0.8511985601540847,
+            "object_to_finger_line_xy": 0.009280776623234423,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048675682850290114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1752996979674353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27492758277988844,
+              -0.37052858880348327,
+              0.8515395519060939
+            ],
+            "target_position": [
+              0.26858606188625506,
+              -0.3705446213877449,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006341541160328993,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832057660705699,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395519060939,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528739077145732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863842131808129,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15166636879119155,
+            "release_required_pad_clearance": 0.05319210659040645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4071994907932963,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008032739162445068,
+            "max_z_decrease": 0.008032739162445068,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511300018300978,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032739162445068,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105411144401954,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008032739162445068,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008032761184330392,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12428598850965498,
+              -0.42680609226226807,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12428598850965498,
+              -0.42680609226226807,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1223725429506102,
+              -0.426516417308667,
+              0.8076206858208748
+            ],
+            "closest_button": [
+              0.1242772042751312,
+              -0.4268010258674622,
+              0.7725605368614197
+            ],
+            "closest_ee_minus_button": [
+              -0.0019046613245209953,
+              0.0002846085587951963,
+              0.035060148959455084
+            ],
+            "button_min_z_position": [
+              0.12426829338073729,
+              -0.4267997145652771,
+              0.7687761187553406
+            ],
+            "min_active_finger_to_button": 0.14774764495056777,
+            "closest_active_finger": [
+              -0.0041223615407943726,
+              -0.4912751019001007,
+              0.8104609251022339
+            ],
+            "closest_active_finger_button": [
+              0.12428514659404753,
+              -0.42680594325065613,
+              0.7760428190231323
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12840750813484192,
+              -0.06446915864944458,
+              0.03441810607910156
+            ],
+            "min_contact_pad_to_button": 0.02105411144401954,
+            "closest_contact_pad": [
+              0.12426829338073729,
+              -0.42745092458888806,
+              0.7898201567281808
+            ],
+            "closest_contact_pad_button": [
+              0.12426829338073729,
+              -0.4267997145652771,
+              0.7687761187553406
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006512100236109597,
+              0.021044037972840268
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27764629569864224,
+              0.20739173230572075,
+              1.1021888119782655
+            ],
+            "current_z": 1.1021888119782655,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1922796822439029,
+            "gripper_z": 1.1021889500525557,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27764628049657647,
+              0.20739177754591853,
+              1.1021889500525557
+            ],
+            "object_minus_gripper": [
+              1.520206577287908e-08,
+              -4.524019778240351e-08,
+              -1.3807429022349993e-07
+            ],
+            "object_to_gripper_xy": 4.772607567309436e-08,
+            "object_to_gripper_z": -1.3807429022349993e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27764629569864224,
+              0.20739173230572075,
+              1.1021888119782655
+            ],
+            "finger_b": [
+              0.27764629569864224,
+              0.20739173230572075,
+              1.1021888119782655
+            ],
+            "finger_midpoint": [
+              0.27764629569864224,
+              0.20739173230572075,
+              1.1021888119782655
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021888119782655,
+            "object_top_z": 1.2271973185985452,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27764629569864224,
+            0.20739173230572078,
+            1.1021888119782655
+          ],
+          "object_origin_world": [
+            0.27764629569864224,
+            0.20739173230572078,
+            1.1021888119782655
+          ],
+          "frame_world": [
+            0.27764628049657647,
+            0.20739177754591853,
+            1.1021889500525557
+          ],
+          "center_minus_frame": [
+            1.520206577287908e-08,
+            -4.524019775464794e-08,
+            -1.3807429022349993e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436332833529023,
+            "required_z": 0.9112598229550231,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006624674200581566,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.2705889110423805e-07,
+            "max_target_xy_drift": 2.1752632258942748e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4071994911453127,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4077555940400883,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2742962427251578,
+              -0.37026528145169557,
+              0.9233289225508893
+            ],
+            "target_mouth_xy": [
+              0.2749276419908044,
+              -0.3705286183065992
+            ],
+            "rod_tip_z": 0.9233289225508893,
+            "rod_tip_depth": -0.022069099983914486,
+            "rod_tip_bottom_clearance": 0.12150963260241465,
+            "rod_tip_xy_dist": 0.0006841135372214199,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04492932907326863,
+            "min_rod_tip_bottom_clearance": 0.05451133242685491,
+            "min_rod_tip_xy_dist": 0.0006841135372214199,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27492766580561945,
+              -0.37052849349948247
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.381481506441574e-08,
+              -1.2480711675255662e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -7.132542449667101e-05,
+                0.002084160124529777
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00018085300676357052,
+                0.001722923582905156
+              ],
+              "first_target_mouth_xy": [
+                0.2749276401583806,
+                -0.37052861831953404
+              ],
+              "last_target_mouth_xy": [
+                0.2749277021766585,
+                -0.37052862113843976
+              ],
+              "first_rod_tip_xy": [
+                0.27485631473388394,
+                -0.36844445819500427
+              ],
+              "last_rod_tip_xy": [
+                0.27474684916989495,
+                -0.3688056975555346
+              ],
+              "min_rod_tip_xy_dist": 0.0017323895296919118,
+              "max_rod_tip_xy_dist": 0.002085380238915581,
+              "first_target_xy_drift": 1.274277290635261e-07,
+              "last_target_xy_drift": 1.3271983989471146e-07,
+              "max_depth": 0.01942715569979725,
+              "min_bottom_clearance": 0.08001348638440409
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -7.132542449667101e-05,
+                  0.002084160124529777
+                ],
+                "rod_tip_xy": [
+                  0.27485631473388394,
+                  -0.36844445819500427
+                ],
+                "target_mouth_xy": [
+                  0.2749276401583806,
+                  -0.37052861831953404
+                ],
+                "gripper_position": [
+                  0.2748456407382827,
+                  -0.3684530521028139,
+                  1.0058074097198089
+                ],
+                "rod_tip_xy_dist": 0.002085380238915581,
+                "target_xy_drift": 1.274277290635261e-07,
+                "depth": 0.015304450362141453,
+                "bottom_clearance": 0.08413606591719891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -8.203082876717671e-05,
+                  0.0020755373580849668
+                ],
+                "rod_tip_xy": [
+                  0.27484564073828266,
+                  -0.368453052102814
+                ],
+                "target_mouth_xy": [
+                  0.27492767156704984,
+                  -0.37052858946089895
+                ],
+                "gripper_position": [
+                  0.27483767693724315,
+                  -0.3684553572423045,
+                  1.0056782274746652
+                ],
+                "rod_tip_xy_dist": 0.0020771577652346374,
+                "target_xy_drift": 9.613421624433898e-08,
+                "depth": 0.015452421932671712,
+                "bottom_clearance": 0.08398812323507743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -9.002556738124667e-05,
+                  0.002073293703335255
+                ],
+                "rod_tip_xy": [
+                  0.2748376769372431,
+                  -0.3684553572423045
+                ],
+                "target_mouth_xy": [
+                  0.27492770250462434,
+                  -0.37052865094563975
+                ],
+                "gripper_position": [
+                  0.27484316892741817,
+                  -0.36852758916899964,
+                  1.0051525754195547
+                ],
+                "rod_tip_xy_dist": 0.002075247306484683,
+                "target_xy_drift": 1.6166666137982128e-07,
+                "depth": 0.01558170650870061,
+                "bottom_clearance": 0.08385894864300403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -8.450139578664029e-05,
+                  0.0020010294669503548
+                ],
+                "rod_tip_xy": [
+                  0.2748431689274181,
+                  -0.36852758916899975
+                ],
+                "target_mouth_xy": [
+                  0.27492767032320475,
+                  -0.3705286186359501
+                ],
+                "gripper_position": [
+                  0.27483226642903463,
+                  -0.3685363150548409,
+                  1.0050050214394532
+                ],
+                "rod_tip_xy_dist": 0.0020028128753065053,
+                "target_xy_drift": 1.252179863618836e-07,
+                "depth": 0.016107187958125713,
+                "bottom_clearance": 0.08333331219869711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -9.543468580119896e-05,
+                  0.0019923359119350947
+                ],
+                "rod_tip_xy": [
+                  0.27483226642903463,
+                  -0.3685363150548411
+                ],
+                "target_mouth_xy": [
+                  0.27492770111483583,
+                  -0.3705286509667762
+                ],
+                "gripper_position": [
+                  0.27482415340400057,
+                  -0.36853831350116795,
+                  1.0048754799300244
+                ],
+                "rod_tip_xy_dist": 0.0019946203060332607,
+                "target_xy_drift": 1.6137747472380358e-07,
+                "depth": 0.016254841633647765,
+                "bottom_clearance": 0.08318575958984742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00010354974009885165,
+                  0.001990307953358861
+                ],
+                "rod_tip_xy": [
+                  0.2748241534040005,
+                  -0.36853831350116806
+                ],
+                "target_mouth_xy": [
+                  0.27492770314409937,
+                  -0.3705286214545269
+                ],
+                "gripper_position": [
+                  0.2748306457618776,
+                  -0.36861150332317333,
+                  1.0043515167495984
+                ],
+                "rod_tip_xy_dist": 0.001992999823852997,
+                "target_xy_drift": 1.3329161820073806e-07,
+                "depth": 0.016384464916445296,
+                "bottom_clearance": 0.08305622619364983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -9.705633975093386e-05,
+                  0.0019170845393803315
+                ],
+                "rod_tip_xy": [
+                  0.27483064576187755,
+                  -0.3686115033231734
+                ],
+                "target_mouth_xy": [
+                  0.2749277021016285,
+                  -0.3705285878625537
+                ],
+                "gripper_position": [
+                  0.2748196112966662,
+                  -0.3686199401191926,
+                  1.0042038436650367
+                ],
+                "rod_tip_xy_dist": 0.001919539805322345,
+                "target_xy_drift": 1.0110286586719932e-07,
+                "depth": 0.016908321216988376,
+                "bottom_clearance": 0.08253225395763131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00010809184275378803,
+                  0.0019086781587254742
+                ],
+                "rod_tip_xy": [
+                  0.27481961129666616,
+                  -0.36861994011919264
+                ],
+                "target_mouth_xy": [
+                  0.27492770313941994,
+                  -0.3705286182779181
+                ],
+                "gripper_position": [
+                  0.27481132052656954,
+                  -0.36862230774824023,
+                  1.0040745921063818
+                ],
+                "rod_tip_xy_dist": 0.0019117364253645366,
+                "target_xy_drift": 1.3024388914680455e-07,
+                "depth": 0.01705605066429039,
+                "bottom_clearance": 0.08238454106387694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00011634934123944118,
+                  0.001906312165091073
+                ],
+                "rod_tip_xy": [
+                  0.2748113205265695,
+                  -0.36862230774824034
+                ],
+                "target_mouth_xy": [
+                  0.2749276698678089,
+                  -0.3705286199133314
+                ],
+                "gripper_position": [
+                  0.274803122175924,
+                  -0.3686241385172235,
+                  1.0039451377277604
+                ],
+                "rod_tip_xy_dist": 0.0019098594817370902,
+                "target_xy_drift": 1.2647909941263545e-07,
+                "depth": 0.01718526832213807,
+                "bottom_clearance": 0.08225529576247248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0001245784789266624,
+                  0.0019044480919706563
+                ],
+                "rod_tip_xy": [
+                  0.27480312217592395,
+                  -0.36862413851722353
+                ],
+                "target_mouth_xy": [
+                  0.2749277006548506,
+                  -0.3705285866091942
+                ],
+                "gripper_position": [
+                  0.2748108041945595,
+                  -0.3687000912552622,
+                  1.0034221356480433
+                ],
+                "rod_tip_xy_dist": 0.0019085183605148665,
+                "target_xy_drift": 9.941774152165201e-08,
+                "depth": 0.01731471196802603,
+                "bottom_clearance": 0.08212585476961987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00011689572212397747,
+                  0.0018285315265224034
+                ],
+                "rod_tip_xy": [
+                  0.27481080419455944,
+                  -0.36870009125526226
+                ],
+                "target_mouth_xy": [
+                  0.2749276999166834,
+                  -0.37052862278178467
+                ],
+                "gripper_position": [
+                  0.2747994814264434,
+                  -0.36870870711205544,
+                  1.0032741144317388
+                ],
+                "rod_tip_xy_dist": 0.0018322642149366005,
+                "target_xy_drift": 1.3370668774132464e-07,
+                "depth": 0.01783777070108805,
+                "bottom_clearance": 0.08160288919110725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0001282205077633436,
+                  0.001819881052490091
+                ],
+                "rod_tip_xy": [
+                  0.27479948142644334,
+                  -0.3687087071120556
+                ],
+                "target_mouth_xy": [
+                  0.2749277019342067,
+                  -0.3705285881645457
+                ],
+                "gripper_position": [
+                  0.2747912281703483,
+                  -0.36871056218788734,
+                  1.0031449276004794
+                ],
+                "rod_tip_xy_dist": 0.0018243923766074915,
+                "target_xy_drift": 1.0132496736892117e-07,
+                "depth": 0.017985776425673783,
+                "bottom_clearance": 0.0814547813829839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00013644251150118913,
+                  0.0018180269535464366
+                ],
+                "rod_tip_xy": [
+                  0.27479122817034823,
+                  -0.36871056218788745
+                ],
+                "target_mouth_xy": [
+                  0.2749276706818494,
+                  -0.3705285891414339
+                ],
+                "gripper_position": [
+                  0.2747829742565017,
+                  -0.3687124052708004,
+                  1.0030157806998727
+                ],
+                "rod_tip_xy_dist": 0.0018231397540413872,
+                "target_xy_drift": 9.576617612231214e-08,
+                "depth": 0.018114831365297013,
+                "bottom_clearance": 0.08132566787587692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00014469669622996228,
+                  0.001816215895699913
+                ],
+                "rod_tip_xy": [
+                  0.27478297425650167,
+                  -0.3687124052708005
+                ],
+                "target_mouth_xy": [
+                  0.27492767095273163,
+                  -0.3705286211665004
+                ],
+                "gripper_position": [
+                  0.2747920050397409,
+                  -0.3687900932664069,
+                  1.0024962364666192
+                ],
+                "rod_tip_xy_dist": 0.00182197072251255,
+                "target_xy_drift": 1.2777073310391763e-07,
+                "depth": 0.018244079384784118,
+                "bottom_clearance": 0.08119650775656939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0001356647152739865,
+                  0.001738497794866456
+                ],
+                "rod_tip_xy": [
+                  0.2747920050397408,
+                  -0.368790093266407
+                ],
+                "target_mouth_xy": [
+                  0.2749276697550148,
+                  -0.37052859106127345
+                ],
+                "gripper_position": [
+                  0.2747807512057909,
+                  -0.3687983989547899,
+                  1.0023485777172727
+                ],
+                "rod_tip_xy_dist": 0.00174378309939221,
+                "target_xy_drift": 9.764169592366317e-08,
+                "depth": 0.018763645022657482,
+                "bottom_clearance": 0.08067695811697206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0001469483727190024,
+                  0.0017301898955506267
+                ],
+                "rod_tip_xy": [
+                  0.2747807512057908,
+                  -0.36879839895478994
+                ],
+                "target_mouth_xy": [
+                  0.2749276995785098,
+                  -0.37052858885034057
+                ],
+                "gripper_position": [
+                  0.27477224756445306,
+                  -0.36880036622770984,
+                  1.0022197264105952
+                ],
+                "rod_tip_xy_dist": 0.0017364189871428646,
+                "target_xy_drift": 1.0115529775647994e-07,
+                "depth": 0.01891126201589155,
+                "bottom_clearance": 0.0805292593118132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00015545278711637245,
+                  0.0017282235731485018
+                ],
+                "rod_tip_xy": [
+                  0.274772247564453,
+                  -0.36880036622770984
+                ],
+                "target_mouth_xy": [
+                  0.2749277003515694,
+                  -0.37052858980085834
+                ],
+                "gripper_position": [
+                  0.2747637876044102,
+                  -0.3688022336552958,
+                  1.0020908924002008
+                ],
+                "rod_tip_xy_dist": 0.001735200935859713,
+                "target_xy_drift": 1.0231020306894445e-07,
+                "depth": 0.01904010776941778,
+                "bottom_clearance": 0.08040041933917896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00016391319786984715,
+                  0.0017263577175068434
+                ],
+                "rod_tip_xy": [
+                  0.27476378760441017,
+                  -0.36880223365529596
+                ],
+                "target_mouth_xy": [
+                  0.27492770080228,
+                  -0.3705285913728028
+                ],
+                "gripper_position": [
+                  0.27475534229944165,
+                  -0.36880402463448103,
+                  1.0019618875512681
+                ],
+                "rod_tip_xy_dist": 0.001734121825371954,
+                "target_xy_drift": 1.039420660023614e-07,
+                "depth": 0.01916896823370806,
+                "bottom_clearance": 0.08027162106514674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0001723584988209681,
+                  0.0017245670474301256
+                ],
+                "rod_tip_xy": [
+                  0.2747553422994416,
+                  -0.36880402463448114
+                ],
+                "target_mouth_xy": [
+                  0.27492770079826256,
+                  -0.37052859168191127
+                ],
+                "gripper_position": [
+                  0.274746849169895,
+                  -0.3688056975555345,
+                  1.0018327754422274
+                ],
+                "rod_tip_xy_dist": 0.001733158663595944,
+                "target_xy_drift": 1.0423183005681985e-07,
+                "depth": 0.019297978503778235,
+                "bottom_clearance": 0.08014262137581685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00018085300676357052,
+                  0.001722923582905156
+                ],
+                "rod_tip_xy": [
+                  0.27474684916989495,
+                  -0.3688056975555346
+                ],
+                "target_mouth_xy": [
+                  0.2749277021766585,
+                  -0.37052862113843976
+                ],
+                "gripper_position": [
+                  0.27473810988777386,
+                  -0.368807749610118,
+                  1.001704040572727
+                ],
+                "rod_tip_xy_dist": 0.0017323895296919118,
+                "target_xy_drift": 1.3271983989471146e-07,
+                "depth": 0.01942715569979725,
+                "bottom_clearance": 0.08001348638440409,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005993895364316056,
+              "rod_tip_xy_max_step": 3.252734725357656e-05,
+              "rod_tip_xy_range": 0.0005993838489443174,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2742962427251578,
+            -0.3702652814516955,
+            1.0433289225508893
+          ],
+          "object_origin_world": [
+            0.2742962427251578,
+            -0.3702652814516955,
+            1.0433289225508893
+          ],
+          "frame_world": [
+            0.2743211715423587,
+            -0.37026205372192866,
+            1.0436332833529023
+          ],
+          "center_minus_frame": [
+            -2.492881720089768e-05,
+            -3.227729766852594e-06,
+            -0.0003043608020130151
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26473172719298427,
+              0.15873324066410818,
+              0.8326378325635091
+            ],
+            "target_position": [
+              0.27782630995794877,
+              0.2057298950716286,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048786818130396786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1687974643276958,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326378325635091,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673768138544,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13721181341931005,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 299,
+            "max_placed_release_frames": 299
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49d7f0effb7572d9a5fef7d047ad45c831484e12fa430d124f6dc292511bdcb8",
+    "visual_seed": 1222989799264993897,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..912a763fbbc127f528cc5f4988a548ed82480369
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_28_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1940533692380489,
+              -0.11165704135885023,
+              1.1616388131800552
+            ],
+            "current_z": 1.1616388131800552,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30053236476993417,
+            "gripper_z": 1.1554843343853813,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18945171838078334,
+              -0.11619674868006197,
+              1.1554843343853813
+            ],
+            "object_minus_gripper": [
+              0.004601650857265549,
+              0.004539707321211742,
+              0.006154478794673901
+            ],
+            "object_to_gripper_xy": 0.006464064756361608,
+            "object_to_gripper_z": 0.006154478794673901,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1940533692380489,
+              -0.13549166987501596,
+              1.1616388131800552
+            ],
+            "finger_b": [
+              0.18366397757735461,
+              -0.11165704135885023,
+              1.1616388131800552
+            ],
+            "finger_midpoint": [
+              0.18885867340770174,
+              -0.12357435561693308,
+              1.1616388131800552
+            ],
+            "object_minus_finger_midpoint": [
+              0.005194695830347151,
+              0.011917314258082859,
+              0.0
+            ],
+            "finger_gap": 0.026000557216777576,
+            "fingertip_max_gap": 0.09180528195110615,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013000278608388786,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1616388131800552,
+            "object_top_z": 1.2115858224761005,
+            "finger_top_clearance": 0.04994700929604523,
+            "fingertip_min_top_clearance": 0.014984102788813602,
+            "object_projection_between_fingers": 0.840333087814424,
+            "object_to_finger_line_xy": 0.00952392245585452,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840264097555308,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3963990867996192,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2752502492603633,
+              -0.37006463818388086,
+              0.8515394999729794
+            ],
+            "target_position": [
+              0.26830084850768426,
+              -0.37039018154442105,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0069570215826118866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18280745688973382,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394999729794,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556414489665239,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678967780097209,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1505860809469635,
+            "release_required_pad_clearance": 0.05339483890048605,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8048794789964209,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008037388324737549,
+            "max_z_decrease": 0.008037388324737549,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035085350161910875,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008037388324737549,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108082718663014,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008037388324737549,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008037405568991011,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12400077283382417,
+              -0.42665162682533264,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12400077283382417,
+              -0.42665162682533264,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12301349964225147,
+              -0.4268477658670205,
+              0.8075688828058494
+            ],
+            "closest_button": [
+              0.1239903047680855,
+              -0.42664593458175665,
+              0.7724977135658264
+            ],
+            "closest_ee_minus_button": [
+              -0.000976805125834021,
+              -0.00020183128526385374,
+              0.03507116924002296
+            ],
+            "button_min_z_position": [
+              0.12398575246334076,
+              -0.4266444444656372,
+              0.7687714695930481
+            ],
+            "min_active_finger_to_button": 0.14714898713066166,
+            "closest_active_finger": [
+              -0.018370255827903748,
+              -0.4127752482891083,
+              0.8111643195152283
+            ],
+            "closest_active_finger_button": [
+              0.12400244176387788,
+              -0.426651269197464,
+              0.7766636610031128
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14237269759178162,
+              0.013876020908355713,
+              0.03450065851211548
+            ],
+            "min_contact_pad_to_button": 0.02108082718663014,
+            "closest_contact_pad": [
+              0.12398575246334076,
+              -0.4277692184969489,
+              0.7898222690612643
+            ],
+            "closest_contact_pad_button": [
+              0.12398575246334076,
+              -0.4266444444656372,
+              0.7687714695930481
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011247740313116705,
+              0.021050799468216197
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28228140225752835,
+              0.200743064142823,
+              1.1023915458624187
+            ],
+            "current_z": 1.1023915458624187,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19248241612805617,
+            "gripper_z": 1.1023915514358908,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28228136089977224,
+              0.20074304340193078,
+              1.1023915514358908
+            ],
+            "object_minus_gripper": [
+              4.13577561086953e-08,
+              2.0740892225923346e-08,
+              -5.573472128261869e-09
+            ],
+            "object_to_gripper_xy": 4.6267143856884995e-08,
+            "object_to_gripper_z": -5.573472128261869e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28228140225752835,
+              0.200743064142823,
+              1.1023915458624187
+            ],
+            "finger_b": [
+              0.28228140225752835,
+              0.200743064142823,
+              1.1023915458624187
+            ],
+            "finger_midpoint": [
+              0.28228140225752835,
+              0.200743064142823,
+              1.1023915458624187
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023915458624187,
+            "object_top_z": 1.2274000524826985,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2822814022575284,
+            0.200743064142823,
+            1.1023915458624187
+          ],
+          "object_origin_world": [
+            0.2822814022575284,
+            0.200743064142823,
+            1.1023915458624187
+          ],
+          "frame_world": [
+            0.28228136089977224,
+            0.20074304340193078,
+            1.1023915514358908
+          ],
+          "center_minus_frame": [
+            4.135775616420645e-08,
+            2.0740892225923346e-08,
+            -5.573472128261869e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043278672181632,
+            "required_z": 0.9112598102794545,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023012043832938626,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.112301449257743e-08,
+            "max_target_xy_drift": 2.0009896517452143e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.8048794790741778,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.8053130928578864,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27304207342439896,
+              -0.3694152111920449,
+              0.9233952336298966
+            ],
+            "target_mouth_xy": [
+              0.2752503087610377,
+              -0.3700646100188173
+            ],
+            "rod_tip_z": 0.9233952336298966,
+            "rod_tip_depth": -0.022135474389002208,
+            "rod_tip_bottom_clearance": 0.12157598942142356,
+            "rod_tip_xy_dist": 0.0023017432824260146,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044628068907699325,
+            "min_rod_tip_bottom_clearance": 0.05481245573368254,
+            "min_rod_tip_xy_dist": 0.0007969060113936042,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27525030429505687,
+              -0.3700645290188266
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.465980807388803e-09,
+              -8.09999907147585e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.001571895237328258,
+                0.0024199280351535624
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001697503005610168,
+                0.0020678354383891207
+              ],
+              "first_target_mouth_xy": [
+                0.2752503039765458,
+                -0.3700645267958136
+              ],
+              "last_target_mouth_xy": [
+                0.2752503044204855,
+                -0.3700645251938833
+              ],
+              "first_rod_tip_xy": [
+                0.27367840873921756,
+                -0.36764459876066
+              ],
+              "last_rod_tip_xy": [
+                0.2735528014148753,
+                -0.36799668975549416
+              ],
+              "min_rod_tip_xy_dist": 0.0026585508077836928,
+              "max_rod_tip_xy_dist": 0.0028870817958846977,
+              "first_target_xy_drift": 2.24571504636934e-09,
+              "last_target_xy_drift": 3.826999299040845e-09,
+              "max_depth": 0.01960707987094612,
+              "min_bottom_clearance": 0.07983346576035066
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001571895237328258,
+                  0.0024199280351535624
+                ],
+                "rod_tip_xy": [
+                  0.27367840873921756,
+                  -0.36764459876066
+                ],
+                "target_mouth_xy": [
+                  0.2752503039765458,
+                  -0.3700645267958136
+                ],
+                "gripper_position": [
+                  0.2736676238989442,
+                  -0.36765290863658484,
+                  1.005614535925611
+                ],
+                "rod_tip_xy_dist": 0.002885637942025548,
+                "target_xy_drift": 2.24571504636934e-09,
+                "depth": 0.015498013616861095,
+                "bottom_clearance": 0.08394251346084813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015826778989568302,
+                  0.0024116166017823515
+                ],
+                "rod_tip_xy": [
+                  0.27366762389894417,
+                  -0.36765290863658495
+                ],
+                "target_mouth_xy": [
+                  0.275250301797901,
+                  -0.3700645252383673
+                ],
+                "gripper_position": [
+                  0.27365958415233205,
+                  -0.36765519976139627,
+                  1.0054859649989454
+                ],
+                "rod_tip_xy_dist": 0.002884573446081528,
+                "target_xy_drift": 4.530746053773795e-09,
+                "depth": 0.01564534173651988,
+                "bottom_clearance": 0.08379523659259025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015907206702689969,
+                  0.0024093254336655656
+                ],
+                "rod_tip_xy": [
+                  0.273659584152332,
+                  -0.36765519976139627
+                ],
+                "target_mouth_xy": [
+                  0.275250304822601,
+                  -0.37006452519506183
+                ],
+                "gripper_position": [
+                  0.2736615564981747,
+                  -0.36772625516964536,
+                  1.0049597030084112
+                ],
+                "rod_tip_xy_dist": 0.0028870817958846977,
+                "target_xy_drift": 3.859984411346534e-09,
+                "depth": 0.015773869725380307,
+                "bottom_clearance": 0.0836666908770124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015887512134997728,
+                  0.002338385936955345
+                ],
+                "rod_tip_xy": [
+                  0.2736615564981747,
+                  -0.3677262551696454
+                ],
+                "target_mouth_xy": [
+                  0.27525030771167447,
+                  -0.37006464110660076
+                ],
+                "gripper_position": [
+                  0.2736506025656974,
+                  -0.36773479315480323,
+                  1.0048124741909858
+                ],
+                "rod_tip_xy_dist": 0.002827044253022497,
+                "target_xy_drift": 1.121398341133328e-07,
+                "depth": 0.016300139112117473,
+                "bottom_clearance": 0.08314039792565786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015997013298523766,
+                  0.0023297308025612695
+                ],
+                "rod_tip_xy": [
+                  0.27365060256569734,
+                  -0.3677347931548032
+                ],
+                "target_mouth_xy": [
+                  0.2752503038955497,
+                  -0.37006452395736444
+                ],
+                "gripper_position": [
+                  0.27364249762030013,
+                  -0.36773666524746595,
+                  1.004684276779154
+                ],
+                "rod_tip_xy_dist": 0.002826073239874409,
+                "target_xy_drift": 5.077204441424285e-09,
+                "depth": 0.01644737607542024,
+                "bottom_clearance": 0.08299319561179952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016078047408489282,
+                  0.0023278622153530826
+                ],
+                "rod_tip_xy": [
+                  0.2736424976203001,
+                  -0.36773666524746595
+                ],
+                "target_mouth_xy": [
+                  0.275250302361149,
+                  -0.37006452746281904
+                ],
+                "gripper_position": [
+                  0.2736450460966231,
+                  -0.36780897018601155,
+                  1.0041594412821448
+                ],
+                "rod_tip_xy_dist": 0.002829130357259073,
+                "target_xy_drift": 2.4821682293797615e-09,
+                "depth": 0.016575596386831704,
+                "bottom_clearance": 0.08286498405561327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001605258803393017,
+                  0.002255555005422294
+                ],
+                "rod_tip_xy": [
+                  0.27364504609662305,
+                  -0.36780897018601166
+                ],
+                "target_mouth_xy": [
+                  0.27525030490001606,
+                  -0.37006452519143396
+                ],
+                "gripper_position": [
+                  0.27363391150562993,
+                  -0.3678173899852193,
+                  1.0040124280888312
+                ],
+                "rod_tip_xy_dist": 0.0027684624267553903,
+                "target_xy_drift": 3.87490773213411e-09,
+                "depth": 0.01710045368614166,
+                "bottom_clearance": 0.08234010994090979,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016163934737857266,
+                  0.0022471352037309322
+                ],
+                "rod_tip_xy": [
+                  0.2736339115056299,
+                  -0.3678173899852194
+                ],
+                "target_mouth_xy": [
+                  0.2752503049794156,
+                  -0.37006452518895033
+                ],
+                "gripper_position": [
+                  0.2736257626703392,
+                  -0.36781910177384536,
+                  1.003884150751722
+                ],
+                "rod_tip_xy_dist": 0.002768094016818061,
+                "target_xy_drift": 3.890539675454922e-09,
+                "depth": 0.01724740790813606,
+                "bottom_clearance": 0.08219315877547351,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016245420209536898,
+                  0.002245425013225888
+                ],
+                "rod_tip_xy": [
+                  0.27362576267033917,
+                  -0.36781910177384547
+                ],
+                "target_mouth_xy": [
+                  0.27525030469129286,
+                  -0.37006452678707136
+                ],
+                "gripper_position": [
+                  0.2736292228372723,
+                  -0.36789187182175337,
+                  1.0033630040484283
+                ],
+                "rod_tip_xy_dist": 0.002771474385208129,
+                "target_xy_drift": 2.2666570854839137e-09,
+                "depth": 0.017375623642543414,
+                "bottom_clearance": 0.08206493142177573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016211130340906266,
+                  0.002172653995036522
+                ],
+                "rod_tip_xy": [
+                  0.27362922283727226,
+                  -0.3678918718217533
+                ],
+                "target_mouth_xy": [
+                  0.2752503358713629,
+                  -0.37006452581678984
+                ],
+                "gripper_position": [
+                  0.2736180372314239,
+                  -0.3678999040876146,
+                  1.003216154119176
+                ],
+                "rod_tip_xy_dist": 0.0027107993012111162,
+                "target_xy_drift": 3.173824413606795e-08,
+                "depth": 0.01789688826343039,
+                "bottom_clearance": 0.08154369593434374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016322667946011005,
+                  0.0021646208086003593
+                ],
+                "rod_tip_xy": [
+                  0.27361803723142386,
+                  -0.3678999040876145
+                ],
+                "target_mouth_xy": [
+                  0.27525030402602496,
+                  -0.3700645248962149
+                ],
+                "gripper_position": [
+                  0.27360961538821305,
+                  -0.36790178052155365,
+                  1.0030880185372524
+                ],
+                "rod_tip_xy_dist": 0.0027110658667363697,
+                "target_xy_drift": 4.131380564326034e-09,
+                "depth": 0.01804362050960784,
+                "bottom_clearance": 0.08139692138361776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016407185297583893,
+                  0.002162742782016447
+                ],
+                "rod_tip_xy": [
+                  0.273609615388213,
+                  -0.36790178052155365
+                ],
+                "target_mouth_xy": [
+                  0.2752503339179714,
+                  -0.3700645233035701
+                ],
+                "gripper_position": [
+                  0.27360130266860283,
+                  -0.3679035521647665,
+                  1.0029594656484508
+                ],
+                "rod_tip_xy_dist": 0.002714666394800063,
+                "target_xy_drift": 3.0169209814503296e-08,
+                "depth": 0.018171845199124292,
+                "bottom_clearance": 0.08126875884892482,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016490015867819952,
+                  0.002160976543605031
+                ],
+                "rod_tip_xy": [
+                  0.2736013026686028,
+                  -0.36790355216476656
+                ],
+                "target_mouth_xy": [
+                  0.27525030425538477,
+                  -0.3700645287083716
+                ],
+                "gripper_position": [
+                  0.27359287545133376,
+                  -0.36790539395976685,
+                  1.002831142444939
+                ],
+                "rod_tip_xy_dist": 0.002718276265433792,
+                "target_xy_drift": 3.129795191105065e-10,
+                "depth": 0.01830039843625575,
+                "bottom_clearance": 0.08114020561885882,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016574332848848794,
+                  0.0021592471180982287
+                ],
+                "rod_tip_xy": [
+                  0.2735928754513337,
+                  -0.36790539395976685
+                ],
+                "target_mouth_xy": [
+                  0.2752503087362186,
+                  -0.3700646410778651
+                ],
+                "gripper_position": [
+                  0.2735983590148452,
+                  -0.3679816232032627,
+                  1.0023121975169162
+                ],
+                "rod_tip_xy_dist": 0.0027220274081757125,
+                "target_xy_drift": 1.1214701077307568e-07,
+                "depth": 0.01842869266392666,
+                "bottom_clearance": 0.08101185344434281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001651948166272732,
+                  0.002083016959488204
+                ],
+                "rod_tip_xy": [
+                  0.27359835901484514,
+                  -0.36798162320326266
+                ],
+                "target_mouth_xy": [
+                  0.27525030718111787,
+                  -0.37006464016275087
+                ],
+                "gripper_position": [
+                  0.2735868363570876,
+                  -0.3679897889923681,
+                  1.0021653619342996
+                ],
+                "rod_tip_xy_dist": 0.0026585508077836928,
+                "target_xy_drift": 1.1118138897247325e-07,
+                "depth": 0.018947642727062508,
+                "bottom_clearance": 0.08049287927898718,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016634686645367602,
+                  0.0020747361977676015
+                ],
+                "rod_tip_xy": [
+                  0.2735868363570875,
+                  -0.3679897889923681
+                ],
+                "target_mouth_xy": [
+                  0.2752503050216243,
+                  -0.3700645251901357
+                ],
+                "gripper_position": [
+                  0.27357831875333927,
+                  -0.36799157776015007,
+                  1.0020372112463807
+                ],
+                "rod_tip_xy_dist": 0.0026592589735155315,
+                "target_xy_drift": 3.897021163234033e-09,
+                "depth": 0.019094533958631144,
+                "bottom_clearance": 0.08034603425734776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016719847911847996,
+                  0.002072947138694825
+                ],
+                "rod_tip_xy": [
+                  0.2735783187533392,
+                  -0.3679915777601501
+                ],
+                "target_mouth_xy": [
+                  0.275250303544524,
+                  -0.37006452489884495
+                ],
+                "gripper_position": [
+                  0.2735698749618966,
+                  -0.36799320475211783,
+                  1.0019089367395904
+                ],
+                "rod_tip_xy_dist": 0.0026632016412161397,
+                "target_xy_drift": 4.1877856001152845e-09,
+                "depth": 0.019222559768549363,
+                "bottom_clearance": 0.08021796405136761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016804275302403915,
+                  0.002071319206857325
+                ],
+                "rod_tip_xy": [
+                  0.27356987496189655,
+                  -0.36799320475211783
+                ],
+                "target_mouth_xy": [
+                  0.27525030249213694,
+                  -0.37006452395897516
+                ],
+                "gripper_position": [
+                  0.27356135718932134,
+                  -0.3679949628137351,
+                  1.001780831932984
+                ],
+                "rod_tip_xy_dist": 0.00266724575940911,
+                "target_xy_drift": 5.371463181916027e-09,
+                "depth": 0.01935094097650547,
+                "bottom_clearance": 0.08008965400322288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016889523781639104,
+                  0.0020696776312688625
+                ],
+                "rod_tip_xy": [
+                  0.2735613571893213,
+                  -0.367994962813735
+                ],
+                "target_mouth_xy": [
+                  0.2752503095674852,
+                  -0.37006464044500387
+                ],
+                "gripper_position": [
+                  0.27355280141487537,
+                  -0.36799668975549416,
+                  1.0016526922907494
+                ],
+                "rod_tip_xy_dist": 0.0026713527721138252,
+                "target_xy_drift": 1.1155084708245007e-07,
+                "depth": 0.019479058732611354,
+                "bottom_clearance": 0.07996149844973577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001697503005610168,
+                  0.0020678354383891207
+                ],
+                "rod_tip_xy": [
+                  0.2735528014148753,
+                  -0.36799668975549416
+                ],
+                "target_mouth_xy": [
+                  0.2752503044204855,
+                  -0.3700645251938833
+                ],
+                "gripper_position": [
+                  0.2735441946694199,
+                  -0.36799846500980715,
+                  1.00152442860754
+                ],
+                "rod_tip_xy_dist": 0.0026753429414401214,
+                "target_xy_drift": 3.826999299040845e-09,
+                "depth": 0.01960707987094612,
+                "bottom_clearance": 0.07983346576035066,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006003168008971028,
+              "rod_tip_xy_max_step": 3.2467504870098045e-05,
+              "rod_tip_xy_range": 0.0006003098669644695,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.273042073424399,
+            -0.3694152111920449,
+            1.0433952336298968
+          ],
+          "object_origin_world": [
+            0.273042073424399,
+            -0.3694152111920449,
+            1.0433952336298968
+          ],
+          "frame_world": [
+            0.2730406279223667,
+            -0.36942207425724344,
+            1.043278672181632
+          ],
+          "center_minus_frame": [
+            1.445502032293433e-06,
+            6.863065198536855e-06,
+            0.00011656144826477366
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2687875765859813,
+              0.15483439241613495,
+              0.8323167149949409
+            ],
+            "target_position": [
+              0.28245520680154285,
+              0.20164433941491333,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04876448762919357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16746005445210252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323167149949409,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672381823092,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13633087635693883,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 300,
+            "max_placed_release_frames": 300
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dd6e5bebd20dbbb237d6179d2abea2efe34809cc1931ff7ff10767c470de1374",
+    "visual_seed": 7027380885070785178,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a912399fca2a2664ffbe1d3320e0980aab9026b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_29_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1944796221494817,
+              -0.10612043699091239,
+              1.16234954883071
+            ],
+            "current_z": 1.16234954883071,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30124310042058877,
+            "gripper_z": 1.1563613761557143,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1899250158377709,
+              -0.1108109954990884,
+              1.1563613761557143
+            ],
+            "object_minus_gripper": [
+              0.004554606311710785,
+              0.004690558508176013,
+              0.00598817267499574
+            ],
+            "object_to_gripper_xy": 0.006538025525592425,
+            "object_to_gripper_z": 0.00598817267499574,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1944796221494817,
+              -0.12964865569382847,
+              1.16234954883071
+            ],
+            "finger_b": [
+              0.18346927341189762,
+              -0.10612043699091239,
+              1.16234954883071
+            ],
+            "finger_midpoint": [
+              0.18897444778068967,
+              -0.11788454634237043,
+              1.16234954883071
+            ],
+            "object_minus_finger_midpoint": [
+              0.005505174368792026,
+              0.011764109351458038,
+              0.0
+            ],
+            "finger_gap": 0.025977006268149323,
+            "fingertip_max_gap": 0.09202822494779078,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012988503134074654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16234954883071,
+            "object_top_z": 1.2122412860772118,
+            "finger_top_clearance": 0.049891737246501755,
+            "fingertip_min_top_clearance": 0.01496752117395056,
+            "object_projection_between_fingers": 0.8203513527105346,
+            "object_to_finger_line_xy": 0.009972430634198337,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851411247389539,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8445628794499558,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2760598593152209,
+              -0.36258863368364497,
+              0.8515395534181837
+            ],
+            "target_position": [
+              0.2678789576779135,
+              -0.363508632944974,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008232469267488681,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853514879255572,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395534181837,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562039552612627,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619167184661368,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15296637669089436,
+            "release_required_pad_clearance": 0.05309583592330684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2194711480497993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00766068696975708,
+            "max_z_decrease": 0.00766068696975708,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510829055391343,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00766068696975708,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109618639037233,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00766068696975708,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007660706562777148,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1235788837075233,
+              -0.41977009177207947,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1235788837075233,
+              -0.41977009177207947,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12186508384355521,
+              -0.42018570366274466,
+              0.8077233264385685
+            ],
+            "closest_button": [
+              0.12356938421726224,
+              -0.41976556181907654,
+              0.7726589441299438
+            ],
+            "closest_ee_minus_button": [
+              -0.0017043003737070295,
+              -0.00042014184366812035,
+              0.03506438230862463
+            ],
+            "button_min_z_position": [
+              0.12356209754943843,
+              -0.41976580023765564,
+              0.7691481709480286
+            ],
+            "min_active_finger_to_button": 0.1478125893303172,
+            "closest_active_finger": [
+              -0.019464239478111267,
+              -0.4057132601737976,
+              0.8108680844306946
+            ],
+            "closest_active_finger_button": [
+              0.12357950955629345,
+              -0.41976937651634216,
+              0.7763793468475342
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1430437490344047,
+              0.014056116342544556,
+              0.0344887375831604
+            ],
+            "min_contact_pad_to_button": 0.02109618639037233,
+            "closest_contact_pad": [
+              0.12356209754943843,
+              -0.4211561104140666,
+              0.7901984944094554
+            ],
+            "closest_contact_pad_button": [
+              0.12356209754943843,
+              -0.41976580023765564,
+              0.7691481709480286
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013903101764109471,
+              0.02105032346142688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27465142428318323,
+              0.20883030625321605,
+              1.1043963986688534
+            ],
+            "current_z": 1.1043963986688534,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19448726893449086,
+            "gripper_z": 1.1043963554874043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2746514195768787,
+              0.20883032950148403,
+              1.1043963554874043
+            ],
+            "object_minus_gripper": [
+              4.7063045127693215e-09,
+              -2.3248267977393766e-08,
+              4.318144908310728e-08
+            ],
+            "object_to_gripper_xy": 2.371984962253398e-08,
+            "object_to_gripper_z": 4.318144908310728e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27465142428318323,
+              0.20883030625321605,
+              1.1043963986688534
+            ],
+            "finger_b": [
+              0.27465142428318323,
+              0.20883030625321605,
+              1.1043963986688534
+            ],
+            "finger_midpoint": [
+              0.27465142428318323,
+              0.20883030625321605,
+              1.1043963986688534
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1043963986688534,
+            "object_top_z": 1.2294049052891332,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27465142428318323,
+            0.20883030625321608,
+            1.1043963986688536
+          ],
+          "object_origin_world": [
+            0.27465142428318323,
+            0.20883030625321608,
+            1.1043963986688536
+          ],
+          "frame_world": [
+            0.2746514195768787,
+            0.20883032950148403,
+            1.1043963554874043
+          ],
+          "center_minus_frame": [
+            4.7063045127693215e-09,
+            -2.324826794963819e-08,
+            4.3181449305151887e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432816650559171,
+            "required_z": 0.9112598301144116,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021673200308937822,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.919667475656713e-08,
+            "max_target_xy_drift": 2.0057221567057525e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.219471148835591,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2201128125285554,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27457239182053506,
+              -0.3610074552827802,
+              0.92339697998814
+            ],
+            "target_mouth_xy": [
+              0.2760597685225922,
+              -0.3625886054661676
+            ],
+            "rod_tip_z": 0.92339697998814,
+            "rod_tip_depth": -0.02213716052866388,
+            "rod_tip_bottom_clearance": 0.12157766063670084,
+            "rod_tip_xy_dist": 0.002170789109114079,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044903991496971885,
+            "min_rod_tip_bottom_clearance": 0.05453654804352148,
+            "min_rod_tip_xy_dist": 0.00040554316473402684,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2760597393542584,
+              -0.3625886067522948
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.916833374833061e-08,
+              1.2861272047359762e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0009208027083119075,
+                0.003261624855844192
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010238201055615126,
+                0.002877194191624688
+              ],
+              "first_target_mouth_xy": [
+                0.2760597701191022,
+                -0.3625886676109861
+              ],
+              "last_target_mouth_xy": [
+                0.2760597691859472,
+                -0.3625886067431022
+              ],
+              "first_rod_tip_xy": [
+                0.2751389674107903,
+                -0.35932704275514193
+              ],
+              "last_rod_tip_xy": [
+                0.2750359490803857,
+                -0.35971141255147754
+              ],
+              "min_rod_tip_xy_dist": 0.003050321921419173,
+              "max_rod_tip_xy_dist": 0.0033891111412721756,
+              "first_target_xy_drift": 6.819278496171497e-08,
+              "last_target_xy_drift": 2.9831690202239075e-08,
+              "max_depth": 0.01953161825717109,
+              "min_bottom_clearance": 0.07990891765684005
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009208027083119075,
+                  0.003261624855844192
+                ],
+                "rod_tip_xy": [
+                  0.2751389674107903,
+                  -0.35932704275514193
+                ],
+                "target_mouth_xy": [
+                  0.2760597701191022,
+                  -0.3625886676109861
+                ],
+                "gripper_position": [
+                  0.27514261344492713,
+                  -0.3593912250633987,
+                  1.005679263765734
+                ],
+                "rod_tip_xy_dist": 0.0033891111412721756,
+                "target_xy_drift": 6.819278496171497e-08,
+                "depth": 0.01505671900137373,
+                "bottom_clearance": 0.08438389757068099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009171555383395424,
+                  0.0031974076765700077
+                ],
+                "rod_tip_xy": [
+                  0.27514261344492713,
+                  -0.3593912250633987
+                ],
+                "target_mouth_xy": [
+                  0.2760597689832667,
+                  -0.3625886327399687
+                ],
+                "gripper_position": [
+                  0.27513180751856725,
+                  -0.35939848216037773,
+                  1.0055339959770078
+                ],
+                "rod_tip_xy_dist": 0.0033263478669098502,
+                "target_xy_drift": 3.941113198723935e-08,
+                "depth": 0.015580544270136332,
+                "bottom_clearance": 0.08386006379000477,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009279912689433845,
+                  0.0031901217200328014
+                ],
+                "rod_tip_xy": [
+                  0.27513180751856725,
+                  -0.35939848216037784
+                ],
+                "target_mouth_xy": [
+                  0.27605979878751064,
+                  -0.36258860388041064
+                ],
+                "gripper_position": [
+                  0.2751234843139214,
+                  -0.35940008925753414,
+                  1.0054068372105682
+                ],
+                "rod_tip_xy_dist": 0.003322355246487075,
+                "target_xy_drift": 5.950259815170595e-08,
+                "depth": 0.01572585467313148,
+                "bottom_clearance": 0.08371471899745309,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009363144324370243,
+                  0.0031885469736183114
+                ],
+                "rod_tip_xy": [
+                  0.2751234843139214,
+                  -0.3594000892575342
+                ],
+                "target_mouth_xy": [
+                  0.27605979874635844,
+                  -0.3625886362311525
+                ],
+                "gripper_position": [
+                  0.27512816956420927,
+                  -0.3594650468707208,
+                  1.0048832429039063
+                ],
+                "rod_tip_xy_dist": 0.003323178677013976,
+                "target_xy_drift": 6.630553969987623e-08,
+                "depth": 0.01585298540953528,
+                "bottom_clearance": 0.08358753005189223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009316286126543893,
+                  0.003123558294733486
+                ],
+                "rod_tip_xy": [
+                  0.27512816956420927,
+                  -0.3594650468707208
+                ],
+                "target_mouth_xy": [
+                  0.27605979817686366,
+                  -0.36258860516545427
+                ],
+                "gripper_position": [
+                  0.2751170979207017,
+                  -0.35947253402818924,
+                  1.004738074243877
+                ],
+                "rod_tip_xy_dist": 0.003259531913099595,
+                "target_xy_drift": 5.884400520957791e-08,
+                "depth": 0.01637658630221328,
+                "bottom_clearance": 0.08306393010821067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.000942702367829229,
+                  0.0031160717480949174
+                ],
+                "rod_tip_xy": [
+                  0.2751170979207017,
+                  -0.35947253402818935
+                ],
+                "target_mouth_xy": [
+                  0.27605980028853094,
+                  -0.36258860577628427
+                ],
+                "gripper_position": [
+                  0.27510884946140524,
+                  -0.3594742205706257,
+                  1.0046109992409813
+                ],
+                "rod_tip_xy_dist": 0.003255547710230361,
+                "target_xy_drift": 6.094208860652298e-08,
+                "depth": 0.016521813228360438,
+                "bottom_clearance": 0.08291874778130248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009509492338358738,
+                  0.003114415020351702
+                ],
+                "rod_tip_xy": [
+                  0.27510884946140524,
+                  -0.35947422057062584
+                ],
+                "target_mouth_xy": [
+                  0.2760597986952411,
+                  -0.36258863559097754
+                ],
+                "gripper_position": [
+                  0.2751143569226253,
+                  -0.35954027522800636,
+                  1.0040894400073765
+                ],
+                "rod_tip_xy_dist": 0.003256360754634739,
+                "target_xy_drift": 6.59774343758174e-08,
+                "depth": 0.0166487566969048,
+                "bottom_clearance": 0.08279174376485388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009454429734323533,
+                  0.003048328322553584
+                ],
+                "rod_tip_xy": [
+                  0.2751143569226253,
+                  -0.35954027522800636
+                ],
+                "target_mouth_xy": [
+                  0.27605979989605767,
+                  -0.36258860355055994
+                ],
+                "gripper_position": [
+                  0.2751029833491966,
+                  -0.35954791811657333,
+                  1.0039441684731754
+                ],
+                "rod_tip_xy_dist": 0.0031915776628643954,
+                "target_xy_drift": 6.062640152198484e-08,
+                "depth": 0.01717048461604931,
+                "bottom_clearance": 0.08227014292208656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009568162689427284,
+                  0.00304068575048555
+                ],
+                "rod_tip_xy": [
+                  0.2751029833491966,
+                  -0.3595479181165734
+                ],
+                "target_mouth_xy": [
+                  0.2760597996181393,
+                  -0.36258860386705893
+                ],
+                "gripper_position": [
+                  0.275094597837285,
+                  -0.3595494049469892,
+                  1.003817494468761
+                ],
+                "rod_tip_xy_dist": 0.0031876742628002873,
+                "target_xy_drift": 6.033290914160992e-08,
+                "depth": 0.017315629121241183,
+                "bottom_clearance": 0.08212497636503457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009651723703765769,
+                  0.003039228086078316
+                ],
+                "rod_tip_xy": [
+                  0.275094597837285,
+                  -0.3595494049469893
+                ],
+                "target_mouth_xy": [
+                  0.2760597702076616,
+                  -0.3625886330330676
+                ],
+                "gripper_position": [
+                  0.27508614017260136,
+                  -0.3595506822813906,
+                  1.003690677351837
+                ],
+                "rod_tip_xy_dist": 0.003188803076978195,
+                "target_xy_drift": 4.052914389459176e-08,
+                "depth": 0.017442436788922544,
+                "bottom_clearance": 0.08199820673750535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009736296144141621,
+                  0.0030379514022726983
+                ],
+                "rod_tip_xy": [
+                  0.27508614017260136,
+                  -0.35955068228139075
+                ],
+                "target_mouth_xy": [
+                  0.2760597697870155,
+                  -0.36258863368366345
+                ],
+                "gripper_position": [
+                  0.27509308617811545,
+                  -0.3596187552195542,
+                  1.0031698993271498
+                ],
+                "rod_tip_xy_dist": 0.0031901572607999943,
+                "target_xy_drift": 4.0638052620582275e-08,
+                "depth": 0.017569119766215335,
+                "bottom_clearance": 0.0818714841116781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009667147646711949,
+                  0.002969879076757831
+                ],
+                "rod_tip_xy": [
+                  0.2750930861781154,
+                  -0.35961875521955433
+                ],
+                "target_mouth_xy": [
+                  0.2760598009427866,
+                  -0.36258863429631216
+                ],
+                "gripper_position": [
+                  0.2750818883292114,
+                  -0.35962642739648876,
+                  1.0030249011478987
+                ],
+                "rod_tip_xy_dist": 0.0031232545792485807,
+                "target_xy_drift": 6.746717493104706e-08,
+                "depth": 0.01809007584174538,
+                "bottom_clearance": 0.08135055670529001,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009778817297917408,
+                  0.002962206275464563
+                ],
+                "rod_tip_xy": [
+                  0.2750818883292113,
+                  -0.35962642739648887
+                ],
+                "target_mouth_xy": [
+                  0.27605977005900306,
+                  -0.36258863367195343
+                ],
+                "gripper_position": [
+                  0.2750731547234708,
+                  -0.3596275954139808,
+                  1.0028980104623806
+                ],
+                "rod_tip_xy_dist": 0.003119442048806505,
+                "target_xy_drift": 4.0834413954465984e-08,
+                "depth": 0.018234957852234057,
+                "bottom_clearance": 0.08120565671318691,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009866132975590025,
+                  0.002961039563136314
+                ],
+                "rod_tip_xy": [
+                  0.2750731547234708,
+                  -0.3596275954139808
+                ],
+                "target_mouth_xy": [
+                  0.2760597680210298,
+                  -0.36258863497711713
+                ],
+                "gripper_position": [
+                  0.2750645557649397,
+                  -0.3596289812945763,
+                  1.0027710931595173
+                ],
+                "rod_tip_xy_dist": 0.003121083320480045,
+                "target_xy_drift": 4.0229645501130625e-08,
+                "depth": 0.018361769894362667,
+                "bottom_clearance": 0.0810787600586732,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009952441640703746,
+                  0.0029596216213034765
+                ],
+                "rod_tip_xy": [
+                  0.2750645557649397,
+                  -0.35962898129457643
+                ],
+                "target_mouth_xy": [
+                  0.2760597999290101,
+                  -0.3625886029158799
+                ],
+                "gripper_position": [
+                  0.27505586800159126,
+                  -0.3596303414065046,
+                  1.0026444218871502
+                ],
+                "rod_tip_xy_dist": 0.003122478356594831,
+                "target_xy_drift": 6.069611699201387e-08,
+                "depth": 0.018488843162767776,
+                "bottom_clearance": 0.0809518088197595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010039022038821899,
+                  0.002958264368837782
+                ],
+                "rod_tip_xy": [
+                  0.27505586800159126,
+                  -0.35963034140650463
+                ],
+                "target_mouth_xy": [
+                  0.27605977020547345,
+                  -0.3625886057753424
+                ],
+                "gripper_position": [
+                  0.275064944133788,
+                  -0.35970146304704415,
+                  1.002126475056139
+                ],
+                "rod_tip_xy_dist": 0.003123963461837337,
+                "target_xy_drift": 3.086667952106176e-08,
+                "depth": 0.01861540386420002,
+                "bottom_clearance": 0.08082514658932205,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009948255864078437,
+                  0.00288714209904517
+                ],
+                "rod_tip_xy": [
+                  0.275064944133788,
+                  -0.3597014630470442
+                ],
+                "target_mouth_xy": [
+                  0.27605976972019586,
+                  -0.36258860514608937
+                ],
+                "gripper_position": [
+                  0.275053401419162,
+                  -0.3597090760864789,
+                  1.0019816562489607
+                ],
+                "rod_tip_xy_dist": 0.0030537300875242168,
+                "target_xy_drift": 3.040838785619714e-08,
+                "depth": 0.01913335835270591,
+                "bottom_clearance": 0.0803071967857486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0010063678230542994,
+                  0.0028795290637552706
+                ],
+                "rod_tip_xy": [
+                  0.275053401419162,
+                  -0.35970907608647895
+                ],
+                "target_mouth_xy": [
+                  0.2760597692422163,
+                  -0.3625886051502342
+                ],
+                "gripper_position": [
+                  0.2750447080101218,
+                  -0.3597101171321298,
+                  1.001855120481933
+                ],
+                "rod_tip_xy_dist": 0.003050321921419173,
+                "target_xy_drift": 2.993086408324149e-08,
+                "depth": 0.019278173455043013,
+                "bottom_clearance": 0.08016236350436567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0010150604877780522,
+                  0.0028785181505935342
+                ],
+                "rod_tip_xy": [
+                  0.27504470801012176,
+                  -0.35971011713212997
+                ],
+                "target_mouth_xy": [
+                  0.2760597684978998,
+                  -0.3625886352827235
+                ],
+                "gripper_position": [
+                  0.27503594908038576,
+                  -0.3597114125514774,
+                  1.0017282119398352
+                ],
+                "rod_tip_xy_dist": 0.0030522474567348957,
+                "target_xy_drift": 4.0784031120451887e-08,
+                "depth": 0.01940469949503687,
+                "bottom_clearance": 0.08003580108492392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0010238201055615126,
+                  0.002877194191624688
+                ],
+                "rod_tip_xy": [
+                  0.2750359490803857,
+                  -0.35971141255147754
+                ],
+                "target_mouth_xy": [
+                  0.2760597691859472,
+                  -0.3625886067431022
+                ],
+                "gripper_position": [
+                  0.27502721806201,
+                  -0.3597126436655624,
+                  1.001601590700337
+                ],
+                "rod_tip_xy_dist": 0.0030539243646283756,
+                "target_xy_drift": 2.9831690202239075e-08,
+                "depth": 0.01953161825717109,
+                "bottom_clearance": 0.07990891765684005,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000603122867673988,
+              "rod_tip_xy_max_step": 3.2640728838782274e-05,
+              "rod_tip_xy_range": 0.0006031110216947421,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27457239182053506,
+            -0.36100745528278017,
+            1.04339697998814
+          ],
+          "object_origin_world": [
+            0.27457239182053506,
+            -0.36100745528278017,
+            1.04339697998814
+          ],
+          "frame_world": [
+            0.2745710554975283,
+            -0.36101348336127587,
+            1.0432816650559171
+          ],
+          "center_minus_frame": [
+            1.3363230067509058e-06,
+            6.028078495701195e-06,
+            0.00011531493222283196
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25940574023124796,
+              0.16190750621139746,
+              0.8308486966527826
+            ],
+            "target_position": [
+              0.2748190564962405,
+              0.20844241288743498,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04902109604682667,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16792851473684986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8308486966527826,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671143227955,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13838346493025594,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dd7eba87715ae301b07c94e1bbe4cbf34c23b151f2d9c4ff45b588d650c69c6",
+    "visual_seed": 6995427005253008079,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7865fc849302a604c2be91217bfad1010ba7f96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_2_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2033865819403207,
+              -0.108997467034917,
+              1.164817335103952
+            ],
+            "current_z": 1.164817335103952,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.3037106482752514,
+            "gripper_z": 1.158822213206729,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19867451369662253,
+              -0.11356986749469826,
+              1.158822213206729
+            ],
+            "object_minus_gripper": [
+              0.004712068243698159,
+              0.004572400459781259,
+              0.005995121897222955
+            ],
+            "object_to_gripper_xy": 0.006565853569634074,
+            "object_to_gripper_z": 0.005995121897222955,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2033865819403207,
+              -0.13305279319128818,
+              1.164817335103952
+            ],
+            "finger_b": [
+              0.19325993709489145,
+              -0.108997467034917,
+              1.164817335103952
+            ],
+            "finger_midpoint": [
+              0.19832325951760607,
+              -0.12102513011310259,
+              1.164817335103952
+            ],
+            "object_minus_finger_midpoint": [
+              0.005063322422714622,
+              0.012027663078185591,
+              0.0
+            ],
+            "finger_gap": 0.02609995502515003,
+            "fingertip_max_gap": 0.09283330939627973,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013049977512575014,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164817335103952,
+            "object_top_z": 1.2151758504761965,
+            "finger_top_clearance": 0.05035851537224456,
+            "fingertip_min_top_clearance": 0.015107554611673402,
+            "object_projection_between_fingers": 0.8494600941768918,
+            "object_to_finger_line_xy": 0.009333339631880665,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891665469813987,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.826482465273818,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2729710282355694,
+              -0.36888657563661986,
+              0.851539549817517
+            ],
+            "target_position": [
+              0.26770947230684267,
+              -0.3681804355930834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005308729090112355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18356063802613864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539549817517,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515475751758778,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710350424127965,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15224202233238832,
+            "release_required_pad_clearance": 0.053551752120639826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.11479834178273,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007946372032165527,
+            "max_z_decrease": 0.007946372032165527,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510508540578366,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007946372032165527,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021139135467424342,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007946372032165527,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007946398491691738,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12340939790010452,
+              -0.4244419038295746,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12340939790010452,
+              -0.4244419038295746,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12342743535719633,
+              -0.4251540132467646,
+              0.8077558202695265
+            ],
+            "closest_button": [
+              0.12339863181114197,
+              -0.4244379699230194,
+              0.7726580500602722
+            ],
+            "closest_ee_minus_button": [
+              2.8803546054362306e-05,
+              -0.0007160433237451969,
+              0.03509777020925431
+            ],
+            "button_min_z_position": [
+              0.12338922172784805,
+              -0.4244382381439209,
+              0.7688624858856201
+            ],
+            "min_active_finger_to_button": 0.14609475093433008,
+            "closest_active_finger": [
+              -0.017633214592933655,
+              -0.4081379771232605,
+              0.8111663460731506
+            ],
+            "closest_active_finger_button": [
+              0.12341331690549849,
+              -0.4244396984577179,
+              0.7767598628997803
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14104653149843216,
+              0.016301721334457397,
+              0.03440648317337036
+            ],
+            "min_contact_pad_to_button": 0.021139135467424342,
+            "closest_contact_pad": [
+              0.12338922172784805,
+              -0.42630510473053174,
+              0.7899190254270052
+            ],
+            "closest_contact_pad_button": [
+              0.12338922172784805,
+              -0.4244382381439209,
+              0.7688624858856201
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001866866586610838,
+              0.02105653954138509
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2755763756169151,
+              0.20788617303086235,
+              1.1014286754124427
+            ],
+            "current_z": 1.1014286754124427,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19151954567808016,
+            "gripper_z": 1.1014289100324595,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2755763805279662,
+              0.2078861752104625,
+              1.1014289100324595
+            ],
+            "object_minus_gripper": [
+              -4.911051065814576e-09,
+              -2.1796001392626607e-09,
+              -2.3462001674801058e-07
+            ],
+            "object_to_gripper_xy": 5.372995378567926e-09,
+            "object_to_gripper_z": -2.3462001674801058e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2755763756169151,
+              0.20788617303086235,
+              1.1014286754124427
+            ],
+            "finger_b": [
+              0.2755763756169151,
+              0.20788617303086235,
+              1.1014286754124427
+            ],
+            "finger_midpoint": [
+              0.2755763756169151,
+              0.20788617303086235,
+              1.1014286754124427
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014286754124427,
+            "object_top_z": 1.2264371820327225,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2755763756169151,
+            0.20788617303086235,
+            1.1014286754124427
+          ],
+          "object_origin_world": [
+            0.2755763756169151,
+            0.20788617303086235,
+            1.1014286754124427
+          ],
+          "frame_world": [
+            0.2755763805279662,
+            0.2078861752104625,
+            1.1014289100324595
+          ],
+          "center_minus_frame": [
+            -4.911051065814576e-09,
+            -2.1796001392626607e-09,
+            -2.3462001674801058e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433065104874502,
+            "required_z": 0.9112599273218283,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010005856471903944,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.666643944300787e-08,
+            "max_target_xy_drift": 1.3657193885460031e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.114798342144037,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1147983424481147,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.272116744018857,
+              -0.36939807146150244,
+              0.9234224867043098
+            ],
+            "target_mouth_xy": [
+              0.2729710873124851,
+              -0.3688865467448368
+            ],
+            "rod_tip_z": 0.9234224867043098,
+            "rod_tip_depth": -0.02216271961114591,
+            "rod_tip_bottom_clearance": 0.1216032607319294,
+            "rod_tip_xy_dist": 0.0009957710575866285,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04459738557648041,
+            "min_rod_tip_bottom_clearance": 0.05484318233008556,
+            "min_rod_tip_xy_dist": 0.0003541822230828071,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2729711195794522,
+              -0.36888660508227744
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.226696709823784e-08,
+              5.833744065597557e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.000302169487185755,
+                0.0013461373102378604
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0003981754684285188,
+                0.0009131333389513219
+              ],
+              "first_target_mouth_xy": [
+                0.2729710578506567,
+                -0.36888657436663386
+              ],
+              "last_target_mouth_xy": [
+                0.27297102856952304,
+                -0.3688866041689315
+              ],
+              "first_rod_tip_xy": [
+                0.2726688883634709,
+                -0.367540437056396
+              ],
+              "last_rod_tip_xy": [
+                0.2725728531010945,
+                -0.36797347082998016
+              ],
+              "min_rod_tip_xy_dist": 0.0009942478382168251,
+              "max_rod_tip_xy_dist": 0.00137963475492629,
+              "first_target_xy_drift": 6.894849495881739e-08,
+              "last_target_xy_drift": 9.101451205406408e-08,
+              "max_depth": 0.01961370419139563,
+              "min_bottom_clearance": 0.0798269498798142
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.000302169487185755,
+                  0.0013461373102378604
+                ],
+                "rod_tip_xy": [
+                  0.2726688883634709,
+                  -0.367540437056396
+                ],
+                "target_mouth_xy": [
+                  0.2729710578506567,
+                  -0.36888657436663386
+                ],
+                "gripper_position": [
+                  0.27266083592240936,
+                  -0.3675427193111976,
+                  1.0060100312371087
+                ],
+                "rod_tip_xy_dist": 0.00137963475492629,
+                "target_xy_drift": 6.894849495881739e-08,
+                "depth": 0.01512152867863692,
+                "bottom_clearance": 0.08431910603368065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00031022153343818193,
+                  0.0013438864671331263
+                ],
+                "rod_tip_xy": [
+                  0.2726608359224093,
+                  -0.3675427193111976
+                ],
+                "target_mouth_xy": [
+                  0.2729710574558475,
+                  -0.3688866057783307
+                ],
+                "gripper_position": [
+                  0.2726657931031594,
+                  -0.36761474651253967,
+                  1.005483672370205
+                ],
+                "rod_tip_xy_dist": 0.001379227405597892,
+                "target_xy_drift": 6.212750398727542e-08,
+                "depth": 0.015249745821458993,
+                "bottom_clearance": 0.08419081448203791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00030526459081575696,
+                  0.0012718579723775547
+                ],
+                "rod_tip_xy": [
+                  0.27266579310315936,
+                  -0.3676147465125397
+                ],
+                "target_mouth_xy": [
+                  0.2729710576939751,
+                  -0.3688866044849173
+                ],
+                "gripper_position": [
+                  0.2726549879788327,
+                  -0.3676232174167292,
+                  1.0053371455379223
+                ],
+                "rod_tip_xy_dist": 0.0013079790412335575,
+                "target_xy_drift": 6.18883600696503e-08,
+                "depth": 0.015776189503832305,
+                "bottom_clearance": 0.08366442765859883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0003160686855245287,
+                  0.0012634226142365645
+                ],
+                "rod_tip_xy": [
+                  0.27265498797883264,
+                  -0.36762321741672926
+                ],
+                "target_mouth_xy": [
+                  0.27297105666435717,
+                  -0.36888664003096583
+                ],
+                "gripper_position": [
+                  0.2726597877866409,
+                  -0.36769535628294164,
+                  1.0048149468238892
+                ],
+                "rod_tip_xy_dist": 0.00130235790631207,
+                "target_xy_drift": 7.197027165247512e-08,
+                "depth": 0.01592272794291627,
+                "bottom_clearance": 0.08351788447385766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003112403233413441,
+                  0.0011912488384178133
+                ],
+                "rod_tip_xy": [
+                  0.27265978778664085,
+                  -0.36769535628294164
+                ],
+                "target_mouth_xy": [
+                  0.2729710281099822,
+                  -0.36888660512135946
+                ],
+                "gripper_position": [
+                  0.27264865331612,
+                  -0.3677037891633601,
+                  1.0046685320368176
+                ],
+                "rod_tip_xy_dist": 0.0012312369121762934,
+                "target_xy_drift": 9.14694783475282e-08,
+                "depth": 0.01644496470193546,
+                "bottom_clearance": 0.08299563694164458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0003224030354284646,
+                  0.001182817563594396
+                ],
+                "rod_tip_xy": [
+                  0.2726486533161199,
+                  -0.36770378916336016
+                ],
+                "target_mouth_xy": [
+                  0.2729710563515484,
+                  -0.36888660672695456
+                ],
+                "gripper_position": [
+                  0.2726404343778827,
+                  -0.36770587469507315,
+                  1.0045406977252207
+                ],
+                "rod_tip_xy_dist": 0.0012259694555741881,
+                "target_xy_drift": 6.324929076245935e-08,
+                "depth": 0.016591220425025477,
+                "bottom_clearance": 0.08284926503124235,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0003306228686654755,
+                  0.0011807310672325433
+                ],
+                "rod_tip_xy": [
+                  0.27264043437788266,
+                  -0.36770587469507315
+                ],
+                "target_mouth_xy": [
+                  0.27297105724654813,
+                  -0.3688866057623057
+                ],
+                "gripper_position": [
+                  0.2726323818579648,
+                  -0.3677077678012138,
+                  1.0044125901060632
+                ],
+                "rod_tip_xy_dist": 0.0012261473542819756,
+                "target_xy_drift": 6.233661337488754e-08,
+                "depth": 0.016719137698668396,
+                "bottom_clearance": 0.08272141542679212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0003386739389630855,
+                  0.0011788408522560023
+                ],
+                "rod_tip_xy": [
+                  0.27263238185796473,
+                  -0.3677077678012138
+                ],
+                "target_mouth_xy": [
+                  0.2729710557969278,
+                  -0.3688866086534698
+                ],
+                "gripper_position": [
+                  0.272638943592763,
+                  -0.367782272370669,
+                  1.0038894076094653
+                ],
+                "rod_tip_xy_dist": 0.001226525903468993,
+                "target_xy_drift": 6.388242191842236e-08,
+                "depth": 0.016847273000511254,
+                "bottom_clearance": 0.08259330044600033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00033211250798609315,
+                  0.0011043052270678921
+                ],
+                "rod_tip_xy": [
+                  0.2726389435927629,
+                  -0.367782272370669
+                ],
+                "target_mouth_xy": [
+                  0.272971056100749,
+                  -0.3688865775977369
+                ],
+                "gripper_position": [
+                  0.27262770089619043,
+                  -0.36779051284187786,
+                  1.0037433084881986
+                ],
+                "rod_tip_xy_dist": 0.0011531646684191646,
+                "target_xy_drift": 6.917330211898635e-08,
+                "depth": 0.01737042265990285,
+                "bottom_clearance": 0.0820700929953394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0003433554309876241,
+                  0.001096064113256634
+                ],
+                "rod_tip_xy": [
+                  0.2726277008961904,
+                  -0.36779051284187775
+                ],
+                "target_mouth_xy": [
+                  0.272971056327178,
+                  -0.3688865769551344
+                ],
+                "gripper_position": [
+                  0.27261958522807594,
+                  -0.3677924011399331,
+                  1.0036152936957339
+                ],
+                "rod_tip_xy_dist": 0.0011485858663407575,
+                "target_xy_drift": 6.922417473433125e-08,
+                "depth": 0.01751650382719927,
+                "bottom_clearance": 0.08192398155279179,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003514709941791483,
+                  0.0010942059555722472
+                ],
+                "rod_tip_xy": [
+                  0.2726195852280759,
+                  -0.3677924011399332
+                ],
+                "target_mouth_xy": [
+                  0.27297105622225504,
+                  -0.36888660709550547
+                ],
+                "gripper_position": [
+                  0.27261133219519007,
+                  -0.36779432202743645,
+                  1.0034871958503957
+                ],
+                "rod_tip_xy_dist": 0.0011492686948486213,
+                "target_xy_drift": 6.338917508909145e-08,
+                "depth": 0.01764452717206011,
+                "bottom_clearance": 0.08179597266914806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00035972384828492077,
+                  0.001092254618932753
+                ],
+                "rod_tip_xy": [
+                  0.27261133219519,
+                  -0.3677943220274365
+                ],
+                "target_mouth_xy": [
+                  0.27297105604347494,
+                  -0.36888657664636926
+                ],
+                "gripper_position": [
+                  0.27261919481989594,
+                  -0.36787059169245095,
+                  1.0029662540818571
+                ],
+                "rod_tip_xy_dist": 0.0011499658254073668,
+                "target_xy_drift": 6.960906033164403e-08,
+                "depth": 0.017772630463427475,
+                "bottom_clearance": 0.08166787678215204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00035186304435402826,
+                  0.0010159865109948263
+                ],
+                "rod_tip_xy": [
+                  0.2726191948198959,
+                  -0.3678705916924509
+                ],
+                "target_mouth_xy": [
+                  0.2729710578642499,
+                  -0.3688865782034457
+                ],
+                "gripper_position": [
+                  0.2726079401864975,
+                  -0.3678788661830744,
+                  1.0028200530450317
+                ],
+                "rod_tip_xy_dist": 0.0010751912353184085,
+                "target_xy_drift": 6.731446937407119e-08,
+                "depth": 0.01829365034710395,
+                "bottom_clearance": 0.08114693362238967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00036311812233219554,
+                  0.001007710422079644
+                ],
+                "rod_tip_xy": [
+                  0.2726079401864974,
+                  -0.36787886618307436
+                ],
+                "target_mouth_xy": [
+                  0.2729710583088296,
+                  -0.368886576605154
+                ],
+                "gripper_position": [
+                  0.27259961015351475,
+                  -0.36788063415041045,
+                  1.0026925198184837
+                ],
+                "rod_tip_xy_dist": 0.001071137276698927,
+                "target_xy_drift": 6.756504828717551e-08,
+                "depth": 0.01843977844043676,
+                "bottom_clearance": 0.08100079019077955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00037144927724780397,
+                  0.001006002366794545
+                ],
+                "rod_tip_xy": [
+                  0.2725996101535147,
+                  -0.36788063415041045
+                ],
+                "target_mouth_xy": [
+                  0.2729710594307625,
+                  -0.368886636517205
+                ],
+                "gripper_position": [
+                  0.2725911626759209,
+                  -0.3678824932971734,
+                  1.0025646849331165
+                ],
+                "rod_tip_xy_dist": 0.0010723876759661788,
+                "target_xy_drift": 6.786766197656216e-08,
+                "depth": 0.01856731585212812,
+                "bottom_clearance": 0.0808732861561191,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00037986661232786156,
+                  0.0010041124664852963
+                ],
+                "rod_tip_xy": [
+                  0.2725911626759208,
+                  -0.3678824932971733
+                ],
+                "target_mouth_xy": [
+                  0.2729710292882487,
+                  -0.3688866057636586
+                ],
+                "gripper_position": [
+                  0.27258266958909144,
+                  -0.36788444233797785,
+                  1.0024367238082401
+                ],
+                "rod_tip_xy_dist": 0.0010735643848939062,
+                "target_xy_drift": 9.029377449354434e-08,
+                "depth": 0.018695223555642904,
+                "bottom_clearance": 0.08074539801049851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000388388277575924,
+                  0.0010021643798075464
+                ],
+                "rod_tip_xy": [
+                  0.2725826695890914,
+                  -0.36788444233797785
+                ],
+                "target_mouth_xy": [
+                  0.2729710578666673,
+                  -0.3688866067177854
+                ],
+                "gripper_position": [
+                  0.2725927722307515,
+                  -0.3679636932029702,
+                  1.001919891426776
+                ],
+                "rod_tip_xy_dist": 0.0010747924908155234,
+                "target_xy_drift": 6.173445313753023e-08,
+                "depth": 0.018823098814356398,
+                "bottom_clearance": 0.08061744187705944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00037825571510347045,
+                  0.0009229433201777826
+                ],
+                "rod_tip_xy": [
+                  0.27259277223075146,
+                  -0.36796369320297023
+                ],
+                "target_mouth_xy": [
+                  0.2729710279458549,
+                  -0.368886636523148
+                ],
+                "gripper_position": [
+                  0.27258132727010775,
+                  -0.36797192661119965,
+                  1.0017735662062872
+                ],
+                "rod_tip_xy_dist": 0.0009974476218174199,
+                "target_xy_drift": 9.687747153114858e-08,
+                "depth": 0.019339930274306028,
+                "bottom_clearance": 0.08010060590355295,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00038973249009727207,
+                  0.0009146788233918013
+                ],
+                "rod_tip_xy": [
+                  0.2725813272701077,
+                  -0.36797192661119965
+                ],
+                "target_mouth_xy": [
+                  0.27297105976020497,
+                  -0.36888660543459145
+                ],
+                "gripper_position": [
+                  0.2725728531010946,
+                  -0.3679734708299801,
+                  1.001646168373957
+                ],
+                "rod_tip_xy_dist": 0.0009942478382168251,
+                "target_xy_drift": 5.982028471519473e-08,
+                "depth": 0.01948635315233649,
+                "bottom_clearance": 0.07995430550521665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0003981754684285188,
+                  0.0009131333389513219
+                ],
+                "rod_tip_xy": [
+                  0.2725728531010945,
+                  -0.36797347082998016
+                ],
+                "target_mouth_xy": [
+                  0.27297102856952304,
+                  -0.3688866041689315
+                ],
+                "gripper_position": [
+                  0.2725642895829027,
+                  -0.367975116801552,
+                  1.0015186229519317
+                ],
+                "rod_tip_xy_dist": 0.000996170767671216,
+                "target_xy_drift": 9.101451205406408e-08,
+                "depth": 0.01961370419139563,
+                "bottom_clearance": 0.0798269498798142,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006002275558080424,
+              "rod_tip_xy_max_step": 3.2588238719981534e-05,
+              "rod_tip_xy_range": 0.0006002223709851694,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.272116744018857,
+            -0.36939807146150244,
+            1.0434224867043098
+          ],
+          "object_origin_world": [
+            0.272116744018857,
+            -0.36939807146150244,
+            1.0434224867043098
+          ],
+          "frame_world": [
+            0.2721152845333803,
+            -0.369404980193449,
+            1.0433065104874502
+          ],
+          "center_minus_frame": [
+            1.459485476695832e-06,
+            6.908731946531077e-06,
+            0.00011597621685965898
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2626245198533374,
+              0.16184293457251414,
+              0.8327548613224582
+            ],
+            "target_position": [
+              0.2757570572642154,
+              0.20894753456980536,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048900990580487406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16872477314128745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327548613224582,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675563479311,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13719103764655613,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 300,
+            "max_placed_release_frames": 300
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db662adb37920dfadc6a9f173cc8affad7c197201d01c7cd43fdc4c2caf039e6",
+    "visual_seed": 1817263508522660346,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f769b2ff6f6d5890dfb2c3aa2e3e7aca8608641
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_30_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19615015733349755,
+              -0.10446007808892256,
+              1.1649115587858336
+            ],
+            "current_z": 1.1649115587858336,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3038050507710678,
+            "gripper_z": 1.1587742661499418,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19150376557012583,
+              -0.10907522388715819,
+              1.1587742661499418
+            ],
+            "object_minus_gripper": [
+              0.004646391763371727,
+              0.004615145798235631,
+              0.0061372926358918
+            ],
+            "object_to_gripper_xy": 0.006548933283955534,
+            "object_to_gripper_z": 0.0061372926358918,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19615015733349755,
+              -0.12820081734776487,
+              1.1649115587858336
+            ],
+            "finger_b": [
+              0.1855003254513139,
+              -0.10446007808892256,
+              1.1649115587858336
+            ],
+            "finger_midpoint": [
+              0.19082524139240573,
+              -0.11633044771834372,
+              1.1649115587858336
+            ],
+            "object_minus_finger_midpoint": [
+              0.005324915941091829,
+              0.01187036962942116,
+              0.0
+            ],
+            "finger_gap": 0.026020023437251395,
+            "fingertip_max_gap": 0.09190054553962615,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013010011718625704,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649115587858336,
+            "object_top_z": 1.2149311723378025,
+            "finger_top_clearance": 0.05001961355196882,
+            "fingertip_min_top_clearance": 0.015005884065590646,
+            "object_projection_between_fingers": 0.8324786603618235,
+            "object_to_finger_line_xy": 0.009716935208577039,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845027276981308,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3658491517744036,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2734494355982018,
+              -0.3676235929198094,
+              0.8515395617443456
+            ],
+            "target_position": [
+              0.2651755441729122,
+              -0.36870686310993056,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008344504396444718,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18400043813200095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395617443456,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580982745628785,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08717179990523201,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15124767446350043,
+            "release_required_pad_clearance": 0.053585899952616006,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.182555110058899,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008050680160522461,
+            "max_z_decrease": 0.008050680160522461,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035131691150829196,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008050680160522461,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021136567133691112,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008050680160522461,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008050689769147171,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1208754703402519,
+              -0.4249683320522308,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1208754703402519,
+              -0.4249683320522308,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12243277738911454,
+              -0.42579595909280726,
+              0.8073214162614905
+            ],
+            "closest_button": [
+              0.1208645850419998,
+              -0.42496341466903687,
+              0.7722346186637878
+            ],
+            "closest_ee_minus_button": [
+              0.0015681923471147358,
+              -0.0008325444237703983,
+              0.03508679759770261
+            ],
+            "button_min_z_position": [
+              0.12086624652147292,
+              -0.4249599874019622,
+              0.7687581777572632
+            ],
+            "min_active_finger_to_button": 0.14461800372846356,
+            "closest_active_finger": [
+              -0.018925972282886505,
+              -0.41161441802978516,
+              0.8111221194267273
+            ],
+            "closest_active_finger_button": [
+              0.1208769455552101,
+              -0.42496541142463684,
+              0.7766074538230896
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13980291783809662,
+              0.013350993394851685,
+              0.034514665603637695
+            ],
+            "min_contact_pad_to_button": 0.021136567133691112,
+            "closest_contact_pad": [
+              0.12086624652147292,
+              -0.426709346521073,
+              0.7898222280057177
+            ],
+            "closest_contact_pad_button": [
+              0.12086624652147292,
+              -0.4249599874019622,
+              0.7687581777572632
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017493591191107827,
+              0.02106405024845448
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2773693034760392,
+              0.20431136162327065,
+              1.1044356872841652
+            ],
+            "current_z": 1.1044356872841652,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19452655754980264,
+            "gripper_z": 1.104435550647227,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27736920998482795,
+              0.20431158516676803,
+              1.104435550647227
+            ],
+            "object_minus_gripper": [
+              9.349121127266713e-08,
+              -2.235434973796302e-07,
+              1.3663693820831213e-07
+            ],
+            "object_to_gripper_xy": 2.4230621495526526e-07,
+            "object_to_gripper_z": 1.3663693820831213e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2773693034760392,
+              0.20431136162327065,
+              1.1044356872841652
+            ],
+            "finger_b": [
+              0.2773693034760392,
+              0.20431136162327065,
+              1.1044356872841652
+            ],
+            "finger_midpoint": [
+              0.2773693034760392,
+              0.20431136162327065,
+              1.1044356872841652
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044356872841652,
+            "object_top_z": 1.229444193904445,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2773693034760392,
+            0.20431136162327068,
+            1.1044356872841652
+          ],
+          "object_origin_world": [
+            0.2773693034760392,
+            0.20431136162327068,
+            1.1044356872841652
+          ],
+          "frame_world": [
+            0.27736920998482795,
+            0.20431158516676803,
+            1.104435550647227
+          ],
+          "center_minus_frame": [
+            9.349121127266713e-08,
+            -2.2354349735187462e-07,
+            1.3663693820831213e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043322948747498,
+            "required_z": 0.911259845020134,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015792164378740272,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.233416342424996e-07,
+            "max_target_xy_drift": 1.9328991580219392e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1825551099773883,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1829137105497556,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27188799606688174,
+              -0.3678435276053593,
+              0.9234383277179675
+            ],
+            "target_mouth_xy": [
+              0.2734494041195472,
+              -0.3676235327941081
+            ],
+            "rod_tip_z": 0.9234383277179675,
+            "rod_tip_depth": -0.02217845527849638,
+            "rod_tip_bottom_clearance": 0.12161903937245067,
+            "rod_tip_xy_dist": 0.0015768299920746178,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04459197102486068,
+            "min_rod_tip_bottom_clearance": 0.054848620946753246,
+            "min_rod_tip_xy_dist": 0.0010894283867815787,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27344942924846566,
+              -0.3676234120394138
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.5128918446082338e-08,
+              -1.2075469429939645e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0009801407315939148,
+                0.0015143053369583992
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010851941237641216,
+                0.0011153934867788595
+              ],
+              "first_target_mouth_xy": [
+                0.27344940589437033,
+                -0.3676234683311266
+              ],
+              "last_target_mouth_xy": [
+                0.27344943515797565,
+                -0.36762347180629057
+              ],
+              "first_rod_tip_xy": [
+                0.2724692651627764,
+                -0.3661091629941682
+              ],
+              "last_rod_tip_xy": [
+                0.27236424103421153,
+                -0.3665080783195117
+              ],
+              "min_rod_tip_xy_dist": 0.001544461063047063,
+              "max_rod_tip_xy_dist": 0.0018038282920694378,
+              "first_target_xy_drift": 6.094399640136917e-08,
+              "last_target_xy_drift": 6.005832056015217e-08,
+              "max_depth": 0.019560658945604992,
+              "min_bottom_clearance": 0.07987985014729193
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009801407315939148,
+                  0.0015143053369583992
+                ],
+                "rod_tip_xy": [
+                  0.2724692651627764,
+                  -0.3661091629941682
+                ],
+                "target_mouth_xy": [
+                  0.27344940589437033,
+                  -0.3676234683311266
+                ],
+                "gripper_position": [
+                  0.2724722458241592,
+                  -0.36617494062745826,
+                  1.0056566678393428
+                ],
+                "rod_tip_xy_dist": 0.0018038282920694378,
+                "target_xy_drift": 6.094399640136917e-08,
+                "depth": 0.015079618772755321,
+                "bottom_clearance": 0.0843610089458584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009771895767681227,
+                  0.0014486545899479175
+                ],
+                "rod_tip_xy": [
+                  0.2724722458241592,
+                  -0.36617494062745837
+                ],
+                "target_mouth_xy": [
+                  0.2734494354009273,
+                  -0.3676235952174063
+                ],
+                "gripper_position": [
+                  0.27246128261532376,
+                  -0.36618318019441654,
+                  1.005510893909098
+                ],
+                "rod_tip_xy_dist": 0.0017474265620967971,
+                "target_xy_drift": 1.8328128578619617e-07,
+                "depth": 0.015603228374318712,
+                "bottom_clearance": 0.08383743415100364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009881505596781581,
+                  0.0014403789284782587
+                ],
+                "rod_tip_xy": [
+                  0.27246128261532376,
+                  -0.36618318019441665
+                ],
+                "target_mouth_xy": [
+                  0.2734494331750019,
+                  -0.3676235591228949
+                ],
+                "gripper_position": [
+                  0.2724532707067727,
+                  -0.3661851777858732,
+                  1.005383134356473
+                ],
+                "rod_tip_xy_dist": 0.0017467492625435493,
+                "target_xy_drift": 1.4713588313005333e-07,
+                "depth": 0.01574899682834674,
+                "bottom_clearance": 0.08369161002620051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009961640972073194,
+                  0.0014383530304408199
+                ],
+                "rod_tip_xy": [
+                  0.2724532707067727,
+                  -0.36618517778587334
+                ],
+                "target_mouth_xy": [
+                  0.27344943480398004,
+                  -0.36762353081631416
+                ],
+                "gripper_position": [
+                  0.27245718960255094,
+                  -0.3662521176308457,
+                  1.004859714752205
+                ],
+                "rod_tip_xy_dist": 0.0017496292032151166,
+                "target_xy_drift": 1.1890675254893521e-07,
+                "depth": 0.01587668065610426,
+                "bottom_clearance": 0.08356381014229541,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009922448670767747,
+                  0.0013714122477926916
+                ],
+                "rod_tip_xy": [
+                  0.27245718960255094,
+                  -0.36625211763084586
+                ],
+                "target_mouth_xy": [
+                  0.2734494344696277,
+                  -0.36762352987863856
+                ],
+                "gripper_position": [
+                  0.2724461936558945,
+                  -0.36625999210834914,
+                  1.0047140640995098
+                ],
+                "rod_tip_xy_dist": 0.0016927260350204367,
+                "target_xy_drift": 1.1795483638626681e-07,
+                "depth": 0.016400126325843645,
+                "bottom_clearance": 0.08304040988001826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001003241639101815,
+                  0.0013635729486104475
+                ],
+                "rod_tip_xy": [
+                  0.2724461936558945,
+                  -0.36625999210834914
+                ],
+                "target_mouth_xy": [
+                  0.2734494352949963,
+                  -0.3676235650569596
+                ],
+                "gripper_position": [
+                  0.27243805390441367,
+                  -0.3662619096474467,
+                  1.0045867156562704
+                ],
+                "rod_tip_xy_dist": 0.0016928747657785814,
+                "target_xy_drift": 1.531369643685299e-07,
+                "depth": 0.016545824920023322,
+                "bottom_clearance": 0.08289482113925406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001011381398546063,
+                  0.001361619905896505
+                ],
+                "rod_tip_xy": [
+                  0.27243805390441367,
+                  -0.36626190964744687
+                ],
+                "target_mouth_xy": [
+                  0.27344943530295973,
+                  -0.3676235295533434
+                ],
+                "gripper_position": [
+                  0.27244284241329486,
+                  -0.36632959031976337,
+                  1.004064975394708
+                ],
+                "rod_tip_xy_dist": 0.0016961430073724906,
+                "target_xy_drift": 1.1766979453332613e-07,
+                "depth": 0.01667312429292389,
+                "bottom_clearance": 0.08276742869725684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00100659155517413,
+                  0.001293973511637514
+                ],
+                "rod_tip_xy": [
+                  0.27244284241329486,
+                  -0.36632959031976353
+                ],
+                "target_mouth_xy": [
+                  0.273449433968469,
+                  -0.36762356383140105
+                ],
+                "gripper_position": [
+                  0.272431681147287,
+                  -0.3663375642099764,
+                  1.0039193205926167
+                ],
+                "rod_tip_xy_dist": 0.0016393883029250248,
+                "target_xy_drift": 1.5186535426815946e-07,
+                "depth": 0.017194919122500818,
+                "bottom_clearance": 0.08224570911641271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010177527265556874,
+                  0.0012859339722124385
+                ],
+                "rod_tip_xy": [
+                  0.272431681147287,
+                  -0.36633756420997654
+                ],
+                "target_mouth_xy": [
+                  0.2734494338738427,
+                  -0.367623498182189
+                ],
+                "gripper_position": [
+                  0.2724234842344685,
+                  -0.3663392804775054,
+                  1.0037922095578715
+                ],
+                "rod_tip_xy_dist": 0.0016399532899755397,
+                "target_xy_drift": 8.626686403368242e-08,
+                "depth": 0.01734057066481176,
+                "bottom_clearance": 0.08210005411081056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010259500709347558,
+                  0.0012842192843787181
+                ],
+                "rod_tip_xy": [
+                  0.2724234842344685,
+                  -0.3663392804775055
+                ],
+                "target_mouth_xy": [
+                  0.27344943430540325,
+                  -0.36762349976188424
+                ],
+                "gripper_position": [
+                  0.27241513950077856,
+                  -0.36634117734545313,
+                  1.0036644134907518
+                ],
+                "rod_tip_xy_dist": 0.0016437130888391736,
+                "target_xy_drift": 8.786810820999605e-08,
+                "depth": 0.017467641885090535,
+                "bottom_clearance": 0.0819729116228245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010343249705926372,
+                  0.0012823560330018635
+                ],
+                "rod_tip_xy": [
+                  0.27241513950077856,
+                  -0.36634117734545324
+                ],
+                "target_mouth_xy": [
+                  0.2734494644713712,
+                  -0.3676235333784551
+                ],
+                "gripper_position": [
+                  0.2724211772778986,
+                  -0.36641132866608533,
+                  1.0031441836906019
+                ],
+                "rod_tip_xy_dist": 0.001647502698076011,
+                "target_xy_drift": 1.2634799571658301e-07,
+                "depth": 0.017595447786656337,
+                "bottom_clearance": 0.08184513030479634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0010282572272917179,
+                  0.0012121992985146268
+                ],
+                "rod_tip_xy": [
+                  0.2724211772778986,
+                  -0.3664113286660855
+                ],
+                "target_mouth_xy": [
+                  0.2734494345051903,
+                  -0.3676235279646001
+                ],
+                "gripper_position": [
+                  0.27240995530976164,
+                  -0.3664191494391548,
+                  1.002998599856522
+                ],
+                "rod_tip_xy_dist": 0.0015895722898934181,
+                "target_xy_drift": 1.160443104249212e-07,
+                "depth": 0.018115688224153437,
+                "bottom_clearance": 0.08132491209826942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001039479400786969,
+                  0.0012043547468852944
+                ],
+                "rod_tip_xy": [
+                  0.27240995530976164,
+                  -0.366419149439155
+                ],
+                "target_mouth_xy": [
+                  0.2734494347105486,
+                  -0.3676235041860403
+                ],
+                "gripper_position": [
+                  0.2724016794226214,
+                  -0.3664208102698752,
+                  1.0028711475112664
+                ],
+                "rod_tip_xy_dist": 0.001590907848055813,
+                "target_xy_drift": 9.230836974370362e-08,
+                "depth": 0.018261271772926135,
+                "bottom_clearance": 0.0811793274336362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0010477547932029596,
+                  0.001202655861004709
+                ],
+                "rod_tip_xy": [
+                  0.2724016794226214,
+                  -0.3664208102698754
+                ],
+                "target_mouth_xy": [
+                  0.27344943421582435,
+                  -0.3676234661308801
+                ],
+                "gripper_position": [
+                  0.27239319538100765,
+                  -0.3664223559403361,
+                  1.0027440157754546
+                ],
+                "rod_tip_xy_dist": 0.0015950458384287125,
+                "target_xy_drift": 5.4319070127420444e-08,
+                "depth": 0.01838877063577271,
+                "bottom_clearance": 0.08105191754878793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001056269844647073,
+                  0.001201177424328237
+                ],
+                "rod_tip_xy": [
+                  0.27239319538100765,
+                  -0.36642235594033623
+                ],
+                "target_mouth_xy": [
+                  0.2734494652256547,
+                  -0.36762353336466447
+                ],
+                "gripper_position": [
+                  0.2723847349704219,
+                  -0.36642418924753906,
+                  1.002616448974312
+                ],
+                "rod_tip_xy_dist": 0.0015995415560174013,
+                "target_xy_drift": 1.2654712397026843e-07,
+                "depth": 0.018515841214862272,
+                "bottom_clearance": 0.08092474529731941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010646992920654297,
+                  0.0011992791065947306
+                ],
+                "rod_tip_xy": [
+                  0.2723847349704219,
+                  -0.3664241892475393
+                ],
+                "target_mouth_xy": [
+                  0.27344943426248736,
+                  -0.367623468354134
+                ],
+                "gripper_position": [
+                  0.272392769073961,
+                  -0.36649708807759485,
+                  1.002098966795677
+                ],
+                "rod_tip_xy_dist": 0.0016037003953479846,
+                "target_xy_drift": 5.6537493109321844e-08,
+                "depth": 0.018643430600989164,
+                "bottom_clearance": 0.08079717958295307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010566660925768745,
+                  0.001126417659692347
+                ],
+                "rod_tip_xy": [
+                  0.272392769073961,
+                  -0.36649708807759496
+                ],
+                "target_mouth_xy": [
+                  0.27344943516653786,
+                  -0.3676235057372873
+                ],
+                "gripper_position": [
+                  0.27238142363084555,
+                  -0.3665048959372548,
+                  1.0019531316341501
+                ],
+                "rod_tip_xy_dist": 0.001544461063047063,
+                "target_xy_drift": 9.388458382443054e-08,
+                "depth": 0.01916092610911957,
+                "bottom_clearance": 0.08027972458384192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010680125263271,
+                  0.0011185745698522598
+                ],
+                "rod_tip_xy": [
+                  0.27238142363084555,
+                  -0.3665048959372549
+                ],
+                "target_mouth_xy": [
+                  0.27344943615717265,
+                  -0.36762347050710714
+                ],
+                "gripper_position": [
+                  0.27237281349146697,
+                  -0.36650661553970826,
+                  1.0018262011400343
+                ],
+                "rod_tip_xy_dist": 0.0015465638766994922,
+                "target_xy_drift": 5.8874454548861806e-08,
+                "depth": 0.019306704404435715,
+                "bottom_clearance": 0.08013385951848084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0010766219329274018,
+                  0.0011169190405098117
+                ],
+                "rod_tip_xy": [
+                  0.27237281349146697,
+                  -0.3665066155397083
+                ],
+                "target_mouth_xy": [
+                  0.27344943542439437,
+                  -0.3676235345802181
+                ],
+                "gripper_position": [
+                  0.27236424103421153,
+                  -0.36650807831951154,
+                  1.0016991614841473
+                ],
+                "rod_tip_xy_dist": 0.0015513294071581617,
+                "target_xy_drift": 1.2269633581748365e-07,
+                "depth": 0.019433736778669997,
+                "bottom_clearance": 0.08000689136184447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0010851941237641216,
+                  0.0011153934867788595
+                ],
+                "rod_tip_xy": [
+                  0.27236424103421153,
+                  -0.3665080783195117
+                ],
+                "target_mouth_xy": [
+                  0.27344943515797565,
+                  -0.36762347180629057
+                ],
+                "gripper_position": [
+                  0.2723557214190647,
+                  -0.36650956879437196,
+                  1.001572010125769
+                ],
+                "rod_tip_xy_dist": 0.0015561969401720597,
+                "target_xy_drift": 6.005832056015217e-08,
+                "depth": 0.019560658945604992,
+                "bottom_clearance": 0.07987985014729193,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006000112032978501,
+              "rod_tip_xy_max_step": 3.254865555098465e-05,
+              "rod_tip_xy_range": 0.0006000007824657661,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27188799606688174,
+            -0.36784352760535927,
+            1.0434383277179675
+          ],
+          "object_origin_world": [
+            0.27188799606688174,
+            -0.36784352760535927,
+            1.0434383277179675
+          ],
+          "frame_world": [
+            0.27188655396507977,
+            -0.36785030129353563,
+            1.043322948747498
+          ],
+          "center_minus_frame": [
+            1.4421018019739051e-06,
+            6.7736881763647006e-06,
+            0.00011537897046953738
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26375479681645114,
+              0.1558171998803208,
+              0.8323836984022169
+            ],
+            "target_position": [
+              0.27753585164556,
+              0.20258549788859553,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04875644747921754,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16803812790624892,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323836984022169,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674998888954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1378747773810322,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 303,
+            "max_placed_release_frames": 303
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d987608e88d89b3a12bb79887b62ff4d554b89a59008b2897fcac720e92579df",
+    "visual_seed": 1043453685036406905,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f83f46ae103e38c242728ad06fc7df3a663e5524
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_32_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20149457897799455,
+              -0.1114550966352272,
+              1.1653869197547695
+            ],
+            "current_z": 1.1653869197547695,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.30428029253071387,
+            "gripper_z": 1.1592351642702188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1970068071838577,
+              -0.116140119134824,
+              1.1592351642702188
+            ],
+            "object_minus_gripper": [
+              0.004487771794136841,
+              0.004685022499596805,
+              0.006151755484550714
+            ],
+            "object_to_gripper_xy": 0.006487644526172692,
+            "object_to_gripper_z": 0.006151755484550714,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20149457897799455,
+              -0.13497880020323902,
+              1.1653869197547695
+            ],
+            "finger_b": [
+              0.1905773877230466,
+              -0.1114550966352272,
+              1.1653869197547695
+            ],
+            "finger_midpoint": [
+              0.19603598335052058,
+              -0.12321694841923311,
+              1.1653869197547695
+            ],
+            "object_minus_finger_midpoint": [
+              0.005458595627473972,
+              0.01176185178400592,
+              0.0
+            ],
+            "finger_gap": 0.025933563088260822,
+            "fingertip_max_gap": 0.09216245247873098,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012966781544130416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653869197547695,
+            "object_top_z": 1.2153673286361069,
+            "finger_top_clearance": 0.04998040888133737,
+            "fingertip_min_top_clearance": 0.014994122664401177,
+            "object_projection_between_fingers": 0.8227862329279884,
+            "object_to_finger_line_xy": 0.009902718342352889,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858122623936549,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8461251454723338,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2685616456479746,
+              -0.3634323938266566,
+              0.8515395666988661
+            ],
+            "target_position": [
+              0.2603348219424858,
+              -0.36397082566067085,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0082444246082472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18542524532598564,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395666988661,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751673948552018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510001171937208,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15415408572872732,
+            "release_required_pad_clearance": 0.05255000585968604,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16785874391535865,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00751650333404541,
+            "max_z_decrease": 0.00751650333404541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514838092299899,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00751650333404541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114187187808064,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00751650333404541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007516532014912992,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11603474617004393,
+              -0.42023229598999023,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11603474617004393,
+              -0.42023229598999023,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11796742969642413,
+              -0.4207130550909825,
+              0.8077204613695856
+            ],
+            "closest_button": [
+              0.11602385342121121,
+              -0.42022863030433655,
+              0.7726292014122009
+            ],
+            "closest_ee_minus_button": [
+              0.0019435762752129104,
+              -0.0004844247866459539,
+              0.03509125995738471
+            ],
+            "button_min_z_position": [
+              0.11601432412862776,
+              -0.4202285408973694,
+              0.7692923545837402
+            ],
+            "min_active_finger_to_button": 0.14427904503249656,
+            "closest_active_finger": [
+              -0.023242957890033722,
+              -0.4051852226257324,
+              0.8110232949256897
+            ],
+            "closest_active_finger_button": [
+              0.11603611707687377,
+              -0.42023006081581116,
+              0.7765061259269714
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392790749669075,
+              0.015044838190078735,
+              0.03451716899871826
+            ],
+            "min_contact_pad_to_button": 0.02114187187808064,
+            "closest_contact_pad": [
+              0.11601432412862776,
+              -0.4217324723662048,
+              0.7903806673812644
+            ],
+            "closest_contact_pad_button": [
+              0.11601432412862776,
+              -0.4202285408973694,
+              0.7692923545837402
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015039314688354288,
+              0.02108831279752421
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2778224483472493,
+              0.2043619051026093,
+              1.1021354670682197
+            ],
+            "current_z": 1.1021354670682197,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1922263373338572,
+            "gripper_z": 1.102135402523708,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2778223953346376,
+              0.20436190855286412,
+              1.102135402523708
+            ],
+            "object_minus_gripper": [
+              5.301261168932925e-08,
+              -3.450254831838251e-09,
+              6.45445117353205e-08
+            ],
+            "object_to_gripper_xy": 5.3124770649182396e-08,
+            "object_to_gripper_z": 6.45445117353205e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2778224483472493,
+              0.2043619051026093,
+              1.1021354670682197
+            ],
+            "finger_b": [
+              0.2778224483472493,
+              0.2043619051026093,
+              1.1021354670682197
+            ],
+            "finger_midpoint": [
+              0.2778224483472493,
+              0.2043619051026093,
+              1.1021354670682197
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021354670682197,
+            "object_top_z": 1.2271439736884995,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2778224483472493,
+            0.2043619051026093,
+            1.1021354670682197
+          ],
+          "object_origin_world": [
+            0.2778224483472493,
+            0.2043619051026093,
+            1.1021354670682197
+          ],
+          "frame_world": [
+            0.2778223953346376,
+            0.20436190855286412,
+            1.102135402523708
+          ],
+          "center_minus_frame": [
+            5.301261168932925e-08,
+            -3.450254831838251e-09,
+            6.45445117353205e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433908221821175,
+            "required_z": 0.9112598836125059,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011291649760336111,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2806932790959306e-08,
+            "max_target_xy_drift": 1.6113111152652867e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.16785874341813975,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.16785874404563433,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2695193171797049,
+              -0.36282556873650695,
+              0.923504108537495
+            ],
+            "target_mouth_xy": [
+              0.26856161597946304,
+              -0.3634324214048362
+            ],
+            "rod_tip_z": 0.923504108537495,
+            "rod_tip_depth": -0.022244263835253464,
+            "rod_tip_bottom_clearance": 0.12168482271020042,
+            "rod_tip_xy_dist": 0.0011337820557774977,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04478978006053658,
+            "min_rod_tip_bottom_clearance": 0.0546508150459617,
+            "min_rod_tip_xy_dist": 0.000538353737193758,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26856158721852297,
+              -0.36343245311038497
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8760940073979668e-08,
+              3.1705548741989276e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0014544435403339162,
+                0.0023645652037090903
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001364145791465432,
+                0.0019681406532000567
+              ],
+              "first_target_mouth_xy": [
+                0.268561675470131,
+                -0.3634324838637183
+              ],
+              "last_target_mouth_xy": [
+                0.26856164284172857,
+                -0.3634324810008175
+              ],
+              "first_rod_tip_xy": [
+                0.2700161190104649,
+                -0.3610679186600092
+              ],
+              "last_rod_tip_xy": [
+                0.269925788633194,
+                -0.36146434034761743
+              ],
+              "min_rod_tip_xy_dist": 0.00239467562963162,
+              "max_rod_tip_xy_dist": 0.0027760717956513423,
+              "first_target_xy_drift": 9.345648093589464e-08,
+              "last_target_xy_drift": 6.222392809033168e-08,
+              "max_depth": 0.01947691363781756,
+              "min_bottom_clearance": 0.07996373168482662
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0014544435403339162,
+                  0.0023645652037090903
+                ],
+                "rod_tip_xy": [
+                  0.2700161190104649,
+                  -0.3610679186600092
+                ],
+                "target_mouth_xy": [
+                  0.268561675470131,
+                  -0.3634324838637183
+                ],
+                "gripper_position": [
+                  0.27002212552979143,
+                  -0.3611346506768714,
+                  1.0056977975092927
+                ],
+                "rod_tip_xy_dist": 0.0027760717956513423,
+                "target_xy_drift": 9.345648093589464e-08,
+                "depth": 0.015040928068467463,
+                "bottom_clearance": 0.08439960269516911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0014604813300375663,
+                  0.002297829054581202
+                ],
+                "rod_tip_xy": [
+                  0.2700221255297914,
+                  -0.36113465067687145
+                ],
+                "target_mouth_xy": [
+                  0.2685616441997538,
+                  -0.36343247973145265
+                ],
+                "gripper_position": [
+                  0.2700111386366729,
+                  -0.3611422917407287,
+                  1.0055547695698266
+                ],
+                "rod_tip_xy_dist": 0.002722686922777909,
+                "target_xy_drift": 6.289309909050961e-08,
+                "depth": 0.01556210493314214,
+                "bottom_clearance": 0.08387853369199771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001449459478696291,
+                  0.0022901952678785475
+                ],
+                "rod_tip_xy": [
+                  0.27001113863667286,
+                  -0.36114229174072876
+                ],
+                "target_mouth_xy": [
+                  0.2685616791579766,
+                  -0.3634324870086073
+                ],
+                "gripper_position": [
+                  0.2700030006150538,
+                  -0.3611437930715473,
+                  1.0054293893928081
+                ],
+                "rod_tip_xy_dist": 0.0027103370907316706,
+                "target_xy_drift": 9.798955356144909e-08,
+                "depth": 0.01570520780966167,
+                "bottom_clearance": 0.08373557813292598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001441388717901948,
+                  0.0022886885550431613
+                ],
+                "rod_tip_xy": [
+                  0.2700030006150537,
+                  -0.3611437930715473
+                ],
+                "target_mouth_xy": [
+                  0.2685616118971518,
+                  -0.3634324816265905
+                ],
+                "gripper_position": [
+                  0.27001007625133744,
+                  -0.3612112465219279,
+                  1.0049081324692473
+                ],
+                "rod_tip_xy_dist": 0.0027047544690933733,
+                "target_xy_drift": 3.77121823338114e-08,
+                "depth": 0.01583055512641096,
+                "bottom_clearance": 0.08361011144249664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001448370312619074,
+                  0.002221235759020057
+                ],
+                "rod_tip_xy": [
+                  0.2700100762513374,
+                  -0.36121124652192793
+                ],
+                "target_mouth_xy": [
+                  0.2685617059387183,
+                  -0.363432482280948
+                ],
+                "gripper_position": [
+                  0.2699990090101116,
+                  -0.361218862810052,
+                  1.0047654497549845
+                ],
+                "rod_tip_xy_dist": 0.002651728654976916,
+                "target_xy_drift": 1.2225140706264113e-07,
+                "depth": 0.016351634439791485,
+                "bottom_clearance": 0.08308890058601837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014373311811526346,
+                  0.0022135570020451745
+                ],
+                "rod_tip_xy": [
+                  0.26999900901011153,
+                  -0.361218862810052
+                ],
+                "target_mouth_xy": [
+                  0.2685616778289589,
+                  -0.3634324198120972
+                ],
+                "gripper_position": [
+                  0.26999088671578647,
+                  -0.3612201105799415,
+                  1.004639974988482
+                ],
+                "rod_tip_xy_dist": 0.002639271779415081,
+                "target_xy_drift": 9.653510796499482e-08,
+                "depth": 0.01649450070170877,
+                "bottom_clearance": 0.08294620094855332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014292288893943406,
+                  0.002212373591626293
+                ],
+                "rod_tip_xy": [
+                  0.2699908867157864,
+                  -0.3612201105799415
+                ],
+                "target_mouth_xy": [
+                  0.2685616578263921,
+                  -0.3634324841715678
+                ],
+                "gripper_position": [
+                  0.269998747641877,
+                  -0.36128885762605334,
+                  1.0041204259735534
+                ],
+                "rod_tip_xy_dist": 0.002633873977092451,
+                "target_xy_drift": 7.713798195284902e-08,
+                "depth": 0.01661993707001541,
+                "bottom_clearance": 0.08282069236338108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014370888307153606,
+                  0.0021436246512503976
+                ],
+                "rod_tip_xy": [
+                  0.2699987476418769,
+                  -0.36128885762605334
+                ],
+                "target_mouth_xy": [
+                  0.26856165881116156,
+                  -0.36343248227730374
+                ],
+                "gripper_position": [
+                  0.2699876045122289,
+                  -0.36129651167949633,
+                  1.0039773208661211
+                ],
+                "rod_tip_xy_dist": 0.0025807655749438443,
+                "target_xy_drift": 7.730598328403373e-08,
+                "depth": 0.01713943977667287,
+                "bottom_clearance": 0.08230111910347815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014259297315495911,
+                  0.002135940164179728
+                ],
+                "rod_tip_xy": [
+                  0.26998760451222886,
+                  -0.3612965116794963
+                ],
+                "target_mouth_xy": [
+                  0.26856167478067927,
+                  -0.363432451843676
+                ],
+                "gripper_position": [
+                  0.26997931148690946,
+                  -0.3612977886415266,
+                  1.003852325703461
+                ],
+                "rod_tip_xy_dist": 0.0025681736670780685,
+                "target_xy_drift": 8.757131818181113e-08,
+                "depth": 0.017282523690019147,
+                "bottom_clearance": 0.08215801683209722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014176357154596086,
+                  0.0021346644725885877
+                ],
+                "rod_tip_xy": [
+                  0.26997931148690946,
+                  -0.3612977886415266
+                ],
+                "target_mouth_xy": [
+                  0.26856167577144985,
+                  -0.3634324531141152
+                ],
+                "gripper_position": [
+                  0.26997093712522446,
+                  -0.3612992975542384,
+                  1.0037273700112836
+                ],
+                "rod_tip_xy_dist": 0.002562515059912544,
+                "target_xy_drift": 8.855292695871473e-08,
+                "depth": 0.017407491579440992,
+                "bottom_clearance": 0.08203301680384734,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014092943575331751,
+                  0.0021331552304782453
+                ],
+                "rod_tip_xy": [
+                  0.2699709371252244,
+                  -0.3612992975542384
+                ],
+                "target_mouth_xy": [
+                  0.26856164276769123,
+                  -0.36343245278471664
+                ],
+                "gripper_position": [
+                  0.2699803314872583,
+                  -0.3613702162523766,
+                  1.0032080717432033
+                ],
+                "rod_tip_xy_dist": 0.0025566505086717546,
+                "target_xy_drift": 5.555012290550221e-08,
+                "depth": 0.01753252489269652,
+                "bottom_clearance": 0.08190806657748873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014186547507654135,
+                  0.002062236541757634
+                ],
+                "rod_tip_xy": [
+                  0.2699803314872583,
+                  -0.36137021625237664
+                ],
+                "target_mouth_xy": [
+                  0.2685616767364929,
+                  -0.3634324527941343
+                ],
+                "gripper_position": [
+                  0.26996893073670875,
+                  -0.36137775180732085,
+                  1.003065353994272
+                ],
+                "rod_tip_xy_dist": 0.0025030782760492656,
+                "target_xy_drift": 8.951852855194372e-08,
+                "depth": 0.018051753943111537,
+                "bottom_clearance": 0.08138879297010759,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001407286143809583,
+                  0.0020547311050580497
+                ],
+                "rod_tip_xy": [
+                  0.2699689307367087,
+                  -0.3613777518073208
+                ],
+                "target_mouth_xy": [
+                  0.2685616445928991,
+                  -0.36343248291237884
+                ],
+                "gripper_position": [
+                  0.26996044082271015,
+                  -0.36137905055519864,
+                  1.0029401733766716
+                ],
+                "rod_tip_xy_dist": 0.0024904566257318195,
+                "target_xy_drift": 6.46527484034713e-08,
+                "depth": 0.018194425021070493,
+                "bottom_clearance": 0.08124609502732028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013987328284510436,
+                  0.0020534009669683773
+                ],
+                "rod_tip_xy": [
+                  0.2699604408227101,
+                  -0.3613790505551986
+                ],
+                "target_mouth_xy": [
+                  0.26856170799425905,
+                  -0.36343245152216697
+                ],
+                "gripper_position": [
+                  0.2699520539004546,
+                  -0.36138049654149623,
+                  1.0028155070674345
+                ],
+                "rod_tip_xy_dist": 0.0024845339717003917,
+                "target_xy_drift": 1.207861782730243e-07,
+                "depth": 0.0183197461162371,
+                "bottom_clearance": 0.08112090191102006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013903796686408065,
+                  0.0020519866879734616
+                ],
+                "rod_tip_xy": [
+                  0.26995205390045457,
+                  -0.3613804965414962
+                ],
+                "target_mouth_xy": [
+                  0.26856167423181376,
+                  -0.36343248322946964
+                ],
+                "gripper_position": [
+                  0.2699628970763272,
+                  -0.3614532374822918,
+                  1.0022998970933883
+                ],
+                "rod_tip_xy_dist": 0.0024786700043753335,
+                "target_xy_drift": 9.207861877957956e-08,
+                "depth": 0.01844434218331692,
+                "bottom_clearance": 0.08099619546568748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001401221730553126,
+                  0.0019792451151552926
+                ],
+                "rod_tip_xy": [
+                  0.26996289707632715,
+                  -0.36145323748229186
+                ],
+                "target_mouth_xy": [
+                  0.268561675345774,
+                  -0.36343248259744715
+                ],
+                "gripper_position": [
+                  0.2699514335220214,
+                  -0.3614608327326757,
+                  1.0021573953248888
+                ],
+                "rod_tip_xy_dist": 0.002425043002513643,
+                "target_xy_drift": 9.292953897486358e-08,
+                "depth": 0.01895991745306458,
+                "bottom_clearance": 0.0804805758450331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00138978806011536,
+                  0.0019716514481288305
+                ],
+                "rod_tip_xy": [
+                  0.26995143352202133,
+                  -0.3614608327326757
+                ],
+                "target_mouth_xy": [
+                  0.268561645461906,
+                  -0.36343248418080454
+                ],
+                "gripper_position": [
+                  0.2699427643917487,
+                  -0.3614619077109045,
+                  1.0020324777180316
+                ],
+                "rod_tip_xy_dist": 0.0024122438278390787,
+                "target_xy_drift": 6.601259452713166e-08,
+                "depth": 0.019102440558318667,
+                "bottom_clearance": 0.08033809368042988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013811492771956813,
+                  0.0019705428569432026
+                ],
+                "rod_tip_xy": [
+                  0.2699427643917487,
+                  -0.3614619077109045
+                ],
+                "target_mouth_xy": [
+                  0.268561615114553,
+                  -0.3634324505678477
+                ],
+                "gripper_position": [
+                  0.26993435525863957,
+                  -0.3614631076847533,
+                  1.0019075457480824
+                ],
+                "rod_tip_xy_dist": 0.002406369148104262,
+                "target_xy_drift": 2.8011658072244757e-08,
+                "depth": 0.019227391512401826,
+                "bottom_clearance": 0.08021319688881079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013727245309784752,
+                  0.001969346692916374
+                ],
+                "rod_tip_xy": [
+                  0.2699343552586395,
+                  -0.3614631076847533
+                ],
+                "target_mouth_xy": [
+                  0.26856163072766104,
+                  -0.3634324543776697
+                ],
+                "gripper_position": [
+                  0.26992578863319405,
+                  -0.36146434034761743,
+                  1.0017830074106557
+                ],
+                "rod_tip_xy_dist": 0.0024005622330718138,
+                "target_xy_drift": 4.352759017191478e-08,
+                "depth": 0.019352291443181957,
+                "bottom_clearance": 0.08008824917254442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001364145791465432,
+                  0.0019681406532000567
+                ],
+                "rod_tip_xy": [
+                  0.269925788633194,
+                  -0.36146434034761743
+                ],
+                "target_mouth_xy": [
+                  0.26856164284172857,
+                  -0.3634324810008175
+                ],
+                "gripper_position": [
+                  0.26991702911404875,
+                  -0.3614658862921459,
+                  1.001658103674464
+                ],
+                "rod_tip_xy_dist": 0.00239467562963162,
+                "target_xy_drift": 6.222392809033168e-08,
+                "depth": 0.01947691363781756,
+                "bottom_clearance": 0.07996373168482662,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005997868062563095,
+              "rod_tip_xy_max_step": 3.244902293581027e-05,
+              "rod_tip_xy_range": 0.0005997795455681354,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2695193171797049,
+            -0.36282556873650695,
+            1.0435041085374952
+          ],
+          "object_origin_world": [
+            0.2695193171797049,
+            -0.36282556873650695,
+            1.0435041085374952
+          ],
+          "frame_world": [
+            0.2695178881595379,
+            -0.3628319573670156,
+            1.0433908221821175
+          ],
+          "center_minus_frame": [
+            1.4290201669764357e-06,
+            6.388630508669113e-06,
+            0.00011328635537766196
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26407025288518465,
+              0.15634335161668245,
+              0.8322454142432653
+            ],
+            "target_position": [
+              0.2779893209851782,
+              0.2030637659417056,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04874974432214068,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1670212304651719,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322454142432653,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672129139685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13684517265376353,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6ee9bc0d7d20b24954f0514472a21961eb9344e46a5793854a6cd055e1d497a",
+    "visual_seed": 8552058104471384940,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbdfb16cd79a5e79d18e83b2ea8405141d7513dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_33_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1986903108156573,
+              -0.11107139479016229,
+              1.1649331037687736
+            ],
+            "current_z": 1.1649331037687736,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3038266553586524,
+            "gripper_z": 1.1586756872235462,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19412320182683845,
+              -0.11550825321128756,
+              1.1586756872235462
+            ],
+            "object_minus_gripper": [
+              0.0045671089888188465,
+              0.004436858421125275,
+              0.006257416545227379
+            ],
+            "object_to_gripper_xy": 0.006367432541052962,
+            "object_to_gripper_z": 0.006257416545227379,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1986903108156573,
+              -0.1349762536294365,
+              1.1649331037687736
+            ],
+            "finger_b": [
+              0.18865900820744375,
+              -0.11107139479016229,
+              1.1649331037687736
+            ],
+            "finger_midpoint": [
+              0.19367465951155052,
+              -0.12302382420979939,
+              1.1649331037687736
+            ],
+            "object_minus_finger_midpoint": [
+              0.005015651304106777,
+              0.011952429419637103,
+              0.0
+            ],
+            "finger_gap": 0.025924299568998548,
+            "fingertip_max_gap": 0.09227365107009455,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012962149784499274,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649331037687736,
+            "object_top_z": 1.215083955342939,
+            "finger_top_clearance": 0.05015085157416532,
+            "fingertip_min_top_clearance": 0.015045255472249629,
+            "object_projection_between_fingers": 0.8502728352592551,
+            "object_to_finger_line_xy": 0.009249888205664329,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863682553504728,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4688535469572426,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2740030580910172,
+              -0.3666243494943733,
+              0.8515396390316773
+            ],
+            "target_position": [
+              0.2686124195241998,
+              -0.36598780794034325,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005428090760853805,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17995131242086196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396390316773,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562578854151504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876194031706352,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1474451766055898,
+            "release_required_pad_clearance": 0.0538097015853176,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.628653632063774,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007761597633361816,
+            "max_z_decrease": 0.007761597633361816,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035136563468281805,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007761597633361816,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021056789115613372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007761597633361816,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007761619872988763,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1243123486638069,
+              -0.4222492575645447,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1243123486638069,
+              -0.4222492575645447,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1230163666080406,
+              -0.4209217074810634,
+              0.8078564433457159
+            ],
+            "closest_button": [
+              0.12430249899625777,
+              -0.42224520444869995,
+              0.7727683782577515
+            ],
+            "closest_ee_minus_button": [
+              -0.0012861323882171621,
+              0.0013234969676365615,
+              0.03508806508796447
+            ],
+            "button_min_z_position": [
+              0.124294176697731,
+              -0.42224538326263433,
+              0.7690472602844238
+            ],
+            "min_active_finger_to_button": 0.14675989451121962,
+            "closest_active_finger": [
+              -0.004389412701129913,
+              -0.4838373064994812,
+              0.8106229901313782
+            ],
+            "closest_active_finger_button": [
+              0.12431290745735167,
+              -0.42224863171577454,
+              0.7762570977210999
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1287023201584816,
+              -0.061588674783706665,
+              0.03436589241027832
+            ],
+            "min_contact_pad_to_button": 0.021056789115613372,
+            "closest_contact_pad": [
+              0.124294176697731,
+              -0.42224538326263433,
+              0.7901040494000372
+            ],
+            "closest_contact_pad_button": [
+              0.124294176697731,
+              -0.42224538326263433,
+              0.7690472602844238
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021056789115613372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27626907470785933,
+              0.2072969653447545,
+              1.1031804950572615
+            ],
+            "current_z": 1.1031804950572615,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1932713653228989,
+            "gripper_z": 1.1031807365628368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27626912259346503,
+              0.2072969298658231,
+              1.1031807365628368
+            ],
+            "object_minus_gripper": [
+              -4.788560570290201e-08,
+              3.5478931403876146e-08,
+              -2.415055753157702e-07
+            ],
+            "object_to_gripper_xy": 5.959686071509766e-08,
+            "object_to_gripper_z": -2.415055753157702e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27626907470785933,
+              0.2072969653447545,
+              1.1031804950572615
+            ],
+            "finger_b": [
+              0.27626907470785933,
+              0.2072969653447545,
+              1.1031804950572615
+            ],
+            "finger_midpoint": [
+              0.27626907470785933,
+              0.2072969653447545,
+              1.1031804950572615
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1031804950572615,
+            "object_top_z": 1.2281890016775412,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27626907470785933,
+            0.20729696534475453,
+            1.1031804950572617
+          ],
+          "object_origin_world": [
+            0.27626907470785933,
+            0.20729696534475453,
+            1.1031804950572617
+          ],
+          "frame_world": [
+            0.27626912259346503,
+            0.2072969298658231,
+            1.1031807365628368
+          ],
+          "center_minus_frame": [
+            -4.788560570290201e-08,
+            3.547893143163172e-08,
+            -2.415055750937256e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436657115881425,
+            "required_z": 0.9112598914871295,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011083963979460027,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.970512499882073e-10,
+            "max_target_xy_drift": 9.87696339327331e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.6286536322271616,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.6289513916201424,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27470196104278277,
+              -0.3657881770560857,
+              0.9233619843150797
+            ],
+            "target_mouth_xy": [
+              0.27400302911392393,
+              -0.36662438024706706
+            ],
+            "rod_tip_z": 0.9233619843150797,
+            "rod_tip_depth": -0.022102105161062258,
+            "rod_tip_bottom_clearance": 0.12154260299796593,
+            "rod_tip_xy_dist": 0.0010898355920898216,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0449014223274502,
+            "min_rod_tip_bottom_clearance": 0.05453909584931038,
+            "min_rod_tip_xy_dist": 0.0006577193988678676,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2740030287169105,
+              -0.36662438025254773
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.9701342213760427e-10,
+              5.4806714722133165e-12
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0011886411019693677,
+                0.002545812285742688
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0011066540830212968,
+                0.002144406459030135
+              ],
+              "first_target_mouth_xy": [
+                0.2740030243944711,
+                -0.36662428157754023
+              ],
+              "last_target_mouth_xy": [
+                0.2740030599266089,
+                -0.36662438054422
+              ],
+              "first_rod_tip_xy": [
+                0.2751916654964405,
+                -0.36407846929179755
+              ],
+              "last_rod_tip_xy": [
+                0.2751097140096302,
+                -0.36447997408518984
+              ],
+              "min_rod_tip_xy_dist": 0.002413122939470318,
+              "max_rod_tip_xy_dist": 0.002809631268250224,
+              "first_target_xy_drift": 9.87696339327331e-08,
+              "last_target_xy_drift": 3.121106127230087e-08,
+              "max_depth": 0.019616112778552686,
+              "min_bottom_clearance": 0.0798244053982079
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011886411019693677,
+                  0.002545812285742688
+                ],
+                "rod_tip_xy": [
+                  0.2751916654964405,
+                  -0.36407846929179755
+                ],
+                "target_mouth_xy": [
+                  0.2740030243944711,
+                  -0.36662428157754023
+                ],
+                "gripper_position": [
+                  0.27518359877862864,
+                  -0.3640806913486982,
+                  1.0060182454435453
+                ],
+                "rod_tip_xy_dist": 0.002809631268250224,
+                "target_xy_drift": 9.87696339327331e-08,
+                "depth": 0.015113035126116059,
+                "bottom_clearance": 0.08432746965087567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001180570061718067,
+                  0.0025436889038493726
+                ],
+                "rod_tip_xy": [
+                  0.2751835987786286,
+                  -0.36408069134869836
+                ],
+                "target_mouth_xy": [
+                  0.2740030287169105,
+                  -0.36662438025254773
+                ],
+                "gripper_position": [
+                  0.27519142454776413,
+                  -0.3641472425427627,
+                  1.0054910445953211
+                ],
+                "rod_tip_xy_dist": 0.0028043000749191273,
+                "target_xy_drift": 0.0,
+                "depth": 0.015241646043584356,
+                "bottom_clearance": 0.08419886751786587,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011883951047172991,
+                  0.0024771380179021696
+                ],
+                "rod_tip_xy": [
+                  0.2751914245477641,
+                  -0.36414724254276276
+                ],
+                "target_mouth_xy": [
+                  0.2740030294430468,
+                  -0.36662438056066493
+                ],
+                "gripper_position": [
+                  0.2751805506695655,
+                  -0.3641549852653523,
+                  1.0053442115262983
+                ],
+                "rod_tip_xy_dist": 0.0027474525809651983,
+                "target_xy_drift": 7.888029407203409e-10,
+                "depth": 0.015768768211664064,
+                "bottom_clearance": 0.08367172322434024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001177521555641492,
+                  0.0024693949817146676
+                ],
+                "rod_tip_xy": [
+                  0.2751805506695654,
+                  -0.3641549852653524
+                ],
+                "target_mouth_xy": [
+                  0.27400302911392393,
+                  -0.36662438024706706
+                ],
+                "gripper_position": [
+                  0.2751723656966531,
+                  -0.3641570396741954,
+                  1.0052157683232217
+                ],
+                "rod_tip_xy_dist": 0.0027357756833698817,
+                "target_xy_drift": 3.970512499882073e-10,
+                "depth": 0.01591566762771912,
+                "bottom_clearance": 0.08352483020918455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001169305770044149,
+                  0.002467340870024537
+                ],
+                "rod_tip_xy": [
+                  0.27517236569665304,
+                  -0.36415703967419544
+                ],
+                "target_mouth_xy": [
+                  0.2740030599266089,
+                  -0.36662438054422
+                ],
+                "gripper_position": [
+                  0.2751808853474902,
+                  -0.3642247473920054,
+                  1.0046896239341674
+                ],
+                "rod_tip_xy_dist": 0.0027303931864755262,
+                "target_xy_drift": 3.121106127230087e-08,
+                "depth": 0.01604410978355053,
+                "bottom_clearance": 0.08339640839321005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011778609530190276,
+                  0.002399534185534846
+                ],
+                "rod_tip_xy": [
+                  0.27518088534749013,
+                  -0.3642247473920054
+                ],
+                "target_mouth_xy": [
+                  0.2740030243944711,
+                  -0.36662428157754023
+                ],
+                "gripper_position": [
+                  0.2751697859118645,
+                  -0.36423275400531135,
+                  1.0045431669487868
+                ],
+                "rod_tip_xy_dist": 0.0026730358643679416,
+                "target_xy_drift": 9.87696339327331e-08,
+                "depth": 0.01657026081868984,
+                "bottom_clearance": 0.08287024395830189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011667571949539046,
+                  0.0023916262472363226
+                ],
+                "rod_tip_xy": [
+                  0.2751697859118644,
+                  -0.3642327540053114
+                ],
+                "target_mouth_xy": [
+                  0.2740030287169105,
+                  -0.36662438025254773
+                ],
+                "gripper_position": [
+                  0.27516163929318554,
+                  -0.3642342457493391,
+                  1.0044145355131269
+                ],
+                "rod_tip_xy_dist": 0.002661052133733272,
+                "target_xy_drift": 0.0,
+                "depth": 0.01671672453834272,
+                "bottom_clearance": 0.08272378902310751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011586098501387143,
+                  0.0023901348113256615
+                ],
+                "rod_tip_xy": [
+                  0.2751616392931855,
+                  -0.36423424574933927
+                ],
+                "target_mouth_xy": [
+                  0.2740030294430468,
+                  -0.36662438056066493
+                ],
+                "gripper_position": [
+                  0.2751708954912986,
+                  -0.3643029282355677,
+                  1.003890814019906
+                ],
+                "rod_tip_xy_dist": 0.0026561478123683572,
+                "target_xy_drift": 7.888029407203409e-10,
+                "depth": 0.016845277293858096,
+                "bottom_clearance": 0.08259521414214621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011678663773745934,
+                  0.002321452011499303
+                ],
+                "rod_tip_xy": [
+                  0.27517089549129853,
+                  -0.36430292823556776
+                ],
+                "target_mouth_xy": [
+                  0.27400302911392393,
+                  -0.36662438024706706
+                ],
+                "gripper_position": [
+                  0.2751596987916879,
+                  -0.3643109405657959,
+                  1.0037442325700006
+                ],
+                "rod_tip_xy_dist": 0.00259866337125381,
+                "target_xy_drift": 3.970512499882073e-10,
+                "depth": 0.017369065134111517,
+                "bottom_clearance": 0.08207143270279216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011566388650789405,
+                  0.0023134399784240367
+                ],
+                "rod_tip_xy": [
+                  0.27515969879168783,
+                  -0.36431094056579594
+                ],
+                "target_mouth_xy": [
+                  0.2740030599266089,
+                  -0.36662438054422
+                ],
+                "gripper_position": [
+                  0.2751513919948374,
+                  -0.3643125490716038,
+                  1.0036162719662423
+                ],
+                "rod_tip_xy_dist": 0.0025864682480134385,
+                "target_xy_drift": 3.121106127230087e-08,
+                "depth": 0.017515645536771873,
+                "bottom_clearance": 0.08192487263998871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011483676003662402,
+                  0.0023117325059364147
+                ],
+                "rod_tip_xy": [
+                  0.27515139199483735,
+                  -0.3643125490716038
+                ],
+                "target_mouth_xy": [
+                  0.2740030243944711,
+                  -0.36662428157754023
+                ],
+                "gripper_position": [
+                  0.2751429208368694,
+                  -0.3643142556100897,
+                  1.0034880314437502
+                ],
+                "rod_tip_xy_dist": 0.002581250728730933,
+                "target_xy_drift": 9.87696339327331e-08,
+                "depth": 0.017643612786615193,
+                "bottom_clearance": 0.08179689199037654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011398921199588519,
+                  0.0023101246424579447
+                ],
+                "rod_tip_xy": [
+                  0.27514292083686936,
+                  -0.3643142556100898
+                ],
+                "target_mouth_xy": [
+                  0.2740030287169105,
+                  -0.36662438025254773
+                ],
+                "gripper_position": [
+                  0.2751537527978897,
+                  -0.3643849646971284,
+                  1.0029662308357334
+                ],
+                "rod_tip_xy_dist": 0.0025760492830758756,
+                "target_xy_drift": 0.0,
+                "depth": 0.017771860043379273,
+                "bottom_clearance": 0.08166865351807095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001150723354842842,
+                  0.002239415863536487
+                ],
+                "rod_tip_xy": [
+                  0.2751537527978896,
+                  -0.36438496469712844
+                ],
+                "target_mouth_xy": [
+                  0.2740030294430468,
+                  -0.36662438056066493
+                ],
+                "gripper_position": [
+                  0.2751425689873884,
+                  -0.36439269894164705,
+                  1.0028198474045225
+                ],
+                "rod_tip_xy_dist": 0.0025177664008481076,
+                "target_xy_drift": 7.888029407203409e-10,
+                "depth": 0.018293581971251527,
+                "bottom_clearance": 0.08114690946475278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011395398734644346,
+                  0.002231681305419897
+                ],
+                "rod_tip_xy": [
+                  0.27514256898738837,
+                  -0.36439269894164716
+                ],
+                "target_mouth_xy": [
+                  0.27400302911392393,
+                  -0.36662438024706706
+                ],
+                "gripper_position": [
+                  0.27513402387763064,
+                  -0.3643943995425566,
+                  1.0026916406030395
+                ],
+                "rod_tip_xy_dist": 0.0025057838239113915,
+                "target_xy_drift": 3.970512499882073e-10,
+                "depth": 0.018440031749495156,
+                "bottom_clearance": 0.08100046608740852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011309639510216907,
+                  0.0022299810016632726
+                ],
+                "rod_tip_xy": [
+                  0.2751340238776306,
+                  -0.3643943995425567
+                ],
+                "target_mouth_xy": [
+                  0.2740030599266089,
+                  -0.36662438054422
+                ],
+                "gripper_position": [
+                  0.2751254813771372,
+                  -0.3643959194702963,
+                  1.0025636646100633
+                ],
+                "rod_tip_xy_dist": 0.002500378916542396,
+                "target_xy_drift": 3.121106127230087e-08,
+                "depth": 0.01856823750373271,
+                "bottom_clearance": 0.08087228067302787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011224569826660535,
+                  0.002228362107243864
+                ],
+                "rod_tip_xy": [
+                  0.27512548137713716,
+                  -0.36439591947029637
+                ],
+                "target_mouth_xy": [
+                  0.2740030243944711,
+                  -0.36662428157754023
+                ],
+                "gripper_position": [
+                  0.27511689817559504,
+                  -0.3643974895371582,
+                  1.002435807808377
+                ],
+                "rod_tip_xy_dist": 0.0024950966632449525,
+                "target_xy_drift": 9.87696339327331e-08,
+                "depth": 0.01869622014279393,
+                "bottom_clearance": 0.0807442846341978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011138694586844133,
+                  0.0022268907153895068
+                ],
+                "rod_tip_xy": [
+                  0.2751168981755949,
+                  -0.3643974895371582
+                ],
+                "target_mouth_xy": [
+                  0.2740030287169105,
+                  -0.36662438025254773
+                ],
+                "gripper_position": [
+                  0.27512981811398296,
+                  -0.3644707769828286,
+                  1.0019179973766066
+                ],
+                "rod_tip_xy_dist": 0.002489929201659737,
+                "target_xy_drift": 0.0,
+                "depth": 0.018824083678752657,
+                "bottom_clearance": 0.08061642988269757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011267886709361297,
+                  0.0021536035778362272
+                ],
+                "rod_tip_xy": [
+                  0.2751298181139829,
+                  -0.3644707769828287
+                ],
+                "target_mouth_xy": [
+                  0.2740030294430468,
+                  -0.36662438056066493
+                ],
+                "gripper_position": [
+                  0.2751185027488826,
+                  -0.3644785150741887,
+                  1.001771747758384
+                ],
+                "rod_tip_xy_dist": 0.0024305680569403952,
+                "target_xy_drift": 7.888029407203409e-10,
+                "depth": 0.019341815430378606,
+                "bottom_clearance": 0.0800986760056257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0011154736349586192,
+                  0.0021458651728782363
+                ],
+                "rod_tip_xy": [
+                  0.27511850274888255,
+                  -0.3644785150741888
+                ],
+                "target_mouth_xy": [
+                  0.27400302911392393,
+                  -0.36662438024706706
+                ],
+                "gripper_position": [
+                  0.27510971400963025,
+                  -0.36447997408518973,
+                  1.0016437653282195
+                ],
+                "rod_tip_xy_dist": 0.002418474471740303,
+                "target_xy_drift": 3.970512499882073e-10,
+                "depth": 0.019488131395633546,
+                "bottom_clearance": 0.07995236644127013,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011066540830212968,
+                  0.002144406459030135
+                ],
+                "rod_tip_xy": [
+                  0.2751097140096302,
+                  -0.36447997408518984
+                ],
+                "target_mouth_xy": [
+                  0.2740030599266089,
+                  -0.36662438054422
+                ],
+                "gripper_position": [
+                  0.2751010576050311,
+                  -0.3644814881763554,
+                  1.0015158603870864
+                ],
+                "rod_tip_xy_dist": 0.002413122939470318,
+                "target_xy_drift": 3.121106127230087e-08,
+                "depth": 0.019616112778552686,
+                "bottom_clearance": 0.0798244053982079,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000599634323858554,
+              "rod_tip_xy_max_step": 3.2571132729996296e-05,
+              "rod_tip_xy_range": 0.0005996250710030344,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27470196104278277,
+            -0.36578817705608563,
+            1.0433619843150796
+          ],
+          "object_origin_world": [
+            0.27470196104278277,
+            -0.36578817705608563,
+            1.0433619843150796
+          ],
+          "frame_world": [
+            0.27472699186860017,
+            -0.36578508262117904,
+            1.0436657115881425
+          ],
+          "center_minus_frame": [
+            -2.5030825817395908e-05,
+            -3.094434906592003e-06,
+            -0.000303727273062826
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2620209571897448,
+              0.15918597265983045,
+              0.831615907584137
+            ],
+            "target_position": [
+              0.2764397106444437,
+              0.20552513884274576,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04853059626375133,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1668803272447839,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831615907584137,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674379632533,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13665745632769286,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63f3e9db163af428c27248de7c26de25305af36654b1e09ccb8dd4a61671dc49",
+    "visual_seed": 5995975330956476482,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0263a58ac19cba251b8efffde7e88162576bbab6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20205288080831219,
+              -0.11314639619696991,
+              1.1644899822670838
+            ],
+            "current_z": 1.1644899822670838,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3033834742523178,
+            "gripper_z": 1.1582391013335263,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1975628128364311,
+              -0.11773196739716692,
+              1.1582391013335263
+            ],
+            "object_minus_gripper": [
+              0.00449006797188109,
+              0.004585571200197008,
+              0.006250880933557523
+            ],
+            "object_to_gripper_xy": 0.006417801307627761,
+            "object_to_gripper_z": 0.006250880933557523,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20205288080831219,
+              -0.13672565112261253,
+              1.1644899822670838
+            ],
+            "finger_b": [
+              0.19137049899774905,
+              -0.11314639619696991,
+              1.1644899822670838
+            ],
+            "finger_midpoint": [
+              0.19671168990303062,
+              -0.12493602365979123,
+              1.1644899822670838
+            ],
+            "object_minus_finger_midpoint": [
+              0.005341190905281568,
+              0.01178962746282132,
+              0.0
+            ],
+            "finger_gap": 0.025886184423261224,
+            "fingertip_max_gap": 0.09251707549496044,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012943092211630619,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644899822670838,
+            "object_top_z": 1.2145558802737337,
+            "finger_top_clearance": 0.050065898006649956,
+            "fingertip_min_top_clearance": 0.01501976940199502,
+            "object_projection_between_fingers": 0.8297057002340167,
+            "object_to_finger_line_xy": 0.009730387445512254,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875853774748022,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9622672011386655,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26895265352556635,
+              -0.3715947715946729,
+              0.8515395663035243
+            ],
+            "target_position": [
+              0.26093809945470653,
+              -0.3724093698596775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008055845535267185,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18389618586256565,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395663035243,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547083747463734,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858682106693653,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15191881626773254,
+            "release_required_pad_clearance": 0.05293410533468265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9056793209627804,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007970154285430908,
+            "max_z_decrease": 0.007970154285430908,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510310723419139,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007970154285430908,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021081049344792626,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007970154285430908,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00797018314389045,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11663802713155745,
+              -0.4286708235740661,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11663802713155745,
+              -0.4286708235740661,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11732580930365386,
+              -0.42783198559887803,
+              0.8075182344990345
+            ],
+            "closest_button": [
+              0.11662718653678893,
+              -0.4286651015281677,
+              0.7724319696426392
+            ],
+            "closest_ee_minus_button": [
+              0.0006986227668649286,
+              0.0008331159292896961,
+              0.03508626485639532
+            ],
+            "button_min_z_position": [
+              0.11661703139543532,
+              -0.42866644263267517,
+              0.7688387036323547
+            ],
+            "min_active_finger_to_button": 0.14524303203217392,
+            "closest_active_finger": [
+              -0.009935036301612854,
+              -0.49102598428726196,
+              0.8105766773223877
+            ],
+            "closest_active_finger_button": [
+              0.11663915216922759,
+              -0.4286680519580841,
+              0.7761383056640625
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12657418847084045,
+              -0.062357932329177856,
+              0.034438371658325195
+            ],
+            "min_contact_pad_to_button": 0.021081049344792626,
+            "closest_contact_pad": [
+              0.11661703139543532,
+              -0.4288922389583959,
+              0.7899185437052033
+            ],
+            "closest_contact_pad_button": [
+              0.11661703139543532,
+              -0.42866644263267517,
+              0.7688387036323547
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002257963257207285,
+              0.021079840072848577
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2737754321619411,
+              0.20760393225091814,
+              1.1039597188363985
+            ],
+            "current_z": 1.1039597188363985,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.194050589102036,
+            "gripper_z": 1.103959675734243,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2737753843139379,
+              0.2076039675399207,
+              1.103959675734243
+            ],
+            "object_minus_gripper": [
+              4.7848003226214075e-08,
+              -3.5289002553451354e-08,
+              4.3102155622420923e-08
+            ],
+            "object_to_gripper_xy": 5.945372245665774e-08,
+            "object_to_gripper_z": 4.3102155622420923e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2737754321619411,
+              0.20760393225091814,
+              1.1039597188363985
+            ],
+            "finger_b": [
+              0.2737754321619411,
+              0.20760393225091814,
+              1.1039597188363985
+            ],
+            "finger_midpoint": [
+              0.2737754321619411,
+              0.20760393225091814,
+              1.1039597188363985
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1039597188363985,
+            "object_top_z": 1.2289682254566783,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27377543216194117,
+            0.20760393225091817,
+            1.1039597188363985
+          ],
+          "object_origin_world": [
+            0.27377543216194117,
+            0.20760393225091817,
+            1.1039597188363985
+          ],
+          "frame_world": [
+            0.2737753843139379,
+            0.2076039675399207,
+            1.103959675734243
+          ],
+          "center_minus_frame": [
+            4.7848003281725227e-08,
+            -3.528900252569578e-08,
+            4.3102155622420923e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043269897900211,
+            "required_z": 0.9112599285575773,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001298842662126022,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.530764811297479e-08,
+            "max_target_xy_drift": 1.4640828043919081e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9056793186926269,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9056793209977925,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26958516609465316,
+              -0.37045276310464237,
+              0.9233851775265373
+            ],
+            "target_mouth_xy": [
+              0.2689525617698461,
+              -0.3715948004667856
+            ],
+            "rod_tip_z": 0.9233851775265373,
+            "rod_tip_depth": -0.022125228697390087,
+            "rod_tip_bottom_clearance": 0.12156582195579335,
+            "rod_tip_xy_dist": 0.0013055411017259032,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04501234108959129,
+            "min_rod_tip_bottom_clearance": 0.05442841560866207,
+            "min_rod_tip_xy_dist": 0.0005080193294481974,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26895261904866796,
+              -0.3715947690944177
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.7278821852246864e-08,
+              -3.13723679257194e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0011338333459779415,
+                0.0028279048974610976
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010315864148892628,
+                0.002493488789598486
+              ],
+              "first_target_mouth_xy": [
+                0.26895266931601963,
+                -0.37159471070407
+              ],
+              "last_target_mouth_xy": [
+                0.26895268216285617,
+                -0.3715947750925132
+              ],
+              "first_rod_tip_xy": [
+                0.2700865026619976,
+                -0.3687668058066089
+              ],
+              "last_rod_tip_xy": [
+                0.26998426857774543,
+                -0.3691012863029147
+              ],
+              "min_rod_tip_xy_dist": 0.0026984545345877897,
+              "max_rod_tip_xy_dist": 0.0030467399241707513,
+              "first_target_xy_drift": 7.70469943911939e-08,
+              "last_target_xy_drift": 6.339856388874816e-08,
+              "max_depth": 0.01955520181736181,
+              "min_bottom_clearance": 0.07988544652475194
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011338333459779415,
+                  0.0028279048974610976
+                ],
+                "rod_tip_xy": [
+                  0.2700865026619976,
+                  -0.3687668058066089
+                ],
+                "target_mouth_xy": [
+                  0.26895266931601963,
+                  -0.37159471070407
+                ],
+                "gripper_position": [
+                  0.27007565555494967,
+                  -0.36877523724603367,
+                  1.0056387410344079
+                ],
+                "rod_tip_xy_dist": 0.0030467399241707513,
+                "target_xy_drift": 7.70469943911939e-08,
+                "depth": 0.015475555816286124,
+                "bottom_clearance": 0.08396501286518954,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011230023009387025,
+                  0.0028195064429065164
+                ],
+                "rod_tip_xy": [
+                  0.2700756555549496,
+                  -0.3687752372460338
+                ],
+                "target_mouth_xy": [
+                  0.2689526532540109,
+                  -0.3715947436889403
+                ],
+                "gripper_position": [
+                  0.270082541255933,
+                  -0.36884213798731746,
+                  1.0051159997887007
+                ],
+                "rod_tip_xy_dist": 0.0030349218687644956,
+                "target_xy_drift": 4.260802468381265e-08,
+                "depth": 0.015621106850314592,
+                "bottom_clearance": 0.08381944951871934,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011301074213896367,
+                  0.0027519220165705405
+                ],
+                "rod_tip_xy": [
+                  0.270082541255933,
+                  -0.36884213798731746
+                ],
+                "target_mouth_xy": [
+                  0.26895243383454337,
+                  -0.371594060003888
+                ],
+                "gripper_position": [
+                  0.27007167538351684,
+                  -0.3688502460241385,
+                  1.0049706212630318
+                ],
+                "rod_tip_xy_dist": 0.0029749315234414396,
+                "target_xy_drift": 7.328803798943438e-07,
+                "depth": 0.01614483692901003,
+                "bottom_clearance": 0.0832969868746638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011189919305464868,
+                  0.002744496400823082
+                ],
+                "rod_tip_xy": [
+                  0.2700716753835168,
+                  -0.3688502460241385
+                ],
+                "target_mouth_xy": [
+                  0.2689526834529703,
+                  -0.3715947424249616
+                ],
+                "gripper_position": [
+                  0.2700638010692664,
+                  -0.36885212162429,
+                  1.0048434387199898
+                ],
+                "rod_tip_xy_dist": 0.0029638494284897478,
+                "target_xy_drift": 6.970777608971357e-08,
+                "depth": 0.01628920557100777,
+                "bottom_clearance": 0.08315131808268328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011111002597334885,
+                  0.002742650264056734
+                ],
+                "rod_tip_xy": [
+                  0.27006380106926636,
+                  -0.36885212162429004
+                ],
+                "target_mouth_xy": [
+                  0.2689527008095329,
+                  -0.3715947718883468
+                ],
+                "gripper_position": [
+                  0.27007179902444456,
+                  -0.36891977570853063,
+                  1.004321359003134
+                ],
+                "rod_tip_xy_dist": 0.00295916783202817,
+                "target_xy_drift": 8.180858800190224e-08,
+                "depth": 0.016416461951067718,
+                "bottom_clearance": 0.08302414560638016,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011191157697224008,
+                  0.002674966088173303
+                ],
+                "rod_tip_xy": [
+                  0.2700717990244445,
+                  -0.36891977570853063
+                ],
+                "target_mouth_xy": [
+                  0.2689526832547221,
+                  -0.37159474179670393
+                ],
+                "gripper_position": [
+                  0.2700609604885349,
+                  -0.36892765083376305,
+                  1.0041762911997976
+                ],
+                "rod_tip_xy_dist": 0.002899631645385073,
+                "target_xy_drift": 6.976806264002787e-08,
+                "depth": 0.01693845505606839,
+                "bottom_clearance": 0.08250203880536155,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011083367540524192,
+                  0.002667121399139938
+                ],
+                "rod_tip_xy": [
+                  0.2700609604885349,
+                  -0.368927650833763
+                ],
+                "target_mouth_xy": [
+                  0.2689526237344825,
+                  -0.37159477223290294
+                ],
+                "gripper_position": [
+                  0.270052748024567,
+                  -0.368929574123382,
+                  1.004049295323753
+                ],
+                "rod_tip_xy_dist": 0.0028882428772756684,
+                "target_xy_drift": 5.639764828646308e-09,
+                "depth": 0.017083594399111668,
+                "bottom_clearance": 0.08235692500825142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011000626959496995,
+                  0.002665168926222705
+                ],
+                "rod_tip_xy": [
+                  0.27005274802456697,
+                  -0.368929574123382
+                ],
+                "target_mouth_xy": [
+                  0.26895268532861727,
+                  -0.3715947430496047
+                ],
+                "gripper_position": [
+                  0.27004470830546584,
+                  -0.3689315217667285,
+                  1.0039220816510899
+                ],
+                "rod_tip_xy_dist": 0.0028832730256295896,
+                "target_xy_drift": 7.12135096937504e-08,
+                "depth": 0.017210617652901772,
+                "bottom_clearance": 0.08223000111106626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010920255692383751,
+                  0.0026632203494864615
+                ],
+                "rod_tip_xy": [
+                  0.2700447083054658,
+                  -0.3689315217667285
+                ],
+                "target_mouth_xy": [
+                  0.2689526827362274,
+                  -0.37159474211621496
+                ],
+                "gripper_position": [
+                  0.27005412564895936,
+                  -0.36900159731193566,
+                  1.0034007867371142
+                ],
+                "rod_tip_xy_dist": 0.002878413186773085,
+                "target_xy_drift": 6.916595008306217e-08,
+                "depth": 0.01733774707331559,
+                "bottom_clearance": 0.08210276432354968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011014424167506975,
+                  0.0025931124606458633
+                ],
+                "rod_tip_xy": [
+                  0.2700541256489593,
+                  -0.3690015973119357
+                ],
+                "target_mouth_xy": [
+                  0.2689526832322086,
+                  -0.3715947097725816
+                ],
+                "gripper_position": [
+                  0.27004308318707043,
+                  -0.3690094929640954,
+                  1.0032558022561013
+                ],
+                "rod_tip_xy_dist": 0.002817340524497254,
+                "target_xy_drift": 8.739912545157965e-08,
+                "depth": 0.017859062845123952,
+                "bottom_clearance": 0.08158150234647843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010904013214640407,
+                  0.0025852830941945903
+                ],
+                "rod_tip_xy": [
+                  0.27004308318707043,
+                  -0.36900949296409535
+                ],
+                "target_mouth_xy": [
+                  0.2689526818656064,
+                  -0.37159477605828994
+                ],
+                "gripper_position": [
+                  0.27003493836294423,
+                  -0.3690113922295972,
+                  1.0031288245167476
+                ],
+                "rod_tip_xy_dist": 0.002805826744291044,
+                "target_xy_drift": 6.320176635474948e-08,
+                "depth": 0.01800412863338796,
+                "bottom_clearance": 0.08143656600511473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010822397429651187,
+                  0.002583348609723757
+                ],
+                "rod_tip_xy": [
+                  0.2700349383629442,
+                  -0.3690113922295972
+                ],
+                "target_mouth_xy": [
+                  0.26895269861997906,
+                  -0.371594740839321
+                ],
+                "gripper_position": [
+                  0.2700264984609764,
+                  -0.36901328422852464,
+                  1.0030018907707765
+                ],
+                "rod_tip_xy_dist": 0.002800880736592487,
+                "target_xy_drift": 8.443899596394636e-08,
+                "depth": 0.018131006056649968,
+                "bottom_clearance": 0.0813095316297976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001073815138038392,
+                  0.0025814896001900567
+                ],
+                "rod_tip_xy": [
+                  0.27002649846097637,
+                  -0.36901328422852464
+                ],
+                "target_mouth_xy": [
+                  0.268952683322938,
+                  -0.3715947738287147
+                ],
+                "gripper_position": [
+                  0.27003739391848863,
+                  -0.36908530785930077,
+                  1.0024840788716423
+                ],
+                "rod_tip_xy_dist": 0.0027959197961618695,
+                "target_xy_drift": 6.444839295476616e-08,
+                "depth": 0.01825796337228025,
+                "bottom_clearance": 0.08118261139958316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010847105526688439,
+                  0.002509433930524163
+                ],
+                "rod_tip_xy": [
+                  0.27003739391848863,
+                  -0.3690853078593008
+                ],
+                "target_mouth_xy": [
+                  0.2689526833658198,
+                  -0.371594741789825
+                ],
+                "gripper_position": [
+                  0.2700261689223068,
+                  -0.3690930983730722,
+                  1.0023389040863566
+                ],
+                "rod_tip_xy_dist": 0.002733835334239628,
+                "target_xy_drift": 6.98730048122483e-08,
+                "depth": 0.01877573598237181,
+                "bottom_clearance": 0.08066476197405759,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010734842043964021,
+                  0.0025016728949771583
+                ],
+                "rod_tip_xy": [
+                  0.27002616892230674,
+                  -0.36909309837307214
+                ],
+                "target_mouth_xy": [
+                  0.26895268471791034,
+                  -0.3715947712680493
+                ],
+                "gripper_position": [
+                  0.27001783232762977,
+                  -0.3690947728453163,
+                  1.0022121847888765
+                ],
+                "rod_tip_xy_dist": 0.0027222666310543447,
+                "target_xy_drift": 6.570520579659421e-08,
+                "depth": 0.01892098251311214,
+                "bottom_clearance": 0.08051957030181389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010651483277550056,
+                  0.002499997482068861
+                ],
+                "rod_tip_xy": [
+                  0.2700178323276297,
+                  -0.36909477284531633
+                ],
+                "target_mouth_xy": [
+                  0.2689526839998747,
+                  -0.3715947703273852
+                ],
+                "gripper_position": [
+                  0.27000940318320255,
+                  -0.36909665158700916,
+                  1.0020849795744444
+                ],
+                "rod_tip_xy_dist": 0.0027174488717306034,
+                "target_xy_drift": 6.496290839143521e-08,
+                "depth": 0.019047653600711922,
+                "bottom_clearance": 0.08039290616200911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010566901238567294,
+                  0.0024980914726321912
+                ],
+                "rod_tip_xy": [
+                  0.27000940318320255,
+                  -0.3690966515870091
+                ],
+                "target_mouth_xy": [
+                  0.2689527130593458,
+                  -0.3715947430596413
+                ],
+                "gripper_position": [
+                  0.27000099725523774,
+                  -0.36909823602055397,
+                  1.0019581657581234
+                ],
+                "rod_tip_xy_dist": 0.002712389172573512,
+                "target_xy_drift": 9.754904987836916e-08,
+                "depth": 0.019174856892949177,
+                "bottom_clearance": 0.08026568138690837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010483461861502397,
+                  0.00249650355911768
+                ],
+                "rod_tip_xy": [
+                  0.27000099725523774,
+                  -0.369098236020554
+                ],
+                "target_mouth_xy": [
+                  0.2689526510690875,
+                  -0.3715947395796717
+                ],
+                "gripper_position": [
+                  0.2699925425813083,
+                  -0.3690999293687444,
+                  1.0018314951163312
+                ],
+                "rod_tip_xy_dist": 0.0027076853116089756,
+                "target_xy_drift": 4.354799074231361e-08,
+                "depth": 0.019301808684711763,
+                "bottom_clearance": 0.0801388338308947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0010398295110150002,
+                  0.002494811777376593
+                ],
+                "rod_tip_xy": [
+                  0.2699925425813082,
+                  -0.3690999293687445
+                ],
+                "target_mouth_xy": [
+                  0.2689527130702932,
+                  -0.37159474114612107
+                ],
+                "gripper_position": [
+                  0.2699842685777455,
+                  -0.3691012863029148,
+                  1.0017047024035997
+                ],
+                "rod_tip_xy_dist": 0.0027028376230389148,
+                "target_xy_drift": 9.80875797497792e-08,
+                "depth": 0.019428326470342205,
+                "bottom_clearance": 0.08001218297621981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0010315864148892628,
+                  0.002493488789598486
+                ],
+                "rod_tip_xy": [
+                  0.26998426857774543,
+                  -0.3691012863029147
+                ],
+                "target_mouth_xy": [
+                  0.26895268216285617,
+                  -0.3715947750925132
+                ],
+                "gripper_position": [
+                  0.2699757734586512,
+                  -0.36910310927769463,
+                  1.0015781588822472
+                ],
+                "rod_tip_xy_dist": 0.0026984545345877897,
+                "target_xy_drift": 6.339856388874816e-08,
+                "depth": 0.01955520181736181,
+                "bottom_clearance": 0.07988544652475194,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005996990047802792,
+              "rod_tip_xy_max_step": 3.261894918631893e-05,
+              "rod_tip_xy_range": 0.0005996907621343066,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2695851660946532,
+            -0.37045276310464237,
+            1.0433851775265373
+          ],
+          "object_origin_world": [
+            0.2695851660946532,
+            -0.37045276310464237,
+            1.0433851775265373
+          ],
+          "frame_world": [
+            0.26958370693303346,
+            -0.3704596141191123,
+            1.043269897900211
+          ],
+          "center_minus_frame": [
+            1.4591616197545676e-06,
+            6.8510144699551745e-06,
+            0.00011527962632618127
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2584879388297853,
+              0.16240207590247788,
+              0.8323450091656669
+            ],
+            "target_position": [
+              0.2739365386869106,
+              0.207461679136154,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04763430571680336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1640890997854005,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323450091656669,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676227091538,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13393426160904356,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 321,
+            "max_placed_release_frames": 321
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d66cb6fb4ee3d167edcc4e52629db24d63b3830cf413d35a9b3ea9d013c5969f",
+    "visual_seed": 6624904646034722986,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..416301c77458805cbe0b4faaf3f41a9a74aa2024
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_35_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20371001918376974,
+              -0.11288460331083862,
+              1.1627817296287715
+            ],
+            "current_z": 1.1627817296287715,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30167528121865017,
+            "gripper_z": 1.1567836597287124,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1991281222156246,
+              -0.11749584778879514,
+              1.1567836597287124
+            ],
+            "object_minus_gripper": [
+              0.004581896968145149,
+              0.004611244477956522,
+              0.005998069900059022
+            ],
+            "object_to_gripper_xy": 0.006500565780159618,
+            "object_to_gripper_z": 0.005998069900059022,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20371001918376974,
+              -0.13659264883005148,
+              1.1627817296287715
+            ],
+            "finger_b": [
+              0.19311254604105454,
+              -0.11288460331083862,
+              1.1627817296287715
+            ],
+            "finger_midpoint": [
+              0.19841128261241214,
+              -0.12473862607044506,
+              1.1627817296287715
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052987365713575985,
+              0.011854022759606439,
+              0.0
+            ],
+            "finger_gap": 0.025968786251029122,
+            "fingertip_max_gap": 0.09249824822269237,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012984393125514566,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627817296287715,
+            "object_top_z": 1.2128765261805672,
+            "finger_top_clearance": 0.05009479655179572,
+            "fingertip_min_top_clearance": 0.015028438965538715,
+            "object_projection_between_fingers": 0.8334666011743866,
+            "object_to_finger_line_xy": 0.009674898673640209,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874912411134619,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.951450011124711,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27040716815971755,
+              -0.36649782089272653,
+              0.8515396094511952
+            ],
+            "target_position": [
+              0.26381494063351485,
+              -0.36658319864099653,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006592780378347531,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18525961256207357,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396094511952,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549986432345618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651634327444245,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15309687586954984,
+            "release_required_pad_clearance": 0.05325817163722123,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5364258359838672,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007655739784240723,
+            "max_z_decrease": 0.007655739784240723,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511425151716394,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007655739784240723,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02119309718307351,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007655739784240723,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076557659496893134,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11951486766338348,
+              -0.42284464836120605,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11951486766338348,
+              -0.42284464836120605,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11973293668109203,
+              -0.42393825738608015,
+              0.8078976896919158
+            ],
+            "closest_button": [
+              0.1195055991411209,
+              -0.4228404462337494,
+              0.7728013396263123
+            ],
+            "closest_ee_minus_button": [
+              0.00022733753997113137,
+              -0.0010978111523307632,
+              0.03509635006560352
+            ],
+            "button_min_z_position": [
+              0.11949531733989716,
+              -0.42284035682678217,
+              0.7691531181335449
+            ],
+            "min_active_finger_to_button": 0.1458618714650435,
+            "closest_active_finger": [
+              -0.021300815045833588,
+              -0.40671998262405396,
+              0.8108347058296204
+            ],
+            "closest_active_finger_button": [
+              0.11951518803834914,
+              -0.422843337059021,
+              0.7763879895210266
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14081600308418274,
+              0.01612335443496704,
+              0.03444671630859375
+            ],
+            "min_contact_pad_to_button": 0.02119309718307351,
+            "closest_contact_pad": [
+              0.11949531733989716,
+              -0.4251391593744846,
+              0.7902211715571025
+            ],
+            "closest_contact_pad_button": [
+              0.11949531733989716,
+              -0.42284035682678217,
+              0.7691531181335449
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022988025477024276,
+              0.021068053423557553
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2801656048529735,
+              0.20212392035609952,
+              1.1009842277698705
+            ],
+            "current_z": 1.1009842277698705,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19107509803550793,
+            "gripper_z": 1.1009840413448861,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28016556855865193,
+              0.2021239761506448,
+              1.1009840413448861
+            ],
+            "object_minus_gripper": [
+              3.629432154816925e-08,
+              -5.579454528947814e-08,
+              1.8642498433862897e-07
+            ],
+            "object_to_gripper_xy": 6.656056685982722e-08,
+            "object_to_gripper_z": 1.8642498433862897e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2801656048529735,
+              0.20212392035609952,
+              1.1009842277698705
+            ],
+            "finger_b": [
+              0.2801656048529735,
+              0.20212392035609952,
+              1.1009842277698705
+            ],
+            "finger_midpoint": [
+              0.2801656048529735,
+              0.20212392035609952,
+              1.1009842277698705
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1009842277698705,
+            "object_top_z": 1.2259927343901502,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 239,
+            "max_stable_success_frames": 239,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28016560485297354,
+            0.20212392035609955,
+            1.1009842277698705
+          ],
+          "object_origin_world": [
+            0.28016560485297354,
+            0.20212392035609955,
+            1.1009842277698705
+          ],
+          "frame_world": [
+            0.28016556855865193,
+            0.2021239761506448,
+            1.1009840413448861
+          ],
+          "center_minus_frame": [
+            3.62943216036804e-08,
+            -5.579454526172256e-08,
+            1.8642498433862897e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433086063909107,
+            "required_z": 0.9112598926606281,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017369449220286813,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.404687016220729e-08,
+            "max_target_xy_drift": 1.363901020416296e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5364258355036844,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5364258369280996,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2699180546415127,
+              -0.3681574340553391,
+              0.9234235352407435
+            ],
+            "target_mouth_xy": [
+              0.2704071983539007,
+              -0.3664978497514097
+            ],
+            "rod_tip_z": 0.9234235352407435,
+            "rod_tip_depth": -0.022163637877430364,
+            "rod_tip_bottom_clearance": 0.12160422309802787,
+            "rod_tip_xy_dist": 0.0017301680939196238,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487622651978396,
+            "min_rod_tip_bottom_clearance": 0.05456434780878383,
+            "min_rod_tip_xy_dist": 3.6112267160996846e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27040713880517897,
+              -0.36649790906267443
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.954872173141723e-08,
+              5.93112647329086e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                8.195689265710904e-05,
+                0.00015198359000467843
+              ],
+              "last_rod_tip_xy_delta": [
+                -3.195542572648202e-05,
+                -0.00020255195011908977
+              ],
+              "first_target_mouth_xy": [
+                0.2704071382152105,
+                -0.36649790783865455
+              ],
+              "last_target_mouth_xy": [
+                0.27040713876657874,
+                -0.3664978786430034
+              ],
+              "first_rod_tip_xy": [
+                0.2704890951078676,
+                -0.36634592424864987
+              ],
+              "last_rod_tip_xy": [
+                0.27037518334085225,
+                -0.3667004305931225
+              ],
+              "min_rod_tip_xy_dist": 3.6112267160996846e-05,
+              "max_rod_tip_xy_dist": 0.00020505716698132484,
+              "first_target_xy_drift": 1.3587816113248889e-09,
+              "last_target_xy_drift": 3.041969549472835e-08,
+              "max_depth": 0.019402339206666785,
+              "min_bottom_clearance": 0.08003823898898432
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  8.195689265710904e-05,
+                  0.00015198359000467843
+                ],
+                "rod_tip_xy": [
+                  0.2704890951078676,
+                  -0.36634592424864987
+                ],
+                "target_mouth_xy": [
+                  0.2704071382152105,
+                  -0.36649790783865455
+                ],
+                "gripper_position": [
+                  0.270478171799862,
+                  -0.3663541891856393,
+                  1.0057844272810819
+                ],
+                "rod_tip_xy_dist": 0.00017267293906318698,
+                "target_xy_drift": 1.3587816113248889e-09,
+                "depth": 0.01533064479493007,
+                "bottom_clearance": 0.08410993500503927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  7.103473389330484e-05,
+                  0.00014371898224274648
+                ],
+                "rod_tip_xy": [
+                  0.2704781717998619,
+                  -0.36635418918563933
+                ],
+                "target_mouth_xy": [
+                  0.2704071370659686,
+                  -0.3664979081678821
+                ],
+                "gripper_position": [
+                  0.2704703486524953,
+                  -0.3663560296326164,
+                  1.0056578686565796
+                ],
+                "rod_tip_xy_dist": 0.00016031556155340475,
+                "target_xy_drift": 1.9558901097992915e-09,
+                "depth": 0.015475398761260695,
+                "bottom_clearance": 0.08396512583031213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  6.317959628693304e-05,
+                  0.00014184679005696532
+                ],
+                "rod_tip_xy": [
+                  0.2704703486524952,
+                  -0.3663560296326165
+                ],
+                "target_mouth_xy": [
+                  0.27040716905620826,
+                  -0.36649787642267345
+                ],
+                "gripper_position": [
+                  0.2704747625003116,
+                  -0.3664278069584081,
+                  1.005134818604573
+                ],
+                "rod_tip_xy_dist": 0.00015528094936741158,
+                "target_xy_drift": 4.4502746400944214e-08,
+                "depth": 0.015602128110403846,
+                "bottom_clearance": 0.0838385499661839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  6.762574143570621e-05,
+                  7.010184678896136e-05
+                ],
+                "rod_tip_xy": [
+                  0.2704747625003115,
+                  -0.36642780695840815
+                ],
+                "target_mouth_xy": [
+                  0.2704071367588758,
+                  -0.3664979088051971
+                ],
+                "gripper_position": [
+                  0.27046375742851936,
+                  -0.36643598080713263,
+                  1.0049898340513592
+                ],
+                "rod_tip_xy_dist": 9.740384914340913e-05,
+                "target_xy_drift": 2.0624381889959402e-09,
+                "depth": 0.016124993621946193,
+                "bottom_clearance": 0.08331549603605948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  5.6587761944559833e-05,
+                  6.18965575724939e-05
+                ],
+                "rod_tip_xy": [
+                  0.2704637574285192,
+                  -0.3664359808071327
+                ],
+                "target_mouth_xy": [
+                  0.27040716966657463,
+                  -0.3664978773647052
+                ],
+                "gripper_position": [
+                  0.27045572300775794,
+                  -0.3664380406897872,
+                  1.0048631583985683
+                ],
+                "rod_tip_xy_dist": 8.386512172064872e-05,
+                "target_xy_drift": 4.424010620120881e-08,
+                "depth": 0.01627009066249785,
+                "bottom_clearance": 0.08317057569595765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  4.858589597495078e-05,
+                  5.987034023535731e-05
+                ],
+                "rod_tip_xy": [
+                  0.27045572300775783,
+                  -0.36643804068978736
+                ],
+                "target_mouth_xy": [
+                  0.2704071371117829,
+                  -0.3664979110300227
+                ],
+                "gripper_position": [
+                  0.2704609761257347,
+                  -0.36651101076234005,
+                  1.0043413676956048
+                ],
+                "rod_tip_xy_dist": 7.710413041845543e-05,
+                "target_xy_drift": 2.595775334916034e-09,
+                "depth": 0.01639669505377761,
+                "bottom_clearance": 0.08304388366057391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  5.383833671090965e-05,
+                  -1.3163810048177904e-05
+                ],
+                "rod_tip_xy": [
+                  0.2704609761257346,
+                  -0.36651101076234016
+                ],
+                "target_mouth_xy": [
+                  0.2704071377890237,
+                  -0.366497846952292
+                ],
+                "gripper_position": [
+                  0.27044982262639505,
+                  -0.36651917320140576,
+                  1.0041964389028195
+                ],
+                "rod_tip_xy_dist": 5.54242942650765e-05,
+                "target_xy_drift": 6.211869428287167e-08,
+                "depth": 0.016918552483379812,
+                "bottom_clearance": 0.08252205843141758,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  4.265468484387913e-05,
+                  -2.1294543706917857e-05
+                ],
+                "rod_tip_xy": [
+                  0.27044982262639494,
+                  -0.3665191732014059
+                ],
+                "target_mouth_xy": [
+                  0.27040716794155106,
+                  -0.366497878657699
+                ],
+                "gripper_position": [
+                  0.2704417063033849,
+                  -0.3665207653917451,
+                  1.0040700049785978
+                ],
+                "rod_tip_xy_dist": 4.7674728429394194e-05,
+                "target_xy_drift": 4.2111645769334763e-08,
+                "depth": 0.017063449508805895,
+                "bottom_clearance": 0.0823771046095153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  3.456834815818155e-05,
+                  -2.2885464528055177e-05
+                ],
+                "rod_tip_xy": [
+                  0.2704417063033847,
+                  -0.36652076539174516
+                ],
+                "target_mouth_xy": [
+                  0.27040713795522653,
+                  -0.3664978799272171
+                ],
+                "gripper_position": [
+                  0.27043347570196563,
+                  -0.36652261943274417,
+                  1.003943619830634
+                ],
+                "rod_tip_xy_dist": 4.145738994497996e-05,
+                "target_xy_drift": 2.9147852282157544e-08,
+                "depth": 0.017189892268731577,
+                "bottom_clearance": 0.08225067460957447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  2.6304763081852478e-05,
+                  -2.474177193967364e-05
+                ],
+                "rod_tip_xy": [
+                  0.2704334757019655,
+                  -0.3665226194327442
+                ],
+                "target_mouth_xy": [
+                  0.27040717093888367,
+                  -0.36649787766080455
+                ],
+                "gripper_position": [
+                  0.27044023922959054,
+                  -0.3665977578208823,
+                  1.0034226440981258
+                ],
+                "rod_tip_xy_dist": 3.6112267160996846e-05,
+                "target_xy_drift": 4.492941586152223e-08,
+                "depth": 0.01731636868526054,
+                "bottom_clearance": 0.08212433454687595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  3.310200891532e-05,
+                  -9.98788444439569e-05
+                ],
+                "rod_tip_xy": [
+                  0.2704402392295904,
+                  -0.36659775782088244
+                ],
+                "target_mouth_xy": [
+                  0.27040713722067505,
+                  -0.3664978789764385
+                ],
+                "gripper_position": [
+                  0.27042897885169104,
+                  -0.3666059432123915,
+                  1.0032781503131225
+                ],
+                "rod_tip_xy_dist": 0.00010522132180166748,
+                "target_xy_drift": 3.012793132830222e-08,
+                "depth": 0.017837172065804263,
+                "bottom_clearance": 0.08160333588446378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  2.1810614823258856e-05,
+                  -0.0001080655189513724
+                ],
+                "rod_tip_xy": [
+                  0.2704289788516909,
+                  -0.3666059432123916
+                ],
+                "target_mouth_xy": [
+                  0.27040716823686767,
+                  -0.3664978776934402
+                ],
+                "gripper_position": [
+                  0.2704208271145363,
+                  -0.3666074575076975,
+                  1.0031516211112168
+                ],
+                "rod_tip_xy_dist": 0.00011024454319918962,
+                "target_xy_drift": 4.301456909593781e-08,
+                "depth": 0.017981757736784565,
+                "bottom_clearance": 0.08145884289235383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  1.368893962266915e-05,
+                  -0.0001095782305515769
+                ],
+                "rod_tip_xy": [
+                  0.2704208271145362,
+                  -0.3666074575076975
+                ],
+                "target_mouth_xy": [
+                  0.2704071381749135,
+                  -0.36649787927714594
+                ],
+                "gripper_position": [
+                  0.2704123938987639,
+                  -0.366609190715936,
+                  1.0030249555080786
+                ],
+                "rod_tip_xy_dist": 0.00011042995824869092,
+                "target_xy_drift": 2.9792195989109813e-08,
+                "depth": 0.01810826652532571,
+                "bottom_clearance": 0.08133228647235613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  5.255554971106413e-06,
+                  -0.00011131142502279756
+                ],
+                "rod_tip_xy": [
+                  0.27041239389876376,
+                  -0.3666091907159361
+                ],
+                "target_mouth_xy": [
+                  0.27040713834379265,
+                  -0.3664978792909133
+                ],
+                "gripper_position": [
+                  0.27042042675500344,
+                  -0.36668632735880524,
+                  1.0025072072247179
+                ],
+                "rod_tip_xy_dist": 0.00011143542613846014,
+                "target_xy_drift": 2.977533605254972e-08,
+                "depth": 0.01823493379701613,
+                "bottom_clearance": 0.08120562633327755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  1.3289266073746031e-05,
+                  -0.00018844678671370296
+                ],
+                "rod_tip_xy": [
+                  0.27042042675500333,
+                  -0.36668632735880524
+                ],
+                "target_mouth_xy": [
+                  0.2704071374889296,
+                  -0.36649788057209154
+                ],
+                "gripper_position": [
+                  0.2704089508984676,
+                  -0.3666944956707245,
+                  1.002362694804112
+                ],
+                "rod_tip_xy_dist": 0.00018891478506326251,
+                "target_xy_drift": 2.8520971687974806e-08,
+                "depth": 0.018752637852832765,
+                "bottom_clearance": 0.08068793300279353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  1.7825316064312702e-06,
+                  -0.0001966176555414645
+                ],
+                "rod_tip_xy": [
+                  0.27040895089846745,
+                  -0.36669449567072454
+                ],
+                "target_mouth_xy": [
+                  0.270407168366861,
+                  -0.3664978780151831
+                ],
+                "gripper_position": [
+                  0.2704006515542694,
+                  -0.36669580584398903,
+                  1.0022361634411694
+                ],
+                "rod_tip_xy_dist": 0.00019662573557281332,
+                "target_xy_drift": 4.2870033413895695e-08,
+                "depth": 0.01889726801073932,
+                "bottom_clearance": 0.08054332567258582,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -6.486789071447063e-06,
+                  -0.00019789675290599051
+                ],
+                "rod_tip_xy": [
+                  0.2704006515542693,
+                  -0.3666958058439891
+                ],
+                "target_mouth_xy": [
+                  0.27040713834334074,
+                  -0.3664979090910831
+                ],
+                "gripper_position": [
+                  0.27039216078402817,
+                  -0.3666972732608832,
+                  1.0021099076612643
+                ],
+                "rod_tip_xy_dist": 0.0001980030384695955,
+                "target_xy_drift": 4.6271114843922005e-10,
+                "depth": 0.01902372582214107,
+                "bottom_clearance": 0.08041683421570589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -1.4977922983272496e-05,
+                  -0.00019936385424162983
+                ],
+                "rod_tip_xy": [
+                  0.270392160784028,
+                  -0.3666972732608833
+                ],
+                "target_mouth_xy": [
+                  0.2704071387070113,
+                  -0.3664979094066417
+                ],
+                "gripper_position": [
+                  0.27038367954012366,
+                  -0.36669887461570755,
+                  1.0019836701978957
+                ],
+                "rod_tip_xy_dist": 0.0001999256975853046,
+                "target_xy_drift": 3.57701497382772e-10,
+                "depth": 0.01914999023771713,
+                "bottom_clearance": 0.08029059507213676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -2.3488568872909177e-05,
+                  -0.00020099470119899765
+                ],
+                "rod_tip_xy": [
+                  0.27038367954012354,
+                  -0.3666988746157076
+                ],
+                "target_mouth_xy": [
+                  0.27040716810899645,
+                  -0.3664978799145086
+                ],
+                "gripper_position": [
+                  0.2703751833408524,
+                  -0.3667004305931224,
+                  1.0018575541739758
+                ],
+                "rod_tip_xy_dist": 0.00020236250338877444,
+                "target_xy_drift": 4.1331940313804845e-08,
+                "depth": 0.019276229792475008,
+                "bottom_clearance": 0.08016435049557014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -3.195542572648202e-05,
+                  -0.00020255195011908977
+                ],
+                "rod_tip_xy": [
+                  0.27037518334085225,
+                  -0.3667004305931225
+                ],
+                "target_mouth_xy": [
+                  0.27040713876657874,
+                  -0.3664978786430034
+                ],
+                "gripper_position": [
+                  0.2703665173235527,
+                  -0.3667021226252127,
+                  1.001731188798852
+                ],
+                "rod_tip_xy_dist": 0.00020505716698132484,
+                "target_xy_drift": 3.041969549472835e-08,
+                "depth": 0.019402339206666785,
+                "bottom_clearance": 0.08003823898898432,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006012915056364968,
+              "rod_tip_xy_max_step": 3.246334013042766e-05,
+              "rod_tip_xy_range": 0.0006012821495629115,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26991805464151275,
+            -0.368157434055339,
+            1.0434235352407435
+          ],
+          "object_origin_world": [
+            0.26991805464151275,
+            -0.368157434055339,
+            1.0434235352407435
+          ],
+          "frame_world": [
+            0.26991670016696284,
+            -0.3681640997899009,
+            1.0433086063909107
+          ],
+          "center_minus_frame": [
+            1.3544745499083355e-06,
+            6.665734561872583e-06,
+            0.00011492884983277385
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2657044515438437,
+              0.1582512907285971,
+              0.8317724192575885
+            ],
+            "target_position": [
+              0.2806908430064739,
+              0.20377910158831675,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04793092415914388,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1658760540089967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317724192575885,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673724380008,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13568985122394006,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 316,
+            "max_placed_release_frames": 316
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d144cc8f568d6e07d4944b55601e072790ce1feb18a5f4bf7297a379d5302a2",
+    "visual_seed": 6160697985915786152,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..509d8917ca0da30c5dcec6bb763740428a9e6f57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20039092957685284,
+              -0.10902729038947107,
+              1.1627811411001108
+            ],
+            "current_z": 1.1627811411001108,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30167451387605504,
+            "gripper_z": 1.1567827618891537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19570728936705598,
+              -0.11361793680701088,
+              1.1567827618891537
+            ],
+            "object_minus_gripper": [
+              0.004683640209796863,
+              0.004590646417539812,
+              0.005998379210957028
+            ],
+            "object_to_gripper_xy": 0.00655824062883462,
+            "object_to_gripper_z": 0.005998379210957028,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20039092957685284,
+              -0.13289899135501362,
+              1.1627811411001108
+            ],
+            "finger_b": [
+              0.18996165160199427,
+              -0.10902729038947107,
+              1.1627811411001108
+            ],
+            "finger_midpoint": [
+              0.19517629058942354,
+              -0.12096314087224234,
+              1.1627811411001108
+            ],
+            "object_minus_finger_midpoint": [
+              0.005214638987429299,
+              0.01193585048277128,
+              0.0
+            ],
+            "finger_gap": 0.02605048840358191,
+            "fingertip_max_gap": 0.09242162646380642,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01302524420179096,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627811411001108,
+            "object_top_z": 1.2129102582437767,
+            "finger_top_clearance": 0.05012911714366597,
+            "fingertip_min_top_clearance": 0.01503873514309979,
+            "object_projection_between_fingers": 0.8397209550423864,
+            "object_to_finger_line_xy": 0.009557003356148619,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871081323190321,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7430177018514712,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2716524917726476,
+              -0.36539147781249015,
+              0.8515396609635983
+            ],
+            "target_position": [
+              0.2648481850842,
+              -0.365459931585091,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006804651014522069,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18521926163819707,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396609635983,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532045560153852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638368639675216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15349593284421656,
+            "release_required_pad_clearance": 0.05319184319837608,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4066431673028497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007631480693817139,
+            "max_z_decrease": 0.007631480693817139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035128007727933105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007631480693817139,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108881116461544,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007631480693817139,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076315040093277945,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12054811418056487,
+              -0.42172139883041376,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12054811418056487,
+              -0.42172139883041376,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1218447912057786,
+              -0.4213487757320956,
+              0.8079252068085364
+            ],
+            "closest_button": [
+              0.12053794413805005,
+              -0.421717494726181,
+              0.7728234529495239
+            ],
+            "closest_ee_minus_button": [
+              0.0013068470677285449,
+              0.0003687189940853597,
+              0.035101753859012486
+            ],
+            "button_min_z_position": [
+              0.12052942067384716,
+              -0.42171886563301086,
+              0.7691773772239685
+            ],
+            "min_active_finger_to_button": 0.14489850265659324,
+            "closest_active_finger": [
+              -0.005849495530128479,
+              -0.4836725890636444,
+              0.8107779622077942
+            ],
+            "closest_active_finger_button": [
+              0.12054839730262754,
+              -0.42171987891197205,
+              0.7764121294021606
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12639789283275601,
+              -0.06195271015167236,
+              0.034365832805633545
+            ],
+            "min_contact_pad_to_button": 0.02108881116461544,
+            "closest_contact_pad": [
+              0.12052942067384716,
+              -0.4224546148013799,
+              0.7902533500247209
+            ],
+            "closest_contact_pad_button": [
+              0.12052942067384716,
+              -0.42171886563301086,
+              0.7691773772239685
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007357491683690487,
+              0.02107597280075235
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2812091635591136,
+              0.20316556657396218,
+              1.10200193562163
+            ],
+            "current_z": 1.10200193562163,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1920928058872674,
+            "gripper_z": 1.1020019037721127,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2812091519918902,
+              0.20316554584006036,
+              1.1020019037721127
+            ],
+            "object_minus_gripper": [
+              1.1567223345831934e-08,
+              2.0733901817671097e-08,
+              3.184951724577445e-08
+            ],
+            "object_to_gripper_xy": 2.374226906841855e-08,
+            "object_to_gripper_z": 3.184951724577445e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2812091635591136,
+              0.20316556657396218,
+              1.10200193562163
+            ],
+            "finger_b": [
+              0.2812091635591136,
+              0.20316556657396218,
+              1.10200193562163
+            ],
+            "finger_midpoint": [
+              0.2812091635591136,
+              0.20316556657396218,
+              1.10200193562163
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10200193562163,
+            "object_top_z": 1.2270104422419097,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28120916355911363,
+            0.2031655665739622,
+            1.1020019356216302
+          ],
+          "object_origin_world": [
+            0.28120916355911363,
+            0.2031655665739622,
+            1.1020019356216302
+          ],
+          "frame_world": [
+            0.2812091519918902,
+            0.20316554584006036,
+            1.1020019037721127
+          ],
+          "center_minus_frame": [
+            1.1567223401343085e-08,
+            2.0733901845426672e-08,
+            3.1849517467819055e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433704524916048,
+            "required_z": 0.9112598360779163,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001790911838890813,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.1137853462610585e-08,
+            "max_target_xy_drift": 1.2465690347469383e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4066431685604004,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4066431693079862,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2710527261967431,
+              -0.36369827546479805,
+              0.923484969234048
+            ],
+            "target_mouth_xy": [
+              0.2716524610415757,
+              -0.36539144898689324
+            ],
+            "rod_tip_z": 0.923484969234048,
+            "rod_tip_depth": -0.0222250849123401,
+            "rod_tip_bottom_clearance": 0.12166562937723702,
+            "rod_tip_xy_dist": 0.001796251224086051,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04474338476822559,
+            "min_rod_tip_bottom_clearance": 0.05469721476608436,
+            "min_rod_tip_xy_dist": 0.00044177461143866237,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2716524299295086,
+              -0.365391450253858
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.1112067089278383e-08,
+              1.266964755330946e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -3.0597209844218654e-05,
+                0.0033472924511194213
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00014828279909534503,
+                0.0030245406374863615
+              ],
+              "first_target_mouth_xy": [
+                0.2716524322659026,
+                -0.3653914489146818
+              ],
+              "last_target_mouth_xy": [
+                0.2716524303858875,
+                -0.3653914502200629
+              ],
+              "first_rod_tip_xy": [
+                0.27162183505605836,
+                -0.36204415646356236
+              ],
+              "last_rod_tip_xy": [
+                0.27150414758679214,
+                -0.36236690958257656
+              ],
+              "min_rod_tip_xy_dist": 0.003028173353081682,
+              "max_rod_tip_xy_dist": 0.0033474322909614338,
+              "first_target_xy_drift": 2.692977850450242e-09,
+              "last_target_xy_drift": 4.576284394623662e-10,
+              "max_depth": 0.019531345307906123,
+              "min_bottom_clearance": 0.07990920845450755
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -3.0597209844218654e-05,
+                  0.0033472924511194213
+                ],
+                "rod_tip_xy": [
+                  0.27162183505605836,
+                  -0.36204415646356236
+                ],
+                "target_mouth_xy": [
+                  0.2716524322659026,
+                  -0.3653914489146818
+                ],
+                "gripper_position": [
+                  0.27161079356860873,
+                  -0.36205196593591527,
+                  1.0056459177395878
+                ],
+                "rod_tip_xy_dist": 0.0033474322909614338,
+                "target_xy_drift": 2.692977850450242e-09,
+                "depth": 0.015469798735472495,
+                "bottom_clearance": 0.08397078359301557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -4.1636410849532624e-05,
+                  0.003339483962544132
+                ],
+                "rod_tip_xy": [
+                  0.27161079356860873,
+                  -0.3620519659359154
+                ],
+                "target_mouth_xy": [
+                  0.27165242997945827,
+                  -0.3653914498984595
+                ],
+                "gripper_position": [
+                  0.2716145723032461,
+                  -0.36211685123053794,
+                  1.0051244797992396
+                ],
+                "rod_tip_xy_dist": 0.0033397435121275236,
+                "target_xy_drift": 3.588914232124975e-10,
+                "depth": 0.015613912484105041,
+                "bottom_clearance": 0.08382661411276437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -3.79196187691444e-05,
+                  0.00327459577771394
+                ],
+                "rod_tip_xy": [
+                  0.27161457230324615,
+                  -0.36211685123053805
+                ],
+                "target_mouth_xy": [
+                  0.2716524919220153,
+                  -0.365391447008252
+                ],
+                "gripper_position": [
+                  0.2716035005147013,
+                  -0.3621247276647142,
+                  1.0049800649719551
+                ],
+                "rod_tip_xy_dist": 0.0032748153237869095,
+                "target_xy_drift": 6.207741008823459e-08,
+                "depth": 0.01613550311147194,
+                "bottom_clearance": 0.08330514470150596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -4.8930919818890306e-05,
+                  0.003266721264263306
+                ],
+                "rod_tip_xy": [
+                  0.2716035005147013,
+                  -0.3621247276647144
+                ],
+                "target_mouth_xy": [
+                  0.27165243143452017,
+                  -0.3653914489289777
+                ],
+                "gripper_position": [
+                  0.27159537625452945,
+                  -0.36212613515080644,
+                  1.0048543426911316
+                ],
+                "rod_tip_xy_dist": 0.003267087702113975,
+                "target_xy_drift": 2.0050854466635045e-09,
+                "depth": 0.01627981996767891,
+                "bottom_clearance": 0.08316073016354009,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -5.705266312000523e-05,
+                  0.003265315400868607
+                ],
+                "rod_tip_xy": [
+                  0.2715953762545295,
+                  -0.3621261351508065
+                ],
+                "target_mouth_xy": [
+                  0.2716524289176495,
+                  -0.3653914505516751
+                ],
+                "gripper_position": [
+                  0.27158715010199297,
+                  -0.36212769147011054,
+                  1.0047281370694185
+                ],
+                "rod_tip_xy_dist": 0.0032658137842686004,
+                "target_xy_drift": 1.0547766867034116e-09,
+                "depth": 0.016405524037743868,
+                "bottom_clearance": 0.08303505129093325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -6.528300447339319e-05,
+                  0.003263695606607775
+                ],
+                "rod_tip_xy": [
+                  0.271587150101993,
+                  -0.3621276914701106
+                ],
+                "target_mouth_xy": [
+                  0.2716524331064664,
+                  -0.36539138707671837
+                ],
+                "gripper_position": [
+                  0.27159249729530066,
+                  -0.3621950991179531,
+                  1.0042045874578318
+                ],
+                "rod_tip_xy_dist": 0.00326434846229136,
+                "target_xy_drift": 6.32569682553164e-08,
+                "depth": 0.016531857696924335,
+                "bottom_clearance": 0.08290883178285269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -5.99327227631119e-05,
+                  0.0031963808957475304
+                ],
+                "rod_tip_xy": [
+                  0.27159249729530066,
+                  -0.3621950991179531
+                ],
+                "target_mouth_xy": [
+                  0.2716524300180638,
+                  -0.36539148001370064
+                ],
+                "gripper_position": [
+                  0.2715813204369757,
+                  -0.3622026428753155,
+                  1.0040600796062313
+                ],
+                "rod_tip_xy_dist": 0.003196942721094262,
+                "target_xy_drift": 2.9759974400470734e-08,
+                "depth": 0.01705530821934864,
+                "bottom_clearance": 0.08238523077171644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -7.110962405176835e-05,
+                  0.0031887753062718183
+                ],
+                "rod_tip_xy": [
+                  0.2715813204369757,
+                  -0.36220264287531556
+                ],
+                "target_mouth_xy": [
+                  0.27165243006102746,
+                  -0.3653914181815874
+                ],
+                "gripper_position": [
+                  0.2715730625182551,
+                  -0.36220428542540706,
+                  1.0039342198956802
+                ],
+                "rod_tip_xy_dist": 0.003189568079305051,
+                "target_xy_drift": 3.207254027580876e-08,
+                "depth": 0.017199809076888672,
+                "bottom_clearance": 0.08224071812587719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -7.939697104980548e-05,
+                  0.003187163834904805
+                ],
+                "rod_tip_xy": [
+                  0.27157306251825514,
+                  -0.36220428542540717
+                ],
+                "target_mouth_xy": [
+                  0.27165245948930494,
+                  -0.365391449260312
+                ],
+                "gripper_position": [
+                  0.27157895396427567,
+                  -0.36227249433232717,
+                  1.0034136862048961
+                ],
+                "rod_tip_xy_dist": 0.0031881526295861346,
+                "target_xy_drift": 2.957648885420406e-08,
+                "depth": 0.01732559969306935,
+                "bottom_clearance": 0.08211489939885308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -7.353799784409754e-05,
+                  0.00311895267499096
+                ],
+                "rod_tip_xy": [
+                  0.2715789539642757,
+                  -0.3622724943323272
+                ],
+                "target_mouth_xy": [
+                  0.2716524919621198,
+                  -0.3653914470073182
+                ],
+                "gripper_position": [
+                  0.27156771481303676,
+                  -0.36227985050419864,
+                  1.0032697028830073
+                ],
+                "rod_tip_xy_dist": 0.003119819486117776,
+                "target_xy_drift": 6.211750860140793e-08,
+                "depth": 0.01784629702514484,
+                "bottom_clearance": 0.0815943523303787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -8.474597902918823e-05,
+                  0.0031115974826013693
+                ],
+                "rod_tip_xy": [
+                  0.2715677148130368,
+                  -0.36227985050419875
+                ],
+                "target_mouth_xy": [
+                  0.271652460792066,
+                  -0.3653914479868001
+                ],
+                "gripper_position": [
+                  0.27155940086556196,
+                  -0.362281287941851,
+                  1.0031439713598742
+                ],
+                "rod_tip_xy_dist": 0.003112751319121525,
+                "target_xy_drift": 3.0945710536177836e-08,
+                "depth": 0.017990133140776687,
+                "bottom_clearance": 0.08145042887047815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -9.306034662109886e-05,
+                  0.0031101590836309922
+                ],
+                "rod_tip_xy": [
+                  0.271559400865562,
+                  -0.3622812879418511
+                ],
+                "target_mouth_xy": [
+                  0.2716524612121831,
+                  -0.3653914470254821
+                ],
+                "gripper_position": [
+                  0.27155085235250176,
+                  -0.36228296438439417,
+                  1.003017971167184
+                ],
+                "rod_tip_xy_dist": 0.0031115510205692613,
+                "target_xy_drift": 3.1448817707860964e-08,
+                "depth": 0.01811600439703953,
+                "bottom_clearance": 0.08132460865686342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00010157803733074067,
+                  0.0031084832934752393
+                ],
+                "rod_tip_xy": [
+                  0.2715508523525018,
+                  -0.36228296438439433
+                ],
+                "target_mouth_xy": [
+                  0.27165243038983256,
+                  -0.3653914476778696
+                ],
+                "gripper_position": [
+                  0.27155823657201367,
+                  -0.36235283169058047,
+                  1.0025006989138798
+                ],
+                "rod_tip_xy_dist": 0.0031101425181947265,
+                "target_xy_drift": 2.616794697361007e-09,
+                "depth": 0.0182418659136655,
+                "bottom_clearance": 0.081198684869498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -9.422481016579942e-05,
+                  0.0030385871058987157
+                ],
+                "rod_tip_xy": [
+                  0.2715582365720137,
+                  -0.3623528316905805
+                ],
+                "target_mouth_xy": [
+                  0.2716524613821795,
+                  -0.36539141879647924
+                ],
+                "gripper_position": [
+                  0.27154687591880083,
+                  -0.36236042102572785,
+                  1.0023572084018681
+                ],
+                "rod_tip_xy_dist": 0.003040047683011685,
+                "target_xy_drift": 4.448412285073731e-08,
+                "depth": 0.01875924971905729,
+                "bottom_clearance": 0.0806813120458606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00010555423691405164,
+                  0.0030310275952856736
+                ],
+                "rod_tip_xy": [
+                  0.27154687591880083,
+                  -0.36236042102572796
+                ],
+                "target_mouth_xy": [
+                  0.2716524301557149,
+                  -0.36539144862101364
+                ],
+                "gripper_position": [
+                  0.27153825595269643,
+                  -0.362361776514764,
+                  1.0022311044559902
+                ],
+                "rod_tip_xy_dist": 0.003032864978912474,
+                "target_xy_drift": 1.6484386498589478e-09,
+                "depth": 0.018902609888582722,
+                "bottom_clearance": 0.08053789751858109,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00011423562787826747,
+                  0.0030296419583912826
+                ],
+                "rod_tip_xy": [
+                  0.2715382559526965,
+                  -0.3623617765147641
+                ],
+                "target_mouth_xy": [
+                  0.27165249158057475,
+                  -0.36539141847315537
+                ],
+                "gripper_position": [
+                  0.27152982699891504,
+                  -0.3623629013256946,
+                  1.0021054668649254
+                ],
+                "rod_tip_xy_dist": 0.003031794876755634,
+                "target_xy_drift": 6.936041389494653e-08,
+                "depth": 0.019028852999833035,
+                "bottom_clearance": 0.08041173551135938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0001226337161152613,
+                  0.0030285472904589827
+                ],
+                "rod_tip_xy": [
+                  0.2715298269989151,
+                  -0.3623629013256947
+                ],
+                "target_mouth_xy": [
+                  0.27165246071503035,
+                  -0.3653914486161537
+                ],
+                "gripper_position": [
+                  0.27152133746454954,
+                  -0.36236423520213884,
+                  1.0019797980195586
+                ],
+                "rod_tip_xy_dist": 0.0030310291517691946,
+                "target_xy_drift": 3.082905162956701e-08,
+                "depth": 0.01915435721688441,
+                "bottom_clearance": 0.08028617882706568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00013115396569224336,
+                  0.0030272133996395167
+                ],
+                "rod_tip_xy": [
+                  0.27152133746454954,
+                  -0.3623642352021389
+                ],
+                "target_mouth_xy": [
+                  0.2716524914302418,
+                  -0.3653914486017784
+                ],
+                "gripper_position": [
+                  0.2715127328090844,
+                  -0.3623654711167507,
+                  1.0018541542814658
+                ],
+                "rod_tip_xy_dist": 0.003030053189248308,
+                "target_xy_drift": 6.152291888185807e-08,
+                "depth": 0.01928015241235248,
+                "bottom_clearance": 0.08016041848423017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0001396990225129846,
+                  0.0030259778055077846
+                ],
+                "rod_tip_xy": [
+                  0.2715127328090844,
+                  -0.3623654711167509
+                ],
+                "target_mouth_xy": [
+                  0.2716524318315974,
+                  -0.36539144892225867
+                ],
+                "gripper_position": [
+                  0.2715041475867921,
+                  -0.36236690958257645,
+                  1.0017284940100726
+                ],
+                "rod_tip_xy_dist": 0.0030292008015839413,
+                "target_xy_drift": 2.3218739080659246e-09,
+                "depth": 0.01940573387528366,
+                "bottom_clearance": 0.0800348316381595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00014828279909534503,
+                  0.0030245406374863615
+                ],
+                "rod_tip_xy": [
+                  0.27150414758679214,
+                  -0.36236690958257656
+                ],
+                "target_mouth_xy": [
+                  0.2716524303858875,
+                  -0.3653914502200629
+                ],
+                "gripper_position": [
+                  0.27149548636758003,
+                  -0.3623682518262982,
+                  1.0016029841238276
+                ],
+                "rod_tip_xy_dist": 0.003028173353081682,
+                "target_xy_drift": 4.576284394623662e-10,
+                "depth": 0.019531345307906123,
+                "bottom_clearance": 0.07990920845450755,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000599954964774794,
+              "rod_tip_xy_max_step": 3.244466950617191e-05,
+              "rod_tip_xy_range": 0.0005999443985857732,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27105272619674314,
+            -0.363698275464798,
+            1.043484969234048
+          ],
+          "object_origin_world": [
+            0.27105272619674314,
+            -0.363698275464798,
+            1.043484969234048
+          ],
+          "frame_world": [
+            0.27105135380870826,
+            -0.3637044293339924,
+            1.0433704524916048
+          ],
+          "center_minus_frame": [
+            1.3723880348814887e-06,
+            6.15386919439187e-06,
+            0.00011451674244322696
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2681913670270666,
+              0.157663851424219,
+              0.8326080727440976
+            ],
+            "target_position": [
+              0.2813797786211836,
+              0.20421211997066796,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04838052816007872,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16960531096147796,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326080727440976,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670225498401,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13882986111690065,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aeda3daf51ad5b8f874346ef17733f7ed535ad98eaa091b86ae7a8bed9fec9fa",
+    "visual_seed": 2738477163645947688,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c273fcade72f911144e2168635e3b185b1072ae5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_38_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2046840957121207,
+              -0.10837507843844331,
+              1.163962930093275
+            ],
+            "current_z": 1.163962930093275,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3028562432645747,
+            "gripper_z": 1.1579167228392855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20003331371971467,
+              -0.11290229254846135,
+              1.1579167228392855
+            ],
+            "object_minus_gripper": [
+              0.004650781992406039,
+              0.004527214110018038,
+              0.006046207253989522
+            ],
+            "object_to_gripper_xy": 0.0064904114460359675,
+            "object_to_gripper_z": 0.006046207253989522,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2046840957121207,
+              -0.1324043941841622,
+              1.163962930093275
+            ],
+            "finger_b": [
+              0.19465729817306912,
+              -0.10837507843844331,
+              1.163962930093275
+            ],
+            "finger_midpoint": [
+              0.19967069694259493,
+              -0.12038973631130276,
+              1.163962930093275
+            ],
+            "object_minus_finger_midpoint": [
+              0.005013398769525779,
+              0.01201465787285945,
+              0.0
+            ],
+            "finger_gap": 0.026037370913680677,
+            "fingertip_max_gap": 0.09304759186911377,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013018685456840338,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163962930093275,
+            "object_top_z": 1.2143915615712473,
+            "finger_top_clearance": 0.050428631477972274,
+            "fingertip_min_top_clearance": 0.015128589443391715,
+            "object_projection_between_fingers": 0.851703728567318,
+            "object_to_finger_line_xy": 0.009253510455530418,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049023795934556885,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9699706473566252,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26945510141402496,
+              -0.37150843892924346,
+              0.8515395738854736
+            ],
+            "target_position": [
+              0.2641080883577379,
+              -0.37082079644169597,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0053910482111352515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18385637756211595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395738854736,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517301963136543,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875900086746129,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15237777153822,
+            "release_required_pad_clearance": 0.053795004337306454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5990066192842702,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007987499237060547,
+            "max_z_decrease": 0.007987499237060547,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507979647294192,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007987499237060547,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109741910926973,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007987499237060547,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007987524930883599,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11980801075696948,
+              -0.4270822405815124,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11980801075696948,
+              -0.4270822405815124,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1195988106936331,
+              -0.4272439278865544,
+              0.8073915384487539
+            ],
+            "closest_button": [
+              0.11979765444993974,
+              -0.4270774126052856,
+              0.7723127007484436
+            ],
+            "closest_ee_minus_button": [
+              -0.0001988437563066464,
+              -0.00016651528126881976,
+              0.035078837700310284
+            ],
+            "button_min_z_position": [
+              0.11978823691606523,
+              -0.427077829837799,
+              0.7688213586807251
+            ],
+            "min_active_finger_to_button": 0.14638914837438216,
+            "closest_active_finger": [
+              -0.021752677857875824,
+              -0.4130318760871887,
+              0.8113260865211487
+            ],
+            "closest_active_finger_button": [
+              0.11981069296598436,
+              -0.427079975605011,
+              0.7767971754074097
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14156337082386017,
+              0.014048099517822266,
+              0.034528911113739014
+            ],
+            "min_contact_pad_to_button": 0.02109741910926973,
+            "closest_contact_pad": [
+              0.11978823691606523,
+              -0.4281310261356746,
+              0.7898924732841418
+            ],
+            "closest_contact_pad_button": [
+              0.11978823691606523,
+              -0.427077829837799,
+              0.7688213586807251
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010531962978755915,
+              0.021071114603416707
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28112014934517265,
+              0.20712575299019226,
+              1.1026005809795598
+            ],
+            "current_z": 1.1026005809795598,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19269145124519726,
+            "gripper_z": 1.1026008536824623,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28112012117399776,
+              0.20712575013885176,
+              1.1026008536824623
+            ],
+            "object_minus_gripper": [
+              2.817117489284371e-08,
+              2.851340497045385e-09,
+              -2.7270290248182505e-07
+            ],
+            "object_to_gripper_xy": 2.8315106170969564e-08,
+            "object_to_gripper_z": -2.7270290248182505e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28112014934517265,
+              0.20712575299019226,
+              1.1026005809795598
+            ],
+            "finger_b": [
+              0.28112014934517265,
+              0.20712575299019226,
+              1.1026005809795598
+            ],
+            "finger_midpoint": [
+              0.28112014934517265,
+              0.20712575299019226,
+              1.1026005809795598
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026005809795598,
+            "object_top_z": 1.2276090875998396,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2811201493451727,
+            0.20712575299019226,
+            1.10260058097956
+          ],
+          "object_origin_world": [
+            0.2811201493451727,
+            0.20712575299019226,
+            1.10260058097956
+          ],
+          "frame_world": [
+            0.28112012117399776,
+            0.20712575013885176,
+            1.1026008536824623
+          ],
+          "center_minus_frame": [
+            2.817117494835486e-08,
+            2.851340497045385e-09,
+            -2.7270290225978044e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432842395442854,
+            "required_z": 0.9112598392521103,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009241213255153342,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.351293702120148e-08,
+            "max_target_xy_drift": 1.2617607058018392e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.599006624776249,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.5990066251408375,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2691958564617592,
+              -0.3723879530263065,
+              0.9234001670690773
+            ],
+            "target_mouth_xy": [
+              0.26945513786247766,
+              -0.37150840135110624
+            ],
+            "rod_tip_z": 0.9234001670690773,
+            "rod_tip_depth": -0.022140259293736197,
+            "rod_tip_bottom_clearance": 0.12158096540252983,
+            "rod_tip_xy_dist": 0.0009169721882947786,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044833219295743465,
+            "min_rod_tip_bottom_clearance": 0.05460751246356699,
+            "min_rod_tip_xy_dist": 0.00023030281385743781,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26945513643053876,
+              -0.37150846484789923
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.4319389007866334e-09,
+              6.349679299022526e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.00030715027929661964,
+                0.0008519487312938501
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0001959625263161513,
+                0.0005091522885622424
+              ],
+              "first_target_mouth_xy": [
+                0.26945513496137946,
+                -0.37150843856338944
+              ],
+              "last_target_mouth_xy": [
+                0.2694551074367276,
+                -0.3715084365671113
+              ],
+              "first_rod_tip_xy": [
+                0.2697622852406761,
+                -0.3706564898320956
+              ],
+              "last_rod_tip_xy": [
+                0.2696510699630438,
+                -0.37099928427854906
+              ],
+              "min_rod_tip_xy_dist": 0.0005455615131846978,
+              "max_rod_tip_xy_dist": 0.0009056257145339858,
+              "first_target_xy_drift": 2.6325536727305748e-08,
+              "last_target_xy_drift": 4.0502395607904255e-08,
+              "max_depth": 0.01940885734894804,
+              "min_bottom_clearance": 0.08003165926741429
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00030715027929661964,
+                  0.0008519487312938501
+                ],
+                "rod_tip_xy": [
+                  0.2697622852406761,
+                  -0.3706564898320956
+                ],
+                "target_mouth_xy": [
+                  0.26945513496137946,
+                  -0.37150843856338944
+                ],
+                "gripper_position": [
+                  0.2697515772544682,
+                  -0.370664857077129,
+                  1.0057963571982202
+                ],
+                "rod_tip_xy_dist": 0.0009056257145339858,
+                "target_xy_drift": 2.6325536727305748e-08,
+                "depth": 0.015317882213861211,
+                "bottom_clearance": 0.08412276129354923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0002964090979368228,
+                  0.0008435740921949875
+                ],
+                "rod_tip_xy": [
+                  0.2697515772544682,
+                  -0.3706648570771291
+                ],
+                "target_mouth_xy": [
+                  0.26945516815653137,
+                  -0.3715084311693241
+                ],
+                "gripper_position": [
+                  0.26974357178122443,
+                  -0.3706671149761048,
+                  1.0056684874291317
+                ],
+                "rod_tip_xy_dist": 0.0008941339957536109,
+                "target_xy_drift": 4.626861821295843e-08,
+                "depth": 0.015463613411757726,
+                "bottom_clearance": 0.08397711020908727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00028846529849962943,
+                  0.0008413800169328467
+                ],
+                "rod_tip_xy": [
+                  0.2697435717812244,
+                  -0.3706671149761048
+                ],
+                "target_mouth_xy": [
+                  0.26945510648272475,
+                  -0.3715084949930376
+                ],
+                "gripper_position": [
+                  0.26974828456245203,
+                  -0.37073516405006307,
+                  1.0051440234210125
+                ],
+                "rod_tip_xy_dist": 0.0008894563290754627,
+                "target_xy_drift": 4.2492363220302894e-08,
+                "depth": 0.015591291127324824,
+                "bottom_clearance": 0.08384923592004934,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0002931803087578011,
+                  0.0007733024586105142
+                ],
+                "rod_tip_xy": [
+                  0.26974828456245203,
+                  -0.37073516405006307
+                ],
+                "target_mouth_xy": [
+                  0.26945510425369423,
+                  -0.3715084665086736
+                ],
+                "gripper_position": [
+                  0.2697373637611921,
+                  -0.37074354209451127,
+                  1.0049982225471301
+                ],
+                "rod_tip_xy_dist": 0.0008270135343127013,
+                "target_xy_drift": 3.221967558573552e-08,
+                "depth": 0.016115880646890512,
+                "bottom_clearance": 0.08332472669546365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0002822568717602003,
+                  0.0007648926122166277
+                ],
+                "rod_tip_xy": [
+                  0.26973736376119206,
+                  -0.37074354209451127
+                ],
+                "target_mouth_xy": [
+                  0.26945510688943186,
+                  -0.3715084347067279
+                ],
+                "gripper_position": [
+                  0.26972932329545174,
+                  -0.37074583183148796,
+                  1.0048709046590822
+                ],
+                "rod_tip_xy_dist": 0.0008153095423699091,
+                "target_xy_drift": 4.220387667105511e-08,
+                "depth": 0.01626155450617961,
+                "bottom_clearance": 0.08317897938579788,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0002742195804941172,
+                  0.0007626045399332093
+                ],
+                "rod_tip_xy": [
+                  0.2697293232954517,
+                  -0.37074583183148796
+                ],
+                "target_mouth_xy": [
+                  0.26945510371495757,
+                  -0.37150843637142117
+                ],
+                "gripper_position": [
+                  0.26973482064174514,
+                  -0.3708150567683734,
+                  1.0043478132366521
+                ],
+                "rod_tip_xy_dist": 0.0008104085776033664,
+                "target_xy_drift": 4.337302220807019e-08,
+                "depth": 0.01638900894723405,
+                "bottom_clearance": 0.08305160568811054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0002796856099181455,
+                  0.000693349400008314
+                ],
+                "rod_tip_xy": [
+                  0.2697348206417451,
+                  -0.3708150567683734
+                ],
+                "target_mouth_xy": [
+                  0.26945513503182694,
+                  -0.3715084061683817
+                ],
+                "gripper_position": [
+                  0.269724023783139,
+                  -0.3708230893574284,
+                  1.0042026693781236
+                ],
+                "rod_tip_xy_dist": 0.0007476345570445323,
+                "target_xy_drift": 5.869618532277461e-08,
+                "depth": 0.01691199494274631,
+                "bottom_clearance": 0.08252856254741792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0002689203467534096,
+                  0.0006853479242570626
+                ],
+                "rod_tip_xy": [
+                  0.269724023783139,
+                  -0.3708230893574284
+                ],
+                "target_mouth_xy": [
+                  0.26945510343638557,
+                  -0.3715084372816855
+                ],
+                "gripper_position": [
+                  0.2697159866228763,
+                  -0.37082511169237453,
+                  1.0040748248129059
+                ],
+                "rod_tip_xy_dist": 0.000736220028375647,
+                "target_xy_drift": 4.2994305267071535e-08,
+                "depth": 0.017057269986287316,
+                "bottom_clearance": 0.08238338896505948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00026085024659261435,
+                  0.0006832944269765107
+                ],
+                "rod_tip_xy": [
+                  0.26971598662287627,
+                  -0.3708251116923745
+                ],
+                "target_mouth_xy": [
+                  0.26945513637628365,
+                  -0.371508406119351
+                ],
+                "gripper_position": [
+                  0.26970792852553305,
+                  -0.3708271710470934,
+                  1.0039472712848037
+                ],
+                "rod_tip_xy_dist": 0.0007313919093650036,
+                "target_xy_drift": 5.872857330792948e-08,
+                "depth": 0.017184942112486223,
+                "bottom_clearance": 0.0822555631815004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0002527951376473103,
+                  0.0006812364072960042
+                ],
+                "rod_tip_xy": [
+                  0.269707928525533,
+                  -0.37082717104709345
+                ],
+                "target_mouth_xy": [
+                  0.2694551333878857,
+                  -0.37150840745438946
+                ],
+                "gripper_position": [
+                  0.26971490819428284,
+                  -0.37089864089920804,
+                  1.0034248848144918
+                ],
+                "rod_tip_xy_dist": 0.000726628119634583,
+                "target_xy_drift": 5.74741046243761e-08,
+                "depth": 0.017312663175778176,
+                "bottom_clearance": 0.08212798935115162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0002597705100666481,
+                  0.000609764878753527
+                ],
+                "rod_tip_xy": [
+                  0.2697149081942828,
+                  -0.37089864089920804
+                ],
+                "target_mouth_xy": [
+                  0.26945513768421614,
+                  -0.37150840577796157
+                ],
+                "gripper_position": [
+                  0.26970365771962557,
+                  -0.37090686875157375,
+                  1.003279040597137
+                ],
+                "rod_tip_xy_dist": 0.0006627925205232706,
+                "target_xy_drift": 5.9083239946279646e-08,
+                "depth": 0.017834881476228692,
+                "bottom_clearance": 0.08160565233707195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00024855348143432154,
+                  0.0006015092192094285
+                ],
+                "rod_tip_xy": [
+                  0.2697036577196255,
+                  -0.3709068687515737
+                ],
+                "target_mouth_xy": [
+                  0.2694551042381912,
+                  -0.3715083779707831
+                ],
+                "gripper_position": [
+                  0.26969559918258385,
+                  -0.37090883772769695,
+                  1.0031518020988561
+                ],
+                "rod_tip_xy_dist": 0.0006508395915485304,
+                "target_xy_drift": 9.264977358715482e-08,
+                "depth": 0.01798088063535208,
+                "bottom_clearance": 0.08145975979928144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00024048847822560893,
+                  0.0005996685238708888
+                ],
+                "rod_tip_xy": [
+                  0.26969559918258385,
+                  -0.37090883772769695
+                ],
+                "target_mouth_xy": [
+                  0.26945511070435824,
+                  -0.37150850625156784
+                ],
+                "gripper_position": [
+                  0.26968742289229775,
+                  -0.37091054217185393,
+                  1.003024010183441
+                ],
+                "rod_tip_xy_dist": 0.0006460936825884926,
+                "target_xy_drift": 4.874525759534863e-08,
+                "depth": 0.01810797622139204,
+                "bottom_clearance": 0.08133254253003375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00023231953691515983,
+                  0.0005978656093345025
+                ],
+                "rod_tip_xy": [
+                  0.26968742289229775,
+                  -0.370910542171854
+                ],
+                "target_mouth_xy": [
+                  0.2694551033553826,
+                  -0.3715084077811885
+                ],
+                "gripper_position": [
+                  0.26969570375454055,
+                  -0.3709839997347664,
+                  1.002504980963721
+                ],
+                "rod_tip_xy_dist": 0.0006414169112655125,
+                "target_xy_drift": 6.595889197809363e-08,
+                "depth": 0.018235937384342482,
+                "bottom_clearance": 0.08120473584214138,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0002405965787072306,
+                  0.0005244066840752182
+                ],
+                "rod_tip_xy": [
+                  0.26969570375454055,
+                  -0.3709839997347664
+                ],
+                "target_mouth_xy": [
+                  0.2694551071758333,
+                  -0.37150840641884164
+                ],
+                "gripper_position": [
+                  0.26968430573485247,
+                  -0.37099224344028237,
+                  1.002359717963284
+                ],
+                "rod_tip_xy_dist": 0.0005769654096983547,
+                "target_xy_drift": 6.534364973934832e-08,
+                "depth": 0.018754773907236788,
+                "bottom_clearance": 0.0806857205192083,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00022920071619231264,
+                  0.0005161636881800824
+                ],
+                "rod_tip_xy": [
+                  0.2696843057348524,
+                  -0.3709922434402824
+                ],
+                "target_mouth_xy": [
+                  0.2694551050186601,
+                  -0.3715084071284625
+                ],
+                "gripper_position": [
+                  0.2696759783215252,
+                  -0.37099396995928563,
+                  1.0022322991790822
+                ],
+                "rod_tip_xy_dist": 0.0005647635977103467,
+                "target_xy_drift": 6.571331293584871e-08,
+                "depth": 0.0189001677318813,
+                "bottom_clearance": 0.08054041985381899,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00022087176717094925,
+                  0.0005144069929725603
+                ],
+                "rod_tip_xy": [
+                  0.2696759783215251,
+                  -0.37099396995928563
+                ],
+                "target_mouth_xy": [
+                  0.2694551065543542,
+                  -0.3715083769522582
+                ],
+                "gripper_position": [
+                  0.26966761252882854,
+                  -0.3709957660333109,
+                  1.0021054194874557
+                ],
+                "rod_tip_xy_dist": 0.0005598204104463231,
+                "target_xy_drift": 9.283442313913888e-08,
+                "depth": 0.019027533780520023,
+                "bottom_clearance": 0.08041298328223878,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00021250646064235879,
+                  0.0005126372357169284
+                ],
+                "rod_tip_xy": [
+                  0.2696676125288285,
+                  -0.3709957660333109
+                ],
+                "target_mouth_xy": [
+                  0.2694551060681861,
+                  -0.37150840326902784
+                ],
+                "gripper_position": [
+                  0.26965941079693534,
+                  -0.3709973790864166,
+                  1.0019781973099737
+                ],
+                "rod_tip_xy_dist": 0.0005549377724197877,
+                "target_xy_drift": 6.865733652810927e-08,
+                "depth": 0.019154469783632222,
+                "bottom_clearance": 0.08028615252042492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00020433358621940734,
+                  0.0005110267274513469
+                ],
+                "rod_tip_xy": [
+                  0.26965941079693534,
+                  -0.37099737908641667
+                ],
+                "target_mouth_xy": [
+                  0.26945507721071593,
+                  -0.371508405813868
+                ],
+                "gripper_position": [
+                  0.26965106996304383,
+                  -0.37099928427854906,
+                  1.00185096546215
+                ],
+                "rod_tip_xy_dist": 0.0005503639983019576,
+                "target_xy_drift": 8.361820529757976e-08,
+                "depth": 0.019281621714913433,
+                "bottom_clearance": 0.08015887876392047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0001959625263161513,
+                  0.0005091522885622424
+                ],
+                "rod_tip_xy": [
+                  0.2696510699630438,
+                  -0.37099928427854906
+                ],
+                "target_mouth_xy": [
+                  0.2694551074367276,
+                  -0.3715084365671113
+                ],
+                "gripper_position": [
+                  0.26964267510433726,
+                  -0.3710012750289221,
+                  1.001724258731902
+                ],
+                "rod_tip_xy_dist": 0.0005455615131846978,
+                "target_xy_drift": 4.0502395607904255e-08,
+                "depth": 0.01940885734894804,
+                "bottom_clearance": 0.08003165926741429,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006014774944878873,
+              "rod_tip_xy_max_step": 3.257497115068768e-05,
+              "rod_tip_xy_range": 0.0006014738276109297,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26919585646175925,
+            -0.3723879530263065,
+            1.0434001670690776
+          ],
+          "object_origin_world": [
+            0.26919585646175925,
+            -0.3723879530263065,
+            1.0434001670690776
+          ],
+          "frame_world": [
+            0.26919433354633254,
+            -0.37239495723369476,
+            1.0432842395442854
+          ],
+          "center_minus_frame": [
+            1.5229154267104583e-06,
+            7.004207388250361e-06,
+            0.00011592752479216983
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.268269355691478,
+              0.15852034652574573,
+              0.8321005567190667
+            ],
+            "target_position": [
+              0.28129679274221664,
+              0.20551701302681852,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04876885049213294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17033955929100303,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321005567190667,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670281945848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13910979184868263,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 299,
+            "max_placed_release_frames": 299
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "240e9cc86b2ba2e18acefe5cc5575070981eab21461b4c10327b16772a0bd537",
+    "visual_seed": 4830815433698534063,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b595528588d3d85b1267b071ae5df73117f24db4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_40_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19775265216287377,
+              -0.10637850272492384,
+              1.1642947252356586
+            ],
+            "current_z": 1.1642947252356586,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3031882768255372,
+            "gripper_z": 1.1583936321520765,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19304866168345625,
+              -0.11097084449444121,
+              1.1583936321520765
+            ],
+            "object_minus_gripper": [
+              0.004703990479417525,
+              0.004592341769517366,
+              0.00590109308358211
+            ],
+            "object_to_gripper_xy": 0.00657397363536732,
+            "object_to_gripper_z": 0.00590109308358211,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19775265216287377,
+              -0.13036086317487755,
+              1.1642947252356586
+            ],
+            "finger_b": [
+              0.1874683907518307,
+              -0.10637850272492384,
+              1.1642947252356586
+            ],
+            "finger_midpoint": [
+              0.19261052145735225,
+              -0.11836968294990069,
+              1.1642947252356586
+            ],
+            "object_minus_finger_midpoint": [
+              0.005142130705521525,
+              0.011991180224976847,
+              0.0
+            ],
+            "finger_gap": 0.026094437060840643,
+            "fingertip_max_gap": 0.09220024741472577,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013047218530420308,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642947252356586,
+            "object_top_z": 1.2144377474709274,
+            "finger_top_clearance": 0.050143022235268786,
+            "fingertip_min_top_clearance": 0.015042906670580634,
+            "object_projection_between_fingers": 0.8446717854798248,
+            "object_to_finger_line_xy": 0.009451856100444992,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048600123707362886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.551893595819847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2703070053107811,
+              -0.3692496531062281,
+              0.8515395611918662
+            ],
+            "target_position": [
+              0.26261758349707465,
+              -0.36987167288547723,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077145392885694716,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852542803608701,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395611918662,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538283163225441,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08711016059323694,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343462395695157,
+            "release_required_pad_clearance": 0.05355508029661847,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1214500195893353,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007749021053314209,
+            "max_z_decrease": 0.007749021053314209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515289938551884,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007749021053314209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107710754870884,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007749021053314209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007749043582638392,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11831750720739363,
+              -0.42613312602043146,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11831750720739363,
+              -0.42613312602043146,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11912967454861806,
+              -0.42440075771094143,
+              0.8078147762929746
+            ],
+            "closest_button": [
+              0.11830736696720123,
+              -0.4261290431022644,
+              0.7727140188217163
+            ],
+            "closest_ee_minus_button": [
+              0.0008223075814168257,
+              0.00172828539132297,
+              0.03510075747125829
+            ],
+            "button_min_z_position": [
+              0.11829901486635208,
+              -0.42613044381141657,
+              0.7690598368644714
+            ],
+            "min_active_finger_to_button": 0.14475463392671628,
+            "closest_active_finger": [
+              -0.008959367871284485,
+              -0.48590973019599915,
+              0.8106483817100525
+            ],
+            "closest_active_finger_button": [
+              0.1183178350329399,
+              -0.42613157629966736,
+              0.7762828469276428
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272772029042244,
+              -0.05977815389633179,
+              0.03436553478240967
+            ],
+            "min_contact_pad_to_button": 0.02107710754870884,
+            "closest_contact_pad": [
+              0.11829901486635208,
+              -0.42613044381141657,
+              0.7901369444131803
+            ],
+            "closest_contact_pad_button": [
+              0.11829901486635208,
+              -0.42613044381141657,
+              0.7690598368644714
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107710754870884
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2803005673932658,
+              0.20099279770146447,
+              1.1028972495782048
+            ],
+            "current_z": 1.1028972495782048,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19298811984384223,
+            "gripper_z": 1.1028974796087083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28030042062828664,
+              0.20099289472270176,
+              1.1028974796087083
+            ],
+            "object_minus_gripper": [
+              1.4676497916976672e-07,
+              -9.702123729415923e-08,
+              -2.300305035340955e-07
+            ],
+            "object_to_gripper_xy": 1.7593487316843018e-07,
+            "object_to_gripper_z": -2.300305035340955e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2803005673932658,
+              0.20099279770146447,
+              1.1028972495782048
+            ],
+            "finger_b": [
+              0.2803005673932658,
+              0.20099279770146447,
+              1.1028972495782048
+            ],
+            "finger_midpoint": [
+              0.2803005673932658,
+              0.20099279770146447,
+              1.1028972495782048
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1028972495782048,
+            "object_top_z": 1.2279057561984845,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2803005673932658,
+            0.2009927977014645,
+            1.1028972495782048
+          ],
+          "object_origin_world": [
+            0.2803005673932658,
+            0.2009927977014645,
+            1.1028972495782048
+          ],
+          "frame_world": [
+            0.28030042062828664,
+            0.20099289472270176,
+            1.1028974796087083
+          ],
+          "center_minus_frame": [
+            1.4676497916976672e-07,
+            -9.702123726640366e-08,
+            -2.300305035340955e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432744363034778,
+            "required_z": 0.9112599125023471,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005963064164087911,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.800564860630642e-08,
+            "max_target_xy_drift": 6.675750729317938e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.121450019743819,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1214500198410797,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2707095217949721,
+              -0.3696840702267036,
+              0.9233898082704194
+            ],
+            "target_mouth_xy": [
+              0.27030691480753233,
+              -0.3692496565966248
+            ],
+            "rod_tip_z": 0.9233898082704194,
+            "rod_tip_depth": -0.022129944995047612,
+            "rod_tip_bottom_clearance": 0.12157052156642156,
+            "rod_tip_xy_dist": 0.0005922901217592248,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04491194941364052,
+            "min_rod_tip_bottom_clearance": 0.054528667005132814,
+            "min_rod_tip_xy_dist": 0.00019922878401210602,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2703069468569911,
+              -0.3692497165766251
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.2049458753569127e-08,
+              5.998000029983075e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.000928105245133426,
+                0.0013027558149331653
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008370667995881709,
+                0.0009006043585092494
+              ],
+              "first_target_mouth_xy": [
+                0.27030694446485426,
+                -0.3692497216490895
+              ],
+              "last_target_mouth_xy": [
+                0.27030694280327805,
+                -0.3692496883723566
+              ],
+              "first_rod_tip_xy": [
+                0.2712350497099877,
+                -0.3679469658341563
+              ],
+              "last_rod_tip_xy": [
+                0.2711440096028662,
+                -0.36834908401384736
+              ],
+              "min_rod_tip_xy_dist": 0.001229540173210554,
+              "max_rod_tip_xy_dist": 0.001599547454559055,
+              "first_target_xy_drift": 5.608227312873478e-09,
+              "last_target_xy_drift": 2.8494093240999955e-08,
+              "max_depth": 0.019539861928928537,
+              "min_bottom_clearance": 0.07990071886874783
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.000928105245133426,
+                  0.0013027558149331653
+                ],
+                "rod_tip_xy": [
+                  0.2712350497099877,
+                  -0.3679469658341563
+                ],
+                "target_mouth_xy": [
+                  0.27030694446485426,
+                  -0.3692497216490895
+                ],
+                "gripper_position": [
+                  0.2712403628174808,
+                  -0.3680134645189636,
+                  1.005678517124003
+                ],
+                "rod_tip_xy_dist": 0.001599547454559055,
+                "target_xy_drift": 5.608227312873478e-09,
+                "depth": 0.015056738741885733,
+                "bottom_clearance": 0.08438389768308985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0009334183227315829,
+                  0.001236220966987167
+                ],
+                "rod_tip_xy": [
+                  0.2712403628174808,
+                  -0.36801346451896366
+                ],
+                "target_mouth_xy": [
+                  0.27030694449474924,
+                  -0.36924968548595083
+                ],
+                "gripper_position": [
+                  0.27122961443482874,
+                  -0.3680217533876744,
+                  1.0055329733618583
+                ],
+                "rod_tip_xy_dist": 0.0015490358434941808,
+                "target_xy_drift": 3.118028563559026e-08,
+                "depth": 0.015581365005693515,
+                "bottom_clearance": 0.0838592474440949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009226377096367422,
+                  0.0012279659930930498
+                ],
+                "rod_tip_xy": [
+                  0.27122961443482874,
+                  -0.3680217533876744
+                ],
+                "target_mouth_xy": [
+                  0.270306976725192,
+                  -0.36924971938076745
+                ],
+                "gripper_position": [
+                  0.27122154489835826,
+                  -0.36802385736974463,
+                  1.0054054444496936
+                ],
+                "rod_tip_xy_dist": 0.0015359559965821721,
+                "target_xy_drift": 2.999954399892142e-08,
+                "depth": 0.01572693143348558,
+                "bottom_clearance": 0.08371365839748557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009145711330199591,
+                  0.0012258293938078868
+                ],
+                "rod_tip_xy": [
+                  0.27122154489835826,
+                  -0.36802385736974474
+                ],
+                "target_mouth_xy": [
+                  0.2703069737653383,
+                  -0.36924968676355263
+                ],
+                "gripper_position": [
+                  0.2712280603396825,
+                  -0.368091059439702,
+                  1.004881513554949
+                ],
+                "rod_tip_xy_dist": 0.0015294110173778737,
+                "target_xy_drift": 4.016065785285225e-08,
+                "depth": 0.01585437327061212,
+                "bottom_clearance": 0.08358621653139708,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009211142132908856,
+                  0.001158626331253798
+                ],
+                "rod_tip_xy": [
+                  0.2712280603396825,
+                  -0.3680910594397021
+                ],
+                "target_mouth_xy": [
+                  0.2703069461263916,
+                  -0.3692496857709559
+                ],
+                "gripper_position": [
+                  0.2712172166064394,
+                  -0.3680991706432959,
+                  1.0047356182097116
+                ],
+                "rod_tip_xy_dist": 0.0014801575488444204,
+                "target_xy_drift": 3.0814331557741494e-08,
+                "depth": 0.016378352211232516,
+                "bottom_clearance": 0.0830622640125579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009102728985043163,
+                  0.001150551010548062
+                ],
+                "rod_tip_xy": [
+                  0.2712172166064394,
+                  -0.368099170643296
+                ],
+                "target_mouth_xy": [
+                  0.27030694370793507,
+                  -0.36924972165384407
+                ],
+                "gripper_position": [
+                  0.2712090941394685,
+                  -0.36810103726776694,
+                  1.0046082638929719
+                ],
+                "rod_tip_xy_dist": 0.0014670938544021702,
+                "target_xy_drift": 5.9745046947857204e-09,
+                "depth": 0.01652430155741047,
+                "bottom_clearance": 0.08291636314171436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00090214975514602,
+                  0.0011486469442386626
+                ],
+                "rod_tip_xy": [
+                  0.2712090941394685,
+                  -0.368101037267767
+                ],
+                "target_mouth_xy": [
+                  0.27030694438432246,
+                  -0.36924968421200566
+                ],
+                "gripper_position": [
+                  0.2712163250314238,
+                  -0.3681694189053708,
+                  1.0040860806504495
+                ],
+                "rod_tip_xy_dist": 0.001460569746098707,
+                "target_xy_drift": 3.245893838234501e-08,
+                "depth": 0.01665164298567756,
+                "bottom_clearance": 0.08278901753819534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009093787113105267,
+                  0.0010802998605851655
+                ],
+                "rod_tip_xy": [
+                  0.27121632503142384,
+                  -0.3681694189053709
+                ],
+                "target_mouth_xy": [
+                  0.2703069463201133,
+                  -0.3692497187659561
+                ],
+                "gripper_position": [
+                  0.27120539347554007,
+                  -0.3681772037467384,
+                  1.0039406305915075
+                ],
+                "rod_tip_xy_dist": 0.0014120968201101235,
+                "target_xy_drift": 2.2541978476756606e-09,
+                "depth": 0.01717374855221243,
+                "bottom_clearance": 0.08226679624348965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008984780644281098,
+                  0.001072484257228612
+                ],
+                "rod_tip_xy": [
+                  0.27120539347554007,
+                  -0.36817720374673846
+                ],
+                "target_mouth_xy": [
+                  0.27030691541111196,
+                  -0.36924968800396707
+                ],
+                "gripper_position": [
+                  0.2711972636527278,
+                  -0.3681791151736762,
+                  1.0038133944845944
+                ],
+                "rod_tip_xy_dist": 0.0013991016096987702,
+                "target_xy_drift": 4.248811716216958e-08,
+                "depth": 0.017319247587636366,
+                "bottom_clearance": 0.0821212518336859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008903489682225985,
+                  0.0010706036074412117
+                ],
+                "rod_tip_xy": [
+                  0.2711972636527278,
+                  -0.3681791151736762
+                ],
+                "target_mouth_xy": [
+                  0.2703069146845052,
+                  -0.3692497187811174
+                ],
+                "gripper_position": [
+                  0.271188939939225,
+                  -0.3681811421947515,
+                  1.0036855470316026
+                ],
+                "rod_tip_xy_dist": 0.00139244869545746,
+                "target_xy_drift": 3.2247924509648323e-08,
+                "depth": 0.017446447558930767,
+                "bottom_clearance": 0.08199408162681798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0008819646405132664,
+                  0.0010685438996075325
+                ],
+                "rod_tip_xy": [
+                  0.271188939939225,
+                  -0.3681811421947516
+                ],
+                "target_mouth_xy": [
+                  0.2703069752987117,
+                  -0.36924968609435915
+                ],
+                "gripper_position": [
+                  0.27119772228743755,
+                  -0.3682512076561642,
+                  1.0031646653614468
+                ],
+                "rod_tip_xy_dist": 0.0013855135122055533,
+                "target_xy_drift": 4.16905266183225e-08,
+                "depth": 0.017574308261505966,
+                "bottom_clearance": 0.08186627256095236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008907805482050168,
+                  0.000998542572728467
+                ],
+                "rod_tip_xy": [
+                  0.27119772228743755,
+                  -0.36825120765616426
+                ],
+                "target_mouth_xy": [
+                  0.27030694173923253,
+                  -0.3692497502288927
+                ],
+                "gripper_position": [
+                  0.2711864981386467,
+                  -0.36825938593896845,
+                  1.0030194547941895
+                ],
+                "rod_tip_xy_dist": 0.0013381245288132252,
+                "target_xy_drift": 3.403919167427725e-08,
+                "depth": 0.01809528982274633,
+                "bottom_clearance": 0.08134540240670274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008795526412652688,
+                  0.0009903007743033987
+                ],
+                "rod_tip_xy": [
+                  0.2711864981386467,
+                  -0.36825938593896856
+                ],
+                "target_mouth_xy": [
+                  0.27030694549738143,
+                  -0.36924968671327196
+                ],
+                "gripper_position": [
+                  0.27117819314070035,
+                  -0.368260989111188,
+                  1.0028922714102986
+                ],
+                "rod_tip_xy_dist": 0.0013245031039384625,
+                "target_xy_drift": 2.9894287049270866e-08,
+                "depth": 0.018240329669813593,
+                "bottom_clearance": 0.08120022820983264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008712488437054855,
+                  0.0009886966850417567
+                ],
+                "rod_tip_xy": [
+                  0.27117819314070035,
+                  -0.368260989111188
+                ],
+                "target_mouth_xy": [
+                  0.27030694429699487,
+                  -0.36924968579622974
+                ],
+                "gripper_position": [
+                  0.2711698448457621,
+                  -0.36826286075055004,
+                  1.002765096302149
+                ],
+                "rod_tip_xy_dist": 0.0013177995608857607,
+                "target_xy_drift": 3.088666893875997e-08,
+                "depth": 0.018367611689226293,
+                "bottom_clearance": 0.08107299798872158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008628683629439138,
+                  0.0009868580095453439
+                ],
+                "rod_tip_xy": [
+                  0.2711698448457621,
+                  -0.36826286075055015
+                ],
+                "target_mouth_xy": [
+                  0.2703069764828182,
+                  -0.3692497187600955
+                ],
+                "gripper_position": [
+                  0.2711614718976167,
+                  -0.3682646993064083,
+                  1.0026379182242902
+                ],
+                "rod_tip_xy_dist": 0.0013108892183450545,
+                "target_xy_drift": 2.9706180768293336e-08,
+                "depth": 0.01849479551042077,
+                "bottom_clearance": 0.08094576341526827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008544965849334729,
+                  0.0009850185260786848
+                ],
+                "rod_tip_xy": [
+                  0.2711614718976167,
+                  -0.36826469930640837
+                ],
+                "target_mouth_xy": [
+                  0.2703069753126832,
+                  -0.36924971783248706
+                ],
+                "gripper_position": [
+                  0.2711721199028273,
+                  -0.36833824587136965,
+                  1.0021197901484702
+                ],
+                "rod_tip_xy_dist": 0.0013040037999872518,
+                "target_xy_drift": 2.8483391726112294e-08,
+                "depth": 0.018621842439641267,
+                "bottom_clearance": 0.08081866703370466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008651732253819322,
+                  0.0009114709803994536
+                ],
+                "rod_tip_xy": [
+                  0.2711721199028273,
+                  -0.36833824587136965
+                ],
+                "target_mouth_xy": [
+                  0.27030694667744537,
+                  -0.3692497168517691
+                ],
+                "gripper_position": [
+                  0.271160770380194,
+                  -0.36834607230779487,
+                  1.0019743883007242
+                ],
+                "rod_tip_xy_dist": 0.0012567036476544965,
+                "target_xy_drift": 3.2854359464250254e-10,
+                "depth": 0.019140116048586453,
+                "bottom_clearance": 0.08030047316911437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008538253670016815,
+                  0.0009036445764654677
+                ],
+                "rod_tip_xy": [
+                  0.271160770380194,
+                  -0.3683460723077949
+                ],
+                "target_mouth_xy": [
+                  0.2703069450131923,
+                  -0.3692497168842604
+                ],
+                "gripper_position": [
+                  0.2711522969380513,
+                  -0.36834771057994353,
+                  1.0018473113165818
+                ],
+                "rod_tip_xy_dist": 0.0012432181135709898,
+                "target_xy_drift": 1.869286875758719e-09,
+                "depth": 0.019285391386840267,
+                "bottom_clearance": 0.08015514573022675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008453207442752353,
+                  0.0009020075508605618
+                ],
+                "rod_tip_xy": [
+                  0.2711522969380513,
+                  -0.36834771057994364
+                ],
+                "target_mouth_xy": [
+                  0.2703069761937761,
+                  -0.3692497181308042
+                ],
+                "gripper_position": [
+                  0.2711440096028662,
+                  -0.3683490840138473,
+                  1.001720024621221
+                ],
+                "rod_tip_xy_dist": 0.0012361977117401192,
+                "target_xy_drift": 2.9377924142870763e-08,
+                "depth": 0.019412509978454784,
+                "bottom_clearance": 0.08002802113810792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0008370667995881709,
+                  0.0009006043585092494
+                ],
+                "rod_tip_xy": [
+                  0.2711440096028662,
+                  -0.36834908401384736
+                ],
+                "target_mouth_xy": [
+                  0.27030694280327805,
+                  -0.3692496883723566
+                ],
+                "gripper_position": [
+                  0.2711355908692436,
+                  -0.3683509995337942,
+                  1.0015930073089314
+                ],
+                "rod_tip_xy_dist": 0.001229540173210554,
+                "target_xy_drift": 2.8494093240999955e-08,
+                "depth": 0.019539861928928537,
+                "bottom_clearance": 0.07990071886874783,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005985270607281941,
+              "rod_tip_xy_max_step": 3.2391352465562334e-05,
+              "rod_tip_xy_range": 0.0005985157429073502,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2707095217949721,
+            -0.3696840702267035,
+            1.0433898082704196
+          ],
+          "object_origin_world": [
+            0.2707095217949721,
+            -0.3696840702267035,
+            1.0433898082704196
+          ],
+          "frame_world": [
+            0.2707082293383789,
+            -0.3696907098695768,
+            1.0432744363034778
+          ],
+          "center_minus_frame": [
+            1.2924565931937693e-06,
+            6.639642873285112e-06,
+            0.00011537196694177965
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.266533453691322,
+              0.15516515886846524,
+              0.8324504111455738
+            ],
+            "target_position": [
+              0.2804499161014094,
+              0.20166694345093467,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04853950860243403,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16650045451713708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324504111455738,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669488096728,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1353137678775209,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c769952874426d5992dfe89ac84c2673f4410e15c3fad5f2a4618d15b9a7c15",
+    "visual_seed": 6223109927570546655,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a32b638db59b2061b77728b3a8571ae38af82c81
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_41_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19986792932942804,
+              -0.11273573395922891,
+              1.161415314983656
+            ],
+            "current_z": 1.161415314983656,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3003088665735347,
+            "gripper_z": 1.1553710717871188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19520481248963586,
+              -0.11741654237595246,
+              1.1553710717871188
+            ],
+            "object_minus_gripper": [
+              0.004663116839792175,
+              0.004680808416723553,
+              0.006044243196537069
+            ],
+            "object_to_gripper_xy": 0.006607164754690428,
+            "object_to_gripper_z": 0.006044243196537069,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19986792932942804,
+              -0.13647549887838506,
+              1.161415314983656
+            ],
+            "finger_b": [
+              0.18912050747707307,
+              -0.11273573395922891,
+              1.161415314983656
+            ],
+            "finger_midpoint": [
+              0.19449421840325054,
+              -0.12460561641880699,
+              1.161415314983656
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053737109261775,
+              0.011869882459578082,
+              0.0
+            ],
+            "finger_gap": 0.0260592308959661,
+            "fingertip_max_gap": 0.09241945399416021,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013029615447983062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161415314983656,
+            "object_top_z": 1.211445985129703,
+            "finger_top_clearance": 0.05003067014604712,
+            "fingertip_min_top_clearance": 0.015009201043814101,
+            "object_projection_between_fingers": 0.8299074061732881,
+            "object_to_finger_line_xy": 0.00979082112133264,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870972699708011,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8771527536071464,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 323,
+            "max_stable_success_frames": 323,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26969943532317653,
+              -0.37177289227104043,
+              0.8515396054456361
+            ],
+            "target_position": [
+              0.2630474926263235,
+              -0.37203393054595785,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006657062612232844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18396051657024978,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396054456361,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581040440346741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710464531043198,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15101850322882757,
+            "release_required_pad_clearance": 0.05355232265521599,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.115908406321513,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008028984069824219,
+            "max_z_decrease": 0.008028984069824219,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514946332499788,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008028984069824219,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021080671321313155,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008028984069824219,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008029005628283976,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1187474206089973,
+              -0.42829540371894836,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1187474206089973,
+              -0.42829540371894836,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12046371976182782,
+              -0.4275607569176567,
+              0.8075530153353556
+            ],
+            "closest_button": [
+              0.11873635649681087,
+              -0.42829045653343195,
+              0.7724536061286926
+            ],
+            "closest_ee_minus_button": [
+              0.0017273632650169485,
+              0.0007296996157752367,
+              0.03509940920666299
+            ],
+            "button_min_z_position": [
+              0.1187290176749229,
+              -0.42829266190528864,
+              0.7687798738479614
+            ],
+            "min_active_finger_to_button": 0.14437616310170978,
+            "closest_active_finger": [
+              -0.007307969033718109,
+              -0.48971274495124817,
+              0.8110552430152893
+            ],
+            "closest_active_finger_button": [
+              0.1187500730156898,
+              -0.4282923638820648,
+              0.7766839861869812
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260580420494079,
+              -0.06142038106918335,
+              0.034371256828308105
+            ],
+            "min_contact_pad_to_button": 0.021080671321313155,
+            "closest_contact_pad": [
+              0.1187290176749229,
+              -0.4287117983724788,
+              0.7898563780168009
+            ],
+            "closest_contact_pad_button": [
+              0.1187290176749229,
+              -0.42829266190528864,
+              0.7687798738479614
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00041913646719016207,
+              0.02107650416883944
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27721886579958016,
+              0.20509671412868505,
+              1.1026620435975962
+            ],
+            "current_z": 1.1026620435975962,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19275291386323368,
+            "gripper_z": 1.1026620305287735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27721880290895523,
+              0.20509677936281584,
+              1.1026620305287735
+            ],
+            "object_minus_gripper": [
+              6.289062493003428e-08,
+              -6.523413079162488e-08,
+              1.3068822690698312e-08
+            ],
+            "object_to_gripper_xy": 9.061303727515743e-08,
+            "object_to_gripper_z": 1.3068822690698312e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27721886579958016,
+              0.20509671412868505,
+              1.1026620435975962
+            ],
+            "finger_b": [
+              0.27721886579958016,
+              0.20509671412868505,
+              1.1026620435975962
+            ],
+            "finger_midpoint": [
+              0.27721886579958016,
+              0.20509671412868505,
+              1.1026620435975962
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026620435975962,
+            "object_top_z": 1.227670550217876,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27721886579958016,
+            0.20509671412868505,
+            1.1026620435975962
+          ],
+          "object_origin_world": [
+            0.27721886579958016,
+            0.20509671412868505,
+            1.1026620435975962
+          ],
+          "frame_world": [
+            0.27721880290895523,
+            0.20509677936281584,
+            1.1026620305287735
+          ],
+          "center_minus_frame": [
+            6.289062493003428e-08,
+            -6.523413079162488e-08,
+            1.3068822690698312e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436703820760649,
+            "required_z": 0.9112598598803346,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021003598988381627,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.64744132928702e-08,
+            "max_target_xy_drift": 4.1663657010450587e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1159084070725207,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1159084073037318,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26816530935329475,
+              -0.37323645873017863,
+              0.9233657512010348
+            ],
+            "target_mouth_xy": [
+              0.2696994322654135,
+              -0.3717728339482204
+            ],
+            "rod_tip_z": 0.9233657512010348,
+            "rod_tip_depth": -0.022105876358092247,
+            "rod_tip_bottom_clearance": 0.12154646444537998,
+            "rod_tip_xy_dist": 0.0021203138003253017,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045132317524195,
+            "min_rod_tip_bottom_clearance": 0.054308242416282515,
+            "min_rod_tip_xy_dist": 0.0009638986199815333,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2696994041045428,
+              -0.3717728941629444
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8160870690907558e-08,
+              6.021472398476391e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0009287389767828058,
+                0.0003102777263918055
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010351097173466606,
+                -0.00011586839020394368
+              ],
+              "first_target_mouth_xy": [
+                0.2696994055207241,
+                -0.3717728589627486
+              ],
+              "last_target_mouth_xy": [
+                0.26969943488763126,
+                -0.3717728339023666
+              ],
+              "first_rod_tip_xy": [
+                0.2687706665439413,
+                -0.3714625812363568
+              ],
+              "last_rod_tip_xy": [
+                0.2686643251702846,
+                -0.37188870229257054
+              ],
+              "min_rod_tip_xy_dist": 0.0009638986199815333,
+              "max_rod_tip_xy_dist": 0.0010415745824442612,
+              "first_target_xy_drift": 3.522867233874929e-08,
+              "last_target_xy_drift": 6.766783410919871e-08,
+              "max_depth": 0.019649382124921844,
+              "min_bottom_clearance": 0.07979122901398383
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0009287389767828058,
+                  0.0003102777263918055
+                ],
+                "rod_tip_xy": [
+                  0.2687706665439413,
+                  -0.3714625812363568
+                ],
+                "target_mouth_xy": [
+                  0.2696994055207241,
+                  -0.3717728589627486
+                ],
+                "gripper_position": [
+                  0.26876000714112824,
+                  -0.37147109845913473,
+                  1.0059600633771268
+                ],
+                "rod_tip_xy_dist": 0.0009791978117267427,
+                "target_xy_drift": 3.522867233874929e-08,
+                "depth": 0.015153948160521957,
+                "bottom_clearance": 0.0842867204541381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0009394541044882576,
+                  0.00030176311776675124
+                ],
+                "rod_tip_xy": [
+                  0.26876000714112824,
+                  -0.37147109845913473
+                ],
+                "target_mouth_xy": [
+                  0.2696994612456165,
+                  -0.3717728615769015
+                ],
+                "gripper_position": [
+                  0.2687626686704764,
+                  -0.37154021056349895,
+                  1.0054359550721874
+                ],
+                "rod_tip_xy_dist": 0.000986729443000534,
+                "target_xy_drift": 6.577957507792631e-08,
+                "depth": 0.015299807876195226,
+                "bottom_clearance": 0.08414075632901996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009367351965293702,
+                  0.0002326515879578217
+                ],
+                "rod_tip_xy": [
+                  0.2687626686704764,
+                  -0.37154021056349895
+                ],
+                "target_mouth_xy": [
+                  0.26969940386700575,
+                  -0.3717728621514568
+                ],
+                "gripper_position": [
+                  0.2687519637010588,
+                  -0.37154844544505905,
+                  1.0052899456247308
+                ],
+                "rod_tip_xy_dist": 0.0009651940684630288,
+                "target_xy_drift": 3.2012368921441345e-08,
+                "depth": 0.01582386399081548,
+                "bottom_clearance": 0.08361664547804204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009474705394418859,
+                  0.0002244446147988688
+                ],
+                "rod_tip_xy": [
+                  0.2687519637010588,
+                  -0.37154844544505905
+                ],
+                "target_mouth_xy": [
+                  0.2696994342405007,
+                  -0.3717728900598579
+                ],
+                "gripper_position": [
+                  0.26874400975370205,
+                  -0.37155072124276556,
+                  1.0051628565654354
+                ],
+                "rod_tip_xy_dist": 0.0009736918445907364,
+                "target_xy_drift": 3.041399804323561e-08,
+                "depth": 0.01596990165432821,
+                "bottom_clearance": 0.08347067868306901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009554224303085501,
+                  0.00022217170230154348
+                ],
+                "rod_tip_xy": [
+                  0.26874400975370205,
+                  -0.37155072124276567
+                ],
+                "target_mouth_xy": [
+                  0.2696994321840106,
+                  -0.3717728929450672
+                ],
+                "gripper_position": [
+                  0.2687476136009307,
+                  -0.37162070464164687,
+                  1.0046392119533125
+                ],
+                "rod_tip_xy_dist": 0.0009809140052217942,
+                "target_xy_drift": 2.8105866596492828e-08,
+                "depth": 0.016097009175706778,
+                "bottom_clearance": 0.08334355938071336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009518185085605202,
+                  0.00015212519963481164
+                ],
+                "rod_tip_xy": [
+                  0.2687476136009307,
+                  -0.37162070464164687
+                ],
+                "target_mouth_xy": [
+                  0.2696994321094912,
+                  -0.3717728298412817
+                ],
+                "gripper_position": [
+                  0.2687366753224718,
+                  -0.37162886628730185,
+                  1.004493659704936
+                ],
+                "rod_tip_xy_dist": 0.0009638986199815333,
+                "target_xy_drift": 7.015378415039104e-08,
+                "depth": 0.016620670883082056,
+                "bottom_clearance": 0.08281993309689173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009627580345207276,
+                  0.00014396668862254325
+                ],
+                "rod_tip_xy": [
+                  0.2687366753224718,
+                  -0.37162886628730185
+                ],
+                "target_mouth_xy": [
+                  0.26969943335699254,
+                  -0.3717728329759244
+                ],
+                "gripper_position": [
+                  0.268728713476902,
+                  -0.3716312252542336,
+                  1.0043667412028063
+                ],
+                "rod_tip_xy_dist": 0.0009734626035278165,
+                "target_xy_drift": 6.782003563145086e-08,
+                "depth": 0.016766167664882592,
+                "bottom_clearance": 0.08267435086346608,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009706889861815782,
+                  0.00014163597840649578
+                ],
+                "rod_tip_xy": [
+                  0.268728713476902,
+                  -0.37163122525423353
+                ],
+                "target_mouth_xy": [
+                  0.2696994024630836,
+                  -0.37177286123264003
+                ],
+                "gripper_position": [
+                  0.2687330166443714,
+                  -0.3717021580086794,
+                  1.0038450720654262
+                ],
+                "rod_tip_xy_dist": 0.0009809678171445715,
+                "target_xy_drift": 3.29711894587253e-08,
+                "depth": 0.016893110201696593,
+                "bottom_clearance": 0.08254743310319534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009664164520362117,
+                  7.067530659998766e-05
+                ],
+                "rod_tip_xy": [
+                  0.2687330166443714,
+                  -0.37170215800867934
+                ],
+                "target_mouth_xy": [
+                  0.2696994330964076,
+                  -0.3717728333152793
+                ],
+                "gripper_position": [
+                  0.2687220147136564,
+                  -0.37171027325571737,
+                  1.0036993924530218
+                ],
+                "rod_tip_xy_dist": 0.0009689972950061635,
+                "target_xy_drift": 6.740153239587042e-08,
+                "depth": 0.017414765989097636,
+                "bottom_clearance": 0.0820257677588957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009773876654260993,
+                  6.252264553024967e-05
+                ],
+                "rod_tip_xy": [
+                  0.2687220147136564,
+                  -0.37171027325571737
+                ],
+                "target_mouth_xy": [
+                  0.2696994023790825,
+                  -0.3717727959012476
+                ],
+                "gripper_position": [
+                  0.2687139440770894,
+                  -0.37171218944864953,
+                  1.0035725692226878
+                ],
+                "rod_tip_xy_dist": 0.000979385383662214,
+                "target_xy_drift": 9.827684502009833e-08,
+                "depth": 0.017560616981096677,
+                "bottom_clearance": 0.0818801260464741,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009854878958864832,
+                  6.070255375700828e-05
+                ],
+                "rod_tip_xy": [
+                  0.2687139440770894,
+                  -0.3717121894486496
+                ],
+                "target_mouth_xy": [
+                  0.26969943197297586,
+                  -0.3717728920024066
+                ],
+                "gripper_position": [
+                  0.26870583929909936,
+                  -0.37171414376118933,
+                  1.0034452581637938
+                ],
+                "rod_tip_xy_dist": 0.0009873556567779366,
+                "target_xy_drift": 2.7952056899131283e-08,
+                "depth": 0.01768728492836036,
+                "bottom_clearance": 0.08175325648034593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009935942771937545,
+                  5.868795281305239e-05
+                ],
+                "rod_tip_xy": [
+                  0.26870583929909936,
+                  -0.3717141437611894
+                ],
+                "target_mouth_xy": [
+                  0.2696994335762931,
+                  -0.37177283171400244
+                ],
+                "gripper_position": [
+                  0.2687115727745083,
+                  -0.3717874754732097,
+                  1.0029253814792165
+                ],
+                "rod_tip_xy_dist": 0.0009953260086411721,
+                "target_xy_drift": 6.905399640126217e-08,
+                "depth": 0.01781456142086324,
+                "bottom_clearance": 0.08162594752484986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009878610337915594,
+                  -1.4612682167014501e-05
+                ],
+                "rod_tip_xy": [
+                  0.2687115727745083,
+                  -0.3717874754732098
+                ],
+                "target_mouth_xy": [
+                  0.26969943380829986,
+                  -0.37177286279104277
+                ],
+                "gripper_position": [
+                  0.2687002831631179,
+                  -0.37179558779912936,
+                  1.002779955144922
+                ],
+                "rod_tip_xy_dist": 0.0009879691050654583,
+                "target_xy_drift": 4.3203117894370966e-08,
+                "depth": 0.01833445000783751,
+                "bottom_clearance": 0.08110608690620724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009991488724477304,
+                  -2.2696739243710518e-05
+                ],
+                "rod_tip_xy": [
+                  0.2687002831631179,
+                  -0.37179558779912936
+                ],
+                "target_mouth_xy": [
+                  0.2696994320355656,
+                  -0.37177289105988565
+                ],
+                "gripper_position": [
+                  0.26869221847570257,
+                  -0.37179731581769787,
+                  1.0026534718518527
+                ],
+                "rod_tip_xy_dist": 0.0009994066295987176,
+                "target_xy_drift": 2.8102864797886464e-08,
+                "depth": 0.018479903001256792,
+                "bottom_clearance": 0.08096064859108743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0010072147830247347,
+                  -2.4484094906185305e-05
+                ],
+                "rod_tip_xy": [
+                  0.26869221847570257,
+                  -0.3717973158176978
+                ],
+                "target_mouth_xy": [
+                  0.2696994332587273,
+                  -0.37177283172279163
+                ],
+                "gripper_position": [
+                  0.2686839228961374,
+                  -0.37179937695264825,
+                  1.0025261741658358
+                ],
+                "rod_tip_xy_dist": 0.001007512327491301,
+                "target_xy_drift": 6.891109600419521e-08,
+                "depth": 0.018606345252587864,
+                "bottom_clearance": 0.08083415157491058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0010155097648587574,
+                  -2.6484017862038467e-05
+                ],
+                "rod_tip_xy": [
+                  0.2686839228961374,
+                  -0.3717993769526482
+                ],
+                "target_mouth_xy": [
+                  0.26969943266099616,
+                  -0.37177289293478616
+                ],
+                "gripper_position": [
+                  0.2686756556615061,
+                  -0.3718014916504575,
+                  1.002399526642289
+                ],
+                "rod_tip_xy_dist": 0.001015855051533242,
+                "target_xy_drift": 2.8582851531324935e-08,
+                "depth": 0.0187336771558283,
+                "bottom_clearance": 0.08070687331017201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001023775736419541,
+                  -2.860027703932566e-05
+                ],
+                "rod_tip_xy": [
+                  0.2686756556615061,
+                  -0.3718014916504575
+                ],
+                "target_mouth_xy": [
+                  0.2696994313979256,
+                  -0.3717728913734182
+                ],
+                "gripper_position": [
+                  0.26866747480600095,
+                  -0.3718031226466664,
+                  1.0022724537601904
+                ],
+                "rod_tip_xy_dist": 0.0010241751482671798,
+                "target_xy_drift": 2.7435564563714113e-08,
+                "depth": 0.018860346121211458,
+                "bottom_clearance": 0.0805802200876623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010319581872678119,
+                  -3.0260175821306134e-05
+                ],
+                "rod_tip_xy": [
+                  0.26866747480600095,
+                  -0.3718031226466664
+                ],
+                "target_mouth_xy": [
+                  0.26969943299326876,
+                  -0.37177286247084507
+                ],
+                "gripper_position": [
+                  0.2686757388826284,
+                  -0.3718801983003088,
+                  1.001755363797735
+                ],
+                "rod_tip_xy_dist": 0.001032401752473234,
+                "target_xy_drift": 4.288295288542228e-08,
+                "depth": 0.0189873751007944,
+                "bottom_clearance": 0.08045313847584279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001023693475405374,
+                  -0.00010736813876688345
+                ],
+                "rod_tip_xy": [
+                  0.2686757388826284,
+                  -0.37188019830030883
+                ],
+                "target_mouth_xy": [
+                  0.2696994323580338,
+                  -0.37177283016154195
+                ],
+                "gripper_position": [
+                  0.2686643251702846,
+                  -0.37188870229257065,
+                  1.0016105343078014
+                ],
+                "rod_tip_xy_dist": 0.001029308626608073,
+                "target_xy_drift": 6.996026922095455e-08,
+                "depth": 0.019504505941042916,
+                "bottom_clearance": 0.0799360771735439,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010351097173466606,
+                  -0.00011586839020394368
+                ],
+                "rod_tip_xy": [
+                  0.2686643251702846,
+                  -0.37188870229257054
+                ],
+                "target_mouth_xy": [
+                  0.26969943488763126,
+                  -0.3717728339023666
+                ],
+                "gripper_position": [
+                  0.26865616239739554,
+                  -0.37189021270608813,
+                  1.0014837731132136
+                ],
+                "rod_tip_xy_dist": 0.0010415745824442612,
+                "target_xy_drift": 6.766783410919871e-08,
+                "depth": 0.019649382124921844,
+                "bottom_clearance": 0.07979122901398383,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006003200968712325,
+              "rod_tip_xy_max_step": 3.266821620695574e-05,
+              "rod_tip_xy_range": 0.0006003106842390968,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26816530935329475,
+            -0.37323645873017863,
+            1.043365751201035
+          ],
+          "object_origin_world": [
+            0.26816530935329475,
+            -0.37323645873017863,
+            1.043365751201035
+          ],
+          "frame_world": [
+            0.268190172708097,
+            -0.373233534907793,
+            1.0436703820760649
+          ],
+          "center_minus_frame": [
+            -2.486335480222923e-05,
+            -2.9238223856475898e-06,
+            -0.0003046308750298543
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26280234892248344,
+              0.16031173706155127,
+              0.8320660611994405
+            ],
+            "target_position": [
+              0.27737823068591316,
+              0.20611970115442968,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04807105057636998,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16660763332005518,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320660611994405,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673469597718,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356638415834231,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8078bb8549db9824a990925ab9fdcacb8d1f3177d956cca8345ae7dbb5965420",
+    "visual_seed": 6530240924584196149,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b41920e19f095fea9770c71df78009dab156921
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_42_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2025072729771401,
+              -0.10786552381610826,
+              1.1643703743847231
+            ],
+            "current_z": 1.1643703743847231,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30326392597460206,
+            "gripper_z": 1.1583577762390556,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1978622460205098,
+              -0.11247447516292078,
+              1.1583577762390556
+            ],
+            "object_minus_gripper": [
+              0.004645026956630299,
+              0.004608951346812523,
+              0.006012598145667569
+            ],
+            "object_to_gripper_xy": 0.0065436005337357744,
+            "object_to_gripper_z": 0.006012598145667569,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2025072729771401,
+              -0.13168666498742818,
+              1.1643703743847231
+            ],
+            "finger_b": [
+              0.19203353538330287,
+              -0.10786552381610826,
+              1.1643703743847231
+            ],
+            "finger_midpoint": [
+              0.1972704041802215,
+              -0.11977609440176822,
+              1.1643703743847231
+            ],
+            "object_minus_finger_midpoint": [
+              0.00523686879691862,
+              0.01191057058565996,
+              0.0
+            ],
+            "finger_gap": 0.026022028089457448,
+            "fingertip_max_gap": 0.09235460434981155,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013011014044728724,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643703743847231,
+            "object_top_z": 1.2146065593605042,
+            "finger_top_clearance": 0.050236184975781084,
+            "fingertip_min_top_clearance": 0.015070855492734325,
+            "object_projection_between_fingers": 0.8379977317288396,
+            "object_to_finger_line_xy": 0.009587891495484106,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048677302174905776,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6301447317599747,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2672980506101972,
+              -0.3658469051741834,
+              0.8515395659702828
+            ],
+            "target_position": [
+              0.2604843255370821,
+              -0.36612340022034245,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006819332730007194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18356559805981673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395659702828,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583159098149052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704738346166054,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15057658634505236,
+            "release_required_pad_clearance": 0.05352369173083027,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0592924364348297,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007848501205444336,
+            "max_z_decrease": 0.007848501205444336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510539371178012,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007848501205444336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021084772263874924,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007848501205444336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007848523840777692,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11618424952030179,
+              -0.42238485813140875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11618424952030179,
+              -0.42238485813140875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1158401646951227,
+              -0.4212583686264201,
+              0.807404308781521
+            ],
+            "closest_button": [
+              0.11617264896631237,
+              -0.4223802983760834,
+              0.772318422794342
+            ],
+            "closest_ee_minus_button": [
+              -0.00033248427118966195,
+              0.0011219297496632974,
+              0.03508588598717899
+            ],
+            "button_min_z_position": [
+              0.11616557091474529,
+              -0.42238232493400574,
+              0.7689603567123413
+            ],
+            "min_active_finger_to_button": 0.14601782814561873,
+            "closest_active_finger": [
+              -0.012003161013126373,
+              -0.4832502007484436,
+              0.8109462857246399
+            ],
+            "closest_active_finger_button": [
+              0.11618521064519878,
+              -0.422382652759552,
+              0.77653568983078
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12818837165832514,
+              -0.0608675479888916,
+              0.03441059589385986
+            ],
+            "min_contact_pad_to_button": 0.021084772263874924,
+            "closest_contact_pad": [
+              0.11616557091474529,
+              -0.4224428137734009,
+              0.7900450422096348
+            ],
+            "closest_contact_pad_button": [
+              0.11616557091474529,
+              -0.42238232493400574,
+              0.7689603567123413
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.0488839395189675e-05,
+              0.021084685497293476
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28340583164577265,
+              0.20668835066599117,
+              1.1035314269552252
+            ],
+            "current_z": 1.1035314269552252,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19362229722086266,
+            "gripper_z": 1.10353165975548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2834058019458738,
+              0.20668836538398105,
+              1.10353165975548
+            ],
+            "object_minus_gripper": [
+              2.969989887358082e-08,
+              -1.4717989882395699e-08,
+              -2.328002548512842e-07
+            ],
+            "object_to_gripper_xy": 3.31466924334726e-08,
+            "object_to_gripper_z": -2.328002548512842e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28340583164577265,
+              0.20668835066599117,
+              1.1035314269552252
+            ],
+            "finger_b": [
+              0.28340583164577265,
+              0.20668835066599117,
+              1.1035314269552252
+            ],
+            "finger_midpoint": [
+              0.28340583164577265,
+              0.20668835066599117,
+              1.1035314269552252
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035314269552252,
+            "object_top_z": 1.228539933575505,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2834058316457726,
+            0.20668835066599117,
+            1.1035314269552252
+          ],
+          "object_origin_world": [
+            0.2834058316457726,
+            0.20668835066599117,
+            1.1035314269552252
+          ],
+          "frame_world": [
+            0.2834058019458738,
+            0.20668836538398105,
+            1.10353165975548
+          ],
+          "center_minus_frame": [
+            2.969989881806967e-08,
+            -1.4717989882395699e-08,
+            -2.328002548512842e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433788502903776,
+            "required_z": 0.9112598925070232,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019523665830670119,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.380571860372018e-08,
+            "max_target_xy_drift": 3.031357293323936e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.0592924361354825,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.059292436455364,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26837286683775363,
+              -0.3674713798191713,
+              0.9234930110899066
+            ],
+            "target_mouth_xy": [
+              0.26729798952477846,
+              -0.36584684465983774
+            ],
+            "rod_tip_z": 0.9234930110899066,
+            "rod_tip_depth": -0.022233155494232215,
+            "rod_tip_bottom_clearance": 0.12167370213862971,
+            "rod_tip_xy_dist": 0.0019479414061669173,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04477000473271331,
+            "min_rod_tip_bottom_clearance": 0.05467061124039496,
+            "min_rod_tip_xy_dist": 0.0007026077559112133,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2672980676274472,
+              -0.365846875046868
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.810266872132487e-08,
+              3.03870302809095e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0015956517732724773,
+                5.530636123080024e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014887774998343373,
+                -0.00027089719459205686
+              ],
+              "first_target_mouth_xy": [
+                0.2672979895008543,
+                -0.36584690459194025
+              ],
+              "last_target_mouth_xy": [
+                0.2672980224657184,
+                -0.365846904508955
+              ],
+              "first_rod_tip_xy": [
+                0.2688936412741268,
+                -0.36579159823070945
+              ],
+              "last_rod_tip_xy": [
+                0.2687867999655527,
+                -0.3661178017035471
+              ],
+              "min_rod_tip_xy_dist": 0.0015132229624383934,
+              "max_rod_tip_xy_dist": 0.0015966099633724553,
+              "first_target_xy_drift": 8.352649762079689e-08,
+              "last_target_xy_drift": 5.392213198904592e-08,
+              "max_depth": 0.01935068228002479,
+              "min_bottom_clearance": 0.08008988223733271
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015956517732724773,
+                  5.530636123080024e-05
+                ],
+                "rod_tip_xy": [
+                  0.2688936412741268,
+                  -0.36579159823070945
+                ],
+                "target_mouth_xy": [
+                  0.2672979895008543,
+                  -0.36584690459194025
+                ],
+                "gripper_position": [
+                  0.2688828937583357,
+                  -0.3657994541222635,
+                  1.0058227140656668
+                ],
+                "rod_tip_xy_dist": 0.0015966099633724553,
+                "target_xy_drift": 8.352649762079689e-08,
+                "depth": 0.01529306636398875,
+                "bottom_clearance": 0.08414746999465161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015848724867030262,
+                  4.7449792789866496e-05
+                ],
+                "rod_tip_xy": [
+                  0.26888289375833585,
+                  -0.3657994541222635
+                ],
+                "target_mouth_xy": [
+                  0.2672980212716328,
+                  -0.36584690391505337
+                ],
+                "gripper_position": [
+                  0.26887503950231534,
+                  -0.36580146041304834,
+                  1.0056973110452818
+                ],
+                "rod_tip_xy_dist": 0.0015855826316985297,
+                "target_xy_drift": 5.4609831068690626e-08,
+                "depth": 0.015437117247993792,
+                "bottom_clearance": 0.08400342490083712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015770028770080158,
+                  4.5414024247625306e-05
+                ],
+                "rod_tip_xy": [
+                  0.26887503950231545,
+                  -0.36580146041304834
+                ],
+                "target_mouth_xy": [
+                  0.26729803662530743,
+                  -0.36584687443729597
+                ],
+                "gripper_position": [
+                  0.2688812761080872,
+                  -0.3658674764269258,
+                  1.0051731439772003
+                ],
+                "rod_tip_xy_dist": 0.0015776566507608436,
+                "target_xy_drift": 3.1008131946623376e-08,
+                "depth": 0.015562517698128109,
+                "bottom_clearance": 0.0838780292368454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015832393459724314,
+                  -2.0571235989474967e-05
+                ],
+                "rod_tip_xy": [
+                  0.2688812761080874,
+                  -0.3658674764269258
+                ],
+                "target_mouth_xy": [
+                  0.26729803676211494,
+                  -0.3658469051909363
+                ],
+                "gripper_position": [
+                  0.26887044407964433,
+                  -0.3658751742074391,
+                  1.0050290987785004
+                ],
+                "rod_tip_xy_dist": 0.0015833729827129637,
+                "target_xy_drift": 4.314317544459935e-08,
+                "depth": 0.016086685780558052,
+                "bottom_clearance": 0.08335386549341928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015724224053016433,
+                  -2.829978282287149e-05
+                ],
+                "rod_tip_xy": [
+                  0.26887044407964444,
+                  -0.36587517420743915
+                ],
+                "target_mouth_xy": [
+                  0.2672980216743428,
+                  -0.3658468744246163
+                ],
+                "gripper_position": [
+                  0.26886255694908834,
+                  -0.36587691796505345,
+                  1.0049034215647898
+                ],
+                "rod_tip_xy_dist": 0.001572677048348588,
+                "target_xy_drift": 4.5957317144813806e-08,
+                "depth": 0.01623067022522562,
+                "bottom_clearance": 0.08320987532849011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015645357058090004,
+                  -3.001341911645916e-05
+                ],
+                "rod_tip_xy": [
+                  0.2688625569490885,
+                  -0.36587691796505345
+                ],
+                "target_mouth_xy": [
+                  0.2672980212432795,
+                  -0.365846904545937
+                ],
+                "gripper_position": [
+                  0.2688696471654582,
+                  -0.3659440989110793,
+                  1.004380866346545
+                ],
+                "rod_tip_xy_dist": 0.0015648235619642001,
+                "target_xy_drift": 5.49698652042982e-08,
+                "depth": 0.016356398099644287,
+                "bottom_clearance": 0.08308411960148765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015716254520665163,
+                  -9.719468988428348e-05
+                ],
+                "rod_tip_xy": [
+                  0.26886964716545836,
+                  -0.3659440989110793
+                ],
+                "target_mouth_xy": [
+                  0.26729802171339184,
+                  -0.36584690422119504
+                ],
+                "gripper_position": [
+                  0.26885865281845645,
+                  -0.3659522017820154,
+                  1.0042370769287423
+                ],
+                "rod_tip_xy_dist": 0.0015746280098248551,
+                "target_xy_drift": 5.4398913902981656e-08,
+                "depth": 0.016878962652167484,
+                "bottom_clearance": 0.0825615845661658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015606302754117007,
+                  -0.00010532929506662514
+                ],
+                "rod_tip_xy": [
+                  0.2688586528184566,
+                  -0.3659522017820153
+                ],
+                "target_mouth_xy": [
+                  0.2672980225430449,
+                  -0.3658468724869487
+                ],
+                "gripper_position": [
+                  0.26885048739629047,
+                  -0.3659537435436996,
+                  1.0041116646094173
+                ],
+                "rod_tip_xy_dist": 0.0015641806535470362,
+                "target_xy_drift": 4.515702065860543e-08,
+                "depth": 0.01702285279778515,
+                "bottom_clearance": 0.08241779691281992,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015524981962862783,
+                  -0.00010686878925642018
+                ],
+                "rod_tip_xy": [
+                  0.26885048739629064,
+                  -0.36595374354369953
+                ],
+                "target_mouth_xy": [
+                  0.26729798920000436,
+                  -0.3658468747544431
+                ],
+                "gripper_position": [
+                  0.26885830468276634,
+                  -0.3660218050448014,
+                  1.0035916756547214
+                ],
+                "rod_tip_xy_dist": 0.0015561720944642595,
+                "target_xy_drift": 7.842798798436968e-08,
+                "depth": 0.017148196199876953,
+                "bottom_clearance": 0.08229235332213403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015602685503829927,
+                  -0.00017493031800769332
+                ],
+                "rod_tip_xy": [
+                  0.2688583046827665,
+                  -0.3660218050448015
+                ],
+                "target_mouth_xy": [
+                  0.2672980361323835,
+                  -0.3658468747267938
+                ],
+                "gripper_position": [
+                  0.26884720532084594,
+                  -0.36602966608954285,
+                  1.0034480302687028
+                ],
+                "rod_tip_xy_dist": 0.001570044128511208,
+                "target_xy_drift": 3.149669003220171e-08,
+                "depth": 0.017668144226406945,
+                "bottom_clearance": 0.08177237365023615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015491704639025716,
+                  -0.00018279134680293518
+                ],
+                "rod_tip_xy": [
+                  0.26884720532084605,
+                  -0.36602966608954285
+                ],
+                "target_mouth_xy": [
+                  0.2672980348569435,
+                  -0.3658468747427399
+                ],
+                "gripper_position": [
+                  0.26883896414777775,
+                  -0.3660311779454197,
+                  1.003322498746587
+                ],
+                "rod_tip_xy_dist": 0.0015599172422581077,
+                "target_xy_drift": 3.2771914906363644e-08,
+                "depth": 0.017811801056761056,
+                "bottom_clearance": 0.08162871097617608,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015409272049641265,
+                  -0.00018430228727123188
+                ],
+                "rod_tip_xy": [
+                  0.2688389641477779,
+                  -0.3660311779454197
+                ],
+                "target_mouth_xy": [
+                  0.2672980369428138,
+                  -0.36584687565814844
+                ],
+                "gripper_position": [
+                  0.2688306705815372,
+                  -0.36603256778861987,
+                  1.0031967146243432
+                ],
+                "rod_tip_xy_dist": 0.0015519097860674643,
+                "target_xy_drift": 3.069072156219643e-08,
+                "depth": 0.017937396903671576,
+                "bottom_clearance": 0.08150317079666403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001532633919178017,
+                  -0.00018566263435154662
+                ],
+                "rod_tip_xy": [
+                  0.2688306705815373,
+                  -0.36603256778861987
+                ],
+                "target_mouth_xy": [
+                  0.2672980366623593,
+                  -0.3658469051542683
+                ],
+                "gripper_position": [
+                  0.26883997091246553,
+                  -0.3661027206051684,
+                  1.002679717987946
+                ],
+                "rod_tip_xy_dist": 0.001543838509692424,
+                "target_xy_drift": 4.3189028932253004e-08,
+                "depth": 0.01806305402644426,
+                "bottom_clearance": 0.08137749202632649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015419495149729956,
+                  -0.00025584747335888336
+                ],
+                "rod_tip_xy": [
+                  0.2688399709124657,
+                  -0.3661027206051684
+                ],
+                "target_mouth_xy": [
+                  0.2672980213974927,
+                  -0.3658468731318095
+                ],
+                "gripper_position": [
+                  0.2688287094250539,
+                  -0.3661104832210687,
+                  1.002535791829442
+                ],
+                "rod_tip_xy_dist": 0.0015630311053685339,
+                "target_xy_drift": 4.626960276341112e-08,
+                "depth": 0.018580132039766606,
+                "bottom_clearance": 0.08086045116542373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015306727348432525,
+                  -0.00026360628947458276
+                ],
+                "rod_tip_xy": [
+                  0.268828709425054,
+                  -0.3661104832210688
+                ],
+                "target_mouth_xy": [
+                  0.26729803669021074,
+                  -0.36584687693159423
+                ],
+                "gripper_position": [
+                  0.26882040481493513,
+                  -0.3661117174095613,
+                  1.0024103985397257
+                ],
+                "rod_tip_xy_dist": 0.0015532054909261296,
+                "target_xy_drift": 3.099459293785328e-08,
+                "depth": 0.018724064401124507,
+                "bottom_clearance": 0.08071653695007497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001522415316847936,
+                  -0.00026487341021580457
+                ],
+                "rod_tip_xy": [
+                  0.26882040481493524,
+                  -0.36611171740956133
+                ],
+                "target_mouth_xy": [
+                  0.2672979894980873,
+                  -0.36584684399934553
+                ],
+                "gripper_position": [
+                  0.26881205805288416,
+                  -0.36611312563510445,
+                  1.0022850503155838
+                ],
+                "rod_tip_xy_dist": 0.0015452851906404045,
+                "target_xy_drift": 8.407226372007471e-08,
+                "depth": 0.01884946895254369,
+                "bottom_clearance": 0.08059110141880532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001514020628698154,
+                  -0.0002662204866242246
+                ],
+                "rod_tip_xy": [
+                  0.2688120580528843,
+                  -0.3661131256351044
+                ],
+                "target_mouth_xy": [
+                  0.2672980374241861,
+                  -0.3658469051484802
+                ],
+                "gripper_position": [
+                  0.2688037018224734,
+                  -0.36611468972515604,
+                  1.0021596742984586
+                ],
+                "rod_tip_xy_dist": 0.001537248129490484,
+                "target_xy_drift": 4.264204535968735e-08,
+                "depth": 0.01897484399794569,
+                "bottom_clearance": 0.08046573212084629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015057105516418923,
+                  -0.0002678153019156082
+                ],
+                "rod_tip_xy": [
+                  0.26880370182247354,
+                  -0.3661146897251561
+                ],
+                "target_mouth_xy": [
+                  0.26729799127083165,
+                  -0.3658468744232405
+                ],
+                "gripper_position": [
+                  0.26879519798947016,
+                  -0.3661163616981768,
+                  1.0020341892213573
+                ],
+                "rod_tip_xy_dist": 0.0015293427677489045,
+                "target_xy_drift": 7.635916216515682e-08,
+                "depth": 0.019100090324840058,
+                "bottom_clearance": 0.08034043293192827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014971766156615662,
+                  -0.0002694562121861588
+                ],
+                "rod_tip_xy": [
+                  0.2687951979894703,
+                  -0.3661163616981768
+                ],
+                "target_mouth_xy": [
+                  0.26729802137380876,
+                  -0.36584690548599064
+                ],
+                "gripper_position": [
+                  0.26878679996555255,
+                  -0.366117801703547,
+                  1.0019092066190873
+                ],
+                "rod_tip_xy_dist": 0.0015212312344839406,
+                "target_xy_drift": 5.5370924250720795e-08,
+                "depth": 0.019225641525148718,
+                "bottom_clearance": 0.08021490051817837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0014887774998343373,
+                  -0.00027089719459205686
+                ],
+                "rod_tip_xy": [
+                  0.2687867999655527,
+                  -0.3661178017035471
+                ],
+                "target_mouth_xy": [
+                  0.2672980224657184,
+                  -0.365846904508955
+                ],
+                "gripper_position": [
+                  0.26879968299956625,
+                  -0.3661926204704096,
+                  1.0013955382855384
+                ],
+                "rod_tip_xy_dist": 0.0015132229624383934,
+                "target_xy_drift": 5.392213198904592e-08,
+                "depth": 0.01935068228002479,
+                "bottom_clearance": 0.08008988223733271,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006000403764853874,
+              "rod_tip_xy_max_step": 3.252234570902757e-05,
+              "rod_tip_xy_range": 0.000600034435533374,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2683728668377536,
+            -0.3674713798191713,
+            1.0434930110899066
+          ],
+          "object_origin_world": [
+            0.2683728668377536,
+            -0.3674713798191713,
+            1.0434930110899066
+          ],
+          "frame_world": [
+            0.26837134798745754,
+            -0.3674776839791062,
+            1.0433788502903776
+          ],
+          "center_minus_frame": [
+            1.5188502960339356e-06,
+            6.30415993491118e-06,
+            0.00011416079952897284
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2701324952455126,
+              0.1590262095390411,
+              0.8323133356138785
+            ],
+            "target_position": [
+              0.28358904151914777,
+              0.20523993742710872,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04813301655752364,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16849014929270623,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323133356138785,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567017956577,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13737813941014615,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 298,
+            "max_placed_release_frames": 298
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f88dfb2cc35119c0a5cb954c8ffc42da041cad6cb0f6644ae9d9d2356cc8364a",
+    "visual_seed": 4868718595938237281,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..067b156f80feeb49f1900d14753d8bb30baf0801
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_43_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1978365529461804,
+              -0.1077564239873148,
+              1.1651261916882079
+            ],
+            "current_z": 1.1651261916882079,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3040197432780868,
+            "gripper_z": 1.1589258681932602,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19340837647058914,
+              -0.11239889458400244,
+              1.1589258681932602
+            ],
+            "object_minus_gripper": [
+              0.004428176475591267,
+              0.0046424705966876395,
+              0.0062003234949477015
+            ],
+            "object_to_gripper_xy": 0.006415705739830122,
+            "object_to_gripper_z": 0.0062003234949477015,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1978365529461804,
+              -0.1312287312472998,
+              1.1651261916882079
+            ],
+            "finger_b": [
+              0.1869677397358671,
+              -0.1077564239873148,
+              1.1651261916882079
+            ],
+            "finger_midpoint": [
+              0.19240214634102376,
+              -0.1194925776173073,
+              1.1651261916882079
+            ],
+            "object_minus_finger_midpoint": [
+              0.00543440660515665,
+              0.011736153629992502,
+              0.0
+            ],
+            "finger_gap": 0.025866586723180655,
+            "fingertip_max_gap": 0.09230700463934027,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012933293361590327,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651261916882079,
+            "object_top_z": 1.2150868107706354,
+            "finger_top_clearance": 0.04996061908242755,
+            "fingertip_min_top_clearance": 0.014988185724728265,
+            "object_projection_between_fingers": 0.823442568757069,
+            "object_to_finger_line_xy": 0.009862767204427197,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865350231967014,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8696349058914046,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2684776759132572,
+              -0.37054576431866226,
+              0.8515395566285363
+            ],
+            "target_position": [
+              0.2606895750736458,
+              -0.37114523853355486,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007811138458782874,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832198541151489,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395566285363,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537319840792714,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560962086994593,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15157210824909645,
+            "release_required_pad_clearance": 0.05280481043497297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6561069187338272,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077964067459106445,
+            "max_z_decrease": 0.0077964067459106445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035118373129012614,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077964067459106445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021045356072898036,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077964067459106445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007796427822329617,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11638949811458588,
+              -0.42740669846534723,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11638949811458588,
+              -0.42740669846534723,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11480875926571033,
+              -0.4262237451524959,
+              0.8073385325172093
+            ],
+            "closest_button": [
+              0.11637889593839645,
+              -0.42739909887313837,
+              0.7722749710083008
+            ],
+            "closest_ee_minus_button": [
+              -0.0015701366726861288,
+              0.0011753537206424802,
+              0.03506356150890855
+            ],
+            "button_min_z_position": [
+              0.11637188494205475,
+              -0.4274024069309234,
+              0.769012451171875
+            ],
+            "min_active_finger_to_button": 0.14708702561100623,
+            "closest_active_finger": [
+              -0.011732980608940125,
+              -0.49087297916412354,
+              0.8107602000236511
+            ],
+            "closest_active_finger_button": [
+              0.11639121174812316,
+              -0.42740613222122187,
+              0.7762530446052551
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281241923570633,
+              -0.06346684694290167,
+              0.034507155418395996
+            ],
+            "min_contact_pad_to_button": 0.021045356072898036,
+            "closest_contact_pad": [
+              0.11637188494205475,
+              -0.4274024069309234,
+              0.790057807244773
+            ],
+            "closest_contact_pad_button": [
+              0.11637188494205475,
+              -0.4274024069309234,
+              0.769012451171875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021045356072898036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27995075108076395,
+              0.20218558024652747,
+              1.1011280040575286
+            ],
+            "current_z": 1.1011280040575286,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1912188743231661,
+            "gripper_z": 1.1011279693157112,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2799506849106406,
+              0.20218560665818375,
+              1.1011279693157112
+            ],
+            "object_minus_gripper": [
+              6.617012332510441e-08,
+              -2.641165627870201e-08,
+              3.4741817422911936e-08
+            ],
+            "object_to_gripper_xy": 7.124647926911074e-08,
+            "object_to_gripper_z": 3.4741817422911936e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27995075108076395,
+              0.20218558024652747,
+              1.1011280040575286
+            ],
+            "finger_b": [
+              0.27995075108076395,
+              0.20218558024652747,
+              1.1011280040575286
+            ],
+            "finger_midpoint": [
+              0.27995075108076395,
+              0.20218558024652747,
+              1.1011280040575286
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1011280040575286,
+            "object_top_z": 1.2261365106778084,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.279950751080764,
+            0.20218558024652747,
+            1.1011280040575289
+          ],
+          "object_origin_world": [
+            0.279950751080764,
+            0.20218558024652747,
+            1.1011280040575289
+          ],
+          "frame_world": [
+            0.2799506849106406,
+            0.20218560665818375,
+            1.1011279693157112
+          ],
+          "center_minus_frame": [
+            6.617012338061556e-08,
+            -2.641165627870201e-08,
+            3.474181764495654e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433740690020457,
+            "required_z": 0.9112598744758637,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002514838846317847,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.399793396445677e-07,
+            "max_target_xy_drift": 5.236540151338619e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6549129081991527,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6561069196398609,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2660305235012481,
+              -0.37111352272840054,
+              0.9234882837377577
+            ],
+            "target_mouth_xy": [
+              0.268477694076005,
+              -0.37054619278455503
+            ],
+            "rod_tip_z": 0.9234882837377577,
+            "rod_tip_depth": -0.02222842937102365,
+            "rod_tip_bottom_clearance": 0.12166899556339239,
+            "rod_tip_xy_dist": 0.0025120722694898325,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044828804360581564,
+            "min_rod_tip_bottom_clearance": 0.05461172046478269,
+            "min_rod_tip_xy_dist": 0.0011568574357145572,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26847773283791576,
+              -0.37054585502211534
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.876191073670654e-08,
+              -3.377624396838641e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.001809120824334709,
+                0.0010386828710112206
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019346856205453844,
+                0.0007173129418834301
+              ],
+              "first_target_mouth_xy": [
+                0.2684777525957206,
+                -0.37054588385280385
+              ],
+              "last_target_mouth_xy": [
+                0.26847773543741543,
+                -0.3705458845008457
+              ],
+              "first_rod_tip_xy": [
+                0.2666686317713859,
+                -0.3695072009817926
+              ],
+              "last_rod_tip_xy": [
+                0.26654304981687005,
+                -0.36982857155896226
+              ],
+              "min_rod_tip_xy_dist": 0.0020268200328064996,
+              "max_rod_tip_xy_dist": 0.0020915286018287635,
+              "first_target_xy_drift": 3.495110086297285e-08,
+              "last_target_xy_drift": 2.959312321015034e-08,
+              "max_depth": 0.019565642835247754,
+              "min_bottom_clearance": 0.07987489990340868
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001809120824334709,
+                  0.0010386828710112206
+                ],
+                "rod_tip_xy": [
+                  0.2666686317713859,
+                  -0.3695072009817926
+                ],
+                "target_mouth_xy": [
+                  0.2684777525957206,
+                  -0.37054588385280385
+                ],
+                "gripper_position": [
+                  0.26665781946520717,
+                  -0.3695151013329461,
+                  1.0056083118669763
+                ],
+                "rod_tip_xy_dist": 0.0020860921033294785,
+                "target_xy_drift": 3.495110086297285e-08,
+                "depth": 0.01550726924584489,
+                "bottom_clearance": 0.08393334129099617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018199011085857641,
+                  0.0010307530486183825
+                ],
+                "rod_tip_xy": [
+                  0.266657819465207,
+                  -0.3695151013329461
+                ],
+                "target_mouth_xy": [
+                  0.26847772057379277,
+                  -0.3705458543815645
+                ],
+                "gripper_position": [
+                  0.2666584652832982,
+                  -0.36957865004754653,
+                  1.0050866352498489
+                ],
+                "rod_tip_xy_dist": 0.0020915286018287635,
+                "target_xy_drift": 1.2280839474828776e-08,
+                "depth": 0.015651511838638,
+                "bottom_clearance": 0.08378902117863207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018192871274186895,
+                  0.0009672344461000848
+                ],
+                "rod_tip_xy": [
+                  0.266658465283298,
+                  -0.3695786500475466
+                ],
+                "target_mouth_xy": [
+                  0.2684777524107167,
+                  -0.37054588449364667
+                ],
+                "gripper_position": [
+                  0.2666475884685183,
+                  -0.36958667433283265,
+                  1.004942821182435
+                ],
+                "rod_tip_xy_dist": 0.0020604242586695306,
+                "target_xy_drift": 3.537888770426837e-08,
+                "depth": 0.016173329767402156,
+                "bottom_clearance": 0.08326729321548065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018301317564400899,
+                  0.0009591794229851791
+                ],
+                "rod_tip_xy": [
+                  0.2666475884685182,
+                  -0.3695866743328327
+                ],
+                "target_mouth_xy": [
+                  0.2684777202249583,
+                  -0.3705458537558179
+                ],
+                "gripper_position": [
+                  0.2666397395011391,
+                  -0.3695883269218584,
+                  1.0048171494718379
+                ],
+                "rod_tip_xy_dist": 0.002066254440142518,
+                "target_xy_drift": 1.2676364030732584e-08,
+                "depth": 0.016317001532131892,
+                "bottom_clearance": 0.08312352180509253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001838028243878409,
+                  0.0009575572518875641
+                ],
+                "rod_tip_xy": [
+                  0.266639739501139,
+                  -0.36958832692185833
+                ],
+                "target_mouth_xy": [
+                  0.2684777677450174,
+                  -0.3705458841737459
+                ],
+                "gripper_position": [
+                  0.26663190859799696,
+                  -0.36959025606575024,
+                  1.0046912278558893
+                ],
+                "rod_tip_xy_dist": 0.002072501801190342,
+                "target_xy_drift": 4.547882265200675e-08,
+                "depth": 0.01644281339118281,
+                "bottom_clearance": 0.08299781512475268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001845827062787242,
+                  0.0009556262116105496
+                ],
+                "rod_tip_xy": [
+                  0.26663190859799685,
+                  -0.3695902560657502
+                ],
+                "target_mouth_xy": [
+                  0.2684777356607841,
+                  -0.37054588227736074
+                ],
+                "gripper_position": [
+                  0.2666341812761629,
+                  -0.36965609891736617,
+                  1.0041674656763475
+                ],
+                "rod_tip_xy_dist": 0.0020785328965486466,
+                "target_xy_drift": 2.7401039890495257e-08,
+                "depth": 0.016568622019814128,
+                "bottom_clearance": 0.0828719680164064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018435530915035248,
+                  0.0008897859089320725
+                ],
+                "rod_tip_xy": [
+                  0.2666341812761628,
+                  -0.3696560989173662
+                ],
+                "target_mouth_xy": [
+                  0.2684777343676663,
+                  -0.3705458848262983
+                ],
+                "gripper_position": [
+                  0.2666231395455214,
+                  -0.3696638064135694,
+                  1.0040236993012521
+                ],
+                "rod_tip_xy_dist": 0.0020470483543205027,
+                "target_xy_drift": 2.9843415661628004e-08,
+                "depth": 0.017092422101251725,
+                "bottom_clearance": 0.08234809473728089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001854595879154597,
+                  0.0008820460640853733
+                ],
+                "rod_tip_xy": [
+                  0.2666231395455213,
+                  -0.3696638064135694
+                ],
+                "target_mouth_xy": [
+                  0.2684777354246759,
+                  -0.37054585247765476
+                ],
+                "gripper_position": [
+                  0.2666152512381227,
+                  -0.36966538889064127,
+                  1.0038980427580997
+                ],
+                "rod_tip_xy_dist": 0.002053662857955441,
+                "target_xy_drift": 3.6284442528497014e-09,
+                "depth": 0.017236148691218145,
+                "bottom_clearance": 0.08220443225822394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018624846039905774,
+                  0.0008805260477083299
+                ],
+                "rod_tip_xy": [
+                  0.2666152512381225,
+                  -0.3696653888906412
+                ],
+                "target_mouth_xy": [
+                  0.2684777358421131,
+                  -0.37054591493834954
+                ],
+                "gripper_position": [
+                  0.2666180928345409,
+                  -0.36973233188429333,
+                  1.0033781452454356
+                ],
+                "rod_tip_xy_dist": 0.0020601395634264174,
+                "target_xy_drift": 5.99915020806965e-08,
+                "depth": 0.017361860463255607,
+                "bottom_clearance": 0.08207872040282294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001859641924910338,
+                  0.0008135513547224416
+                ],
+                "rod_tip_xy": [
+                  0.26661809283454074,
+                  -0.3697323318842934
+                ],
+                "target_mouth_xy": [
+                  0.2684777347594511,
+                  -0.3705458832390158
+                ],
+                "gripper_position": [
+                  0.26660707770814984,
+                  -0.3697399309578852,
+                  1.0032342283681257
+                ],
+                "rod_tip_xy_dist": 0.002029811295577731,
+                "target_xy_drift": 2.8282251870080623e-08,
+                "depth": 0.017881680349830398,
+                "bottom_clearance": 0.08155884056993534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018706865573913656,
+                  0.0008059557760398683
+                ],
+                "rod_tip_xy": [
+                  0.26660707770814973,
+                  -0.3697399309578853
+                ],
+                "target_mouth_xy": [
+                  0.2684777642655411,
+                  -0.3705458867339252
+                ],
+                "gripper_position": [
+                  0.26659874579010934,
+                  -0.36974160116605986,
+                  1.0031087796233544
+                ],
+                "rod_tip_xy_dist": 0.002036917501750325,
+                "target_xy_drift": 4.464677499949956e-08,
+                "depth": 0.018025691953799106,
+                "bottom_clearance": 0.08141489163401538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018790033994342537,
+                  0.0008042538579399738
+                ],
+                "rod_tip_xy": [
+                  0.2665987457901092,
+                  -0.36974160116605986
+                ],
+                "target_mouth_xy": [
+                  0.2684777491895435,
+                  -0.37054585502399984
+                ],
+                "gripper_position": [
+                  0.2665906891617448,
+                  -0.36974332042652436,
+                  1.0029833134201496
+                ],
+                "rod_tip_xy_dist": 0.00204388797224721,
+                "target_xy_drift": 1.635162782710585e-08,
+                "depth": 0.018151050952086134,
+                "bottom_clearance": 0.08128946890511624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018870300415586017,
+                  0.0008024730815104353
+                ],
+                "rod_tip_xy": [
+                  0.26659068916174467,
+                  -0.3697433204265243
+                ],
+                "target_mouth_xy": [
+                  0.26847771920330327,
+                  -0.37054579350803474
+                ],
+                "gripper_position": [
+                  0.26658254949371474,
+                  -0.36974486185038863,
+                  1.0028575442601178
+                ],
+                "rod_tip_xy_dist": 0.002050571974911759,
+                "target_xy_drift": 6.300702159926153e-08,
+                "depth": 0.018276524294800423,
+                "bottom_clearance": 0.08116400619084674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001895170271053681,
+                  0.0008010258353338684
+                ],
+                "rod_tip_xy": [
+                  0.2665825494937146,
+                  -0.36974486185038863
+                ],
+                "target_mouth_xy": [
+                  0.2684777197647683,
+                  -0.3705458876857225
+                ],
+                "gripper_position": [
+                  0.2665874964847643,
+                  -0.36981434099419846,
+                  1.0023392218501561
+                ],
+                "rod_tip_xy_dist": 0.002057501578409602,
+                "target_xy_drift": 3.5182643683279866e-08,
+                "depth": 0.01840233500034627,
+                "bottom_clearance": 0.08103828999540974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018902204919454269,
+                  0.0007314820142801381
+                ],
+                "rod_tip_xy": [
+                  0.26658749648476415,
+                  -0.36981434099419846
+                ],
+                "target_mouth_xy": [
+                  0.2684777169767096,
+                  -0.3705458230084786
+                ],
+                "gripper_position": [
+                  0.2665763516289926,
+                  -0.3698219045566489,
+                  1.0021956819151416
+                ],
+                "rod_tip_xy_dist": 0.0020268200328064996,
+                "target_xy_drift": 3.572745161582635e-08,
+                "depth": 0.01892068955180448,
+                "bottom_clearance": 0.08051993822018122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019014148409634557,
+                  0.0007239212817370944
+                ],
+                "rod_tip_xy": [
+                  0.2665763516289925,
+                  -0.36982190455664893
+                ],
+                "target_mouth_xy": [
+                  0.26847776646995597,
+                  -0.370545825838386
+                ],
+                "gripper_position": [
+                  0.26656802461012075,
+                  -0.36982361411066966,
+                  1.002070207653657
+                ],
+                "rod_tip_xy_dist": 0.0020345614809063797,
+                "target_xy_drift": 4.4528689467773275e-08,
+                "depth": 0.019064233494592298,
+                "bottom_clearance": 0.08037639026849663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0019097261112324682,
+                  0.0007222402615811863
+                ],
+                "rod_tip_xy": [
+                  0.2665680246101206,
+                  -0.3698236141106697
+                ],
+                "target_mouth_xy": [
+                  0.26847775072135305,
+                  -0.3705458543722509
+                ],
+                "gripper_position": [
+                  0.26655967380426554,
+                  -0.3698252917424045,
+                  1.00194506926812
+                ],
+                "rod_tip_xy_dist": 0.0020417357359295905,
+                "target_xy_drift": 1.7895241070572393e-08,
+                "depth": 0.01918967831022289,
+                "bottom_clearance": 0.08025086779508095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0019180470787468762,
+                  0.0007205626311740376
+                ],
+                "rod_tip_xy": [
+                  0.26655967380426543,
+                  -0.3698252917424046
+                ],
+                "target_mouth_xy": [
+                  0.2684777208830123,
+                  -0.3705458543735786
+                ],
+                "gripper_position": [
+                  0.2665512830857676,
+                  -0.36982702302693504,
+                  1.0018197013646504
+                ],
+                "rod_tip_xy_dist": 0.002048930233495977,
+                "target_xy_drift": 1.1972481636098388e-08,
+                "depth": 0.019314756820638546,
+                "bottom_clearance": 0.08012578793185632,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0019264832504558571,
+                  0.0007188297599629023
+                ],
+                "rod_tip_xy": [
+                  0.2665512830857675,
+                  -0.3698270230269351
+                ],
+                "target_mouth_xy": [
+                  0.26847776633622333,
+                  -0.370545852786898
+                ],
+                "gripper_position": [
+                  0.26654304981687016,
+                  -0.36982857155896226,
+                  1.0016941861948312
+                ],
+                "rod_tip_xy_dist": 0.0020562232218548863,
+                "target_xy_drift": 3.357279861410889e-08,
+                "depth": 0.019440268912261582,
+                "bottom_clearance": 0.08000034309915705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0019346856205453844,
+                  0.0007173129418834301
+                ],
+                "rod_tip_xy": [
+                  0.26654304981687005,
+                  -0.36982857155896226
+                ],
+                "target_mouth_xy": [
+                  0.26847773543741543,
+                  -0.3705458845008457
+                ],
+                "gripper_position": [
+                  0.26653468108685974,
+                  -0.36983018646015436,
+                  1.0015689921312847
+                ],
+                "rod_tip_xy_dist": 0.0020633822493514235,
+                "target_xy_drift": 2.959312321015034e-08,
+                "depth": 0.019565642835247754,
+                "bottom_clearance": 0.07987489990340868,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005997570214792599,
+              "rod_tip_xy_max_step": 3.2576819279293036e-05,
+              "rod_tip_xy_range": 0.0005997464267371206,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2660305235012482,
+            -0.37111352272840054,
+            1.043488283737758
+          ],
+          "object_origin_world": [
+            0.2660305235012482,
+            -0.37111352272840054,
+            1.043488283737758
+          ],
+          "frame_world": [
+            0.26602918565234457,
+            -0.3711199705483391,
+            1.0433740690020457
+          ],
+          "center_minus_frame": [
+            1.3378489036042218e-06,
+            6.447819938582011e-06,
+            0.00011421473571227025
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26519638880848323,
+              0.1575993180314916,
+              0.8314496314965906
+            ],
+            "target_position": [
+              0.2801206498319114,
+              0.2037693651908435,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04852223018155898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16861135585645884,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314496314965906,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672842558455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13870777567737,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 310,
+            "max_placed_release_frames": 310
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "312c3f4d0d3fd35c431a4b7f5c416d12edb924ef38d80ab1883d7437696ed719",
+    "visual_seed": 6416868928805103201,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65682401f3194a0cd127d02d47600e1a58a90178
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_44_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20141842955040895,
+              -0.11299347152641961,
+              1.1648129299281416
+            ],
+            "current_z": 1.1648129299281416,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30370648151802027,
+            "gripper_z": 1.1585653672857994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19699863951282331,
+              -0.11745621532096509,
+              1.1585653672857994
+            ],
+            "object_minus_gripper": [
+              0.004419790037585636,
+              0.004462743794545476,
+              0.006247562642342164
+            ],
+            "object_to_gripper_xy": 0.006280973344322947,
+            "object_to_gripper_z": 0.006247562642342164,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20141842955040895,
+              -0.13669238767747086,
+              1.1648129299281416
+            ],
+            "finger_b": [
+              0.19116565652133805,
+              -0.11299347152641961,
+              1.1648129299281416
+            ],
+            "finger_midpoint": [
+              0.1962920430358735,
+              -0.12484292960194524,
+              1.1648129299281416
+            ],
+            "object_minus_finger_midpoint": [
+              0.005126386514535453,
+              0.01184945807552562,
+              0.0
+            ],
+            "finger_gap": 0.025821657218703085,
+            "fingertip_max_gap": 0.0925021887089674,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012910828609351542,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648129299281416,
+            "object_top_z": 1.2149948528490069,
+            "finger_top_clearance": 0.05018192292086532,
+            "fingertip_min_top_clearance": 0.015054576876259562,
+            "object_projection_between_fingers": 0.8423425625202525,
+            "object_to_finger_line_xy": 0.009409915338652874,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487510943544837,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8714269151564114,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2694676388795205,
+              -0.3678949103138725,
+              0.851539585387997
+            ],
+            "target_position": [
+              0.26312948784916135,
+              -0.367921460130164,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006338206637242759,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18510175399027923,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539585387997,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561158313217727,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08740568534562658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15262158580356872,
+            "release_required_pad_clearance": 0.05370284267281329,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4151112505618304,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007890105247497559,
+            "max_z_decrease": 0.007890105247497559,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513110637486454,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007890105247497559,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021159389219133577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007890105247497559,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007890127931903357,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11882941424846645,
+              -0.4241829216480255,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11882941424846645,
+              -0.4241829216480255,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12027435707017436,
+              -0.42497903877265025,
+              0.8075173671698602
+            ],
+            "closest_button": [
+              0.11881835013628002,
+              -0.42417779564857483,
+              0.7724255919456482
+            ],
+            "closest_ee_minus_button": [
+              0.0014560069338943465,
+              -0.0008012431240754236,
+              0.03509177522421203
+            ],
+            "button_min_z_position": [
+              0.11881069839000698,
+              -0.42418015003204346,
+              0.7689187526702881
+            ],
+            "min_active_finger_to_button": 0.14471921694385115,
+            "closest_active_finger": [
+              -0.020939409732818604,
+              -0.4094110429286957,
+              0.8113110065460205
+            ],
+            "closest_active_finger_button": [
+              0.11882849782705301,
+              -0.42418214678764343,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13976790755987162,
+              0.014771103858947754,
+              0.03450214862823486
+            ],
+            "min_contact_pad_to_button": 0.021159389219133577,
+            "closest_contact_pad": [
+              0.11881069839000698,
+              -0.42600447821239945,
+              0.7899993498823489
+            ],
+            "closest_contact_pad_button": [
+              0.11881069839000698,
+              -0.42418015003204346,
+              0.7689187526702881
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001824328180355994,
+              0.021080597212060792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2735729116428941,
+              0.20807631604159232,
+              1.1038725658496422
+            ],
+            "current_z": 1.1038725658496422,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19396343611527966,
+            "gripper_z": 1.103872577400766,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27357290152564123,
+              0.20807629261327648,
+              1.103872577400766
+            ],
+            "object_minus_gripper": [
+              1.0117252868813154e-08,
+              2.3428315842899394e-08,
+              -1.1551123835218391e-08
+            ],
+            "object_to_gripper_xy": 2.5519498209137237e-08,
+            "object_to_gripper_z": -1.1551123835218391e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2735729116428941,
+              0.20807631604159232,
+              1.1038725658496422
+            ],
+            "finger_b": [
+              0.2735729116428941,
+              0.20807631604159232,
+              1.1038725658496422
+            ],
+            "finger_midpoint": [
+              0.2735729116428941,
+              0.20807631604159232,
+              1.1038725658496422
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1038725658496422,
+            "object_top_z": 1.228881072469922,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2735729116428941,
+            0.20807631604159235,
+            1.1038725658496422
+          ],
+          "object_origin_world": [
+            0.2735729116428941,
+            0.20807631604159235,
+            1.1038725658496422
+          ],
+          "frame_world": [
+            0.27357290152564123,
+            0.20807629261327648,
+            1.103872577400766
+          ],
+          "center_minus_frame": [
+            1.0117252868813154e-08,
+            2.342831587065497e-08,
+            -1.1551123835218391e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043377837682144,
+            "required_z": 0.9112598384067079,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020577310355033972,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.200887145207167e-08,
+            "max_target_xy_drift": 1.2927936288912312e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4151112510454897,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.4154353303239953,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2708976328476955,
+              -0.36640722158741723,
+              0.9234925253803553
+            ],
+            "target_mouth_xy": [
+              0.26946767030053237,
+              -0.367894941661357
+            ],
+            "rod_tip_z": 0.9234925253803553,
+            "rod_tip_depth": -0.022232682805497728,
+            "rod_tip_bottom_clearance": 0.12167323215163983,
+            "rod_tip_xy_dist": 0.0020635173623434065,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044568748309993134,
+            "min_rod_tip_bottom_clearance": 0.05487194082690039,
+            "min_rod_tip_xy_dist": 0.00030898213218212995,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26946770015807564,
+              -0.36789491211017444
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.985754327111678e-08,
+              -2.9551182556541988e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0018869846297859816,
+                0.003255791249263784
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017906889832871031,
+                0.0029088728289907717
+              ],
+              "first_target_mouth_xy": [
+                0.2694677030937529,
+                -0.36789494192848293
+              ],
+              "last_target_mouth_xy": [
+                0.2694676410236544,
+                -0.36789497496339163
+              ],
+              "first_rod_tip_xy": [
+                0.2713546877235389,
+                -0.36463915067921915
+              ],
+              "last_rod_tip_xy": [
+                0.2712583300069415,
+                -0.36498610213440086
+              ],
+              "min_rod_tip_xy_dist": 0.0034158612632989903,
+              "max_rod_tip_xy_dist": 0.0037630954880033497,
+              "first_target_xy_drift": 2.9962471895741857e-08,
+              "last_target_xy_drift": 8.629835854230785e-08,
+              "max_depth": 0.019584708573987197,
+              "min_bottom_clearance": 0.07985585617619984
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0018869846297859816,
+                  0.003255791249263784
+                ],
+                "rod_tip_xy": [
+                  0.2713546877235389,
+                  -0.36463915067921915
+                ],
+                "target_mouth_xy": [
+                  0.2694677030937529,
+                  -0.36789494192848293
+                ],
+                "gripper_position": [
+                  0.2713437436541708,
+                  -0.36464723658167536,
+                  1.005599714843159
+                ],
+                "rod_tip_xy_dist": 0.0037630954880033497,
+                "target_xy_drift": 2.9962471895741857e-08,
+                "depth": 0.015515258269290899,
+                "bottom_clearance": 0.08392539160666457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0018760730451274354,
+                  0.0032477377449138256
+                ],
+                "rod_tip_xy": [
+                  0.27134374365417074,
+                  -0.3646472365816754
+                ],
+                "target_mouth_xy": [
+                  0.2694676706090433,
+                  -0.36789497432658924
+                ],
+                "gripper_position": [
+                  0.2713357227989549,
+                  -0.3646489962652752,
+                  1.0054730666562883
+                ],
+                "rod_tip_xy_dist": 0.003750660012636665,
+                "target_xy_drift": 6.887690165841973e-08,
+                "depth": 0.01566011814334123,
+                "bottom_clearance": 0.08378041625295862,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001868053181966034,
+                  0.003245976184471311
+                ],
+                "rod_tip_xy": [
+                  0.27133572279895485,
+                  -0.36464899626527525
+                ],
+                "target_mouth_xy": [
+                  0.2694676696169888,
+                  -0.36789497244974656
+                ],
+                "gripper_position": [
+                  0.27134483781821717,
+                  -0.36471981589623703,
+                  1.0049489353071195
+                ],
+                "rod_tip_xy_dist": 0.003745128045982988,
+                "target_xy_drift": 6.762855866969178e-08,
+                "depth": 0.015786776714979855,
+                "bottom_clearance": 0.08365375789993978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001877167290817161,
+                  0.0031751581243040228
+                ],
+                "rod_tip_xy": [
+                  0.27134483781821717,
+                  -0.36471981589623714
+                ],
+                "target_mouth_xy": [
+                  0.2694676705274,
+                  -0.36789497402054117
+                ],
+                "gripper_position": [
+                  0.27133391366872306,
+                  -0.36472794789529234,
+                  1.0048041589121604
+                ],
+                "rod_tip_xy_dist": 0.0036885479733965343,
+                "target_xy_drift": 6.863578109317603e-08,
+                "depth": 0.016310891610323952,
+                "bottom_clearance": 0.08312962910050625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001866246381877601,
+                  0.003166995433351527
+                ],
+                "rod_tip_xy": [
+                  0.27133391366872306,
+                  -0.3647279478952924
+                ],
+                "target_mouth_xy": [
+                  0.26946766728684546,
+                  -0.3678949433286439
+                ],
+                "gripper_position": [
+                  0.27132583075139616,
+                  -0.36472953159112337,
+                  1.004677451710283
+                ],
+                "rod_tip_xy_dist": 0.0036759673057224903,
+                "target_xy_drift": 4.533332780780337e-08,
+                "depth": 0.016455745957384638,
+                "bottom_clearance": 0.08298485855203053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018581592502099897,
+                  0.0031654414615512882
+                ],
+                "rod_tip_xy": [
+                  0.2713258307513961,
+                  -0.3647295315911234
+                ],
+                "target_mouth_xy": [
+                  0.2694676715011861,
+                  -0.3678949730526747
+                ],
+                "gripper_position": [
+                  0.2713357574567974,
+                  -0.36480164505197293,
+                  1.0041551938895839
+                ],
+                "rod_tip_xy_dist": 0.0036705279518958723,
+                "target_xy_drift": 6.734393555763457e-08,
+                "depth": 0.01658231103153851,
+                "bottom_clearance": 0.08285822337810533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0018680847195818306,
+                  0.0030932962831736743
+                ],
+                "rod_tip_xy": [
+                  0.27133575745679733,
+                  -0.3648016450519731
+                ],
+                "target_mouth_xy": [
+                  0.2694676727372155,
+                  -0.3678949413351468
+                ],
+                "gripper_position": [
+                  0.2713246701631824,
+                  -0.36480945341009474,
+                  1.0040103855269749
+                ],
+                "rod_tip_xy_dist": 0.0036136162517665313,
+                "target_xy_drift": 4.007496198952611e-08,
+                "depth": 0.01710473180392824,
+                "bottom_clearance": 0.08233591973456222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0018570280426317143,
+                  0.003085518689779798
+                ],
+                "rod_tip_xy": [
+                  0.27132467016318235,
+                  -0.36480945341009485
+                ],
+                "target_mouth_xy": [
+                  0.26946764212055063,
+                  -0.36789497209987465
+                ],
+                "gripper_position": [
+                  0.2713164735821924,
+                  -0.3648110841609905,
+                  1.0038838763642963
+                ],
+                "rod_tip_xy_dist": 0.0036012468307658418,
+                "target_xy_drift": 8.346926644003109e-08,
+                "depth": 0.017249457184956962,
+                "bottom_clearance": 0.08219112835330955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0018488337187679837,
+                  0.003083889899840042
+                ],
+                "rod_tip_xy": [
+                  0.27131647358219235,
+                  -0.3648110841609906
+                ],
+                "target_mouth_xy": [
+                  0.26946763986342437,
+                  -0.36789497406083066
+                ],
+                "gripper_position": [
+                  0.27132729379096054,
+                  -0.3648838524171849,
+                  1.0033650250408936
+                ],
+                "rod_tip_xy_dist": 0.003595631103713071,
+                "target_xy_drift": 8.644841685991285e-08,
+                "depth": 0.017375908534340123,
+                "bottom_clearance": 0.08206462791254454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0018596196120467812,
+                  0.0030111193221079025
+                ],
+                "rod_tip_xy": [
+                  0.27132729379096054,
+                  -0.364883852417185
+                ],
+                "target_mouth_xy": [
+                  0.26946767417891376,
+                  -0.3678949717392929
+                ],
+                "gripper_position": [
+                  0.27131595587374835,
+                  -0.36489178515305826,
+                  1.0032204472504773
+                ],
+                "rod_tip_xy_dist": 0.0035390711597085155,
+                "target_xy_drift": 6.504266770435908e-08,
+                "depth": 0.017894900118837098,
+                "bottom_clearance": 0.08154578223651088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0018483149218317396,
+                  0.0030031866445663358
+                ],
+                "rod_tip_xy": [
+                  0.2713159558737483,
+                  -0.3648917851530584
+                ],
+                "target_mouth_xy": [
+                  0.26946764095191655,
+                  -0.36789497179762476
+                ],
+                "gripper_position": [
+                  0.2713076842424501,
+                  -0.3648931754783506,
+                  1.0030942049022709
+                ],
+                "rod_tip_xy_dist": 0.003526385978926226,
+                "target_xy_drift": 8.407116627567592e-08,
+                "depth": 0.018039392525045383,
+                "bottom_clearance": 0.0814011611191342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0018400444242556158,
+                  0.0030018004684351784
+                ],
+                "rod_tip_xy": [
+                  0.27130768424245005,
+                  -0.36489317547835065
+                ],
+                "target_mouth_xy": [
+                  0.26946763981819444,
+                  -0.36789497594678583
+                ],
+                "gripper_position": [
+                  0.2712992249244547,
+                  -0.3648948375835363,
+                  1.0029678325432325
+                ],
+                "rod_tip_xy_dist": 0.0035208762454155976,
+                "target_xy_drift": 8.784084594757132e-08,
+                "depth": 0.01816567701301819,
+                "bottom_clearance": 0.08127493144901254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0018315842285793749,
+                  0.0030001053676851908
+                ],
+                "rod_tip_xy": [
+                  0.27129922492445463,
+                  -0.36489483758353636
+                ],
+                "target_mouth_xy": [
+                  0.26946764069587525,
+                  -0.36789494295122155
+                ],
+                "gripper_position": [
+                  0.27129089927275507,
+                  -0.36489638541997277,
+                  1.002841369841972
+                ],
+                "rod_tip_xy_dist": 0.0035150153632088434,
+                "target_xy_drift": 6.698450164966186e-08,
+                "depth": 0.018291928400818946,
+                "bottom_clearance": 0.08114858011810733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001823226553080426,
+                  0.002998588565284399
+                ],
+                "rod_tip_xy": [
+                  0.27129089927275507,
+                  -0.3648963854199728
+                ],
+                "target_mouth_xy": [
+                  0.26946767271967464,
+                  -0.3678949739852572
+                ],
+                "gripper_position": [
+                  0.2713040810244244,
+                  -0.3649722261864514,
+                  1.002323991078985
+                ],
+                "rod_tip_xy_dist": 0.00350937151748171,
+                "target_xy_drift": 6.768597874148114e-08,
+                "depth": 0.018418535167311623,
+                "bottom_clearance": 0.081022071903881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0018364392764457227,
+                  0.0029227474929728325
+                ],
+                "rod_tip_xy": [
+                  0.2713040810244243,
+                  -0.3649722261864514
+                ],
+                "target_mouth_xy": [
+                  0.2694676417479786,
+                  -0.36789497367942425
+                ],
+                "gripper_position": [
+                  0.27129251679864136,
+                  -0.364980102486544,
+                  1.0021794175040208
+                ],
+                "rod_tip_xy_dist": 0.0034518056323830674,
+                "target_xy_drift": 8.486761430590374e-08,
+                "depth": 0.018935779177871814,
+                "bottom_clearance": 0.0805047707724248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0018248416979838034,
+                  0.0029148384582272646
+                ],
+                "rod_tip_xy": [
+                  0.2712925167986413,
+                  -0.3649801024865441
+                ],
+                "target_mouth_xy": [
+                  0.2694676751006575,
+                  -0.3678949409447714
+                ],
+                "gripper_position": [
+                  0.27128401500163446,
+                  -0.364981586967377,
+                  1.0020534137334303
+                ],
+                "rod_tip_xy_dist": 0.003438943218528202,
+                "target_xy_drift": 3.8200892451818436e-08,
+                "depth": 0.01908053235559304,
+                "bottom_clearance": 0.08036022109227037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0018163725778989614,
+                  0.0029133863909626134
+                ],
+                "rod_tip_xy": [
+                  0.2712840150016344,
+                  -0.36498158696737715
+                ],
+                "target_mouth_xy": [
+                  0.26946764242373544,
+                  -0.36789497335833976
+                ],
+                "gripper_position": [
+                  0.2712754643589935,
+                  -0.36498312221328516,
+                  1.0019273538551974
+                ],
+                "rod_tip_xy_dist": 0.003433224374373088,
+                "target_xy_drift": 8.417001718411503e-08,
+                "depth": 0.01920647600016101,
+                "bottom_clearance": 0.08023409000254922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0018078218846667715,
+                  0.002911851778636343
+                ],
+                "rod_tip_xy": [
+                  0.27127546435899347,
+                  -0.3649831222132852
+                ],
+                "target_mouth_xy": [
+                  0.2694676424743267,
+                  -0.36789497399192156
+                ],
+                "gripper_position": [
+                  0.2712669519133235,
+                  -0.36498463428810257,
+                  1.0018008755689325
+                ],
+                "rod_tip_xy_dist": 0.0034274043746584312,
+                "target_xy_drift": 8.459766851575811e-08,
+                "depth": 0.01933248780619512,
+                "bottom_clearance": 0.08010810179874195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001799308714277137,
+                  0.002910308305308862
+                ],
+                "rod_tip_xy": [
+                  0.27126695191332345,
+                  -0.3649846342881027
+                ],
+                "target_mouth_xy": [
+                  0.2694676431990463,
+                  -0.36789494259341154
+                ],
+                "gripper_position": [
+                  0.27125833000694155,
+                  -0.36498610213440075,
+                  1.0016750778453374
+                ],
+                "rod_tip_xy_dist": 0.0034216087270790303,
+                "target_xy_drift": 6.460308635026342e-08,
+                "depth": 0.019458969548271643,
+                "bottom_clearance": 0.07998164479883463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0017906889832871031,
+                  0.0029088728289907717
+                ],
+                "rod_tip_xy": [
+                  0.2712583300069415,
+                  -0.36498610213440086
+                ],
+                "target_mouth_xy": [
+                  0.2694676410236544,
+                  -0.36789497496339163
+                ],
+                "gripper_position": [
+                  0.271249844568491,
+                  -0.364987337056148,
+                  1.001549014062434
+                ],
+                "rod_tip_xy_dist": 0.0034158612632989903,
+                "target_xy_drift": 8.629835854230785e-08,
+                "depth": 0.019584708573987197,
+                "bottom_clearance": 0.07985585617619984,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005987999316152417,
+              "rod_tip_xy_max_step": 3.23959485639028e-05,
+              "rod_tip_xy_range": 0.0005987947764215929,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2708976328476955,
+            -0.3664072215874172,
+            1.0434925253803555
+          ],
+          "object_origin_world": [
+            0.2708976328476955,
+            -0.3664072215874172,
+            1.0434925253803555
+          ],
+          "frame_world": [
+            0.27089627257458737,
+            -0.36641394451178555,
+            1.043377837682144
+          ],
+          "center_minus_frame": [
+            1.3602731081530095e-06,
+            6.7229243683741835e-06,
+            0.00011468769821143532
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2591554644987467,
+              0.16273016131218337,
+              0.8320928209521965
+            ],
+            "target_position": [
+              0.2737203972649053,
+              0.20915462650032962,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04865560845871854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16555320737339427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320928209521965,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675422632647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13451838545676054,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82e744c2a4dedd839eb4ae3a68c4820ee6e5ad93fd82c7f1e405b9002bcddbe7",
+    "visual_seed": 2676839196654119273,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7b82ad36ea180bcb54b481025ca43a3d4e4e44e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19356743192747064,
+              -0.11053068768529996,
+              1.1633640333204553
+            ],
+            "current_z": 1.1633640333204553,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3022575253056895,
+            "gripper_z": 1.157273071468612,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18903829076768716,
+              -0.1150601556495044,
+              1.157273071468612
+            ],
+            "object_minus_gripper": [
+              0.0045291411597834785,
+              0.004529467964204448,
+              0.006090961851843435
+            ],
+            "object_to_gripper_xy": 0.006405403943858593,
+            "object_to_gripper_z": 0.006090961851843435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19356743192747064,
+              -0.13435231609220857,
+              1.1633640333204553
+            ],
+            "finger_b": [
+              0.18322126380159554,
+              -0.11053068768529996,
+              1.1633640333204553
+            ],
+            "finger_midpoint": [
+              0.18839434786453307,
+              -0.12244150188875427,
+              1.1633640333204553
+            ],
+            "object_minus_finger_midpoint": [
+              0.005173084062937566,
+              0.011910814203454315,
+              0.0
+            ],
+            "finger_gap": 0.02597139146918604,
+            "fingertip_max_gap": 0.09174677284900304,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012985695734593032,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633640333204553,
+            "object_top_z": 1.213337208014377,
+            "finger_top_clearance": 0.049973174693921596,
+            "fingertip_min_top_clearance": 0.014991952408176478,
+            "object_projection_between_fingers": 0.8413030332382175,
+            "object_to_finger_line_xy": 0.009489771575097027,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837338642450152,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4910215299193472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2669198324217079,
+              -0.3646516115083242,
+              0.8515395605751634
+            ],
+            "target_position": [
+              0.2603655562836438,
+              -0.36455163702575266,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006555038565192613,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18084535646920152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395605751634,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526366822866326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605326198632075,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14932596739462856,
+            "release_required_pad_clearance": 0.05302663099316038,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0849712252220691,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007698476314544678,
+            "max_z_decrease": 0.007698476314544678,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035105580986383,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007698476314544678,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021086710326416215,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007698476314544678,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007698497052601333,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11606547981500623,
+              -0.42081308364868164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11606547981500623,
+              -0.42081308364868164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11546513420954627,
+              -0.4197999824095578,
+              0.8077187686338313
+            ],
+            "closest_button": [
+              0.11605619639158248,
+              -0.4208086133003235,
+              0.7726326584815979
+            ],
+            "closest_ee_minus_button": [
+              -0.0005910621820362089,
+              0.0010086308907656938,
+              0.035086110152233396
+            ],
+            "button_min_z_position": [
+              0.11604797840118405,
+              -0.42080947756767273,
+              0.769110381603241
+            ],
+            "min_active_finger_to_button": 0.14630824795284872,
+            "closest_active_finger": [
+              -0.012484684586524963,
+              -0.48161226511001587,
+              0.8110696077346802
+            ],
+            "closest_active_finger_button": [
+              0.11606733500957486,
+              -0.4208115339279174,
+              0.7766638994216919
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12855201959609983,
+              -0.060800731182098444,
+              0.03440570831298828
+            ],
+            "min_contact_pad_to_button": 0.021086710326416215,
+            "closest_contact_pad": [
+              0.11604797840118405,
+              -0.42102307406204426,
+              0.7901960100958371
+            ],
+            "closest_contact_pad_button": [
+              0.11604797840118405,
+              -0.42080947756767273,
+              0.769110381603241
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00021359649437152628,
+              0.021085628492596098
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2772601016982899,
+              0.2083805160259451,
+              1.1044618703312832
+            ],
+            "current_z": 1.1044618703312832,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19455274059692063,
+            "gripper_z": 1.1044617078231882,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27726007198185476,
+              0.20838053076410473,
+              1.1044617078231882
+            ],
+            "object_minus_gripper": [
+              2.9716435145932252e-08,
+              -1.4738159637150972e-08,
+              1.6250809498075114e-07
+            ],
+            "object_to_gripper_xy": 3.3170466793105934e-08,
+            "object_to_gripper_z": 1.6250809498075114e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2772601016982899,
+              0.2083805160259451,
+              1.1044618703312832
+            ],
+            "finger_b": [
+              0.2772601016982899,
+              0.2083805160259451,
+              1.1044618703312832
+            ],
+            "finger_midpoint": [
+              0.2772601016982899,
+              0.2083805160259451,
+              1.1044618703312832
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044618703312832,
+            "object_top_z": 1.229470376951563,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2772601016982899,
+            0.2083805160259451,
+            1.1044618703312834
+          ],
+          "object_origin_world": [
+            0.2772601016982899,
+            0.2083805160259451,
+            1.1044618703312834
+          ],
+          "frame_world": [
+            0.27726007198185476,
+            0.20838053076410473,
+            1.1044617078231882
+          ],
+          "center_minus_frame": [
+            2.9716435145932252e-08,
+            -1.4738159637150972e-08,
+            1.6250809520279574e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434117811051657,
+            "required_z": 0.911259849031572,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011115991599628464,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.81614871943097e-08,
+            "max_target_xy_drift": 2.4215302258503865e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0849712254746968,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0849712255287833,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26581594481490484,
+              -0.3647642552687355,
+              0.9235245063511274
+            ],
+            "target_mouth_xy": [
+              0.2669198320318859,
+              -0.3646516432452068
+            ],
+            "rod_tip_z": 0.9235245063511274,
+            "rod_tip_depth": -0.022264688365230434,
+            "rod_tip_bottom_clearance": 0.12170519357944798,
+            "rod_tip_xy_dist": 0.0011096163551685052,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0449126031038064,
+            "min_rod_tip_bottom_clearance": 0.05452797933574771,
+            "min_rod_tip_xy_dist": 0.0007020294437975911,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2669199201928075,
+              -0.36465164292941626
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.816092161856304e-08,
+              -3.157905603679012e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.000514488975563776,
+                0.0015757390558706064
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006230675686708653,
+                0.0011795018616380104
+              ],
+              "first_target_mouth_xy": [
+                0.26691990809763533,
+                -0.36465161469611845
+              ],
+              "last_target_mouth_xy": [
+                0.2669199097489543,
+                -0.36465167081495253
+              ],
+              "first_rod_tip_xy": [
+                0.26640541912207155,
+                -0.36307587564024785
+              ],
+              "last_rod_tip_xy": [
+                0.26629684218028343,
+                -0.3634721689533145
+              ],
+              "min_rod_tip_xy_dist": 0.0013310849899085412,
+              "max_rod_tip_xy_dist": 0.0016576044395972924,
+              "first_target_xy_drift": 3.0715017430398454e-08,
+              "last_target_xy_drift": 2.977712550312788e-08,
+              "max_depth": 0.0195920158885462,
+              "min_bottom_clearance": 0.07984869214958612
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.000514488975563776,
+                  0.0015757390558706064
+                ],
+                "rod_tip_xy": [
+                  0.26640541912207155,
+                  -0.36307587564024785
+                ],
+                "target_mouth_xy": [
+                  0.26691990809763533,
+                  -0.36465161469611845
+                ],
+                "gripper_position": [
+                  0.26639469926178316,
+                  -0.36308342479124966,
+                  1.005959578600099
+                ],
+                "rod_tip_xy_dist": 0.0016576044395972924,
+                "target_xy_drift": 3.0715017430398454e-08,
+                "depth": 0.015158242717516202,
+                "bottom_clearance": 0.08428234807954371,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005251787872581071,
+                  0.0015681886428993708
+                ],
+                "rod_tip_xy": [
+                  0.2663946992617832,
+                  -0.3630834247912497
+                ],
+                "target_mouth_xy": [
+                  0.2669198780490413,
+                  -0.3646516134341491
+                ],
+                "gripper_position": [
+                  0.266397279622579,
+                  -0.3631487308481163,
+                  1.005438260050685
+                ],
+                "rod_tip_xy_dist": 0.001653792120644087,
+                "target_xy_drift": 5.1439943769920683e-08,
+                "depth": 0.015300249576700176,
+                "bottom_clearance": 0.08414030561734986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005226271922489922,
+                  0.0015028832197435116
+                ],
+                "rod_tip_xy": [
+                  0.26639727962257903,
+                  -0.36314873084811633
+                ],
+                "target_mouth_xy": [
+                  0.266919906814828,
+                  -0.36465161406785984
+                ],
+                "gripper_position": [
+                  0.2663863980596869,
+                  -0.3631560947042674,
+                  1.0052963807349742
+                ],
+                "rod_tip_xy_dist": 0.0015911622023743177,
+                "target_xy_drift": 3.181131519896386e-08,
+                "depth": 0.015821502045653912,
+                "bottom_clearance": 0.08361901657537374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005335113847025341,
+                  0.0014955491497428697
+                ],
+                "rod_tip_xy": [
+                  0.26638639805968695,
+                  -0.3631560947042675
+                ],
+                "target_mouth_xy": [
+                  0.2669199094443895,
+                  -0.3646516438540104
+                ],
+                "gripper_position": [
+                  0.26637856837989027,
+                  -0.363157768235618,
+                  1.0051723819891314
+                ],
+                "rod_tip_xy_dist": 0.0015878607170982711,
+                "target_xy_drift": 1.078811219594803e-08,
+                "depth": 0.015963522107279138,
+                "bottom_clearance": 0.08347709883276755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005412918656034771,
+                  0.0014938449110485919
+                ],
+                "rod_tip_xy": [
+                  0.2663785683798903,
+                  -0.363157768235618
+                ],
+                "target_mouth_xy": [
+                  0.2669198602454938,
+                  -0.3646516131466666
+                ],
+                "gripper_position": [
+                  0.26638200764432896,
+                  -0.36322412084557915,
+                  1.0046513058664195
+                ],
+                "rod_tip_xy_dist": 0.0015888893926369664,
+                "target_xy_drift": 6.69379757669567e-08,
+                "depth": 0.016087477272851314,
+                "bottom_clearance": 0.08335307482976673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005378530509580481,
+                  0.0014274637632921139
+                ],
+                "rod_tip_xy": [
+                  0.266382007644329,
+                  -0.36322412084557915
+                ],
+                "target_mouth_xy": [
+                  0.26691986069528706,
+                  -0.36465158460887126
+                ],
+                "gripper_position": [
+                  0.266370772138167,
+                  -0.3632318719398236,
+                  1.0045093667280232
+                ],
+                "rod_tip_xy_dist": 0.0015254306604814802,
+                "target_xy_drift": 8.331410991670078e-08,
+                "depth": 0.016608541827414114,
+                "bottom_clearance": 0.0828319967321901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005490898435107638,
+                  0.0014197402349825916
+                ],
+                "rod_tip_xy": [
+                  0.26637077213816707,
+                  -0.3632318719398236
+                ],
+                "target_mouth_xy": [
+                  0.26691986198167783,
+                  -0.3646516121748062
+                ],
+                "gripper_position": [
+                  0.2663628230264795,
+                  -0.3632331494382817,
+                  1.0043854915295658
+                ],
+                "rod_tip_xy_dist": 0.001522222714018911,
+                "target_xy_drift": 6.583602100301546e-08,
+                "depth": 0.016750475225445816,
+                "bottom_clearance": 0.08269008178711978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005570701131805134,
+                  0.0014184922170956127
+                ],
+                "rod_tip_xy": [
+                  0.26636282302647957,
+                  -0.3632331494382817
+                ],
+                "target_mouth_xy": [
+                  0.2669198931396601,
+                  -0.36465164165537733
+                ],
+                "gripper_position": [
+                  0.26636723469296963,
+                  -0.3633003840851481,
+                  1.0038663450081209
+                ],
+                "rod_tip_xy_dist": 0.0015239577687586282,
+                "target_xy_drift": 2.7083130576906894e-08,
+                "depth": 0.016874426181111235,
+                "bottom_clearance": 0.08256619381409458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005526424865491264,
+                  0.0013512886529962187
+                ],
+                "rod_tip_xy": [
+                  0.2663672346929697,
+                  -0.36330038408514814
+                ],
+                "target_mouth_xy": [
+                  0.2669198771795188,
+                  -0.36465167273814436
+                ],
+                "gripper_position": [
+                  0.26635594494991677,
+                  -0.3633080482545203,
+                  1.0037247633766162
+                ],
+                "rod_tip_xy_dist": 0.0014599297043541297,
+                "target_xy_drift": 5.233262153083077e-08,
+                "depth": 0.017393422336581477,
+                "bottom_clearance": 0.08204711094227624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005639482074994429,
+                  0.00134359212286006
+                ],
+                "rod_tip_xy": [
+                  0.2663559449499168,
+                  -0.3633080482545203
+                ],
+                "target_mouth_xy": [
+                  0.26691989315741627,
+                  -0.36465164037738035
+                ],
+                "gripper_position": [
+                  0.2663478446368292,
+                  -0.3633095105600853,
+                  1.003601438246192
+                ],
+                "rod_tip_xy_dist": 0.0014571469978534894,
+                "target_xy_drift": 2.7155575262645692e-08,
+                "depth": 0.017535177500791144,
+                "bottom_clearance": 0.0819054897731567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005720634955358461,
+                  0.0013421329904027002
+                ],
+                "rod_tip_xy": [
+                  0.26634784463682926,
+                  -0.36330951056008537
+                ],
+                "target_mouth_xy": [
+                  0.2669199081323651,
+                  -0.36465164355048807
+                ],
+                "gripper_position": [
+                  0.26633955776308266,
+                  -0.36331101074472394,
+                  1.0034773112182922
+                ],
+                "rod_tip_xy_dist": 0.0014589645666883023,
+                "target_xy_drift": 1.2076423378388516e-08,
+                "depth": 0.01765838873333203,
+                "bottom_clearance": 0.08178217026259771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005803504709118723,
+                  0.001340630275841026
+                ],
+                "rod_tip_xy": [
+                  0.2663395577630827,
+                  -0.363311010744724
+                ],
+                "target_mouth_xy": [
+                  0.2669199082339946,
+                  -0.364651641020565
+                ],
+                "gripper_position": [
+                  0.26634518881082203,
+                  -0.3633802209070663,
+                  1.0029594475384525
+                ],
+                "rod_tip_xy_dist": 0.001460854614802314,
+                "target_xy_drift": 1.211019900755654e-08,
+                "depth": 0.01778261940779413,
+                "bottom_clearance": 0.08165803104089742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005746878881892625,
+                  0.0012714515157179473
+                ],
+                "rod_tip_xy": [
+                  0.2663451888108221,
+                  -0.3633802209070664
+                ],
+                "target_mouth_xy": [
+                  0.26691987669901135,
+                  -0.36465167242278435
+                ],
+                "gripper_position": [
+                  0.26633386038645335,
+                  -0.36338792473086345,
+                  1.002818121365465
+                ],
+                "rod_tip_xy_dist": 0.0013952975043527098,
+                "target_xy_drift": 5.255063336007461e-08,
+                "depth": 0.018300321817603882,
+                "bottom_clearance": 0.08114020479370043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005860494665690941,
+                  0.0012637159516954988
+                ],
+                "rod_tip_xy": [
+                  0.2663338603864534,
+                  -0.3633879247308635
+                ],
+                "target_mouth_xy": [
+                  0.2669199098530225,
+                  -0.364651640682559
+                ],
+                "gripper_position": [
+                  0.2663255685015391,
+                  -0.3633889681209956,
+                  1.0026946977950877
+                ],
+                "rod_tip_xy_dist": 0.00139299389224633,
+                "target_xy_drift": 1.0581092663658576e-08,
+                "depth": 0.018441827733908345,
+                "bottom_clearance": 0.08099889627929524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000594309198287124,
+                  0.0012627046157284716
+                ],
+                "rod_tip_xy": [
+                  0.26632556850153916,
+                  -0.3633889681209956
+                ],
+                "target_mouth_xy": [
+                  0.2669198776998263,
+                  -0.36465167273672405
+                ],
+                "gripper_position": [
+                  0.2663171993803374,
+                  -0.363390422104736,
+                  1.002571122174203
+                ],
+                "rod_tip_xy_dist": 0.0013955738496226817,
+                "target_xy_drift": 5.190500026664949e-08,
+                "depth": 0.018565133153990332,
+                "bottom_clearance": 0.08087541984638624,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006027100403686592,
+                  0.0012612179576805826
+                ],
+                "rod_tip_xy": [
+                  0.2663171993803375,
+                  -0.363390422104736
+                ],
+                "target_mouth_xy": [
+                  0.26691990942070615,
+                  -0.36465164006241657
+                ],
+                "gripper_position": [
+                  0.2663088872821415,
+                  -0.36339163577108585,
+                  1.0024470326166108
+                ],
+                "rod_tip_xy_dist": 0.0013978305081579709,
+                "target_xy_drift": 1.1147100758914577e-08,
+                "depth": 0.01868883479546335,
+                "bottom_clearance": 0.08075189548359363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006109750221485188,
+                  0.0012600385614046083
+                ],
+                "rod_tip_xy": [
+                  0.2663088872821416,
+                  -0.36339163577108596
+                ],
+                "target_mouth_xy": [
+                  0.2669198623042901,
+                  -0.36465167433249057
+                ],
+                "gripper_position": [
+                  0.2663166104213584,
+                  -0.3634638779005323,
+                  1.0019328454962453
+                ],
+                "rod_tip_xy_dist": 0.0014003526891165588,
+                "target_xy_drift": 6.585767628396643e-08,
+                "depth": 0.01881280237037053,
+                "bottom_clearance": 0.08062774688772689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006032972141699622,
+                  0.0011877919827104622
+                ],
+                "rod_tip_xy": [
+                  0.26631661042135846,
+                  -0.3634638779005323
+                ],
+                "target_mouth_xy": [
+                  0.2669199076355284,
+                  -0.36465166988324277
+                ],
+                "gripper_position": [
+                  0.26630515675037786,
+                  -0.36347104064825503,
+                  1.0017912354332732
+                ],
+                "rod_tip_xy_dist": 0.001332222700158081,
+                "target_xy_drift": 2.973540014433805e-08,
+                "depth": 0.019327097492254697,
+                "bottom_clearance": 0.08011356459991192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000614675093184025,
+                  0.001180661585797993
+                ],
+                "rod_tip_xy": [
+                  0.2663051567503779,
+                  -0.36347104064825503
+                ],
+                "target_mouth_xy": [
+                  0.26691983184356194,
+                  -0.364651702234053
+                ],
+                "gripper_position": [
+                  0.2662968421802834,
+                  -0.36347216895331447,
+                  1.0016679264659436
+                ],
+                "rod_tip_xy_dist": 0.0013310849899085412,
+                "target_xy_drift": 1.0640784339750218e-07,
+                "depth": 0.019468532601555677,
+                "bottom_clearance": 0.07997198794001747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006230675686708653,
+                  0.0011795018616380104
+                ],
+                "rod_tip_xy": [
+                  0.26629684218028343,
+                  -0.3634721689533145
+                ],
+                "target_mouth_xy": [
+                  0.2669199097489543,
+                  -0.36465167081495253
+                ],
+                "gripper_position": [
+                  0.2662882941414324,
+                  -0.3634733263043297,
+                  1.0015445155275489
+                ],
+                "rod_tip_xy_dist": 0.0013339557101856702,
+                "target_xy_drift": 2.977712550312788e-08,
+                "depth": 0.0195920158885462,
+                "bottom_clearance": 0.07984869214958612,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000600395092185736,
+              "rod_tip_xy_max_step": 3.257921877630057e-05,
+              "rod_tip_xy_range": 0.0006003857289258737,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26581594481490484,
+            -0.3647642552687355,
+            1.0435245063511274
+          ],
+          "object_origin_world": [
+            0.26581594481490484,
+            -0.3647642552687355,
+            1.0435245063511274
+          ],
+          "frame_world": [
+            0.26581456102434875,
+            -0.36477008602602484,
+            1.0434117811051657
+          ],
+          "center_minus_frame": [
+            1.383790556086506e-06,
+            5.8307572893268045e-06,
+            0.00011272524596162015
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26186990307289887,
+              0.16219854897357486,
+              0.833354531304556
+            ],
+            "target_position": [
+              0.2774327130521782,
+              0.20698529341812727,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04741364289308303,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16586283762936244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833354531304556,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675391766176,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1349605086335954,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed888ee0a317352a551301f7c67107f7bc15a059b791522fb7bfb20e79983a53",
+    "visual_seed": 6031317135504935939,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd8a89bc38d656788bb5d30f7a8a6b07d64a73e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_46_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20311488463238697,
+              -0.10620782856903394,
+              1.1637339096020967
+            ],
+            "current_z": 1.1637339096020967,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3026273419826859,
+            "gripper_z": 1.1575328746075038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19855519641898636,
+              -0.11076882532743994,
+              1.1575328746075038
+            ],
+            "object_minus_gripper": [
+              0.004559688213400609,
+              0.004560996758406002,
+              0.006201034994592902
+            ],
+            "object_to_gripper_xy": 0.006449298259005742,
+            "object_to_gripper_z": 0.006201034994592902,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20311488463238697,
+              -0.12988005215825424,
+              1.1637339096020967
+            ],
+            "finger_b": [
+              0.19259847356047421,
+              -0.10620782856903394,
+              1.1637339096020967
+            ],
+            "finger_midpoint": [
+              0.1978566790964306,
+              -0.11804394036364409,
+              1.1637339096020967
+            ],
+            "object_minus_finger_midpoint": [
+              0.005258205535956378,
+              0.011836111794610152,
+              0.0
+            ],
+            "finger_gap": 0.025903070696183635,
+            "fingertip_max_gap": 0.09242777029847232,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012951535348091818,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637339096020967,
+            "object_top_z": 1.21393487885627,
+            "finger_top_clearance": 0.05020096925417339,
+            "fingertip_min_top_clearance": 0.015060290776252016,
+            "object_projection_between_fingers": 0.8351713863835639,
+            "object_to_finger_line_xy": 0.009610707439683936,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048713885149236164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6014859174811924,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2716009960992879,
+              -0.37075589061589986,
+              0.8515396127630019
+            ],
+            "target_position": [
+              0.26360782117723663,
+              -0.3716833158745244,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008046798303974319,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18498041771963222,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396127630019,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587204493235365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658250622414841,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15199257156158683,
+            "release_required_pad_clearance": 0.05329125311207421,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6012832469912441,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00800466537475586,
+            "max_z_decrease": 0.00800466537475586,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512473818258321,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00800466537475586,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021148207490256976,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00800466537475586,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008004698730373723,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11930774897336958,
+              -0.4279447793960571,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11930774897336958,
+              -0.4279447793960571,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12048928171509157,
+              -0.42850026125607205,
+              0.8075133745202
+            ],
+            "closest_button": [
+              0.11929629743099211,
+              -0.42793998122215265,
+              0.7724133729934692
+            ],
+            "closest_ee_minus_button": [
+              0.0011929842840994603,
+              -0.0005602800339193914,
+              0.03510000152673076
+            ],
+            "button_min_z_position": [
+              0.11928485333919522,
+              -0.42794165015220637,
+              0.7688041925430298
+            ],
+            "min_active_finger_to_button": 0.14497970514446326,
+            "closest_active_finger": [
+              -0.020491868257522583,
+              -0.41092848777770996,
+              0.8110644221305847
+            ],
+            "closest_active_finger_button": [
+              0.11930872499942778,
+              -0.4279424250125885,
+              0.7766342759132385
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13980059325695038,
+              0.01701393723487854,
+              0.03443014621734619
+            ],
+            "min_contact_pad_to_button": 0.021148207490256976,
+            "closest_contact_pad": [
+              0.11928485333919522,
+              -0.42970201364061594,
+              0.7898790069061419
+            ],
+            "closest_contact_pad_button": [
+              0.11928485333919522,
+              -0.42794165015220637,
+              0.7688041925430298
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017603634884095776,
+              0.021074814363112093
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2742113441705067,
+              0.2013816069795942,
+              1.1043200210119002
+            ],
+            "current_z": 1.1043200210119002,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19441089127753763,
+            "gripper_z": 1.104320265456592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.274211386840934,
+              0.20138155453055284,
+              1.104320265456592
+            ],
+            "object_minus_gripper": [
+              -4.267042730266013e-08,
+              5.2449041360036475e-08,
+              -2.444446918214993e-07
+            ],
+            "object_to_gripper_xy": 6.761410581955824e-08,
+            "object_to_gripper_z": -2.444446918214993e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2742113441705067,
+              0.2013816069795942,
+              1.1043200210119002
+            ],
+            "finger_b": [
+              0.2742113441705067,
+              0.2013816069795942,
+              1.1043200210119002
+            ],
+            "finger_midpoint": [
+              0.2742113441705067,
+              0.2013816069795942,
+              1.1043200210119002
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1043200210119002,
+            "object_top_z": 1.22932852763218,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27421134417050674,
+            0.20138160697959423,
+            1.1043200210119004
+          ],
+          "object_origin_world": [
+            0.27421134417050674,
+            0.20138160697959423,
+            1.1043200210119004
+          ],
+          "frame_world": [
+            0.274211386840934,
+            0.20138155453055284,
+            1.104320265456592
+          ],
+          "center_minus_frame": [
+            -4.267042724714898e-08,
+            5.244904138779205e-08,
+            -2.444446915994547e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432784683127219,
+            "required_z": 0.9112598498856834,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020695183445462078,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.86074701794396e-08,
+            "max_target_xy_drift": 6.302586124984791e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.60128324706682,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6012832476090526,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2700933146247174,
+              -0.36933305040155073,
+              0.9233934494187414
+            ],
+            "target_mouth_xy": [
+              0.2716009662856733,
+              -0.37075595280076135
+            ],
+            "rod_tip_z": 0.9233934494187414,
+            "rod_tip_depth": -0.02213367705057334,
+            "rod_tip_bottom_clearance": 0.12157423280053248,
+            "rod_tip_xy_dist": 0.0020730809845402568,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044945473101703715,
+            "min_rod_tip_bottom_clearance": 0.05449504278652151,
+            "min_rod_tip_xy_dist": 0.0005479866404979266,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2716009340846235,
+              -0.370755892219598
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.220104982659677e-08,
+              -6.058116336360442e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0009194980909317807,
+                0.0031693296896324608
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00103590762463035,
+                0.0028220671399476482
+              ],
+              "first_target_mouth_xy": [
+                0.27160099790347897,
+                -0.3707557989232224
+              ],
+              "last_target_mouth_xy": [
+                0.2716009357047237,
+                -0.3707558354297787
+              ],
+              "first_rod_tip_xy": [
+                0.2706814998125472,
+                -0.36758646923358995
+              ],
+              "last_rod_tip_xy": [
+                0.27056502808009336,
+                -0.36793376828983104
+              ],
+              "min_rod_tip_xy_dist": 0.003000787873981591,
+              "max_rod_tip_xy_dist": 0.003300019306127311,
+              "first_target_xy_drift": 1.1303565813024005e-07,
+              "last_target_xy_drift": 5.6812923704869385e-08,
+              "max_depth": 0.019571630362419712,
+              "min_bottom_clearance": 0.07986895830975682
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0009194980909317807,
+                  0.0031693296896324608
+                ],
+                "rod_tip_xy": [
+                  0.2706814998125472,
+                  -0.36758646923358995
+                ],
+                "target_mouth_xy": [
+                  0.27160099790347897,
+                  -0.3707557989232224
+                ],
+                "gripper_position": [
+                  0.27067057547408646,
+                  -0.36759473317057767,
+                  1.0056253430663775
+                ],
+                "rod_tip_xy_dist": 0.003300019306127311,
+                "target_xy_drift": 1.1303565813024005e-07,
+                "depth": 0.015489465774624733,
+                "bottom_clearance": 0.08395129373305754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009303580386242905,
+                  0.0031611317722424204
+                ],
+                "rod_tip_xy": [
+                  0.27067057547408624,
+                  -0.36759473317057767
+                ],
+                "target_mouth_xy": [
+                  0.27160093351271053,
+                  -0.3707558649428201
+                ],
+                "gripper_position": [
+                  0.2706627748534449,
+                  -0.3675965874225719,
+                  1.0054980209275124
+                ],
+                "rod_tip_xy_dist": 0.003295196528511364,
+                "target_xy_drift": 2.7282772890627818e-08,
+                "depth": 0.015634555605379075,
+                "bottom_clearance": 0.08380606565935034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009381610470085011,
+                  0.0031592156598894694
+                ],
+                "rod_tip_xy": [
+                  0.2706627748534447,
+                  -0.36759658742257195
+                ],
+                "target_mouth_xy": [
+                  0.2716009359004532,
+                  -0.3707558030824614
+                ],
+                "gripper_position": [
+                  0.27066671749989496,
+                  -0.36766710640442823,
+                  1.0049726625845083
+                ],
+                "rod_tip_xy_dist": 0.003295571230578235,
+                "target_xy_drift": 8.915562995002894e-08,
+                "depth": 0.015761797801108424,
+                "bottom_clearance": 0.08367871877672028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009341866966569023,
+                  0.003088726821646348
+                ],
+                "rod_tip_xy": [
+                  0.27066671749989474,
+                  -0.36766710640442823
+                ],
+                "target_mouth_xy": [
+                  0.27160090419655164,
+                  -0.3707558332260746
+                ],
+                "gripper_position": [
+                  0.270655770034208,
+                  -0.3676752434854199,
+                  1.0048272296034895
+                ],
+                "rod_tip_xy_dist": 0.003226908452833499,
+                "target_xy_drift": 6.613268966301134e-08,
+                "depth": 0.016287185706912566,
+                "bottom_clearance": 0.0831533469523208,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000945166237462991,
+                  0.0030805900302151024
+                ],
+                "rod_tip_xy": [
+                  0.2706557700342078,
+                  -0.36767524348542
+                ],
+                "target_mouth_xy": [
+                  0.2716009362716708,
+                  -0.3707558335156351
+                ],
+                "gripper_position": [
+                  0.270647787524812,
+                  -0.3676771294581741,
+                  1.0047000427097708
+                ],
+                "rod_tip_xy_dist": 0.003222324339774107,
+                "target_xy_drift": 5.8744688535676984e-08,
+                "depth": 0.016432599240843948,
+                "bottom_clearance": 0.08300794553219293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009531153474955367,
+                  0.003078703148851114
+                ],
+                "rod_tip_xy": [
+                  0.2706477875248118,
+                  -0.3676771294581742
+                ],
+                "target_mouth_xy": [
+                  0.2716009028723073,
+                  -0.3707558326070253
+                ],
+                "gripper_position": [
+                  0.27065249848324474,
+                  -0.3677484498987412,
+                  1.0041765098319504
+                ],
+                "rod_tip_xy_dist": 0.003222862383716888,
+                "target_xy_drift": 6.728943081746772e-08,
+                "depth": 0.016559851016376914,
+                "bottom_clearance": 0.08288074307637028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009484373373172539,
+                  0.003007382984895668
+                ],
+                "rod_tip_xy": [
+                  0.2706524984832445,
+                  -0.3677484498987412
+                ],
+                "target_mouth_xy": [
+                  0.2716009358205618,
+                  -0.3707558328836369
+                ],
+                "gripper_position": [
+                  0.2706413869154105,
+                  -0.36775674004459585,
+                  1.004031555157686
+                ],
+                "rod_tip_xy_dist": 0.003153392744435336,
+                "target_xy_drift": 5.9361349041879784e-08,
+                "depth": 0.017083308320398616,
+                "bottom_clearance": 0.08235720530620128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009595492631076508,
+                  0.002999092522462332
+                ],
+                "rod_tip_xy": [
+                  0.27064138691541034,
+                  -0.3677567400445958
+                ],
+                "target_mouth_xy": [
+                  0.271600936178518,
+                  -0.37075583256705813
+                ],
+                "gripper_position": [
+                  0.27063327616014393,
+                  -0.36775847908596243,
+                  1.0039042967006064
+                ],
+                "rod_tip_xy_dist": 0.0031488554661368486,
+                "target_xy_drift": 5.968927797354301e-08,
+                "depth": 0.017228330997001495,
+                "bottom_clearance": 0.08221220768662063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009676592683853791,
+                  0.0029973538109570597
+                ],
+                "rod_tip_xy": [
+                  0.27063327616014377,
+                  -0.3677584790859625
+                ],
+                "target_mouth_xy": [
+                  0.27160093542852914,
+                  -0.37075583289691955
+                ],
+                "gripper_position": [
+                  0.2706387787863185,
+                  -0.3678306001600965,
+                  1.0033835278832237
+                ],
+                "rod_tip_xy_dist": 0.003149681623236059,
+                "target_xy_drift": 5.933789901279788e-08,
+                "depth": 0.01735551828244264,
+                "bottom_clearance": 0.08208498016740318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009621265074449825,
+                  0.0029252000689564683
+                ],
+                "rod_tip_xy": [
+                  0.27063877878631826,
+                  -0.3678306001600965
+                ],
+                "target_mouth_xy": [
+                  0.27160090529376324,
+                  -0.37075580022905297
+                ],
+                "gripper_position": [
+                  0.27062749302873795,
+                  -0.36783876295454737,
+                  1.0032384960582532
+                ],
+                "rod_tip_xy_dist": 0.003079364034951244,
+                "target_xy_drift": 9.639073610117521e-08,
+                "depth": 0.01787639603239899,
+                "bottom_clearance": 0.08156419538991833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000973412502530635,
+                  0.0029170692983868096
+                ],
+                "rod_tip_xy": [
+                  0.2706274930287378,
+                  -0.3678387629545474
+                ],
+                "target_mouth_xy": [
+                  0.2716009055312684,
+                  -0.37075583225293424
+                ],
+                "gripper_position": [
+                  0.27061926173234263,
+                  -0.3678404144815261,
+                  1.0031121054088838
+                ],
+                "rod_tip_xy_dist": 0.003075195146925454,
+                "target_xy_drift": 6.641757934843416e-08,
+                "depth": 0.0180213298568056,
+                "bottom_clearance": 0.08141918872423426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.000981675117965819,
+                  0.0029154186933791904
+                ],
+                "rod_tip_xy": [
+                  0.27061926173234246,
+                  -0.36784041448152616
+                ],
+                "target_mouth_xy": [
+                  0.2716009368503083,
+                  -0.37075583317490535
+                ],
+                "gripper_position": [
+                  0.270610896528973,
+                  -0.3678423408520636,
+                  1.0029849895946514
+                ],
+                "rod_tip_xy_dist": 0.003076256197870722,
+                "target_xy_drift": 5.910943021847826e-08,
+                "depth": 0.018147781930587414,
+                "bottom_clearance": 0.08129277387075218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009900403948687186,
+                  0.0029134916931180532
+                ],
+                "rod_tip_xy": [
+                  0.27061089652897286,
+                  -0.3678423408520637
+                ],
+                "target_mouth_xy": [
+                  0.2716009369238416,
+                  -0.37075583254518174
+                ],
+                "gripper_position": [
+                  0.27060270924455265,
+                  -0.36784409350062186,
+                  1.0028581710364013
+                ],
+                "rod_tip_xy_dist": 0.003077111279973428,
+                "target_xy_drift": 5.974192090248195e-08,
+                "depth": 0.018274842922256007,
+                "bottom_clearance": 0.08116572449595771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.000998227595615464,
+                  0.0029117086202072318
+                ],
+                "rod_tip_xy": [
+                  0.27060270924455243,
+                  -0.36784409350062186
+                ],
+                "target_mouth_xy": [
+                  0.2716009368401679,
+                  -0.3707558021208291
+                ],
+                "gripper_position": [
+                  0.2706101759279418,
+                  -0.3679192632617525,
+                  1.0023392450049182
+                ],
+                "rod_tip_xy_dist": 0.0030780684562948454,
+                "target_xy_drift": 9.014089627063279e-08,
+                "depth": 0.018401672100137656,
+                "bottom_clearance": 0.08103891506439154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009907283039556347,
+                  0.0028365696521561734
+                ],
+                "rod_tip_xy": [
+                  0.2706101759279416,
+                  -0.3679192632617525
+                ],
+                "target_mouth_xy": [
+                  0.27160090423189726,
+                  -0.3707558329139087
+                ],
+                "gripper_position": [
+                  0.2705988697717944,
+                  -0.3679273009289779,
+                  1.0021942320573907
+                ],
+                "rod_tip_xy_dist": 0.003004608121501405,
+                "target_xy_drift": 6.639540682532218e-08,
+                "depth": 0.01892054175582447,
+                "bottom_clearance": 0.08051998804397886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001002067114522942,
+                  0.00282853130840488
+                ],
+                "rod_tip_xy": [
+                  0.2705988697717942,
+                  -0.36792730092897796
+                ],
+                "target_mouth_xy": [
+                  0.27160093688631715,
+                  -0.37075583223738284
+                ],
+                "gripper_position": [
+                  0.27059038108656563,
+                  -0.3679289564244873,
+                  1.002067797440728
+                ],
+                "rod_tip_xy_dist": 0.003000787873981591,
+                "target_xy_drift": 6.004761127927871e-08,
+                "depth": 0.019065665347901883,
+                "bottom_clearance": 0.08037491198642199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010105554094901326,
+                  0.0028268466480413923
+                ],
+                "rod_tip_xy": [
+                  0.27059038108656547,
+                  -0.3679289564244873
+                ],
+                "target_mouth_xy": [
+                  0.2716009364960556,
+                  -0.3707558030725287
+                ],
+                "gripper_position": [
+                  0.27058197099203746,
+                  -0.36793048124181793,
+                  1.0019411584876343
+                ],
+                "rod_tip_xy_dist": 0.003002046669722612,
+                "target_xy_drift": 8.917967799002769e-08,
+                "depth": 0.019191966314249687,
+                "bottom_clearance": 0.08024857294669241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010189643712527618,
+                  0.002825352604854281
+                ],
+                "rod_tip_xy": [
+                  0.27058197099203724,
+                  -0.36793048124181793
+                ],
+                "target_mouth_xy": [
+                  0.27160093536329,
+                  -0.3707558338466722
+                ],
+                "gripper_position": [
+                  0.2705734260744427,
+                  -0.3679322583661789,
+                  1.0018147022525312
+                ],
+                "rod_tip_xy_dist": 0.0030034822675753235,
+                "target_xy_drift": 5.838692876902757e-08,
+                "depth": 0.019318608897219924,
+                "bottom_clearance": 0.08012191149813819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010275092449444911,
+                  0.00282357293507296
+                ],
+                "rod_tip_xy": [
+                  0.2705734260744425,
+                  -0.3679322583661788
+                ],
+                "target_mouth_xy": [
+                  0.271600935319387,
+                  -0.3707558313012518
+                ],
+                "gripper_position": [
+                  0.27056502808009353,
+                  -0.36793376828983093,
+                  1.0016882274188088
+                ],
+                "rod_tip_xy_dist": 0.0030047195157157226,
+                "target_xy_drift": 6.093085872344607e-08,
+                "depth": 0.01944514076260162,
+                "bottom_clearance": 0.07999541229789131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00103590762463035,
+                  0.0028220671399476482
+                ],
+                "rod_tip_xy": [
+                  0.27056502808009336,
+                  -0.36793376828983104
+                ],
+                "target_mouth_xy": [
+                  0.2716009357047237,
+                  -0.3707558354297787
+                ],
+                "gripper_position": [
+                  0.2705566618637457,
+                  -0.36793514287188306,
+                  1.0015614785260287
+                ],
+                "rod_tip_xy_dist": 0.0030061882092010796,
+                "target_xy_drift": 5.6812923704869385e-08,
+                "depth": 0.019571630362419712,
+                "bottom_clearance": 0.07986895830975682,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000602815332490165,
+              "rod_tip_xy_max_step": 3.2611861939150605e-05,
+              "rod_tip_xy_range": 0.0006028099983978288,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2700933146247175,
+            -0.36933305040155073,
+            1.0433934494187413
+          ],
+          "object_origin_world": [
+            0.2700933146247175,
+            -0.36933305040155073,
+            1.0433934494187413
+          ],
+          "frame_world": [
+            0.27009196422960774,
+            -0.3693396834149441,
+            1.0432784683127219
+          ],
+          "center_minus_frame": [
+            1.3503951097337819e-06,
+            6.633013393375631e-06,
+            0.00011498110601948497
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25804914628626757,
+              0.15722554048411333,
+              0.8331909558663098
+            ],
+            "target_position": [
+              0.2743694820928746,
+              0.2018353788445716,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047501484601921995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16415526703247987,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331909558663098,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674488011215,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13458802432286407,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 332,
+            "max_placed_release_frames": 332
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d8dbbe3d3b8a28367d0aab8a122f2e4ba4cdbb8c4d906b0e16aaf83fa19bb40",
+    "visual_seed": 1364723735885124677,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1814ce2e270204665e093352b713eeac79558876
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_47_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19957519311168348,
+              -0.1052639709553192,
+              1.1636240339988673
+            ],
+            "current_z": 1.1636240339988673,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30251764519339075,
+            "gripper_z": 1.1576201655283538,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19487174282055184,
+              -0.10990519322571353,
+              1.1576201655283538
+            ],
+            "object_minus_gripper": [
+              0.0047034502911316445,
+              0.004641222270394332,
+              0.006003868470513485
+            ],
+            "object_to_gripper_xy": 0.006607827843122933,
+            "object_to_gripper_z": 0.006003868470513485,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19957519311168348,
+              -0.12906900672354993,
+              1.1636240339988673
+            ],
+            "finger_b": [
+              0.18894822531253194,
+              -0.1052639709553192,
+              1.1636240339988673
+            ],
+            "finger_midpoint": [
+              0.19426170921210772,
+              -0.11716648883943456,
+              1.1636240339988673
+            ],
+            "object_minus_finger_midpoint": [
+              0.005313483899575755,
+              0.011902517884115366,
+              0.0
+            ],
+            "finger_gap": 0.0260693723079584,
+            "fingertip_max_gap": 0.09254682786997157,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034686153979192,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636240339988673,
+            "object_top_z": 1.2137979903086198,
+            "finger_top_clearance": 0.05017395630975252,
+            "fingertip_min_top_clearance": 0.015052186892925756,
+            "object_projection_between_fingers": 0.8338281020134891,
+            "object_to_finger_line_xy": 0.009703929407207507,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048773413934985785,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8397686865079566,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2726118619323693,
+              -0.3628557364071031,
+              0.8515395438829078
+            ],
+            "target_position": [
+              0.2654528023190334,
+              -0.3631518789745196,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007165182130799836,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18233313896019518,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395438829078,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752647463601864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862452757044903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508085663906953,
+            "release_required_pad_clearance": 0.05312263785224515,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.271627954133822,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007879555225372314,
+            "max_z_decrease": 0.007879555225372314,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510334633023621,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007879555225372314,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021146654416553126,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007879555225372314,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007879581297767954,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12115272879600525,
+              -0.41941332817077637,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12115272879600525,
+              -0.41941332817077637,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12041745602902917,
+              -0.4200475035776745,
+              0.8075106347200184
+            ],
+            "closest_button": [
+              0.1211407780647278,
+              -0.4194103479385376,
+              0.7724205255508423
+            ],
+            "closest_ee_minus_button": [
+              -0.0007233220356986231,
+              -0.0006371556391369104,
+              0.0350901091691761
+            ],
+            "button_min_z_position": [
+              0.12113282084465028,
+              -0.4194095134735107,
+              0.7689293026924133
+            ],
+            "min_active_finger_to_button": 0.1468070121542134,
+            "closest_active_finger": [
+              -0.020493581891059875,
+              -0.4019525349140167,
+              0.8108952641487122
+            ],
+            "closest_active_finger_button": [
+              0.12115284055471422,
+              -0.41941294074058527,
+              0.7764899730682373
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14164642244577408,
+              0.017460405826568548,
+              0.034405291080474854
+            ],
+            "min_contact_pad_to_button": 0.021146654416553126,
+            "closest_contact_pad": [
+              0.12113282084465028,
+              -0.4213475231760974,
+              0.7899869642768772
+            ],
+            "closest_contact_pad_button": [
+              0.12113282084465028,
+              -0.4194095134735107,
+              0.7689293026924133
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019380097025867293,
+              0.02105766158446387
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2808059381162419,
+              0.2025664745954582,
+              1.1031738946820173
+            ],
+            "current_z": 1.1031738946820173,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19326476494765477,
+            "gripper_z": 1.1031738537669704,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.280805883357928,
+              0.2025664512391861,
+              1.1031738537669704
+            ],
+            "object_minus_gripper": [
+              5.475831388324082e-08,
+              2.3356272110808263e-08,
+              4.0915046906064845e-08
+            ],
+            "object_to_gripper_xy": 5.953140672157549e-08,
+            "object_to_gripper_z": 4.0915046906064845e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2808059381162419,
+              0.2025664745954582,
+              1.1031738946820173
+            ],
+            "finger_b": [
+              0.2808059381162419,
+              0.2025664745954582,
+              1.1031738946820173
+            ],
+            "finger_midpoint": [
+              0.2808059381162419,
+              0.2025664745954582,
+              1.1031738946820173
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1031738946820173,
+            "object_top_z": 1.228182401302297,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2808059381162419,
+            0.2025664745954582,
+            1.1031738946820173
+          ],
+          "object_origin_world": [
+            0.2808059381162419,
+            0.2025664745954582,
+            1.1031738946820173
+          ],
+          "frame_world": [
+            0.280805883357928,
+            0.2025664512391861,
+            1.1031738537669704
+          ],
+          "center_minus_frame": [
+            5.475831388324082e-08,
+            2.3356272110808263e-08,
+            4.0915046906064845e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432919082305896,
+            "required_z": 0.9112599373691587,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007283545315327758,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.477316392162308e-08,
+            "max_target_xy_drift": 9.332815667609012e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.2716279558378747,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.271627956039953,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27333092223491706,
+              -0.36297419050044494,
+              0.9234065486231172
+            ],
+            "target_mouth_xy": [
+              0.2726119200175916,
+              -0.3628557117105635
+            ],
+            "rod_tip_z": 0.9234065486231172,
+            "rod_tip_depth": -0.022146682033601484,
+            "rod_tip_bottom_clearance": 0.12158729066647866,
+            "rod_tip_xy_dist": 0.000728698437057945,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044833636833774615,
+            "min_rod_tip_bottom_clearance": 0.05460695043063424,
+            "min_rod_tip_xy_dist": 0.00012639186174102397,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27261198027043076,
+              -0.3628557354836184
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.025283916244462e-08,
+              2.3773054858011733e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.001227723166714323,
+                0.0017114598274676207
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0011360590746223864,
+                0.0012963524620862032
+              ],
+              "first_target_mouth_xy": [
+                0.27261189036939326,
+                -0.3628557377021998
+              ],
+              "last_target_mouth_xy": [
+                0.2726118896356995,
+                -0.3628557678518646
+              ],
+              "first_rod_tip_xy": [
+                0.2738396135361076,
+                -0.3611442778747322
+              ],
+              "last_rod_tip_xy": [
+                0.2737479487103219,
+                -0.36155941538977837
+              ],
+              "min_rod_tip_xy_dist": 0.001723705290062322,
+              "max_rod_tip_xy_dist": 0.002106276077612463,
+              "first_target_xy_drift": 8.992840845765352e-08,
+              "last_target_xy_drift": 9.624114439843653e-08,
+              "max_depth": 0.019500778186285483,
+              "min_bottom_clearance": 0.07993973028354007
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001227723166714323,
+                  0.0017114598274676207
+                ],
+                "rod_tip_xy": [
+                  0.2738396135361076,
+                  -0.3611442778747322
+                ],
+                "target_mouth_xy": [
+                  0.27261189036939326,
+                  -0.3628557377021998
+                ],
+                "gripper_position": [
+                  0.27384564996459376,
+                  -0.36121391486832943,
+                  1.0057035521741648
+                ],
+                "rod_tip_xy_dist": 0.002106276077612463,
+                "target_xy_drift": 8.992840845765352e-08,
+                "depth": 0.015032996013413569,
+                "bottom_clearance": 0.08440755280385492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001233726809476976,
+                  0.00164179108233381
+                ],
+                "rod_tip_xy": [
+                  0.2738456499645938,
+                  -0.3612139148683294
+                ],
+                "target_mouth_xy": [
+                  0.27261192315511684,
+                  -0.3628557059506632
+                ],
+                "gripper_position": [
+                  0.27383460618149336,
+                  -0.3612219346191489,
+                  1.0055585599761754
+                ],
+                "rod_tip_xy_dist": 0.0020536698367685743,
+                "target_xy_drift": 6.429894654583591e-08,
+                "depth": 0.01555645882160206,
+                "bottom_clearance": 0.08388427376310614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012227161758218696,
+                  0.0016338027690290802
+                ],
+                "rod_tip_xy": [
+                  0.2738346061814934,
+                  -0.3612219346191489
+                ],
+                "target_mouth_xy": [
+                  0.27261189000567154,
+                  -0.362855737388178
+                ],
+                "gripper_position": [
+                  0.27382641790843576,
+                  -0.36122378083396856,
+                  1.0054316494808524
+                ],
+                "rod_tip_xy_dist": 0.002040673010235483,
+                "target_xy_drift": 9.028484980815356e-08,
+                "depth": 0.015701276925137342,
+                "bottom_clearance": 0.08373926967238121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0012144950955201295,
+                  0.0016319263915869908
+                ],
+                "rod_tip_xy": [
+                  0.2738264179084358,
+                  -0.3612237808339686
+                ],
+                "target_mouth_xy": [
+                  0.2726119228129157,
+                  -0.3628557072255556
+                ],
+                "gripper_position": [
+                  0.27383345577897467,
+                  -0.36129431986540766,
+                  1.0049087678150483
+                ],
+                "rod_tip_xy_dist": 0.0020342522175484006,
+                "target_xy_drift": 6.403033773976756e-08,
+                "depth": 0.01582827631029804,
+                "bottom_clearance": 0.08361239672827125,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00122156647080357,
+                  0.0015613893111004473
+                ],
+                "rod_tip_xy": [
+                  0.2738334557789747,
+                  -0.36129431986540766
+                ],
+                "target_mouth_xy": [
+                  0.27261188930817115,
+                  -0.3628557091765081
+                ],
+                "gripper_position": [
+                  0.2738223928375242,
+                  -0.3613024439553596,
+                  1.0047643631080088
+                ],
+                "rod_tip_xy_dist": 0.001982463422969064,
+                "target_xy_drift": 9.46900032983371e-08,
+                "depth": 0.01635105569005668,
+                "bottom_clearance": 0.083089447607548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001210469674237491,
+                  0.0015532620041547873
+                ],
+                "rod_tip_xy": [
+                  0.27382239283752424,
+                  -0.36130244395535965
+                ],
+                "target_mouth_xy": [
+                  0.27261192316328675,
+                  -0.36285570595951444
+                ],
+                "gripper_position": [
+                  0.2738141515068957,
+                  -0.36130406433006823,
+                  1.0046373363368857
+                ],
+                "rod_tip_xy_dist": 0.0019692281954612483,
+                "target_xy_drift": 6.428762408752923e-08,
+                "depth": 0.016495588185404753,
+                "bottom_clearance": 0.08294514438350276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012022644554540718,
+                  0.0015516759374692435
+                ],
+                "rod_tip_xy": [
+                  0.27381415150689575,
+                  -0.3613040643300683
+                ],
+                "target_mouth_xy": [
+                  0.2726118870514417,
+                  -0.36285574026753753
+                ],
+                "gripper_position": [
+                  0.2738219021040431,
+                  -0.3613759677025518,
+                  1.004116139721386
+                ],
+                "rod_tip_xy_dist": 0.001962941169716844,
+                "target_xy_drift": 9.334166169598665e-08,
+                "depth": 0.01662257895937136,
+                "bottom_clearance": 0.0828180564407831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012099798973445597,
+                  0.0014797388911102494
+                ],
+                "rod_tip_xy": [
+                  0.27382190210404317,
+                  -0.3613759677025518
+                ],
+                "target_mouth_xy": [
+                  0.2726119222066986,
+                  -0.36285570659366206
+                ],
+                "gripper_position": [
+                  0.2738106300553546,
+                  -0.3613839040555181,
+                  1.003971171981364
+                ],
+                "rod_tip_xy_dist": 0.0019114597923686864,
+                "target_xy_drift": 6.48538862967513e-08,
+                "depth": 0.017143792869846908,
+                "bottom_clearance": 0.08229688042880035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011987416864047695,
+                  0.0014718362041026833
+                ],
+                "rod_tip_xy": [
+                  0.27381063005535466,
+                  -0.36138390405551807
+                ],
+                "target_mouth_xy": [
+                  0.2726118883689499,
+                  -0.36285574025962075
+                ],
+                "gripper_position": [
+                  0.2738023068529627,
+                  -0.36138540955763016,
+                  1.0038446708340292
+                ],
+                "rod_tip_xy_dist": 0.001898231661950655,
+                "target_xy_drift": 9.20254985572605e-08,
+                "depth": 0.0172887035221867,
+                "bottom_clearance": 0.08215188197477885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001190385597988286,
+                  0.0014702957932328231
+                ],
+                "rod_tip_xy": [
+                  0.27380230685296275,
+                  -0.36138540955763016
+                ],
+                "target_mouth_xy": [
+                  0.27261192125497447,
+                  -0.362855705350863
+                ],
+                "gripper_position": [
+                  0.27379392395797675,
+                  -0.3613868377970431,
+                  1.0037176341153196
+                ],
+                "rod_tip_xy_dist": 0.0018917683768093984,
+                "target_xy_drift": 6.626316495886741e-08,
+                "depth": 0.017415276965420223,
+                "bottom_clearance": 0.08202540593201368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011820062758604588,
+                  0.0014688739491467984
+                ],
+                "rod_tip_xy": [
+                  0.2737939239579768,
+                  -0.3613868377970431
+                ],
+                "target_mouth_xy": [
+                  0.27261191768211634,
+                  -0.3628557117461899
+                ],
+                "gripper_position": [
+                  0.27380327445593405,
+                  -0.3614606916166266,
+                  1.0031975337793577
+                ],
+                "rod_tip_xy_dist": 0.0018853990332700456,
+                "target_xy_drift": 6.693849872969765e-08,
+                "depth": 0.017542279982118547,
+                "bottom_clearance": 0.08189837103935504,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001191290314414728,
+                  0.0013949820089411147
+                ],
+                "rod_tip_xy": [
+                  0.27380327445593416,
+                  -0.3614606916166267
+                ],
+                "target_mouth_xy": [
+                  0.27261198414151944,
+                  -0.3628556736255678
+                ],
+                "gripper_position": [
+                  0.27379182942681307,
+                  -0.3614689183437526,
+                  1.0030527217047265
+                ],
+                "rod_tip_xy_dist": 0.0018344338141474958,
+                "target_xy_drift": 6.1979058946636e-08,
+                "depth": 0.01806247364434388,
+                "bottom_clearance": 0.08137840339372959,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001179940454228312,
+                  0.0013868510955373226
+                ],
+                "rod_tip_xy": [
+                  0.2737918294268131,
+                  -0.36146891834375255
+                ],
+                "target_mouth_xy": [
+                  0.2726118889725848,
+                  -0.3628557694392899
+                ],
+                "gripper_position": [
+                  0.27378321066534045,
+                  -0.3614704736077395,
+                  1.00292626190104
+                ],
+                "rod_tip_xy_dist": 0.001820883147463776,
+                "target_xy_drift": 9.740782464412666e-08,
+                "depth": 0.018207124096004668,
+                "bottom_clearance": 0.08123341590425914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011712894813823427,
+                  0.0013852292095448138
+                ],
+                "rod_tip_xy": [
+                  0.2737832106653405,
+                  -0.3614704736077395
+                ],
+                "target_mouth_xy": [
+                  0.27261192118395816,
+                  -0.3628557028172843
+                ],
+                "gripper_position": [
+                  0.27377481123643155,
+                  -0.36147171098471903,
+                  1.0027994633171375
+                ],
+                "rod_tip_xy_dist": 0.0018140504436682755,
+                "target_xy_drift": 6.751518812162268e-08,
+                "depth": 0.01833373110055636,
+                "bottom_clearance": 0.0811070418683385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011628904015798525,
+                  0.001384060658673969
+                ],
+                "rod_tip_xy": [
+                  0.2737748112364316,
+                  -0.36147171098471903
+                ],
+                "target_mouth_xy": [
+                  0.27261192083485175,
+                  -0.362855771643393
+                ],
+                "gripper_position": [
+                  0.27378540286723374,
+                  -0.3615476999686972,
+                  1.0022833336969865
+                ],
+                "rod_tip_xy_dist": 0.0018077438958479632,
+                "target_xy_drift": 6.95709519356135e-08,
+                "depth": 0.018460475508431773,
+                "bottom_clearance": 0.08098017663310253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011735121826517148,
+                  0.0013080393390118572
+                ],
+                "rod_tip_xy": [
+                  0.27378540286723385,
+                  -0.36154769996869723
+                ],
+                "target_mouth_xy": [
+                  0.27261189068458214,
+                  -0.3628557393077091
+                ],
+                "gripper_position": [
+                  0.27377387973819245,
+                  -0.3615556582759427,
+                  1.0021385106039364
+                ],
+                "rod_tip_xy_dist": 0.0017572984252068765,
+                "target_xy_drift": 8.966742967328517e-08,
+                "depth": 0.0189764382451566,
+                "bottom_clearance": 0.08046411197687109,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011619565776427865,
+                  0.0013001409332831781
+                ],
+                "rod_tip_xy": [
+                  0.2737738797381925,
+                  -0.36155565827594266
+                ],
+                "target_mouth_xy": [
+                  0.2726119231605497,
+                  -0.36285579920922584
+                ],
+                "gripper_position": [
+                  0.27376538741689666,
+                  -0.36155685659715076,
+                  1.0020121496341412
+                ],
+                "rod_tip_xy_dist": 0.001743705690397835,
+                "target_xy_drift": 8.55715581193921e-08,
+                "depth": 0.019121408135055806,
+                "bottom_clearance": 0.08031925734178069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00115349745273019,
+                  0.0012989125137070068
+                ],
+                "rod_tip_xy": [
+                  0.2737653874168967,
+                  -0.3615568565971508
+                ],
+                "target_mouth_xy": [
+                  0.2726118899641665,
+                  -0.3628557691108578
+                ],
+                "gripper_position": [
+                  0.27375675000236166,
+                  -0.36155807517460614,
+                  1.001885640236878
+                ],
+                "rod_tip_xy_dist": 0.0017371615042130343,
+                "target_xy_drift": 9.6363958998948e-08,
+                "depth": 0.019247675902263173,
+                "bottom_clearance": 0.08019284607022359,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011448281030437824,
+                  0.0012976926487008877
+                ],
+                "rod_tip_xy": [
+                  0.2737567500023617,
+                  -0.3615580751746061
+                ],
+                "target_mouth_xy": [
+                  0.27261192189931793,
+                  -0.362855767823307
+                ],
+                "gripper_position": [
+                  0.2737479487103218,
+                  -0.3615594153897784,
+                  1.0017590439835922
+                ],
+                "rod_tip_xy_dist": 0.0017305021225098658,
+                "target_xy_drift": 6.673111921436016e-08,
+                "depth": 0.019374320313696347,
+                "bottom_clearance": 0.08006628195751142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0011360590746223864,
+                  0.0012963524620862032
+                ],
+                "rod_tip_xy": [
+                  0.2737479487103219,
+                  -0.36155941538977837
+                ],
+                "target_mouth_xy": [
+                  0.2726118896356995,
+                  -0.3628557678518646
+                ],
+                "gripper_position": [
+                  0.2737392329288856,
+                  -0.3615607675366253,
+                  1.0016327115717072
+                ],
+                "rod_tip_xy_dist": 0.001723705290062322,
+                "target_xy_drift": 9.624114439843653e-08,
+                "depth": 0.019500778186285483,
+                "bottom_clearance": 0.07993973028354007,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000602058557291728,
+              "rod_tip_xy_max_step": 3.264280115040229e-05,
+              "rod_tip_xy_range": 0.0006020507276135741,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27333092223491706,
+            -0.36297419050044494,
+            1.0434065486231174
+          ],
+          "object_origin_world": [
+            0.27333092223491706,
+            -0.36297419050044494,
+            1.0434065486231174
+          ],
+          "frame_world": [
+            0.2733294889361393,
+            -0.3629805923365174,
+            1.0432919082305896
+          ],
+          "center_minus_frame": [
+            1.433298777775427e-06,
+            6.40183607247824e-06,
+            0.00011464039252784275
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2681724246898238,
+              0.15536689971562823,
+              0.832080054648485
+            ],
+            "target_position": [
+              0.28096903092186054,
+              0.20231666175613855,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04866244226010801,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.168259890074866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832080054648485,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673328628353,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13677288250486402,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ccbd8ca9e745b71003b81684a88f84fa1ac3053a1198cf2dd87bcee92fa36baf",
+    "visual_seed": 9002660762701515423,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4428ae319a2deb67006b86da4e1932fcf00a7779
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2037674163325786,
+              -0.1060598012255014,
+              1.164412931195221
+            ],
+            "current_z": 1.164412931195221,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3033063039711653,
+            "gripper_z": 1.158261937757148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1993131774010815,
+              -0.11057592216991144,
+              1.158261937757148
+            ],
+            "object_minus_gripper": [
+              0.004454238931497101,
+              0.004516120944410035,
+              0.006150993438073016
+            ],
+            "object_to_gripper_xy": 0.0063431532255971415,
+            "object_to_gripper_z": 0.006150993438073016,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2037674163325786,
+              -0.12969026754288687,
+              1.164412931195221
+            ],
+            "finger_b": [
+              0.1933549073904916,
+              -0.1060598012255014,
+              1.164412931195221
+            ],
+            "finger_midpoint": [
+              0.1985611618615351,
+              -0.11787503438419414,
+              1.164412931195221
+            ],
+            "object_minus_finger_midpoint": [
+              0.005206254471043503,
+              0.011815233158692734,
+              0.0
+            ],
+            "finger_gap": 0.02582284416647653,
+            "fingertip_max_gap": 0.0923604242999706,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012911422083238266,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164412931195221,
+            "object_top_z": 1.2146606031945488,
+            "finger_top_clearance": 0.05024767199932789,
+            "fingertip_min_top_clearance": 0.015074301599798334,
+            "object_projection_between_fingers": 0.8374067073593513,
+            "object_to_finger_line_xy": 0.009528479521821608,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486802121499853,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5627818654919143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27622556901754786,
+              -0.36484597184776835,
+              0.8515395691878377
+            ],
+            "target_position": [
+              0.2689212971515721,
+              -0.3653937679252994,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073247845043143385,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539397180511868,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691878377,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754942617103164,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08723129095324332,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15339694723910474,
+            "release_required_pad_clearance": 0.05361564547662166,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2416464585712594,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007718145847320557,
+            "max_z_decrease": 0.007718145847320557,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035102876237800215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007718145847320557,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021090794975526735,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007718145847320557,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007718163873022083,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12462121993303296,
+              -0.4216552376747132,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12462121993303296,
+              -0.4216552376747132,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12354455081101626,
+              -0.4218212569330995,
+              0.8077770511596466
+            ],
+            "closest_button": [
+              0.1246104836463928,
+              -0.4216515719890595,
+              0.7726907730102539
+            ],
+            "closest_ee_minus_button": [
+              -0.0010659328353765374,
+              -0.0001696849440400161,
+              0.03508627814939269
+            ],
+            "button_min_z_position": [
+              0.1246048584580421,
+              -0.42165198922157293,
+              0.7690907120704651
+            ],
+            "min_active_finger_to_button": 0.1471891772470474,
+            "closest_active_finger": [
+              -0.003913283348083496,
+              -0.4846101403236389,
+              0.8106903433799744
+            ],
+            "closest_active_finger_button": [
+              0.12462144345045088,
+              -0.4216548502445221,
+              0.7763376235961914
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285347267985344,
+              -0.06295529007911682,
+              0.03435271978378296
+            ],
+            "min_contact_pad_to_button": 0.021090794975526735,
+            "closest_contact_pad": [
+              0.1246048584580421,
+              -0.42293471022756124,
+              0.7901424640051735
+            ],
+            "closest_contact_pad_button": [
+              0.1246048584580421,
+              -0.42165198922157293,
+              0.7690907120704651
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012827210059883076,
+              0.02105175193470843
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2738350049098334,
+              0.20342962515194465,
+              1.1008430994438339
+            ],
+            "current_z": 1.1008430994438339,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1909339697094713,
+            "gripper_z": 1.1008432539926247,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27383502773934465,
+              0.20342959603461924,
+              1.1008432539926247
+            ],
+            "object_minus_gripper": [
+              -2.2829511225896937e-08,
+              2.9117325411887052e-08,
+              -1.5454879087606344e-07
+            ],
+            "object_to_gripper_xy": 3.7000070566893214e-08,
+            "object_to_gripper_z": -1.5454879087606344e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2738350049098334,
+              0.20342962515194465,
+              1.1008430994438339
+            ],
+            "finger_b": [
+              0.2738350049098334,
+              0.20342962515194465,
+              1.1008430994438339
+            ],
+            "finger_midpoint": [
+              0.2738350049098334,
+              0.20342962515194465,
+              1.1008430994438339
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1008430994438339,
+            "object_top_z": 1.2258516060641136,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2738350049098335,
+            0.20342962515194468,
+            1.1008430994438339
+          ],
+          "object_origin_world": [
+            0.2738350049098335,
+            0.20342962515194468,
+            1.1008430994438339
+          ],
+          "frame_world": [
+            0.27383502773934465,
+            0.20342959603461924,
+            1.1008432539926247
+          ],
+          "center_minus_frame": [
+            -2.2829511170385786e-08,
+            2.9117325439642627e-08,
+            -1.5454879087606344e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0435940677115525,
+            "required_z": 0.9112598256114596,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014071008264828601,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.861006303154615e-08,
+            "max_target_xy_drift": 1.627938340085393e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.2416464577638044,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.241646458593052,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27746983632670186,
+              -0.3642417791585746,
+              0.9232885933397742
+            ],
+            "target_mouth_xy": [
+              0.2762255710218494,
+              -0.3648460022537877
+            ],
+            "rod_tip_z": 0.9232885933397742,
+            "rod_tip_depth": -0.022028688263764473,
+            "rod_tip_bottom_clearance": 0.12146928542505553,
+            "rod_tip_xy_dist": 0.0013832142631018806,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045092858176702055,
+            "min_rod_tip_bottom_clearance": 0.05434772398417409,
+            "min_rod_tip_xy_dist": 0.0002706371217967634,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2762256296278064,
+              -0.3648460029475423
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.860595697626536e-08,
+              6.937546093155333e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00170632650935032,
+                0.0023309033689499215
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016104293596757024,
+                0.0019935958378591856
+              ],
+              "first_target_mouth_xy": [
+                0.2762256004413162,
+                -0.3648460012997782
+              ],
+              "last_target_mouth_xy": [
+                0.2762256015596761,
+                -0.3648460034933452
+              ],
+              "first_rod_tip_xy": [
+                0.27793192695066654,
+                -0.36251509793082826
+              ],
+              "last_rod_tip_xy": [
+                0.27783603091935183,
+                -0.362852407655486
+              ],
+              "min_rod_tip_xy_dist": 0.0025627928295582072,
+              "max_rod_tip_xy_dist": 0.002888712632279947,
+              "first_target_xy_drift": 2.923296658019346e-08,
+              "last_target_xy_drift": 2.8073436506612033e-08,
+              "max_depth": 0.019375173698347514,
+              "min_bottom_clearance": 0.08006541822336188
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00170632650935032,
+                  0.0023309033689499215
+                ],
+                "rod_tip_xy": [
+                  0.27793192695066654,
+                  -0.36251509793082826
+                ],
+                "target_mouth_xy": [
+                  0.2762256004413162,
+                  -0.3648460012997782
+                ],
+                "gripper_position": [
+                  0.2779211241605333,
+                  -0.3625233004271387,
+                  1.0058603214528203
+                ],
+                "rod_tip_xy_dist": 0.002888712632279947,
+                "target_xy_drift": 2.923296658019346e-08,
+                "depth": 0.015251823053371583,
+                "bottom_clearance": 0.08418879541284374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016955534643779413,
+                  0.0023227015123028494
+                ],
+                "rod_tip_xy": [
+                  0.27792112416053305,
+                  -0.36252330042713876
+                ],
+                "target_mouth_xy": [
+                  0.2762255706961551,
+                  -0.3648460019394416
+                ],
+                "gripper_position": [
+                  0.2779129828218674,
+                  -0.36252532683131633,
+                  1.0057309350801755
+                ],
+                "rod_tip_xy_dist": 0.0028757336221941665,
+                "target_xy_drift": 5.8940273071726235e-08,
+                "depth": 0.01539952735876604,
+                "bottom_clearance": 0.08404106942706091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016873527659651555,
+                  0.0023206782903080203
+                ],
+                "rod_tip_xy": [
+                  0.27791298282186716,
+                  -0.36252532683131633
+                ],
+                "target_mouth_xy": [
+                  0.276225630055902,
+                  -0.36484600512162435
+                ],
+                "gripper_position": [
+                  0.27792272844181387,
+                  -0.3625938301404799,
+                  1.0052038509075731
+                ],
+                "rod_tip_xy_dist": 0.0028692694338310607,
+                "target_xy_drift": 2.2158290793402517e-09,
+                "depth": 0.015528857668730578,
+                "bottom_clearance": 0.08391173788265671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0016971284692912092,
+                  0.0022522028838474206
+                ],
+                "rod_tip_xy": [
+                  0.2779227284418137,
+                  -0.36259383014047997
+                ],
+                "target_mouth_xy": [
+                  0.2762255999725225,
+                  -0.3648460330243274
+                ],
+                "gripper_position": [
+                  0.2779118466226432,
+                  -0.3626019279032186,
+                  1.005056362965546
+                ],
+                "rod_tip_xy_dist": 0.0028200466079994777,
+                "target_xy_drift": 4.2238002587731073e-08,
+                "depth": 0.016055970789154883,
+                "bottom_clearance": 0.08338455879483997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016862764375102923,
+                  0.0022440740532144177
+                ],
+                "rod_tip_xy": [
+                  0.277911846622643,
+                  -0.36260192790321866
+                ],
+                "target_mouth_xy": [
+                  0.2762255701851327,
+                  -0.3648460019564331
+                ],
+                "gripper_position": [
+                  0.27790356760949864,
+                  -0.36260369506380774,
+                  1.0049268470305817
+                ],
+                "rod_tip_xy_dist": 0.0028070262877309482,
+                "target_xy_drift": 5.94509356599613e-08,
+                "depth": 0.016203481821751575,
+                "bottom_clearance": 0.0832370953949697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001677967684210524,
+                  0.002242310054812624
+                ],
+                "rod_tip_xy": [
+                  0.27790356760949847,
+                  -0.36260369506380774
+                ],
+                "target_mouth_xy": [
+                  0.27622559992528795,
+                  -0.36484600511862036
+                ],
+                "gripper_position": [
+                  0.2779141750081362,
+                  -0.3626732113629181,
+                  1.0044010744575307
+                ],
+                "rod_tip_xy_dist": 0.0028006302739148952,
+                "target_xy_drift": 2.9781759212948263e-08,
+                "depth": 0.0163330024267182,
+                "bottom_clearance": 0.08310757994341345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016886076390439375,
+                  0.0021727617681098765
+                ],
+                "rod_tip_xy": [
+                  0.27791417500813603,
+                  -0.3626732113629181
+                ],
+                "target_mouth_xy": [
+                  0.2762255673690921,
+                  -0.36484597313102796
+                ],
+                "gripper_position": [
+                  0.27790306536571063,
+                  -0.3626813769082547,
+                  1.0042533352456238
+                ],
+                "rod_tip_xy_dist": 0.0027517793261083814,
+                "target_xy_drift": 6.903022551588219e-08,
+                "depth": 0.01685879760583675,
+                "bottom_clearance": 0.08258176990012012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016774656307700364,
+                  0.0021646263169700086
+                ],
+                "rod_tip_xy": [
+                  0.2779030653657104,
+                  -0.36268137690825475
+                ],
+                "target_mouth_xy": [
+                  0.2762255997349404,
+                  -0.36484600322522476
+                ],
+                "gripper_position": [
+                  0.27789472668600756,
+                  -0.3626828965544876,
+                  1.0041241542183035
+                ],
+                "rod_tip_xy_dist": 0.002738521140056045,
+                "target_xy_drift": 2.989415571938259e-08,
+                "depth": 0.017006484665401445,
+                "bottom_clearance": 0.08243403599525534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016691589424691067,
+                  0.002163108614303355
+                ],
+                "rod_tip_xy": [
+                  0.2778947266860074,
+                  -0.3626828965544876
+                ],
+                "target_mouth_xy": [
+                  0.2762255677435383,
+                  -0.36484600516879095
+                ],
+                "gripper_position": [
+                  0.2779061785055659,
+                  -0.3627532273178143,
+                  1.0036017377608872
+                ],
+                "rod_tip_xy_dist": 0.0027322390913860316,
+                "target_xy_drift": 6.192411956259191e-08,
+                "depth": 0.017135729948779654,
+                "bottom_clearance": 0.08230486822492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016806393564137156,
+                  0.00209277625454507
+                ],
+                "rod_tip_xy": [
+                  0.27790617850556576,
+                  -0.36275322731781423
+                ],
+                "target_mouth_xy": [
+                  0.27622553914915204,
+                  -0.3648460035723593
+                ],
+                "gripper_position": [
+                  0.2778949882949214,
+                  -0.3627612422457573,
+                  1.0034544321559804
+                ],
+                "rod_tip_xy_dist": 0.0026840754642733873,
+                "target_xy_drift": 9.048081171503498e-08,
+                "depth": 0.01765808004381808,
+                "bottom_clearance": 0.0817824140081661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016693890318754678,
+                  0.002084731197250611
+                ],
+                "rod_tip_xy": [
+                  0.2778949882949212,
+                  -0.36276124224575734
+                ],
+                "target_mouth_xy": [
+                  0.27622559926304574,
+                  -0.36484597344300795
+                ],
+                "gripper_position": [
+                  0.2778865614879692,
+                  -0.3627626584572138,
+                  1.0033251349756793
+                ],
+                "rod_tip_xy_dist": 0.0026707609223844946,
+                "target_xy_drift": 4.2338354217122045e-08,
+                "depth": 0.017805383959690224,
+                "bottom_clearance": 0.08163511846798299,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016609322945963512,
+                  0.0020833768214949533
+                ],
+                "rod_tip_xy": [
+                  0.27788656148796903,
+                  -0.3627626584572139
+                ],
+                "target_mouth_xy": [
+                  0.2762256291933727,
+                  -0.36484603527870885
+                ],
+                "gripper_position": [
+                  0.27787795217176164,
+                  -0.36276446077677416,
+                  1.0031958770072793
+                ],
+                "rod_tip_xy_dist": 0.0026644239654333383,
+                "target_xy_drift": 3.2334085131782426e-08,
+                "depth": 0.01793471612482389,
+                "bottom_clearance": 0.08150585718821557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001652354278834478,
+                  0.002081543452783885
+                ],
+                "rod_tip_xy": [
+                  0.2778779521717614,
+                  -0.36276446077677427
+                ],
+                "target_mouth_xy": [
+                  0.27622559789292694,
+                  -0.36484600422955815
+                ],
+                "gripper_position": [
+                  0.2778908718468597,
+                  -0.362836799367732,
+                  1.0026766880288072
+                ],
+                "rod_tip_xy_dist": 0.0026576489250106127,
+                "target_xy_drift": 3.1760764129118056e-08,
+                "depth": 0.018063978945991654,
+                "bottom_clearance": 0.08137657144184629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016652713990407686,
+                  0.0020091737358448603
+                ],
+                "rod_tip_xy": [
+                  0.2778908718468595,
+                  -0.36283679936773205
+                ],
+                "target_mouth_xy": [
+                  0.27622560044781874,
+                  -0.3648459731035769
+                ],
+                "gripper_position": [
+                  0.27787956612530706,
+                  -0.36284459086446275,
+                  1.0025292350154105
+                ],
+                "rod_tip_xy_dist": 0.002609580030056942,
+                "target_xy_drift": 4.173887816601508e-08,
+                "depth": 0.018583202468348547,
+                "bottom_clearance": 0.08085735648698766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016539676820203075,
+                  0.0020014425333851893
+                ],
+                "rod_tip_xy": [
+                  0.2778795661253069,
+                  -0.36284459086446275
+                ],
+                "target_mouth_xy": [
+                  0.2762255984432866,
+                  -0.36484603339784794
+                ],
+                "gripper_position": [
+                  0.27787076370907565,
+                  -0.3628463217358433,
+                  1.0024002359733153
+                ],
+                "rod_tip_xy_dist": 0.002596417013426571,
+                "target_xy_drift": 4.3585495143512255e-08,
+                "depth": 0.01873053287312587,
+                "bottom_clearance": 0.08070997354439091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001645163691742113,
+                  0.0019996814953924247
+                ],
+                "rod_tip_xy": [
+                  0.2778707637090755,
+                  -0.3628463217358433
+                ],
+                "target_mouth_xy": [
+                  0.2762256000173334,
+                  -0.3648460032312357
+                ],
+                "gripper_position": [
+                  0.27786206937363594,
+                  -0.3628477228104696,
+                  1.0022713888030736
+                ],
+                "rod_tip_xy_dist": 0.002589457405643395,
+                "target_xy_drift": 2.9611831998280814e-08,
+                "depth": 0.01885958588159764,
+                "bottom_clearance": 0.08058094501953716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016364695132043416,
+                  0.0019982804269081944
+                ],
+                "rod_tip_xy": [
+                  0.2778620693736357,
+                  -0.3628477228104696
+                ],
+                "target_mouth_xy": [
+                  0.2762255998604314,
+                  -0.3648460032373778
+                ],
+                "gripper_position": [
+                  0.27785338479156607,
+                  -0.36284940436358165,
+                  1.0021425623102702
+                ],
+                "rod_tip_xy_dist": 0.0025828583260046707,
+                "target_xy_drift": 2.976878599404352e-08,
+                "depth": 0.018988431799589645,
+                "bottom_clearance": 0.08045209305902579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00162778575853334,
+                  0.001996599211689043
+                ],
+                "rod_tip_xy": [
+                  0.2778533847915659,
+                  -0.3628494043635817
+                ],
+                "target_mouth_xy": [
+                  0.27622559903303257,
+                  -0.36484600357527075
+                ],
+                "gripper_position": [
+                  0.2778447686545792,
+                  -0.3628508624818243,
+                  1.002013438050506
+                ],
+                "rod_tip_xy_dist": 0.002576061895180562,
+                "target_xy_drift": 3.0601212858458884e-08,
+                "depth": 0.019117252360302817,
+                "bottom_clearance": 0.08032324170772986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0016192303867998414,
+                  0.0019951100030123903
+                ],
+                "rod_tip_xy": [
+                  0.27784476865457897,
+                  -0.3628508624818243
+                ],
+                "target_mouth_xy": [
+                  0.2762255382677791,
+                  -0.3648459724848367
+                ],
+                "gripper_position": [
+                  0.277836030919352,
+                  -0.36285240765548593,
+                  1.0018847210242028
+                ],
+                "rod_tip_xy_dist": 0.0025695079236414246,
+                "target_xy_drift": 9.630488573601487e-08,
+                "depth": 0.019246482520149155,
+                "bottom_clearance": 0.0801940791434198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016104293596757024,
+                  0.0019935958378591856
+                ],
+                "rod_tip_xy": [
+                  0.27783603091935183,
+                  -0.362852407655486
+                ],
+                "target_mouth_xy": [
+                  0.2762256015596761,
+                  -0.3648460034933452
+                ],
+                "gripper_position": [
+                  0.277852859658543,
+                  -0.3629297344965107,
+                  1.0013693956553813
+                ],
+                "rod_tip_xy_dist": 0.0025627928295582072,
+                "target_xy_drift": 2.8073436506612033e-08,
+                "depth": 0.019375173698347514,
+                "bottom_clearance": 0.08006541822336188,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006020525073363236,
+              "rod_tip_xy_max_step": 3.266599584200459e-05,
+              "rod_tip_xy_range": 0.0006020467052768793,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2774698363267019,
+            -0.3642417791585746,
+            1.0432885933397744
+          ],
+          "object_origin_world": [
+            0.2774698363267019,
+            -0.3642417791585746,
+            1.0432885933397744
+          ],
+          "frame_world": [
+            0.2774949112909827,
+            -0.3642387889329149,
+            1.0435940677115525
+          ],
+          "center_minus_frame": [
+            -2.5074964280780154e-05,
+            -2.990225659693646e-06,
+            -0.00030547437177808057
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2576763540963956,
+              0.16004183246906112,
+              0.8315655536122653
+            ],
+            "target_position": [
+              0.27398404798797704,
+              0.20524396420494384,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048053861380014176,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16558449071210865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315655536122653,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673587675481,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362389875141302,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "04b12928e0b17ec4d88ffa581098e6ff62438215fa5f674637da3d212daece97",
+    "visual_seed": 4359378376245279333,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9031ceb0960b51470747ab85da9c83bf149cbe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_50_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19685998353897458,
+              -0.10602458024296335,
+              1.1624744847382327
+            ],
+            "current_z": 1.1624744847382327,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3013680363281115,
+            "gripper_z": 1.156446269296937,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19227200110025788,
+              -0.11059963589925473,
+              1.156446269296937
+            ],
+            "object_minus_gripper": [
+              0.004587982438716692,
+              0.004575055656291377,
+              0.006028215441295615
+            ],
+            "object_to_gripper_xy": 0.006479252820822513,
+            "object_to_gripper_z": 0.006028215441295615,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19685998353897458,
+              -0.1298709983247206,
+              1.1624744847382327
+            ],
+            "finger_b": [
+              0.1864696499303618,
+              -0.10602458024296335,
+              1.1624744847382327
+            ],
+            "finger_midpoint": [
+              0.19166481673466818,
+              -0.11794778928384198,
+              1.1624744847382327
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051951668043064,
+              0.011923209040878624,
+              0.0
+            ],
+            "finger_gap": 0.0260117413455583,
+            "fingertip_max_gap": 0.09178888222808776,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013005870672779156,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624744847382327,
+            "object_top_z": 1.212527865363629,
+            "finger_top_clearance": 0.05005338062539644,
+            "fingertip_min_top_clearance": 0.01501601418761893,
+            "object_projection_between_fingers": 0.8404414319188586,
+            "object_to_finger_line_xy": 0.00952539993183588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839444111404388,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3751678472945896,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2738259782596823,
+              -0.3626815458298571,
+              0.8515395561078352
+            ],
+            "target_position": [
+              0.26623119422583347,
+              -0.3631263675280006,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007607799344353425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18575114737665266,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395561078352,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524433852080337,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590504240571241,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15432578788674128,
+            "release_required_pad_clearance": 0.052952521202856206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9412762789096766,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007777750492095947,
+            "max_z_decrease": 0.007777750492095947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351813194367989,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007777750492095947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021253014816142855,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007777750492095947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00777777981192229,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12193112075328824,
+              -0.41938781738281244,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12193112075328824,
+              -0.41938781738281244,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1236718594934613,
+              -0.4211691189676392,
+              0.8076156163920156
+            ],
+            "closest_button": [
+              0.1219206005334854,
+              -0.4193840324878692,
+              0.7725232839584351
+            ],
+            "closest_ee_minus_button": [
+              0.001751258959975896,
+              -0.0017850864797699928,
+              0.035092332433580564
+            ],
+            "button_min_z_position": [
+              0.12191010266542433,
+              -0.4193840324878692,
+              0.7690311074256897
+            ],
+            "min_active_finger_to_button": 0.14434536635709513,
+            "closest_active_finger": [
+              -0.017655618488788605,
+              -0.4066978096961975,
+              0.8108214735984802
+            ],
+            "closest_active_finger_button": [
+              0.12193178385496137,
+              -0.41938558220863337,
+              0.7763256430625916
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13958740234374997,
+              0.012687772512435858,
+              0.03449583053588867
+            ],
+            "min_contact_pad_to_button": 0.021253014816142855,
+            "closest_contact_pad": [
+              0.12191010266542433,
+              -0.42209916290363964,
+              0.7901099761239986
+            ],
+            "closest_contact_pad_button": [
+              0.12191010266542433,
+              -0.4193840324878692,
+              0.7690311074256897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002715130415770428,
+              0.021078868698308884
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2796071894138304,
+              0.204643803674002,
+              1.1043740821433063
+            ],
+            "current_z": 1.1043740821433063,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1944649524089438,
+            "gripper_z": 1.1043739400819308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2796070997970405,
+              0.2046437891414071,
+              1.1043739400819308
+            ],
+            "object_minus_gripper": [
+              8.961678987784438e-08,
+              1.453259490524772e-08,
+              1.4206137555206055e-07
+            ],
+            "object_to_gripper_xy": 9.078747348995754e-08,
+            "object_to_gripper_z": 1.4206137555206055e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2796071894138304,
+              0.204643803674002,
+              1.1043740821433063
+            ],
+            "finger_b": [
+              0.2796071894138304,
+              0.204643803674002,
+              1.1043740821433063
+            ],
+            "finger_midpoint": [
+              0.2796071894138304,
+              0.204643803674002,
+              1.1043740821433063
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1043740821433063,
+            "object_top_z": 1.229382588763586,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27960718941383045,
+            0.20464380367400203,
+            1.1043740821433063
+          ],
+          "object_origin_world": [
+            0.27960718941383045,
+            0.20464380367400203,
+            1.1043740821433063
+          ],
+          "frame_world": [
+            0.2796070997970405,
+            0.2046437891414071,
+            1.1043739400819308
+          ],
+          "center_minus_frame": [
+            8.961678993335553e-08,
+            1.4532594933003296e-08,
+            1.4206137555206055e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043372286126365,
+            "required_z": 0.9112598517389174,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002307581527715945,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.426362804342929e-08,
+            "max_target_xy_drift": 1.5393061207241187e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9412762795454919,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.941276279596605,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2716701919075031,
+              -0.3618559667795652,
+              0.9234865095393477
+            ],
+            "target_mouth_xy": [
+              0.27382591729786254,
+              -0.3626815737497128
+            ],
+            "rod_tip_z": 0.9234865095393477,
+            "rod_tip_depth": -0.022226669510323482,
+            "rod_tip_bottom_clearance": 0.1216672074738947,
+            "rod_tip_xy_dist": 0.0023084147867739836,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04477618556648688,
+            "min_rod_tip_bottom_clearance": 0.05466441810738221,
+            "min_rod_tip_xy_dist": 0.0006750806893659917,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2738258881221315,
+              -0.36268160703703
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9175731053321385e-08,
+              3.3287317180441534e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0015249122701463946,
+                0.002613307004289911
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016367903825061925,
+                0.0021945307159710326
+              ],
+              "first_target_mouth_xy": [
+                0.27382595262163245,
+                -0.3626815772069119
+              ],
+              "last_target_mouth_xy": [
+                0.27382588783681205,
+                -0.36268160671919564
+              ],
+              "first_rod_tip_xy": [
+                0.27230104035148606,
+                -0.360068270202622
+              ],
+              "last_rod_tip_xy": [
+                0.27218909745430586,
+                -0.3604870760032246
+              ],
+              "min_rod_tip_xy_dist": 0.0027377084979239665,
+              "max_rod_tip_xy_dist": 0.0030269164674048814,
+              "first_target_xy_drift": 7.106350378454521e-08,
+              "last_target_xy_drift": 4.271134118177695e-10,
+              "max_depth": 0.019687932137028463,
+              "min_bottom_clearance": 0.07975261978610693
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0015249122701463946,
+                  0.002613307004289911
+                ],
+                "rod_tip_xy": [
+                  0.27230104035148606,
+                  -0.360068270202622
+                ],
+                "target_mouth_xy": [
+                  0.27382595262163245,
+                  -0.3626815772069119
+                ],
+                "gripper_position": [
+                  0.27228991554256377,
+                  -0.3600764621243196,
+                  1.0058761533283
+                ],
+                "rod_tip_xy_dist": 0.003025678590054426,
+                "target_xy_drift": 7.106350378454521e-08,
+                "depth": 0.015239758247906687,
+                "bottom_clearance": 0.08420100600481462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015360352004501476,
+                  0.002605112880370797
+                ],
+                "rod_tip_xy": [
+                  0.2722899155425637,
+                  -0.36007646212431965
+                ],
+                "target_mouth_xy": [
+                  0.27382595074301386,
+                  -0.36268157500469045
+                ],
+                "gripper_position": [
+                  0.27228192601760814,
+                  -0.36007799085873954,
+                  1.0057501903938642
+                ],
+                "rod_tip_xy_dist": 0.0030242382936031603,
+                "target_xy_drift": 7.033808133719145e-08,
+                "depth": 0.015383745206632882,
+                "bottom_clearance": 0.08405687216424462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015439320979663829,
+                  0.002603554681107345
+                ],
+                "rod_tip_xy": [
+                  0.2722819260176081,
+                  -0.3600779908587395
+                ],
+                "target_mouth_xy": [
+                  0.27382585811557447,
+                  -0.36268154553984683
+                ],
+                "gripper_position": [
+                  0.27228384371520387,
+                  -0.3601480766461669,
+                  1.0052264547893317
+                ],
+                "rod_tip_xy_dist": 0.0030269164674048814,
+                "target_xy_drift": 6.842731182049944e-08,
+                "depth": 0.015509626121297693,
+                "bottom_clearance": 0.08393087374028885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015420778511243682,
+                  0.002533498031262571
+                ],
+                "rod_tip_xy": [
+                  0.27228384371520375,
+                  -0.360148076646167
+                ],
+                "target_mouth_xy": [
+                  0.2738259215663281,
+                  -0.36268157467742956
+                ],
+                "gripper_position": [
+                  0.2722727684139089,
+                  -0.36015584818484025,
+                  1.0050823637264092
+                ],
+                "rod_tip_xy_dist": 0.0029659090298489723,
+                "target_xy_drift": 4.653663104898143e-08,
+                "depth": 0.01603351405571274,
+                "bottom_clearance": 0.08340713894237661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015530901241826434,
+                  0.0025257261973167244
+                ],
+                "rod_tip_xy": [
+                  0.27227276841390885,
+                  -0.36015584818484025
+                ],
+                "target_mouth_xy": [
+                  0.2738258585380915,
+                  -0.362681574382157
+                ],
+                "gripper_position": [
+                  0.27226455578981945,
+                  -0.36015754862047933,
+                  1.0049563863555244
+                ],
+                "rod_tip_xy_dist": 0.0029650264345610243,
+                "target_xy_drift": 4.406309288873781e-08,
+                "depth": 0.01617746488765659,
+                "bottom_clearance": 0.08326306904591407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001561397626612726,
+                  0.0025239946501498522
+                ],
+                "rod_tip_xy": [
+                  0.2722645557898194,
+                  -0.36015754862047944
+                ],
+                "target_mouth_xy": [
+                  0.2738259534164321,
+                  -0.3626815432706293
+                ],
+                "gripper_position": [
+                  0.27226716170127996,
+                  -0.36022908930698905,
+                  1.0044336509944494
+                ],
+                "rod_tip_xy_dist": 0.002967913668282305,
+                "target_xy_drift": 9.1266092034917e-08,
+                "depth": 0.016303627150681232,
+                "bottom_clearance": 0.0831371618990292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00155869681380566,
+                  0.0024524571757633673
+                ],
+                "rod_tip_xy": [
+                  0.2722671617012799,
+                  -0.36022908930698916
+                ],
+                "target_mouth_xy": [
+                  0.27382585851508556,
+                  -0.3626815464827525
+                ],
+                "gripper_position": [
+                  0.27225592437334256,
+                  -0.36023689618287047,
+                  1.004289871007673
+                ],
+                "rod_tip_xy_dist": 0.002905870257998651,
+                "target_xy_drift": 6.740473047001594e-08,
+                "depth": 0.016826245137346096,
+                "bottom_clearance": 0.08261430339972609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015699342384791204,
+                  0.0024446781928340044
+                ],
+                "rod_tip_xy": [
+                  0.2722559243733425,
+                  -0.36023689618287047
+                ],
+                "target_mouth_xy": [
+                  0.2738258586118216,
+                  -0.3626815743757045
+                ],
+                "gripper_position": [
+                  0.27224761297499017,
+                  -0.3602384506088053,
+                  1.0041640470180915
+                ],
+                "rod_tip_xy_dist": 0.002905364861711374,
+                "target_xy_drift": 4.401841175861657e-08,
+                "depth": 0.01696995828889014,
+                "bottom_clearance": 0.08247057867312246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015783390868690517,
+                  0.002443093297679666
+                ],
+                "rod_tip_xy": [
+                  0.27224761297499006,
+                  -0.3602384506088053
+                ],
+                "target_mouth_xy": [
+                  0.2738259520618591,
+                  -0.362681543906485
+                ],
+                "gripper_position": [
+                  0.2722511035804951,
+                  -0.36031073758250376,
+                  1.0036438442844493
+                ],
+                "rod_tip_xy_dist": 0.0029085836990373746,
+                "target_xy_drift": 8.985407326509538e-08,
+                "depth": 0.01709594459809427,
+                "bottom_clearance": 0.08234476991837081,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015747542466181264,
+                  0.002370838382915741
+                ],
+                "rod_tip_xy": [
+                  0.272251103580495,
+                  -0.36031073758250376
+                ],
+                "target_mouth_xy": [
+                  0.2738258578271131,
+                  -0.3626815759654195
+                ],
+                "gripper_position": [
+                  0.27223964045370985,
+                  -0.36031857860364463,
+                  1.0035002742268533
+                ],
+                "rod_tip_xy_dist": 0.002846177361857189,
+                "target_xy_drift": 4.339623391837007e-08,
+                "depth": 0.017615983664528323,
+                "bottom_clearance": 0.08182453233530074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001586310473631447,
+                  0.002362997016557955
+                ],
+                "rod_tip_xy": [
+                  0.27223964045370974,
+                  -0.3603185786036447
+                ],
+                "target_mouth_xy": [
+                  0.2738259509273412,
+                  -0.36268157562020265
+                ],
+                "gripper_position": [
+                  0.2722313061574919,
+                  -0.3603197019804976,
+                  1.0033747644828694
+                ],
+                "rod_tip_xy_dist": 0.002846073755020172,
+                "target_xy_drift": 7.022472076764638e-08,
+                "depth": 0.017759634921141187,
+                "bottom_clearance": 0.0816810076007789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015945802236940754,
+                  0.0023618422906928616
+                ],
+                "rod_tip_xy": [
+                  0.2722313061574918,
+                  -0.3603197019804977
+                ],
+                "target_mouth_xy": [
+                  0.2738258863811859,
+                  -0.36268154427119054
+                ],
+                "gripper_position": [
+                  0.2722228738955532,
+                  -0.360321093724129,
+                  1.0032488325830526
+                ],
+                "rod_tip_xy_dist": 0.0028497342149578705,
+                "target_xy_drift": 6.278997926442551e-08,
+                "depth": 0.017885104243108407,
+                "bottom_clearance": 0.08155546588955176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016030458304084894,
+                  0.0023604511531697403
+                ],
+                "rod_tip_xy": [
+                  0.2722228738955531,
+                  -0.360321093724129
+                ],
+                "target_mouth_xy": [
+                  0.2738259197259616,
+                  -0.36268154487729876
+                ],
+                "gripper_position": [
+                  0.2722276283893369,
+                  -0.36039565681758196,
+                  1.0027311207293477
+                ],
+                "rod_tip_xy_dist": 0.0028533288595761967,
+                "target_xy_drift": 6.97325911374076e-08,
+                "depth": 0.018011062452938043,
+                "bottom_clearance": 0.08142952067354192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015982599179874546,
+                  0.0022858893409543057
+                ],
+                "rod_tip_xy": [
+                  0.27222762838933684,
+                  -0.360395656817582
+                ],
+                "target_mouth_xy": [
+                  0.2738258883073243,
+                  -0.3626815461585363
+                ],
+                "gripper_position": [
+                  0.27221610215811215,
+                  -0.36040337754782986,
+                  1.002587959411744
+                ],
+                "rod_tip_xy_dist": 0.0027892158117531485,
+                "target_xy_drift": 6.08787753688865e-08,
+                "depth": 0.018528709968985813,
+                "bottom_clearance": 0.0809118268032879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016098492956588273,
+                  0.0022781987078306365
+                ],
+                "rod_tip_xy": [
+                  0.27221610215811204,
+                  -0.3604033775478299
+                ],
+                "target_mouth_xy": [
+                  0.27382595145377087,
+                  -0.36268157625566055
+                ],
+                "gripper_position": [
+                  0.2722074995799033,
+                  -0.36040465524507304,
+                  1.0024623484629152
+                ],
+                "rod_tip_xy_dist": 0.0027895885193150627,
+                "target_xy_drift": 7.041583097307553e-08,
+                "depth": 0.01867196533666704,
+                "bottom_clearance": 0.08076872001095159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016183860824129925,
+                  0.0022768582821730554
+                ],
+                "rod_tip_xy": [
+                  0.27220749957990326,
+                  -0.36040465524507315
+                ],
+                "target_mouth_xy": [
+                  0.27382588566231625,
+                  -0.3626815135272462
+                ],
+                "gripper_position": [
+                  0.27219892604350426,
+                  -0.36040591914261316,
+                  1.0023365557067758
+                ],
+                "rod_tip_xy_dist": 0.002793431071075159,
+                "target_xy_drift": 9.354213146110898e-08,
+                "depth": 0.018797558758713584,
+                "bottom_clearance": 0.08064307251866765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001626995433815892,
+                  0.00227562572462936
+                ],
+                "rod_tip_xy": [
+                  0.27219892604350415,
+                  -0.3604059191426132
+                ],
+                "target_mouth_xy": [
+                  0.27382592147732004,
+                  -0.3626815448672426
+                ],
+                "gripper_position": [
+                  0.2721902662615461,
+                  -0.3604072935735574,
+                  1.0022108114648567
+                ],
+                "rod_tip_xy_dist": 0.0027974249909966595,
+                "target_xy_drift": 7.055247035063778e-08,
+                "depth": 0.01892335298957304,
+                "bottom_clearance": 0.08051729691803644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016355934618493273,
+                  0.0022742208744400694
+                ],
+                "rod_tip_xy": [
+                  0.272190266261546,
+                  -0.3604072935735575
+                ],
+                "target_mouth_xy": [
+                  0.27382585972339535,
+                  -0.36268151444799757
+                ],
+                "gripper_position": [
+                  0.2721817460771905,
+                  -0.3604085086367845,
+                  1.0020855811340095
+                ],
+                "rod_tip_xy_dist": 0.0028012937293656337,
+                "target_xy_drift": 9.684635843820485e-08,
+                "depth": 0.019049091792807893,
+                "bottom_clearance": 0.08039149904430487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001644110837754842,
+                  0.002273037535036604
+                ],
+                "rod_tip_xy": [
+                  0.27218174607719037,
+                  -0.3604085086367844
+                ],
+                "target_mouth_xy": [
+                  0.2738258569149452,
+                  -0.362681546171821
+                ],
+                "gripper_position": [
+                  0.272189097454306,
+                  -0.36048707600322466,
+                  1.0015719116137196
+                ],
+                "rod_tip_xy_dist": 0.002805316396150033,
+                "target_xy_drift": 6.839928464647738e-08,
+                "depth": 0.019174274525623036,
+                "bottom_clearance": 0.08026627634229888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016367903825061925,
+                  0.0021945307159710326
+                ],
+                "rod_tip_xy": [
+                  0.27218909745430586,
+                  -0.3604870760032246
+                ],
+                "target_mouth_xy": [
+                  0.27382588783681205,
+                  -0.36268160671919564
+                ],
+                "gripper_position": [
+                  0.2721773328220985,
+                  -0.36049493348228234,
+                  1.0014285942728405
+                ],
+                "rod_tip_xy_dist": 0.0027377084979239665,
+                "target_xy_drift": 4.271134118177695e-10,
+                "depth": 0.019687932137028463,
+                "bottom_clearance": 0.07975261978610693,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006008125979367375,
+              "rod_tip_xy_max_step": 3.2463873054381425e-05,
+              "rod_tip_xy_range": 0.000600801915618863,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27167019190750313,
+            -0.3618559667795652,
+            1.0434865095393477
+          ],
+          "object_origin_world": [
+            0.27167019190750313,
+            -0.3618559667795652,
+            1.0434865095393477
+          ],
+          "frame_world": [
+            0.27166872329134395,
+            -0.36186215534297783,
+            1.043372286126365
+          ],
+          "center_minus_frame": [
+            1.4686161591837e-06,
+            6.1885634126124245e-06,
+            0.00011422341298272798
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2652223089471502,
+              0.1570476280616668,
+              0.8317842678316959
+            ],
+            "target_position": [
+              0.27978086474517194,
+              0.2031149132530654,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0483130035480073,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16756802507382462,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317842678316959,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676496034105,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374887100800584,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1c56ddf476bbfdc975a3a7a627e525f096c0a8e3db54a455d6efe63fe50d1df",
+    "visual_seed": 3857084591527085578,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..40595520e34998b5cdded46a806d0b21fb7b7ec1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_52_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20336001379838833,
+              -0.10441741585910275,
+              1.1628914597982325
+            ],
+            "current_z": 1.1628914597982325,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3017849517834664,
+            "gripper_z": 1.1567314835306173,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19888747340521057,
+              -0.10902190091662675,
+              1.1567314835306173
+            ],
+            "object_minus_gripper": [
+              0.004472540393177765,
+              0.004604485057524005,
+              0.006159976267615219
+            ],
+            "object_to_gripper_xy": 0.006419104315523199,
+            "object_to_gripper_z": 0.006159976267615219,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20336001379838833,
+              -0.12797284806801218,
+              1.1628914597982325
+            ],
+            "finger_b": [
+              0.19267583288125695,
+              -0.10441741585910275,
+              1.1628914597982325
+            ],
+            "finger_midpoint": [
+              0.19801792333982265,
+              -0.11619513196355746,
+              1.1628914597982325
+            ],
+            "object_minus_finger_midpoint": [
+              0.005342090458565679,
+              0.011777716104454716,
+              0.0
+            ],
+            "finger_gap": 0.025865229719036372,
+            "fingertip_max_gap": 0.0923034552521371,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01293261485951818,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1628914597982325,
+            "object_top_z": 1.2130691603462043,
+            "finger_top_clearance": 0.05017770054797177,
+            "fingertip_min_top_clearance": 0.015053310164391497,
+            "object_projection_between_fingers": 0.8293722016550116,
+            "object_to_finger_line_xy": 0.009730070137980907,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865172762606855,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6958460423597506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2734842607327489,
+              -0.3658867467909619,
+              0.8515395746371783
+            ],
+            "target_position": [
+              0.2653919355518202,
+              -0.36678610792018046,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00814214819778181,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18283983824523345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746371783,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574670873055027,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669042922604882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503312910106845,
+            "release_required_pad_clearance": 0.05334521461302441,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.70726734236823,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007711231708526611,
+            "max_z_decrease": 0.007711231708526611,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035100860223634456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007711231708526611,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106840173700046,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007711231708526611,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007711251629490967,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12109186500310896,
+              -0.4230475723743438,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12109186500310896,
+              -0.4230475723743438,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12006710355479899,
+              -0.4226013147913418,
+              0.8078346839830646
+            ],
+            "closest_button": [
+              0.12108179926872252,
+              -0.42304286360740656,
+              0.7727512717247009
+            ],
+            "closest_ee_minus_button": [
+              -0.0010146957139235274,
+              0.00044154881606478513,
+              0.035083412258363644
+            ],
+            "button_min_z_position": [
+              0.1210745871067047,
+              -0.42304462194442743,
+              0.769097626209259
+            ],
+            "min_active_finger_to_button": 0.14690239639792502,
+            "closest_active_finger": [
+              -0.007337793707847595,
+              -0.4855210483074188,
+              0.8107158541679382
+            ],
+            "closest_active_finger_button": [
+              0.12109209597110747,
+              -0.42304632067680353,
+              0.776321291923523
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12842988967895508,
+              -0.06247472763061529,
+              0.03439456224441528
+            ],
+            "min_contact_pad_to_button": 0.02106840173700046,
+            "closest_contact_pad": [
+              0.1210745871067047,
+              -0.4236426308960573,
+              0.7901575392443457
+            ],
+            "closest_contact_pad_button": [
+              0.1210745871067047,
+              -0.42304462194442743,
+              0.769097626209259
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005980089516298692,
+              0.021059913035086697
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27360457630766594,
+              0.2094845305142319,
+              1.1018626085952925
+            ],
+            "current_z": 1.1018626085952925,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19195347886092995,
+            "gripper_z": 1.1018625974554113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2736045511439649,
+              0.20948452217496694,
+              1.1018625974554113
+            ],
+            "object_minus_gripper": [
+              2.5163701011798878e-08,
+              8.33926497301185e-09,
+              1.1139881239685678e-08
+            ],
+            "object_to_gripper_xy": 2.650953015240576e-08,
+            "object_to_gripper_z": 1.1139881239685678e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27360457630766594,
+              0.2094845305142319,
+              1.1018626085952925
+            ],
+            "finger_b": [
+              0.27360457630766594,
+              0.2094845305142319,
+              1.1018626085952925
+            ],
+            "finger_midpoint": [
+              0.27360457630766594,
+              0.2094845305142319,
+              1.1018626085952925
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018626085952925,
+            "object_top_z": 1.2268711152155722,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27360457630766594,
+            0.20948453051423194,
+            1.1018626085952925
+          ],
+          "object_origin_world": [
+            0.27360457630766594,
+            0.20948453051423194,
+            1.1018626085952925
+          ],
+          "frame_world": [
+            0.2736045511439649,
+            0.20948452217496694,
+            1.1018625974554113
+          ],
+          "center_minus_frame": [
+            2.5163701011798878e-08,
+            8.339265000767426e-09,
+            1.1139881239685678e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436553386538796,
+            "required_z": 0.9112597680740406,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012719310994834588,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.3397958965133873e-08,
+            "max_target_xy_drift": 6.522058843123424e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7072673423063127,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7072673424408236,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2737169258182745,
+              -0.36464384333145294,
+              0.9233504253676169
+            ],
+            "target_mouth_xy": [
+              0.27348426190251784,
+              -0.36588671984488186
+            ],
+            "rod_tip_z": 0.9233504253676169,
+            "rod_tip_depth": -0.02209050842122806,
+            "rod_tip_bottom_clearance": 0.12153109825832453,
+            "rod_tip_xy_dist": 0.0012644661028783793,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045145675973911614,
+            "min_rod_tip_bottom_clearance": 0.05429502645778006,
+            "min_rod_tip_xy_dist": 0.0006842297166265264,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27348423197142746,
+              -0.3658866884201675
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9931090383961134e-08,
+              -3.1424714330707815e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0007452612144699944,
+                0.002924739809967436
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006401570962457082,
+                0.002597067846687562
+              ],
+              "first_target_mouth_xy": [
+                0.27348423298226876,
+                -0.36588668713318795
+              ],
+              "last_target_mouth_xy": [
+                0.27348426279183946,
+                -0.3658867172566319
+              ],
+              "first_rod_tip_xy": [
+                0.27422949419673875,
+                -0.3629619473232205
+              ],
+              "last_rod_tip_xy": [
+                0.27412441988808517,
+                -0.36328964940994435
+              ],
+              "min_rod_tip_xy_dist": 0.0026748013960240314,
+              "max_rod_tip_xy_dist": 0.003018197679709141,
+              "first_target_xy_drift": 1.6364952087507673e-09,
+              "last_target_xy_drift": 4.220710217465015e-08,
+              "max_depth": 0.019332924961910414,
+              "min_bottom_clearance": 0.08010762513301295
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007452612144699944,
+                  0.002924739809967436
+                ],
+                "rod_tip_xy": [
+                  0.27422949419673875,
+                  -0.3629619473232205
+                ],
+                "target_mouth_xy": [
+                  0.27348423298226876,
+                  -0.36588668713318795
+                ],
+                "gripper_position": [
+                  0.2742186841698031,
+                  -0.3629698867720224,
+                  1.0058740802412165
+                ],
+                "rod_tip_xy_dist": 0.003018197679709141,
+                "target_xy_drift": 1.6364952087507673e-09,
+                "depth": 0.015239688736189194,
+                "bottom_clearance": 0.08420087292167211,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007344497002491623,
+                  0.0029167692655159283
+                ],
+                "rod_tip_xy": [
+                  0.27421868416980305,
+                  -0.3629698867720226
+                ],
+                "target_mouth_xy": [
+                  0.2734842344695539,
+                  -0.3658866560375385
+                ],
+                "gripper_position": [
+                  0.27421052582488037,
+                  -0.3629718272038194,
+                  1.0057462176272818
+                ],
+                "rod_tip_xy_dist": 0.0030078163691379853,
+                "target_xy_drift": 3.2478843853701177e-08,
+                "depth": 0.01538578657362466,
+                "bottom_clearance": 0.08405487839381687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007262614171929527,
+                  0.0029148595910212793
+                ],
+                "rod_tip_xy": [
+                  0.2742105258248803,
+                  -0.3629718272038194
+                ],
+                "target_mouth_xy": [
+                  0.27348426440768736,
+                  -0.36588668679484065
+                ],
+                "gripper_position": [
+                  0.2742179359720819,
+                  -0.36303837194801597,
+                  1.0052205166327735
+                ],
+                "rod_tip_xy_dist": 0.003003974380961305,
+                "target_xy_drift": 3.247695558022812e-08,
+                "depth": 0.015513692524391387,
+                "bottom_clearance": 0.08392694232510334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007337037296636373,
+                  0.0028483456403108343
+                ],
+                "rod_tip_xy": [
+                  0.2742179359720818,
+                  -0.363038371948016
+                ],
+                "target_mouth_xy": [
+                  0.2734842322424182,
+                  -0.36588671758832686
+                ],
+                "gripper_position": [
+                  0.27420704834027854,
+                  -0.3630461075429559,
+                  1.0050746878548322
+                ],
+                "rod_tip_xy_dist": 0.002941325219964645,
+                "target_xy_drift": 2.9169418143146512e-08,
+                "depth": 0.016039302179608472,
+                "bottom_clearance": 0.08340121531671973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007227532691453376,
+                  0.0028406401202073495
+                ],
+                "rod_tip_xy": [
+                  0.2742070483402785,
+                  -0.36304610754295596
+                ],
+                "target_mouth_xy": [
+                  0.27348429507113314,
+                  -0.3658867476631633
+                ],
+                "gripper_position": [
+                  0.27419879789399026,
+                  -0.36304805332680734,
+                  1.0049472356891043
+                ],
+                "rod_tip_xy_dist": 0.002931144585412309,
+                "target_xy_drift": 8.655232756575999e-08,
+                "depth": 0.0161852227437137,
+                "bottom_clearance": 0.08325543154567694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007145669554592948,
+                  0.002838664601660601
+                ],
+                "rod_tip_xy": [
+                  0.2741987978939902,
+                  -0.36304805332680745
+                ],
+                "target_mouth_xy": [
+                  0.2734842309385309,
+                  -0.36588671792846805
+                ],
+                "gripper_position": [
+                  0.27420706309153575,
+                  -0.36311544537474216,
+                  1.0044226354300296
+                ],
+                "rod_tip_xy_dist": 0.00292722097808746,
+                "target_xy_drift": 2.9526372536518747e-08,
+                "depth": 0.01631259757893566,
+                "bottom_clearance": 0.08312791923440888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007228008285699583,
+                  0.0027712731700637594
+                ],
+                "rod_tip_xy": [
+                  0.2742070630915357,
+                  -0.3631154453747423
+                ],
+                "target_mouth_xy": [
+                  0.27348426226296574,
+                  -0.36588671854480603
+                ],
+                "gripper_position": [
+                  0.2741959425519628,
+                  -0.36312331333575953,
+                  1.0042765892605698
+                ],
+                "rod_tip_xy_dist": 0.002863982545494413,
+                "target_xy_drift": 4.272085130640056e-08,
+                "depth": 0.016837202082502056,
+                "bottom_clearance": 0.08260335708689537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007116770206733736,
+                  0.0027633740770748316
+                ],
+                "rod_tip_xy": [
+                  0.2741959425519627,
+                  -0.36312331333575965
+                ],
+                "target_mouth_xy": [
+                  0.27348426553128935,
+                  -0.3658866874128345
+                ],
+                "gripper_position": [
+                  0.27418749044878626,
+                  -0.36312514536009444,
+                  1.0041490095626817
+                ],
+                "rod_tip_xy_dist": 0.0028535452461111786,
+                "target_xy_drift": 3.357497654376258e-08,
+                "depth": 0.01698331808067055,
+                "bottom_clearance": 0.08245733603920236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007032586312081257,
+                  0.002761570335928054
+                ],
+                "rod_tip_xy": [
+                  0.2741874904487862,
+                  -0.36312514536009455
+                ],
+                "target_mouth_xy": [
+                  0.2734842318175781,
+                  -0.3658867156960226
+                ],
+                "gripper_position": [
+                  0.2741965284944722,
+                  -0.36319349798783623,
+                  1.0036274992702732
+                ],
+                "rod_tip_xy_dist": 0.002849709357574297,
+                "target_xy_drift": 2.7276288964582642e-08,
+                "depth": 0.01711083654078449,
+                "bottom_clearance": 0.08232972723980658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000712296737305329,
+                  0.002693251315925349
+                ],
+                "rod_tip_xy": [
+                  0.2741965284944722,
+                  -0.3631934979878363
+                ],
+                "target_mouth_xy": [
+                  0.27348423175716685,
+                  -0.36588674930376164
+                ],
+                "gripper_position": [
+                  0.2741852520446505,
+                  -0.36320118825790393,
+                  1.0034817127981082
+                ],
+                "rod_tip_xy_dist": 0.002785851627906526,
+                "target_xy_drift": 6.088397112087194e-08,
+                "depth": 0.017632349109031442,
+                "bottom_clearance": 0.08180821530808469,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007010200106561393,
+                  0.0026855287011313678
+                ],
+                "rod_tip_xy": [
+                  0.27418525204465044,
+                  -0.36320118825790404
+                ],
+                "target_mouth_xy": [
+                  0.2734842320339943,
+                  -0.3658867169590354
+                ],
+                "gripper_position": [
+                  0.2741768509127268,
+                  -0.3632026887620647,
+                  1.0033543772317395
+                ],
+                "rod_tip_xy_dist": 0.0027755167915076043,
+                "target_xy_drift": 2.8538936463756846e-08,
+                "depth": 0.017778112063483453,
+                "bottom_clearance": 0.08166241325960133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006925854350937066,
+                  0.002684027816784784
+                ],
+                "rod_tip_xy": [
+                  0.27417685091272676,
+                  -0.36320268876206474
+                ],
+                "target_mouth_xy": [
+                  0.27348426547763305,
+                  -0.3658867165788495
+                ],
+                "gripper_position": [
+                  0.27416842797324187,
+                  -0.36320429226726575,
+                  1.0032270562350478
+                ],
+                "rod_tip_xy_dist": 0.002771945148479391,
+                "target_xy_drift": 4.376730725914237e-08,
+                "depth": 0.01790554122133292,
+                "bottom_clearance": 0.08153513434090076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.000684194826948703,
+                  0.0026823951812018354
+                ],
+                "rod_tip_xy": [
+                  0.2741684279732418,
+                  -0.3632042922672658
+                ],
+                "target_mouth_xy": [
+                  0.2734842331462931,
+                  -0.36588668744846764
+                ],
+                "gripper_position": [
+                  0.2741787642065985,
+                  -0.3632746566459038,
+                  1.0027083913662944
+                ],
+                "rod_tip_xy_dist": 0.0027682786112236237,
+                "target_xy_drift": 1.5246343707659568e-09,
+                "depth": 0.01803283122928734,
+                "bottom_clearance": 0.08140772494531456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006945317681697483,
+                  0.0026120311354003722
+                ],
+                "rod_tip_xy": [
+                  0.2741787642065984,
+                  -0.36327465664590397
+                ],
+                "target_mouth_xy": [
+                  0.2734842324384287,
+                  -0.36588668778130434
+                ],
+                "gripper_position": [
+                  0.27416738710724425,
+                  -0.36328253948271105,
+                  1.0025628527916426
+                ],
+                "rod_tip_xy_dist": 0.0027027913403179973,
+                "target_xy_drift": 7.913509359718938e-10,
+                "depth": 0.018551369424318565,
+                "bottom_clearance": 0.08088915565545485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006830912502911457,
+                  0.00260417804211327
+                ],
+                "rod_tip_xy": [
+                  0.27416738710724425,
+                  -0.36328253948271116
+                ],
+                "target_mouth_xy": [
+                  0.2734842958569531,
+                  -0.36588671752482443
+                ],
+                "gripper_position": [
+                  0.27415881652663354,
+                  -0.3632839543924738,
+                  1.0024355884583016
+                ],
+                "rod_tip_xy_dist": 0.0026922772760711745,
+                "target_xy_drift": 7.020285920747425e-08,
+                "depth": 0.018697058557140322,
+                "bottom_clearance": 0.08074361515684159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000674582951668723,
+                  0.002602794248857232
+                ],
+                "rod_tip_xy": [
+                  0.2741588165266335,
+                  -0.36328395439247396
+                ],
+                "target_mouth_xy": [
+                  0.27348423357496476,
+                  -0.3658867486413312
+                ],
+                "gripper_position": [
+                  0.2741503258774346,
+                  -0.363285381939308,
+                  1.0023084472210764
+                ],
+                "rod_tip_xy_dist": 0.0026887915613833606,
+                "target_xy_drift": 6.024250895568384e-08,
+                "depth": 0.018824323306730784,
+                "bottom_clearance": 0.08061629005766358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006660923386894724,
+                  0.0026013641740163518
+                ],
+                "rod_tip_xy": [
+                  0.27415032587743454,
+                  -0.36328538193930804
+                ],
+                "target_mouth_xy": [
+                  0.27348423353874507,
+                  -0.3658867461133244
+                ],
+                "gripper_position": [
+                  0.27414166084329517,
+                  -0.3632867320130116,
+                  1.0021812914604804
+                ],
+                "rod_tip_xy_dist": 0.0026852885449270784,
+                "target_xy_drift": 5.7714442155368876e-08,
+                "depth": 0.018951400561867948,
+                "bottom_clearance": 0.08048920492896461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006574261037249896,
+                  0.002599952567692687
+                ],
+                "rod_tip_xy": [
+                  0.2741416608432951,
+                  -0.36328673201301165
+                ],
+                "target_mouth_xy": [
+                  0.2734842347395701,
+                  -0.36588668458070434
+                ],
+                "gripper_position": [
+                  0.2741330432358671,
+                  -0.363288372958698,
+                  1.0020538032791184
+                ],
+                "rod_tip_xy_dist": 0.0026817834431793366,
+                "target_xy_drift": 4.7332960381660756e-09,
+                "depth": 0.019078659757421512,
+                "bottom_clearance": 0.08036206173351435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006488122174635458,
+                  0.002598344967425059
+                ],
+                "rod_tip_xy": [
+                  0.27413304323586707,
+                  -0.363288372958698
+                ],
+                "target_mouth_xy": [
+                  0.2734842310184035,
+                  -0.36588671792612304
+                ],
+                "gripper_position": [
+                  0.2741244198880852,
+                  -0.36328964940994435,
+                  1.0019269612300041
+                ],
+                "rod_tip_xy_dist": 0.002678125064905128,
+                "target_xy_drift": 2.9521342539153878e-08,
+                "depth": 0.019206027552199467,
+                "bottom_clearance": 0.08023448618814899,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006401570962457082,
+                  0.002597067846687562
+                ],
+                "rod_tip_xy": [
+                  0.27412441988808517,
+                  -0.36328964940994435
+                ],
+                "target_mouth_xy": [
+                  0.27348426279183946,
+                  -0.3658867172566319
+                ],
+                "gripper_position": [
+                  0.27413864383616204,
+                  -0.3633651073936233,
+                  1.001411439864995
+                ],
+                "rod_tip_xy_dist": 0.0026748013960240314,
+                "target_xy_drift": 4.220710217465015e-08,
+                "depth": 0.019332924961910414,
+                "bottom_clearance": 0.08010762513301295,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006016684606236401,
+              "rod_tip_xy_max_step": 3.265562690333782e-05,
+              "rod_tip_xy_range": 0.0006016542626871735,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2737169258182745,
+            -0.3646438433314529,
+            1.0433504253676171
+          ],
+          "object_origin_world": [
+            0.2737169258182745,
+            -0.3646438433314529,
+            1.0433504253676171
+          ],
+          "frame_world": [
+            0.27374185596577694,
+            -0.3646411460733184,
+            1.0436553386538796
+          ],
+          "center_minus_frame": [
+            -2.4930147502433275e-05,
+            -2.697258134509717e-06,
+            -0.00030491328626247594
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2606765064465766,
+              0.1618766964104215,
+              0.83203123723343
+            ],
+            "target_position": [
+              0.2737677099141507,
+              0.2087018468052388,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04862071901696523,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1677092815877012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83203123723343,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675009145878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13681315536410402,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df748eb5fe412137fc561952beb621dce25b1d39eae84309147b20ee685aab78",
+    "visual_seed": 6248433234708376527,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc4abe43e6b0284ac6dcbb9f77812f213665c59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_54_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19512583267753117,
+              -0.10926420035758919,
+              1.1625062323235915
+            ],
+            "current_z": 1.1625062323235915,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30139978391347044,
+            "gripper_z": 1.1564842586691861,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19059089294889384,
+              -0.11390803151842117,
+              1.1564842586691861
+            ],
+            "object_minus_gripper": [
+              0.004534939728637333,
+              0.004643831160831988,
+              0.006021973654405377
+            ],
+            "object_to_gripper_xy": 0.006490827851105544,
+            "object_to_gripper_z": 0.006021973654405377,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19512583267753117,
+              -0.13285932031491293,
+              1.1625062323235915
+            ],
+            "finger_b": [
+              0.184289790203369,
+              -0.10926420035758919,
+              1.1625062323235915
+            ],
+            "finger_midpoint": [
+              0.18970781144045007,
+              -0.12106176033625106,
+              1.1625062323235915
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054180212370811,
+              0.011797559978661873,
+              0.0
+            ],
+            "finger_gap": 0.0259643891186052,
+            "fingertip_max_gap": 0.0921886659424018,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012982194559302605,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625062323235915,
+            "object_top_z": 1.2124484374993798,
+            "finger_top_clearance": 0.04994220517578829,
+            "fingertip_min_top_clearance": 0.014982661552736486,
+            "object_projection_between_fingers": 0.8258252567111055,
+            "object_to_finger_line_xy": 0.009847245813201193,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485943329712009,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9419435830765577,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2735381195610431,
+              -0.36446198484905534,
+              0.8515395575768169
+            ],
+            "target_position": [
+              0.2654107690764858,
+              -0.3652266775523595,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008163245728833639,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18421774391408904,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395575768169,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541458826501196,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573747401162986,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15233139092840678,
+            "release_required_pad_clearance": 0.05286873700581493,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.779335352571424,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007728934288024902,
+            "max_z_decrease": 0.007728934288024902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511924713402263,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007728934288024902,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211713329986649,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007728934288024902,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007728953153970689,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12111069262027743,
+              -0.42148813605308527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12111069262027743,
+              -0.42148813605308527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12184170846204798,
+              -0.42236964365512203,
+              0.808126084517509
+            ],
+            "closest_button": [
+              0.12110926210880281,
+              -0.4214846193790435,
+              0.773025631904602
+            ],
+            "closest_ee_minus_button": [
+              0.0007324463532451669,
+              -0.0008850242760785054,
+              0.03510045261290695
+            ],
+            "button_min_z_position": [
+              0.12109384685754779,
+              -0.42148533463478083,
+              0.7690799236297607
+            ],
+            "min_active_finger_to_button": 0.14542051547595397,
+            "closest_active_finger": [
+              -0.019234061241149902,
+              -0.4052059054374695,
+              0.8107390403747559
+            ],
+            "closest_active_finger_button": [
+              0.12111078947782518,
+              -0.4214866757392883,
+              0.776309609413147
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14034485071897507,
+              0.016280770301818792,
+              0.03442943096160889
+            ],
+            "min_contact_pad_to_button": 0.0211713329986649,
+            "closest_contact_pad": [
+              0.12109384685754779,
+              -0.4235187543096377,
+              0.7901533795723977
+            ],
+            "closest_contact_pad_button": [
+              0.12109384685754779,
+              -0.42148533463478083,
+              0.7690799236297607
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020334196748568734,
+              0.021073455942636987
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2746060048385303,
+              0.20645067626868183,
+              1.1034591257240929
+            ],
+            "current_z": 1.1034591257240929,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19354999598973033,
+            "gripper_z": 1.1034590618519178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2746059836733581,
+              0.20645071727143388,
+              1.1034590618519178
+            ],
+            "object_minus_gripper": [
+              2.1165172225945383e-08,
+              -4.1002752054764e-08,
+              6.387217510450682e-08
+            ],
+            "object_to_gripper_xy": 4.6143148910953004e-08,
+            "object_to_gripper_z": 6.387217510450682e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2746060048385303,
+              0.20645067626868183,
+              1.1034591257240929
+            ],
+            "finger_b": [
+              0.2746060048385303,
+              0.20645067626868183,
+              1.1034591257240929
+            ],
+            "finger_midpoint": [
+              0.2746060048385303,
+              0.20645067626868183,
+              1.1034591257240929
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1034591257240929,
+            "object_top_z": 1.2284676323443726,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27460600483853026,
+            0.20645067626868185,
+            1.1034591257240929
+          ],
+          "object_origin_world": [
+            0.27460600483853026,
+            0.20645067626868185,
+            1.1034591257240929
+          ],
+          "frame_world": [
+            0.2746059836733581,
+            0.20645071727143388,
+            1.1034590618519178
+          ],
+          "center_minus_frame": [
+            2.1165172170434232e-08,
+            -4.100275202700843e-08,
+            6.387217510450682e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432730784409678,
+            "required_z": 0.9112598412858445,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018722540129492158,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.963073485696535e-08,
+            "max_target_xy_drift": 1.9245239666081147e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7793353505057019,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7793353532233634,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27299618822285676,
+              -0.36266411623517725,
+              0.9233878330001929
+            ],
+            "target_mouth_xy": [
+              0.2735381504523435,
+              -0.36446195634179746
+            ],
+            "rod_tip_z": 0.9233878330001929,
+            "rod_tip_depth": -0.02212792844384104,
+            "rod_tip_bottom_clearance": 0.12156852733133505,
+            "rod_tip_xy_dist": 0.0018777518758244843,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04503620476337533,
+            "min_rod_tip_bottom_clearance": 0.054404337606492104,
+            "min_rod_tip_xy_dist": 0.00034345587318506223,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2735381500589696,
+              -0.3644618967123601
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.933738890182781e-10,
+              -5.962943733228698e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -6.391930997828865e-07,
+                0.0034949140048061156
+              ],
+              "last_rod_tip_xy_delta": [
+                -9.511203658357781e-05,
+                0.00309946452489418
+              ],
+              "first_target_mouth_xy": [
+                0.27353811823009105,
+                -0.36446192684550155
+              ],
+              "last_target_mouth_xy": [
+                0.273538089776785,
+                -0.3644619851768147
+              ],
+              "first_rod_tip_xy": [
+                0.27353747903699127,
+                -0.36096701284069543
+              ],
+              "last_rod_tip_xy": [
+                0.27344297774020143,
+                -0.36136252065192054
+              ],
+              "min_rod_tip_xy_dist": 0.0031009235141455167,
+              "max_rod_tip_xy_dist": 0.003494914063257885,
+              "first_target_xy_drift": 4.383016907208495e-08,
+              "last_target_xy_drift": 1.0705092948795442e-07,
+              "max_depth": 0.019570315371079894,
+              "min_bottom_clearance": 0.07987020778064535
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -6.391930997828865e-07,
+                  0.0034949140048061156
+                ],
+                "rod_tip_xy": [
+                  0.27353747903699127,
+                  -0.36096701284069543
+                ],
+                "target_mouth_xy": [
+                  0.27353811823009105,
+                  -0.36446192684550155
+                ],
+                "gripper_position": [
+                  0.2735292879015371,
+                  -0.3609688568524253,
+                  1.0060364504696486
+                ],
+                "rod_tip_xy_dist": 0.003494914063257885,
+                "target_xy_drift": 4.383016907208495e-08,
+                "depth": 0.015096480079355268,
+                "bottom_clearance": 0.08434406044752107,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -8.83140050833564e-06,
+                  0.0034930652248823524
+                ],
+                "rod_tip_xy": [
+                  0.2735292879015372,
+                  -0.3609688568524253
+                ],
+                "target_mouth_xy": [
+                  0.2735381193020455,
+                  -0.36446192207730765
+                ],
+                "gripper_position": [
+                  0.2735347499153895,
+                  -0.3610345621838872,
+                  1.0055107200149282
+                ],
+                "rod_tip_xy_dist": 0.003493076388932446,
+                "target_xy_drift": 3.986689028619082e-08,
+                "depth": 0.015223428805956174,
+                "bottom_clearance": 0.08421720972708557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -3.3667401430070854e-06,
+                  0.003427458226018587
+                ],
+                "rod_tip_xy": [
+                  0.2735347499153896,
+                  -0.3610345621838872
+                ],
+                "target_mouth_xy": [
+                  0.2735381166555326,
+                  -0.3644620204099058
+                ],
+                "gripper_position": [
+                  0.27352356061429306,
+                  -0.3610428244799612,
+                  1.0053657189602427
+                ],
+                "rod_tip_xy_dist": 0.0034274598795670345,
+                "target_xy_drift": 1.2812834347190775e-07,
+                "depth": 0.015749246568068198,
+                "bottom_clearance": 0.08369150421919058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -1.4619373924829038e-05,
+                  0.0034190684256166226
+                ],
+                "rod_tip_xy": [
+                  0.27352356061429317,
+                  -0.36104282447996117
+                ],
+                "target_mouth_xy": [
+                  0.273538179988218,
+                  -0.3644618929055778
+                ],
+                "gripper_position": [
+                  0.2735153733818647,
+                  -0.36104445745709834,
+                  1.0052393406985998
+                ],
+                "rod_tip_xy_dist": 0.0034190996804922907,
+                "target_xy_drift": 3.017037458004941e-08,
+                "depth": 0.015894216944039252,
+                "bottom_clearance": 0.08354643981054166,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -2.277593214056184e-05,
+                  0.003417498557968135
+                ],
+                "rod_tip_xy": [
+                  0.2735153733818649,
+                  -0.36104445745709834
+                ],
+                "target_mouth_xy": [
+                  0.27353814931400544,
+                  -0.3644619560150665
+                ],
+                "gripper_position": [
+                  0.27352170063007564,
+                  -0.36111121834152954,
+                  1.0047143444604127
+                ],
+                "rod_tip_xy_dist": 0.0034175744522686193,
+                "target_xy_drift": 5.930738531418471e-08,
+                "depth": 0.016020429512284995,
+                "bottom_clearance": 0.08342011355629109,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -1.6419018840585498e-05,
+                  0.003350706908271106
+                ],
+                "rod_tip_xy": [
+                  0.2735217006300758,
+                  -0.3611112183415295
+                ],
+                "target_mouth_xy": [
+                  0.2735381196489164,
+                  -0.3644619252498006
+                ],
+                "gripper_position": [
+                  0.27351057884129715,
+                  -0.3611191882812546,
+                  1.0045695180079128
+                ],
+                "rod_tip_xy_dist": 0.003350747135985555,
+                "target_xy_drift": 4.170319944392603e-08,
+                "depth": 0.016545480450920635,
+                "bottom_clearance": 0.08289505619623405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -2.7541611213821593e-05,
+                  0.0033427674037653787
+                ],
+                "rod_tip_xy": [
+                  0.27351057884129726,
+                  -0.36111918828125456
+                ],
+                "target_mouth_xy": [
+                  0.2735381204525111,
+                  -0.36446195568501993
+                ],
+                "gripper_position": [
+                  0.27350227791733395,
+                  -0.36112078074403653,
+                  1.0044429050851393
+                ],
+                "rod_tip_xy_dist": 0.0033428808617754512,
+                "target_xy_drift": 6.598724869636292e-08,
+                "depth": 0.016690373273271386,
+                "bottom_clearance": 0.08275019481527213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -3.58427177329923e-05,
+                  0.0033411435484801966
+                ],
+                "rod_tip_xy": [
+                  0.2735022779173341,
+                  -0.36112078074403653
+                ],
+                "target_mouth_xy": [
+                  0.2735381206350671,
+                  -0.3644619242925167
+                ],
+                "gripper_position": [
+                  0.27350937865333946,
+                  -0.3611884774601233,
+                  1.0039201484198614
+                ],
+                "rod_tip_xy_dist": 0.0033413357975464433,
+                "target_xy_drift": 4.032903514177493e-08,
+                "depth": 0.016816944665425715,
+                "bottom_clearance": 0.08262366417151579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -2.8742092408273745e-05,
+                  0.0032734785496785768
+                ],
+                "rod_tip_xy": [
+                  0.2735093786533396,
+                  -0.36118847746012317
+                ],
+                "target_mouth_xy": [
+                  0.27353812074574785,
+                  -0.36446195600980175
+                ],
+                "gripper_position": [
+                  0.2734980635635713,
+                  -0.36119640112569823,
+                  1.0037754586569585
+                ],
+                "rod_tip_xy_dist": 0.0032736047292062863,
+                "target_xy_drift": 6.614719609939601e-08,
+                "depth": 0.017339691425280357,
+                "bottom_clearance": 0.08210089950755828,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -4.008815630857088e-05,
+                  0.0032655536005476438
+                ],
+                "rod_tip_xy": [
+                  0.2734980635635714,
+                  -0.3611964011256982
+                ],
+                "target_mouth_xy": [
+                  0.27353815171988,
+                  -0.3644619547262458
+                ],
+                "gripper_position": [
+                  0.2734896831209445,
+                  -0.3611978356213223,
+                  1.0036491047179765
+                ],
+                "rod_tip_xy_dist": 0.003265799653733508,
+                "target_xy_drift": 5.8037656369492636e-08,
+                "depth": 0.017484389681408086,
+                "bottom_clearance": 0.08195624503226395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -4.843715375990598e-05,
+                  0.0032641216570027387
+                ],
+                "rod_tip_xy": [
+                  0.2734896831209447,
+                  -0.36119783562132224
+                ],
+                "target_mouth_xy": [
+                  0.2735381202747046,
+                  -0.364461957278325
+                ],
+                "gripper_position": [
+                  0.2734813465183865,
+                  -0.3611992889458715,
+                  1.0035226564729876
+                ],
+                "rod_tip_xy_dist": 0.003264481023007894,
+                "target_xy_drift": 6.749324810877246e-08,
+                "depth": 0.017610813375335543,
+                "bottom_clearance": 0.08182980384317606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -5.674434144337104e-05,
+                  0.0032626667451814417
+                ],
+                "rod_tip_xy": [
+                  0.2734813465183867,
+                  -0.3611992889458715
+                ],
+                "target_mouth_xy": [
+                  0.27353809085983005,
+                  -0.36446195569105294
+                ],
+                "gripper_position": [
+                  0.27348985734540104,
+                  -0.3612691635778099,
+                  1.0030016960911217
+                ],
+                "rod_tip_xy_dist": 0.0032631601570255026,
+                "target_xy_drift": 8.356449203008204e-08,
+                "depth": 0.017737177029669815,
+                "bottom_clearance": 0.08170339943248284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -4.8230734200016556e-05,
+                  0.0031927921320562547
+                ],
+                "rod_tip_xy": [
+                  0.2734898573454012,
+                  -0.3612691635778099
+                ],
+                "target_mouth_xy": [
+                  0.2735380880796012,
+                  -0.36446195570986617
+                ],
+                "gripper_position": [
+                  0.2734784063424174,
+                  -0.3612769843971765,
+                  1.0028567601536482
+                ],
+                "rod_tip_xy_dist": 0.0031931564011557275,
+                "target_xy_drift": 8.556954961944281e-08,
+                "depth": 0.018258140386009147,
+                "bottom_clearance": 0.08118237938119144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -5.9683879299055054e-05,
+                  0.0031849706647751885
+                ],
+                "rod_tip_xy": [
+                  0.2734784063424175,
+                  -0.3612769843971765
+                ],
+                "target_mouth_xy": [
+                  0.27353809022171655,
+                  -0.36446195506195167
+                ],
+                "gripper_position": [
+                  0.273469818151412,
+                  -0.3612780639498813,
+                  1.0027301108250049
+                ],
+                "rod_tip_xy_dist": 0.003185529830487652,
+                "target_xy_drift": 8.357733954418093e-08,
+                "depth": 0.01840312708841607,
+                "bottom_clearance": 0.08103742345937948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -6.830166452070907e-05,
+                  0.003183890790710464
+                ],
+                "rod_tip_xy": [
+                  0.27346981815141214,
+                  -0.36127806394988127
+                ],
+                "target_mouth_xy": [
+                  0.27353811981593285,
+                  -0.36446195474059173
+                ],
+                "gripper_position": [
+                  0.27346125672832144,
+                  -0.36127967666478394,
+                  1.0026038916207525
+                ],
+                "rod_tip_xy_dist": 0.0031846233190986973,
+                "target_xy_drift": 6.543635789825651e-08,
+                "depth": 0.018529661372643225,
+                "bottom_clearance": 0.08091089291477294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -7.689407804806203e-05,
+                  0.003182277119470278
+                ],
+                "rod_tip_xy": [
+                  0.2734612567283216,
+                  -0.3612796766647839
+                ],
+                "target_mouth_xy": [
+                  0.2735381508063697,
+                  -0.36446195378425417
+                ],
+                "gripper_position": [
+                  0.2734526323450328,
+                  -0.36128108271221016,
+                  1.002477181870829
+                ],
+                "rod_tip_xy_dist": 0.0031832059883618764,
+                "target_xy_drift": 5.707678772199238e-08,
+                "depth": 0.018656026176167573,
+                "bottom_clearance": 0.08078460795252085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -8.545564972217701e-05,
+                  0.0031808729944595715
+                ],
+                "rod_tip_xy": [
+                  0.273452632345033,
+                  -0.36128108271221016
+                ],
+                "target_mouth_xy": [
+                  0.27353808799475515,
+                  -0.3644619557066697
+                ],
+                "gripper_position": [
+                  0.27346324835759955,
+                  -0.3613535869981235,
+                  1.0019603843816427
+                ],
+                "rod_tip_xy_dist": 0.0031820206905285265,
+                "target_xy_drift": 8.562882271191642e-08,
+                "depth": 0.01878259751010991,
+                "bottom_clearance": 0.08065792536342098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -7.487157506669284e-05,
+                  0.00310839722628109
+                ],
+                "rod_tip_xy": [
+                  0.27346324835759966,
+                  -0.3613535869981235
+                ],
+                "target_mouth_xy": [
+                  0.27353811993266636,
+                  -0.36446198422440457
+                ],
+                "gripper_position": [
+                  0.273451644337772,
+                  -0.3613613360474608,
+                  1.001815737258814
+                ],
+                "rod_tip_xy_dist": 0.0031092988066612286,
+                "target_xy_drift": 9.255242875865835e-08,
+                "depth": 0.019299513653458056,
+                "bottom_clearance": 0.08014105661789805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -8.64463627197054e-05,
+                  0.0031006497618190076
+                ],
+                "rod_tip_xy": [
+                  0.2734516443377722,
+                  -0.3613613360474608
+                ],
+                "target_mouth_xy": [
+                  0.2735380907004919,
+                  -0.3644619858092798
+                ],
+                "gripper_position": [
+                  0.2734429777402013,
+                  -0.3613625206519206,
+                  1.0016895036283324
+                ],
+                "rod_tip_xy_dist": 0.0031018545934804447,
+                "target_xy_drift": 1.0705928249881966e-07,
+                "depth": 0.01944416014857797,
+                "bottom_clearance": 0.07999642122704498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -9.511203658357781e-05,
+                  0.00309946452489418
+                ],
+                "rod_tip_xy": [
+                  0.27344297774020143,
+                  -0.36136252065192054
+                ],
+                "target_mouth_xy": [
+                  0.273538089776785,
+                  -0.3644619851768147
+                ],
+                "gripper_position": [
+                  0.27343419680984016,
+                  -0.36136389330345314,
+                  1.0015630076124118
+                ],
+                "rod_tip_xy_dist": 0.0031009235141455167,
+                "target_xy_drift": 1.0705092948795442e-07,
+                "depth": 0.019570315371079894,
+                "bottom_clearance": 0.07987020778064535,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000604122391062973,
+              "rod_tip_xy_max_step": 3.263086642120344e-05,
+              "rod_tip_xy_range": 0.0006041170525749446,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2729961882228567,
+            -0.36266411623517725,
+            1.043387833000193
+          ],
+          "object_origin_world": [
+            0.2729961882228567,
+            -0.36266411623517725,
+            1.043387833000193
+          ],
+          "frame_world": [
+            0.2729947322158469,
+            -0.3626703002059144,
+            1.0432730784409678
+          ],
+          "center_minus_frame": [
+            1.456007009792426e-06,
+            6.183970737150268e-06,
+            0.00011475455922527189
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25883081799819324,
+              0.1605952327122319,
+              0.8316830448233378
+            ],
+            "target_position": [
+              0.27477093831023947,
+              0.2059454926089308,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04807008953872092,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16571198481659072,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316830448233378,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670439981304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13583187696294985,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "051e76b978ebdda2f0d85b059b1904dd423be983d4d313735a903d088eb3eb89",
+    "visual_seed": 1797861054520595233,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a60c37bef6617e5a99c538dcb6da5a6a439f7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_55_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20142456259195893,
+              -0.10716071921695272,
+              1.1642606034436207
+            ],
+            "current_z": 1.1642606034436207,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3031539762195652,
+            "gripper_z": 1.1581038674754538,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1969396046599456,
+              -0.11171768306375812,
+              1.1581038674754538
+            ],
+            "object_minus_gripper": [
+              0.004484957932013339,
+              0.004556963846805401,
+              0.006156735968166904
+            ],
+            "object_to_gripper_xy": 0.0063938069374216205,
+            "object_to_gripper_z": 0.006156735968166904,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20142456259195893,
+              -0.13075820210661734,
+              1.1642606034436207
+            ],
+            "finger_b": [
+              0.19084278826606926,
+              -0.10716071921695272,
+              1.1642606034436207
+            ],
+            "finger_midpoint": [
+              0.1961336754290141,
+              -0.11895946066178503,
+              1.1642606034436207
+            ],
+            "object_minus_finger_midpoint": [
+              0.005290887162944818,
+              0.011798741444832311,
+              0.0
+            ],
+            "finger_gap": 0.025861460643437608,
+            "fingertip_max_gap": 0.09238732362090762,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012930730321718797,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642606034436207,
+            "object_top_z": 1.2143630213284917,
+            "finger_top_clearance": 0.05010241788487102,
+            "fingertip_min_top_clearance": 0.015030725365461305,
+            "object_projection_between_fingers": 0.8325786303565803,
+            "object_to_finger_line_xy": 0.009655419005145651,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048693661810453814,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8149525649516123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26836224634949624,
+              -0.36593437009086893,
+              0.8515395678993336
+            ],
+            "target_position": [
+              0.26197218782485154,
+              -0.36589130225700217,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00639020365768559,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527448241830768,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395678993336,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753620596220518,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595928228017412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341108252667263,
+            "release_required_pad_clearance": 0.05297964114008706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9938565830712021,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007716000080108643,
+            "max_z_decrease": 0.007716000080108643,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035099982042384126,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007716000080108643,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109310961280345,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007716000080108643,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007716022037572035,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11767211556434631,
+              -0.4221527576446534,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11767211556434631,
+              -0.4221527576446534,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11867823699672111,
+              -0.4216471044895937,
+              0.8076395538254497
+            ],
+            "closest_button": [
+              0.1176619380712509,
+              -0.42214736342430115,
+              0.7725578546524048
+            ],
+            "closest_ee_minus_button": [
+              0.0010162989254702132,
+              0.0005002589347074538,
+              0.03508169917304493
+            ],
+            "button_min_z_position": [
+              0.11765393614768982,
+              -0.42214986681938177,
+              0.769092857837677
+            ],
+            "min_active_finger_to_button": 0.14512094229903919,
+            "closest_active_finger": [
+              -0.0076035186648368835,
+              -0.4867754578590393,
+              0.8108400702476501
+            ],
+            "closest_active_finger_button": [
+              0.11767412722110748,
+              -0.42214992642402654,
+              0.7763561606407166
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12527764588594437,
+              -0.06462553143501276,
+              0.034483909606933594
+            ],
+            "min_contact_pad_to_button": 0.02109310961280345,
+            "closest_contact_pad": [
+              0.11765393614768982,
+              -0.4225191533218396,
+              0.7901827345707649
+            ],
+            "closest_contact_pad_button": [
+              0.11765393614768982,
+              -0.42214986681938177,
+              0.769092857837677
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003692865024578218,
+              0.02108987673308793
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28669981140575246,
+              0.20203921235223143,
+              1.1090884888474575
+            ],
+            "current_z": 1.1090884888474575,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19917935911309492,
+            "gripper_z": 1.1090887549482231,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28669983600482896,
+              0.20203921231930444,
+              1.1090887549482231
+            ],
+            "object_minus_gripper": [
+              -2.4599076497988648e-08,
+              3.292699446433289e-11,
+              -2.661007656445946e-07
+            ],
+            "object_to_gripper_xy": 2.4599098535126484e-08,
+            "object_to_gripper_z": -2.661007656445946e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28669981140575246,
+              0.20203921235223143,
+              1.1090884888474575
+            ],
+            "finger_b": [
+              0.28669981140575246,
+              0.20203921235223143,
+              1.1090884888474575
+            ],
+            "finger_midpoint": [
+              0.28669981140575246,
+              0.20203921235223143,
+              1.1090884888474575
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1090884888474575,
+            "object_top_z": 1.2340969954677372,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28669981140575246,
+            0.20203921235223143,
+            1.1090884888474575
+          ],
+          "object_origin_world": [
+            0.28669981140575246,
+            0.20203921235223143,
+            1.1090884888474575
+          ],
+          "frame_world": [
+            0.28669983600482896,
+            0.20203921231930444,
+            1.1090887549482231
+          ],
+          "center_minus_frame": [
+            -2.4599076497988648e-08,
+            3.292699446433289e-11,
+            -2.661007656445946e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434000613766332,
+            "required_z": 0.9112597681414778,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016631766989120775,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.994815001277481e-08,
+            "max_target_xy_drift": 1.2366240580530074e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9938565815712519,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9938565830950401,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26704964537703973,
+              -0.3669477265147358,
+              0.9235134642588939
+            ],
+            "target_mouth_xy": [
+              0.2683622182204244,
+              -0.3659343703941632
+            ],
+            "rod_tip_z": 0.9235134642588939,
+            "rod_tip_depth": -0.022253569627525782,
+            "rod_tip_bottom_clearance": 0.12169414145971158,
+            "rod_tip_xy_dist": 0.001658233426358534,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044756616273464056,
+            "min_rod_tip_bottom_clearance": 0.054683986731107526,
+            "min_rod_tip_xy_dist": 0.0007879416401397836,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26836221641435487,
+              -0.3659343104732253
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.8060695161636886e-09,
+              -5.992093793372177e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0006825176614502215,
+                0.0007115274849531228
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007968877835226595,
+                0.00030048655451270223
+              ],
+              "first_target_mouth_xy": [
+                0.26836221696738405,
+                -0.3659343114092194
+              ],
+              "last_target_mouth_xy": [
+                0.26836224707970113,
+                -0.36593431045678193
+              ],
+              "first_rod_tip_xy": [
+                0.2676796993059338,
+                -0.36522278392426627
+              ],
+              "last_rod_tip_xy": [
+                0.2675653592961785,
+                -0.36563382390226923
+              ],
+              "min_rod_tip_xy_dist": 0.0008438330862333872,
+              "max_rod_tip_xy_dist": 0.000992024100235361,
+              "first_target_xy_drift": 1.0871643187977652e-09,
+              "last_target_xy_drift": 3.066535067090048e-08,
+              "max_depth": 0.019647754668169704,
+              "min_bottom_clearance": 0.07979279356357849
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0006825176614502215,
+                  0.0007115274849531228
+                ],
+                "rod_tip_xy": [
+                  0.2676796993059338,
+                  -0.36522278392426627
+                ],
+                "target_mouth_xy": [
+                  0.26836221696738405,
+                  -0.3659343114092194
+                ],
+                "gripper_position": [
+                  0.2676688087654405,
+                  -0.36523086085503376,
+                  1.005927804382933
+                ],
+                "rod_tip_xy_dist": 0.0009859521895280701,
+                "target_xy_drift": 1.0871643187977652e-09,
+                "depth": 0.015189078659747501,
+                "bottom_clearance": 0.08425142450783385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0006934085291608882,
+                  0.0007035104783985058
+                ],
+                "rod_tip_xy": [
+                  0.2676688087654405,
+                  -0.3652308608550339
+                ],
+                "target_mouth_xy": [
+                  0.2683622172946014,
+                  -0.36593437133343243
+                ],
+                "gripper_position": [
+                  0.26766096784375726,
+                  -0.36523268631682965,
+                  1.005802332356398
+                ],
+                "rod_tip_xy_dist": 0.0009877967308761257,
+                "target_xy_drift": 6.086657250511768e-08,
+                "depth": 0.015332018917905699,
+                "bottom_clearance": 0.08410850823790617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007012796338355942,
+                  0.0007016542529018066
+                ],
+                "rod_tip_xy": [
+                  0.26766096784375726,
+                  -0.36523268631682976
+                ],
+                "target_mouth_xy": [
+                  0.26836224747759285,
+                  -0.36593434056973156
+                ],
+                "gripper_position": [
+                  0.2676626139782742,
+                  -0.3653001208101616,
+                  1.0052782799084965
+                ],
+                "rod_tip_xy_dist": 0.000992024100235361,
+                "target_xy_drift": 4.3251872151506634e-08,
+                "depth": 0.01545749888704473,
+                "bottom_clearance": 0.08398305310564191,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.000699602522405196,
+                  0.0006341912402876848
+                ],
+                "rod_tip_xy": [
+                  0.2676626139782742,
+                  -0.36530012081016167
+                ],
+                "target_mouth_xy": [
+                  0.2683622165006794,
+                  -0.36593431205044935
+                ],
+                "gripper_position": [
+                  0.2676516758390115,
+                  -0.36530812277491936,
+                  1.0051348045531356
+                ],
+                "rod_tip_xy_dist": 0.0009442680861986943,
+                "target_xy_drift": 1.5795846599906222e-09,
+                "depth": 0.015981542518798575,
+                "bottom_clearance": 0.08345896487833526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000710571244940339,
+                  0.0006261883133577562
+                ],
+                "rod_tip_xy": [
+                  0.2676516758390115,
+                  -0.36530812277491936
+                ],
+                "target_mouth_xy": [
+                  0.26836224708395184,
+                  -0.3659343110882771
+                ],
+                "gripper_position": [
+                  0.26764377034694403,
+                  -0.36530964390802334,
+                  1.0050097190188019
+                ],
+                "rod_tip_xy_dist": 0.0009471131389236951,
+                "target_xy_drift": 3.067576351562228e-08,
+                "depth": 0.016125017896949312,
+                "bottom_clearance": 0.0833155075154467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007184771746228669,
+                  0.0006246671782647595
+                ],
+                "rod_tip_xy": [
+                  0.26764377034694403,
+                  -0.3653096439080234
+                ],
+                "target_mouth_xy": [
+                  0.2683622475215669,
+                  -0.36593431108628816
+                ],
+                "gripper_position": [
+                  0.26764600454896914,
+                  -0.3653784474936252,
+                  1.0044862597945636
+                ],
+                "rod_tip_xy_dist": 0.000952060152540434,
+                "target_xy_drift": 3.111325258274232e-08,
+                "depth": 0.016250106822389143,
+                "bottom_clearance": 0.08319043523184122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007162433683207681,
+                  0.0005558632725944368
+                ],
+                "rod_tip_xy": [
+                  0.26764600454896914,
+                  -0.3653784474936253
+                ],
+                "target_mouth_xy": [
+                  0.2683622479172899,
+                  -0.36593431076621974
+                ],
+                "gripper_position": [
+                  0.2676349193894323,
+                  -0.36538625141312236,
+                  1.0043433443254604
+                ],
+                "rod_tip_xy_dist": 0.0009066358367519324,
+                "target_xy_drift": 3.150429751300949e-08,
+                "depth": 0.016773634447206587,
+                "bottom_clearance": 0.08266693423908567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007272976614932647,
+                  0.0005480894849703155
+                ],
+                "rod_tip_xy": [
+                  0.2676349193894323,
+                  -0.36538625141312236
+                ],
+                "target_mouth_xy": [
+                  0.26836221705092556,
+                  -0.3659343408980927
+                ],
+                "gripper_position": [
+                  0.267627012883716,
+                  -0.36538776486516344,
+                  1.004218429463003
+                ],
+                "rod_tip_xy_dist": 0.0009106942252746511,
+                "target_xy_drift": 3.043152606658794e-08,
+                "depth": 0.016916416616689745,
+                "bottom_clearance": 0.0825240997887724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007352042012432336,
+                  0.0005465462258436582
+                ],
+                "rod_tip_xy": [
+                  0.267627012883716,
+                  -0.3653877648651635
+                ],
+                "target_mouth_xy": [
+                  0.2683622170849592,
+                  -0.36593431109100716
+                ],
+                "gripper_position": [
+                  0.2676299401898817,
+                  -0.36545752237117113,
+                  1.0036973893408494
+                ],
+                "rod_tip_xy_dist": 0.0009160993365949176,
+                "target_xy_drift": 9.117919975281326e-10,
+                "depth": 0.01704139143037886,
+                "bottom_clearance": 0.08239912643684821,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007322771624722058,
+                  0.00047678808085410695
+                ],
+                "rod_tip_xy": [
+                  0.2676299401898817,
+                  -0.3654575223711712
+                ],
+                "target_mouth_xy": [
+                  0.2683622173523539,
+                  -0.3659343104520253
+                ],
+                "gripper_position": [
+                  0.2676187836336601,
+                  -0.3654652239593931,
+                  1.0035546166319087
+                ],
+                "rod_tip_xy_dist": 0.0008738173245724117,
+                "target_xy_drift": 9.382385547110614e-10,
+                "depth": 0.017562445103792457,
+                "bottom_clearance": 0.08187810613970126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007434639928072251,
+                  0.00046908616981949924
+                ],
+                "rod_tip_xy": [
+                  0.2676187836336601,
+                  -0.36546522395939324
+                ],
+                "target_mouth_xy": [
+                  0.2683622476264673,
+                  -0.36593431012921274
+                ],
+                "gripper_position": [
+                  0.26761063805962815,
+                  -0.36546665606252976,
+                  1.0034298045225043
+                ],
+                "rod_tip_xy_dist": 0.0008790793725920258,
+                "target_xy_drift": 3.1214008205127405e-08,
+                "depth": 0.017705286846406487,
+                "bottom_clearance": 0.08173529401009927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007515792632251106,
+                  0.0004676550271280333
+                ],
+                "rod_tip_xy": [
+                  0.26761063805962815,
+                  -0.36546665606252987
+                ],
+                "target_mouth_xy": [
+                  0.26836221732285326,
+                  -0.3659343110896579
+                ],
+                "gripper_position": [
+                  0.2676024149936783,
+                  -0.3654682668030162,
+                  1.003304823313419
+                ],
+                "rod_tip_xy_dist": 0.0008851963699135473,
+                "target_xy_drift": 1.0978882020320588e-09,
+                "depth": 0.017830018218755517,
+                "bottom_clearance": 0.08161050870416264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007598024439877671,
+                  0.0004660439684882056
+                ],
+                "rod_tip_xy": [
+                  0.2676024149936783,
+                  -0.3654682668030163
+                ],
+                "target_mouth_xy": [
+                  0.2683622174376661,
+                  -0.3659343107715045
+                ],
+                "gripper_position": [
+                  0.2676069532698441,
+                  -0.3655394641548465,
+                  1.0027857007301708
+                ],
+                "rod_tip_xy_dist": 0.0008913454630243089,
+                "target_xy_drift": 1.0658969657452776e-09,
+                "depth": 0.017955006034452325,
+                "bottom_clearance": 0.08148553681259985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007553082819592438,
+                  0.0003949065449345146
+                ],
+                "rod_tip_xy": [
+                  0.2676069532698441,
+                  -0.36553946415484645
+                ],
+                "target_mouth_xy": [
+                  0.2683622615518033,
+                  -0.36593437069978096
+                ],
+                "gripper_position": [
+                  0.2675955270499739,
+                  -0.3655472949406327,
+                  1.002642796573437
+                ],
+                "rod_tip_xy_dist": 0.0008523155401776623,
+                "target_xy_drift": 7.526371809911576e-08,
+                "depth": 0.018474118275240703,
+                "bottom_clearance": 0.08096639048329413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007667196794961528,
+                  0.0003870459561076678
+                ],
+                "rod_tip_xy": [
+                  0.2675955270499739,
+                  -0.3655472949406328
+                ],
+                "target_mouth_xy": [
+                  0.26836224672947007,
+                  -0.3659343408967405
+                ],
+                "gripper_position": [
+                  0.26758715451271,
+                  -0.3655486971733121,
+                  1.0025181028020516
+                ],
+                "rod_tip_xy_dist": 0.0008588734709292062,
+                "target_xy_drift": 4.294876583672774e-08,
+                "depth": 0.018617023049017356,
+                "bottom_clearance": 0.08082348871976153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007750928543523994,
+                  0.0003856142325162071
+                ],
+                "rod_tip_xy": [
+                  0.26758715451271,
+                  -0.3655486971733121
+                ],
+                "target_mouth_xy": [
+                  0.2683622473670624,
+                  -0.3659343114058283
+                ],
+                "gripper_position": [
+                  0.26757870289369545,
+                  -0.3655501814354431,
+                  1.0023933014598252
+                ],
+                "rod_tip_xy_dist": 0.000865717776869121,
+                "target_xy_drift": 3.096675395544665e-08,
+                "depth": 0.018741717011862113,
+                "bottom_clearance": 0.08069880938215823,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007835447539841223,
+                  0.00038413028389611137
+                ],
+                "rod_tip_xy": [
+                  0.26757870289369545,
+                  -0.3655501814354432
+                ],
+                "target_mouth_xy": [
+                  0.2683622476476796,
+                  -0.3659343117193393
+                ],
+                "gripper_position": [
+                  0.26757045866280177,
+                  -0.365551617961913,
+                  1.0022688340906054
+                ],
+                "rod_tip_xy_dist": 0.0008726387892491061,
+                "target_xy_drift": 3.1258172888070194e-08,
+                "depth": 0.01886652623085794,
+                "bottom_clearance": 0.08057402211608544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007917894132696834,
+                  0.00038272260600996644
+                ],
+                "rod_tip_xy": [
+                  0.26757045866280177,
+                  -0.3655516179619131
+                ],
+                "target_mouth_xy": [
+                  0.26836224807607145,
+                  -0.36593434056792307
+                ],
+                "gripper_position": [
+                  0.26757674286433225,
+                  -0.36562598184760364,
+                  1.0017543738063062
+                ],
+                "rod_tip_xy_dist": 0.0008794356531986917,
+                "target_xy_drift": 4.3682435050526114e-08,
+                "depth": 0.01899106138035922,
+                "bottom_clearance": 0.08044951334170003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000785473474812115,
+                  0.00030835968898146326
+                ],
+                "rod_tip_xy": [
+                  0.26757674286433225,
+                  -0.3656259818476037
+                ],
+                "target_mouth_xy": [
+                  0.26836221633914437,
+                  -0.36593434153658516
+                ],
+                "gripper_position": [
+                  0.26756535929617853,
+                  -0.3656338239022691,
+                  1.0016120791160694
+                ],
+                "rod_tip_xy_dist": 0.0008438330862333872,
+                "target_xy_drift": 3.106345093392165e-08,
+                "depth": 0.019505446288210382,
+                "bottom_clearance": 0.07993505292780523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007968877835226595,
+                  0.00030048655451270223
+                ],
+                "rod_tip_xy": [
+                  0.2675653592961785,
+                  -0.36563382390226923
+                ],
+                "target_mouth_xy": [
+                  0.26836224707970113,
+                  -0.36593431045678193
+                ],
+                "gripper_position": [
+                  0.2675569124939945,
+                  -0.3656349117901961,
+                  1.0014876040437064
+                ],
+                "rod_tip_xy_dist": 0.0008516585636101901,
+                "target_xy_drift": 3.066535067090048e-08,
+                "depth": 0.019647754668169704,
+                "bottom_clearance": 0.07979279356357849,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005991154316710098,
+              "rod_tip_xy_max_step": 3.231285849668871e-05,
+              "rod_tip_xy_range": 0.0005991024268258973,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26704964537703973,
+            -0.3669477265147358,
+            1.043513464258894
+          ],
+          "object_origin_world": [
+            0.26704964537703973,
+            -0.3669477265147358,
+            1.043513464258894
+          ],
+          "frame_world": [
+            0.26704826752562594,
+            -0.3669540224443464,
+            1.0434000613766332
+          ],
+          "center_minus_frame": [
+            1.3778514137974263e-06,
+            6.295929610600215e-06,
+            0.00011340288226069362
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2652367811032963,
+              0.1567399449556271,
+              0.832119338131795
+            ],
+            "target_position": [
+              0.27879046178935635,
+              0.2031546507090088,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04835315057276703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16871071450744163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832119338131795,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566946434108,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13805614989239223,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 303,
+            "max_placed_release_frames": 303
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a47ee54ed64b19b7939ab6d7a226e89de2160f009623aa343771f0a9a07cf28",
+    "visual_seed": 2231733097482725123,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd4c227da7f508965698f00a54c9efaa575a6c06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_56_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2001098800381489,
+              -0.10932564994957934,
+              1.1641267498654795
+            ],
+            "current_z": 1.1641267498654795,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.3030203014553581,
+            "gripper_z": 1.158185442375911,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19553509220009685,
+              -0.11406112335330387,
+              1.158185442375911
+            ],
+            "object_minus_gripper": [
+              0.004574787838052041,
+              0.00473547340372453,
+              0.005941307489568448
+            ],
+            "object_to_gripper_xy": 0.006584329284032753,
+            "object_to_gripper_z": 0.005941307489568448,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2001098800381489,
+              -0.13290298442696127,
+              1.1641267498654795
+            ],
+            "finger_b": [
+              0.18910798881368196,
+              -0.10932564994957934,
+              1.1641267498654795
+            ],
+            "finger_midpoint": [
+              0.19460893442591543,
+              -0.12111431718827032,
+              1.1641267498654795
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055009456122334655,
+              0.011788667238690972,
+              0.0
+            ],
+            "finger_gap": 0.026017922891217606,
+            "fingertip_max_gap": 0.0922791949468949,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01300896144560881,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641267498654795,
+            "object_top_z": 1.2141174627935987,
+            "finger_top_clearance": 0.049990712928119185,
+            "fingertip_min_top_clearance": 0.014997213878435755,
+            "object_projection_between_fingers": 0.8211909692511589,
+            "object_to_finger_line_xy": 0.009969868477494386,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048639597473447455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9567859279066795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27652849674427576,
+              -0.3635652893804278,
+              0.8515395642284973
+            ],
+            "target_position": [
+              0.26855142178822106,
+              -0.36445646879685883,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00802670079215524,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18483453872195163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395642284973,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579383016303422,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712573619099424,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15206388550275637,
+            "release_required_pad_clearance": 0.053562868095497124,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1368900907076545,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007925808429718018,
+            "max_z_decrease": 0.007925808429718018,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104715357412775,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007925808429718018,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021170728587661815,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007925808429718018,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007925833006179762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1242513507604599,
+              -0.4207179248332976,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1242513507604599,
+              -0.4207179248332976,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12389501123100302,
+              -0.42201624912146685,
+              0.8074718370963654
+            ],
+            "closest_button": [
+              0.12424062192440033,
+              -0.4207139611244201,
+              0.772392988204956
+            ],
+            "closest_ee_minus_button": [
+              -0.000345610693397308,
+              -0.001302287997046736,
+              0.03507884889140933
+            ],
+            "button_min_z_position": [
+              0.12423200905323027,
+              -0.4207139909267425,
+              0.7688830494880676
+            ],
+            "min_active_finger_to_button": 0.14641595546161626,
+            "closest_active_finger": [
+              -0.017476707696914673,
+              -0.4080458879470825,
+              0.8112736940383911
+            ],
+            "closest_active_finger_button": [
+              0.12425418943166733,
+              -0.4207152128219604,
+              0.7767849564552307
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141730897128582,
+              0.012669324874877874,
+              0.0344887375831604
+            ],
+            "min_contact_pad_to_button": 0.021170728587661815,
+            "closest_contact_pad": [
+              0.12423200905323027,
+              -0.4229026428938769,
+              0.7899403416097817
+            ],
+            "closest_contact_pad_button": [
+              0.12423200905323027,
+              -0.4207139909267425,
+              0.7688830494880676
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002188651967134414,
+              0.021057292121714033
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27910177526473234,
+              0.20388232747169727,
+              1.1046417633684324
+            ],
+            "current_z": 1.1046417633684324,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1947326336340699,
+            "gripper_z": 1.1046418803195952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2791017536743301,
+              0.20388239853231865,
+              1.1046418803195952
+            ],
+            "object_minus_gripper": [
+              2.1590402243809592e-08,
+              -7.106062138717562e-08,
+              -1.1695116275411976e-07
+            ],
+            "object_to_gripper_xy": 7.426814512953059e-08,
+            "object_to_gripper_z": -1.1695116275411976e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27910177526473234,
+              0.20388232747169727,
+              1.1046417633684324
+            ],
+            "finger_b": [
+              0.27910177526473234,
+              0.20388232747169727,
+              1.1046417633684324
+            ],
+            "finger_midpoint": [
+              0.27910177526473234,
+              0.20388232747169727,
+              1.1046417633684324
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046417633684324,
+            "object_top_z": 1.2296502699887122,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2791017752647324,
+            0.20388232747169727,
+            1.1046417633684324
+          ],
+          "object_origin_world": [
+            0.2791017752647324,
+            0.20388232747169727,
+            1.1046417633684324
+          ],
+          "frame_world": [
+            0.2791017536743301,
+            0.20388239853231865,
+            1.1046418803195952
+          ],
+          "center_minus_frame": [
+            2.1590402299320743e-08,
+            -7.106062138717562e-08,
+            -1.1695116275411976e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436760368333715,
+            "required_z": 0.9112598663996836,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001868471565350313,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.024505727298254e-08,
+            "max_target_xy_drift": 9.732581479055652e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1368900905950596,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1368900907528627,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27476120179839264,
+              -0.36424295764208897,
+              0.923372018605051
+            ],
+            "target_mouth_xy": [
+              0.27652849716354505,
+              -0.36356526053228455
+            ],
+            "rod_tip_z": 0.923372018605051,
+            "rod_tip_depth": -0.022112189139397054,
+            "rod_tip_bottom_clearance": 0.12155272825242236,
+            "rod_tip_xy_dist": 0.0018927773985142724,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044922747886887215,
+            "min_rod_tip_bottom_clearance": 0.05451786692882932,
+            "min_rod_tip_xy_dist": 0.0012534521601403285,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27652852450035403,
+              -0.363565290068085
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7336808983147165e-08,
+              2.9535800472046958e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0011699392714877854,
+                0.0010648591368105365
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012918627406056093,
+                0.000724342526297328
+              ],
+              "first_target_mouth_xy": [
+                0.27652849732859053,
+                -0.3635652570361108
+              ],
+              "last_target_mouth_xy": [
+                0.27652846662038305,
+                -0.363565289074649
+              ],
+              "first_rod_tip_xy": [
+                0.27535855805710274,
+                -0.3625003978993003
+              ],
+              "last_rod_tip_xy": [
+                0.27523660387977744,
+                -0.3628409465483517
+              ],
+              "min_rod_tip_xy_dist": 0.0014412262820520454,
+              "max_rod_tip_xy_dist": 0.001584508942265075,
+              "first_target_xy_drift": 4.277167348052246e-08,
+              "last_target_xy_drift": 5.788849588689488e-08,
+              "max_depth": 0.01956050820852029,
+              "min_bottom_clearance": 0.07988000044166677
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0011699392714877854,
+                  0.0010648591368105365
+                ],
+                "rod_tip_xy": [
+                  0.27535855805710274,
+                  -0.3625003978993003
+                ],
+                "target_mouth_xy": [
+                  0.27652849732859053,
+                  -0.3635652570361108
+                ],
+                "gripper_position": [
+                  0.2753477185887388,
+                  -0.3625086743503005,
+                  1.0056454096290348
+                ],
+                "rod_tip_xy_dist": 0.0015819870038082647,
+                "target_xy_drift": 4.277167348052246e-08,
+                "depth": 0.015468323957625318,
+                "bottom_clearance": 0.08397230136684353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00118077854529397,
+                  0.0010566128028239308
+                ],
+                "rod_tip_xy": [
+                  0.2753477185887387,
+                  -0.3625086743503005
+                ],
+                "target_mouth_xy": [
+                  0.27652849713403266,
+                  -0.3635652871531244
+                ],
+                "gripper_position": [
+                  0.27535065922910323,
+                  -0.3625774718473108,
+                  1.005121968854532
+                ],
+                "rod_tip_xy_dist": 0.001584508942265075,
+                "target_xy_drift": 2.7521128991607237e-08,
+                "depth": 0.015614452482643704,
+                "bottom_clearance": 0.08382615393087456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001177837523415659,
+                  0.0009877877440763183
+                ],
+                "rod_tip_xy": [
+                  0.2753506592291031,
+                  -0.36257747184731076
+                ],
+                "target_mouth_xy": [
+                  0.2765284967525188,
+                  -0.3635652595913871
+                ],
+                "gripper_position": [
+                  0.27533964090227514,
+                  -0.36258566028553657,
+                  1.00497612711232
+                ],
+                "rod_tip_xy_dist": 0.0015372136672932998,
+                "target_xy_drift": 4.1216155554240666e-08,
+                "depth": 0.016137849809620186,
+                "bottom_clearance": 0.08330265923613334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011888245844027256,
+                  0.000979629460114484
+                ],
+                "rod_tip_xy": [
+                  0.27533964090227503,
+                  -0.36258566028553657
+                ],
+                "target_mouth_xy": [
+                  0.27652846548667775,
+                  -0.36356528974565105
+                ],
+                "gripper_position": [
+                  0.2753315115899029,
+                  -0.3625872118717107,
+                  1.004847964813494
+                ],
+                "rod_tip_xy_dist": 0.0015404472634934663,
+                "target_xy_drift": 5.901455711627486e-08,
+                "depth": 0.016283715547778077,
+                "bottom_clearance": 0.08315680824139637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011969839618206635,
+                  0.0009781067248211817
+                ],
+                "rod_tip_xy": [
+                  0.27533151158990277,
+                  -0.3625872118717108
+                ],
+                "target_mouth_xy": [
+                  0.27652849555172343,
+                  -0.36356531859653196
+                ],
+                "gripper_position": [
+                  0.27533536478775494,
+                  -0.362657374395397,
+                  1.0043260405635737
+                ],
+                "rod_tip_xy_dist": 0.0015457889150839162,
+                "target_xy_drift": 4.0643517300236716e-08,
+                "depth": 0.016411884208512584,
+                "bottom_clearance": 0.0830286590193281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001193101353775039,
+                  0.0009079146912008285
+                ],
+                "rod_tip_xy": [
+                  0.2753353647877549,
+                  -0.36265737439539697
+                ],
+                "target_mouth_xy": [
+                  0.2765284661415299,
+                  -0.3635652890865978
+                ],
+                "gripper_position": [
+                  0.2753243785262082,
+                  -0.3626648891347301,
+                  1.0041799616112315
+                ],
+                "rod_tip_xy_dist": 0.001499266462933833,
+                "target_xy_drift": 5.8367076920732735e-08,
+                "depth": 0.01693379135738793,
+                "bottom_clearance": 0.08250672625192768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012040885783461408,
+                  0.0009003983521524428
+                ],
+                "rod_tip_xy": [
+                  0.2753243785262081,
+                  -0.3626648891347301
+                ],
+                "target_mouth_xy": [
+                  0.27652846710455425,
+                  -0.36356528748688255
+                ],
+                "gripper_position": [
+                  0.2753160024218374,
+                  -0.3626667704773861,
+                  1.0040519339984586
+                ],
+                "rod_tip_xy_dist": 0.001503511389069755,
+                "target_xy_drift": 5.74538113492104e-08,
+                "depth": 0.01707989278378541,
+                "bottom_clearance": 0.0823606928012921,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012124951123362315,
+                  0.0008985182720982476
+                ],
+                "rod_tip_xy": [
+                  0.2753160024218373,
+                  -0.3626667704773861
+                ],
+                "target_mouth_xy": [
+                  0.2765284975341735,
+                  -0.36356528874948435
+                ],
+                "gripper_position": [
+                  0.2753076321495421,
+                  -0.36266845235627787,
+                  1.003923875821756
+                ],
+                "rod_tip_xy_dist": 0.0015091320295897478,
+                "target_xy_drift": 2.699839993547032e-08,
+                "depth": 0.01720790206401246,
+                "bottom_clearance": 0.08223265991958406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001220895761077534,
+                  0.0008968357302671648
+                ],
+                "rod_tip_xy": [
+                  0.275307632149542,
+                  -0.3626684523562778
+                ],
+                "target_mouth_xy": [
+                  0.27652852791061955,
+                  -0.363565288086545
+                ],
+                "gripper_position": [
+                  0.27531302471892716,
+                  -0.3627407218751921,
+                  1.0034024527989818
+                ],
+                "rod_tip_xy_dist": 0.001514892995066295,
+                "target_xy_drift": 3.944161738763885e-09,
+                "depth": 0.01733603606987366,
+                "bottom_clearance": 0.082104571846907,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012154716395830212,
+                  0.0008245656266479551
+                ],
+                "rod_tip_xy": [
+                  0.27531302471892705,
+                  -0.3627407218751921
+                ],
+                "target_mouth_xy": [
+                  0.27652849635851007,
+                  -0.36356528750184003
+                ],
+                "gripper_position": [
+                  0.27530173029098765,
+                  -0.36274873996800544,
+                  1.0032567708506739
+                ],
+                "rod_tip_xy_dist": 0.0014687681162389018,
+                "target_xy_drift": 2.8258609222543553e-08,
+                "depth": 0.017857337715880273,
+                "bottom_clearance": 0.08158322695846676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012267974917753999,
+                  0.0008165173870655074
+                ],
+                "rod_tip_xy": [
+                  0.27530173029098753,
+                  -0.36274873996800544
+                ],
+                "target_mouth_xy": [
+                  0.27652852778276293,
+                  -0.36356525735507095
+                ],
+                "gripper_position": [
+                  0.2752932685789623,
+                  -0.3627502208680912,
+                  1.003128791637858
+                ],
+                "rod_tip_xy_dist": 0.0014736799955236877,
+                "target_xy_drift": 3.2877279359516686e-08,
+                "depth": 0.018003156970526346,
+                "bottom_clearance": 0.08143748070716628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012352272213677629,
+                  0.0008150694683986548
+                ],
+                "rod_tip_xy": [
+                  0.2752932685789622,
+                  -0.3627502208680912
+                ],
+                "target_mouth_xy": [
+                  0.27652849580032995,
+                  -0.3635652903364899
+                ],
+                "gripper_position": [
+                  0.2752847046175698,
+                  -0.3627518155775353,
+                  1.0030010132423164
+                ],
+                "rod_tip_xy_dist": 0.0014799069317776676,
+                "target_xy_drift": 2.8701279123585763e-08,
+                "depth": 0.018131046993031474,
+                "bottom_clearance": 0.08130947975447211,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012437936650312453,
+                  0.000813472842656815
+                ],
+                "rod_tip_xy": [
+                  0.2752847046175697,
+                  -0.3627518155775353
+                ],
+                "target_mouth_xy": [
+                  0.27652849828260095,
+                  -0.3635652884201921
+                ],
+                "gripper_position": [
+                  0.27529155588624493,
+                  -0.36282567176843883,
+                  1.0024830564516056
+                ],
+                "rod_tip_xy_dist": 0.0014861900103661095,
+                "target_xy_drift": 2.6269490434053275e-08,
+                "depth": 0.018258893867783343,
+                "bottom_clearance": 0.08118170813031578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012369715082932164,
+                  0.0007396179309267503
+                ],
+                "rod_tip_xy": [
+                  0.2752915558862448,
+                  -0.3628256717684389
+                ],
+                "target_mouth_xy": [
+                  0.27652852739453804,
+                  -0.36356528969936563
+                ],
+                "gripper_position": [
+                  0.27528010596249197,
+                  -0.3628336154816656,
+                  1.0023370268552791
+                ],
+                "rod_tip_xy_dist": 0.0014412262820520454,
+                "target_xy_drift": 2.9175769113845683e-09,
+                "depth": 0.018776825170454092,
+                "bottom_clearance": 0.0806637092318736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012483926533193856,
+                  0.0007316421643537852
+                ],
+                "rod_tip_xy": [
+                  0.27528010596249186,
+                  -0.36283361548166554
+                ],
+                "target_mouth_xy": [
+                  0.27652849861581125,
+                  -0.3635652576460193
+                ],
+                "gripper_position": [
+                  0.27527138909300075,
+                  -0.3628351120597226,
+                  1.0022095441507353
+                ],
+                "rod_tip_xy_dist": 0.0014469915250346517,
+                "target_xy_drift": 4.148734625728094e-08,
+                "depth": 0.018922900327254744,
+                "bottom_clearance": 0.08051775013494022,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012571066968866118,
+                  0.0007302093498566253
+                ],
+                "rod_tip_xy": [
+                  0.27527138909300064,
+                  -0.3628351120597226
+                ],
+                "target_mouth_xy": [
+                  0.27652849578988725,
+                  -0.3635653214095792
+                ],
+                "gripper_position": [
+                  0.27526272346304914,
+                  -0.3628364647357107,
+                  1.0020817875854422
+                ],
+                "rod_tip_xy_dist": 0.0014537960455219307,
+                "target_xy_drift": 4.250388405921061e-08,
+                "depth": 0.019050318911517983,
+                "bottom_clearance": 0.08039025539595068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012657713883211241,
+                  0.0007288272293876075
+                ],
+                "rod_tip_xy": [
+                  0.27526272346304903,
+                  -0.3628364647357108
+                ],
+                "target_mouth_xy": [
+                  0.27652849485137015,
+                  -0.3635652919650984
+                ],
+                "gripper_position": [
+                  0.2752540717826993,
+                  -0.36283783818147997,
+                  1.0019542328879072
+                ],
+                "rod_tip_xy_dist": 0.0014606047849398556,
+                "target_xy_drift": 2.9709609637762073e-08,
+                "depth": 0.01917811024908833,
+                "bottom_clearance": 0.08026251217060854,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012744552817764432,
+                  0.0007274790900281269
+                ],
+                "rod_tip_xy": [
+                  0.2752540717826992,
+                  -0.3628378381814799
+                ],
+                "target_mouth_xy": [
+                  0.2765285270644756,
+                  -0.36356531727150804
+                ],
+                "gripper_position": [
+                  0.2752454238795852,
+                  -0.36283935077047713,
+                  1.0018269777627586
+                ],
+                "rod_tip_xy_dist": 0.0014674679184486538,
+                "target_xy_drift": 2.7323999399355008e-08,
+                "depth": 0.01930562442287398,
+                "bottom_clearance": 0.08013497500810662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012830738422880406,
+                  0.0007259379554809819
+                ],
+                "rod_tip_xy": [
+                  0.2752454238795851,
+                  -0.3628393507704772
+                ],
+                "target_mouth_xy": [
+                  0.27652849772187316,
+                  -0.36356528872595817
+                ],
+                "gripper_position": [
+                  0.27523660387977755,
+                  -0.36284094654835164,
+                  1.0016992542322474
+                ],
+                "rod_tip_xy_dist": 0.0014741995794232555,
+                "target_xy_drift": 2.6812093215222832e-08,
+                "depth": 0.019432919702298546,
+                "bottom_clearance": 0.08000765012325661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012918627406056093,
+                  0.000724342526297328
+                ],
+                "rod_tip_xy": [
+                  0.27523660387977744,
+                  -0.3628409465483517
+                ],
+                "target_mouth_xy": [
+                  0.27652846662038305,
+                  -0.363565289074649
+                ],
+                "gripper_position": [
+                  0.2752279857816742,
+                  -0.3628421230477576,
+                  1.0015716829838373
+                ],
+                "rod_tip_xy_dist": 0.0014810744194563052,
+                "target_xy_drift": 5.788849588689488e-08,
+                "depth": 0.01956050820852029,
+                "bottom_clearance": 0.07988000044166677,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006000612005055843,
+              "rod_tip_xy_max_step": 3.260126956717388e-05,
+              "rod_tip_xy_range": 0.0006000521938241001,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2747612017983927,
+            -0.36424295764208897,
+            1.043372018605051
+          ],
+          "object_origin_world": [
+            0.2747612017983927,
+            -0.36424295764208897,
+            1.043372018605051
+          ],
+          "frame_world": [
+            0.27478611404106373,
+            -0.3642400101488201,
+            1.0436760368333715
+          ],
+          "center_minus_frame": [
+            -2.4912242671037976e-05,
+            -2.94749326884558e-06,
+            -0.00030401822832049064
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26618837022456276,
+              0.1582323003648537,
+              0.8320036275303009
+            ],
+            "target_position": [
+              0.2795849086744859,
+              0.20478133202121102,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04843841028135445,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16874955993079735,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320036275303009,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674367131192,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13858763397935106,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9b58287dd7afa974efdda2e299e5e438142d8f06d09ba24b7520ca331adc7fe",
+    "visual_seed": 5089756910824849028,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82c2722850acb36dfa26d4a44d547e355e2e7e7f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_58_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19474831842001591,
+              -0.11406855525880077,
+              1.1657162964849452
+            ],
+            "current_z": 1.1657162964849452,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.30460984807482394,
+            "gripper_z": 1.159604381467463,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19029850631470677,
+              -0.11865883063079792,
+              1.159604381467463
+            ],
+            "object_minus_gripper": [
+              0.004449812105309148,
+              0.004590275371997146,
+              0.006111915017482206
+            ],
+            "object_to_gripper_xy": 0.006393078739020767,
+            "object_to_gripper_z": 0.006111915017482206,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19474831842001591,
+              -0.1376647673562375,
+              1.1657162964849452
+            ],
+            "finger_b": [
+              0.18406386241659184,
+              -0.11406855525880077,
+              1.1657162964849452
+            ],
+            "finger_midpoint": [
+              0.18940609041830386,
+              -0.12586666130751914,
+              1.1657162964849452
+            ],
+            "object_minus_finger_midpoint": [
+              0.005342228001712052,
+              0.011798106048718365,
+              0.0
+            ],
+            "finger_gap": 0.02590248685814403,
+            "fingertip_max_gap": 0.09215887068624967,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012951243429072022,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657162964849452,
+            "object_top_z": 1.2156298093825946,
+            "finger_top_clearance": 0.04991351289764934,
+            "fingertip_min_top_clearance": 0.014974053869294833,
+            "object_projection_between_fingers": 0.8298539363631761,
+            "object_to_finger_line_xy": 0.009733146140879455,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857943534312484,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9829500892684546,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26943961210833967,
+              -0.364347299069652,
+              0.851539606553943
+            ],
+            "target_position": [
+              0.2621108648875987,
+              -0.3646693619333941,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007335820357241578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18468145986733006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539606553943,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515217650907215,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507931013075003,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533597582657908,
+            "release_required_pad_clearance": 0.052539655065375016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14803748163037755,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007571876049041748,
+            "max_z_decrease": 0.007571876049041748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509606911490168,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007571876049041748,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021139402579756213,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007571876049041748,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007571904691396027,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11781079322099684,
+              -0.4209308326244355,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11781079322099684,
+              -0.4209308326244355,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11835229728112578,
+              -0.4214533442726368,
+              0.8078118000926745
+            ],
+            "closest_button": [
+              0.11780050396919248,
+              -0.42092594504356384,
+              0.7727240324020386
+            ],
+            "closest_ee_minus_button": [
+              0.0005517933119333074,
+              -0.0005273992290729668,
+              0.03508776769063593
+            ],
+            "button_min_z_position": [
+              0.11779034137725827,
+              -0.4209268987178803,
+              0.7692369818687439
+            ],
+            "min_active_finger_to_button": 0.14563200782270655,
+            "closest_active_finger": [
+              -0.022862248122692108,
+              -0.40581214427948,
+              0.810965895652771
+            ],
+            "closest_active_finger_button": [
+              0.11781179904937741,
+              -0.42092847824096685,
+              0.7764551639556885
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14067404717206952,
+              0.015116333961486872,
+              0.03451073169708252
+            ],
+            "min_contact_pad_to_button": 0.021139402579756213,
+            "closest_contact_pad": [
+              0.11779034137725827,
+              -0.42249220592048753,
+              0.7903183517196447
+            ],
+            "closest_contact_pad_button": [
+              0.11779034137725827,
+              -0.4209268987178803,
+              0.7692369818687439
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015653072026072246,
+              0.02108136985090081
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2777549832154516,
+              0.20622726050738943,
+              1.1036634982709073
+            ],
+            "current_z": 1.1036634982709073,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1937543685365447,
+            "gripper_z": 1.1036634047976148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2777549488280088,
+              0.20622728334462156,
+              1.1036634047976148
+            ],
+            "object_minus_gripper": [
+              3.438744283768003e-08,
+              -2.2837232133143814e-08,
+              9.347329243958313e-08
+            ],
+            "object_to_gripper_xy": 4.127996361938571e-08,
+            "object_to_gripper_z": 9.347329243958313e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2777549832154516,
+              0.20622726050738943,
+              1.1036634982709073
+            ],
+            "finger_b": [
+              0.2777549832154516,
+              0.20622726050738943,
+              1.1036634982709073
+            ],
+            "finger_midpoint": [
+              0.2777549832154516,
+              0.20622726050738943,
+              1.1036634982709073
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1036634982709073,
+            "object_top_z": 1.228672004891187,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2777549832154516,
+            0.20622726050738946,
+            1.1036634982709073
+          ],
+          "object_origin_world": [
+            0.2777549832154516,
+            0.20622726050738946,
+            1.1036634982709073
+          ],
+          "frame_world": [
+            0.2777549488280088,
+            0.20622728334462156,
+            1.1036634047976148
+          ],
+          "center_minus_frame": [
+            3.438744283768003e-08,
+            -2.283723210538824e-08,
+            9.347329243958313e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433895243176685,
+            "required_z": 0.9112598699466077,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002195271224886236,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.217302049019065e-08,
+            "max_target_xy_drift": 2.0434264205511388e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.14803749262557397,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.14803749443759018,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26850796788078984,
+              -0.36632775901975556,
+              0.9235030551582303
+            ],
+            "target_mouth_xy": [
+              0.26943960940545664,
+              -0.3643472407392986
+            ],
+            "rod_tip_z": 0.9235030551582303,
+            "rod_tip_depth": -0.022243212633911713,
+            "rod_tip_bottom_clearance": 0.12168374280881966,
+            "rod_tip_xy_dist": 0.002188700205534721,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04474349422994417,
+            "min_rod_tip_bottom_clearance": 0.05469703253575886,
+            "min_rod_tip_xy_dist": 0.00032920126993009384,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2694396093893361,
+              -0.364347302912317
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.6120549339859735e-11,
+              6.217301840028e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0003587054867933981,
+                -0.00019447583282022896
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00047532715696313455,
+                -0.0005450368985338017
+              ],
+              "first_target_mouth_xy": [
+                0.26943958125286305,
+                -0.3643472702210883
+              ],
+              "last_target_mouth_xy": [
+                0.2694395806244294,
+                -0.36434727022320734
+              ],
+              "first_rod_tip_xy": [
+                0.26908087576606965,
+                -0.36454174605390854
+              ],
+              "last_rod_tip_xy": [
+                0.2689642534674663,
+                -0.36489230712174114
+              ],
+              "min_rod_tip_xy_dist": 0.0004080324445516684,
+              "max_rod_tip_xy_dist": 0.000723188168397411,
+              "first_target_xy_drift": 4.3132094164435905e-08,
+              "last_target_xy_drift": 4.354305622468944e-08,
+              "max_depth": 0.019565531769049183,
+              "min_bottom_clearance": 0.07987499233290307
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0003587054867933981,
+                  -0.00019447583282022896
+                ],
+                "rod_tip_xy": [
+                  0.26908087576606965,
+                  -0.36454174605390854
+                ],
+                "target_mouth_xy": [
+                  0.26943958125286305,
+                  -0.3643472702210883
+                ],
+                "gripper_position": [
+                  0.2690699624510263,
+                  -0.3645498219219009,
+                  1.005603250608289
+                ],
+                "rod_tip_xy_dist": 0.0004080324445516684,
+                "target_xy_drift": 4.3132094164435905e-08,
+                "depth": 0.015513018902699294,
+                "bottom_clearance": 0.08392752942591164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.000369619378284336,
+                  -0.00020254945590791884
+                ],
+                "rod_tip_xy": [
+                  0.2690699624510264,
+                  -0.3645498219219009
+                ],
+                "target_mouth_xy": [
+                  0.2694395818293107,
+                  -0.36434727246599297
+                ],
+                "gripper_position": [
+                  0.26906201968158605,
+                  -0.36455154231613274,
+                  1.0054775283728992
+                ],
+                "rod_tip_xy_dist": 0.00042147926033423404,
+                "target_xy_drift": 4.106742802680486e-08,
+                "depth": 0.015656656215398246,
+                "bottom_clearance": 0.08378393339670487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003775620573107652,
+                  -0.00020424165196675226
+                ],
+                "rod_tip_xy": [
+                  0.26906201968158605,
+                  -0.36455154231613285
+                ],
+                "target_mouth_xy": [
+                  0.2694395817388968,
+                  -0.3643473006641661
+                ],
+                "gripper_position": [
+                  0.269066254166159,
+                  -0.36462327617612794,
+                  1.004953937167038
+                ],
+                "rod_tip_xy_dist": 0.000429264207125222,
+                "target_xy_drift": 2.774168297568895e-08,
+                "depth": 0.015782297027209347,
+                "bottom_clearance": 0.0836582470032251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0003733265276588127,
+                  -0.0002760069120893993
+                ],
+                "rod_tip_xy": [
+                  0.269066254166159,
+                  -0.364623276176128
+                ],
+                "target_mouth_xy": [
+                  0.2694395806938178,
+                  -0.3643472692640386
+                ],
+                "gripper_position": [
+                  0.2690551167889119,
+                  -0.364631607261538,
+                  1.0048106335675648
+                ],
+                "rod_tip_xy_dist": 0.00046427633126717934,
+                "target_xy_drift": 4.422261195972661e-08,
+                "depth": 0.016305908570552252,
+                "bottom_clearance": 0.08313465268028553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003844637291380293,
+                  -0.00028430306239113357
+                ],
+                "rod_tip_xy": [
+                  0.2690551167889119,
+                  -0.3646316072615381
+                ],
+                "target_mouth_xy": [
+                  0.26943958051804995,
+                  -0.36434730419914696
+                ],
+                "gripper_position": [
+                  0.2690470656882732,
+                  -0.3646330707597584,
+                  1.0046844911869148
+                ],
+                "rod_tip_xy_dist": 0.00047816376933818055,
+                "target_xy_drift": 2.8899949735967345e-08,
+                "depth": 0.01644923747988536,
+                "bottom_clearance": 0.08299137013146252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0003925160953029416,
+                  -0.00028576913399885884
+                ],
+                "rod_tip_xy": [
+                  0.26904706568827325,
+                  -0.3646330707597586
+                ],
+                "target_mouth_xy": [
+                  0.2694395817835762,
+                  -0.36434730162575973
+                ],
+                "gripper_position": [
+                  0.26905193703682806,
+                  -0.3647061557247101,
+                  1.0041626316685228
+                ],
+                "rod_tip_xy_dist": 0.0004855233084192001,
+                "target_xy_drift": 2.7635723425057238e-08,
+                "depth": 0.016575403826250112,
+                "bottom_clearance": 0.08286516117173182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0003876439849150315,
+                  -0.0003588553802733596
+                ],
+                "rod_tip_xy": [
+                  0.2690519370368281,
+                  -0.3647061557247102
+                ],
+                "target_mouth_xy": [
+                  0.26943958102174315,
+                  -0.36434730034443685
+                ],
+                "gripper_position": [
+                  0.26904088535108833,
+                  -0.36471392566454364,
+                  1.0040191824235605
+                ],
+                "rod_tip_xy_dist": 0.000528247141962872,
+                "target_xy_drift": 2.8483580141044033e-08,
+                "depth": 0.017097134140584447,
+                "bottom_clearance": 0.0823433937769199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00039872868866552835,
+                  -0.00036665446987194095
+                ],
+                "rod_tip_xy": [
+                  0.2690408853510884,
+                  -0.36471392566454386
+                ],
+                "target_mouth_xy": [
+                  0.2694396140397539,
+                  -0.3643472711946719
+                ],
+                "gripper_position": [
+                  0.2690326932172993,
+                  -0.36471557201515586,
+                  1.0038937456217423
+                ],
+                "rod_tip_xy_dist": 0.0005416826261216118,
+                "target_xy_drift": 3.205675271310223e-08,
+                "depth": 0.01724072079989003,
+                "bottom_clearance": 0.08219991594578879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0004068893796419504,
+                  -0.0003682995464442951
+                ],
+                "rod_tip_xy": [
+                  0.2690326932172993,
+                  -0.36471557201515603
+                ],
+                "target_mouth_xy": [
+                  0.26943958259694123,
+                  -0.36434727246871174
+                ],
+                "gripper_position": [
+                  0.2690383237331435,
+                  -0.36478921195956243,
+                  1.0033748334577035
+                ],
+                "rod_tip_xy_dist": 0.0005488201191433171,
+                "target_xy_drift": 4.055422940615609e-08,
+                "depth": 0.017366167350911677,
+                "bottom_clearance": 0.08207445185522089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0004012274915610181,
+                  -0.0004419420554573339
+                ],
+                "rod_tip_xy": [
+                  0.2690383237331435,
+                  -0.3647892119595625
+                ],
+                "target_mouth_xy": [
+                  0.26943955122470453,
+                  -0.36434726990410515
+                ],
+                "gripper_position": [
+                  0.2690269738394755,
+                  -0.3647972821666281,
+                  1.003231578611646
+                ],
+                "rod_tip_xy_dist": 0.0005969055874811359,
+                "target_xy_drift": 6.687799647303481e-08,
+                "depth": 0.01788494383186079,
+                "bottom_clearance": 0.08155560720275978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00041263883413861224,
+                  -0.0004500100186994871
+                ],
+                "rod_tip_xy": [
+                  0.26902697383947555,
+                  -0.3647972821666281
+                ],
+                "target_mouth_xy": [
+                  0.26943961267361416,
+                  -0.3643472721479286
+                ],
+                "gripper_position": [
+                  0.2690187849320039,
+                  -0.3647988573418921,
+                  1.0031061676587099
+                ],
+                "rod_tip_xy_dist": 0.0006105569788063895,
+                "target_xy_drift": 3.093919963800969e-08,
+                "depth": 0.01802833082346722,
+                "bottom_clearance": 0.08141228750794283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.000420797052516686,
+                  -0.0004515883942272092
+                ],
+                "rod_tip_xy": [
+                  0.2690187849320039,
+                  -0.3647988573418922
+                ],
+                "target_mouth_xy": [
+                  0.26943958198452056,
+                  -0.364347268947665
+                ],
+                "gripper_position": [
+                  0.26901040968297163,
+                  -0.3647999744320759,
+                  1.0029808216032399
+                ],
+                "rod_tip_xy_dist": 0.0006172537867096806,
+                "target_xy_drift": 4.3641969458675886e-08,
+                "depth": 0.018153694044303892,
+                "bottom_clearance": 0.08128692823777839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004292031949315045,
+                  -0.00045270388378626514
+                ],
+                "rod_tip_xy": [
+                  0.2690104096829717,
+                  -0.364799974432076
+                ],
+                "target_mouth_xy": [
+                  0.2694396128779032,
+                  -0.36434727054828975
+                ],
+                "gripper_position": [
+                  0.2690019946124519,
+                  -0.3648017068438619,
+                  1.002855563446958
+                ],
+                "rod_tip_xy_dist": 0.0006238238444742067,
+                "target_xy_drift": 3.255150318115937e-08,
+                "depth": 0.01827902011288096,
+                "bottom_clearance": 0.08116158668603057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00043761801043140647,
+                  -0.0004544366185816884
+                ],
+                "rod_tip_xy": [
+                  0.2690019946124519,
+                  -0.36480170684386204
+                ],
+                "target_mouth_xy": [
+                  0.2694396126228833,
+                  -0.36434727022528035
+                ],
+                "gripper_position": [
+                  0.2690096758176703,
+                  -0.36487876384730783,
+                  1.0023383039385452
+                ],
+                "rod_tip_xy_dist": 0.0006308899772241602,
+                "target_xy_drift": 3.284658568845025e-08,
+                "depth": 0.018404341616162,
+                "bottom_clearance": 0.08103626694013533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00042990680490101463,
+                  -0.0005314929829188797
+                ],
+                "rod_tip_xy": [
+                  0.2690096758176704,
+                  -0.364878763847308
+                ],
+                "target_mouth_xy": [
+                  0.2694395826225714,
+                  -0.3643472708643891
+                ],
+                "gripper_position": [
+                  0.26899817542225624,
+                  -0.3648865217000608,
+                  1.002194995317772
+                ],
+                "rod_tip_xy_dist": 0.0006835968488752765,
+                "target_xy_drift": 4.1755590915869616e-08,
+                "depth": 0.018921588086824537,
+                "bottom_clearance": 0.08051898989564554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0004414060407035847,
+                  -0.0005392508380898109
+                ],
+                "rod_tip_xy": [
+                  0.2689981754222563,
+                  -0.364886521700061
+                ],
+                "target_mouth_xy": [
+                  0.2694395814629599,
+                  -0.36434727086197116
+                ],
+                "gripper_position": [
+                  0.26898976618198256,
+                  -0.3648877773917537,
+                  1.0020696668897298
+                ],
+                "rod_tip_xy_dist": 0.000696872125393302,
+                "target_xy_drift": 4.251008298747498e-08,
+                "depth": 0.01906476827503034,
+                "bottom_clearance": 0.08037576513268363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00044984604982445386,
+                  -0.0005405055661402147
+                ],
+                "rod_tip_xy": [
+                  0.26898976618198256,
+                  -0.3648877773917538
+                ],
+                "target_mouth_xy": [
+                  0.269439612231807,
+                  -0.3643472718256136
+                ],
+                "gripper_position": [
+                  0.26898134623077286,
+                  -0.36488928799791426,
+                  1.001944408031461
+                ],
+                "rod_tip_xy_dist": 0.0007032124398581264,
+                "target_xy_drift": 3.121638620792102e-08,
+                "depth": 0.019190292902621864,
+                "bottom_clearance": 0.08025029699791897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004582345844463265,
+                  -0.0005420174569103486
+                ],
+                "rod_tip_xy": [
+                  0.2689813462307729,
+                  -0.3648892879979144
+                ],
+                "target_mouth_xy": [
+                  0.26943958081521924,
+                  -0.3643472705410041
+                ],
+                "gripper_position": [
+                  0.2689728986969393,
+                  -0.36489067441749923,
+                  1.0018191221568147
+                ],
+                "rod_tip_xy_dist": 0.0007097618318691553,
+                "target_xy_drift": 4.317849063098127e-08,
+                "depth": 0.01931535615605562,
+                "bottom_clearance": 0.08012516386496837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.000466683448267613,
+                  -0.0005434038737490154
+                ],
+                "rod_tip_xy": [
+                  0.2689728986969393,
+                  -0.36489067441749934
+                ],
+                "target_mouth_xy": [
+                  0.2694395821452069,
+                  -0.3643472705437503
+                ],
+                "gripper_position": [
+                  0.2689642534674662,
+                  -0.3648923071217409,
+                  1.0016942365990995
+                ],
+                "rod_tip_xy_dist": 0.0007162968734347413,
+                "target_xy_drift": 4.2307997850782206e-08,
+                "depth": 0.01944077179031567,
+                "bottom_clearance": 0.07999979929835843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00047532715696313455,
+                  -0.0005450368985338017
+                ],
+                "rod_tip_xy": [
+                  0.2689642534674663,
+                  -0.36489230712174114
+                ],
+                "target_mouth_xy": [
+                  0.2694395806244294,
+                  -0.36434727022320734
+                ],
+                "gripper_position": [
+                  0.2689556809207629,
+                  -0.36489378528401156,
+                  1.0015691109364984
+                ],
+                "rod_tip_xy_dist": 0.000723188168397411,
+                "target_xy_drift": 4.354305622468944e-08,
+                "depth": 0.019565531769049183,
+                "bottom_clearance": 0.07987499233290307,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005995018438394057,
+              "rod_tip_xy_max_step": 3.243882734334735e-05,
+              "rod_tip_xy_range": 0.0005994948100393373,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26850796788078984,
+            -0.36632775901975556,
+            1.0435030551582305
+          ],
+          "object_origin_world": [
+            0.26850796788078984,
+            -0.36632775901975556,
+            1.0435030551582305
+          ],
+          "frame_world": [
+            0.2685065770338714,
+            -0.3663343658849267,
+            1.0433895243176685
+          ],
+          "center_minus_frame": [
+            1.3908469184698014e-06,
+            6.606865171121523e-06,
+            0.0001135308405619817
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2629756255703225,
+              0.1609449165655186,
+              0.8320330286743427
+            ],
+            "target_position": [
+              0.2779201561753192,
+              0.20686898149267263,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048294500043350085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16645089035786415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320330286743427,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567288902481,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13514561878533954,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e325a821c6c246bc9eb28cbb3130cf5684a9f69a0207c84cbdd5af862105a043",
+    "visual_seed": 139692025098221554,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e6ae0ae152932bcf11912559c47bae6b6786165
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_59_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2011719132311181,
+              -0.11197252226703144,
+              1.1637891102703568
+            ],
+            "current_z": 1.1637891102703568,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3026826618602356,
+            "gripper_z": 1.157803801976816,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19649017100552985,
+              -0.11649312105129905,
+              1.157803801976816
+            ],
+            "object_minus_gripper": [
+              0.004681742225588259,
+              0.00452059878426761,
+              0.005985308293540825
+            ],
+            "object_to_gripper_xy": 0.006508035312994076,
+            "object_to_gripper_z": 0.005985308293540825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2011719132311181,
+              -0.13591252751677335,
+              1.1637891102703568
+            ],
+            "finger_b": [
+              0.19095874836031523,
+              -0.11197252226703144,
+              1.1637891102703568
+            ],
+            "finger_midpoint": [
+              0.19606533079571667,
+              -0.1239425248919024,
+              1.1637891102703568
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051065824354014355,
+              0.011970002624870954,
+              0.0
+            ],
+            "finger_gap": 0.026027535189408004,
+            "fingertip_max_gap": 0.09251079019314426,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013013767594704002,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637891102703568,
+            "object_top_z": 1.214020978031276,
+            "finger_top_clearance": 0.05023186776091926,
+            "fingertip_min_top_clearance": 0.015069560328275777,
+            "object_projection_between_fingers": 0.8460234442210236,
+            "object_to_finger_line_xy": 0.009394021325653671,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875539509657213,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7169160371327286,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26557601520266017,
+              -0.37142412518710854,
+              0.8515395986330108
+            ],
+            "target_position": [
+              0.2592259086953185,
+              -0.37145036459908526,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006350160719330194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833118285269207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395986330108,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587058939216497,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08863712534432787,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15037959803781903,
+            "release_required_pad_clearance": 0.054318562672163936,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6585515662374952,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00778651237487793,
+            "max_z_decrease": 0.00778651237487793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510823113610104,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00778651237487793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021054230288649167,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00778651237487793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007786535106484251,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11492583155632018,
+              -0.42771181464195246,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11492583155632018,
+              -0.42771181464195246,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11364566472141033,
+              -0.4264264670877013,
+              0.8075573086622444
+            ],
+            "closest_button": [
+              0.11491582542657852,
+              -0.42770567536354065,
+              0.7724953889846802
+            ],
+            "closest_ee_minus_button": [
+              -0.001270160705168194,
+              0.0012792082758393275,
+              0.035061919677564224
+            ],
+            "button_min_z_position": [
+              0.11490759253501891,
+              -0.4277071952819824,
+              0.7690223455429077
+            ],
+            "min_active_finger_to_button": 0.14676985893781733,
+            "closest_active_finger": [
+              -0.012779295444488525,
+              -0.49128457903862,
+              0.8107876777648926
+            ],
+            "closest_active_finger_button": [
+              0.11492741107940672,
+              -0.4277095794677734,
+              0.7762824892997742
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12770670652389526,
+              -0.06357499957084661,
+              0.03450518846511841
+            ],
+            "min_contact_pad_to_button": 0.021054230288649167,
+            "closest_contact_pad": [
+              0.11490759253501891,
+              -0.4277071952819824,
+              0.7900765758315569
+            ],
+            "closest_contact_pad_button": [
+              0.11490759253501891,
+              -0.4277071952819824,
+              0.7690223455429077
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021054230288649167
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2829101482582299,
+              0.20337133937192264,
+              1.1026003400014752
+            ],
+            "current_z": 1.1026003400014752,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19269121026711267,
+            "gripper_z": 1.1026006206944032,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2829102310110365,
+              0.20337122523982054,
+              1.1026006206944032
+            ],
+            "object_minus_gripper": [
+              -8.27528066071892e-08,
+              1.1413210210253766e-07,
+              -2.8069292801191636e-07
+            ],
+            "object_to_gripper_xy": 1.4097575582954303e-07,
+            "object_to_gripper_z": -2.8069292801191636e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2829101482582299,
+              0.20337133937192264,
+              1.1026003400014752
+            ],
+            "finger_b": [
+              0.2829101482582299,
+              0.20337133937192264,
+              1.1026003400014752
+            ],
+            "finger_midpoint": [
+              0.2829101482582299,
+              0.20337133937192264,
+              1.1026003400014752
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026003400014752,
+            "object_top_z": 1.227608846621755,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28291014825822997,
+            0.20337133937192267,
+            1.1026003400014752
+          ],
+          "object_origin_world": [
+            0.28291014825822997,
+            0.20337133937192267,
+            1.1026003400014752
+          ],
+          "frame_world": [
+            0.2829102310110365,
+            0.20337122523982054,
+            1.1026006206944032
+          ],
+          "center_minus_frame": [
+            -8.275280655167805e-08,
+            1.1413210213029323e-07,
+            -2.8069292801191636e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433669951507156,
+            "required_z": 0.9112598286883888,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00040546955821363904,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.1693719851403626e-08,
+            "max_target_xy_drift": 1.8390139634078526e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.6585515668710107,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.658551567149737,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26591731234092825,
+              -0.37119651095674533,
+              0.9234813589334193
+            ],
+            "target_mouth_xy": [
+              0.2655760438447814,
+              -0.37142412591034535
+            ],
+            "rod_tip_z": 0.9234813589334193,
+            "rod_tip_depth": -0.022221451109623147,
+            "rod_tip_bottom_clearance": 0.12166204236283706,
+            "rod_tip_xy_dist": 0.0004102106209798481,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04488729345032649,
+            "min_rod_tip_bottom_clearance": 0.05455327973676061,
+            "min_rod_tip_xy_dist": 0.0002444849656798866,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26557601253575547,
+              -0.3714240983765267
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.130902592740625e-08,
+              -2.7533818669489563e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0008942938238875597,
+                0.001912428196380933
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007828636929225752,
+                0.0015776916077006597
+              ],
+              "first_target_mouth_xy": [
+                0.26557600869957476,
+                -0.37142412863717056
+              ],
+              "last_target_mouth_xy": [
+                0.2655760138139954,
+                -0.3714241271851027
+              ],
+              "first_rod_tip_xy": [
+                0.2664703025234623,
+                -0.3695117004407896
+              ],
+              "last_rod_tip_xy": [
+                0.266358877506918,
+                -0.36984643557740204
+              ],
+              "min_rod_tip_xy_dist": 0.0017612456872070587,
+              "max_rod_tip_xy_dist": 0.002111194697264149,
+              "first_target_xy_drift": 3.0502833481796915e-08,
+              "last_target_xy_drift": 2.8836919911167406e-08,
+              "max_depth": 0.019539765541481957,
+              "min_bottom_clearance": 0.07990076888725328
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0008942938238875597,
+                  0.001912428196380933
+                ],
+                "rod_tip_xy": [
+                  0.2664703025234623,
+                  -0.3695117004407896
+                ],
+                "target_mouth_xy": [
+                  0.26557600869957476,
+                  -0.37142412863717056
+                ],
+                "gripper_position": [
+                  0.26645954201563676,
+                  -0.36951972078957745,
+                  1.0056343405970014
+                ],
+                "rod_tip_xy_dist": 0.002111194697264149,
+                "target_xy_drift": 3.0502833481796915e-08,
+                "depth": 0.015481638980727408,
+                "bottom_clearance": 0.08395903206190691,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0008834971081814746,
+                  0.0019044396078460868
+                ],
+                "rod_tip_xy": [
+                  0.2664595420156367,
+                  -0.3695197207895776
+                ],
+                "target_mouth_xy": [
+                  0.26557604490745523,
+                  -0.3714241603974237
+                ],
+                "gripper_position": [
+                  0.26645167564329886,
+                  -0.36952182078088086,
+                  1.0055089519498237
+                ],
+                "rod_tip_xy_dist": 0.002099394522260641,
+                "target_xy_drift": 6.996083628716364e-08,
+                "depth": 0.015625605970682854,
+                "bottom_clearance": 0.08381507993007575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0008756325777051766,
+                  0.0019022759575553216
+                ],
+                "rod_tip_xy": [
+                  0.26645167564329875,
+                  -0.3695218207808809
+                ],
+                "target_mouth_xy": [
+                  0.26557604306559357,
+                  -0.37142409673843624
+                ],
+                "gripper_position": [
+                  0.2664568223022416,
+                  -0.3695895063225333,
+                  1.0049836346571366
+                ],
+                "rod_tip_xy_dist": 0.0020941313783599223,
+                "target_xy_drift": 3.057375271093663e-08,
+                "depth": 0.015750879399460405,
+                "bottom_clearance": 0.08368965968676145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0008807477411514886,
+                  0.0018346230472636726
+                ],
+                "rod_tip_xy": [
+                  0.2664568223022415,
+                  -0.3695895063225334
+                ],
+                "target_mouth_xy": [
+                  0.26557607456109,
+                  -0.3714241293697971
+                ],
+                "gripper_position": [
+                  0.2664457794642535,
+                  -0.36959760665070385,
+                  1.0048398365730395
+                ],
+                "rod_tip_xy_dist": 0.0020350818924786524,
+                "target_xy_drift": 6.933775979902739e-08,
+                "depth": 0.01627634895361263,
+                "bottom_clearance": 0.0831642902422931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0008697347820377788,
+                  0.0018264909790757233
+                ],
+                "rod_tip_xy": [
+                  0.2664457794642534,
+                  -0.36959760665070396
+                ],
+                "target_mouth_xy": [
+                  0.26557604468221563,
+                  -0.3714240976297797
+                ],
+                "gripper_position": [
+                  0.2664379296339997,
+                  -0.36959940801406654,
+                  1.0047141158751622
+                ],
+                "rod_tip_xy_dist": 0.0020229947819337788,
+                "target_xy_drift": 3.2155132279738e-08,
+                "depth": 0.01642005319126738,
+                "bottom_clearance": 0.08302051858567794,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0008619172977671896,
+                  0.001824721137355989
+                ],
+                "rod_tip_xy": [
+                  0.2664379296339996,
+                  -0.36959940801406665
+                ],
+                "target_mouth_xy": [
+                  0.2655760123362324,
+                  -0.37142412915142264
+                ],
+                "gripper_position": [
+                  0.2664438209892156,
+                  -0.36966826200440606,
+                  1.0041907496296905
+                ],
+                "rod_tip_xy_dist": 0.0020180457520343857,
+                "target_xy_drift": 3.077554274265998e-08,
+                "depth": 0.01654573788435798,
+                "bottom_clearance": 0.08289482142346116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008677775086449735,
+                  0.001755833806157514
+                ],
+                "rod_tip_xy": [
+                  0.2664438209892155,
+                  -0.36966826200440606
+                ],
+                "target_mouth_xy": [
+                  0.2655760434805705,
+                  -0.37142409581056357
+                ],
+                "gripper_position": [
+                  0.2664328522735947,
+                  -0.36967622571101166,
+                  1.0040471316848711
+                ],
+                "rod_tip_xy_dist": 0.001958568395373432,
+                "target_xy_drift": 3.105101841752977e-08,
+                "depth": 0.017069101559644584,
+                "bottom_clearance": 0.08237148787194204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008568078877110863,
+                  0.001747901783740069
+                ],
+                "rod_tip_xy": [
+                  0.26643285227359464,
+                  -0.3696762257110118
+                ],
+                "target_mouth_xy": [
+                  0.26557604438588356,
+                  -0.37142412749475184
+                ],
+                "gripper_position": [
+                  0.26642472421931535,
+                  -0.3696780259810285,
+                  1.0039215839531004
+                ],
+                "rod_tip_xy_dist": 0.0019466074082992821,
+                "target_xy_drift": 4.3154393705667853e-08,
+                "depth": 0.01721281607439107,
+                "bottom_clearance": 0.08222774572972014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000848710305044853,
+                  0.0017461300766266064
+                ],
+                "rod_tip_xy": [
+                  0.2664247242193153,
+                  -0.3696780259810286
+                ],
+                "target_mouth_xy": [
+                  0.26557601391427044,
+                  -0.3714241560576552
+                ],
+                "gripper_position": [
+                  0.2664311662418636,
+                  -0.36974798995293556,
+                  1.003401238980101
+                ],
+                "rod_tip_xy_dist": 0.0019414632178821635,
+                "target_xy_drift": 5.7697598677861485e-08,
+                "depth": 0.017338257067273655,
+                "bottom_clearance": 0.08210231640990517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008551499071480229,
+                  0.0016761377935041732
+                ],
+                "rod_tip_xy": [
+                  0.2664311662418635,
+                  -0.3697479899529357
+                ],
+                "target_mouth_xy": [
+                  0.2655760163347155,
+                  -0.37142412774643985
+                ],
+                "gripper_position": [
+                  0.2664200854756057,
+                  -0.36975573929016187,
+                  1.003257854485187
+                ],
+                "rod_tip_xy_dist": 0.0018816799054324597,
+                "target_xy_drift": 2.9614589256914277e-08,
+                "depth": 0.017858729057128042,
+                "bottom_clearance": 0.08158191231796763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000844071463926177,
+                  0.0016683580975730972
+                ],
+                "rod_tip_xy": [
+                  0.2664200854756056,
+                  -0.36975573929016203
+                ],
+                "target_mouth_xy": [
+                  0.2655760140116794,
+                  -0.37142409738773513
+                ],
+                "gripper_position": [
+                  0.26641190847245055,
+                  -0.36975727615676046,
+                  1.0031321673093458
+                ],
+                "rod_tip_xy_dist": 0.0018697260168142828,
+                "target_xy_drift": 1.776530382305625e-09,
+                "depth": 0.018001970063823758,
+                "bottom_clearance": 0.0814385713170459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008358916982019737,
+                  0.0016668515791087302
+                ],
+                "rod_tip_xy": [
+                  0.26641190847245044,
+                  -0.36975727615676046
+                ],
+                "target_mouth_xy": [
+                  0.26557601677424847,
+                  -0.3714241277358692
+                ],
+                "gripper_position": [
+                  0.26640369063347646,
+                  -0.36975920782287175,
+                  1.003006820057336
+                ],
+                "rod_tip_xy_dist": 0.001864700811899927,
+                "target_xy_drift": 2.9663712102452987e-08,
+                "depth": 0.018127804540099324,
+                "bottom_clearance": 0.08131285435814373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008276756830611909,
+                  0.0016649494940793597
+                ],
+                "rod_tip_xy": [
+                  0.26640369063347635,
+                  -0.36975920782287186
+                ],
+                "target_mouth_xy": [
+                  0.26557601495041516,
+                  -0.3714241573169512
+                ],
+                "gripper_position": [
+                  0.2664116977926276,
+                  -0.3698305746637279,
+                  1.0024894689416861
+                ],
+                "rod_tip_xy_dist": 0.00185932887197664,
+                "target_xy_drift": 5.898986545598831e-08,
+                "depth": 0.018253071777007857,
+                "bottom_clearance": 0.08118750560712329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008356854768671318,
+                  0.001593555122650192
+                ],
+                "rod_tip_xy": [
+                  0.26641169779262747,
+                  -0.36983057466372793
+                ],
+                "target_mouth_xy": [
+                  0.26557601231576033,
+                  -0.3714241297863781
+                ],
+                "gripper_position": [
+                  0.2664003187386381,
+                  -0.3698383893753872,
+                  1.0023461306984023
+                ],
+                "rod_tip_xy_dist": 0.0017993854909861072,
+                "target_xy_drift": 3.1410621857387585e-08,
+                "depth": 0.018770397967975527,
+                "bottom_clearance": 0.08067018626687605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008243051002363444,
+                  0.0015857064301050272
+                ],
+                "rod_tip_xy": [
+                  0.266400318738638,
+                  -0.3698383893753874
+                ],
+                "target_mouth_xy": [
+                  0.26557601363840166,
+                  -0.3714240958054924
+                ],
+                "gripper_position": [
+                  0.26639219743161974,
+                  -0.36983988989476124,
+                  1.0022208800903827
+                ],
+                "rod_tip_xy_dist": 0.0017871608155821006,
+                "target_xy_drift": 2.7975070821693325e-09,
+                "depth": 0.01891372031222971,
+                "bottom_clearance": 0.0805268678732528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.000816181455158993,
+                  0.0015842378615835706
+                ],
+                "rod_tip_xy": [
+                  0.2663921974316196,
+                  -0.36983988989476135
+                ],
+                "target_mouth_xy": [
+                  0.26557601597646063,
+                  -0.3714241277563449
+                ],
+                "gripper_position": [
+                  0.2663837874156435,
+                  -0.36984160958418527,
+                  1.0020958794304193
+                ],
+                "rod_tip_xy_dist": 0.0017821228268052503,
+                "target_xy_drift": 2.9580604661468465e-08,
+                "depth": 0.01903908486168482,
+                "bottom_clearance": 0.08040154227300134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008077737841197807,
+                  0.0015825477612398942
+                ],
+                "rod_tip_xy": [
+                  0.2663837874156434,
+                  -0.36984160958418544
+                ],
+                "target_mouth_xy": [
+                  0.2655760136315236,
+                  -0.37142415734542533
+                ],
+                "gripper_position": [
+                  0.2663754107311018,
+                  -0.3698432941619437,
+                  1.0019702837922246
+                ],
+                "rod_tip_xy_dist": 0.0017767824579606225,
+                "target_xy_drift": 5.897907863105488e-08,
+                "depth": 0.019163941299430554,
+                "bottom_clearance": 0.08027658338730659,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0007993648199383641,
+                  0.0015808646822454975
+                ],
+                "rod_tip_xy": [
+                  0.2663754107311017,
+                  -0.36984329416194384
+                ],
+                "target_mouth_xy": [
+                  0.26557604591116335,
+                  -0.37142415884418933
+                ],
+                "gripper_position": [
+                  0.2663670395719522,
+                  -0.3698450045141747,
+                  1.0018449436099732
+                ],
+                "rod_tip_xy_dist": 0.0017714731888815735,
+                "target_xy_drift": 6.906704046222559e-08,
+                "depth": 0.01928970461853874,
+                "bottom_clearance": 0.08015097056196696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007910267088519496,
+                  0.0015791224143468785
+                ],
+                "rod_tip_xy": [
+                  0.2663670395719521,
+                  -0.3698450045141748
+                ],
+                "target_mouth_xy": [
+                  0.2655760128631002,
+                  -0.37142412692852167
+                ],
+                "gripper_position": [
+                  0.2663588775069181,
+                  -0.369846435577402,
+                  1.0017201173551131
+                ],
+                "rod_tip_xy_dist": 0.0017661684103193165,
+                "target_xy_drift": 2.85538714099496e-08,
+                "depth": 0.019414877902786176,
+                "bottom_clearance": 0.08002563195463364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0007828636929225752,
+                  0.0015776916077006597
+                ],
+                "rod_tip_xy": [
+                  0.266358877506918,
+                  -0.36984643557740204
+                ],
+                "target_mouth_xy": [
+                  0.2655760138139954,
+                  -0.3714241271851027
+                ],
+                "gripper_position": [
+                  0.26635052061594083,
+                  -0.36984818861661223,
+                  1.0015944770596872
+                ],
+                "rod_tip_xy_dist": 0.0017612456872070587,
+                "target_xy_drift": 2.8836919911167406e-08,
+                "depth": 0.019539765541481957,
+                "bottom_clearance": 0.07990076888725328,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006004469298995851,
+              "rod_tip_xy_max_step": 3.261852967771255e-05,
+              "rod_tip_xy_range": 0.0006004424524499927,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2659173123409283,
+            -0.3711965109567453,
+            1.0434813589334195
+          ],
+          "object_origin_world": [
+            0.2659173123409283,
+            -0.3711965109567453,
+            1.0434813589334195
+          ],
+          "frame_world": [
+            0.2659159421903242,
+            -0.3712030497304091,
+            1.0433669951507156
+          ],
+          "center_minus_frame": [
+            1.3701506040852962e-06,
+            6.538773663800068e-06,
+            0.0001143637827039079
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2675169171987536,
+              0.15759643812729826,
+              0.8321912810185287
+            ],
+            "target_position": [
+              0.2832816414519236,
+              0.2029378512543299,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800385687769934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1654131772039121,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321912810185287,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670319691512,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356631385261624,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 321,
+            "max_placed_release_frames": 321
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0c41320ae044908e4fec10db646500573b0a8298e968b160f63c239293b1d00",
+    "visual_seed": 4210022512522910150,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce8e12d0be3f066a64e21dce539ab292bc257c6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_5_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2031778687428796,
+              -0.10784379414040299,
+              1.1644843265953453
+            ],
+            "current_z": 1.1644843265953453,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30337781858057933,
+            "gripper_z": 1.1584004353919888,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19848739819783093,
+              -0.11242725745743384,
+              1.1584004353919888
+            ],
+            "object_minus_gripper": [
+              0.004690470545048675,
+              0.004583463317030856,
+              0.006083891203356506
+            ],
+            "object_to_gripper_xy": 0.006558098040784135,
+            "object_to_gripper_z": 0.006083891203356506,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2031778687428796,
+              -0.13165410597518049,
+              1.1644843265953453
+            ],
+            "finger_b": [
+              0.19270986470253598,
+              -0.10784379414040299,
+              1.1644843265953453
+            ],
+            "finger_midpoint": [
+              0.1979438667227078,
+              -0.11974895005779174,
+              1.1644843265953453
+            ],
+            "object_minus_finger_midpoint": [
+              0.005234002020171796,
+              0.011905155917388749,
+              0.0
+            ],
+            "finger_gap": 0.0260098069631052,
+            "fingertip_max_gap": 0.09272279824248067,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013004903481552595,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644843265953453,
+            "object_top_z": 1.2147474298702363,
+            "finger_top_clearance": 0.05026310327489103,
+            "fingertip_min_top_clearance": 0.015078930982467308,
+            "object_projection_between_fingers": 0.838022942525326,
+            "object_to_finger_line_xy": 0.009582787017291115,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886139912124034,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7838897302266075,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27536627738924807,
+              -0.3664662586051616,
+              0.8515395706280415
+            ],
+            "target_position": [
+              0.2679866566677376,
+              -0.36695219822129516,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073956027005156995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18591258302719751,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395706280415,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524189962232851,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08672687082054138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15438599159465138,
+            "release_required_pad_clearance": 0.05336343541027069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.743109351339279,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008020579814910889,
+            "max_z_decrease": 0.008020579814910889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035174475902600214,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008020579814910889,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02124193934868506,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008020579814910889,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008020618144588453,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12368658185005187,
+              -0.4232136607170105,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12368658185005187,
+              -0.4232136607170105,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12538196312966562,
+              -0.4248103834706174,
+              0.8074547886875142
+            ],
+            "closest_button": [
+              0.12367533147335051,
+              -0.4232093393802643,
+              0.772358238697052
+            ],
+            "closest_ee_minus_button": [
+              0.0017066316563151135,
+              -0.0016010440903531098,
+              0.03509654999046219
+            ],
+            "button_min_z_position": [
+              0.12366184592247008,
+              -0.423211932182312,
+              0.7687882781028748
+            ],
+            "min_active_finger_to_button": 0.14439153590361245,
+            "closest_active_finger": [
+              -0.0158664733171463,
+              -0.4095734655857086,
+              0.8111246824264526
+            ],
+            "closest_active_finger_button": [
+              0.12368883192539214,
+              -0.42321085929870605,
+              0.776668131351471
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13955530524253845,
+              0.013637393712997437,
+              0.03445655107498169
+            ],
+            "min_contact_pad_to_button": 0.02124193934868506,
+            "closest_contact_pad": [
+              0.12366184592247008,
+              -0.42580962466335887,
+              0.789870782248899
+            ],
+            "closest_contact_pad_button": [
+              0.12366184592247008,
+              -0.423211932182312,
+              0.7687882781028748
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002597692481046854,
+              0.021082504146024195
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28326469018962436,
+              0.20836683589596255,
+              1.1031784141872354
+            ],
+            "current_z": 1.1031784141872354,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19326928445287284,
+            "gripper_z": 1.1031788141852488,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2832648392201921,
+              0.20836679117181434,
+              1.1031788141852488
+            ],
+            "object_minus_gripper": [
+              -1.4903056771986556e-07,
+              4.472414821821147e-08,
+              -3.99998013378422e-07
+            ],
+            "object_to_gripper_xy": 1.5559678514914755e-07,
+            "object_to_gripper_z": -3.99998013378422e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28326469018962436,
+              0.20836683589596255,
+              1.1031784141872354
+            ],
+            "finger_b": [
+              0.28326469018962436,
+              0.20836683589596255,
+              1.1031784141872354
+            ],
+            "finger_midpoint": [
+              0.28326469018962436,
+              0.20836683589596255,
+              1.1031784141872354
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1031784141872354,
+            "object_top_z": 1.2281869208075151,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2832646901896244,
+            0.20836683589596255,
+            1.1031784141872356
+          ],
+          "object_origin_world": [
+            0.2832646901896244,
+            0.20836683589596255,
+            1.1031784141872356
+          ],
+          "frame_world": [
+            0.2832648392201921,
+            0.20836679117181434,
+            1.1031788141852488
+          ],
+          "center_minus_frame": [
+            -1.490305676643544e-07,
+            4.472414821821147e-08,
+            -3.999980131563774e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043637692821574,
+            "required_z": 0.9112599182492188,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014407390457171858,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.793339409876276e-08,
+            "max_target_xy_drift": 1.3477092160785208e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7431093508346698,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.743558325680468,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2766184147186338,
+              -0.36713696980433713,
+              0.9233340616375832
+            ],
+            "target_mouth_xy": [
+              0.2753662788771641,
+              -0.3664662291203219
+            ],
+            "rod_tip_z": 0.9233340616375832,
+            "rod_tip_depth": -0.02207416767286141,
+            "rod_tip_bottom_clearance": 0.12151472842941924,
+            "rod_tip_xy_dist": 0.001420470777836101,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04484109543644477,
+            "min_rod_tip_bottom_clearance": 0.05459943800331557,
+            "min_rod_tip_xy_dist": 3.531160310876884e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.275366310916611,
+              -0.3664662890237431
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.203944692886651e-08,
+              5.99034212234173e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0017380352497065599,
+                0.0012127133784942123
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001655426533230142,
+                0.0007785457101206483
+              ],
+              "first_target_mouth_xy": [
+                0.2753662494586802,
+                -0.366466288080076
+              ],
+              "last_target_mouth_xy": [
+                0.27536621669207895,
+                -0.36646626020476736
+              ],
+              "first_rod_tip_xy": [
+                0.27710428470838677,
+                -0.36525357470158176
+              ],
+              "last_rod_tip_xy": [
+                0.2770216432253091,
+                -0.3656877144946467
+              ],
+              "min_rod_tip_xy_dist": 0.001829363394645698,
+              "max_rod_tip_xy_dist": 0.0021193018349450346,
+              "first_target_xy_drift": 6.146517522875354e-08,
+              "last_target_xy_drift": 9.853322184381734e-08,
+              "max_depth": 0.019543795351577242,
+              "min_bottom_clearance": 0.07989680558334922
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0017380352497065599,
+                  0.0012127133784942123
+                ],
+                "rod_tip_xy": [
+                  0.27710428470838677,
+                  -0.36525357470158176
+                ],
+                "target_mouth_xy": [
+                  0.2753662494586802,
+                  -0.366466288080076
+                ],
+                "gripper_position": [
+                  0.2771118800856507,
+                  -0.3653254966350013,
+                  1.0057129576622843
+                ],
+                "rod_tip_xy_dist": 0.0021193018349450346,
+                "target_xy_drift": 6.146517522875354e-08,
+                "depth": 0.015020618860878798,
+                "bottom_clearance": 0.08441993480295462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017456622056359339,
+                  0.0011407921105335284
+                ],
+                "rod_tip_xy": [
+                  0.27711188008565063,
+                  -0.3653254966350014
+                ],
+                "target_mouth_xy": [
+                  0.2753662178800147,
+                  -0.36646628874553494
+                ],
+                "gripper_position": [
+                  0.2771009884608503,
+                  -0.36533412480246796,
+                  1.00556474380226
+                ],
+                "rod_tip_xy_dist": 0.002085364039116733,
+                "target_xy_drift": 9.303701227916792e-08,
+                "depth": 0.015546867026499434,
+                "bottom_clearance": 0.08389364301208702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001734740221826958,
+                  0.001132161706751067
+                ],
+                "rod_tip_xy": [
+                  0.2771009884608502,
+                  -0.365334124802468
+                ],
+                "target_mouth_xy": [
+                  0.2753662482390232,
+                  -0.3664662865092191
+                ],
+                "gripper_position": [
+                  0.277092937425203,
+                  -0.365336282302975,
+                  1.0054348163947926
+                ],
+                "rod_tip_xy_dist": 0.0020715003662702385,
+                "target_xy_drift": 6.272800683790091e-08,
+                "depth": 0.015695098171906507,
+                "bottom_clearance": 0.08374546050757037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017266879627770293,
+                  0.0011300054739389886
+                ],
+                "rod_tip_xy": [
+                  0.27709293742520297,
+                  -0.36533628230297505
+                ],
+                "target_mouth_xy": [
+                  0.27536624946242594,
+                  -0.36646628777691403
+                ],
+                "gripper_position": [
+                  0.27710135253122814,
+                  -0.365409481495397,
+                  1.0049084917960371
+                ],
+                "rod_tip_xy_dist": 0.0020635803090578195,
+                "target_xy_drift": 6.146683207946763e-08,
+                "depth": 0.01582507133183053,
+                "bottom_clearance": 0.08361548632733895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017351343971797606,
+                  0.0010568053529932953
+                ],
+                "rod_tip_xy": [
+                  0.27710135253122803,
+                  -0.36540948149539715
+                ],
+                "target_mouth_xy": [
+                  0.27536621813404827,
+                  -0.36646628684839044
+                ],
+                "gripper_position": [
+                  0.2770905028766248,
+                  -0.36541799575534956,
+                  1.0047604160793286
+                ],
+                "rod_tip_xy_dist": 0.0020316320853913617,
+                "target_xy_drift": 9.280806057985225e-08,
+                "depth": 0.01635128218745352,
+                "bottom_clearance": 0.08308925267131706,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017242523155205913,
+                  0.0010482916694022903
+                ],
+                "rod_tip_xy": [
+                  0.2770905028766247,
+                  -0.36541799575534956
+                ],
+                "target_mouth_xy": [
+                  0.2753662505611041,
+                  -0.36646628742475185
+                ],
+                "gripper_position": [
+                  0.2770822265741665,
+                  -0.3654201187059807,
+                  1.004630987017478
+                ],
+                "rod_tip_xy_dist": 0.0020179101743428426,
+                "target_xy_drift": 6.037668415323378e-08,
+                "depth": 0.01649954579070323,
+                "bottom_clearance": 0.0829410659314701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017160085111652679,
+                  0.0010461690806000123
+                ],
+                "rod_tip_xy": [
+                  0.2770822265741664,
+                  -0.36542011870598073
+                ],
+                "target_mouth_xy": [
+                  0.27536621806300116,
+                  -0.36646628778658075
+                ],
+                "gripper_position": [
+                  0.27709154778529543,
+                  -0.36549421436748103,
+                  1.0041069534515912
+                ],
+                "rod_tip_xy_dist": 0.002009764900577954,
+                "target_xy_drift": 9.286185133912596e-08,
+                "depth": 0.016628829065582496,
+                "bottom_clearance": 0.08281166853992872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017252987102128192,
+                  0.0009720426437038188
+                ],
+                "rod_tip_xy": [
+                  0.2770915477852954,
+                  -0.36549421436748114
+                ],
+                "target_mouth_xy": [
+                  0.27536624907508256,
+                  -0.36646625701118496
+                ],
+                "gripper_position": [
+                  0.277080240318925,
+                  -0.36550265542965643,
+                  1.0039588617506656
+                ],
+                "rod_tip_xy_dist": 0.0019802834495699665,
+                "target_xy_drift": 6.963604326371816e-08,
+                "depth": 0.01715294883082652,
+                "bottom_clearance": 0.08228762987664917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017140214217070682,
+                  0.0009636323448112827
+                ],
+                "rod_tip_xy": [
+                  0.27708024031892486,
+                  -0.3655026554296566
+                ],
+                "target_mouth_xy": [
+                  0.2753662188972178,
+                  -0.3664662877744679
+                ],
+                "gripper_position": [
+                  0.27707202741437426,
+                  -0.3655044896411435,
+                  1.0038295206491534
+                ],
+                "rod_tip_xy_dist": 0.0019663307783883183,
+                "target_xy_drift": 9.202787304141622e-08,
+                "depth": 0.017301020352118446,
+                "bottom_clearance": 0.08213950887965127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017057795778343543,
+                  0.0009617984750771025
+                ],
+                "rod_tip_xy": [
+                  0.27707202741437414,
+                  -0.3655044896411436
+                ],
+                "target_mouth_xy": [
+                  0.2753662478365398,
+                  -0.36646628811622073
+                ],
+                "gripper_position": [
+                  0.2770637196992721,
+                  -0.36550626744481585,
+                  1.00369943168842
+                ],
+                "rod_tip_xy_dist": 0.00195824928822083,
+                "target_xy_drift": 6.308659907036263e-08,
+                "depth": 0.01743029245522887,
+                "bottom_clearance": 0.08201019831874279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016974698448994907,
+                  0.0009599905142823606
+                ],
+                "rod_tip_xy": [
+                  0.277063719699272,
+                  -0.3655062674448159
+                ],
+                "target_mouth_xy": [
+                  0.2753662498543725,
+                  -0.36646625795909826
+                ],
+                "gripper_position": [
+                  0.2770744667521935,
+                  -0.3655829650180353,
+                  1.0031771973486872
+                ],
+                "rod_tip_xy_dist": 0.0019501245247048231,
+                "target_xy_drift": 6.850991993279435e-08,
+                "depth": 0.017560459231379166,
+                "bottom_clearance": 0.08188011365204928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00170821914220326,
+                  0.0008833237370557412
+                ],
+                "rod_tip_xy": [
+                  0.2770744667521934,
+                  -0.3655829650180354
+                ],
+                "target_mouth_xy": [
+                  0.2753662476099901,
+                  -0.36646628875509113
+                ],
+                "gripper_position": [
+                  0.2770629636069786,
+                  -0.3655911856583673,
+                  1.003029242304247
+                ],
+                "rod_tip_xy_dist": 0.0019230895616782287,
+                "target_xy_drift": 6.330719092167602e-08,
+                "depth": 0.018082629686067664,
+                "bottom_clearance": 0.08135788340855665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016967145737267209,
+                  0.0008751005284656777
+                ],
+                "rod_tip_xy": [
+                  0.27706296360697846,
+                  -0.3655911856583674
+                ],
+                "target_mouth_xy": [
+                  0.27536624903325174,
+                  -0.3664662861868331
+                ],
+                "gripper_position": [
+                  0.2770546060853646,
+                  -0.36559288017504515,
+                  1.0029000473650376
+                ],
+                "rod_tip_xy_dist": 0.0019090943611088365,
+                "target_xy_drift": 6.194835117377194e-08,
+                "depth": 0.018230671009356825,
+                "bottom_clearance": 0.0812099292479137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001688356787957812,
+                  0.0008734095123842933
+                ],
+                "rod_tip_xy": [
+                  0.2770546060853645,
+                  -0.36559288017504515
+                ],
+                "target_mouth_xy": [
+                  0.27536624929740666,
+                  -0.36646628968742945
+                ],
+                "gripper_position": [
+                  0.27704607359945865,
+                  -0.36559482619952594,
+                  1.0027706613733014
+                ],
+                "rod_tip_xy_dist": 0.0019008926376222802,
+                "target_xy_drift": 6.162277845311867e-08,
+                "depth": 0.018359925041797065,
+                "bottom_clearance": 0.08108067774255112,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016798551585884836,
+                  0.000871462544670687
+                ],
+                "rod_tip_xy": [
+                  0.27704607359945854,
+                  -0.36559482619952605
+                ],
+                "target_mouth_xy": [
+                  0.27536621844087006,
+                  -0.36646628874419673
+                ],
+                "gripper_position": [
+                  0.2770374903127583,
+                  -0.36559655052402734,
+                  1.002641144779194
+                ],
+                "rod_tip_xy_dist": 0.0018924482345893238,
+                "target_xy_drift": 9.24761634753634e-08,
+                "depth": 0.01848916624902297,
+                "bottom_clearance": 0.0809513622888347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016712716337263789,
+                  0.0008697382129506104
+                ],
+                "rod_tip_xy": [
+                  0.2770374903127582,
+                  -0.36559655052402734
+                ],
+                "target_mouth_xy": [
+                  0.2753662186790318,
+                  -0.36646628873697795
+                ],
+                "gripper_position": [
+                  0.2770504996670544,
+                  -0.365676104962811,
+                  1.0021222011242226
+                ],
+                "rod_tip_xy_dist": 0.0018840364733106842,
+                "target_xy_drift": 9.223802495873439e-08,
+                "depth": 0.018618684742727987,
+                "bottom_clearance": 0.08082185296303168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016842796742098098,
+                  0.000790181841143045
+                ],
+                "rod_tip_xy": [
+                  0.27705049966705436,
+                  -0.36567610496281117
+                ],
+                "target_mouth_xy": [
+                  0.27536621999284455,
+                  -0.3664662868039542
+                ],
+                "gripper_position": [
+                  0.2770388181104251,
+                  -0.36568464016649577,
+                  1.0019744100582875
+                ],
+                "rod_tip_xy_dist": 0.0018604261240448424,
+                "target_xy_drift": 9.095085909509195e-08,
+                "depth": 0.019137706682048283,
+                "bottom_clearance": 0.08030289929715939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0016726027862635218,
+                  0.00078164828431182
+                ],
+                "rod_tip_xy": [
+                  0.277038818110425,
+                  -0.36568464016649577
+                ],
+                "target_mouth_xy": [
+                  0.2753662153241615,
+                  -0.3664662884508076
+                ],
+                "gripper_position": [
+                  0.27703039491327,
+                  -0.36568603812864864,
+                  1.001845078608258
+                ],
+                "rod_tip_xy_dist": 0.0018462324125050205,
+                "target_xy_drift": 9.559416644731698e-08,
+                "depth": 0.019285485624348064,
+                "bottom_clearance": 0.08015510904293777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016641751671341298,
+                  0.0007802486715988155
+                ],
+                "rod_tip_xy": [
+                  0.2770303949132699,
+                  -0.3656860381286487
+                ],
+                "target_mouth_xy": [
+                  0.2753662197461358,
+                  -0.3664662868002475
+                ],
+                "gripper_position": [
+                  0.2770216432253092,
+                  -0.36568771449464665,
+                  1.0017160885946483
+                ],
+                "rod_tip_xy_dist": 0.0018380062503804565,
+                "target_xy_drift": 9.119758486637184e-08,
+                "depth": 0.019414827431606496,
+                "bottom_clearance": 0.08002576946103612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001655426533230142,
+                  0.0007785457101206483
+                ],
+                "rod_tip_xy": [
+                  0.2770216432253091,
+                  -0.3656877144946467
+                ],
+                "target_mouth_xy": [
+                  0.27536621669207895,
+                  -0.36646626020476736
+                ],
+                "gripper_position": [
+                  0.2770129759784157,
+                  -0.36568943148850086,
+                  1.0015867428315088
+                ],
+                "rod_tip_xy_dist": 0.001829363394645698,
+                "target_xy_drift": 9.853322184381734e-08,
+                "depth": 0.019543795351577242,
+                "bottom_clearance": 0.07989680558334922,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005992358224759073,
+              "rod_tip_xy_max_step": 3.250355645868448e-05,
+              "rod_tip_xy_range": 0.0005992304740048886,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27661841471863385,
+            -0.36713696980433713,
+            1.0433340616375835
+          ],
+          "object_origin_world": [
+            0.27661841471863385,
+            -0.36713696980433713,
+            1.0433340616375835
+          ],
+          "frame_world": [
+            0.27664322428430094,
+            -0.3671334168188342,
+            1.043637692821574
+          ],
+          "center_minus_frame": [
+            -2.4809565667083255e-05,
+            -3.5529855029192703e-06,
+            -0.00030363118399057143
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27243431908553545,
+              0.15959376824934987,
+              0.8332778785909718
+            ],
+            "target_position": [
+              0.283432809728417,
+              0.20706899736432244,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04873257817867522,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17104799117197036,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332778785909718,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673740547556,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13929018920170233,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0f2e94e76358848c8fa88b10421223dabb5b0965a3b223523609f4fc3900e11",
+    "visual_seed": 7039110581106204684,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d39ab55b8813b787d8acf16b29d6968602f7aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_62_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19561727372302964,
+              -0.10995006542754214,
+              1.1652063719529935
+            ],
+            "current_z": 1.1652063719529935,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30409980433358275,
+            "gripper_z": 1.159031085017308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19102433642859712,
+              -0.1144821586738183,
+              1.159031085017308
+            ],
+            "object_minus_gripper": [
+              0.004592937294432525,
+              0.004532093246276153,
+              0.006175286935685476
+            ],
+            "object_to_gripper_xy": 0.006452514407851492,
+            "object_to_gripper_z": 0.006175286935685476,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19561727372302964,
+              -0.1337876495801287,
+              1.1652063719529935
+            ],
+            "finger_b": [
+              0.18525395450411167,
+              -0.10995006542754214,
+              1.1652063719529935
+            ],
+            "finger_midpoint": [
+              0.19043561411357066,
+              -0.12186885750383541,
+              1.1652063719529935
+            ],
+            "object_minus_finger_midpoint": [
+              0.005181659609458988,
+              0.011918792076293275,
+              0.0
+            ],
+            "finger_gap": 0.025992860624887763,
+            "fingertip_max_gap": 0.0917116493813609,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012996430312443876,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652063719529935,
+            "object_top_z": 1.2152300217908067,
+            "finger_top_clearance": 0.05002364983781327,
+            "fingertip_min_top_clearance": 0.01500709495134398,
+            "object_projection_between_fingers": 0.8410393626168373,
+            "object_to_finger_line_xy": 0.00950401333451314,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835582469068045,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3276624180043795,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2752115436749867,
+              -0.3653381961490582,
+              0.85153957074825
+            ],
+            "target_position": [
+              0.26806064485932624,
+              -0.365899655865459,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007172906724958493,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185375418882459,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153957074825,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568468885619573,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696542896564989,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15288680096638058,
+            "release_required_pad_clearance": 0.05348271448282495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9782586589243392,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007934987545013428,
+            "max_z_decrease": 0.007934987545013428,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035131335413783396,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007934987545013428,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114034381250519,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007934987545013428,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007935010358119806,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12376057356595994,
+              -0.4221611022949218,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12376057356595994,
+              -0.4221611022949218,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12504332947399854,
+              -0.4227708816748934,
+              0.8076242913305395
+            ],
+            "closest_button": [
+              0.12374936789274217,
+              -0.42215755581855774,
+              0.7725221514701843
+            ],
+            "closest_ee_minus_button": [
+              0.0012939615812563726,
+              -0.0006133258563356669,
+              0.03510213986035515
+            ],
+            "button_min_z_position": [
+              0.12374172359704973,
+              -0.42215850949287415,
+              0.7688738703727722
+            ],
+            "min_active_finger_to_button": 0.14487672653219474,
+            "closest_active_finger": [
+              -0.016093991696834564,
+              -0.40651369094848633,
+              0.811181366443634
+            ],
+            "closest_active_finger_button": [
+              0.12376409769058229,
+              -0.4221578538417816,
+              0.7767685651779175
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13985808938741684,
+              0.015644162893295288,
+              0.03441280126571655
+            ],
+            "min_contact_pad_to_button": 0.02114034381250519,
+            "closest_contact_pad": [
+              0.12374172359704973,
+              -0.4238675088968054,
+              0.789945022632397
+            ],
+            "closest_contact_pad_button": [
+              0.12374172359704973,
+              -0.42215850949287415,
+              0.7688738703727722
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017089994039312661,
+              0.021071152259624748
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27648791252632876,
+              0.20230143417631127,
+              1.1013575686305295
+            ],
+            "current_z": 1.1013575686305295,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19144843889616692,
+            "gripper_z": 1.101357686547546,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27648797740950115,
+              0.20230146607557808,
+              1.101357686547546
+            ],
+            "object_minus_gripper": [
+              -6.488317239039532e-08,
+              -3.189926681135269e-08,
+              -1.1791701659547016e-07
+            ],
+            "object_to_gripper_xy": 7.230068659800974e-08,
+            "object_to_gripper_z": -1.1791701659547016e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27648791252632876,
+              0.20230143417631127,
+              1.1013575686305295
+            ],
+            "finger_b": [
+              0.27648791252632876,
+              0.20230143417631127,
+              1.1013575686305295
+            ],
+            "finger_midpoint": [
+              0.27648791252632876,
+              0.20230143417631127,
+              1.1013575686305295
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013575686305295,
+            "object_top_z": 1.2263660752508092,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2764879125263288,
+            0.20230143417631127,
+            1.1013575686305295
+          ],
+          "object_origin_world": [
+            0.2764879125263288,
+            0.20230143417631127,
+            1.1013575686305295
+          ],
+          "frame_world": [
+            0.27648797740950115,
+            0.20230146607557808,
+            1.101357686547546
+          ],
+          "center_minus_frame": [
+            -6.488317233488416e-08,
+            -3.189926681135269e-08,
+            -1.1791701659547016e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434679435025134,
+            "required_z": 0.911259786948937,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018820640853907029,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1052842901975938e-07,
+            "max_target_xy_drift": 1.6015120380376186e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9778629560501106,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9782586589269193,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27549192979313464,
+              -0.36719284313245576,
+              0.9235852885173769
+            ],
+            "target_mouth_xy": [
+              0.27521154574173257,
+              -0.36533830103887466
+            ],
+            "rod_tip_z": 0.9235852885173769,
+            "rod_tip_depth": -0.022325274388138028,
+            "rod_tip_bottom_clearance": 0.12176598372666392,
+            "rod_tip_xy_dist": 0.0018756176564387573,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04520232848956052,
+            "min_rod_tip_bottom_clearance": 0.054238180922587476,
+            "min_rod_tip_xy_dist": 0.0007664602271760857,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2752116373244662,
+              -0.3653382391588575
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.158273361897784e-08,
+              -6.188001716589397e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0007728759776844396,
+                -8.38081968067006e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006895441125307489,
+                -0.0005063914797501234
+              ],
+              "first_target_mouth_xy": [
+                0.27521157949746344,
+                -0.3653382692931997
+              ],
+              "last_target_mouth_xy": [
+                0.2752115482572556,
+                -0.36533826838278205
+              ],
+              "first_rod_tip_xy": [
+                0.2759844554751479,
+                -0.3654220774900064
+              ],
+              "last_rod_tip_xy": [
+                0.2759010923697863,
+                -0.3658446598625322
+              ],
+              "min_rod_tip_xy_dist": 0.0007676077734356076,
+              "max_rod_tip_xy_dist": 0.0008555135381099107,
+              "first_target_xy_drift": 6.520767458834803e-08,
+              "last_target_xy_drift": 9.373903014146663e-08,
+              "max_depth": 0.01971350189143506,
+              "min_bottom_clearance": 0.07972700821130052
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007728759776844396,
+                  -8.38081968067006e-05
+                ],
+                "rod_tip_xy": [
+                  0.2759844554751479,
+                  -0.3654220774900064
+                ],
+                "target_mouth_xy": [
+                  0.27521157949746344,
+                  -0.3653382692931997
+                ],
+                "gripper_position": [
+                  0.27597356846216886,
+                  -0.3654305237911532,
+                  1.0059046036694217
+                ],
+                "rod_tip_xy_dist": 0.0007774066443848219,
+                "target_xy_drift": 6.520767458834803e-08,
+                "depth": 0.015207522429993792,
+                "bottom_clearance": 0.08423306723620338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007620277947867904,
+                  -9.238687033963355e-05
+                ],
+                "rod_tip_xy": [
+                  0.27597356846216875,
+                  -0.3654305237911532
+                ],
+                "target_mouth_xy": [
+                  0.27521154066738196,
+                  -0.36533813692081357
+                ],
+                "gripper_position": [
+                  0.2759801281450114,
+                  -0.3654997083284849,
+                  1.005379705704462
+                ],
+                "rod_tip_xy_dist": 0.0007676077734356076,
+                "target_xy_drift": 1.40695449661599e-07,
+                "depth": 0.015355308347729246,
+                "bottom_clearance": 0.08408530617144871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007685505323872244,
+                  -0.0001614707440993901
+                ],
+                "rod_tip_xy": [
+                  0.27598012814501127,
+                  -0.36549970832848494
+                ],
+                "target_mouth_xy": [
+                  0.27521157761262405,
+                  -0.36533823758438555
+                ],
+                "gripper_position": [
+                  0.2759692461879464,
+                  -0.3655082172339046,
+                  1.0052322694599793
+                ],
+                "rod_tip_xy_dist": 0.0007853296900236848,
+                "target_xy_drift": 5.973259623813123e-08,
+                "depth": 0.015880067807891418,
+                "bottom_clearance": 0.08356044828974496,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007576676967361307,
+                  -0.0001699799673710034
+                ],
+                "rod_tip_xy": [
+                  0.27596924618794627,
+                  -0.36550821723390453
+                ],
+                "target_mouth_xy": [
+                  0.27521157849121014,
+                  -0.3653382372665335
+                ],
+                "gripper_position": [
+                  0.2759610686275127,
+                  -0.36551020959852193,
+                  1.0051034349412975
+                ],
+                "rod_tip_xy_dist": 0.0007765008229132025,
+                "target_xy_drift": 5.886368071068267e-08,
+                "depth": 0.01602755562209346,
+                "bottom_clearance": 0.08341296443723079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007495187934893899,
+                  -0.00017194157044658764
+                ],
+                "rod_tip_xy": [
+                  0.2759610686275126,
+                  -0.36551020959852193
+                ],
+                "target_mouth_xy": [
+                  0.2752115498340232,
+                  -0.36533826802807534
+                ],
+                "gripper_position": [
+                  0.2759687783379857,
+                  -0.3655803277280827,
+                  1.0045796434918082
+                ],
+                "rod_tip_xy_dist": 0.0007689878577984373,
+                "target_xy_drift": 9.213039322528608e-08,
+                "depth": 0.016156453046310082,
+                "bottom_clearance": 0.08328409865561381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007571983613391398,
+                  -0.0002420590578677273
+                ],
+                "rod_tip_xy": [
+                  0.2759687783379856,
+                  -0.36558032772808263
+                ],
+                "target_mouth_xy": [
+                  0.27521157997664647,
+                  -0.3653382686702149
+                ],
+                "gripper_position": [
+                  0.2759577370629851,
+                  -0.36558826106168707,
+                  1.0044322689902425
+                ],
+                "rod_tip_xy_dist": 0.0007949477630074131,
+                "target_xy_drift": 6.449567925426488e-08,
+                "depth": 0.016680199094223025,
+                "bottom_clearance": 0.08276038817757814,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007461943676634886,
+                  -0.0002501238598315303
+                ],
+                "rod_tip_xy": [
+                  0.27595773706298504,
+                  -0.3655882610616871
+                ],
+                "target_mouth_xy": [
+                  0.27521154269532155,
+                  -0.3653381372018556
+                ],
+                "gripper_position": [
+                  0.27594960773185573,
+                  -0.3655902478102468,
+                  1.0043033448910479
+                ],
+                "rod_tip_xy_dist": 0.0007869993517085872,
+                "target_xy_drift": 1.3910393685812188e-07,
+                "depth": 0.016827528173779305,
+                "bottom_clearance": 0.08261302129526671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007380333485015322,
+                  -0.0002520801998623923
+                ],
+                "rod_tip_xy": [
+                  0.2759496077318556,
+                  -0.3655902478102468
+                ],
+                "target_mouth_xy": [
+                  0.2752115743833541,
+                  -0.3653381676103844
+                ],
+                "gripper_position": [
+                  0.2759412897596246,
+                  -0.36559230210687627,
+                  1.0041744049246568
+                ],
+                "rod_tip_xy_dist": 0.0007798959229686021,
+                "target_xy_drift": 9.529306162566735e-08,
+                "depth": 0.016956494671817368,
+                "bottom_clearance": 0.08248406237725925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007297155895179541,
+                  -0.0002541668425502519
+                ],
+                "rod_tip_xy": [
+                  0.2759412897596245,
+                  -0.36559230210687627
+                ],
+                "target_mouth_xy": [
+                  0.27521157417010655,
+                  -0.365338135264326
+                ],
+                "gripper_position": [
+                  0.2759504804075975,
+                  -0.3656649118646136,
+                  1.003650698400314
+                ],
+                "rod_tip_xy_dist": 0.000772713158576648,
+                "target_xy_drift": 1.2158349728231985e-07,
+                "depth": 0.01708543250872896,
+                "bottom_clearance": 0.08235511745793278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007389041727249857,
+                  -0.0003266428293046686
+                ],
+                "rod_tip_xy": [
+                  0.27595048040759745,
+                  -0.36566491186461364
+                ],
+                "target_mouth_xy": [
+                  0.27521157623487247,
+                  -0.36533826903530897
+                ],
+                "gripper_position": [
+                  0.2759392661481408,
+                  -0.3656728999958337,
+                  1.003503344263274
+                ],
+                "rod_tip_xy_dist": 0.0008078829831148533,
+                "target_xy_drift": 6.800397645365598e-08,
+                "depth": 0.01760919390350213,
+                "bottom_clearance": 0.08183140826116331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007277181256227783,
+                  -0.00033463129942895575
+                ],
+                "rod_tip_xy": [
+                  0.2759392661481407,
+                  -0.3656728999958337
+                ],
+                "target_mouth_xy": [
+                  0.2752115480225179,
+                  -0.36533826869640473
+                ],
+                "gripper_position": [
+                  0.2759309687013819,
+                  -0.36567461890430186,
+                  1.0033743103386494
+                ],
+                "rod_tip_xy_dist": 0.0008009692733915834,
+                "target_xy_drift": 9.406011196970068e-08,
+                "depth": 0.017756434545132538,
+                "bottom_clearance": 0.08168409590487846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007193907434114299,
+                  -0.0003363197702979659
+                ],
+                "rod_tip_xy": [
+                  0.2759309687013818,
+                  -0.3656746189043018
+                ],
+                "target_mouth_xy": [
+                  0.27521157795797035,
+                  -0.36533829913400384
+                ],
+                "gripper_position": [
+                  0.2759224839781681,
+                  -0.36567654771499386,
+                  1.003245654263111
+                ],
+                "rod_tip_xy_dist": 0.0007941246939866097,
+                "target_xy_drift": 8.438838194202694e-08,
+                "depth": 0.017885536103278032,
+                "bottom_clearance": 0.08155501290833456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007109066704290568,
+                  -0.00033828122494722335
+                ],
+                "rod_tip_xy": [
+                  0.275922483978168,
+                  -0.36567654771499397
+                ],
+                "target_mouth_xy": [
+                  0.27521157730773893,
+                  -0.36533826649004675
+                ],
+                "gripper_position": [
+                  0.2759331481624093,
+                  -0.365751096505873,
+                  1.0027249523054338
+                ],
+                "rod_tip_xy_dist": 0.0007872880547882849,
+                "target_xy_drift": 6.594695941829687e-08,
+                "depth": 0.01801414379459143,
+                "bottom_clearance": 0.08142641522552985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007215692894477765,
+                  -0.0004127973857551148
+                ],
+                "rod_tip_xy": [
+                  0.2759331481624092,
+                  -0.36575109650587306
+                ],
+                "target_mouth_xy": [
+                  0.27521157887296144,
+                  -0.36533829912011795
+                ],
+                "gripper_position": [
+                  0.2759217998505078,
+                  -0.3657593254072359,
+                  1.002577280028247
+                ],
+                "rod_tip_xy_dist": 0.0008313025449019305,
+                "target_xy_drift": 8.373727463212186e-08,
+                "depth": 0.018534892188553198,
+                "bottom_clearance": 0.08090567354215195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007102217096955354,
+                  -0.00042102913020353183
+                ],
+                "rod_tip_xy": [
+                  0.27592179985050774,
+                  -0.3657593254072358
+                ],
+                "target_mouth_xy": [
+                  0.2752115781408122,
+                  -0.3653382962770323
+                ],
+                "gripper_position": [
+                  0.2759132845939948,
+                  -0.3657612264284728,
+                  1.002449011020371
+                ],
+                "rod_tip_xy_dist": 0.0008256393918671711,
+                "target_xy_drift": 8.225077987923729e-08,
+                "depth": 0.018682553247623468,
+                "bottom_clearance": 0.08075797577092281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007017710211553174,
+                  -0.0004230889256182646
+                ],
+                "rod_tip_xy": [
+                  0.27591328459399467,
+                  -0.3657612264284728
+                ],
+                "target_mouth_xy": [
+                  0.27521151357283935,
+                  -0.36533813750285454
+                ],
+                "gripper_position": [
+                  0.2759047038448226,
+                  -0.36576284448524177,
+                  1.0023199890298968
+                ],
+                "rod_tip_xy_dist": 0.0008194429846634814,
+                "target_xy_drift": 1.6015120380376186e-07,
+                "depth": 0.01881083113215609,
+                "bottom_clearance": 0.08062970417934257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006931561498728644,
+                  -0.00042457640637655336
+                ],
+                "rod_tip_xy": [
+                  0.27590470384482246,
+                  -0.3657628444852417
+                ],
+                "target_mouth_xy": [
+                  0.2752115476949496,
+                  -0.36533826807886516
+                ],
+                "gripper_position": [
+                  0.2758961529766116,
+                  -0.3657645345187882,
+                  1.002191204425071
+                ],
+                "rod_tip_xy_dist": 0.0008128533526769765,
+                "target_xy_drift": 9.417970634346154e-08,
+                "depth": 0.018939847495762385,
+                "bottom_clearance": 0.08050067228339908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006846048682030426,
+                  -0.00042626581167704014
+                ],
+                "rod_tip_xy": [
+                  0.27589615297661146,
+                  -0.36576453451878815
+                ],
+                "target_mouth_xy": [
+                  0.2752115481084084,
+                  -0.3653382687071111
+                ],
+                "gripper_position": [
+                  0.27588765033987,
+                  -0.36576624898485,
+                  1.0020623525072798
+                ],
+                "rod_tip_xy_dist": 0.0008064653543531744,
+                "target_xy_drift": 9.398193579078816e-08,
+                "depth": 0.01906863162488104,
+                "bottom_clearance": 0.08037189602472383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006761025155147538,
+                  -0.0004280123028870819
+                ],
+                "rod_tip_xy": [
+                  0.27588765033986995,
+                  -0.36576624898485005
+                ],
+                "target_mouth_xy": [
+                  0.2752115478243552,
+                  -0.36533823668196297
+                ],
+                "gripper_position": [
+                  0.27590109236978644,
+                  -0.3658446598625322,
+                  1.0015463235830753
+                ],
+                "rod_tip_xy_dist": 0.0008001931909908263,
+                "target_xy_drift": 8.953437816578202e-08,
+                "depth": 0.019197495331567338,
+                "bottom_clearance": 0.08024305122800268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006895441125307489,
+                  -0.0005063914797501234
+                ],
+                "rod_tip_xy": [
+                  0.2759010923697863,
+                  -0.3658446598625322
+                ],
+                "target_mouth_xy": [
+                  0.2752115482572556,
+                  -0.36533826838278205
+                ],
+                "gripper_position": [
+                  0.2758897343786448,
+                  -0.36585257116232817,
+                  1.0013993267319352
+                ],
+                "rod_tip_xy_dist": 0.0008555135381099107,
+                "target_xy_drift": 9.373903014146663e-08,
+                "depth": 0.01971350189143506,
+                "bottom_clearance": 0.07972700821130052,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006047031648866622,
+              "rod_tip_xy_max_step": 3.2830251457529646e-05,
+              "rod_tip_xy_range": 0.0006046976633675834,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2754919297931347,
+            -0.36719284313245576,
+            1.043585288517377
+          ],
+          "object_origin_world": [
+            0.2754919297931347,
+            -0.36719284313245576,
+            1.043585288517377
+          ],
+          "frame_world": [
+            0.27549054580810894,
+            -0.3671995705476991,
+            1.0434679435025134
+          ],
+          "center_minus_frame": [
+            1.3839850257491015e-06,
+            6.727415243323875e-06,
+            0.0001173450148637123
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26193087354072614,
+              0.157304845232249,
+              0.8322168405427557
+            ],
+            "target_position": [
+              0.2766527006239378,
+              0.20259594756506866,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04762369308642419,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1645043740481154,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322168405427557,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672035987034,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13444310848230046,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b467c325bb8fb89afc98f6346371193ed9084ab690b72daad97f12499af3acc",
+    "visual_seed": 3830144072968007455,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0f0775b5c26a3935a6954a0c9897968b528534d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_64_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19864023151501345,
+              -0.10554486659820153,
+              1.1630550663022388
+            ],
+            "current_z": 1.1630550663022388,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30194861789211735,
+            "gripper_z": 1.1571315468559042,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1939091205600558,
+              -0.11015701265540141,
+              1.1571315468559042
+            ],
+            "object_minus_gripper": [
+              0.004731110954957651,
+              0.004612146057199881,
+              0.005923519446334513
+            ],
+            "object_to_gripper_xy": 0.006607215913004865,
+            "object_to_gripper_z": 0.005923519446334513,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19864023151501345,
+              -0.12946064932017257,
+              1.1630550663022388
+            ],
+            "finger_b": [
+              0.18819224450679037,
+              -0.10554486659820153,
+              1.1630550663022388
+            ],
+            "finger_midpoint": [
+              0.1934162380109019,
+              -0.11750275795918705,
+              1.1630550663022388
+            ],
+            "object_minus_finger_midpoint": [
+              0.00522399350411154,
+              0.011957891360985518,
+              0.0
+            ],
+            "finger_gap": 0.02609837343070496,
+            "fingertip_max_gap": 0.09196210905304558,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01304918671535248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630550663022388,
+            "object_top_z": 1.2132713052479225,
+            "finger_top_clearance": 0.05021623894568372,
+            "fingertip_min_top_clearance": 0.015064871683705116,
+            "object_projection_between_fingers": 0.8397351188371043,
+            "object_to_finger_line_xy": 0.009574228364617658,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848105452652279,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2657354396733067,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.275464577574134,
+              -0.37093571892347144,
+              0.8515396027545536
+            ],
+            "target_position": [
+              0.26732694036457744,
+              -0.3718418243540774,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008187928089921973,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846677428784928,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396027545536,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564063229925626,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663018607297997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523839202476373,
+            "release_required_pad_clearance": 0.053315093036489986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.648014998387288,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008088350296020508,
+            "max_z_decrease": 0.008088350296020508,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035108543765643103,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008088350296020508,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021029115500631107,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008088350296020508,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008088365581514545,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12302686274051662,
+              -0.42810326814651495,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12302686274051662,
+              -0.42810326814651495,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12408313015587524,
+              -0.42749376273674433,
+              0.8038082409228531
+            ],
+            "closest_button": [
+              0.12303066253662105,
+              -0.42808800935745245,
+              0.7687205076217651
+            ],
+            "closest_ee_minus_button": [
+              0.001052467619254191,
+              0.0005942466207081165,
+              0.03508773330108794
+            ],
+            "button_min_z_position": [
+              0.12303066253662105,
+              -0.42808800935745245,
+              0.7687205076217651
+            ],
+            "min_active_finger_to_button": 0.14470316797649202,
+            "closest_active_finger": [
+              -0.002799876034259796,
+              -0.4907549023628235,
+              0.8109173774719238
+            ],
+            "closest_active_finger_button": [
+              0.12302724272012706,
+              -0.42810142040252686,
+              0.7765504717826843
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12582711875438685,
+              -0.06265348196029663,
+              0.0343669056892395
+            ],
+            "min_contact_pad_to_button": 0.021029115500631107,
+            "closest_contact_pad": [
+              0.12303066253662105,
+              -0.4286555597244187,
+              0.7897419629786104
+            ],
+            "closest_contact_pad_button": [
+              0.12303066253662105,
+              -0.42808800935745245,
+              0.7687205076217651
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005675503669662629,
+              0.021021455356845298
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2830558590530032,
+              0.20988655768288178,
+              1.1020402854471456
+            ],
+            "current_z": 1.1020402854471456,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19213115571278305,
+            "gripper_z": 1.1020402189272371,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28305581126592955,
+              0.20988657785450265,
+              1.1020402189272371
+            ],
+            "object_minus_gripper": [
+              4.7787073631511134e-08,
+              -2.0171620873643548e-08,
+              6.651990847039713e-08
+            ],
+            "object_to_gripper_xy": 5.187001730222845e-08,
+            "object_to_gripper_z": 6.651990847039713e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2830558590530032,
+              0.20988655768288178,
+              1.1020402854471456
+            ],
+            "finger_b": [
+              0.2830558590530032,
+              0.20988655768288178,
+              1.1020402854471456
+            ],
+            "finger_midpoint": [
+              0.2830558590530032,
+              0.20988655768288178,
+              1.1020402854471456
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1020402854471456,
+            "object_top_z": 1.2270487920674253,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2830558590530032,
+            0.2098865576828818,
+            1.1020402854471456
+          ],
+          "object_origin_world": [
+            0.2830558590530032,
+            0.2098865576828818,
+            1.1020402854471456
+          ],
+          "frame_world": [
+            0.28305581126592955,
+            0.20988657785450265,
+            1.1020402189272371
+          ],
+          "center_minus_frame": [
+            4.7787073631511134e-08,
+            -2.0171620845887972e-08,
+            6.651990847039713e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436441213265122,
+            "required_z": 0.9112598962217026,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002339214021943604,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.83880198761601e-09,
+            "max_target_xy_drift": 1.3289437832478313e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6480149989490964,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6480149999428775,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2731062953189893,
+              -0.3707726170030119,
+              0.923340075474589
+            ],
+            "target_mouth_xy": [
+              0.2754644577417765,
+              -0.3709357148070283
+            ],
+            "rod_tip_z": 0.923340075474589,
+            "rod_tip_depth": -0.022080066368760698,
+            "rod_tip_bottom_clearance": 0.12152074849632577,
+            "rod_tip_xy_dist": 0.002363795868073382,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044968581844476274,
+            "min_rod_tip_bottom_clearance": 0.05447197595609965,
+            "min_rod_tip_xy_dist": 0.0009838518494577752,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27546445744593284,
+              -0.37093571763037264
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.958436828848221e-10,
+              2.8233443361003197e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0017130009621794118,
+                0.001956971719637046
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001828512873336685,
+                0.0015403040604251572
+              ],
+              "first_target_mouth_xy": [
+                0.2754644574575882,
+                -0.37093571795927816
+              ],
+              "last_target_mouth_xy": [
+                0.2754644297675871,
+                -0.3709357179404764
+              ],
+              "first_rod_tip_xy": [
+                0.2737514564954088,
+                -0.3689787462396411
+              ],
+              "last_rod_tip_xy": [
+                0.27363591689425043,
+                -0.36939541388005126
+              ],
+              "min_rod_tip_xy_dist": 0.0023768084340537858,
+              "max_rod_tip_xy_dist": 0.002600790381381546,
+              "first_target_xy_drift": 3.2911196290312044e-10,
+              "last_target_xy_drift": 2.7680082848617895e-08,
+              "max_depth": 0.019538198541973473,
+              "min_bottom_clearance": 0.07990243666125851
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0017130009621794118,
+                  0.001956971719637046
+                ],
+                "rod_tip_xy": [
+                  0.2737514564954088,
+                  -0.3689787462396411
+                ],
+                "target_mouth_xy": [
+                  0.2754644574575882,
+                  -0.37093571795927816
+                ],
+                "gripper_position": [
+                  0.27375208683136726,
+                  -0.3690472152798863,
+                  1.0057082222823641
+                ],
+                "rod_tip_xy_dist": 0.002600790381381546,
+                "target_xy_drift": 3.2911196290312044e-10,
+                "depth": 0.0150258129345332,
+                "bottom_clearance": 0.08441474246879077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0017123418691977754,
+                  0.0018885321709930514
+                ],
+                "rod_tip_xy": [
+                  0.2737520868313673,
+                  -0.3690472152798865
+                ],
+                "target_mouth_xy": [
+                  0.2754644287005651,
+                  -0.37093574745087954
+                ],
+                "gripper_position": [
+                  0.27374130143592196,
+                  -0.3690556615498882,
+                  1.0055608470806152
+                ],
+                "rod_tip_xy_dist": 0.0025492486026049833,
+                "target_xy_drift": 4.1419304663947106e-08,
+                "depth": 0.015551681497523728,
+                "bottom_clearance": 0.08388892448842944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017231269531737814,
+                  0.0018800868469377452
+                ],
+                "rod_tip_xy": [
+                  0.273741301435922,
+                  -0.3690556615498882
+                ],
+                "target_mouth_xy": [
+                  0.2754644283890958,
+                  -0.37093574839682597
+                ],
+                "gripper_position": [
+                  0.2737332637482488,
+                  -0.369057982766973,
+                  1.0054317946816338
+                ],
+                "rod_tip_xy_dist": 0.002550273132192368,
+                "target_xy_drift": 4.231872433901961e-08,
+                "depth": 0.015699042944685826,
+                "bottom_clearance": 0.08374152790394229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017311645793094965,
+                  0.0018777637403619707
+                ],
+                "rod_tip_xy": [
+                  0.27373326374824886,
+                  -0.3690579827669731
+                ],
+                "target_mouth_xy": [
+                  0.27546442832755835,
+                  -0.3709357465073351
+                ],
+                "gripper_position": [
+                  0.2737350546849895,
+                  -0.3691274415602556,
+                  1.0049062602973415
+                ],
+                "rod_tip_xy_dist": 0.0025540022445710584,
+                "target_xy_drift": 4.1009251300456964e-08,
+                "depth": 0.015828123379392323,
+                "bottom_clearance": 0.08361250337911075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001729372703321963,
+                  0.0018083059063903062
+                ],
+                "rod_tip_xy": [
+                  0.2737350546849896,
+                  -0.3691274415602557
+                ],
+                "target_mouth_xy": [
+                  0.27546442738831156,
+                  -0.370935747466646
+                ],
+                "gripper_position": [
+                  0.27372406596389476,
+                  -0.3691359302240431,
+                  1.0047587836938097
+                ],
+                "rod_tip_xy_dist": 0.0025021391244455576,
+                "target_xy_drift": 4.2351668254416796e-08,
+                "depth": 0.016353573801261123,
+                "bottom_clearance": 0.08308698246563584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017404222943616099,
+                  0.0017997851884622995
+                ],
+                "rod_tip_xy": [
+                  0.2737240659638948,
+                  -0.3691359302240431
+                ],
+                "target_mouth_xy": [
+                  0.2754644882582564,
+                  -0.3709357154125054
+                ],
+                "gripper_position": [
+                  0.273716044305482,
+                  -0.3691380313417097,
+                  1.0046296014557996
+                ],
+                "rod_tip_xy_dist": 0.0025036566232850715,
+                "target_xy_drift": 3.0892041361975235e-08,
+                "depth": 0.01650116018189529,
+                "bottom_clearance": 0.08293952638717139,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017484146341552598,
+                  0.0017976863024359857
+                ],
+                "rod_tip_xy": [
+                  0.2737160443054821,
+                  -0.36913803134170975
+                ],
+                "target_mouth_xy": [
+                  0.27546445893963734,
+                  -0.37093571764414573
+                ],
+                "gripper_position": [
+                  0.27371846520776766,
+                  -0.3692088118512465,
+                  1.004106264879526
+                ],
+                "rod_tip_xy_dist": 0.002507714053654092,
+                "target_xy_drift": 1.4937679912879842e-09,
+                "depth": 0.016630305664037004,
+                "bottom_clearance": 0.08281031684152718,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017459642145279952,
+                  0.001726965404408476
+                ],
+                "rod_tip_xy": [
+                  0.27371846520776777,
+                  -0.36920881185124654
+                ],
+                "target_mouth_xy": [
+                  0.27546442942229576,
+                  -0.370935777255655
+                ],
+                "gripper_position": [
+                  0.27370745511510264,
+                  -0.3692171242417038,
+                  1.0039586711125423
+                ],
+                "rod_tip_xy_dist": 0.0024557688300074357,
+                "target_xy_drift": 6.588245998538262e-08,
+                "depth": 0.017153644243799504,
+                "bottom_clearance": 0.08228698868289175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017570037743099287,
+                  0.0017186231888434156
+                ],
+                "rod_tip_xy": [
+                  0.2737074551151027,
+                  -0.36921712424170383
+                ],
+                "target_mouth_xy": [
+                  0.2754644588894126,
+                  -0.37093574743054725
+                ],
+                "gripper_position": [
+                  0.2736993142354075,
+                  -0.36921906297173035,
+                  1.003830004263072
+                ],
+                "rod_tip_xy_dist": 0.002457789235912967,
+                "target_xy_drift": 2.983511421812346e-08,
+                "depth": 0.017301235920275437,
+                "bottom_clearance": 0.0821393852903648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001765115241676496,
+                  0.0017166841357957319
+                ],
+                "rod_tip_xy": [
+                  0.27369931423540755,
+                  -0.36921906297173046
+                ],
+                "target_mouth_xy": [
+                  0.27546442947708405,
+                  -0.3709357471075262
+                ],
+                "gripper_position": [
+                  0.2736911688131871,
+                  -0.3692210385520297,
+                  1.0037006722265973
+                ],
+                "rod_tip_xy_dist": 0.002462242116139559,
+                "target_xy_drift": 4.063445685956204e-08,
+                "depth": 0.017429911523256347,
+                "bottom_clearance": 0.08201073618752219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017732893132276772,
+                  0.001714678456863572
+                ],
+                "rod_tip_xy": [
+                  0.27369116881318717,
+                  -0.3692210385520297
+                ],
+                "target_mouth_xy": [
+                  0.27546445812641485,
+                  -0.3709357170088933
+                ],
+                "gripper_position": [
+                  0.27369476087883027,
+                  -0.3692941276189489,
+                  1.003178429528972
+                ],
+                "rod_tip_xy_dist": 0.0024667138461604192,
+                "target_xy_drift": 9.215705956055434e-10,
+                "depth": 0.0175592403122381,
+                "bottom_clearance": 0.08188137512690175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00176966885358526,
+                  0.0016415903271213006
+                ],
+                "rod_tip_xy": [
+                  0.2736947608788303,
+                  -0.369294127618949
+                ],
+                "target_mouth_xy": [
+                  0.2754644297324156,
+                  -0.3709357179460703
+                ],
+                "gripper_position": [
+                  0.2736836242372904,
+                  -0.3693023404527398,
+                  1.0030312977079299
+                ],
+                "rod_tip_xy_dist": 0.0024138240725968384,
+                "target_xy_drift": 2.7715315330194514e-08,
+                "depth": 0.018081476574127175,
+                "bottom_clearance": 0.08135915710571717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017808028701193912,
+                  0.0016333772127124502
+                ],
+                "rod_tip_xy": [
+                  0.27368362423729053,
+                  -0.3693023404527398
+                ],
+                "target_mouth_xy": [
+                  0.2754644271074099,
+                  -0.37093571766545225
+                ],
+                "gripper_position": [
+                  0.2736753246029424,
+                  -0.36930413344960666,
+                  1.0029026256667137
+                ],
+                "rod_tip_xy_dist": 0.0024164395256727933,
+                "target_xy_drift": 3.0338543196906514e-08,
+                "depth": 0.01822853427505955,
+                "bottom_clearance": 0.08121201143323165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017891338233511633,
+                  0.001631582289428557
+                ],
+                "rod_tip_xy": [
+                  0.27367532460294247,
+                  -0.3693041334496068
+                ],
+                "target_mouth_xy": [
+                  0.27546445842629363,
+                  -0.37093571573903533
+                ],
+                "gripper_position": [
+                  0.2736670014660347,
+                  -0.36930587340792964,
+                  1.002773676264094
+                ],
+                "rod_tip_xy_dist": 0.002421375767004387,
+                "target_xy_drift": 2.1303201871878506e-09,
+                "depth": 0.018357312080341415,
+                "bottom_clearance": 0.0810833613522427,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017974589095385296,
+                  0.001629844845927042
+                ],
+                "rod_tip_xy": [
+                  0.27366700146603473,
+                  -0.36930587340792975
+                ],
+                "target_mouth_xy": [
+                  0.27546446037557326,
+                  -0.3709357182538568
+                ],
+                "gripper_position": [
+                  0.27365852307032346,
+                  -0.36930792610617186,
+                  1.002645037341741
+                ],
+                "rod_tip_xy_dist": 0.002426366162242291,
+                "target_xy_drift": 2.9952504861505354e-09,
+                "depth": 0.01848623055339016,
+                "bottom_clearance": 0.08095442329391389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018058748333659724,
+                  0.001627821053149292
+                ],
+                "rod_tip_xy": [
+                  0.2736585230703235,
+                  -0.3693079261061719
+                ],
+                "target_mouth_xy": [
+                  0.2754643979036895,
+                  -0.3709357471593212
+                ],
+                "gripper_position": [
+                  0.2736641976482377,
+                  -0.36938378595412125,
+                  1.002126141875533
+                ],
+                "rod_tip_xy_dist": 0.002431251795857568,
+                "target_xy_drift": 6.646230170110283e-08,
+                "depth": 0.018614864289437594,
+                "bottom_clearance": 0.08082571518793669,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018002017616211563,
+                  0.001551931683304808
+                ],
+                "rod_tip_xy": [
+                  0.27366419764823774,
+                  -0.36938378595412136
+                ],
+                "target_mouth_xy": [
+                  0.2754643994098589,
+                  -0.37093571763742617
+                ],
+                "gripper_position": [
+                  0.2736528790654199,
+                  -0.36939206140802716,
+                  1.001978820758589
+                ],
+                "rod_tip_xy_dist": 0.0023768084340537858,
+                "target_xy_drift": 5.8036074375241884e-08,
+                "depth": 0.019133765924739365,
+                "bottom_clearance": 0.08030685963225681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001811550417598673,
+                  0.0015436555943475483
+                ],
+                "rod_tip_xy": [
+                  0.27365287906541996,
+                  -0.3693920614080273
+                ],
+                "target_mouth_xy": [
+                  0.27546442948301864,
+                  -0.3709357170023748
+                ],
+                "gripper_position": [
+                  0.27364440795711287,
+                  -0.36939374597421815,
+                  1.0018500632912455
+                ],
+                "rod_tip_xy_dist": 0.002380039392418203,
+                "target_xy_drift": 2.796996518008628e-08,
+                "depth": 0.019281100549066177,
+                "bottom_clearance": 0.08015955853427059,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018199910858116564,
+                  0.0015419710324960922
+                ],
+                "rod_tip_xy": [
+                  0.273644407957113,
+                  -0.36939374597421826
+                ],
+                "target_mouth_xy": [
+                  0.27546439904292463,
+                  -0.37093571700671435
+                ],
+                "gripper_position": [
+                  0.2736359168942504,
+                  -0.3693954138800512,
+                  1.0017217079249239
+                ],
+                "rod_tip_xy_dist": 0.0023853809376053457,
+                "target_xy_drift": 5.840633798941849e-08,
+                "depth": 0.019409853176636904,
+                "bottom_clearance": 0.08003078185987889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001828512873336685,
+                  0.0015403040604251572
+                ],
+                "rod_tip_xy": [
+                  0.27363591689425043,
+                  -0.36939541388005126
+                ],
+                "target_mouth_xy": [
+                  0.2754644297675871,
+                  -0.3709357179404764
+                ],
+                "gripper_position": [
+                  0.2736272201675398,
+                  -0.36939754787027734,
+                  1.0015928189283245
+                ],
+                "rod_tip_xy_dist": 0.002390814908461173,
+                "target_xy_drift": 2.7680082848617895e-08,
+                "depth": 0.019538198541973473,
+                "bottom_clearance": 0.07990243666125851,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005996430678327554,
+              "rod_tip_xy_max_step": 3.264736285014137e-05,
+              "rod_tip_xy_range": 0.0005996344506930498,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2731062953189893,
+            -0.37077261700301184,
+            1.043340075474589
+          ],
+          "object_origin_world": [
+            0.2731062953189893,
+            -0.37077261700301184,
+            1.043340075474589
+          ],
+          "frame_world": [
+            0.27313117133565956,
+            -0.3707692912885961,
+            1.0436441213265122
+          ],
+          "center_minus_frame": [
+            -2.4876016670283274e-05,
+            -3.3257144157472496e-06,
+            -0.0003040458519232292
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26747354895116565,
+              0.1621010162468459,
+              0.8311671940698193
+            ],
+            "target_position": [
+              0.2832352492055266,
+              0.20848658821018456,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0489903304874992,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16724136403608636,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311671940698193,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674759096317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13693479689630902,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "801bfc9d5fa9cd6f56cda2e08f03ea99ad56a662ba5f66a1a6854828beef6795",
+    "visual_seed": 6859500837039832156,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8e9c8a2d9c56c19596cd2543f4cce06b976a9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_66_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19851171785096822,
+              -0.10496246760164116,
+              1.1646792722518382
+            ],
+            "current_z": 1.1646792722518382,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3035728834463618,
+            "gripper_z": 1.1587923486968157,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19383969794435696,
+              -0.10965923401259821,
+              1.1587923486968157
+            ],
+            "object_minus_gripper": [
+              0.004672019906611258,
+              0.004696766410957051,
+              0.005886923555022516
+            ],
+            "object_to_gripper_xy": 0.006624755446570556,
+            "object_to_gripper_z": 0.005886923555022516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19851171785096822,
+              -0.12870101992409153,
+              1.1646792722518382
+            ],
+            "finger_b": [
+              0.18771209541740444,
+              -0.10496246760164116,
+              1.1646792722518382
+            ],
+            "finger_midpoint": [
+              0.19311190663418631,
+              -0.11683174376286634,
+              1.1646792722518382
+            ],
+            "object_minus_finger_midpoint": [
+              0.005399811216781902,
+              0.011869276161225184,
+              0.0
+            ],
+            "finger_gap": 0.026079699213626826,
+            "fingertip_max_gap": 0.0922287146296897,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01303984960681342,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646792722518382,
+            "object_top_z": 1.2147093671487612,
+            "finger_top_clearance": 0.050030094896923005,
+            "fingertip_min_top_clearance": 0.015009028469076901,
+            "object_projection_between_fingers": 0.8285205869688881,
+            "object_to_finger_line_xy": 0.009830151801287214,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048614357314844855,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8230520442311966,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26905992637948967,
+              -0.36520415547316865,
+              0.8515395643314354
+            ],
+            "target_position": [
+              0.2613328385969487,
+              -0.36587707466628805,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007756333272852706,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18362346974106375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395643314354,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516345730752404,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504132356895507,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15252124708171386,
+            "release_required_pad_clearance": 0.052520661784477535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11190582302005976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075855255126953125,
+            "max_z_decrease": 0.0075855255126953125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509138099391048,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075855255126953125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115765500533389,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075855255126953125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007585550027232149,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11703276634216303,
+              -0.4221385419368744,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11703276634216303,
+              -0.4221385419368744,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11652532906328036,
+              -0.42305825666139996,
+              0.8077238274152692
+            ],
+            "closest_button": [
+              0.11702325940132136,
+              -0.4221339523792267,
+              0.7726481556892395
+            ],
+            "closest_ee_minus_button": [
+              -0.0004979303380409916,
+              -0.0009243042821732717,
+              0.035075671726029656
+            ],
+            "button_min_z_position": [
+              0.11701402813196178,
+              -0.42213398218154913,
+              0.7692233324050903
+            ],
+            "min_active_finger_to_button": 0.14660375839993325,
+            "closest_active_finger": [
+              -0.02473495900630951,
+              -0.4079352617263794,
+              0.8109844923019409
+            ],
+            "closest_active_finger_button": [
+              0.11703351885080333,
+              -0.42213720083236694,
+              0.7764495015144348
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14176847785711283,
+              0.014201939105987549,
+              0.034534990787506104
+            ],
+            "min_contact_pad_to_button": 0.02115765500533389,
+            "closest_contact_pad": [
+              0.11701402813196178,
+              -0.4240739548206556,
+              0.7902918603907909
+            ],
+            "closest_contact_pad_button": [
+              0.11701402813196178,
+              -0.42213398218154913,
+              0.7692233324050903
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019399726391064465,
+              0.02106852798570058
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2823711663676094,
+              0.20255800724119657,
+              1.1015924682229392
+            ],
+            "current_z": 1.1015924682229392,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19168333848857666,
+            "gripper_z": 1.1015927365326583,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2823709909956451,
+              0.20255818633598302,
+              1.1015927365326583
+            ],
+            "object_minus_gripper": [
+              1.753719642838547e-07,
+              -1.7909478644551058e-07,
+              -2.683097191091832e-07
+            ],
+            "object_to_gripper_xy": 2.506596664578102e-07,
+            "object_to_gripper_z": -2.683097191091832e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2823711663676094,
+              0.20255800724119657,
+              1.1015924682229392
+            ],
+            "finger_b": [
+              0.2823711663676094,
+              0.20255800724119657,
+              1.1015924682229392
+            ],
+            "finger_midpoint": [
+              0.2823711663676094,
+              0.20255800724119657,
+              1.1015924682229392
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1015924682229392,
+            "object_top_z": 1.226600974843219,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2823711663676094,
+            0.2025580072411966,
+            1.1015924682229394
+          ],
+          "object_origin_world": [
+            0.2823711663676094,
+            0.2025580072411966,
+            1.1015924682229394
+          ],
+          "frame_world": [
+            0.2823709909956451,
+            0.20255818633598302,
+            1.1015927365326583
+          ],
+          "center_minus_frame": [
+            1.753719642838547e-07,
+            -1.79094786417755e-07,
+            -2.683097188871386e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.04377154229762,
+            "required_z": 0.9112599057401164,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023574868824755924,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.21538420521032e-08,
+            "max_target_xy_drift": 1.9387603792861046e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.11190582288652728,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.11190582380171336,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2668751976796894,
+              -0.364262917539377,
+              0.9234623443184954
+            ],
+            "target_mouth_xy": [
+              0.26905986677586885,
+              -0.36520412662478613
+            ],
+            "rod_tip_z": 0.9234623443184954,
+            "rod_tip_depth": -0.022202500377473955,
+            "rod_tip_bottom_clearance": 0.12164305957773158,
+            "rod_tip_xy_dist": 0.002378792467252683,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04447945783163487,
+            "min_rod_tip_bottom_clearance": 0.05496116263219386,
+            "min_rod_tip_xy_dist": 0.0005542580183500011,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.26905986568022305,
+              -0.36520406448060183
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.0956457963118282e-09,
+              -6.21441842985071e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.001531345134223816,
+                0.0026773240054298597
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016487220634592292,
+                0.00227514651546179
+              ],
+              "first_target_mouth_xy": [
+                0.26905983683822454,
+                -0.3652040663824885
+              ],
+              "last_target_mouth_xy": [
+                0.26905983798492195,
+                -0.3652040952333455
+              ],
+              "first_rod_tip_xy": [
+                0.2675284917040007,
+                -0.3625267423770586
+              ],
+              "last_rod_tip_xy": [
+                0.2674111159214627,
+                -0.3629289487178837
+              ],
+              "min_rod_tip_xy_dist": 0.0028097288319969926,
+              "max_rod_tip_xy_dist": 0.0030856145717044073,
+              "first_target_xy_drift": 2.890463718804499e-08,
+              "last_target_xy_drift": 4.138551615739516e-08,
+              "max_depth": 0.019694528285214674,
+              "min_bottom_clearance": 0.07974601323717645
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.001531345134223816,
+                  0.0026773240054298597
+                ],
+                "rod_tip_xy": [
+                  0.2675284917040007,
+                  -0.3625267423770586
+                ],
+                "target_mouth_xy": [
+                  0.26905983683822454,
+                  -0.3652040663824885
+                ],
+                "gripper_position": [
+                  0.26751768965182654,
+                  -0.36253434361364856,
+                  1.0058393686152394
+                ],
+                "rod_tip_xy_dist": 0.003084328411528504,
+                "target_xy_drift": 2.890463718804499e-08,
+                "depth": 0.015278515095678569,
+                "bottom_clearance": 0.08416201622559949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001542148302295876,
+                  0.0026697237259105666
+                ],
+                "rod_tip_xy": [
+                  0.26751768965182654,
+                  -0.36253434361364856
+                ],
+                "target_mouth_xy": [
+                  0.2690598379541224,
+                  -0.3652040673395591
+                ],
+                "gripper_position": [
+                  0.26750973131998046,
+                  -0.36253607221340167,
+                  1.0057146408719218
+                ],
+                "rod_tip_xy_dist": 0.0030831227933645214,
+                "target_xy_drift": 2.7873110579393323e-08,
+                "depth": 0.015420608018362314,
+                "bottom_clearance": 0.08402000022866996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015501068233930715,
+                  0.002667992901262073
+                ],
+                "rod_tip_xy": [
+                  0.26750973131998046,
+                  -0.36253607221340167
+                ],
+                "target_mouth_xy": [
+                  0.26905983814337353,
+                  -0.36520406511466375
+                ],
+                "gripper_position": [
+                  0.26751032367920213,
+                  -0.36260292756226103,
+                  1.0051933134695317
+                ],
+                "rod_tip_xy_dist": 0.0030856145717044073,
+                "target_xy_drift": 2.7544148492087856e-08,
+                "depth": 0.015545245955633669,
+                "bottom_clearance": 0.08389530625072605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015495126031592754,
+                  0.0026011369184674726
+                ],
+                "rod_tip_xy": [
+                  0.26751032367920213,
+                  -0.3626029275622611
+                ],
+                "target_mouth_xy": [
+                  0.2690598362823614,
+                  -0.36520406448072856
+                ],
+                "gripper_position": [
+                  0.26749930445116077,
+                  -0.36261062345512196,
+                  1.005051184296326
+                ],
+                "rod_tip_xy_dist": 0.0030276893129850516,
+                "target_xy_drift": 2.9397861645292842e-08,
+                "depth": 0.016066460697766738,
+                "bottom_clearance": 0.08337406270245462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001560566030221866,
+                  0.0025934375834140155
+                ],
+                "rod_tip_xy": [
+                  0.26749930445116077,
+                  -0.36261062345512196
+                ],
+                "target_mouth_xy": [
+                  0.26905987048138263,
+                  -0.365204061038536
+                ],
+                "gripper_position": [
+                  0.26749120729465825,
+                  -0.3626122960135591,
+                  1.0049267187675948
+                ],
+                "rod_tip_xy_dist": 0.0030267614431512043,
+                "target_xy_drift": 5.907533382852546e-09,
+                "depth": 0.01620879645080031,
+                "bottom_clearance": 0.08323200090861904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015686571974891095,
+                  0.002591801133130678
+                ],
+                "rod_tip_xy": [
+                  0.26749120729465825,
+                  -0.36261229601355915
+                ],
+                "target_mouth_xy": [
+                  0.26905986449214736,
+                  -0.36520409714668983
+                ],
+                "gripper_position": [
+                  0.26749245386359355,
+                  -0.3626806772009524,
+                  1.0044063467148523
+                ],
+                "rod_tip_xy_dist": 0.0030295409746250094,
+                "target_xy_drift": 3.268768620073059e-08,
+                "depth": 0.016333184078399676,
+                "bottom_clearance": 0.08310744146138738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001567412578502847,
+                  0.0025233587441387817
+                ],
+                "rod_tip_xy": [
+                  0.26749245386359355,
+                  -0.36268067720095243
+                ],
+                "target_mouth_xy": [
+                  0.2690598664420964,
+                  -0.3652040359450912
+                ],
+                "gripper_position": [
+                  0.2674812923970626,
+                  -0.36268814136510713,
+                  1.0042641622039148
+                ],
+                "rod_tip_xy_dist": 0.0029705422977750365,
+                "target_xy_drift": 2.854567948738113e-08,
+                "depth": 0.016853471887778526,
+                "bottom_clearance": 0.08258702917120953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015785708282510247,
+                  0.002515893962733884
+                ],
+                "rod_tip_xy": [
+                  0.2674812923970626,
+                  -0.3626881413651072
+                ],
+                "target_mouth_xy": [
+                  0.2690598632253136,
+                  -0.36520403532784107
+                ],
+                "gripper_position": [
+                  0.2674731533546634,
+                  -0.3626896988878323,
+                  1.004139801888516
+                ],
+                "rod_tip_xy_dist": 0.002970119238604055,
+                "target_xy_drift": 2.925594025762419e-08,
+                "depth": 0.016995747542654094,
+                "bottom_clearance": 0.08244486335208867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015867424569550592,
+                  0.002514367813794216
+                ],
+                "rod_tip_xy": [
+                  0.2674731533546634,
+                  -0.3626896988878323
+                ],
+                "target_mouth_xy": [
+                  0.26905989581161843,
+                  -0.36520406670162653
+                ],
+                "gripper_position": [
+                  0.26747506410103095,
+                  -0.3627589412855475,
+                  1.0036217993491006
+                ],
+                "rod_tip_xy_dist": 0.0029731796326068296,
+                "target_xy_drift": 3.021314181244432e-08,
+                "depth": 0.017120043338881508,
+                "bottom_clearance": 0.08232050117587886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015848033347010682,
+                  0.002445123828464235
+                ],
+                "rod_tip_xy": [
+                  0.26747506410103095,
+                  -0.36275894128554753
+                ],
+                "target_mouth_xy": [
+                  0.269059867435732,
+                  -0.36520406511401177
+                ],
+                "gripper_position": [
+                  0.2674637409219696,
+                  -0.36276648661360344,
+                  1.003479883612048
+                ],
+                "rod_tip_xy_dist": 0.0029138002927797274,
+                "target_xy_drift": 1.8662850416412057e-09,
+                "depth": 0.017638023803066782,
+                "bottom_clearance": 0.08180250877134443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015961218587372539,
+                  0.002437579472113982
+                ],
+                "rod_tip_xy": [
+                  0.2674637409219697,
+                  -0.36276648661360344
+                ],
+                "target_mouth_xy": [
+                  0.2690598627807069,
+                  -0.3652040660857174
+                ],
+                "gripper_position": [
+                  0.26745552076401613,
+                  -0.36276785430580466,
+                  1.003355934955778
+                ],
+                "rod_tip_xy_dist": 0.002913657267217671,
+                "target_xy_drift": 3.31414994355658e-09,
+                "depth": 0.01778004865199001,
+                "bottom_clearance": 0.08166059721803232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016043461842246698,
+                  0.0024362108063287757
+                ],
+                "rod_tip_xy": [
+                  0.26745552076401613,
+                  -0.3627678543058046
+                ],
+                "target_mouth_xy": [
+                  0.2690598669482408,
+                  -0.3652040651121334
+                ],
+                "gripper_position": [
+                  0.26744715515124173,
+                  -0.362769340405108,
+                  1.003231817171649
+                ],
+                "rod_tip_xy_dist": 0.0029170275575848372,
+                "target_xy_drift": 1.4165807787816523e-09,
+                "depth": 0.017903824735162277,
+                "bottom_clearance": 0.08153668914206158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016127459746714812,
+                  0.0024347234733717027
+                ],
+                "rod_tip_xy": [
+                  0.2674471551512418,
+                  -0.362769340405108
+                ],
+                "target_mouth_xy": [
+                  0.26905990112591327,
+                  -0.3652040638784797
+                ],
+                "gripper_position": [
+                  0.267450483205092,
+                  -0.36284078527885727,
+                  1.0027158843557584
+                ],
+                "rod_tip_xy_dist": 0.00292041571879865,
+                "target_xy_drift": 3.5450804024294944e-08,
+                "depth": 0.01802811920743952,
+                "bottom_clearance": 0.08141260826784269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016093225231376684,
+                  0.0023633102735731715
+                ],
+                "rod_tip_xy": [
+                  0.26745048320509207,
+                  -0.3628407852788572
+                ],
+                "target_mouth_xy": [
+                  0.26905980572822974,
+                  -0.3652040955524304
+                ],
+                "gripper_position": [
+                  0.26743895780722415,
+                  -0.36284839964694793,
+                  1.002574155775589
+                ],
+                "rod_tip_xy_dist": 0.002859222697282373,
+                "target_xy_drift": 6.752555095717984e-08,
+                "depth": 0.018543964430698057,
+                "bottom_clearance": 0.08089657200312284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016208805030673568,
+                  0.002355694955178178
+                ],
+                "rod_tip_xy": [
+                  0.2674389578072242,
+                  -0.36284839964694793
+                ],
+                "target_mouth_xy": [
+                  0.26905983831029157,
+                  -0.3652040946021261
+                ],
+                "gripper_position": [
+                  0.26743063544431217,
+                  -0.36284953968816913,
+                  1.0024502249389273
+                ],
+                "rod_tip_xy_dist": 0.0028594671404084723,
+                "target_xy_drift": 4.0699132353053254e-08,
+                "depth": 0.01868573803200757,
+                "bottom_clearance": 0.08075483190929278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016292020730336865,
+                  0.0023545558624137874
+                ],
+                "rod_tip_xy": [
+                  0.26743063544431217,
+                  -0.36284953968816913
+                ],
+                "target_mouth_xy": [
+                  0.26905983751734586,
+                  -0.3652040955505829
+                ],
+                "gripper_position": [
+                  0.2674222002156328,
+                  -0.3628509017726199,
+                  1.002326128370054
+                ],
+                "rod_tip_xy_dist": 0.0028632556127604807,
+                "target_xy_drift": 4.193436987503646e-08,
+                "depth": 0.018809600682044736,
+                "bottom_clearance": 0.08063093418691858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016376059488809047,
+                  0.0023531921955358137
+                ],
+                "rod_tip_xy": [
+                  0.26742220021563284,
+                  -0.36285090177262
+                ],
+                "target_mouth_xy": [
+                  0.26905980616451375,
+                  -0.36520409396815584
+                ],
+                "gripper_position": [
+                  0.26741374105146154,
+                  -0.3628522587294882,
+                  1.0022020870450985
+                ],
+                "rod_tip_xy_dist": 0.002866926359874071,
+                "target_xy_drift": 6.64201437486016e-08,
+                "depth": 0.018933780277002765,
+                "bottom_clearance": 0.08050676656868061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016460967440854457,
+                  0.002351837139066837
+                ],
+                "rod_tip_xy": [
+                  0.26741374105146154,
+                  -0.36285225872948823
+                ],
+                "target_mouth_xy": [
+                  0.269059837795547,
+                  -0.36520409586855507
+                ],
+                "gripper_position": [
+                  0.2674051949413119,
+                  -0.3628536868560381,
+                  1.0020777756349573
+                ],
+                "rod_tip_xy_dist": 0.0028706745582846535,
+                "target_xy_drift": 4.198522082598191e-08,
+                "depth": 0.01905774645935643,
+                "bottom_clearance": 0.08038281043098894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016546118561145962,
+                  0.002350407426604584
+                ],
+                "rod_tip_xy": [
+                  0.2674051949413119,
+                  -0.36285368685603814
+                ],
+                "target_mouth_xy": [
+                  0.26905980679742647,
+                  -0.3652040942826427
+                ],
+                "gripper_position": [
+                  0.2674111159214627,
+                  -0.3629289487178837,
+                  1.0015653549924335
+                ],
+                "rod_tip_xy_dist": 0.0028743965393509944,
+                "target_xy_drift": 6.59950405310111e-08,
+                "depth": 0.019182110245458128,
+                "bottom_clearance": 0.08025840531374162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016487220634592292,
+                  0.00227514651546179
+                ],
+                "rod_tip_xy": [
+                  0.2674111159214627,
+                  -0.3629289487178837
+                ],
+                "target_mouth_xy": [
+                  0.26905983798492195,
+                  -0.3652040952333455
+                ],
+                "gripper_position": [
+                  0.2673994908986516,
+                  -0.36293648299441583,
+                  1.0014239114935959
+                ],
+                "rod_tip_xy_dist": 0.0028097288319969926,
+                "target_xy_drift": 4.138551615739516e-08,
+                "depth": 0.019694528285214674,
+                "bottom_clearance": 0.07974601323717645,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1546,
+              "stir_motion_end_frame": 1565,
+              "rod_tip_xy_path_length": 0.0005944734814185652,
+              "rod_tip_xy_max_step": 3.211005172742386e-05,
+              "rod_tip_xy_range": 0.0005944658917742281,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2668751976796894,
+            -0.364262917539377,
+            1.0434623443184956
+          ],
+          "object_origin_world": [
+            0.2668751976796894,
+            -0.364262917539377,
+            1.0434623443184956
+          ],
+          "frame_world": [
+            0.2669002016410319,
+            -0.3642588272508235,
+            1.04377154229762
+          ],
+          "center_minus_frame": [
+            -2.5003961342473513e-05,
+            -4.090288553526555e-06,
+            -0.00030919797912432045
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2674147129813244,
+              0.15802662773355466,
+              0.8322196413690838
+            ],
+            "target_position": [
+              0.28291333807086805,
+              0.20368323898210217,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04821549056441535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16555615712220778,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322196413690838,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671132125411,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13550721286835785,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 319,
+            "max_placed_release_frames": 319
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3e0ba093f69b5f35d807a0d9ab1f136ab23f92e531a8f34d96897398e75ae24",
+    "visual_seed": 6951363344759208322,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b26e0ce7b6bebc1ebdcda8fe34e2e374d7622c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_67_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2019749066608391,
+              -0.10537602573589046,
+              1.1641140912128844
+            ],
+            "current_z": 1.1641140912128844,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30300770240740804,
+            "gripper_z": 1.1580058029712945,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19749062779904847,
+              -0.10993757037143294,
+              1.1580058029712945
+            ],
+            "object_minus_gripper": [
+              0.004484278861790619,
+              0.0045615446355424805,
+              0.006108288241589932
+            ],
+            "object_to_gripper_xy": 0.006396596467837295,
+            "object_to_gripper_z": 0.006108288241589932,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2019749066608391,
+              -0.12895470007991788,
+              1.1641140912128844
+            ],
+            "finger_b": [
+              0.19138828500202265,
+              -0.10537602573589046,
+              1.1641140912128844
+            ],
+            "finger_midpoint": [
+              0.19668159583143086,
+              -0.11716536290790416,
+              1.1641140912128844
+            ],
+            "object_minus_finger_midpoint": [
+              0.005293310829408232,
+              0.011789337172013706,
+              0.0
+            ],
+            "finger_gap": 0.025846284877494838,
+            "fingertip_max_gap": 0.09264938604008205,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012923142438747419,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641140912128844,
+            "object_top_z": 1.2142034259820869,
+            "finger_top_clearance": 0.05008933476920241,
+            "fingertip_min_top_clearance": 0.015026800430760722,
+            "object_projection_between_fingers": 0.832228366993811,
+            "object_to_finger_line_xy": 0.00965780984306997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882469302004103,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.98139470065177,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2698391037644824,
+              -0.37136523472174515,
+              0.8515396537676264
+            ],
+            "target_position": [
+              0.2628162935746457,
+              -0.37146904464093666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070235773977223755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18568590486482406,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396537676264,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520944337250479,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587280429906514,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15417281112486084,
+            "release_required_pad_clearance": 0.052936402149532574,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9099900689565931,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007998168468475342,
+            "max_z_decrease": 0.007998168468475342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513074779766086,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007998168468475342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02126147689414997,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007998168468475342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00799819107032367,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11851622164249416,
+              -0.42773050069808954,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11851622164249416,
+              -0.42773050069808954,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11839281678625652,
+              -0.429490466653194,
+              0.807211508453594
+            ],
+            "closest_button": [
+              0.1185035407543182,
+              -0.42772659659385676,
+              0.772125244140625
+            ],
+            "closest_ee_minus_button": [
+              -0.0001107239680616795,
+              -0.001763870059337258,
+              0.03508626431296902
+            ],
+            "button_min_z_position": [
+              0.1184975132346153,
+              -0.42772710323333735,
+              0.7688106894493103
+            ],
+            "min_active_finger_to_button": 0.14608276406960163,
+            "closest_active_finger": [
+              -0.02260258048772812,
+              -0.4123287796974182,
+              0.8111787438392639
+            ],
+            "closest_active_finger_button": [
+              0.11852037906646724,
+              -0.4277277290821075,
+              0.7767207026481628
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14112295955419535,
+              0.015398949384689276,
+              0.034458041191101074
+            ],
+            "min_contact_pad_to_button": 0.02126147689414997,
+            "closest_contact_pad": [
+              0.1184975132346153,
+              -0.4306829264330207,
+              0.7898657009414156
+            ],
+            "closest_contact_pad_button": [
+              0.1184975132346153,
+              -0.42772710323333735,
+              0.7688106894493103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029558231996833495,
+              0.021055011492105313
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27702917747757233,
+              0.20289449947426055,
+              1.102684602937019
+            ],
+            "current_z": 1.102684602937019,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19277547320265642,
+            "gripper_z": 1.1026844816907178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2770291512448839,
+              0.2028945790925344,
+              1.1026844816907178
+            ],
+            "object_minus_gripper": [
+              2.6232688410399163e-08,
+              -7.961827383495823e-08,
+              1.2124630122123392e-07
+            ],
+            "object_to_gripper_xy": 8.382853612998073e-08,
+            "object_to_gripper_z": 1.2124630122123392e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27702917747757233,
+              0.20289449947426055,
+              1.102684602937019
+            ],
+            "finger_b": [
+              0.27702917747757233,
+              0.20289449947426055,
+              1.102684602937019
+            ],
+            "finger_midpoint": [
+              0.27702917747757233,
+              0.20289449947426055,
+              1.102684602937019
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102684602937019,
+            "object_top_z": 1.2276931095572987,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27702917747757233,
+            0.20289449947426055,
+            1.102684602937019
+          ],
+          "object_origin_world": [
+            0.27702917747757233,
+            0.20289449947426055,
+            1.102684602937019
+          ],
+          "frame_world": [
+            0.2770291512448839,
+            0.2028945790925344,
+            1.1026844816907178
+          ],
+          "center_minus_frame": [
+            2.6232688410399163e-08,
+            -7.961827383495823e-08,
+            1.2124630122123392e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436747951600995,
+            "required_z": 0.9112599448948504,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001741347259267324,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.918781235533625e-08,
+            "max_target_xy_drift": 2.650474345588762e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9099900478109121,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9099900739083688,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27027624404453715,
+              -0.3730471547795192,
+              0.9233711789247058
+            ],
+            "target_mouth_xy": [
+              0.2698391375296044,
+              -0.3713651731631603
+            ],
+            "rod_tip_z": 0.9233711789247058,
+            "rod_tip_depth": -0.022111105040460655,
+            "rod_tip_bottom_clearance": 0.12155191604407822,
+            "rod_tip_xy_dist": 0.0017378504720389374,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04488431703467621,
+            "min_rod_tip_bottom_clearance": 0.054556221416475426,
+            "min_rod_tip_xy_dist": 0.000723244924717079,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2698391620085767,
+              -0.3713652378758584
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.4478972293628942e-08,
+              6.471269808905333e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0009572216520210008,
+                4.904386633575175e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008540368949760402,
+                -0.0002932755490361316
+              ],
+              "first_target_mouth_xy": [
+                0.2698391906198748,
+                -0.37136529465212553
+              ],
+              "last_target_mouth_xy": [
+                0.2698391641470764,
+                -0.3713652946229059
+              ],
+              "first_rod_tip_xy": [
+                0.2707964122718958,
+                -0.3713162507857898
+              ],
+              "last_rod_tip_xy": [
+                0.27069320104205247,
+                -0.37165857017194204
+              ],
+              "min_rod_tip_xy_dist": 0.0009029892389407309,
+              "max_rod_tip_xy_dist": 0.0009584772255630141,
+              "first_target_xy_drift": 6.357791195783678e-08,
+              "last_target_xy_drift": 5.678732764975157e-08,
+              "max_depth": 0.019343856693734618,
+              "min_bottom_clearance": 0.0800967961524709
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0009572216520210008,
+                  4.904386633575175e-05
+                ],
+                "rod_tip_xy": [
+                  0.2707964122718958,
+                  -0.3713162507857898
+                ],
+                "target_mouth_xy": [
+                  0.2698391906198748,
+                  -0.37136529465212553
+                ],
+                "gripper_position": [
+                  0.27078590228266675,
+                  -0.3713244362449454,
+                  1.0058791816594015
+                ],
+                "rod_tip_xy_dist": 0.0009584772255630141,
+                "target_xy_drift": 6.357791195783678e-08,
+                "depth": 0.015233796313568582,
+                "bottom_clearance": 0.08420672766647519,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0009467389742709442,
+                  4.0887552428814367e-05
+                ],
+                "rod_tip_xy": [
+                  0.2707859022826667,
+                  -0.3713244362449454
+                ],
+                "target_mouth_xy": [
+                  0.26983916330839575,
+                  -0.3713653237973742
+                ],
+                "gripper_position": [
+                  0.2707779845521923,
+                  -0.3713269125978612,
+                  1.0057506388946231
+                ],
+                "rod_tip_xy_dist": 0.0009476214842157277,
+                "target_xy_drift": 8.593134704725084e-08,
+                "depth": 0.015380712766076887,
+                "bottom_clearance": 0.08405988650924845,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009388834389082445,
+                  3.832180512408634e-05
+                ],
+                "rod_tip_xy": [
+                  0.27077798455219226,
+                  -0.3713269125978612
+                ],
+                "target_mouth_xy": [
+                  0.269839101113284,
+                  -0.3713652344029853
+                ],
+                "gripper_position": [
+                  0.2707849587391283,
+                  -0.3713953302608476,
+                  1.0052233192710456
+                ],
+                "rod_tip_xy_dist": 0.000939665191759352,
+                "target_xy_drift": 6.09942416975175e-08,
+                "depth": 0.015509175757764115,
+                "bottom_clearance": 0.08393132481497756,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009457954189647788,
+                  -3.0034050347627073e-05
+                ],
+                "rod_tip_xy": [
+                  0.2707849587391282,
+                  -0.3713953302608476
+                ],
+                "target_mouth_xy": [
+                  0.26983916332016344,
+                  -0.37136529621049996
+                ],
+                "gripper_position": [
+                  0.27077419317053875,
+                  -0.3714038685192913,
+                  1.0050767582446565
+                ],
+                "rod_tip_xy_dist": 0.0009462721694708375,
+                "target_xy_drift": 5.8349384451558146e-08,
+                "depth": 0.016036613934080624,
+                "bottom_clearance": 0.08340406237284892,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009350620027716583,
+                  -3.8603988911867226e-05
+                ],
+                "rod_tip_xy": [
+                  0.2707741931705387,
+                  -0.3714038685192913
+                ],
+                "target_mouth_xy": [
+                  0.26983913116776703,
+                  -0.37136526453037944
+                ],
+                "gripper_position": [
+                  0.2707663355159046,
+                  -0.37140606309208446,
+                  1.0049480692431707
+                ],
+                "rod_tip_xy_dist": 0.0009358585453941489,
+                "target_xy_drift": 4.076296154046477e-08,
+                "depth": 0.016183062699960504,
+                "bottom_clearance": 0.08325745602185697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009271706228959342,
+                  -4.073962342954207e-05
+                ],
+                "rod_tip_xy": [
+                  0.27076633551590457,
+                  -0.37140606309208446
+                ],
+                "target_mouth_xy": [
+                  0.26983916489300863,
+                  -0.3713653234686549
+                ],
+                "gripper_position": [
+                  0.2707739145142063,
+                  -0.37147589060897923,
+                  1.004422425196465
+                ],
+                "rod_tip_xy_dist": 0.0009280652352493414,
+                "target_xy_drift": 8.564138464021165e-08,
+                "depth": 0.016311902919016297,
+                "bottom_clearance": 0.0831287684385692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009348428107623374,
+                  -0.00011062672551365171
+                ],
+                "rod_tip_xy": [
+                  0.27077391451420624,
+                  -0.37147589060897923
+                ],
+                "target_mouth_xy": [
+                  0.2698390717034439,
+                  -0.3713652638834656
+                ],
+                "gripper_position": [
+                  0.27076295386714966,
+                  -0.3714841004790558,
+                  1.0042757957259858
+                ],
+                "rod_tip_xy_dist": 0.0009413656851786665,
+                "target_xy_drift": 9.397559600289704e-08,
+                "depth": 0.016837398263490955,
+                "bottom_clearance": 0.0826031288818233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009237891026572798,
+                  -0.00011880713482526062
+                ],
+                "rod_tip_xy": [
+                  0.2707629538671496,
+                  -0.3714841004790558
+                ],
+                "target_mouth_xy": [
+                  0.2698391647644923,
+                  -0.3713652933442305
+                ],
+                "gripper_position": [
+                  0.27075511503489347,
+                  -0.37148604481354053,
+                  1.0041474961669046
+                ],
+                "rod_tip_xy_dist": 0.000931397574333179,
+                "target_xy_drift": 5.5536792995424473e-08,
+                "depth": 0.01698418123881229,
+                "bottom_clearance": 0.08245649694384616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009160136536817132,
+                  -0.00012078061885845148
+                ],
+                "rod_tip_xy": [
+                  0.2707551150348934,
+                  -0.37148604481354053
+                ],
+                "target_mouth_xy": [
+                  0.2698391013812117,
+                  -0.3713652641946821
+                ],
+                "gripper_position": [
+                  0.27076338998767374,
+                  -0.37155659344268877,
+                  1.0036246600816054
+                ],
+                "rod_tip_xy_dist": 0.0009239420823964845,
+                "target_xy_drift": 6.609355391124522e-08,
+                "depth": 0.01711232073724056,
+                "bottom_clearance": 0.08232819037898076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009242253669430323,
+                  -0.00019133149283312445
+                ],
+                "rod_tip_xy": [
+                  0.2707633899876737,
+                  -0.37155659344268877
+                ],
+                "target_mouth_xy": [
+                  0.26983916462073065,
+                  -0.37136526194985564
+                ],
+                "gripper_position": [
+                  0.27075246386859053,
+                  -0.3715645003398041,
+                  1.0034781233217611
+                ],
+                "rod_tip_xy_dist": 0.0009438221596523016,
+                "target_xy_drift": 2.421529870375005e-08,
+                "depth": 0.017635344422611277,
+                "bottom_clearance": 0.08180538616973088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000913360550066078,
+                  -0.00019923648241737535
+                ],
+                "rod_tip_xy": [
+                  0.27075246386859053,
+                  -0.37156450033980415
+                ],
+                "target_mouth_xy": [
+                  0.26983910331852445,
+                  -0.3713652638573868
+                ],
+                "gripper_position": [
+                  0.27074433140487414,
+                  -0.3715664989107723,
+                  1.0033502564627401
+                ],
+                "rod_tip_xy_dist": 0.0009348383124065132,
+                "target_xy_drift": 6.418381455778558e-08,
+                "depth": 0.017781774167183406,
+                "bottom_clearance": 0.08165882267617375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009051999075102568,
+                  -0.00020123503544178245
+                ],
+                "rod_tip_xy": [
+                  0.2707443314048741,
+                  -0.3715664989107722
+                ],
+                "target_mouth_xy": [
+                  0.2698391314973638,
+                  -0.3713652638753304
+                ],
+                "gripper_position": [
+                  0.2707361791332405,
+                  -0.3715684781769861,
+                  1.0032222345713948
+                ],
+                "rod_tip_xy_dist": 0.0009272984482063113,
+                "target_xy_drift": 4.008624024896193e-08,
+                "depth": 0.01790956859969517,
+                "bottom_clearance": 0.08153096601769116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008970152207435911,
+                  -0.00020321527288819086
+                ],
+                "rod_tip_xy": [
+                  0.27073617913324044,
+                  -0.37156847817698613
+                ],
+                "target_mouth_xy": [
+                  0.26983916391249685,
+                  -0.37136526290409794
+                ],
+                "gripper_position": [
+                  0.27074599761693185,
+                  -0.3716408601063287,
+                  1.0027018928392244
+                ],
+                "rod_tip_xy_dist": 0.0009197460265642333,
+                "target_xy_drift": 2.5100551511160283e-08,
+                "depth": 0.018037747297402595,
+                "bottom_clearance": 0.08140292172646302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009068971261437242,
+                  -0.00027559749258221355
+                ],
+                "rod_tip_xy": [
+                  0.2707459976169318,
+                  -0.3716408601063288
+                ],
+                "target_mouth_xy": [
+                  0.2698391004907881,
+                  -0.3713652626137466
+                ],
+                "gripper_position": [
+                  0.27073483796900494,
+                  -0.37164875355124966,
+                  1.0025552301188458
+                ],
+                "rod_tip_xy_dist": 0.0009478482870825633,
+                "target_xy_drift": 6.630536502421478e-08,
+                "depth": 0.018557952339275707,
+                "bottom_clearance": 0.08088259583101609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008957070417514035,
+                  -0.0002834576433864422
+                ],
+                "rod_tip_xy": [
+                  0.27073483796900494,
+                  -0.3716487535512496
+                ],
+                "target_mouth_xy": [
+                  0.26983913092725353,
+                  -0.37136529590786316
+                ],
+                "gripper_position": [
+                  0.27072658239129876,
+                  -0.3716505466414761,
+                  1.0024275048577944
+                ],
+                "rod_tip_xy_dist": 0.0009394888718006434,
+                "target_xy_drift": 6.58313164601205e-08,
+                "depth": 0.01870461676142532,
+                "bottom_clearance": 0.08073594784948623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008874513214247037,
+                  -0.00028531287345745504
+                ],
+                "rod_tip_xy": [
+                  0.2707265823912987,
+                  -0.3716505466414761
+                ],
+                "target_mouth_xy": [
+                  0.269839131069874,
+                  -0.37136523376801867
+                ],
+                "gripper_position": [
+                  0.27071822077578556,
+                  -0.3716524358985281,
+                  1.0022998176435873
+                ],
+                "rod_tip_xy_dist": 0.0009321873651037127,
+                "target_xy_drift": 3.1210217441093154e-08,
+                "depth": 0.018832382007089365,
+                "bottom_clearance": 0.08060814748408374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008790890238318805,
+                  -0.0002871422101440313
+                ],
+                "rod_tip_xy": [
+                  0.2707182207757855,
+                  -0.37165243589852814
+                ],
+                "target_mouth_xy": [
+                  0.2698391317519536,
+                  -0.3713652936883841
+                ],
+                "gripper_position": [
+                  0.2707099798097241,
+                  -0.3716545209020726,
+                  1.00217186368143
+                ],
+                "rod_tip_xy_dist": 0.0009247962806305438,
+                "target_xy_drift": 6.348622895981549e-08,
+                "depth": 0.01896000918480467,
+                "bottom_clearance": 0.0804805346963452,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008708143782237832,
+                  -0.0002891948978800407
+                ],
+                "rod_tip_xy": [
+                  0.2707099798097241,
+                  -0.3716545209020726
+                ],
+                "target_mouth_xy": [
+                  0.2698391654315003,
+                  -0.3713653260041926
+                ],
+                "gripper_position": [
+                  0.2707015420131021,
+                  -0.37165654677347504,
+                  1.002043876544257
+                ],
+                "rod_tip_xy_dist": 0.0009175790812137782,
+                "target_xy_drift": 8.819478268250441e-08,
+                "depth": 0.019088086746704147,
+                "bottom_clearance": 0.08035267157670745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008624410596204668,
+                  -0.0002912530802229307
+                ],
+                "rod_tip_xy": [
+                  0.2707015420131021,
+                  -0.37165654677347515
+                ],
+                "target_mouth_xy": [
+                  0.2698391009534816,
+                  -0.3713652936932522
+                ],
+                "gripper_position": [
+                  0.2706932010420525,
+                  -0.37165857017194204,
+                  1.001916055182027
+                ],
+                "rod_tip_xy_dist": 0.0009102927760114427,
+                "target_xy_drift": 8.272427750782651e-08,
+                "depth": 0.0192159425338273,
+                "bottom_clearance": 0.08022456340261386,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0008540368949760402,
+                  -0.0002932755490361316
+                ],
+                "rod_tip_xy": [
+                  0.27069320104205247,
+                  -0.37165857017194204
+                ],
+                "target_mouth_xy": [
+                  0.2698391641470764,
+                  -0.3713652946229059
+                ],
+                "gripper_position": [
+                  0.270706374213775,
+                  -0.37173563829289336,
+                  1.0014003178490036
+                ],
+                "rod_tip_xy_dist": 0.0009029892389407309,
+                "target_xy_drift": 5.678732764975157e-08,
+                "depth": 0.019343856693734618,
+                "bottom_clearance": 0.0800967961524709,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005983499445367385,
+              "rod_tip_xy_max_step": 3.247786124184874e-05,
+              "rod_tip_xy_range": 0.0005983444370449239,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27027624404453715,
+            -0.3730471547795192,
+            1.043371178924706
+          ],
+          "object_origin_world": [
+            0.27027624404453715,
+            -0.3730471547795192,
+            1.043371178924706
+          ],
+          "frame_world": [
+            0.2703009474630773,
+            -0.37304416746413444,
+            1.0436747951600995
+          ],
+          "center_minus_frame": [
+            -2.470341854016178e-05,
+            -2.9873153847836953e-06,
+            -0.00030361623539354454
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26414684375725883,
+              0.1570832816823501,
+              0.8327394002339675
+            ],
+            "target_position": [
+              0.27719509964024935,
+              0.20325181921021784,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04797698238791314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16817382049355498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327394002339675,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671980658138,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13710812653635535,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b73010affe8fb226d206cf7f187d731b3d1001dbc65609294c1ad3babd13cf9",
+    "visual_seed": 3962801545289618979,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..126b4d77ed85dbb952059b049a6e2ea1e4ef842c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_68_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19416396963458182,
+              -0.10623814933899196,
+              1.1620670156022546
+            ],
+            "current_z": 1.1620670156022546,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3009605075874885,
+            "gripper_z": 1.1561205332411129,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18948118242190226,
+              -0.1108977335782887,
+              1.1561205332411129
+            ],
+            "object_minus_gripper": [
+              0.004682787212679562,
+              0.0046595842392967435,
+              0.005946482361141703
+            ],
+            "object_to_gripper_xy": 0.006606074580440175,
+            "object_to_gripper_z": 0.005946482361141703,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19416396963458182,
+              -0.13007582074709365,
+              1.1620670156022546
+            ],
+            "finger_b": [
+              0.18351525636884541,
+              -0.10623814933899196,
+              1.1620670156022546
+            ],
+            "finger_midpoint": [
+              0.18883961300171362,
+              -0.11815698504304281,
+              1.1620670156022546
+            ],
+            "object_minus_finger_midpoint": [
+              0.005324356632868205,
+              0.011918835704050848,
+              0.0
+            ],
+            "finger_gap": 0.026108038462827863,
+            "fingertip_max_gap": 0.09173217603083864,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013054019231413937,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1620670156022546,
+            "object_top_z": 1.2120743629461783,
+            "finger_top_clearance": 0.05000734734392376,
+            "fingertip_min_top_clearance": 0.015002204203177093,
+            "object_projection_between_fingers": 0.833641200183497,
+            "object_to_finger_line_xy": 0.009722696253459688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836608801541932,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4049545164315025,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27678550785036515,
+              -0.36693160053473506,
+              0.8515394971448456
+            ],
+            "target_position": [
+              0.2690298980696556,
+              -0.36772332519060347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007795916302869571,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18396030229049876,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394971448456,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756966992177664,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641516433416756,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15148489402923565,
+            "release_required_pad_clearance": 0.05320758216708378,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4374657010506438,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008004486560821533,
+            "max_z_decrease": 0.008004486560821533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516980422803293,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008004486560821533,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02124296193963093,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008004486560821533,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008004510981296896,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12472982704639433,
+              -0.4239847958087921,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12472982704639433,
+              -0.4239847958087921,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1260843626768138,
+              -0.42550095719378117,
+              0.8078944517574457
+            ],
+            "closest_button": [
+              0.12472350150346755,
+              -0.42398226261138916,
+              0.7727838158607483
+            ],
+            "closest_ee_minus_button": [
+              0.0013608611733462589,
+              -0.0015186945823920106,
+              0.035110635896697384
+            ],
+            "button_min_z_position": [
+              0.12471012026071548,
+              -0.4239831864833832,
+              0.7688043713569641
+            ],
+            "min_active_finger_to_button": 0.14470374899022778,
+            "closest_active_finger": [
+              -0.014844611287117004,
+              -0.4073010981082916,
+              0.810980498790741
+            ],
+            "closest_active_finger_button": [
+              0.12473002076148985,
+              -0.42398351430892944,
+              0.7766323685646057
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13957463204860687,
+              0.016682416200637817,
+              0.034348130226135254
+            ],
+            "min_contact_pad_to_button": 0.02124296193963093,
+            "closest_contact_pad": [
+              0.12471012026071548,
+              -0.42672754985970396,
+              0.78986931620919
+            ],
+            "closest_contact_pad_button": [
+              0.12471012026071548,
+              -0.4239831864833832,
+              0.7688043713569641
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027443633763207798,
+              0.021064944852225875
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27610716477079567,
+              0.20918724169373593,
+              1.1014847468661069
+            ],
+            "current_z": 1.1014847468661069,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1915756171317443,
+            "gripper_z": 1.1014847044331078,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27610712004984783,
+              0.2091872715163275,
+              1.1014847044331078
+            ],
+            "object_minus_gripper": [
+              4.472094783380953e-08,
+              -2.982259156292244e-08,
+              4.2432999114438985e-08
+            ],
+            "object_to_gripper_xy": 5.375267567929252e-08,
+            "object_to_gripper_z": 4.2432999114438985e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27610716477079567,
+              0.20918724169373593,
+              1.1014847468661069
+            ],
+            "finger_b": [
+              0.27610716477079567,
+              0.20918724169373593,
+              1.1014847468661069
+            ],
+            "finger_midpoint": [
+              0.27610716477079567,
+              0.20918724169373593,
+              1.1014847468661069
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014847468661069,
+            "object_top_z": 1.2264932534863866,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27610716477079567,
+            0.20918724169373595,
+            1.1014847468661069
+          ],
+          "object_origin_world": [
+            0.27610716477079567,
+            0.20918724169373595,
+            1.1014847468661069
+          ],
+          "frame_world": [
+            0.27610712004984783,
+            0.2091872715163275,
+            1.1014847044331078
+          ],
+          "center_minus_frame": [
+            4.472094783380953e-08,
+            -2.9822591535166865e-08,
+            4.2432999114438985e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436348050272133,
+            "required_z": 0.9112598768643927,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002008313590725129,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.199211770870742e-08,
+            "max_target_xy_drift": 6.343583137742187e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4374656976347575,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4380101000865448,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27781388872419355,
+              -0.36522510819618026,
+              0.9233310946779062
+            ],
+            "target_mouth_xy": [
+              0.2767854505798728,
+              -0.36693157230478823
+            ],
+            "rod_tip_z": 0.9233310946779062,
+            "rod_tip_depth": -0.022071195367495355,
+            "rod_tip_bottom_clearance": 0.12151181296812641,
+            "rod_tip_xy_dist": 0.0019924117974608312,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04484455013897448,
+            "min_rod_tip_bottom_clearance": 0.05459599182822128,
+            "min_rod_tip_xy_dist": 0.00016293008947073804,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2767855363438322,
+              -0.3669315390317813
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.576395937875958e-08,
+              -3.327300696076563e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.001493740035432567,
+                0.0034960631064376857
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014139967076035598,
+                0.0030839194373479817
+              ],
+              "first_target_mouth_xy": [
+                0.27678547594582437,
+                -0.36693163192914224
+              ],
+              "last_target_mouth_xy": [
+                0.27678547741623793,
+                -0.3669315719966447
+              ],
+              "first_rod_tip_xy": [
+                0.27827921598125693,
+                -0.36343556882270456
+              ],
+              "last_rod_tip_xy": [
+                0.2781994741238415,
+                -0.36384765255929674
+              ],
+              "min_rod_tip_xy_dist": 0.003392631100660135,
+              "max_rod_tip_xy_dist": 0.003801804379192702,
+              "first_target_xy_drift": 1.1080541062405726e-07,
+              "last_target_xy_drift": 6.752143056995255e-08,
+              "max_depth": 0.019560586197303165,
+              "min_bottom_clearance": 0.07987992262695331
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.001493740035432567,
+                  0.0034960631064376857
+                ],
+                "rod_tip_xy": [
+                  0.27827921598125693,
+                  -0.36343556882270456
+                ],
+                "target_mouth_xy": [
+                  0.27678547594582437,
+                  -0.36693163192914224
+                ],
+                "gripper_position": [
+                  0.27828746625629786,
+                  -0.36350373320064,
+                  1.005694425724541
+                ],
+                "rod_tip_xy_dist": 0.003801804379192702,
+                "target_xy_drift": 1.1080541062405726e-07,
+                "depth": 0.015040190190915292,
+                "bottom_clearance": 0.08440033369340505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0015019573042941436,
+                  0.003427897734981311
+                ],
+                "rod_tip_xy": [
+                  0.27828746625629786,
+                  -0.3635037332006401
+                ],
+                "target_mouth_xy": [
+                  0.2767855089520037,
+                  -0.3669316309356214
+                ],
+                "gripper_position": [
+                  0.2782764277761309,
+                  -0.3635119805288116,
+                  1.005546160951159
+                ],
+                "rod_tip_xy_dist": 0.0037425069973765625,
+                "target_xy_drift": 9.589905161794478e-08,
+                "depth": 0.01556547758177207,
+                "bottom_clearance": 0.08387512079861048,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0014909511000615328,
+                  0.0034196504256527316
+                ],
+                "rod_tip_xy": [
+                  0.2782764277761309,
+                  -0.36351198052881173
+                ],
+                "target_mouth_xy": [
+                  0.27678547667606934,
+                  -0.36693163095446446
+                ],
+                "gripper_position": [
+                  0.2782682843379252,
+                  -0.36351428987514783,
+                  1.0054158274779939
+                ],
+                "rod_tip_xy_dist": 0.0037305420807761443,
+                "target_xy_drift": 1.0959024412291568e-07,
+                "depth": 0.01571361524942394,
+                "bottom_clearance": 0.0837269116096393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0014827762380428822,
+                  0.003417340423298776
+                ],
+                "rod_tip_xy": [
+                  0.2782682843379252,
+                  -0.3635142898751479
+                ],
+                "target_mouth_xy": [
+                  0.27678550809988234,
+                  -0.36693163029844666
+                ],
+                "gripper_position": [
+                  0.27827739870498164,
+                  -0.3635833455536083,
+                  1.0048911306899417
+                ],
+                "rod_tip_xy_dist": 0.0037251632099569087,
+                "target_xy_drift": 9.553703425700348e-08,
+                "depth": 0.015844021315160828,
+                "bottom_clearance": 0.08359656841434393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0014918595433684456,
+                  0.0033482247993030234
+                ],
+                "rod_tip_xy": [
+                  0.27827739870498164,
+                  -0.3635833455536084
+                ],
+                "target_mouth_xy": [
+                  0.2767855391616132,
+                  -0.3669315703529114
+                ],
+                "gripper_position": [
+                  0.27826636300408114,
+                  -0.3635915581243146,
+                  1.0047425925621059
+                ],
+                "rod_tip_xy_dist": 0.00366554964552484,
+                "target_xy_drift": 3.1447624436175074e-08,
+                "depth": 0.01636885295204904,
+                "bottom_clearance": 0.08307179661740871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014808553776674005,
+                  0.0033400728101865562
+                ],
+                "rod_tip_xy": [
+                  0.27826636300408114,
+                  -0.36359155812431465
+                ],
+                "target_mouth_xy": [
+                  0.27678550762641374,
+                  -0.3669316309345012
+                ],
+                "gripper_position": [
+                  0.2782580106771554,
+                  -0.3635935626277305,
+                  1.0046133211026373
+                ],
+                "rod_tip_xy_dist": 0.00365363093742567,
+                "target_xy_drift": 9.628499391570831e-08,
+                "depth": 0.016517241181135844,
+                "bottom_clearance": 0.0829233074241893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014725006125950735,
+                  0.0033380073921517317
+                ],
+                "rod_tip_xy": [
+                  0.2782580106771554,
+                  -0.36359356262773057
+                ],
+                "target_mouth_xy": [
+                  0.2767855100645603,
+                  -0.3669315700198823
+                ],
+                "gripper_position": [
+                  0.27826801130449985,
+                  -0.3636638117509809,
+                  1.0040901301354077
+                ],
+                "rod_tip_xy_dist": 0.0036483628388843774,
+                "target_xy_drift": 4.063080771317862e-08,
+                "depth": 0.016646614263095993,
+                "bottom_clearance": 0.08279407403766614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014825657175084883,
+                  0.003267821119554315
+                ],
+                "rod_tip_xy": [
+                  0.27826801130449985,
+                  -0.36366381175098095
+                ],
+                "target_mouth_xy": [
+                  0.27678544558699136,
+                  -0.36693163287053526
+                ],
+                "gripper_position": [
+                  0.2782567521848167,
+                  -0.3636717757772667,
+                  1.0039420930080827
+                ],
+                "rod_tip_xy_dist": 0.003588405770831481,
+                "target_xy_drift": 1.3054698734937255e-07,
+                "depth": 0.01716974692643558,
+                "bottom_clearance": 0.08227083237913257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014712743166634956,
+                  0.003259825668484817
+                ],
+                "rod_tip_xy": [
+                  0.2782567521848167,
+                  -0.3636717757772667
+                ],
+                "target_mouth_xy": [
+                  0.2767854778681532,
+                  -0.36693160144575154
+                ],
+                "gripper_position": [
+                  0.2782484732765158,
+                  -0.3636735389800769,
+                  1.0038123455850778
+                ],
+                "rod_tip_xy_dist": 0.003576466343164174,
+                "target_xy_drift": 8.55272396102015e-08,
+                "depth": 0.017317735404480117,
+                "bottom_clearance": 0.08212280335473088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014629325882747901,
+                  0.0032580916053720488
+                ],
+                "rod_tip_xy": [
+                  0.2782484732765158,
+                  -0.36367353898007704
+                ],
+                "target_mouth_xy": [
+                  0.276785540688241,
+                  -0.3669316305854491
+                ],
+                "gripper_position": [
+                  0.27824013277557547,
+                  -0.36367523387293516,
+                  1.0036825064853678
+                ],
+                "rod_tip_xy_dist": 0.0035714608589248447,
+                "target_xy_drift": 9.165668539849895e-08,
+                "depth": 0.017447578615299775,
+                "bottom_clearance": 0.08199310531286186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014546552264650403,
+                  0.0032563970704556633
+                ],
+                "rod_tip_xy": [
+                  0.27824013277557547,
+                  -0.3636752338729352
+                ],
+                "target_mouth_xy": [
+                  0.2767854775491104,
+                  -0.3669316309433909
+                ],
+                "gripper_position": [
+                  0.2782515444667347,
+                  -0.3637477830968751,
+                  1.0031603807259946
+                ],
+                "rod_tip_xy_dist": 0.003566531046879346,
+                "target_xy_drift": 1.0910803492880799e-07,
+                "depth": 0.01757732502824061,
+                "bottom_clearance": 0.0818632129188922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014660325992008616,
+                  0.0031837881685785607
+                ],
+                "rod_tip_xy": [
+                  0.2782515444667347,
+                  -0.36374778309687517
+                ],
+                "target_mouth_xy": [
+                  0.27678551186753386,
+                  -0.3669315712654537
+                ],
+                "gripper_position": [
+                  0.27824029327228406,
+                  -0.36375565093444095,
+                  1.0030127146184553
+                ],
+                "rod_tip_xy_dist": 0.003505104660962417,
+                "target_xy_drift": 4.047343350095337e-08,
+                "depth": 0.018099545735255185,
+                "bottom_clearance": 0.08134116466495855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001454843638544312,
+                  0.003175922275508225
+                ],
+                "rod_tip_xy": [
+                  0.27824029327228406,
+                  -0.36375565093444107
+                ],
+                "target_mouth_xy": [
+                  0.27678544963373974,
+                  -0.3669315732099493
+                ],
+                "gripper_position": [
+                  0.27823168573984824,
+                  -0.36375732896796503,
+                  1.0028830192762805
+                ],
+                "rod_tip_xy_dist": 0.0034932867492781343,
+                "target_xy_drift": 9.32029361122285e-08,
+                "depth": 0.018247192716614458,
+                "bottom_clearance": 0.08119341910993738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014462379069335451,
+                  0.0031742747209320132
+                ],
+                "rod_tip_xy": [
+                  0.27823168573984824,
+                  -0.3637573289679651
+                ],
+                "target_mouth_xy": [
+                  0.2767854478329147,
+                  -0.3669316036888971
+                ],
+                "gripper_position": [
+                  0.27822311318104864,
+                  -0.36375919598128786,
+                  1.0027534233165931
+                ],
+                "rod_tip_xy_dist": 0.0034882121620393924,
+                "target_xy_drift": 1.0961170166133081e-07,
+                "depth": 0.01837682524787032,
+                "bottom_clearance": 0.08106373922020171,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014376669329766445,
+                  0.003172407424873236
+                ],
+                "rod_tip_xy": [
+                  0.27822311318104864,
+                  -0.36375919598128803
+                ],
+                "target_mouth_xy": [
+                  0.276785446248072,
+                  -0.36693160340616127
+                ],
+                "gripper_position": [
+                  0.2782144684865234,
+                  -0.36376094364675005,
+                  1.0026243272335225
+                ],
+                "rod_tip_xy_dist": 0.0034829664195288055,
+                "target_xy_drift": 1.1073078525396997e-07,
+                "depth": 0.018506440176386696,
+                "bottom_clearance": 0.0809341266910063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014289894049526186,
+                  0.0031706892268912323
+                ],
+                "rod_tip_xy": [
+                  0.2782144684865234,
+                  -0.36376094364675005
+                ],
+                "target_mouth_xy": [
+                  0.2767854790815708,
+                  -0.3669316328736413
+                ],
+                "gripper_position": [
+                  0.2782281573301089,
+                  -0.3638366856473929,
+                  1.0021055953553615
+                ],
+                "rod_tip_xy_dist": 0.0034778270360946587,
+                "target_xy_drift": 1.0993298534652088e-07,
+                "depth": 0.01863557816285566,
+                "bottom_clearance": 0.08080502176801019,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014427076043756482,
+                  0.003094915819326083
+                ],
+                "rod_tip_xy": [
+                  0.2782281573301089,
+                  -0.3638366856473929
+                ],
+                "target_mouth_xy": [
+                  0.27678544972573327,
+                  -0.366931601466719
+                ],
+                "gripper_position": [
+                  0.2782168579977083,
+                  -0.3638447073418928,
+                  1.0019579198176078
+                ],
+                "rod_tip_xy_dist": 0.0034146609144156846,
+                "target_xy_drift": 1.0677460610013988e-07,
+                "depth": 0.019154304779864018,
+                "bottom_clearance": 0.080286295592776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014314128225916822,
+                  0.003086895764973119
+                ],
+                "rod_tip_xy": [
+                  0.2782168579977083,
+                  -0.3638447073418929
+                ],
+                "target_mouth_xy": [
+                  0.2767854451751166,
+                  -0.366931603106866
+                ],
+                "gripper_position": [
+                  0.2782081640991328,
+                  -0.3638460093365221,
+                  1.001828683963276
+                ],
+                "rod_tip_xy_dist": 0.0034026266519394783,
+                "target_xy_drift": 1.1143316913796637e-07,
+                "depth": 0.019301970336085605,
+                "bottom_clearance": 0.0801386258540534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014226550802640126,
+                  0.003085561355532951
+                ],
+                "rod_tip_xy": [
+                  0.2782081640991328,
+                  -0.3638460093365222
+                ],
+                "target_mouth_xy": [
+                  0.2767855090188688,
+                  -0.3669315706920552
+                ],
+                "gripper_position": [
+                  0.2781994741238415,
+                  -0.3638476525592966,
+                  1.001699172832622
+                ],
+                "rod_tip_xy_dist": 0.0033977398894205167,
+                "target_xy_drift": 4.1821364977296686e-08,
+                "depth": 0.019431231384943626,
+                "bottom_clearance": 0.08000939294653753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014139967076035598,
+                  0.0030839194373479817
+                ],
+                "rod_tip_xy": [
+                  0.2781994741238415,
+                  -0.36384765255929674
+                ],
+                "target_mouth_xy": [
+                  0.27678547741623793,
+                  -0.3669315719966447
+                ],
+                "gripper_position": [
+                  0.2781906260354945,
+                  -0.3638493615843461,
+                  1.0015700935251624
+                ],
+                "rod_tip_xy_dist": 0.003392631100660135,
+                "target_xy_drift": 6.752143056995255e-08,
+                "depth": 0.019560586197303165,
+                "bottom_clearance": 0.07987992262695331,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005999099961340255,
+              "rod_tip_xy_max_step": 3.270576680354418e-05,
+              "rod_tip_xy_range": 0.0005999027498355629,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27781388872419355,
+            -0.3652251081961802,
+            1.0433310946779062
+          ],
+          "object_origin_world": [
+            0.27781388872419355,
+            -0.3652251081961802,
+            1.0433310946779062
+          ],
+          "frame_world": [
+            0.27783870012352946,
+            -0.36522160479706234,
+            1.0436348050272133
+          ],
+          "center_minus_frame": [
+            -2.4811399335911144e-05,
+            -3.50339911786568e-06,
+            -0.00030371034930709584
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26165002193879705,
+              0.16327777155189882,
+              0.8312463427882771
+            ],
+            "target_position": [
+              0.2762754606961752,
+              0.20962920952434455,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04860410744946669,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16807282832018602,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312463427882771,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672392308683,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13736339223661112,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ef7fe707fcade61a0d44ad625a0c6fccca9a7f5fe9dfd5b26b73a487edf6956",
+    "visual_seed": 4732666889559417480,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b987a291c9aa5458f5e20f73afb9b6937e042672
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_69_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1959629854121724,
+              -0.1043697320193388,
+              1.16254846176506
+            ],
+            "current_z": 1.16254846176506,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30144201335493914,
+            "gripper_z": 1.1566185590101299,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1912506316618104,
+              -0.10896564993304012,
+              1.1566185590101299
+            ],
+            "object_minus_gripper": [
+              0.004712353750362025,
+              0.004595917913701314,
+              0.005929902754930216
+            ],
+            "object_to_gripper_xy": 0.006582456937803063,
+            "object_to_gripper_z": 0.005929902754930216,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1959629854121724,
+              -0.12823249414916588,
+              1.16254846176506
+            ],
+            "finger_b": [
+              0.18546334364282832,
+              -0.1043697320193388,
+              1.16254846176506
+            ],
+            "finger_midpoint": [
+              0.19071316452750037,
+              -0.11630111308425234,
+              1.16254846176506
+            ],
+            "object_minus_finger_midpoint": [
+              0.005249820884672046,
+              0.011931381064913538,
+              0.0
+            ],
+            "finger_gap": 0.026070556069045868,
+            "fingertip_max_gap": 0.09187022160745134,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013035278034522934,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16254846176506,
+            "object_top_z": 1.212568567781136,
+            "finger_top_clearance": 0.05002010601607587,
+            "fingertip_min_top_clearance": 0.015006031804822727,
+            "object_projection_between_fingers": 0.8378009243867998,
+            "object_to_finger_line_xy": 0.009610476022325386,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843511080372567,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3521995434610619,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27251835767719035,
+              -0.3706696795688845,
+              0.8515396095528611
+            ],
+            "target_position": [
+              0.2648395906267252,
+              -0.3714933838879409,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007722820224538545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18432792574172643,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396095528611,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564284053890478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08682158663655291,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15210700545438272,
+            "release_required_pad_clearance": 0.05341079331827646,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.836264228030087,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007947325706481934,
+            "max_z_decrease": 0.007947325706481934,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514535996066025,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007947325706481934,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106884598784342,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007947325706481934,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007947348564692758,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12053951621055597,
+              -0.42775484919548035,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12053951621055597,
+              -0.42775484919548035,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12155104946408299,
+              -0.4264180311513892,
+              0.807975322635298
+            ],
+            "closest_button": [
+              0.12053439766168589,
+              -0.42775195837020874,
+              0.7728700041770935
+            ],
+            "closest_ee_minus_button": [
+              0.0010166518023971005,
+              0.0013339272188195306,
+              0.035105318458204526
+            ],
+            "button_min_z_position": [
+              0.12052063643932337,
+              -0.4277522265911102,
+              0.7688615322113037
+            ],
+            "min_active_finger_to_button": 0.14475216207691127,
+            "closest_active_finger": [
+              -0.00677577406167984,
+              -0.48747122287750244,
+              0.8104519248008728
+            ],
+            "closest_active_finger_button": [
+              0.12053874880075449,
+              -0.42775362730026245,
+              0.7761297821998596
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12731452286243433,
+              -0.05971759557723999,
+              0.034322142601013184
+            ],
+            "min_contact_pad_to_button": 0.02106884598784342,
+            "closest_contact_pad": [
+              0.12052063643932337,
+              -0.4277522265911102,
+              0.7899303781991471
+            ],
+            "closest_contact_pad_button": [
+              0.12052063643932337,
+              -0.4277522265911102,
+              0.7688615322113037
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106884598784342
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27516554313329994,
+              0.20306062069252376,
+              1.1017802610876841
+            ],
+            "current_z": 1.1017802610876841,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19187113135332157,
+            "gripper_z": 1.1017804306475096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27516545679378246,
+              0.20306068993243429,
+              1.1017804306475096
+            ],
+            "object_minus_gripper": [
+              8.633951747993862e-08,
+              -6.923991052731893e-08,
+              -1.6955982551358773e-07
+            ],
+            "object_to_gripper_xy": 1.1067374344667193e-07,
+            "object_to_gripper_z": -1.6955982551358773e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27516554313329994,
+              0.20306062069252376,
+              1.1017802610876841
+            ],
+            "finger_b": [
+              0.27516554313329994,
+              0.20306062069252376,
+              1.1017802610876841
+            ],
+            "finger_midpoint": [
+              0.27516554313329994,
+              0.20306062069252376,
+              1.1017802610876841
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017802610876841,
+            "object_top_z": 1.2267887677079639,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27516554313329994,
+            0.20306062069252376,
+            1.1017802610876841
+          ],
+          "object_origin_world": [
+            0.27516554313329994,
+            0.20306062069252376,
+            1.1017802610876841
+          ],
+          "frame_world": [
+            0.27516545679378246,
+            0.20306068993243429,
+            1.1017804306475096
+          ],
+          "center_minus_frame": [
+            8.633951747993862e-08,
+            -6.923991052731893e-08,
+            -1.6955982551358773e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436767027502876,
+            "required_z": 0.9112597627385894,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012608956757641059,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.122566020208981e-07,
+            "max_target_xy_drift": 2.070478084301912e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.8362642275093801,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.8362642287866295,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27186385803145846,
+              -0.36958055922496197,
+              0.9233725982808682
+            ],
+            "target_mouth_xy": [
+              0.27251838799929506,
+              -0.3706696798740006
+            ],
+            "rod_tip_z": 0.9233725982808682,
+            "rod_tip_depth": -0.022112707725530756,
+            "rod_tip_bottom_clearance": 0.12155328121595166,
+            "rod_tip_xy_dist": 0.0012706664656622392,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04492361446673154,
+            "min_rod_tip_bottom_clearance": 0.054516977769106356,
+            "min_rod_tip_xy_dist": 0.0010723264874742875,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27251839082919194,
+              -0.3706697920949273
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.8298968723916573e-09,
+              1.1222092666240968e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.00010186977636261751,
+                0.0027184354306648006
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00021074071274646,
+                0.0023935358992887568
+              ],
+              "first_target_mouth_xy": [
+                0.2725183587957578,
+                -0.3706696779597698
+              ],
+              "last_target_mouth_xy": [
+                0.27251833156500405,
+                -0.37066985135530495
+              ],
+              "first_rod_tip_xy": [
+                0.2724164890193952,
+                -0.367951242529105
+              ],
+              "last_rod_tip_xy": [
+                0.2723075908522576,
+                -0.3682763154560162
+              ],
+              "min_rod_tip_xy_dist": 0.002402795403107165,
+              "max_rod_tip_xy_dist": 0.0027203434786860813,
+              "first_target_xy_drift": 1.1854524485478806e-07,
+              "last_target_xy_drift": 8.380952408164949e-08,
+              "max_depth": 0.0194246890029528,
+              "min_bottom_clearance": 0.08001583008839108
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00010186977636261751,
+                  0.0027184354306648006
+                ],
+                "rod_tip_xy": [
+                  0.2724164890193952,
+                  -0.367951242529105
+                ],
+                "target_mouth_xy": [
+                  0.2725183587957578,
+                  -0.3706696779597698
+                ],
+                "gripper_position": [
+                  0.2724058233565633,
+                  -0.36795924679932407,
+                  1.0057905702245529
+                ],
+                "rod_tip_xy_dist": 0.0027203434786860813,
+                "target_xy_drift": 1.1854524485478806e-07,
+                "depth": 0.01532242420392782,
+                "bottom_clearance": 0.08411824235125365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00011253419581080948,
+                  0.0027104939714137077
+                ],
+                "rod_tip_xy": [
+                  0.2724058233565634,
+                  -0.36795924679932407
+                ],
+                "target_mouth_xy": [
+                  0.2725183575523742,
+                  -0.3706697407707378
+                ],
+                "gripper_position": [
+                  0.2723978360275558,
+                  -0.36796161163952795,
+                  1.0056623747684859
+                ],
+                "rod_tip_xy_dist": 0.0027128290610167164,
+                "target_xy_drift": 6.116795752754549e-08,
+                "depth": 0.01546933194564104,
+                "bottom_clearance": 0.08397124932490396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0001205216358662331,
+                  0.002708099317518864
+                ],
+                "rod_tip_xy": [
+                  0.2723978360275558,
+                  -0.36796161163952795
+                ],
+                "target_mouth_xy": [
+                  0.27251835766342203,
+                  -0.3706697109570468
+                ],
+                "gripper_position": [
+                  0.27240335864324833,
+                  -0.3680260003867313,
+                  1.0051372999774106
+                ],
+                "rod_tip_xy_dist": 0.0027107798468813376,
+                "target_xy_drift": 8.765457170482116e-08,
+                "depth": 0.015597468544927384,
+                "bottom_clearance": 0.08384311673040346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00011500020824850576,
+                  0.002643710235010921
+                ],
+                "rod_tip_xy": [
+                  0.2724033586432484,
+                  -0.36802600038673133
+                ],
+                "target_mouth_xy": [
+                  0.2725183588514969,
+                  -0.37066971062174225
+                ],
+                "gripper_position": [
+                  0.2723927094396006,
+                  -0.3680338058002381,
+                  1.0049906266656659
+                ],
+                "rod_tip_xy_dist": 0.002646210281628937,
+                "target_xy_drift": 8.752401304658692e-08,
+                "depth": 0.016122547575796564,
+                "bottom_clearance": 0.08331807317731699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00012570888322122054,
+                  0.002635903873604073
+                ],
+                "rod_tip_xy": [
+                  0.27239270943960064,
+                  -0.3680338058002381
+                ],
+                "target_mouth_xy": [
+                  0.27251841832282186,
+                  -0.37066970967384216
+                ],
+                "gripper_position": [
+                  0.27238462391774454,
+                  -0.3680358738926848,
+                  1.0048620162807642
+                ],
+                "rod_tip_xy_dist": 0.0026388997620602575,
+                "target_xy_drift": 8.688575809406205e-08,
+                "depth": 0.016269267793358577,
+                "bottom_clearance": 0.0831713252440528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00013373339388300653,
+                  0.0026338668793489672
+                ],
+                "rod_tip_xy": [
+                  0.27238462391774454,
+                  -0.36803587389268483
+                ],
+                "target_mouth_xy": [
+                  0.27251835731162755,
+                  -0.3706697407720338
+                ],
+                "gripper_position": [
+                  0.2723907674354546,
+                  -0.36810162206229957,
+                  1.0043387409142284
+                ],
+                "rod_tip_xy_dist": 0.002637259820110816,
+                "target_xy_drift": 6.129817712567796e-08,
+                "depth": 0.01639782425255032,
+                "bottom_clearance": 0.08304274753086738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00012762372004454514,
+                  0.002568198237016872
+                ],
+                "rod_tip_xy": [
+                  0.2723907674354546,
+                  -0.3681016220622995
+                ],
+                "target_mouth_xy": [
+                  0.27251839115549914,
+                  -0.3706698202993164
+                ],
+                "gripper_position": [
+                  0.27238004557776163,
+                  -0.36810898022163735,
+                  1.0041920324710758
+                ],
+                "rod_tip_xy_dist": 0.002571367340255876,
+                "target_xy_drift": 2.8206276624331574e-08,
+                "depth": 0.016921096919045087,
+                "bottom_clearance": 0.08251946003896038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00013834136548568354,
+                  0.0025607941687693647
+                ],
+                "rod_tip_xy": [
+                  0.2723800455777617,
+                  -0.36810898022163746
+                ],
+                "target_mouth_xy": [
+                  0.27251838694324737,
+                  -0.3706697743904068
+                ],
+                "gripper_position": [
+                  0.2723717431476668,
+                  -0.36811111284382997,
+                  1.0040643522311716
+                ],
+                "rod_tip_xy_dist": 0.002564528242817307,
+                "target_xy_drift": 1.81259650754838e-08,
+                "depth": 0.01706787371256968,
+                "bottom_clearance": 0.08237282277201385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00014661528671933155,
+                  0.0025587065419609423
+                ],
+                "rod_tip_xy": [
+                  0.2723717431476669,
+                  -0.36811111284382997
+                ],
+                "target_mouth_xy": [
+                  0.2725183584343862,
+                  -0.3706698193857909
+                ],
+                "gripper_position": [
+                  0.2723635216310012,
+                  -0.3681131016706696,
+                  1.0039362378839871
+                ],
+                "rod_tip_xy_dist": 0.0025629036677513877,
+                "target_xy_drift": 4.2358171294920255e-08,
+                "depth": 0.017195558271836053,
+                "bottom_clearance": 0.08224507895329591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00015486937217884522,
+                  0.0025567214782287184
+                ],
+                "rod_tip_xy": [
+                  0.27236352163100125,
+                  -0.3681131016706695
+                ],
+                "target_mouth_xy": [
+                  0.2725183910031801,
+                  -0.37066982314889824
+                ],
+                "gripper_position": [
+                  0.2723712803846047,
+                  -0.368180956538524,
+                  1.0034134519556155
+                ],
+                "rod_tip_xy_dist": 0.00256140766760684,
+                "target_xy_drift": 3.105445835397751e-08,
+                "depth": 0.017323607963320997,
+                "bottom_clearance": 0.082116959535534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00014704818137484255,
+                  0.0024888638023701226
+                ],
+                "rod_tip_xy": [
+                  0.27237128038460473,
+                  -0.36818095653852395
+                ],
+                "target_mouth_xy": [
+                  0.2725183285659796,
+                  -0.3706698203408941
+                ],
+                "gripper_position": [
+                  0.2723602777725287,
+                  -0.3681885689751764,
+                  1.003267185580587
+                ],
+                "rod_tip_xy_dist": 0.002493204001760368,
+                "target_xy_drift": 6.837062420089592e-08,
+                "depth": 0.017846444480362544,
+                "bottom_clearance": 0.08159416243307205,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00015808341160666872,
+                  0.0024812830318066137
+                ],
+                "rod_tip_xy": [
+                  0.27236027777252875,
+                  -0.36818856897517643
+                ],
+                "target_mouth_xy": [
+                  0.2725183611841354,
+                  -0.37066985200698305
+                ],
+                "gripper_position": [
+                  0.272352010652267,
+                  -0.3681902621733729,
+                  1.0031391489626822
+                ],
+                "rod_tip_xy_dist": 0.0024863137068673823,
+                "target_xy_drift": 6.684522272846627e-08,
+                "depth": 0.017992643513760842,
+                "bottom_clearance": 0.08144789078416792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0001663815800945767,
+                  0.0024795882229636246
+                ],
+                "rod_tip_xy": [
+                  0.27235201065226705,
+                  -0.36819026217337286
+                ],
+                "target_mouth_xy": [
+                  0.27251839223236163,
+                  -0.3706698503963365
+                ],
+                "gripper_position": [
+                  0.2723436928370947,
+                  -0.36819215189641574,
+                  1.0030114849197316
+                ],
+                "rod_tip_xy_dist": 0.002485164096323354,
+                "target_xy_drift": 5.831829215549163e-08,
+                "depth": 0.01812075110775313,
+                "bottom_clearance": 0.08131983515399066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00017463940580647597,
+                  0.0024776991438142937
+                ],
+                "rod_tip_xy": [
+                  0.27234369283709475,
+                  -0.3681921518964158
+                ],
+                "target_mouth_xy": [
+                  0.27251833224290123,
+                  -0.3706698510402301
+                ],
+                "gripper_position": [
+                  0.27235271282585255,
+                  -0.3682615602111793,
+                  1.0024925831424896
+                ],
+                "rod_tip_xy_dist": 0.002483846204844117,
+                "target_xy_drift": 8.310777449619975e-08,
+                "depth": 0.018248341038666793,
+                "bottom_clearance": 0.0811922070772656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00016567992709665136,
+                  0.0024082603815756
+                ],
+                "rod_tip_xy": [
+                  0.27235271282585255,
+                  -0.36826156021117923
+                ],
+                "target_mouth_xy": [
+                  0.2725183927529492,
+                  -0.37066982059275483
+                ],
+                "gripper_position": [
+                  0.27234145894413236,
+                  -0.3682693258330239,
+                  1.00234594710486
+                ],
+                "rod_tip_xy_dist": 0.0024139527550698678,
+                "target_xy_drift": 2.856268573924861e-08,
+                "depth": 0.018767261199910013,
+                "bottom_clearance": 0.08067334453987918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0001769330994005891,
+                  0.0024004953998494893
+                ],
+                "rod_tip_xy": [
+                  0.2723414589441324,
+                  -0.3682693258330239
+                ],
+                "target_mouth_xy": [
+                  0.272518392043533,
+                  -0.3706698212328734
+                ],
+                "gripper_position": [
+                  0.27233293179503604,
+                  -0.3682710216100573,
+                  1.0022181657864913
+                ],
+                "rod_tip_xy_dist": 0.002407007163753789,
+                "target_xy_drift": 2.9163239323418204e-08,
+                "depth": 0.01891388039520492,
+                "bottom_clearance": 0.08052667522141443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0001854896580827936,
+                  0.0023987977253891457
+                ],
+                "rod_tip_xy": [
+                  0.2723329317950361,
+                  -0.36827102161005737
+                ],
+                "target_mouth_xy": [
+                  0.2725184214531189,
+                  -0.3706698193354465
+                ],
+                "gripper_position": [
+                  0.2723246020752078,
+                  -0.3682726988062099,
+                  1.0020906505083382
+                ],
+                "rod_tip_xy_dist": 0.0024059586323517306,
+                "target_xy_drift": 4.098622682934576e-08,
+                "depth": 0.019041633563443905,
+                "bottom_clearance": 0.08039897748723968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00019378409859655,
+                  0.0023970134396721354
+                ],
+                "rod_tip_xy": [
+                  0.27232460207520787,
+                  -0.3682726988062099
+                ],
+                "target_mouth_xy": [
+                  0.2725183861738044,
+                  -0.370669712245882
+                ],
+                "gripper_position": [
+                  0.27231602836781854,
+                  -0.3682743415050685,
+                  1.0019629522785876
+                ],
+                "rod_tip_xy_dist": 0.002404833821044132,
+                "target_xy_drift": 7.998464016700356e-08,
+                "depth": 0.019169144840677554,
+                "bottom_clearance": 0.08027143368960632,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0002023634946398123,
+                  0.002395508571258753
+                ],
+                "rod_tip_xy": [
+                  0.2723160283678186,
+                  -0.3682743415050685
+                ],
+                "target_mouth_xy": [
+                  0.2725183918624584,
+                  -0.37066985007632725
+                ],
+                "gripper_position": [
+                  0.27230759085225753,
+                  -0.3682763154560162,
+                  1.0018350705854895
+                ],
+                "rod_tip_xy_dist": 0.0024040408272192446,
+                "target_xy_drift": 5.799060597040132e-08,
+                "depth": 0.019296950849037264,
+                "bottom_clearance": 0.0801436334276775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.00021074071274646,
+                  0.0023935358992887568
+                ],
+                "rod_tip_xy": [
+                  0.2723075908522576,
+                  -0.3682763154560162
+                ],
+                "target_mouth_xy": [
+                  0.27251833156500405,
+                  -0.37066985135530495
+                ],
+                "gripper_position": [
+                  0.2722990568403793,
+                  -0.3682779558418749,
+                  1.0017075645121958
+                ],
+                "rod_tip_xy_dist": 0.002402795403107165,
+                "target_xy_drift": 8.380952408164949e-08,
+                "depth": 0.0194246890029528,
+                "bottom_clearance": 0.08001583008839108,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005991067867312643,
+              "rod_tip_xy_max_step": 3.2465827953197296e-05,
+              "rod_tip_xy_range": 0.000599098914350274,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27186385803145846,
+            -0.36958055922496197,
+            1.0433725982808681
+          ],
+          "object_origin_world": [
+            0.27186385803145846,
+            -0.36958055922496197,
+            1.0433725982808681
+          ],
+          "frame_world": [
+            0.27188849239209856,
+            -0.3695773935428607,
+            1.0436767027502876
+          ],
+          "center_minus_frame": [
+            -2.463436064009672e-05,
+            -3.1656821012915337e-06,
+            -0.0003041044694194195
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2590564720736629,
+              0.15822590015869958,
+              0.8312061420640503
+            ],
+            "target_position": [
+              0.2753185893489679,
+              0.2041288181438819,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04869840179954726,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16485650579719371,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312061420640503,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671561605873,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13542540251658164,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a184b0614309f08b7d6ddc0fe630b0bd1fd24b5bc140ef6fbc3918f04f1451c3",
+    "visual_seed": 3526004852045193318,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d06e435e3b4b3519896ac37434d87d81aab4f42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_6_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19474600890691704,
+              -0.11565984992201193,
+              1.1649929455224115
+            ],
+            "current_z": 1.1649929455224115,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.3038860798797769,
+            "gripper_z": 1.158795655848115,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1902573520662889,
+              -0.12021686724732954,
+              1.158795655848115
+            ],
+            "object_minus_gripper": [
+              0.00448865684062813,
+              0.004557017325317603,
+              0.006197289674296558
+            ],
+            "object_to_gripper_xy": 0.006396440192494768,
+            "object_to_gripper_z": 0.006197289674296558,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19474600890691704,
+              -0.13929871035989252,
+              1.1649929455224115
+            ],
+            "finger_b": [
+              0.18413462870547725,
+              -0.11565984992201193,
+              1.1649929455224115
+            ],
+            "finger_midpoint": [
+              0.18944031880619716,
+              -0.12747928014095222,
+              1.1649929455224115
+            ],
+            "object_minus_finger_midpoint": [
+              0.005305690100719879,
+              0.011819430218940288,
+              0.0
+            ],
+            "finger_gap": 0.02591133174078678,
+            "fingertip_max_gap": 0.09209287731516161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012955665870393377,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649929455224115,
+            "object_top_z": 1.214907721711447,
+            "finger_top_clearance": 0.049914776189035504,
+            "fingertip_min_top_clearance": 0.01497443285671065,
+            "object_projection_between_fingers": 0.8322879445420522,
+            "object_to_finger_line_xy": 0.009680742701475198,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854643865758081,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.879590590781425,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26795741717052085,
+              -0.36772168148378503,
+              0.8515395648478736
+            ],
+            "target_position": [
+              0.2608619607561925,
+              -0.3683243143529354,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007121001903005904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842958956614922,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395648478736,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584319165198532,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08741243770030778,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15143515843489258,
+            "release_required_pad_clearance": 0.05370621885015389,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4219078100399685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077803730964660645,
+            "max_z_decrease": 0.0077803730964660645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104950450991775,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077803730964660645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021189819756129248,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077803730964660645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007780393187316866,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11656188964843749,
+              -0.42458575963974,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11656188964843749,
+              -0.42458575963974,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11680582410281043,
+              -0.4257679765027626,
+              0.807652261476521
+            ],
+            "closest_button": [
+              0.116551399230957,
+              -0.4245798587799072,
+              0.7725683450698853
+            ],
+            "closest_ee_minus_button": [
+              0.0002544248718534259,
+              -0.0011881177228553752,
+              0.03508391640663577
+            ],
+            "button_min_z_position": [
+              0.11654451489448545,
+              -0.42458248138427734,
+              0.7690284848213196
+            ],
+            "min_active_finger_to_button": 0.14584650025515603,
+            "closest_active_finger": [
+              -0.02435217797756195,
+              -0.40964174270629883,
+              0.8107919692993164
+            ],
+            "closest_active_finger_button": [
+              0.11656295508146285,
+              -0.4245833456516266,
+              0.7762829065322876
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409151330590248,
+              0.014941602945327759,
+              0.03450906276702881
+            ],
+            "min_contact_pad_to_button": 0.021189819756129248,
+            "closest_contact_pad": [
+              0.11654451489448545,
+              -0.4268170040178253,
+              0.7901001570353943
+            ],
+            "closest_contact_pad_button": [
+              0.11654451489448545,
+              -0.42458248138427734,
+              0.7690284848213196
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002234522633547953,
+              0.021071672214074688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2804271503550659,
+              0.2063271830947509,
+              1.1024678878541043
+            ],
+            "current_z": 1.1024678878541043,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19255875811974177,
+            "gripper_z": 1.1024680369783502,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2804271631483137,
+              0.20632713081252463,
+              1.1024680369783502
+            ],
+            "object_minus_gripper": [
+              -1.2793247794462559e-08,
+              5.228222627051693e-08,
+              -1.4912424584068162e-07
+            ],
+            "object_to_gripper_xy": 5.3824700397977614e-08,
+            "object_to_gripper_z": -1.4912424584068162e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2804271503550659,
+              0.2063271830947509,
+              1.1024678878541043
+            ],
+            "finger_b": [
+              0.2804271503550659,
+              0.2063271830947509,
+              1.1024678878541043
+            ],
+            "finger_midpoint": [
+              0.2804271503550659,
+              0.2063271830947509,
+              1.1024678878541043
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1024678878541043,
+            "object_top_z": 1.227476394474384,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2804271503550659,
+            0.2063271830947509,
+            1.1024678878541043
+          ],
+          "object_origin_world": [
+            0.2804271503550659,
+            0.2063271830947509,
+            1.1024678878541043
+          ],
+          "frame_world": [
+            0.2804271631483137,
+            0.20632713081252463,
+            1.1024680369783502
+          ],
+          "center_minus_frame": [
+            -1.2793247794462559e-08,
+            5.228222627051693e-08,
+            -1.4912424584068162e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434012083189195,
+            "required_z": 0.911259854313571,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0027187369468576836,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.0797195712064455e-08,
+            "max_target_xy_drift": 3.085028944263642e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4215845962864795,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.421584596879502,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.265658019774889,
+              -0.3662672919348574,
+              0.9235140638925877
+            ],
+            "target_mouth_xy": [
+              0.2679575537894237,
+              -0.36772167447055165
+            ],
+            "rod_tip_z": 0.9235140638925877,
+            "rod_tip_depth": -0.02225416562195226,
+            "rod_tip_bottom_clearance": 0.12169478211673812,
+            "rod_tip_xy_dist": 0.0027208611218021554,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0449288981059619,
+            "min_rod_tip_bottom_clearance": 0.05451164874094139,
+            "min_rod_tip_xy_dist": 0.00012474456299228572,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2679575546356497,
+              -0.36772164368498417
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.462259781794046e-10,
+              -3.07855674841484e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0016495612395069914,
+                0.003137266739734912
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017664282586691282,
+                0.002737576942781872
+              ],
+              "first_target_mouth_xy": [
+                0.26795755503172825,
+                -0.3677216135665551
+              ],
+              "last_target_mouth_xy": [
+                0.2679575546356497,
+                -0.36772164368498417
+              ],
+              "first_rod_tip_xy": [
+                0.26630799379222125,
+                -0.36458434682682017
+              ],
+              "last_rod_tip_xy": [
+                0.26619112637698056,
+                -0.3649840667422023
+              ],
+              "min_rod_tip_xy_dist": 0.0032580049586634747,
+              "max_rod_tip_xy_dist": 0.003544502063637538,
+              "first_target_xy_drift": 3.012103332750878e-08,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.019830688245331518,
+              "min_bottom_clearance": 0.07960986032124062
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0016495612395069914,
+                  0.003137266739734912
+                ],
+                "rod_tip_xy": [
+                  0.26630799379222125,
+                  -0.36458434682682017
+                ],
+                "target_mouth_xy": [
+                  0.26795755503172825,
+                  -0.3677216135665551
+                ],
+                "gripper_position": [
+                  0.2662970928120835,
+                  -0.3645919836958708,
+                  1.0057038149873458
+                ],
+                "rod_tip_xy_dist": 0.003544502063637538,
+                "target_xy_drift": 3.012103332750878e-08,
+                "depth": 0.015413818563140058,
+                "bottom_clearance": 0.08402670358308173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0016604608581249347,
+                  0.0031296606715371933
+                ],
+                "rod_tip_xy": [
+                  0.2662970928120836,
+                  -0.36459198369587087
+                ],
+                "target_mouth_xy": [
+                  0.2679575536702085,
+                  -0.36772164436740806
+                ],
+                "gripper_position": [
+                  0.26629734872721134,
+                  -0.3646582106836045,
+                  1.0051825742472125
+                ],
+                "rod_tip_xy_dist": 0.0035428669436392375,
+                "target_xy_drift": 1.1822770522322547e-09,
+                "depth": 0.015556081071996686,
+                "bottom_clearance": 0.08388452860287698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016602057176458018,
+                  0.003063462822074814
+                ],
+                "rod_tip_xy": [
+                  0.26629734872721134,
+                  -0.3646582106836045
+                ],
+                "target_mouth_xy": [
+                  0.26795755444485714,
+                  -0.3677216735056793
+                ],
+                "gripper_position": [
+                  0.2662863277397871,
+                  -0.36466606015296643,
+                  1.0050404163293258
+                ],
+                "rod_tip_xy_dist": 0.0034844063320942343,
+                "target_xy_drift": 2.982130547375077e-08,
+                "depth": 0.016077286088115428,
+                "bottom_clearance": 0.08336327020943746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016712268367116145,
+                  0.0030556136786283883
+                ],
+                "rod_tip_xy": [
+                  0.26628632773978717,
+                  -0.36466606015296643
+                ],
+                "target_mouth_xy": [
+                  0.2679575545764988,
+                  -0.3677216738315948
+                ],
+                "gripper_position": [
+                  0.2662782603310979,
+                  -0.3646678023522178,
+                  1.004916074728224
+                ],
+                "rod_tip_xy_dist": 0.003482782521600512,
+                "target_xy_drift": 3.0146668682437576e-08,
+                "depth": 0.016219446328264553,
+                "bottom_clearance": 0.08322111726699744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016792935282334276,
+                  0.0030538714864357663
+                ],
+                "rod_tip_xy": [
+                  0.2662782603310979,
+                  -0.36466780235221785
+                ],
+                "target_mouth_xy": [
+                  0.26795755385933134,
+                  -0.3677216738386536
+                ],
+                "gripper_position": [
+                  0.2662795578721023,
+                  -0.36473493603306434,
+                  1.0043954993665474
+                ],
+                "rod_tip_xy_dist": 0.0034851338295153133,
+                "target_xy_drift": 3.016366110876701e-08,
+                "depth": 0.016343809377771135,
+                "bottom_clearance": 0.08309678096303397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0016779963034190826,
+                  0.002986706403481032
+                ],
+                "rod_tip_xy": [
+                  0.2662795578721023,
+                  -0.3647349360330644
+                ],
+                "target_mouth_xy": [
+                  0.26795755417552136,
+                  -0.3677216424365454
+                ],
+                "gripper_position": [
+                  0.2662684987016234,
+                  -0.3647423095606658,
+                  1.004253733648894
+                ],
+                "rod_tip_xy_dist": 0.003425797240772242,
+                "target_xy_drift": 1.330532737503094e-09,
+                "depth": 0.01686436134352609,
+                "bottom_clearance": 0.08257619084637435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016890553777221262,
+                  0.0029793633299450284
+                ],
+                "rod_tip_xy": [
+                  0.2662684987016234,
+                  -0.3647423095606658
+                ],
+                "target_mouth_xy": [
+                  0.2679575540793455,
+                  -0.3677216728906108
+                ],
+                "gripper_position": [
+                  0.2662603066390452,
+                  -0.36474404196346805,
+                  1.0041293578019046
+                ],
+                "rod_tip_xy_dist": 0.0034248377948208238,
+                "target_xy_drift": 2.9210924355876196e-08,
+                "depth": 0.017006125782448644,
+                "bottom_clearance": 0.08243442106445464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016972471503784448,
+                  0.0029776325070836607
+                ],
+                "rod_tip_xy": [
+                  0.26626030663904526,
+                  -0.364744041963468
+                ],
+                "target_mouth_xy": [
+                  0.2679575537894237,
+                  -0.36772167447055165
+                ],
+                "gripper_position": [
+                  0.2662621454586942,
+                  -0.36481226723508775,
+                  1.0036115749115884
+                ],
+                "rod_tip_xy_dist": 0.0034273813964467215,
+                "target_xy_drift": 3.0797195712064455e-08,
+                "depth": 0.01713054046873108,
+                "bottom_clearance": 0.08231007602605478,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016954091769554869,
+                  0.002909376449896306
+                ],
+                "rod_tip_xy": [
+                  0.2662621454586942,
+                  -0.36481226723508786
+                ],
+                "target_mouth_xy": [
+                  0.2679575546356497,
+                  -0.36772164368498417
+                ],
+                "gripper_position": [
+                  0.2662509566029002,
+                  -0.36481973228702524,
+                  1.00346968185326
+                ],
+                "rod_tip_xy_dist": 0.003367325883325835,
+                "target_xy_drift": 0.0,
+                "depth": 0.01764827940198266,
+                "bottom_clearance": 0.08179226916458948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017065974219321323,
+                  0.0029019418658495777
+                ],
+                "rod_tip_xy": [
+                  0.2662509566029002,
+                  -0.36481973228702524
+                ],
+                "target_mouth_xy": [
+                  0.26795755402483235,
+                  -0.3677216741528748
+                ],
+                "gripper_position": [
+                  0.26624278231277687,
+                  -0.3648211312213179,
+                  1.0033453311271563
+                ],
+                "rod_tip_xy_dist": 0.0033665622455727635,
+                "target_xy_drift": 3.047401284341886e-08,
+                "depth": 0.017790203344993594,
+                "bottom_clearance": 0.08165039260686269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017147706444015087,
+                  0.002900543268261613
+                ],
+                "rod_tip_xy": [
+                  0.26624278231277687,
+                  -0.3648211312213179
+                ],
+                "target_mouth_xy": [
+                  0.2679575529571784,
+                  -0.3677216744895795
+                ],
+                "gripper_position": [
+                  0.26623461650200536,
+                  -0.36482262452596903,
+                  1.0032214185451322
+                ],
+                "rod_tip_xy_dist": 0.0033695088090045,
+                "target_xy_drift": 3.085028944263642e-08,
+                "depth": 0.017914592238997162,
+                "bottom_clearance": 0.081526055693673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017229385297228839,
+                  0.002898989040586053
+                ],
+                "rod_tip_xy": [
+                  0.26623461650200536,
+                  -0.36482262452596903
+                ],
+                "target_mouth_xy": [
+                  0.26795755503172825,
+                  -0.3677216135665551
+                ],
+                "gripper_position": [
+                  0.26622625046585485,
+                  -0.36482413896168947,
+                  1.0030973832157581
+                ],
+                "rod_tip_xy_dist": 0.00337233667278961,
+                "target_xy_drift": 3.012103332750878e-08,
+                "depth": 0.018038417949607588,
+                "bottom_clearance": 0.0814021041966142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001731303204353607,
+                  0.002897505405718648
+                ],
+                "rod_tip_xy": [
+                  0.2662262504658549,
+                  -0.3648241389616894
+                ],
+                "target_mouth_xy": [
+                  0.2679575536702085,
+                  -0.36772164436740806
+                ],
+                "gripper_position": [
+                  0.26622997453397745,
+                  -0.3648956222459125,
+                  1.002579443531243
+                ],
+                "rod_tip_xy_dist": 0.0033753441841646095,
+                "target_xy_drift": 1.1822770522322547e-09,
+                "depth": 0.018162512843584167,
+                "bottom_clearance": 0.0812780968312895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001727579910879684,
+                  0.0028260512597667597
+                ],
+                "rod_tip_xy": [
+                  0.26622997453397745,
+                  -0.36489562224591254
+                ],
+                "target_mouth_xy": [
+                  0.26795755444485714,
+                  -0.3677216735056793
+                ],
+                "gripper_position": [
+                  0.2662184574266937,
+                  -0.3649032433024733,
+                  1.0024375615584251
+                ],
+                "rod_tip_xy_dist": 0.003312264794865342,
+                "target_xy_drift": 2.982130547375077e-08,
+                "depth": 0.018680416804085165,
+                "bottom_clearance": 0.08076013949346772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00173909714980508,
+                  0.0028184305291215628
+                ],
+                "rod_tip_xy": [
+                  0.2662184574266937,
+                  -0.36490324330247326
+                ],
+                "target_mouth_xy": [
+                  0.2679575545764988,
+                  -0.3677216738315948
+                ],
+                "gripper_position": [
+                  0.2662102343416369,
+                  -0.36490455680927253,
+                  1.0023137731917104
+                ],
+                "rod_tip_xy_dist": 0.0033117985361348,
+                "target_xy_drift": 3.0146668682437576e-08,
+                "depth": 0.018822301099165273,
+                "bottom_clearance": 0.08061826249609672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017473195176944678,
+                  0.0028171170293810333
+                ],
+                "rod_tip_xy": [
+                  0.2662102343416369,
+                  -0.3649045568092726
+                ],
+                "target_mouth_xy": [
+                  0.26795755385933134,
+                  -0.3677216738386536
+                ],
+                "gripper_position": [
+                  0.2662018230599936,
+                  -0.36490599500502785,
+                  1.0021896726102397
+                ],
+                "rod_tip_xy_dist": 0.003315007368641078,
+                "target_xy_drift": 3.016366110876701e-08,
+                "depth": 0.018946110914284664,
+                "bottom_clearance": 0.08049447942652044,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017557311155276811,
+                  0.002815647431517576
+                ],
+                "rod_tip_xy": [
+                  0.2662018230599937,
+                  -0.36490599500502785
+                ],
+                "target_mouth_xy": [
+                  0.26795755417552136,
+                  -0.3677216424365454
+                ],
+                "gripper_position": [
+                  0.2661933660275484,
+                  -0.3649074999397975,
+                  1.002065971996931
+                ],
+                "rod_tip_xy_dist": 0.0033182016527998413,
+                "target_xy_drift": 1.330532737503094e-09,
+                "depth": 0.019070188099833962,
+                "bottom_clearance": 0.08037036409006648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001764188051797122,
+                  0.002814172950813265
+                ],
+                "rod_tip_xy": [
+                  0.2661933660275484,
+                  -0.36490749993979754
+                ],
+                "target_mouth_xy": [
+                  0.2679575540793455,
+                  -0.3677216728906108
+                ],
+                "gripper_position": [
+                  0.26618500838793313,
+                  -0.36490885301129844,
+                  1.00194216142014
+                ],
+                "rod_tip_xy_dist": 0.003321434762146137,
+                "target_xy_drift": 2.9210924355876196e-08,
+                "depth": 0.01919388743441164,
+                "bottom_clearance": 0.08024665941249165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017725454014905218,
+                  0.0028128214592532674
+                ],
+                "rod_tip_xy": [
+                  0.2661850083879332,
+                  -0.3649088530112984
+                ],
+                "target_mouth_xy": [
+                  0.2679575537894237,
+                  -0.36772167447055165
+                ],
+                "gripper_position": [
+                  0.2661911263769805,
+                  -0.3649840667422023,
+                  1.0014291660682395
+                ],
+                "rod_tip_xy_dist": 0.003324737848610154,
+                "target_xy_drift": 3.0797195712064455e-08,
+                "depth": 0.019317736850495426,
+                "bottom_clearance": 0.08012287964429043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017664282586691282,
+                  0.002737576942781872
+                ],
+                "rod_tip_xy": [
+                  0.26619112637698056,
+                  -0.3649840667422023
+                ],
+                "target_mouth_xy": [
+                  0.2679575546356497,
+                  -0.36772164368498417
+                ],
+                "gripper_position": [
+                  0.26617969135093866,
+                  -0.36499131342818614,
+                  1.0012873308084649
+                ],
+                "rod_tip_xy_dist": 0.0032580049586634747,
+                "target_xy_drift": 0.0,
+                "depth": 0.019830688245331518,
+                "bottom_clearance": 0.07960986032124062,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006001566682501497,
+              "rod_tip_xy_max_step": 3.24620809242391e-05,
+              "rod_tip_xy_range": 0.0006001479573736453,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.265658019774889,
+            -0.3662672919348574,
+            1.043514063892588
+          ],
+          "object_origin_world": [
+            0.265658019774889,
+            -0.3662672919348574,
+            1.043514063892588
+          ],
+          "frame_world": [
+            0.26565662511013444,
+            -0.3662734832542293,
+            1.0434012083189195
+          ],
+          "center_minus_frame": [
+            1.3946647545726165e-06,
+            6.191319371906534e-06,
+            0.00011285557366846888
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2661202842050231,
+              0.15822990891742011,
+              0.8321417421738552
+            ],
+            "target_position": [
+              0.28060318218115426,
+              0.20492827341660047,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04889265364740732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16892566069826162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321417421738552,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567298426628,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1382409235831324,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b67fbfad66a7c7af370dd60bda2af1e9612cff6322b7ad02d01a95f50c0b98fe",
+    "visual_seed": 7635298675166048072,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de4781eaa506e128f728057efc960982664d843
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_70_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19908999249671244,
+              -0.10988291506444206,
+              1.165472600474036
+            ],
+            "current_z": 1.165472600474036,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3043659136453356,
+            "gripper_z": 1.1592224442486367,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1946609079294179,
+              -0.11442938777704702,
+              1.1592224442486367
+            ],
+            "object_minus_gripper": [
+              0.0044290845672945445,
+              0.004546472712604957,
+              0.0062501562253991505
+            ],
+            "object_to_gripper_xy": 0.006347220197118435,
+            "object_to_gripper_z": 0.0062501562253991505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19908999249671244,
+              -0.13343042581509482,
+              1.165472600474036
+            ],
+            "finger_b": [
+              0.18846426136280708,
+              -0.10988291506444206,
+              1.165472600474036
+            ],
+            "finger_midpoint": [
+              0.19377712692975976,
+              -0.12165667043976844,
+              1.165472600474036
+            ],
+            "object_minus_finger_midpoint": [
+              0.005312865566952679,
+              0.011773755375326378,
+              0.0
+            ],
+            "finger_gap": 0.025833920040949122,
+            "fingertip_max_gap": 0.09224190277920746,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012916960020474561,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165472600474036,
+            "object_top_z": 1.2154721249295537,
+            "finger_top_clearance": 0.04999952445551781,
+            "fingertip_min_top_clearance": 0.014999857336655341,
+            "object_projection_between_fingers": 0.8308246735657151,
+            "object_to_finger_line_xy": 0.009685309767645674,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048620951389603734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.862140226724609,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27155237922245673,
+              -0.36457721931382014,
+              0.8515395809752456
+            ],
+            "target_position": [
+              0.26400892373165213,
+              -0.3651836706404079,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007567793863027062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183895924678237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395809752456,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752876792103754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576122000482302,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523207922643233,
+            "release_required_pad_clearance": 0.05288061000241151,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8021017606741482,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007609724998474121,
+            "max_z_decrease": 0.007609724998474121,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511119729065223,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007609724998474121,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021080520245549184,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007609724998474121,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007609748506910395,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11970885097980496,
+              -0.4214451313018798,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11970885097980496,
+              -0.4214451313018798,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12033768326349537,
+              -0.4208030031767394,
+              0.8078403986073406
+            ],
+            "closest_button": [
+              0.1196980774402618,
+              -0.4214418530464172,
+              0.7727408409118652
+            ],
+            "closest_ee_minus_button": [
+              0.0006396058232335661,
+              0.0006388498696777711,
+              0.03509955769547535
+            ],
+            "button_min_z_position": [
+              0.11969009041786191,
+              -0.4214427173137665,
+              0.7691991329193115
+            ],
+            "min_active_finger_to_button": 0.14536184273682226,
+            "closest_active_finger": [
+              -0.0075258538126945496,
+              -0.48276424407958984,
+              0.8107528686523438
+            ],
+            "closest_active_finger_button": [
+              0.11970903724431989,
+              -0.4214437901973724,
+              0.7763850092887878
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12723489105701444,
+              -0.06132045388221746,
+              0.03436785936355591
+            ],
+            "min_contact_pad_to_button": 0.021080520245549184,
+            "closest_contact_pad": [
+              0.11969009041786191,
+              -0.42194412572053236,
+              0.7902736892238374
+            ],
+            "closest_contact_pad_button": [
+              0.11969009041786191,
+              -0.4214427173137665,
+              0.7691991329193115
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005014084067658797,
+              0.021074556304525927
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28160368170366284,
+              0.20176141393708424,
+              1.1033848026283706
+            ],
+            "current_z": 1.1033848026283706,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19347567289400802,
+            "gripper_z": 1.10338509060261,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28160369977402744,
+              0.20176142336925385,
+              1.10338509060261
+            ],
+            "object_minus_gripper": [
+              -1.8070364593558708e-08,
+              -9.432169600920304e-09,
+              -2.8797423934356914e-07
+            ],
+            "object_to_gripper_xy": 2.0383912772690752e-08,
+            "object_to_gripper_z": -2.8797423934356914e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28160368170366284,
+              0.20176141393708424,
+              1.1033848026283706
+            ],
+            "finger_b": [
+              0.28160368170366284,
+              0.20176141393708424,
+              1.1033848026283706
+            ],
+            "finger_midpoint": [
+              0.28160368170366284,
+              0.20176141393708424,
+              1.1033848026283706
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033848026283706,
+            "object_top_z": 1.2283933092486503,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28160368170366284,
+            0.20176141393708427,
+            1.1033848026283708
+          ],
+          "object_origin_world": [
+            0.28160368170366284,
+            0.20176141393708427,
+            1.1033848026283708
+          ],
+          "frame_world": [
+            0.28160369977402744,
+            0.20176142336925385,
+            1.10338509060261
+          ],
+          "center_minus_frame": [
+            -1.8070364593558708e-08,
+            -9.432169573164728e-09,
+            -2.8797423912152453e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433104149790533,
+            "required_z": 0.9112599125215646,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020628836205386536,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.8443463953062084e-08,
+            "max_target_xy_drift": 3.0975134378821485e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8021017507613691,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8021017714284797,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27014194153534454,
+              -0.3630669557965829,
+              0.9234242534767519
+            ],
+            "target_mouth_xy": [
+              0.2715523510565415,
+              -0.3645771882164206
+            ],
+            "rod_tip_z": 0.9234242534767519,
+            "rod_tip_depth": -0.02216433405391649,
+            "rod_tip_bottom_clearance": 0.12160504822630369,
+            "rod_tip_xy_dist": 0.0020664116190662447,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045093128522647685,
+            "min_rod_tip_bottom_clearance": 0.054347388655330287,
+            "min_rod_tip_xy_dist": 0.0004961073969356232,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2715523478729616,
+              -0.36457724657311086
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.1835798997015274e-09,
+              5.835669025788803e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0008007449359087593,
+                0.0031689156273987384
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009234678628058379,
+                0.0028412148225908096
+              ],
+              "first_target_mouth_xy": [
+                0.2715523733652585,
+                -0.36457722060125464
+              ],
+              "last_target_mouth_xy": [
+                0.2715523753458984,
+                -0.3645772484915729
+              ],
+              "first_rod_tip_xy": [
+                0.27075162842934974,
+                -0.3614083049738559
+              ],
+              "last_rod_tip_xy": [
+                0.27062890748309254,
+                -0.3617360336689821
+              ],
+              "min_rod_tip_xy_dist": 0.002981855973818191,
+              "max_rod_tip_xy_dist": 0.0032685193445894526,
+              "first_target_xy_drift": 3.6392231534007505e-08,
+              "last_target_xy_drift": 2.7539839338973793e-08,
+              "max_depth": 0.019562574968008506,
+              "min_bottom_clearance": 0.07987794817499816
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008007449359087593,
+                  0.0031689156273987384
+                ],
+                "rod_tip_xy": [
+                  0.27075162842934974,
+                  -0.3614083049738559
+                ],
+                "target_mouth_xy": [
+                  0.2715523733652585,
+                  -0.36457722060125464
+                ],
+                "gripper_position": [
+                  0.2707405758548783,
+                  -0.36141615201542043,
+                  1.00560581053839
+                ],
+                "rod_tip_xy_dist": 0.0032685193445894526,
+                "target_xy_drift": 3.6392231534007505e-08,
+                "depth": 0.015510480308535635,
+                "bottom_clearance": 0.08393015864269493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0008118310912954008,
+                  0.0031610650623614123
+                ],
+                "rod_tip_xy": [
+                  0.27074057585487826,
+                  -0.36141615201542054
+                ],
+                "target_mouth_xy": [
+                  0.27155240694617366,
+                  -0.36457721707778196
+                ],
+                "gripper_position": [
+                  0.27073247174943726,
+                  -0.36141792462171596,
+                  1.0054801438767016
+                ],
+                "rod_tip_xy_dist": 0.0032636485793166884,
+                "target_xy_drift": 6.602740952234452e-08,
+                "depth": 0.01565409235126236,
+                "bottom_clearance": 0.08378650535181353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008199342556641231,
+                  0.0031593241668104177
+                ],
+                "rod_tip_xy": [
+                  0.2707324717494372,
+                  -0.36141792462171607
+                ],
+                "target_mouth_xy": [
+                  0.27155240600510133,
+                  -0.3645772487885265
+                ],
+                "gripper_position": [
+                  0.270735541334725,
+                  -0.36148490006675066,
+                  1.0049563303407836
+                ],
+                "rod_tip_xy_dist": 0.0032639885683935564,
+                "target_xy_drift": 5.8174339137003305e-08,
+                "depth": 0.01577969494463527,
+                "bottom_clearance": 0.08366087202690775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008168656861660128,
+                  0.003092316691960806
+                ],
+                "rod_tip_xy": [
+                  0.27073554133472494,
+                  -0.3614849000667508
+                ],
+                "target_mouth_xy": [
+                  0.27155240702089095,
+                  -0.36457721675871163
+                ],
+                "gripper_position": [
+                  0.2707243948040785,
+                  -0.3614926731624561,
+                  1.0048128854593665
+                ],
+                "rod_tip_xy_dist": 0.0031983889808175135,
+                "target_xy_drift": 6.623727006422517e-08,
+                "depth": 0.01630357886336642,
+                "bottom_clearance": 0.08313703325272292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008279785492864566,
+                  0.0030845464835633774
+                ],
+                "rod_tip_xy": [
+                  0.27072439480407845,
+                  -0.36149267316245626
+                ],
+                "target_mouth_xy": [
+                  0.2715523733533649,
+                  -0.36457721964601963
+                ],
+                "gripper_position": [
+                  0.27071641239630456,
+                  -0.3614939222788052,
+                  1.0046872723352844
+                ],
+                "rod_tip_xy_dist": 0.00319374004692644,
+                "target_xy_drift": 3.707181130507364e-08,
+                "depth": 0.016447004477079363,
+                "bottom_clearance": 0.08299360032037895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008359930571555929,
+                  0.0030832960839997647
+                ],
+                "rod_tip_xy": [
+                  0.27071641239630456,
+                  -0.3614939222788053
+                ],
+                "target_mouth_xy": [
+                  0.27155240545346016,
+                  -0.36457721836280504
+                ],
+                "gripper_position": [
+                  0.2707200471987641,
+                  -0.36156201034238633,
+                  1.0041652196980995
+                ],
+                "rod_tip_xy_dist": 0.0031946203425791677,
+                "target_xy_drift": 6.411969405522525e-08,
+                "depth": 0.016572550893579563,
+                "bottom_clearance": 0.08286797266131629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008323585986763082,
+                  0.003015206428922168
+                ],
+                "rod_tip_xy": [
+                  0.270720047198764,
+                  -0.36156201034238644
+                ],
+                "target_mouth_xy": [
+                  0.27155240579744033,
+                  -0.3645772167713086
+                ],
+                "gripper_position": [
+                  0.27070877004221827,
+                  -0.3615697505868687,
+                  1.0040216042993295
+                ],
+                "rod_tip_xy_dist": 0.0031279850776184917,
+                "target_xy_drift": 6.514132829071333e-08,
+                "depth": 0.017094620213817913,
+                "bottom_clearance": 0.08234594495897418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008436375279173292,
+                  0.0030074982037601172
+                ],
+                "rod_tip_xy": [
+                  0.2707087700422182,
+                  -0.3615697505868688
+                ],
+                "target_mouth_xy": [
+                  0.27155240757013555,
+                  -0.3645772487906289
+                ],
+                "gripper_position": [
+                  0.27070058610262737,
+                  -0.361571015856061,
+                  1.0038960436915667
+                ],
+                "rod_tip_xy_dist": 0.003123582834523649,
+                "target_xy_drift": 5.973834581854881e-08,
+                "depth": 0.01723830700877349,
+                "bottom_clearance": 0.08220232098639035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008517891806864575,
+                  0.003006202185254936
+                ],
+                "rod_tip_xy": [
+                  0.2707005861026273,
+                  -0.3615710158560611
+                ],
+                "target_mouth_xy": [
+                  0.2715523752833138,
+                  -0.36457721804131604
+                ],
+                "gripper_position": [
+                  0.2707049855917908,
+                  -0.3616398231097733,
+                  1.0033774418045367
+                ],
+                "rod_tip_xy_dist": 0.0031245473891375144,
+                "target_xy_drift": 3.95650189011373e-08,
+                "depth": 0.017363770809338375,
+                "bottom_clearance": 0.08207672710408254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008474226868845913,
+                  0.0029373958694207114
+                ],
+                "rod_tip_xy": [
+                  0.27070498559179074,
+                  -0.3616398231097734
+                ],
+                "target_mouth_xy": [
+                  0.27155240827867533,
+                  -0.3645772189791941
+                ],
+                "gripper_position": [
+                  0.27069357910192576,
+                  -0.36164739221455106,
+                  1.0032341845860038
+                ],
+                "rod_tip_xy_dist": 0.003057191473221224,
+                "target_xy_drift": 6.640989753774662e-08,
+                "depth": 0.017882475151511534,
+                "bottom_clearance": 0.08155818010583771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008587664441376264,
+                  0.002929856278669929
+                ],
+                "rod_tip_xy": [
+                  0.2706935791019257,
+                  -0.3616473922145512
+                ],
+                "target_mouth_xy": [
+                  0.27155234554606333,
+                  -0.36457724849322115
+                ],
+                "gripper_position": [
+                  0.2706851746422872,
+                  -0.36164886950328756,
+                  1.0031088464371503
+                ],
+                "rod_tip_xy_dist": 0.0030531193260726623,
+                "target_xy_drift": 3.0168326381711686e-09,
+                "depth": 0.01802564197656331,
+                "bottom_clearance": 0.08141488132133634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008672351492731156,
+                  0.002928378641926077
+                ],
+                "rod_tip_xy": [
+                  0.27068517464228714,
+                  -0.36164886950328756
+                ],
+                "target_mouth_xy": [
+                  0.27155240979156026,
+                  -0.36457724814521364
+                ],
+                "gripper_position": [
+                  0.2706766425686348,
+                  -0.36165000606615205,
+                  1.002983188956059
+                ],
+                "rod_tip_xy_dist": 0.00305409532834579,
+                "target_xy_drift": 6.193855313417627e-08,
+                "depth": 0.018151071621859693,
+                "bottom_clearance": 0.0812896201276766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00087570403953241,
+                  0.0029271824917826983
+                ],
+                "rod_tip_xy": [
+                  0.2706766425686348,
+                  -0.36165000606615216
+                ],
+                "target_mouth_xy": [
+                  0.2715523466081672,
+                  -0.36457718855793486
+                ],
+                "gripper_position": [
+                  0.2706683098573964,
+                  -0.36165122734129096,
+                  1.0028580556533806
+                ],
+                "rod_tip_xy_dist": 0.003055364938113375,
+                "target_xy_drift": 5.8028961311385736e-08,
+                "depth": 0.018276700069577045,
+                "bottom_clearance": 0.08116385297839568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008840360018129712,
+                  0.002926020831566012
+                ],
+                "rod_tip_xy": [
+                  0.2706683098573964,
+                  -0.36165122734129096
+                ],
+                "target_mouth_xy": [
+                  0.2715523458592094,
+                  -0.36457724817285697
+                ],
+                "gripper_position": [
+                  0.27067473445976453,
+                  -0.36172326618736267,
+                  1.0023406370718604
+                ],
+                "rod_tip_xy_dist": 0.003056651363708285,
+                "target_xy_drift": 2.571844791758053e-09,
+                "depth": 0.01840170819340159,
+                "bottom_clearance": 0.08103881603835528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008776743262841058,
+                  0.002853979430323117
+                ],
+                "rod_tip_xy": [
+                  0.27067473445976453,
+                  -0.3617232661873627
+                ],
+                "target_mouth_xy": [
+                  0.27155240878604864,
+                  -0.36457724561768584
+                ],
+                "gripper_position": [
+                  0.27066320875382777,
+                  -0.3617310316788057,
+                  1.0021977792100714
+                ],
+                "rod_tip_xy_dist": 0.002985885264327101,
+                "target_xy_drift": 6.092057950419319e-08,
+                "depth": 0.018919302765380897,
+                "bottom_clearance": 0.08052141068351171,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008891973616245719,
+                  0.0028461892243270004
+                ],
+                "rod_tip_xy": [
+                  0.27066320875382777,
+                  -0.3617310316788058
+                ],
+                "target_mouth_xy": [
+                  0.27155240611545234,
+                  -0.3645772209031328
+                ],
+                "gripper_position": [
+                  0.2706547747401987,
+                  -0.36173214671126513,
+                  1.002072563566965
+                ],
+                "rod_tip_xy_dist": 0.002981855973818191,
+                "target_xy_drift": 6.364853099123197e-08,
+                "depth": 0.019062154116799124,
+                "bottom_clearance": 0.08037848453805563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008976023863089266,
+                  0.0028451046343135333
+                ],
+                "rod_tip_xy": [
+                  0.2706547747401987,
+                  -0.3617321467112652
+                ],
+                "target_mouth_xy": [
+                  0.27155237712650765,
+                  -0.3645772513455787
+                ],
+                "gripper_position": [
+                  0.2706461725798405,
+                  -0.3617333210064662,
+                  1.0019471501716346
+                ],
+                "rod_tip_xy_dist": 0.0029833388047789382,
+                "target_xy_drift": 2.9640283481360466e-08,
+                "depth": 0.0191874473879996,
+                "bottom_clearance": 0.08025324543711787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009062035174761118,
+                  0.002843896728441875
+                ],
+                "rod_tip_xy": [
+                  0.27064617257984047,
+                  -0.36173332100646627
+                ],
+                "target_mouth_xy": [
+                  0.2715523760973166,
+                  -0.36457721773490814
+                ],
+                "gripper_position": [
+                  0.27063739850190194,
+                  -0.36173479602357633,
+                  1.0018219812009794
+                ],
+                "rod_tip_xy_dist": 0.0029847869969444178,
+                "target_xy_drift": 4.0351656087025124e-08,
+                "depth": 0.019312613603828077,
+                "bottom_clearance": 0.08012792050390727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0009149806676042593,
+                  0.002842452451067845
+                ],
+                "rod_tip_xy": [
+                  0.27063739850190194,
+                  -0.3617347960235765
+                ],
+                "target_mouth_xy": [
+                  0.2715523791695062,
+                  -0.36457724847464434
+                ],
+                "gripper_position": [
+                  0.27062890748309254,
+                  -0.361736033668982,
+                  1.0016972515448717
+                ],
+                "rod_tip_xy_dist": 0.0029860886722719968,
+                "target_xy_drift": 3.135425859639193e-08,
+                "depth": 0.019437935990601063,
+                "bottom_clearance": 0.08000273545143421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0009234678628058379,
+                  0.0028412148225908096
+                ],
+                "rod_tip_xy": [
+                  0.27062890748309254,
+                  -0.3617360336689821
+                ],
+                "target_mouth_xy": [
+                  0.2715523753458984,
+                  -0.3645772484915729
+                ],
+                "gripper_position": [
+                  0.2706202145280059,
+                  -0.3617372878508148,
+                  1.0015717563823685
+                ],
+                "rod_tip_xy_dist": 0.0029875231483195083,
+                "target_xy_drift": 2.7539839338973793e-08,
+                "depth": 0.019562574968008506,
+                "bottom_clearance": 0.07987794817499816,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000603268296211604,
+              "rod_tip_xy_max_step": 3.261081341007099e-05,
+              "rod_tip_xy_range": 0.000603257670230544,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27014194153534454,
+            -0.3630669557965828,
+            1.043424253476752
+          ],
+          "object_origin_world": [
+            0.27014194153534454,
+            -0.3630669557965828,
+            1.043424253476752
+          ],
+          "frame_world": [
+            0.27014050655778754,
+            -0.3630731323852678,
+            1.0433104149790533
+          ],
+          "center_minus_frame": [
+            1.4349775570021706e-06,
+            6.176588684958517e-06,
+            0.0001138384976986373
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2665531325357906,
+              0.15677097234708456,
+              0.830962914387794
+            ],
+            "target_position": [
+              0.2817574494604617,
+              0.203386972164114,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04903287358586205,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16839729342278253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.830962914387794,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669111755655,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.137992134737671,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 319,
+            "max_placed_release_frames": 319
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "47f7d388ef7221a8dc6848fa23cfe40e1fa28b8bca4c251215ff75b1cb72ab71",
+    "visual_seed": 1171409928704302773,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e873a31201649392f2159503cc6cff608df1363
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_73_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19672082746438663,
+              -0.11349278528706087,
+              1.1626269741662472
+            ],
+            "current_z": 1.1626269741662472,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.301520287337547,
+            "gripper_z": 1.1564750533102384,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19224611804368916,
+              -0.1180618196130963,
+              1.1564750533102384
+            ],
+            "object_minus_gripper": [
+              0.00447470942069747,
+              0.0045690343260354205,
+              0.006151920856008797
+            ],
+            "object_to_gripper_xy": 0.006395240345144867,
+            "object_to_gripper_z": 0.006151920856008797,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19672082746438663,
+              -0.1371423384218993,
+              1.1626269741662472
+            ],
+            "finger_b": [
+              0.18613496820664474,
+              -0.11349278528706087,
+              1.1626269741662472
+            ],
+            "finger_midpoint": [
+              0.19142789783551567,
+              -0.1253175618544801,
+              1.1626269741662472
+            ],
+            "object_minus_finger_midpoint": [
+              0.005292929628870957,
+              0.011824776567419218,
+              0.0
+            ],
+            "finger_gap": 0.02591064992821032,
+            "fingertip_max_gap": 0.09245650860074062,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012955324964105171,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626269741662472,
+            "object_top_z": 1.212575178673617,
+            "finger_top_clearance": 0.04994820450736981,
+            "fingertip_min_top_clearance": 0.014984461352210975,
+            "object_projection_between_fingers": 0.8330849035308265,
+            "object_to_finger_line_xy": 0.009662082645071656,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872825430037031,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2263381399276665,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2752323562787974,
+              -0.3642334747135941,
+              0.8515395657575723
+            ],
+            "target_position": [
+              0.26888893406669834,
+              -0.3643250689988001,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006344083454214168,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1838652559161547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395657575723,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578110749693731,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0873889823009371,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15091188846948048,
+            "release_required_pad_clearance": 0.05369449115046855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3985251548132047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007817983627319336,
+            "max_z_decrease": 0.007817983627319336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516224508561134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007817983627319336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111754164734774,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007817983627319336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007818006959299344,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12458886206150055,
+              -0.4205865263938904,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12458886206150055,
+              -0.4205865263938904,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1265018132404515,
+              -0.4208949767305713,
+              0.80773154519573
+            ],
+            "closest_button": [
+              0.12457789480686186,
+              -0.42058295011520386,
+              0.7726233601570129
+            ],
+            "closest_ee_minus_button": [
+              0.001923918433589647,
+              -0.00031202661536744447,
+              0.035108185038717044
+            ],
+            "button_min_z_position": [
+              0.12456992268562317,
+              -0.4205840528011322,
+              0.7689908742904663
+            ],
+            "min_active_finger_to_button": 0.14429922896634267,
+            "closest_active_finger": [
+              -0.014634549617767334,
+              -0.40461406111717224,
+              0.8106819987297058
+            ],
+            "closest_active_finger_button": [
+              0.12458894401788712,
+              -0.42058461904525757,
+              0.7762722969055176
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13922349363565445,
+              0.015970557928085327,
+              0.03440970182418823
+            ],
+            "min_contact_pad_to_button": 0.02111754164734774,
+            "closest_contact_pad": [
+              0.12456992268562317,
+              -0.42196051244099314,
+              0.7900635087742536
+            ],
+            "closest_contact_pad_button": [
+              0.12456992268562317,
+              -0.4205840528011322,
+              0.7689908742904663
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013764596398609386,
+              0.021072634483787267
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28228577162041923,
+              0.20802364313024838,
+              1.1045887899955322
+            ],
+            "current_z": 1.1045887899955322,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19467966026116967,
+            "gripper_z": 1.1045890064730381,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.282285829701893,
+              0.20802366067717803,
+              1.1045890064730381
+            ],
+            "object_minus_gripper": [
+              -5.808147374164463e-08,
+              -1.7546929659273403e-08,
+              -2.1647750592102e-07
+            ],
+            "object_to_gripper_xy": 6.067414879888174e-08,
+            "object_to_gripper_z": -2.1647750592102e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28228577162041923,
+              0.20802364313024838,
+              1.1045887899955322
+            ],
+            "finger_b": [
+              0.28228577162041923,
+              0.20802364313024838,
+              1.1045887899955322
+            ],
+            "finger_midpoint": [
+              0.28228577162041923,
+              0.20802364313024838,
+              1.1045887899955322
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045887899955322,
+            "object_top_z": 1.229597296615812,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 247,
+            "max_stable_success_frames": 247,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28228577162041923,
+            0.2080236431302484,
+            1.1045887899955322
+          ],
+          "object_origin_world": [
+            0.28228577162041923,
+            0.2080236431302484,
+            1.1045887899955322
+          ],
+          "frame_world": [
+            0.282285829701893,
+            0.20802366067717803,
+            1.1045890064730381
+          ],
+          "center_minus_frame": [
+            -5.808147374164463e-08,
+            -1.7546929631517827e-08,
+            -2.1647750592102e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436120745025579,
+            "required_z": 0.9112598280373128,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001326302101837517,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.939875841415567e-08,
+            "max_target_xy_drift": 1.5373445646673893e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3985251547168382,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3985251548332687,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27643518330733413,
+              -0.3647381599062741,
+              0.9233068618487322
+            ],
+            "target_mouth_xy": [
+              0.27523247440643345,
+              -0.3642335629067471
+            ],
+            "rod_tip_z": 0.9233068618487322,
+            "rod_tip_depth": -0.02204707237215897,
+            "rod_tip_bottom_clearance": 0.12148761581376843,
+            "rod_tip_xy_dist": 0.0013042725298945093,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04511405723137629,
+            "min_rod_tip_bottom_clearance": 0.0543265167944843,
+            "min_rod_tip_xy_dist": 0.00016154283455137764,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27523241501507856,
+              -0.3642335638445453
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.9391354889637427e-08,
+              9.37798227962361e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.001702109445906208,
+                0.0013352692342342154
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001599400587019295,
+                0.0009765227974605772
+              ],
+              "first_target_mouth_xy": [
+                0.2752324150357256,
+                -0.3642335352946271
+              ],
+              "last_target_mouth_xy": [
+                0.27523241461537473,
+                -0.3642335616451509
+              ],
+              "first_rod_tip_xy": [
+                0.2769345244816318,
+                -0.3628982660603929
+              ],
+              "last_rod_tip_xy": [
+                0.276831815202394,
+                -0.36325703884769034
+              ],
+              "min_rod_tip_xy_dist": 0.0018739474410233328,
+              "max_rod_tip_xy_dist": 0.0021633586142236257,
+              "first_target_xy_drift": 2.8549925673206428e-08,
+              "last_target_xy_drift": 2.235419161104824e-09,
+              "max_depth": 0.01937428199386504,
+              "min_bottom_clearance": 0.08006631189303948
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001702109445906208,
+                  0.0013352692342342154
+                ],
+                "rod_tip_xy": [
+                  0.2769345244816318,
+                  -0.3628982660603929
+                ],
+                "target_mouth_xy": [
+                  0.2752324150357256,
+                  -0.3642335352946271
+                ],
+                "gripper_position": [
+                  0.27692369939960104,
+                  -0.3629067915477466,
+                  1.0058518245342798
+                ],
+                "rod_tip_xy_dist": 0.0021633586142236257,
+                "target_xy_drift": 2.8549925673206428e-08,
+                "depth": 0.015260868436615893,
+                "bottom_clearance": 0.08417968277848431,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001691283254243836,
+                  0.0013267418193542158
+                ],
+                "rod_tip_xy": [
+                  0.276923699399601,
+                  -0.36290679154774663
+                ],
+                "target_mouth_xy": [
+                  0.27523241614535715,
+                  -0.36423353336710085
+                ],
+                "gripper_position": [
+                  0.2769154777882875,
+                  -0.36290881060668034,
+                  1.0057227732595408
+                ],
+                "rod_tip_xy_dist": 0.0021495773773718765,
+                "target_xy_drift": 3.049839586487402e-08,
+                "depth": 0.015408001386192138,
+                "bottom_clearance": 0.08403252573276965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0016830628724013863,
+                  0.001324724388450771
+                ],
+                "rod_tip_xy": [
+                  0.27691547778828746,
+                  -0.36290881060668034
+                ],
+                "target_mouth_xy": [
+                  0.27523241491588607,
+                  -0.3642335349951311
+                ],
+                "gripper_position": [
+                  0.2769237424863904,
+                  -0.36298193030710985,
+                  1.0051961713158049
+                ],
+                "rod_tip_xy_dist": 0.0021418672549465513,
+                "target_xy_drift": 2.8849584716383052e-08,
+                "depth": 0.015537075944973777,
+                "bottom_clearance": 0.08390346852893149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016913272140529623,
+                  0.0012516027756175885
+                ],
+                "rod_tip_xy": [
+                  0.27692374248639035,
+                  -0.3629819303071099
+                ],
+                "target_mouth_xy": [
+                  0.2752324152723374,
+                  -0.3642335330827275
+                ],
+                "gripper_position": [
+                  0.2769125426533918,
+                  -0.36299069136514583,
+                  1.005049077040628
+                ],
+                "rod_tip_xy_dist": 0.002104066836611852,
+                "target_xy_drift": 3.076289351478285e-08,
+                "depth": 0.01606366343161858,
+                "bottom_clearance": 0.08337686195587268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016801262973409892,
+                  0.00124287721314853
+                ],
+                "rod_tip_xy": [
+                  0.27691254265339177,
+                  -0.36299069136514595
+                ],
+                "target_mouth_xy": [
+                  0.2752324163560508,
+                  -0.3642335685782945
+                ],
+                "gripper_position": [
+                  0.2769043907608576,
+                  -0.36299216632110165,
+                  1.0049200043346114
+                ],
+                "rod_tip_xy_dist": 0.002089872757366007,
+                "target_xy_drift": 4.920019076091261e-09,
+                "depth": 0.01621082414581565,
+                "bottom_clearance": 0.08322985314789011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016719753447806407,
+                  0.001241303934197635
+                ],
+                "rod_tip_xy": [
+                  0.2769043907608575,
+                  -0.36299216632110165
+                ],
+                "target_mouth_xy": [
+                  0.27523241541607685,
+                  -0.3642334702552993
+                ],
+                "gripper_position": [
+                  0.27691347662276955,
+                  -0.36306638971350685,
+                  1.0043953015453537
+                ],
+                "rod_tip_xy_dist": 0.0020823873344334547,
+                "target_xy_drift": 9.359010508678806e-08,
+                "depth": 0.016339880090801562,
+                "bottom_clearance": 0.08310075092751712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016810626264248674,
+                  0.001167206792809794
+                ],
+                "rod_tip_xy": [
+                  0.27691347662276944,
+                  -0.3630663897135069
+                ],
+                "target_mouth_xy": [
+                  0.27523241399634457,
+                  -0.3642335965063167
+                ],
+                "gripper_position": [
+                  0.2769021020418121,
+                  -0.36307494035846605,
+                  1.0042478573535412
+                ],
+                "rod_tip_xy_dist": 0.0020465442216438417,
+                "target_xy_drift": 3.26776549009996e-08,
+                "depth": 0.01686461143847895,
+                "bottom_clearance": 0.08257603809560665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016696872653442774,
+                  0.0011585923921045849
+                ],
+                "rod_tip_xy": [
+                  0.27690210204181204,
+                  -0.3630749403584661
+                ],
+                "target_mouth_xy": [
+                  0.27523241477646776,
+                  -0.3642335327505707
+                ],
+                "gripper_position": [
+                  0.27689371197478463,
+                  -0.3630766986368981,
+                  1.0041191587450977
+                ],
+                "rod_tip_xy_dist": 0.0020322873554434852,
+                "target_xy_drift": 3.109489013672418e-08,
+                "depth": 0.01701199838145173,
+                "bottom_clearance": 0.08242855813135386,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016612643588651,
+                  0.0011568368971393017
+                ],
+                "rod_tip_xy": [
+                  0.2768937119747845,
+                  -0.3630766986368982
+                ],
+                "target_mouth_xy": [
+                  0.2752324476159194,
+                  -0.3642335355340375
+                ],
+                "gripper_position": [
+                  0.2769036666687951,
+                  -0.36315167374609253,
+                  1.003597313137288
+                ],
+                "rod_tip_xy_dist": 0.0020243692540192265,
+                "target_xy_drift": 4.317753673162599e-08,
+                "depth": 0.01714075799879733,
+                "bottom_clearance": 0.08229986707023873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016712509824797217,
+                  0.0010818605772381362
+                ],
+                "rod_tip_xy": [
+                  0.276903666668795,
+                  -0.3631516737460926
+                ],
+                "target_mouth_xy": [
+                  0.2752324156863153,
+                  -0.3642335343233307
+                ],
+                "gripper_position": [
+                  0.27689230038587204,
+                  -0.36316007697256913,
+                  1.0034502761169561
+                ],
+                "rod_tip_xy_dist": 0.0019908546293040757,
+                "target_xy_drift": 2.9528844699137268e-08,
+                "depth": 0.017662504276876878,
+                "bottom_clearance": 0.08177799459376123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016598848036821212,
+                  0.00107345578774809
+                ],
+                "rod_tip_xy": [
+                  0.2768923003858719,
+                  -0.36316007697256925
+                ],
+                "target_mouth_xy": [
+                  0.2752324155821898,
+                  -0.36423353276031734
+                ],
+                "gripper_position": [
+                  0.2768837658892218,
+                  -0.3631620090672932,
+                  1.0033219209138824
+                ],
+                "rod_tip_xy_dist": 0.001976746035722522,
+                "target_xy_drift": 3.1089400824375845e-08,
+                "depth": 0.01780955676906626,
+                "bottom_clearance": 0.08163097217506843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0016513498896912893,
+                  0.0010715563319504406
+                ],
+                "rod_tip_xy": [
+                  0.2768837658892217,
+                  -0.36316200906729323
+                ],
+                "target_mouth_xy": [
+                  0.2752324159995304,
+                  -0.3642335653992437
+                ],
+                "gripper_position": [
+                  0.27687522081879345,
+                  -0.36316362920110146,
+                  1.0031931230060194
+                ],
+                "rod_tip_xy_dist": 0.0019685500833675827,
+                "target_xy_drift": 1.8401718597505998e-09,
+                "depth": 0.017937921526375855,
+                "bottom_clearance": 0.0815026332466392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016428064445228041,
+                  0.001069903245510928
+                ],
+                "rod_tip_xy": [
+                  0.27687522081879334,
+                  -0.36316362920110157
+                ],
+                "target_mouth_xy": [
+                  0.27523241437427054,
+                  -0.3642335324466125
+                ],
+                "gripper_position": [
+                  0.27688662125862407,
+                  -0.3632408983541461,
+                  1.00267416057823
+                ],
+                "rod_tip_xy_dist": 0.0019604861562685094,
+                "target_xy_drift": 3.14044713314937e-08,
+                "depth": 0.018066750324917003,
+                "bottom_clearance": 0.08137383261213849,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001654204289547434,
+                  0.0009926660674676735
+                ],
+                "rod_tip_xy": [
+                  0.27688662125862396,
+                  -0.3632408983541462
+                ],
+                "target_mouth_xy": [
+                  0.2752324169690765,
+                  -0.36423356442161386
+                ],
+                "gripper_position": [
+                  0.27687508235424974,
+                  -0.36324903617330473,
+                  1.0025272409230985
+                ],
+                "rod_tip_xy_dist": 0.0019291909581632574,
+                "target_xy_drift": 2.037428811905872e-09,
+                "depth": 0.018585732796478793,
+                "bottom_clearance": 0.08085482738464578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016426668109625897,
+                  0.0009844968929528797
+                ],
+                "rod_tip_xy": [
+                  0.2768750823542496,
+                  -0.36324903617330473
+                ],
+                "target_mouth_xy": [
+                  0.27523241554328703,
+                  -0.3642335330662576
+                ],
+                "gripper_position": [
+                  0.2768664406001953,
+                  -0.3632505777603365,
+                  1.0023991199471336
+                ],
+                "rod_tip_xy_dist": 0.0019150948759974996,
+                "target_xy_drift": 3.078281984661532e-08,
+                "depth": 0.01873252651562496,
+                "bottom_clearance": 0.08070798957892678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016340241060040506,
+                  0.0009829552809996756
+                ],
+                "rod_tip_xy": [
+                  0.2768664406001952,
+                  -0.36325057776033653
+                ],
+                "target_mouth_xy": [
+                  0.27523241649419117,
+                  -0.3642335330413362
+                ],
+                "gripper_position": [
+                  0.2768578170400947,
+                  -0.3632522318278282,
+                  1.0022704876868465
+                ],
+                "rod_tip_xy_dist": 0.0019068916758556288,
+                "target_xy_drift": 3.083870076114928e-08,
+                "depth": 0.018860714413861834,
+                "bottom_clearance": 0.08057983774635435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016254329790061917,
+                  0.0009813025410451148
+                ],
+                "rod_tip_xy": [
+                  0.2768578170400946,
+                  -0.3632522318278282
+                ],
+                "target_mouth_xy": [
+                  0.2752323840610884,
+                  -0.3642335343688733
+                ],
+                "gripper_position": [
+                  0.2768492195093741,
+                  -0.3632537434391461,
+                  1.0021421760718168
+                ],
+                "rod_tip_xy_dist": 0.0018986803433707691,
+                "target_xy_drift": 4.274300816307334e-08,
+                "depth": 0.01898938083157853,
+                "bottom_clearance": 0.08045117916741085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001616833363046133,
+                  0.0009797896336228296
+                ],
+                "rod_tip_xy": [
+                  0.27684921950937397,
+                  -0.3632537434391462
+                ],
+                "target_mouth_xy": [
+                  0.27523238614632783,
+                  -0.364233533072769
+                ],
+                "gripper_position": [
+                  0.27684061262065657,
+                  -0.3632551752925833,
+                  1.0020138031543366
+                ],
+                "rod_tip_xy_dist": 0.0018905390368923428,
+                "target_xy_drift": 4.219368417896741e-08,
+                "depth": 0.01911765377923158,
+                "bottom_clearance": 0.08032287705012864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016081969968060328,
+                  0.0009783891738254225
+                ],
+                "rod_tip_xy": [
+                  0.2768406126206565,
+                  -0.36325517529258333
+                ],
+                "target_mouth_xy": [
+                  0.2752324156238505,
+                  -0.36423356446640875
+                ],
+                "gripper_position": [
+                  0.2768318152023941,
+                  -0.36325703884769023,
+                  1.0018855938134583
+                ],
+                "rod_tip_xy_dist": 0.0018824300666943077,
+                "target_xy_drift": 8.70239853548005e-10,
+                "depth": 0.01924601968174733,
+                "bottom_clearance": 0.08019448830519449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001599400587019295,
+                  0.0009765227974605772
+                ],
+                "rod_tip_xy": [
+                  0.276831815202394,
+                  -0.36325703884769034
+                ],
+                "target_mouth_xy": [
+                  0.27523241461537473,
+                  -0.3642335616451509
+                ],
+                "gripper_position": [
+                  0.27684710068475493,
+                  -0.3633395415451184,
+                  1.0013715035797097
+                ],
+                "rod_tip_xy_dist": 0.0018739474410233328,
+                "target_xy_drift": 2.235419161104824e-09,
+                "depth": 0.01937428199386504,
+                "bottom_clearance": 0.08006631189303948,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006024006214761629,
+              "rod_tip_xy_max_step": 3.2657644482852254e-05,
+              "rod_tip_xy_range": 0.0006023956466722216,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27643518330733413,
+            -0.36473815990627406,
+            1.0433068618487322
+          ],
+          "object_origin_world": [
+            0.27643518330733413,
+            -0.36473815990627406,
+            1.0433068618487322
+          ],
+          "frame_world": [
+            0.27646024360698784,
+            -0.36473522021558313,
+            1.0436120745025579
+          ],
+          "center_minus_frame": [
+            -2.5060299653711926e-05,
+            -2.939690690928476e-06,
+            -0.00030521265382565943
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26814251284098456,
+              0.1626865008913385,
+              0.8314513859542311
+            ],
+            "target_position": [
+              0.28244445061910484,
+              0.2086226542527288,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04811107575029262,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1673535268034048,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314513859542311,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670376070226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1367767412433344,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 303,
+            "max_placed_release_frames": 303
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f69f573bc416967911b960d61d9e60c70cb1e7f4fc47dc2d7873a9de09cf32cc",
+    "visual_seed": 5296103704676751926,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..501e5046ec16628c52c95e22fbdc0a6cc4df8aac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_75_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19900554927513697,
+              -0.11146200416412429,
+              1.1631157644978538
+            ],
+            "current_z": 1.1631157644978538,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3020093160877326,
+            "gripper_z": 1.156993544441776,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1946081069657335,
+              -0.11596796450476385,
+              1.156993544441776
+            ],
+            "object_minus_gripper": [
+              0.0043974423094034765,
+              0.0045059603406395615,
+              0.006122220056077765
+            ],
+            "object_to_gripper_xy": 0.006296124002586701,
+            "object_to_gripper_z": 0.006122220056077765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19900554927513697,
+              -0.13509623626931835,
+              1.1631157644978538
+            ],
+            "finger_b": [
+              0.188595394215119,
+              -0.11146200416412429,
+              1.1631157644978538
+            ],
+            "finger_midpoint": [
+              0.193800471745128,
+              -0.12327912021672133,
+              1.1631157644978538
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052050775300089835,
+              0.01181711605259704,
+              0.0
+            ],
+            "finger_gap": 0.025825341344807115,
+            "fingertip_max_gap": 0.092175303322475,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012912670672403563,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631157644978538,
+            "object_top_z": 1.2131216420972568,
+            "finger_top_clearance": 0.050005877599403004,
+            "fingertip_min_top_clearance": 0.0150017632798209,
+            "object_projection_between_fingers": 0.8375116398197094,
+            "object_to_finger_line_xy": 0.009526922322325763,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048587651661237505,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8177358506301995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27064180157693046,
+              -0.367451652136238,
+              0.8515395900820366
+            ],
+            "target_position": [
+              0.26410600888024494,
+              -0.36774356578686773,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006542308442245127,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18394592739014418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395900820366,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586204204159695,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718483240569237,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15099134762175861,
+            "release_required_pad_clearance": 0.05359241620284619,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.195427825872076,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007783830165863037,
+            "max_z_decrease": 0.007783830165863037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511306711200766,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007783830165863037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021099359850134444,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007783830165863037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00778385254125314,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11980593204498288,
+              -0.4240050315856933,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11980593204498288,
+              -0.4240050315856933,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11800381348208666,
+              -0.4244345521646811,
+              0.8068632019296613
+            ],
+            "closest_button": [
+              0.119795024394989,
+              -0.4239994585514068,
+              0.7717985510826111
+            ],
+            "closest_ee_minus_button": [
+              -0.0017912109129023385,
+              -0.0004350936132743177,
+              0.03506465084705024
+            ],
+            "button_min_z_position": [
+              0.11978786438703534,
+              -0.42400035262107844,
+              0.7690250277519226
+            ],
+            "min_active_finger_to_button": 0.14780709456094693,
+            "closest_active_finger": [
+              -0.02321872115135193,
+              -0.4099886119365692,
+              0.8108183145523071
+            ],
+            "closest_active_finger_button": [
+              0.11980755627155303,
+              -0.4240051209926605,
+              0.7762646079063416
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14302627742290497,
+              0.014016509056091309,
+              0.034553706645965576
+            ],
+            "min_contact_pad_to_button": 0.021099359850134444,
+            "closest_contact_pad": [
+              0.11978786438703534,
+              -0.42541400860211265,
+              0.7900769768980884
+            ],
+            "closest_contact_pad_button": [
+              0.11978786438703534,
+              -0.42400035262107844,
+              0.7690250277519226
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001413655981034212,
+              0.021051949146165816
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27673196205557193,
+              0.20622995020083237,
+              1.1009058227897235
+            ],
+            "current_z": 1.1009058227897235,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19099669305536093,
+            "gripper_z": 1.10090579174383,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27673189056514486,
+              0.2062299449337882,
+              1.10090579174383
+            ],
+            "object_minus_gripper": [
+              7.149042707821351e-08,
+              5.267044161927359e-09,
+              3.104589341162978e-08
+            ],
+            "object_to_gripper_xy": 7.168418875895198e-08,
+            "object_to_gripper_z": 3.104589341162978e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27673196205557193,
+              0.20622995020083237,
+              1.1009058227897235
+            ],
+            "finger_b": [
+              0.27673196205557193,
+              0.20622995020083237,
+              1.1009058227897235
+            ],
+            "finger_midpoint": [
+              0.27673196205557193,
+              0.20622995020083237,
+              1.1009058227897235
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1009058227897235,
+            "object_top_z": 1.2259143294100032,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27673196205557193,
+            0.20622995020083237,
+            1.1009058227897237
+          ],
+          "object_origin_world": [
+            0.27673196205557193,
+            0.20622995020083237,
+            1.1009058227897237
+          ],
+          "frame_world": [
+            0.27673189056514486,
+            0.2062299449337882,
+            1.10090579174383
+          ],
+          "center_minus_frame": [
+            7.149042707821351e-08,
+            5.267044161927359e-09,
+            3.104589363367438e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433959037589235,
+            "required_z": 0.9112598351032758,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010429552918442327,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.0212494180827464e-08,
+            "max_target_xy_drift": 1.914720313916714e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1954278264193814,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1957843250455316,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2696320621581042,
+              -0.36718935635188166,
+              0.923510912906775
+            ],
+            "target_mouth_xy": [
+              0.2706417450814643,
+              -0.3674515655042289
+            ],
+            "rod_tip_z": 0.923510912906775,
+            "rod_tip_depth": -0.02225115205278716,
+            "rod_tip_bottom_clearance": 0.1216916804147049,
+            "rod_tip_xy_dist": 0.0010431745996235294,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04452538613575585,
+            "min_rod_tip_bottom_clearance": 0.05491512068919324,
+            "min_rod_tip_xy_dist": 0.0009021771992540856,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27064174334597435,
+              -0.3674515956668362
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.7354899739530083e-09,
+              3.0162607300709965e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0004423278233988692,
+                0.0019886553033492405
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0005598239233106095,
+                0.001653149731061121
+              ],
+              "first_target_mouth_xy": [
+                0.27064174510094946,
+                -0.3674515956498333
+              ],
+              "last_target_mouth_xy": [
+                0.2706417143494771,
+                -0.3674515940712483
+              ],
+              "first_rod_tip_xy": [
+                0.2701994172775506,
+                -0.3654629403464841
+              ],
+              "last_rod_tip_xy": [
+                0.2700818904261665,
+                -0.36579844434018716
+              ],
+              "min_rod_tip_xy_dist": 0.001739288646503375,
+              "max_rod_tip_xy_dist": 0.002037253989784249,
+              "first_target_xy_drift": 1.7550574731826475e-09,
+              "last_target_xy_drift": 2.9040364222152136e-08,
+              "max_depth": 0.019506396645818103,
+              "min_bottom_clearance": 0.07993413972096841
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0004423278233988692,
+                  0.0019886553033492405
+                ],
+                "rod_tip_xy": [
+                  0.2701994172775506,
+                  -0.3654629403464841
+                ],
+                "target_mouth_xy": [
+                  0.27064174510094946,
+                  -0.3674515956498333
+                ],
+                "gripper_position": [
+                  0.27018852893437445,
+                  -0.3654713150490388,
+                  1.0056743536059514
+                ],
+                "rod_tip_xy_dist": 0.002037253989784249,
+                "target_xy_drift": 1.7550574731826475e-09,
+                "depth": 0.015441057552527337,
+                "bottom_clearance": 0.08399948333129037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0004532159683828807,
+                  0.0019802809077443806
+                ],
+                "rod_tip_xy": [
+                  0.27018852893437456,
+                  -0.36547131504903874
+                ],
+                "target_mouth_xy": [
+                  0.27064174490275744,
+                  -0.3674515959567831
+                ],
+                "gripper_position": [
+                  0.2701919314140099,
+                  -0.36553901126274746,
+                  1.0051518323008843
+                ],
+                "rod_tip_xy_dist": 0.002031481525284968,
+                "target_xy_drift": 1.5835538507296506e-09,
+                "depth": 0.015585476712202895,
+                "bottom_clearance": 0.08385506678383858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00044981361080292936,
+                  0.0019125532934283207
+                ],
+                "rod_tip_xy": [
+                  0.27019193141401,
+                  -0.36553901126274746
+                ],
+                "target_mouth_xy": [
+                  0.2706417450248129,
+                  -0.3674515645561758
+                ],
+                "gripper_position": [
+                  0.2701810190801952,
+                  -0.36554705929152664,
+                  1.0050072748914274
+                ],
+                "rod_tip_xy_dist": 0.0019647372304374662,
+                "target_xy_drift": 3.1155925467653683e-08,
+                "depth": 0.016108003237156776,
+                "bottom_clearance": 0.08333255482637214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00046072416078696277,
+                  0.0019045078255517933
+                ],
+                "rod_tip_xy": [
+                  0.27018101908019526,
+                  -0.36554705929152675
+                ],
+                "target_mouth_xy": [
+                  0.2706417432409822,
+                  -0.36745156711707855
+                ],
+                "gripper_position": [
+                  0.2701729108996775,
+                  -0.36554883699418506,
+                  1.004880965433351
+                ],
+                "rod_tip_xy_dist": 0.0019594429846057962,
+                "target_xy_drift": 2.854995072342342e-08,
+                "depth": 0.01625258715390887,
+                "bottom_clearance": 0.083187981550218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00046883389640167694,
+                  0.0019026967964503871
+                ],
+                "rod_tip_xy": [
+                  0.2701729108996776,
+                  -0.36554883699418506
+                ],
+                "target_mouth_xy": [
+                  0.2706417447960793,
+                  -0.36745153379063544
+                ],
+                "gripper_position": [
+                  0.27017750385602934,
+                  -0.3656172650618141,
+                  1.0043595529006468
+                ],
+                "rod_tip_xy_dist": 0.0019596071855445276,
+                "target_xy_drift": 6.189319046994177e-08,
+                "depth": 0.016378885925746434,
+                "bottom_clearance": 0.08306169946127484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0004642113224521127,
+                  0.0018343010837206242
+                ],
+                "rod_tip_xy": [
+                  0.27017750385602946,
+                  -0.365617265061814
+                ],
+                "target_mouth_xy": [
+                  0.27064171517848157,
+                  -0.36745156614553465
+                ],
+                "gripper_position": [
+                  0.27016646842240266,
+                  -0.36562513433998267,
+                  1.0042154131243477
+                ],
+                "rod_tip_xy_dist": 0.001892129122874915,
+                "target_xy_drift": 4.080336868503434e-08,
+                "depth": 0.01690027793590032,
+                "bottom_clearance": 0.08254026836188288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0004752444078240936,
+                  0.0018264591347288972
+                ],
+                "rod_tip_xy": [
+                  0.2701664684224027,
+                  -0.36562513433998267
+                ],
+                "target_mouth_xy": [
+                  0.2706417128302268,
+                  -0.36745159347471157
+                ],
+                "gripper_position": [
+                  0.27015821608930135,
+                  -0.36562676748409734,
+                  1.004089097364954
+                ],
+                "rod_tip_xy_dist": 0.0018872758722568107,
+                "target_xy_drift": 3.059438279159125e-08,
+                "depth": 0.017044468573774285,
+                "bottom_clearance": 0.08239612871024371,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00048346868843174295,
+                  0.0018247669673925326
+                ],
+                "rod_tip_xy": [
+                  0.2701582160893014,
+                  -0.3656267674840974
+                ],
+                "target_mouth_xy": [
+                  0.27064168477773315,
+                  -0.3674515344514899
+                ],
+                "gripper_position": [
+                  0.2701500418880466,
+                  -0.3656284254771446,
+                  1.0039629642029646
+                ],
+                "rod_tip_xy_dist": 0.001887727855910605,
+                "target_xy_drift": 8.472046682511269e-08,
+                "depth": 0.0171707389825847,
+                "bottom_clearance": 0.08226980649624627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0004916432326089182,
+                  0.0018231711301142095
+                ],
+                "rod_tip_xy": [
+                  0.27015004188804664,
+                  -0.3656284254771446
+                ],
+                "target_mouth_xy": [
+                  0.27064168512065556,
+                  -0.3674515966072588
+                ],
+                "gripper_position": [
+                  0.27015609724449896,
+                  -0.3656995261189368,
+                  1.0034416866560925
+                ],
+                "rod_tip_xy_dist": 0.0018882971264745573,
+                "target_xy_drift": 5.8232912881407656e-08,
+                "depth": 0.017296875988607963,
+                "bottom_clearance": 0.08214368269728733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0004856471184189193,
+                  0.0017520371840572535
+                ],
+                "rod_tip_xy": [
+                  0.27015609724449907,
+                  -0.36569952611893686
+                ],
+                "target_mouth_xy": [
+                  0.270641744362918,
+                  -0.3674515633029941
+                ],
+                "gripper_position": [
+                  0.2701447678433324,
+                  -0.3657074234335884,
+                  1.003297225310918
+                ],
+                "rod_tip_xy_dist": 0.0018180999471832868,
+                "target_xy_drift": 3.2379815475790814e-08,
+                "depth": 0.017818166812635483,
+                "bottom_clearance": 0.08162241329113751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0004969448710998581,
+                  0.0017441449742766624
+                ],
+                "rod_tip_xy": [
+                  0.2701447678433325,
+                  -0.3657074234335884
+                ],
+                "target_mouth_xy": [
+                  0.2706417127144324,
+                  -0.3674515684078651
+                ],
+                "gripper_position": [
+                  0.2701363285675,
+                  -0.36570911185900634,
+                  1.003171227573706
+                ],
+                "rod_tip_xy_dist": 0.0018135589034291094,
+                "target_xy_drift": 4.1004181138274935e-08,
+                "depth": 0.01796268284856828,
+                "bottom_clearance": 0.08147796066361879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005053567695979533,
+                  0.0017424860022245414
+                ],
+                "rod_tip_xy": [
+                  0.27013632856750003,
+                  -0.36570911185900634
+                ],
+                "target_mouth_xy": [
+                  0.270641685337098,
+                  -0.3674515978612309
+                ],
+                "gripper_position": [
+                  0.270128047457726,
+                  -0.3657104810670127,
+                  1.0030450574017729
+                ],
+                "rod_tip_xy_dist": 0.0018142885472071258,
+                "target_xy_drift": 5.805036697174321e-08,
+                "depth": 0.018088636478984843,
+                "bottom_clearance": 0.08135197372005576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005136963445227516,
+                  0.0017410838371686443
+                ],
+                "rod_tip_xy": [
+                  0.2701280474577261,
+                  -0.36571048106701276
+                ],
+                "target_mouth_xy": [
+                  0.27064174380224887,
+                  -0.3674515649041814
+                ],
+                "gripper_position": [
+                  0.27013550089841387,
+                  -0.3657833765133717,
+                  1.0025267090837955
+                ],
+                "rod_tip_xy_dist": 0.001815284237365027,
+                "target_xy_drift": 3.076603837906496e-08,
+                "depth": 0.01821476729275695,
+                "bottom_clearance": 0.08122574125688986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005061811368204938,
+                  0.0016681915983460804
+                ],
+                "rod_tip_xy": [
+                  0.270135500898414,
+                  -0.36578337651337167
+                ],
+                "target_mouth_xy": [
+                  0.2706416820352345,
+                  -0.36745156811171775
+                ],
+                "gripper_position": [
+                  0.2701242151130895,
+                  -0.36579102985045947,
+                  1.0023827497300477
+                ],
+                "rod_tip_xy_dist": 0.00174329646132416,
+                "target_xy_drift": 6.721823694127984e-08,
+                "depth": 0.018733219570849502,
+                "bottom_clearance": 0.08070744544437336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000517437851666247,
+                  0.0016605369810752668
+                ],
+                "rod_tip_xy": [
+                  0.2701242151130896,
+                  -0.3657910298504595
+                ],
+                "target_mouth_xy": [
+                  0.27064165296475584,
+                  -0.3674515668315348
+                ],
+                "gripper_position": [
+                  0.27011588430034894,
+                  -0.3657923184647141,
+                  1.0022568650040506
+                ],
+                "rod_tip_xy_dist": 0.001739288646503375,
+                "target_xy_drift": 9.486959084696378e-08,
+                "depth": 0.018877132785929507,
+                "bottom_clearance": 0.08056345753444172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005258022011850882,
+                  0.001659275890583567
+                ],
+                "rod_tip_xy": [
+                  0.270115884300349,
+                  -0.36579231846471416
+                ],
+                "target_mouth_xy": [
+                  0.2706416865015341,
+                  -0.36745159435529773
+                ],
+                "gripper_position": [
+                  0.2701073487088401,
+                  -0.36579386165109046,
+                  1.0021310930454281
+                ],
+                "rod_tip_xy_dist": 0.0017405931275984556,
+                "target_xy_drift": 5.6859568432777524e-08,
+                "depth": 0.01900303807614756,
+                "bottom_clearance": 0.08043756021267401,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.000534360279202839,
+                  0.0016576161586340232
+                ],
+                "rod_tip_xy": [
+                  0.2701073487088402,
+                  -0.3657938616510904
+                ],
+                "target_mouth_xy": [
+                  0.270641708988043,
+                  -0.3674514778097244
+                ],
+                "gripper_position": [
+                  0.2700988609596892,
+                  -0.3657954152980521,
+                  1.0020051595180277
+                ],
+                "rod_tip_xy_dist": 0.0017416177070052863,
+                "target_xy_drift": 1.227630491861797e-07,
+                "depth": 0.019128749165467807,
+                "bottom_clearance": 0.08031178248151505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005428492922794348,
+                  0.001656060266716386
+                ],
+                "rod_tip_xy": [
+                  0.27009886095968927,
+                  -0.36579541529805204
+                ],
+                "target_mouth_xy": [
+                  0.2706417102519687,
+                  -0.3674514755647684
+                ],
+                "gripper_position": [
+                  0.27009036314973545,
+                  -0.3657969258382402,
+                  1.0018794611630635
+                ],
+                "rod_tip_xy_dist": 0.001742762451146177,
+                "target_xy_drift": 1.2457816782020293e-07,
+                "depth": 0.01925468372555439,
+                "bottom_clearance": 0.08018588038253693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005513455257605271,
+                  0.0016545538957071781
+                ],
+                "rod_tip_xy": [
+                  0.2700903631497355,
+                  -0.3657969258382402
+                ],
+                "target_mouth_xy": [
+                  0.27064170867549603,
+                  -0.3674514797339474
+                ],
+                "gripper_position": [
+                  0.27008189042616637,
+                  -0.36579844434018716,
+                  1.001753437747998
+                ],
+                "rod_tip_xy_dist": 0.0017439984181689936,
+                "target_xy_drift": 1.210061022547093e-07,
+                "depth": 0.01938042694053832,
+                "bottom_clearance": 0.08006018779363366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0005598239233106095,
+                  0.001653149731061121
+                ],
+                "rod_tip_xy": [
+                  0.2700818904261665,
+                  -0.36579844434018716
+                ],
+                "target_mouth_xy": [
+                  0.2706417143494771,
+                  -0.3674515940712483
+                ],
+                "gripper_position": [
+                  0.2700927637655396,
+                  -0.36587588205947047,
+                  1.0012404915463695
+                ],
+                "rod_tip_xy_dist": 0.0017453672560290398,
+                "target_xy_drift": 2.9040364222152136e-08,
+                "depth": 0.019506396645818103,
+                "bottom_clearance": 0.07993413972096841,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.00059593731824176,
+              "rod_tip_xy_max_step": 3.223389538888672e-05,
+              "rod_tip_xy_range": 0.0005959290654842418,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2696320621581042,
+            -0.36718935635188166,
+            1.0435109129067752
+          ],
+          "object_origin_world": [
+            0.2696320621581042,
+            -0.36718935635188166,
+            1.0435109129067752
+          ],
+          "frame_world": [
+            0.269630643623337,
+            -0.36719577343601983,
+            1.0433959037589235
+          ],
+          "center_minus_frame": [
+            1.4185347672057702e-06,
+            6.417084138177209e-06,
+            0.0001150091478516746
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26006504939057107,
+              0.16216308381003394,
+              0.8332454051049891
+            ],
+            "target_position": [
+              0.27690122292198555,
+              0.2067816814187854,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047689369798222137,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16432535711061597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332454051049891,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673499964494,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13470403473674059,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d90adac2018619a8c057c1571ac60c62d18543eb3d850f228c672cbb08339420",
+    "visual_seed": 8864859941734883953,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57746a5fe2d52768e26e0bc20629f16591dcafe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_76_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20543532881286897,
+              -0.10503579236572017,
+              1.16632858652097
+            ],
+            "current_z": 1.16632858652097,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3052219592969144,
+            "gripper_z": 1.1603494064192108,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2007121728041174,
+              -0.10957805492999838,
+              1.1603494064192108
+            ],
+            "object_minus_gripper": [
+              0.004723156008751561,
+              0.004542262564278213,
+              0.0059791801017592405
+            ],
+            "object_to_gripper_xy": 0.006552888819890756,
+            "object_to_gripper_z": 0.0059791801017592405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20543532881286897,
+              -0.12911943517846344,
+              1.16632858652097
+            ],
+            "finger_b": [
+              0.19540511904952979,
+              -0.10503579236572017,
+              1.16632858652097
+            ],
+            "finger_midpoint": [
+              0.20042022393119938,
+              -0.1170776137720918,
+              1.16632858652097
+            ],
+            "object_minus_finger_midpoint": [
+              0.005015104881669591,
+              0.012041821406371639,
+              0.0
+            ],
+            "finger_gap": 0.02608882824176635,
+            "fingertip_max_gap": 0.09288188853872101,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013044414120883176,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16632858652097,
+            "object_top_z": 1.216740718026459,
+            "finger_top_clearance": 0.050412131505488844,
+            "fingertip_min_top_clearance": 0.015123639451646652,
+            "object_projection_between_fingers": 0.8521875947432329,
+            "object_to_finger_line_xy": 0.009259288575116018,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048940944269360506,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7538927094947339,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.273664357319786,
+              -0.36561697086970224,
+              0.8515396108482929
+            ],
+            "target_position": [
+              0.2679763793888352,
+              -0.36522983882566545,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0057011370938176665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18158340587517852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396108482929,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548416182866755,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08846512785749254,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14952048916791433,
+            "release_required_pad_clearance": 0.05423256392874627,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4829498852668763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007956147193908691,
+            "max_z_decrease": 0.007956147193908691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509511878895646,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007956147193908691,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114332629151372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007956147193908691,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007956169913065624,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1236763074994087,
+              -0.4214912950992584,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1236763074994087,
+              -0.4214912950992584,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12382308577958265,
+              -0.42235301911192785,
+              0.8075938109886548
+            ],
+            "closest_button": [
+              0.12366476655006406,
+              -0.42148628830909723,
+              0.772509753704071
+            ],
+            "closest_ee_minus_button": [
+              0.00015831922951858868,
+              -0.0008667308028306175,
+              0.03508405728458375
+            ],
+            "button_min_z_position": [
+              0.12365747988224028,
+              -0.42148864269256586,
+              0.768852710723877
+            ],
+            "min_active_finger_to_button": 0.14597660917651145,
+            "closest_active_finger": [
+              -0.01751205325126648,
+              -0.4078983962535858,
+              0.811232328414917
+            ],
+            "closest_active_finger_button": [
+              0.12368123978376387,
+              -0.4214884638786316,
+              0.7767513990402222
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14119329303503036,
+              0.013590067625045776,
+              0.034480929374694824
+            ],
+            "min_contact_pad_to_button": 0.02114332629151372,
+            "closest_contact_pad": [
+              0.12365747988224028,
+              -0.4232774351903437,
+              0.7899202323642909
+            ],
+            "closest_contact_pad_button": [
+              0.12365747988224028,
+              -0.42148864269256586,
+              0.768852710723877
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001788792497777858,
+              0.021067521640413922
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27925753585153723,
+              0.21147221382982123,
+              1.1031221055145846
+            ],
+            "current_z": 1.1031221055145846,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.193212975780222,
+            "gripper_z": 1.1031220364249166,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2792575077976247,
+              0.21147216614706332,
+              1.1031220364249166
+            ],
+            "object_minus_gripper": [
+              2.8053912526360136e-08,
+              4.768275790878462e-08,
+              6.908966798668814e-08
+            ],
+            "object_to_gripper_xy": 5.532329897813785e-08,
+            "object_to_gripper_z": 6.908966798668814e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27925753585153723,
+              0.21147221382982123,
+              1.1031221055145846
+            ],
+            "finger_b": [
+              0.27925753585153723,
+              0.21147221382982123,
+              1.1031221055145846
+            ],
+            "finger_midpoint": [
+              0.27925753585153723,
+              0.21147221382982123,
+              1.1031221055145846
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1031221055145846,
+            "object_top_z": 1.2281306121348643,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27925753585153723,
+            0.21147221382982123,
+            1.1031221055145846
+          ],
+          "object_origin_world": [
+            0.27925753585153723,
+            0.21147221382982123,
+            1.1031221055145846
+          ],
+          "frame_world": [
+            0.2792575077976247,
+            0.21147216614706332,
+            1.1031220364249166
+          ],
+          "center_minus_frame": [
+            2.8053912526360136e-08,
+            4.768275790878462e-08,
+            6.908966798668814e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436578598531718,
+            "required_z": 0.9112599857705197,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00191392580421543,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.151706882264839e-08,
+            "max_target_xy_drift": 2.8904557818701557e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.4829498852794414,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.483174631123158,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2745872520659375,
+              -0.36395689266304654,
+              0.9233531371670193
+            ],
+            "target_mouth_xy": [
+              0.2736643274448378,
+              -0.3656169994330995
+            ],
+            "rod_tip_z": 0.9233531371670193,
+            "rod_tip_depth": -0.022093244921981503,
+            "rod_tip_bottom_clearance": 0.12153380777800349,
+            "rod_tip_xy_dist": 0.0018994063136168707,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04507575286924137,
+            "min_rod_tip_bottom_clearance": 0.054364859640408714,
+            "min_rod_tip_xy_dist": 5.2628800358129765e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27366435791444677,
+              -0.36561702763363024
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.0469608947036875e-08,
+              2.8200530743927033e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0014288299030633667,
+                0.003336308656591791
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013257334498957274,
+                0.0030072972375319584
+              ],
+              "first_target_mouth_xy": [
+                0.273664415804583,
+                -0.365617002365829
+              ],
+              "last_target_mouth_xy": [
+                0.27366435606276707,
+                -0.3656169994816711
+              ],
+              "first_rod_tip_xy": [
+                0.27509324570764637,
+                -0.3622806937092372
+              ],
+              "last_rod_tip_xy": [
+                0.2749900895126628,
+                -0.36260970224413913
+              ],
+              "min_rod_tip_xy_dist": 0.00328654923210345,
+              "max_rod_tip_xy_dist": 0.003629395313814326,
+              "first_target_xy_drift": 6.316430679925454e-08,
+              "last_target_xy_drift": 2.821279004003094e-08,
+              "max_depth": 0.01938622261169909,
+              "min_bottom_clearance": 0.08005429547809417
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0014288299030633667,
+                  0.003336308656591791
+                ],
+                "rod_tip_xy": [
+                  0.27509324570764637,
+                  -0.3622806937092372
+                ],
+                "target_mouth_xy": [
+                  0.273664415804583,
+                  -0.365617002365829
+                ],
+                "gripper_position": [
+                  0.275082525670988,
+                  -0.36228845521804487,
+                  1.0058235516206488
+                ],
+                "rod_tip_xy_dist": 0.003629395313814326,
+                "target_xy_drift": 6.316430679925454e-08,
+                "depth": 0.015290127288671074,
+                "bottom_clearance": 0.08415045294778933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0014181114388536198,
+                  0.003328513906269537
+                ],
+                "rod_tip_xy": [
+                  0.275082525670988,
+                  -0.36228845521804487
+                ],
+                "target_mouth_xy": [
+                  0.2736644142321344,
+                  -0.3656169691243144
+                ],
+                "gripper_position": [
+                  0.27507431535359006,
+                  -0.36229070532792673,
+                  1.0056955556868101
+                ],
+                "rod_tip_xy_dist": 0.003618016704941697,
+                "target_xy_drift": 8.120974066607608e-08,
+                "depth": 0.015436310494245653,
+                "bottom_clearance": 0.08400425308698223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0014099282027508764,
+                  0.0033262656234007704
+                ],
+                "rod_tip_xy": [
+                  0.27507431535359006,
+                  -0.36229070532792673
+                ],
+                "target_mouth_xy": [
+                  0.2736643871508392,
+                  -0.3656169709513275
+                ],
+                "gripper_position": [
+                  0.27508182792627767,
+                  -0.36235664679146856,
+                  1.0051711979638815
+                ],
+                "rod_tip_xy_dist": 0.003612746951328038,
+                "target_xy_drift": 6.377813171909098e-08,
+                "depth": 0.015564341462400155,
+                "bottom_clearance": 0.0838762316738676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001417477012510271,
+                  0.0032602485333822484
+                ],
+                "rod_tip_xy": [
+                  0.27508182792627767,
+                  -0.3623566467914685
+                ],
+                "target_mouth_xy": [
+                  0.2736643509137674,
+                  -0.36561689532485075
+                ],
+                "gripper_position": [
+                  0.2750708568358676,
+                  -0.3623644083418777,
+                  1.0050252142174354
+                ],
+                "rod_tip_xy_dist": 0.0035550614031850626,
+                "target_xy_drift": 1.3249385888122966e-07,
+                "depth": 0.016088628349527956,
+                "bottom_clearance": 0.08335188113001235,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014064688219482813,
+                  0.0032525911053746803
+                ],
+                "rod_tip_xy": [
+                  0.2750708568358676,
+                  -0.3623644083418778
+                ],
+                "target_mouth_xy": [
+                  0.27366438801391935,
+                  -0.36561699944725246
+                ],
+                "gripper_position": [
+                  0.275062584278041,
+                  -0.36236610047669465,
+                  1.0048974278791258
+                ],
+                "rod_tip_xy_dist": 0.003543656790079292,
+                "target_xy_drift": 4.123651467361551e-08,
+                "depth": 0.0162346843998894,
+                "bottom_clearance": 0.08320591287198165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013982300224159028,
+                  0.0032509006892440517
+                ],
+                "rod_tip_xy": [
+                  0.275062584278041,
+                  -0.3623661004766946
+                ],
+                "target_mouth_xy": [
+                  0.2736643542556251,
+                  -0.36561700116593865
+                ],
+                "gripper_position": [
+                  0.27507095922204583,
+                  -0.3624335556702342,
+                  1.0043743074964697
+                ],
+                "rod_tip_xy_dist": 0.0035388419697568617,
+                "target_xy_drift": 2.6719387614121658e-08,
+                "depth": 0.016362446568891298,
+                "bottom_clearance": 0.08307813025007549,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014065702830626803,
+                  0.0031834107521739874
+                ],
+                "rod_tip_xy": [
+                  0.27507095922204583,
+                  -0.3624335556702343
+                ],
+                "target_mouth_xy": [
+                  0.27366438893898315,
+                  -0.36561696642240826
+                ],
+                "gripper_position": [
+                  0.2750597829135935,
+                  -0.36244128141043963,
+                  1.0042281944781728
+                ],
+                "rod_tip_xy_dist": 0.0034803080292198246,
+                "target_xy_drift": 6.862459875401452e-08,
+                "depth": 0.01688565649966789,
+                "bottom_clearance": 0.08255509674631412,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013954287293744816,
+                  0.0031757203357207775
+                ],
+                "rod_tip_xy": [
+                  0.27505978291359356,
+                  -0.36244128141043974
+                ],
+                "target_mouth_xy": [
+                  0.2736643541842191,
+                  -0.3656170017461605
+                ],
+                "gripper_position": [
+                  0.2750514691984982,
+                  -0.3624427661264945,
+                  1.0041004400466904
+                ],
+                "rod_tip_xy_dist": 0.003468778025396576,
+                "target_xy_drift": 2.61548406082551e-08,
+                "depth": 0.017031693483077093,
+                "bottom_clearance": 0.08240890796220268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013870824343911181,
+                  0.0031742327148810423
+                ],
+                "rod_tip_xy": [
+                  0.2750514691984982,
+                  -0.3624427661264946
+                ],
+                "target_mouth_xy": [
+                  0.2736643867641071,
+                  -0.36561699884137566
+                ],
+                "gripper_position": [
+                  0.2750431290352394,
+                  -0.36244447865647694,
+                  1.003972842361626
+                ],
+                "rod_tip_xy_dist": 0.0034640656760542895,
+                "target_xy_drift": 4.0759009124767504e-08,
+                "depth": 0.017159401467171764,
+                "bottom_clearance": 0.08228117352756759,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013787435955733285,
+                  0.003172519901758708
+                ],
+                "rod_tip_xy": [
+                  0.2750431290352394,
+                  -0.362444478656477
+                ],
+                "target_mouth_xy": [
+                  0.2736643854396661,
+                  -0.3656169985582357
+                ],
+                "gripper_position": [
+                  0.275052906220976,
+                  -0.3625141988973372,
+                  1.0034501466136392
+                ],
+                "rod_tip_xy_dist": 0.0034591641229333933,
+                "target_xy_drift": 4.00376855774182e-08,
+                "depth": 0.017286935628764488,
+                "bottom_clearance": 0.08215360212881218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013884877142971153,
+                  0.003102768787334842
+                ],
+                "rod_tip_xy": [
+                  0.275052906220976,
+                  -0.36251419889733727
+                ],
+                "target_mouth_xy": [
+                  0.2736644185066789,
+                  -0.3656169676846721
+                ],
+                "gripper_position": [
+                  0.27504178795244943,
+                  -0.3625218795696737,
+                  1.0033044380646927
+                ],
+                "rod_tip_xy_dist": 0.0033992752581121395,
+                "target_xy_drift": 8.523670673103054e-08,
+                "depth": 0.01780979264983129,
+                "bottom_clearance": 0.08163090412601837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013774028960987228,
+                  0.003095120590394962
+                ],
+                "rod_tip_xy": [
+                  0.27504178795244943,
+                  -0.36252187956967374
+                ],
+                "target_mouth_xy": [
+                  0.2736643850563507,
+                  -0.3656170001600687
+                ],
+                "gripper_position": [
+                  0.2750332791567852,
+                  -0.36252349188897914,
+                  1.0031765299322262
+                ],
+                "rod_tip_xy_dist": 0.0033877736357773385,
+                "target_xy_drift": 3.861967805881328e-08,
+                "depth": 0.01795538727574697,
+                "bottom_clearance": 0.08148511515913182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001368892179102632,
+                  0.0030934764959131833
+                ],
+                "rod_tip_xy": [
+                  0.2750332791567852,
+                  -0.36252349188897914
+                ],
+                "target_mouth_xy": [
+                  0.2736643869776826,
+                  -0.3656169683848923
+                ],
+                "gripper_position": [
+                  0.2750246800650744,
+                  -0.3625252974266812,
+                  1.0030490605721274
+                ],
+                "rod_tip_xy_dist": 0.0033828187401597,
+                "target_xy_drift": 6.599306494497956e-08,
+                "depth": 0.01808338463399428,
+                "bottom_clearance": 0.0813572229550279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013603242994544296,
+                  0.003091701427293203
+                ],
+                "rod_tip_xy": [
+                  0.2750246800650744,
+                  -0.36252529742668116
+                ],
+                "target_mouth_xy": [
+                  0.27366435576562,
+                  -0.36561699885397436
+                ],
+                "gripper_position": [
+                  0.27503610197209893,
+                  -0.36259638099849145,
+                  1.0025295674282795
+                ],
+                "rod_tip_xy_dist": 0.00337773591555246,
+                "target_xy_drift": 2.885976523039326e-08,
+                "depth": 0.018210712884231484,
+                "bottom_clearance": 0.0812298182854232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013717131795380477,
+                  0.003020616810657406
+                ],
+                "rod_tip_xy": [
+                  0.275036101972099,
+                  -0.36259638099849145
+                ],
+                "target_mouth_xy": [
+                  0.27366438879256094,
+                  -0.36561699780914886
+                ],
+                "gripper_position": [
+                  0.27502466089447386,
+                  -0.3626043003180444,
+                  1.002383684692353
+                ],
+                "rod_tip_xy_dist": 0.0033174874474132528,
+                "target_xy_drift": 4.29296823301286e-08,
+                "depth": 0.01873036654189797,
+                "bottom_clearance": 0.08071032119015065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013602745491306245,
+                  0.0030127001370905404
+                ],
+                "rod_tip_xy": [
+                  0.2750246608944739,
+                  -0.36260430031804447
+                ],
+                "target_mouth_xy": [
+                  0.2736643863453433,
+                  -0.365617000455135
+                ],
+                "gripper_position": [
+                  0.27501619076129313,
+                  -0.36260536990800446,
+                  1.0022564739535116
+                ],
+                "rod_tip_xy_dist": 0.0033055572850939803,
+                "target_xy_drift": 3.933174901211842e-08,
+                "depth": 0.018876140393717544,
+                "bottom_clearance": 0.08056439011828165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013517731014813794,
+                  0.00301159749323493
+                ],
+                "rod_tip_xy": [
+                  0.27501619076129313,
+                  -0.3626053699080045
+                ],
+                "target_mouth_xy": [
+                  0.27366441765981175,
+                  -0.36561696740123945
+                ],
+                "gripper_position": [
+                  0.27500752885796187,
+                  -0.3626067320528138,
+                  1.002128841585022
+                ],
+                "rod_tip_xy_dist": 0.0033010619471841936,
+                "target_xy_drift": 8.483778367435254e-08,
+                "depth": 0.01900352428137808,
+                "bottom_clearance": 0.08043715256946304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013431730419454224,
+                  0.0030102668322201653
+                ],
+                "rod_tip_xy": [
+                  0.27500752885796187,
+                  -0.3626067320528138
+                ],
+                "target_mouth_xy": [
+                  0.27366435581601645,
+                  -0.36561699888503396
+                ],
+                "gripper_position": [
+                  0.2749988257659768,
+                  -0.36260835110251655,
+                  1.0020012501936875
+                ],
+                "rod_tip_xy_dist": 0.003296334361343483,
+                "target_xy_drift": 2.882507932248902e-08,
+                "depth": 0.01913099125358364,
+                "bottom_clearance": 0.0803095405621882,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001334437892995144,
+                  0.0030086489629644886
+                ],
+                "rod_tip_xy": [
+                  0.2749988257659768,
+                  -0.36260835110251666
+                ],
+                "target_mouth_xy": [
+                  0.27366438787298164,
+                  -0.36561700006548115
+                ],
+                "gripper_position": [
+                  0.2749900895126628,
+                  -0.3626097022441391,
+                  1.0018736009975298
+                ],
+                "rod_tip_xy_dist": 0.003291305678998627,
+                "target_xy_drift": 4.0712610533954565e-08,
+                "depth": 0.019258701154328706,
+                "bottom_clearance": 0.08018187835359558,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0013257334498957274,
+                  0.0030072972375319584
+                ],
+                "rod_tip_xy": [
+                  0.2749900895126628,
+                  -0.36260970224413913
+                ],
+                "target_mouth_xy": [
+                  0.27366435606276707,
+                  -0.3656169994816711
+                ],
+                "gripper_position": [
+                  0.2749814619236961,
+                  -0.36261107498872813,
+                  1.0017462952679732
+                ],
+                "rod_tip_xy_dist": 0.00328654923210345,
+                "target_xy_drift": 2.821279004003094e-08,
+                "depth": 0.01938622261169909,
+                "bottom_clearance": 0.08005429547809417,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000601237010341863,
+              "rod_tip_xy_max_step": 3.253768587704628e-05,
+              "rod_tip_xy_range": 0.0006012319939957797,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2745872520659375,
+            -0.36395689266304654,
+            1.0433531371670193
+          ],
+          "object_origin_world": [
+            0.2745872520659375,
+            -0.36395689266304654,
+            1.0433531371670193
+          ],
+          "frame_world": [
+            0.2746121758647328,
+            -0.36395426212463966,
+            1.0436578598531718
+          ],
+          "center_minus_frame": [
+            -2.4923798795317698e-05,
+            -2.6305384068781024e-06,
+            -0.0003047226861525587
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2631992046716023,
+              0.16502593134857868,
+              0.8306535042463815
+            ],
+            "target_position": [
+              0.27959847218156675,
+              0.21067387912203606,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04850434115408298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16778325855453352,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8306535042463815,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670558671171,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13818166656520214,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bfcc608c24ee15c76a4862d47b35131191d9e9416cf1797c639e1ba6d1d0b0c",
+    "visual_seed": 232208832681780494,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e96f6f7c1ed1a211b82e2bc2e92ca21a5c2dd6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_77_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19839368383550315,
+              -0.11247146156252455,
+              1.1647418968429215
+            ],
+            "current_z": 1.1647418968429215,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3036352100142211,
+            "gripper_z": 1.1586597138495147,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19390417620496508,
+              -0.11715372561221347,
+              1.1586597138495147
+            ],
+            "object_minus_gripper": [
+              0.00448950763053807,
+              0.004682264049688925,
+              0.006082182993406793
+            ],
+            "object_to_gripper_xy": 0.006486854044578843,
+            "object_to_gripper_z": 0.006082182993406793,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19839368383550315,
+              -0.1359888968325007,
+              1.1647418968429215
+            ],
+            "finger_b": [
+              0.18745284892483416,
+              -0.11247146156252455,
+              1.1647418968429215
+            ],
+            "finger_midpoint": [
+              0.19292326638016866,
+              -0.12423017919751263,
+              1.1647418968429215
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054704174553344975,
+              0.011758717634988078,
+              0.0
+            ],
+            "finger_gap": 0.025937841664641872,
+            "fingertip_max_gap": 0.0921587924725914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012968920832320936,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647418968429215,
+            "object_top_z": 1.2146618455237843,
+            "finger_top_clearance": 0.0499199486808628,
+            "fingertip_min_top_clearance": 0.014975984604258807,
+            "object_projection_between_fingers": 0.822076521711588,
+            "object_to_finger_line_xy": 0.009919883856870851,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485793962362957,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9403939706240905,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2751285688556874,
+              -0.3655214771231644,
+              0.851539653222793
+            ],
+            "target_position": [
+              0.2676942795377161,
+              -0.36623706836043235,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007468649709429252,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18476118579250336,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539653222793,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565050867835894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616979823232514,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523561764894798,
+            "release_required_pad_clearance": 0.05308489911616257,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.198103460383553,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007683277130126953,
+            "max_z_decrease": 0.007683277130126953,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035113380974771805,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007683277130126953,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021078931115531743,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007683277130126953,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007683297448576358,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1233942061662674,
+              -0.4224985241889953,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1233942061662674,
+              -0.4224985241889953,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12207017372654275,
+              -0.4224117405385842,
+              0.807918999067857
+            ],
+            "closest_button": [
+              0.12338405847549438,
+              -0.42249512672424316,
+              0.7728303074836731
+            ],
+            "closest_ee_minus_button": [
+              -0.001313884748951638,
+              8.338618565895128e-05,
+              0.03508869158418393
+            ],
+            "button_min_z_position": [
+              0.12337697297334672,
+              -0.4224946200847625,
+              0.7691255807876587
+            ],
+            "min_active_finger_to_button": 0.14730449714223492,
+            "closest_active_finger": [
+              -0.005965180695056915,
+              -0.4840332567691803,
+              0.8106518983840942
+            ],
+            "closest_active_finger_button": [
+              0.12339451164007188,
+              -0.4224982857704162,
+              0.7763279676437378
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12935969233512878,
+              -0.061534970998764094,
+              0.034323930740356445
+            ],
+            "min_contact_pad_to_button": 0.021078931115531743,
+            "closest_contact_pad": [
+              0.12337697297334672,
+              -0.4236599884475459,
+              0.7901722730111972
+            ],
+            "closest_contact_pad_button": [
+              0.12337697297334672,
+              -0.4224946200847625,
+              0.7691255807876587
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011653683627833589,
+              0.0210466922235385
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.279742241710825,
+              0.20802092734434216,
+              1.1042509082823115
+            ],
+            "current_z": 1.1042509082823115,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19434177854794898,
+            "gripper_z": 1.1042509082823118,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2797422417108252,
+              0.20802092734434213,
+              1.1042509082823118
+            ],
+            "object_minus_gripper": [
+              -1.6653345369377348e-16,
+              2.7755575615628914e-17,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 1.6883057536160649e-16,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.279742241710825,
+              0.20802092734434216,
+              1.1042509082823115
+            ],
+            "finger_b": [
+              0.279742241710825,
+              0.20802092734434216,
+              1.1042509082823115
+            ],
+            "finger_midpoint": [
+              0.279742241710825,
+              0.20802092734434216,
+              1.1042509082823115
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042509082823115,
+            "object_top_z": 1.2292594149025913,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27974224171082507,
+            0.20802092734434213,
+            1.1042509082823118
+          ],
+          "object_origin_world": [
+            0.27974224171082507,
+            0.20802092734434213,
+            1.1042509082823118
+          ],
+          "frame_world": [
+            0.2797422417108252,
+            0.20802092734434213,
+            1.1042509082823118
+          ],
+          "center_minus_frame": [
+            -1.1102230246251565e-16,
+            0.0,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043654662325268,
+            "required_z": 0.9112598678126281,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00018741997246606457,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.301812695155797e-08,
+            "max_target_xy_drift": 1.534519017652076e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1981034604471361,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1981034642627075,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2752634303401453,
+              -0.3656223922107784,
+              0.9233504890519587
+            ],
+            "target_mouth_xy": [
+              0.27512847940741114,
+              -0.36552147618354447
+            ],
+            "rod_tip_z": 0.9233504890519587,
+            "rod_tip_depth": -0.022090518142915516,
+            "rod_tip_bottom_clearance": 0.12153115302752682,
+            "rod_tip_xy_dist": 0.00016851053023029462,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044952757710966296,
+            "min_rod_tip_bottom_clearance": 0.054488143079404194,
+            "min_rod_tip_xy_dist": 8.376136546306493e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27512853681704025,
+              -0.3655214501947236
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.740962910616432e-08,
+              -2.598882087312404e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0006692906133866638,
+                0.0016560180377699352
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005616742715157663,
+                0.0013112219108725176
+              ],
+              "first_target_mouth_xy": [
+                0.27512847750561825,
+                -0.36552147683362013
+              ],
+              "last_target_mouth_xy": [
+                0.2751284789793455,
+                -0.36552144733373826
+              ],
+              "first_rod_tip_xy": [
+                0.2757977681190049,
+                -0.3638654587958502
+              ],
+              "last_rod_tip_xy": [
+                0.27569015325086127,
+                -0.36421022542286574
+              ],
+              "min_rod_tip_xy_dist": 0.0014264574605767054,
+              "max_rod_tip_xy_dist": 0.001786153875394526,
+              "first_target_xy_drift": 6.501904019353442e-08,
+              "last_target_xy_drift": 5.7908411914656425e-08,
+              "max_depth": 0.01939174221563078,
+              "min_bottom_clearance": 0.08004884307889293
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0006692906133866638,
+                  0.0016560180377699352
+                ],
+                "rod_tip_xy": [
+                  0.2757977681190049,
+                  -0.3638654587958502
+                ],
+                "target_mouth_xy": [
+                  0.27512847750561825,
+                  -0.36552147683362013
+                ],
+                "gripper_position": [
+                  0.27578708903899163,
+                  -0.36387379945995296,
+                  1.005831207900661
+                ],
+                "rod_tip_xy_dist": 0.001786153875394526,
+                "target_xy_drift": 6.501904019353442e-08,
+                "depth": 0.0152815921557089,
+                "bottom_clearance": 0.08415894720932682,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0006585800712300971,
+                  0.0016476767201408782
+                ],
+                "rod_tip_xy": [
+                  0.27578708903899146,
+                  -0.3638737994599529
+                ],
+                "target_mouth_xy": [
+                  0.27512850896776136,
+                  -0.3655214761800938
+                ],
+                "gripper_position": [
+                  0.2757788848747798,
+                  -0.36387580216029086,
+                  1.0057023996774968
+                ],
+                "rod_tip_xy_dist": 0.001774419985323554,
+                "target_xy_drift": 3.808965473930196e-08,
+                "depth": 0.01542876122890624,
+                "bottom_clearance": 0.08401186464740207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0006504073354041129,
+                  0.0016456740398801406
+                ],
+                "rod_tip_xy": [
+                  0.27577888487477964,
+                  -0.3638758021602909
+                ],
+                "target_mouth_xy": [
+                  0.2751284775393755,
+                  -0.36552147620017106
+                ],
+                "gripper_position": [
+                  0.27578508190591244,
+                  -0.3639450825354081,
+                  1.0051771492692823
+                ],
+                "rod_tip_xy_dist": 0.0017695402644424063,
+                "target_xy_drift": 6.473117357587105e-08,
+                "depth": 0.015557437511844241,
+                "bottom_clearance": 0.08388312626252092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006565408081763424,
+                  0.0015763644713353564
+                ],
+                "rod_tip_xy": [
+                  0.27578508190591233,
+                  -0.363945082535408
+                ],
+                "target_mouth_xy": [
+                  0.275128541097736,
+                  -0.3655214470067434
+                ],
+                "gripper_position": [
+                  0.2757742174436252,
+                  -0.363953034138541,
+                  1.0050300687215243
+                ],
+                "rod_tip_xy_dist": 0.0017076213805434864,
+                "target_xy_drift": 5.337375186151431e-09,
+                "depth": 0.016082766645160618,
+                "bottom_clearance": 0.083357924149847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006457398152512894,
+                  0.0015684414431156313
+                ],
+                "rod_tip_xy": [
+                  0.27577421744362507,
+                  -0.36395303413854097
+                ],
+                "target_mouth_xy": [
+                  0.2751284776283738,
+                  -0.3655214755816566
+                ],
+                "gripper_position": [
+                  0.27576601877674345,
+                  -0.3639550547102455,
+                  1.0049014093945008
+                ],
+                "rod_tip_xy_dist": 0.001696168762088081,
+                "target_xy_drift": 6.440337417731649e-08,
+                "depth": 0.01622978029566069,
+                "bottom_clearance": 0.08321080943066927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006374485674470187,
+                  0.0015663910346720988
+                ],
+                "rod_tip_xy": [
+                  0.27576601877674334,
+                  -0.36395505471024536
+                ],
+                "target_mouth_xy": [
+                  0.2751285702092963,
+                  -0.36552144574491746
+                ],
+                "gripper_position": [
+                  0.2757732229718538,
+                  -0.36402561014759105,
+                  1.0043777460663443
+                ],
+                "rod_tip_xy_dist": 0.0016911302580349583,
+                "target_xy_drift": 3.3687438907861986e-08,
+                "depth": 0.016358524004329245,
+                "bottom_clearance": 0.08308218679280144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006447173120920358,
+                  0.0014958375504131038
+                ],
+                "rod_tip_xy": [
+                  0.2757732229718537,
+                  -0.36402561014759105
+                ],
+                "target_mouth_xy": [
+                  0.27512850565976166,
+                  -0.36552144769800415
+                ],
+                "gripper_position": [
+                  0.27576230625126236,
+                  -0.3640335378763062,
+                  1.0042313031653758
+                ],
+                "rod_tip_xy_dist": 0.001628861685268904,
+                "target_xy_drift": 3.1257153055562244e-08,
+                "depth": 0.016882084789209495,
+                "bottom_clearance": 0.08255842781611955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006337671240560505,
+                  0.0014879075583493773
+                ],
+                "rod_tip_xy": [
+                  0.27576230625126225,
+                  -0.3640335378763061
+                ],
+                "target_mouth_xy": [
+                  0.2751285391272062,
+                  -0.3655214454346555
+                ],
+                "gripper_position": [
+                  0.2757538442287883,
+                  -0.3640352767079701,
+                  1.0041027317038331
+                ],
+                "rod_tip_xy_dist": 0.0016172599264581693,
+                "target_xy_drift": 5.291041030591848e-09,
+                "depth": 0.01702868568671867,
+                "bottom_clearance": 0.08241198812398964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006253671171034814,
+                  0.0014861995061922206
+                ],
+                "rod_tip_xy": [
+                  0.2757538442287882,
+                  -0.36403527670797
+                ],
+                "target_mouth_xy": [
+                  0.2751284771116847,
+                  -0.3655214762141622
+                ],
+                "gripper_position": [
+                  0.2757455600800721,
+                  -0.36403706402516967,
+                  1.003974063229534
+                ],
+                "rod_tip_xy_dist": 0.0016124121691925796,
+                "target_xy_drift": 6.512864704888165e-08,
+                "depth": 0.01715710198204623,
+                "bottom_clearance": 0.08228344514419561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006170517419014643,
+                  0.0014843829907665307
+                ],
+                "rod_tip_xy": [
+                  0.27574556008007195,
+                  -0.36403706402516967
+                ],
+                "target_mouth_xy": [
+                  0.2751285083381705,
+                  -0.3655214470159362
+                ],
+                "gripper_position": [
+                  0.2757542187961161,
+                  -0.36411011131957316,
+                  1.003450604280165
+                ],
+                "rod_tip_xy_dist": 0.0016075278272741102,
+                "target_xy_drift": 2.865572739051489e-08,
+                "depth": 0.017285830001123048,
+                "bottom_clearance": 0.08215474880304885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006257437503540686,
+                  0.0014113363705753335
+                ],
+                "rod_tip_xy": [
+                  0.27575421879611595,
+                  -0.36411011131957305
+                ],
+                "target_mouth_xy": [
+                  0.2751284750457619,
+                  -0.3655214476901484
+                ],
+                "gripper_position": [
+                  0.27574294514786757,
+                  -0.3641183255819083,
+                  1.0033041398541707
+                ],
+                "rod_tip_xy_dist": 0.0015438347035923016,
+                "target_xy_drift": 6.182203271071256e-08,
+                "depth": 0.017809250877572347,
+                "bottom_clearance": 0.0816312920513288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006144343606743208,
+                  0.0014031230059711186
+                ],
+                "rod_tip_xy": [
+                  0.2757429451478674,
+                  -0.3641183255819084
+                ],
+                "target_mouth_xy": [
+                  0.2751285107871931,
+                  -0.3655214485878795
+                ],
+                "gripper_position": [
+                  0.2757343631487214,
+                  -0.36411989848497595,
+                  1.0031757355530715
+                ],
+                "rod_tip_xy_dist": 0.0015317583861244857,
+                "target_xy_drift": 2.607939591871846e-08,
+                "depth": 0.017955790582770415,
+                "bottom_clearance": 0.08148491706333638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006058847993594685,
+                  0.0014015777227899817
+                ],
+                "rod_tip_xy": [
+                  0.27573436314872124,
+                  -0.36411989848497595
+                ],
+                "target_mouth_xy": [
+                  0.27512847834936177,
+                  -0.3655214762077659
+                ],
+                "gripper_position": [
+                  0.2757260806537753,
+                  -0.3641214162108077,
+                  1.0030473260775368
+                ],
+                "rod_tip_xy_dist": 0.001526930418557445,
+                "target_xy_drift": 6.399334182367443e-08,
+                "depth": 0.018084167263760165,
+                "bottom_clearance": 0.08135642679937627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005975723907312158,
+                  0.0014000333623195305
+                ],
+                "rod_tip_xy": [
+                  0.2757260806537752,
+                  -0.3641214162108076
+                ],
+                "target_mouth_xy": [
+                  0.27512850826304397,
+                  -0.36552144957312716
+                ],
+                "gripper_position": [
+                  0.27573602661004587,
+                  -0.3641961490885187,
+                  1.0025275659437523
+                ],
+                "rod_tip_xy_dist": 0.001522230658531075,
+                "target_xy_drift": 2.8560761292561636e-08,
+                "depth": 0.018212600758659603,
+                "bottom_clearance": 0.08122804235941428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000607548613553277,
+                  0.001325327754287564
+                ],
+                "rod_tip_xy": [
+                  0.27573602661004576,
+                  -0.3641961490885187
+                ],
+                "target_mouth_xy": [
+                  0.2751284779964925,
+                  -0.3655214768428063
+                ],
+                "gripper_position": [
+                  0.27572466306583465,
+                  -0.36420407778566377,
+                  1.0023810316043804
+                ],
+                "rod_tip_xy_dist": 0.0014579468351470937,
+                "target_xy_drift": 6.45753602410189e-08,
+                "depth": 0.01873226313731513,
+                "bottom_clearance": 0.08070829441525185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0005961530726171227,
+                  0.0013174009281052834
+                ],
+                "rod_tip_xy": [
+                  0.2757246630658345,
+                  -0.36420407778566377
+                ],
+                "target_mouth_xy": [
+                  0.27512850999321736,
+                  -0.36552147871376905
+                ],
+                "gripper_position": [
+                  0.27571604445564135,
+                  -0.3642057301105193,
+                  1.002252768197004
+                ],
+                "rod_tip_xy_dist": 0.001446009575128567,
+                "target_xy_drift": 3.915167209758834e-08,
+                "depth": 0.018878897945143858,
+                "bottom_clearance": 0.08056178988743878,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0005875361033549908,
+                  0.0013157464115723938
+                ],
+                "rod_tip_xy": [
+                  0.2757160444556412,
+                  -0.36420573011051927
+                ],
+                "target_mouth_xy": [
+                  0.2751285083522862,
+                  -0.36552147652209166
+                ],
+                "gripper_position": [
+                  0.27570745278075226,
+                  -0.36420720361006326,
+                  1.0021245317769154
+                ],
+                "rod_tip_xy_dist": 0.001440967484820944,
+                "target_xy_drift": 3.877334822388692e-08,
+                "depth": 0.019007130479554823,
+                "bottom_clearance": 0.08043345967394344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005789463912912463,
+                  0.0013142456640039546
+                ],
+                "rod_tip_xy": [
+                  0.2757074527807521,
+                  -0.3642072036100632
+                ],
+                "target_mouth_xy": [
+                  0.27512850638946085,
+                  -0.36552144927406716
+                ],
+                "gripper_position": [
+                  0.27569883110905974,
+                  -0.36420878022086445,
+                  1.0019962837049583
+                ],
+                "rod_tip_xy_dist": 0.0014361130141261002,
+                "target_xy_drift": 3.044150450381592e-08,
+                "depth": 0.019135314544505455,
+                "bottom_clearance": 0.0803052446878858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005703227596085547,
+                  0.0013126674352336165
+                ],
+                "rod_tip_xy": [
+                  0.27569883110905957,
+                  -0.36420878022086445
+                ],
+                "target_mouth_xy": [
+                  0.275128508349451,
+                  -0.36552144765609806
+                ],
+                "gripper_position": [
+                  0.27569015325086144,
+                  -0.36421022542286574,
+                  1.0018681493396848
+                ],
+                "rod_tip_xy_dist": 0.001431210622392916,
+                "target_xy_drift": 2.8580557310529664e-08,
+                "depth": 0.019263669555763197,
+                "bottom_clearance": 0.08017691005176253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005616742715157663,
+                  0.0013112219108725176
+                ],
+                "rod_tip_xy": [
+                  0.27569015325086127,
+                  -0.36421022542286574
+                ],
+                "target_mouth_xy": [
+                  0.2751284789793455,
+                  -0.36552144733373826
+                ],
+                "gripper_position": [
+                  0.27568155544201367,
+                  -0.36421168143013116,
+                  1.001739988706996
+                ],
+                "rod_tip_xy_dist": 0.0014264574605767054,
+                "target_xy_drift": 5.7908411914656425e-08,
+                "depth": 0.01939174221563078,
+                "bottom_clearance": 0.08004884307889293,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006002933982345039,
+              "rod_tip_xy_max_step": 3.257049129462501e-05,
+              "rod_tip_xy_range": 0.0006002857429986087,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27526343034014533,
+            -0.3656223922107784,
+            1.0433504890519587
+          ],
+          "object_origin_world": [
+            0.27526343034014533,
+            -0.3656223922107784,
+            1.0433504890519587
+          ],
+          "frame_world": [
+            0.2752883346950096,
+            -0.3656193155064469,
+            1.043654662325268
+          ],
+          "center_minus_frame": [
+            -2.4904354864241363e-05,
+            -3.0767043315282905e-06,
+            -0.0003041732733093383
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.265561731262387,
+              0.16198630194724853,
+              0.8315449580593708
+            ],
+            "target_position": [
+              0.28014037804733777,
+              0.20784883360142126,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048123889616388554,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1679211555469438,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315449580593708,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671609680429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13731474168651037,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "baaf47f07438457e5693a73b3d1c313a5c79a4c5beb79982b01eac844c302cbf",
+    "visual_seed": 3634625055064003824,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ed482205d8231b6f0c8d60536046d7be4b8413
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_79_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1965225807030037,
+              -0.11334748981536191,
+              1.1640438288050774
+            ],
+            "current_z": 1.1640438288050774,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3029372015810218,
+            "gripper_z": 1.1580312314515442,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19179256519707194,
+              -0.11794484853124088,
+              1.1580312314515442
+            ],
+            "object_minus_gripper": [
+              0.004730015505931773,
+              0.004597358715878963,
+              0.006012597353533211
+            ],
+            "object_to_gripper_xy": 0.0065961165733197345,
+            "object_to_gripper_z": 0.006012597353533211,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1965225807030037,
+              -0.13724600296985365,
+              1.1640438288050774
+            ],
+            "finger_b": [
+              0.18601853705959565,
+              -0.11334748981536191,
+              1.1640438288050774
+            ],
+            "finger_midpoint": [
+              0.19127055888129968,
+              -0.1252967463926078,
+              1.1640438288050774
+            ],
+            "object_minus_finger_midpoint": [
+              0.005252021821704034,
+              0.011949256577245881,
+              0.0
+            ],
+            "finger_gap": 0.02610505437378049,
+            "fingertip_max_gap": 0.09227226783523976,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013052527186890258,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640438288050774,
+            "object_top_z": 1.2140692093772747,
+            "finger_top_clearance": 0.0500253805721973,
+            "fingertip_min_top_clearance": 0.01500761417165919,
+            "object_projection_between_fingers": 0.8380936691570519,
+            "object_to_finger_line_xy": 0.009616184727792592,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863613391761988,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7609519319195615,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27284696893979843,
+              -0.37072124989121,
+              0.8515396055503934
+            ],
+            "target_position": [
+              0.26586335200664934,
+              -0.3710476447336823,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006991240166247982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18276055254798365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396055503934,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530592928419104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665657409699716,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15120503807143823,
+            "release_required_pad_clearance": 0.05332828704849858,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6739329358291553,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797569751739502,
+            "max_z_decrease": 0.00797569751739502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509780796468947,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797569751739502,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021104008129929647,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00797569751739502,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00797571626982898,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12156327813863751,
+              -0.42730909585952753,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12156327813863751,
+              -0.42730909585952753,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1216981933736665,
+              -0.4274398034573066,
+              0.8078306993754
+            ],
+            "closest_button": [
+              0.12155398726463315,
+              -0.42730411887168884,
+              0.7727334499359131
+            ],
+            "closest_ee_minus_button": [
+              0.00014420610903334574,
+              -0.00013568458561774577,
+              0.03509724943948689
+            ],
+            "button_min_z_position": [
+              0.12154623121023175,
+              -0.42730617523193354,
+              0.7688331604003906
+            ],
+            "min_active_finger_to_button": 0.14605857621016088,
+            "closest_active_finger": [
+              -0.01936458796262741,
+              -0.4103879928588867,
+              0.8111962676048279
+            ],
+            "closest_active_finger_button": [
+              0.12156769633293149,
+              -0.42730662226676935,
+              0.7767730355262756
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409322842955589,
+              0.016918629407882635,
+              0.034423232078552246
+            ],
+            "min_contact_pad_to_button": 0.021104008129929647,
+            "closest_contact_pad": [
+              0.12154623121023175,
+              -0.42855917781281455,
+              0.789899938599262
+            ],
+            "closest_contact_pad_button": [
+              0.12154623121023175,
+              -0.42730617523193354,
+              0.7688331604003906
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001253002580881013,
+              0.021066778198871372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27811450583428904,
+              0.21172177020898295,
+              1.1034095504090486
+            ],
+            "current_z": 1.1034095504090486,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1935004206746861,
+            "gripper_z": 1.103409663736646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2781145967777934,
+              0.211721722893158,
+              1.103409663736646
+            ],
+            "object_minus_gripper": [
+              -9.094350433835885e-08,
+              4.731582495254294e-08,
+              -1.1332759730642294e-07
+            ],
+            "object_to_gripper_xy": 1.0251589277902612e-07,
+            "object_to_gripper_z": -1.1332759730642294e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27811450583428904,
+              0.21172177020898295,
+              1.1034095504090486
+            ],
+            "finger_b": [
+              0.27811450583428904,
+              0.21172177020898295,
+              1.1034095504090486
+            ],
+            "finger_midpoint": [
+              0.27811450583428904,
+              0.21172177020898295,
+              1.1034095504090486
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1034095504090486,
+            "object_top_z": 1.2284180570293284,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27811450583428904,
+            0.21172177020898295,
+            1.1034095504090486
+          ],
+          "object_origin_world": [
+            0.27811450583428904,
+            0.21172177020898295,
+            1.1034095504090486
+          ],
+          "frame_world": [
+            0.2781145967777934,
+            0.211721722893158,
+            1.103409663736646
+          ],
+          "center_minus_frame": [
+            -9.094350433835885e-08,
+            4.731582495254294e-08,
+            -1.1332759730642294e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043291046844121,
+            "required_z": 0.9112598937826554,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026590062315281333,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.006309889913487e-08,
+            "max_target_xy_drift": 1.352519839266958e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6739329367154407,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6739329370721325,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2705601638361237,
+              -0.3693602070626324,
+              0.9234065743389076
+            ],
+            "target_mouth_xy": [
+              0.2728469381617966,
+              -0.370721249253523
+            ],
+            "rod_tip_z": 0.9234065743389076,
+            "rod_tip_depth": -0.022146682222978442,
+            "rod_tip_bottom_clearance": 0.12158723379911185,
+            "rod_tip_xy_dist": 0.0026611600218591114,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04480320912470426,
+            "min_rod_tip_bottom_clearance": 0.05463732756380402,
+            "min_rod_tip_xy_dist": 0.00022792525439595355,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2728469682248795,
+              -0.37072124922251903
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.006308291197968e-08,
+              -3.100397716337966e-11
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0016581666551298002,
+                0.0031182840186601
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017694016978965776,
+                0.0027066892361354844
+              ],
+              "first_target_mouth_xy": [
+                0.27284688005168334,
+                -0.37072121909692235
+              ],
+              "last_target_mouth_xy": [
+                0.27284693719330044,
+                -0.3707212194444729
+              ],
+              "first_rod_tip_xy": [
+                0.27118871339655354,
+                -0.36760293507826225
+              ],
+              "last_rod_tip_xy": [
+                0.27107753549540387,
+                -0.3680145302083374
+              ],
+              "min_rod_tip_xy_dist": 0.0032304691315599354,
+              "max_rod_tip_xy_dist": 0.0035334075596545893,
+              "first_target_xy_drift": 9.317759441900588e-08,
+              "last_target_xy_drift": 4.300803334693982e-08,
+              "max_depth": 0.019589130779694597,
+              "min_bottom_clearance": 0.07985138230902533
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0016581666551298002,
+                  0.0031182840186601
+                ],
+                "rod_tip_xy": [
+                  0.27118871339655354,
+                  -0.36760293507826225
+                ],
+                "target_mouth_xy": [
+                  0.27284688005168334,
+                  -0.37072121909692235
+                ],
+                "gripper_position": [
+                  0.271180817208203,
+                  -0.36760526016526907,
+                  1.006027799372747
+                ],
+                "rod_tip_xy_dist": 0.003531743461410431,
+                "target_xy_drift": 9.317759441900588e-08,
+                "depth": 0.015104601701399711,
+                "bottom_clearance": 0.08433599664574853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0016660626989460914,
+                  0.0031159595738399215
+                ],
+                "rod_tip_xy": [
+                  0.271180817208203,
+                  -0.36760526016526895
+                ],
+                "target_mouth_xy": [
+                  0.27284687990714906,
+                  -0.3707212197391089
+                ],
+                "gripper_position": [
+                  0.27118250517406617,
+                  -0.36767308729960874,
+                  1.0055017758777216
+                ],
+                "rod_tip_xy_dist": 0.0035334075596545893,
+                "target_xy_drift": 9.310903816779638e-08,
+                "depth": 0.01523210926918217,
+                "bottom_clearance": 0.08420850557469184,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001664373777671202,
+                  0.003048132450893193
+                ],
+                "rod_tip_xy": [
+                  0.2711825051740661,
+                  -0.36767308729960857
+                ],
+                "target_mouth_xy": [
+                  0.2728468789517373,
+                  -0.37072121975050176
+                ],
+                "gripper_position": [
+                  0.27117160825712044,
+                  -0.36768154917984236,
+                  1.0053560209535726
+                ],
+                "rod_tip_xy_dist": 0.0034729312561563395,
+                "target_xy_drift": 9.401219985951831e-08,
+                "depth": 0.015758124859263423,
+                "bottom_clearance": 0.08368245264898777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016752702945115883,
+                  0.003039700065608386
+                ],
+                "rod_tip_xy": [
+                  0.27117160825712044,
+                  -0.3676815491798423
+                ],
+                "target_mouth_xy": [
+                  0.27284687855163203,
+                  -0.3707212492454507
+                ],
+                "gripper_position": [
+                  0.27116369031959386,
+                  -0.367683622374766,
+                  1.0052289370977185
+                ],
+                "rod_tip_xy_dist": 0.003470779026174465,
+                "target_xy_drift": 8.96732504262986e-08,
+                "depth": 0.01590381136865915,
+                "bottom_clearance": 0.08353673971036124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016831581601615686,
+                  0.0030376592253171797
+                ],
+                "rod_tip_xy": [
+                  0.2711636903195938,
+                  -0.36768362237476593
+                ],
+                "target_mouth_xy": [
+                  0.2728468484797554,
+                  -0.3707212816000831
+                ],
+                "gripper_position": [
+                  0.271166032968188,
+                  -0.3677527336677504,
+                  1.0047034500590923
+                ],
+                "rod_tip_xy_dist": 0.0034728079361336763,
+                "target_xy_drift": 1.2404515876489758e-07,
+                "depth": 0.01603099749353809,
+                "bottom_clearance": 0.08340963116332667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016808473381476063,
+                  0.002968486381115909
+                ],
+                "rod_tip_xy": [
+                  0.2711660329681879,
+                  -0.3677527336677503
+                ],
+                "target_mouth_xy": [
+                  0.2728468803063355,
+                  -0.3707212200488662
+                ],
+                "gripper_position": [
+                  0.2711550808500809,
+                  -0.3677608218011656,
+                  1.0045582338936898
+                ],
+                "rod_tip_xy_dist": 0.003411328065289019,
+                "target_xy_drift": 9.26324586656547e-08,
+                "depth": 0.016556467425048682,
+                "bottom_clearance": 0.08288417389006497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0016917985096208121,
+                  0.002960398891013627
+                ],
+                "rod_tip_xy": [
+                  0.27115508085008083,
+                  -0.36776082180116554
+                ],
+                "target_mouth_xy": [
+                  0.27284687935970164,
+                  -0.37072122069217917
+                ],
+                "gripper_position": [
+                  0.2711470081585069,
+                  -0.36776279846883736,
+                  1.0044309079746692
+                ],
+                "rod_tip_xy_dist": 0.0034097131537814017,
+                "target_xy_drift": 9.333273880680358e-08,
+                "depth": 0.016701686891590906,
+                "bottom_clearance": 0.08273893928179155,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016998710808383555,
+                  0.002958451405153051
+                ],
+                "rod_tip_xy": [
+                  0.2711470081585069,
+                  -0.3677627984688373
+                ],
+                "target_mouth_xy": [
+                  0.27284687923934525,
+                  -0.37072124987399036
+                ],
+                "gripper_position": [
+                  0.2711502165204276,
+                  -0.3678327283792622,
+                  1.0039079345027604
+                ],
+                "rod_tip_xy_dist": 0.003412036988094153,
+                "target_xy_drift": 8.898791898342509e-08,
+                "depth": 0.016829000860064558,
+                "bottom_clearance": 0.08261159910992266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016966619877459288,
+                  0.002888520240155734
+                ],
+                "rod_tip_xy": [
+                  0.27115021652042753,
+                  -0.36783272837926206
+                ],
+                "target_mouth_xy": [
+                  0.27284687850817346,
+                  -0.3707212486194178
+                ],
+                "gripper_position": [
+                  0.2711391352731608,
+                  -0.3678408030430649,
+                  1.0037622047221906
+                ],
+                "rod_tip_xy_dist": 0.0033499568771032423,
+                "target_xy_drift": 8.97187331504677e-08,
+                "depth": 0.017351886421356877,
+                "bottom_clearance": 0.08208864129470173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017077427683070412,
+                  0.0028804462174362166
+                ],
+                "rod_tip_xy": [
+                  0.27113913527316075,
+                  -0.3678408030430649
+                ],
+                "target_mouth_xy": [
+                  0.2728468780414678,
+                  -0.3707212492605011
+                ],
+                "gripper_position": [
+                  0.27113077418718257,
+                  -0.36784278575455187,
+                  1.003635548206419
+                ],
+                "rod_tip_xy_dist": 0.0033486349120570914,
+                "target_xy_drift": 9.018341973673697e-08,
+                "depth": 0.017497683139707454,
+                "bottom_clearance": 0.08194284830936416,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017161053170753893,
+                  0.0028784628568785386
+                ],
+                "rod_tip_xy": [
+                  0.2711307741871825,
+                  -0.36784278575455176
+                ],
+                "target_mouth_xy": [
+                  0.2728468795042579,
+                  -0.3707212486114303
+                ],
+                "gripper_position": [
+                  0.2711226284406978,
+                  -0.3678447720262446,
+                  1.0035082123163193
+                ],
+                "rod_tip_xy_dist": 0.003351203646113405,
+                "target_xy_drift": 8.872272612665695e-08,
+                "depth": 0.017624340633676794,
+                "bottom_clearance": 0.0818162261445391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001724252283846428,
+                  0.002876446748648176
+                ],
+                "rod_tip_xy": [
+                  0.2711226284406978,
+                  -0.36784477202624466
+                ],
+                "target_mouth_xy": [
+                  0.2728468807245442,
+                  -0.37072121877489284
+                ],
+                "gripper_position": [
+                  0.27112731375322996,
+                  -0.3679165574042389,
+                  1.0029872946225076
+                ],
+                "rod_tip_xy_dist": 0.0033536535056797813,
+                "target_xy_drift": 9.26464603780451e-08,
+                "depth": 0.017751686270906286,
+                "bottom_clearance": 0.08168892750806578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00171962423206512,
+                  0.002804662019390558
+                ],
+                "rod_tip_xy": [
+                  0.2711273137532299,
+                  -0.3679165574042388
+                ],
+                "target_mouth_xy": [
+                  0.272846937985295,
+                  -0.37072121942362934
+                ],
+                "gripper_position": [
+                  0.2711160431765579,
+                  -0.3679248283429684,
+                  1.0028414081318626
+                ],
+                "rod_tip_xy_dist": 0.0032898687728414758,
+                "target_xy_drift": 4.245475588935587e-08,
+                "depth": 0.018272535905072274,
+                "bottom_clearance": 0.0811680077465663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017308639016023197,
+                  0.0027963593912890827
+                ],
+                "rod_tip_xy": [
+                  0.27111604317655785,
+                  -0.36792482834296825
+                ],
+                "target_mouth_xy": [
+                  0.2728469070781602,
+                  -0.37072118773425733
+                ],
+                "gripper_position": [
+                  0.2711076073912422,
+                  -0.3679265528170467,
+                  1.002714486292204
+                ],
+                "rod_tip_xy_dist": 0.003288695135022499,
+                "target_xy_drift": 8.671636301910827e-08,
+                "depth": 0.01841848734199225,
+                "bottom_clearance": 0.08102204335206975,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017393009847344043,
+                  0.0027946364900029996
+                ],
+                "rod_tip_xy": [
+                  0.2711076073912422,
+                  -0.3679265528170468
+                ],
+                "target_mouth_xy": [
+                  0.2728469083759766,
+                  -0.3707211893070498
+                ],
+                "gripper_position": [
+                  0.27109940049195874,
+                  -0.36792826049837757,
+                  1.0025873127006402
+                ],
+                "rod_tip_xy_dist": 0.0032916805778742193,
+                "target_xy_drift": 8.468621280611625e-08,
+                "depth": 0.01854534033706068,
+                "bottom_clearance": 0.0808952000716966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001747506261534415,
+                  0.0027929611830782575
+                ],
+                "rod_tip_xy": [
+                  0.2710994004919587,
+                  -0.36792826049837746
+                ],
+                "target_mouth_xy": [
+                  0.2728469067534931,
+                  -0.3707212216814557
+                ],
+                "gripper_position": [
+                  0.271091052529147,
+                  -0.3679299495068516,
+                  1.002460504422417
+                ],
+                "rod_tip_xy_dist": 0.003294603208928791,
+                "target_xy_drift": 6.735904926443622e-08,
+                "depth": 0.018672626936170444,
+                "bottom_clearance": 0.08076798204346136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017558858658776044,
+                  0.0027912404378818145
+                ],
+                "rod_tip_xy": [
+                  0.271091052529147,
+                  -0.36792994950685165
+                ],
+                "target_mouth_xy": [
+                  0.2728469383950246,
+                  -0.37072118994473346
+                ],
+                "gripper_position": [
+                  0.2710973991996019,
+                  -0.36800493885976476,
+                  1.0019427954739732
+                ],
+                "rod_tip_xy_dist": 0.0032975988773735667,
+                "target_xy_drift": 6.636019971704276e-08,
+                "depth": 0.01879939488461957,
+                "bottom_clearance": 0.0806411761318443,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017495072855580607,
+                  0.0027162789992241088
+                ],
+                "rod_tip_xy": [
+                  0.2710973991996019,
+                  -0.3680049388597647
+                ],
+                "target_mouth_xy": [
+                  0.27284690648515997,
+                  -0.3707212178589888
+                ],
+                "gripper_position": [
+                  0.27108596129749307,
+                  -0.3680128992032762,
+                  1.0017977538387548
+                ],
+                "rod_tip_xy_dist": 0.0032309359857240535,
+                "target_xy_drift": 6.924928879724168e-08,
+                "depth": 0.019317053317198796,
+                "bottom_clearance": 0.08012348965292648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017609479386375138,
+                  0.0027083192513752685
+                ],
+                "rod_tip_xy": [
+                  0.271085961297493,
+                  -0.36801289920327607
+                ],
+                "target_mouth_xy": [
+                  0.27284690923613053,
+                  -0.37072121845465134
+                ],
+                "gripper_position": [
+                  0.2710775354954039,
+                  -0.3680145302083376,
+                  1.0016706933920514
+                ],
+                "rod_tip_xy_dist": 0.0032304691315599354,
+                "target_xy_drift": 6.653070111509414e-08,
+                "depth": 0.019462136378679884,
+                "bottom_clearance": 0.07997843180081643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017694016978965776,
+                  0.0027066892361354844
+                ],
+                "rod_tip_xy": [
+                  0.27107753549540387,
+                  -0.3680145302083374
+                ],
+                "target_mouth_xy": [
+                  0.27284693719330044,
+                  -0.3707212194444729
+                ],
+                "gripper_position": [
+                  0.2710690435998331,
+                  -0.36801605364710216,
+                  1.0015439849205359
+                ],
+                "rod_tip_xy_dist": 0.0032337206109265197,
+                "target_xy_drift": 4.300803334693982e-08,
+                "depth": 0.019589130779694597,
+                "bottom_clearance": 0.07985138230902533,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006012687695953476,
+              "rod_tip_xy_max_step": 3.254358984514928e-05,
+              "rod_tip_xy_range": 0.0006012645938728177,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2705601638361237,
+            -0.3693602070626324,
+            1.0434065743389076
+          ],
+          "object_origin_world": [
+            0.2705601638361237,
+            -0.3693602070626324,
+            1.0434065743389076
+          ],
+          "frame_world": [
+            0.2705586321366623,
+            -0.3693670078885369,
+            1.043291046844121
+          ],
+          "center_minus_frame": [
+            1.5316994613767676e-06,
+            6.800825904484942e-06,
+            0.00011552749478660473
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2640218082304674,
+              0.16400323671163816,
+              0.8316647785242828
+            ],
+            "target_position": [
+              0.2782880523001837,
+              0.2105802854218154,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04871290574793233,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16974487690422196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316647785242828,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671323389166,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13881885859812612,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab12ad0afb77fe2050181ee7bc97f5aee2ba6f7ab97fc0ae36ee84f8f9462ce4",
+    "visual_seed": 9006945063674863748,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0db9f3c52651fef674ca3a82fc9d30fd2bbc5a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_7_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20438166990537784,
+              -0.11024248434483205,
+              1.1641682795401689
+            ],
+            "current_z": 1.1641682795401689,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3030618907346926,
+            "gripper_z": 1.158173187911081,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19969794621838013,
+              -0.11485552130166664,
+              1.158173187911081
+            ],
+            "object_minus_gripper": [
+              0.0046837236869977095,
+              0.004613036956834585,
+              0.005995091629087845
+            ],
+            "object_to_gripper_xy": 0.0065739925115005345,
+            "object_to_gripper_z": 0.005995091629087845,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20438166990537784,
+              -0.1340295456404986,
+              1.1641682795401689
+            ],
+            "finger_b": [
+              0.19382587234195195,
+              -0.11024248434483205,
+              1.1641682795401689
+            ],
+            "finger_midpoint": [
+              0.1991037711236649,
+              -0.12213601499266533,
+              1.1641682795401689
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052778987817129475,
+              0.011893530647833273,
+              0.0
+            ],
+            "finger_gap": 0.026024010976093317,
+            "fingertip_max_gap": 0.09247606858631804,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013012005488046659,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641682795401689,
+            "object_top_z": 1.2143189426356527,
+            "finger_top_clearance": 0.05015066309548377,
+            "fingertip_min_top_clearance": 0.01504519892864513,
+            "object_projection_between_fingers": 0.8354743410945463,
+            "object_to_finger_line_xy": 0.009648451343512022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048738034293159024,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8021056679718785,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26647962762079813,
+              -0.3693364051551517,
+              0.8515395716768175
+            ],
+            "target_position": [
+              0.25930480448797816,
+              -0.36969978159545974,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007184019030084731,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18582417013052258,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395716768175,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562834297022665,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08729799148247606,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533812136492449,
+            "release_required_pad_clearance": 0.053648995741238034,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3077149871417943,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00764995813369751,
+            "max_z_decrease": 0.00764995813369751,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513353853589182,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00764995813369751,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02117864034043982,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00764995813369751,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076499801814079345,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11500473320484159,
+              -0.4259612262248993,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11500473320484159,
+              -0.4259612262248993,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11311580717963735,
+              -0.4271954863459293,
+              0.8069651653424655
+            ],
+            "closest_button": [
+              0.11499223858118054,
+              -0.42595374584198,
+              0.7719037532806396
+            ],
+            "closest_ee_minus_button": [
+              -0.0018764314015431993,
+              -0.001241740503949318,
+              0.03506141206182589
+            ],
+            "button_min_z_position": [
+              0.11498704552650449,
+              -0.42595627903938293,
+              0.7691588997840881
+            ],
+            "min_active_finger_to_button": 0.14779766562126795,
+            "closest_active_finger": [
+              -0.02794221043586731,
+              -0.4112744629383087,
+              0.8109264373779297
+            ],
+            "closest_active_finger_button": [
+              0.11500637233257291,
+              -0.42596134543418884,
+              0.7763699889183044
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14294858276844022,
+              0.014686882495880127,
+              0.034556448459625244
+            ],
+            "min_contact_pad_to_button": 0.02117864034043982,
+            "closest_contact_pad": [
+              0.11498704552650449,
+              -0.42831424529619155,
+              0.7902058663541537
+            ],
+            "closest_contact_pad_button": [
+              0.11498704552650449,
+              -0.42595627903938293,
+              0.7691588997840881
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002357966256808619,
+              0.02104696657006555
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2778627450734594,
+              0.20687380253329543,
+              1.1028170572487959
+            ],
+            "current_z": 1.1028170572487959,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1929079275144333,
+            "gripper_z": 1.1028169045980716,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27786262161182,
+              0.20687400049486182,
+              1.1028169045980716
+            ],
+            "object_minus_gripper": [
+              1.234616394119037e-07,
+              -1.979615663894041e-07,
+              1.5265072428327642e-07
+            ],
+            "object_to_gripper_xy": 2.3330571826172923e-07,
+            "object_to_gripper_z": 1.5265072428327642e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2778627450734594,
+              0.20687380253329543,
+              1.1028170572487959
+            ],
+            "finger_b": [
+              0.2778627450734594,
+              0.20687380253329543,
+              1.1028170572487959
+            ],
+            "finger_midpoint": [
+              0.2778627450734594,
+              0.20687380253329543,
+              1.1028170572487959
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1028170572487959,
+            "object_top_z": 1.2278255638690756,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2778627450734594,
+            0.20687380253329543,
+            1.102817057248796
+          ],
+          "object_origin_world": [
+            0.2778627450734594,
+            0.20687380253329543,
+            1.102817057248796
+          ],
+          "frame_world": [
+            0.27786262161182,
+            0.20687400049486182,
+            1.1028169045980716
+          ],
+          "center_minus_frame": [
+            1.234616394119037e-07,
+            -1.979615663894041e-07,
+            1.5265072450532102e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433900540370495,
+            "required_z": 0.9112599094764617,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008941180668588134,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.4734936462377542e-07,
+            "max_target_xy_drift": 1.0056125786912312e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.307714990791985,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.307714992380748,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26642105406823124,
+              -0.3684379945331439,
+              0.923503628128351
+            ],
+            "target_mouth_xy": [
+              0.2664794616335263,
+              -0.36933644129324256
+            ],
+            "rod_tip_z": 0.923503628128351,
+            "rod_tip_depth": -0.022243772842597376,
+            "rod_tip_bottom_clearance": 0.12168440681591208,
+            "rod_tip_xy_dist": 0.0009003432814296197,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044826355981730126,
+            "min_rod_tip_bottom_clearance": 0.0546142062253423,
+            "min_rod_tip_xy_dist": 0.0008996186666589148,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2664794918639618,
+              -0.3693365855082072
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.023043548822102e-08,
+              1.4421496463690175e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0004949274345240617,
+                0.0026886304675835526
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00039605053223390474,
+                0.002264249069721891
+              ],
+              "first_target_mouth_xy": [
+                0.2664795076318216,
+                -0.369336550269984
+              ],
+              "last_target_mouth_xy": [
+                0.266479538478928,
+                -0.36933652268052347
+              ],
+              "first_rod_tip_xy": [
+                0.26697443506634566,
+                -0.36664791980240047
+              ],
+              "last_rod_tip_xy": [
+                0.26687558901116193,
+                -0.3670722736108016
+              ],
+              "min_rod_tip_xy_dist": 0.002298625648908323,
+              "max_rod_tip_xy_dist": 0.0027338044839862125,
+              "first_target_xy_drift": 3.8605152180855956e-08,
+              "last_target_xy_drift": 7.823217316186663e-08,
+              "max_depth": 0.019650638733035852,
+              "min_bottom_clearance": 0.07978986924921128
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0004949274345240617,
+                  0.0026886304675835526
+                ],
+                "rod_tip_xy": [
+                  0.26697443506634566,
+                  -0.36664791980240047
+                ],
+                "target_mouth_xy": [
+                  0.2664795076318216,
+                  -0.369336550269984
+                ],
+                "gripper_position": [
+                  0.26696356977634844,
+                  -0.36665623381521273,
+                  1.0059167679627774
+                ],
+                "rod_tip_xy_dist": 0.0027338044839862125,
+                "target_xy_drift": 3.8605152180855956e-08,
+                "depth": 0.01519986712180843,
+                "bottom_clearance": 0.08424071206342976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00048403106944922003,
+                  0.002680318033982221
+                ],
+                "rod_tip_xy": [
+                  0.26696356977634844,
+                  -0.3666562338152128
+                ],
+                "target_mouth_xy": [
+                  0.2664795387068992,
+                  -0.369336551849195
+                ],
+                "gripper_position": [
+                  0.26696783826582005,
+                  -0.3667253499389234,
+                  1.005396024511933
+                ],
+                "rod_tip_xy_dist": 0.0027236723076542214,
+                "target_xy_drift": 5.7681798580158967e-08,
+                "depth": 0.01534306159148957,
+                "bottom_clearance": 0.08409747842551862,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004883496777935425,
+                  0.002611201686456288
+                ],
+                "rod_tip_xy": [
+                  0.26696783826582005,
+                  -0.3667253499389234
+                ],
+                "target_mouth_xy": [
+                  0.2664794885880265,
+                  -0.3693365516253797
+                ],
+                "gripper_position": [
+                  0.26695682764956147,
+                  -0.366733451861152,
+                  1.0052527650798844
+                ],
+                "rod_tip_xy_dist": 0.002656475043201652,
+                "target_xy_drift": 3.4040824765102835e-08,
+                "depth": 0.015863944976877042,
+                "bottom_clearance": 0.0835767531937498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00047727650579865166,
+                  0.00260309904756556
+                ],
+                "rod_tip_xy": [
+                  0.2669568276495614,
+                  -0.3667334518611522
+                ],
+                "target_mouth_xy": [
+                  0.26647955114376276,
+                  -0.36933655090871775
+                ],
+                "gripper_position": [
+                  0.26694900359882595,
+                  -0.3667352657123635,
+                  1.0051279177179429
+                ],
+                "rod_tip_xy_dist": 0.0026464915481490014,
+                "target_xy_drift": 6.863832363197928e-08,
+                "depth": 0.016007124229677094,
+                "bottom_clearance": 0.08343348067103862,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000469478916235444,
+                  0.002601288936420476
+                ],
+                "rod_tip_xy": [
+                  0.26694900359882595,
+                  -0.36673526571236353
+                ],
+                "target_mouth_xy": [
+                  0.2664795246825905,
+                  -0.369336554648784
+                ],
+                "gripper_position": [
+                  0.2669542492672758,
+                  -0.3668055389570024,
+                  1.0046074376193865
+                ],
+                "rod_tip_xy_dist": 0.002643315074585922,
+                "target_xy_drift": 4.5048489310930324e-08,
+                "depth": 0.016132003573935627,
+                "bottom_clearance": 0.08330861791056465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00047472679927568207,
+                  0.0025310141550339282
+                ],
+                "rod_tip_xy": [
+                  0.2669542492672758,
+                  -0.36680553895700235
+                ],
+                "target_mouth_xy": [
+                  0.2664795224680001,
+                  -0.3693365531120363
+                ],
+                "gripper_position": [
+                  0.2669432175495131,
+                  -0.3668132734288372,
+                  1.0044645011768907
+                ],
+                "rod_tip_xy_dist": 0.002575150129008529,
+                "target_xy_drift": 4.456589559609222e-08,
+                "depth": 0.01665239853988776,
+                "bottom_clearance": 0.08278812342426167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00046367974233418874,
+                  0.002523279676786061
+                ],
+                "rod_tip_xy": [
+                  0.2669432175495131,
+                  -0.36681327342883735
+                ],
+                "target_mouth_xy": [
+                  0.2664795378071789,
+                  -0.3693365531056234
+                ],
+                "gripper_position": [
+                  0.26693511808167913,
+                  -0.3668151001627937,
+                  1.004339281877967
+                ],
+                "rod_tip_xy_dist": 0.0025655290352542626,
+                "target_xy_drift": 5.622016217602512e-08,
+                "depth": 0.016795321824870313,
+                "bottom_clearance": 0.08264518369139517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004555795688325759,
+                  0.0025214519993637663
+                ],
+                "rod_tip_xy": [
+                  0.26693511808167913,
+                  -0.3668151001627937
+                ],
+                "target_mouth_xy": [
+                  0.26647953851284656,
+                  -0.36933655216215744
+                ],
+                "gripper_position": [
+                  0.2669269460429924,
+                  -0.3668168818632836,
+                  1.004214147511502
+                ],
+                "rod_tip_xy_dist": 0.0025622788545810564,
+                "target_xy_drift": 5.734176037703838e-08,
+                "depth": 0.016920540584105415,
+                "bottom_clearance": 0.0825199805957707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0004474221553790736,
+                  0.0025196401820001824
+                ],
+                "rod_tip_xy": [
+                  0.2669269460429924,
+                  -0.3668168818632836
+                ],
+                "target_mouth_xy": [
+                  0.2664795238876133,
+                  -0.3693365220452838
+                ],
+                "gripper_position": [
+                  0.2669337902639666,
+                  -0.36688960053215713,
+                  1.0036930766915662
+                ],
+                "rod_tip_xy_dist": 0.002559057098205112,
+                "target_xy_drift": 7.108485706875322e-08,
+                "depth": 0.017045682665140727,
+                "bottom_clearance": 0.08239486044137323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00045426811546367407,
+                  0.002446953574025079
+                ],
+                "rod_tip_xy": [
+                  0.2669337902639666,
+                  -0.3668896005321571
+                ],
+                "target_mouth_xy": [
+                  0.2664795221485029,
+                  -0.36933655410618216
+                ],
+                "gripper_position": [
+                  0.2669224557053753,
+                  -0.36689780371272585,
+                  1.0035501490840533
+                ],
+                "rod_tip_xy_dist": 0.002488763008838131,
+                "target_xy_drift": 4.3626145896840595e-08,
+                "depth": 0.01756678793395061,
+                "bottom_clearance": 0.08187378286785629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00044294617654139223,
+                  0.0024387769861519693
+                ],
+                "rod_tip_xy": [
+                  0.2669224557053753,
+                  -0.3668978037127259
+                ],
+                "target_mouth_xy": [
+                  0.2664795095288339,
+                  -0.36933658069887787
+                ],
+                "gripper_position": [
+                  0.2669144440124669,
+                  -0.36689904644214183,
+                  1.0034251876350055
+                ],
+                "rod_tip_xy_dist": 0.0024786759577437954,
+                "target_xy_drift": 1.830784956191278e-08,
+                "depth": 0.01770976190857887,
+                "bottom_clearance": 0.08173083669441183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00043495165910500955,
+                  0.0024375358846681627
+                ],
+                "rod_tip_xy": [
+                  0.2669144440124669,
+                  -0.36689904644214194
+                ],
+                "target_mouth_xy": [
+                  0.2664794923533619,
+                  -0.3693365823268101
+                ],
+                "gripper_position": [
+                  0.2669216551515007,
+                  -0.3669727987555038,
+                  1.0029083886362113
+                ],
+                "rod_tip_xy_dist": 0.002476037991389309,
+                "target_xy_drift": 3.218819640803628e-09,
+                "depth": 0.017834589812884105,
+                "bottom_clearance": 0.08160592743945994,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00044212944488963846,
+                  0.00236375273782502
+                ],
+                "rod_tip_xy": [
+                  0.2669216551515007,
+                  -0.36697279875550387
+                ],
+                "target_mouth_xy": [
+                  0.26647952570661104,
+                  -0.3693365514933289
+                ],
+                "gripper_position": [
+                  0.26691031372616725,
+                  -0.3669803017175016,
+                  1.0027654457013158
+                ],
+                "rod_tip_xy_dist": 0.002404746442270723,
+                "target_xy_drift": 4.7982672429172465e-08,
+                "depth": 0.018351520771662355,
+                "bottom_clearance": 0.08108910286196969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00043079102000520564,
+                  0.0023562821844046455
+                ],
+                "rod_tip_xy": [
+                  0.26691031372616725,
+                  -0.3669803017175017
+                ],
+                "target_mouth_xy": [
+                  0.26647952270616204,
+                  -0.3693365839019063
+                ],
+                "gripper_position": [
+                  0.2669020202483927,
+                  -0.366982129243137,
+                  1.002640606826844
+                ],
+                "rod_tip_xy_dist": 0.00239533852210076,
+                "target_xy_drift": 3.08840010040456e-08,
+                "depth": 0.018494402203106275,
+                "bottom_clearance": 0.08094614771735242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0004223891625800835,
+                  0.00235432772340588
+                ],
+                "rod_tip_xy": [
+                  0.2669020202483927,
+                  -0.36698212924313706
+                ],
+                "target_mouth_xy": [
+                  0.26647963108581263,
+                  -0.36933645696654294
+                ],
+                "gripper_position": [
+                  0.26689376770213746,
+                  -0.36698343322794175,
+                  1.0025156995891782
+                ],
+                "rod_tip_xy_dist": 0.0023919179822608086,
+                "target_xy_drift": 1.8948795000553071e-07,
+                "depth": 0.018619403402365675,
+                "bottom_clearance": 0.08082145063262391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00041427744582989146,
+                  0.0023531516666505103
+                ],
+                "rod_tip_xy": [
+                  0.26689376770213746,
+                  -0.36698343322794175
+                ],
+                "target_mouth_xy": [
+                  0.26647949025630757,
+                  -0.36933658489459226
+                ],
+                "gripper_position": [
+                  0.26688541794776777,
+                  -0.36698510354570985,
+                  1.002390963407372
+                ],
+                "rod_tip_xy_dist": 0.0023893406137224164,
+                "target_xy_drift": 1.7207775626179785e-09,
+                "depth": 0.01874424602349556,
+                "bottom_clearance": 0.0806964388081165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.000405878307940033,
+                  0.002351417832683167
+                ],
+                "rod_tip_xy": [
+                  0.26688541794776777,
+                  -0.36698510354570985
+                ],
+                "target_mouth_xy": [
+                  0.26647953963982773,
+                  -0.369336521378393
+                ],
+                "gripper_position": [
+                  0.2668770389478374,
+                  -0.3669866367862799,
+                  1.0022658946663776
+                ],
+                "rod_tip_xy_dist": 0.002386190064667244,
+                "target_xy_drift": 7.996978449570765e-08,
+                "depth": 0.018868885055726703,
+                "bottom_clearance": 0.08057171438906818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00039750066063509726,
+                  0.002349917915116906
+                ],
+                "rod_tip_xy": [
+                  0.2668770389478374,
+                  -0.3669866367862799
+                ],
+                "target_mouth_xy": [
+                  0.2664795382872023,
+                  -0.3693365547013968
+                ],
+                "gripper_position": [
+                  0.26688703538636227,
+                  -0.36706437241808754,
+                  1.0017518500641904
+                ],
+                "rod_tip_xy_dist": 0.0023833004390954836,
+                "target_xy_drift": 5.571513997043235e-08,
+                "depth": 0.018993897080814004,
+                "bottom_clearance": 0.08044667449504617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0004074946704855087,
+                  0.002272180343865726
+                ],
+                "rod_tip_xy": [
+                  0.26688703538636227,
+                  -0.3670643724180876
+                ],
+                "target_mouth_xy": [
+                  0.26647954071587676,
+                  -0.3693365527619533
+                ],
+                "gripper_position": [
+                  0.266875589011162,
+                  -0.3670722736108015,
+                  1.0016091180528492
+                ],
+                "rod_tip_xy_dist": 0.002308431376827967,
+                "target_xy_drift": 5.8811790806734776e-08,
+                "depth": 0.019508047994754807,
+                "bottom_clearance": 0.07993255422402556,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00039605053223390474,
+                  0.002264249069721891
+                ],
+                "rod_tip_xy": [
+                  0.26687558901116193,
+                  -0.3670722736108016
+                ],
+                "target_mouth_xy": [
+                  0.266479538478928,
+                  -0.36933652268052347
+                ],
+                "gripper_position": [
+                  0.26686729277132376,
+                  -0.3670734962016402,
+                  1.0014844452767215
+                ],
+                "rod_tip_xy_dist": 0.002298625648908323,
+                "target_xy_drift": 7.823217316186663e-08,
+                "depth": 0.019650638733035852,
+                "bottom_clearance": 0.07978986924921128,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005998566767765328,
+              "rod_tip_xy_max_step": 3.246587359338082e-05,
+              "rod_tip_xy_range": 0.0005998485373425022,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26642105406823124,
+            -0.3684379945331439,
+            1.043503628128351
+          ],
+          "object_origin_world": [
+            0.26642105406823124,
+            -0.3684379945331439,
+            1.043503628128351
+          ],
+          "frame_world": [
+            0.26641973673526076,
+            -0.3684443201949546,
+            1.0433900540370495
+          ],
+          "center_minus_frame": [
+            1.3173329704851966e-06,
+            6.325661810691052e-06,
+            0.00011357409130141605
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2625901328993729,
+              0.1619109933221306,
+              0.8316197531676496
+            ],
+            "target_position": [
+              0.27802153849314953,
+              0.20801807380887088,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04862089211039209,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1672771720161178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316197531676496,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676128049517,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362938623986088,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7026bd5265d25b5cc1017c6c004dde5933709928b3d2365de6bf125baf1b8e6f",
+    "visual_seed": 3479729563784011776,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7901c6c2bd023267a8bfc57f49673a609c42b10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_80_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19614780993595238,
+              -0.11490211897830425,
+              1.161915795901047
+            ],
+            "current_z": 1.161915795901047,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3008091686769915,
+            "gripper_z": 1.1558588798476552,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19165098328689545,
+              -0.11954066021152199,
+              1.1558588798476552
+            ],
+            "object_minus_gripper": [
+              0.004496826649056929,
+              0.004638541233217733,
+              0.00605691605339187
+            ],
+            "object_to_gripper_xy": 0.006460457776654039,
+            "object_to_gripper_z": 0.00605691605339187,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19614780993595238,
+              -0.1384109644725818,
+              1.161915795901047
+            ],
+            "finger_b": [
+              0.18524245962919517,
+              -0.11490211897830425,
+              1.161915795901047
+            ],
+            "finger_midpoint": [
+              0.19069513478257377,
+              -0.12665654172544302,
+              1.161915795901047
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054526751533786055,
+              0.011754422747138768,
+              0.0
+            ],
+            "finger_gap": 0.025915101423434627,
+            "fingertip_max_gap": 0.09236356714262003,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012957550711717308,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161915795901047,
+            "object_top_z": 1.2118291301181379,
+            "finger_top_clearance": 0.049913334217090766,
+            "fingertip_min_top_clearance": 0.014974000265127229,
+            "object_projection_between_fingers": 0.8229184087995417,
+            "object_to_finger_line_xy": 0.009892772219316663,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868178357131002,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0368985362020555,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2708921123905187,
+              -0.371630696040612,
+              0.8515396077302204
+            ],
+            "target_position": [
+              0.2623589304237403,
+              -0.37249012087600847,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008576351527651372,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18409489841844004,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396077302204,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513679020092257,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498263303280833,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15312700393988896,
+            "release_required_pad_clearance": 0.052491316516404166,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595288054026966,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007954120635986328,
+            "max_z_decrease": 0.007954120635986328,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509092819586684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007954120635986328,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021046873353073942,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007954120635986328,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007954146897640709,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11805885285139082,
+              -0.4287515878677368,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11805885285139082,
+              -0.4287515878677368,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11667629847481542,
+              -0.4286261221353106,
+              0.8076306248344023
+            ],
+            "closest_button": [
+              0.11804833263158798,
+              -0.42874631285667425,
+              0.7725667357444763
+            ],
+            "closest_ee_minus_button": [
+              -0.0013720341567725614,
+              0.0001201907213636555,
+              0.03506388908992597
+            ],
+            "button_min_z_position": [
+              0.11803914606571198,
+              -0.4287461638450623,
+              0.7688547372817993
+            ],
+            "min_active_finger_to_button": 0.14736168911247288,
+            "closest_active_finger": [
+              -0.01045997440814972,
+              -0.492099404335022,
+              0.8105605244636536
+            ],
+            "closest_active_finger_button": [
+              0.11805737763643265,
+              -0.42875188589096075,
+              0.7761243581771851
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12851735204458237,
+              -0.06334751844406122,
+              0.034436166286468506
+            ],
+            "min_contact_pad_to_button": 0.021046873353073942,
+            "closest_contact_pad": [
+              0.11803914606571198,
+              -0.42968174415243565,
+              0.7898808060401
+            ],
+            "closest_contact_pad_button": [
+              0.11803914606571198,
+              -0.4287461638450623,
+              0.7688547372817993
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009355803073733404,
+              0.02102606875830071
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2753523377473859,
+              0.20806634141931082,
+              1.100973203994846
+            ],
+            "current_z": 1.100973203994846,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19106407426048355,
+            "gripper_z": 1.1009735799833575,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27535230164257507,
+              0.20806635278643798,
+              1.1009735799833575
+            ],
+            "object_minus_gripper": [
+              3.610481080773553e-08,
+              -1.1367127156214352e-08,
+              -3.75988511436276e-07
+            ],
+            "object_to_gripper_xy": 3.785193447167426e-08,
+            "object_to_gripper_z": -3.75988511436276e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2753523377473859,
+              0.20806634141931082,
+              1.100973203994846
+            ],
+            "finger_b": [
+              0.2753523377473859,
+              0.20806634141931082,
+              1.100973203994846
+            ],
+            "finger_midpoint": [
+              0.2753523377473859,
+              0.20806634141931082,
+              1.100973203994846
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.100973203994846,
+            "object_top_z": 1.2259817106151258,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2753523377473858,
+            0.20806634141931082,
+            1.1009732039948463
+          ],
+          "object_origin_world": [
+            0.2753523377473858,
+            0.20806634141931082,
+            1.1009732039948463
+          ],
+          "frame_world": [
+            0.27535230164257507,
+            0.20806635278643798,
+            1.1009735799833575
+          ],
+          "center_minus_frame": [
+            3.610481075222438e-08,
+            -1.1367127156214352e-08,
+            -3.759885112142314e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432752175395212,
+            "required_z": 0.911259768214467,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.003203913332452065,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.4802869985892295e-08,
+            "max_target_xy_drift": 1.2502628451949187e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.055952908458325554,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.05595291022355914,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26840965036416,
+              -0.3736477588812271,
+              0.9233910580893873
+            ],
+            "target_mouth_xy": [
+              0.2708921105561949,
+              -0.37163069241763286
+            ],
+            "rod_tip_z": 0.9233910580893873,
+            "rod_tip_depth": -0.022131199301862026,
+            "rod_tip_bottom_clearance": 0.12157177937461827,
+            "rod_tip_xy_dist": 0.003198619346467242,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04491755827279109,
+            "min_rod_tip_bottom_clearance": 0.05452301616059951,
+            "min_rod_tip_xy_dist": 0.0010443020135978234,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27089208071327997,
+              -0.3716307258346583
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.984291491703317e-08,
+              3.341702542458691e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0018606690092255462,
+                -0.0002801735924407578
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001968737856693159,
+                -0.000690938068237057
+              ],
+              "first_target_mouth_xy": [
+                0.27089205252501786,
+                -0.37163072287753307
+              ],
+              "last_target_mouth_xy": [
+                0.27089207864962694,
+                -0.3716306953821313
+              ],
+              "first_rod_tip_xy": [
+                0.2690313835157923,
+                -0.37191089646997383
+              ],
+              "last_rod_tip_xy": [
+                0.2689233407929338,
+                -0.37232163345036834
+              ],
+              "min_rod_tip_xy_dist": 0.0018816446008195957,
+              "max_rod_tip_xy_dist": 0.002086462116242691,
+              "first_target_xy_drift": 2.8342948161541258e-08,
+              "last_target_xy_drift": 3.052236990311589e-08,
+              "max_depth": 0.019597864041894675,
+              "min_bottom_clearance": 0.07984270877151978
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018606690092255462,
+                  -0.0002801735924407578
+                ],
+                "rod_tip_xy": [
+                  0.2690313835157923,
+                  -0.37191089646997383
+                ],
+                "target_mouth_xy": [
+                  0.27089205252501786,
+                  -0.37163072287753307
+                ],
+                "gripper_position": [
+                  0.2690237080083945,
+                  -0.37191334950183996,
+                  1.0060228814168461
+                ],
+                "rod_tip_xy_dist": 0.0018816446008195957,
+                "target_xy_drift": 2.8342948161541258e-08,
+                "depth": 0.01510914929984919,
+                "bottom_clearance": 0.08433146763452481,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018683421658951538,
+                  -0.00028259452619588954
+                ],
+                "rod_tip_xy": [
+                  0.2690237080083946,
+                  -0.37191334950184
+                ],
+                "target_mouth_xy": [
+                  0.27089205017428974,
+                  -0.37163075497564413
+                ],
+                "gripper_position": [
+                  0.2690257800708107,
+                  -0.3719809418861025,
+                  1.0054958024516292
+                ],
+                "rod_tip_xy_dist": 0.001889593108343083,
+                "target_xy_drift": 4.2211692457277184e-08,
+                "depth": 0.01523689740972689,
+                "bottom_clearance": 0.08420362437234019,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018662716378471944,
+                  -0.00035018724113899946
+                ],
+                "rod_tip_xy": [
+                  0.2690257800708108,
+                  -0.3719809418861025
+                ],
+                "target_mouth_xy": [
+                  0.270892051708658,
+                  -0.3716307546449635
+                ],
+                "gripper_position": [
+                  0.269015096732011,
+                  -0.37198937049175923,
+                  1.0053498278467141
+                ],
+                "rod_tip_xy_dist": 0.0018988419971365162,
+                "target_xy_drift": 4.08815579676899e-08,
+                "depth": 0.01576401504893654,
+                "bottom_clearance": 0.0836764994512339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00187695442548802,
+                  -0.00035867742321410434
+                ],
+                "rod_tip_xy": [
+                  0.2690150967320111,
+                  -0.3719893704917591
+                ],
+                "target_mouth_xy": [
+                  0.27089205115749915,
+                  -0.371630693068545
+                ],
+                "gripper_position": [
+                  0.2690172617043539,
+                  -0.37205681406181373,
+                  1.0048268200157342
+                ],
+                "rod_tip_xy_dist": 0.0019109179493852092,
+                "target_xy_drift": 4.412666267319328e-08,
+                "depth": 0.015910080370218016,
+                "bottom_clearance": 0.08353048397814644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018747896302667155,
+                  -0.00042608954999151516
+                ],
+                "rod_tip_xy": [
+                  0.269017261704354,
+                  -0.3720568140618136
+                ],
+                "target_mouth_xy": [
+                  0.27089205133462074,
+                  -0.3716307245118221
+                ],
+                "gripper_position": [
+                  0.26900647698503055,
+                  -0.3720650951657145,
+                  1.0046813282746971
+                ],
+                "rod_tip_xy_dist": 0.0019225994024672898,
+                "target_xy_drift": 2.940842589384337e-08,
+                "depth": 0.016433000418941357,
+                "bottom_clearance": 0.08300751152895824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018856041824923397,
+                  -0.0004344017700499414
+                ],
+                "rod_tip_xy": [
+                  0.26900647698503066,
+                  -0.37206509516571445
+                ],
+                "target_mouth_xy": [
+                  0.270892081167523,
+                  -0.3716306933956645
+                ],
+                "gripper_position": [
+                  0.26899843256631367,
+                  -0.3720671659265409,
+                  1.0045534919270613
+                ],
+                "rod_tip_xy_dist": 0.001934995615203075,
+                "target_xy_drift": 3.244217399423907e-08,
+                "depth": 0.016578516075548055,
+                "bottom_clearance": 0.0828620444214343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018936495103443196,
+                  -0.0004364430514240958
+                ],
+                "rod_tip_xy": [
+                  0.2689984325663137,
+                  -0.37206716592654093
+                ],
+                "target_mouth_xy": [
+                  0.27089208207665805,
+                  -0.37163072287511684
+                ],
+                "gripper_position": [
+                  0.2689905141867703,
+                  -0.37206932516650476,
+                  1.0044259900101924
+                ],
+                "rod_tip_xy_dist": 0.0019432938545581977,
+                "target_xy_drift": 3.2584789929127213e-09,
+                "depth": 0.016706425188180662,
+                "bottom_clearance": 0.08273418212119232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019015381773568873,
+                  -0.0004386009793648227
+                ],
+                "rod_tip_xy": [
+                  0.26899051418677034,
+                  -0.37206932516650476
+                ],
+                "target_mouth_xy": [
+                  0.2708920523641272,
+                  -0.37163072418713994
+                ],
+                "gripper_position": [
+                  0.2689941078311182,
+                  -0.3721392565331796,
+                  1.0039021961601222
+                ],
+                "rod_tip_xy_dist": 0.0019514656694509219,
+                "target_xy_drift": 2.839698537161897e-08,
+                "depth": 0.016833844544347776,
+                "bottom_clearance": 0.08260671884721471,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018979752800359906,
+                  -0.0005085329939975014
+                ],
+                "rod_tip_xy": [
+                  0.2689941078311183,
+                  -0.37213925653317964
+                ],
+                "target_mouth_xy": [
+                  0.2708920831111543,
+                  -0.37163072353918214
+                ],
+                "gripper_position": [
+                  0.26898320399801656,
+                  -0.37214733368166875,
+                  1.0037563880905402
+                ],
+                "rod_tip_xy_dist": 0.0019649213647400143,
+                "target_xy_drift": 3.319489733097853e-09,
+                "depth": 0.017357657767875012,
+                "bottom_clearance": 0.0820829656710188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019088787506245652,
+                  -0.0005166088301581939
+                ],
+                "rod_tip_xy": [
+                  0.2689832039980166,
+                  -0.3721473336816688
+                ],
+                "target_mouth_xy": [
+                  0.2708920827486412,
+                  -0.3716307248515106
+                ],
+                "gripper_position": [
+                  0.26897518532330456,
+                  -0.37214937551975563,
+                  1.0036291784561542
+                ],
+                "rod_tip_xy_dist": 0.001977549687867139,
+                "target_xy_drift": 2.2603704600439242e-09,
+                "depth": 0.017503498877416646,
+                "bottom_clearance": 0.08193706323503502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019168655123192324,
+                  -0.0005186503483576854
+                ],
+                "rod_tip_xy": [
+                  0.2689751853233046,
+                  -0.37214937551975574
+                ],
+                "target_mouth_xy": [
+                  0.27089205083562384,
+                  -0.37163072517139806
+                ],
+                "gripper_position": [
+                  0.26896715575710617,
+                  -0.37215134314924797,
+                  1.0035017174443255
+                ],
+                "rod_tip_xy_dist": 0.0019857924302832917,
+                "target_xy_drift": 2.988501714513861e-08,
+                "depth": 0.01763058020191488,
+                "bottom_clearance": 0.08180991614421906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0019248988060328598,
+                  -0.0005206182723676567
+                ],
+                "rod_tip_xy": [
+                  0.2689671557571063,
+                  -0.37215134314924797
+                ],
+                "target_mouth_xy": [
+                  0.27089205456313914,
+                  -0.3716307248768803
+                ],
+                "gripper_position": [
+                  0.26897194768306465,
+                  -0.37222301505649913,
+                  1.0029798760820403
+                ],
+                "rod_tip_xy_dist": 0.0019940608814652105,
+                "target_xy_drift": 2.6167674793376678e-08,
+                "depth": 0.01775818239447935,
+                "bottom_clearance": 0.08168244188960727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019201313466414294,
+                  -0.0005922885485006857
+                ],
+                "rod_tip_xy": [
+                  0.2689719476830647,
+                  -0.3722230150564992
+                ],
+                "target_mouth_xy": [
+                  0.27089207902970613,
+                  -0.3716307265079985
+                ],
+                "gripper_position": [
+                  0.2689607448821656,
+                  -0.3722312076289512,
+                  1.0028342088340365
+                ],
+                "rod_tip_xy_dist": 0.002009405412812476,
+                "target_xy_drift": 1.8132313444889317e-09,
+                "depth": 0.018280014907388842,
+                "bottom_clearance": 0.08116059062634384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0019313354510201441,
+                  -0.0006005135788061389
+                ],
+                "rod_tip_xy": [
+                  0.26896074488216565,
+                  -0.3722312076289512
+                ],
+                "target_mouth_xy": [
+                  0.2708920803331858,
+                  -0.37163069405014504
+                ],
+                "gripper_position": [
+                  0.2689526257723913,
+                  -0.3722331144046413,
+                  1.0027070383990628
+                ],
+                "rod_tip_xy_dist": 0.0020225412684782827,
+                "target_xy_drift": 3.178678583494382e-08,
+                "depth": 0.018425631990695024,
+                "bottom_clearance": 0.08101490264170552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001939485277540287,
+                  -0.0006024471755602945
+                ],
+                "rod_tip_xy": [
+                  0.2689526257723914,
+                  -0.3722331144046413
+                ],
+                "target_mouth_xy": [
+                  0.27089211104993166,
+                  -0.371630667229081
+                ],
+                "gripper_position": [
+                  0.26894440649202994,
+                  -0.3722352252524368,
+                  1.0025796902318125
+                ],
+                "rod_tip_xy_dist": 0.002030897767278329,
+                "target_xy_drift": 6.599186407524128e-08,
+                "depth": 0.018552811031013028,
+                "bottom_clearance": 0.08088776135009923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019476745551121888,
+                  -0.000604529552519939
+                ],
+                "rod_tip_xy": [
+                  0.26894440649203005,
+                  -0.37223522525243674
+                ],
+                "target_mouth_xy": [
+                  0.27089208104714224,
+                  -0.3716306956999168
+                ],
+                "gripper_position": [
+                  0.26893623146645995,
+                  -0.37223697155377816,
+                  1.0024523635057132
+                ],
+                "rod_tip_xy_dist": 0.002039336203891212,
+                "target_xy_drift": 3.013659085031689e-08,
+                "depth": 0.0186801339493613,
+                "bottom_clearance": 0.08076038344635339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019558519793561047,
+                  -0.0006062758345460884
+                ],
+                "rod_tip_xy": [
+                  0.26893623146646006,
+                  -0.37223697155377816
+                ],
+                "target_mouth_xy": [
+                  0.27089208344581617,
+                  -0.3716306957192321
+                ],
+                "gripper_position": [
+                  0.2689429319719331,
+                  -0.3723116025925385,
+                  1.001934697457797
+                ],
+                "rod_tip_xy_dist": 0.002047663876886475,
+                "target_xy_drift": 3.0239141022519495e-08,
+                "depth": 0.018807539420881758,
+                "bottom_clearance": 0.08063307030293232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0019491488694077796,
+                  -0.000680905227638362
+                ],
+                "rod_tip_xy": [
+                  0.2689429319719332,
+                  -0.3723116025925384
+                ],
+                "target_mouth_xy": [
+                  0.270892080841341,
+                  -0.37163069736490006
+                ],
+                "gripper_position": [
+                  0.26893171063978855,
+                  -0.37231963322196077,
+                  1.001788930813098
+                ],
+                "rod_tip_xy_dist": 0.0020646581421966386,
+                "target_xy_drift": 2.8470046234393675e-08,
+                "depth": 0.019325154636923858,
+                "bottom_clearance": 0.08011541391215415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001960373509843627,
+                  -0.0006889361596475463
+                ],
+                "rod_tip_xy": [
+                  0.2689317106397886,
+                  -0.37231963322196066
+                ],
+                "target_mouth_xy": [
+                  0.27089208414963223,
+                  -0.3716306970623131
+                ],
+                "gripper_position": [
+                  0.2689233407929337,
+                  -0.37232163345036834,
+                  1.0016620148547053
+                ],
+                "rod_tip_xy_dist": 0.0020779069589773576,
+                "target_xy_drift": 2.8976824594859376e-08,
+                "depth": 0.019471001381626274,
+                "bottom_clearance": 0.07996968270742266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001968737856693159,
+                  -0.000690938068237057
+                ],
+                "rod_tip_xy": [
+                  0.2689233407929338,
+                  -0.37232163345036834
+                ],
+                "target_mouth_xy": [
+                  0.27089207864962694,
+                  -0.3716306953821313
+                ],
+                "gripper_position": [
+                  0.26891496633234035,
+                  -0.37232356097452274,
+                  1.0015351244088364
+                ],
+                "rod_tip_xy_dist": 0.002086462116242691,
+                "target_xy_drift": 3.052236990311589e-08,
+                "depth": 0.019597864041894675,
+                "bottom_clearance": 0.07984270877151978,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005985696067533292,
+              "rod_tip_xy_max_step": 3.2545799152144485e-05,
+              "rod_tip_xy_range": 0.0005985617803133159,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2684096503641599,
+            -0.3736477588812271,
+            1.0433910580893873
+          ],
+          "object_origin_world": [
+            0.2684096503641599,
+            -0.3736477588812271,
+            1.0433910580893873
+          ],
+          "frame_world": [
+            0.26840832400968057,
+            -0.3736545167759255,
+            1.0432752175395212
+          ],
+          "center_minus_frame": [
+            1.3263544793584714e-06,
+            6.7578946983948285e-06,
+            0.00011584054986601977
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2615070339931251,
+              0.16054167081209025,
+              0.8324266931651837
+            ],
+            "target_position": [
+              0.2755275860569951,
+              0.2071487286002191,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04867025493914812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16744917647118507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324266931651837,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675309534599,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13681747816423565,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 304,
+            "max_placed_release_frames": 304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2986caaafb45f9294bbf8cddf6289cd1c4337ff583423021ff93371ee166f52",
+    "visual_seed": 4036720671524968378,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47a618e642964efe9ec9ed85174a52ceae1425f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_81_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1949650149083805,
+              -0.11308473490126703,
+              1.161896324922294
+            ],
+            "current_z": 1.161896324922294,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30078981690752815,
+            "gripper_z": 1.1558841834621505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19032775299785495,
+              -0.11765956453783064,
+              1.1558841834621505
+            ],
+            "object_minus_gripper": [
+              0.0046372619105255475,
+              0.00457482963656361,
+              0.006012141460143505
+            ],
+            "object_to_gripper_xy": 0.0065140819944480115,
+            "object_to_gripper_z": 0.006012141460143505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1949650149083805,
+              -0.13695511601553645,
+              1.161896324922294
+            ],
+            "finger_b": [
+              0.18452940334343443,
+              -0.11308473490126703,
+              1.161896324922294
+            ],
+            "finger_midpoint": [
+              0.18974720912590748,
+              -0.12501992545840174,
+              1.161896324922294
+            ],
+            "object_minus_finger_midpoint": [
+              0.005217805782473023,
+              0.011935190557134712,
+              0.0
+            ],
+            "finger_gap": 0.026051815354690862,
+            "fingertip_max_gap": 0.09238275579612534,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013025907677345426,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161896324922294,
+            "object_top_z": 1.2118904185819783,
+            "finger_top_clearance": 0.049994093659684324,
+            "fingertip_min_top_clearance": 0.01499822809790533,
+            "object_projection_between_fingers": 0.8395425714680352,
+            "object_to_finger_line_xy": 0.00956179144617218,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048691377898062674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9652257696233102,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2706081831565622,
+              -0.3716278130631244,
+              0.8515395976910981
+            ],
+            "target_position": [
+              0.2646339806901083,
+              -0.3714370215850864,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005977248237966696,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18172597099630047,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395976910981,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558367531813608,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08768177126983805,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1494627079128528,
+            "release_required_pad_clearance": 0.053840885634919025,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.691041971857566,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008074402809143066,
+            "max_z_decrease": 0.008074402809143066,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512709202044317,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008074402809143066,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02116338880048275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008074402809143066,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008074415654878608,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12033390998840328,
+              -0.4276984930038452,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12033390998840328,
+              -0.4276984930038452,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12138781789844946,
+              -0.42886900723896615,
+              0.8038256753210876
+            ],
+            "closest_button": [
+              0.12033178657293316,
+              -0.4276842474937439,
+              0.7687344551086426
+            ],
+            "closest_ee_minus_button": [
+              0.0010560313255163073,
+              -0.0011847597452222525,
+              0.03509122021244504
+            ],
+            "button_min_z_position": [
+              0.12033178657293316,
+              -0.4276842474937439,
+              0.7687344551086426
+            ],
+            "min_active_finger_to_button": 0.14467213799662607,
+            "closest_active_finger": [
+              -0.01937410980463028,
+              -0.4127298891544342,
+              0.8110228180885315
+            ],
+            "closest_active_finger_button": [
+              0.12033431977033612,
+              -0.42769664525985723,
+              0.7765615582466125
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1397084295749664,
+              0.01496675610542303,
+              0.034461259841918945
+            ],
+            "min_contact_pad_to_button": 0.02116338880048275,
+            "closest_contact_pad": [
+              0.12033178657293316,
+              -0.43005921515802614,
+              0.7897641615762567
+            ],
+            "closest_contact_pad_button": [
+              0.12033178657293316,
+              -0.4276842474937439,
+              0.7687344551086426
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002374967664282246,
+              0.02102970646761415
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2792993131829316,
+              0.20532922171044482,
+              1.1013831147666355
+            ],
+            "current_z": 1.1013831147666355,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19147398503227298,
+            "gripper_z": 1.1013830959519706,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27929928326814535,
+              0.20532920700382806,
+              1.1013830959519706
+            ],
+            "object_minus_gripper": [
+              2.991478625924415e-08,
+              1.4706616757731439e-08,
+              1.8814664937139014e-08
+            ],
+            "object_to_gripper_xy": 3.3334351852031714e-08,
+            "object_to_gripper_z": 1.8814664937139014e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2792993131829316,
+              0.20532922171044482,
+              1.1013831147666355
+            ],
+            "finger_b": [
+              0.2792993131829316,
+              0.20532922171044482,
+              1.1013831147666355
+            ],
+            "finger_midpoint": [
+              0.2792993131829316,
+              0.20532922171044482,
+              1.1013831147666355
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013831147666355,
+            "object_top_z": 1.2263916213869153,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2792993131829316,
+            0.20532922171044485,
+            1.1013831147666358
+          ],
+          "object_origin_world": [
+            0.2792993131829316,
+            0.20532922171044485,
+            1.1013831147666358
+          ],
+          "frame_world": [
+            0.27929928326814535,
+            0.20532920700382806,
+            1.1013830959519706
+          ],
+          "center_minus_frame": [
+            2.991478625924415e-08,
+            1.4706616785487014e-08,
+            1.881466515918362e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432826048448693,
+            "required_z": 0.9112598987497956,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002676429432247037,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.198913665009314e-08,
+            "max_target_xy_drift": 3.9618945121930273e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.6910419733075375,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.691041973373249,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26889795232371033,
+              -0.3736778188419442,
+              0.9233984598378863
+            ],
+            "target_mouth_xy": [
+              0.2706081807017554,
+              -0.37162771796184657
+            ],
+            "rod_tip_z": 0.9233984598378863,
+            "rod_tip_depth": -0.022138620305885648,
+            "rod_tip_bottom_clearance": 0.12157917397011053,
+            "rod_tip_xy_dist": 0.0026697930113864002,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04478407968732323,
+            "min_rod_tip_bottom_clearance": 0.054656507332053406,
+            "min_rod_tip_xy_dist": 0.0010336385280377317,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27060818192711567,
+              -0.3716277499275056
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.2253602577061429e-09,
+              3.196565900864812e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0011001782789745174,
+                -0.00039146265327449914
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012188780406167665,
+                -0.0007166751571529018
+              ],
+              "first_target_mouth_xy": [
+                0.27060818143418275,
+                -0.37162768879418984
+              ],
+              "last_target_mouth_xy": [
+                0.27060815232877367,
+                -0.37162765923547925
+              ],
+              "first_rod_tip_xy": [
+                0.26950800315520823,
+                -0.37201915144746434
+              ],
+              "last_rod_tip_xy": [
+                0.2693892742881569,
+                -0.37234433439263215
+              ],
+              "min_rod_tip_xy_dist": 0.0011677479413109842,
+              "max_rod_tip_xy_dist": 0.0014139614417578382,
+              "first_target_xy_drift": 6.113530303017278e-08,
+              "last_target_xy_drift": 9.539971430543082e-08,
+              "max_depth": 0.019168613506825083,
+              "min_bottom_clearance": 0.08027195977760437
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011001782789745174,
+                  -0.00039146265327449914
+                ],
+                "rod_tip_xy": [
+                  0.26950800315520823,
+                  -0.37201915144746434
+                ],
+                "target_mouth_xy": [
+                  0.27060818143418275,
+                  -0.37162768879418984
+                ],
+                "gripper_position": [
+                  0.2694971869072368,
+                  -0.3720275215626932,
+                  1.006043814398103
+                ],
+                "rod_tip_xy_dist": 0.0011677479413109842,
+                "target_xy_drift": 6.113530303017278e-08,
+                "depth": 0.015069679231713984,
+                "bottom_clearance": 0.08437087756387407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011109903593811143,
+                  -0.00039983077940719536
+                ],
+                "rod_tip_xy": [
+                  0.2694971869072369,
+                  -0.37202752156269314
+                ],
+                "target_mouth_xy": [
+                  0.270608177266618,
+                  -0.37162769078328595
+                ],
+                "gripper_position": [
+                  0.269489556851951,
+                  -0.3720298077074127,
+                  1.0059159039951981
+                ],
+                "rod_tip_xy_dist": 0.001180747318777029,
+                "target_xy_drift": 5.9327556450404904e-08,
+                "depth": 0.01521610653782679,
+                "bottom_clearance": 0.08422452984454731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001118653355538568,
+                  -0.000402118580560884
+                ],
+                "rod_tip_xy": [
+                  0.26948955685195103,
+                  -0.3720298077074127
+                ],
+                "target_mouth_xy": [
+                  0.2706082102074896,
+                  -0.3716276891268518
+                ],
+                "gripper_position": [
+                  0.2694923562964242,
+                  -0.37209428359568425,
+                  1.0053900694489881
+                ],
+                "rod_tip_xy_dist": 0.0011887323848074462,
+                "target_xy_drift": 6.705593971402666e-08,
+                "depth": 0.01534391580306338,
+                "bottom_clearance": 0.08409659069503628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011158225576327063,
+                  -0.00046656176291559603
+                ],
+                "rod_tip_xy": [
+                  0.26949235629642426,
+                  -0.3720942835956843
+                ],
+                "target_mouth_xy": [
+                  0.27060817885405697,
+                  -0.3716277218327687
+                ],
+                "gripper_position": [
+                  0.26948164251664464,
+                  -0.3721026397313343,
+                  1.0052438472476912
+                ],
+                "rod_tip_xy_dist": 0.001209437827561592,
+                "target_xy_drift": 2.8262305807576716e-08,
+                "depth": 0.015869828485361004,
+                "bottom_clearance": 0.0835707963025557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011265376361578316,
+                  -0.0004749509293834331
+                ],
+                "rod_tip_xy": [
+                  0.2694816425166447,
+                  -0.3721026397313343
+                ],
+                "target_mouth_xy": [
+                  0.2706081801528025,
+                  -0.37162768880195085
+                ],
+                "gripper_position": [
+                  0.2694738891147014,
+                  -0.3721047303448864,
+                  1.0051159639047296
+                ],
+                "rod_tip_xy_dist": 0.001222565102970906,
+                "target_xy_drift": 6.115130111486248e-08,
+                "depth": 0.01601597694257617,
+                "bottom_clearance": 0.0834245330032709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011342908831122878,
+                  -0.0004769758860337925
+                ],
+                "rod_tip_xy": [
+                  0.26947388911470144,
+                  -0.37210473034488645
+                ],
+                "target_mouth_xy": [
+                  0.2706081799978137,
+                  -0.37162775445885265
+                ],
+                "gripper_position": [
+                  0.26947751620198357,
+                  -0.3721699945505006,
+                  1.0045914871847426
+                ],
+                "rod_tip_xy_dist": 0.0012304965678007294,
+                "target_xy_drift": 4.924968253152437e-09,
+                "depth": 0.01614395453461681,
+                "bottom_clearance": 0.0832967340185008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011306660067738616,
+                  -0.000542306423048089
+                ],
+                "rod_tip_xy": [
+                  0.2694775162019836,
+                  -0.3721699945505006
+                ],
+                "target_mouth_xy": [
+                  0.2706081822087575,
+                  -0.3716276881274525
+                ],
+                "gripper_position": [
+                  0.269466617440711,
+                  -0.372178269741312,
+                  1.0044450962464821
+                ],
+                "rod_tip_xy_dist": 0.0012539943681504964,
+                "target_xy_drift": 6.180069483579334e-08,
+                "depth": 0.01666842327765139,
+                "bottom_clearance": 0.08277218699033295,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011415358018723731,
+                  -0.0005505502441626176
+                ],
+                "rod_tip_xy": [
+                  0.2694666174407111,
+                  -0.37217826974131196
+                ],
+                "target_mouth_xy": [
+                  0.27060815324258347,
+                  -0.37162771949714934
+                ],
+                "gripper_position": [
+                  0.2694587570779446,
+                  -0.3721801864168821,
+                  1.0043172901128885
+                ],
+                "rod_tip_xy_dist": 0.0012673632306106721,
+                "target_xy_drift": 4.1818763345724504e-08,
+                "depth": 0.0168147417640786,
+                "bottom_clearance": 0.08262585997084926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011494237470542346,
+                  -0.0005524665589526911
+                ],
+                "rod_tip_xy": [
+                  0.2694587570779447,
+                  -0.3721801864168822
+                ],
+                "target_mouth_xy": [
+                  0.27060818082499893,
+                  -0.37162771985792953
+                ],
+                "gripper_position": [
+                  0.2694630714208406,
+                  -0.37224643877591296,
+                  1.0037955253380408
+                ],
+                "rod_tip_xy_dist": 0.0012753016306165472,
+                "target_xy_drift": 3.008976678534559e-08,
+                "depth": 0.016942534666938847,
+                "bottom_clearance": 0.08249799026094828,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001145108110212123,
+                  -0.0006187198279055117
+                ],
+                "rod_tip_xy": [
+                  0.26946307142084064,
+                  -0.372246438775913
+                ],
+                "target_mouth_xy": [
+                  0.27060817953105276,
+                  -0.3716277189480075
+                ],
+                "gripper_position": [
+                  0.2694522487588528,
+                  -0.37225432817114534,
+                  1.0036495280535136
+                ],
+                "rod_tip_xy_dist": 0.0013015709006877058,
+                "target_xy_drift": 3.10720198667577e-08,
+                "depth": 0.017464312678867944,
+                "bottom_clearance": 0.08197621056293858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011559328201903307,
+                  -0.0006266070321121475
+                ],
+                "rod_tip_xy": [
+                  0.2694522487588529,
+                  -0.37225432817114534
+                ],
+                "target_mouth_xy": [
+                  0.2706081815790432,
+                  -0.3716277211390332
+                ],
+                "gripper_position": [
+                  0.26944419338377634,
+                  -0.3722563374217936,
+                  1.0035220774837814
+                ],
+                "rod_tip_xy_dist": 0.0013148448796286066,
+                "target_xy_drift": 2.8790576524739535e-08,
+                "depth": 0.0176103257331931,
+                "bottom_clearance": 0.08183027282454736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001163956851698511,
+                  -0.0006286172258589962
+                ],
+                "rod_tip_xy": [
+                  0.2694441933837764,
+                  -0.37225633742179354
+                ],
+                "target_mouth_xy": [
+                  0.2706081502354749,
+                  -0.37162772019593454
+                ],
+                "gripper_position": [
+                  0.26943597470265646,
+                  -0.3722585412640343,
+                  1.003394110041307
+                ],
+                "rod_tip_xy_dist": 0.0013228587109977278,
+                "target_xy_drift": 4.345487786463498e-08,
+                "depth": 0.01773775383782572,
+                "bottom_clearance": 0.08170276609848981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001172176473379305,
+                  -0.0006308232950749115
+                ],
+                "rod_tip_xy": [
+                  0.26943597470265657,
+                  -0.37225854126403435
+                ],
+                "target_mouth_xy": [
+                  0.27060815117603587,
+                  -0.37162771796895944
+                ],
+                "gripper_position": [
+                  0.269441743538945,
+                  -0.3723267092309728,
+                  1.002874429129983
+                ],
+                "rod_tip_xy_dist": 0.001331140756777101,
+                "target_xy_drift": 4.43506209656384e-08,
+                "depth": 0.017865731332313284,
+                "bottom_clearance": 0.08157483223314943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011664078603737527,
+                  -0.0006989887325540289
+                ],
+                "rod_tip_xy": [
+                  0.26944174353894507,
+                  -0.3723267092309728
+                ],
+                "target_mouth_xy": [
+                  0.2706081513993188,
+                  -0.37162772049841875
+                ],
+                "gripper_position": [
+                  0.26943078729124426,
+                  -0.37233432185633925,
+                  1.0027286194903318
+                ],
+                "rod_tip_xy_dist": 0.0013598134228559311,
+                "target_xy_drift": 4.240303682709146e-08,
+                "depth": 0.018385410149417525,
+                "bottom_clearance": 0.08105515157717103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011773604500017743,
+                  -0.0007066634641765823
+                ],
+                "rod_tip_xy": [
+                  0.2694307872912443,
+                  -0.3723343218563393
+                ],
+                "target_mouth_xy": [
+                  0.2706081477412461,
+                  -0.3716276583921627
+                ],
+                "gripper_position": [
+                  0.2694224682743,
+                  -0.37233630367861714,
+                  1.0026010324926249
+                ],
+                "rod_tip_xy_dist": 0.001373153626085016,
+                "target_xy_drift": 9.771076026514516e-08,
+                "depth": 0.01853129636687445,
+                "bottom_clearance": 0.08090933882988405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011857130671525384,
+                  -0.0007086146167880614
+                ],
+                "rod_tip_xy": [
+                  0.26942246827430005,
+                  -0.37233630367861714
+                ],
+                "target_mouth_xy": [
+                  0.2706081813414526,
+                  -0.3716276890618291
+                ],
+                "gripper_position": [
+                  0.26941427563160586,
+                  -0.3723381283246314,
+                  1.0024738135131184
+                ],
+                "rod_tip_xy_dist": 0.0013813218859997736,
+                "target_xy_drift": 6.08684941238227e-08,
+                "depth": 0.018658795162388997,
+                "bottom_clearance": 0.08078174819105233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011938738265259152,
+                  -0.0007104382702083356
+                ],
+                "rod_tip_xy": [
+                  0.2694142756316059,
+                  -0.37233812832463153
+                ],
+                "target_mouth_xy": [
+                  0.27060814945813183,
+                  -0.3716276900544232
+                ],
+                "gripper_position": [
+                  0.26940599864917025,
+                  -0.37234015217021393,
+                  1.002346075500533
+                ],
+                "rod_tip_xy_dist": 0.0013892650033165896,
+                "target_xy_drift": 6.811035828020478e-08,
+                "depth": 0.018786093910197033,
+                "bottom_clearance": 0.08065444188346638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012021807802710671,
+                  -0.000712463373220007
+                ],
+                "rod_tip_xy": [
+                  0.2694059986491703,
+                  -0.372340152170214
+                ],
+                "target_mouth_xy": [
+                  0.2706081794294414,
+                  -0.371627688796994
+                ],
+                "gripper_position": [
+                  0.26939766307011487,
+                  -0.3723422988797186,
+                  1.0022184963191725
+                ],
+                "rod_tip_xy_dist": 0.0013974414787865654,
+                "target_xy_drift": 6.11815153865055e-08,
+                "depth": 0.018913771419265424,
+                "bottom_clearance": 0.08052676771023493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0012104872255280785,
+                  -0.0007145793263247935
+                ],
+                "rod_tip_xy": [
+                  0.2693976630701149,
+                  -0.3723422988797186
+                ],
+                "target_mouth_xy": [
+                  0.270608150295643,
+                  -0.3716277195533938
+                ],
+                "gripper_position": [
+                  0.26938927428815684,
+                  -0.37234433439263215,
+                  1.0020912798192902
+                ],
+                "rod_tip_xy_dist": 0.0014056681460349952,
+                "target_xy_drift": 4.385358285656648e-08,
+                "depth": 0.01904132083759691,
+                "bottom_clearance": 0.0803991728029746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0012188780406167665,
+                  -0.0007166751571529018
+                ],
+                "rod_tip_xy": [
+                  0.2693892742881569,
+                  -0.37234433439263215
+                ],
+                "target_mouth_xy": [
+                  0.27060815232877367,
+                  -0.37162765923547925
+                ],
+                "gripper_position": [
+                  0.2693983036784125,
+                  -0.372417098508413,
+                  1.0015745645697205
+                ],
+                "rod_tip_xy_dist": 0.0014139614417578382,
+                "target_xy_drift": 9.539971430543082e-08,
+                "depth": 0.019168613506825083,
+                "bottom_clearance": 0.08027195977760437,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006011154573606107,
+              "rod_tip_xy_max_step": 3.2550129628895595e-05,
+              "rod_tip_xy_range": 0.0006011074146225834,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26889795232371033,
+            -0.3736778188419442,
+            1.0433984598378863
+          ],
+          "object_origin_world": [
+            0.26889795232371033,
+            -0.3736778188419442,
+            1.0433984598378863
+          ],
+          "frame_world": [
+            0.26889643037585886,
+            -0.3736851885758752,
+            1.0432826048448693
+          ],
+          "center_minus_frame": [
+            1.5219478514683082e-06,
+            7.3697339310063725e-06,
+            0.00011585499301691726
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2637489718355122,
+              0.158428937618287,
+              0.8320450181535252
+            ],
+            "target_position": [
+              0.279481123370547,
+              0.20365307506951746,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04788238924833516,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16543132102145144,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320450181535252,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672116546818,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13540070974046498,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2823843d7c123fcec2d701827413bb8c1e53caf09af70097e977d185f6f5c279",
+    "visual_seed": 5637640554545516440,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d28664d18b699a3dc9faf2897e90955dd37a8fe4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_82_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19694040562136259,
+              -0.10465601060785334,
+              1.1623712098713064
+            ],
+            "current_z": 1.1623712098713064,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.30126440383331643,
+            "gripper_z": 1.1564489249911407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19218905058127642,
+              -0.10923340639676776,
+              1.1564489249911407
+            ],
+            "object_minus_gripper": [
+              0.004751355040086169,
+              0.004577395788914418,
+              0.0059222848801656625
+            ],
+            "object_to_gripper_xy": 0.00659756977419138,
+            "object_to_gripper_z": 0.0059222848801656625,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19694040562136259,
+              -0.12859401547336116,
+              1.1623712098713064
+            ],
+            "finger_b": [
+              0.18656125197417694,
+              -0.10465601060785334,
+              1.1623712098713064
+            ],
+            "finger_midpoint": [
+              0.19175082879776978,
+              -0.11662501304060725,
+              1.1623712098713064
+            ],
+            "object_minus_finger_midpoint": [
+              0.005189576823592806,
+              0.011969002432753909,
+              0.0
+            ],
+            "finger_gap": 0.02609128029386375,
+            "fingertip_max_gap": 0.09232903470088646,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01304564014693187,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623712098713064,
+            "object_top_z": 1.212515899286943,
+            "finger_top_clearance": 0.050144689415636545,
+            "fingertip_min_top_clearance": 0.015043406824690997,
+            "object_projection_between_fingers": 0.8417538687343359,
+            "object_to_finger_line_xy": 0.00952257718700818,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048664517350443234,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.633551541851106,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2718645390669725,
+              -0.3639820278728324,
+              0.8515396124072594
+            ],
+            "target_position": [
+              0.26537567770279336,
+              -0.36399199671835275,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064888690217493085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18388469871867308,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396124072594,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586131081325788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08784554683594935,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1507256723978811,
+            "release_required_pad_clearance": 0.053922773417974676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.855591587752568,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007784426212310791,
+            "max_z_decrease": 0.007784426212310791,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141904630119916,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007784426212310791,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021217544270467747,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007784426212310791,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077844554422257725,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12107560038566587,
+              -0.4202534556388855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12107560038566587,
+              -0.4202534556388855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12223412107532297,
+              -0.4216764310539608,
+              0.8076538462472308
+            ],
+            "closest_button": [
+              0.12106484174728391,
+              -0.42024901509284973,
+              0.7725604176521301
+            ],
+            "closest_ee_minus_button": [
+              0.0011692793280390634,
+              -0.001427415961111067,
+              0.03509342859510067
+            ],
+            "button_min_z_position": [
+              0.12105457484722135,
+              -0.4202498495578766,
+              0.7690244317054749
+            ],
+            "min_active_finger_to_button": 0.14493352097244275,
+            "closest_active_finger": [
+              -0.018989965319633484,
+              -0.40616658329963684,
+              0.8107514977455139
+            ],
+            "closest_active_finger_button": [
+              0.1210764944553375,
+              -0.42025086283683777,
+              0.7762733101844788
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14006645977497098,
+              0.014084279537200928,
+              0.034478187561035156
+            ],
+            "min_contact_pad_to_button": 0.021217544270467747,
+            "closest_contact_pad": [
+              0.12105457484722135,
+              -0.42269645743168144,
+              0.7901004440128611
+            ],
+            "closest_contact_pad_button": [
+              0.12105457484722135,
+              -0.4202498495578766,
+              0.7690244317054749
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024466078738048513,
+              0.021076012307386205
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.276201065634137,
+              0.2068631808463131,
+              1.102450556616335
+            ],
+            "current_z": 1.102450556616335,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1925414268819724,
+            "gripper_z": 1.102450556616335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27620106563413716,
+              0.20686318084631314,
+              1.102450556616335
+            ],
+            "object_minus_gripper": [
+              -1.6653345369377348e-16,
+              -2.7755575615628914e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 1.6883057536160649e-16,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.276201065634137,
+              0.2068631808463131,
+              1.102450556616335
+            ],
+            "finger_b": [
+              0.276201065634137,
+              0.2068631808463131,
+              1.102450556616335
+            ],
+            "finger_midpoint": [
+              0.276201065634137,
+              0.2068631808463131,
+              1.102450556616335
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102450556616335,
+            "object_top_z": 1.2274590632366147,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27620106563413704,
+            0.2068631808463131,
+            1.102450556616335
+          ],
+          "object_origin_world": [
+            0.27620106563413704,
+            0.2068631808463131,
+            1.102450556616335
+          ],
+          "frame_world": [
+            0.27620106563413716,
+            0.20686318084631314,
+            1.102450556616335
+          ],
+          "center_minus_frame": [
+            -1.1102230246251565e-16,
+            -2.7755575615628914e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433683947869619,
+            "required_z": 0.911259899684598,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015826292252759892,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9179615370938664e-08,
+            "max_target_xy_drift": 1.5118861802919318e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.8555915877825737,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.8555915881100855,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2712320548922767,
+              -0.3654257352643319,
+              0.9234833465213163
+            ],
+            "target_mouth_xy": [
+              0.27186450652094085,
+              -0.36398202920860323
+            ],
+            "rod_tip_z": 0.9234833465213163,
+            "rod_tip_depth": -0.022223471015059948,
+            "rod_tip_bottom_clearance": 0.12166405317884199,
+            "rod_tip_xy_dist": 0.0015761606003030365,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044676187230619835,
+            "min_rod_tip_bottom_clearance": 0.05476436398427165,
+            "min_rod_tip_xy_dist": 0.00012623668937121517,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.271864505414979,
+              -0.3639820000499544
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.1059618776343427e-09,
+              -2.9158648828797595e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -8.235027893149782e-05,
+                0.00026808054369781287
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00019431029336425265,
+                -6.372582971153617e-05
+              ],
+              "first_target_mouth_xy": [
+                0.27186450532340145,
+                -0.36398202953115055
+              ],
+              "last_target_mouth_xy": [
+                0.2718645077673979,
+                -0.36398203040562793
+              ],
+              "first_rod_tip_xy": [
+                0.27178215504446995,
+                -0.36371394898745274
+              ],
+              "last_rod_tip_xy": [
+                0.27167019747403365,
+                -0.36404575623533947
+              ],
+              "min_rod_tip_xy_dist": 0.00012623668937121517,
+              "max_rod_tip_xy_dist": 0.0002804438381377106,
+              "first_target_xy_drift": 2.9481338384399545e-08,
+              "last_target_xy_drift": 3.0446687673504494e-08,
+              "max_depth": 0.019356289661879966,
+              "min_bottom_clearance": 0.08008420197037314
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -8.235027893149782e-05,
+                  0.00026808054369781287
+                ],
+                "rod_tip_xy": [
+                  0.27178215504446995,
+                  -0.36371394898745274
+                ],
+                "target_mouth_xy": [
+                  0.27186450532340145,
+                  -0.36398202953115055
+                ],
+                "gripper_position": [
+                  0.2717714334049233,
+                  -0.3637218934276808,
+                  1.0058316758107777
+                ],
+                "rod_tip_xy_dist": 0.0002804438381377106,
+                "target_xy_drift": 2.9481338384399545e-08,
+                "depth": 0.015283342123724508,
+                "bottom_clearance": 0.0841572773100977,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -9.313354824058706e-05,
+                  0.0002601360453174939
+                ],
+                "rod_tip_xy": [
+                  0.27177143340492316,
+                  -0.36372189342768085
+                ],
+                "target_mouth_xy": [
+                  0.27186456695316374,
+                  -0.36398202947299835
+                ],
+                "gripper_position": [
+                  0.27176349055252425,
+                  -0.36372373455594564,
+                  1.0057048410780867
+                ],
+                "rod_tip_xy_dist": 0.00027630530194208545,
+                "target_xy_drift": 6.82104368835067e-08,
+                "depth": 0.015428109825200598,
+                "bottom_clearance": 0.08401243013413506,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00010104702102448071,
+                  0.00025829457570564207
+                ],
+                "rod_tip_xy": [
+                  0.2717634905525241,
+                  -0.3637237345559457
+                ],
+                "target_mouth_xy": [
+                  0.27186453757354856,
+                  -0.36398202913165134
+                ],
+                "gripper_position": [
+                  0.27176870366898176,
+                  -0.3637907703658883,
+                  1.0051806581432738
+                ],
+                "rod_tip_xy_dist": 0.0002773564282595223,
+                "target_xy_drift": 4.335802918303597e-08,
+                "depth": 0.0155549964784375,
+                "bottom_clearance": 0.08388553800839549,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -9.586420676321872e-05,
+                  0.0001912314882380195
+                ],
+                "rod_tip_xy": [
+                  0.27176870366898165,
+                  -0.3637907703658883
+                ],
+                "target_mouth_xy": [
+                  0.27186456787574487,
+                  -0.3639820018541263
+                ],
+                "gripper_position": [
+                  0.2717576447290073,
+                  -0.3637988274725602,
+                  1.0050358989537413
+                ],
+                "rod_tip_xy_dist": 0.000213914534877995,
+                "target_xy_drift": 6.248681710761325e-08,
+                "depth": 0.016079176106680193,
+                "bottom_clearance": 0.08336136018197948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00010686138933885259,
+                  0.00018323025704486406
+                ],
+                "rod_tip_xy": [
+                  0.27175764472900715,
+                  -0.36379882747256015
+                ],
+                "target_mouth_xy": [
+                  0.271864506118346,
+                  -0.363982057729605
+                ],
+                "gripper_position": [
+                  0.27174949165131285,
+                  -0.3638006897860279,
+                  1.004909031072252
+                ],
+                "rod_tip_xy_dist": 0.00021211478880115076,
+                "target_xy_drift": 5.7683939010998696e-08,
+                "depth": 0.016224010089396446,
+                "bottom_clearance": 0.08321663152658365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00011501562690974243,
+                  0.00018134128251384718
+                ],
+                "rod_tip_xy": [
+                  0.2717494916513127,
+                  -0.3638006897860279
+                ],
+                "target_mouth_xy": [
+                  0.2718645072782224,
+                  -0.36398203106854177
+                ],
+                "gripper_position": [
+                  0.2717555772348983,
+                  -0.36386875095323584,
+                  1.0043862614569479
+                ],
+                "rod_tip_xy_dist": 0.0002147399710748048,
+                "target_xy_drift": 3.107449819848855e-08,
+                "depth": 0.01635081080919143,
+                "bottom_clearance": 0.08308971905882534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00010899140632908422,
+                  0.0001132791167673397
+                ],
+                "rod_tip_xy": [
+                  0.2717555772348981,
+                  -0.36386875095323584
+                ],
+                "target_mouth_xy": [
+                  0.2718645686412272,
+                  -0.3639820300700032
+                ],
+                "gripper_position": [
+                  0.27174440255430543,
+                  -0.3638766426681254,
+                  1.0042417921573106
+                ],
+                "rod_tip_xy_dist": 0.0001571982345612702,
+                "target_xy_drift": 6.999115511895076e-08,
+                "depth": 0.01687356392432615,
+                "bottom_clearance": 0.08256697363416665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0001201636717558241,
+                  0.00010538748558103217
+                ],
+                "rod_tip_xy": [
+                  0.2717444025543053,
+                  -0.3638766426681255
+                ],
+                "target_mouth_xy": [
+                  0.27186456622606114,
+                  -0.36398203015370656
+                ],
+                "gripper_position": [
+                  0.2717361657392013,
+                  -0.36387828669166944,
+                  1.0041152167787049
+                ],
+                "rod_tip_xy_dist": 0.0001598306295017751,
+                "target_xy_drift": 6.785442954324058e-08,
+                "depth": 0.017018064775533692,
+                "bottom_clearance": 0.0824224814416078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0001284002202758816,
+                  0.00010374378737754153
+                ],
+                "rod_tip_xy": [
+                  0.2717361657392012,
+                  -0.3638782866916695
+                ],
+                "target_mouth_xy": [
+                  0.27186456595947706,
+                  -0.36398203047904704
+                ],
+                "gripper_position": [
+                  0.27174309513762696,
+                  -0.3639474655699334,
+                  1.0035954519650812
+                ],
+                "rod_tip_xy_dist": 0.00016507389250372534,
+                "target_xy_drift": 6.776109449029326e-08,
+                "depth": 0.01714464320515796,
+                "bottom_clearance": 0.08229590274970067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00012141222026434972,
+                  3.4565510467599037e-05
+                ],
+                "rod_tip_xy": [
+                  0.2717430951376268,
+                  -0.36394746556993346
+                ],
+                "target_mouth_xy": [
+                  0.27186450735789114,
+                  -0.36398203108040106
+                ],
+                "gripper_position": [
+                  0.2717318105773693,
+                  -0.3639554399728101,
+                  1.0034508630707513
+                ],
+                "rod_tip_xy_dist": 0.00012623668937121517,
+                "target_xy_drift": 3.109121302538252e-08,
+                "depth": 0.017664387789686598,
+                "bottom_clearance": 0.08177613960451413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0001327561982881198,
+                  2.6590149099059435e-05
+                ],
+                "rod_tip_xy": [
+                  0.27173181057736917,
+                  -0.36395543997281005
+                ],
+                "target_mouth_xy": [
+                  0.2718645667756573,
+                  -0.3639820301219091
+                ],
+                "gripper_position": [
+                  0.2717234745270004,
+                  -0.3639568114217571,
+                  1.003324467377623
+                ],
+                "rod_tip_xy_dist": 0.00013539292526947187,
+                "target_xy_drift": 6.833341278725019e-08,
+                "depth": 0.017808977146844374,
+                "bottom_clearance": 0.0816315480434584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00014106245424877484,
+                  2.521901769142465e-05
+                ],
+                "rod_tip_xy": [
+                  0.27172347452700024,
+                  -0.36395681142175723
+                ],
+                "target_mouth_xy": [
+                  0.271864536981249,
+                  -0.36398203043944866
+                ],
+                "gripper_position": [
+                  0.2717152087381698,
+                  -0.36395809996918443,
+                  1.0031980302076302
+                ],
+                "rod_tip_xy_dist": 0.00014329903995494208,
+                "target_xy_drift": 4.381724278660914e-08,
+                "depth": 0.0179353674104078,
+                "bottom_clearance": 0.08150514674241871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00014935801738641397,
+                  2.392951182156322e-05
+                ],
+                "rod_tip_xy": [
+                  0.2717152087381696,
+                  -0.36395809996918443
+                ],
+                "target_mouth_xy": [
+                  0.27186456675555604,
+                  -0.363982029481006
+                ],
+                "gripper_position": [
+                  0.27170671964924187,
+                  -0.36395988353388625,
+                  1.0030715794484977
+                ],
+                "rod_tip_xy_dist": 0.00015126281398155554,
+                "target_xy_drift": 6.80356758793382e-08,
+                "depth": 0.018061821098725894,
+                "bottom_clearance": 0.08137872653616529,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0001578465866993728,
+                  2.21456513584406e-05
+                ],
+                "rod_tip_xy": [
+                  0.27170671964924176,
+                  -0.36395988353388636
+                ],
+                "target_mouth_xy": [
+                  0.27186456623594113,
+                  -0.3639820291852448
+                ],
+                "gripper_position": [
+                  0.271715510064517,
+                  -0.3640323527102862,
+                  1.0025522697418907
+                ],
+                "rod_tip_xy_dist": 0.00015939251803874678,
+                "target_xy_drift": 6.743926589430754e-08,
+                "depth": 0.018188292978390974,
+                "bottom_clearance": 0.08125228553628494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00014905833625505904,
+                  -5.035372825790141e-05
+                ],
+                "rod_tip_xy": [
+                  0.27171551006451683,
+                  -0.36403235271028617
+                ],
+                "target_mouth_xy": [
+                  0.2718645684007719,
+                  -0.36398199898202827
+                ],
+                "gripper_position": [
+                  0.2717042115699958,
+                  -0.3640402246905234,
+                  1.0024078468337358
+                ],
+                "rod_tip_xy_dist": 0.0001573336758503939,
+                "target_xy_drift": 6.299484562500748e-08,
+                "depth": 0.018707577383337837,
+                "bottom_clearance": 0.080732999695039,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00016029383421806154,
+                  -5.8223085917463724e-05
+                ],
+                "rod_tip_xy": [
+                  0.27170421156999564,
+                  -0.3640402246905234
+                ],
+                "target_mouth_xy": [
+                  0.2718645054042137,
+                  -0.3639820016046059
+                ],
+                "gripper_position": [
+                  0.27169578710991105,
+                  -0.36404137294642885,
+                  1.002281969646861
+                ],
+                "rod_tip_xy_dist": 0.00017054043808457792,
+                "target_xy_drift": 1.5546887905893818e-09,
+                "depth": 0.018852057017191615,
+                "bottom_clearance": 0.08058855423790556,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00016874970666852507,
+                  -5.934250877254188e-05
+                ],
+                "rod_tip_xy": [
+                  0.2716957871099109,
+                  -0.36404137294642885
+                ],
+                "target_mouth_xy": [
+                  0.2718645368165794,
+                  -0.3639820304376563
+                ],
+                "gripper_position": [
+                  0.27168734212105505,
+                  -0.3640428633184971,
+                  1.0021556945304417
+                ],
+                "rod_tip_xy_dist": 0.0001788798391326772,
+                "target_xy_drift": 4.3697516371307616e-08,
+                "depth": 0.01897787033402809,
+                "bottom_clearance": 0.08046265050084356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000177194803545333,
+                  -6.083193409506249e-05
+                ],
+                "rod_tip_xy": [
+                  0.2716873421210549,
+                  -0.36404286331849706
+                ],
+                "target_mouth_xy": [
+                  0.2718645369246002,
+                  -0.363982031384402
+                ],
+                "gripper_position": [
+                  0.27167872780139124,
+                  -0.36404430911775937,
+                  1.002029566271567
+                ],
+                "rod_tip_xy_dist": 0.00018734599704614771,
+                "target_xy_drift": 4.4437639866946564e-08,
+                "depth": 0.019104158076457378,
+                "bottom_clearance": 0.08033638937857324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00018580907091342302,
+                  -6.227963096688827e-05
+                ],
+                "rod_tip_xy": [
+                  0.2716787278013911,
+                  -0.36404430911775937
+                ],
+                "target_mouth_xy": [
+                  0.2718645368723045,
+                  -0.3639820294867925
+                ],
+                "gripper_position": [
+                  0.2716701974740338,
+                  -0.36404575623533947,
+                  1.0019035272254604
+                ],
+                "rod_tip_xy_dist": 0.0001959687813583614,
+                "target_xy_drift": 4.3082371859666395e-08,
+                "depth": 0.01923028747808264,
+                "bottom_clearance": 0.08021026321568991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00019431029336425265,
+                  -6.372582971153617e-05
+                ],
+                "rod_tip_xy": [
+                  0.27167019747403365,
+                  -0.36404575623533947
+                ],
+                "target_mouth_xy": [
+                  0.2718645077673979,
+                  -0.36398203040562793
+                ],
+                "gripper_position": [
+                  0.2716818597015619,
+                  -0.36412173189675107,
+                  1.0013895901106602
+                ],
+                "rod_tip_xy_dist": 0.0002044932064390542,
+                "target_xy_drift": 3.0446687673504494e-08,
+                "depth": 0.019356289661879966,
+                "bottom_clearance": 0.08008420197037314,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006001200546592428,
+              "rod_tip_xy_max_step": 3.262362446154235e-05,
+              "rod_tip_xy_range": 0.0006001144077803584,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27123205489227675,
+            -0.3654257352643319,
+            1.0434833465213165
+          ],
+          "object_origin_world": [
+            0.27123205489227675,
+            -0.3654257352643319,
+            1.0434833465213165
+          ],
+          "frame_world": [
+            0.2712306900276661,
+            -0.36543219882542416,
+            1.0433683947869619
+          ],
+          "center_minus_frame": [
+            1.3648646106645401e-06,
+            6.463561092240333e-06,
+            0.00011495173435460693
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26065522131116264,
+              0.16073695288581727,
+              0.8312572675412816
+            ],
+            "target_position": [
+              0.276367522613907,
+              0.20633622279027825,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04823038283124138,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16836459645025217,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312572675412816,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671542367425,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.138581967738189,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffc784f05f5f9f1e3fbc0834b61a6b5d6f497b0919d8bf4d7d65e1a69143a5fd",
+    "visual_seed": 1656883445338403858,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..082c96bc23a393d6cb0bd9d1a0c2154418f826a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_83_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19584676795805556,
+              -0.10528900318276496,
+              1.164950169805402
+            ],
+            "current_z": 1.164950169805402,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30384372139528093,
+            "gripper_z": 1.1590173177933378,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1912158893844434,
+              -0.10984696829898484,
+              1.1590173177933378
+            ],
+            "object_minus_gripper": [
+              0.004630878573612163,
+              0.004557965116219878,
+              0.00593285201206406
+            ],
+            "object_to_gripper_xy": 0.0064976982358537945,
+            "object_to_gripper_z": 0.00593285201206406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19584676795805556,
+              -0.12914576064471955,
+              1.164950169805402
+            ],
+            "finger_b": [
+              0.18547552519273966,
+              -0.10528900318276496,
+              1.164950169805402
+            ],
+            "finger_midpoint": [
+              0.19066114657539762,
+              -0.11721738191374226,
+              1.164950169805402
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051856213826579345,
+              0.011928378730977296,
+              0.0
+            ],
+            "finger_gap": 0.026013603231687138,
+            "fingertip_max_gap": 0.09196479950082004,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013006801615843564,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164950169805402,
+            "object_top_z": 1.214964571685794,
+            "finger_top_clearance": 0.05001440188039208,
+            "fingertip_min_top_clearance": 0.015004320564117622,
+            "object_projection_between_fingers": 0.8410499838444765,
+            "object_to_finger_line_xy": 0.00951133993347778,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848239975041002,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4953452455499763,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26630172765538795,
+              -0.3708185493533739,
+              0.8515394993619003
+            ],
+            "target_position": [
+              0.2598341937428516,
+              -0.3708385428516798,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006467564816048019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835328007210316,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394993619003,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578590537204428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08750495329066975,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1507515064644008,
+            "release_required_pad_clearance": 0.053752476645334876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5141984031842117,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007810056209564209,
+            "max_z_decrease": 0.007810056209564209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512606675214627,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007810056209564209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021185752974490327,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007810056209564209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0078100790445928625,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11553411930799483,
+              -0.4271000027656555,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11553411930799483,
+              -0.4271000027656555,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11664234713701807,
+              -0.428041195585957,
+              0.807719625831221
+            ],
+            "closest_button": [
+              0.11552330851554868,
+              -0.4270952343940735,
+              0.772624135017395
+            ],
+            "closest_ee_minus_button": [
+              0.0011190386214693926,
+              -0.0009459611918835042,
+              0.035095490813826014
+            ],
+            "button_min_z_position": [
+              0.11551543325185774,
+              -0.42709726095199585,
+              0.7689988017082214
+            ],
+            "min_active_finger_to_button": 0.14501505485107155,
+            "closest_active_finger": [
+              -0.024314209818840027,
+              -0.4102463722229004,
+              0.8107320070266724
+            ],
+            "closest_active_finger_button": [
+              0.11553463339805602,
+              -0.4270976483821869,
+              0.7762689590454102
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13984884321689606,
+              0.0168512761592865,
+              0.03446304798126221
+            ],
+            "min_contact_pad_to_button": 0.021185752974490327,
+            "closest_contact_pad": [
+              0.11551543325185774,
+              -0.4292523408703806,
+              0.7900746589776542
+            ],
+            "closest_contact_pad_button": [
+              0.11551543325185774,
+              -0.42709726095199585,
+              0.7689988017082214
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021550799183847613,
+              0.02107585726943273
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27906187025940166,
+              0.20929544438929837,
+              1.1026254066724142
+            ],
+            "current_z": 1.1026254066724142,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1927162769380516,
+            "gripper_z": 1.1026255304917745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2790619048127982,
+              0.20929549546955986,
+              1.1026255304917745
+            ],
+            "object_minus_gripper": [
+              -3.455339653291034e-08,
+              -5.108026149280853e-08,
+              -1.2381936032035412e-07
+            ],
+            "object_to_gripper_xy": 6.166952510060571e-08,
+            "object_to_gripper_z": -1.2381936032035412e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27906187025940166,
+              0.20929544438929837,
+              1.1026254066724142
+            ],
+            "finger_b": [
+              0.27906187025940166,
+              0.20929544438929837,
+              1.1026254066724142
+            ],
+            "finger_midpoint": [
+              0.27906187025940166,
+              0.20929544438929837,
+              1.1026254066724142
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026254066724142,
+            "object_top_z": 1.227633913292694,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27906187025940166,
+            0.20929544438929837,
+            1.1026254066724142
+          ],
+          "object_origin_world": [
+            0.27906187025940166,
+            0.20929544438929837,
+            1.1026254066724142
+          ],
+          "frame_world": [
+            0.2790619048127982,
+            0.20929549546955986,
+            1.1026255304917745
+          ],
+          "center_minus_frame": [
+            -3.455339653291034e-08,
+            -5.108026149280853e-08,
+            -1.2381936032035412e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433671654743721,
+            "required_z": 0.9112598890864233,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0003761892312576266,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.383654408787146e-08,
+            "max_target_xy_drift": 8.265790366164661e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.5141984023763655,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.514198403350537,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2660624446292828,
+              -0.3711011857697731,
+              0.923481525418926
+            ],
+            "target_mouth_xy": [
+              0.2663017289730957,
+              -0.3708184592401968
+            ],
+            "rod_tip_z": 0.923481525418926,
+            "rod_tip_depth": -0.022221571870957635,
+            "rod_tip_bottom_clearance": 0.12166215297531713,
+            "rod_tip_xy_dist": 0.00037039342289004807,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04487408194131137,
+            "min_rod_tip_bottom_clearance": 0.054566457120185596,
+            "min_rod_tip_xy_dist": 0.0002458828551334749,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2663016837544248,
+              -0.3708184884574055
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.521867086326736e-08,
+              2.9217208707965625e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0003195696450767338,
+                0.0015573097526564439
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00021965010995178558,
+                0.0011351155743962171
+              ],
+              "first_target_mouth_xy": [
+                0.2663016651131408,
+                -0.3708184891253255
+              ],
+              "last_target_mouth_xy": [
+                0.26630168036327023,
+                -0.37081845900163224
+              ],
+              "first_rod_tip_xy": [
+                0.26662123475821753,
+                -0.36926117937266906
+              ],
+              "last_rod_tip_xy": [
+                0.266521330473222,
+                -0.369683343427236
+              ],
+              "min_rod_tip_xy_dist": 0.0011561719327326215,
+              "max_rod_tip_xy_dist": 0.0015897604925816165,
+              "first_target_xy_drift": 1.8653246015181293e-08,
+              "last_target_xy_drift": 2.965033740142122e-08,
+              "max_depth": 0.019502647739784273,
+              "min_bottom_clearance": 0.07993790098590303
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0003195696450767338,
+                  0.0015573097526564439
+                ],
+                "rod_tip_xy": [
+                  0.26662123475821753,
+                  -0.36926117937266906
+                ],
+                "target_mouth_xy": [
+                  0.2663016651131408,
+                  -0.3708184891253255
+                ],
+                "gripper_position": [
+                  0.26662492068881216,
+                  -0.3693316910867364,
+                  1.0056826486016965
+                ],
+                "rod_tip_xy_dist": 0.0015897604925816165,
+                "target_xy_drift": 1.8653246015181293e-08,
+                "depth": 0.015055082173842993,
+                "bottom_clearance": 0.08438548576854787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0003232208185008356,
+                  0.0014867973034852766
+                ],
+                "rod_tip_xy": [
+                  0.26662492068881216,
+                  -0.3693316910867363
+                ],
+                "target_mouth_xy": [
+                  0.2663016998703113,
+                  -0.3708184883902216
+                ],
+                "gripper_position": [
+                  0.2666140563239288,
+                  -0.36934003256970294,
+                  1.0055387120270927
+                ],
+                "rod_tip_xy_dist": 0.0015215248664295434,
+                "target_xy_drift": 1.6116026551779892e-08,
+                "depth": 0.015577250436637047,
+                "bottom_clearance": 0.0838633572494264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0003123766822776264,
+                  0.0014784562330829587
+                ],
+                "rod_tip_xy": [
+                  0.2666140563239288,
+                  -0.3693400325697029
+                ],
+                "target_mouth_xy": [
+                  0.2663016796416512,
+                  -0.37081848880278584
+                ],
+                "gripper_position": [
+                  0.2666062979098175,
+                  -0.3693419588753977,
+                  1.005412917299859
+                ],
+                "rod_tip_xy_dist": 0.0015110962989739035,
+                "target_xy_drift": 4.127250227353878e-09,
+                "depth": 0.015721172549330142,
+                "bottom_clearance": 0.08371940509140441,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00030459690187717436,
+                  0.0014765291556388394
+                ],
+                "rod_tip_xy": [
+                  0.26660629790981755,
+                  -0.3693419588753976
+                ],
+                "target_mouth_xy": [
+                  0.2663017010079404,
+                  -0.37081848803103645
+                ],
+                "gripper_position": [
+                  0.26661089927450204,
+                  -0.3694133174269713,
+                  1.004891013790539
+                ],
+                "rod_tip_xy_dist": 0.0015076198526434695,
+                "target_xy_drift": 1.7258782974796375e-08,
+                "depth": 0.01584699645180543,
+                "bottom_clearance": 0.08359366662465739,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003092197773121863,
+                  0.0014051406123364307
+                ],
+                "rod_tip_xy": [
+                  0.2666108992745021,
+                  -0.3694133174269713
+                ],
+                "target_mouth_xy": [
+                  0.2663016794971899,
+                  -0.37081845803930774
+                ],
+                "gripper_position": [
+                  0.2666000944243932,
+                  -0.3694214772504799,
+                  1.0047472557715598
+                ],
+                "rod_tip_xy_dist": 0.0014387623191890306,
+                "target_xy_drift": 3.0714568538160056e-08,
+                "depth": 0.016368891165750354,
+                "bottom_clearance": 0.08307172493292214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00029839433132083926,
+                  0.0013969809955122203
+                ],
+                "rod_tip_xy": [
+                  0.2666000944243932,
+                  -0.36942147725047986
+                ],
+                "target_mouth_xy": [
+                  0.26630170009307236,
+                  -0.3708184582459921
+                ],
+                "gripper_position": [
+                  0.2665920982385343,
+                  -0.3694233066257647,
+                  1.0046215486284824
+                ],
+                "rod_tip_xy_dist": 0.0014284939897621987,
+                "target_xy_drift": 3.4346483151278695e-08,
+                "depth": 0.01651265108833544,
+                "bottom_clearance": 0.08292797759327286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0002904015653712455,
+                  0.0013951519887442365
+                ],
+                "rod_tip_xy": [
+                  0.2665920982385343,
+                  -0.36942330662576467
+                ],
+                "target_mouth_xy": [
+                  0.26630169667316306,
+                  -0.3708184586145089
+                ],
+                "gripper_position": [
+                  0.2665975457338571,
+                  -0.3694959577738924,
+                  1.004100893391654
+                ],
+                "rod_tip_xy_dist": 0.0014250551360796774,
+                "target_xy_drift": 3.251910631066263e-08,
+                "depth": 0.01663827572128984,
+                "bottom_clearance": 0.08280222980179486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00029581436476006084,
+                  0.0013224991538520192
+                ],
+                "rod_tip_xy": [
+                  0.26659754573385713,
+                  -0.3694959577738924
+                ],
+                "target_mouth_xy": [
+                  0.26630173136909707,
+                  -0.3708184569277444
+                ],
+                "gripper_position": [
+                  0.2665863843330449,
+                  -0.36950425851708807,
+                  1.0039570245441938
+                ],
+                "rod_tip_xy_dist": 0.0013551790104402094,
+                "target_xy_drift": 5.7107587445328004e-08,
+                "depth": 0.017159048049758874,
+                "bottom_clearance": 0.08228168427188154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00028468735071934814,
+                  0.0013142308714040873
+                ],
+                "rod_tip_xy": [
+                  0.26658638433304493,
+                  -0.36950425851708796
+                ],
+                "target_mouth_xy": [
+                  0.2663016969823256,
+                  -0.37081848938849205
+                ],
+                "gripper_position": [
+                  0.2665783240081021,
+                  -0.36950588724613836,
+                  1.0038317561141514
+                ],
+                "rod_tip_xy_dist": 0.0013447117427207765,
+                "target_xy_drift": 1.3260628984082752e-08,
+                "depth": 0.017302796707086343,
+                "bottom_clearance": 0.08213770861790726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0002766090878023042,
+                  0.0013126011161913032
+                ],
+                "rod_tip_xy": [
+                  0.2665783240081021,
+                  -0.36950588724613825
+                ],
+                "target_mouth_xy": [
+                  0.2663017149202998,
+                  -0.37081848836232956
+                ],
+                "gripper_position": [
+                  0.26657041547588073,
+                  -0.36950764510576267,
+                  1.0037060960505775
+                ],
+                "rod_tip_xy_dist": 0.0013414299376715423,
+                "target_xy_drift": 3.1166020012888085e-08,
+                "depth": 0.017428144501395182,
+                "bottom_clearance": 0.0820124697168444,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0002687328630350816,
+                  0.0013108449003686462
+                ],
+                "rod_tip_xy": [
+                  0.26657041547588073,
+                  -0.36950764510576256
+                ],
+                "target_mouth_xy": [
+                  0.26630168261284565,
+                  -0.3708184900061312
+                ],
+                "gripper_position": [
+                  0.2665770788874174,
+                  -0.36958255751614794,
+                  1.0031865906842024
+                ],
+                "rod_tip_xy_dist": 0.0013381075085722813,
+                "target_xy_drift": 1.923994358817687e-09,
+                "depth": 0.017553740654033256,
+                "bottom_clearance": 0.08188680693538564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0002753502706244748,
+                  0.0012359023334482244
+                ],
+                "rod_tip_xy": [
+                  0.2665770788874174,
+                  -0.3695825575161478
+                ],
+                "target_mouth_xy": [
+                  0.2663017286167929,
+                  -0.37081845984959605
+                ],
+                "gripper_position": [
+                  0.2665659344645134,
+                  -0.369590626567704,
+                  1.0030426612272019
+                ],
+                "rod_tip_xy_dist": 0.0012662039130233872,
+                "target_xy_drift": 5.3207507300884315e-08,
+                "depth": 0.018073310802811826,
+                "bottom_clearance": 0.08136727676606459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00026425200098717516,
+                  0.0012278618744953618
+                ],
+                "rod_tip_xy": [
+                  0.2665659344645134,
+                  -0.369590626567704
+                ],
+                "target_mouth_xy": [
+                  0.2663016824635262,
+                  -0.37081848844219933
+                ],
+                "gripper_position": [
+                  0.2665577306537843,
+                  -0.3695924385543468,
+                  1.00291719138615
+                ],
+                "rod_tip_xy_dist": 0.0012559752795596694,
+                "target_xy_drift": 1.2909881678336777e-09,
+                "depth": 0.018217159257799653,
+                "bottom_clearance": 0.08122335407699699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0002560014626541429,
+                  0.0012260498359270566
+                ],
+                "rod_tip_xy": [
+                  0.2665577306537843,
+                  -0.3695924385543467
+                ],
+                "target_mouth_xy": [
+                  0.26630172919113015,
+                  -0.37081848839027376
+                ],
+                "gripper_position": [
+                  0.26654965660471464,
+                  -0.3695940861123671,
+                  1.002792061908148
+                ],
+                "rod_tip_xy_dist": 0.0012524914966010041,
+                "target_xy_drift": 4.543675493544718e-08,
+                "depth": 0.018342704190489667,
+                "bottom_clearance": 0.08109788573325238,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002479611776566304,
+                  0.0012244039812087104
+                ],
+                "rod_tip_xy": [
+                  0.26654965660471464,
+                  -0.36959408611236705
+                ],
+                "target_mouth_xy": [
+                  0.266301695427058,
+                  -0.37081849009357576
+                ],
+                "gripper_position": [
+                  0.26655776146837984,
+                  -0.369670541115943,
+                  1.0022762098362454
+                ],
+                "rod_tip_xy_dist": 0.001249259722725664,
+                "target_xy_drift": 1.1786747590802657e-08,
+                "depth": 0.018467817165716327,
+                "bottom_clearance": 0.0809727680983735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00025607867339194623,
+                  0.001147917844829649
+                ],
+                "rod_tip_xy": [
+                  0.2665577614683799,
+                  -0.36967054111594294
+                ],
+                "target_mouth_xy": [
+                  0.26630168279498795,
+                  -0.3708184589607726
+                ],
+                "gripper_position": [
+                  0.2665463531693093,
+                  -0.36967858398295833,
+                  1.0021329285039737
+                ],
+                "rod_tip_xy_dist": 0.0011761342038409243,
+                "target_xy_drift": 2.95122325884644e-08,
+                "depth": 0.01898360719177139,
+                "bottom_clearance": 0.08045690637315939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00024462376834671895,
+                  0.0011398749258206275
+                ],
+                "rod_tip_xy": [
+                  0.2665463531693093,
+                  -0.3696785839829582
+                ],
+                "target_mouth_xy": [
+                  0.2663017294009626,
+                  -0.37081845890877885
+                ],
+                "gripper_position": [
+                  0.2665381417626762,
+                  -0.3696799516283854,
+                  1.0020078250543716
+                ],
+                "rod_tip_xy_dist": 0.0011658283040631371,
+                "target_xy_drift": 5.43758011237283e-08,
+                "depth": 0.01912702298744373,
+                "bottom_clearance": 0.08031356396287637,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00023644455083332572,
+                  0.0011385070307088907
+                ],
+                "rod_tip_xy": [
+                  0.26653814176267626,
+                  -0.36967995162838535
+                ],
+                "target_mouth_xy": [
+                  0.26630169721184294,
+                  -0.37081845865909424
+                ],
+                "gripper_position": [
+                  0.26652975123485156,
+                  -0.3696816980348321,
+                  1.0018826754886436
+                ],
+                "rod_tip_xy_dist": 0.0011628001911731646,
+                "target_xy_drift": 3.2696199422790385e-08,
+                "depth": 0.01925199398328492,
+                "bottom_clearance": 0.08018851299726881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00022802177173381066,
+                  0.001136760230102174
+                ],
+                "rod_tip_xy": [
+                  0.2665297512348516,
+                  -0.36968169803483203
+                ],
+                "target_mouth_xy": [
+                  0.2663017294631178,
+                  -0.3708184582649342
+                ],
+                "gripper_position": [
+                  0.266521330473222,
+                  -0.3696833434272361,
+                  1.0017572142579056
+                ],
+                "rod_tip_xy_dist": 0.001159404049124624,
+                "target_xy_drift": 5.478019659302673e-08,
+                "depth": 0.019377227919446738,
+                "bottom_clearance": 0.08006338410904668,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00021965010995178558,
+                  0.0011351155743962171
+                ],
+                "rod_tip_xy": [
+                  0.266521330473222,
+                  -0.369683343427236
+                ],
+                "target_mouth_xy": [
+                  0.26630168036327023,
+                  -0.37081845900163224
+                ],
+                "gripper_position": [
+                  0.26651308673212004,
+                  -0.36968511978337865,
+                  1.0016320842160173
+                ],
+                "rod_tip_xy_dist": 0.0011561719327326215,
+                "target_xy_drift": 2.965033740142122e-08,
+                "depth": 0.019502647739784273,
+                "bottom_clearance": 0.07993790098590303,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006004009852572923,
+              "rod_tip_xy_max_step": 3.2540527868613434e-05,
+              "rod_tip_xy_range": 0.0006003975036485714,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2660624446292828,
+            -0.3711011857697731,
+            1.043481525418926
+          ],
+          "object_origin_world": [
+            0.2660624446292828,
+            -0.3711011857697731,
+            1.043481525418926
+          ],
+          "frame_world": [
+            0.26606111201977634,
+            -0.37110763361577237,
+            1.0433671654743721
+          ],
+          "center_minus_frame": [
+            1.3326095064658539e-06,
+            6.4478459992911574e-06,
+            0.00011435994455388787
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2647349396656123,
+              0.1625714784334244,
+              0.8320668186688382
+            ],
+            "target_position": [
+              0.2792185616241037,
+              0.2092915961087734,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048913645341918166,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16867993558879057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320668186688382,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671181336857,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13795797156786546,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aac4546d9e49f8c542d492ef05ae8b1e76ce653603798e99777f462082c911b3",
+    "visual_seed": 7792198462447627730,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..032e20a1af804e4f5f92ded4b8ebe6d44fe3eded
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_84_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2015147405179491,
+              -0.1067369848386735,
+              1.1642686107451259
+            ],
+            "current_z": 1.1642686107451259,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3031619835210704,
+            "gripper_z": 1.1580694564592846,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1969020173262377,
+              -0.11118967853124995,
+              1.1580694564592846
+            ],
+            "object_minus_gripper": [
+              0.00461272319171141,
+              0.004452693692576448,
+              0.00619915428584128
+            ],
+            "object_to_gripper_xy": 0.006411216449571983,
+            "object_to_gripper_z": 0.00619915428584128,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2015147405179491,
+              -0.1306921770112141,
+              1.1642686107451259
+            ],
+            "finger_b": [
+              0.19153506487128508,
+              -0.1067369848386735,
+              1.1642686107451259
+            ],
+            "finger_midpoint": [
+              0.1965249026946171,
+              -0.1187145809249438,
+              1.1642686107451259
+            ],
+            "object_minus_finger_midpoint": [
+              0.004989837823332011,
+              0.011977596086270303,
+              0.0
+            ],
+            "finger_gap": 0.02595082191445908,
+            "fingertip_max_gap": 0.09238537267183097,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01297541095722954,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642686107451259,
+            "object_top_z": 1.2146049222223032,
+            "finger_top_clearance": 0.05033631147717732,
+            "fingertip_min_top_clearance": 0.015100893443153195,
+            "object_projection_between_fingers": 0.8521127892535839,
+            "object_to_finger_line_xy": 0.00921223415287128,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869268633591549,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2975711400885228,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26830341916876865,
+              -0.3731086931628219,
+              0.8515395814356059
+            ],
+            "target_position": [
+              0.26214922982885963,
+              -0.3728413257385202,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006159994461931567,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831412272943673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395814356059,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531130913902902,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675784167080779,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15145148034644834,
+            "release_required_pad_clearance": 0.053378920835403895,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7733807054461688,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797206163406372,
+            "max_z_decrease": 0.00797206163406372,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035109752298203886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797206163406372,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021079060086051538,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00797206163406372,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007972089231538386,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11784915626049036,
+              -0.4291027784347534,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11784915626049036,
+              -0.4291027784347534,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11710768208279018,
+              -0.4276539595110821,
+              0.8073909130147947
+            ],
+            "closest_button": [
+              0.11783871799707407,
+              -0.4290964305400848,
+              0.772318422794342
+            ],
+            "closest_ee_minus_button": [
+              -0.0007310359142838896,
+              0.0014424710290026899,
+              0.03507249022045267
+            ],
+            "button_min_z_position": [
+              0.11782867461442942,
+              -0.4290982484817505,
+              0.7688367962837219
+            ],
+            "min_active_finger_to_button": 0.14622206719918251,
+            "closest_active_finger": [
+              -0.009128652513027191,
+              -0.4928741455078125,
+              0.8105964660644531
+            ],
+            "closest_active_finger_button": [
+              0.11785069108009333,
+              -0.42909952998161316,
+              0.7761009931564331
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12697934359312052,
+              -0.06377461552619934,
+              0.03449547290802002
+            ],
+            "min_contact_pad_to_button": 0.021079060086051538,
+            "closest_contact_pad": [
+              0.11782867461442942,
+              -0.4290982484817505,
+              0.7899158563697735
+            ],
+            "closest_contact_pad_button": [
+              0.11782867461442942,
+              -0.4290982484817505,
+              0.7688367962837219
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021079060086051538
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27504949976770543,
+              0.20357943693935474,
+              1.1029489497365201
+            ],
+            "current_z": 1.1029489497365201,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19303982000215758,
+            "gripper_z": 1.102948896604643,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2750494662109746,
+              0.203579376455453,
+              1.102948896604643
+            ],
+            "object_minus_gripper": [
+              3.355673083849098e-08,
+              6.04839017481762e-08,
+              5.313187712019385e-08
+            ],
+            "object_to_gripper_xy": 6.916904333045212e-08,
+            "object_to_gripper_z": 5.313187712019385e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27504949976770543,
+              0.20357943693935474,
+              1.1029489497365201
+            ],
+            "finger_b": [
+              0.27504949976770543,
+              0.20357943693935474,
+              1.1029489497365201
+            ],
+            "finger_midpoint": [
+              0.27504949976770543,
+              0.20357943693935474,
+              1.1029489497365201
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029489497365201,
+            "object_top_z": 1.2279574563567999,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2750494997677055,
+            0.20357943693935476,
+            1.1029489497365201
+          ],
+          "object_origin_world": [
+            0.2750494997677055,
+            0.20357943693935476,
+            1.1029489497365201
+          ],
+          "frame_world": [
+            0.2750494662109746,
+            0.203579376455453,
+            1.102948896604643
+          ],
+          "center_minus_frame": [
+            3.355673089400213e-08,
+            6.048390177593177e-08,
+            5.313187712019385e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043254870010546,
+            "required_z": 0.9112599282346256,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009103937591299989,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.4536674447284396e-08,
+            "max_target_xy_drift": 3.4441443966514353e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7733807080106423,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7733807101853882,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26748143335623253,
+              -0.37349019980083553,
+              0.92336992891972
+            ],
+            "target_mouth_xy": [
+              0.2683034773911053,
+              -0.37310863260017846
+            ],
+            "rod_tip_z": 0.92336992891972,
+            "rod_tip_depth": -0.02211000829900478,
+            "rod_tip_bottom_clearance": 0.12155065620559868,
+            "rod_tip_xy_dist": 0.0009062835780743339,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04515219544615812,
+            "min_rod_tip_bottom_clearance": 0.0542883982590715,
+            "min_rod_tip_xy_dist": 0.00034174823835268363,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26830344780610904,
+              -0.3731086658904678
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.958499628613609e-08,
+              3.329028935850076e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0002455392486105934,
+                0.001415536690790531
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00035721932409077395,
+                0.0010581733910639546
+              ],
+              "first_target_mouth_xy": [
+                0.2683034426681767,
+                -0.3731086611896073
+              ],
+              "last_target_mouth_xy": [
+                0.26830347633532026,
+                -0.37310869570840044
+              ],
+              "first_rod_tip_xy": [
+                0.2680579034195661,
+                -0.37169312449881675
+              ],
+              "last_rod_tip_xy": [
+                0.2679462570112295,
+                -0.3720505223173365
+              ],
+              "min_rod_tip_xy_dist": 0.0011136423039324575,
+              "max_rod_tip_xy_dist": 0.0014366745092687005,
+              "first_target_xy_drift": 6.963938445331487e-09,
+              "last_target_xy_drift": 4.126772344700582e-08,
+              "max_depth": 0.019409339062802844,
+              "min_bottom_clearance": 0.08003127672255672
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0002455392486105934,
+                  0.001415536690790531
+                ],
+                "rod_tip_xy": [
+                  0.2680579034195661,
+                  -0.37169312449881675
+                ],
+                "target_mouth_xy": [
+                  0.2683034426681767,
+                  -0.3731086611896073
+                ],
+                "gripper_position": [
+                  0.2680471059881221,
+                  -0.37170170487779985,
+                  1.005783884959492
+                ],
+                "rod_tip_xy_dist": 0.0014366745092687005,
+                "target_xy_drift": 6.963938445331487e-09,
+                "depth": 0.01533079428632711,
+                "bottom_clearance": 0.08410987107011125,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0002563401780814045,
+                  0.0014070203152967697
+                ],
+                "rod_tip_xy": [
+                  0.268047105988122,
+                  -0.37170170487779974
+                ],
+                "target_mouth_xy": [
+                  0.2683034461662034,
+                  -0.3731087251930965
+                ],
+                "gripper_position": [
+                  0.2680393754977155,
+                  -0.3717038603591255,
+                  1.005656733085318
+                ],
+                "rod_tip_xy_dist": 0.0014301805671161343,
+                "target_xy_drift": 5.932529865819348e-08,
+                "depth": 0.015475964392757446,
+                "bottom_clearance": 0.08396462592629172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00026410062058457306,
+                  0.0014047985390233109
+                ],
+                "rod_tip_xy": [
+                  0.26803937549771534,
+                  -0.3717038603591255
+                ],
+                "target_mouth_xy": [
+                  0.2683034761182999,
+                  -0.3731086588981488
+                ],
+                "gripper_position": [
+                  0.26804386938439484,
+                  -0.3717751642980255,
+                  1.0051334794379732
+                ],
+                "rod_tip_xy_dist": 0.0014294082947272921,
+                "target_xy_drift": 2.9162864688708458e-08,
+                "depth": 0.015603241545966484,
+                "bottom_clearance": 0.0838374881600722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0002596075563886524,
+                  0.001333500625837758
+                ],
+                "rod_tip_xy": [
+                  0.2680438693843947,
+                  -0.3717751642980255
+                ],
+                "target_mouth_xy": [
+                  0.2683034769407833,
+                  -0.37310866492386324
+                ],
+                "gripper_position": [
+                  0.26803295109607506,
+                  -0.371783712792337,
+                  1.0049879920007119
+                ],
+                "rod_tip_xy_dist": 0.0013585359776037511,
+                "target_xy_drift": 2.915070445204907e-08,
+                "depth": 0.016126366496334477,
+                "bottom_clearance": 0.0833142393467261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0002705581588104411,
+                  0.0013249501912303563
+                ],
+                "rod_tip_xy": [
+                  0.2680329510960749,
+                  -0.3717837127923369
+                ],
+                "target_mouth_xy": [
+                  0.26830350925488533,
+                  -0.37310866298356726
+                ],
+                "gripper_position": [
+                  0.2680250303777544,
+                  -0.3717860418214827,
+                  1.0048610884140168
+                ],
+                "rod_tip_xy_dist": 0.001352292396835926,
+                "target_xy_drift": 6.151749489626467e-08,
+                "depth": 0.016271933414255035,
+                "bottom_clearance": 0.08316877010285084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0002784147810726001,
+                  0.0013225914211191236
+                ],
+                "rod_tip_xy": [
+                  0.2680250303777542,
+                  -0.37178604182148267
+                ],
+                "target_mouth_xy": [
+                  0.2683034451588268,
+                  -0.3731086332426018
+                ],
+                "gripper_position": [
+                  0.26803032245511554,
+                  -0.37185843962316645,
+                  1.0043390965665193
+                ],
+                "rod_tip_xy_dist": 0.0013515779139722604,
+                "target_xy_drift": 3.275501883623867e-08,
+                "depth": 0.01639874294052235,
+                "bottom_clearance": 0.08304179046939453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0002731540171226343,
+                  0.0012502554316218273
+                ],
+                "rod_tip_xy": [
+                  0.2680303224551154,
+                  -0.37185843962316634
+                ],
+                "target_mouth_xy": [
+                  0.268303476472238,
+                  -0.37310869505478816
+                ],
+                "gripper_position": [
+                  0.2680192772844948,
+                  -0.3718669630967558,
+                  1.0041941094348679
+                ],
+                "rod_tip_xy_dist": 0.001279746756733579,
+                "target_xy_drift": 4.0893820211556e-08,
+                "depth": 0.016920810766714478,
+                "bottom_clearance": 0.08251978788352199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0002841703366749937,
+                  0.0012416999104274407
+                ],
+                "rod_tip_xy": [
+                  0.26801927728449465,
+                  -0.3718669630967558
+                ],
+                "target_mouth_xy": [
+                  0.26830344762116964,
+                  -0.37310866300718326
+                ],
+                "gripper_position": [
+                  0.26801124172827506,
+                  -0.37186900391764943,
+                  1.0040671091063293
+                ],
+                "rod_tip_xy_dist": 0.001273801965692271,
+                "target_xy_drift": 2.8892096512561983e-09,
+                "depth": 0.01706580048036821,
+                "bottom_clearance": 0.08237482632301607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0002922042819192838,
+                  0.0012396892519264124
+                ],
+                "rod_tip_xy": [
+                  0.2680112417282749,
+                  -0.37186900391764943
+                ],
+                "target_mouth_xy": [
+                  0.2683034460101942,
+                  -0.37310869316957584
+                ],
+                "gripper_position": [
+                  0.26800342847478026,
+                  -0.37187093927255266,
+                  1.0039399535000963
+                ],
+                "rod_tip_xy_dist": 0.0012736611730416502,
+                "target_xy_drift": 2.7338160965826295e-08,
+                "depth": 0.017192722729700516,
+                "bottom_clearance": 0.08224783059221508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0003000480940567041,
+                  0.0012377243976554597
+                ],
+                "rod_tip_xy": [
+                  0.2680034284747801,
+                  -0.37187093927255255
+                ],
+                "target_mouth_xy": [
+                  0.2683034765688368,
+                  -0.373108663670208
+                ],
+                "gripper_position": [
+                  0.26800995883975387,
+                  -0.37194603652849806,
+                  1.0034186049102474
+                ],
+                "rod_tip_xy_dist": 0.0012735739253371323,
+                "target_xy_drift": 2.8848293910292364e-08,
+                "depth": 0.017319997674536736,
+                "bottom_clearance": 0.08212057272803464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00029348664685502346,
+                  0.0011626265285368809
+                ],
+                "rod_tip_xy": [
+                  0.2680099588397537,
+                  -0.3719460365284981
+                ],
+                "target_mouth_xy": [
+                  0.2683034454866087,
+                  -0.373108663057035
+                ],
+                "gripper_position": [
+                  0.2679988872720621,
+                  -0.3719542088904393,
+                  1.0032734046150982
+                ],
+                "rod_tip_xy_dist": 0.0011990975176106088,
+                "target_xy_drift": 3.6617513926996858e-09,
+                "depth": 0.017841228656404362,
+                "bottom_clearance": 0.08159931655130881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00030455687888575333,
+                  0.0011544846300199918
+                ],
+                "rod_tip_xy": [
+                  0.26799888727206195,
+                  -0.3719542088904393
+                ],
+                "target_mouth_xy": [
+                  0.2683034441509477,
+                  -0.3731086935204593
+                ],
+                "gripper_position": [
+                  0.2679909038022871,
+                  -0.3719559926320459,
+                  1.0031467984472302
+                ],
+                "rod_tip_xy_dist": 0.001193980591730464,
+                "target_xy_drift": 2.7870712810811445e-08,
+                "depth": 0.017986431315168416,
+                "bottom_clearance": 0.08145408807830112,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0003125724290849452,
+                  0.0011526716916548385
+                ],
+                "rod_tip_xy": [
+                  0.2679909038022869,
+                  -0.37195599263204593
+                ],
+                "target_mouth_xy": [
+                  0.26830347623137185,
+                  -0.37310866432370077
+                ],
+                "gripper_position": [
+                  0.2679826059091017,
+                  -0.371958079341697,
+                  1.0030200770104691
+                ],
+                "rod_tip_xy_dist": 0.0011943004446815257,
+                "target_xy_drift": 2.8468409242826884e-08,
+                "depth": 0.018113090486885697,
+                "bottom_clearance": 0.08132746658812462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0003208405072595566,
+                  0.0011505840364445796
+                ],
+                "rod_tip_xy": [
+                  0.26798260590910156,
+                  -0.3719580793416969
+                ],
+                "target_mouth_xy": [
+                  0.2683034464163611,
+                  -0.37310866337814147
+                ],
+                "gripper_position": [
+                  0.2679905603221924,
+                  -0.37203498705195726,
+                  1.0025016707822967
+                ],
+                "rod_tip_xy_dist": 0.0011944799102620652,
+                "target_xy_drift": 2.871094386568959e-09,
+                "depth": 0.01823981724703916,
+                "bottom_clearance": 0.08120075084833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0003128854041741791,
+                  0.0010736760049804839
+                ],
+                "rod_tip_xy": [
+                  0.2679905603221922,
+                  -0.37203498705195726
+                ],
+                "target_mouth_xy": [
+                  0.2683034457263664,
+                  -0.37310866305693774
+                ],
+                "gripper_position": [
+                  0.26797943815360203,
+                  -0.3720432061519722,
+                  1.0023568108257304
+                ],
+                "rod_tip_xy_dist": 0.0011183369080094295,
+                "target_xy_drift": 3.514857353188748e-09,
+                "depth": 0.018758164564739332,
+                "bottom_clearance": 0.080682389603428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0003240382511303097,
+                  0.0010654568939719722
+                ],
+                "rod_tip_xy": [
+                  0.26797943815360187,
+                  -0.3720432061519722
+                ],
+                "target_mouth_xy": [
+                  0.2683034764047322,
+                  -0.37310866304594414
+                ],
+                "gripper_position": [
+                  0.2679710761505585,
+                  -0.37204510851731976,
+                  1.0022302124799278
+                ],
+                "rod_tip_xy_dist": 0.0011136423039324575,
+                "target_xy_drift": 2.873973834630798e-08,
+                "depth": 0.018903150430023108,
+                "bottom_clearance": 0.08053743687423764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00033236827587407314,
+                  0.0010635551983355085
+                ],
+                "rod_tip_xy": [
+                  0.2679710761505583,
+                  -0.37204510851731976
+                ],
+                "target_mouth_xy": [
+                  0.2683034444264324,
+                  -0.37310866371565526
+                ],
+                "gripper_position": [
+                  0.26796276057529816,
+                  -0.3720469686105453,
+                  1.0021039991162137
+                ],
+                "rod_tip_xy_dist": 0.0011142792875729077,
+                "target_xy_drift": 4.018958060704556e-09,
+                "depth": 0.019029614940248685,
+                "bottom_clearance": 0.0804108936389587,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0003406862750303108,
+                  0.0010616953748169289
+                ],
+                "rod_tip_xy": [
+                  0.26796276057529805,
+                  -0.3720469686105453
+                ],
+                "target_mouth_xy": [
+                  0.26830344685032836,
+                  -0.37310866398536224
+                ],
+                "gripper_position": [
+                  0.2679545393123105,
+                  -0.3720486221295966,
+                  1.00197686733551
+                ],
+                "rod_tip_xy_dist": 0.0011150175814316507,
+                "target_xy_drift": 2.131418294844792e-09,
+                "depth": 0.0191558874491351,
+                "bottom_clearance": 0.08028467461200228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00034890624847216944,
+                  0.001060040302013343
+                ],
+                "rod_tip_xy": [
+                  0.26795453931231034,
+                  -0.37204862212959655
+                ],
+                "target_mouth_xy": [
+                  0.2683034455607825,
+                  -0.3731086624316099
+                ],
+                "gripper_position": [
+                  0.2679462570112296,
+                  -0.3720505223173365,
+                  1.0018505786076528
+                ],
+                "rod_tip_xy_dist": 0.0011159843243143978,
+                "target_xy_drift": 4.123734882248668e-09,
+                "depth": 0.019282978102658666,
+                "bottom_clearance": 0.08015759295467006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00035721932409077395,
+                  0.0010581733910639546
+                ],
+                "rod_tip_xy": [
+                  0.2679462570112295,
+                  -0.3720505223173365
+                ],
+                "target_mouth_xy": [
+                  0.26830347633532026,
+                  -0.37310869570840044
+                ],
+                "gripper_position": [
+                  0.26793790770570725,
+                  -0.3720523753449028,
+                  1.0017239998589569
+                ],
+                "rod_tip_xy_dist": 0.0011168422319466874,
+                "target_xy_drift": 4.126772344700582e-08,
+                "depth": 0.019409339062802844,
+                "bottom_clearance": 0.08003127672255672,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006001942653269832,
+              "rod_tip_xy_max_step": 3.272716104398776e-05,
+              "rod_tip_xy_range": 0.0006001863385153711,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2674814333562326,
+            -0.37349019980083553,
+            1.04336992891972
+          ],
+          "object_origin_world": [
+            0.2674814333562326,
+            -0.37349019980083553,
+            1.04336992891972
+          ],
+          "frame_world": [
+            0.2674800464850728,
+            -0.37349693446684057,
+            1.043254870010546
+          ],
+          "center_minus_frame": [
+            1.3868711598030714e-06,
+            6.734666005037138e-06,
+            0.00011505890917407058
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2602127558820855,
+              0.1570148506187887,
+              0.8327220255416823
+            ],
+            "target_position": [
+              0.27521487340942247,
+              0.20254619734430324,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04793920175538027,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16574267267599935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327220255416823,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668791365596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13562147493593998,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "672566441f06b199b10fd8da42ada81af7ce68bc285bff51e43cd3e08edd5066",
+    "visual_seed": 4405802789617898095,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a593cfa84855e31d5e195b3860b2f4da990433db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_8_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19517355533262865,
+              -0.10762939291697723,
+              1.1622151834437373
+            ],
+            "current_z": 1.1622151834437373,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.301108794638261,
+            "gripper_z": 1.1561701310269819,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19064016297489014,
+              -0.11227263539944284,
+              1.1561701310269819
+            ],
+            "object_minus_gripper": [
+              0.004533392357738503,
+              0.004643242482465601,
+              0.006045052416755459
+            ],
+            "object_to_gripper_xy": 0.006489325621370465,
+            "object_to_gripper_z": 0.006045052416755459,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19517355533262865,
+              -0.1312255723507841,
+              1.1622151834437373
+            ],
+            "finger_b": [
+              0.18434227835593198,
+              -0.10762939291697723,
+              1.1622151834437373
+            ],
+            "finger_midpoint": [
+              0.1897579168442803,
+              -0.11942748263388067,
+              1.1622151834437373
+            ],
+            "object_minus_finger_midpoint": [
+              0.005415638488348334,
+              0.011798089716903437,
+              0.0
+            ],
+            "finger_gap": 0.02596336351126968,
+            "fingertip_max_gap": 0.09208591186959986,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01298168175563484,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622151834437373,
+            "object_top_z": 1.212155664917287,
+            "finger_top_clearance": 0.04994048147354979,
+            "fingertip_min_top_clearance": 0.01498214444206497,
+            "object_projection_between_fingers": 0.8259646721848505,
+            "object_to_finger_line_xy": 0.009843745974147762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854295593479993,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8364994937036965,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26871808936316954,
+              -0.36263324932391044,
+              0.8515396163696598
+            ],
+            "target_position": [
+              0.2608239567673181,
+              -0.36342080852645964,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007933320801430119,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829491735164784,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396163696598,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587337649063741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656696027471035,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15006734659533952,
+            "release_required_pad_clearance": 0.05328348013735518,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.58605806569932,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007703125476837158,
+            "max_z_decrease": 0.007703125476837158,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510185438681291,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007703125476837158,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021092461698246467,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007703125476837158,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007703154994255363,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1165238842368126,
+              -0.41968226432800293,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1165238842368126,
+              -0.41968226432800293,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11705988268341594,
+              -0.419062785350517,
+              0.8076579187558071
+            ],
+            "closest_button": [
+              0.11651306599378587,
+              -0.41967836022377014,
+              0.7725657224655151
+            ],
+            "closest_ee_minus_button": [
+              0.0005468166896300669,
+              0.0006155748732531441,
+              0.03509219629029192
+            ],
+            "button_min_z_position": [
+              0.11650285124778748,
+              -0.4196787476539612,
+              0.7691057324409485
+            ],
+            "min_active_finger_to_button": 0.1454604851992181,
+            "closest_active_finger": [
+              -0.01098216325044632,
+              -0.480658620595932,
+              0.8110474944114685
+            ],
+            "closest_active_finger_button": [
+              0.11652546375989915,
+              -0.4196799695491791,
+              0.7766649127006531
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12750762701034546,
+              -0.06097865104675293,
+              0.03438258171081543
+            ],
+            "min_contact_pad_to_button": 0.021092461698246467,
+            "closest_contact_pad": [
+              0.11650285124778748,
+              -0.42028300603642293,
+              0.7901895369434385
+            ],
+            "closest_contact_pad_button": [
+              0.11650285124778748,
+              -0.4196787476539612,
+              0.7691057324409485
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006042583824617531,
+              0.021083804502490033
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28059062825211906,
+              0.20825907865960305,
+              1.1030799273096514
+            ],
+            "current_z": 1.1030799273096514,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19317079757528888,
+            "gripper_z": 1.103079856157646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28059058871862685,
+              0.2082591249463308,
+              1.103079856157646
+            ],
+            "object_minus_gripper": [
+              3.95334922020929e-08,
+              -4.6286727756195134e-08,
+              7.115200539864475e-08
+            ],
+            "object_to_gripper_xy": 6.087165327202035e-08,
+            "object_to_gripper_z": 7.115200539864475e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28059062825211906,
+              0.20825907865960305,
+              1.1030799273096514
+            ],
+            "finger_b": [
+              0.28059062825211906,
+              0.20825907865960305,
+              1.1030799273096514
+            ],
+            "finger_midpoint": [
+              0.28059062825211906,
+              0.20825907865960305,
+              1.1030799273096514
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1030799273096514,
+            "object_top_z": 1.2280884339299312,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28059062825211906,
+            0.20825907865960305,
+            1.1030799273096514
+          ],
+          "object_origin_world": [
+            0.28059062825211906,
+            0.20825907865960305,
+            1.1030799273096514
+          ],
+          "frame_world": [
+            0.28059058871862685,
+            0.2082591249463308,
+            1.103079856157646
+          ],
+          "center_minus_frame": [
+            3.95334922020929e-08,
+            -4.6286727756195134e-08,
+            7.115200539864475e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043432023854981,
+            "required_z": 0.9112598224424673,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018260798155844292,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.491327989815738e-09,
+            "max_target_xy_drift": 7.534261625124217e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5865514796679465,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5865514814147412,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26723761936369145,
+              -0.36156036118447255,
+              0.9235444047973257
+            ],
+            "target_mouth_xy": [
+              0.26871805641249125,
+              -0.3626331180542832
+            ],
+            "rod_tip_z": 0.9235444047973257,
+            "rod_tip_depth": -0.02228450117695291,
+            "rod_tip_bottom_clearance": 0.12172510523655433,
+            "rod_tip_xy_dist": 0.0018282508463515223,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04480724322832608,
+            "min_rod_tip_bottom_clearance": 0.0546333704669969,
+            "min_rod_tip_xy_dist": 0.0008419856857010925,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26871805506313184,
+              -0.3626331186893331
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.3493594019919897e-09,
+              6.350499015539413e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0008600259442154701,
+                0.0028412482412791817
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009742658332337895,
+                0.0024245549873901373
+              ],
+              "first_target_mouth_xy": [
+                0.2687180602407022,
+                -0.3626332220599787
+              ],
+              "last_target_mouth_xy": [
+                0.26871806109395774,
+                -0.362633223316115
+              ],
+              "first_rod_tip_xy": [
+                0.26785803429648675,
+                -0.35979197381869954
+              ],
+              "last_rod_tip_xy": [
+                0.26774379526072395,
+                -0.3602086683287249
+              ],
+              "min_rod_tip_xy_dist": 0.0026129792958776233,
+              "max_rod_tip_xy_dist": 0.0029685579316051348,
+              "first_target_xy_drift": 1.0350022998275558e-07,
+              "last_target_xy_drift": 1.0480045015527148e-07,
+              "max_depth": 0.0196507051758138,
+              "min_bottom_clearance": 0.0797898899245374
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0008600259442154701,
+                  0.0028412482412791817
+                ],
+                "rod_tip_xy": [
+                  0.26785803429648675,
+                  -0.35979197381869954
+                ],
+                "target_mouth_xy": [
+                  0.2687180602407022,
+                  -0.3626332220599787
+                ],
+                "gripper_position": [
+                  0.2678471101593569,
+                  -0.3597995759600133,
+                  1.0058974725518421
+                ],
+                "rod_tip_xy_dist": 0.0029685579316051348,
+                "target_xy_drift": 1.0350022998275558e-07,
+                "depth": 0.015221126215867908,
+                "bottom_clearance": 0.08421945269838282,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0008709483893642456,
+                  0.002833617586550208
+                ],
+                "rod_tip_xy": [
+                  0.26784711015935697,
+                  -0.35979957596001333
+                ],
+                "target_mouth_xy": [
+                  0.2687180585487212,
+                  -0.36263319354656354
+                ],
+                "gripper_position": [
+                  0.2678392018489096,
+                  -0.35980116904637566,
+                  1.0057731046841647
+                ],
+                "rod_tip_xy_dist": 0.002964445938745181,
+                "target_xy_drift": 7.49383365079602e-08,
+                "depth": 0.01536234547657156,
+                "bottom_clearance": 0.08407815186691592,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008788571724338556,
+                  0.002832053667270573
+                ],
+                "rod_tip_xy": [
+                  0.26783920184890964,
+                  -0.3598011690463756
+                ],
+                "target_mouth_xy": [
+                  0.2687180590213435,
+                  -0.3626332227136462
+                ],
+                "gripper_position": [
+                  0.2678412766669708,
+                  -0.35987050278609756,
+                  1.0052508773536062
+                ],
+                "rod_tip_xy_dist": 0.002965285467512215,
+                "target_xy_drift": 1.0409959243655471e-07,
+                "depth": 0.01548671373854893,
+                "bottom_clearance": 0.08395379543469061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.000876782461282366,
+                  0.0027627192891011565
+                ],
+                "rod_tip_xy": [
+                  0.26784127666697083,
+                  -0.35987050278609756
+                ],
+                "target_mouth_xy": [
+                  0.2687180591282532,
+                  -0.3626332220751987
+                ],
+                "gripper_position": [
+                  0.26782998785717516,
+                  -0.3598783475300124,
+                  1.0051093407996994
+                ],
+                "rod_tip_xy_dist": 0.002898510885745293,
+                "target_xy_drift": 1.0346575479621137e-07,
+                "depth": 0.016008953408660598,
+                "bottom_clearance": 0.08343158324981303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008880712034712301,
+                  0.0027548726438184623
+                ],
+                "rod_tip_xy": [
+                  0.26782998785717527,
+                  -0.35987834753001247
+                ],
+                "target_mouth_xy": [
+                  0.2687180590606465,
+                  -0.36263322017383093
+                ],
+                "gripper_position": [
+                  0.2678220484086289,
+                  -0.3598796172835113,
+                  1.0049855194416848
+                ],
+                "rod_tip_xy_dist": 0.0028944764200273185,
+                "target_xy_drift": 1.0156319913334535e-07,
+                "depth": 0.016150523833699082,
+                "bottom_clearance": 0.08329008023011475,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008960102350168975,
+                  0.00275360608167885
+                ],
+                "rod_tip_xy": [
+                  0.26782204840862894,
+                  -0.35987961728351137
+                ],
+                "target_mouth_xy": [
+                  0.26871805864364584,
+                  -0.3626332233651902
+                ],
+                "gripper_position": [
+                  0.2678247624514756,
+                  -0.3599498968483351,
+                  1.004463769849437
+                ],
+                "rod_tip_xy_dist": 0.002895717664813644,
+                "target_xy_drift": 1.0473707623708048e-07,
+                "depth": 0.016274298929586095,
+                "bottom_clearance": 0.08316620122745588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.000893263430470248,
+                  0.002683293570584222
+                ],
+                "rod_tip_xy": [
+                  0.26782476245147563,
+                  -0.3599498968483351
+                ],
+                "target_mouth_xy": [
+                  0.2687180258819459,
+                  -0.36263319041891934
+                ],
+                "gripper_position": [
+                  0.2678135655717408,
+                  -0.35995762988751334,
+                  1.0043226520846005
+                ],
+                "rod_tip_xy_dist": 0.002828070710246492,
+                "target_xy_drift": 7.743820215548501e-08,
+                "depth": 0.01679617629024377,
+                "bottom_clearance": 0.08264451471016532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009044953695087066,
+                  0.002675564567191424
+                ],
+                "rod_tip_xy": [
+                  0.26781356557174085,
+                  -0.35995762988751334
+                ],
+                "target_mouth_xy": [
+                  0.26871806094124956,
+                  -0.36263319445470477
+                ],
+                "gripper_position": [
+                  0.2678052946381406,
+                  -0.3599589238466492,
+                  1.004198481952896
+                ],
+                "rod_tip_xy_dist": 0.0028243154262002895,
+                "target_xy_drift": 7.599305105142509e-08,
+                "depth": 0.016937261049473684,
+                "bottom_clearance": 0.08250336061744246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009127654160305809,
+                  0.0026742985472119063
+                ],
+                "rod_tip_xy": [
+                  0.2678052946381407,
+                  -0.3599589238466492
+                ],
+                "target_mouth_xy": [
+                  0.26871806005417126,
+                  -0.3626332223938611
+                ],
+                "gripper_position": [
+                  0.26780886351520194,
+                  -0.36003037819776434,
+                  1.0036793826705663
+                ],
+                "rod_tip_xy_dist": 0.0028257766055230183,
+                "target_xy_drift": 1.0382456161667792e-07,
+                "depth": 0.01706140957846347,
+                "bottom_clearance": 0.08237915006493879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009091664375332487,
+                  0.00260284577412051
+                ],
+                "rod_tip_xy": [
+                  0.267808863515202,
+                  -0.3600303781977644
+                ],
+                "target_mouth_xy": [
+                  0.26871802995273525,
+                  -0.3626332239718849
+                ],
+                "gripper_position": [
+                  0.26779728944417164,
+                  -0.3600379931325327,
+                  1.0035382817565086
+                ],
+                "rod_tip_xy_dist": 0.0027570617938294196,
+                "target_xy_drift": 1.0823561210673741e-07,
+                "depth": 0.017580396195800096,
+                "bottom_clearance": 0.08186016881500136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009207715244524128,
+                  0.00259522955933017
+                ],
+                "rod_tip_xy": [
+                  0.2677972894441717,
+                  -0.3600379931325327
+                ],
+                "target_mouth_xy": [
+                  0.2687180609686241,
+                  -0.3626332226918629
+                ],
+                "gripper_position": [
+                  0.26778908281540786,
+                  -0.36003924947069077,
+                  1.0034147607726374
+                ],
+                "rod_tip_xy_dist": 0.0027537314077199847,
+                "target_xy_drift": 1.0417005824268852e-07,
+                "depth": 0.017721670834976,
+                "bottom_clearance": 0.08171891213017302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009289463200333747,
+                  0.002593972617648599
+                ],
+                "rod_tip_xy": [
+                  0.2677890828154079,
+                  -0.36003924947069077
+                ],
+                "target_mouth_xy": [
+                  0.2687180291354413,
+                  -0.36263322208833937
+                ],
+                "gripper_position": [
+                  0.26778076235600345,
+                  -0.360040590383992,
+                  1.0032909704301907
+                ],
+                "rod_tip_xy_dist": 0.0027552922180077875,
+                "target_xy_drift": 1.0660018588128071e-07,
+                "depth": 0.017845068327870695,
+                "bottom_clearance": 0.08159546070844403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009373004530903728,
+                  0.0025926326098150154
+                ],
+                "rod_tip_xy": [
+                  0.2677807623560035,
+                  -0.36004059038399205
+                ],
+                "target_mouth_xy": [
+                  0.2687180628090939,
+                  -0.36263322299380707
+                ],
+                "gripper_position": [
+                  0.26778545858331176,
+                  -0.360113857036475,
+                  1.0027736479314295
+                ],
+                "rod_tip_xy_dist": 0.0027568598058007295,
+                "target_xy_drift": 1.0459169763047731e-07,
+                "depth": 0.017968936220189913,
+                "bottom_clearance": 0.08147171533778297,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009325956821862325,
+                  0.002519366382831234
+                ],
+                "rod_tip_xy": [
+                  0.2677854585833118,
+                  -0.360113857036475
+                ],
+                "target_mouth_xy": [
+                  0.26871805426549805,
+                  -0.36263322341930626
+                ],
+                "gripper_position": [
+                  0.2677739099513427,
+                  -0.36012150629431183,
+                  1.0026329593797154
+                ],
+                "rod_tip_xy_dist": 0.002686436613317452,
+                "target_xy_drift": 1.047330105229857e-07,
+                "depth": 0.018486240262859277,
+                "bottom_clearance": 0.0809544201069835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000944180911978898,
+                  0.0025117176548832276
+                ],
+                "rod_tip_xy": [
+                  0.26777390995134276,
+                  -0.36012150629431183
+                ],
+                "target_mouth_xy": [
+                  0.26871809086332166,
+                  -0.36263322394919506
+                ],
+                "gripper_position": [
+                  0.26776538990864274,
+                  -0.3601227597007898,
+                  1.0025097244651568
+                ],
+                "rod_tip_xy_dist": 0.002683319431673651,
+                "target_xy_drift": 1.1118134792211764e-07,
+                "depth": 0.018627008944980372,
+                "bottom_clearance": 0.08081360678305571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009526390350018121,
+                  0.002510463019434417
+                ],
+                "rod_tip_xy": [
+                  0.2677653899086428,
+                  -0.3601227597007898
+                ],
+                "target_mouth_xy": [
+                  0.2687180289436446,
+                  -0.3626332227202242
+                ],
+                "gripper_position": [
+                  0.267757084565416,
+                  -0.3601238552007094,
+                  1.002386095675837
+                ],
+                "rod_tip_xy_dist": 0.0026851342057627125,
+                "target_xy_drift": 1.0725974972057981e-07,
+                "depth": 0.018750091779930922,
+                "bottom_clearance": 0.08069040683158157,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.000960975676822573,
+                  0.002509398895585546
+                ],
+                "rod_tip_xy": [
+                  0.2677570845654161,
+                  -0.36012385520070944
+                ],
+                "target_mouth_xy": [
+                  0.26871806024223865,
+                  -0.362633254096295
+                ],
+                "gripper_position": [
+                  0.2677485138799328,
+                  -0.3601250032506924,
+                  1.0022624908163331
+                ],
+                "rod_tip_xy_dist": 0.0026871094262442235,
+                "target_xy_drift": 1.3550597207852093e-07,
+                "depth": 0.01887381219837858,
+                "bottom_clearance": 0.0805667831816349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009695167000978722,
+                  0.002508220079494916
+                ],
+                "rod_tip_xy": [
+                  0.26774851387993287,
+                  -0.3601250032506924
+                ],
+                "target_mouth_xy": [
+                  0.26871803058003074,
+                  -0.3626332233301873
+                ],
+                "gripper_position": [
+                  0.2677552767416502,
+                  -0.36020139042545024,
+                  1.0017498037101227
+                ],
+                "rod_tip_xy_dist": 0.0026890761608682917,
+                "target_xy_drift": 1.0746688144761192e-07,
+                "depth": 0.01899734164754585,
+                "bottom_clearance": 0.08044322587801422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000962784054819088,
+                  0.002431831625885783
+                ],
+                "rod_tip_xy": [
+                  0.26775527674165034,
+                  -0.3602013904254503
+                ],
+                "target_mouth_xy": [
+                  0.2687180607964694,
+                  -0.3626332220513361
+                ],
+                "gripper_position": [
+                  0.2677437952607239,
+                  -0.3602086683287249,
+                  1.001609192661811
+                ],
+                "rod_tip_xy_dist": 0.002615484313252935,
+                "target_xy_drift": 1.0352089071802156e-07,
+                "depth": 0.01951003996170575,
+                "bottom_clearance": 0.07993056010465593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009742658332337895,
+                  0.0024245549873901373
+                ],
+                "rod_tip_xy": [
+                  0.26774379526072395,
+                  -0.3602086683287249
+                ],
+                "target_mouth_xy": [
+                  0.26871806109395774,
+                  -0.362633223316115
+                ],
+                "gripper_position": [
+                  0.267735213382023,
+                  -0.36020973701951736,
+                  1.0014859220957717
+                ],
+                "rod_tip_xy_dist": 0.0026129792958776233,
+                "target_xy_drift": 1.0480045015527148e-07,
+                "depth": 0.0196507051758138,
+                "bottom_clearance": 0.0797898899245374,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005997628045963867,
+              "rod_tip_xy_max_step": 3.250456263025945e-05,
+              "rod_tip_xy_range": 0.0005997559011305374,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26723761936369145,
+            -0.36156036118447255,
+            1.0435444047973257
+          ],
+          "object_origin_world": [
+            0.26723761936369145,
+            -0.36156036118447255,
+            1.0435444047973257
+          ],
+          "frame_world": [
+            0.2672361367827949,
+            -0.3615661214732177,
+            1.043432023854981
+          ],
+          "center_minus_frame": [
+            1.4825808965501786e-06,
+            5.760288745160214e-06,
+            0.00011238094234466978
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26595166129141795,
+              0.16072016166646597,
+              0.8314077172596984
+            ],
+            "target_position": [
+              0.28075125457517147,
+              0.20759017867738805,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.049151057526452546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1685962697176953,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314077172596984,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672694609695,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13855373764646042,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78ca891f13fcf388f7d116bb53696f3fc1f6f724b7e06a3094c07bbc8c31980d",
+    "visual_seed": 463051853595528506,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0c996809b2e08fd7db36b9132ecb584ceedebaf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/episode_9_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19897283693215884,
+              -0.10958349831422236,
+              1.162068029918693
+            ],
+            "current_z": 1.162068029918693,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.300961521903927,
+            "gripper_z": 1.1561460479152241,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19434135576177367,
+              -0.11428992178398537,
+              1.1561460479152241
+            ],
+            "object_minus_gripper": [
+              0.004631481170385171,
+              0.0047064234697630075,
+              0.005921982003468829
+            ],
+            "object_to_gripper_xy": 0.006603108336864424,
+            "object_to_gripper_z": 0.005921982003468829,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19897283693215884,
+              -0.13318053359481913,
+              1.162068029918693
+            ],
+            "finger_b": [
+              0.18798193595029183,
+              -0.10958349831422236,
+              1.162068029918693
+            ],
+            "finger_midpoint": [
+              0.19347738644122534,
+              -0.12138201595452075,
+              1.162068029918693
+            ],
+            "object_minus_finger_midpoint": [
+              0.005495450490933501,
+              0.011798517640298392,
+              0.0
+            ],
+            "finger_gap": 0.02603113478945806,
+            "fingertip_max_gap": 0.09222137865030966,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013015567394729036,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162068029918693,
+            "object_top_z": 1.2120504224703663,
+            "finger_top_clearance": 0.04998239255167336,
+            "fingertip_min_top_clearance": 0.014994717765502041,
+            "object_projection_between_fingers": 0.821729128067273,
+            "object_to_finger_line_xy": 0.009963172191006153,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861068932515483,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8683569061644427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26981322222089077,
+              -0.3625958967677684,
+              0.8515394948802859
+            ],
+            "target_position": [
+              0.2621742171633929,
+              -0.36318285882469903,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007661522219817307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18360520472968117,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394948802859,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535322009087389,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548390906692403,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151986459491745,
+            "release_required_pad_clearance": 0.05274195453346202,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5352215807014489,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00791466236114502,
+            "max_z_decrease": 0.00791466236114502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511419949113121,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00791466236114502,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114718352436023,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00791466236114502,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007914688947005215,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1178741455078125,
+              -0.41944432258605957,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1178741455078125,
+              -0.41944432258605957,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11909626287816871,
+              -0.4199948200826634,
+              0.8074393217475385
+            ],
+            "closest_button": [
+              0.11786220222711562,
+              -0.4194396734237671,
+              0.7723512053489685
+            ],
+            "closest_ee_minus_button": [
+              0.0012340606510530955,
+              -0.0005551466588963327,
+              0.03508811639857001
+            ],
+            "button_min_z_position": [
+              0.11785389482975005,
+              -0.4194410443305969,
+              0.7688941955566406
+            ],
+            "min_active_finger_to_button": 0.14495747141008777,
+            "closest_active_finger": [
+              -0.022035524249076843,
+              -0.4036645293235779,
+              0.8109844326972961
+            ],
+            "closest_active_finger_button": [
+              0.11787451803684233,
+              -0.41944271326065063,
+              0.7765040397644043
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399100422859192,
+              0.015778183937072754,
+              0.034480392932891846
+            ],
+            "min_contact_pad_to_button": 0.02114718352436023,
+            "closest_contact_pad": [
+              0.11785389482975005,
+              -0.42106891769740207,
+              0.7899786305577171
+            ],
+            "closest_contact_pad_button": [
+              0.11785389482975005,
+              -0.4194410443305969,
+              0.7688941955566406
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016278733668051437,
+              0.021084435001076485
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27656171021098586,
+              0.2028809525947467,
+              1.1017882621774469
+            ],
+            "current_z": 1.1017882621774469,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1918791324430843,
+            "gripper_z": 1.1017882463521638,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2765616536698291,
+              0.20288094710080196,
+              1.1017882463521638
+            ],
+            "object_minus_gripper": [
+              5.654115675657323e-08,
+              5.4939447435842226e-09,
+              1.582528308397002e-08
+            ],
+            "object_to_gripper_xy": 5.680744525339036e-08,
+            "object_to_gripper_z": 1.582528308397002e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27656171021098586,
+              0.2028809525947467,
+              1.1017882621774469
+            ],
+            "finger_b": [
+              0.27656171021098586,
+              0.2028809525947467,
+              1.1017882621774469
+            ],
+            "finger_midpoint": [
+              0.27656171021098586,
+              0.2028809525947467,
+              1.1017882621774469
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017882621774469,
+            "object_top_z": 1.2267967687977266,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2765617102109859,
+            0.20288095259474673,
+            1.101788262177447
+          ],
+          "object_origin_world": [
+            0.2765617102109859,
+            0.20288095259474673,
+            1.101788262177447
+          ],
+          "frame_world": [
+            0.2765616536698291,
+            0.20288094710080196,
+            1.1017882463521638
+          ],
+          "center_minus_frame": [
+            5.654115681208438e-08,
+            5.493944771339798e-09,
+            1.5825283306014626e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433781996321831,
+            "required_z": 0.9112602206592322,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013480296795521575,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1547315239909772e-07,
+            "max_target_xy_drift": 6.650479351117048e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5352215600101649,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5352215822254605,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27109132171122036,
+              -0.36302264690546315,
+              0.9234926023842923
+            ],
+            "target_mouth_xy": [
+              0.26981325570603065,
+              -0.3625958361979196
+            ],
+            "rod_tip_z": 0.9234926023842923,
+            "rod_tip_depth": -0.02223266512589639,
+            "rod_tip_bottom_clearance": 0.121673394645192,
+            "rod_tip_xy_dist": 0.0013474494772329757,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04472277034006833,
+            "min_rod_tip_bottom_clearance": 0.054717829802017004,
+            "min_rod_tip_xy_dist": 0.00017114129492431498,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26981331737083025,
+              -0.362595738568511
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.166479959990312e-08,
+              -9.762940855750912e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0017495701687734178,
+                0.0014299375582643714
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016649116420579535,
+                0.0010103523045560392
+              ],
+              "first_target_mouth_xy": [
+                0.26981321869792907,
+                -0.36259589710742957
+              ],
+              "last_target_mouth_xy": [
+                0.26981318991997155,
+                -0.3625958682439897
+              ],
+              "first_rod_tip_xy": [
+                0.2715627888667025,
+                -0.3611659595491652
+              ],
+              "last_rod_tip_xy": [
+                0.2714781015620295,
+                -0.36158551593943367
+              ],
+              "min_rod_tip_xy_dist": 0.001947496483997291,
+              "max_rod_tip_xy_dist": 0.002259583412046769,
+              "first_target_xy_drift": 1.867375969710328e-07,
+              "last_target_xy_drift": 1.8182258153611996e-07,
+              "max_depth": 0.01949966110069823,
+              "min_bottom_clearance": 0.07994089182503716
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0017495701687734178,
+                  0.0014299375582643714
+                ],
+                "rod_tip_xy": [
+                  0.2715627888667025,
+                  -0.3611659595491652
+                ],
+                "target_mouth_xy": [
+                  0.26981321869792907,
+                  -0.36259589710742957
+                ],
+                "gripper_position": [
+                  0.2715700710499442,
+                  -0.36123638950739867,
+                  1.0056874415348982
+                ],
+                "rod_tip_xy_dist": 0.002259583412046769,
+                "target_xy_drift": 1.867375969710328e-07,
+                "depth": 0.015050535576321189,
+                "bottom_clearance": 0.08439004303299036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017568499746040689,
+                  0.0013594774661466191
+                ],
+                "rod_tip_xy": [
+                  0.2715700710499441,
+                  -0.36123638950739867
+                ],
+                "target_mouth_xy": [
+                  0.26981322107534,
+                  -0.3625958669735453
+                ],
+                "gripper_position": [
+                  0.2715589831737103,
+                  -0.36124448090405425,
+                  1.005543317221069
+                ],
+                "rod_tip_xy_dist": 0.0022214186490229055,
+                "target_xy_drift": 1.6050132170351046e-07,
+                "depth": 0.01557238083301049,
+                "bottom_clearance": 0.08386812912089348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017457291053092905,
+                  0.0013514171321891144
+                ],
+                "rod_tip_xy": [
+                  0.2715589831737102,
+                  -0.36124448090405425
+                ],
+                "target_mouth_xy": [
+                  0.2698132540684009,
+                  -0.36259589803624337
+                ],
+                "gripper_position": [
+                  0.27155094483341313,
+                  -0.36124610530664514,
+                  1.0054176229955618
+                ],
+                "rod_tip_xy_dist": 0.002207690733390487,
+                "target_xy_drift": 1.7157259461736256e-07,
+                "depth": 0.015716591815517877,
+                "bottom_clearance": 0.08372404389193855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017377234301081401,
+                  0.0013497629357130392
+                ],
+                "rod_tip_xy": [
+                  0.2715509448334131,
+                  -0.36124610530664514
+                ],
+                "target_mouth_xy": [
+                  0.26981322140330494,
+                  -0.3625958682423582
+                ],
+                "gripper_position": [
+                  0.271559130638079,
+                  -0.36131795656393806,
+                  1.0048952244759544
+                ],
+                "rod_tip_xy_dist": 0.0022003505861956365,
+                "target_xy_drift": 1.613228829164133e-07,
+                "depth": 0.015842203344379358,
+                "bottom_clearance": 0.08359832167587011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017458772625759122,
+                  0.0012779395678227945
+                ],
+                "rod_tip_xy": [
+                  0.2715591306380789,
+                  -0.36131795656393817
+                ],
+                "target_mouth_xy": [
+                  0.269813253375503,
+                  -0.36259589613176096
+                ],
+                "gripper_position": [
+                  0.2715480940437674,
+                  -0.36132573179162314,
+                  1.0047514632678936
+                ],
+                "rod_tip_xy_dist": 0.002163612015816762,
+                "target_xy_drift": 1.7006345770043767e-07,
+                "depth": 0.016364688588731968,
+                "bottom_clearance": 0.08307593996394658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017348452715404417,
+                  0.0012701649951090133
+                ],
+                "rod_tip_xy": [
+                  0.27154809404376734,
+                  -0.3613257317916232
+                ],
+                "target_mouth_xy": [
+                  0.2698132487722269,
+                  -0.3625958967867322
+                ],
+                "gripper_position": [
+                  0.2715397711588566,
+                  -0.36132736603553095,
+                  1.0046256393438764
+                ],
+                "rod_tip_xy_dist": 0.0021501179574587317,
+                "target_xy_drift": 1.7244933719482757e-07,
+                "depth": 0.01650841753604826,
+                "bottom_clearance": 0.08293216185060326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017265193177651295,
+                  0.001268498706654908
+                ],
+                "rod_tip_xy": [
+                  0.2715397711588565,
+                  -0.36132736603553095
+                ],
+                "target_mouth_xy": [
+                  0.2698132518410914,
+                  -0.36259586474218586
+                ],
+                "gripper_position": [
+                  0.2715489217524274,
+                  -0.3614001790849959,
+                  1.00410524826447
+                ],
+                "rod_tip_xy_dist": 0.0021424187087031666,
+                "target_xy_drift": 1.421757465172002e-07,
+                "depth": 0.016634230613184697,
+                "bottom_clearance": 0.08280639669565393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017356396767216897,
+                  0.0011957176874437536
+                ],
+                "rod_tip_xy": [
+                  0.2715489217524273,
+                  -0.361400179084996
+                ],
+                "target_mouth_xy": [
+                  0.2698132820757056,
+                  -0.36259589677243975
+                ],
+                "gripper_position": [
+                  0.2715375602436678,
+                  -0.36140813243452813,
+                  1.0039615082910163
+                ],
+                "rod_tip_xy_dist": 0.002107649372043749,
+                "target_xy_drift": 1.6209327219760397e-07,
+                "depth": 0.01715464467582717,
+                "bottom_clearance": 0.08228591866122137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017243373011977536,
+                  0.0011877643335333476
+                ],
+                "rod_tip_xy": [
+                  0.2715375602436677,
+                  -0.3614081324345282
+                ],
+                "target_mouth_xy": [
+                  0.26981322294246995,
+                  -0.36259589676806153
+                ],
+                "gripper_position": [
+                  0.2715292844335693,
+                  -0.3614097164524943,
+                  1.003835714553673
+                ],
+                "rod_tip_xy_dist": 0.002093829802136714,
+                "target_xy_drift": 1.842384677848142e-07,
+                "depth": 0.017298328811466424,
+                "bottom_clearance": 0.08214225268152375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017160582820357484,
+                  0.001186179986421676
+                ],
+                "rod_tip_xy": [
+                  0.27152928443356916,
+                  -0.3614097164524943
+                ],
+                "target_mouth_xy": [
+                  0.2698132261515334,
+                  -0.362595896438916
+                ],
+                "gripper_position": [
+                  0.2715210940128334,
+                  -0.36141093631557447,
+                  1.0037098886554587
+                ],
+                "rod_tip_xy_dist": 0.0020861157656110103,
+                "target_xy_drift": 1.8232944052282677e-07,
+                "depth": 0.017424213229927044,
+                "bottom_clearance": 0.08201650278970363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017078735788110255,
+                  0.0011849325567536706
+                ],
+                "rod_tip_xy": [
+                  0.2715210940128333,
+                  -0.3614109363155745
+                ],
+                "target_mouth_xy": [
+                  0.2698132204340223,
+                  -0.3625958688723282
+                ],
+                "gripper_position": [
+                  0.2715317755090183,
+                  -0.36148623804825625,
+                  1.0031906091438678
+                ],
+                "rod_tip_xy_dist": 0.0020786768207818095,
+                "target_xy_drift": 1.6240637152274196e-07,
+                "depth": 0.017549960386058383,
+                "bottom_clearance": 0.08189058806597738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001718553965934011,
+                  0.0011096590369166215
+                ],
+                "rod_tip_xy": [
+                  0.27153177550901825,
+                  -0.3614862380482563
+                ],
+                "target_mouth_xy": [
+                  0.26981322154308424,
+                  -0.3625958970851729
+                ],
+                "gripper_position": [
+                  0.27152028858369814,
+                  -0.36149411351818705,
+                  1.0030468580426024
+                ],
+                "rod_tip_xy_dist": 0.0020456712619671426,
+                "target_xy_drift": 1.852309072723151e-07,
+                "depth": 0.018069211327443102,
+                "bottom_clearance": 0.08137130530686376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017070036083681739,
+                  0.0011018143136334313
+                ],
+                "rod_tip_xy": [
+                  0.27152028858369803,
+                  -0.36149411351818717
+                ],
+                "target_mouth_xy": [
+                  0.26981328497532986,
+                  -0.3625959278318206
+                ],
+                "gripper_position": [
+                  0.27151178093773587,
+                  -0.3614957064349911,
+                  1.002921436219852
+                ],
+                "rod_tip_xy_dist": 0.002031712602881981,
+                "target_xy_drift": 1.920158035135695e-07,
+                "depth": 0.018213059818982136,
+                "bottom_clearance": 0.0812276184281625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016985298325720155,
+                  0.00110016179746375
+                ],
+                "rod_tip_xy": [
+                  0.27151178093773576,
+                  -0.36149570643499107
+                ],
+                "target_mouth_xy": [
+                  0.26981325110516374,
+                  -0.3625958682324548
+                ],
+                "gripper_position": [
+                  0.2715033948633624,
+                  -0.3614969598408941,
+                  1.0027955355961229
+                ],
+                "rod_tip_xy_dist": 0.0020236994768828174,
+                "target_xy_drift": 1.4561551044040077e-07,
+                "depth": 0.018338389126802745,
+                "bottom_clearance": 0.08110213164542301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016901103738595769,
+                  0.0010989391358068312
+                ],
+                "rod_tip_xy": [
+                  0.27150339486336234,
+                  -0.36149695984089414
+                ],
+                "target_mouth_xy": [
+                  0.26981328448950276,
+                  -0.36259589897670097
+                ],
+                "gripper_position": [
+                  0.27151531267951623,
+                  -0.3615738418422193,
+                  1.0022800036079202
+                ],
+                "rod_tip_xy_dist": 0.002015971304368101,
+                "target_xy_drift": 1.6374360781969154e-07,
+                "depth": 0.018464395170159187,
+                "bottom_clearance": 0.08097629774064952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017020316223630427,
+                  0.0010220248032638546
+                ],
+                "rod_tip_xy": [
+                  0.2715153126795161,
+                  -0.3615738418422193
+                ],
+                "target_mouth_xy": [
+                  0.2698132810571531,
+                  -0.36259586664548316
+                ],
+                "gripper_position": [
+                  0.2715038108353658,
+                  -0.3615816823948653,
+                  1.0021364475105394
+                ],
+                "rod_tip_xy_dist": 0.00198530761898762,
+                "target_xy_drift": 1.3312548194229336e-07,
+                "depth": 0.01897982759206862,
+                "bottom_clearance": 0.08046070859298948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016905586025938169,
+                  0.0010142172266641714
+                ],
+                "rod_tip_xy": [
+                  0.2715038108353657,
+                  -0.3615816823948653
+                ],
+                "target_mouth_xy": [
+                  0.26981325223277186,
+                  -0.3625958996215295
+                ],
+                "gripper_position": [
+                  0.2714952297855435,
+                  -0.3615830150250237,
+                  1.0020110734116308
+                ],
+                "rod_tip_xy_dist": 0.0019714525030206337,
+                "target_xy_drift": 1.737269161977654e-07,
+                "depth": 0.019123474807026475,
+                "bottom_clearance": 0.08031714576985782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001681977833408399,
+                  0.001012852893835292
+                ],
+                "rod_tip_xy": [
+                  0.27149522978554347,
+                  -0.36158301502502377
+                ],
+                "target_mouth_xy": [
+                  0.26981325195213507,
+                  -0.36259586791885906
+                ],
+                "gripper_position": [
+                  0.271486632775147,
+                  -0.3615842576294179,
+                  1.001885495371088
+                ],
+                "rod_tip_xy_dist": 0.001963395124937346,
+                "target_xy_drift": 1.4495212388407323e-07,
+                "depth": 0.019248693640140924,
+                "bottom_clearance": 0.08019184890068909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016733772963934412,
+                  0.0010116102754927914
+                ],
+                "rod_tip_xy": [
+                  0.2714866327751469,
+                  -0.3615842576294179
+                ],
+                "target_mouth_xy": [
+                  0.26981325547875346,
+                  -0.3625958679049107
+                ],
+                "gripper_position": [
+                  0.27147810156202956,
+                  -0.36158551593943355,
+                  1.0017601981294288
+                ],
+                "rod_tip_xy_dist": 0.0019553892005346723,
+                "target_xy_drift": 1.4338247263150226e-07,
+                "depth": 0.019374419233418094,
+                "bottom_clearance": 0.08006625945629742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0016649116420579535,
+                  0.0010103523045560392
+                ],
+                "rod_tip_xy": [
+                  0.2714781015620295,
+                  -0.36158551593943367
+                ],
+                "target_mouth_xy": [
+                  0.26981318991997155,
+                  -0.3625958682439897
+                ],
+                "gripper_position": [
+                  0.2714694614255765,
+                  -0.3615866291028073,
+                  1.0016345404830458
+                ],
+                "rod_tip_xy_dist": 0.001947496483997291,
+                "target_xy_drift": 1.8182258153611996e-07,
+                "depth": 0.01949966110069823,
+                "bottom_clearance": 0.07994089182503716,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006000451897665547,
+              "rod_tip_xy_max_step": 3.246441915867844e-05,
+              "rod_tip_xy_range": 0.0006000360964335608,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2710913217112204,
+            -0.36302264690546315,
+            1.0434926023842923
+          ],
+          "object_origin_world": [
+            0.2710913217112204,
+            -0.36302264690546315,
+            1.0434926023842923
+          ],
+          "frame_world": [
+            0.27108986075576685,
+            -0.3630288068250313,
+            1.0433781996321831
+          ],
+          "center_minus_frame": [
+            1.460955453558288e-06,
+            6.15991956814943e-06,
+            0.00011440275210916617
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26331653862463944,
+              0.15539687787568587,
+              0.8321303579129206
+            ],
+            "target_position": [
+              0.27673031411961785,
+              0.20205481021113625,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04854783231874672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674745199266309,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321303579129206,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675184500365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1371868748236453,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 9141974314119947804,
+    "physical_seed": 210423211217300059,
+    "layout_id": "layout_00049",
+    "step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "workflow_spec_digest": "4b25b872615d02c8318c7340699ba61742ddc6eddddd4be7fb6a67cf35cd8ea1",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10d42a71fddd5a51d1d5d4740d1504e1bff8c11b2d96e2e6bb0196a06df69d91",
+    "visual_seed": 3130556292862062116,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4852920287294042381,
+      693334814367054326,
+      1251271704136841748,
+      1523358855677225369,
+      6093207976759283165,
+      6022292891678446872
+    ],
+    "runtime_workflow_digest": "fcf72f2f21c56ec23bcdc0a46ab3574634b51d8793c12b976ef96905552385b1"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..26c21b3b2d349e0032cdf38fa172bb1a42fb4542
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00049/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00049",
+  "family": "lab3_v1",
+  "published_episodes": 66,
+  "published_successes": 66,
+  "published_failures": 0,
+  "matched_success_results": 66
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d222c9cb3bac599133e38b28785defa761725c7a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1901e6e0f8e4b89e5564623c56eaf50df8e3722d837a1a03843bed151c36d60b
+size 12317285
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cf56e751dd4afc9148c4da3bd52bd888f59281e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7051c74a4110291d04fbb2632821a4164be0ec7872de26d083d4823a5f29f7f8
+size 15456512
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee2cecdae15f713d9bc6a2d2926fe194c58ba70f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a135845e77ba17bc0334c7e40e69cdd281983cbc7f1bc2538d43ab1e599816
+size 13259131
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..edf6561489673aff34e0af04e14d93d05dde5a0d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cb904fcdcba6fec927841f7eaadaa628e224a8859c6312870efb3ea771c1ce2
+size 12605306
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77de493f92f980285205305fd5264a014135fe19
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e11a631ed61b7eb0b4e1a7b4b849bf3d17a7292827067bb0b740d65e92dafb73
+size 12316683
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..868ec907a638e23401aac0c171ec1706c6ea1f15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ff03cbda5350d5a36c39df6e2614a16f5b2d55dac2c777d0bf0024718fbb95
+size 11344635
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d5f907a2bbebfb6190704f9503e65f04aba518a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f6e3e35024d2def9ebae6bad1cac0a78dd1622b3d0df790348e78773b3431b7
+size 13393093
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb8e9f6483ed6a1a824a86c29f2c88e53ec30462
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9f62851cf4af60bef8c7f662733b61edf2c42ace28a8f97465f5e8e56286739
+size 11200540
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da5dbbdeff5de35488a334496274c7f9cdae8b92
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4645037afa055df4f2f03182b3a140aee615e505b7a3c56b251482d474dabd
+size 13374177
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..248c2441bf6ce479ba74aa1cf3c1bbe92794c3b1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e596f6ca69ddf213d1a1c31736ce5da57bd98f1d1515d47770f3694560f5bca
+size 10883034
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0453fae9b34d6595266be0bc8b1d840d455bc460
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e13b4cc22abc679c17c855ec8ffb837223cd994bbd4bcdba63ec7ab27afeca12
+size 12450663
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6f1630f622012242978f170c5615cf0e593017be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aa5457276954b537517fe4dcacb0a85139a46e3654d117c2d0126a764cee881
+size 13321592
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fad92c32b94b1f8edfb6814cfb466d693a45d327
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d63d6a0b0b07f026f2ad724d78f418ae66f780c8c608e7ebdf87624d6103291
+size 13887039
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d646bd181a091d45c27c9ceb7785c92ccf66044a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9551fe74600eba0b00ae32100a4176333daaf6723d61f9fe24e12012ddfccb1
+size 12602130
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc159f9cf7ab8f437d6e888ba1b428d2a0bdc60b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13af5ae27f6aea7e74d9502aec9632e59d1c4aaf361a97d70e71b40a46158689
+size 10588577
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..835128b76f7c02957c21ba8b07bbeacfc241c619
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ab498b1ebb7a6c0b253d61b6caa29fc7b4ac845fcced15dbdea799980eae5f4
+size 12338648
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..819653ac48a79dc4d25be1648f5b451060178679
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea72a83c0166755cb60f806e3403d1d66525037306acb8c85a288f78c3455c99
+size 12063935
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d970dfb51d5e95b212bb72cfe36673ccb628e5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4c3afb1beb35a6fb03d7a3bdb9da9372da4865e7948b5fd6853592fa76fc378
+size 12492050
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8106e49f053f4ee484e64b7547a92c8c98149c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/meta/episode.jsonl
@@ -0,0 +1,18 @@
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2774,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2731,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2737,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2740,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2732,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2731,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2741,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2773,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2777,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2744,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2772,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2728,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2772,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2732,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2779,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2779,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2729,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2735,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..90c789315a6be893394a4c1cffff3b8a1e91ccf7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,18 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T12:48:02","dimensions":{"distractor":{"count":21,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.2792803010381459,-0.09047027821877585,0.71338606911949],"aabb_xy":[[-0.3692803004565167,-0.12384577506296555],[-0.18928030161977494,-0.05709478137458611]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[-0.4891182662803538,0.2369651187556121,0.71338606911949],"aabb_xy":[[-0.5531139636754504,0.17296512045490342],[-0.42512256888525723,0.3009651170563208]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[0.43623147691514896,-1.518672999206305,0.71338606911949],"aabb_xy":[[0.4149534687716767,-1.583673001532378],[0.4575094850586212,-1.453672996880232]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.4231932288549437,-0.8208096255603041,0.71338606911949],"aabb_xy":[[-0.4312365887808989,-0.9058096266556704],[-0.41514986892898853,-0.7358096244649376]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[0.38372465984640436,0.7184512424989022,0.71338606911949],"aabb_xy":[[0.3591784442236536,0.6882023459498651],[0.408270875469155,0.7487001390479392]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.4115420823424745,0.6744327054259487,0.71338606911949],"aabb_xy":[[-0.4344577952275245,0.6515284082895252],[-0.3886263694574247,0.6973370025623722]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[-0.04998835310596972,-1.0620949242379665,0.71338606911949],"aabb_xy":[[-0.09998762827440588,-1.1120949255139136],[1.0922062466438287e-05,-1.0120949229620193]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.20745507946557362,-1.03862046578026,0.71338606911949],"aabb_xy":[[0.1774634167317033,-1.0686204651170605],[0.23744674219944395,-1.0086204664434595]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.3986816087949778,-2.4752390323217224,0.71338606911949],"aabb_xy":[[-0.41114896690471353,-2.487704356955046],[-0.38621425068524223,-2.462773707688399]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.13616264708274617,-1.5618526686011385,0.71338606911949],"aabb_xy":[[0.07216264778857792,-1.6258388089699927],[0.20016264637691436,-1.4978665282322843]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.43200443078012984,-0.6328340097655398,0.71338606911949],"aabb_xy":[[0.35200443376588186,-0.6529685614389512],[0.5120044277943778,-0.6126994580921287]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[-0.001995418790349035,0.8721169974385727,0.71338606911949],"aabb_xy":[[-0.03064475115076526,0.8434714381614968],[0.02665391357006719,0.9007625567156484]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.1923346822888684,1.414878504563195,0.71338606911949],"aabb_xy":[[-0.25633468256284664,1.3648124043659071],[-0.12833468201489015,1.464944604760483]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.24578087505931207,-1.3119127847815106,0.71338606911949],"aabb_xy":[[-0.2511184507253167,-1.3369127857106504],[-0.24044329939330752,-1.2869127838523708]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.5464311762325812,-1.4282592411324297,0.71338606911949],"aabb_xy":[[-0.5610745817866142,-1.4429179607892137],[-0.5317877706785482,-1.4136005214756453]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.3469308448887285,0.44248515246672016,0.71338606911949],"aabb_xy":[[0.29693601196078695,0.39248515357147656],[0.39692567781667015,0.49248515136196364]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.10286292211366521,-2.0312921067445666,0.71338606911949],"aabb_xy":[[-0.11089925681495005,-2.039330226048983],[-0.09482658741238037,-2.023253987440149]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.5212645568866298,-0.9385901374521077,0.71338606911949],"aabb_xy":[[-0.5451007745272349,-1.0285901382605944],[-0.4974283392460248,-0.8485901366436215]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.6322428913009461,-0.3137467277109125,0.71338606911949],"aabb_xy":[[0.5822428926550248,-0.3636662713703748],[0.6822428899468672,-0.26382718405145006]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.5259655363216288,0.4067354871375848,0.71338606911949],"aabb_xy":[[-0.5859655371824414,0.3553090571310983],[-0.4659655354608158,0.45816191714407106]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.6118870645091813,-0.017020350934715545,0.71338606911949],"aabb_xy":[[-0.6768870656151246,-0.04198572400284384],[-0.546887063403238,0.007945022133412746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661215114655621,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/624.png","name":"624"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/624.png","name":"624"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9525.png","name":"9525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8329.png","name":"8329"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8605.png","name":"8605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9226.png","name":"9226"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":523.5661818631793,"rotation_z_degrees":266.0507056621876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0071010035628700854,-0.015336117581568299,-0.012173899984411745]},{"name":"camera_2","offset_m":[-0.019218645399821703,-0.002855015930180397,0.01939935336414635]},{"name":"camera_3","offset_m":[0.016648178463019633,-0.016026729443465993,0.01654955523302917]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019163341818016835,0.0017115993121124794,-0.0008610949775980647],"end_effector_yaw_offset_degrees":-0.7188030488314479},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001575028361851976,-0.0003080796609499967,-0.00024725127521307887],"end_effector_yaw_offset_degrees":0.5654495315189807},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015944429165755196,0.0004818494513991892,-0.0014459940492513783],"end_effector_yaw_offset_degrees":0.1460733651212749},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00046450411246703235,0.001285718943374412,0.0019754523922862893],"end_effector_yaw_offset_degrees":-0.6692590434386105},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017479490227004842,-0.0008624340993159247,-0.0013432873908554594],"end_effector_yaw_offset_degrees":-0.5718576017537502},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-3.399275969132292e-05,0.0007319653346862295,-0.0013562125517890679],"end_effector_yaw_offset_degrees":-0.28517299170934285}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002319148763662798,0.002067028917742476],"position_m":[0.3558191487636628,0.06586702891774247,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012057899861705047,-0.0037434260197636115],"position_m":[0.21319421001382952,-0.39514342601976365,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0041904751218668065,-0.0012020915922811171],"position_m":[0.27779047512186683,0.2939979084077189,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003241118347259363,0.0007072221403154133],"position_m":[0.2649588816527406,-0.08779277785968458,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4d6f34370c331c10c64b6e218fd2fd12706a91ee5ccf6705b539dab75cf0b11f","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_624/tex_ceiling_textures_9226/tex_floor_textures_8605/tex_table_textures_9525/tex_wall_textures_8329","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":2075884455068146442,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":2075884455068146442,"visual_seed":2075884455068146442,"scene_id":"lab_003","finished_at":"2026-09-08T12:56:54"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T13:46:14","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.5600798560954865,1.7288006842767438,0.71338606911949],"aabb_xy":[[0.4800798581147015,1.7211991433148917],[0.6400798540762715,1.7364022252385956]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.3746461913113248,0.8970630221350224,0.71338606911949],"aabb_xy":[[0.3371461914942912,0.8924248108238805],[0.4121461911283583,0.9017012334461642]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.6801710139894592,0.6822780515613096,0.71338606911949],"aabb_xy":[[0.6601126023762189,0.662212964652152],[0.7002294256026995,0.702343138470467]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[-0.12506455249308523,0.40544003675683227,0.71338606911949],"aabb_xy":[[-0.14264285468203208,0.38786554718272737],[-0.10748625030413839,0.42301452633093717]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.07698852410813528,1.0479040492548601,0.71338606911949],"aabb_xy":[[-0.14098852141048168,1.0035376222870032],[-0.01298852680578888,1.0922704762227167]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.2939508587296231,-0.6243603491407477,0.71338606911949],"aabb_xy":[[0.27652014365061656,-0.6416324638045984],[0.3113815738086296,-0.6070882344768967]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.6080346715693257,-2.362784352756031,0.71338606911949],"aabb_xy":[[-0.6720346729773162,-2.4145733042799553],[-0.5440346701613349,-2.310995401232106]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.4077383402352093,0.17825427506945735,0.71338606911949],"aabb_xy":[[0.40278232005032827,0.15575427486733573],[0.4126943604200906,0.200754275271579]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.6200432874021038,1.3033480063125178,0.71338606911949],"aabb_xy":[[0.5900516246682335,1.2733480069757173],[0.6500349501359741,1.3333480056493183]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.5108790472369891,-1.8555780895016254,0.71338606911949],"aabb_xy":[[0.4468790440183513,-1.902301201400634],[0.574879050455627,-1.8088549776026173]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.09948285669226442,-1.2017958804419198,0.71338606911949],"aabb_xy":[[0.08161374893780893,-1.2156287884191306],[0.11735196444671991,-1.187962972464709]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.30795362122548625,0.2722552605180466,0.71338606911949],"aabb_xy":[[-0.3268380049939965,0.2533693357376938],[-0.2890692374569761,0.2911411852983994]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.34555091591880177,0.08661922054952731,0.71338606911949],"aabb_xy":[[-0.34925417724794056,0.08291720224080944],[-0.3418476545896629,0.09032123885824515]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[0.023203595510737807,1.556787939427577,0.71338606911949],"aabb_xy":[[-0.026679101366958405,1.5067879401813025],[0.073086292388434,1.606787938673852]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.13289861508577006,1.784833556259978,0.71338606911949],"aabb_xy":[[0.12893813131603568,1.7771656916744574],[0.13685909885550443,1.7925014208454986]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.031044221833941288,0.1918952972255492,0.71338606911949],"aabb_xy":[[-0.06152847196097144,0.14189529744405324],[-0.0005599717069111297,0.24189529700704512]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.6339402540331098,0.3652759969606447,0.71338606911949],"aabb_xy":[[0.623528695352626,0.3599302636247461],[0.6443518127135934,0.3706217302965431]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[0.03615535513441637,-2.3274063916164764,0.71338606911949],"aabb_xy":[[0.012319137493811302,-2.4174063924249634],[0.059991572775021436,-2.2374063908079904]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.34103608748376435,1.0538113365694146,0.71338606911949],"aabb_xy":[[0.29586476963559544,0.9898113394248764],[0.38620740533193343,1.1178113337139532]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.6192962522177599,-0.4842618429813017,0.71338606911949],"aabb_xy":[[0.5492962488261978,-0.5195776166847325],[0.6892962556093217,-0.4489460692778708]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[-0.17218114498383896,1.2388075515801775,0.71338606911949],"aabb_xy":[[-0.1880656382491641,1.2244546112813535],[-0.1562966517185138,1.2531604918790016]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.49115731755079395,-1.2466830521952905,0.71338606911949],"aabb_xy":[[0.4411642054416021,-1.2966830528694862],[0.5411504296599858,-1.1966830515210949]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.3094036003894953,1.6315887328208185,0.71338606911949],"aabb_xy":[[0.2444035993889948,1.5808023676661436],[0.37440360138999584,1.6823750979754934]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.29377743783469384,1.7738146630627853,0.71338606911949],"aabb_xy":[[-0.34377244879414587,1.7238146640271939],[-0.24378242687524182,1.8238146620983773]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[0.38848836270904563,-1.2164179115131863,0.71338606911949],"aabb_xy":[[0.3769193819621091,-1.2414179116301183],[0.40005734345598226,-1.1914179113962549]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.6101659145332985,-0.22263532288456567,0.71338606911949],"aabb_xy":[[0.5777042136513708,-0.25276815499946825],[0.6426276154152257,-0.19250249076966303]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[0.4794588410142926,-2.286210224490781,0.71338606911949],"aabb_xy":[[0.4144588383764991,-2.337689823190228],[0.5444588436520861,-2.234730625791334]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_27","position":[-0.44356527872115803,-2.0455482605354685,0.71338606911949],"aabb_xy":[[-0.5085652798271014,-2.0705136336035967],[-0.3785652776152148,-2.02058288746734]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[0.346025292230562,0.44485628864570925,0.71338606911949],"aabb_xy":[[0.3399882792298973,0.4388295875767611],[0.3520623052312268,0.4508829897146575]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[-0.388279002483689,-1.24282737468322,0.71338606911949],"aabb_xy":[[-0.4732790009011122,-1.3277016701455049],[-0.30327900406626573,-1.157953079220935]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_30","position":[0.4994356942763347,-0.6591957207101258,0.71338606911949],"aabb_xy":[[0.4772631672996839,-0.681371387866249],[0.5216082212529856,-0.6370200535540026]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[-0.47592820656139845,-0.6137782134441172,0.71338606911949],"aabb_xy":[[-0.5459282091979848,-0.6338830784399825],[-0.4059282039248121,-0.5936733484482515]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_32","position":[-0.08208799922095178,-0.14002541286319614,0.71338606911949],"aabb_xy":[[-0.1320709494084311,-0.1900254125057565],[-0.03210504903347244,-0.09002541322063569]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666943864158512,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9696.png","name":"9696"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9696.png","name":"9696"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4367.png","name":"4367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3577.png","name":"3577"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5867.png","name":"5867"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1533.png","name":"1533"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":732.6603122404445,"rotation_z_degrees":63.10450152085666,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01834246816039348,0.006084340998955273,-0.0016955234150974087]},{"name":"camera_2","offset_m":[-0.01385394605547641,-0.006352123391967682,-0.011705079059914358]},{"name":"camera_3","offset_m":[0.0013059352463173149,-0.00413490017429731,0.014056634435022638]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005302924481550013,0.00096942831899833,-0.000552121231870471],"end_effector_yaw_offset_degrees":-0.17619327756992553},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001192928881631767,-0.0012974939309265527,-0.0016104156022902073],"end_effector_yaw_offset_degrees":0.6883255377532851},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014560759561947204,-0.0012641559222822318,-0.00012071621221298578],"end_effector_yaw_offset_degrees":0.32767979441309225},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016893195646159806,0.0016652211024546287,0.0013252808707711339],"end_effector_yaw_offset_degrees":-0.7588317343227895},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005961742048632211,-0.001210372265049541,0.0010963345082164286],"end_effector_yaw_offset_degrees":0.7249462344062276},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.000427157533631073,0.0018905755358548586,-0.0017568754311583148],"end_effector_yaw_offset_degrees":0.8952066060950039}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003769865071230105,0.00045057826737253306],"position_m":[0.34973013492876986,0.06425057826737253,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002730059614529866,0.0006760883284201704],"position_m":[0.21713005961452989,-0.3907239116715799,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0005653914800923124,-0.0019670155852334337],"position_m":[0.2730346085199077,0.2932329844147666,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0042679957325385065,-0.0015737918541380903],"position_m":[0.2724679957325385,-0.09007379185413808,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"8b8cb3ba1f93f73e349b0a6146387e6e4b4b5264693df2e6a532079c66c3fa4e","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9696/tex_ceiling_textures_1533/tex_floor_textures_5867/tex_table_textures_4367/tex_wall_textures_3577","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4923818195747470093,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4923818195747470093,"visual_seed":4923818195747470093,"scene_id":"lab_003","finished_at":"2026-09-08T13:55:03"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T13:55:10","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.21611692280197148,-0.9809824536518366,0.71338606911949],"aabb_xy":[[-0.22261855930997615,-0.9907502756781464],[-0.20961528629396692,-0.9712146316255269]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[0.12117315473927281,1.1170202802284805,0.71338606911949],"aabb_xy":[[0.08687624372153217,1.082723394018539],[0.15547006575701344,1.1513171664384216]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.22334372057543078,-2.378611518704389,0.71338606911949],"aabb_xy":[[-0.22965582011176922,-2.384378457957608],[-0.21703162103909235,-2.3728445794511708]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.21613146240500314,-2.2235175863018237,0.71338606911949],"aabb_xy":[[-0.2285988205147388,-2.2359829109351472],[-0.2036641042952675,-2.2110522616685]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.26112672877925014,0.7327640756812448,0.71338606911949],"aabb_xy":[[0.2534235381051731,0.7250547049825068],[0.2688299194533272,0.7404734463799828]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.46153502093539167,0.4344191062389262,0.71338606911949],"aabb_xy":[[0.4202304778716557,0.37041910667080913],[0.5028395639991277,0.4984191058070433]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.6704441725793522,-1.5086461497728771,0.71338606911949],"aabb_xy":[[0.6354441726833334,-1.517020385284817],[0.7054441724753712,-1.5002719142609373]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.341953646789497,1.5020802957113335,0.71338606911949],"aabb_xy":[[-0.3593843618685035,1.4848081810474825],[-0.32452293171049046,1.519352410375184]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[0.5474970348052304,-0.176700953398774,0.71338606911949],"aabb_xy":[[0.5374153277266568,-0.25670095129088866],[0.5575787418838037,-0.09670095550665933]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.4197146325624097,-1.2018044113099162,0.71338606911949],"aabb_xy":[[0.4088630263135341,-1.2126637020375672],[0.4305662388112853,-1.1909451205822652]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.16406662690925922,1.4971484274373004,0.71338606911949],"aabb_xy":[[0.1543106374000853,1.4873858933780657],[0.17382261641843308,1.5069109614965346]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.36083204344195785,-1.4682185181240497,0.71338606911949],"aabb_xy":[[0.2808320420118307,-1.547735673136659],[0.4408320448720851,-1.38870136311144]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.5171367362716142,0.14916450858761987,0.71338606911949],"aabb_xy":[[0.48028618833462655,0.11166450776458614],[0.5539872842086018,0.1866645094106536]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.6105281471176878,1.695680093673103,0.71338606911949],"aabb_xy":[[-0.619875154699983,1.681376471455459],[-0.6011811395353925,1.7099837158907472]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.5189781801115187,1.1030058828016278,0.71338606911949],"aabb_xy":[[0.46496258382961864,1.0390058799093704],[0.5729937763934186,1.1670058856938847]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.2907532851964586,0.46189638593637294,0.71338606911949],"aabb_xy":[[-0.34572700723279154,0.40689638637213976],[-0.23577956316012577,0.5168963855006061]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.4010420710518716,-1.064061996138206,0.71338606911949],"aabb_xy":[[-0.4907291473599871,-1.1540619963926566],[-0.31135499474375616,-0.9740619958837555]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.07538183036164958,-2.532615739311646,0.71338606911949],"aabb_xy":[[-0.009618168330425073,-2.564601602706525],[0.16038182905372422,-2.500629875916767]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.0969201696982076,-2.164779251566932,0.71338606911949],"aabb_xy":[[-0.15692017134112946,-2.216779400858876],[-0.03692016805528575,-2.1127791022749878]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.364998685273176,-2.198275759204521,0.71338606911949],"aabb_xy":[[-0.37033626093918065,-2.2232757601336606],[-0.3596611096071715,-2.173275758275381]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.4387789478459434,1.3517257735660912,0.71338606911949],"aabb_xy":[[0.40127894718136464,1.3360387155658688],[0.47627894851052205,1.3674128315663132]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.16417371964517313,-1.624674205463183,0.71338606911949],"aabb_xy":[[0.1355243872847569,-1.6533197647402587],[0.19282305200558936,-1.596028646186107]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.6874524900000809,-0.6042272776111766,0.71338606911949],"aabb_xy":[[0.6698196544065532,-0.6218502236267995],[0.7050853255936084,-0.5866043315955536]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.07871933921023488,-1.1751273199786842,0.71338606911949],"aabb_xy":[[-0.09692516287148258,-1.1861527205606759],[-0.06051351554898722,-1.1641019193966926]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[-0.11114875394568124,-0.7391952574729512,0.71338606911949],"aabb_xy":[[-0.16062917515964004,-0.8031952553858032],[-0.06166833273172245,-0.6751952595600995]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[-0.568497616312167,0.2288092048900352,0.71338606911949],"aabb_xy":[[-0.5934976155841292,0.21246384129387286],[-0.5434976170402046,0.24515456848619754]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[0.5926544540565939,1.3790448290489454,0.71338606911949],"aabb_xy":[[0.555154453764419,1.375003353648342],[0.6301544543487686,1.383086304449549]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66245327771006,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9418.png","name":"9418"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9418.png","name":"9418"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9840.png","name":"9840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4994.png","name":"4994"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3830.png","name":"3830"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":765.567999436332,"rotation_z_degrees":264.3461300106024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012287725781664382,0.004851984044213338,-0.01750437445023771]},{"name":"camera_2","offset_m":[-0.01811536833513462,-0.005527240367031014,-0.013838649694073384]},{"name":"camera_3","offset_m":[0.000188267570837522,-0.014593282874936674,0.001923721774311521]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001844993115781195,0.0005328162543425251,0.0014766894316579743],"end_effector_yaw_offset_degrees":-0.04428315575034247},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013598360987951334,0.0015719371081946046,-0.0006364588158165726],"end_effector_yaw_offset_degrees":0.022297911007617355},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011584015389604786,0.0006582032575976199,-0.00024265816479182014],"end_effector_yaw_offset_degrees":-0.005328063377567194},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000373474170112714,-0.0007371581032645787,-0.0008209349008928446],"end_effector_yaw_offset_degrees":-0.7723220030683686},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0001556290272170563,0.001849455596321943,-0.0009618586596046082],"end_effector_yaw_offset_degrees":-0.3402506360305404},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014475131993993582,0.0014269831176436337,0.001934740601534971],"end_effector_yaw_offset_degrees":-0.8505732610281365}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002526401008105328,0.0037637489129051438],"position_m":[0.35375264010081053,0.06756374891290513,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002934056466123468,0.00010027704286726374],"position_m":[0.21146594353387654,-0.3912997229571328,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.000943256725685954,0.0018613582452640743],"position_m":[0.27265674327431405,0.2970613582452641,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004665764930496121,0.0028575513934120137],"position_m":[0.27286576493049614,-0.08564244860658798,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a985d565e224d5e242b9927da789620ac55ea923a1fdde28ba47d53e19dc33a6","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9418/tex_ceiling_textures_3830/tex_floor_textures_4994/tex_table_textures_5405/tex_wall_textures_9840","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4078911838703154220,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4078911838703154220,"visual_seed":4078911838703154220,"scene_id":"lab_003","finished_at":"2026-09-08T14:03:01"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T15:24:02","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.100543366183652,0.8744589719787323,0.71338606911949],"aabb_xy":[[-0.15051643171616746,0.8244589721661996],[-0.050570300651136546,0.9244589717912653]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.5465360066750702,-1.802524469933331,0.71338606911949],"aabb_xy":[[0.4865360064236689,-1.8568057949697954],[0.6065360069264712,-1.748243144896866]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.5127408599514396,1.8048995655459241,0.71338606911949],"aabb_xy":[[0.5033233853815768,1.795483388408205],[0.5221583345213023,1.8143157426836432]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.49974001820903036,-0.19331829252790156,0.71338606911949],"aabb_xy":[[0.49415834657490154,-0.20581829234567706],[0.5053216898431591,-0.18081829271012606]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.3508152495784486,-0.6269106358675953,0.71338606911949],"aabb_xy":[[-0.38581524877126677,-0.6378776818652578],[-0.31581525038563024,-0.6159435898699326]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.47320834519851485,-1.456847426279546,0.71338606911949],"aabb_xy":[[-0.5192934364532462,-1.520847423532101],[-0.42712325394378337,-1.3928474290269908]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.010209425734718391,-1.83646269359912,0.71338606911949],"aabb_xy":[[-0.03404564337532346,-1.9264626944076066],[0.013626791905886676,-1.7464626927906337]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.3868801223179531,0.8813985582208574,0.71338606911949],"aabb_xy":[[-0.41188012186969153,0.8712560743557226],[-0.36188012276621456,0.891541042085992]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.28420984385159404,-0.22916521308646365,0.71338606911949],"aabb_xy":[[-0.36920984254366873,-0.2611510764813425],[-0.19920984515951945,-0.1971793496915848]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.06343931074047238,-2.3381390032611784,0.71338606911949],"aabb_xy":[[-0.0005606884292975732,-2.384905690380141],[0.1274393099102423,-2.291372316142216]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.24484290068317965,-2.147183172980336,0.71338606911949],"aabb_xy":[[-0.29983515131869065,-2.202183174723649],[-0.18985065004766877,-2.0921831712370236]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.18392247431646036,1.6544332040199285,0.71338606911949],"aabb_xy":[[-0.20892247348209347,1.6474809583145718],[-0.15892247515082725,1.661385449725285]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.32064804110105943,-2.474919965099464,0.71338606911949],"aabb_xy":[[-0.336709968559577,-2.5599199669120556],[-0.30458611364254173,-2.389919963286872]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.38106471306804823,1.044559239027913,0.71338606911949],"aabb_xy":[[0.3010647125978323,1.036248531413565],[0.4610647135382642,1.0528699466422615]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.22809464498035908,1.5570903455027767,0.71338606911949],"aabb_xy":[[-0.24559464523969576,1.5429988033140045],[-0.21059464472102252,1.5711818876915498]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.20503168664400695,0.7045205646431563,0.71338606911949],"aabb_xy":[[0.18753175321002355,0.6870205647229216],[0.2225316200779903,0.7220205645633907]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.5645468912989176,-0.9750195665479351,0.71338606911949],"aabb_xy":[[0.5192682764177683,-1.0390195658961185],[0.6098255061800668,-0.9110195671997513]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.31226828047848554,-1.1575959270394267,0.71338606911949],"aabb_xy":[[0.30251229096931165,-1.1673584610986611],[0.32202426998765943,-1.1478333929801923]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.3598800874511185,0.6871210652332085,0.71338606911949],"aabb_xy":[[-0.4398800861080045,0.6726162063089457],[-0.2798800887942325,0.7016259241574713]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.41272396823751106,-0.4949930317150031,0.71338606911949],"aabb_xy":[[-0.4471864462505988,-0.5016567088979259],[-0.37826149022442324,-0.48832935453208026]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.48095162577262607,-0.04786259566220652,0.71338606911949],"aabb_xy":[[0.47179174682874947,-0.05439381370574353],[0.49011150471650267,-0.04133137761866951]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.04795734983252431,-1.3734478458069697,0.71338606911949],"aabb_xy":[[-0.10295734945427015,-1.4284315385944426],[0.0070426497892215265,-1.3184641530194972]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[0.2763250647852893,-2.1470639187376053,0.71338606911949],"aabb_xy":[[0.2588250655072024,-2.1644020188039508],[0.29382506406337616,-2.129725818671259]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691077630287465,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1531.png","name":"1531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1531.png","name":"1531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6779.png","name":"6779"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8630.png","name":"8630"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5744.png","name":"5744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7826.png","name":"7826"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":812.032411063718,"rotation_z_degrees":67.71915032501191,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017052247775811002,0.017332037083915935,0.0026451615607786666]},{"name":"camera_2","offset_m":[-0.011177629041395592,-0.01961670930235956,-0.0070517204517688056]},{"name":"camera_3","offset_m":[0.013274913654098715,0.001992237830508777,-0.004673766434702298]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006129934381489464,0.0007241065203399265,0.0014265548412884083],"end_effector_yaw_offset_degrees":-0.2990227248421995},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018804739772959153,0.0019865754050561847,-0.0016156977525028991],"end_effector_yaw_offset_degrees":-0.36675871018272077},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.1572487252464615e-05,-0.0007040790728658998,0.00046280617977847646],"end_effector_yaw_offset_degrees":0.5585551061445115},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014172775044121468,-0.0009532195852622559,-0.0003425965958240749],"end_effector_yaw_offset_degrees":-0.755630007148417},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00047078174719589324,-0.00014368246979972322,0.0018800183613995312],"end_effector_yaw_offset_degrees":0.05156916878644524},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002767096209404128,-0.0011464208201518765,-0.0011001130395336422],"end_effector_yaw_offset_degrees":0.3880059695834537}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036658009807214987,0.0015647511537301853],"position_m":[0.3498341990192785,0.06536475115373018,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026370301562089896,-0.003554936729573203],"position_m":[0.217037030156209,-0.3949549367295732,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0019331063453172813,0.003039711908096334],"position_m":[0.2716668936546827,0.29823971190809634,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017703870881229699,0.0009746734890342078],"position_m":[0.269970387088123,-0.08752532651096578,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0698156cb8507fd05e8fa3f8bddc9d503add714320703f52f384637fc2c5b6dc","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1531/tex_ceiling_textures_7826/tex_floor_textures_5744/tex_table_textures_6779/tex_wall_textures_8630","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4993710512924349924,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4993710512924349924,"visual_seed":4993710512924349924,"scene_id":"lab_003","finished_at":"2026-09-08T15:32:17"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T15:32:24","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.4457006909427257,0.5449141750400543,0.71338606911949],"aabb_xy":[[0.4232006906992103,0.5327095403802824],[0.4682006911862411,0.5571188096998263]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.5380984175532101,-2.217547962384226,0.71338606911949],"aabb_xy":[[-0.5486658972113091,-2.2280929924972344],[-0.5275309378951111,-2.2070029322712172]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.3803042013697742,-1.9405954700035926,0.71338606911949],"aabb_xy":[[-0.4453041995256932,-1.9668917145535045],[-0.3153042032138551,-1.9142992254536801]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.0842910603881063,1.3178829489105142,0.71338606911949],"aabb_xy":[[-0.11929106028412516,1.3095087133985739],[-0.04929106049208742,1.326257184422454]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.40256705331313775,-0.9326989615319401,0.71338606911949],"aabb_xy":[[-0.42006698674712106,-0.9501989614521746],[-0.3850671198791543,-0.9151989616117056]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.5856586380471331,0.657899888488247,0.71338606911949],"aabb_xy":[[0.5817447648517106,0.6491508730816901],[0.5895725112425555,0.6666489038948037]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.4749855830655816,-1.0446547670938642,0.71338606911949],"aabb_xy":[[0.45309583547664073,-1.134654764383113],[0.49687533065452233,-0.9546547698046149]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[-0.5126454155733379,-0.18245738152921565,0.71338606911949],"aabb_xy":[[-0.5175447078799013,-0.21013430083178436],[-0.5077461232667743,-0.15478046222664682]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.6300138510437586,0.26553458423770104,0.71338606911949],"aabb_xy":[[-0.6650138523952402,0.24517484828088018],[-0.5950138496922768,0.2858943201945218]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.18497575005928657,0.9559797774815544,0.71338606911949],"aabb_xy":[[0.11997574742149308,0.9045001787821073],[0.24997575269708006,1.0074593761810013]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.2576017610415471,-0.4320561980665931,0.71338606911949],"aabb_xy":[[-0.2940975816688258,-0.4685401404933507],[-0.22110594041426834,-0.39557225563983556]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.5046734565570594,-1.8047782181462049,0.71338606911949],"aabb_xy":[[-0.5396734548271792,-1.8118523458411928],[-0.4696734582869394,-1.7977040904512165]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.5688253289704073,1.501799724322352,0.71338606911949],"aabb_xy":[[-0.6328253282645754,1.4378135839534976],[-0.5048253296762389,1.565785864691206]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.3103206390965634,-0.7068843642249814,0.71338606911949],"aabb_xy":[[0.22659841359648092,-0.7968843677596773],[0.39404286459664584,-0.6168843606902854]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.14540798844283487,-1.957441058322218,0.71338606911949],"aabb_xy":[[-0.22540798584642827,-2.0374336295204003],[-0.06540799103924143,-1.8774484871240347]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.049637634803407216,-1.0418857693877301,0.71338606911949],"aabb_xy":[[-0.057765322996720436,-1.050799377798438],[-0.041509946610093995,-1.0329721609770224]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.5718924759317836,0.11384288826868127,0.71338606911949],"aabb_xy":[[0.5642682078416054,0.10620966473213758],[0.5795167440219618,0.12147611180522502]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[-0.645839425854483,-1.0201071189553206,0.71338606911949],"aabb_xy":[[-0.6833394244301038,-1.0328434146188783],[-0.6083394272788621,-1.0073708232917624]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.3065670385259327,-1.1582810984562386,0.71338606911949],"aabb_xy":[[0.3002549389895943,-1.1640480377094575],[0.3128791380622712,-1.1525141592030197]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.563144049130532,0.8648066775084069,0.71338606911949],"aabb_xy":[[-0.6102734281323675,0.8008066764640048],[-0.5160146701286962,0.9288066785528087]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.19435445214343106,1.1504527867257752,0.71338606911949],"aabb_xy":[[0.17185803070956696,1.1279527869190276],[0.21685087357729516,1.1729527865325224]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[-0.5899762074728533,-1.6126716921816577,0.71338606911949],"aabb_xy":[[-0.6069863047629038,-1.6288061806799319],[-0.5729661101828025,-1.596537203683384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6694025711408409,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4222.png","name":"4222"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4222.png","name":"4222"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4876.png","name":"4876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9135.png","name":"9135"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6274.png","name":"6274"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1294.png","name":"1294"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":681.855990982064,"rotation_z_degrees":40.111720311659944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018306257678812037,-0.018109978861794166,-0.0024588482020368556]},{"name":"camera_2","offset_m":[0.009670371221383648,-0.011587831848605288,-0.009528589867295585]},{"name":"camera_3","offset_m":[0.012688625714114037,-0.017944953844457143,-0.014993539062826852]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00026952028085702696,-0.0005224892237750121,-0.00117073533579925],"end_effector_yaw_offset_degrees":-0.5413510011812552},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018341434587285438,-0.0009119245327335909,-0.0011646472744173738],"end_effector_yaw_offset_degrees":0.3389445533352575},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006911083380588745,-0.0006418528715940971,0.00010871285938733686],"end_effector_yaw_offset_degrees":-0.610542493983953},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014723981678046666,-0.000569129342078916,-0.0010303620988708307],"end_effector_yaw_offset_degrees":-0.92214622287068},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018582225950400967,0.0005665348058630543,-0.0013657964308203662],"end_effector_yaw_offset_degrees":0.02067071523050168},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000573189118747112,0.00023617246445946068,0.0010791172481669424],"end_effector_yaw_offset_degrees":-0.4350258418711448}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028734245249833045,-0.00034650627027660655],"position_m":[0.3506265754750167,0.06345349372972339,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022808413696247956,-0.004540171837784915],"position_m":[0.21668084136962482,-0.39594017183778496,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0007265956768686029,-0.0044688750821429805],"position_m":[0.2728734043231314,0.290731124917857,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001057407427081809,0.0011221409345615538],"position_m":[0.26714259257291817,-0.08737785906543843,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4ac840d9fd49a66fa4c1a2debfc4c42d80062af7d6037e5e88d3b9cb6371e1a2","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4222/tex_ceiling_textures_1294/tex_floor_textures_6274/tex_table_textures_4876/tex_wall_textures_9135","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5858723114541784204,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5858723114541784204,"visual_seed":5858723114541784204,"scene_id":"lab_003","finished_at":"2026-09-08T15:40:28"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T17:35:20","dimensions":{"distractor":{"count":31,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.14569071757603047,-2.3970682144905253,0.71338606911949],"aabb_xy":[[-0.1529730339526941,-2.4870682181000334],[-0.1384084011993668,-2.3070682108810154]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.39697258455884343,-1.3652391536111246,0.71338606911949],"aabb_xy":[[0.39233746940661,-1.3691064886882731],[0.40160769971107674,-1.3613718185339756]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[-0.1482703253387334,-1.5093118338810347,0.71338606911949],"aabb_xy":[[-0.1982696005071696,-1.5593118351569821],[-0.09827105017029727,-1.4593118326050878]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.5696771007306214,-0.8707955335844393,0.71338606911949],"aabb_xy":[[-0.6273075696178921,-0.9307955325111497],[-0.5120466318433504,-0.8107955346577285]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.0021331761153787765,1.3738348479094142,0.71338606911949],"aabb_xy":[[-0.05614877239727878,1.3098348450171569],[0.051882420166521226,1.4378348508016712]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[0.14752758288816814,1.7864653816932798,0.71338606911949],"aabb_xy":[[0.12932175922692046,1.7754399811112882],[0.16573340654941582,1.7974907822752715]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.3561076083658903,-2.088104431792716,0.71338606911949],"aabb_xy":[[0.340551838955625,-2.103654865037124],[0.37166337777615555,-2.0725539985483095]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.4174952399948746,-1.8769360689509003,0.71338606911949],"aabb_xy":[[0.3945795271098247,-1.899840366087324],[0.4404109528799245,-1.854031771814477]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[-0.002349488833244706,1.055451174380154,0.71338606911949],"aabb_xy":[[-0.052332439020724035,1.0054511747375934],[0.04763346135423462,1.1054511740227142]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.3931938445807425,-2.499998029512186,0.71338606911949],"aabb_xy":[[-0.46319384618302206,-2.5134308227138438],[-0.3231938429784631,-2.4865652363105286]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.06639554835612738,-1.845739262220411,0.71338606911949],"aabb_xy":[[-0.13639555174768933,-1.8810550359238418],[0.0036044550354346057,-1.81042348851698]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.22764899477334366,-1.1680627011547753,0.71338606911949],"aabb_xy":[[-0.23952107778484477,-1.2530627008484256],[-0.21577691176184255,-1.083062701461125]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.3817867317615894,0.10538540134366903,0.71338606911949],"aabb_xy":[[-0.4717867284971996,0.05220193802637452],[-0.2917867350259792,0.15856886466096354]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.19964379538684335,1.2095256851791851,0.71338606911949],"aabb_xy":[[-0.24089260641675808,1.1545256856669674],[-0.15839498435692861,1.2645256846914024]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.6742161914293108,-0.4097175004752893,0.71338606911949],"aabb_xy":[[0.6292161899630819,-0.45471735733677004],[0.7192161928955396,-0.36471764361380865]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[-0.41633842625276457,-0.41073052973932533,0.71338606911949],"aabb_xy":[[-0.44133842618528246,-0.4176131979602487],[-0.3913384263202467,-0.4038478615184021]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.03376067327319421,0.33911508806089996,0.71338606911949],"aabb_xy":[[-0.04197521838887818,0.33043849776325857],[-0.025546128157510225,0.34779167835854113]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.5495930337790762,-2.0283351064956086,0.71338606911949],"aabb_xy":[[0.48959303213615424,-2.0803352557875523],[0.6095930354219979,-1.976334957203664]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[0.07914855392331899,-1.6385118469984143,0.71338606911949],"aabb_xy":[[0.029265857045622783,-1.688511846244689],[0.12903125080101518,-1.5885118477521396]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[0.39711332206265726,-2.170693239945883,0.71338606911949],"aabb_xy":[[0.307113322339483,-2.193766592481063],[0.4871133217858314,-2.1476198874107033]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[0.4006305207030907,-1.4454753683719563,0.71338606911949],"aabb_xy":[[0.3306305180665043,-1.4655802333678214],[0.470630523339677,-1.4253705033760904]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.4742600087554154,-2.2649157351739424,0.71338606911949],"aabb_xy":[[-0.5292532200925522,-2.319915735512736],[-0.4192667974182787,-2.209915734835149]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.42645453206209744,1.50390659364666,0.71338606911949],"aabb_xy":[[-0.43702201172019645,1.4933615635336517],[-0.4158870524039984,1.5144516237596688]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.021329415748369995,-2.4106250831297613,0.71338606911949],"aabb_xy":[[0.012548188601133773,-2.4194048304182925],[0.030110642895606228,-2.401845335841232]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.6370784735200832,0.2379793453061687,0.71338606911949],"aabb_xy":[[-0.6720784748715648,0.21761960934934782],[-0.6020784721686013,0.25833908126298943]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[0.03178765009600881,1.675981106252531,0.71338606911949],"aabb_xy":[[-0.05821234640486293,1.6300694638340725],[0.12178764659688057,1.721892748670989]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[-0.6071129855010042,-1.661346434563972,0.71338606911949],"aabb_xy":[[-0.6871129840883237,-1.7406620365021326],[-0.5271129869136848,-1.5820308326258108]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[0.5059588356405054,-0.6432864437291634,0.71338606911949],"aabb_xy":[[0.48344514381704806,-0.7132864443301709],[0.5284725274639624,-0.5732864431281558]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[0.05026885073091358,-1.3161619439512817,0.71338606911949],"aabb_xy":[[0.042274862153210184,-1.324162024046372],[0.05826283930861697,-1.3081618638561914]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[-0.5123013909340844,1.673576226149644,0.71338606911949],"aabb_xy":[[-0.522712949614568,1.6682304928137452],[-0.5018898322536006,1.678921959485542]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_30","position":[-0.6214207741124804,1.7882814054073877,0.71338606911949],"aabb_xy":[[-0.6310524103329099,1.7786440926276788],[-0.6117891378920507,1.7979187181870966]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6617682165949602,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3011.png","name":"3011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3011.png","name":"3011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7573.png","name":"7573"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7035.png","name":"7035"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":643.2501084809563,"rotation_z_degrees":299.6922006850962,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006975525218525239,0.009536419820056163,-0.012792361782477696]},{"name":"camera_2","offset_m":[-4.381766920000946e-05,-0.01804861487319617,0.0028383236453284055]},{"name":"camera_3","offset_m":[0.00642293462043339,-0.016502062262051153,0.008974073370653007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014877786526572372,0.001817914058513764,-0.0006941436888516922],"end_effector_yaw_offset_degrees":-0.7690947647230191},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018739500696503867,-0.0012333357571945012,0.0007414297398014085],"end_effector_yaw_offset_degrees":-0.9972288837244179},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000729092776138284,-0.0008097256642714697,0.0018395436728960088],"end_effector_yaw_offset_degrees":-0.4073058507420988},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014316742342241288,0.0014410918943581286,0.000205259145450532],"end_effector_yaw_offset_degrees":0.05219758980031042},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017167051693401736,-0.0006954303554300495,0.0011760106178712406],"end_effector_yaw_offset_degrees":-0.7340606420822413},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005697050428831647,0.0003206147773149688,0.0011817673838272784],"end_effector_yaw_offset_degrees":-0.8539181081371505}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002822554258700052,0.0006995259638591985],"position_m":[0.35067744574129994,0.06449952596385919,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010369644320653215,0.0038736734207491996],"position_m":[0.21336303556793468,-0.38752632657925085,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0014117842430882814,-0.004586538999637536],"position_m":[0.2750117842430883,0.2906134610003625,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021293275436613177,-0.004640927334498893],"position_m":[0.2703293275436613,-0.09314092733449889,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"183e8fd8d356f91e9faf70dceca66b9829f050b9f168e71b481481269e124053","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3011/tex_ceiling_textures_7035/tex_floor_textures_7573/tex_table_textures_2979/tex_wall_textures_332","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8404003765536878401,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8404003765536878401,"visual_seed":8404003765536878401,"scene_id":"lab_003","finished_at":"2026-09-08T17:42:47"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T18:19:14","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[0.3991838577280926,-1.199289314188578,0.71338606911949],"aabb_xy":[[0.3950679076160199,-1.2034048692214234],[0.4032998078401652,-1.1951737591557323]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.4116090087445913,-2.388610314985754,0.71338606911949],"aabb_xy":[[-0.4756090106569337,-2.4445214642437647],[-0.347609006832249,-2.332699165727744]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.4424933272696403,-0.621733064869914,0.71338606911949],"aabb_xy":[[0.37849762987454366,-0.6857330631706224],[0.5064890246647369,-0.5577330665692051]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.1842604808857914,-2.495330702491441,0.71338606911949],"aabb_xy":[[-0.22075630151307013,-2.5318146449181986],[-0.14776466025851265,-2.4588467600646835]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.45862454551569987,1.4732547272177778,0.71338606911949],"aabb_xy":[[0.4046089492337998,1.4092547243255205],[0.5126401417975999,1.5372547301100348]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.12998674104394214,-1.6604525869539823,0.71338606911949],"aabb_xy":[[0.12294529009319455,-1.667479338691777],[0.13702819199468974,-1.6534258352161877]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.5029776019304456,0.705304785537284,0.71338606911949],"aabb_xy":[[-0.5220899092884245,0.6861700066600419],[-0.48386529457246674,0.724439564414526]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.4726563230770956,0.4722174507576957,0.71338606911949],"aabb_xy":[[-0.536656323780565,0.42619906828477483],[-0.40865632237362637,0.5182358332306168]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.31354766799947953,1.3047407567648976,0.71338606911949],"aabb_xy":[[0.26354766763891335,1.2547607695552945],[0.3635476683600455,1.3547207439745004]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.25073376593220675,-1.665834665268072,0.71338606911949],"aabb_xy":[[-0.2850306769499473,-1.700131551478013],[-0.21643685491446607,-1.6315377790581305]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[-0.2909536877444375,-1.451869713431937,0.71338606911949],"aabb_xy":[[-0.30136524642492113,-1.4572154467678353],[-0.2805421290639537,-1.4465239800960386]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[0.4955789263304493,0.392536863608977,0.71338606911949],"aabb_xy":[[0.47311415635904425,0.3700368627301165],[0.5180436963018544,0.4150368644878375]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[-0.5223991968873652,-2.0246873447865723,0.71338606911949],"aabb_xy":[[-0.5923991986961108,-2.0460411135507592],[-0.4523991950786199,-2.0033335760223845]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.0029354916515711427,0.9805914434366438,0.71338606911949],"aabb_xy":[[-0.014807574663072254,0.8955914437429936],[0.008936591359929968,1.0655914431302942]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.4421018725162319,0.9112600683083913,0.71338606911949],"aabb_xy":[[-0.47773102841619164,0.8756274015515383],[-0.40647271661627216,0.9468927350652442]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.5299064585903979,-0.28314154223784405,0.71338606911949],"aabb_xy":[[0.4659064621948248,-0.34710483065657755],[0.5939064549859709,-0.21917825381911044]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.037052674948630515,-2.5802352691929618,0.71338606911949],"aabb_xy":[[-0.06538238489717074,-2.584696011386679],[-0.008722965000090295,-2.5757745269992447]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_17","position":[-0.5788064529228095,-1.2046431779091553,0.71338606911949],"aabb_xy":[[-0.6588064498858486,-1.2817188195529288],[-0.49880645595977025,-1.1275675362653819]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.39916852828798954,-1.7997022770104831,0.71338606911949],"aabb_xy":[[0.39383601363337656,-1.8050266052557187],[0.40450104294260253,-1.7943779487652476]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[-0.5268455295942438,-0.4631149479048786,0.71338606911949],"aabb_xy":[[-0.564345528017644,-0.47627916187270924],[-0.48934553117084334,-0.449950733937048]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.6476894916251157,1.122759617143882,0.71338606911949],"aabb_xy":[[-0.660840737596405,1.0977596173871955],[-0.6345382456538263,1.1477596169005686]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[0.5664517416207249,0.24114931452955712,0.71338606911949],"aabb_xy":[[0.5615524493141613,0.21347239522698835],[0.5713510339272883,0.2688262338321259]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6693379080818753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4022.png","name":"4022"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4022.png","name":"4022"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6705.png","name":"6705"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9604.png","name":"9604"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4784.png","name":"4784"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1214.png","name":"1214"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":768.6456861287772,"rotation_z_degrees":60.37628875020552,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018775393923459113,-0.0031176343537203215,0.0028079291084852492]},{"name":"camera_2","offset_m":[-0.005042782774409012,-0.00343216416457659,0.000595478965434406]},{"name":"camera_3","offset_m":[0.007144169696056607,0.003291434604508446,-0.013412588004103658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000513613001388848,0.0017680016148628984,-0.001720808314354441],"end_effector_yaw_offset_degrees":0.5599196736904875},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005859919755471462,0.0014943846548502813,-0.00023066400810058205],"end_effector_yaw_offset_degrees":-0.6832588172075176},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017063171783945035,0.0007543728404952486,-0.00039028106349131477],"end_effector_yaw_offset_degrees":0.15481773782598363},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008792021585053915,-0.0010463386846415964,0.0011057066358608832],"end_effector_yaw_offset_degrees":-0.6760193044724025},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009433613976597161,-0.00041974252641999903,-0.0004433354230237727],"end_effector_yaw_offset_degrees":0.2981911343756989},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011756382025517255,0.0015583175845388683,0.0016745674087748188],"end_effector_yaw_offset_degrees":-0.23058777857544022}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0040420721838333356,0.0018931643170478785],"position_m":[0.3575420721838333,0.06569316431704787,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004190368223921431,-0.0018138510106655904],"position_m":[0.21859036822392144,-0.39321385101066564,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003856914025350186,-0.0018974371149455436],"position_m":[0.2697430859746498,0.29330256288505446,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033974452106352885,-0.003911984925898019],"position_m":[0.2715974452106353,-0.09241198492589801,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ff56bdc3709749c61dfab866c3d9f3724874c4ef6d363ff72cee9a045a09d4c2","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4022/tex_ceiling_textures_1214/tex_floor_textures_4784/tex_table_textures_6705/tex_wall_textures_9604","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8639866173137102049,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8639866173137102049,"visual_seed":8639866173137102049,"scene_id":"lab_003","finished_at":"2026-09-08T18:27:15"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T18:27:23","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[0.22257993229380157,0.6332293950141441,0.71338606911949],"aabb_xy":[[0.1987437146531965,0.5432293942056577],[0.24641614993440664,0.7232293958226307]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[0.5131753978832514,0.26587443397356836,0.71338606911949],"aabb_xy":[[0.49567539874888417,0.2559948069359804],[0.5306753970176185,0.27575406101115607]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.4061862479988434,-0.32164865117809693,0.71338606911949],"aabb_xy":[[0.371186248806025,-0.3326156971757595],[0.44118624719166155,-0.31068160518043425]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.17510657753434655,1.4032755645853912,0.71338606911949],"aabb_xy":[[-0.23910657483669293,1.3589091376175344],[-0.11110658023200012,1.447641991553248]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.511859780371021,-0.30620758902434675,0.71338606911949],"aabb_xy":[[-0.5618547913304731,-0.35620758805993846],[-0.46186476941156906,-0.25620758998875504]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.27409489129208064,-2.5179356790534566,0.71338606911949],"aabb_xy":[[0.21009488924234865,-2.558030162142764],[0.33809489334181264,-2.477841195964148]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[-0.622418337436456,-2.030420409732322,0.71338606911949],"aabb_xy":[[-0.6529025875634862,-2.080420409513818],[-0.5919340873094259,-1.9804204099508262]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.14182538726174976,1.25328739798741,0.71338606911949],"aabb_xy":[[0.09182538631121695,1.2217382509838883],[0.19182538821228257,1.2848365449909311]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.33702496959136125,0.1765209203683633,0.71338606911949],"aabb_xy":[[-0.35952496960150954,0.16242470072876003],[-0.31452496958121295,0.1906171400079666]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.5233752056927321,0.04643133139686606,0.71338606911949],"aabb_xy":[[-0.5733752067118675,0.009965115659038128],[-0.47337520467359695,0.08289754713469401]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.24007538232109465,-0.8296863668939438,0.71338606911949],"aabb_xy":[[-0.2576220772372136,-0.867186368458195],[-0.22252868740497572,-0.7921863653296924]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.40929099406663116,-0.6983660946427064,0.71338606911949],"aabb_xy":[[0.3292909966630377,-0.7783586658408891],[0.48929099147022453,-0.6183735234445235]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.21996099609627007,-1.4325653415652864,0.71338606911949],"aabb_xy":[[-0.3096480724043855,-1.5225653418197371],[-0.13027391978815464,-1.342565341310836]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.572546804676265,0.024684963837847462,0.71338606911949],"aabb_xy":[[0.5547532977413485,0.006885218242049795],[0.5903403116111814,0.04248470943364513]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[0.0006417504412604691,-1.7242262416720688,0.71338606911949],"aabb_xy":[[-0.01223015305967967,-1.8042262420859048],[0.013513653942200608,-1.6442262412582325]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[-0.5489734345471402,-1.8943809463842105,0.71338606911949],"aabb_xy":[[-0.5739734337127732,-1.9013331920895669],[-0.523973435381507,-1.8874287006788537]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.10889087950933762,-0.6832229595571102,0.71338606911949],"aabb_xy":[[0.08761287136586535,-0.7482229618831832],[0.13016888765280984,-0.618222957231037]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.21978532298685038,-2.270488653183818,0.71338606911949],"aabb_xy":[[0.15578532271287218,-2.320554753381106],[0.2837853232608286,-2.22042255298653]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.47878313409316187,1.0847893321447644,0.71338606911949],"aabb_xy":[[0.45628313358112127,1.0622974737793658],[0.5012831346052025,1.1072811905101625]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.5424371055737096,-2.0257004721382597,0.71338606911949],"aabb_xy":[[0.4624371075929246,-2.0333020131001116],[0.6224371035544947,-2.0180989311764077]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.6364234870427021,-1.3172355560666495,0.71338606911949],"aabb_xy":[[-0.6533342194790438,-1.3307077616592635],[-0.6195127546063602,-1.3037633504740347]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.016971880418414353,1.1261891883069937,0.71338606911949],"aabb_xy":[[-0.025186425534098326,1.1175125980093519],[-0.008757335302730368,1.1348657786046346]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[-0.586642740318312,1.2036765100228188,0.71338606911949],"aabb_xy":[[-0.6716427390103866,1.17169064662794],[-0.5016427416262373,1.2356623734176977]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_23","position":[-0.024580666740963597,1.0379866465114151,0.71338606911949],"aabb_xy":[[-0.035353640662331376,1.0029866482923762],[-0.013807692819595818,1.0729866447304541]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.6453127439591964,-2.495361626864774,0.71338606911949],"aabb_xy":[[0.5901875383296056,-2.555361628306061],[0.7004379495887871,-2.4353616254234867]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[0.5559859626850543,-0.42144387875194544,0.71338606911949],"aabb_xy":[[0.5495721490418692,-0.42785369899961373],[0.5623997763282391,-0.41503405850427705]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.14333070013762605,1.5029009815287435,0.71338606911949],"aabb_xy":[[0.1359182445962376,1.4970497711071153],[0.15074315567901456,1.5087521919503712]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[0.43846950112024263,-1.6603273945200892,0.71338606911949],"aabb_xy":[[0.43313192545423806,-1.685327395449229],[0.4438070767862472,-1.6353273935909494]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[0.6832150225027653,-0.4748003198725752,0.71338606911949],"aabb_xy":[[0.660701330679308,-0.5448003204735827],[0.7057287143262224,-0.4048003192715677]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[-0.20860016984115476,-2.552117862780187,0.71338606911949],"aabb_xy":[[-0.24610017135678647,-2.5633446357963314],[-0.17110016832552305,-2.5408910897640413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647518923017207,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2881.png","name":"2881"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2881.png","name":"2881"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9845.png","name":"9845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2456.png","name":"2456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/640.png","name":"640"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6197.png","name":"6197"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":594.5730537626182,"rotation_z_degrees":129.4205283492057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01383161515090977,-0.00034246413289647226,-0.016232503887816156]},{"name":"camera_2","offset_m":[0.0040037408014745555,-0.017489174876174917,-0.0026462915173796203]},{"name":"camera_3","offset_m":[0.0002535145220244478,0.0030955913588532856,0.001560718805828417]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010549227496412339,0.00038070403033431963,-0.00064484138384269],"end_effector_yaw_offset_degrees":0.07744502778120954},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003940115059367015,-0.0013679980793952357,-0.001522584223617206],"end_effector_yaw_offset_degrees":-0.9857823026853405},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012781832187043506,0.0011847536694269095,0.0010940945703810474],"end_effector_yaw_offset_degrees":0.6689592712160699},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005263525816682751,0.0005386102674261239,-0.001113398824429031],"end_effector_yaw_offset_degrees":-0.7845907663361575},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.000136716947278829,-0.0012713749395203231,0.001964587758657945],"end_effector_yaw_offset_degrees":-0.14349163643453777},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0016815450741249458,0.0019972004275518223,0.0016115183237845935],"end_effector_yaw_offset_degrees":-0.34013043037172297}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015331360618111014,-0.0021688687790367713],"position_m":[0.3519668639381889,0.061631131220963226,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004219784546657746,-0.0003579922509307984],"position_m":[0.21397802154533424,-0.39175799225093083,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0015690167496510386,4.001319170993025e-05],"position_m":[0.27516901674965105,0.29524001319170995,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024510083890927404,-0.0004406188050315261],"position_m":[0.26574899161090726,-0.08894061880503153,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"b34758063653167cee44b355c881e2c75ee8938021e9de8b2644e2dcbd466563","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2881/tex_ceiling_textures_6197/tex_floor_textures_640/tex_table_textures_9845/tex_wall_textures_2456","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":3179365537854065924,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":3179365537854065924,"visual_seed":3179365537854065924,"scene_id":"lab_003","finished_at":"2026-09-08T18:35:15"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T19:10:52","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.5209764847394196,0.4969391286223739,0.71338606911949],"aabb_xy":[[0.4569764855696497,0.4501724415034114],[0.5849764839091895,0.5437058157413364]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.44508735192310167,-1.7930680554870715,0.71338606911949],"aabb_xy":[[-0.46295645967755716,-1.806900963464282],[-0.4272182441686462,-1.7792351475098604]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.2950365615933215,-1.6982824919334847,0.71338606911949],"aabb_xy":[[0.2646384504941779,-1.7286893939351538],[0.32543467269246507,-1.6678755899318147]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.0947379805635139,-0.8623379103083018,0.71338606911949],"aabb_xy":[[0.06474631782964357,-0.8923379096451023],[0.12472964329738423,-0.8323379109715012]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.589637651622666,0.7652579296185404,0.71338606911949],"aabb_xy":[[-0.6596376542592524,0.7451530646226748],[-0.5196376489860797,0.7853627946144058]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.1523566044137089,-1.3218354844258966,0.71338606911949],"aabb_xy":[[0.1023617714857673,-1.3718354833211401],[0.2023514373416505,-1.271835485530653]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[-0.5575516704612484,1.4569233205022285,0.71338606911949],"aabb_xy":[[-0.5655779410918745,1.448171825524876],[-0.5495253998306225,1.4656748154795813]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.4435145866241015,-2.581317596727017,0.71338606911949],"aabb_xy":[[0.43754804768336564,-2.5872787413863807],[0.4494811255648372,-2.5753564520676524]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.4468779950110696,0.06728575588794339,0.71338606911949],"aabb_xy":[[-0.47209883187090923,0.04206200503505663],[-0.4216571581512299,0.09250950674083012]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.5105004184865279,-1.0588912982047614,0.71338606911949],"aabb_xy":[[-0.521067898144627,-1.06943632831777],[-0.49993293882842893,-1.0483462680917528]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.10280606447806517,0.30741660395960757,0.71338606911949],"aabb_xy":[[-0.12191837183604404,0.28828182508236555],[-0.08369375712008631,0.3265513828368496]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.06299144783421196,-0.8627314515643776,0.71338606911949],"aabb_xy":[[-0.10798403455266237,-0.9077314508388264],[-0.017998861115761544,-0.8177314522899289]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.42151579317320964,-2.296525930184531,0.71338606911949],"aabb_xy":[[0.3865157939803913,-2.3074929761821927],[0.45651579236602785,-2.2855588841868677]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[0.26789428389741754,-2.49092442145874,0.71338606911949],"aabb_xy":[[0.1878942864938241,-2.5709169926569224],[0.3478942813010109,-2.410931850260557]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.3546563066751078,-2.534427186667318,0.71338606911949],"aabb_xy":[[-0.3671236647848435,-2.546892511300642],[-0.3421889485653722,-2.521961862033995]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[0.6911944053732502,0.6283039689961787,0.71338606911949],"aabb_xy":[[0.6841529544225026,0.6212772172583841],[0.6982358563239978,0.6353307207339732]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[-0.3302661846188751,0.9634821025440918,0.71338606911949],"aabb_xy":[[-0.3343443425259248,0.9594011222958285],[-0.32618802671182534,0.9675630827923551]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.0716559262545633,-1.8013436797499989,0.71338606911949],"aabb_xy":[[-0.10411762713649074,-1.831476511864901],[-0.03919422537263583,-1.7712108476350958]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.5978134032980859,-1.4931460941821186,0.71338606911949],"aabb_xy":[[-0.6129855725797192,-1.5083149511103222],[-0.5826412340164525,-1.4779772372539155]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[0.04657268643816437,1.4926272304912493,0.71338606911949],"aabb_xy":[[0.04193757128593097,1.4887598954141004],[0.05120780159039775,1.4964945655683979]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.2198456690727688,-0.8092877227521964,0.71338606911949],"aabb_xy":[[-0.23177840343459685,-0.8216698755600559],[-0.20791293471094072,-0.7969055699443371]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.6243695022277018,-0.4143785957970296,0.71338606911949],"aabb_xy":[[0.5873353927996421,-0.448755803130739],[0.6614036116557616,-0.38000138846332004]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.46200987641173863,0.21048851250624212,0.71338606911949],"aabb_xy":[[0.39700987530579535,0.1855231394381138],[0.5270098775176819,0.2354538855743704]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_23","position":[0.3265508089837543,-1.9957613655518154,0.71338606911949],"aabb_xy":[[0.26255081039718187,-2.0427683289513237],[0.3905508075703268,-1.9487544021523062]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[0.48873053659473786,-1.6646755945593026,0.71338606911949],"aabb_xy":[[0.4387305356442049,-1.696224741562824],[0.5387305375452704,-1.6331264475557812]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[0.4576380881877422,1.2930677228714478,0.71338606911949],"aabb_xy":[[0.3936380910756366,1.2440353530770372],[0.5216380852998479,1.3421000926658584]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[0.3429181607354077,0.7230817592789678,0.71338606911949],"aabb_xy":[[0.26291816275462265,0.7154802183171157],[0.42291815871619276,0.7306833002408196]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[-0.11266972804463993,-2.0922250254001873,0.71338606911949],"aabb_xy":[[-0.12873165550315757,-2.1772250272127787],[-0.09660780058612228,-2.007225023587595]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[-0.14221280311928575,0.6582120304552936,0.71338606911949],"aabb_xy":[[-0.20621280516901774,0.6181175473659857],[-0.07821280106955375,0.6983065135446016]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672909384817026,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6840.png","name":"6840"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6840.png","name":"6840"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/330.png","name":"330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8918.png","name":"8918"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/315.png","name":"315"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7834.png","name":"7834"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":604.794116696498,"rotation_z_degrees":173.16901506743878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005978157001921258,0.006062682263063807,-0.015226684245507816]},{"name":"camera_2","offset_m":[0.014525607696114284,0.01754054754239928,-0.009348778756842764]},{"name":"camera_3","offset_m":[0.012937075086561344,-0.016910588052118706,0.013873868382844861]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018301205566588663,0.001196416422651969,0.0018788589129292307],"end_effector_yaw_offset_degrees":0.8541039321935122},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018213462749641176,0.0005999141486305952,-0.0015743059784453708],"end_effector_yaw_offset_degrees":-0.8460086546074093},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008916323861377813,-0.0001286067843700152,0.0019419045957791816],"end_effector_yaw_offset_degrees":0.5686248792964252},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011103062913896638,-3.106387280263573e-05,0.0008119555838014565],"end_effector_yaw_offset_degrees":-0.3636237520325003},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014987925499922502,0.0011390818033872748,0.0008581641375128399],"end_effector_yaw_offset_degrees":-0.6830017453013004},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013409139130895111,0.0008719034564845622,0.0014132389433810385],"end_effector_yaw_offset_degrees":-0.09973006370045212}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004822929742830069,0.0048241297039615045],"position_m":[0.35832292974283003,0.0686241297039615,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018402726761733903,-0.001564955397279597],"position_m":[0.2162402726761734,-0.3929649553972796,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0047068242218316495,-0.004062747699872836],"position_m":[0.2783068242218317,0.29113725230012716,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031531752642315935,-0.0022457304734423045],"position_m":[0.2650468247357684,-0.0907457304734423,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"77da26fc66f236e637f40b47490631f5f703f69809dc2d8232c4e6334d08555e","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6840/tex_ceiling_textures_7834/tex_floor_textures_315/tex_table_textures_330/tex_wall_textures_8918","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":4768085612230642046,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":4768085612230642046,"visual_seed":4768085612230642046,"scene_id":"lab_003","finished_at":"2026-09-08T19:19:17"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T19:54:35","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.14504819797902901,-1.760971486365389,0.71338606911949],"aabb_xy":[[-0.20904819656560147,-1.8079784497648976],[-0.08104819939245655,-1.7139645229658802]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[-0.12500444116972875,-0.976424695009485,0.71338606911949],"aabb_xy":[[-0.16000444252121046,-0.9967844309663059],[-0.090004439818247,-0.9560649590526642]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.419911985217301,1.538183407098042,0.71338606911949],"aabb_xy":[[0.35491198518299827,1.491482730417715],[0.4849119852516037,1.5848840837783695]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.3984889499208064,1.7175955896638704,0.71338606911949],"aabb_xy":[[0.3184889529065585,1.697461037990459],[0.47848894693505445,1.7377301413372817]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.38991988833245395,-1.0488512841478612,0.71338606911949],"aabb_xy":[[-0.4549198868895267,-1.0786038175617436],[-0.32491988977538105,-1.0190987507339784]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.581272931928544,1.7423948923097181,0.71338606911949],"aabb_xy":[[-0.6612729323987601,1.7340841846953703],[-0.5012729314583282,1.7507055999240668]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.5346492205780937,-0.874775354406037,0.71338606911949],"aabb_xy":[[0.5238087423515787,-0.8919616356966857],[0.5454896988046085,-0.8575890731153881]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[0.5688244370381617,1.710370687622007,0.71338606911949],"aabb_xy":[[0.5607107823647846,1.702264871167978],[0.5769380917115388,1.7184765040760361]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[-0.5510864502569139,1.064940924229762,0.71338606911949],"aabb_xy":[[-0.5679971826932557,1.0514687186371472],[-0.5341757178205722,1.0784131298223765]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.3136125138647908,-2.298862035391895,0.71338606911949],"aabb_xy":[[-0.3291682832750561,-2.314412468636303],[-0.29805674445452557,-2.2833116021474886]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.1764139651959975,1.5789441984719867,0.71338606911949],"aabb_xy":[[-0.24041396546997573,1.5288780982746986],[-0.11241396492201927,1.6290102986692745]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.6201399714676825,-1.1571843730397153,0.71338606911949],"aabb_xy":[[0.5976399714575342,-1.1712805926793184],[0.6426399714778308,-1.1430881534001118]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[-0.24258778195852282,-1.533371753264699,0.71338606911949],"aabb_xy":[[-0.24792535762452741,-1.5583717541938389],[-0.23725020629251828,-1.5083717523355593]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.36588244814254445,-0.6921974226967882,0.71338606911949],"aabb_xy":[[0.3018824467345538,-0.7439863742207128],[0.4298824495505351,-0.6404084711728634]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[0.3261843580287056,0.8181844336476485,0.71338606911949],"aabb_xy":[[0.2886843579231126,0.8113622717946674],[0.3636843581342985,0.8250065955006296]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.5503897891154428,0.30716565851705946,0.71338606911949],"aabb_xy":[[-0.630389786078482,0.23009001687328595],[-0.4703897921524036,0.38424130016083285]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.34025338320212134,1.5577568274132703,0.71338606911949],"aabb_xy":[[-0.3737325504631623,1.5242777140421633],[-0.3067742159410804,1.5912359407843772]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.3621036323302632,1.24304407976723,0.71338606911949],"aabb_xy":[[-0.3846036318539706,1.2205481323166087],[-0.3396036328065558,1.2655400272178503]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.4400265720515517,-1.8487371165289557,0.71338606911949],"aabb_xy":[[0.4225265727734648,-1.8660752165953016],[0.45752657132963853,-1.8313990164626097]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[0.6387662831782341,1.241687919453215,0.71338606911949],"aabb_xy":[[0.6174882750347619,1.1766879171271418],[0.6600442913217064,1.306687921779288]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.07240855403254676,-0.7243979224840937,0.71338606911949],"aabb_xy":[[0.0610468193792606,-0.7357663888903817],[0.08377028868583292,-0.7130294560778055]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[0.08167065974790133,1.5074720727307374,0.71338606911949],"aabb_xy":[[0.04667065985188245,1.4990978372187973],[0.11667065964392019,1.5158463082426774]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[0.02102774941172092,-1.291445530583165,0.71338606911949],"aabb_xy":[[-0.012747809778972052,-1.3054840257963298],[0.05480330860241389,-1.27740703537]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[0.5021030321617885,-0.061978467645294355,0.71338606911949],"aabb_xy":[[0.4933218050145524,-0.07075821493382453],[0.5108842593090249,-0.05319872035676423]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[-0.373422541084835,1.3862982295108988,0.71338606911949],"aabb_xy":[[-0.42339995795008856,1.33629822802165],[-0.3234451242195814,1.436298231000147]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.28971643708480044,-0.4286864840583875,0.71338606911949],"aabb_xy":[[-0.3537164403034383,-0.47540959595739585],[-0.22571643386616258,-0.38196337215937914]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[0.6208833886566136,-1.9188641010322995,0.71338606911949],"aabb_xy":[[0.5568833922292918,-1.9660337248543962],[0.6848833850839356,-1.8716944772102033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665077484480904,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7877.png","name":"7877"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7877.png","name":"7877"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8200.png","name":"8200"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5672.png","name":"5672"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4880.png","name":"4880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3832.png","name":"3832"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":544.5240301375225,"rotation_z_degrees":63.26797823116056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00431923186151921,-0.006927805758783632,0.01271050417147757]},{"name":"camera_2","offset_m":[-0.002347840313818645,-0.013496570059223143,-0.0005400928897960934]},{"name":"camera_3","offset_m":[0.016091533311801857,0.002259006871779913,0.002028513098796328]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004216482516459694,0.0010590550332731604,0.0013728321730155286],"end_effector_yaw_offset_degrees":0.42620658477380147},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019274586376739344,-0.0002690962023354636,0.0010975147059342333],"end_effector_yaw_offset_degrees":-0.31531289670176843},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008974591058080899,-0.0008220565709024447,-0.0019378896877178455],"end_effector_yaw_offset_degrees":-0.25517719484853574},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0003833679531494811,-0.0017067395214166617,9.034005891619219e-05],"end_effector_yaw_offset_degrees":-0.7700116679197375},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019570504050231007,-0.0009585884997935063,0.00036126309522644014],"end_effector_yaw_offset_degrees":0.09382684673241881},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00027607874953080886,0.001629218816149196,0.0013183983624174395],"end_effector_yaw_offset_degrees":0.2594595759047249}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025262512860715802,-0.001847138912694407],"position_m":[0.3509737487139284,0.06195286108730559,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015447147749519008,-0.0024425162801648293],"position_m":[0.2128552852250481,-0.39384251628016487,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0048747431863883995,0.0034180280040216468],"position_m":[0.2687252568136116,0.29861802800402165,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001137529504372552,-0.0002657107764637012],"position_m":[0.2670624704956274,-0.0887657107764637,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"afc8f3243bcf7875cfa1e2a8996cd22a2cffecbba65a8063030309801eaf7f44","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7877/tex_ceiling_textures_3832/tex_floor_textures_4880/tex_table_textures_8200/tex_wall_textures_5672","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1386584090573579842,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1386584090573579842,"visual_seed":1386584090573579842,"scene_id":"lab_003","finished_at":"2026-09-08T20:03:02"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T20:20:42","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.3922643743330163,-0.6931971414538829,0.71338606911949],"aabb_xy":[[0.33726437471127046,-0.7481808342413556],[0.44726437395476215,-0.6382134486664102]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[-0.642128207685573,-1.4156347005708376,0.71338606911949],"aabb_xy":[[-0.6576839770958383,-1.4311851338152448],[-0.6265724382753077,-1.4000842673264304]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[-0.5251918661483118,-1.4406151048320643,0.71338606911949],"aabb_xy":[[-0.5471005482876627,-1.462515771652155],[-0.5032831840089607,-1.4187144380119736]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[-0.032392763665648916,-1.4086790053579077,0.71338606911949],"aabb_xy":[[-0.07952214266748459,-1.4726790064023094],[0.01473661533618676,-1.3446790043135055]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.2395041186670951,-2.254319383421524,0.71338606911949],"aabb_xy":[[-0.28478273354824435,-2.3183193827697077],[-0.19422550378594583,-2.1903193840733404]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.6680360008642906,-2.411876932851761,0.71338606911949],"aabb_xy":[[-0.6905351365905176,-2.4343769336300243],[-0.6455368651380636,-2.389376932073498]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_6","position":[-0.3331228365836028,0.19743548431985847,0.71338606911949],"aabb_xy":[[-0.3971228386333348,0.1573410012305505],[-0.2691228345338708,0.23752996740916643]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.06614558877750276,-1.744268331773421,0.71338606911949],"aabb_xy":[[-0.07057621813234295,-1.7497167035081038],[-0.0617149594226626,-1.7388199600387388]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.47682181564852133,0.34623019125988774,0.71338606911949],"aabb_xy":[[0.42684439878326763,0.29623018977063914],[0.5267992325137747,0.39623019274913623]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.10592895618986276,1.5580369213852463,0.71338606911949],"aabb_xy":[[0.015928959454252517,1.5048534580679513],[0.19592895292547294,1.6112203847025404]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.38571319154167494,-0.5901269096401225,0.71338606911949],"aabb_xy":[[-0.4107131908136372,-0.6064722732362847],[-0.36071319226971266,-0.57378154604396]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.4576806109975293,-1.4160100412815515,0.71338606911949],"aabb_xy":[[0.44018067756354595,-1.433510041201786],[0.4751805444315127,-1.398510041361317]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[0.15318696392235065,-1.1344473418640735,0.71338606911949],"aabb_xy":[[0.14389334568520007,-1.1719473403522074],[0.16248058215950123,-1.0969473433759396]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.028636063128559708,-0.8961024935406996,0.71338606911949],"aabb_xy":[[-0.08863606372457589,-0.9509149660859231],[0.03136393746745647,-0.8412900209954761]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[0.41807786086300447,1.3093984047974545,0.71338606911949],"aabb_xy":[[0.40297555940198626,1.294296883166392],[0.43318016232402246,1.3244999264285158]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.43454533010976437,-1.2977827986524717,0.71338606911949],"aabb_xy":[[0.42139408413847507,-1.3227827984091582],[0.4476965760810538,-1.2727827988957852]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.15767961881751658,0.4813815059958677,0.71338606911949],"aabb_xy":[[-0.2216796190914948,0.4313154057985797],[-0.09367961854353835,0.5314476061931557]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[-0.46035825679590525,1.3698523415482584,0.71338606911949],"aabb_xy":[[-0.47119873502242005,1.35266606025761],[-0.44951777856939024,1.3870386228389073]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.2649888519264366,-0.4373199496333604,0.71338606911949],"aabb_xy":[[-0.28748885243847716,-0.4598118079987587],[-0.24248885141439597,-0.414828091267962]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.009382421840569699,0.6209448835578208,0.71338606911949],"aabb_xy":[[-0.014840367477589765,0.5409448802501617],[-0.00392447620354963,0.70094488686548]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.09084443894317373,-2.2180721982818716,0.71338606911949],"aabb_xy":[[0.010844440962388678,-2.2256737392437236],[0.17084443692395876,-2.2104706573200197]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[-0.49155464665544274,0.060294105145361154,0.71338606911949],"aabb_xy":[[-0.5415546470160089,0.01031411793575821],[-0.4415546462948767,0.1102740923549641]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[-0.21561966531964877,-0.6059673177500415,0.71338606911949],"aabb_xy":[[-0.27961966754005574,-0.6503404018753298],[-0.1516196630992417,-0.5615942336247532]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[-0.5140195739655572,-0.14937470863163638,0.71338606911949],"aabb_xy":[[-0.6040195776424752,-0.21080711520874065],[-0.4240195702886388,-0.08794230205453198]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.09427045944919621,-0.7198316867636882,0.71338606911949],"aabb_xy":[[-0.0996029741038092,-0.7251560150089238],[-0.08893794479458322,-0.7145073585184527]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.5849042932281155,0.7447746230244783,0.71338606911949],"aabb_xy":[[-0.619201204245856,0.7104777368145367],[-0.5506073822103749,0.7790715092344194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598602102477369,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7146.png","name":"7146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7146.png","name":"7146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2198.png","name":"2198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2289.png","name":"2289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5715.png","name":"5715"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8017.png","name":"8017"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":561.5194709402406,"rotation_z_degrees":16.527537829136264,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026131753374523115,-6.23960291512432e-05,0.0014722957703454664]},{"name":"camera_2","offset_m":[0.015941938115541236,-0.009571810403196919,0.012182401809709312]},{"name":"camera_3","offset_m":[-0.016502026419388537,0.009535256815945865,0.01835484760979598]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00029351181226286525,6.24681584085237e-05,0.001625848964116424],"end_effector_yaw_offset_degrees":-0.8812976441132419},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00017635455618595502,-0.0005733177443301733,-0.0006678137343000391],"end_effector_yaw_offset_degrees":-0.1765173743211872},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.725324334439688e-05,-0.0017673271020250368,-0.0007915651679950826],"end_effector_yaw_offset_degrees":-0.6665832948302046},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001472932157659262,-0.00014179661221239972,7.052708983644332e-05],"end_effector_yaw_offset_degrees":-0.4423995667940748},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0002843781146333996,-0.0019121267562222188,0.00014012397668908922],"end_effector_yaw_offset_degrees":-0.4553536597605832},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00024763164617363554,-0.0006380853323263121,0.0003996591367313963],"end_effector_yaw_offset_degrees":-0.38151145788637253}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00016019881368766527,0.0011354383522938606],"position_m":[0.3533398011863123,0.06493543835229386,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002946770859907646,0.004488787974990099],"position_m":[0.21145322914009237,-0.38691121202500994,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003480354894835295,0.000917823133339539],"position_m":[0.2770803548948353,0.29611782313333956,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003547167323569046,-0.0004544846658446613],"position_m":[0.271747167323569,-0.08895448466584466,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d7343661587c9f753263c2c6dbd070861787eff4ec7657f455ba8b100c809b00","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7146/tex_ceiling_textures_8017/tex_floor_textures_5715/tex_table_textures_2198/tex_wall_textures_2289","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5211157418125658724,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5211157418125658724,"visual_seed":5211157418125658724,"scene_id":"lab_003","finished_at":"2026-09-08T20:28:48"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T20:46:41","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[0.41682134756328004,-0.4060922719640172,0.71338606911949],"aabb_xy":[[0.37557253653336525,-0.4610922714762346],[0.4580701585931947,-0.3510922724517997]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.07528804161171265,0.8153633077794402,0.71338606911949],"aabb_xy":[[-0.01471195811146153,0.7922899552442602],[0.1652880413348868,0.8384366603146198]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.2093767934073752,1.6907759774344737,0.71338606911949],"aabb_xy":[[-0.25919357287221,1.6407759789501701],[-0.15956001394254046,1.7407759759187769]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[-0.2910438333393942,1.4204818614567958,0.71338606911949],"aabb_xy":[[-0.35504382973496734,1.356518573038062],[-0.2270438369438212,1.4844451498755291]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.0859512181158476,1.4371821444649622,0.71338606911949],"aabb_xy":[[-0.16595121551944103,1.357189573266779],[-0.005951220712254192,1.5171747156631445]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.6165090578094762,1.1993087150092556,0.71338606911949],"aabb_xy":[[-0.6805090580834544,1.1492426148119677],[-0.552509057535498,1.2493748152065436]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.6294330569351343,0.7826716586014215,0.71338606911949],"aabb_xy":[[-0.6934330542207829,0.7411649396485775],[-0.5654330596494856,0.8241783775542655]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.09595743255940536,1.567485991141893,0.71338606911949],"aabb_xy":[[0.05892332313134565,1.5331087838081838],[0.13299154198746507,1.6018631984756027]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.2101485724584184,-1.7349603327597332,0.71338606911949],"aabb_xy":[[-0.27414857413641575,-1.7834777242390474],[-0.14614857078042104,-1.686442941280419]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.6970852255489979,-1.3986212503517452,0.71338606911949],"aabb_xy":[[0.6844584382618014,-1.408167324053318],[0.7097120128361941,-1.389075176650172]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.35165383732678346,-1.3676156188504638,0.71338606911949],"aabb_xy":[[0.29402336843951254,-1.4276156177771742],[0.4092843062140542,-1.307615619923753]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[0.07350343368769285,1.4257514977379988,0.71338606911949],"aabb_xy":[[0.06266295546117795,1.40856521644735],[0.08434391191420776,1.4429377790286475]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.40104496361884157,-2.308572916196642,0.71338606911949],"aabb_xy":[[0.3916274890489788,-2.317989093334361],[0.4104624381887043,-2.299156739058923]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.005600255384048958,-1.981112498985881,0.71338606911949],"aabb_xy":[[-0.016899744429853425,-1.985587115356362],[0.02810025519795134,-1.9766378826154005]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.68483596200466,-2.043190221814889,0.71338606911949],"aabb_xy":[[0.6629272798653089,-2.06509088863498],[0.706744644144011,-2.0212895549947985]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.20086158872792237,0.5543120983048326,0.71338606911949],"aabb_xy":[[0.19273390053460918,0.545398489894125],[0.20898927692123562,0.5632257067155403]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.478417917178961,-0.2678550632099945,0.71338606911949],"aabb_xy":[[-0.5335431228085517,-0.3278550646512816],[-0.42329271154937015,-0.20785506176870736]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.38477609334169127,-2.448978779180467,0.71338606911949],"aabb_xy":[[0.34727609299346346,-2.4607701747615507],[0.422276093689919,-2.4371873835993836]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.30017867956928623,0.643159306260837,0.71338606911949],"aabb_xy":[[-0.36517867960358896,0.5964586295805097],[-0.2351786795349835,0.6898599829411642]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.587631355051326,0.041310578761782235,0.71338606911949],"aabb_xy":[[-0.5973873445604999,0.03154804470254779],[-0.5778753655421521,0.05107311282101667]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.6298000002422757,-0.26277856913996445,0.71338606911949],"aabb_xy":[[-0.634230629597116,-0.26822694087464705],[-0.6253693708874356,-0.25733019740528185]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.40515152992825315,0.9012934601084663,0.71338606911949],"aabb_xy":[[-0.4951515264291249,0.855381817690008],[-0.3151515334273814,0.9472051025269245]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[0.6616419484780518,0.5485548278309738,0.71338606911949],"aabb_xy":[[0.6116419471171646,0.4985769232555582],[0.711641949838939,0.5985327324063894]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.46170347484263996,-0.7346164795615695,0.71338606911949],"aabb_xy":[[-0.48298148298611215,-0.7996164818876426],[-0.44042546669916766,-0.6696164772354964]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.2300681335076109,1.2880560906175589,0.71338606911949],"aabb_xy":[[0.17006813291159473,1.2332436180723356],[0.2900681341036271,1.3428685631627826]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.23840510040857976,-2.2320875787858565,0.71338606911949],"aabb_xy":[[-0.26362593726841943,-2.257311329638743],[-0.2131842635487401,-2.206863827932969]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.49124182203655686,-2.0273622931189084,0.71338606911949],"aabb_xy":[[0.41124182337967086,-2.0418671520431713],[0.5712418206934429,-2.0128574341946455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638415204122258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8554.png","name":"8554"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8554.png","name":"8554"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4694.png","name":"4694"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9573.png","name":"9573"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4422.png","name":"4422"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":810.2693399718091,"rotation_z_degrees":107.40761904926893,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002137063173982389,-0.003966986725866074,0.01972669194081682]},{"name":"camera_2","offset_m":[-0.011856036371883975,-0.013952049612679897,0.01722383222497888]},{"name":"camera_3","offset_m":[0.011068073362570513,0.01656289510991459,0.0007460923966042983]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001955590765789731,-0.0008524995882814813,-0.0010862489818288616],"end_effector_yaw_offset_degrees":0.47471797232246526},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009962919802477162,-0.00022926226269250755,-0.00026053793964304905],"end_effector_yaw_offset_degrees":-0.9780524542206854},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001704735079128015,0.00018609151379358037,0.0010083301185889928],"end_effector_yaw_offset_degrees":0.4477198676194005},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0018883192178411256,0.0019550096153241733,-0.0014831046688366545],"end_effector_yaw_offset_degrees":-0.9574515404176942},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017925705399341743,0.00010652622464697942,-0.0004989857688559405],"end_effector_yaw_offset_degrees":0.9373254474296842},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014130106925743986,-0.0006007508069568299,-0.0014809727219047024],"end_effector_yaw_offset_degrees":-0.34551950939043596}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001908826926510709,0.0008594826074958236],"position_m":[0.35330911730734893,0.06465948260749582,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009606164003906972,0.0004484994366850247],"position_m":[0.21343938359960932,-0.390951500563315,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004453158640037484,0.0007335872334307747],"position_m":[0.2780531586400375,0.2959335872334308,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003346231774668672,-0.001600104346837381],"position_m":[0.2715462317746687,-0.09010010434683738,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"48b7fb6fe6466bea3982d0d710c95c8b81531607bb1e5ea3aa11d4329cc61180","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0056.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8554/tex_ceiling_textures_4422/tex_floor_textures_9573/tex_table_textures_4694/tex_wall_textures_5347","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":8435636573151279285,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":8435636573151279285,"visual_seed":8435636573151279285,"scene_id":"lab_003","finished_at":"2026-09-08T20:54:30"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T20:54:38","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.5339142574471164,-0.1497298125032298,0.71338606911949],"aabb_xy":[[-0.5839142570234511,-0.19971039145533576],[-0.4839142578707817,-0.09974923355112386]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.28087332274127685,-1.4413400079155292,0.71338606911949],"aabb_xy":[[0.23810661586185666,-1.5053400113373314],[0.32364002962069705,-1.3773400044937265]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[-0.07357990571578898,0.3133405318139406,0.71338606911949],"aabb_xy":[[-0.09607904144201596,0.29084053103567764],[-0.051080769989562014,0.3358405325922036]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.4607989929584593,-2.2832147440060617,0.71338606911949],"aabb_xy":[[0.4007989924506063,-2.3400614776919832],[0.5207989934663121,-2.22636801032014]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.4057167603849029,0.7523565239889214,0.71338606911949],"aabb_xy":[[-0.43200558470534356,0.72608509033427],[-0.37942793606446223,0.7786279576435725]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.6101667709161258,0.17480453474066104,0.71338606911949],"aabb_xy":[[0.5601667714759301,0.12483661025634474],[0.6601667703563213,0.22477245922497735]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_6","position":[0.1256401380552189,-1.9838504602378162,0.71338606911949],"aabb_xy":[[0.09515588792818871,-2.033850460019312],[0.15612438818224902,-1.9338504604563203]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.4687657062235028,-1.3341786261280384,0.71338606911949],"aabb_xy":[[-0.4729015625562031,-1.3716786255723954],[-0.4646298498908027,-1.2966786266836814]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.5297240745252071,-0.738989935401783,0.71338606911949],"aabb_xy":[[-0.5937240747991852,-0.7890560355990709],[-0.46572407425122875,-0.688923835204495]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.6621094296282294,0.0577678108878823,0.71338606911949],"aabb_xy":[[-0.6796561245443484,0.020267809323631043],[-0.6445627347121106,0.09526781245213356]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[-0.028758087525411313,-0.8997570547287572,0.71338606911949],"aabb_xy":[[-0.09275808957514331,-0.9398515378180651],[0.03524191452432068,-0.8596625716394491]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[0.6120424419765045,1.3004433959256163,0.71338606911949],"aabb_xy":[[0.5320424387186614,1.2204468881336323],[0.6920424452343473,1.3804399037176003]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.6321382657090981,1.6397138484440474,0.71338606911949],"aabb_xy":[[0.5521382652388823,1.6314031408296994],[0.7121382661793142,1.648024556058396]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.21089130952971324,1.6501240849492702,0.71338606911949],"aabb_xy":[[0.16089130786821843,1.6001256426935673],[0.2608913111912079,1.7001225272049727]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.11971575141800694,-1.7848833581563182,0.71338606911949],"aabb_xy":[[0.10228503633900042,-1.8021554728201687],[0.13714646649701343,-1.7676112434924671]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.41059969931452045,-1.1497210440359023,0.71338606911949],"aabb_xy":[[0.3605996980306804,-1.199699898426524],[0.46059970059836036,-1.0997421896452797]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.00473250338886666,-1.062581744199103,0.71338606911949],"aabb_xy":[[-0.0012340355518691282,-1.0685428888584672],[0.010699042329602448,-1.0566205995397389]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.251203915829829,1.0196012933497873,0.71338606911949],"aabb_xy":[[-0.3362039142472522,0.9347269978875026],[-0.16620391741240576,1.1044755888120725]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.6422878737557698,-0.846031894703603,0.71338606911949],"aabb_xy":[[0.6279534486296064,-0.8580921102581418],[0.6566222988819334,-0.8339716791490641]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[0.19861614791645577,-0.8249519518798523,0.71338606911949],"aabb_xy":[[0.10861615141558399,-0.8708635942983105],[0.28861614441732747,-0.779040309461394]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[-0.1626446128252076,-1.927382213353706,0.71338606911949],"aabb_xy":[[-0.17587555835988888,-1.9406096323757052],[-0.1494136672905263,-1.9141547943317063]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_21","position":[0.36261344471160717,1.184424203374018,0.71338606911949],"aabb_xy":[[0.3553696786653618,1.1044242051704156],[0.36985721075785244,1.2644242015776204]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.11569168213332603,-1.4204619343897114,0.71338606911949],"aabb_xy":[[0.035691684729732616,-1.500454505587894],[0.19569167953691946,-1.3404693631915283]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[-0.6229092936608113,0.7672243323213217,0.71338606911949],"aabb_xy":[[-0.6533074047599549,0.7368174303196521],[-0.5925111825616677,0.7976312343229911]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.39367554147208406,-0.38808015891498204,0.71338606911949],"aabb_xy":[[0.3848734861631113,-0.39589148506991106],[0.4024775967810567,-0.3802688327600529]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653949400304137,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8126.png","name":"8126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8126.png","name":"8126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/909.png","name":"909"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5614.png","name":"5614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8894.png","name":"8894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/491.png","name":"491"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":647.6498068379506,"rotation_z_degrees":163.0959672833991,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018233591086005287,-0.007105074213453286,-0.015263116692385354]},{"name":"camera_2","offset_m":[-0.0031090007072647613,0.019093967849542638,-0.010199918985681782]},{"name":"camera_3","offset_m":[-0.005489450515448415,-0.014352100169586879,-0.007758619667164273]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011880698042189045,-0.0004566253433812286,0.0006445559427800435],"end_effector_yaw_offset_degrees":-0.5916649580477562},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001918362743073736,-0.0008898703054791661,-0.0009550002124522022],"end_effector_yaw_offset_degrees":0.9400639780900784},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019374602419777332,0.0011772717109586315,-0.001239311992673546],"end_effector_yaw_offset_degrees":0.8724873448340533},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010381843917599168,0.0010135225113972915,-0.0014974599924315215],"end_effector_yaw_offset_degrees":-0.26952910271295605},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00136168696814664,0.0011798895241846873,-0.0018701270843124807],"end_effector_yaw_offset_degrees":0.24105655639373103},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0004265915601290235,3.922954129411717e-06,-0.000682393841135736],"end_effector_yaw_offset_degrees":0.4258175342697894}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001111679706778237,-0.003986499311085504],"position_m":[0.35238832029322176,0.059813500688914494,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012264720887944103,-0.0025455362293514863],"position_m":[0.21317352791120558,-0.3939455362293515,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0028635903851900587,-0.004443654509858051],"position_m":[0.2764635903851901,0.29075634549014195,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034043537866941167,0.0033704246854170767],"position_m":[0.26479564621330587,-0.08512957531458291,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"5abdeb9f10d081ca37a1d798c65d18ac6065c1e0f7b866412fa4de5b3e31b294","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8126/tex_ceiling_textures_491/tex_floor_textures_8894/tex_table_textures_909/tex_wall_textures_5614","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5338147856305572753,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5338147856305572753,"visual_seed":5338147856305572753,"scene_id":"lab_003","finished_at":"2026-09-08T21:02:40"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T21:02:48","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.20402470427077812,1.7658541590482097,0.71338606911949],"aabb_xy":[[-0.2183591293969416,1.753793943493671],[-0.1896902791446147,1.7779143746027486]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.5877923501587257,1.6006397329945758,0.71338606911949],"aabb_xy":[[0.5758596157968976,1.5882575801867167],[0.5997250845205537,1.6130218858024354]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.3566141491692476,0.6803029717252485,0.71338606911949],"aabb_xy":[[0.2926141527736746,0.6163396833065149],[0.42061414556482074,0.744266260143982]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.03851908827648576,0.7999233414818439,0.71338606911949],"aabb_xy":[[-0.006759526604663495,0.7359233421336601],[0.08379770315763502,0.8639233408300274]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.047386988462545965,1.7111177280422445,0.71338606911949],"aabb_xy":[[-0.08184946647563374,1.7044540508593216],[-0.012924510449458193,1.717781405225167]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.4321412435617728,-1.9699014311172367,0.71338606911949],"aabb_xy":[[-0.4395536991031612,-1.9757526415388647],[-0.4247287880203843,-1.9640502206956088]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.461288297296478,-1.790381047136786,0.71338606911949],"aabb_xy":[[-0.47416020079741816,-1.8703810475506222],[-0.4484163937955379,-1.7103810467229499]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.1120660626999469,1.4833447718281598,0.71338606911949],"aabb_xy":[[0.09439043211134855,1.465664555548757],[0.1297416932885452,1.5010249881075626]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.2984244081841868,-2.002487107254046,0.71338606911949],"aabb_xy":[[0.243299202554596,-2.0624871086953327],[0.35354961381377753,-1.9424871058127586]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.5497172139223769,1.10459849605957,0.71338606911949],"aabb_xy":[[0.5210678815619606,1.0759529367824943],[0.578366546282793,1.1332440553366459]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[0.1281617275667768,-1.3598313142104133,0.71338606911949],"aabb_xy":[[0.1173101213179012,-1.3706906049380643],[0.1390133338156524,-1.3489720234827622]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.299883995157528,1.735280816371819,0.71338606911949],"aabb_xy":[[-0.321792677296879,1.7133801495517278],[-0.2779753130181769,1.7571814831919093]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.07014013419779919,0.19514735849792864,0.71338606911949],"aabb_xy":[[-0.12012436990597641,0.145147359684433],[-0.02015589848962196,0.2451473573114242]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.18217967106824928,-2.2871038874815293,0.71338606911949],"aabb_xy":[[-0.2721796678038595,-2.3402873507988238],[-0.09217967433263907,-2.2339204241642348]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.4575127538715452,-2.4972451996583254,0.71338606911949],"aabb_xy":[[-0.47215615942557815,-2.5119039193151096],[-0.4428693483175122,-2.482586480001541]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.5656628664088723,0.8078473556967221,0.71338606911949],"aabb_xy":[[0.50166286449653,0.7519362064387116],[0.6296628683212147,0.8637585049547325]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.39533699096112085,-2.135223880395314,0.71338606911949],"aabb_xy":[[-0.4041390462700935,-2.1430352065502425],[-0.3865349356521481,-2.1274125542403843]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.5410978365098211,-1.1603071192680459,0.71338606911949],"aabb_xy":[[0.4560978378177465,-1.192292982662925],[0.6260978352018958,-1.1283212558731672]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.6597676279380783,-0.7437302625768369,0.71338606911949],"aabb_xy":[[-0.667803962639363,-0.7517683818812537],[-0.6517312932367934,-0.7356921432724202]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.05989664524648641,-0.7401683559749794,0.71338606911949],"aabb_xy":[[-0.10989664690798115,-0.790166798230682],[-0.00989664358499164,-0.6901699137192766]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.08799481568073253,-1.5986331292280795,0.71338606911949],"aabb_xy":[[-0.11049481569088083,-1.6127293488676828],[-0.06549481567058425,-1.5845369095884763]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[0.23295198929497873,-2.2624802921624436,0.71338606911949],"aabb_xy":[[0.22799596911009756,-2.284980292364566],[0.23790800947985996,-2.2399802919603222]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[-0.4897272633535804,0.8779080811816939,0.71338606911949],"aabb_xy":[[-0.52676137278164,0.8435308738479844],[-0.4526931539255206,0.9122852885154032]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[-0.23055053066918002,0.6750372279777306,0.71338606911949],"aabb_xy":[[-0.3005505333057663,0.654932362981865],[-0.16055052803259362,0.695142092973596]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[0.6541492377184066,-0.4419990763707271,0.71338606911949],"aabb_xy":[[0.6366493042844232,-0.45949907629096165],[0.67164917115239,-0.42449907645049256]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[0.4175592477772856,1.3469851099723535,0.71338606911949],"aabb_xy":[[0.4094455931039085,1.3388792935183245],[0.4256729024506627,1.3550909264263826]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[-0.384803651278305,1.2718572604376313,0.71338606911949],"aabb_xy":[[-0.4648036486818984,1.1918646892394482],[-0.30480365387471153,1.3518498316358138]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[-0.5829990055201448,0.6397732343091223,0.71338606911949],"aabb_xy":[[-0.632981955707624,0.5897732346665618],[-0.5330160553326654,0.6897732339516827]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_28","position":[-0.5080542101427319,1.7886688207967576,0.71338606911949],"aabb_xy":[[-0.5239387034080569,1.7743158804979333],[-0.4921697168774066,1.8030217610955814]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_29","position":[0.37188210299750524,-1.2483842057805938,0.71338606911949],"aabb_xy":[[0.33086415961113436,-1.2983842064115512],[0.4129000463838761,-1.1983842051496365]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_30","position":[0.46337603987265585,-0.2588996559476091,0.71338606911949],"aabb_xy":[[0.4083760402509101,-0.31388334873508184],[0.5183760394944018,-0.20391596316013638]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6640178863861259,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1521.png","name":"1521"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1521.png","name":"1521"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5669.png","name":"5669"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9381.png","name":"9381"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8816.png","name":"8816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2392.png","name":"2392"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":813.7671028922941,"rotation_z_degrees":244.58165011896625,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005950432597181678,-0.007952116654663999,-0.01458487180227269]},{"name":"camera_2","offset_m":[-0.007169333627323925,0.00830410012653375,0.01391907792613754]},{"name":"camera_3","offset_m":[-0.000518554994026043,0.018774074648349678,-0.004335736652772124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001864225337601436,0.0005431561751330699,-0.0005897240887416054],"end_effector_yaw_offset_degrees":0.31902075171149646},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014254617929599467,0.0005895137647148468,-0.0012730630974757918],"end_effector_yaw_offset_degrees":0.8553004873602945},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014955868557182121,0.000939764860487113,0.0004993973617060852],"end_effector_yaw_offset_degrees":-0.6154258742561372},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[1.7734192304815887e-05,-0.0007028704634322032,0.00028099219440639667],"end_effector_yaw_offset_degrees":-0.941607969615512},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012354062052349173,0.00017017318165932346,0.001802774234157613],"end_effector_yaw_offset_degrees":0.6105288875066259},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001212555639367971,-0.0007038177871510488,0.0018827108884661064],"end_effector_yaw_offset_degrees":-0.14916984871316719}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00480826329569001,-0.0017578776940784515],"position_m":[0.35830826329569,0.06204212230592154,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008925235062715552,0.0027029036172966517],"position_m":[0.21529252350627157,-0.3886970963827034,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0009685538581874851,0.004246903777953178],"position_m":[0.2745685538581875,0.2994469037779532,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031609046556861035,0.00036542929897879963],"position_m":[0.2650390953443139,-0.0881345707010212,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"f3093255205274c67e5ce3c53a63050e661a144e55058486628f645da73b70f8","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1521/tex_ceiling_textures_2392/tex_floor_textures_8816/tex_table_textures_5669/tex_wall_textures_9381","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":5600859272454052669,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":5600859272454052669,"visual_seed":5600859272454052669,"scene_id":"lab_003","finished_at":"2026-09-08T21:10:56"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T22:15:05","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.7182062032567738,-1.7548050705292169,0.71338606911949],"aabb_xy":[[0.7140703469240738,-1.792305069973574],[0.7223420595894742,-1.71730507108486]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[0.5438477747561576,-0.33320684325107086,0.71338606911949],"aabb_xy":[[0.5368074648226208,-0.4132068426507423],[0.5508880846896947,-0.25320684385139947]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.12544031754237384,-1.6254083953174854,0.71338606911949],"aabb_xy":[[0.11902650389918888,-1.6318182155651537],[0.13185413118555875,-1.618998575069817]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.33224455125296254,-1.9786583094634356,0.71338606911949],"aabb_xy":[[-0.36221210816278826,-2.008658309761321],[-0.30227699434313693,-1.9486583091655498]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.48974028389256463,1.5058711335056016,0.71338606911949],"aabb_xy":[[0.40474028520049,1.4738852701107228],[0.5747402825846393,1.5378569969004805]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.23897166566151606,-1.057953592141504,0.71338606911949],"aabb_xy":[[-0.2558823980978578,-1.0714257977341182],[-0.22206093322517426,-1.0444813865488893]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.3207480589095699,-2.2310462371630915,0.71338606911949],"aabb_xy":[[0.283248057724777,-2.2354644598591515],[0.3582480600943626,-2.2266280144670305]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.008914543394930807,-2.095596073783513,0.71338606911949],"aabb_xy":[[-0.02078662640643192,-2.1805960734771634],[0.002957539616570302,-2.0105960740898627]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.5816832324275206,-0.8101029271866373,0.71338606911949],"aabb_xy":[[-0.6716832347615397,-0.88758528177175],[-0.49168323009350157,-0.7326205726015247]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[0.5883901570287884,1.2692672048583629,0.71338606911949],"aabb_xy":[[0.5383901560782555,1.2377180578548415],[0.6383901579793211,1.3008163518618843]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[0.6179440974502319,-0.9139345040842204,0.71338606911949],"aabb_xy":[[0.5539441001478855,-0.9583009310520771],[0.6819440947525783,-0.8695680771163636]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.060022984799465884,-0.7448168461981441,0.71338606911949],"aabb_xy":[[0.05517939003823591,-0.7496684986771281],[0.06486657956069586,-0.7399651937191599]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.44025776603816746,0.3924771955721682,0.71338606911949],"aabb_xy":[[0.42848957924351005,0.3074771956669467],[0.4520259528328251,0.47747719547738987]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.0052996347983762515,1.2907270259174748,0.71338606911949],"aabb_xy":[[0.0003436146134950516,1.2682270257153534],[0.01025565498325745,1.3132270261195966]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.5695303292243292,0.9312838135730721,0.71338606911949],"aabb_xy":[[0.5622690816539218,0.9184968033095626],[0.5767915767947367,0.9440708238365816]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.6007638430259266,-2.277786596417865,0.71338606911949],"aabb_xy":[[0.5507645678574905,-2.3277865976938124],[0.6507631181943628,-2.227786595141918]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.37490205560094725,0.7536922228015346,0.71338606911949],"aabb_xy":[[0.2949020551307313,0.7453815151871862],[0.45490205607116324,0.7620029304158831]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.5834360939038077,-0.8126352323704691,0.71338606911949],"aabb_xy":[[0.57639464295306,-0.8196619841082636],[0.5904775448545552,-0.8056084806326745]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.1596257775178218,0.489521050401152,0.71338606911949],"aabb_xy":[[-0.1966598869458815,0.45514384306744254],[-0.12259166808976207,0.5238982577348614]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.16326318817178032,1.496527354388427,0.71338606911949],"aabb_xy":[[-0.25326318676625026,1.480276768075006],[-0.07326318957731037,1.512777940701848]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.39435467666119495,-1.1610397302565256,0.71338606911949],"aabb_xy":[[0.36436301392732456,-1.1910397295933262],[0.4243463393950652,-1.131039730919725]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.35917852139901973,1.7488230056227532,0.71338606911949],"aabb_xy":[[0.3420764434406516,1.7317162000914834],[0.3762805993573879,1.765929811154023]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[0.041162188160713375,1.563654440065711,0.71338606911949],"aabb_xy":[[0.0036621879888414297,1.530953704682804],[0.07866218833258531,1.5963551754486183]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.5667747735230122,-1.9689794830323801,0.71338606911949],"aabb_xy":[[0.5166773095419386,-2.032979483542192],[0.6168722375040858,-1.9049794825225683]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[0.1712339111122565,-1.3378214458024105,0.71338606911949],"aabb_xy":[[0.16353072043817946,-1.3455308165011484],[0.17893710178633354,-1.3301120751036721]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.3148619863702864,-0.6178896093000465,0.71338606911949],"aabb_xy":[[0.29127686290639154,-0.6828896115454783],[0.33844710983418125,-0.5528896070546148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6629271751315516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9138.png","name":"9138"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9138.png","name":"9138"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3313.png","name":"3313"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9889.png","name":"9889"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1311.png","name":"1311"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":653.9660248385178,"rotation_z_degrees":85.70834918160425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0064083617218528705,-0.014115381649574942,0.009888229705437124]},{"name":"camera_2","offset_m":[-0.006261509978477018,-0.0038633166989751853,-0.013437588705306626]},{"name":"camera_3","offset_m":[0.01470465069267968,-0.017038566682052135,-0.001366804135346334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008520928015596319,0.0014425235850605476,-0.0011846515832748005],"end_effector_yaw_offset_degrees":0.9697962916151255},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006045378321893951,0.001646122874560764,0.00037964706493142774],"end_effector_yaw_offset_degrees":-0.224935279614215},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013600079885583548,0.0019939829028524907,0.0009785357124822225],"end_effector_yaw_offset_degrees":-0.6897895627784523},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0002723748993203215,0.0006283436163712942,-0.0006917505792577731],"end_effector_yaw_offset_degrees":-0.5804948505303649},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00039090260927305285,-0.0011810942270745616,0.000366934789094268],"end_effector_yaw_offset_degrees":-0.5458524933245867},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0009191462649713578,0.0008308181654111189,0.0006626005445859338],"end_effector_yaw_offset_degrees":0.2397130636502769}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037036573680059815,0.0014546477797982805],"position_m":[0.35720365736800597,0.06525464777979828,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004437150187732543,-0.002742312429926507],"position_m":[0.20996284981226745,-0.39414231242992653,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0004489554672873772,-0.0012657915796691998],"position_m":[0.2740489554672874,0.2939342084203308,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032569958730939734,0.0010754356225643668],"position_m":[0.264943004126906,-0.08742456437743563,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e2d9bab0343710bea9a63f14ea77ace6efe0ecfbf25ff02006d648e2ab70a188","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0066.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9138/tex_ceiling_textures_8477/tex_floor_textures_1311/tex_table_textures_3313/tex_wall_textures_9889","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":6889876842188533000,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":6889876842188533000,"visual_seed":6889876842188533000,"scene_id":"lab_003","finished_at":"2026-09-08T22:23:03"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T23:25:31","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.19732900860933789,-2.0458208854299973,0.71338606911949],"aabb_xy":[[0.11732900813912195,-2.0541315930443456],[0.2773290090795538,-2.037510177815649]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.20962171154307607,-0.7537654168067149,0.71338606911949],"aabb_xy":[[-0.2646217097448209,-0.7942873834331524],[-0.15462171334133124,-0.7132434501802772]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[0.26351988617829536,1.3629865024262906,0.71338606911949],"aabb_xy":[[0.25748287317763063,1.3569598013573427],[0.2695568991789601,1.369013203495239]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.03802931057207881,0.8515210686985744,0.71338606911949],"aabb_xy":[[-0.10202930974184876,0.8047543815796119],[0.02597068859769112,0.8982877558175368]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.05302220804726543,0.6542376595242501,0.71338606911949],"aabb_xy":[[0.04744053641313666,0.6417376597064746],[0.05860387968139418,0.6667376593420256]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.297190271377448,1.2352760567065562,0.71338606911949],"aabb_xy":[[-0.351205867659348,1.171276053814299],[-0.24317467509554802,1.2992760595988133]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.567206195247091,-2.415464322023689,0.71338606911949],"aabb_xy":[[0.5173894157822563,-2.4654643205079925],[0.6170229747119258,-2.3654643235393857]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.3525916503481332,0.8622035724749737,0.71338606911949],"aabb_xy":[[0.3485134924410835,0.8581225922267103],[0.35666980825518296,0.8662845527232369]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.6143168180581654,-1.1781551135783221,0.71338606911949],"aabb_xy":[[-0.6225313631738492,-1.186831703875963],[-0.6061022729424812,-1.1694785232806804]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.27589707206992686,-1.629865446230667,0.71338606911949],"aabb_xy":[[0.22089707244818102,-1.6848491390181397],[0.3308970716916727,-1.5748817534431943]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.43353536565106676,-1.3415188935173585,0.71338606911949],"aabb_xy":[[0.4110389442172026,-1.364018893324106],[0.4560317870849308,-1.319018893710611]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[-0.6139644513967671,-2.532157941019163,0.71338606911949],"aabb_xy":[[-0.6227665067057397,-2.539969267174092],[-0.6051623960877943,-2.5243466148642337]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.07869436334849111,-2.3594283989672427,0.71338606911949],"aabb_xy":[[0.013694362391363913,-2.411376610900948],[0.14369436430561833,-2.3074801870335366]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.17166820225293833,-1.3739833484998254,0.71338606911949],"aabb_xy":[[0.14808307878904348,-1.438983350745257],[0.19525332571683318,-1.3089833462543934]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[0.2625636591025088,-1.152781613012608,0.71338606911949],"aabb_xy":[[0.20256365925594194,-1.2096002352056467],[0.3225636589490755,-1.0959629908195694]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[0.04848350075905339,-1.3403137912209473,0.71338606911949],"aabb_xy":[[-0.001493916106200199,-1.3903137927101956],[0.09846091762430696,-1.2903137897316985]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.6202138088950071,0.7772668544764603,0.71338606911949],"aabb_xy":[[0.61210015422163,0.7691610380224313],[0.6283274635683842,0.7853726709304895]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.6243844995793899,-1.5038411788951853,0.71338606911949],"aabb_xy":[[-0.6338019741492525,-1.5132573560329043],[-0.614967025009527,-1.4944250017574663]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.6401562096346629,-0.7796756975549619,0.71338606911949],"aabb_xy":[[0.6051562082831812,-0.8000354335117826],[0.6751562109861446,-0.759315961598141]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.5287063787478206,0.1709423619003867,0.71338606911949],"aabb_xy":[[0.5222047422398159,0.16117453987407693],[0.5352080152558252,0.18071018392669647]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.30976978268941036,0.6633767419896364,0.71338606911949],"aabb_xy":[[0.29219148050046345,0.6458022524155315],[0.32734808487835715,0.6809512315637413]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.5194996270083854,0.48803783756284247,0.71338606911949],"aabb_xy":[[-0.5407776351518576,0.42303783523676936],[-0.4982216188649131,0.5530378398889155]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.13686383954271508,0.7460593876435948,0.71338606911949],"aabb_xy":[[-0.15473294729717058,0.7322264796663839],[-0.11899473178825959,0.7598922956208057]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.14712817725846494,-1.2494483395333242,0.71338606911949],"aabb_xy":[[-0.2111281786664556,-1.3012372910572487],[-0.08312817585047429,-1.1976593880093993]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[0.1818533003913868,-1.0002830877457023,0.71338606911949],"aabb_xy":[[0.11185330398142497,-1.0207210233973836],[0.2518532968013485,-0.9798451520940202]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[-0.4422258818351477,-0.5335076155214975,0.71338606911949],"aabb_xy":[[-0.48441029599597846,-0.5975076157987087],[-0.400041467674317,-0.4695076152442863]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[-0.6100709460881035,-0.19626725403335055,0.71338606911949],"aabb_xy":[[-0.6226977333752999,-0.20581332773492345],[-0.5974441588009072,-0.18672118033177765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686737885306305,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7034.png","name":"7034"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8560.png","name":"8560"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8502.png","name":"8502"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":716.6364809063275,"rotation_z_degrees":257.00886592128484,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010448005107784186,-0.007276461837619279,-0.0066792551899699775]},{"name":"camera_2","offset_m":[-0.004428920435530665,0.01856666980355039,0.004265254266225895]},{"name":"camera_3","offset_m":[0.0006725283010711944,-0.0046250481970426666,-0.019731812340895206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011908737009737806,0.0016343287490625828,0.0007626155516426846],"end_effector_yaw_offset_degrees":-0.7887896811806407},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014441112072644605,0.0006079771269029621,0.0007933830512478501],"end_effector_yaw_offset_degrees":0.25939348218770686},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004194951770545776,-0.0018251737787771162,0.0007494058998952389],"end_effector_yaw_offset_degrees":-0.9973964397779647},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015871131692437247,-0.0012376152321862143,0.0012574092211589788],"end_effector_yaw_offset_degrees":-0.7242276027228907},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018629366232587284,-0.0016306450665868888,-0.0012791370617032483],"end_effector_yaw_offset_degrees":-0.4059181676269292},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0001146035739517286,0.0005492241954069533,0.0012100557417311377],"end_effector_yaw_offset_degrees":-0.29606084476585925}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003909370987741653,0.004295858028621602],"position_m":[0.34959062901225835,0.0680958580286216,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004706111520521334,3.113812516585945e-05],"position_m":[0.21910611152052134,-0.39136886187483416,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0022943691240820694,0.000620332479257882],"position_m":[0.2758943691240821,0.2958203324792579,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001843110905867208,-0.0044735837129173004],"position_m":[0.2683843110905867,-0.0929735837129173,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d09bd66977a4b8822d8b0886ca939eb5497cc20d6478d35cea13e019f43cf4ac","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8541/tex_ceiling_textures_8502/tex_floor_textures_8560/tex_table_textures_7034/tex_wall_textures_8873","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":7919656974850895464,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":7919656974850895464,"visual_seed":7919656974850895464,"scene_id":"lab_003","finished_at":"2026-09-08T23:33:35"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T23:33:42","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.46507197102236775,-1.409068806210729,0.71338606911949],"aabb_xy":[[-0.510064557740818,-1.4540688054851778],[-0.4200793843039173,-1.3640688069362803]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.11218764208548615,-1.1794019478744546,0.71338606911949],"aabb_xy":[[-0.19218764315860648,-1.189179994211839],[-0.032187641012365834,-1.1696239015370702]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.352221934162177,-0.1633112732784885,0.71338606911949],"aabb_xy":[[-0.4162219305577501,-0.22727456169722204],[-0.28822193776660393,-0.09934798485975493]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.36240062974530396,-1.3206682851501508,0.71338606911949],"aabb_xy":[[0.3124218212349881,-1.3706682851558696],[0.41237943825561985,-1.270668285144432]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.6328898028160784,1.4575671033675293,0.71338606911949],"aabb_xy":[[-0.6828630968193388,1.4075671028129817],[-0.5829165088128179,1.5075671039220764]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.16162402976072865,0.9484902207872414,0.71338606911949],"aabb_xy":[[-0.17768595721924627,0.8634902189746495],[-0.14556210230221098,1.033490222599833]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.3389517630576655,1.2417902748411258,0.71338606911949],"aabb_xy":[[0.3211582561227491,1.2239905292453281],[0.356745269992582,1.2595900204369235]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.17709033533316065,1.2493179749446286,0.71338606911949],"aabb_xy":[[-0.19264610474342594,1.2337675417002216],[-0.1615345659228954,1.264868408189036]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.14348709525229109,-1.1829409171472374,0.71338606911949],"aabb_xy":[[0.09348709660636989,-1.2328604608066998],[0.19348709389821228,-1.133021373487775]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[0.6292102440028751,0.9743663931837299,0.71338606911949],"aabb_xy":[[0.6066965521794179,0.9043663925827223],[0.6517239358263323,1.0443663937847374]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[0.0003373818371313897,-1.9191784939046328,0.71338606911949],"aabb_xy":[[-0.010074176843352323,-1.9245242272405312],[0.010748940517615102,-1.9138327605687344]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.3398630644662729,-1.836185751805611,0.71338606911949],"aabb_xy":[[-0.34582960340700863,-1.8421468964649752],[-0.33389652552553706,-1.830224607146247]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.5861104297226449,-1.7190866851320972,0.71338606911949],"aabb_xy":[[0.5221147323275482,-1.7830866834328054],[0.6501061271177414,-1.655086686831388]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.2565920170435767,-2.1371273702604716,0.71338606911949],"aabb_xy":[[0.22009619641629796,-2.173611312687229],[0.29308783767085544,-2.100643427833714]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.5783652237646972,-1.9984434708983905,0.71338606911949],"aabb_xy":[[0.5143652223567065,-2.050232422422315],[0.6423652251726878,-1.9466545193744658]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.2610757362817368,-1.2753287992401976,0.71338606911949],"aabb_xy":[[-0.26870000437191505,-1.2829620227767415],[-0.25345146819155856,-1.267695575703654]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.45730825547605125,-0.7465419630789953,0.71338606911949],"aabb_xy":[[0.38730825283946474,-0.7666468280748607],[0.5273082581126374,-0.7264370980831297]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.6102807350437435,0.2873482722377352,0.71338606911949],"aabb_xy":[[-0.615180027350307,0.2596713529351664],[-0.60538144273718,0.31502519154030395]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[0.06905017398227964,-2.2999772811418624,0.71338606911949],"aabb_xy":[[0.06024811867330692,-2.3077886072967915],[0.07785222929125234,-2.2921659549869333]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.034071136612197295,1.7181539757220716,0.71338606911949],"aabb_xy":[[-0.045943219623698406,1.6331539760284213],[-0.022199053600696184,1.803153975415722]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.39822871612263605,0.8352445045774193,0.71338606911949],"aabb_xy":[[-0.4332287174741178,0.8148847686205982],[-0.3632287147711543,0.8556042405342399]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.19143389224036267,-0.1831484168908486,0.71338606911949],"aabb_xy":[[-0.24143389168055826,-0.2331163413751649],[-0.14143389280016702,-0.1331804924065323]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.6602229685875445,-1.3249767931708638,0.71338606911949],"aabb_xy":[[0.6102229675684093,-1.361443008908692],[0.7102229696066799,-1.288510577433036]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[0.23739112507028604,-0.8513592833452694,0.71338606911949],"aabb_xy":[[0.17339112436681672,-0.8973776658181905],[0.30139112577375543,-0.8053409008723484]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.4874680288293236,0.2526072111633648,0.71338606911949],"aabb_xy":[[0.4074680266665612,0.1726520275372212],[0.5674680309920861,0.33256239478950844]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[0.49570905082657823,1.0457338067898512,0.71338606911949],"aabb_xy":[[0.4405838451969875,0.9857338053485639],[0.550834256456169,1.105733808231138]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.5518190494708073,-1.1202321833158975,0.71338606911949],"aabb_xy":[[-0.5646909529717473,-1.2002321837297334],[-0.538947145969867,-1.040232182902061]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[0.017326258021239882,1.4155017501274672,0.71338606911949],"aabb_xy":[[0.009198569827926665,1.4065881417167594],[0.025453946214553106,1.424415358538175]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[0.3159835290854949,-0.6374119862203267,0.71338606911949],"aabb_xy":[[0.3051319228366193,-0.6482712769479777],[0.3268351353343705,-0.6265526954926757]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[0.6256187124013852,-0.6509882803314537,0.71338606911949],"aabb_xy":[[0.60973421913606,-0.6653412206302777],[0.6415032056667103,-0.6366353400326296]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[0.23205724382446913,0.9039449484337427,0.71338606911949],"aabb_xy":[[0.182057968656033,0.8539449471577955],[0.2820565189929053,0.9539449497096898]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_31","position":[0.4942116788562043,-0.14057906346173388,0.71338606911949],"aabb_xy":[[0.4869293624795406,-0.2305790670712428],[0.5014939952328679,-0.05057905985222482]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_32","position":[-0.4385202102601613,-0.6080133881529768,0.71338606911949],"aabb_xy":[[-0.47311129311420647,-0.6730133884380076],[-0.40392912740611603,-0.5430133878679455]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_33","position":[0.29787028741216737,-0.5491166647106365,0.71338606911949],"aabb_xy":[[0.2796644637509197,-0.5601420652926281],[0.31607611107341504,-0.5380912641286448]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6686447342290183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5934.png","name":"5934"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5934.png","name":"5934"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5057.png","name":"5057"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/717.png","name":"717"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1038.png","name":"1038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4258.png","name":"4258"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":577.519120692714,"rotation_z_degrees":33.119591360589396,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004089209951650123,0.013714992489948789,7.732921492396502e-05]},{"name":"camera_2","offset_m":[0.004598222836611172,-0.01667324809026327,0.0017383587109814705]},{"name":"camera_3","offset_m":[0.011099121480540052,-0.013879944760557438,-0.010055167331553738]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006242819464685691,-0.0007076483520283513,0.0007981976302375974],"end_effector_yaw_offset_degrees":0.5520988762573478},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004112337416968344,-0.000216504881143027,-0.0007537203517752541],"end_effector_yaw_offset_degrees":-0.12596719868324358},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00033693438169005423,-6.439854138826453e-05,0.0007017913858821403],"end_effector_yaw_offset_degrees":0.12429176796274533},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00047008352359562437,0.000869682083469612,-0.00199764832056164],"end_effector_yaw_offset_degrees":-0.9350114612072107},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0007036366259256317,-0.0013325854441369077,-0.0013733749586069238],"end_effector_yaw_offset_degrees":0.6915920621786593},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008552863073123837,-0.0010815802672037563,0.0013511793523971046],"end_effector_yaw_offset_degrees":0.7391131477269088}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007854525401666144,-0.0009591255024375463],"position_m":[0.3527145474598334,0.06284087449756245,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003247215118732866,-0.0019325736876963993],"position_m":[0.21764721511873286,-0.3933325736876964,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0037848960673870927,-0.0036956454861903033],"position_m":[0.2773848960673871,0.29150435451380974,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023559513686024105,-0.0006780541988263954],"position_m":[0.2658440486313976,-0.08917805419882639,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"37ff1462e0c4e3b08164260f89ebdcfcd92b9d0782a8211a8ed25783f954357a","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0075.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5934/tex_ceiling_textures_4258/tex_floor_textures_1038/tex_table_textures_5057/tex_wall_textures_717","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1953491436655609932,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1953491436655609932,"visual_seed":1953491436655609932,"scene_id":"lab_003","finished_at":"2026-09-08T23:41:30"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T23:50:42","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.4137225229090558,0.16721937013004595,0.71338606911949],"aabb_xy":[[-0.4303996589021513,0.15051944615611568],[-0.3970453869159603,0.18391929410397623]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.46310694399083646,0.9425562851478286,0.71338606911949],"aabb_xy":[[-0.5431069426477224,0.928051426223566],[-0.38310694533395045,0.9570611440720915]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.3304847197673644,-0.48721470993893945,0.71338606911949],"aabb_xy":[[0.29298471910278556,-0.5029017679391615],[0.36798472043194297,-0.4715276519387172]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.7030018277221801,-1.1193918977953525,0.71338606911949],"aabb_xy":[[0.6897708821874987,-1.132619316817352],[0.7162327732568613,-1.106164478773353]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.21289966497775292,-1.734451863841249,0.71338606911949],"aabb_xy":[[-0.23539608641161705,-1.7569518636479962],[-0.19040324354388885,-1.7119518640345013]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.30607078981191105,1.2948851204768808,0.71338606911949],"aabb_xy":[[0.2210707911198364,1.262899257082002],[0.3910707885039857,1.3268709838717596]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.09945675480210836,-2.013109132430979,0.71338606911949],"aabb_xy":[[0.0833948273435907,-2.0981091342435705],[0.11551868226062599,-1.928109130618387]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.4179972315785307,-1.9668522386672946,0.71338606911949],"aabb_xy":[[-0.4679972329394179,-2.01683014324271],[-0.36799723021764347,-1.916874334091879]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.2119225354275951,-0.8209482980374345,0.71338606911949],"aabb_xy":[[-0.2184241719355997,-0.8307161200637444],[-0.20542089891959048,-0.8111804760111249]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.1073720866354263,-0.8840912554142082,0.71338606911949],"aabb_xy":[[-0.1298720866455746,-0.8981874750538115],[-0.08487208662527801,-0.8699950357746049]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.5399674867107283,-0.4082018065338011,0.71338606911949],"aabb_xy":[[0.5174674871870207,-0.4306977539844218],[0.5624674862344355,-0.3857058590831802]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.5483971747324843,-0.5498338967492571,0.71338606911949],"aabb_xy":[[0.47839717832252243,-0.5702718324009386],[0.618397171142446,-0.5293959610975751]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.00529976688493583,-2.431359509497933,0.71338606911949],"aabb_xy":[[-0.03746693999448436,-2.4953595129197352],[0.04806647376435602,-2.3673595060761303]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_13","position":[0.43212567546195335,-2.3136578215287633,0.71338606911949],"aabb_xy":[[0.36212567207039126,-2.348973595232194],[0.5021256788535151,-2.2783420478253325]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.605222610776414,-1.640331918904421,0.71338606911949],"aabb_xy":[[0.515222611358043,-1.673707415748611],[0.6952226101947848,-1.6069564220602315]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.3203682322066857,1.3382144720915004,0.71338606911949],"aabb_xy":[[-0.3674976112085213,1.2742144710470982],[-0.27323885320485,1.402214473135902]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[0.43486860996285537,-1.210042469460319,0.71338606911949],"aabb_xy":[[0.3850518304980206,-1.2600424679446223],[0.4846853894276901,-1.1600424709760155]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.11839181058040493,-1.1090484151860613,0.71338606911949],"aabb_xy":[[-0.13618531751532137,-1.126848160781859],[-0.1005983036454885,-1.0912486695902637]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[0.5443249349131731,-2.15128946422048,0.71338606911949],"aabb_xy":[[0.5351650559692965,-2.157820682264017],[0.5534848138570497,-2.144758246176943]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.6017289566753232,0.6437419152791559,0.71338606911949],"aabb_xy":[[0.5937026860446972,0.6349904203018034],[0.6097552273059492,0.6524934102565086]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.03696037640314709,0.6572519039680689,0.71338606911949],"aabb_xy":[[-0.10696037800542657,0.6438191107664113],[0.033039625199132394,0.6706846971697265]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.14997409720642507,-1.4789991480243927,0.71338606911949],"aabb_xy":[[-0.17996575994029537,-1.5089991473611932],[-0.11998243447255472,-1.4489991486875922]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.015090374757736558,-2.041558718136065,0.71338606911949],"aabb_xy":[[-0.06117546601246804,-2.1055587153886197],[0.030994716496994916,-1.9775587208835097]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.5612076803113464,-1.5241637552767733,0.71338606911949],"aabb_xy":[[-0.5673023081994647,-1.532733149828442],[-0.5551130524232281,-1.5155943607251046]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.6304574300551797,1.6793109721250317,0.71338606911949],"aabb_xy":[[0.5504574278924171,1.599355788498888],[0.7104574322179421,1.7592661557511753]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[-0.3993469068972535,0.29209684430531846,0.71338606911949],"aabb_xy":[[-0.4101873851237684,0.27491056301466965],[-0.3885064286707386,0.30928312559596727]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[-0.46884387726814697,1.5410141834278481,0.71338606911949],"aabb_xy":[[-0.5188281129763241,1.4910141846143525],[-0.4188596415599698,1.5910141822413437]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[-0.15604591089132636,0.9744073987437898,0.71338606911949],"aabb_xy":[[-0.17362421308027318,0.9568329091696849],[-0.13846760870237948,0.9919818883178947]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_28","position":[-0.6351668571136363,1.6208103954132214,0.71338606911949],"aabb_xy":[[-0.6686460243746772,1.5873312820421144],[-0.6016876898525954,1.6542895087843283]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6602082774426451,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8851.png","name":"8851"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8851.png","name":"8851"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/879.png","name":"879"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8110.png","name":"8110"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1019.png","name":"1019"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6576.png","name":"6576"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":537.1690401822319,"rotation_z_degrees":239.72910427168566,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018810267037947213,-0.009566499899386623,0.016061984736651474]},{"name":"camera_2","offset_m":[-0.017635927399025017,-0.011173062943344605,0.003307777030688165]},{"name":"camera_3","offset_m":[0.019619545431286193,0.010010279077207175,0.0050332410601494244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005066499139355978,-0.0008030670613650729,0.0005274273252492186],"end_effector_yaw_offset_degrees":0.92270935120195},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003206173666185385,0.0016740265379123435,0.00047894730798988486],"end_effector_yaw_offset_degrees":-0.16959094966695387},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017524055104488423,-0.00110045294690645,0.0018502827953270616],"end_effector_yaw_offset_degrees":0.909153133250012},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008750349825269697,0.0011751876258002548,0.000436655387704106],"end_effector_yaw_offset_degrees":-0.8594091632629455},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009293475801273878,-0.00046600224473255245,-0.00026448036306154555],"end_effector_yaw_offset_degrees":-0.025794370913024167},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017984943913945187,3.7700585588284347e-05,0.000668804976302085],"end_effector_yaw_offset_degrees":0.012052434460702921}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00053","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005528775937280852,0.0017204170238312843],"position_m":[0.3529471224062719,0.06552041702383128,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00488408901044394,0.0012371927470605304],"position_m":[0.20951591098955608,-0.3901628072529395,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004001516443970663,0.0014884594288898153],"position_m":[0.2776015164439707,0.29668845942888983,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034813891961334655,-0.004180184435400608],"position_m":[0.26471861080386655,-0.0926801844354006,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"4bc2226d281d2dbd462f39098bcec4c765be31c9e8f7738f4d2827ccf051f37b","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8851/tex_ceiling_textures_6576/tex_floor_textures_1019/tex_table_textures_879/tex_wall_textures_8110","seeds":{"action_seed":6843919548868063803,"physical_seed":7423332855794837018,"visual_seed":1405499622943548085,"layout_id":"layout_00053","physical_randomization_enabled":true},"episode_seed":1405499622943548085,"visual_seed":1405499622943548085,"scene_id":"lab_003","finished_at":"2026-09-08T23:58:32"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5556195bd5d52ddc54864ce69ceaa2558aed7676
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00053
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00053
+  reproducibility:
+    enabled: true
+    layout_id: layout_00053
+    action_seed: 6843919548868063803
+    step_seeds:
+    - 5199353700918230458
+    - 1290258848948700541
+    - 5893590780811652695
+    - 2449246150117278785
+    - 2247268171952805441
+    - 6185228844831420462
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3535
+      - 0.3535
+      'y':
+      - 0.0638
+      - 0.0638
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2682
+      - 0.2682
+      'y':
+      - -0.0885
+      - -0.0885
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2144
+      - 0.2144
+      'y':
+      - -0.3914
+      - -0.3914
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2736
+      - 0.2736
+      'y':
+      - 0.2952
+      - 0.2952
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..047b56d8eec5e5020d61dc63b419f988e605a2a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_19_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37825508526366247,
+              0.06302979279602222,
+              1.1664709756713387
+            ],
+            "current_z": 1.1664709756713387,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30536446765657266,
+            "gripper_z": 1.1561019026210264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3731784168724964,
+              0.0581690498335892,
+              1.1561019026210264
+            ],
+            "object_minus_gripper": [
+              0.00507666839116605,
+              0.004860742962433023,
+              0.010369073050312316
+            ],
+            "object_to_gripper_xy": 0.007028469541849538,
+            "object_to_gripper_z": 0.010369073050312316,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37825508526366247,
+              0.03890832600282508,
+              1.1664709756713387
+            ],
+            "finger_b": [
+              0.3672983266454833,
+              0.06302979279602222,
+              1.1664709756713387
+            ],
+            "finger_midpoint": [
+              0.3727767059545729,
+              0.05096905939942365,
+              1.1664709756713387
+            ],
+            "object_minus_finger_midpoint": [
+              0.005478379309089565,
+              0.01206073339659857,
+              0.0
+            ],
+            "finger_gap": 0.02649331462222793,
+            "fingertip_max_gap": 0.0911290463703738,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013246657311113954,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664709756713387,
+            "object_top_z": 1.2163181418643356,
+            "finger_top_clearance": 0.049847166192996895,
+            "fingertip_min_top_clearance": 0.0149541498578991,
+            "object_projection_between_fingers": 0.8289623998945552,
+            "object_to_finger_line_xy": 0.009975840808825898,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048064523185186905,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9922583272221916,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2777877492354254,
+              -0.3938785667655998,
+              0.851539572323416
+            ],
+            "target_position": [
+              0.2701014832809416,
+              -0.39496275104589207,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007762354016449493,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18508292755480876,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539572323416,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753502278578044,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857099017536921,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15333226927852214,
+            "release_required_pad_clearance": 0.05285495087684605,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7527707646556651,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008283555507659912,
+            "max_z_decrease": 0.008283555507659912,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499036881464587,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008283555507659912,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020967299284023612,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008283555507659912,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008283673180267407,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1258014142513275,
+              -0.45122420787811274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1258014142513275,
+              -0.45122420787811274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1254696975731401,
+              -0.451938343577173,
+              0.8035058966788994
+            ],
+            "closest_button": [
+              0.12583616375923157,
+              -0.4511969685554504,
+              0.7685253024101257
+            ],
+            "closest_ee_minus_button": [
+              -0.00036646618609145754,
+              -0.0007413750217226123,
+              0.034980594268773646
+            ],
+            "button_min_z_position": [
+              0.12583616375923157,
+              -0.4511969685554504,
+              0.7685253024101257
+            ],
+            "min_active_finger_to_button": 0.14609784745187318,
+            "closest_active_finger": [
+              -0.015508122742176056,
+              -0.43756937980651855,
+              0.8109675049781799
+            ],
+            "closest_active_finger_button": [
+              0.12580248713493347,
+              -0.4512221813201904,
+              0.7764784693717957
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14131060987710953,
+              0.01365280151367182,
+              0.03448903560638428
+            ],
+            "min_contact_pad_to_button": 0.020967299284023612,
+            "closest_contact_pad": [
+              0.12583616375923157,
+              -0.45296790964571776,
+              0.7894176791758415
+            ],
+            "closest_contact_pad_button": [
+              0.12583616375923157,
+              -0.4511969685554504,
+              0.7685253024101257
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001770941090267375,
+              0.02089237676571576
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26835437107891824,
+              0.18166972009744434,
+              1.115329856317718
+            ],
+            "current_z": 1.115329856317718,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20542072658335553,
+            "gripper_z": 1.1153299971863475,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2683542432555094,
+              0.1816698583139859,
+              1.1153299971863475
+            ],
+            "object_minus_gripper": [
+              1.278234088575303e-07,
+              -1.382165415730885e-07,
+              -1.408686294279704e-07
+            ],
+            "object_to_gripper_xy": 1.8826214759314911e-07,
+            "object_to_gripper_z": -1.408686294279704e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26835437107891824,
+              0.18166972009744434,
+              1.115329856317718
+            ],
+            "finger_b": [
+              0.26835437107891824,
+              0.18166972009744434,
+              1.115329856317718
+            ],
+            "finger_midpoint": [
+              0.26835437107891824,
+              0.18166972009744434,
+              1.115329856317718
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.115329856317718,
+            "object_top_z": 1.2403383629379978,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2683543710789183,
+            0.18166972009744434,
+            1.1153298563177183
+          ],
+          "object_origin_world": [
+            0.2683543710789183,
+            0.18166972009744434,
+            1.1153298563177183
+          ],
+          "frame_world": [
+            0.2683542432555094,
+            0.1816698583139859,
+            1.1153299971863475
+          ],
+          "center_minus_frame": [
+            1.2782340891304145e-07,
+            -1.382165415730885e-07,
+            -1.408686292059258e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433456115919326,
+            "required_z": 0.9112599045247172,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00034535334307729266,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.040516676009091e-07,
+            "max_target_xy_drift": 3.6603961194670043e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7527707645699655,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7527707647249026,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27771090753336547,
+              -0.3942053753954504,
+              0.9234708366788628
+            ],
+            "target_mouth_xy": [
+              0.2777876000612496,
+              -0.3938780029369198
+            ],
+            "rod_tip_z": 0.9234708366788628,
+            "rod_tip_depth": -0.02221098176017977,
+            "rod_tip_bottom_clearance": 0.12165154257313537,
+            "rod_tip_xy_dist": 0.0003362357364076902,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04481143077987748,
+            "min_rod_tip_bottom_clearance": 0.05462927427992459,
+            "min_rod_tip_xy_dist": 9.619847513028793e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2777876582703841,
+              -0.3938783013646552
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.820913451248799e-08,
+              2.98427735356821e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00040425602096710866,
+                0.001333744414615201
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0003154571291994479,
+                0.0009754152658591475
+              ],
+              "first_target_mouth_xy": [
+                0.27778765905267494,
+                -0.39387829753317405
+              ],
+              "last_target_mouth_xy": [
+                0.27778766050265874,
+                -0.39387830006283603
+              ],
+              "first_rod_tip_xy": [
+                0.27819191507364205,
+                -0.39254455311855885
+              ],
+              "last_rod_tip_xy": [
+                0.2781031176318582,
+                -0.3929028847969769
+              ],
+              "min_rod_tip_xy_dist": 0.0010251576177514503,
+              "max_rod_tip_xy_dist": 0.0013936631924555533,
+              "first_target_xy_drift": 3.910527666575727e-09,
+              "last_target_xy_drift": 2.5841407057544816e-09,
+              "max_depth": 0.019481768037510894,
+              "min_bottom_clearance": 0.07995875706903177
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00040425602096710866,
+                  0.001333744414615201
+                ],
+                "rod_tip_xy": [
+                  0.27819191507364205,
+                  -0.39254455311855885
+                ],
+                "target_mouth_xy": [
+                  0.27778765905267494,
+                  -0.39387829753317405
+                ],
+                "gripper_position": [
+                  0.2781818326023221,
+                  -0.39255426722145226,
+                  1.0059159306321523
+                ],
+                "rod_tip_xy_dist": 0.0013936631924555533,
+                "target_xy_drift": 3.910527666575727e-09,
+                "depth": 0.01518611415820692,
+                "bottom_clearance": 0.08425447175398115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00039414294197315236,
+                  0.0013240610636848782
+                ],
+                "rod_tip_xy": [
+                  0.27818183260232204,
+                  -0.39255426722145226
+                ],
+                "target_mouth_xy": [
+                  0.2777876896603489,
+                  -0.39387832828513714
+                ],
+                "gripper_position": [
+                  0.278174372023217,
+                  -0.3925583866440216,
+                  1.005777733048207
+                ],
+                "rod_tip_xy_dist": 0.0013814797715035797,
+                "target_xy_drift": 4.1352656969679145e-08,
+                "depth": 0.015343901890654599,
+                "bottom_clearance": 0.08409661919261613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0003867110464637613,
+                  0.001319912781862831
+                ],
+                "rod_tip_xy": [
+                  0.27817437202321693,
+                  -0.39255838664402165
+                ],
+                "target_mouth_xy": [
+                  0.27778766097675317,
+                  -0.3938782994258845
+                ],
+                "gripper_position": [
+                  0.27818281021495045,
+                  -0.39262446120947414,
+                  1.0052430419405725
+                ],
+                "rod_tip_xy_dist": 0.0013753963738435456,
+                "target_xy_drift": 3.3291538543984248e-09,
+                "depth": 0.015482087039763393,
+                "bottom_clearance": 0.08395843409949544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00039518008648320446,
+                  0.0012538356897002778
+                ],
+                "rod_tip_xy": [
+                  0.27818281021495045,
+                  -0.39262446120947414
+                ],
+                "target_mouth_xy": [
+                  0.27778763012846724,
+                  -0.3938782968991744
+                ],
+                "gripper_position": [
+                  0.27817274595651387,
+                  -0.392633875821495,
+                  1.0050850667906603
+                ],
+                "rod_tip_xy_dist": 0.0013146373026500671,
+                "target_xy_drift": 2.8493999413421548e-08,
+                "depth": 0.016016816013386115,
+                "bottom_clearance": 0.08342375804033886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00038508711488038916,
+                  0.0012444255216487177
+                ],
+                "rod_tip_xy": [
+                  0.2781727459565138,
+                  -0.3926338758214949
+                ],
+                "target_mouth_xy": [
+                  0.2777876588416334,
+                  -0.3938783013431436
+                ],
+                "gripper_position": [
+                  0.2781648965385196,
+                  -0.392638167508194,
+                  1.0049473014729762
+                ],
+                "rod_tip_xy_dist": 0.0013026461395857223,
+                "target_xy_drift": 5.71654213383175e-10,
+                "depth": 0.016174820058609707,
+                "bottom_clearance": 0.0832657859317193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00037723425070596006,
+                  0.0012400976636778305
+                ],
+                "rod_tip_xy": [
+                  0.27816489653851956,
+                  -0.392638167508194
+                ],
+                "target_mouth_xy": [
+                  0.2777876622878136,
+                  -0.39387826517187186
+                ],
+                "gripper_position": [
+                  0.27817423813327646,
+                  -0.3927049743873363,
+                  1.004414230266053
+                ],
+                "rod_tip_xy_dist": 0.0012962051903016361,
+                "target_xy_drift": 3.641506974679678e-08,
+                "depth": 0.016312662858035343,
+                "bottom_clearance": 0.08312805841417814,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00038658093205345967,
+                  0.0011733545516572907
+                ],
+                "rod_tip_xy": [
+                  0.27817423813327646,
+                  -0.3927049743873363
+                ],
+                "target_mouth_xy": [
+                  0.277787657201223,
+                  -0.3938783289389936
+                ],
+                "gripper_position": [
+                  0.27816394332667876,
+                  -0.3927145108801293,
+                  1.0042569557381305
+                ],
+                "rod_tip_xy_dist": 0.0012353969891991008,
+                "target_xy_drift": 2.7595058342898222e-08,
+                "depth": 0.016845612924808462,
+                "bottom_clearance": 0.08259498865332304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0003762820776873621,
+                  0.0011637888568193366
+                ],
+                "rod_tip_xy": [
+                  0.2781639433266787,
+                  -0.3927145108801292
+                ],
+                "target_mouth_xy": [
+                  0.27778766124899135,
+                  -0.39387829973694855
+                ],
+                "gripper_position": [
+                  0.27815622528061457,
+                  -0.3927180387370363,
+                  1.0041186547861405
+                ],
+                "rod_tip_xy_dist": 0.0012231078060602738,
+                "target_xy_drift": 3.3943379386163212e-09,
+                "depth": 0.017002812499506414,
+                "bottom_clearance": 0.08243773018982126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00036856518575839603,
+                  0.0011602597420760086
+                ],
+                "rod_tip_xy": [
+                  0.2781562252806145,
+                  -0.39271803873703637
+                ],
+                "target_mouth_xy": [
+                  0.2777876600948561,
+                  -0.3938782984791124
+                ],
+                "gripper_position": [
+                  0.2781484811918594,
+                  -0.3927216478383121,
+                  1.0039803784141406
+                ],
+                "rod_tip_xy_dist": 0.0012173918700383237,
+                "target_xy_drift": 3.4139501200040427e-09,
+                "depth": 0.0171411705218667,
+                "bottom_clearance": 0.08229934146864237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0003608210137588941,
+                  0.0011566845801809222
+                ],
+                "rod_tip_xy": [
+                  0.27814848119185936,
+                  -0.3927216478383121
+                ],
+                "target_mouth_xy": [
+                  0.27778766017810047,
+                  -0.393878332418493
+                ],
+                "gripper_position": [
+                  0.27815919688700225,
+                  -0.39279100478228324,
+                  1.0034493322098248
+                ],
+                "rod_tip_xy_dist": 0.0012116563134809773,
+                "target_xy_drift": 3.1112380590623775e-08,
+                "depth": 0.01727949172474441,
+                "bottom_clearance": 0.08216111057832276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0003715368607531966,
+                  0.001087320009536763
+                ],
+                "rod_tip_xy": [
+                  0.2781591968870022,
+                  -0.39279100478228335
+                ],
+                "target_mouth_xy": [
+                  0.277787660026249,
+                  -0.3938783247918201
+                ],
+                "gripper_position": [
+                  0.2781488319808753,
+                  -0.39280039501823544,
+                  1.0032913985589194
+                ],
+                "rod_tip_xy_dist": 0.0011490450130597003,
+                "target_xy_drift": 2.3492873774968327e-08,
+                "depth": 0.0178105561989651,
+                "bottom_clearance": 0.08163008148043793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00036117281336739415,
+                  0.0010779075932967341
+                ],
+                "rod_tip_xy": [
+                  0.2781488319808753,
+                  -0.3928003950182354
+                ],
+                "target_mouth_xy": [
+                  0.2777876591675079,
+                  -0.3938783026115321
+                ],
+                "gripper_position": [
+                  0.2781409022769746,
+                  -0.3928040980845265,
+                  1.003153507103882
+                ],
+                "rod_tip_xy_dist": 0.0011368071871704875,
+                "target_xy_drift": 1.5360772242803565e-09,
+                "depth": 0.0179685015657719,
+                "bottom_clearance": 0.08147213794179764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00035324079763565663,
+                  0.001074200066404074
+                ],
+                "rod_tip_xy": [
+                  0.2781409022769745,
+                  -0.39280409808452654
+                ],
+                "target_mouth_xy": [
+                  0.27778766147933887,
+                  -0.3938782981509306
+                ],
+                "gripper_position": [
+                  0.2781330373823744,
+                  -0.39280733722101013,
+                  1.0030154950993304
+                ],
+                "rod_tip_xy_dist": 0.0011307894780978429,
+                "target_xy_drift": 4.541521362008556e-09,
+                "depth": 0.018106334222783182,
+                "bottom_clearance": 0.08133424109456655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003453758820151642,
+                  0.0010709929570280052
+                ],
+                "rod_tip_xy": [
+                  0.2781330373823743,
+                  -0.39280733722101024
+                ],
+                "target_mouth_xy": [
+                  0.27778766150035916,
+                  -0.39387833017803825
+                ],
+                "gripper_position": [
+                  0.27812502806855627,
+                  -0.3928111181184467,
+                  1.002877734366177
+                ],
+                "rod_tip_xy_dist": 0.0011253045871591138,
+                "target_xy_drift": 2.8993857673073492e-08,
+                "depth": 0.018244346141067846,
+                "bottom_clearance": 0.08119622881872879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003373993282332344,
+                  0.0010671791080635318
+                ],
+                "rod_tip_xy": [
+                  0.27812502806855627,
+                  -0.3928111181184468
+                ],
+                "target_mouth_xy": [
+                  0.27778762874032303,
+                  -0.39387829722651035
+                ],
+                "gripper_position": [
+                  0.27813798185353245,
+                  -0.3928830692604903,
+                  1.0023489889839092
+                ],
+                "rod_tip_xy_dist": 0.0011192450828033658,
+                "target_xy_drift": 2.9818597368051245e-08,
+                "depth": 0.01838216054236763,
+                "bottom_clearance": 0.08105845604903161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00035031958669212715,
+                  0.000995262184960377
+                ],
+                "rod_tip_xy": [
+                  0.27813798185353245,
+                  -0.3928830692604903
+                ],
+                "target_mouth_xy": [
+                  0.2777876622668403,
+                  -0.3938783314454507
+                ],
+                "gripper_position": [
+                  0.278127403522222,
+                  -0.39289224162215297,
+                  1.0021913585259354
+                ],
+                "rod_tip_xy_dist": 0.0010551164057260444,
+                "target_xy_drift": 3.034511363489848e-08,
+                "depth": 0.018910940627689277,
+                "bottom_clearance": 0.08052970875893517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00033974410336901073,
+                  0.0009860276910831356
+                ],
+                "rod_tip_xy": [
+                  0.278127403522222,
+                  -0.39289224162215297
+                ],
+                "target_mouth_xy": [
+                  0.277787659418853,
+                  -0.3938782693132361
+                ],
+                "gripper_position": [
+                  0.27811931767928444,
+                  -0.3928958340531563,
+                  1.0020539038016087
+                ],
+                "rod_tip_xy_dist": 0.001042917380887265,
+                "target_xy_drift": 3.2071988485882914e-08,
+                "depth": 0.019068416842874525,
+                "bottom_clearance": 0.08037209905987397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00033168887721124474,
+                  0.0009825262651531608
+                ],
+                "rod_tip_xy": [
+                  0.2781193176792844,
+                  -0.3928958340531563
+                ],
+                "target_mouth_xy": [
+                  0.27778762880207314,
+                  -0.3938783603183095
+                ],
+                "gripper_position": [
+                  0.2781112618675521,
+                  -0.3928993105044904,
+                  1.0019160152795676
+                ],
+                "rod_tip_xy_dist": 0.0010370030727926873,
+                "target_xy_drift": 6.590838114428817e-08,
+                "depth": 0.01920597873918195,
+                "bottom_clearance": 0.08023461347562788,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003236023804856769,
+                  0.0009789572225307186
+                ],
+                "rod_tip_xy": [
+                  0.27811126186755203,
+                  -0.39289931050449045
+                ],
+                "target_mouth_xy": [
+                  0.27778765948706635,
+                  -0.39387826772702117
+                ],
+                "gripper_position": [
+                  0.27810311763185824,
+                  -0.39290288479697677,
+                  1.0017780594690475
+                ],
+                "rod_tip_xy_dist": 0.0010310556455405575,
+                "target_xy_drift": 3.365963068133489e-08,
+                "depth": 0.01934384530210076,
+                "bottom_clearance": 0.0800967238234761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0003154571291994479,
+                  0.0009754152658591475
+                ],
+                "rod_tip_xy": [
+                  0.2781031176318582,
+                  -0.3929028847969769
+                ],
+                "target_mouth_xy": [
+                  0.27778766050265874,
+                  -0.39387830006283603
+                ],
+                "gripper_position": [
+                  0.2780950592262842,
+                  -0.39290646165790766,
+                  1.0016404558004133
+                ],
+                "rod_tip_xy_dist": 0.0010251576177514503,
+                "target_xy_drift": 2.5841407057544816e-09,
+                "depth": 0.019481768037510894,
+                "bottom_clearance": 0.07995875706903177,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005971674508434364,
+              "rod_tip_xy_max_step": 3.252152897338409e-05,
+              "rod_tip_xy_range": 0.0005971625259832434,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2777109075333655,
+            -0.3942053753954504,
+            1.043470836678863
+          ],
+          "object_origin_world": [
+            0.2777109075333655,
+            -0.3942053753954504,
+            1.043470836678863
+          ],
+          "frame_world": [
+            0.2777095101505122,
+            -0.3942144117617382,
+            1.0433456115919326
+          ],
+          "center_minus_frame": [
+            1.397382853318696e-06,
+            9.036366287795694e-06,
+            0.0001252250869303584
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24771127244999797,
+              0.14014268687067183,
+              0.8333331355438257
+            ],
+            "target_position": [
+              0.26014689365468274,
+              0.18573971190809635,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047262388503015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.164717014275286,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333331355438257,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567280284397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13412140329633232,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0698156cb8507fd05e8fa3f8bddc9d503add714320703f52f384637fc2c5b6dc",
+    "visual_seed": 4993710512924349924,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bc3257a82460c1c06e1b0235fded527f8cdb5c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_20_success.json
@@ -0,0 +1,2009 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37897495382106366,
+              0.05975089619625838,
+              1.16404619975592
+            ],
+            "current_z": 1.16404619975592,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30293951292721966,
+            "gripper_z": 1.1537470322917078,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37398864050509856,
+              0.0549284310108189,
+              1.1537470322917078
+            ],
+            "object_minus_gripper": [
+              0.004986313315965107,
+              0.004822465185439481,
+              0.010299167464212111
+            ],
+            "object_to_gripper_xy": 0.006936821386611219,
+            "object_to_gripper_z": 0.010299167464212111,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37897495382106366,
+              0.035571383904024756,
+              1.16404619975592
+            ],
+            "finger_b": [
+              0.3682250205753631,
+              0.05975089619625838,
+              1.16404619975592
+            ],
+            "finger_midpoint": [
+              0.3735999871982134,
+              0.04766114005014157,
+              1.16404619975592
+            ],
+            "object_minus_finger_midpoint": [
+              0.005374966622850252,
+              0.012089756146116813,
+              0.0
+            ],
+            "finger_gap": 0.026461479162686565,
+            "fingertip_max_gap": 0.09160482716675147,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01323073958134327,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16404619975592,
+            "object_top_z": 1.2138958151972141,
+            "finger_top_clearance": 0.04984961544129418,
+            "fingertip_min_top_clearance": 0.014954884632388254,
+            "object_projection_between_fingers": 0.8349622475003006,
+            "object_to_finger_line_xy": 0.009822887883819917,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830241358337574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4503091861556665,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27578894604538723,
+              -0.39558857896453903,
+              0.8515395107827592
+            ],
+            "target_position": [
+              0.26974529449435736,
+              -0.3959479861541038,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006054328831355019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18425109339674298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395107827592,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563384951275914,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876515714639617,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15172974826973099,
+            "release_required_pad_clearance": 0.05382578573198085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6609133299728533,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008227765560150146,
+            "max_z_decrease": 0.008227765560150146,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499746123564206,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008227765560150146,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020978020760580418,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008227765560150146,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008227863940228541,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12544521689414978,
+              -0.45220944285392756,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12544521689414978,
+              -0.45220944285392756,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12584256716888503,
+              -0.4528688053475115,
+              0.8036429088519853
+            ],
+            "closest_button": [
+              0.12547218799591064,
+              -0.4521809816360473,
+              0.7686541676521301
+            ],
+            "closest_ee_minus_button": [
+              0.0003703791729743888,
+              -0.0006878237114641972,
+              0.03498874119985518
+            ],
+            "button_min_z_position": [
+              0.12547282874584198,
+              -0.45218017697334284,
+              0.7685810923576355
+            ],
+            "min_active_finger_to_button": 0.14534456289622913,
+            "closest_active_finger": [
+              -0.014789693057537079,
+              -0.4355956017971039,
+              0.8108912110328674
+            ],
+            "closest_active_finger_button": [
+              0.12544593214988708,
+              -0.4522071480751037,
+              0.7764954566955566
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14023562520742416,
+              0.016611546277999822,
+              0.03439575433731079
+            ],
+            "min_contact_pad_to_button": 0.020978020760580418,
+            "closest_contact_pad": [
+              0.12547282874584198,
+              -0.4541667956730978,
+              0.7894648348664179
+            ],
+            "closest_contact_pad_button": [
+              0.12547282874584198,
+              -0.45218017697334284,
+              0.7685810923576355
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019866186997549717,
+              0.020883742508782444
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26956265827616743,
+              0.17434827503128056,
+              1.1129579122125652
+            ],
+            "current_z": 1.1129579122125652,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20304878247820268,
+            "gripper_z": 1.1129580329336504,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26956260599893866,
+              0.1743483064596355,
+              1.1129580329336504
+            ],
+            "object_minus_gripper": [
+              5.227722876810503e-08,
+              -3.142835494629459e-08,
+              -1.2072108512839463e-07
+            ],
+            "object_to_gripper_xy": 6.099713224654965e-08,
+            "object_to_gripper_z": -1.2072108512839463e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26956265827616743,
+              0.17434827503128056,
+              1.1129579122125652
+            ],
+            "finger_b": [
+              0.26956265827616743,
+              0.17434827503128056,
+              1.1129579122125652
+            ],
+            "finger_midpoint": [
+              0.26956265827616743,
+              0.17434827503128056,
+              1.1129579122125652
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1129579122125652,
+            "object_top_z": 1.237966418832845,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2695626582761675,
+            0.1743482750312806,
+            1.1129579122125652
+          ],
+          "object_origin_world": [
+            0.2695626582761675,
+            0.1743482750312806,
+            1.1129579122125652
+          ],
+          "frame_world": [
+            0.26956260599893866,
+            0.1743483064596355,
+            1.1129580329336504
+          ],
+          "center_minus_frame": [
+            5.2277228823616184e-08,
+            -3.1428354918539014e-08,
+            -1.2072108512839463e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433373698792046,
+            "required_z": 0.9112598386851228,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024432637829636195,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.421055483389838e-08,
+            "max_target_xy_drift": 1.066145011535024e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.6609133299347625,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.660913329978197,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27337875228184444,
+              -0.39518877104402605,
+              0.9234607421120723
+            ],
+            "target_mouth_xy": [
+              0.2757890053856098,
+              -0.3955886113080862
+            ],
+            "rod_tip_z": 0.9234607421120723,
+            "rod_tip_depth": -0.022200879756974157,
+            "rod_tip_bottom_clearance": 0.12164145508264013,
+            "rod_tip_xy_dist": 0.0024431930461947192,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04524250326344015,
+            "min_rod_tip_bottom_clearance": 0.05419809061958303,
+            "min_rod_tip_xy_dist": 0.0009460445854994231,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2757889796466422,
+              -0.3955886472535825
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.5738967623922804e-08,
+              3.594549630170363e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.001820960150286488,
+                0.0020789996871435346
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001928929084708264,
+                0.0017160425411747449
+              ],
+              "first_target_mouth_xy": [
+                0.27578900672141243,
+                -0.3955886119301113
+              ],
+              "last_target_mouth_xy": [
+                0.2757890068543844,
+                -0.3955886401622766
+              ],
+              "first_rod_tip_xy": [
+                0.27396804657112594,
+                -0.39350961224296777
+              ],
+              "last_rod_tip_xy": [
+                0.27386007776967614,
+                -0.3938725976211018
+              ],
+              "min_rod_tip_xy_dist": 0.0025659467442236223,
+              "max_rod_tip_xy_dist": 0.002765112089119767,
+              "first_target_xy_drift": 4.4506076017268156e-08,
+              "last_target_xy_drift": 2.8116682891855255e-08,
+              "max_depth": 0.01944438685353911,
+              "min_bottom_clearance": 0.07999617728821817
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001820960150286488,
+                  0.0020789996871435346
+                ],
+                "rod_tip_xy": [
+                  0.27396804657112594,
+                  -0.39350961224296777
+                ],
+                "target_mouth_xy": [
+                  0.27578900672141243,
+                  -0.3955886119301113
+                ],
+                "gripper_position": [
+                  0.2739580203684271,
+                  -0.39351936113165586,
+                  1.0059264087416155
+                ],
+                "rod_tip_xy_dist": 0.0027637177077397585,
+                "target_xy_drift": 4.4506076017268156e-08,
+                "depth": 0.015177831698820698,
+                "bottom_clearance": 0.08426278031694423,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018309535070828442,
+                  0.002069213755878263
+                ],
+                "rod_tip_xy": [
+                  0.27395802036842704,
+                  -0.39351936113165586
+                ],
+                "target_mouth_xy": [
+                  0.2757889738755099,
+                  -0.39558857488753413
+                ],
+                "gripper_position": [
+                  0.273950541616767,
+                  -0.3935232810618538,
+                  1.0057901054261502
+                ],
+                "rod_tip_xy_dist": 0.002762975988425306,
+                "target_xy_drift": 7.25958051508612e-08,
+                "depth": 0.015333542151584889,
+                "bottom_clearance": 0.08410717873560924,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018384394927409287,
+                  0.0020654261296223497
+                ],
+                "rod_tip_xy": [
+                  0.2739505416167669,
+                  -0.39352328106185386
+                ],
+                "target_mouth_xy": [
+                  0.27578898110950784,
+                  -0.3955887071914762
+                ],
+                "gripper_position": [
+                  0.2739543251753478,
+                  -0.39359082735824175,
+                  1.00525554258898
+                ],
+                "rod_tip_xy_dist": 0.002765112089119767,
+                "target_xy_drift": 5.995574265738078e-08,
+                "depth": 0.015469658873339176,
+                "bottom_clearance": 0.08397086363913098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018346509951132073,
+                  0.001997781412077293
+                ],
+                "rod_tip_xy": [
+                  0.2739543251753477,
+                  -0.3935908273582418
+                ],
+                "target_mouth_xy": [
+                  0.2757889761704609,
+                  -0.3955886087703191
+                ],
+                "gripper_position": [
+                  0.27394427406485444,
+                  -0.3936002095902154,
+                  1.0050997987236565
+                ],
+                "rod_tip_xy_dist": 0.002712392826327231,
+                "target_xy_drift": 3.863994563879949e-08,
+                "depth": 0.01600427756111944,
+                "bottom_clearance": 0.08343622922499472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018447064418821157,
+                  0.0019884674961178628
+                ],
+                "rod_tip_xy": [
+                  0.27394427406485433,
+                  -0.39360020959021547
+                ],
+                "target_mouth_xy": [
+                  0.27578898050673645,
+                  -0.39558867708633333
+                ],
+                "gripper_position": [
+                  0.2739364956516147,
+                  -0.39360421194301615,
+                  1.004963361867884
+                ],
+                "rod_tip_xy_dist": 0.002712368861316362,
+                "target_xy_drift": 2.984514674047468e-08,
+                "depth": 0.01616001505314746,
+                "bottom_clearance": 0.08328047395446292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018524816437506253,
+                  0.001984369527319063
+                ],
+                "rod_tip_xy": [
+                  0.27393649565161465,
+                  -0.3936042119430162
+                ],
+                "target_mouth_xy": [
+                  0.2757889772953653,
+                  -0.39558858147033527
+                ],
+                "gripper_position": [
+                  0.273941259886328,
+                  -0.3936728317493049,
+                  1.0044312618976199
+                ],
+                "rod_tip_xy_dist": 0.002714665847095274,
+                "target_xy_drift": 6.582525442613204e-08,
+                "depth": 0.01629649595028615,
+                "bottom_clearance": 0.08314410887333346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001847714875593709,
+                  0.00191574691814822
+                ],
+                "rod_tip_xy": [
+                  0.2739412598863279,
+                  -0.393672831749305
+                ],
+                "target_mouth_xy": [
+                  0.2757889747619216,
+                  -0.39558857866745323
+                ],
+                "gripper_position": [
+                  0.27393099130656673,
+                  -0.39368225357823045,
+                  1.0042753595316087
+                ],
+                "rod_tip_xy_dist": 0.002661604124561855,
+                "target_xy_drift": 6.875985474191972e-08,
+                "depth": 0.016828599147412637,
+                "bottom_clearance": 0.08261195804027355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001857984666088941,
+                  0.0019063586752388062
+                ],
+                "rod_tip_xy": [
+                  0.2739309913065666,
+                  -0.3936822535782305
+                ],
+                "target_mouth_xy": [
+                  0.27578897597265556,
+                  -0.3955886122534693
+                ],
+                "gripper_position": [
+                  0.2739231662682209,
+                  -0.3936860500006172,
+                  1.004138806469484
+                ],
+                "rod_tip_xy_dist": 0.0026620124751923855,
+                "target_xy_drift": 3.519241539621133e-08,
+                "depth": 0.016984509480999055,
+                "bottom_clearance": 0.0824560869344797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018658103463017883,
+                  0.0019025279889846591
+                ],
+                "rod_tip_xy": [
+                  0.2739231662682208,
+                  -0.3936860500006173
+                ],
+                "target_mouth_xy": [
+                  0.27578897661452256,
+                  -0.39558857798960195
+                ],
+                "gripper_position": [
+                  0.2739155309843917,
+                  -0.39368968017526434,
+                  1.004002544702288
+                ],
+                "rod_tip_xy_dist": 0.002664744077249598,
+                "target_xy_drift": 6.933031624847969e-08,
+                "depth": 0.017121034667555213,
+                "bottom_clearance": 0.08231952511065432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018734495077614155,
+                  0.0018990279749799277
+                ],
+                "rod_tip_xy": [
+                  0.2739155309843916,
+                  -0.3936896801752644
+                ],
+                "target_mouth_xy": [
+                  0.275788980492153,
+                  -0.39558870815024433
+                ],
+                "gripper_position": [
+                  0.2739215043888167,
+                  -0.39376040555839825,
+                  1.0034711482410206
+                ],
+                "rod_tip_xy_dist": 0.0026676057257188244,
+                "target_xy_drift": 6.09025312273865e-08,
+                "depth": 0.017257293797411144,
+                "bottom_clearance": 0.08218324300821656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001867444915420069,
+                  0.0018282680655730132
+                ],
+                "rod_tip_xy": [
+                  0.27392150438881663,
+                  -0.3937604055583983
+                ],
+                "target_mouth_xy": [
+                  0.2757889493042367,
+                  -0.3955886736239713
+                ],
+                "gripper_position": [
+                  0.273910990615141,
+                  -0.3937697541950261,
+                  1.0033156798703549
+                ],
+                "rod_tip_xy_dist": 0.0026134105363915475,
+                "target_xy_drift": 4.020023602537181e-08,
+                "depth": 0.017788760417991267,
+                "bottom_clearance": 0.08165189046097232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018779847865166288,
+                  0.0018188856595372505
+                ],
+                "rod_tip_xy": [
+                  0.2739109906151409,
+                  -0.39376975419502613
+                ],
+                "target_mouth_xy": [
+                  0.27578897540165753,
+                  -0.3955886398545634
+                ],
+                "gripper_position": [
+                  0.2739031384467291,
+                  -0.3937734263267814,
+                  1.0031791738731957
+                ],
+                "rod_tip_xy_dist": 0.0026144161682597833,
+                "target_xy_drift": 8.530262512938051e-09,
+                "depth": 0.017944163690009174,
+                "bottom_clearance": 0.08149637127182652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018858361183312633,
+                  0.001815152351901661
+                ],
+                "rod_tip_xy": [
+                  0.273903138446729,
+                  -0.3937734263267816
+                ],
+                "target_mouth_xy": [
+                  0.27578897456506024,
+                  -0.39558857867868324
+                ],
+                "gripper_position": [
+                  0.2738953808732202,
+                  -0.39377704592122875,
+                  1.0030429915842027
+                ],
+                "rod_tip_xy_dist": 0.002617471284621258,
+                "target_xy_drift": 6.876292084641278e-08,
+                "depth": 0.01808069314969707,
+                "bottom_clearance": 0.081359871551127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018936255899782428,
+                  0.0018115355601748817
+                ],
+                "rod_tip_xy": [
+                  0.2738953808732201,
+                  -0.39377704592122886
+                ],
+                "target_mouth_xy": [
+                  0.2757890064631983,
+                  -0.39558858148140374
+                ],
+                "gripper_position": [
+                  0.27390249490783847,
+                  -0.39384934611001415,
+                  1.0025160387938612
+                ],
+                "rod_tip_xy_dist": 0.0026205875220641976,
+                "target_xy_drift": 7.102891792805274e-08,
+                "depth": 0.018216860849638916,
+                "bottom_clearance": 0.08122371891287572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0018864832680641208,
+                  0.0017393284834975598
+                ],
+                "rod_tip_xy": [
+                  0.27390249490783836,
+                  -0.3938493461100142
+                ],
+                "target_mouth_xy": [
+                  0.2757889781759025,
+                  -0.39558867459351177
+                ],
+                "gripper_position": [
+                  0.27389192762048453,
+                  -0.39385881355802294,
+                  1.0023605640427549
+                ],
+                "rod_tip_xy_dist": 0.0025659467442236223,
+                "target_xy_drift": 2.7379459590509417e-08,
+                "depth": 0.01874388306903174,
+                "bottom_clearance": 0.08069677225702832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001897052722951209,
+                  0.0017298648007275652
+                ],
+                "rod_tip_xy": [
+                  0.2738919276204845,
+                  -0.393858813558023
+                ],
+                "target_mouth_xy": [
+                  0.2757889803434357,
+                  -0.39558867835875056
+                ],
+                "gripper_position": [
+                  0.27388396754485145,
+                  -0.39386227879156727,
+                  1.0022240305772039
+                ],
+                "rod_tip_xy_dist": 0.002567341282816294,
+                "target_xy_drift": 3.111297158364858e-08,
+                "depth": 0.018899279073688158,
+                "bottom_clearance": 0.0805412636068421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019050074185698596,
+                  0.0017262982917554126
+                ],
+                "rod_tip_xy": [
+                  0.27388396754485134,
+                  -0.39386227879156743
+                ],
+                "target_mouth_xy": [
+                  0.2757889749634212,
+                  -0.39558857708332285
+                ],
+                "gripper_position": [
+                  0.27387600873965945,
+                  -0.39386577655682026,
+                  1.0020878248002387
+                ],
+                "rod_tip_xy_dist": 0.0025708284767607223,
+                "target_xy_drift": 7.03263670272481e-08,
+                "depth": 0.019035850182526848,
+                "bottom_clearance": 0.08040475262685909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001912967396359988,
+                  0.0017228328323346531
+                ],
+                "rod_tip_xy": [
+                  0.27387600873965934,
+                  -0.3938657765568204
+                ],
+                "target_mouth_xy": [
+                  0.2757889761360193,
+                  -0.3955886093891551
+                ],
+                "gripper_position": [
+                  0.27386803026230166,
+                  -0.39386916870890465,
+                  1.0019515416909441
+                ],
+                "rod_tip_xy_dist": 0.002574412015918694,
+                "target_xy_drift": 3.8026823916036917e-08,
+                "depth": 0.019171989926219046,
+                "bottom_clearance": 0.08026850459008283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019209443798876569,
+                  0.0017194990647286246
+                ],
+                "rod_tip_xy": [
+                  0.27386803026230155,
+                  -0.39386916870890476
+                ],
+                "target_mouth_xy": [
+                  0.2757889746421892,
+                  -0.3955886677736334
+                ],
+                "gripper_position": [
+                  0.2738600777696762,
+                  -0.3938725976211017,
+                  1.0018154528844287
+                ],
+                "rod_tip_xy_dist": 0.002578120312208992,
+                "target_xy_drift": 2.1121482845845075e-08,
+                "depth": 0.019308328042583867,
+                "bottom_clearance": 0.08013224414186415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001928929084708264,
+                  0.0017160425411747449
+                ],
+                "rod_tip_xy": [
+                  0.27386007776967614,
+                  -0.3938725976211018
+                ],
+                "target_mouth_xy": [
+                  0.2757890068543844,
+                  -0.3955886401622766
+                ],
+                "gripper_position": [
+                  0.2738520936464307,
+                  -0.39387622352241325,
+                  1.001679260604247
+                ],
+                "rod_tip_xy_dist": 0.0025817764072349368,
+                "target_xy_drift": 2.8116682891855255e-08,
+                "depth": 0.01944438685353911,
+                "bottom_clearance": 0.07999617728821817,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006012573281700241,
+              "rod_tip_xy_max_step": 3.246753738967177e-05,
+              "rod_tip_xy_range": 0.000601248291291249,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2733787522818445,
+            -0.395188771044026,
+            1.0434607421120723
+          ],
+          "object_origin_world": [
+            0.2733787522818445,
+            -0.395188771044026,
+            1.0434607421120723
+          ],
+          "frame_world": [
+            0.2733771450332525,
+            -0.39519814036951506,
+            1.0433373698792046
+          ],
+          "center_minus_frame": [
+            1.6072485919949031e-06,
+            9.369325489061442e-06,
+            0.00012337223286773558
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24931133217841484,
+              0.13243764108394385,
+              0.8336051489653092
+            ],
+            "target_position": [
+              0.2613534043231314,
+              0.17823112491785703,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04735033963115183,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16591711087836733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336051489653092,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672580553815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13611999468642602,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4ac840d9fd49a66fa4c1a2debfc4c42d80062af7d6037e5e88d3b9cb6371e1a2",
+    "visual_seed": 5858723114541784204,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..079f5c68cf6b9346b6c82366b6c0af7a5e60ce36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_2_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3841141479069441,
+              0.06448064650987528,
+              1.1636629513591257
+            ],
+            "current_z": 1.1636629513591257,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3025564433443598,
+            "gripper_z": 1.1532764208409476,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37904806833268523,
+              0.059617347974137855,
+              1.1532764208409476
+            ],
+            "object_minus_gripper": [
+              0.005066079574258864,
+              0.004863298535737429,
+              0.010386530518178061
+            ],
+            "object_to_gripper_xy": 0.0070225945988949615,
+            "object_to_gripper_z": 0.010386530518178061,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3841141479069441,
+              0.04021939906757039,
+              1.1636629513591257
+            ],
+            "finger_b": [
+              0.373352478755067,
+              0.06448064650987528,
+              1.1636629513591257
+            ],
+            "finger_midpoint": [
+              0.37873331333100557,
+              0.05235002278872283,
+              1.1636629513591257
+            ],
+            "object_minus_finger_midpoint": [
+              0.00538083457593852,
+              0.01213062372115245,
+              0.0
+            ],
+            "finger_gap": 0.02654094290697316,
+            "fingertip_max_gap": 0.09190218923225854,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013270471453486572,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636629513591257,
+            "object_top_z": 1.2134915119281815,
+            "finger_top_clearance": 0.049828560569055824,
+            "fingertip_min_top_clearance": 0.01494856817071678,
+            "object_projection_between_fingers": 0.8355906254866745,
+            "object_to_finger_line_xy": 0.009837311323152464,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04845109461612927,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7099142085140393,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2720940633957856,
+              -0.39493080905698286,
+              0.8515395140106782
+            ],
+            "target_position": [
+              0.26625866313856206,
+              -0.3951512403360825,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00583956215060773,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18429171769000605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395140106782,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572792752072502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08864182899995666,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15156846040899483,
+            "release_required_pad_clearance": 0.054320914499978334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6634695396561945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008451759815216064,
+            "max_z_decrease": 0.008451759815216064,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502948398172499,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008451759815216064,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020948849112515402,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008451759815216064,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008451806242172738,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12195859104394911,
+              -0.4514127075672149,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12195859104394911,
+              -0.4514127075672149,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12319624545081415,
+              -0.450968769382364,
+              0.8037254331116709
+            ],
+            "closest_button": [
+              0.12196014821529386,
+              -0.4513824582099914,
+              0.7687202095985413
+            ],
+            "closest_ee_minus_button": [
+              0.0012360972355202893,
+              0.0004136888276273787,
+              0.035005223513129624
+            ],
+            "button_min_z_position": [
+              0.12195298820734021,
+              -0.45138525962829584,
+              0.7683570981025696
+            ],
+            "min_active_finger_to_button": 0.14466278696653687,
+            "closest_active_finger": [
+              -0.00354216992855072,
+              -0.5146017074584961,
+              0.8104439377784729
+            ],
+            "closest_active_finger_button": [
+              0.12196014076471327,
+              -0.4514090716838836,
+              0.7760465145111084
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.125502310693264,
+              -0.06319263577461248,
+              0.0343974232673645
+            ],
+            "min_contact_pad_to_button": 0.020948849112515402,
+            "closest_contact_pad": [
+              0.12195298820734021,
+              -0.45208975296858867,
+              0.7892940980851941
+            ],
+            "closest_contact_pad_button": [
+              0.12195298820734021,
+              -0.45138525962829584,
+              0.7683570981025696
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007044933402928222,
+              0.02093699998262455
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26616704591160983,
+              0.18266897376432065,
+              1.1049195414279627
+            ],
+            "current_z": 1.1049195414279627,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19501041169360012,
+            "gripper_z": 1.1049195974378994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26616685339101764,
+              0.18266918858686704,
+              1.1049195974378994
+            ],
+            "object_minus_gripper": [
+              1.9252059219043716e-07,
+              -2.148225463904918e-07,
+              -5.600993668863907e-08
+            ],
+            "object_to_gripper_xy": 2.8846647093735455e-07,
+            "object_to_gripper_z": -5.600993668863907e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26616704591160983,
+              0.18266897376432065,
+              1.1049195414279627
+            ],
+            "finger_b": [
+              0.26616704591160983,
+              0.18266897376432065,
+              1.1049195414279627
+            ],
+            "finger_midpoint": [
+              0.26616704591160983,
+              0.18266897376432065,
+              1.1049195414279627
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1049195414279627,
+            "object_top_z": 1.2299280480482424,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26616704591160983,
+            0.18266897376432065,
+            1.1049195414279627
+          ],
+          "object_origin_world": [
+            0.26616704591160983,
+            0.18266897376432065,
+            1.1049195414279627
+          ],
+          "frame_world": [
+            0.26616685339101764,
+            0.18266918858686704,
+            1.1049195974378994
+          ],
+          "center_minus_frame": [
+            1.9252059219043716e-07,
+            -2.148225463904918e-07,
+            -5.600993668863907e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433673143499278,
+            "required_z": 0.9112598687481732,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001591413440391371,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.827137213138153e-08,
+            "max_target_xy_drift": 2.365771963608189e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.663683214624506,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.6636832148674032,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27329397658529736,
+              -0.39596860524293803,
+              0.9234909252336371
+            ],
+            "target_mouth_xy": [
+              0.2720940280882132,
+              -0.3949308259740572
+            ],
+            "rod_tip_z": 0.9234909252336371,
+            "rod_tip_depth": -0.022231037444443658,
+            "rod_tip_bottom_clearance": 0.12167164636940009,
+            "rod_tip_xy_dist": 0.001586462166763943,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04499170206144221,
+            "min_rod_tip_bottom_clearance": 0.054448860306036795,
+            "min_rod_tip_xy_dist": 0.0003077343923530412,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2720940622836387,
+              -0.39493080878770215
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.419542549121246e-08,
+              -1.718635506131605e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                0.0016216523073980804,
+                0.0007535895832975759
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015428017776040193,
+                0.0003740037149767561
+              ],
+              "first_target_mouth_xy": [
+                0.2720940668221809,
+                -0.39493084228245334
+              ],
+              "last_target_mouth_xy": [
+                0.2720940338194974,
+                -0.39493080746168746
+              ],
+              "first_rod_tip_xy": [
+                0.273715719129579,
+                -0.39417725269915577
+              ],
+              "last_rod_tip_xy": [
+                0.27363683559710145,
+                -0.3945568037467107
+              ],
+              "min_rod_tip_xy_dist": 0.001587487355475481,
+              "max_rod_tip_xy_dist": 0.0017881983855669182,
+              "first_target_xy_drift": 3.380083908700101e-08,
+              "last_target_xy_drift": 2.8495011019013473e-08,
+              "max_depth": 0.019292664762396217,
+              "min_bottom_clearance": 0.08014789045351145
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  0.0016216523073980804,
+                  0.0007535895832975759
+                ],
+                "rod_tip_xy": [
+                  0.273715719129579,
+                  -0.39417725269915577
+                ],
+                "target_mouth_xy": [
+                  0.2720940668221809,
+                  -0.39493084228245334
+                ],
+                "gripper_position": [
+                  0.2737056217250799,
+                  -0.3941870875832653,
+                  1.0060773940299643
+                ],
+                "rod_tip_xy_dist": 0.0017881983855669182,
+                "target_xy_drift": 3.380083908700101e-08,
+                "depth": 0.015026425829109735,
+                "bottom_clearance": 0.08441428111327931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0016115596591344539,
+                  0.0007437208849236376
+                ],
+                "rod_tip_xy": [
+                  0.27370562172507984,
+                  -0.3941870875832653
+                ],
+                "target_mouth_xy": [
+                  0.2720940620659454,
+                  -0.39493080846818895
+                ],
+                "gripper_position": [
+                  0.2736982976073341,
+                  -0.3941908715015254,
+                  1.005940880070981
+                ],
+                "rod_tip_xy_dist": 0.001774893036107009,
+                "target_xy_drift": 3.866252154317067e-10,
+                "depth": 0.015182427061439019,
+                "bottom_clearance": 0.0842581580453502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001604234282624517,
+                  0.0007399375751800386
+                ],
+                "rod_tip_xy": [
+                  0.27369829760733405,
+                  -0.3941908715015254
+                ],
+                "target_mouth_xy": [
+                  0.27209406332470953,
+                  -0.3949308090767054
+                ],
+                "gripper_position": [
+                  0.2737087386027416,
+                  -0.3942619379435618,
+                  1.0054075635154005
+                ],
+                "rod_tip_xy_dist": 0.0017666565169016624,
+                "target_xy_drift": 1.0804403652517532e-09,
+                "depth": 0.015318951208235676,
+                "bottom_clearance": 0.08412156249295832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0016146463496150565,
+                  0.0006688743696668387
+                ],
+                "rod_tip_xy": [
+                  0.27370873860274153,
+                  -0.39426193794356185
+                ],
+                "target_mouth_xy": [
+                  0.2720940922531265,
+                  -0.3949308123132287
+                ],
+                "gripper_position": [
+                  0.27369879366969174,
+                  -0.3942715043498519,
+                  1.0052520885558154
+                ],
+                "rod_tip_xy_dist": 0.001747705855320751,
+                "target_xy_drift": 3.0176141820672766e-08,
+                "depth": 0.015852344444659328,
+                "bottom_clearance": 0.0835882983082713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001604727666371486,
+                  0.0006593017730970874
+                ],
+                "rod_tip_xy": [
+                  0.27369879366969163,
+                  -0.39427150434985186
+                ],
+                "target_mouth_xy": [
+                  0.27209406600332015,
+                  -0.39493080612294895
+                ],
+                "gripper_position": [
+                  0.2736910180748968,
+                  -0.39427553614144606,
+                  1.0051152522657465
+                ],
+                "rod_tip_xy_dist": 0.0017348860801871225,
+                "target_xy_drift": 4.575690078816863e-09,
+                "depth": 0.016007856671415355,
+                "bottom_clearance": 0.08343283020009562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015969568210218443,
+                  0.0006552752301912101
+                ],
+                "rod_tip_xy": [
+                  0.2736910180748967,
+                  -0.394275536141446
+                ],
+                "target_mouth_xy": [
+                  0.27209406125387486,
+                  -0.3949308113716372
+                ],
+                "gripper_position": [
+                  0.2737024527996392,
+                  -0.39434753284783575,
+                  1.004583654874525
+                ],
+                "rod_tip_xy_dist": 0.0017261682176167937,
+                "target_xy_drift": 2.7815704143429843e-09,
+                "depth": 0.016144612543514625,
+                "bottom_clearance": 0.08329603755910842,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001608355178772336,
+                  0.0005832751360227428
+                ],
+                "rod_tip_xy": [
+                  0.2737024527996391,
+                  -0.3943475328478358
+                ],
+                "target_mouth_xy": [
+                  0.2720940976208668,
+                  -0.39493080798385855
+                ],
+                "gripper_position": [
+                  0.27369216934453117,
+                  -0.39435700674170565,
+                  1.0044279648988288
+                ],
+                "rod_tip_xy_dist": 0.0017108524966770637,
+                "target_xy_drift": 3.5346369735662256e-08,
+                "depth": 0.016676268611812595,
+                "bottom_clearance": 0.08276441291620429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015981073581461391,
+                  0.0005738039638400472
+                ],
+                "rod_tip_xy": [
+                  0.2736921693445311,
+                  -0.39435700674170565
+                ],
+                "target_mouth_xy": [
+                  0.27209406198638497,
+                  -0.3949308107055457
+                ],
+                "gripper_position": [
+                  0.2736844560762318,
+                  -0.3943610086383028,
+                  1.004291599889819
+                ],
+                "rod_tip_xy_dist": 0.001697998267690336,
+                "target_xy_drift": 1.9407430689671354e-09,
+                "depth": 0.01683192488717533,
+                "bottom_clearance": 0.08260867338946754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015903915046991401,
+                  0.0005698007325254939
+                ],
+                "rod_tip_xy": [
+                  0.27368445607623176,
+                  -0.39436100863830287
+                ],
+                "target_mouth_xy": [
+                  0.2720940645715326,
+                  -0.39493080937082836
+                ],
+                "gripper_position": [
+                  0.2736768308519557,
+                  -0.39436473911044784,
+                  1.0041553594785504
+                ],
+                "rod_tip_xy_dist": 0.0016893839152205116,
+                "target_xy_drift": 2.361036809484975e-09,
+                "depth": 0.01696821684634331,
+                "bottom_clearance": 0.08247229538112555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015827665033070204,
+                  0.0005660686559288419
+                ],
+                "rod_tip_xy": [
+                  0.2736768308519556,
+                  -0.39436473911044784
+                ],
+                "target_mouth_xy": [
+                  0.2720940643486486,
+                  -0.3949308077663767
+                ],
+                "gripper_position": [
+                  0.2736899513053242,
+                  -0.3944388189498512,
+                  1.003624703889159
+                ],
+                "rod_tip_xy_dist": 0.001680947211311473,
+                "target_xy_drift": 2.3037733263769985e-09,
+                "depth": 0.017104484730988467,
+                "bottom_clearance": 0.08233607974143298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00159588790287446,
+                  0.0004919910998386623
+                ],
+                "rod_tip_xy": [
+                  0.27368995130532414,
+                  -0.39443881894985117
+                ],
+                "target_mouth_xy": [
+                  0.2720940634024497,
+                  -0.39493081004968983
+                ],
+                "gripper_position": [
+                  0.2736794663566159,
+                  -0.3944483940623468,
+                  1.003468583904004
+                ],
+                "rod_tip_xy_dist": 0.001670004024205181,
+                "target_xy_drift": 1.6865203629339766e-09,
+                "depth": 0.01763513144193496,
+                "bottom_clearance": 0.08180539071025406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015853695295184322,
+                  0.0004824129770623631
+                ],
+                "rod_tip_xy": [
+                  0.27367946635661583,
+                  -0.39444839406234683
+                ],
+                "target_mouth_xy": [
+                  0.2720940968270974,
+                  -0.3949308070394092
+                ],
+                "gripper_position": [
+                  0.2736716442849658,
+                  -0.39445216838353653,
+                  1.0033325172496328
+                ],
+                "rod_tip_xy_dist": 0.0016571417638704504,
+                "target_xy_drift": 3.458767219010949e-08,
+                "depth": 0.017791351484510165,
+                "bottom_clearance": 0.08164933735870872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015775816263509657,
+                  0.0004786718117263944
+                ],
+                "rod_tip_xy": [
+                  0.27367164428496576,
+                  -0.39445216838353653
+                ],
+                "target_mouth_xy": [
+                  0.2720940626586148,
+                  -0.3949308401952629
+                ],
+                "gripper_position": [
+                  0.27366379527490026,
+                  -0.3944559619139208,
+                  1.0031960203077022
+                ],
+                "rod_tip_xy_dist": 0.001648602587387751,
+                "target_xy_drift": 3.140979912184485e-08,
+                "depth": 0.017927346661336885,
+                "bottom_clearance": 0.0815132154307846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015697327032748176,
+                  0.0004748471835957502
+                ],
+                "rod_tip_xy": [
+                  0.2736637952749002,
+                  -0.3944559619139208
+                ],
+                "target_mouth_xy": [
+                  0.2720940625716254,
+                  -0.39493080909751654
+                ],
+                "gripper_position": [
+                  0.2736559365073157,
+                  -0.39445953188785615,
+                  1.003059554349974
+                ],
+                "rod_tip_xy_dist": 0.0016399818924303043,
+                "target_xy_drift": 4.2299089096355777e-10,
+                "depth": 0.01806383442658166,
+                "bottom_clearance": 0.08137670922116647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015618735030888953,
+                  0.0004712781617375872
+                ],
+                "rod_tip_xy": [
+                  0.2736559365073156,
+                  -0.39445953188785615
+                ],
+                "target_mouth_xy": [
+                  0.2720940630042267,
+                  -0.39493081004959374
+                ],
+                "gripper_position": [
+                  0.2736713189734491,
+                  -0.39453652305795733,
+                  1.002531000982105
+                ],
+                "rod_tip_xy_dist": 0.0016314263530364883,
+                "target_xy_drift": 1.4531405652187646e-09,
+                "depth": 0.01820029264698808,
+                "bottom_clearance": 0.08124024388274653,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015772530927871675,
+                  0.00039428655945322744
+                ],
+                "rod_tip_xy": [
+                  0.273671318973449,
+                  -0.39453652305795733
+                ],
+                "target_mouth_xy": [
+                  0.2720940658806618,
+                  -0.39493080961741056
+                ],
+                "gripper_position": [
+                  0.27366062655475953,
+                  -0.3945461109977904,
+                  1.0023758108248342
+                ],
+                "rod_tip_xy_dist": 0.0016257887961454737,
+                "target_xy_drift": 3.6914755049865206e-09,
+                "depth": 0.018728891534146697,
+                "bottom_clearance": 0.08071168212624868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015665618887616417,
+                  0.00038469899564069765
+                ],
+                "rod_tip_xy": [
+                  0.2736606265547594,
+                  -0.3945461109977904
+                ],
+                "target_mouth_xy": [
+                  0.2720940646659978,
+                  -0.3949308099934311
+                ],
+                "gripper_position": [
+                  0.27365284411095403,
+                  -0.3945496115955338,
+                  1.0022393452095963
+                ],
+                "rod_tip_xy_dist": 0.001613105535471069,
+                "target_xy_drift": 2.670096842966211e-09,
+                "depth": 0.01888401754931779,
+                "bottom_clearance": 0.08055651918189988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015588126770261779,
+                  0.00038119693091370754
+                ],
+                "rod_tip_xy": [
+                  0.273652844110954,
+                  -0.39454961159553376
+                ],
+                "target_mouth_xy": [
+                  0.2720940314339278,
+                  -0.39493080852644746
+                ],
+                "gripper_position": [
+                  0.2736447812402581,
+                  -0.39455331592800863,
+                  1.0021034552280823
+                ],
+                "rod_tip_xy_dist": 0.0016047454820611116,
+                "target_xy_drift": 3.085081711131347e-08,
+                "depth": 0.019020560768165717,
+                "bottom_clearance": 0.08042005616203851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015507162010959252,
+                  0.00037752544264679777
+                ],
+                "rod_tip_xy": [
+                  0.27364478124025804,
+                  -0.39455331592800863
+                ],
+                "target_mouth_xy": [
+                  0.2720940650391621,
+                  -0.3949308413706554
+                ],
+                "gripper_position": [
+                  0.2736368355971015,
+                  -0.3945568037467107,
+                  1.0019672423758739
+                ],
+                "rod_tip_xy_dist": 0.0015960094599303096,
+                "target_xy_drift": 3.269926228160998e-08,
+                "depth": 0.01915640380285455,
+                "bottom_clearance": 0.08028420036547435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015428017776040193,
+                  0.0003740037149767561
+                ],
+                "rod_tip_xy": [
+                  0.27363683559710145,
+                  -0.3945568037467107
+                ],
+                "target_mouth_xy": [
+                  0.2720940338194974,
+                  -0.39493080746168746
+                ],
+                "gripper_position": [
+                  0.273628724132137,
+                  -0.3945603740132771,
+                  1.0018308766290707
+                ],
+                "rod_tip_xy_dist": 0.001587487355475481,
+                "target_xy_drift": 2.8495011019013473e-08,
+                "depth": 0.019292664762396217,
+                "bottom_clearance": 0.08014789045351145,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005976309739196198,
+              "rod_tip_xy_max_step": 3.2481727279190826e-05,
+              "rod_tip_xy_range": 0.0005976235084944703,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27329397658529736,
+            -0.39596860524293803,
+            1.043490925233637
+          ],
+          "object_origin_world": [
+            0.27329397658529736,
+            -0.39596860524293803,
+            1.043490925233637
+          ],
+          "frame_world": [
+            0.2732926358836514,
+            -0.39597769563689644,
+            1.0433673143499278
+          ],
+          "center_minus_frame": [
+            1.3407016459798804e-06,
+            9.090393958410825e-06,
+            0.00012361088370926865
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2533896354831245,
+              0.13642653815500358,
+              0.8339204998074353
+            ],
+            "target_position": [
+              0.26627047512186686,
+              0.1814979084077189,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04687584075252782,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16430919780170222,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339204998074353,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835678273414757,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13429837121262178,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d6f34370c331c10c64b6e218fd2fd12706a91ee5ccf6705b539dab75cf0b11f",
+    "visual_seed": 2075884455068146442,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff85797584c4d3cb7e55bbc0aa61a434947cb62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_34_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37885368741316666,
+              0.06303897233365766,
+              1.1644050080683457
+            ],
+            "current_z": 1.1644050080683457,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30329838084429017,
+            "gripper_z": 1.1541222945464782,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3739790382649323,
+              0.058320129120328495,
+              1.1541222945464782
+            ],
+            "object_minus_gripper": [
+              0.004874649148234378,
+              0.00471884321332916,
+              0.010282713521867493
+            ],
+            "object_to_gripper_xy": 0.006784518080922537,
+            "object_to_gripper_z": 0.010282713521867493,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37885368741316666,
+              0.03888587807463945,
+              1.1644050080683457
+            ],
+            "finger_b": [
+              0.36832780893013184,
+              0.06303897233365766,
+              1.1644050080683457
+            ],
+            "finger_midpoint": [
+              0.3735907481716493,
+              0.05096242520414855,
+              1.1644050080683457
+            ],
+            "object_minus_finger_midpoint": [
+              0.005262939241517384,
+              0.012076547129509105,
+              0.0
+            ],
+            "finger_gap": 0.026347031713736438,
+            "fingertip_max_gap": 0.09200435537551907,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317351585686821,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644050080683457,
+            "object_top_z": 1.2142481016351088,
+            "finger_top_clearance": 0.049843093566763086,
+            "fingertip_min_top_clearance": 0.014952928070028924,
+            "object_projection_between_fingers": 0.8403924925001764,
+            "object_to_finger_line_xy": 0.009649380542065536,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850217768775954,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9292129962440758,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2728400800649093,
+              -0.38740923885215905,
+              0.8515396122970609
+            ],
+            "target_position": [
+              0.26642748869266725,
+              -0.3875341408955697,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006413807654412562,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18248967230474758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396122970609,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751299901329496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08751587037362164,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15146980557409534,
+            "release_required_pad_clearance": 0.053757935186810824,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5250714377337333,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008095145225524902,
+            "max_z_decrease": 0.008095145225524902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035085088709053414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008095145225524902,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021083144118720466,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008095145225524902,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00809516931164378,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12212741374969477,
+              -0.4437955915927887,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12212741374969477,
+              -0.4437955915927887,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12252146471604722,
+              -0.4445970145364775,
+              0.8037870352794071
+            ],
+            "closest_button": [
+              0.12213167548179622,
+              -0.44377630949020386,
+              0.7687137126922607
+            ],
+            "closest_ee_minus_button": [
+              0.0003897892342509951,
+              -0.0008207050462736287,
+              0.03507332258714635
+            ],
+            "button_min_z_position": [
+              0.12213167548179622,
+              -0.44377630949020386,
+              0.7687137126922607
+            ],
+            "min_active_finger_to_button": 0.14533319888698049,
+            "closest_active_finger": [
+              -0.018162652850151062,
+              -0.4278481900691986,
+              0.8109187483787537
+            ],
+            "closest_active_finger_button": [
+              0.12212777882814403,
+              -0.443793535232544,
+              0.7764792442321777
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14029043167829508,
+              0.015945345163345392,
+              0.03443950414657593
+            ],
+            "min_contact_pad_to_button": 0.021083144118720466,
+            "closest_contact_pad": [
+              0.12213167548179622,
+              -0.4458390227034073,
+              0.789695709263865
+            ],
+            "closest_contact_pad_button": [
+              0.12213167548179622,
+              -0.44377630949020386,
+              0.7687137126922607
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020627132132034487,
+              0.020981996571604267
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2716843476406137,
+              0.1761734005747249,
+              1.117263281134008
+            ],
+            "current_z": 1.117263281134008,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20735415139964541,
+            "gripper_z": 1.117263180016751,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2716842874871729,
+              0.17617340557541658,
+              1.117263180016751
+            ],
+            "object_minus_gripper": [
+              6.015344083953877e-08,
+              -5.000691694068138e-09,
+              1.0111725701200669e-07
+            ],
+            "object_to_gripper_xy": 6.036094235724799e-08,
+            "object_to_gripper_z": 1.0111725701200669e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2716843476406137,
+              0.1761734005747249,
+              1.117263281134008
+            ],
+            "finger_b": [
+              0.2716843476406137,
+              0.1761734005747249,
+              1.117263281134008
+            ],
+            "finger_midpoint": [
+              0.2716843476406137,
+              0.1761734005747249,
+              1.117263281134008
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.117263281134008,
+            "object_top_z": 1.2422717877542877,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2716843476406137,
+            0.17617340057472486,
+            1.117263281134008
+          ],
+          "object_origin_world": [
+            0.2716843476406137,
+            0.17617340057472486,
+            1.117263281134008
+          ],
+          "frame_world": [
+            0.2716842874871729,
+            0.17617340557541658,
+            1.117263180016751
+          ],
+          "center_minus_frame": [
+            6.015344083953877e-08,
+            -5.0006917218237135e-09,
+            1.0111725701200669e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433963835445845,
+            "required_z": 0.911259858176587,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001448689141332859,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.795874280040955e-08,
+            "max_target_xy_drift": 1.7984725074290276e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.5250714378745087,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.525071438230851,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2740064771250494,
+              -0.3882620299569097,
+              0.923518375809311
+            ],
+            "target_mouth_xy": [
+              0.27284010685906357,
+              -0.38740929466868246
+            ],
+            "rod_tip_z": 0.923518375809311,
+            "rod_tip_depth": -0.02225858019501825,
+            "rod_tip_bottom_clearance": 0.12169912129468619,
+            "rod_tip_xy_dist": 0.0014448449983177668,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04515334965164053,
+            "min_rod_tip_bottom_clearance": 0.05428731787485086,
+            "min_rod_tip_xy_dist": 0.0001636823284820623,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2728400779688961,
+              -0.3874092331564971
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.889016748053308e-08,
+              -6.151218534533598e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0016297204358808326,
+                0.0006937611974853208
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015407189496591256,
+                0.00036040960613659134
+              ],
+              "first_target_mouth_xy": [
+                0.272840107817412,
+                -0.38740920237053555
+              ],
+              "last_target_mouth_xy": [
+                0.2728400795519809,
+                -0.3874092374846613
+              ],
+              "first_rod_tip_xy": [
+                0.27446982825329286,
+                -0.38671544117305023
+              ],
+              "last_rod_tip_xy": [
+                0.27438079850164004,
+                -0.3870488278785247
+              ],
+              "min_rod_tip_xy_dist": 0.001582311589426764,
+              "max_rod_tip_xy_dist": 0.001771240609929627,
+              "first_target_xy_drift": 4.288017412116386e-08,
+              "last_target_xy_drift": 4.6085965952829436e-09,
+              "max_depth": 0.019580589269343474,
+              "min_bottom_clearance": 0.0798600171815107
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016297204358808326,
+                  0.0006937611974853208
+                ],
+                "rod_tip_xy": [
+                  0.27446982825329286,
+                  -0.38671544117305023
+                ],
+                "target_mouth_xy": [
+                  0.272840107817412,
+                  -0.38740920237053555
+                ],
+                "gripper_position": [
+                  0.2744597176386683,
+                  -0.3867243259339986,
+                  1.0057615171805658
+                ],
+                "rod_tip_xy_dist": 0.001771240609929627,
+                "target_xy_drift": 4.288017412116386e-08,
+                "depth": 0.015344300011768452,
+                "bottom_clearance": 0.08409630102379773,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001619608116271265,
+                  0.0006848833644596541
+                ],
+                "rod_tip_xy": [
+                  0.2744597176386682,
+                  -0.3867243259339985
+                ],
+                "target_mouth_xy": [
+                  0.27284010952239696,
+                  -0.3874092092984582
+                ],
+                "gripper_position": [
+                  0.2744521564594023,
+                  -0.38672801847814164,
+                  1.0056263344961784
+                ],
+                "rod_tip_xy_dist": 0.0017584640096417472,
+                "target_xy_drift": 3.955792510676967e-08,
+                "depth": 0.015498373557455314,
+                "bottom_clearance": 0.08394229452468005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0016120788949476328,
+                  0.0006811537694233483
+                ],
+                "rod_tip_xy": [
+                  0.27445215645940224,
+                  -0.38672801847814164
+                ],
+                "target_mouth_xy": [
+                  0.2728400775644546,
+                  -0.387409172247565
+                ],
+                "gripper_position": [
+                  0.27446129141579134,
+                  -0.3867905949743525,
+                  1.0050921478098342
+                ],
+                "rod_tip_xy_dist": 0.0017500768043532309,
+                "target_xy_drift": 6.09102748715871e-08,
+                "depth": 0.015633557849723423,
+                "bottom_clearance": 0.08380707212072969,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016211502683534662,
+                  0.0006186158625350879
+                ],
+                "rod_tip_xy": [
+                  0.2744612914157913,
+                  -0.3867905949743524
+                ],
+                "target_mouth_xy": [
+                  0.2728401411474378,
+                  -0.3874092108368875
+                ],
+                "gripper_position": [
+                  0.27445091527614807,
+                  -0.38679971093419874,
+                  1.0049378894189755
+                ],
+                "rod_tip_xy_dist": 0.001735169668350201,
+                "target_xy_drift": 6.70051722499311e-08,
+                "depth": 0.016167845367195066,
+                "bottom_clearance": 0.08327294788626538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016108672501474741,
+                  0.0006094003797965097
+                ],
+                "rod_tip_xy": [
+                  0.27445091527614796,
+                  -0.3867997109341986
+                ],
+                "target_mouth_xy": [
+                  0.2728400480260005,
+                  -0.38740911131399514
+                ],
+                "gripper_position": [
+                  0.27444309368382325,
+                  -0.38680331484072855,
+                  1.0048032139024414
+                ],
+                "rod_tip_xy_dist": 0.0017222839836954346,
+                "target_xy_drift": 1.254678137423738e-07,
+                "depth": 0.01632201661366539,
+                "bottom_clearance": 0.08311864798911406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016029833565296414,
+                  0.0006058937684392807
+                ],
+                "rod_tip_xy": [
+                  0.2744430936838232,
+                  -0.3868033148407285
+                ],
+                "target_mouth_xy": [
+                  0.27284011032729355,
+                  -0.3874092086091678
+                ],
+                "gripper_position": [
+                  0.27445314532338116,
+                  -0.3868667181308437,
+                  1.0042712359989105
+                ],
+                "rod_tip_xy_dist": 0.001713669425514906,
+                "target_xy_drift": 4.0615726803808846e-08,
+                "depth": 0.016456731430836036,
+                "bottom_clearance": 0.08298394543511789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001613066532401064,
+                  0.000542484869160309
+                ],
+                "rod_tip_xy": [
+                  0.2744531453233811,
+                  -0.3868667181308437
+                ],
+                "target_mouth_xy": [
+                  0.27284007879098005,
+                  -0.38740920300000403
+                ],
+                "gripper_position": [
+                  0.27444259508596475,
+                  -0.3868756801183629,
+                  1.004117013445222
+                ],
+                "rod_tip_xy_dist": 0.001701844138345304,
+                "target_xy_drift": 3.016769624853438e-08,
+                "depth": 0.016988560170120404,
+                "bottom_clearance": 0.08245202332173351,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016024564466325386,
+                  0.0005335545873416114
+                ],
+                "rod_tip_xy": [
+                  0.2744425950859647,
+                  -0.3868756801183628
+                ],
+                "target_mouth_xy": [
+                  0.27284013863933215,
+                  -0.38740923470570443
+                ],
+                "gripper_position": [
+                  0.27443481066752917,
+                  -0.38687881796204465,
+                  1.0039826022125073
+                ],
+                "rod_tip_xy_dist": 0.00168894853711635,
+                "target_xy_drift": 6.069021218865243e-08,
+                "depth": 0.01714280944410318,
+                "bottom_clearance": 0.08229771187545143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015947364215129212,
+                  0.0005304491888291629
+                ],
+                "rod_tip_xy": [
+                  0.2744348106675291,
+                  -0.3868788179620446
+                ],
+                "target_mouth_xy": [
+                  0.2728400742460162,
+                  -0.38740926715087376
+                ],
+                "gripper_position": [
+                  0.2744454123310214,
+                  -0.38694340644132796,
+                  1.0034542044522956
+                ],
+                "rod_tip_xy_dist": 0.0016806429115161121,
+                "target_xy_drift": 3.419762386944236e-08,
+                "depth": 0.017277315318939723,
+                "bottom_clearance": 0.08216340407896194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016053025886881844,
+                  0.00046582503710446144
+                ],
+                "rod_tip_xy": [
+                  0.2744454123310213,
+                  -0.38694340644132785
+                ],
+                "target_mouth_xy": [
+                  0.27284010974233314,
+                  -0.3874092314784323
+                ],
+                "gripper_position": [
+                  0.2744347581200319,
+                  -0.38695209233566685,
+                  1.0033002699944262
+                ],
+                "rod_tip_xy_dist": 0.0016715230678762286,
+                "target_xy_drift": 3.1817718386382903e-08,
+                "depth": 0.01780574327040585,
+                "bottom_clearance": 0.08163493208922146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015946813101810342,
+                  0.0004571414324465173
+                ],
+                "rod_tip_xy": [
+                  0.27443475812003176,
+                  -0.38695209233566674
+                ],
+                "target_mouth_xy": [
+                  0.27284007680985073,
+                  -0.38740923376811326
+                ],
+                "gripper_position": [
+                  0.2744268765998349,
+                  -0.38695520733586863,
+                  1.0031659760324265
+                ],
+                "rod_tip_xy_dist": 0.001658911320806496,
+                "target_xy_drift": 1.310519155380528e-09,
+                "depth": 0.017959554720598736,
+                "bottom_clearance": 0.08148104030951575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015867972816654419,
+                  0.0004539949926671838
+                ],
+                "rod_tip_xy": [
+                  0.27442687659983483,
+                  -0.3869552073358685
+                ],
+                "target_mouth_xy": [
+                  0.2728400793181694,
+                  -0.3874092023285357
+                ],
+                "gripper_position": [
+                  0.2744190538416408,
+                  -0.38695810730720065,
+                  1.003031203538464
+                ],
+                "rod_tip_xy_dist": 0.0016504657119939547,
+                "target_xy_drift": 3.085747466806534e-08,
+                "depth": 0.018093895746045807,
+                "bottom_clearance": 0.08134673228902256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015789753403867568,
+                  0.0004511305577821756
+                ],
+                "rod_tip_xy": [
+                  0.2744190538416407,
+                  -0.3869581073072006
+                ],
+                "target_mouth_xy": [
+                  0.27284007850125397,
+                  -0.38740923786498277
+                ],
+                "gripper_position": [
+                  0.2744110129434841,
+                  -0.3869611875069259,
+                  1.0028969174568048
+                ],
+                "rod_tip_xy_dist": 0.0016421576981868495,
+                "target_xy_drift": 4.7384852108931845e-09,
+                "depth": 0.018228657196414644,
+                "bottom_clearance": 0.08121192467050176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015709044530507477,
+                  0.0004480725498334781
+                ],
+                "rod_tip_xy": [
+                  0.274411012943484,
+                  -0.3869611875069259
+                ],
+                "target_mouth_xy": [
+                  0.2728401084904333,
+                  -0.38740926005675935
+                ],
+                "gripper_position": [
+                  0.2744239254001791,
+                  -0.38702831642715907,
+                  1.002370747116689
+                ],
+                "rod_tip_xy_dist": 0.0016335574096213892,
+                "target_xy_drift": 4.068400595819321e-08,
+                "depth": 0.018362983952456613,
+                "bottom_clearance": 0.08107769102424522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015838496634095756,
+                  0.00038092054379867957
+                ],
+                "rod_tip_xy": [
+                  0.274423925400179,
+                  -0.38702831642715896
+                ],
+                "target_mouth_xy": [
+                  0.27284007573676944,
+                  -0.38740923697095764
+                ],
+                "gripper_position": [
+                  0.2744131982938609,
+                  -0.38703694847122894,
+                  1.0022170393376926
+                ],
+                "rod_tip_xy_dist": 0.0016290120370858246,
+                "target_xy_drift": 4.419558629649632e-09,
+                "depth": 0.01888917853241112,
+                "bottom_clearance": 0.08055147182246991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015730913935190771,
+                  0.0003722850068386685
+                ],
+                "rod_tip_xy": [
+                  0.2744131982938608,
+                  -0.3870369484712288
+                ],
+                "target_mouth_xy": [
+                  0.2728401069003417,
+                  -0.3874092334780675
+                ],
+                "gripper_position": [
+                  0.2744051472071576,
+                  -0.38703997262659334,
+                  1.0020829077313809
+                ],
+                "rod_tip_xy_dist": 0.0016165434292590656,
+                "target_xy_drift": 2.8933232685649046e-08,
+                "depth": 0.0190427811540258,
+                "bottom_clearance": 0.08039781220401199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015650697874893815,
+                  0.00036928936449220906
+                ],
+                "rod_tip_xy": [
+                  0.2744051472071575,
+                  -0.3870399726265933
+                ],
+                "target_mouth_xy": [
+                  0.2728400774196681,
+                  -0.3874092619910855
+                ],
+                "gripper_position": [
+                  0.27439706310005446,
+                  -0.3870430871692726,
+                  1.0019481682686149
+                ],
+                "rod_tip_xy_dist": 0.0016080479080049566,
+                "target_xy_drift": 2.883981863061429e-08,
+                "depth": 0.019176983586289498,
+                "bottom_clearance": 0.08026364073448644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015569529278987027,
+                  0.0003661823466480918
+                ],
+                "rod_tip_xy": [
+                  0.2743970631000544,
+                  -0.3870430871692725
+                ],
+                "target_mouth_xy": [
+                  0.2728401101721557,
+                  -0.3874092695159206
+                ],
+                "gripper_position": [
+                  0.27438886617954594,
+                  -0.3870460536493702,
+                  1.0018138976259945
+                ],
+                "rod_tip_xy_dist": 0.0015994348785396191,
+                "target_xy_drift": 4.8570130790610004e-08,
+                "depth": 0.01931179847073239,
+                "bottom_clearance": 0.08012891642259079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0015487870000068238,
+                  0.0003631169375821197
+                ],
+                "rod_tip_xy": [
+                  0.2743888661795459,
+                  -0.38704605364937017
+                ],
+                "target_mouth_xy": [
+                  0.27284007917953906,
+                  -0.3874091705869523
+                ],
+                "gripper_position": [
+                  0.27438079850164016,
+                  -0.38704882787852474,
+                  1.0016792717427914
+                ],
+                "rod_tip_xy_dist": 0.0015907844234053694,
+                "target_xy_drift": 6.258125594601574e-08,
+                "depth": 0.019446008455200503,
+                "bottom_clearance": 0.07999468698982104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0015407189496591256,
+                  0.00036040960613659134
+                ],
+                "rod_tip_xy": [
+                  0.27438079850164004,
+                  -0.3870488278785247
+                ],
+                "target_mouth_xy": [
+                  0.2728400795519809,
+                  -0.3874092374846613
+                ],
+                "gripper_position": [
+                  0.27437271980538747,
+                  -0.38705194499839024,
+                  1.001544877156017
+                ],
+                "rod_tip_xy_dist": 0.001582311589426764,
+                "target_xy_drift": 4.6085965952829436e-09,
+                "depth": 0.019580589269343474,
+                "bottom_clearance": 0.0798600171815107,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006040708427305793,
+              "rod_tip_xy_max_step": 3.2767418727855496e-05,
+              "rod_tip_xy_range": 0.0006040581722803868,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2740064771250494,
+            -0.3882620299569097,
+            1.0435183758093112
+          ],
+          "object_origin_world": [
+            0.2740064771250494,
+            -0.3882620299569097,
+            1.0435183758093112
+          ],
+          "frame_world": [
+            0.274005071254103,
+            -0.38827043239663667,
+            1.0433963835445845
+          ],
+          "center_minus_frame": [
+            1.4058709463804497e-06,
+            8.402439726939992e-06,
+            0.0001219922647266447
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2513885575277868,
+              0.1329324998465827,
+              0.834152068878692
+            ],
+            "target_position": [
+              0.26349178424308833,
+              0.17811346100036252,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04677400290440566,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16672266630483906,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834152068878692,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671637003015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13715154833578544,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "183e8fd8d356f91e9faf70dceca66b9829f050b9f168e71b481481269e124053",
+    "visual_seed": 8404003765536878401,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d01b4f66ae25525ce99bca1b458c91bda8ede37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38595819464016395,
+              0.06443364190233938,
+              1.1633761022589726
+            ],
+            "current_z": 1.1633761022589726,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.30226929622098275,
+            "gripper_z": 1.1529781262558352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3810405617003197,
+              0.05954849480898715,
+              1.1529781262558352
+            ],
+            "object_minus_gripper": [
+              0.004917632939844263,
+              0.004885147093352235,
+              0.01039797600313741
+            ],
+            "object_to_gripper_xy": 0.006931650298069653,
+            "object_to_gripper_z": 0.01039797600313741,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38595819464016395,
+              0.040591839836060024,
+              1.1633761022589726
+            ],
+            "finger_b": [
+              0.37474488375476595,
+              0.06443364190233938,
+              1.1633761022589726
+            ],
+            "finger_midpoint": [
+              0.38035153919746495,
+              0.0525127408691997,
+              1.1633761022589726
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056066554426990045,
+              0.011920901033139683,
+              0.0
+            ],
+            "finger_gap": 0.02634710357478082,
+            "fingertip_max_gap": 0.09145694220906284,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013173551787390412,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1633761022589726,
+            "object_top_z": 1.2132488412131524,
+            "finger_top_clearance": 0.04987273895417976,
+            "fingertip_min_top_clearance": 0.014961821686253929,
+            "object_projection_between_fingers": 0.8188651697086791,
+            "object_to_finger_line_xy": 0.010147056122450432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822847110453142,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3195945775762985,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2786826706797556,
+              -0.39242307977885044,
+              0.8515395744438465
+            ],
+            "target_position": [
+              0.271654821348654,
+              -0.3932216653269845,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070730760704487035,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18422558184992158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395744438465,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523407611437839,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539258472989565,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15285923743624494,
+            "release_required_pad_clearance": 0.05269629236494783,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4476235617893195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008369922637939453,
+            "max_z_decrease": 0.008369922637939453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035038583669685326,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008369922637939453,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02089449056040133,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008369922637939453,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008370091640533562,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12735474109649658,
+              -0.44948312640190125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12735474109649658,
+              -0.44948312640190125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12533084915633025,
+              -0.44878303827635185,
+              0.8036171005858073
+            ],
+            "closest_button": [
+              0.1273888349533081,
+              -0.4494582712650299,
+              0.7686455249786377
+            ],
+            "closest_ee_minus_button": [
+              -0.002057985796977857,
+              0.0006752329886780539,
+              0.03497157560716957
+            ],
+            "button_min_z_position": [
+              0.1274009644985199,
+              -0.4494568109512329,
+              0.7684389352798462
+            ],
+            "min_active_finger_to_button": 0.14737064994991692,
+            "closest_active_finger": [
+              -0.001398719847202301,
+              -0.5124075412750244,
+              0.8105705976486206
+            ],
+            "closest_active_finger_button": [
+              0.12735573947429657,
+              -0.44948166608810425,
+              0.7762088179588318
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12875445932149887,
+              -0.06292587518692017,
+              0.03436177968978882
+            ],
+            "min_contact_pad_to_button": 0.02089449056040133,
+            "closest_contact_pad": [
+              0.1274009644985199,
+              -0.4499131063902807,
+              0.7893284429392192
+            ],
+            "closest_contact_pad_button": [
+              0.1274009644985199,
+              -0.4494568109512329,
+              0.7684389352798462
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00045629543904779357,
+              0.02088950765937303
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2664827784732915,
+              0.17649229321740356,
+              1.1185711806703487
+            ],
+            "current_z": 1.1185711806703487,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2086620509359861,
+            "gripper_z": 1.118571448778704,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26648283073202855,
+              0.1764922483950269,
+              1.118571448778704
+            ],
+            "object_minus_gripper": [
+              -5.225873705994033e-08,
+              4.4822376671360686e-08,
+              -2.681083552946717e-07
+            ],
+            "object_to_gripper_xy": 6.88478107826917e-08,
+            "object_to_gripper_z": -2.681083552946717e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2664827784732915,
+              0.17649229321740356,
+              1.1185711806703487
+            ],
+            "finger_b": [
+              0.2664827784732915,
+              0.17649229321740356,
+              1.1185711806703487
+            ],
+            "finger_midpoint": [
+              0.2664827784732915,
+              0.17649229321740356,
+              1.1185711806703487
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1185711806703487,
+            "object_top_z": 1.2435796872906284,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2664827784732915,
+            0.1764922932174036,
+            1.1185711806703487
+          ],
+          "object_origin_world": [
+            0.2664827784732915,
+            0.1764922932174036,
+            1.1185711806703487
+          ],
+          "frame_world": [
+            0.26648283073202855,
+            0.1764922483950269,
+            1.118571448778704
+          ],
+          "center_minus_frame": [
+            -5.225873705994033e-08,
+            4.482237669911626e-08,
+            -2.681083552946717e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432947117270657,
+            "required_z": 0.9112598358262831,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007207281468321642,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.52097118619609e-08,
+            "max_target_xy_drift": 1.1113012801547657e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.44762356149049715,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4476235620368454,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2790734780230618,
+              -0.3930203656771375,
+              0.9234195673038329
+            ],
+            "target_mouth_xy": [
+              0.2786826408968289,
+              -0.3924231064080492
+            ],
+            "rod_tip_z": 0.9234195673038329,
+            "rod_tip_depth": -0.022159681875936754,
+            "rod_tip_bottom_clearance": 0.12160030483963025,
+            "rod_tip_xy_dist": 0.0007137732789575669,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045030086952490556,
+            "min_rod_tip_bottom_clearance": 0.05441045929182209,
+            "min_rod_tip_xy_dist": 0.00017870582833180823,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2786825802965291,
+              -0.3924230823267249
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.060029983379067e-08,
+              -2.4081324323521613e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                0.0008532627410773874,
+                0.0008828987838830349
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007678925672432446,
+                0.0005649760697667983
+              ],
+              "first_target_mouth_xy": [
+                0.27868261203378847,
+                -0.39242305219390294
+              ],
+              "last_target_mouth_xy": [
+                0.278682611665888,
+                -0.39242305187433146
+              ],
+              "first_rod_tip_xy": [
+                0.27953587477486586,
+                -0.3915401534100199
+              ],
+              "last_rod_tip_xy": [
+                0.2794505042331312,
+                -0.39185807580456467
+              ],
+              "min_rod_tip_xy_dist": 0.0009533398943905363,
+              "max_rod_tip_xy_dist": 0.001227830431245715,
+              "first_target_xy_drift": 4.37634618371346e-08,
+              "last_target_xy_drift": 4.371938864278983e-08,
+              "max_depth": 0.019351472375762624,
+              "min_bottom_clearance": 0.08008907201300342
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0008532627410773874,
+                  0.0008828987838830349
+                ],
+                "rod_tip_xy": [
+                  0.27953587477486586,
+                  -0.3915401534100199
+                ],
+                "target_mouth_xy": [
+                  0.27868261203378847,
+                  -0.39242305219390294
+                ],
+                "gripper_position": [
+                  0.27952818811280755,
+                  -0.3915445792270458,
+                  1.0060588440656852
+                ],
+                "rod_tip_xy_dist": 0.001227830431245715,
+                "target_xy_drift": 4.37634618371346e-08,
+                "depth": 0.015062259121241595,
+                "bottom_clearance": 0.08437831082925784,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0008455444479458785,
+                  0.0008785306638017243
+                ],
+                "rod_tip_xy": [
+                  0.2795281881128075,
+                  -0.3915445792270458
+                ],
+                "target_mouth_xy": [
+                  0.2786826436648616,
+                  -0.3924231098908475
+                ],
+                "gripper_position": [
+                  0.27953722116578494,
+                  -0.39160264206357315,
+                  1.0055230283291983
+                ],
+                "rod_tip_xy_dist": 0.001219328315381874,
+                "target_xy_drift": 6.910373666852994e-08,
+                "depth": 0.01520104521982979,
+                "bottom_clearance": 0.08423952800400258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0008546090547814078,
+                  0.0008204101291534593
+                ],
+                "rod_tip_xy": [
+                  0.2795372211657849,
+                  -0.3916026420635732
+                ],
+                "target_mouth_xy": [
+                  0.2786826121110035,
+                  -0.39242305219272666
+                ],
+                "gripper_position": [
+                  0.2795271942800262,
+                  -0.39161174173623214,
+                  1.0053644119413407
+                ],
+                "rod_tip_xy_dist": 0.001184664263212142,
+                "target_xy_drift": 4.382029929837487e-08,
+                "depth": 0.015736761485285577,
+                "bottom_clearance": 0.08370381141501071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008445502991475395,
+                  0.000811368153298242
+                ],
+                "rod_tip_xy": [
+                  0.27952719428002615,
+                  -0.39161174173623214
+                ],
+                "target_mouth_xy": [
+                  0.2786826439808786,
+                  -0.3924231098895304
+                ],
+                "gripper_position": [
+                  0.2795194611149391,
+                  -0.39161578463604935,
+                  1.005225971142246
+                ],
+                "rod_tip_xy_dist": 0.0011711462282639167,
+                "target_xy_drift": 6.939311651273807e-08,
+                "depth": 0.015895479874283747,
+                "bottom_clearance": 0.08354510553032612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008368496866207886,
+                  0.0008072662878974013
+                ],
+                "rod_tip_xy": [
+                  0.279519461114939,
+                  -0.3916157846360494
+                ],
+                "target_mouth_xy": [
+                  0.27868261142831824,
+                  -0.3924230509239468
+                ],
+                "gripper_position": [
+                  0.2795292235927812,
+                  -0.39167496561491916,
+                  1.0046915680041355
+                ],
+                "rod_tip_xy_dist": 0.0011627537390062274,
+                "target_xy_drift": 4.42190317382945e-08,
+                "depth": 0.016033795389128858,
+                "bottom_clearance": 0.0834067157865942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008465802578119241,
+                  0.0007481439553629343
+                ],
+                "rod_tip_xy": [
+                  0.27952922359278115,
+                  -0.3916749656149192
+                ],
+                "target_mouth_xy": [
+                  0.2786826433349692,
+                  -0.39242310957028215
+                ],
+                "gripper_position": [
+                  0.2795189263023661,
+                  -0.3916841240510648,
+                  1.0045336732703676
+                ],
+                "rod_tip_xy_dist": 0.0011297864890602118,
+                "target_xy_drift": 6.867354909917552e-08,
+                "depth": 0.0165683229673802,
+                "bottom_clearance": 0.08287224625194034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.000836314470156363,
+                  0.0007389569930185691
+                ],
+                "rod_tip_xy": [
+                  0.279518926302366,
+                  -0.3916841240510648
+                ],
+                "target_mouth_xy": [
+                  0.27868261183220966,
+                  -0.39242308104408336
+                ],
+                "gripper_position": [
+                  0.279511230702765,
+                  -0.39168778689325723,
+                  1.0043950198042086
+                ],
+                "rod_tip_xy_dist": 0.0011160104526947603,
+                "target_xy_drift": 3.156175404124496e-08,
+                "depth": 0.016726097373603088,
+                "bottom_clearance": 0.08271443107151033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000828617328268888,
+                  0.0007353223608355108
+                ],
+                "rod_tip_xy": [
+                  0.27951123070276496,
+                  -0.39168778689325723
+                ],
+                "target_mouth_xy": [
+                  0.27868261337449607,
+                  -0.39242310925409274
+                ],
+                "gripper_position": [
+                  0.2795034051992689,
+                  -0.3916916102989648,
+                  1.0042563283275185
+                ],
+                "rod_tip_xy_dist": 0.0011078382783837085,
+                "target_xy_drift": 4.2652491578490526e-08,
+                "depth": 0.01686487559444505,
+                "bottom_clearance": 0.08257569897145645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008207937697078393,
+                  0.0007314406252860728
+                ],
+                "rod_tip_xy": [
+                  0.27950340519926886,
+                  -0.3916916102989648
+                ],
+                "target_mouth_xy": [
+                  0.278682611429561,
+                  -0.3924230509242509
+                ],
+                "gripper_position": [
+                  0.2795146268037313,
+                  -0.39175283544744066,
+                  1.0037226271171995
+                ],
+                "rod_tip_xy_dist": 0.0010994124797864026,
+                "target_xy_drift": 4.421969076236956e-08,
+                "depth": 0.01700343817162342,
+                "bottom_clearance": 0.08243707296758396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008319837400098673,
+                  0.0006702744428991325
+                ],
+                "rod_tip_xy": [
+                  0.2795146268037312,
+                  -0.39175283544744066
+                ],
+                "target_mouth_xy": [
+                  0.2786826430637213,
+                  -0.3924231098903398
+                ],
+                "gripper_position": [
+                  0.2795045073593392,
+                  -0.3917616572484282,
+                  1.0035643846771838
+                ],
+                "rod_tip_xy_dist": 0.001068393547549099,
+                "target_xy_drift": 6.855270443395326e-08,
+                "depth": 0.01753725729833111,
+                "bottom_clearance": 0.08190329264108642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008218951273347153,
+                  0.0006614244301068606
+                ],
+                "rod_tip_xy": [
+                  0.2795045073593391,
+                  -0.39176165724842826
+                ],
+                "target_mouth_xy": [
+                  0.2786826122320044,
+                  -0.3924230816785351
+                ],
+                "gripper_position": [
+                  0.279496605701515,
+                  -0.3917650995594535,
+                  1.0034262551656234
+                ],
+                "rod_tip_xy_dist": 0.001054985249697233,
+                "target_xy_drift": 3.1942052750094645e-08,
+                "depth": 0.017695400490728486,
+                "bottom_clearance": 0.08174516589844305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008139628754759709,
+                  0.0006580106492394266
+                ],
+                "rod_tip_xy": [
+                  0.2794966057015149,
+                  -0.3917650995594535
+                ],
+                "target_mouth_xy": [
+                  0.27868264282603894,
+                  -0.3924231102086929
+                ],
+                "gripper_position": [
+                  0.2794885680095641,
+                  -0.3917689452200834,
+                  1.0032877197008208
+                ],
+                "rod_tip_xy_dist": 0.0010466678447175123,
+                "target_xy_drift": 6.846417853178654e-08,
+                "depth": 0.017833632992941384,
+                "bottom_clearance": 0.08160691902119721,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008059563341086262,
+                  0.0006540771723962946
+                ],
+                "rod_tip_xy": [
+                  0.27948856800956406,
+                  -0.3917689452200833
+                ],
+                "target_mouth_xy": [
+                  0.27868261167545544,
+                  -0.3924230223924796
+                ],
+                "gripper_position": [
+                  0.27950111319207205,
+                  -0.39183181853032967,
+                  1.0027577728653498
+                ],
+                "rod_tip_xy_dist": 0.0010379704041733307,
+                "target_xy_drift": 6.76516871703475e-08,
+                "depth": 0.017972066619431737,
+                "bottom_clearance": 0.0814684894786194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008185004849555755,
+                  0.000591292313673053
+                ],
+                "rod_tip_xy": [
+                  0.279501113192072,
+                  -0.39183181853032967
+                ],
+                "target_mouth_xy": [
+                  0.2786826127071164,
+                  -0.3924231108440027
+                ],
+                "gripper_position": [
+                  0.2794906593203518,
+                  -0.39184050130275366,
+                  1.0025996610952905
+                ],
+                "rod_tip_xy_dist": 0.0010097374134305137,
+                "target_xy_drift": 4.317037531506986e-08,
+                "depth": 0.018502064429476883,
+                "bottom_clearance": 0.08093849782121754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008080485828352302,
+                  0.0005825461349491245
+                ],
+                "rod_tip_xy": [
+                  0.2794906593203517,
+                  -0.3918405013027537
+                ],
+                "target_mouth_xy": [
+                  0.2786826107375165,
+                  -0.39242304743770284
+                ],
+                "gripper_position": [
+                  0.2794828358958069,
+                  -0.39184393179286703,
+                  1.0024614804218266
+                ],
+                "rod_tip_xy_dist": 0.0009961438207237885,
+                "target_xy_drift": 4.630224156620474e-08,
+                "depth": 0.018660224069936948,
+                "bottom_clearance": 0.08078039021338812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008002238214265267,
+                  0.0005791800056949015
+                ],
+                "rod_tip_xy": [
+                  0.27948283589580686,
+                  -0.39184393179286703
+                ],
+                "target_mouth_xy": [
+                  0.27868261207438033,
+                  -0.39242311179856193
+                ],
+                "gripper_position": [
+                  0.27947467031162065,
+                  -0.3918476600667857,
+                  1.0023231394127987
+                ],
+                "rod_tip_xy_dist": 0.0009878297643699646,
+                "target_xy_drift": 4.33407545746295e-08,
+                "depth": 0.018798368721641645,
+                "bottom_clearance": 0.08064220280196144,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000792059092673103,
+                  0.0005753883195522835
+                ],
+                "rod_tip_xy": [
+                  0.2794746703116206,
+                  -0.3918476600667856
+                ],
+                "target_mouth_xy": [
+                  0.2786826112189475,
+                  -0.3924230483863379
+                ],
+                "gripper_position": [
+                  0.279466585023583,
+                  -0.3918510148510929,
+                  1.002184875179081
+                ],
+                "rod_tip_xy_dist": 0.0009789940370417687,
+                "target_xy_drift": 4.591454921589992e-08,
+                "depth": 0.01893671424906651,
+                "bottom_clearance": 0.08050384770770036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0007839729435542009,
+                  0.0005720696883997345
+                ],
+                "rod_tip_xy": [
+                  0.27946658502358296,
+                  -0.39185101485109297
+                ],
+                "target_mouth_xy": [
+                  0.27868261208002876,
+                  -0.3924230845394927
+                ],
+                "gripper_position": [
+                  0.27945850401590444,
+                  -0.3918545022846763,
+                  1.002046770616213
+                ],
+                "rod_tip_xy_dist": 0.000970503634517052,
+                "target_xy_drift": 3.186043302173972e-08,
+                "depth": 0.01907501917961285,
+                "bottom_clearance": 0.08036564245401234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0007758927631861812,
+                  0.0005685156643923106
+                ],
+                "rod_tip_xy": [
+                  0.27945850401590433,
+                  -0.39185450228467633
+                ],
+                "target_mouth_xy": [
+                  0.27868261125271815,
+                  -0.39242301794906864
+                ],
+                "gripper_position": [
+                  0.27945050423313134,
+                  -0.39185807580456455,
+                  1.0019083677740679
+                ],
+                "rod_tip_xy_dist": 0.0009618833820292966,
+                "target_xy_drift": 7.143366339914475e-08,
+                "depth": 0.019213093219095922,
+                "bottom_clearance": 0.08022748995722395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  0.0007678925672432446,
+                  0.0005649760697667983
+                ],
+                "rod_tip_xy": [
+                  0.2794505042331312,
+                  -0.39185807580456467
+                ],
+                "target_mouth_xy": [
+                  0.278682611665888,
+                  -0.39242305187433146
+                ],
+                "gripper_position": [
+                  0.27944228187540354,
+                  -0.39186162888151777,
+                  1.0017700434078392
+                ],
+                "rod_tip_xy_dist": 0.0009533398943905363,
+                "target_xy_drift": 4.371938864278983e-08,
+                "depth": 0.019351472375762624,
+                "bottom_clearance": 0.08008907201300342,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1555,
+              "stir_motion_end_frame": 1574,
+              "rod_tip_xy_path_length": 0.0006009848244134529,
+              "rod_tip_xy_max_step": 3.2750207564672796e-05,
+              "rod_tip_xy_range": 0.0006009807180294087,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2790734780230618,
+            -0.3930203656771375,
+            1.0434195673038331
+          ],
+          "object_origin_world": [
+            0.2790734780230618,
+            -0.3930203656771375,
+            1.0434195673038331
+          ],
+          "frame_world": [
+            0.27907215035504496,
+            -0.3930295150521139,
+            1.0432947117270657
+          ],
+          "center_minus_frame": [
+            1.3276680168594623e-06,
+            9.149374976424873e-06,
+            0.0001248555767674464
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24722786017808646,
+              0.13536347928536388,
+              0.8340575661235138
+            ],
+            "target_position": [
+              0.2582230859746498,
+              0.18080256288505447,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04675045784478568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1675540373941949,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340575661235138,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674602451146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1373714462525488,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff56bdc3709749c61dfab866c3d9f3724874c4ef6d363ff72cee9a045a09d4c2",
+    "visual_seed": 8639866173137102049,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cea3ce24a8980ffd2aae0df36288aac597d8dfc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_40_success.json
@@ -0,0 +1,2009 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38053219298784496,
+              0.05903907231407397,
+              1.164294722006138
+            ],
+            "current_z": 1.164294722006138,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30318821399137197,
+            "gripper_z": 1.1539837296487865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3753756251759328,
+              0.0540870017300997,
+              1.1539837296487865
+            ],
+            "object_minus_gripper": [
+              0.005156567811912149,
+              0.004952070583974275,
+              0.010310992357351445
+            ],
+            "object_to_gripper_xy": 0.007149349247834502,
+            "object_to_gripper_z": 0.010310992357351445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38053219298784496,
+              0.03496157599740302,
+              1.164294722006138
+            ],
+            "finger_b": [
+              0.36931303569493584,
+              0.05903907231407397,
+              1.164294722006138
+            ],
+            "finger_midpoint": [
+              0.3749226143413904,
+              0.0470003241557385,
+              1.164294722006138
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056095786464545605,
+              0.012038748158335472,
+              0.0
+            ],
+            "finger_gap": 0.02656304423898622,
+            "fingertip_max_gap": 0.09136800939060838,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013281522119493109,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164294722006138,
+            "object_top_z": 1.2141679413446145,
+            "finger_top_clearance": 0.04987321933847655,
+            "fingertip_min_top_clearance": 0.01496196580154293,
+            "object_projection_between_fingers": 0.8216123506910544,
+            "object_to_finger_line_xy": 0.010169362214881494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818400469530419,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1947272256291213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27524183991933543,
+              -0.3907077554633842,
+              0.8515395848007445
+            ],
+            "target_position": [
+              0.2670424746700668,
+              -0.3917658065672497,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008267349189994626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18433390794555704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395848007445,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07512822082121122,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618770551579526,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532517246756456,
+            "release_required_pad_clearance": 0.05309385275789763,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2156140504965136,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008211195468902588,
+            "max_z_decrease": 0.008211195468902588,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035041264374977565,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008211195468902588,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020915446348907185,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008211195468902588,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008211248585370975,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12274239957332611,
+              -0.44802725315094,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12274239957332611,
+              -0.44802725315094,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12107620501361865,
+              -0.44688580478047263,
+              0.80358066593001
+            ],
+            "closest_button": [
+              0.12275902926921844,
+              -0.4480028450489044,
+              0.7685976624488831
+            ],
+            "closest_ee_minus_button": [
+              -0.0016828242555997908,
+              0.0011170402684317904,
+              0.03498300348112693
+            ],
+            "button_min_z_position": [
+              0.12275902926921844,
+              -0.4480028450489044,
+              0.7685976624488831
+            ],
+            "min_active_finger_to_button": 0.14687973887648123,
+            "closest_active_finger": [
+              -0.00507170706987381,
+              -0.5116716623306274,
+              0.8108057975769043
+            ],
+            "closest_active_finger_button": [
+              0.12274336814880371,
+              -0.44802597165107727,
+              0.7763646841049194
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12781507521867752,
+              -0.06364569067955017,
+              0.03444111347198486
+            ],
+            "min_contact_pad_to_button": 0.020915446348907185,
+            "closest_contact_pad": [
+              0.12275902926921844,
+              -0.4480028450489044,
+              0.7895131087977902
+            ],
+            "closest_contact_pad_button": [
+              0.12275902926921844,
+              -0.4480028450489044,
+              0.7685976624488831
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020915446348907185
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26355069447729923,
+              0.18320420145861102,
+              1.1018804065354457
+            ],
+            "current_z": 1.1018804065354457,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19197127680108317,
+            "gripper_z": 1.1018803373891122,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26355083404587587,
+              0.18320421090004196,
+              1.1018803373891122
+            ],
+            "object_minus_gripper": [
+              -1.395685766403254e-07,
+              -9.441430942613849e-09,
+              6.91463335478204e-08
+            ],
+            "object_to_gripper_xy": 1.3988755557107476e-07,
+            "object_to_gripper_z": 6.91463335478204e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26355069447729923,
+              0.18320420145861102,
+              1.1018804065354457
+            ],
+            "finger_b": [
+              0.26355069447729923,
+              0.18320420145861102,
+              1.1018804065354457
+            ],
+            "finger_midpoint": [
+              0.26355069447729923,
+              0.18320420145861102,
+              1.1018804065354457
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018804065354457,
+            "object_top_z": 1.2268889131557255,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2635506944772993,
+            0.18320420145861102,
+            1.101880406535446
+          ],
+          "object_origin_world": [
+            0.2635506944772993,
+            0.18320420145861102,
+            1.101880406535446
+          ],
+          "frame_world": [
+            0.26355083404587587,
+            0.18320421090004196,
+            1.1018803373891122
+          ],
+          "center_minus_frame": [
+            -1.3956857658481425e-07,
+            -9.441430942613849e-09,
+            6.914633376986501e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433799912615158,
+            "required_z": 0.9112598729542283,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00160435333973493,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.5332054188680767e-08,
+            "max_target_xy_drift": 2.532706631966717e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.214970010836023,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2156140513480647,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27455647930908655,
+              -0.39214854508228714,
+              0.9235031184698831
+            ],
+            "target_mouth_xy": [
+              0.2752418446199834,
+              -0.3907075777365134
+            ],
+            "rod_tip_z": 0.9235031184698831,
+            "rod_tip_depth": -0.02224325842822983,
+            "rod_tip_bottom_clearance": 0.12168381458583355,
+            "rod_tip_xy_dist": 0.0015956542548331125,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04499490509494852,
+            "min_rod_tip_bottom_clearance": 0.05444571345603921,
+            "min_rod_tip_xy_dist": 0.00026848229623977474,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2752418691785368,
+              -0.3907075715243943
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.455855341310098e-08,
+              -6.212119096904445e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.00021940637584821898,
+                0.000463346239275797
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00029072149783898604,
+                -5.654268684929242e-06
+              ],
+              "first_target_mouth_xy": [
+                0.2752418760819074,
+                -0.39070766429973647
+              ],
+              "last_target_mouth_xy": [
+                0.2752418462509065,
+                -0.39070769473930966
+              ],
+              "first_rod_tip_xy": [
+                0.2750224697060592,
+                -0.39024431806046067
+              ],
+              "last_rod_tip_xy": [
+                0.2749511247530675,
+                -0.3907133490079946
+              ],
+              "min_rod_tip_xy_dist": 0.00026848229623977474,
+              "max_rod_tip_xy_dist": 0.0005126684066859143,
+              "first_target_xy_drift": 9.303182597055183e-08,
+              "last_target_xy_drift": 1.2532993100614415e-07,
+              "max_depth": 0.019677802360672292,
+              "min_bottom_clearance": 0.07976274903099512
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00021940637584821898,
+                  0.000463346239275797
+                ],
+                "rod_tip_xy": [
+                  0.2750224697060592,
+                  -0.39024431806046067
+                ],
+                "target_mouth_xy": [
+                  0.2752418760819074,
+                  -0.39070766429973647
+                ],
+                "gripper_position": [
+                  0.2750304893542047,
+                  -0.3903193249535545,
+                  1.0056921678334692
+                ],
+                "rod_tip_xy_dist": 0.0005126684066859143,
+                "target_xy_drift": 9.303182597055183e-08,
+                "depth": 0.015034157183440033,
+                "bottom_clearance": 0.0844064185772413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0002113864001752619,
+                  0.0003884069057703554
+                ],
+                "rod_tip_xy": [
+                  0.27503048935420465,
+                  -0.3903193249535545
+                ],
+                "target_mouth_xy": [
+                  0.2752418757543799,
+                  -0.39070773185932484
+                ],
+                "gripper_position": [
+                  0.2750203924232632,
+                  -0.3903289684252141,
+                  1.005536764546568
+                ],
+                "rod_tip_xy_dist": 0.00044220372525472656,
+                "target_xy_drift": 1.6046972196744906e-07,
+                "depth": 0.0155677498517941,
+                "bottom_clearance": 0.08387294915835586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00022148402128474576,
+                  0.00037876183429630395
+                ],
+                "rod_tip_xy": [
+                  0.2750203924232631,
+                  -0.39032896842521414
+                ],
+                "target_mouth_xy": [
+                  0.27524187644454784,
+                  -0.39070773025951044
+                ],
+                "gripper_position": [
+                  0.27501268080543595,
+                  -0.39033291297582323,
+                  1.005400692215384
+                ],
+                "rod_tip_xy_dist": 0.0004387661094523625,
+                "target_xy_drift": 1.5890132793400544e-07,
+                "depth": 0.015723130641886573,
+                "bottom_clearance": 0.08371753968626838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0002291632935932375,
+                  0.0003748794631256436
+                ],
+                "rod_tip_xy": [
+                  0.27501268080543584,
+                  -0.3903329129758232
+                ],
+                "target_mouth_xy": [
+                  0.2752418440990291,
+                  -0.3907077924389488
+                ],
+                "gripper_position": [
+                  0.2750216001933484,
+                  -0.39040912388575055,
+                  1.0048686112247476
+                ],
+                "rod_tip_xy_dist": 0.00043937504139842894,
+                "target_xy_drift": 2.223335829689525e-07,
+                "depth": 0.01585929601390712,
+                "bottom_clearance": 0.08358150187593993,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00022027606073743433,
+                  0.0002986066966046419
+                ],
+                "rod_tip_xy": [
+                  0.2750216001933483,
+                  -0.39040912388575055
+                ],
+                "target_mouth_xy": [
+                  0.27524187625408575,
+                  -0.3907077305823552
+                ],
+                "gripper_position": [
+                  0.2750112999007335,
+                  -0.3904186051416685,
+                  1.0047133729076563
+                ],
+                "rod_tip_xy_dist": 0.0003710626661241178,
+                "target_xy_drift": 1.5921525781946705e-07,
+                "depth": 0.016391288077545862,
+                "bottom_clearance": 0.08304938603353085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00023057709384266545,
+                  0.0002891511040541417
+                ],
+                "rod_tip_xy": [
+                  0.2750112999007334,
+                  -0.3904186051416685
+                ],
+                "target_mouth_xy": [
+                  0.2752418769945761,
+                  -0.3907077562457226
+                ],
+                "gripper_position": [
+                  0.2750036050819429,
+                  -0.3904222978248825,
+                  1.004577160454574
+                ],
+                "rod_tip_xy_dist": 0.0003698299030374077,
+                "target_xy_drift": 1.8488661286069697e-07,
+                "depth": 0.0165464594179926,
+                "bottom_clearance": 0.08289409939819137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00023824192917420994,
+                  0.00028537091227720524
+                ],
+                "rod_tip_xy": [
+                  0.27500360508194277,
+                  -0.3904222978248826
+                ],
+                "target_mouth_xy": [
+                  0.275241847011117,
+                  -0.3907076687371598
+                ],
+                "gripper_position": [
+                  0.27501313561778823,
+                  -0.39049927686335995,
+                  1.0040476866859835
+                ],
+                "rod_tip_xy_dist": 0.0003717469225031643,
+                "target_xy_drift": 9.970815553156414e-08,
+                "depth": 0.016682644319203632,
+                "bottom_clearance": 0.08275797361507875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00022871123978773777,
+                  0.00020851427004975331
+                ],
+                "rod_tip_xy": [
+                  0.2750131356177881,
+                  -0.39049927686335995
+                ],
+                "target_mouth_xy": [
+                  0.27524184685757586,
+                  -0.3907077911334097
+                ],
+                "gripper_position": [
+                  0.27500264497358534,
+                  -0.39050878606208367,
+                  1.0038928030926813
+                ],
+                "rod_tip_xy_dist": 0.00030949480128045047,
+                "target_xy_drift": 2.2074044702105762e-07,
+                "depth": 0.01721229232400112,
+                "bottom_clearance": 0.08222843068269936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00023923172751860733,
+                  0.00019893911286228416
+                ],
+                "rod_tip_xy": [
+                  0.2750026449735853,
+                  -0.3905087860620837
+                ],
+                "target_mouth_xy": [
+                  0.2752418767011039,
+                  -0.390707725174946
+                ],
+                "gripper_position": [
+                  0.2749949628179518,
+                  -0.39051221973341654,
+                  1.0037566987733952
+                ],
+                "rod_tip_xy_dist": 0.0003111407881939779,
+                "target_xy_drift": 1.538345899371112e-07,
+                "depth": 0.017367029171691195,
+                "bottom_clearance": 0.08207352351693742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00024691246928842947,
+                  0.0001955073519911421
+                ],
+                "rod_tip_xy": [
+                  0.2749949628179517,
+                  -0.39051221973341654
+                ],
+                "target_mouth_xy": [
+                  0.27524187528724015,
+                  -0.3907077270854077
+                ],
+                "gripper_position": [
+                  0.2749871254913525,
+                  -0.390515962817517,
+                  1.0036208102105884
+                ],
+                "rod_tip_xy_dist": 0.00031494268077334,
+                "target_xy_drift": 1.5568090810233758e-07,
+                "depth": 0.01750314145967813,
+                "bottom_clearance": 0.08193739440373105,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0002547492318364375,
+                  0.0001917040348708987
+                ],
+                "rod_tip_xy": [
+                  0.27498712549135246,
+                  -0.3905159628175169
+                ],
+                "target_mouth_xy": [
+                  0.2752418747231889,
+                  -0.3907076668523878
+                ],
+                "gripper_position": [
+                  0.2749982392170376,
+                  -0.3905948646810702,
+                  1.0030942785637869
+                ],
+                "rod_tip_xy_dist": 0.00031882222022161147,
+                "target_xy_drift": 9.548910676683816e-08,
+                "depth": 0.017639035385250357,
+                "bottom_clearance": 0.08180149879768528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00024363671064620007,
+                  0.00011280025097348823
+                ],
+                "rod_tip_xy": [
+                  0.27499823921703753,
+                  -0.3905948646810703
+                ],
+                "target_mouth_xy": [
+                  0.27524187592768373,
+                  -0.3907076649320438
+                ],
+                "gripper_position": [
+                  0.27498771716274517,
+                  -0.39060418355594306,
+                  1.0029390847800013
+                ],
+                "rod_tip_xy_dist": 0.00026848229623977474,
+                "target_xy_drift": 9.365116107052638e-08,
+                "depth": 0.01816555933387687,
+                "bottom_clearance": 0.08127498750353357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0002541571978433854,
+                  0.00010357462704635445
+                ],
+                "rod_tip_xy": [
+                  0.27498771716274506,
+                  -0.39060418355594306
+                ],
+                "target_mouth_xy": [
+                  0.27524187436058845,
+                  -0.3907077581829894
+                ],
+                "gripper_position": [
+                  0.27497972058086706,
+                  -0.390607600157424,
+                  1.002803441460975
+                ],
+                "rod_tip_xy_dist": 0.00027445142481574616,
+                "target_xy_drift": 1.867305138351796e-07,
+                "depth": 0.01832080731402319,
+                "bottom_clearance": 0.08111981077807695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00026215391333805904,
+                  0.00010009745112660173
+                ],
+                "rod_tip_xy": [
+                  0.274979720580867,
+                  -0.390607600157424
+                ],
+                "target_mouth_xy": [
+                  0.27524187449420506,
+                  -0.3907076976085506
+                ],
+                "gripper_position": [
+                  0.2749717886382126,
+                  -0.39061106025215275,
+                  1.00266729467044
+                ],
+                "rod_tip_xy_dist": 0.00028061392339030685,
+                "target_xy_drift": 1.2619616003756845e-07,
+                "depth": 0.018456428674586522,
+                "bottom_clearance": 0.08098414897384743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0002700862221856615,
+                  9.66674770239706e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749717886382125,
+                  -0.39061106025215275
+                ],
+                "target_mouth_xy": [
+                  0.27524187486039814,
+                  -0.3907077277291767
+                ],
+                "gripper_position": [
+                  0.27496379257627673,
+                  -0.39061438036919455,
+                  1.0025314068622606
+                ],
+                "rod_tip_xy_dist": 0.000286864373055809,
+                "target_xy_drift": 1.563080855419924e-07,
+                "depth": 0.01859257032450501,
+                "bottom_clearance": 0.08084800513973212,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00027808396800904633,
+                  9.334829952084567e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749637925762767,
+                  -0.3906143803691945
+                ],
+                "target_mouth_xy": [
+                  0.2752418765442857,
+                  -0.39070772866871534
+                ],
+                "gripper_position": [
+                  0.27495597603088584,
+                  -0.3906176489016925,
+                  1.0023954874041405
+                ],
+                "rod_tip_xy_dist": 0.00029333359556499804,
+                "target_xy_drift": 1.5731685191651124e-07,
+                "depth": 0.018728461048452938,
+                "bottom_clearance": 0.08071215773102625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0002858683212564328,
+                  9.00471198405639e-05
+                ],
+                "rod_tip_xy": [
+                  0.2749559760308858,
+                  -0.39061764890169237
+                ],
+                "target_mouth_xy": [
+                  0.2752418443521422,
+                  -0.39070769602153294
+                ],
+                "gripper_position": [
+                  0.27496978435086683,
+                  -0.39070102791214967,
+                  1.0018726916706038
+                ],
+                "rod_tip_xy_dist": 0.00029971516626549273,
+                "target_xy_drift": 1.2694836510234184e-07,
+                "depth": 0.018864367181013253,
+                "bottom_clearance": 0.08057617247161553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0002720615666513826,
+                  6.669048997987037e-06
+                ],
+                "rod_tip_xy": [
+                  0.2749697843508667,
+                  -0.39070102791214956
+                ],
+                "target_mouth_xy": [
+                  0.2752418459175181,
+                  -0.39070769696114754
+                ],
+                "gripper_position": [
+                  0.2749590102260584,
+                  -0.3907103434282505,
+                  1.0017177757030802
+                ],
+                "rod_tip_xy_dist": 0.00027214329362183857,
+                "target_xy_drift": 1.2757528781448826e-07,
+                "depth": 0.019387135676875777,
+                "bottom_clearance": 0.08005338431424214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00028289544038784253,
+                  -2.58495551930249e-06
+                ],
+                "rod_tip_xy": [
+                  0.2749590102260583,
+                  -0.3907103434282506
+                ],
+                "target_mouth_xy": [
+                  0.27524190566644613,
+                  -0.3907077584727313
+                ],
+                "gripper_position": [
+                  0.27495112475306754,
+                  -0.3907133490079945,
+                  1.0015820364012336
+                ],
+                "rod_tip_xy_dist": 0.0002829072501497057,
+                "target_xy_drift": 1.9047584688068847e-07,
+                "depth": 0.019542086560779826,
+                "bottom_clearance": 0.07989850560227518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00029072149783898604,
+                  -5.654268684929242e-06
+                ],
+                "rod_tip_xy": [
+                  0.2749511247530675,
+                  -0.3907133490079946
+                ],
+                "target_mouth_xy": [
+                  0.2752418462509065,
+                  -0.39070769473930966
+                ],
+                "gripper_position": [
+                  0.27494308691149155,
+                  -0.39071647555175587,
+                  1.0014461693548515
+                ],
+                "rod_tip_xy_dist": 0.00029077647783152085,
+                "target_xy_drift": 1.2532993100614415e-07,
+                "depth": 0.019677802360672292,
+                "bottom_clearance": 0.07976274903099512,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000597596459800905,
+              "rod_tip_xy_max_step": 3.2424834899737554e-05,
+              "rod_tip_xy_range": 0.0005975868235739228,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2745564793090866,
+            -0.39214854508228714,
+            1.043503118469883
+          ],
+          "object_origin_world": [
+            0.2745564793090866,
+            -0.39214854508228714,
+            1.043503118469883
+          ],
+          "frame_world": [
+            0.27455498687363006,
+            -0.39215746603393253,
+            1.0433799912615158
+          ],
+          "center_minus_frame": [
+            1.492435456551533e-06,
+            8.920951645396968e-06,
+            0.00012312720836726854
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25166422697822616,
+              0.13738558833734515,
+              0.8340938923503519
+            ],
+            "target_position": [
+              0.2636490167496511,
+              0.18274001319170996,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04691118245936118,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16766114430433543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340938923503519,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675349686607,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13747175741039147,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b34758063653167cee44b355c881e2c75ee8938021e9de8b2644e2dcbd466563",
+    "visual_seed": 3179365537854065924,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70b0ff902e563efe4958a8316a5b9e7768506b2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_45_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38673288070660866,
+              0.0668699909718403,
+              1.1668647707064326
+            ],
+            "current_z": 1.1668647707064326,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3057580838777323,
+            "gripper_z": 1.1564364285668893,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3818611540710606,
+              0.06194100061809614,
+              1.1564364285668893
+            ],
+            "object_minus_gripper": [
+              0.004871726635548079,
+              0.004928990353744167,
+              0.010428342139543245
+            ],
+            "object_to_gripper_xy": 0.006930271734846453,
+            "object_to_gripper_z": 0.010428342139543245,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38673288070660866,
+              0.043095499112072444,
+              1.1668647707064326
+            ],
+            "finger_b": [
+              0.37541429188609604,
+              0.0668699909718403,
+              1.1668647707064326
+            ],
+            "finger_midpoint": [
+              0.38107358629635235,
+              0.054982745041956375,
+              1.1668647707064326
+            ],
+            "object_minus_finger_midpoint": [
+              0.00565929441025631,
+              0.011887245929883931,
+              0.0
+            ],
+            "finger_gap": 0.02633129157633559,
+            "fingertip_max_gap": 0.09166869582429463,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013165645788167795,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1668647707064326,
+            "object_top_z": 1.216716219325678,
+            "finger_top_clearance": 0.0498514486192454,
+            "fingertip_min_top_clearance": 0.014955434585773619,
+            "object_projection_between_fingers": 0.8152262631383951,
+            "object_to_finger_line_xy": 0.010219540389700322,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048334347912147316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.534644337939199,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2772729480924772,
+              -0.3919075406886845,
+              0.8515395750291901
+            ],
+            "target_position": [
+              0.269304725800906,
+              -0.39297276971359846,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008039109363817108,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18537468021732212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395750291901,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751765124933293,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522303336167815,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15408231154824217,
+            "release_required_pad_clearance": 0.05261151668083908,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.28530505114545823,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00839996337890625,
+            "max_z_decrease": 0.00839996337890625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500074275233461,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00839996337890625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094219376546803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00839996337890625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008400119570865762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12500464916229242,
+              -0.4492342174053192,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12500464916229242,
+              -0.4492342174053192,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12375453775226575,
+              -0.44941020175605056,
+              0.8035198332365703
+            ],
+            "closest_button": [
+              0.1250403374433517,
+              -0.449207603931427,
+              0.7685433030128479
+            ],
+            "closest_ee_minus_button": [
+              -0.0012857996910859426,
+              -0.00020259782462356268,
+              0.03497653022372238
+            ],
+            "button_min_z_position": [
+              0.12504631280899042,
+              -0.4492044150829315,
+              0.7684088945388794
+            ],
+            "min_active_finger_to_button": 0.14705423152365465,
+            "closest_active_finger": [
+              -0.01723743975162506,
+              -0.4350375831127167,
+              0.8113135099411011
+            ],
+            "closest_active_finger_button": [
+              0.12500385940074918,
+              -0.44923427700996404,
+              0.7768053412437439
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14224129915237424,
+              0.01419669389724737,
+              0.03450816869735718
+            ],
+            "min_contact_pad_to_button": 0.02094219376546803,
+            "closest_contact_pad": [
+              0.12504631280899042,
+              -0.45044621137358504,
+              0.7893142388719184
+            ],
+            "closest_contact_pad_button": [
+              0.12504631280899042,
+              -0.4492044150829315,
+              0.7684088945388794
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012417962906535185,
+              0.020905344333039033
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2666823513768907,
+              0.1785291676592285,
+              1.1038086709071138
+            ],
+            "current_z": 1.1038086709071138,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1938995411727512,
+            "gripper_z": 1.1038089269071452,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2666824358541148,
+              0.1785291539663365,
+              1.1038089269071452
+            ],
+            "object_minus_gripper": [
+              -8.447722404936187e-08,
+              1.369289198693835e-08,
+              -2.560000313955868e-07
+            ],
+            "object_to_gripper_xy": 8.557976790136816e-08,
+            "object_to_gripper_z": -2.560000313955868e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2666823513768907,
+              0.1785291676592285,
+              1.1038086709071138
+            ],
+            "finger_b": [
+              0.2666823513768907,
+              0.1785291676592285,
+              1.1038086709071138
+            ],
+            "finger_midpoint": [
+              0.2666823513768907,
+              0.1785291676592285,
+              1.1038086709071138
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1038086709071138,
+            "object_top_z": 1.2288171775273935,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2666823513768907,
+            0.17852916765922852,
+            1.103808670907114
+          ],
+          "object_origin_world": [
+            0.2666823513768907,
+            0.17852916765922852,
+            1.103808670907114
+          ],
+          "frame_world": [
+            0.2666824358541148,
+            0.1785291539663365,
+            1.1038089269071452
+          ],
+          "center_minus_frame": [
+            -8.447722404936187e-08,
+            1.3692892014693925e-08,
+            -2.560000311735422e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433781579764976,
+            "required_z": 0.9112598859073945,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0022643378258175987,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0853226367306922e-07,
+            "max_target_xy_drift": 8.769930948166233e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.2853050478381104,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.28803530748477035,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2752247840792988,
+              -0.3909365868813276,
+              0.9235010796908775
+            ],
+            "target_mouth_xy": [
+              0.2772729768378457,
+              -0.3919076919132588
+            ],
+            "rod_tip_z": 0.9235010796908775,
+            "rod_tip_depth": -0.022241208455812567,
+            "rod_tip_bottom_clearance": 0.12168177730114493,
+            "rod_tip_xy_dist": 0.002266746249408181,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04503120729642218,
+            "min_rod_tip_bottom_clearance": 0.054409317657474365,
+            "min_rod_tip_xy_dist": 0.0007708041989633565,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27727303838739986,
+              -0.3919076025213988
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.154955417558838e-08,
+              -8.939186002532296e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.001506654784133754,
+                0.0028177356201826154
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016075974884541266,
+                0.0024393199319569514
+              ],
+              "first_target_mouth_xy": [
+                0.2772730386201209,
+                -0.3919075435513132
+              ],
+              "last_target_mouth_xy": [
+                0.277273073339712,
+                -0.39190763547839796
+              ],
+              "first_rod_tip_xy": [
+                0.27576638383598717,
+                -0.38908980793113057
+              ],
+              "last_rod_tip_xy": [
+                0.2756654758512579,
+                -0.389468315546441
+              ],
+              "min_rod_tip_xy_dist": 0.00291303923251554,
+              "max_rod_tip_xy_dist": 0.0031954169016506573,
+              "first_target_xy_drift": 5.897054479882741e-08,
+              "last_target_xy_drift": 4.803985762181882e-08,
+              "max_depth": 0.019366307290489382,
+              "min_bottom_clearance": 0.0800744754632493
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001506654784133754,
+                  0.0028177356201826154
+                ],
+                "rod_tip_xy": [
+                  0.27576638383598717,
+                  -0.38908980793113057
+                ],
+                "target_mouth_xy": [
+                  0.2772730386201209,
+                  -0.3919075435513132
+                ],
+                "gripper_position": [
+                  0.2757587683675461,
+                  -0.3890937520754058,
+                  1.0059970860360652
+                ],
+                "rod_tip_xy_dist": 0.0031952531454955235,
+                "target_xy_drift": 5.897054479882741e-08,
+                "depth": 0.015126448114915148,
+                "bottom_clearance": 0.08431406115936602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015143011239027726,
+                  0.002813819695982933
+                ],
+                "rod_tip_xy": [
+                  0.27575876836754615,
+                  -0.389093752075406
+                ],
+                "target_mouth_xy": [
+                  0.2772730694914489,
+                  -0.3919075717713889
+                ],
+                "gripper_position": [
+                  0.27576424057769944,
+                  -0.389167345786742,
+                  1.0054631189420535
+                ],
+                "rod_tip_xy_dist": 0.0031954169016506573,
+                "target_xy_drift": 4.3738140963596787e-08,
+                "depth": 0.015262886798213748,
+                "bottom_clearance": 0.08417771987414568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015087979624193726,
+                  0.0027402263003959426
+                ],
+                "rod_tip_xy": [
+                  0.2757642405776995,
+                  -0.38916734578674217
+                ],
+                "target_mouth_xy": [
+                  0.27727303854011887,
+                  -0.3919075720871381
+                ],
+                "gripper_position": [
+                  0.2757539478537845,
+                  -0.38917684987665235,
+                  1.005307740629362
+                ],
+                "rod_tip_xy_dist": 0.0031281482491695442,
+                "target_xy_drift": 3.0434643836456546e-08,
+                "depth": 0.015796719831847827,
+                "bottom_clearance": 0.08364383128466235,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001519122783161242,
+                  0.002730691775751082
+                ],
+                "rod_tip_xy": [
+                  0.27575394785378454,
+                  -0.38917684987665246
+                ],
+                "target_mouth_xy": [
+                  0.2772730706369458,
+                  -0.39190754165240355
+                ],
+                "gripper_position": [
+                  0.2757463554357439,
+                  -0.38918085160474286,
+                  1.0051714448826303
+                ],
+                "rod_tip_xy_dist": 0.0031248058506848316,
+                "target_xy_drift": 6.888445247584586e-08,
+                "depth": 0.01595224701621245,
+                "bottom_clearance": 0.08348841505336757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015266238949852573,
+                  0.0027267208005010146
+                ],
+                "rod_tip_xy": [
+                  0.27574635543574394,
+                  -0.3891808516047429
+                ],
+                "target_mouth_xy": [
+                  0.2772729793307292,
+                  -0.39190757240524393
+                ],
+                "gripper_position": [
+                  0.2757525291125964,
+                  -0.38925543712215877,
+                  1.0046393097375557
+                ],
+                "rod_tip_xy_dist": 0.003124993894494012,
+                "target_xy_drift": 6.629233087491431e-08,
+                "depth": 0.016088391414018743,
+                "bottom_clearance": 0.08335216368942622,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015205715300529166,
+                  0.002652074091502976
+                ],
+                "rod_tip_xy": [
+                  0.27575252911259646,
+                  -0.38925543712215893
+                ],
+                "target_mouth_xy": [
+                  0.2772731006426494,
+                  -0.3919075112136619
+                ],
+                "gripper_position": [
+                  0.27574209722714815,
+                  -0.3892648645829635,
+                  1.0044837692257427
+                ],
+                "rod_tip_xy_dist": 0.003057063094675804,
+                "target_xy_drift": 1.1051162338985693e-07,
+                "depth": 0.016620690841210206,
+                "bottom_clearance": 0.08282000160592407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015309415531065684,
+                  0.002642707503966224
+                ],
+                "rod_tip_xy": [
+                  0.2757420972271482,
+                  -0.3892648645829635
+                ],
+                "target_mouth_xy": [
+                  0.2772730387802548,
+                  -0.3919075720869297
+                ],
+                "gripper_position": [
+                  0.2757344470050722,
+                  -0.38926843856299415,
+                  1.004347420596836
+                ],
+                "rod_tip_xy_dist": 0.003054125896315956,
+                "target_xy_drift": 3.043700447986785e-08,
+                "depth": 0.016776071484535637,
+                "bottom_clearance": 0.08266448891536304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015386541977825963,
+                  0.002639104036084805
+                ],
+                "rod_tip_xy": [
+                  0.27573444700507227,
+                  -0.3892684385629942
+                ],
+                "target_mouth_xy": [
+                  0.27727310120285487,
+                  -0.391907542599079
+                ],
+                "gripper_position": [
+                  0.2757413453257399,
+                  -0.3893440591635265,
+                  1.0038187132081995
+                ],
+                "rod_tip_xy_dist": 0.0030548857349552557,
+                "target_xy_drift": 8.681282044916435e-08,
+                "depth": 0.01691255632416422,
+                "bottom_clearance": 0.08252810160758306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015316636490794733,
+                  0.002563514506749631
+                ],
+                "rod_tip_xy": [
+                  0.27574134532573996,
+                  -0.38934405916352655
+                ],
+                "target_mouth_xy": [
+                  0.27727300897481943,
+                  -0.3919075736702762
+                ],
+                "gripper_position": [
+                  0.27573079229965386,
+                  -0.3893534338233771,
+                  1.00366340382408
+                ],
+                "rod_tip_xy_dist": 0.002986235114693291,
+                "target_xy_drift": 4.1200572359641456e-08,
+                "depth": 0.017441107572676362,
+                "bottom_clearance": 0.08199941307591274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015422785849466547,
+                  0.002554108143266065
+                ],
+                "rod_tip_xy": [
+                  0.2757307922996539,
+                  -0.3893534338233773
+                ],
+                "target_mouth_xy": [
+                  0.27727307088460057,
+                  -0.39190754196664335
+                ],
+                "gripper_position": [
+                  0.2757228766442234,
+                  -0.3893569204508533,
+                  1.0035275215093833
+                ],
+                "rod_tip_xy_dist": 0.002983637317282897,
+                "target_xy_drift": 6.872369649053358e-08,
+                "depth": 0.017596580218338098,
+                "bottom_clearance": 0.0818440802603243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015501618584798926,
+                  0.0025506513189684776
+                ],
+                "rod_tip_xy": [
+                  0.27572287664422346,
+                  -0.38935692045085346
+                ],
+                "target_mouth_xy": [
+                  0.27727303850270335,
+                  -0.39190757176982194
+                ],
+                "gripper_position": [
+                  0.27571496149063784,
+                  -0.3893605898733746,
+                  1.0033911550072678
+                ],
+                "rod_tip_xy_dist": 0.0029847653070955962,
+                "target_xy_drift": 3.07517930058182e-08,
+                "depth": 0.017732322605004014,
+                "bottom_clearance": 0.0817082383138471,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00155810626274544,
+                  0.0025469520924343847
+                ],
+                "rod_tip_xy": [
+                  0.2757149614906379,
+                  -0.38936058987337463
+                ],
+                "target_mouth_xy": [
+                  0.27727306775338334,
+                  -0.391907541965809
+                ],
+                "gripper_position": [
+                  0.27570701769969663,
+                  -0.389364004655717,
+                  1.0032554437602264
+                ],
+                "rod_tip_xy_dist": 0.0029857428032505503,
+                "target_xy_drift": 6.730037471967484e-08,
+                "depth": 0.017868746797653268,
+                "bottom_clearance": 0.08157179786340563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015660206034088242,
+                  0.0025435376286100375
+                ],
+                "rod_tip_xy": [
+                  0.27570701769969674,
+                  -0.3893640046557172
+                ],
+                "target_mouth_xy": [
+                  0.27727303830310557,
+                  -0.3919075422843272
+                ],
+                "gripper_position": [
+                  0.27571606617749067,
+                  -0.38944298898871993,
+                  1.0027281663384406
+                ],
+                "rod_tip_xy_dist": 0.00298697241340728,
+                "target_xy_drift": 6.02371305326683e-08,
+                "depth": 0.018004393113705164,
+                "bottom_clearance": 0.08143614886251915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00155703406742419,
+                  0.0024645545635332278
+                ],
+                "rod_tip_xy": [
+                  0.2757160661774907,
+                  -0.38944298898872
+                ],
+                "target_mouth_xy": [
+                  0.2772731002449149,
+                  -0.3919075435522532
+                ],
+                "gripper_position": [
+                  0.27570528913727277,
+                  -0.3894523521060873,
+                  1.0025732215888876
+                ],
+                "rod_tip_xy_dist": 0.0029151988412031136,
+                "target_xy_drift": 8.546175927035124e-08,
+                "depth": 0.018531785954359226,
+                "bottom_clearance": 0.08090880124366806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001567749088374426,
+                  0.0024551904948650893
+                ],
+                "rod_tip_xy": [
+                  0.2757052891372728,
+                  -0.3894523521060873
+                ],
+                "target_mouth_xy": [
+                  0.27727303822564725,
+                  -0.3919075426009524
+                ],
+                "gripper_position": [
+                  0.27569744140507235,
+                  -0.38945534128164977,
+                  1.0024373706580938
+                ],
+                "rod_tip_xy_dist": 0.00291303923251554,
+                "target_xy_drift": 5.992066470411221e-08,
+                "depth": 0.018686609029634815,
+                "bottom_clearance": 0.08075391872603277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015756287229664045,
+                  0.00245222953718216
+                ],
+                "rod_tip_xy": [
+                  0.2756974414050724,
+                  -0.3894553412816498
+                ],
+                "target_mouth_xy": [
+                  0.2772730701280388,
+                  -0.391907570818832
+                ],
+                "gripper_position": [
+                  0.2756894291430401,
+                  -0.38945866833812826,
+                  1.0023013845516358
+                ],
+                "rod_tip_xy_dist": 0.002914795974963835,
+                "target_xy_drift": 4.4861129079776195e-08,
+                "depth": 0.018822624206977,
+                "bottom_clearance": 0.08061804076362378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015836094003643386,
+                  0.0024489046984770835
+                ],
+                "rod_tip_xy": [
+                  0.2756894291430402,
+                  -0.38945866833812837
+                ],
+                "target_mouth_xy": [
+                  0.2772730385434045,
+                  -0.39190757303660545
+                ],
+                "gripper_position": [
+                  0.27568152237915333,
+                  -0.38946185319746146,
+                  1.0021654230290111
+                ],
+                "rod_tip_xy_dist": 0.002916325248518319,
+                "target_xy_drift": 2.9485206038135347e-08,
+                "depth": 0.018958437355824365,
+                "bottom_clearance": 0.08048208020835379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015915497657427724,
+                  0.002445687816837294
+                ],
+                "rod_tip_xy": [
+                  0.2756815223791534,
+                  -0.3894618531974615
+                ],
+                "target_mouth_xy": [
+                  0.27727307214489616,
+                  -0.3919075410142988
+                ],
+                "gripper_position": [
+                  0.27567355122277293,
+                  -0.38946513803657845,
+                  1.0020299608584005
+                ],
+                "rod_tip_xy_dist": 0.0029179478326834844,
+                "target_xy_drift": 7.016189780000566e-08,
+                "depth": 0.01909458800143604,
+                "bottom_clearance": 0.08034615474345486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015994249926530868,
+                  0.0024424349889431984
+                ],
+                "rod_tip_xy": [
+                  0.275673551222773,
+                  -0.38946513803657856
+                ],
+                "target_mouth_xy": [
+                  0.27727297621542607,
+                  -0.39190757302552176
+                ],
+                "gripper_position": [
+                  0.27566547585125784,
+                  -0.389468315546441,
+                  1.0018936503951466
+                ],
+                "rod_tip_xy_dist": 0.002919528897328692,
+                "target_xy_drift": 6.881395996613096e-08,
+                "depth": 0.019229923499577528,
+                "bottom_clearance": 0.0802106576037146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016075974884541266,
+                  0.0024393199319569514
+                ],
+                "rod_tip_xy": [
+                  0.2756654758512579,
+                  -0.389468315546441
+                ],
+                "target_mouth_xy": [
+                  0.277273073339712,
+                  -0.39190763547839796
+                ],
+                "gripper_position": [
+                  0.2756777579520775,
+                  -0.38955229800065516,
+                  1.0013726404372507
+                ],
+                "rod_tip_xy_dist": 0.0029214125719121704,
+                "target_xy_drift": 4.803985762181882e-08,
+                "depth": 0.019366307290489382,
+                "bottom_clearance": 0.0800744754632493,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005982100148667832,
+              "rod_tip_xy_max_step": 3.250124717608463e-05,
+              "rod_tip_xy_range": 0.0005982019631989679,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2752247840792988,
+            -0.3909365868813276,
+            1.0435010796908777
+          ],
+          "object_origin_world": [
+            0.2752247840792988,
+            -0.3909365868813276,
+            1.0435010796908777
+          ],
+          "frame_world": [
+            0.2752232433117986,
+            -0.3909454974102466,
+            1.0433781579764976
+          ],
+          "center_minus_frame": [
+            1.5407675001966048e-06,
+            8.9105289189928e-06,
+            0.00012292171438010868
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25628000690145775,
+              0.1324488255123256,
+              0.8336158898068473
+            ],
+            "target_position": [
+              0.2667868242218317,
+              0.17863725230012717,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04736838586373634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674541689063183,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8336158898068473,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672691373009,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13711016800182776,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "77da26fc66f236e637f40b47490631f5f703f69809dc2d8232c4e6334d08555e",
+    "visual_seed": 4768085612230642046,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f3eb38e126b3d11090f792cf4ebacbe3649a0f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_50_success.json
@@ -0,0 +1,2009 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37927488780644913,
+              0.06000853331627166,
+              1.1664320989734025
+            ],
+            "current_z": 1.1664320989734025,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30532559095863654,
+            "gripper_z": 1.156141439904864,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37443173093451687,
+              0.0551510585308123,
+              1.156141439904864
+            ],
+            "object_minus_gripper": [
+              0.004843156871932264,
+              0.004857474785459358,
+              0.010290659068538544
+            ],
+            "object_to_gripper_xy": 0.0068593898983450525,
+            "object_to_gripper_z": 0.010290659068538544,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37927488780644913,
+              0.03614941940766064,
+              1.1664320989734025
+            ],
+            "finger_b": [
+              0.36819176297437667,
+              0.06000853331627166,
+              1.1664320989734025
+            ],
+            "finger_midpoint": [
+              0.37373332539041293,
+              0.04807897636196615,
+              1.1664320989734025
+            ],
+            "object_minus_finger_midpoint": [
+              0.005541562416036205,
+              0.01192955695430551,
+              0.0
+            ],
+            "finger_gap": 0.026307659959551265,
+            "fingertip_max_gap": 0.0912305503112665,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013153829979775624,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664320989734025,
+            "object_top_z": 1.2163017192173409,
+            "finger_top_clearance": 0.04986962024393837,
+            "fingertip_min_top_clearance": 0.01496088607318151,
+            "object_projection_between_fingers": 0.8225156721485238,
+            "object_to_finger_line_xy": 0.010051579587023182,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048115275155633255,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0710237747609386,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2737582034823743,
+              -0.3928802229026154,
+              0.8515395845923062
+            ],
+            "target_position": [
+              0.26591973834978067,
+              -0.3938503305964837,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007898268454071973,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18712912954067887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395845923062,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753754489884434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594954234911743,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15534780240906818,
+            "release_required_pad_clearance": 0.05297477117455872,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9843608607176463,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00833594799041748,
+            "max_z_decrease": 0.00833594799041748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009449777719005,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00833594799041748,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021005071043801588,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00833594799041748,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008336075929905998,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12161966413259505,
+              -0.4501117765903472,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12161966413259505,
+              -0.4501117765903472,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12038022508914015,
+              -0.45098165389629985,
+              0.8035855235359953
+            ],
+            "closest_button": [
+              0.12165106087923049,
+              -0.45008897781372065,
+              0.7686105370521545
+            ],
+            "closest_ee_minus_button": [
+              -0.0012708357900903383,
+              -0.0008926760825792024,
+              0.034974986483840786
+            ],
+            "button_min_z_position": [
+              0.12165691703557968,
+              -0.45008447766304005,
+              0.7684729099273682
+            ],
+            "min_active_finger_to_button": 0.14695543084840457,
+            "closest_active_finger": [
+              -0.020387232303619385,
+              -0.4345633387565613,
+              0.8106831312179565
+            ],
+            "closest_active_finger_button": [
+              0.12162084877490996,
+              -0.45010992884635914,
+              0.7762171030044556
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14200808107852936,
+              0.015546590089797863,
+              0.03446602821350098
+            ],
+            "min_contact_pad_to_button": 0.021005071043801588,
+            "closest_contact_pad": [
+              0.12165691703557968,
+              -0.4521956860185466,
+              0.7893716134477972
+            ],
+            "closest_contact_pad_button": [
+              0.12165691703557968,
+              -0.45008447766304005,
+              0.7684729099273682
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002111208355506544,
+              0.020898703520428996
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26551355447368274,
+              0.1813311033504922,
+              1.1140706642201308
+            ],
+            "current_z": 1.1140706642201308,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20416153448576824,
+            "gripper_z": 1.1140709914928435,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26551333536953636,
+              0.18133120239600814,
+              1.1140709914928435
+            ],
+            "object_minus_gripper": [
+              2.1910414638171005e-07,
+              -9.904551592776478e-08,
+              -3.272727127079378e-07
+            ],
+            "object_to_gripper_xy": 2.404509122192198e-07,
+            "object_to_gripper_z": -3.272727127079378e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26551355447368274,
+              0.1813311033504922,
+              1.1140706642201308
+            ],
+            "finger_b": [
+              0.26551355447368274,
+              0.1813311033504922,
+              1.1140706642201308
+            ],
+            "finger_midpoint": [
+              0.26551355447368274,
+              0.1813311033504922,
+              1.1140706642201308
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1140706642201308,
+            "object_top_z": 1.2390791708404105,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2655135544736828,
+            0.18133110335049224,
+            1.114070664220131
+          ],
+          "object_origin_world": [
+            0.2655135544736828,
+            0.18133110335049224,
+            1.114070664220131
+          ],
+          "frame_world": [
+            0.26551333536953636,
+            0.18133120239600814,
+            1.1140709914928435
+          ],
+          "center_minus_frame": [
+            2.191041464372212e-07,
+            -9.904551590000921e-08,
+            -3.272727124858932e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437392165456567,
+            "required_z": 0.9112598839847352,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002729510003146128,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.462498417904688e-08,
+            "max_target_xy_drift": 1.0820270325925879e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9843608615689048,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9843608616203727,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27125294452152815,
+              -0.39402302859808247,
+              0.923438917388237
+            ],
+            "target_mouth_xy": [
+              0.27375814554669076,
+              -0.392880162305704
+            ],
+            "rod_tip_z": 0.923438917388237,
+            "rod_tip_depth": -0.022179091564336173,
+            "rod_tip_bottom_clearance": 0.1216196120107319,
+            "rod_tip_xy_dist": 0.0027535750468673805,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044865709232867146,
+            "min_rod_tip_bottom_clearance": 0.05457490036605017,
+            "min_rod_tip_xy_dist": 0.0012892098005664382,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27375820323489214,
+              -0.39288013317736725
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.768820138252195e-08,
+              -2.9128336742623162e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.001937812913056114,
+                0.00042245722045675116
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0020241571102726508,
+                2.9435748435169273e-05
+              ],
+              "first_target_mouth_xy": [
+                0.2737582354925137,
+                -0.39288013409232525
+              ],
+              "last_target_mouth_xy": [
+                0.27375820319416655,
+                -0.3928801299953715
+              ],
+              "first_rod_tip_xy": [
+                0.2718204225794576,
+                -0.3924576768718685
+              ],
+              "last_rod_tip_xy": [
+                0.2717340460838939,
+                -0.3928506942469363
+              ],
+              "min_rod_tip_xy_dist": 0.0019736199397347087,
+              "max_rod_tip_xy_dist": 0.002036767485334425,
+              "first_target_xy_drift": 3.2270594939394003e-08,
+              "last_target_xy_drift": 3.182256385761647e-09,
+              "max_depth": 0.019688139255701675,
+              "min_bottom_clearance": 0.07975247018769716
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001937812913056114,
+                  0.00042245722045675116
+                ],
+                "rod_tip_xy": [
+                  0.2718204225794576,
+                  -0.3924576768718685
+                ],
+                "target_mouth_xy": [
+                  0.2737582354925137,
+                  -0.39288013409232525
+                ],
+                "gripper_position": [
+                  0.2718129417696823,
+                  -0.39246184253338645,
+                  1.0060540947899055
+                ],
+                "rod_tip_xy_dist": 0.001983327756353716,
+                "target_xy_drift": 3.2270594939394003e-08,
+                "depth": 0.015070439191875229,
+                "bottom_clearance": 0.08437015798452596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00194526273144624,
+                  0.000418318192415279
+                ],
+                "rod_tip_xy": [
+                  0.2718129417696821,
+                  -0.39246184253338645
+                ],
+                "target_mouth_xy": [
+                  0.27375820450112837,
+                  -0.39288016072580173
+                ],
+                "gripper_position": [
+                  0.2718171522905481,
+                  -0.39252307395050595,
+                  1.0055197078353975
+                ],
+                "rod_tip_xy_dist": 0.001989732948025758,
+                "target_xy_drift": 2.7577519764730497e-08,
+                "depth": 0.01520574072848968,
+                "bottom_clearance": 0.08423478507026128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0019410525108903842,
+                  0.0003570585617018174
+                ],
+                "rod_tip_xy": [
+                  0.2718171522905479,
+                  -0.392523073950506
+                ],
+                "target_mouth_xy": [
+                  0.2737582048014383,
+                  -0.3928801325122078
+                ],
+                "gripper_position": [
+                  0.2718069681592054,
+                  -0.3925323424752245,
+                  1.0053649755205705
+                ],
+                "rod_tip_xy_dist": 0.0019736199397347087,
+                "target_xy_drift": 1.7019118568666653e-09,
+                "depth": 0.01574011663565289,
+                "bottom_clearance": 0.0837003932189545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019512353170844654,
+                  0.0003477881494616808
+                ],
+                "rod_tip_xy": [
+                  0.2718069681592053,
+                  -0.3925323424752245
+                ],
+                "target_mouth_xy": [
+                  0.27375820347628976,
+                  -0.3928801306246862
+                ],
+                "gripper_position": [
+                  0.2717995327838153,
+                  -0.3925361525227679,
+                  1.0052298394746693
+                ],
+                "rod_tip_xy_dist": 0.001981987855548993,
+                "target_xy_drift": 2.564069702704051e-09,
+                "depth": 0.015894896755110355,
+                "bottom_clearance": 0.08354567958588499,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019586699013208198,
+                  0.0003439784261027312
+                ],
+                "rod_tip_xy": [
+                  0.2717995327838152,
+                  -0.39253615252276786
+                ],
+                "target_mouth_xy": [
+                  0.273758202685136,
+                  -0.3928801309488706
+                ],
+                "gripper_position": [
+                  0.27180444830688366,
+                  -0.39259824689588374,
+                  1.0046969043550662
+                ],
+                "rod_tip_xy_dist": 0.001988645000990429,
+                "target_xy_drift": 2.2953059028719996e-09,
+                "depth": 0.016029991955390677,
+                "bottom_clearance": 0.08341060395481537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001953726460070082,
+                  0.00028185201283331685
+                ],
+                "rod_tip_xy": [
+                  0.27180444830688355,
+                  -0.39259824689588374
+                ],
+                "target_mouth_xy": [
+                  0.27375817476695363,
+                  -0.39288009890871706
+                ],
+                "gripper_position": [
+                  0.2717940619155468,
+                  -0.3926072728379169,
+                  1.0045424997741117
+                ],
+                "rod_tip_xy_dist": 0.001973952288662562,
+                "target_xy_drift": 4.455068920924309e-08,
+                "depth": 0.016562907834356433,
+                "bottom_clearance": 0.08287769290742475,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019641428857834486,
+                  0.0002728257480196783
+                ],
+                "rod_tip_xy": [
+                  0.27179406191554667,
+                  -0.39260727283791685
+                ],
+                "target_mouth_xy": [
+                  0.2737582048013301,
+                  -0.39288009858593653
+                ],
+                "gripper_position": [
+                  0.27178648361503593,
+                  -0.39261116679099817,
+                  1.0044072856070234
+                ],
+                "rod_tip_xy_dist": 0.001983000545778097,
+                "target_xy_drift": 3.462687983615163e-08,
+                "depth": 0.0167173718069763,
+                "bottom_clearance": 0.08272323386162606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019717203500857483,
+                  0.0002689654118905316
+                ],
+                "rod_tip_xy": [
+                  0.2717864836150358,
+                  -0.39261116679099817
+                ],
+                "target_mouth_xy": [
+                  0.27375820396512157,
+                  -0.3928801322028887
+                ],
+                "gripper_position": [
+                  0.2717920029361469,
+                  -0.3926740322858008,
+                  1.0038772639949716
+                ],
+                "rod_tip_xy_dist": 0.0019899807867755177,
+                "target_xy_drift": 1.217720606339788e-09,
+                "depth": 0.01685255842765032,
+                "bottom_clearance": 0.08258797183301103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0019662294996888874,
+                  0.00020609770996982135
+                ],
+                "rod_tip_xy": [
+                  0.27179200293614675,
+                  -0.3926740322858008
+                ],
+                "target_mouth_xy": [
+                  0.27375823243583564,
+                  -0.3928801299957706
+                ],
+                "gripper_position": [
+                  0.27178161369208464,
+                  -0.39268290106152226,
+                  1.0037232671286547
+                ],
+                "rod_tip_xy_dist": 0.001977001444486477,
+                "target_xy_drift": 2.9373757988223735e-08,
+                "depth": 0.017382645158691146,
+                "bottom_clearance": 0.08205798619539495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019766208221015935,
+                  0.00019723081402633902
+                ],
+                "rod_tip_xy": [
+                  0.27178161369208453,
+                  -0.39268290106152226
+                ],
+                "target_mouth_xy": [
+                  0.2737582345141861,
+                  -0.3928801318755486
+                ],
+                "gripper_position": [
+                  0.2717737421662112,
+                  -0.39268670164437314,
+                  1.0035881712510666
+                ],
+                "rod_tip_xy_dist": 0.0019864364747877216,
+                "target_xy_drift": 3.13063725814699e-08,
+                "depth": 0.017536488740641176,
+                "bottom_clearance": 0.08190400134821008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001984461695949624,
+                  0.00019342865246863017
+                ],
+                "rod_tip_xy": [
+                  0.27177374216621103,
+                  -0.39268670164437314
+                ],
+                "target_mouth_xy": [
+                  0.27375820386216065,
+                  -0.39288013029684177
+                ],
+                "gripper_position": [
+                  0.2717660424106412,
+                  -0.3926899752773892,
+                  1.0034528955612363
+                ],
+                "rod_tip_xy_dist": 0.0019938663110366977,
+                "target_xy_drift": 2.9480320314418184e-09,
+                "depth": 0.017671694820160844,
+                "bottom_clearance": 0.08176887793187648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0019921619369406285,
+                  0.0001901556529209092
+                ],
+                "rod_tip_xy": [
+                  0.27176604241064106,
+                  -0.39268997527738925
+                ],
+                "target_mouth_xy": [
+                  0.2737582043475817,
+                  -0.39288013093031016
+                ],
+                "gripper_position": [
+                  0.2717582819909363,
+                  -0.39269377182365506,
+                  1.00331783732627
+                ],
+                "rod_tip_xy_dist": 0.0020012167187320852,
+                "target_xy_drift": 2.5074576029747342e-09,
+                "depth": 0.017806884964635228,
+                "bottom_clearance": 0.08163364659654115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001999922059847503,
+                  0.00018632740111623747
+                ],
+                "rod_tip_xy": [
+                  0.2717582819909362,
+                  -0.39269377182365506
+                ],
+                "target_mouth_xy": [
+                  0.2737582040507837,
+                  -0.3928800992247713
+                ],
+                "gripper_position": [
+                  0.2717658611705025,
+                  -0.39275943877894,
+                  1.0027889165116448
+                ],
+                "rod_tip_xy_dist": 0.0020085831189849755,
+                "target_xy_drift": 3.396239760795494e-08,
+                "depth": 0.0179420449583666,
+                "bottom_clearance": 0.08149856496137853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001992343950126263,
+                  0.00012069373119988347
+                ],
+                "rod_tip_xy": [
+                  0.2717658611705024,
+                  -0.39275943877893993
+                ],
+                "target_mouth_xy": [
+                  0.27375820512062865,
+                  -0.3928801325101398
+                ],
+                "gripper_position": [
+                  0.2717552363839728,
+                  -0.39276827525288305,
+                  1.00263461382941
+                ],
+                "rod_tip_xy_dist": 0.0019959963407671045,
+                "target_xy_drift": 2.000298639458551e-09,
+                "depth": 0.018470909177855876,
+                "bottom_clearance": 0.08096961030534167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0020029969855208107,
+                  0.00011185789866891005
+                ],
+                "rod_tip_xy": [
+                  0.27175523638397264,
+                  -0.39276827525288305
+                ],
+                "target_mouth_xy": [
+                  0.27375823336949345,
+                  -0.39288013315155196
+                ],
+                "gripper_position": [
+                  0.2717473505350805,
+                  -0.3927716351801391,
+                  1.0024995862090742
+                ],
+                "rod_tip_xy_dist": 0.0020061179211352657,
+                "target_xy_drift": 3.0134612371834137e-08,
+                "depth": 0.018625259651399384,
+                "bottom_clearance": 0.08081532016913373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00201082337673969,
+                  0.00010852650280746001
+                ],
+                "rod_tip_xy": [
+                  0.2717473505350803,
+                  -0.39277163518013913
+                ],
+                "target_mouth_xy": [
+                  0.27375817391182,
+                  -0.3928801616829466
+                ],
+                "gripper_position": [
+                  0.2717396369562105,
+                  -0.39277484099162135,
+                  1.0023645064406594
+                ],
+                "rod_tip_xy_dist": 0.002013749898635485,
+                "target_xy_drift": 4.089511722868084e-08,
+                "depth": 0.01876025947851334,
+                "bottom_clearance": 0.08068026855856292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.002018537020166633,
+                  0.00010528930184361407
+                ],
+                "rod_tip_xy": [
+                  0.2717396369562104,
+                  -0.3927748409916214
+                ],
+                "target_mouth_xy": [
+                  0.27375817397637703,
+                  -0.392880130293465
+                ],
+                "gripper_position": [
+                  0.2717318348726,
+                  -0.3927779954972522,
+                  1.0022295431095958
+                ],
+                "rod_tip_xy_dist": 0.0020212811627445364,
+                "target_xy_drift": 2.9400299293459357e-08,
+                "depth": 0.018895362260730075,
+                "bottom_clearance": 0.08054521387269087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0020263702162640063,
+                  0.00010213446891327305
+                ],
+                "rod_tip_xy": [
+                  0.27173183487259983,
+                  -0.3927779954972521
+                ],
+                "target_mouth_xy": [
+                  0.27375820508886384,
+                  -0.3928801299661654
+                ],
+                "gripper_position": [
+                  0.2717238541399865,
+                  -0.3927815378765431,
+                  1.0020947979846349
+                ],
+                "rod_tip_xy_dist": 0.0020289425085748564,
+                "target_xy_drift": 3.7079682366391767e-09,
+                "depth": 0.019030302257566967,
+                "bottom_clearance": 0.08041025685009762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.00203437974534465,
+                  9.859432563263937e-05
+                ],
+                "rod_tip_xy": [
+                  0.27172385413998634,
+                  -0.39278153787654313
+                ],
+                "target_mouth_xy": [
+                  0.273758233885331,
+                  -0.39288013220217577
+                ],
+                "gripper_position": [
+                  0.27173404608389407,
+                  -0.3928506942469363,
+                  1.001571752627263
+                ],
+                "rod_tip_xy_dist": 0.002036767485334425,
+                "target_xy_drift": 3.0665948548015614e-08,
+                "depth": 0.01916504247816242,
+                "bottom_clearance": 0.08027548329482936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0020241571102726508,
+                  2.9435748435169273e-05
+                ],
+                "rod_tip_xy": [
+                  0.2717340460838939,
+                  -0.3928506942469363
+                ],
+                "target_mouth_xy": [
+                  0.27375820319416655,
+                  -0.3928801299953715
+                ],
+                "gripper_position": [
+                  0.2717235377502608,
+                  -0.39285942995669315,
+                  1.0014174876542508
+                ],
+                "rod_tip_xy_dist": 0.002024371129598836,
+                "target_xy_drift": 3.182256385761647e-09,
+                "depth": 0.019688139255701675,
+                "bottom_clearance": 0.07975247018769716,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005991345084274029,
+              "rod_tip_xy_max_step": 3.2474024020851505e-05,
+              "rod_tip_xy_range": 0.000599125792635092,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2712529445215282,
+            -0.39402302859808247,
+            1.043438917388237
+          ],
+          "object_origin_world": [
+            0.2712529445215282,
+            -0.39402302859808247,
+            1.043438917388237
+          ],
+          "frame_world": [
+            0.27127746617063075,
+            -0.3940187819482824,
+            1.0437392165456567
+          ],
+          "center_minus_frame": [
+            -2.452164910254906e-05,
+            -4.246649800088154e-06,
+            -0.00030029915741969226
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2446943277670161,
+              0.14011315711057717,
+              0.8335343647770976
+            ],
+            "target_position": [
+              0.2572052568136116,
+              0.18611802800402166,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04767569078190103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16611696841789225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335343647770976,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676683205315,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1356438653413872,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afc8f3243bcf7875cfa1e2a8996cd22a2cffecbba65a8063030309801eaf7f44",
+    "visual_seed": 1386584090573579842,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49c9d56ff4f1f3be95885205c9a48e1bab21d160
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_53_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38156601594496403,
+              0.061695842514090264,
+              1.166557367203989
+            ],
+            "current_z": 1.166557367203989,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.30545097839851243,
+            "gripper_z": 1.1562001869142904,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3766296392532161,
+              0.056975956117211984,
+              1.1562001869142904
+            ],
+            "object_minus_gripper": [
+              0.004936376691747957,
+              0.00471988639687828,
+              0.010357180289698675
+            ],
+            "object_to_gripper_xy": 0.006829724917027708,
+            "object_to_gripper_z": 0.010357180289698675,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38156601594496403,
+              0.03750777758515346,
+              1.166557367203989
+            ],
+            "finger_b": [
+              0.37103427143513124,
+              0.061695842514090264,
+              1.166557367203989
+            ],
+            "finger_midpoint": [
+              0.3763001436900476,
+              0.04960181004962186,
+              1.166557367203989
+            ],
+            "object_minus_finger_midpoint": [
+              0.005265872254916426,
+              0.012094032464468406,
+              0.0
+            ],
+            "finger_gap": 0.0263814352798868,
+            "fingertip_max_gap": 0.09189917614293167,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013190717639943414,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166557367203989,
+            "object_top_z": 1.2163280439108197,
+            "finger_top_clearance": 0.04977067670683066,
+            "fingertip_min_top_clearance": 0.014931203012049232,
+            "object_projection_between_fingers": 0.8406310208447005,
+            "object_to_finger_line_xy": 0.009656128156644477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048449588071465835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9060765778384292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27087543611912246,
+              -0.3866310984567447,
+              0.8515395622162204
+            ],
+            "target_position": [
+              0.2645176822648249,
+              -0.3869190263413288,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006364270306842438,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18309248666389125,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395622162204,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542359187506119,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08896455720668293,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511554596565819,
+            "release_required_pad_clearance": 0.05448227860334147,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9948638733647415,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008038520812988281,
+            "max_z_decrease": 0.008038520812988281,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514761469737989,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008038520812988281,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021253951498457033,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008038520812988281,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008038536062524677,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12021760642528533,
+              -0.44318047165870667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12021760642528533,
+              -0.44318047165870667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12019040415000079,
+              -0.44505192419983813,
+              0.8077825272006325
+            ],
+            "closest_button": [
+              0.12020834535360335,
+              -0.44317531585693365,
+              0.7726850509643555
+            ],
+            "closest_ee_minus_button": [
+              -1.794120360255891e-05,
+              -0.0018766083429044844,
+              0.035097476236277014
+            ],
+            "button_min_z_position": [
+              0.12020421028137204,
+              -0.44317236542701727,
+              0.7687703371047974
+            ],
+            "min_active_finger_to_button": 0.14599500602092838,
+            "closest_active_finger": [
+              -0.020793244242668152,
+              -0.42755648493766785,
+              0.8109915852546692
+            ],
+            "closest_active_finger_button": [
+              0.12021839618682859,
+              -0.44317892193794256,
+              0.7765503525733948
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14101164042949674,
+              0.015622437000274714,
+              0.034441232681274414
+            ],
+            "min_contact_pad_to_button": 0.021253951498457033,
+            "closest_contact_pad": [
+              0.12020421028137204,
+              -0.4462468438952726,
+              0.7898007445294527
+            ],
+            "closest_contact_pad_button": [
+              0.12020421028137204,
+              -0.44317236542701727,
+              0.7687703371047974
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003074478468255315,
+              0.02103040742465534
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2654652462826225,
+              0.18339036123197364,
+              1.102948225435072
+            ],
+            "current_z": 1.102948225435072,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19303909570070943,
+            "gripper_z": 1.102948354236,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26546533203599043,
+              0.18339031159973773,
+              1.102948354236
+            ],
+            "object_minus_gripper": [
+              -8.575336790661581e-08,
+              4.963223590448429e-08,
+              -1.2880092792322273e-07
+            ],
+            "object_to_gripper_xy": 9.908076982041362e-08,
+            "object_to_gripper_z": -1.2880092792322273e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2654652462826225,
+              0.18339036123197364,
+              1.102948225435072
+            ],
+            "finger_b": [
+              0.2654652462826225,
+              0.18339036123197364,
+              1.102948225435072
+            ],
+            "finger_midpoint": [
+              0.2654652462826225,
+              0.18339036123197364,
+              1.102948225435072
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102948225435072,
+            "object_top_z": 1.2279567320553517,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2654652462826226,
+            0.18339036123197364,
+            1.1029482254350722
+          ],
+          "object_origin_world": [
+            0.2654652462826226,
+            0.18339036123197364,
+            1.1029482254350722
+          ],
+          "frame_world": [
+            0.26546533203599043,
+            0.18339031159973773,
+            1.102948354236
+          ],
+          "center_minus_frame": [
+            -8.575336785110466e-08,
+            4.963223590448429e-08,
+            -1.2880092770117813e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432080270852668,
+            "required_z": 0.911259939821539,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021006144472063954,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.20181135091825e-08,
+            "max_target_xy_drift": 9.115380277292476e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.995059829592541,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.995255777731965,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2705931043095221,
+              -0.3887041531987235,
+              0.9233283753539819
+            ],
+            "target_mouth_xy": [
+              0.2708753440591611,
+              -0.38663112185083715
+            ],
+            "rod_tip_z": 0.9233283753539819,
+            "rod_tip_depth": -0.022068533099533716,
+            "rod_tip_bottom_clearance": 0.12150913716999023,
+            "rod_tip_xy_dist": 0.0020921563626067016,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044909492855055966,
+            "min_rod_tip_bottom_clearance": 0.054531183252895854,
+            "min_rod_tip_xy_dist": 0.00022857916087529455,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2708753436564864,
+              -0.38663108983525585
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.0267467138477286e-10,
+              -3.201558129717341e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0002082430447010175,
+                -0.00021327410009069903
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00013328558855063566,
+                -0.0006645079348486793
+              ],
+              "first_target_mouth_xy": [
+                0.27087531269827175,
+                -0.38663112159166324
+              ],
+              "last_target_mouth_xy": [
+                0.27087530988833297,
+                -0.386631055469724
+              ],
+              "first_rod_tip_xy": [
+                0.27108355574297277,
+                -0.38684439569175394
+              ],
+              "last_rod_tip_xy": [
+                0.2710085954768836,
+                -0.38729556340457266
+              ],
+              "min_rod_tip_xy_dist": 0.0002980788611019699,
+              "max_rod_tip_xy_dist": 0.0006777431988534787,
+              "first_target_xy_drift": 4.43495261003582e-08,
+              "last_target_xy_drift": 4.817964266260848e-08,
+              "max_depth": 0.01961323865723197,
+              "min_bottom_clearance": 0.07982742970938783
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0002082430447010175,
+                  -0.00021327410009069903
+                ],
+                "rod_tip_xy": [
+                  0.27108355574297277,
+                  -0.38684439569175394
+                ],
+                "target_mouth_xy": [
+                  0.27087531269827175,
+                  -0.38663112159166324
+                ],
+                "gripper_position": [
+                  0.2710910714957361,
+                  -0.386916515077406,
+                  1.0057072999364298
+                ],
+                "rod_tip_xy_dist": 0.0002980788611019699,
+                "target_xy_drift": 4.43495261003582e-08,
+                "depth": 0.015022112710844193,
+                "bottom_clearance": 0.08441844533743825,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0002157256492691939,
+                  -0.00028542597722258645
+                ],
+                "rod_tip_xy": [
+                  0.2710910714957359,
+                  -0.38691651507740604
+                ],
+                "target_mouth_xy": [
+                  0.2708753458464667,
+                  -0.38663108910018346
+                ],
+                "gripper_position": [
+                  0.2710806711889162,
+                  -0.3869259347788557,
+                  1.005555333636028
+                ],
+                "rod_tip_xy_dist": 0.0003577786246075689,
+                "target_xy_drift": 2.310053066835472e-09,
+                "depth": 0.015552668094825028,
+                "bottom_clearance": 0.08388811312260103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00020535820273132055,
+                  -0.00029481259637570423
+                ],
+                "rod_tip_xy": [
+                  0.2710806711889161,
+                  -0.38692593477885556
+                ],
+                "target_mouth_xy": [
+                  0.2708753129861848,
+                  -0.38663112218247986
+                ],
+                "gripper_position": [
+                  0.27107294060278975,
+                  -0.3869294917794614,
+                  1.0054223517119862
+                ],
+                "rod_tip_xy_dist": 0.00035928603982178606,
+                "target_xy_drift": 4.457589374723183e-08,
+                "depth": 0.01570449399772278,
+                "bottom_clearance": 0.0837360517498088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00019759699661625607,
+                  -0.00029840101707351296
+                ],
+                "rod_tip_xy": [
+                  0.2710729406027896,
+                  -0.3869294917794613
+                ],
+                "target_mouth_xy": [
+                  0.2708753436061733,
+                  -0.3866310907623878
+                ],
+                "gripper_position": [
+                  0.2710815991287539,
+                  -0.38700268698355467,
+                  1.004892621520957
+                ],
+                "rod_tip_xy_dist": 0.00035789347585876957,
+                "target_xy_drift": 9.284961046734424e-10,
+                "depth": 0.015837570736407458,
+                "bottom_clearance": 0.08360306634967307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0002062864769023509,
+                  -0.00037156541382965536
+                ],
+                "rod_tip_xy": [
+                  0.27108159912875374,
+                  -0.3870026869835546
+                ],
+                "target_mouth_xy": [
+                  0.2708753126518514,
+                  -0.38663112156972496
+                ],
+                "gripper_position": [
+                  0.27107092076079825,
+                  -0.387012207371709,
+                  1.0047409596078767
+                ],
+                "rod_tip_xy_dist": 0.00042498819666808064,
+                "target_xy_drift": 4.436624756129258e-08,
+                "depth": 0.016367155522101107,
+                "bottom_clearance": 0.08307340170036148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00019557449482793254,
+                  -0.0003811474747910659
+                ],
+                "rod_tip_xy": [
+                  0.2710709207607981,
+                  -0.387012207371709
+                ],
+                "target_mouth_xy": [
+                  0.27087534626597015,
+                  -0.38663105989691793
+                ],
+                "gripper_position": [
+                  0.2710630860586529,
+                  -0.38701569476569,
+                  1.0046077400377416
+                ],
+                "rod_tip_xy_dist": 0.00042839558887412376,
+                "target_xy_drift": 3.0051846578778725e-08,
+                "depth": 0.016519000232363523,
+                "bottom_clearance": 0.08292177309206472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00018777366805322604,
+                  -0.00038460292949399344
+                ],
+                "rod_tip_xy": [
+                  0.27106308605865276,
+                  -0.3870156947656899
+                ],
+                "target_mouth_xy": [
+                  0.27087531239059953,
+                  -0.38663109183619593
+                ],
+                "gripper_position": [
+                  0.2710723576907683,
+                  -0.38708998572384945,
+                  1.0040801196982196
+                ],
+                "rod_tip_xy_dist": 0.0004279934155913205,
+                "target_xy_drift": 3.1329849083065594e-08,
+                "depth": 0.01665209359311659,
+                "bottom_clearance": 0.08278845161545478,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00019701575438429986,
+                  -0.00045889102451096564
+                ],
+                "rod_tip_xy": [
+                  0.2710723576907682,
+                  -0.3870899857238495
+                ],
+                "target_mouth_xy": [
+                  0.2708753419363839,
+                  -0.38663109469933854
+                ],
+                "gripper_position": [
+                  0.2710616957692585,
+                  -0.38709910768401556,
+                  1.0039284629028427
+                ],
+                "rod_tip_xy_dist": 0.0004993958148125977,
+                "target_xy_drift": 5.159268655889549e-09,
+                "depth": 0.01717972620596242,
+                "bottom_clearance": 0.08226083328840905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00018635148656953593,
+                  -0.00046798326063479667
+                ],
+                "rod_tip_xy": [
+                  0.2710616957692583,
+                  -0.3870991076840156
+                ],
+                "target_mouth_xy": [
+                  0.2708753442826888,
+                  -0.3866311244233808
+                ],
+                "gripper_position": [
+                  0.2710539032295751,
+                  -0.3871023508848378,
+                  1.003795334043849
+                ],
+                "rod_tip_xy_dist": 0.0005037213602588756,
+                "target_xy_drift": 3.459379306623053e-08,
+                "depth": 0.017331403224732367,
+                "bottom_clearance": 0.08210924957783738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0001785658471774032,
+                  -0.00047129341832113925
+                ],
+                "rod_tip_xy": [
+                  0.27105390322957496,
+                  -0.38710235088483785
+                ],
+                "target_mouth_xy": [
+                  0.27087533738239755,
+                  -0.3866310574665167
+                ],
+                "gripper_position": [
+                  0.27104608067695135,
+                  -0.3871055624500587,
+                  1.0036624899917252
+                ],
+                "rod_tip_xy_dist": 0.0005039873489791267,
+                "target_xy_drift": 3.2971191426896e-08,
+                "depth": 0.01746442556864991,
+                "bottom_clearance": 0.08197608342632268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00017074208138934122,
+                  -0.00047450630642092984
+                ],
+                "rod_tip_xy": [
+                  0.2710460806769512,
+                  -0.3871055624500587
+                ],
+                "target_mouth_xy": [
+                  0.27087533859556184,
+                  -0.3866310561436378
+                ],
+                "gripper_position": [
+                  0.271056681282829,
+                  -0.38718181994782847,
+                  1.0031369068560112
+                ],
+                "rod_tip_xy_dist": 0.0005042906832278361,
+                "target_xy_drift": 3.406960646060829e-08,
+                "depth": 0.01759742127457886,
+                "bottom_clearance": 0.08184318195476514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00018136970200499647,
+                  -0.0005507271612462672
+                ],
+                "rod_tip_xy": [
+                  0.27105668128282884,
+                  -0.38718181994782847
+                ],
+                "target_mouth_xy": [
+                  0.27087531158082384,
+                  -0.3866310927865822
+                ],
+                "gripper_position": [
+                  0.2710459937603727,
+                  -0.38719086076114007,
+                  1.0029849054903242
+                ],
+                "rod_tip_xy_dist": 0.0005798235722525889,
+                "target_xy_drift": 3.221115422580008e-08,
+                "depth": 0.018122850204962626,
+                "bottom_clearance": 0.08131764137977116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00017067836720968677,
+                  -0.0005597703386588937
+                ],
+                "rod_tip_xy": [
+                  0.27104599376037253,
+                  -0.38719086076114
+                ],
+                "target_mouth_xy": [
+                  0.27087531539316284,
+                  -0.3866310904224811
+                ],
+                "gripper_position": [
+                  0.27103800014266677,
+                  -0.3871939055973434,
+                  1.0028520476694383
+                ],
+                "rod_tip_xy_dist": 0.0005852127280533611,
+                "target_xy_drift": 2.8269423283154875e-08,
+                "depth": 0.018275033872389046,
+                "bottom_clearance": 0.08116567329963476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00016269255111178715,
+                  -0.000562848765866264
+                ],
+                "rod_tip_xy": [
+                  0.2710380001426666,
+                  -0.3871939055973434
+                ],
+                "target_mouth_xy": [
+                  0.2708753075915548,
+                  -0.38663105683147714
+                ],
+                "gripper_position": [
+                  0.27103015209084447,
+                  -0.38719683465784466,
+                  1.0027192015038398
+                ],
+                "rod_tip_xy_dist": 0.0005858904329517918,
+                "target_xy_drift": 4.888689701965236e-08,
+                "depth": 0.01840778329142989,
+                "bottom_clearance": 0.08103275044596636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00015484047809860568,
+                  -0.0005657136343321656
+                ],
+                "rod_tip_xy": [
+                  0.2710301520908443,
+                  -0.38719683465784466
+                ],
+                "target_mouth_xy": [
+                  0.2708753116127457,
+                  -0.3866311210235125
+                ],
+                "gripper_position": [
+                  0.2710221444465496,
+                  -0.38719979467418525,
+                  1.002585990573036
+                ],
+                "rod_tip_xy_dist": 0.0005865215168492217,
+                "target_xy_drift": 4.471586599395431e-08,
+                "depth": 0.018540638713528956,
+                "bottom_clearance": 0.08089990314958517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00014683188647501844,
+                  -0.0005686714922069624
+                ],
+                "rod_tip_xy": [
+                  0.27102214444654943,
+                  -0.38719979467418536
+                ],
+                "target_mouth_xy": [
+                  0.2708753125600744,
+                  -0.3866311231819784
+                ],
+                "gripper_position": [
+                  0.27101413303971755,
+                  -0.3872028309666785,
+                  1.0024531287518723
+                ],
+                "rod_tip_xy_dist": 0.0005873217763157655,
+                "target_xy_drift": 4.559595096229393e-08,
+                "depth": 0.01867383647363463,
+                "bottom_clearance": 0.08076669695292982,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00013881919198432957,
+                  -0.0005717392247427955
+                ],
+                "rod_tip_xy": [
+                  0.2710141330397174,
+                  -0.38720283096667846
+                ],
+                "target_mouth_xy": [
+                  0.27087531384773306,
+                  -0.38663109174193566
+                ],
+                "gripper_position": [
+                  0.2710275014515837,
+                  -0.38728382298238345,
+                  1.0019307126687487
+                ],
+                "rod_tip_xy_dist": 0.0005883506685410283,
+                "target_xy_drift": 2.986967031064393e-08,
+                "depth": 0.01880677599379632,
+                "bottom_clearance": 0.08063382513546313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00015218881626083425,
+                  -0.0006527308590248415
+                ],
+                "rod_tip_xy": [
+                  0.27102750145158355,
+                  -0.38728382298238345
+                ],
+                "target_mouth_xy": [
+                  0.2708753126353227,
+                  -0.3866310921233586
+                ],
+                "gripper_position": [
+                  0.27101667167803883,
+                  -0.3872926522154539,
+                  1.0017791442490052
+                ],
+                "rod_tip_xy_dist": 0.0006702380249718614,
+                "target_xy_drift": 3.11054337880575e-08,
+                "depth": 0.019329057723782905,
+                "bottom_clearance": 0.08011148526732181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00014132735219879455,
+                  -0.0006615915404878936
+                ],
+                "rod_tip_xy": [
+                  0.27101667167803867,
+                  -0.3872926522154538
+                ],
+                "target_mouth_xy": [
+                  0.2708753443258399,
+                  -0.3866310606749659
+                ],
+                "gripper_position": [
+                  0.2710085954768838,
+                  -0.38729556340457255,
+                  1.0016466327366638
+                ],
+                "rod_tip_xy_dist": 0.0006765181349562377,
+                "target_xy_drift": 2.916797121219306e-08,
+                "depth": 0.019480788268377958,
+                "bottom_clearance": 0.07995988557948286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00013328558855063566,
+                  -0.0006645079348486793
+                ],
+                "rod_tip_xy": [
+                  0.2710085954768836,
+                  -0.38729556340457266
+                ],
+                "target_mouth_xy": [
+                  0.27087530988833297,
+                  -0.386631055469724
+                ],
+                "gripper_position": [
+                  0.2710005219762566,
+                  -0.3872983804474863,
+                  1.0015135336820624
+                ],
+                "rod_tip_xy_dist": 0.0006777431988534787,
+                "target_xy_drift": 4.817964266260848e-08,
+                "depth": 0.01961323865723197,
+                "bottom_clearance": 0.07982742970938783,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005986832863507628,
+              "rod_tip_xy_max_step": 3.257956052727037e-05,
+              "rod_tip_xy_range": 0.0005986680733428745,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27059310430952216,
+            -0.3887041531987235,
+            1.043328375353982
+          ],
+          "object_origin_world": [
+            0.27059310430952216,
+            -0.3887041531987235,
+            1.043328375353982
+          ],
+          "frame_world": [
+            0.27059159234921604,
+            -0.388712483429928,
+            1.0432080270852668
+          ],
+          "center_minus_frame": [
+            1.5119603061219955e-06,
+            8.330231204500826e-06,
+            0.00012034826871509807
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2525276814578525,
+              0.1385900456233439,
+              0.8335143996087954
+            ],
+            "target_position": [
+              0.2655603548948353,
+              0.18361782313333957,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046875914118070384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1660003312163978,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335143996087954,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.118356769006232,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361331936332553,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7343661587c9f753263c2c6dbd070861787eff4ec7657f455ba8b100c809b00",
+    "visual_seed": 5211157418125658724,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b153e1a1298c6651ae6ca3775971529d92964e26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_56_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3819138807903754,
+              0.060845192188336346,
+              1.163707003243121
+            ],
+            "current_z": 1.163707003243121,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30260031641442076,
+            "gripper_z": 1.1534698140875423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3767995089184629,
+              0.05586193544842531,
+              1.1534698140875423
+            ],
+            "object_minus_gripper": [
+              0.005114371871912493,
+              0.004983256739911034,
+              0.010237189155578585
+            ],
+            "object_to_gripper_xy": 0.007140703563380743,
+            "object_to_gripper_z": 0.010237189155578585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3819138807903754,
+              0.03687887074362944,
+              1.163707003243121
+            ],
+            "finger_b": [
+              0.37054422681244276,
+              0.060845192188336346,
+              1.163707003243121
+            ],
+            "finger_midpoint": [
+              0.3762290538014091,
+              0.04886203146598289,
+              1.163707003243121
+            ],
+            "object_minus_finger_midpoint": [
+              0.005684826988966329,
+              0.011983160722353454,
+              0.0
+            ],
+            "finger_gap": 0.02652646970799051,
+            "fingertip_max_gap": 0.09170328160138716,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013263234853995255,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163707003243121,
+            "object_top_z": 1.2135870254718057,
+            "finger_top_clearance": 0.04988002222868482,
+            "fingertip_min_top_clearance": 0.014964006668605444,
+            "object_projection_between_fingers": 0.8162888209973772,
+            "object_to_finger_line_xy": 0.01027233495259052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835164080069358,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4793988546862669,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2747207467719667,
+              -0.38993839903920097,
+              0.8515395275077502
+            ],
+            "target_position": [
+              0.26650383672434186,
+              -0.39095931487963387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008280089364493867,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18403629402784044,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395275077502,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513495186096969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531501874427429,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15304604169529323,
+            "release_required_pad_clearance": 0.052657509372137146,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3732526239437466,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008359909057617188,
+            "max_z_decrease": 0.008359909057617188,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502461279881088,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008359909057617188,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020953768548692957,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008359909057617188,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00836000320965849,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12220375984907147,
+              -0.4472207725048065,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12220375984907147,
+              -0.4472207725048065,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12355841268746329,
+              -0.44706039794420654,
+              0.8036562682589697
+            ],
+            "closest_button": [
+              0.12222743034362792,
+              -0.44719356298446655,
+              0.7686572074890137
+            ],
+            "closest_ee_minus_button": [
+              0.0013309823438353713,
+              0.0001331650402600082,
+              0.03499906076995607
+            ],
+            "button_min_z_position": [
+              0.12222943454980847,
+              -0.447190523147583,
+              0.7684489488601685
+            ],
+            "min_active_finger_to_button": 0.14457121404514672,
+            "closest_active_finger": [
+              -0.01740686595439911,
+              -0.43239834904670715,
+              0.811307966709137
+            ],
+            "closest_active_finger_button": [
+              0.12220294773578641,
+              -0.44721972942352295,
+              0.7768077850341797
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13960981369018552,
+              0.014821380376815796,
+              0.034500181674957275
+            ],
+            "min_contact_pad_to_button": 0.020953768548692957,
+            "closest_contact_pad": [
+              0.12222943454980847,
+              -0.448136018262615,
+              0.7893813747917141
+            ],
+            "closest_contact_pad_button": [
+              0.12222943454980847,
+              -0.447190523147583,
+              0.7684489488601685
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009454951150320023,
+              0.02093242593154565
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2746588457919514,
+              0.1821282447797927,
+              1.1115134381265785
+            ],
+            "current_z": 1.1115134381265785,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.201604308392216,
+            "gripper_z": 1.1115136979966875,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2746587100596434,
+              0.18212831176396246,
+              1.1115136979966875
+            ],
+            "object_minus_gripper": [
+              1.3573230800423275e-07,
+              -6.698416976647081e-08,
+              -2.5987010898731455e-07
+            ],
+            "object_to_gripper_xy": 1.5136095413104163e-07,
+            "object_to_gripper_z": -2.5987010898731455e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2746588457919514,
+              0.1821282447797927,
+              1.1115134381265785
+            ],
+            "finger_b": [
+              0.2746588457919514,
+              0.1821282447797927,
+              1.1115134381265785
+            ],
+            "finger_midpoint": [
+              0.2746588457919514,
+              0.1821282447797927,
+              1.1115134381265785
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1115134381265785,
+            "object_top_z": 1.2365219447468583,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27465884579195143,
+            0.18212824477979273,
+            1.1115134381265785
+          ],
+          "object_origin_world": [
+            0.27465884579195143,
+            0.18212824477979273,
+            1.1115134381265785
+          ],
+          "frame_world": [
+            0.2746587100596434,
+            0.18212831176396246,
+            1.1115136979966875
+          ],
+          "center_minus_frame": [
+            1.357323080597439e-07,
+            -6.698416973871524e-08,
+            -2.5987010898731455e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431633125332846,
+            "required_z": 0.911259955829539,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002363745107003118,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.7478864920655146e-08,
+            "max_target_xy_drift": 1.5208925155765075e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.37325262596111874,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.373252627185603,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2723593722404331,
+              -0.38999966397954056,
+              0.9232847547266149
+            ],
+            "target_mouth_xy": [
+              0.2747206579810932,
+              -0.3899384881330177
+            ],
+            "rod_tip_z": 0.9232847547266149,
+            "rod_tip_depth": -0.022024971338753474,
+            "rod_tip_bottom_clearance": 0.12146549702627407,
+            "rod_tip_xy_dist": 0.002362078075179229,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044891220259837494,
+            "min_rod_tip_bottom_clearance": 0.054549350111921635,
+            "min_rod_tip_xy_dist": 0.0011974193345083818,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27472068537171795,
+              -0.38993848593263314
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.739062476830867e-08,
+              -2.2003845412399414e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0017425337649828454,
+                0.001600178853420009
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018541877503500115,
+                0.001241978276800837
+              ],
+              "first_target_mouth_xy": [
+                0.27472071735430326,
+                -0.3899385185726507
+              ],
+              "last_target_mouth_xy": [
+                0.2747206860532081,
+                -0.38993845769784574
+              ],
+              "first_rod_tip_xy": [
+                0.2729781835893204,
+                -0.3883383397192307
+              ],
+              "last_rod_tip_xy": [
+                0.2728664983028581,
+                -0.3886964794210449
+              ],
+              "min_rod_tip_xy_dist": 0.0022128205616209263,
+              "max_rod_tip_xy_dist": 0.002370241415924493,
+              "first_target_xy_drift": 4.5697445334397466e-08,
+              "last_target_xy_drift": 2.8243010607358837e-08,
+              "max_depth": 0.019663777910552516,
+              "min_bottom_clearance": 0.07977683730706253
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017425337649828454,
+                  0.001600178853420009
+                ],
+                "rod_tip_xy": [
+                  0.2729781835893204,
+                  -0.3883383397192307
+                ],
+                "target_mouth_xy": [
+                  0.27472071735430326,
+                  -0.3899385185726507
+                ],
+                "gripper_position": [
+                  0.2729679363975278,
+                  -0.38834771648974487,
+                  1.0056696197538886
+                ],
+                "rod_tip_xy_dist": 0.0023657971774938497,
+                "target_xy_drift": 4.5697445334397466e-08,
+                "depth": 0.015436693531272527,
+                "bottom_clearance": 0.0840038532104811,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017527521832844117,
+                  0.0015907427894938375
+                ],
+                "rod_tip_xy": [
+                  0.2729679363975277,
+                  -0.388347716489745
+                ],
+                "target_mouth_xy": [
+                  0.2747206885808121,
+                  -0.3899384592792388
+                ],
+                "gripper_position": [
+                  0.27296031170359486,
+                  -0.3883513465257359,
+                  1.0055348489131288
+                ],
+                "rod_tip_xy_dist": 0.0023669817993248084,
+                "target_xy_drift": 2.68458882205489e-08,
+                "depth": 0.015590151181693934,
+                "bottom_clearance": 0.08385036742840535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017604050355209955,
+                  0.0015871416070017408
+                ],
+                "rod_tip_xy": [
+                  0.27296031170359475,
+                  -0.388351346525736
+                ],
+                "target_mouth_xy": [
+                  0.27472071673911574,
+                  -0.38993848813273774
+                ],
+                "gripper_position": [
+                  0.27296340865270063,
+                  -0.388419271123736,
+                  1.0050024585338442
+                ],
+                "rod_tip_xy_dist": 0.002370241415924493,
+                "target_xy_drift": 3.1444460631080866e-08,
+                "depth": 0.01572502002547005,
+                "bottom_clearance": 0.08371553847887292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017573083210202234,
+                  0.0015191862534171818
+                ],
+                "rod_tip_xy": [
+                  0.2729634086527005,
+                  -0.388419271123736
+                ],
+                "target_mouth_xy": [
+                  0.27472071697372075,
+                  -0.38993845737715316
+                ],
+                "gripper_position": [
+                  0.27295319247876054,
+                  -0.3884282716999896,
+                  1.0048486456381807
+                ],
+                "rod_tip_xy_dist": 0.0023229419725207625,
+                "target_xy_drift": 4.259227649953577e-08,
+                "depth": 0.016257360459484116,
+                "bottom_clearance": 0.083183222789457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017675245313688581,
+                  0.0015102148446628494
+                ],
+                "rod_tip_xy": [
+                  0.27295319247876043,
+                  -0.3884282716999896
+                ],
+                "target_mouth_xy": [
+                  0.2747207170101293,
+                  -0.38993848654465246
+                ],
+                "gripper_position": [
+                  0.2729455915201878,
+                  -0.38843166431202225,
+                  1.0047140234294207
+                ],
+                "rod_tip_xy_dist": 0.002324842327133334,
+                "target_xy_drift": 3.164433028950349e-08,
+                "depth": 0.016411243072269488,
+                "bottom_clearance": 0.08302936131513772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001775186383394578,
+                  0.0015068244515179519
+                ],
+                "rod_tip_xy": [
+                  0.27294559152018766,
+                  -0.38843166431202225
+                ],
+                "target_mouth_xy": [
+                  0.27472077790358224,
+                  -0.3899384887635402
+                ],
+                "gripper_position": [
+                  0.2729494755933869,
+                  -0.38850035766369045,
+                  1.00418375218341
+                ],
+                "rod_tip_xy_dist": 0.0023284773186530933,
+                "target_xy_drift": 9.257515834335069e-08,
+                "depth": 0.01654580392768157,
+                "bottom_clearance": 0.08289470646577835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017712425764798145,
+                  0.0014380993933872932
+                ],
+                "rod_tip_xy": [
+                  0.2729494755933868,
+                  -0.3885003576636905
+                ],
+                "target_mouth_xy": [
+                  0.2747207181698666,
+                  -0.3899384570570778
+                ],
+                "gripper_position": [
+                  0.27293889805744465,
+                  -0.38850960553804553,
+                  1.0040300398608366
+                ],
+                "rod_tip_xy_dist": 0.002281541174293322,
+                "target_xy_drift": 4.369801197138074e-08,
+                "depth": 0.0170760954315482,
+                "bottom_clearance": 0.0823644528489963,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017818201684879909,
+                  0.001428853743017322
+                ],
+                "rod_tip_xy": [
+                  0.27293889805744453,
+                  -0.3885096055380456
+                ],
+                "target_mouth_xy": [
+                  0.2747207182259325,
+                  -0.3899384592810629
+                ],
+                "gripper_position": [
+                  0.2729311605434261,
+                  -0.3885127954138437,
+                  1.0038958942082705
+                ],
+                "rod_tip_xy_dist": 0.002283967191481783,
+                "target_xy_drift": 4.230491237114475e-08,
+                "depth": 0.01722979548859349,
+                "bottom_clearance": 0.0822107291976758,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017895551770193419,
+                  0.0014256908283926117
+                ],
+                "rod_tip_xy": [
+                  0.2729311605434259,
+                  -0.38851279541384376
+                ],
+                "target_mouth_xy": [
+                  0.27472071572044526,
+                  -0.38993848624223637
+                ],
+                "gripper_position": [
+                  0.2729232558072989,
+                  -0.3885162185954802,
+                  1.0037612199794737
+                ],
+                "rod_tip_xy_dist": 0.002288034542955927,
+                "target_xy_drift": 3.0350306480125104e-08,
+                "depth": 0.017364039385400987,
+                "bottom_clearance": 0.08207662575485564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017974919330610017,
+                  0.0014223002878359647
+                ],
+                "rod_tip_xy": [
+                  0.27292325580729876,
+                  -0.38851621859548024
+                ],
+                "target_mouth_xy": [
+                  0.27472074774035976,
+                  -0.3899385188833162
+                ],
+                "gripper_position": [
+                  0.27292865400592403,
+                  -0.3885867098245726,
+                  1.0032324772633308
+                ],
+                "rod_tip_xy_dist": 0.002292142089443332,
+                "target_xy_drift": 7.053789758454997e-08,
+                "depth": 0.017498564468299782,
+                "bottom_clearance": 0.08194197113764379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017920909343988045,
+                  0.0013518074813428926
+                ],
+                "rod_tip_xy": [
+                  0.27292865400592387,
+                  -0.38858670982457266
+                ],
+                "target_mouth_xy": [
+                  0.27472074494032267,
+                  -0.38993851730591556
+                ],
+                "gripper_position": [
+                  0.2729180709865941,
+                  -0.3885956432048306,
+                  1.0030792481103552
+                ],
+                "rod_tip_xy_dist": 0.0022447657748123732,
+                "target_xy_drift": 6.732534082602189e-08,
+                "depth": 0.018027451882529966,
+                "bottom_clearance": 0.08141319105390121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018026175874845118,
+                  0.0013428455579174714
+                ],
+                "rod_tip_xy": [
+                  0.27291807098659393,
+                  -0.38859564320483064
+                ],
+                "target_mouth_xy": [
+                  0.27472068857407844,
+                  -0.3899384887627481
+                ],
+                "gripper_position": [
+                  0.2729100209489673,
+                  -0.3885988635184253,
+                  1.002944728609637
+                ],
+                "rod_tip_xy_dist": 0.002247813239378923,
+                "target_xy_drift": 4.273717757427866e-09,
+                "depth": 0.018180517274184793,
+                "bottom_clearance": 0.08125999012890983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018107546313578804,
+                  0.0013396230314402513
+                ],
+                "rod_tip_xy": [
+                  0.27291002094896716,
+                  -0.38859886351842543
+                ],
+                "target_mouth_xy": [
+                  0.27472077558032504,
+                  -0.3899384865498657
+                ],
+                "gripper_position": [
+                  0.2729021758760558,
+                  -0.3886019698083301,
+                  1.0028104938523843
+                ],
+                "rod_tip_xy_dist": 0.0022524258481355568,
+                "target_xy_drift": 9.021071869840608e-08,
+                "depth": 0.018315191715202572,
+                "bottom_clearance": 0.08112545259293891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018185401454168804,
+                  0.0013365170597171017
+                ],
+                "rod_tip_xy": [
+                  0.2729021758760557,
+                  -0.3886019698083303
+                ],
+                "target_mouth_xy": [
+                  0.2747207160214726,
+                  -0.3899384868680474
+                ],
+                "gripper_position": [
+                  0.27289425591052496,
+                  -0.3886053299372613,
+                  1.0026761392879402
+                ],
+                "rod_tip_xy_dist": 0.0022568487125653094,
+                "target_xy_drift": 3.066402547405594e-08,
+                "depth": 0.018449359835474022,
+                "bottom_clearance": 0.08099127139303586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001826492459969964,
+                  0.0013331569213049788
+                ],
+                "rod_tip_xy": [
+                  0.27289425591052485,
+                  -0.3886053299372614
+                ],
+                "target_mouth_xy": [
+                  0.2747207483704948,
+                  -0.38993848685856636
+                ],
+                "gripper_position": [
+                  0.2729015473309444,
+                  -0.38867856084282515,
+                  1.0021514239924403
+                ],
+                "rod_tip_xy_dist": 0.002261278860103393,
+                "target_xy_drift": 6.300558101009858e-08,
+                "depth": 0.018583696657591964,
+                "bottom_clearance": 0.08085683725858595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018191082547338588,
+                  0.0012599285676146432
+                ],
+                "rod_tip_xy": [
+                  0.2729015473309443,
+                  -0.38867856084282526
+                ],
+                "target_mouth_xy": [
+                  0.27472065558567815,
+                  -0.3899384894104399
+                ],
+                "gripper_position": [
+                  0.27289076776516213,
+                  -0.3886874107099282,
+                  1.0019987371235202
+                ],
+                "rod_tip_xy_dist": 0.0022128205616209263,
+                "target_xy_drift": 2.9988386200964265e-08,
+                "depth": 0.019108509416743247,
+                "bottom_clearance": 0.08033214294531243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0018299481653404337,
+                  0.001251018134530879
+                ],
+                "rod_tip_xy": [
+                  0.272890767765162,
+                  -0.3886874107099283
+                ],
+                "target_mouth_xy": [
+                  0.27472071593050246,
+                  -0.3899384288444592
+                ],
+                "gripper_position": [
+                  0.2728826855163661,
+                  -0.3886904955499592,
+                  1.0018645301553766
+                ],
+                "rod_tip_xy_dist": 0.0022166994971709493,
+                "target_xy_drift": 6.475259776295595e-08,
+                "depth": 0.019261096868049554,
+                "bottom_clearance": 0.08017949268615254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018380631037084871,
+                  0.0012479941646390547
+                ],
+                "rod_tip_xy": [
+                  0.2728826855163659,
+                  -0.3886904955499594
+                ],
+                "target_mouth_xy": [
+                  0.2747207486200744,
+                  -0.38993848971459844
+                ],
+                "gripper_position": [
+                  0.2728744906997249,
+                  -0.3886934287400288,
+                  1.0017301114286292
+                ],
+                "rod_tip_xy_dist": 0.002221703267357639,
+                "target_xy_drift": 6.336132774813148e-08,
+                "depth": 0.019395248396965603,
+                "bottom_clearance": 0.08004529514625813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001846254871667674,
+                  0.0012450581245541104
+                ],
+                "rod_tip_xy": [
+                  0.2728744906997248,
+                  -0.3886934287400289
+                ],
+                "target_mouth_xy": [
+                  0.2747207455713925,
+                  -0.389938486864583
+                ],
+                "gripper_position": [
+                  0.2728664983028582,
+                  -0.38869647942104485,
+                  1.001596069687675
+                ],
+                "rod_tip_xy_dist": 0.0022268423349386048,
+                "target_xy_drift": 6.020688783859946e-08,
+                "depth": 0.019529809663728193,
+                "bottom_clearance": 0.07991083147811229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018541877503500115,
+                  0.001241978276800837
+                ],
+                "rod_tip_xy": [
+                  0.2728664983028581,
+                  -0.3886964794210449
+                ],
+                "target_mouth_xy": [
+                  0.2747206860532081,
+                  -0.38993845769784574
+                ],
+                "gripper_position": [
+                  0.2728757407152105,
+                  -0.388765473765643,
+                  1.0009848240662833
+                ],
+                "rod_tip_xy_dist": 0.002231708371090007,
+                "target_xy_drift": 2.8243010607358837e-08,
+                "depth": 0.019663777910552516,
+                "bottom_clearance": 0.07977683730706253,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000599235086471292,
+              "rod_tip_xy_max_step": 3.254544188132269e-05,
+              "rod_tip_xy_range": 0.0005992255602346706,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27235937224043316,
+            -0.3899996639795405,
+            1.043284754726615
+          ],
+          "object_origin_world": [
+            0.27235937224043316,
+            -0.3899996639795405,
+            1.043284754726615
+          ],
+          "frame_world": [
+            0.27235794709754557,
+            -0.39000840387979074,
+            1.0431633125332846
+          ],
+          "center_minus_frame": [
+            1.4251428875899919e-06,
+            8.739900250243071e-06,
+            0.00012144219333043438
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2534306941395355,
+              0.1390063642900768,
+              0.8354030680760685
+            ],
+            "target_position": [
+              0.2665331586400375,
+              0.18343358723343078,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04631903188156457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1623753502395129,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8354030680760685,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676039494429,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13267389169422905,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 261,
+            "max_placed_release_frames": 261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48b7fb6fe6466bea3982d0d710c95c8b81531607bb1e5ea3aa11d4329cc61180",
+    "visual_seed": 8435636573151279285,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f47276b175a78a648c013b55435164cd4e365fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_57_success.json
@@ -0,0 +1,2021 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3809319626492285,
+              0.05631394056779824,
+              1.1656742424675195
+            ],
+            "current_z": 1.1656742424675195,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3045675556388192,
+            "gripper_z": 1.1554473265299638,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.375726340023939,
+              0.05137941720737925,
+              1.1554473265299638
+            ],
+            "object_minus_gripper": [
+              0.005205622625289508,
+              0.0049345233604189895,
+              0.010226915937555647
+            ],
+            "object_to_gripper_xy": 0.007172728052243912,
+            "object_to_gripper_z": 0.010226915937555647,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3809319626492285,
+              0.032009703448829245,
+              1.1656742424675195
+            ],
+            "finger_b": [
+              0.36998693287645706,
+              0.05631394056779824,
+              1.1656742424675195
+            ],
+            "finger_midpoint": [
+              0.3754594477628428,
+              0.04416182200831374,
+              1.1656742424675195
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054725148863857265,
+              0.012152118559484497,
+              0.0
+            ],
+            "finger_gap": 0.02665501113603076,
+            "fingertip_max_gap": 0.09191660311269587,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332750556801538,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656742424675195,
+            "object_top_z": 1.2155484539785195,
+            "finger_top_clearance": 0.04987421151100002,
+            "fingertip_min_top_clearance": 0.014962263453300005,
+            "object_projection_between_fingers": 0.8313927838207363,
+            "object_to_finger_line_xy": 0.009979759434879167,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048458301556347935,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7099462708171447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27293718677227485,
+              -0.393076437550756,
+              0.8515395761659865
+            ],
+            "target_position": [
+              0.26623798103593815,
+              -0.3939533505456704,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006756355074921407,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849750879976594,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395761659865,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758911877450324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08887599102003745,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15195801350701685,
+            "release_required_pad_clearance": 0.054437995510018725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9036812523499798,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008373439311981201,
+            "max_z_decrease": 0.008373439311981201,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350676931436183,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008373439311981201,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090931339649582,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008373439311981201,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008373587284305484,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12193790823221203,
+              -0.4502148032188415,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12193790823221203,
+              -0.4502148032188415,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11959922732821959,
+              -0.4490862026896304,
+              0.8037677036044457
+            ],
+            "closest_button": [
+              0.121937558054924,
+              -0.45019432902336115,
+              0.7687956094741821
+            ],
+            "closest_ee_minus_button": [
+              -0.0023383307267044046,
+              0.0011081263337307523,
+              0.03497209413026359
+            ],
+            "button_min_z_position": [
+              0.12198103964328764,
+              -0.45018994808197016,
+              0.7684354186058044
+            ],
+            "min_active_finger_to_button": 0.14747588957332194,
+            "closest_active_finger": [
+              -0.006321370601654053,
+              -0.514336884021759,
+              0.8112621903419495
+            ],
+            "closest_active_finger_button": [
+              0.1219375282526016,
+              -0.45021441578865046,
+              0.7768078446388245
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12825889885425565,
+              -0.06412246823310858,
+              0.034454345703125
+            ],
+            "min_contact_pad_to_button": 0.02090931339649582,
+            "closest_contact_pad": [
+              0.12198103964328764,
+              -0.45018994808197016,
+              0.7893447320023003
+            ],
+            "closest_contact_pad_button": [
+              0.12198103964328764,
+              -0.45018994808197016,
+              0.7684354186058044
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02090931339649582
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2648440265086711,
+              0.17920427424723767,
+              1.1014885403197816
+            ],
+            "current_z": 1.1014885403197816,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19157941058541905,
+            "gripper_z": 1.1014885279428581,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2648439296488877,
+              0.17920451828178355,
+              1.1014885279428581
+            ],
+            "object_minus_gripper": [
+              9.685978341611445e-08,
+              -2.4403454587651474e-07,
+              1.2376923486101532e-08
+            ],
+            "object_to_gripper_xy": 2.625541415109908e-07,
+            "object_to_gripper_z": 1.2376923486101532e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2648440265086711,
+              0.17920427424723767,
+              1.1014885403197816
+            ],
+            "finger_b": [
+              0.2648440265086711,
+              0.17920427424723767,
+              1.1014885403197816
+            ],
+            "finger_midpoint": [
+              0.2648440265086711,
+              0.17920427424723767,
+              1.1014885403197816
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014885403197816,
+            "object_top_z": 1.2264970469400613,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2648440265086711,
+            0.17920427424723767,
+            1.1014885403197816
+          ],
+          "object_origin_world": [
+            0.2648440265086711,
+            0.17920427424723767,
+            1.1014885403197816
+          ],
+          "frame_world": [
+            0.2648439296488877,
+            0.17920451828178355,
+            1.1014885279428581
+          ],
+          "center_minus_frame": [
+            9.685978341611445e-08,
+            -2.4403454587651474e-07,
+            1.2376923486101532e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043164700063542,
+            "required_z": 0.9112598379100435,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002175939741233313,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9016172332276975e-08,
+            "max_target_xy_drift": 9.759421992658778e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.903681252117509,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.9038817844786573,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27100718138329827,
+              -0.3920658167312256,
+              0.923285928590151
+            ],
+            "target_mouth_xy": [
+              0.2729371560828302,
+              -0.39307643793539715
+            ],
+            "rod_tip_z": 0.923285928590151,
+            "rod_tip_depth": -0.022026066955467605,
+            "rod_tip_bottom_clearance": 0.12146661736083686,
+            "rod_tip_xy_dist": 0.002178567777039435,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04491549550524865,
+            "min_rod_tip_bottom_clearance": 0.05452509004023898,
+            "min_rod_tip_xy_dist": 0.0008159943791559429,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2729371582965633,
+              -0.3930764090037943
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.213733085731917e-09,
+              -2.893160283568008e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0013601991796955981,
+                0.0028225825474180177
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014624842668622962,
+                0.002439274425666438
+              ],
+              "first_target_mouth_xy": [
+                0.27293712683081145,
+                -0.393076437905598
+              ],
+              "last_target_mouth_xy": [
+                0.2729371261398636,
+                -0.3930764683893856
+              ],
+              "first_rod_tip_xy": [
+                0.27157692765111585,
+                -0.39025385535817997
+              ],
+              "last_rod_tip_xy": [
+                0.2714746418730013,
+                -0.39063719396371915
+              ],
+              "min_rod_tip_xy_dist": 0.0028397985681484733,
+              "max_rod_tip_xy_dist": 0.003133227416807367,
+              "first_target_xy_drift": 4.2724791330341205e-08,
+              "last_target_xy_drift": 6.753296814514786e-08,
+              "max_depth": 0.019536437785682037,
+              "min_bottom_clearance": 0.07990414260325152
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0013601991796955981,
+                  0.0028225825474180177
+                ],
+                "rod_tip_xy": [
+                  0.27157692765111585,
+                  -0.39025385535817997
+                ],
+                "target_mouth_xy": [
+                  0.27293712683081145,
+                  -0.393076437905598
+                ],
+                "gripper_position": [
+                  0.2715666373786755,
+                  -0.39026341971894607,
+                  1.0057879061240889
+                ],
+                "rod_tip_xy_dist": 0.003133227416807367,
+                "target_xy_drift": 4.2724791330341205e-08,
+                "depth": 0.015318908344938764,
+                "bottom_clearance": 0.08412162113624011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001370486309040353,
+                  0.002812982228277805
+                ],
+                "rod_tip_xy": [
+                  0.2715666373786755,
+                  -0.390263419718946
+                ],
+                "target_mouth_xy": [
+                  0.27293712368771583,
+                  -0.3930764019472238
+                ],
+                "gripper_position": [
+                  0.27155908990948696,
+                  -0.3902671851467697,
+                  1.0056532246678362
+                ],
+                "rod_tip_xy_dist": 0.003129073623274757,
+                "target_xy_drift": 3.532092169348177e-08,
+                "depth": 0.015471924367511769,
+                "bottom_clearance": 0.0839686063893369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0013780328452810964,
+                  0.0028092152535146853
+                ],
+                "rod_tip_xy": [
+                  0.271559089909487,
+                  -0.3902671851467698
+                ],
+                "target_mouth_xy": [
+                  0.2729371227547681,
+                  -0.39307640040028446
+                ],
+                "gripper_position": [
+                  0.27156436271270046,
+                  -0.39034055236502907,
+                  1.005122812247362
+                ],
+                "rod_tip_xy_dist": 0.0031290038132372245,
+                "target_xy_drift": 3.656828661402346e-08,
+                "depth": 0.015606611666862835,
+                "bottom_clearance": 0.08383391217700054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0013727911525164838,
+                  0.0027358524294908704
+                ],
+                "rod_tip_xy": [
+                  0.27156436271270046,
+                  -0.3903405523650291
+                ],
+                "target_mouth_xy": [
+                  0.27293715386521694,
+                  -0.39307640479452
+                ],
+                "gripper_position": [
+                  0.2715539142175128,
+                  -0.3903499173174971,
+                  1.0049692133958008
+                ],
+                "rod_tip_xy_dist": 0.003060954763530267,
+                "target_xy_drift": 6.111859023013428e-09,
+                "depth": 0.016137070859845615,
+                "bottom_clearance": 0.083303569194221,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0013832377450919142,
+                  0.002726514174934136
+                ],
+                "rod_tip_xy": [
+                  0.2715539142175128,
+                  -0.3903499173174971
+                ],
+                "target_mouth_xy": [
+                  0.2729371519626047,
+                  -0.3930764314924312
+                ],
+                "gripper_position": [
+                  0.27154627952143906,
+                  -0.3903535750548633,
+                  1.0048351401019069
+                ],
+                "rod_tip_xy_dist": 0.0030573233727500494,
+                "target_xy_drift": 2.3363600338611818e-08,
+                "depth": 0.016290642863093452,
+                "bottom_clearance": 0.08314990548681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001390848350990126,
+                  0.0027228938960220384
+                ],
+                "rod_tip_xy": [
+                  0.27154627952143906,
+                  -0.3903535750548634
+                ],
+                "target_mouth_xy": [
+                  0.2729371278724292,
+                  -0.39307646895088544
+                ],
+                "gripper_position": [
+                  0.2715524031987716,
+                  -0.3904276594785217,
+                  1.004306812131613
+                ],
+                "rod_tip_xy_dist": 0.003057549722317861,
+                "target_xy_drift": 6.722560278698697e-08,
+                "depth": 0.01642469915558109,
+                "bottom_clearance": 0.08301584041999999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0013847247253006012,
+                  0.0026488088342024874
+                ],
+                "rod_tip_xy": [
+                  0.2715524031987716,
+                  -0.3904276594785217
+                ],
+                "target_mouth_xy": [
+                  0.2729371279240722,
+                  -0.3930764683127242
+                ],
+                "gripper_position": [
+                  0.2715417176935009,
+                  -0.39043695067933243,
+                  1.0041535354949065
+                ],
+                "rod_tip_xy_dist": 0.0029889213447342445,
+                "target_xy_drift": 6.66336054674012e-08,
+                "depth": 0.016953015442689234,
+                "bottom_clearance": 0.08248750290634776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0013954102174572602,
+                  0.0026395182683653373
+                ],
+                "rod_tip_xy": [
+                  0.2715417176935009,
+                  -0.39043695067933243
+                ],
+                "target_mouth_xy": [
+                  0.27293712791095814,
+                  -0.39307646894769777
+                ],
+                "gripper_position": [
+                  0.2715340273825052,
+                  -0.39044048119125285,
+                  1.0040191337266213
+                ],
+                "rod_tip_xy_dist": 0.002985670169998432,
+                "target_xy_drift": 6.720533134348975e-08,
+                "depth": 0.017106302926822914,
+                "bottom_clearance": 0.08233423584824517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001403100049372552,
+                  0.0026359570101414653
+                ],
+                "rod_tip_xy": [
+                  0.2715340273825052,
+                  -0.3904404811912529
+                ],
+                "target_mouth_xy": [
+                  0.27293712743187776,
+                  -0.3930764382013944
+                ],
+                "gripper_position": [
+                  0.2715262346299628,
+                  -0.39044422322083355,
+                  1.0038846131130665
+                ],
+                "rod_tip_xy_dist": 0.0029861277782210175,
+                "target_xy_drift": 4.248680574131639e-08,
+                "depth": 0.0172406995611879,
+                "bottom_clearance": 0.08219981962456202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001410891289075844,
+                  0.002632213754348467
+                ],
+                "rod_tip_xy": [
+                  0.2715262346299628,
+                  -0.39044422322083355
+                ],
+                "target_mouth_xy": [
+                  0.2729371259190386,
+                  -0.393076436975182
+                ],
+                "gripper_position": [
+                  0.27153366212181507,
+                  -0.39052063443527624,
+                  1.0033578700244299
+                ],
+                "rod_tip_xy_dist": 0.002986496857217725,
+                "target_xy_drift": 4.278671094391295e-08,
+                "depth": 0.017375266460488814,
+                "bottom_clearance": 0.0820653131699508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014034900336089562,
+                  0.0025557669396920057
+                ],
+                "rod_tip_xy": [
+                  0.27153366212181507,
+                  -0.39052063443527624
+                ],
+                "target_mouth_xy": [
+                  0.272937152155424,
+                  -0.39307640137496824
+                ],
+                "gripper_position": [
+                  0.27152308664995045,
+                  -0.39052969269357435,
+                  1.0032047354279792
+                ],
+                "rod_tip_xy_dist": 0.0029157724404456375,
+                "target_xy_drift": 9.793496754306043e-09,
+                "depth": 0.0179019743319474,
+                "bottom_clearance": 0.08153855503082397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001414040583165077,
+                  0.0025467750193750027
+                ],
+                "rod_tip_xy": [
+                  0.27152308664995045,
+                  -0.39052969269357435
+                ],
+                "target_mouth_xy": [
+                  0.27293712723311553,
+                  -0.39307646771294935
+                ],
+                "gripper_position": [
+                  0.2715154142815355,
+                  -0.3905329670484597,
+                  1.0030705156873694
+                ],
+                "rod_tip_xy_dist": 0.0029130008187692596,
+                "target_xy_drift": 6.642064943870072e-08,
+                "depth": 0.01805509788272508,
+                "bottom_clearance": 0.08138541732676285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0014217399813072906,
+                  0.0025434345488688503
+                ],
+                "rod_tip_xy": [
+                  0.2715154142815355,
+                  -0.3905329670484597
+                ],
+                "target_mouth_xy": [
+                  0.2729371542628428,
+                  -0.39307640159732854
+                ],
+                "gripper_position": [
+                  0.2715075276024457,
+                  -0.39053654959445705,
+                  1.0029363044683126
+                ],
+                "rod_tip_xy_dist": 0.0029138297614698335,
+                "target_xy_drift": 8.433660894401116e-09,
+                "depth": 0.018189315845827503,
+                "bottom_clearance": 0.08125123490334785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014296295926859992,
+                  0.0025399181078181177
+                ],
+                "rod_tip_xy": [
+                  0.2715075276024457,
+                  -0.3905365495944571
+                ],
+                "target_mouth_xy": [
+                  0.2729371571951317,
+                  -0.3930764677022752
+                ],
+                "gripper_position": [
+                  0.2714997737512416,
+                  -0.39053953193164703,
+                  1.0028020658999162
+                ],
+                "rod_tip_xy_dist": 0.0029146225770596617,
+                "target_xy_drift": 5.870881375609501e-08,
+                "depth": 0.01832352396431658,
+                "bottom_clearance": 0.0811169850952308,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014373787441952501,
+                  0.0025368989063712655
+                ],
+                "rod_tip_xy": [
+                  0.2714997737512416,
+                  -0.390539531931647
+                ],
+                "target_mouth_xy": [
+                  0.2729371524954369,
+                  -0.39307643083801824
+                ],
+                "gripper_position": [
+                  0.27150928086124226,
+                  -0.39061897751152325,
+                  1.0022783491317275
+                ],
+                "rod_tip_xy_dist": 0.0029158041284373056,
+                "target_xy_drift": 2.2591733050628842e-08,
+                "depth": 0.018457762384232468,
+                "bottom_clearance": 0.08098274299784414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014278410827036625,
+                  0.002457423260502356
+                ],
+                "rod_tip_xy": [
+                  0.27150928086124226,
+                  -0.39061897751152325
+                ],
+                "target_mouth_xy": [
+                  0.2729371219439459,
+                  -0.3930764007720256
+                ],
+                "gripper_position": [
+                  0.2714985230940766,
+                  -0.3906279563417576,
+                  1.0021254960755983
+                ],
+                "rod_tip_xy_dist": 0.00284212231241275,
+                "target_xy_drift": 3.727297687458634e-08,
+                "depth": 0.018981507014172894,
+                "bottom_clearance": 0.0804590376549964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014386005396057056,
+                  0.002448445301636182
+                ],
+                "rod_tip_xy": [
+                  0.2714985230940766,
+                  -0.3906279563417577
+                ],
+                "target_mouth_xy": [
+                  0.27293712363368233,
+                  -0.39307640164339386
+                ],
+                "gripper_position": [
+                  0.2714906537749801,
+                  -0.39063089127622014,
+                  1.0019914388349749
+                ],
+                "rod_tip_xy_dist": 0.0028397985681484733,
+                "target_xy_drift": 3.543572788770163e-08,
+                "depth": 0.019134328672419376,
+                "bottom_clearance": 0.08030618984869997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001446505071791948,
+                  0.0024455770144219957
+                ],
+                "rod_tip_xy": [
+                  0.2714906537749801,
+                  -0.39063089127622014
+                ],
+                "target_mouth_xy": [
+                  0.27293715884677205,
+                  -0.39307646829064213
+                ],
+                "gripper_position": [
+                  0.2714826866185671,
+                  -0.3906340058573148,
+                  1.0018571276678274
+                ],
+                "rod_tip_xy_dist": 0.00284134191117314,
+                "target_xy_drift": 5.9289400858132776e-08,
+                "depth": 0.019268398630211903,
+                "bottom_clearance": 0.08017216472015132,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0014544415294555635,
+                  0.0024424938426634846
+                ],
+                "rod_tip_xy": [
+                  0.2714826866185671,
+                  -0.39063400585731484
+                ],
+                "target_mouth_xy": [
+                  0.2729371281480227,
+                  -0.3930764996999783
+                ],
+                "gripper_position": [
+                  0.2714746418730013,
+                  -0.3906371939637191,
+                  1.0017234409213898
+                ],
+                "rod_tip_xy_dist": 0.0028427409896179556,
+                "target_xy_drift": 9.557579345387505e-08,
+                "depth": 0.019402729334815683,
+                "bottom_clearance": 0.08003785047399214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0014624842668622962,
+                  0.002439274425666438
+                ],
+                "rod_tip_xy": [
+                  0.2714746418730013,
+                  -0.39063719396371915
+                ],
+                "target_mouth_xy": [
+                  0.2729371261398636,
+                  -0.3930764683893856
+                ],
+                "gripper_position": [
+                  0.27146670373761794,
+                  -0.39064041229780583,
+                  1.0015891510451274
+                ],
+                "rod_tip_xy_dist": 0.0028441026624455874,
+                "target_xy_drift": 6.753296814514786e-08,
+                "depth": 0.019536437785682037,
+                "bottom_clearance": 0.07990414260325152,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005993585076685859,
+              "rod_tip_xy_max_step": 3.2470410945846544e-05,
+              "rod_tip_xy_range": 0.0005993481738217332,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27100718138329827,
+            -0.3920658167312256,
+            1.043285928590151
+          ],
+          "object_origin_world": [
+            0.27100718138329827,
+            -0.3920658167312256,
+            1.043285928590151
+          ],
+          "frame_world": [
+            0.2710057203587256,
+            -0.39207430530887954,
+            1.043164700063542
+          ],
+          "center_minus_frame": [
+            1.461024572657621e-06,
+            8.488577653953389e-06,
+            0.0001212285266090074
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2529031874562567,
+              0.1331335642564303,
+              0.834288112774466
+            ],
+            "target_position": [
+              0.2649435903851901,
+              0.17825634549014197,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04670157051916424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16562421330790378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834288112774466,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673638752592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1349200794871159,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5abdeb9f10d081ca37a1d798c65d18ac6065c1e0f7b866412fa4de5b3e31b294",
+    "visual_seed": 5338147856305572753,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8a7aae74316da6a47f69a4ebb78b6a2b05f6c9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_58_success.json
@@ -0,0 +1,2015 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38664040021653684,
+              0.05954807810949604,
+              1.1642150123797288
+            ],
+            "current_z": 1.1642150123797288,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3031086235742526,
+            "gripper_z": 1.1538106954467213,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.381730900359724,
+              0.05469176395285319,
+              1.1538106954467213
+            ],
+            "object_minus_gripper": [
+              0.004909499856812827,
+              0.004856314156642852,
+              0.010404316933007474
+            ],
+            "object_to_gripper_xy": 0.0069055757205359015,
+            "object_to_gripper_z": 0.010404316933007474,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38664040021653684,
+              0.03565856674406357,
+              1.1642150123797288
+            ],
+            "finger_b": [
+              0.3755445863264529,
+              0.05954807810949604,
+              1.1642150123797288
+            ],
+            "finger_midpoint": [
+              0.38109249327149486,
+              0.04760332242677981,
+              1.1642150123797288
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055479069450419805,
+              0.011944755682716232,
+              0.0
+            ],
+            "finger_gap": 0.026340574009738424,
+            "fingertip_max_gap": 0.09132436737053931,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317028700486921,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642150123797288,
+            "object_top_z": 1.213998587539506,
+            "finger_top_clearance": 0.04978357515977727,
+            "fingertip_min_top_clearance": 0.014935072547933213,
+            "object_projection_between_fingers": 0.8225533283222912,
+            "object_to_finger_line_xy": 0.010063317980006203,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816218368526966,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2591280639344005,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2760614995858613,
+              -0.38746143139460243,
+              0.8515395699290776
+            ],
+            "target_position": [
+              0.2683569766310041,
+              -0.38870491069902224,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007804224160186691,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849901405363672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395699290776,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758488302190471,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519277274661384,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15210736911944314,
+            "release_required_pad_clearance": 0.05259638637330692,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2564084974091317,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00811082124710083,
+            "max_z_decrease": 0.00811082124710083,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035101060403121984,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00811082124710083,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020969815238319377,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00811082124710083,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008110852498587775,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12405690550804137,
+              -0.4449663758277893,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12405690550804137,
+              -0.4449663758277893,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12524869934564528,
+              -0.444056123898632,
+              0.8037679338525321
+            ],
+            "closest_button": [
+              0.12406843155622481,
+              -0.44494703412055964,
+              0.7686980366706848
+            ],
+            "closest_ee_minus_button": [
+              0.0011802677894204722,
+              0.0008909102219276099,
+              0.035069897181847276
+            ],
+            "button_min_z_position": [
+              0.12406843155622481,
+              -0.44494703412055964,
+              0.7686980366706848
+            ],
+            "min_active_finger_to_button": 0.14444938878533678,
+            "closest_active_finger": [
+              -0.0022903159260749817,
+              -0.5059921741485596,
+              0.8107738494873047
+            ],
+            "closest_active_finger_button": [
+              0.12405740469694135,
+              -0.44496423006057734,
+              0.7764595746994019
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12634772062301633,
+              -0.06102794408798223,
+              0.03431427478790283
+            ],
+            "min_contact_pad_to_button": 0.020969815238319377,
+            "closest_contact_pad": [
+              0.12406843155622481,
+              -0.4453441353118589,
+              0.7896640916590015
+            ],
+            "closest_contact_pad_button": [
+              0.12406843155622481,
+              -0.44494703412055964,
+              0.7686980366706848
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000397101191299265,
+              0.020966054988316718
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27127920115212334,
+              0.18316021161540608,
+              1.1128953697840953
+            ],
+            "current_z": 1.1128953697840953,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20298624004973276,
+            "gripper_z": 1.1128955432798069,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2712792165504679,
+              0.18316022045483898,
+              1.1128955432798069
+            ],
+            "object_minus_gripper": [
+              -1.5398344543893216e-08,
+              -8.839432907858935e-09,
+              -1.7349571157510013e-07
+            ],
+            "object_to_gripper_xy": 1.7755128521781686e-08,
+            "object_to_gripper_z": -1.7349571157510013e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27127920115212334,
+              0.18316021161540608,
+              1.1128953697840953
+            ],
+            "finger_b": [
+              0.27127920115212334,
+              0.18316021161540608,
+              1.1128953697840953
+            ],
+            "finger_midpoint": [
+              0.27127920115212334,
+              0.18316021161540608,
+              1.1128953697840953
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1128953697840953,
+            "object_top_z": 1.237903876404375,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 165,
+            "max_stable_success_frames": 165,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2712792011521234,
+            0.18316021161540608,
+            1.1128953697840953
+          ],
+          "object_origin_world": [
+            0.2712792011521234,
+            0.18316021161540608,
+            1.1128953697840953
+          ],
+          "frame_world": [
+            0.2712792165504679,
+            0.18316022045483898,
+            1.1128955432798069
+          ],
+          "center_minus_frame": [
+            -1.5398344488382065e-08,
+            -8.839432907858935e-09,
+            -1.7349571157510013e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043390199570445,
+            "required_z": 0.9112598930384763,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017884874583548056,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.997518716748332e-08,
+            "max_target_xy_drift": 1.3154220817563531e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.25640849678086103,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.25640849745319594,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27427435944522005,
+              -0.38744507711299303,
+              0.9235118285037905
+            ],
+            "target_mouth_xy": [
+              0.27606152885931295,
+              -0.3874614320256811
+            ],
+            "rod_tip_z": 0.9235118285037905,
+            "rod_tip_depth": -0.02225199726483451,
+            "rod_tip_bottom_clearance": 0.12169250790466313,
+            "rod_tip_xy_dist": 0.0017872442468331543,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0452219447223009,
+            "min_rod_tip_bottom_clearance": 0.054218698052450054,
+            "min_rod_tip_xy_dist": 0.0013607974974346206,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2760615320276646,
+              -0.3874614022184103
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.168351636606559e-09,
+              -2.980727081824952e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0012186089704640524,
+                0.0016885160707375557
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001328509528028765,
+                0.0013394755332063468
+              ],
+              "first_target_mouth_xy": [
+                0.27606153215401547,
+                -0.3874614031712585
+              ],
+              "last_target_mouth_xy": [
+                0.2760615605419492,
+                -0.3874614618284149
+              ],
+              "first_rod_tip_xy": [
+                0.2748429231835514,
+                -0.38577288710052093
+              ],
+              "last_rod_tip_xy": [
+                0.2747330510139204,
+                -0.38612198629520855
+              ],
+              "min_rod_tip_xy_dist": 0.0018682228809415872,
+              "max_rod_tip_xy_dist": 0.002082329067182815,
+              "first_target_xy_drift": 9.611889591283293e-10,
+              "last_target_xy_drift": 6.60788701065767e-08,
+              "max_depth": 0.01932501837871492,
+              "min_bottom_clearance": 0.08011551857462307
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0012186089704640524,
+                  0.0016885160707375557
+                ],
+                "rod_tip_xy": [
+                  0.2748429231835514,
+                  -0.38577288710052093
+                ],
+                "target_mouth_xy": [
+                  0.27606153215401547,
+                  -0.3874614031712585
+                ],
+                "gripper_position": [
+                  0.2748327197735495,
+                  -0.3857820832650188,
+                  1.0060093287397591
+                ],
+                "rod_tip_xy_dist": 0.002082329067182815,
+                "target_xy_drift": 9.611889591283293e-10,
+                "depth": 0.015096588102238684,
+                "bottom_clearance": 0.08434403704468663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012288391121706432,
+                  0.0016793173724318211
+                ],
+                "rod_tip_xy": [
+                  0.27483271977354934,
+                  -0.3857820832650187
+                ],
+                "target_mouth_xy": [
+                  0.27606155888572,
+                  -0.38746140063745055
+                ],
+                "gripper_position": [
+                  0.2748364765738901,
+                  -0.3858479472890735,
+                  1.0054789750288582
+                ],
+                "rod_tip_xy_dist": 0.0020809018239579804,
+                "target_xy_drift": 2.690454558460122e-08,
+                "depth": 0.015250519030827525,
+                "bottom_clearance": 0.08419002988116142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0012250839154017146,
+                  0.0016134558822163414
+                ],
+                "rod_tip_xy": [
+                  0.2748364765738899,
+                  -0.38584794728907357
+                ],
+                "target_mouth_xy": [
+                  0.2760615604892916,
+                  -0.3874614031712899
+                ],
+                "gripper_position": [
+                  0.27482615761469364,
+                  -0.38585698039214467,
+                  1.0053252787014242
+                ],
+                "rod_tip_xy_dist": 0.0020258505580704883,
+                "target_xy_drift": 2.8477573474856115e-08,
+                "depth": 0.015780864644563075,
+                "bottom_clearance": 0.08365970394872646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012354005139088575,
+                  0.0016044183523869493
+                ],
+                "rod_tip_xy": [
+                  0.2748261576146935,
+                  -0.38585698039214467
+                ],
+                "target_mouth_xy": [
+                  0.27606155812860234,
+                  -0.3874613987445316
+                ],
+                "gripper_position": [
+                  0.27481847475634935,
+                  -0.3858603619066557,
+                  1.0051905572160695
+                ],
+                "rod_tip_xy_dist": 0.0020249376976199346,
+                "target_xy_drift": 2.6331099184360216e-08,
+                "depth": 0.015934625901206534,
+                "bottom_clearance": 0.08350601980674632,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001243054091343676,
+                  0.0016010672708284823
+                ],
+                "rod_tip_xy": [
+                  0.27481847475634913,
+                  -0.3858603619066556
+                ],
+                "target_mouth_xy": [
+                  0.2760615288476928,
+                  -0.3874614291774841
+                ],
+                "gripper_position": [
+                  0.274823168933486,
+                  -0.385927386716366,
+                  1.0046614447165023
+                ],
+                "rod_tip_xy_dist": 0.0020269681496571223,
+                "target_xy_drift": 2.7145973570179572e-08,
+                "depth": 0.01606932020577123,
+                "bottom_clearance": 0.08337128282522521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001238360834173391,
+                  0.0015340459397854556
+                ],
+                "rod_tip_xy": [
+                  0.2748231689334858,
+                  -0.38592738671636606
+                ],
+                "target_mouth_xy": [
+                  0.2760615297676592,
+                  -0.3874614326561515
+                ],
+                "gripper_position": [
+                  0.27481261979742133,
+                  -0.3859362956360934,
+                  1.00450758599825
+                ],
+                "rod_tip_xy_dist": 0.001971505643153693,
+                "target_xy_drift": 3.0521528709829355e-08,
+                "depth": 0.016598381915456928,
+                "bottom_clearance": 0.08284213991329303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012489083061569262,
+                  0.0015251322856900673
+                ],
+                "rod_tip_xy": [
+                  0.2748126197974211,
+                  -0.38593629563609333
+                ],
+                "target_mouth_xy": [
+                  0.27606152810357804,
+                  -0.3874614279217834
+                ],
+                "gripper_position": [
+                  0.2748048390162844,
+                  -0.3859396556872688,
+                  1.0043730068871959
+                ],
+                "rod_tip_xy_dist": 0.001971243375649484,
+                "target_xy_drift": 2.6001189277405513e-08,
+                "depth": 0.016752336555414638,
+                "bottom_clearance": 0.08268834009984094,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012566879402181041,
+                  0.0015217750810534447
+                ],
+                "rod_tip_xy": [
+                  0.27480483901628416,
+                  -0.38593965568726885
+                ],
+                "target_mouth_xy": [
+                  0.27606152695650227,
+                  -0.3874614307683223
+                ],
+                "gripper_position": [
+                  0.2747968955835306,
+                  -0.3859429013850046,
+                  1.0042382720898426
+                ],
+                "rod_tip_xy_dist": 0.0019735916437816714,
+                "target_xy_drift": 2.8996795718695884e-08,
+                "depth": 0.016886900163817886,
+                "bottom_clearance": 0.08255371935389011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001264664560854445,
+                  0.0015185582303248735
+                ],
+                "rod_tip_xy": [
+                  0.27479689558353043,
+                  -0.38594290138500464
+                ],
+                "target_mouth_xy": [
+                  0.2760615601443849,
+                  -0.3874614596153295
+                ],
+                "gripper_position": [
+                  0.27480317771776175,
+                  -0.3860120469015054,
+                  1.003709079802678
+                ],
+                "rod_tip_xy_dist": 0.0019762073652247573,
+                "target_xy_drift": 6.391366282150703e-08,
+                "depth": 0.01702158260176556,
+                "bottom_clearance": 0.08241900857526707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012583498578171426,
+                  0.001449415571047108
+                ],
+                "rod_tip_xy": [
+                  0.2748031777177615,
+                  -0.38601204690150537
+                ],
+                "target_mouth_xy": [
+                  0.27606152757557867,
+                  -0.3874614624725525
+                ],
+                "gripper_position": [
+                  0.2747925656253609,
+                  -0.3860210022772987,
+                  1.0035554501956934
+                ],
+                "rod_tip_xy_dist": 0.0019194399866268904,
+                "target_xy_drift": 6.041839718485867e-08,
+                "depth": 0.017550802055005588,
+                "bottom_clearance": 0.08188978083287612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012689341996414139,
+                  0.0014404861944253833
+                ],
+                "rod_tip_xy": [
+                  0.2747925656253607,
+                  -0.38602100227729874
+                ],
+                "target_mouth_xy": [
+                  0.2760614998250021,
+                  -0.3874614884717241
+                ],
+                "gripper_position": [
+                  0.2747847021923629,
+                  -0.38602409331401577,
+                  1.0034210143334346
+                ],
+                "rod_tip_xy_dist": 0.0019196860366606093,
+                "target_xy_drift": 9.206870052626882e-08,
+                "depth": 0.017704415835412823,
+                "bottom_clearance": 0.08173618201175825,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012768264900887005,
+                  0.0014373973727901945
+                ],
+                "rod_tip_xy": [
+                  0.2747847021923627,
+                  -0.38602409331401577
+                ],
+                "target_mouth_xy": [
+                  0.2760615286824514,
+                  -0.38746149068680596
+                ],
+                "gripper_position": [
+                  0.2747767563242396,
+                  -0.3860273003137818,
+                  1.003286418544261
+                ],
+                "rod_tip_xy_dist": 0.0019226016470128137,
+                "target_xy_drift": 8.853161854937541e-08,
+                "depth": 0.017838834298318562,
+                "bottom_clearance": 0.08160170723728843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012847747341880877,
+                  0.0014341611984708402
+                ],
+                "rod_tip_xy": [
+                  0.27477675632423937,
+                  -0.38602730031378185
+                ],
+                "target_mouth_xy": [
+                  0.27606153105842746,
+                  -0.3874614615122527
+                ],
+                "gripper_position": [
+                  0.2747843678119558,
+                  -0.38609799732916983,
+                  1.0027597370971173
+                ],
+                "rod_tip_xy_dist": 0.001925477722750224,
+                "target_xy_drift": 5.930176360091794e-08,
+                "depth": 0.017973467416571354,
+                "bottom_clearance": 0.08146708303930084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012771923948547426,
+                  0.001363464821474647
+                ],
+                "rod_tip_xy": [
+                  0.2747843678119556,
+                  -0.38609799732916983
+                ],
+                "target_mouth_xy": [
+                  0.27606156020681033,
+                  -0.3874614621506445
+                ],
+                "gripper_position": [
+                  0.2747735168668668,
+                  -0.3861067562953458,
+                  1.0026065412251648
+                ],
+                "rod_tip_xy_dist": 0.0018682228809415872,
+                "target_xy_drift": 6.622640672603739e-08,
+                "depth": 0.01850002956420216,
+                "bottom_clearance": 0.08094050591242885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001287982226797879,
+                  0.0013547052249075486
+                ],
+                "rod_tip_xy": [
+                  0.2747735168668666,
+                  -0.38610675629534585
+                ],
+                "target_mouth_xy": [
+                  0.27606149909366445,
+                  -0.3874614615202534
+                ],
+                "gripper_position": [
+                  0.27476556777671635,
+                  -0.38610965849562595,
+                  1.00247213191947
+                ],
+                "rod_tip_xy_dist": 0.0018692577304745953,
+                "target_xy_drift": 6.783330273902958e-08,
+                "depth": 0.018653289592940214,
+                "bottom_clearance": 0.08078722106253877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001295993756315006,
+                  0.001351801119374496
+                ],
+                "rod_tip_xy": [
+                  0.2747655677767161,
+                  -0.38610965849562595
+                ],
+                "target_mouth_xy": [
+                  0.27606156153303113,
+                  -0.38746145961500045
+                ],
+                "gripper_position": [
+                  0.2747574963371645,
+                  -0.38611273580084826,
+                  1.002338003023318
+                ],
+                "rod_tip_xy_dist": 0.0018726895318630955,
+                "target_xy_drift": 6.453630927732789e-08,
+                "depth": 0.018787793390730667,
+                "bottom_clearance": 0.08065285110295017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013040329464993339,
+                  0.0013487263493151547
+                ],
+                "rod_tip_xy": [
+                  0.2747574963371643,
+                  -0.3861127358008484
+                ],
+                "target_mouth_xy": [
+                  0.2760615292836636,
+                  -0.3874614621501635
+                ],
+                "gripper_position": [
+                  0.27474947259297894,
+                  -0.386115627884575,
+                  1.0022034253484517
+                ],
+                "rod_tip_xy_dist": 0.0018760502900755937,
+                "target_xy_drift": 5.99945379694649e-08,
+                "depth": 0.01892182110705909,
+                "bottom_clearance": 0.08051868484441027,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0013120589661835824,
+                  0.0013457696005666486
+                ],
+                "rod_tip_xy": [
+                  0.2747494725929787,
+                  -0.3861156278845751
+                ],
+                "target_mouth_xy": [
+                  0.2760615315591623,
+                  -0.38746139748514175
+                ],
+                "gripper_position": [
+                  0.27474130772194605,
+                  -0.386118692124707,
+                  1.0020691073270063
+                ],
+                "rod_tip_xy_dist": 0.0018795197654060593,
+                "target_xy_drift": 4.756398386458476e-09,
+                "depth": 0.019056603601577016,
+                "bottom_clearance": 0.08038412535186257,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013202511254410965,
+                  0.0013427687601107463
+                ],
+                "rod_tip_xy": [
+                  0.2747413077219458,
+                  -0.38611869212470706
+                ],
+                "target_mouth_xy": [
+                  0.2760615588473869,
+                  -0.3874614608848178
+                ],
+                "gripper_position": [
+                  0.27473305101392065,
+                  -0.3861219862952085,
+                  1.0019348048337227
+                ],
+                "rod_tip_xy_dist": 0.0018831067355192146,
+                "target_xy_drift": 6.45061615355991e-08,
+                "depth": 0.019190730204031614,
+                "bottom_clearance": 0.08024979730034387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001328509528028765,
+                  0.0013394755332063468
+                ],
+                "rod_tip_xy": [
+                  0.2747330510139204,
+                  -0.38612198629520855
+                ],
+                "target_mouth_xy": [
+                  0.2760615605419492,
+                  -0.3874614618284149
+                ],
+                "gripper_position": [
+                  0.27474423219237876,
+                  -0.38619737144247734,
+                  1.0014136617795495
+                ],
+                "rod_tip_xy_dist": 0.001886566264439614,
+                "target_xy_drift": 6.60788701065767e-08,
+                "depth": 0.01932501837871492,
+                "bottom_clearance": 0.08011551857462307,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006045879473995427,
+              "rod_tip_xy_max_step": 3.2692235126569424e-05,
+              "rod_tip_xy_range": 0.0006045777472410086,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2742743594452201,
+            -0.38744507711299303,
+            1.0435118285037908
+          ],
+          "object_origin_world": [
+            0.2742743594452201,
+            -0.38744507711299303,
+            1.0435118285037908
+          ],
+          "frame_world": [
+            0.27427305966539084,
+            -0.38745334926105435,
+            1.043390199570445
+          ],
+          "center_minus_frame": [
+            1.2997798292668783e-06,
+            8.27214806131682e-06,
+            0.00012162893334566327
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25083831537965146,
+              0.1412277628969517,
+              0.833567775704884
+            ],
+            "target_position": [
+              0.26304855385818754,
+              0.1869469037779532,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04732155710244103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1677839484551433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833567775704884,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674679411914,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13744564947272778,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f3093255205274c67e5ce3c53a63050e661a144e55058486628f645da73b70f8",
+    "visual_seed": 5600859272454052669,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..959b38b5e7501000b8635b8ae4356be0199c6326
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_66_success.json
@@ -0,0 +1,2009 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38554286861278514,
+              0.06363923045697131,
+              1.1638822957756436
+            ],
+            "current_z": 1.1638822957756436,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30277554934229856,
+            "gripper_z": 1.153512405100178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.380777312260112,
+              0.05879313774088263,
+              1.153512405100178
+            ],
+            "object_minus_gripper": [
+              0.004765556352673117,
+              0.004846092716088685,
+              0.010369890675465676
+            ],
+            "object_to_gripper_xy": 0.006796700814618141,
+            "object_to_gripper_z": 0.010369890675465676,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38554286861278514,
+              0.039985161821362095,
+              1.1638822957756436
+            ],
+            "finger_b": [
+              0.3742834597656449,
+              0.06363923045697131,
+              1.1638822957756436
+            ],
+            "finger_midpoint": [
+              0.37991316418921506,
+              0.051812196139166704,
+              1.1638822957756436
+            ],
+            "object_minus_finger_midpoint": [
+              0.005629704423570081,
+              0.01182703431780461,
+              0.0
+            ],
+            "finger_gap": 0.026197122945185624,
+            "fingertip_max_gap": 0.09166065739575854,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013098561472592802,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638822957756436,
+            "object_top_z": 1.213667535989691,
+            "finger_top_clearance": 0.04978524021404729,
+            "fingertip_min_top_clearance": 0.014935572064214218,
+            "object_projection_between_fingers": 0.8152757201496751,
+            "object_to_finger_line_xy": 0.010166415229027502,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048330328697879274,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.65261420475567,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2712756580427411,
+              -0.3930052059679098,
+              0.8515395874106122
+            ],
+            "target_position": [
+              0.263027302937,
+              -0.3941501267462454,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00832743691294448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18568024136662525,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395874106122,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540435191733323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606963702154409,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538857466805452,
+            "release_required_pad_clearance": 0.05303481851077205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1007275223177595,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008123695850372314,
+            "max_z_decrease": 0.008123695850372314,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511860894529996,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008123695850372314,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02096017820436058,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008123695850372314,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008123740305879031,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11872722953557964,
+              -0.4504115879535675,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11872722953557964,
+              -0.4504115879535675,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1197466191879224,
+              -0.4484490595140122,
+              0.8037357102077717
+            ],
+            "closest_button": [
+              0.11874481290578838,
+              -0.4503912627696991,
+              0.7686851620674133
+            ],
+            "closest_ee_minus_button": [
+              0.0010018062821340185,
+              0.0019422032556868918,
+              0.03505054814035835
+            ],
+            "button_min_z_position": [
+              0.11874481290578838,
+              -0.4503912627696991,
+              0.7686851620674133
+            ],
+            "min_active_finger_to_button": 0.14418962661264853,
+            "closest_active_finger": [
+              -0.007886648178100586,
+              -0.5102287530899048,
+              0.8108248710632324
+            ],
+            "closest_active_finger_button": [
+              0.1187282875180244,
+              -0.4504091739654541,
+              0.7764602899551392
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12661493569612498,
+              -0.059819579124450684,
+              0.03436458110809326
+            ],
+            "min_contact_pad_to_button": 0.02096017820436058,
+            "closest_contact_pad": [
+              0.11874481290578838,
+              -0.4503912627696991,
+              0.7896453402717739
+            ],
+            "closest_contact_pad_button": [
+              0.11874481290578838,
+              -0.4503912627696991,
+              0.7686851620674133
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02096017820436058
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26244570987118415,
+              0.1819967041473924,
+              1.1021594300123447
+            ],
+            "current_z": 1.1021594300123447,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19225030027798218,
+            "gripper_z": 1.1021594393602319,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26244579598093887,
+              0.18199669508934452,
+              1.1021594393602319
+            ],
+            "object_minus_gripper": [
+              -8.61097547155687e-08,
+              9.058047895083021e-09,
+              -9.347887131028187e-09
+            ],
+            "object_to_gripper_xy": 8.658486062150256e-08,
+            "object_to_gripper_z": -9.347887131028187e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26244570987118415,
+              0.1819967041473924,
+              1.1021594300123447
+            ],
+            "finger_b": [
+              0.26244570987118415,
+              0.1819967041473924,
+              1.1021594300123447
+            ],
+            "finger_midpoint": [
+              0.26244570987118415,
+              0.1819967041473924,
+              1.1021594300123447
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021594300123447,
+            "object_top_z": 1.2271679366326245,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2624457098711842,
+            0.18199670414739244,
+            1.102159430012345
+          ],
+          "object_origin_world": [
+            0.2624457098711842,
+            0.18199670414739244,
+            1.102159430012345
+          ],
+          "frame_world": [
+            0.26244579598093887,
+            0.18199669508934452,
+            1.1021594393602319
+          ],
+          "center_minus_frame": [
+            -8.610975466005755e-08,
+            9.058047922838597e-09,
+            -9.347886908983583e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437101240301458,
+            "required_z": 0.9112598301910241,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013649701757884691,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.588841540017753e-08,
+            "max_target_xy_drift": 1.2820330736360393e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1007275249810617,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1007275282354363,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.271116187138586,
+              -0.39436752451174306,
+              0.9234087508150189
+            ],
+            "target_mouth_xy": [
+              0.2712756218036545,
+              -0.39300517559770276
+            ],
+            "rod_tip_z": 0.9234087508150189,
+            "rod_tip_depth": -0.022148834048439814,
+            "rod_tip_bottom_clearance": 0.12158946720971653,
+            "rod_tip_xy_dist": 0.0013716464471620583,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044996123482303196,
+            "min_rod_tip_bottom_clearance": 0.054444508353409415,
+            "min_rod_tip_xy_dist": 0.00021576343734877457,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2712756546242764,
+              -0.39300514352663407
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.282062188691981e-08,
+              -3.207106868963194e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.00030079930210163974,
+                0.00034434907105346246
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0002155492778568302,
+                -9.61091629125832e-06
+              ],
+              "first_target_mouth_xy": [
+                0.2712756576339349,
+                -0.3930052376875191
+              ],
+              "last_target_mouth_xy": [
+                0.27127565295429945,
+                -0.393005173971436
+              ],
+              "first_rod_tip_xy": [
+                0.27157645693603655,
+                -0.39266088861646564
+              ],
+              "last_rod_tip_xy": [
+                0.2714912022321563,
+                -0.39301478488772723
+              ],
+              "min_rod_tip_xy_dist": 0.00021576343734877457,
+              "max_rod_tip_xy_dist": 0.0004572269708582556,
+              "first_target_xy_drift": 9.420897151929883e-08,
+              "last_target_xy_drift": 3.049056880081771e-08,
+              "max_depth": 0.019379662040749923,
+              "min_bottom_clearance": 0.0800608863709954
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00030079930210163974,
+                  0.00034434907105346246
+                ],
+                "rod_tip_xy": [
+                  0.27157645693603655,
+                  -0.39266088861646564
+                ],
+                "target_mouth_xy": [
+                  0.2712756576339349,
+                  -0.3930052376875191
+                ],
+                "gripper_position": [
+                  0.27156902236867675,
+                  -0.39266508396087124,
+                  1.005969812290076
+                ],
+                "rod_tip_xy_dist": 0.0004572269708582556,
+                "target_xy_drift": 9.420897151929883e-08,
+                "depth": 0.015155177305806178,
+                "bottom_clearance": 0.08428556664316378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0002934284238444995,
+                  0.00034009067188989217
+                ],
+                "rod_tip_xy": [
+                  0.2715690223686767,
+                  -0.3926650839608713
+                ],
+                "target_mouth_xy": [
+                  0.2712755939448322,
+                  -0.3930051746327612
+                ],
+                "gripper_position": [
+                  0.2715779513846261,
+                  -0.3927326513305256,
+                  1.0054358366094176
+                ],
+                "rod_tip_xy_dist": 0.0004491791458053073,
+                "target_xy_drift": 6.81878734945386e-08,
+                "depth": 0.01529002809549651,
+                "bottom_clearance": 0.08415049650355477,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003023249472527967,
+                  0.00027252263676802446
+                ],
+                "rod_tip_xy": [
+                  0.27157795138462604,
+                  -0.3927326513305256
+                ],
+                "target_mouth_xy": [
+                  0.27127562643737324,
+                  -0.3930051739672936
+                ],
+                "gripper_position": [
+                  0.2715676958643063,
+                  -0.3927421015533262,
+                  1.005280948534685
+                ],
+                "rod_tip_xy_dist": 0.00040702452172123845,
+                "target_xy_drift": 4.148656725559093e-08,
+                "depth": 0.015824054018636624,
+                "bottom_clearance": 0.08361651274871729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00029207091976263255,
+                  0.0002630740154823119
+                ],
+                "rod_tip_xy": [
+                  0.27156769586430624,
+                  -0.39274210155332634
+                ],
+                "target_mouth_xy": [
+                  0.2712756249445436,
+                  -0.39300517556880865
+                ],
+                "gripper_position": [
+                  0.2715601670617732,
+                  -0.3927459342453432,
+                  1.005145791746692
+                ],
+                "rod_tip_xy_dist": 0.0003930818741597962,
+                "target_xy_drift": 4.3675937195199064e-08,
+                "depth": 0.015978828208854212,
+                "bottom_clearance": 0.08346171488462595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00028450961524995044,
+                  0.00025927204066433784
+                ],
+                "rod_tip_xy": [
+                  0.2715601670617732,
+                  -0.3927459342453433
+                ],
+                "target_mouth_xy": [
+                  0.27127565744652327,
+                  -0.39300520628600766
+                ],
+                "gripper_position": [
+                  0.2715699093785502,
+                  -0.39281453234275127,
+                  1.004613484734296
+                ],
+                "rod_tip_xy_dist": 0.0003849255931214822,
+                "target_xy_drift": 6.282279881122969e-08,
+                "depth": 0.016114142815546018,
+                "bottom_clearance": 0.08332653791835809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0002942858741826204,
+                  0.00019064291556558643
+                ],
+                "rod_tip_xy": [
+                  0.27156990937855013,
+                  -0.39281453234275143
+                ],
+                "target_mouth_xy": [
+                  0.2712756235043675,
+                  -0.393005175258317
+                ],
+                "gripper_position": [
+                  0.27155960037320875,
+                  -0.392823954332313,
+                  1.0044593053839992
+                ],
+                "rod_tip_xy_dist": 0.0003506406950123964,
+                "target_xy_drift": 4.444489206771873e-08,
+                "depth": 0.016646374506443684,
+                "bottom_clearance": 0.08279418206277145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00028394128498304694,
+                  0.0001812525809593013
+                ],
+                "rod_tip_xy": [
+                  0.27155960037320875,
+                  -0.392823954332313
+                ],
+                "target_mouth_xy": [
+                  0.2712756590882257,
+                  -0.3930052069132723
+                ],
+                "gripper_position": [
+                  0.2715520306628748,
+                  -0.39282745869505287,
+                  1.0043240961257935
+                ],
+                "rod_tip_xy_dist": 0.0003368607300090528,
+                "target_xy_drift": 6.354362869614487e-08,
+                "depth": 0.016800653891530515,
+                "bottom_clearance": 0.08264011298199592,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00027643802269622375,
+                  0.00017774799721076429
+                ],
+                "rod_tip_xy": [
+                  0.2715520306628748,
+                  -0.392827458695053
+                ],
+                "target_mouth_xy": [
+                  0.2712755926401786,
+                  -0.39300520669226374
+                ],
+                "gripper_position": [
+                  0.2715624121976673,
+                  -0.39289681861741005,
+                  1.0037951395374363
+                ],
+                "rod_tip_xy_dist": 0.0003286522948415784,
+                "target_xy_drift": 8.849816467987728e-08,
+                "depth": 0.016935825204042243,
+                "bottom_clearance": 0.08250483091595118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0002867853731242098,
+                  0.00010838674953350669
+                ],
+                "rod_tip_xy": [
+                  0.27156241219766725,
+                  -0.3928968186174102
+                ],
+                "target_mouth_xy": [
+                  0.27127562682454304,
+                  -0.3930052053669437
+                ],
+                "gripper_position": [
+                  0.27155190660618167,
+                  -0.3929059220239984,
+                  1.0036411956603466
+                ],
+                "rod_tip_xy_dist": 0.00030658365532498853,
+                "target_xy_drift": 6.780154181114244e-08,
+                "depth": 0.017464771958535907,
+                "bottom_clearance": 0.08197584457538687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00027631383449866487,
+                  9.928338134790327e-05
+                ],
+                "rod_tip_xy": [
+                  0.27155190660618167,
+                  -0.39290592202399843
+                ],
+                "target_mouth_xy": [
+                  0.271275592771683,
+                  -0.39300520540534634
+                ],
+                "gripper_position": [
+                  0.2715440945803802,
+                  -0.3929096448195584,
+                  1.0035059753010127
+                ],
+                "rod_tip_xy_dist": 0.000293609476937017,
+                "target_xy_drift": 8.749124721646048e-08,
+                "depth": 0.017618697983763032,
+                "bottom_clearance": 0.08182190628426234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00026846433322907926,
+                  9.552691486608422e-05
+                ],
+                "rod_tip_xy": [
+                  0.27154409458038015,
+                  -0.3929096448195585
+                ],
+                "target_mouth_xy": [
+                  0.27127563024715107,
+                  -0.39300517173442456
+                ],
+                "gripper_position": [
+                  0.2715364076111736,
+                  -0.3929130977474233,
+                  1.0033709947910032
+                ],
+                "rod_tip_xy_dist": 0.000284953486871044,
+                "target_xy_drift": 3.728168026313015e-08,
+                "depth": 0.017753984693281155,
+                "bottom_clearance": 0.0816868076003664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0002608176166928322,
+                  9.210800908865391e-05
+                ],
+                "rod_tip_xy": [
+                  0.2715364076111736,
+                  -0.39291309774742333
+                ],
+                "target_mouth_xy": [
+                  0.27127558999448076,
+                  -0.393005205756512
+                ],
+                "gripper_position": [
+                  0.2715285266653527,
+                  -0.39291681200239215,
+                  1.0032361951829736
+                ],
+                "rod_tip_xy_dist": 0.00027660389461394916,
+                "target_xy_drift": 8.971938579994353e-08,
+                "depth": 0.017888929420254773,
+                "bottom_clearance": 0.08155179247660393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00025286843481481247,
+                  8.842442384970894e-05
+                ],
+                "rod_tip_xy": [
+                  0.27152852666535265,
+                  -0.39291681200239226
+                ],
+                "target_mouth_xy": [
+                  0.27127565823053784,
+                  -0.39300523642624197
+                ],
+                "gripper_position": [
+                  0.2715409414788522,
+                  -0.3929891548463903,
+                  1.0027085555743624
+                ],
+                "rod_tip_xy_dist": 0.00026788304175301214,
+                "target_xy_drift": 9.296957711415442e-08,
+                "depth": 0.018023751861874326,
+                "bottom_clearance": 0.08141697135335513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002653187884587571,
+                  1.6050241963050382e-05
+                ],
+                "rod_tip_xy": [
+                  0.27154094147885216,
+                  -0.3929891548463904
+                ],
+                "target_mouth_xy": [
+                  0.2712756226903934,
+                  -0.39300520508835346
+                ],
+                "gripper_position": [
+                  0.2715303570233617,
+                  -0.3929983648561579,
+                  1.0025545119723738
+                ],
+                "rod_tip_xy_dist": 0.00026580381821240864,
+                "target_xy_drift": 6.935141077474282e-08,
+                "depth": 0.018551328716807425,
+                "bottom_clearance": 0.08088925960447002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0002547314966835357,
+                  6.807866683722352e-06
+                ],
+                "rod_tip_xy": [
+                  0.2715303570233617,
+                  -0.392998364856158
+                ],
+                "target_mouth_xy": [
+                  0.27127562552667817,
+                  -0.39300517272284174
+                ],
+                "gripper_position": [
+                  0.27152268647985217,
+                  -0.3930016155122289,
+                  1.0024196071961835
+                ],
+                "rod_tip_xy_dist": 0.000254822452800803,
+                "target_xy_drift": 4.1220004423666176e-08,
+                "depth": 0.018705334516625483,
+                "bottom_clearance": 0.0807352432045525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00024702906852080986,
+                  3.5895223668980236e-06
+                ],
+                "rod_tip_xy": [
+                  0.27152268647985217,
+                  -0.393001615512229
+                ],
+                "target_mouth_xy": [
+                  0.27127565741133136,
+                  -0.3930052050345959
+                ],
+                "gripper_position": [
+                  0.2715147470031285,
+                  -0.3930050983416635,
+                  1.0022845730766712
+                ],
+                "rod_tip_xy_dist": 0.0002470551464047682,
+                "target_xy_drift": 6.157107311491136e-08,
+                "depth": 0.018840304929047313,
+                "bottom_clearance": 0.08060033067971228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00023912435578465896,
+                  1.0643055670112034e-07
+                ],
+                "rod_tip_xy": [
+                  0.2715147470031285,
+                  -0.39300509834166353
+                ],
+                "target_mouth_xy": [
+                  0.27127562264734384,
+                  -0.39300520477222023
+                ],
+                "gripper_position": [
+                  0.2715069294231786,
+                  -0.3930083579336801,
+                  1.0021496240521655
+                ],
+                "rod_tip_xy_dist": 0.0002391243794699561,
+                "target_xy_drift": 6.909085351136066e-08,
+                "depth": 0.018975306683181148,
+                "bottom_clearance": 0.08046527174249907,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00023130430278450742,
+                  -3.1557267360371455e-06
+                ],
+                "rod_tip_xy": [
+                  0.27150692942317856,
+                  -0.39300835793368016
+                ],
+                "target_mouth_xy": [
+                  0.27127562512039405,
+                  -0.3930052022069441
+                ],
+                "gripper_position": [
+                  0.2714989506834691,
+                  -0.3930115388407239,
+                  1.0020148170010297
+                ],
+                "rod_tip_xy_dist": 0.00023132582886020234,
+                "target_xy_drift": 6.56799654474735e-08,
+                "depth": 0.019110225070165465,
+                "bottom_clearance": 0.08033034890273572,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00022329488653904939,
+                  -6.299850492830217e-06
+                ],
+                "rod_tip_xy": [
+                  0.271498950683469,
+                  -0.39301153884072393
+                ],
+                "target_mouth_xy": [
+                  0.27127565579692997,
+                  -0.3930052389902311
+                ],
+                "gripper_position": [
+                  0.2714912022321563,
+                  -0.39301478488772723,
+                  1.0018801372073447
+                ],
+                "rod_tip_xy_dist": 0.0002233837381519052,
+                "target_xy_drift": 9.547079906358329e-08,
+                "depth": 0.019245214791219545,
+                "bottom_clearance": 0.0801955027753608,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0002155492778568302,
+                  -9.61091629125832e-06
+                ],
+                "rod_tip_xy": [
+                  0.2714912022321563,
+                  -0.39301478488772723
+                ],
+                "target_mouth_xy": [
+                  0.27127565295429945,
+                  -0.393005173971436
+                ],
+                "gripper_position": [
+                  0.2715072678604884,
+                  -0.39309167049962884,
+                  1.0013590515619948
+                ],
+                "rod_tip_xy_dist": 0.00021576343734877457,
+                "target_xy_drift": 3.049056880081771e-08,
+                "depth": 0.019379662040749923,
+                "bottom_clearance": 0.0800608863709954,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006025717142041557,
+              "rod_tip_xy_max_step": 3.274767367300208e-05,
+              "rod_tip_xy_range": 0.0006025601743183536,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27111618713858604,
+            -0.394367524511743,
+            1.043408750815019
+          ],
+          "object_origin_world": [
+            0.27111618713858604,
+            -0.394367524511743,
+            1.043408750815019
+          ],
+          "frame_world": [
+            0.2711406327595116,
+            -0.3943634544861323,
+            1.0437101240301458
+          ],
+          "center_minus_frame": [
+            -2.4445620925572786e-05,
+            -4.07002561070291e-06,
+            -0.00030137321512690995
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.250524450705599,
+              0.13506955592496464,
+              0.8333817081308799
+            ],
+            "target_position": [
+              0.26252895546728744,
+              0.1814342084203308,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04789351872215556,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16599540689023506,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333817081308799,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567239723272,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13553611912234884,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2d9bab0343710bea9a63f14ea77ace6efe0ecfbf25ff02006d648e2ab70a188",
+    "visual_seed": 6889876842188533000,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9d5ed0043e8ed5da14365e4a01af030367eedf2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_74_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3779084750999401,
+              0.06654040326514787,
+              1.1657971980606006
+            ],
+            "current_z": 1.1657971980606006,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30469057083654505,
+            "gripper_z": 1.1555392871511472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3728811894325321,
+              0.06174470850318284,
+              1.1555392871511472
+            ],
+            "object_minus_gripper": [
+              0.005027285667407955,
+              0.004795694761965036,
+              0.010257910909453383
+            ],
+            "object_to_gripper_xy": 0.006947826237872125,
+            "object_to_gripper_z": 0.010257910909453383,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3779084750999401,
+              0.042304792244364176,
+              1.1657971980606006
+            ],
+            "finger_b": [
+              0.3672401629139106,
+              0.06654040326514787,
+              1.1657971980606006
+            ],
+            "finger_midpoint": [
+              0.37257431900692534,
+              0.054422597754756025,
+              1.1657971980606006
+            ],
+            "object_minus_finger_midpoint": [
+              0.005334156093014741,
+              0.01211780551039185,
+              0.0
+            ],
+            "finger_gap": 0.026479760694713944,
+            "fingertip_max_gap": 0.09203357924822411,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013239880347356972,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657971980606006,
+            "object_top_z": 1.215643905428914,
+            "finger_top_clearance": 0.049846707368313536,
+            "fingertip_min_top_clearance": 0.01495401221049406,
+            "object_projection_between_fingers": 0.837683256889918,
+            "object_to_finger_line_xy": 0.009764176775227087,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851678962411206,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9418308417252648,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27852852610199874,
+              -0.3908759743232586,
+              0.851539563181434
+            ],
+            "target_position": [
+              0.2721705646452539,
+              -0.391376676191153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006377646607171474,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532554064107612,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539563181434,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560152312879928,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08883834072716394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529745679115527,
+            "release_required_pad_clearance": 0.05441917036358197,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.864986397993863,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008415758609771729,
+            "max_z_decrease": 0.008415758609771729,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037628579771274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008415758609771729,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021110717983741627,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008415758609771729,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008415813617074474,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12787048518657684,
+              -0.44763812422752375,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12787048518657684,
+              -0.44763812422752375,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.127184138168557,
+              -0.4494431732848468,
+              0.8037411591764281
+            ],
+            "closest_button": [
+              0.1278718262910843,
+              -0.4476085007190703,
+              0.7687583565711975
+            ],
+            "closest_ee_minus_button": [
+              -0.0006876881225272857,
+              -0.0018346725657764629,
+              0.03498280260523057
+            ],
+            "button_min_z_position": [
+              0.12786512076854706,
+              -0.4476081728935241,
+              0.7683930993080139
+            ],
+            "min_active_finger_to_button": 0.14620113169945143,
+            "closest_active_finger": [
+              -0.013288125395774841,
+              -0.4312293529510498,
+              0.811047375202179
+            ],
+            "closest_active_finger_button": [
+              0.12787361443042755,
+              -0.4476360380649566,
+              0.7767114639282227
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411617398262024,
+              0.016406685113906805,
+              0.0343359112739563
+            ],
+            "min_contact_pad_to_button": 0.021110717983741627,
+            "closest_contact_pad": [
+              0.12786512076854706,
+              -0.45080680043125176,
+              0.7892600874870483
+            ],
+            "closest_contact_pad_button": [
+              0.12786512076854706,
+              -0.4476081728935241,
+              0.7683930993080139
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031986275377276496,
+              0.02086698817903443
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2642803454649662,
+              0.1820439050802835,
+              1.1039696887884958
+            ],
+            "current_z": 1.1039696887884958,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19406055905413322,
+            "gripper_z": 1.1039699076109935,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2642804983368445,
+              0.18204393222400883,
+              1.1039699076109935
+            ],
+            "object_minus_gripper": [
+              -1.5287187832280225e-07,
+              -2.7143725322975598e-08,
+              -2.1882249767735118e-07
+            ],
+            "object_to_gripper_xy": 1.552629801541591e-07,
+            "object_to_gripper_z": -2.1882249767735118e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2642803454649662,
+              0.1820439050802835,
+              1.1039696887884958
+            ],
+            "finger_b": [
+              0.2642803454649662,
+              0.1820439050802835,
+              1.1039696887884958
+            ],
+            "finger_midpoint": [
+              0.2642803454649662,
+              0.1820439050802835,
+              1.1039696887884958
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1039696887884958,
+            "object_top_z": 1.2289781954087755,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26428034546496615,
+            0.1820439050802835,
+            1.1039696887884958
+          ],
+          "object_origin_world": [
+            0.26428034546496615,
+            0.1820439050802835,
+            1.1039696887884958
+          ],
+          "frame_world": [
+            0.2642804983368445,
+            0.18204393222400883,
+            1.1039699076109935
+          ],
+          "center_minus_frame": [
+            -1.528718783783134e-07,
+            -2.7143725322975598e-08,
+            -2.1882249767735118e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433002881707896,
+            "required_z": 0.9112598557111493,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0022423338331229326,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.4871896956550395e-09,
+            "max_target_xy_drift": 9.152860432006416e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.864986397970176,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.865188936897135,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2798395906889672,
+              -0.39268698056121415,
+              0.9234252695827246
+            ],
+            "target_mouth_xy": [
+              0.2785285846189458,
+              -0.3908760377859903
+            ],
+            "rod_tip_z": 0.9234252695827246,
+            "rod_tip_depth": -0.022165412351011993,
+            "rod_tip_bottom_clearance": 0.12160597013991747,
+            "rod_tip_xy_dist": 0.0022356767768996547,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04496056063574572,
+            "min_rod_tip_bottom_clearance": 0.05447999697511041,
+            "min_rod_tip_xy_dist": 0.0010141955814165857,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2785285839489243,
+              -0.39087603645828384
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.700214827404238e-10,
+              -1.327706444786969e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                0.0017005419708944203,
+                3.518189359452695e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016276758237169786,
+                -0.00035280940699561336
+              ],
+              "first_target_mouth_xy": [
+                0.2785285878378406,
+                -0.3908760367125475
+              ],
+              "last_target_mouth_xy": [
+                0.2785285568732035,
+                -0.3908760377031184
+              ],
+              "first_rod_tip_xy": [
+                0.28022912980873504,
+                -0.390840854818953
+              ],
+              "last_rod_tip_xy": [
+                0.28015623269692047,
+                -0.391228847110114
+              ],
+              "min_rod_tip_xy_dist": 0.0016648080630522926,
+              "max_rod_tip_xy_dist": 0.0017009058646528254,
+              "first_target_xy_drift": 3.897219521769078e-09,
+              "last_target_xy_drift": 2.710432201104812e-08,
+              "max_depth": 0.019346738765898763,
+              "min_bottom_clearance": 0.08009383734601028
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  0.0017005419708944203,
+                  3.518189359452695e-05
+                ],
+                "rod_tip_xy": [
+                  0.28022912980873504,
+                  -0.390840854818953
+                ],
+                "target_mouth_xy": [
+                  0.2785285878378406,
+                  -0.3908760367125475
+                ],
+                "gripper_position": [
+                  0.28021906285875475,
+                  -0.39085074499550426,
+                  1.0060571179925075
+                ],
+                "rod_tip_xy_dist": 0.0017009058646528254,
+                "target_xy_drift": 3.897219521769078e-09,
+                "depth": 0.015044645308527893,
+                "bottom_clearance": 0.08439594548653118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0016905066096947197,
+                  2.52600346136167e-05
+                ],
+                "rod_tip_xy": [
+                  0.2802190628587549,
+                  -0.39085074499550426
+                ],
+                "target_mouth_xy": [
+                  0.2785285562490602,
+                  -0.3908760050301179
+                ],
+                "gripper_position": [
+                  0.28021147539793034,
+                  -0.39085464395027125,
+                  1.0059179808175045
+                ],
+                "rod_tip_xy_dist": 0.0016906953205028446,
+                "target_xy_drift": 4.189286440486364e-08,
+                "depth": 0.015202668453335844,
+                "bottom_clearance": 0.08423790366094097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0016829198467289141,
+                  2.1301165846920878e-05
+                ],
+                "rod_tip_xy": [
+                  0.28021147539793045,
+                  -0.3908546439502713
+                ],
+                "target_mouth_xy": [
+                  0.27852855555120154,
+                  -0.39087594511611823
+                ],
+                "gripper_position": [
+                  0.28022398836460555,
+                  -0.3909278544628718,
+                  1.005383687344563
+                ],
+                "rod_tip_xy_dist": 0.0016830546486019133,
+                "target_xy_drift": 9.565470128271519e-08,
+                "depth": 0.015341866200917709,
+                "bottom_clearance": 0.08409869263075231,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0016954018894397849,
+                  -5.184308719069497e-05
+                ],
+                "rod_tip_xy": [
+                  0.28022398836460566,
+                  -0.39092785446287176
+                ],
+                "target_mouth_xy": [
+                  0.2785285864751659,
+                  -0.39087601137568107
+                ],
+                "gripper_position": [
+                  0.28021378163562904,
+                  -0.39093761609525035,
+                  1.0052257195097434
+                ],
+                "rod_tip_xy_dist": 0.001696194349833018,
+                "target_xy_drift": 2.5209499364555908e-08,
+                "depth": 0.015876214067981897,
+                "bottom_clearance": 0.08356446865980971,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016852271499208649,
+                  -6.164334746627809e-05
+                ],
+                "rod_tip_xy": [
+                  0.28021378163562916,
+                  -0.3909376160952504
+                ],
+                "target_mouth_xy": [
+                  0.2785285544857083,
+                  -0.39087597274778413
+                ],
+                "gripper_position": [
+                  0.280206192049109,
+                  -0.3909413086668106,
+                  1.005087115041969
+                ],
+                "rod_tip_xy_dist": 0.0016863541885135665,
+                "target_xy_drift": 7.01933677225952e-08,
+                "depth": 0.01603419020043828,
+                "bottom_clearance": 0.08340647335862095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016776368365924998,
+                  -6.530264687171217e-05
+                ],
+                "rod_tip_xy": [
+                  0.2802061920491092,
+                  -0.3909413086668106
+                ],
+                "target_mouth_xy": [
+                  0.2785285552125167,
+                  -0.3908760060199389
+                ],
+                "gripper_position": [
+                  0.28021940481564644,
+                  -0.39101537259618224,
+                  1.0045544512060445
+                ],
+                "rod_tip_xy_dist": 0.0016789073206048455,
+                "target_xy_drift": 4.186017161724525e-08,
+                "depth": 0.01617271696933631,
+                "bottom_clearance": 0.08326780226110231,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0016908495372132681,
+                  -0.0001393624479049671
+                ],
+                "rod_tip_xy": [
+                  0.2802194048156466,
+                  -0.3910153725961822
+                ],
+                "target_mouth_xy": [
+                  0.27852855527843334,
+                  -0.3908760101482772
+                ],
+                "gripper_position": [
+                  0.28020899190795745,
+                  -0.3910252530674908,
+                  1.0043966951784997
+                ],
+                "rod_tip_xy_dist": 0.0016965830511296487,
+                "target_xy_drift": 3.89128963370519e-08,
+                "depth": 0.016705435539167812,
+                "bottom_clearance": 0.08273518837091465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016804353116891546,
+                  -0.0001493111576949535
+                ],
+                "rod_tip_xy": [
+                  0.2802089919079576,
+                  -0.39102525306749086
+                ],
+                "target_mouth_xy": [
+                  0.27852855659626846,
+                  -0.3908759419097959
+                ],
+                "gripper_position": [
+                  0.2802012927420694,
+                  -0.3910289064560141,
+                  1.004258323876012
+                ],
+                "rod_tip_xy_dist": 0.001687055618106301,
+                "target_xy_drift": 9.842552693363039e-08,
+                "depth": 0.01686321776564359,
+                "bottom_clearance": 0.08257750128102392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001672737158280091,
+                  -0.000152901094908231
+                ],
+                "rod_tip_xy": [
+                  0.28020129274206956,
+                  -0.3910289064560141
+                ],
+                "target_mouth_xy": [
+                  0.27852855558378947,
+                  -0.3908760053611059
+                ],
+                "gripper_position": [
+                  0.2801933881818577,
+                  -0.3910328181650434,
+                  1.0041195473083184
+                ],
+                "rod_tip_xy_dist": 0.0016797107922243907,
+                "target_xy_drift": 4.209056130825122e-08,
+                "depth": 0.017001511607094177,
+                "bottom_clearance": 0.08243902391399927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016648038628210848,
+                  -0.00015677944439945746
+                ],
+                "rod_tip_xy": [
+                  0.28019338818185785,
+                  -0.3910328181650435
+                ],
+                "target_mouth_xy": [
+                  0.27852858431903676,
+                  -0.390876038720644
+                ],
+                "gripper_position": [
+                  0.28020837923847636,
+                  -0.3911091553580065,
+                  1.0035881620296943
+                ],
+                "rod_tip_xy_dist": 0.0016721697568878012,
+                "target_xy_drift": 2.292434696856535e-09,
+                "depth": 0.017140396867213026,
+                "bottom_clearance": 0.08230020743842004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016798233305053145,
+                  -0.00023315066400647622
+                ],
+                "rod_tip_xy": [
+                  0.2802083792384765,
+                  -0.39110915535800644
+                ],
+                "target_mouth_xy": [
+                  0.2785285559079712,
+                  -0.39087600469399997
+                ],
+                "gripper_position": [
+                  0.28019788893856745,
+                  -0.39111884945946784,
+                  1.0034301216458392
+                ],
+                "rod_tip_xy_dist": 0.0016959261935109759,
+                "target_xy_drift": 4.237056503476127e-08,
+                "depth": 0.01767168788850937,
+                "bottom_clearance": 0.08176888480377797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016693045319256528,
+                  -0.00024284122386231122
+                ],
+                "rod_tip_xy": [
+                  0.2801978889385676,
+                  -0.3911188494594679
+                ],
+                "target_mouth_xy": [
+                  0.27852858440664197,
+                  -0.3908760082356056
+                ],
+                "gripper_position": [
+                  0.28018993873534265,
+                  -0.391122641468656,
+                  1.0032917934459853
+                ],
+                "rod_tip_xy_dist": 0.0016868756564472876,
+                "target_xy_drift": 2.822638965651122e-08,
+                "depth": 0.017829746797928592,
+                "bottom_clearance": 0.08161082825975863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016613844760789975,
+                  -0.0002466988828462857
+                ],
+                "rod_tip_xy": [
+                  0.28018993873534276,
+                  -0.391122641468656
+                ],
+                "target_mouth_xy": [
+                  0.27852855425926376,
+                  -0.3908759425858097
+                ],
+                "gripper_position": [
+                  0.2801818678085136,
+                  -0.39112621472304243,
+                  1.0031531950707482
+                ],
+                "rod_tip_xy_dist": 0.0016796007609410906,
+                "target_xy_drift": 9.845566181356517e-08,
+                "depth": 0.017968129099898866,
+                "bottom_clearance": 0.08147255558621336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016533112493425373,
+                  -0.00025020750816889814
+                ],
+                "rod_tip_xy": [
+                  0.2801818678085138,
+                  -0.3911262147230425
+                ],
+                "target_mouth_xy": [
+                  0.27852855655917125,
+                  -0.3908760072148736
+                ],
+                "gripper_position": [
+                  0.2801738963000263,
+                  -0.3911298271737062,
+                  1.003014587623536
+                ],
+                "rod_tip_xy_dist": 0.0016721369215308508,
+                "target_xy_drift": 4.006713886201838e-08,
+                "depth": 0.01810663341521268,
+                "bottom_clearance": 0.08133390722334521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001645344890766065,
+                  -0.0002538229249574031
+                ],
+                "rod_tip_xy": [
+                  0.2801738963000265,
+                  -0.3911298271737062
+                ],
+                "target_mouth_xy": [
+                  0.2785285514092604,
+                  -0.3908760042487488
+                ],
+                "gripper_position": [
+                  0.28019117017356254,
+                  -0.39120917515320514,
+                  1.0024861605786253
+                ],
+                "rod_tip_xy_dist": 0.0016648080630522926,
+                "target_xy_drift": 4.578519274471286e-08,
+                "depth": 0.01824533304412168,
+                "bottom_clearance": 0.08119539989987956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0016626116448804629,
+                  -0.0003331683283158138
+                ],
+                "rod_tip_xy": [
+                  0.2801911701735627,
+                  -0.39120917515320514
+                ],
+                "target_mouth_xy": [
+                  0.27852855852868225,
+                  -0.3908760068248893
+                ],
+                "gripper_position": [
+                  0.28018053652470276,
+                  -0.3912189129607645,
+                  1.002328633818873
+                ],
+                "rod_tip_xy_dist": 0.0016956646533689591,
+                "target_xy_drift": 3.904262770157254e-08,
+                "depth": 0.018773798408558418,
+                "bottom_clearance": 0.08066680968243689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016520387230804512,
+                  -0.000342906394472986
+                ],
+                "rod_tip_xy": [
+                  0.28018053652470293,
+                  -0.39121891296076444
+                ],
+                "target_mouth_xy": [
+                  0.2785284978016225,
+                  -0.39087600656629146
+                ],
+                "gripper_position": [
+                  0.2801725213567704,
+                  -0.39122184095258017,
+                  1.0021901577123762
+                ],
+                "rod_tip_xy_dist": 0.0016872512373466348,
+                "target_xy_drift": 9.118601221763544e-08,
+                "depth": 0.018931251450862052,
+                "bottom_clearance": 0.08050930357438857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016440251810753703,
+                  -0.00034583461773779467
+                ],
+                "rod_tip_xy": [
+                  0.28017252135677057,
+                  -0.3912218409525802
+                ],
+                "target_mouth_xy": [
+                  0.2785284961756952,
+                  -0.39087600633484243
+                ],
+                "gripper_position": [
+                  0.28016433691417664,
+                  -0.39122548518014466,
+                  1.0020515665086513
+                ],
+                "rod_tip_xy_dist": 0.0016800060651187396,
+                "target_xy_drift": 9.279849930925777e-08,
+                "depth": 0.01906960161837523,
+                "bottom_clearance": 0.08037090374697986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016357801991907506,
+                  -0.0003494804677468544
+                ],
+                "rod_tip_xy": [
+                  0.2801643369141768,
+                  -0.3912254851801447
+                ],
+                "target_mouth_xy": [
+                  0.27852855671498605,
+                  -0.39087600471239786
+                ],
+                "gripper_position": [
+                  0.28015623269692036,
+                  -0.3912288471101141,
+                  1.0019131044477854
+                ],
+                "rod_tip_xy_dist": 0.0016726964630204406,
+                "target_xy_drift": 4.1826889319331364e-08,
+                "depth": 0.01920834812507799,
+                "bottom_clearance": 0.08023225290329372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016276758237169786,
+                  -0.00035280940699561336
+                ],
+                "rod_tip_xy": [
+                  0.28015623269692047,
+                  -0.391228847110114
+                ],
+                "target_mouth_xy": [
+                  0.2785285568732035,
+                  -0.3908760377031184
+                ],
+                "gripper_position": [
+                  0.28014793719159636,
+                  -0.39123241243254725,
+                  1.0017749485160934
+                ],
+                "rod_tip_xy_dist": 0.0016654738259058114,
+                "target_xy_drift": 2.710432201104812e-08,
+                "depth": 0.019346738765898763,
+                "bottom_clearance": 0.08009383734601028,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000598977608578918,
+              "rod_tip_xy_max_step": 3.2504962365209955e-05,
+              "rod_tip_xy_range": 0.0005989732580107903,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27983959068896713,
+            -0.39268698056121415,
+            1.0434252695827249
+          ],
+          "object_origin_world": [
+            0.27983959068896713,
+            -0.39268698056121415,
+            1.0434252695827249
+          ],
+          "frame_world": [
+            0.27983825887551944,
+            -0.392696151617825,
+            1.0433002881707896
+          ],
+          "center_minus_frame": [
+            1.331813447691399e-06,
+            9.171056610857153e-06,
+            0.00012498141193528767
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2529612206532102,
+              0.13778268588228038,
+              0.833662775197639
+            ],
+            "target_position": [
+              0.26437436912408213,
+              0.18332033247925789,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046946109696218534,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16705292427478946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833662775197639,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674680749725,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1369588652934339,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 228,
+            "max_placed_release_frames": 228
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d09bd66977a4b8822d8b0886ca939eb5497cc20d6478d35cea13e019f43cf4ac",
+    "visual_seed": 7919656974850895464,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3194818235d6df8ed956b512febaf5649b25a8ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_75_success.json
@@ -0,0 +1,2009 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3811818800459857,
+              0.059233299299819235,
+              1.165694098516463
+            ],
+            "current_z": 1.165694098516463,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3045875905016969,
+            "gripper_z": 1.1553983132183177,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37616024477005183,
+              0.05431208627207597,
+              1.1553983132183177
+            ],
+            "object_minus_gripper": [
+              0.005021635275933856,
+              0.004921213027743267,
+              0.010295785298145343
+            ],
+            "object_to_gripper_xy": 0.007031014045565073,
+            "object_to_gripper_z": 0.010295785298145343,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3811818800459857,
+              0.0353613187970313,
+              1.165694098516463
+            ],
+            "finger_b": [
+              0.36986818300531155,
+              0.059233299299819235,
+              1.165694098516463
+            ],
+            "finger_midpoint": [
+              0.37552503152564864,
+              0.047297309048425266,
+              1.165694098516463
+            ],
+            "object_minus_finger_midpoint": [
+              0.005656848520337043,
+              0.011935990251393969,
+              0.0
+            ],
+            "finger_gap": 0.026417251822505046,
+            "fingertip_max_gap": 0.09155254549256972,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013208625911252513,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165694098516463,
+            "object_top_z": 1.2154813425857987,
+            "finger_top_clearance": 0.04978724406933566,
+            "fingertip_min_top_clearance": 0.014936173220800696,
+            "object_projection_between_fingers": 0.8165854360296146,
+            "object_to_finger_line_xy": 0.01022363556149091,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827627274628486,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4527340837515805,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27830235112106766,
+              -0.39232902245444223,
+              0.8515395586250714
+            ],
+            "target_position": [
+              0.27071166824346543,
+              -0.3933403880040153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007657762520683625,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835753337839056,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395586250714,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544227209410903,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656545403447068,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15172674259018995,
+            "release_required_pad_clearance": 0.05328272701723534,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.584576897963588,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008482038974761963,
+            "max_z_decrease": 0.008482038974761963,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034988567394815887,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008482038974761963,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094834337723582,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008482038974761963,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008482168405616074,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12641158699989313,
+              -0.4496018588542938,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12641158699989313,
+              -0.4496018588542938,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12645039736199973,
+              -0.4496834765741611,
+              0.8036538291251807
+            ],
+            "closest_button": [
+              0.12643870711326596,
+              -0.44957464933395386,
+              0.7686654329299927
+            ],
+            "closest_ee_minus_button": [
+              1.1690248733764452e-05,
+              -0.00010882724020722101,
+              0.03498839619518801
+            ],
+            "button_min_z_position": [
+              0.12644498050212855,
+              -0.4495689868927002,
+              0.7683268189430237
+            ],
+            "min_active_finger_to_button": 0.14580181918266188,
+            "closest_active_finger": [
+              -0.014424994587898254,
+              -0.4342377185821533,
+              0.8111514449119568
+            ],
+            "closest_active_finger_button": [
+              0.12641519308090204,
+              -0.4495980441570282,
+              0.7767091393470764
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408401876688003,
+              0.015360325574874878,
+              0.03444230556488037
+            ],
+            "min_contact_pad_to_button": 0.02094834337723582,
+            "closest_contact_pad": [
+              0.12644498050212855,
+              -0.45083486259732936,
+              0.7892368798934611
+            ],
+            "closest_contact_pad_button": [
+              0.12644498050212855,
+              -0.4495689868927002,
+              0.7683268189430237
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012658757046291602,
+              0.02091006095043746
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2740062938425721,
+              0.1765522466022907,
+              1.111236807946851
+            ],
+            "current_z": 1.111236807946851,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20132767821248854,
+            "gripper_z": 1.1112370181144622,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27400627554466084,
+              0.17655219789243115,
+              1.1112370181144622
+            ],
+            "object_minus_gripper": [
+              1.8297911241749176e-08,
+              4.870985956251239e-08,
+              -2.101676110921602e-07
+            ],
+            "object_to_gripper_xy": 5.2033296785910185e-08,
+            "object_to_gripper_z": -2.101676110921602e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2740062938425721,
+              0.1765522466022907,
+              1.111236807946851
+            ],
+            "finger_b": [
+              0.2740062938425721,
+              0.1765522466022907,
+              1.111236807946851
+            ],
+            "finger_midpoint": [
+              0.2740062938425721,
+              0.1765522466022907,
+              1.111236807946851
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.111236807946851,
+            "object_top_z": 1.2362453145671308,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27400629384257214,
+            0.1765522466022907,
+            1.1112368079468513
+          ],
+          "object_origin_world": [
+            0.27400629384257214,
+            0.1765522466022907,
+            1.1112368079468513
+          ],
+          "frame_world": [
+            0.27400627554466084,
+            0.17655219789243115,
+            1.1112370181144622
+          ],
+          "center_minus_frame": [
+            1.8297911297260328e-08,
+            4.870985956251239e-08,
+            -2.101676108701156e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432883901597725,
+            "required_z": 0.911259863905288,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015249065712497599,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.0134855281953674e-07,
+            "max_target_xy_drift": 8.303259557381122e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5840828679223755,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5845768984738098,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2784528228267118,
+              -0.39383710967097213,
+              0.9234130203524372
+            ],
+            "target_mouth_xy": [
+              0.278302355233286,
+              -0.39232894706375254
+            ],
+            "rod_tip_z": 0.9234130203524372,
+            "rod_tip_depth": -0.022153112659874297,
+            "rod_tip_bottom_clearance": 0.12159380185433177,
+            "rod_tip_xy_dist": 0.0015156500079130189,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04509219103189166,
+            "min_rod_tip_bottom_clearance": 0.05434854595712413,
+            "min_rod_tip_xy_dist": 0.00057466711649072,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27830228994991146,
+              -0.3923288695420771
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.52833745395931e-08,
+              -7.752167546781763e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0006384386741101755,
+                0.00015476536482045278
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005493785668686524,
+                -0.00020774071381707282
+              ],
+              "first_target_mouth_xy": [
+                0.27830229063111406,
+                -0.39232880925827485
+              ],
+              "last_target_mouth_xy": [
+                0.2783022907778625,
+                -0.3923288403403874
+              ],
+              "first_rod_tip_xy": [
+                0.27894072930522423,
+                -0.3921740438934544
+              ],
+              "last_rod_tip_xy": [
+                0.27885166934473116,
+                -0.39253658105420447
+              ],
+              "min_rod_tip_xy_dist": 0.0005828351998100953,
+              "max_rod_tip_xy_dist": 0.0006569294168687887,
+              "first_target_xy_drift": 6.028765087499948e-08,
+              "last_target_xy_drift": 2.9213424704150938e-08,
+              "max_depth": 0.019507338417890874,
+              "min_bottom_clearance": 0.07993325235546733
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006384386741101755,
+                  0.00015476536482045278
+                ],
+                "rod_tip_xy": [
+                  0.27894072930522423,
+                  -0.3921740438934544
+                ],
+                "target_mouth_xy": [
+                  0.27830229063111406,
+                  -0.39232880925827485
+                ],
+                "gripper_position": [
+                  0.278930712212783,
+                  -0.3921836222438518,
+                  1.0058981444532042
+                ],
+                "rod_tip_xy_dist": 0.0006569294168687887,
+                "target_xy_drift": 6.028765087499948e-08,
+                "depth": 0.01520356272964385,
+                "bottom_clearance": 0.0842369779398553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006283916028044789,
+                  0.00014519050964206803
+                ],
+                "rod_tip_xy": [
+                  0.27893071221278287,
+                  -0.3921836222438518
+                ],
+                "target_mouth_xy": [
+                  0.2783023206099784,
+                  -0.39232881275349385
+                ],
+                "gripper_position": [
+                  0.27892319564963286,
+                  -0.392187739447311,
+                  1.005759629542291
+                ],
+                "rod_tip_xy_dist": 0.0006449467346729538,
+                "target_xy_drift": 6.453667863172375e-08,
+                "depth": 0.015361756132884818,
+                "bottom_clearance": 0.08407891250121569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006208750945581598,
+                  0.00014109961438613094
+                ],
+                "rod_tip_xy": [
+                  0.27892319564963275,
+                  -0.39218773944731095
+                ],
+                "target_mouth_xy": [
+                  0.2783023205550746,
+                  -0.3923288390616971
+                ],
+                "gripper_position": [
+                  0.2789316118929491,
+                  -0.3922551948308276,
+                  1.0052230801292468
+                ],
+                "rod_tip_xy_dist": 0.0006367063563547319,
+                "target_xy_drift": 4.319409189667513e-08,
+                "depth": 0.015500149404830799,
+                "bottom_clearance": 0.08394039610108539,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006293226213021641,
+                  7.364838341156199e-05
+                ],
+                "rod_tip_xy": [
+                  0.278931611892949,
+                  -0.39225519483082755
+                ],
+                "target_mouth_xy": [
+                  0.27830228927164685,
+                  -0.3923288432142391
+                ],
+                "gripper_position": [
+                  0.27892132998696684,
+                  -0.3922648582866539,
+                  1.005065314988684
+                ],
+                "rod_tip_xy_dist": 0.0006336174287863012,
+                "target_xy_drift": 2.6336573330823973e-08,
+                "depth": 0.016036869032810208,
+                "bottom_clearance": 0.08340386174720982,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006190391886239377,
+                  6.407527063895246e-05
+                ],
+                "rod_tip_xy": [
+                  0.2789213299869668,
+                  -0.39226485828665386
+                ],
+                "target_mouth_xy": [
+                  0.27830229079834284,
+                  -0.3923289335572928
+                ],
+                "gripper_position": [
+                  0.27891370836536444,
+                  -0.39226861235582056,
+                  1.0049269186326173
+                ],
+                "rod_tip_xy_dist": 0.0006223464930082262,
+                "target_xy_drift": 6.402083787306744e-08,
+                "depth": 0.016194494391603365,
+                "bottom_clearance": 0.08324622904622847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006114185990689358,
+                  6.0200093196571824e-05
+                ],
+                "rod_tip_xy": [
+                  0.2789137083653644,
+                  -0.3922686123558205
+                ],
+                "target_mouth_xy": [
+                  0.27830228976629545,
+                  -0.3923288124490171
+                ],
+                "gripper_position": [
+                  0.27892299406884374,
+                  -0.39233676605241813,
+                  1.0043928071128012
+                ],
+                "rod_tip_xy_dist": 0.0006143750926822278,
+                "target_xy_drift": 5.709335526328961e-08,
+                "depth": 0.016332997707454555,
+                "bottom_clearance": 0.08310767916955764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006207043123460099,
+                  -7.832802983609444e-06
+                ],
+                "rod_tip_xy": [
+                  0.27892299406884363,
+                  -0.392336766052418
+                ],
+                "target_mouth_xy": [
+                  0.2783022897564976,
+                  -0.3923289332494344
+                ],
+                "gripper_position": [
+                  0.2789126870653786,
+                  -0.3923462984797696,
+                  1.0042348930782707
+                ],
+                "rod_tip_xy_dist": 0.0006207537323025236,
+                "target_xy_drift": 6.370765093292244e-08,
+                "depth": 0.016867079633821946,
+                "bottom_clearance": 0.0825736560535335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006103621808514759,
+                  -1.7322211457448944e-05
+                ],
+                "rod_tip_xy": [
+                  0.27891268706537853,
+                  -0.3923462984797695
+                ],
+                "target_mouth_xy": [
+                  0.27830232488452705,
+                  -0.39232897626831204
+                ],
+                "gripper_position": [
+                  0.27890492864156147,
+                  -0.3923500023416869,
+                  1.004096694332994
+                ],
+                "rod_tip_xy_dist": 0.0006106079354410212,
+                "target_xy_drift": 1.1229833745550245e-07,
+                "depth": 0.01702499946097047,
+                "bottom_clearance": 0.0824156474916381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006026095910577345,
+                  -2.1160399390429685e-05
+                ],
+                "rod_tip_xy": [
+                  0.27890492864156136,
+                  -0.3923500023416869
+                ],
+                "target_mouth_xy": [
+                  0.2783023190505036,
+                  -0.39232884194229645
+                ],
+                "gripper_position": [
+                  0.2788971202773871,
+                  -0.3923538065097553,
+                  1.003957983160362
+                ],
+                "rod_tip_xy_dist": 0.0006029809961658265,
+                "target_xy_drift": 4.010726062262098e-08,
+                "depth": 0.01716317217023222,
+                "bottom_clearance": 0.08227751276539463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005948310561811332,
+                  -2.4963614652595556e-05
+                ],
+                "rod_tip_xy": [
+                  0.278897120277387,
+                  -0.3923538065097553
+                ],
+                "target_mouth_xy": [
+                  0.27830228922120587,
+                  -0.3923288428951027
+                ],
+                "gripper_position": [
+                  0.27890779886501765,
+                  -0.3924239467322742,
+                  1.0034258636257731
+                ],
+                "rod_tip_xy_dist": 0.0005953546568677243,
+                "target_xy_drift": 2.6656936317157737e-08,
+                "depth": 0.017301961554162193,
+                "bottom_clearance": 0.08213875939354731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006055081181375876,
+                  -9.504361448614551e-05
+                ],
+                "rod_tip_xy": [
+                  0.27890779886501754,
+                  -0.39242394673227415
+                ],
+                "target_mouth_xy": [
+                  0.27830229074687995,
+                  -0.392328903117788
+                ],
+                "gripper_position": [
+                  0.2788975887405877,
+                  -0.3924332072091074,
+                  1.0032681757948518
+                ],
+                "rod_tip_xy_dist": 0.0006129219932300634,
+                "target_xy_drift": 3.358516820686866e-08,
+                "depth": 0.01783393409814471,
+                "bottom_clearance": 0.0816067652648419,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005952979751510101,
+                  -0.00010439445772858491
+                ],
+                "rod_tip_xy": [
+                  0.27889758874058757,
+                  -0.3924332072091074
+                ],
+                "target_mouth_xy": [
+                  0.27830229076543656,
+                  -0.3923288127513788
+                ],
+                "gripper_position": [
+                  0.2788895352840648,
+                  -0.3924368960773592,
+                  1.0031298258338306
+                ],
+                "rod_tip_xy_dist": 0.0006043822317237147,
+                "target_xy_drift": 5.6796553500040145e-08,
+                "depth": 0.01799172439672303,
+                "bottom_clearance": 0.08144894249874868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0005872450577345534,
+                  -0.00010805541248920525
+                ],
+                "rod_tip_xy": [
+                  0.2788895352840647,
+                  -0.39243689607735915
+                ],
+                "target_mouth_xy": [
+                  0.27830229022633013,
+                  -0.39232884066486995
+                ],
+                "gripper_position": [
+                  0.27888160214441027,
+                  -0.3924403232360103,
+                  1.0029917325978197
+                ],
+                "rod_tip_xy_dist": 0.0005971036174751173,
+                "target_xy_drift": 2.887853006385619e-08,
+                "depth": 0.018129987462707775,
+                "bottom_clearance": 0.08131061388643201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000579312372650298,
+                  -0.0001115107826683559
+                ],
+                "rod_tip_xy": [
+                  0.27888160214441016,
+                  -0.39244032323601025
+                ],
+                "target_mouth_xy": [
+                  0.27830228977175986,
+                  -0.3923288124533419
+                ],
+                "gripper_position": [
+                  0.2788736235616146,
+                  -0.3924441497065076,
+                  1.0028534425564934
+                ],
+                "rod_tip_xy_dist": 0.000589947014364025,
+                "target_xy_drift": 5.708901315366737e-08,
+                "depth": 0.018268183659129522,
+                "bottom_clearance": 0.08117249317201736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005713335618235948,
+                  -0.00011521645399698022
+                ],
+                "rod_tip_xy": [
+                  0.2788736235616145,
+                  -0.3924441497065076
+                ],
+                "target_mouth_xy": [
+                  0.2783022899997909,
+                  -0.3923289332525106
+                ],
+                "gripper_position": [
+                  0.27888646175722553,
+                  -0.39251708015576925,
+                  1.0023246178960374
+                ],
+                "rod_tip_xy_dist": 0.0005828351998100953,
+                "target_xy_drift": 6.371045306543182e-08,
+                "depth": 0.01840643694969446,
+                "bottom_clearance": 0.08103428973460092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005841404389416716,
+                  -0.00018826773224683846
+                ],
+                "rod_tip_xy": [
+                  0.2788864617572254,
+                  -0.3925170801557692
+                ],
+                "target_mouth_xy": [
+                  0.27830232131828375,
+                  -0.39232881242352236
+                ],
+                "gripper_position": [
+                  0.27887583810155314,
+                  -0.39252636557525217,
+                  1.0021669129396753
+                ],
+                "rod_tip_xy_dist": 0.0006137302269013121,
+                "target_xy_drift": 6.516520600183229e-08,
+                "depth": 0.018935282870222614,
+                "bottom_clearance": 0.08050540228318914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005735164950586569,
+                  -0.00019752364900504915
+                ],
+                "rod_tip_xy": [
+                  0.27887583810155303,
+                  -0.39252636557525206
+                ],
+                "target_mouth_xy": [
+                  0.2783023216064944,
+                  -0.392328841926247
+                ],
+                "gripper_position": [
+                  0.2788679903623841,
+                  -0.3925294492839271,
+                  1.002029119010412
+                ],
+                "rod_tip_xy_dist": 0.0006065779109237627,
+                "target_xy_drift": 4.2009205085005704e-08,
+                "depth": 0.019092925382024006,
+                "bottom_clearance": 0.0803477607696994,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0005656993168215996,
+                  -0.00020063715873913646
+                ],
+                "rod_tip_xy": [
+                  0.27886799036238397,
+                  -0.392529449283927
+                ],
+                "target_mouth_xy": [
+                  0.27830229104556237,
+                  -0.3923288121251879
+                ],
+                "gripper_position": [
+                  0.2788596942981049,
+                  -0.39253322061124024,
+                  1.0018910791810232
+                ],
+                "rod_tip_xy_dist": 0.0006002257796190846,
+                "target_xy_drift": 5.742734204960115e-08,
+                "depth": 0.01923077252057548,
+                "bottom_clearance": 0.08020988375322913,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005574043149896846,
+                  -0.00020437865198347227
+                ],
+                "rod_tip_xy": [
+                  0.2788596942981048,
+                  -0.39253322061124013
+                ],
+                "target_mouth_xy": [
+                  0.2783022899831151,
+                  -0.39232884195925666
+                ],
+                "gripper_position": [
+                  0.27885166934473127,
+                  -0.3925365810542045,
+                  1.0017525228831703
+                ],
+                "rod_tip_xy_dist": 0.0005936920108572296,
+                "target_xy_drift": 2.758284040154761e-08,
+                "depth": 0.01936876559443579,
+                "bottom_clearance": 0.0800718924280851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0005493785668686524,
+                  -0.00020774071381707282
+                ],
+                "rod_tip_xy": [
+                  0.27885166934473116,
+                  -0.39253658105420447
+                ],
+                "target_mouth_xy": [
+                  0.2783022907778625,
+                  -0.3923288403403874
+                ],
+                "gripper_position": [
+                  0.27884339440815664,
+                  -0.3925401317644066,
+                  1.0016146694464354
+                ],
+                "rod_tip_xy_dist": 0.0005873440336905461,
+                "target_xy_drift": 2.9213424704150938e-08,
+                "depth": 0.019507338417890874,
+                "bottom_clearance": 0.07993325235546733,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006013577888825192,
+              "rod_tip_xy_max_step": 3.258211807139672e-05,
+              "rod_tip_xy_range": 0.000601348230502515,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27845282282671185,
+            -0.39383710967097213,
+            1.0434130203524372
+          ],
+          "object_origin_world": [
+            0.27845282282671185,
+            -0.39383710967097213,
+            1.0434130203524372
+          ],
+          "frame_world": [
+            0.2784515320679182,
+            -0.39384653934201763,
+            1.0432883901597725
+          ],
+          "center_minus_frame": [
+            1.290758793681679e-06,
+            9.429671045502186e-06,
+            0.00012463019266473196
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.256523529813602,
+              0.1319171718808001,
+              0.8340778053818771
+            ],
+            "target_position": [
+              0.2658648960673871,
+              0.17900435451380975,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04800483196306139,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16882754278015075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340778053818771,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676545371698,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374023951234187,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37ff1462e0c4e3b08164260f89ebdcfcd92b9d0782a8211a8ed25783f954357a",
+    "visual_seed": 1953491436655609932,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c3cddebeb3f4902935e5957ad6b1dd49dc95832
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_77_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3815226009645569,
+              0.0618955935610378,
+              1.1657827060954955
+            ],
+            "current_z": 1.1657827060954955,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3046762576853743,
+            "gripper_z": 1.1554379021013643,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37649869615047127,
+              0.05688264166215047,
+              1.1554379021013643
+            ],
+            "object_minus_gripper": [
+              0.005023904814085656,
+              0.005012951898887327,
+              0.01034480399413118
+            ],
+            "object_to_gripper_xy": 0.007097133669415498,
+            "object_to_gripper_z": 0.01034480399413118,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3815226009645569,
+              0.03805527409069484,
+              1.1657827060954955
+            ],
+            "finger_b": [
+              0.3700250437540359,
+              0.0618955935610378,
+              1.1657827060954955
+            ],
+            "finger_midpoint": [
+              0.3757738223592964,
+              0.04997543382586632,
+              1.1657827060954955
+            ],
+            "object_minus_finger_midpoint": [
+              0.005748778605260518,
+              0.011920159735171479,
+              0.0
+            ],
+            "finger_gap": 0.0264679930152858,
+            "fingertip_max_gap": 0.09144661238478072,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0132339965076429,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657827060954955,
+            "object_top_z": 1.2156394282669378,
+            "finger_top_clearance": 0.049856722171442325,
+            "fingertip_min_top_clearance": 0.014957016651432663,
+            "object_projection_between_fingers": 0.8113012011184675,
+            "object_to_finger_line_xy": 0.010356109617720769,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822330619239036,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3519865365340888,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27061934294236406,
+              -0.3891438105733108,
+              0.8515395962134211
+            ],
+            "target_position": [
+              0.26258036411428864,
+              -0.39017062156925836,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00810429030943756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850753632579176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395962134211,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543151828722076,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550490444631216,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15327335857143592,
+            "release_required_pad_clearance": 0.05275245222315608,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5553173086158698,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008263349533081055,
+            "max_z_decrease": 0.008263349533081055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035046802401686665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008263349533081055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0210510213439436,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008263349533081055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008263388852436278,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11828029155731203,
+              -0.44643208384513855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11828029155731203,
+              -0.44643208384513855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11963095617812824,
+              -0.44757557139280435,
+              0.8035465742736149
+            ],
+            "closest_button": [
+              0.1182750388979912,
+              -0.44640713930130005,
+              0.7685455083847046
+            ],
+            "closest_ee_minus_button": [
+              0.0013559172801370506,
+              -0.0011684320915043012,
+              0.03500106588891028
+            ],
+            "button_min_z_position": [
+              0.1182750388979912,
+              -0.44640713930130005,
+              0.7685455083847046
+            ],
+            "min_active_finger_to_button": 0.1444748613922997,
+            "closest_active_finger": [
+              -0.021449819207191467,
+              -0.4340457320213318,
+              0.8108928799629211
+            ],
+            "closest_active_finger_button": [
+              0.11828242987394333,
+              -0.44642880558967585,
+              0.7763307094573975
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1397322490811348,
+              0.01238307356834406,
+              0.03456217050552368
+            ],
+            "min_contact_pad_to_button": 0.0210510213439436,
+            "closest_contact_pad": [
+              0.1182750388979912,
+              -0.4485324986759088,
+              0.789488964335238
+            ],
+            "closest_contact_pad_button": [
+              0.1182750388979912,
+              -0.44640713930130005,
+              0.7685455083847046
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021253593746087263,
+              0.020943455950533374
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27426133509891937,
+              0.18213670999569825,
+              1.1134964675408088
+            ],
+            "current_z": 1.1134964675408088,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20358733780644622,
+            "gripper_z": 1.1134964848653182,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2742612819150464,
+              0.18213667155272614,
+              1.1134964848653182
+            ],
+            "object_minus_gripper": [
+              5.3183872972262236e-08,
+              3.844297211119674e-08,
+              -1.7324509382632414e-08
+            ],
+            "object_to_gripper_xy": 6.562306339292593e-08,
+            "object_to_gripper_z": -1.7324509382632414e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27426133509891937,
+              0.18213670999569825,
+              1.1134964675408088
+            ],
+            "finger_b": [
+              0.27426133509891937,
+              0.18213670999569825,
+              1.1134964675408088
+            ],
+            "finger_midpoint": [
+              0.27426133509891937,
+              0.18213670999569825,
+              1.1134964675408088
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1134964675408088,
+            "object_top_z": 1.2385049741610885,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27426133509891937,
+            0.18213670999569825,
+            1.113496467540809
+          ],
+          "object_origin_world": [
+            0.27426133509891937,
+            0.18213670999569825,
+            1.113496467540809
+          ],
+          "frame_world": [
+            0.2742612819150464,
+            0.18213667155272614,
+            1.1134964848653182
+          ],
+          "center_minus_frame": [
+            5.3183872972262236e-08,
+            3.844297211119674e-08,
+            -1.732450916058781e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432043575324408,
+            "required_z": 0.911259776858102,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016259283325115868,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.263972346950452e-08,
+            "max_target_xy_drift": 1.528772972540501e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5553173055265328,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5553173160645387,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2691226364655303,
+              -0.3897673900648754,
+              0.9233243476250311
+            ],
+            "target_mouth_xy": [
+              0.2706193068055085,
+              -0.38914384674819763
+            ],
+            "rod_tip_z": 0.9233243476250311,
+            "rod_tip_depth": -0.02206439177740116,
+            "rod_tip_bottom_clearance": 0.1215050861416841,
+            "rod_tip_xy_dist": 0.001621366206118751,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04501488295875322,
+            "min_rod_tip_bottom_clearance": 0.05442561487347686,
+            "min_rod_tip_xy_dist": 0.0009654818709887629,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27061934037403995,
+              -0.3891438730407767
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.356853145453087e-08,
+              2.629257905839566e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.0009089074112078044,
+                0.0009088956515032054
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000998162457293117,
+                0.0005256475599668686
+              ],
+              "first_target_mouth_xy": [
+                0.27061931191038224,
+                -0.3891437836213252
+              ],
+              "last_target_mouth_xy": [
+                0.2706193401319194,
+                -0.38914374938622975
+              ],
+              "first_rod_tip_xy": [
+                0.26971040449917444,
+                -0.388234887969822
+              ],
+              "last_rod_tip_xy": [
+                0.2696211776746263,
+                -0.3886181018262629
+              ],
+              "min_rod_tip_xy_dist": 0.001128110654345821,
+              "max_rod_tip_xy_dist": 0.0012880852945001985,
+              "first_target_xy_drift": 9.384038639358083e-08,
+              "last_target_xy_drift": 1.236547839758188e-07,
+              "max_depth": 0.01965902535736619,
+              "min_bottom_clearance": 0.07978166740523973
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009089074112078044,
+                  0.0009088956515032054
+                ],
+                "rod_tip_xy": [
+                  0.26971040449917444,
+                  -0.388234887969822
+                ],
+                "target_mouth_xy": [
+                  0.27061931191038224,
+                  -0.3891437836213252
+                ],
+                "gripper_position": [
+                  0.26970297321381975,
+                  -0.3882385861038903,
+                  1.0060397191397499
+                ],
+                "rod_tip_xy_dist": 0.0012853808725315267,
+                "target_xy_drift": 9.384038639358083e-08,
+                "depth": 0.015087310759520522,
+                "bottom_clearance": 0.0843532819745868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009163359209548583,
+                  0.0009052580879923
+                ],
+                "rod_tip_xy": [
+                  0.2697029732138197,
+                  -0.3882385861038904
+                ],
+                "target_mouth_xy": [
+                  0.27061930913477455,
+                  -0.3891438441918827
+                ],
+                "gripper_position": [
+                  0.2697069808160318,
+                  -0.38829891024022717,
+                  1.0055080618287024
+                ],
+                "rod_tip_xy_dist": 0.0012880852945001985,
+                "target_xy_drift": 4.252235162021983e-08,
+                "depth": 0.015220073835910064,
+                "bottom_clearance": 0.08422046703148034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009123592478371689,
+                  0.0008448702170483768
+                ],
+                "rod_tip_xy": [
+                  0.2697069808160317,
+                  -0.3882989102402271
+                ],
+                "target_mouth_xy": [
+                  0.2706193400638689,
+                  -0.3891437804572755
+                ],
+                "gripper_position": [
+                  0.26969671144113716,
+                  -0.3883078170136399,
+                  1.0053563008739514
+                ],
+                "rod_tip_xy_dist": 0.0012434649495540178,
+                "target_xy_drift": 9.258402076130357e-08,
+                "depth": 0.015751829292762753,
+                "bottom_clearance": 0.08368881494585279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.000922599498682064,
+                  0.0008360290774654944
+                ],
+                "rod_tip_xy": [
+                  0.2696967114411371,
+                  -0.38830781701364003
+                ],
+                "target_mouth_xy": [
+                  0.27061931093981917,
+                  -0.3891438460911055
+                ],
+                "gripper_position": [
+                  0.26968907078574833,
+                  -0.3883113007653375,
+                  1.005223209563479
+                ],
+                "rod_tip_xy_dist": 0.0012450439563871636,
+                "target_xy_drift": 3.990812108836666e-08,
+                "depth": 0.015903542035015095,
+                "bottom_clearance": 0.08353701974394867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009302676853202851,
+                  0.0008324793839743494
+                ],
+                "rod_tip_xy": [
+                  0.2696890707857483,
+                  -0.3883113007653375
+                ],
+                "target_mouth_xy": [
+                  0.27061933847106856,
+                  -0.38914378014931184
+                ],
+                "gripper_position": [
+                  0.2696936696303383,
+                  -0.38837282157676695,
+                  1.0046927859287054
+                ],
+                "rod_tip_xy_dist": 0.0012483668896175809,
+                "target_xy_drift": 9.291095491243833e-08,
+                "depth": 0.01603673539284156,
+                "bottom_clearance": 0.08340398069585897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.000925672914685538,
+                  0.0007710241977205712
+                ],
+                "rod_tip_xy": [
+                  0.2696936696303382,
+                  -0.3883728215767669
+                ],
+                "target_mouth_xy": [
+                  0.27061934254502373,
+                  -0.38914384577448746
+                ],
+                "gripper_position": [
+                  0.26968321883776414,
+                  -0.3883814657199502,
+                  1.0045409358521724
+                ],
+                "rod_tip_xy_dist": 0.001204719327666436,
+                "target_xy_drift": 2.7352581208367672e-08,
+                "depth": 0.01656712561470486,
+                "bottom_clearance": 0.08287349491369467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009361195857866544,
+                  0.0007623794259925543
+                ],
+                "rod_tip_xy": [
+                  0.269683218837764,
+                  -0.38838146571995025
+                ],
+                "target_mouth_xy": [
+                  0.2706193384235507,
+                  -0.3891438451459428
+                ],
+                "gripper_position": [
+                  0.26967560878703223,
+                  -0.3883847573821985,
+                  1.0044079589561694
+                ],
+                "rod_tip_xy_dist": 0.001207287152284043,
+                "target_xy_drift": 2.7962942727613513e-08,
+                "depth": 0.016718935904074694,
+                "bottom_clearance": 0.08272163153634082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009437945111404056,
+                  0.0007590848848482157
+                ],
+                "rod_tip_xy": [
+                  0.2696756087870322,
+                  -0.38838475738219846
+                ],
+                "target_mouth_xy": [
+                  0.2706194032981726,
+                  -0.3891438422670467
+                ],
+                "gripper_position": [
+                  0.26968101121610466,
+                  -0.38844686477608714,
+                  1.0038800336262648
+                ],
+                "rod_tip_xy_dist": 0.0012111803918755397,
+                "target_xy_drift": 7.004619137015988e-08,
+                "depth": 0.016851980509190456,
+                "bottom_clearance": 0.0825887225062294,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009383262752991617,
+                  0.0006970415757998616
+                ],
+                "rod_tip_xy": [
+                  0.2696810112161046,
+                  -0.38844686477608714
+                ],
+                "target_mouth_xy": [
+                  0.27061933749140377,
+                  -0.389143906351887
+                ],
+                "gripper_position": [
+                  0.26967049192273695,
+                  -0.38845528914139615,
+                  1.0037283307290603
+                ],
+                "rod_tip_xy_dist": 0.0011688982664502297,
+                "target_xy_drift": 3.3435604701670594e-08,
+                "depth": 0.01737989543359364,
+                "bottom_clearance": 0.08206076526260409,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009488477178823951,
+                  0.0006885826288491881
+                ],
+                "rod_tip_xy": [
+                  0.2696704919227369,
+                  -0.38845528914139626
+                ],
+                "target_mouth_xy": [
+                  0.2706193396406193,
+                  -0.38914387177024545
+                ],
+                "gripper_position": [
+                  0.2696626016246235,
+                  -0.3884587320431946,
+                  1.0035957620513982
+                ],
+                "rod_tip_xy_dist": 0.0011723728197478342,
+                "target_xy_drift": 1.4670226589886156e-09,
+                "depth": 0.017531539364269988,
+                "bottom_clearance": 0.0819090528656915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009567382277689274,
+                  0.0006851134116998003
+                ],
+                "rod_tip_xy": [
+                  0.26966260162462347,
+                  -0.3884587320431946
+                ],
+                "target_mouth_xy": [
+                  0.2706193398523924,
+                  -0.3891438454548944
+                ],
+                "gripper_position": [
+                  0.2696547222553298,
+                  -0.3884620297101009,
+                  1.0034627408390353
+                ],
+                "rod_tip_xy_dist": 0.0011767448420814803,
+                "target_xy_drift": 2.759081402354573e-08,
+                "depth": 0.017664071990352692,
+                "bottom_clearance": 0.08177645214634932,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000964617073712537,
+                  0.0006817789653119077
+                ],
+                "rod_tip_xy": [
+                  0.2696547222553297,
+                  -0.3884620297101009
+                ],
+                "target_mouth_xy": [
+                  0.27061933932904225,
+                  -0.3891438086754128
+                ],
+                "gripper_position": [
+                  0.2696614326915072,
+                  -0.3885258191940921,
+                  1.0029374668241986
+                ],
+                "rod_tip_xy_dist": 0.0011812318385649421,
+                "target_xy_drift": 6.437384629320375e-08,
+                "depth": 0.01779720027733689,
+                "bottom_clearance": 0.0816435277408768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009579392721784097,
+                  0.0006180246689355684
+                ],
+                "rod_tip_xy": [
+                  0.26966143269150716,
+                  -0.38852581919409224
+                ],
+                "target_mouth_xy": [
+                  0.2706193719636856,
+                  -0.3891438438630278
+                ],
+                "gripper_position": [
+                  0.2696510036112112,
+                  -0.38853423009191373,
+                  1.0027856859696898
+                ],
+                "rod_tip_xy_dist": 0.001140000938856903,
+                "target_xy_drift": 4.300286897886977e-08,
+                "depth": 0.018322372388243524,
+                "bottom_clearance": 0.08111821446066747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009683682528681126,
+                  0.0006095820607189273
+                ],
+                "rod_tip_xy": [
+                  0.26965100361121114,
+                  -0.3885342300919137
+                ],
+                "target_mouth_xy": [
+                  0.27061937186407925,
+                  -0.3891438121526326
+                ],
+                "gripper_position": [
+                  0.26964297315498126,
+                  -0.38853715600192246,
+                  1.0026532098033365
+                ],
+                "rod_tip_xy_dist": 0.0011442584331842064,
+                "target_xy_drift": 6.854916968709877e-08,
+                "depth": 0.01847424632976502,
+                "bottom_clearance": 0.08096640565635116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009763359040466102,
+                  0.000606717045084415
+                ],
+                "rod_tip_xy": [
+                  0.2696429731549812,
+                  -0.3885371560019225
+                ],
+                "target_mouth_xy": [
+                  0.2706193090590278,
+                  -0.3891438730470069
+                ],
+                "gripper_position": [
+                  0.2696350199179225,
+                  -0.3885403133838267,
+                  1.0025205036214255
+                ],
+                "rod_tip_xy_dist": 0.0011494943976925142,
+                "target_xy_drift": 3.1315012758697334e-08,
+                "depth": 0.01860660214346066,
+                "bottom_clearance": 0.0808339751664352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009843200730094703,
+                  0.0006035269982112013
+                ],
+                "rod_tip_xy": [
+                  0.26963501991792244,
+                  -0.3885403133838268
+                ],
+                "target_mouth_xy": [
+                  0.2706193399909319,
+                  -0.389143840382038
+                ],
+                "gripper_position": [
+                  0.26962719420015135,
+                  -0.38854320047077295,
+                  1.0023878321684523
+                ],
+                "rod_tip_xy_dist": 0.0011546128544664624,
+                "target_xy_drift": 3.266098568818225e-08,
+                "depth": 0.018739383637388696,
+                "bottom_clearance": 0.08070125116268756,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0009921445662691153,
+                  0.0006006462699302828
+                ],
+                "rod_tip_xy": [
+                  0.2696271942001513,
+                  -0.38854320047077295
+                ],
+                "target_mouth_xy": [
+                  0.2706193387664204,
+                  -0.38914384674070324
+                ],
+                "gripper_position": [
+                  0.26961907698415594,
+                  -0.3885466778760248,
+                  1.0022552367500284
+                ],
+                "rod_tip_xy_dist": 0.0011597960087698582,
+                "target_xy_drift": 2.634916135626389e-08,
+                "depth": 0.01887205812820769,
+                "bottom_clearance": 0.08056855376982586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0010002622967590913,
+                  0.0005971292182305188
+                ],
+                "rod_tip_xy": [
+                  0.2696190769841559,
+                  -0.3885466778760249
+                ],
+                "target_mouth_xy": [
+                  0.270619339280915,
+                  -0.38914380709425545
+                ],
+                "gripper_position": [
+                  0.26961113722936403,
+                  -0.3885498579807964,
+                  1.002122992968084
+                ],
+                "rod_tip_xy_dist": 0.0011649411854606064,
+                "target_xy_drift": 6.595558040363854e-08,
+                "depth": 0.01900473372884881,
+                "bottom_clearance": 0.08043605227534711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0010082339324576917,
+                  0.000593926910228082
+                ],
+                "rod_tip_xy": [
+                  0.269611137229364,
+                  -0.38854985798079644
+                ],
+                "target_mouth_xy": [
+                  0.27061937116182166,
+                  -0.3891437848910245
+                ],
+                "gripper_position": [
+                  0.26962117767462634,
+                  -0.38861810182626294,
+                  1.0016008891209391
+                ],
+                "rod_tip_xy_dist": 0.0011701644488071655,
+                "target_xy_drift": 9.3371656884913e-08,
+                "depth": 0.019136828625700875,
+                "bottom_clearance": 0.08030370478094373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.000998162457293117,
+                  0.0005256475599668686
+                ],
+                "rod_tip_xy": [
+                  0.2696211776746263,
+                  -0.3886181018262629
+                ],
+                "target_mouth_xy": [
+                  0.2706193401319194,
+                  -0.38914374938622975
+                ],
+                "gripper_position": [
+                  0.269610452774967,
+                  -0.3886265917784957,
+                  1.001449651746773
+                ],
+                "rod_tip_xy_dist": 0.001128110654345821,
+                "target_xy_drift": 1.236547839758188e-07,
+                "depth": 0.01965902535736619,
+                "bottom_clearance": 0.07978166740523973,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005988245918596743,
+              "rod_tip_xy_max_step": 3.2562813525434115e-05,
+              "rod_tip_xy_range": 0.0005988113609250159,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2691226364655303,
+            -0.3897673900648754,
+            1.0433243476250311
+          ],
+          "object_origin_world": [
+            0.2691226364655303,
+            -0.3897673900648754,
+            1.0433243476250311
+          ],
+          "frame_world": [
+            0.26912115123023017,
+            -0.3897756479944186,
+            1.0432043575324408
+          ],
+          "center_minus_frame": [
+            1.4852353001360008e-06,
+            8.257929543231679e-06,
+            0.00011999009259033855
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25373792965535596,
+              0.13791685239394857,
+              0.8332456246692607
+            ],
+            "target_position": [
+              0.2660815164439707,
+              0.18418845942888984,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047889724914683844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1682369159498541,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332456246692607,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672708492649,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1376025725614957,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bc2226d281d2dbd462f39098bcec4c765be31c9e8f7738f4d2827ccf051f37b",
+    "visual_seed": 1405499622943548085,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aaa02c43d104b9309f556a723faed4e37f884ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_8_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3780991229077752,
+              0.062056235572031215,
+              1.1643709597602883
+            ],
+            "current_z": 1.1643709597602883,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3032642133269432,
+            "gripper_z": 1.154098196992091,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3731237755378757,
+              0.057233056121712755,
+              1.154098196992091
+            ],
+            "object_minus_gripper": [
+              0.004975347369899519,
+              0.00482317945031846,
+              0.01027276276819733
+            ],
+            "object_to_gripper_xy": 0.006929440198251251,
+            "object_to_gripper_z": 0.01027276276819733,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3780991229077752,
+              0.03801409507336912,
+              1.1643709597602883
+            ],
+            "finger_b": [
+              0.36718435049764847,
+              0.062056235572031215,
+              1.1643709597602883
+            ],
+            "finger_midpoint": [
+              0.37264173670271183,
+              0.050035165322700165,
+              1.1643709597602883
+            ],
+            "object_minus_finger_midpoint": [
+              0.005457386205063364,
+              0.01202107024933105,
+              0.0
+            ],
+            "finger_gap": 0.026403726565056525,
+            "fingertip_max_gap": 0.09144824004741034,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013201863282528266,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643709597602883,
+            "object_top_z": 1.2142470352115593,
+            "finger_top_clearance": 0.04987607545127104,
+            "fingertip_min_top_clearance": 0.01496282263538131,
+            "object_projection_between_fingers": 0.8291169780215746,
+            "object_to_finger_line_xy": 0.00993853996891769,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04822412002370517,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2581977680660223,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 363,
+            "max_stable_success_frames": 363,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2781321500285395,
+              -0.38944658260071463,
+              0.8515395086254784
+            ],
+            "target_position": [
+              0.2701945127392624,
+              -0.39073172598789874,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008040999891913028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494780910861325,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395086254784,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578070398176277,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628926431037064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15223548922024127,
+            "release_required_pad_clearance": 0.05314463215518532,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.314602930792877,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008365094661712646,
+            "max_z_decrease": 0.008365094661712646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500063639400006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008365094661712646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02096424516571755,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008365094661712646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008365281657500183,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1258944422006607,
+              -0.4469931721687317,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1258944422006607,
+              -0.4469931721687317,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12404909081125984,
+              -0.4481302718746341,
+              0.8033738561915813
+            ],
+            "closest_button": [
+              0.12594859302043915,
+              -0.4469791650772095,
+              0.768443763256073
+            ],
+            "closest_ee_minus_button": [
+              -0.0018995022091793101,
+              -0.0011511067974246392,
+              0.034930092935508306
+            ],
+            "button_min_z_position": [
+              0.12594859302043915,
+              -0.4469791650772095,
+              0.768443763256073
+            ],
+            "min_active_finger_to_button": 0.1474656634491254,
+            "closest_active_finger": [
+              -0.016824856400489807,
+              -0.43333694338798523,
+              0.8112209439277649
+            ],
+            "closest_active_finger_button": [
+              0.12589970231056213,
+              -0.44699424505233765,
+              0.7767347097396851
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14272455871105194,
+              0.013657301664352417,
+              0.034486234188079834
+            ],
+            "min_contact_pad_to_button": 0.02096424516571755,
+            "closest_contact_pad": [
+              0.12594859302043915,
+              -0.4492029493084948,
+              0.7892897307093
+            ],
+            "closest_contact_pad_button": [
+              0.12594859302043915,
+              -0.4469791650772095,
+              0.768443763256073
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022237842312853306,
+              0.020845967453226977
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2696495428848486,
+              0.17909341454685657,
+              1.1161242256191013
+            ],
+            "current_z": 1.1161242256191013,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20621509588473874,
+            "gripper_z": 1.116124595864629,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.269649429405426,
+              0.17909346370480012,
+              1.116124595864629
+            ],
+            "object_minus_gripper": [
+              1.1347942258099764e-07,
+              -4.9157943549094085e-08,
+              -3.702455277920791e-07
+            ],
+            "object_to_gripper_xy": 1.236692474437059e-07,
+            "object_to_gripper_z": -3.702455277920791e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2696495428848486,
+              0.17909341454685657,
+              1.1161242256191013
+            ],
+            "finger_b": [
+              0.2696495428848486,
+              0.17909341454685657,
+              1.1161242256191013
+            ],
+            "finger_midpoint": [
+              0.2696495428848486,
+              0.17909341454685657,
+              1.1161242256191013
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1161242256191013,
+            "object_top_z": 1.241132732239381,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 169,
+            "max_stable_success_frames": 169,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2696495428848486,
+            0.1790934145468566,
+            1.1161242256191013
+          ],
+          "object_origin_world": [
+            0.2696495428848486,
+            0.1790934145468566,
+            1.1161242256191013
+          ],
+          "frame_world": [
+            0.269649429405426,
+            0.17909346370480012,
+            1.116124595864629
+          ],
+          "center_minus_frame": [
+            1.1347942258099764e-07,
+            -4.915794352133851e-08,
+            -3.702455277920791e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433051561699842,
+            "required_z": 0.9112598388141373,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018001632406575148,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.014389178669508e-08,
+            "max_target_xy_drift": 1.7267476175010425e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.3146029307313236,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.314602930806463,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27698020186856487,
+              -0.3908197992317045,
+              0.923428978402833
+            ],
+            "target_mouth_xy": [
+              0.2781320304091557,
+              -0.3894464921989582
+            ],
+            "rod_tip_z": 0.923428978402833,
+            "rod_tip_depth": -0.022169186366291393,
+            "rod_tip_bottom_clearance": 0.12160974446491934,
+            "rod_tip_xy_dist": 0.0017923953785674645,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0453099327015386,
+            "min_rod_tip_bottom_clearance": 0.05413064437007098,
+            "min_rod_tip_xy_dist": 0.000649344337516189,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.278132120495627,
+              -0.3894464954159301
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.008647133823544e-08,
+              3.2169719110797246e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0006225122437715225,
+                0.00029935306227246716
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000700658874009219,
+                -0.00012110466933956676
+              ],
+              "first_target_mouth_xy": [
+                0.2781320583069833,
+                -0.3894464979450927
+              ],
+              "last_target_mouth_xy": [
+                0.27813205806114666,
+                -0.389446527117288
+              ],
+              "first_rod_tip_xy": [
+                0.27750954606321176,
+                -0.3891471448828202
+              ],
+              "last_rod_tip_xy": [
+                0.27743139918713744,
+                -0.38956763178662757
+              ],
+              "min_rod_tip_xy_dist": 0.000649344337516189,
+              "max_rod_tip_xy_dist": 0.0007146824324965474,
+              "first_target_xy_drift": 6.224005199819762e-08,
+              "last_target_xy_drift": 7.002171398353979e-08,
+              "max_depth": 0.019682036183558127,
+              "min_bottom_clearance": 0.07975866286099098
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0006225122437715225,
+                  0.00029935306227246716
+                ],
+                "rod_tip_xy": [
+                  0.27750954606321176,
+                  -0.3891471448828202
+                ],
+                "target_mouth_xy": [
+                  0.2781320583069833,
+                  -0.3894464979450927
+                ],
+                "gripper_position": [
+                  0.2775020171685927,
+                  -0.38915099056232805,
+                  1.0060849473193094
+                ],
+                "rod_tip_xy_dist": 0.0006907486876841382,
+                "target_xy_drift": 6.224005199819762e-08,
+                "depth": 0.01503785652628531,
+                "bottom_clearance": 0.08440285630688449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006300437590070485,
+                  0.00029550194225136384
+                ],
+                "rod_tip_xy": [
+                  0.2775020171685927,
+                  -0.38915099056232805
+                ],
+                "target_mouth_xy": [
+                  0.27813206092759973,
+                  -0.3894464925045794
+                ],
+                "gripper_position": [
+                  0.27750788604098175,
+                  -0.3892174367625609,
+                  1.0055503682254943
+                ],
+                "rod_tip_xy_dist": 0.0006958998032318015,
+                "target_xy_drift": 5.96391300912727e-08,
+                "depth": 0.01517483281940002,
+                "bottom_clearance": 0.08426571745687295,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006241725963100908,
+                  0.00022909193564807362
+                ],
+                "rod_tip_xy": [
+                  0.27750788604098175,
+                  -0.38921743676256093
+                ],
+                "target_mouth_xy": [
+                  0.27813205863729185,
+                  -0.389446528698209
+                ],
+                "gripper_position": [
+                  0.2774977358172218,
+                  -0.3892265914952511,
+                  1.0053938953362889
+                ],
+                "rod_tip_xy_dist": 0.0006648868662888903,
+                "target_xy_drift": 7.02436026842239e-08,
+                "depth": 0.015709591407314094,
+                "bottom_clearance": 0.08373114375296342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000634324522399976,
+                  0.00021990102659941169
+                ],
+                "rod_tip_xy": [
+                  0.2774977358172218,
+                  -0.3892265914952512
+                ],
+                "target_mouth_xy": [
+                  0.2781320603396218,
+                  -0.3894464925218506
+                ],
+                "gripper_position": [
+                  0.27748994716879505,
+                  -0.3892306067193172,
+                  1.0052569091989245
+                ],
+                "rod_tip_xy_dist": 0.0006713598597007665,
+                "target_xy_drift": 6.022558145746254e-08,
+                "depth": 0.015865887198161732,
+                "bottom_clearance": 0.08357465461591851,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006421107145623273,
+                  0.000215892186186728
+                ],
+                "rod_tip_xy": [
+                  0.277489947168795,
+                  -0.3892306067193172
+                ],
+                "target_mouth_xy": [
+                  0.2781320578833573,
+                  -0.3894464989055039
+                ],
+                "gripper_position": [
+                  0.27749681544108107,
+                  -0.3892979356212614,
+                  1.0047239182889793
+                ],
+                "rod_tip_xy_dist": 0.0006774331006174908,
+                "target_xy_drift": 6.27094366308025e-08,
+                "depth": 0.016003073287307212,
+                "bottom_clearance": 0.08343769059201167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006352439905357166,
+                  0.00014852805199228047
+                ],
+                "rod_tip_xy": [
+                  0.27749681544108107,
+                  -0.38929793562126147
+                ],
+                "target_mouth_xy": [
+                  0.2781320594316168,
+                  -0.38944646367325375
+                ],
+                "gripper_position": [
+                  0.27748651407572256,
+                  -0.38930714731257804,
+                  1.0045676076872516
+                ],
+                "rod_tip_xy_dist": 0.0006523768157593915,
+                "target_xy_drift": 6.882158709139642e-08,
+                "depth": 0.016535875945090095,
+                "bottom_clearance": 0.08290466832164822,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006455452019110686,
+                  0.00013938200862573247
+                ],
+                "rod_tip_xy": [
+                  0.27748651407572256,
+                  -0.3893071473125781
+                ],
+                "target_mouth_xy": [
+                  0.2781320592776336,
+                  -0.3894465293212038
+                ],
+                "gripper_position": [
+                  0.2774786283235128,
+                  -0.3893109636887716,
+                  1.004430720936853
+                ],
+                "rod_tip_xy_dist": 0.0006604210414871304,
+                "target_xy_drift": 6.998007073573796e-08,
+                "depth": 0.016692344230386236,
+                "bottom_clearance": 0.08274838960165243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006534316823619268,
+                  0.00013553073930216986
+                ],
+                "rod_tip_xy": [
+                  0.2774786283235128,
+                  -0.3893109636887716
+                ],
+                "target_mouth_xy": [
+                  0.2781320600058747,
+                  -0.3894464944280738
+                ],
+                "gripper_position": [
+                  0.2774862714621457,
+                  -0.3893789202578865,
+                  1.0039000060652967
+                ],
+                "rod_tip_xy_dist": 0.0006673391527627693,
+                "target_xy_drift": 6.049781810685798e-08,
+                "depth": 0.016829055075047727,
+                "bottom_clearance": 0.08261146519059748,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006458181732639789,
+                  6.757925529565778e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774862714621457,
+                  -0.38937892025788656
+                ],
+                "target_mouth_xy": [
+                  0.2781320896354097,
+                  -0.3894464995131822
+                ],
+                "gripper_position": [
+                  0.2774757601206558,
+                  -0.3893881912411995,
+                  1.0037436967595021
+                ],
+                "rod_tip_xy_dist": 0.000649344337516189,
+                "target_xy_drift": 3.113102131513831e-08,
+                "depth": 0.017359929037820687,
+                "bottom_clearance": 0.08208078368014393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006562989423959942,
+                  5.836630073696725e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774757601206558,
+                  -0.3893881912411995
+                ],
+                "target_mouth_xy": [
+                  0.2781320590630518,
+                  -0.38944655754193647
+                ],
+                "gripper_position": [
+                  0.27746782860551567,
+                  -0.3893917701270063,
+                  1.0036072452242084
+                ],
+                "rod_tip_xy_dist": 0.0006588891612796636,
+                "target_xy_drift": 8.737048680995584e-08,
+                "depth": 0.017516172694122534,
+                "bottom_clearance": 0.08192451140313228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006642312340877643,
+                  5.4759507426893617e-05
+                ],
+                "rod_tip_xy": [
+                  0.27746782860551567,
+                  -0.38939177012700643
+                ],
+                "target_mouth_xy": [
+                  0.27813205983960343,
+                  -0.3894465296344333
+                ],
+                "gripper_position": [
+                  0.2774598434832123,
+                  -0.3893954388713718,
+                  1.0034705828856922
+                ],
+                "rod_tip_xy_dist": 0.0006664846104685316,
+                "target_xy_drift": 6.964236612269738e-08,
+                "depth": 0.01765269559278304,
+                "bottom_clearance": 0.08178802853484768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006722161816565264,
+                  5.111961238313256e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774598434832123,
+                  -0.38939543887137185
+                ],
+                "target_mouth_xy": [
+                  0.2781320596648688,
+                  -0.389446558483755
+                ],
+                "gripper_position": [
+                  0.2774518897251983,
+                  -0.38939887351353497,
+                  1.0033337053847233
+                ],
+                "rod_tip_xy_dist": 0.000674157110509918,
+                "target_xy_drift": 8.762380769916342e-08,
+                "depth": 0.017789285922255926,
+                "bottom_clearance": 0.0816514099531731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006802031109806039,
+                  4.7594574093978714e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774518897251983,
+                  -0.38939887351353497
+                ],
+                "target_mouth_xy": [
+                  0.2781320928361789,
+                  -0.38944646808762895
+                ],
+                "gripper_position": [
+                  0.2774616362920497,
+                  -0.38947044476747905,
+                  1.0028044003893792
+                ],
+                "rod_tip_xy_dist": 0.0006818662007101386,
+                "target_xy_drift": 3.888291547194213e-08,
+                "depth": 0.017926195067185957,
+                "bottom_clearance": 0.08151452128801273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006704223941166876,
+                  -2.3948412685770304e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774616362920496,
+                  -0.38947044476747905
+                ],
+                "target_mouth_xy": [
+                  0.2781320586861663,
+                  -0.3894464963547933
+                ],
+                "gripper_position": [
+                  0.2774509349109869,
+                  -0.38947947205770594,
+                  1.0026482719537135
+                ],
+                "rod_tip_xy_dist": 0.0006708499929219044,
+                "target_xy_drift": 6.181659079943107e-08,
+                "depth": 0.01845545105889923,
+                "bottom_clearance": 0.08098518935609245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006811556322245949,
+                  -3.297412744007744e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774509349109868,
+                  -0.38947947205770606
+                ],
+                "target_mouth_xy": [
+                  0.2781320905432114,
+                  -0.389446497930266
+                ],
+                "gripper_position": [
+                  0.27744290881653166,
+                  -0.38948292428015846,
+                  1.002511786270015
+                ],
+                "rod_tip_xy_dist": 0.0006819532890101213,
+                "target_xy_drift": 3.005776247900611e-08,
+                "depth": 0.018611550403062505,
+                "bottom_clearance": 0.08082907729878108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006891801949710508,
+                  -3.6427297318786245e-05
+                ],
+                "rod_tip_xy": [
+                  0.27744290881653166,
+                  -0.3894829242801585
+                ],
+                "target_mouth_xy": [
+                  0.2781320890115027,
+                  -0.38944649698283973
+                ],
+                "gripper_position": [
+                  0.27743493376097283,
+                  -0.3894863167039642,
+                  1.0023749013798287
+                ],
+                "rod_tip_xy_dist": 0.0006901422238425112,
+                "target_xy_drift": 3.152309136363927e-08,
+                "depth": 0.018748120697254955,
+                "bottom_clearance": 0.08069252300303431,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006971259640913829,
+                  -3.9822590616633846e-05
+                ],
+                "rod_tip_xy": [
+                  0.27743493376097283,
+                  -0.3894863167039643
+                ],
+                "target_mouth_xy": [
+                  0.2781320597250642,
+                  -0.38944649411334764
+                ],
+                "gripper_position": [
+                  0.2774268740979968,
+                  -0.38948969471427247,
+                  1.0022380191130722
+                ],
+                "rod_tip_xy_dist": 0.0006982624496088561,
+                "target_xy_drift": 6.078452125887345e-08,
+                "depth": 0.018884877240412434,
+                "bottom_clearance": 0.08055564207911914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007051847720643822,
+                  -4.316634042367262e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774268740979968,
+                  -0.3894896947142725
+                ],
+                "target_mouth_xy": [
+                  0.2781320588700612,
+                  -0.38944652837384885
+                ],
+                "gripper_position": [
+                  0.2774188892720163,
+                  -0.3894929638684979,
+                  1.0021011285339347
+                ],
+                "rod_tip_xy_dist": 0.0007065047032377542,
+                "target_xy_drift": 6.988515413959177e-08,
+                "depth": 0.019021927506661873,
+                "bottom_clearance": 0.08041878703842253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00071317000292348,
+                  -4.647070312902013e-05
+                ],
+                "rod_tip_xy": [
+                  0.2774188892720163,
+                  -0.38949296386849797
+                ],
+                "target_mouth_xy": [
+                  0.2781320592749398,
+                  -0.38944649316536895
+                ],
+                "gripper_position": [
+                  0.27743139918713744,
+                  -0.3895676317866275,
+                  1.0015779114717918
+                ],
+                "rod_tip_xy_dist": 0.0007146824324965474,
+                "target_xy_drift": 6.126204022071254e-08,
+                "depth": 0.019158675865704633,
+                "bottom_clearance": 0.08028188536326042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.000700658874009219,
+                  -0.00012110466933956676
+                ],
+                "rod_tip_xy": [
+                  0.27743139918713744,
+                  -0.38956763178662757
+                ],
+                "target_mouth_xy": [
+                  0.27813205806114666,
+                  -0.389446527117288
+                ],
+                "gripper_position": [
+                  0.2774206834669855,
+                  -0.38957666553718967,
+                  1.0014215857647377
+                ],
+                "rod_tip_xy_dist": 0.0007110479580616994,
+                "target_xy_drift": 7.002171398353979e-08,
+                "depth": 0.019682036183558127,
+                "bottom_clearance": 0.07975866286099098,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006031387781427193,
+              "rod_tip_xy_max_step": 3.26949746046993e-05,
+              "rod_tip_xy_range": 0.0006031323284513492,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27698020186856487,
+            -0.3908197992317045,
+            1.0434289784028332
+          ],
+          "object_origin_world": [
+            0.27698020186856487,
+            -0.3908197992317045,
+            1.0434289784028332
+          ],
+          "frame_world": [
+            0.27697874896256236,
+            -0.3908287112836037,
+            1.0433051561699842
+          ],
+          "center_minus_frame": [
+            1.4529060025081364e-06,
+            8.912051899179207e-06,
+            0.0001238222328490135
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24987136530629406,
+              0.13580973764773246,
+              0.8342308725883737
+            ],
+            "target_position": [
+              0.2615146085199077,
+              0.1807329844147666,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04640757710356363,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16446183255203004,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342308725883737,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671200909371,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13339910414238834,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b8cb3ba1f93f73e349b0a6146387e6e4b4b5264693df2e6a532079c66c3fa4e",
+    "visual_seed": 4923818195747470093,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..226006ecf9bf651f2320fcc8d7aa8f056469692f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/episode_9_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3823809195647312,
+              0.06517817054217451,
+              1.1665749191568757
+            ],
+            "current_z": 1.1665749191568757,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30546829193282,
+            "gripper_z": 1.1562694657140753,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37717880144818217,
+              0.060144073511558704,
+              1.1562694657140753
+            ],
+            "object_minus_gripper": [
+              0.005202118116549026,
+              0.005034097030615803,
+              0.010305453442800427
+            ],
+            "object_to_gripper_xy": 0.007239072165145367,
+            "object_to_gripper_z": 0.010305453442800427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3823809195647312,
+              0.040967659987413634,
+              1.1665749191568757
+            ],
+            "finger_b": [
+              0.3711638141516124,
+              0.06517817054217451,
+              1.1665749191568757
+            ],
+            "finger_midpoint": [
+              0.37677236685817184,
+              0.053072915264794074,
+              1.1665749191568757
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056085527065593554,
+              0.012105255277380433,
+              0.0
+            ],
+            "finger_gap": 0.026682808607251335,
+            "fingertip_max_gap": 0.09157980903217003,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013341404303625654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1665749191568757,
+            "object_top_z": 1.2164279108604203,
+            "finger_top_clearance": 0.049852991703544625,
+            "fingertip_min_top_clearance": 0.014955897511063387,
+            "object_projection_between_fingers": 0.8232747843744872,
+            "object_to_finger_line_xy": 0.010177783493315398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828990451608502,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3674302649345345,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2709218766245337,
+              -0.3908951235437974,
+              0.8515396538068244
+            ],
+            "target_position": [
+              0.2645303966586091,
+              -0.39130753727345163,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006404771755435378,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182210025674869,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396538068244,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550631459238924,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608266665039145,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15019924826710643,
+            "release_required_pad_clearance": 0.05304133332519573,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1134532221821112,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008194506168365479,
+            "max_z_decrease": 0.008194506168365479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350172995749229,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008194506168365479,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020934592685224716,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008194506168365479,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008194548885900516,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12023032456636426,
+              -0.44756898283958435,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12023032456636426,
+              -0.44756898283958435,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12102869878423819,
+              -0.44695523369495516,
+              0.803617850628118
+            ],
+            "closest_button": [
+              0.12024268507957456,
+              -0.44754558801651,
+              0.7686143517494202
+            ],
+            "closest_ee_minus_button": [
+              0.0007860137046636351,
+              0.0005903543215548535,
+              0.0350034988786978
+            ],
+            "button_min_z_position": [
+              0.12024268507957456,
+              -0.44754558801651,
+              0.7686143517494202
+            ],
+            "min_active_finger_to_button": 0.1449578552758402,
+            "closest_active_finger": [
+              -0.005865752696990967,
+              -0.5102450847625732,
+              0.8107472658157349
+            ],
+            "closest_active_finger_button": [
+              0.1202314496040344,
+              -0.4475662410259247,
+              0.7763432264328003
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12609720230102536,
+              -0.06267884373664856,
+              0.03440403938293457
+            ],
+            "min_contact_pad_to_button": 0.020934592685224716,
+            "closest_contact_pad": [
+              0.12024268507957456,
+              -0.448111307571505,
+              0.7895412992640808
+            ],
+            "closest_contact_pad_button": [
+              0.12024268507957456,
+              -0.44754558801651,
+              0.7686143517494202
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005657195549950145,
+              0.02092694751466062
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2692991302315677,
+              0.18071464176813662,
+              1.1129307702358107
+            ],
+            "current_z": 1.1129307702358107,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2030216405014481,
+            "gripper_z": 1.1129310445489198,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26929914814807004,
+              0.18071467334860492,
+              1.1129310445489198
+            ],
+            "object_minus_gripper": [
+              -1.7916502337289586e-08,
+              -3.1580468295988595e-08,
+              -2.7431310911651963e-07
+            ],
+            "object_to_gripper_xy": 3.630877350993894e-08,
+            "object_to_gripper_z": -2.7431310911651963e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2692991302315677,
+              0.18071464176813662,
+              1.1129307702358107
+            ],
+            "finger_b": [
+              0.2692991302315677,
+              0.18071464176813662,
+              1.1129307702358107
+            ],
+            "finger_midpoint": [
+              0.2692991302315677,
+              0.18071464176813662,
+              1.1129307702358107
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1129307702358107,
+            "object_top_z": 1.2379392768560904,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 167,
+            "max_stable_success_frames": 167,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26929913023156765,
+            0.18071464176813665,
+            1.1129307702358107
+          ],
+          "object_origin_world": [
+            0.26929913023156765,
+            0.18071464176813665,
+            1.1129307702358107
+          ],
+          "frame_world": [
+            0.26929914814807004,
+            0.18071467334860492,
+            1.1129310445489198
+          ],
+          "center_minus_frame": [
+            -1.7916502392800737e-08,
+            -3.158046826823302e-08,
+            -2.7431310911651963e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432007825867422,
+            "required_z": 0.9112598191145349,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018306233719324182,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.728146257253543e-08,
+            "max_target_xy_drift": 9.805040260525607e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1134532239448849,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1134532242879467,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27019904556534197,
+              -0.38920542611264486,
+              0.9233208227730932
+            ],
+            "target_mouth_xy": [
+              0.2709219690881208,
+              -0.39089509084291246
+            ],
+            "rod_tip_z": 0.9233208227730932,
+            "rod_tip_depth": -0.022061002312262046,
+            "rod_tip_bottom_clearance": 0.12150152495670641,
+            "rod_tip_xy_dist": 0.0018378208075046963,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04496402420115142,
+            "min_rod_tip_bottom_clearance": 0.05447650907265389,
+            "min_rod_tip_xy_dist": 0.0005809460421426597,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27092190862549753,
+              -0.39089512035674645
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.04626232414418e-08,
+              2.9513833987859783e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.00018058298720463606,
+                0.0031972203242618402
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00026371754046849993,
+                0.0028157432671440663
+              ],
+              "first_target_mouth_xy": [
+                0.2709219084337219,
+                -0.39089515079509396
+              ],
+              "last_target_mouth_xy": [
+                0.27092190852896636,
+                -0.39089512195046894
+              ],
+              "first_rod_tip_xy": [
+                0.27074132544651724,
+                -0.3876979304708321
+              ],
+              "last_rod_tip_xy": [
+                0.27065819098849786,
+                -0.38807937868332487
+              ],
+              "min_rod_tip_xy_dist": 0.0028280659623880584,
+              "max_rod_tip_xy_dist": 0.0032023160395471175,
+              "first_target_xy_drift": 3.043895164075646e-08,
+              "last_target_xy_drift": 1.5966432393392824e-09,
+              "max_depth": 0.019656023904500608,
+              "min_bottom_clearance": 0.07978450254374325
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00018058298720463606,
+                  0.0031972203242618402
+                ],
+                "rod_tip_xy": [
+                  0.27074132544651724,
+                  -0.3876979304708321
+                ],
+                "target_mouth_xy": [
+                  0.2709219084337219,
+                  -0.39089515079509396
+                ],
+                "gripper_position": [
+                  0.2707338995614875,
+                  -0.3877015930186183,
+                  1.0060693674675336
+                ],
+                "rod_tip_xy_dist": 0.0032023160395471175,
+                "target_xy_drift": 3.043895164075646e-08,
+                "depth": 0.015056845322857781,
+                "bottom_clearance": 0.08438364981039681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0001880080113182414,
+                  0.0031935289390280786
+                ],
+                "rod_tip_xy": [
+                  0.27073389956148763,
+                  -0.3877015930186184
+                ],
+                "target_mouth_xy": [
+                  0.2709219075728059,
+                  -0.3908951219576465
+                ],
+                "gripper_position": [
+                  0.27073968782707547,
+                  -0.38776099042670065,
+                  1.0055366616806973
+                ],
+                "rod_tip_xy_dist": 0.003199058314055817,
+                "target_xy_drift": 1.9159959834245508e-09,
+                "depth": 0.015190494891403339,
+                "bottom_clearance": 0.08425006793184575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0001822220067404512,
+                  0.003134160679118536
+                ],
+                "rod_tip_xy": [
+                  0.2707396878270756,
+                  -0.38776099042670065
+                ],
+                "target_mouth_xy": [
+                  0.27092190983381603,
+                  -0.3908951511058192
+                ],
+                "gripper_position": [
+                  0.27072931993288585,
+                  -0.38776975257930396,
+                  1.0053845335472296
+                ],
+                "rod_tip_xy_dist": 0.003139453459166624,
+                "target_xy_drift": 3.0772804674045404e-08,
+                "depth": 0.015723167573367447,
+                "bottom_clearance": 0.08371738026168274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00019258803914923295,
+                  0.003125399491420655
+                ],
+                "rod_tip_xy": [
+                  0.27072931993288596,
+                  -0.387769752579304
+                ],
+                "target_mouth_xy": [
+                  0.2709219079720352,
+                  -0.39089515207072467
+                ],
+                "gripper_position": [
+                  0.27072175585459757,
+                  -0.38777347154716524,
+                  1.0052512498419073
+                ],
+                "rod_tip_xy_dist": 0.003131327535374707,
+                "target_xy_drift": 3.172070975959196e-08,
+                "depth": 0.015875382112124692,
+                "bottom_clearance": 0.08356517696023658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00020015408224294262,
+                  0.003121678597360844
+                ],
+                "rod_tip_xy": [
+                  0.2707217558545977,
+                  -0.38777347154716535
+                ],
+                "target_mouth_xy": [
+                  0.2709219099368406,
+                  -0.3908951501445262
+                ],
+                "gripper_position": [
+                  0.2707281019557949,
+                  -0.3878340369916098,
+                  1.0047197183256782
+                ],
+                "rod_tip_xy_dist": 0.0031280887010855817,
+                "target_xy_drift": 2.9816630304347524e-08,
+                "depth": 0.016008579536472722,
+                "bottom_clearance": 0.08343197128902602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00019380507003285974,
+                  0.0030610856057532443
+                ],
+                "rod_tip_xy": [
+                  0.270728101955795,
+                  -0.3878340369916099
+                ],
+                "target_mouth_xy": [
+                  0.27092190702582786,
+                  -0.39089512259736314
+                ],
+                "gripper_position": [
+                  0.2707179095426212,
+                  -0.38784238581245467,
+                  1.004567875513238
+                ],
+                "rod_tip_xy_dist": 0.0030672146144213887,
+                "target_xy_drift": 2.753053982182829e-09,
+                "depth": 0.01654023192399856,
+                "bottom_clearance": 0.08290037486933988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00020399913502444633,
+                  0.003052764671060193
+                ],
+                "rod_tip_xy": [
+                  0.2707179095426213,
+                  -0.3878423858124548
+                ],
+                "target_mouth_xy": [
+                  0.27092190867764576,
+                  -0.390895150483515
+                ],
+                "gripper_position": [
+                  0.2707100817035447,
+                  -0.387845974964172,
+                  1.0044346657344099
+                ],
+                "rod_tip_xy_dist": 0.003059573137541244,
+                "target_xy_drift": 3.012681365753447e-08,
+                "depth": 0.016691938154511532,
+                "bottom_clearance": 0.08274855273456472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00021182579354378506,
+                  0.003049177112879109
+                ],
+                "rod_tip_xy": [
+                  0.27071008170354477,
+                  -0.38784597496417206
+                ],
+                "target_mouth_xy": [
+                  0.27092190749708855,
+                  -0.39089515207705117
+                ],
+                "gripper_position": [
+                  0.27071744246675783,
+                  -0.38790694434889655,
+                  1.0039062832609258
+                ],
+                "rod_tip_xy_dist": 0.0030565260071715784,
+                "target_xy_drift": 3.174036921822734e-08,
+                "depth": 0.016825264359675907,
+                "bottom_clearance": 0.0826153128800301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00020446503323207077,
+                  0.0029882074195326513
+                ],
+                "rod_tip_xy": [
+                  0.27071744246675794,
+                  -0.3879069443488966
+                ],
+                "target_mouth_xy": [
+                  0.27092190749999,
+                  -0.39089515176842926
+                ],
+                "gripper_position": [
+                  0.2707069282919026,
+                  -0.38791533487063495,
+                  1.0037541900490126
+                ],
+                "rod_tip_xy_dist": 0.0029951944063724106,
+                "target_xy_drift": 3.143184029228881e-08,
+                "depth": 0.01735358144913557,
+                "bottom_clearance": 0.082086984432301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00021500924238676555,
+                  0.002979816888528719
+                ],
+                "rod_tip_xy": [
+                  0.27070692829190274,
+                  -0.3879153348706351
+                ],
+                "target_mouth_xy": [
+                  0.2709219375342895,
+                  -0.39089515175916384
+                ],
+                "gripper_position": [
+                  0.2706992334186282,
+                  -0.38791864428014056,
+                  1.0036211338521834
+                ],
+                "rod_tip_xy_dist": 0.002987563834208854,
+                "target_xy_drift": 4.2682901390301814e-08,
+                "depth": 0.017505667496961697,
+                "bottom_clearance": 0.08193488928621406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00022270460923023983,
+                  0.002976508430682756
+                ],
+                "rod_tip_xy": [
+                  0.2706992334186283,
+                  -0.38791864428014067
+                ],
+                "target_mouth_xy": [
+                  0.2709219380278585,
+                  -0.3908951527108234
+                ],
+                "gripper_position": [
+                  0.27069129752728527,
+                  -0.38792198258036426,
+                  1.0034879835720334
+                ],
+                "rod_tip_xy_dist": 0.002984828266567093,
+                "target_xy_drift": 4.371824708962136e-08,
+                "depth": 0.017638726363679136,
+                "bottom_clearance": 0.08180184646147015,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00023061178812389116,
+                  0.0029731685269654973
+                ],
+                "rod_tip_xy": [
+                  0.2706912975272854,
+                  -0.38792198258036437
+                ],
+                "target_mouth_xy": [
+                  0.27092190931540927,
+                  -0.39089515110732986
+                ],
+                "gripper_position": [
+                  0.2706999807529569,
+                  -0.38798458875854847,
+                  1.0029619871208195
+                ],
+                "rod_tip_xy_dist": 0.0029820987385664956,
+                "target_xy_drift": 3.075832177548664e-08,
+                "depth": 0.017771841399304544,
+                "bottom_clearance": 0.08166868619111545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00022192832446527033,
+                  0.0029105626657036088
+                ],
+                "rod_tip_xy": [
+                  0.27069998075295704,
+                  -0.3879845887585486
+                ],
+                "target_mouth_xy": [
+                  0.2709219090774223,
+                  -0.3908951514242522
+                ],
+                "gripper_position": [
+                  0.2706894512146306,
+                  -0.38799285475815176,
+                  1.0028100888798144
+                ],
+                "rod_tip_xy_dist": 0.0029190113415654383,
+                "target_xy_drift": 3.107079253215929e-08,
+                "depth": 0.0182979010854748,
+                "bottom_clearance": 0.08114262826551355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00023245635382990182,
+                  0.002902296682551264
+                ],
+                "rod_tip_xy": [
+                  0.2706894512146307,
+                  -0.3879928547581518
+                ],
+                "target_mouth_xy": [
+                  0.27092190756846063,
+                  -0.3908951514407031
+                ],
+                "gripper_position": [
+                  0.27068146673300786,
+                  -0.3879959187464429,
+                  1.0026771532341827
+                ],
+                "rod_tip_xy_dist": 0.002911590972300877,
+                "target_xy_drift": 3.1101924166249504e-08,
+                "depth": 0.01844982732601308,
+                "bottom_clearance": 0.08099072402363083,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00024044179031573742,
+                  0.002899233000210555
+                ],
+                "rod_tip_xy": [
+                  0.27068146673300797,
+                  -0.387995918746443
+                ],
+                "target_mouth_xy": [
+                  0.2709219085233237,
+                  -0.39089515174665357
+                ],
+                "gripper_position": [
+                  0.27067364126197047,
+                  -0.38799884405532864,
+                  1.0025438231463633
+                ],
+                "rod_tip_xy_dist": 0.0029091861824297413,
+                "target_xy_drift": 3.1390073404974584e-08,
+                "depth": 0.018582680222647086,
+                "bottom_clearance": 0.08085784621502168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000248266785162099,
+                  0.0028963076976014634
+                ],
+                "rod_tip_xy": [
+                  0.2706736412619706,
+                  -0.3879988440553288
+                ],
+                "target_mouth_xy": [
+                  0.2709219080471327,
+                  -0.39089515175293027
+                ],
+                "gripper_position": [
+                  0.27066566277131,
+                  -0.38800193959270524,
+                  1.0024110713978773
+                ],
+                "rod_tip_xy_dist": 0.002906928735934236,
+                "target_xy_drift": 3.140151054216242e-08,
+                "depth": 0.018716084387833898,
+                "bottom_clearance": 0.08072446026511793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00025624524263445636,
+                  0.002893212481029084
+                ],
+                "rod_tip_xy": [
+                  0.2706656627713101,
+                  -0.38800193959270535
+                ],
+                "target_mouth_xy": [
+                  0.27092190801394456,
+                  -0.39089515207373443
+                ],
+                "gripper_position": [
+                  0.27065762484174627,
+                  -0.3880050154669294,
+                  1.0022779909932478
+                ],
+                "rod_tip_xy_dist": 0.0029045378435743024,
+                "target_xy_drift": 3.1722883279931834e-08,
+                "depth": 0.018848783448855322,
+                "bottom_clearance": 0.08059177415034702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0002642839322986035,
+                  0.0028901366028140085
+                ],
+                "rod_tip_xy": [
+                  0.2706576248417464,
+                  -0.38800501546692945
+                ],
+                "target_mouth_xy": [
+                  0.270921908774045,
+                  -0.39089515206974346
+                ],
+                "gripper_position": [
+                  0.27066893302017414,
+                  -0.388071116138787,
+                  1.0017556725512
+                ],
+                "rod_tip_xy_dist": 0.0029021949589571874,
+                "target_xy_drift": 3.1713344911280666e-08,
+                "depth": 0.018981846508256295,
+                "bottom_clearance": 0.08045869352544255,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0002529753548655145,
+                  0.002824036248081807
+                ],
+                "rod_tip_xy": [
+                  0.27066893302017425,
+                  -0.388071116138787
+                ],
+                "target_mouth_xy": [
+                  0.27092190837503977,
+                  -0.3908951523868688
+                ],
+                "gripper_position": [
+                  0.2706581909884978,
+                  -0.3880793786833248,
+                  1.0016038094954027
+                ],
+                "rod_tip_xy_dist": 0.0028353442931413645,
+                "target_xy_drift": 3.203110153755408e-08,
+                "depth": 0.01950417718350772,
+                "bottom_clearance": 0.07993637818912391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.00026371754046849993,
+                  0.0028157432671440663
+                ],
+                "rod_tip_xy": [
+                  0.27065819098849786,
+                  -0.38807937868332487
+                ],
+                "target_mouth_xy": [
+                  0.27092190852896636,
+                  -0.39089512195046894
+                ],
+                "gripper_position": [
+                  0.27065022043056003,
+                  -0.3880821357768702,
+                  1.00147112889687
+                ],
+                "rod_tip_xy_dist": 0.0028280659623880584,
+                "target_xy_drift": 1.5966432393392824e-09,
+                "depth": 0.019656023904500608,
+                "bottom_clearance": 0.07978450254374325,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005987006188843712,
+              "rod_tip_xy_max_step": 3.2453525793620065e-05,
+              "rod_tip_xy_range": 0.0005986870214809345,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2701990455653419,
+            -0.38920542611264486,
+            1.0433208227730932
+          ],
+          "object_origin_world": [
+            0.2701990455653419,
+            -0.38920542611264486,
+            1.0433208227730932
+          ],
+          "frame_world": [
+            0.27019754151748604,
+            -0.3892139047661293,
+            1.0432007825867422
+          ],
+          "center_minus_frame": [
+            1.5040478558714376e-06,
+            8.478653484467191e-06,
+            0.00012004018635103364
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2478765272547031,
+              0.1385841552119348,
+              0.833197457606656
+            ],
+            "target_position": [
+              0.2611367432743141,
+              0.1845613582452641,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04785119149670918,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16560546635866244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833197457606656,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675850104821,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13629641396134295,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 230,
+            "max_placed_release_frames": 230
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6843919548868063803,
+    "physical_seed": 7423332855794837018,
+    "layout_id": "layout_00053",
+    "step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "workflow_spec_digest": "cb42273b4ba5bd7209fc2dfa47f882fff9cf37abb89cdeafd90c2955b8e77d30",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a985d565e224d5e242b9927da789620ac55ea923a1fdde28ba47d53e19dc33a6",
+    "visual_seed": 4078911838703154220,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5199353700918230458,
+      1290258848948700541,
+      5893590780811652695,
+      2449246150117278785,
+      2247268171952805441,
+      6185228844831420462
+    ],
+    "runtime_workflow_digest": "0ee35e602dc7c9cddc2e38ad24d7da4ddb0281ab447fa3413786e2980d0309a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..531f56619c12150851cb3eda041847d25d811be9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00053/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00053",
+  "family": "lab3_v1",
+  "published_episodes": 18,
+  "published_successes": 18,
+  "published_failures": 0,
+  "matched_success_results": 18
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25f506532323a8a37b9b50eaa3c30334631385b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a0d66763f659f464fc465de75141ba055636e1bbb743201867a4b4f0a0e7a9
+size 11856465
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..39732198cdcc7350714d94ea2f1d2066cf28ced9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:315ef046b97c459513fc54070f4d928a4e8265c0bb23429d6c42fabe7f4e920a
+size 11091597
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a57cb7afd6bffa1a05b9ed9a5dcb06e7fff7a3f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41ea5165e73adba746938f571446605f926156ce37573d3ca6f730f9d77e8981
+size 13605404
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a432b69ff773db3b8042320f90660ca4b43c5a96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6bde65c46f8daca9ab6f81a5be93541cb1a890975f0bae15c96351dc398abe
+size 12299675
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b4dc9e6d03e59ead108b4d0611ff6a9ea056aec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da508dc50d53ab0813f914053f235c765b8013ce08c1e4ad9115cd5ed1290f3f
+size 12244589
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f1d3a960a57d3a44d5a9e8de2aae4fd6dfd65f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6daf057419959a2c740513cc6319ea3a915f1023303f09b448c73207a141d95d
+size 10655006
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ab185159154f593a9486dde29e4e8592eb3a25d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932a5f88f733f969f4b5d3484f172ef78698d5940d402af40122bf6e842e0251
+size 10789419
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f053d481a50a07e914e8bc1ebed64fe48b88c1ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd1c5118e9d38c1d3226d64a947de7daf467325277f8243c9bc33ba1f753f8bc
+size 15880879
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da69929d7b84d631366c8e9e3800127bac2b97f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6b1ac808ca0327fdfeed294be9c817e371de1d12d1bca922ecf0d38ffe237db
+size 10449409
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b85d3bef1d55cabf8892c8d1da4a34682b5d6165
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0a5134485c487c16f91cbf9e3bc98eea4cc54af176d4f0195fa1ddeb7a07625
+size 14907580
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..391002355fb572d3df98e47ae23dbfa70fbe2c72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e50c6ad5c4a10a9a702035f4822c1e8f53b3c1631e792999bdb6c2f024a221e4
+size 13076393
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e183f834e75d82223a78c4f4ecbdb83f6b8b829
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:371a0df45c71982ac585b10a95e5baa53ccb46f52e0977a5ea76a44bb669b9be
+size 11542130
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29edf7b3e3f89eda87aca58c68234c56382009cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24670aba6cf5a76ea01b4b65193e28e5fc5bcaaa1ff8884bb6c7e726227b9c53
+size 13814461
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..682c726e4f530d10b4366816ea0086b3d19e90b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:088211e50ce288f8fbf7259b241d20b45f84f05cbc7fe0232a03e6ae029643aa
+size 12949970
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f647d956524d21f0d1bf17116dd8183d86e5663
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f23eef2a6f68d0a185fdb826ff581064d6a7bd7f4e8b902ef372bf0ec9f9f1
+size 13430416
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a56f28b1f9b2d663ff1d923718674cd0fa57a8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b01bf15ab85255f134f40053be23546ad643f3146d3892bc044a8d112e2ed9b2
+size 10811547
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91d9aaa30cff2d09c5797d18ae37de18412ab07e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b89c11a85fd14580ec4816a8d4974fc87a96455c9f0278fb014e191b5ff9b5c
+size 13036087
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b50e2511e2456683387711616fbf1fd4fa308085
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb588424fd6e983e12dee53d8b15d6f4126c6b58855472dc45585ad4ce6bcdbd
+size 11316219
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d0e61b2125ee46ea7ba025d5954d790f9b757b9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c57dada044d98e30431a1bdc91e74c5a16f61bee91524c0fdb9f5f544ac9b7
+size 12845229
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..167063b9c0692606ec906ac261a73fde0416885d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17b1902cca5ec304feac84efb2b0063fae589f3efa1337bc2a7d59e7f97ad4fe
+size 13428394
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e0c0075030b9ac8289e9c8079848098d0a69b45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffa92e997b8909406f6142f49d7e83e83207d99699ee08438b3efdc8b3fa4834
+size 12984961
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..49d6e679c99800101d9d99f42b6d8beffe7ec95a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bb8b713377740a96bbb533451ee94c0f7d6900353f0cd59a1c58fc671b7f228
+size 10810136
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..105a3fc97f38b721bfd46476f5f6e97a0f2c77f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59836530abea5da65e16019bd71069bc0b5ad216cdbcd0f749e5e648beceba3
+size 15838043
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a3b97c3d530df18ab7609a2ce458341f97726be9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0731c546f1e55f9d5cba8fcd44deb844ff4b8b2a56fe2f86ae862770d5660309
+size 12176762
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83491b4f8d2ee68b1a0788a41f30bb00f52f08e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a9dee948cc985971aac2843b002480b9d5b5fe33e295c6144ecf48e6e13a65d
+size 11282564
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..20245f6fffffe7a3447926f6ed277e4f4f30872f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2850179c72ce9a57e33788a0cb2720d9fec2a683174011d70f18c89fb532c093
+size 15324346
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7763a7157ab9a4293a6902410ecd545cb6c1db5f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/meta/episode.jsonl
@@ -0,0 +1,26 @@
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2758,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2751,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2756,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2750,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2707,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2753,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2756,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2718,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2719,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2711,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2763,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2755,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2760,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2759,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2721,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2757,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2723,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2759,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2757,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2717,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2715,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2710,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2720,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack."],"length":2747,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..769d27fe16150aa306fcc7a5827e0d51619a6b51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,26 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T13:01:17","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.291305759831494,-2.006813247122241,0.71338606911949],"aabb_xy":[[0.22730575778176199,-2.046907730211549],[0.355305761881226,-1.966718764032933]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.35266930106781924,-1.4835473639073484,0.71338606911949],"aabb_xy":[[0.33556722310945103,-1.5006541694386182],[0.36977137902618734,-1.4664405583760787]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.4188473433636315,1.6440705747244064,0.71338606911949],"aabb_xy":[[0.4142122282113981,1.640203239647258],[0.4234824585158648,1.6479379098015554]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.528071209753812,-0.43597617556768986,0.71338606911949],"aabb_xy":[[-0.5381529168323854,-0.5159761734598045],[-0.5179895026752385,-0.35597617767557516]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.427085527055492,-1.7270009888155622,0.71338606911949],"aabb_xy":[[-0.435111797686118,-1.735752483792915],[-0.419059256424866,-1.7182494938382098]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.047122150886120706,1.0810674479442075,0.71338606911949],"aabb_xy":[[-0.10712215174693349,1.0296410179377207],[0.012877849974692107,1.1324938779506935]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.46341004453321966,0.897114097672354,0.71338606911949],"aabb_xy":[[0.45927418820051946,0.8596140982279971],[0.46754590086591985,0.9346140971167111]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.4396207380500161,1.407153494467937,0.71338606911949],"aabb_xy":[[0.3896207394040949,1.3572339508084745],[0.4896207366959373,1.4570730381273993]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[0.01589635618847829,-1.9077093697137406,0.71338606911949],"aabb_xy":[[-0.02160364410369653,-1.911750845114344],[0.05339635648065311,-1.9036678943131369]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.3538613001866351,-0.7029615867379306,0.71338606911949],"aabb_xy":[[0.3459380199478867,-0.725461586975934],[0.36178458042538336,-0.6804615864999273]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.11518943690316519,1.7555839003948885,0.71338606911949],"aabb_xy":[[-0.17918943401527088,1.706551530600478],[-0.0511894397910595,1.8046162701892992]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[-0.5400863696585511,1.1045482881424564,0.71338606911949],"aabb_xy":[[-0.5435270458986081,1.100686855168092],[-0.5366456934184938,1.108409721116821]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[-0.03294166704457724,-1.3087105145970068,0.71338606911949],"aabb_xy":[[-0.09794166492622505,-1.359834178303548],[0.032058330837070555,-1.2575868508904662]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[-0.4683959621800101,0.9980316049959339,0.71338606911949],"aabb_xy":[[-0.47815195168918395,0.9882690709366992],[-0.45863997267083617,1.0077941390551681]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.45224658352163094,0.4999265684207277,0.71338606911949],"aabb_xy":[[-0.5020633629864657,0.4499265699364243],[-0.4024298040567962,0.5499265669050311]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.5286006948817088,1.5926710123592414,0.71338606911949],"aabb_xy":[[0.5177602166551939,1.5754847310685927],[0.5394411731082237,1.60985729364989]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.03778848028805315,-2.3642952555223498,0.71338606911949],"aabb_xy":[[-0.048200038968536855,-2.3696409888582477],[-0.02737692160756943,-2.358949522186451]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[-0.5055203439422968,-0.005647293613479931,0.71338606911949],"aabb_xy":[[-0.5174530783041249,-0.0180294464213393],[-0.49358760958046877,0.006734859194379439]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[-0.2360483659036282,-1.3606316116739126,0.71338606911949],"aabb_xy":[[-0.2491996118749176,-1.385631611430599],[-0.22289711993233888,-1.335631611917226]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.4780332714256894,-0.2771942852365452,0.71338606911949],"aabb_xy":[[0.41403327213152114,-0.3411804256053994],[0.5420332707198576,-0.21320814486769102]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.4141618113216226,-0.9847700283936289,0.71338606911949],"aabb_xy":[[-0.4781575087167192,-1.0487700266943374],[-0.350166113926526,-0.92077003009292]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.4096670513521048,0.5831221146927295,0.71338606911949],"aabb_xy":[[0.4052364219972646,0.577673742958047],[0.41409768070694497,0.5885704864274122]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[0.37600910192101833,1.165454201945768,0.71338606911949],"aabb_xy":[[0.2860091033265484,1.1492036156323473],[0.4660091005154883,1.1817047882591893]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[0.6460361226743301,-0.03718707112636421,0.71338606911949],"aabb_xy":[[0.5960630571418147,-0.0871870709388971],[0.6960091882068457,0.012812928686168689]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.07793391689320728,1.3240325780240516,0.71338606911949],"aabb_xy":[[-0.011753159414908176,1.234032577769601],[0.16762099320132273,1.4140325782785022]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[-0.2652858100181904,-1.9036478697540575,0.71338606911949],"aabb_xy":[[-0.31930140630009035,-1.9676478726463142],[-0.21127021373629035,-1.8396478668618]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[0.6963681088970681,0.40287891877926585,0.71338606911949],"aabb_xy":[[0.6738544170736109,0.3328789181782583],[0.7188818007205253,0.4728789193802734]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[-0.036256635306319174,-1.1089818635442583,0.71338606911949],"aabb_xy":[[-0.04588827152674879,-1.1186191763239672],[-0.026624999085889556,-1.0993445507645494]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[0.47524604259086667,-2.310797738119992,0.71338606911949],"aabb_xy":[[0.46237413908992653,-2.390797738533828],[0.4881179460918068,-2.2307977377061556]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[-0.48304603940345414,0.6373378961260743,0.71338606911949],"aabb_xy":[[-0.48908305240411903,0.6313111950571262],[-0.4770090264027896,0.6433645971950226]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_30","position":[0.33149814746876527,0.9664584694167555,0.71338606911949],"aabb_xy":[[0.26749814425012747,0.9197353575177472],[0.3954981506874032,1.0131815813157639]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_31","position":[-0.6054759112603798,-0.40469742286905985,0.71338606911949],"aabb_xy":[[-0.6273845933997307,-0.42659808968915053],[-0.5835672291210287,-0.38279675604896907]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_32","position":[-0.4470335739845791,0.8206884405663439,0.71338606911949],"aabb_xy":[[-0.5307557994846617,0.7306884370316479],[-0.3633113484844967,0.9106884441010398]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_33","position":[0.32905265416514373,-1.7550315424193013,0.71338606911949],"aabb_xy":[[0.24905265618435876,-1.762633083381153],[0.40905265214592884,-1.747430001457449]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6721958501016186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4323.png","name":"4323"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4323.png","name":"4323"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9106.png","name":"9106"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6314.png","name":"6314"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2760.png","name":"2760"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5712.png","name":"5712"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":743.5942900162659,"rotation_z_degrees":90.83299048286362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005534490020334251,-0.013588349521236096,-0.01944029627788774]},{"name":"camera_2","offset_m":[-0.0015737278766928403,-0.008931637618783982,0.01250767403076489]},{"name":"camera_3","offset_m":[0.013195509687586687,-0.01549641400488036,0.005936761998823443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005823429969573591,0.0009939694806263685,-0.00066019046808823],"end_effector_yaw_offset_degrees":-0.8493235817612321},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00029427390636030826,-0.0007434505145243286,-0.0005734624632289234],"end_effector_yaw_offset_degrees":-0.07172716074634367},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006418643623828612,0.00043575009459440994,-0.0014546708165712543],"end_effector_yaw_offset_degrees":0.6848933902384984},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016438966379286706,0.00022096628994509697,-0.0018812231683556222],"end_effector_yaw_offset_degrees":-0.7035515428009649},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0013372883181052178,-0.0016921113421436785,-0.0015855274140317724],"end_effector_yaw_offset_degrees":0.7132267967276371},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0008239261444595175,0.0005797164809625572,-0.00044960525746046403],"end_effector_yaw_offset_degrees":-0.7904092638425122}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011204599422816497,0.0037028881460992044],"position_m":[0.27207954005771834,-0.015097111853900797,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006128531436692189,-0.00012524427876394514],"position_m":[0.2213871468563308,-0.39422524427876393,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0034637048159326155,0.0018721559982736793],"position_m":[0.2795637048159326,0.3187721559982737,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016648984903872947,0.0007406018092708071],"position_m":[0.3042648984903873,0.10824060180927081,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e1142e061aa2f72da8816e8752781346e062e2f99dcfd2a6ee5fc2ffdfb8c4bf","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0002.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4323/tex_ceiling_textures_5712/tex_floor_textures_2760/tex_table_textures_9106/tex_wall_textures_6314","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":709491261708961473,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":709491261708961473,"visual_seed":709491261708961473,"scene_id":"lab_003","finished_at":"2026-09-08T13:09:41"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T13:19:39","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[0.26429948447581053,-1.2635753879158835,0.71338606911949],"aabb_xy":[[0.20029948736370484,-1.3126077577102941],[0.3282994815879162,-1.214543018121473]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.5331112938606789,-0.46267062029107553,0.71338606911949],"aabb_xy":[[-0.5971112945641482,-0.5086890027639965],[-0.46911129315720956,-0.4166522378181546]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.3452728913401598,0.9357734949195358,0.71338606911949],"aabb_xy":[[-0.38277289183751806,0.9318048113714174],[-0.30777289084280157,0.9397421784676542]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[-0.4580862863054661,1.6409091342570217,0.71338606911949],"aabb_xy":[[-0.46678424859618134,1.6287841599495472],[-0.44938832401475076,1.6530341085644966]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.17105824970671624,-1.7117543053330775,0.71338606911949],"aabb_xy":[[0.12325208209294755,-1.7767543080401362],[0.21886441732048484,-1.6467543026260183]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.16952448605358572,1.5200365204713893,0.71338606911949],"aabb_xy":[[-0.25952448577675985,1.496963167936209],[-0.07952448633041152,1.5431098730065687]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.28966763676401497,0.6619155742056213,0.71338606911949],"aabb_xy":[[0.2320371678767441,0.6019155752789106],[0.3472981056512858,0.7219155731323318]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.4904246976844995,-1.6763147215449314,0.71338606911949],"aabb_xy":[[0.4772734517132102,-1.7013147213016182],[0.503575943655789,-1.6513147217882451]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.14908372696579042,-2.0568402016086447,0.71338606911949],"aabb_xy":[[-0.16514565442430804,-2.141840203421236],[-0.13302179950727275,-1.9718401997960526]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.5649205175678182,-2.269488585701197,0.71338606911949],"aabb_xy":[[0.54242051755767,-2.2835848053408],[0.5874205175779665,-2.2553923660615935]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.7173234508373443,-0.3605388875734419,0.71338606911949],"aabb_xy":[[0.711011351301006,-0.3663058268266607],[0.7236355503736828,-0.3547719483202231]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[-0.4423291878275501,1.4915820116047693,0.71338606911949],"aabb_xy":[[-0.47732918702036825,1.4806149656071066],[-0.4073291886347317,1.5025490576024316]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.47895257795292023,1.5176414609084863,0.71338606911949],"aabb_xy":[[0.3989525809386722,1.4975069092350748],[0.5589525749671682,1.5377760125818973]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[-0.37772094387353033,-2.065830376914698,0.71338606911949],"aabb_xy":[[-0.4327131945090414,-2.120830378658011],[-0.32272869323801945,-2.0108303751713854]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[0.5628183005707601,-2.0623588560774833,0.71338606911949],"aabb_xy":[[0.5593776243307029,-2.0662202890518477],[0.5662589768108173,-2.058497423103119]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.14489136791558266,1.2250618733462248,0.71338606911949],"aabb_xy":[[-0.18239136943121437,1.2138351003300798],[-0.10739136639995095,1.23628864636237]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.13171667499487671,1.7232243323636927,0.71338606911949],"aabb_xy":[[0.10671667572291445,1.7068789687675305],[0.156716674266839,1.7395696959598552]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.5765752980164793,-2.043333152479607,0.71338606911949],"aabb_xy":[[-0.6405752953021279,-2.0848398714324508],[-0.5125753007308306,-2.001826433526763]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.4808945303273854,-0.26634512768347784,0.71338606911949],"aabb_xy":[[-0.5458945288844582,-0.29609766109736047],[-0.41589453177031255,-0.23659259426959522]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.1838195377011581,-0.14583514826843258,0.71338606911949],"aabb_xy":[[-0.19644632498835446,-0.15538122197000548],[-0.17119275041396176,-0.13628907456685968]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.025003639692299573,-2.1668604340257307,0.71338606911949],"aabb_xy":[[-0.034996360903716606,-2.2216729065709537],[0.08500364028831575,-2.1120479614805068]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.44373922427800216,-0.013453764537158186,0.71338606911949],"aabb_xy":[[-0.4937392252971375,-0.049919980274986134],[-0.39373922325886695,0.023012451200669755]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.31093176595368877,0.8193858196632307,0.71338606911949],"aabb_xy":[[0.25093176431076686,0.7673856703712866],[0.37093176759661056,0.871385968955175]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.6405072103269278,1.4675924575743475,0.71338606911949],"aabb_xy":[[0.6055072104309089,1.4592182220624075],[0.6755072102229467,1.4759666930862876]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.06379186873607512,1.267011603812592,0.71338606911949],"aabb_xy":[[0.0462918684767385,1.2529200616238196],[0.08129186899541176,1.2811031460013649]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.25769367841061736,0.13351277650989735,0.71338606911949],"aabb_xy":[[-0.2751936786556667,0.11601298867033048],[-0.24019367816556794,0.15101256434946417]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[-0.5445192577066684,-0.733310282409247,0.71338606911949],"aabb_xy":[[-0.5801484136066282,-0.7689429491661001],[-0.5088901018067087,-0.6976776156523942]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[-0.3417865822358421,1.036057420750708,0.71338606911949],"aabb_xy":[[-0.35235406189394103,1.0255123906376995],[-0.331219102577743,1.0466024508637166]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[-0.38846427057355637,-1.0749148999099047,0.71338606911949],"aabb_xy":[[-0.4259642691491772,-1.0876511955734625],[-0.35096427199793556,-1.0621786042463466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6689840550364107,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4394.png","name":"4394"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4394.png","name":"4394"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9854.png","name":"9854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7793.png","name":"7793"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/622.png","name":"622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5784.png","name":"5784"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":562.3596418074397,"rotation_z_degrees":73.19526897791053,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002394653626216249,-0.004380454682854586,-0.019805917795364114]},{"name":"camera_2","offset_m":[0.01686807289621158,-0.008468193455440308,-0.004759690225842128]},{"name":"camera_3","offset_m":[-0.009392041564786275,-0.014539678927980897,-0.008065901713060368]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010221083649290992,-0.00026366362532523617,0.0006470040448868231],"end_effector_yaw_offset_degrees":0.9982554480171995},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007214556452348907,-0.0017656760737259326,0.001346073843621583],"end_effector_yaw_offset_degrees":0.3837431902472861},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010490181872289588,0.0010449800825746047,0.001615924043593205],"end_effector_yaw_offset_degrees":-0.47974225282981164},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005373273172007784,-0.001901487485689449,-0.0013122417616311082],"end_effector_yaw_offset_degrees":-0.7747852065426728},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011913004248519689,-8.898050177672846e-05,0.000883957776781707],"end_effector_yaw_offset_degrees":0.46692422031223924},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014770278571470757,-0.00013021320113055786,-0.0019772657249959367],"end_effector_yaw_offset_degrees":0.8203543819071244}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028348413462216853,-8.786769542821864e-05],"position_m":[0.2760348413462217,-0.018887867695428218,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037715332456052034,0.0009899831679444793],"position_m":[0.2182284667543948,-0.39311001683205554,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002994146633301972,-0.001074490256794386],"position_m":[0.279094146633302,0.3158255097432056,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017409362715037082,-0.002799201954454074],"position_m":[0.30085906372849625,0.10470079804554593,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9b409a762e7f2847eca424200fbebdfb9aa6b23d13bff6489ecdbf7f8d688f50","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4394/tex_ceiling_textures_5784/tex_floor_textures_622/tex_table_textures_9854/tex_wall_textures_7793","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3198663908794699223,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3198663908794699223,"visual_seed":3198663908794699223,"scene_id":"lab_003","finished_at":"2026-09-08T13:27:18"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T13:45:26","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.48665701716929677,0.12749820330663075,0.71338606911949],"aabb_xy":[[-0.5276749605556676,0.07749820267567342],[-0.44563907378292594,0.17749820393758808]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.17624331636619361,-1.26543694343739,0.71338606911949],"aabb_xy":[[-0.18015718956161614,-1.2741859588439466],[-0.1723294431707711,-1.256687928030833]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.4821088484483662,-2.5352319641970626,0.71338606911949],"aabb_xy":[[-0.4884209479847047,-2.5409989034502813],[-0.47579674891202783,-2.529465024943844]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.10904001844410449,0.06350829756873067,0.71338606911949],"aabb_xy":[[-0.1465400187362793,0.05946682216812707],[-0.07154001815192969,0.06754977296933426]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.6909981791581865,-1.1915645764746798,0.71338606911949],"aabb_xy":[[0.6575190118971456,-1.2250436898457868],[0.7244773464192275,-1.1580854631035729]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.38321645732625687,-0.22430280995301244,0.71338606911949],"aabb_xy":[[0.36976993069221353,-0.23777266160610366],[0.3966629839603002,-0.2108329582999212]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.07721613511006042,-1.0392345641009677,0.71338606911949],"aabb_xy":[[-0.11471613590205587,-1.045602405059158],[-0.03971613431806498,-1.0328667231427775]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.19138826057435576,0.36617456585982566,0.71338606911949],"aabb_xy":[[-0.21356078755100658,0.3439988987037025],[-0.16921573359770492,0.3883502330159488]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.3122663628389133,-1.7531097838542506,0.71338606911949],"aabb_xy":[[0.2472663649572655,-1.8042334475607917],[0.37726636072056113,-1.70198612014771]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.4995703730314125,0.9644017240546532,0.71338606911949],"aabb_xy":[[0.49186718235733545,0.9566923533559152],[0.5072735637054895,0.9721110947533912]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[0.20336905639363168,0.761952238078659,0.71338606911949],"aabb_xy":[[0.17836905646111378,0.7550695698577358],[0.22836905632614957,0.7688349062995824]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.5722246706995396,-2.3602616639417486,0.71338606911949],"aabb_xy":[[-0.6522184942780979,-2.4402616665345906],[-0.4922308471209814,-2.2802616613489075]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[0.3443201539982723,-1.9212236323753897,0.71338606911949],"aabb_xy":[[0.3406168926691334,-1.9249256506841073],[0.3480234153274112,-1.9175216140666718]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[-0.631478053337158,-0.8931769670762171,0.71338606911949],"aabb_xy":[[-0.6359086826919983,-0.8986253388108998],[-0.6270474239823179,-0.8877285953415346]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.47395761970698014,-0.9139106962791808,0.71338606911949],"aabb_xy":[[0.4289576182407513,-0.9589105531406615],[0.518957621173209,-0.8689108394177002]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.09262848993794981,-1.6830891455220844,0.71338606911949],"aabb_xy":[[0.08254678285937632,-1.763089143414199],[0.10271019701652327,-1.6030891476299698]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.12128763401997167,-1.5428970088857354,0.71338606911949],"aabb_xy":[[-0.1852876362403787,-1.5872700930110237],[-0.05728763179956464,-1.4985239247604472]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.4937962797859319,-1.1144124773523112,0.71338606911949],"aabb_xy":[[0.456296281210311,-1.127148773015869],[0.5312962783615526,-1.101676181688753]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.5517316615450045,-1.6179009198015895,0.71338606911949],"aabb_xy":[[-0.5892316614887709,-1.6261940098364258],[-0.5142316616012381,-1.6096078297667527]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.11463784975862279,-0.9796679151171455,0.71338606911949],"aabb_xy":[[0.08086229056792982,-0.9937064103303104],[0.14841340894931576,-0.9656294199039803]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[0.5840535699724474,-0.29075720296934016,0.71338606911949],"aabb_xy":[[0.5340585590129954,-0.34075720200493187],[0.6340485809318994,-0.24075720393374844]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[0.10833896801251774,-0.6508816325500468,0.71338606911949],"aabb_xy":[[0.07587726713059027,-0.6810144646649494],[0.14080066889444517,-0.6207488004351442]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.014345133049494585,-2.465773003779009,0.71338606911949],"aabb_xy":[[-0.057111839928914776,-2.5297730072008116],[0.028421573829925606,-2.4017730003572066]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[0.3918223537068941,-1.4826985412566642,0.71338606911949],"aabb_xy":[[0.31182235674385494,-1.5597741829004377],[0.4718223506699333,-1.4056228996128908]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[0.01306335934726055,-2.0570758813023433,0.71338606911949],"aabb_xy":[[0.005439091257082304,-2.064709104838887],[0.020687627437438794,-2.0494426577657996]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[0.20476430229542708,-2.2181225728495604,0.71338606911949],"aabb_xy":[[0.12476430370810764,-2.2974381747877213],[0.28476430088274646,-2.1388069709113995]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_26","position":[0.5207428183492375,1.4894189095959054,0.71338606911949],"aabb_xy":[[0.4567428169412469,1.4376299580719805],[0.5847428197572282,1.5412078611198299]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_27","position":[-0.4156684861170948,-1.6880546708396693,0.71338606911949],"aabb_xy":[[-0.4956684840978798,-1.6956562118015215],[-0.3356684881363097,-1.6804531298778176]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[-0.38841633662265684,1.6951355272029676,0.71338606911949],"aabb_xy":[[-0.43841116955059845,1.6451355283077238],[-0.33842150369471524,1.7451355260982109]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_29","position":[-0.2551349591050489,-2.368163104188991,0.71338606911949],"aabb_xy":[[-0.3191349611547809,-2.4082575872782988],[-0.1911349570553169,-2.328068621099683]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_30","position":[0.38699514417092673,0.6756347611363096,0.71338606911949],"aabb_xy":[[0.36449600844469976,0.6531347603580466],[0.4094942798971537,0.6981347619145726]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_31","position":[-0.020162464643807887,1.403510065184026,0.71338606911949],"aabb_xy":[[-0.03707319708014965,1.3900378595914111],[-0.003251732207466103,1.4169822707766404]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_32","position":[-0.23264774686550538,-1.019327350424776,0.71338606911949],"aabb_xy":[[-0.2407754350588186,-1.0282409588354837],[-0.22452005867219216,-1.0104137420140682]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_33","position":[0.1703525542861739,1.6148296232175654,0.71338606911949],"aabb_xy":[[0.10635255499200569,1.5508434828487114],[0.23435255358034213,1.6788157635864198]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_34","position":[-0.35911818350618624,0.26351926878652643,0.71338606911949],"aabb_xy":[[-0.39411818269900445,0.25255222278886374],[-0.3241181843133679,0.274486314784189]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6725415725330551,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8561.png","name":"8561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8561.png","name":"8561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2461.png","name":"2461"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4323.png","name":"4323"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7078.png","name":"7078"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3747.png","name":"3747"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":787.0051267810018,"rotation_z_degrees":252.64188243869646,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018151051333504396,0.0021102305274298024,-0.009532379345887377]},{"name":"camera_2","offset_m":[-0.004887655322111151,-0.017580888773852374,-0.006376993018735866]},{"name":"camera_3","offset_m":[-0.000595080327525515,0.018877760677116797,-0.004103394859009124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006853491798800297,-0.00022158026164710424,-0.0001229628639890356],"end_effector_yaw_offset_degrees":0.08977249569299306},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014013758427397277,0.00043982585612318496,0.0008194615124762191],"end_effector_yaw_offset_degrees":-0.9649316324856898},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00026712063934877014,-0.00013389774982152497,0.0015368340990107496],"end_effector_yaw_offset_degrees":-0.2962336435898174},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017289855485954188,-0.0006864695851044526,0.0008993532835346331],"end_effector_yaw_offset_degrees":-0.5346707509430835},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005002305775164036,-0.0009120343753440854,0.0007288491821703523],"end_effector_yaw_offset_degrees":0.6302697537959348},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[7.467599872239966e-05,-0.00022602059296354584,0.001932256968240684],"end_effector_yaw_offset_degrees":-0.06296358060334817}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001484686783083733,-0.0027731883655562973],"position_m":[0.2746846867830837,-0.021573188365556297,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00032040293427852435,0.0005757141465399995],"position_m":[0.22232040293427852,-0.39352428585346,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0033580823567742465,0.0010593339526945049],"position_m":[0.2794580823567743,0.31795933395269455,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010196975974985038,-0.004365737490105188],"position_m":[0.3015803024025015,0.10313426250989481,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"624c878c78b66442035f1c01ff551bfa70e89a1f1fe37db35534cce112a5e5f0","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8561/tex_ceiling_textures_3747/tex_floor_textures_7078/tex_table_textures_2461/tex_wall_textures_4323","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8494349199450089163,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8494349199450089163,"visual_seed":8494349199450089163,"scene_id":"lab_003","finished_at":"2026-09-08T13:53:16"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T14:28:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.16972114024960772,0.6412090133488495,0.71338606911949],"aabb_xy":[[-0.1933062637135026,0.5762090111034178],[-0.1461360167857129,0.7062090155942814]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.3356134621078761,-0.8396871181200951,0.71338606911949],"aabb_xy":[[0.3269154998171608,-0.8518120924275697],[0.34431142439859136,-0.8275621438126203]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.37777481526563217,-2.3378728368487014,0.71338606911949],"aabb_xy":[[-0.38598936038131604,-2.346549427146342],[-0.3695602701499481,-2.329196246551059]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.5749199863567463,-0.27360375870392417,0.71338606911949],"aabb_xy":[[-0.6649199857751172,-0.30697925554811384],[-0.48491998693837546,-0.2402282618597344]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.6727454708878484,-0.30417946627403714,0.71338606911949],"aabb_xy":[[0.6449004341072412,-0.3349639650123488],[0.7005905076684554,-0.27339496753572545]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[-0.5212789973994296,-1.3294991602458688,0.71338606911949],"aabb_xy":[[-0.5812789976508307,-1.3837804852823334],[-0.46127899714802834,-1.2752178352094041]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[-0.09640091654161298,0.4654084323129508,0.71338606911949],"aabb_xy":[[-0.18640091513608292,0.4491578459995298],[-0.006400917947143037,0.48165901862637184]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.2515884288174527,1.5624000843675465,0.71338606911949],"aabb_xy":[[0.1615884323165809,1.516488441949088],[0.3415884253183244,1.6083117267860045]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.6919847150041396,-2.209273234397232,0.71338606911949],"aabb_xy":[[0.6873495998519061,-2.21314056947438],[0.6966198301563729,-2.2054058993200827]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.3733910760602016,1.8111214555561275,0.71338606911949],"aabb_xy":[[-0.3839585557183006,1.800576425443119],[-0.3628235964021026,1.821666485669136]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.5102813381561031,-1.4338100118980253,0.71338606911949],"aabb_xy":[[0.4877813383422007,-1.4382846282685062],[0.5327813379700055,-1.4293353955275447]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.2673027188945593,-0.40420264404513473,0.71338606911949],"aabb_xy":[[-0.3083206622809302,-0.45420264467609206],[-0.22628477550818843,-0.3542026434141774]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.3214867045501895,-0.185022526148797,0.71338606911949],"aabb_xy":[[-0.3341134918373858,-0.19456859985036987],[-0.3088599172629931,-0.17547645244722407]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[0.357623697760888,-2.2207869071247996,0.71338606911949],"aabb_xy":[[0.3077410008831918,-2.2707869063710744],[0.40750639463858424,-2.170786907878525]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.21063088071349034,-1.099258487224887,0.71338606911949],"aabb_xy":[[-0.2182551488036686,-1.106891710761431],[-0.20300661262331213,-1.0916252636883435]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.0389821700002011,0.9740731781089105,0.71338606911949],"aabb_xy":[[-0.049887946087763806,0.8940731817100813],[-0.02807639391263838,1.0540731745077396]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[0.5944129933053546,0.461180781429654,0.71338606911949],"aabb_xy":[[0.5725232457164137,0.3711807841404049],[0.6163027408942953,0.5511807787189031]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.3077095098090417,-2.265775581772105,0.71338606911949],"aabb_xy":[[-0.3195815928205428,-2.3507755814657547],[-0.2958374267975406,-2.180775582078454]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.1900153835259626,-1.4838456314241406,0.71338606911949],"aabb_xy":[[-0.23983216299079735,-1.533845629908444],[-0.14019860406112783,-1.4338456329398372]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[-0.519376798827923,1.616010880036494,0.71338606911949],"aabb_xy":[[-0.5258784353359277,1.6062430580101845],[-0.5128751623199185,1.625778702062804]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6730108542742672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5940.png","name":"5940"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5940.png","name":"5940"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7762.png","name":"7762"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9130.png","name":"9130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2340.png","name":"2340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6302.png","name":"6302"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":811.1672372741789,"rotation_z_degrees":95.03989215152461,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000819035841901794,-0.010692895013236576,-0.004289426250417058]},{"name":"camera_2","offset_m":[0.011554356332958548,0.010486163765829871,0.010916089126037379]},{"name":"camera_3","offset_m":[0.00624061112280469,0.016149699753431664,-0.015478414631764706]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008750999268974495,-0.0003421505672489497,-0.001788603721050004],"end_effector_yaw_offset_degrees":0.43041916774006483},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00025279530771719384,-0.000760253792709698,0.0011830455335616083],"end_effector_yaw_offset_degrees":0.17924745280948473},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00026561141340663034,-0.00044485918620604725,-0.0017991807188227917],"end_effector_yaw_offset_degrees":0.4757217197057362},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00191171280749791,-6.734098161413453e-06,-0.0017065974533613663],"end_effector_yaw_offset_degrees":-0.57334352847129},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0013795886916312529,0.0008160250707692136,-0.0013221704286383168],"end_effector_yaw_offset_degrees":0.37621717231545304},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001190895720602924,0.0010323637956226152,-0.0001940304660360886],"end_effector_yaw_offset_degrees":0.6639511752981442}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023586703786342587,-0.0022882606276314276],"position_m":[0.27555867037863424,-0.021088260627631427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.462664657166036e-05,-0.0005378191525424788],"position_m":[0.22209462664657167,-0.3946378191525425,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0001440429459522918,-0.002641262728886036],"position_m":[0.2762440429459523,0.314258737271114,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003879864395720573,-0.0023337163807461325],"position_m":[0.2987201356042794,0.10516628361925387,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7d3bfe89ab2b0d87a75d441e0779430e41815d6e848f087388b415a2f3a00454","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5940/tex_ceiling_textures_6302/tex_floor_textures_2340/tex_table_textures_7762/tex_wall_textures_9130","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5573228811827087800,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5573228811827087800,"visual_seed":5573228811827087800,"scene_id":"lab_003","finished_at":"2026-09-08T14:36:40"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T14:46:15","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.627788817117398,-2.287004529903705,0.71338606911949],"aabb_xy":[[0.5927888172213791,-2.2953787654156446],[0.6627888170134169,-2.2786302943917645]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.6370209231680151,-1.5018398064093108,0.71338606911949],"aabb_xy":[[-0.6546965537566133,-1.5195200226887133],[-0.6193452925794166,-1.4841595901299078]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[-0.2929377969660971,-1.9212606277472277,0.71338606911949],"aabb_xy":[[-0.35693779626026534,-1.985246768116082],[-0.2289377976719289,-1.8572744873783735]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.2833429523231159,-1.3498709562392073,0.71338606911949],"aabb_xy":[[0.2033429536662299,-1.3643758151634697],[0.3633429509800019,-1.3353660973149444]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.14713904335632044,-1.677112657647422,0.71338606911949],"aabb_xy":[[-0.15484223403039749,-1.68482202834616],[-0.1394358526822434,-1.6694032869486837]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.4238514236345528,0.8468044895681386,0.71338606911949],"aabb_xy":[[-0.48385142348111954,0.7899858673750999],[-0.36385142378798596,0.9036231117611773]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.6460639260300771,1.2616847735806171,0.71338606911949],"aabb_xy":[[-0.6685639255537844,1.2391888261299961],[-0.6235639265063696,1.2841807210312377]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[0.6352083380286913,-1.6804249430365121,0.71338606911949],"aabb_xy":[[0.6291713250280265,-1.686451644105461],[0.641245351029356,-1.6743982419675643]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[0.506167653164771,1.5421946998095826,0.71338606911949],"aabb_xy":[[0.42616765600519557,1.5306470988517653],[0.5861676503243461,1.5537423007673994]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[0.435596150370944,0.4991622845169861,0.71338606911949],"aabb_xy":[[0.39809614918615116,0.49474406182092556],[0.47309615155573675,0.5035805072130466]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[-0.5886597922025399,-2.209082180263993,0.71338606911949],"aabb_xy":[[-0.6736597906199632,-2.293956475726278],[-0.5036597937851167,-2.124207884801708]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.158558922599071,1.4321001399873219,0.71338606911949],"aabb_xy":[[-0.20853633946432454,1.3821001384980731],[-0.10858150573381738,1.4821001414765702]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[-0.6432104677195518,-0.2766099794984376,0.71338606911949],"aabb_xy":[[-0.6732021304534219,-0.3066099788352381],[-0.6132188049856813,-0.24660998016163704]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.4082818380962945,-1.5454721846262829,0.71338606911949],"aabb_xy":[[0.3282818376260786,-1.5537828922406316],[0.48828183856651053,-1.537161477011935]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[0.28780454647721776,-1.6213071833081663,0.71338606911949],"aabb_xy":[[0.25030454612899,-1.6330985788892496],[0.3253045468254455,-1.6095157877270825]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.0647235896780296,-1.9684531136806462,0.71338606911949],"aabb_xy":[[0.00972359005628376,-2.023436806468119],[0.11972358929977545,-1.9134694208931737]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.4767288651404252,-2.3722855011588453,0.71338606911949],"aabb_xy":[[-0.5105044243311181,-2.38632399637201],[-0.4429533059497322,-2.3582470059456804]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[-0.5660376588733038,-0.05993509329076119,0.71338606911949],"aabb_xy":[[-0.6300376620919418,-0.10665820518976954],[-0.5020376556546661,-0.01321198139175283]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.3067884551379072,-0.24631415851424165,0.71338606911949],"aabb_xy":[[-0.38678845730066963,-0.3262693421403853],[-0.22678845297514466,-0.16635897488809803]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.11025522957085998,1.6986277197518134,0.71338606911949],"aabb_xy":[[-0.13547606643069962,1.6734039688989262],[-0.0850343927110203,1.7238514706046997]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.1695598866844088,0.6963235720364263,0.71338606911949],"aabb_xy":[[-0.21455988815063767,0.6513237151749456],[-0.12455988521817996,0.7413234288979069]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.4044396214075845,1.2645979339967601,0.71338606911949],"aabb_xy":[[-0.4522457890213531,1.1995979312897012],[-0.35663345379381584,1.329597936703819]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.5913357434515057,-2.009130292946578,0.71338606911949],"aabb_xy":[[-0.6286670199767485,-2.0437833477414302],[-0.5540044669262633,-1.9744772381517257]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.29170122514406116,1.6654832277874179,0.71338606911949],"aabb_xy":[[0.2416037611629876,1.601483227277606],[0.34179868912513484,1.7294832282972297]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[0.629355290226689,-0.5098110965546563,0.71338606911949],"aabb_xy":[[0.6185823163053211,-0.5448110947736954],[0.6401282641480567,-0.4748110983356174]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.056020654601440456,-1.6758761440683823,0.71338606911949],"aabb_xy":[[-0.06687226085031606,-1.686735434796033],[-0.04516904835256485,-1.665016853340731]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701752237517262,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1685.png","name":"1685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1685.png","name":"1685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6876.png","name":"6876"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/831.png","name":"831"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3424.png","name":"3424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":811.0477713361079,"rotation_z_degrees":297.40063921546886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008027175248151854,0.003925273377359616,0.007187876238009632]},{"name":"camera_2","offset_m":[0.01682440336491722,0.005464109062499431,-0.01046450617434683]},{"name":"camera_3","offset_m":[0.017604951680255495,0.013154398126937656,-0.014442868434911786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011838118935897084,-0.0015560499194584288,0.0013440625928383782],"end_effector_yaw_offset_degrees":-0.7374522853931285},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00027720993816010824,0.0007500324716168526,0.0013319797994222832],"end_effector_yaw_offset_degrees":-0.4891507237064896},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008882635293591976,-9.4728468481616e-05,0.0007065492326482426],"end_effector_yaw_offset_degrees":-0.17170749491533033},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018855687750754329,-0.0003065127075830487,-0.0011978886784680324],"end_effector_yaw_offset_degrees":-0.9256325680349091},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005283890273435499,0.001980287394940495,0.0010712265387937086],"end_effector_yaw_offset_degrees":-0.7009943711160711},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012470241791035772,0.0014702600504199613,-0.0010030691442087893],"end_effector_yaw_offset_degrees":0.9894225700429617}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011686819403458884,-0.001649998416341598],"position_m":[0.27436868194034586,-0.020449998416341597,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016597487978449576,0.0018755538049173483],"position_m":[0.22034025120215506,-0.3922244461950827,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004265513504439861,-0.0004711042843611249],"position_m":[0.2803655135044399,0.31642889571563887,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001822775783347494,-0.0013625461407479078],"position_m":[0.3044227757833475,0.10613745385925209,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6344f88dbc2e69674ed1345b47dcc5912f1b5f47f8e230b6476a63104118adb1","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1685/tex_ceiling_textures_1170/tex_floor_textures_3424/tex_table_textures_6876/tex_wall_textures_831","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2967684052992366070,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2967684052992366070,"visual_seed":2967684052992366070,"scene_id":"lab_003","finished_at":"2026-09-08T14:54:10"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T15:20:59","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.32792036925784274,-0.662175281304163,0.71338606911949],"aabb_xy":[[0.31598763489601467,-0.6745574341120224],[0.3398531036196708,-0.6497931284963037]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.029765735929594306,1.1341067789592199,0.71338606911949],"aabb_xy":[[0.018859959842031596,1.0541067825603905],[0.04067151201715702,1.2141067753580488]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.3433452329564928,-0.379026488750418,0.71338606911949],"aabb_xy":[[0.33684359644848816,-0.3887943107767278],[0.3498468694644974,-0.36925866672410823]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[0.43927777318290984,-0.7623971890047141,0.71338606911949],"aabb_xy":[[0.4311500849895966,-0.7713107974154217],[0.44740546137622306,-0.7534835805940064]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.6776706993573849,0.46370921394519016,0.71338606911949],"aabb_xy":[[0.6526706998056464,0.45356673008005544],[0.7026706989091234,0.4738516978103249]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.19757661093940615,-1.071398025711686,0.71338606911949],"aabb_xy":[[0.1335766117696362,-1.1181647128306484],[0.2615766101091761,-1.0246313385927235]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.3945619963199667,1.1894308923070596,0.71338606911949],"aabb_xy":[[0.384930360099537,1.1797935795273506],[0.40419363254039625,1.1990682050867685]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.3192603757432242,0.6212348924366964,0.71338606911949],"aabb_xy":[[0.2740890578950552,0.557234895292158],[0.36443169359139316,0.6852348895812348]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.47910243139414566,-0.3921608884269161,0.71338606911949],"aabb_xy":[[0.3991024309239298,-0.40047159604126453],[0.5591024318643616,-0.3838501808125678]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[0.04434533181631628,1.7560821433168674,0.71338606911949],"aabb_xy":[[0.009345332623498001,1.7451150973192047],[0.07934533100913453,1.7670491893145297]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.061664596456761256,-1.0782402107562465,0.71338606911949],"aabb_xy":[[-0.06700217212276582,-1.1032402116853866],[-0.05632702079075669,-1.053240209827107]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.31584407437877116,1.3474604142375668,0.71338606911949],"aabb_xy":[[0.27834407420689916,1.3147596788546594],[0.35334407455064304,1.3801611496204738]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.4752079587881759,-2.113051957369482,0.71338606911949],"aabb_xy":[[-0.5648950350962914,-2.203051957623933],[-0.38552088248006045,-2.023051957115032]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[0.32347004314584704,-2.3717830776362097,0.71338606911949],"aabb_xy":[[0.2859700424812682,-2.3874701356364314],[0.36097004381042563,-2.356096019635987]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[0.13301993040156135,-0.8999593131072345,0.71338606911949],"aabb_xy":[[0.12577616435531602,-0.9799593113108368],[0.14026369644780667,-0.819959314903632]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.2730651813968743,1.1381361387620545,0.71338606911949],"aabb_xy":[[0.250565181386726,1.1240399191224513],[0.2955651814070226,1.1522323584016578]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.3982305272325817,-1.7645390829007557,0.71338606911949],"aabb_xy":[[0.3332305290766626,-1.7908353274506679],[0.46323052538850074,-1.7382428383508435]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.027414500885859616,-2.0730838569788865,0.71338606911949],"aabb_xy":[[0.02329855077378695,-2.077199412011732],[0.03153045099793228,-2.068968301946041]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.5793440598383479,-0.7164500493848587,0.71338606911949],"aabb_xy":[[-0.6369745287256187,-0.776450048311569],[-0.5217135909510769,-0.656450050458148]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.5918017584222957,-1.47749696526247,0.71338606911949],"aabb_xy":[[0.5278017611199493,-1.5218633922303266],[0.655801755724642,-1.4331305382946131]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[0.5411110157649988,1.455970246758835,0.71338606911949],"aabb_xy":[[0.5306994570845149,1.4506245134229365],[0.5515225744454824,1.4613159800947333]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[-0.29457037943003667,-1.3366838634601703,0.71338606911949],"aabb_xy":[[-0.3745703763930758,-1.4137595051039438],[-0.21457038246699744,-1.2596082218163969]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[0.37944034582868436,-0.8516690791592709,0.71338606911949],"aabb_xy":[[0.36157123807422886,-0.865501987136482],[0.39730945358313985,-0.8378361711820601]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[-0.08161932435223596,-1.6003196009344216,0.71338606911949],"aabb_xy":[[-0.11161098708610627,-1.6303196002712221],[-0.051627661618365614,-1.570319601597621]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_24","position":[-0.4962915322058462,1.73847492181527,0.71338606911949],"aabb_xy":[[-0.5602915286331681,1.6913052979931738],[-0.4322915357785243,1.7856445456373666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6717600549226023,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7296.png","name":"7296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7296.png","name":"7296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7036.png","name":"7036"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4242.png","name":"4242"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1797.png","name":"1797"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":672.1408514088404,"rotation_z_degrees":285.26996968817116,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015580606543917273,-0.01467473607750356,0.018438559005858512]},{"name":"camera_2","offset_m":[0.006392225754493858,-0.013434949057295267,-0.0023761817569392003]},{"name":"camera_3","offset_m":[-0.01904726820508231,0.017044716644284193,0.0036940764201064194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00042458179502948565,-0.00032201031320259295,-0.0011536952680012153],"end_effector_yaw_offset_degrees":-0.5250033818313253},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001455435222457369,-0.00032627947822970243,-0.0012683486835403488],"end_effector_yaw_offset_degrees":-0.46872728947153885},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006669628452494678,-0.0011070365982141608,-0.0018191324432700476],"end_effector_yaw_offset_degrees":0.2632213013538929},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010504952783809314,-0.0011536137512838925,0.0012617613338827185],"end_effector_yaw_offset_degrees":-0.6891735237462158},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001968039816889708,-0.00048102554618797825,0.00036871889958274735],"end_effector_yaw_offset_degrees":0.2771511135304576},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006490137032887594,0.00014096017058470118,-0.0015044293311898046],"end_effector_yaw_offset_degrees":-0.4586184114956795}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002710491888331225,0.004368517600856165],"position_m":[0.27347104918883314,-0.014431482399143835,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031277246279278327,-0.002838204768263315],"position_m":[0.21887227537207218,-0.3969382047682633,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004557011008263883,-0.0035713978717477014],"position_m":[0.2806570110082639,0.3133286021282523,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003330210876012689,-0.004996051007670236],"position_m":[0.2992697891239873,0.10250394899232976,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"d0c85ac64fbeb337541fd2eab5916ffd7a61f4427266b7d30216a1453f52a1ae","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0018.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7296/tex_ceiling_textures_1797/tex_floor_textures_4242/tex_table_textures_4870/tex_wall_textures_7036","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3511173772717065737,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3511173772717065737,"visual_seed":3511173772717065737,"scene_id":"lab_003","finished_at":"2026-09-08T15:29:09"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T15:47:16","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.46214002864617176,-2.220781425588571,0.71338606911949],"aabb_xy":[[-0.47971833083511856,-2.238355915162676],[-0.44456172645722486,-2.203206936014466]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.15563702024814363,0.9537798113277152,0.71338606911949],"aabb_xy":[[0.15150116391544347,0.9162798118833584],[0.15977287658084385,0.9912798107720724]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.6015689209999237,1.5862637586870885,0.71338606911949],"aabb_xy":[[-0.6112005572203532,1.5766264459073793],[-0.5919372847794939,1.5959010714667972]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.1615025827193256,0.4349842873469254,0.71338606911949],"aabb_xy":[[-0.1844182956043755,0.41207999021050196],[-0.1385868698342757,0.45788858448334896]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.5011630060913369,0.23173204708290607,0.71338606911949],"aabb_xy":[[-0.556155256726848,0.1767320453395933],[-0.4461707554558261,0.28673204882621883]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.37826803236658574,0.5320816553595993,0.71338606911949],"aabb_xy":[[-0.4195725754303217,0.4680816557914822],[-0.33696348930284975,0.5960816549277164]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.0920297686419187,-2.1466792232904957,0.71338606911949],"aabb_xy":[[-0.17202976911213463,-2.154989930904844],[-0.012029768171702749,-2.1383685156761474]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.6451583009676674,0.6500877040262605,0.71338606911949],"aabb_xy":[[-0.6801582992377873,0.6430135763312722],[-0.6101583026975474,0.6571618317212485]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[-0.34406841450350517,0.8544027887005878,0.71338606911949],"aabb_xy":[[-0.34952636014052524,0.7744027853929287],[-0.3386104688664851,0.9344027920082469]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[0.6374223190371109,0.4731678258968097,0.71338606911949],"aabb_xy":[[0.6248196199000344,0.4605724296719443],[0.6500250181741873,0.4857632221216753]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.5846751782406443,1.445586047554292,0.71338606911949],"aabb_xy":[[0.5782613645974592,1.4391762273066235],[0.5910889918838291,1.4519958678019602]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.638949950532162,-2.3498773443112912,0.71338606911949],"aabb_xy":[[-0.6884303717461208,-2.413877342224143],[-0.5894695293182032,-2.2858773463984394]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.31369470094802887,-2.2552139385160803,0.71338606911949],"aabb_xy":[[0.3019265141533714,-2.3402139384213023],[0.32546288774268645,-2.170213938610859]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.1965505737047264,1.5522463071433559,0.71338606911949],"aabb_xy":[[0.1798734377116309,1.5355463831694254],[0.2132277096978219,1.568946231117286]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.03468697465088588,0.7522656836168524,0.71338606911949],"aabb_xy":[[-0.04231124274106413,0.7446324600803087],[-0.027062706560707646,0.7598989071533963]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.151297044369339,1.6456536201414464,0.71338606911949],"aabb_xy":[[-0.20531264065123897,1.5816536172491888],[-0.09728144808743897,1.7096536230337032]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.5213724674435841,-2.3723781685447296,0.71338606911949],"aabb_xy":[[-0.5357068925697476,-2.3844383840992687],[-0.5070380423174207,-2.3603179529901914]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[0.28161975457649846,-1.7639515896035425,0.71338606911949],"aabb_xy":[[0.22161975472993167,-1.8207702117965812],[0.34161975442306525,-1.7071329674105038]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.20092113260086752,-2.298887706618735,0.71338606911949],"aabb_xy":[[-0.26592113355799474,-2.3508359185524403],[-0.1359211316437403,-2.246939494685029]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.3196516381309027,0.5148226562872065,0.71338606911949],"aabb_xy":[[0.28465163815440686,0.5053580402395899],[0.3546516381073985,0.5242872723348231]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6781092929317282,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7326.png","name":"7326"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7326.png","name":"7326"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7530.png","name":"7530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9787.png","name":"9787"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1480.png","name":"1480"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":685.0753599791472,"rotation_z_degrees":311.4504605021959,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01459131614988089,0.015393805226015866,-0.013343942947887832]},{"name":"camera_2","offset_m":[-0.017009707338647984,0.015722246278165767,0.017014722713902895]},{"name":"camera_3","offset_m":[0.0033269270319651115,-0.013719857128800764,0.017615967899267896]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014580732846759927,-0.0010988814583894402,0.0010352298643940116],"end_effector_yaw_offset_degrees":0.410363737720957},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005937771780595723,0.0011528331965661946,-0.0005578068000241187],"end_effector_yaw_offset_degrees":-0.0376587339430734},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016123303824771835,-0.00035220375431736805,0.0015536804293578665],"end_effector_yaw_offset_degrees":-0.05018445121358606},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013862387932828076,0.0006681948442654995,-0.0011862795190630392],"end_effector_yaw_offset_degrees":-0.5607296881443458},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001860030261736193,-0.000570804704738765,0.0019060668787116365],"end_effector_yaw_offset_degrees":-0.8238022549780655},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0007839769317501805,0.0018876912181295998,-0.0016023305471965822],"end_effector_yaw_offset_degrees":0.7064143825893798}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00033106431767344555,6.366053198053265e-05],"position_m":[0.27286893568232656,-0.018736339468019468,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004604847816045788,-0.003001567301668806],"position_m":[0.22660484781604578,-0.3971015673016688,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004706977893367195,-0.0021916856189619204],"position_m":[0.2713930221066328,0.3147083143810381,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004168352621443924,-0.004985371714460374],"position_m":[0.29843164737855604,0.10251462828553963,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"bb2f3fbe4fd85f0889369b939b48220636a774bb5261696bf5311e32d5193cdc","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7326/tex_ceiling_textures_1480/tex_floor_textures_9615/tex_table_textures_7530/tex_wall_textures_9787","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8283492865965783428,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8283492865965783428,"visual_seed":8283492865965783428,"scene_id":"lab_003","finished_at":"2026-09-08T15:55:05"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T16:13:43","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.4481056975490658,-1.5343338243756,0.71338606911949],"aabb_xy":[[0.4383497080398919,-1.5440963584348344],[0.4578616870582397,-1.5245712903163655]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.44317552361978174,-2.5384282641193967,0.71338606911949],"aabb_xy":[[-0.47150523356832197,-2.542889006313114],[-0.4148458136712415,-2.53396752192568]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.1936233674015364,-2.111732714783322,0.71338606911949],"aabb_xy":[[0.14362336704097034,-2.1617127019929243],[0.24362336776210247,-2.0617527275737184]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.13018716089282312,-0.9778339008737622,0.71338606911949],"aabb_xy":[[-0.1394807791299737,-1.015333899361896],[-0.12089354265567254,-0.9403339023856283]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.5028889678628643,1.5843912754516745,0.71338606911949],"aabb_xy":[[-0.5204672700518113,1.5668167858775697],[-0.48531066567391756,1.6019657650257797]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.4917161725188435,-0.7978348401016089,0.71338606911949],"aabb_xy":[[0.411716170356081,-0.8777900237277525],[0.571716174681606,-0.7178796564754653]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.5098052301391163,0.44756160165778924,0.71338606911949],"aabb_xy":[[0.49793314712761516,0.3625616019641389],[0.5216773131506174,0.5325616013514396]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.24105503658024996,0.4599930762488995,0.71338606911949],"aabb_xy":[[0.2314234003598203,0.45035576346919054],[0.2506866728006796,0.4696303890286084]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.4614013601361441,-1.5527027995464942,0.71338606911949],"aabb_xy":[[-0.5254013565634661,-1.5998724233685906],[-0.39740136370882223,-1.5055331757243977]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.29049640130254356,-0.7497948701554398,0.71338606911949],"aabb_xy":[[-0.34451199758444356,-0.8137948730476968],[-0.23648080502064356,-0.6857948672631825]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[-0.3290542431760539,0.484562773438419,0.71338606911949],"aabb_xy":[[-0.3628298023667469,0.470524278225254],[-0.29527868398536095,0.49860126865158405]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.6410884636726482,-0.556898920368476,0.71338606911949],"aabb_xy":[[-0.6588819706075646,-0.5746986659642737],[-0.6232949567377317,-0.5390991747726783]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[0.4414012538766823,1.64507572431198,0.71338606911949],"aabb_xy":[[0.435306625988564,1.6365063297603113],[0.44749588176480065,1.6536451188636487]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.2113838206275528,-0.9741888170218347,0.71338606911949],"aabb_xy":[[0.19981483988061624,-0.9991888171387664],[0.2229528013744894,-0.949188816904903]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.6021024429745201,0.42483970631074897,0.71338606911949],"aabb_xy":[[0.5966444973375,0.3448397030030898],[0.6075603886115402,0.5048397096184081]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.032204475161549784,-2.2857907282206744,0.71338606911949],"aabb_xy":[[-0.12220447749556884,-2.363273082805787],[0.057795527172469274,-2.2083083736355618]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[0.014519786023264647,-1.3068134665391558,0.71338606911949],"aabb_xy":[[-0.05548021578548079,-1.3281672353033431],[0.08451978783201008,-1.2854596977749684]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.11348492768870033,-1.0680230970926834,0.71338606911949],"aabb_xy":[[0.10257915160113762,-1.1480230934915125],[0.12439070377626305,-0.9880231006938542]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[0.13148463881955674,1.0499257908065798,0.71338606911949],"aabb_xy":[[0.07648916099889733,0.9949257893726728],[0.1864801166402161,1.1049257922404867]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.5051661551354261,-1.879429422332799,0.71338606911949],"aabb_xy":[[-0.5153191706895753,-1.915498963905539],[-0.4950131395812766,-1.8433598807600584]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.561748069009065,-1.3218730661600226,0.71338606911949],"aabb_xy":[[0.5117480703631438,-1.371792609819485],[0.6117480676549862,-1.2719535225005603]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.5818566443863618,1.733914537633892,0.71338606911949],"aabb_xy":[[0.5589409315013119,1.7110102404974685],[0.6047723572714117,1.7568188347703155]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.3717842285305031,-0.49627841766273395,0.71338606911949],"aabb_xy":[[0.34928422828698774,-0.5084830523225059],[0.39428422877401853,-0.48407378300296205]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[-0.6657660534840707,-1.9128141544194146,0.71338606911949],"aabb_xy":[[-0.670196682838911,-1.9182625261540973],[-0.6613354241292306,-1.9073657826847323]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[-0.19814542446475947,1.1704880355398841,0.71338606911949],"aabb_xy":[[-0.26814542087472115,1.150050099888202],[-0.12814542805479762,1.1909259711915654]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.1392123778351153,-0.6584404336884366,0.71338606911949],"aabb_xy":[[0.1319300614584516,-0.7484404372979454],[0.1464946942117789,-0.5684404300789274]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[-0.3973266133784723,1.2063799269496371,0.71338606911949],"aabb_xy":[[-0.40076728961852953,1.2025184939752727],[-0.3938859371384152,1.2102413599240016]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[-0.592769527862531,-2.513831623668515,0.71338606911949],"aabb_xy":[[-0.6177695270281641,-2.5207838693738718],[-0.5677695286968979,-2.5068793779631586]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704409807764087,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4612.png","name":"4612"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4612.png","name":"4612"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6330.png","name":"6330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6140.png","name":"6140"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2389.png","name":"2389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6260.png","name":"6260"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":559.6370314692582,"rotation_z_degrees":67.33612679142269,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006908844598179208,-0.016981559429893715,-0.009540980175587634]},{"name":"camera_2","offset_m":[0.006607716601884497,-0.015221968741521371,0.007943966645960265]},{"name":"camera_3","offset_m":[0.008899931357481773,0.01726210067091496,0.006381051859105948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010033821829325829,-0.0014906701591116075,0.0016778463689374429],"end_effector_yaw_offset_degrees":0.09362818907236203},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011885233796940457,-0.001097823034736399,0.0010739854471898311],"end_effector_yaw_offset_degrees":-0.03887187712509976},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005451598667772246,-0.00014244390192531234,0.0016302677190525227],"end_effector_yaw_offset_degrees":0.17280867295248825},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00116197052869927,0.0006446542213083086,0.0007782217865999557],"end_effector_yaw_offset_degrees":-0.6374059169296169},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009146614641911237,-0.0012209368403944126,-0.00026292083583469685],"end_effector_yaw_offset_degrees":-0.2853929010702452},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012307378537348124,0.000461794912880586,-0.001641052627074361],"end_effector_yaw_offset_degrees":0.6323992110215892}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013005948745663455,3.0690300706056294e-05],"position_m":[0.27189940512543365,-0.018769309699293944,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015721610661410877,0.0015428827250572189],"position_m":[0.22042783893385892,-0.3925571172749428,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0007848941556273274,0.0033181946551784783],"position_m":[0.2753151058443727,0.3202181946551785,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024647138196185383,0.004587507714755222],"position_m":[0.3050647138196185,0.11208750771475522,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"3c7472a78235b89f7b6e5f138156d8fe3307149d969763f7c9f1986c62c5392a","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4612/tex_ceiling_textures_6260/tex_floor_textures_2389/tex_table_textures_6330/tex_wall_textures_6140","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7238466571292132072,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7238466571292132072,"visual_seed":7238466571292132072,"scene_id":"lab_003","finished_at":"2026-09-08T16:21:33"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T17:15:31","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.3684274795509279,-0.5589025118129678,0.71338606911949],"aabb_xy":[[0.3610150240095394,-0.5647537222345957],[0.37583993509231634,-0.5530513013913398]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.08235550759824051,0.6123626362165697,0.71338606911949],"aabb_xy":[[-0.10690172322099123,0.5821137396675325],[-0.05780929197548979,0.6426115327656067]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.3703962323199803,-1.545252264983712,0.71338606911949],"aabb_xy":[[0.3203962313008451,-1.58171848072154],[0.4203962333391157,-1.5087860492458842]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.35232078892683555,-0.12277990975202435,0.71338606911949],"aabb_xy":[[-0.3694228668852037,-0.1398867152832941],[-0.3352187109684674,-0.10567310422075461]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[0.6421383008367043,-1.7149558105188896,0.71338606911949],"aabb_xy":[[0.6218539981133053,-1.7352384356615982],[0.6624226035601029,-1.6946731853761805]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[-0.3976220934346804,0.8082977365664044,0.71338606911949],"aabb_xy":[[-0.43262209174537586,0.8005827216428588],[-0.36262209512398497,0.8160127514899501]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.5459057043235525,-2.1431423706716974,0.71338606911949],"aabb_xy":[[-0.5634057045686017,-2.160642158511264],[-0.528405704078503,-2.12564258283213]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.15024639975834175,-2.480062873611878,0.71338606911949],"aabb_xy":[[-0.19523898647679216,-2.525062872886327],[-0.10525381303989134,-2.4350628743374294]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.6179238133953219,-2.2747765316438264,0.71338606911949],"aabb_xy":[[-0.6404238129190292,-2.297272479094447],[-0.5954238138716144,-2.2522805841932056]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.5766459305950321,-1.115873416607379,0.71338606911949],"aabb_xy":[[-0.6265286274727283,-1.1658734158536537],[-0.5267632337173359,-1.0658734173611042]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.042432695404426846,-1.3034410334109425,0.71338606911949],"aabb_xy":[[0.027330393943408738,-1.3185425550420036],[0.05753499686544493,-1.2883395117798802]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[0.6111499470851873,0.6881381317921558,0.71338606911949],"aabb_xy":[[0.5761499471891685,0.6797638962802158],[0.6461499469812062,0.6965123673040957]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[0.11212587895160997,-1.2609590538675566,0.71338606911949],"aabb_xy":[[0.10716985876672878,-1.2834590540696784],[0.11708189913649118,-1.2384590536654352]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.3701185797432388,-0.263861250783064,0.71338606911949],"aabb_xy":[[-0.43011858138616066,-0.3158614000750082],[-0.31011857810031696,-0.2118611014911198]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.42820299381732807,-2.296608577385977,0.71338606911949],"aabb_xy":[[-0.4369009561080434,-2.308733551693451],[-0.41950503152661284,-2.2844836030785016]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.6213760255292909,0.5476059854009145,0.71338606911949],"aabb_xy":[[-0.6301572526765273,0.5388262381123844],[-0.612594798382055,0.5563857326894447]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.6608922736922922,0.9762744242055423,0.71338606911949],"aabb_xy":[[0.656461644337452,0.9708260524708598],[0.6653229030471324,0.981722795940225]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.3780313022049937,-1.0446756578901863,0.71338606911949],"aabb_xy":[[-0.4032521390648333,-1.0698994087430727],[-0.352810465345154,-1.0194519070372992]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.4806328706554295,-1.3201183909070364,0.71338606911949],"aabb_xy":[[-0.505632870207168,-1.330260874772171],[-0.455632871103691,-1.3099759070419015]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.04855915059898108,1.6059750842713947,0.71338606911949],"aabb_xy":[[-0.08605915109633933,1.602006400723276],[-0.011059150101622839,1.609943767819513]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.10756028394507855,0.2794832981593358,0.71338606911949],"aabb_xy":[[-0.15756028259099975,0.22956375449987343],[-0.05756028529915734,0.3294028418187982]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.08224424754889736,-2.2224503668997873,0.71338606911949],"aabb_xy":[[0.04369855472369633,-2.260996137955976],[0.1207899403740984,-2.1839045958435985]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.41347201161926994,-1.7513182422316356,0.71338606911949],"aabb_xy":[[-0.4295339390777876,-1.8363182440442272],[-0.3974100841607523,-1.6663182404190435]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.4742758036584118,0.5930763923713309,0.71338606911949],"aabb_xy":[[0.41027580036870365,0.5497414733674132],[0.5382758069481198,0.6364113113752484]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.14111764609440502,-0.34555597765758117,0.71338606911949],"aabb_xy":[[-0.17611764522436069,-0.3513011987332453],[-0.10611764696444936,-0.33981075658191706]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[0.605113583565257,-0.3086459590414652,0.71338606911949],"aabb_xy":[[0.5411135821572662,-0.3604349105653899],[0.6691135849732476,-0.2568570075175405]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[0.4891191401705546,0.29172967184428567,0.71338606911949],"aabb_xy":[[0.4478703291406398,0.23672967233206824],[0.5303679512004692,0.3467296713565031]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_27","position":[-0.509244496433437,0.16646482380940908,0.71338606911949],"aabb_xy":[[-0.5200961026823127,0.15560553308175804],[-0.49839289018456145,0.17732411453706007]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_28","position":[0.6850279869481188,1.3961357413285063,0.71338606911949],"aabb_xy":[[0.6717970414134374,1.3829083223065066],[0.6982589324828,1.4093631603505055]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[0.339131592792008,-1.1399611553153641,0.71338606911949],"aabb_xy":[[0.3158497505938766,-1.2249611566125922],[0.3624134349901393,-1.054961154018136]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701899311961739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1726.png","name":"1726"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1726.png","name":"1726"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4343.png","name":"4343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3231.png","name":"3231"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3763.png","name":"3763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8038.png","name":"8038"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":569.8248111170057,"rotation_z_degrees":96.62064523314064,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019937875969308985,-0.001239184620017944,-0.014613339612897777]},{"name":"camera_2","offset_m":[-0.017599904987152436,-0.016211833638771253,0.003406085037440755]},{"name":"camera_3","offset_m":[-0.007837801771466913,-0.0121822185822213,-0.000402640754869274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001761899420599115,-0.0007748095198795179,0.0013231962100584346],"end_effector_yaw_offset_degrees":0.19339116901761466},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018773310442970976,0.0012495089057800355,0.001992344720816],"end_effector_yaw_offset_degrees":0.9126624908960639},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009640445692848604,-0.0014447329248263615,-0.001208931352776801],"end_effector_yaw_offset_degrees":-0.3523356741772077},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010565140596876651,-0.000441024730235675,0.0009981266772337975],"end_effector_yaw_offset_degrees":-0.6735384892321399},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005980596541501325,-0.0014040854556459613,-0.0006934895738588481],"end_effector_yaw_offset_degrees":-0.9492590054046635},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001626254301377342,0.001684306538280873,0.0013335578124056163],"end_effector_yaw_offset_degrees":-0.6344714555133701}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004902990766474171,-0.0018309890064627421],"position_m":[0.26829700923352584,-0.020630989006462742,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00020915475999270898,0.0044525503703473175],"position_m":[0.2222091547599927,-0.3896474496296527,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0017751229397642153,0.004317873167676632],"position_m":[0.2743248770602358,0.32121787316767664,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00035735936627740404,-0.0022474354762187588],"position_m":[0.3022426406337226,0.10525256452378123,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"304203242bc465232082539f384b406702ed8ebc7eb0ae858a1108fcc1e69ebc","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0031.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1726/tex_ceiling_textures_8038/tex_floor_textures_3763/tex_table_textures_4343/tex_wall_textures_3231","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2435224160976927808,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2435224160976927808,"visual_seed":2435224160976927808,"scene_id":"lab_003","finished_at":"2026-09-08T17:23:13"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T17:50:14","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.5898711444466314,1.4500782369883827,0.71338606911949],"aabb_xy":[[0.5198711426378859,1.4287244682241953],[0.6598711462553768,1.47143200575257]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.16547280718241408,0.39063638244594445,0.71338606911949],"aabb_xy":[[-0.1893090248230192,0.300636381637458],[-0.14163658954180905,0.480636383254431]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.21352026563315502,1.33243696639098,0.71338606911949],"aabb_xy":[[-0.25031489875806123,1.2955310912943978],[-0.17672563250824871,1.3693428414875624]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.19047224073060942,-0.3328324588091567,0.71338606911949],"aabb_xy":[[-0.254467938125706,-0.39683245710986537],[-0.12647654333551284,-0.268832460508448]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.23242202452986405,-2.070804492153612,0.71338606911949],"aabb_xy":[[-0.277593342378033,-2.134804489298151],[-0.18725070668169505,-2.006804495009074]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.45461481921798286,-2.1340704431627042,0.71338606911949],"aabb_xy":[[0.36461482062351297,-2.1503210294761255],[0.5446148178124528,-2.117819856849283]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.33042933256523216,-0.27936897144509976,0.71338606911949],"aabb_xy":[[-0.3436602780999134,-0.2925963904670992],[-0.3171983870305508,-0.26614155242310034]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.456753784261849,-2.570709316040564,0.71338606911949],"aabb_xy":[[-0.4631675979050339,-2.577119136288232],[-0.45033997061866404,-2.5642994957928957]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.06842556305798542,-1.6826395152418865,0.71338606911949],"aabb_xy":[[-0.07604983114816367,-1.6902727387784307],[-0.06080129496780719,-1.6750062917053432]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.11648030539442789,1.7606297191568028,0.71338606911949],"aabb_xy":[[-0.12039417858985042,1.7518807037502462],[-0.11256643219900538,1.7693787345633598]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.6050289451431369,-1.824902401209724,0.71338606911949],"aabb_xy":[[-0.6887511706432192,-1.9149024047444203],[-0.5213067196430543,-1.7349023976750284]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.4875021978164342,-1.0415554619031442,0.71338606911949],"aabb_xy":[[0.46228136095659444,-1.0667792127560305],[0.5127230346762737,-1.016331711050257]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.6126304279460011,0.4759430166526637,0.71338606911949],"aabb_xy":[[0.5626516194356851,0.4259430166469449],[0.6626092364563169,0.5259430166583825]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.15797288857228553,-2.500503937064419,0.71338606911949],"aabb_xy":[[0.07797289155803755,-2.52063848873783],[0.2379728855865335,-2.480369385391007]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[-0.38420765964999065,-2.2326373652965064,0.71338606911949],"aabb_xy":[[-0.40111839208633243,-2.2461095708891206],[-0.36729692721364887,-2.2191651597038913]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.07358312385122123,1.6768987327233122,0.71338606911949],"aabb_xy":[[0.023583122490334004,1.6269208281478964],[0.12358312521210844,1.7268766372987276]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.012641270870512145,-1.5735103371713701,0.71338606911949],"aabb_xy":[[-0.07664127114449037,-1.623576437368658],[0.051358729403466086,-1.5234442369740822]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.33104654418545487,1.5001262847581232,0.71338606911949],"aabb_xy":[[0.3134137085919273,1.4825033387425002],[0.34867937977898245,1.5177492307737461]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.06507767455596991,-1.2868009543475925,0.71338606911949],"aabb_xy":[[-0.01492232591424603,-1.2951116619619407],[0.14507767502618588,-1.2784902467332442]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.002306088452015076,-1.1991202965469174,0.71338606911949],"aabb_xy":[[-0.02730608800375356,-1.2092627804120522],[0.022693911099723407,-1.1889778126817827]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[0.5924486664438786,-0.47195836468964814,0.71338606911949],"aabb_xy":[[0.5574486650923968,-0.49231810064646897],[0.6274486677953602,-0.4515986287328273]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[-0.17908286488293879,-1.3446117987756312,0.71338606911949],"aabb_xy":[[-0.228965561760635,-1.3946117980219062],[-0.1292001680052426,-1.2946117995293567]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.10564157348687486,-1.0322147088729752,0.71338606911949],"aabb_xy":[[0.088063271297928,-1.0497891984470802],[0.1232198756758217,-1.0146402192988702]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_23","position":[-0.465413672353969,-0.24892117308791972,0.71338606911949],"aabb_xy":[[-0.5029136730185476,-0.2646082310881418],[-0.42791367168939026,-0.23323411508769748]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.05407567232071486,-0.4066514280420197,0.71338606911949],"aabb_xy":[[-0.07413408393395515,-0.42671651495117724],[-0.03401726070747457,-0.38658634113286217]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[0.4077062700093119,1.218576600623444,0.71338606911949],"aabb_xy":[[0.3427062699750092,1.1718759239431167],[0.47270627004361465,1.2652772773037713]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[0.525167675941965,-1.2733471738161557,0.71338606911949],"aabb_xy":[[0.46516767429904327,-1.3253473231080999],[0.585167677584887,-1.2213470245242115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718228406853947,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2289.png","name":"2289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2289.png","name":"2289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4421.png","name":"4421"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/737.png","name":"737"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4262.png","name":"4262"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6736.png","name":"6736"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":600.0887896544293,"rotation_z_degrees":139.85076880820907,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010475753121648817,0.012865226039952386,-0.003432416114783666]},{"name":"camera_2","offset_m":[0.0035092275060917694,-0.0174672793169974,0.0194312740528441]},{"name":"camera_3","offset_m":[0.01608734814548937,-0.009959095880866933,0.014635513178777326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004817666342627862,-0.0014995312622223071,0.0010284053804815651],"end_effector_yaw_offset_degrees":0.0017347975243491298},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005035321387100713,-0.0003612251680360811,0.0017120114825178883],"end_effector_yaw_offset_degrees":0.7026686463331171},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001130021925422644,0.0009736324903345719,-0.0006714928693906713],"end_effector_yaw_offset_degrees":0.18489238956986598},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019520959890328724,-0.00029336100307647637,0.0001091365704900221],"end_effector_yaw_offset_degrees":-0.0670796541239509},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005967386487355419,-0.0010771862365042963,-0.0009995130227982867],"end_effector_yaw_offset_degrees":0.4392802771661577},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002918111538476138,-0.001753625239359338,0.0001650295072650942],"end_effector_yaw_offset_degrees":-0.5626244835488092}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027183145123695143,0.00044840880666917673],"position_m":[0.27591831451236953,-0.018351591193330824,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00013890192118340677,0.0011675374048429566],"position_m":[0.2218610980788166,-0.3929324625951571,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004091360268645566,-0.000751512320444344],"position_m":[0.2720086397313545,0.31614848767955567,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002702041830514989,0.0017440836619643752],"position_m":[0.30232979581694847,0.10924408366196438,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"091f003403fccc3402611a18cfcd5e2485c723400e8b789de0e3349f99ae8992","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2289/tex_ceiling_textures_6736/tex_floor_textures_4262/tex_table_textures_4421/tex_wall_textures_737","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3162753436911919226,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3162753436911919226,"visual_seed":3162753436911919226,"scene_id":"lab_003","finished_at":"2026-09-08T17:58:45"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T17:58:52","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.013063716586159346,-1.1514696514278013,0.71338606911949],"aabb_xy":[[-0.0630637169467254,-1.2014496386374043],[0.03693628377440671,-1.1014896642181984]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.3718247615490596,0.024791305395981844,0.71338606911949],"aabb_xy":[[-0.37779130048979526,0.018830160736617804],[-0.3658582226083237,0.030752450055345878]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.11240292690916931,1.0971701925374182,0.71338606911949],"aabb_xy":[[0.0874029277435362,1.0902179468320616],[0.13740292607480242,1.1041224382427748]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.19309032117295433,-0.3184159335889678,0.71338606911949],"aabb_xy":[[-0.20826249045458767,-0.33358479051717116],[-0.17791815189132099,-0.30324707666076445]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[-0.6432308522480998,-1.6065352469092715,0.71338606911949],"aabb_xy":[[-0.671880184608516,-1.635180806186347],[-0.6145815198876835,-1.5778896876321955]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.561672528420827,0.30472436848369133,0.71338606911949],"aabb_xy":[[-0.6416725255804023,0.29317676752587424],[-0.48167253126125176,0.3162719694415083]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.27601118722957096,-1.477210754853096,0.71338606911949],"aabb_xy":[[0.26544370757147195,-1.4877557849661045],[0.28657866688767,-1.4666657247400874]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.04348125911189704,1.7178354087919412,0.71338606911949],"aabb_xy":[[-0.09347437122108894,1.6678354081177456],[0.006511852997294844,1.7678354094661368]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.14876633328827893,0.7679583563507446,0.71338606911949],"aabb_xy":[[-0.17123110325968402,0.7454583554718842],[-0.12630156331687378,0.7904583572296052]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.3456906359226062,-1.3070442614930136,0.71338606911949],"aabb_xy":[[0.34155477958990604,-1.3445442609373708],[0.34982649225530643,-1.2695442620486568]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.48880848192710036,-2.289522704587959,0.71338606911949],"aabb_xy":[[-0.4997142580146631,-2.3695227009867876],[-0.4779027058395377,-2.2095227081891293]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.05800903895536447,0.7380163719135107,0.71338606911949],"aabb_xy":[[0.05393088104831472,0.7339353916652473],[0.0620871968624142,0.742097352161774]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.0822622979808103,-1.3560384626020432,0.71338606911949],"aabb_xy":[[0.06881577134676696,-1.3695083142551345],[0.09570882461485362,-1.3425686109489519]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.45722255610625195,-0.28666948916033475,0.71338606911949],"aabb_xy":[[0.37722255467612464,-0.3661866441729442],[0.537222557536379,-0.20715233414772527]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.030338393777701866,-1.9095456556202444,0.71338606911949],"aabb_xy":[[-0.019661607583185352,-1.9595235601956598],[0.08033839513858908,-1.8595677510448285]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.2581769449768783,-0.7826400088872749,0.71338606911949],"aabb_xy":[[-0.31317694459862416,-0.8376237016747476],[-0.20317694535513248,-0.7276563160998022]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[0.13057881359599632,-1.7361957365600242,0.71338606911949],"aabb_xy":[[0.11290318300739798,-1.753875952839427],[0.14825444418459463,-1.7185155202806215]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.5476822584272663,-1.6072326332559765,0.71338606911949],"aabb_xy":[[0.5126822592344479,-1.6181996792536393],[0.5826822576200844,-1.5962655872583138]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.12001519879281408,-0.700776562296197,0.71338606911949],"aabb_xy":[[-0.15751519997760688,-0.7051947849922573],[-0.08251519760802128,-0.6963583396001363]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.20950017190836934,0.6333388611370996,0.71338606911949],"aabb_xy":[[0.19239809395000115,0.6162320556058298],[0.22660224986673747,0.6504456666683693]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_20","position":[0.7183972032011647,-1.0475575635648622,0.71338606911949],"aabb_xy":[[0.7123601902005,-1.0535842646338105],[0.7244342162018295,-1.0415308624959143]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.39282816834847134,1.1750993269833256,0.71338606911949],"aabb_xy":[[0.3628606114386457,1.14509932668544],[0.422795725258297,1.2050993272812114]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.2436637691309973,0.850581982728952,0.71338606911949],"aabb_xy":[[0.20264582574462642,0.8005819820979947],[0.2846817125173682,0.9005819833599094]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[-0.349374059592377,-0.5710467978892897,0.71338606911949],"aabb_xy":[[-0.3569983276825552,-0.5786800214258334],[-0.3417497915021987,-0.563413574352746]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.40781064988338694,1.3164204735594223,0.71338606911949],"aabb_xy":[[-0.4577839438866474,1.2664204730048747],[-0.3578373558801265,1.3664204741139694]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[0.5157333054175,-2.2941252267810817,0.71338606911949],"aabb_xy":[[0.45073330753585217,-2.345248890487623],[0.5807333032991477,-2.2430015630745412]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.2064309797944861,-0.14221097388502812,0.71338606911949],"aabb_xy":[[-0.2283207273834269,-0.23221097117427725],[-0.1845412322055453,-0.05221097659577902]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[0.40314012487714335,-2.0441982182623186,0.71338606911949],"aabb_xy":[[0.3381401263200705,-2.0739507516762012],[0.4681401234342162,-2.014445684848436]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[0.420007895946618,1.3378074519562024,0.71338606911949],"aabb_xy":[[0.381462203121417,1.2992616809000137],[0.45855358877181907,1.3763532230123912]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_29","position":[-0.16266047402772454,0.5696100270752611,0.71338606911949],"aabb_xy":[[-0.16992172159813196,0.5568230168117516],[-0.15539922645731713,0.5823970373387706]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714110070574321,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1993.png","name":"1993"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1993.png","name":"1993"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4041.png","name":"4041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/790.png","name":"790"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3183.png","name":"3183"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7932.png","name":"7932"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":759.5797954853953,"rotation_z_degrees":311.3629696953922,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009921290899269861,3.0462269711043627e-05,-0.01739600804318876]},{"name":"camera_2","offset_m":[0.008356378473869146,0.011211510286682581,0.016488255127039792]},{"name":"camera_3","offset_m":[0.004590657416392429,-7.816951861204513e-05,-0.01502708631146377]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001094756459666694,0.0003035496548813971,-0.0011714474232219613],"end_effector_yaw_offset_degrees":0.2258465129102436},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011350253232717917,0.0013848662415743393,0.0011534601737368797],"end_effector_yaw_offset_degrees":-0.5218927469910446},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006042400883801095,-0.0011500076956439788,0.000343499419824624],"end_effector_yaw_offset_degrees":-0.5324696277334853},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000495619247621987,-0.000907110633595213,-0.0018028238747684396],"end_effector_yaw_offset_degrees":-0.9122658015325535},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[2.2504349000215893e-05,-3.412535732514894e-05,-0.0004166522950076327],"end_effector_yaw_offset_degrees":0.764406767252999},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008211587224943098,-0.0005814629941823242,0.0006870292490044282],"end_effector_yaw_offset_degrees":0.3613731916276146}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003953622193256192,-0.0027610932369765916],"position_m":[0.2771536221932562,-0.02156109323697659,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013564559825287661,0.00395794726091622],"position_m":[0.22335645598252876,-0.3901420527390838,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0002303425708346154,0.002624336098638983],"position_m":[0.2758696574291654,0.319524336098639,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027910055136200775,0.0020956354983178343],"position_m":[0.2998089944863799,0.10959563549831783,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"91fff3ffa742ec6e3892e1ea40e9f514a30e6ff569826a53866005030f3dd5b0","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1993/tex_ceiling_textures_7932/tex_floor_textures_3183/tex_table_textures_4041/tex_wall_textures_790","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7050646416775450277,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7050646416775450277,"visual_seed":7050646416775450277,"scene_id":"lab_003","finished_at":"2026-09-08T18:06:44"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T18:24:54","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.1618996756876392,-0.9390745406926009,0.71338606911949],"aabb_xy":[[-0.1905490080480554,-0.9677200999696766],[-0.13325034332722296,-0.910428981415525]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[-0.025258415650748156,-1.9684105937413268,0.71338606911949],"aabb_xy":[[-0.07507519511558292,-2.01841059222563],[0.024558363814086603,-1.9184105952570234]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.17960100523322198,0.27378592901784815,0.71338606911949],"aabb_xy":[[-0.2446010061903492,0.22183771708414254],[-0.11460100427609478,0.3257341409515537]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[-0.3998474195942874,0.11653113171766671,0.71338606911949],"aabb_xy":[[-0.446976798596123,0.052531130673264745],[-0.35271804059245165,0.18053113276206867]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.2822194662459472,0.5932671988995128,0.71338606911949],"aabb_xy":[[-0.3046842362173523,0.5707671980206523],[-0.25975469627454206,0.6157671997783734]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.20181707773741414,-0.2958304510812204,0.71338606911949],"aabb_xy":[[-0.21468898123835428,-0.3758304514950565],[-0.188945174236474,-0.21583045066738424]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.4471006263452555,-0.7095636398181715,0.71338606911949],"aabb_xy":[[0.4096006260530806,-0.7136051152187751],[0.48460062663743025,-0.7055221644175679]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.6487119369693402,-0.8681970153865748,0.71338606911949],"aabb_xy":[[0.6254300947712087,-0.9531970166838027],[0.6719937791674714,-0.7831970140893466]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.2378700128596375,-1.3879392546368967,0.71338606911949],"aabb_xy":[[0.23155791332329909,-1.3937061938901156],[0.24418211239597595,-1.3821723153836778]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.6039952465847668,0.024182150931532753,0.71338606911949],"aabb_xy":[[-0.6739952429947283,0.0037442152798510225],[-0.5339952501748048,0.044620086583214466]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[0.10181938044292616,-1.5700019436903143,0.71338606911949],"aabb_xy":[[0.03781938333082045,-1.619034313484725],[0.16581937755503184,-1.5209695738959037]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.5442449046802826,0.24322918088708256,0.71338606911949],"aabb_xy":[[-0.5631292884487928,0.2243432561067298],[-0.5253605209117724,0.26211510566743534]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.2447247706944311,0.7829682900245083,0.71338606911949],"aabb_xy":[[0.16472476743041795,0.7694082577155951],[0.32472477395844423,0.7965283223334217]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[-0.37795058880368726,1.23067142558007,0.71338606911949],"aabb_xy":[[-0.4129505886997061,1.2222971900681296],[-0.34295058890766833,1.2390456610920098]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.5797694905153918,-2.106497057142149,0.71338606911949],"aabb_xy":[[0.5671427032281954,-2.1160431308437215],[0.5923962778025881,-2.0969509834405753]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.15773357030599622,-2.4418920841813843,0.71338606911949],"aabb_xy":[[-0.19203048132373685,-2.476188970391325],[-0.12343665928825559,-2.4075951979714425]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.5538026167851855,-1.3946495129788392,0.71338606911949],"aabb_xy":[[0.4738026153550583,-1.4741666679914487],[0.6338026182153127,-1.3151323579662297]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.3063371601603594,0.9354520801189126,0.71338606911949],"aabb_xy":[[-0.3143311487380627,0.9274520000238221],[-0.29834317158265594,0.9434521602140028]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[0.02432436662441484,-0.9227158558992543,0.71338606911949],"aabb_xy":[[-0.030649355411918038,-0.9777158554634875],[0.07929808866074772,-0.8677158563350211]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.542138496352653,0.9020026302857591,0.71338606911949],"aabb_xy":[[0.5218541936292542,0.8817200051430503],[0.5624227990760517,0.922285255428468]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.2994727760698612,-1.8681151267973037,0.71338606911949],"aabb_xy":[[-0.38947277579303535,-1.8911884793324834],[-0.209472776346687,-1.8450417742621237]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.5125846020596045,0.015633150430428344,0.71338606911949],"aabb_xy":[[0.5048814113855276,0.007923779731690339],[0.5202877927336815,0.02334252112916635]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[-0.3205969065887106,1.363532142624715,0.71338606911949],"aabb_xy":[[-0.35559690489940604,1.3558171277011692],[-0.28559690827801515,1.3712471575482605]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[-0.47841001079852863,-2.0558324913104826,0.71338606911949],"aabb_xy":[[-0.4844470237991934,-2.0618591923794307],[-0.47237299779786396,-2.0498057902415345]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.5383189668177728,-0.6284222914246946,0.71338606911949],"aabb_xy":[[0.46831896500902725,-0.6497760601888819],[0.6083189686265181,-0.6070685226605071]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[0.3986013825503796,1.815379967866717,0.71338606911949],"aabb_xy":[[0.3937577877891496,1.810528315387733],[0.40344497731160955,1.8202316203457012]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.6254668617520799,-2.4452799334764066,0.71338606911949],"aabb_xy":[[-0.6600579446061251,-2.510279933761437],[-0.5908757788980347,-2.380279933191375]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[0.4520768326315643,-0.2828302429085694,0.71338606911949],"aabb_xy":[[0.39707683300981844,-0.3378139356960421],[0.5070768322533101,-0.22784655012109667]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[-0.2104611366715905,1.4638095326719758,0.71338606911949],"aabb_xy":[[-0.22182287132487666,1.4524410662656875],[-0.19909940201830434,1.4751779990782636]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[0.42229317410541123,-2.0257102641441365,0.71338606911949],"aabb_xy":[[0.39189506300626753,-2.0561171661458055],[0.4526912852045547,-1.9953033621424667]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[0.21851513842926662,1.381693605339588,0.71338606911949],"aabb_xy":[[0.17996944560406558,1.3431478342833993],[0.25706083125446766,1.4202393763957768]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_31","position":[-0.5113560631763061,1.125980859272961,0.71338606911949],"aabb_xy":[[-0.5147967394163633,1.1221194262985965],[-0.5079153869362489,1.1298422922473255]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_32","position":[0.669521221277485,-0.6892108361562934,0.71338606911949],"aabb_xy":[[0.659765231768311,-0.6989733702155279],[0.6792772107866588,-0.679448302097059]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_33","position":[-0.23664829627190687,-1.5518249936867732,0.71338606911949],"aabb_xy":[[-0.2541949911880258,-1.5893249952510244],[-0.21910160135578793,-1.514324992122522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6698321214220339,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2340.png","name":"2340"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2340.png","name":"2340"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6303.png","name":"6303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8021.png","name":"8021"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8056.png","name":"8056"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5150.png","name":"5150"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":634.0877830455433,"rotation_z_degrees":184.75121657013247,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008892524169476987,-0.016862829381632104,0.0005617964908501208]},{"name":"camera_2","offset_m":[0.010683908603309297,0.011544452191740637,0.01700159793814585]},{"name":"camera_3","offset_m":[-0.01772528134139542,0.00206215456689781,-0.009808262606172558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007683790539856103,-0.00196407812228036,-0.00017034334784900643],"end_effector_yaw_offset_degrees":-0.720673587008329},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006479825826321587,-0.0019461916604179357,0.0004022199139405197],"end_effector_yaw_offset_degrees":-0.03472826902992798},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014984882262410585,-0.0011845806046727673,-0.0009661495229434322],"end_effector_yaw_offset_degrees":-0.24867303936668028},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00030261507970489026,0.0009755043436643104,0.0006855842549813164],"end_effector_yaw_offset_degrees":-0.8401683930228907},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005763244914247072,0.001853303315970911,0.0005820349392556146],"end_effector_yaw_offset_degrees":0.12496645130743911},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[3.3699725599199964e-05,-0.0011921005921592515,-0.0016649187506273485],"end_effector_yaw_offset_degrees":-0.6766060214559284}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-1.968338356151105e-05,-0.0010701185313015324],"position_m":[0.2731803166164385,-0.019870118531301533,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011816522445163525,0.00312628262335713],"position_m":[0.22081834775548365,-0.3909737173766429,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004688880061319621,0.0005000731966021479],"position_m":[0.2714111199386804,0.3174000731966022,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036647402058282864,0.004767021914231427],"position_m":[0.2989352597941717,0.11226702191423142,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6831d5f4e33c87cd17d7b59a33cae4941e128b39be86fcf2badb31b9a813d00d","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0039.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2340/tex_ceiling_textures_5150/tex_floor_textures_8056/tex_table_textures_6303/tex_wall_textures_8021","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7751063668697537101,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7751063668697537101,"visual_seed":7751063668697537101,"scene_id":"lab_003","finished_at":"2026-09-08T18:32:48"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T18:32:55","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[-0.20239497805223794,1.03862227310709,0.71338606911949],"aabb_xy":[[-0.22489497757594532,1.016126325656469],[-0.1798949785285305,1.0611182205577105]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.5264653279666783,-0.800932905893798,0.71338606911949],"aabb_xy":[[-0.5465237395799185,-0.8209979928029555],[-0.5064069163534379,-0.7808678189846404]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.5984692966307161,1.3402332450065426,0.71338606911949],"aabb_xy":[[0.5484863464432367,1.2902332453639818],[0.6484522468181954,1.3902332446491026]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.21443010449181454,1.7363370819088204,0.71338606911949],"aabb_xy":[[-0.22001177612594325,1.723837082091045],[-0.20884843285768573,1.748837081726596]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[-0.1782299050033378,-0.20739453863024027,0.71338606911949],"aabb_xy":[[-0.20274352910034366,-0.23165913193227672],[-0.15371628090633194,-0.1831299453282038]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[0.021223785030641373,-0.8933292999168758,0.71338606911949],"aabb_xy":[[-0.02859299443419339,-0.943329298401179],[0.07104056449547613,-0.8433293014325722]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[-0.16049571508177296,1.4092939120313241,0.71338606911949],"aabb_xy":[[-0.2304957168905184,1.3879401432671368],[-0.09049571327302752,1.4306476807955115]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.053208640386398054,0.3099718461320653,0.71338606911949],"aabb_xy":[[-0.0767937638502929,0.2449718438866335],[-0.02962351692250321,0.3749718483774971]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.4251245355902925,-1.9396258306626994,0.71338606911949],"aabb_xy":[[-0.46262453608765075,-1.943594514210818],[-0.38762453509293426,-1.935657147114581]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[-0.5545255116682861,-0.4293843260876562,0.71338606911949],"aabb_xy":[[-0.5594815318531674,-0.4518843262897779],[-0.5495694914834051,-0.4068843258855347]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[0.5443363632856455,-2.1297082909499108,0.71338606911949],"aabb_xy":[[0.5156870309252292,-2.158353850226986],[0.5729856956460616,-2.1010627316728345]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.5654373121947223,1.019535247730563,0.71338606911949],"aabb_xy":[[0.5583970022611854,0.9395352483308919],[0.5724776221282594,1.0995352471302346]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[-0.30245127566489594,0.24803164357897423,0.71338606911949],"aabb_xy":[[-0.31995120909887925,0.2305316436587397],[-0.2849513422309125,0.26553164349920877]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.6216020239982973,-1.7045124001752683,0.71338606911949],"aabb_xy":[[0.5566020258423783,-1.7308086447251807],[0.6866020221542164,-1.6782161556253563]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.6822700876056133,1.3053588930969449,0.71338606911949],"aabb_xy":[[-0.6928375672637122,1.294813862983936],[-0.6717026079475141,1.3159039232099532]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_15","position":[0.4147017957405803,1.6596765023856386,0.71338606911949],"aabb_xy":[[0.33470179833698677,1.5796839311874555],[0.4947017931441736,1.7396690735838212]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.03172108658827466,-2.2880120268193735,0.71338606911949],"aabb_xy":[[-0.03656468134950464,-2.2928636792983577],[-0.026877491827044693,-2.2831603743403894]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.446309983835044,-0.4724129159724866,0.71338606911949],"aabb_xy":[[-0.5063099854779658,-0.5244130652644308],[-0.3863099821921222,-0.42041276668054234]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.6487588859793052,1.0432695190880508,0.71338606911949],"aabb_xy":[[0.6328743927139799,1.0289165787892267],[0.6646433792446302,1.0576224593868748]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.3331223742974961,-2.4032260381918737,0.71338606911949],"aabb_xy":[[-0.3422822532413727,-2.40975725623541],[-0.3239624953536195,-2.3966948201483365]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[0.405103891575026,1.304584815409497,0.71338606911949],"aabb_xy":[[0.40119001837960344,1.29583580000294],[0.4090177647704485,1.3133338308160536]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.22350925490764845,-1.6468189511273406,0.71338606911949],"aabb_xy":[[-0.23861155636866652,-1.6619204727584018],[-0.20840695344663032,-1.631717429496278]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.5606528493562786,-0.352758074587169,0.71338606911949],"aabb_xy":[[0.5231528492506855,-0.35958023644015],[0.5981528494618714,-0.3459359127341878]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_23","position":[0.3094427374367028,-0.7483922758706831,0.71338606911949],"aabb_xy":[[0.27194273708847505,-0.7601836714517667],[0.34694273778493057,-0.7366008802895996]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[0.3154898062238036,-1.826631689400601,0.71338606911949],"aabb_xy":[[0.24548980462152414,-1.8400644826022583],[0.3854898078260831,-1.8131988961989431]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[-0.2922979455626878,-0.3227705991822787,0.71338606911949],"aabb_xy":[[-0.30979794484077466,-0.34010869924862464],[-0.2747979462846009,-0.30543249911593273]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.39580017413126467,-1.2436457950570081,0.71338606911949],"aabb_xy":[[0.3849596959047497,-1.2608320763476566],[0.4066406523577795,-1.2264595137663592]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[0.630968673378766,-0.12029536835202048,0.71338606911949],"aabb_xy":[[0.6059686738270275,-0.1304378522171552],[0.6559686729305044,-0.11015288448688576]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_28","position":[-0.3797446678019772,-2.1297018561955277,0.71338606911949],"aabb_xy":[[-0.4172446679738491,-2.1624025915784344],[-0.34224466763010525,-2.09700112081262]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_29","position":[-0.31310695750464895,0.8189954764264873,0.71338606911949],"aabb_xy":[[-0.3376531731273996,0.7887465798774501],[-0.2885607418818982,0.8492443729755242]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_30","position":[-0.48511224044591394,-1.2525755885690646,0.71338606911949],"aabb_xy":[[-0.5039966242144241,-1.2714615133494174],[-0.46622785667740374,-1.2336896637887118]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_31","position":[-0.5788642305373222,-1.3930031325307455,0.71338606911949],"aabb_xy":[[-0.5869778852106993,-1.4011089489847748],[-0.5707505758639451,-1.3848973160767166]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_32","position":[0.0817620129318809,-2.566186332502349,0.71338606911949],"aabb_xy":[[0.0737680243541775,-2.5741864125974385],[0.08975600150958428,-2.5581862524072583]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_33","position":[0.6643278804140686,-2.2928557473467603,0.71338606911949],"aabb_xy":[[0.6602497225070191,-2.2969367275950234],[0.6684060383211184,-2.2887747670984964]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_34","position":[0.3005863371211782,0.5896746151398964,0.71338606911949],"aabb_xy":[[0.25541501927300925,0.525674617995358],[0.3457576549693472,0.6536746122844348]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6780341454045172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4341.png","name":"4341"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4341.png","name":"4341"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/595.png","name":"595"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2706.png","name":"2706"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8408.png","name":"8408"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3743.png","name":"3743"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":797.6514345339792,"rotation_z_degrees":97.6511012080487,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015082667216018215,-0.013825296516642337,0.016114143149085856]},{"name":"camera_2","offset_m":[-0.003195370280325731,-0.006346752205021984,0.01501322237170381]},{"name":"camera_3","offset_m":[-0.014008923727651541,0.015283173081465293,-0.008098037289431911]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.592912752793282e-05,-0.0017237883402555308,0.0018220662629792207],"end_effector_yaw_offset_degrees":0.7207102082335013},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008284033272070261,-0.0016587917955508528,0.0015327547262854622],"end_effector_yaw_offset_degrees":0.05749857528243263},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006771892039299939,-0.001110214668370177,-0.001898820178188291],"end_effector_yaw_offset_degrees":0.7445594895585173},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0015101985203157188,-0.0008438681623019555,0.0018846476500038595],"end_effector_yaw_offset_degrees":-0.2427888217980212},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0013805695664718541,0.0013667021910278372,0.0010228731935345296],"end_effector_yaw_offset_degrees":0.8255638285440383},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017604352051771533,-0.0003017279537477341,-0.0012582832539448042],"end_effector_yaw_offset_degrees":0.7808889835115618}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037989211638479476,-0.00021480218703900152],"position_m":[0.2728201078836152,-0.019014802187039003,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004783576314289406,-0.002625641618518606],"position_m":[0.22678357631428941,-0.3967256416185186,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004176315558763626,-0.004412663833985566],"position_m":[0.28027631555876364,0.31248733616601443,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008287505601350786,0.0015211449931044072],"position_m":[0.3034287505601351,0.1090211449931044,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"7546760ca36995e41a9c1e6b1dfa8e6d3a6fa7c4233ddefede3e1db846eb561a","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4341/tex_ceiling_textures_3743/tex_floor_textures_8408/tex_table_textures_595/tex_wall_textures_2706","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":3921442386655563351,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":3921442386655563351,"visual_seed":3921442386655563351,"scene_id":"lab_003","finished_at":"2026-09-08T18:41:20"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T18:50:30","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.3567053033548828,-2.5399399723444667,0.71338606911949],"aabb_xy":[[0.3192053034111163,-2.5482330623793032],[0.3942053032986491,-2.53164688230963]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.17124675215006402,0.09934917760664641,0.71338606911949],"aabb_xy":[[-0.24124674856002576,0.07891124195496466],[-0.10124675574010218,0.11978711325832811]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.25402475822570947,-1.6894877558783519,0.71338606911949],"aabb_xy":[[0.16402476172483768,-1.7353993982968101],[0.3440247547265812,-1.6435761134598936]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.30332912358401537,-2.395700107038872,0.71338606911949],"aabb_xy":[[-0.367329124992006,-2.4474890585627964],[-0.23932912217602467,-2.343911155514947]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.1830565487058271,-1.4486363698578881,0.71338606911949],"aabb_xy":[[0.16299813709258681,-1.4687014567670458],[0.2031149603190674,-1.4285712829487305]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_5","position":[-0.5494997529034495,1.4638027926323383,0.71338606911949],"aabb_xy":[[-0.6044997511051943,1.4232808260059007],[-0.49449975470170465,1.5043247592587758]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.5707236554615557,0.01951539474730568,0.71338606911949],"aabb_xy":[[-0.6207066056490349,-0.030484604895254726],[-0.5207407052740762,0.06951539438986608]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.2842207381192613,-0.5627265068023712,0.71338606911949],"aabb_xy":[[0.24922073676777953,-0.5830862427591921],[0.319220739470743,-0.5423667708455504]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.29653434529709155,1.512711093899346,0.71338606911949],"aabb_xy":[[0.23494358607309873,1.4487110957902993],[0.35812510452108437,1.576711092008393]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.5451346783702724,-0.1936420001561907,0.71338606911949],"aabb_xy":[[0.5101346783937767,-0.20310661620380735],[0.5801346783467684,-0.18417738410857412]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.5296492331250395,-1.5899417957997564,0.71338606911949],"aabb_xy":[[0.4921492326276813,-1.5939104793478749],[0.5671492336223978,-1.5859731122516378]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.12419616829448188,1.2523027239659097,0.71338606911949],"aabb_xy":[[0.10664947337836295,1.2148027224016584],[0.1417428632106008,1.289802725530161]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.07560431173930948,-0.7902347854726888,0.71338606911949],"aabb_xy":[[-0.09024771729334245,-0.804893505129473],[-0.060960906185276484,-0.7755760658159045]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.12912251550874332,0.45661716625059867,0.71338606911949],"aabb_xy":[[-0.16412251470156156,0.445650120252936],[-0.09412251631592503,0.46758421224826124]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.26064506613135596,-2.443846877731774,0.71338606911949],"aabb_xy":[[0.2447605728660308,-2.4581998180305984],[0.2765295593966811,-2.42949393743295]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[0.3460038814955817,0.8118820324436409,0.71338606911949],"aabb_xy":[[0.2820038792751747,0.7675089483183525],[0.4100038837159887,0.856255116568929]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_16","position":[-0.3775991876498116,-1.9370843784846588,0.71338606911949],"aabb_xy":[[-0.4125991875458304,-1.9454586139965986],[-0.34259918775379267,-1.9287101429727185]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.12142547828411665,0.3023394540008155,0.71338606911949],"aabb_xy":[[-0.17544107456601665,0.23833945110855842],[-0.06740988200221663,0.36633945689307273]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.1653067597683079,1.0673028825545505,0.71338606911949],"aabb_xy":[[-0.245306756731347,0.9902272409107771],[-0.08530676280526867,1.144378524198324]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.42125955071500076,-1.87532705474151,0.71338606911949],"aabb_xy":[[0.40810830474371146,-1.9003270544981967],[0.4344107966862902,-1.8503270549848236]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.39761704679678395,1.7516425115048206,0.71338606911949],"aabb_xy":[[-0.43511704758877934,1.7452746705466302],[-0.36011704600478844,1.7580103524630106]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[0.22939958351060608,-1.1092857092873594,0.71338606911949],"aabb_xy":[[0.18412096862945682,-1.1732857086355428],[0.27467819839175533,-1.0452857099391755]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.5365787916176651,1.0651326542614363,0.71338606911949],"aabb_xy":[[-0.5400194678577224,1.061271221287072],[-0.533138115377608,1.068994087235801]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.6690399644044696,-1.6886920148354783,0.71338606911949],"aabb_xy":[[0.6345774863913817,-1.695355692018401],[0.7035024424175572,-1.6820283376525555]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[0.4479446049286595,-1.34402847796261,0.71338606911949],"aabb_xy":[[0.39794532976022334,-1.3940284792385573],[0.49794388009709567,-1.294028476686663]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[0.6456461694370115,0.9960739885772325,0.71338606911949],"aabb_xy":[[0.6295842419784937,0.9110739867646406],[0.661708096895529,1.081073990389824]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.01450473229275595,0.8003429110049685,0.71338606911949],"aabb_xy":[[-0.008777109905375387,0.7153429097077404],[0.037786574490887286,0.8853429123021965]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[-0.6568119062118336,0.6661642682200637,0.71338606911949],"aabb_xy":[[-0.6640731537822411,0.6533772579565542],[-0.6495506586414261,0.6789512784835732]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[-0.2939806254508187,-2.131061571042774,0.71338606911949],"aabb_xy":[[-0.29956229708494747,-2.1435615708605487],[-0.28839895381668995,-2.118561571224998]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[0.49578033865981097,-2.081282677745052,0.71338606911949],"aabb_xy":[[0.44578033921961524,-2.131250602229368],[0.5457803381000065,-2.031314753260735]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_30","position":[-0.1072162660205026,0.6856221476569115,0.71338606911949],"aabb_xy":[[-0.11798923994187037,0.6506221494378724],[-0.09644329209913481,0.7206221458759504]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_31","position":[-0.3141092951792812,0.4121386937144429,0.71338606911949],"aabb_xy":[[-0.39410929625240154,0.40236064737705846],[-0.23410929410616088,0.42191674005182733]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_32","position":[-0.5996482475732875,-2.207704190232591,0.71338606911949],"aabb_xy":[[-0.6496432585327396,-2.2577041892681833],[-0.5496532366138356,-2.157704191197]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_33","position":[-0.190126232237257,-1.2715241877268488,0.71338606911949],"aabb_xy":[[-0.20020793931583045,-1.3515241856189635],[-0.1800445251586835,-1.1915241898347342]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718094965259008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9589.png","name":"9589"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9589.png","name":"9589"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5155.png","name":"5155"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9882.png","name":"9882"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6041.png","name":"6041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1988.png","name":"1988"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":769.2329695761782,"rotation_z_degrees":269.5247419947641,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032914619862772568,0.0060098198728761355,0.01789938651077239]},{"name":"camera_2","offset_m":[0.015041720179365097,0.011236909721805216,-0.011460159867235644]},{"name":"camera_3","offset_m":[0.004213059473123844,-0.012708970181476605,-0.005063155209195723]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011043047754040803,0.0009293795349122748,4.565493222811589e-05],"end_effector_yaw_offset_degrees":0.8109460896134717},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008568518251038425,-0.0004887080710266934,-0.00024286178353966612],"end_effector_yaw_offset_degrees":0.39058071681366147},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005398725449189548,-0.0005694580015929262,0.001824651874750656],"end_effector_yaw_offset_degrees":-0.1668446253456184},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008633650398941436,0.00019415000866751086,0.001703745177086785],"end_effector_yaw_offset_degrees":-0.35427157959978817},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012561709854490843,-2.2709158955284362e-05,0.0018317512331668321],"end_effector_yaw_offset_degrees":-0.04534236228071298},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013807903262510717,-0.0002507717849194399,0.00131305580449674],"end_effector_yaw_offset_degrees":0.2978151915109648}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004619860309415469,0.004444058163908926],"position_m":[0.26858013969058453,-0.014355941836091075,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002634054649024956,-0.002247141238138136],"position_m":[0.21936594535097503,-0.39634714123813813,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0008090862789196015,0.0003890232116731925],"position_m":[0.27690908627891964,0.3172890232116732,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006753319104389147,0.002498820467325488],"position_m":[0.3032753319104389,0.10999882046732548,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a00703cefe958ec53d03bf12203896448946a1a49f57fbaeb439f3041441eb6e","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9589/tex_ceiling_textures_1988/tex_floor_textures_6041/tex_table_textures_5155/tex_wall_textures_9882","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":654803466505365939,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":654803466505365939,"visual_seed":654803466505365939,"scene_id":"lab_003","finished_at":"2026-09-08T18:58:29"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T19:07:49","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.40879143359109593,0.14372819234771717,0.71338606911949],"aabb_xy":[[-0.4727914342945653,0.09770980987479616],[-0.3447914328876266,0.1897465748206382]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.06384749153252456,1.1551472295893315,0.71338606911949],"aabb_xy":[[-0.1488474902245992,1.1231613661944524],[0.021152507159550082,1.18713309298421]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.37890031169902727,0.7994778888768654,0.71338606911949],"aabb_xy":[[0.2939003132816041,0.7146035934145806],[0.46390031011645055,0.8843521843391505]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.11632066563087018,-1.741793093379877,0.71338606911949],"aabb_xy":[[-0.17632066613872305,-1.7986398270657984],[-0.056320665123017234,-1.6849463596939558]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.5073912982470518,-1.6856640070983233,0.71338606911949],"aabb_xy":[[-0.5873913004098142,-1.765619190724467],[-0.4273912960842893,-1.6057088234721797]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[0.5854912505014573,-0.2282618668715295,0.71338606911949],"aabb_xy":[[0.5741295158481711,-0.23963033327781752],[0.5968529851547434,-0.21689340046524136]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.21426118474838463,-1.9525149420388863,0.71338606911949],"aabb_xy":[[0.16437848787068843,-2.0025149412851615],[0.2641438816260808,-1.902514942792612]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.36902194532658306,1.1682022333988922,0.71338606911949],"aabb_xy":[[0.33524638613589003,1.1541637381857273],[0.402797504517276,1.182240728612057]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.339983163656044,-0.08136385279601299,0.71338606911949],"aabb_xy":[[-0.3602674663794427,-0.10164647793872182],[-0.31969886093264516,-0.06108122765330414]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.28618241785777276,-0.6357836867326518,0.71338606911949],"aabb_xy":[[0.2636824178476244,-0.6498799063722551],[0.308682417867921,-0.6216874670930486]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.28436805057569325,-1.2388807759281892,0.71338606911949],"aabb_xy":[[0.2725998637810358,-1.323880775833411],[0.29613623737035083,-1.153880776022968]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.5551742001609761,-0.35187676684242497,0.71338606911949],"aabb_xy":[[0.5056937789470173,-0.4158767647552768],[0.6046546213749349,-0.28787676892957315]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.22675036387138747,-2.495463066609293,0.71338606911949],"aabb_xy":[[0.19175036474143176,-2.5012082876849573],[0.2617503630013431,-2.489717845533629]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.43515209270770466,-1.2293200244178892,0.71338606911949],"aabb_xy":[[-0.5001520938136479,-1.2542853974860175],[-0.3701520916017614,-1.204354651349761]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.45083805310706027,0.5186240515208742,0.71338606911949],"aabb_xy":[[-0.46870716086151576,0.5047911435436633],[-0.4329689453526048,0.5324569594980851]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[0.2685617930217937,-0.853105927201967,0.71338606911949],"aabb_xy":[[0.251551695731743,-0.8692404157002409],[0.2855718903118443,-0.8369714387036931]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.4035792691941019,-1.9855092522907383,0.71338606911949],"aabb_xy":[[-0.4385792675047973,-1.993224267214284],[-0.3685792708834064,-1.9777942373671926]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.4708474457611822,1.003627069327098,0.71338606911949],"aabb_xy":[[0.4363850983630403,0.9691331869292753],[0.5053097931593238,1.0381209517249206]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.44239984321222503,-1.0222603748617216,0.71338606911949],"aabb_xy":[[-0.459946538128344,-1.0597603764259729],[-0.42485314829610615,-0.9847603732974703]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[0.5126909029062205,-0.5941243940842305,0.71338606911949],"aabb_xy":[[0.4951909026611711,-0.6116241819237972],[0.5301909031512698,-0.5766246062446635]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.060654603472897306,0.8113296663544092,0.71338606911949],"aabb_xy":[[0.0431546032135607,0.7972381241656367],[0.07815460373223396,0.8254212085431819]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.17890347381216953,-2.250148713626276,0.71338606911949],"aabb_xy":[[-0.21640347430952775,-2.2541173971743946],[-0.14140347331481126,-2.2461800300781576]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[-0.49263753921658704,1.7456340433540602,0.71338606911949],"aabb_xy":[[-0.5426163477269028,1.6956340433483412],[-0.4426587307062711,1.7956340433597788]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.4609077390788152,1.4968600450391354,0.71338606911949],"aabb_xy":[[0.4109247888913359,1.4468600453965748],[0.5108906892662946,1.5468600446816956]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[-0.5130693090026326,-0.8973230919535304,0.71338606911949],"aabb_xy":[[-0.5930693076595186,-0.9118279508777932],[-0.4330693103457466,-0.8828182330292677]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680885501533516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3148.png","name":"3148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3148.png","name":"3148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/727.png","name":"727"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8138.png","name":"8138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1713.png","name":"1713"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/730.png","name":"730"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":627.3414829031032,"rotation_z_degrees":195.0865742132848,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014407937251478611,-0.007550211258582995,-0.01033710774302696]},{"name":"camera_2","offset_m":[0.01977243059150201,0.012511221991766786,0.01977289233224611]},{"name":"camera_3","offset_m":[0.019842609783603454,-0.006156350249369313,0.008689220613835903]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014786098127173072,-0.00011885610445170648,-0.00012599139824103736],"end_effector_yaw_offset_degrees":-0.5240740384552933},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010202899969941797,-0.0012055219578904525,-0.0006573631038735068],"end_effector_yaw_offset_degrees":-0.796715407591081},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001226136433527298,0.0007310575876687845,-6.11628861769643e-05],"end_effector_yaw_offset_degrees":0.039425104237958086},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0006605513358825406,-7.384726520668033e-05,-0.0005096909337401385],"end_effector_yaw_offset_degrees":-0.5800881069343802},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007818980247191777,-0.000681875318476643,0.00117539379950576],"end_effector_yaw_offset_degrees":-0.1951312290801257},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-6.554795206097715e-05,-0.00028514242101016266,-0.0018759274198505808],"end_effector_yaw_offset_degrees":0.7021791518211582}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0042554175288815515,0.004271138761923545],"position_m":[0.27745541752888153,-0.014528861238076455,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003368618605949926,0.003073388609994061],"position_m":[0.21863138139405008,-0.39102661139000594,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003917710157694072,0.0035883058295149645],"position_m":[0.2800177101576941,0.320488305829515,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004377467689534133,0.0023918074220773914],"position_m":[0.3069774676895341,0.1098918074220774,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"a87af313b0172d3d75a698db6f602e4e498d34b5a3f8bc49f8c1a35809c5708d","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3148/tex_ceiling_textures_730/tex_floor_textures_1713/tex_table_textures_727/tex_wall_textures_8138","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":7842348624881651337,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":7842348624881651337,"visual_seed":7842348624881651337,"scene_id":"lab_003","finished_at":"2026-09-08T19:15:56"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T19:24:54","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.10123016421517961,-1.5728704685883337,0.71338606911949],"aabb_xy":[[-0.16282092343917245,-1.6368704666973808],[-0.039639404991186816,-1.508870470479287]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.527495737004888,-0.16196515461944072,0.71338606911949],"aabb_xy":[[0.47749573534339323,-0.2119635968751434],[0.5774957386663827,-0.111966712363738]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[-0.654114217242311,-1.025523867530469,0.71338606911949],"aabb_xy":[[-0.6914454937675536,-1.0601769223253212],[-0.6167829407170684,-0.9908708127356167]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.3317891123032384,1.0612556214194506,0.71338606911949],"aabb_xy":[[0.3141562767097108,1.0436326754038274],[0.34942194789676595,1.0788785674350734]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.5814354194196307,0.763480213505408,0.71338606911949],"aabb_xy":[[-0.6314084849521462,0.7134802136928752],[-0.5314623538871153,0.8134802133179411]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[-0.3339096289406095,-1.507902724030645,0.71338606911949],"aabb_xy":[[-0.34271168424958215,-1.5157140501855741],[-0.3251075736316367,-1.500091397875716]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.5272887133342707,-0.8369565282983527,0.71338606911949],"aabb_xy":[[0.5097887130749342,-0.8510480704871254],[0.5447887135936075,-0.8228649861095801]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.5984325951920428,0.9857335057820347,0.71338606911949],"aabb_xy":[[0.5913911442412952,0.9787067540442402],[0.6054740461427904,0.9927602575198293]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.32042176160663755,-1.8137367235919601,0.71338606911949],"aabb_xy":[[-0.34231150919557835,-1.9037367208812093],[-0.29853201401769675,-1.723736726302711]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[0.40640300676819185,1.150517301144803,0.71338606911949],"aabb_xy":[[0.34140300861227285,1.124221056594891],[0.47140300492411097,1.1768135456947153]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.5575455862408067,0.5038540644340976,0.71338606911949],"aabb_xy":[[0.5493310411251225,0.4951774741364563],[0.5657601313564905,0.5125306547317389]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.21961504716352992,-1.1768753535287162,0.71338606911949],"aabb_xy":[[-0.2996150458204159,-1.1913802124529789],[-0.1396150485066439,-1.1623704946044535]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.34570866919807924,1.1601265731394181,0.71338606911949],"aabb_xy":[[-0.4157086718346656,1.1400217081435524],[-0.2757086665614929,1.1802314381352834]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.6180742698439382,-0.5149454120913606,0.71338606911949],"aabb_xy":[[-0.6430742691159005,-0.5312907756875228],[-0.5930742705719759,-0.4986000484951982]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.5585856423667582,-2.2378152513796707,0.71338606911949],"aabb_xy":[[-0.6135788537038951,-2.292815251718465],[-0.5035924310296216,-2.1828152510408776]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.5079951916872297,-1.4234526414852953,0.71338606911949],"aabb_xy":[[-0.5454951902628504,-1.436188937148853],[-0.47049519311160887,-1.410716345821737]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.24578349256350618,1.5415855673764294,0.71338606911949],"aabb_xy":[[0.21230432530246524,1.5081064540053226],[0.2792626598245471,1.5750646807475366]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.26127655013327333,0.10826269704424485,0.71338606911949],"aabb_xy":[[-0.32127655099408603,0.05683626703775845],[-0.20127654927246044,0.1596891270507312]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.6355416878317788,-0.35371184113258636,0.71338606911949],"aabb_xy":[[0.6316278146363563,-0.3624608565391431],[0.6394555610272012,-0.3449628257260296]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.20467478453030685,-0.243428616893131,0.71338606911949],"aabb_xy":[[-0.26867478490784047,-0.29317388374394326],[-0.1406747841527732,-0.19368335004231874]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.06502273608759834,0.8631591571836936,0.71338606911949],"aabb_xy":[[-0.12002273570934419,0.8081754643962209],[-0.0100227364658525,0.9181428499711664]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[-0.2558287326880784,-2.241795093840203,0.71338606911949],"aabb_xy":[[-0.2667345087756411,-2.321795090239032],[-0.24492295660051566,-2.1617950974413738]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[-0.36955345790309047,-0.7944403466304375,0.71338606911949],"aabb_xy":[[-0.40455345617321037,-0.8015144743254256],[-0.33455345963297056,-0.7873662189354492]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[-0.5518378365302367,1.2808427136952587,0.71338606911949],"aabb_xy":[[-0.5903835293554376,1.24229694263907],[-0.5132921437050355,1.3193884847514474]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[0.5175071561874272,-2.2413326034239978,0.71338606911949],"aabb_xy":[[0.4800071553954317,-2.247700444382188],[0.5550071569794226,-2.2349647624658076]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674036147466572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2877.png","name":"2877"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2877.png","name":"2877"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4678.png","name":"4678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1152.png","name":"1152"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6503.png","name":"6503"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":658.3193894466845,"rotation_z_degrees":296.60388414463256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004505939159737911,0.0195713812550069,0.014750350312590043]},{"name":"camera_2","offset_m":[0.011872792646843672,-0.009417555727052794,-0.00017937081566309424]},{"name":"camera_3","offset_m":[0.017427778643815794,-0.0006098354884977106,0.0048298124410138775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005745686680257082,-0.0017029363344275184,0.0007884524223923744],"end_effector_yaw_offset_degrees":0.36626984201094337},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011373242870228624,-0.0012685638312263637,-0.000394975254512488],"end_effector_yaw_offset_degrees":-0.7479567772793065},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019925209524781374,-0.0004059380746644287,0.000184861063785644],"end_effector_yaw_offset_degrees":0.04128186821712787},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011951399552331803,-0.0016893220865902747,-0.0017622631467979267],"end_effector_yaw_offset_degrees":-0.9030182448549029},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0015276326200820726,0.0001815371401402855,0.00010253261664138402],"end_effector_yaw_offset_degrees":-0.3393737338624747},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015096670595644813,-0.0018208005317370782,-0.00121965720769987],"end_effector_yaw_offset_degrees":-0.8722183372351211}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001853351783881132,-0.0022638266100845073],"position_m":[0.27134664821611887,-0.021063826610084508,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000682280620059799,-0.003350066055295962],"position_m":[0.22131771937994021,-0.397450066055296,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0007340506295930183,-0.004401571897044843],"position_m":[0.27683405062959304,0.3124984281029552,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004757806166256348,-0.003294498364991809],"position_m":[0.2978421938337436,0.10420550163500819,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"0b924fbd772381ba7943729bf7fa77bbee618f8d179f4b26285d062fb02cf164","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2877/tex_ceiling_textures_6503/tex_floor_textures_830/tex_table_textures_4678/tex_wall_textures_1152","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8716416449077502646,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8716416449077502646,"visual_seed":8716416449077502646,"scene_id":"lab_003","finished_at":"2026-09-08T19:32:41"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T19:50:51","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.45351050943078886,1.0925373427722609,0.71338606911949],"aabb_xy":[[-0.4760105092446913,1.0880627264017801],[-0.43101050961688653,1.0970119591427416]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.05278894158018865,0.3442113032813432,0.71338606911949],"aabb_xy":[[-0.07028887501417203,0.32671130336110865],[-0.03528900814620528,0.36171130320157774]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.4704542753434551,-0.9324680749907821,0.71338606911949],"aabb_xy":[[0.40645857794835843,-0.9964680732914907],[0.5344499727385517,-0.8684680766900733]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[0.06611369111212473,1.42819115779893,0.71338606911949],"aabb_xy":[[0.03614613420229906,1.3981911575010442],[0.0960812480219504,1.4581911580968157]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.31168721949679407,-0.10283737981553864,0.71338606911949],"aabb_xy":[[-0.346003496671412,-0.15283737978871634],[-0.27737094232217613,-0.05283737984236089]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.6420947017454413,-1.129237553874435,0.71338606911949],"aabb_xy":[[0.5820947011494251,-1.1840500264196587],[0.7020947023414574,-1.0744250813292118]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[0.6175055477843323,1.5966464306457646,0.71338606911949],"aabb_xy":[[0.5850438469024047,1.5665135985308618],[0.6499672486662597,1.626779262760667]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.5199824465739618,-0.09685176858141764,0.71338606911949],"aabb_xy":[[0.4824824453891688,-0.10126999127747818],[0.5574824477587543,-0.0924335458853571]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[-0.48911359298786106,-0.5505454417529516,0.71338606911949],"aabb_xy":[[-0.5531135943958516,-0.6023343932768763],[-0.4251135915798704,-0.49875649022902696]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.5595737390865159,1.3753641551119347,0.71338606911949],"aabb_xy":[[0.5220737384219369,1.359677097111712],[0.5970737397510943,1.3910512131121564]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.006244639613666725,-1.5754888661195485,0.71338606911949],"aabb_xy":[[-0.03125536067850809,-1.579530341520152],[0.04374463990584154,-1.571447390718945]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.5035070508835036,-1.8886290591654307,0.71338606911949],"aabb_xy":[[0.43950705445618166,-1.935798682987527],[0.5675070473108255,-1.8414594353433342]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[0.31129650384391483,-1.176175237734631,0.71338606911949],"aabb_xy":[[0.289123976867264,-1.1983509048907544],[0.33346903082056567,-1.1539995705785078]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.589543004983113,-1.4401387729737134,0.71338606911949],"aabb_xy":[[-0.5976566596564902,-1.4482445894277425],[-0.581429350309736,-1.4320329565196843]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[0.19731695526472237,-2.121170864876669,0.71338606911949],"aabb_xy":[[0.10731695158780413,-2.1826032714537726],[0.28731695894164044,-2.059738458299564]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.1459631861669073,1.7202233023641402,0.71338606911949],"aabb_xy":[[-0.22596318475422672,1.640907700425979],[-0.06596318757958787,1.799538904302301]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.39624309479629355,1.6505635513883692,0.71338606911949],"aabb_xy":[[-0.4762430962264207,1.5710463963757595],[-0.3162430933661663,1.7300807064009784]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.18085660868238562,-1.3093424075407458,0.71338606911949],"aabb_xy":[[-0.25085661049113106,-1.3306961763049332],[-0.11085660687364018,-1.2879886387765584]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.49182669778866517,-0.045587883390045825,0.71338606911949],"aabb_xy":[[-0.5143231192225293,-0.06808788319679326],[-0.46933027635480107,-0.02308788358329838]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.6541536345797808,1.6738191973765821,0.71338606911949],"aabb_xy":[[-0.659611580216801,1.5938191940689228],[-0.6486956889427609,1.753819200684241]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[-0.16187323803062958,-1.9985835655355007,0.71338606911949],"aabb_xy":[[-0.1968732380071254,-2.008048181583117],[-0.12687323805413372,-1.989118949487884]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701608808286124,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1842.png","name":"1842"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5761.png","name":"5761"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7008.png","name":"7008"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/148.png","name":"148"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":719.0820121570162,"rotation_z_degrees":195.34867755856908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015511583325629533,0.016761969514642764,-0.010932688610408454]},{"name":"camera_2","offset_m":[-0.0015414653324273171,0.00801539913785947,-0.01276365096648572]},{"name":"camera_3","offset_m":[0.005303890102054801,0.014508052269082177,-0.01852310659495542]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005659787434486631,0.0005346817153303336,-5.029628001045126e-05],"end_effector_yaw_offset_degrees":-0.8324751414396216},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011757137719500114,-0.0005484877527157574,0.0014816448702849403],"end_effector_yaw_offset_degrees":0.25558111744927636},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010485283703605065,0.0008947491667731732,-0.0002986599076343524],"end_effector_yaw_offset_degrees":-0.5912796704220138},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013880600985748314,0.0014123433133974702,0.0006307048838049057],"end_effector_yaw_offset_degrees":-0.7251100349791526},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0007395583925472959,0.00040321246599833325,-0.0011880238747069504],"end_effector_yaw_offset_degrees":-0.35312097309015344},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0016950749757358823,-0.0011440570190658227,0.001661811059140411],"end_effector_yaw_offset_degrees":-0.18273174571688755}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00497347177768143,0.000878240092325829],"position_m":[0.26822652822231857,-0.01792175990767417,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0039284221043627485,-0.001224186049175471],"position_m":[0.21807157789563725,-0.39532418604917546,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0035310267800211124,0.0004284354558743604],"position_m":[0.2725689732199789,0.31732843545587436,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006546621246512896,0.004367699895371045],"position_m":[0.30325466212465124,0.11186769989537104,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"9135408efcc6a87564391c3c1abaad444b4190c5b88cae6b346b27c43114fd58","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4370/tex_ceiling_textures_148/tex_floor_textures_7008/tex_table_textures_1842/tex_wall_textures_5761","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":375253005987113721,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":375253005987113721,"visual_seed":375253005987113721,"scene_id":"lab_003","finished_at":"2026-09-08T19:58:49"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T19:58:56","dimensions":{"distractor":{"count":34,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.13751381277564467,-2.006401747395339,0.71338606911949],"aabb_xy":[[-0.1594224949149957,-2.0283024142154296],[-0.1156051306362936,-1.984501080575248]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[0.4112040559077834,-0.6451854482230923,0.71338606911949],"aabb_xy":[[0.3472040552043141,-0.6912038306960133],[0.4752040566112528,-0.5991670657501713]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.3915173512860467,1.7601702017154985,0.71338606911949],"aabb_xy":[[-0.4815173510092209,1.7370968491803185],[-0.3015173515628725,1.7832435542506782]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.6921179128085735,0.5804834176459939,0.71338606911949],"aabb_xy":[[0.6769457435269401,0.5653145607177906],[0.7072900820902068,0.5956522745741973]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.5007841498029086,1.404994841434617,0.71338606911949],"aabb_xy":[[-0.5136560533038487,1.3249948410207806],[-0.48791224630196844,1.4849948418484529]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[0.0744273881387153,0.9565515925292152,0.71338606911949],"aabb_xy":[[-0.005572610518170706,0.9420467336049524],[0.1544273867956013,0.971056451453478]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.5754747484766887,0.6956195372662219,0.71338606911949],"aabb_xy":[[0.565063189796205,0.6902738039303233],[0.5858863071571724,0.7009652706021203]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.3387632124243525,1.5950879924698262,0.71338606911949],"aabb_xy":[[-0.40035397164834535,1.5310879943607794],[-0.2771724532003597,1.6590879905788731]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.21385289249179829,-0.7028414661044866,0.71338606911949],"aabb_xy":[[0.13385289106167106,-0.7823586211170961],[0.2938528939219255,-0.6233243110918771]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.2791550052399229,-0.20207065920261824,0.71338606911949],"aabb_xy":[[-0.34415500619705014,-0.2540188711363238],[-0.21415500428279574,-0.1501224472689127]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[0.16063645279775496,-0.9136074285834974,0.71338606911949],"aabb_xy":[[0.14740550726307367,-0.9268348476054968],[0.17386739833243625,-0.900380009561498]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.5287795397642157,-1.4747607407219683,0.71338606911949],"aabb_xy":[[0.498381428665072,-1.5051676427236376],[0.5591776508633591,-1.4443538387202985]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.49701417893177724,0.9110761267102103,0.71338606911949],"aabb_xy":[[0.4492080113180085,0.8460761240031512],[0.5448203465455459,0.9760761294172692]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.19207954849858044,-2.510980877855173,0.71338606911949],"aabb_xy":[[-0.27207954565815573,-2.5225284788129896],[-0.11207955133900516,-2.4994332768973555]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[0.6772012040302307,1.1534944842862913,0.71338606911949],"aabb_xy":[[0.6677837294603678,1.1440783071485723],[0.6866186786000933,1.1629106614240103]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.1794171920377272,-2.381990472198285,0.71338606911949],"aabb_xy":[[-0.19025767026424212,-2.3991767534889337],[-0.1685767138112123,-2.3648041909076363]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.5057273726041804,-1.232020372164494,0.71338606911949],"aabb_xy":[[-0.5400436497787984,-1.2820203721376715],[-0.4714110954295625,-1.182020372191316]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.5205818853256134,-2.0461396189265404,0.71338606911949],"aabb_xy":[[0.4980818858019061,-2.0686355663771603],[0.5430818848493209,-2.0236436714759187]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.30302315234896626,1.4097679347759304,0.71338606911949],"aabb_xy":[[-0.3830231503297513,1.4021663938140783],[-0.22302315436818124,1.4173694757377822]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.37385122206571664,-2.002402789778457,0.71338606911949],"aabb_xy":[[0.34933759796871083,-2.0266673830804933],[0.39836484616272255,-1.9781381964764204]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[-0.11405682933708883,1.2954802576862217,0.71338606911949],"aabb_xy":[[-0.17805682961106706,1.2454141574889337],[-0.0500568290631106,1.3455463578835096]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.44394291871023916,1.192683712021367,0.71338606911949],"aabb_xy":[[-0.49404038269131284,1.128683711511555],[-0.3938454547291656,1.2566837125311787]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.7105126583490537,1.399656396203767,0.71338606911949],"aabb_xy":[[0.7034723484155168,1.3196563968040955],[0.7175529682825907,1.4796563956034383]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[0.5943103420368117,-0.20048121516314277,0.71338606911949],"aabb_xy":[[0.5303103456094896,-0.24765083898523924],[0.6583103384641334,-0.15331159134104635]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.6057551418586476,0.6656776026705722,0.71338606911949],"aabb_xy":[[-0.6165281157800154,0.6306776044515332],[-0.5949821679372799,0.7006776008896112]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[0.3323949882740036,-2.2631520603916253,0.71338606911949],"aabb_xy":[[0.28239498699016363,-2.3131309147822474],[0.38239498955784357,-2.213173206001003]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[0.6985866893163708,0.388419017347831,0.71338606911949],"aabb_xy":[[0.6809110587277725,0.3707388010684282],[0.7162623199049691,0.4060992336272337]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[0.48724840449366336,-1.721496986452641,0.71338606911949],"aabb_xy":[[0.43225519315652666,-1.776496986791435],[0.5422416158308001,-1.666496986113848]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[-0.4724092322165487,-0.9379408147427419,0.71338606911949],"aabb_xy":[[-0.5561314577166312,-1.0279408182774379],[-0.3886870067164662,-0.8479408112080461]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[-0.1593799329785276,0.3261598788428208,0.71338606911949],"aabb_xy":[[-0.22337992937410064,0.26219659042408733],[-0.09537993658295449,0.39012316726155444]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_30","position":[0.061817576825202836,-1.861119122143508,0.71338606911949],"aabb_xy":[[0.027355098812115064,-1.8677827993264307],[0.09628005483829061,-1.8544554449605848]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_31","position":[-0.46340498539469255,-1.368837138739383,0.71338606911949],"aabb_xy":[[-0.49840498529071137,-1.3772113742513228],[-0.4284049854986736,-1.3604629032274431]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_32","position":[-0.4402587579629898,-2.4212772798190647,0.71338606911949],"aabb_xy":[[-0.5302587546986,-2.474460743136359],[-0.35025876122737953,-2.36809381650177]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_33","position":[-0.5212844252492385,-1.789658651560123,0.71338606911949],"aabb_xy":[[-0.5862844231308864,-1.840782315266664],[-0.4562844273675908,-1.7385349878535823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6731356582528291,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3031.png","name":"3031"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3031.png","name":"3031"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6325.png","name":"6325"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2038.png","name":"2038"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1659.png","name":"1659"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5885.png","name":"5885"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":671.6284674324768,"rotation_z_degrees":283.24909844277624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00028005443246744907,0.01960378774836449,0.01273343206556193]},{"name":"camera_2","offset_m":[0.01785818125143788,0.010187697212559788,0.00792061249307761]},{"name":"camera_3","offset_m":[-0.00518332150427709,0.017824826951794003,-0.010311221347964947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008278073517640307,0.0016043732710729168,0.0016324976396669905],"end_effector_yaw_offset_degrees":-0.08975420949985335},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012681880276293515,-0.0016853169561842796,-0.0017701297120671776],"end_effector_yaw_offset_degrees":0.09527154253305459},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015471986749252338,-0.0009232184774324379,0.001089770197899838],"end_effector_yaw_offset_degrees":0.8061464747037137},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006757096833267173,0.0016199768882162362,0.00032912067943403943],"end_effector_yaw_offset_degrees":-0.7394187021517806},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0012437542448684225,-0.0018080363709870682,0.001327880226449008],"end_effector_yaw_offset_degrees":0.3226601447601001},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0005730955595853655,-0.0018945818611684553,0.001990447341699183],"end_effector_yaw_offset_degrees":-0.34846709115440455}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024340864711540813,0.0008159031104535497],"position_m":[0.27076591352884594,-0.017984096889546452,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006498872006896993,-0.0017764909287060061],"position_m":[0.2213501127993103,-0.395876490928706,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0014034376540104044,-0.002804192972029531],"position_m":[0.2775034376540104,0.31409580702797046,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002243827542355712,0.0023790411071066267],"position_m":[0.3003561724576443,0.10987904110710663,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"6b67ce5fcff848f50ccecc25b300508a51e629142291391b3173de4add30198a","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3031/tex_ceiling_textures_5885/tex_floor_textures_1659/tex_table_textures_6325/tex_wall_textures_2038","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5354784107444677682,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5354784107444677682,"visual_seed":5354784107444677682,"scene_id":"lab_003","finished_at":"2026-09-08T20:06:51"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T22:23:33","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.12766416712296313,-2.2980854279234975,0.71338606911949],"aabb_xy":[[0.11790817761378924,-2.307847961982732],[0.13742015663213702,-2.288322893864263]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.4303217337332798,-1.4874049040418946,0.71338606911949],"aabb_xy":[[-0.4671722816702674,-1.5249049048649284],[-0.3934711857962922,-1.449904903218861]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.49899411954078854,1.3242714038957533,0.71338606911949],"aabb_xy":[[-0.5566245884280593,1.2642714049690422],[-0.44136365065351757,1.3842714028224634]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.5897335798910932,-1.2921704573608608,0.71338606911949],"aabb_xy":[[0.5727234826010426,-1.3083049458591345],[0.6067436771811439,-1.2760359688625866]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[0.213496736250402,1.7081414894678715,0.71338606911949],"aabb_xy":[[0.15850125842974255,1.6531414880339643],[0.26849221407106133,1.7631414909017782]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.38014815391624635,1.2915232860978394,0.71338606911949],"aabb_xy":[[-0.39757886899525274,1.2742511714339884],[-0.3627174388372397,1.30879540076169]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.31659826352312304,-1.4815822421062796,0.71338606911949],"aabb_xy":[[0.30725125594082775,-1.4958858643239235],[0.3259452711054182,-1.4672786198886354]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.6521080323008352,0.14659199256763555,0.71338606911949],"aabb_xy":[[0.5969828266712445,0.08659199112634842],[0.707233237930426,0.2065919940089227]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[0.6204229475356433,-0.5768414784240861,0.71338606911949],"aabb_xy":[[0.5829229472434685,-0.5808829538246897],[0.6579229478278181,-0.5728000030234824]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.4126876745349767,0.7436623266629292,0.71338606911949],"aabb_xy":[[-0.4766876768777782,0.6987214754187967],[-0.34868767219217506,0.7886031779070617]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[0.24021834545805576,0.7116774447711101,0.71338606911949],"aabb_xy":[[0.19021834417421574,0.661698590380488],[0.2902183467418956,0.7616562991617322]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.4139867403669326,-2.4091779592419176,0.71338606911949],"aabb_xy":[[0.3951023565984224,-2.4280638840222704],[0.4328711241354428,-2.390292034461565]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.4403795173499181,0.05347598501942219,0.71338606911949],"aabb_xy":[[0.4355359225886882,0.048624332540438076],[0.4452231121111481,0.058327637498406304]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.04010678350482211,0.8313496089069101,0.71338606911949],"aabb_xy":[[-0.07125370234840522,0.7613496102201027],[-0.008959864661238985,0.9013496075937171]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[-0.03824235870532544,-1.6383878180920703,0.71338606911949],"aabb_xy":[[-0.10224235896579625,-1.6833966174449986],[0.02575764155514536,-1.5933790187391426]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[0.6918090676413609,-1.3768561240638597,0.71338606911949],"aabb_xy":[[0.6747069896829926,-1.3939629295951295],[0.7089111455997289,-1.35974931853259]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.40989427721837507,-0.11378274972556301,0.71338606911949],"aabb_xy":[[-0.4598772274058543,-0.1637827493681234],[-0.3599113270308956,-0.06378275008300259]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.5448498508529382,1.6996030338560062,0.71338606911949],"aabb_xy":[[0.4808498475632302,1.6562681148520886],[0.6088498541426464,1.7429379528599238]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.06898316331624099,1.3829734032365724,0.71338606911949],"aabb_xy":[[0.019502742102282186,1.3189734053237205],[0.11846358453019977,1.4469734011494242]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.016324541065846354,0.9758111940161229,0.71338606911949],"aabb_xy":[[-0.017451018124846618,0.9617726988029579],[0.050100100256539326,0.989849689229288]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.148219817504744,-1.0259707779757838,0.71338606911949],"aabb_xy":[[-0.15621380608244737,-1.0339708580708742],[-0.14022582892704058,-1.0179706978806935]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[0.6550981158845166,1.234507010244506,0.71338606911949],"aabb_xy":[[0.6200981176143966,1.2274328825495178],[0.6900981141546364,1.241581137939494]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[0.7016112094294455,-2.184330473502815,0.71338606911949],"aabb_xy":[[0.6971805800746055,-2.1897788452374973],[0.7060418387842858,-2.1788821017681324]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[-0.12017729979400638,-1.127672525164006,0.71338606911949],"aabb_xy":[[-0.13767729907209325,-1.1450106252303518],[-0.1026773005159195,-1.11033442509766]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.13990712656631066,1.2745367645542172,0.71338606911949],"aabb_xy":[[-0.20390712386865706,1.2301703375863602],[-0.07590712926396426,1.3189031915220737]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[-0.2841647378817328,-0.6558107544042453,0.71338606911949],"aabb_xy":[[-0.34816473815571103,-0.7058768546015332],[-0.22016473760775457,-0.6057446542069572]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.6520850191622303,-2.175986312800413,0.71338606911949],"aabb_xy":[[-0.6697606497508286,-2.1936665290798154],[-0.6344093885736319,-2.15830609652101]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.35759468049587906,1.785652468573344,0.71338606911949],"aabb_xy":[[-0.36637590764311523,1.776872721284814],[-0.3488134533486428,1.7944322158618746]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[-0.5496004948221318,0.23262507190453707,0.71338606911949],"aabb_xy":[[-0.6136004970425388,0.1882519877792488],[-0.4856004926017248,0.27699815602982536]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.23070424993834804,-2.0049526757952525,0.71338606911949],"aabb_xy":[[0.22013677028024903,-2.015497705908261],[0.24127172959644705,-1.994407645682244]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_30","position":[0.45528646235088344,-1.833550559056127,0.71338606911949],"aabb_xy":[[0.44213521637959413,-1.8585505588128135],[0.46843770832217285,-1.8085505592994404]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[0.5653999672796635,-2.4263118060749953,0.71338606911949],"aabb_xy":[[0.5329382663977359,-2.4564446381898972],[0.5978616681615908,-2.3961789739600916]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_32","position":[0.20255417384932628,-1.8653511056899585,0.71338606911949],"aabb_xy":[[0.13755417569340722,-1.891647350239871],[0.26755417200524534,-1.8390548611400466]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_33","position":[0.38348149728163317,-1.0685413269596968,0.71338606911949],"aabb_xy":[[0.36101672731022805,-1.0910413278385571],[0.4059462672530383,-1.046041326080836]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.673290696415699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1490.png","name":"1490"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1490.png","name":"1490"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3126.png","name":"3126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6287.png","name":"6287"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9965.png","name":"9965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1825.png","name":"1825"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":551.9396555347222,"rotation_z_degrees":226.78040582426195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01977518921095224,-0.01137100739912665,0.007944153982813548]},{"name":"camera_2","offset_m":[-0.011754930633422403,-0.018361278233349786,0.0041671835871064]},{"name":"camera_3","offset_m":[0.010636300108185743,7.904489829002256e-05,-0.019976533900096263]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005367589121807138,0.00049633316591479,0.0007990620396195729],"end_effector_yaw_offset_degrees":-0.2198686285407927},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005209479861583979,-0.0014825327721352454,0.0016332522485229734],"end_effector_yaw_offset_degrees":0.1616271404801808},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015538266903879602,0.001660407533560128,-0.0006410906616234296],"end_effector_yaw_offset_degrees":-0.5724746991319734},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008669244749224749,0.0010462464663570895,-1.2173112949333785e-05],"end_effector_yaw_offset_degrees":-0.7266684750967007},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014564192946485512,-0.0010795814576661505,-0.00014412932339087853],"end_effector_yaw_offset_degrees":-0.7959273430374143},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-4.5981255709031266e-05,-0.0006301629476272584,0.001641316560159604],"end_effector_yaw_offset_degrees":0.005570151946010959}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018162646576748765,0.002172222503092766],"position_m":[0.2713837353423251,-0.016627777496907234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016948935859763558,-0.0034722052862123124],"position_m":[0.22030510641402365,-0.39757220528621234,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0048299200118194965,0.00023808778853781198],"position_m":[0.27127007998818053,0.3171380877885378,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007657440993424636,-0.00233452351826563],"position_m":[0.30336574409934247,0.10516547648173437,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"49ecc4a7493ab8e7e0ff17a62fb385a0ffe1cf6d5a12d38fa57b5e4100ba84f7","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1490/tex_ceiling_textures_1825/tex_floor_textures_9965/tex_table_textures_3126/tex_wall_textures_6287","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2785578451398155824,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2785578451398155824,"visual_seed":2785578451398155824,"scene_id":"lab_003","finished_at":"2026-09-08T22:31:34"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T22:46:48","dimensions":{"distractor":{"count":28,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.3277721433079073,1.7253728390078549,0.71338606911949],"aabb_xy":[[-0.33867791939547004,1.6453728426090255],[-0.3168663672203446,1.8053728354066838]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.5714997107049051,-1.2367881887811487,0.71338606911949],"aabb_xy":[[0.5411015996057614,-1.267195090782818],[0.6018978218040486,-1.206381286779479]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.6367993921750832,-0.7574685504159997,0.71338606911949],"aabb_xy":[[0.6117993922425654,-0.764351218636923],[0.6617993921076012,-0.7505858821950764]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[-0.38075999716342435,1.4257356084419812,0.71338606911949],"aabb_xy":[[-0.43075999852431157,1.3757577038665654],[-0.3307599958025371,1.4757135130173966]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.30858637665238214,0.2344145346386668,0.71338606911949],"aabb_xy":[[-0.32414214606264746,0.21886410139425963],[-0.29303060724211694,0.249964967883074]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.3613470031159256,-1.2703142723857244,0.71338606911949],"aabb_xy":[[0.35010194754530777,-1.2815560701098194],[0.37259205868654344,-1.2590724746616289]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.07177852572443066,0.7482662736404992,0.71338606911949],"aabb_xy":[[0.021779250555994487,0.6982662723645521],[0.12177780089286681,0.7982662749164464]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.23007339389740045,-1.4271597649770154,0.71338606911949],"aabb_xy":[[0.18007339223590568,-1.4771582072327178],[0.2800733955588952,-1.3771613227213124]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.5489536312226435,-2.0864759416391188,0.71338606911949],"aabb_xy":[[0.5429870922819077,-2.0924370862984825],[0.5549201701633791,-2.080514796979754]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_9","position":[-0.6493577373542626,0.842541764835059,0.71338606911949],"aabb_xy":[[-0.6574713920276397,0.83443594838103],[-0.6412440826808855,0.8506475812890881]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.0061132457143976415,1.1588231995002327,0.71338606911949],"aabb_xy":[[-0.02939508791252898,1.0738231982030044],[0.017168596483733697,1.2438232007974606]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.188377380129362,-1.1765953349916913,0.71338606911949],"aabb_xy":[[-0.23618354774313066,-1.24159533769875],[-0.14057121251559337,-1.1115953322846321]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.410006372665453,-0.1119103321117354,0.71338606911949],"aabb_xy":[[-0.45277307954487317,-0.17591033553353785],[-0.3672396657860328,-0.047910328689932946]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.12265237770333881,0.9127238341618318,0.71338606911949],"aabb_xy":[[-0.20765237639541345,0.8807379707669528],[-0.037652379011264156,0.9447096975567105]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.30127197355017055,-2.4668819760248595,0.71338606911949],"aabb_xy":[[0.21127197704929876,-2.5127936184433173],[0.39127197005104225,-2.420970333606401]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.37948915266628935,-0.4688754702710316,0.71338606911949],"aabb_xy":[[0.3444891535363337,-0.47462069134669566],[0.414489151796245,-0.46313024919536744]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.21868533028201886,-1.0971642418554255,0.71338606911949],"aabb_xy":[[0.16369307964650792,-1.1521642435987383],[0.2736775809175298,-1.0421642401121127]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.27270423288399503,-1.2950575070606707,0.71338606911949],"aabb_xy":[[0.2583698077578315,-1.3071177226152095],[0.28703865801015843,-1.2829972915061318]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[0.4336525949177177,-2.1507079608662303,0.71338606911949],"aabb_xy":[[0.3836525945571516,-2.200687948075833],[0.48365259527828375,-2.100727973656627]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.19216940283769146,-0.6724789234365789,0.71338606911949],"aabb_xy":[[-0.2561694032152251,-0.7222241902873912],[-0.12816940246015782,-0.6227336565857666]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.6100165898376211,0.9916792595220967,0.71338606911949],"aabb_xy":[[0.5968653438663317,0.9666792597654104],[0.6231678358089104,1.0166792592787834]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.35275256368099045,-2.0418792660743543,0.71338606911949],"aabb_xy":[[-0.3892483843082692,-2.078363208501112],[-0.3162567430537117,-2.0053953236475968]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[0.5348732927035085,-0.8436775817462778,0.71338606911949],"aabb_xy":[[0.5129835451145676,-0.933677579035527],[0.5567630402924492,-0.7536775844570287]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.5220869917238636,-0.9005256014793306,0.71338606911949],"aabb_xy":[[-0.6120869911422345,-0.9339010983235202],[-0.43208699230549275,-0.8671501046351408]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[0.6884218119990513,-2.1130886467920487,0.71338606911949],"aabb_xy":[[0.679074804416756,-2.1273922690096922],[0.6977688195813465,-2.098785024574404]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[0.386855260835431,0.46697927569599385,0.71338606911949],"aabb_xy":[[0.3368604279074894,0.41697927680075036],[0.4368500937633726,0.5169792745912374]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[0.6159648015880426,0.5834050982206853,0.71338606911949],"aabb_xy":[[0.5359648036072574,0.5758035572588334],[0.6959647995688275,0.5910066391825373]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[0.7027056366603746,-0.39504736888913605,0.71338606911949],"aabb_xy":[[0.6851273344714277,-0.41262185846324095],[0.7202839388493214,-0.37747287931503115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67598932496167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7785.png","name":"7785"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7785.png","name":"7785"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/216.png","name":"216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5441.png","name":"5441"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1339.png","name":"1339"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9859.png","name":"9859"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":808.0193998054688,"rotation_z_degrees":114.93949956408449,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0037188718012705346,-0.008142059896908119,0.01504720553494222]},{"name":"camera_2","offset_m":[0.014566607540007607,0.016514761098144,0.018697743672134243]},{"name":"camera_3","offset_m":[-0.01644035057330354,0.011953489793093509,0.01360860116646376]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008188449760490313,-0.0011850653231811272,0.0014896681719416558],"end_effector_yaw_offset_degrees":-0.7320184799409364},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.5496115075191034e-05,-0.0007879116887360719,0.0012207974471015117],"end_effector_yaw_offset_degrees":0.4019453298988487},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015444130316315018,0.0008517395884335283,-0.001375301163836919],"end_effector_yaw_offset_degrees":-0.6535548177208235},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00023493873986465573,-8.222113218700282e-05,-0.0006858557981081841],"end_effector_yaw_offset_degrees":-0.5805692303019729},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016869452673031074,-4.004336505074703e-05,-0.0017983267050585496],"end_effector_yaw_offset_degrees":-0.6422442854647665},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014770847749068885,-0.0011296868751472316,-0.000455194236983142],"end_effector_yaw_offset_degrees":-0.052247933461576634}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002247920676962783,0.003334814284134637],"position_m":[0.2754479206769628,-0.015465185715865363,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030963949691141046,-0.0014692835001664582],"position_m":[0.2250963949691141,-0.39556928350016646,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0020044985369623777,-0.0009044978445362983],"position_m":[0.2781044985369624,0.31599550215546374,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029269128963102485,-0.0003087190616872879],"position_m":[0.29967308710368973,0.1071912809383127,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"c81824edc5bdfbe714bd7a4ae79106da41374072fb5461b0eeef6857c055d771","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7785/tex_ceiling_textures_9859/tex_floor_textures_1339/tex_table_textures_216/tex_wall_textures_5441","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1954781991445280841,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1954781991445280841,"visual_seed":1954781991445280841,"scene_id":"lab_003","finished_at":"2026-09-08T22:54:19"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T23:03:36","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.6711994627820599,-0.9009381833616805,0.71338606911949],"aabb_xy":[[0.6537687477030532,-0.9182102980255311],[0.6886301778610662,-0.8836660686978295]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.3145481974591311,-1.611713313885077,0.71338606911949],"aabb_xy":[[0.28670316067852397,-1.6424978126233887],[0.3423932342397382,-1.5809288151467653]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.4547727354947287,-1.2272636835898514,0.71338606911949],"aabb_xy":[[-0.518772737407071,-1.283174832847862],[-0.3907727335823864,-1.1713525343318412]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[0.37834079172198076,1.5494685874568472,0.71338606911949],"aabb_xy":[[0.3538271676249749,1.5252039941548106],[0.4028544158189866,1.5737331807588835]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.544504897177096,1.2498711123939703,0.71338606911949],"aabb_xy":[[-0.5647891999004947,1.2295884872512612],[-0.5242205944536972,1.270153737536679]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[0.4026499222599347,-0.3036269923310453,0.71338606911949],"aabb_xy":[[0.37432021231139445,-0.3080877345247623],[0.4309796322084749,-0.29916625013732817]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.15676383668367644,-0.26452184580880544,0.71338606911949],"aabb_xy":[[-0.22076383836167376,-0.3130392372881196],[-0.09276383500567906,-0.21600445432949117]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.3773342001495583,-0.6417402261272707,0.71338606911949],"aabb_xy":[[-0.4201009070289785,-0.705740229549073],[-0.3345674932701381,-0.5777402227054681]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.32745178388052376,-1.0146067046260563,0.71338606911949],"aabb_xy":[[-0.3445538618388919,-1.0317135101573263],[-0.3103497059221556,-0.9974998990947868]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.5385445284779169,-0.07473015302508035,0.71338606911949],"aabb_xy":[[0.5305182578472909,-0.08348164800243296],[0.5465707991085429,-0.06597865804772773]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.6875222251303879,1.3716032437865069,0.71338606911949],"aabb_xy":[[0.6793945369370746,1.3626896353757991],[0.6956499133237011,1.3805168521972147]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[0.27819237566188426,-0.8600577037471349,0.71338606911949],"aabb_xy":[[0.24069237571811786,-0.8683507937819713],[0.31569237560565067,-0.8517646137122982]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[-0.44872385942018383,-2.528779593671851,0.71338606911949],"aabb_xy":[[-0.4862238597684116,-2.5405709892529345],[-0.4112238590719561,-2.5169881980907673]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.5497186057925052,1.3528171643284468,0.71338606911949],"aabb_xy":[[0.4997186062161706,1.302836585376341],[0.59971860536884,1.402797743280553]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.0016392871270459741,-2.191978575308294,0.71338606911949],"aabb_xy":[[-0.02336071203858714,-2.198930821013651],[0.026639286292679087,-2.185026329602938]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.20026161565982492,1.0035474341327988,0.71338606911949],"aabb_xy":[[0.13626161237011677,0.9602125151288811],[0.264261618949533,1.0468823531367162]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.6643078908582049,1.8049886525188357,0.71338606911949],"aabb_xy":[[-0.6789512964122377,1.7903299328620512],[-0.6496644853041718,1.8196473721756197]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[-0.04950144956661551,1.2990719937629684,0.71338606911949],"aabb_xy":[[-0.054457469751496713,1.276571993560847],[-0.04454542938173431,1.3215719939650903]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.3705968863952595,-1.7253086893743537,0.71338606911949],"aabb_xy":[[-0.4605968858136303,-1.7586841862185432],[-0.2805968869768885,-1.6919331925301637]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[-0.24039679982071838,0.594573207542187,0.71338606911949],"aabb_xy":[[-0.250028436041148,0.5849358947624781],[-0.23076516360028876,0.6042105203218959]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[0.3874487485710847,0.39566652659375734,0.71338606911949],"aabb_xy":[[0.3274487480632317,0.33881979290783604],[0.44744874907893756,0.45251326027967864]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.5676795024268844,-0.2975634982891431,0.71338606911949],"aabb_xy":[[-0.5901786381531113,-0.32006349906740605],[-0.5451803667006574,-0.2750634975108801]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[0.6301918920825456,-0.5139227187178657,0.71338606911949],"aabb_xy":[[0.5933972589576393,-0.5508285938144479],[0.6669865252074518,-0.4770168436212834]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[0.03805770555564614,1.7147686849315371,0.71338606911949],"aabb_xy":[[0.009408373195229906,1.686123125654461],[0.06670703791606236,1.7434142442086127]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.261330312670174,0.9394480446285463,0.71338606911949],"aabb_xy":[[-0.2791238196050904,0.9216482990327486],[-0.24353680573525754,0.9572477902243439]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722586403062667,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3388.png","name":"3388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3388.png","name":"3388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7625.png","name":"7625"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3379.png","name":"3379"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5446.png","name":"5446"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9305.png","name":"9305"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":553.682238653183,"rotation_z_degrees":221.5198450536481,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0146651151689553,-0.018982137842041558,0.008055802164010903]},{"name":"camera_2","offset_m":[0.011632695422981152,-0.0022572813077755202,0.005459270588410066]},{"name":"camera_3","offset_m":[0.00015365237114673205,0.0179740289993507,-0.003105122851705243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006405108934032155,-0.0010085103332923625,-0.0008461745292378837],"end_effector_yaw_offset_degrees":0.8870989327590644},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.835641530944321e-05,0.0015462776006213842,0.0010411701286515231],"end_effector_yaw_offset_degrees":-0.650068590804181},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008948933691510091,0.0009732056751565617,0.0009960850038389798],"end_effector_yaw_offset_degrees":-0.08499899215628681},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011881250358320287,0.001375341442075711,-0.0003851965853871656],"end_effector_yaw_offset_degrees":-0.4950815308819989},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010941545171143218,-0.0011649828907894664,-0.0008839194799102419],"end_effector_yaw_offset_degrees":-0.8445957397849564},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018422666067437225,-0.0019298449085831347,-0.0016824926768524576],"end_effector_yaw_offset_degrees":0.7651875892969762}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003239644859710916,0.00469603613134812],"position_m":[0.2764396448597109,-0.01410396386865188,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017956746382650794,0.003114632284812134],"position_m":[0.22379567463826508,-0.3909853677151879,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0017535290598037212,0.004484898002904866],"position_m":[0.27785352905980376,0.3213848980029049,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001239459608170606,0.004488583244198307],"position_m":[0.3038394596081706,0.1119885832441983,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"ff41f40ca6f5950a5dcc8c214107168c8afa1cbabdc36e0af01c53c9c00b07d6","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3388/tex_ceiling_textures_9305/tex_floor_textures_5446/tex_table_textures_7625/tex_wall_textures_3379","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":5437728591185813605,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":5437728591185813605,"visual_seed":5437728591185813605,"scene_id":"lab_003","finished_at":"2026-09-08T23:11:52"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T23:11:59","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.1149740528373765,0.3701131171672576,0.71338606911949],"aabb_xy":[[-0.12223530040778391,0.3573261069037481],[-0.10771280526696908,0.38290012743076707]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.18438241272769085,-2.1943967975661,0.71338606911949],"aabb_xy":[[-0.2200115686276506,-2.230029464322953],[-0.1487532568277311,-2.158764130809247]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.34619238600069413,-1.3376303757437438,0.71338606911949],"aabb_xy":[[0.30869238742507327,-1.3503666714073017],[0.3836923845763149,-1.3248940800801858]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.5455982144204369,-1.8015984617691059,0.71338606911949],"aabb_xy":[[-0.5680982149324774,-1.824090320134504],[-0.5230982139083962,-1.7791066034037073]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.28708026563326955,-1.2590589452955014,0.71338606911949],"aabb_xy":[[-0.2920362858181508,-1.281558945497623],[-0.2821242454483883,-1.2365589450933798]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.6878903602736888,-1.1672868013793118,0.71338606911949],"aabb_xy":[[0.6643052368097939,-1.2322868036247436],[0.7114754837375836,-1.10228679913388]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[-0.20717355571634632,-1.6748490004849041,0.71338606911949],"aabb_xy":[[-0.2671735573592682,-1.7268491497768486],[-0.14717355407342447,-1.6228488511929602]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.004906164221223364,-1.128651636339759,0.71338606911949],"aabb_xy":[[-0.019240589347386816,-1.1407118518942978],[0.009428260904940089,-1.1165914207852201]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.47202707854135295,0.5374987478675344,0.71338606911949],"aabb_xy":[[0.4169018729117621,0.4774987464262472],[0.5271522841709436,0.5974987493088214]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.3790675721485548,-2.3961702685896413,0.71338606911949],"aabb_xy":[[0.3615208772324359,-2.4336702701538924],[0.3966142670646738,-2.3586702670253903]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.2586371825506566,-0.6769405008122542,0.71338606911949],"aabb_xy":[[0.17491495705057414,-0.76694050434695],[0.34235940805073906,-0.5869404972775581]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.054214049057586644,1.4254704620337573,0.71338606911949],"aabb_xy":[[-0.10419285756790253,1.3754704620280382],[-0.004235240547270751,1.4754704620394758]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.08515775787194502,-1.7050969483108664,0.71338606911949],"aabb_xy":[[0.06604545051396617,-1.7242317271881085],[0.1042700652299239,-1.6859621694336244]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.6351517114633284,0.49405529930260794,0.71338606911949],"aabb_xy":[[-0.6444987190456236,0.4797516770849639],[-0.6258047038810332,0.508358921520252]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.4306564906787924,-2.203232329689185,0.71338606911949],"aabb_xy":[[0.3995095718352093,-2.2732323283759923],[0.46180340952237553,-2.133232331002378]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.3899926592768463,-1.9118461038056747,0.71338606911949],"aabb_xy":[[-0.395959198217582,-1.9178072484650386],[-0.38402612033611044,-1.9058849591463107]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.1476477214149171,-1.28266756247928,0.71338606911949],"aabb_xy":[[0.0836477210373835,-1.3324128293300923],[0.21164772179245073,-1.2329222956284678]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_17","position":[-0.4476151899459384,0.7696034890976806,0.71338606911949],"aabb_xy":[[-0.5176151863559,0.7491655534459987],[-0.3776151935359765,0.7900414247493621]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.45208942996416657,-2.3118450209953747,0.71338606911949],"aabb_xy":[[-0.49485613684358676,-2.375845024417177],[-0.4093227230847464,-2.2478450175735722]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.28490022469486315,-0.4702870101847143,0.71338606911949],"aabb_xy":[[-0.344900225202716,-0.5271337438706355],[-0.2249002241870102,-0.41344027649879295]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.1711207670313405,1.0484828953005305,0.71338606911949],"aabb_xy":[[-0.23512076620111044,1.001716208181568],[-0.10712076786157056,1.095249582419493]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.7002153349676263,1.0977340297049651,0.71338606911949],"aabb_xy":[[0.6922213463899228,1.0897339496098746],[0.7082093235453296,1.1057341098000553]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[0.4912321074935304,-0.8947212525005996,0.71338606911949],"aabb_xy":[[0.47936002448202936,-0.97972125219425],[0.5031041905050315,-0.8097212528069493]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.013829856760643744,-1.4735149961260723,0.71338606911949],"aabb_xy":[[-0.0711701419314309,-1.5055008595209514],[0.09882985545271838,-1.4415291327311937]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6751428733146344,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1453.png","name":"1453"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1453.png","name":"1453"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1735.png","name":"1735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5790.png","name":"5790"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9841.png","name":"9841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6253.png","name":"6253"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":540.0280348043927,"rotation_z_degrees":299.9712435906092,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008216593512045046,0.007628422116441706,-0.012148249307575298]},{"name":"camera_2","offset_m":[-0.00014331149904499643,-0.004309408672430834,-0.011872881474253468]},{"name":"camera_3","offset_m":[0.005194422563648944,-0.017915767278514922,-0.004185639913568351]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006627924773133982,0.0011024270990865831,0.0008480892803201211],"end_effector_yaw_offset_degrees":-0.5700799778084635},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012941303472094748,0.0014009476304874505,0.0009182241277922048],"end_effector_yaw_offset_degrees":0.5193709917972706},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010942007127493951,0.0018018534485978763,-0.0017589613640339907],"end_effector_yaw_offset_degrees":-0.0008714031191909832},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0015146032099286346,0.0001134425372570809,-0.00026714385495089617],"end_effector_yaw_offset_degrees":-0.9072248391023605},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012648935952437354,-0.000774701497553477,-0.0005115499246737222],"end_effector_yaw_offset_degrees":-0.44412361525983357},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012893620570614277,-0.0016904702020313126,0.0007483117213796815],"end_effector_yaw_offset_degrees":0.8268725104979955}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012569792282791604,0.0013055564384880976],"position_m":[0.27445697922827916,-0.017494443561511905,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018303051782286072,-0.0017760209096191783],"position_m":[0.2238303051782286,-0.3958760209096192,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0013554412032062467,0.0009189354540821114],"position_m":[0.27745544120320625,0.31781893545408213,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018356900227330885,-0.0018429776083953996],"position_m":[0.3007643099772669,0.1056570223916046,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"1e277c1105652bcb5cb3befc4c79fad79fdeba68288ad189dcd8cf8b5da90d05","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1453/tex_ceiling_textures_6253/tex_floor_textures_9841/tex_table_textures_1735/tex_wall_textures_5790","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1557952744850533440,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1557952744850533440,"visual_seed":1557952744850533440,"scene_id":"lab_003","finished_at":"2026-09-08T23:20:36"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T23:29:59","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.1360578916164642,-1.9376120182839642,0.71338606911949],"aabb_xy":[[0.08605788995496942,-1.987610460539667],[0.18605789327795894,-1.8876135760282615]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.37235051889773985,-0.7207674781889668,0.71338606911949],"aabb_xy":[[-0.45235051917134683,-0.7937170260146835],[-0.29235051862413286,-0.6478179303632501]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.06413768519371277,-1.1919174214865567,0.71338606911949],"aabb_xy":[[-0.13413768858527472,-1.2272331951899873],[0.005862318197849214,-1.1566016477831256]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.342829738815168,-1.5696526874289902,0.71338606911949],"aabb_xy":[[-0.4068297408649,-1.6097471705182982],[-0.278829736765436,-1.5295582043396823]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.5416332449671211,1.0842389455785364,0.71338606911949],"aabb_xy":[[-0.5916332463280082,1.0342610410031208],[-0.4916332436062338,1.134216850153952]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.1305788271645698,-2.4454133624389107,0.71338606911949],"aabb_xy":[[0.050578825001807326,-2.525368546065054],[0.2105788293273323,-2.3654581788127667]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.4702796198329706,1.419612772600034,0.71338606911949],"aabb_xy":[[0.4292616764465998,1.369612771969077],[0.5112975632193415,1.4696127732309916]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.3117311196602586,0.8114514100893127,0.71338606911949],"aabb_xy":[[-0.3461934670584003,0.7769575276914897],[-0.2772687722621167,0.8459452924871351]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[0.5416015841105248,-0.22738917299256212,0.71338606911949],"aabb_xy":[[0.4776015821981825,-0.28330032225057256],[0.6056015860228672,-0.17147802373455168]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.225795145908942,-0.3848038319682381,0.71338606911949],"aabb_xy":[[-0.23303891195518733,-0.46480383017184046],[-0.21855137986269668,-0.3048038337646357]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.24181348205258613,-0.917927097388316,0.71338606911949],"aabb_xy":[[-0.2588235793426368,-0.93406158588659],[-0.22480338476253547,-0.9017926088900422]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.30889250911249544,-1.7913912934235015,0.71338606911949],"aabb_xy":[[-0.3588925094730615,-1.8413712806331044],[-0.2588925087519294,-1.7414113062138985]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.26239953554324014,-0.5995956757410217,0.71338606911949],"aabb_xy":[[0.24453042778878464,-0.6134285837182327],[0.28026864329769563,-0.5857627677638109]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.4486639096322513,0.128073532790276,0.71338606911949],"aabb_xy":[[-0.4986639082781724,0.07815398913081359],[-0.39866391098633003,0.17799307644973836]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.45635389554790207,-0.559257945345677,0.71338606911949],"aabb_xy":[[0.43385475982167515,-0.5817579461239399],[0.4788530312741291,-0.536757944567414]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.18207572498094127,0.6966032526547785,0.71338606911949],"aabb_xy":[[0.10207572639362185,0.6172876507166176],[0.2620757235682607,0.7759188545929394]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.5152293888428343,-2.3241361293389455,0.71338606911949],"aabb_xy":[[-0.5802293914806278,-2.375615728038393],[-0.4502293862050408,-2.272656530639499]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.278758265160853,1.2329804717274815,0.71338606911949],"aabb_xy":[[0.2616561872024848,1.2158736661962115],[0.2958603431192211,1.250087277258751]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.44099924408279084,-2.072402168281464,0.71338606911949],"aabb_xy":[[-0.4459552642676722,-2.094902168483586],[-0.4360432238979097,-2.0499021680793432]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.31969124551158973,-2.295055503566419,0.71338606911949],"aabb_xy":[[-0.34968290824546,-2.3250555029032185],[-0.28969958277771934,-2.2650555042296174]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[0.28904431734133984,-2.145038383884538,0.71338606911949],"aabb_xy":[[0.2250443156633425,-2.193555775363852],[0.3530443190193372,-2.0965209924052237]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.6079671382444132,0.07082574994658897,0.71338606911949],"aabb_xy":[[0.5846852960462817,-0.014174251350639098],[0.6312489804425444,0.155825751243817]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[-0.616292654479252,1.6313984692319399,0.71338606911949],"aabb_xy":[[-0.6329697904723474,1.6146985452580096],[-0.5996155184861564,1.6480983932058701]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.05466825463852032,1.778438239333871,0.71338606911949],"aabb_xy":[[-0.13466825261930537,1.7708366983720187],[0.025331743342264717,1.7860397802957226]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.4499134513605779,1.560516514863806,0.71338606911949],"aabb_xy":[[-0.49116226239049254,1.5055165153515884],[-0.4086646403306631,1.6155165143760233]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[0.37199031643500646,-0.9725476430597582,0.71338606911949],"aabb_xy":[[0.34676947957516674,-0.9977713939126448],[0.3972111532948461,-0.9473238922068713]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[-0.18400002751999467,-1.5927977174554169,0.71338606911949],"aabb_xy":[[-0.2318061951337633,-1.6577977201624756],[-0.136193859906226,-1.5277977147483577]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[0.6392657107704243,-2.140328725439972,0.71338606911949],"aabb_xy":[[0.5742657128887766,-2.1914523891465127],[0.7042657086520722,-2.089205061733431]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[0.6292373478976017,1.2250185803584919,0.71338606911949],"aabb_xy":[[0.6204352925886288,1.2172072542035626],[0.6380394032065743,1.2328299065134207]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_29","position":[-0.6563140253201714,1.4595526621481176,0.71338606911949],"aabb_xy":[[-0.661651600986176,1.4345526612189778],[-0.6509764496541669,1.4845526630772574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700846751963295,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1708.png","name":"1708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5214.png","name":"5214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5879.png","name":"5879"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6479.png","name":"6479"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7998.png","name":"7998"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":643.5088622577791,"rotation_z_degrees":335.13369983931335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01885828221030631,-0.004384002130704827,-0.006673999962255142]},{"name":"camera_2","offset_m":[0.0031225851778991127,0.004528274204304808,0.0036080240594401243]},{"name":"camera_3","offset_m":[-0.01560347300990987,-0.003065025913016318,0.005672802173648836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008902427943441385,-0.001336233018719287,-1.8890642441869374e-05],"end_effector_yaw_offset_degrees":0.1829461483444954},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00196550134722897,0.0008691971095710978,0.0015387544403630093],"end_effector_yaw_offset_degrees":-0.6837823967124075},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010260910089945302,-0.0006850352457074527,-0.0009265927763611201],"end_effector_yaw_offset_degrees":-0.8940955409364657},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0010234969426526803,0.0001385187685682761,0.00052934401368924],"end_effector_yaw_offset_degrees":-0.8525238756059752},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-3.3569371392265686e-05,-3.241069360267277e-06,-0.0009738168689976],"end_effector_yaw_offset_degrees":-0.758028062218369},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0014778068353846364,0.00044576851784051356,0.0013134093089390846],"end_effector_yaw_offset_degrees":0.2595199759226623}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004805299907521019,-1.525620908166686e-05],"position_m":[0.26839470009247895,-0.018815256209081668,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001656239362759505,0.002035150784778052],"position_m":[0.2203437606372405,-0.39206484921522194,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0043875373705900035,-0.0027316309278539795],"position_m":[0.27171246262941,0.314168369072146,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004744568429472269,0.003560692063806217],"position_m":[0.2978554315705277,0.11106069206380621,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"cb4a1a54a40c226208ad7726802734675fdbafe0696dd20158faf44c0bd0aa25","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0074.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1708/tex_ceiling_textures_7998/tex_floor_textures_6479/tex_table_textures_5214/tex_wall_textures_5879","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":8098632142147624388,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":8098632142147624388,"visual_seed":8098632142147624388,"scene_id":"lab_003","finished_at":"2026-09-08T23:38:32"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T23:38:41","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.5054997752507295,-0.25123984578388514,0.71338606911949],"aabb_xy":[[-0.5694997755247077,-0.30130594598117316],[-0.4414997749767512,-0.20117374558659723]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.4785232520236089,0.21079001787422902,0.71338606911949],"aabb_xy":[[-0.51200241928465,0.177310904503122],[-0.445044084762568,0.24426913124533603]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.46464757970558923,1.6307264760216422,0.71338606911949],"aabb_xy":[[-0.5546475762064609,1.5848148336031835],[-0.37464758320471747,1.6766381184401]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.021546519091493632,0.8734931664356114,0.71338606911949],"aabb_xy":[[-0.03331470588615116,0.78849316653039],[-0.009778332296836114,0.9584931663408331]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.4265323318084177,0.43228364560280363,0.71338606911949],"aabb_xy":[[-0.49053233110258593,0.36829750523394944],[-0.3625323325142495,0.49626978597165783]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.45536668791771695,1.7241564543844903,0.71338606911949],"aabb_xy":[[0.3937759286937242,1.6601564562754436],[0.5169574471417098,1.7881564524935374]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[0.2715801265267802,-0.8511371861331567,0.71338606911949],"aabb_xy":[[0.22881341964736007,-0.9151371895549593],[0.31434683340620045,-0.7871371827113544]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[-0.12713349951052133,-1.5934632953287045,0.71338606911949],"aabb_xy":[[-0.1397361986475978,-1.60605869155357],[-0.11453080037344487,-1.580867899103839]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.4274045216135245,-0.4459699787814415,0.71338606911949],"aabb_xy":[[0.4054958394741734,-0.4678706456015322],[0.4493132037528755,-0.4240693119613507]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.554920214541212,-1.7014234835112556,0.71338606911949],"aabb_xy":[[0.5447671989870624,-1.7374930250839955],[0.5650732300953611,-1.6653539419385148]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[-0.1920949251603863,-0.98859577429841,0.71338606911949],"aabb_xy":[[-0.20013828508634146,-1.0735957753937764],[-0.1840515652344311,-0.9035957732030434]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.4802111203221664,-0.8233717368299038,0.71338606911949],"aabb_xy":[[0.46758433303497,-0.8329178105314767],[0.4928379076093627,-0.8138256631283309]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.4166920486731214,0.8250936922018868,0.71338606911949],"aabb_xy":[[0.37919205024972097,0.8119294782340561],[0.45419204709652167,0.8382579061697174]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.35479098075114285,0.8199496059588376,0.71338606911949],"aabb_xy":[[-0.3890878917688835,0.7856527197488963],[-0.3204940697334022,0.8542464921687789]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.15522361031452436,-2.306641506212763,0.71338606911949],"aabb_xy":[[0.10024988827819148,-2.3616415057769964],[0.21019733235085725,-2.25164150664853]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.6243086504595531,1.4887723911784803,0.71338606911949],"aabb_xy":[[-0.6843086510555693,1.4339599186332568],[-0.5643086498635369,1.5435848637237037]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.6208311943782054,-1.8884868447932717,0.71338606911949],"aabb_xy":[[0.540831192215443,-1.9684420284194148],[0.7008311965409679,-1.8085316611671276]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[0.26332783423769746,-1.8296211058340246,0.71338606911949],"aabb_xy":[[0.24115530726104661,-1.8517967729901474],[0.2855003612143483,-1.8074454386779013]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.06282188668203337,0.9388202142751547,0.71338606911949],"aabb_xy":[[0.03417255432161713,0.9101746549980788],[0.09147121904244958,0.9674657735522304]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[-0.06866564443296941,-1.3019222385633615,0.71338606911949],"aabb_xy":[[-0.09321186005572013,-1.3321711351123986],[-0.04411942881021869,-1.2716733420143245]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.11297541043086479,-0.840508113151917,0.71338606911949],"aabb_xy":[[-0.15047541024789834,-0.8451463244630588],[-0.07547541061383124,-0.8358699018407751]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.49260156163199587,-1.4054235591502966,0.71338606911949],"aabb_xy":[[0.41260773805343764,-1.4854235617431382],[0.5725953852105541,-1.325423556557455]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.012277673284735169,-2.174162342902049,0.71338606911949],"aabb_xy":[[-0.030146781039190662,-2.18799525087926],[0.005591434469720326,-2.160329434924838]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[-0.30891240127533837,-1.2717087419109225,0.71338606911949],"aabb_xy":[[-0.3889123984349136,-1.2832563428687394],[-0.22891240411576302,-1.2601611409531053]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.0419698443378439,-1.8965868206771461,0.71338606911949],"aabb_xy":[[0.022857536979865027,-1.9157215995543881],[0.061082151695822755,-1.877452041799904]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[-0.3642390346882135,1.031239564760428,0.71338606911949],"aabb_xy":[[-0.3867390345021159,1.0267649483899473],[-0.3417390348743111,1.0357141811309087]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[0.47822425784339795,0.5384342831335638,0.71338606911949],"aabb_xy":[[0.39822425641327075,0.4589171281209543],[0.5582242592735251,0.6179514381461733]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[-0.40365155673412967,-0.85196846953815,0.71338606911949],"aabb_xy":[[-0.41069186666766677,-0.9319684689378216],[-0.3966112468005928,-0.7719684701384788]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[0.5890427467997783,-2.0834358113259803,0.71338606911949],"aabb_xy":[[0.5340427476231888,-2.1384254861009375],[0.6440427459763678,-2.0284461365510222]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_29","position":[0.034661868680388785,1.7047927364961235,0.71338606911949],"aabb_xy":[[-0.0003381312156300886,1.6964185009841837],[0.06966186857640765,1.7131669720080638]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670251277366168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2909.png","name":"2909"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2909.png","name":"2909"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1768.png","name":"1768"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/941.png","name":"941"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6978.png","name":"6978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5294.png","name":"5294"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":698.1596369339926,"rotation_z_degrees":182.96844825543894,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011619503452865887,0.005243977136811212,0.001925064573313432]},{"name":"camera_2","offset_m":[-0.0005439334735409772,-0.018589575708856415,-0.01039888644959326]},{"name":"camera_3","offset_m":[0.017398669975133545,-0.006775123910608954,0.006995363088064123]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00045167031005957756,-0.0014749538439132307,-0.0006736786723769588],"end_effector_yaw_offset_degrees":-0.7052941960148871},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005107521961573908,0.00010731216572124405,-0.0010824658337783223],"end_effector_yaw_offset_degrees":0.8184814310625688},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005344829212765828,-0.0004495013868011308,-0.0011790418452742738],"end_effector_yaw_offset_degrees":-0.8406159661253594},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017085977986043446,0.0004699813292822464,4.614161229286222e-05],"end_effector_yaw_offset_degrees":-0.8795569849212945},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001024098128446773,0.001627926941902811,0.0008814592887268929],"end_effector_yaw_offset_degrees":0.015416677235226217},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0008874887726297717,-0.0006319678983362799,-0.00018509134469256862],"end_effector_yaw_offset_degrees":-0.43318349429098646}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001477228157562932,-0.00358438049938094],"position_m":[0.2746772281575629,-0.02238438049938094,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00498488219888166,0.0026533897510210994],"position_m":[0.21701511780111835,-0.3914466102489789,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003889237240363168,0.0011208595519910701],"position_m":[0.27221076275963685,0.3180208595519911,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002993361400912796,-0.003691274897029793],"position_m":[0.30289933614009124,0.1038087251029702,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"26ec09899a640266099a18846436cf54d6935a97d0026e6695edb14bdc8d8534","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2909/tex_ceiling_textures_5294/tex_floor_textures_6978/tex_table_textures_1768/tex_wall_textures_941","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":9040960945943340712,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":9040960945943340712,"visual_seed":9040960945943340712,"scene_id":"lab_003","finished_at":"2026-09-08T23:46:20"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T23:55:20","dimensions":{"distractor":{"count":21,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[0.4985014185718799,-0.6098924064710181,0.71338606911949],"aabb_xy":[[0.48920780033472927,-0.647392404959152],[0.5077950368090305,-0.5723924079828842]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.16543694581687574,1.5023398142300128,0.71338606911949],"aabb_xy":[[-0.18060911509850908,1.4871709573018095],[-0.1502647765352424,1.5175086711582162]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.5165671799978344,1.022781906082121,0.71338606911949],"aabb_xy":[[0.4465671766062724,0.9874661323786901],[0.5865671833893963,1.0580976797855517]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.06883388788744704,-1.3321676766857777,0.71338606911949],"aabb_xy":[[0.03383388875749137,-1.3379128977614418],[0.10383388701740269,-1.3264224556101136]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[-0.49589811967430514,1.573487853376562,0.71338606911949],"aabb_xy":[[-0.5242278296228453,1.5690271111828449],[-0.4675684097257649,1.577948595570279]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.4568848768639605,0.6306857956495171,0.71338606911949],"aabb_xy":[[-0.46630235143382326,0.621269618511798],[-0.44746740229409776,0.640101972787236]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.5972396327540738,0.7489704941008384,0.71338606911949],"aabb_xy":[[-0.6472327448632657,0.6989704934266427],[-0.5472465206448819,0.7989704947750341]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.7116452206362771,1.2469407280564386,0.71338606911949],"aabb_xy":[[0.7035175324429639,1.238027119645731],[0.7197729088295903,1.2558543364671466]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.591636449799041,1.5535074995818001,0.71338606911949],"aabb_xy":[[0.583642960003759,1.545509367641325],[0.5996299395943231,1.5615056315222762]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[-0.3060218223014845,-1.2415762284783727,0.71338606911949],"aabb_xy":[[-0.3384835231834119,-1.271709060593275],[-0.273560121419557,-1.2114433963634699]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.019564548095521772,-2.3961088578621315,0.71338606911949],"aabb_xy":[[-0.025659175983640092,-2.4046782524138006],[-0.013469920207403452,-2.387539463310463]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_11","position":[-0.14197544066005896,-0.012421912610159236,0.71338606911949],"aabb_xy":[[-0.20597544136352833,-0.058440295083080254],[-0.0779754399565896,0.033596469862761776]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.14285932285113745,-1.8620289817902862,0.71338606911949],"aabb_xy":[[0.09768800500296851,-1.926028978934825],[0.18803064069930647,-1.7980289846457482]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.47312451991266546,1.6287413443421612,0.71338606911949],"aabb_xy":[[0.4530661082994252,1.6086762574330038],[0.49318293152590575,1.6488064312513186]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.11524511863526887,-0.15460533858604464,0.71338606911949],"aabb_xy":[[-0.14902067782596184,-0.16864383379920966],[-0.0814695594445759,-0.1405668433728796]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.5657880668563402,-1.539017904003153,0.71338606911949],"aabb_xy":[[-0.6297880639684459,-1.588050273797564],[-0.5017880697442345,-1.4899855342087427]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.33199150934426436,-0.7639284132868318,0.71338606911949],"aabb_xy":[[-0.36949151085989607,-0.7751551863029768],[-0.29449150782863265,-0.7527016402706866]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.40827176787136543,0.4290973089570014,0.71338606911949],"aabb_xy":[[-0.46327176607311027,0.38857534233056373],[-0.3532717696696206,0.4696192755834389]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.2153339173947787,0.8295897582046785,0.71338606911949],"aabb_xy":[[-0.22303710806885574,0.8218803875059404],[-0.20763072672070165,0.8372991289034164]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[-0.3572769901922932,-0.9757158441977918,0.71338606911949],"aabb_xy":[[-0.3851220269729003,-1.0065003429361035],[-0.3294319534116861,-0.9449313454594801]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.26143730521903275,-1.8329914896250488,0.71338606911949],"aabb_xy":[[-0.2651405665481716,-1.8366935079337663],[-0.2577340438898938,-1.8292894713163308]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6724277835655829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3322.png","name":"3322"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3322.png","name":"3322"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/176.png","name":"176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7089.png","name":"7089"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4060.png","name":"4060"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":798.3948560190499,"rotation_z_degrees":311.17212222233474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015266315982090597,-0.006996105843491,-0.008266249133316465]},{"name":"camera_2","offset_m":[-0.003988424145262379,0.002792362532079977,-0.01693669356921867]},{"name":"camera_3","offset_m":[0.01748494625443601,-0.01349937667421654,-0.01056088911229315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015720576350976407,0.0005763356293755394,0.0011216575729092082],"end_effector_yaw_offset_degrees":0.38211911272881527},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012242740594669934,0.001857694191010689,0.0016312651158102835],"end_effector_yaw_offset_degrees":0.9735055020375945},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001081499763379211,-0.0012105897412327577,-0.0009387059780300233],"end_effector_yaw_offset_degrees":-0.8405283742132232},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014657618521197254,0.0007334112978630149,-0.001956399245941325],"end_effector_yaw_offset_degrees":-0.9214460202093537},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0014297521476961347,0.00053262403097811,-0.0016224571645972077],"end_effector_yaw_offset_degrees":-0.5553161909665834},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006868411413435221,0.0008365142972296086,-0.0008667034506180311],"end_effector_yaw_offset_degrees":0.40044311957094214}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017674243210635474,0.0025075275006869006],"position_m":[0.2749674243210635,-0.0162924724993131,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001050537465976712,-0.0011237279564078086],"position_m":[0.22094946253402328,-0.3952237279564078,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0006782618467434214,0.004562643629476836],"position_m":[0.2767782618467434,0.32146264362947685,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003138848510554209,-6.958765654298434e-05],"position_m":[0.30573884851055416,0.10743041234345702,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"bf33a3a45339dff9dbff8239a8988b2caf8282b35c70c3dcd2a4b4bed1cebace","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3322/tex_ceiling_textures_4060/tex_floor_textures_7089/tex_table_textures_176/tex_wall_textures_9649","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":2730876421281265434,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":2730876421281265434,"visual_seed":2730876421281265434,"scene_id":"lab_003","finished_at":"2026-09-09T00:01:46"}
+{"episode_id":"ep_000025","started_at":"2026-09-09T00:01:53","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[-0.2322463779594356,-1.0993782132039116,0.71338606911949],"aabb_xy":[[-0.23620686172917,-1.1070460777894322],[-0.22828589418970124,-1.091710348618391]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.2114793742187363,1.681698238068988,0.71338606911949],"aabb_xy":[[0.16630805637056734,1.6176982409244498],[0.2566506920669053,1.7456982352135266]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.17575633056355666,1.5472582268972928,0.71338606911949],"aabb_xy":[[-0.22575633151408947,1.515709079893771],[-0.12575632961302385,1.5788073739008137]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.6325651697406032,0.7737304946529653,0.71338606911949],"aabb_xy":[[0.582565894572167,0.7237304933770182],[0.6825644449090393,0.8237304959289126]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.09415805192623394,-0.3690736232569778,0.71338606911949],"aabb_xy":[[-0.15915805303217723,-0.3940389963251061],[-0.029158050820290674,-0.3441082501888495]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.4886331159683468,1.7325720233681055,0.71338606911949],"aabb_xy":[[0.42463311679857685,1.685805336249143],[0.5526331151381167,1.779338710487068]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.3179946706158859,-1.5038033492863296,0.71338606911949],"aabb_xy":[[-0.34299467016762436,-1.5139458331514644],[-0.2929946710641474,-1.493660865421195]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.6220016909233461,0.2380414394376955,0.71338606911949],"aabb_xy":[[-0.6595016910952181,0.2053407040547883],[-0.5845016907514742,0.2707421748206027]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.2527838959997777,1.0196653996895808,0.71338606911949],"aabb_xy":[[0.18778389499927717,0.9688790345349056],[0.3177838970002782,1.0704517648442555]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.348051354514845,-1.250053453561772,0.71338606911949],"aabb_xy":[[-0.4120513552183144,-1.296071836034693],[-0.28405135381137564,-1.204035071088851]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.4679708925294537,-0.7822612093997601,0.71338606911949],"aabb_xy":[[-0.5140559837841852,-0.8462612066523152],[-0.4218858012747222,-0.718261212147205]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.5023645741204029,0.8824157864903137,0.71338606911949],"aabb_xy":[[-0.5132161803692785,0.8715564957626627],[-0.4915129678715273,0.8932750772179647]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.48292261601941605,-2.4650839326026,0.71338606911949],"aabb_xy":[[-0.49221623425656663,-2.502583931090734],[-0.47362899778226547,-2.427583934114466]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.299096546752082,-0.35993838558690516,0.71338606911949],"aabb_xy":[[-0.36309655004179014,-0.4032733045908228],[-0.23509654346237394,-0.31660346658298755]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.32823222066312846,-2.497426392170825,0.71338606911949],"aabb_xy":[[-0.3452423179531791,-2.5135608806690986],[-0.3112221233730778,-2.4812919036725507]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.41127766067899474,0.6709112719762462,0.71338606911949],"aabb_xy":[[0.3612934249708175,0.6209112731627506],[0.46126189638717197,0.7209112707897418]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.6087382628124429,-1.8342842723982757,0.71338606911949],"aabb_xy":[[0.5804085528639028,-1.838745014591993],[0.6370679727609833,-1.829823530204559]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.2922265421462945,0.8113446406185432,0.71338606911949],"aabb_xy":[[0.21222654498671922,0.7997970396607262],[0.3722265393058698,0.8228922415763603]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.20392831731729444,-1.0076069361911884,0.71338606911949],"aabb_xy":[[0.19216013052263695,-1.0926069360964101],[0.215696504111952,-0.922606936285967]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.4304342607691491,1.4546918621592622,0.71338606911949],"aabb_xy":[[-0.45032530064948945,1.4420360508745655],[-0.41054322088880896,1.4673476734439592]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.27925739703709346,0.35930599287135356,0.71338606911949],"aabb_xy":[[-0.30284252050098825,0.2943059906259218],[-0.25567227357319855,0.42430599511678535]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.24817440391332546,1.471785184057159,0.71338606911949],"aabb_xy":[[0.16817440689907748,1.4516506323837477],[0.32817440092757344,1.4919197357305702]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[0.1704194731840638,-0.6125097791849519,0.71338606911949],"aabb_xy":[[0.13541947328804493,-0.6208840146968919],[0.20541947308008268,-0.604135543673012]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[0.22707879731173175,-1.2228961990794707,0.71338606911949],"aabb_xy":[[0.1895787974946982,-1.2275344103906123],[0.2645787971287653,-1.2182579877683286]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[0.6774497641642703,-2.20768986764405,0.71338606911949],"aabb_xy":[[0.6599497639192208,-2.2251896554836166],[0.6949497644093195,-2.190190079804483]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[-0.11001517157870011,-0.9045142756741056,0.71338606911949],"aabb_xy":[[-0.12465857713273308,-0.9191729953308897],[-0.09537176602466711,-0.8898555560173212]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[-0.4617927469565074,-0.15913484666669886,0.71338606911949],"aabb_xy":[[-0.4744195342437037,-0.16868092036827176],[-0.449165959669311,-0.14958877296512596]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6745823945572348,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6643.png","name":"6643"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6643.png","name":"6643"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6882.png","name":"6882"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2686.png","name":"2686"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7260.png","name":"7260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4792.png","name":"4792"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":747.9641155508402,"rotation_z_degrees":150.11573223196143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006285157040380391,-0.004861710416308234,0.016989810595720977]},{"name":"camera_2","offset_m":[-0.002439512986859245,-0.009150614524135294,0.006039342340444245]},{"name":"camera_3","offset_m":[-0.006040517899834282,-0.008228300877460777,-0.013066847226216361]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002080778945844899,-0.001838864411939415,-0.0011475971218990596],"end_effector_yaw_offset_degrees":-0.9110065403661098},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001463245012682433,-0.000940509648942593,-0.001890555846309235],"end_effector_yaw_offset_degrees":-0.11314902209010858},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010628977853901632,-0.0005682916138631175,-0.0011733501041567252],"end_effector_yaw_offset_degrees":0.21541301490691578},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0016543750694144733,0.0009365792525767836,-0.00182960423803635],"end_effector_yaw_offset_degrees":-0.4736492028442978},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008598297083368966,0.0005719375282875511,-0.0012217802135481835],"end_effector_yaw_offset_degrees":0.23967060072432145},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013500593392587797,0.0019691164994794586,-0.0007360697152636968],"end_effector_yaw_offset_degrees":0.18922234458783138}]}},"meta":{"task":"lab3_heatstir_2beaker_s06_plrptl_hsc_00054","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003251323490197208,-0.0034343192819580705],"position_m":[0.2735251323490197,-0.02223431928195807,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004741697759827802,0.003243909998567101],"position_m":[0.2267416977598278,-0.3908560900014329,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0022184202546434795,0.0005914005768247023],"position_m":[0.2783184202546435,0.31749140057682473,0.8099091297343627],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011093444284253572,0.002107596562381544],"position_m":[0.3014906555715746,0.10960759656238155,0.7730800627579277],"position_frame":"world"}}},"task_island_state_digest":"e6f9e667590ba0024ececbd81d852be7aa3061641b5875264f8691b21d95e852","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6643/tex_ceiling_textures_4792/tex_floor_textures_7260/tex_table_textures_6882/tex_wall_textures_2686","seeds":{"action_seed":8865105015247510022,"physical_seed":6244495164923859807,"visual_seed":1768895351016887443,"layout_id":"layout_00054","physical_randomization_enabled":true},"episode_seed":1768895351016887443,"visual_seed":1768895351016887443,"scene_id":"lab_003","finished_at":"2026-09-09T00:08:56"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8f51e85cd66cefb4d4f87fefccb9634ba8aa74d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/resolved_config.yaml
@@ -0,0 +1,330 @@
+name: lab3_heatstir_2beaker_s06_plrptl_hsc_00054
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 10000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack.
+  layout_id: layout_00054
+  reproducibility:
+    enabled: true
+    layout_id: layout_00054
+    action_seed: 8865105015247510022
+    step_seeds:
+    - 9092373221738194413
+    - 5718852617331806488
+    - 5334696411964519894
+    - 8360605087653114312
+    - 6675749095117627503
+    - 1590574080683186716
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2732
+      - 0.2732
+      'y':
+      - -0.0188
+      - -0.0188
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3026
+      - 0.3026
+      'y':
+      - 0.1075
+      - 0.1075
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.222
+      - 0.222
+      'y':
+      - -0.3941
+      - -0.3941
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2761
+      - 0.2761
+      'y':
+      - 0.3169
+      - 0.3169
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49d78b79863c89753241810c27f74e1b70b4476a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_12_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30374487411248186,
+              -0.024441144622717306,
+              1.1625306499587396
+            ],
+            "current_z": 1.1625306499587396,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3014242015486185,
+            "gripper_z": 1.1544893821698903,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29911257325037466,
+              -0.02916034489649018,
+              1.1544893821698903
+            ],
+            "object_minus_gripper": [
+              0.004632300862107197,
+              0.004719200273772872,
+              0.008041267788849282
+            ],
+            "object_to_gripper_xy": 0.00661279536210346,
+            "object_to_gripper_z": 0.008041267788849282,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30374487411248186,
+              -0.048157594064284485,
+              1.1625306499587396
+            ],
+            "finger_b": [
+              0.29285874721965477,
+              -0.024441144622717306,
+              1.1625306499587396
+            ],
+            "finger_midpoint": [
+              0.2983018106660683,
+              -0.03629936934350089,
+              1.1625306499587396
+            ],
+            "object_minus_finger_midpoint": [
+              0.005443063446413543,
+              0.011858224720783586,
+              0.0
+            ],
+            "finger_gap": 0.02609555005822152,
+            "fingertip_max_gap": 0.09139132430209043,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013047775029110757,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625306499587396,
+            "object_top_z": 1.2123947129354917,
+            "finger_top_clearance": 0.049864062976752166,
+            "fingertip_min_top_clearance": 0.01495921889302565,
+            "object_projection_between_fingers": 0.8259741060367712,
+            "object_to_finger_line_xy": 0.009893651503501383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819566215104522,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1700814851438812,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 347,
+            "max_stable_success_frames": 347,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2829700093166231,
+              -0.3933986100765033,
+              0.8515395153827431
+            ],
+            "target_position": [
+              0.2751590797713042,
+              -0.39464563346886133,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007909847514524119,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852596687186513,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395153827431,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556844117450326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08589464646516697,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15319775396520244,
+            "release_required_pad_clearance": 0.052947323232583485,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9312445740289547,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008329927921295166,
+            "max_z_decrease": 0.008329927921295166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034989568322196685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008329927921295166,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094343202231754,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008329927921295166,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008330066966362494,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1308590024709701,
+              -0.4509070813655853,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1308590024709701,
+              -0.4509070813655853,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13082239060571044,
+              -0.45137405940290787,
+              0.8036078340336061
+            ],
+            "closest_button": [
+              0.13089406490325925,
+              -0.4508817791938782,
+              0.7686218023300171
+            ],
+            "closest_ee_minus_button": [
+              -7.167429754881272e-05,
+              -0.000492280209029694,
+              0.03498603170358905
+            ],
+            "button_min_z_position": [
+              0.13089792430400846,
+              -0.450878769159317,
+              0.7684789299964905
+            ],
+            "min_active_finger_to_button": 0.1458172974370156,
+            "closest_active_finger": [
+              -0.010128408670425415,
+              -0.4367826581001282,
+              0.8109122514724731
+            ],
+            "closest_active_finger_button": [
+              0.13085962831974027,
+              -0.45090505480766296,
+              0.7764794826507568
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14098803699016568,
+              0.01412239670753479,
+              0.03443276882171631
+            ],
+            "min_contact_pad_to_button": 0.02094343202231754,
+            "closest_contact_pad": [
+              0.13089792430400846,
+              -0.4524297356707718,
+              0.789364854628974
+            ],
+            "closest_contact_pad_button": [
+              0.13089792430400846,
+              -0.450878769159317,
+              0.7684789299964905
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00155096651145481,
+              0.02088592463248351
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2646003771243542,
+              0.2016365943658763,
+              1.1011532597222993
+            ],
+            "current_z": 1.1011532597222993,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19124412998793672,
+            "gripper_z": 1.1011531920444906,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2646003740082751,
+              0.20163661478528988,
+              1.1011531920444906
+            ],
+            "object_minus_gripper": [
+              3.116079116960435e-09,
+              -2.0419413576666656e-08,
+              6.767780869054718e-08
+            ],
+            "object_to_gripper_xy": 2.0655807897008422e-08,
+            "object_to_gripper_z": 6.767780869054718e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2646003771243542,
+              0.2016365943658763,
+              1.1011532597222993
+            ],
+            "finger_b": [
+              0.2646003771243542,
+              0.2016365943658763,
+              1.1011532597222993
+            ],
+            "finger_midpoint": [
+              0.2646003771243542,
+              0.2016365943658763,
+              1.1011532597222993
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1011532597222993,
+            "object_top_z": 1.226161766342579,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26460037712435414,
+            0.2016365943658763,
+            1.1011532597222993
+          ],
+          "object_origin_world": [
+            0.26460037712435414,
+            0.2016365943658763,
+            1.1011532597222993
+          ],
+          "frame_world": [
+            0.2646003740082751,
+            0.20163661478528988,
+            1.1011531920444906
+          ],
+          "center_minus_frame": [
+            3.116079061449284e-09,
+            -2.0419413576666656e-08,
+            6.767780869054718e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432971469814172,
+            "required_z": 0.9112609857088786,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020293265659149066,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.058716691545927e-07,
+            "max_target_xy_drift": 9.01821449473374e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9312445732504778,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9312445741682898,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28103958042893956,
+              -0.39276762941129434,
+              0.9234232776721064
+            ],
+            "target_mouth_xy": [
+              0.28297001110710496,
+              -0.39339860814239846
+            ],
+            "rod_tip_z": 0.9234232776721064,
+            "rod_tip_depth": -0.02216342003186933,
+            "rod_tip_bottom_clearance": 0.12160402638346779,
+            "rod_tip_xy_dist": 0.002030934947827695,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04483049798494243,
+            "min_rod_tip_bottom_clearance": 0.05461004897544941,
+            "min_rod_tip_xy_dist": 0.0011447557432766944,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2829697910377199,
+              -0.39339783290139535
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.200693850484825e-07,
+              -7.752410031147683e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0014232464764756814,
+                0.00244918420847845
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014966465750168578,
+                0.001998405716426732
+              ],
+              "first_target_mouth_xy": [
+                0.2829699178623546,
+                -0.39339861102107876
+              ],
+              "last_target_mouth_xy": [
+                0.28296995064668007,
+                -0.3933985795877108
+              ],
+              "first_rod_tip_xy": [
+                0.2815466713858789,
+                -0.3909494268126003
+              ],
+              "last_rod_tip_xy": [
+                0.2814733040716632,
+                -0.39140017387128406
+              ],
+              "min_rod_tip_xy_dist": 0.002496713114868573,
+              "max_rod_tip_xy_dist": 0.002832690208946374,
+              "first_target_xy_drift": 7.883874235874562e-07,
+              "last_target_xy_drift": 7.635544995845591e-07,
+              "max_depth": 0.019727584838530876,
+              "min_bottom_clearance": 0.07971294371427262
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0014232464764756814,
+                  0.00244918420847845
+                ],
+                "rod_tip_xy": [
+                  0.2815466713858789,
+                  -0.3909494268126003
+                ],
+                "target_mouth_xy": [
+                  0.2829699178623546,
+                  -0.39339861102107876
+                ],
+                "gripper_position": [
+                  0.2815534362248069,
+                  -0.3910206193522663,
+                  1.0056850922034997
+                ],
+                "rod_tip_xy_dist": 0.002832690208946374,
+                "target_xy_drift": 7.883874235874562e-07,
+                "depth": 0.015038381268481449,
+                "bottom_clearance": 0.0844022278524893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0014164864919073428,
+                  0.0023779595953941635
+                ],
+                "rod_tip_xy": [
+                  0.28155343622480705,
+                  -0.39102061935226634
+                ],
+                "target_mouth_xy": [
+                  0.2829699227167144,
+                  -0.3933985789476605
+                ],
+                "gripper_position": [
+                  0.2815432456272241,
+                  -0.39103059215772823,
+                  1.0055262848894704
+                ],
+                "rod_tip_xy_dist": 0.0027678738806316923,
+                "target_xy_drift": 7.575779744287217e-07,
+                "depth": 0.015574821924970061,
+                "bottom_clearance": 0.08386580087384643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014266731230351826,
+                  0.0023679884013340646
+                ],
+                "rod_tip_xy": [
+                  0.28154324562722427,
+                  -0.3910305921577281
+                ],
+                "target_mouth_xy": [
+                  0.28296991875025945,
+                  -0.3933985805590622
+                ],
+                "gripper_position": [
+                  0.2815356138078171,
+                  -0.3910342581074279,
+                  1.0053864174645966
+                ],
+                "rod_tip_xy_dist": 0.002764555166540111,
+                "target_xy_drift": 7.584869672782524e-07,
+                "depth": 0.01573357897507377,
+                "bottom_clearance": 0.08370697255518833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014343388251134015,
+                  0.0023643208357935763
+                ],
+                "rod_tip_xy": [
+                  0.2815356138078173,
+                  -0.3910342581074279
+                ],
+                "target_mouth_xy": [
+                  0.2829699526329307,
+                  -0.3933985789432215
+                ],
+                "gripper_position": [
+                  0.2815428928644202,
+                  -0.3911068973046057,
+                  1.004851828682949
+                ],
+                "rod_tip_xy_dist": 0.0027653825919382886,
+                "target_xy_drift": 7.633422682570147e-07,
+                "depth": 0.015873497620206956,
+                "bottom_clearance": 0.08356712965883484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0014270277776498586,
+                  0.0022916851496860846
+                ],
+                "rod_tip_xy": [
+                  0.28154289286442036,
+                  -0.3911068973046056
+                ],
+                "target_mouth_xy": [
+                  0.2829699206420702,
+                  -0.3933985824542917
+                ],
+                "gripper_position": [
+                  0.28153265670032046,
+                  -0.39111645401377265,
+                  1.0046931712853697
+                ],
+                "rod_tip_xy_dist": 0.0026996720362807087,
+                "target_xy_drift": 7.606752474368678e-07,
+                "depth": 0.016408019646907968,
+                "bottom_clearance": 0.08303254274010785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014372936607029985,
+                  0.0022820948231149774
+                ],
+                "rod_tip_xy": [
+                  0.2815326567003206,
+                  -0.39111645401377265
+                ],
+                "target_mouth_xy": [
+                  0.2829699503610236,
+                  -0.39339854883688763
+                ],
+                "gripper_position": [
+                  0.28152495628940777,
+                  -0.3911202799316193,
+                  1.0045536366348269
+                ],
+                "rod_tip_xy_dist": 0.002696992741700505,
+                "target_xy_drift": 7.334490740414721e-07,
+                "depth": 0.01656667219830632,
+                "bottom_clearance": 0.08287388001524876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014449957493256615,
+                  0.002278332315662712
+                ],
+                "rod_tip_xy": [
+                  0.28152495628940793,
+                  -0.3911202799316193
+                ],
+                "target_mouth_xy": [
+                  0.2829699520387336,
+                  -0.393398612247282
+                ],
+                "gripper_position": [
+                  0.2815170853893495,
+                  -0.3911240967328068,
+                  1.004414172041282
+                ],
+                "rod_tip_xy_dist": 0.0026979271406326463,
+                "target_xy_drift": 7.958023231058616e-07,
+                "depth": 0.016706284296408747,
+                "bottom_clearance": 0.0827343400063798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014528659337108007,
+                  0.002274542803443025
+                ],
+                "rod_tip_xy": [
+                  0.28151708538934966,
+                  -0.39112409673280674
+                ],
+                "target_mouth_xy": [
+                  0.28296995132306046,
+                  -0.39339863953624976
+                ],
+                "gripper_position": [
+                  0.2815261945719607,
+                  -0.3911986830112261,
+                  1.0038799347870142
+                ],
+                "rod_tip_xy_dist": 0.0026989561660078535,
+                "target_xy_drift": 8.224057263589201e-07,
+                "depth": 0.016845595974308902,
+                "bottom_clearance": 0.0825949457127505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014438210214007818,
+                  0.0021999254128965418
+                ],
+                "rod_tip_xy": [
+                  0.2815261945719609,
+                  -0.39119868301122623
+                ],
+                "target_mouth_xy": [
+                  0.28297001559336166,
+                  -0.3933986084241228
+                ],
+                "gripper_position": [
+                  0.2815157235171766,
+                  -0.39120830864027173,
+                  1.0037213190241454
+                ],
+                "rod_tip_xy_dist": 0.0026314047511066816,
+                "target_xy_drift": 8.073789302390992e-07,
+                "depth": 0.017380011941951712,
+                "bottom_clearance": 0.08206075434690885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014542237630394417,
+                  0.002190331882510832
+                ],
+                "rod_tip_xy": [
+                  0.28151572351717674,
+                  -0.39120830864027173
+                ],
+                "target_mouth_xy": [
+                  0.2829699472802162,
+                  -0.39339864052278256
+                ],
+                "gripper_position": [
+                  0.28150772462059703,
+                  -0.3912119918183791,
+                  1.0035820002005422
+                ],
+                "rod_tip_xy_dist": 0.0026291292300935,
+                "target_xy_drift": 8.225959048783635e-07,
+                "depth": 0.017538589849647956,
+                "bottom_clearance": 0.08190202290303461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014622282423102928,
+                  0.0021866185251206427
+                ],
+                "rod_tip_xy": [
+                  0.2815077246205972,
+                  -0.3912119918183791
+                ],
+                "target_mouth_xy": [
+                  0.2829699528629075,
+                  -0.39339861034349977
+                ],
+                "gripper_position": [
+                  0.2814999014581636,
+                  -0.39121547047089233,
+                  1.003442649074759
+                ],
+                "rod_tip_xy_dist": 0.002630477524521094,
+                "target_xy_drift": 7.941055452867632e-07,
+                "depth": 0.017677893789079024,
+                "bottom_clearance": 0.08176269589559648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014700208867586273,
+                  0.0021831405067808674
+                ],
+                "rod_tip_xy": [
+                  0.2814999014581638,
+                  -0.3912154704708923
+                ],
+                "target_mouth_xy": [
+                  0.2829699223449224,
+                  -0.39339861097767315
+                ],
+                "gripper_position": [
+                  0.28151021123121145,
+                  -0.39129166984089075,
+                  1.0029118999830198
+                ],
+                "rod_tip_xy_dist": 0.0026319315872290533,
+                "target_xy_drift": 7.890781174877303e-07,
+                "depth": 0.017817250253728156,
+                "bottom_clearance": 0.08162333375316533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014597382511735146,
+                  0.002106940842070082
+                ],
+                "rod_tip_xy": [
+                  0.2815102112312116,
+                  -0.39129166984089064
+                ],
+                "target_mouth_xy": [
+                  0.28296994948238513,
+                  -0.3933986106829607
+                ],
+                "gripper_position": [
+                  0.28149964854945647,
+                  -0.39130134208710765,
+                  1.00275335764743
+                ],
+                "rod_tip_xy_dist": 0.0025632080434334816,
+                "target_xy_drift": 7.937561813144087e-07,
+                "depth": 0.01834794170107512,
+                "bottom_clearance": 0.08109258629779548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001470304530208466,
+                  0.002097266978160206
+                ],
+                "rod_tip_xy": [
+                  0.28149964854945664,
+                  -0.3913013420871076
+                ],
+                "target_mouth_xy": [
+                  0.2829699530796651,
+                  -0.3933986090652678
+                ],
+                "gripper_position": [
+                  0.2814916214221801,
+                  -0.39130475760640704,
+                  1.0026140009448408
+                ],
+                "rod_tip_xy_dist": 0.0025613129815063172,
+                "target_xy_drift": 7.92898448038107e-07,
+                "depth": 0.018506555122119517,
+                "bottom_clearance": 0.08093407747389514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001478298262115263,
+                  0.0020938242215490233
+                ],
+                "rod_tip_xy": [
+                  0.28149162142218026,
+                  -0.3913047576064071
+                ],
+                "target_mouth_xy": [
+                  0.2829699196842955,
+                  -0.3933985818279561
+                ],
+                "gripper_position": [
+                  0.28148352041903746,
+                  -0.39130824195693165,
+                  1.002474798716733
+                ],
+                "rod_tip_xy_dist": 0.0025630968812197443,
+                "target_xy_drift": 7.598953446628354e-07,
+                "depth": 0.01864585799316265,
+                "bottom_clearance": 0.080794704261972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001486586088857711,
+                  0.0020901816021207664
+                ],
+                "rod_tip_xy": [
+                  0.2814835204190376,
+                  -0.39130824195693176
+                ],
+                "target_mouth_xy": [
+                  0.28297010650789534,
+                  -0.3933984235590525
+                ],
+                "gripper_position": [
+                  0.28147552646134205,
+                  -0.3913117751514417,
+                  1.0023354289800737
+                ],
+                "rod_tip_xy_dist": 0.0025649166320622194,
+                "target_xy_drift": 6.696251933445057e-07,
+                "depth": 0.01878538788790074,
+                "bottom_clearance": 0.08065565591481261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001494421130969592,
+                  0.002086837135577335
+                ],
+                "rod_tip_xy": [
+                  0.2814755264613422,
+                  -0.39131177515144183
+                ],
+                "target_mouth_xy": [
+                  0.2829699475923118,
+                  -0.39339861228701917
+                ],
+                "gripper_position": [
+                  0.28146739963992806,
+                  -0.3913151981113203,
+                  1.0021964357762632
+                ],
+                "rod_tip_xy_dist": 0.0025667457503837526,
+                "target_xy_drift": 7.949536406973377e-07,
+                "depth": 0.018924499211233847,
+                "bottom_clearance": 0.08051615863385098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015025504947108748,
+                  0.002083377675959286
+                ],
+                "rod_tip_xy": [
+                  0.28146739963992823,
+                  -0.3913151981113204
+                ],
+                "target_mouth_xy": [
+                  0.2829699501346391,
+                  -0.39339857578727966
+                ],
+                "gripper_position": [
+                  0.28145928034818757,
+                  -0.3913187608743095,
+                  1.0020572309014495
+                ],
+                "rod_tip_xy_dist": 0.002568680698304367,
+                "target_xy_drift": 7.597310489915544e-07,
+                "depth": 0.01906345823661293,
+                "bottom_clearance": 0.0803771909795643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015107027098442694,
+                  0.0020798805245939578
+                ],
+                "rod_tip_xy": [
+                  0.28145928034818773,
+                  -0.39131876087430956
+                ],
+                "target_mouth_xy": [
+                  0.282969983058032,
+                  -0.3933986413989035
+                ],
+                "gripper_position": [
+                  0.28147330407166304,
+                  -0.3914001738712841,
+                  1.001532243770681
+                ],
+                "rod_tip_xy_dist": 0.002570627486454631,
+                "target_xy_drift": 8.309873771397032e-07,
+                "depth": 0.019202688536695045,
+                "bottom_clearance": 0.0802379604356579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0014966465750168578,
+                  0.001998405716426732
+                ],
+                "rod_tip_xy": [
+                  0.2814733040716632,
+                  -0.39140017387128406
+                ],
+                "target_mouth_xy": [
+                  0.28296995064668007,
+                  -0.3933985795877108
+                ],
+                "gripper_position": [
+                  0.28146251267786504,
+                  -0.39140956695634366,
+                  1.0013738565678367
+                ],
+                "rod_tip_xy_dist": 0.002496713114868573,
+                "target_xy_drift": 7.635544995845591e-07,
+                "depth": 0.019727584838530876,
+                "bottom_clearance": 0.07971294371427262,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005982476505161264,
+              "rod_tip_xy_max_step": 3.2662224430242084e-05,
+              "rod_tip_xy_range": 0.0005982431378678901,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2810395804289395,
+            -0.39276762941129434,
+            1.0434232776721064
+          ],
+          "object_origin_world": [
+            0.2810395804289395,
+            -0.39276762941129434,
+            1.0434232776721064
+          ],
+          "frame_world": [
+            0.2810382674073526,
+            -0.3927768906908217,
+            1.0432971469814172
+          ],
+          "center_minus_frame": [
+            1.3130215869017192e-06,
+            9.26127952738387e-06,
+            0.0001261306906892301
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25153108553337084,
+              0.15634720235139946,
+              0.8329540936695946
+            ],
+            "target_position": [
+              0.2647240429459523,
+              0.20175873727111399,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04728912802172018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1661941265633672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329540936695946,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675496259436,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13516791426068533,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d3bfe89ab2b0d87a75d441e0779430e41815d6e848f087388b415a2f3a00454",
+    "visual_seed": 5573228811827087800,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45787d90c6846c88ced5c093b43e38a261302c40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_14_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30261667323148084,
+              -0.02509315972954557,
+              1.1648525306776762
+            ],
+            "current_z": 1.1648525306776762,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.3037461418721996,
+            "gripper_z": 1.1570512496988286,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2977411055463627,
+              -0.029812853096331665,
+              1.1570512496988286
+            ],
+            "object_minus_gripper": [
+              0.004875567685118154,
+              0.004719693366786095,
+              0.007801280978847691
+            ],
+            "object_to_gripper_xy": 0.006785769354218655,
+            "object_to_gripper_z": 0.007801280978847691,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30261667323148084,
+              -0.049212681398428854,
+              1.1648525306776762
+            ],
+            "finger_b": [
+              0.2920450007674512,
+              -0.02509315972954557,
+              1.1648525306776762
+            ],
+            "finger_midpoint": [
+              0.29733083699946605,
+              -0.03715292056398721,
+              1.1648525306776762
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052858362320147845,
+              0.01205976083444164,
+              0.0
+            ],
+            "finger_gap": 0.02633460810838947,
+            "fingertip_max_gap": 0.09126366209646161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013167304054194723,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648525306776762,
+            "object_top_z": 1.2147408876867622,
+            "finger_top_clearance": 0.049888357009086004,
+            "fingertip_min_top_clearance": 0.0149665071027258,
+            "object_projection_between_fingers": 0.8388487500002973,
+            "object_to_finger_line_xy": 0.009682455953892437,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813183104823081,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.981814142010582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28068904551919954,
+              -0.39136440123130656,
+              0.8515395800095307
+            ],
+            "target_position": [
+              0.2734047043268876,
+              -0.39223226051140153,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007335857573321551,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852916721450714,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395800095307,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530957930997662,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594706022898126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537937480112409,
+            "release_required_pad_clearance": 0.05297353011449063,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9819725836833642,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008424758911132812,
+            "max_z_decrease": 0.008424758911132812,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035003560072019074,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008424758911132812,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020923734423222786,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008424758911132812,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00842480387310342,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12910462915897367,
+              -0.44849371910095215,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12910462915897367,
+              -0.44849371910095215,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.127911805929748,
+              -0.44855866932080163,
+              0.8037313927861632
+            ],
+            "closest_button": [
+              0.12911441922187802,
+              -0.44845858216285706,
+              0.7687486410140991
+            ],
+            "closest_ee_minus_button": [
+              -0.0012026132921300337,
+              -0.00010008715794457279,
+              0.03498275177206411
+            ],
+            "button_min_z_position": [
+              0.1291166394948959,
+              -0.448468953371048,
+              0.7683840990066528
+            ],
+            "min_active_finger_to_button": 0.14693343928093014,
+            "closest_active_finger": [
+              -0.012835979461669922,
+              -0.4324079751968384,
+              0.8110539317131042
+            ],
+            "closest_active_finger_button": [
+              0.12910541892051694,
+              -0.44849249720573425,
+              0.7766538858413696
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14194139838218686,
+              0.016084522008895874,
+              0.03440004587173462
+            ],
+            "min_contact_pad_to_button": 0.020923734423222786,
+            "closest_contact_pad": [
+              0.1291166394948959,
+              -0.44974061085161315,
+              0.7892691546557451
+            ],
+            "closest_contact_pad_button": [
+              0.1291166394948959,
+              -0.448468953371048,
+              0.7683840990066528
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012716574805651804,
+              0.020885055649092266
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2771499089296771,
+              0.2008092839651373,
+              1.1072960748705802
+            ],
+            "current_z": 1.1072960748705802,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19738694513621768,
+            "gripper_z": 1.1072964133864613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27714984028327194,
+              0.20080934120084082,
+              1.1072964133864613
+            ],
+            "object_minus_gripper": [
+              6.864640517134646e-08,
+              -5.723570351001683e-08,
+              -3.385158811042288e-07
+            ],
+            "object_to_gripper_xy": 8.937703675573058e-08,
+            "object_to_gripper_z": -3.385158811042288e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2771499089296771,
+              0.2008092839651373,
+              1.1072960748705802
+            ],
+            "finger_b": [
+              0.2771499089296771,
+              0.2008092839651373,
+              1.1072960748705802
+            ],
+            "finger_midpoint": [
+              0.2771499089296771,
+              0.2008092839651373,
+              1.1072960748705802
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1072960748705802,
+            "object_top_z": 1.23230458149086,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27714990892967717,
+            0.2008092839651373,
+            1.1072960748705802
+          ],
+          "object_origin_world": [
+            0.27714990892967717,
+            0.2008092839651373,
+            1.1072960748705802
+          ],
+          "frame_world": [
+            0.27714984028327194,
+            0.20080934120084082,
+            1.1072964133864613
+          ],
+          "center_minus_frame": [
+            6.864640522685761e-08,
+            -5.723570351001683e-08,
+            -3.385158811042288e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433444684272741,
+            "required_z": 0.911259932231983,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017911234102231594,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.998136273825498e-08,
+            "max_target_xy_drift": 1.115251866586119e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9819725793577038,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9819725842007807,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2806675803824903,
+              -0.3895644350061427,
+              0.923469316310941
+            ],
+            "target_mouth_xy": [
+              0.2806891390879231,
+              -0.39136443452404607
+            ],
+            "rod_tip_z": 0.923469316310941,
+            "rod_tip_depth": -0.02220939106438269,
+            "rod_tip_bottom_clearance": 0.12165005474013146,
+            "rod_tip_xy_dist": 0.0018001286182471382,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04480919819247842,
+            "min_rod_tip_bottom_clearance": 0.05463154966435624,
+            "min_rod_tip_xy_dist": 0.0003364918563550361,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2806890758783593,
+              -0.39136437048345984
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.320956380534426e-08,
+              -6.4040586222891e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.00046729290548808144,
+                0.0034682656126370226
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00037664995979014293,
+                0.003108285191962601
+              ],
+              "first_target_mouth_xy": [
+                0.2806890791609984,
+                -0.39136437649239286
+              ],
+              "last_target_mouth_xy": [
+                0.28068901816045005,
+                -0.3913644018573288
+              ],
+              "first_rod_tip_xy": [
+                0.28115637206648647,
+                -0.38789611087975584
+              ],
+              "last_rod_tip_xy": [
+                0.2810656681202402,
+                -0.3882561166653662
+              ],
+              "min_rod_tip_xy_dist": 0.0031310225209640217,
+              "max_rod_tip_xy_dist": 0.0034996041232287912,
+              "first_target_xy_drift": 6.847115853142725e-09,
+              "last_target_xy_drift": 6.56938101998988e-08,
+              "max_depth": 0.019548117814913835,
+              "min_bottom_clearance": 0.07989246439856335
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00046729290548808144,
+                  0.0034682656126370226
+                ],
+                "rod_tip_xy": [
+                  0.28115637206648647,
+                  -0.38789611087975584
+                ],
+                "target_mouth_xy": [
+                  0.2806890791609984,
+                  -0.39136437649239286
+                ],
+                "gripper_position": [
+                  0.28114627810030507,
+                  -0.38790547693462113,
+                  1.0058509377033849
+                ],
+                "rod_tip_xy_dist": 0.0034996041232287912,
+                "target_xy_drift": 6.847115853142725e-09,
+                "depth": 0.015251037391127542,
+                "bottom_clearance": 0.08418966880001688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00045720353481520926,
+                  0.003458891986982182
+                ],
+                "rod_tip_xy": [
+                  0.28114627810030496,
+                  -0.3879054769346212
+                ],
+                "target_mouth_xy": [
+                  0.28068907456548975,
+                  -0.39136436892160337
+                ],
+                "gripper_position": [
+                  0.2811386753806466,
+                  -0.38790917382270984,
+                  1.0057125784292922
+                ],
+                "rod_tip_xy_dist": 0.0034889781956694813,
+                "target_xy_drift": 2.040348517532451e-09,
+                "depth": 0.01540900248273247,
+                "bottom_clearance": 0.08403170180650821,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004495662125865718,
+                  0.003455261963234202
+                ],
+                "rod_tip_xy": [
+                  0.28113867538064646,
+                  -0.38790917382270995
+                ],
+                "target_mouth_xy": [
+                  0.2806891091680599,
+                  -0.39136443578594415
+                ],
+                "gripper_position": [
+                  0.2811471643870611,
+                  -0.38797655043828055,
+                  1.0051768061173738
+                ],
+                "rod_tip_xy_dist": 0.003484385887652587,
+                "target_xy_drift": 7.329814884043957e-08,
+                "depth": 0.015547368192661781,
+                "bottom_clearance": 0.08389333509851882,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004581488540810197,
+                  0.003387820378417672
+                ],
+                "rod_tip_xy": [
+                  0.28114716438706105,
+                  -0.3879765504382806
+                ],
+                "target_mouth_xy": [
+                  0.28068901553298004,
+                  -0.3913643708166983
+                ],
+                "gripper_position": [
+                  0.28113689805707354,
+                  -0.3879858355667656,
+                  1.0050189984433053
+                ],
+                "rod_tip_xy_dist": 0.003418658697342835,
+                "target_xy_drift": 6.034629934452856e-08,
+                "depth": 0.01608308355027699,
+                "bottom_clearance": 0.0833575318594928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0004477901418143415,
+                  0.0033786015043970608
+                ],
+                "rod_tip_xy": [
+                  0.2811368980570734,
+                  -0.3879858355667656
+                ],
+                "target_mouth_xy": [
+                  0.2806891079152591,
+                  -0.39136443707116264
+                ],
+                "gripper_position": [
+                  0.28112893921759174,
+                  -0.38798965184385403,
+                  1.0048805021790015
+                ],
+                "rod_tip_xy_dist": 0.0034081467305003446,
+                "target_xy_drift": 7.389374203840306e-08,
+                "depth": 0.01624096057586144,
+                "bottom_clearance": 0.08319973878931741,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00043992332739112294,
+                  0.003374747514708676
+                ],
+                "rod_tip_xy": [
+                  0.28112893921759163,
+                  -0.38798965184385403
+                ],
+                "target_mouth_xy": [
+                  0.2806890158902005,
+                  -0.3913643993585627
+                ],
+                "gripper_position": [
+                  0.28113847479841775,
+                  -0.38805773654762915,
+                  1.0043476323519462
+                ],
+                "rod_tip_xy_dist": 0.0034033003573024907,
+                "target_xy_drift": 6.65759022356175e-08,
+                "depth": 0.016379398354915975,
+                "bottom_clearance": 0.08306124732172926,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004493637653161797,
+                  0.003306731895536652
+                ],
+                "rod_tip_xy": [
+                  0.28113847479841764,
+                  -0.3880577365476292
+                ],
+                "target_mouth_xy": [
+                  0.28068911103310146,
+                  -0.39136446844316586
+                ],
+                "gripper_position": [
+                  0.28112813652129487,
+                  -0.3880670840391665,
+                  1.00419011178512
+                ],
+                "rod_tip_xy_dist": 0.0033371250534762033,
+                "target_xy_drift": 1.0407670200147454e-07,
+                "depth": 0.01691238018736707,
+                "bottom_clearance": 0.08252849585365551,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0004390903664469037,
+                  0.0032973470261649096
+                ],
+                "rod_tip_xy": [
+                  0.28112813652129476,
+                  -0.38806708403916657
+                ],
+                "target_mouth_xy": [
+                  0.28068904615484785,
+                  -0.3913644310653315
+                ],
+                "gripper_position": [
+                  0.28112015831553566,
+                  -0.3880707748794717,
+                  1.0040518570269956
+                ],
+                "rod_tip_xy_dist": 0.0033264542324921665,
+                "target_xy_drift": 6.748074022982932e-08,
+                "depth": 0.017069801065513812,
+                "bottom_clearance": 0.08237075971533214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004310809906047375,
+                  0.0032936878789963098
+                ],
+                "rod_tip_xy": [
+                  0.28112015831553555,
+                  -0.3880707748794717
+                ],
+                "target_mouth_xy": [
+                  0.2806890773249308,
+                  -0.39136446275846803
+                ],
+                "gripper_position": [
+                  0.28111220860911557,
+                  -0.38807424632542187,
+                  1.0039133612281288
+                ],
+                "rod_tip_xy_dist": 0.003321778238339816,
+                "target_xy_drift": 9.228634625799155e-08,
+                "depth": 0.01720796299784544,
+                "bottom_clearance": 0.08223256142425228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00042315977470513966,
+                  0.0032901542674352857
+                ],
+                "rod_tip_xy": [
+                  0.2811122086091155,
+                  -0.38807424632542187
+                ],
+                "target_mouth_xy": [
+                  0.28068904883441037,
+                  -0.39136440059285715
+                ],
+                "gripper_position": [
+                  0.28112306004965204,
+                  -0.3881443357471791,
+                  1.0033823050141573
+                ],
+                "rod_tip_xy_dist": 0.003317254783469477,
+                "target_xy_drift": 4.0471607073825106e-08,
+                "depth": 0.017346571546500322,
+                "bottom_clearance": 0.08209408970807319,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00043401595271619353,
+                  0.0032200975454619307
+                ],
+                "rod_tip_xy": [
+                  0.28112306004965193,
+                  -0.3881443357471791
+                ],
+                "target_mouth_xy": [
+                  0.28068904409693574,
+                  -0.39136443329264103
+                ],
+                "gripper_position": [
+                  0.2811124390210466,
+                  -0.38815356768079623,
+                  1.0032249023397635
+                ],
+                "rod_tip_xy_dist": 0.0032492149897324577,
+                "target_xy_drift": 7.039213112590509e-08,
+                "depth": 0.01787758593976807,
+                "bottom_clearance": 0.08156300303548825,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00042339266491253635,
+                  0.003210865586242173
+                ],
+                "rod_tip_xy": [
+                  0.28111243902104655,
+                  -0.38815356768079623
+                ],
+                "target_mouth_xy": [
+                  0.280689046356134,
+                  -0.3913644332670384
+                ],
+                "gripper_position": [
+                  0.2811044276663295,
+                  -0.3881571373384576,
+                  1.0030866710510438
+                ],
+                "rod_tip_xy_dist": 0.0032386600873842925,
+                "target_xy_drift": 6.93782352168241e-08,
+                "depth": 0.018034919947773398,
+                "bottom_clearance": 0.08140558260064545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004153822899490289,
+                  0.003207293711505854
+                ],
+                "rod_tip_xy": [
+                  0.2811044276663294,
+                  -0.3881571373384576
+                ],
+                "target_mouth_xy": [
+                  0.2806890453763804,
+                  -0.39136443104996343
+                ],
+                "gripper_position": [
+                  0.28109637373939445,
+                  -0.3881604102217168,
+                  1.0029486073955065
+                ],
+                "rod_tip_xy_dist": 0.003234080301827445,
+                "target_xy_drift": 6.781350951817663e-08,
+                "depth": 0.018173206445928347,
+                "bottom_clearance": 0.08126738530516064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0004073247768701105,
+                  0.003204024619609336
+                ],
+                "rod_tip_xy": [
+                  0.28109637373939433,
+                  -0.3881604102217169
+                ],
+                "target_mouth_xy": [
+                  0.2806890489625242,
+                  -0.3913644348413262
+                ],
+                "gripper_position": [
+                  0.28108821448644133,
+                  -0.3881642839798232,
+                  1.0028104995237546
+                ],
+                "rod_tip_xy_dist": 0.003229812260320255,
+                "target_xy_drift": 6.975956666043194e-08,
+                "depth": 0.018311317535328664,
+                "bottom_clearance": 0.08112932920099203,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0003991981520210519,
+                  0.003200118210519576
+                ],
+                "rod_tip_xy": [
+                  0.2810882144864412,
+                  -0.3881642839798233
+                ],
+                "target_mouth_xy": [
+                  0.28068901633442017,
+                  -0.39136440219034285
+                ],
+                "gripper_position": [
+                  0.28110114422857,
+                  -0.38823714762471895,
+                  1.0022830148443052
+                ],
+                "rod_tip_xy_dist": 0.003224921041804905,
+                "target_xy_drift": 6.74596702863114e-08,
+                "depth": 0.018449338197304654,
+                "bottom_clearance": 0.08099119076770311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0004120941211835927,
+                  0.0031272878310472096
+                ],
+                "rod_tip_xy": [
+                  0.2811011442285699,
+                  -0.38823714762471895
+                ],
+                "target_mouth_xy": [
+                  0.2806890501073863,
+                  -0.39136443545576616
+                ],
+                "gripper_position": [
+                  0.28109031578289523,
+                  -0.38824656280548786,
+                  1.002125640608999
+                ],
+                "rod_tip_xy_dist": 0.0031543225489683263,
+                "target_xy_drift": 6.989666397808107e-08,
+                "depth": 0.018976930423887928,
+                "bottom_clearance": 0.08046378254236763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0004012999229568437,
+                  0.003117839703943026
+                ],
+                "rod_tip_xy": [
+                  0.2810903157828952,
+                  -0.38824656280548786
+                ],
+                "target_mouth_xy": [
+                  0.28068901585993833,
+                  -0.3913644025094309
+                ],
+                "gripper_position": [
+                  0.2810820924778187,
+                  -0.3882496113704289,
+                  1.0019874248297231
+                ],
+                "rod_tip_xy_dist": 0.00314355945508411,
+                "target_xy_drift": 6.802847694272305e-08,
+                "depth": 0.019134206197627956,
+                "bottom_clearance": 0.08030633012595467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003930442708478532,
+                  0.003114791432866859
+                ],
+                "rod_tip_xy": [
+                  0.28108209247781857,
+                  -0.3882496113704289
+                ],
+                "target_mouth_xy": [
+                  0.2806890482069707,
+                  -0.39136440280329576
+                ],
+                "gripper_position": [
+                  0.28107396673652363,
+                  -0.3882528594318367,
+                  1.0018495919859853
+                ],
+                "rod_tip_xy_dist": 0.0031394919125723353,
+                "target_xy_drift": 4.254735642985147e-08,
+                "depth": 0.019272463334520595,
+                "bottom_clearance": 0.08016809371024458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00038491996028905406,
+                  0.0031115731857084272
+                ],
+                "rod_tip_xy": [
+                  0.2810739667365236,
+                  -0.3882528594318366
+                ],
+                "target_mouth_xy": [
+                  0.2806890467762345,
+                  -0.39136443261754505
+                ],
+                "gripper_position": [
+                  0.28106566812024025,
+                  -0.38825611666536614,
+                  1.0017117855017776
+                ],
+                "rod_tip_xy_dist": 0.0031352912250457083,
+                "target_xy_drift": 6.861179352552767e-08,
+                "depth": 0.019410165779652155,
+                "bottom_clearance": 0.08003033664931336,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00037664995979014293,
+                  0.003108285191962601
+                ],
+                "rod_tip_xy": [
+                  0.2810656681202402,
+                  -0.3882561166653662
+                ],
+                "target_mouth_xy": [
+                  0.28068901816045005,
+                  -0.3913644018573288
+                ],
+                "gripper_position": [
+                  0.2810575452195553,
+                  -0.38825925393734845,
+                  1.0015738509053993
+                ],
+                "rod_tip_xy_dist": 0.0031310225209640217,
+                "target_xy_drift": 6.56938101998988e-08,
+                "depth": 0.019548117814913835,
+                "bottom_clearance": 0.07989246439856335,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005972974550884665,
+              "rod_tip_xy_max_step": 3.228676853759577e-05,
+              "rod_tip_xy_range": 0.0005972907657171748,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28066758038249034,
+            -0.3895644350061427,
+            1.043469316310941
+          ],
+          "object_origin_world": [
+            0.28066758038249034,
+            -0.3895644350061427,
+            1.043469316310941
+          ],
+          "frame_world": [
+            0.2806661926003948,
+            -0.389573458106178,
+            1.0433444684272741
+          ],
+          "center_minus_frame": [
+            1.3877820955188191e-06,
+            9.02310003531026e-06,
+            0.0001248478836668454
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25525872086111223,
+              0.15762416814804595,
+              0.8320005817222312
+            ],
+            "target_position": [
+              0.2688455135044399,
+              0.20392889571563888,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04825690343817954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16659487746187016,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320005817222312,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674083023263,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13524801696626576,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6344f88dbc2e69674ed1345b47dcc5912f1b5f47f8e230b6476a63104118adb1",
+    "visual_seed": 2967684052992366070,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc28c87ebec94848d3cb14f8e0112e091c8ed3b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_18_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3018822277872122,
+              -0.017660690218886332,
+              1.1626724037553053
+            ],
+            "current_z": 1.1626724037553053,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30156595534518393,
+            "gripper_z": 1.1551065941476029,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2968941329458339,
+              -0.02253209244604902,
+              1.1551065941476029
+            ],
+            "object_minus_gripper": [
+              0.004988094841378299,
+              0.004871402227162688,
+              0.007565809607702478
+            ],
+            "object_to_gripper_xy": 0.006972205519445794,
+            "object_to_gripper_z": 0.007565809607702478,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3018822277872122,
+              -0.041873526490027534,
+              1.1626724037553053
+            ],
+            "finger_b": [
+              0.29109108916484494,
+              -0.017660690218886332,
+              1.1626724037553053
+            ],
+            "finger_midpoint": [
+              0.29648665847602856,
+              -0.029767108354456933,
+              1.1626724037553053
+            ],
+            "object_minus_finger_midpoint": [
+              0.005395569311183623,
+              0.0121064181355706,
+              0.0
+            ],
+            "finger_gap": 0.02650867995695442,
+            "fingertip_max_gap": 0.0915310792601127,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01325433997847721,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626724037553053,
+            "object_top_z": 1.2126079346412002,
+            "finger_top_clearance": 0.04993553088589486,
+            "fingertip_min_top_clearance": 0.014980659265768425,
+            "object_projection_between_fingers": 0.8342863285971182,
+            "object_to_finger_line_xy": 0.009856547857790238,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826553963005635,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2663717361756406,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2784421234090616,
+              -0.3964326869948747,
+              0.8515396075942039
+            ],
+            "target_position": [
+              0.2719367284968047,
+              -0.39694601908458216,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0065256166604192355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18394403186827432,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396075942039,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531197893965835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737854766441468,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15224649962721132,
+            "release_required_pad_clearance": 0.05368927383220734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.388059384398777,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008406877517700195,
+            "max_z_decrease": 0.008406877517700195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500781909771311,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008406877517700195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02101744640678585,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008406877517700195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0084070340577249,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12763665616512299,
+              -0.4532074630260467,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12763665616512299,
+              -0.4532074630260467,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12798963756716986,
+              -0.4543395532263536,
+              0.8035985481863487
+            ],
+            "closest_button": [
+              0.12767156958580017,
+              -0.4531803727149963,
+              0.7686113715171814
+            ],
+            "closest_ee_minus_button": [
+              0.00031806798136968517,
+              -0.0011591805113573272,
+              0.034987176669167286
+            ],
+            "button_min_z_position": [
+              0.12767599523067474,
+              -0.4531745314598083,
+              0.7684019804000854
+            ],
+            "min_active_finger_to_button": 0.14539199758277627,
+            "closest_active_finger": [
+              -0.012920446693897247,
+              -0.4392220377922058,
+              0.8108409643173218
+            ],
+            "closest_active_finger_button": [
+              0.12763771414756775,
+              -0.4532050490379333,
+              0.7763922810554504
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140558160841465,
+              0.013983011245727484,
+              0.03444868326187134
+            ],
+            "min_contact_pad_to_button": 0.02101744640678585,
+            "closest_contact_pad": [
+              0.12767599523067474,
+              -0.45544699974540837,
+              0.7892962126509497
+            ],
+            "closest_contact_pad_button": [
+              0.12767599523067474,
+              -0.4531745314598083,
+              0.7684019804000854
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002272468285600071,
+              0.020894232250864286
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26900852696258537,
+              0.1995757168077783,
+              1.1041409459214448
+            ],
+            "current_z": 1.1041409459214448,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1942318161870823,
+            "gripper_z": 1.1041409459214448,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2690085269625854,
+              0.19957571680777825,
+              1.1041409459214448
+            ],
+            "object_minus_gripper": [
+              -5.551115123125783e-17,
+              5.551115123125783e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 7.850462293418876e-17,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26900852696258537,
+              0.1995757168077783,
+              1.1041409459214448
+            ],
+            "finger_b": [
+              0.26900852696258537,
+              0.1995757168077783,
+              1.1041409459214448
+            ],
+            "finger_midpoint": [
+              0.26900852696258537,
+              0.1995757168077783,
+              1.1041409459214448
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041409459214448,
+            "object_top_z": 1.2291494525417246,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2690085269625854,
+            0.19957571680777833,
+            1.1041409459214448
+          ],
+          "object_origin_world": [
+            0.2690085269625854,
+            0.19957571680777833,
+            1.1041409459214448
+          ],
+          "frame_world": [
+            0.2690085269625854,
+            0.19957571680777825,
+            1.1041409459214448
+          ],
+          "center_minus_frame": [
+            0.0,
+            8.326672684688674e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043266589762664,
+            "required_z": 0.9112598266530019,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00260930130276458,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.2799528505036977e-07,
+            "max_target_xy_drift": 7.092838564694135e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.3880593812909994,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3883871343184224,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27592020973077547,
+              -0.39708789784772747,
+              0.9233910610340242
+            ],
+            "target_mouth_xy": [
+              0.27844209607708253,
+              -0.39643259617913373
+            ],
+            "rod_tip_z": 0.9233910610340242,
+            "rod_tip_depth": -0.022131009597720408,
+            "rod_tip_bottom_clearance": 0.12157183500930457,
+            "rod_tip_xy_dist": 0.0026056344756223465,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04523740422962397,
+            "min_rod_tip_bottom_clearance": 0.0542031265426437,
+            "min_rod_tip_xy_dist": 0.0012623912772281982,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2784420624788645,
+              -0.3964327196860272
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.359821804105323e-08,
+              1.235068934901662e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0019411121173062984,
+                0.0011896097929019467
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0020451840520293585,
+                0.000789953742145244
+              ],
+              "first_target_mouth_xy": [
+                0.2784421551367611,
+                -0.39643269011394666
+              ],
+              "last_target_mouth_xy": [
+                0.27844215519625787,
+                -0.39643272184830763
+              ],
+              "first_rod_tip_xy": [
+                0.27650104301945483,
+                -0.3952430803210447
+              ],
+              "last_rod_tip_xy": [
+                0.2763969711442285,
+                -0.3956427681061624
+              ],
+              "min_rod_tip_xy_dist": 0.00216783410218335,
+              "max_rod_tip_xy_dist": 0.0022841908877229075,
+              "first_target_xy_drift": 9.726249923403547e-08,
+              "last_target_xy_drift": 9.274260342822728e-08,
+              "max_depth": 0.019573713787532365,
+              "min_bottom_clearance": 0.07986696601465038
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0019411121173062984,
+                  0.0011896097929019467
+                ],
+                "rod_tip_xy": [
+                  0.27650104301945483,
+                  -0.3952430803210447
+                ],
+                "target_mouth_xy": [
+                  0.2784421551367611,
+                  -0.39643269011394666
+                ],
+                "gripper_position": [
+                  0.276490788851944,
+                  -0.39525347622236146,
+                  1.0058208104056388
+                ],
+                "rod_tip_xy_dist": 0.0022766395655266897,
+                "target_xy_drift": 9.726249923403547e-08,
+                "depth": 0.015281285293015423,
+                "bottom_clearance": 0.08415935106334149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0019513622655717433,
+                  0.0011792444414008285
+                ],
+                "rod_tip_xy": [
+                  0.27649078885194406,
+                  -0.3952534762223616
+                ],
+                "target_mouth_xy": [
+                  0.2784421511175158,
+                  -0.39643272066376245
+                ],
+                "gripper_position": [
+                  0.2764833835826398,
+                  -0.39525758523418986,
+                  1.005682230674623
+                ],
+                "rod_tip_xy_dist": 0.002280007049127708,
+                "target_xy_drift": 8.864404363419553e-08,
+                "depth": 0.015439015732172101,
+                "bottom_clearance": 0.0840014897962521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019587396139641444,
+                  0.0011751030321822675
+                ],
+                "rod_tip_xy": [
+                  0.27648338358263985,
+                  -0.39525758523418997
+                ],
+                "target_mouth_xy": [
+                  0.278442123196604,
+                  -0.39643268826637224
+                ],
+                "gripper_position": [
+                  0.27648804408102856,
+                  -0.3953332665288003,
+                  1.0051473574557657
+                ],
+                "rod_tip_xy_dist": 0.0022841908877229075,
+                "target_xy_drift": 6.836547820326282e-08,
+                "depth": 0.01557769302565426,
+                "bottom_clearance": 0.08386293320977967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0019540792698363174,
+                  0.0010994236246816835
+                ],
+                "rod_tip_xy": [
+                  0.2764880440810286,
+                  -0.3953332665288003
+                ],
+                "target_mouth_xy": [
+                  0.27844212335086493,
+                  -0.396432690153482
+                ],
+                "gripper_position": [
+                  0.27647786656430223,
+                  -0.3953430800010266,
+                  1.0049896456029335
+                ],
+                "rod_tip_xy_dist": 0.0022421324892414915,
+                "target_xy_drift": 6.765775392447983e-08,
+                "depth": 0.016112473448454012,
+                "bottom_clearance": 0.08332808810521553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001964289901474403,
+                  0.0010896386257440716
+                ],
+                "rod_tip_xy": [
+                  0.27647786656430223,
+                  -0.3953430800010267
+                ],
+                "target_mouth_xy": [
+                  0.27844215646577664,
+                  -0.39643271862677076
+                ],
+                "gripper_position": [
+                  0.2764701934117251,
+                  -0.3953473233706491,
+                  1.004851471064215
+                ],
+                "rod_tip_xy_dist": 0.0022462740598038675,
+                "target_xy_drift": 9.399288099754923e-08,
+                "depth": 0.01627023340854905,
+                "bottom_clearance": 0.08317050018274863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0019719628927519217,
+                  0.0010853632529707058
+                ],
+                "rod_tip_xy": [
+                  0.2764701934117251,
+                  -0.39534732337064915
+                ],
+                "target_mouth_xy": [
+                  0.278442156304477,
+                  -0.39643268662361986
+                ],
+                "gripper_position": [
+                  0.27647574155545196,
+                  -0.39542373321116636,
+                  1.0043189972988538
+                ],
+                "rod_tip_xy_dist": 0.002250922264603929,
+                "target_xy_drift": 9.948049226974467e-08,
+                "depth": 0.016408506402389,
+                "bottom_clearance": 0.08303230332485423,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019663806554993113,
+                  0.0010089566840850717
+                ],
+                "rod_tip_xy": [
+                  0.276475741555452,
+                  -0.39542373321116653
+                ],
+                "target_mouth_xy": [
+                  0.2784421222109513,
+                  -0.3964326898952516
+                ],
+                "gripper_position": [
+                  0.2764653636859527,
+                  -0.39543336937611134,
+                  1.0041615746322679
+                ],
+                "rod_tip_xy_dist": 0.002210123632895193,
+                "target_xy_drift": 6.6748876467171e-08,
+                "depth": 0.01694083006468794,
+                "bottom_clearance": 0.0824996989878598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019767917502353516,
+                  0.0009993191783600475
+                ],
+                "rod_tip_xy": [
+                  0.27646536368595276,
+                  -0.3954333693761114
+                ],
+                "target_mouth_xy": [
+                  0.2784421554361881,
+                  -0.39643268855447145
+                ],
+                "gripper_position": [
+                  0.276457611041835,
+                  -0.3954373346821454,
+                  1.0040233408067842
+                ],
+                "rod_tip_xy_dist": 0.0022150269623724098,
+                "target_xy_drift": 9.80318202374006e-08,
+                "depth": 0.01709836144621446,
+                "bottom_clearance": 0.08234234414430441,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019845406033032753,
+                  0.000995385007284466
+                ],
+                "rod_tip_xy": [
+                  0.276457611041835,
+                  -0.3954373346821456
+                ],
+                "target_mouth_xy": [
+                  0.2784421516451383,
+                  -0.39643271968943006
+                ],
+                "gripper_position": [
+                  0.2764499752733306,
+                  -0.3954411542789274,
+                  1.003885287195996
+                ],
+                "rod_tip_xy_dist": 0.0022201785331108,
+                "target_xy_drift": 8.916627387388018e-08,
+                "depth": 0.0172364840460979,
+                "bottom_clearance": 0.0822040317051953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019921764988587998,
+                  0.0009915657249485177
+                ],
+                "rod_tip_xy": [
+                  0.27644997527333065,
+                  -0.39544115427892745
+                ],
+                "target_mouth_xy": [
+                  0.27844215177218945,
+                  -0.39643272000387597
+                ],
+                "gripper_position": [
+                  0.27645661280682954,
+                  -0.395519938155546,
+                  1.0033551622865136
+                ],
+                "rod_tip_xy_dist": 0.002225302179367554,
+                "target_xy_drift": 8.929389066214388e-08,
+                "depth": 0.017374532858714264,
+                "bottom_clearance": 0.08206597586123188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019855389084395547,
+                  0.0009127511031570279
+                ],
+                "rod_tip_xy": [
+                  0.2764566128068296,
+                  -0.395519938155546
+                ],
+                "target_mouth_xy": [
+                  0.27844215171526915,
+                  -0.396432689258703
+                ],
+                "gripper_position": [
+                  0.276446218945691,
+                  -0.3955296182390391,
+                  1.0031976395648288
+                ],
+                "rod_tip_xy_dist": 0.0021852870139278525,
+                "target_xy_drift": 9.428127053979141e-08,
+                "depth": 0.017904674496083905,
+                "bottom_clearance": 0.08153586728342643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0019959315564113678,
+                  0.0009031350911890001
+                ],
+                "rod_tip_xy": [
+                  0.27644621894569105,
+                  -0.3955296182390391
+                ],
+                "target_mouth_xy": [
+                  0.2784421505021024,
+                  -0.3964327533302281
+                ],
+                "gripper_position": [
+                  0.2764383277255197,
+                  -0.3955333830749804,
+                  1.003059989618472
+                ],
+                "rod_tip_xy_dist": 0.002190752329866539,
+                "target_xy_drift": 9.423387218097734e-08,
+                "depth": 0.018062259605532094,
+                "bottom_clearance": 0.08137837544470672,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0020039167073859776,
+                  0.0008991792587501601
+                ],
+                "rod_tip_xy": [
+                  0.2764383277255197,
+                  -0.39553338307498054
+                ],
+                "target_mouth_xy": [
+                  0.27844224443290566,
+                  -0.3964325623337307
+                ],
+                "gripper_position": [
+                  0.2764305144313941,
+                  -0.3955372873397421,
+                  1.0029218721283288
+                ],
+                "rod_tip_xy_dist": 0.0021964074097277912,
+                "target_xy_drift": 2.405556449537663e-07,
+                "depth": 0.018200071025161302,
+                "bottom_clearance": 0.08124088104270277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0020116371461693094,
+                  0.0008954944790090513
+                ],
+                "rod_tip_xy": [
+                  0.27643051443139416,
+                  -0.39553728733974214
+                ],
+                "target_mouth_xy": [
+                  0.27844215157756347,
+                  -0.3964327818187512
+                ],
+                "gripper_position": [
+                  0.276422634310615,
+                  -0.3955410670780096,
+                  1.002783674398423
+                ],
+                "rod_tip_xy_dist": 0.0022019523995272685,
+                "target_xy_drift": 1.0862344841852535e-07,
+                "depth": 0.018337970694307093,
+                "bottom_clearance": 0.08110257710493507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0020196110077721485,
+                  0.0008915256780634984
+                ],
+                "rod_tip_xy": [
+                  0.27642263431061503,
+                  -0.39554106707800973
+                ],
+                "target_mouth_xy": [
+                  0.2784422453183872,
+                  -0.39643259275607323
+                ],
+                "gripper_position": [
+                  0.2764315077882168,
+                  -0.3956222745803697,
+                  1.002256961963502
+                ],
+                "rod_tip_xy_dist": 0.002207633723551308,
+                "target_xy_drift": 2.2257920899639224e-07,
+                "depth": 0.018476381366039685,
+                "bottom_clearance": 0.08096458029604114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0020106413736710183,
+                  0.0008104480002266712
+                ],
+                "rod_tip_xy": [
+                  0.2764315077882168,
+                  -0.3956222745803698
+                ],
+                "target_mouth_xy": [
+                  0.2784421491618878,
+                  -0.3964327225805965
+                ],
+                "gripper_position": [
+                  0.2764208346113999,
+                  -0.39563195290292336,
+                  1.0020997187673764
+                ],
+                "rod_tip_xy_dist": 0.00216783410218335,
+                "target_xy_drift": 8.673133840860122e-08,
+                "depth": 0.01900295894890236,
+                "bottom_clearance": 0.08043769030381431,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.002021287158045393,
+                  0.0008007341089182329
+                ],
+                "rod_tip_xy": [
+                  0.27642083461139993,
+                  -0.3956319529029234
+                ],
+                "target_mouth_xy": [
+                  0.2784421217694453,
+                  -0.39643268701184164
+                ],
+                "gripper_position": [
+                  0.27641280843346616,
+                  -0.3956356535963353,
+                  1.0019617646274446
+                ],
+                "rod_tip_xy_dist": 0.002174115196686757,
+                "target_xy_drift": 6.769767631827937e-08,
+                "depth": 0.019160157830338753,
+                "bottom_clearance": 0.08028046245833786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0020293440531024554,
+                  0.0007970980889629997
+                ],
+                "rod_tip_xy": [
+                  0.2764128084334662,
+                  -0.39563565359633535
+                ],
+                "target_mouth_xy": [
+                  0.2784421524865687,
+                  -0.39643275168529835
+                ],
+                "gripper_position": [
+                  0.2764048095844298,
+                  -0.3956392100132127,
+                  1.0018240050473193
+                ],
+                "rod_tip_xy_dist": 0.0021802758195445747,
+                "target_xy_drift": 9.552664635512103e-08,
+                "depth": 0.019298080313774224,
+                "bottom_clearance": 0.08014249249734362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0020373409250400987,
+                  0.0007935087471627189
+                ],
+                "rod_tip_xy": [
+                  0.27640480958442987,
+                  -0.3956392100132128
+                ],
+                "target_mouth_xy": [
+                  0.27844215050946997,
+                  -0.3964327187603755
+                ],
+                "gripper_position": [
+                  0.27639697114422845,
+                  -0.3956427681061622,
+                  1.0016862137365687
+                ],
+                "rod_tip_xy_dist": 0.002186415828854839,
+                "target_xy_drift": 8.803547200329039e-08,
+                "depth": 0.019435863284931187,
+                "bottom_clearance": 0.08000471473091864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0020451840520293585,
+                  0.000789953742145244
+                ],
+                "rod_tip_xy": [
+                  0.2763969711442285,
+                  -0.3956427681061624
+                ],
+                "target_mouth_xy": [
+                  0.27844215519625787,
+                  -0.39643272184830763
+                ],
+                "gripper_position": [
+                  0.2763889205686453,
+                  -0.39564632884335377,
+                  1.0015483018365994
+                ],
+                "rod_tip_xy_dist": 0.0021924426381104024,
+                "target_xy_drift": 9.274260342822728e-08,
+                "depth": 0.019573713787532365,
+                "bottom_clearance": 0.07986696601465038,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006019722990670629,
+              "rod_tip_xy_max_step": 3.267972485528428e-05,
+              "rod_tip_xy_range": 0.0006019645071457698,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2759202097307755,
+            -0.3970878978477274,
+            1.0433910610340242
+          ],
+          "object_origin_world": [
+            0.2759202097307755,
+            -0.3970878978477274,
+            1.0433910610340242
+          ],
+          "frame_world": [
+            0.2759188101103365,
+            -0.39709703670967905,
+            1.043266589762664
+          ],
+          "center_minus_frame": [
+            1.3996204390465117e-06,
+            9.13886195164082e-06,
+            0.00012447127136017144
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2533893669156096,
+              0.15569569046331447,
+              0.831801750582785
+            ],
+            "target_position": [
+              0.2691370110082639,
+              0.20082860212825232,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780133899614104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16358064044158516,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.831801750582785,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670367441704,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13399777005326566,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0c85ac64fbeb337541fd2eab5916ffd7a61f4427266b7d30216a1453f52a1ae",
+    "visual_seed": 3511173772717065737,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87e739e40d1056c2a671daf7d3dacced2b1d84f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_21_success.json
@@ -0,0 +1,2009 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30120218496983764,
+              -0.02273799250277924,
+              1.1650834155009684
+            ],
+            "current_z": 1.1650834155009684,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30397690748620254,
+            "gripper_z": 1.157328385223011,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29642199038704153,
+              -0.02754651779094898,
+              1.157328385223011
+            ],
+            "object_minus_gripper": [
+              0.0047801945827961045,
+              0.004808525288169739,
+              0.007755030277957431
+            ],
+            "object_to_gripper_xy": 0.006780278437967064,
+            "object_to_gripper_z": 0.007755030277957431,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30120218496983764,
+              -0.046550101361418274,
+              1.1650834155009684
+            ],
+            "finger_b": [
+              0.290174397643936,
+              -0.02273799250277924,
+              1.1650834155009684
+            ],
+            "finger_midpoint": [
+              0.2956882913068868,
+              -0.03464404693209876,
+              1.1650834155009684
+            ],
+            "object_minus_finger_midpoint": [
+              0.005513893662950853,
+              0.011906054429319517,
+              0.0
+            ],
+            "finger_gap": 0.02624173434819034,
+            "fingertip_max_gap": 0.09157750945965729,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312086717409518,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650834155009684,
+            "object_top_z": 1.2149374767970702,
+            "finger_top_clearance": 0.049854061296101815,
+            "fingertip_min_top_clearance": 0.014956218388830544,
+            "object_projection_between_fingers": 0.8233995952381689,
+            "object_to_finger_line_xy": 0.010006765131832811,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048288754729828645,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3388554831999993,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28786052720962546,
+              -0.395641234960225,
+              0.8515395970313203
+            ],
+            "target_position": [
+              0.27966930094077835,
+              -0.39710938161798764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008321757169982218,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18419862692173855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395970313203,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548034738003204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571539577358332,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523606506397889,
+            "release_required_pad_clearance": 0.05285769788679166,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7579516433087312,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008586466312408447,
+            "max_z_decrease": 0.008586466312408447,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035027864538654266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008586466312408447,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020948655147190364,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008586466312408447,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008586610863856882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13536922633647913,
+              -0.453370839357376,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13536922633647913,
+              -0.453370839357376,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1367901836945556,
+              -0.45373980807340963,
+              0.803619526109294
+            ],
+            "closest_button": [
+              0.1354008764028549,
+              -0.453340321779251,
+              0.7686215043067932
+            ],
+            "closest_ee_minus_button": [
+              0.0013893072917006977,
+              -0.00039948629415864634,
+              0.03499802180250078
+            ],
+            "button_min_z_position": [
+              0.13539752364158628,
+              -0.4533298313617705,
+              0.7682223916053772
+            ],
+            "min_active_finger_to_button": 0.1444039026577499,
+            "closest_active_finger": [
+              -0.004028104245662689,
+              -0.4378184676170349,
+              0.8105483055114746
+            ],
+            "closest_active_finger_button": [
+              0.1353689134120941,
+              -0.45336875319480885,
+              0.7762095928192139
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13939701765775678,
+              0.015550285577773937,
+              0.03433871269226074
+            ],
+            "min_contact_pad_to_button": 0.020948655147190364,
+            "closest_contact_pad": [
+              0.13539752364158628,
+              -0.45493734875069575,
+              0.7891092784083502
+            ],
+            "closest_contact_pad_button": [
+              0.13539752364158628,
+              -0.4533298313617705,
+              0.7682223916053772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001607517388925228,
+              0.020886886802973015
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26818606073553614,
+              0.20004915311731652,
+              1.1129922085090684
+            ],
+            "current_z": 1.1129922085090684,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20308307877470588,
+            "gripper_z": 1.1129924532578563,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2681859181429529,
+              0.2000491846460484,
+              1.1129924532578563
+            ],
+            "object_minus_gripper": [
+              1.4259258324100799e-07,
+              -3.152873187528549e-08,
+              -2.4474878790314847e-07
+            ],
+            "object_to_gripper_xy": 1.460366588532052e-07,
+            "object_to_gripper_z": -2.4474878790314847e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26818606073553614,
+              0.20004915311731652,
+              1.1129922085090684
+            ],
+            "finger_b": [
+              0.26818606073553614,
+              0.20004915311731652,
+              1.1129922085090684
+            ],
+            "finger_midpoint": [
+              0.26818606073553614,
+              0.20004915311731652,
+              1.1129922085090684
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1129922085090684,
+            "object_top_z": 1.2380007151293482,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26818606073553614,
+            0.20004915311731652,
+            1.1129922085090687
+          ],
+          "object_origin_world": [
+            0.26818606073553614,
+            0.20004915311731652,
+            1.1129922085090687
+          ],
+          "frame_world": [
+            0.2681859181429529,
+            0.2000491846460484,
+            1.1129924532578563
+          ],
+          "center_minus_frame": [
+            1.4259258324100799e-07,
+            -3.152873187528549e-08,
+            -2.4474878768110386e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.04316219841611,
+            "required_z": 0.9112599252017468,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015021247918105335,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.6401428776567704e-08,
+            "max_target_xy_drift": 8.248017925757042e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7579516477889864,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7579516482987074,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28915753542518313,
+              -0.39639099990672727,
+              0.9232926184608866
+            ],
+            "target_mouth_xy": [
+              0.2878604358520668,
+              -0.39564120453452734
+            ],
+            "rod_tip_z": 0.9232926184608866,
+            "rod_tip_depth": -0.022032837947118522,
+            "rod_tip_bottom_clearance": 0.12147339956937986,
+            "rod_tip_xy_dist": 0.0014982190770214722,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04523251853145471,
+            "min_rod_tip_bottom_clearance": 0.054207990304718456,
+            "min_rod_tip_xy_dist": 0.00015406419384449423,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.28786040143902347,
+              -0.39564123566064247
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.4413043303871405e-08,
+              3.1126115129787024e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0016939201594399766,
+                0.0010243075762007003
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016288434985515243,
+                0.0006287763382097911
+              ],
+              "first_target_mouth_xy": [
+                0.28786046544067634,
+                -0.3956412933291582
+              ],
+              "last_target_mouth_xy": [
+                0.28786043561113406,
+                -0.3956413577087216
+              ],
+              "first_rod_tip_xy": [
+                0.2895543856001163,
+                -0.3946169857529575
+              ],
+              "last_rod_tip_xy": [
+                0.2894892791096856,
+                -0.3950125813705118
+              ],
+              "min_rod_tip_xy_dist": 0.0017459927910120601,
+              "max_rod_tip_xy_dist": 0.001979538208072607,
+              "first_target_xy_drift": 8.61502714873219e-08,
+              "last_target_xy_drift": 1.2674173252875398e-07,
+              "max_depth": 0.019654904185907873,
+              "min_bottom_clearance": 0.07978570392320872
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016939201594399766,
+                  0.0010243075762007003
+                ],
+                "rod_tip_xy": [
+                  0.2895543856001163,
+                  -0.3946169857529575
+                ],
+                "target_mouth_xy": [
+                  0.28786046544067634,
+                  -0.3956412933291582
+                ],
+                "gripper_position": [
+                  0.28954450194633696,
+                  -0.3946273096725763,
+                  1.0058475468596029
+                ],
+                "rod_tip_xy_dist": 0.001979538208072607,
+                "target_xy_drift": 8.61502714873219e-08,
+                "depth": 0.015247491788607181,
+                "bottom_clearance": 0.08419308390856872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016840394543800041,
+                  0.0010139868559281284
+                ],
+                "rod_tip_xy": [
+                  0.28954450194633696,
+                  -0.39462730967257637
+                ],
+                "target_mouth_xy": [
+                  0.28786046249195696,
+                  -0.3956412965285045
+                ],
+                "gripper_position": [
+                  0.28953687273584194,
+                  -0.39463159679964255,
+                  1.005703143616009
+                ],
+                "rod_tip_xy_dist": 0.0019657462267300713,
+                "target_xy_drift": 8.6211120600684e-08,
+                "depth": 0.015412357301317847,
+                "bottom_clearance": 0.08402826038596278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001676407360842902,
+                  0.0010096676842832886
+                ],
+                "rod_tip_xy": [
+                  0.2895368727358419,
+                  -0.3946315967996425
+                ],
+                "target_mouth_xy": [
+                  0.287860465374999,
+                  -0.3956412644839258
+                ],
+                "gripper_position": [
+                  0.28955039673287497,
+                  -0.3947044048731901,
+                  1.005164033720239
+                ],
+                "rod_tip_xy_dist": 0.001956979936579382,
+                "target_xy_drift": 7.013266447248166e-08,
+                "depth": 0.015556628538649364,
+                "bottom_clearance": 0.08388390996798123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016899305307677137,
+                  0.000936889087455206
+                ],
+                "rod_tip_xy": [
+                  0.28955039673287497,
+                  -0.3947044048731902
+                ],
+                "target_mouth_xy": [
+                  0.28786046620210726,
+                  -0.3956412939606454
+                ],
+                "gripper_position": [
+                  0.28954041779999296,
+                  -0.3947144564724892,
+                  1.0049991291407205
+                ],
+                "rod_tip_xy_dist": 0.0019322593927869765,
+                "target_xy_drift": 8.71386674426601e-08,
+                "depth": 0.016095869900006332,
+                "bottom_clearance": 0.08334471185101588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016799513575622704,
+                  0.0009268374877512975
+                ],
+                "rod_tip_xy": [
+                  0.28954041779999296,
+                  -0.3947144564724892
+                ],
+                "target_mouth_xy": [
+                  0.2878604664424307,
+                  -0.3956412939602405
+                ],
+                "gripper_position": [
+                  0.2895326722080746,
+                  -0.394718892665439,
+                  1.0048548917925708
+                ],
+                "rod_tip_xy_dist": 0.0019186621100330439,
+                "target_xy_drift": 8.73171579967603e-08,
+                "depth": 0.01626071674388363,
+                "bottom_clearance": 0.08317987415976968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016723000962500234,
+                  0.0009223420432445395
+                ],
+                "rod_tip_xy": [
+                  0.2895326722080746,
+                  -0.3947188926654391
+                ],
+                "target_mouth_xy": [
+                  0.2878603721118246,
+                  -0.3956412347086836
+                ],
+                "gripper_position": [
+                  0.289546991817054,
+                  -0.3947927145176353,
+                  1.004318461785413
+                ],
+                "rod_tip_xy_dist": 0.0019097912076073524,
+                "target_xy_drift": 2.9342645083049482e-08,
+                "depth": 0.016405035413394553,
+                "bottom_clearance": 0.0830356070992927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016865275662871215,
+                  0.0008485788215688017
+                ],
+                "rod_tip_xy": [
+                  0.28954699181705396,
+                  -0.39479271451763537
+                ],
+                "target_mouth_xy": [
+                  0.28786046425076683,
+                  -0.39564129333920417
+                ],
+                "gripper_position": [
+                  0.28953686260324796,
+                  -0.3948025593428495,
+                  1.0041543842582974
+                ],
+                "rod_tip_xy_dist": 0.0018879780846878117,
+                "target_xy_drift": 8.527679393887754e-08,
+                "depth": 0.016941338818076468,
+                "bottom_clearance": 0.08249923153969319,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001676395855964019,
+                  0.0008387041725054778
+                ],
+                "rod_tip_xy": [
+                  0.2895368626032479,
+                  -0.3948025593428495
+                ],
+                "target_mouth_xy": [
+                  0.2878604667472839,
+                  -0.395641263515355
+                ],
+                "gripper_position": [
+                  0.2895291629768036,
+                  -0.394806449577944,
+                  1.0040097591139068
+                ],
+                "rod_tip_xy_dist": 0.0018744939996893652,
+                "target_xy_drift": 7.100037949454003e-08,
+                "depth": 0.017105535144624207,
+                "bottom_clearance": 0.08233509064627642,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016686964146506722,
+                  0.0008348440665092438
+                ],
+                "rod_tip_xy": [
+                  0.28952916297680353,
+                  -0.39480644957794403
+                ],
+                "target_mouth_xy": [
+                  0.28786046656215286,
+                  -0.3956412936444533
+                ],
+                "gripper_position": [
+                  0.28952119883593397,
+                  -0.39481067673134407,
+                  1.0038655343407346
+                ],
+                "rod_tip_xy_dist": 0.0018658811161630044,
+                "target_xy_drift": 8.719601078770306e-08,
+                "depth": 0.017250093374872044,
+                "bottom_clearance": 0.08219051352860895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016608246572076824,
+                  0.0008305579616528225
+                ],
+                "rod_tip_xy": [
+                  0.28952119883593397,
+                  -0.394810676731344
+                ],
+                "target_mouth_xy": [
+                  0.2878603741787263,
+                  -0.39564123469299683
+                ],
+                "gripper_position": [
+                  0.2895132921123057,
+                  -0.39481498517175,
+                  1.003721038737787
+                ],
+                "rod_tip_xy_dist": 0.001856923549760169,
+                "target_xy_drift": 2.7277465805100633e-08,
+                "depth": 0.01739432957373699,
+                "bottom_clearance": 0.08204623292708246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016528557000783373,
+                  0.000826309428097749
+                ],
+                "rod_tip_xy": [
+                  0.2895132921123057,
+                  -0.3948149851717501
+                ],
+                "target_mouth_xy": [
+                  0.28786043641222736,
+                  -0.39564129459984787
+                ],
+                "gripper_position": [
+                  0.2895302406873139,
+                  -0.39489214147974017,
+                  1.0031856287065244
+                ],
+                "rod_tip_xy_dist": 0.0018478958943199911,
+                "target_xy_drift": 6.853433390651794e-08,
+                "depth": 0.017538853490896344,
+                "bottom_clearance": 0.08190170556680665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001669773515688644,
+                  0.0007491537481226773
+                ],
+                "rod_tip_xy": [
+                  0.28953024068731387,
+                  -0.3948921414797402
+                ],
+                "target_mouth_xy": [
+                  0.2878604671716252,
+                  -0.3956412952278629
+                ],
+                "gripper_position": [
+                  0.2895198706088059,
+                  -0.394902099126611,
+                  1.0030210752340063
+                ],
+                "rod_tip_xy_dist": 0.0018301297582470676,
+                "target_xy_drift": 8.87075458071713e-08,
+                "depth": 0.01807420136672866,
+                "bottom_clearance": 0.08136637396522428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016594965436078635,
+                  0.000739165372930839
+                ],
+                "rod_tip_xy": [
+                  0.28951987060880585,
+                  -0.39490209912661106
+                ],
+                "target_mouth_xy": [
+                  0.287860374065198,
+                  -0.3956412644995419
+                ],
+                "gripper_position": [
+                  0.28951188410601664,
+                  -0.39490599641101093,
+                  1.0028769736315488
+                ],
+                "rod_tip_xy_dist": 0.0018166711939111137,
+                "target_xy_drift": 3.976189686454819e-08,
+                "depth": 0.01823879209736512,
+                "bottom_clearance": 0.08120177467823486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016514477532851846,
+                  0.0007352991505230055
+                ],
+                "rod_tip_xy": [
+                  0.28951188410601664,
+                  -0.39490599641101093
+                ],
+                "target_mouth_xy": [
+                  0.28786043635273145,
+                  -0.39564129556153393
+                ],
+                "gripper_position": [
+                  0.28950414593804286,
+                  -0.3949097588580385,
+                  1.002732629989223
+                ],
+                "rod_tip_xy_dist": 0.0018077457018592347,
+                "target_xy_drift": 6.933313640489242e-08,
+                "depth": 0.018382913640273557,
+                "bottom_clearance": 0.08105763387661225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016437408427869005,
+                  0.0007314758282577771
+                ],
+                "rod_tip_xy": [
+                  0.28950414593804286,
+                  -0.39490975885803853
+                ],
+                "target_mouth_xy": [
+                  0.28786040509525596,
+                  -0.3956412346862963
+                ],
+                "gripper_position": [
+                  0.2894959576520029,
+                  -0.39491380490040917,
+                  1.0025880201650448
+                ],
+                "rod_tip_xy_dist": 0.0017991500342025928,
+                "target_xy_drift": 3.783832238765906e-09,
+                "depth": 0.018527259393488094,
+                "bottom_clearance": 0.08091325993937326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016355219439588842,
+                  0.0007274903427598178
+                ],
+                "rod_tip_xy": [
+                  0.28949595765200287,
+                  -0.3949138049004092
+                ],
+                "target_mouth_xy": [
+                  0.287860435708044,
+                  -0.39564129524316904
+                ],
+                "gripper_position": [
+                  0.28948794330423405,
+                  -0.3949178378324368,
+                  1.0024442214125884
+                ],
+                "rod_tip_xy_dist": 0.0017900207339524995,
+                "target_xy_drift": 6.873458547406443e-08,
+                "depth": 0.018671796563660803,
+                "bottom_clearance": 0.08076871464636903,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016274783980561591,
+                  0.0007234570946487717
+                ],
+                "rod_tip_xy": [
+                  0.289487943304234,
+                  -0.3949178378324368
+                ],
+                "target_mouth_xy": [
+                  0.28786046490617784,
+                  -0.39564129492708555
+                ],
+                "gripper_position": [
+                  0.28950780359945605,
+                  -0.39499887208272905,
+                  1.0019134792366533
+                ],
+                "rod_tip_xy_dist": 0.0017810323141192817,
+                "target_xy_drift": 8.683657616097386e-08,
+                "depth": 0.01881559520330256,
+                "bottom_clearance": 0.08062490226299113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0016473405204232017,
+                  0.0006424520269844858
+                ],
+                "rod_tip_xy": [
+                  0.28950780359945605,
+                  -0.39499887208272905
+                ],
+                "target_mouth_xy": [
+                  0.28786046307903285,
+                  -0.39564132410971353
+                ],
+                "gripper_position": [
+                  0.2894974569694426,
+                  -0.39500886908266425,
+                  1.0017489493529321
+                ],
+                "rod_tip_xy_dist": 0.0017681842090700446,
+                "target_xy_drift": 1.0780876090724391e-07,
+                "depth": 0.019346400086514115,
+                "bottom_clearance": 0.08009418181388595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016369925506798944,
+                  0.000632424577041435
+                ],
+                "rod_tip_xy": [
+                  0.28949745696944257,
+                  -0.39500886908266436
+                ],
+                "target_mouth_xy": [
+                  0.2878604644187627,
+                  -0.3956412936597058
+                ],
+                "gripper_position": [
+                  0.2894892791096856,
+                  -0.3950125813705118,
+                  1.0016049625103998
+                ],
+                "rod_tip_xy_dist": 0.0017549089596407856,
+                "target_xy_drift": 8.56173983313647e-08,
+                "depth": 0.019510900091989747,
+                "bottom_clearance": 0.07992965242873629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0016288434985515243,
+                  0.0006287763382097911
+                ],
+                "rod_tip_xy": [
+                  0.2894892791096856,
+                  -0.3950125813705118
+                ],
+                "target_mouth_xy": [
+                  0.28786043561113406,
+                  -0.3956413577087216
+                ],
+                "gripper_position": [
+                  0.2894810183218981,
+                  -0.395016467751624,
+                  1.0014612420928013
+                ],
+                "rod_tip_xy_dist": 0.0017459927910120601,
+                "target_xy_drift": 1.2674173252875398e-07,
+                "depth": 0.019654904185907873,
+                "bottom_clearance": 0.07978570392320872,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006018194176683275,
+              "rod_tip_xy_max_step": 3.263308952031165e-05,
+              "rod_tip_xy_range": 0.0006018104772968588,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28915753542518313,
+            -0.39639099990672727,
+            1.0432926184608868
+          ],
+          "object_origin_world": [
+            0.28915753542518313,
+            -0.39639099990672727,
+            1.0432926184608868
+          ],
+          "frame_world": [
+            0.28915624567079956,
+            -0.3964009780559451,
+            1.04316219841611
+          ],
+          "center_minus_frame": [
+            1.2897543835710401e-06,
+            9.97814921782636e-06,
+            0.00013042004477692437
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24754290029910447,
+              0.15816833230007127,
+              0.8361661590379454
+            ],
+            "target_position": [
+              0.2598730221066328,
+              0.2022083143810381,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04573348800912046,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1626411198570942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8361661590379454,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677794851729,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13177308829402923,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 274,
+            "max_placed_release_frames": 274
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb2f3fbe4fd85f0889369b939b48220636a774bb5261696bf5311e32d5193cdc",
+    "visual_seed": 8283492865965783428,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f946f2b937af6517388aaa060665c225debf437
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_24_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3002114194195934,
+              -0.0232536860925624,
+              1.1657768669635633
+            ],
+            "current_z": 1.1657768669635633,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3046702993441526,
+            "gripper_z": 1.1578962055081423,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2954100179026087,
+              -0.02799023432348542,
+              1.1578962055081423
+            ],
+            "object_minus_gripper": [
+              0.004801401516984716,
+              0.0047365482309230204,
+              0.00788066145542099
+            ],
+            "object_to_gripper_xy": 0.0067445048499621615,
+            "object_to_gripper_z": 0.00788066145542099,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3002114194195934,
+              -0.04710561740817573,
+              1.1657768669635633
+            ],
+            "finger_b": [
+              0.2893262332984041,
+              -0.0232536860925624,
+              1.1657768669635633
+            ],
+            "finger_midpoint": [
+              0.29476882635899876,
+              -0.035179651750369065,
+              1.1657768669635633
+            ],
+            "object_minus_finger_midpoint": [
+              0.005442593060594636,
+              0.011925965657806663,
+              0.0
+            ],
+            "finger_gap": 0.026218350527400982,
+            "fingertip_max_gap": 0.09114479759515307,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013109175263700491,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657768669635633,
+            "object_top_z": 1.2156092506998877,
+            "finger_top_clearance": 0.04983238373632437,
+            "fingertip_min_top_clearance": 0.014949715120897277,
+            "object_projection_between_fingers": 0.8276302754787931,
+            "object_to_finger_line_xy": 0.009902709609779967,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048072398797576535,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9254465731509127,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2812343493260868,
+              -0.3913952118035854,
+              0.8515395777664395
+            ],
+            "target_position": [
+              0.2734922920585915,
+              -0.39256493159126166,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007829923059319207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864076431626916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395777664395,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548193452871743,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551785692870166,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15445498309917136,
+            "release_required_pad_clearance": 0.05275892846435083,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5678605936363356,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008470356464385986,
+            "max_z_decrease": 0.008470356464385986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499130592405483,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008470356464385986,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020926166170153245,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008470356464385986,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008470523934726165,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1291922181844711,
+              -0.448826402425766,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1291922181844711,
+              -0.448826402425766,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12834856133884115,
+              -0.44896598052464426,
+              0.803584208343887
+            ],
+            "closest_button": [
+              0.12922589480876923,
+              -0.44880384206771845,
+              0.7686042785644531
+            ],
+            "closest_ee_minus_button": [
+              -0.0008773334699280766,
+              -0.00016213845692580886,
+              0.03497992977943387
+            ],
+            "button_min_z_position": [
+              0.12923599779605865,
+              -0.4487960636615753,
+              0.7683385014533997
+            ],
+            "min_active_finger_to_button": 0.14663191186568925,
+            "closest_active_finger": [
+              -0.012527674436569214,
+              -0.4336520731449127,
+              0.8111535906791687
+            ],
+            "closest_active_finger_button": [
+              0.12919698655605316,
+              -0.4488232731819153,
+              0.7767316102981567
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14172466099262238,
+              0.015171200037002563,
+              0.03442198038101196
+            ],
+            "min_contact_pad_to_button": 0.020926166170153245,
+            "closest_contact_pad": [
+              0.12923599779605865,
+              -0.4500779904844447,
+              0.7892253656077354
+            ],
+            "closest_contact_pad_button": [
+              0.12923599779605865,
+              -0.4487960636615753,
+              0.7683385014533997
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012819268228693725,
+              0.020886864154335716
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2636482460763693,
+              0.20823240667390858,
+              1.1034642915229265
+            ],
+            "current_z": 1.1034642915229265,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1935551617885639,
+            "gripper_z": 1.103464530493385,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2636482837579927,
+              0.2082323777717784,
+              1.103464530493385
+            ],
+            "object_minus_gripper": [
+              -3.768162343265047e-08,
+              2.8902130189134567e-08,
+              -2.389704585326058e-07
+            ],
+            "object_to_gripper_xy": 4.748934484692073e-08,
+            "object_to_gripper_z": -2.389704585326058e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2636482460763693,
+              0.20823240667390858,
+              1.1034642915229265
+            ],
+            "finger_b": [
+              0.2636482460763693,
+              0.20823240667390858,
+              1.1034642915229265
+            ],
+            "finger_midpoint": [
+              0.2636482460763693,
+              0.20823240667390858,
+              1.1034642915229265
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1034642915229265,
+            "object_top_z": 1.2284727981432062,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2636482460763693,
+            0.20823240667390858,
+            1.1034642915229265
+          ],
+          "object_origin_world": [
+            0.2636482460763693,
+            0.20823240667390858,
+            1.1034642915229265
+          ],
+          "frame_world": [
+            0.2636482837579927,
+            0.2082323777717784,
+            1.103464530493385
+          ],
+          "center_minus_frame": [
+            -3.768162343265047e-08,
+            2.8902130189134567e-08,
+            -2.389704585326058e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043592583826189,
+            "required_z": 0.9112598262318973,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014387931650296133,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.063147981914194e-08,
+            "max_target_xy_drift": 1.8276280339943629e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5678605866262545,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5678605941440242,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28158627229691435,
+              -0.39278714223678635,
+              0.923296689592915
+            ],
+            "target_mouth_xy": [
+              0.28123438289060443,
+              -0.39139530184261284
+            ],
+            "rod_tip_z": 0.923296689592915,
+            "rod_tip_depth": -0.02203679251908175,
+            "rod_tip_bottom_clearance": 0.12147739654897427,
+            "rod_tip_xy_dist": 0.0014356342978370947,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045457195927102845,
+            "min_rod_tip_bottom_clearance": 0.053983441745612204,
+            "min_rod_tip_xy_dist": 0.0004924158095791533,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28123437984550215,
+              -0.3913952412876486
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.0451022814403927e-09,
+              -6.055496426515816e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0007785111673574985,
+                0.0004025679316668196
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007037863159767288,
+                6.765284222665091e-06
+              ],
+              "first_target_mouth_xy": [
+                0.28123441111903724,
+                -0.3913952130613856
+              ],
+              "last_target_mouth_xy": [
+                0.2812343505366588,
+                -0.39139524255902397
+              ],
+              "first_rod_tip_xy": [
+                0.28201292228639474,
+                -0.39099264512971876
+              ],
+              "last_rod_tip_xy": [
+                0.2819381368526355,
+                -0.3913884772748013
+              ],
+              "min_rod_tip_xy_dist": 0.0007038188315374272,
+              "max_rod_tip_xy_dist": 0.0008764362939237718,
+              "first_target_xy_drift": 4.212785206862591e-08,
+              "last_target_xy_drift": 2.9336405608743725e-08,
+              "max_depth": 0.019842676064295905,
+              "min_bottom_clearance": 0.07959784032086803
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0007785111673574985,
+                  0.0004025679316668196
+                ],
+                "rod_tip_xy": [
+                  0.28201292228639474,
+                  -0.39099264512971876
+                ],
+                "target_mouth_xy": [
+                  0.28123441111903724,
+                  -0.3913952130613856
+                ],
+                "gripper_position": [
+                  0.28200279262317907,
+                  -0.39100246586559856,
+                  1.005573736881184
+                ],
+                "rod_tip_xy_dist": 0.0008764362939237718,
+                "target_xy_drift": 4.212785206862591e-08,
+                "depth": 0.015526887063710082,
+                "bottom_clearance": 0.08391367803189398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007684137106783173,
+                  0.00039283567457659707
+                ],
+                "rod_tip_xy": [
+                  0.28200279262317907,
+                  -0.3910024658655986
+                ],
+                "target_mouth_xy": [
+                  0.28123437891250075,
+                  -0.3913953015401752
+                ],
+                "gripper_position": [
+                  0.28199512313156777,
+                  -0.3910063236044136,
+                  1.005433938347877
+                ],
+                "rod_tip_xy_dist": 0.0008630060822372406,
+                "target_xy_drift": 6.025974989551602e-08,
+                "depth": 0.01568604699552334,
+                "bottom_clearance": 0.08375447949613779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007607424937332574,
+                  0.0003889167311150743
+                ],
+                "rod_tip_xy": [
+                  0.28199512313156777,
+                  -0.39100632360441356
+                ],
+                "target_mouth_xy": [
+                  0.2812343806378345,
+                  -0.39139524033552864
+                ],
+                "gripper_position": [
+                  0.28200705372801294,
+                  -0.3910811699799183,
+                  1.0048977028435704
+                ],
+                "rod_tip_xy_dist": 0.0008543918103029372,
+                "target_xy_drift": 1.2386779064821387e-09,
+                "depth": 0.01582590939788797,
+                "bottom_clearance": 0.08361466485292157,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007726741288807126,
+                  0.00031410397527065204
+                ],
+                "rod_tip_xy": [
+                  0.28200705372801294,
+                  -0.3910811699799184
+                ],
+                "target_mouth_xy": [
+                  0.2812343795991322,
+                  -0.391395273955189
+                ],
+                "gripper_position": [
+                  0.2819968158973719,
+                  -0.3910908552925153,
+                  1.0047388097627767
+                ],
+                "rod_tip_xy_dist": 0.0008340783037115847,
+                "target_xy_drift": 3.266846946560227e-08,
+                "depth": 0.016362154208658386,
+                "bottom_clearance": 0.08307841439984542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007624342424675801,
+                  0.0003043549124011058
+                ],
+                "rod_tip_xy": [
+                  0.2819968158973719,
+                  -0.3910908552925153
+                ],
+                "target_mouth_xy": [
+                  0.28123438165490433,
+                  -0.3913952102049164
+                ],
+                "gripper_position": [
+                  0.281988958186856,
+                  -0.39109475606893257,
+                  1.0045991004711214
+                ],
+                "rod_tip_xy_dist": 0.0008209372002716148,
+                "target_xy_drift": 3.113535249775044e-08,
+                "depth": 0.016521111424290802,
+                "bottom_clearance": 0.0829195134886408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007545768314167756,
+                  0.0003004566753602167
+                ],
+                "rod_tip_xy": [
+                  0.281988958186856,
+                  -0.3910947560689326
+                ],
+                "target_mouth_xy": [
+                  0.2812343813554392,
+                  -0.39139521274429284
+                ],
+                "gripper_position": [
+                  0.28200164690849794,
+                  -0.3911706241239175,
+                  1.0040661603991936
+                ],
+                "rod_tip_xy_dist": 0.0008121948093157796,
+                "target_xy_drift": 2.858326549795938e-08,
+                "depth": 0.01666078961430484,
+                "bottom_clearance": 0.0827797657810182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007672664462093359,
+                  0.00022461938620876865
+                ],
+                "rod_tip_xy": [
+                  0.28200164690849794,
+                  -0.39117062412391745
+                ],
+                "target_mouth_xy": [
+                  0.2812343804622886,
+                  -0.3913952435101262
+                ],
+                "gripper_position": [
+                  0.28199122985685987,
+                  -0.3911803871971691,
+                  1.00390737785021
+                ],
+                "rod_tip_xy_dist": 0.0007994696167707111,
+                "target_xy_drift": 2.3064761910661257e-09,
+                "depth": 0.017193620332409343,
+                "bottom_clearance": 0.0822469344352269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0007568476933454971,
+                  0.00021488483899739785
+                ],
+                "rod_tip_xy": [
+                  0.28199122985685987,
+                  -0.3911803871971691
+                ],
+                "target_mouth_xy": [
+                  0.2812343821635144,
+                  -0.3913952720361665
+                ],
+                "gripper_position": [
+                  0.28198343986357416,
+                  -0.3911839393857224,
+                  1.0037675119150595
+                ],
+                "rod_tip_xy_dist": 0.0007867616697280932,
+                "target_xy_drift": 3.083576711610611e-08,
+                "depth": 0.017352513244264123,
+                "bottom_clearance": 0.0820880624457182,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007490592820145192,
+                  0.00021136277917466195
+                ],
+                "rod_tip_xy": [
+                  0.28198343986357416,
+                  -0.3911839393857224
+                ],
+                "target_mouth_xy": [
+                  0.28123438058155964,
+                  -0.39139530216489704
+                ],
+                "gripper_position": [
+                  0.2819754470631266,
+                  -0.39118770232972694,
+                  1.0036278480578016
+                ],
+                "rod_tip_xy_dist": 0.0007783084429662471,
+                "target_xy_drift": 6.088169808110944e-08,
+                "depth": 0.01749231251009664,
+                "bottom_clearance": 0.08194821333475233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007410674530927697,
+                  0.0002075386446870331
+                ],
+                "rod_tip_xy": [
+                  0.2819754470631266,
+                  -0.3911877023297269
+                ],
+                "target_mouth_xy": [
+                  0.28123437961003384,
+                  -0.3913952409744139
+                ],
+                "gripper_position": [
+                  0.2819898016243425,
+                  -0.39126526534325134,
+                  1.0030975820965233
+                ],
+                "rod_tip_xy_dist": 0.0007695799237713618,
+                "target_xy_drift": 3.918689554224599e-10,
+                "depth": 0.01763199090170564,
+                "bottom_clearance": 0.08180854247677816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007554208593330003,
+                  0.00013000574571558898
+                ],
+                "rod_tip_xy": [
+                  0.2819898016243425,
+                  -0.39126526534325134
+                ],
+                "target_mouth_xy": [
+                  0.2812343807650095,
+                  -0.39139527108896693
+                ],
+                "gripper_position": [
+                  0.2819792394772541,
+                  -0.3912746560623728,
+                  1.002938977694121
+                ],
+                "rod_tip_xy_dist": 0.0007665260391105282,
+                "target_xy_drift": 2.9815500492676e-08,
+                "depth": 0.018162249565864097,
+                "bottom_clearance": 0.08127829517114604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007448606489451337,
+                  0.00012058682001891974
+                ],
+                "rod_tip_xy": [
+                  0.2819792394772542,
+                  -0.39127465606237277
+                ],
+                "target_mouth_xy": [
+                  0.28123437882830904,
+                  -0.3913952428823917
+                ],
+                "gripper_position": [
+                  0.28197123329567175,
+                  -0.3912781709072459,
+                  1.0027996311801017
+                ],
+                "rod_tip_xy_dist": 0.0007545585249066112,
+                "target_xy_drift": 1.891530444353681e-09,
+                "depth": 0.018320879669674883,
+                "bottom_clearance": 0.08111967247853535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007368521182256615,
+                  0.00011704056270922525
+                ],
+                "rod_tip_xy": [
+                  0.28197123329567175,
+                  -0.3912781709072459
+                ],
+                "target_mouth_xy": [
+                  0.2812343811774461,
+                  -0.39139521146995515
+                ],
+                "gripper_position": [
+                  0.2819630440998864,
+                  -0.39128212484549896,
+                  1.002659975183309
+                ],
+                "rod_tip_xy_dist": 0.0007460894969458666,
+                "target_xy_drift": 2.984742729089766e-08,
+                "depth": 0.018460263564105017,
+                "bottom_clearance": 0.08098029742301793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007286940893204141,
+                  0.00011311802674629501
+                ],
+                "rod_tip_xy": [
+                  0.2819630440998864,
+                  -0.39128212484549896
+                ],
+                "target_mouth_xy": [
+                  0.28123435001056596,
+                  -0.39139524287224525
+                ],
+                "gripper_position": [
+                  0.2819549848559992,
+                  -0.391285710490339,
+                  1.0025205239436472
+                ],
+                "rod_tip_xy_dist": 0.0007374217001048201,
+                "target_xy_drift": 2.987698719721436e-08,
+                "depth": 0.018599852144140283,
+                "bottom_clearance": 0.08084066211686525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007206352462272858,
+                  0.00010953048609635418
+                ],
+                "rod_tip_xy": [
+                  0.28195498485599924,
+                  -0.3912857104903391
+                ],
+                "target_mouth_xy": [
+                  0.28123434960977195,
+                  -0.39139524097643547
+                ],
+                "gripper_position": [
+                  0.28194688080024477,
+                  -0.39128912629596624,
+                  1.0023806023518413
+                ],
+                "rod_tip_xy_dist": 0.0007289115759058602,
+                "target_xy_drift": 3.0237331796415004e-08,
+                "depth": 0.01873932105378795,
+                "bottom_clearance": 0.08070121994038681,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007124988418944489,
+                  0.00010614573761813517
+                ],
+                "rod_tip_xy": [
+                  0.28194688080024477,
+                  -0.39128912629596624
+                ],
+                "target_mouth_xy": [
+                  0.2812343819583503,
+                  -0.3913952720335844
+                ],
+                "gripper_position": [
+                  0.28193889537039374,
+                  -0.3912927629254253,
+                  1.0022411374911493
+                ],
+                "rod_tip_xy_dist": 0.0007203620737625135,
+                "target_xy_drift": 3.0818447323974166e-08,
+                "depth": 0.018879287029256564,
+                "bottom_clearance": 0.08056128061199785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007045146081384734,
+                  0.00010250847804721408
+                ],
+                "rod_tip_xy": [
+                  0.28193889537039374,
+                  -0.39129276292542525
+                ],
+                "target_mouth_xy": [
+                  0.28123438076225526,
+                  -0.39139527140347247
+                ],
+                "gripper_position": [
+                  0.28195699812140207,
+                  -0.39137557660597894,
+                  1.001714950709861
+                ],
+                "rod_tip_xy_dist": 0.000711933157783835,
+                "target_xy_drift": 3.0129774059334115e-08,
+                "depth": 0.019018688505299197,
+                "bottom_clearance": 0.080421844767542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0007226170870718862,
+                  1.963677009542142e-05
+                ],
+                "rod_tip_xy": [
+                  0.28195699812140207,
+                  -0.391375576605979
+                ],
+                "target_mouth_xy": [
+                  0.2812343810343302,
+                  -0.3913952133760744
+                ],
+                "gripper_position": [
+                  0.2819463049498403,
+                  -0.39138519349049267,
+                  1.0015562444940174
+                ],
+                "rod_tip_xy_dist": 0.0007228838477017165,
+                "target_xy_drift": 2.793688036195537e-08,
+                "depth": 0.019544888388233983,
+                "bottom_clearance": 0.0798956768657545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0007119564097318731,
+                  1.001769096642402e-05
+                ],
+                "rod_tip_xy": [
+                  0.2819463049498403,
+                  -0.3913851934904926
+                ],
+                "target_mouth_xy": [
+                  0.2812343485401084,
+                  -0.39139521118145904
+                ],
+                "gripper_position": [
+                  0.2819381368526355,
+                  -0.3913884772748013,
+                  1.0014171463636243
+                ],
+                "rod_tip_xy_dist": 0.0007120268839661868,
+                "target_xy_drift": 4.343282542932755e-08,
+                "depth": 0.019703692806473105,
+                "bottom_clearance": 0.07973688948271351,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007037863159767288,
+                  6.765284222665091e-06
+                ],
+                "rod_tip_xy": [
+                  0.2819381368526355,
+                  -0.3913884772748013
+                ],
+                "target_mouth_xy": [
+                  0.2812343505366588,
+                  -0.39139524255902397
+                ],
+                "gripper_position": [
+                  0.2819556900359239,
+                  -0.3914640519121499,
+                  1.0008066970341916
+                ],
+                "rod_tip_xy_dist": 0.0007038188315374272,
+                "target_xy_drift": 2.9336405608743725e-08,
+                "depth": 0.019842676064295905,
+                "bottom_clearance": 0.07959784032086803,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006050768209461409,
+              "rod_tip_xy_max_step": 3.295430242922071e-05,
+              "rod_tip_xy_range": 0.0006050714208751767,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28158627229691435,
+            -0.39278714223678635,
+            1.043296689592915
+          ],
+          "object_origin_world": [
+            0.28158627229691435,
+            -0.39278714223678635,
+            1.043296689592915
+          ],
+          "frame_world": [
+            0.2816106076348348,
+            -0.3927840353352473,
+            1.043592583826189
+          ],
+          "center_minus_frame": [
+            -2.4335337920455835e-05,
+            -3.106901539040585e-06,
+            -0.00029589423327402997
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24860882555039826,
+              0.1622941578929781,
+              0.8322164976389159
+            ],
+            "target_position": [
+              0.2637951058443727,
+              0.2077181946551785,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04789536746848164,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1643726530750977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322164976389159,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567511952972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13359293434886507,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c7472a78235b89f7b6e5f138156d8fe3307149d969763f7c9f1986c62c5392a",
+    "visual_seed": 7238466571292132072,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e8b74aabda32b4a0e9ba50ce0e6f138cc7005ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_2_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30055830166266423,
+              -0.01710623524619486,
+              1.1632633240295847
+            ],
+            "current_z": 1.1632633240295847,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3021567564101739,
+            "gripper_z": 1.1557694788963127,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29547739858192523,
+              -0.021920044589392743,
+              1.1557694788963127
+            ],
+            "object_minus_gripper": [
+              0.0050809030807389965,
+              0.004813809343197882,
+              0.0074938451332720035
+            ],
+            "object_to_gripper_xy": 0.0069991668438837955,
+            "object_to_gripper_z": 0.0074938451332720035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30055830166266423,
+              -0.04138223293512183,
+              1.1632633240295847
+            ],
+            "finger_b": [
+              0.2898536255859317,
+              -0.01710623524619486,
+              1.1632633240295847
+            ],
+            "finger_midpoint": [
+              0.29520596362429796,
+              -0.029244234090658346,
+              1.1632633240295847
+            ],
+            "object_minus_finger_midpoint": [
+              0.005352338038366267,
+              0.012137998844463486,
+              0.0
+            ],
+            "finger_gap": 0.026531380546450226,
+            "fingertip_max_gap": 0.09152045546326668,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013265690273225113,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632633240295847,
+            "object_top_z": 1.2130983458681595,
+            "finger_top_clearance": 0.0498350218385748,
+            "fingertip_min_top_clearance": 0.014950506551572472,
+            "object_projection_between_fingers": 0.8372101352056119,
+            "object_to_finger_line_xy": 0.009794691657469719,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826022773163334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4254929560528729,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2809238331107645,
+              -0.3937223033893811,
+              0.8515394948391507
+            ],
+            "target_position": [
+              0.27445159998106333,
+              -0.3942330585950828,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006492354932176231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18346302614070364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394948391507,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546734020486565,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08769153596753095,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15146917095722184,
+            "release_required_pad_clearance": 0.053845767983765475,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.700913584094896,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00821840763092041,
+            "max_z_decrease": 0.00821840763092041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499667586784313,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00821840763092041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0208920502261695,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00821840763092041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008218513112856056,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13015152513980865,
+              -0.45049452781677246,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13015152513980865,
+              -0.45049452781677246,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12917133972905384,
+              -0.45006489575372555,
+              0.8035700412267488
+            ],
+            "closest_button": [
+              0.1301862895488739,
+              -0.45047160983085627,
+              0.7685904502868652
+            ],
+            "closest_ee_minus_button": [
+              -0.0010149498198200602,
+              0.00040671407713072094,
+              0.034979590939883565
+            ],
+            "button_min_z_position": [
+              0.1301862895488739,
+              -0.45047160983085627,
+              0.7685904502868652
+            ],
+            "min_active_finger_to_button": 0.14658513895231426,
+            "closest_active_finger": [
+              0.003053605556488037,
+              -0.5149226784706116,
+              0.8109636306762695
+            ],
+            "closest_active_finger_button": [
+              0.1301526427268982,
+              -0.45049214363098145,
+              0.7765871286392212
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12709903717041016,
+              -0.06443053483963013,
+              0.03437650203704834
+            ],
+            "min_contact_pad_to_button": 0.0208920502261695,
+            "closest_contact_pad": [
+              0.1301862895488739,
+              -0.45106451640091444,
+              0.7894740856134067
+            ],
+            "closest_contact_pad_button": [
+              0.1301862895488739,
+              -0.45047160983085627,
+              0.7685904502868652
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005929065700581715,
+              0.020883635326541472
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2678966789968396,
+              0.20634556991924402,
+              1.1010088412182069
+            ],
+            "current_z": 1.1010088412182069,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1910997114838443,
+            "gripper_z": 1.1010089455293304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2678967007345391,
+              0.20634562898955305,
+              1.1010089455293304
+            ],
+            "object_minus_gripper": [
+              -2.173769947377835e-08,
+              -5.907030903307131e-08,
+              -1.0431112351660943e-07
+            ],
+            "object_to_gripper_xy": 6.294306147364339e-08,
+            "object_to_gripper_z": -1.0431112351660943e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2678966789968396,
+              0.20634556991924402,
+              1.1010088412182069
+            ],
+            "finger_b": [
+              0.2678966789968396,
+              0.20634556991924402,
+              1.1010088412182069
+            ],
+            "finger_midpoint": [
+              0.2678966789968396,
+              0.20634556991924402,
+              1.1010088412182069
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1010088412182069,
+            "object_top_z": 1.2260173478384866,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2678966789968396,
+            0.20634556991924405,
+            1.101008841218207
+          ],
+          "object_origin_world": [
+            0.2678966789968396,
+            0.20634556991924405,
+            1.101008841218207
+          ],
+          "frame_world": [
+            0.2678967007345391,
+            0.20634562898955305,
+            1.1010089455293304
+          ],
+          "center_minus_frame": [
+            -2.173769947377835e-08,
+            -5.9070309005315735e-08,
+            -1.0431112329456482e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432677670292365,
+            "required_z": 0.9112598628780774,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002669364664426038,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.473854341126728e-08,
+            "max_target_xy_drift": 8.767404489250272e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.700913581796669,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.700913584399571,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27903430971377924,
+              -0.39559708510953984,
+              0.9233929105062698
+            ],
+            "target_mouth_xy": [
+              0.28092383566654167,
+              -0.3937223045613448
+            ],
+            "rod_tip_z": 0.9233929105062698,
+            "rod_tip_depth": -0.022132988999585934,
+            "rod_tip_bottom_clearance": 0.121573660194921,
+            "rod_tip_xy_dist": 0.0026617870745146276,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04502003709345659,
+            "min_rod_tip_bottom_clearance": 0.0544204751633508,
+            "min_rod_tip_xy_dist": 0.0013282128562728639,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.280923890404854,
+              -0.3937223047203994
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.4738312327273775e-08,
+              1.5905454731068858e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.001362994070181034,
+                -0.0001593503668575469
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014593038179842588,
+                -0.0005207376644742467
+              ],
+              "first_target_mouth_xy": [
+                0.2809238612352251,
+                -0.3937223038004857
+              ],
+              "last_target_mouth_xy": [
+                0.2809238607359582,
+                -0.3937223034663627
+              ],
+              "first_rod_tip_xy": [
+                0.2795608671650441,
+                -0.3938816541673432
+              ],
+              "last_rod_tip_xy": [
+                0.27946455691797395,
+                -0.39424304113083697
+              ],
+              "min_rod_tip_xy_dist": 0.0013722774408866073,
+              "max_rod_tip_xy_dist": 0.0015494306529772568,
+              "first_target_xy_drift": 2.9184130793214555e-08,
+              "last_target_xy_drift": 2.96953865945961e-08,
+              "max_depth": 0.019455738055687122,
+              "min_bottom_clearance": 0.07998478311690882
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001362994070181034,
+                  -0.0001593503668575469
+                ],
+                "rod_tip_xy": [
+                  0.2795608671650441,
+                  -0.3938816541673432
+                ],
+                "target_mouth_xy": [
+                  0.2809238612352251,
+                  -0.3937223038004857
+                ],
+                "gripper_position": [
+                  0.2795669059341248,
+                  -0.39394917442650906,
+                  1.0055675122403414
+                ],
+                "rod_tip_xy_dist": 0.0013722774408866073,
+                "target_xy_drift": 2.9184130793214555e-08,
+                "depth": 0.015157509981682415,
+                "bottom_clearance": 0.08428299573462661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0013569895870541582,
+                  -0.00022687232607415675
+                ],
+                "rod_tip_xy": [
+                  0.27956690593412487,
+                  -0.3939491744265091
+                ],
+                "target_mouth_xy": [
+                  0.280923895521179,
+                  -0.39372230210043496
+                ],
+                "gripper_position": [
+                  0.2795568133880627,
+                  -0.3939587290439438,
+                  1.0054089017793195
+                ],
+                "rod_tip_xy_dist": 0.0013758240409702518,
+                "target_xy_drift": 5.74812972508071e-09,
+                "depth": 0.015692413691591134,
+                "bottom_clearance": 0.08374827459385636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0013670458565572807,
+                  -0.00023642519968714026
+                ],
+                "rod_tip_xy": [
+                  0.27955681338806276,
+                  -0.3939587290439439
+                ],
+                "target_mouth_xy": [
+                  0.28092385924462004,
+                  -0.39372230384425677
+                ],
+                "gripper_position": [
+                  0.2795490624007483,
+                  -0.3939629971045557,
+                  1.005269364241967
+                ],
+                "rod_tip_xy_dist": 0.0013873396300032425,
+                "target_xy_drift": 3.117254891080256e-08,
+                "depth": 0.015850984439038984,
+                "bottom_clearance": 0.08358959606187832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001374829074479278,
+                  -0.0002406942979557014
+                ],
+                "rod_tip_xy": [
+                  0.27954906240074834,
+                  -0.39396299710455585
+                ],
+                "target_mouth_xy": [
+                  0.2809238914752276,
+                  -0.39372230280660014
+                ],
+                "gripper_position": [
+                  0.27954156320899937,
+                  -0.3939670233885627,
+                  1.0051297131882153
+                ],
+                "rod_tip_xy_dist": 0.00139573949184722,
+                "target_xy_drift": 2.19278981812748e-09,
+                "depth": 0.015990460388296768,
+                "bottom_clearance": 0.08345005269077288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001382296706411934,
+                  -0.0002446865955203492
+                ],
+                "rod_tip_xy": [
+                  0.27954156320899937,
+                  -0.3939670233885628
+                ],
+                "target_mouth_xy": [
+                  0.2809238599154113,
+                  -0.39372233679304247
+                ],
+                "gripper_position": [
+                  0.2795489953117937,
+                  -0.39403699043540885,
+                  1.0045939553706662
+                ],
+                "rod_tip_xy_dist": 0.0014037862068650695,
+                "target_xy_drift": 4.425223780712659e-08,
+                "depth": 0.016130213798817183,
+                "bottom_clearance": 0.08331045999589459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001374896193073516,
+                  -0.0003147151799426373
+                ],
+                "rod_tip_xy": [
+                  0.2795489953117938,
+                  -0.3940369904354091
+                ],
+                "target_mouth_xy": [
+                  0.2809238915048673,
+                  -0.39372227525546644
+                ],
+                "gripper_position": [
+                  0.279538735167307,
+                  -0.3940467138652145,
+                  1.0044351036702184
+                ],
+                "rod_tip_xy_dist": 0.0014104556661640854,
+                "target_xy_drift": 2.9485459167289963e-08,
+                "depth": 0.01666588205255659,
+                "bottom_clearance": 0.08277465488930213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0013851244417478203,
+                  -0.00032444398835052013
+                ],
+                "rod_tip_xy": [
+                  0.27953873516730704,
+                  -0.3940467138652146
+                ],
+                "target_mouth_xy": [
+                  0.28092385960905486,
+                  -0.3937222698768641
+                ],
+                "gripper_position": [
+                  0.2795310054345661,
+                  -0.39405053538919677,
+                  1.0042958572566478
+                ],
+                "rod_tip_xy_dist": 0.0014226150641350609,
+                "target_xy_drift": 4.6502184841129387e-08,
+                "depth": 0.01682483332059992,
+                "bottom_clearance": 0.08261586134967314,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001392857162246186,
+                  -0.0003282307014155217
+                ],
+                "rod_tip_xy": [
+                  0.2795310054345661,
+                  -0.3940505353891969
+                ],
+                "target_mouth_xy": [
+                  0.2809238625968123,
+                  -0.39372230468778135
+                ],
+                "gripper_position": [
+                  0.2795390493157484,
+                  -0.39412140329360346,
+                  1.003764115077584
+                ],
+                "rod_tip_xy_dist": 0.0014310088985650031,
+                "target_xy_drift": 2.780806083264406e-08,
+                "depth": 0.016963981579035003,
+                "bottom_clearance": 0.0824765787077626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0013848104000367956,
+                  -0.0003990997780441985
+                ],
+                "rod_tip_xy": [
+                  0.2795390493157484,
+                  -0.39412140329360357
+                ],
+                "target_mouth_xy": [
+                  0.2809238597157852,
+                  -0.39372230351555937
+                ],
+                "gripper_position": [
+                  0.2795287232057422,
+                  -0.3941308933385138,
+                  1.0036054834770751
+                ],
+                "rod_tip_xy_dist": 0.0014411732986997082,
+                "target_xy_drift": 3.071271043728857e-08,
+                "depth": 0.01749575563270056,
+                "bottom_clearance": 0.08194480480536137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0013951673017104094,
+                  -0.00040856035011072045
+                ],
+                "rod_tip_xy": [
+                  0.27952872320574224,
+                  -0.3941308933385139
+                ],
+                "target_mouth_xy": [
+                  0.28092389050745264,
+                  -0.3937223329884032
+                ],
+                "gripper_position": [
+                  0.27952094443236053,
+                  -0.39413455420264365,
+                  1.0034663294707022
+                ],
+                "rod_tip_xy_dist": 0.0014537583566206934,
+                "target_xy_drift": 2.8268190016770256e-08,
+                "depth": 0.017654361656570527,
+                "bottom_clearance": 0.08178617024486634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001402947139378774,
+                  -0.00041225136057565503
+                ],
+                "rod_tip_xy": [
+                  0.27952094443236053,
+                  -0.39413455420264376
+                ],
+                "target_mouth_xy": [
+                  0.2809238915717393,
+                  -0.3937223028420681
+                ],
+                "gripper_position": [
+                  0.2795130751017733,
+                  -0.39413829372208703,
+                  1.0033269557209303
+                ],
+                "rod_tip_xy_dist": 0.0014622625825027337,
+                "target_xy_drift": 2.2112778390720565e-09,
+                "depth": 0.017793495200834397,
+                "bottom_clearance": 0.08164702009529512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014107842220008049,
+                  -0.00041595720186310414
+                ],
+                "rod_tip_xy": [
+                  0.27951307510177337,
+                  -0.3941382937220871
+                ],
+                "target_mouth_xy": [
+                  0.28092385932377417,
+                  -0.393722336520224
+                ],
+                "gripper_position": [
+                  0.2795051685072084,
+                  -0.3941419960410517,
+                  1.0031874003164583
+                ],
+                "rod_tip_xy_dist": 0.0014708271532808332,
+                "target_xy_drift": 4.4466418428585506e-08,
+                "depth": 0.017932983535665747,
+                "bottom_clearance": 0.08150770177213251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014187246515663943,
+                  -0.00041972304096604685
+                ],
+                "rod_tip_xy": [
+                  0.27950516850720847,
+                  -0.3941419960410518
+                ],
+                "target_mouth_xy": [
+                  0.28092389315877486,
+                  -0.3937222730000858
+                ],
+                "gripper_position": [
+                  0.27951526476882704,
+                  -0.39421586056948554,
+                  1.0026578259996843
+                ],
+                "rod_tip_xy_dist": 0.001479509063196293,
+                "target_xy_drift": 3.183963528227783e-08,
+                "depth": 0.01807249598805505,
+                "bottom_clearance": 0.08136807912615118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014085978815204236,
+                  -0.0004935574231598738
+                ],
+                "rod_tip_xy": [
+                  0.2795152647688271,
+                  -0.39421586056948565
+                ],
+                "target_mouth_xy": [
+                  0.2809238626503475,
+                  -0.3937223031463258
+                ],
+                "gripper_position": [
+                  0.27950481699177226,
+                  -0.3942252606864382,
+                  1.0024993499795396
+                ],
+                "rod_tip_xy_dist": 0.0014925638752763782,
+                "target_xy_drift": 2.779910676836854e-08,
+                "depth": 0.018601939799852585,
+                "bottom_clearance": 0.08083859646552327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014190487423983988,
+                  -0.0005029566695821108
+                ],
+                "rod_tip_xy": [
+                  0.2795048169917723,
+                  -0.3942252606864384
+                ],
+                "target_mouth_xy": [
+                  0.2809238657341707,
+                  -0.39372230401685626
+                ],
+                "gripper_position": [
+                  0.27949685266936175,
+                  -0.3942287467428419,
+                  1.002360360611565
+                ],
+                "rod_tip_xy_dist": 0.0015055446671486058,
+                "target_xy_drift": 2.4680712836545027e-08,
+                "depth": 0.01876056435309026,
+                "bottom_clearance": 0.08068009904360396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001426946573928889,
+                  -0.0005064441758211302
+                ],
+                "rod_tip_xy": [
+                  0.2794968526693618,
+                  -0.39422874674284214
+                ],
+                "target_mouth_xy": [
+                  0.2809237992432907,
+                  -0.393722302567021
+                ],
+                "gripper_position": [
+                  0.2794886776063572,
+                  -0.39423257914329696,
+                  1.0022211387913296
+                ],
+                "rod_tip_xy_dist": 0.0015141539644535947,
+                "target_xy_drift": 9.118699282979407e-08,
+                "depth": 0.01889955283498168,
+                "bottom_clearance": 0.08054107455043324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0014351845016440934,
+                  -0.0005102766543669812
+                ],
+                "rod_tip_xy": [
+                  0.27948867760635726,
+                  -0.3942325791432971
+                ],
+                "target_mouth_xy": [
+                  0.28092386210800135,
+                  -0.39372230248893014
+                ],
+                "gripper_position": [
+                  0.27948067794321624,
+                  -0.3942359706076759,
+                  1.0020821176009636
+                ],
+                "rod_tip_xy_dist": 0.00152319953313785,
+                "target_xy_drift": 2.8384702291822742e-08,
+                "depth": 0.01903869472478681,
+                "bottom_clearance": 0.08040184625592273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0014431831810473583,
+                  -0.0005136664932858803
+                ],
+                "rod_tip_xy": [
+                  0.2794806779432163,
+                  -0.394235970607676
+                ],
+                "target_mouth_xy": [
+                  0.28092386112426365,
+                  -0.39372230411439013
+                ],
+                "gripper_position": [
+                  0.2794725899162213,
+                  -0.394239662332541,
+                  1.001943033044123
+                ],
+                "rod_tip_xy_dist": 0.0015318717179916162,
+                "target_xy_drift": 2.9286860841235696e-08,
+                "depth": 0.01917771813918223,
+                "bottom_clearance": 0.08026280342293612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001451271234765128,
+                  -0.0005173598262353529
+                ],
+                "rod_tip_xy": [
+                  0.27947258991622137,
+                  -0.39423966233254115
+                ],
+                "target_mouth_xy": [
+                  0.2809238611509865,
+                  -0.3937223025063058
+                ],
+                "gripper_position": [
+                  0.2794645569179739,
+                  -0.39424304113083675,
+                  1.001804101515416
+                ],
+                "rod_tip_xy_dist": 0.0015407301472545325,
+                "target_xy_drift": 2.9337535236951377e-08,
+                "depth": 0.01931680927884094,
+                "bottom_clearance": 0.08012372775775556,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0014593038179842588,
+                  -0.0005207376644742467
+                ],
+                "rod_tip_xy": [
+                  0.27946455691797395,
+                  -0.39424304113083697
+                ],
+                "target_mouth_xy": [
+                  0.2809238607359582,
+                  -0.3937223034663627
+                ],
+                "gripper_position": [
+                  0.27945651896798773,
+                  -0.39424657536754687,
+                  1.0016649346281399
+                ],
+                "rod_tip_xy_dist": 0.0015494306529772568,
+                "target_xy_drift": 2.96953865945961e-08,
+                "depth": 0.019455738055687122,
+                "bottom_clearance": 0.07998478311690882,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006012252157315224,
+              "rod_tip_xy_max_step": 3.262555824034637e-05,
+              "rod_tip_xy_range": 0.0006012213326957445,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27903430971377924,
+            -0.3955970851095398,
+            1.0433929105062698
+          ],
+          "object_origin_world": [
+            0.27903430971377924,
+            -0.3955970851095398,
+            1.0433929105062698
+          ],
+          "frame_world": [
+            0.2790329862483756,
+            -0.3956065009920567,
+            1.0432677670292365
+          ],
+          "center_minus_frame": [
+            1.3234654036575755e-06,
+            9.415882516905505e-06,
+            0.00012514347703329598
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2523383917471041,
+              0.16147795532166714,
+              0.8328744151981129
+            ],
+            "target_position": [
+              0.26804370481593265,
+              0.2062721559982737,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04746764448385886,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1636655538052649,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328744151981129,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671104671619,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1343735978396669,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1142e061aa2f72da8816e8752781346e062e2f99dcfd2a6ee5fc2ffdfb8c4bf",
+    "visual_seed": 709491261708961473,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0b6f362a85248af1c6a02c263763ca56d2fdd20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_31_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.296660169035342,
+              -0.024440543405775735,
+              1.1655888236683958
+            ],
+            "current_z": 1.1655888236683958,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3044823752582747,
+            "gripper_z": 1.1577996935079087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2918827840511724,
+              -0.029201250830223555,
+              1.1577996935079087
+            ],
+            "object_minus_gripper": [
+              0.004777384984169575,
+              0.00476070742444782,
+              0.007789130160487101
+            ],
+            "object_to_gripper_xy": 0.006744460131705245,
+            "object_to_gripper_z": 0.007789130160487101,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.296660169035342,
+              -0.048289612835660044,
+              1.1655888236683958
+            ],
+            "finger_b": [
+              0.2857494595334791,
+              -0.024440543405775735,
+              1.1655888236683958
+            ],
+            "finger_midpoint": [
+              0.29120481428441053,
+              -0.03636507812071789,
+              1.1655888236683958
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054553547509314515,
+              0.011924534714942155,
+              0.0
+            ],
+            "finger_gap": 0.026226354960334913,
+            "fingertip_max_gap": 0.09127824427315714,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013113177480167456,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655888236683958,
+            "object_top_z": 1.2154919353567486,
+            "finger_top_clearance": 0.04990311168835282,
+            "fingertip_min_top_clearance": 0.014970933506505812,
+            "object_projection_between_fingers": 0.8269266834922545,
+            "object_to_finger_line_xy": 0.009921709243727234,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048139122136578574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0091047006544733,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2831101134906164,
+              -0.3883259499189776,
+              0.851539516370479
+            ],
+            "target_position": [
+              0.27527360788472527,
+              -0.38965526394597155,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007948452421290927,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18426684852181094,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539516370479,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587777888083684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08702499767328788,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15164514997613582,
+            "release_required_pad_clearance": 0.05351249883664394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.037127730136944,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008458733558654785,
+            "max_z_decrease": 0.008458733558654785,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035033839525027095,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008458733558654785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02105179212209419,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008458733558654785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008458779952388452,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.130973532795906,
+              -0.44591671228408813,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.130973532795906,
+              -0.44591671228408813,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1297443220539897,
+              -0.4473877434206412,
+              0.8036970431748347
+            ],
+            "closest_button": [
+              0.13097436726093287,
+              -0.44588401913642883,
+              0.7687171101570129
+            ],
+            "closest_ee_minus_button": [
+              -0.00123004520694317,
+              -0.00150372428421236,
+              0.03497993301782176
+            ],
+            "button_min_z_position": [
+              0.13096854090690607,
+              -0.44588914513587957,
+              0.7683501243591309
+            ],
+            "min_active_finger_to_button": 0.14679428845864895,
+            "closest_active_finger": [
+              -0.010933920741081238,
+              -0.4307296574115753,
+              0.8110355734825134
+            ],
+            "closest_active_finger_button": [
+              0.13097417354583737,
+              -0.44591665267944336,
+              0.7766842842102051
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419080942869186,
+              0.015186995267868042,
+              0.03435128927230835
+            ],
+            "min_contact_pad_to_button": 0.02105179212209419,
+            "closest_contact_pad": [
+              0.13096854090690607,
+              -0.4486119753054834,
+              0.7892250889679479
+            ],
+            "closest_contact_pad_button": [
+              0.13096854090690607,
+              -0.44588914513587957,
+              0.7683501243591309
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027228301696038404,
+              0.020874964608816993
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2711803071306579,
+              0.20559228136454274,
+              1.1136658791043752
+            ],
+            "current_z": 1.1136658791043752,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20375674937001265,
+            "gripper_z": 1.1136657949848132,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2711802145649282,
+              0.20559231545697557,
+              1.1136657949848132
+            ],
+            "object_minus_gripper": [
+              9.25657296924065e-08,
+              -3.4092432821264396e-08,
+              8.411956198273174e-08
+            ],
+            "object_to_gripper_xy": 9.86443525456987e-08,
+            "object_to_gripper_z": 8.411956198273174e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2711803071306579,
+              0.20559228136454274,
+              1.1136658791043752
+            ],
+            "finger_b": [
+              0.2711803071306579,
+              0.20559228136454274,
+              1.1136658791043752
+            ],
+            "finger_midpoint": [
+              0.2711803071306579,
+              0.20559228136454274,
+              1.1136658791043752
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1136658791043752,
+            "object_top_z": 1.238674385724655,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2711803071306579,
+            0.20559228136454274,
+            1.1136658791043752
+          ],
+          "object_origin_world": [
+            0.2711803071306579,
+            0.20559228136454274,
+            1.1136658791043752
+          ],
+          "frame_world": [
+            0.2711802145649282,
+            0.20559231545697557,
+            1.1136657949848132
+          ],
+          "center_minus_frame": [
+            9.25657296924065e-08,
+            -3.4092432821264396e-08,
+            8.411956198273174e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436659776056787,
+            "required_z": 0.9112598670349112,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019392054044969473,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.315861333772668e-08,
+            "max_target_xy_drift": 1.6380102500941513e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.0375119227725347,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.037511922852331,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28195507760861677,
+              -0.389904634251119,
+              0.9233719862031876
+            ],
+            "target_mouth_xy": [
+              0.28311016888560403,
+              -0.38832599821425
+            ],
+            "rod_tip_z": 0.9233719862031876,
+            "rod_tip_depth": -0.022112111797179534,
+            "rod_tip_bottom_clearance": 0.12155271841643855,
+            "rod_tip_xy_dist": 0.0019561000984288737,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04511657450764606,
+            "min_rod_tip_bottom_clearance": 0.05432401267586928,
+            "min_rod_tip_xy_dist": 0.0006373641011122408,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.283110107812639,
+              -0.38832594177447755
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.107296501856041e-08,
+              -5.643977246672094e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0006336120682301494,
+                8.271408739013442e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007313373244912102,
+                -0.000273880909363422
+              ],
+              "first_target_mouth_xy": [
+                0.28311014115393407,
+                -0.38832599910460597
+              ],
+              "last_target_mouth_xy": [
+                0.2831101414495676,
+                -0.3883259385335195
+              ],
+              "first_rod_tip_xy": [
+                0.2824765290857039,
+                -0.38824328501721583
+              ],
+              "last_rod_tip_xy": [
+                0.2823788041250764,
+                -0.3885998194428829
+              ],
+              "min_rod_tip_xy_dist": 0.0006373641011122408,
+              "max_rod_tip_xy_dist": 0.0007809385601362612,
+              "first_target_xy_drift": 6.632032555015682e-08,
+              "last_target_xy_drift": 3.379270295708687e-08,
+              "max_depth": 0.019464219268125582,
+              "min_bottom_clearance": 0.07997646478970988
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0006336120682301494,
+                  8.271408739013442e-05
+                ],
+                "rod_tip_xy": [
+                  0.2824765290857039,
+                  -0.38824328501721583
+                ],
+                "target_mouth_xy": [
+                  0.28311014115393407,
+                  -0.38832599910460597
+                ],
+                "gripper_position": [
+                  0.2824663403517327,
+                  -0.3882529771869649,
+                  1.0059473149245308
+                ],
+                "rod_tip_xy_dist": 0.0006389881636303369,
+                "target_xy_drift": 6.632032555015682e-08,
+                "depth": 0.015153981378562942,
+                "bottom_clearance": 0.08428665584808426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006437689894325249,
+                  7.302290566435499e-05
+                ],
+                "rod_tip_xy": [
+                  0.28246634035173274,
+                  -0.38825297718696494
+                ],
+                "target_mouth_xy": [
+                  0.28311010934116526,
+                  -0.3883260000926293
+                ],
+                "gripper_position": [
+                  0.2824728110088959,
+                  -0.388319180147623,
+                  1.0054136460013743
+                ],
+                "rod_tip_xy_dist": 0.0006478972576779745,
+                "target_xy_drift": 5.833817974779372e-08,
+                "depth": 0.015312466503099365,
+                "bottom_clearance": 0.08412807321961335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006373279308958812,
+                  6.790131559075707e-06
+                ],
+                "rod_tip_xy": [
+                  0.28247281100889593,
+                  -0.388319180147623
+                ],
+                "target_mouth_xy": [
+                  0.2831101389397918,
+                  -0.3883259702791821
+                ],
+                "gripper_position": [
+                  0.2824626741420072,
+                  -0.3883282421155249,
+                  1.0052549771560328
+                ],
+                "rod_tip_xy_dist": 0.0006373641011122408,
+                "target_xy_drift": 4.220684568169711e-08,
+                "depth": 0.01584620155656047,
+                "bottom_clearance": 0.08359434663965126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0006474329211141328,
+                  -2.2391167859292516e-06
+                ],
+                "rod_tip_xy": [
+                  0.2824626741420073,
+                  -0.38832824211552497
+                ],
+                "target_mouth_xy": [
+                  0.28311010706312145,
+                  -0.38832600299873904
+                ],
+                "gripper_position": [
+                  0.2824547866864114,
+                  -0.38833218208091674,
+                  1.0051159751987861
+                ],
+                "rod_tip_xy_dist": 0.0006474367930434289,
+                "target_xy_drift": 6.122884918113296e-08,
+                "depth": 0.016004936830741223,
+                "bottom_clearance": 0.08343569517722604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006553528396464059,
+                  -6.212441328368179e-06
+                ],
+                "rod_tip_xy": [
+                  0.28245478668641144,
+                  -0.3883321820809167
+                ],
+                "target_mouth_xy": [
+                  0.28311013952605785,
+                  -0.3883259696395883
+                ],
+                "gripper_position": [
+                  0.2824470719796366,
+                  -0.38833587540684233,
+                  1.0049767377013483
+                ],
+                "rod_tip_xy_dist": 0.000655382284517873,
+                "target_xy_drift": 4.221617382828281e-08,
+                "depth": 0.016143813891268177,
+                "bottom_clearance": 0.08329675029214623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006630363888381341,
+                  -9.903841555192194e-06
+                ],
+                "rod_tip_xy": [
+                  0.28244707197963664,
+                  -0.38833587540684233
+                ],
+                "target_mouth_xy": [
+                  0.2831101083684748,
+                  -0.38832597156528714
+                ],
+                "gripper_position": [
+                  0.282455139151622,
+                  -0.3884042174838678,
+                  1.0044416131877736
+                ],
+                "rod_tip_xy_dist": 0.0006631103520539125,
+                "target_xy_drift": 2.9795994526820085e-08,
+                "depth": 0.01628311222696166,
+                "bottom_clearance": 0.08315742236387058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006549700191259,
+                  -7.824561112890205e-05
+                ],
+                "rod_tip_xy": [
+                  0.28245513915162207,
+                  -0.3884042174838678
+                ],
+                "target_mouth_xy": [
+                  0.28311010917074797,
+                  -0.3883259718727389
+                ],
+                "gripper_position": [
+                  0.28244487006905594,
+                  -0.38841347289904904,
+                  1.004283076770663
+                ],
+                "rod_tip_xy_dist": 0.0006596272444454649,
+                "target_xy_drift": 3.0128886386572035e-08,
+                "depth": 0.01681821283853957,
+                "bottom_clearance": 0.08262229176718228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006652402590093254,
+                  -8.750294758658184e-05
+                ],
+                "rod_tip_xy": [
+                  0.282444870069056,
+                  -0.38841347289904904
+                ],
+                "target_mouth_xy": [
+                  0.2831101103280653,
+                  -0.38832596995146246
+                ],
+                "gripper_position": [
+                  0.2824368474597369,
+                  -0.3884170366081102,
+                  1.0041442419775766
+                ],
+                "rod_tip_xy_dist": 0.0006709704673405041,
+                "target_xy_drift": 2.8289041133613382e-08,
+                "depth": 0.016976770699625,
+                "bottom_clearance": 0.08246380439321743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006732617304523458,
+                  -9.106409168146978e-05
+                ],
+                "rod_tip_xy": [
+                  0.28243684745973696,
+                  -0.3884170366081102
+                ],
+                "target_mouth_xy": [
+                  0.2831101091901893,
+                  -0.38832597251642875
+                ],
+                "gripper_position": [
+                  0.2824456714228518,
+                  -0.3884859820844235,
+                  1.0036128117518497
+                ],
+                "rod_tip_xy_dist": 0.0006793923950747891,
+                "target_xy_drift": 3.077279982102832e-08,
+                "depth": 0.017115595654152438,
+                "bottom_clearance": 0.08232493208451497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006644689547175564,
+                  -0.00016004353123239
+                ],
+                "rod_tip_xy": [
+                  0.2824456714228519,
+                  -0.38848598208442353
+                ],
+                "target_mouth_xy": [
+                  0.28311014037756943,
+                  -0.38832593855319114
+                ],
+                "gripper_position": [
+                  0.28243518316585703,
+                  -0.38849526104458076,
+                  1.003454418401831
+                ],
+                "rod_tip_xy_dist": 0.0006834712310498336,
+                "target_xy_drift": 3.272386559206641e-08,
+                "depth": 0.017647066479460682,
+                "bottom_clearance": 0.08179357697992085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006749253203460759,
+                  -0.00016928788271119988
+                ],
+                "rod_tip_xy": [
+                  0.2824351831658571,
+                  -0.3884952610445809
+                ],
+                "target_mouth_xy": [
+                  0.28311010848620316,
+                  -0.3883259731618697
+                ],
+                "gripper_position": [
+                  0.28242718771593867,
+                  -0.3884987450588262,
+                  1.0033157292889523
+                ],
+                "rod_tip_xy_dist": 0.0006958322896194845,
+                "target_xy_drift": 3.13946185416215e-08,
+                "depth": 0.017805452459907944,
+                "bottom_clearance": 0.08163512536971262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006829220178732887,
+                  -0.00017280650549456045
+                ],
+                "rod_tip_xy": [
+                  0.2824271877159387,
+                  -0.3884987450588263
+                ],
+                "target_mouth_xy": [
+                  0.283110109733812,
+                  -0.38832593855333175
+                ],
+                "gripper_position": [
+                  0.28241908236669994,
+                  -0.3885023003272082,
+                  1.003176506794192
+                ],
+                "rod_tip_xy_dist": 0.0007044462866942844,
+                "target_xy_drift": 3.750558081101777e-09,
+                "depth": 0.01794414276867251,
+                "bottom_clearance": 0.08149646939605815,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006910273030226732,
+                  -0.00017632750725182778
+                ],
+                "rod_tip_xy": [
+                  0.2824190823667,
+                  -0.38850230032720834
+                ],
+                "target_mouth_xy": [
+                  0.28311010966972266,
+                  -0.3883259728199565
+                ],
+                "gripper_position": [
+                  0.28241107793281356,
+                  -0.3885057697633664,
+                  1.0030379753727394
+                ],
+                "rod_tip_xy_dist": 0.0007131690706532588,
+                "target_xy_drift": 3.11009730376029e-08,
+                "depth": 0.018083324498456177,
+                "bottom_clearance": 0.08135720111682043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000699000945585948,
+                  -0.00017980074014700698
+                ],
+                "rod_tip_xy": [
+                  0.2824110779328136,
+                  -0.3885057697633665
+                ],
+                "target_mouth_xy": [
+                  0.28311007887839956,
+                  -0.3883259690232195
+                ],
+                "gripper_position": [
+                  0.2824221495964702,
+                  -0.3885774783821323,
+                  1.002509340602432
+                ],
+                "rod_tip_xy_dist": 0.0007217552411222665,
+                "target_xy_drift": 3.974524058579335e-08,
+                "depth": 0.018221907461024922,
+                "bottom_clearance": 0.08121870200817527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006879297006774365,
+                  -0.0002515061903482496
+                ],
+                "rod_tip_xy": [
+                  0.2824221495964703,
+                  -0.3885774783821324
+                ],
+                "target_mouth_xy": [
+                  0.2831100792971477,
+                  -0.38832597219178416
+                ],
+                "gripper_position": [
+                  0.28241148104345537,
+                  -0.3885868080874822,
+                  1.0023506863151537
+                ],
+                "rod_tip_xy_dist": 0.0007324634030841659,
+                "target_xy_drift": 4.1693474142327595e-08,
+                "depth": 0.018750493591423,
+                "bottom_clearance": 0.08069002548879378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006986637428391673,
+                  -0.00026074374795392874
+                ],
+                "rod_tip_xy": [
+                  0.2824114810434555,
+                  -0.38858680808748225
+                ],
+                "target_mouth_xy": [
+                  0.28311014478629465,
+                  -0.3883260643395283
+                ],
+                "gripper_position": [
+                  0.2824034960056857,
+                  -0.38858972155101423,
+                  1.0022120274443933
+                ],
+                "rod_tip_xy_dist": 0.0007457334159437245,
+                "target_xy_drift": 1.2802047837244985e-07,
+                "depth": 0.018909220071076427,
+                "bottom_clearance": 0.08053147821352236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007066126543391893,
+                  -0.0002637176392469298
+                ],
+                "rod_tip_xy": [
+                  0.28240349600568576,
+                  -0.38858972155101423
+                ],
+                "target_mouth_xy": [
+                  0.28311010866002495,
+                  -0.3883260039117673
+                ],
+                "gripper_position": [
+                  0.2823951877994558,
+                  -0.3885934360152709,
+                  1.0020733074458406
+                ],
+                "rod_tip_xy_dist": 0.0007542204164050774,
+                "target_xy_drift": 6.214306752487534e-08,
+                "depth": 0.019047856164061128,
+                "bottom_clearance": 0.08039275031392068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00071492212672436,
+                  -0.00026749808846704415
+                ],
+                "rod_tip_xy": [
+                  0.2823951877994559,
+                  -0.38859343601527097
+                ],
+                "target_mouth_xy": [
+                  0.28311010992618024,
+                  -0.3883259379268039
+                ],
+                "gripper_position": [
+                  0.2823870344948701,
+                  -0.3885967195646186,
+                  1.0019344160172547
+                ],
+                "rod_tip_xy_dist": 0.0007633275015441304,
+                "target_xy_drift": 4.389948616195247e-09,
+                "depth": 0.019186577388577652,
+                "bottom_clearance": 0.08025406516333378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007230747374819546,
+                  -0.000270716938041482
+                ],
+                "rod_tip_xy": [
+                  0.2823870344948702,
+                  -0.3885967195646187
+                ],
+                "target_mouth_xy": [
+                  0.28311010923235214,
+                  -0.38832600262657724
+                ],
+                "gripper_position": [
+                  0.28237880412507627,
+                  -0.3885998194428828,
+                  1.0017957267896556
+                ],
+                "rod_tip_xy_dist": 0.0007720911452200143,
+                "target_xy_drift": 6.086865878550891e-08,
+                "depth": 0.01932542618302413,
+                "bottom_clearance": 0.08011511139554883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0007313373244912102,
+                  -0.000273880909363422
+                ],
+                "rod_tip_xy": [
+                  0.2823788041250764,
+                  -0.3885998194428829
+                ],
+                "target_mouth_xy": [
+                  0.2831101414495676,
+                  -0.3883259385335195
+                ],
+                "gripper_position": [
+                  0.28237061895095283,
+                  -0.38860292823438475,
+                  1.0016570379963239
+                ],
+                "rod_tip_xy_dist": 0.0007809385601362612,
+                "target_xy_drift": 3.379270295708687e-08,
+                "depth": 0.019464219268125582,
+                "bottom_clearance": 0.07997646478970988,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.000602494450192595,
+              "rod_tip_xy_max_step": 3.287586021245381e-05,
+              "rod_tip_xy_range": 0.0006024882412674525,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28195507760861677,
+            -0.389904634251119,
+            1.0433719862031876
+          ],
+          "object_origin_world": [
+            0.28195507760861677,
+            -0.389904634251119,
+            1.0433719862031876
+          ],
+          "frame_world": [
+            0.2819790708259562,
+            -0.38990116004094943,
+            1.0436659776056787
+          ],
+          "center_minus_frame": [
+            -2.3993217339424167e-05,
+            -3.474210169551739e-06,
+            -0.00029399140249108946
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2480367759502315,
+              0.16269079184952806,
+              0.8319518609664855
+            ],
+            "target_position": [
+              0.2628048770602358,
+              0.20871787316767665,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048338277017936554,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1672290796512174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319518609664855,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672051890293,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13736095130848955,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 317,
+            "max_placed_release_frames": 317
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "304203242bc465232082539f384b406702ed8ebc7eb0ae858a1108fcc1e69ebc",
+    "visual_seed": 2435224160976927808,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..863541204e161e450f60d4cf08d2e0524796e219
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_35_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.304286838560627,
+              -0.022844788540807535,
+              1.165210033683981
+            ],
+            "current_z": 1.165210033683981,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30410352566921506,
+            "gripper_z": 1.1574295774058934,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2994387070014698,
+              -0.0276262191801087,
+              1.1574295774058934
+            ],
+            "object_minus_gripper": [
+              0.004848131559157198,
+              0.004781430639301164,
+              0.007780456278087655
+            ],
+            "object_to_gripper_xy": 0.006809292075784673,
+            "object_to_gripper_z": 0.007780456278087655,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.304286838560627,
+              -0.0467834611418028,
+              1.165210033683981
+            ],
+            "finger_b": [
+              0.2933997135356895,
+              -0.022844788540807535,
+              1.165210033683981
+            ],
+            "finger_midpoint": [
+              0.29884327604815825,
+              -0.034814124841305166,
+              1.165210033683981
+            ],
+            "object_minus_finger_midpoint": [
+              0.005443562512468747,
+              0.01196933630049763,
+              0.0
+            ],
+            "finger_gap": 0.026298089991599417,
+            "fingertip_max_gap": 0.09163231484963749,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013149044995799709,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165210033683981,
+            "object_top_z": 1.2151114460010035,
+            "finger_top_clearance": 0.0499014123170225,
+            "fingertip_min_top_clearance": 0.014970423695106781,
+            "object_projection_between_fingers": 0.8286129489647417,
+            "object_to_finger_line_xy": 0.009910351725974516,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831615742481875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4001835461802483,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28184500349438696,
+              -0.391864467983442,
+              0.8515395841363933
+            ],
+            "target_position": [
+              0.27492555120354917,
+              -0.3929402769114759,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007002584155497018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845537107210672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395841363933,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578661298860079,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671179886750154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15202972229172043,
+            "release_required_pad_clearance": 0.05335589943375077,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7282277684936447,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008147954940795898,
+            "max_z_decrease": 0.008147954940795898,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350250438361052,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008147954940795898,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020871812591066515,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008147954940795898,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008148049156698929,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13062547147274017,
+              -0.4492017328739166,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13062547147274017,
+              -0.4492017328739166,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12919228988001188,
+              -0.4482154237751843,
+              0.8036419671330873
+            ],
+            "closest_button": [
+              0.13065806031227112,
+              -0.4491799771785736,
+              0.7686609029769897
+            ],
+            "closest_ee_minus_button": [
+              -0.0014657704322592335,
+              0.0009645534033893011,
+              0.034981064156097585
+            ],
+            "button_min_z_position": [
+              0.13065806031227112,
+              -0.4491799771785736,
+              0.7686609029769897
+            ],
+            "min_active_finger_to_button": 0.14672870102911945,
+            "closest_active_finger": [
+              0.0025225579738616943,
+              -0.5119707584381104,
+              0.810910165309906
+            ],
+            "closest_active_finger_button": [
+              0.13062606751918793,
+              -0.449200302362442,
+              0.7765783667564392
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12810350954532623,
+              -0.06277045607566833,
+              0.0343317985534668
+            ],
+            "min_contact_pad_to_button": 0.020871812591066515,
+            "closest_contact_pad": [
+              0.13065806031227112,
+              -0.4493230607318384,
+              0.7895322251184687
+            ],
+            "closest_contact_pad_button": [
+              0.13065806031227112,
+              -0.4491799771785736,
+              0.7686609029769897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014308355326481115,
+              0.02087132214147891
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26886283372768677,
+              0.2005614992826857,
+              1.112530200194073
+            ],
+            "current_z": 1.112530200194073,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20262107045971034,
+            "gripper_z": 1.1125305367012879,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2688626704226069,
+              0.20056171934213946,
+              1.1125305367012879
+            ],
+            "object_minus_gripper": [
+              1.63305079847742e-07,
+              -2.2005945374270475e-07,
+              -3.3650721498190705e-07
+            ],
+            "object_to_gripper_xy": 2.7403414437915394e-07,
+            "object_to_gripper_z": -3.3650721498190705e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26886283372768677,
+              0.2005614992826857,
+              1.112530200194073
+            ],
+            "finger_b": [
+              0.26886283372768677,
+              0.2005614992826857,
+              1.112530200194073
+            ],
+            "finger_midpoint": [
+              0.26886283372768677,
+              0.2005614992826857,
+              1.112530200194073
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.112530200194073,
+            "object_top_z": 1.2375387068143526,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2688628337276868,
+            0.2005614992826857,
+            1.112530200194073
+          ],
+          "object_origin_world": [
+            0.2688628337276868,
+            0.2005614992826857,
+            1.112530200194073
+          ],
+          "frame_world": [
+            0.2688626704226069,
+            0.20056171934213946,
+            1.1125305367012879
+          ],
+          "center_minus_frame": [
+            1.6330507990325316e-07,
+            -2.2005945374270475e-07,
+            -3.3650721498190705e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043666068952407,
+            "required_z": 0.9112598324462775,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016860979127370332,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3531966086632765e-07,
+            "max_target_xy_drift": 1.7106880686908012e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.728227766119726,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.728680607622546,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2806934843143018,
+              -0.3931215900214544,
+              0.9233721194285788
+            ],
+            "target_mouth_xy": [
+              0.2818450081993494,
+              -0.39186444290005584
+            ],
+            "rod_tip_z": 0.9233721194285788,
+            "rod_tip_depth": -0.022112188234591046,
+            "rod_tip_bottom_clearance": 0.12155286589757586,
+            "rod_tip_xy_dist": 0.0017048243729709475,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045049196151444315,
+            "min_rod_tip_bottom_clearance": 0.05439130576321749,
+            "min_rod_tip_xy_dist": 0.000710033744620847,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2818449460625222,
+              -0.39186432269013394
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.213682718358982e-08,
+              -1.2020992190553415e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0006413651486684158,
+                0.0005086748296617705
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007344569530329248,
+                0.00013828580606589647
+              ],
+              "first_target_mouth_xy": [
+                0.2818450055625341,
+                -0.3918644111965621
+              ],
+              "last_target_mouth_xy": [
+                0.28184500639009735,
+                -0.39186438198420026
+              ],
+              "first_rod_tip_xy": [
+                0.2812036404138657,
+                -0.39135573636690035
+              ],
+              "last_rod_tip_xy": [
+                0.2811105494370644,
+                -0.39172609617813436
+              ],
+              "min_rod_tip_xy_dist": 0.000710033744620847,
+              "max_rod_tip_xy_dist": 0.0008220267476445839,
+              "first_target_xy_drift": 1.066472655462176e-07,
+              "last_target_xy_drift": 8.458843080220049e-08,
+              "max_depth": 0.0194451091524519,
+              "min_bottom_clearance": 0.07999545172507427
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0006413651486684158,
+                  0.0005086748296617705
+                ],
+                "rod_tip_xy": [
+                  0.2812036404138657,
+                  -0.39135573636690035
+                ],
+                "target_mouth_xy": [
+                  0.2818450055625341,
+                  -0.3918644111965621
+                ],
+                "gripper_position": [
+                  0.2811960308214919,
+                  -0.39135983748621145,
+                  1.0059706192855413
+                ],
+                "rod_tip_xy_dist": 0.0008185959542154422,
+                "target_xy_drift": 1.066472655462176e-07,
+                "depth": 0.015149537029991333,
+                "bottom_clearance": 0.08429097075696024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006489474116668781,
+                  0.0005045743064544528
+                ],
+                "rod_tip_xy": [
+                  0.28119603082149186,
+                  -0.3913598374862115
+                ],
+                "target_mouth_xy": [
+                  0.28184497823315874,
+                  -0.39186441179266596
+                ],
+                "gripper_position": [
+                  0.28120309717663694,
+                  -0.3914299379229984,
+                  1.0054358116742272
+                ],
+                "rod_tip_xy_dist": 0.0008220267476445839,
+                "target_xy_drift": 9.473231269147211e-08,
+                "depth": 0.015289287537721963,
+                "bottom_clearance": 0.08415133858003099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006418787669850157,
+                  0.00043444282774307563
+                ],
+                "rod_tip_xy": [
+                  0.2812030971766369,
+                  -0.3914299379229984
+                ],
+                "target_mouth_xy": [
+                  0.2818449759436219,
+                  -0.3918643807507415
+                ],
+                "gripper_position": [
+                  0.2811929549425635,
+                  -0.39143953357244626,
+                  1.0052772309558915
+                ],
+                "rod_tip_xy_dist": 0.0007750799456079377,
+                "target_xy_drift": 6.529865441185295e-08,
+                "depth": 0.01582395740591458,
+                "bottom_clearance": 0.08361658092195856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0006520519622391641,
+                  0.00042487697464477225
+                ],
+                "rod_tip_xy": [
+                  0.28119295494256347,
+                  -0.3914395335724463
+                ],
+                "target_mouth_xy": [
+                  0.28184500690480263,
+                  -0.3918644105470911
+                ],
+                "gripper_position": [
+                  0.2811852716745964,
+                  -0.39144335222741033,
+                  1.0051379211424336
+                ],
+                "rod_tip_xy_dist": 0.0007782622983565623,
+                "target_xy_drift": 1.0686733836391972e-07,
+                "depth": 0.015982666057384076,
+                "bottom_clearance": 0.08345791582177986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006597033406601227,
+                  0.00042105930463159913
+                ],
+                "rod_tip_xy": [
+                  0.28118527167459634,
+                  -0.39144335222741033
+                ],
+                "target_mouth_xy": [
+                  0.28184497501525646,
+                  -0.39186441153204193
+                ],
+                "gripper_position": [
+                  0.28119323708733907,
+                  -0.39151454714810924,
+                  1.0046048428324479
+                ],
+                "rod_tip_xy_dist": 0.0007826234316035853,
+                "target_xy_drift": 9.344059844626503e-08,
+                "depth": 0.016121838518134868,
+                "bottom_clearance": 0.08331865939702665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006517409955496545,
+                  0.00034986274629145164
+                ],
+                "rod_tip_xy": [
+                  0.281193237087339,
+                  -0.3915145471481093
+                ],
+                "target_mouth_xy": [
+                  0.28184497808288866,
+                  -0.39186440989440074
+                ],
+                "gripper_position": [
+                  0.2811828320932358,
+                  -0.3915244191699134,
+                  1.0044462779101853
+                ],
+                "rod_tip_xy_dist": 0.0007397095825542963,
+                "target_xy_drift": 9.289719058343256e-08,
+                "depth": 0.01665507328386162,
+                "bottom_clearance": 0.08278556932557246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000662141994602572,
+                  0.00033999142645335656
+                ],
+                "rod_tip_xy": [
+                  0.2811828320932358,
+                  -0.39152441916991343
+                ],
+                "target_mouth_xy": [
+                  0.2818449740878384,
+                  -0.3918644105963668
+                ],
+                "gripper_position": [
+                  0.281175131700325,
+                  -0.3915280612267668,
+                  1.0043065525995345
+                ],
+                "rod_tip_xy_dist": 0.0007443293565875664,
+                "target_xy_drift": 9.226550883476013e-08,
+                "depth": 0.016813574780445983,
+                "bottom_clearance": 0.08262696973450978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006698432957422118,
+                  0.00033631985360904615
+                ],
+                "rod_tip_xy": [
+                  0.281175131700325,
+                  -0.39152806122676687
+                ],
+                "target_mouth_xy": [
+                  0.2818449749960672,
+                  -0.3918643810803759
+                ],
+                "gripper_position": [
+                  0.28116718207241276,
+                  -0.3915318953596336,
+                  1.0041670801460727
+                ],
+                "rod_tip_xy_dist": 0.0007495339116960609,
+                "target_xy_drift": 6.516571479235707e-08,
+                "depth": 0.016953267059839683,
+                "bottom_clearance": 0.08248723165272487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006777633140732098,
+                  0.00033248540066738164
+                ],
+                "rod_tip_xy": [
+                  0.28116718207241276,
+                  -0.3915318953596336
+                ],
+                "target_mouth_xy": [
+                  0.28184494538648597,
+                  -0.391864380760301
+                ],
+                "gripper_position": [
+                  0.2811765218742586,
+                  -0.3916055014208571,
+                  1.0036352827082577
+                ],
+                "rod_tip_xy_dist": 0.0007549236064400488,
+                "target_xy_drift": 5.8074102040420347e-08,
+                "depth": 0.017092742756304014,
+                "bottom_clearance": 0.08234776700060553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006684520772283764,
+                  0.00025891329693050746
+                ],
+                "rod_tip_xy": [
+                  0.2811765218742586,
+                  -0.39160550142085715
+                ],
+                "target_mouth_xy": [
+                  0.281844973951487,
+                  -0.39186441471778766
+                ],
+                "gripper_position": [
+                  0.28116611657985724,
+                  -0.39161510977915215,
+                  1.0034764232069542
+                ],
+                "rod_tip_xy_dist": 0.0007168432707910122,
+                "target_xy_drift": 9.616071654792767e-08,
+                "depth": 0.017624628196659553,
+                "bottom_clearance": 0.0818160268754008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006788598587180172,
+                  0.0002492696931893912
+                ],
+                "rod_tip_xy": [
+                  0.2811661165798572,
+                  -0.39161510977915215
+                ],
+                "target_mouth_xy": [
+                  0.2818449764385752,
+                  -0.39186437947234154
+                ],
+                "gripper_position": [
+                  0.2811581997488309,
+                  -0.3916185977216825,
+                  1.0033375400470215
+                ],
+                "rod_tip_xy_dist": 0.0007231777704834266,
+                "target_xy_drift": 6.43966124610255e-08,
+                "depth": 0.01778343229113455,
+                "bottom_clearance": 0.08165717167927711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006867752837842467,
+                  0.0002458147645109654
+                ],
+                "rod_tip_xy": [
+                  0.2811581997488309,
+                  -0.3916185977216826
+                ],
+                "target_mouth_xy": [
+                  0.28184497503261513,
+                  -0.3918644124861936
+                ],
+                "gripper_position": [
+                  0.28115023506499015,
+                  -0.3916222616671891,
+                  1.0031979692667343
+                ],
+                "rod_tip_xy_dist": 0.000729441696688991,
+                "target_xy_drift": 9.435358293254414e-08,
+                "depth": 0.01792229660645117,
+                "bottom_clearance": 0.08151823582779305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006947388215433614,
+                  0.00024214923852250436
+                ],
+                "rod_tip_xy": [
+                  0.28115023506499015,
+                  -0.39162226166718905
+                ],
+                "target_mouth_xy": [
+                  0.2818449738865335,
+                  -0.39186441090571156
+                ],
+                "gripper_position": [
+                  0.28114221544730916,
+                  -0.3916259350664085,
+                  1.0030585120313738
+                ],
+                "rod_tip_xy_dist": 0.0007357297628045825,
+                "target_xy_drift": 9.24995337323311e-08,
+                "depth": 0.018061884432761022,
+                "bottom_clearance": 0.08137865735603389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007027605209627419,
+                  0.00023847676057253686
+                ],
+                "rod_tip_xy": [
+                  0.28114221544730916,
+                  -0.3916259350664085
+                ],
+                "target_mouth_xy": [
+                  0.2818449759682719,
+                  -0.39186441182698106
+                ],
+                "gripper_position": [
+                  0.281153661497193,
+                  -0.39170256971754636,
+                  1.0025292265323194
+                ],
+                "rod_tip_xy_dist": 0.0007421209572279949,
+                "target_xy_drift": 9.401984567746226e-08,
+                "depth": 0.018201316538112966,
+                "bottom_clearance": 0.0812392212486408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006913432241373307,
+                  0.0001618408630096324
+                ],
+                "rod_tip_xy": [
+                  0.281153661497193,
+                  -0.39170256971754636
+                ],
+                "target_mouth_xy": [
+                  0.28184500472133034,
+                  -0.391864410580556
+                ],
+                "gripper_position": [
+                  0.2811430171197373,
+                  -0.3917121156019118,
+                  1.0023704597017413
+                ],
+                "rod_tip_xy_dist": 0.000710033744620847,
+                "target_xy_drift": 1.0566731784833441e-07,
+                "depth": 0.01873060063430143,
+                "bottom_clearance": 0.08070991156257767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007019896675162229,
+                  0.0001522974837672164
+                ],
+                "rod_tip_xy": [
+                  0.2811430171197373,
+                  -0.39171211560191177
+                ],
+                "target_mouth_xy": [
+                  0.28184500678725355,
+                  -0.391864413085679
+                ],
+                "gripper_position": [
+                  0.28113500744330605,
+                  -0.3917153802984952,
+                  1.0022315969060664
+                ],
+                "rod_tip_xy_dist": 0.0007183202745721178,
+                "target_xy_drift": 1.0889833590477371e-07,
+                "depth": 0.01888945927866781,
+                "bottom_clearance": 0.080551162162258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007099682985925448,
+                  0.0001490318567447524
+                ],
+                "rod_tip_xy": [
+                  0.28113500744330605,
+                  -0.3917153802984952
+                ],
+                "target_mouth_xy": [
+                  0.2818449757418986,
+                  -0.3918644121552399
+                ],
+                "gripper_position": [
+                  0.2811268773038734,
+                  -0.39171889471654975,
+                  1.0020927881910968
+                ],
+                "rod_tip_xy_dist": 0.0007254415754085103,
+                "target_xy_drift": 9.425959141319879e-08,
+                "depth": 0.0190281759136135,
+                "bottom_clearance": 0.08041236426144516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007181016007573593,
+                  0.00014554878472416988
+                ],
+                "rod_tip_xy": [
+                  0.2811268773038734,
+                  -0.39171889471654986
+                ],
+                "target_mouth_xy": [
+                  0.2818449789046308,
+                  -0.39186444350127403
+                ],
+                "gripper_position": [
+                  0.2811187679881112,
+                  -0.3917224191517415,
+                  1.0019537933457459
+                ],
+                "rod_tip_xy_dist": 0.0007327034582591818,
+                "target_xy_drift": 1.2519558964604537e-07,
+                "depth": 0.01916715789922263,
+                "bottom_clearance": 0.08027356058013513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007262074877368296,
+                  0.00014202375891564367
+                ],
+                "rod_tip_xy": [
+                  0.2811187679881112,
+                  -0.39172241915174144
+                ],
+                "target_mouth_xy": [
+                  0.281844975475848,
+                  -0.3918644429106571
+                ],
+                "gripper_position": [
+                  0.2811105494370644,
+                  -0.3917260961781344,
+                  1.0018147835771765
+                ],
+                "rod_tip_xy_dist": 0.0007399649068311053,
+                "target_xy_drift": 1.237663844600139e-07,
+                "depth": 0.01930605359608506,
+                "bottom_clearance": 0.0801345089744242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0007344569530329248,
+                  0.00013828580606589647
+                ],
+                "rod_tip_xy": [
+                  0.2811105494370644,
+                  -0.39172609617813436
+                ],
+                "target_mouth_xy": [
+                  0.28184500639009735,
+                  -0.39186438198420026
+                ],
+                "gripper_position": [
+                  0.28110243671634405,
+                  -0.3917294247261479,
+                  1.0016758941749517
+                ],
+                "rod_tip_xy_dist": 0.0007473620140318229,
+                "target_xy_drift": 8.458843080220049e-08,
+                "depth": 0.0194451091524519,
+                "bottom_clearance": 0.07999545172507427,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006016693850002132,
+              "rod_tip_xy_max_step": 3.2597387636279554e-05,
+              "rod_tip_xy_range": 0.0006016643726331996,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28069348431430186,
+            -0.3931215900214544,
+            1.043372119428579
+          ],
+          "object_origin_world": [
+            0.28069348431430186,
+            -0.3931215900214544,
+            1.043372119428579
+          ],
+          "frame_world": [
+            0.2807174739581355,
+            -0.3931180747065391,
+            1.043666068952407
+          ],
+          "center_minus_frame": [
+            -2.3989643833655094e-05,
+            -3.515314915325529e-06,
+            -0.00029394952382810757
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2452968565869314,
+              0.1585224707136354,
+              0.8318039887551132
+            ],
+            "target_position": [
+              0.2604886397313545,
+              0.20364848767955568,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04761457426372415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16509872469360995,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318039887551132,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670324190235,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1355506383870571,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "091f003403fccc3402611a18cfcd5e2485c723400e8b789de0e3349f99ae8992",
+    "visual_seed": 3162753436911919226,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8159fff020975a79619fc961c13fcf2bfeb6fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_36_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30531998640411045,
+              -0.0243687510666243,
+              1.1628386655664928
+            ],
+            "current_z": 1.1628386655664928,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3017322171563719,
+            "gripper_z": 1.1548621682982203,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3007003010273084,
+              -0.029068232497019494,
+              1.1548621682982203
+            ],
+            "object_minus_gripper": [
+              0.004619685376802074,
+              0.004699481430395194,
+              0.007976497268272542
+            ],
+            "object_to_gripper_xy": 0.006589887608697752,
+            "object_to_gripper_z": 0.007976497268272542,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30531998640411045,
+              -0.04813503364344444,
+              1.1628386655664928
+            ],
+            "finger_b": [
+              0.29453831545421405,
+              -0.0243687510666243,
+              1.1628386655664928
+            ],
+            "finger_midpoint": [
+              0.2999291509291623,
+              -0.03625189235503437,
+              1.1628386655664928
+            ],
+            "object_minus_finger_midpoint": [
+              0.005390835474948175,
+              0.01188314128841007,
+              0.0
+            ],
+            "finger_gap": 0.026097521261474323,
+            "fingertip_max_gap": 0.09158921873185646,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013048760630737151,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1628386655664928,
+            "object_top_z": 1.2127807380291054,
+            "finger_top_clearance": 0.04994207246261251,
+            "fingertip_min_top_clearance": 0.014982621738783786,
+            "object_projection_between_fingers": 0.8293235400594384,
+            "object_to_finger_line_xy": 0.009818566134240383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048294609365928234,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2557562893454086,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2836777303396181,
+              -0.3892034015171594,
+              0.8515396165704758
+            ],
+            "target_position": [
+              0.2764209091072613,
+              -0.39014986705540267,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007318281998766253,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18382327397304574,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396165704758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529281169094183,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562690264632887,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245499100613402,
+            "release_required_pad_clearance": 0.05281345132316444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6726005446363129,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008170366287231445,
+            "max_z_decrease": 0.008170366287231445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501542543492392,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008170366287231445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02101360175712992,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008170366287231445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008170487145858201,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13212083280086515,
+              -0.4464113116264343,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13212083280086515,
+              -0.4464113116264343,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13248850369563717,
+              -0.44756826035913844,
+              0.8036323776670532
+            ],
+            "closest_button": [
+              0.13215722143650052,
+              -0.44638580083847046,
+              0.7686384916305542
+            ],
+            "closest_ee_minus_button": [
+              0.0003312822591366449,
+              -0.0011824595206679778,
+              0.034993886036499
+            ],
+            "button_min_z_position": [
+              0.13215722143650052,
+              -0.44638580083847046,
+              0.7686384916305542
+            ],
+            "min_active_finger_to_button": 0.14527520742488317,
+            "closest_active_finger": [
+              -0.008134007453918457,
+              -0.4304488003253937,
+              0.8108614683151245
+            ],
+            "closest_active_finger_button": [
+              0.13212087750434875,
+              -0.44641026854515076,
+              0.7765294909477234
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402548849582672,
+              0.01596146821975708,
+              0.03433197736740112
+            ],
+            "min_contact_pad_to_button": 0.02101360175712992,
+            "closest_contact_pad": [
+              0.13215722143650052,
+              -0.4488386477039161,
+              0.7895084461360611
+            ],
+            "closest_contact_pad_button": [
+              0.13215722143650052,
+              -0.44638580083847046,
+              0.7686384916305542
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002452846865445668,
+              0.020869954505506882
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27268010368438256,
+              0.20342975462795,
+              1.1071055896212667
+            ],
+            "current_z": 1.1071055896212667,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19719645988690415,
+            "gripper_z": 1.1071058188497396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2726800158521394,
+              0.20342985927754698,
+              1.1071058188497396
+            ],
+            "object_minus_gripper": [
+              8.783224314523608e-08,
+              -1.046495969880823e-07,
+              -2.2922847286999115e-07
+            ],
+            "object_to_gripper_xy": 1.366237208016672e-07,
+            "object_to_gripper_z": -2.2922847286999115e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27268010368438256,
+              0.20342975462795,
+              1.1071055896212667
+            ],
+            "finger_b": [
+              0.27268010368438256,
+              0.20342975462795,
+              1.1071055896212667
+            ],
+            "finger_midpoint": [
+              0.27268010368438256,
+              0.20342975462795,
+              1.1071055896212667
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1071055896212667,
+            "object_top_z": 1.2321140962415464,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27268010368438256,
+            0.20342975462795002,
+            1.1071055896212667
+          ],
+          "object_origin_world": [
+            0.27268010368438256,
+            0.20342975462795002,
+            1.1071055896212667
+          ],
+          "frame_world": [
+            0.2726800158521394,
+            0.20342985927754698,
+            1.1071058188497396
+          ],
+          "center_minus_frame": [
+            8.783224314523608e-08,
+            -1.0464959696032672e-07,
+            -2.2922847286999115e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043660303040356,
+            "required_z": 0.911259913596836,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005513798516931564,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.204350295224983e-08,
+            "max_target_xy_drift": 4.407365821776467e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6726005538142429,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6726005571658102,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28314304109762445,
+              -0.38941428345049156,
+              0.9233666061154119
+            ],
+            "target_mouth_xy": [
+              0.28367773239683963,
+              -0.38920346299848463
+            ],
+            "rod_tip_z": 0.9233666061154119,
+            "rod_tip_depth": -0.02210662979023159,
+            "rod_tip_bottom_clearance": 0.12154727594294401,
+            "rod_tip_xy_dist": 0.0005747521626238817,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04509307800052065,
+            "min_rod_tip_bottom_clearance": 0.054347476610443146,
+            "min_rod_tip_xy_dist": 0.0002831119362695038,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2836777331257719,
+              -0.3892034309632737
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -7.289322478953864e-10,
+              -3.2035210928427205e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -5.090279642605555e-05,
+                0.0015671805590741217
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00014023041632948985,
+                0.0011972858000353082
+              ],
+              "first_target_mouth_xy": [
+                0.28367776625727,
+                -0.38920343380906086
+              ],
+              "last_target_mouth_xy": [
+                0.28367779417744415,
+                -0.38920345823956193
+              ],
+              "first_rod_tip_xy": [
+                0.2836268634608439,
+                -0.38763625324998674
+              ],
+              "last_rod_tip_xy": [
+                0.28353756376111466,
+                -0.3880061724395266
+              ],
+              "min_rod_tip_xy_dist": 0.0012054699733424015,
+              "max_rod_tip_xy_dist": 0.0015680070151067147,
+              "first_target_xy_drift": 3.325349110931336e-08,
+              "last_target_xy_drift": 6.686779932715787e-08,
+              "max_depth": 0.019455835758198314,
+              "min_bottom_clearance": 0.07998473845445575
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -5.090279642605555e-05,
+                  0.0015671805590741217
+                ],
+                "rod_tip_xy": [
+                  0.2836268634608439,
+                  -0.38763625324998674
+                ],
+                "target_mouth_xy": [
+                  0.28367776625727,
+                  -0.38920343380906086
+                ],
+                "gripper_position": [
+                  0.2836192350501582,
+                  -0.3876400876086434,
+                  1.005964603411992
+                ],
+                "rod_tip_xy_dist": 0.0015680070151067147,
+                "target_xy_drift": 3.325349110931336e-08,
+                "depth": 0.015155489969421732,
+                "bottom_clearance": 0.08428516822103593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -5.849956273362711e-05,
+                  0.001563312605413203
+                ],
+                "rod_tip_xy": [
+                  0.28361923505015824,
+                  -0.3876400876086433
+                ],
+                "target_mouth_xy": [
+                  0.28367773461289186,
+                  -0.3892034002140565
+                ],
+                "gripper_position": [
+                  0.28362787210844514,
+                  -0.3877110560867864,
+                  1.0054284390167254
+                ],
+                "rod_tip_xy_dist": 0.00156440675691581,
+                "target_xy_drift": 3.078515685463495e-08,
+                "depth": 0.015295224133289431,
+                "bottom_clearance": 0.08414529443797869,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -4.9892181673838465e-05,
+                  0.001492345704064868
+                ],
+                "rod_tip_xy": [
+                  0.2836278721084452,
+                  -0.38771105608678647
+                ],
+                "target_mouth_xy": [
+                  0.28367776429011904,
+                  -0.38920340179085133
+                ],
+                "gripper_position": [
+                  0.2836175960127327,
+                  -0.38772085990016764,
+                  1.0052692733587185
+                ],
+                "rod_tip_xy_dist": 0.001493179470202106,
+                "target_xy_drift": 4.2687782333483166e-08,
+                "depth": 0.01583138519929339,
+                "bottom_clearance": 0.08360912347794891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -6.010632047309672e-05,
+                  0.0014825098867832232
+                ],
+                "rod_tip_xy": [
+                  0.28361759601273273,
+                  -0.3877208599001677
+                ],
+                "target_mouth_xy": [
+                  0.28367770233320583,
+                  -0.3892033697869509
+                ],
+                "gripper_position": [
+                  0.28360979800589114,
+                  -0.3877246873496329,
+                  1.005129815675407
+                ],
+                "rod_tip_xy_dist": 0.0014837278504398373,
+                "target_xy_drift": 6.848886474192269e-08,
+                "depth": 0.015990697841858137,
+                "bottom_clearance": 0.08344993318061078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -6.796667383290877e-05,
+                  0.0014787169886391616
+                ],
+                "rod_tip_xy": [
+                  0.2836097980058912,
+                  -0.38772468734963295
+                ],
+                "target_mouth_xy": [
+                  0.2836777646797241,
+                  -0.3892034043382721
+                ],
+                "gripper_position": [
+                  0.2836192615826154,
+                  -0.38779684727778185,
+                  1.004595388289616
+                ],
+                "rod_tip_xy_dist": 0.0014802781499576286,
+                "target_xy_drift": 4.128610675583043e-08,
+                "depth": 0.016130054419878914,
+                "bottom_clearance": 0.08331055412001909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -5.847441077388993e-05,
+                  0.001406523119906078
+                ],
+                "rod_tip_xy": [
+                  0.28361926158261547,
+                  -0.38779684727778185
+                ],
+                "target_mouth_xy": [
+                  0.28367773599338936,
+                  -0.38920337039768793
+                ],
+                "gripper_position": [
+                  0.2836088482272471,
+                  -0.38780639164039693,
+                  1.0044364539427464
+                ],
+                "rod_tip_xy_dist": 0.0014077380947980632,
+                "target_xy_drift": 6.063343474944645e-08,
+                "depth": 0.016664509836955443,
+                "bottom_clearance": 0.08277606179445807,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -6.891741881331903e-05,
+                  0.0013970101456124429
+                ],
+                "rod_tip_xy": [
+                  0.28360884822724713,
+                  -0.3878063916403969
+                ],
+                "target_mouth_xy": [
+                  0.28367776564606045,
+                  -0.3892034017860093
+                ],
+                "gripper_position": [
+                  0.28360093022654725,
+                  -0.38780991755587174,
+                  1.0042967530028917
+                ],
+                "rod_tip_xy_dist": 0.001398709032486739,
+                "target_xy_drift": 4.3690753320556034e-08,
+                "depth": 0.016823378747321316,
+                "bottom_clearance": 0.08261717742915464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -7.677383843596175e-05,
+                  0.0013935156312849806
+                ],
+                "rod_tip_xy": [
+                  0.2836009302265473,
+                  -0.3878099175558718
+                ],
+                "target_mouth_xy": [
+                  0.28367770406498327,
+                  -0.3892034331871568
+                ],
+                "gripper_position": [
+                  0.2835929559496895,
+                  -0.3878136692230653,
+                  1.0041573043572916
+                ],
+                "rod_tip_xy_dist": 0.00139562890372182,
+                "target_xy_drift": 2.9145755960562563e-08,
+                "depth": 0.016963178632538933,
+                "bottom_clearance": 0.08247741127281383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -8.48096675700738e-05,
+                  0.001389732887028594
+                ],
+                "rod_tip_xy": [
+                  0.28359295594968953,
+                  -0.38781366922306537
+                ],
+                "target_mouth_xy": [
+                  0.2836777656172596,
+                  -0.38920340211009397
+                ],
+                "gripper_position": [
+                  0.28360375773257246,
+                  -0.38788821580686506,
+                  1.0036244868837263
+                ],
+                "rod_tip_xy_dist": 0.0013923182743188346,
+                "target_xy_drift": 4.345345504337426e-08,
+                "depth": 0.01710259345789733,
+                "bottom_clearance": 0.08233797302491508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -7.400677612312556e-05,
+                  0.0013151878928432392
+                ],
+                "rod_tip_xy": [
+                  0.2836037577325725,
+                  -0.38788821580686506
+                ],
+                "target_mouth_xy": [
+                  0.28367776450869564,
+                  -0.3892034036997083
+                ],
+                "gripper_position": [
+                  0.2835932364595588,
+                  -0.3878975490542973,
+                  1.0034657495004835
+                ],
+                "rod_tip_xy_dist": 0.001317268460259175,
+                "target_xy_drift": 4.157150348875124e-08,
+                "depth": 0.017635310878131305,
+                "bottom_clearance": 0.08180526851977432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -8.455905956566978e-05,
+                  0.0013058229238915864
+                ],
+                "rod_tip_xy": [
+                  0.2835932364595589,
+                  -0.3878975490542973
+                ],
+                "target_mouth_xy": [
+                  0.2836777955191246,
+                  -0.3892033719781889
+                ],
+                "gripper_position": [
+                  0.28358520206432547,
+                  -0.3879010915282907,
+                  1.003326545669144
+                ],
+                "rod_tip_xy_dist": 0.0013085578868034086,
+                "target_xy_drift": 8.586134574291367e-08,
+                "depth": 0.017794083669907312,
+                "bottom_clearance": 0.08164647506251232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -9.25628134575418e-05,
+                  0.0013023131248408593
+                ],
+                "rod_tip_xy": [
+                  0.2835852020643255,
+                  -0.3879010915282908
+                ],
+                "target_mouth_xy": [
+                  0.28367776487778307,
+                  -0.38920340465313163
+                ],
+                "gripper_position": [
+                  0.283577038203343,
+                  -0.3879044096105908,
+                  1.003186708632093
+                ],
+                "rod_tip_xy_dist": 0.0013055984641412303,
+                "target_xy_drift": 4.1236073890458433e-08,
+                "depth": 0.017933331631067362,
+                "bottom_clearance": 0.0815072956977364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00010063112305891408,
+                  0.0012987715815919731
+                ],
+                "rod_tip_xy": [
+                  0.28357703820334307,
+                  -0.3879044096105909
+                ],
+                "target_mouth_xy": [
+                  0.283677669326402,
+                  -0.3892031811921829
+                ],
+                "gripper_position": [
+                  0.2835893328479604,
+                  -0.38798042726970683,
+                  1.002658503159117
+                ],
+                "rod_tip_xy_dist": 0.001302664286790351,
+                "target_xy_drift": 2.577905300895329e-07,
+                "depth": 0.01807353280599222,
+                "bottom_clearance": 0.08136756908227905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -8.846117690491928e-05,
+                  0.0012230046471081168
+                ],
+                "rod_tip_xy": [
+                  0.28358933284796045,
+                  -0.38798042726970683
+                ],
+                "target_mouth_xy": [
+                  0.28367779402486537,
+                  -0.38920343191681495
+                ],
+                "gripper_position": [
+                  0.2835785359089583,
+                  -0.3879899841029659,
+                  1.0024997521332473
+                ],
+                "rod_tip_xy_dist": 0.0012261997172840372,
+                "target_xy_drift": 6.09065581759872e-08,
+                "depth": 0.01860132899794764,
+                "bottom_clearance": 0.08083919395327488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -9.919621024145897e-05,
+                  0.0012133837801860947
+                ],
+                "rod_tip_xy": [
+                  0.2835785359089584,
+                  -0.3879899841029659
+                ],
+                "target_mouth_xy": [
+                  0.28367773211919983,
+                  -0.389203367883152
+                ],
+                "gripper_position": [
+                  0.2835704372541178,
+                  -0.3879930647593717,
+                  1.002360724512368
+                ],
+                "rod_tip_xy_dist": 0.0012174317583113087,
+                "target_xy_drift": 6.3088152125898e-08,
+                "depth": 0.018760252929992283,
+                "bottom_clearance": 0.08068044595348567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00010735823580332315,
+                  0.0012103665141535713
+                ],
+                "rod_tip_xy": [
+                  0.28357043725411785,
+                  -0.3879930647593717
+                ],
+                "target_mouth_xy": [
+                  0.28367779548992117,
+                  -0.38920343127352525
+                ],
+                "gripper_position": [
+                  0.2835621426764424,
+                  -0.3879965802755469,
+                  1.0022214408210994
+                ],
+                "rod_tip_xy_dist": 0.0012151184672199947,
+                "target_xy_drift": 6.236492101000803e-08,
+                "depth": 0.018899162529865565,
+                "bottom_clearance": 0.08054138416079804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00011558869464939336,
+                  0.001206882102031459
+                ],
+                "rod_tip_xy": [
+                  0.2835621426764425,
+                  -0.38799658027554695
+                ],
+                "target_mouth_xy": [
+                  0.28367773137109187,
+                  -0.3892034623775784
+                ],
+                "gripper_position": [
+                  0.2835539943758625,
+                  -0.3879998831634006,
+                  1.0020822432686527
+                ],
+                "rod_tip_xy_dist": 0.0012124046991556176,
+                "target_xy_drift": 3.146327132631204e-08,
+                "depth": 0.019038555251062017,
+                "bottom_clearance": 0.08040210744979326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00012380005361684043,
+                  0.0012035183209267997
+                ],
+                "rod_tip_xy": [
+                  0.28355399437586254,
+                  -0.3879998831634006
+                ],
+                "target_mouth_xy": [
+                  0.2836777944294794,
+                  -0.3892034014843274
+                ],
+                "gripper_position": [
+                  0.28354573399518945,
+                  -0.38800289000451654,
+                  1.0019430708764387
+                ],
+                "rod_tip_xy_dist": 0.0012098689193801102,
+                "target_xy_drift": 6.802317860235938e-08,
+                "depth": 0.019177575733382635,
+                "bottom_clearance": 0.08026293019053632,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00013202534124429066,
+                  0.0012004468325204631
+                ],
+                "rod_tip_xy": [
+                  0.2835457339951895,
+                  -0.3880028900045166
+                ],
+                "target_mouth_xy": [
+                  0.2836777593364338,
+                  -0.38920333683703706
+                ],
+                "gripper_position": [
+                  0.2835375637611146,
+                  -0.38800617243952656,
+                  1.0018040198505767
+                ],
+                "rod_tip_xy_dist": 0.0012076850948981213,
+                "target_xy_drift": 9.770745735051111e-08,
+                "depth": 0.019316975864898445,
+                "bottom_clearance": 0.08012386767145763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.00014023041632948985,
+                  0.0011972858000353082
+                ],
+                "rod_tip_xy": [
+                  0.28353756376111466,
+                  -0.3880061724395266
+                ],
+                "target_mouth_xy": [
+                  0.28367779417744415,
+                  -0.38920345823956193
+                ],
+                "gripper_position": [
+                  0.2835292578951777,
+                  -0.38800935716049956,
+                  1.0016648944367184
+                ],
+                "rod_tip_xy_dist": 0.0012054699733424015,
+                "target_xy_drift": 6.686779932715787e-08,
+                "depth": 0.019455835758198314,
+                "bottom_clearance": 0.07998473845445575,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006027827117091001,
+              "rod_tip_xy_max_step": 3.263994474403114e-05,
+              "rod_tip_xy_range": 0.0006027744063429964,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28314304109762445,
+            -0.38941428345049156,
+            1.043366606115412
+          ],
+          "object_origin_world": [
+            0.28314304109762445,
+            -0.38941428345049156,
+            1.043366606115412
+          ],
+          "frame_world": [
+            0.28316691252687365,
+            -0.38941102696766305,
+            1.043660303040356
+          ],
+          "center_minus_frame": [
+            -2.3871429249200382e-05,
+            -3.256482828506435e-06,
+            -0.0002936969249438537
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.250291743612264,
+              0.16089322415408647,
+              0.8319550473058709
+            ],
+            "target_position": [
+              0.26434965742916544,
+              0.20702433609863902,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04822555785187216,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16656201270681337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319550473058709,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672013288741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1359378475039418,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91fff3ffa742ec6e3892e1ea40e9f514a30e6ff569826a53866005030f3dd5b0",
+    "visual_seed": 7050646416775450277,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe5942cbb885d087f6e4c09f67cfd2fa4c938373
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_39_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3015260308374446,
+              -0.024907816963160793,
+              1.1640147565845158
+            ],
+            "current_z": 1.1640147565845158,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3029082485697496,
+            "gripper_z": 1.156240304162959,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2965971547239055,
+              -0.02964034132911046,
+              1.156240304162959
+            ],
+            "object_minus_gripper": [
+              0.0049288761135390935,
+              0.004732524365949668,
+              0.007774452421556832
+            ],
+            "object_to_gripper_xy": 0.006833052510915129,
+            "object_to_gripper_z": 0.007774452421556832,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3015260308374446,
+              -0.04905478177717127,
+              1.1640147565845158
+            ],
+            "finger_b": [
+              0.29091135834858006,
+              -0.024907816963160793,
+              1.1640147565845158
+            ],
+            "finger_midpoint": [
+              0.2962186945930123,
+              -0.03698129937016603,
+              1.1640147565845158
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053073362444323036,
+              0.012073482407005239,
+              0.0
+            ],
+            "finger_gap": 0.026377019956297525,
+            "fingertip_max_gap": 0.09132597251238625,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013188509978148775,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640147565845158,
+            "object_top_z": 1.213914891135627,
+            "finger_top_clearance": 0.0499001345511112,
+            "fingertip_min_top_clearance": 0.014970040365333392,
+            "object_projection_between_fingers": 0.8380571635828654,
+            "object_to_finger_line_xy": 0.00971725098307257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816298625619313,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1403266531859033,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28140980878058536,
+              -0.38986461005264017,
+              0.8515395599899792
+            ],
+            "target_position": [
+              0.2738828008802162,
+              -0.39098153169296174,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007609425857634603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18536391747415193,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395599899792,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548346710669326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596982701786256,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15342312173397904,
+            "release_required_pad_clearance": 0.05298491350893128,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.004042278741067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008402049541473389,
+            "max_z_decrease": 0.008402049541473389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504569672385347,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008402049541473389,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021029612092412324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008402049541473389,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008402083582317156,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1295827329158783,
+              -0.44724297523498535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1295827329158783,
+              -0.44724297523498535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12778673031224103,
+              -0.4484933691155995,
+              0.8037480639622532
+            ],
+            "closest_button": [
+              0.129587322473526,
+              -0.447215050458908,
+              0.7687720060348511
+            ],
+            "closest_ee_minus_button": [
+              -0.0018005921612849751,
+              -0.0012783186566914795,
+              0.034976057927402104
+            ],
+            "button_min_z_position": [
+              0.1295835971832275,
+              -0.44721907377243036,
+              0.7684068083763123
+            ],
+            "min_active_finger_to_button": 0.14739061836885148,
+            "closest_active_finger": [
+              -0.012937620282173157,
+              -0.4320599138736725,
+              0.8111715316772461
+            ],
+            "closest_active_finger_button": [
+              0.12958206236362454,
+              -0.44724312424659723,
+              0.7767970561981201
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425196826457977,
+              0.01518321037292475,
+              0.03437447547912598
+            ],
+            "min_contact_pad_to_button": 0.021029612092412324,
+            "closest_contact_pad": [
+              0.1295835971832275,
+              -0.44969853902230156,
+              0.7892897400869705
+            ],
+            "closest_contact_pad_button": [
+              0.1295835971832275,
+              -0.44721907377243036,
+              0.7684068083763123
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024794652498711933,
+              0.020882931710658248
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2597759979894853,
+              0.20577187215507778,
+              1.1036721497070467
+            ],
+            "current_z": 1.1036721497070467,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1937630199726842,
+            "gripper_z": 1.1036721040847879,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.25977593361397006,
+              0.20577188069727803,
+              1.1036721040847879
+            ],
+            "object_minus_gripper": [
+              6.43755152518466e-08,
+              -8.54220025270358e-09,
+              4.5622258859623344e-08
+            ],
+            "object_to_gripper_xy": 6.493978864377388e-08,
+            "object_to_gripper_z": 4.5622258859623344e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2597759979894853,
+              0.20577187215507778,
+              1.1036721497070467
+            ],
+            "finger_b": [
+              0.2597759979894853,
+              0.20577187215507778,
+              1.1036721497070467
+            ],
+            "finger_midpoint": [
+              0.2597759979894853,
+              0.20577187215507778,
+              1.1036721497070467
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1036721497070467,
+            "object_top_z": 1.2286806563273265,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.25977599798948536,
+            0.20577187215507778,
+            1.103672149707047
+          ],
+          "object_origin_world": [
+            0.25977599798948536,
+            0.20577187215507778,
+            1.103672149707047
+          ],
+          "frame_world": [
+            0.25977593361397006,
+            0.20577188069727803,
+            1.1036721040847879
+          ],
+          "center_minus_frame": [
+            6.437551530735774e-08,
+            -8.54220025270358e-09,
+            4.562225908166795e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433687474963933,
+            "required_z": 0.9112598926020488,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002009991235057108,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.174477079140524e-08,
+            "max_target_xy_drift": 1.689718306898073e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0040422741608948,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0040422790772199,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28028477851433503,
+              -0.38819080128619066,
+              0.9234928046203269
+            ],
+            "target_mouth_xy": [
+              0.2814097218086258,
+              -0.38986461290965335
+            ],
+            "rod_tip_z": 0.9234928046203269,
+            "rod_tip_depth": -0.022232880053636217,
+            "rod_tip_bottom_clearance": 0.12167354372711192,
+            "rod_tip_xy_dist": 0.0020167158367525514,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044755253694276576,
+            "min_rod_tip_bottom_clearance": 0.05468546010439712,
+            "min_rod_tip_xy_dist": 0.000515063519727055,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28140972068735004,
+              -0.38986458118469136
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.1212757389245098e-09,
+              -3.172496199077557e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.000672276710563191,
+                0.003572756419357781
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000736222747039883,
+                0.0031093419873700068
+              ],
+              "first_target_mouth_xy": [
+                0.281409721160159,
+                -0.3898645516898847
+              ],
+              "last_target_mouth_xy": [
+                0.2814097198147243,
+                -0.38986458119403455
+              ],
+              "first_rod_tip_xy": [
+                0.2807374444495958,
+                -0.3862917952705269
+              ],
+              "last_rod_tip_xy": [
+                0.2806734970676844,
+                -0.38675523920666455
+              ],
+              "min_rod_tip_xy_dist": 0.0031953139951624494,
+              "max_rod_tip_xy_dist": 0.0036354565610976428,
+              "first_target_xy_drift": 2.9498596030751235e-08,
+              "last_target_xy_drift": 8.726757667280684e-10,
+              "max_depth": 0.019720668200395752,
+              "min_bottom_clearance": 0.07971987366122935
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.000672276710563191,
+                  0.003572756419357781
+                ],
+                "rod_tip_xy": [
+                  0.2807374444495958,
+                  -0.3862917952705269
+                ],
+                "target_mouth_xy": [
+                  0.281409721160159,
+                  -0.3898645516898847
+                ],
+                "gripper_position": [
+                  0.2807461712523975,
+                  -0.38636583768466215,
+                  1.0056567678633528
+                ],
+                "rod_tip_xy_dist": 0.0036354565610976428,
+                "target_xy_drift": 2.9498596030751235e-08,
+                "depth": 0.015070270369260341,
+                "bottom_clearance": 0.08437031158784547,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0006635491898971946,
+                  0.0034987428668755705
+                ],
+                "rod_tip_xy": [
+                  0.2807461712523974,
+                  -0.38636583768466215
+                ],
+                "target_mouth_xy": [
+                  0.2814097204422946,
+                  -0.3898645805515377
+                ],
+                "gripper_position": [
+                  0.280735855482505,
+                  -0.3863754252705078,
+                  1.0054997618151003
+                ],
+                "rod_tip_xy_dist": 0.003561109262003331,
+                "target_xy_drift": 6.789224489644734e-10,
+                "depth": 0.015603134256903295,
+                "bottom_clearance": 0.08383745475115834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006738635609918608,
+                  0.003489155287613066
+                ],
+                "rod_tip_xy": [
+                  0.28073585548250496,
+                  -0.38637542527050783
+                ],
+                "target_mouth_xy": [
+                  0.2814097190434968,
+                  -0.3898645805581209
+                ],
+                "gripper_position": [
+                  0.2807280941550066,
+                  -0.38637911207253806,
+                  1.0053620004156254
+                ],
+                "rod_tip_xy_dist": 0.0035536314834139523,
+                "target_xy_drift": 1.7592168580593498e-09,
+                "depth": 0.015760010256023804,
+                "bottom_clearance": 0.08368052555689665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006816584915134705,
+                  0.003485467183398705
+                ],
+                "rod_tip_xy": [
+                  0.28072809415500655,
+                  -0.38637911207253817
+                ],
+                "target_mouth_xy": [
+                  0.28140975264652,
+                  -0.38986457925593687
+                ],
+                "gripper_position": [
+                  0.2807376508898256,
+                  -0.3864545123208137,
+                  1.0048305630700012
+                ],
+                "rod_tip_xy_dist": 0.003551498245191981,
+                "target_xy_drift": 3.2017317806253625e-08,
+                "depth": 0.015897943469954323,
+                "bottom_clearance": 0.0835427836922279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0006720718916038426,
+                  0.003410069150819206
+                ],
+                "rod_tip_xy": [
+                  0.28073765088982555,
+                  -0.38645451232081374
+                ],
+                "target_mouth_xy": [
+                  0.2814097227814294,
+                  -0.38986458147163294
+                ],
+                "gripper_position": [
+                  0.28072719789202516,
+                  -0.3864640721410928,
+                  1.0046737873922253
+                ],
+                "rod_tip_xy_dist": 0.003475665726282202,
+                "target_xy_drift": 2.113647040929556e-09,
+                "depth": 0.01642934056041112,
+                "bottom_clearance": 0.08301130380248678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006825210813352633,
+                  0.003400509052141676
+                ],
+                "rod_tip_xy": [
+                  0.2807271978920251,
+                  -0.3864640721410929
+                ],
+                "target_mouth_xy": [
+                  0.28140971897336037,
+                  -0.3898645811932346
+                ],
+                "gripper_position": [
+                  0.2807194266040103,
+                  -0.38646742520954064,
+                  1.0045356903299998
+                ],
+                "rod_tip_xy_dist": 0.003468327671971686,
+                "target_xy_drift": 1.7140109637275334e-09,
+                "depth": 0.016586032313449572,
+                "bottom_clearance": 0.08285447772845533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006903253672271292,
+                  0.003397215579521773
+                ],
+                "rod_tip_xy": [
+                  0.2807194266040102,
+                  -0.3864674252095407
+                ],
+                "target_mouth_xy": [
+                  0.28140975197123735,
+                  -0.38986464078906247
+                ],
+                "gripper_position": [
+                  0.2807114767284237,
+                  -0.3864710511910719,
+                  1.0043978255784256
+                ],
+                "rod_tip_xy_dist": 0.003466644314951092,
+                "target_xy_drift": 6.731539690402677e-08,
+                "depth": 0.01672421364674448,
+                "bottom_clearance": 0.08271641772296201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006982429218178599,
+                  0.0033935303129561945
+                ],
+                "rod_tip_xy": [
+                  0.28071147672842367,
+                  -0.38647105119107195
+                ],
+                "target_mouth_xy": [
+                  0.28140971965024153,
+                  -0.38986458150402814
+                ],
+                "gripper_position": [
+                  0.2807225216573609,
+                  -0.38654877951527333,
+                  1.003866587367608
+                ],
+                "rod_tip_xy_dist": 0.003464619916068905,
+                "target_xy_drift": 1.0851589931753371e-09,
+                "depth": 0.016861993719802237,
+                "bottom_clearance": 0.08257853063359488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006871978176629656,
+                  0.003315800718430073
+                ],
+                "rod_tip_xy": [
+                  0.28072252165736084,
+                  -0.38654877951527344
+                ],
+                "target_mouth_xy": [
+                  0.2814097194750238,
+                  -0.3898645802337035
+                ],
+                "gripper_position": [
+                  0.28071191780054594,
+                  -0.3865584169852287,
+                  1.003710159232769
+                ],
+                "rod_tip_xy_dist": 0.003386262725327456,
+                "target_xy_drift": 1.54081562499226e-09,
+                "depth": 0.017393253455281754,
+                "bottom_clearance": 0.08204731050161429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006978636640099234,
+                  0.0033062238139117683
+                ],
+                "rod_tip_xy": [
+                  0.28071191780054594,
+                  -0.38655841698522875
+                ],
+                "target_mouth_xy": [
+                  0.28140978146455586,
+                  -0.3898646407991405
+                ],
+                "gripper_position": [
+                  0.2807039455560342,
+                  -0.3865619619307941,
+                  1.003572552121944
+                ],
+                "rod_tip_xy_dist": 0.003379072298904336,
+                "target_xy_drift": 8.513372595966134e-08,
+                "depth": 0.017549742190203665,
+                "bottom_clearance": 0.0818908771064909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007057740275306368,
+                  0.0033026199005135037
+                ],
+                "rod_tip_xy": [
+                  0.2807039455560342,
+                  -0.3865619619307942
+                ],
+                "target_mouth_xy": [
+                  0.2814097195835648,
+                  -0.3898645818313077
+                ],
+                "gripper_position": [
+                  0.28069586885507236,
+                  -0.38656536966691035,
+                  1.0034345563872804
+                ],
+                "rod_tip_xy_dist": 0.003377190427737921,
+                "target_xy_drift": 1.2792398109372227e-09,
+                "depth": 0.01768727183178853,
+                "bottom_clearance": 0.08175326020127016,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007138825274914384,
+                  0.003299209605780895
+                ],
+                "rod_tip_xy": [
+                  0.2806958688550723,
+                  -0.38656536966691035
+                ],
+                "target_mouth_xy": [
+                  0.28140975138256374,
+                  -0.38986457927269125
+                ],
+                "gripper_position": [
+                  0.2807085031598649,
+                  -0.3866449473400563,
+                  1.0029067366427886
+                ],
+                "rod_tip_xy_dist": 0.0033755610327669224,
+                "target_xy_drift": 3.075470514860532e-08,
+                "depth": 0.01782537749100288,
+                "bottom_clearance": 0.08161530117450067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007012157027135313,
+                  0.0032196344919320774
+                ],
+                "rod_tip_xy": [
+                  0.28070850315986484,
+                  -0.3866449473400564
+                ],
+                "target_mouth_xy": [
+                  0.2814097188625784,
+                  -0.38986458183198847
+                ],
+                "gripper_position": [
+                  0.28069769967623204,
+                  -0.3866542690291551,
+                  1.0027499382970022
+                ],
+                "rod_tip_xy_dist": 0.0032951099713622242,
+                "target_xy_drift": 1.9361779822501773e-09,
+                "depth": 0.01835308135293212,
+                "bottom_clearance": 0.08108742252111945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007120207801135092,
+                  0.003210309299742753
+                ],
+                "rod_tip_xy": [
+                  0.280697699676232,
+                  -0.38665426902915523
+                ],
+                "target_mouth_xy": [
+                  0.2814097204563455,
+                  -0.389864578328898
+                ],
+                "gripper_position": [
+                  0.28068965820175296,
+                  -0.3866576168426232,
+                  1.0026125741806378
+                ],
+                "rod_tip_xy_dist": 0.0032883216678616244,
+                "target_xy_drift": 2.8651211018512088e-09,
+                "depth": 0.018510003959308352,
+                "bottom_clearance": 0.08093066651499148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007200624018179336,
+                  0.003206964967634174
+                ],
+                "rod_tip_xy": [
+                  0.2806896582017529,
+                  -0.38665761684262323
+                ],
+                "target_mouth_xy": [
+                  0.28140972060357083,
+                  -0.3898645818102574
+                ],
+                "gripper_position": [
+                  0.2806815209824054,
+                  -0.386660803839928,
+                  1.0024747445491526
+                ],
+                "rod_tip_xy_dist": 0.0032868091161709816,
+                "target_xy_drift": 6.311511942412452e-10,
+                "depth": 0.018647257841271636,
+                "bottom_clearance": 0.08079331331572981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007282619219947661,
+                  0.0032037763738450575
+                ],
+                "rod_tip_xy": [
+                  0.28068152098240534,
+                  -0.38666080383992807
+                ],
+                "target_mouth_xy": [
+                  0.2814097829044001,
+                  -0.3898645802137731
+                ],
+                "gripper_position": [
+                  0.28067327399790953,
+                  -0.3866641517036549,
+                  1.0023370052970415
+                ],
+                "rod_tip_xy_dist": 0.00328550581807966,
+                "target_xy_drift": 6.222462536100911e-08,
+                "depth": 0.018785125983513562,
+                "bottom_clearance": 0.0806555835671724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000736479416023228,
+                  0.0032004288162940653
+                ],
+                "rod_tip_xy": [
+                  0.2806732739979095,
+                  -0.386664151703655
+                ],
+                "target_mouth_xy": [
+                  0.2814097534139327,
+                  -0.38986458051994904
+                ],
+                "gripper_position": [
+                  0.28066511927847865,
+                  -0.3866674374315198,
+                  1.0021996772194133
+                ],
+                "rod_tip_xy_dist": 0.0032840746852639247,
+                "target_xy_drift": 3.273333309252908e-08,
+                "depth": 0.018922921724597752,
+                "bottom_clearance": 0.0805177884996312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007445990660753243,
+                  0.0031971437742507325
+                ],
+                "rod_tip_xy": [
+                  0.2806651192784786,
+                  -0.3866674374315199
+                ],
+                "target_mouth_xy": [
+                  0.2814097183445539,
+                  -0.3898645812057706
+                ],
+                "gripper_position": [
+                  0.28065697818464547,
+                  -0.386670532391594,
+                  1.0020617140205506
+                ],
+                "rod_tip_xy_dist": 0.003282705603984382,
+                "target_xy_drift": 2.3428909518569496e-09,
+                "depth": 0.01906014643577525,
+                "bottom_clearance": 0.08038035733420756,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007527416803174147,
+                  0.0031940789292972394
+                ],
+                "rod_tip_xy": [
+                  0.2806569781846454,
+                  -0.386670532391594
+                ],
+                "target_mouth_xy": [
+                  0.2814097198649628,
+                  -0.38986461132089123
+                ],
+                "gripper_position": [
+                  0.2806734970676844,
+                  -0.3867552392066644,
+                  1.0015391579379704
+                ],
+                "rod_tip_xy_dist": 0.0032815789254363034,
+                "target_xy_drift": 3.014741884919237e-08,
+                "depth": 0.019198106721577513,
+                "bottom_clearance": 0.08024242535123494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.000736222747039883,
+                  0.0031093419873700068
+                ],
+                "rod_tip_xy": [
+                  0.2806734970676844,
+                  -0.38675523920666455
+                ],
+                "target_mouth_xy": [
+                  0.2814097198147243,
+                  -0.38986458119403455
+                ],
+                "gripper_position": [
+                  0.280662525440364,
+                  -0.3867647196336659,
+                  1.0013825387178146
+                ],
+                "rod_tip_xy_dist": 0.0031953139951624494,
+                "target_xy_drift": 8.726757667280684e-10,
+                "depth": 0.019720668200395752,
+                "bottom_clearance": 0.07971987366122935,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005971329974988864,
+              "rod_tip_xy_max_step": 3.2386359775339116e-05,
+              "rod_tip_xy_range": 0.0005971228144608668,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2802847785143351,
+            -0.38819080128619066,
+            1.043492804620327
+          ],
+          "object_origin_world": [
+            0.2802847785143351,
+            -0.38819080128619066,
+            1.043492804620327
+          ],
+          "frame_world": [
+            0.280283421534105,
+            -0.38819982690039545,
+            1.0433687474963933
+          ],
+          "center_minus_frame": [
+            1.3569802300716916e-06,
+            9.025614204793975e-06,
+            0.00012405712393359636
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2505754149303195,
+              0.16082054226883022,
+              0.828707182335053
+            ],
+            "target_position": [
+              0.2598911199386804,
+              0.2049000731966022,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04505316200462746,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1701777047378937,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.828707182335053,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670623148124,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14039264528340623,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6831d5f4e33c87cd17d7b59a33cae4941e128b39be86fcf2badb31b9a813d00d",
+    "visual_seed": 7751063668697537101,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6103827c0f6444f25bcea26a4c2bc5a9aca64635
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_40_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3012328743928786,
+              -0.023615353444603995,
+              1.1662415849922407
+            ],
+            "current_z": 1.1662415849922407,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3051350769774749,
+            "gripper_z": 1.15841524074647,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29645160862377984,
+              -0.028456019524325915,
+              1.15841524074647
+            ],
+            "object_minus_gripper": [
+              0.004781265769098764,
+              0.0048406660797219205,
+              0.007826344245770667
+            ],
+            "object_to_gripper_xy": 0.0068038629064764355,
+            "object_to_gripper_z": 0.007826344245770667,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3012328743928786,
+              -0.04735708765439207,
+              1.1662415849922407
+            ],
+            "finger_b": [
+              0.2900623860281325,
+              -0.023615353444603995,
+              1.1662415849922407
+            ],
+            "finger_midpoint": [
+              0.29564763021050555,
+              -0.03548622054949803,
+              1.1662415849922407
+            ],
+            "object_minus_finger_midpoint": [
+              0.00558524418237305,
+              0.011870867104894035,
+              0.0
+            ],
+            "finger_gap": 0.02623832604407433,
+            "fingertip_max_gap": 0.09125253124432306,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013119163022037163,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1662415849922407,
+            "object_top_z": 1.2161416602794421,
+            "finger_top_clearance": 0.04990007528720142,
+            "fingertip_min_top_clearance": 0.014970022586160458,
+            "object_projection_between_fingers": 0.8187524802568146,
+            "object_to_finger_line_xy": 0.010107609963526094,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812626562216153,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0493068512073873,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 353,
+            "max_stable_success_frames": 353,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28734926993365106,
+              -0.39538358188328243,
+              0.8515396130563763
+            ],
+            "target_position": [
+              0.279848029439022,
+              -0.39673345593483744,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00762173004726123,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846582370083966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396130563763,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551872605440807,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515501407130592,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15280402708416865,
+            "release_required_pad_clearance": 0.05257750703565296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22028685500013553,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008615612983703613,
+            "max_z_decrease": 0.008615612983703613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501736503004367,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008615612983703613,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02100072076835077,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008615612983703613,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008615702267183835,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13554795086383814,
+              -0.45299491286277765,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13554795086383814,
+              -0.45299491286277765,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13592629678300636,
+              -0.45409706723112414,
+              0.8035589276653832
+            ],
+            "closest_button": [
+              0.13554693758487696,
+              -0.4529565274715423,
+              0.7685621976852417
+            ],
+            "closest_ee_minus_button": [
+              0.00037935919812939756,
+              -0.0011405397595818378,
+              0.03499672998014147
+            ],
+            "button_min_z_position": [
+              0.13553947210311884,
+              -0.4529566168785094,
+              0.768193244934082
+            ],
+            "min_active_finger_to_button": 0.14533241701694755,
+            "closest_active_finger": [
+              -0.00506967306137085,
+              -0.44018614292144775,
+              0.8106367588043213
+            ],
+            "closest_active_finger_button": [
+              0.13554836809635162,
+              -0.4529929161071776,
+              0.7762265205383301
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14061804115772247,
+              0.01280677318572987,
+              0.03441023826599121
+            ],
+            "min_contact_pad_to_button": 0.02100072076835077,
+            "closest_contact_pad": [
+              0.13553947210311884,
+              -0.4550825326602705,
+              0.7890860847333793
+            ],
+            "closest_contact_pad_button": [
+              0.13553947210311884,
+              -0.4529566168785094,
+              0.768193244934082
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021259157817610785,
+              0.020892839799297236
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26861622912817473,
+              0.19904943894730548,
+              1.1046975789023983
+            ],
+            "current_z": 1.1046975789023983,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19478844916803573,
+            "gripper_z": 1.1046979681234377,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2686161086653942,
+              0.19904953425375638,
+              1.1046979681234377
+            ],
+            "object_minus_gripper": [
+              1.2046278052846304e-07,
+              -9.530645089794731e-08,
+              -3.8922103939853514e-07
+            ],
+            "object_to_gripper_xy": 1.5360534194946313e-07,
+            "object_to_gripper_z": -3.8922103939853514e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26861622912817473,
+              0.19904943894730548,
+              1.1046975789023983
+            ],
+            "finger_b": [
+              0.26861622912817473,
+              0.19904943894730548,
+              1.1046975789023983
+            ],
+            "finger_midpoint": [
+              0.26861622912817473,
+              0.19904943894730548,
+              1.1046975789023983
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046975789023983,
+            "object_top_z": 1.229706085522678,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26861622912817473,
+            0.19904943894730548,
+            1.1046975789023985
+          ],
+          "object_origin_world": [
+            0.26861622912817473,
+            0.19904943894730548,
+            1.1046975789023985
+          ],
+          "frame_world": [
+            0.2686161086653942,
+            0.19904953425375638,
+            1.1046979681234377
+          ],
+          "center_minus_frame": [
+            1.2046278052846304e-07,
+            -9.530645089794731e-08,
+            -3.8922103917649054e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1669,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432363903401396,
+            "required_z": 0.911259967255688,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002278115949339908,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.5359745876586563e-07,
+            "max_target_xy_drift": 7.05204820486628e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.22028685954671415,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.22028685961620334,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2854075313287963,
+              -0.3941847328968227,
+              0.923364558691469
+            ],
+            "target_mouth_xy": [
+              0.2873492684849177,
+              -0.3953835777488829
+            ],
+            "rod_tip_z": 0.923364558691469,
+            "rod_tip_depth": -0.022104733008852406,
+            "rod_tip_bottom_clearance": 0.12154524518629328,
+            "rod_tip_xy_dist": 0.0022820105527305476,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04528464580219482,
+            "min_rod_tip_bottom_clearance": 0.05415598641865704,
+            "min_rod_tip_xy_dist": 0.0007208575892155859,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28734939105156,
+              -0.39538348517676214
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.2256664227994207e-07,
+              -9.257212074675891e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0014074879735683776,
+                0.0029501334296659354
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001499359203059214,
+                0.0025599014064865977
+              ],
+              "first_target_mouth_xy": [
+                0.28734926903839564,
+                -0.3953836658975647
+              ],
+              "last_target_mouth_xy": [
+                0.2873492981644823,
+                -0.39538366684729453
+              ],
+              "first_rod_tip_xy": [
+                0.28594178106482726,
+                -0.39243353246789875
+              ],
+              "last_rod_tip_xy": [
+                0.2858499389614231,
+                -0.39282376544080794
+              ],
+              "min_rod_tip_xy_dist": 0.0029655149639608107,
+              "max_rod_tip_xy_dist": 0.0032686862266929372,
+              "first_target_xy_drift": 2.1805325209034735e-07,
+              "last_target_xy_drift": 2.0403968129692872e-07,
+              "max_depth": 0.01968989445012992,
+              "min_bottom_clearance": 0.07975063346462996
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0014074879735683776,
+                  0.0029501334296659354
+                ],
+                "rod_tip_xy": [
+                  0.28594178106482726,
+                  -0.39243353246789875
+                ],
+                "target_mouth_xy": [
+                  0.28734926903839564,
+                  -0.3953836658975647
+                ],
+                "gripper_position": [
+                  0.2859318279023304,
+                  -0.3924434744236087,
+                  1.0057686709731464
+                ],
+                "rod_tip_xy_dist": 0.0032686862266929372,
+                "target_xy_drift": 2.1805325209034735e-07,
+                "depth": 0.01532938157841135,
+                "bottom_clearance": 0.08411119395602318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0014174707509875817,
+                  0.0029401946450773875
+                ],
+                "rod_tip_xy": [
+                  0.28593182790233035,
+                  -0.39244347442360866
+                ],
+                "target_mouth_xy": [
+                  0.28734929865331793,
+                  -0.39538366906868605
+                ],
+                "gripper_position": [
+                  0.2859241746762293,
+                  -0.3924475830475588,
+                  1.0056266048476428
+                ],
+                "rod_tip_xy_dist": 0.003264041648148357,
+                "target_xy_drift": 2.0580008458415772e-07,
+                "depth": 0.015491162312066487,
+                "bottom_clearance": 0.08394937315319917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0014251528551595949,
+                  0.0029360841176717667
+                ],
+                "rod_tip_xy": [
+                  0.28592417467622927,
+                  -0.39244758304755883
+                ],
+                "target_mouth_xy": [
+                  0.28734932753138887,
+                  -0.3953836671652306
+                ],
+                "gripper_position": [
+                  0.2859312722741078,
+                  -0.3925199022818891,
+                  1.0050904877481674
+                ],
+                "rod_tip_xy_dist": 0.0032636866587670366,
+                "target_xy_drift": 1.9275532364254396e-07,
+                "depth": 0.015633237737626704,
+                "bottom_clearance": 0.08380729566774248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014180560579362123,
+                  0.002863734447924371
+                ],
+                "rod_tip_xy": [
+                  0.28593127227410775,
+                  -0.3925199022818891
+                ],
+                "target_mouth_xy": [
+                  0.28734932833204396,
+                  -0.39538363672981347
+                ],
+                "gripper_position": [
+                  0.28592124227383875,
+                  -0.3925294337399335,
+                  1.0049287806260634
+                ],
+                "rod_tip_xy_dist": 0.0031955997827760427,
+                "target_xy_drift": 1.6401848998846398e-07,
+                "depth": 0.016169349475228745,
+                "bottom_clearance": 0.08327119130132343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014280573851320755,
+                  0.002854238833069511
+                ],
+                "rod_tip_xy": [
+                  0.2859212422738387,
+                  -0.3925294337399335
+                ],
+                "target_mouth_xy": [
+                  0.28734929965897077,
+                  -0.395383672573003
+                ],
+                "gripper_position": [
+                  0.2859133593455722,
+                  -0.3925338007850652,
+                  1.0047869940815022
+                ],
+                "rod_tip_xy_dist": 0.0031915556099545352,
+                "target_xy_drift": 2.0849449981216224e-07,
+                "depth": 0.016331182583887105,
+                "bottom_clearance": 0.0831095158771219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0014359400134194011,
+                  0.002849865744904423
+                ],
+                "rod_tip_xy": [
+                  0.28591335934557216,
+                  -0.39253380078506533
+                ],
+                "target_mouth_xy": [
+                  0.28734929935899156,
+                  -0.39538366652996976
+                ],
+                "gripper_position": [
+                  0.28590560367317486,
+                  -0.3925376238565784,
+                  1.004644495065607
+                ],
+                "rod_tip_xy_dist": 0.0031911844957818645,
+                "target_xy_drift": 2.032154349895399e-07,
+                "depth": 0.01647279014338532,
+                "bottom_clearance": 0.0829677825305325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014437260432479393,
+                  0.0028460429896149386
+                ],
+                "rod_tip_xy": [
+                  0.2859056036731748,
+                  -0.3925376238565785
+                ],
+                "target_mouth_xy": [
+                  0.28734932971642274,
+                  -0.3953836668461934
+                ],
+                "gripper_position": [
+                  0.2859144151235101,
+                  -0.39261200669676427,
+                  1.0041088319779086
+                ],
+                "rod_tip_xy_dist": 0.0031912858829457273,
+                "target_xy_drift": 1.9174405159302725e-07,
+                "depth": 0.016615407103955482,
+                "bottom_clearance": 0.0828251755209588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014348831265206807,
+                  0.0027716614192581646
+                ],
+                "rod_tip_xy": [
+                  0.2859144151235101,
+                  -0.39261200669676427
+                ],
+                "target_mouth_xy": [
+                  0.2873492982500308,
+                  -0.39538366811602244
+                ],
+                "gripper_position": [
+                  0.2859040120948574,
+                  -0.3926218305311487,
+                  1.0039467984299248
+                ],
+                "rod_tip_xy_dist": 0.003121056969966737,
+                "target_xy_drift": 2.051314134314729e-07,
+                "depth": 0.01715092461473955,
+                "bottom_clearance": 0.08228956767047946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014452882906754727,
+                  0.0027618356816035416
+                ],
+                "rod_tip_xy": [
+                  0.2859040120948574,
+                  -0.3926218305311487
+                ],
+                "target_mouth_xy": [
+                  0.28734930038553286,
+                  -0.3953836662127522
+                ],
+                "gripper_position": [
+                  0.285896285117924,
+                  -0.3926254521279256,
+                  1.0038048139189195
+                ],
+                "rod_tip_xy_dist": 0.0031171452605456376,
+                "target_xy_drift": 2.0247063535903182e-07,
+                "depth": 0.017313118849343723,
+                "bottom_clearance": 0.08212750467213559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014530132821958253,
+                  0.002758184599782998
+                ],
+                "rod_tip_xy": [
+                  0.285896285117924,
+                  -0.3926254521279256
+                ],
+                "target_mouth_xy": [
+                  0.2873492984001198,
+                  -0.3953836367277086
+                ],
+                "gripper_position": [
+                  0.28588838856250737,
+                  -0.3926293502169518,
+                  1.003662627204305
+                ],
+                "rod_tip_xy_dist": 0.0031175037906500743,
+                "target_xy_drift": 1.7762876664902804e-07,
+                "depth": 0.017454962712819766,
+                "bottom_clearance": 0.08198557316974275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014609113023708042,
+                  0.0027542855596634497
+                ],
+                "rod_tip_xy": [
+                  0.2858883885625073,
+                  -0.39262935021695183
+                ],
+                "target_mouth_xy": [
+                  0.2873492998648781,
+                  -0.3953836357766153
+                ],
+                "gripper_position": [
+                  0.28589837303893706,
+                  -0.39270586936360197,
+                  1.00313026989867
+                ],
+                "rod_tip_xy_dist": 0.003117747709094718,
+                "target_xy_drift": 1.7605489688654642e-07,
+                "depth": 0.017597297314580485,
+                "bottom_clearance": 0.08184332900970459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014509259969262,
+                  0.0026777385107310536
+                ],
+                "rod_tip_xy": [
+                  0.285898373038937,
+                  -0.392705869363602
+                ],
+                "target_mouth_xy": [
+                  0.2873492990358632,
+                  -0.3953836078743331
+                ],
+                "gripper_position": [
+                  0.2858879811531979,
+                  -0.3927155782149823,
+                  1.002968262923164
+                ],
+                "rod_tip_xy_dist": 0.0030455655928593047,
+                "target_xy_drift": 1.5336747493676081e-07,
+                "depth": 0.01812949475510306,
+                "bottom_clearance": 0.08131103141370744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014613179288097133,
+                  0.002668089899435233
+                ],
+                "rod_tip_xy": [
+                  0.28588798115319786,
+                  -0.3927155782149823
+                ],
+                "target_mouth_xy": [
+                  0.28734929908200757,
+                  -0.39538366811441755
+                ],
+                "gripper_position": [
+                  0.28587996574441044,
+                  -0.392719205900511,
+                  1.002826613076578
+                ],
+                "rod_tip_xy_dist": 0.0030420640691032497,
+                "target_xy_drift": 2.0475493727870525e-07,
+                "depth": 0.01829155679629768,
+                "bottom_clearance": 0.08114896127926274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014693326206413615,
+                  0.0026644612633920928
+                ],
+                "rod_tip_xy": [
+                  0.28587996574441044,
+                  -0.39271920590051096
+                ],
+                "target_mouth_xy": [
+                  0.2873492983650518,
+                  -0.39538366716390305
+                ],
+                "gripper_position": [
+                  0.28587190134727314,
+                  -0.39272295629623877,
+                  1.002684542756119
+                ],
+                "rod_tip_xy_dist": 0.003042744184810448,
+                "target_xy_drift": 2.0423052724339283e-07,
+                "depth": 0.018433211518515957,
+                "bottom_clearance": 0.0810073002364089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0014773983295388593,
+                  0.002660711183574971
+                ],
+                "rod_tip_xy": [
+                  0.28587190134727314,
+                  -0.3927229562962388
+                ],
+                "target_mouth_xy": [
+                  0.287349299676812,
+                  -0.3953836674798138
+                ],
+                "gripper_position": [
+                  0.28586381607902933,
+                  -0.3927264505912949,
+                  1.0025423870187944
+                ],
+                "rod_tip_xy_dist": 0.0030433681713728186,
+                "target_xy_drift": 2.0392093372885958e-07,
+                "depth": 0.01857528656996743,
+                "bottom_clearance": 0.08086526417584172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014854835943884925,
+                  0.00265718771968243
+                ],
+                "rod_tip_xy": [
+                  0.28586381607902933,
+                  -0.3927264505912948
+                ],
+                "target_mouth_xy": [
+                  0.2873492996734178,
+                  -0.3953836383109772
+                ],
+                "gripper_position": [
+                  0.28585598235111004,
+                  -0.39273006512356967,
+                  1.002400606672062
+                ],
+                "rod_tip_xy_dist": 0.0030442253672861457,
+                "target_xy_drift": 1.7832569275187173e-07,
+                "depth": 0.018717497024982377,
+                "bottom_clearance": 0.08072304381555728,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014933164546472866,
+                  0.002653602040552705
+                ],
+                "rod_tip_xy": [
+                  0.28585598235111004,
+                  -0.3927300651235696
+                ],
+                "target_mouth_xy": [
+                  0.2873492988057573,
+                  -0.3953836671641223
+                ],
+                "gripper_position": [
+                  0.2858687224949127,
+                  -0.3928105821574881,
+                  1.0018728911918395
+                ],
+                "rod_tip_xy_dist": 0.003044929855242288,
+                "target_xy_drift": 2.040310941372081e-07,
+                "depth": 0.018859221405119198,
+                "bottom_clearance": 0.08058130724380919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014805770622363101,
+                  0.002573084372331891
+                ],
+                "rod_tip_xy": [
+                  0.28586872249491263,
+                  -0.39281058215748804
+                ],
+                "target_mouth_xy": [
+                  0.28734929955714894,
+                  -0.39538366652981993
+                ],
+                "gripper_position": [
+                  0.2858581071304748,
+                  -0.3928203449479184,
+                  1.0017114527958975
+                ],
+                "rod_tip_xy_dist": 0.002968648113933159,
+                "target_xy_drift": 2.031259678718505e-07,
+                "depth": 0.019386954212279317,
+                "bottom_clearance": 0.08005362607567235,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014911924669507859,
+                  0.0025633228489569393
+                ],
+                "rod_tip_xy": [
+                  0.2858581071304748,
+                  -0.39282034494791845
+                ],
+                "target_mouth_xy": [
+                  0.2873492995974256,
+                  -0.3953836677968754
+                ],
+                "gripper_position": [
+                  0.2858499389614231,
+                  -0.392823765440808,
+                  1.0015699404707492
+                ],
+                "rod_tip_xy_dist": 0.0029655149639608107,
+                "target_xy_drift": 2.0423996783047189e-07,
+                "depth": 0.01954842982687366,
+                "bottom_clearance": 0.07989210648682554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001499359203059214,
+                  0.0025599014064865977
+                ],
+                "rod_tip_xy": [
+                  0.2858499389614231,
+                  -0.39282376544080794
+                ],
+                "target_mouth_xy": [
+                  0.2873492981644823,
+                  -0.39538366684729453
+                ],
+                "gripper_position": [
+                  0.2858631100958763,
+                  -0.39289735636194717,
+                  1.0009572194469811
+                ],
+                "rod_tip_xy_dist": 0.002966677136246953,
+                "target_xy_drift": 2.0403968129692872e-07,
+                "depth": 0.01968989445012992,
+                "bottom_clearance": 0.07975063346462996,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0006050020085843672,
+              "rod_tip_xy_max_step": 3.287774754909239e-05,
+              "rod_tip_xy_range": 0.0006049933961841772,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2854075313287963,
+            -0.3941847328968227,
+            1.0433645586914693
+          ],
+          "object_origin_world": [
+            0.2854075313287963,
+            -0.3941847328968227,
+            1.0433645586914693
+          ],
+          "frame_world": [
+            0.2854061673721331,
+            -0.394194388805051,
+            1.0432363903401396
+          ],
+          "center_minus_frame": [
+            1.3639566632250855e-06,
+            9.655908228267673e-06,
+            0.00012816835132967164
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2557954716435422,
+              0.1548031486075005,
+              0.8329470841907719
+            ],
+            "target_position": [
+              0.26875631555876367,
+              0.19998733616601444,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04700632170589079,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16650457369971322,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329470841907719,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567449081531,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13532342205149828,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7546760ca36995e41a9c1e6b1dfa8e6d3a6fa7c4233ddefede3e1db846eb561a",
+    "visual_seed": 3921442386655563351,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bab0a5049308c5d72c570554379e0c609e672226
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_42_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2969003324354908,
+              -0.01638430873133198,
+              1.164295240639392
+            ],
+            "current_z": 1.164295240639392,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.3031886730199811,
+            "gripper_z": 1.1564864266786608,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2922516060054088,
+              -0.021188096538709025,
+              1.1564864266786608
+            ],
+            "object_minus_gripper": [
+              0.0046487264300820175,
+              0.004803787807377044,
+              0.007808813960731298
+            ],
+            "object_to_gripper_xy": 0.00668483617750259,
+            "object_to_gripper_z": 0.007808813960731298,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2969003324354908,
+              -0.04005381464197141,
+              1.164295240639392
+            ],
+            "finger_b": [
+              0.28581006583129887,
+              -0.01638430873133198,
+              1.164295240639392
+            ],
+            "finger_midpoint": [
+              0.2913551991333948,
+              -0.028219061686651694,
+              1.164295240639392
+            ],
+            "object_minus_finger_midpoint": [
+              0.005545133302095995,
+              0.011834752955319713,
+              0.0
+            ],
+            "finger_gap": 0.02613885084325341,
+            "fingertip_max_gap": 0.09135404985588622,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013069425421626717,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164295240639392,
+            "object_top_z": 1.2142440724240955,
+            "finger_top_clearance": 0.04994883178470344,
+            "fingertip_min_top_clearance": 0.014984649535410998,
+            "object_projection_between_fingers": 0.8199840478505288,
+            "object_to_finger_line_xy": 0.01004256585389412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817702492794311,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0545519772201317,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2796156477211734,
+              -0.39515514159546467,
+              0.8515395751037492
+            ],
+            "target_position": [
+              0.2724303984757076,
+              -0.396354955554457,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007284734741612762,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18346455615823556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395751037492,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565492160081534,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527575012688406,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15122262906592057,
+            "release_required_pad_clearance": 0.05263787506344203,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3357175777089907,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00824880599975586,
+            "max_z_decrease": 0.00824880599975586,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500320356248201,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00824880599975586,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020955330356592715,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00824880599975586,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008248863616652917,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12813033163547516,
+              -0.4526164233684539,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12813033163547516,
+              -0.4526164233684539,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1273018139716597,
+              -0.4531972633563391,
+              0.80362020780174
+            ],
+            "closest_button": [
+              0.12815460562705994,
+              -0.4525942206382751,
+              0.7686325907707214
+            ],
+            "closest_ee_minus_button": [
+              -0.0008527916554002257,
+              -0.0006030427180639952,
+              0.0349876170310186
+            ],
+            "button_min_z_position": [
+              0.12815068662166595,
+              -0.4525932669639587,
+              0.7685600519180298
+            ],
+            "min_active_finger_to_button": 0.14654839295057243,
+            "closest_active_finger": [
+              -0.01346585899591446,
+              -0.43703728914260864,
+              0.8109561204910278
+            ],
+            "closest_active_finger_button": [
+              0.12813091278076172,
+              -0.45261469483375544,
+              0.7765449285507202
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14159677177667618,
+              0.015577405691146795,
+              0.03441119194030762
+            ],
+            "min_contact_pad_to_button": 0.020955330356592715,
+            "closest_contact_pad": [
+              0.12815068662166595,
+              -0.4543769695304996,
+              0.7894393305336346
+            ],
+            "closest_contact_pad_button": [
+              0.12815068662166595,
+              -0.4525932669639587,
+              0.7685600519180298
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017837025665409234,
+              0.02087927861560479
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.265264077088402,
+              0.20486281881546353,
+              1.1045661505235107
+            ],
+            "current_z": 1.1045661505235107,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19465702078914815,
+            "gripper_z": 1.1045665514996537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.265264208096285,
+              0.20486282426976907,
+              1.1045665514996537
+            ],
+            "object_minus_gripper": [
+              -1.31007882986367e-07,
+              -5.454305535002035e-09,
+              -4.009761429557557e-07
+            ],
+            "object_to_gripper_xy": 1.3112137451017962e-07,
+            "object_to_gripper_z": -4.009761429557557e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.265264077088402,
+              0.20486281881546353,
+              1.1045661505235107
+            ],
+            "finger_b": [
+              0.265264077088402,
+              0.20486281881546353,
+              1.1045661505235107
+            ],
+            "finger_midpoint": [
+              0.265264077088402,
+              0.20486281881546353,
+              1.1045661505235107
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045661505235107,
+            "object_top_z": 1.2295746571437904,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.265264077088402,
+            0.20486281881546356,
+            1.1045661505235107
+          ],
+          "object_origin_world": [
+            0.265264077088402,
+            0.20486281881546356,
+            1.1045661505235107
+          ],
+          "frame_world": [
+            0.265264208096285,
+            0.20486282426976907,
+            1.1045665514996537
+          ],
+          "center_minus_frame": [
+            -1.31007882986367e-07,
+            -5.45430550724646e-09,
+            -4.009761429557557e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436461122215142,
+            "required_z": 0.9112598207094851,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007520773727709367,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3519031877468794e-07,
+            "max_target_xy_drift": 9.247983516959814e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3357175737974472,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.33804091258532587,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28031604521058184,
+              -0.39536078793536444,
+              0.9233523504842062
+            ],
+            "target_mouth_xy": [
+              0.2796156167064048,
+              -0.3951550819877716
+            ],
+            "rod_tip_z": 0.9233523504842062,
+            "rod_tip_depth": -0.022092474706971177,
+            "rod_tip_bottom_clearance": 0.12153304873634074,
+            "rod_tip_xy_dist": 0.0007300102919403171,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04510166748864841,
+            "min_rod_tip_bottom_clearance": 0.05433890214209902,
+            "min_rod_tip_xy_dist": 0.00023373958439580213,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2796156792720923,
+              -0.3951552018291544
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.256568751972225e-08,
+              1.198413828173983e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0011094064425090644,
+                0.0015912426888445297
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010330710318767755,
+                0.0012183362678381826
+              ],
+              "first_target_mouth_xy": [
+                0.2796156442902296,
+                -0.3951544294163227
+              ],
+              "last_target_mouth_xy": [
+                0.2796156178101023,
+                -0.39515517171697023
+              ],
+              "first_rod_tip_xy": [
+                0.2807250507327387,
+                -0.39356318672747814
+              ],
+              "last_rod_tip_xy": [
+                0.2806486888419791,
+                -0.39393683544913205
+              ],
+              "min_rod_tip_xy_dist": 0.0015973662756026926,
+              "max_rod_tip_xy_dist": 0.001939803069768111,
+              "first_target_xy_drift": 7.73204574074978e-07,
+              "last_target_xy_drift": 6.844209122444251e-08,
+              "max_depth": 0.019402533671662447,
+              "min_bottom_clearance": 0.08003798617085034
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0011094064425090644,
+                  0.0015912426888445297
+                ],
+                "rod_tip_xy": [
+                  0.2807250507327387,
+                  -0.39356318672747814
+                ],
+                "target_mouth_xy": [
+                  0.2796156442902296,
+                  -0.3951544294163227
+                ],
+                "gripper_position": [
+                  0.2807358397996169,
+                  -0.3936339558359221,
+                  1.0056280989988222
+                ],
+                "rod_tip_xy_dist": 0.001939803069768111,
+                "target_xy_drift": 7.73204574074978e-07,
+                "depth": 0.015097145187935035,
+                "bottom_clearance": 0.08434341756334429,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011201961025152918,
+                  0.0015204761269207445
+                ],
+                "rod_tip_xy": [
+                  0.28073583979961697,
+                  -0.3936339558359222
+                ],
+                "target_mouth_xy": [
+                  0.2796156436971017,
+                  -0.39515443196284294
+                ],
+                "gripper_position": [
+                  0.28072584373023673,
+                  -0.3936435310812014,
+                  1.0054684069291668
+                ],
+                "rod_tip_xy_dist": 0.0018885674360812107,
+                "target_xy_drift": 7.706878210450956e-07,
+                "depth": 0.01563172897933296,
+                "bottom_clearance": 0.08380878801422365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0011102277287300955,
+                  0.0015108989675871043
+                ],
+                "rod_tip_xy": [
+                  0.28072584373023673,
+                  -0.39364353108120154
+                ],
+                "target_mouth_xy": [
+                  0.27961561600150664,
+                  -0.39515443004878864
+                ],
+                "gripper_position": [
+                  0.2807180808719922,
+                  -0.3936477530921711,
+                  1.0053284113111838
+                ],
+                "rod_tip_xy_dist": 0.0018749456791856568,
+                "target_xy_drift": 7.743694854635603e-07,
+                "depth": 0.01579149727924356,
+                "bottom_clearance": 0.083649100687886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011024380153218938,
+                  0.0015066484338099873
+                ],
+                "rod_tip_xy": [
+                  0.2807180808719922,
+                  -0.39364775309217115
+                ],
+                "target_mouth_xy": [
+                  0.2796156428566703,
+                  -0.39515440152598114
+                ],
+                "gripper_position": [
+                  0.2807298941437202,
+                  -0.3937192823327236,
+                  1.0047948692045074
+                ],
+                "rod_tip_xy_dist": 0.0018669116424536443,
+                "target_xy_drift": 8.011312327789587e-07,
+                "depth": 0.015931371159677465,
+                "bottom_clearance": 0.08350915517684643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011142472918611035,
+                  0.001435120143118751
+                ],
+                "rod_tip_xy": [
+                  0.28072989414372024,
+                  -0.3937192823327237
+                ],
+                "target_mouth_xy": [
+                  0.27961564685185913,
+                  -0.39515440247584244
+                ],
+                "gripper_position": [
+                  0.28071963481693685,
+                  -0.3937290776031892,
+                  1.0046357283771672
+                ],
+                "rod_tip_xy_dist": 0.0018168975900157355,
+                "target_xy_drift": 8.000104929951379e-07,
+                "depth": 0.01646504821831518,
+                "bottom_clearance": 0.08297559949523448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011039937286617674,
+                  0.0014252938064504006
+                ],
+                "rod_tip_xy": [
+                  0.28071963481693685,
+                  -0.3937290776031894
+                ],
+                "target_mouth_xy": [
+                  0.2796156410882751,
+                  -0.3951543714096398
+                ],
+                "gripper_position": [
+                  0.28071198609840525,
+                  -0.39373290790256277,
+                  1.0044960054828462
+                ],
+                "rod_tip_xy_dist": 0.0018028490196437372,
+                "target_xy_drift": 8.312969229588543e-07,
+                "depth": 0.01662416318416915,
+                "bottom_clearance": 0.08281642232164377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001096341094986908,
+                  0.0014214641314934662
+                ],
+                "rod_tip_xy": [
+                  0.28071198609840525,
+                  -0.3937329079025629
+                ],
+                "target_mouth_xy": [
+                  0.27961564500341834,
+                  -0.39515437203405634
+                ],
+                "gripper_position": [
+                  0.2807041943965204,
+                  -0.3937367684458298,
+                  1.004355980431852
+                ],
+                "rod_tip_xy_dist": 0.0017951390123551899,
+                "target_xy_drift": 8.30502406263585e-07,
+                "depth": 0.016763826088099454,
+                "bottom_clearance": 0.08267672756743949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00108858138712431,
+                  0.0014176032767028168
+                ],
+                "rod_tip_xy": [
+                  0.28070419439652045,
+                  -0.39373676844582994
+                ],
+                "target_mouth_xy": [
+                  0.27961561300939614,
+                  -0.39515437172253276
+                ],
+                "gripper_position": [
+                  0.2807176979538697,
+                  -0.3938106290534239,
+                  1.003823247124533
+                ],
+                "rod_tip_xy_dist": 0.001787346772876503,
+                "target_xy_drift": 8.327471094106964e-07,
+                "depth": 0.016903862989116614,
+                "bottom_clearance": 0.08253666502565993,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011020534626578482,
+                  0.0013437721496033506
+                ],
+                "rod_tip_xy": [
+                  0.28071769795386975,
+                  -0.393810629053424
+                ],
+                "target_mouth_xy": [
+                  0.2796156444912119,
+                  -0.39515440120302736
+                ],
+                "gripper_position": [
+                  0.2807073355329742,
+                  -0.3938204210083247,
+                  1.0036642214234894
+                ],
+                "rod_tip_xy_dist": 0.0017378853312591607,
+                "target_xy_drift": 8.013812482057042e-07,
+                "depth": 0.017436569979522587,
+                "bottom_clearance": 0.08200394328561689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010917228829103731,
+                  0.0013339789278814518
+                ],
+                "rod_tip_xy": [
+                  0.2807073355329743,
+                  -0.3938204210083248
+                ],
+                "target_mouth_xy": [
+                  0.2796156126500639,
+                  -0.39515439993620627
+                ],
+                "gripper_position": [
+                  0.280699494338832,
+                  -0.3938242759976672,
+                  1.0035242991526125
+                ],
+                "rod_tip_xy_dist": 0.0017237629283349506,
+                "target_xy_drift": 8.04655699642636e-07,
+                "depth": 0.01759565091586124,
+                "bottom_clearance": 0.0818449270506516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010838503359069662,
+                  0.0013300947653769324
+                ],
+                "rod_tip_xy": [
+                  0.280699494338832,
+                  -0.39382427599766723
+                ],
+                "target_mouth_xy": [
+                  0.27961564400292505,
+                  -0.39515437076304416
+                ],
+                "gripper_position": [
+                  0.2806915726139143,
+                  -0.3938280544988052,
+                  1.0033843852877475
+                ],
+                "rod_tip_xy_dist": 0.0017157749373180506,
+                "target_xy_drift": 8.31814158202518e-07,
+                "depth": 0.017735525531587304,
+                "bottom_clearance": 0.08170499197677128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010759272064972958,
+                  0.0013263181728023765
+                ],
+                "rod_tip_xy": [
+                  0.28069157261391436,
+                  -0.3938280544988053
+                ],
+                "target_mouth_xy": [
+                  0.27961564540741707,
+                  -0.3951543726716077
+                ],
+                "gripper_position": [
+                  0.2806836822334609,
+                  -0.39383207082857286,
+                  1.0032447793514072
+                ],
+                "rod_tip_xy_dist": 0.0017078463775137707,
+                "target_xy_drift": 8.298488136603199e-07,
+                "depth": 0.017875520491400843,
+                "bottom_clearance": 0.08156507138924785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010680381129756222,
+                  0.0013222999335499863
+                ],
+                "rod_tip_xy": [
+                  0.2806836822334609,
+                  -0.3938320708285731
+                ],
+                "target_mouth_xy": [
+                  0.2796156441204853,
+                  -0.39515437076212306
+                ],
+                "gripper_position": [
+                  0.28069942286106575,
+                  -0.3939091256992851,
+                  1.0027138801227435
+                ],
+                "rod_tip_xy_dist": 0.0016997595491818323,
+                "target_xy_drift": 8.318101021796746e-07,
+                "depth": 0.01801498667014345,
+                "bottom_clearance": 0.0814255353711345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001083746356938864,
+                  0.0012452739052069561
+                ],
+                "rod_tip_xy": [
+                  0.28069942286106575,
+                  -0.39390912569928527
+                ],
+                "target_mouth_xy": [
+                  0.2796156765041269,
+                  -0.3951543996044922
+                ],
+                "gripper_position": [
+                  0.28068892247023336,
+                  -0.3939186345754808,
+                  1.0025552093459582
+                ],
+                "rod_tip_xy_dist": 0.001650821996814812,
+                "target_xy_drift": 8.022294374266943e-07,
+                "depth": 0.01854604270127691,
+                "bottom_clearance": 0.08089461281539667,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010732813239636152,
+                  0.001235797398307703
+                ],
+                "rod_tip_xy": [
+                  0.2806889224702334,
+                  -0.39391863457548093
+                ],
+                "target_mouth_xy": [
+                  0.2796156411462698,
+                  -0.39515443197378863
+                ],
+                "gripper_position": [
+                  0.2806809123339244,
+                  -0.39392218454527506,
+                  1.0024155250975302
+                ],
+                "rod_tip_xy_dist": 0.0016368042063830293,
+                "target_xy_drift": 7.707988470259515e-07,
+                "depth": 0.01870469631406002,
+                "bottom_clearance": 0.08073591856824658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010652683400170782,
+                  0.0012321858972583755
+                ],
+                "rod_tip_xy": [
+                  0.2806809123339244,
+                  -0.39392218454527517
+                ],
+                "target_mouth_xy": [
+                  0.2796156439939073,
+                  -0.39515437044253354
+                ],
+                "gripper_position": [
+                  0.28067287686945497,
+                  -0.3939259520070212,
+                  1.002275890542557
+                ],
+                "rod_tip_xy_dist": 0.001628827406954208,
+                "target_xy_drift": 8.321347629534176e-07,
+                "depth": 0.01884424565654641,
+                "bottom_clearance": 0.08059628304028033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010572005982648625,
+                  0.001228448552331618
+                ],
+                "rod_tip_xy": [
+                  0.28067287686945497,
+                  -0.3939259520070212
+                ],
+                "target_mouth_xy": [
+                  0.2796156762711901,
+                  -0.3951544005593528
+                ],
+                "gripper_position": [
+                  0.2806649229353703,
+                  -0.39392948583902704,
+                  1.0021364597641256
+                ],
+                "rod_tip_xy_dist": 0.0016207279076690298,
+                "target_xy_drift": 8.012754210647309e-07,
+                "depth": 0.018984013315555992,
+                "bottom_clearance": 0.08045659889387025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001049306230924918,
+                  0.001225686830959416
+                ],
+                "rod_tip_xy": [
+                  0.2806649229353703,
+                  -0.3939294858390271
+                ],
+                "target_mouth_xy": [
+                  0.2796156167044454,
+                  -0.3951551726699865
+                ],
+                "gripper_position": [
+                  0.28065669366293666,
+                  -0.39393336166782184,
+                  1.001996837377884
+                ],
+                "rod_tip_xy_dist": 0.0016134905558586926,
+                "target_xy_drift": 6.90287440970643e-08,
+                "depth": 0.019123414802755367,
+                "bottom_clearance": 0.08031715659339056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001041075062788499,
+                  0.0012218103615946885
+                ],
+                "rod_tip_xy": [
+                  0.28065669366293666,
+                  -0.3939333616678219
+                ],
+                "target_mouth_xy": [
+                  0.27961561860014816,
+                  -0.3951551720294166
+                ],
+                "gripper_position": [
+                  0.280648688841979,
+                  -0.39393683544913205,
+                  1.001857302599543
+                ],
+                "rod_tip_xy_dist": 0.0016051971361986106,
+                "target_xy_drift": 6.75951860766704e-08,
+                "depth": 0.019262974876125383,
+                "bottom_clearance": 0.08017751469160028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010330710318767755,
+                  0.0012183362678381826
+                ],
+                "rod_tip_xy": [
+                  0.2806486888419791,
+                  -0.39393683544913205
+                ],
+                "target_mouth_xy": [
+                  0.2796156178101023,
+                  -0.39515517171697023
+                ],
+                "gripper_position": [
+                  0.28064047384963176,
+                  -0.39394061987842366,
+                  1.0017176950513171
+                ],
+                "rod_tip_xy_dist": 0.0015973662756026926,
+                "target_xy_drift": 6.844209122444251e-08,
+                "depth": 0.019402533671662447,
+                "bottom_clearance": 0.08003798617085034,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006019578490473413,
+              "rod_tip_xy_max_step": 3.265320545809892e-05,
+              "rod_tip_xy_range": 0.000601950762663225,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28031604521058184,
+            -0.3953607879353644,
+            1.0433523504842062
+          ],
+          "object_origin_world": [
+            0.28031604521058184,
+            -0.3953607879353644,
+            1.0433523504842062
+          ],
+          "frame_world": [
+            0.2803399912870351,
+            -0.3953573240248725,
+            1.0436461122215142
+          ],
+          "center_minus_frame": [
+            -2.3946076453229548e-05,
+            -3.4639104918854358e-06,
+            -0.00029376173730799593
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2520725144463462,
+              0.15875308075496986,
+              0.832543497869893
+            ],
+            "target_position": [
+              0.26538908627891966,
+              0.2047890232116732,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04792326244371297,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16633317208217444,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832543497869893,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674207635333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13585305773389084,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 248,
+            "max_placed_release_frames": 248
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a00703cefe958ec53d03bf12203896448946a1a49f57fbaeb439f3041441eb6e",
+    "visual_seed": 654803466505365939,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f928d22a0622502193ac7622995823e755c14fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_44_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30572284689750423,
+              -0.01776920280331415,
+              1.1642615619142553
+            ],
+            "current_z": 1.1642615619142553,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30315511350413427,
+            "gripper_z": 1.1564650188422156,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30092836630491293,
+              -0.022491837243673027,
+              1.1564650188422156
+            ],
+            "object_minus_gripper": [
+              0.004794480592591299,
+              0.004722634440358878,
+              0.007796543072039697
+            ],
+            "object_to_gripper_xy": 0.006729808333823366,
+            "object_to_gripper_z": 0.007796543072039697,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30572284689750423,
+              -0.04184739679430997,
+              1.1642615619142553
+            ],
+            "finger_b": [
+              0.2951482846809359,
+              -0.01776920280331415,
+              1.1642615619142553
+            ],
+            "finger_midpoint": [
+              0.30043556578922004,
+              -0.029808299798812058,
+              1.1642615619142553
+            ],
+            "object_minus_finger_midpoint": [
+              0.005287281108284192,
+              0.012039096995497909,
+              0.0
+            ],
+            "finger_gap": 0.026297923719185545,
+            "fingertip_max_gap": 0.09189867159366641,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013148961859592781,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642615619142553,
+            "object_top_z": 1.214141538823065,
+            "finger_top_clearance": 0.04987997690880963,
+            "fingertip_min_top_clearance": 0.014963993072642921,
+            "object_projection_between_fingers": 0.8383104803151338,
+            "object_to_finger_line_xy": 0.009681994789369354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844933579683321,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8207842612702982,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27808864890310636,
+              -0.3906120893536331,
+              0.8515395715024244
+            ],
+            "target_position": [
+              0.27169583451878265,
+              -0.3910344257063248,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006406749858330745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18386172013774002,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395715024244,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519391540399373,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08689942907752131,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15251302664257083,
+            "release_required_pad_clearance": 0.053449714538760656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.913088120515293,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008382260799407959,
+            "max_z_decrease": 0.008382260799407959,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501482592889697,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008382260799407959,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02091564725868183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008382260799407959,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008382380636444383,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12739576399326324,
+              -0.44729587435722357,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12739576399326324,
+              -0.44729587435722357,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12831909916989245,
+              -0.44658934971811987,
+              0.8036299145947674
+            ],
+            "closest_button": [
+              0.12742608785629272,
+              -0.4472685158252716,
+              0.7686330676078796
+            ],
+            "closest_ee_minus_button": [
+              0.0008930113135997286,
+              0.0006791661071517407,
+              0.034996846986887764
+            ],
+            "button_min_z_position": [
+              0.12742973864078522,
+              -0.44726663827896124,
+              0.7684265971183777
+            ],
+            "min_active_finger_to_button": 0.14479602132073588,
+            "closest_active_finger": [
+              0.0014674440026283264,
+              -0.5099754929542542,
+              0.811138927936554
+            ],
+            "closest_active_finger_button": [
+              0.12739616632461548,
+              -0.447294145822525,
+              0.7768039107322693
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12592872232198715,
+              -0.06268134713172913,
+              0.03433501720428467
+            ],
+            "min_contact_pad_to_button": 0.02091564725868183,
+            "closest_contact_pad": [
+              0.12742973864078522,
+              -0.44774952083713865,
+              0.7893366694445226
+            ],
+            "closest_contact_pad_button": [
+              0.12742973864078522,
+              -0.44726663827896124,
+              0.7684265971183777
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000482882558177411,
+              0.020910072326144946
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26834507989172823,
+              0.20776778866442192,
+              1.1022111102883918
+            ],
+            "current_z": 1.1022111102883918,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19230198055402925,
+            "gripper_z": 1.1022112433403881,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.268345086193424,
+              0.20776773279129876,
+              1.1022112433403881
+            ],
+            "object_minus_gripper": [
+              -6.301695776311789e-09,
+              5.587312315591397e-08,
+              -1.33051996309419e-07
+            ],
+            "object_to_gripper_xy": 5.6227371100320134e-08,
+            "object_to_gripper_z": -1.33051996309419e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26834507989172823,
+              0.20776778866442192,
+              1.1022111102883918
+            ],
+            "finger_b": [
+              0.26834507989172823,
+              0.20776778866442192,
+              1.1022111102883918
+            ],
+            "finger_midpoint": [
+              0.26834507989172823,
+              0.20776778866442192,
+              1.1022111102883918
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1022111102883918,
+            "object_top_z": 1.2272196169086715,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26834507989172823,
+            0.20776778866442192,
+            1.1022111102883918
+          ],
+          "object_origin_world": [
+            0.26834507989172823,
+            0.20776778866442192,
+            1.1022111102883918
+          ],
+          "frame_world": [
+            0.268345086193424,
+            0.20776773279129876,
+            1.1022112433403881
+          ],
+          "center_minus_frame": [
+            -6.301695776311789e-09,
+            5.587312315591397e-08,
+            -1.33051996309419e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433203027061966,
+            "required_z": 0.911259824169206,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015892626518077752,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.8830548953077386e-08,
+            "max_target_xy_drift": 1.820679565956296e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9130881199352687,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9130881205244392,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27675287268296334,
+              -0.39146167321695824,
+              0.9234439655009955
+            ],
+            "target_mouth_xy": [
+              0.2780885909792498,
+              -0.3906121527769355
+            ],
+            "rod_tip_z": 0.9234439655009955,
+            "rod_tip_depth": -0.022184064281960736,
+            "rod_tip_bottom_clearance": 0.121624758693058,
+            "rod_tip_xy_dist": 0.0015829808416562966,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04518821045642174,
+            "min_rod_tip_bottom_clearance": 0.05425227441379399,
+            "min_rod_tip_xy_dist": 0.000854738608977273,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.27808861955977165,
+              -0.3906121489882254
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.8580521838073025e-08,
+              -3.788710123409089e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0008183775898135126,
+                0.0009115385602811998
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009146695308664965,
+                0.0005451356875276203
+              ],
+              "first_target_mouth_xy": [
+                0.2780886496351381,
+                -0.39061217908581575
+              ],
+              "last_target_mouth_xy": [
+                0.2780886497204167,
+                -0.3906121496024924
+              ],
+              "first_rod_tip_xy": [
+                0.27727027204532456,
+                -0.38970064052553455
+              ],
+              "last_rod_tip_xy": [
+                0.2771739801895502,
+                -0.3900670139149648
+              ],
+              "min_rod_tip_xy_dist": 0.0010354995709155423,
+              "max_rod_tip_xy_dist": 0.0012270716627179657,
+              "first_target_xy_drift": 4.254870868796975e-08,
+              "last_target_xy_drift": 3.0166899625729204e-08,
+              "max_depth": 0.01939334967931594,
+              "min_bottom_clearance": 0.08004720130951082
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0008183775898135126,
+                  0.0009115385602811998
+                ],
+                "rod_tip_xy": [
+                  0.27727027204532456,
+                  -0.38970064052553455
+                ],
+                "target_mouth_xy": [
+                  0.2780886496351381,
+                  -0.39061217908581575
+                ],
+                "gripper_position": [
+                  0.27726262467432716,
+                  -0.38970474198884225,
+                  1.0059858243193076
+                ],
+                "rod_tip_xy_dist": 0.0012250079291125002,
+                "target_xy_drift": 4.254870868796975e-08,
+                "depth": 0.01513640249994419,
+                "bottom_clearance": 0.08430413413204862,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008260264907771209,
+                  0.0009074056986705936
+                ],
+                "rod_tip_xy": [
+                  0.27726262467432716,
+                  -0.3897047419888423
+                ],
+                "target_mouth_xy": [
+                  0.2780886511651043,
+                  -0.3906121476875129
+                ],
+                "gripper_position": [
+                  0.27726938501526016,
+                  -0.38977523392490115,
+                  1.0054505946874894
+                ],
+                "rod_tip_xy_dist": 0.0012270716627179657,
+                "target_xy_drift": 3.1632086613730906e-08,
+                "depth": 0.015274072927283888,
+                "bottom_clearance": 0.08416651124646879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0008192362211758009,
+                  0.0008369134464040195
+                ],
+                "rod_tip_xy": [
+                  0.27726938501526016,
+                  -0.3897752339249011
+                ],
+                "target_mouth_xy": [
+                  0.27808862123643596,
+                  -0.3906121473713051
+                ],
+                "gripper_position": [
+                  0.27725906487960267,
+                  -0.3897848348103958,
+                  1.0052945455125222
+                ],
+                "rod_tip_xy_dist": 0.0011711413675804725,
+                "target_xy_drift": 2.3292991093761542e-09,
+                "depth": 0.015809247751371158,
+                "bottom_clearance": 0.08363134340881073,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008295518348390152,
+                  0.000827345285062453
+                ],
+                "rod_tip_xy": [
+                  0.27725906487960267,
+                  -0.38978483481039583
+                ],
+                "target_mouth_xy": [
+                  0.2780886167144417,
+                  -0.3906121800954583
+                ],
+                "gripper_position": [
+                  0.2772512998756799,
+                  -0.389788771290493,
+                  1.0051573480407452
+                ],
+                "rod_tip_xy_dist": 0.001171604228141845,
+                "target_xy_drift": 3.123709079578668e-08,
+                "depth": 0.01596531917105548,
+                "bottom_clearance": 0.08347533165818366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000837318501487494,
+                  0.0008234062353758009
+                ],
+                "rod_tip_xy": [
+                  0.2772512998756799,
+                  -0.38978877129049294
+                ],
+                "target_mouth_xy": [
+                  0.2780886183771674,
+                  -0.39061217752586874
+                ],
+                "gripper_position": [
+                  0.2772588620131102,
+                  -0.3898602376839602,
+                  1.0046242603617508
+                ],
+                "rod_tip_xy_dist": 0.0011743509276996426,
+                "target_xy_drift": 2.8562136497404833e-08,
+                "depth": 0.016102501251205936,
+                "bottom_clearance": 0.08333803896133385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008297568317509052,
+                  0.0007519414270838465
+                ],
+                "rod_tip_xy": [
+                  0.2772588620131102,
+                  -0.38986023768396016
+                ],
+                "target_mouth_xy": [
+                  0.2780886188448611,
+                  -0.390612179111044
+                ],
+                "gripper_position": [
+                  0.27724834687263344,
+                  -0.3898698381080949,
+                  1.0044679036139321
+                ],
+                "rod_tip_xy_dist": 0.0011197822599068943,
+                "target_xy_drift": 3.0131300988293965e-08,
+                "depth": 0.01663558168728907,
+                "bottom_clearance": 0.08280495337914939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008402712590517836,
+                  0.000742306772769985
+                ],
+                "rod_tip_xy": [
+                  0.27724834687263344,
+                  -0.38986983810809495
+                ],
+                "target_mouth_xy": [
+                  0.27808861813168523,
+                  -0.39061214488086493
+                ],
+                "gripper_position": [
+                  0.2772407126205161,
+                  -0.3898733429908785,
+                  1.0043308990651847
+                ],
+                "rod_tip_xy_dist": 0.0011211936200713325,
+                "target_xy_drift": 4.348544667277965e-09,
+                "depth": 0.016792001171254234,
+                "bottom_clearance": 0.08264864663795757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008479379867246672,
+                  0.0007388367288567732
+                ],
+                "rod_tip_xy": [
+                  0.2772407126205161,
+                  -0.3898733429908785
+                ],
+                "target_mouth_xy": [
+                  0.27808865060724075,
+                  -0.3906121797197353
+                ],
+                "gripper_position": [
+                  0.27724893190032796,
+                  -0.38994550896466423,
+                  1.003801069332249
+                ],
+                "rod_tip_xy_dist": 0.0011246681916185141,
+                "target_xy_drift": 4.368490628939509e-08,
+                "depth": 0.0169290117040104,
+                "bottom_clearance": 0.08251158527479663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008396877375606571,
+                  0.0006666377994127837
+                ],
+                "rod_tip_xy": [
+                  0.27724893190032796,
+                  -0.3899455089646642
+                ],
+                "target_mouth_xy": [
+                  0.2780886196378886,
+                  -0.39061214676407696
+                ],
+                "gripper_position": [
+                  0.2772383272308392,
+                  -0.3899548648670452,
+                  1.0036450807057369
+                ],
+                "rod_tip_xy_dist": 0.0010721387280644486,
+                "target_xy_drift": 2.225519817397745e-09,
+                "depth": 0.01745871271508259,
+                "bottom_clearance": 0.08198184132971564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000850324816377257,
+                  0.0006572812133603945
+                ],
+                "rod_tip_xy": [
+                  0.2772383272308392,
+                  -0.3899548648670452
+                ],
+                "target_mouth_xy": [
+                  0.27808865204721644,
+                  -0.3906121460804056
+                ],
+                "gripper_position": [
+                  0.27723045867300755,
+                  -0.38995836475298407,
+                  1.0035083263724665
+                ],
+                "rod_tip_xy_dist": 0.0010747422420206289,
+                "target_xy_drift": 3.2617318785413275e-08,
+                "depth": 0.017614852170755646,
+                "bottom_clearance": 0.08182582433649965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008581588392553852,
+                  0.0006537858390609497
+                ],
+                "rod_tip_xy": [
+                  0.27723045867300755,
+                  -0.38995836475298407
+                ],
+                "target_mouth_xy": [
+                  0.27808861751226294,
+                  -0.390612150592045
+                ],
+                "gripper_position": [
+                  0.27722250170208496,
+                  -0.3899619558354271,
+                  1.0033713560767346
+                ],
+                "rod_tip_xy_dist": 0.0010788292342853803,
+                "target_xy_drift": 2.6008708858581362e-09,
+                "depth": 0.017751579711518306,
+                "bottom_clearance": 0.08168905245054725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008661187422181471,
+                  0.000650192165691954
+                ],
+                "rod_tip_xy": [
+                  0.27722250170208496,
+                  -0.38996195583542714
+                ],
+                "target_mouth_xy": [
+                  0.2780886204443031,
+                  -0.3906121480011191
+                ],
+                "gripper_position": [
+                  0.27721460036190737,
+                  -0.3899655575875229,
+                  1.0032346212601682
+                ],
+                "rod_tip_xy_dist": 0.0010830104006650807,
+                "target_xy_drift": 1.3254337787017772e-09,
+                "depth": 0.01788846910849029,
+                "bottom_clearance": 0.08155206923225256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008740485823364175,
+                  0.0006465929786840241
+                ],
+                "rod_tip_xy": [
+                  0.27721460036190737,
+                  -0.38996555758752294
+                ],
+                "target_mouth_xy": [
+                  0.2780886489442438,
+                  -0.39061215056620696
+                ],
+                "gripper_position": [
+                  0.2772249567637841,
+                  -0.39004089703150374,
+                  1.002706634343378
+                ],
+                "rod_tip_xy_dist": 0.0010872181953811204,
+                "target_xy_drift": 2.9426811387158602e-08,
+                "depth": 0.01802523562964542,
+                "bottom_clearance": 0.08141533486203933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000863692858568299,
+                  0.0005712215046935754
+                ],
+                "rod_tip_xy": [
+                  0.2772249567637841,
+                  -0.3900408970315038
+                ],
+                "target_mouth_xy": [
+                  0.2780886496223524,
+                  -0.3906121185361974
+                ],
+                "gripper_position": [
+                  0.2772141785380273,
+                  -0.39005038035478473,
+                  1.0025501396487462
+                ],
+                "rod_tip_xy_dist": 0.0010354995709155423,
+                "target_xy_drift": 4.279117633086957e-08,
+                "depth": 0.018553180631072697,
+                "bottom_clearance": 0.08088732297607992,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000874468900258607,
+                  0.000561769621396313
+                ],
+                "rod_tip_xy": [
+                  0.2772141785380273,
+                  -0.3900503803547848
+                ],
+                "target_mouth_xy": [
+                  0.27808864743828593,
+                  -0.3906121499761811
+                ],
+                "gripper_position": [
+                  0.27720616707292484,
+                  -0.3900537162632489,
+                  1.0024135243391359
+                ],
+                "rod_tip_xy_dist": 0.0010393656551201096,
+                "target_xy_drift": 2.7896014315202762e-08,
+                "depth": 0.018709751122068297,
+                "bottom_clearance": 0.08073085366252497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008824823267998827,
+                  0.0005584327144939616
+                ],
+                "rod_tip_xy": [
+                  0.27720616707292484,
+                  -0.3900537162632489
+                ],
+                "target_mouth_xy": [
+                  0.2780886493997247,
+                  -0.3906121489777429
+                ],
+                "gripper_position": [
+                  0.2771981582720133,
+                  -0.39005702145301596,
+                  1.0022766039294693
+                ],
+                "rod_tip_xy_dist": 0.0010443285659844938,
+                "target_xy_drift": 2.983995490525207e-08,
+                "depth": 0.01884629996801268,
+                "bottom_clearance": 0.080594216810285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008904905852781253,
+                  0.0005550961557171941
+                ],
+                "rod_tip_xy": [
+                  0.2771981582720133,
+                  -0.390057021453016
+                ],
+                "target_mouth_xy": [
+                  0.2780886488572914,
+                  -0.3906121176087332
+                ],
+                "gripper_position": [
+                  0.2771901478690136,
+                  -0.3900603481334628,
+                  1.0021401568120463
+                ],
+                "rod_tip_xy_dist": 0.001049335611022987,
+                "target_xy_drift": 4.2930376099643773e-08,
+                "depth": 0.018983229553373726,
+                "bottom_clearance": 0.08045729453956196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008985019441763997,
+                  0.0005518017919357021
+                ],
+                "rod_tip_xy": [
+                  0.2771901478690136,
+                  -0.3900603481334628
+                ],
+                "target_mouth_xy": [
+                  0.27808864981319,
+                  -0.3906121499253985
+                ],
+                "gripper_position": [
+                  0.27718206904928866,
+                  -0.39006367532182906,
+                  1.0020031692263855
+                ],
+                "rod_tip_xy_dist": 0.001054414985322298,
+                "target_xy_drift": 3.0267930452272e-08,
+                "depth": 0.01911968769516026,
+                "bottom_clearance": 0.08032087808139243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009065796125578562,
+                  0.0005484720945763133
+                ],
+                "rod_tip_xy": [
+                  0.27718206904928866,
+                  -0.39006367532182906
+                ],
+                "target_mouth_xy": [
+                  0.2780886486618465,
+                  -0.3906121474164054
+                ],
+                "gripper_position": [
+                  0.2771739801895502,
+                  -0.3900670139149648,
+                  1.00186648835718
+                ],
+                "rod_tip_xy_dist": 0.001059579271425447,
+                "target_xy_drift": 2.9144491406695564e-08,
+                "depth": 0.01925667024164246,
+                "bottom_clearance": 0.08018386141636824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0009146695308664965,
+                  0.0005451356875276203
+                ],
+                "rod_tip_xy": [
+                  0.2771739801895502,
+                  -0.3900670139149648
+                ],
+                "target_mouth_xy": [
+                  0.2780886497204167,
+                  -0.3906121496024924
+                ],
+                "gripper_position": [
+                  0.2771661224729593,
+                  -0.3900700908662497,
+                  1.0017300835678973
+                ],
+                "rod_tip_xy_dist": 0.0010647972898687093,
+                "target_xy_drift": 3.0166899625729204e-08,
+                "depth": 0.01939334967931594,
+                "bottom_clearance": 0.08004720130951082,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.000601979992950275,
+              "rod_tip_xy_max_step": 3.261923908557724e-05,
+              "rod_tip_xy_range": 0.0006019740211090284,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27675287268296334,
+            -0.39146167321695824,
+            1.0434439655009955
+          ],
+          "object_origin_world": [
+            0.27675287268296334,
+            -0.39146167321695824,
+            1.0434439655009955
+          ],
+          "frame_world": [
+            0.2767513682756738,
+            -0.39147098408602476,
+            1.0433203027061966
+          ],
+          "center_minus_frame": [
+            1.5044072895209482e-06,
+            9.310869066525562e-06,
+            0.00012366279479891773
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25304522742236646,
+              0.16214478364707224,
+              0.8313606441871471
+            ],
+            "target_position": [
+              0.26849771015769414,
+              0.207988305829515,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048377760890493074,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16430127898081068,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313606441871471,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.118356756818066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13356074356932268,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a87af313b0172d3d75a698db6f602e4e498d34b5a3f8bc49f8c1a35809c5708d",
+    "visual_seed": 7842348624881651337,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f04261cf411d3d66469de73aebfa558645a03d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_46_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2996748778328994,
+              -0.02573646227724253,
+              1.1651948693808292
+            ],
+            "current_z": 1.1651948693808292,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.304088361366063,
+            "gripper_z": 1.1573872445022855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29493544695293644,
+              -0.030516375393175338,
+              1.1573872445022855
+            ],
+            "object_minus_gripper": [
+              0.00473943087996298,
+              0.004779913115932809,
+              0.007807624878543695
+            ],
+            "object_to_gripper_xy": 0.00673125355797961,
+            "object_to_gripper_z": 0.007807624878543695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2996748778328994,
+              -0.0495457614284086,
+              1.1651948693808292
+            ],
+            "finger_b": [
+              0.288716266130751,
+              -0.02573646227724253,
+              1.1651948693808292
+            ],
+            "finger_midpoint": [
+              0.2941955719818252,
+              -0.037641111852825565,
+              1.1651948693808292
+            ],
+            "object_minus_finger_midpoint": [
+              0.005479305851074201,
+              0.011904649575583036,
+              0.0
+            ],
+            "finger_gap": 0.026210186884266608,
+            "fingertip_max_gap": 0.09155773254200847,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013105093442133304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651948693808292,
+            "object_top_z": 1.2151135778632904,
+            "finger_top_clearance": 0.04991870848246127,
+            "fingertip_min_top_clearance": 0.01497561254473838,
+            "object_projection_between_fingers": 0.8251881606435484,
+            "object_to_finger_line_xy": 0.009954788397733377,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827886627100424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2864416617705077,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28218782827800254,
+              -0.3962308174316656,
+              0.8515395705138097
+            ],
+            "target_position": [
+              0.2743821725046728,
+              -0.39745788037161484,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00790151539328457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18369753650834092,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395705138097,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521620472706554,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522301454923704,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525530045488931,
+            "release_required_pad_clearance": 0.052611507274618524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2853050519566463,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008525252342224121,
+            "max_z_decrease": 0.008525252342224121,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035052414838197196,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008525252342224121,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020966168735071924,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008525252342224121,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008525331621283827,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1300821006298065,
+              -0.45371934771537775,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1300821006298065,
+              -0.45371934771537775,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13178414671985367,
+              -0.45413767608570543,
+              0.8036557374214209
+            ],
+            "closest_button": [
+              0.13007687032222745,
+              -0.45368978381156916,
+              0.7686477899551392
+            ],
+            "closest_ee_minus_button": [
+              0.0017072763976262173,
+              -0.0004478922741362745,
+              0.035007947466281775
+            ],
+            "button_min_z_position": [
+              0.13006499409675598,
+              -0.45368680357933044,
+              0.7682836055755615
+            ],
+            "min_active_finger_to_button": 0.1441115351780565,
+            "closest_active_finger": [
+              -0.009031079709529877,
+              -0.43846023082733154,
+              0.8106610774993896
+            ],
+            "closest_active_finger_button": [
+              0.13008148968219757,
+              -0.45371696352958674,
+              0.7762654423713684
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13911256939172745,
+              0.015256732702255194,
+              0.03439563512802124
+            ],
+            "min_contact_pad_to_button": 0.020966168735071924,
+            "closest_contact_pad": [
+              0.13006499409675598,
+              -0.45528075626471226,
+              0.7891890963917149
+            ],
+            "closest_contact_pad_button": [
+              0.13006499409675598,
+              -0.45368680357933044,
+              0.7682836055755615
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015939526853818164,
+              0.020905490816153338
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2736020503390789,
+              0.19556902338031704,
+              1.1089181886859394
+            ],
+            "current_z": 1.1089181886859394,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19900905895157683,
+            "gripper_z": 1.1089186753735476,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2736020150842423,
+              0.19556907436933985,
+              1.1089186753735476
+            ],
+            "object_minus_gripper": [
+              3.525483660560269e-08,
+              -5.0989022809533324e-08,
+              -4.866876082143534e-07
+            ],
+            "object_to_gripper_xy": 6.199019237878564e-08,
+            "object_to_gripper_z": -4.866876082143534e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2736020503390789,
+              0.19556902338031704,
+              1.1089181886859394
+            ],
+            "finger_b": [
+              0.2736020503390789,
+              0.19556902338031704,
+              1.1089181886859394
+            ],
+            "finger_midpoint": [
+              0.2736020503390789,
+              0.19556902338031704,
+              1.1089181886859394
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1089181886859394,
+            "object_top_z": 1.2339266953062191,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2736020503390789,
+            0.19556902338031704,
+            1.1089181886859396
+          ],
+          "object_origin_world": [
+            0.2736020503390789,
+            0.19556902338031704,
+            1.1089181886859396
+          ],
+          "frame_world": [
+            0.2736020150842423,
+            0.19556907436933985,
+            1.1089186753735476
+          ],
+          "center_minus_frame": [
+            3.525483660560269e-08,
+            -5.0989022809533324e-08,
+            -4.866876079923088e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436078662671147,
+            "required_z": 0.9112598439320986,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020629922976177204,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.646838154562868e-08,
+            "max_target_xy_drift": 2.5509991280185316e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.28530505195536887,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.28530505199113776,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2801007387204447,
+              -0.39622674095328825,
+              0.9233127852298356
+            ],
+            "target_mouth_xy": [
+              0.2821879179539379,
+              -0.3962307879486808
+            ],
+            "rod_tip_z": 0.9233127852298356,
+            "rod_tip_depth": -0.022052969611418338,
+            "rod_tip_bottom_clearance": 0.12149346591673271,
+            "rod_tip_xy_dist": 0.002087183157007745,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0453440214624693,
+            "min_rod_tip_bottom_clearance": 0.054096616097362715,
+            "min_rod_tip_xy_dist": 0.0014557032058544475,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28218785935867313,
+              -0.39623075656969586
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.8595264751382103e-08,
+              -3.137898491045732e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.001516951952085177,
+                0.0017576124838331597
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016173079408294266,
+                0.0013672331531887627
+              ],
+              "first_target_mouth_xy": [
+                0.2821878298466857,
+                -0.396230759098865
+              ],
+              "last_target_mouth_xy": [
+                0.28218785858401446,
+                -0.3962307869996674
+              ],
+              "first_rod_tip_xy": [
+                0.28067087789460055,
+                -0.39447314661503186
+              ],
+              "last_rod_tip_xy": [
+                0.28057055064318503,
+                -0.39486355384647864
+              ],
+              "min_rod_tip_xy_dist": 0.0021121399537108758,
+              "max_rod_tip_xy_dist": 0.0023227044654680366,
+              "first_target_xy_drift": 2.9620163697256587e-08,
+              "last_target_xy_drift": 3.0439830225171955e-08,
+              "max_depth": 0.019805995495474682,
+              "min_bottom_clearance": 0.07963452782362379
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001516951952085177,
+                  0.0017576124838331597
+                ],
+                "rod_tip_xy": [
+                  0.28067087789460055,
+                  -0.39447314661503186
+                ],
+                "target_mouth_xy": [
+                  0.2821878298466857,
+                  -0.396230759098865
+                ],
+                "gripper_position": [
+                  0.2806608765078846,
+                  -0.39448294998802685,
+                  1.0056199795064003
+                ],
+                "rod_tip_xy_dist": 0.002321711624698726,
+                "target_xy_drift": 2.9620163697256587e-08,
+                "depth": 0.01548039797084566,
+                "bottom_clearance": 0.08396018236356262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0015269829478272712,
+                  0.0017478078441194311
+                ],
+                "rod_tip_xy": [
+                  0.2806608765078846,
+                  -0.3944829499880269
+                ],
+                "target_mouth_xy": [
+                  0.2821878594557119,
+                  -0.39623075783214634
+                ],
+                "gripper_position": [
+                  0.2806532197138736,
+                  -0.39448727204484757,
+                  1.00547977940415
+                ],
+                "rod_tip_xy_dist": 0.0023208854308045188,
+                "target_xy_drift": 1.2661744469881247e-09,
+                "depth": 0.015639783135739216,
+                "bottom_clearance": 0.08380075132049936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015346715108991438,
+                  0.001743484840065923
+                ],
+                "rod_tip_xy": [
+                  0.28065321971387364,
+                  -0.39448727204484757
+                ],
+                "target_mouth_xy": [
+                  0.2821878912247728,
+                  -0.3962307568849135
+                ],
+                "gripper_position": [
+                  0.28065866724897415,
+                  -0.39456008299974954,
+                  1.0049428162270433
+                ],
+                "rod_tip_xy_dist": 0.0023227044654680366,
+                "target_xy_drift": 3.18676586671117e-08,
+                "depth": 0.015780135073459323,
+                "bottom_clearance": 0.08366050884310938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015291606882916198,
+                  0.001670674832778607
+                ],
+                "rod_tip_xy": [
+                  0.28065866724897415,
+                  -0.39456008299974954
+                ],
+                "target_mouth_xy": [
+                  0.28218782793726577,
+                  -0.39623075783252815
+                ],
+                "gripper_position": [
+                  0.28064842064129325,
+                  -0.39457002764855603,
+                  1.004783397296377
+                ],
+                "rod_tip_xy_dist": 0.002264837037735017,
+                "target_xy_drift": 3.14467738594307e-08,
+                "depth": 0.016317010001610677,
+                "bottom_clearance": 0.0831234937513764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015394383957099134,
+                  0.001660729239488068
+                ],
+                "rod_tip_xy": [
+                  0.28064842064129325,
+                  -0.394570027648556
+                ],
+                "target_mouth_xy": [
+                  0.28218785903700316,
+                  -0.39623075688804404
+                ],
+                "gripper_position": [
+                  0.2806407640209254,
+                  -0.394574100999522,
+                  1.004643305089358
+                ],
+                "rod_tip_xy_dist": 0.002264484970379916,
+                "target_xy_drift": 4.5256726907405884e-10,
+                "depth": 0.01647643838700341,
+                "bottom_clearance": 0.08296411340229104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015470647824807338,
+                  0.001656657153090546
+                ],
+                "rod_tip_xy": [
+                  0.2806407640209254,
+                  -0.39457410099952195
+                ],
+                "target_mouth_xy": [
+                  0.28218782880340615,
+                  -0.3962307581526125
+                ],
+                "gripper_position": [
+                  0.2806468980499128,
+                  -0.39464776888321285,
+                  1.004109533695703
+                ],
+                "rod_tip_xy_dist": 0.0022666985604791463,
+                "target_xy_drift": 3.059624103511919e-08,
+                "depth": 0.01661651266391473,
+                "bottom_clearance": 0.08282399368971338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015409305236003812,
+                  0.001582989266503354
+                ],
+                "rod_tip_xy": [
+                  0.2806468980499128,
+                  -0.39464776888321274
+                ],
+                "target_mouth_xy": [
+                  0.28218782857351316,
+                  -0.3962307581497161
+                ],
+                "gripper_position": [
+                  0.28063655561649103,
+                  -0.3946573903772028,
+                  1.0039500250570907
+                ],
+                "rod_tip_xy_dist": 0.0022091450600692053,
+                "target_xy_drift": 3.08256798580374e-08,
+                "depth": 0.017150282192119115,
+                "bottom_clearance": 0.08229021525042512,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015513013906729989,
+                  0.0015733649112291692
+                ],
+                "rod_tip_xy": [
+                  0.28063655561649103,
+                  -0.3946573903772028
+                ],
+                "target_mouth_xy": [
+                  0.28218785700716403,
+                  -0.396230755288432
+                ],
+                "gripper_position": [
+                  0.2806289290158928,
+                  -0.3946612453593327,
+                  1.003809881084777
+                ],
+                "rod_tip_xy_dist": 0.0022095278112282614,
+                "target_xy_drift": 2.677915635761955e-09,
+                "depth": 0.01730986916311139,
+                "bottom_clearance": 0.08213075378497259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015589613921335177,
+                  0.0015695441722020087
+                ],
+                "rod_tip_xy": [
+                  0.2806289290158928,
+                  -0.39466124535933267
+                ],
+                "target_mouth_xy": [
+                  0.28218789040802633,
+                  -0.3962307895315347
+                ],
+                "gripper_position": [
+                  0.28062107148381854,
+                  -0.39466521603231586,
+                  1.0036697131637582
+                ],
+                "rod_tip_xy_dist": 0.00221220015610165,
+                "target_xy_drift": 4.528294548849061e-08,
+                "depth": 0.017450040330208805,
+                "bottom_clearance": 0.08199059937736031,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015667886932113073,
+                  0.0015655728658424684
+                ],
+                "rod_tip_xy": [
+                  0.28062107148381854,
+                  -0.39466521603231586
+                ],
+                "target_mouth_xy": [
+                  0.28218786017702985,
+                  -0.3962307888981583
+                ],
+                "gripper_position": [
+                  0.28062861037885944,
+                  -0.39474095324780734,
+                  1.0031388868946194
+                ],
+                "rod_tip_xy_dist": 0.002214914266385269,
+                "target_xy_drift": 3.233881866904745e-08,
+                "depth": 0.0175901935042736,
+                "bottom_clearance": 0.08185040697951107,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015592782149259077,
+                  0.0014898340666659182
+                ],
+                "rod_tip_xy": [
+                  0.2806286103788595,
+                  -0.39474095324780734
+                ],
+                "target_mouth_xy": [
+                  0.2821878885937854,
+                  -0.39623078731447325
+                ],
+                "gripper_position": [
+                  0.2806180833036488,
+                  -0.39475072882992823,
+                  1.0029795674948965
+                ],
+                "rod_tip_xy_dist": 0.002156607080054416,
+                "target_xy_drift": 4.242561875281351e-08,
+                "depth": 0.01812093570697726,
+                "bottom_clearance": 0.08131958445634335,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015698339012485407,
+                  0.0014800892345517846
+                ],
+                "rod_tip_xy": [
+                  0.28061808330364885,
+                  -0.39475072882992823
+                ],
+                "target_mouth_xy": [
+                  0.2821879172048974,
+                  -0.39623081806448
+                ],
+                "gripper_position": [
+                  0.28061016004622275,
+                  -0.39475437815480985,
+                  1.0028396163170945
+                ],
+                "rod_tip_xy_dist": 0.002157554777924607,
+                "target_xy_drift": 8.44262645074656e-08,
+                "depth": 0.018280270881862237,
+                "bottom_clearance": 0.08116025409827243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001577699218503703,
+                  0.0014764101107065941
+                ],
+                "rod_tip_xy": [
+                  0.28061016004622275,
+                  -0.39475437815480985
+                ],
+                "target_mouth_xy": [
+                  0.28218785926472645,
+                  -0.39623078826551644
+                ],
+                "gripper_position": [
+                  0.2806022846689262,
+                  -0.3947581944473925,
+                  1.0026998957649158
+                ],
+                "rod_tip_xy_dist": 0.002160768761127357,
+                "target_xy_drift": 3.1695959808351465e-08,
+                "depth": 0.018420212199040775,
+                "bottom_clearance": 0.08102033056346858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001585634420574189,
+                  0.0014725627543986097
+                ],
+                "rod_tip_xy": [
+                  0.2806022846689262,
+                  -0.3947581944473926
+                ],
+                "target_mouth_xy": [
+                  0.2821879190895004,
+                  -0.3962307572017912
+                ],
+                "gripper_position": [
+                  0.2805942993363605,
+                  -0.394761876974581,
+                  1.0025599849067037
+                ],
+                "rod_tip_xy_dist": 0.0021639495329955514,
+                "target_xy_drift": 5.973417173242072e-08,
+                "depth": 0.018559937937140503,
+                "bottom_clearance": 0.0808806200155806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001593559834815017,
+                  0.0014689135058527647
+                ],
+                "rod_tip_xy": [
+                  0.2805942993363605,
+                  -0.394761876974581
+                ],
+                "target_mouth_xy": [
+                  0.2821878591711755,
+                  -0.39623079048043375
+                ],
+                "gripper_position": [
+                  0.2805863910325263,
+                  -0.3947658178331412,
+                  1.002420008415503
+                ],
+                "rod_tip_xy_dist": 0.0021672885905694066,
+                "target_xy_drift": 3.3911256231884845e-08,
+                "depth": 0.01869988256409838,
+                "bottom_clearance": 0.0807407362483813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001601495090894356,
+                  0.0014649678933129628
+                ],
+                "rod_tip_xy": [
+                  0.2805863910325263,
+                  -0.39476581783314113
+                ],
+                "target_mouth_xy": [
+                  0.28218788612342066,
+                  -0.3962307857264541
+                ],
+                "gripper_position": [
+                  0.2805784028944923,
+                  -0.3947694793006009,
+                  1.0022801796739436
+                ],
+                "rod_tip_xy_dist": 0.0021704648015106213,
+                "target_xy_drift": 3.9578633892478805e-08,
+                "depth": 0.01883989523616525,
+                "bottom_clearance": 0.08060073118816757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016095489719110123,
+                  0.0014613438152635272
+                ],
+                "rod_tip_xy": [
+                  0.2805784028944924,
+                  -0.3947694793006009
+                ],
+                "target_mouth_xy": [
+                  0.2821879518664034,
+                  -0.39623082311586444
+                ],
+                "gripper_position": [
+                  0.2805893170775888,
+                  -0.3948503155982775,
+                  1.001752502764186
+                ],
+                "rod_tip_xy_dist": 0.0021739764578736264,
+                "target_xy_drift": 1.139564509310717e-07,
+                "depth": 0.018979824411272106,
+                "bottom_clearance": 0.0804610228293473,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015985721804661623,
+                  0.001380471719341414
+                ],
+                "rod_tip_xy": [
+                  0.28058931707758883,
+                  -0.39485031559827743
+                ],
+                "target_mouth_xy": [
+                  0.282187889258055,
+                  -0.39623078731761885
+                ],
+                "gripper_position": [
+                  0.2805785741417841,
+                  -0.39486008589941823,
+                  1.00159326751787
+                ],
+                "rod_tip_xy_dist": 0.0021121399537108758,
+                "target_xy_drift": 4.288831779738663e-08,
+                "depth": 0.019507325124049735,
+                "bottom_clearance": 0.07993322058000907,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0016093146794083357,
+                  0.0013707036319073884
+                ],
+                "rod_tip_xy": [
+                  0.2805785741417841,
+                  -0.39486008589941823
+                ],
+                "target_mouth_xy": [
+                  0.28218788882119245,
+                  -0.3962307895313256
+                ],
+                "gripper_position": [
+                  0.280570550643185,
+                  -0.39486355384647864,
+                  1.001453831038746
+                ],
+                "rod_tip_xy_dist": 0.0021139352364448775,
+                "target_xy_drift": 4.420983013588212e-08,
+                "depth": 0.019666581728444155,
+                "bottom_clearance": 0.07977399709687949,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016173079408294266,
+                  0.0013672331531887627
+                ],
+                "rod_tip_xy": [
+                  0.28057055064318503,
+                  -0.39486355384647864
+                ],
+                "target_mouth_xy": [
+                  0.28218785858401446,
+                  -0.3962307869996674
+                ],
+                "gripper_position": [
+                  0.28058168262585603,
+                  -0.39493765113554946,
+                  1.0008419488364786
+                ],
+                "rod_tip_xy_dist": 0.002117784566628156,
+                "target_xy_drift": 3.0439830225171955e-08,
+                "depth": 0.019805995495474682,
+                "bottom_clearance": 0.07963452782362379,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006034372418356874,
+              "rod_tip_xy_max_step": 3.285622371310751e-05,
+              "rod_tip_xy_range": 0.0006034307699627966,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2801007387204447,
+            -0.39622674095328825,
+            1.0433127852298356
+          ],
+          "object_origin_world": [
+            0.2801007387204447,
+            -0.39622674095328825,
+            1.0433127852298356
+          ],
+          "frame_world": [
+            0.2801249393290563,
+            -0.39622327706912314,
+            1.0436078662671147
+          ],
+          "center_minus_frame": [
+            -2.42006086115798e-05,
+            -3.4638841651113417e-06,
+            -0.00029508103727904356
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24947431677865523,
+              0.1545161702338027,
+              0.8316369197350955
+            ],
+            "target_position": [
+              0.26531405062959307,
+              0.1999984281029552,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04816152976541163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16295748965669646,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316369197350955,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674286903033,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13389179230543022,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b924fbd772381ba7943729bf7fa77bbee618f8d179f4b26285d062fb02cf164",
+    "visual_seed": 8716416449077502646,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd37b879f654b0946bb5fcd3f3c94a1697c010ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_49_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2967097858242758,
+              -0.02040670761618116,
+              1.1637856547429561
+            ],
+            "current_z": 1.1637856547429561,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.3026790871235454,
+            "gripper_z": 1.156447209945829,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29165894719679275,
+              -0.02523383580968129,
+              1.156447209945829
+            ],
+            "object_minus_gripper": [
+              0.0050508386274830674,
+              0.004827128193500129,
+              0.007338444797127197
+            ],
+            "object_to_gripper_xy": 0.0069865683591702485,
+            "object_to_gripper_z": 0.007338444797127197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2967097858242758,
+              -0.044691235129484065,
+              1.1637856547429561
+            ],
+            "finger_b": [
+              0.28601829938900747,
+              -0.02040670761618116,
+              1.1637856547429561
+            ],
+            "finger_midpoint": [
+              0.2913640426066416,
+              -0.032548971372832615,
+              1.1637856547429561
+            ],
+            "object_minus_finger_midpoint": [
+              0.005345743217634202,
+              0.012142263756651454,
+              0.0
+            ],
+            "finger_gap": 0.026533868145068727,
+            "fingertip_max_gap": 0.09175679658421373,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013266934072534375,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637856547429561,
+            "object_top_z": 1.213751874349716,
+            "finger_top_clearance": 0.04996621960675984,
+            "fingertip_min_top_clearance": 0.01498986588202792,
+            "object_projection_between_fingers": 0.8376414944154851,
+            "object_to_finger_line_xy": 0.009785143088669214,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837839829210687,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.443984476936227,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27706038745205397,
+              -0.3950240294766869,
+              0.8515396000411104
+            ],
+            "target_position": [
+              0.2711360310203698,
+              -0.3953320003654943,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0059323557882168705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18287896934318115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396000411104,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559409382245674,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08847266005070152,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1506822259933743,
+            "release_required_pad_clearance": 0.05423633002535076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.490583116162063,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008401691913604736,
+            "max_z_decrease": 0.008401691913604736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501000884448506,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008401691913604736,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020874173399484015,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008401691913604736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008401868268677967,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12683595716953278,
+              -0.4515934586524963,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12683595716953278,
+              -0.4515934586524963,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12549698362628095,
+              -0.45069103322258,
+              0.8037438280533101
+            ],
+            "closest_button": [
+              0.12684088945388794,
+              -0.4515711367130279,
+              0.768770694732666
+            ],
+            "closest_ee_minus_button": [
+              -0.0013439058276069893,
+              0.0008801034904479255,
+              0.03497313332064411
+            ],
+            "button_min_z_position": [
+              0.12688429653644562,
+              -0.45156842470169056,
+              0.7684071660041809
+            ],
+            "min_active_finger_to_button": 0.14667760546765124,
+            "closest_active_finger": [
+              -0.0020084381103515625,
+              -0.5127158761024475,
+              0.8109679818153381
+            ],
+            "closest_active_finger_button": [
+              0.12683749198913574,
+              -0.4515917599201202,
+              0.7766621708869934
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1288459300994873,
+              -0.061124116182327326,
+              0.03430581092834473
+            ],
+            "min_contact_pad_to_button": 0.020874173399484015,
+            "closest_contact_pad": [
+              0.12688429653644562,
+              -0.4519663529746295,
+              0.7892775461684549
+            ],
+            "closest_contact_pad_button": [
+              0.12688429653644562,
+              -0.45156842470169056,
+              0.7684071660041809
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00039792827293894106,
+              0.020870380164274005
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26935986141057483,
+              0.20337075819860656,
+              1.1110643299751333
+            ],
+            "current_z": 1.1110643299751333,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20115520024077072,
+            "gripper_z": 1.1110643611845135,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26935981470296566,
+              0.20337081041922025,
+              1.1110643611845135
+            ],
+            "object_minus_gripper": [
+              4.6707609169249764e-08,
+              -5.2220613694364815e-08,
+              -3.1209380191299374e-08
+            ],
+            "object_to_gripper_xy": 7.006135346197265e-08,
+            "object_to_gripper_z": -3.1209380191299374e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26935986141057483,
+              0.20337075819860656,
+              1.1110643299751333
+            ],
+            "finger_b": [
+              0.26935986141057483,
+              0.20337075819860656,
+              1.1110643299751333
+            ],
+            "finger_midpoint": [
+              0.26935986141057483,
+              0.20337075819860656,
+              1.1110643299751333
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1110643299751333,
+            "object_top_z": 1.236072836595413,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2693598614105749,
+            0.2033707581986066,
+            1.1110643299751335
+          ],
+          "object_origin_world": [
+            0.2693598614105749,
+            0.2033707581986066,
+            1.1110643299751335
+          ],
+          "frame_world": [
+            0.26935981470296566,
+            0.20337081041922025,
+            1.1110643611845135
+          ],
+          "center_minus_frame": [
+            4.6707609224760915e-08,
+            -5.222061366660924e-08,
+            -3.120937996925477e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433478054592025,
+            "required_z": 0.9112598358354511,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00028389735826479166,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.5222311648450159e-09,
+            "max_target_xy_drift": 1.1388237557035523e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.490583117043233,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.4908073712597614,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27725252994764527,
+              -0.3948045717562202,
+              0.923472444976361
+            ],
+            "target_mouth_xy": [
+              0.27706038518232906,
+              -0.3950240593229406
+            ],
+            "rod_tip_z": 0.923472444976361,
+            "rod_tip_depth": -0.022212687990619595,
+            "rod_tip_bottom_clearance": 0.1216531891915883,
+            "rod_tip_xy_dist": 0.0002917094492526188,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044808844129524794,
+            "min_rod_tip_bottom_clearance": 0.0546317437213214,
+            "min_rod_tip_xy_dist": 0.0002292026730988064,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27706038524894755,
+              -0.39502406084371333
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.661848850342267e-11,
+              1.5207727299682006e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0006586404302894588,
+                0.0018625256488937758
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005726134843089259,
+                0.0015043076906510744
+              ],
+              "first_target_mouth_xy": [
+                0.2770603579252133,
+                -0.3950240598279392
+              ],
+              "last_target_mouth_xy": [
+                0.2770603847127262,
+                -0.3950240288671733
+              ],
+              "first_rod_tip_xy": [
+                0.27771899835550273,
+                -0.3931615341790454
+              ],
+              "last_rod_tip_xy": [
+                0.27763299819703513,
+                -0.39351972117652223
+              ],
+              "min_rod_tip_xy_dist": 0.0016096048678369411,
+              "max_rod_tip_xy_dist": 0.001975552836347098,
+              "first_target_xy_drift": 2.7342608723857273e-08,
+              "last_target_xy_drift": 3.198103571535028e-08,
+              "max_depth": 0.019510220476415596,
+              "min_bottom_clearance": 0.07993030004627821
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006586404302894588,
+                  0.0018625256488937758
+                ],
+                "rod_tip_xy": [
+                  0.27771899835550273,
+                  -0.3931615341790454
+                ],
+                "target_mouth_xy": [
+                  0.2770603579252133,
+                  -0.3950240598279392
+                ],
+                "gripper_position": [
+                  0.27770898075184575,
+                  -0.3931710945729026,
+                  1.0058894887164702
+                ],
+                "rod_tip_xy_dist": 0.001975552836347098,
+                "target_xy_drift": 2.7342608723857273e-08,
+                "depth": 0.015212596811848278,
+                "bottom_clearance": 0.08422800902809902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006486253898623229,
+                  0.0018529346138523861
+                ],
+                "rod_tip_xy": [
+                  0.2777089807518456,
+                  -0.39317109457290267
+                ],
+                "target_mouth_xy": [
+                  0.27706035536198326,
+                  -0.39502402918675505
+                ],
+                "gripper_position": [
+                  0.2777014663615075,
+                  -0.39317520920386667,
+                  1.0057512736899326
+                ],
+                "rod_tip_xy_dist": 0.0019631814943062045,
+                "target_xy_drift": 4.3536118820592044e-08,
+                "depth": 0.01537027425901527,
+                "bottom_clearance": 0.08407023897410337,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006411093994156958,
+                  0.0018488503379999743
+                ],
+                "rod_tip_xy": [
+                  0.2777014663615074,
+                  -0.3931752092038667
+                ],
+                "target_mouth_xy": [
+                  0.2770603569620917,
+                  -0.3950240595418667
+                ],
+                "gripper_position": [
+                  0.27771056663003635,
+                  -0.3932414666732869,
+                  1.0052153277275897
+                ],
+                "rod_tip_xy_dist": 0.001956851766062461,
+                "target_xy_drift": 2.8316797470068213e-08,
+                "depth": 0.015508612881646955,
+                "bottom_clearance": 0.0839319443534493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006502398670069076,
+                  0.0017825618128096132
+                ],
+                "rod_tip_xy": [
+                  0.27771056663003624,
+                  -0.39324146667328697
+                ],
+                "target_mouth_xy": [
+                  0.27706032676302933,
+                  -0.3950240284860966
+                ],
+                "gripper_position": [
+                  0.27770049057477575,
+                  -0.39325092110908544,
+                  1.0050577813470114
+                ],
+                "rod_tip_xy_dist": 0.0018974557968849382,
+                "target_xy_drift": 6.6840242308792e-08,
+                "depth": 0.01604451595239842,
+                "bottom_clearance": 0.08339606750557771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006401672164619288,
+                  0.001773140135298945
+                ],
+                "rod_tip_xy": [
+                  0.27770049057477564,
+                  -0.39325092110908544
+                ],
+                "target_mouth_xy": [
+                  0.2770603233583137,
+                  -0.3950240612443844
+                ],
+                "gripper_position": [
+                  0.27769284756819945,
+                  -0.3932548708596724,
+                  1.0049197037167532
+                ],
+                "rod_tip_xy_dist": 0.0018851631240931314,
+                "target_xy_drift": 6.189193076986051e-08,
+                "depth": 0.01620206013630543,
+                "bottom_clearance": 0.08323855751041587,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006324925665904257,
+                  0.0017691278297579105
+                ],
+                "rod_tip_xy": [
+                  0.27769284756819934,
+                  -0.39325487085967237
+                ],
+                "target_mouth_xy": [
+                  0.2770603550016089,
+                  -0.3950239986894303
+                ],
+                "gripper_position": [
+                  0.2777025813860237,
+                  -0.39332218565072474,
+                  1.004385868141443
+                ],
+                "rod_tip_xy_dist": 0.0018787921984126075,
+                "target_xy_drift": 6.912348657541847e-08,
+                "depth": 0.016340070881677327,
+                "bottom_clearance": 0.08310045844592973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006422232518208948,
+                  0.0017018732124196578
+                ],
+                "rod_tip_xy": [
+                  0.2777025813860236,
+                  -0.39332218565072474
+                ],
+                "target_mouth_xy": [
+                  0.2770603581342027,
+                  -0.3950240588631444
+                ],
+                "gripper_position": [
+                  0.27769245189828684,
+                  -0.3933313293050807,
+                  1.0042282349757654
+                ],
+                "rod_tip_xy_dist": 0.0018190170797249294,
+                "target_xy_drift": 2.718698293185019e-08,
+                "depth": 0.01687403540252108,
+                "bottom_clearance": 0.0825665830696426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006320963751937358,
+                  0.001692728709507374
+                ],
+                "rod_tip_xy": [
+                  0.27769245189828673,
+                  -0.39333132930508075
+                ],
+                "target_mouth_xy": [
+                  0.277060355523093,
+                  -0.3950240580145881
+                ],
+                "gripper_position": [
+                  0.2776846755854467,
+                  -0.39333517664010265,
+                  1.0040900085173907
+                ],
+                "rod_tip_xy_dist": 0.0018068968735164604,
+                "target_xy_drift": 2.9860180483829814e-08,
+                "depth": 0.017031546952171905,
+                "bottom_clearance": 0.08240900914607618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006243196734928569,
+                  0.0016888823030635214
+                ],
+                "rod_tip_xy": [
+                  0.27768467558544657,
+                  -0.39333517664010276
+                ],
+                "target_mouth_xy": [
+                  0.2770603559119537,
+                  -0.3950240589431663
+                ],
+                "gripper_position": [
+                  0.27767691043708614,
+                  -0.39333887923486266,
+                  1.0039519260611813
+                ],
+                "rod_tip_xy_dist": 0.0018005828190648082,
+                "target_xy_drift": 2.9398491225409216e-08,
+                "depth": 0.017169818682333693,
+                "bottom_clearance": 0.08227071622185167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006165872757546431,
+                  0.0016852105656461336
+                ],
+                "rod_tip_xy": [
+                  0.27767691043708603,
+                  -0.39333887923486266
+                ],
+                "target_mouth_xy": [
+                  0.2770603231613314,
+                  -0.3950240898005088
+                ],
+                "gripper_position": [
+                  0.27768821825811374,
+                  -0.3934080818966954,
+                  1.0034199473370728
+                ],
+                "rod_tip_xy_dist": 0.0017944677537330934,
+                "target_xy_drift": 6.850816070920656e-08,
+                "depth": 0.017307956283128756,
+                "bottom_clearance": 0.08213262115577258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006278936390209933,
+                  0.0016159777374261108
+                ],
+                "rod_tip_xy": [
+                  0.27768821825811363,
+                  -0.3934080818966954
+                ],
+                "target_mouth_xy": [
+                  0.27706032461909263,
+                  -0.3950240596341215
+                ],
+                "gripper_position": [
+                  0.27767776933293176,
+                  -0.3934173525685525,
+                  1.0032624682479894
+                ],
+                "rod_tip_xy_dist": 0.001733676575887163,
+                "target_xy_drift": 6.064191965382562e-08,
+                "depth": 0.01783982544054319,
+                "bottom_clearance": 0.08160068535854315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006174117151289127,
+                  0.0016067063330301723
+                ],
+                "rod_tip_xy": [
+                  0.27767776933293165,
+                  -0.3934173525685525
+                ],
+                "target_mouth_xy": [
+                  0.27706035761780273,
+                  -0.39502405890158265
+                ],
+                "gripper_position": [
+                  0.27766986615054534,
+                  -0.3934210144228543,
+                  1.0031245323482867
+                ],
+                "rod_tip_xy_dist": 0.0017212502626224022,
+                "target_xy_drift": 2.7699314710837388e-08,
+                "depth": 0.01799743104198115,
+                "bottom_clearance": 0.08144316725542666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006095109197764015,
+                  0.0016030442315954074
+                ],
+                "rod_tip_xy": [
+                  0.27766986615054523,
+                  -0.3934210144228544
+                ],
+                "target_mouth_xy": [
+                  0.27706035523076883,
+                  -0.3950240586544498
+                ],
+                "gripper_position": [
+                  0.27766205845770786,
+                  -0.39342447495176214,
+                  1.0029866857614855
+                ],
+                "rod_tip_xy_dist": 0.0017150085625961128,
+                "target_xy_drift": 3.009790571750246e-08,
+                "depth": 0.018135235853444787,
+                "bottom_clearance": 0.08130528534020276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000601701065512994,
+                  0.001599615342176175
+                ],
+                "rod_tip_xy": [
+                  0.2776620584577077,
+                  -0.39342447495176214
+                ],
+                "target_mouth_xy": [
+                  0.2770603573921947,
+                  -0.3950240902939383
+                ],
+                "gripper_position": [
+                  0.27765410316347805,
+                  -0.3934280538863077,
+                  1.0028484949023913
+                ],
+                "rod_tip_xy_dist": 0.0017090387401006665,
+                "target_xy_drift": 4.053781482406457e-08,
+                "depth": 0.01827322116709651,
+                "bottom_clearance": 0.0811673851522231,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005937779265715593,
+                  0.001596005100656439
+                ],
+                "rod_tip_xy": [
+                  0.27765410316347794,
+                  -0.39342805388630764
+                ],
+                "target_mouth_xy": [
+                  0.2770603252369064,
+                  -0.3950240589869641
+                ],
+                "gripper_position": [
+                  0.2776676068269016,
+                  -0.39350006186396164,
+                  1.002320161861863
+                ],
+                "rod_tip_xy_dist": 0.0017028812370230022,
+                "target_xy_drift": 6.004075784962951e-08,
+                "depth": 0.01841126744438648,
+                "bottom_clearance": 0.0810292372754492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006072512700197596,
+                  0.0015240271845572417
+                ],
+                "rod_tip_xy": [
+                  0.2776676068269015,
+                  -0.3935000618639617
+                ],
+                "target_mouth_xy": [
+                  0.27706035555688174,
+                  -0.39502408904851893
+                ],
+                "gripper_position": [
+                  0.27765715784818923,
+                  -0.39350905853431106,
+                  1.0021624912754643
+                ],
+                "rod_tip_xy_dist": 0.00164055263987782,
+                "target_xy_drift": 4.0952775618842967e-08,
+                "depth": 0.018939657349080985,
+                "bottom_clearance": 0.08050085317621947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005968345695764321,
+                  0.0015150024114624072
+                ],
+                "rod_tip_xy": [
+                  0.2776571578481891,
+                  -0.39350905853431106
+                ],
+                "target_mouth_xy": [
+                  0.2770603232786127,
+                  -0.39502406094577347
+                ],
+                "gripper_position": [
+                  0.2776491069100508,
+                  -0.39351270411244077,
+                  1.0020247830076943
+                ],
+                "rod_tip_xy_dist": 0.001628325461994129,
+                "target_xy_drift": 6.197041890600575e-08,
+                "depth": 0.019097406275527362,
+                "bottom_clearance": 0.0803432029144393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0005887537374467677,
+                  0.0015113552076162495
+                ],
+                "rod_tip_xy": [
+                  0.2776491069100507,
+                  -0.3935127041124409
+                ],
+                "target_mouth_xy": [
+                  0.2770603531726039,
+                  -0.39502405932005713
+                ],
+                "gripper_position": [
+                  0.2776411095172636,
+                  -0.3935161334408574,
+                  1.0018869469812068
+                ],
+                "rod_tip_xy_dist": 0.0016219819749141154,
+                "target_xy_drift": 3.211251079134311e-08,
+                "depth": 0.01923503288624495,
+                "bottom_clearance": 0.08020553649072704,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005806626703945827,
+                  0.0015078316172016937
+                ],
+                "rod_tip_xy": [
+                  0.2776411095172635,
+                  -0.39351613344085745
+                ],
+                "target_mouth_xy": [
+                  0.2770604468468689,
+                  -0.39502396505805915
+                ],
+                "gripper_position": [
+                  0.27763299819703524,
+                  -0.39351972117652223,
+                  1.0017495510026706
+                ],
+                "rod_tip_xy_dist": 0.0016157739082627999,
+                "target_xy_drift": 1.1388237557035523e-07,
+                "depth": 0.019373032344512153,
+                "bottom_clearance": 0.0800677281097123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0005726134843089259,
+                  0.0015043076906510744
+                ],
+                "rod_tip_xy": [
+                  0.27763299819703513,
+                  -0.39351972117652223
+                ],
+                "target_mouth_xy": [
+                  0.2770603847127262,
+                  -0.3950240288671733
+                ],
+                "gripper_position": [
+                  0.27762489753967345,
+                  -0.3935232844067656,
+                  1.0016116369433183
+                ],
+                "rod_tip_xy_dist": 0.0016096048678369411,
+                "target_xy_drift": 3.198103571535028e-08,
+                "depth": 0.019510220476415596,
+                "bottom_clearance": 0.07993030004627821,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005970663104537023,
+              "rod_tip_xy_max_step": 3.239878407373613e-05,
+              "rod_tip_xy_range": 0.0005970592478669047,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2772525299476453,
+            -0.3948045717562202,
+            1.043472444976361
+          ],
+          "object_origin_world": [
+            0.2772525299476453,
+            -0.3948045717562202,
+            1.043472444976361
+          ],
+          "frame_world": [
+            0.27725124855891936,
+            -0.39481389538334516,
+            1.0433478054592025
+          ],
+          "center_minus_frame": [
+            1.2813887259599532e-06,
+            9.323627124968592e-06,
+            0.00012463951715857569
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24701494128660295,
+              0.15953777025800017,
+              0.8329155423698347
+            ],
+            "target_position": [
+              0.26104897321997894,
+              0.20482843545587437,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04741517063528244,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16508398684917067,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329155423698347,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673144584062,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13515763328776895,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9135408efcc6a87564391c3c1abaad444b4190c5b88cae6b346b27c43114fd58",
+    "visual_seed": 375253005987113721,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a163491eeb646cb9131691821264b44ac0cb5292
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_4_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3044849857654296,
+              -0.022006741277859912,
+              1.1649810577252033
+            ],
+            "current_z": 1.1649810577252033,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.3038744901057925,
+            "gripper_z": 1.1571730006748573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2997067833418413,
+              -0.02688109993801882,
+              1.1571730006748573
+            ],
+            "object_minus_gripper": [
+              0.004778202423588285,
+              0.004874358660158909,
+              0.00780805705034604
+            ],
+            "object_to_gripper_xy": 0.006825730052430371,
+            "object_to_gripper_z": 0.00780805705034604,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3044849857654296,
+              -0.04568125500345613,
+              1.1649810577252033
+            ],
+            "finger_b": [
+              0.29318414655401476,
+              -0.022006741277859912,
+              1.1649810577252033
+            ],
+            "finger_midpoint": [
+              0.29883456615972215,
+              -0.03384399814065802,
+              1.1649810577252033
+            ],
+            "object_minus_finger_midpoint": [
+              0.005650419605707446,
+              0.011837256862798108,
+              0.0
+            ],
+            "finger_gap": 0.02623340555523996,
+            "fingertip_max_gap": 0.09199879578477219,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013116702777619992,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649810577252033,
+            "object_top_z": 1.2149060276400077,
+            "finger_top_clearance": 0.04992496991480433,
+            "fingertip_min_top_clearance": 0.014977490974441265,
+            "object_projection_between_fingers": 0.8144281723267864,
+            "object_to_finger_line_xy": 0.010198518543771629,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048499397892386095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7086552962853545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2787358215577834,
+              -0.3918414044188122,
+              0.8515395718636083
+            ],
+            "target_position": [
+              0.27129291987912735,
+              -0.3931178311483744,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007551559480933874,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843889515131055,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395718636083,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564706684592402,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08596496315186324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15218975620412764,
+            "release_required_pad_clearance": 0.05298248157593162,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9993540884900012,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008298039436340332,
+            "max_z_decrease": 0.008298039436340332,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502892808331573,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008298039436340332,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020890321701182678,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008298039436340332,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008298092038084482,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1269928514957428,
+              -0.4493792951107025,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1269928514957428,
+              -0.4493792951107025,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12564602434893704,
+              -0.4483706687609734,
+              0.8034992608779178
+            ],
+            "closest_button": [
+              0.12701116502285004,
+              -0.44935610890388494,
+              0.7685108184814453
+            ],
+            "closest_ee_minus_button": [
+              -0.0013651406739129957,
+              0.00098544014291152,
+              0.034988442396472474
+            ],
+            "button_min_z_position": [
+              0.12701116502285004,
+              -0.44935610890388494,
+              0.7685108184814453
+            ],
+            "min_active_finger_to_button": 0.14662391735986158,
+            "closest_active_finger": [
+              -0.001740582287311554,
+              -0.5106026530265808,
+              0.8105749487876892
+            ],
+            "closest_active_finger_button": [
+              0.12699350714683533,
+              -0.4493778347969056,
+              0.7762583494186401
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12873408943414688,
+              -0.06122481822967524,
+              0.03431659936904907
+            ],
+            "min_contact_pad_to_button": 0.020890321701182678,
+            "closest_contact_pad": [
+              0.12701116502285004,
+              -0.44962890135064737,
+              0.7893993590015461
+            ],
+            "closest_contact_pad_button": [
+              0.12701116502285004,
+              -0.44935610890388494,
+              0.7685108184814453
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00027279244676242653,
+              0.020888540520100807
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2674395343819492,
+              0.20133527515382157,
+              1.1014554130167151
+            ],
+            "current_z": 1.1014554130167151,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19154628328235257,
+            "gripper_z": 1.1014556772455966,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26743960193816585,
+              0.20133526094662985,
+              1.1014556772455966
+            ],
+            "object_minus_gripper": [
+              -6.755621667631218e-08,
+              1.4207191728621282e-08,
+              -2.6422888144139733e-07
+            ],
+            "object_to_gripper_xy": 6.903395330147799e-08,
+            "object_to_gripper_z": -2.6422888144139733e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2674395343819492,
+              0.20133527515382157,
+              1.1014554130167151
+            ],
+            "finger_b": [
+              0.2674395343819492,
+              0.20133527515382157,
+              1.1014554130167151
+            ],
+            "finger_midpoint": [
+              0.2674395343819492,
+              0.20133527515382157,
+              1.1014554130167151
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014554130167151,
+            "object_top_z": 1.2264639196369949,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26743953438194923,
+            0.2013352751538216,
+            1.1014554130167151
+          ],
+          "object_origin_world": [
+            0.26743953438194923,
+            0.2013352751538216,
+            1.1014554130167151
+          ],
+          "frame_world": [
+            0.26743960193816585,
+            0.20133526094662985,
+            1.1014556772455966
+          ],
+          "center_minus_frame": [
+            -6.755621662080102e-08,
+            1.4207191756376858e-08,
+            -2.6422888144139733e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.04337367560594,
+            "required_z": 0.9112598294610867,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001762199521593055,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.884660367442057e-08,
+            "max_target_xy_drift": 2.2696599634813796e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.9993540855861104,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.9993540885268377,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27699696613035657,
+              -0.39210954148488775,
+              0.9234977202675486
+            ],
+            "target_mouth_xy": [
+              0.278735824285688,
+              -0.39184140788174737
+            ],
+            "rod_tip_z": 0.9234977202675486,
+            "rod_tip_depth": -0.02223777662333759,
+            "rod_tip_bottom_clearance": 0.12167846107009506,
+            "rod_tip_xy_dist": 0.0017594099333286836,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04480771649066129,
+            "min_rod_tip_bottom_clearance": 0.05463288021031576,
+            "min_rod_tip_xy_dist": 0.0012474642617173886,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27873576350483903,
+              -0.39184137554688636
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.078084896499192e-08,
+              -3.2334861010951954e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0012186317955504289,
+                0.0014376529850933517
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001295937497679922,
+                0.0010118166491984715
+              ],
+              "first_target_mouth_xy": [
+                0.2787357937655283,
+                -0.39184137427012
+              ],
+              "last_target_mouth_xy": [
+                0.27873579249304886,
+                -0.39184137365122274
+              ],
+              "first_rod_tip_xy": [
+                0.2775171619699779,
+                -0.39040372128502665
+              ],
+              "last_rod_tip_xy": [
+                0.27743985499536894,
+                -0.39082955700202426
+              ],
+              "min_rod_tip_xy_dist": 0.0016441493026754354,
+              "max_rod_tip_xy_dist": 0.0018846510442716677,
+              "first_target_xy_drift": 3.028761212941958e-08,
+              "last_target_xy_drift": 2.905012650366664e-08,
+              "max_depth": 0.019731685252532105,
+              "min_bottom_clearance": 0.07970886809639988
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012186317955504289,
+                  0.0014376529850933517
+                ],
+                "rod_tip_xy": [
+                  0.2775171619699779,
+                  -0.39040372128502665
+                ],
+                "target_mouth_xy": [
+                  0.2787357937655283,
+                  -0.39184137427012
+                ],
+                "gripper_position": [
+                  0.27752307355720207,
+                  -0.39047044261057484,
+                  1.0056436268419486
+                ],
+                "rod_tip_xy_dist": 0.0018846510442716677,
+                "target_xy_drift": 3.028761212941958e-08,
+                "depth": 0.01508207618516566,
+                "bottom_clearance": 0.08435850281295576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012126905648789932,
+                  0.001370931970361311
+                ],
+                "rod_tip_xy": [
+                  0.27752307355720196,
+                  -0.39047044261057484
+                ],
+                "target_mouth_xy": [
+                  0.27873576412208095,
+                  -0.39184137458093615
+                ],
+                "gripper_position": [
+                  0.27751281346491846,
+                  -0.3904801316414481,
+                  1.005486511198347
+                ],
+                "rod_tip_xy_dist": 0.0018303204291886374,
+                "target_xy_drift": 1.1463190649827978e-09,
+                "depth": 0.015616207434427376,
+                "bottom_clearance": 0.08382436626813938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012230128388683315,
+                  0.0013612416583545506
+                ],
+                "rod_tip_xy": [
+                  0.27751281346491835,
+                  -0.3904801316414481
+                ],
+                "target_mouth_xy": [
+                  0.2787358263037867,
+                  -0.3918413732998027
+                ],
+                "gripper_position": [
+                  0.27750531595563394,
+                  -0.3904839318293867,
+                  1.0053494130952236
+                ],
+                "rod_tip_xy_dist": 0.001829956080477513,
+                "target_xy_drift": 6.283913757710575e-08,
+                "depth": 0.015773425533731067,
+                "bottom_clearance": 0.08366729243256998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012304153218887781,
+                  0.0013574440548612676
+                ],
+                "rod_tip_xy": [
+                  0.27750531595563377,
+                  -0.3904839318293867
+                ],
+                "target_mouth_xy": [
+                  0.27873573127752255,
+                  -0.39184137588424794
+                ],
+                "gripper_position": [
+                  0.27751208265302874,
+                  -0.3905517311636605,
+                  1.0048166250440624
+                ],
+                "rod_tip_xy_dist": 0.0018320961291419361,
+                "target_xy_drift": 3.22290822158513e-08,
+                "depth": 0.015910446014901658,
+                "bottom_clearance": 0.0835301083060741,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001223711572218289,
+                  0.001289644695208647
+                ],
+                "rod_tip_xy": [
+                  0.2775120826530286,
+                  -0.3905517311636605
+                ],
+                "target_mouth_xy": [
+                  0.2787357942252469,
+                  -0.39184137585886913
+                ],
+                "gripper_position": [
+                  0.27750180651546097,
+                  -0.3905610076491575,
+                  1.004660196168096
+                ],
+                "rod_tip_xy_dist": 0.0017778226716578798,
+                "target_xy_drift": 3.0721992022375096e-08,
+                "depth": 0.01644327714357352,
+                "bottom_clearance": 0.08299731944761046,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012339864363377084,
+                  0.0012803384165878118
+                ],
+                "rod_tip_xy": [
+                  0.2775018065154608,
+                  -0.39056100764915747
+                ],
+                "target_mouth_xy": [
+                  0.2787357929517985,
+                  -0.3918413460657453
+                ],
+                "gripper_position": [
+                  0.2774941447026321,
+                  -0.39056456162965036,
+                  1.004522924477445
+                ],
+                "rod_tip_xy_dist": 0.0017781982414950316,
+                "target_xy_drift": 4.166846652254257e-08,
+                "depth": 0.016599636041739307,
+                "bottom_clearance": 0.08284091111049507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012416498230736206,
+                  0.0012768129523503813
+                ],
+                "rod_tip_xy": [
+                  0.277494144702632,
+                  -0.39056456162965025
+                ],
+                "target_mouth_xy": [
+                  0.2787357945257056,
+                  -0.39184137458200063
+                ],
+                "gripper_position": [
+                  0.2774862352783132,
+                  -0.3905683826805873,
+                  1.0043854189355472
+                ],
+                "rod_tip_xy_dist": 0.0017809956761397402,
+                "target_xy_drift": 3.1035869070104763e-08,
+                "depth": 0.01673697399770957,
+                "bottom_clearance": 0.08270362243926044,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012495260715442713,
+                  0.0012729922496342305
+                ],
+                "rod_tip_xy": [
+                  0.277486235278313,
+                  -0.39056838268058724
+                ],
+                "target_mouth_xy": [
+                  0.2787357613498573,
+                  -0.3918413749302215
+                ],
+                "gripper_position": [
+                  0.27749453071732366,
+                  -0.3906382933046241,
+                  1.0038536516472711
+                ],
+                "rod_tip_xy_dist": 0.0017837669890144504,
+                "target_xy_drift": 2.241477619388389e-09,
+                "depth": 0.016874420540636925,
+                "bottom_clearance": 0.08256610097029149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012412642822269837,
+                  0.0012030809566352385
+                ],
+                "rod_tip_xy": [
+                  0.27749453071732355,
+                  -0.3906382933046241
+                ],
+                "target_mouth_xy": [
+                  0.27873579499955053,
+                  -0.3918413742612593
+                ],
+                "gripper_position": [
+                  0.27748401737016315,
+                  -0.39064779513823683,
+                  1.003696988807592
+                ],
+                "rod_tip_xy_dist": 0.0017286239633161487,
+                "target_xy_drift": 3.152094049548841e-08,
+                "depth": 0.01740625623833225,
+                "bottom_clearance": 0.0820343698207241,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012517456936498306,
+                  0.001193580725030008
+                ],
+                "rod_tip_xy": [
+                  0.277484017370163,
+                  -0.3906477951382369
+                ],
+                "target_mouth_xy": [
+                  0.2787357630638128,
+                  -0.3918413758632669
+                ],
+                "gripper_position": [
+                  0.2774760849980698,
+                  -0.3906514248962382,
+                  1.0035598728497934
+                ],
+                "rod_tip_xy_dist": 0.001729595972686701,
+                "target_xy_drift": 5.427713739573344e-10,
+                "depth": 0.017562842608123685,
+                "bottom_clearance": 0.08187770102789071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012597383822685604,
+                  0.0011899804469123754
+                ],
+                "rod_tip_xy": [
+                  0.2774760849980697,
+                  -0.3906514248962383
+                ],
+                "target_mouth_xy": [
+                  0.27873582338033825,
+                  -0.39184140534315065
+                ],
+                "gripper_position": [
+                  0.2774681526281233,
+                  -0.3906551512339009,
+                  1.0034225341373637
+                ],
+                "rod_tip_xy_dist": 0.0017329149591928585,
+                "target_xy_drift": 6.687968879324156e-08,
+                "depth": 0.017700018349790958,
+                "bottom_clearance": 0.08174054180903656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012676416466762541,
+                  0.001186222080322319
+                ],
+                "rod_tip_xy": [
+                  0.2774681526281232,
+                  -0.39065515123390093
+                ],
+                "target_mouth_xy": [
+                  0.27873579427479944,
+                  -0.39184137331422325
+                ],
+                "gripper_position": [
+                  0.2774776438133541,
+                  -0.390726757227704,
+                  1.0028938164226495
+                ],
+                "rod_tip_xy_dist": 0.0017360985479610007,
+                "target_xy_drift": 3.0850854905131634e-08,
+                "depth": 0.017837325632179102,
+                "bottom_clearance": 0.08160330744849253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012581503053410992,
+                  0.0011146164060478192
+                ],
+                "rod_tip_xy": [
+                  0.27747764381335394,
+                  -0.390726757227704
+                ],
+                "target_mouth_xy": [
+                  0.27873579411869503,
+                  -0.3918413736337518
+                ],
+                "gripper_position": [
+                  0.2774670565787426,
+                  -0.3907360564906759,
+                  1.0027370574322316
+                ],
+                "rod_tip_xy_dist": 0.0016808664204691751,
+                "target_xy_drift": 3.0673575978510765e-08,
+                "depth": 0.018366096000446808,
+                "bottom_clearance": 0.08107451953564082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012687035099006594,
+                  0.0011053498356470293
+                ],
+                "rod_tip_xy": [
+                  0.27746705657874243,
+                  -0.3907360564906758
+                ],
+                "target_mouth_xy": [
+                  0.2787357600886431,
+                  -0.3918414063263228
+                ],
+                "gripper_position": [
+                  0.2774591242848238,
+                  -0.3907395197464244,
+                  1.0026003523043328
+                ],
+                "rod_tip_xy_dist": 0.0016826784764770622,
+                "target_xy_drift": 3.096843719811558e-08,
+                "depth": 0.0185228433516732,
+                "bottom_clearance": 0.08091777173544801,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012767005681585397,
+                  0.0011018522881525161
+                ],
+                "rod_tip_xy": [
+                  0.27745912428482367,
+                  -0.3907395197464244
+                ],
+                "target_mouth_xy": [
+                  0.2787358248529822,
+                  -0.3918413720345769
+                ],
+                "gripper_position": [
+                  0.2774511013062734,
+                  -0.39074288173157895,
+                  1.0024631083756133
+                ],
+                "rod_tip_xy_dist": 0.0016864290099625522,
+                "target_xy_drift": 6.144860444991256e-08,
+                "depth": 0.01865959607159129,
+                "bottom_clearance": 0.0807811129946171,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012846605824634039,
+                  0.0010984954168492544
+                ],
+                "rod_tip_xy": [
+                  0.2774511013062732,
+                  -0.3907428817315789
+                ],
+                "target_mouth_xy": [
+                  0.2787357618887366,
+                  -0.39184137714842815
+                ],
+                "gripper_position": [
+                  0.2774429703889152,
+                  -0.39074651051926457,
+                  1.0023261455608263
+                ],
+                "rod_tip_xy_dist": 0.001690279560597604,
+                "target_xy_drift": 2.2752413336209265e-09,
+                "depth": 0.01879674955694699,
+                "bottom_clearance": 0.08064382013506544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012928250882097148,
+                  0.0010948637382758308
+                ],
+                "rod_tip_xy": [
+                  0.277442970388915,
+                  -0.39074651051926457
+                ],
+                "target_mouth_xy": [
+                  0.27873579547712474,
+                  -0.3918413742575404
+                ],
+                "gripper_position": [
+                  0.27743498172844644,
+                  -0.3907499570810766,
+                  1.0021891828626106
+                ],
+                "rod_tip_xy_dist": 0.0016941438292234173,
+                "target_xy_drift": 3.199827286583985e-08,
+                "depth": 0.018933766058510715,
+                "bottom_clearance": 0.08050687822865843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013007484339374042,
+                  0.0010913899524608306
+                ],
+                "rod_tip_xy": [
+                  0.27743498172844633,
+                  -0.3907499570810766
+                ],
+                "target_mouth_xy": [
+                  0.27873573016238373,
+                  -0.39184134703353746
+                ],
+                "gripper_position": [
+                  0.2774269559197171,
+                  -0.390753487790041,
+                  1.002052238416241
+                ],
+                "rod_tip_xy_dist": 0.0016979630492808327,
+                "target_xy_drift": 4.387174934906299e-08,
+                "depth": 0.01907072739330784,
+                "bottom_clearance": 0.08036990372321606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0013088378602366668,
+                  0.0010878544538269752
+                ],
+                "rod_tip_xy": [
+                  0.277426955919717,
+                  -0.39075348779004093
+                ],
+                "target_mouth_xy": [
+                  0.27873579377995367,
+                  -0.3918413422438679
+                ],
+                "gripper_position": [
+                  0.2774398549953691,
+                  -0.39082955700202426,
+                  1.001528154787524
+                ],
+                "rod_tip_xy_dist": 0.0017019059483708503,
+                "target_xy_drift": 4.5007483871733803e-08,
+                "depth": 0.019207699999853944,
+                "bottom_clearance": 0.08023296051474504,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.001295937497679922,
+                  0.0010118166491984715
+                ],
+                "rod_tip_xy": [
+                  0.27743985499536894,
+                  -0.39082955700202426
+                ],
+                "target_mouth_xy": [
+                  0.27873579249304886,
+                  -0.39184137365122274
+                ],
+                "gripper_position": [
+                  0.27742920165428464,
+                  -0.3908385639887121,
+                  1.0013717114253302
+                ],
+                "rod_tip_xy_dist": 0.0016441493026754354,
+                "target_xy_drift": 2.905012650366664e-08,
+                "depth": 0.019731685252532105,
+                "bottom_clearance": 0.07970886809639988,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005969485706203911,
+              "rod_tip_xy_max_step": 3.236508398009458e-05,
+              "rod_tip_xy_range": 0.0005969390588962123,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2769969661303566,
+            -0.39210954148488775,
+            1.0434977202675486
+          ],
+          "object_origin_world": [
+            0.2769969661303566,
+            -0.39210954148488775,
+            1.0434977202675486
+          ],
+          "frame_world": [
+            0.27699556803930425,
+            -0.3921186358580145,
+            1.04337367560594
+          ],
+          "center_minus_frame": [
+            1.3980910523736512e-06,
+            9.094373126738997e-06,
+            0.00012404466160864658
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2531219002363378,
+              0.15814494130473494,
+              0.8325141952925135
+            ],
+            "target_position": [
+              0.26757414663330203,
+              0.20332550974320562,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04743575856188977,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16304743027487598,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325141952925135,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835679101868898,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1322628447754815,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 310,
+            "max_placed_release_frames": 310
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b409a762e7f2847eca424200fbebdfb9aa6b23d13bff6489ecdbf7f8d688f50",
+    "visual_seed": 3198663908794699223,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ed6ddd2076cb50a93fff28ecb6817460e3085a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_50_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2991667511558947,
+              -0.019324896771510103,
+              1.1657448411533453
+            ],
+            "current_z": 1.1657448411533453,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30463839274322435,
+            "gripper_z": 1.1580232399165853,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2942699257622091,
+              -0.02414229145992318,
+              1.1580232399165853
+            ],
+            "object_minus_gripper": [
+              0.004896825393685578,
+              0.004817394688413076,
+              0.007721601236760023
+            ],
+            "object_to_gripper_xy": 0.006869220517656601,
+            "object_to_gripper_z": 0.007721601236760023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2991667511558947,
+              -0.04332985247791313,
+              1.1657448411533453
+            ],
+            "finger_b": [
+              0.2882678380471574,
+              -0.019324896771510103,
+              1.1657448411533453
+            ],
+            "finger_midpoint": [
+              0.29371729460152607,
+              -0.031327374624711614,
+              1.1657448411533453
+            ],
+            "object_minus_finger_midpoint": [
+              0.005449456554368626,
+              0.01200247785320151,
+              0.0
+            ],
+            "finger_gap": 0.026363311730853867,
+            "fingertip_max_gap": 0.09109301235886855,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01318165586542692,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657448411533453,
+            "object_top_z": 1.2157030452713848,
+            "finger_top_clearance": 0.04995820411803953,
+            "fingertip_min_top_clearance": 0.014987461235411892,
+            "object_projection_between_fingers": 0.8290904028582207,
+            "object_to_finger_line_xy": 0.00992394009880719,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048046506179434276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7928806702308847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 352,
+            "max_stable_success_frames": 352,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2817724030691755,
+              -0.3946548016603476,
+              0.8515395575669832
+            ],
+            "target_position": [
+              0.27441456592404284,
+              -0.3958843052450249,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007459855663417907,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18429058715911364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395575669832,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552921322466265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559710901897853,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15216452655856116,
+            "release_required_pad_clearance": 0.05279855450948927,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6440672049587874,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008406341075897217,
+            "max_z_decrease": 0.008406341075897217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504167192912555,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008406341075897217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020986203405286587,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008406341075897217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008406380969835592,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13011449575424194,
+              -0.452145755290985,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13011449575424194,
+              -0.452145755290985,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1282189287245912,
+              -0.45311892685499766,
+              0.8037417368271199
+            ],
+            "closest_button": [
+              0.13011623919010162,
+              -0.45211726427078236,
+              0.7687658071517944
+            ],
+            "closest_ee_minus_button": [
+              -0.0018973104655104212,
+              -0.0010016625842153015,
+              0.03497592967532548
+            ],
+            "button_min_z_position": [
+              0.13011458516120908,
+              -0.4521198570728301,
+              0.7684025168418884
+            ],
+            "min_active_finger_to_button": 0.14758465688092945,
+            "closest_active_finger": [
+              -0.012815915048122406,
+              -0.43932732939720154,
+              0.8108900189399719
+            ],
+            "closest_active_finger_button": [
+              0.1301148384809494,
+              -0.4521446526050567,
+              0.7764263153076172
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1429307535290718,
+              0.012817323207855169,
+              0.034463703632354736
+            ],
+            "min_contact_pad_to_button": 0.020986203405286587,
+            "closest_contact_pad": [
+              0.13011458516120908,
+              -0.4540913127469829,
+              0.7892959152225472
+            ],
+            "closest_contact_pad_button": [
+              0.13011458516120908,
+              -0.4521198570728301,
+              0.7684025168418884
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019714556741528,
+              0.020893398380658734
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26586078409728386,
+              0.2030725196884456,
+              1.103331838197462
+            ],
+            "current_z": 1.103331838197462,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1934227084630994,
+            "gripper_z": 1.1033318381974622,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2658607840972838,
+              0.20307251968844559,
+              1.1033318381974622
+            ],
+            "object_minus_gripper": [
+              5.551115123125783e-17,
+              2.7755575615628914e-17,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 6.206335383118183e-17,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26586078409728386,
+              0.2030725196884456,
+              1.103331838197462
+            ],
+            "finger_b": [
+              0.26586078409728386,
+              0.2030725196884456,
+              1.103331838197462
+            ],
+            "finger_midpoint": [
+              0.26586078409728386,
+              0.2030725196884456,
+              1.103331838197462
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103331838197462,
+            "object_top_z": 1.2283403448177417,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26586078409728386,
+            0.2030725196884456,
+            1.1033318381974622
+          ],
+          "object_origin_world": [
+            0.26586078409728386,
+            0.2030725196884456,
+            1.1033318381974622
+          ],
+          "frame_world": [
+            0.2658607840972838,
+            0.20307251968844559,
+            1.1033318381974622
+          ],
+          "center_minus_frame": [
+            5.551115123125783e-17,
+            2.7755575615628914e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436120605901402,
+            "required_z": 0.9112598896948336,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002664224775835321,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3272690497030306e-09,
+            "max_target_xy_drift": 1.0852873252289963e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6440672051953303,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.644067205745943,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2799694946858106,
+              -0.39664168019160867,
+              0.9233171712651053
+            ],
+            "target_mouth_xy": [
+              0.2817724327034423,
+              -0.3946548019711099
+            ],
+            "rod_tip_z": 0.9233171712651053,
+            "rod_tip_depth": -0.022057400508265324,
+            "rod_tip_bottom_clearance": 0.12149794223217392,
+            "rod_tip_xy_dist": 0.0026829592912517414,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04531220119859947,
+            "min_rod_tip_bottom_clearance": 0.05412834559841195,
+            "min_rod_tip_xy_dist": 0.0012495030390970415,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.281772433095729,
+              -0.3946548007031374
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.922867031214139e-10,
+              -1.2679725047703982e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0012750745818806974,
+                -0.0002229893933908822
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013666801688377306,
+                -0.0006148941023554344
+              ],
+              "first_target_mouth_xy": [
+                0.28177249245960095,
+                -0.3946547727964248
+              ],
+              "last_target_mouth_xy": [
+                0.2817724925279673,
+                -0.39465477215741507
+              ],
+              "first_rod_tip_xy": [
+                0.28049741787772026,
+                -0.3948777621898157
+              ],
+              "last_rod_tip_xy": [
+                0.2804058123591296,
+                -0.3952696662597705
+              ],
+              "min_rod_tip_xy_dist": 0.001294426304940945,
+              "max_rod_tip_xy_dist": 0.0014986358600426668,
+              "first_target_xy_drift": 6.559614240937368e-08,
+              "last_target_xy_drift": 6.593215613822532e-08,
+              "max_depth": 0.019695064721361732,
+              "min_bottom_clearance": 0.07974548514561042
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0012750745818806974,
+                  -0.0002229893933908822
+                ],
+                "rod_tip_xy": [
+                  0.28049741787772026,
+                  -0.3948777621898157
+                ],
+                "target_mouth_xy": [
+                  0.28177249245960095,
+                  -0.3946547727964248
+                ],
+                "gripper_position": [
+                  0.28048746971950533,
+                  -0.3948876114667495,
+                  1.00572891917824
+                ],
+                "rod_tip_xy_dist": 0.001294426304940945,
+                "target_xy_drift": 6.559614240937368e-08,
+                "depth": 0.01537129838853979,
+                "bottom_clearance": 0.0840692713604888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001285019273757071,
+                  -0.00023284118437721935
+                ],
+                "rod_tip_xy": [
+                  0.28048746971950533,
+                  -0.3948876114667495
+                ],
+                "target_mouth_xy": [
+                  0.2817724889932624,
+                  -0.3946547702823723
+                ],
+                "gripper_position": [
+                  0.28047999376076593,
+                  -0.39489172782351184,
+                  1.0055884819360046
+                ],
+                "rod_tip_xy_dist": 0.0013059439310588094,
+                "target_xy_drift": 6.363927395079503e-08,
+                "depth": 0.015530987030192844,
+                "bottom_clearance": 0.08390963218135516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012924991636036887,
+                  -0.00023695630080455832
+                ],
+                "rod_tip_xy": [
+                  0.28047999376076593,
+                  -0.39489172782351195
+                ],
+                "target_mouth_xy": [
+                  0.2817724929243696,
+                  -0.3946547715227074
+                ],
+                "gripper_position": [
+                  0.2804870162405854,
+                  -0.3949641826327227,
+                  1.0050546256245028
+                ],
+                "rod_tip_xy_dist": 0.001314040477461488,
+                "target_xy_drift": 6.656548453727213e-08,
+                "depth": 0.01567134197637099,
+                "bottom_clearance": 0.08376920089815498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012854768004707529,
+                  -0.0003094120587269211
+                ],
+                "rod_tip_xy": [
+                  0.2804870162405855,
+                  -0.39496418263272276
+                ],
+                "target_mouth_xy": [
+                  0.2817724930410562,
+                  -0.39465477057399584
+                ],
+                "gripper_position": [
+                  0.2804768047488804,
+                  -0.3949742267886649,
+                  1.004895142865955
+                ],
+                "rod_tip_xy_dist": 0.0013221900115468108,
+                "target_xy_drift": 6.709103833705345e-08,
+                "depth": 0.0162052129860063,
+                "bottom_clearance": 0.08323536215410454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012956840651436874,
+                  -0.00031945651726555946
+                ],
+                "rod_tip_xy": [
+                  0.2804768047488804,
+                  -0.39497422678866484
+                ],
+                "target_mouth_xy": [
+                  0.2817724888140241,
+                  -0.3946547702713993
+                ],
+                "gripper_position": [
+                  0.28046923155488895,
+                  -0.3949779889241825,
+                  1.0047547861771773
+                ],
+                "rod_tip_xy_dist": 0.0013344847931283112,
+                "target_xy_drift": 6.348715691532088e-08,
+                "depth": 0.0163647094372118,
+                "bottom_clearance": 0.08307591713761664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0013032906467423389,
+                  -0.00032321771956106415
+                ],
+                "rod_tip_xy": [
+                  0.280469231554889,
+                  -0.3949779889241825
+                ],
+                "target_mouth_xy": [
+                  0.28177252220163135,
+                  -0.39465477120462145
+                ],
+                "gripper_position": [
+                  0.28046139911901397,
+                  -0.394982237938937,
+                  1.0046143264619072
+                ],
+                "rod_tip_xy_dist": 0.0013427718362120642,
+                "target_xy_drift": 9.38617295434804e-08,
+                "depth": 0.016505036115990857,
+                "bottom_clearance": 0.08293549177077297,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001311091256724739,
+                  -0.0003274673540318851
+                ],
+                "rod_tip_xy": [
+                  0.280461399119014,
+                  -0.394982237938937
+                ],
+                "target_mouth_xy": [
+                  0.28177249037573876,
+                  -0.3946547705849051
+                ],
+                "gripper_position": [
+                  0.2804699253222698,
+                  -0.39505692855334523,
+                  1.0040800095092903
+                ],
+                "rod_tip_xy_dist": 0.0013513678815987524,
+                "target_xy_drift": 6.471558878649473e-08,
+                "depth": 0.016645531977210637,
+                "bottom_clearance": 0.08279502276654715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0013025666131070146,
+                  -0.0004021269046470266
+                ],
+                "rod_tip_xy": [
+                  0.2804699253222698,
+                  -0.39505692855334523
+                ],
+                "target_mouth_xy": [
+                  0.2817724919353768,
+                  -0.3946548016486982
+                ],
+                "gripper_position": [
+                  0.2804597198389871,
+                  -0.3950667938904301,
+                  1.0039204323983442
+                ],
+                "rod_tip_xy_dist": 0.0013632262574576818,
+                "target_xy_drift": 5.884724491727075e-08,
+                "depth": 0.01717981208034225,
+                "bottom_clearance": 0.08226070378417527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0013127703360270027,
+                  -0.00041199350351944775
+                ],
+                "rod_tip_xy": [
+                  0.28045971983898715,
+                  -0.39506679389043003
+                ],
+                "target_mouth_xy": [
+                  0.28177249017501416,
+                  -0.3946548003869106
+                ],
+                "gripper_position": [
+                  0.28045188858648423,
+                  -0.3950707653470671,
+                  1.0037809168695533
+                ],
+                "rod_tip_xy_dist": 0.0013759013780408386,
+                "target_xy_drift": 5.708016109434893e-08,
+                "depth": 0.017339432211167294,
+                "bottom_clearance": 0.08210113035107902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0013206042381232463,
+                  -0.0004159957314803786
+                ],
+                "rod_tip_xy": [
+                  0.2804518885864843,
+                  -0.39507076534706714
+                ],
+                "target_mouth_xy": [
+                  0.28177249282460753,
+                  -0.39465476961558676
+                ],
+                "gripper_position": [
+                  0.2804442099520108,
+                  -0.39507431412185484,
+                  1.0036406992274545
+                ],
+                "rod_tip_xy_dist": 0.0013845750259046908,
+                "target_xy_drift": 6.733479585722854e-08,
+                "depth": 0.017478937271368955,
+                "bottom_clearance": 0.08196166429560126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0013283110166490975,
+                  -0.00041954322709897296
+                ],
+                "rod_tip_xy": [
+                  0.28044420995201086,
+                  -0.39507431412185484
+                ],
+                "target_mouth_xy": [
+                  0.28177252096865996,
+                  -0.39465477089475587
+                ],
+                "gripper_position": [
+                  0.28045409617336914,
+                  -0.39515097253488546,
+                  1.0031089079754885
+                ],
+                "rod_tip_xy_dist": 0.001392991987182977,
+                "target_xy_drift": 9.279111811275542e-08,
+                "depth": 0.017619129503566477,
+                "bottom_clearance": 0.08182138355797319,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0013184255914296394,
+                  -0.0004962010125484362
+                ],
+                "rod_tip_xy": [
+                  0.2804540961733692,
+                  -0.39515097253488546
+                ],
+                "target_mouth_xy": [
+                  0.28177252176479883,
+                  -0.394654771522337
+                ],
+                "gripper_position": [
+                  0.28044362884444163,
+                  -0.39516085883737306,
+                  1.0029496092218924
+                ],
+                "rod_tip_xy_dist": 0.0014087091555714003,
+                "target_xy_drift": 9.334732482500726e-08,
+                "depth": 0.018150908077608663,
+                "bottom_clearance": 0.0812895974064799,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0013288606542163905,
+                  -0.0005060885654298852
+                ],
+                "rod_tip_xy": [
+                  0.28044362884444163,
+                  -0.395160858837373
+                ],
+                "target_mouth_xy": [
+                  0.281772489498658,
+                  -0.3946547702719431
+                ],
+                "gripper_position": [
+                  0.2804357480726297,
+                  -0.3951645430252165,
+                  1.0028098953561955
+                ],
+                "rod_tip_xy_dist": 0.0014219691538086515,
+                "target_xy_drift": 6.408859481075574e-08,
+                "depth": 0.018310281642700987,
+                "bottom_clearance": 0.0811303182704457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0013367740397003391,
+                  -0.0005097727737901625
+                ],
+                "rod_tip_xy": [
+                  0.2804357480726298,
+                  -0.3951645430252165
+                ],
+                "target_mouth_xy": [
+                  0.2817725221123301,
+                  -0.3946547702514263
+                ],
+                "gripper_position": [
+                  0.28042775232339473,
+                  -0.39516821079193537,
+                  1.002669982136472
+                ],
+                "rod_tip_xy_dist": 0.0014306757543603233,
+                "target_xy_drift": 9.408114571162752e-08,
+                "depth": 0.01844994335859773,
+                "bottom_clearance": 0.08099061560084209,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00134471019106025,
+                  -0.0005134392726263148
+                ],
+                "rod_tip_xy": [
+                  0.28042775232339473,
+                  -0.39516821079193537
+                ],
+                "target_mouth_xy": [
+                  0.281772462514455,
+                  -0.39465477151930906
+                ],
+                "gripper_position": [
+                  0.2804198270557161,
+                  -0.39517209103461304,
+                  1.0025300375685553
+                ],
+                "rod_tip_xy_dist": 0.0014393975769801523,
+                "target_xy_drift": 4.143859643164321e-08,
+                "depth": 0.018589836756196187,
+                "bottom_clearance": 0.08085068239037974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0013526625757879218,
+                  -0.0005173207551814052
+                ],
+                "rod_tip_xy": [
+                  0.28041982705571616,
+                  -0.395172091034613
+                ],
+                "target_mouth_xy": [
+                  0.2817724896315041,
+                  -0.3946547702794316
+                ],
+                "gripper_position": [
+                  0.2804118822900979,
+                  -0.3951757696524968,
+                  1.0023899422910667
+                ],
+                "rod_tip_xy_dist": 0.0014482115894021406,
+                "target_xy_drift": 6.420199170102696e-08,
+                "depth": 0.018729849083879202,
+                "bottom_clearance": 0.08071074539609935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0013606103162302485,
+                  -0.0005209993915309963
+                ],
+                "rod_tip_xy": [
+                  0.2804118822900979,
+                  -0.39517576965249684
+                ],
+                "target_mouth_xy": [
+                  0.28177249260632814,
+                  -0.39465477026096585
+                ],
+                "gripper_position": [
+                  0.280424539597184,
+                  -0.3952563706074301,
+                  1.0018634106816184
+                ],
+                "rod_tip_xy_dist": 0.0014569491407073363,
+                "target_xy_drift": 6.684487427189266e-08,
+                "depth": 0.01886989855774901,
+                "bottom_clearance": 0.08057067134357998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013479488793293748,
+                  -0.0006016000057939008
+                ],
+                "rod_tip_xy": [
+                  0.28042453959718405,
+                  -0.3952563706074301
+                ],
+                "target_mouth_xy": [
+                  0.2817724884765134,
+                  -0.3946547706016362
+                ],
+                "gripper_position": [
+                  0.28041404365361533,
+                  -0.3952659007299204,
+                  1.0017043056943373
+                ],
+                "rod_tip_xy_dist": 0.0014761059407293702,
+                "target_xy_drift": 6.303278240515287e-08,
+                "depth": 0.019396505808912057,
+                "bottom_clearance": 0.0800441222435726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001358478151019249,
+                  -0.000611129839166169
+                ],
+                "rod_tip_xy": [
+                  0.2804140436536154,
+                  -0.39526590072992046
+                ],
+                "target_mouth_xy": [
+                  0.28177252180463463,
+                  -0.3946547708907543
+                ],
+                "gripper_position": [
+                  0.28040581235912954,
+                  -0.39526966625977056,
+                  1.0015647672332038
+                ],
+                "rod_tip_xy_dist": 0.0014896115490677243,
+                "target_xy_drift": 9.358444380181942e-08,
+                "depth": 0.01955545954164084,
+                "bottom_clearance": 0.07988506457498945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0013666801688377306,
+                  -0.0006148941023554344
+                ],
+                "rod_tip_xy": [
+                  0.2804058123591296,
+                  -0.3952696662597705
+                ],
+                "target_mouth_xy": [
+                  0.2817724925279673,
+                  -0.39465477215741507
+                ],
+                "gripper_position": [
+                  0.2804186625687288,
+                  -0.3953434278544783,
+                  1.0009531247699257
+                ],
+                "rod_tip_xy_dist": 0.0014986358600426668,
+                "target_xy_drift": 6.593215613822532e-08,
+                "depth": 0.019695064721361732,
+                "bottom_clearance": 0.07974548514561042,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006030958797808137,
+              "rod_tip_xy_max_step": 3.26545547347683e-05,
+              "rod_tip_xy_range": 0.0006030917052527454,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2799694946858106,
+            -0.39664168019160867,
+            1.0433171712651053
+          ],
+          "object_origin_world": [
+            0.2799694946858106,
+            -0.39664168019160867,
+            1.0433171712651053
+          ],
+          "frame_world": [
+            0.2799936726101824,
+            -0.3966382601095138,
+            1.0436120605901402
+          ],
+          "center_minus_frame": [
+            -2.4177924371759918e-05,
+            -3.4200820948626642e-06,
+            -0.0002948893250349638
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25241262593246094,
+              0.15550151198299486,
+              0.8325780861430079
+            ],
+            "target_position": [
+              0.26598343765401045,
+              0.20159580702797048,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04805050433112028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16761586356137542,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325780861430079,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672489755227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13754906630605004,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b67ce5fcff848f50ccecc25b300508a51e629142291391b3173de4add30198a",
+    "visual_seed": 5354784107444677682,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88bc0dfefbf31cf33cf33091f9bea3dd9157d5fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_66_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2997203006514393,
+              -0.019084276727147218,
+              1.1646091109601655
+            ],
+            "current_z": 1.1646091109601655,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.30350266255004454,
+            "gripper_z": 1.1570162661739751,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2948333568191964,
+              -0.023857451451724063,
+              1.1570162661739751
+            ],
+            "object_minus_gripper": [
+              0.004886943832242863,
+              0.0047731747245768445,
+              0.007592844786190378
+            ],
+            "object_to_gripper_xy": 0.006831209041658423,
+            "object_to_gripper_z": 0.007592844786190378,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2997203006514393,
+              -0.043085471178041894,
+              1.1646091109601655
+            ],
+            "finger_b": [
+              0.2888964822596877,
+              -0.019084276727147218,
+              1.1646091109601655
+            ],
+            "finger_midpoint": [
+              0.29430839145556353,
+              -0.031084873952594558,
+              1.1646091109601655
+            ],
+            "object_minus_finger_midpoint": [
+              0.005411909195875753,
+              0.01200059722544734,
+              0.0
+            ],
+            "finger_gap": 0.026328926671007245,
+            "fingertip_max_gap": 0.09147444005617653,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013164463335503612,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646091109601655,
+            "object_top_z": 1.2145585554134128,
+            "finger_top_clearance": 0.04994944445324734,
+            "fingertip_min_top_clearance": 0.014984833335974168,
+            "object_projection_between_fingers": 0.8309968950103997,
+            "object_to_finger_line_xy": 0.009866887973358487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048237220028088265,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1192612790040295,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28065697684149127,
+              -0.3964574693986196,
+              0.8515395813721484
+            ],
+            "target_position": [
+              0.2733695595387562,
+              -0.3975800196025312,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007373368965710626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18573990552515074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395813721484,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556114787520685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660083162213543,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365896241761542,
+            "release_required_pad_clearance": 0.05330041581106772,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6192678635708513,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008273720741271973,
+            "max_z_decrease": 0.008273720741271973,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506305315157103,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008273720741271973,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020883549855974626,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008273720741271973,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008273850824308341,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12906949222087855,
+              -0.4538414776325226,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12906949222087855,
+              -0.4538414776325226,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13037781015798672,
+              -0.4522005814895589,
+              0.8036097675316315
+            ],
+            "closest_button": [
+              0.12910546362400052,
+              -0.453813761472702,
+              0.768606960773468
+            ],
+            "closest_ee_minus_button": [
+              0.0012723465339861961,
+              0.0016131799831431426,
+              0.035002806758163474
+            ],
+            "button_min_z_position": [
+              0.12910702824592588,
+              -0.45381420850753784,
+              0.7685351371765137
+            ],
+            "min_active_finger_to_button": 0.14403259319372894,
+            "closest_active_finger": [
+              0.002875998616218567,
+              -0.5142230987548828,
+              0.8107737898826599
+            ],
+            "closest_active_finger_button": [
+              0.12906976044178003,
+              -0.45383965969085693,
+              0.7765048146247864
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12619376182556147,
+              -0.06038343906402588,
+              0.034268975257873535
+            ],
+            "min_contact_pad_to_button": 0.020883549855974626,
+            "closest_contact_pad": [
+              0.12910702824592588,
+              -0.45381420850753784,
+              0.7894186870324883
+            ],
+            "closest_contact_pad_button": [
+              0.12910702824592588,
+              -0.45381420850753784,
+              0.7685351371765137
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020883549855974626
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.268109210474884,
+              0.20285990227928635,
+              1.114039963698767
+            ],
+            "current_z": 1.114039963698767,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20413083396440446,
+            "gripper_z": 1.114040283159649,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26810918196597,
+              0.20285994311871564,
+              1.114040283159649
+            ],
+            "object_minus_gripper": [
+              2.8508914007296937e-08,
+              -4.083942928279072e-08,
+              -3.194608819701017e-07
+            ],
+            "object_to_gripper_xy": 4.980579446228637e-08,
+            "object_to_gripper_z": -3.194608819701017e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.268109210474884,
+              0.20285990227928635,
+              1.114039963698767
+            ],
+            "finger_b": [
+              0.268109210474884,
+              0.20285990227928635,
+              1.114039963698767
+            ],
+            "finger_midpoint": [
+              0.268109210474884,
+              0.20285990227928635,
+              1.114039963698767
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.114039963698767,
+            "object_top_z": 1.2390484703190467,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26810921047488406,
+            0.20285990227928635,
+            1.114039963698767
+          ],
+          "object_origin_world": [
+            0.26810921047488406,
+            0.20285990227928635,
+            1.114039963698767
+          ],
+          "frame_world": [
+            0.26810918196597,
+            0.20285994311871564,
+            1.114040283159649
+          ],
+          "center_minus_frame": [
+            2.850891406280809e-08,
+            -4.083942928279072e-08,
+            -3.194608819701017e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436650379473744,
+            "required_z": 0.9112598230022569,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002353749135200974,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.473515402505908e-08,
+            "max_target_xy_drift": 2.82071144481498e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6192678636656228,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6192678639515123,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2786473209173098,
+              -0.39772460223564915,
+              0.9233717192838192
+            ],
+            "target_mouth_xy": [
+              0.280657038507409,
+              -0.39645746967102996
+            ],
+            "rod_tip_z": 0.9233717192838192,
+            "rod_tip_depth": -0.022111879671094736,
+            "rod_tip_bottom_clearance": 0.12155244240451302,
+            "rod_tip_xy_dist": 0.002375834533016214,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045009330277856696,
+            "min_rod_tip_bottom_clearance": 0.054431183483694134,
+            "min_rod_tip_xy_dist": 0.0015032546730900725,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2806569483787282,
+              -0.3964574404893524
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.012868079638636e-08,
+              -2.918167757437473e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0014605316311202543,
+                0.0004138715486347033
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001559490276133113,
+                4.305032025858635e-05
+              ],
+              "first_target_mouth_xy": [
+                0.28065698106378933,
+                -0.3964574728262091
+              ],
+              "last_target_mouth_xy": [
+                0.2806570074136928,
+                -0.3964574998322138
+              ],
+              "first_rod_tip_xy": [
+                0.2791964494326691,
+                -0.3960436012775744
+              ],
+              "last_rod_tip_xy": [
+                0.2790975171375597,
+                -0.3964144495119552
+              ],
+              "min_rod_tip_xy_dist": 0.0015032546730900725,
+              "max_rod_tip_xy_dist": 0.0015600843731760471,
+              "first_target_xy_drift": 4.5978098303631065e-08,
+              "last_target_xy_drift": 8.370604667154795e-08,
+              "max_depth": 0.019714580766223122,
+              "min_bottom_clearance": 0.07972594611461337
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0014605316311202543,
+                  0.0004138715486347033
+                ],
+                "rod_tip_xy": [
+                  0.2791964494326691,
+                  -0.3960436012775744
+                ],
+                "target_mouth_xy": [
+                  0.28065698106378933,
+                  -0.3964574728262091
+                ],
+                "gripper_position": [
+                  0.2791864351942166,
+                  -0.3960533410640434,
+                  1.0057118918669863
+                ],
+                "rod_tip_xy_dist": 0.001518038966651409,
+                "target_xy_drift": 4.5978098303631065e-08,
+                "depth": 0.015388025082524792,
+                "bottom_clearance": 0.08405264651209798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014705433422108616,
+                  0.00040412829064800926
+                ],
+                "rod_tip_xy": [
+                  0.27918643519421643,
+                  -0.3960533410640434
+                ],
+                "target_mouth_xy": [
+                  0.2806569785364273,
+                  -0.3964574693546914
+                ],
+                "gripper_position": [
+                  0.27919178691953594,
+                  -0.3961213301762349,
+                  1.0051773409736853
+                ],
+                "rod_tip_xy_dist": 0.0015250630795553253,
+                "target_xy_drift": 4.174559392316494e-08,
+                "depth": 0.015547950730464444,
+                "bottom_clearance": 0.0838926099228382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014651906226075817,
+                  0.0003361414160586995
+                ],
+                "rod_tip_xy": [
+                  0.2791917869195358,
+                  -0.3961213301762349
+                ],
+                "target_mouth_xy": [
+                  0.28065697754214336,
+                  -0.3964574715922936
+                ],
+                "gripper_position": [
+                  0.2791816887415949,
+                  -0.3961309825379038,
+                  1.0050177406198142
+                ],
+                "rod_tip_xy_dist": 0.0015032546730900725,
+                "target_xy_drift": 4.263681200343572e-08,
+                "depth": 0.016082495389073803,
+                "bottom_clearance": 0.0833580289760355,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0014752911213614106,
+                  0.00032645856648089167
+                ],
+                "rod_tip_xy": [
+                  0.2791816887415947,
+                  -0.39613098253790385
+                ],
+                "target_mouth_xy": [
+                  0.2806569798629561,
+                  -0.39645744110438474
+                ],
+                "gripper_position": [
+                  0.27917414401738705,
+                  -0.39613503557165364,
+                  1.00487786654836
+                ],
+                "rod_tip_xy_dist": 0.0015109795128976989,
+                "target_xy_drift": 3.149023458499968e-08,
+                "depth": 0.01624214570184912,
+                "bottom_clearance": 0.0831984120798106,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014828357954980165,
+                  0.000322434080447076
+                ],
+                "rod_tip_xy": [
+                  0.2791741440173869,
+                  -0.3961350355716536
+                ],
+                "target_mouth_xy": [
+                  0.2806569798128849,
+                  -0.39645746965210066
+                ],
+                "gripper_position": [
+                  0.27916640852323105,
+                  -0.3961392293674905,
+                  1.0047380658172937
+                ],
+                "rod_tip_xy_dist": 0.0015174866499063466,
+                "target_xy_drift": 4.287857385209124e-08,
+                "depth": 0.016381980204651647,
+                "bottom_clearance": 0.0830586173200627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001490568954783833,
+                  0.00031824064026658716
+                ],
+                "rod_tip_xy": [
+                  0.2791664085232309,
+                  -0.39613922936749063
+                ],
+                "target_mouth_xy": [
+                  0.2806569774780147,
+                  -0.3964574700077572
+                ],
+                "gripper_position": [
+                  0.27917336976079854,
+                  -0.39620903025958376,
+                  1.0042026414715486
+                ],
+                "rod_tip_xy_dist": 0.0015241630208355848,
+                "target_xy_drift": 4.14500265464416e-08,
+                "depth": 0.016521715431583983,
+                "bottom_clearance": 0.08291881747957897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014836093784363902,
+                  0.0002484416344286089
+                ],
+                "rod_tip_xy": [
+                  0.2791733697607984,
+                  -0.3962090302595838
+                ],
+                "target_mouth_xy": [
+                  0.28065697913923476,
+                  -0.3964574718940124
+                ],
+                "gripper_position": [
+                  0.2791631713386321,
+                  -0.39621895668421575,
+                  1.0040434977260606
+                ],
+                "rod_tip_xy_dist": 0.0015042672746230872,
+                "target_xy_drift": 4.395977067300397e-08,
+                "depth": 0.017057196518367124,
+                "bottom_clearance": 0.08238336688005699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014938356066571123,
+                  0.00023851268408742188
+                ],
+                "rod_tip_xy": [
+                  0.27916317133863194,
+                  -0.39621895668421575
+                ],
+                "target_mouth_xy": [
+                  0.28065700694528906,
+                  -0.3964574693683032
+                ],
+                "gripper_position": [
+                  0.2791553833029885,
+                  -0.39622268509977543,
+                  1.003903520035076
+                ],
+                "rod_tip_xy_dist": 0.0015127567947912873,
+                "target_xy_drift": 6.5299585386768e-08,
+                "depth": 0.017216364380784333,
+                "bottom_clearance": 0.08222420389796103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015015979535596413,
+                  0.00023487903998437032
+                ],
+                "rod_tip_xy": [
+                  0.27915538330298834,
+                  -0.3962226850997755
+                ],
+                "target_mouth_xy": [
+                  0.280656981256548,
+                  -0.39645756413975985
+                ],
+                "gripper_position": [
+                  0.279147629989285,
+                  -0.39622671924669095,
+                  1.0037636310975453
+                ],
+                "rod_tip_xy_dist": 0.0015198567621846745,
+                "target_xy_drift": 1.2794676354626064e-07,
+                "depth": 0.017356445500844364,
+                "bottom_clearance": 0.08208429966130093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015093172543098055,
+                  0.0002307805780203953
+                ],
+                "rod_tip_xy": [
+                  0.2791476299892849,
+                  -0.396226719246691
+                ],
+                "target_mouth_xy": [
+                  0.2806569472435947,
+                  -0.3964574998247114
+                ],
+                "gripper_position": [
+                  0.27915608810634734,
+                  -0.39629833510874835,
+                  1.003230427015437
+                ],
+                "rod_tip_xy_dist": 0.0015268589487404255,
+                "target_xy_drift": 5.934621603334714e-08,
+                "depth": 0.017496222901869918,
+                "bottom_clearance": 0.08194432655973272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015009198093303144,
+                  0.0001591643847044799
+                ],
+                "rod_tip_xy": [
+                  0.27915608810634723,
+                  -0.3962983351087484
+                ],
+                "target_mouth_xy": [
+                  0.28065700791567755,
+                  -0.3964574994934529
+                ],
+                "gripper_position": [
+                  0.27914571673324806,
+                  -0.3963079587014644,
+                  1.0030709561345443
+                ],
+                "rod_tip_xy_dist": 0.0015093354747697752,
+                "target_xy_drift": 8.382202703053304e-08,
+                "depth": 0.018029406339818643,
+                "bottom_clearance": 0.08141112608607093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015112896065168635,
+                  0.00014954114463100465
+                ],
+                "rod_tip_xy": [
+                  0.2791457167332479,
+                  -0.39630795870146435
+                ],
+                "target_mouth_xy": [
+                  0.28065700633976476,
+                  -0.39645749984609535
+                ],
+                "gripper_position": [
+                  0.2791377053174218,
+                  -0.3963116019713282,
+                  1.0029314059187655
+                ],
+                "rod_tip_xy_dist": 0.0015186700855365023,
+                "target_xy_drift": 8.296206782034282e-08,
+                "depth": 0.018188913264416517,
+                "bottom_clearance": 0.08125165553043934,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015193040229656285,
+                  0.00014589718335283886
+                ],
+                "rod_tip_xy": [
+                  0.27913770531742166,
+                  -0.39631160197132825
+                ],
+                "target_mouth_xy": [
+                  0.2806570093403873,
+                  -0.3964574991546811
+                ],
+                "gripper_position": [
+                  0.2791298950660027,
+                  -0.39631557273796014,
+                  1.0027917194779687
+                ],
+                "rod_tip_xy_dist": 0.0015262931246355776,
+                "target_xy_drift": 8.460463742362867e-08,
+                "depth": 0.01832850380597928,
+                "bottom_clearance": 0.08111209445397338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015271142198974297,
+                  0.00014192800552847995
+                ],
+                "rod_tip_xy": [
+                  0.27912989506600255,
+                  -0.3963155727379601
+                ],
+                "target_mouth_xy": [
+                  0.2806570092859,
+                  -0.39645750074348857
+                ],
+                "gripper_position": [
+                  0.27912200290329725,
+                  -0.3963192399314733,
+                  1.0026519237354417
+                ],
+                "rod_tip_xy_dist": 0.001533695341117729,
+                "target_xy_drift": 8.56752268994447e-08,
+                "depth": 0.018468104633946103,
+                "bottom_clearance": 0.08097243937080156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015350044628166803,
+                  0.00013822848210898186
+                ],
+                "rod_tip_xy": [
+                  0.27912200290329714,
+                  -0.3963192399314733
+                ],
+                "target_mouth_xy": [
+                  0.2806570073661138,
+                  -0.39645746841358226
+                ],
+                "gripper_position": [
+                  0.2791321670832527,
+                  -0.39639378473659215,
+                  1.0021228615465954
+                ],
+                "rod_tip_xy_dist": 0.0015412156935787017,
+                "target_xy_drift": 6.526311576190697e-08,
+                "depth": 0.01860788194957419,
+                "bottom_clearance": 0.08083270278081989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015248113841653255,
+                  6.368686205276974e-05
+                ],
+                "rod_tip_xy": [
+                  0.27913216708325256,
+                  -0.3963937847365922
+                ],
+                "target_mouth_xy": [
+                  0.2806569784674179,
+                  -0.396457471598645
+                ],
+                "gripper_position": [
+                  0.27912162911722393,
+                  -0.39640339072277764,
+                  1.0019643856091627
+                ],
+                "rod_tip_xy_dist": 0.001526140810567067,
+                "target_xy_drift": 4.327952556901004e-08,
+                "depth": 0.019136965546818208,
+                "bottom_clearance": 0.08030356111537029,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00153534900694402,
+                  5.4080225272035154e-05
+                ],
+                "rod_tip_xy": [
+                  0.27912162911722377,
+                  -0.3964033907227777
+                ],
+                "target_mouth_xy": [
+                  0.2806569781241678,
+                  -0.39645747094804973
+                ],
+                "gripper_position": [
+                  0.27911363165834935,
+                  -0.3964070360663504,
+                  1.0018245929597391
+                ],
+                "rod_tip_xy_dist": 0.001536301156638718,
+                "target_xy_drift": 4.25737409849522e-08,
+                "depth": 0.019295427108734886,
+                "bottom_clearance": 0.08014506348567862,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015433454486495357,
+                  5.046632806832152e-05
+                ],
+                "rod_tip_xy": [
+                  0.27911363165834924,
+                  -0.39640703606635036
+                ],
+                "target_mouth_xy": [
+                  0.2806569771069988,
+                  -0.3964575023944187
+                ],
+                "gripper_position": [
+                  0.27910566290167726,
+                  -0.39641063997298626,
+                  1.0016850319945796
+                ],
+                "rod_tip_xy_dist": 0.001544170335207854,
+                "target_xy_drift": 6.824625091865314e-08,
+                "depth": 0.019435275157238086,
+                "bottom_clearance": 0.08000530227907332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0015515322086819827,
+                  4.691969277509367e-05
+                ],
+                "rod_tip_xy": [
+                  0.2791056629016771,
+                  -0.39641063997298626
+                ],
+                "target_mouth_xy": [
+                  0.2806571951103591,
+                  -0.39645755966576135
+                ],
+                "gripper_position": [
+                  0.2790975171375598,
+                  -0.39641444951195526,
+                  1.001545255577411
+                ],
+                "rod_tip_xy_dist": 0.001552241492857249,
+                "target_xy_drift": 2.7400641259292016e-07,
+                "depth": 0.019574972991279638,
+                "bottom_clearance": 0.07986585267863078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001559490276133113,
+                  4.305032025858635e-05
+                ],
+                "rod_tip_xy": [
+                  0.2790975171375597,
+                  -0.3964144495119552
+                ],
+                "target_mouth_xy": [
+                  0.2806570074136928,
+                  -0.3964574998322138
+                ],
+                "gripper_position": [
+                  0.2791097435082879,
+                  -0.39648485244630033,
+                  1.0009312605941811
+                ],
+                "rod_tip_xy_dist": 0.0015600843731760471,
+                "target_xy_drift": 8.370604667154795e-08,
+                "depth": 0.019714580766223122,
+                "bottom_clearance": 0.07972594611461337,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006011795165809299,
+              "rod_tip_xy_max_step": 3.282782556553073e-05,
+              "rod_tip_xy_range": 0.0006011705565534045,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27864732091730987,
+            -0.39772460223564915,
+            1.0433717192838192
+          ],
+          "object_origin_world": [
+            0.27864732091730987,
+            -0.39772460223564915,
+            1.0433717192838192
+          ],
+          "frame_world": [
+            0.2786711570526974,
+            -0.39772096080249547,
+            1.0436650379473744
+          ],
+          "center_minus_frame": [
+            -2.383613538753382e-05,
+            -3.641433153678264e-06,
+            -0.00029331866355519765
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24589140317609431,
+              0.15865752363629806,
+              0.8320671445347061
+            ],
+            "target_position": [
+              0.25975007998818056,
+              0.20463808778853781,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04802369418047816,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1666303643878461,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320671445347061,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672049650668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13639163734862822,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 256,
+            "max_placed_release_frames": 256
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49ecc4a7493ab8e7e0ff17a62fb385a0ffe1cf6d5a12d38fa57b5e4100ba84f7",
+    "visual_seed": 2785578451398155824,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0ca1c4e3a43f5e557ab9af0c114179fa8ce59a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_69_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.303832536573679,
+              -0.019701225844288628,
+              1.1657864249581515
+            ],
+            "current_z": 1.1657864249581515,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30467997654803036,
+            "gripper_z": 1.1581156649297657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2988838146470641,
+              -0.024474597313790522,
+              1.1581156649297657
+            ],
+            "object_minus_gripper": [
+              0.004948721926614885,
+              0.004773371469501894,
+              0.007670760028385848
+            ],
+            "object_to_gripper_xy": 0.0068756762498545275,
+            "object_to_gripper_z": 0.007670760028385848,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.303832536573679,
+              -0.04390264587354467,
+              1.1657864249581515
+            ],
+            "finger_b": [
+              0.29320389888506254,
+              -0.019701225844288628,
+              1.1657864249581515
+            ],
+            "finger_midpoint": [
+              0.29851821772937076,
+              -0.03180193585891665,
+              1.1657864249581515
+            ],
+            "object_minus_finger_midpoint": [
+              0.005314318844308219,
+              0.012100710014628022,
+              0.0
+            ],
+            "finger_gap": 0.02643249270402535,
+            "fingertip_max_gap": 0.09156187321075923,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013216246352012675,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1657864249581515,
+            "object_top_z": 1.2156439469653408,
+            "finger_top_clearance": 0.04985752200718929,
+            "fingertip_min_top_clearance": 0.01495725660215682,
+            "object_projection_between_fingers": 0.8383115625898666,
+            "object_to_finger_line_xy": 0.009731512193014413,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828093660537962,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4681359169782138,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 356,
+            "max_stable_success_frames": 356,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2853230738607127,
+              -0.39457344800350475,
+              0.8515395757094033
+            ],
+            "target_position": [
+              0.27816084809384667,
+              -0.3955770978164853,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007232205118956163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18476893371155645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395757094033,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565825238902865,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08769323481299617,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245983233899885,
+            "release_required_pad_clearance": 0.053846617406498085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.702651891128318,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008402109146118164,
+            "max_z_decrease": 0.008402109146118164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035036875379391874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008402109146118164,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020879956210628953,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008402109146118164,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008402246790191316,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13386076688766477,
+              -0.4518385529518127,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13386076688766477,
+              -0.4518385529518127,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1352359809587108,
+              -0.45100032818295493,
+              0.8036171291456427
+            ],
+            "closest_button": [
+              0.13389590382575983,
+              -0.4518096446990966,
+              0.7686152458190918
+            ],
+            "closest_ee_minus_button": [
+              0.0013400771329509786,
+              0.0008093165161416893,
+              0.03500188332655085
+            ],
+            "button_min_z_position": [
+              0.13389846682548523,
+              -0.45180869102478016,
+              0.7684067487716675
+            ],
+            "min_active_finger_to_button": 0.14429169033763903,
+            "closest_active_finger": [
+              0.00764022022485733,
+              -0.5128113627433777,
+              0.8105685710906982
+            ],
+            "closest_active_finger_button": [
+              0.13386039435863492,
+              -0.45183715224266047,
+              0.7763530015945435
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262201741337776,
+              -0.06097421050071722,
+              0.034215569496154785
+            ],
+            "min_contact_pad_to_button": 0.020879956210628953,
+            "closest_contact_pad": [
+              0.13389846682548523,
+              -0.45231334311703103,
+              0.7892806055696713
+            ],
+            "closest_contact_pad_button": [
+              0.13389846682548523,
+              -0.45180869102478016,
+              0.7684067487716675
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005046520922508679,
+              0.020873856798003798
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26644633047476374,
+              0.20329537889973046,
+              1.1021869548761556
+            ],
+            "current_z": 1.1021869548761556,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19227782514179304,
+            "gripper_z": 1.102186910865215,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2664463272625728,
+              0.20329542929329347,
+              1.102186910865215
+            ],
+            "object_minus_gripper": [
+              3.2121909576687813e-09,
+              -5.0393563016948306e-08,
+              4.401094066963651e-08
+            ],
+            "object_to_gripper_xy": 5.0495835118271576e-08,
+            "object_to_gripper_z": 4.401094066963651e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26644633047476374,
+              0.20329537889973046,
+              1.1021869548761556
+            ],
+            "finger_b": [
+              0.26644633047476374,
+              0.20329537889973046,
+              1.1021869548761556
+            ],
+            "finger_midpoint": [
+              0.26644633047476374,
+              0.20329537889973046,
+              1.1021869548761556
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021869548761556,
+            "object_top_z": 1.2271954614964353,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2664463304747638,
+            0.20329537889973046,
+            1.1021869548761556
+          ],
+          "object_origin_world": [
+            0.2664463304747638,
+            0.20329537889973046,
+            1.1021869548761556
+          ],
+          "frame_world": [
+            0.2664463272625728,
+            0.20329542929329347,
+            1.102186910865215
+          ],
+          "center_minus_frame": [
+            3.2121910131799325e-09,
+            -5.0393563016948306e-08,
+            4.401094066963651e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434363683801358,
+            "required_z": 0.9112599430385377,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0022380230332017014,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 7.715683005065731e-08,
+            "max_target_xy_drift": 1.5314242722712528e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.702362250924113,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.702651891187676,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2830977237653843,
+              -0.39478893424955186,
+              0.9235640756835154
+            ],
+            "target_mouth_xy": [
+              0.2853231095077487,
+              -0.39457348396727365
+            ],
+            "rod_tip_z": 0.9235640756835154,
+            "rod_tip_depth": -0.02230425177700268,
+            "rod_tip_bottom_clearance": 0.1217447781862484,
+            "rod_tip_xy_dist": 0.00223579080561053,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04538987421973839,
+            "min_rod_tip_bottom_clearance": 0.054050860728808714,
+            "min_rod_tip_xy_dist": 0.0014159914627344728,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.28532307071601504,
+              -0.39457341727111317
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.879173365861632e-08,
+              -6.669616048338156e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0017134314469657852,
+                0.0015207585983605942
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018077861519338878,
+                0.0011490874175077992
+              ],
+              "first_target_mouth_xy": [
+                0.28532304504089023,
+                -0.39457335883741523
+              ],
+              "last_target_mouth_xy": [
+                0.2853231075269297,
+                -0.3945733876306476
+              ],
+              "first_rod_tip_xy": [
+                0.28360961359392445,
+                -0.39305260023905464
+              ],
+              "last_rod_tip_xy": [
+                0.2835153213749958,
+                -0.3934243002131398
+              ],
+              "min_rod_tip_xy_dist": 0.0021191536186295477,
+              "max_rod_tip_xy_dist": 0.002293987918881602,
+              "first_target_xy_drift": 6.382561467126786e-08,
+              "last_target_xy_drift": 4.726098430280595e-08,
+              "max_depth": 0.01947959191436699,
+              "min_bottom_clearance": 0.07996104120711978
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017134314469657852,
+                  0.0015207585983605942
+                ],
+                "rod_tip_xy": [
+                  0.28360961359392445,
+                  -0.39305260023905464
+                ],
+                "target_mouth_xy": [
+                  0.28532304504089023,
+                  -0.39457335883741523
+                ],
+                "gripper_position": [
+                  0.28360207095059287,
+                  -0.3930566446066097,
+                  1.0059736061891373
+                ],
+                "rod_tip_xy_dist": 0.0022909722909583486,
+                "target_xy_drift": 6.382561467126786e-08,
+                "depth": 0.015144524402012194,
+                "bottom_clearance": 0.08429598143041173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017210358695733952,
+                  0.0015167122692246182
+                ],
+                "rod_tip_xy": [
+                  0.28360207095059287,
+                  -0.3930566446066097
+                ],
+                "target_mouth_xy": [
+                  0.28532310682016626,
+                  -0.39457335687583434
+                ],
+                "gripper_position": [
+                  0.28360892533755494,
+                  -0.3931271928501348,
+                  1.005435274163301
+                ],
+                "rod_tip_xy_dist": 0.002293987918881602,
+                "target_xy_drift": 7.036404935059165e-08,
+                "depth": 0.015286314110087962,
+                "bottom_clearance": 0.0841543287456904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001714148287715933,
+                  0.0014461980396484608
+                ],
+                "rod_tip_xy": [
+                  0.28360892533755494,
+                  -0.39312719285013475
+                ],
+                "target_mouth_xy": [
+                  0.2853230736252709,
+                  -0.3945733908897832
+                ],
+                "gripper_position": [
+                  0.28359868874084543,
+                  -0.39313718807406656,
+                  1.005274312521203
+                ],
+                "rod_tip_xy_dist": 0.002242720027592057,
+                "target_xy_drift": 2.654125731117743e-08,
+                "depth": 0.01582460810758246,
+                "bottom_clearance": 0.08361599706991096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017245080636684174,
+                  0.0014360441777163668
+                ],
+                "rod_tip_xy": [
+                  0.2835986887408454,
+                  -0.3931371880740666
+                ],
+                "target_mouth_xy": [
+                  0.2853231968045138,
+                  -0.394573232251783
+                ],
+                "gripper_position": [
+                  0.2835909840571584,
+                  -0.39314108806283243,
+                  1.005133244858251
+                ],
+                "rod_tip_xy_dist": 0.002244137014981588,
+                "target_xy_drift": 2.2389832974311255e-07,
+                "depth": 0.01598577017871805,
+                "bottom_clearance": 0.08345509701736309,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017321202521081713,
+                  0.0014323012364766963
+                ],
+                "rod_tip_xy": [
+                  0.2835909840571583,
+                  -0.39314108806283243
+                ],
+                "target_mouth_xy": [
+                  0.2853231043092665,
+                  -0.39457338929930913
+                ],
+                "gripper_position": [
+                  0.28359845139177314,
+                  -0.393212432702599,
+                  1.0045964645508194
+                ],
+                "rod_tip_xy_dist": 0.0022476048139688496,
+                "target_xy_drift": 4.371416663712774e-08,
+                "depth": 0.016126581395474404,
+                "bottom_clearance": 0.08331393328105852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017246210257714223,
+                  0.0013609541073463793
+                ],
+                "rod_tip_xy": [
+                  0.28359845139177314,
+                  -0.393212432702599
+                ],
+                "target_mouth_xy": [
+                  0.28532307241754457,
+                  -0.39457338680994536
+                ],
+                "gripper_position": [
+                  0.2835882609410252,
+                  -0.39322223332525535,
+                  1.0044358973008771
+                ],
+                "rod_tip_xy_dist": 0.0021969328084481448,
+                "target_xy_drift": 3.050865364297123e-08,
+                "depth": 0.01666343600700282,
+                "bottom_clearance": 0.08277718289712199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017348770426304227,
+                  0.0013512155351451671
+                ],
+                "rod_tip_xy": [
+                  0.2835882609410252,
+                  -0.3932222333252553
+                ],
+                "target_mouth_xy": [
+                  0.2853231379836556,
+                  -0.39457344886040047
+                ],
+                "gripper_position": [
+                  0.2835805477663763,
+                  -0.3932259719132332,
+                  1.0042948854525313
+                ],
+                "rod_tip_xy_dist": 0.002198995628795956,
+                "target_xy_drift": 7.431566819748096e-08,
+                "depth": 0.016824021876605366,
+                "bottom_clearance": 0.08261664663312329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017425564380945113,
+                  0.0013474167268045512
+                ],
+                "rod_tip_xy": [
+                  0.2835805477663763,
+                  -0.3932259719132333
+                ],
+                "target_mouth_xy": [
+                  0.2853231042044708,
+                  -0.3945733886400378
+                ],
+                "gripper_position": [
+                  0.28357265116213565,
+                  -0.3932299210561522,
+                  1.0041534026974723
+                ],
+                "rod_tip_xy_dist": 0.0022027334781169784,
+                "target_xy_drift": 4.405922316942424e-08,
+                "depth": 0.016964930438908232,
+                "bottom_clearance": 0.08247556185487881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017504564519851273,
+                  0.0013434656033248227
+                ],
+                "rod_tip_xy": [
+                  0.2835726511621356,
+                  -0.3932299210561522
+                ],
+                "target_mouth_xy": [
+                  0.2853231076141207,
+                  -0.394573386659477
+                ],
+                "gripper_position": [
+                  0.28358149915426334,
+                  -0.393303363628239,
+                  1.003619121364729
+                ],
+                "rod_tip_xy_dist": 0.002206580525975268,
+                "target_xy_drift": 4.794311704451323e-08,
+                "depth": 0.017106523601114865,
+                "bottom_clearance": 0.0823341491428945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017415427835734132,
+                  0.0012700266646624714
+                ],
+                "rod_tip_xy": [
+                  0.28358149915426334,
+                  -0.3933033636282389
+                ],
+                "target_mouth_xy": [
+                  0.28532304193783675,
+                  -0.3945733902929014
+                ],
+                "gripper_position": [
+                  0.2835711452489432,
+                  -0.3933129801609244,
+                  1.0034580017515844
+                ],
+                "rod_tip_xy_dist": 0.0021554440368449176,
+                "target_xy_drift": 3.944626035515266e-08,
+                "depth": 0.01764080524706846,
+                "bottom_clearance": 0.08179984681904817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017519600172650751,
+                  0.00126037675055235
+                ],
+                "rod_tip_xy": [
+                  0.2835711452489432,
+                  -0.3933129801609244
+                ],
+                "target_mouth_xy": [
+                  0.2853231052662083,
+                  -0.39457335691147677
+                ],
+                "gripper_position": [
+                  0.2835633468537567,
+                  -0.3933165554141187,
+                  1.0033171626456914
+                ],
+                "rod_tip_xy_dist": 0.0021582199738275853,
+                "target_xy_drift": 6.954855541847501e-08,
+                "depth": 0.01780184722140532,
+                "bottom_clearance": 0.08163873717836945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017597574474906286,
+                  0.0012568024763078833
+                ],
+                "rod_tip_xy": [
+                  0.28356334685375667,
+                  -0.3933165554141187
+                ],
+                "target_mouth_xy": [
+                  0.2853231043012473,
+                  -0.3945733578904266
+                ],
+                "gripper_position": [
+                  0.2835554370621358,
+                  -0.3933204149740729,
+                  1.0031765735915013
+                ],
+                "rod_tip_xy_dist": 0.0021624751416958205,
+                "target_xy_drift": 6.822047908066216e-08,
+                "depth": 0.01794266162031022,
+                "bottom_clearance": 0.08149785060716974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017676705915530833,
+                  0.0012529729816521673
+                ],
+                "rod_tip_xy": [
+                  0.2835554370621358,
+                  -0.393320414974073
+                ],
+                "target_mouth_xy": [
+                  0.2853231076536889,
+                  -0.39457338795572516
+                ],
+                "gripper_position": [
+                  0.28354742120562254,
+                  -0.39332411588272176,
+                  1.003035587395058
+                ],
+                "rod_tip_xy_dist": 0.0021667027052625263,
+                "target_xy_drift": 4.715701140262778e-08,
+                "depth": 0.018083329374780965,
+                "bottom_clearance": 0.08135729621796817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017756507241957764,
+                  0.0012492737915410501
+                ],
+                "rod_tip_xy": [
+                  0.28354742120562254,
+                  -0.39332411588272187
+                ],
+                "target_mouth_xy": [
+                  0.2853230719298183,
+                  -0.3945733896742629
+                ],
+                "gripper_position": [
+                  0.28355834464839685,
+                  -0.3934002066447212,
+                  1.002504029274498
+                ],
+                "rod_tip_xy_dist": 0.0021710874004904402,
+                "target_xy_drift": 2.762353094904953e-08,
+                "depth": 0.01822432167501331,
+                "bottom_clearance": 0.08121630023346227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017647628058294895,
+                  0.0011732111056887984
+                ],
+                "rod_tip_xy": [
+                  0.28355834464839685,
+                  -0.3934002066447212
+                ],
+                "target_mouth_xy": [
+                  0.28532310745422634,
+                  -0.39457341775041
+                ],
+                "gripper_position": [
+                  0.2835477156265829,
+                  -0.39340991141856396,
+                  1.0023433188203468
+                ],
+                "rod_tip_xy_dist": 0.0021191536186295477,
+                "target_xy_drift": 3.674133769262513e-08,
+                "depth": 0.018755872409081054,
+                "bottom_clearance": 0.08068474613703391,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017753263144941744,
+                  0.0011635070996786068
+                ],
+                "rod_tip_xy": [
+                  0.2835477156265829,
+                  -0.39340991141856396
+                ],
+                "target_mouth_xy": [
+                  0.28532304194107705,
+                  -0.39457341851824257
+                ],
+                "gripper_position": [
+                  0.283539668553344,
+                  -0.393413592967184,
+                  1.0022029387668985
+                ],
+                "rod_tip_xy_dist": 0.0021226239172161404,
+                "target_xy_drift": 2.8801951113566802e-08,
+                "depth": 0.01891657729916807,
+                "bottom_clearance": 0.08052401553073796,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017834399714520832,
+                  0.0011598900594667616
+                ],
+                "rod_tip_xy": [
+                  0.28353966855334395,
+                  -0.3934135929671839
+                ],
+                "target_mouth_xy": [
+                  0.28532310852479603,
+                  -0.3945734830266507
+                ],
+                "gripper_position": [
+                  0.283531478619361,
+                  -0.3934172452867693,
+                  1.002062069392732
+                ],
+                "rod_tip_xy_dist": 0.0021274405001839216,
+                "target_xy_drift": 7.585047550414264e-08,
+                "depth": 0.019056902535792175,
+                "bottom_clearance": 0.08038363754192634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017916002261333386,
+                  0.0011562051282586472
+                ],
+                "rod_tip_xy": [
+                  0.283531478619361,
+                  -0.39341724528676936
+                ],
+                "target_mouth_xy": [
+                  0.28532307884549435,
+                  -0.394573450415028
+                ],
+                "gripper_position": [
+                  0.28352340051089425,
+                  -0.3934207798406199,
+                  1.0019213978337316
+                ],
+                "rod_tip_xy_dist": 0.0021322855505050502,
+                "target_xy_drift": 3.412634648575299e-08,
+                "depth": 0.01919788103214004,
+                "bottom_clearance": 0.08024285881991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017995836183897773,
+                  0.0011526383475803925
+                ],
+                "rod_tip_xy": [
+                  0.28352340051089425,
+                  -0.39342077984061996
+                ],
+                "target_mouth_xy": [
+                  0.28532298412928403,
+                  -0.39457341818820035
+                ],
+                "gripper_position": [
+                  0.2835153213749958,
+                  -0.3934243002131398,
+                  1.0017803160700895
+                ],
+                "rod_tip_xy_dist": 0.0021370719126622066,
+                "target_xy_drift": 8.659158755586394e-08,
+                "depth": 0.019338441842755683,
+                "bottom_clearance": 0.08010207880265285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018077861519338878,
+                  0.0011490874175077992
+                ],
+                "rod_tip_xy": [
+                  0.2835153213749958,
+                  -0.3934243002131398
+                ],
+                "target_mouth_xy": [
+                  0.2853231075269297,
+                  -0.3945733876306476
+                ],
+                "gripper_position": [
+                  0.2835070382540364,
+                  -0.3934278883986832,
+                  1.0016395524852304
+                ],
+                "rod_tip_xy_dist": 0.00214207671762677,
+                "target_xy_drift": 4.726098430280595e-08,
+                "depth": 0.01947959191436699,
+                "bottom_clearance": 0.07996104120711978,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006041233055688471,
+              "rod_tip_xy_max_step": 3.2694909736896325e-05,
+              "rod_tip_xy_range": 0.0006041174159606,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28309772376538433,
+            -0.39478893424955186,
+            1.0435640756835156
+          ],
+          "object_origin_world": [
+            0.28309772376538433,
+            -0.39478893424955186,
+            1.0435640756835156
+          ],
+          "frame_world": [
+            0.283096437046504,
+            -0.394798599154402,
+            1.0434363683801358
+          ],
+          "center_minus_frame": [
+            1.2867188803333818e-06,
+            9.664904850159584e-06,
+            0.0001277073033798537
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2522553063724367,
+              0.15816988173878782,
+              0.8322792119122734
+            ],
+            "target_position": [
+              0.2665844985369624,
+              0.20349550215546375,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04753669755299052,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16436413628512522,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322792119122734,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670957766466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.134403514259113,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c81824edc5bdfbe714bd7a4ae79106da41374072fb5461b0eeef6857c055d771",
+    "visual_seed": 1954781991445280841,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18af58d5dcf69dd146ae1ee0d6f6c2143281470f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_71_success.json
@@ -0,0 +1,2008 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3046966695202209,
+              -0.01805855288706719,
+              1.163506978179067
+            ],
+            "current_z": 1.163506978179067,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.30240041055965605,
+            "gripper_z": 1.1555729984864196,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3000727612578005,
+              -0.022816535131456206,
+              1.1555729984864196
+            ],
+            "object_minus_gripper": [
+              0.004623908262420373,
+              0.004757982244389017,
+              0.00793397969264742
+            ],
+            "object_to_gripper_xy": 0.006634675776343599,
+            "object_to_gripper_z": 0.00793397969264742,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3046966695202209,
+              -0.041654592214335685,
+              1.163506978179067
+            ],
+            "finger_b": [
+              0.2936051884762521,
+              -0.01805855288706719,
+              1.163506978179067
+            ],
+            "finger_midpoint": [
+              0.2991509289982365,
+              -0.029856572550701437,
+              1.163506978179067
+            ],
+            "object_minus_finger_midpoint": [
+              0.005545740521984421,
+              0.011798019663634248,
+              0.0
+            ],
+            "finger_gap": 0.026072859906092396,
+            "fingertip_max_gap": 0.09168263714024447,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01303642995304621,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163506978179067,
+            "object_top_z": 1.2133593671551188,
+            "finger_top_clearance": 0.04985238897605182,
+            "fingertip_min_top_clearance": 0.014955716692815512,
+            "object_projection_between_fingers": 0.8190320193133437,
+            "object_to_finger_line_xy": 0.010037833358280207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048341318570122235,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4932480007637392,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2851492988261579,
+              -0.38966563962482365,
+              0.8515394933516225
+            ],
+            "target_position": [
+              0.2768601277629976,
+              -0.39099318203150674,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008394803497156792,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857252998919265,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394933516225,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525151709129475,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512301502522578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544555036893361,
+            "release_required_pad_clearance": 0.05256150751261289,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18974556498962478,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008182346820831299,
+            "max_z_decrease": 0.008182346820831299,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501330755678183,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008182346820831299,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020880362541063884,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008182346820831299,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008182472066676943,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.132560059428215,
+              -0.447254627943039,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.132560059428215,
+              -0.447254627943039,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13318698343303725,
+              -0.4462774298603723,
+              0.803621962852417
+            ],
+            "closest_button": [
+              0.13259512186050415,
+              -0.4472259879112244,
+              0.7686265110969543
+            ],
+            "closest_ee_minus_button": [
+              0.0005918615725331033,
+              0.0009485580508521441,
+              0.0349954517554627
+            ],
+            "button_min_z_position": [
+              0.13259512186050415,
+              -0.4472259879112244,
+              0.7686265110969543
+            ],
+            "min_active_finger_to_button": 0.1448982746045907,
+            "closest_active_finger": [
+              0.006227657198905945,
+              -0.5093854069709778,
+              0.8108073472976685
+            ],
+            "closest_active_finger_button": [
+              0.13256019353866572,
+              -0.44725325703620916,
+              0.7765262126922607
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12633253633975977,
+              -0.06213214993476862,
+              0.034281134605407715
+            ],
+            "min_contact_pad_to_button": 0.020880362541063884,
+            "closest_contact_pad": [
+              0.13259512186050415,
+              -0.44744921717007397,
+              0.7895056803463344
+            ],
+            "closest_contact_pad_button": [
+              0.13259512186050415,
+              -0.4472259879112244,
+              0.7686265110969543
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00022322925884954437,
+              0.020879169249380047
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26617793737495166,
+              0.21008826411347514,
+              1.1023173546154958
+            ],
+            "current_z": 1.1023173546154958,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1924082248811333,
+            "gripper_z": 1.102317320703838,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2661779007782001,
+              0.21008824978602494,
+              1.102317320703838
+            ],
+            "object_minus_gripper": [
+              3.659675157363651e-08,
+              1.432745019847026e-08,
+              3.391165792621109e-08
+            ],
+            "object_to_gripper_xy": 3.9301374720639375e-08,
+            "object_to_gripper_z": 3.391165792621109e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26617793737495166,
+              0.21008826411347514,
+              1.1023173546154958
+            ],
+            "finger_b": [
+              0.26617793737495166,
+              0.21008826411347514,
+              1.1023173546154958
+            ],
+            "finger_midpoint": [
+              0.26617793737495166,
+              0.21008826411347514,
+              1.1023173546154958
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023173546154958,
+            "object_top_z": 1.2273258612357756,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2661779373749517,
+            0.21008826411347514,
+            1.1023173546154958
+          ],
+          "object_origin_world": [
+            0.2661779373749517,
+            0.21008826411347514,
+            1.1023173546154958
+          ],
+          "frame_world": [
+            0.2661779007782001,
+            0.21008824978602494,
+            1.102317320703838
+          ],
+          "center_minus_frame": [
+            3.659675162914766e-08,
+            1.432745019847026e-08,
+            3.391165792621109e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436105976585324,
+            "required_z": 0.9112599134970394,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002108380123637865,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.587571544150464e-08,
+            "max_target_xy_drift": 1.2878678710556944e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.189745561366975,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.18974557015660654,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28349424940034,
+              -0.3910053850243079,
+              0.9233157172651111
+            ],
+            "target_mouth_xy": [
+              0.2851493552371728,
+              -0.38966582289129814
+            ],
+            "rod_tip_z": 0.9233157172651111,
+            "rod_tip_depth": -0.022055764236078468,
+            "rod_tip_bottom_clearance": 0.12149649275592578,
+            "rod_tip_xy_dist": 0.002129272654995503,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04531016764322582,
+            "min_rod_tip_bottom_clearance": 0.054130395574863654,
+            "min_rod_tip_xy_dist": 0.0011843859969263655,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.28514935929916435,
+              -0.3896657271016691
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.061991576431723e-09,
+              -9.578962906209298e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0011395779452523236,
+                0.00038037406886504144
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012297575167405372,
+                -4.1343694334727843e-07
+              ],
+              "first_target_mouth_xy": [
+                0.2851493284046565,
+                -0.3896656386610401
+              ],
+              "last_target_mouth_xy": [
+                0.2851493266504227,
+                -0.38966563737354065
+              ],
+              "first_rod_tip_xy": [
+                0.2840097504594042,
+                -0.38928526459217505
+              ],
+              "last_rod_tip_xy": [
+                0.28391956913368216,
+                -0.389666050810484
+              ],
+              "min_rod_tip_xy_dist": 0.0011843859969263655,
+              "max_rod_tip_xy_dist": 0.0012364459333926224,
+              "first_target_xy_drift": 9.368145745202836e-08,
+              "last_target_xy_drift": 9.548338788870305e-08,
+              "max_depth": 0.019701868653450583,
+              "min_bottom_clearance": 0.07973869658590627
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0011395779452523236,
+                  0.00038037406886504144
+                ],
+                "rod_tip_xy": [
+                  0.2840097504594042,
+                  -0.38928526459217505
+                ],
+                "target_mouth_xy": [
+                  0.2851493284046565,
+                  -0.3896656386610401
+                ],
+                "gripper_position": [
+                  0.2839997108463793,
+                  -0.38929490195850464,
+                  1.0057234573488083
+                ],
+                "rod_tip_xy_dist": 0.0012013835047854017,
+                "target_xy_drift": 9.368145745202836e-08,
+                "depth": 0.015376978474864966,
+                "bottom_clearance": 0.08406356646835511,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001149617406148551,
+                  0.0003707671444052041
+                ],
+                "rod_tip_xy": [
+                  0.2839997108463792,
+                  -0.3892949019585046
+                ],
+                "target_mouth_xy": [
+                  0.28514932825252776,
+                  -0.3896656691029098
+                ],
+                "gripper_position": [
+                  0.2839920218917542,
+                  -0.3892986116775732,
+                  1.0055832322393579
+                ],
+                "rod_tip_xy_dist": 0.0012079273388288351,
+                "target_xy_drift": 6.578563462979226e-08,
+                "depth": 0.015536365164723676,
+                "bottom_clearance": 0.08390416545469914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011573050711725097,
+                  0.0003670567846958961
+                ],
+                "rod_tip_xy": [
+                  0.28399202189175404,
+                  -0.38929861167757307
+                ],
+                "target_mouth_xy": [
+                  0.28514932696292655,
+                  -0.38966566846226897
+                ],
+                "gripper_position": [
+                  0.28399976900658974,
+                  -0.38936890857149886,
+                  1.0050486950678406
+                ],
+                "rod_tip_xy_dist": 0.0012141193149575115,
+                "target_xy_drift": 6.696425554446031e-08,
+                "depth": 0.01567659315061265,
+                "bottom_clearance": 0.08376391411688977,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001149561596215487,
+                  0.0002967595670702039
+                ],
+                "rod_tip_xy": [
+                  0.2839997690065896,
+                  -0.38936890857149875
+                ],
+                "target_mouth_xy": [
+                  0.28514933060280506,
+                  -0.38966566813856895
+                ],
+                "gripper_position": [
+                  0.28398953121908976,
+                  -0.3893784412164152,
+                  1.0048891713984
+                ],
+                "rod_tip_xy_dist": 0.0011872481223995234,
+                "target_xy_drift": 6.55753628487311e-08,
+                "depth": 0.01621121580717244,
+                "bottom_clearance": 0.08322942521041521,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011597936970371703,
+                  0.0002872297982317029
+                ],
+                "rod_tip_xy": [
+                  0.28398953121908965,
+                  -0.38937844121641507
+                ],
+                "target_mouth_xy": [
+                  0.2851493249161268,
+                  -0.3896656710146468
+                ],
+                "gripper_position": [
+                  0.28398177654680024,
+                  -0.3893820846468877,
+                  1.0047490362074845
+                ],
+                "rod_tip_xy_dist": 0.0011948315264837014,
+                "target_xy_drift": 6.578713658939355e-08,
+                "depth": 0.016370746375185097,
+                "bottom_clearance": 0.08306989973238965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011675508581844851,
+                  0.0002835838157715376
+                ],
+                "rod_tip_xy": [
+                  0.2839817765468001,
+                  -0.3893820846468877
+                ],
+                "target_mouth_xy": [
+                  0.2851493274049846,
+                  -0.38966566846265926
+                ],
+                "gripper_position": [
+                  0.28397378115346744,
+                  -0.3893860156478539,
+                  1.0046084571198113
+                ],
+                "rod_tip_xy_dist": 0.0012014968943009686,
+                "target_xy_drift": 6.675157056895292e-08,
+                "depth": 0.01651078378284654,
+                "bottom_clearance": 0.08292972264573317,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001175578219942186,
+                  0.00027965760346126967
+                ],
+                "rod_tip_xy": [
+                  0.28397378115346733,
+                  -0.3893860156478538
+                ],
+                "target_mouth_xy": [
+                  0.2851493593734095,
+                  -0.38966567325131507
+                ],
+                "gripper_position": [
+                  0.28398316757082365,
+                  -0.38945868975235465,
+                  1.004074319893343
+                ],
+                "rod_tip_xy_dist": 0.0012083842627145305,
+                "target_xy_drift": 5.38504051913287e-08,
+                "depth": 0.01665150991896136,
+                "bottom_clearance": 0.08278922056087723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011661603106107865,
+                  0.0002069790319607634
+                ],
+                "rod_tip_xy": [
+                  0.2839831675708235,
+                  -0.38945868975235465
+                ],
+                "target_mouth_xy": [
+                  0.28514932788143427,
+                  -0.3896656687843154
+                ],
+                "gripper_position": [
+                  0.2839725977669746,
+                  -0.389468361069023,
+                  1.0039146603289755
+                ],
+                "rod_tip_xy_dist": 0.0011843859969263655,
+                "target_xy_drift": 6.624188631464437e-08,
+                "depth": 0.01718543858383692,
+                "bottom_clearance": 0.08225507478698513,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011767319607591253,
+                  0.00019730707137854964
+                ],
+                "rod_tip_xy": [
+                  0.2839725977669745,
+                  -0.38946836106902294
+                ],
+                "target_mouth_xy": [
+                  0.2851493297277336,
+                  -0.3896656681404015
+                ],
+                "gripper_position": [
+                  0.2839647782917951,
+                  -0.38947168159536444,
+                  1.0037746623562105
+                ],
+                "rod_tip_xy_dist": 0.0011931589114145675,
+                "target_xy_drift": 6.596135681138257e-08,
+                "depth": 0.017345243562555623,
+                "bottom_clearance": 0.08209536377101445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011845491500782068,
+                  0.00019398814897964023
+                ],
+                "rod_tip_xy": [
+                  0.283964778291795,
+                  -0.3894716815953644
+                ],
+                "target_mouth_xy": [
+                  0.2851493274418732,
+                  -0.389665669744344
+                ],
+                "gripper_position": [
+                  0.28395661311362397,
+                  -0.389475644514735,
+                  1.0036339494209585
+                ],
+                "rod_tip_xy_dist": 0.0012003283262905819,
+                "target_xy_drift": 6.56105916470697e-08,
+                "depth": 0.01748516519976795,
+                "bottom_clearance": 0.08195535728689973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011927428478602509,
+                  0.00019002201899981364
+                ],
+                "rod_tip_xy": [
+                  0.28395661311362386,
+                  -0.38947564451473493
+                ],
+                "target_mouth_xy": [
+                  0.2851493559614841,
+                  -0.38966566653373474
+                ],
+                "gripper_position": [
+                  0.2839674858986556,
+                  -0.38955002291927393,
+                  1.0031032893277065
+                ],
+                "rod_tip_xy_dist": 0.0012077846947310383,
+                "target_xy_drift": 6.065982837899782e-08,
+                "depth": 0.017625934952796962,
+                "bottom_clearance": 0.08181467202825199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011818463083536068,
+                  0.0001156477709891579
+                ],
+                "rod_tip_xy": [
+                  0.28396748589865545,
+                  -0.3895500229192739
+                ],
+                "target_mouth_xy": [
+                  0.28514933220700905,
+                  -0.38966567069026303
+                ],
+                "gripper_position": [
+                  0.28395683788535964,
+                  -0.389559455125038,
+                  1.0029437003786026
+                ],
+                "rod_tip_xy_dist": 0.00118749109617875,
+                "target_xy_drift": 6.25798019393275e-08,
+                "depth": 0.018156652856061828,
+                "bottom_clearance": 0.08128408711574575,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001192489476239622,
+                  0.00010618417672059177
+                ],
+                "rod_tip_xy": [
+                  0.28395683788535947,
+                  -0.389559455125038
+                ],
+                "target_mouth_xy": [
+                  0.2851493273615991,
+                  -0.38966563930175857
+                ],
+                "gripper_position": [
+                  0.28394878547553304,
+                  -0.3895629872232152,
+                  1.002803727371071
+                ],
+                "rod_tip_xy_dist": 0.0011972076805333643,
+                "target_xy_drift": 9.342822036199407e-08,
+                "depth": 0.018316115089588192,
+                "bottom_clearance": 0.0811243813650172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012005401777084312,
+                  0.00010268123270829044
+                ],
+                "rod_tip_xy": [
+                  0.28394878547553287,
+                  -0.38956298722321514
+                ],
+                "target_mouth_xy": [
+                  0.2851493256532413,
+                  -0.38966566845592343
+                ],
+                "gripper_position": [
+                  0.28394047179545845,
+                  -0.38956662824342403,
+                  1.0026634848941682
+                ],
+                "rod_tip_xy_dist": 0.001204923297908496,
+                "target_xy_drift": 6.76119192185245e-08,
+                "depth": 0.018456137971108677,
+                "bottom_clearance": 0.08098441969102577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012088571722074226,
+                  9.901105747900374e-05
+                ],
+                "rod_tip_xy": [
+                  0.2839404717954583,
+                  -0.38956662824342403
+                ],
+                "target_mouth_xy": [
+                  0.2851493289676657,
+                  -0.38966563930090303
+                ],
+                "gripper_position": [
+                  0.2839323970530354,
+                  -0.3895701909173767,
+                  1.0025236909608788
+                ],
+                "rod_tip_xy_dist": 0.001212905129142604,
+                "target_xy_drift": 9.289227270593489e-08,
+                "depth": 0.018596402918765742,
+                "bottom_clearance": 0.08084415520360766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012169306723166518,
+                  9.544870435362895e-05
+                ],
+                "rod_tip_xy": [
+                  0.2839323970530353,
+                  -0.38957019091737666
+                ],
+                "target_mouth_xy": [
+                  0.28514932772535195,
+                  -0.3896656396217303
+                ],
+                "gripper_position": [
+                  0.2839242124987327,
+                  -0.38957350168814786,
+                  1.0023835964175252
+                ],
+                "rod_tip_xy_dist": 0.0012206681434312294,
+                "target_xy_drift": 9.30034694005854e-08,
+                "depth": 0.018736073506528395,
+                "bottom_clearance": 0.08070444837566615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012251468331332394,
+                  9.216837402259426e-05
+                ],
+                "rod_tip_xy": [
+                  0.2839242124987325,
+                  -0.38957350168814775
+                ],
+                "target_mouth_xy": [
+                  0.28514935933186575,
+                  -0.38966567006217034
+                ],
+                "gripper_position": [
+                  0.28391607445537786,
+                  -0.389576845249975,
+                  1.0022439171414517
+                ],
+                "rod_tip_xy_dist": 0.0012286088767001378,
+                "target_xy_drift": 5.703950810940906e-08,
+                "depth": 0.018876313032912706,
+                "bottom_clearance": 0.08056430109623147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012332534636195769,
+                  8.879437298314752e-05
+                ],
+                "rod_tip_xy": [
+                  0.28391607445537775,
+                  -0.38957684524997493
+                ],
+                "target_mouth_xy": [
+                  0.28514932791899733,
+                  -0.3896656396229581
+                ],
+                "gripper_position": [
+                  0.2839303773893363,
+                  -0.38965662649807575,
+                  1.0017172425854408
+                ],
+                "rod_tip_xy_dist": 0.0012364459333926224,
+                "target_xy_drift": 9.293675139559936e-08,
+                "depth": 0.01901584888387997,
+                "bottom_clearance": 0.08042468047743301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012189506613179413,
+                  9.043245395634614e-06
+                ],
+                "rod_tip_xy": [
+                  0.28393037738933613,
+                  -0.38965662649807564
+                ],
+                "target_mouth_xy": [
+                  0.28514932805065407,
+                  -0.3896656697434713
+                ],
+                "gripper_position": [
+                  0.2839195691336823,
+                  -0.38966605081048405,
+                  1.0015579892910527
+                ],
+                "rod_tip_xy_dist": 0.0012189842062203808,
+                "target_xy_drift": 6.531793206945787e-08,
+                "depth": 0.019542589782308162,
+                "bottom_clearance": 0.07989795604475647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012297575167405372,
+                  -4.1343694334727843e-07
+                ],
+                "rod_tip_xy": [
+                  0.28391956913368216,
+                  -0.389666050810484
+                ],
+                "target_mouth_xy": [
+                  0.2851493266504227,
+                  -0.38966563737354065
+                ],
+                "gripper_position": [
+                  0.28393395965723367,
+                  -0.38974104387832714,
+                  1.0009468197225595
+                ],
+                "rod_tip_xy_dist": 0.001229757586238019,
+                "target_xy_drift": 9.548338788870305e-08,
+                "depth": 0.019701868653450583,
+                "bottom_clearance": 0.07973869658590627,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006042390637878366,
+              "rod_tip_xy_max_step": 3.283874123451117e-05,
+              "rod_tip_xy_range": 0.0006042299949572451,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28349424940034007,
+            -0.3910053850243079,
+            1.043315717265111
+          ],
+          "object_origin_world": [
+            0.28349424940034007,
+            -0.3910053850243079,
+            1.043315717265111
+          ],
+          "frame_world": [
+            0.2835183787239174,
+            -0.3910019300572697,
+            1.0436105976585324
+          ],
+          "center_minus_frame": [
+            -2.4129323577315454e-05,
+            -3.454967038241108e-06,
+            -0.0002948803934212929
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25160134614646124,
+              0.16385050040232446,
+              0.8322040082449739
+            ],
+            "target_position": [
+              0.2663335290598038,
+              0.20888489800290488,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047382846903065524,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16521721601819317,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322040082449739,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672893362657,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13422620344423786,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 316,
+            "max_placed_release_frames": 316
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff41f40ca6f5950a5dcc8c214107168c8afa1cbabdc36e0af01c53c9c00b07d6",
+    "visual_seed": 5437728591185813605,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3625815b3daead361fa6323655005be640f10ac3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_72_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3027818262445265,
+              -0.019414611013732264,
+              1.1648331637202982
+            ],
+            "current_z": 1.1648331637202982,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30372665570553226,
+            "gripper_z": 1.1571806588508884,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29787174748935885,
+              -0.02416793338017907,
+              1.1571806588508884
+            ],
+            "object_minus_gripper": [
+              0.004910078755167635,
+              0.004753322366446808,
+              0.007652504869409826
+            ],
+            "object_to_gripper_xy": 0.0068339554360057125,
+            "object_to_gripper_z": 0.007652504869409826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3027818262445265,
+              -0.043526538341467906,
+              1.1648331637202982
+            ],
+            "finger_b": [
+              0.2921074067646898,
+              -0.019414611013732264,
+              1.1648331637202982
+            ],
+            "finger_midpoint": [
+              0.2974446165046082,
+              -0.03147057467760009,
+              1.1648331637202982
+            ],
+            "object_minus_finger_midpoint": [
+              0.005337209739918303,
+              0.012055963663867825,
+              0.0
+            ],
+            "finger_gap": 0.026369077926418308,
+            "fingertip_max_gap": 0.09161157585056287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013184538963209147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648331637202982,
+            "object_top_z": 1.2147979540789857,
+            "finger_top_clearance": 0.049964790358687505,
+            "fingertip_min_top_clearance": 0.014989437107606252,
+            "object_projection_between_fingers": 0.8361303055914514,
+            "object_to_finger_line_xy": 0.00976070636530398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830578792528144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3018706595902907,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 351,
+            "max_stable_success_frames": 351,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28420970413566027,
+              -0.3946680787079563,
+              0.8515396072573671
+            ],
+            "target_position": [
+              0.2768947583029612,
+              -0.39588383522593806,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00741528802180583,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859573835929182,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396072573671,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570813300122481,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713428824350782,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1534840757267375,
+            "release_required_pad_clearance": 0.05356714412175391,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1452982833687253,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008372366428375244,
+            "max_z_decrease": 0.008372366428375244,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505866580666089,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008372366428375244,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020888923662478742,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008372366428375244,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00837240067674889,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13259468972682947,
+              -0.4521453082561492,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13259468972682947,
+              -0.4521453082561492,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13343664677355713,
+              -0.4503712817921205,
+              0.8035799534735559
+            ],
+            "closest_button": [
+              0.13261732459068293,
+              -0.45212042331695546,
+              0.7685745358467102
+            ],
+            "closest_ee_minus_button": [
+              0.0008193221828741992,
+              0.0017491415248349629,
+              0.035005417626845725
+            ],
+            "button_min_z_position": [
+              0.1326077282428741,
+              -0.45212522149085993,
+              0.7684364914894104
+            ],
+            "min_active_finger_to_button": 0.14438815108435568,
+            "closest_active_finger": [
+              0.006547562777996063,
+              -0.513661801815033,
+              0.8106923699378967
+            ],
+            "closest_active_finger_button": [
+              0.13259497284889216,
+              -0.4521434605121612,
+              0.7764070630073547
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260474100708961,
+              -0.06151834130287176,
+              0.03428530693054199
+            ],
+            "min_contact_pad_to_button": 0.020888923662478742,
+            "closest_contact_pad": [
+              0.1326077282428741,
+              -0.45212522149085993,
+              0.7893254151518891
+            ],
+            "closest_contact_pad_button": [
+              0.1326077282428741,
+              -0.45212522149085993,
+              0.7684364914894104
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020888923662478742
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27425666074841343,
+              0.202666858205395,
+              1.1121323143930621
+            ],
+            "current_z": 1.1121323143930621,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2022231846586996,
+            "gripper_z": 1.112132416593145,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27425658652723933,
+              0.2026669081511816,
+              1.112132416593145
+            ],
+            "object_minus_gripper": [
+              7.422117409561224e-08,
+              -4.994578658990001e-08,
+              -1.0220008284100857e-07
+            ],
+            "object_to_gripper_xy": 8.94615240324857e-08,
+            "object_to_gripper_z": -1.0220008284100857e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27425666074841343,
+              0.202666858205395,
+              1.1121323143930621
+            ],
+            "finger_b": [
+              0.27425666074841343,
+              0.202666858205395,
+              1.1121323143930621
+            ],
+            "finger_midpoint": [
+              0.27425666074841343,
+              0.202666858205395,
+              1.1121323143930621
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1121323143930621,
+            "object_top_z": 1.2371408210133419,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27425666074841343,
+            0.20266685820539504,
+            1.1121323143930621
+          ],
+          "object_origin_world": [
+            0.27425666074841343,
+            0.20266685820539504,
+            1.1121323143930621
+          ],
+          "frame_world": [
+            0.27425658652723933,
+            0.2026669081511816,
+            1.112132416593145
+          ],
+          "center_minus_frame": [
+            7.422117409561224e-08,
+            -4.9945786562144434e-08,
+            -1.0220008284100857e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434286847174372,
+            "required_z": 0.9112599047151038,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012122187156845818,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.970942045831961e-08,
+            "max_target_xy_drift": 2.2679596834031278e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.145298283415286,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1452982841779304,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28493779391302726,
+              -0.3956285611946262,
+              0.9235572898723549
+            ],
+            "target_mouth_xy": [
+              0.28420970410093915,
+              -0.3946681738490514
+            ],
+            "rod_tip_z": 0.9235572898723549,
+            "rod_tip_depth": -0.022297323762943577,
+            "rod_tip_bottom_clearance": 0.1217380358487048,
+            "rod_tip_xy_dist": 0.0012051799152021662,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04518267798289666,
+            "min_rod_tip_bottom_clearance": 0.0542579539429181,
+            "min_rod_tip_xy_dist": 5.999616675576034e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2842097338888055,
+              -0.3946680786931186
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9787866340225122e-08,
+              -9.515593279996182e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0011568409525052892,
+                0.0008194234364632402
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010782475821887183,
+                0.0004302721344605631
+              ],
+              "first_target_mouth_xy": [
+                0.2842096748435654,
+                -0.39466804857899307
+              ],
+              "last_target_mouth_xy": [
+                0.2842097316574478,
+                -0.3946680803241861
+              ],
+              "first_rod_tip_xy": [
+                0.2853665157960707,
+                -0.39384862514252983
+              ],
+              "last_rod_tip_xy": [
+                0.2852879792396365,
+                -0.39423780818972554
+              ],
+              "min_rod_tip_xy_dist": 0.0011609271976265635,
+              "max_rod_tip_xy_dist": 0.0014176514937101327,
+              "first_target_xy_drift": 6.628122609804986e-08,
+              "last_target_xy_drift": 2.7639353156263682e-09,
+              "max_depth": 0.019577379261559114,
+              "min_bottom_clearance": 0.07986313575547832
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011568409525052892,
+                  0.0008194234364632402
+                ],
+                "rod_tip_xy": [
+                  0.2853665157960707,
+                  -0.39384862514252983
+                ],
+                "target_mouth_xy": [
+                  0.2842096748435654,
+                  -0.39466804857899307
+                ],
+                "gripper_position": [
+                  0.285356606429935,
+                  -0.3938587385595119,
+                  1.0058877602558474
+                ],
+                "rod_tip_xy_dist": 0.0014176514937101327,
+                "target_xy_drift": 6.628122609804986e-08,
+                "depth": 0.01521029418438491,
+                "bottom_clearance": 0.08423033198420848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001146935471550703,
+                  0.0008093427373941919
+                ],
+                "rod_tip_xy": [
+                  0.28535660642993493,
+                  -0.39385873855951203
+                ],
+                "target_mouth_xy": [
+                  0.28420967095838423,
+                  -0.3946680812969062
+                ],
+                "gripper_position": [
+                  0.2853488643357287,
+                  -0.3938631533147454,
+                  1.0057450749870984
+                ],
+                "rod_tip_xy_dist": 0.0014037437951684622,
+                "target_xy_drift": 6.298426494253722e-08,
+                "depth": 0.015372122355677753,
+                "bottom_clearance": 0.08406846938756041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001139191490361735,
+                  0.00080492668565596
+                ],
+                "rod_tip_xy": [
+                  0.28534886433572865,
+                  -0.3938631533147454
+                ],
+                "target_mouth_xy": [
+                  0.2842096728453669,
+                  -0.3946680800004014
+                ],
+                "gripper_position": [
+                  0.28535968765113495,
+                  -0.39393543141695525,
+                  1.005206753998221
+                ],
+                "rod_tip_xy_dist": 0.0013948706825342913,
+                "target_xy_drift": 6.105743510950245e-08,
+                "depth": 0.015514741056374293,
+                "bottom_clearance": 0.08392576113155603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011500126791273435,
+                  0.0007326177897987174
+                ],
+                "rod_tip_xy": [
+                  0.2853596876511349,
+                  -0.3939354314169554
+                ],
+                "target_mouth_xy": [
+                  0.28420967497200755,
+                  -0.39466804920675413
+                ],
+                "gripper_position": [
+                  0.2853496875836552,
+                  -0.39394536277971504,
+                  1.0050448954822844
+                ],
+                "rod_tip_xy_dist": 0.0013635461077951153,
+                "target_xy_drift": 6.588349390160274e-08,
+                "depth": 0.016053150006906547,
+                "bottom_clearance": 0.08338745761512323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011400158694513385,
+                  0.0007227178917492694
+                ],
+                "rod_tip_xy": [
+                  0.2853496875836552,
+                  -0.39394536277971515
+                ],
+                "target_mouth_xy": [
+                  0.28420967171420386,
+                  -0.3946680806714644
+                ],
+                "gripper_position": [
+                  0.2853419337493727,
+                  -0.39394969449552225,
+                  1.0049028254296792
+                ],
+                "rod_tip_xy_dist": 0.0013497989975012575,
+                "target_xy_drift": 6.220606835759853e-08,
+                "depth": 0.01621495272320328,
+                "bottom_clearance": 0.08322558775345079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011322608806719203,
+                  0.0007183848608460774
+                ],
+                "rod_tip_xy": [
+                  0.28534193374937267,
+                  -0.3939496944955223
+                ],
+                "target_mouth_xy": [
+                  0.28420967286870075,
+                  -0.3946680793563684
+                ],
+                "gripper_position": [
+                  0.2853535428290795,
+                  -0.39402306815598487,
+                  1.0043674587326712
+                ],
+                "rod_tip_xy_dist": 0.0013409293457124394,
+                "target_xy_drift": 6.10237091923933e-08,
+                "depth": 0.016356997310099763,
+                "bottom_clearance": 0.08308351933904612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011438413559571314,
+                  0.0006450128126389565
+                ],
+                "rod_tip_xy": [
+                  0.28535354282907943,
+                  -0.394023068155985
+                ],
+                "target_mouth_xy": [
+                  0.2842097014731223,
+                  -0.39466808096862394
+                ],
+                "gripper_position": [
+                  0.2853432605642524,
+                  -0.39403301656967366,
+                  1.0042053892174958
+                ],
+                "rod_tip_xy_dist": 0.00131316966766152,
+                "target_xy_drift": 3.249545262702213e-08,
+                "depth": 0.016892396408635046,
+                "bottom_clearance": 0.0825481567117351,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011335576954807913,
+                  0.0006350624808675875
+                ],
+                "rod_tip_xy": [
+                  0.28534326056425235,
+                  -0.3940330165696738
+                ],
+                "target_mouth_xy": [
+                  0.28420970286877156,
+                  -0.3946680790505414
+                ],
+                "gripper_position": [
+                  0.2853355276223197,
+                  -0.394036829602709,
+                  1.0040632878636924
+                ],
+                "rod_tip_xy_dist": 0.0012993295977500926,
+                "target_xy_drift": 3.102209303240588e-08,
+                "depth": 0.0170544405155445,
+                "bottom_clearance": 0.08238609483060377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011258549235476645,
+                  0.0006312551591998172
+                ],
+                "rod_tip_xy": [
+                  0.2853355276223196,
+                  -0.39403682960270914
+                ],
+                "target_mouth_xy": [
+                  0.28420967269877195,
+                  -0.39466808476190895
+                ],
+                "gripper_position": [
+                  0.2853275749391172,
+                  -0.3940408046014278,
+                  1.0039212681378364
+                ],
+                "rod_tip_xy_dist": 0.001290748769084404,
+                "target_xy_drift": 6.149024655229637e-08,
+                "depth": 0.01719661043840126,
+                "bottom_clearance": 0.08224404894989956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011178730790995517,
+                  0.0006270899038730571
+                ],
+                "rod_tip_xy": [
+                  0.28532757493911715,
+                  -0.394040804601428
+                ],
+                "target_mouth_xy": [
+                  0.2842097018600176,
+                  -0.39466789450530104
+                ],
+                "gripper_position": [
+                  0.2853406950198386,
+                  -0.3941163661530973,
+                  1.0033876070569407
+                ],
+                "rod_tip_xy_dist": 0.0012817495732455042,
+                "target_xy_drift": 1.8695185313184742e-07,
+                "depth": 0.01733872424659333,
+                "bottom_clearance": 0.08210199931401496,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011309628818109707,
+                  0.0005517147782770349
+                ],
+                "rod_tip_xy": [
+                  0.28534069501983855,
+                  -0.3941163661530974
+                ],
+                "target_mouth_xy": [
+                  0.2842097321380276,
+                  -0.39466808093137445
+                ],
+                "gripper_position": [
+                  0.2853304157084432,
+                  -0.39412612042726397,
+                  1.0032258446059634
+                ],
+                "rod_tip_xy_dist": 0.0012583585485081163,
+                "target_xy_drift": 2.841656661761187e-09,
+                "depth": 0.01787222262812349,
+                "bottom_clearance": 0.08156829903309426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011207428246952644,
+                  0.0005419284665787449
+                ],
+                "rod_tip_xy": [
+                  0.2853304157084432,
+                  -0.39412612042726414
+                ],
+                "target_mouth_xy": [
+                  0.28420967288374793,
+                  -0.3946680488938429
+                ],
+                "gripper_position": [
+                  0.2853224665729868,
+                  -0.39412980499042893,
+                  1.0030842172475767
+                ],
+                "rod_tip_xy_dist": 0.0012448899316784235,
+                "target_xy_drift": 6.7894137310195e-08,
+                "depth": 0.01803399022455987,
+                "bottom_clearance": 0.08140655150173437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011127638835606302,
+                  0.0005382753158666986
+                ],
+                "rod_tip_xy": [
+                  0.28532246657298677,
+                  -0.39412980499042893
+                ],
+                "target_mouth_xy": [
+                  0.28420970268942614,
+                  -0.39466808030629563
+                ],
+                "gripper_position": [
+                  0.28531446399788385,
+                  -0.39413357748575706,
+                  1.0029419232438765
+                ],
+                "rod_tip_xy_dist": 0.0012361164088500443,
+                "target_xy_drift": 3.124105651963404e-08,
+                "depth": 0.018175604523935962,
+                "bottom_clearance": 0.08126490980181578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001104761386801989,
+                  0.0005344736343837475
+                ],
+                "rod_tip_xy": [
+                  0.2853144639978838,
+                  -0.39413357748575706
+                ],
+                "target_mouth_xy": [
+                  0.2842097026110818,
+                  -0.3946680511201408
+                ],
+                "gripper_position": [
+                  0.2853064938889379,
+                  -0.39413749909785256,
+                  1.002800002453785
+                ],
+                "rod_tip_xy_dist": 0.001227257017751386,
+                "target_xy_drift": 4.169610417480106e-08,
+                "depth": 0.018317908662635052,
+                "bottom_clearance": 0.08112262364939404,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010968187289699949,
+                  0.000530548175828649
+                ],
+                "rod_tip_xy": [
+                  0.28530649388893786,
+                  -0.3941374990978527
+                ],
+                "target_mouth_xy": [
+                  0.28420967515996787,
+                  -0.3946680472736813
+                ],
+                "gripper_position": [
+                  0.2852986344495211,
+                  -0.39414106530888704,
+                  1.002658100587176
+                ],
+                "rod_tip_xy_dist": 0.0012183975915498447,
+                "target_xy_drift": 6.660523558675747e-08,
+                "depth": 0.018459938009696697,
+                "bottom_clearance": 0.08098074839172476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00108890437333381,
+                  0.0005270156721272068
+                ],
+                "rod_tip_xy": [
+                  0.285298634449521,
+                  -0.39414106530888715
+                ],
+                "target_mouth_xy": [
+                  0.2842097300761872,
+                  -0.39466808098101436
+                ],
+                "gripper_position": [
+                  0.28531477164190294,
+                  -0.3942205884603864,
+                  1.002127785163996
+                ],
+                "rod_tip_xy_dist": 0.0012097347861962095,
+                "target_xy_drift": 4.446405867659024e-09,
+                "depth": 0.018601790539475416,
+                "bottom_clearance": 0.08083880753881034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011050395953076109,
+                  0.0004474915358206877
+                ],
+                "rod_tip_xy": [
+                  0.2853147716419029,
+                  -0.39422058846038643
+                ],
+                "target_mouth_xy": [
+                  0.2842097320465953,
+                  -0.3946680799962071
+                ],
+                "gripper_position": [
+                  0.28530417925563933,
+                  -0.3942303711895863,
+                  1.0019659399293275
+                ],
+                "rod_tip_xy_dist": 0.0011922085311843588,
+                "target_xy_drift": 2.256496885161201e-09,
+                "depth": 0.019132028523828892,
+                "bottom_clearance": 0.08030845987299118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010944470586883859,
+                  0.0004377084845731405
+                ],
+                "rod_tip_xy": [
+                  0.2853041792556393,
+                  -0.39423037118958637
+                ],
+                "target_mouth_xy": [
+                  0.2842097321969509,
+                  -0.3946680796741595
+                ],
+                "gripper_position": [
+                  0.28529613960118094,
+                  -0.39423418504485025,
+                  1.0018245804069956
+                ],
+                "rod_tip_xy_dist": 0.0011787294353408564,
+                "target_xy_drift": 1.9557129819307286e-09,
+                "depth": 0.019293875026443197,
+                "bottom_clearance": 0.08014661956331703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010864085302250137,
+                  0.0004338658053334443
+                ],
+                "rod_tip_xy": [
+                  0.2852961396011809,
+                  -0.3942341850448503
+                ],
+                "target_mouth_xy": [
+                  0.2842097310709559,
+                  -0.39466805085018375
+                ],
+                "gripper_position": [
+                  0.28528797923963656,
+                  -0.39423780818972554,
+                  1.0016824522557186
+                ],
+                "rod_tip_xy_dist": 0.0011698388912937169,
+                "target_xy_drift": 2.7985162092688924e-08,
+                "depth": 0.01943527482864016,
+                "bottom_clearance": 0.08000527414276326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010782475821887183,
+                  0.0004302721344605631
+                ],
+                "rod_tip_xy": [
+                  0.2852879792396365,
+                  -0.39423780818972554
+                ],
+                "target_mouth_xy": [
+                  0.2842097316574478,
+                  -0.3946680803241861
+                ],
+                "gripper_position": [
+                  0.28527990171371587,
+                  -0.3942412184626505,
+                  1.0015404933076544
+                ],
+                "rod_tip_xy_dist": 0.0011609271976265635,
+                "target_xy_drift": 2.7639353156263682e-09,
+                "depth": 0.019577379261559114,
+                "bottom_clearance": 0.07986313575547832,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006036149241077657,
+              "rod_tip_xy_max_step": 3.287741370004129e-05,
+              "rod_tip_xy_range": 0.0006036091984766525,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28493779391302726,
+            -0.39562856119462614,
+            1.043557289872355
+          ],
+          "object_origin_world": [
+            0.28493779391302726,
+            -0.39562856119462614,
+            1.043557289872355
+          ],
+          "frame_world": [
+            0.284936540823693,
+            -0.3956383195046683,
+            1.0434286847174372
+          ],
+          "center_minus_frame": [
+            1.2530893342410643e-06,
+            9.75831004218497e-06,
+            0.00012860515491786018
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2530203396137608,
+              0.1595165697460902,
+              0.8326077062734504
+            ],
+            "target_position": [
+              0.2659354412032063,
+              0.20531893545408214,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0475884077640168,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16551404631737363,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326077062734504,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676237083506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13460291324846405,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e277c1105652bcb5cb3befc4c79fad79fdeba68288ad189dcd8cf8b5da90d05",
+    "visual_seed": 1557952744850533440,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f4dac74f315ca7b45d1ebea1891adfe5ebd189
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_74_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29666804206502323,
+              -0.023138486034987853,
+              1.1642327349385027
+            ],
+            "current_z": 1.1642327349385027,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30312628652838125,
+            "gripper_z": 1.1564261516179435,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29192936991534724,
+              -0.027865505021513068,
+              1.1564261516179435
+            ],
+            "object_minus_gripper": [
+              0.004738672149675993,
+              0.004727018986525215,
+              0.007806583320559168
+            ],
+            "object_to_gripper_xy": 0.00669325946315282,
+            "object_to_gripper_z": 0.007806583320559168,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29666804206502323,
+              -0.046954373229359594,
+              1.1642327349385027
+            ],
+            "finger_b": [
+              0.2858019718822762,
+              -0.023138486034987853,
+              1.1642327349385027
+            ],
+            "finger_midpoint": [
+              0.2912350069736497,
+              -0.03504642963217372,
+              1.1642327349385027
+            ],
+            "object_minus_finger_midpoint": [
+              0.00543303509137355,
+              0.011907943597185867,
+              0.0
+            ],
+            "finger_gap": 0.026177623346503868,
+            "fingertip_max_gap": 0.09136742710722914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01308881167325194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642327349385027,
+            "object_top_z": 1.2140893631866567,
+            "finger_top_clearance": 0.04985662824815407,
+            "fingertip_min_top_clearance": 0.014956988474446252,
+            "object_projection_between_fingers": 0.8277002757944802,
+            "object_to_finger_line_xy": 0.009885737077540781,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048183713553614574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.143457338774124,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2816574571278733,
+              -0.3908653079836256,
+              0.8515395765850143
+            ],
+            "target_position": [
+              0.27340821376197305,
+              -0.3920726635315408,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008337129213879992,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18744271136275187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395765850143,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523387142861568,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504865272275346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15606626605596213,
+            "release_required_pad_clearance": 0.05252432636137673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869396480813914,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008417844772338867,
+            "max_z_decrease": 0.008417844772338867,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500317423881923,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008417844772338867,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020957113469335684,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008417844772338867,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008418034675869875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1291081458330154,
+              -0.44833412766456604,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1291081458330154,
+              -0.44833412766456604,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12783884841542334,
+              -0.4490020301710824,
+              0.8035617736893894
+            ],
+            "closest_button": [
+              0.1291476190090179,
+              -0.44831040501594543,
+              0.7685899138450623
+            ],
+            "closest_ee_minus_button": [
+              -0.0013087705935945493,
+              -0.0006916251551369879,
+              0.03497185984432716
+            ],
+            "button_min_z_position": [
+              0.12915614247322077,
+              -0.4483042359352112,
+              0.7683910131454468
+            ],
+            "min_active_finger_to_button": 0.14692470015665687,
+            "closest_active_finger": [
+              -0.012698568403720856,
+              -0.4310322701931,
+              0.8104231953620911
+            ],
+            "closest_active_finger_button": [
+              0.12910556793212885,
+              -0.44833430647850037,
+              0.7760852575302124
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418041363358497,
+              0.01730203628540039,
+              0.03433793783187866
+            ],
+            "min_contact_pad_to_button": 0.020957113469335684,
+            "closest_contact_pad": [
+              0.12915614247322077,
+              -0.4503525869005055,
+              0.7892477833481792
+            ],
+            "closest_contact_pad_button": [
+              0.12915614247322077,
+              -0.4483042359352112,
+              0.7683910131454468
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002048350965294321,
+              0.020856770202732466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2685141191334897,
+              0.19901492203789503,
+              1.1151166006478697
+            ],
+            "current_z": 1.1151166006478697,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2052074709135071,
+            "gripper_z": 1.1151168172186114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2685141674038357,
+              0.1990150089189131,
+              1.1151168172186114
+            ],
+            "object_minus_gripper": [
+              -4.8270345998080444e-08,
+              -8.688101807430293e-08,
+              -2.165707417844942e-07
+            ],
+            "object_to_gripper_xy": 9.938982646328423e-08,
+            "object_to_gripper_z": -2.165707417844942e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2685141191334897,
+              0.19901492203789503,
+              1.1151166006478697
+            ],
+            "finger_b": [
+              0.2685141191334897,
+              0.19901492203789503,
+              1.1151166006478697
+            ],
+            "finger_midpoint": [
+              0.2685141191334897,
+              0.19901492203789503,
+              1.1151166006478697
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1151166006478697,
+            "object_top_z": 1.2401251072681494,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26851411913348977,
+            0.19901492203789506,
+            1.1151166006478697
+          ],
+          "object_origin_world": [
+            0.26851411913348977,
+            0.19901492203789506,
+            1.1151166006478697
+          ],
+          "frame_world": [
+            0.2685141674038357,
+            0.1990150089189131,
+            1.1151168172186114
+          ],
+          "center_minus_frame": [
+            -4.827034594256929e-08,
+            -8.688101804654735e-08,
+            -2.165707417844942e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432690684220771,
+            "required_z": 0.9112599636067321,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006192632970752185,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.05957952615015e-08,
+            "max_target_xy_drift": 2.143421392263041e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.11869403345200229,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.11869405089008582,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2810688456971805,
+              -0.3910453933057142,
+              0.9233940242285753
+            ],
+            "target_mouth_xy": [
+              0.28165727576788563,
+              -0.390865249608195
+            ],
+            "rod_tip_z": 0.9233940242285753,
+            "rod_tip_depth": -0.022134119273716113,
+            "rod_tip_bottom_clearance": 0.1215747185878,
+            "rod_tip_xy_dist": 0.0006153874388269009,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045048936870924594,
+            "min_rod_tip_bottom_clearance": 0.05439160865587134,
+            "min_rod_tip_xy_dist": 0.0002805287569978515,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2816573363438242,
+              -0.39086524805704503
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.057593859853938e-08,
+              -1.5511499862341793e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -9.189174998414096e-05,
+                0.0014540413627284199
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00018417493715200406,
+                0.0011009899164824422
+              ],
+              "first_target_mouth_xy": [
+                0.2816573976730248,
+                -0.39086524838562076
+              ],
+              "last_target_mouth_xy": [
+                0.28165733386590375,
+                -0.39086527909636093
+              ],
+              "first_rod_tip_xy": [
+                0.28156550592304064,
+                -0.38941120702289234
+              ],
+              "last_rod_tip_xy": [
+                0.28147315892875174,
+                -0.3897642891798785
+              ],
+              "min_rod_tip_xy_dist": 0.0011162881364911836,
+              "max_rod_tip_xy_dist": 0.001456942132769956,
+              "first_target_xy_drift": 6.133008072938746e-08,
+              "last_target_xy_drift": 3.113806707479243e-08,
+              "max_depth": 0.019446395581290132,
+              "min_bottom_clearance": 0.07999413465876459
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -9.189174998414096e-05,
+                  0.0014540413627284199
+                ],
+                "rod_tip_xy": [
+                  0.28156550592304064,
+                  -0.38941120702289234
+                ],
+                "target_mouth_xy": [
+                  0.2816573976730248,
+                  -0.39086524838562076
+                ],
+                "gripper_position": [
+                  0.2815555171870165,
+                  -0.38942072768235814,
+                  1.005970183260854
+                ],
+                "rod_tip_xy_dist": 0.001456942132769956,
+                "target_xy_drift": 6.133008072938746e-08,
+                "depth": 0.015131188127232353,
+                "bottom_clearance": 0.08430948632327195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00010187799969213485,
+                  0.0014445517306841404
+                ],
+                "rod_tip_xy": [
+                  0.2815555171870163,
+                  -0.38942072768235814
+                ],
+                "target_mouth_xy": [
+                  0.28165739518670846,
+                  -0.3908652794130423
+                ],
+                "gripper_position": [
+                  0.28154791120983197,
+                  -0.3894247187933548,
+                  1.0058310181041084
+                ],
+                "rod_tip_xy_dist": 0.0014481397824256525,
+                "target_xy_drift": 6.667595959440798e-08,
+                "depth": 0.015289723395441324,
+                "bottom_clearance": 0.08415088404261561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0001094224193403659,
+                  0.0014405590585090944
+                ],
+                "rod_tip_xy": [
+                  0.2815479112098318,
+                  -0.3894247187933547
+                ],
+                "target_mouth_xy": [
+                  0.28165733362917217,
+                  -0.3908652778518638
+                ],
+                "gripper_position": [
+                  0.28155588876291765,
+                  -0.3894905902397323,
+                  1.0052939081227807
+                ],
+                "rod_tip_xy_dist": 0.0014447088519514606,
+                "target_xy_drift": 2.991823126229741e-08,
+                "depth": 0.015428804666563378,
+                "bottom_clearance": 0.08401171027994803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00010150907329309344,
+                  0.0013746885731128478
+                ],
+                "rod_tip_xy": [
+                  0.28155588876291743,
+                  -0.3894905902397323
+                ],
+                "target_mouth_xy": [
+                  0.2816573978362105,
+                  -0.39086527881284516
+                ],
+                "gripper_position": [
+                  0.28154559270169416,
+                  -0.38950006234325163,
+                  1.0051354442827845
+                ],
+                "rod_tip_xy_dist": 0.0013784312695988364,
+                "target_xy_drift": 6.875487483593732e-08,
+                "depth": 0.01596606820236779,
+                "bottom_clearance": 0.08347461909135945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00011174174367095668,
+                  0.0013652164418542223
+                ],
+                "rod_tip_xy": [
+                  0.281545592701694,
+                  -0.38950006234325163
+                ],
+                "target_mouth_xy": [
+                  0.28165733444536495,
+                  -0.39086527878510585
+                ],
+                "gripper_position": [
+                  0.28153793610330585,
+                  -0.3895038978626874,
+                  1.0049961795815594
+                ],
+                "rod_tip_xy_dist": 0.001369781789332786,
+                "target_xy_drift": 3.0786650829064146e-08,
+                "depth": 0.016124382562217376,
+                "bottom_clearance": 0.08331615887974919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00011946068634810514,
+                  0.001361381562555719
+                ],
+                "rod_tip_xy": [
+                  0.28153793610330563,
+                  -0.38950389786268735
+                ],
+                "target_mouth_xy": [
+                  0.28165739678965374,
+                  -0.3908652794252431
+                ],
+                "gripper_position": [
+                  0.28154683388403834,
+                  -0.38957049064893556,
+                  1.0044614756725379
+                ],
+                "rod_tip_xy_dist": 0.0013666128253640134,
+                "target_xy_drift": 6.810038291502343e-08,
+                "depth": 0.0162637994998035,
+                "bottom_clearance": 0.08317686969638183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00011056083158944574,
+                  0.0012947878273921187
+                ],
+                "rod_tip_xy": [
+                  0.2815468338840382,
+                  -0.38957049064893556
+                ],
+                "target_mouth_xy": [
+                  0.2816573947156276,
+                  -0.3908652784763277
+                ],
+                "gripper_position": [
+                  0.2815365023671378,
+                  -0.3895798960646002,
+                  1.0043029120489768
+                ],
+                "rod_tip_xy_dist": 0.0012994996019408981,
+                "target_xy_drift": 6.582248998587836e-08,
+                "depth": 0.016798410548966913,
+                "bottom_clearance": 0.08264214544881998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00012086204237549136,
+                  0.0012853817889604269
+                ],
+                "rod_tip_xy": [
+                  0.2815365023671376,
+                  -0.3895798960646001
+                ],
+                "target_mouth_xy": [
+                  0.2816573644095131,
+                  -0.3908652778535605
+                ],
+                "gripper_position": [
+                  0.28152870709836214,
+                  -0.3895834819497909,
+                  1.0041639403472848
+                ],
+                "rod_tip_xy_dist": 0.001291051500397363,
+                "target_xy_drift": 4.093305787645551e-08,
+                "depth": 0.016956918490771966,
+                "bottom_clearance": 0.08248363403042724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00012869054207398367,
+                  0.0012817974835037105
+                ],
+                "rod_tip_xy": [
+                  0.2815287070983619,
+                  -0.389583481949791
+                ],
+                "target_mouth_xy": [
+                  0.2816573976404359,
+                  -0.3908652794332947
+                ],
+                "gripper_position": [
+                  0.28152072773107956,
+                  -0.38958722684326585,
+                  1.0040250275742222
+                ],
+                "rod_tip_xy_dist": 0.0012882414542063692,
+                "target_xy_drift": 6.886031981644692e-08,
+                "depth": 0.017096045517198344,
+                "bottom_clearance": 0.08234465641496025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0001365762940732096,
+                  0.0012780516305958
+                ],
+                "rod_tip_xy": [
+                  0.2815207277310794,
+                  -0.38958722684326585
+                ],
+                "target_mouth_xy": [
+                  0.2816573040251526,
+                  -0.39086527847386165
+                ],
+                "gripper_position": [
+                  0.28153096861719906,
+                  -0.3896558155914231,
+                  1.003491257955468
+                ],
+                "rod_tip_xy_dist": 0.0012853283839437124,
+                "target_xy_drift": 4.4381068814735886e-08,
+                "depth": 0.01723478879070106,
+                "bottom_clearance": 0.0822057177834038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00012642897844683532,
+                  0.0012094635290673672
+                ],
+                "rod_tip_xy": [
+                  0.2815309686171989,
+                  -0.38965581559142304
+                ],
+                "target_mouth_xy": [
+                  0.28165739759564573,
+                  -0.3908652791204904
+                ],
+                "gripper_position": [
+                  0.2815206285599616,
+                  -0.3896651024930954,
+                  1.0033332525804552
+                ],
+                "rod_tip_xy_dist": 0.0012160535821809828,
+                "target_xy_drift": 6.867840472721344e-08,
+                "depth": 0.01776872198549151,
+                "bottom_clearance": 0.0816719671049927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0001367071353068905,
+                  0.001200178169623145
+                ],
+                "rod_tip_xy": [
+                  0.28152062855996146,
+                  -0.3896651024930953
+                ],
+                "target_mouth_xy": [
+                  0.28165733569526835,
+                  -0.3908652806627184
+                ],
+                "gripper_position": [
+                  0.28151254436860873,
+                  -0.3896684590134947,
+                  1.0031941232662225
+                ],
+                "rod_tip_xy_dist": 0.00120793893872322,
+                "target_xy_drift": 3.2612122922526466e-08,
+                "depth": 0.017926677195391982,
+                "bottom_clearance": 0.08151397897416779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00014476079075959047,
+                  0.0011967896607772976
+                ],
+                "rod_tip_xy": [
+                  0.28151254436860856,
+                  -0.3896684590134947
+                ],
+                "target_mouth_xy": [
+                  0.28165730515936815,
+                  -0.39086524867427197
+                ],
+                "gripper_position": [
+                  0.28150450964633045,
+                  -0.38967194529858834,
+                  1.003055524167855
+                ],
+                "rod_tip_xy_dist": 0.0012055128280880221,
+                "target_xy_drift": 3.119056379192412e-08,
+                "depth": 0.01806570217208947,
+                "bottom_clearance": 0.08137484810473261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0001527966852596374,
+                  0.0011933033819531147
+                ],
+                "rod_tip_xy": [
+                  0.2815045096463303,
+                  -0.3896719452985884
+                ],
+                "target_mouth_xy": [
+                  0.2816573063315899,
+                  -0.3908652486805415
+                ],
+                "gripper_position": [
+                  0.28151635514098033,
+                  -0.3897419598267622,
+                  1.002526812415921
+                ],
+                "rod_tip_xy_dist": 0.0012030460458382604,
+                "target_xy_drift": 3.0018710099988665e-08,
+                "depth": 0.01820437024973187,
+                "bottom_clearance": 0.08123622518864781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0001409784976844075,
+                  0.0011233189587808168
+                ],
+                "rod_tip_xy": [
+                  0.28151635514098017,
+                  -0.3897419598267622
+                ],
+                "target_mouth_xy": [
+                  0.2816573336386646,
+                  -0.390865278785543
+                ],
+                "gripper_position": [
+                  0.28150587759692136,
+                  -0.38975082572776404,
+                  1.0023683943894586
+                ],
+                "rod_tip_xy_dist": 0.0011321309199760295,
+                "target_xy_drift": 3.084734147595175e-08,
+                "depth": 0.018733008004657603,
+                "bottom_clearance": 0.08070750241196045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00015145872749389167,
+                  0.001114423264619968
+                ],
+                "rod_tip_xy": [
+                  0.2815058775969212,
+                  -0.389750825727764
+                ],
+                "target_mouth_xy": [
+                  0.2816573363244151,
+                  -0.39086524899238395
+                ],
+                "gripper_position": [
+                  0.28149774756414225,
+                  -0.389754255347255,
+                  1.0022295735633553
+                ],
+                "rod_tip_xy_dist": 0.0011246683772829643,
+                "target_xy_drift": 9.355402744995962e-10,
+                "depth": 0.018891566698776896,
+                "bottom_clearance": 0.08054904714949263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00015961769915862067,
+                  0.0011110225089742687
+                ],
+                "rod_tip_xy": [
+                  0.2814977475641421,
+                  -0.38975425534725494
+                ],
+                "target_mouth_xy": [
+                  0.2816573652633007,
+                  -0.3908652778562292
+                ],
+                "gripper_position": [
+                  0.2814895856130109,
+                  -0.3897575656268321,
+                  1.0020907611097483
+                ],
+                "rod_tip_xy_dist": 0.001122429875463127,
+                "target_xy_drift": 4.1525022545825765e-08,
+                "depth": 0.019030323379299552,
+                "bottom_clearance": 0.08041026197585077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00016774860641577405,
+                  0.0011077125367787155
+                ],
+                "rod_tip_xy": [
+                  0.28148958561301074,
+                  -0.38975756562683206
+                ],
+                "target_mouth_xy": [
+                  0.2816573342194265,
+                  -0.3908652781636108
+                ],
+                "gripper_position": [
+                  0.2814814822689407,
+                  -0.3897607433274572,
+                  1.0019523918747204
+                ],
+                "rod_tip_xy_dist": 0.001120342206243776,
+                "target_xy_drift": 3.018142419315272e-08,
+                "depth": 0.019169060777959435,
+                "bottom_clearance": 0.08027146568760568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00017591629480367965,
+                  0.0011045345605306678
+                ],
+                "rod_tip_xy": [
+                  0.28148148226894054,
+                  -0.38976074332745725
+                ],
+                "target_mouth_xy": [
+                  0.2816573985637442,
+                  -0.3908652778879879
+                ],
+                "gripper_position": [
+                  0.28147315892875197,
+                  -0.3897642891798785,
+                  1.0018134321982024
+                ],
+                "rod_tip_xy_dist": 0.001118455693438113,
+                "target_xy_drift": 6.900147532714212e-08,
+                "depth": 0.01930759251630232,
+                "bottom_clearance": 0.0801331273454734,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00018417493715200406,
+                  0.0011009899164824422
+                ],
+                "rod_tip_xy": [
+                  0.28147315892875174,
+                  -0.3897642891798785
+                ],
+                "target_mouth_xy": [
+                  0.28165733386590375,
+                  -0.39086527909636093
+                ],
+                "gripper_position": [
+                  0.28146495825217593,
+                  -0.38976744593035195,
+                  1.001674478564692
+                ],
+                "rod_tip_xy_dist": 0.0011162881364911836,
+                "target_xy_drift": 3.113806707479243e-08,
+                "depth": 0.019446395581290132,
+                "bottom_clearance": 0.07999413465876459,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006021984871693754,
+              "rod_tip_xy_max_step": 3.2698131658165386e-05,
+              "rod_tip_xy_range": 0.0006021895343720537,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28106884569718055,
+            -0.3910453933057142,
+            1.0433940242285755
+          ],
+          "object_origin_world": [
+            0.28106884569718055,
+            -0.3910453933057142,
+            1.0433940242285755
+          ],
+          "frame_world": [
+            0.2810676186027613,
+            -0.3910544359151044,
+            1.0432690684220771
+          ],
+          "center_minus_frame": [
+            1.2270944192427358e-06,
+            9.042609390219614e-06,
+            0.00012495580649840576
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24707322130611453,
+              0.15604148915761626,
+              0.8328909133369593
+            ],
+            "target_position": [
+              0.26019246262941004,
+              0.20166836907214603,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04747553752864504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1652272463136818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328909133369593,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674006846861,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1348641036508675,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 227,
+            "max_placed_release_frames": 227
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb4a1a54a40c226208ad7726802734675fdbafe0696dd20158faf44c0bd0aa25",
+    "visual_seed": 8098632142147624388,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54a84c6f8bb22de5e2a25519f5984ee741ea87dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_75_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30279653623692493,
+              -0.026929620424380286,
+              1.1629298051292527
+            ],
+            "current_z": 1.1629298051292527,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3018233567191315,
+            "gripper_z": 1.1550848673507876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2980144084427362,
+              -0.03159848788847329,
+              1.1550848673507876
+            ],
+            "object_minus_gripper": [
+              0.00478212779418874,
+              0.004668867464093004,
+              0.007844937778465066
+            ],
+            "object_to_gripper_xy": 0.006683342699369732,
+            "object_to_gripper_z": 0.007844937778465066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30279653623692493,
+              -0.050985710821513784,
+              1.1629298051292527
+            ],
+            "finger_b": [
+              0.29230278123944553,
+              -0.026929620424380286,
+              1.1629298051292527
+            ],
+            "finger_midpoint": [
+              0.29754965873818523,
+              -0.03895766562294704,
+              1.1629298051292527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005246877498739699,
+              0.012028045198566751,
+              0.0
+            ],
+            "finger_gap": 0.026245273462895798,
+            "fingertip_max_gap": 0.09142001906918704,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0131226367314479,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629298051292527,
+            "object_top_z": 1.2128031743431507,
+            "finger_top_clearance": 0.049873369213897956,
+            "fingertip_min_top_clearance": 0.014962010764169385,
+            "object_projection_between_fingers": 0.8401327015207483,
+            "object_to_finger_line_xy": 0.00961844498140285,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821000953459352,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1544542505031907,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2770409894919005,
+              -0.39058083314497705,
+              0.8515394945908902
+            ],
+            "target_position": [
+              0.2700795709258509,
+              -0.3914544245652978,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007016018131490109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18282324072786899,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394945908902,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583235955616276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737688330021574,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15005193848478726,
+            "release_required_pad_clearance": 0.053688441650107874,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3864199627748754,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00833892822265625,
+            "max_z_decrease": 0.00833892822265625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500283306396687,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00833892822265625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020969545927473486,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00833892822265625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00833896742663527,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12577949464321136,
+              -0.44771587848663325,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12577949464321136,
+              -0.44771587848663325,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12497674700692185,
+              -0.44820517853801284,
+              0.8035943481733958
+            ],
+            "closest_button": [
+              0.1257951706647873,
+              -0.4476901590824127,
+              0.7686048746109009
+            ],
+            "closest_ee_minus_button": [
+              -0.0008184236578654414,
+              -0.0005150194556001186,
+              0.03498947356249493
+            ],
+            "button_min_z_position": [
+              0.12578549981117249,
+              -0.44769102334976196,
+              0.7684699296951294
+            ],
+            "min_active_finger_to_button": 0.14650312242196956,
+            "closest_active_finger": [
+              -0.01557081937789917,
+              -0.4303421080112457,
+              0.8111406564712524
+            ],
+            "closest_active_finger_button": [
+              0.12578196823596954,
+              -0.4477134943008423,
+              0.7767780423164368
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413527876138687,
+              0.017371386289596558,
+              0.034362614154815674
+            ],
+            "min_contact_pad_to_button": 0.020969545927473486,
+            "closest_contact_pad": [
+              0.12578549981117249,
+              -0.4495442894068983,
+              0.7893574202415279
+            ],
+            "closest_contact_pad_button": [
+              0.12578549981117249,
+              -0.44769102334976196,
+              0.7684699296951294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018532660571363158,
+              0.02088749054639849
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2689719298987435,
+              0.2032322052810279,
+              1.1106204675781663
+            ],
+            "current_z": 1.1106204675781663,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2007113378438038,
+            "gripper_z": 1.1106202773389267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2689719185519197,
+              0.2032321973485759,
+              1.1106202773389267
+            ],
+            "object_minus_gripper": [
+              1.1346823813873641e-08,
+              7.932452000813939e-09,
+              1.9023923969463397e-07
+            ],
+            "object_to_gripper_xy": 1.3844645369539337e-08,
+            "object_to_gripper_z": 1.9023923969463397e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2689719298987435,
+              0.2032322052810279,
+              1.1106204675781663
+            ],
+            "finger_b": [
+              0.2689719298987435,
+              0.2032322052810279,
+              1.1106204675781663
+            ],
+            "finger_midpoint": [
+              0.2689719298987435,
+              0.2032322052810279,
+              1.1106204675781663
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1106204675781663,
+            "object_top_z": 1.235628974198446,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 160,
+            "max_stable_success_frames": 160,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2689719298987435,
+            0.20323220528102792,
+            1.1106204675781663
+          ],
+          "object_origin_world": [
+            0.2689719298987435,
+            0.20323220528102792,
+            1.1106204675781663
+          ],
+          "frame_world": [
+            0.2689719185519197,
+            0.2032321973485759,
+            1.1106202773389267
+          ],
+          "center_minus_frame": [
+            1.1346823813873641e-08,
+            7.932452028569514e-09,
+            1.9023923969463397e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043304361386038,
+            "required_z": 0.9112598835331707,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015323737137205957,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.339145599199281e-08,
+            "max_target_xy_drift": 2.855409118288792e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.386419963120591,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.3864199631351037,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27750833518298473,
+              -0.38911191899136066,
+              0.9234276710608907
+            ],
+            "target_mouth_xy": [
+              0.27704101770908995,
+              -0.3905807725981276
+            ],
+            "rod_tip_z": 0.9234276710608907,
+            "rod_tip_depth": -0.022167842786617098,
+            "rod_tip_bottom_clearance": 0.1216083561429836,
+            "rod_tip_xy_dist": 0.0015414008367454948,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04535185953644272,
+            "min_rod_tip_bottom_clearance": 0.05408875470887364,
+            "min_rod_tip_xy_dist": 0.00041631220177565544,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27704095997611955,
+              -0.3905808327731977
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.7732970404344996e-08,
+              6.017507009348222e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0009284144798864524,
+                0.0031635428661179743
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008421385052218566,
+                0.00279967660879199
+              ],
+              "first_target_mouth_xy": [
+                0.2770408989858333,
+                -0.3905807719167391
+              ],
+              "last_target_mouth_xy": [
+                0.27704090154887395,
+                -0.3905808324178942
+              ],
+              "first_rod_tip_xy": [
+                0.27796931346571974,
+                -0.38741722905062115
+              ],
+              "last_rod_tip_xy": [
+                0.2778830400540958,
+                -0.3877811558091022
+              ],
+              "min_rod_tip_xy_dist": 0.0029235913489737793,
+              "max_rod_tip_xy_dist": 0.0032969617699070697,
+              "first_target_xy_drift": 8.615871152397284e-08,
+              "last_target_xy_drift": 5.8428325910154365e-08,
+              "max_depth": 0.01948956668755575,
+              "min_bottom_clearance": 0.07995103455411201
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0009284144798864524,
+                  0.0031635428661179743
+                ],
+                "rod_tip_xy": [
+                  0.27796931346571974,
+                  -0.38741722905062115
+                ],
+                "target_mouth_xy": [
+                  0.2770408989858333,
+                  -0.3905807719167391
+                ],
+                "gripper_position": [
+                  0.27795911728925166,
+                  -0.3874267339108436,
+                  1.0058796659852067
+                ],
+                "rod_tip_xy_dist": 0.0032969617699070697,
+                "target_xy_drift": 8.615871152397284e-08,
+                "depth": 0.015224401555700484,
+                "bottom_clearance": 0.08421613838142095,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0009181598654942613,
+                  0.003154071980505768
+                ],
+                "rod_tip_xy": [
+                  0.2779591172892516,
+                  -0.3874267339108437
+                ],
+                "target_mouth_xy": [
+                  0.27704095742375734,
+                  -0.39058080589134947
+                ],
+                "gripper_position": [
+                  0.27795148087898763,
+                  -0.3874304540885338,
+                  1.0057424241477104
+                ],
+                "rod_tip_xy_dist": 0.003284994306968586,
+                "target_xy_drift": 2.7002746490856134e-08,
+                "depth": 0.015380227005831748,
+                "bottom_clearance": 0.08406039718509939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0009105526740970094,
+                  0.003150287073566571
+                ],
+                "rod_tip_xy": [
+                  0.2779514808789876,
+                  -0.38743045408853394
+                ],
+                "target_mouth_xy": [
+                  0.27704092820489057,
+                  -0.3905807411621005
+                ],
+                "gripper_position": [
+                  0.2779609787103286,
+                  -0.3874988785631597,
+                  1.005209614113905
+                ],
+                "rod_tip_xy_dist": 0.00327923997569343,
+                "target_xy_drift": 9.696393207095285e-08,
+                "depth": 0.01551743424385943,
+                "bottom_clearance": 0.08392313869093548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00091998715171554,
+                  0.003081894554625708
+                ],
+                "rod_tip_xy": [
+                  0.27796097871032854,
+                  -0.3874988785631598
+                ],
+                "target_mouth_xy": [
+                  0.277040991558613,
+                  -0.3905807731177855
+                ],
+                "gripper_position": [
+                  0.27795070264778254,
+                  -0.3875081976828382,
+                  1.0050539394203992
+                ],
+                "rod_tip_xy_dist": 0.003216278968801255,
+                "target_xy_drift": 6.749979333331566e-08,
+                "depth": 0.01605028402319897,
+                "bottom_clearance": 0.08339033157415654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009097730198974752,
+                  0.003072605623867075
+                ],
+                "rod_tip_xy": [
+                  0.27795070264778254,
+                  -0.3875081976828383
+                ],
+                "target_mouth_xy": [
+                  0.27704092962788507,
+                  -0.39058080330670536
+                ],
+                "gripper_position": [
+                  0.2779428219648987,
+                  -0.38751176120345154,
+                  1.0049167112937387
+                ],
+                "rod_tip_xy_dist": 0.0032044644275686616,
+                "target_xy_drift": 4.229999418384708e-08,
+                "depth": 0.01620588563637171,
+                "bottom_clearance": 0.0832346502807616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009018920457127266,
+                  0.003069042117922971
+                ],
+                "rod_tip_xy": [
+                  0.27794282196489867,
+                  -0.38751176120345165
+                ],
+                "target_mouth_xy": [
+                  0.27704092991918594,
+                  -0.3905808033213746
+                ],
+                "gripper_position": [
+                  0.2779532289716873,
+                  -0.38758106411377224,
+                  1.004385990034467
+                ],
+                "rod_tip_xy_dist": 0.0031988167787019317,
+                "target_xy_drift": 4.208122076849539e-08,
+                "depth": 0.0163431761606454,
+                "bottom_clearance": 0.08309737188655797,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009122963254071803,
+                  0.0029997680210307465
+                ],
+                "rod_tip_xy": [
+                  0.2779532289716872,
+                  -0.38758106411377247
+                ],
+                "target_mouth_xy": [
+                  0.27704093264628005,
+                  -0.3905808321348032
+                ],
+                "gripper_position": [
+                  0.2779426912610061,
+                  -0.38759038599065226,
+                  1.0042302610331364
+                ],
+                "rod_tip_xy_dist": 0.0031354254520479614,
+                "target_xy_drift": 2.7337294576831498e-08,
+                "depth": 0.01687392207613103,
+                "bottom_clearance": 0.08256673760539768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009017905094279022,
+                  0.0029904163337294287
+                ],
+                "rod_tip_xy": [
+                  0.27794269126100607,
+                  -0.38759038599065243
+                ],
+                "target_mouth_xy": [
+                  0.27704090075157817,
+                  -0.39058080232438186
+                ],
+                "gripper_position": [
+                  0.27793482492926047,
+                  -0.3875939742464016,
+                  1.0040934229368854
+                ],
+                "rod_tip_xy_dist": 0.0031234301612057844,
+                "target_xy_drift": 6.659336820628682e-08,
+                "depth": 0.017029636098751078,
+                "bottom_clearance": 0.08241094652787229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008938965099458684,
+                  0.0029868284452897464
+                ],
+                "rod_tip_xy": [
+                  0.27793482492926047,
+                  -0.38759397424640163
+                ],
+                "target_mouth_xy": [
+                  0.2770409284193146,
+                  -0.3905808026916914
+                ],
+                "gripper_position": [
+                  0.27792692203388486,
+                  -0.38759758199793914,
+                  1.0039565470229508
+                ],
+                "rod_tip_xy_dist": 0.0031177227477897015,
+                "target_xy_drift": 4.359735040375754e-08,
+                "depth": 0.017166396851289623,
+                "bottom_clearance": 0.08227410189788986,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008859909920261311,
+                  0.0029831886400422114
+                ],
+                "rod_tip_xy": [
+                  0.2779269220338848,
+                  -0.38759758199793937
+                ],
+                "target_mouth_xy": [
+                  0.2770409310418587,
+                  -0.3905807706379816
+                ],
+                "gripper_position": [
+                  0.27793882164394457,
+                  -0.38766891188481956,
+                  1.0034269658699637
+                ],
+                "rod_tip_xy_dist": 0.0031119759799889757,
+                "target_xy_drift": 6.854178679523413e-08,
+                "depth": 0.01730338788704089,
+                "bottom_clearance": 0.08213728304867562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008979245767931632,
+                  0.0029118924333902396
+                ],
+                "rod_tip_xy": [
+                  0.2779388216439445,
+                  -0.38766891188481967
+                ],
+                "target_mouth_xy": [
+                  0.27704089706715135,
+                  -0.3905808043182099
+                ],
+                "gripper_position": [
+                  0.27792804752737144,
+                  -0.38767834004915525,
+                  1.003270981052699
+                ],
+                "rod_tip_xy_dist": 0.003047193149317009,
+                "target_xy_drift": 6.904509114669552e-08,
+                "depth": 0.017832919416736925,
+                "bottom_clearance": 0.0816076739131898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008871179499794768,
+                  0.002902431536650929
+                ],
+                "rod_tip_xy": [
+                  0.2779280475273714,
+                  -0.38767834004915547
+                ],
+                "target_mouth_xy": [
+                  0.2770409295773919,
+                  -0.3905807715858064
+                ],
+                "gripper_position": [
+                  0.27792016570912687,
+                  -0.38768155295929624,
+                  1.0031345554312445
+                ],
+                "rod_tip_xy_dist": 0.003034977278682933,
+                "target_xy_drift": 6.832261338016306e-08,
+                "depth": 0.017988866438371942,
+                "bottom_clearance": 0.0814517150106705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0008792360659429788,
+                  0.002899251283966675
+                ],
+                "rod_tip_xy": [
+                  0.2779201657091268,
+                  -0.3876815529592963
+                ],
+                "target_mouth_xy": [
+                  0.27704092964318383,
+                  -0.39058080424326297
+                ],
+                "gripper_position": [
+                  0.2779122514061398,
+                  -0.3876847617281959,
+                  1.0029979448136954
+                ],
+                "rod_tip_xy_dist": 0.0030296392635489294,
+                "target_xy_drift": 4.164185593898018e-08,
+                "depth": 0.018125345762346035,
+                "bottom_clearance": 0.08131522268485813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008713505464555404,
+                  0.0028959809636046607
+                ],
+                "rod_tip_xy": [
+                  0.27791225140613973,
+                  -0.387684761728196
+                ],
+                "target_mouth_xy": [
+                  0.2770409008596842,
+                  -0.39058074269180065
+                ],
+                "gripper_position": [
+                  0.27790419109693254,
+                  -0.3876881709579449,
+                  1.0028616464285933
+                ],
+                "rod_tip_xy_dist": 0.003024228416698869,
+                "target_xy_drift": 1.0774697687836599e-07,
+                "depth": 0.01826195360724925,
+                "bottom_clearance": 0.08117863405744363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0008632920444169301,
+                  0.0028926022193367373
+                ],
+                "rod_tip_xy": [
+                  0.2779041910969325,
+                  -0.38768817095794506
+                ],
+                "target_mouth_xy": [
+                  0.27704089905251555,
+                  -0.3905807731772818
+                ],
+                "gripper_position": [
+                  0.27791819671224544,
+                  -0.38776242913366044,
+                  1.0023346247338383
+                ],
+                "rod_tip_xy_dist": 0.0030186786435898376,
+                "target_xy_drift": 8.522534082425787e-08,
+                "depth": 0.01839816691416407,
+                "bottom_clearance": 0.08104232847869508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008772974180163429,
+                  0.0028183126500244127
+                ],
+                "rod_tip_xy": [
+                  0.2779181967122454,
+                  -0.38776242913366055
+                ],
+                "target_mouth_xy": [
+                  0.27704089929422904,
+                  -0.39058074178368496
+                ],
+                "gripper_position": [
+                  0.2779073146495351,
+                  -0.3877717230460953,
+                  1.002179343183721
+                ],
+                "rod_tip_xy_dist": 0.002951700688238184,
+                "target_xy_drift": 1.0936810900824939e-07,
+                "depth": 0.018925219280136574,
+                "bottom_clearance": 0.08051534438964891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0008664173176463619,
+                  0.002809115829053077
+                ],
+                "rod_tip_xy": [
+                  0.27790731464953505,
+                  -0.3877717230460954
+                ],
+                "target_mouth_xy": [
+                  0.2770408973318887,
+                  -0.3905808388751485
+                ],
+                "gripper_position": [
+                  0.2778992435679011,
+                  -0.3877749601653944,
+                  1.0020429021296349
+                ],
+                "rod_tip_xy_dist": 0.0029396956831199508,
+                "target_xy_drift": 6.294071387516397e-08,
+                "depth": 0.019080625068634283,
+                "bottom_clearance": 0.08036013569163891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008583432868288776,
+                  0.0028058424830922357
+                ],
+                "rod_tip_xy": [
+                  0.277899243567901,
+                  -0.3877749601653946
+                ],
+                "target_mouth_xy": [
+                  0.27704090028107214,
+                  -0.3905808026484868
+                ],
+                "gripper_position": [
+                  0.2778912052626331,
+                  -0.387777954555609,
+                  1.0019064604103163
+                ],
+                "rod_tip_xy_dist": 0.0029341958417885817,
+                "target_xy_drift": 6.686551346595941e-08,
+                "depth": 0.019216985711180246,
+                "bottom_clearance": 0.0802235674369397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.000850304986511452,
+                  0.0028028195725288696
+                ],
+                "rod_tip_xy": [
+                  0.2778912052626331,
+                  -0.38777795455560915
+                ],
+                "target_mouth_xy": [
+                  0.27704090027612166,
+                  -0.390580774128138
+                ],
+                "gripper_position": [
+                  0.2778830400540958,
+                  -0.38778115580910205,
+                  1.0017703309138517
+                ],
+                "rod_tip_xy_dist": 0.0029289616122846604,
+                "target_xy_drift": 8.368591742301243e-08,
+                "depth": 0.01935337949108329,
+                "bottom_clearance": 0.08008719567328193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008421385052218566,
+                  0.00279967660879199
+                ],
+                "rod_tip_xy": [
+                  0.2778830400540958,
+                  -0.3877811558091022
+                ],
+                "target_mouth_xy": [
+                  0.27704090154887395,
+                  -0.3905808324178942
+                ],
+                "gripper_position": [
+                  0.2778749304836102,
+                  -0.3877843014794797,
+                  1.0016341700910958
+                ],
+                "rod_tip_xy_dist": 0.0029235913489737793,
+                "target_xy_drift": 5.8428325910154365e-08,
+                "depth": 0.01948956668755575,
+                "bottom_clearance": 0.07995103455411201,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006031655033833822,
+              "rod_tip_xy_max_step": 3.275401231038207e-05,
+              "rod_tip_xy_range": 0.0006031599544406698,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27750833518298473,
+            -0.3891119189913606,
+            1.0434276710608907
+          ],
+          "object_origin_world": [
+            0.27750833518298473,
+            -0.3891119189913606,
+            1.0434276710608907
+          ],
+          "frame_world": [
+            0.2775068665957158,
+            -0.389120925341278,
+            1.043304361386038
+          ],
+          "center_minus_frame": [
+            1.4685872689601531e-06,
+            9.006349917406453e-06,
+            0.00012330967485274513
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2451207898319482,
+              0.16056288964070006,
+              0.832401522596733
+            ],
+            "target_position": [
+              0.2606907627596369,
+              0.20552085955199112,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04757775862221244,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1638370301409057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832401522596733,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672794753205,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13426205235552757,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26ec09899a640266099a18846436cf54d6935a97d0026e6695edb14bdc8d8534",
+    "visual_seed": 9040960945943340712,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7edfae94a34fe1489aa1a2583d1e6d7dcbbf85ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_77_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3033568484136657,
+              -0.018558561625004577,
+              1.1650445843136654
+            ],
+            "current_z": 1.1650445843136654,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.303938195508189,
+            "gripper_z": 1.157306769966066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29848730834919074,
+              -0.023401869894828994,
+              1.157306769966066
+            ],
+            "object_minus_gripper": [
+              0.0048695400644749864,
+              0.004843308269824417,
+              0.007737814347599459
+            ],
+            "object_to_gripper_xy": 0.006868045969275151,
+            "object_to_gripper_z": 0.007737814347599459,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3033568484136657,
+              -0.042412880098098724,
+              1.1650445843136654
+            ],
+            "finger_b": [
+              0.29225705557327514,
+              -0.018558561625004577,
+              1.1650445843136654
+            ],
+            "finger_midpoint": [
+              0.2978069519934704,
+              -0.03048572086155165,
+              1.1650445843136654
+            ],
+            "object_minus_finger_midpoint": [
+              0.005549896420195322,
+              0.011927159236547073,
+              0.0
+            ],
+            "finger_gap": 0.02631033847968108,
+            "fingertip_max_gap": 0.09158546733929437,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01315516923984055,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650445843136654,
+            "object_top_z": 1.2149032247802234,
+            "finger_top_clearance": 0.04985864046655797,
+            "fingertip_min_top_clearance": 0.014957592139967356,
+            "object_projection_between_fingers": 0.8220176747240489,
+            "object_to_finger_line_xy": 0.01006364831089228,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829273366964719,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3349570468379557,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 349,
+            "max_stable_success_frames": 349,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2819716610247213,
+              -0.39378692389495884,
+              0.8515395710555158
+            ],
+            "target_position": [
+              0.2740139156587558,
+              -0.39523154227272667,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008087807710803335,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18672290281083942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395710555158,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590437856495412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665980882195452,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538540907367112,
+            "release_required_pad_clearance": 0.053329904410977264,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6772028549406424,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008260607719421387,
+            "max_z_decrease": 0.008260607719421387,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035031645877767456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008260607719421387,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021031726462147297,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008260607719421387,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008260665870261759,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1297138482332229,
+              -0.4514929950237274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1297138482332229,
+              -0.4514929950237274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12839562307884927,
+              -0.4527733902105344,
+              0.8036012449577729
+            ],
+            "closest_button": [
+              0.12973321974277494,
+              -0.45146679878234863,
+              0.7686195373535156
+            ],
+            "closest_ee_minus_button": [
+              -0.001337596663925661,
+              -0.0013065914281857882,
+              0.03498170760425723
+            ],
+            "button_min_z_position": [
+              0.12972933053970334,
+              -0.4514661431312561,
+              0.7685482501983643
+            ],
+            "min_active_finger_to_button": 0.14690394518985508,
+            "closest_active_finger": [
+              -0.012151852250099182,
+              -0.434867262840271,
+              0.810806155204773
+            ],
+            "closest_active_finger_button": [
+              0.1297131478786468,
+              -0.4514926075935364,
+              0.776474118232727
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14186500012874598,
+              0.01662534475326538,
+              0.0343320369720459
+            ],
+            "min_contact_pad_to_button": 0.021031726462147297,
+            "closest_contact_pad": [
+              0.12972933053970334,
+              -0.4541186214882338,
+              0.7894120436344667
+            ],
+            "closest_contact_pad_button": [
+              0.12972933053970334,
+              -0.4514661431312561,
+              0.7685482501983643
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026524783569776833,
+              0.02086379343610245
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2735427551764653,
+              0.20688444112363782,
+              1.1077580346349145
+            ],
+            "current_z": 1.1077580346349145,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19784890490055196,
+            "gripper_z": 1.1077580967577882,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27354286802058014,
+              0.20688454954931565,
+              1.1077580967577882
+            ],
+            "object_minus_gripper": [
+              -1.1284411483014622e-07,
+              -1.0842567782498591e-07,
+              -6.212287373408287e-08
+            ],
+            "object_to_gripper_xy": 1.5649256168779035e-07,
+            "object_to_gripper_z": -6.212287373408287e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2735427551764653,
+              0.20688444112363782,
+              1.1077580346349145
+            ],
+            "finger_b": [
+              0.2735427551764653,
+              0.20688444112363782,
+              1.1077580346349145
+            ],
+            "finger_midpoint": [
+              0.2735427551764653,
+              0.20688444112363782,
+              1.1077580346349145
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1077580346349145,
+            "object_top_z": 1.2327665412551942,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 156,
+            "max_stable_success_frames": 156,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27354275517646537,
+            0.20688444112363782,
+            1.1077580346349147
+          ],
+          "object_origin_world": [
+            0.27354275517646537,
+            0.20688444112363782,
+            1.1077580346349147
+          ],
+          "frame_world": [
+            0.27354286802058014,
+            0.20688454954931565,
+            1.1077580967577882
+          ],
+          "center_minus_frame": [
+            -1.1284411477463507e-07,
+            -1.0842567782498591e-07,
+            -6.212287351203827e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436551275052373,
+            "required_z": 0.9112598364394732,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009645658664625748,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.8090521919205878e-07,
+            "max_target_xy_drift": 9.133095565551516e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6772028548291489,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6772028549480318,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.282847763817834,
+              -0.39344328348356944,
+              0.9233621438339817
+            ],
+            "target_mouth_xy": [
+              0.28197172140704707,
+              -0.39378692293033524
+            ],
+            "rod_tip_z": 0.9233621438339817,
+            "rod_tip_depth": -0.022102323485063136,
+            "rod_tip_bottom_clearance": 0.1215428402231199,
+            "rod_tip_xy_dist": 0.0009410304856224756,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044901171790083017,
+            "min_rod_tip_bottom_clearance": 0.054539477845115036,
+            "min_rod_tip_xy_dist": 0.00028132277648807835,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.28197181404632554,
+              -0.39378707831586357
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.26392784705854e-08,
+              1.5538552833316288e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                0.001313491519743304,
+                0.0021718091041674215
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001233025263657983,
+                0.0017859022745339015
+              ],
+              "first_target_mouth_xy": [
+                0.28197169408996825,
+                -0.3937868940580498
+              ],
+              "last_target_mouth_xy": [
+                0.28197169053084997,
+                -0.393786893758898
+              ],
+              "first_rod_tip_xy": [
+                0.28328518560971155,
+                -0.39161508495388236
+              ],
+              "last_rod_tip_xy": [
+                0.28320471579450796,
+                -0.3920009914843641
+              ],
+              "min_rod_tip_xy_dist": 0.002170206956721916,
+              "max_rod_tip_xy_dist": 0.002538112439861968,
+              "first_target_xy_drift": 2.198646619976924e-07,
+              "last_target_xy_drift": 2.2207509143484736e-07,
+              "max_depth": 0.019339540149289625,
+              "min_bottom_clearance": 0.08010097197465493
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  0.001313491519743304,
+                  0.0021718091041674215
+                ],
+                "rod_tip_xy": [
+                  0.28328518560971155,
+                  -0.39161508495388236
+                ],
+                "target_mouth_xy": [
+                  0.28197169408996825,
+                  -0.3937868940580498
+                ],
+                "gripper_position": [
+                  0.28327526677821036,
+                  -0.3916247789850148,
+                  1.0060974334607997
+                ],
+                "rod_tip_xy_dist": 0.002538112439861968,
+                "target_xy_drift": 2.198646619976924e-07,
+                "depth": 0.015002126586436515,
+                "bottom_clearance": 0.0844385013220802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0013035743561828905,
+                  0.0021621157139614655
+                ],
+                "rod_tip_xy": [
+                  0.2832752667782102,
+                  -0.39162477898501485
+                ],
+                "target_mouth_xy": [
+                  0.2819716924220273,
+                  -0.3937868946989763
+                ],
+                "gripper_position": [
+                  0.28326762166937225,
+                  -0.3916290296883547,
+                  1.005957025065469
+                ],
+                "rod_tip_xy_dist": 0.002524688191174652,
+                "target_xy_drift": 2.2024448053660264e-07,
+                "depth": 0.015162471537168432,
+                "bottom_clearance": 0.08427811266121965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0012959293877181643,
+                  0.0021578631207658794
+                ],
+                "rod_tip_xy": [
+                  0.28326762166937214,
+                  -0.3916290296883547
+                ],
+                "target_mouth_xy": [
+                  0.281971692281654,
+                  -0.3937868928091206
+                ],
+                "gripper_position": [
+                  0.2832783074489763,
+                  -0.3917013861560062,
+                  1.005420909403165
+                ],
+                "rod_tip_xy_dist": 0.0025171027444093413,
+                "target_xy_drift": 2.2189949735901785e-07,
+                "depth": 0.015302746489257335,
+                "bottom_clearance": 0.08413780732602072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013065831457931831,
+                  0.0020855357953485365
+                ],
+                "rod_tip_xy": [
+                  0.28327830744897614,
+                  -0.3917013861560063
+                ],
+                "target_mouth_xy": [
+                  0.28197172430318296,
+                  -0.39378692195135484
+                ],
+                "gripper_position": [
+                  0.2832681371119997,
+                  -0.39171138148980655,
+                  1.0052609918341033
+                ],
+                "rod_tip_xy_dist": 0.002461019924858566,
+                "target_xy_drift": 1.802878011158392e-07,
+                "depth": 0.015839069448234766,
+                "bottom_clearance": 0.08360159174991033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012964465549366033,
+                  0.002075541803283898
+                ],
+                "rod_tip_xy": [
+                  0.2832681371119996,
+                  -0.3917113814898066
+                ],
+                "target_mouth_xy": [
+                  0.281971690557063,
+                  -0.3937869232930905
+                ],
+                "gripper_position": [
+                  0.28326045532034927,
+                  -0.39171528033783576,
+                  1.005120789057923
+                ],
+                "rod_tip_xy_dist": 0.002447171315414179,
+                "target_xy_drift": 1.9819600937018806e-07,
+                "depth": 0.01599883269747071,
+                "bottom_clearance": 0.08344166857101976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001288761508034919,
+                  0.0020716131043900243
+                ],
+                "rod_tip_xy": [
+                  0.2832604553203491,
+                  -0.3917152803378358
+                ],
+                "target_mouth_xy": [
+                  0.2819716938123142,
+                  -0.39378689344222584
+                ],
+                "gripper_position": [
+                  0.283271839654421,
+                  -0.3917886971478939,
+                  1.0045860138112592
+                ],
+                "rod_tip_xy_dist": 0.0024397719317331514,
+                "target_xy_drift": 2.205322638878626e-07,
+                "depth": 0.016139105596436165,
+                "bottom_clearance": 0.08330149005621879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0013001484736060442,
+                  0.0019981976167538495
+                ],
+                "rod_tip_xy": [
+                  0.2832718396544208,
+                  -0.39178869714789394
+                ],
+                "target_mouth_xy": [
+                  0.2819716911808148,
+                  -0.3937868947646478
+                ],
+                "gripper_position": [
+                  0.2832615190414708,
+                  -0.391798302794916,
+                  1.004426364087617
+                ],
+                "rod_tip_xy_dist": 0.002383942064946397,
+                "target_xy_drift": 2.2087775476668293e-07,
+                "depth": 0.01667382220232938,
+                "bottom_clearance": 0.08276671523833656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0012897958322410918,
+                  0.0019886223625862343
+                ],
+                "rod_tip_xy": [
+                  0.2832615190414707,
+                  -0.39179830279491606
+                ],
+                "target_mouth_xy": [
+                  0.2819717232092296,
+                  -0.3937869251575023
+                ],
+                "gripper_position": [
+                  0.28325383234006535,
+                  -0.3918018668103259,
+                  1.0042858658242848
+                ],
+                "rod_tip_xy_dist": 0.0023702725982140847,
+                "target_xy_drift": 1.7806982234244136e-07,
+                "depth": 0.016833560825032845,
+                "bottom_clearance": 0.08260708495184532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012821402687140937,
+                  0.00198502666748962
+                ],
+                "rod_tip_xy": [
+                  0.2832538323400652,
+                  -0.3918018668103261
+                ],
+                "target_mouth_xy": [
+                  0.2819716920713511,
+                  -0.3937868934778157
+                ],
+                "gripper_position": [
+                  0.2832459590585813,
+                  -0.39180574808724844,
+                  1.0041454760228157
+                ],
+                "rod_tip_xy_dist": 0.002363094272199735,
+                "target_xy_drift": 2.2145653824746074e-07,
+                "depth": 0.016973895475759004,
+                "bottom_clearance": 0.08246663265264687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012742347547897714,
+                  0.001981144376034638
+                ],
+                "rod_tip_xy": [
+                  0.2832459590585812,
+                  -0.3918057480872485
+                ],
+                "target_mouth_xy": [
+                  0.2819717243037914,
+                  -0.39378689246328313
+                ],
+                "gripper_position": [
+                  0.28325903009731057,
+                  -0.3918813498583479,
+                  1.0036126973061184
+                ],
+                "rod_tip_xy_dist": 0.002355548184395264,
+                "target_xy_drift": 2.0638532914508209e-07,
+                "depth": 0.017114437543971017,
+                "bottom_clearance": 0.08232621210069502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001287371013134364,
+                  0.0019055465042841502
+                ],
+                "rod_tip_xy": [
+                  0.28325903009731046,
+                  -0.39188134985834794
+                ],
+                "target_mouth_xy": [
+                  0.2819716590841761,
+                  -0.3937868963626321
+                ],
+                "gripper_position": [
+                  0.2832485176462969,
+                  -0.3918911819843517,
+                  1.0034530640100239
+                ],
+                "rod_tip_xy_dist": 0.002299659019387036,
+                "target_xy_drift": 2.3899842302296593e-07,
+                "depth": 0.01764723109911659,
+                "bottom_clearance": 0.08179343839827691,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012768266833351194,
+                  0.0018957393962547586
+                ],
+                "rod_tip_xy": [
+                  0.2832485176462967,
+                  -0.39189118198435174
+                ],
+                "target_mouth_xy": [
+                  0.2819716909629616,
+                  -0.3937869213806065
+                ],
+                "gripper_position": [
+                  0.2832405663360714,
+                  -0.39189463558155646,
+                  1.003312266170566
+                ],
+                "rod_tip_xy_dist": 0.0022856321308970346,
+                "target_xy_drift": 1.9944470258927323e-07,
+                "depth": 0.01780677959221122,
+                "bottom_clearance": 0.08163377022056317,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001268844827887472,
+                  0.001892320027576333
+                ],
+                "rod_tip_xy": [
+                  0.28324056633607125,
+                  -0.3918946355815565
+                ],
+                "target_mouth_xy": [
+                  0.2819717215081838,
+                  -0.39378695560913285
+                ],
+                "gripper_position": [
+                  0.28323253706418294,
+                  -0.3918985280404486,
+                  1.0031717889367378
+                ],
+                "rod_tip_xy_dist": 0.0022783420033048777,
+                "target_xy_drift": 1.5368880715479827e-07,
+                "depth": 0.017947596136622335,
+                "bottom_clearance": 0.08149300489881817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012607860801831516,
+                  0.0018883657285114208
+                ],
+                "rod_tip_xy": [
+                  0.28323253706418283,
+                  -0.3918985280404487
+                ],
+                "target_mouth_xy": [
+                  0.2819717509839997,
+                  -0.39378689376896014
+                ],
+                "gripper_position": [
+                  0.2832245692977609,
+                  -0.3919021880307859,
+                  1.0030314120740127
+                ],
+                "rod_tip_xy_dist": 0.002270574082605557,
+                "target_xy_drift": 1.9502414339517023e-07,
+                "depth": 0.018088031222890932,
+                "bottom_clearance": 0.08135247963805814,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001252815670407692,
+                  0.0018847361552642439
+                ],
+                "rod_tip_xy": [
+                  0.2832245692977608,
+                  -0.39190218803078597
+                ],
+                "target_mouth_xy": [
+                  0.2819717536273531,
+                  -0.3937869241860502
+                ],
+                "gripper_position": [
+                  0.2832399171595681,
+                  -0.3919805752289143,
+                  1.002501021102139
+                ],
+                "rod_tip_xy_dist": 0.0022631344367887913,
+                "target_xy_drift": 1.6554894018274176e-07,
+                "depth": 0.01822850095127393,
+                "bottom_clearance": 0.08121213556093654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0012681971981146067,
+                  0.0018063483796390556
+                ],
+                "rod_tip_xy": [
+                  0.2832399171595679,
+                  -0.39198057522891433
+                ],
+                "target_mouth_xy": [
+                  0.2819717199614533,
+                  -0.3937869236085534
+                ],
+                "gripper_position": [
+                  0.2832294280895475,
+                  -0.391990141556856,
+                  1.0023410525731578
+                ],
+                "rod_tip_xy_dist": 0.0022070837324239378,
+                "target_xy_drift": 1.810699174531484e-07,
+                "depth": 0.018758821266893766,
+                "bottom_clearance": 0.08068170650620299,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012577052705164404,
+                  0.0017967505929546435
+                ],
+                "rod_tip_xy": [
+                  0.2832294280895473,
+                  -0.391990141556856
+                ],
+                "target_mouth_xy": [
+                  0.2819717228190309,
+                  -0.39378689214981066
+                ],
+                "gripper_position": [
+                  0.2832210471144252,
+                  -0.3919938907809235,
+                  1.0022012536296796
+                ],
+                "rod_tip_xy_dist": 0.002193202051970519,
+                "target_xy_drift": 2.0731671072638262e-07,
+                "depth": 0.018918855594233452,
+                "bottom_clearance": 0.08052175001779482,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0012493574114739725,
+                  0.0017930052300748067
+                ],
+                "rod_tip_xy": [
+                  0.28322104711442503,
+                  -0.39199389078092367
+                ],
+                "target_mouth_xy": [
+                  0.28197168970295106,
+                  -0.3937868960109985
+                ],
+                "gripper_position": [
+                  0.2832129580395585,
+                  -0.3919973075764011,
+                  1.0020606588341447
+                ],
+                "rod_tip_xy_dist": 0.002185351618545756,
+                "target_xy_drift": 2.2067246909169691e-07,
+                "depth": 0.019058643724913615,
+                "bottom_clearance": 0.08038198229120774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012411724720007844,
+                  0.001789488143639939
+                ],
+                "rod_tip_xy": [
+                  0.2832129580395583,
+                  -0.3919973075764012
+                ],
+                "target_mouth_xy": [
+                  0.28197178556755753,
+                  -0.39378679572004116
+                ],
+                "gripper_position": [
+                  0.2832047157945081,
+                  -0.392000991484364,
+                  1.0019202901936115
+                ],
+                "rod_tip_xy_dist": 0.002177791753469659,
+                "target_xy_drift": 2.8402718016188427e-07,
+                "depth": 0.019199399904953007,
+                "bottom_clearance": 0.08024158229060607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001233025263657983,
+                  0.0017859022745339015
+                ],
+                "rod_tip_xy": [
+                  0.28320471579450796,
+                  -0.3920009914843641
+                ],
+                "target_mouth_xy": [
+                  0.28197169053084997,
+                  -0.393786893758898
+                ],
+                "gripper_position": [
+                  0.2831966487744257,
+                  -0.39200453590309337,
+                  1.001780461151702
+                ],
+                "rod_tip_xy_dist": 0.002170206956721916,
+                "target_xy_drift": 2.2207509143484736e-07,
+                "depth": 0.019339540149289625,
+                "bottom_clearance": 0.08010097197465493,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005986783954691734,
+              "rod_tip_xy_max_step": 3.241408035104045e-05,
+              "rod_tip_xy_range": 0.0005986716193537826,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28284776381783405,
+            -0.39344328348356944,
+            1.0433621438339817
+          ],
+          "object_origin_world": [
+            0.28284776381783405,
+            -0.39344328348356944,
+            1.0433621438339817
+          ],
+          "frame_world": [
+            0.28287151684671424,
+            -0.39343942404184945,
+            1.0436551275052373
+          ],
+          "center_minus_frame": [
+            -2.3753028880191263e-05,
+            -3.859441719988865e-06,
+            -0.00029298367125552005
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2502421143076061,
+              0.1638732674162918,
+              0.8323265729248048
+            ],
+            "target_position": [
+              0.26525826184674345,
+              0.20896264362947686,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752406268629902,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16472225720960676,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323265729248048,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567462041056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1342209003827989,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 320,
+            "max_placed_release_frames": 320
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bf33a3a45339dff9dbff8239a8988b2caf8282b35c70c3dcd2a4b4bed1cebace",
+    "visual_seed": 2730876421281265434,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea4b2156ca1d67eee54ab70fcae9efffb6c2044c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_78_success.json
@@ -0,0 +1,2002 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30174064421750646,
+              -0.027112985993505874,
+              1.1625040311535804
+            ],
+            "current_z": 1.1625040311535804,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3013976423481042,
+            "gripper_z": 1.1547546876951507,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29685704406455515,
+              -0.03184653471215913,
+              1.1547546876951507
+            ],
+            "object_minus_gripper": [
+              0.004883600152951306,
+              0.004733548718653259,
+              0.007749343458429703
+            ],
+            "object_to_gripper_xy": 0.006801178862945007,
+            "object_to_gripper_z": 0.007749343458429703,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30174064421750646,
+              -0.05131143642057212,
+              1.1625040311535804
+            ],
+            "finger_b": [
+              0.2912413979175365,
+              -0.027112985993505874,
+              1.1625040311535804
+            ],
+            "finger_midpoint": [
+              0.29649102106752145,
+              -0.039212211207038994,
+              1.1625040311535804
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052496231499850055,
+              0.01209922521353312,
+              0.0
+            ],
+            "finger_gap": 0.026378005533751324,
+            "fingertip_max_gap": 0.09148056111672656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013189002766875669,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625040311535804,
+            "object_top_z": 1.2123077101850233,
+            "finger_top_clearance": 0.04980367903144289,
+            "fingertip_min_top_clearance": 0.0149411037094329,
+            "object_projection_between_fingers": 0.8415718548118002,
+            "object_to_finger_line_xy": 0.00963171725725428,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824028055836328,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3275579923486667,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2853896119247052,
+              -0.3907456042281029,
+              0.8515395778388108
+            ],
+            "target_position": [
+              0.27980615088456035,
+              -0.39086390431775175,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005584714146491856,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1806941615852118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778388108,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545266215218571,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745486834418602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1487653643456756,
+            "release_required_pad_clearance": 0.05372743417209301,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4641999005274675,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008361399173736572,
+            "max_z_decrease": 0.008361399173736572,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501517823295417,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008361399173736572,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02095628136166937,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008361399173736572,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008361436325179815,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13550607860088348,
+              -0.44712537527084356,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13550607860088348,
+              -0.44712537527084356,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13633103851833542,
+              -0.4477173072231115,
+              0.8035869396195989
+            ],
+            "closest_button": [
+              0.1355181336402893,
+              -0.4471003711223603,
+              0.7685866355895996
+            ],
+            "closest_ee_minus_button": [
+              0.0008129048780461112,
+              -0.0006169361007511975,
+              0.03500030402999932
+            ],
+            "button_min_z_position": [
+              0.13550680875778198,
+              -0.44710046052932745,
+              0.7684474587440491
+            ],
+            "min_active_finger_to_button": 0.144937334933591,
+            "closest_active_finger": [
+              -0.004532895982265472,
+              -0.43244612216949463,
+              0.8107655048370361
+            ],
+            "closest_active_finger_button": [
+              0.13550584018230438,
+              -0.4471238553524018,
+              0.7764064073562622
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14003873616456985,
+              0.01467773318290716,
+              0.034359097480773926
+            ],
+            "min_contact_pad_to_button": 0.02095628136166937,
+            "closest_contact_pad": [
+              0.13550680875778198,
+              -0.44882505837765657,
+              0.7893326566308537
+            ],
+            "closest_contact_pad_button": [
+              0.13550680875778198,
+              -0.44710046052932745,
+              0.7684474587440491
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017245978483291236,
+              0.02088519788680465
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2666379178168215,
+              0.20579218124735793,
+              1.101043707888608
+            ],
+            "current_z": 1.101043707888608,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1911345781542454,
+            "gripper_z": 1.1010438615973417,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26663800542574745,
+              0.2057921546233484,
+              1.1010438615973417
+            ],
+            "object_minus_gripper": [
+              -8.760892594716907e-08,
+              2.6624009524800485e-08,
+              -1.5370873374109806e-07
+            ],
+            "object_to_gripper_xy": 9.156506860584566e-08,
+            "object_to_gripper_z": -1.5370873374109806e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2666379178168215,
+              0.20579218124735793,
+              1.101043707888608
+            ],
+            "finger_b": [
+              0.2666379178168215,
+              0.20579218124735793,
+              1.101043707888608
+            ],
+            "finger_midpoint": [
+              0.2666379178168215,
+              0.20579218124735793,
+              1.101043707888608
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101043707888608,
+            "object_top_z": 1.2260522145088877,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2666379178168215,
+            0.20579218124735796,
+            1.101043707888608
+          ],
+          "object_origin_world": [
+            0.2666379178168215,
+            0.20579218124735796,
+            1.101043707888608
+          ],
+          "frame_world": [
+            0.26663800542574745,
+            0.2057921546233484,
+            1.1010438615973417
+          ],
+          "center_minus_frame": [
+            -8.760892594716907e-08,
+            2.662400955255606e-08,
+            -1.5370873374109806e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043591944828826,
+            "required_z": 0.9112598830483241,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014550202426867474,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2550779302504695e-08,
+            "max_target_xy_drift": 1.7107260391175852e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.464199900642572,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.4641999006706823,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2839670404065276,
+              -0.39034661760899425,
+              0.923296589709025
+            ],
+            "target_mouth_xy": [
+              0.2853896422126395,
+              -0.39074557533232845
+            ],
+            "rod_tip_z": 0.923296589709025,
+            "rod_tip_depth": -0.022036754432976258,
+            "rod_tip_bottom_clearance": 0.12147727936079966,
+            "rod_tip_xy_dist": 0.0014774854191364852,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0453600147289811,
+            "min_rod_tip_bottom_clearance": 0.054080536648294486,
+            "min_rod_tip_xy_dist": 0.0012772535078971986,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2853896112224452,
+              -0.39074560449011775
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.099019429964045e-08,
+              2.915778929413193e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0009109413755682971,
+                0.0021906033593236396
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010043606982451103,
+                0.001809428584598094
+              ],
+              "first_target_mouth_xy": [
+                0.2853895526352602,
+                -0.3907455753187702
+              ],
+              "last_target_mouth_xy": [
+                0.28538955173971137,
+                -0.3907455737859128
+              ],
+              "first_rod_tip_xy": [
+                0.2844786112596919,
+                -0.38855497195944655
+              ],
+              "last_rod_tip_xy": [
+                0.28438519104146626,
+                -0.3889361452013147
+              ],
+              "min_rod_tip_xy_dist": 0.00206655287901159,
+              "max_rod_tip_xy_dist": 0.0023724580644559927,
+              "first_target_xy_drift": 6.544788586175783e-08,
+              "last_target_xy_drift": 6.693985231699584e-08,
+              "max_depth": 0.019363763956991686,
+              "min_bottom_clearance": 0.08007685622484484
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0009109413755682971,
+                  0.0021906033593236396
+                ],
+                "rod_tip_xy": [
+                  0.2844786112596919,
+                  -0.38855497195944655
+                ],
+                "target_mouth_xy": [
+                  0.2853895526352602,
+                  -0.3907455753187702
+                ],
+                "gripper_position": [
+                  0.28446848391607504,
+                  -0.388564921178523,
+                  1.0060677606343233
+                ],
+                "rod_tip_xy_dist": 0.0023724580644559927,
+                "target_xy_drift": 6.544788586175783e-08,
+                "depth": 0.015032537507230437,
+                "bottom_clearance": 0.08440799469483151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0009211012831215615,
+                  0.002180686425092504
+                ],
+                "rod_tip_xy": [
+                  0.2844684839160751,
+                  -0.38856492117852304
+                ],
+                "target_mouth_xy": [
+                  0.28538958519919666,
+                  -0.39074560760361554
+                ],
+                "gripper_position": [
+                  0.28446089072155434,
+                  -0.3885688237717564,
+                  1.005927309418293
+                ],
+                "rod_tip_xy_dist": 0.0023672390792547574,
+                "target_xy_drift": 2.6208840758730575e-08,
+                "depth": 0.015192157869123757,
+                "bottom_clearance": 0.08424847024320081,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009286628054615553,
+                  0.0021767518592265
+                ],
+                "rod_tip_xy": [
+                  0.2844608907215544,
+                  -0.3885688237717565
+                ],
+                "target_mouth_xy": [
+                  0.28538955352701595,
+                  -0.390745575630983
+                ],
+                "gripper_position": [
+                  0.2844686618335829,
+                  -0.3886404906430452,
+                  1.0053915741685555
+                ],
+                "rod_tip_xy_dist": 0.002366572048954722,
+                "target_xy_drift": 6.451055895584971e-08,
+                "depth": 0.015332513068345155,
+                "bottom_clearance": 0.08410800222950121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009209210322437822,
+                  0.002105115743285091
+                ],
+                "rod_tip_xy": [
+                  0.28446866183358294,
+                  -0.3886404906430453
+                ],
+                "target_mouth_xy": [
+                  0.2853895828658267,
+                  -0.3907456063863304
+                ],
+                "gripper_position": [
+                  0.2844584154712615,
+                  -0.38865006616162145,
+                  1.0052316787788158
+                ],
+                "rod_tip_xy_dist": 0.0022977397242193672,
+                "target_xy_drift": 2.8419947835470007e-08,
+                "depth": 0.015868247768587418,
+                "bottom_clearance": 0.08357225507288946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009311684199058146,
+                  0.0020954767839956867
+                ],
+                "rod_tip_xy": [
+                  0.2844584154712616,
+                  -0.38865006616162157
+                ],
+                "target_mouth_xy": [
+                  0.2853895838911674,
+                  -0.39074554294561725
+                ],
+                "gripper_position": [
+                  0.28445060629039054,
+                  -0.388653970151061,
+                  1.005091373836905
+                ],
+                "rod_tip_xy_dist": 0.002293054203130575,
+                "target_xy_drift": 6.734036150244317e-08,
+                "depth": 0.016028200194104114,
+                "bottom_clearance": 0.08341244351670896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009390073410676103,
+                  0.0020916083197020097
+                ],
+                "rod_tip_xy": [
+                  0.2844506062903906,
+                  -0.38865397015106107
+                ],
+                "target_mouth_xy": [
+                  0.2853896136314582,
+                  -0.3907455784707631
+                ],
+                "gripper_position": [
+                  0.28445934300914244,
+                  -0.38872656363105923,
+                  1.004557672562471
+                ],
+                "rod_tip_xy_dist": 0.0022927189425713582,
+                "target_xy_drift": 2.613063644591132e-08,
+                "depth": 0.016168484814715445,
+                "bottom_clearance": 0.08327211131298284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009302405068918884,
+                  0.002019012280187471
+                ],
+                "rod_tip_xy": [
+                  0.2844593430091425,
+                  -0.3887265636310593
+                ],
+                "target_mouth_xy": [
+                  0.2853895835160344,
+                  -0.39074557591124676
+                ],
+                "gripper_position": [
+                  0.2844488962872591,
+                  -0.38873637507202635,
+                  1.0043977737367766
+                ],
+                "rod_tip_xy_dist": 0.0022230065200557303,
+                "target_xy_drift": 3.9804485530917706e-08,
+                "depth": 0.0167021461711091,
+                "bottom_clearance": 0.08273836555183733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009406881072344109,
+                  0.0020092008271644923
+                ],
+                "rod_tip_xy": [
+                  0.28444889628725917,
+                  -0.3887363750720265
+                ],
+                "target_mouth_xy": [
+                  0.2853895843944936,
+                  -0.390745575899191
+                ],
+                "gripper_position": [
+                  0.28444090270335126,
+                  -0.3887399749229046,
+                  1.0042576307783075
+                ],
+                "rod_tip_xy_dist": 0.0022185089765359837,
+                "target_xy_drift": 3.920688818032903e-08,
+                "depth": 0.01686205154037035,
+                "bottom_clearance": 0.08257849305649789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009486808694091353,
+                  0.002005571518748861
+                ],
+                "rod_tip_xy": [
+                  0.2844409027033513,
+                  -0.3887399749229047
+                ],
+                "target_mouth_xy": [
+                  0.28538958357276045,
+                  -0.39074554644165355
+                ],
+                "gripper_position": [
+                  0.2844330049734161,
+                  -0.38874351926221495,
+                  1.004117223426263
+                ],
+                "rod_tip_xy_dist": 0.0022186285197841223,
+                "target_xy_drift": 6.429719483593442e-08,
+                "depth": 0.01700224627746927,
+                "bottom_clearance": 0.08243826383520725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009565768601521585,
+                  0.002002057339170138
+                ],
+                "rod_tip_xy": [
+                  0.28443300497341617,
+                  -0.38874351926221506
+                ],
+                "target_mouth_xy": [
+                  0.28538958183356833,
+                  -0.3907455766013852
+                ],
+                "gripper_position": [
+                  0.2844431897844393,
+                  -0.388818492389148,
+                  1.0035847201452168
+                ],
+                "rod_tip_xy_dist": 0.00221884494246524,
+                "target_xy_drift": 4.051527474563426e-08,
+                "depth": 0.01714262950847767,
+                "bottom_clearance": 0.08229791207426895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009463928252442799,
+                  0.0019270534482622725
+                ],
+                "rod_tip_xy": [
+                  0.28444318978443933,
+                  -0.3888184923891481
+                ],
+                "target_mouth_xy": [
+                  0.2853895826096836,
+                  -0.3907455458374104
+                ],
+                "gripper_position": [
+                  0.2844326618444968,
+                  -0.38882796561554894,
+                  1.0034252602712834
+                ],
+                "rod_tip_xy_dist": 0.002146903438008651,
+                "target_xy_drift": 6.5259713506975e-08,
+                "depth": 0.01767510999591526,
+                "bottom_clearance": 0.08176540440228985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009569520653956998,
+                  0.0019176112584324834
+                ],
+                "rod_tip_xy": [
+                  0.2844326618444969,
+                  -0.388827965615549
+                ],
+                "target_mouth_xy": [
+                  0.2853896139098926,
+                  -0.3907455768739815
+                ],
+                "gripper_position": [
+                  0.2844245402206116,
+                  -0.38883147174684507,
+                  1.0032850846086114
+                ],
+                "rod_tip_xy_dist": 0.002143126266446312,
+                "target_xy_drift": 2.7746591785241913e-08,
+                "depth": 0.01783457287350909,
+                "bottom_clearance": 0.08160598005531938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009650433534814096,
+                  0.001914102911172666
+                ],
+                "rod_tip_xy": [
+                  0.28442454022061164,
+                  -0.3888314717468452
+                ],
+                "target_mouth_xy": [
+                  0.28538958357409305,
+                  -0.39074557465801785
+                ],
+                "gripper_position": [
+                  0.2844164767458168,
+                  -0.3888350283560198,
+                  1.0031450749181297
+                ],
+                "rod_tip_xy_dist": 0.002143618116330033,
+                "target_xy_drift": 4.067413873553286e-08,
+                "depth": 0.017974757335702418,
+                "bottom_clearance": 0.08146580332976605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0009731070658073326,
+                  0.001910577683528536
+                ],
+                "rod_tip_xy": [
+                  0.28441647674581694,
+                  -0.3888350283560199
+                ],
+                "target_mouth_xy": [
+                  0.28538958381162427,
+                  -0.39074560603954844
+                ],
+                "gripper_position": [
+                  0.2844082426996889,
+                  -0.388838602776683,
+                  1.0030049116483415
+                ],
+                "rod_tip_xy_dist": 0.002144118570956705,
+                "target_xy_drift": 2.745457776823805e-08,
+                "depth": 0.018114744500424496,
+                "bottom_clearance": 0.08132577493072202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009813086772871293,
+                  0.0019069713033342817
+                ],
+                "rod_tip_xy": [
+                  0.28440824269968895,
+                  -0.38883860277668303
+                ],
+                "target_mouth_xy": [
+                  0.2853895513769761,
+                  -0.3907455740800173
+                ],
+                "gripper_position": [
+                  0.28442063982800003,
+                  -0.3889166924599042,
+                  1.0024755017504903
+                ],
+                "rod_tip_xy_dist": 0.0021446459548977925,
+                "target_xy_drift": 6.712864056963082e-08,
+                "depth": 0.018254988974625186,
+                "bottom_clearance": 0.08118563569901938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009689436854007916,
+                  0.0018288828399908308
+                ],
+                "rod_tip_xy": [
+                  0.2844206398280001,
+                  -0.38891669245990435
+                ],
+                "target_mouth_xy": [
+                  0.2853895835134009,
+                  -0.3907455752998952
+                ],
+                "gripper_position": [
+                  0.28440977860968986,
+                  -0.3889260932858134,
+                  1.0023162492626019
+                ],
+                "rod_tip_xy_dist": 0.0020697015021231913,
+                "target_xy_drift": 4.024748727418821e-08,
+                "depth": 0.018784328082496082,
+                "bottom_clearance": 0.08065620637223836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0009798060810166098,
+                  0.0018195111556003063
+                ],
+                "rod_tip_xy": [
+                  0.2844097786096899,
+                  -0.3889260932858135
+                ],
+                "target_mouth_xy": [
+                  0.2853895846907065,
+                  -0.3907456044414138
+                ],
+                "gripper_position": [
+                  0.28440162908819966,
+                  -0.3889293157608972,
+                  1.002176117192782
+                ],
+                "rod_tip_xy_dist": 0.00206655287901159,
+                "target_xy_drift": 2.6531783397447664e-08,
+                "depth": 0.018943660670010964,
+                "bottom_clearance": 0.08049694191736478,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009879262842154568,
+                  0.001816289595870657
+                ],
+                "rod_tip_xy": [
+                  0.2844016290881997,
+                  -0.3889293157608972
+                ],
+                "target_mouth_xy": [
+                  0.28538955537241517,
+                  -0.39074560535676783
+                ],
+                "gripper_position": [
+                  0.2843934876163783,
+                  -0.38893267908705376,
+                  1.0020365190678984
+                ],
+                "rod_tip_xy_dist": 0.002067584638923339,
+                "target_xy_drift": 5.585675374039221e-08,
+                "depth": 0.01908377957740448,
+                "bottom_clearance": 0.08035680669448808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009960684420864951,
+                  0.0018128967746567914
+                ],
+                "rod_tip_xy": [
+                  0.28439348761637834,
+                  -0.38893267908705387
+                ],
+                "target_mouth_xy": [
+                  0.28538955605846483,
+                  -0.39074557586171066
+                ],
+                "gripper_position": [
+                  0.2843851910414662,
+                  -0.3889361452013146,
+                  1.0018961301948792
+                ],
+                "rod_tip_xy_dist": 0.002068513247934761,
+                "target_xy_drift": 6.215022465157924e-08,
+                "depth": 0.019223377055832436,
+                "bottom_clearance": 0.08021722306936618,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010043606982451103,
+                  0.001809428584598094
+                ],
+                "rod_tip_xy": [
+                  0.28438519104146626,
+                  -0.3889361452013147
+                ],
+                "target_mouth_xy": [
+                  0.28538955173971137,
+                  -0.3907455737859128
+                ],
+                "gripper_position": [
+                  0.2843769585208421,
+                  -0.38893924095741605,
+                  1.001756131565074
+                ],
+                "rod_tip_xy_dist": 0.002069485978435241,
+                "target_xy_drift": 6.693985231699584e-08,
+                "depth": 0.019363763956991686,
+                "bottom_clearance": 0.08007685622484484,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006045938296407369,
+              "rod_tip_xy_max_step": 3.2758948026017613e-05,
+              "rod_tip_xy_range": 0.0006045887707806272,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2839670404065276,
+            -0.39034661760899425,
+            1.0432965897090252
+          ],
+          "object_origin_world": [
+            0.2839670404065276,
+            -0.39034661760899425,
+            1.0432965897090252
+          ],
+          "frame_world": [
+            0.28399131231582264,
+            -0.3903433845737371,
+            1.043591944828826
+          ],
+          "center_minus_frame": [
+            -2.42719092950483e-05,
+            -3.2330352571774412e-06,
+            -0.00029535511980083307
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25252875400907143,
+              0.1592715593712039,
+              0.8317244041610056
+            ],
+            "target_position": [
+              0.2667984202546435,
+              0.20499140057682474,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047894960639165415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16633999289192963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317244041610056,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673336924142,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13583066910978706,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e6f9e667590ba0024ececbd81d852be7aa3061641b5875264f8691b21d95e852",
+    "visual_seed": 1768895351016887443,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e290983abcbd11d35b3943629cfd34f553266a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/episode_7_success.json
@@ -0,0 +1,2014 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 6,
+  "total_steps": 6,
+  "step_accuracy": "6/6",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30301531212646815,
+              -0.024793421822819777,
+              1.163905648130406
+            ],
+            "current_z": 1.163905648130406,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30279908051099524,
+            "gripper_z": 1.1560865325506262,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2982050461664547,
+              -0.029569879772269228,
+              1.1560865325506262
+            ],
+            "object_minus_gripper": [
+              0.004810265960013438,
+              0.004776457949449451,
+              0.007819115579779767
+            ],
+            "object_to_gripper_xy": 0.006778879638179369,
+            "object_to_gripper_z": 0.007819115579779767,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30301531212646815,
+              -0.048688386472671555,
+              1.163905648130406
+            ],
+            "finger_b": [
+              0.2921168529678838,
+              -0.024793421822819777,
+              1.163905648130406
+            ],
+            "finger_midpoint": [
+              0.297566082547176,
+              -0.03674090414774567,
+              1.163905648130406
+            ],
+            "object_minus_finger_midpoint": [
+              0.00544922957929217,
+              0.01194748232492589,
+              0.0
+            ],
+            "finger_gap": 0.02626301101642759,
+            "fingertip_max_gap": 0.09150248376623718,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013131505508213797,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163905648130406,
+            "object_top_z": 1.213856168848697,
+            "finger_top_clearance": 0.04995052071829109,
+            "fingertip_min_top_clearance": 0.01498515621548736,
+            "object_projection_between_fingers": 0.8277968187028611,
+            "object_to_finger_line_xy": 0.009915782168668104,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825124188311859,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1469512195653206,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 348,
+            "max_stable_success_frames": 348,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2828509389827556,
+              -0.39255963630912516,
+              0.851539562612496
+            ],
+            "target_position": [
+              0.2753848560590111,
+              -0.39353210016977885,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007529148702509923,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18372126616820453,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539562612496,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513905511345267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085176313191957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15279400802016443,
+            "release_required_pad_clearance": 0.0525881565959785,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24066260783519577,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008493661880493164,
+            "max_z_decrease": 0.008493661880493164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498628398024787,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008493661880493164,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02092499724998958,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008493661880493164,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008493843782562217,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13108478486537933,
+              -0.4497935473918915,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13108478486537933,
+              -0.4497935473918915,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13057848397208768,
+              -0.4499161920637432,
+              0.8035587198491713
+            ],
+            "closest_button": [
+              0.13112312555313108,
+              -0.4497703015804291,
+              0.768576979637146
+            ],
+            "closest_ee_minus_button": [
+              -0.0005446415810433924,
+              -0.00014589048331414833,
+              0.03498174021202527
+            ],
+            "button_min_z_position": [
+              0.13113023340702054,
+              -0.4497615396976471,
+              0.7683151960372925
+            ],
+            "min_active_finger_to_button": 0.14627973586146664,
+            "closest_active_finger": [
+              -0.010154567658901215,
+              -0.4334293603897095,
+              0.8109800219535828
+            ],
+            "closest_active_finger_button": [
+              0.13108520209789273,
+              -0.44979193806648254,
+              0.7766091823577881
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14123976975679395,
+              0.01636257767677307,
+              0.03437083959579468
+            ],
+            "min_contact_pad_to_button": 0.02092499724998958,
+            "closest_contact_pad": [
+              0.13113023340702054,
+              -0.45113062447529473,
+              0.7891953568791942
+            ],
+            "closest_contact_pad_button": [
+              0.13113023340702054,
+              -0.4497615396976471,
+              0.7683151960372925
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013690847776476334,
+              0.020880160841901696
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2678017107637652,
+              0.20465350808878746,
+              1.1037346590695254
+            ],
+            "current_z": 1.1037346590695254,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19382552933516284,
+            "gripper_z": 1.1037347514547555,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2678018284671466,
+              0.20465352565108447,
+              1.1037347514547555
+            ],
+            "object_minus_gripper": [
+              -1.177033814303563e-07,
+              -1.756229700555778e-08,
+              -9.238523013266331e-08
+            ],
+            "object_to_gripper_xy": 1.190063875439103e-07,
+            "object_to_gripper_z": -9.238523013266331e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2678017107637652,
+              0.20465350808878746,
+              1.1037346590695254
+            ],
+            "finger_b": [
+              0.2678017107637652,
+              0.20465350808878746,
+              1.1037346590695254
+            ],
+            "finger_midpoint": [
+              0.2678017107637652,
+              0.20465350808878746,
+              1.1037346590695254
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037346590695254,
+            "object_top_z": 1.2287431656898051,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2678017107637652,
+            0.2046535080887875,
+            1.1037346590695254
+          ],
+          "object_origin_world": [
+            0.2678017107637652,
+            0.2046535080887875,
+            1.1037346590695254
+          ],
+          "frame_world": [
+            0.2678018284671466,
+            0.20465352565108447,
+            1.1037347514547555
+          ],
+          "center_minus_frame": [
+            -1.177033814303563e-07,
+            -1.7562296977802205e-08,
+            -9.238523013266331e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436230366609296,
+            "required_z": 0.9112598497630418,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010915386390784492,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.699008610398866e-08,
+            "max_target_xy_drift": 1.7853434768889835e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.24066260772918596,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.240662608581808,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.282793451728561,
+              -0.3936540668219696,
+              0.9233292524809481
+            ],
+            "target_mouth_xy": [
+              0.28285099864298713,
+              -0.3925596061824162
+            ],
+            "rod_tip_z": 0.9233292524809481,
+            "rod_tip_depth": -0.022069410909184684,
+            "rod_tip_bottom_clearance": 0.12150997011088782,
+            "rod_tip_xy_dist": 0.0010959725082736091,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0451146969614018,
+            "min_rod_tip_bottom_clearance": 0.05432583014866976,
+            "min_rod_tip_xy_dist": 0.000354646995718203,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2828509401586162,
+              -0.3925595735136238
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.848437090172354e-08,
+              -3.2668792393497625e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00038484796426740964,
+                0.0007211609774524508
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00030203554624474993,
+                0.00034614892133555397
+              ],
+              "first_target_mouth_xy": [
+                0.282850968509235,
+                -0.39255960458612904
+              ],
+              "last_target_mouth_xy": [
+                0.28285096859739556,
+                -0.39255960426932535
+              ],
+              "first_rod_tip_xy": [
+                0.28323581647350243,
+                -0.3918384436086766
+              ],
+              "last_rod_tip_xy": [
+                0.2831530041436403,
+                -0.3922134553479898
+              ],
+              "min_rod_tip_xy_dist": 0.0004593958499345983,
+              "max_rod_tip_xy_dist": 0.0008174234588026843,
+              "first_target_xy_drift": 4.2062550657127737e-08,
+              "last_target_xy_drift": 4.1888869012519716e-08,
+              "max_depth": 0.019380717364411493,
+              "min_bottom_clearance": 0.08005979713733324
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00038484796426740964,
+                  0.0007211609774524508
+                ],
+                "rod_tip_xy": [
+                  0.28323581647350243,
+                  -0.3918384436086766
+                ],
+                "target_mouth_xy": [
+                  0.282850968509235,
+                  -0.39255960458612904
+                ],
+                "gripper_position": [
+                  0.2832456074959889,
+                  -0.3919099178235004,
+                  1.0056666822312563
+                ],
+                "rod_tip_xy_dist": 0.0008174234588026843,
+                "target_xy_drift": 4.2062550657127737e-08,
+                "depth": 0.015055932531727989,
+                "bottom_clearance": 0.08438456721248222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00039464061689081786,
+                  0.0006496864500649124
+                ],
+                "rod_tip_xy": [
+                  0.28324560749598887,
+                  -0.3919099178235004
+                ],
+                "target_mouth_xy": [
+                  0.28285096687909805,
+                  -0.3925596042735653
+                ],
+                "gripper_position": [
+                  0.2832356068223387,
+                  -0.3919198187359656,
+                  1.0055062632467267
+                ],
+                "rod_tip_xy_dist": 0.0007601537343839819,
+                "target_xy_drift": 4.074503833723877e-08,
+                "depth": 0.015593176701701239,
+                "bottom_clearance": 0.08384737320582358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00038460760230857316,
+                  0.000639754135567272
+                ],
+                "rod_tip_xy": [
+                  0.28323560682233867,
+                  -0.3919198187359656
+                ],
+                "target_mouth_xy": [
+                  0.2828509992200301,
+                  -0.39255957287153287
+                ],
+                "gripper_position": [
+                  0.2832277956317266,
+                  -0.391923830218205,
+                  1.0053654887379917
+                ],
+                "rod_tip_xy_dist": 0.00074646390517491,
+                "target_xy_drift": 5.906490403932461e-08,
+                "depth": 0.01575359372814311,
+                "bottom_clearance": 0.08368700961364939,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00037683094442103604,
+                  0.0006357740674026724
+                ],
+                "rod_tip_xy": [
+                  0.28322779563172656,
+                  -0.391923830218205
+                ],
+                "target_mouth_xy": [
+                  0.28285096468730553,
+                  -0.39255960428560766
+                ],
+                "gripper_position": [
+                  0.2832385484958836,
+                  -0.3919963709080881,
+                  1.0048298352199847
+                ],
+                "rod_tip_xy_dist": 0.0007390603665838047,
+                "target_xy_drift": 3.935189434995968e-08,
+                "depth": 0.01589443712704408,
+                "bottom_clearance": 0.08354619725947476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003875518119300092,
+                  0.0005632333659946198
+                ],
+                "rod_tip_xy": [
+                  0.28323854849588354,
+                  -0.39199637090808803
+                ],
+                "target_mouth_xy": [
+                  0.2828509966839535,
+                  -0.39255960427408265
+                ],
+                "gripper_position": [
+                  0.28322832034166023,
+                  -0.3920062257298978,
+                  1.0046698282502966
+                ],
+                "rod_tip_xy_dist": 0.0006836872322194284,
+                "target_xy_drift": 6.435308528198068e-08,
+                "depth": 0.016429964021608345,
+                "bottom_clearance": 0.08301058576950227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003773526225983592,
+                  0.0005533782229156792
+                ],
+                "rod_tip_xy": [
+                  0.2832283203416602,
+                  -0.39200622572989785
+                ],
+                "target_mouth_xy": [
+                  0.2828509677190618,
+                  -0.39255960395281353
+                ],
+                "gripper_position": [
+                  0.2832205779846595,
+                  -0.3920099082086075,
+                  1.0045291758464854
+                ],
+                "rod_tip_xy_dist": 0.0006697928481099024,
+                "target_xy_drift": 4.106242116978549e-08,
+                "depth": 0.01659001067478738,
+                "bottom_clearance": 0.08285051817301725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003695808311109383,
+                  0.0005496954251140718
+                ],
+                "rod_tip_xy": [
+                  0.28322057798465944,
+                  -0.3920099082086075
+                ],
+                "target_mouth_xy": [
+                  0.2828509971535485,
+                  -0.39255960363372155
+                ],
+                "gripper_position": [
+                  0.28321266811450185,
+                  -0.39201397400182597,
+                  1.0043886358612137
+                ],
+                "rod_tip_xy_dist": 0.0006623858778053711,
+                "target_xy_drift": 6.446427377480925e-08,
+                "depth": 0.016730680000051623,
+                "bottom_clearance": 0.08270987443294786,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000361671113206119,
+                  0.0005456296344019673
+                ],
+                "rod_tip_xy": [
+                  0.2832126681145018,
+                  -0.392013974001826
+                ],
+                "target_mouth_xy": [
+                  0.2828509970012957,
+                  -0.392559603636228
+                ],
+                "gripper_position": [
+                  0.28322491869606514,
+                  -0.39208875284774597,
+                  1.0038534970296478
+                ],
+                "rod_tip_xy_dist": 0.0006546126274869573,
+                "target_xy_drift": 6.433087509452663e-08,
+                "depth": 0.01687122459978363,
+                "bottom_clearance": 0.08256933563141156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00037389034260293386,
+                  0.0004708809034688066
+                ],
+                "rod_tip_xy": [
+                  0.28322491869606503,
+                  -0.392088752847746
+                ],
+                "target_mouth_xy": [
+                  0.2828510283534621,
+                  -0.39255963375121483
+                ],
+                "gripper_position": [
+                  0.283214502906447,
+                  -0.3920984222415203,
+                  1.0036937179187424
+                ],
+                "rod_tip_xy_dist": 0.0006012676721256007,
+                "target_xy_drift": 1.0680308146698448e-07,
+                "depth": 0.017406331780751017,
+                "bottom_clearance": 0.08203420004014228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0003635368889474133,
+                  0.000461184271079107
+                ],
+                "rod_tip_xy": [
+                  0.28321450290644695,
+                  -0.39209842224152025
+                ],
+                "target_mouth_xy": [
+                  0.28285096601749954,
+                  -0.39255960651259936
+                ],
+                "gripper_position": [
+                  0.28320645667717903,
+                  -0.3921021982751056,
+                  1.0035529581470624
+                ],
+                "rod_tip_xy_dist": 0.0005872393051527896,
+                "target_xy_drift": 4.192391004727985e-08,
+                "depth": 0.01756619096010581,
+                "bottom_clearance": 0.08187443921424198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00035548968482268517,
+                  0.00045740631495932993
+                ],
+                "rod_tip_xy": [
+                  0.283206456677179,
+                  -0.3921021982751056
+                ],
+                "target_mouth_xy": [
+                  0.2828509669923563,
+                  -0.39255960459006495
+                ],
+                "gripper_position": [
+                  0.2831985678396279,
+                  -0.39210593955483214,
+                  1.003412588552887
+                ],
+                "rod_tip_xy_dist": 0.0005793042835850653,
+                "target_xy_drift": 4.105843153210289e-08,
+                "depth": 0.017706891702283678,
+                "bottom_clearance": 0.08173364255993654,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00034759820846919087,
+                  0.00045366439441518747
+                ],
+                "rod_tip_xy": [
+                  0.2831985678396278,
+                  -0.3921059395548322
+                ],
+                "target_mouth_xy": [
+                  0.28285096963115863,
+                  -0.3925596039492474
+                ],
+                "gripper_position": [
+                  0.2832122661253197,
+                  -0.39218225194229384,
+                  1.0028816537866494
+                ],
+                "rod_tip_xy_dist": 0.0005715206884191418,
+                "target_xy_drift": 4.236694393542099e-08,
+                "depth": 0.017847306844384403,
+                "bottom_clearance": 0.08159325882164115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0003612959343718414,
+                  0.0003773520073835357
+                ],
+                "rod_tip_xy": [
+                  0.2832122661253196,
+                  -0.39218225194229384
+                ],
+                "target_mouth_xy": [
+                  0.28285097019094774,
+                  -0.39255960394967737
+                ],
+                "gripper_position": [
+                  0.2832017145665625,
+                  -0.39219188011926126,
+                  1.0027217995125426
+                ],
+                "rod_tip_xy_dist": 0.0005224263485602596,
+                "target_xy_drift": 4.275855812177246e-08,
+                "depth": 0.018378186441581623,
+                "bottom_clearance": 0.08106240070869919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003507795099046973,
+                  0.0003677267191293243
+                ],
+                "rod_tip_xy": [
+                  0.2832017145665624,
+                  -0.3921918801192612
+                ],
+                "target_mouth_xy": [
+                  0.2828509350566577,
+                  -0.39255960683839053
+                ],
+                "gripper_position": [
+                  0.2831936764420133,
+                  -0.39219532220606207,
+                  1.0025812559267109
+                ],
+                "rod_tip_xy_dist": 0.0005082019328284738,
+                "target_xy_drift": 3.3713054711289415e-08,
+                "depth": 0.01853815039131168,
+                "bottom_clearance": 0.08090253569926997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003427084396063207,
+                  0.00036428270229321713
+                ],
+                "rod_tip_xy": [
+                  0.2831936764420132,
+                  -0.392195322206062
+                ],
+                "target_mouth_xy": [
+                  0.2828509680024069,
+                  -0.39255960490835523
+                ],
+                "gripper_position": [
+                  0.2831854548127777,
+                  -0.3921991565948943,
+                  1.002440804333526
+                ],
+                "rod_tip_xy_dist": 0.0005001509389848706,
+                "target_xy_drift": 4.196314859158024e-08,
+                "depth": 0.01867850417122019,
+                "bottom_clearance": 0.0807619925253441,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0003344867761980175,
+                  0.0003604476751797314
+                ],
+                "rod_tip_xy": [
+                  0.2831854548127776,
+                  -0.39219915659489435
+                ],
+                "target_mouth_xy": [
+                  0.2828509680365796,
+                  -0.3925596042700741
+                ],
+                "gripper_position": [
+                  0.2831774435534995,
+                  -0.3922027234472702,
+                  1.0023003210699772
+                ],
+                "rod_tip_xy_dist": 0.000491735630185383,
+                "target_xy_drift": 4.1510722420716624e-08,
+                "depth": 0.018819019246984037,
+                "bottom_clearance": 0.08062148603582886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00032647452019923806,
+                  0.0003568808208697649
+                ],
+                "rod_tip_xy": [
+                  0.28317744355349944,
+                  -0.39220272344727025
+                ],
+                "target_mouth_xy": [
+                  0.2828509690333002,
+                  -0.39255960426814
+                ],
+                "gripper_position": [
+                  0.28316932828673375,
+                  -0.3922062412236718,
+                  1.002159981840472
+                ],
+                "rod_tip_xy_dist": 0.00048368329787578973,
+                "target_xy_drift": 4.218515902759616e-08,
+                "depth": 0.01895950427187232,
+                "bottom_clearance": 0.08048102699159643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003183607211461048,
+                  0.00035336336776392585
+                ],
+                "rod_tip_xy": [
+                  0.2831693282867337,
+                  -0.39220624122367187
+                ],
+                "target_mouth_xy": [
+                  0.2828509675655876,
+                  -0.3925596045914358
+                ],
+                "gripper_position": [
+                  0.28316112043525976,
+                  -0.39220990817686063,
+                  1.0020195433485397
+                ],
+                "rod_tip_xy_dist": 0.0004756250818093295,
+                "target_xy_drift": 4.1436366602228725e-08,
+                "depth": 0.019099850443515143,
+                "bottom_clearance": 0.08034066160363462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003101525626279522,
+                  0.00034969577411797514
+                ],
+                "rod_tip_xy": [
+                  0.2831611204352597,
+                  -0.39220990817686063
+                ],
+                "target_mouth_xy": [
+                  0.28285096787263175,
+                  -0.3925596039509786
+                ],
+                "gripper_position": [
+                  0.2831530041436404,
+                  -0.39221345534798974,
+                  1.0018791045074726
+                ],
+                "rod_tip_xy_dist": 0.0004674203103638691,
+                "target_xy_drift": 4.116429550040613e-08,
+                "depth": 0.019240290911700098,
+                "bottom_clearance": 0.08020023206676574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00030203554624474993,
+                  0.00034614892133555397
+                ],
+                "rod_tip_xy": [
+                  0.2831530041436403,
+                  -0.3922134553479898
+                ],
+                "target_mouth_xy": [
+                  0.28285096859739556,
+                  -0.39255960426932535
+                ],
+                "gripper_position": [
+                  0.2831710318947006,
+                  -0.3922965816459286,
+                  1.0013545145326512
+                ],
+                "rod_tip_xy_dist": 0.0004593958499345983,
+                "target_xy_drift": 4.1888869012519716e-08,
+                "depth": 0.019380717364411493,
+                "bottom_clearance": 0.08005979713733324,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006026571842794345,
+              "rod_tip_xy_max_step": 3.28081518105371e-05,
+              "rod_tip_xy_range": 0.0006026539044105701,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.282793451728561,
+            -0.3936540668219696,
+            1.043329252480948
+          ],
+          "object_origin_world": [
+            0.282793451728561,
+            -0.3936540668219696,
+            1.043329252480948
+          ],
+          "frame_world": [
+            0.28281745845446987,
+            -0.3936506293977308,
+            1.0436230366609296
+          ],
+          "center_minus_frame": [
+            -2.4006725908853888e-05,
+            -3.437424238750264e-06,
+            -0.0002937841799814933
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25487811284911643,
+              0.15954403356733127,
+              0.8322270957493867
+            ],
+            "target_position": [
+              0.2679380823567743,
+              0.20545933395269456,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04773654379004722,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16784449737951598,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322270957493867,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567095222216,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13752148341767187,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8865105015247510022,
+    "physical_seed": 6244495164923859807,
+    "layout_id": "layout_00054",
+    "step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "workflow_spec_digest": "9ac01360405b8e66fe97b92b5ff2716bcad6828e5c44a46a890fa7e8496e0520",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "624c878c78b66442035f1c01ff551bfa70e89a1f1fe37db35534cce112a5e5f0",
+    "visual_seed": 8494349199450089163,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      9092373221738194413,
+      5718852617331806488,
+      5334696411964519894,
+      8360605087653114312,
+      6675749095117627503,
+      1590574080683186716
+    ],
+    "runtime_workflow_digest": "dd136dbb6c19d76ee606d159678ca6d70424ef1f878474f77d7a732df8a65c9a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c95673c74e94ec8a204a532374f9c43e1cb52e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s06_plrptl_hsc_00054/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s06_plrptl_hsc_00054",
+  "family": "lab3_v1",
+  "published_episodes": 26,
+  "published_successes": 26,
+  "published_failures": 0,
+  "matched_success_results": 26
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1c4016c4efddbcdd171124be8059082a0ffa9e85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b837df0a4bb2e3acd4371c3f909c58452b4aac0fb14bb6a92e1b686fa877f44
+size 16063205
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a50ae6e2fc1c0c109adcb904ddb76ac9d749814
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2c8811c5fc8dd644cbc9f637d02ee4cfe58c3aebb801a71371d4b8a5e03255f
+size 15478383
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7a9c4d5f87dbc31cc87369344e5bb875069a5c78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cb0a6ba9c5445de95ca8775b57c6f600a8547458ef0d673b02b0342c10b06f1
+size 16514305
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee3b3c9bf190b377964af51e6290d4e946fe6cd2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82d6b2c805417a74592eee4d941dc016ea2b5c84829a2d6984223be16d31796c
+size 16621629
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02a0f6fa7e7bdd4d019d756f61f8b8368630fd1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c73a4c499a037377581934bc39e32add76fce78466893e5360328cb9af8ee0a3
+size 15628628
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a02b7316301deffd17cfdb11c52f9611dcdc0f40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4f328b073b261b74449fed756b29af5aae592b9bfe23cee455c1f731e5a101
+size 14913299
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..139016b8005b76423f4d05df765731c2c2c292d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded5ce4abe3164ed0ae754c0570129984387a5028b35532b1bb212762e4ac825
+size 17041733
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a56ab35254bc768c7ee3b3a4da5351eed1fd202
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d307f259fd3954c0b6d58b5a6fc72b639f4c549080027c40c027fd484a8aa73
+size 17724145
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3414555adf759dd43626aa13c8415153a89ec60a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ef006f0eb426a55688aa54eff39028da463ea7355d94b120cef1654d2eaf60
+size 16484129
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..858d902ca9356bd029c4fcd570f92fc057167fa2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13d7cd8072b13e91e7e77f915aea8e85fa03f83f92083b3713216c9732e0d17f
+size 15623471
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d8a6eeaf2665638f3ae13240773eab69e59b37b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30a92bbc739f941c74978542d66adf5b83d4b33fcd66eccaa5d32a1e3730fcc5
+size 14710852
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c9833d3046ff5ef1fcd9a8792d656040c9b5b143
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5626aeed5743e848c7db9b30ac4e1d06dba49e8c8c41fd9ec41ca85f95c21499
+size 18441365
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c19b733224f15386f650d495f53820f1c01d6d6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b540a31e4b3302594d77a2f5cc3e47e63c6c9fef44dfbbdbf65c4c0df21ef8d
+size 20859183
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..78da3226aa7d0baefceaa1d0397dd2e77a6bd7f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:338d2693cbf00886f070e98a12fbd687e813c76f221478184a7a9c9c903795de
+size 18945029
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9fbd3dac9d13561e3490a40b1b9769adfeca9498
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85dd684f79f838c1ba8c7db6335814b017305fb45b1ffaf92d97358cc9061b8f
+size 14048956
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f11894020558d5cfc1f34d4e9db14548a42aa442
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eaebd4534d4b0384f921c629c5a42a364f945b2025cc3c7b9a2fb7c5a1b77f0
+size 19131901
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..86f9b66eddedf652965c5c72095ddd959c579959
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fecffa5f8ea2df4de24385d7334720e4ef5351d11859c0dffb8bbc65848b89b
+size 15140699
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e3d5518d22cb6a746bcfb054b4c4111db3fc76b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e55fc8ab10fec35179196b11672b18004e4bcafc79dc2dc6b3ec1faf0666d4
+size 16826374
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d526b5cf475774776753b42cff43f17bb48b04c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9a58188c40da70d30c95a6fabba506d06fe3bef3e76b7b5e10ca5d41fd7647d
+size 17105875
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b3fc7928e26a4c71635a0bb33ef330c6e1dcaaa3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c7694b38c1cde9e791dd9af5e7810cac4e1a7fafb7e7de4d4652ee194a96b4e
+size 18253387
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c88190d3e80e98024ec9f38a1beacf3bd8055644
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5350dabcdbfdfd5373f0076b209afd26a272e5e818b3adf05552719a1eb20d83
+size 19228983
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e57bed204cddd736b88a5fa6293a1fe5c749508e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a377babd539515c06dbfe7f75baf9083effa0276214d31548146ebe78c8c1db3
+size 18721419
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0504bc3b29caab8f4afcf9cc9eaff2ba6035f86a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1d37015b29aa95d6ab1288314b7c2d3af7788fc836a2269fbb846f562fb1cc4
+size 19909200
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b74ad09820c6197e6c76673eafbf22f4f8d3d51b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc4cf38059e80cb8a8710987a7b80082736b48263b4be0b13c23c3eac71bf10
+size 19293301
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5ffa51bf6c8c34cd53067dfbd9dcfdf3f7fa21e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8889ccddba43b849ec1d92555f6af47d963e228a4e191f2ba97399bf332b2f
+size 17211884
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8e68d127da190727663627a189de62be6b1cb1ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2d8cd00c3be06624c9face74bec89297d587a4327c1a389d626caf6ee09763d
+size 19684802
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5f19b5a11eeb19c4b3866eac47ca569e9688464a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d6480f4e3ff148e310e749c54bbfe48e6aabe6071780934dd41e88a4eccddc6
+size 17376053
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e37d14d8badbbfd73afbc304b4bc9ed1ac2043b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31146d9d91ac6b22119d97ee506ae6e652a8d1d21c0e6c433adb76954546cc19
+size 15548471
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fd59679adafcf2f95c7b9146bac546119b89cc14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05070bb9209212fdf2e77cb3dd2ef0f43ee70acd43684a4163747c47a5ddd7a4
+size 16829952
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d539ee99e4f1bbaef0010d99ab0458dbcdaccb7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34931eac4edf9db7714cdb55b460486fbf77a36196f8d59536998d3bd05ae853
+size 18178530
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5fc30816da1d17c01a2a5d9dccb12cb4d97711af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccf8c691728a68ae18d4ebf7680a147a2b7e09aa2be413dace9a9872feda20e5
+size 14974690
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..92f88660872ade215e273161dfee2318e0313aeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6a6c525b4812010534f842ba59909ef1614b454bfc583e9f5d9691a0ad922b5
+size 20996060
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..451ca6ea7c75257a1f8d2133fba8756e9bd20bfc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b7dfc388938d2905bddd733550342c7ec582294e05a7c6bcd66fb846b2a85a
+size 21825432
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e373ac0ef6fbbdd0a5784ebd4996866c019be11d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48c7d35fd4176468d3585d57d077a00c58f1d6b30ce243a1f2e0c481f0dbcbb5
+size 21403180
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f15c1b0010f794bcc944e687fb185f3c11e81d4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab4bb156357cb29dbc77d9645f10d8d2bd1534fa24c59f2eb1f685236a0664bd
+size 15625325
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d98534597b2f8a991bece6e5d576f01890d3517
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16009441063518d16d208064047dfbdfb0837153ebfaaf914f598754b6ccbe43
+size 20246651
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c984bbff11f89d3975038fb17bee76c7da2bdf47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56ce09e8adf6a7a9ac5fb776fe16e34e15ae74faa7935066df611b24a2265899
+size 14872551
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77f408570088bdb07fda130fbde7351b8397b6b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99702bb8c797ee9ee1c1b1fece304a96f83d56473ef8777e80625d80747626ab
+size 17029336
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..575bf6685ba5ec34084c0a4d1ee831ad453ba719
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6b6719dbfc9589936b27e922db459db95b904400353df9bd9e850f418c171c0
+size 18816479
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ce3730c7e4587bc6ca64a7b26b050f2a9319e12e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:146225c193cbe7a2aaed07299b63bfa1b18258a5a81b71dd097d3afe6974b731
+size 16154725
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..710192205ff90704f01c2eb88c2530a30a293df2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17e65bb44ce82d88155b3f7c02ebdd1bba13e6f853a5bbc19e44090a639557bb
+size 17513338
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..887f98840ac483a047a3d2327e5c7ccfec697208
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0db1a88f8659ef043ecac00b846116f70de72d37a7f941b1530f5a9c68d849d
+size 18427604
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..727bdd5998ed2b18448443098812591386d85282
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f660117b59c27e40c359556c83d65850f6ded1492721d687b420243d1bf2bf
+size 15298020
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f64f99f99fffd21d1b07366eed32d797b05b5445
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9700ef02847b1bcb0a83e9865030a5dbfc35e96d197104faa8c483bd36b714
+size 19328251
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6371be95a8da67eda6a3175b83361671c986da23
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a2160f9fe30d3204403bd3a73330775869942510d064ee7ce08fa95330704b
+size 22725592
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..171c2932912598dde9605ace3b40d6bbcaaf2513
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb95c605efa327112d852d564ac6ce31ae610a2575519c8dbe775b91d5ce62e
+size 16068866
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bd2bb80573fd06994b5f9cf4d73c3a3629e9ca02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/meta/episode.jsonl
@@ -0,0 +1,46 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3611,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3615,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3636,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3625,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3610,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3613,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3630,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3601,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3573,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3609,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3612,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3610,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3604,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3592,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3615,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3627,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3596,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3622,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3602,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3616,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3624,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3610,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3612,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3626,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3611,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3601,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3611,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3561,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3604,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3619,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3595,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3609,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3627,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3602,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3610,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3613,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3607,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3609,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3612,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3610,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3604,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3629,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3582,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3606,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3613,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3617,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5f0c638bd5e9f7bd9dea197786e54d00e07f5834
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,46 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T12:55:06","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[0.046500886993633084,0.6920719578956507,0.71338606911949],"aabb_xy":[[0.01218460981901514,0.642071957922473],[0.08081716416825102,0.7420719578688284]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[0.7000529325868103,0.2359841650470358,0.71338606911949],"aabb_xy":[[0.677552932772908,0.23150954867655507],[0.7225529324007127,0.24045878141751645]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.5392572868704384,-1.6308437600880674,0.71338606911949],"aabb_xy":[[0.5344136921092083,-1.6356954125670515],[0.5441008816316683,-1.6259921076090833]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.1291291164456715,0.8068337603975908,0.71338606911949],"aabb_xy":[[0.05912911484339198,0.7934009671959332],[0.19912911804795094,0.8202665535992484]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.014407377830070844,-0.7426814686051333,0.71338606911949],"aabb_xy":[[-0.0555926248065155,-0.7627863336009988],[0.08440738046665719,-0.7225766036092678]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[0.5623319834143479,-1.8448813581043961,0.71338606911949],"aabb_xy":[[0.4973319807765544,-1.8963609568038429],[0.6273319860521414,-1.793401759404949]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.00033265186070885466,-2.4544039916367426,0.71338606911949],"aabb_xy":[[-0.007710708065246319,-2.5394039927321086],[0.008376011786664028,-2.3694039905413757]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.36816272862761557,0.3335007950102771,0.71338606911949],"aabb_xy":[[-0.3777943648480452,0.32386348223056816],[-0.35853109240718595,0.343138107789986]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.3320614290857933,0.5535118838427748,0.71338606911949],"aabb_xy":[[0.32794547897372056,0.5493963288099293],[0.3361773791978659,0.5576274388756204]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.4100189943828448,0.15500023127494478,0.71338606911949],"aabb_xy":[[-0.44705310381090446,0.12062302394123534],[-0.372984884954785,0.18937743860865422]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.5873025341985649,0.2739097198222935,0.71338606911949],"aabb_xy":[[-0.6673025313581402,0.2623621188644764],[-0.5073025370389896,0.2854573207801105]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[-0.01585888242055289,-1.5178945561101023,0.71338606911949],"aabb_xy":[[-0.03835801814677986,-1.5403945568883652],[0.0066402533056740855,-1.4953945553318393]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.2251545766799251,-0.9404345181823837,0.71338606911949],"aabb_xy":[[0.16115457445951806,-0.984807602307672],[0.28915457890033214,-0.8960614340570954]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.5647823678411114,-2.2305324869510215,0.71338606911949],"aabb_xy":[[-0.5728187025423962,-2.2385706062554376],[-0.5567460331398265,-2.2224943676466045]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.4308024515144923,-0.2169049085238437,0.71338606911949],"aabb_xy":[[-0.4594517838749085,-0.24555046780091946],[-0.40215311915407603,-0.18825934924676788]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.08295851932564258,0.525614145146585,0.71338606911949],"aabb_xy":[[-0.11344276945267273,0.47561414536508906],[-0.05247426919861242,0.5756141449280809]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.42403931243829907,0.5470550767587463,0.71338606911949],"aabb_xy":[[-0.45995281686328876,0.5111415685419918],[-0.38812580801330937,0.5829685849755011]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.4734519641088395,-1.430384800186185,0.71338606911949],"aabb_xy":[[0.4396764049181466,-1.4444232953993499],[0.5072275232995325,-1.41634630497302]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.09141316923458942,-1.1974586883196245,0.71338606911949],"aabb_xy":[[-0.10401586837166588,-1.2100540845444903],[-0.07881047009751296,-1.1848632920947593]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[0.6566415540989758,0.7393614337547829,0.71338606911949],"aabb_xy":[[0.6221792067008339,0.7048675513569601],[0.6911039014971175,0.7738553161526055]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6445355012127018,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1577.png","name":"1577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1577.png","name":"1577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5881.png","name":"5881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4642.png","name":"4642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1306.png","name":"1306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9943.png","name":"9943"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":641.4738713435786,"rotation_z_degrees":307.0014037626565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010997876194883825,0.0017968520694961118,0.007841065803632995]},{"name":"camera_2","offset_m":[-0.0008770784761520344,0.008391998978809125,0.0038051878988382658]},{"name":"camera_3","offset_m":[0.01628000546555369,-0.007520285762645207,-0.006454816045475096]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004522867669556315,8.217089821575428e-05,-0.0002468977981462501],"end_effector_yaw_offset_degrees":0.2844325757424342},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007587462763412444,-0.0007951504708376045,0.0008269077041083918],"end_effector_yaw_offset_degrees":-0.886250922530325},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014003304515848216,-7.660636064344404e-05,0.001483225524693716],"end_effector_yaw_offset_degrees":-0.9923591297826531},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001384525242595313,0.000923486046209324,0.0008152859658322143],"end_effector_yaw_offset_degrees":-0.9235005619363543},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013566346601052337,0.001459640604302738,0.001294404300318882],"end_effector_yaw_offset_degrees":0.9350132934751993},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0004260361143039067,-0.0001059883338191442,-0.0014375178162914328],"end_effector_yaw_offset_degrees":0.3406453074815501},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001509302961831579,0.0017806515675420713,-0.0013785649582442891],"end_effector_yaw_offset_degrees":-0.15571722358080087},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00026960251132140153,0.0003975566614725411,-7.174255576437318e-05],"end_effector_yaw_offset_degrees":0.5766049634900772},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008184143166038715,-1.3234689729041665e-05,0.0015541479095435508],"end_effector_yaw_offset_degrees":0.5940641066377226}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030587427508990224,-0.004545643981744244],"position_m":[0.18845874275089902,-0.14124564398174425,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004572322636509257,-0.00038321381450940467],"position_m":[0.18302767736349074,0.019516786185490596,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000487658045658145,0.00230723000991371],"position_m":[0.21021234195434185,-0.3512927699900863,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0004096174093199574,-0.002163254872506305],"position_m":[0.2931903825906801,0.3134367451274937,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"2305943fa00e37779f10d51cc57942ffcac7b7384014aba0d2c8ddde6d007b38","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1577/tex_ceiling_textures_9943/tex_floor_textures_1306/tex_table_textures_5881/tex_wall_textures_4642","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7596582513032087153,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7596582513032087153,"visual_seed":7596582513032087153,"scene_id":"lab_003","finished_at":"2026-09-08T13:05:39"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T13:05:53","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.37887559016307576,-1.1849750916057737,0.71338606911949],"aabb_xy":[[-0.40884314707290137,-1.2149750919036595],[-0.34890803325325004,-1.154975091307888]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[-0.24406456387154474,0.19221057247117423,0.71338606911949],"aabb_xy":[[-0.30806456609195176,0.14783748834588592],[-0.1800645616511377,0.2365836565964625]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.005348283274913546,1.0390605327754514,0.71338606911949],"aabb_xy":[[-0.022926585463860394,1.0214860432013462],[0.012230018914033303,1.0566350223495562]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.3004539122184925,-1.301814616565384,0.71338606911949],"aabb_xy":[[-0.36545391332443583,-1.3267799896335122],[-0.23545391111254926,-1.2768492434972556]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.5320873122081289,-0.22039641286343992,0.71338606911949],"aabb_xy":[[0.48210989534287524,-0.27039641435268846],[0.5820647290733824,-0.17039641137419137]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.48475314313033335,-2.329874626298075,0.71338606911949],"aabb_xy":[[0.4479585100054271,-2.366780501394657],[0.5215477762552396,-2.2929687512014922]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.4535522614357783,0.47603778976212974,0.71338606911949],"aabb_xy":[[0.43844995997476005,0.4609362681310678],[0.46865456289679625,0.49113931139319145]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.45856675978586314,-2.0520375788444185,0.71338606911949],"aabb_xy":[[-0.5185667602937161,-2.10888431253034],[-0.3985667592780102,-1.9951908451584974]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.49238880584552247,1.1805719791791773,0.71338606911949],"aabb_xy":[[-0.5723888028597703,1.160437427505766],[-0.41238880883127443,1.2007065308525886]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[-0.6497790993307296,-1.0807700297918652,0.71338606911949],"aabb_xy":[[-0.6835546585214226,-1.0948085250050301],[-0.6160035401400367,-1.0667315345787003]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.1421086455915982,-1.8400371566730547,0.71338606911949],"aabb_xy":[[0.07810864533112737,-1.885045956025983],[0.20610864585206898,-1.7950283573201269]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.05639006686188919,-2.0652258907954693,0.71338606911949],"aabb_xy":[[-0.00760993642781893,-2.1085608097993864],[0.12039007015159729,-2.021890971791551]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.2763857600772175,-1.216601927155362,0.71338606911949],"aabb_xy":[[0.2263909271492759,-1.2666019260506056],[0.3263805930051591,-1.1666019282601185]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.3200686999491227,-0.17072126824796863,0.71338606911949],"aabb_xy":[[-0.3559822043741124,-0.20663477646472325],[-0.284155195524133,-0.134807760031214]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.012822090050490398,-2.269843647489335,0.71338606911949],"aabb_xy":[[-0.015827242309925826,-2.29848920676641],[0.04147142241090662,-2.2411980882122586]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[-0.20958407960732922,-1.5013405773324677,0.71338606911949],"aabb_xy":[[-0.2193400691165031,-1.511103111391702],[-0.19982809009815533,-1.491578043273233]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.061738254392528114,0.7029836241745868,0.71338606911949],"aabb_xy":[[0.02319256156732708,0.6644378531183982],[0.10028394721772915,0.7415293952307754]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.42969746282089455,-0.8292548402838686,0.71338606911949],"aabb_xy":[[-0.43839542511160995,-0.8413798145913435],[-0.42099950053017937,-0.817129865976394]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.4834230293039671,-1.8662510828467616,0.71338606911949],"aabb_xy":[[-0.5001001652970627,-1.8829510068206918],[-0.46674589331087163,-1.8495511588728313]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.21484014205613994,-1.8369299930346055,0.71338606911949],"aabb_xy":[[-0.21979616224102116,-1.8594299932367275],[-0.20988412187125877,-1.8144299928324843]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.17383890470013985,1.0531680792084188,0.71338606911949],"aabb_xy":[[0.1426919858565567,0.9831680805216116],[0.20498582354372294,1.123168077895226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6449126836960086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6397.png","name":"6397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6397.png","name":"6397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3397.png","name":"3397"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1936.png","name":"1936"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4487.png","name":"4487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4311.png","name":"4311"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":760.259593759933,"rotation_z_degrees":287.3748955386454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001245607698915855,-0.010557438753079134,0.012111159670746139]},{"name":"camera_2","offset_m":[0.016174686933274004,-0.009592672791544014,0.014977919271365176]},{"name":"camera_3","offset_m":[-0.003614512457415269,-0.007488096065459726,0.012985105949316313]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006437423202626791,0.0019917008481402784,-0.0015785635464154902],"end_effector_yaw_offset_degrees":-0.9996164861359496},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013024051341810482,-0.0007022602585087215,-0.0010941728219650089],"end_effector_yaw_offset_degrees":0.43035563197190396},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012127264903382291,-0.0015740449093665041,-0.0008617098367728895],"end_effector_yaw_offset_degrees":-0.9475173645966819},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00043281184790493156,0.000955538415507383,0.0014232920398538637],"end_effector_yaw_offset_degrees":-0.8315756188130408},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005526684280398721,-0.0014863793618533762,-0.0015602080130098727],"end_effector_yaw_offset_degrees":0.019439552148289962},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00111311633080468,0.0009904322949246761,-0.0019091597220095128],"end_effector_yaw_offset_degrees":0.2957202034004549},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009415069820870627,-0.0019423019989730226,0.00016705687265994177],"end_effector_yaw_offset_degrees":-0.9418685233343334},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001221514015328458,0.000741273484519855,0.0013717597601973887],"end_effector_yaw_offset_degrees":0.44021451495343866},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007586797241677888,-0.001984216211751978,0.00010026020344374191],"end_effector_yaw_offset_degrees":-0.18664604224720516}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004791046448057158,4.535741890263154e-05],"position_m":[0.18060895355194284,-0.13665464258109736,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002050765733021859,-0.0009895322070758317],"position_m":[0.18965076573302184,0.01891046779292417,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004286432698632659,-0.0013049196630282034],"position_m":[0.21498643269863266,-0.35490491966302823,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0030174319529170344,0.0032409352089669214],"position_m":[0.290582568047083,0.3188409352089669,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"ec5b331202b0e063d3e38f6de2b3fbf70b06bedf9fba148fc80049a970ef1106","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6397/tex_ceiling_textures_4311/tex_floor_textures_4487/tex_table_textures_3397/tex_wall_textures_1936","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8608629351953508309,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8608629351953508309,"visual_seed":8608629351953508309,"scene_id":"lab_003","finished_at":"2026-09-08T13:17:35"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T13:17:46","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.27605269157629775,-2.108909199181315,0.71338606911949],"aabb_xy":[[0.27071511591029324,-2.1339092001104554],[0.28139026724230237,-2.083909198252176]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.122219922559332,0.1894677674414864,0.71338606911949],"aabb_xy":[[-0.192219925950894,0.15415199373805555],[-0.05221991916777003,0.22478354114491728]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.3536899433368767,-1.600986000780171,0.71338606911949],"aabb_xy":[[-0.36656184683781684,-1.6809860011940072],[-0.34081803983593656,-1.520986000366335]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.21109059376437472,0.36915936987581066,0.71338606911949],"aabb_xy":[[-0.2479411417013623,0.33165936905277693],[-0.17424004582738709,0.4066593706988444]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.5906419160198438,0.0887973051602371,0.71338606911949],"aabb_xy":[[-0.598769604213157,0.07988369674952944],[-0.5825142278265305,0.09771091357094475]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.40476340362345975,-0.3041836784254519,0.71338606911949],"aabb_xy":[[0.37132322842744014,-0.33762730425638193],[0.43820357881947936,-0.2707400525945218]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[0.464691866670081,1.5658350905473069,0.71338606911949],"aabb_xy":[[0.4515406206987917,1.5408350907906205],[0.4778431126413704,1.5908350903039936]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.49348414592304457,-0.6771234288970738,0.71338606911949],"aabb_xy":[[0.45848414673022625,-0.6880904748947363],[0.5284841451158628,-0.666156382899411]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.31989832168008153,-0.8465700628628836,0.71338606911949],"aabb_xy":[[-0.3278923102577849,-0.8545701429579738],[-0.31190433310237814,-0.8385699827677932]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.1514203662037964,-2.0102318346349057,0.71338606911949],"aabb_xy":[[0.11642036789310092,-2.017946849558451],[0.18642036451449182,-2.0025168197113596]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[-0.061894617910963956,0.6819119653209937,0.71338606911949],"aabb_xy":[[-0.10797970916569541,0.6179119680684386],[-0.015809526656232465,0.7459119625735489]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.441767452746055,1.2297710283951027,0.71338606911949],"aabb_xy":[[-0.48676745421228396,1.184771171533622],[-0.39676745127982627,1.2747708852565833]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[-0.20972018124987812,-2.3014218164038263,0.71338606911949],"aabb_xy":[[-0.2897201845077211,-2.3814183241958102],[-0.1297201779920352,-2.2214253086118423]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[0.23684157439361542,-0.5862100928491625,0.71338606911949],"aabb_xy":[[0.21432788257015822,-0.6562100934501699],[0.2593552662170726,-0.5162100922481548]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[0.4723651310919099,-0.9624109710313395,0.71338606911949],"aabb_xy":[[0.46307151285475934,-0.9999109695194736],[0.4816587493290605,-0.9249109725432058]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.4881233650344885,0.47382806309321435,0.71338606911949],"aabb_xy":[[0.47069264995548193,0.45655594842936337],[0.5055540801134949,0.491100177757065]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[0.0759517566436928,1.394650446762725,0.71338606911949],"aabb_xy":[[0.01595175613583986,1.3378037130768037],[0.13595175715154567,1.4514971804486463]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[-0.12199878200182013,-1.1209287591869221,0.71338606911949],"aabb_xy":[[-0.1569987811317758,-1.1266739802625862],[-0.08699878287186447,-1.115183538111258]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.5688271440056141,-1.059145254877138,0.71338606911949],"aabb_xy":[[0.48882714534872806,-1.0736501138014012],[0.6488271426625001,-1.0446403959528754]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.5874187150404757,1.7212500962927852,0.71338606911949],"aabb_xy":[[-0.6050515506340032,1.703627150277162],[-0.569785879446948,1.738873042308408]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[0.6141054806475126,-0.8703237323773982,0.71338606911949],"aabb_xy":[[0.5591122693103759,-0.925323732716192],[0.6690986919846494,-0.8153237320386048]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6476522701724796,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3137.png","name":"3137"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3137.png","name":"3137"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/267.png","name":"267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7858.png","name":"7858"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2324.png","name":"2324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3011.png","name":"3011"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.5948541206938,"rotation_z_degrees":213.94339095827036,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013655045520746464,0.0017462393624858297,0.015034762304909053]},{"name":"camera_2","offset_m":[-0.004915140526951141,0.002476216894316371,0.007781358708958911]},{"name":"camera_3","offset_m":[0.002260112424210838,-0.016831581956580837,0.010537838368230915]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024713543514918784,0.0008316217870110417,-0.0005131641453320439],"end_effector_yaw_offset_degrees":0.13000248652162671},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00048010308845655063,-0.0008249986043565513,0.0015429210887004893],"end_effector_yaw_offset_degrees":0.3173682685052399},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019569000245443727,-0.000672490489675794,-0.0009957234953714806],"end_effector_yaw_offset_degrees":0.6855048086529907},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013492257415181753,0.0006876981268295283,-0.0006010602741459757],"end_effector_yaw_offset_degrees":0.3446909027000067},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010038565999510832,0.0015190410355103022,0.0009193459037872514],"end_effector_yaw_offset_degrees":0.2816511434994047},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014727249893402346,0.0013871790502211208,0.0005163119786154085],"end_effector_yaw_offset_degrees":-0.874832490909125},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014902171839547332,-0.0006239958875503314,-0.001757743869491586],"end_effector_yaw_offset_degrees":-0.8021584701829731},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.043893077531918e-05,0.0017939785288567248,-0.0018118412282299068],"end_effector_yaw_offset_degrees":0.08442913621740655},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019393763822660925,-9.989790957467583e-05,-0.000744587966398603],"end_effector_yaw_offset_degrees":0.9582809229649341}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022004044679790192,-0.0035499257298707175],"position_m":[0.183199595532021,-0.14024992572987072,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024571478439007755,-0.003683490718659953],"position_m":[0.1851428521560992,0.01621650928134005,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002257626796095793,-0.004283853337214355],"position_m":[0.2084423732039042,-0.3578838533372144,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0016039082713612193,0.0006245926653791357],"position_m":[0.2952039082713612,0.3162245926653791,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"578814a137efc5ef18e88e7d8cf59fed16f8a4bcca98c7dad7db4f663c7b0c9a","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0002.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3137/tex_ceiling_textures_3011/tex_floor_textures_2324/tex_table_textures_267/tex_wall_textures_7858","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4552751130668735450,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4552751130668735450,"visual_seed":4552751130668735450,"scene_id":"lab_003","finished_at":"2026-09-08T13:29:17"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T13:29:26","dimensions":{"distractor":{"count":21,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.21396736595219468,-2.0993466796680065,0.71338606911949],"aabb_xy":[[0.12396736361817565,-2.176829034253119],[0.30396736828621373,-2.021864325082894]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[0.48683525087254464,1.5227723851589023,0.71338606911949],"aabb_xy":[[0.4168352482359582,1.5026675201630366],[0.5568352535091309,1.5428772501547676]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.5939551168242148,-0.7402103285214343,0.71338606911949],"aabb_xy":[[0.5439551155403747,-0.7901891829120563],[0.6439551181080546,-0.6902314741308121]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.2863071566510871,0.526900410569104,0.71338606911949],"aabb_xy":[[0.2163071550488076,0.5134676173674464],[0.35630715825336656,0.5403332037707615]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.6849332292976402,-0.02442524422728365,0.71338606911949],"aabb_xy":[[0.6490197248726506,-0.06033875244403827],[0.7208467337226299,0.011488263989470969]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.4877687902712342,-1.5958889794866251,0.71338606911949],"aabb_xy":[[0.42376878822150227,-1.635983462575933],[0.5517687923209662,-1.5557944963973172]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.15305430971881062,1.1663897251206614,0.71338606911949],"aabb_xy":[[-0.21464506894280347,1.1023897270116148],[-0.09146355049481783,1.2303897232297085]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.24960879416719772,-2.4768871148999203,0.71338606911949],"aabb_xy":[[0.24517816481235757,-2.482335486634603],[0.2540394235220379,-2.471438743165238]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.30434374660794783,0.4829014861511105,0.71338606911949],"aabb_xy":[[-0.35432255511826366,0.4329014861453917],[-0.2543649380976319,0.5329014861568293]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.23004329970454135,0.7791214571227205,0.71338606911949],"aabb_xy":[[-0.2401250067831148,0.6991214592306058],[-0.21996159262596784,0.8591214550148351]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.33135160422526316,-1.4423308354279323,0.71338606911949],"aabb_xy":[[-0.41135160565539036,-1.5218479904405418],[-0.25135160279513596,-1.3628136804153228]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.43983862551644587,-0.05323690843471951,0.71338606911949],"aabb_xy":[[-0.4698302882503162,-0.08323690777152004],[-0.40984696278257554,-0.02323690909791898]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.5911287120483454,-1.4595850889813398,0.71338606911949],"aabb_xy":[[-0.6363000298965145,-1.5235850861258784],[-0.5459573942001765,-1.3955850918368014]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.5468215018440492,-2.0001782614957206,0.71338606911949],"aabb_xy":[[0.46182150315197457,-2.032164124890599],[0.6318215005361238,-1.9681923981008413]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.3827849967118772,-2.3905270451025977,0.71338606911949],"aabb_xy":[[-0.3907784865071593,-2.3985251770430738],[-0.3747915069165952,-2.3825289131621226]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.31698740205017395,-0.5838269459304923,0.71338606911949],"aabb_xy":[[-0.32576862919741023,-0.5926066932190225],[-0.3082061749029378,-0.5750471986419622]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.28194416897978114,-0.9165286622295634,0.71338606911949],"aabb_xy":[[0.2711036907532662,-0.9337149435202121],[0.292784647206296,-0.8993423809389145]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.5998734581645676,0.7805263239154372,0.71338606911949],"aabb_xy":[[-0.6223698795984317,0.7580263241086899],[-0.5773770367307035,0.8030263237221847]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[0.5638025228291639,-1.2796668478942892,0.71338606911949],"aabb_xy":[[0.5573887091859788,-1.2860766681419575],[0.5702163364723487,-1.2732570276466209]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.08172694652311385,-1.8667138744943412,0.71338606911949],"aabb_xy":[[0.07682765421655034,-1.8943907937969098],[0.08662623882967734,-1.8390369551917722]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.37084752459878256,-1.3539744374036529,0.71338606911949],"aabb_xy":[[0.333347524781749,-1.3586126487147945],[0.4083475244158161,-1.3493362260925108]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6436039784343008,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9126.png","name":"9126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9126.png","name":"9126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/355.png","name":"355"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/314.png","name":"314"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/690.png","name":"690"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4633.png","name":"4633"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":511.72239458081833,"rotation_z_degrees":301.31047071282796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01219463323680742,-0.0019875150871369145,0.0018666240697583006]},{"name":"camera_2","offset_m":[0.015127510295119339,-0.014061005914783653,0.01318212521229645]},{"name":"camera_3","offset_m":[0.01808552831689614,-0.006952359919673965,0.013241671410583526]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010143736539179604,0.0002260859747072949,-0.0013317621812362877],"end_effector_yaw_offset_degrees":-0.41474220986668553},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009194297699092941,-0.00134762953171664,-0.0005362313357773006],"end_effector_yaw_offset_degrees":-0.9814566619824585},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009164933824986144,0.00042809469296603954,-0.0014825338196786967],"end_effector_yaw_offset_degrees":-0.4740184318702265},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019193181175127163,0.00031115011577216144,-0.0010670234127826907],"end_effector_yaw_offset_degrees":0.3557363237354183},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007365751345015346,-0.0014912252245839381,0.0012743870627843368],"end_effector_yaw_offset_degrees":-0.5180300050354676},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013238518306325476,-0.0008220873494828695,-0.0005091076384586958],"end_effector_yaw_offset_degrees":0.6544011228760922},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00188740114715014,-0.0008028944239731625,-0.0003013135676921887],"end_effector_yaw_offset_degrees":0.42868963959278483},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00034040750289308615,-0.001584082481493781,0.001035979892176308],"end_effector_yaw_offset_degrees":0.3185120752323385},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012346649988598712,-0.00019520351046077838,7.123812729447048e-06],"end_effector_yaw_offset_degrees":-0.5816907678130976}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012491999436430893,0.0028450480277873837],"position_m":[0.1866491999436431,-0.13385495197221262,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0046172557312630395,0.00366233846300651],"position_m":[0.19221725573126303,0.02356233846300651,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006401096686426853,-0.004837087584994397],"position_m":[0.2100598903313573,-0.35843708758499443,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0004193983847338885,-0.004065605532579975],"position_m":[0.29318060161526616,0.31153439446742004,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"3767d065cc31977ddf002e44952e194a2aec07c803967d7ec0ba7cea5b77230d","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9126/tex_ceiling_textures_4633/tex_floor_textures_690/tex_table_textures_355/tex_wall_textures_314","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4091086256943942932,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4091086256943942932,"visual_seed":4091086256943942932,"scene_id":"lab_003","finished_at":"2026-09-08T13:40:18"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T13:40:27","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.3207605750736574,0.2976984148816135,0.71338606911949],"aabb_xy":[[-0.35826057517925036,0.29087625302863235],[-0.28326057496806445,0.3045205767345946]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.6147507331953184,0.7827223208032925,0.71338606911949],"aabb_xy":[[0.5836038143517353,0.7127223221164852],[0.6458976520389015,0.8527223194900996]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.03627572180014316,-2.1656488367793365,0.71338606911949],"aabb_xy":[[-0.0012242785480846077,-2.1774402323604196],[0.07377572214837091,-2.1538574411982525]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.42020877688722036,1.3886983702075417,0.71338606911949],"aabb_xy":[[-0.43062033556770396,1.3833526368716433],[-0.40979721820673654,1.39404410354344]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_4","position":[-0.15071599600587648,1.188672560055362,0.71338606911949],"aabb_xy":[[-0.15479415391292622,1.1845915798070987],[-0.14663783809882674,1.1927535403036253]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[-0.5707774626056276,0.06864651663820753,0.71338606911949],"aabb_xy":[[-0.5771912762488124,0.062236696390539185],[-0.5643636489624425,0.07505633688587586]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.511801406034532,1.3185680843323775,0.71338606911949],"aabb_xy":[[0.5012339263764329,1.308023054219369],[0.522368885692631,1.329113114445386]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.4927987866865504,0.005974234451118665,0.71338606911949],"aabb_xy":[[0.4027987843525313,-0.07150812013399399],[0.5827987890205695,0.08345658903623132]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.4650282701131636,0.47880915765953125,0.71338606911949],"aabb_xy":[[0.4150332591537117,0.42880915862393965],[0.5150232810726157,0.5288091566951231]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.2829897604658559,-1.4176402852309822,0.71338606911949],"aabb_xy":[[-0.28832733613186046,-1.442640286160122],[-0.2776521847998513,-1.3926402843018424]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.2583190714574435,1.483872662686808,0.71338606911949],"aabb_xy":[[0.21332648473899307,1.438872663412359],[0.3033116581758939,1.5288726619612565]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.09116938336990077,1.545106762684116,0.71338606911949],"aabb_xy":[[-0.12616938164002067,1.5380326349891276],[-0.056169385099780866,1.552180890379104]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.34251640919827564,-0.2928463628907698,0.71338606911949],"aabb_xy":[[-0.406516410876273,-0.34136375437008404],[-0.2785164075202783,-0.2443289714114556]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.5292796775910744,-0.84630893665457,0.71338606911949],"aabb_xy":[[-0.5353166905917391,-0.8523356377235182],[-0.5232426645904097,-0.8402822355856218]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.5016086919127365,1.668572946126345,0.71338606911949],"aabb_xy":[[0.4116086924943655,1.635197449282155],[0.5916086913311073,1.7019484429705345]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.39998481203168956,-0.5259586509954293,0.71338606911949],"aabb_xy":[[0.39082493308781296,-0.5324898690389662],[0.40914469097556616,-0.5194274329518921]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.23090812361658997,-2.5727231706360314,0.71338606911949],"aabb_xy":[[0.19590812364009413,-2.5821877866836482],[0.2659081235930858,-2.5632585545884146]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.3008719333956528,0.7184788384392906,0.71338606911949],"aabb_xy":[[-0.3648676307907494,0.6544788401385818],[-0.23687623600055624,0.7824788367399992]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.6700169898921333,-0.6073596430652797,0.71338606911949],"aabb_xy":[[0.6375552890102056,-0.637492475180182],[0.7024786907740606,-0.5772268109503769]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.20125015665328438,0.891545357411565,0.71338606911949],"aabb_xy":[[-0.2512501552992056,0.8416258137521027],[-0.15125015800736322,0.9414649010710274]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[-0.397449969274804,1.5498182106467078,0.71338606911949],"aabb_xy":[[-0.40623119642204036,1.541038463358178],[-0.3886687421275679,1.5585979579352385]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.13571203075645788,1.3207713634357665,0.71338606911949],"aabb_xy":[[0.11860995279808972,1.3036645579044968],[0.15281410871482604,1.3378781689670363]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.10277457616157204,1.088782198750497,0.71338606911949],"aabb_xy":[[-0.1202745095955554,1.0712821988302625],[-0.08527464272758865,1.1062821986707316]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.1806206001216879,-2.4930764291486835,0.71338606911949],"aabb_xy":[[0.17262661154398448,-2.5010765092437732],[0.18861458869939127,-2.485076349053593]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[-0.07904716331442951,-1.6910676765752355,0.71338606911949],"aabb_xy":[[-0.11467631921438926,-1.7267003433320884],[-0.04341800741446977,-1.6554350098183825]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_25","position":[-0.5660611623023195,-0.16678254407177073,0.71338606911949],"aabb_xy":[[-0.5710171824872007,-0.1892825442738924],[-0.5611051421174383,-0.14428254386964914]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[-0.4491908329939439,1.0087777496329604,0.71338606911949],"aabb_xy":[[-0.472106545878994,0.9858734524965371],[-0.4262751201088942,1.0316820467693841]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6445875455189485,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5663.png","name":"5663"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5663.png","name":"5663"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7084.png","name":"7084"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7926.png","name":"7926"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7660.png","name":"7660"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4879.png","name":"4879"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":667.6605302707815,"rotation_z_degrees":65.74594614416867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007750641273609301,-0.018020327925084203,0.013702424041100048]},{"name":"camera_2","offset_m":[0.01714600003485545,0.019653726175163328,-0.006313697337294189]},{"name":"camera_3","offset_m":[-0.001158049388150846,0.014087163607060114,-0.012928850905119993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005317359385366019,0.0010849117445787186,0.001892001518750696],"end_effector_yaw_offset_degrees":0.9611159021639459},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013566535804046419,-0.0013647324397073825,-0.0008626170872737537],"end_effector_yaw_offset_degrees":-0.710931816066265},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017401396386970075,0.001815855587758916,-0.0012197313231556138],"end_effector_yaw_offset_degrees":-0.7941992345658602},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015051895862260942,-0.0014124925148434647,-7.0852476905720364e-06],"end_effector_yaw_offset_degrees":-0.2416359930758396},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013038216913163338,0.00034029595044732935,-0.001753903771120982],"end_effector_yaw_offset_degrees":-0.09035976407947532},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0007314952964142334,-0.0009716618742129258,-0.0005980111271108117],"end_effector_yaw_offset_degrees":0.9508252492857128},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019140506192530272,-0.0005680987930393492,-0.000654883816683972],"end_effector_yaw_offset_degrees":0.00904894456849914},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013334136203661117,-0.000595857872880953,0.00029744736136302474],"end_effector_yaw_offset_degrees":0.8066035818763382},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010133352857058832,0.001419302907444687,-0.001044275630927571],"end_effector_yaw_offset_degrees":0.9759273919872324}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001946544827508721,-0.0023389772514056275],"position_m":[0.18520534551724913,-0.13903897725140563,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004417086197414638,7.390991707500322e-06],"position_m":[0.18318291380258536,0.0199073909917075,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026145940928477196,0.004799264303435636],"position_m":[0.20808540590715227,-0.3488007356965644,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.000815022405965659,-0.00132916018731694],"position_m":[0.2927849775940344,0.31427083981268306,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"2bab3a5e762a151925bd5535860938ad3d6d5c17081f5969b34a97887dedca89","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5663/tex_ceiling_textures_4879/tex_floor_textures_7660/tex_table_textures_7084/tex_wall_textures_7926","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5415058982724461301,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5415058982724461301,"visual_seed":5415058982724461301,"scene_id":"lab_003","finished_at":"2026-09-08T13:52:21"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T13:52:30","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.048311026482587005,-2.2345309539010234,0.71338606911949],"aabb_xy":[[-0.07159286868071833,-2.319530955198251],[-0.02502918428445566,-2.149530952603795]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.3261816159613068,1.5935218233127357,0.71338606911949],"aabb_xy":[[-0.34368154939529016,1.576021823392501],[-0.3086816825273234,1.61102182323297]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.5141962551757306,0.5585609554000563,0.71338606911949],"aabb_xy":[[-0.5387098792727365,0.5342963620980199],[-0.4896826310787248,0.5828255487020928]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[-0.401429870769139,-1.740214062888161,0.71338606911949],"aabb_xy":[[-0.4364298721206207,-1.7605737988449817],[-0.3664298694176572,-1.71985432693134]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.6043948062230824,1.5582425899151695,0.71338606911949],"aabb_xy":[[0.5670635296978399,1.5235895351203175],[0.6417260827483251,1.592895644710022]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.654248094250838,1.0868677653166818,0.71338606911949],"aabb_xy":[[0.6339637915274392,1.0665851401739728],[0.6745323969742367,1.1071503904593905]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.5041658660129211,-2.490318158487846,0.71338606911949],"aabb_xy":[[0.48666586673483425,-2.5076562585541926],[0.521665865291008,-2.4729800584215007]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.4613768244003827,-1.5101902749391853,0.71338606911949],"aabb_xy":[[-0.5413768214146306,-1.5303248266125968],[-0.3813768273861347,-1.4900557232657743]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.3328031365975704,-0.487197679905627,0.71338606911949],"aabb_xy":[[-0.3827981475570225,-0.5371976789412187],[-0.2828081256381184,-0.43719768087003535]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[0.13511185456259922,1.3116726326502492,0.71338606911949],"aabb_xy":[[0.11761185542823203,1.3017930056126614],[0.15261185369696637,1.321552259687837]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.24344666012789318,0.6277934763680921,0.71338606911949],"aabb_xy":[[-0.3234466575314866,0.5478009051699092],[-0.16344666272429975,0.7077860475662748]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.614917398422921,-0.07987666755647549,0.71338606911949],"aabb_xy":[[0.5974173981635844,-0.09396820974524814],[0.6324173986822577,-0.06578512536770288]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.29397173382909547,1.3836415126278911,0.71338606911949],"aabb_xy":[[0.20397173410592132,1.360568160092711],[0.38397173355226966,1.4067148651630708]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.5211280371992026,-0.36675713970255064,0.71338606911949],"aabb_xy":[[-0.5402403445571814,-0.38589191857979266],[-0.5020157298412237,-0.3476223608253086]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.46246509662687657,-1.9270925792462612,0.71338606911949],"aabb_xy":[[-0.5224650982697985,-1.9790927285382054],[-0.4024650949839547,-1.875092429954317]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.4358090024763186,1.7129375549359938,0.71338606911949],"aabb_xy":[[0.43173084456926886,1.7088565746877302],[0.43988716038336834,1.7170185351842568]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.009214853308009197,1.6827116967201685,0.71338606911949],"aabb_xy":[[-0.05578514764911801,1.6307634847864627],[0.0742148542651364,1.7346599086538739]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.18400172218839106,-0.7653059456254181,0.71338606911949],"aabb_xy":[[-0.24800171858396414,-0.8292692340441515],[-0.12000172579281798,-0.7013426572066844]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.5088866916479764,1.598298611192218,0.71338606911949],"aabb_xy":[[-0.558703471112811,1.5482986127079148],[-0.4590699121831415,1.6482986096765215]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.6107709968554156,1.7219098701676354,0.71338606911949],"aabb_xy":[[0.605433421189411,1.696909869238496],[0.6161085725214202,1.7469098710967756]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.17798334334164323,0.010715589488339283,0.71338606911949],"aabb_xy":[[-0.18590662358039156,-0.011784410749664076],[-0.1700600631028949,0.03321558972634264]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.5090642282071529,0.8643905741385973,0.71338606911949],"aabb_xy":[[0.445064231779831,0.8172209503165011],[0.5730642246344748,0.911560197960694]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.11931461950325362,-1.9778310560598595,0.71338606911949],"aabb_xy":[[-0.15681461932028717,-1.9824692673710014],[-0.08181461968622006,-1.9731928447487177]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_23","position":[-0.08819791026041868,-1.2025432746957663,0.71338606911949],"aabb_xy":[[-0.12569791020418508,-1.2108363647306026],[-0.05069791031665227,-1.1942501846609295]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.35763047651714996,1.1891086078480018,0.71338606911949],"aabb_xy":[[-0.38013047633105235,1.184633991477521],[-0.3351304767032476,1.1935832242184825]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.25359422018260236,-1.913026589706841,0.71338606911949],"aabb_xy":[[0.20646484118076658,-1.977026590751243],[0.3007235991844379,-1.849026588662439]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_26","position":[0.04852722380055119,-1.1003690393111198,0.71338606911949],"aabb_xy":[[0.015048056539510253,-1.1338481526822268],[0.08200639106159213,-1.0668899259400129]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[-0.5518683981353704,-1.2094193851330224,0.71338606911949],"aabb_xy":[[-0.6158683954377168,-1.253785812100879],[-0.48786840083302396,-1.1650529581651654]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[0.1806908155693947,1.237840794245741,0.71338606911949],"aabb_xy":[[0.16319081532434532,1.2203410064061742],[0.1981908158144441,1.2553405820853079]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[-0.19935967136185556,1.6098052833210619,0.71338606911949],"aabb_xy":[[-0.20349552769455576,1.572305283876705],[-0.19522381502915537,1.647305282765419]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[0.6115569625210233,-1.0017510986677682,0.71338606911949],"aabb_xy":[[0.6076430893256008,-1.010500114074325],[0.6154708357164458,-0.9930020832612114]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6490391014685895,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5817.png","name":"5817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5817.png","name":"5817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8333.png","name":"8333"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2646.png","name":"2646"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3061.png","name":"3061"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2411.png","name":"2411"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":569.0275710596683,"rotation_z_degrees":334.81693070861627,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018527532305822454,0.010885062575936851,0.007029567863311256]},{"name":"camera_2","offset_m":[-0.005588884702752605,-0.014655582918675067,-0.007347282114393847]},{"name":"camera_3","offset_m":[0.00012458414556473785,0.006453833584682926,-0.0147414026021831]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001684428414670635,0.00035342811123117686,0.00022170037490586722],"end_effector_yaw_offset_degrees":-0.07032048855050776},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010085347197240724,-0.0003341198304813427,0.001495325754314499],"end_effector_yaw_offset_degrees":0.22168318258738462},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018757976921475006,-0.00026071715359333243,-0.00022509262081755522],"end_effector_yaw_offset_degrees":0.7063416789241452},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008978854831737026,0.0017610236774037611,0.0013768074699967805],"end_effector_yaw_offset_degrees":-0.328013006975606},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008596791938072319,0.0001491798036543008,-0.0014879586224215342],"end_effector_yaw_offset_degrees":-0.2614079979402544},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000712881717304498,0.0003951465055261256,-0.00173637994123583],"end_effector_yaw_offset_degrees":0.34058833284155754},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00034309042330967583,-0.001964486197790468,0.0014926420419642725],"end_effector_yaw_offset_degrees":0.4027282132010557},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[4.0830491678905e-05,0.0017900596336272814,-0.0008846895773116734],"end_effector_yaw_offset_degrees":0.131021306189689},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016161300878041094,-0.0015474629407299378,0.0007691067764512846],"end_effector_yaw_offset_degrees":-0.2623456382558065}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020786866726973806,-9.145349430846571e-05],"position_m":[0.18332131332730262,-0.13679145349430846,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023235118036127656,0.0016140090326013786],"position_m":[0.18527648819638723,0.02151400903260138,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004390546115021514,0.0013217119922470967],"position_m":[0.20630945388497848,-0.3522782880077529,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0012220032859480623,0.004130898912565086],"position_m":[0.2948220032859481,0.31973089891256506,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d4f276f8a3520985442b4fb01eee629e1d6e3f842ed235ab9ce6ac805fe92882","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5817/tex_ceiling_textures_2411/tex_floor_textures_3061/tex_table_textures_8333/tex_wall_textures_2646","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6470114643852421696,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6470114643852421696,"visual_seed":6470114643852421696,"scene_id":"lab_003","finished_at":"2026-09-08T14:03:06"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T14:03:15","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[-0.05721757394912419,0.8010489703620078,0.71338606911949],"aabb_xy":[[-0.09471757237252454,0.7878847563941771],[-0.019717575525723834,0.8142131843298384]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.24875608079828793,-0.6305713035184926,0.71338606911949],"aabb_xy":[[0.23207894480519242,-0.6472712274924228],[0.26543321679138343,-0.6138713795445623]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.04955125976325547,-1.191889609578911,0.71338606911949],"aabb_xy":[[-0.09952432529577096,-1.2418896093914442],[0.0004218057692599934,-1.1418896097663784]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.48090005536522706,-2.2206147897352033,0.71338606911949],"aabb_xy":[[-0.5459000563223542,-2.272563001668909],[-0.41590005440809985,-2.1686665778014977]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.3185502349145628,0.4423745269992092,0.71338606911949],"aabb_xy":[[-0.36803065612852165,0.3783745290863574],[-0.26906981370060407,0.506374524912061]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.5116929564385346,-0.6666454915708431,0.71338606911949],"aabb_xy":[[0.4812087063115045,-0.7166454913523389],[0.5421772065655648,-0.616645491789347]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.0362400517977125,-1.6571828589297637,0.71338606911949],"aabb_xy":[[0.005093132954129387,-1.7271828576165706],[0.06738697064129562,-1.5871828602429563]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.40351259645815263,-1.9466218114150013,0.71338606911949],"aabb_xy":[[-0.4533952933358488,-1.9966218106612765],[-0.3536298995804564,-1.896621812168727]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.08832869858436387,-0.6611046873637985,0.71338606911949],"aabb_xy":[[0.06310786172452419,-0.686328438216685],[0.11354953544420353,-0.6358809365109115]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.6776757977246648,-2.430345612931368,0.71338606911949],"aabb_xy":[[0.6420466418247051,-2.465978279688221],[0.7133049536246245,-2.394712946174515]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[-0.3243851481074315,-0.4587760789984334,0.71338606911949],"aabb_xy":[[-0.34225425586188696,-0.47260898697564435],[-0.30651604035297597,-0.4449431710212225]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.6672204515661446,0.31130088131786815,0.71338606911949],"aabb_xy":[[0.6617625059291244,0.23130087801020904],[0.6726783972031646,0.39130088462552726]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.06111186624541465,1.7144447276135737,0.71338606911949],"aabb_xy":[[-0.14611186466283788,1.6295704321512887],[0.02388813217200858,1.7993190230758587]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.21233605053381932,-1.9958313287435814,0.71338606911949],"aabb_xy":[[-0.2298360507788687,-2.013331116583148],[-0.19483605028876994,-1.9783315409040143]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.1529437458341043,0.5056589049779707,0.71338606911949],"aabb_xy":[[-0.20294302100254047,0.45565890370202355],[-0.10294447066566814,0.5556589062539179]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[0.6768392614750007,-0.542368752159812,0.71338606911949],"aabb_xy":[[0.657726954117022,-0.561503531037054],[0.6959515688329797,-0.5232339732825699]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.5615709174093247,-1.9517667131480771,0.71338606911949],"aabb_xy":[[-0.621570917660726,-2.0060480381845416],[-0.5015709171579237,-1.8974853881116123]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.6034781796602526,-1.5050608264025656,0.71338606911949],"aabb_xy":[[-0.6409781804522481,-1.5114286673607555],[-0.5659781788682572,-1.4986929854443756]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.5680363083948488,0.8073360555043574,0.71338606911949],"aabb_xy":[[0.525851894234018,0.7433360552271462],[0.6102207225556795,0.8713360557815686]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.19755547400952617,-1.6302170724276681,0.71338606911949],"aabb_xy":[[-0.2615554742835044,-1.6802831726249563],[-0.13355547373554794,-1.5801509722303804]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.24837967965672275,1.086582014241149,0.71338606911949],"aabb_xy":[[-0.2597414143100089,1.0752135478348608],[-0.2370179450034366,1.097950480647437]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.36932963912426564,-0.8243702936611375,0.71338606911949],"aabb_xy":[[-0.4333296424139737,-0.8677052126650551],[-0.30532963583455747,-0.7810353746572198]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[-0.25091513691779455,-0.3838099402713433,0.71338606911949],"aabb_xy":[[-0.26601743837881253,-0.398911461902405],[-0.23581283545677637,-0.36870841864028137]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[-0.36428274086129,-1.0834219911691854,0.71338606911949],"aabb_xy":[[-0.42191320974856067,-1.1434219900958957],[-0.306652271974019,-1.0234219922424745]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.2515602096393939,-2.3979772805449984,0.71338606911949],"aabb_xy":[[-0.2603622649483666,-2.405788606699927],[-0.24275815433042122,-2.390165954390069]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.14618659396874412,0.9008222111258579,0.71338606911949],"aabb_xy":[[-0.15343036001498944,0.8208222129222555],[-0.1389428279224988,0.9808222093294603]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.5685797355058979,-1.958115800815475,0.71338606911949],"aabb_xy":[[0.5625427225052332,-1.9641425018844236],[0.5746167485065626,-1.9520890997465274]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[-0.5310313692752203,0.3389089016044089,0.71338606911949],"aabb_xy":[[-0.5351672256079206,0.3014089021600519],[-0.5268955129425202,0.3764089010487659]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.3589795760828631,-1.1553970646408904,0.71338606911949],"aabb_xy":[[0.3089795744213683,-1.205395506896593],[0.40897957774435784,-1.1053986223851875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6436567216226073,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3248.png","name":"3248"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7955.png","name":"7955"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/894.png","name":"894"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1335.png","name":"1335"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":654.6392280120716,"rotation_z_degrees":303.858245683724,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008313348506612302,0.01891879223190215,-0.009929892506100714]},{"name":"camera_2","offset_m":[-0.016461386970980256,-0.001596999031162217,-0.016142246245887542]},{"name":"camera_3","offset_m":[0.0023998158763638908,-0.0001761475973388743,0.014217723097422853]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002191303467062324,0.00133453461251149,0.0019751446355862293],"end_effector_yaw_offset_degrees":-0.3291208339252709},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016402938918715386,-0.0018954191199859283,-0.001772054699542179],"end_effector_yaw_offset_degrees":-0.632812472490051},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019582660717292486,0.0003171909016562065,0.00045255934466726603],"end_effector_yaw_offset_degrees":0.22937396294056644},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-7.003073661633586e-05,-0.0005112061064727054,-0.0006389513965057909],"end_effector_yaw_offset_degrees":0.5898210416613123},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0018964867960526047,-0.0003987376530836433,0.0013360073874642531],"end_effector_yaw_offset_degrees":-0.5511186970582413},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0010599991081831918,0.0004220937136219013,0.0009183210534666948],"end_effector_yaw_offset_degrees":0.21034707365373762},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008195081670233618,0.0009699382655428664,-0.00013949726138359525],"end_effector_yaw_offset_degrees":0.019815199500219816},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0012663236811334844,0.0008038001519344931,0.0018366585246884994],"end_effector_yaw_offset_degrees":0.5270478077044989},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0002348507852910726,-0.00035644898250755566,0.0012087627860648768],"end_effector_yaw_offset_degrees":-0.7867274911815123}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004375366151431038,0.0035280266486936622],"position_m":[0.18102463384856898,-0.13317197335130632,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002271811752800226,-0.003933698755986375],"position_m":[0.1898718117528002,0.015966301244013624,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018043004922914784,0.0011336739677097639],"position_m":[0.20889569950770853,-0.3524663260322903,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0017958232419913057,-0.0014821396160212543],"position_m":[0.29180417675800874,0.31411786038397876,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"3229c390f4cda291fbde5167f989b79001b8556fec695189fad26ea88366db0a","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6639/tex_ceiling_textures_1335/tex_floor_textures_894/tex_table_textures_3248/tex_wall_textures_7955","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7796892365185100091,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7796892365185100091,"visual_seed":7796892365185100091,"scene_id":"lab_003","finished_at":"2026-09-08T14:15:02"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T14:15:11","dimensions":{"distractor":{"count":28,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.4674121587488672,1.3589629030727468,0.71338606911949],"aabb_xy":[[-0.5474121557631151,1.3388283513993353],[-0.3874121617346191,1.3790974547461579]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.519352226407866,1.6642403862813375,0.71338606911949],"aabb_xy":[[-0.5253892394085308,1.6582136852123897],[-0.5133152134072013,1.6702670873502858]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.3665684115700296,1.2154487381851782,0.71338606911949],"aabb_xy":[[0.34202219594727884,1.185199841636141],[0.3911146271927803,1.245697634734215]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.34769958526623096,0.9179373492863183,0.71338606911949],"aabb_xy":[[-0.43769958176710266,0.87202570686786],[-0.25769958876535914,0.9638489917047764]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.3334372630922946,-0.39986194008990283,0.71338606911949],"aabb_xy":[[0.30843726382033226,-0.4162073036860652],[0.3584372623642568,-0.3835165764937405]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.6765292381448003,1.5802412451736054,0.71338606911949],"aabb_xy":[[0.6293998591429646,1.5162412441292032],[0.7236586171466359,1.6442412462180072]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.3608276421733509,-1.4655655452728489,0.71338606911949],"aabb_xy":[[-0.42582764032926995,-1.4918617898227609],[-0.29582764401743183,-1.4392693007229365]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[-0.11319624729452493,-2.511515605657177,0.71338606911949],"aabb_xy":[[-0.16819624647111442,-2.566505280432134],[-0.058196248117935445,-2.456525930882219]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[-0.07995453573567202,-2.194915829150296,0.71338606911949],"aabb_xy":[[-0.15995453432299145,-2.274231431088457],[4.5462851647401485e-05,-2.115600227212135]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.14888477801280087,-0.8337812927792996,0.71338606911949],"aabb_xy":[[0.11138477784092893,-0.8664820281622068],[0.1863847781846728,-0.8010805573963924]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.16260111757050633,0.9272716158539009,0.71338606911949],"aabb_xy":[[-0.20010111751427273,0.9189785258190643],[-0.12510111762673992,0.9355647058887374]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.39948385891134164,-0.7524992860172652,0.71338606911949],"aabb_xy":[[0.39244354897780476,-0.8324992854169367],[0.40652416884487874,-0.6724992866175938]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.43560832007906103,0.6851220790897492,0.71338606911949],"aabb_xy":[[0.4117721024384561,0.5951220782812627],[0.4594445377196662,0.7751220798982358]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.4031941104426384,-1.013972861595935,0.71338606911949],"aabb_xy":[[0.3903222069416982,-1.0939728620097708],[0.4160660139435785,-0.9339728611820987]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.16164989277371755,1.0841327644174745,0.71338606911949],"aabb_xy":[[-0.22664989377421804,1.0333463992627996],[-0.096649891773217,1.1349191295721495]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.003926701174193692,-0.6961317503810505,0.71338606911949],"aabb_xy":[[-0.031073297136501754,-0.7038467653045961],[0.03892669948488914,-0.6884167354575048]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.19931691627419018,-1.657696998451645,0.71338606911949],"aabb_xy":[[-0.2494143802552638,-1.7216969989614568],[-0.14921945229311656,-1.5936969979418332]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.6648075196996999,-1.239813896355083,0.71338606911949],"aabb_xy":[[0.6473075194546504,-1.25731368419465],[0.6823075199447491,-1.2223141085155163]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[-0.550823888449667,0.9320589947352391,0.71338606911949],"aabb_xy":[[-0.6008238894001997,0.9005098477317176],[-0.5008238874991341,0.9636081417387604]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.01543696480948098,1.101405939850285,0.71338606911949],"aabb_xy":[[0.006277085865604383,1.0948747218067478],[0.024596843753357578,1.107937157893822]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.4774364701659598,-1.631709151264841,0.71338606911949],"aabb_xy":[[-0.5324364697877056,-1.6866928440523137],[-0.42243647054421396,-1.5767254584773682]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.10476491312132641,-0.6462430626576561,0.71338606911949],"aabb_xy":[[0.08785418068498463,-0.6597152682502705],[0.12167564555766819,-0.6327708570650414]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.5419737115482586,1.3809894413180759,0.71338606911949],"aabb_xy":[[0.4519737078713403,1.3195570347409713],[0.6319737152251766,1.44242184789518]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[0.08484170629136578,-1.8940796452513893,0.71338606911949],"aabb_xy":[[-0.005158290444244443,-1.9472631085686836],[0.174841703026976,-1.8408961819340945]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[0.2553952889051919,-0.8001606217945036,0.71338606911949],"aabb_xy":[[0.2460482813228967,-0.8144642440121477],[0.26474229648748715,-0.7858569995768596]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[0.6256332417480277,0.5428181948337607,0.71338606911949],"aabb_xy":[[0.5456332403179005,0.46330103982115123],[0.7056332431781549,0.6223353498463702]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_26","position":[0.49350341861261304,-1.0537395781934111,0.71338606911949],"aabb_xy":[[0.45700759798533425,-1.0902235206201687],[0.5299992392398918,-1.0172556357666536]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[-0.33899999285304183,1.7515429720764586,0.71338606911949],"aabb_xy":[[-0.36899165558691216,1.7215429727396576],[-0.3090083301191715,1.7815429714132587]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6509114083182518,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6293.png","name":"6293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6293.png","name":"6293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6790.png","name":"6790"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5349.png","name":"5349"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1560.png","name":"1560"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/630.png","name":"630"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":642.3852098303184,"rotation_z_degrees":167.19642559782716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002731092142134267,0.0010111403162837082,0.016940996012791188]},{"name":"camera_2","offset_m":[-0.008346296257857513,-0.004473809610824256,0.015788143156610857]},{"name":"camera_3","offset_m":[-0.0009951443806404288,0.001407861029607483,0.001336410612668995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005896930749633108,-0.0010182195924084726,0.000921453340070189],"end_effector_yaw_offset_degrees":0.1849908446435231},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008516997644157612,6.351513142095842e-05,0.001454350296354379],"end_effector_yaw_offset_degrees":-0.05213528048646143},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001956868526573957,-0.0013485174944249288,0.0012595065114932085],"end_effector_yaw_offset_degrees":-0.14267179433943356},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017680809974396665,-0.001881928632119207,0.0018119366799940221],"end_effector_yaw_offset_degrees":-0.13190894500560457},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001265247330061439,-0.0004154232644541507,-0.0015519488296622873],"end_effector_yaw_offset_degrees":-0.39180688389289964},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012320369070406905,-0.0007909073646583788,-0.0015884203699174045],"end_effector_yaw_offset_degrees":0.5176037980780508},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007522024348752473,0.0017440638954783895,-0.0003910754529614824],"end_effector_yaw_offset_degrees":0.5411472570784153},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001747293713482324,-0.0011022440082459643,-0.00041692285374528206],"end_effector_yaw_offset_degrees":-0.7856388968961885},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002397969136835893,0.0008390385445701258,-0.0017476408457424767],"end_effector_yaw_offset_degrees":0.9600401159761145}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001938737579585341,0.004606584446242548],"position_m":[0.18733873757958536,-0.13209341555375745,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001688605306899603,-0.003676042692104561],"position_m":[0.1892886053068996,0.01622395730789544,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004164004452484129,-0.00031798893418587097],"position_m":[0.20653599554751587,-0.3539179889341859,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00462387867052048,0.0019016110112164055],"position_m":[0.2982238786705205,0.3175016110112164,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"7aef1cae67e577951115750c8a7c74398e0b0479bb7a354b48100f9a2e0f8670","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6293/tex_ceiling_textures_630/tex_floor_textures_1560/tex_table_textures_6790/tex_wall_textures_5349","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8240173755411007707,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8240173755411007707,"visual_seed":8240173755411007707,"scene_id":"lab_003","finished_at":"2026-09-08T14:25:48"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T14:25:57","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.3948319587564929,-2.3240902644145587,0.71338606911949],"aabb_xy":[[-0.43233195994128565,-2.3285084871106183],[-0.35733195757170005,-2.3196720417184973]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.630958963204194,-1.4493502839462182,0.71338606911949],"aabb_xy":[[-0.6909589640650066,-1.5007767139527044],[-0.570958962343381,-1.3979238539397316]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.2720187117861389,0.9287728334795742,0.71338606911949],"aabb_xy":[[-0.2895187120454756,0.9146812912908018],[-0.25451871152680233,0.942864375668347]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.2712733718201822,-0.8339057595977053,0.71338606911949],"aabb_xy":[[0.21627337361843732,-0.8744277262241429],[0.32627337002192697,-0.7933837929712677]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[0.6729496632142269,0.17451076344727978,0.71338606911949],"aabb_xy":[[0.6229548302862854,0.12451076455203625],[0.7229444961421686,0.22451076234252332]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.14066384178348157,-0.3912516850622447,0.71338606911949],"aabb_xy":[[-0.1762929976834413,-0.4268843518190977],[-0.10503468588352183,-0.3556190183053918]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[0.10244544133329325,-0.8368778983057137,0.71338606911949],"aabb_xy":[[0.09423089621760927,-0.8455544886033548],[0.11065998644897723,-0.8282013080080721]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.46632142200494064,-1.0117560106878223,0.71338606911949],"aabb_xy":[[-0.5048671148301416,-1.050301781744011],[-0.42777572917973955,-0.9732102396316337]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[0.4152630826228074,-0.5425640447024445,0.71338606911949],"aabb_xy":[[0.4118224063827503,-0.5464254776768089],[0.41870375886286465,-0.53870261172808]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.15014714470032198,-1.219999602643475,0.71338606911949],"aabb_xy":[[0.14244395402624493,-1.2277089733422129],[0.15785033537439902,-1.212290231944737]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[-0.35783548855831726,-1.3291362840808834,0.71338606911949],"aabb_xy":[[-0.4475225648664327,-1.419136284335334],[-0.2681484122502018,-1.2391362838264328]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.6736859928113144,-2.077145836648614,0.71338606911949],"aabb_xy":[[0.6561859936769472,-2.087025463686202],[0.6911859919456815,-2.0672662096110264]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.6084134920663,-1.2742865398609267,0.71338606911949],"aabb_xy":[[0.5444134901539578,-1.3301976891189373],[0.6724134939786425,-1.2183753906029164]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.411019060757571,-1.9329566177906168,0.71338606911949],"aabb_xy":[[0.35101905911464915,-1.984956767082561],[0.47101906240049285,-1.8809564684986726]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.2570745533213309,0.5602484168118473,0.71338606911949],"aabb_xy":[[0.21957455282397265,0.5562797332637289],[0.29457455381868913,0.5642171003599658]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.18861127363933827,0.5883985295862351,0.71338606911949],"aabb_xy":[[-0.2037135751003563,0.573297007955173],[-0.1735089721783201,0.6035000512172967]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.18291773309481907,-2.356159053043883,0.71338606911949],"aabb_xy":[[0.17660563355848063,-2.3619259922971017],[0.1892298326311575,-2.3503921137906643]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.17696012291170193,-0.7648147641515728,0.71338606911949],"aabb_xy":[[-0.18872830970635948,-0.8498147640567947],[-0.1651919361170444,-0.6798147642463515]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.5854579703370906,-2.2336643342353177,0.71338606911949],"aabb_xy":[[0.5504579720669706,-2.2407384619303055],[0.6204579686072104,-2.226590206540329]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.6330576048480538,-1.8627246138717142,0.71338606911949],"aabb_xy":[[-0.650159682806422,-1.879831419402984],[-0.6159555268896857,-1.8456178083404444]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.4784875272641116,-2.1190638762683216,0.71338606911949],"aabb_xy":[[-0.5584875277343276,-2.1273745838826703],[-0.39848752679389576,-2.1107531686539738]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.4590281464256458,-1.7951252893000924,0.71338606911949],"aabb_xy":[[0.4545975170708057,-1.800573661034775],[0.46345877578048605,-1.78967691756541]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.5764843294170978,0.7669932093080418,0.71338606911949],"aabb_xy":[[0.5405708249921081,0.7310797010912872],[0.6123978338420873,0.8029067175247965]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[-0.02284787551895129,0.8153811735813026,0.71338606911949],"aabb_xy":[[-0.033753651606514,0.7353811771824733],[-0.011942099431388575,0.8953811699801316]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[0.4657366856164269,-1.1825550618124934,0.71338606911949],"aabb_xy":[[0.4603991099504223,-1.2075550627416332],[0.47107426128243146,-1.1575550608833536]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_25","position":[0.41422861222543683,0.13047502919860454,0.71338606911949],"aabb_xy":[[0.3767286124084033,0.12583681788746265],[0.4517286120424704,0.13511324050974638]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[-0.4054563846221806,0.6240086794878357,0.71338606911949],"aabb_xy":[[-0.4525857636240162,0.5600086784434335],[-0.35832700562034486,0.6880086805322374]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[-0.03726113140777032,-1.7267508623376755,0.71338606911949],"aabb_xy":[[-0.05483943359671717,-1.7443253519117803],[-0.019682829218823472,-1.7091763727635703]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[0.4643458297966101,-0.25546014457149324,0.71338606911949],"aabb_xy":[[0.4003458334010371,-0.31942343299022685],[0.5283458261921832,-0.19149685615275974]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_29","position":[-0.03745171421296145,0.9861981727086464,0.71338606911949],"aabb_xy":[[-0.10145171626269345,0.9461036896193384],[0.026548287836770545,1.0262926557979544]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_30","position":[0.069760724077083,1.4105632556529892,0.71338606911949],"aabb_xy":[[0.026994017197662798,1.3465632522311866],[0.11252743095650318,1.4745632590747915]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_31","position":[0.6388010386232743,1.2469183073722405,0.71338606911949],"aabb_xy":[[0.5748010354046366,1.200195195473232],[0.7028010418419123,1.2936414192712486]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_32","position":[-0.25147518233596344,-2.2032449997482235,0.71338606911949],"aabb_xy":[[-0.3154751809225359,-2.250251963147732],[-0.18747518374939098,-2.1562380363487144]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.646088598926829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7293.png","name":"7293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7293.png","name":"7293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6375.png","name":"6375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3494.png","name":"3494"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6035.png","name":"6035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6422.png","name":"6422"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":559.8720712453105,"rotation_z_degrees":248.12386754057383,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0136802279937045,0.0018000096309474106,-0.006004810947337123]},{"name":"camera_2","offset_m":[0.009813873528770927,-0.01216999673713743,-0.01534269108329105]},{"name":"camera_3","offset_m":[-0.01021655984252622,-0.0007700618362860394,0.011356120771386594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006576495804788954,0.0012221708757241775,-0.000668144919069232],"end_effector_yaw_offset_degrees":-0.08140470396808763},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008136739820185993,0.00042704967243891584,0.0015418709431269943],"end_effector_yaw_offset_degrees":0.6311371642520041},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008793963591107988,0.001201262251678205,-0.0014070562229970694],"end_effector_yaw_offset_degrees":0.6378771811868049},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013621498638042217,0.00027415639502040073,0.000205086151957429],"end_effector_yaw_offset_degrees":-0.9138429069692098},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0002495365153347448,0.0004852504459262547,-0.0014531553374921048],"end_effector_yaw_offset_degrees":-0.5054944055696722},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001686185771617854,0.001534132213127168,0.000687801010276021],"end_effector_yaw_offset_degrees":0.4016843039685727},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019098833358760113,9.834344615704824e-05,-1.194763014241004e-05],"end_effector_yaw_offset_degrees":-0.7948023302128266},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017087924947774167,0.0003212278953718898,0.0012018743025074686],"end_effector_yaw_offset_degrees":0.39971113418106907},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008266223262514854,-0.0012434530364919105,-9.522988967639316e-05],"end_effector_yaw_offset_degrees":-0.3366348879295673}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034159803079572403,0.0003408926682733956],"position_m":[0.18198401969204278,-0.1363591073317266,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00275881185520481,-0.00030727468635428565],"position_m":[0.18484118814479517,0.019592725313645715,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011872012700191907,-0.0007387219977394556],"position_m":[0.2118872012700192,-0.35433872199773947,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0013288342512927185,-0.002094214132098542],"position_m":[0.29492883425129274,0.31350578586790145,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"5768beabeb1b3408e531b48ced1712b1e56cf3b71fc9a1fd9677e81638bf5562","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7293/tex_ceiling_textures_6422/tex_floor_textures_6035/tex_table_textures_6375/tex_wall_textures_3494","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7292172038702472012,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7292172038702472012,"visual_seed":7292172038702472012,"scene_id":"lab_003","finished_at":"2026-09-08T14:36:26"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T14:36:35","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.16353578896252075,1.238750033772797,0.71338606911949],"aabb_xy":[[-0.17166347715583394,1.2298364253620893],[-0.1554081007692075,1.2476636421835048]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.18566050949516488,1.4738025977176794,0.71338606911949],"aabb_xy":[[0.18195724816602601,1.4701005794089617],[0.18936377082430375,1.4775046160263972]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.2862886016098594,-1.006547616930564,0.71338606911949],"aabb_xy":[[-0.31461831155839964,-1.011008359124281],[-0.2579588916613192,-1.002086874736847]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.19214185309084364,-2.265581548474191,0.71338606911949],"aabb_xy":[[0.11214185593126835,-2.277129149432008],[0.2721418502504189,-2.254033947516374]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.10291072531869838,-1.3602042428725516,0.71338606911949],"aabb_xy":[[-0.1109369959493244,-1.368955737849904],[-0.0948844546880724,-1.3514527478951988]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.2444711668493974,-1.4810677188793109,0.71338606911949],"aabb_xy":[[-0.2484316506191318,-1.4887355834648315],[-0.24051068307966306,-1.4733998542937903]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[-0.4535473098768344,-0.747847226639746,0.71338606911949],"aabb_xy":[[-0.48946081430182403,-0.7837607348565006],[-0.41763380545184464,-0.7119337184229912]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.33388673075054237,0.3725668773663773,0.71338606911949],"aabb_xy":[[-0.34545571149747895,0.34756687724944557],[-0.3223177500036058,0.397566877483309]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[0.5417610338661543,-0.3581832473458255,0.71338606911949],"aabb_xy":[[0.47776103469638437,-0.404949934464788],[0.6057610330359242,-0.31141656022686304]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.6110694655615803,0.9619561512320809,0.71338606911949],"aabb_xy":[[-0.6197834346115145,0.9394561505728926],[-0.6023554965116455,0.984456151891269]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.08150246500882141,1.579725969136215,0.71338606911949],"aabb_xy":[[0.023871996121550533,1.519725970209504],[0.13913293389609221,1.6397259680629253]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.19067625282899703,-0.8640581412562611,0.71338606911949],"aabb_xy":[[0.1778043493280569,-0.9440581416700973],[0.20354815632993717,-0.784058140842425]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.5860010518630056,-0.43092624922401823,0.71338606911949],"aabb_xy":[[-0.5939945416582877,-0.438924381164494],[-0.5780075620677236,-0.4229281172835427]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.1849727142769193,-1.4421045249840458,0.71338606911949],"aabb_xy":[[0.1624727140334039,-1.4543091596438178],[0.2074727145204347,-1.429899890324274]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.4167256240430428,-1.1262289815570494,0.71338606911949],"aabb_xy":[[-0.4342256243023796,-1.1403205237458223],[-0.39922562378370635,-1.112137439368277]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.4015983812043731,0.4009823152115519,0.71338606911949],"aabb_xy":[[0.3790983816806656,0.3784863677609311],[0.4240983807280804,0.42347826266217264]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.5233761509114695,1.3217858882957572,0.71338606911949],"aabb_xy":[[-0.5783761505332154,1.2668021955082844],[-0.46837615128972376,1.3767695810832299]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.24199153605522972,1.7731533363934253,0.71338606911949],"aabb_xy":[[0.17699153509810245,1.7212051244597195],[0.3069915370123568,1.8251015483271307]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.6462606265841733,-0.15005975404253125,0.71338606911949],"aabb_xy":[[0.6344924397895159,-0.23505975394775286],[0.6580288133788309,-0.0650597541373097]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.5779315678632801,0.06958050413856354,0.71338606911949],"aabb_xy":[[-0.6229241545817306,0.02458050486411477],[-0.5329389811448297,0.11458050341301228]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.4807656601752484,-0.11647302757745015,0.71338606911949],"aabb_xy":[[-0.4863473318093772,-0.12897302739522565],[-0.4751839885411197,-0.10397302775967467]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[-0.22454197473240511,-1.1732152049450837,0.71338606911949],"aabb_xy":[[-0.2325853346583603,-1.25821520604045],[-0.21649861480644994,-1.088215203849717]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.6240484370004333,-0.7593199565708533,0.71338606911949],"aabb_xy":[[-0.6300149759411692,-0.7652811012302172],[-0.6180818980596977,-0.7533588119114891]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.43681065065945224,-1.561509304417214,0.71338606911949],"aabb_xy":[[0.356810649229325,-1.6410264594298232],[0.5168106520895794,-1.4819921494046042]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[0.09652289514446721,0.8886452630572124,0.71338606911949],"aabb_xy":[[0.07152289587250493,0.8722998994610501],[0.1215228944164295,0.9049906266533748]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[0.3716172338205366,-2.3542970695743035,0.71338606911949],"aabb_xy":[[0.3589904465333402,-2.363843143275876],[0.3842440211077329,-2.34475099587273]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[-0.16937788425651978,-2.043657373610426,0.71338606911949],"aabb_xy":[[-0.24937788127076777,-2.0637919252838373],[-0.0893778872422718,-2.023522821937015]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[0.09181549130892552,-1.901991304918115,0.71338606911949],"aabb_xy":[[0.03684176927259264,-1.9569913044823481],[0.1467892133452584,-1.8469913053538818]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_28","position":[0.5064031484747022,-2.3199122536516974,0.71338606911949],"aabb_xy":[[0.46890314818252743,-2.323953729052301],[0.5439031487668771,-2.3158707782510937]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_29","position":[0.4518909461689331,-1.8159957261851716,0.71338606911949],"aabb_xy":[[0.401890945808367,-1.8659757133947745],[0.5018909465294991,-1.7660157389755686]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_30","position":[-0.39166293440845357,-0.32771155792903217,0.71338606911949],"aabb_xy":[[-0.42666293353840923,-0.3334567790046963],[-0.3566629352784979,-0.32196633685336806]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_31","position":[-0.04089826476103864,-2.3043685382693186,0.71338606911949],"aabb_xy":[[-0.04860145543511568,-2.3120779089680568],[-0.033195074086961596,-2.2966591675705805]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_32","position":[0.5135667974955938,-2.016490667557289,0.71338606911949],"aabb_xy":[[0.44956679544586164,-2.0565851506465966],[0.5775667995453256,-1.9763961844679807]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_33","position":[-0.2447669669283744,1.5779576685636116,0.71338606911949],"aabb_xy":[[-0.2998921725579652,1.5179576671223243],[-0.18964176129878363,1.6379576700048986]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_34","position":[-0.19365600631459745,-1.7869906421763804,0.71338606911949],"aabb_xy":[[-0.2836560049090674,-1.8032412284898016],[-0.10365600772012754,-1.7707400558629596]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6476158843649698,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2634.png","name":"2634"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5212.png","name":"5212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9446.png","name":"9446"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":643.2816084847026,"rotation_z_degrees":114.43615508280537,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016175423354619283,0.00681917210644984,-0.013083718682902378]},{"name":"camera_2","offset_m":[-0.013059131674160063,-0.00538791440643176,0.005293275517757271]},{"name":"camera_3","offset_m":[-0.019818545271868028,-0.0011206052013646474,-0.009547096157325075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017019561214276977,0.0005077662955610225,-0.001977349185526729],"end_effector_yaw_offset_degrees":-0.42585233870834216},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016828487070170497,-8.082783987671061e-05,-0.0019823250669480197],"end_effector_yaw_offset_degrees":-0.8778144749273309},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018119393328255634,0.0007304663793552711,-0.0016041509647986146],"end_effector_yaw_offset_degrees":0.9058970496059227},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018334489665253928,-0.0014424189539246107,0.0019915654290712714],"end_effector_yaw_offset_degrees":-0.49568035149498924},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008492024916419774,0.0007267284862809077,-0.0014360513615262174],"end_effector_yaw_offset_degrees":0.2566615294889043},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00026388810728901957,-0.0014533086331206123,-0.001053490684423173],"end_effector_yaw_offset_degrees":-0.5388369104414219},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001530092624987241,-0.0016916718611562948,0.0015834672233025755],"end_effector_yaw_offset_degrees":-0.9840617910165852},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011240801816438778,0.0009140901183402623,0.0005817698939940279],"end_effector_yaw_offset_degrees":0.2595676855928688},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019551200744882813,0.00014083270424178687,0.00030300813676233454],"end_effector_yaw_offset_degrees":-0.6532508923954656}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030625146413912627,0.0044858854773157765],"position_m":[0.18233748535860875,-0.13221411452268422,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004602118177309422,-0.0013625155946014001],"position_m":[0.19220211817730942,0.0185374844053986,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001352626885669045,-0.004104062093984529],"position_m":[0.20934737311433096,-0.35770406209398453,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002706641825730414,-0.0014294906356369617],"position_m":[0.29630664182573047,0.314170509364363,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"312ad57d791118f480c6387f10f5f49ec6dac255b245687503c4e73c7f4e42bc","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_327/tex_ceiling_textures_1496/tex_floor_textures_9446/tex_table_textures_2634/tex_wall_textures_5212","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7431371616036787025,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7431371616036787025,"visual_seed":7431371616036787025,"scene_id":"lab_003","finished_at":"2026-09-08T14:47:09"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T15:00:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.01653455287639416,-0.6585694273347065,0.71338606911949],"aabb_xy":[[-0.039034553388434756,-0.6810612857001047],[0.005965447635646437,-0.636077568969308]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.3885306076607502,0.4759534260294922,0.71338606911949],"aabb_xy":[[0.35168005972376265,0.4384534252064585],[0.42538115559773787,0.5134534268525259]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.38690656389219047,-0.733179680433071,0.71338606911949],"aabb_xy":[[0.34940656546879006,-0.7463438944009015],[0.42440656231559076,-0.7200154664652403]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.27420286441529296,0.7547703868788873,0.71338606911949],"aabb_xy":[[-0.30866534242838073,0.7481067096959644],[-0.23974038640220519,0.76143406406181]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.33751822973871204,-1.1298561005951937,0.71338606911949],"aabb_xy":[[0.31501822949519664,-1.1420607352549659],[0.36001822998222743,-1.117651465935422]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.46613858002812814,0.3460534839361413,0.71338606911949],"aabb_xy":[[0.44396605305147724,0.32387781678001815],[0.4883111070047789,0.3682291510922645]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[0.034457528789172964,-2.3061037813279355,0.71338606911949],"aabb_xy":[[-0.013348638824595683,-2.3711037840349944],[0.08226369640294162,-2.2411037786208765]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.06798851143792006,-0.7115143888559043,0.71338606911949],"aabb_xy":[[0.062021972497184275,-0.7174755335152684],[0.07395505037865585,-0.7055532441965403]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[-0.5964978176235136,1.552392480515144,0.71338606911949],"aabb_xy":[[-0.6425829088782452,1.4883924832625888],[-0.5504127263687822,1.616392477767699]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.6706225248451847,-0.45609735650027394,0.71338606911949],"aabb_xy":[[0.620645107979931,-0.5060973579895224],[0.7205999417104382,-0.40609735501102534]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[-0.14433820854752522,1.6006884650049362,0.71338606911949],"aabb_xy":[[-0.14991988018165398,1.5881884651871607],[-0.13875653691339646,1.6131884648227117]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[-0.463615875340687,-0.2412260759039273,0.71338606911949],"aabb_xy":[[-0.47676712131197646,-0.26622607566061385],[-0.45046462936939774,-0.2162260761472408]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.3860965501877114,1.5450571889166027,0.71338606911949],"aabb_xy":[[-0.41658080031474154,1.4950571891351065],[-0.35561230006068123,1.5950571886980984]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.4357609131796213,0.6447382008739737,0.71338606911949],"aabb_xy":[[-0.4406602054861848,0.6170612815714048],[-0.4308616208730578,0.6724151201765424]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[-0.3135774615017298,0.47805993208497766,0.71338606911949],"aabb_xy":[[-0.39857746019380447,0.44607406869009875],[-0.22857746280965519,0.5100457954798565]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.5201176115227721,-2.35534184695311,0.71338606911949],"aabb_xy":[[0.5026176112634356,-2.3694333891418826],[0.5376176117821089,-2.3412503047643374]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.6271501919605034,-2.465120257719145,0.71338606911949],"aabb_xy":[[-0.6331872049611681,-2.471146958788093],[-0.6211131789598386,-2.459093556650197]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.1035395777246525,1.4943713158191874,0.71338606911949],"aabb_xy":[[-0.15351264325716799,1.4443713160066545],[-0.05356651219213705,1.5443713156317205]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.6336508499413467,1.6031207878560205,0.71338606911949],"aabb_xy":[[0.5536508529783075,1.526045146212247],[0.7136508469043858,1.680196429499794]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.16072374490315045,0.6778662183183641,0.71338606911949],"aabb_xy":[[-0.18322374491329874,0.663769998678761],[-0.13822374489300215,0.6919624379579675]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_20","position":[0.19731759504893265,-0.816651090333798,0.71338606911949],"aabb_xy":[[0.18927423512297747,-0.9016510914291643],[0.20536095497488782,-0.7316510892384315]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.3532725055319721,-1.7992432908364502,0.71338606911949],"aabb_xy":[[-0.370819200448091,-1.8367432924007017],[-0.33572581061585316,-1.7617432892721991]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.2526546779477742,-0.3298975830926767,0.71338606911949],"aabb_xy":[[-0.25991592551818166,-0.34268459335618623],[-0.24539343037736683,-0.31711057282916727]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.27035433275519216,-1.3720601506625898,0.71338606911949],"aabb_xy":[[0.2623608429599102,-1.3800582826030656],[0.27834782255047424,-1.3640620187221144]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.27482917003568114,-0.5442811971830204,0.71338606911949],"aabb_xy":[[-0.29774488292073104,-0.567185494319444],[-0.25191345715063124,-0.521376900046597]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_25","position":[0.22919520606892718,-2.4154883561401403,0.71338606911949],"aabb_xy":[[0.18789066300519117,-2.4794883557082574],[0.27049974913266317,-2.3514883565720233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6469690960031514,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3048.png","name":"3048"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2273.png","name":"2273"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3599.png","name":"3599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8252.png","name":"8252"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":847.4427363588634,"rotation_z_degrees":27.88826216006662,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01046415412183031,-0.019777187570632723,0.003349600384393015]},{"name":"camera_2","offset_m":[-0.01853824160276861,-0.014531872848723704,0.016257285562516825]},{"name":"camera_3","offset_m":[0.011381703311095833,-0.009465056512616093,0.017058989573393985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001099960371645608,-0.00038483203441471857,0.0011587209270554752],"end_effector_yaw_offset_degrees":0.6420803946473912},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006190325960166694,0.0011939483563891012,0.00010794541614348374],"end_effector_yaw_offset_degrees":-0.9173939553027703},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006412240548737537,-0.0004924401304612482,0.001396248073235548],"end_effector_yaw_offset_degrees":0.7057139225964217},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0019519930508353853,-0.0016648316385908886,0.0012647969739367259],"end_effector_yaw_offset_degrees":-0.06713384799316091},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006387891618331904,-0.00031626047808185564,0.001995068374904511],"end_effector_yaw_offset_degrees":0.22257557157241403},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006836677102783567,-0.0004519158039670815,-0.0018354147594945216],"end_effector_yaw_offset_degrees":-0.5589848089684313},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019087377968729858,-0.001704649069419421,0.0003952673039433925],"end_effector_yaw_offset_degrees":-0.711640779842655},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0015084188089636214,0.0016882045154902395,0.0017474859502753124],"end_effector_yaw_offset_degrees":0.11867968053028899},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008960060482290678,-0.0012656778690183575,0.0015838775671668834],"end_effector_yaw_offset_degrees":-0.3475660656418187}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002549507475849665,0.0046039885128880955],"position_m":[0.18285049252415034,-0.1320960114871119,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00439484858700871,0.0007818468210365982],"position_m":[0.1919948485870087,0.0206818468210366,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001230170432280435,-0.0006119596757597594],"position_m":[0.20946982956771956,-0.3542119596757598,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001694564575862513,-0.0009397795808702026],"position_m":[0.29529456457586256,0.3146602204191298,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"fc13fd1326d03fd8ac573969e1003e98d662a8b4ba932cb73bb83812c1bb628b","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9430/tex_ceiling_textures_8252/tex_floor_textures_3599/tex_table_textures_3048/tex_wall_textures_2273","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2310473854120142100,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2310473854120142100,"visual_seed":2310473854120142100,"scene_id":"lab_003","finished_at":"2026-09-08T15:10:40"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T15:10:49","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.04425088569479074,1.2039831198622415,0.71338606911949],"aabb_xy":[[0.009250885798771867,1.1956088843503014],[0.0792508855908096,1.2123573553741815]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.2397485605261943,-1.3732655460882424,0.71338606911949],"aabb_xy":[[0.21523493642918848,-1.3975301393902788],[0.26426218462320017,-1.349000952786206]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.15489216399119243,-1.5148046314629282,0.71338606911949],"aabb_xy":[[-0.1636061330411269,-1.537304632122116],[-0.14617819494125792,-1.4923046308037395]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.10868348971306985,-2.5723092002054173,0.71338606911949],"aabb_xy":[[-0.11572494066381744,-2.579335951943212],[-0.10164203876232225,-2.5652824484676233]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.1936023791900633,1.2705252840455161,0.71338606911949],"aabb_xy":[[-0.23110237761346364,1.2573610700776854],[-0.15610238076666294,1.2836894980133469]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.007875432831900842,-1.1273092379125824,0.71338606911949],"aabb_xy":[[-0.06787543267846763,-1.1841278601056209],[0.052124567014665946,-1.0704906157195435]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.0006998811027418839,-1.5711621848979422,0.71338606911949],"aabb_xy":[[-0.08430011731468134,-1.6560364803602272],[0.08569987952016511,-1.4862878894356573]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.6496275026188715,0.6721645667469116,0.71338606911949],"aabb_xy":[[-0.6537633589515718,0.6346645673025546],[-0.6454916462861714,0.7096645661912686]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.3417247358911004,-2.3442999071437938,0.71338606911949],"aabb_xy":[[0.3353109222479154,-2.350709727391462],[0.3481385495342853,-2.3378900868961257]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.6557922478554785,-0.1925657569695196,0.71338606911949],"aabb_xy":[[0.6503343022184586,-0.2725657602771787],[0.6612501934924987,-0.11256575366186053]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[-0.449709087738772,-0.3479427515430955,0.71338606911949],"aabb_xy":[[-0.5047022990759087,-0.40294275188188916],[-0.3947158764016353,-0.2929427512043019]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.4391826325986352,-2.285081066612283,0.71338606911949],"aabb_xy":[[0.40418263428793977,-2.292796081535829],[0.47418263090933066,-2.2773660516887375]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.5431886772005939,1.0276961505302498,0.71338606911949],"aabb_xy":[[-0.5511826657782972,1.0196960704351592],[-0.5351946886228904,1.0356962306253399]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.42624606053369374,-0.33734139735076907,0.71338606911949],"aabb_xy":[[0.3622460619471212,-0.3843483607502778],[0.49024605912026614,-0.29033443395126035]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.6445461367840903,-2.2855173853468567,0.71338606911949],"aabb_xy":[[0.6336945305352147,-2.296376676074508],[0.6553977430329659,-2.2746580946192054]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_15","position":[0.6301940877491534,0.39995275313618484,0.71338606911949],"aabb_xy":[[0.6175673004619571,0.39040667943461194],[0.6428208750363498,0.40949882683775773]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.051741094663004805,1.6553899762092974,0.71338606911949],"aabb_xy":[[-0.038258909013913364,1.5939575696321926],[0.14174109833992296,1.7168223827864013]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.4391803412971228,-1.4172554927339687,0.71338606911949],"aabb_xy":[[-0.4637265569198735,-1.4475043892830055],[-0.4146341256743721,-1.3870065961849314]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.2538839224591164,-2.0115629211103543,0.71338606911949],"aabb_xy":[[-0.2599209354597811,-2.0175896221793024],[-0.24784690945845167,-2.005536220041406]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[0.1206773161181891,1.5073073142915283,0.71338606911949],"aabb_xy":[[0.10512154670792384,1.4917568810471213],[0.13623308552845437,1.522857747535936]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.37610086037591617,0.9408784131493149,0.71338606911949],"aabb_xy":[[-0.3879729433874172,0.8558784134556645],[-0.364228777364415,1.0258784128429652]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[-0.6205285142239094,-0.3321997130028733,0.71338606911949],"aabb_xy":[[-0.6615464576102802,-0.38219971363383065],[-0.5795105708375384,-0.282199712371916]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.4546575033294076,0.19258580979929674,0.71338606911949],"aabb_xy":[[0.42425939223026393,0.1621789077976272],[0.4850556144285511,0.22299271180096622]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[-0.41155295034065836,-1.201905315467409,0.71338606911949],"aabb_xy":[[-0.47555294745276405,-1.2509376852618197],[-0.3475529532285527,-1.1528729456729985]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[0.620524136815255,-1.0687623777969517,0.71338606911949],"aabb_xy":[[0.5855241385451351,-1.0758365054919399],[0.6555241350853749,-1.0616882501019635]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.15834978110530984,1.0251463751994532,0.71338606911949],"aabb_xy":[[0.12084978031331439,1.018778534241263],[0.1958497818973053,1.0315142161576434]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.16992630052435442,0.33655974378563247,0.71338606911949],"aabb_xy":[[-0.25992629911882437,0.32030915747221145],[-0.07992630192988448,0.3528103300990535]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[0.07107865518287892,1.813205958685169,0.71338606911949],"aabb_xy":[[0.06700049727582919,1.8091249784369055],[0.07515681308992866,1.817286938933432]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.44238223114522945,0.9760212460137563,0.71338606911949],"aabb_xy":[[0.35866000564514694,0.8860212424790602],[0.5261044566453119,1.0660212495484522]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[-0.09694976245011999,1.4294258143686442,0.71338606911949],"aabb_xy":[[-0.17694975946436797,1.409291262695233],[-0.01694976543587201,1.4495603660420555]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[-0.48782704200401716,-0.14828418196001003,0.71338606911949],"aabb_xy":[[-0.5251583185292596,-0.18293723675486234],[-0.4504957654787745,-0.11363112716515772]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_31","position":[-0.42693760961036115,-2.238107989008314,0.71338606911949],"aabb_xy":[[-0.46443760995858885,-2.2498993845893978],[-0.38943760926213333,-2.2263165934272307]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_32","position":[-0.28564712447919344,-0.6554363479615728,0.71338606911949],"aabb_xy":[[-0.2932713925693717,-0.6630695714981165],[-0.2780228563890152,-0.6478031244250291]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_33","position":[0.442293387684048,1.2566521817357783,0.71338606911949],"aabb_xy":[[0.3782933874100698,1.2065860815384901],[0.5062933879580263,1.306718281933066]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_34","position":[-0.4759972490090218,1.568511422929443,0.71338606911949],"aabb_xy":[[-0.5259972506705164,1.5185129806737403],[-0.4259972473475269,1.6185098651851457]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.647713381909581,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2218.png","name":"2218"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2218.png","name":"2218"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2278.png","name":"2278"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1420.png","name":"1420"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6562.png","name":"6562"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4171.png","name":"4171"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":644.2934719210433,"rotation_z_degrees":239.88178157575985,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012939132038333127,-0.010199481034821375,0.0121424084048115]},{"name":"camera_2","offset_m":[-0.016712871723894664,0.014983691738521005,0.00876938531387085]},{"name":"camera_3","offset_m":[-0.002105576251512073,-0.00522341676333732,0.0054563011754627765]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003511808707278852,-0.000587924234339233,0.0011784969203232497],"end_effector_yaw_offset_degrees":-0.28078783347822167},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017423100224362013,-0.001536335307095785,0.0005196809933793252],"end_effector_yaw_offset_degrees":-0.02216839441152918},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008730995284577216,-0.0017551599533498284,0.0016777941048605849],"end_effector_yaw_offset_degrees":0.45664964395319907},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006939847939419295,-0.0014840396206257304,2.1701625859575375e-05],"end_effector_yaw_offset_degrees":0.04376915951592464},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011421160279422257,-2.935525020793424e-05,0.0005853522783557303],"end_effector_yaw_offset_degrees":0.6212481604853697},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001223167932259857,-0.0002426012475922855,1.5619124054521566e-05],"end_effector_yaw_offset_degrees":-0.11635047729684556},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008958954708195531,0.000593461196740403,-0.001274218466369118],"end_effector_yaw_offset_degrees":-0.8931033602594338},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012333902101874217,-0.000911323027387501,0.00037097548267598637],"end_effector_yaw_offset_degrees":0.8431091197762628},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000637469603145428,0.0005765317646357323,-0.0008651768021530942],"end_effector_yaw_offset_degrees":-0.39208931750533993}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001739027106162997,0.0032215520190813215],"position_m":[0.183660972893837,-0.13347844798091868,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007623898213289307,-0.0024430287475382517],"position_m":[0.1883623898213289,0.017456971252461748,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001932650372050264,-0.0020235592947484716],"position_m":[0.21263265037205026,-0.3556235592947485,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004131998838301599,-0.003810021941682039],"position_m":[0.29773199883830165,0.31178997805831793,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"bd11995b9c350bfbf29c8d436347a99040607b9b38e675e7862a6850e0bfef3b","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2218/tex_ceiling_textures_4171/tex_floor_textures_6562/tex_table_textures_2278/tex_wall_textures_1420","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5874626783178972706,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5874626783178972706,"visual_seed":5874626783178972706,"scene_id":"lab_003","finished_at":"2026-09-08T15:21:32"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T15:21:42","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.27913077764194805,0.5906778120446918,0.71338606911949],"aabb_xy":[[-0.3431307749275967,0.5491710930918479],[-0.2151307803562994,0.6321845309975358]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.42673868146159233,0.47119007073751895,0.71338606911949],"aabb_xy":[[0.40423868121807693,0.458985436077747],[0.4492386817051077,0.4833947053972909]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.114313547212328,-1.3659246363501854,0.71338606911949],"aabb_xy":[[0.11061028588318912,-1.3696266546589033],[0.11801680854146686,-1.3622226180414674]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.2166173513883854,-0.7440020151048916,0.71338606911949],"aabb_xy":[[-0.2717425570179761,-0.8040020165461788],[-0.16149214575879461,-0.6840020136636045]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.46447765451811346,-1.7046368292600929,0.71338606911949],"aabb_xy":[[-0.4686135108508137,-1.7421368287044499],[-0.4603417981854133,-1.6671368298157359]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[0.4003525291398753,1.769601277990121,0.71338606911949],"aabb_xy":[[0.35535252767364645,1.7246014211286405],[0.4453525306061042,1.8146011348516018]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.22627128587230427,-1.4789667860351399,0.71338606911949],"aabb_xy":[[-0.23223782481304006,-1.484927930694504],[-0.22030474693156848,-1.4730056413757757]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.2385097948230035,1.5147499505771784,0.71338606911949],"aabb_xy":[[0.17350979382250298,1.4639635854225035],[0.303509795823504,1.5655363157318534]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.6127495320732574,-2.4067808192809257,0.71338606911949],"aabb_xy":[[0.5577540542525979,-2.4617808207148326],[0.6677450098939167,-2.3517808178470188]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.6556409910887866,-0.5679365450503258,0.71338606911949],"aabb_xy":[[-0.6756994027020269,-0.5880016319594833],[-0.6355825794755463,-0.5478714581411682]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.36025861552722777,-1.8557622597892587,0.71338606911949],"aabb_xy":[[-0.42425861720522506,-1.9042796512685727],[-0.29625861384923036,-1.8072448683099442]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.10619372833858076,1.3155010009536987,0.71338606911949],"aabb_xy":[[-0.1701937302509231,1.2595898516956883],[-0.04219372642623842,1.3714121502117091]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.6226591345367598,-1.846538616240145,0.71338606911949],"aabb_xy":[[0.5326591322027407,-1.9240209708252574],[0.7126591368707789,-1.769056261655032]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.5812023834184368,-2.216265592528082,0.71338606911949],"aabb_xy":[[0.5012023829482208,-2.224576300142431],[0.6612023838886527,-2.2079548849137343]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.43714723438528186,1.6520703477579617,0.71338606911949],"aabb_xy":[[-0.44122539229233154,1.6479893675096986],[-0.43306907647823206,1.6561513280062252]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.6036827996079646,1.5658377438973985,0.71338606911949],"aabb_xy":[[0.5928423213814497,1.5486514626067498],[0.6145232778344795,1.5830240251880472]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.3522608809001071,-1.0427585089600266,0.71338606911949],"aabb_xy":[[0.3147608807945141,-1.0495806708130075],[0.3897608810057,-1.0359363471070453]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.3275811886462392,0.6782041343868781,0.71338606911949],"aabb_xy":[[0.2938056294555462,0.6641656391737131],[0.36135674783693217,0.6922426296000431]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.2718055575845918,-1.8481814880300138,0.71338606911949],"aabb_xy":[[0.2647652476510549,-1.9281814874296856],[0.2788458675181289,-1.7681814886303429]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[0.5511226604175656,-1.4585715605506426,0.71338606911949],"aabb_xy":[[0.5098738493876508,-1.5135715600628599],[0.5923714714474803,-1.403571561038425]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.22946604408581833,0.09521992532525259,0.71338606911949],"aabb_xy":[[-0.2388835186556811,0.08580374818753357],[-0.2200485695159556,0.10463610246297163]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.10317091389608579,-1.1671487071664326,0.71338606911949],"aabb_xy":[[-0.11116490247378916,-1.1751487872615227],[-0.09517692531838237,-1.159148627071342]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.3780924022191009,1.3545081307164564,0.71338606911949],"aabb_xy":[[-0.44809240382138044,1.3410753375147988],[-0.30809240061682147,1.367940923918114]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.3165142992931736,-2.3427886170837016,0.71338606911949],"aabb_xy":[[-0.3865143026847355,-2.3781043907871324],[-0.24651429590161159,-2.3074728433802707]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[0.5962557386263387,1.0732257911750516,0.71338606911949],"aabb_xy":[[0.5162557414667633,1.0616781902172343],[0.6762557357859139,1.0847733921328684]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[-0.1634223763297724,-1.7564614196999402,0.71338606911949],"aabb_xy":[[-0.19991819695705115,-1.7929453621266978],[-0.12692655570249367,-1.7199774772731826]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.500023018068873,-1.2329831767667947,0.71338606911949],"aabb_xy":[[0.4750230187969106,-1.2493285403629568],[0.5250230173408351,-1.2166378131706321]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_27","position":[-0.5002313380345877,-2.2614156088715895,0.71338606911949],"aabb_xy":[[-0.5642313384121214,-2.311160875722402],[-0.43623133765705413,-2.2116703420207773]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[0.43663214567389996,-0.6536062788723289,0.71338606911949],"aabb_xy":[[0.39978159773691235,-0.6911062796953626],[0.4734826936108876,-0.6161062780492952]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.035616825629048665,-2.3604999815036862,0.71338606911949],"aabb_xy":[[0.019554898170531024,-2.4454999833162776],[0.05167875308756631,-2.275499979691094]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_30","position":[0.18506542784751212,-1.4397198522634633,0.71338606911949],"aabb_xy":[[0.15006542865469383,-1.4506868982611258],[0.22006542704033036,-1.4287528062658004]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_31","position":[-0.4125531928493395,-0.6363102706367414,0.71338606911949],"aabb_xy":[[-0.4350668846727967,-0.7063102712377488],[-0.3900395010258823,-0.5663102700357338]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_32","position":[0.07395802303147081,-0.8091268477750848,0.71338606911949],"aabb_xy":[[0.05575219937022313,-0.8201522483570765],[0.09216384669271849,-0.7981014471930932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6414840866010056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7117.png","name":"7117"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7117.png","name":"7117"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2397.png","name":"2397"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3171.png","name":"3171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2455.png","name":"2455"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8649.png","name":"8649"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":639.2617526919441,"rotation_z_degrees":191.3702864031645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009886016223561726,0.003571572421944242,-0.015727485867945933]},{"name":"camera_2","offset_m":[0.004052463525576956,0.008818411044472906,-0.002611560846828346]},{"name":"camera_3","offset_m":[0.019462242600179137,0.007206495605928433,-0.015802128598237958]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00047331916602316054,-0.0006796254161502762,0.001440173732117165],"end_effector_yaw_offset_degrees":-0.6882215621158632},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014945241257314436,-0.0017243663325177826,-0.001505533774279872],"end_effector_yaw_offset_degrees":-0.7580276673072339},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[8.166101477992882e-05,0.0016120014779063014,-0.0008787601672388247],"end_effector_yaw_offset_degrees":-0.46674541763521993},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0019628705738501486,-0.0007754726077353834,0.0015556396956308578],"end_effector_yaw_offset_degrees":-0.3233734388497993},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00047185343988842337,-0.00014357699334785284,-0.0017305552508883695],"end_effector_yaw_offset_degrees":0.4082755948455945},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002869691626028394,0.0012372402522770032,-0.0001796145845653933],"end_effector_yaw_offset_degrees":-0.6015843883059886},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017970911749952728,-0.0013132442780789315,0.0003897100168175566],"end_effector_yaw_offset_degrees":-0.6867014958191442},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000743706058976648,-0.0019178339781586052,-0.00034466913658520097],"end_effector_yaw_offset_degrees":0.3226056860421034},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011368875680613497,0.0016355112381585576,0.0007073720730381358],"end_effector_yaw_offset_degrees":-0.3467209772405466}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00415743032587033,0.0016347786016686636],"position_m":[0.18955743032587033,-0.13506522139833133,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004664185168031367,0.0019160830243272276],"position_m":[0.19226418516803134,0.021816083024327228,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-4.3219751891305017e-05,-0.0005454881284846294],"position_m":[0.2106567802481087,-0.3541454881284847,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0036778374612785516,-0.002568063537181878],"position_m":[0.2899221625387215,0.31303193646281813,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"2c484b1774a257b001cd3977d529c85fac0d6f6bc9e1cd69c9a3dd4e5639f440","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7117/tex_ceiling_textures_8649/tex_floor_textures_2455/tex_table_textures_2397/tex_wall_textures_3171","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5036110929486233348,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5036110929486233348,"visual_seed":5036110929486233348,"scene_id":"lab_003","finished_at":"2026-09-08T15:32:07"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T15:32:17","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.1825002104813448,-1.2599362704824717,0.71338606911949],"aabb_xy":[[0.13251726029386543,-1.3099362701250319],[0.2324831606688241,-1.209936270839911]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[0.6258334403940735,0.30667503809657326,0.71338606911949],"aabb_xy":[[0.560833439393573,0.2558886729418983],[0.690833441394574,0.3574614032512482]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.3214716115004659,0.7488414087605815,0.71338606911949],"aabb_xy":[[0.257471615073144,0.7016717849384851],[0.3854716079277878,0.796011032582678]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.3720764797326275,-0.33367100928395343,0.71338606911949],"aabb_xy":[[-0.3818324692418013,-0.3434335433431879],[-0.36232049022345353,-0.323908475224719]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.1488569156200117,1.4876374349565231,0.71338606911949],"aabb_xy":[[-0.15297286573208432,1.4835218799236773],[-0.144740965507939,1.4917529899893684]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.4990846108034639,-0.5953177171669497,0.71338606911949],"aabb_xy":[[-0.5215846108136122,-0.609413936806553],[-0.4765846107933156,-0.5812214975273464]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.5699605873958464,1.5930805601675107,0.71338606911949],"aabb_xy":[[0.5658824294887966,1.5889995799192476],[0.574038745302896,1.5971615404157742]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.42322880546846237,-0.6785312752860384,0.71338606911949],"aabb_xy":[[-0.4457288049921697,-0.7010272227366591],[-0.4007288059447549,-0.6560353278354175]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[0.6085893293369264,-1.2067237649166724,0.71338606911949],"aabb_xy":[[0.6005459694109713,-1.2917237660120389],[0.6166326892628816,-1.121723763821306]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.18983101895699284,-2.1813416798781056,0.71338606911949],"aabb_xy":[[0.10983101752686564,-2.260858834890715],[0.26983102038712004,-2.101824524865496]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.2416892532455982,-0.7723680183353432,0.71338606911949],"aabb_xy":[[0.22467915595554755,-0.7885025068336171],[0.25869935053564885,-0.7562335298370693]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.37300389561137814,1.0134859975717458,0.71338606911949],"aabb_xy":[[0.36358642104151534,1.0040698204340268],[0.38242137018124084,1.0229021747094649]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.5066073762904391,-0.43837604514446715,0.71338606911949],"aabb_xy":[[0.456724679412743,-0.4883760443907419],[0.5564900731681354,-0.3883760458981924]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[0.03670993544065937,-1.055085728224116,0.71338606911949],"aabb_xy":[[0.0017099354641635436,-1.0645503442717326],[0.0717099354171552,-1.0456211121764993]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.12625504002639187,0.606786963969888,0.71338606911949],"aabb_xy":[[-0.19025504324502973,0.5600638520708796],[-0.062255036807754016,0.6535100758688963]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[-0.27909287115978154,-1.021029731089826,0.71338606911949],"aabb_xy":[[-0.29898391104012184,-1.033685542374523],[-0.25920183127944135,-1.0083739198051294]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.5108291668969119,0.7768502621688373,0.71338606911949],"aabb_xy":[[-0.5659543725265026,0.7168502607275501],[-0.4557039612673211,0.8368502636101244]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.3755220564081654,1.7368759184150204,0.71338606911949],"aabb_xy":[[0.3255272234802238,1.6868759195197771],[0.425516889336107,1.7868759173102642]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[0.3967194468053419,1.3451844816144418,0.71338606911949],"aabb_xy":[[0.31671944464257934,1.265229297988298],[0.4767194489681043,1.4251396652405852]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.4485317775677714,-0.0014583443143538766,0.71338606911949],"aabb_xy":[[-0.457691656511648,-0.00798956235789089],[-0.4393718986238948,0.005072873729183136]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[0.22884661999062494,1.4120277519562539,0.71338606911949],"aabb_xy":[[0.21876491291205144,1.3320277540641392],[0.2389283270691984,1.4920277498483685]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[-0.44081341946880676,0.5538691710282602,0.71338606911949],"aabb_xy":[[-0.49078648500132227,0.5038691712157274],[-0.39084035393629135,0.6038691708407932]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.36393067057927686,0.24868111919887204,0.71338606911949],"aabb_xy":[[0.352685615008659,0.23743932147477675],[0.3751757261498947,0.2599229169229673]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[-0.3041023859366523,1.6756288030464774,0.71338606911949],"aabb_xy":[[-0.346286800097483,1.6116288027692665],[-0.26191797177582155,1.7396288033236889]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.3437092610508818,-0.4875520351146436,0.71338606911949],"aabb_xy":[[-0.3666249739359317,-0.5104563322510671],[-0.3207935481658319,-0.4646477379782202]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.30946960778316757,-0.6809565387381191,0.71338606911949],"aabb_xy":[[-0.31688206332455604,-0.6868077491597471],[-0.3020571522417791,-0.6751053283164912]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.5563815246627746,-0.7566042654563869,0.71338606911949],"aabb_xy":[[0.5456085507414068,-0.7916042636754258],[0.5671544985841424,-0.7216042672373478]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[0.13724467898175785,-1.41696232375474,0.71338606911949],"aabb_xy":[[0.08224468078001303,-1.4574842903811773],[0.1922446771835027,-1.3764403571283021]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_28","position":[-0.4172061533671318,-0.14619356107686565,0.71338606911949],"aabb_xy":[[-0.459972860246552,-0.2101935644986681],[-0.3744394464877116,-0.0821935576550632]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[0.5996461144907523,0.9982193948191123,0.71338606911949],"aabb_xy":[[0.5771813445193472,0.9757193939402518],[0.6221108844621575,1.0207193956979728]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[0.6521075574866362,-2.0995259007531155,0.71338606911949],"aabb_xy":[[0.5871075548488427,-2.1510054994525625],[0.7171075601244297,-2.0480463020536686]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_31","position":[-0.34541094682481305,-1.9472614252332194,0.71338606911949],"aabb_xy":[[-0.355978426482912,-1.9578064553462278],[-0.334843467166714,-1.9367163951202107]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_32","position":[-0.3622773406320785,-2.277018578444868,0.71338606911949],"aabb_xy":[[-0.37363907528536466,-2.2883870448511554],[-0.35091560597879234,-2.2656501120385797]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_33","position":[0.2278783597201679,-1.0995024924042989,0.71338606911949],"aabb_xy":[[0.20596967758081686,-1.1214031592243894],[0.24978704185951894,-1.077601825584208]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6456286873889658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9829.png","name":"9829"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9829.png","name":"9829"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5286.png","name":"5286"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/86.png","name":"86"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9023.png","name":"9023"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":526.2550800450838,"rotation_z_degrees":69.32151272015216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017202972779209826,-0.0036298708890784674,0.015283460750942963]},{"name":"camera_2","offset_m":[0.0015860029060927663,-0.008682011026508505,-0.004674260491923588]},{"name":"camera_3","offset_m":[-0.008029311054700172,-6.454280034824678e-06,0.015240738358289357]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013233761714277134,-0.0016482846201109204,-8.939461418658919e-05],"end_effector_yaw_offset_degrees":-0.8898845755022882},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019451302451421824,0.0011966710982326029,0.0003418130803927513],"end_effector_yaw_offset_degrees":-0.27861724240441066},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001668292666065419,0.00027916958192906495,-0.00010270824010189103],"end_effector_yaw_offset_degrees":0.47965047186540244},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017155071580858962,-0.0009548405209378777,0.0004222078803296672],"end_effector_yaw_offset_degrees":-0.8571076483975018},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0013312753642941455,-9.04360276551869e-05,-0.0011711219621768332],"end_effector_yaw_offset_degrees":0.4220854496731383},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015667069386286587,-0.001788518530412744,0.0019384158930304514],"end_effector_yaw_offset_degrees":0.36848663490191425},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015440097664523428,-0.0006238289695556917,-0.001757374873369766],"end_effector_yaw_offset_degrees":0.7178438431300926},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007204015548397599,0.0006014092685331408,-0.0015651268073496847],"end_effector_yaw_offset_degrees":0.008625426356448918},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005577790226529288,-0.0019906775552016717,-0.0015881866938357143],"end_effector_yaw_offset_degrees":0.7485557442753001}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004051482121441545,-0.0017891521812287638],"position_m":[0.18134851787855846,-0.13848915218122876,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030565495692597587,0.003204260513679371],"position_m":[0.19065654956925976,0.02310426051367937,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007958899026409734,0.00031907623697431317],"position_m":[0.20990411009735901,-0.3532809237630257,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.001153805030316717,-0.0027269753317235167],"position_m":[0.29475380503031673,0.3128730246682765,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"ebad61d55dfa09e59794b437748bcb3e6ae5459c14bb926754eec8c249566ba8","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9829/tex_ceiling_textures_9023/tex_floor_textures_86/tex_table_textures_5286/tex_wall_textures_4767","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7738496714793033128,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7738496714793033128,"visual_seed":7738496714793033128,"scene_id":"lab_003","finished_at":"2026-09-08T15:43:10"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T15:43:19","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.33732841852612827,-2.218249853479308,0.71338606911949],"aabb_xy":[[0.27232841849182554,-2.2649505301596347],[0.402328418560431,-2.17154917679898]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[0.2359165255881429,1.4361950208923857,0.71338606911949],"aabb_xy":[[0.1860338287104467,1.386195021646111],[0.2857992224658391,1.4861950201386604]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.37236195757105506,-0.6866517264066139,0.71338606911949],"aabb_xy":[[0.33486195722282736,-0.6984431219876973],[0.40986195791928287,-0.6748603308255302]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[0.385190767452789,-1.2482441821991492,0.71338606911949],"aabb_xy":[[0.3693062741874639,-1.2625971224979733],[0.4010752607181142,-1.2338912419003252]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.05321243908821993,0.7728557585647264,0.71338606911949],"aabb_xy":[[-0.08369668921525009,0.7228557587832304],[-0.022728188961189777,0.8228557583462223]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[0.5740513616170961,1.1192902494966854,0.71338606911949],"aabb_xy":[[0.5589490601560778,1.104188727865623],[0.589153663078114,1.134391771127747]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_6","position":[0.3928894077059051,-1.882367797243035,0.71338606911949],"aabb_xy":[[0.387431462068885,-1.962367800550694],[0.39834735334292515,-1.8023677939353757]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.040417815953647684,-2.0406907671652386,0.71338606911949],"aabb_xy":[[-0.04913178500358216,-2.063190767824426],[-0.03170384690371318,-2.0181907665060494]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.5293883246779325,-0.9894965280983723,0.71338606911949],"aabb_xy":[[-0.5843883242996784,-1.044480220885845],[-0.47438832505618667,-0.9345128353108996]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.3097162035196188,0.71386857594901,0.71338606911949],"aabb_xy":[[0.2979480167249613,0.6288685760437885],[0.32148439031427634,0.7988685758542318]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.5672042515128755,-0.6633994590256425,0.71338606911949],"aabb_xy":[[0.5297042512207006,-0.6674409344262461],[0.6047042518050503,-0.6593579836250388]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.19893356178916227,1.1506326157381142,0.71338606911949],"aabb_xy":[[-0.2489335621497283,1.1006526285285108],[-0.14893356142859618,1.2006126029477167]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.3283850793059998,1.7815971636592365,0.71338606911949],"aabb_xy":[[-0.3783850809674945,1.7315987214035335],[-0.278385077644505,1.831595605914939]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.5136048829432864,-0.053274149521321146,0.71338606911949],"aabb_xy":[[-0.5170455591833437,-0.05713558249568563],[-0.5101642067032294,-0.04941271654695668]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.2963656888665913,-1.4382902813234364,0.71338606911949],"aabb_xy":[[-0.33136568876261013,-1.4466645168353762],[-0.2613656889705724,-1.4299160458114961]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.48404721470654843,1.4940210645734147,0.71338606911949],"aabb_xy":[[0.43407392070328793,1.4440210640188669],[0.5340205087098089,1.5440210651279616]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.1237611679852737,-2.422728848950565,0.71338606911949],"aabb_xy":[[-0.18776116989761604,-2.4786399982085756],[-0.059761166072931346,-2.3668176996925547]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.472026596173563,-1.9940209718297628,0.71338606911949],"aabb_xy":[[0.46474427979689925,-2.0840209754392713],[0.47930891255022656,-1.9040209682202536]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.18747196178583336,0.27387228211722014,0.71338606911949],"aabb_xy":[[-0.27747196120420425,0.24049678527303042],[-0.09747196236746244,0.30724777896140987]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.572671209414545,-2.086020220050224,0.71338606911949],"aabb_xy":[[-0.6226712080604662,-2.135939763709686],[-0.5226712107686238,-2.0361006763907614]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[0.1323601408122853,-0.9753677251266488,0.71338606911949],"aabb_xy":[[0.06836444341718872,-1.0393677234273575],[0.1963558382073819,-0.9113677268259401]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[0.08353802631131124,-2.2509979474743202,0.71338606911949],"aabb_xy":[[0.05569298953070412,-2.281782446212632],[0.11138306309191837,-2.2202134487360086]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[-0.16034886135385384,-0.7016644940968897,0.71338606911949],"aabb_xy":[[-0.19534885962397375,-0.7087386217918777],[-0.12534886308373394,-0.6945903664019014]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.6824259488203348,-1.6451828110600875,0.71338606911949],"aabb_xy":[[0.6737279865296195,-1.6573077853675624],[0.6911239111110501,-1.633057836752613]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_24","position":[0.06827621755758562,-0.7083562553351013,0.71338606911949],"aabb_xy":[[0.023104899709416638,-0.7723562524796398],[0.1134475354057546,-0.6443562581905629]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[0.4929773747480921,-0.10212445758508393,0.71338606911949],"aabb_xy":[[0.4229773721115057,-0.12222932258094943],[0.5629773773846785,-0.08201959258921843]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.44156212187814353,-0.5426132179167764,0.71338606911949],"aabb_xy":[[-0.46405854331200763,-0.5651132177235237],[-0.41906570044427943,-0.5201132181100289]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_27","position":[0.18268912622352462,1.2827486378143687,0.71338606911949],"aabb_xy":[[0.11868912705375469,1.235981950695406],[0.24668912539329457,1.329515324933331]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[-0.39179317342158976,0.8942365712879567,0.71338606911949],"aabb_xy":[[-0.44691837905118054,0.8342365698466696],[-0.336667967791999,0.9542365727292439]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_29","position":[-0.3924047104356445,-2.1856511183578,0.71338606911949],"aabb_xy":[[-0.42990471093300275,-2.1896198019059185],[-0.35490470993828627,-2.1816824348096815]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_30","position":[-0.48771381134905156,-1.147872849951227,0.71338606911949],"aabb_xy":[[-0.5221761587471931,-1.1823667323490494],[-0.45325146395090965,-1.113378967553404]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_31","position":[0.515831522484332,-2.364114203248959,0.71338606911949],"aabb_xy":[[0.4258315227611577,-2.3871875557841387],[0.605831522207506,-2.341040850713779]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_32","position":[-0.14516299459390092,1.7482009053497785,0.71338606911949],"aabb_xy":[[-0.20916299187954956,1.7066941863969347],[-0.08116299730825227,1.7897076243026226]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_33","position":[-0.27162767032377666,-1.871838478563841,0.71338606911949],"aabb_xy":[[-0.30506784551979615,-1.9052821043947707],[-0.23818749512775697,-1.8383948527329106]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_34","position":[-0.3023726310993238,-0.1062715908826819,0.71338606911949],"aabb_xy":[[-0.3523555812868031,-0.15627159052524228],[-0.25238968091184444,-0.05627159124012148]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6500385571017118,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7371.png","name":"7371"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7371.png","name":"7371"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3388.png","name":"3388"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3561.png","name":"3561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1198.png","name":"1198"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":768.6860392080558,"rotation_z_degrees":79.22562592160978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012894050902580325,0.016419010266866405,0.012225112215097571]},{"name":"camera_2","offset_m":[0.010061742743594466,0.011367749523527097,0.018987885916740516]},{"name":"camera_3","offset_m":[0.009183068254456233,-0.0007992856207169295,0.012335428666102117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-1.1493175041411494e-05,0.0014585539011696264,-0.00046418756419920495],"end_effector_yaw_offset_degrees":-0.6178917894835527},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018305980256752411,0.0011642437972963268,0.00114897768166275],"end_effector_yaw_offset_degrees":0.46460428060004366},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001526955637000952,0.0016839418935823691,-0.0009384320410603588],"end_effector_yaw_offset_degrees":-0.2604425639183352},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001362960345122856,-0.00020494011663527633,-0.00159811357770315],"end_effector_yaw_offset_degrees":0.8996344155456499},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006955878885158526,-0.00046654022171480265,-0.0003865714664575081],"end_effector_yaw_offset_degrees":0.36258094478844716},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00012370647684510627,0.0009937268825807692,0.0004067536448055394],"end_effector_yaw_offset_degrees":-0.01702391133005854},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001233452409862321,-0.0016403704741116383,0.0007773974212887248],"end_effector_yaw_offset_degrees":0.9541785769639424},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001334142481700214,0.0005332517751513916,0.0014497856328219445],"end_effector_yaw_offset_degrees":-0.25537468723397305},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007491043334197662,-0.0002046442742510131,-0.001277184130513546],"end_effector_yaw_offset_degrees":-0.7294053379470711}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004287044557703937,-0.004534543695801897],"position_m":[0.18111295544229608,-0.14123454369580188,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033657982550987487,0.004206683079180445],"position_m":[0.18423420174490124,0.024106683079180447,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002912938128086822,0.004575945100086299],"position_m":[0.21361293812808682,-0.3490240548999137,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0037235888454217768,0.0017232722082996697],"position_m":[0.2973235888454218,0.31732327220829964,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"921c5a52510d4c29f06745023286964d6e36183af39cc35b56c3b9162b38c870","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7371/tex_ceiling_textures_1198/tex_floor_textures_3561/tex_table_textures_3388/tex_wall_textures_6373","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5577784866634033026,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5577784866634033026,"visual_seed":5577784866634033026,"scene_id":"lab_003","finished_at":"2026-09-08T15:53:44"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T15:53:53","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.7155795748572715,-0.5341990281965501,0.71338606911949],"aabb_xy":[[0.7085381239065238,-0.5412257799343446],[0.722621025808019,-0.5271722764587555]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.3888700093734715,0.11930809704537992,0.71338606911949],"aabb_xy":[[-0.43887001039260687,0.08284188130755199],[-0.3388700083543363,0.15577431278320786]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.5120400133128538,-2.528165715998689,0.71338606911949],"aabb_xy":[[-0.5197432039869307,-2.535875086697427],[-0.5043368226387768,-2.5204563452999507]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.02014200264014776,1.3917003645693566,0.71338606911949],"aabb_xy":[[-0.05985799476344565,1.3117077933711736],[0.10014200004374117,1.4716929357675392]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.5794777016243808,-0.9054807617612963,0.71338606911949],"aabb_xy":[[-0.6434777007941508,-0.9522474488802589],[-0.5154777024546109,-0.858714074642334]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.5829738800737683,0.1723383497385642,0.71338606911949],"aabb_xy":[[-0.6054386500451734,0.14983834885970368],[-0.5605091101023632,0.1948383506174247]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[-0.47085309024680244,0.023780025867144783,0.71338606911949],"aabb_xy":[[-0.5058530902232983,0.014315409819528172],[-0.43585309027030666,0.0332446419147614]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.23753872447827318,-2.3517179870476266,0.71338606911949],"aabb_xy":[[0.2269712448201742,-2.362263017160635],[0.24810620413637222,-2.341172956934618]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.40953330853437353,1.1540253877768025,0.71338606911949],"aabb_xy":[[0.3595558916691199,1.1040253862875538],[0.45951072539962706,1.2040253892660508]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.009302996473071534,1.65648827840741,0.71338606911949],"aabb_xy":[[-0.07430299747357205,1.605701913252735],[0.055697004527428984,1.707274643562085]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.3650404728742517,-1.5658830601049802,0.71338606911949],"aabb_xy":[[-0.4450404743043788,-1.6454002151175897],[-0.2850404714441244,-1.4863659050923708]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.5379174756236031,0.6239789666615421,0.71338606911949],"aabb_xy":[[0.44791747912273144,0.5780673242430838],[0.6279174721244749,0.6698906090800003]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.4165085139038923,0.36805076382033164,0.71338606911949],"aabb_xy":[[-0.4508247910785102,0.3180507638471539],[-0.3821922367292743,0.41805076379350936]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.32468562196205586,-1.7432963581184908,0.71338606911949],"aabb_xy":[[-0.37468562362355057,-1.7932948003741933],[-0.27468562030056104,-1.6932979158627879]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.30986603052773065,0.6628108804835913,0.71338606911949],"aabb_xy":[[-0.33236603103977125,0.6403190221181928],[-0.28736603001569005,0.6853027388489895]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.32075437913226007,-2.24012200667317,0.71338606911949],"aabb_xy":[[-0.38075437972827625,-2.2949344792183934],[-0.2607543785362439,-2.1853095341279465]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.0722538322857963,-1.5930949353756318,0.71338606911949],"aabb_xy":[[-0.1091043802227839,-1.6305949361986658],[-0.03540328434880868,-1.5555949345525983]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.3814806844611869,-1.1583513446888032,0.71338606911949],"aabb_xy":[[0.31748068241145483,-1.1984458277781112],[0.4454806865109188,-1.1182568615994952]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.3497730600236667,0.8359920378181345,0.71338606911949],"aabb_xy":[[-0.41477306005796943,0.7892913611378072],[-0.284773059989364,0.8826927144984618]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.21490879127184326,-2.4934782412150613,0.71338606911949],"aabb_xy":[[-0.2749087929147651,-2.5454783905070055],[-0.1549087896289214,-2.441478091923117]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.6068880617647405,1.536017462275964,0.71338606911949],"aabb_xy":[[0.5428880610612713,1.489999079803043],[0.67088806246821,1.5820358447488851]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.27324418507386206,-0.7883528260591615,0.71338606911949],"aabb_xy":[[0.21827046303752917,-0.8433528256233946],[0.32821790711019494,-0.7333528264949283]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[-0.6361234986710029,-0.026249300104016715,0.71338606911949],"aabb_xy":[[-0.6462052057495764,-0.10624929799613136],[-0.6260417915924295,0.053750697788097934]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_23","position":[0.10724965993353253,-2.4895765572645394,0.71338606911949],"aabb_xy":[[0.043249656643824415,-2.5329114762684566],[0.17124966322324064,-2.4462416382606214]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_24","position":[-0.10733986791872385,-1.2121813065895655,0.71338606911949],"aabb_xy":[[-0.17733986952100333,-1.2256140997912233],[-0.03733986631644437,-1.198748513387908]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.28871907243956035,-1.1252885568517608,0.71338606911949],"aabb_xy":[[-0.3038912417211937,-1.1404574137799643],[-0.273546903157927,-1.1101196999235576]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[0.38482770091172736,0.8204903111210058,0.71338606911949],"aabb_xy":[[0.34732770080613434,0.8136681492680248],[0.42232770101732026,0.827312472973987]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[-0.3667353209855169,-0.7611535708481534,0.71338606911949],"aabb_xy":[[-0.38584762834349584,-0.7802883497253954],[-0.3476230136275381,-0.7420187919709114]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[-0.15971047488654,-1.028516485847225,0.71338606911949],"aabb_xy":[[-0.18835980724695622,-1.0571620451243007],[-0.13106114252612378,-0.9998709265701491]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[0.08608732920415219,-1.6023708005996642,0.71338606911949],"aabb_xy":[[0.006087330616832753,-1.6816864025378249],[0.1660873277914716,-1.523055198661503]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[-0.6310369873619446,-0.44008017843156066,0.71338606911949],"aabb_xy":[[-0.6390733220632294,-0.4481182977359774],[-0.6230006526606597,-0.43204205912714383]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_31","position":[-0.29341672612633496,1.434388030502538,0.71338606911949],"aabb_xy":[[-0.3159167256500423,1.411892083051917],[-0.2709167266026275,1.4568839779531586]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_32","position":[0.7135713350633379,-0.355843488876479,0.71338606911949],"aabb_xy":[[0.709868073734199,-0.3595455071851969],[0.7172745963924768,-0.3521414705677612]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_33","position":[0.7015289972171996,-0.4131843770558694,0.71338606911949],"aabb_xy":[[0.6942677496467923,-0.42597138731937895],[0.7087902447876072,-0.40039736679236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6452163557271238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1092.png","name":"1092"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1092.png","name":"1092"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5306.png","name":"5306"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9069.png","name":"9069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7419.png","name":"7419"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9336.png","name":"9336"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":585.0205992141797,"rotation_z_degrees":59.250534321252715,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011964380602655514,-0.015219574547832179,-0.019275111264519335]},{"name":"camera_2","offset_m":[0.013281242538300504,0.013310713261282279,0.011110520917407784]},{"name":"camera_3","offset_m":[-0.011387072358638655,-0.014050646363175327,-0.015372923353859692]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00041887468229697376,-0.0017394060705535424,-0.0016869703483447433],"end_effector_yaw_offset_degrees":-0.00832004870704095},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009792647144253618,-0.000894587159237405,-0.001869292005292314],"end_effector_yaw_offset_degrees":0.8268968837394626},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013696749222323478,-0.0018998831831547687,0.0007291407459935942],"end_effector_yaw_offset_degrees":-0.9876149073761453},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.000801460260486264,-0.0014982234318873676,0.0006346212669353958],"end_effector_yaw_offset_degrees":0.23548067152386687},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0006010775645887076,0.0009331390693839876,-0.0019149480797557375],"end_effector_yaw_offset_degrees":0.23205711508585636},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015712399953267276,-0.0007014060516326328,-0.00022966552292606138],"end_effector_yaw_offset_degrees":0.11554601426454902},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013312070987531602,-0.00045593541710605085,0.0005446312911048506],"end_effector_yaw_offset_degrees":0.002128606482050266},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016651658142369358,0.0018029205488130527,0.0016425953334811738],"end_effector_yaw_offset_degrees":-0.5658678575654621},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[7.005703422243359e-05,0.0015737081878734066,-0.0006178444699448246],"end_effector_yaw_offset_degrees":-0.6485363975248128}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036315182539448003,0.0009048134435128445],"position_m":[0.18903151825394482,-0.13579518655648715,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036687724216634314,-0.003995418115028952],"position_m":[0.19126877242166343,0.01590458188497105,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000893397149278951,-0.0008712063919350367],"position_m":[0.21159339714927894,-0.3544712063919351,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001237499856692035,0.000710847211043376],"position_m":[0.292362500143308,0.31631084721104336,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"bdaa5b1b95b038300e1d1935c58d078ba207edb5729716171fe225344ff7048d","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1092/tex_ceiling_textures_9336/tex_floor_textures_7419/tex_table_textures_5306/tex_wall_textures_9069","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4914506974144016936,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4914506974144016936,"visual_seed":4914506974144016936,"scene_id":"lab_003","finished_at":"2026-09-08T16:04:24"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T16:04:33","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.17318941645433883,1.0407816943124812,0.71338606911949],"aabb_xy":[[-0.19207380022284903,1.0218957695321287],[-0.15430503268582862,1.0596676190928342]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.12506657970028223,-0.9127224472027007,0.71338606911949],"aabb_xy":[[-0.15006657963280012,-0.9196051154236239],[-0.10006657976776434,-0.9058397789817773]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.08248806333604353,0.8993992729822611,0.71338606911949],"aabb_xy":[[0.0024880653552584865,0.891797732020409],[0.16248806131682858,0.9070008139441129]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.041050981071830916,1.1251011494179028,0.71338606911949],"aabb_xy":[[-0.04908731577311575,1.1170630301134858],[-0.03301464637054607,1.1331392687223194]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.5852420033663,1.4697210014596505,0.71338606911949],"aabb_xy":[[0.55024200509618,1.462646873764662],[0.6202420016364198,1.4767951291546384]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.36408470085713285,0.18793916135514976,0.71338606911949],"aabb_xy":[[0.3587521862025199,0.18261483310991417],[0.3694172155117459,0.19326348960038536]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.6215064774154548,-1.5864083711135226,0.71338606911949],"aabb_xy":[[0.5665064782388652,-1.64139804588848],[0.6765064765920442,-1.5314186963385648]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.3497135687767052,-2.371508891275671,0.71338606911949],"aabb_xy":[[-0.38721356859373873,-2.3761471025868124],[-0.3122135689596716,-2.3668706799645287]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.6767886738891049,-0.6313969836613833,0.71338606911949],"aabb_xy":[[0.6354841308253688,-0.6953969832295003],[0.7180932169528408,-0.5673969840932661]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.2752416413530976,-1.6309930319742605,0.71338606911949],"aabb_xy":[[-0.2977064113245027,-1.653493032853121],[-0.25277687138169247,-1.6084930310954]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.29691348359488445,-0.9612468601347928,0.71338606911949],"aabb_xy":[[0.23291348332090622,-1.0113129603320807],[0.3609134838688627,-0.9111807599375048]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.12398271495941082,1.3721866594524608,0.71338606911949],"aabb_xy":[[0.11520148781217464,1.3634069121639307],[0.1327639421066471,1.3809664067409912]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.11864137026790278,-0.6285393851063197,0.71338606911949],"aabb_xy":[[-0.14315499436490864,-0.6528039784083561],[-0.09412774617089693,-0.6042747918042832]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.0685446185173959,0.3451886680216747,0.71338606911949],"aabb_xy":[[-0.10604461694079624,0.33202445405384406],[-0.031044620093995542,0.3583528819895053]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.2974055174324367,-1.9350593973566317,0.71338606911949],"aabb_xy":[[0.2074055150984176,-2.012541751941744],[0.3874055197664557,-1.857577042771519]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.1475516280158654,-1.1974330134417472,0.71338606911949],"aabb_xy":[[-0.1975509031843016,-1.2474330147176944],[-0.09755235284742927,-1.1474330121658]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.5668952818475431,-1.8644346534574214,0.71338606911949],"aabb_xy":[[-0.5980422006911262,-1.9344346521442286],[-0.53574836300396,-1.7944346547706143]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[-0.21002337170539986,1.224767270834,0.71338606911949],"aabb_xy":[[-0.27402336881750555,1.1757349010395894],[-0.14602337459329415,1.2737996406284107]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.3027230455485169,0.669393579806139,0.71338606911949],"aabb_xy":[[0.29544072917185316,0.5793935761966299],[0.31000536192518047,0.7593935834156479]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[0.6605793169519609,0.7787745196039406,0.71338606911949],"aabb_xy":[[0.6487072339404598,0.6937745199102903],[0.672451399963462,0.863774519297591]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[0.08068303272218591,-0.6071781026428344,0.71338606911949],"aabb_xy":[[0.06325231764317939,-0.6244502173066853],[0.0981137478011924,-0.5899059879789836]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[-0.10197240478031899,-2.3155927217168277,0.71338606911949],"aabb_xy":[[-0.19197240419868988,-2.348968218561017],[-0.011972405361948116,-2.2822172248726376]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.37406630964011167,1.5742559462387686,0.71338606911949],"aabb_xy":[[-0.406528010522039,1.5441231141238658],[-0.3416046087581841,1.604388778353671]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6462936866412408,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3074.png","name":"3074"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6521.png","name":"6521"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9407.png","name":"9407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":790.3849500897043,"rotation_z_degrees":346.53945966354866,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016416331818095917,0.004388820626219928,-0.009539948560324722]},{"name":"camera_2","offset_m":[-0.006943583665593937,1.9642696579735136e-05,-0.001357388418193016]},{"name":"camera_3","offset_m":[0.0025090359698567294,-0.019397673760537183,0.0033979677856193907]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017129567707065486,-0.00016944013176215444,0.00025852823314789514],"end_effector_yaw_offset_degrees":-0.8583219352315581},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016660192589219684,0.0006092796503426316,0.001150879092812483],"end_effector_yaw_offset_degrees":-0.4257002315794973},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001582460721623386,0.0011919414014356887,-0.0014531253021858167],"end_effector_yaw_offset_degrees":-0.798083028658694},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0004569851284536193,0.0010603968820859727,0.0014905144725846872],"end_effector_yaw_offset_degrees":-0.45896063290116196},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001269240184147175,-0.00045620466503869836,-0.0005642555834349],"end_effector_yaw_offset_degrees":-0.8990902386412969},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011920815359157235,-0.00013091225084328121,0.001585866319331461],"end_effector_yaw_offset_degrees":-0.5362127544298847},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008550268603090415,-0.000136979545409937,-0.0018148978433803662],"end_effector_yaw_offset_degrees":0.5738937477723556},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019511278584568867,0.0012381265735924509,-0.0007351150001311279],"end_effector_yaw_offset_degrees":0.7322192219010955},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008196250618247402,0.0016040941533795655,0.0016634344591199696],"end_effector_yaw_offset_degrees":0.7401389904985236}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002554743198539995,-0.0024156652265925004],"position_m":[0.18565547431985402,-0.1391156652265925,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011295328393667644,-0.0022191213418255628],"position_m":[0.18872953283936675,0.01768087865817444,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[3.741211143005671e-06,0.004919478373677513],"position_m":[0.210703741211143,-0.3486805216263225,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0005830037217418108,-0.0003333579368327488],"position_m":[0.29418300372174183,0.31526664206316724,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"f0e608bc83030652c91b160699b45edaf4fff9f948f60cd081221395b358857f","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6903/tex_ceiling_textures_3027/tex_floor_textures_9407/tex_table_textures_3074/tex_wall_textures_6521","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5303489069264484208,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5303489069264484208,"visual_seed":5303489069264484208,"scene_id":"lab_003","finished_at":"2026-09-08T16:16:04"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T16:16:13","dimensions":{"distractor":{"count":28,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.29746138591685545,0.9872967174689826,0.71338606911949],"aabb_xy":[[0.20777430960874,0.8972967172145322],[0.3871484622249709,1.0772967177234332]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.3751801685895382,-1.0260179936940397,0.71338606911949],"aabb_xy":[[0.3679189210191308,-1.0388050039575492],[0.38244141615994565,-1.0132309834305302]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.1680891579094177,0.6722088880992141,0.71338606911949],"aabb_xy":[[0.08808915574665521,0.5922537044730705],[0.24808916007218018,0.7521640717253577]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.5925433124120342,-2.3945936469054576,0.71338606911949],"aabb_xy":[[-0.627005790425122,-2.40125732408838],[-0.5580808343989464,-2.3879299697225345]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.5704369785115608,0.6094132749066863,0.71338606911949],"aabb_xy":[[0.5064369813994551,0.5603809051122757],[0.6344369756236665,0.6584456447010969]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.27288534167976175,-1.9552071833075573,0.71338606911949],"aabb_xy":[[-0.3278853413015076,-2.01019087609503],[-0.2178853420580159,-1.9002234905200845]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.1321142594312834,1.2752249734672323,0.71338606911949],"aabb_xy":[[0.11924235593034326,1.195224973053396],[0.14498616293222352,1.3552249738810682]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.031583801312736415,1.757805157150886,0.71338606911949],"aabb_xy":[[-0.09558380353314344,1.7134320730255976],[0.03241620090767062,1.8021782412761742]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.5186609551787971,0.08364264864421544,0.71338606911949],"aabb_xy":[[0.4776430117924262,0.03364264801325813],[0.559678898565168,0.13364264927517278]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.5329912087308062,-0.05178523727914186,0.71338606911949],"aabb_xy":[[-0.5409846985260883,-0.05978336921961753],[-0.5249977189355243,-0.0437871053386662]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.5456839020452151,-2.256084496762564,0.71338606911949],"aabb_xy":[[0.4955864380641416,-2.320084497272376],[0.5957813660262888,-2.1920844962527526]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.6173944778599989,0.27560343140627364,0.71338606911949],"aabb_xy":[[0.6003843805699481,0.2594689429079997],[0.6344045751500494,0.29173791990454756]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.6433248694726601,1.6872623440981314,0.71338606911949],"aabb_xy":[[-0.6792383738976497,1.6513488358813766],[-0.6074113650476705,1.7231758523148857]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.24386358217175402,0.5410147225632724,0.71338606911949],"aabb_xy":[[-0.27817985934637196,0.4910147225900947],[-0.20954730499713609,0.5910147225364502]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[-0.42150714083815416,-0.8893637320258412,0.71338606911949],"aabb_xy":[[-0.4439719108095593,-0.9118637329047017],[-0.39904237086674904,-0.8668637311469807]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.6105041801480737,-1.9852564569080062,0.71338606911949],"aabb_xy":[[0.6028799120578956,-1.99288968044455],[0.6181284482382521,-1.9776232333714625]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.3231049537696665,-0.3515453985152903,0.71338606911949],"aabb_xy":[[-0.3431633653829068,-0.37161048542444786],[-0.30304654215642624,-0.3314803116061328]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.5061361904093886,-2.1286954982755972,0.71338606911949],"aabb_xy":[[-0.5260272302897289,-2.1413513095602945],[-0.4862451505290484,-2.116039686990901]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[0.30272077255258156,-0.5470012598454401,0.71338606911949],"aabb_xy":[[0.2875486032709482,-0.5621701167736435],[0.3178929418342149,-0.5318324029172368]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.46458364355552684,-1.7315469082244734,0.71338606911949],"aabb_xy":[[0.45265090919369877,-1.743929061032333],[0.4765163779173549,-1.7191647554166143]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.535441253122267,0.4673784157392533,0.71338606911949],"aabb_xy":[[-0.5729412529393004,0.4627402044281115],[-0.4979412533052333,0.47201662705039515]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.07173384537340166,-1.7568400161381181,0.71338606911949],"aabb_xy":[[-0.12171808108157889,-1.8068400149516135],[-0.021749609665224434,-1.7068400173246223]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.12548503007233325,-2.0232620840862863,0.71338606911949],"aabb_xy":[[0.055485027435746875,-2.0433669490821518],[0.19548503270891956,-2.0031572190904208]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[-0.36175670914970615,1.483758400329426,0.71338606911949],"aabb_xy":[[-0.44175671057983323,1.4042412453168163],[-0.28175670771957884,1.5632755553420352]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[0.36216795420671377,-1.8855445096034624,0.71338606911949],"aabb_xy":[[0.29816795350324443,-1.9315628920763839],[0.42616795491018317,-1.8395261271305419]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_25","position":[-0.22604792847619837,-2.1159387808002723,0.71338606911949],"aabb_xy":[[-0.2760212224794588,-2.1659387813548197],[-0.1760746344729379,-2.065938780245725]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[0.6540444466905242,-0.13829232822375648,0.71338606911949],"aabb_xy":[[0.6041617498128281,-0.18829232747003127],[0.7039271435682205,-0.08829232897748175]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[-0.39363271405960454,0.7443202914448932,0.71338606911949],"aabb_xy":[[-0.4311327142314764,0.711619556061986],[-0.35613271388773254,0.7770210268278004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6415801954586884,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1112.png","name":"1112"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1547.png","name":"1547"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3211.png","name":"3211"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":605.020651206074,"rotation_z_degrees":277.0809884395188,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01790722398109642,0.016338536141034758,-0.011098761620871115]},{"name":"camera_2","offset_m":[-0.013179367040536353,0.011440692787533322,0.00965465635090695]},{"name":"camera_3","offset_m":[0.017873863211820894,0.008940169437856995,0.015827756892112566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019610758823036924,-0.00039345844137436714,0.0014474165639094222],"end_effector_yaw_offset_degrees":-0.6537368364169647},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018784133159525265,-0.0012288117463291836,0.0011937552113167054],"end_effector_yaw_offset_degrees":0.519634676114697},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010163633763546804,0.0004330144799875994,-0.0007188572203164379],"end_effector_yaw_offset_degrees":-0.026294747040257915},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009093584583254976,0.00029265528338304116,0.0019001349201474118],"end_effector_yaw_offset_degrees":0.14022638140445043},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007749954492985585,0.0005058019605047905,0.00012127082452134978],"end_effector_yaw_offset_degrees":-0.27934750915142903},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0019660038537685845,0.0003380907290824755,0.0002441309566237719],"end_effector_yaw_offset_degrees":0.5418553794978278},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019435434661871588,0.0009224068181955354,0.0012199454825344595],"end_effector_yaw_offset_degrees":0.33019907251313985},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0016356686175785149,0.001889865875156656,0.00011441041164243814],"end_effector_yaw_offset_degrees":-0.7374975955665088},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018507557709347862,-0.0004918166458423698,0.0007768273463805682],"end_effector_yaw_offset_degrees":0.12056723210006792}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004604352658752951,-0.0014562271324031163],"position_m":[0.19000435265875296,-0.1381562271324031,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010726308907219014,0.0003317976654083673],"position_m":[0.18652736910927809,0.02023179766540837,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004552875209180181,0.0009637315134371147],"position_m":[0.2061471247908198,-0.35263626848656293,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003256233714699618,-0.0031260030557092033],"position_m":[0.2903437662853004,0.3124739969442908,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"2f42d896a337657075dde784ac42fd11e3b2c63e36845a9be2274a77a660ff2d","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6379/tex_ceiling_textures_3211/tex_floor_textures_1547/tex_table_textures_9934/tex_wall_textures_1112","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3582428019665020517,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3582428019665020517,"visual_seed":3582428019665020517,"scene_id":"lab_003","finished_at":"2026-09-08T16:26:53"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T16:27:01","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[-0.5868086382415674,-0.5060797379952113,0.71338606911949],"aabb_xy":[[-0.6368086391921001,-0.5376288849987327],[-0.5368086372910345,-0.4745305909916899]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.2170499738873523,-2.3174010268995757,0.71338606911949],"aabb_xy":[[-0.2970499708503914,-2.394476668543349],[-0.13704997692431312,-2.2403253852558023]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.614882726179641,-1.6604510921513365,0.71338606911949],"aabb_xy":[[-0.6411715505000815,-1.6867225258059877],[-0.5885939018592001,-1.6341796584966852]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.2027626653507862,0.9066308882397891,0.71338606911949],"aabb_xy":[[-0.2131742240312699,0.9012851549038905],[-0.19235110667030247,0.9119766215756875]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.6400661586898523,-0.7353303231095656,0.71338606911949],"aabb_xy":[[-0.6735063338858718,-0.7687739489404954],[-0.6066259834938326,-0.7018866972786353]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.47796120025616773,0.8861311176614275,0.71338606911949],"aabb_xy":[[0.3879612016616978,0.8698805313480065],[0.5679611988506377,0.9023817039748485]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.04110818727305543,-1.2747708752126952,0.71338606911949],"aabb_xy":[[0.0036081860882626253,-1.2791890979087555],[0.0786081884578482,-1.2703526525166344]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.3615855094904532,-0.37364655063678187,0.71338606911949],"aabb_xy":[[-0.42658550764637226,-0.39994279518669407],[-0.29658551133453415,-0.3473503060868697]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.4065159019259084,0.5302993281364854,0.71338606911949],"aabb_xy":[[-0.49651590425992753,0.45281697355137274],[-0.3165158995918894,0.607781682721598]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.01109816446619405,-2.0399870691092676,0.71338606911949],"aabb_xy":[[-0.06108111465367338,-2.0899870687518276],[0.03888478572128528,-1.989987069466707]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[0.3484398300253726,-1.9157653352284278,0.71338606911949],"aabb_xy":[[0.2844398293219033,-1.9617837177013493],[0.41243983072884205,-1.8697469527555073]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[-0.3597486424669098,-1.3857225057926896,0.71338606911949],"aabb_xy":[[-0.38224864247705814,-1.399818725432293],[-0.33724864245676156,-1.3716262861530863]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.21196177439528746,-1.7452076104212473,0.71338606911949],"aabb_xy":[[-0.26195678535473954,-1.7952076094568392],[-0.16196676343583544,-1.6952076113856558]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[0.6618928640021462,-0.4398411420622068,0.71338606911949],"aabb_xy":[[0.6069191419658133,-0.49484114162643994],[0.7168665860384791,-0.3848411424979736]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.4415062311737769,0.2930986952196948,0.71338606911949],"aabb_xy":[[-0.4479200448169618,0.28668887497202644],[-0.4350924175305919,0.2995085154673631]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[0.5514270766828553,-0.16970364526344772,0.71338606911949],"aabb_xy":[[0.5169647292847134,-0.20419752766127033],[0.585889424080997,-0.13520976286562494]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.35432655184520917,1.4764967696160167,0.71338606911949],"aabb_xy":[[-0.4183265491475555,1.4321303426481597],[-0.2903265545428627,1.5208631965838733]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.13539579119995715,1.1457936847589494,0.71338606911949],"aabb_xy":[[-0.14696477194689372,1.1207936846420177],[-0.12382681045302057,1.170793684875881]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[-0.3178285442147899,1.3508252405972652,0.71338606911949],"aabb_xy":[[-0.3403285444583053,1.3386206059374932],[-0.2953285439712745,1.3630298752570371]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[-0.17220876942334284,-0.7127184721006661,0.71338606911949],"aabb_xy":[[-0.20720876939983868,-0.7221830881482827],[-0.137208769446847,-0.7032538560530495]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[-0.5584389135393955,-0.19352044510607724,0.71338606911949],"aabb_xy":[[-0.574500840997913,-0.27852044691866906],[-0.5423769860808777,-0.10852044329348544]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[-0.052767001141287184,1.4561223212768533,0.71338606911949],"aabb_xy":[[-0.08956163426619346,1.419216446180271],[-0.015972368016380918,1.4930281963734355]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_22","position":[0.17303762658877464,1.2416844246292276,0.71338606911949],"aabb_xy":[[0.1395584593277337,1.2082053112581208],[0.20651679384981558,1.2751635380003348]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.3095154233218427,-0.5626698122122509,0.71338606911949],"aabb_xy":[[0.25951542374550796,-0.6126503911643569],[0.3595154228981774,-0.512689233260145]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[-0.1251517770407532,-0.8527799070087465,0.71338606911949],"aabb_xy":[[-0.1576134779226806,-0.8829127391236491],[-0.0926900761588257,-0.8226470748938439]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.34416045546869556,1.1465523222259768,0.71338606911949],"aabb_xy":[[-0.40815615286379214,1.082552323925268],[-0.280164758073599,1.2105523205266853]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_26","position":[0.1370919006387844,-0.6886913977007041,0.71338606911949],"aabb_xy":[[0.11888607697753673,-0.6997167982826958],[0.15529772430003208,-0.6776659971187126]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_27","position":[0.2421769751523929,-0.927196654083996,0.71338606911949],"aabb_xy":[[0.1781769780402872,-0.9762290238784065],[0.3061769722644986,-0.8781642842895853]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[0.2834218413526981,0.4810057652718802,0.71338606911949],"aabb_xy":[[0.22842184315095324,0.4404837986454426],[0.3384218395544429,0.5215277318983178]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_29","position":[-0.25813941104604077,-0.5502125028373359,0.71338606911949],"aabb_xy":[[-0.32213941309577276,-0.5903069859266439],[-0.19413940899630877,-0.510118019748028]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[-0.43432832115474285,-1.5557963297108368,0.71338606911949],"aabb_xy":[[-0.49832832044891107,-1.6197824700796912],[-0.3703283218605746,-1.4918101893419828]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[-0.6540740413455463,-2.299346609344516,0.71338606911949],"aabb_xy":[[-0.6699585346108715,-2.31369954964334],[-0.6381895480802212,-2.2849936690456913]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_32","position":[-0.6417450776036774,-2.0916081361140826,0.71338606911949],"aabb_xy":[[-0.6669659144635169,-2.116831886966969],[-0.6165242407438376,-2.066384385261195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.649863380536778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4486.png","name":"4486"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4486.png","name":"4486"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7216.png","name":"7216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1045.png","name":"1045"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/784.png","name":"784"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5174.png","name":"5174"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":685.3238696380442,"rotation_z_degrees":171.02424312742522,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012660281067577602,0.010956755665178407,0.013013788175661786]},{"name":"camera_2","offset_m":[-0.019409541783081696,0.0069388710122731435,0.0008672751247708055]},{"name":"camera_3","offset_m":[-0.0172353409022549,-0.011211680641238017,-0.012984754208216778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014833511525696418,-0.000757615512153921,-0.0018788342670350074],"end_effector_yaw_offset_degrees":0.7048104343138408},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014976642839315837,0.00021328629073620597,-0.0015391899522356988],"end_effector_yaw_offset_degrees":0.9305780081678721},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012216743075303517,0.0016010591346877641,0.0012434996376967586],"end_effector_yaw_offset_degrees":0.57904065230304},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00032836793012568587,0.0008079975573696877,-0.0010526178124131936],"end_effector_yaw_offset_degrees":0.13446571912235705},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00046359214605111443,0.0001938008844677131,-0.0013866801158254423],"end_effector_yaw_offset_degrees":0.994940624710384},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012105138407983934,-0.0017649398178336126,0.0018281323211640703],"end_effector_yaw_offset_degrees":-0.20961103537209658},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.942646940602971e-05,0.0014743162500085952,0.001790027391168964],"end_effector_yaw_offset_degrees":0.8456078244746996},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001632551911147767,-0.0008330991713393745,0.00040255422934644793],"end_effector_yaw_offset_degrees":-0.8998593259591092},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-9.73672263741023e-05,0.001736319812599928,0.0011242252766653065],"end_effector_yaw_offset_degrees":0.8803956485398361}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030918057279224137,0.0018679970084884527],"position_m":[0.18849180572792243,-0.13483200299151155,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032967678472813457,0.004109630158649337],"position_m":[0.19089676784728132,0.024009630158649337,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037875310281242644,-0.0016531462870279122],"position_m":[0.21448753102812426,-0.3552531462870279,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003946320717934627,0.0009652776663943829],"position_m":[0.29754632071793463,0.31656527766639436,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"fbeaf06da81e043b682be15a696efc282b798ec04ded223650dbdf4891f4d06e","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4486/tex_ceiling_textures_5174/tex_floor_textures_784/tex_table_textures_7216/tex_wall_textures_1045","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":6601957301049898830,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":6601957301049898830,"visual_seed":6601957301049898830,"scene_id":"lab_003","finished_at":"2026-09-08T16:37:31"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T16:50:36","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.15692067477319427,-0.8953442066330934,0.71338606911949],"aabb_xy":[[0.10692067441262822,-0.9453241938426962],[0.20692067513376033,-0.8453642194234903]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.3514450554569697,1.472955594907798,0.71338606911949],"aabb_xy":[[0.33634275399595154,1.4578540732767358],[0.36654735691798773,1.4880571165388596]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.23788243231845962,0.7005011522895659,0.71338606911949],"aabb_xy":[[0.22916846326852514,0.6780011516303776],[0.2465964013683941,0.723001152948754]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.07468360073646085,-1.4666797903209827,0.71338606911949],"aabb_xy":[[-0.08172391066999787,-1.5466797897206543],[-0.06764329080292389,-1.3866797909213113]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.6164764334282027,-1.7997778946831091,0.71338606911949],"aabb_xy":[[0.5664764338518681,-1.8497584736352153],[0.6664764330045375,-1.7497973157310034]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.16164952278714928,1.3020288342979858,0.71338606911949],"aabb_xy":[[-0.211649524448644,1.2520303920422826],[-0.11164952112565447,1.352027276553688]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.015356006016907897,-2.0768968847267524,0.71338606911949],"aabb_xy":[[-0.020255298323471393,-2.1045738040293207],[-0.010456713710344399,-2.049219965424183]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.23345135713579873,-1.6974748935404693,0.71338606911949],"aabb_xy":[[-0.2509513573951354,-1.7115664357292422],[-0.21595135687646214,-1.683383351351697]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.6167206289537077,-0.4445115706815592,0.71338606911949],"aabb_xy":[[-0.6247639888796629,-0.5295115717769256],[-0.6086772690277525,-0.35951156958619285]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.6535006247073224,-1.3090551617655684,0.71338606911949],"aabb_xy":[[-0.6834922874411927,-1.3390551611023687],[-0.6235089619734521,-1.2790551624287676]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[0.4219129448694292,0.15456283803672566,0.71338606911949],"aabb_xy":[[0.41465169729902185,0.1417758277732162],[0.4291741924398367,0.16734984830023517]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.32548969451940857,-1.8247552957242097,0.71338606911949],"aabb_xy":[[0.2454958709408503,-1.9047552983170513],[0.40548351809796673,-1.7447552931313681]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.5445822888649321,-1.270645281345403,0.71338606911949],"aabb_xy":[[0.5077317409279445,-1.3081452821684365],[0.5814328368019197,-1.233145280522369]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.6248799364653732,0.9015378903586289,0.71338606911949],"aabb_xy":[[-0.6362416711186593,0.8901694239523408],[-0.6135182018120869,0.9129063567649169]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.04516427144808122,1.6122048459381069,0.71338606911949],"aabb_xy":[[0.026051964090102346,1.5930700670608648],[0.06427657880606008,1.6313396248153489]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.34996890723469165,1.3099714132665312,0.71338606911949],"aabb_xy":[[0.3254552831376858,1.285706819964495],[0.3744825313316975,1.334236006568568]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.23779852155211867,1.6626736728780052,0.71338606911949],"aabb_xy":[[0.18282479951578579,1.6076736733137722],[0.29277224358845155,1.7176736724422386]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.3838022421722701,-1.3406354020713278,0.71338606911949],"aabb_xy":[[-0.42029806279954884,-1.3771193444980852],[-0.34730642154499136,-1.30415145964457]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.38945119895090796,-1.3249030652522855,0.71338606911949],"aabb_xy":[[0.32545120252358606,-1.372072689074382],[0.45345119537822987,-1.277733441430189]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.02146749185414354,-1.0540451391001544,0.71338606911949],"aabb_xy":[[-0.07144630036445943,-1.1040451391058732],[0.02851131665617235,-1.0040451390944356]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.5889517291363029,1.0189815663967265,0.71338606911949],"aabb_xy":[[-0.6389510043047391,0.9689815651207796],[-0.5389524539678667,1.068981567672674]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[-0.3195370398836136,1.764484569309849,0.71338606911949],"aabb_xy":[[-0.32324030121275243,1.7607825510011308],[-0.31583377855447464,1.7681865876185663]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.14992477621588363,-2.235199347288552,0.71338606911949],"aabb_xy":[[-0.18742477638775557,-2.2679000826714586],[-0.11242477604401169,-2.202498611905644]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.4975297818496798,-0.5484272918730633,0.71338606911949],"aabb_xy":[[0.41752977858566664,-0.5619873241819766],[0.5775297851136929,-0.5348672595641499]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[0.2822993555116121,1.1185695747056648,0.71338606911949],"aabb_xy":[[0.2767176838774833,1.1060695748878893],[0.2878810271457408,1.1310695745234403]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.43727866741674326,-0.2535523632515613,0.71338606911949],"aabb_xy":[[0.41227866748422537,-0.2604350314724846],[0.46227866734926115,-0.24666969503063796]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[0.591522981195143,-0.9271154405073194,0.71338606911949],"aabb_xy":[[0.5540229806977848,-0.9310841240554378],[0.6290229816925013,-0.923146756959201]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.5143815561703746,-1.771942405292882,0.71338606911949],"aabb_xy":[[-0.6043815585043937,-1.8494247598779947],[-0.42438155383635556,-1.6944600507077694]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[-0.5388707566802137,-0.70408909843958,0.71338606911949],"aabb_xy":[[-0.5435058718324469,-0.7079564335167285],[-0.5342356415279802,-0.7002217633624312]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[-0.26415957840972787,1.1760172341077113,0.71338606911949],"aabb_xy":[[-0.3541595770041978,1.1597666477942903],[-0.17415957981525793,1.1922678204211323]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_30","position":[0.4379918388858255,-2.0665463146285203,0.71338606911949],"aabb_xy":[[0.34799183946745454,-2.09992181147271],[0.5279918383041964,-2.0331708177843306]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_31","position":[0.3634871280966807,-2.496553463027486,0.71338606911949],"aabb_xy":[[0.3585311079117996,-2.519053463229608],[0.36844314828156194,-2.4740534628253643]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_32","position":[-0.4067414400623312,0.496207839905245,0.71338606911949],"aabb_xy":[[-0.45671473406559165,0.44620783935069763],[-0.35676814605907076,0.5462078404597923]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_33","position":[-0.24575137619455906,0.14792725784730099,0.71338606911949],"aabb_xy":[[-0.24982953410160877,0.14384627759903765],[-0.2416732182875093,0.15200823809556427]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_34","position":[0.08222708007366408,0.8453916534361854,0.71338606911949],"aabb_xy":[[0.022227079477647918,0.7905791808909619],[0.14222708066968026,0.9002041259814089]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.644679703680494,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9822.png","name":"9822"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9822.png","name":"9822"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7709.png","name":"7709"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8273.png","name":"8273"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8587.png","name":"8587"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9185.png","name":"9185"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.6836468676179,"rotation_z_degrees":230.30872125943523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017921134313655007,0.013815367490756705,-0.014074760362831102]},{"name":"camera_2","offset_m":[-0.009227795604741726,0.0021901018012107885,-0.01659576372313687]},{"name":"camera_3","offset_m":[0.007829898856508546,0.015800935476983063,0.006644326216460706]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003596802990861849,-0.0010464464702000132,0.00020494366077303565],"end_effector_yaw_offset_degrees":0.4133489811316706},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00089320087475038,0.001464524227023012,-0.0003396349280710691],"end_effector_yaw_offset_degrees":0.15389734624738094},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015636607476804528,-0.0006344000592358357,-0.0016138359143631317],"end_effector_yaw_offset_degrees":0.7884431731020418},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0003733399282071668,0.001743433468587839,-0.0015259667350190785],"end_effector_yaw_offset_degrees":-0.5048947412724467},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016896450030683848,0.0014271341516501656,0.0010991645303164185],"end_effector_yaw_offset_degrees":0.494382729170209},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0001839016194624247,0.001419594206629867,0.001866920236274092],"end_effector_yaw_offset_degrees":0.5434801364096404},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00120989547021554,0.0007310068871670006,-0.0013821369605755015],"end_effector_yaw_offset_degrees":-0.8920626151425406},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003486850007200868,-0.001233457584833834,0.0015897792159794704],"end_effector_yaw_offset_degrees":-0.5493580548498347},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006604988318627903,0.00180810770832657,0.001440577666892188],"end_effector_yaw_offset_degrees":-0.1708913017509044}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007226592769660582,0.002088322583269],"position_m":[0.18467734072303396,-0.134611677416731,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012467890017863938,-0.0003406419585573299],"position_m":[0.1863532109982136,0.01955935804144267,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002552473130454206,-0.0022895816446656205],"position_m":[0.2081475268695458,-0.35588958164466566,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0014561988003949301,4.58654482646606e-06],"position_m":[0.2921438011996051,0.3156045865448265,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"628b74fa869b4ab683549774a312beedb6ffe329ca6cd0c880b2dda52e9824c2","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9822/tex_ceiling_textures_9185/tex_floor_textures_8587/tex_table_textures_7709/tex_wall_textures_8273","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5537002585510971075,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5537002585510971075,"visual_seed":5537002585510971075,"scene_id":"lab_003","finished_at":"2026-09-08T17:02:11"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T17:02:19","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.1666957951501089,-1.2161533213338633,0.71338606911949],"aabb_xy":[[-0.24669579373742834,-1.295468923272024],[-0.08669579656278949,-1.1368377193957022]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.25437299851091916,-1.5616974439425113,0.71338606911949],"aabb_xy":[[-0.28683469939284656,-1.5918302760574137],[-0.22191129762899167,-1.5315646118276085]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_2","position":[-0.1092866261710903,0.14432869966924322,0.71338606911949],"aabb_xy":[[-0.12839893352906917,0.12519392079200123],[-0.09017431881311143,0.16346347854648527]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.3144587958500993,0.5035508408383524,0.71338606911949],"aabb_xy":[[-0.32733069935103937,0.42355084042451635],[-0.3015868923491591,0.5835508412521886]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[0.38455890443328644,-1.9074926211460812,0.71338606911949],"aabb_xy":[[0.3713279588986051,-1.9207200401680806],[0.3977898499679677,-1.8942652021240818]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.5708764218998581,-1.6820325873421431,0.71338606911949],"aabb_xy":[[0.5593074411529215,-1.7070325874590748],[0.5824454026467947,-1.6570325872252114]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.06699360823918143,1.387357622586873,0.71338606911949],"aabb_xy":[[-0.12196733027551432,1.3323576230226395],[-0.012019886202848551,1.4423576221511059]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.6059562828352019,-1.2655897241979492,0.71338606911949],"aabb_xy":[[0.5972423137852672,-1.288089724857137],[0.6146702518851361,-1.2430897235387606]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.10659284728081675,-2.366486946298779,0.71338606911949],"aabb_xy":[[0.056619781748301304,-2.4164869461113123],[0.15656591281333224,-2.3164869464862465]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.023388988505818387,-2.087387307021173,0.71338606911949],"aabb_xy":[[-0.087388988883352,-2.1371325738719853],[0.04061101187171523,-2.0376420401703608]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.3512722079051441,-1.7604917379455611,0.71338606911949],"aabb_xy":[[-0.3688505100940909,-1.7780662275196661],[-0.3336939057161972,-1.7429172483714561]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.13194312790102447,-0.7718806429197149,0.71338606911949],"aabb_xy":[[-0.1389834378345615,-0.8518806423193865],[-0.1249028179674875,-0.6918806435200436]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.5419920886418162,-0.9630110605645561,0.71338606911949],"aabb_xy":[[-0.5594920889011529,-0.9771026027533288],[-0.5244920883824796,-0.9489195183757836]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.38178808719158264,-2.517017038125984,0.71338606911949],"aabb_xy":[[-0.4457880843036883,-2.566049407920395],[-0.31778809007947695,-2.4679846683315736]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[0.5850511193799173,-2.3814488975892747,0.71338606911949],"aabb_xy":[[0.5200511183794166,-2.432235262743949],[0.6500511203804177,-2.3306625324345993]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[-0.11920945725076026,-1.7784835750299077,0.71338606911949],"aabb_xy":[[-0.12364008660560045,-1.7839319467645902],[-0.1147788278959201,-1.7730352032952252]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[0.19496990315049334,-1.6906478801751776,0.71338606911949],"aabb_xy":[[0.1574699024859146,-1.7063349381753996],[0.23246990381507202,-1.6749608221749552]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[-0.1979700113865524,1.2009931805619778,0.71338606911949],"aabb_xy":[[-0.21057271052362886,1.1883977843371123],[-0.18536731224947595,1.2135885767868433]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.6491388508586066,0.49501627548145644,0.71338606911949],"aabb_xy":[[-0.6741388507911245,0.4881336072605332],[-0.6241388509260887,0.5018989437023798]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.017482622728269392,-2.516893295491445,0.71338606911949],"aabb_xy":[[-0.010847087220270835,-2.521354037685162],[0.04581233267680962,-2.512432553297728]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.589261091842108,-0.39670107201434224,0.71338606911949],"aabb_xy":[[0.5536319359421482,-0.4323337387711952],[0.6248902477420677,-0.3610684052574893]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[0.17359859783425946,1.6423913893318205,0.71338606911949],"aabb_xy":[[0.14360693510038913,1.6123913899950197],[0.2035902605681298,1.6723913886686208]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[-0.29208628304809603,1.501684493614699,0.71338606911949],"aabb_xy":[[-0.2960467668178304,1.494016629029178],[-0.2881257992783617,1.5093523582002193]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.5031191424585442,1.2782329180034906,0.71338606911949],"aabb_xy":[[-0.5731191458501061,1.2429171443000597],[-0.43311913906698224,1.3135486917069215]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.4077402609635971,-0.12443281422581043,0.71338606911949],"aabb_xy":[[-0.4131982066006172,-0.20443281753346954],[-0.40228231532657704,-0.04443281091815131]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_25","position":[0.2942193443843776,-0.8555158084256633,0.71338606911949],"aabb_xy":[[0.256888067859135,-0.8901688632205156],[0.3315506209096202,-0.8208627536308111]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[0.6148354355274559,-0.07830130605465024,0.71338606911949],"aabb_xy":[[0.550835435266985,-0.12331010540757824],[0.6788354357879266,-0.03329250670172223]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_27","position":[0.41749695297638434,-1.329982734595476,0.71338606911949],"aabb_xy":[[0.37999695455298405,-1.3431469485633063],[0.45499695139978474,-1.3168185206276453]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_28","position":[-0.48351718552004275,1.6263091829223462,0.71338606911949],"aabb_xy":[[-0.5010171847981297,1.6089710828560002],[-0.4660171862419559,1.6436472829886921]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_29","position":[-0.5028684816305129,0.6406546162303615,0.71338606911949],"aabb_xy":[[-0.5253684818740283,0.6284499815705895],[-0.4803684813869975,0.6528592508901334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6493087693812056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5678.png","name":"5678"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5678.png","name":"5678"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9999.png","name":"9999"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/670.png","name":"670"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9681.png","name":"9681"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2253.png","name":"2253"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":813.7700710431359,"rotation_z_degrees":6.49138832989216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017633285887243406,0.01641876982716362,0.009816111268928118]},{"name":"camera_2","offset_m":[0.017823457777203445,0.003190090627750882,-0.0058339412721549]},{"name":"camera_3","offset_m":[-0.013855786466647979,0.019568369005584212,-0.017959842150764002]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00020310879390503982,0.0006461698192167069,-0.0017116894483996843],"end_effector_yaw_offset_degrees":0.966275461685355},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019652540333719402,0.0007450480464944393,0.0019906988122447246],"end_effector_yaw_offset_degrees":0.1642127202212038},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001026454333326495,-0.0019081964532436481,-0.0006158593128033627],"end_effector_yaw_offset_degrees":-0.05230315496142923},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00010842586899765735,0.0007337567444072818,0.0013915562971471775],"end_effector_yaw_offset_degrees":-0.3525530507617465},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001386703994963552,0.0019268192781999594,-0.0004882849683369424],"end_effector_yaw_offset_degrees":-0.54751714839703},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006283983232082497,0.0017196386570621446,3.355204123716739e-05],"end_effector_yaw_offset_degrees":-0.7644687566280772},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012638706236389892,-0.0017533917882980967,0.0001077950440692972],"end_effector_yaw_offset_degrees":-0.8450077374964642},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-1.1225419915728181e-06,-0.0003739864170311572,-0.0005310076060472549],"end_effector_yaw_offset_degrees":0.522002939316812},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017215828421590928,0.0012143085422553542,0.0010201909814211135],"end_effector_yaw_offset_degrees":0.854458976344902}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030582761825163718,0.0023620817634443644],"position_m":[0.18234172381748365,-0.13433791823655564,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004671984120655677,0.0045527453086899134],"position_m":[0.18292801587934432,0.024452745308689915,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004004421706828802,-0.003239324052739789],"position_m":[0.2066955782931712,-0.3568393240527398,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0011271541646947335,0.004845170390584317],"position_m":[0.29472715416469475,0.3204451703905843,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"b43152d8bff86571b0a52ed196033c8555dc8afe63a75f1264ac0b08f9b1b6e0","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5678/tex_ceiling_textures_2253/tex_floor_textures_9681/tex_table_textures_9999/tex_wall_textures_670","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7639759291261276995,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7639759291261276995,"visual_seed":7639759291261276995,"scene_id":"lab_003","finished_at":"2026-09-08T17:12:29"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T17:12:38","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[0.3215320202961527,-2.303394974898705,0.71338606911949],"aabb_xy":[[0.29113390919700904,-2.333801876900374],[0.3519301313952962,-2.272988072897035]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.14079670732303828,-2.3983851751474003,0.71338606911949],"aabb_xy":[[0.11888802518368724,-2.4202858419674906],[0.16270538946238933,-2.376484508327309]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.05355696911003305,-1.3632209704718026,0.71338606911949],"aabb_xy":[[-0.06512594985696962,-1.3882209705887343],[-0.04198798836309647,-1.3382209703548709]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.2171140228139269,1.4904168946142122,0.71338606911949],"aabb_xy":[[0.1555232635899341,1.4264168965051653],[0.2787047820379197,1.5544168927232591]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.20998155107462735,-0.92525398870218,0.71338606911949],"aabb_xy":[[-0.24498155242610903,-0.9456137246590008],[-0.17498154972314556,-0.9048942527453592]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.3556987476353768,-0.6802405865801693,0.71338606911949],"aabb_xy":[[0.35126811828053667,-0.6856889583148519],[0.360129376990217,-0.6747922148454867]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[0.17016090847131393,-0.8200615761343537,0.71338606911949],"aabb_xy":[[0.11503570284172317,-0.8800615775756407],[0.2252861141009047,-0.7600615746930665]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.4877026498768602,-1.727167722445893,0.71338606911949],"aabb_xy":[[0.4377295843443449,-1.7771677222584266],[0.5376757154093759,-1.6771677226333608]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.3960765572214917,-1.8935414981862495,0.71338606911949],"aabb_xy":[[-0.47607655462508514,-1.973534069384432],[-0.3160765598178983,-1.8135489269880665]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.4986323990377329,-0.8269401030332357,0.71338606911949],"aabb_xy":[[-0.5027105569447827,-0.831021083281499],[-0.4945542411306832,-0.8228591227849724]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.5980670747335942,0.5421959194090098,0.71338606911949],"aabb_xy":[[-0.6620670720359406,0.49782949244115304],[-0.5340670774312478,0.5865623463768666]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.13692911842236477,0.7013556503430074,0.71338606911949],"aabb_xy":[[0.07192911986529191,0.6716031169291248],[0.20192911697943758,0.73110818375689]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.35639184666992785,1.7590767996934766,0.71338606911949],"aabb_xy":[[-0.42639184930651414,1.738971934697611],[-0.28639184403334145,1.779181664689342]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.07715537646969184,0.8318785901805281,0.71338606911949],"aabb_xy":[[0.06974292092830336,0.8260273797589001],[0.08456783201108031,0.837729800602156]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.38154758294148755,0.7980330528849575,0.71338606911949],"aabb_xy":[[-0.4315475843023747,0.7480551483095418],[-0.33154758158060027,0.848010957460373]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.6294875144177987,-0.6150066827313208,0.71338606911949],"aabb_xy":[[0.6186359081689231,-0.6258659734589718],[0.6403391206666743,-0.6041473920036697]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.25471102765119535,-2.5444055584882115,0.71338606911949],"aabb_xy":[[0.241559781679906,-2.5694055582448985],[0.2678622736224847,-2.5194055587315254]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.40203737457588096,0.36577867518732043,0.71338606911949],"aabb_xy":[[0.39708135439099995,0.3432786749851988],[0.4069933947607623,0.3882786753894421]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.5945605965318628,-0.21901291602228978,0.71338606911949],"aabb_xy":[[-0.6845605930327345,-0.26492455844074797],[-0.504560600030991,-0.1731012736038315]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.4553538553945833,-0.4146185636774842,0.71338606911949],"aabb_xy":[[0.42486960526755313,-0.46461856345898006],[0.48583810552161344,-0.3646185638959882]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.5715651793682828,1.7379328969053334,0.71338606911949],"aabb_xy":[[-0.6355651757956048,1.6907632730832372],[-0.507565182940961,1.78510252072743]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.4441964217833006,-0.05994483202087997,0.71338606911949],"aabb_xy":[[-0.4619899287182171,-0.07774457761667763],[-0.4264029148483842,-0.0421450864250823]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[-0.08903847752790472,-1.8603192472847478,0.71338606911949],"aabb_xy":[[-0.17403847621997937,-1.8923051106796267],[-0.004038478835830084,-1.828333383889869]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6407233242795665,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3065.png","name":"3065"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3065.png","name":"3065"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6328.png","name":"6328"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1261.png","name":"1261"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2515.png","name":"2515"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2038.png","name":"2038"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":731.0899570583808,"rotation_z_degrees":98.74007074652094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014116380079698086,-0.019158557984144575,0.006855283929776829]},{"name":"camera_2","offset_m":[0.006664704135763304,-0.004689032421088162,-0.00758653509547738]},{"name":"camera_3","offset_m":[0.0032535962493996477,0.013576254034485407,0.0016364087081528755]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010395846521897554,0.0018636196779343744,0.00027448693214346875],"end_effector_yaw_offset_degrees":0.38772529546019463},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012931771207810648,7.137655361438757e-05,-0.0014847090383280426],"end_effector_yaw_offset_degrees":-0.7196004067878694},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018421034658339984,-0.00192386677022869,0.001938501964711484],"end_effector_yaw_offset_degrees":-0.10539390182589514},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00185753083991993,-0.0008475334578229373,0.0008490612215549392],"end_effector_yaw_offset_degrees":-0.9831180977173246},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008209695799994755,0.0011063948837184818,-0.0007081400091986736],"end_effector_yaw_offset_degrees":-0.8601455645819962},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0016435358409254458,0.0017731204534381273,0.0007656233557044173],"end_effector_yaw_offset_degrees":-0.6138656210563653},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002192531453614221,-0.0001920496421600939,0.0014234363288549911],"end_effector_yaw_offset_degrees":0.8741409966156817},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014585023094400734,0.001409612541923185,-0.0013103955884677663],"end_effector_yaw_offset_degrees":-0.2676797691055446},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005526059261944825,-0.0006611810101226228,0.0019587007225862424],"end_effector_yaw_offset_degrees":-0.04761180411511812}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031841037816614107,-0.002474863863709329],"position_m":[0.18858410378166143,-0.1391748638637093,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004035343501495275,0.0020080004429739937],"position_m":[0.1835646564985047,0.021908000442973995,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.035577975349037e-05,0.0028898235732247512],"position_m":[0.2107903557797535,-0.35071017642677527,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004995055363658297,-0.0017738026911612347],"position_m":[0.28860494463634173,0.31382619730883876,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"4cc459318cd1e157e01f1faed285ebae28460426caa1612cf2b26b6c02384866","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3065/tex_ceiling_textures_2038/tex_floor_textures_2515/tex_table_textures_6328/tex_wall_textures_1261","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4722962711420754598,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4722962711420754598,"visual_seed":4722962711420754598,"scene_id":"lab_003","finished_at":"2026-09-08T17:24:02"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T17:35:29","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.36277819501113057,0.8224424617039556,0.71338606911949],"aabb_xy":[[-0.4277781935682034,0.792689928290073],[-0.29777819645405773,0.8521949951178382]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.33760451021501336,0.7553635749278769,0.71338606911949],"aabb_xy":[[0.33119069657182837,0.7489537546802085],[0.34401832385819825,0.7617733951755452]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[-0.25870705661579074,-1.0242284484698871,0.71338606911949],"aabb_xy":[[-0.2806157387551418,-1.0461291152899779],[-0.2367983744764397,-1.0023277816497964]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[0.629728190076652,-2.104258501271078,0.71338606911949],"aabb_xy":[[0.6209469629294159,-2.113038248559609],[0.6385094172238884,-2.0954787539825483]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.594972981628445,-0.4292822293602634,0.71338606911949],"aabb_xy":[[-0.6324729819206198,-0.433323704760867],[-0.5574729813362702,-0.42524075395965977]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.3415843496097746,-1.6284329400116473,0.71338606911949],"aabb_xy":[[0.2518972733016591,-1.7184329402660976],[0.43127142591789003,-1.5384329397571965]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.5785169762441602,0.47625747151202136,0.71338606911949],"aabb_xy":[[0.541016975746802,0.47228878796390295],[0.6160169767415185,0.48022615506013977]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.48918445033876146,1.5543900134722306,0.71338606911949],"aabb_xy":[[0.4798908321016108,1.5168900149840965],[0.498478068575912,1.5918900119603643]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.2060581639031296,-0.7392789624369733,0.71338606911949],"aabb_xy":[[0.188558163643793,-0.7533705046257462],[0.22355816416246624,-0.7251874202482008]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.23987164468711109,-2.4756586753207994,0.71338606911949],"aabb_xy":[[-0.2948671225077704,-2.530658676754706],[-0.18487616686645164,-2.420658673886892]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.4041707351672519,1.3284711672631895,0.71338606911949],"aabb_xy":[[0.340170734906781,1.2834623679102615],[0.46817073542772264,1.3734799666161175]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[0.47691402214515466,1.7725481918078114,0.71338606911949],"aabb_xy":[[0.44191402383445927,1.7648331768842658],[0.5119140204558501,1.780263206731357]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.3319505073851847,-2.1356603987693923,0.71338606911949],"aabb_xy":[[0.3008035885416016,-2.2056603974561995],[0.36309742622876784,-2.065660400082585]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.02449733199563431,-0.8084904564583297,0.71338606911949],"aabb_xy":[[-0.06550266659883563,-0.8247410427717508],[0.11449733059010425,-0.7922398701449087]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[-0.03427475290253479,1.3205922782191113,0.71338606911949],"aabb_xy":[[-0.10427475471128023,1.2992385094549241],[0.03572524890621065,1.341946046983299]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.46590862989257653,-0.7624776056116547,0.71338606911949],"aabb_xy":[[-0.5159086308431093,-0.7940267526151759],[-0.41590862894204367,-0.730928458608133]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[0.32633866523022803,-1.3053751808282106,0.71338606911949],"aabb_xy":[[0.2363386687293562,-1.3512868232466688],[0.4163386617310997,-1.2594635384097523]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[0.4571111580151892,-2.327891563972625,0.71338606911949],"aabb_xy":[[0.448983469821876,-2.3368051723833325],[0.4652388462085024,-2.318977955561917]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[-0.27615515705294247,1.6254091795475838,0.71338606911949],"aabb_xy":[[-0.3411551581588858,1.6004438064794555],[-0.21115515594699924,1.650374552615712]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.11435513535681119,1.5415322622069207,0.71338606911949],"aabb_xy":[[-0.12351501430068779,1.5350010441633835],[-0.10519525641293459,1.5480634802504576]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.49530189291052995,-0.7982297212895213,0.71338606911949],"aabb_xy":[[0.45845134497354234,-0.8357297221125549],[0.5321524408475176,-0.7607297204664875]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[0.5399173254521032,1.025349044153041,0.71338606911949],"aabb_xy":[[0.47991732560553646,0.9685304219600024],[0.59991732529867,1.0821676663460797]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[0.3236637854351625,0.44837354842148125,0.71338606911949],"aabb_xy":[[0.28866378716504254,0.4412994207264931],[0.35866378370528235,0.4554476761164694]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[0.035062464787484204,-2.0541356955267567,0.71338606911949],"aabb_xy":[[-0.049937533629939024,-2.139009990989042],[0.12006246320490743,-1.9692614000644721]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[-0.479388711742038,0.07445437008984745,0.71338606911949],"aabb_xy":[[-0.5161833448669444,0.03754849499326518],[-0.4425940786171318,0.11136024518642973]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.27185014570017096,1.0364659687772333,0.71338606911949],"aabb_xy":[[0.191850145426564,0.9635164209515165],[0.35185014597377795,1.1094155166029498]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[0.06856332067862547,0.9691931896187316,0.71338606911949],"aabb_xy":[[0.01856848775068387,0.919193190723488],[0.11855815360656707,1.0191931885139751]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6497518229545439,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8581.png","name":"8581"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1731.png","name":"1731"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1412.png","name":"1412"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4939.png","name":"4939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9267.png","name":"9267"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":608.0575180357893,"rotation_z_degrees":335.48571711366714,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015203951099336883,0.012326664722659909,0.017283882604011206]},{"name":"camera_2","offset_m":[0.01136607457983117,-0.013494206333701783,0.004598897191369272]},{"name":"camera_3","offset_m":[0.0028823420609446065,0.014203211917929368,0.010658415949935121]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.6624408070978316e-05,-7.220845843118259e-06,-1.0064385558847169e-05],"end_effector_yaw_offset_degrees":0.6301474519019121},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019794574434406657,0.0001596000861482736,0.0018015333753873776],"end_effector_yaw_offset_degrees":0.24670679135622908},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001324170281999761,-0.0008917877786204541,0.0014601466329200825],"end_effector_yaw_offset_degrees":0.3370180089705743},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009187265921491541,0.0004442604808842358,0.0009542903729346294],"end_effector_yaw_offset_degrees":0.18350795706029244},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019156181877463864,0.0010608487453891103,-0.0011528677390796093],"end_effector_yaw_offset_degrees":-0.2973275664258863},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011865797120964323,-0.0004971557800233536,0.00045974061843461877],"end_effector_yaw_offset_degrees":0.9634308554488225},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016221741433941443,-0.0016550117878899773,0.0012954974997661907],"end_effector_yaw_offset_degrees":0.7465367618504037},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001969407185602866,0.0011469976904290692,3.358544718768059e-05],"end_effector_yaw_offset_degrees":0.6260373590600916},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0001207489708926195,0.0006244574610268865,-0.0006571048223672073],"end_effector_yaw_offset_degrees":0.16242540830997876}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003491577766672727,-0.004359690404138496],"position_m":[0.18889157776667273,-0.1410596904041385,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001197610898295641,-0.0008871544490999988],"position_m":[0.18879761089829564,0.019012845550900003,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018183287166431104,-0.0018492601564301958],"position_m":[0.20888167128335688,-0.35544926015643025,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0021738005619992085,0.0038955803922728566],"position_m":[0.29577380056199926,0.3194955803922728,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"5578436d4302cdb274d88bf99abbf9cadebc18feb01510d61dc7f7ceb360f220","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8581/tex_ceiling_textures_9267/tex_floor_textures_4939/tex_table_textures_1731/tex_wall_textures_1412","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4883068741338650986,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4883068741338650986,"visual_seed":4883068741338650986,"scene_id":"lab_003","finished_at":"2026-09-08T17:47:05"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T17:47:13","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[0.21312126269665777,0.6795397800780121,0.71338606911949],"aabb_xy":[[0.18197434385307462,0.6095397813912047],[0.24426818154024085,0.749539778764819]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.3029301674306645,-2.260905016292878,0.71338606911949],"aabb_xy":[[0.28001445454561463,-2.283809313429302],[0.32584588031571443,-2.238000719156455]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.04431224384571275,0.9782039895793173,0.71338606911949],"aabb_xy":[[0.03627590914442791,0.9701658702749005],[0.05234857854699759,0.9862421088837341]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[0.4494787821085233,0.38614480910549753,0.71338606911949],"aabb_xy":[[0.3594787823853491,0.36307145657031753],[0.5394787818316974,0.4092181616406772]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.32700448422865724,-1.7109905877340392,0.71338606911949],"aabb_xy":[[0.2630044839681864,-1.7559993870869672],[0.391004484489128,-1.6659817883811112]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.49550493921602046,-2.445788613707341,0.71338606911949],"aabb_xy":[[0.4055049368820014,-2.523270968292454],[0.5855049415500395,-2.3683062591222286]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.10036460579574791,0.8970878407506779,0.71338606911949],"aabb_xy":[[0.08773781850855154,0.8875417670491049],[0.11299139308294424,0.9066339144522507]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[0.4366491826142296,1.5236328780410848,0.71338606911949],"aabb_xy":[[0.4215468811532114,1.5085313564100225],[0.45175148407524757,1.5387343996721463]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.27374300707377297,-0.7706613685984993,0.71338606911949],"aabb_xy":[[-0.3087430062037286,-0.7764065896741634],[-0.23874300794381725,-0.7649161475228352]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[0.43970337258116987,-0.17680805228578622,0.71338606911949],"aabb_xy":[[0.4343708579265569,-0.18213238053102182],[0.44503588723578286,-0.17148372404055062]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.5208044443950577,0.03210751145294788,0.71338606911949],"aabb_xy":[[-0.6007982679736159,-0.04789249113989368],[-0.44081062081649947,0.11210751404578945]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.6383743630991829,-0.24644912048581702,0.71338606911949],"aabb_xy":[[-0.6509770622362594,-0.2590445167106825],[-0.6257716639621065,-0.23385372426095152]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.3742633857184301,-1.133955075801972,0.71338606911949],"aabb_xy":[[0.3264572181046614,-1.198955078509031],[0.42206955333219864,-1.068955073094913]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.2658779539271249,1.6546595615468402,0.71338606911949],"aabb_xy":[[0.21979286267239342,1.5906595642942851],[0.31196304518185636,1.7186595587993954]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.2855865585510672,0.8294094847845357,0.71338606911949],"aabb_xy":[[0.24704086572586614,0.7908637137283471],[0.3241322513762682,0.8679552558407243]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.26439444001999624,-1.8429429457064606,0.71338606911949],"aabb_xy":[[-0.3283944391897662,-1.8897096328254233],[-0.2003944408502263,-1.7961762585874983]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.5032804794451591,-0.8130976544543889,0.71338606911949],"aabb_xy":[[0.47828048017319674,-0.8294430180505511],[0.5282804787171212,-0.7967522908582264]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.6580262036992375,-2.2246300725561006,0.71338606911949],"aabb_xy":[[0.6377419009758386,-2.2449126976988087],[0.6783105064226361,-2.2043474474133915]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[-0.16973618712749583,-0.002585779391864218,0.71338606911949],"aabb_xy":[[-0.20536534302745557,-0.03821844614871717],[-0.1341070312275361,0.03304688736498873]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.14687926586051703,0.9921541303376409,0.71338606911949],"aabb_xy":[[-0.19687926450643822,0.9422345866781786],[-0.09687926721459583,1.0420736739971033]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.35361093866233095,-0.5549488094026365,0.71338606911949],"aabb_xy":[[-0.3911109391596892,-0.5589174929507549],[-0.3161109381649727,-0.550980125854518]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.20050416256724368,-1.2805940619732896,0.71338606911949],"aabb_xy":[[0.19287989447706547,-1.2882272855098331],[0.20812843065742195,-1.2729608384367457]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[0.3902818666606307,1.0798373336143654,0.71338606911949],"aabb_xy":[[0.33028186606461457,1.0250248610691421],[0.45028186725664693,1.134649806159589]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.10467036553925058,0.42035675844369047,0.71338606911949],"aabb_xy":[[-0.17467036893081253,0.38504098474025955],[-0.03467036214768859,0.4556725321471213]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.14693883740210223,-1.1924833279841494,0.71338606911949],"aabb_xy":[[-0.1969381125705384,-1.2424833292600965],[-0.09693956223366607,-1.1424833267082022]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[0.7019925324396055,1.187480259026096,0.71338606911949],"aabb_xy":[[0.6971489376783756,1.182628606547112],[0.7068361272008356,1.1923319115050803]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[-0.5247441978985046,-2.3530005070385256,0.71338606911949],"aabb_xy":[[-0.5307107368392402,-2.3589616516978893],[-0.5187776589577687,-2.347039362379161]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.28224434125963277,1.8037232888448451,0.71338606911949],"aabb_xy":[[-0.36224433827388075,1.7835887371714336],[-0.2022443442453848,1.8238578405182562]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[-0.5360480907695321,-2.2788824623900323,0.71338606911949],"aabb_xy":[[-0.5503825158956955,-2.2909426779445705],[-0.5217136656433686,-2.2668222468354933]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_29","position":[0.25479968214332527,-2.139844611812579,0.71338606911949],"aabb_xy":[[0.19079968503121958,-2.1888769816069895],[0.31879967925543096,-2.0908122420181683]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_30","position":[0.137690750671847,-2.247823234384831,0.71338606911949],"aabb_xy":[[0.1263290160185608,-2.2591917007911184],[0.14905248532513313,-2.2364547679785427]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[0.07361256093357893,-0.6601564623400933,0.71338606911949],"aabb_xy":[[0.0036125588021493904,-0.6829184279657888],[0.14361256306500847,-0.6373944967143975]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_32","position":[-0.6406851962473835,0.3770204971617259,0.71338606911949],"aabb_xy":[[-0.6819340072772982,0.3220204976495084],[-0.5994363852174688,0.4320204966739433]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_33","position":[-0.572875427657588,0.6778593106749766,0.71338606911949],"aabb_xy":[[-0.5905510582461864,0.6601790943955738],[-0.5551997970689897,0.6955395269543793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6442606365069323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8144.png","name":"8144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8144.png","name":"8144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3830.png","name":"3830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7902.png","name":"7902"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9153.png","name":"9153"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9489.png","name":"9489"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":590.3692056897371,"rotation_z_degrees":73.412452462781,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01842300232943005,-0.011257848071038077,-0.014441693000322164]},{"name":"camera_2","offset_m":[0.003269756677922196,-0.005867050711466577,0.001839185326479753]},{"name":"camera_3","offset_m":[-0.003939592309218445,-0.012203716471476677,-0.017360243399068796]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017852732372777781,-0.0004178577454299012,0.00043159036162703944],"end_effector_yaw_offset_degrees":-0.07499344697358157},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017439135505657368,0.0018094087582763933,0.0006664809862387245],"end_effector_yaw_offset_degrees":-0.039046044583631145},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010882478180084744,-0.000823554005767253,-0.0001826086697445271],"end_effector_yaw_offset_degrees":0.09177801431397214},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013814558919770735,0.00089335110804761,-0.0004557790466617204],"end_effector_yaw_offset_degrees":0.09327519205834278},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00036517607758741136,0.001350403643268446,0.0008326924336087864],"end_effector_yaw_offset_degrees":0.8544199469219411},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001927580330065148,0.0013548097604152904,-0.0004531309011531436],"end_effector_yaw_offset_degrees":-0.654858325588265},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014568375469134484,-0.0016416517844834214,0.00028820474360992865],"end_effector_yaw_offset_degrees":0.8964873858427309},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001296606218838431,-0.0014286632856813498,0.000850532915569335],"end_effector_yaw_offset_degrees":0.6867997087795508},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006060924612525404,0.001086385422113049,-0.0009273913714071859],"end_effector_yaw_offset_degrees":-0.27634354669846917}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00045093035942372905,-0.001695057071747168],"position_m":[0.18494906964057628,-0.13839505707174715,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00013796218480075645,-0.0009406891941399513],"position_m":[0.18746203781519924,0.01895931080586005,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035712578045531728,-0.0007530672455906126],"position_m":[0.21427125780455317,-0.3543530672455906,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0013934735883513703,-0.0009643736815199075],"position_m":[0.2922065264116487,0.3146356263184801,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"6ba15017b6b09f824bda6b4d3537374e7e74761a87f6dec57ce313494033750d","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0026.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8144/tex_ceiling_textures_9489/tex_floor_textures_9153/tex_table_textures_3830/tex_wall_textures_7902","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1547108254437056860,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1547108254437056860,"visual_seed":1547108254437056860,"scene_id":"lab_003","finished_at":"2026-09-08T17:57:46"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T17:57:54","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.16161091358631163,-0.5912523056940489,0.71338606911949],"aabb_xy":[[0.14493377759321616,-0.6079522296679791],[0.17828804957940717,-0.5745523817201186]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.23948893177542224,-1.7528425003307067,0.71338606911949],"aabb_xy":[[-0.2769889317191886,-1.7611355903655432],[-0.20198893183165578,-1.74454941029587]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.2759882313532638,-1.9077119791494312,0.71338606911949],"aabb_xy":[[-0.29890394423831373,-1.930616276285855],[-0.25307251846821394,-1.884807682013008]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.39626835727299237,-0.6767049289180729,0.71338606911949],"aabb_xy":[[0.3162745336944342,-0.7567049315109143],[0.47626218085155064,-0.5967049263252312]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.5579709604615068,-0.10192299509266922,0.71338606911949],"aabb_xy":[[-0.5635526320956356,-0.11442299491044472],[-0.5523892888273779,-0.08942299527489372]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.6200049346191063,-2.499682938084717,0.71338606911949],"aabb_xy":[[-0.6565007552463851,-2.536166880511474],[-0.5835091139918276,-2.463198995657959]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.15372653030322003,-1.873121147840807,0.71338606911949],"aabb_xy":[[0.14668622036968307,-1.9531211472404788],[0.16076684023675705,-1.793121148441136]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.1671515742225863,0.6133919795617091,0.71338606911949],"aabb_xy":[[0.09715157241384084,0.5920382107975217],[0.23715157603133172,0.6347457483258965]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.44615755468509943,0.29208757039036115,0.71338606911949],"aabb_xy":[[-0.5061575551929522,0.23524083670443988],[-0.38615755417724645,0.34893430407628245]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.2933311431415697,-1.9233871272519334,0.71338606911949],"aabb_xy":[[0.23833793180443302,-1.9783871275907272],[0.3483243544787065,-1.86838712691314]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.40623201861937064,-1.6149232609739221,0.71338606911949],"aabb_xy":[[-0.42872844005323474,-1.6374232607806694],[-0.38373559718550654,-1.5924232611671745]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[-0.5256572025574562,1.629911584585146,0.71338606911949],"aabb_xy":[[-0.5305564948640196,1.602234665282577],[-0.5207579102508926,1.6575885038877145]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.14821943960493456,-1.6010091708008192,0.71338606911949],"aabb_xy":[[-0.1595811742582207,-1.612377637207107],[-0.13685770495164837,-1.5896407043945309]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.6113131338197069,-1.6617015270298465,0.71338606911949],"aabb_xy":[[-0.646313133012525,-1.6726685730275088],[-0.5763131346268885,-1.6507344810321833]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.08224001834908923,-2.4909176147190792,0.71338606911949],"aabb_xy":[[0.040935475285353226,-2.554917614287196],[0.1235445614128252,-2.4269176151509617]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.4446184893012972,-0.931905319023483,0.71338606911949],"aabb_xy":[[0.4354586103574207,-0.9384365370670199],[0.45377836824517387,-0.9253741009799458]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.10928326890799833,-0.9718842651494102,0.71338606911949],"aabb_xy":[[0.059283268547432245,-1.0218642523590131],[0.15928326926856434,-0.9219042779398072]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[0.25420349777006523,0.8503674649090125,0.71338606911949],"aabb_xy":[[0.24956838261783176,0.8465001298318636],[0.2588386129222985,0.8542347999861609]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[-0.305331535294509,-0.2837460737880151,0.71338606911949],"aabb_xy":[[-0.36033153491625486,-0.3387297665754878],[-0.2503315356727632,-0.22876238100054236]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.5665098036017291,1.257929539033669,0.71338606911949],"aabb_xy":[[-0.6215098027783185,1.2029398642587115],[-0.5115098044251395,1.3129192138086268]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.5639315823256685,-0.5433028999156067,0.71338606911949],"aabb_xy":[[-0.6014315824312615,-0.5501250617685878],[-0.5264315822200756,-0.5364807380626255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6476625793634718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3861.png","name":"3861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3861.png","name":"3861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4124.png","name":"4124"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2530.png","name":"2530"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8389.png","name":"8389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1055.png","name":"1055"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":596.3311558682311,"rotation_z_degrees":215.8483867208916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0051673641014969365,0.002028671531528102,-0.01302972586528501]},{"name":"camera_2","offset_m":[-0.013714246262733522,-0.013239903492464374,0.0131682454480655]},{"name":"camera_3","offset_m":[-0.0007836273128935499,0.011313722557037938,-0.00024228973969483633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002819061595601127,-0.0008962742671612945,-0.0002122569511499282],"end_effector_yaw_offset_degrees":-0.3824610544826943},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007239729749901609,-0.0010963922198492086,0.0003885823659196554],"end_effector_yaw_offset_degrees":-0.4218398090476305},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006306356098654455,0.0016633549335229492,0.0019345144282347012],"end_effector_yaw_offset_degrees":0.015150805034078507},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012161865462522999,0.001414610973094586,-0.00044266842835342544],"end_effector_yaw_offset_degrees":-0.053189544870367644},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0017194024057906841,7.076827124773534e-05,-0.0015089136266005934],"end_effector_yaw_offset_degrees":-0.6468384273080865},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012978032846642186,0.0019797207763432674,-0.0013164660146149196],"end_effector_yaw_offset_degrees":0.016269501858326985},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00010397068749134326,-0.00138480908729546,0.0012851560729270593],"end_effector_yaw_offset_degrees":0.4510488085946798},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011448820056697935,0.0007003305878686976,-5.347887422304555e-05],"end_effector_yaw_offset_degrees":0.7488502163863604},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014870248797021171,-0.00041121089222609223,-0.0007895596989532306],"end_effector_yaw_offset_degrees":0.7003503389323271}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001624817579827592,-0.0012877080526852024],"position_m":[0.1837751824201724,-0.1379877080526852,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00016673657346638181,-0.0024061109626708124],"position_m":[0.1874332634265336,0.017493889037329187,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024926737026035707,-0.0030020213911635687],"position_m":[0.21319267370260356,-0.3566020213911636,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0016678765127033238,0.00053135301838009],"position_m":[0.29526787651270336,0.3161313530183801,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"f4ce59b7c9c547c8006c13ee2fcfb25aee60cc2fbbfa31d836417e912c0310e4","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3861/tex_ceiling_textures_1055/tex_floor_textures_8389/tex_table_textures_4124/tex_wall_textures_2530","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4884841691200440198,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4884841691200440198,"visual_seed":4884841691200440198,"scene_id":"lab_003","finished_at":"2026-09-08T18:08:23"}
+{"episode_id":"ep_000025","started_at":"2026-09-08T18:08:32","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.5385924838112087,-1.5409252532341502,0.71338606911949],"aabb_xy":[[-0.6185924870690517,-1.6209217610261342],[-0.45859248055336577,-1.4609287454421662]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.44168244703271353,-2.359087400674453,0.71338606911949],"aabb_xy":[[-0.45428514616979,-2.3716827968993184],[-0.4290797478956371,-2.3464920044495874]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.3991895005376871,1.5237217403506889,0.71338606911949],"aabb_xy":[[0.387317417526186,1.4387217406570387],[0.4110615835491882,1.6087217400443394]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.38715686393888576,-0.7810589661585168,0.71338606911949],"aabb_xy":[[-0.4175549750380293,-0.8114658681601862],[-0.3567587528397421,-0.7506520641568472]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[-0.5062501520434163,1.0491333437415156,0.71338606911949],"aabb_xy":[[-0.5562501514836119,0.999165419257199],[-0.45625015260322066,1.0991012682258317]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.48877405147015196,0.7590540499803455,0.71338606911949],"aabb_xy":[[-0.49954702539151974,0.7240540517613064],[-0.4780010775487842,0.7940540481993844]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.5982989390379296,-0.6315119411219288,0.71338606911949],"aabb_xy":[[0.5807989397598428,-0.6488500411882747],[0.6157989383160165,-0.6141738410555828]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.3150130667552125,0.37656487749373735,0.71338606911949],"aabb_xy":[[-0.3790130659249824,0.32979819037477487],[-0.2510130675854425,0.42333156461269983]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.32478592147262764,-1.1604650886438979,0.71338606911949],"aabb_xy":[[0.2597859204721271,-1.2112514537985728],[0.38978592247312815,-1.109678723489223]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.3737176150421462,-1.5236358349003223,0.71338606911949],"aabb_xy":[[0.36813594340801736,-1.5361358347180976],[0.3792992866762749,-1.5111358350825466]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[-0.46592715084507597,0.6330666615620268,0.71338606911949],"aabb_xy":[[-0.5034271494206968,0.6203303658984688],[-0.42842715226945516,0.6458029572255847]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.2155809207345108,-1.8770360354671163,0.71338606911949],"aabb_xy":[[-0.2374896028738618,-1.8989367022872068],[-0.19367223859515972,-1.8551353686470253]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.47620833970094684,0.059031095876986406,0.71338606911949],"aabb_xy":[[-0.5118374956009066,0.023398429120133457],[-0.44057918380098704,0.09466376263383935]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.4915401505537944,1.6178965696265446,0.71338606911949],"aabb_xy":[[0.4835138799231685,1.6091450746491922],[0.4995664211844205,1.6266480646038974]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.41983486494871874,-1.9440999846997558,0.71338606911949],"aabb_xy":[[-0.4376283718836352,-1.9618997302955534],[-0.4020413580138023,-1.926300239103958]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.4072345774338755,-1.437650113130494,0.71338606911949],"aabb_xy":[[0.3847698074624703,-1.4601501140093542],[0.42969934740528054,-1.4151501122516332]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.6118760740189966,1.363532989723275,0.71338606911949],"aabb_xy":[[-0.619137321589404,1.3507459794597656],[-0.6046148264485891,1.3763199999867846]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.47675347514192024,0.6944897810952124,0.71338606911949],"aabb_xy":[[0.3967534781276723,0.6743552294218012],[0.5567534721561682,0.7146243327686237]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.037242090041446074,1.4374061561099327,0.71338606911949],"aabb_xy":[[-0.02038837884582478,1.377406157183222],[0.0948725589287169,1.497406155036643]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.5639603608606674,0.4361683065387507,0.71338606911949],"aabb_xy":[[-0.5818294686151229,0.4223353985615398],[-0.5460912531062119,0.45000121451596165]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.6898502206406907,-0.6445944402432586,0.71338606911949],"aabb_xy":[[0.6669345077556408,-0.6674987373796821],[0.7127659335257406,-0.6216901431068351]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.6060545714660523,1.5740444952859192,0.71338606911949],"aabb_xy":[[0.6021406982706298,1.5652954798793621],[0.6099684446614747,1.5827935106924758]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.060075484678942526,0.58735163309876,0.71338606911949],"aabb_xy":[[-0.12007548452550931,0.5305330109057214],[-7.548483237573844e-05,0.6441702552917987]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[0.057421266037003926,-2.411685369911834,0.71338606911949],"aabb_xy":[[0.03992126579195453,-2.4291851577514008],[0.07492126628205328,-2.394185582072267]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.2588475179074443,0.7716593927198279,0.71338606911949],"aabb_xy":[[0.2238475195967488,0.7639443777962821],[0.2938475162181397,0.7793744076433734]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[-0.32873460036072555,1.0703301245448946,0.71338606911949],"aabb_xy":[[-0.3787294332886672,1.020330125649651],[-0.278739767432784,1.1203301234401382]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6439662848053919,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1634.png","name":"1634"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1634.png","name":"1634"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2244.png","name":"2244"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9516.png","name":"9516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8716.png","name":"8716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8369.png","name":"8369"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":531.7467006904661,"rotation_z_degrees":27.073294238240276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003569097849273551,-0.016439819034596917,0.00775474097565108]},{"name":"camera_2","offset_m":[0.01078823338077655,0.01457055533910297,-0.014075742986725528]},{"name":"camera_3","offset_m":[0.012374732226494555,-0.018497314430334803,0.015266760797357632]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008254804841793418,-8.045342442035831e-05,0.001016762600790218],"end_effector_yaw_offset_degrees":-0.9309426978561135},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018464538460599908,-0.0014726919150423892,0.00019398108217906712],"end_effector_yaw_offset_degrees":-0.3456302689670345},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019793458069566994,-0.0007644610929918071,-0.001943783409320541],"end_effector_yaw_offset_degrees":0.13718204204166717},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[4.0177965792369e-05,-0.00047896686284059796,-8.849308005042856e-05],"end_effector_yaw_offset_degrees":-0.40511123534244353},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001297891329000405,0.0011424621260812356,-9.24778346522155e-05],"end_effector_yaw_offset_degrees":0.6201778868977756},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0004901264809884418,0.001380508838776898,0.0016907771030624272],"end_effector_yaw_offset_degrees":-0.3999737663468004},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001828732281970555,0.0014249607368907978,-0.0004763084548553343],"end_effector_yaw_offset_degrees":0.46118474448665014},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010196958351364424,0.001149475205896751,0.0007309224305377254],"end_effector_yaw_offset_degrees":0.43549248566768584},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017820113067275548,-0.0003005770825513605,-0.001994321011130913],"end_effector_yaw_offset_degrees":0.605818587084034}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00043181198795501537,0.0005842962338694037],"position_m":[0.18583181198795504,-0.13611570376613058,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021374740076198374,0.004464711340686745],"position_m":[0.18973747400761984,0.024364711340686747,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004492601310947617,-0.001020673582557979],"position_m":[0.20620739868905238,-0.354620673582558,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0005627722291055874,-0.0030593721951387943],"position_m":[0.2930372277708944,0.3125406278048612,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"2430587531a852524d437331923bb2d709fc0f1cb0dc5e6b45ba09aa1c9653d8","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1634/tex_ceiling_textures_8369/tex_floor_textures_8716/tex_table_textures_2244/tex_wall_textures_9516","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":76219032957104915,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":76219032957104915,"visual_seed":76219032957104915,"scene_id":"lab_003","finished_at":"2026-09-08T18:19:19"}
+{"episode_id":"ep_000026","started_at":"2026-09-08T18:19:27","dimensions":{"distractor":{"count":21,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.5174448490133354,-2.175525044258436,0.71338606911949],"aabb_xy":[[-0.5549448498053309,-2.1818928852166257],[-0.47994484822134,-2.1691572033002453]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.10701788533368795,-2.502687292464201,0.71338606911949],"aabb_xy":[[0.09931469465961092,-2.5103966631629393],[0.114721076007765,-2.494977921765463]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.37852469841333075,-1.9620059692100908,0.71338606911949],"aabb_xy":[[-0.38493851205651564,-1.9684157894577587],[-0.37211088477014576,-1.955596148962422]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.4424704107624713,-2.466648743323626,0.71338606911949],"aabb_xy":[[0.3924711355940352,-2.5166487445995736],[0.4924696859309075,-2.416648742047679]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.18772718837436841,-0.7592931321228322,0.71338606911949],"aabb_xy":[[0.12372718508466028,-0.8026280511267497],[0.2517271916640765,-0.7159582131189145]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.5232729549685751,-0.6435584064876929,0.71338606911949],"aabb_xy":[[-0.5872729552290458,-0.6885672058406208],[-0.4592729547081042,-0.5985496071347648]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.27779889310550115,-1.3599717186229685,0.71338606911949],"aabb_xy":[[-0.3577988905090945,-1.439964289821151],[-0.1977988957019077,-1.2799791474247855]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.5978163206839013,-1.4462198707459724,0.71338606911949],"aabb_xy":[[-0.6618163213873707,-1.4922382532188934],[-0.533816319980432,-1.4002014882730514]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.22382709726048028,1.0228370656352759,0.71338606911949],"aabb_xy":[[-0.23312071549763083,0.985337067147142],[-0.21453347902332967,1.0603370641234098]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.3135518488110822,0.5474587961894781,0.71338606911949],"aabb_xy":[[0.294667465042572,0.5285728714091253],[0.33243623257959243,0.5663447209698309]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[0.599473231768487,-1.3244536622717376,0.71338606911949],"aabb_xy":[[0.5644732304170053,-1.3448133982285582],[0.6344732331199687,-1.3040939263149165]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.6506970637350677,-2.4240878771775485,0.71338606911949],"aabb_xy":[[0.6457410435501867,-2.4465878773796703],[0.655653083919949,-2.4015878769754266]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.16211254096058436,-1.845935072172082,0.71338606911949],"aabb_xy":[[0.07211253728366614,-1.907367478749186],[0.25211254463750243,-1.7845026655949774]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.3950985266705327,0.2553125904106359,0.71338606911949],"aabb_xy":[[0.3775985273924458,0.23797449034428997],[0.41259852594861957,0.27265069047698187]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.25533254165029656,-0.14159480563333382,0.71338606911949],"aabb_xy":[[-0.29283254316592827,-0.15282157864947887],[-0.21783254013466485,-0.13036803261718877]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.4661944750799364,-0.8039094413580481,0.71338606911949],"aabb_xy":[[-0.503228584507996,-0.8382866486917575],[-0.42916036565187654,-0.7695322340243387]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.6729305631180651,-0.5855145014651963,0.71338606911949],"aabb_xy":[[0.6504305631079168,-0.5996107211047996],[0.6954305631282134,-0.5714182818255931]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.01377836403796373,0.6177955845103615,0.71338606911949],"aabb_xy":[[-0.022580419346936442,0.6099842583554324],[-0.00497630872899102,0.6256069106652905]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[-0.4253547917694638,0.3895588277706419,0.71338606911949],"aabb_xy":[[-0.4753547927199965,0.3580096807671204],[-0.37535479081893086,0.42110797477416323]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.47502767836622306,0.03357552587957402,0.71338606911949],"aabb_xy":[[-0.5013165026866636,0.007304092224922786],[-0.44873885404578234,0.059846959534225246]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[0.6031339027645988,1.249380905023885,0.71338606911949],"aabb_xy":[[0.5391339008522564,1.1934697557658749],[0.6671339046769411,1.3052920542818958]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6435742942746303,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6711.png","name":"6711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6482.png","name":"6482"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1271.png","name":"1271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9052.png","name":"9052"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4909.png","name":"4909"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":564.9011143475445,"rotation_z_degrees":334.00101648856094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007413051680064196,0.013087936146032004,0.017843594311252552]},{"name":"camera_2","offset_m":[0.00799753455180462,-0.0019999572375625878,0.012606826080518701]},{"name":"camera_3","offset_m":[0.0006157214115019606,0.00023739171197517325,0.0079163538969165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000541958836981076,-0.0013007464988428722,9.64906258281292e-05],"end_effector_yaw_offset_degrees":0.27322991441185795},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008545821259000649,0.00015590271286898246,0.0005802666004205946],"end_effector_yaw_offset_degrees":-0.8154327253595681},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001365054352646471,0.001443203723078889,-0.0004926495208856109],"end_effector_yaw_offset_degrees":0.03603115858535677},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001400285365033982,-0.0017351138388360377,0.0017177446044542239],"end_effector_yaw_offset_degrees":-0.32831410325943367},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001777340188651846,0.0007949616557468317,-0.001792605962494401],"end_effector_yaw_offset_degrees":0.5875955090209171},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0010389866781510331,-0.0015849547434178067,-0.0004078945315965502],"end_effector_yaw_offset_degrees":-0.33388732216614714},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009527445771661779,-0.000284646395361706,0.000887539601416765],"end_effector_yaw_offset_degrees":-0.33976016703076195},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0014325510046509296,-0.00013859232456167928,-0.00020477502139857055],"end_effector_yaw_offset_degrees":-0.47301440194872035},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009682227130405265,0.0017397247843586277,0.0007549079725483721],"end_effector_yaw_offset_degrees":-0.20283656720186394}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032854596092488433,-0.0007392787760075103],"position_m":[0.18211454039075117,-0.1374392787760075,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-7.328303042944666e-05,0.0029462203517636515],"position_m":[0.18752671696957054,0.022846220351763653,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018679743846365215,0.0005792951972651717],"position_m":[0.2088320256153635,-0.35302070480273484,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002548937442541733,-0.0003071751286026778],"position_m":[0.2910510625574583,0.3152928248713973,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"191f7cbbd6954bd8fe2edd1e34de598c3865c857c4a4aede4b63b44005049e02","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6711/tex_ceiling_textures_4909/tex_floor_textures_9052/tex_table_textures_6482/tex_wall_textures_1271","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2457454310241036044,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2457454310241036044,"visual_seed":2457454310241036044,"scene_id":"lab_003","finished_at":"2026-09-08T18:31:25"}
+{"episode_id":"ep_000027","started_at":"2026-09-08T18:31:34","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.4351487986211791,-1.3102018417309593,0.71338606911949],"aabb_xy":[[-0.4414608981575176,-1.3159687809841782],[-0.42883669908484073,-1.3044349024777404]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.31523710103846975,-2.1668354394341494,0.71338606911949],"aabb_xy":[[-0.33552140376186845,-2.187118064576858],[-0.29495279831507093,-2.14655281429144]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.1809167222085335,0.7726771395764285,0.71338606911949],"aabb_xy":[[0.1331105545947648,0.7076771368693694],[0.2287228898223021,0.8376771422834872]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.511048579076575,-2.1962945296634713,0.71338606911949],"aabb_xy":[[-0.5186728471667533,-2.203927753200015],[-0.5034243109863968,-2.1886613061269276]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_4","position":[0.49939938025637076,-1.0625030115162606,0.71338606911949],"aabb_xy":[[0.46592021299532976,-1.0959821248873678],[0.5328785475174116,-1.0290238981451538]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.3460052613088149,-0.9617770152137166,0.71338606911949],"aabb_xy":[[0.33044949189854966,-0.9773274484581238],[0.3615610307190802,-0.9462265819693094]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[0.10931117254133349,-2.0383099797721926,0.71338606911949],"aabb_xy":[[0.09042678877282329,-2.0571959045525454],[0.1281955563098437,-2.01942405499184]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[0.18096673540721597,-2.1942816680403574,0.71338606911949],"aabb_xy":[[0.100966735133609,-2.2672312158660737],[0.26096673568082296,-2.1213321202146402]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.22933336153262773,-0.6648244756020083,0.71338606911949],"aabb_xy":[[-0.29092412075662055,-0.7288244737110553],[-0.16774260230863494,-0.6008244774929615]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.5460985063968845,-1.5693472768314978,0.71338606911949],"aabb_xy":[[-0.5960935173563366,-1.61934727586709],[-0.4961034954374326,-1.5193472777959065]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.3975602028610376,1.5682665648884906,0.71338606911949],"aabb_xy":[[-0.45756020450395946,1.5162664155965464],[-0.33756020121811575,1.6202667141804348]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.6553103330525631,-0.509207216374167,0.71338606911949],"aabb_xy":[[0.6208479856544212,-0.5437010987719896],[0.6897726804507048,-0.47471333397634424]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.5602042388704258,1.0052492120794563,0.71338606911949],"aabb_xy":[[-0.577879869459024,0.9875689958000534],[-0.5425286082818274,1.0229294283588588]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.4395649385586767,-0.5019544987561488,0.71338606911949],"aabb_xy":[[-0.452191725845873,-0.5115005724577217],[-0.4269381512714803,-0.49240842505457594]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.3482382163878177,-1.7287053250371551,0.71338606911949],"aabb_xy":[[0.3182465536539474,-1.7587053243739557],[0.37822987912168804,-1.6987053257003546]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[-0.3542638168218943,-0.8794620983314376,0.71338606911949],"aabb_xy":[[-0.4092638164436402,-0.9344457911189104],[-0.2992638172001485,-0.8244784055439649]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[-0.091578088317817,0.2689322339887683,0.71338606911949],"aabb_xy":[[-0.14146078519551322,0.21893223474249363],[-0.041695391440120806,0.3189322332350431]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.46679454102139384,1.1051868085958718,0.71338606911949],"aabb_xy":[[0.41180132968425714,1.0501868082570784],[0.5217877523585306,1.1601868089346656]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[0.5870011463383307,1.3210963755512135,0.71338606911949],"aabb_xy":[[0.5644874545148734,1.251096374950206],[0.6095148381617878,1.391096376152221]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.10615739093891763,-1.658262173728654,0.71338606911949],"aabb_xy":[[-0.18615738952623703,-1.737577775666815],[-0.026157392351598193,-1.5789465717904931]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[0.3040532048515012,-1.2094650479715197,0.71338606911949],"aabb_xy":[[0.21405320543313028,-1.2428405448157094],[0.39405320426987206,-1.17608955112733]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.2628402101303313,-2.4799180241767083,0.71338606911949],"aabb_xy":[[0.19884021284468267,-2.5214247431295527],[0.32684020741597997,-2.4384113052238647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6427173592676431,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5426.png","name":"5426"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5426.png","name":"5426"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/691.png","name":"691"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9667.png","name":"9667"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/333.png","name":"333"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6090.png","name":"6090"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":696.5039842258004,"rotation_z_degrees":62.830244764814196,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018534966656049336,0.019538531186441426,-0.01823013628333487]},{"name":"camera_2","offset_m":[-0.001962605505199475,0.01811317060971825,-0.006030503898352494]},{"name":"camera_3","offset_m":[-0.019765787144593136,0.012186381229601796,-0.008710048436814976]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009187263900895417,-0.0007583906987812443,0.0008193006487169185],"end_effector_yaw_offset_degrees":-0.8407624015817916},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008993966363313969,-0.0017809849065681625,-0.001000588939454328],"end_effector_yaw_offset_degrees":0.6835922534283498},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006895318822640437,-0.0009156982443984307,0.0005033743382906442],"end_effector_yaw_offset_degrees":0.5276459492306536},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00024543138764124197,-0.0014370160478012323,0.0018170223200677086],"end_effector_yaw_offset_degrees":-0.9858269867642335},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007144721455354848,-0.0014728540555914394,0.00166483721957803],"end_effector_yaw_offset_degrees":-0.07593938726887073},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0010663710674950852,5.670834019663555e-05,-0.00033276015467743046],"end_effector_yaw_offset_degrees":-0.20590309113717464},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019944332908312843,0.0016298143059917361,0.0019430157400318043],"end_effector_yaw_offset_degrees":-0.9025695934136415},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015714258308809823,0.0011609413744328194,0.0012553856866020494],"end_effector_yaw_offset_degrees":-0.8811822605339148},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001207783109449803,-0.0008229346555089201,0.001971829942115523],"end_effector_yaw_offset_degrees":0.8970294669270329}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022448750568570775,0.004899088318982334],"position_m":[0.18315512494314293,-0.13180091168101765,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001331267070077035,-0.0024887967458418593],"position_m":[0.188931267070077,0.017411203254158143,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002183493760613724,0.0026010048813910405],"position_m":[0.20851650623938628,-0.350998995118609,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00167987860421675,-0.0036202426165715543],"position_m":[0.29192012139578327,0.3119797573834284,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"0341c73dbe0ad675e9f5808b74a85df67ca3d289d2cc0a7f253e0c770df1f49c","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5426/tex_ceiling_textures_6090/tex_floor_textures_333/tex_table_textures_691/tex_wall_textures_9667","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7979917330807638663,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7979917330807638663,"visual_seed":7979917330807638663,"scene_id":"lab_003","finished_at":"2026-09-08T18:41:56"}
+{"episode_id":"ep_000028","started_at":"2026-09-08T18:54:11","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.4772873031412617,-2.1318146273312855,0.71338606911949],"aabb_xy":[[-0.5122873014113816,-2.1388887550262736],[-0.44228730487114176,-2.1247404996362973]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.4655479994733404,-1.2233161811411757,0.71338606911949],"aabb_xy":[[-0.5150284206872993,-1.2873161790540277],[-0.4160675782593816,-1.159316183228324]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.1433504931847781,-0.8685581999088368,0.71338606911949],"aabb_xy":[[-0.18085049329037103,-0.8753803617618178],[-0.10585049307918513,-0.8617360380558555]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.06618225257893662,0.6899379295284431,0.71338606911949],"aabb_xy":[[-0.07702273080545152,0.6727516482377943],[-0.05534177435242171,0.7071242108190919]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.456072408094921,-0.7787228623273112,0.71338606911949],"aabb_xy":[[0.445504928436822,-0.7892678924403198],[0.46663988775302,-0.7681778322143027]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[-0.4006130059212275,-2.27388808557554,0.71338606911949],"aabb_xy":[[-0.4806130028842666,-2.3509637272193133],[-0.3206130089581883,-2.1968124439317664]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.5721238945585203,-1.496320116455422,0.71338606911949],"aabb_xy":[[0.5260388033037888,-1.5603201137079772],[0.6182089858132518,-1.432320119202867]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[0.4430957055455136,-0.44603604764628013,0.71338606911949],"aabb_xy":[[0.4350593708442287,-0.4540741669506969],[0.45113204024679837,-0.43799792834186335]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.5556889290508755,0.47900352351879905,0.71338606911949],"aabb_xy":[[0.5181889292338419,0.4743653122076571],[0.593188928867909,0.4836417348299408]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[-0.45798553913365203,0.9821747739903035,0.71338606911949],"aabb_xy":[[-0.5219855377202245,0.9351678105907949],[-0.39398554054707957,1.0291817373898122]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.26897017921106753,-1.056943930839403,0.71338606911949],"aabb_xy":[[-0.3187869586759023,-1.1069439293237064],[-0.21915339974623277,-1.0069439323550997]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.32813104600589016,-0.9436526794111841,0.71338606911949],"aabb_xy":[[0.25813104387446056,-0.9664146450368797],[0.39813104813731964,-0.9208907137854884]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.5088137515054412,0.641477607720828,0.71338606911949],"aabb_xy":[[0.4538137533036963,0.6009556410943904],[0.5638137497071859,0.6819995743472655]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.38665701970256083,-0.40321006351049293,0.71338606911949],"aabb_xy":[[-0.4763440960106763,-0.4932100637649434],[-0.2969699433944454,-0.31321006325604234]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.22586264599498784,-2.381904045118808,0.71338606911949],"aabb_xy":[[0.16186264959941477,-2.4458673335375414],[0.2898626423905609,-2.3179407567000743]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.15218081614936674,-2.078765628986459,0.71338606911949],"aabb_xy":[[-0.21718081618366947,-2.125466305666786],[-0.08718081611506401,-2.0320649523061314]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[0.593331443460881,-1.0673700225668346,0.71338606911949],"aabb_xy":[[0.5879989288062679,-1.0726943508120703],[0.598663958115494,-1.0620456943215992]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.3367090587703667,-1.9004241124242394,0.71338606911949],"aabb_xy":[[-0.3752547515955678,-1.9389698834804283],[-0.29816336594516574,-1.8618783413680509]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.05854182796093388,1.7338495293619327,0.71338606911949],"aabb_xy":[[0.029892495600517655,1.705203970084857],[0.0871911603213501,1.7624950886390085]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.5438345775965756,1.0848218837641537,0.71338606911949],"aabb_xy":[[0.48884136625943886,1.0298218834253603],[0.5988277889337124,1.1398218841029475]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_20","position":[0.6000067100463047,-0.1651906380364827,0.71338606911949],"aabb_xy":[[0.5625067114706838,-0.17792693370004065],[0.6375067086219254,-0.15245434237292477]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.10386788203682162,1.2642413959486656,0.71338606911949],"aabb_xy":[[0.06284993865045073,1.2142413953177082],[0.1448858254231925,1.314241396579623]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.26258940710400946,-1.236358666584648,0.71338606911949],"aabb_xy":[[0.2321051569769793,-1.286358666366144],[0.2930736572310396,-1.186358666803152]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.5539460675244023,-1.8394506644027624,0.71338606911949],"aabb_xy":[[0.5239785106145766,-1.8694506647006481],[0.5839136244342279,-1.8094506641048766]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.5753490823041263,0.24366866428419742,0.71338606911949],"aabb_xy":[[-0.5944613896621052,0.22453388540695543],[-0.5562367749461474,0.26280344316143944]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_25","position":[0.09692821928374062,0.8681701012552114,0.71338606911949],"aabb_xy":[[0.03929775039646976,0.8081701023285006],[0.15455868817101145,0.9281701001819218]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[-0.6072065886915414,-0.7523079861909725,0.71338606911949],"aabb_xy":[[-0.6612221849734414,-0.8163079890832295],[-0.5531909924096414,-0.6883079832987152]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.4498613695513691,-2.0167122313645582,0.71338606911949],"aabb_xy":[[-0.4871926460766117,-2.051365286159411],[-0.4125300930261264,-1.9820591765697064]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.10864550729197264,-1.3116320290429884,0.71338606911949],"aabb_xy":[[-0.17264120468706923,-1.375632027343697],[-0.044649809896876044,-1.2476320307422797]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_29","position":[-0.572599618812491,-0.11163718455887661,0.71338606911949],"aabb_xy":[[-0.5845323531743191,-0.12401933736673598],[-0.5606668844506629,-0.09925503175101724]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_30","position":[0.5142698164091204,-1.9868774621107932,0.71338606911949],"aabb_xy":[[0.5029080817558341,-1.998245928517081],[0.5256315510624064,-1.9755089957045049]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_31","position":[-0.6208333107239858,0.024504933367897053,0.71338606911949],"aabb_xy":[[-0.6247937944937202,0.016837068782376452],[-0.6168728269542515,0.03217279795341765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6417807040827757,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5522.png","name":"5522"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7713.png","name":"7713"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5804.png","name":"5804"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":529.9969539038381,"rotation_z_degrees":161.90600083080656,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006873748625536304,0.002026620594643525,-0.010776337606618515]},{"name":"camera_2","offset_m":[0.001631996826013185,-0.009693130497359181,-0.019259651739584348]},{"name":"camera_3","offset_m":[-0.005769639466711319,0.01987285268062317,-0.0001453158640783367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001296811133936481,-0.0008461483602377319,-0.0019751125337559286],"end_effector_yaw_offset_degrees":0.4294800200848776},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006254667761813933,0.0011485600918573623,-0.0014555859998390238],"end_effector_yaw_offset_degrees":0.6338907951546888},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005515394719066533,0.0003131338070500446,0.0009544230247190487],"end_effector_yaw_offset_degrees":-0.8653103333350953},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006428889613001828,0.0006908218875896141,-0.0017229354502793241],"end_effector_yaw_offset_degrees":0.08691595389119944},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0007436054728531061,-0.0014358638277019962,-0.0007350542952729313],"end_effector_yaw_offset_degrees":-0.45324593841324434},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013258554868381097,0.0005362436912889337,-0.000499882746768812],"end_effector_yaw_offset_degrees":-0.25935482120445186},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007793813438278208,-0.0005327697272716669,-0.0006915505877543601],"end_effector_yaw_offset_degrees":-0.8211670957335122},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.52541109403063e-05,0.0018624148748243529,0.0019044922680523562],"end_effector_yaw_offset_degrees":-0.10339017545510276},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00014692727668074693,-0.0011558604416796107,-0.0005169057027561794],"end_effector_yaw_offset_degrees":0.8326746633080253}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011233063696482653,0.0009468347380642951],"position_m":[0.18652330636964828,-0.1357531652619357,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002017745265785612,-0.0010562256954137995],"position_m":[0.18780177452657856,0.0188437743045862,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026668050061006265,0.001557117130932405],"position_m":[0.2133668050061006,-0.3520428828690676,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002198720294837703,-0.004615975921552269],"position_m":[0.29140127970516233,0.3109840240784477,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d2d1064693bf28d1c4732ee27a9f1941c446abe404f2a0677892a46ed448c2bc","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1378/tex_ceiling_textures_5804/tex_floor_textures_7713/tex_table_textures_5522/tex_wall_textures_5900","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3831121442998027622,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3831121442998027622,"visual_seed":3831121442998027622,"scene_id":"lab_003","finished_at":"2026-09-08T19:04:43"}
+{"episode_id":"ep_000029","started_at":"2026-09-08T19:04:52","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.1143943945412923,-1.7469744986700895,0.71338606911949],"aabb_xy":[[0.06439956161335071,-1.796974497565333],[0.1643892274692339,-1.696974499774846]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.3110992786342387,1.1325928845142954,0.71338606911949],"aabb_xy":[[-0.3216667582923377,1.1220478544012868],[-0.3005317989761397,1.143137914627304]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[0.42394112643087944,1.1698781133589438,0.71338606911949],"aabb_xy":[[0.415947137853176,1.1618780332638534],[0.4319351150085828,1.177878193454034]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.5148946764590852,-1.9886799536250201,0.71338606911949],"aabb_xy":[[0.5071914857850082,-1.996389324323758],[0.5225978671331621,-1.9809705829262818]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.710669866360242,0.25601122627807094,0.71338606911949],"aabb_xy":[[0.7032574108188536,0.250160015856443],[0.7180823219016306,0.2618624366996989]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.6634402687650514,-0.6704833328375348,0.71338606911949],"aabb_xy":[[0.6547262997151166,-0.6929833334967229],[0.6721542378149856,-0.6479833321783465]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[0.36094751468538155,-0.9769751818444905,0.71338606911949],"aabb_xy":[[0.3533232465952033,-0.9846084053810342],[0.3685717827755598,-0.9693419583079468]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[0.6320406965842196,0.9059162604801565,0.71338606911949],"aabb_xy":[[0.6150305992941689,0.8897817719818825],[0.6490507938742702,0.9220507489784303]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.14441688007090292,1.0144572141524932,0.71338606911949],"aabb_xy":[[0.11941688079894063,0.9981118505563308],[0.16941687934286517,1.0308025777486554]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.49284247137431614,-1.0160842124463605,0.71338606911949],"aabb_xy":[[-0.5278424696850116,-1.0237992273699064],[-0.4578424730636207,-1.008369197522815]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.4826779041825706,0.5224295254410785,0.71338606911949],"aabb_xy":[[0.4627868643022305,0.5097737141563817],[0.502568944062911,0.5350853367257754]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[-0.5289323649392165,1.70211458564691,0.71338606911949],"aabb_xy":[[-0.6189323616748267,1.6489311223296155],[-0.43893236820360626,1.7552980489642045]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_12","position":[0.6292534653658544,-1.0663129821846002,0.71338606911949],"aabb_xy":[[0.5927576447385756,-1.1027969246113576],[0.6657492859931331,-1.0298290397578425]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.4118808378100372,-1.0745995113383162,0.71338606911949],"aabb_xy":[[-0.4167801301166006,-1.102276430640885],[-0.4069815455034736,-1.0469225920357474]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.4168988925233365,1.3766692456021037,0.71338606911949],"aabb_xy":[[-0.4808988957419744,1.3299461337030953],[-0.3528988893046987,1.423392357501112]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.34683230279560745,-1.2077206264797864,0.71338606911949],"aabb_xy":[[-0.43683230647252547,-1.2691530330568903],[-0.25683229911868916,-1.1462882199026816]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.3573903529373948,-0.5975585469421605,0.71338606911949],"aabb_xy":[[-0.4123640749737277,-0.6525585465063937],[-0.3024166309010619,-0.5425585473779273]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.6692188296003256,-1.5958558705540895,0.71338606911949],"aabb_xy":[[0.6439979927404859,-1.621079621406976],[0.6944396664601652,-1.5706321197012025]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.10153974170448044,1.049947692481001,0.71338606911949],"aabb_xy":[[-0.13653973997460034,1.0428735647860128],[-0.06653974343436052,1.0570218201759891]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.14599970590608502,-2.101665529806938,0.71338606911949],"aabb_xy":[[-0.168498841632312,-2.124165530585201],[-0.12350057017985805,-2.079165529028675]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.44821542390956925,0.8153376901356215,0.71338606911949],"aabb_xy":[[0.42793112118617044,0.7950550649929126],[0.46849972663296796,0.8356203152783303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6443994040948469,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8261.png","name":"8261"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8261.png","name":"8261"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2899.png","name":"2899"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5861.png","name":"5861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/710.png","name":"710"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1622.png","name":"1622"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":539.8363763038028,"rotation_z_degrees":198.89362354451788,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009200812615282904,-0.006765572968481659,-0.00010371032193189078]},{"name":"camera_2","offset_m":[-0.0089444804366725,-0.012399601034807924,-0.006495665355904548]},{"name":"camera_3","offset_m":[0.01186991491358447,0.010525674756199286,0.0007471429609956018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008010066298934256,0.001035919608087868,0.0011195985409607444],"end_effector_yaw_offset_degrees":0.28035693601889156},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011042470925155597,-0.001925149651125711,0.001251647049410923],"end_effector_yaw_offset_degrees":-0.11844984202237208},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007057839865834544,-0.0011099614056079808,-0.0004216380322854163],"end_effector_yaw_offset_degrees":0.9958264162496848},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012628701053929402,0.001721260303300828,-0.0002660621967591403],"end_effector_yaw_offset_degrees":-0.9789856070495544},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011217418617945124,-0.0016631454384134054,-0.0004524964607548437],"end_effector_yaw_offset_degrees":0.1482944230490726},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00027730154083370896,-0.0012047160033788367,0.0007148855444961424],"end_effector_yaw_offset_degrees":-0.9487874227251882},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012425870414575308,0.0011319310280271883,-0.0019978863310618844],"end_effector_yaw_offset_degrees":-0.7517712906015008},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011747916564331133,-0.0012642566837003293,-0.0005146456696266922],"end_effector_yaw_offset_degrees":-0.9925643319960211},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007648220296215939,0.000860197056376931,0.00019669460730225826],"end_effector_yaw_offset_degrees":0.3202573783598486}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031378807657698763,-0.0011155316588101105],"position_m":[0.18226211923423014,-0.1378155316588101,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025266146448127747,0.003435289519212439],"position_m":[0.18507338535518722,0.02333528951921244,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022700914338458188,-0.00404781269885574],"position_m":[0.21297009143384582,-0.35764781269885576,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0019211150179617286,-0.0008501815157918148],"position_m":[0.2916788849820383,0.3147498184842082,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"1b3e104025f0c7c5353d018c966cd4a75dfa3da0338610dde9eb1081c786cad9","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8261/tex_ceiling_textures_1622/tex_floor_textures_710/tex_table_textures_2899/tex_wall_textures_5861","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1129028537001613962,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1129028537001613962,"visual_seed":1129028537001613962,"scene_id":"lab_003","finished_at":"2026-09-08T19:15:46"}
+{"episode_id":"ep_000030","started_at":"2026-09-08T19:15:54","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.5052515783436013,1.1955026636074648,0.71338606911949],"aabb_xy":[[-0.5752515804750308,1.172740697981769],[-0.4352515762121717,1.2182646292331603]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[0.537225917266964,-2.111770049807819,0.71338606911949],"aabb_xy":[[0.44722591867249417,-2.1280206361212404],[0.6272259158614341,-2.095519463494398]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.42521784759907244,-0.8058744344442725,0.71338606911949],"aabb_xy":[[0.4027178473555571,-0.8180790691040445],[0.4477178478425879,-0.7936697997845006]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.46840482055189325,0.9939922692978014,0.71338606911949],"aabb_xy":[[-0.5584048172875034,0.9408088059805068],[-0.37840482381628293,1.0471757326150959]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.037126385276713525,1.099285278364058,0.71338606911949],"aabb_xy":[[-0.09114198155861351,1.035285275471801],[0.01688921100518649,1.1632852812563153]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.017908330026934483,-1.1317517608639054,0.71338606911949],"aabb_xy":[[-0.05921287309067047,-1.1957517604320225],[0.023396213036801505,-1.0677517612957883]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.2757000834256416,1.5793008078052577,0.71338606911949],"aabb_xy":[[-0.3357000842864543,1.527874377798771],[-0.21570008256482873,1.630727237811744]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.18697679486725116,-1.939752001763197,0.71338606911949],"aabb_xy":[[-0.2121976317270908,-1.9649757526160836],[-0.16175595800741147,-1.91452825091031]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.17827221077705624,-0.5846684517946472,0.71338606911949],"aabb_xy":[[0.11327220813926275,-0.6361480504940943],[0.24327221341484973,-0.5331888530952004]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.3835484817493606,-0.5868378798020326,0.71338606911949],"aabb_xy":[[0.3285530039287012,-0.6418378812359394],[0.43854395957001996,-0.5318378783681256]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.6317924403106089,-0.9639479099222565,0.71338606911949],"aabb_xy":[[-0.6917924409066251,-1.0187603824674798],[-0.5717924397145927,-0.909135437377033]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[0.6383469673665683,-0.15496436407654057,0.71338606911949],"aabb_xy":[[0.6033469660150864,-0.1753241000333614],[0.6733469687180499,-0.13460462811971974]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[-0.413909827001302,-1.4282796585088848,0.71338606911949],"aabb_xy":[[-0.46890982662304787,-1.4832633512963578],[-0.3589098273795562,-1.3732959657214123]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.5746724442689197,1.7674220123990643,0.71338606911949],"aabb_xy":[[-0.6396724424248388,1.741125767849152],[-0.5096724461130007,1.7937182569489765]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.6750397816849474,-2.2290967516794065,0.71338606911949],"aabb_xy":[[0.6652837921757734,-2.2388592857386405],[0.6847957711941212,-2.2193342176201716]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.09381440428124366,1.4910472023667842,0.71338606911949],"aabb_xy":[[0.023814402472498233,1.4696934336025969],[0.1638144060899891,1.5124009711309716]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.2708809376725376,-2.275907125616453,0.71338606911949],"aabb_xy":[[-0.27812470371878295,-2.3559071238200553],[-0.2636371716262923,-2.1959071274128505]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[0.4709378781550926,-1.7954490127946474,0.71338606911949],"aabb_xy":[[0.4069378759346856,-1.8398220969199355],[0.5349378803754996,-1.751075928669359]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[-0.5261127693168318,0.3289577523114766,0.71338606911949],"aabb_xy":[[-0.5301909272238816,0.32487677206321325],[-0.522034611409782,0.33303873255973987]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.4928825886196312,-1.8772357747026742,0.71338606911949],"aabb_xy":[[-0.5568782860147278,-1.941235773003383],[-0.4288868912245346,-1.8132357764019655]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[-0.023261518484010812,-2.323711519423966,0.71338606911949],"aabb_xy":[[-0.040692233563017315,-2.3409836340878156],[-0.0058308034050043025,-2.3064394047601144]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.5872581643523069,-0.20542173751024873,0.71338606911949],"aabb_xy":[[-0.625803857177508,-0.2439675085664374],[-0.5487124715271059,-0.16687596645406005]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.3742867878675076,0.8903468105888419,0.71338606911949],"aabb_xy":[[0.33928678873755186,0.8846015895131778],[0.4092867869974632,0.896092031664506]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6436403264161811,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5251.png","name":"5251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5251.png","name":"5251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3560.png","name":"3560"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5600.png","name":"5600"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6017.png","name":"6017"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8604.png","name":"8604"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":831.0836734772884,"rotation_z_degrees":26.136729578535984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014402061671926977,0.007284794747696211,0.019405313288508256]},{"name":"camera_2","offset_m":[-0.008484118503333749,-0.011693858148523875,0.0067139829030504715]},{"name":"camera_3","offset_m":[-0.0032697480243997004,-0.011708947886468667,-0.01626453046186896]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022308158619870088,0.0009870419087321756,-0.001551172894594561],"end_effector_yaw_offset_degrees":0.5786149349721132},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00156352355283991,-0.0012142962346760526,0.0009100571609051106],"end_effector_yaw_offset_degrees":-0.505796536334131},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005867061127036047,0.0014233360982508483,0.00035197068793040324],"end_effector_yaw_offset_degrees":0.43759146825978235},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013037492611303728,-8.915307168421305e-06,-7.808904574048013e-05],"end_effector_yaw_offset_degrees":-0.1055568035895551},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005550861244836463,0.00047167114957678185,-0.0005760868698100059],"end_effector_yaw_offset_degrees":-0.6337769725790565},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0009678440038833011,-0.0004594611248327847,0.0017388555481951075],"end_effector_yaw_offset_degrees":-0.5317206763924807},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005818956842232907,-0.0016398839945485687,-0.0005914830331728775],"end_effector_yaw_offset_degrees":0.6079150509860667},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[6.35730101473447e-05,0.0012864518783459837,0.0014662626902481007],"end_effector_yaw_offset_degrees":-0.6038376871703608},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0002429246973223234,0.0017661472386780292,-0.00013552945215758731],"end_effector_yaw_offset_degrees":0.968306602630955}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004474723283143611,-0.0004642679544629765],"position_m":[0.1809252767168564,-0.13716426795446296,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004456187080555517,-0.0011818749396108772],"position_m":[0.1920561870805555,0.018718125060389123,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012170052211171343,0.003222478205535096],"position_m":[0.21191700522111714,-0.3503775217944649,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0011909154700739943,-0.0026001927167546746],"position_m":[0.29240908452992603,0.31299980728324533,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"c0b79b85e52fbd65ae4d7760f2faa5c2ee4980c66a95874ab45a7e4a15f0255d","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5251/tex_ceiling_textures_8604/tex_floor_textures_6017/tex_table_textures_3560/tex_wall_textures_5600","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":4348291484041724509,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":4348291484041724509,"visual_seed":4348291484041724509,"scene_id":"lab_003","finished_at":"2026-09-08T19:26:22"}
+{"episode_id":"ep_000031","started_at":"2026-09-08T19:26:31","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.5875845523919278,-2.040387015088049,0.71338606911949],"aabb_xy":[[-0.6515845515616976,-2.0871537022070115],[-0.5235845532221577,-1.9936203279690867]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[0.4376535049008645,-1.20466338604478,0.71338606911949],"aabb_xy":[[0.40265350663074456,-1.211737513739768],[0.47265350317098437,-1.1975892583497916]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[0.1944695900341502,-2.0586172717378055,0.71338606911949],"aabb_xy":[[0.12446958822540474,-2.079971040501993],[0.26446959184289565,-2.037263502973618]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.43231428911724684,-1.3299523593934068,0.71338606911949],"aabb_xy":[[-0.47748560696541587,-1.3939523565379452],[-0.38714297126907793,-1.2659523622488684]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.2569587268320856,0.5435056765596173,0.71338606911949],"aabb_xy":[[-0.2738694592684273,0.5300334709670027],[-0.24004799439574379,0.5569778821522318]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.6010663477689857,0.08391626997345503,0.71338606911949],"aabb_xy":[[0.5672907885782927,0.06987777476029],[0.6348419069596787,0.09795476518662005]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.5250297387731298,-0.6176020710999304,0.71338606911949],"aabb_xy":[[0.5152737492639557,-0.6273646051591648],[0.5347857282823035,-0.6078395370406959]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.33723027164480157,0.3001880769015193,0.71338606911949],"aabb_xy":[[-0.4012302719052724,0.2551792775485912],[-0.27323027138433076,0.3451968762544472]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.17084028409680907,-1.7242823528927795,0.71338606911949],"aabb_xy":[[-0.1860124533784424,-1.7394512098209831],[-0.15566811481517573,-1.7091134959645764]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.028861899644043953,-2.4807900284817754,0.71338606911949],"aabb_xy":[[-0.06636189946107751,-2.4854282397929173],[0.008638100172989605,-2.4761518171706336]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.23660316974652174,1.0728356541368815,0.71338606911949],"aabb_xy":[[-0.24750894583408445,0.9928356577380524],[-0.22569739365895902,1.1528356505357107]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.5769755992289277,0.838243934076528,0.71338606911949],"aabb_xy":[[-0.656975596632521,0.758251362878345],[-0.49697560182533423,0.9182365052747107]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.5590816946610686,-1.6690750191600041,0.71338606911949],"aabb_xy":[[0.49408169677942093,-1.7201986828665454],[0.6240816925427165,-1.6179513554534637]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[0.4478852373913509,0.5964444251970011,0.71338606911949],"aabb_xy":[[0.39790228720387144,0.5464444255544406],[0.4978681875788301,0.6464444248395614]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[0.1275741035585014,0.7541244686114257,0.71338606911949],"aabb_xy":[[0.11497140442142495,0.7415290723865603],[0.14017680269557786,0.7667198648362913]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.5736573667785942,-0.3322760797247768,0.71338606911949],"aabb_xy":[[0.5618891799839368,-0.4172760796299984],[0.5854255535732519,-0.24727607981955524]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.16973264087161966,-2.4088364281705394,0.71338606911949],"aabb_xy":[[-0.22470636290795257,-2.4638364277347726],[-0.1147589188352868,-2.3538364286063063]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.28367945007220763,-1.0015290925356206,0.71338606911949],"aabb_xy":[[0.27771291113147184,-1.0074902371949848],[0.2896459890129434,-0.9955679478762566]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.4782666539506315,1.6996283565872452,0.71338606911949],"aabb_xy":[[0.44326665397413567,1.6901637405396284],[0.5132666539271273,1.7090929726348616]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.708350243681972,0.17628905090534142,0.71338606911949],"aabb_xy":[[0.6974986374330964,0.1654297601776904],[0.7192018499308476,0.18714834163299243]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.14351859884107188,-1.3177690904561776,0.71338606911949],"aabb_xy":[[0.07951859856709365,-1.3678351906534656],[0.2075185991150501,-1.2677029902588897]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.07354115130594907,1.3503686786738225,0.71338606911949],"aabb_xy":[[-0.0948191594494213,1.2853686763477494],[-0.05226314316247681,1.4153686809998955]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.3128923223154957,-1.8649840385659435,0.71338606911949],"aabb_xy":[[-0.37689232090206815,-1.9119910019654522],[-0.24889232372892323,-1.8179770751664348]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.5420084602759858,-0.9545004306537599,0.71338606911949],"aabb_xy":[[-0.5507896874232222,-0.9632801779422904],[-0.5332272331287496,-0.9457206833652301]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6431054140193213,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4101.png","name":"4101"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4101.png","name":"4101"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2317.png","name":"2317"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9333.png","name":"9333"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/729.png","name":"729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2312.png","name":"2312"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":705.8785079822252,"rotation_z_degrees":7.155070134142725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008056734816295163,-0.006505424776148381,-0.0150579421790902]},{"name":"camera_2","offset_m":[0.0012176504660989726,0.0073690340457821385,-0.003657420785761107]},{"name":"camera_3","offset_m":[0.016713678289570103,-0.0047220228911595535,-0.019761663669775466]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015845917051089096,-0.0006643085870004146,0.001949158726105034],"end_effector_yaw_offset_degrees":-0.4490853729024751},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012354963153640552,0.0016393210150706795,0.0007026685492634516],"end_effector_yaw_offset_degrees":-0.3262537696775516},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012910158582572057,-0.00044111591030142534,-0.0017368208983190212],"end_effector_yaw_offset_degrees":-0.7226931461049939},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007212417956622324,0.0012209616314618208,0.0017795588637754293],"end_effector_yaw_offset_degrees":0.06148039677815165},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001987431015769813,0.0015923330326349998,0.0007822769533399961],"end_effector_yaw_offset_degrees":-0.045202583753664705},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014393289515399494,-0.0008151658387843784,0.00018391150496946266],"end_effector_yaw_offset_degrees":0.49400332637691013},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007083000460865038,-0.0017558732941712792,-0.000712468236503511],"end_effector_yaw_offset_degrees":-0.2071384774460301},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016623857608281506,-0.00028239627519863935,-0.0002542602765171957],"end_effector_yaw_offset_degrees":-0.20770385233484556},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006901833943227622,-0.0010898093132007652,-0.0009465896633048243],"end_effector_yaw_offset_degrees":0.1826037811806045}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036445722088360444,-0.0014446665809165105],"position_m":[0.18175542779116396,-0.1381446665809165,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007463015287348315,0.0007297949291271612],"position_m":[0.18685369847126515,0.020629794929127164,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004090252131446109,0.0010501906097227622],"position_m":[0.21479025213144612,-0.35254980939027725,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0017551502819367305,-0.004818877728108918],"position_m":[0.2918448497180633,0.3107811222718911,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"8a98f8a9e6d91208db907bc9f7e331d17e96c16d9ca6b4c777083870509f9a6a","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4101/tex_ceiling_textures_2312/tex_floor_textures_729/tex_table_textures_2317/tex_wall_textures_9333","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5361744483525175007,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5361744483525175007,"visual_seed":5361744483525175007,"scene_id":"lab_003","finished_at":"2026-09-08T19:38:32"}
+{"episode_id":"ep_000032","started_at":"2026-09-08T19:38:41","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.2356260444907538,1.002835115404741,0.71338606911949],"aabb_xy":[[-0.2580908144621589,0.9803351145258805],[-0.2131612745193487,1.0253351162836015]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[-0.528983646322533,-2.246147520116231,0.71338606911949],"aabb_xy":[[-0.5402287018931509,-2.2573893178403264],[-0.5177385907519152,-2.234905722392136]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[0.10621290732192068,-1.5496086226719685,0.71338606911949],"aabb_xy":[[0.04221291003627205,-1.5911153416248125],[0.17021290460756933,-1.5081019037191246]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.3364491990642593,-0.43655093396746514,0.71338606911949],"aabb_xy":[[0.3014491991682404,-0.4449251694794051],[0.37144919896027817,-0.4281766984555252]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.44800788958963333,-1.9929957301021863,0.71338606911949],"aabb_xy":[[0.37800788798735385,-2.0064285233038444],[0.5180078911919128,-1.9795629369005292]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[0.1787631593651814,0.7954925060367253,0.71338606911949],"aabb_xy":[[0.15043344941664116,0.7910317638430082],[0.20709286931372162,0.7999532482304423]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.3338186158492207,-1.5968321615090608,0.71338606911949],"aabb_xy":[[0.3203720892151774,-1.610302013162152],[0.34726514248326407,-1.5833623098559693]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.30312903012803877,-0.4574279375349244,0.71338606911949],"aabb_xy":[[-0.3581245079486981,-0.5124279389688313],[-0.24813355230737932,-0.4024279361010174]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.5451087263128243,-0.7624617619227203,0.71338606911949],"aabb_xy":[[0.514624476185794,-0.8124617617042162],[0.5755929764398543,-0.7124617621412244]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.3751372774671138,-0.7284413306069624,0.71338606911949],"aabb_xy":[[0.3687234638239288,-0.7348511508546306],[0.38155109111029867,-0.7220315103592939]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.10295331078765646,1.2469554782913752,0.71338606911949],"aabb_xy":[[-0.16695330937422892,1.1999485148918665],[-0.03895331220108399,1.293962441690884]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.0483633531790727,1.6830843750738995,0.71338606911949],"aabb_xy":[[-0.03163664825105451,1.6035672200612898],[0.1283633546091999,1.7626015300865088]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.5634214973842087,0.08953810907772608,0.71338606911949],"aabb_xy":[[-0.5747832320374947,0.07816964267143799],[-0.5520597627309224,0.10090657548401415]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[-0.42599483273895494,1.5621230433856979,0.71338606911949],"aabb_xy":[[-0.471166150587124,1.4981230462411594],[-0.3808235148907861,1.6261230405302365]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.2776536434591191,-1.5494556990766264,0.71338606911949],"aabb_xy":[[-0.31211599085726077,-1.5839495814744489],[-0.2431912960609772,-1.5149618166788035]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.2873503004847273,1.5600857353906687,0.71338606911949],"aabb_xy":[[-0.29819077871124217,1.5428994541000198],[-0.27650982225821236,1.5772720166813172]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.016815793285590797,-2.403278430478653,0.71338606911949],"aabb_xy":[[-0.09681579187291021,-2.482594032416814],[0.06318420530172862,-2.323962828540492]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.5602591226383016,0.5255896355441032,0.71338606911949],"aabb_xy":[[-0.5847727467353074,0.5013250422420668],[-0.5357454985412957,0.5498542288461397]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.03390361936033204,-1.7459867959072055,0.71338606911949],"aabb_xy":[[-0.12390361586120378,-1.7918984383256633],[0.056096377140539715,-1.7000751534887468]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.04063436808772147,0.8504323344143159,0.71338606911949],"aabb_xy":[[-0.10063436973064332,0.7984321851223716],[0.01936563355520038,0.90243248370626]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[0.4965736629739128,-1.6651776972661394,0.71338606911949],"aabb_xy":[[0.479662930537571,-1.6786499028587536],[0.5134843954102545,-1.6517054916735243]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[-0.6455377950744843,-1.8733219852717364,0.71338606911949],"aabb_xy":[[-0.6535312848697664,-1.8813201172122125],[-0.6375443052792024,-1.8653238533312613]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.22233785508098458,-0.9761687762625804,0.71338606911949],"aabb_xy":[[0.15733785397504133,-1.0011341493307087],[0.28733785618692786,-0.9512034031944522]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.6864852703234898,0.599282477169603,0.71338606911949],"aabb_xy":[[0.6514852720127944,0.5915674622460574],[0.7214852686341853,0.6069974920931487]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.5346398609564298,0.4877627633607755,0.71338606911949],"aabb_xy":[[0.5221725028466941,0.47529743872745195],[0.5471072190661654,0.500228087994099]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.4705908403014365,1.29120497245707,0.71338606911949],"aabb_xy":[[0.4065908386234391,1.2426875809777558],[0.5345908419794339,1.3397223639363842]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[0.4572349963390694,-0.573720296027727,0.71338606911949],"aabb_xy":[[0.387234994530324,-0.5950740647919144],[0.5272349981478148,-0.5523665272635396]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.2657456181175988,-1.7392648257494843,0.71338606911949],"aabb_xy":[[0.2271999252923978,-1.7778105968056732],[0.3042913109427999,-1.7007190546932958]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[0.6745931334671331,0.9878624813551777,0.71338606911949],"aabb_xy":[[0.6533151253236608,0.9228624790291046],[0.6958711416106053,1.0528624836812508]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_29","position":[0.47253530059796,-0.33613687043480667,0.71338606911949],"aabb_xy":[[0.46512284505657153,-0.3419880808564346],[0.4799477561393485,-0.3302856600131787]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_30","position":[-0.6469304775621567,-1.4366556551200742,0.71338606911949],"aabb_xy":[[-0.6815215604162018,-1.501655655405105],[-0.6123393947081114,-1.371655654835043]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_31","position":[0.33361906099525696,0.6722960851024369,0.71338606911949],"aabb_xy":[[0.3160407588063101,0.654721595528332],[0.3511973631842038,0.6898705746765418]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6451337047510345,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9858.png","name":"9858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9858.png","name":"9858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1305.png","name":"1305"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7227.png","name":"7227"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3298.png","name":"3298"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4119.png","name":"4119"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":830.6380444048166,"rotation_z_degrees":201.35233147833802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006573819552809005,-0.006158975320995208,-0.007987314382389105]},{"name":"camera_2","offset_m":[-0.008052120049578799,-0.01215321621183422,-0.008237785972659615]},{"name":"camera_3","offset_m":[-0.018921407732097443,0.011902456024346374,0.009554143472702222]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007502841323560551,-0.0009304398416493953,0.00030825491800012773],"end_effector_yaw_offset_degrees":-0.058223240016204825},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001746721666385724,0.0008686915930211821,-0.001193991744258235],"end_effector_yaw_offset_degrees":-0.9633621757949613},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019248615222870495,0.001411705924975983,-0.0019708362866465916],"end_effector_yaw_offset_degrees":-0.05807625213767165},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009757609235835699,-0.0016438371981780274,0.00066102998140239],"end_effector_yaw_offset_degrees":0.16184974267258467},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[5.4126021862745816e-05,-0.0013608483160177567,0.001622976289659695],"end_effector_yaw_offset_degrees":0.702844145004329},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001579249311576773,-0.000583056266660782,-0.000840561039053903],"end_effector_yaw_offset_degrees":0.3684242966304152},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011087078078450734,-0.001422220124241445,0.0013500172255241053],"end_effector_yaw_offset_degrees":-0.7372616506218155},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016404181297648077,0.0017045235919870027,0.0009080270078100422],"end_effector_yaw_offset_degrees":-0.7232455626108949},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00012174556831612629,0.00018870090968844174,-0.001997707189394637],"end_effector_yaw_offset_degrees":-0.6039969912018974}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004983683422100136,0.0016379226914792619],"position_m":[0.19038368342210016,-0.13506207730852074,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000370434493784497,-0.0021944085242739286],"position_m":[0.18797043449378448,0.017705591475726073,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003689600523326727,-0.004141935060727843],"position_m":[0.21033103994766733,-0.3577419350607279,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003516015184860024,0.004561545069501525],"position_m":[0.29008398481514003,0.3201615450695015,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"a80780849772193817a3007c1af9838e623c4c910136d48bedc5b658dc769dc0","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9858/tex_ceiling_textures_4119/tex_floor_textures_3298/tex_table_textures_1305/tex_wall_textures_7227","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8253947475405311240,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8253947475405311240,"visual_seed":8253947475405311240,"scene_id":"lab_003","finished_at":"2026-09-08T19:49:45"}
+{"episode_id":"ep_000033","started_at":"2026-09-08T19:49:54","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.3711140646991897,1.299591240035248,0.71338606911949],"aabb_xy":[[0.34752894123529493,1.2345912377898163],[0.39469918816308464,1.3645912422806799]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.08216615884995349,1.293173360996442,0.71338606911949],"aabb_xy":[[-0.12318410223632438,1.2431733603654846],[-0.04114821546358262,1.3431733616273993]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.6713204361439262,-2.4369454071528067,0.71338606911949],"aabb_xy":[[0.6612387290653526,-2.516945405044921],[0.6814021432224996,-2.3569454092606916]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.3974121435569533,-2.465454939650339,0.71338606911949],"aabb_xy":[[0.3849447854472178,-2.4779202642836626],[0.4098795016666891,-2.4529896150170156]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.3239963792920386,-1.1961587751882288,0.71338606911949],"aabb_xy":[[0.31865880362603405,-1.2211587761173686],[0.3293339549580432,-1.171158774259089]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.5516732945748395,0.9147059467257783,0.71338606911949],"aabb_xy":[[0.5297835469858987,0.8247059494365291],[0.5735630421637803,1.0047059440150272]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.21359059912426326,-2.4081345124654017,0.71338606911949],"aabb_xy":[[0.2065491481735157,-2.4151612642031965],[0.22063205007501088,-2.4011077607276077]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.47306387849674536,1.2563159283802432,0.71338606911949],"aabb_xy":[[0.4355638783248734,1.2236151929973358],[0.5105638786686173,1.2890166637631502]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.3949311286498034,-2.301384546302682,0.71338606911949],"aabb_xy":[[0.33493112700688155,-2.353384695594626],[0.45493113029272525,-2.2493843970107377]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.07010985582101836,-1.1890992418643227,0.71338606911949],"aabb_xy":[[0.032609856003984805,-1.1937374531754645],[0.10760985563805192,-1.1844610305531809]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.059096970451957165,-1.197626678274504,0.71338606911949],"aabb_xy":[[-0.08694200723256429,-1.2284111770128159],[-0.03125193367135005,-1.1668421795361925]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.08128098920964555,1.7824721590462294,0.71338606911949],"aabb_xy":[[0.07249976206240932,1.7736924117576995],[0.09006221635688177,1.79125190633476]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.40421855025767117,1.6711376136249343,0.71338606911949],"aabb_xy":[[0.340218550963503,1.60715147325608],[0.46821854955183945,1.7351237539937885]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.17252223001171574,-1.8652430905716706,0.71338606911949],"aabb_xy":[[0.15340992265373687,-1.8843778694489126],[0.1916345373696946,-1.8461083116944286]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.23282121555968505,1.0280149900015574,0.71338606911949],"aabb_xy":[[0.1528212133969226,0.9480598063754138],[0.31282121772244753,1.107970173627701]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[-0.48579774138302256,0.24323035660353476,0.71338606911949],"aabb_xy":[[-0.5357977409593574,0.1932497776514288],[-0.43579774180668795,0.2932109355556407]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.49041565393706177,0.42775901654082915,0.71338606911949],"aabb_xy":[[-0.5554156520929808,0.4014627719909169],[-0.4254156557811427,0.4540552610907413]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[0.24863925179378477,-2.2366847348761736,0.71338606911949],"aabb_xy":[[0.2267305696544337,-2.258585401696264],[0.2705479339331358,-2.2147840680560824]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.11174331981585017,-2.016917343726773,0.71338606911949],"aabb_xy":[[0.10374933123814677,-2.024917423821863],[0.11973730839355355,-2.0089172636316825]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.1796881466035669,1.0507964054432377,0.71338606911949],"aabb_xy":[[-0.21468814795504865,1.0304366694864167],[-0.14468814525208518,1.0711561414000583]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.5935669731143485,-2.1317737777208206,0.71338606911949],"aabb_xy":[[0.5435669718305084,-2.1817526321114427],[0.6435669743981883,-2.0817949233301984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6486580853154762,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9066.png","name":"9066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9066.png","name":"9066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7979.png","name":"7979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5094.png","name":"5094"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9720.png","name":"9720"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3880.png","name":"3880"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":734.5128247692221,"rotation_z_degrees":17.39257066885596,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014587661328565003,0.0023692023975522072,-0.012869996785167644]},{"name":"camera_2","offset_m":[-0.010677112457813798,0.00817649942369783,-0.014337612238273057]},{"name":"camera_3","offset_m":[-0.014707073796825707,0.013316823542618473,-0.01077548416897521]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011075534196955212,-0.0016406505779355404,0.0006656836127597334],"end_effector_yaw_offset_degrees":0.9912566490129846},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011590844519293298,-0.0008644225428798005,-0.0012168343098092928],"end_effector_yaw_offset_degrees":-0.19127196963104853},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001690017855599845,-9.039287354324545e-06,0.00010836158973614963],"end_effector_yaw_offset_degrees":-0.2851323006800077},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008611475937593594,0.0012342252975836542,-0.0014918720232883272],"end_effector_yaw_offset_degrees":-0.6058831633518156},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001422912794409037,-2.3377930643617498e-05,0.0004718143166880448],"end_effector_yaw_offset_degrees":-0.705119317045255},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[6.138607661743123e-06,-0.001467406400185963,0.0001115201413446204],"end_effector_yaw_offset_degrees":-0.7633926477174495},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005993762452630258,-0.00045757759182930933,-0.0004778364727619996],"end_effector_yaw_offset_degrees":-0.8585766982437011},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001343272543993903,0.00150994102068398,-0.0012394033457605231],"end_effector_yaw_offset_degrees":-0.9840570794296366},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011001136575977443,5.900601518285748e-05,0.0004708600575158801],"end_effector_yaw_offset_degrees":-0.4087065163134238}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007821264650969871,0.004826212788109212],"position_m":[0.186182126465097,-0.13187378721189078,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002329670341213225,0.0025556762283384885],"position_m":[0.18992967034121322,0.022455676228338488,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007172564475444254,0.0009852221892196608],"position_m":[0.21141725644754442,-0.3526147778107804,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004036229959548133,-0.0016789750553518178],"position_m":[0.29763622995954814,0.3139210249446482,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d4558e179eea7a391ad1c3ae33f274ddfa44219b77a7cd8cfe01bf1693e51411","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9066/tex_ceiling_textures_3880/tex_floor_textures_9720/tex_table_textures_7979/tex_wall_textures_5094","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":156086579336565093,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":156086579336565093,"visual_seed":156086579336565093,"scene_id":"lab_003","finished_at":"2026-09-08T20:01:48"}
+{"episode_id":"ep_000034","started_at":"2026-09-08T20:13:49","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.21638391691799574,-1.6420707219863533,0.71338606911949],"aabb_xy":[[0.16638391525650092,-1.6920691642420558],[0.2663839185794904,-1.5920722797306504]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[0.2066694005322216,0.8624086777617501,0.71338606911949],"aabb_xy":[[0.1515441949026308,0.802408676320463],[0.2617946061618123,0.9224086792030373]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.17434237030745492,-0.5809053269526481,0.71338606911949],"aabb_xy":[[-0.18621445331895606,-0.6659053266462984],[-0.16247028729595384,-0.4959053272589977]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.01543652046373889,-1.2574001660335288,0.71338606911949],"aabb_xy":[[0.009341892575620571,-1.2659695605851975],[0.02153114835185721,-1.24883077148186]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.006726602747347155,0.4800803941392675,0.71338606911949],"aabb_xy":[[-0.012763615748011882,0.47405369307031925],[-0.0006895897466824269,0.48610709520821566]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.30140915058191975,-1.4628011506364098,0.71338606911949],"aabb_xy":[[0.26407787405667715,-1.497454205431262],[0.33874042710716235,-1.4281480958415576]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.45786761485504623,-1.2450920735597926,0.71338606911949],"aabb_xy":[[0.4359589327156951,-1.2669927403798833],[0.47977629699439717,-1.2231914067397018]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[0.46919291233637095,-2.020213074035187,0.71338606911949],"aabb_xy":[[0.459436922827197,-2.0299756080944213],[0.4789489018455448,-2.0104505399759525]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.48834114503389153,0.27034952626058706,0.71338606911949],"aabb_xy":[[-0.4953814549674286,0.19034952686091572],[-0.4813008351003546,0.3503495256602585]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.567659161983042,-0.4060525238807613,0.71338606911949],"aabb_xy":[[-0.6476529855616002,-0.4860525264736028],[-0.4876653384044838,-0.32605252128791967]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.32791871574168885,-1.5171826642628259,0.71338606911949],"aabb_xy":[[-0.3410699617129782,-1.5421826640195129],[-0.3147674697703995,-1.4921826645061396]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.18791470759481876,0.6975110660139938,0.71338606911949],"aabb_xy":[[-0.2183989577218489,0.6475110662324979],[-0.15743045746778858,0.7475110657954898]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.00606312008331622,1.0702593806835123,0.71338606911949],"aabb_xy":[[-0.03983867927400919,1.0562208854703474],[0.027712439107376752,1.0842978758966773]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[0.21873362511330152,1.782155928555619,0.71338606911949],"aabb_xy":[[0.2111093570231233,1.7745227050190757],[0.2263578932034798,1.7897891520921632]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.45129009973225553,-0.6658112307205872,0.71338606911949],"aabb_xy":[[0.4262901004602933,-0.6821565943167495],[0.47629009900421787,-0.6494658671244248]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.03867599881039385,-1.686596378795615,0.71338606911949],"aabb_xy":[[-0.011302809699922034,-1.7365963788013337],[0.08865480732070974,-1.636596378789896]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.5055696358336474,1.147088398177682,0.71338606911949],"aabb_xy":[[-0.5135959064642736,1.1383369032003294],[-0.49754336520302156,1.1558398931550347]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.15016104654239182,1.3786333229203818,0.71338606911949],"aabb_xy":[[-0.18360122173841137,1.3451896970894515],[-0.11672087134637217,1.4120769487513116]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.14798842424401815,-1.9310214561348333,0.71338606911949],"aabb_xy":[[-0.21798842065397991,-1.9514593917865146],[-0.07798842783405634,-1.9105835204831512]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[-0.2418899443417437,1.7044151339046274,0.71338606911949],"aabb_xy":[[-0.29188994470230967,1.6544351466950242],[-0.1918899439811776,1.7543951211142301]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.5041986549462119,0.8082061230810531,0.71338606911949],"aabb_xy":[[-0.5691986575840055,0.7567265243816061],[-0.4391986523084185,0.8596857217805001]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.29645122286633896,-2.4230002140196345,0.71338606911949],"aabb_xy":[[0.27895122260700245,-2.437091756208407],[0.3139512231256757,-2.408908671830862]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[0.6328453424667742,-1.4830660279548809,0.71338606911949],"aabb_xy":[[0.6149762347123185,-1.4968989359320917],[0.6507144502212295,-1.46923311997767]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[-0.5499181351748171,-1.0411989270383297,0.71338606911949],"aabb_xy":[[-0.5998914291780775,-1.0911989275928768],[-0.4999448411715566,-0.9911989264837822]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6440620944255252,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2810.png","name":"2810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2810.png","name":"2810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/530.png","name":"530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9805.png","name":"9805"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4202.png","name":"4202"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2526.png","name":"2526"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":660.8674136952317,"rotation_z_degrees":245.48647295451983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01129263971402823,-0.017680736207946517,0.009384063646629009]},{"name":"camera_2","offset_m":[0.012445631780093402,0.01950761424619857,-0.009698235188616415]},{"name":"camera_3","offset_m":[0.01480363699435704,0.01687326713687944,-0.013125701878344477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010383849951257887,-0.0019080817097287383,0.0016307583250474863],"end_effector_yaw_offset_degrees":-0.9522247831069617},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.049299959446099e-06,-0.0007854747096555038,-0.0005001126829486324],"end_effector_yaw_offset_degrees":0.23516897770919587},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00016699308970871598,-0.0002380535960793777,-0.001463107568452454],"end_effector_yaw_offset_degrees":-0.047741112716288114},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010993193717614364,0.0005606992253588991,0.0015929532929819202],"end_effector_yaw_offset_degrees":0.05266828574757354},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012198435168128043,0.00041708927970012443,0.0018587843646362691],"end_effector_yaw_offset_degrees":0.13408508120780427},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011015948334535067,-0.0012023522700601512,-0.0006087623255798401],"end_effector_yaw_offset_degrees":-0.7279176839184767},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007352184215253139,0.0004998027552139861,-0.0008080571482668303],"end_effector_yaw_offset_degrees":0.3802107935635446},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0013412490984528202,-0.0015777586109152852,0.00035797107417199917],"end_effector_yaw_offset_degrees":0.21559071164168464},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009344244093035519,-0.000783397526926076,-0.0002665882691654526],"end_effector_yaw_offset_degrees":-0.6604613608137206}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000718144643201816,-0.004028935824252626],"position_m":[0.18468185535679818,-0.1407289358242526,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002731784504428449,0.0018327059765798556],"position_m":[0.19033178450442845,0.021732705976579857,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004790329335605891,0.004040705364599931],"position_m":[0.21549032933560588,-0.3495592946354001,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00315496624315154,0.0017599432619579214],"position_m":[0.2904450337568485,0.31735994326195793,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d260e55c93fa854fc706595eef586403b0110c3b2bd817325b340873168853b3","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2810/tex_ceiling_textures_2526/tex_floor_textures_4202/tex_table_textures_530/tex_wall_textures_9805","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":294539144748729094,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":294539144748729094,"visual_seed":294539144748729094,"scene_id":"lab_003","finished_at":"2026-09-08T20:24:56"}
+{"episode_id":"ep_000035","started_at":"2026-09-08T20:25:06","dimensions":{"distractor":{"count":29,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.46084340650349787,-1.6994875214444598,0.71338606911949],"aabb_xy":[[0.45356109012683404,-1.7894875250539686],[0.46812572288016135,-1.6094875178349506]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.27439172463599304,0.7906057837321874,0.71338606911949],"aabb_xy":[[0.24390747450896294,0.7406057839506913],[0.30487597476302325,0.8406057835136832]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.1740768249906094,-1.047407707527639,0.71338606911949],"aabb_xy":[[-0.22120620399244503,-1.1114077085720406],[-0.1269474459887737,-0.9834077064832367]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[-0.44360643729158544,-1.4274688549340975,0.71338606911949],"aabb_xy":[[-0.4779227144662033,-1.4774688549072752],[-0.40929016011696745,-1.3774688549609198]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[0.40439908855812634,-1.6104327218106251,0.71338606911949],"aabb_xy":[[0.4006958272289874,-1.6141347401193429],[0.4081023498872652,-1.606730703501907]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[-0.23205202724785912,-1.35983184253122,0.71338606911949],"aabb_xy":[[-0.277052028714088,-1.4048316993927006],[-0.1870520257816303,-1.3148319856697392]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.5511029813949009,-0.25413616024081653,0.71338606911949],"aabb_xy":[[-0.5736029809186082,-0.27663210769143726],[-0.5286029818711934,-0.23164021279019573]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.6313559018257976,-2.1113277946698448,0.71338606911949],"aabb_xy":[[-0.6663559017218164,-2.119702030181785],[-0.5963559019297786,-2.1029535591579047]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.2077978565562194,-2.142874616164594,0.71338606911949],"aabb_xy":[[-0.21389248444433775,-2.1514440107162627],[-0.20170322866810111,-2.1343052216129252]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[-0.2650570112660057,-0.6233719387526337,0.71338606911949],"aabb_xy":[[-0.2879727241510557,-0.6462762358890574],[-0.24214129838095588,-0.6004676416162104]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.07719490264535622,-0.7381650462593925,0.71338606911949],"aabb_xy":[[-0.083161441586092,-0.7441261909187565],[-0.07122836370462042,-0.7322039016000285]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.05755176523661909,-2.352749400590116,0.71338606911949],"aabb_xy":[[-0.07498248031562559,-2.3700215152539665],[-0.040121050157612574,-2.3354772859262645]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.5889298901191773,-0.0020661405097346375,0.71338606911949],"aabb_xy":[[0.5249298908250091,-0.06605228087858883],[0.6529298894133455,0.06191999985911956]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.42158276807417466,1.3558334028732948,0.71338606911949],"aabb_xy":[[-0.43912946299029365,1.3183334013090435],[-0.4040360731580558,1.393333404437546]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.6775997687729083,1.3511930416903621,0.71338606911949],"aabb_xy":[[0.6540146453090133,1.2861930394449304],[0.701184892236803,1.416193043935794]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[0.5330031055719124,1.3029728553310176,0.71338606911949],"aabb_xy":[[0.4980031073017924,1.2958987276360292],[0.5680031038420322,1.3100469830260055]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[0.0623928647861437,-1.3509079616411515,0.71338606911949],"aabb_xy":[[-0.01760713237343159,-1.3624555625989685],[0.14239286194571898,-1.3393603606833344]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.0716503499014981,0.8489201545206955,0.71338606911949],"aabb_xy":[[0.02166739971401876,0.7989201548781348],[0.12163330008897742,0.8989201541632557]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.24497910435697767,-2.3214880068160597,0.71338606911949],"aabb_xy":[[-0.2578510078579178,-2.401488007229896],[-0.23210720085603753,-2.2414880064022236]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.5878122684135865,-0.6545816437784873,0.71338606911949],"aabb_xy":[[0.517812266811307,-0.668014436980145],[0.657812270015866,-0.6411488505768298]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.3890737567156685,-1.0432298501020858,0.71338606911949],"aabb_xy":[[-0.4235362347287563,-1.0498935272850085],[-0.35461127870258075,-1.036566172919163]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.40340446520519924,-1.8643321543415534,0.71338606911949],"aabb_xy":[[-0.4684044663111426,-1.889297527409682],[-0.338404464099256,-1.8393667812734253]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.1476572435870651,1.4536743283938551,0.71338606911949],"aabb_xy":[[-0.18515724201046543,1.4405101144260244],[-0.11015724516366474,1.4668385423616859]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.13389252585779732,0.41350948146810307,0.71338606911949],"aabb_xy":[[-0.14525426051108345,0.402141015061815],[-0.12253079120451113,0.42487794787439115]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[0.40775879359651124,-1.91918709990918,0.71338606911949],"aabb_xy":[[0.4028595012899477,-1.9468640192117483],[0.4126580859030747,-1.8915101806066108]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[0.6394581332644074,0.75904242533678,0.71338606911949],"aabb_xy":[[0.5894581316029126,0.7090439830810773],[0.6894581349259021,0.8090408675924827]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[-0.30868305889602415,1.2908863926699685,0.71338606911949],"aabb_xy":[[-0.3386506158058498,1.2608863923720828],[-0.2787155019861985,1.3208863929678543]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.04337247864013194,-0.6761680856979535,0.71338606911949],"aabb_xy":[[0.007743322740172198,-0.7118007524548065],[0.07900163454009168,-0.6405354189411006]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[0.40003456052416575,-1.1140430942487667,0.71338606911949],"aabb_xy":[[0.3360345641285926,-1.1780063826675002],[0.46403455691973877,-1.0500798058300331]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6428839902905362,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/441.png","name":"441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/441.png","name":"441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5928.png","name":"5928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2354.png","name":"2354"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/316.png","name":"316"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":692.4565210616902,"rotation_z_degrees":305.8029862464584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01000262469643996,0.015492895260929129,-0.009324886137691992]},{"name":"camera_2","offset_m":[-0.005524903303365294,-0.010090870700924421,-0.00909068339142714]},{"name":"camera_3","offset_m":[-0.016797853763347477,0.014832057616349256,0.017893514388859274]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019600157905529875,-0.0011835111562282443,-0.0005534593012232799],"end_effector_yaw_offset_degrees":0.30964288626526426},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017578829491975484,-0.0013857274126612502,-0.0015433333413735553],"end_effector_yaw_offset_degrees":-0.5423112497907041},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005293597483976905,0.0014589037663282536,-0.001018545341261739],"end_effector_yaw_offset_degrees":0.8469023302417114},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013048170849157908,0.000933649825880665,-3.0429635482691862e-05],"end_effector_yaw_offset_degrees":0.425180869873643},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[8.576517628104859e-05,-0.0004661978231912541,0.0013830664951991994],"end_effector_yaw_offset_degrees":-0.08403742669287873},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00030774326384615074,0.0018531575279725617,0.0007381173903599227],"end_effector_yaw_offset_degrees":-0.01367725837307332},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007733675228510965,0.001849295428079678,-0.0008219146216776703],"end_effector_yaw_offset_degrees":-0.6543462164139433},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0009480549401268861,-0.00060445201106779,-0.00010209455536276972],"end_effector_yaw_offset_degrees":-0.7506011647732007},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008030745432706557,-0.001169878824392852,-0.001215043165345854],"end_effector_yaw_offset_degrees":0.40914783292192247}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000809376690826237,0.0013830784601995003],"position_m":[0.18620937669082624,-0.1353169215398005,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001720205033352956,0.0026917762010628885],"position_m":[0.18587979496664703,0.02259177620106289,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001869283199528662,0.0011763234249906737],"position_m":[0.20883071680047133,-0.35242367657500934,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00443037774002149,0.0016209742672078763],"position_m":[0.28916962225997855,0.31722097426720786,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"2ef1854b46baddecaf178a50dabcef0371d5cc0b7713cff17d8f023b3a794489","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_441/tex_ceiling_textures_316/tex_floor_textures_2354/tex_table_textures_9649/tex_wall_textures_5928","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1071184744014452053,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1071184744014452053,"visual_seed":1071184744014452053,"scene_id":"lab_003","finished_at":"2026-09-08T20:36:12"}
+{"episode_id":"ep_000036","started_at":"2026-09-08T20:36:23","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.45722007151313404,1.765073036494988,0.71338606911949],"aabb_xy":[[0.43935096375867855,1.751240128517777],[0.47508917926758953,1.778905944472199]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[0.3969773153142946,-2.065316659500413,0.71338606911949],"aabb_xy":[[0.379546600235288,-2.0825887741642632],[0.41440803039330104,-2.048044544836562]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.42733017462281975,-0.6607101220114717,0.71338606911949],"aabb_xy":[[0.42136363568208396,-0.6666712666708356],[0.43329671356355554,-0.6547489773521076]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[0.49565072598949067,-1.548978566335492,0.71338606911949],"aabb_xy":[[0.44163512970759067,-1.612978569227749],[0.5496663222713907,-1.4849785634432346]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[-0.11919602377898242,-1.7044256986445692,0.71338606911949],"aabb_xy":[[-0.1991960242491984,-1.7127364062589177],[-0.039196023308766474,-1.6961149910302207]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[0.1264053153663225,-1.1907042166990025,0.71338606911949],"aabb_xy":[[0.09525839652273935,-1.2607042153858097],[0.15755223420990558,-1.1207042180121953]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.2694031268387822,-1.2192571753534949,0.71338606911949],"aabb_xy":[[0.23190312604678676,-1.2256250163116846],[0.30690312763077765,-1.2128893343953047]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[-0.48914124350023136,-2.4159679640683915,0.71338606911949],"aabb_xy":[[-0.5741412419176546,-2.5008422595306765],[-0.40414124508280813,-2.3310936686061066]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.3300690659322431,-0.5697745447622098,0.71338606911949],"aabb_xy":[[-0.35458269002924897,-0.5940391380642462],[-0.30555544183523725,-0.5455099514601733]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.4542429664972238,-1.2498786473281098,0.71338606911949],"aabb_xy":[[-0.474301378110464,-1.2699437342372675],[-0.43418455488398344,-1.2298135604189522]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.01110864237209963,1.1566178175940265,0.71338606911949],"aabb_xy":[[-0.024555169006142963,1.1431479659409352],[0.0023378842619436995,1.1700876692471178]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[-0.6570599165965471,-2.5141187080546756,0.71338606911949],"aabb_xy":[[-0.6795590523227739,-2.536618708832939],[-0.63456078087032,-2.4916187072764124]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.1578145213396217,-0.9663511109063612,0.71338606911949],"aabb_xy":[[0.12031451982399,-0.9775778839225061],[0.19531452285525341,-0.955124337890216]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.4556425977963952,-0.005266321518085704,0.71338606911949],"aabb_xy":[[-0.4931425981446229,-0.017057717099169256],[-0.4181425974481674,0.00652507406299785]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.3856712675077274,-1.936456884871326,0.71338606911949],"aabb_xy":[[0.3216712711121543,-2.0004201732900597],[0.4496712639033005,-1.8724935964525922]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.4819068706014109,1.6434988744933272,0.71338606911949],"aabb_xy":[[0.43192806209109497,1.593498874487608],[0.5318856791117268,1.6934988744990456]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.508624304824312,-2.549593821224222,0.71338606911949],"aabb_xy":[[0.47362430484781615,-2.559058437271839],[0.5436243048008078,-2.5401292051766062]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.3312857082353169,1.1980557770262217,0.71338606911949],"aabb_xy":[[0.320445230008802,1.1808694957355728],[0.3421261864618318,1.2152420583168702]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.5620346913958573,0.311580799673739,0.71338606911949],"aabb_xy":[[-0.5845346919078979,0.2890889413083406],[-0.5395346908838167,0.3340726580391373]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.634845401417907,0.2601937797456788,0.71338606911949],"aabb_xy":[[0.5962997085927061,0.22164800868949014],[0.6733910942431082,0.2987395508018675]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.13467769871094837,-0.8453401394146327,0.71338606911949],"aabb_xy":[[0.0875483197091127,-0.9093401404590346],[0.18180707771278404,-0.7813401383702306]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.06297273237959078,-0.933333172508118,0.71338606911949],"aabb_xy":[[-0.097563815233636,-0.9983331727931489],[-0.02838164952554557,-0.8683331722230868]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[-0.5893643784248983,-0.5582148588847522,0.71338606911949],"aabb_xy":[[-0.6533643816435362,-0.6049379707837605],[-0.5253643752062604,-0.5114917469857438]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6486199103036925,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2685.png","name":"2685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2685.png","name":"2685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5895.png","name":"5895"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/297.png","name":"297"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8636.png","name":"8636"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":775.2822296824035,"rotation_z_degrees":284.39898675827436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018396567961104414,-0.01938734506601233,0.013208488049706073]},{"name":"camera_2","offset_m":[-0.01869381407442996,-0.01707626858645739,-0.0045489811302496675]},{"name":"camera_3","offset_m":[0.000726197471313729,-0.00012970438852561578,0.011897934840739633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018557037622801797,-0.0010370399030052275,-0.0012785909459559841],"end_effector_yaw_offset_degrees":0.1976308975031087},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016665206131934113,0.0019568906685310857,-0.0006677904206104004],"end_effector_yaw_offset_degrees":0.3552228027850499},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001758921141470703,0.0006719069473480558,-0.0007069226503764829],"end_effector_yaw_offset_degrees":0.3080759000595512},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000774972632033561,0.00035590749624872173,0.0008662722985414541],"end_effector_yaw_offset_degrees":-0.8473400894068299},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014580674800555213,0.00079587917755125,0.0014706624515295613],"end_effector_yaw_offset_degrees":-0.5046000485805979},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013345145773778874,-0.0008223986770695881,0.00035750121859989],"end_effector_yaw_offset_degrees":-0.9703562042954126},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00042099915834065485,0.0009459738944476879,-0.0012527589611810957],"end_effector_yaw_offset_degrees":-0.005273160897413032},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012402387109203725,0.0016194096960203777,-0.0005574302707545993],"end_effector_yaw_offset_degrees":-0.16250450985414022},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00142348423773646,-0.0014321709633043586,0.0009869057945442383],"end_effector_yaw_offset_degrees":-0.44444585568838924}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003519103804984166,-0.0025230231740842437],"position_m":[0.18188089619501585,-0.13922302317408422,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002825690233631173,-0.0006949775725276375],"position_m":[0.19042569023363115,0.019205022427472365,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004030310989981613,0.004390610564538625],"position_m":[0.2066696890100184,-0.3492093894354614,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0009950247893783064,0.0036808073006523853],"position_m":[0.2945950247893783,0.3192808073006524,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d8bd459e57d0a52a7e1e9f98ed58af26121a832459f946d74acc9a3e160bb29e","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2685/tex_ceiling_textures_8636/tex_floor_textures_297/tex_table_textures_1463/tex_wall_textures_5895","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5270403941124643626,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5270403941124643626,"visual_seed":5270403941124643626,"scene_id":"lab_003","finished_at":"2026-09-08T20:47:32"}
+{"episode_id":"ep_000037","started_at":"2026-09-08T20:47:41","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.6082186786637016,0.6886059574920158,0.71338606911949],"aabb_xy":[[-0.6882186756779496,0.6684714058186046],[-0.5282186816494536,0.7087405091654272]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.29547224909372394,-0.19510631084301489,0.71338606911949],"aabb_xy":[[-0.30150926209438866,-0.20113301191196314],[-0.2894352360930592,-0.18907960977406674]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.08174904346396861,-1.9090953476481463,0.71338606911949],"aabb_xy":[[-0.16174286704252683,-1.989095350240988],[-0.0017552198854104,-1.829095345055305]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[0.5376254559988569,-2.0948322880146697,0.71338606911949],"aabb_xy":[[0.4948587491194367,-2.158832291436472],[0.5803921628782771,-2.0308322845928672]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.3405408317029135,0.6490440469153174,0.71338606911949],"aabb_xy":[[-0.3630545235263707,0.5790440463143097],[-0.3180271398794563,0.7190440475163248]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.5468024328902501,-1.3907137148476394,0.71338606911949],"aabb_xy":[[-0.5767699898000758,-1.4207137151455251],[-0.5168348759804244,-1.3607137145497537]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.6216458940620984,1.6528924949865185,0.71338606911949],"aabb_xy":[[0.541645892988978,1.643114448649134],[0.7016458951352187,1.662670541323903]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[-0.43738166980647175,-0.6410432092263971,0.71338606911949],"aabb_xy":[[-0.45254454278340894,-0.656208666521516],[-0.4222187968295348,-0.6258777519312785]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[0.4306298707048368,-0.8476214623326843,0.71338606911949],"aabb_xy":[[0.42412823419683227,-0.8573892843589941],[0.4371315072128415,-0.8378536403063745]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.04727389488313538,1.3441557529237893,0.71338606911949],"aabb_xy":[[-0.11127389131045728,1.2969861291016929],[0.016726101544186522,1.3913253767458857]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.5264649359432949,1.118604442454283,0.71338606911949],"aabb_xy":[[0.5170474613734322,1.1091882653165637],[0.5358824105131577,1.1280206195920017]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.5716541919426517,-1.9212529774221772,0.71338606911949],"aabb_xy":[[-0.6216330004529675,-1.9712529774278957],[-0.5216753834323358,-1.8712529774164581]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[0.08605184918141462,-2.0703413566769084,0.71338606911949],"aabb_xy":[[0.02105184807547135,-2.0953067297450367],[0.1510518502873579,-2.04537598360878]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.6553257505056327,1.1902881719545375,0.71338606911949],"aabb_xy":[[0.5913257472159246,1.1469532529506197],[0.7193257537953408,1.233623090958455]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.01321413401530458,-1.6522383093740451,0.71338606911949],"aabb_xy":[[-0.024119910102867292,-1.732238305772874],[-0.0023083579277418664,-1.5722383129752158]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[-0.4699010728871801,-0.7342081907176374,0.71338606911949],"aabb_xy":[[-0.5549010715792546,-0.7661940541125161],[-0.3849010741951054,-0.7022223273227584]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[-0.3588662524493086,0.06901853517895162,0.71338606911949],"aabb_xy":[[-0.38270247008991376,-0.020981465629534863],[-0.3350300348087036,0.1590185359874381]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.19021367138032974,0.34394677538693674,0.71338606911949],"aabb_xy":[[-0.2552136692619776,0.2928231116803959],[-0.12521367349868198,0.39507043909347767]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[0.4330759401579216,-0.5906557740302285,0.71338606911949],"aabb_xy":[[0.41544310456439404,-0.6082787200458514],[0.4507087757514492,-0.5730328280146054]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.10388631580452312,1.6170341565283262,0.71338606911949],"aabb_xy":[[-0.12138631508260998,1.59969605646198],[-0.08638631652643623,1.634372256594672]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.48670515050067875,-0.44745062838241045,0.71338606911949],"aabb_xy":[[0.4532649753046591,-0.4808942542133405],[0.5201453256966982,-0.4140070025514803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6456837299066113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4857.png","name":"4857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4857.png","name":"4857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6985.png","name":"6985"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6178.png","name":"6178"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8042.png","name":"8042"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9357.png","name":"9357"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":630.7914209216354,"rotation_z_degrees":357.15959746902985,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006480343385776837,0.006311351061040568,-0.0051025877860375116]},{"name":"camera_2","offset_m":[0.0078411200623483,-0.012623274500186014,0.011884787314544298]},{"name":"camera_3","offset_m":[0.013105447158749183,-2.3262928934241617e-05,0.01948817181482788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001910868046164632,0.00033474264150344874,-6.659608313087039e-05],"end_effector_yaw_offset_degrees":-0.9098514311926393},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012457631445050028,-0.000681419806314449,0.001998212246596961],"end_effector_yaw_offset_degrees":0.030550506178228076},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001926795733933732,0.001889318015138604,-0.0006227925079802462],"end_effector_yaw_offset_degrees":0.2303978839462757},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008339250411275555,-0.0004578042986175656,-0.001908308654560814],"end_effector_yaw_offset_degrees":-0.7922298685345097},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011934724870236169,0.000725002112582382,-0.00024611084846383013],"end_effector_yaw_offset_degrees":-0.17623877504761043},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015700587695400157,0.00161894825966836,0.0011672742163668986],"end_effector_yaw_offset_degrees":0.4583267195877083},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013352609990844528,0.0010400681498399906,-0.0013110816845322976],"end_effector_yaw_offset_degrees":0.3140450230340288},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006707611991846303,0.0008830854310464703,-0.00011737781730614041],"end_effector_yaw_offset_degrees":0.20587161509668728},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002779773906005762,0.0010842945651792397,-0.0019029416207433014],"end_effector_yaw_offset_degrees":0.2616007268649192}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016395507513023311,0.004936118921843939],"position_m":[0.18703955075130235,-0.13176388107815604,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004601920481416761,-0.0042976396135594695],"position_m":[0.18299807951858324,0.015602360386440531,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008098881322273098,-0.00030473115034847405],"position_m":[0.21150988813222732,-0.3539047311503485,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[3.132008013775195e-05,-0.0005965047866627734],"position_m":[0.29363132008013776,0.3150034952133372,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"84f976c31952cb5fc6f9d762d3acdd6544925de4861e0d96cc719b85a47b43d2","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4857/tex_ceiling_textures_9357/tex_floor_textures_8042/tex_table_textures_6985/tex_wall_textures_6178","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2335454819797977698,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2335454819797977698,"visual_seed":2335454819797977698,"scene_id":"lab_003","finished_at":"2026-09-08T20:58:37"}
+{"episode_id":"ep_000038","started_at":"2026-09-08T20:58:48","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.3084003175115735,-2.524544553345441,0.71338606911949],"aabb_xy":[[-0.3584003187954134,-2.574523407736063],[-0.25840031622773346,-2.4745656989548186]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.3415581027750172,0.7005702274048828,0.71338606911949],"aabb_xy":[[0.3236889950205617,0.6867373194276719],[0.3594272105294727,0.7144031353820938]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.5274453389946383,-1.0853900869529236,0.71338606911949],"aabb_xy":[[0.43744533531772,-1.1468224935300277],[0.6174453426715564,-1.023957680375819]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.026051575070663913,0.6956957815807328,0.71338606911949],"aabb_xy":[[-0.10605157832850687,0.6156992737887488],[0.05394842818717904,0.7756922893727167]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.45517614862701977,-1.6188761527798268,0.71338606911949],"aabb_xy":[[-0.5351761472143393,-1.6981917547179877],[-0.37517615003970034,-1.5395605508416659]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.08804533177322549,-1.2115574790249282,0.71338606911949],"aabb_xy":[[-0.13804533313411269,-1.2615353836003438],[-0.038045330412338256,-1.1615795744495125]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[0.4817398589469335,-0.38630887928014435,0.71338606911949],"aabb_xy":[[0.4571936433241828,-0.4165577758291814],[0.5062860745696842,-0.3560599827311073]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.4941651306330801,-0.7732493226824984,0.71338606911949],"aabb_xy":[[-0.5284620416508206,-0.8075462088924394],[-0.4598682196153394,-0.7389524364725568]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[-0.38356702118002295,-1.2724294708944672,0.71338606911949],"aabb_xy":[[-0.43356702213055576,-1.3039786178979882],[-0.33356702022949014,-1.2408803238909454]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.452334631048096,0.2473618244785416,0.71338606911949],"aabb_xy":[[0.41131668766172513,0.19736182384758424],[0.4933525744344669,0.29736182510949893]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.40961223824539944,0.09029697118971614,0.71338606911949],"aabb_xy":[[-0.4590926594593582,0.02629697327686431],[-0.3601318170314406,0.15429696910256796]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.6701327953285757,0.659084733223561,0.71338606911949],"aabb_xy":[[-0.6853049646102091,0.6439158762953577],[-0.6549606260469424,0.6742535901517644]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.2507613392063707,1.1045924662858781,0.71338606911949],"aabb_xy":[[-0.27293386618302157,1.082416799129755],[-0.22858881222971988,1.1267681334420012]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.05487905189161435,-1.5001222549343982,0.71338606911949],"aabb_xy":[[-0.009120947402553876,-1.5641083953032526],[0.11887905118578257,-1.4361361145655442]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.29420984021137503,0.9654328570607271,0.71338606911949],"aabb_xy":[[-0.3022461749126598,0.9573947377563103],[-0.28617350551009013,0.9734709763651439]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[-0.22292923252243257,0.8925424725573685,0.71338606911949],"aabb_xy":[[-0.24035994760143903,0.8752703578935177],[-0.205498517443426,0.9098145872212193]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.2238955992189573,-2.245688412376682,0.71338606911949],"aabb_xy":[[-0.27389560088045195,-2.2956868546323843],[-0.17389559755746248,-2.195689970120979]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.6766270546822908,1.2449156931612078,0.71338606911949],"aabb_xy":[[0.6305419634275592,1.1809156959086526],[0.7227121459370222,1.3089156904137629]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.2535584310684218,1.100331916998777,0.71338606911949],"aabb_xy":[[0.16387135476030634,1.0103319167443268],[0.34324550737653725,1.1903319172532278]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.23644863304624203,-1.2810255962338308,0.71338606911949],"aabb_xy":[[-0.2714486322390603,-1.2919926422314931],[-0.20144863385342376,-1.270058550236168]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.5165704108519362,-1.0920727385176325,0.71338606911949],"aabb_xy":[[-0.5219079865179409,-1.1170727394467723],[-0.5112328351859318,-1.0670727375884927]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.21692750084510787,-1.5440071848307557,0.71338606911949],"aabb_xy":[[-0.2969274995019939,-1.5585120437550186],[-0.13692750218822186,-1.5295023259064928]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.5512296847926144,0.4815258280244614,0.71338606911949],"aabb_xy":[[-0.5568113564267431,0.469025828206686],[-0.5456480131584854,0.494025827842237]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[-0.29462625762025063,1.5140001371226774,0.71338606911949],"aabb_xy":[[-0.3359308006839866,1.4500001375545604],[-0.25332171455651464,1.5780001366907945]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.38560262468113193,0.5701742198729862,0.71338606911949],"aabb_xy":[[0.368055929765013,0.5326742183087351],[0.40314931959725087,0.6076742214372376]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[0.5317480841043689,-1.9863102147428267,0.71338606911949],"aabb_xy":[[0.47677436206803603,-2.0413102143070603],[0.5867218061407018,-1.931310215178594]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.5446324324828389,1.4475187196163621,0.71338606911949],"aabb_xy":[[0.49463243212227276,1.397538732406759],[0.5946324328434048,1.4974987068259649]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.20298242236837416,-1.3786858385668894,0.71338606911949],"aabb_xy":[[0.16735326646841442,-1.4143185053237424],[0.2386115782683339,-1.3430531718100365]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[0.02023807927672472,1.6757770350297219,0.71338606911949],"aabb_xy":[[0.005903654150561266,1.6637168194751828],[0.03457250440288817,1.6878372505842605]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_29","position":[-0.0061148588572099705,1.4623147780315349,0.71338606911949],"aabb_xy":[[-0.023614792291193343,1.4448147781113],[0.011385074576773402,1.4798147779517692]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_30","position":[0.565148521702844,-0.5581990853137295,0.71338606911949],"aabb_xy":[[0.5438705135593719,-0.6231990876398027],[0.5864265298463164,-0.4931990829876566]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_31","position":[0.29045980641033264,1.7310297675218815,0.71338606911949],"aabb_xy":[[0.23045980581431652,1.6762172949766583],[0.3504598070063489,1.7858422400671052]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_32","position":[-0.5802409397146386,0.36804692734136246,0.71338606911949],"aabb_xy":[[-0.6353661453442293,0.30804692590007526],[-0.5251157340850477,0.42804692878264955]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6493643141419649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/878.png","name":"878"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/878.png","name":"878"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2126.png","name":"2126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2776.png","name":"2776"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2089.png","name":"2089"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2840.png","name":"2840"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":602.8283889887225,"rotation_z_degrees":19.792793524869218,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011441781612299664,0.0035635815444334425,-0.017996540268571077]},{"name":"camera_2","offset_m":[-0.012075336148634387,0.01884376191628551,-0.009498741385076724]},{"name":"camera_3","offset_m":[0.004721679476504089,0.0072517599807586305,-0.01971607641359534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00011085935846454628,-0.0018582247806612248,0.0018666391514221862],"end_effector_yaw_offset_degrees":0.9156587101359712},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015869035816209478,0.0012823874310861332,-0.0019599309163760626],"end_effector_yaw_offset_degrees":0.7519860077232823},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015022743104856234,-0.0015729315479913538,-0.0009741755333980741],"end_effector_yaw_offset_degrees":-0.7444175448044013},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010670592298616857,0.0003337234960512224,-0.0015736356239005453],"end_effector_yaw_offset_degrees":0.29629339071460903},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008590260910606097,-0.0006873775167062358,-0.0007386721659012427],"end_effector_yaw_offset_degrees":-0.32787056532171266},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0018340013966760852,0.0004103472767284116,-0.0019346143170741019],"end_effector_yaw_offset_degrees":0.6048403709408421},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006943574277988409,-0.00023601521195476755,-0.0006729852298501147],"end_effector_yaw_offset_degrees":-0.16777905557392359},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001559236720064974,-0.0007083509875031911,0.0011586742057688153],"end_effector_yaw_offset_degrees":0.7637435378475699},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000688808771364399,-0.00011304977437695866,-0.0003316134101015492],"end_effector_yaw_offset_degrees":-0.013242208507911135}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011208495502920968,0.0006519209546248681],"position_m":[0.1842791504497079,-0.1360480790453751,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023331214604423956,-0.0013120931410450397],"position_m":[0.1899331214604424,0.01858790685895496,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000635264176876876,-0.0028644838253533045],"position_m":[0.21006473582312313,-0.35646448382535334,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0024903930004894995,0.0025440983055222697],"position_m":[0.2960903930004895,0.31814409830552226,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d828ef35f4d75884ed476b48529ed9f53c0e37237c5817d798267739fc222c56","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_878/tex_ceiling_textures_2840/tex_floor_textures_2089/tex_table_textures_2126/tex_wall_textures_2776","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":3735557642613935685,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":3735557642613935685,"visual_seed":3735557642613935685,"scene_id":"lab_003","finished_at":"2026-09-08T21:09:49"}
+{"episode_id":"ep_000039","started_at":"2026-09-08T21:09:58","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.32129698810519747,-1.7846583005678207,0.71338606911949],"aabb_xy":[[0.23129698868682652,-1.8180337974120104],[0.4112969875235683,-1.751282803723631]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.11966818801790491,-1.3241949240632596,0.71338606911949],"aabb_xy":[[-0.13160092237973298,-1.3365770768711187],[-0.10773545365607683,-1.3118127712554]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.553264395763879,0.32552541123567735,0.71338606911949],"aabb_xy":[[0.4695421702637965,0.2355254077009814],[0.6369866212639614,0.4155254147703733]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.6247505071385329,1.4437402621353574,0.71338606911949],"aabb_xy":[[-0.6293856222907661,1.4398729270582085],[-0.6201153919862994,1.447607597212506]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.5512344141076126,-1.3110498521921243,0.71338606911949],"aabb_xy":[[0.533028590446365,-1.3220752527741158],[0.5694402377688603,-1.3000244516101325]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.2703548856104454,-1.9151644415834848,0.71338606911949],"aabb_xy":[[0.20635488369810312,-1.971075590841495],[0.3343548875227878,-1.859253292325474]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.5695260857059323,-0.494127727697351,0.71338606911949],"aabb_xy":[[-0.6070260858115252,-0.500949889550332],[-0.5320260856003393,-0.48730556584436985]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.18285696939279095,0.6498997655343657,0.71338606911949],"aabb_xy":[[0.1685225442666275,0.637839549979827],[0.1971913945189544,0.6619599810889046]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.5342992216752745,-0.9233142304379305,0.71338606911949],"aabb_xy":[[-0.5443809287538479,-1.0033142283300451],[-0.524217514596701,-0.8433142325458157]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[0.6033206783274099,1.6723307929596722,0.71338606911949],"aabb_xy":[[0.5908533202176742,1.659865468326349],[0.6157880364371455,1.684796117592996]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[0.34203699791758213,1.2827546213888663,0.71338606911949],"aabb_xy":[[0.3316254392370984,1.2774088880529677],[0.35244855659806584,1.2881003547247645]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.38974577888158807,-1.0473632343946775,0.71338606911949],"aabb_xy":[[-0.46974577915519505,-1.120312782220394],[-0.3097457786079811,-0.9744136865689607]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.1579108681283885,-0.8934180171066115,0.71338606911949],"aabb_xy":[[0.0679108684052143,-0.9164913696417912],[0.24791086785156266,-0.8703446645714316]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.5224356499610006,-2.3788606966634718,0.71338606911949],"aabb_xy":[[0.4849356497891286,-2.4115614320463785],[0.5599356501328725,-2.346159961280564]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.5556912342752954,0.008025957682476825,0.71338606911949],"aabb_xy":[[-0.6256912376668573,-0.027289816020954035],[-0.4856912308837334,0.04334173138590768]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.0910672443146886,0.3846920827188973,0.71338606911949],"aabb_xy":[[-0.0981075542482256,0.304692083319226],[-0.08402693438115161,0.4646920821185688]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.4940794073864234,-1.7160515811116068,0.71338606911949],"aabb_xy":[[-0.49803989115615777,-1.7237194456971277],[-0.4901189236166891,-1.7083837165260864]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.05604889899052823,1.5375726084169492,0.71338606911949],"aabb_xy":[[-0.06201543793126401,1.5316114637575846],[-0.05008236004979243,1.543533753076313]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.5601245715019485,-1.4448637063444494,0.71338606911949],"aabb_xy":[[0.5430224935435803,-1.4619705118757191],[0.5772266494603167,-1.4277569008131796]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.4398569075523326,1.768600758358676,0.71338606911949],"aabb_xy":[[-0.5038569096020646,1.7285062752693683],[-0.3758569055026006,1.8086952414479842]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.4080433354961964,-1.2579661112003104,0.71338606911949],"aabb_xy":[[-0.41779932500537026,-1.2677286452595449],[-0.3982873459870225,-1.248203577141076]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.1231929588812033,-1.079588489189534,0.71338606911949],"aabb_xy":[[0.06319295723828146,-1.1315886384814782],[0.18319296052412515,-1.0275883398975898]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.04682955835935887,-1.4474954790956183,0.71338606911949],"aabb_xy":[[-0.08537525118455991,-1.4860412501518068],[-0.008283865534157837,-1.4089497080394293]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6445647910808436,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7976.png","name":"7976"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7976.png","name":"7976"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/941.png","name":"941"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1282.png","name":"1282"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6359.png","name":"6359"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":708.7239676497677,"rotation_z_degrees":309.3579582767252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011066807424120282,-0.007224846529401238,0.005593501845011888]},{"name":"camera_2","offset_m":[0.018441565699513055,-0.014934046056206976,0.013149383633040131]},{"name":"camera_3","offset_m":[0.014679355240835436,0.0016227531852547952,0.003296035199727633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017704183348067888,-0.0016136459111560102,-0.00014521966547982102],"end_effector_yaw_offset_degrees":-0.8727894412264019},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007940643513627719,0.00045610124649335436,-0.0006270020444127335],"end_effector_yaw_offset_degrees":0.8461516752044902},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001504692834026437,0.0011437364109457113,0.0006116848343726074],"end_effector_yaw_offset_degrees":0.8827761933212617},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007673010083494962,0.00147511659279178,0.00016230631144866382],"end_effector_yaw_offset_degrees":-0.3340726547441344},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001799829477434047,0.001543895308408658,0.0017095466793550233],"end_effector_yaw_offset_degrees":-0.0914903983206874},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013964733269108917,-0.001491102562623742,0.000262700386962713],"end_effector_yaw_offset_degrees":0.7327598979967249},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019621700612357197,-0.0015571935722334613,0.0011475737001529966],"end_effector_yaw_offset_degrees":-0.24012410999128808},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000385795730117108,0.0016492908555136615,4.187014512517604e-06],"end_effector_yaw_offset_degrees":-0.35278032547031724},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-8.205357602220748e-05,0.0018428808023808435,-0.0012249822058980429],"end_effector_yaw_offset_degrees":-0.10706527860780368}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003145782138098765,0.004601424096834709],"position_m":[0.18225421786190124,-0.1320985759031653,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008309719640664159,0.004731331760156241],"position_m":[0.1884309719640664,0.024631331760156243,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000335745994756601,-0.0036635317027728766],"position_m":[0.2110357459947566,-0.3572635317027729,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0007384619124481554,-0.0015129949120649055],"position_m":[0.2928615380875519,0.3140870050879351,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"a96f975d2dc8d257e85bd6ce8303aa065346ceec3d4dbcfe84a612838fda4363","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7976/tex_ceiling_textures_6359/tex_floor_textures_1282/tex_table_textures_7807/tex_wall_textures_941","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2204110668021501751,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2204110668021501751,"visual_seed":2204110668021501751,"scene_id":"lab_003","finished_at":"2026-09-08T21:20:50"}
+{"episode_id":"ep_000040","started_at":"2026-09-08T21:20:58","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_0","position":[-0.17747203726966387,0.9862560845362895,0.71338606911949],"aabb_xy":[[-0.19753044888290416,0.9661909976271321],[-0.15741362565642358,1.006321171445447]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.5741351482155916,-2.291113132214697,0.71338606911949],"aabb_xy":[[-0.6116351488801702,-2.306800190214919],[-0.5366351475510128,-2.2754260742144745]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.5617044591545555,0.40723519118801743,0.71338606911949],"aabb_xy":[[-0.5726102352421182,0.3272351947891883],[-0.5507986830669928,0.4872351875868466]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[0.23774574012153837,-1.2079962899961294,0.71338606911949],"aabb_xy":[[0.14774574039836416,-1.2310696425313092],[0.3277457398447125,-1.1849229374609496]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.5572198597496931,-1.5707256638652898,0.71338606911949],"aabb_xy":[[-0.5649230504237701,-1.578435034564028],[-0.5495166690756161,-1.5630162931665517]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.5003106166019552,-0.6909109426261053,0.71338606911949],"aabb_xy":[[-0.5173207138920057,-0.7070454311243791],[-0.48330051931190443,-0.6747764541278313]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.2580888551052773,1.5779477915651685,0.71338606911949],"aabb_xy":[[-0.29308885341597274,1.5702327766416229],[-0.22308885679458185,1.5856628064887142]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.21700907817121529,-1.6977200518548687,0.71338606911949],"aabb_xy":[[0.15700907791981408,-1.7520013768913334],[0.27700907842261646,-1.643438726818404]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.32081075968216255,-1.368252207217935,0.71338606911949],"aabb_xy":[[0.2978950467971127,-1.3911565043543588],[0.3437264725672125,-1.3453479100815118]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.3064107057174714,0.8444699438836172,0.71338606911949],"aabb_xy":[[0.2861264029940726,0.8241873187409082],[0.3266950084408701,0.8647525690263259]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.2256905327306259,1.3839793168503371,0.71338606911949],"aabb_xy":[[0.21769654415292247,1.3759792367552466],[0.23368452130832926,1.3919793969454273]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.39602564828297004,0.6668197321103877,0.71338606911949],"aabb_xy":[[0.35852564793474223,0.655028336529304],[0.43352564863119775,0.6786111276914711]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[0.5940359665346242,-1.4726419930917085,0.71338606911949],"aabb_xy":[[0.5636378554354806,-1.5030488950933778],[0.6244340776337678,-1.4422350910900388]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.5537960007993639,-2.4781685036533028,0.71338606911949],"aabb_xy":[[-0.6177960030197709,-2.522541587778591],[-0.48979599857895684,-2.4337954195280145]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.38665291004183727,1.252917518690949,0.71338606911949],"aabb_xy":[[-0.43665291140272444,1.202939614115533],[-0.33665290868095,1.3028954232663643]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.2846532593246533,-0.8175943591886887,0.71338606911949],"aabb_xy":[[-0.28928837447688666,-0.8214616942658373],[-0.2800181441724198,-0.81372702411154]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[-0.3783549434407697,1.7293842914672273,0.71338606911949],"aabb_xy":[[-0.45835494371437674,1.6564347436415103],[-0.29835494316716277,1.8023338392929438]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[0.007959652308412446,-0.7916547794230575,0.71338606911949],"aabb_xy":[[-0.029540347863459493,-0.8243555148059647],[0.045459652480284385,-0.7589540440401503]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.307565975864201,-1.9058796619357938,0.71338606911949],"aabb_xy":[[-0.37156597225977406,-1.9698429503545274],[-0.2435659794686279,-1.8419163735170603]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.14765324598922747,1.5586208695531174,0.71338606911949],"aabb_xy":[[0.14275395368266394,1.5309439502505484],[0.15255253829579093,1.586297788855686]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.31152160662499284,-2.189251134535898,0.71338606911949],"aabb_xy":[[-0.3483721545619805,-2.226751135358932],[-0.2746710586880053,-2.1517511337128647]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[0.5871138418820798,-0.4520597486109006,0.71338606911949],"aabb_xy":[[0.5221138418477771,-0.4987604252912278],[0.6521138419163826,-0.40535907193057324]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.21731912061107272,-2.4575032908443237,0.71338606911949],"aabb_xy":[[-0.26730335631924995,-2.5075032896578193],[-0.16733488490289553,-2.407503292030828]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_23","position":[-0.07063510165939901,0.5000870297192823,0.71338606911949],"aabb_xy":[[-0.09848013844000614,0.46930253098097074],[-0.04279006487879189,0.5308715284575941]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6476851140598341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2710.png","name":"2710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2710.png","name":"2710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8492.png","name":"8492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5736.png","name":"5736"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9370.png","name":"9370"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3351.png","name":"3351"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":518.0261813144677,"rotation_z_degrees":74.11491180477073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032635454863672933,0.014264116402772819,-0.01767557746261891]},{"name":"camera_2","offset_m":[0.019505398507325713,-0.007251460580201865,-0.019535027999201624]},{"name":"camera_3","offset_m":[0.010542602988394299,-0.0070918855056005675,-0.007581993208379134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001165868176884739,0.0011252729914624404,-0.001710560847993087],"end_effector_yaw_offset_degrees":-0.4040503278249068},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005582787330213955,0.00015421458804947604,0.00032301217872631686],"end_effector_yaw_offset_degrees":-0.2561287034480251},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007605864297709109,-0.001105059482314413,0.0014431069990698217],"end_effector_yaw_offset_degrees":-0.8120297932302643},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.001884939783144334,-0.001618417860431198,0.00020648330468529298],"end_effector_yaw_offset_degrees":-0.13143900486511795},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0003445710517164242,-0.00012905854769708195,-0.0017867661904651985],"end_effector_yaw_offset_degrees":0.8749561270395774},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0016753685076199112,-8.291089621000752e-05,-0.0016800483875411977],"end_effector_yaw_offset_degrees":-0.3922617444282801},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010943848621809862,0.0010824514948611047,-0.0015010971669587605],"end_effector_yaw_offset_degrees":-0.6060563044222118},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0005376317747391743,0.0015655454486412698,0.000499994901651491],"end_effector_yaw_offset_degrees":-0.8991781258864155},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00038969778569547227,-0.0005109040190497515,-0.0018720721201695408],"end_effector_yaw_offset_degrees":-0.2975690310940382}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00025630057628759327,-0.0008324942155261772],"position_m":[0.1856563005762876,-0.13753249421552616,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029747415282582743,0.0012868220082120378],"position_m":[0.19057474152825826,0.02118682200821204,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001251491791527633,0.0035793638255062305],"position_m":[0.21195149179152764,-0.3500206361744938,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.000723885097806215,0.0022593204135144445],"position_m":[0.29432388509780627,0.31785932041351445,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"45068956fd7c63d73cbdeab4cccf4da7831af931a490aba920aca9f65f1a1868","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2710/tex_ceiling_textures_3351/tex_floor_textures_9370/tex_table_textures_8492/tex_wall_textures_5736","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":1960516028829083906,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":1960516028829083906,"visual_seed":1960516028829083906,"scene_id":"lab_003","finished_at":"2026-09-08T21:31:41"}
+{"episode_id":"ep_000041","started_at":"2026-09-08T21:31:50","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.6069919526735517,0.6160022088164907,0.71338606911949],"aabb_xy":[[0.594524594563816,0.6035368841831672],[0.6194593107832873,0.6284675334498142]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.5495589217164969,1.2188220866885948,0.71338606911949],"aabb_xy":[[0.5120589209245014,1.2124542457304046],[0.5870589225084923,1.225189927646785]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.22198499561494267,-1.604427298619353,0.71338606911949],"aabb_xy":[[0.19083807677135953,-1.67442729730616],[0.2531319144585258,-1.5344272999325457]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[0.007038649218418125,-2.1288983847731577,0.71338606911949],"aabb_xy":[[-0.06296135238386136,-2.1423311779748153],[0.07703865082069761,-2.1154655915715]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.5303147993571445,-2.3851748102578685,0.71338606911949],"aabb_xy":[[-0.5358964709912731,-2.397674810075644],[-0.5247331277230157,-2.3726748104400928]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.3464680533068605,0.7026017585826545,0.71338606911949],"aabb_xy":[[-0.40646805315342727,0.6457831363896157],[-0.2864680534602937,0.7594203807756931]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.41103707292307834,-1.585355158543618,0.71338606911949],"aabb_xy":[[0.32603707423100375,-1.6173410219384967],[0.49603707161515304,-1.553369295148739]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.4805044884681405,-0.32804617008822,0.71338606911949],"aabb_xy":[[-0.5040896119320353,-0.39304617233365186],[-0.4569193650042457,-0.2630461678427883]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[-0.10202830915764538,1.557890740189484,0.71338606911949],"aabb_xy":[[-0.13702830746834083,1.550175725265938],[-0.06702831084694992,1.5656057551130294]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.5308443798849071,-1.7910517642660084,0.71338606911949],"aabb_xy":[[-0.6008443825214933,-1.8111566292618735],[-0.4608443772483206,-1.7709468992701425]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.526940981249776,-1.526165659473782,0.71338606911949],"aabb_xy":[[-0.5519409808015144,-1.5363081433389167],[-0.5019409816980375,-1.5160231756086473]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[0.2552792211068796,0.9625903114631349,0.71338606911949],"aabb_xy":[[0.20546244164204486,0.9125903129788316],[0.3050960005717144,1.0125903099474383]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.43980898672391566,-0.6825631223263828,0.71338606911949],"aabb_xy":[[0.37980898612789954,-0.7373755948716063],[0.4998089873199319,-0.6277506497811594]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.14699595528389198,-2.4701810096046257,0.71338606911949],"aabb_xy":[[-0.15886803829539306,-2.5551810092982756],[-0.13512387227239084,-2.385181009910975]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[0.48206390668994525,-1.4441187731852065,0.71338606911949],"aabb_xy":[[0.43206889573049334,-1.4941187722207983],[0.5320589176493974,-1.3941187741496148]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.17724262671658864,1.121564125044717,0.71338606911949],"aabb_xy":[[-0.23724262722444156,1.0647173913587957],[-0.11724262620873573,1.1784108587306383]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.29809579676440806,1.3066910888628862,0.71338606911949],"aabb_xy":[[-0.315642491680527,1.2691910872986347],[-0.28054910184828913,1.3441910904271372]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[-0.6508386925087631,0.586061786259926,0.71338606911949],"aabb_xy":[[-0.6609917080629124,0.5499922446871855],[-0.6406856769546136,0.6221313278326662]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.5841409516577358,1.687119923832436,0.71338606911949],"aabb_xy":[[0.4991409532403126,1.6022456283701512],[0.6691409500751591,1.7719942192947211]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.4685527962330365,0.4949783189441401,0.71338606911949],"aabb_xy":[[-0.48766510359101534,0.47584354006689805],[-0.4494404888750576,0.5141130978213821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6467673615336813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1069.png","name":"1069"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3130.png","name":"3130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6797.png","name":"6797"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8727.png","name":"8727"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":678.2945113061878,"rotation_z_degrees":20.880975976890284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011363912164980238,-0.004624328651552991,-0.004851920369978653]},{"name":"camera_2","offset_m":[-0.01820394415175598,-0.017633219577345104,-0.0031648080452318476]},{"name":"camera_3","offset_m":[-0.017360672739945678,0.005338499675299313,-0.019287938826102972]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001179984383937432,0.0017952763913544906,-8.839012976613343e-06],"end_effector_yaw_offset_degrees":-0.34022862169551304},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001448979919295144,0.0007336045031635686,0.0016171084744377642],"end_effector_yaw_offset_degrees":-0.554407463931698},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008961800766325884,0.001086104920493991,0.0015884722563160574],"end_effector_yaw_offset_degrees":0.8428426736485637},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0003577890133767878,0.0016099253238034236,-0.0015045138437684807],"end_effector_yaw_offset_degrees":0.5361157983748013},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012637505458000927,-0.00014520534566933693,-5.7832135645680734e-05],"end_effector_yaw_offset_degrees":0.8867351315678675},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00044655022512225546,0.0008486848975008819,0.0015462674201910816],"end_effector_yaw_offset_degrees":-0.19166984302946433},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012971181772761355,-0.001686776532765151,0.0008679290405416195],"end_effector_yaw_offset_degrees":0.03256772089952342},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[8.198889860829136e-05,0.0014437787355294908,-0.0009064497351311802],"end_effector_yaw_offset_degrees":0.1089068985804722},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014795031938807605,-0.00010454765606135344,0.0005222550638319741],"end_effector_yaw_offset_degrees":0.3292556351301008}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019295493992244682,6.521216616463179e-05],"position_m":[0.18347045060077555,-0.13663478783383537,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00388208350373269,0.0012420481967328886],"position_m":[0.1914820835037327,0.02114204819673289,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002552495460222247,-0.0015029213080139238],"position_m":[0.20814750453977776,-0.35510292130801396,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[2.2999584483091376e-05,0.0016335451849185433],"position_m":[0.2936229995844831,0.31723354518491853,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d959b1acae5e39abc4fa5dc50b9ce3393838918c4f8963d6890c50a2e761ab2f","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5230/tex_ceiling_textures_8727/tex_floor_textures_6797/tex_table_textures_1069/tex_wall_textures_3130","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":142160069695279753,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":142160069695279753,"visual_seed":142160069695279753,"scene_id":"lab_003","finished_at":"2026-09-08T21:42:54"}
+{"episode_id":"ep_000042","started_at":"2026-09-08T21:43:03","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[-0.10422484129813381,-1.4434236479468352,0.71338606911949],"aabb_xy":[[-0.14172484164636157,-1.4552150435279185],[-0.06672484094990604,-1.4316322523657514]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.3809864029384747,0.6756111379976897,0.71338606911949],"aabb_xy":[[-0.4449864000505804,0.6265787682032791],[-0.316986405826369,0.7246435077921003]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[-0.6429382888213647,-0.628003350121529,0.71338606911949],"aabb_xy":[[-0.6632225915447633,-0.6482859752642376],[-0.6226539860979657,-0.6077207249788199]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[0.3685420803739381,0.296034361277588,0.71338606911949],"aabb_xy":[[0.36483881904479915,0.29233234296887006],[0.37224534170307694,0.2997363795863058]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[0.37590002557310465,-2.1874480459861396,0.71338606911949],"aabb_xy":[[0.3682757574829264,-2.195081269522684],[0.38352429366328294,-2.1798148224495963]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.5769466435849262,-1.7186540143525666,0.71338606911949],"aabb_xy":[[-0.626946643161261,-1.7686345933046728],[-0.5269466440085916,-1.6686734354004609]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.2380379050773142,1.1095844505154733,0.71338606911949],"aabb_xy":[[-0.2808046119567344,1.0455844470936708],[-0.195271198197894,1.1735844539372757]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.40237922152313643,1.0935266767122651,0.71338606911949],"aabb_xy":[[-0.4179349909334018,1.0779762434678581],[-0.3868234521128713,1.1090771099566725]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.41824951769503116,0.9513249448232783,0.71338606911949],"aabb_xy":[[-0.48224951960737356,0.8954137955652678],[-0.3542495157826889,1.0072360940812888]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.26223377623028477,-0.16593326864509406,0.71338606911949],"aabb_xy":[[-0.28473377674232536,-0.18842512701049238],[-0.23973377571824417,-0.14344141027969567]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.17462754323143348,-2.19106408262276,0.71338606911949],"aabb_xy":[[0.16499590701100386,-2.200701395402469],[0.1842591794518631,-2.181426769843051]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.5167265775034837,-1.4918679491190938,0.71338606911949],"aabb_xy":[[-0.5336373099398255,-1.505340154711708],[-0.499815845067142,-1.4783957435264792]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[-0.6472716621892205,0.9323356814834325,0.71338606911949],"aabb_xy":[[-0.6553150221151757,0.847335680388066],[-0.6392283022632653,1.017335682578799]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.058426761348603584,-1.4157636395132842,0.71338606911949],"aabb_xy":[[0.02092676055660813,-1.4221314804714744],[0.09592676214059903,-1.409395798555094]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.15888954903292518,-2.192520079358124,0.71338606911949],"aabb_xy":[[-0.19568418215783145,-2.2294259544547064],[-0.12209491590801891,-2.155614204261542]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[0.1909381985275559,0.9946680382991842,0.71338606911949],"aabb_xy":[[0.1309381979315397,0.9398555657539607],[0.25093819912357207,1.0494805108444076]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.43633472179117905,-1.9559624519057865,0.71338606911949],"aabb_xy":[[0.37233472011318175,-2.0044798433851008],[0.5003347234691764,-1.9074450604264723]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.4426559146835103,1.6604712269683666,0.71338606911949],"aabb_xy":[[0.3726559112919483,1.625155453264936],[0.5126559180750723,1.6957870006717977]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[0.5325225995403369,0.9509918339275356,0.71338606911949],"aabb_xy":[[0.5248194088662599,0.9432824632287974],[0.5402257902144139,0.9587012046262734]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.4772076244087221,-0.26762956956636286,0.71338606911949],"aabb_xy":[[-0.49430970236709026,-0.2847363750976326],[-0.46010554645035395,-0.2505227640350931]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.636569944062756,0.16655304209034716,0.71338606911949],"aabb_xy":[[-0.6751156368879571,0.1280072710341585],[-0.598024251237555,0.20509881314653583]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[-0.0951541402209567,-1.0270734167406046,0.71338606911949],"aabb_xy":[[-0.17515413880827613,-1.1063890186787653],[-0.015154141633637276,-0.9477578148024436]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.3087877327816041,-2.02465403209892,0.71338606911949],"aabb_xy":[[-0.36641820166887484,-2.08465403102563],[-0.2511572638943331,-1.9646540331722089]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.12633892825236726,0.6781164751328674,0.71338606911949],"aabb_xy":[[-0.1513389278041057,0.6679739912677326],[-0.10133892870062874,0.688258958998002]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.39406088485450197,0.6547052364467185,0.71338606911949],"aabb_xy":[[0.33406088399368905,0.603278806440232],[0.45406088571531467,0.7061316664532048]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[0.4025497866446699,0.5212897505045766,0.71338606911949],"aabb_xy":[[0.33854978935902125,0.47978303155173263],[0.46654978393031854,0.5627964694574206]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_26","position":[-0.5281307834871131,0.33627401246505073,0.71338606911949],"aabb_xy":[[-0.5921307798826861,0.27231072404631723],[-0.46413078709154,0.40023730088378434]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_27","position":[0.7135071132246447,-0.42936036487390616,0.71338606911949],"aabb_xy":[[0.7041601056423493,-0.44366398709155025],[0.7228541208069398,-0.4150567426562622]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_28","position":[0.7050544482120029,0.5104680531173966,0.71338606911949],"aabb_xy":[[0.6918235026773215,0.4972406340953971],[0.7182853937466841,0.5236954721393959]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_29","position":[0.09397809865252238,-1.799374130263974,0.71338606911949],"aabb_xy":[[0.07696800136247174,-1.815508618762248],[0.11098819594257305,-1.7832396417657002]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_30","position":[-0.12101831520868944,-1.6155205836037934,0.71338606911949],"aabb_xy":[[-0.17101831556925545,-1.6655005708133963],[-0.07101831484812335,-1.5655405963941904]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_31","position":[0.2647795373352647,-2.4150212176672294,0.71338606911949],"aabb_xy":[[0.24149769513713334,-2.500021218964457],[0.288061379533396,-2.330021216370001]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_32","position":[0.150517816633031,-1.3815508298653032,0.71338606911949],"aabb_xy":[[0.1417365894857948,-1.3903305771538335],[0.15929904378026724,-1.3727710825767734]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_33","position":[-0.3944032334782295,-0.3923603255551562,0.71338606911949],"aabb_xy":[[-0.43939582019667983,-0.4373603248296049],[-0.349410646759779,-0.3473603262807074]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_34","position":[0.26822618660206254,-1.4364325408170022,0.71338606911949],"aabb_xy":[[0.2573745803531869,-1.4472918315446535],[0.2790777928509381,-1.4255732500893514]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6501387887603205,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6114.png","name":"6114"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6114.png","name":"6114"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8344.png","name":"8344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9358.png","name":"9358"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1487.png","name":"1487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1073.png","name":"1073"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":743.1411878193076,"rotation_z_degrees":286.7822113286189,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009155486569914167,-0.014460312793311414,0.005268745298662867]},{"name":"camera_2","offset_m":[0.0020750223903116052,0.003387144587222831,0.0018636723266655143]},{"name":"camera_3","offset_m":[0.0014825180459686269,-0.019632853738141633,-0.019390714702466998]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013702873350534116,1.2272436778537621e-05,0.0019415303490967284],"end_effector_yaw_offset_degrees":0.4810832067422064},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004797451958419895,-0.0006600908583104346,0.0012452044800353268],"end_effector_yaw_offset_degrees":0.7719991691648729},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013993483396761816,-0.0006665207391106788,0.0009768651954301503],"end_effector_yaw_offset_degrees":-0.2614580040619596},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0003131905380237515,0.0007377938082054731,0.0015400558514782141],"end_effector_yaw_offset_degrees":-0.9880688751125382},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0003637155449214562,-0.0004438685416904057,-0.0018221541190465654],"end_effector_yaw_offset_degrees":0.1373337996104691},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013895582146251368,0.0003348823842408218,-0.0015642557683274232],"end_effector_yaw_offset_degrees":-0.15687233840392678},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008488923374164645,0.0010842854784685655,0.0014943912761881577],"end_effector_yaw_offset_degrees":0.7201732045442608},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00018056774070153566,-0.001564644582573426,1.3578748738109474e-05],"end_effector_yaw_offset_degrees":-0.998835493443538},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010101183736537264,0.0003832814474488749,0.0009451199528519817],"end_effector_yaw_offset_degrees":-0.7754314098980561}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004014094707904735,-0.0017533259331046981],"position_m":[0.18138590529209528,-0.1384533259331047,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003160522359489546,0.0031109441826753246],"position_m":[0.18443947764051044,0.023010944182675325,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002792122849761852,-0.004500262786535794],"position_m":[0.20790787715023815,-0.35810026278653584,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002803668370217856,0.003566597490703374],"position_m":[0.29640366837021787,0.31916659749070336,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"9088fe4c474b6bb5317458c93b2152ee5f63ccc1a7993c7a159c9316ac460810","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6114/tex_ceiling_textures_1073/tex_floor_textures_1487/tex_table_textures_8344/tex_wall_textures_9358","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":5489944874302054029,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":5489944874302054029,"visual_seed":5489944874302054029,"scene_id":"lab_003","finished_at":"2026-09-08T21:53:52"}
+{"episode_id":"ep_000043","started_at":"2026-09-08T21:54:00","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.6338731486332996,-0.014409097052866748,0.71338606911949],"aabb_xy":[[0.5438731492149287,-0.04778459389705647],[0.7238731480516705,0.018966399791322974]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.3299334483780825,0.2890062672900302,0.71338606911949],"aabb_xy":[[-0.3549334475437156,0.28205402158467363],[-0.30493344921244936,0.2959585129953868]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.523679933025849,-2.106435525734053,0.71338606911949],"aabb_xy":[[0.519544076693149,-2.14393552517841],[0.5278157893585493,-2.068935526289696]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.48842845170312255,-0.43637632533186554,0.71338606911949],"aabb_xy":[[-0.49613164237719953,-0.44408569603060355],[-0.48072526102904545,-0.42866695463312754]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[0.5310002592125045,-1.4150766806079018,0.71338606911949],"aabb_xy":[[0.5209185521339309,-1.495076678500016],[0.5410819662910779,-1.3350766827157867]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.6288465957774183,1.2335463567700158,0.71338606911949],"aabb_xy":[[0.6200653686301821,1.224766609481486],[0.6376278229246547,1.2423261040585465]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.38310172435977075,0.02509058077000148,0.71338606911949],"aabb_xy":[[-0.4381017225615155,-0.015431385856436107],[-0.32810172615802585,0.06561254739643906]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.3938377353215934,1.0972364960081027,0.71338606911949],"aabb_xy":[[-0.47383773390891276,1.0179208940699416],[-0.3138377367342739,1.1765520979462634]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.283514324338616,0.5810636223330596,0.71338606911949],"aabb_xy":[[0.24601432354662056,0.5746957813748695],[0.32101432513061146,0.5874314632912497]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.05820336494313205,-2.170769121157988,0.71338606911949],"aabb_xy":[[0.05020987514785003,-2.178767253098464],[0.06619685473841408,-2.162770989217513]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.5276810799307066,0.8468193627884397,0.71338606911949],"aabb_xy":[[0.43768108319509635,0.7936358994711452],[0.6176810766663168,0.9000028261057342]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.07395759656865997,-1.7760568101423344,0.71338606911949],"aabb_xy":[[-0.09216342022990764,-1.7870822107243263],[-0.05575177290741229,-1.765031409560343]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.20323023437341597,-1.230459271956044,0.71338606911949],"aabb_xy":[[-0.2192921618319336,-1.3154592737686357],[-0.1871683069148983,-1.145459270143452]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.16878710241308237,-2.122652982532726,0.71338606911949],"aabb_xy":[[-0.2187871037739696,-2.172630887108141],[-0.11878710105219516,-2.0726750779573098]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.15950376095132646,-2.413146353312817,0.71338606911949],"aabb_xy":[[0.14866328272481155,-2.4303326346034657],[0.17034423917784136,-2.3959600720221683]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.12704203449004037,0.7539270575399684,0.71338606911949],"aabb_xy":[[-0.19104203476401863,0.7038609573426804],[-0.06304203421606216,0.8039931577372563]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_16","position":[-0.13100226430854922,1.545622448809294,0.71338606911949],"aabb_xy":[[-0.16546461170669097,1.5111285664114709],[-0.09653991691040738,1.5801163312071163]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.5002844400040909,-2.048244921138844,0.71338606911949],"aabb_xy":[[-0.508398094677468,-2.056350737592873],[-0.4921707853307138,-2.0401391046848145]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.4755013956018439,-1.0334309563010047,0.71338606911949],"aabb_xy":[[0.4384672861737841,-1.067808163634714],[0.5125355050299036,-0.9990537489672953]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.46112706214952914,1.729304672584639,0.71338606911949],"aabb_xy":[[0.4011270612887163,1.6778782425781522],[0.5211270630103418,1.780731102591125]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.23900560267520804,1.6815878546092464,0.71338606911949],"aabb_xy":[[-0.31900560133209405,1.6670829956849837],[-0.15900560401832203,1.6960927135335095]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[-0.19500590425053876,-1.729457652349104,0.71338606911949],"aabb_xy":[[-0.23250590419430517,-1.7377507423839404],[-0.15750590430677236,-1.7211645623142673]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[-0.4715466308752384,-1.089550691614506,0.71338606911949],"aabb_xy":[[-0.4965466308077563,-1.0964333598354292],[-0.4465466309427205,-1.0826680233935826]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[0.6330054489988846,1.6368699313381199,0.71338606911949],"aabb_xy":[[0.6155054497207977,1.619531831271774],[0.6505054482769714,1.6542080314044658]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[0.03979187438945697,1.4547463233934077,0.71338606911949],"aabb_xy":[[0.017883192250105928,1.4328456565733168],[0.061700556528808015,1.4766469902134982]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.40967264327255454,-2.25958280191215,0.71338606911949],"aabb_xy":[[-0.4596726419184758,-2.3095023455716124],[-0.3596726446266334,-2.2096632582526876]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[0.5186326579241893,-0.5792677164161204,0.71338606911949],"aabb_xy":[[0.4536326597682703,-0.6055639609660326],[0.5836326560801084,-0.5529714718662082]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[-0.4920942901213198,-0.2434958333848165,0.71338606911949],"aabb_xy":[[-0.5720942870843589,-0.32057147502858996],[-0.4120942931582806,-0.16642019174104303]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[0.13977042749145474,-1.8540995312939872,0.71338606911949],"aabb_xy":[[0.07577042819728652,-1.9180856716628412],[0.20377042678562296,-1.7901133909251328]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[-0.6500477204979285,1.6138077869456153,0.71338606911949],"aabb_xy":[[-0.6593947280802238,1.5995041647279715],[-0.6407007129156334,1.6281114091632596]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6472215219755619,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2373.png","name":"2373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2373.png","name":"2373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5145.png","name":"5145"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7093.png","name":"7093"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3878.png","name":"3878"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2597.png","name":"2597"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":555.9201475347155,"rotation_z_degrees":54.613317700603176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018845214878144386,-0.013814793851332193,0.005443782975243262]},{"name":"camera_2","offset_m":[0.002460313564910669,0.015747909566308744,-0.015743753324346535]},{"name":"camera_3","offset_m":[0.006628565037219539,0.01222209304976168,-0.012704876139727098]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006221287511358833,-0.0001562505539379204,-0.001006143655164255],"end_effector_yaw_offset_degrees":0.8053303323950414},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001247107489413808,0.0004024833659000866,0.0017573284573338694],"end_effector_yaw_offset_degrees":0.05808776354438239},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004958966457358222,0.00034688515013406133,-0.0017621287731475702],"end_effector_yaw_offset_degrees":-0.6588052291745115},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00028011076065041426,0.0009805211886482574,-0.001777957823936737],"end_effector_yaw_offset_degrees":-0.19115448238230792},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005897775845237767,-0.001048564445655682,-0.0016659124544528745],"end_effector_yaw_offset_degrees":0.4843222285072555},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0015784727310465588,-0.0003032937712385002,0.00019618331493259688],"end_effector_yaw_offset_degrees":0.6495474527355922},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00040422600123188627,0.0008836740355619641,-0.0015176670685532647],"end_effector_yaw_offset_degrees":0.18449178313019532},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011149716860047202,-0.0008234609566810166,0.0012788121304085228],"end_effector_yaw_offset_degrees":0.14265875709714804},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016814826311999688,-0.0014552388647287363,-0.001311016397627081],"end_effector_yaw_offset_degrees":0.15248917660968253}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013545735594929086,0.0018267110615718249],"position_m":[0.1840454264405071,-0.13487328893842818,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034863363742137074,0.004131545773980431],"position_m":[0.19108633637421368,0.024031545773980433,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016016081079253518,0.0020628766019160204],"position_m":[0.21230160810792534,-0.351537123398084,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006676502530857829,0.003778859722372261],"position_m":[0.29293234974691423,0.31937885972237223,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"8957bac7fcb1a346261614b38bc7bcda60d55a457b5260774316b873021afc9d","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2373/tex_ceiling_textures_2597/tex_floor_textures_3878/tex_table_textures_5145/tex_wall_textures_7093","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":7734094215248391749,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":7734094215248391749,"visual_seed":7734094215248391749,"scene_id":"lab_003","finished_at":"2026-09-08T22:05:06"}
+{"episode_id":"ep_000044","started_at":"2026-09-08T22:05:16","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.24685736846500844,-2.397748541219242,0.71338606911949],"aabb_xy":[[-0.25448163655518674,-2.4053817647557856],[-0.23923310037483025,-2.390115317682698]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.5757541398621364,1.403565510433486,0.71338606911949],"aabb_xy":[[0.5257808458588759,1.3535655098789383],[0.6257274338653968,1.453565510988033]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[0.44072051221465647,-1.7315818698116454,0.71338606911949],"aabb_xy":[[0.39072567928671487,-1.7815818687068887],[0.49071534514259807,-1.6815818709164017]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.24145453356036312,-1.1880997781560305,0.71338606911949],"aabb_xy":[[-0.3064545345174903,-1.240047990089736],[-0.1764545326032359,-1.136151566222325]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[0.18627588784259663,1.2923064305751146,0.71338606911949],"aabb_xy":[[0.10627588457858347,1.278746398266201],[0.26627589110660976,1.3058664628840277]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.10734106914856145,-1.7980535960969486,0.71338606911949],"aabb_xy":[[0.10390039290850431,-1.8019150290713133],[0.11078174538861865,-1.7941921631225843]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.23470036165915714,0.8991830812862927,0.71338606911949],"aabb_xy":[[-0.23881631177122978,0.895067526253447],[-0.23058441154708445,0.9032986363191381]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.20489840105348767,-0.6951431143652769,0.71338606911949],"aabb_xy":[[0.18973552807655064,-0.7103085716603957],[0.2200612740304248,-0.6799776570701582]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.4528163037376971,1.262147142360086,0.71338606911949],"aabb_xy":[[0.4465042042013587,1.2563802031068672],[0.4591284032740356,1.267914081613305]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.45006179641882493,-0.5342406968343401,0.71338606911949],"aabb_xy":[[0.40008437955357135,-0.5842406983235885],[0.5000392132840785,-0.48424069534509145]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.4886168631785388,-1.20607949934991,0.71338606911949],"aabb_xy":[[-0.5502076224025316,-1.2700794974589569],[-0.427026103954546,-1.142079501240863]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.5110533341584863,-0.8302615005379761,0.71338606911949],"aabb_xy":[[-0.5410449968923566,-0.8602614998747766],[-0.481061671424616,-0.8002615012011756]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[-0.5296040344492056,-2.310698668176446,0.71338606911949],"aabb_xy":[[-0.5546040337211677,-2.3270440317726084],[-0.5046040351772432,-2.2943533045802837]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.2866903089964385,-1.607056874448675,0.71338606911949],"aabb_xy":[[-0.3366691175067543,-1.657056874454394],[-0.23671150048612255,-1.5570568744429565]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.46384777608501593,0.701913117341137,0.71338606911949],"aabb_xy":[[0.39984777570748226,0.6521678504903248],[0.5278477764625495,0.7516583841919493]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.12439767960931392,1.5978373419984986,0.71338606911949],"aabb_xy":[[-0.1893976807152572,1.5728719689303703],[-0.059397678503370646,1.6228027150666269]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.29729332012518883,-1.8200096292451935,0.71338606911949],"aabb_xy":[[-0.31735173173842907,-1.8400747161543511],[-0.2772349085119485,-1.7999445423360363]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.4827398346221632,0.29506553075257935,0.71338606911949],"aabb_xy":[[0.4581936189994124,0.2648166342035423],[0.5072860502449138,0.3253144273016164]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[-0.18017715980620885,0.18615981661645264,0.71338606911949],"aabb_xy":[[-0.1952794612672269,0.1710582949853908],[-0.1650748583451907,0.20126133824751444]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.1852114864800236,0.8032203489627392,0.71338606911949],"aabb_xy":[[0.1052114878231376,0.7887154900384764],[0.2652114851369096,0.817725207887002]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[-0.35599897126277796,0.8173536274396067,0.71338606911949],"aabb_xy":[[-0.3734989715221146,0.8032620852508343],[-0.33849897100344134,0.8314451696283796]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.335138372432811,-1.0265698186264416,0.71338606911949],"aabb_xy":[[-0.3431747071340958,-1.0346079379308584],[-0.32710203773152613,-1.0185316993220248]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[0.553873994211493,-2.2508716132936737,0.71338606911949],"aabb_xy":[[0.4638739905345747,-2.312304019870777],[0.643873997888411,-2.1894392067165684]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.4252875067181314,-2.0004940623433933,0.71338606911949],"aabb_xy":[[-0.4892875031454534,-2.0476636861654898],[-0.3612875102908096,-1.953324438521297]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.41517588294599506,1.6225549837630244,0.71338606911949],"aabb_xy":[[0.3801758830499761,1.6141807482510844],[0.4501758828420139,1.6309292192749645]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[0.604550261971921,-1.8278339436626412,0.71338606911949],"aabb_xy":[[0.5670502616236931,-1.8396253392437245],[0.6420502623201486,-1.8160425480815574]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[-0.48883275144812,-0.5122132650386835,0.71338606911949],"aabb_xy":[[-0.5064655870416475,-0.5298362110543063],[-0.4711999158545924,-0.49459031902306044]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[0.14303920778281798,0.5709074232871396,0.71338606911949],"aabb_xy":[[0.13504571798753595,0.5629092913466641],[0.1510326975781,0.5789055552276153]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[0.5892501577479183,0.517991029148825,0.71338606911949],"aabb_xy":[[0.4992501554138993,0.44050867456371234],[0.6792501600819374,0.5954733837339377]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.4469152727495145,-1.386100463232107,0.71338606911949],"aabb_xy":[[-0.46941527227322183,-1.4085964106827276],[-0.424415273225807,-1.363604515781486]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_30","position":[-0.148159884352554,0.6415157150093855,0.71338606911949],"aabb_xy":[[-0.19797666381738876,0.5915157165250822],[-0.09834310488771925,0.6915157134936889]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_31","position":[0.5388114913657864,-2.411848357973417,0.71338606911949],"aabb_xy":[[0.44881149194741543,-2.445223854817607],[0.6288114907841572,-2.3784728611292274]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_32","position":[0.42866650674433604,1.0472608949980744,0.71338606911949],"aabb_xy":[[0.3952263315483164,1.0138172691671439],[0.4621066819403556,1.080704520829004]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_33","position":[0.11463961224477714,-2.2809664003780115,0.71338606911949],"aabb_xy":[[0.09435530952137838,-2.301249025520719],[0.1349239149681759,-2.260683775235302]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_34","position":[-0.07809892847113054,-2.4915581889108736,0.71338606911949],"aabb_xy":[[-0.12337754335227978,-2.5555581882590572],[-0.03282031358998126,-2.42755818956269]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6505907534577922,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8119.png","name":"8119"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8119.png","name":"8119"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2665.png","name":"2665"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7951.png","name":"7951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2990.png","name":"2990"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":775.1208764937921,"rotation_z_degrees":131.49363849505073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01415645870662723,-0.018407494837831377,0.004348590840979966]},{"name":"camera_2","offset_m":[-0.018939699455572563,-0.0166044769821946,0.010850169128244276]},{"name":"camera_3","offset_m":[-0.014665112560323209,0.012737272313461088,-0.01845961650978437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006103906053197235,0.0015638333859114045,-0.0002674008709566099],"end_effector_yaw_offset_degrees":-0.4835441356144956},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003562954478819728,-0.0010540683567358351,0.0011775639269097043],"end_effector_yaw_offset_degrees":0.3358639984622067},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.52267685782732e-05,0.00044578913990126704,0.00010568915169955565],"end_effector_yaw_offset_degrees":0.135492485810371},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013675575361570599,-0.0005597659716281851,-0.0008895156148109203],"end_effector_yaw_offset_degrees":0.5786381735337849},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00014958574907557678,0.0006906989459008702,-0.0014487187759099967],"end_effector_yaw_offset_degrees":0.3712589361307297},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012543371836387296,-0.0018716150509535895,0.001434130671987788],"end_effector_yaw_offset_degrees":-0.6342221642443722},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010171116262946906,0.0009472136107236788,-0.0005801017950571019],"end_effector_yaw_offset_degrees":0.3053125768729903},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001311664033692786,-0.00017376385949001384,0.001075888246557806],"end_effector_yaw_offset_degrees":0.8206006956667602},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000656218779971296,-0.0004983135629726511,0.0014385063701623218],"end_effector_yaw_offset_degrees":-0.9459814664657424}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021932974596705237,0.003508331977072944],"position_m":[0.18320670254032947,-0.13319166802292703,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027366464762469565,0.0045775004949924316],"position_m":[0.19033664647624696,0.02447750049499243,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046469568195655645,-0.00086589283225746],"position_m":[0.21534695681956556,-0.3544658928322575,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00453330812282618,0.0014060890509409807],"position_m":[0.29813330812282623,0.31700608905094096,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"92b3b54973448fe4b5a11a82366d75c36bdfb45e13027f76a09f1c69f6f6d0cd","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8119/tex_ceiling_textures_2990/tex_floor_textures_7951/tex_table_textures_2665/tex_wall_textures_649","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":2988925057159924774,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":2988925057159924774,"visual_seed":2988925057159924774,"scene_id":"lab_003","finished_at":"2026-09-08T22:16:12"}
+{"episode_id":"ep_000045","started_at":"2026-09-08T22:16:22","dimensions":{"distractor":{"count":28,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.35239012473950315,0.9523728277377521,0.71338606911949],"aabb_xy":[[0.339518221238563,0.8723728273239161],[0.3652620282404433,1.0323728281515883]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[0.562680862083474,-1.8216870276758674,0.71338606911949],"aabb_xy":[[0.5327133051736485,-1.8516870279737534],[0.5926484189932998,-1.791687027377982]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.12209213878715774,0.21255193598089184,0.71338606911949],"aabb_xy":[[-0.18609213589926343,0.16351956618648122],[-0.05809214167505207,0.26158430577530245]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.6078019896101903,-0.5267274259280335,0.71338606911949],"aabb_xy":[[0.5815131652897495,-0.5529988595826846],[0.6340908139306308,-0.5004559922733821]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.3986155250950483,-0.5715960045168615,0.71338606911949],"aabb_xy":[[0.3810372229061014,-0.5891704940909664],[0.4161938272839951,-0.5540215149427566]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[0.03759147053100553,0.8777468885573345,0.71338606911949],"aabb_xy":[[0.015126700559600408,0.8552468876784739],[0.060056240502410645,0.9002468894361949]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.20571912075968235,-0.05217182906187112,0.71338606911949],"aabb_xy":[[-0.21276057171042995,-0.059198580799665654],[-0.19867766980893475,-0.04514507732407656]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.6058534769036615,-1.6766653325404453,0.71338606911949],"aabb_xy":[[-0.6519385681583931,-1.7406653297930004],[-0.5597683856489302,-1.6126653352878901]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.646219999495967,-0.7082999250909026,0.71338606911949],"aabb_xy":[[0.6303355062306417,-0.7226528653897265],[0.662104492761292,-0.6939469847920784]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.6591199581862561,-0.2300710262744725,0.71338606911949],"aabb_xy":[[-0.6670432384250045,-0.25257102651247587],[-0.6511966779475078,-0.20757102603646915]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.3891081552011517,-2.228435427530725,0.71338606911949],"aabb_xy":[[-0.4362375342029874,-2.2924354285751263],[-0.34197877619931605,-2.1644354264863224]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.04176935189895814,-1.6537933096633188,0.71338606911949],"aabb_xy":[[-0.12176934930255157,-1.7337858808615014],[0.03823064550463527,-1.5738007384651358]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.001835949845275131,-2.019877841560607,0.71338606911949],"aabb_xy":[[-0.03642703269932034,-2.0848778418456377],[0.03275513300877008,-1.9548778412755758]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.39299510037822016,0.08906752639510351,0.71338606911949],"aabb_xy":[[-0.4106279359717476,0.07144458037948051],[-0.3753622647846925,0.10669047241072646]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.369501213774313,0.530578570281695,0.71338606911949],"aabb_xy":[[0.2798141374661976,0.44057857002724443],[0.4591882900824285,0.6205785705361455]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.4252663110610199,-1.2368299578294673,0.71338606911949],"aabb_xy":[[-0.4340475382082562,-1.2456097051179975],[-0.41648508391378375,-1.2280502105409374]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[0.704002558493438,-2.056763880357397,0.71338606911949],"aabb_xy":[[0.6958748703001248,-2.0656774887681046],[0.7121302466867513,-2.047850271946689]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[0.5776466872393895,-1.1838532796909098,0.71338606911949],"aabb_xy":[[0.49264668854731486,-1.2158391430857884],[0.6626466859314641,-1.1518674162960307]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[-0.5742839548057617,1.7845975773613074,0.71338606911949],"aabb_xy":[[-0.6067456556876888,1.7544647452464048],[-0.5418222539238339,1.81473040947621]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.43477206119754386,-1.9029826734317452,0.71338606911949],"aabb_xy":[[0.43063620486484366,-1.9404826728761022],[0.43890791753024405,-1.8654826739873882]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.471107329312054,1.1389689422584244,0.71338606911949],"aabb_xy":[[0.4336073281272612,1.1345507195623636],[0.5086073304968468,1.1433871649544847]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.5653118482148627,1.5262951750210019,0.71338606911949],"aabb_xy":[[0.5501396789332293,1.5111263180927987],[0.580484017496496,1.5414640319492054]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.18164063626487303,-1.4353100245684258,0.71338606911949],"aabb_xy":[[0.14664063713491737,-1.44105524564409],[0.2166406353948287,-1.4295648034927617]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.25269717784665063,-1.335392795467251,0.71338606911949],"aabb_xy":[[-0.26825294725691595,-1.3509432287116585],[-0.23714140843638543,-1.3198423622228441]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.2537342730173131,-2.028882154457369,0.71338606911949],"aabb_xy":[[0.18373427038072676,-2.048987019453234],[0.32373427565389945,-2.008777289461503]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.4314974225624473,-2.058656275494174,0.71338606911949],"aabb_xy":[[-0.49549742173221717,-2.105422962613136],[-0.36749742339267727,-2.0118895883752113]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[-0.5029434375005948,1.1056231694332541,0.71338606911949],"aabb_xy":[[-0.5507496051143634,1.0406231667261954],[-0.4551372698868261,1.1706231721403133]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[0.4539891940263787,-2.47653708952564,0.71338606911949],"aabb_xy":[[0.3739891925962515,-2.5560542445382493],[0.5339891954565059,-2.3970199345130303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6435059408414713,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5242.png","name":"5242"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5242.png","name":"5242"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5047.png","name":"5047"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1525.png","name":"1525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3543.png","name":"3543"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3470.png","name":"3470"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":805.7667794194032,"rotation_z_degrees":134.17539684557048,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017202944353879587,0.007724643731049738,0.015723738369245847]},{"name":"camera_2","offset_m":[-0.012851664343506531,0.009413212336283547,0.006361347486797852]},{"name":"camera_3","offset_m":[0.019790938845985696,0.01861675766185585,0.014784677295160208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001564781872877783,-0.0014541618092710124,-0.0002533700565579755],"end_effector_yaw_offset_degrees":0.21761678698021436},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044106294904570865,0.0010674769062328257,0.0005549305460029472],"end_effector_yaw_offset_degrees":0.2655967924787317},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000300134116275864,-0.0014915254409829934,0.0016639151895507668],"end_effector_yaw_offset_degrees":0.4688541524912775},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0004898174027190888,-0.0019068611531568528,-0.00029925555193994666],"end_effector_yaw_offset_degrees":0.3046559946932097},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001644077332482456,-0.001337191395704841,0.00041314759845778376],"end_effector_yaw_offset_degrees":-0.04320510346291617},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003676953441884305,0.0010782284919822406,-0.0007929819463989704],"end_effector_yaw_offset_degrees":0.649552259846236},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000696800504370652,0.0007320172015411494,-0.001236959711402912],"end_effector_yaw_offset_degrees":0.2732712083943549},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004212899161580271,-0.0002238555618859718,-0.0004899270669767076],"end_effector_yaw_offset_degrees":0.030259306452533163},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000290854803970594,-7.069036050367725e-07,0.00010739255538625044],"end_effector_yaw_offset_degrees":0.37011065882382455}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023845813343583533,0.0013707145332363772],"position_m":[0.18301541866564167,-0.13532928546676362,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002326525441645592,0.004332581920758564],"position_m":[0.1899265254416456,0.024232581920758566,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006917984182846278,0.0009678305515104582],"position_m":[0.21000820158171538,-0.3526321694484896,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-1.850072062256885e-05,-0.004994498639948327],"position_m":[0.29358149927937743,0.31060550136005166,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"e8890fd8456ff58a577046b6d69e2ddc173d79931390eb39c4e20363293b6d23","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5242/tex_ceiling_textures_3470/tex_floor_textures_3543/tex_table_textures_5047/tex_wall_textures_1525","seeds":{"action_seed":7341943718102437219,"physical_seed":8315530491657256763,"visual_seed":8958032035767587119,"layout_id":"layout_00000","physical_randomization_enabled":true},"episode_seed":8958032035767587119,"visual_seed":8958032035767587119,"scene_id":"lab_003","finished_at":"2026-09-08T22:27:32"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..772580c6d76be752d4d02ee02291e534593fd121
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/resolved_config.yaml
@@ -0,0 +1,406 @@
+name: lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack. Pick up beaker b from home. Shake the current contents of beaker b once.
+    Place beaker b at home.
+  layout_id: layout_00000
+  reproducibility:
+    enabled: true
+    layout_id: layout_00000
+    action_seed: 7341943718102437219
+    step_seeds:
+    - 2500273653211418822
+    - 70012352371227459
+    - 3039154489468777781
+    - 389388605830743609
+    - 8071428982563593121
+    - 3344239845166725093
+    - 801023463936683376
+    - 8116594868673274396
+    - 393561465873210545
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1854
+      - 0.1854
+      'y':
+      - -0.1367
+      - -0.1367
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1876
+      - 0.1876
+      'y':
+      - 0.0199
+      - 0.0199
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2107
+      - 0.2107
+      'y':
+      - -0.3536
+      - -0.3536
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2936
+      - 0.2936
+      'y':
+      - 0.3156
+      - 0.3156
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ae6c6e097e32d5088cc5f39c3d6096091460db1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_0_success.json
@@ -0,0 +1,2664 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2171483437327974,
+              -0.14383513505883544,
+              1.1645189122550121
+            ],
+            "current_z": 1.1645189122550121,
+            "required_z": 0.8611066700721974,
+            "initial_z": 0.7611066700721975,
+            "lift_margin": 0.3034122421828147,
+            "gripper_z": 1.1577123739172812,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21269194485942677,
+              -0.14838723123106423,
+              1.1577123739172812
+            ],
+            "object_minus_gripper": [
+              0.004456398873370626,
+              0.004552096172228792,
+              0.006806538337730927
+            ],
+            "object_to_gripper_xy": 0.006370327344791554,
+            "object_to_gripper_z": 0.006806538337730927,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2171483437327974,
+              -0.16746565689022358,
+              1.1645189122550121
+            ],
+            "finger_b": [
+              0.2066166119895397,
+              -0.14383513505883544,
+              1.1645189122550121
+            ],
+            "finger_midpoint": [
+              0.21188247786116854,
+              -0.1556503959745295,
+              1.1645189122550121
+            ],
+            "object_minus_finger_midpoint": [
+              0.005265865871628861,
+              0.01181526091569407,
+              0.0
+            ],
+            "finger_gap": 0.025871198958217094,
+            "fingertip_max_gap": 0.09194044852645894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012935599479108552,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1645189122550121,
+            "object_top_z": 1.2146088252419895,
+            "finger_top_clearance": 0.0500899129869774,
+            "fingertip_min_top_clearance": 0.015026973896093254,
+            "object_projection_between_fingers": 0.834283227885709,
+            "object_to_finger_line_xy": 0.009619589617137908,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847022426322947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4605577815026416,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2705832546557362,
+              -0.3510734236767112,
+              0.8515395617327731
+            ],
+            "target_position": [
+              0.2632767950790744,
+              -0.35130058430640515,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073099899792732495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18387094693567327,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395617327731,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751662724236387,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550332815989535,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15267689807175522,
+            "release_required_pad_clearance": 0.05275166407994768,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5539060848718823,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007723510265350342,
+            "max_z_decrease": 0.007723510265350342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513640763279066,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007723510265350342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021130024355040716,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007723510265350342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007723521145470735,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11897671967744827,
+              -0.40756204724311823,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11897671967744827,
+              -0.40756204724311823,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12049272018130633,
+              -0.40774308325825015,
+              0.8078059972114188
+            ],
+            "closest_button": [
+              0.1189732700586319,
+              -0.4075607359409331,
+              0.7727029323577881
+            ],
+            "closest_ee_minus_button": [
+              0.0015194501226744317,
+              -0.00018234731731703313,
+              0.03510306485363068
+            ],
+            "button_min_z_position": [
+              0.1189638450741768,
+              -0.40756052732467646,
+              0.7690853476524353
+            ],
+            "min_active_finger_to_button": 0.1447283532011823,
+            "closest_active_finger": [
+              -0.020426318049430847,
+              -0.389404833316803,
+              0.8108471632003784
+            ],
+            "closest_active_finger_button": [
+              0.11897754669189453,
+              -0.4075619280338287,
+              0.7764497995376587
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13940386474132538,
+              0.0181570947170257,
+              0.03439736366271973
+            ],
+            "min_contact_pad_to_button": 0.021130024355040716,
+            "closest_contact_pad": [
+              0.1189638450741768,
+              -0.4089470324843664,
+              0.7901698332446134
+            ],
+            "closest_contact_pad_button": [
+              0.1189638450741768,
+              -0.40756052732467646,
+              0.7690853476524353
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013865051596899658,
+              0.021084485592178126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28151218274250983,
+              0.20164730078248821,
+              1.1036201718604994
+            ],
+            "current_z": 1.1036201718604994,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19371104212613688,
+            "gripper_z": 1.1036201718604999,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28151218274250966,
+              0.2016473007824882,
+              1.1036201718604999
+            ],
+            "object_minus_gripper": [
+              1.6653345369377348e-16,
+              2.7755575615628914e-17,
+              -4.440892098500626e-16
+            ],
+            "object_to_gripper_xy": 1.6883057536160649e-16,
+            "object_to_gripper_z": -4.440892098500626e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28151218274250983,
+              0.20164730078248821,
+              1.1036201718604994
+            ],
+            "finger_b": [
+              0.28151218274250983,
+              0.20164730078248821,
+              1.1036201718604994
+            ],
+            "finger_midpoint": [
+              0.28151218274250983,
+              0.20164730078248821,
+              1.1036201718604994
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1036201718604994,
+            "object_top_z": 1.2286286784807792,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28151218274250983,
+            0.20164730078248821,
+            1.1036201718604997
+          ],
+          "object_origin_world": [
+            0.28151218274250983,
+            0.20164730078248821,
+            1.1036201718604997
+          ],
+          "frame_world": [
+            0.28151218274250966,
+            0.2016473007824882,
+            1.1036201718604999
+          ],
+          "center_minus_frame": [
+            1.6653345369377348e-16,
+            2.7755575615628914e-17,
+            -2.220446049250313e-16
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043749342028739,
+            "required_z": 0.9112599021392007,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015752109491707596,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.01273734764687e-08,
+            "max_target_xy_drift": 1.9630579603119322e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5539060793229653,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5539060853245865,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2713755419104107,
+              -0.34972927705005397,
+              0.9234381011520864
+            ],
+            "target_mouth_xy": [
+              0.27058325665508765,
+              -0.35107339576990926
+            ],
+            "rod_tip_z": 0.9234381011520864,
+            "rod_tip_depth": -0.022178207177369846,
+            "rod_tip_bottom_clearance": 0.12161879708643719,
+            "rod_tip_xy_dist": 0.001560247114680149,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04486770718417987,
+            "min_rod_tip_bottom_clearance": 0.054573023592380254,
+            "min_rod_tip_xy_dist": 0.000219011865325007,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27058328677582066,
+              -0.35107339513739444
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.012073301889018e-08,
+              -6.325148182995122e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0013146047363303826,
+                0.003161973978647259
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012148566874625177,
+                0.00276414093550037
+              ],
+              "first_target_mouth_xy": [
+                0.27058328459601744,
+                -0.3510734255820034
+              ],
+              "last_target_mouth_xy": [
+                0.2705832529228822,
+                -0.3510734255891891
+              ],
+              "first_rod_tip_xy": [
+                0.2718978893323478,
+                -0.3479114516033561
+              ],
+              "last_rod_tip_xy": [
+                0.27179810961034473,
+                -0.3483092846536887
+              ],
+              "min_rod_tip_xy_dist": 0.003019329707465096,
+              "max_rod_tip_xy_dist": 0.003424363452442607,
+              "first_target_xy_drift": 3.0522545043289834e-08,
+              "last_target_xy_drift": 4.553386913883667e-08,
+              "max_depth": 0.019450241520863054,
+              "min_bottom_clearance": 0.07999028834667743
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013146047363303826,
+                  0.003161973978647259
+                ],
+                "rod_tip_xy": [
+                  0.2718978893323478,
+                  -0.3479114516033561
+                ],
+                "target_mouth_xy": [
+                  0.27058328459601744,
+                  -0.3510734255820034
+                ],
+                "gripper_position": [
+                  0.27190276412552816,
+                  -0.34797980226658504,
+                  1.0056769366039995
+                ],
+                "rod_tip_xy_dist": 0.003424363452442607,
+                "target_xy_drift": 3.0522545043289834e-08,
+                "depth": 0.01506554136786209,
+                "bottom_clearance": 0.08437497669182104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0013194785046475865,
+                  0.0030936223590385947
+                ],
+                "rod_tip_xy": [
+                  0.27190276412552833,
+                  -0.3479798022665851
+                ],
+                "target_mouth_xy": [
+                  0.27058328562088074,
+                  -0.3510734246256237
+                ],
+                "gripper_position": [
+                  0.2718916711900441,
+                  -0.34798672357398364,
+                  1.0055367865295082
+                ],
+                "rod_tip_xy_dist": 0.0033632607428759594,
+                "target_xy_drift": 2.951083784585108e-08,
+                "depth": 0.015582962136019174,
+                "bottom_clearance": 0.0838576186619574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001308415842022459,
+                  0.003086702321093704
+                ],
+                "rod_tip_xy": [
+                  0.2718916711900442,
+                  -0.34798672357398375
+                ],
+                "target_mouth_xy": [
+                  0.27058325534802175,
+                  -0.35107342589507745
+                ],
+                "gripper_position": [
+                  0.2718832491983461,
+                  -0.34798774062851434,
+                  1.005413799340129
+                ],
+                "rod_tip_xy_dist": 0.0033525636809314447,
+                "target_xy_drift": 4.3974328978712854e-08,
+                "depth": 0.01572298335758504,
+                "bottom_clearance": 0.0837175672749394,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012999640925856482,
+                  0.0030856839993643748
+                ],
+                "rod_tip_xy": [
+                  0.2718832491983462,
+                  -0.34798774062851445
+                ],
+                "target_mouth_xy": [
+                  0.2705832851057606,
+                  -0.3510734246278788
+                ],
+                "gripper_position": [
+                  0.2718892600762981,
+                  -0.3480570273636322,
+                  1.0048955875920045
+                ],
+                "rod_tip_xy_dist": 0.0033483357636212878,
+                "target_xy_drift": 2.9537734681821878e-08,
+                "depth": 0.0158460357290785,
+                "bottom_clearance": 0.08359452532990985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013059728216570088,
+                  0.0030163978922482793
+                ],
+                "rod_tip_xy": [
+                  0.2718892600762982,
+                  -0.3480570273636322
+                ],
+                "target_mouth_xy": [
+                  0.2705832872546412,
+                  -0.3510734252558805
+                ],
+                "gripper_position": [
+                  0.27187777965709115,
+                  -0.34806437364237663,
+                  1.0047556260978012
+                ],
+                "rod_tip_xy_dist": 0.0032869775258231736,
+                "target_xy_drift": 3.012229191745396e-08,
+                "depth": 0.016364372229177415,
+                "bottom_clearance": 0.08307624819499415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012945241010104969,
+                  0.003009052573294646
+                ],
+                "rod_tip_xy": [
+                  0.27187777965709126,
+                  -0.34806437364237675
+                ],
+                "target_mouth_xy": [
+                  0.27058325555608076,
+                  -0.3510734262156714
+                ],
+                "gripper_position": [
+                  0.27186935267233797,
+                  -0.3480650390070466,
+                  1.0046329172728659
+                ],
+                "rod_tip_xy_dist": 0.0032756968780624633,
+                "target_xy_drift": 4.4051463744103006e-08,
+                "depth": 0.01650427038975122,
+                "bottom_clearance": 0.08293629964304705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012860971986722869,
+                  0.003008356772250864
+                ],
+                "rod_tip_xy": [
+                  0.2718693526723381,
+                  -0.34806503900704666
+                ],
+                "target_mouth_xy": [
+                  0.2705832554736658,
+                  -0.3510733957792975
+                ],
+                "gripper_position": [
+                  0.27187628163295396,
+                  -0.34813554059437746,
+                  1.00411620979656
+                ],
+                "rod_tip_xy_dist": 0.003271736003038806,
+                "target_xy_drift": 3.1308735825013225e-08,
+                "depth": 0.01662690766660979,
+                "bottom_clearance": 0.08281363676054998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012929931421212237,
+                  0.0029378548589191755
+                ],
+                "rod_tip_xy": [
+                  0.27187628163295413,
+                  -0.34813554059437746
+                ],
+                "target_mouth_xy": [
+                  0.2705832884908329,
+                  -0.35107339545329663
+                ],
+                "gripper_position": [
+                  0.27186461272119544,
+                  -0.34814279951050037,
+                  1.003976116296662
+                ],
+                "rod_tip_xy_dist": 0.0032098009965802433,
+                "target_xy_drift": 1.7438638681105705e-09,
+                "depth": 0.017143640512602976,
+                "bottom_clearance": 0.08229702715916998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012813264165281169,
+                  0.0029306257495768095
+                ],
+                "rod_tip_xy": [
+                  0.27186461272119555,
+                  -0.3481427995105004
+                ],
+                "target_mouth_xy": [
+                  0.27058328630466744,
+                  -0.35107342526007723
+                ],
+                "gripper_position": [
+                  0.27185604575705813,
+                  -0.3481434597820861,
+                  1.0038531994484003
+                ],
+                "rod_tip_xy_dist": 0.0031984941253307662,
+                "target_xy_drift": 3.012636725503721e-08,
+                "depth": 0.017283776406762263,
+                "bottom_clearance": 0.08215680758625832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0012727908012678535,
+                  0.002929965484607777
+                ],
+                "rod_tip_xy": [
+                  0.27185604575705824,
+                  -0.34814345978208616
+                ],
+                "target_mouth_xy": [
+                  0.2705832549557904,
+                  -0.35107342526669394
+                ],
+                "gripper_position": [
+                  0.2718474316239199,
+                  -0.34814405703503937,
+                  1.0037306071067404
+                ],
+                "rod_tip_xy_dist": 0.003194478700004893,
+                "target_xy_drift": 4.382110239595895e-08,
+                "depth": 0.01740662144265992,
+                "bottom_clearance": 0.08203390328805049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012641438624758083,
+                  0.002929366318253024
+                ],
+                "rod_tip_xy": [
+                  0.27184743162392005,
+                  -0.3481440570350395
+                ],
+                "target_mouth_xy": [
+                  0.27058328776144425,
+                  -0.3510734233532925
+                ],
+                "gripper_position": [
+                  0.2718557582208243,
+                  -0.3482172698178349,
+                  1.0032145193054325
+                ],
+                "rod_tip_xy_dist": 0.0031904931799880925,
+                "target_xy_drift": 2.8233107468321155e-08,
+                "depth": 0.01752933123415834,
+                "bottom_clearance": 0.08191137727209397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0012725054838064742,
+                  0.0028561557779626656
+                ],
+                "rod_tip_xy": [
+                  0.2718557582208245,
+                  -0.34821726981783496
+                ],
+                "target_mouth_xy": [
+                  0.270583252737018,
+                  -0.35107342559579763
+                ],
+                "gripper_position": [
+                  0.2718441010890533,
+                  -0.3482243618675617,
+                  1.0030745751483656
+                ],
+                "rod_tip_xy_dist": 0.003126802845448857,
+                "target_xy_drift": 4.567662872505341e-08,
+                "depth": 0.018045332845619044,
+                "bottom_clearance": 0.08139520434274361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0012608466847456312,
+                  0.0028490329691507332
+                ],
+                "rod_tip_xy": [
+                  0.2718441010890535,
+                  -0.3482243618675618
+                ],
+                "target_mouth_xy": [
+                  0.27058325440430786,
+                  -0.3510733948367125
+                ],
+                "gripper_position": [
+                  0.2718354131285754,
+                  -0.34822487423156406,
+                  1.002952034553359
+                ],
+                "rod_tip_xy_dist": 0.0031155614617179184,
+                "target_xy_drift": 3.2372909211516325e-08,
+                "depth": 0.01818525270037341,
+                "bottom_clearance": 0.08125527365703689,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012521596140584457,
+                  0.0028485840226745163
+                ],
+                "rod_tip_xy": [
+                  0.2718354131285755,
+                  -0.3482248742315641
+                ],
+                "target_mouth_xy": [
+                  0.27058325351451706,
+                  -0.35107345825423864
+                ],
+                "gripper_position": [
+                  0.27182661840140054,
+                  -0.34822556098553015,
+                  1.002829188651013
+                ],
+                "rod_tip_xy_dist": 0.0031116450043852245,
+                "target_xy_drift": 7.134458871139091e-08,
+                "depth": 0.018307845834523273,
+                "bottom_clearance": 0.08113276472293818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001243270675249597,
+                  0.0028477374640116238
+                ],
+                "rod_tip_xy": [
+                  0.2718266184014007,
+                  -0.34822556098553015
+                ],
+                "target_mouth_xy": [
+                  0.2705833477261511,
+                  -0.35107329844954177
+                ],
+                "gripper_position": [
+                  0.27183652755499066,
+                  -0.34830052436502074,
+                  1.0023162856782883
+                ],
+                "rod_tip_xy_dist": 0.003107302791147162,
+                "target_xy_drift": 1.1429559762114251e-07,
+                "depth": 0.018430854954013864,
+                "bottom_clearance": 0.08101007343365418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012532746944937112,
+                  0.0027729316673811844
+                ],
+                "rod_tip_xy": [
+                  0.2718365275549908,
+                  -0.3483005243650208
+                ],
+                "target_mouth_xy": [
+                  0.2705832528604971,
+                  -0.351073456032402
+                ],
+                "gripper_position": [
+                  0.2718247443738252,
+                  -0.3483077073106993,
+                  1.002176742793417
+                ],
+                "rod_tip_xy_dist": 0.0030429997521892274,
+                "target_xy_drift": 6.970259044210389e-08,
+                "depth": 0.018943574242507588,
+                "bottom_clearance": 0.08049698112924164,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001241458723561406,
+                  0.0027657160456523444
+                ],
+                "rod_tip_xy": [
+                  0.2718247443738253,
+                  -0.3483077073106994
+                ],
+                "target_mouth_xy": [
+                  0.2705832856502639,
+                  -0.3510734233563517
+                ],
+                "gripper_position": [
+                  0.2718158339014604,
+                  -0.34830820923782263,
+                  1.0020542448587078
+                ],
+                "rod_tip_xy_dist": 0.0030315680773298753,
+                "target_xy_drift": 2.8241395647185603e-08,
+                "depth": 0.019083178964377723,
+                "bottom_clearance": 0.0803574488076737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0012325781610186826,
+                  0.0027652451912061338
+                ],
+                "rod_tip_xy": [
+                  0.2718158339014605,
+                  -0.3483082092378227
+                ],
+                "target_mouth_xy": [
+                  0.27058325574044184,
+                  -0.3510734544290288
+                ],
+                "gripper_position": [
+                  0.2718069465232261,
+                  -0.3483087792291374,
+                  1.0019317151888842
+                ],
+                "rod_tip_xy_dist": 0.00302751216190932,
+                "target_xy_drift": 6.692303524276622e-08,
+                "depth": 0.019205593646574703,
+                "bottom_clearance": 0.08023498413093777,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012236601462959906,
+                  0.0027646149605364267
+                ],
+                "rod_tip_xy": [
+                  0.2718069465232263,
+                  -0.3483087792291374
+                ],
+                "target_mouth_xy": [
+                  0.2705832863769303,
+                  -0.3510733941896738
+                ],
+                "gripper_position": [
+                  0.2717981096103446,
+                  -0.3483092846536887,
+                  1.0018096048752385
+                ],
+                "rod_tip_xy_dist": 0.003023316065788517,
+                "target_xy_drift": 1.0282450607566971e-09,
+                "depth": 0.01932820083851594,
+                "bottom_clearance": 0.08011243170685078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0012148566874625177,
+                  0.00276414093550037
+                ],
+                "rod_tip_xy": [
+                  0.27179810961034473,
+                  -0.3483092846536887
+                ],
+                "target_mouth_xy": [
+                  0.2705832529228822,
+                  -0.3510734255891891
+                ],
+                "gripper_position": [
+                  0.2717892587238878,
+                  -0.3483094668103548,
+                  1.001686535514909
+                ],
+                "rod_tip_xy_dist": 0.003019329707465096,
+                "target_xy_drift": 4.553386913883667e-08,
+                "depth": 0.019450241520863054,
+                "bottom_clearance": 0.07999028834667743,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006020235204758398,
+              "rod_tip_xy_max_step": 3.264541103934528e-05,
+              "rod_tip_xy_range": 0.0006020169022156462,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2713755419104107,
+            -0.34972927705005397,
+            1.0434381011520864
+          ],
+          "object_origin_world": [
+            0.2713755419104107,
+            -0.34972927705005397,
+            1.0434381011520864
+          ],
+          "frame_world": [
+            0.2714007876876897,
+            -0.349726943934484,
+            1.043749342028739
+          ],
+          "center_minus_frame": [
+            -2.5245777279025994e-05,
+            -2.3331155699635175e-06,
+            -0.00031124087665257427
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2670908171709321,
+              0.15557704531715566,
+              0.832412852552558
+            ],
+            "target_position": [
+              0.2816703825906801,
+              0.2009367451274937,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047645210616731395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16569546004063332,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832412852552558,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668430508013,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13507927674413342,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20727301729047334,
+              0.0231763799799869,
+              1.0439409581536414
+            ],
+            "current_z": 1.0439409581536414,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.18735445074507584,
+            "gripper_z": 1.0482894810126506,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20250934379248403,
+              0.018558810156097033,
+              1.0482894810126506
+            ],
+            "object_minus_gripper": [
+              0.0047636734979893125,
+              0.004617569823889868,
+              -0.004348522859009218
+            ],
+            "object_to_gripper_xy": 0.006634345203103621,
+            "object_to_gripper_z": -0.004348522859009218,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20727301729047334,
+              -0.0011058068909403458,
+              1.0439409581536414
+            ],
+            "finger_b": [
+              0.19600637251946185,
+              0.0231763799799869,
+              1.0439409581536414
+            ],
+            "finger_midpoint": [
+              0.20163969490496758,
+              0.011035286544523277,
+              1.0439409581536414
+            ],
+            "object_minus_finger_midpoint": [
+              0.005633322385505762,
+              0.012141093435463624,
+              0.0
+            ],
+            "finger_gap": 0.02676867355008074,
+            "fingertip_max_gap": 0.09208178800654948,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013384336775040376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0439409581536414,
+            "object_top_z": 1.0900759129667592,
+            "finger_top_clearance": 0.0461349548131178,
+            "fingertip_min_top_clearance": 0.013840486443935323,
+            "object_projection_between_fingers": 0.8228523072522721,
+            "object_to_finger_line_xy": 0.010220109458402038,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854089400327474,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5883147094789128,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2064517939142234,
+              0.021857851797140088,
+              1.2420519263410505
+            ],
+            "held_position": [
+              0.21153797936976443,
+              0.026089609389151967,
+              1.237672354018627
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007934589373940272,
+            "max_held_gripper_dist": 0.007936661366421056,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004379572322423586,
+            "max_held_gripper_z_dist": 0.004379572322423586,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0856051432873077,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21153797936976443,
+              0.0006138161993934375,
+              1.237672354018627
+            ],
+            "held_grasp_finger_b": [
+              0.2023041213913765,
+              0.026089609389151967,
+              1.237672354018627
+            ],
+            "held_grasp_midpoint": [
+              0.20692105038057046,
+              0.013351712794272703,
+              1.237672354018627
+            ],
+            "held_grasp_object_position": [
+              0.21153797936976443,
+              0.026089609389151967,
+              1.237672354018627
+            ],
+            "held_grasp_finger_gap": 0.027097604540113607,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0246663793272977,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0790209577167366,
+              -0.9968697515718434,
+              0.0025271807653597374
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003596079080309046,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03213736700128938,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1752077445180142,
+              0.011855147441916382,
+              0.7565872283888362
+            ],
+            "target_position": [
+              0.18302767736349074,
+              0.019516786185490596,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010947696467513155,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21290189322512346,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565872283888362,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07616084287594746,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09059892094472217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18169128006907867,
+            "release_required_pad_clearance": 0.05529946047236109,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.709021147900566,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2305943fa00e37779f10d51cc57942ffcac7b7384014aba0d2c8ddde6d007b38",
+    "visual_seed": 7596582513032087153,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d52b878dd91906eb8cad0f657075122a334dea9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_11_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21127767570684286,
+              -0.1353184144358442,
+              1.1655838005882724
+            ],
+            "current_z": 1.1655838005882724,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3044773521781511,
+            "gripper_z": 1.1591385987307639,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20694417121336756,
+              -0.13987100522483795,
+              1.1591385987307639
+            ],
+            "object_minus_gripper": [
+              0.004333504493475304,
+              0.0045525907889937545,
+              0.00644520185750852
+            ],
+            "object_to_gripper_xy": 0.0062853276833432815,
+            "object_to_gripper_z": 0.00644520185750852,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21127767570684286,
+              -0.15881222109245222,
+              1.1655838005882724
+            ],
+            "finger_b": [
+              0.20064321945347702,
+              -0.1353184144358442,
+              1.1655838005882724
+            ],
+            "finger_midpoint": [
+              0.20596044758015994,
+              -0.14706531776414822,
+              1.1655838005882724
+            ],
+            "object_minus_finger_midpoint": [
+              0.005317228126682921,
+              0.011746903328304026,
+              0.0
+            ],
+            "finger_gap": 0.025788575203427415,
+            "fingertip_max_gap": 0.09218665591433117,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01289428760171372,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655838005882724,
+            "object_top_z": 1.2155931385389689,
+            "finger_top_clearance": 0.05000933795069651,
+            "fingertip_min_top_clearance": 0.015002801385208918,
+            "object_projection_between_fingers": 0.8299502956161191,
+            "object_to_finger_line_xy": 0.009688160634850753,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859332795716559,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.847710669210206,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2705775275692423,
+              -0.3536937577703152,
+              0.8515395047477294
+            ],
+            "target_position": [
+              0.2625342826924521,
+              -0.35421977399207866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008060426862987476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854405882783081,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395047477294,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515973666363208,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566550540478542,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542140612785075,
+            "release_required_pad_clearance": 0.05283275270239271,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7099639684859157,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007572829723358154,
+            "max_z_decrease": 0.007572829723358154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508876519195733,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007572829723358154,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114507337775308,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007572829723358154,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007572852369953255,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11823420971632002,
+              -0.41048124432563776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11823420971632002,
+              -0.41048124432563776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1188100063784144,
+              -0.41107157721353604,
+              0.8075825594179716
+            ],
+            "closest_button": [
+              0.11822304874658583,
+              -0.4104775190353393,
+              0.7725037336349487
+            ],
+            "closest_ee_minus_button": [
+              0.0005869576318285746,
+              -0.0005940581781967436,
+              0.035078825783022904
+            ],
+            "button_min_z_position": [
+              0.11821581423282622,
+              -0.41047909855842585,
+              0.7692360281944275
+            ],
+            "min_active_finger_to_button": 0.14559661572142354,
+            "closest_active_finger": [
+              -0.022555649280548096,
+              -0.3969447612762451,
+              0.8113575577735901
+            ],
+            "closest_active_finger_button": [
+              0.11823326349258421,
+              -0.41048106551170344,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14078891277313232,
+              0.013536304235458319,
+              0.03454887866973877
+            ],
+            "min_contact_pad_to_button": 0.02114507337775308,
+            "closest_contact_pad": [
+              0.11821581423282622,
+              -0.4119856725042488,
+              0.7903273620331474
+            ],
+            "closest_contact_pad_button": [
+              0.11821581423282622,
+              -0.41047909855842585,
+              0.7692360281944275
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001506573945822931,
+              0.02109133383871986
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.283620434081514,
+              0.20032486891968634,
+              1.1041988255567783
+            ],
+            "current_z": 1.1041988255567783,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19428969582241573,
+            "gripper_z": 1.104198757909262,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2836204357911513,
+              0.20032483613510674,
+              1.104198757909262
+            ],
+            "object_minus_gripper": [
+              -1.709637320601587e-09,
+              3.278457960664838e-08,
+              6.764751625532028e-08
+            ],
+            "object_to_gripper_xy": 3.282912608877456e-08,
+            "object_to_gripper_z": 6.764751625532028e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.283620434081514,
+              0.20032486891968634,
+              1.1041988255567783
+            ],
+            "finger_b": [
+              0.283620434081514,
+              0.20032486891968634,
+              1.1041988255567783
+            ],
+            "finger_midpoint": [
+              0.283620434081514,
+              0.20032486891968634,
+              1.1041988255567783
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041988255567783,
+            "object_top_z": 1.229207332177058,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.283620434081514,
+            0.20032486891968637,
+            1.1041988255567783
+          ],
+          "object_origin_world": [
+            0.283620434081514,
+            0.20032486891968637,
+            1.1041988255567783
+          ],
+          "frame_world": [
+            0.2836204357911513,
+            0.20032483613510674,
+            1.104198757909262
+          ],
+          "center_minus_frame": [
+            -1.709637320601587e-09,
+            3.2784579634403954e-08,
+            6.764751625532028e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431811929199568,
+            "required_z": 0.9112597773295315,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012978494464838852,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.0136406496864765e-08,
+            "max_target_xy_drift": 1.2096001861104626e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7099639672112185,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7099639686106645,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26935924111875237,
+              -0.3541320808994618,
+              0.923292389766489
+            ],
+            "target_mouth_xy": [
+              0.2705775256943942,
+              -0.3536937869478999
+            ],
+            "rod_tip_z": 0.923292389766489,
+            "rod_tip_depth": -0.022032531607298345,
+            "rod_tip_bottom_clearance": 0.1214730771549396,
+            "rod_tip_xy_dist": 0.0012947273439695886,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044640797386904185,
+            "min_rod_tip_bottom_clearance": 0.05479977565056171,
+            "min_rod_tip_xy_dist": 0.0006983117620978196,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2705775265679468,
+              -0.3536937568241567
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.735526191294696e-10,
+              -3.0123743166576844e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0005963247619297785,
+                0.0012384702083072519
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007063790953671933,
+                0.0008498009772595072
+              ],
+              "first_target_mouth_xy": [
+                0.27057749714997614,
+                -0.3536937568142635
+              ],
+              "last_target_mouth_xy": [
+                0.27057752644009614,
+                -0.35369375681832427
+              ],
+              "first_rod_tip_xy": [
+                0.26998117238804636,
+                -0.35245528660595626
+              ],
+              "last_rod_tip_xy": [
+                0.26987114734472895,
+                -0.35284395584106476
+              ],
+              "min_rod_tip_xy_dist": 0.0011050489253073765,
+              "max_rod_tip_xy_dist": 0.0013745587213921473,
+              "first_target_xy_drift": 2.9417972334105466e-08,
+              "last_target_xy_drift": 1.279836411034794e-10,
+              "max_depth": 0.019854879205813858,
+              "min_bottom_clearance": 0.0795856488449741
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005963247619297785,
+                  0.0012384702083072519
+                ],
+                "rod_tip_xy": [
+                  0.26998117238804636,
+                  -0.35245528660595626
+                ],
+                "target_mouth_xy": [
+                  0.27057749714997614,
+                  -0.3536937568142635
+                ],
+                "gripper_position": [
+                  0.2699699017456912,
+                  -0.3524626938986924,
+                  1.0056527106738062
+                ],
+                "rod_tip_xy_dist": 0.0013745587213921473,
+                "target_xy_drift": 2.9417972334105466e-08,
+                "depth": 0.015466491716093267,
+                "bottom_clearance": 0.08397401654144498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006075957713134184,
+                  0.00123106418195984
+                ],
+                "rod_tip_xy": [
+                  0.2699699017456913,
+                  -0.35246269389869245
+                ],
+                "target_mouth_xy": [
+                  0.2705774975170047,
+                  -0.3536937580806523
+                ],
+                "gripper_position": [
+                  0.2699719966390398,
+                  -0.35252810529927914,
+                  1.005134086766216
+                ],
+                "rod_tip_xy_dist": 0.0013728407196111274,
+                "target_xy_drift": 2.907810203254502e-08,
+                "depth": 0.015607114588808146,
+                "bottom_clearance": 0.08383340151439955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006055008383823446,
+                  0.0011656524661464163
+                ],
+                "rod_tip_xy": [
+                  0.26997199663903987,
+                  -0.35252810529927914
+                ],
+                "target_mouth_xy": [
+                  0.2705774974774222,
+                  -0.35369375776542555
+                ],
+                "gripper_position": [
+                  0.26996072646133384,
+                  -0.3525352645053658,
+                  1.0049938533527358
+                ],
+                "rod_tip_xy_dist": 0.001313536043325399,
+                "target_xy_drift": 2.9105748720004192e-08,
+                "depth": 0.01612573257476113,
+                "bottom_clearance": 0.08331477088138362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00061677125948012,
+                  0.0011584938939340206
+                ],
+                "rod_tip_xy": [
+                  0.26996072646133396,
+                  -0.3525352645053659
+                ],
+                "target_mouth_xy": [
+                  0.2705774977208141,
+                  -0.3536937583992999
+                ],
+                "gripper_position": [
+                  0.2699525085476532,
+                  -0.35253608751323434,
+                  1.0048707610121743
+                ],
+                "rod_tip_xy_dist": 0.001312446147010651,
+                "target_xy_drift": 2.889010459058463e-08,
+                "depth": 0.01626597923656281,
+                "bottom_clearance": 0.08317455602290325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006249878165268119,
+                  0.0011576705750775407
+                ],
+                "rod_tip_xy": [
+                  0.26995250854765324,
+                  -0.3525360875132345
+                ],
+                "target_mouth_xy": [
+                  0.27057749636418005,
+                  -0.35369375808831205
+                ],
+                "gripper_position": [
+                  0.26995553247508985,
+                  -0.3526023536338635,
+                  1.0043527152038922
+                ],
+                "rod_tip_xy_dist": 0.0013156028774699894,
+                "target_xy_drift": 3.023021031243863e-08,
+                "depth": 0.01638909271431277,
+                "bottom_clearance": 0.08305145434129224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006219657648446342,
+                  0.0010914044483073537
+                ],
+                "rod_tip_xy": [
+                  0.2699555324750899,
+                  -0.3526023536338636
+                ],
+                "target_mouth_xy": [
+                  0.27057749823993454,
+                  -0.35369375808217096
+                ],
+                "gripper_position": [
+                  0.26994410334872115,
+                  -0.35260964622131535,
+                  1.0042123541946562
+                ],
+                "rod_tip_xy_dist": 0.0012561867227541652,
+                "target_xy_drift": 2.8355931989206723e-08,
+                "depth": 0.016907116005536404,
+                "bottom_clearance": 0.0825334282786151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006333931465229425,
+                  0.0010841121894685224
+                ],
+                "rod_tip_xy": [
+                  0.26994410334872126,
+                  -0.3526096462213154
+                ],
+                "target_mouth_xy": [
+                  0.2705774964952442,
+                  -0.35369375841078393
+                ],
+                "gripper_position": [
+                  0.2699356884936346,
+                  -0.3526106691110532,
+                  1.0040894301308567
+                ],
+                "rod_tip_xy_dist": 0.0012555819835504438,
+                "target_xy_drift": 3.011452851953658e-08,
+                "depth": 0.01704750144304701,
+                "bottom_clearance": 0.08239305229783278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006418392315258314,
+                  0.001083088656826936
+                ],
+                "rod_tip_xy": [
+                  0.26993568849363464,
+                  -0.3526106691110533
+                ],
+                "target_mouth_xy": [
+                  0.27057752772516047,
+                  -0.35369375776788026
+                ],
+                "gripper_position": [
+                  0.26992729342792243,
+                  -0.35261149822224025,
+                  1.0039665741526755
+                ],
+                "rod_tip_xy_dist": 0.0012589831760880866,
+                "target_xy_drift": 1.4932372811569787e-09,
+                "depth": 0.01717033329706119,
+                "bottom_clearance": 0.08227018757685789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0006502050568387152,
+                  0.0010822604944540348
+                ],
+                "rod_tip_xy": [
+                  0.2699272934279225,
+                  -0.35261149822224036
+                ],
+                "target_mouth_xy": [
+                  0.2705774984847612,
+                  -0.3536937587166944
+                ],
+                "gripper_position": [
+                  0.26993174921202573,
+                  -0.35268022630370055,
+                  1.003448220799178
+                ],
+                "rod_tip_xy_dist": 0.001262558669446505,
+                "target_xy_drift": 2.8146882827442458e-08,
+                "depth": 0.017293270325299037,
+                "bottom_clearance": 0.08214730583479035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006457463262660723,
+                  0.0010135314792508732
+                ],
+                "rod_tip_xy": [
+                  0.26993174921202584,
+                  -0.35268022630370066
+                ],
+                "target_mouth_xy": [
+                  0.2705774955382919,
+                  -0.35369375778295153
+                ],
+                "gripper_position": [
+                  0.26992028806212687,
+                  -0.35268726833171526,
+                  1.0033082427579214
+                ],
+                "rod_tip_xy_dist": 0.0012017630287700616,
+                "target_xy_drift": 3.104446441461569e-08,
+                "depth": 0.017811652358507124,
+                "bottom_clearance": 0.08162891503754122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006572092307970401,
+                  0.0010064897601157474
+                ],
+                "rod_tip_xy": [
+                  0.269920288062127,
+                  -0.3526872683317154
+                ],
+                "target_mouth_xy": [
+                  0.270577497292924,
+                  -0.3536937580918311
+                ],
+                "gripper_position": [
+                  0.26991169339083887,
+                  -0.35268810654680266,
+                  1.0031851579680242
+                ],
+                "rod_tip_xy_dist": 0.0012020589046559623,
+                "target_xy_drift": 2.9302456518976914e-08,
+                "depth": 0.017951523309175932,
+                "bottom_clearance": 0.08148898856060172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006658340857680911,
+                  0.0010056505839486363
+                ],
+                "rod_tip_xy": [
+                  0.2699116933908389,
+                  -0.3526881065468027
+                ],
+                "target_mouth_xy": [
+                  0.270577527476607,
+                  -0.35369375713075135
+                ],
+                "gripper_position": [
+                  0.26990324294027185,
+                  -0.3526888260430499,
+                  1.003062371316854
+                ],
+                "rod_tip_xy_dist": 0.0012060962344551378,
+                "target_xy_drift": 9.589909469086843e-10,
+                "depth": 0.01807465877174519,
+                "bottom_clearance": 0.08136584409452208,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006742510734172313,
+                  0.0010049307935292573
+                ],
+                "rod_tip_xy": [
+                  0.2699032429402719,
+                  -0.3526888260430501
+                ],
+                "target_mouth_xy": [
+                  0.27057749401368913,
+                  -0.35369375683657933
+                ],
+                "gripper_position": [
+                  0.2699089127956544,
+                  -0.3527596573988586,
+                  1.0025467247363182
+                ],
+                "rod_tip_xy_dist": 0.001210165447278855,
+                "target_xy_drift": 3.255426004867117e-08,
+                "depth": 0.018197549989539596,
+                "bottom_clearance": 0.08124307961916688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006686141162833281,
+                  0.0009340702437762305
+                ],
+                "rod_tip_xy": [
+                  0.2699089127956545,
+                  -0.3527596573988586
+                ],
+                "target_mouth_xy": [
+                  0.2705775269119378,
+                  -0.35369372764263485
+                ],
+                "gripper_position": [
+                  0.269897353135769,
+                  -0.35276673225146243,
+                  1.002406986748532
+                ],
+                "rod_tip_xy_dist": 0.0011487088651183652,
+                "target_xy_drift": 2.918354927355354e-08,
+                "depth": 0.01871303508569755,
+                "bottom_clearance": 0.08072746034456191,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006801737131437169,
+                  0.0009270264680888429
+                ],
+                "rod_tip_xy": [
+                  0.26989735313576907,
+                  -0.3527667322514625
+                ],
+                "target_mouth_xy": [
+                  0.2705775268489128,
+                  -0.35369375871955133
+                ],
+                "gripper_position": [
+                  0.26988876905875026,
+                  -0.352767294879455,
+                  1.0022840038409706
+                ],
+                "rod_tip_xy_dist": 0.0011497888295634924,
+                "target_xy_drift": 1.916106113888929e-09,
+                "depth": 0.018852857825046088,
+                "bottom_clearance": 0.08058768612322831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006887270148469571,
+                  0.0009264609927994161
+                ],
+                "rod_tip_xy": [
+                  0.26988876905875037,
+                  -0.35276729487945513
+                ],
+                "target_mouth_xy": [
+                  0.2705774960735973,
+                  -0.35369375587225454
+                ],
+                "gripper_position": [
+                  0.26988009096189614,
+                  -0.3527681210572172,
+                  1.002161256209603
+                ],
+                "rod_tip_xy_dist": 0.001154415381116728,
+                "target_xy_drift": 3.050920301409304e-08,
+                "depth": 0.01897587100805931,
+                "bottom_clearance": 0.08046471236452468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006974357919496965,
+                  0.0009256069035676884
+                ],
+                "rod_tip_xy": [
+                  0.26988009096189625,
+                  -0.35276812105721733
+                ],
+                "target_mouth_xy": [
+                  0.27057752675384594,
+                  -0.353693727960785
+                ],
+                "gripper_position": [
+                  0.2698714759670696,
+                  -0.35276879038945513,
+                  1.002038555579932
+                ],
+                "rod_tip_xy_dist": 0.001158949879772488,
+                "target_xy_drift": 2.8863970342947623e-08,
+                "depth": 0.01909857380553659,
+                "bottom_clearance": 0.0803419391510326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007060509163720474,
+                  0.0009249676951452734
+                ],
+                "rod_tip_xy": [
+                  0.2698714759670697,
+                  -0.3527687903894553
+                ],
+                "target_mouth_xy": [
+                  0.2705775268834417,
+                  -0.3536937580846006
+                ],
+                "gripper_position": [
+                  0.26986280258800727,
+                  -0.3527696281215776,
+                  1.0019157503717135
+                ],
+                "rod_tip_xy_dist": 0.001163646481355986,
+                "target_xy_drift": 1.2993289661084898e-09,
+                "depth": 0.01922127637325477,
+                "bottom_clearance": 0.08021924328945274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007147238086518959,
+                  0.0009241286957840655
+                ],
+                "rod_tip_xy": [
+                  0.2698628025880073,
+                  -0.35276962812157764
+                ],
+                "target_mouth_xy": [
+                  0.2705775263966592,
+                  -0.3536937568173617
+                ],
+                "gripper_position": [
+                  0.26987114734472883,
+                  -0.35284395584106465,
+                  1.0014049617589433
+                ],
+                "rod_tip_xy_dist": 0.0011682653675537205,
+                "target_xy_drift": 1.7142232183442328e-10,
+                "depth": 0.01934409194463138,
+                "bottom_clearance": 0.0800964378309662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0007063790953671933,
+                  0.0008498009772595072
+                ],
+                "rod_tip_xy": [
+                  0.26987114734472895,
+                  -0.35284395584106476
+                ],
+                "target_mouth_xy": [
+                  0.27057752644009614,
+                  -0.35369375681832427
+                ],
+                "gripper_position": [
+                  0.2698593783009646,
+                  -0.35285121779500084,
+                  1.0012648496299348
+                ],
+                "rod_tip_xy_dist": 0.0011050489253073765,
+                "target_xy_drift": 1.279836411034794e-10,
+                "depth": 0.019854879205813858,
+                "bottom_clearance": 0.0795856488449741,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005992843902827409,
+              "rod_tip_xy_max_step": 3.2303367651627565e-05,
+              "rod_tip_xy_range": 0.0005992704404612432,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26935924111875237,
+            -0.35413208089946174,
+            1.0432923897664892
+          ],
+          "object_origin_world": [
+            0.26935924111875237,
+            -0.35413208089946174,
+            1.0432923897664892
+          ],
+          "frame_world": [
+            0.26935781478582466,
+            -0.35413731652442776,
+            1.0431811929199568
+          ],
+          "center_minus_frame": [
+            1.426332927711993e-06,
+            5.235624966015706e-06,
+            0.00011119684653237982
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2672614955361024,
+              0.15632031946183025,
+              0.8310340194568182
+            ],
+            "target_position": [
+              0.2837745645758626,
+              0.2021602204191298,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048723484777742625,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16615208171628879,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8310340194568182,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675447700351,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1364180125564725,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2169331200856477,
+              0.021570542232433085,
+              1.045308505751823
+            ],
+            "current_z": 1.045308505751823,
+            "required_z": 0.8565863285946314,
+            "initial_z": 0.7565863285946314,
+            "lift_margin": 0.18872217715719164,
+            "gripper_z": 1.0498904836522622,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21199642461257595,
+              0.01693452863851684,
+              1.0498904836522622
+            ],
+            "object_minus_gripper": [
+              0.004936695473071739,
+              0.004636013593916244,
+              -0.004581977900439238
+            ],
+            "object_to_gripper_xy": 0.00677226581262307,
+            "object_to_gripper_z": -0.004581977900439238,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2169331200856477,
+              -0.0029613627538910615,
+              1.045308505751823
+            ],
+            "finger_b": [
+              0.20573996116099347,
+              0.021570542232433085,
+              1.045308505751823
+            ],
+            "finger_midpoint": [
+              0.21133654062332058,
+              0.009304589739271011,
+              1.045308505751823
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055965794623271115,
+              0.012265952493162074,
+              0.0
+            ],
+            "finger_gap": 0.026964813534875447,
+            "fingertip_max_gap": 0.0929242370411355,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013482406767437723,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045308505751823,
+            "object_top_z": 1.0917053335773594,
+            "finger_top_clearance": 0.046396827825536446,
+            "fingertip_min_top_clearance": 0.01391904834766095,
+            "object_projection_between_fingers": 0.8276899941036513,
+            "object_to_finger_line_xy": 0.01018325273717537,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048962118520567754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9282381183769369,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21618227780435711,
+              0.020203479273273747,
+              1.244813333508891
+            ],
+            "held_position": [
+              0.22139954612767812,
+              0.0244922234899598,
+              1.2401992714708228
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008179412216340994,
+            "max_held_gripper_dist": 0.008182959945247384,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004614062038068134,
+            "max_held_gripper_z_dist": 0.004614062038068134,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597671422091056,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22139954612767812,
+              -0.0010562391308067685,
+              1.2401992714708228
+            ],
+            "held_grasp_finger_b": [
+              0.211918054473555,
+              0.0244922234899598,
+              1.2401992714708228
+            ],
+            "held_grasp_midpoint": [
+              0.21665880030061657,
+              0.011717992179576515,
+              1.2401992714708228
+            ],
+            "held_grasp_object_position": [
+              0.22139954612767812,
+              0.0244922234899598,
+              1.2401992714708228
+            ],
+            "held_grasp_finger_gap": 0.027251103212015345,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024939622855628132,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.059337964439818786,
+              -0.9981906014770507,
+              0.009722607624640722
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003976378422563225,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032167801123387914,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19130355865437396,
+              0.01934135125572424,
+              0.756587391020834
+            ],
+            "target_position": [
+              0.1919948485870087,
+              0.0206818468210366,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0015082473708195995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.216910253754881,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587391020834,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571923241396745,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09085254689086424,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18691539106899488,
+            "release_required_pad_clearance": 0.05542627344543212,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.9824090970145685,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc13fd1326d03fd8ac573969e1003e98d662a8b4ba932cb73bb83812c1bb628b",
+    "visual_seed": 2310473854120142100,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0132a5b7d4f28d53271f41a63f7e58679d23201e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_12_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21238353814220778,
+              -0.13666909534645721,
+              1.1656206317655884
+            ],
+            "current_z": 1.1656206317655884,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3045142429601122,
+            "gripper_z": 1.1589991843048095,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20812214054161632,
+              -0.1410357200319482,
+              1.1589991843048095
+            ],
+            "object_minus_gripper": [
+              0.0042613976005914656,
+              0.004366624685490983,
+              0.006621447460778862
+            ],
+            "object_to_gripper_xy": 0.00610138678123801,
+            "object_to_gripper_z": 0.006621447460778862,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21238353814220778,
+              -0.16031226594002457,
+              1.1656206317655884
+            ],
+            "finger_b": [
+              0.20235510235281062,
+              -0.13666909534645721,
+              1.1656206317655884
+            ],
+            "finger_midpoint": [
+              0.2073693202475092,
+              -0.1484906806432409,
+              1.1656206317655884
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050142178946985805,
+              0.011821585296783677,
+              0.0
+            ],
+            "finger_gap": 0.025682076241974477,
+            "fingertip_max_gap": 0.09248805191852644,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012841038120987238,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656206317655884,
+            "object_top_z": 1.2157323092156362,
+            "finger_top_clearance": 0.05011167745004785,
+            "fingertip_min_top_clearance": 0.015033503235014355,
+            "object_projection_between_fingers": 0.8475223695050497,
+            "object_to_finger_line_xy": 0.00923227607929274,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04874402595926322,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.947068240562857,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27173789676225435,
+              -0.35603346698672056,
+              0.8515396142845758
+            ],
+            "target_position": [
+              0.2656971034967828,
+              -0.35563137361106734,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006054160747693301,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18210817127328605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396142845758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549131286620935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871948341963799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15003880950655976,
+            "release_required_pad_clearance": 0.05359741709818995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.205387999374693,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007732093334197998,
+            "max_z_decrease": 0.007732093334197998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514513898544587,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007732093334197998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021260891675076648,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007732093334197998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007732119265651073,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12139702588319777,
+              -0.411892831325531,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12139702588319777,
+              -0.411892831325531,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12226622886355035,
+              -0.4137556261897749,
+              0.8076347916918755
+            ],
+            "closest_button": [
+              0.1213853135704994,
+              -0.41188845038414,
+              0.7725503444671631
+            ],
+            "closest_ee_minus_button": [
+              0.0008809152930509406,
+              -0.0018671758056348908,
+              0.03508444722471238
+            ],
+            "button_min_z_position": [
+              0.12137721478939056,
+              -0.41188991069793696,
+              0.7690767645835876
+            ],
+            "min_active_finger_to_button": 0.14518535618412862,
+            "closest_active_finger": [
+              -0.019039802253246307,
+              -0.3990136384963989,
+              0.8112244009971619
+            ],
+            "closest_active_finger_button": [
+              0.12140148878097534,
+              -0.41188985109329224,
+              0.7767391204833984
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14044129103422165,
+              0.01287621259689331,
+              0.03448528051376343
+            ],
+            "min_contact_pad_to_button": 0.021260891675076648,
+            "closest_contact_pad": [
+              0.12137721478939056,
+              -0.41468553698131205,
+              0.7901530543069485
+            ],
+            "closest_contact_pad_button": [
+              0.12137721478939056,
+              -0.41188991069793696,
+              0.7690767645835876
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027956262833750967,
+              0.02107628972336084
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2860458901703848,
+              0.1976208984756157,
+              1.102789012986678
+            ],
+            "current_z": 1.102789012986678,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19287988325231542,
+            "gripper_z": 1.1027888268175992,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2860458370680741,
+              0.19762088722499443,
+              1.1027888268175992
+            ],
+            "object_minus_gripper": [
+              5.3102310659802754e-08,
+              1.1250621267944183e-08,
+              1.861690788196313e-07
+            ],
+            "object_to_gripper_xy": 5.4281045276642555e-08,
+            "object_to_gripper_z": 1.861690788196313e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2860458901703848,
+              0.1976208984756157,
+              1.102789012986678
+            ],
+            "finger_b": [
+              0.2860458901703848,
+              0.1976208984756157,
+              1.102789012986678
+            ],
+            "finger_midpoint": [
+              0.2860458901703848,
+              0.1976208984756157,
+              1.102789012986678
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102789012986678,
+            "object_top_z": 1.2277975196069577,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28604589017038473,
+            0.19762089847561573,
+            1.102789012986678
+          ],
+          "object_origin_world": [
+            0.28604589017038473,
+            0.19762089847561573,
+            1.102789012986678
+          ],
+          "frame_world": [
+            0.2860458370680741,
+            0.19762088722499443,
+            1.1027888268175992
+          ],
+          "center_minus_frame": [
+            5.31023106042916e-08,
+            1.1250621295699759e-08,
+            1.861690788196313e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434297681930922,
+            "required_z": 0.911259882738639,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017095400967269,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.550332772187341e-08,
+            "max_target_xy_drift": 1.3128763825031448e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.2050330538084624,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.2053879997347203,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2700367103231295,
+              -0.35618102864105916,
+              0.9235416610225055
+            ],
+            "target_mouth_xy": [
+              0.27173790055498437,
+              -0.3560335247197695
+            ],
+            "rod_tip_z": 0.9235416610225055,
+            "rod_tip_depth": -0.022281836389249743,
+            "rod_tip_bottom_clearance": 0.12172235995755998,
+            "rod_tip_xy_dist": 0.0017075730179861445,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044812304368742506,
+            "min_rod_tip_bottom_clearance": 0.05462832204437751,
+            "min_rod_tip_xy_dist": 0.0012395098577016787,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2717378687622417,
+              -0.35603343466363635
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.179274266074117e-08,
+              -9.005613316181993e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0010730648192878722,
+                0.0015470324684573322
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011923373442433438,
+                0.0011654763639192822
+              ],
+              "first_target_mouth_xy": [
+                0.27173777867726584,
+                -0.35603349618245395
+              ],
+              "last_target_mouth_xy": [
+                0.27173783862089324,
+                -0.3560334356191641
+              ],
+              "first_rod_tip_xy": [
+                0.27066471385797797,
+                -0.3544864637139966
+              ],
+              "last_rod_tip_xy": [
+                0.2705455012766499,
+                -0.35486795925524484
+              ],
+              "min_rod_tip_xy_dist": 0.0016527890806205443,
+              "max_rod_tip_xy_dist": 0.0018863314684063768,
+              "first_target_xy_drift": 1.0908651518621185e-07,
+              "last_target_xy_drift": 3.0156490529683795e-08,
+              "max_depth": 0.019506516486376357,
+              "min_bottom_clearance": 0.07993413429173302
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010730648192878722,
+                  0.0015470324684573322
+                ],
+                "rod_tip_xy": [
+                  0.27066471385797797,
+                  -0.3544864637139966
+                ],
+                "target_mouth_xy": [
+                  0.27173777867726584,
+                  -0.35603349618245395
+                ],
+                "gripper_position": [
+                  0.27065662683896513,
+                  -0.35448772273840895,
+                  1.0060395253166756
+                ],
+                "rod_tip_xy_dist": 0.0018827579676778694,
+                "target_xy_drift": 1.0908651518621185e-07,
+                "depth": 0.015096245299838551,
+                "bottom_clearance": 0.08434435726452894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010812109473081755,
+                  0.0015457131998275475
+                ],
+                "rod_tip_xy": [
+                  0.2706566268389652,
+                  -0.3544877227384089
+                ],
+                "target_mouth_xy": [
+                  0.27173783778627336,
+                  -0.35603343593823644
+                ],
+                "gripper_position": [
+                  0.2706579621312206,
+                  -0.35455311247378196,
+                  1.0055167959815048
+                ],
+                "rod_tip_xy_dist": 0.0018863314684063768,
+                "target_xy_drift": 3.100218089684319e-08,
+                "depth": 0.015220385331395248,
+                "bottom_clearance": 0.0842202226307065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0010798745476066074,
+                  0.0014803827972366679
+                ],
+                "rod_tip_xy": [
+                  0.27065796213122073,
+                  -0.35455311247378196
+                ],
+                "target_mouth_xy": [
+                  0.27173783667882734,
+                  -0.35603349527101863
+                ],
+                "gripper_position": [
+                  0.27064681815351993,
+                  -0.35456038135785994,
+                  1.0053753923083029
+                ],
+                "rod_tip_xy_dist": 0.0018323924975077901,
+                "target_xy_drift": 6.857550775891466e-08,
+                "depth": 0.01574299232826959,
+                "bottom_clearance": 0.08369758467703547,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010910518032427041,
+                  0.0014730218863859834
+                ],
+                "rod_tip_xy": [
+                  0.27064681815352004,
+                  -0.35456038135785983
+                ],
+                "target_mouth_xy": [
+                  0.27173786995676275,
+                  -0.3560334032442458
+                ],
+                "gripper_position": [
+                  0.27064811764966906,
+                  -0.35462572171834367,
+                  1.0048566306423046
+                ],
+                "rod_tip_xy_dist": 0.001833081426214143,
+                "target_xy_drift": 3.144208933931711e-08,
+                "depth": 0.015884647715341926,
+                "bottom_clearance": 0.08355615561654683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010896927652924715,
+                  0.0014077442976216936
+                ],
+                "rod_tip_xy": [
+                  0.2706481176496692,
+                  -0.3546257217183437
+                ],
+                "target_mouth_xy": [
+                  0.27173781041496164,
+                  -0.3560334660159654
+                ],
+                "gripper_position": [
+                  0.27063685682255734,
+                  -0.35463297019783446,
+                  1.004715095026903
+                ],
+                "rod_tip_xy_dist": 0.0017802174952002772,
+                "target_xy_drift": 6.623725257462061e-08,
+                "depth": 0.016403292720778118,
+                "bottom_clearance": 0.0830373951680844,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011009801645671113,
+                  0.0014004651388113132
+                ],
+                "rod_tip_xy": [
+                  0.27063685682255745,
+                  -0.35463297019783446
+                ],
+                "target_mouth_xy": [
+                  0.27173783698712456,
+                  -0.3560334353366458
+                ],
+                "gripper_position": [
+                  0.2706285089586523,
+                  -0.3546341150807947,
+                  1.0045911909700656
+                ],
+                "rod_tip_xy_dist": 0.0017814207610208246,
+                "target_xy_drift": 3.1782243651030054e-08,
+                "depth": 0.016544761119503537,
+                "bottom_clearance": 0.08289583957707447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011093312681564882,
+                  0.0013993807556120785
+                ],
+                "rod_tip_xy": [
+                  0.27062850895865237,
+                  -0.3546341150807947
+                ],
+                "target_mouth_xy": [
+                  0.27173784022680886,
+                  -0.35603349583640675
+                ],
+                "gripper_position": [
+                  0.27063088425591086,
+                  -0.35470032041077865,
+                  1.0040735050815832
+                ],
+                "rod_tip_xy_dist": 0.0017857442038789078,
+                "target_xy_drift": 6.750095382234394e-08,
+                "depth": 0.01666873213348763,
+                "bottom_clearance": 0.0827719554350631,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00110695316956394,
+                  0.0013331444242003498
+                ],
+                "rod_tip_xy": [
+                  0.270630884255911,
+                  -0.3547003204107787
+                ],
+                "target_mouth_xy": [
+                  0.2717378374254749,
+                  -0.35603346483497905
+                ],
+                "gripper_position": [
+                  0.2706194009581636,
+                  -0.3547072367638211,
+                  1.0039324630624482
+                ],
+                "rod_tip_xy_dist": 0.0017328067911293904,
+                "target_xy_drift": 4.350060773659739e-08,
+                "depth": 0.017186419381782114,
+                "bottom_clearance": 0.08225420887260948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011184079510020983,
+                  0.0013262587850843
+                ],
+                "rod_tip_xy": [
+                  0.2706194009581637,
+                  -0.3547072367638211
+                ],
+                "target_mouth_xy": [
+                  0.2717378089091658,
+                  -0.3560334955489054
+                ],
+                "gripper_position": [
+                  0.2706110672824975,
+                  -0.3547083484375491,
+                  1.0038088836151604
+                ],
+                "rod_tip_xy_dist": 0.0017348771454711123,
+                "target_xy_drift": 8.53780222302862e-08,
+                "depth": 0.017327394612067448,
+                "bottom_clearance": 0.08211324743862447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011267702121274814,
+                  0.0013250269661873038
+                ],
+                "rod_tip_xy": [
+                  0.2706110672824976,
+                  -0.35470834843754917
+                ],
+                "target_mouth_xy": [
+                  0.2717378374946251,
+                  -0.3560333754037365
+                ],
+                "gripper_position": [
+                  0.27060259313709445,
+                  -0.35470944978695695,
+                  1.0036852992486638
+                ],
+                "rod_tip_xy_dist": 0.0017393411315959097,
+                "target_xy_drift": 6.700298188593265e-08,
+                "depth": 0.017451041792660993,
+                "bottom_clearance": 0.08198958992863292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011352439885677912,
+                  0.001324015687649227
+                ],
+                "rod_tip_xy": [
+                  0.2706025931370945,
+                  -0.35470944978695684
+                ],
+                "target_mouth_xy": [
+                  0.2717378371256623,
+                  -0.35603346547460607
+                ],
+                "gripper_position": [
+                  0.27060625584814185,
+                  -0.3547779313181205,
+                  1.0031676567250287
+                ],
+                "rod_tip_xy_dist": 0.0017440746700530235,
+                "target_xy_drift": 4.416094441883452e-08,
+                "depth": 0.01757449220758245,
+                "bottom_clearance": 0.08186610114615833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011316142082152258,
+                  0.0012554430760317592
+                ],
+                "rod_tip_xy": [
+                  0.27060625584814196,
+                  -0.3547779313181205
+                ],
+                "target_mouth_xy": [
+                  0.2717378700563572,
+                  -0.3560333743941523
+                ],
+                "gripper_position": [
+                  0.27059454646251796,
+                  -0.3547851126003092,
+                  1.0030266462380415
+                ],
+                "rod_tip_xy_dist": 0.0016901739654220976,
+                "target_xy_drift": 6.028337619076787e-08,
+                "depth": 0.018092366729541287,
+                "bottom_clearance": 0.08134840488096196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011432927310572327,
+                  0.0012483531448234664
+                ],
+                "rod_tip_xy": [
+                  0.27059454646251807,
+                  -0.3547851126003092
+                ],
+                "target_mouth_xy": [
+                  0.2717378391935753,
+                  -0.35603346574513267
+                ],
+                "gripper_position": [
+                  0.27058611947799016,
+                  -0.3547859313504799,
+                  1.002903160815198
+                ],
+                "rod_tip_xy_dist": 0.0016927799157241156,
+                "target_xy_drift": 4.2899480725138315e-08,
+                "depth": 0.018233274580479963,
+                "bottom_clearance": 0.08120738540464367,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011517491473052033,
+                  0.0012475045786299876
+                ],
+                "rod_tip_xy": [
+                  0.2705861194779903,
+                  -0.35478593135047987
+                ],
+                "target_mouth_xy": [
+                  0.2717378686252955,
+                  -0.35603343592910985
+                ],
+                "gripper_position": [
+                  0.27057742478003444,
+                  -0.35478689947199266,
+                  1.0027795960281771
+                ],
+                "rod_tip_xy_dist": 0.0016978791983003518,
+                "target_xy_drift": 1.272861916794041e-09,
+                "depth": 0.018356757551399316,
+                "bottom_clearance": 0.08108388919744203,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011604429074438816,
+                  0.0012465666089145344
+                ],
+                "rod_tip_xy": [
+                  0.27057742478003455,
+                  -0.3547868994719927
+                ],
+                "target_mouth_xy": [
+                  0.27173786768747843,
+                  -0.35603346608090725
+                ],
+                "gripper_position": [
+                  0.270568917320275,
+                  -0.35478786365958936,
+                  1.0026560234960844
+                ],
+                "rod_tip_xy_dist": 0.0017031018912259744,
+                "target_xy_drift": 3.1435648977777967e-08,
+                "depth": 0.018480249556132256,
+                "bottom_clearance": 0.08096034941901009,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001168951465071344,
+                  0.0012455722666279145
+                ],
+                "rod_tip_xy": [
+                  0.2705689173202751,
+                  -0.35478786365958936
+                ],
+                "target_mouth_xy": [
+                  0.27173786878534645,
+                  -0.3560334359262173
+                ],
+                "gripper_position": [
+                  0.27057447572136273,
+                  -0.3548594559133362,
+                  1.002141264415461
+                ],
+                "rod_tip_xy_dist": 0.0017081855282975096,
+                "target_xy_drift": 1.2627923148851338e-09,
+                "depth": 0.018603836484679004,
+                "bottom_clearance": 0.08083681630792561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011633930573283768,
+                  0.0011739797013486375
+                ],
+                "rod_tip_xy": [
+                  0.2705744757213628,
+                  -0.3548594559133361
+                ],
+                "target_mouth_xy": [
+                  0.27173786877869116,
+                  -0.35603343561468476
+                ],
+                "gripper_position": [
+                  0.27056293993746056,
+                  -0.35486623687832275,
+                  1.002000165629756
+                ],
+                "rod_tip_xy_dist": 0.0016527890806205443,
+                "target_xy_drift": 9.511906519604463e-10,
+                "depth": 0.01911866077795199,
+                "bottom_clearance": 0.08032200335094275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011748981663163849,
+                  0.0011672282452657168
+                ],
+                "rod_tip_xy": [
+                  0.27056293993746067,
+                  -0.35486623687832275
+                ],
+                "target_mouth_xy": [
+                  0.27173783810377705,
+                  -0.35603346512358847
+                ],
+                "gripper_position": [
+                  0.27055419957682847,
+                  -0.3548670336407398,
+                  1.0018768653029262
+                ],
+                "rod_tip_xy_dist": 0.0016561423482779757,
+                "target_xy_drift": 4.321747491436937e-08,
+                "depth": 0.01925969892906987,
+                "bottom_clearance": 0.08018094374752605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011836707935799495,
+                  0.0011664000407678454
+                ],
+                "rod_tip_xy": [
+                  0.2705541995768286,
+                  -0.3548670336407398
+                ],
+                "target_mouth_xy": [
+                  0.27173787037040853,
+                  -0.35603343368150764
+                ],
+                "gripper_position": [
+                  0.2705455012766498,
+                  -0.35486795925524484,
+                  1.0017534060354452
+                ],
+                "rod_tip_xy_dist": 0.0016617958968168803,
+                "target_xy_drift": 1.884350639739918e-09,
+                "depth": 0.01938304699472293,
+                "bottom_clearance": 0.08005774806673638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0011923373442433438,
+                  0.0011654763639192822
+                ],
+                "rod_tip_xy": [
+                  0.2705455012766499,
+                  -0.35486795925524484
+                ],
+                "target_mouth_xy": [
+                  0.27173783862089324,
+                  -0.3560334356191641
+                ],
+                "gripper_position": [
+                  0.27053688913454577,
+                  -0.35486872748392606,
+                  1.0016299952819205
+                ],
+                "rod_tip_xy_dist": 0.0016673342488330832,
+                "target_xy_drift": 3.0156490529683795e-08,
+                "depth": 0.019506516486376357,
+                "bottom_clearance": 0.07993413429173302,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006012311956122612,
+              "rod_tip_xy_max_step": 3.2536210394651904e-05,
+              "rod_tip_xy_range": 0.000601218278698142,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2700367103231294,
+            -0.35618102864105916,
+            1.0435416610225055
+          ],
+          "object_origin_world": [
+            0.2700367103231294,
+            -0.35618102864105916,
+            1.0435416610225055
+          ],
+          "frame_world": [
+            0.2700352519298897,
+            -0.3561868707395426,
+            1.0434297681930922
+          ],
+          "center_minus_frame": [
+            1.458393239728295e-06,
+            5.842098483421765e-06,
+            0.00011189282941326262
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27214495296623914,
+              0.15300641415451532,
+              0.8320930958796705
+            ],
+            "target_position": [
+              0.2862119988383017,
+              0.19928997805831794,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048374063993054085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16748622692528792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320930958796705,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672993950713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1372057398172519,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 300,
+            "max_placed_release_frames": 300
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21330248271131705,
+              0.020472570266145934,
+              1.043903379939352
+            ],
+            "current_z": 1.043903379939352,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.187316991740076,
+            "gripper_z": 1.048304732936894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20829997928044416,
+              0.015806686032310197,
+              1.048304732936894
+            ],
+            "object_minus_gripper": [
+              0.005002503430872884,
+              0.004665884233835738,
+              -0.004401352997541963
+            ],
+            "object_to_gripper_xy": 0.006840724834361625,
+            "object_to_gripper_z": -0.004401352997541963,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21330248271131705,
+              -0.004149786697998222,
+              1.043903379939352
+            ],
+            "finger_b": [
+              0.20213987560240926,
+              0.020472570266145934,
+              1.043903379939352
+            ],
+            "finger_midpoint": [
+              0.20772117915686317,
+              0.008161391784073857,
+              1.043903379939352
+            ],
+            "object_minus_finger_midpoint": [
+              0.005581303554453881,
+              0.012311178482072077,
+              0.0
+            ],
+            "finger_gap": 0.027034501288863772,
+            "fingertip_max_gap": 0.0921038744401981,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01351725064443188,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.043903379939352,
+            "object_top_z": 1.089613601602292,
+            "finger_top_clearance": 0.04571022166293992,
+            "fingertip_min_top_clearance": 0.01371306649888201,
+            "object_projection_between_fingers": 0.8295117105897596,
+            "object_to_finger_line_xy": 0.010166627227528648,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855193722009905,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.97845722411804,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21241699163284034,
+              0.01895505312375219,
+              1.2422921286063897
+            ],
+            "held_position": [
+              0.21768485072925636,
+              0.02329946965067001,
+              1.2378622689019545
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008139284453809723,
+            "max_held_gripper_dist": 0.00814157993342542,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004429859704435213,
+            "max_held_gripper_z_dist": 0.004429859704435213,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08600710116667398,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21768485072925636,
+              -0.0023157679336706432,
+              1.2378622689019545
+            ],
+            "held_grasp_finger_b": [
+              0.2082646810874689,
+              0.02329946965067001,
+              1.2378622689019545
+            ],
+            "held_grasp_midpoint": [
+              0.21297476590836262,
+              0.010491850858499683,
+              1.2378622689019545
+            ],
+            "held_grasp_object_position": [
+              0.21768485072925636,
+              0.02329946965067001,
+              1.2378622689019545
+            ],
+            "held_grasp_finger_gap": 0.027292489673576358,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025072937461936777,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053644035441570884,
+              -0.9985569445470684,
+              -0.0025191185693533846
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004016382669102523,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215842032071273,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17725283184234267,
+              0.019109307172574815,
+              0.7565891594829701
+            ],
+            "target_position": [
+              0.1883623898213289,
+              0.017456971252461748,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011231762661370336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20838905851813075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565891594829701,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570946792521634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09361786681076363,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17994116468056479,
+            "release_required_pad_clearance": 0.05680893340538182,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.065265291471455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd11995b9c350bfbf29c8d436347a99040607b9b38e675e7862a6850e0bfef3b",
+    "visual_seed": 5874626783178972706,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6c7539ea6e4ab5a66573cb33973de7df1170eec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_13_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2197573221689511,
+              -0.13727016473349984,
+              1.1659773212195526
+            ],
+            "current_z": 1.1659773212195526,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30487093241407603,
+            "gripper_z": 1.1594596503564993,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21521669970834575,
+              -0.14170464983767847,
+              1.1594596503564993
+            ],
+            "object_minus_gripper": [
+              0.004540622460605354,
+              0.004434485104178626,
+              0.006517670863053215
+            ],
+            "object_to_gripper_xy": 0.006346803169229052,
+            "object_to_gripper_z": 0.006517670863053215,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2197573221689511,
+              -0.1611644486963596,
+              1.1659773212195526
+            ],
+            "finger_b": [
+              0.20979910605491928,
+              -0.13727016473349984,
+              1.1659773212195526
+            ],
+            "finger_midpoint": [
+              0.2147782141119352,
+              -0.14921730671492972,
+              1.1659773212195526
+            ],
+            "object_minus_finger_midpoint": [
+              0.004979108057015902,
+              0.011947141981429876,
+              0.0
+            ],
+            "finger_gap": 0.025886345324737135,
+            "fingertip_max_gap": 0.0926285934371803,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01294317266236856,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1659773212195526,
+            "object_top_z": 1.21630248659608,
+            "finger_top_clearance": 0.050325165376527536,
+            "fingertip_min_top_clearance": 0.015097549612958228,
+            "object_projection_between_fingers": 0.8520136653919513,
+            "object_to_finger_line_xy": 0.009191890187944814,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881429671859015,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7518661885303404,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26974903180740406,
+              -0.35465405399711086,
+              0.8515395852821986
+            ],
+            "target_position": [
+              0.26372123337284126,
+              -0.35415330244480353,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006048562315530525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18366370960549436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395852821986,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521643381386274,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871038722084994,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520507805668263,
+            "release_required_pad_clearance": 0.0535519361042497,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1151684282295364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074288249015808105,
+            "max_z_decrease": 0.0074288249015808105,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512848390414555,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074288249015808105,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021077334458525554,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074288249015808105,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007428850981107738,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11942116171121596,
+              -0.4104147553443908,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11942116171121596,
+              -0.4104147553443908,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11953928451611287,
+              -0.40891419728239675,
+              0.8079880027195776
+            ],
+            "closest_button": [
+              0.11941190809011458,
+              -0.4104107022285461,
+              0.772891640663147
+            ],
+            "closest_ee_minus_button": [
+              0.0001273764259982907,
+              0.0014965049461493352,
+              0.03509636205643063
+            ],
+            "button_min_z_position": [
+              0.11940161138772964,
+              -0.410412460565567,
+              0.7693800330162048
+            ],
+            "min_active_finger_to_button": 0.14546468828070838,
+            "closest_active_finger": [
+              -0.008245155215263367,
+              -0.4710696339607239,
+              0.8107239007949829
+            ],
+            "closest_active_finger_button": [
+              0.11942151188850401,
+              -0.4104138016700744,
+              0.7763426899909973
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276666671037674,
+              -0.06065583229064947,
+              0.034381210803985596
+            ],
+            "min_contact_pad_to_button": 0.021077334458525554,
+            "closest_contact_pad": [
+              0.11940161138772964,
+              -0.410412460565567,
+              0.7904573674747304
+            ],
+            "closest_contact_pad_button": [
+              0.11940161138772964,
+              -0.410412460565567,
+              0.7693800330162048
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021077334458525554
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2782390494630369,
+              0.19960300122964267,
+              1.104202431441582
+            ],
+            "current_z": 1.104202431441582,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19429330170721937,
+            "gripper_z": 1.1042024697257344,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2782390973002977,
+              0.19960293613113783,
+              1.1042024697257344
+            ],
+            "object_minus_gripper": [
+              -4.7837260819250105e-08,
+              6.509850483671364e-08,
+              -3.8284152514833636e-08
+            ],
+            "object_to_gripper_xy": 8.078501627569677e-08,
+            "object_to_gripper_z": -3.8284152514833636e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2782390494630369,
+              0.19960300122964267,
+              1.104202431441582
+            ],
+            "finger_b": [
+              0.2782390494630369,
+              0.19960300122964267,
+              1.104202431441582
+            ],
+            "finger_midpoint": [
+              0.2782390494630369,
+              0.19960300122964267,
+              1.104202431441582
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104202431441582,
+            "object_top_z": 1.2292109380618617,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27823904946303696,
+            0.1996030012296427,
+            1.1042024314415821
+          ],
+          "object_origin_world": [
+            0.27823904946303696,
+            0.1996030012296427,
+            1.1042024314415821
+          ],
+          "frame_world": [
+            0.2782390973002977,
+            0.19960293613113783,
+            1.1042024697257344
+          ],
+          "center_minus_frame": [
+            -4.7837260763738954e-08,
+            6.509850486446922e-08,
+            -3.828415229278903e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043428161797948,
+            "required_z": 0.911259906071545,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0002760045422671867,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.886882945887945e-08,
+            "max_target_xy_drift": 1.850650409351937e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1151684287022903,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1155384503968895,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26966033756316465,
+              -0.3549094923460414,
+              0.9235393648645004
+            ],
+            "target_mouth_xy": [
+              0.26974897426223043,
+              -0.35465408535257864
+            ],
+            "rod_tip_z": 0.9235393648645004,
+            "rod_tip_depth": -0.02227958038110689,
+            "rod_tip_bottom_clearance": 0.12172014307310652,
+            "rod_tip_xy_dist": 0.00027035013728675855,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04492514547917392,
+            "min_rod_tip_bottom_clearance": 0.0545154156751364,
+            "min_rod_tip_xy_dist": 0.0002599710424962399,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26974891131388257,
+              -0.3546540226216106
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.29483478675752e-08,
+              -6.273096803122158e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0004530730170460018,
+                0.0014162933679877088
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00035647043407882606,
+                0.0010251416945409875
+              ],
+              "first_target_mouth_xy": [
+                0.26974888538549835,
+                -0.35465408597581244
+              ],
+              "last_target_mouth_xy": [
+                0.26974890974686094,
+                -0.35465402452306977
+              ],
+              "first_rod_tip_xy": [
+                0.27020195840254435,
+                -0.35323779260782473
+              ],
+              "last_rod_tip_xy": [
+                0.27010538018093977,
+                -0.3536288828285288
+              ],
+              "min_rod_tip_xy_dist": 0.0010853509405988064,
+              "max_rod_tip_xy_dist": 0.0014869976674430712,
+              "first_target_xy_drift": 6.845462729087666e-08,
+              "last_target_xy_drift": 2.4639609764969253e-09,
+              "max_depth": 0.01987205868724684,
+              "min_bottom_clearance": 0.0795684497612309
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0004530730170460018,
+                  0.0014162933679877088
+                ],
+                "rod_tip_xy": [
+                  0.27020195840254435,
+                  -0.35323779260782473
+                ],
+                "target_mouth_xy": [
+                  0.26974888538549835,
+                  -0.35465408597581244
+                ],
+                "gripper_position": [
+                  0.2701907134028939,
+                  -0.35324525738960083,
+                  1.0056374125459944
+                ],
+                "rod_tip_xy_dist": 0.0014869976674430712,
+                "target_xy_drift": 6.845462729087666e-08,
+                "depth": 0.01548103114147803,
+                "bottom_clearance": 0.08395952810620766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004417386872610507,
+                  0.0014087987911179933
+                ],
+                "rod_tip_xy": [
+                  0.2701907134028938,
+                  -0.353245257389601
+                ],
+                "target_mouth_xy": [
+                  0.26974897471563275,
+                  -0.354654056180719
+                ],
+                "gripper_position": [
+                  0.2701952985656347,
+                  -0.353310951268962,
+                  1.005118744351263
+                ],
+                "rod_tip_xy_dist": 0.0014764305272103513,
+                "target_xy_drift": 7.173559563867671e-08,
+                "depth": 0.015622423416649212,
+                "bottom_clearance": 0.08381813270932603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004463205286818206,
+                  0.001343165421203718
+                ],
+                "rod_tip_xy": [
+                  0.27019529856563457,
+                  -0.35331095126896217
+                ],
+                "target_mouth_xy": [
+                  0.26974897803695275,
+                  -0.3546541166901659
+                ],
+                "gripper_position": [
+                  0.27018414012967096,
+                  -0.3533182311160623,
+                  1.0049783911712014
+                ],
+                "rod_tip_xy_dist": 0.0014153781696211727,
+                "target_xy_drift": 1.1532935960309012e-07,
+                "depth": 0.01614116070462046,
+                "bottom_clearance": 0.08329948843164625,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004352287490443918,
+                  0.001335761682886294
+                ],
+                "rod_tip_xy": [
+                  0.2701841401296709,
+                  -0.3533182311160624
+                ],
+                "target_mouth_xy": [
+                  0.2697489113806265,
+                  -0.3546539927989487
+                ],
+                "gripper_position": [
+                  0.2701757623097032,
+                  -0.35331918103245064,
+                  1.0048550327214163
+                ],
+                "rod_tip_xy_dist": 0.0014048784066466287,
+                "target_xy_drift": 2.9822736582855266e-08,
+                "depth": 0.016281515757452847,
+                "bottom_clearance": 0.08315908138364347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00042687625324033807,
+                  0.0013349046198283254
+                ],
+                "rod_tip_xy": [
+                  0.2701757623097031,
+                  -0.35331918103245075
+                ],
+                "target_mouth_xy": [
+                  0.26974888605646274,
+                  -0.35465408565227907
+                ],
+                "gripper_position": [
+                  0.27018141782335625,
+                  -0.3533859112704443,
+                  1.0043372475175254
+                ],
+                "rod_tip_xy_dist": 0.001401496942422464,
+                "target_xy_drift": 6.790288965052484e-08,
+                "depth": 0.016404814710129223,
+                "bottom_clearance": 0.08303578146661739,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0004324761294081103,
+                  0.0012680815051931416
+                ],
+                "rod_tip_xy": [
+                  0.27018141782335614,
+                  -0.3533859112704444
+                ],
+                "target_mouth_xy": [
+                  0.26974894169394803,
+                  -0.3546539927756375
+                ],
+                "gripper_position": [
+                  0.2701700540462872,
+                  -0.3533932617529932,
+                  1.0041967386267678
+                ],
+                "rod_tip_xy_dist": 0.0013398008457680282,
+                "target_xy_drift": 4.258791479701394e-08,
+                "depth": 0.016922603966435412,
+                "bottom_clearance": 0.08251801301999029,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004211098077747666,
+                  0.0012608540486124253
+                ],
+                "rod_tip_xy": [
+                  0.2701700540462871,
+                  -0.35339326175299324
+                ],
+                "target_mouth_xy": [
+                  0.2697489442385123,
+                  -0.35465411580160566
+                ],
+                "gripper_position": [
+                  0.2701617531950195,
+                  -0.35339406321554556,
+                  1.0040734041864254
+                ],
+                "rod_tip_xy_dist": 0.001329318021432962,
+                "target_xy_drift": 9.882582011775888e-08,
+                "depth": 0.017063032504161968,
+                "bottom_clearance": 0.08237749796002836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00041280828545059434,
+                  0.001260020548158658
+                ],
+                "rod_tip_xy": [
+                  0.2701617531950194,
+                  -0.3533940632155457
+                ],
+                "target_mouth_xy": [
+                  0.2697489449095688,
+                  -0.35465408376370433
+                ],
+                "gripper_position": [
+                  0.2701531419613895,
+                  -0.353395126154558,
+                  1.00395029197095
+                ],
+                "rod_tip_xy_dist": 0.001325919478067467,
+                "target_xy_drift": 6.97640721151673e-08,
+                "depth": 0.017186472023083876,
+                "bottom_clearance": 0.08225416635803295,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004041939702055797,
+                  0.001258991447691038
+                ],
+                "rod_tip_xy": [
+                  0.2701531419613894,
+                  -0.35339512615455804
+                ],
+                "target_mouth_xy": [
+                  0.2697489479911838,
+                  -0.3546541176022491
+                ],
+                "gripper_position": [
+                  0.27016031132501195,
+                  -0.35346398245000443,
+                  1.0034322602149346
+                ],
+                "rod_tip_xy_dist": 0.0013222829617406877,
+                "target_xy_drift": 1.0181623696834048e-07,
+                "depth": 0.017309626996575234,
+                "bottom_clearance": 0.0821310437227657,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0004113961377695263,
+                  0.0011901333295538108
+                ],
+                "rod_tip_xy": [
+                  0.27016031132501184,
+                  -0.35346398245000454
+                ],
+                "target_mouth_xy": [
+                  0.2697489151872423,
+                  -0.35465411577955835
+                ],
+                "gripper_position": [
+                  0.27014871286693093,
+                  -0.3534712917556108,
+                  1.0032914702652005
+                ],
+                "rod_tip_xy_dist": 0.0012592315610270109,
+                "target_xy_drift": 9.323843705107025e-08,
+                "depth": 0.017827576410493706,
+                "bottom_clearance": 0.08161298276286966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00039976346652909056,
+                  0.001182794148085753
+                ],
+                "rod_tip_xy": [
+                  0.2701487128669308,
+                  -0.353471291755611
+                ],
+                "target_mouth_xy": [
+                  0.2697489494004017,
+                  -0.35465408590369674
+                ],
+                "gripper_position": [
+                  0.27014023143889443,
+                  -0.35347208253954704,
+                  1.0031684458155277
+                ],
+                "rod_tip_xy_dist": 0.0012485242592425896,
+                "target_xy_drift": 7.385936207646193e-08,
+                "depth": 0.017968519175593944,
+                "bottom_clearance": 0.08147220658945609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000391345589446479,
+                  0.001182032291829449
+                ],
+                "rod_tip_xy": [
+                  0.2701402314388944,
+                  -0.3534720825395472
+                ],
+                "target_mouth_xy": [
+                  0.2697488858494479,
+                  -0.35465411483137665
+                ],
+                "gripper_position": [
+                  0.27013174397858586,
+                  -0.35347309897763285,
+                  1.0030453902281975
+                ],
+                "rod_tip_xy_dist": 0.0012451312016437432,
+                "target_xy_drift": 9.566126900282314e-08,
+                "depth": 0.018091471015831972,
+                "bottom_clearance": 0.08134914060825116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00038286289604777535,
+                  0.0011809229857068226
+                ],
+                "rod_tip_xy": [
+                  0.2701317439785858,
+                  -0.3534730989776329
+                ],
+                "target_mouth_xy": [
+                  0.26974888108253803,
+                  -0.3546540219633397
+                ],
+                "gripper_position": [
+                  0.2701403107264849,
+                  -0.3535439110729833,
+                  1.002530058678442
+                ],
+                "rod_tip_xy_dist": 0.0012414359006170258,
+                "target_xy_drift": 3.0238510432560634e-08,
+                "depth": 0.018214465046640593,
+                "bottom_clearance": 0.08122613736372031,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000391365358657636,
+                  0.0011101717340658013
+                ],
+                "rod_tip_xy": [
+                  0.2701403107264848,
+                  -0.35354391107298344
+                ],
+                "target_mouth_xy": [
+                  0.2697489453678272,
+                  -0.35465408280704924
+                ],
+                "gripper_position": [
+                  0.2701287140578027,
+                  -0.3535509110272352,
+                  1.0023897160897635
+                ],
+                "rod_tip_xy_dist": 0.0011771355584960844,
+                "target_xy_drift": 6.915170400529906e-08,
+                "depth": 0.018729897850504718,
+                "bottom_clearance": 0.08071079307422535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00037979753182421083,
+                  0.0011032043983372208
+                ],
+                "rod_tip_xy": [
+                  0.2701287140578026,
+                  -0.35355091102723535
+                ],
+                "target_mouth_xy": [
+                  0.2697489165259784,
+                  -0.35465411542557257
+                ],
+                "gripper_position": [
+                  0.2701199693259302,
+                  -0.35355184166182857,
+                  1.002266739430684
+                ],
+                "rod_tip_xy_dist": 0.0011667502344933777,
+                "target_xy_drift": 9.295020870415852e-08,
+                "depth": 0.018870196352507418,
+                "bottom_clearance": 0.08057042568356476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00037105396628656084,
+                  0.0011022725360546048
+                ],
+                "rod_tip_xy": [
+                  0.2701199693259301,
+                  -0.3535518416618286
+                ],
+                "target_mouth_xy": [
+                  0.2697489153596435,
+                  -0.35465411419788323
+                ],
+                "gripper_position": [
+                  0.2701112509068581,
+                  -0.353552684765412,
+                  1.0021439376354029
+                ],
+                "rod_tip_xy_dist": 0.0011630502094222925,
+                "target_xy_drift": 9.166559817472469e-08,
+                "depth": 0.01899312715642376,
+                "bottom_clearance": 0.08044749713755472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003623033013557819,
+                  0.0011014303471408304
+                ],
+                "rod_tip_xy": [
+                  0.270111250906858,
+                  -0.35355268476541224
+                ],
+                "target_mouth_xy": [
+                  0.2697489476055022,
+                  -0.35465411511255307
+                ],
+                "gripper_position": [
+                  0.2701027552369237,
+                  -0.35355336038884,
+                  1.0020209958170434
+                ],
+                "rod_tip_xy_dist": 0.0011594880300270756,
+                "target_xy_drift": 9.935620813177619e-08,
+                "depth": 0.019115989830613578,
+                "bottom_clearance": 0.08032469127185082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003538402248897121,
+                  0.0011007861588443468
+                ],
+                "rod_tip_xy": [
+                  0.2701027552369236,
+                  -0.3535533603888401
+                ],
+                "target_mouth_xy": [
+                  0.2697489150120339,
+                  -0.35465414654768446
+                ],
+                "gripper_position": [
+                  0.270093978786146,
+                  -0.35355414560888265,
+                  1.0018982177898268
+                ],
+                "rod_tip_xy_dist": 0.001156258220404635,
+                "target_xy_drift": 1.2398124092996846e-07,
+                "depth": 0.01923882200524052,
+                "bottom_clearance": 0.08020169481354855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000345032051894123,
+                  0.0010999378125763903
+                ],
+                "rod_tip_xy": [
+                  0.2700939787861459,
+                  -0.35355414560888276
+                ],
+                "target_mouth_xy": [
+                  0.26974894673425176,
+                  -0.35465408342145915
+                ],
+                "gripper_position": [
+                  0.2701053801809399,
+                  -0.35362888282852867,
+                  1.0013877634831247
+                ],
+                "rod_tip_xy_dist": 0.0011527837214194185,
+                "target_xy_drift": 7.036493542128311e-08,
+                "depth": 0.019361737579929428,
+                "bottom_clearance": 0.08007898128292357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00035647043407882606,
+                  0.0010251416945409875
+                ],
+                "rod_tip_xy": [
+                  0.27010538018093977,
+                  -0.3536288828285288
+                ],
+                "target_mouth_xy": [
+                  0.26974890974686094,
+                  -0.35465402452306977
+                ],
+                "gripper_position": [
+                  0.2700936207305499,
+                  -0.35363589544197205,
+                  1.0012475114565174
+                ],
+                "rod_tip_xy_dist": 0.0010853509405988064,
+                "target_xy_drift": 2.4639609764969253e-09,
+                "depth": 0.01987205868724684,
+                "bottom_clearance": 0.0795684497612309,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000602591567830948,
+              "rod_tip_xy_max_step": 3.26113507998904e-05,
+              "rod_tip_xy_range": 0.0006025816518494991,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2696603375631647,
+            -0.35490949234604136,
+            1.0435393648645004
+          ],
+          "object_origin_world": [
+            0.2696603375631647,
+            -0.35490949234604136,
+            1.0435393648645004
+          ],
+          "frame_world": [
+            0.2696589634007428,
+            -0.35491500018957794,
+            1.043428161797948
+          ],
+          "center_minus_frame": [
+            1.3741624219076876e-06,
+            5.507843536589618e-06,
+            0.00011120306655243439
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26294618304189765,
+              0.15488036620719206,
+              0.8319881245294151
+            ],
+            "target_position": [
+              0.2784021625387215,
+              0.20053193646281814,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04819702448295541,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16682838019165752,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319881245294151,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567124950303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13707136187592675,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21724524881894283,
+              0.023037930273063303,
+              1.0455997001077626
+            ],
+            "current_z": 1.0455997001077626,
+            "required_z": 0.8565865074085657,
+            "initial_z": 0.7565865074085657,
+            "lift_margin": 0.18901319269919692,
+            "gripper_z": 1.0501233474762783,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2123563166859978,
+              0.018414240171834892,
+              1.0501233474762783
+            ],
+            "object_minus_gripper": [
+              0.004888932132945029,
+              0.004623690101228411,
+              -0.0045236473685157375
+            ],
+            "object_to_gripper_xy": 0.006729053986463477,
+            "object_to_gripper_z": -0.0045236473685157375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21724524881894283,
+              -0.001481619405543987,
+              1.0455997001077626
+            ],
+            "finger_b": [
+              0.20608614633217717,
+              0.023037930273063303,
+              1.0455997001077626
+            ],
+            "finger_midpoint": [
+              0.21166569757556,
+              0.010778155433759658,
+              1.0455997001077626
+            ],
+            "object_minus_finger_midpoint": [
+              0.00557955124338283,
+              0.012259774839303645,
+              0.0
+            ],
+            "finger_gap": 0.026939448486408002,
+            "fingertip_max_gap": 0.09093651212020928,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013469724243204001,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0455997001077626,
+            "object_top_z": 1.0909924567921208,
+            "finger_top_clearance": 0.04539275668435816,
+            "fingertip_min_top_clearance": 0.013617827005307448,
+            "object_projection_between_fingers": 0.8284142839041864,
+            "object_to_finger_line_xy": 0.010156710072627154,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047968256060104644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.47888702000022254,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21690244600116168,
+              0.021292261034282875,
+              1.242710414314516
+            ],
+            "held_position": [
+              0.222084277006064,
+              0.025537188902242745,
+              1.2381433803878243
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008107316698828415,
+            "max_held_gripper_dist": 0.008109580272013446,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004567033926691666,
+            "max_held_gripper_z_dist": 0.004567033926691666,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08606066111446393,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.222084277006064,
+              -9.345807575236854e-05,
+              1.2381433803878243
+            ],
+            "held_grasp_finger_b": [
+              0.21292022480873785,
+              0.025725581897083717,
+              1.2381433803878243
+            ],
+            "held_grasp_midpoint": [
+              0.21750225090740094,
+              0.012816061910665675,
+              1.2381433803878243
+            ],
+            "held_grasp_object_position": [
+              0.222084277006064,
+              0.025537188902242745,
+              1.2381433803878243
+            ],
+            "held_grasp_finger_gap": 0.027397129006416457,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025111230663814047,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07025729359644399,
+              -0.9975224561668964,
+              -0.0035863824761768193
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003677241722688849,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032188694371081475,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19564457458191523,
+              0.012198089580321172,
+              0.7565863713133344
+            ],
+            "target_position": [
+              0.19226418516803134,
+              0.021816083024327228,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010194745238525664,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21769080493065632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863713133344,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568832312522476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594708346100689,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18599452953291534,
+            "release_required_pad_clearance": 0.05297354173050345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.981972583010426,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 322,
+            "max_placed_release_frames": 322
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c484b1774a257b001cd3977d529c85fac0d6f6bc9e1cd69c9a3dd4e5639f440",
+    "visual_seed": 5036110929486233348,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63676db9cd304964a38877624ce1ab18a763187
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_14_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21001595777919563,
+              -0.14290644805809344,
+              1.1638823844260178
+            ],
+            "current_z": 1.1638823844260178,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3027758764112519,
+            "gripper_z": 1.1573352423654164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2056512083679166,
+              -0.14726129263174786,
+              1.1573352423654164
+            ],
+            "object_minus_gripper": [
+              0.00436474941127904,
+              0.004354844573654426,
+              0.006547142060601363
+            ],
+            "object_to_gripper_xy": 0.006165688013834963,
+            "object_to_gripper_z": 0.006547142060601363,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21001595777919563,
+              -0.1667373362718512,
+              1.1638823844260178
+            ],
+            "finger_b": [
+              0.20015533387190057,
+              -0.14290644805809344,
+              1.1638823844260178
+            ],
+            "finger_midpoint": [
+              0.2050856458255481,
+              -0.15482189216497233,
+              1.1638823844260178
+            ],
+            "object_minus_finger_midpoint": [
+              0.004930311953647515,
+              0.011915444106878892,
+              0.0
+            ],
+            "finger_gap": 0.025790369072538243,
+            "fingertip_max_gap": 0.09243806982018862,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012895184536269129,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1638823844260178,
+            "object_top_z": 1.2139617847885376,
+            "finger_top_clearance": 0.05007940036251979,
+            "fingertip_min_top_clearance": 0.01502382010875597,
+            "object_projection_between_fingers": 0.8538180754677653,
+            "object_to_finger_line_xy": 0.009111440995347048,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048719034910094314,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9441138146584704,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26855799091451527,
+              -0.35401563494498894,
+              0.8515396116032402
+            ],
+            "target_position": [
+              0.26296856322209156,
+              -0.3532887380793446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056364954521507995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846859574685622,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396116032402,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539245616688174,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761496413592777,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15258777667391524,
+            "release_required_pad_clearance": 0.05380748206796389,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.624183187078017,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007642984390258789,
+            "max_z_decrease": 0.007642984390258789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510888722734797,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007642984390258789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021086324776699406,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007642984390258789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00764300383254063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11866848915815355,
+              -0.4095501899719237,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11866848915815355,
+              -0.4095501899719237,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11685892584581284,
+              -0.40927924999558146,
+              0.8068385286348151
+            ],
+            "closest_button": [
+              0.11865615844726564,
+              -0.4095446169376373,
+              0.7717766761779785
+            ],
+            "closest_ee_minus_button": [
+              -0.0017972326014528,
+              0.00026536694205581135,
+              0.03506185245683657
+            ],
+            "button_min_z_position": [
+              0.11865160614252092,
+              -0.40954670310020436,
+              0.7691658735275269
+            ],
+            "min_active_finger_to_button": 0.14763465609393023,
+            "closest_active_finger": [
+              -0.009773321449756622,
+              -0.4736537039279938,
+              0.8109784126281738
+            ],
+            "closest_active_finger_button": [
+              0.11867017298936845,
+              -0.40955057740211476,
+              0.7764958143234253
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12844349443912506,
+              -0.06410312652587902,
+              0.034482598304748535
+            ],
+            "min_contact_pad_to_button": 0.021086324776699406,
+            "closest_contact_pad": [
+              0.11865160614252092,
+              -0.41029070266810547,
+              0.7902390687582319
+            ],
+            "closest_contact_pad_button": [
+              0.11865160614252092,
+              -0.40954670310020436,
+              0.7691658735275269
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007439995679011102,
+              0.021073195230705055
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2830940687837442,
+              0.19924665671439173,
+              1.1032735094338082
+            ],
+            "current_z": 1.1032735094338082,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19336437969944564,
+            "gripper_z": 1.103273468164048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2830940766894603,
+              0.1992466276269531,
+              1.103273468164048
+            ],
+            "object_minus_gripper": [
+              -7.905716081779701e-09,
+              2.9087438624397777e-08,
+              4.126976027585272e-08
+            ],
+            "object_to_gripper_xy": 3.0142651384604804e-08,
+            "object_to_gripper_z": 4.126976027585272e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2830940687837442,
+              0.19924665671439173,
+              1.1032735094338082
+            ],
+            "finger_b": [
+              0.2830940687837442,
+              0.19924665671439173,
+              1.1032735094338082
+            ],
+            "finger_midpoint": [
+              0.2830940687837442,
+              0.19924665671439173,
+              1.1032735094338082
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1032735094338082,
+            "object_top_z": 1.228282016054088,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28309406878374427,
+            0.1992466567143918,
+            1.1032735094338082
+          ],
+          "object_origin_world": [
+            0.28309406878374427,
+            0.1992466567143918,
+            1.1032735094338082
+          ],
+          "frame_world": [
+            0.2830940766894603,
+            0.1992466276269531,
+            1.103273468164048
+          ],
+          "center_minus_frame": [
+            -7.90571602626855e-09,
+            2.9087438679908928e-08,
+            4.126976027585272e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437416701682294,
+            "required_z": 0.9112598554753046,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008188665348045644,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.5357739638624613e-07,
+            "max_target_xy_drift": 1.9430045459328402e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.624183187495935,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.624183187502465,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2693249917333628,
+              -0.35422522077683216,
+              0.923430453480573
+            ],
+            "target_mouth_xy": [
+              0.2685579595443691,
+              -0.3540157263231059
+            ],
+            "rod_tip_z": 0.923430453480573,
+            "rod_tip_depth": -0.022170610247212674,
+            "rod_tip_bottom_clearance": 0.12161115539421197,
+            "rod_tip_xy_dist": 0.0007951265968979155,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044908372076161385,
+            "min_rod_tip_bottom_clearance": 0.054532148276106085,
+            "min_rod_tip_xy_dist": 0.00019857871394614627,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26855780925031425,
+              -0.35401569473649874
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.5029405486810532e-07,
+              -3.158660716318096e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.001301442508296613,
+                0.0015411269358370783
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00120270828628799,
+                0.0011497393942790923
+              ],
+              "first_target_mouth_xy": [
+                0.2685578126720525,
+                -0.3540156349792035
+              ],
+              "last_target_mouth_xy": [
+                0.2685578410914309,
+                -0.35401566354604186
+              ],
+              "first_rod_tip_xy": [
+                0.2698592551803491,
+                -0.35247450804336644
+              ],
+              "last_rod_tip_xy": [
+                0.2697605493777189,
+                -0.35286592415176277
+              ],
+              "min_rod_tip_xy_dist": 0.0016638533278696918,
+              "max_rod_tip_xy_dist": 0.002017132825265595,
+              "first_target_xy_drift": 5.985518043481275e-08,
+              "last_target_xy_drift": 4.457242767694186e-08,
+              "max_depth": 0.019527320757391053,
+              "min_bottom_clearance": 0.07991324616028328
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001301442508296613,
+                  0.0015411269358370783
+                ],
+                "rod_tip_xy": [
+                  0.2698592551803491,
+                  -0.35247450804336644
+                ],
+                "target_mouth_xy": [
+                  0.2685578126720525,
+                  -0.3540156349792035
+                ],
+                "gripper_position": [
+                  0.26985114450378767,
+                  -0.35247556312844197,
+                  1.0060051203285894
+                ],
+                "rod_tip_xy_dist": 0.002017132825265595,
+                "target_xy_drift": 5.985518043481275e-08,
+                "depth": 0.015131561434276297,
+                "bottom_clearance": 0.08430901012112735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0012933319160401413,
+                  0.001540073122908936
+                ],
+                "rod_tip_xy": [
+                  0.2698511445037876,
+                  -0.3524755631284421
+                ],
+                "target_mouth_xy": [
+                  0.26855781258774747,
+                  -0.354015636251351
+                ],
+                "gripper_position": [
+                  0.26985632471280263,
+                  -0.3525423922890439,
+                  1.0054843706344918
+                ],
+                "rod_tip_xy_dist": 0.0020111023516854,
+                "target_xy_drift": 5.858029502211251e-08,
+                "depth": 0.015254783737078226,
+                "bottom_clearance": 0.08418581080544674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012985113139362126,
+                  0.0014732429931501034
+                ],
+                "rod_tip_xy": [
+                  0.26985632471280263,
+                  -0.35254239228904394
+                ],
+                "target_mouth_xy": [
+                  0.2685578133988664,
+                  -0.35401563528219404
+                ],
+                "gripper_position": [
+                  0.2698450402624412,
+                  -0.35254984401108186,
+                  1.0053439231650283
+                ],
+                "rod_tip_xy_dist": 0.0019638168319082677,
+                "target_xy_drift": 5.9598866034959975e-08,
+                "depth": 0.015775523614568132,
+                "bottom_clearance": 0.0836650705516363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0012871990186282267,
+                  0.0014657909990439255
+                ],
+                "rod_tip_xy": [
+                  0.2698450402624412,
+                  -0.3525498440110819
+                ],
+                "target_mouth_xy": [
+                  0.268557841243813,
+                  -0.35401563501012584
+                ],
+                "gripper_position": [
+                  0.26983684989227014,
+                  -0.35255100597106737,
+                  1.0052209785742163
+                ],
+                "rod_tip_xy_dist": 0.0019507497446970637,
+                "target_xy_drift": 6.77556166064309e-08,
+                "depth": 0.015915898836656228,
+                "bottom_clearance": 0.08352462626727941,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012790086494182118,
+                  0.0014646620177664604
+                ],
+                "rod_tip_xy": [
+                  0.2698368498922701,
+                  -0.3525510059710675
+                ],
+                "target_mouth_xy": [
+                  0.26855784124285187,
+                  -0.35401566798883394
+                ],
+                "gripper_position": [
+                  0.2698426349793678,
+                  -0.35261933353633973,
+                  1.0047005388058097
+                ],
+                "rod_tip_xy_dist": 0.0019445045516980198,
+                "target_xy_drift": 4.1700839749864235e-08,
+                "depth": 0.01603888962527933,
+                "bottom_clearance": 0.08340172457581596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0012847623431077593,
+                  0.0013963030181833869
+                ],
+                "rod_tip_xy": [
+                  0.2698426349793677,
+                  -0.3526193335363399
+                ],
+                "target_mouth_xy": [
+                  0.26855787263625996,
+                  -0.3540156365545233
+                ],
+                "gripper_position": [
+                  0.2698313131124775,
+                  -0.35262642757536244,
+                  1.0045601491531309
+                ],
+                "rod_tip_xy_dist": 0.0018974394316698953,
+                "target_xy_drift": 8.604022537456108e-08,
+                "depth": 0.016559374452957187,
+                "bottom_clearance": 0.08288124815379516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012734737801107787,
+                  0.0013892071505611225
+                ],
+                "rod_tip_xy": [
+                  0.26983131311247743,
+                  -0.35262642757536256
+                ],
+                "target_mouth_xy": [
+                  0.26855783933236665,
+                  -0.3540156347259237
+                ],
+                "gripper_position": [
+                  0.26982307324090626,
+                  -0.3526274155216798,
+                  1.0044372082712223
+                ],
+                "rod_tip_xy_dist": 0.0018845773997901464,
+                "target_xy_drift": 6.712822801533807e-08,
+                "depth": 0.01669970424410072,
+                "bottom_clearance": 0.0827408409208984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012652306683284542,
+                  0.0013882197804599428
+                ],
+                "rod_tip_xy": [
+                  0.2698230732409062,
+                  -0.35262741552167987
+                ],
+                "target_mouth_xy": [
+                  0.26855784257257775,
+                  -0.3540156353021398
+                ],
+                "gripper_position": [
+                  0.26982976973611233,
+                  -0.3526966585140008,
+                  1.00391832637089
+                ],
+                "rod_tip_xy_dist": 0.0018782871992693551,
+                "target_xy_drift": 6.81382144393112e-08,
+                "depth": 0.016822680809537194,
+                "bottom_clearance": 0.08261788885038024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012719275728330648,
+                  0.0013189764743546384
+                ],
+                "rod_tip_xy": [
+                  0.26982976973611233,
+                  -0.3526966585140009
+                ],
+                "target_mouth_xy": [
+                  0.26855784216327927,
+                  -0.35401563498835553
+                ],
+                "gripper_position": [
+                  0.26981821301956915,
+                  -0.35270400470871055,
+                  1.0037782317513715
+                ],
+                "rod_tip_xy_dist": 0.0018323478628344573,
+                "target_xy_drift": 6.821366346666657e-08,
+                "depth": 0.01734150260049805,
+                "bottom_clearance": 0.08209905716099841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001260371883135325,
+                  0.0013116325139380658
+                ],
+                "rod_tip_xy": [
+                  0.2698182130195691,
+                  -0.35270400470871066
+                ],
+                "target_mouth_xy": [
+                  0.2685578411364338,
+                  -0.3540156372226487
+                ],
+                "gripper_position": [
+                  0.2698097894417033,
+                  -0.3527049941658966,
+                  1.003655419082828
+                ],
+                "rod_tip_xy_dist": 0.0018190429174204702,
+                "target_xy_drift": 6.576144434127595e-08,
+                "depth": 0.017481559070388397,
+                "bottom_clearance": 0.0819590181835751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001251916603862313,
+                  0.0013106395140554117
+                ],
+                "rod_tip_xy": [
+                  0.26980978944170325,
+                  -0.35270499416589673
+                ],
+                "target_mouth_xy": [
+                  0.26855787283784094,
+                  -0.35401563367995215
+                ],
+                "gripper_position": [
+                  0.2698172335349627,
+                  -0.3527747744125107,
+                  1.003139608116847
+                ],
+                "rod_tip_xy_dist": 0.0018124765153870418,
+                "target_xy_drift": 8.815483782892652e-08,
+                "depth": 0.017604499553321884,
+                "bottom_clearance": 0.08183614131099415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012593919076272497,
+                  0.0012408586635582197
+                ],
+                "rod_tip_xy": [
+                  0.2698172335349627,
+                  -0.3527747744125108
+                ],
+                "target_mouth_xy": [
+                  0.2685578416273354,
+                  -0.35401563307606904
+                ],
+                "gripper_position": [
+                  0.2698057042133703,
+                  -0.3527818305818566,
+                  1.0030000724324621
+                ],
+                "rod_tip_xy_dist": 0.0017679927035835002,
+                "target_xy_drift": 6.964395229865894e-08,
+                "depth": 0.01812031144640902,
+                "bottom_clearance": 0.08132030019906167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0012478318299268265,
+                  0.001233833873064638
+                ],
+                "rod_tip_xy": [
+                  0.26980570421337025,
+                  -0.35278183058185664
+                ],
+                "target_mouth_xy": [
+                  0.2685578723834434,
+                  -0.3540156644549213
+                ],
+                "gripper_position": [
+                  0.2697971528838418,
+                  -0.35278255194987573,
+                  1.0028770490784937
+                ],
+                "rod_tip_xy_dist": 0.0017548305622196742,
+                "target_xy_drift": 7.001975387416669e-08,
+                "depth": 0.018259825244286043,
+                "bottom_clearance": 0.08118076246999406,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001239310358512491,
+                  0.001233111554139188
+                ],
+                "rod_tip_xy": [
+                  0.2697971528838418,
+                  -0.35278255194987584
+                ],
+                "target_mouth_xy": [
+                  0.2685578425253293,
+                  -0.35401566350401503
+                ],
+                "gripper_position": [
+                  0.26978863127190783,
+                  -0.3527833874154425,
+                  1.0027542044787208
+                ],
+                "rod_tip_xy_dist": 0.001748271795135963,
+                "target_xy_drift": 4.5636549684132264e-08,
+                "depth": 0.01838286551316337,
+                "bottom_clearance": 0.08105775575613194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012307911010275285,
+                  0.0012322758205656759
+                ],
+                "rod_tip_xy": [
+                  0.2697886312719078,
+                  -0.3527833874154427
+                ],
+                "target_mouth_xy": [
+                  0.26855784017088025,
+                  -0.35401566323600836
+                ],
+                "gripper_position": [
+                  0.2697799556561631,
+                  -0.352784116213954,
+                  1.0026313803367435
+                ],
+                "rod_tip_xy_dist": 0.0017416516391975077,
+                "target_xy_drift": 4.414025708921881e-08,
+                "depth": 0.018505643933016347,
+                "bottom_clearance": 0.08093491146746856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001222083598787893,
+                  0.0012315492134794548
+                ],
+                "rod_tip_xy": [
+                  0.26977995565616303,
+                  -0.352784116213954
+                ],
+                "target_mouth_xy": [
+                  0.26855787205737514,
+                  -0.35401566542743346
+                ],
+                "gripper_position": [
+                  0.26978974203308914,
+                  -0.3528574041774191,
+                  1.0021181543635382
+                ],
+                "rod_tip_xy_dist": 0.001734993310548554,
+                "target_xy_drift": 6.930907736365535e-08,
+                "depth": 0.018628511600929154,
+                "bottom_clearance": 0.08081205629262722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012318998980759832,
+                  0.00115825966053551
+                ],
+                "rod_tip_xy": [
+                  0.2697897420330891,
+                  -0.3528574041774193
+                ],
+                "target_mouth_xy": [
+                  0.2685578421350131,
+                  -0.3540156638379548
+                ],
+                "gripper_position": [
+                  0.26977804518233267,
+                  -0.3528644241178407,
+                  1.0019780914096248
+                ],
+                "rod_tip_xy_dist": 0.0016908999970735859,
+                "target_xy_drift": 4.512342447783251e-08,
+                "depth": 0.0191417513566432,
+                "bottom_clearance": 0.08029884303977997,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012202039134475151,
+                  0.001151240054082736
+                ],
+                "rod_tip_xy": [
+                  0.26977804518233267,
+                  -0.3528644241178408
+                ],
+                "target_mouth_xy": [
+                  0.26855784126888516,
+                  -0.35401566417192354
+                ],
+                "gripper_position": [
+                  0.2697694043054492,
+                  -0.3528649462763605,
+                  1.001855546513033
+                ],
+                "rod_tip_xy_dist": 0.0016775730244961177,
+                "target_xy_drift": 4.4264908677796496e-08,
+                "depth": 0.01928174243305436,
+                "bottom_clearance": 0.08015880757798544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0012115340682543607,
+                  0.001150690013635769
+                ],
+                "rod_tip_xy": [
+                  0.26976940430544916,
+                  -0.35286494627636067
+                ],
+                "target_mouth_xy": [
+                  0.2685578702371948,
+                  -0.35401563628999644
+                ],
+                "gripper_position": [
+                  0.26976054937771893,
+                  -0.35286592415176266,
+                  1.0017325232128669
+                ],
+                "rod_tip_xy_dist": 0.0016708986522294066,
+                "target_xy_drift": 8.447125682935916e-08,
+                "depth": 0.019404281717789407,
+                "bottom_clearance": 0.08003623631623202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00120270828628799,
+                  0.0011497393942790923
+                ],
+                "rod_tip_xy": [
+                  0.2697605493777189,
+                  -0.35286592415176277
+                ],
+                "target_mouth_xy": [
+                  0.2685578410914309,
+                  -0.35401566354604186
+                ],
+                "gripper_position": [
+                  0.26975182090826966,
+                  -0.3528666566030689,
+                  1.0016101630385355
+                ],
+                "rod_tip_xy_dist": 0.0016638533278696918,
+                "target_xy_drift": 4.457242767694186e-08,
+                "depth": 0.019527320757391053,
+                "bottom_clearance": 0.07991324616028328,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006021864112819958,
+              "rod_tip_xy_max_step": 3.2570549718333904e-05,
+              "rod_tip_xy_range": 0.0006021788528182348,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26932499173336283,
+            -0.3542252207768321,
+            1.0434304534805732
+          ],
+          "object_origin_world": [
+            0.26932499173336283,
+            -0.3542252207768321,
+            1.0434304534805732
+          ],
+          "frame_world": [
+            0.2693502344101345,
+            -0.3542227116822482,
+            1.0437416701682294
+          ],
+          "center_minus_frame": [
+            -2.5242676771675132e-05,
+            -2.509094583880156e-06,
+            -0.0003112166876562128
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2714077378554335,
+              0.15356856179467043,
+              0.8325986107279917
+            ],
+            "target_position": [
+              0.28323380503031675,
+              0.2003730246682765,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04827539341850691,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16956091096803777,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325986107279917,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672536980288,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13858078537298646,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 217,
+            "max_placed_release_frames": 217
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21514389004969411,
+              0.02483816684287244,
+              1.043416544701331
+            ],
+            "current_z": 1.043416544701331,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18683015650205503,
+            "gripper_z": 1.0477741350406393,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21045913101873726,
+              0.020158755458262304,
+              1.0477741350406393
+            ],
+            "object_minus_gripper": [
+              0.004684759030956859,
+              0.004679411384610137,
+              -0.0043575903393082704
+            ],
+            "object_to_gripper_xy": 0.006621469480753559,
+            "object_to_gripper_z": -0.0043575903393082704,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21514389004969411,
+              0.0007929830114673259,
+              1.043416544701331
+            ],
+            "finger_b": [
+              0.20351849047356896,
+              0.02483816684287244,
+              1.043416544701331
+            ],
+            "finger_midpoint": [
+              0.20933119026163155,
+              0.012815574927169882,
+              1.043416544701331
+            ],
+            "object_minus_finger_midpoint": [
+              0.005812699788062564,
+              0.012022591915702558,
+              0.0
+            ],
+            "finger_gap": 0.026708065837694743,
+            "fingertip_max_gap": 0.09194058293556828,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013354032918847366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.043416544701331,
+            "object_top_z": 1.089303375415728,
+            "finger_top_clearance": 0.04588683071439692,
+            "fingertip_min_top_clearance": 0.013766049214319093,
+            "object_projection_between_fingers": 0.8105341678749745,
+            "object_to_finger_line_xy": 0.010466309002688762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847029146778414,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7419466210827663,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21482657186638388,
+              0.023248316981609854,
+              1.239179953958558
+            ],
+            "held_position": [
+              0.2198856627068911,
+              0.027474694062671497,
+              1.2347731852509862
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007929456085120893,
+            "max_held_gripper_dist": 0.007931777302196685,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004406768707571729,
+            "max_held_gripper_z_dist": 0.0044069916021336475,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08567210998481006,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2198856627068911,
+              0.002000739084437474,
+              1.2347731852509862
+            ],
+            "held_grasp_finger_b": [
+              0.21070938902675593,
+              0.027474694062671497,
+              1.2347731852509862
+            ],
+            "held_grasp_midpoint": [
+              0.21529752586682352,
+              0.014737716573554487,
+              1.2347731852509862
+            ],
+            "held_grasp_object_position": [
+              0.2198856627068911,
+              0.027474694062671497,
+              1.2347731852509862
+            ],
+            "held_grasp_finger_gap": 0.02707630663302947,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024582125883618418,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08672618339875532,
+              -0.9962312133864938,
+              0.0013923316989054024
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003466266938248002,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032113338829900986,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18700789727324588,
+              0.027621750673448034,
+              0.7565864780563754
+            ],
+            "target_position": [
+              0.19065654956925976,
+              0.02310426051367937,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005806925255314905,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21160325150091017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864780563754,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07616847257302249,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562740304837278,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1824120633843356,
+            "release_required_pad_clearance": 0.05281370152418639,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.672600407360758,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 316,
+            "max_placed_release_frames": 316
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ebad61d55dfa09e59794b437748bcb3e6ae5459c14bb926754eec8c249566ba8",
+    "visual_seed": 7738496714793033128,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a59e5fae9bb53ee2678ac7eaf06ebde06d9bac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_15_success.json
@@ -0,0 +1,2670 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20959512047145645,
+              -0.14268483487378109,
+              1.1632585546163354
+            ],
+            "current_z": 1.1632585546163354,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30215210620621435,
+            "gripper_z": 1.1566881124744552,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20522463766870663,
+              -0.14705576093943357,
+              1.1566881124744552
+            ],
+            "object_minus_gripper": [
+              0.00437048280274982,
+              0.004370926065652481,
+              0.006570442141880184
+            ],
+            "object_to_gripper_xy": 0.006181109495918366,
+            "object_to_gripper_z": 0.006570442141880184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20959512047145645,
+              -0.1664180021991286,
+              1.1632585546163354
+            ],
+            "finger_b": [
+              0.1995588452955064,
+              -0.14268483487378109,
+              1.1632585546163354
+            ],
+            "finger_midpoint": [
+              0.20457698288348142,
+              -0.15455141853645485,
+              1.1632585546163354
+            ],
+            "object_minus_finger_midpoint": [
+              0.005018137587975036,
+              0.011866583662673763,
+              0.0
+            ],
+            "finger_gap": 0.025768004398872925,
+            "fingertip_max_gap": 0.09261443156534127,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01288400219943647,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632585546163354,
+            "object_top_z": 1.2132825419242117,
+            "finger_top_clearance": 0.05002398730787627,
+            "fingertip_min_top_clearance": 0.015007196192362848,
+            "object_projection_between_fingers": 0.8483007097754691,
+            "object_to_finger_line_xy": 0.009243734764515657,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880721578267064,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0462293977788084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27272059007335536,
+              -0.34949734853790093,
+              0.8515395541410077
+            ],
+            "target_position": [
+              0.26667739125281936,
+              -0.3490318692162326,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00606109915637655,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18222389074353526,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395541410077,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568463894737405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08818060710515811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1496916693061596,
+            "release_required_pad_clearance": 0.05409030355257906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.193833506760074,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007311701774597168,
+            "max_z_decrease": 0.007311701774597168,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035177782776290835,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007311701774597168,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108268464454721,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007311701774597168,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00731172485521979,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12237731367349622,
+              -0.40529331564903254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12237731367349622,
+              -0.40529331564903254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1239883184957915,
+              -0.4037234069770102,
+              0.8080838817205885
+            ],
+            "closest_button": [
+              0.122366651892662,
+              -0.4052911102771758,
+              0.7729784846305847
+            ],
+            "closest_ee_minus_button": [
+              0.0016216666031294985,
+              0.0015677033001655905,
+              0.03510539709000382
+            ],
+            "button_min_z_position": [
+              0.12235900014638898,
+              -0.40529185533523554,
+              0.7694971561431885
+            ],
+            "min_active_finger_to_button": 0.1441064754955026,
+            "closest_active_finger": [
+              -0.003564968705177307,
+              -0.466332346200943,
+              0.8107829093933105
+            ],
+            "closest_active_finger_button": [
+              0.12237700074911115,
+              -0.40529286861419667,
+              0.776439368724823
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12594196945428845,
+              -0.06103947758674633,
+              0.03434354066848755
+            ],
+            "min_contact_pad_to_button": 0.02108268464454721,
+            "closest_contact_pad": [
+              0.12235900014638898,
+              -0.40529185533523554,
+              0.7905798407877357
+            ],
+            "closest_contact_pad_button": [
+              0.12235900014638898,
+              -0.40529185533523554,
+              0.7694971561431885
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108268464454721
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2856653085378552,
+              0.2043959433382744,
+              1.1013119365670079
+            ],
+            "current_z": 1.1013119365670079,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19140280683264532,
+            "gripper_z": 1.1013118804520203,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2856653185172785,
+              0.2043959515518119,
+              1.1013118804520203
+            ],
+            "object_minus_gripper": [
+              -9.979423287731493e-09,
+              -8.213537489032419e-09,
+              5.611498754554134e-08
+            ],
+            "object_to_gripper_xy": 1.292482445681405e-08,
+            "object_to_gripper_z": 5.611498754554134e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2856653085378552,
+              0.2043959433382744,
+              1.1013119365670079
+            ],
+            "finger_b": [
+              0.2856653085378552,
+              0.2043959433382744,
+              1.1013119365670079
+            ],
+            "finger_midpoint": [
+              0.2856653085378552,
+              0.2043959433382744,
+              1.1013119365670079
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1013119365670079,
+            "object_top_z": 1.2263204431872876,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2856653085378552,
+            0.2043959433382744,
+            1.1013119365670079
+          ],
+          "object_origin_world": [
+            0.2856653085378552,
+            0.2043959433382744,
+            1.1013119365670079
+          ],
+          "frame_world": [
+            0.2856653185172785,
+            0.2043959515518119,
+            1.1013118804520203
+          ],
+          "center_minus_frame": [
+            -9.979423287731493e-09,
+            -8.213537489032419e-09,
+            5.611498754554134e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043428289831643,
+            "required_z": 0.9112598291334377,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013844444324744999,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.492198615073682e-08,
+            "max_target_xy_drift": 6.2593294004625e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.1938335070440256,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.1940785897499455,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2714630026544595,
+              -0.35006777024528524,
+              0.9235395023416199
+            ],
+            "target_mouth_xy": [
+              0.2727204692871955,
+              -0.3494972883228955
+            ],
+            "rod_tip_z": 0.9235395023416199,
+            "rod_tip_depth": -0.02227967197912495,
+            "rod_tip_bottom_clearance": 0.12172018971360199,
+            "rod_tip_xy_dist": 0.0013808229271771004,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044975509641594136,
+            "min_rod_tip_bottom_clearance": 0.054465097077425084,
+            "min_rod_tip_xy_dist": 0.0007545803592244369,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27272055391035915,
+              -0.3494972954407538
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.462316364310496e-08,
+              7.117858302763125e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0006351579477731906,
+                0.0011750719246991226
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007540732498674818,
+                0.0007793224544506705
+              ],
+              "first_target_mouth_xy": [
+                0.272720556052342,
+                -0.3494972690130288
+              ],
+              "last_target_mouth_xy": [
+                0.272720496657463,
+                -0.34949723471138694
+              ],
+              "first_rod_tip_xy": [
+                0.27208539810456883,
+                -0.3483221970883297
+              ],
+              "last_rod_tip_xy": [
+                0.2719664234075955,
+                -0.34871791225693627
+              ],
+              "min_rod_tip_xy_dist": 0.0010755446950272056,
+              "max_rod_tip_xy_dist": 0.001337821557384648,
+              "first_target_xy_drift": 2.651438741002947e-08,
+              "last_target_xy_drift": 8.346226762672062e-08,
+              "max_depth": 0.01941098672734587,
+              "min_bottom_clearance": 0.08002962159033722
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0006351579477731906,
+                  0.0011750719246991226
+                ],
+                "rod_tip_xy": [
+                  0.27208539810456883,
+                  -0.3483221970883297
+                ],
+                "target_mouth_xy": [
+                  0.272720556052342,
+                  -0.3494972690130288
+                ],
+                "gripper_position": [
+                  0.27207408234529395,
+                  -0.34832960867504004,
+                  1.006118463353385
+                ],
+                "rod_tip_xy_dist": 0.0013357468498317903,
+                "target_xy_drift": 2.651438741002947e-08,
+                "depth": 0.015001288497683452,
+                "bottom_clearance": 0.0844393656291268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0006464413341268904,
+                  0.0011676268019157332
+                ],
+                "rod_tip_xy": [
+                  0.2720740823452939,
+                  -0.34832960867504004
+                ],
+                "target_mouth_xy": [
+                  0.2727205236794208,
+                  -0.34949723547695577
+                ],
+                "gripper_position": [
+                  0.2720658216231743,
+                  -0.34833057866873773,
+                  1.0059947208659374
+                ],
+                "rod_tip_xy_dist": 0.001334630565744587,
+                "target_xy_drift": 6.715330750978278e-08,
+                "depth": 0.015141325450512721,
+                "bottom_clearance": 0.08429921486937275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0006547338195564412,
+                  0.0011666576811267815
+                ],
+                "rod_tip_xy": [
+                  0.2720658216231742,
+                  -0.34833057866873773
+                ],
+                "target_mouth_xy": [
+                  0.27272055544273066,
+                  -0.3494972363498645
+                ],
+                "gripper_position": [
+                  0.27206774559676783,
+                  -0.34839732692767394,
+                  1.0054746207593994
+                ],
+                "rod_tip_xy_dist": 0.001337821557384648,
+                "target_xy_drift": 5.911075502689539e-08,
+                "depth": 0.015265102684060339,
+                "bottom_clearance": 0.08417543093890034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0006527814960874401,
+                  0.001099907168284675
+                ],
+                "rod_tip_xy": [
+                  0.2720677455967677,
+                  -0.3483973269276739
+                ],
+                "target_mouth_xy": [
+                  0.27272052709285516,
+                  -0.34949723409595856
+                ],
+                "gripper_position": [
+                  0.272056524861124,
+                  -0.348404132397205,
+                  1.0053341991424298
+                ],
+                "rod_tip_xy_dist": 0.0012790306722194622,
+                "target_xy_drift": 6.695044752657697e-08,
+                "depth": 0.015785364762859078,
+                "bottom_clearance": 0.08365528989153292,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0006640003503531888,
+                  0.0010931042703445915
+                ],
+                "rod_tip_xy": [
+                  0.27205652486112397,
+                  -0.3484041323972049
+                ],
+                "target_mouth_xy": [
+                  0.27272052521147716,
+                  -0.3494972366675495
+                ],
+                "gripper_position": [
+                  0.27204805034232216,
+                  -0.34840534007939283,
+                  1.0052109590164788
+                ],
+                "rod_tip_xy_dist": 0.001278973577176143,
+                "target_xy_drift": 6.540577475833372e-08,
+                "depth": 0.015925626090547484,
+                "bottom_clearance": 0.08351490084989333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00067250595824353,
+                  0.0010918953087460936
+                ],
+                "rod_tip_xy": [
+                  0.2720480503423221,
+                  -0.3484053400793927
+                ],
+                "target_mouth_xy": [
+                  0.27272055630056563,
+                  -0.3494972353881388
+                ],
+                "gripper_position": [
+                  0.27205093254502744,
+                  -0.34847339458689286,
+                  1.0046908246873443
+                ],
+                "rod_tip_xy_dist": 0.001282380454130043,
+                "target_xy_drift": 6.010016351363033e-08,
+                "depth": 0.016048998743661835,
+                "bottom_clearance": 0.08339158538714964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0006696218196010073,
+                  0.0010238424599466889
+                ],
+                "rod_tip_xy": [
+                  0.2720509325450274,
+                  -0.34847339458689286
+                ],
+                "target_mouth_xy": [
+                  0.2727205543646284,
+                  -0.34949723704683955
+                ],
+                "gripper_position": [
+                  0.27203941805669773,
+                  -0.3484807323913264,
+                  1.0045505814898816
+                ],
+                "rod_tip_xy_dist": 0.0012233751526312161,
+                "target_xy_drift": 5.839568120236009e-08,
+                "depth": 0.01656900189164745,
+                "bottom_clearance": 0.08287151266031978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0006811376092237809,
+                  0.0010165030343253223
+                ],
+                "rod_tip_xy": [
+                  0.2720394180566977,
+                  -0.3484807323913264
+                ],
+                "target_mouth_xy": [
+                  0.27272055566592146,
+                  -0.3494972354256517
+                ],
+                "gripper_position": [
+                  0.272030977005398,
+                  -0.34848150971246855,
+                  1.004427585576583
+                ],
+                "rod_tip_xy_dist": 0.0012236122185936503,
+                "target_xy_drift": 6.004077348192294e-08,
+                "depth": 0.016709251953274218,
+                "bottom_clearance": 0.08273130763742953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006895794947482936,
+                  0.001015725680233226
+                ],
+                "rod_tip_xy": [
+                  0.27203097700539797,
+                  -0.3484815097124686
+                ],
+                "target_mouth_xy": [
+                  0.27272055650014626,
+                  -0.34949723539270183
+                ],
+                "gripper_position": [
+                  0.2720345603812472,
+                  -0.34855073294826927,
+                  1.003909316207918
+                ],
+                "rod_tip_xy_dist": 0.0012276882898612992,
+                "target_xy_drift": 6.010387294742531e-08,
+                "depth": 0.016832373490951014,
+                "bottom_clearance": 0.08260821773890448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0006859942400481156,
+                  0.0009465034415657714
+                ],
+                "rod_tip_xy": [
+                  0.2720345603812471,
+                  -0.3485507329482692
+                ],
+                "target_mouth_xy": [
+                  0.27272055462129524,
+                  -0.349497236389835
+                ],
+                "gripper_position": [
+                  0.2720230835662202,
+                  -0.34855764704642306,
+                  1.0037692988185263
+                ],
+                "rod_tip_xy_dist": 0.0011689554577805953,
+                "target_xy_drift": 5.905519827901678e-08,
+                "depth": 0.01735050068213384,
+                "bottom_clearance": 0.08209000109098363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006974393291891423,
+                  0.0009395564088076069
+                ],
+                "rod_tip_xy": [
+                  0.2720230835662201,
+                  -0.348557647046423
+                ],
+                "target_mouth_xy": [
+                  0.27272052289540927,
+                  -0.3494972034552306
+                ],
+                "gripper_position": [
+                  0.2720144103590007,
+                  -0.348558435762934,
+                  1.003646231819175
+                ],
+                "rod_tip_xy_dist": 0.0011701230120082452,
+                "target_xy_drift": 9.707349583964568e-08,
+                "depth": 0.017490610059031075,
+                "bottom_clearance": 0.08195003634753784,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007061468460987652,
+                  0.0009388008690305316
+                ],
+                "rod_tip_xy": [
+                  0.27201441035900065,
+                  -0.348558435762934
+                ],
+                "target_mouth_xy": [
+                  0.2727205572050994,
+                  -0.3494972366319645
+                ],
+                "gripper_position": [
+                  0.272018548993456,
+                  -0.3486287456603772,
+                  1.003131692842311
+                ],
+                "rod_tip_xy_dist": 0.0011747299434115546,
+                "target_xy_drift": 5.890101026532337e-08,
+                "depth": 0.017613672015959758,
+                "bottom_clearance": 0.08182694226197962,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007020042458321663,
+                  0.0008685196148754404
+                ],
+                "rod_tip_xy": [
+                  0.2720185489934559,
+                  -0.34862874566037716
+                ],
+                "target_mouth_xy": [
+                  0.27272055323928807,
+                  -0.3494972652752526
+                ],
+                "gripper_position": [
+                  0.2720069794051714,
+                  -0.34863549335061833,
+                  1.002991722468185
+                ],
+                "rod_tip_xy_dist": 0.001116752561040167,
+                "target_xy_drift": 3.0172964712424566e-08,
+                "depth": 0.018128163257177032,
+                "bottom_clearance": 0.08131238699520771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007135776206301236,
+                  0.000861742928553455
+                ],
+                "rod_tip_xy": [
+                  0.2720069794051713,
+                  -0.3486354933506183
+                ],
+                "target_mouth_xy": [
+                  0.27272055702580145,
+                  -0.34949723627917173
+                ],
+                "gripper_position": [
+                  0.2719983280845492,
+                  -0.3486359089276197,
+                  1.0028688008126265
+                ],
+                "rod_tip_xy_dist": 0.0011188359556145995,
+                "target_xy_drift": 5.924355470955021e-08,
+                "depth": 0.018268173628395723,
+                "bottom_clearance": 0.08117242158165461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007221958851914567,
+                  0.0008613261684971008
+                ],
+                "rod_tip_xy": [
+                  0.27199832808454916,
+                  -0.34863590892761964
+                ],
+                "target_mouth_xy": [
+                  0.2727205239697406,
+                  -0.34949723509611674
+                ],
+                "gripper_position": [
+                  0.2719895408501185,
+                  -0.34863680169419997,
+                  1.0027463701610817
+                ],
+                "rod_tip_xy_dist": 0.0011240327687062188,
+                "target_xy_drift": 6.736405466620508e-08,
+                "depth": 0.01839104460858476,
+                "bottom_clearance": 0.08104949674601303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000731015285646841,
+                  0.0008604339744530121
+                ],
+                "rod_tip_xy": [
+                  0.27198954085011845,
+                  -0.34863680169419986
+                ],
+                "target_mouth_xy": [
+                  0.2727205561357653,
+                  -0.3494972356686529
+                ],
+                "gripper_position": [
+                  0.2719807075253263,
+                  -0.3486375070175927,
+                  1.0026235792599227
+                ],
+                "rod_tip_xy_dist": 0.0011290394024312611,
+                "target_xy_drift": 5.981351421469647e-08,
+                "depth": 0.018513521719242476,
+                "bottom_clearance": 0.08092704580152588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007398157645514547,
+                  0.0008597280921390782
+                ],
+                "rod_tip_xy": [
+                  0.27198070752532627,
+                  -0.34863750701759266
+                ],
+                "target_mouth_xy": [
+                  0.2727205232898777,
+                  -0.34949723510973174
+                ],
+                "gripper_position": [
+                  0.27198692538251856,
+                  -0.34871073432584515,
+                  1.0021111867205077
+                ],
+                "rod_tip_xy_dist": 0.0011342220937241316,
+                "target_xy_drift": 6.76568260159244e-08,
+                "depth": 0.01863622772080409,
+                "bottom_clearance": 0.08080434065032738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007336307129273689,
+                  0.0007865000750482132
+                ],
+                "rod_tip_xy": [
+                  0.2719869253825185,
+                  -0.3487107343258452
+                ],
+                "target_mouth_xy": [
+                  0.2727205560954459,
+                  -0.3494972344008934
+                ],
+                "gripper_position": [
+                  0.2719751663964206,
+                  -0.3487175940568511,
+                  1.0019715054680063
+                ],
+                "rod_tip_xy_dist": 0.0010755446950272056,
+                "target_xy_drift": 6.107895840813304e-08,
+                "depth": 0.019148728050120023,
+                "bottom_clearance": 0.0802918859358045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007453592171904888,
+                  0.0007796711317236138
+                ],
+                "rod_tip_xy": [
+                  0.27197516639642055,
+                  -0.3487175940568511
+                ],
+                "target_mouth_xy": [
+                  0.27272052561361104,
+                  -0.3494972651885747
+                ],
+                "gripper_position": [
+                  0.2719664234075956,
+                  -0.34871791225693644,
+                  1.0018489831340085
+                ],
+                "rod_tip_xy_dist": 0.0010786322062195247,
+                "target_xy_drift": 4.1423426870316516e-08,
+                "depth": 0.01928832695356597,
+                "bottom_clearance": 0.08015222501945463,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007540732498674818,
+                  0.0007793224544506705
+                ],
+                "rod_tip_xy": [
+                  0.2719664234075955,
+                  -0.34871791225693627
+                ],
+                "target_mouth_xy": [
+                  0.272720496657463,
+                  -0.34949723471138694
+                ],
+                "gripper_position": [
+                  0.27195761114001327,
+                  -0.34871866668026474,
+                  1.0017261821332226
+                ],
+                "rod_tip_xy_dist": 0.0010844214836384987,
+                "target_xy_drift": 8.346226762672062e-08,
+                "depth": 0.01941098672734587,
+                "bottom_clearance": 0.08002962159033722,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006037711309874476,
+              "rod_tip_xy_max_step": 3.2734017100312955e-05,
+              "rod_tip_xy_range": 0.0006037610747904365,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2714630026544595,
+            -0.35006777024528524,
+            1.0435395023416199
+          ],
+          "object_origin_world": [
+            0.2714630026544595,
+            -0.35006777024528524,
+            1.0435395023416199
+          ],
+          "frame_world": [
+            0.27146141905729393,
+            -0.350073030370339,
+            1.043428289831643
+          ],
+          "center_minus_frame": [
+            1.5835971655664416e-06,
+            5.260125053752063e-06,
+            0.00011121250997692123
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27157226824135666,
+              0.15842539421183022,
+              0.8313518638609392
+            ],
+            "target_position": [
+              0.28580358884542184,
+              0.20482327220829966,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048531366853932244,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1686476085058961,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8313518638609392,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672176939742,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13818082437934145,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 302,
+            "max_placed_release_frames": 302
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2078589830425614,
+              0.024247158014414717,
+              1.0460424496329825
+            ],
+            "current_z": 1.0460424496329825,
+            "required_z": 0.8565862689899865,
+            "initial_z": 0.7565862689899865,
+            "lift_margin": 0.18945618064299607,
+            "gripper_z": 1.050210179597167,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20326516219906535,
+              0.019579938526230217,
+              1.050210179597167
+            ],
+            "object_minus_gripper": [
+              0.004593820843496049,
+              0.0046672194881845,
+              -0.004167729964184463
+            ],
+            "object_to_gripper_xy": 0.006548750086316315,
+            "object_to_gripper_z": -0.004167729964184463,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2078589830425614,
+              0.00033976597311807723,
+              1.0460424496329825
+            ],
+            "finger_b": [
+              0.19623152669292082,
+              0.024247158014414717,
+              1.0460424496329825
+            ],
+            "finger_midpoint": [
+              0.2020452548677411,
+              0.012293461993766398,
+              1.0460424496329825
+            ],
+            "object_minus_finger_midpoint": [
+              0.005813728174820287,
+              0.01195369602064832,
+              0.0
+            ],
+            "finger_gap": 0.026584979506839024,
+            "fingertip_max_gap": 0.09214989817221148,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013292489753419512,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460424496329825,
+            "object_top_z": 1.0919851215398297,
+            "finger_top_clearance": 0.0459426719068472,
+            "fingertip_min_top_clearance": 0.01378280157205416,
+            "object_projection_between_fingers": 0.8087080140728344,
+            "object_to_finger_line_xy": 0.01045636154515032,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857494908610574,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8330011542946607,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20728646382932647,
+              0.0227894185862052,
+              1.2460253923759073
+            ],
+            "held_position": [
+              0.2122986695251054,
+              0.026961071107576062,
+              1.241811534534456
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007764115442458245,
+            "max_held_gripper_dist": 0.007766107211032642,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0042138578414512295,
+            "max_held_gripper_z_dist": 0.0042139922814190545,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08583274540337765,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2122986695251054,
+              0.0014749529751804946,
+              1.241811534534456
+            ],
+            "held_grasp_finger_b": [
+              0.20314213964171557,
+              0.02703111777046398,
+              1.241811534534456
+            ],
+            "held_grasp_midpoint": [
+              0.20772040458341048,
+              0.014253035372822237,
+              1.241811534534456
+            ],
+            "held_grasp_object_position": [
+              0.2122986695251054,
+              0.026961071107576062,
+              1.241811534534456
+            ],
+            "held_grasp_finger_gap": 0.027146999807512767,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024605024485276943,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09200065505538672,
+              -0.9957453098470971,
+              0.00521127497724816
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003390369054916687,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0321250546119073,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1779616771189041,
+              0.01867114654596997,
+              0.7565864225619694
+            ],
+            "target_position": [
+              0.18423420174490124,
+              0.024106683079180447,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008299977264282499,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21056691315423456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864225619694,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558682702293576,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536503469088537,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18114110956108237,
+            "release_required_pad_clearance": 0.052682517345442686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.420578347781645,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 353,
+            "max_placed_release_frames": 353
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "921c5a52510d4c29f06745023286964d6e36183af39cc35b56c3b9162b38c870",
+    "visual_seed": 5577784866634033026,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeddc2414f58caf2b9f8da05e4c7f02f2b421bda
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_16_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21805003513583526,
+              -0.13999670357872973,
+              1.1629411970054293
+            ],
+            "current_z": 1.1629411970054293,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3018347485953081,
+            "gripper_z": 1.1561380837632775,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21381836268680468,
+              -0.14437781121874416,
+              1.1561380837632775
+            ],
+            "object_minus_gripper": [
+              0.004231672449030582,
+              0.0043811076400144255,
+              0.00680311324215177
+            ],
+            "object_to_gripper_xy": 0.006091071816131974,
+            "object_to_gripper_z": 0.00680311324215177,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21805003513583526,
+              -0.16357309460813044,
+              1.1629411970054293
+            ],
+            "finger_b": [
+              0.2079634333653525,
+              -0.13999670357872973,
+              1.1629411970054293
+            ],
+            "finger_midpoint": [
+              0.21300673425059388,
+              -0.15178489909343007,
+              1.1629411970054293
+            ],
+            "object_minus_finger_midpoint": [
+              0.005043300885241381,
+              0.01178819551470034,
+              0.0
+            ],
+            "finger_gap": 0.025643434817658732,
+            "fingertip_max_gap": 0.09249106387984748,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012821717408829352,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629411970054293,
+            "object_top_z": 1.2131454381523992,
+            "finger_top_clearance": 0.050204241146969864,
+            "fingertip_min_top_clearance": 0.015061272344090992,
+            "object_projection_between_fingers": 0.8452832419304579,
+            "object_to_finger_line_xy": 0.009273549709299778,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048745531939923745,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8019326937948728,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27075778679606344,
+              -0.3547089849807463,
+              0.8515396058063005
+            ],
+            "target_position": [
+              0.2646578502740115,
+              -0.35447902070825393,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006104269746635214,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18287617972696324,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396058063005,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583943951845692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749782682151346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14978406656115992,
+            "release_required_pad_clearance": 0.05374891341075673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5070275933324755,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007378756999969482,
+            "max_z_decrease": 0.007378756999969482,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516068486866345,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007378756999969482,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021302147881068715,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007378756999969482,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007378776139264913,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12035777419805524,
+              -0.41074046492576594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12035777419805524,
+              -0.41074046492576594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11906838520595375,
+              -0.412754866754065,
+              0.807974276927344
+            ],
+            "closest_button": [
+              0.12034833431243894,
+              -0.4107374548912048,
+              0.7728948593139648
+            ],
+            "closest_ee_minus_button": [
+              -0.0012799491064851842,
+              -0.0020174118628601967,
+              0.03507941761337918
+            ],
+            "button_min_z_position": [
+              0.12034125626087186,
+              -0.4107373654842376,
+              0.7694301009178162
+            ],
+            "min_active_finger_to_button": 0.147193519468879,
+            "closest_active_finger": [
+              -0.021830640733242035,
+              -0.39444297552108765,
+              0.8107409477233887
+            ],
+            "closest_active_finger_button": [
+              0.12035770714282987,
+              -0.41074022650718683,
+              0.7763490080833435
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421883478760719,
+              0.016297250986099188,
+              0.034391939640045166
+            ],
+            "min_contact_pad_to_button": 0.021302147881068715,
+            "closest_contact_pad": [
+              0.12034125626087186,
+              -0.4140776018227071,
+              0.7904687397889525
+            ],
+            "closest_contact_pad_button": [
+              0.12034125626087186,
+              -0.4107373654842376,
+              0.7694301009178162
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003340236338469471,
+              0.021038638871136328
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28029637362672066,
+              0.20209686369365168,
+              1.1033348055104857
+            ],
+            "current_z": 1.1033348055104857,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19342567577612313,
+            "gripper_z": 1.1033349497226994,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2802964396914459,
+              0.20209680791076934,
+              1.1033349497226994
+            ],
+            "object_minus_gripper": [
+              -6.60647252459512e-08,
+              5.57828823410933e-08,
+              -1.4421221372629134e-07
+            ],
+            "object_to_gripper_xy": 8.646547220771584e-08,
+            "object_to_gripper_z": -1.4421221372629134e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28029637362672066,
+              0.20209686369365168,
+              1.1033348055104857
+            ],
+            "finger_b": [
+              0.28029637362672066,
+              0.20209686369365168,
+              1.1033348055104857
+            ],
+            "finger_midpoint": [
+              0.28029637362672066,
+              0.20209686369365168,
+              1.1033348055104857
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033348055104857,
+            "object_top_z": 1.2283433121307654,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28029637362672066,
+            0.20209686369365168,
+            1.103334805510486
+          ],
+          "object_origin_world": [
+            0.28029637362672066,
+            0.20209686369365168,
+            1.103334805510486
+          ],
+          "frame_world": [
+            0.2802964396914459,
+            0.20209680791076934,
+            1.1033349497226994
+          ],
+          "center_minus_frame": [
+            -6.60647252459512e-08,
+            5.57828823410933e-08,
+            -1.4421221350424673e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434051809145453,
+            "required_z": 0.911259890064986,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000819907391905442,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.334777634667893e-08,
+            "max_target_xy_drift": 2.782655648421278e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.507027592379369,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.5073397948153886,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2707961381505158,
+              -0.3538846259265489,
+              0.9235168945180395
+            ],
+            "target_mouth_xy": [
+              0.2707577580039799,
+              -0.3547090753955002
+            ],
+            "rod_tip_z": 0.9235168945180395,
+            "rod_tip_depth": -0.022257042524280957,
+            "rod_tip_bottom_clearance": 0.12169767585627866,
+            "rod_tip_xy_dist": 0.0008253423304921122,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045017210978609556,
+            "min_rod_tip_bottom_clearance": 0.054423514644482474,
+            "min_rod_tip_xy_dist": 0.0008225292740066462,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27075784676784476,
+              -0.3547091042881228
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -8.876386486944554e-08,
+              2.8892622627729736e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0005916860554849301,
+                0.002597334227357473
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00048722802061312853,
+                0.0021891826738367204
+              ],
+              "first_target_mouth_xy": [
+                0.27075784280490645,
+                -0.35470900112720666
+              ],
+              "last_target_mouth_xy": [
+                0.2707578138298743,
+                -0.3547089988886821
+              ],
+              "first_rod_tip_xy": [
+                0.2713495288603914,
+                -0.3521116668998492
+              ],
+              "last_rod_tip_xy": [
+                0.2712450418504874,
+                -0.3525198162148454
+              ],
+              "min_rod_tip_xy_dist": 0.0022427465134288982,
+              "max_rod_tip_xy_dist": 0.0026638764004469043,
+              "first_target_xy_drift": 1.0323700644382002e-07,
+              "last_target_xy_drift": 1.1042622873584128e-07,
+              "max_depth": 0.0196151970402626,
+              "min_bottom_clearance": 0.07982549936603489
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0005916860554849301,
+                  0.002597334227357473
+                ],
+                "rod_tip_xy": [
+                  0.2713495288603914,
+                  -0.3521116668998492
+                ],
+                "target_mouth_xy": [
+                  0.27075784280490645,
+                  -0.35470900112720666
+                ],
+                "gripper_position": [
+                  0.27133842026173915,
+                  -0.352119271497958,
+                  1.0059148144095589
+                ],
+                "rod_tip_xy_dist": 0.0026638764004469043,
+                "target_xy_drift": 1.0323700644382002e-07,
+                "depth": 0.015204342825836492,
+                "bottom_clearance": 0.08423626755765035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0005806025299190387,
+                  0.0025898331025483445
+                ],
+                "rod_tip_xy": [
+                  0.27133842026173915,
+                  -0.35211927149795785
+                ],
+                "target_mouth_xy": [
+                  0.2707578177318201,
+                  -0.3547091046005062
+                ],
+                "gripper_position": [
+                  0.27134253815682896,
+                  -0.3521877187503956,
+                  1.0053964506613733
+                ],
+                "rod_tip_xy_dist": 0.002654116575586606,
+                "target_xy_drift": 2.9037704976356885e-08,
+                "depth": 0.015345087817136394,
+                "bottom_clearance": 0.08409553013337612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0005847226939071359,
+                  0.0025213855793840834
+                ],
+                "rod_tip_xy": [
+                  0.271342538156829,
+                  -0.35218771875039556
+                ],
+                "target_mouth_xy": [
+                  0.2707578154629219,
+                  -0.35470910432977965
+                ],
+                "gripper_position": [
+                  0.27133128633831394,
+                  -0.35219527734723427,
+                  1.0052554728753975
+                ],
+                "rod_tip_xy_dist": 0.0025882978709368108,
+                "target_xy_drift": 3.1304950592133455e-08,
+                "depth": 0.01586336739174332,
+                "bottom_clearance": 0.08357715061363302,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0005734673862722306,
+                  0.002513825308441464
+                ],
+                "rod_tip_xy": [
+                  0.27133128633831394,
+                  -0.3521952773472342
+                ],
+                "target_mouth_xy": [
+                  0.2707578189520417,
+                  -0.3547091026556757
+                ],
+                "gripper_position": [
+                  0.27132305414289776,
+                  -0.35219620666574386,
+                  1.0051321361705616
+                ],
+                "rod_tip_xy_dist": 0.0025784069741758625,
+                "target_xy_drift": 2.7863664204659538e-08,
+                "depth": 0.016004519097666425,
+                "bottom_clearance": 0.08343618852125345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0005652669042621183,
+                  0.0025128992050438836
+                ],
+                "rod_tip_xy": [
+                  0.2713230541428978,
+                  -0.3521962066657438
+                ],
+                "target_mouth_xy": [
+                  0.2707577872386357,
+                  -0.3547091058707877
+                ],
+                "gripper_position": [
+                  0.2713281858092669,
+                  -0.35226561812990087,
+                  1.0046139529623621
+                ],
+                "rod_tip_xy_dist": 0.002575691962903224,
+                "target_xy_drift": 5.9550243993740756e-08,
+                "depth": 0.016127782237163157,
+                "bottom_clearance": 0.08331285127167554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0005704043274398773,
+                  0.002443383991712955
+                ],
+                "rod_tip_xy": [
+                  0.2713281858092669,
+                  -0.35226561812990076
+                ],
+                "target_mouth_xy": [
+                  0.270757781481827,
+                  -0.3547090021216137
+                ],
+                "gripper_position": [
+                  0.2713168796799471,
+                  -0.3522729260735284,
+                  1.0044728276753312
+                ],
+                "rod_tip_xy_dist": 0.002509080793382563,
+                "target_xy_drift": 1.2124462748351708e-07,
+                "depth": 0.016645890482369974,
+                "bottom_clearance": 0.08279468498284437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005590668046663305,
+                  0.002436072834134495
+                ],
+                "rod_tip_xy": [
+                  0.27131687967994716,
+                  -0.35227292607352834
+                ],
+                "target_mouth_xy": [
+                  0.27075781287528083,
+                  -0.35470899890766283
+                ],
+                "gripper_position": [
+                  0.2713084468124868,
+                  -0.35227395623624597,
+                  1.0043495112457346
+                ],
+                "rod_tip_xy_dist": 0.002499401237354237,
+                "target_xy_drift": 1.106966450826668e-07,
+                "depth": 0.01678715799311503,
+                "bottom_clearance": 0.0826535024862366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005506637174886309,
+                  0.0024350750228299134
+                ],
+                "rod_tip_xy": [
+                  0.2713084468124868,
+                  -0.352273956236246
+                ],
+                "target_mouth_xy": [
+                  0.27075778309499815,
+                  -0.35470903125907594
+                ],
+                "gripper_position": [
+                  0.2713145131111492,
+                  -0.3523445995356873,
+                  1.0038333202568346
+                ],
+                "rod_tip_xy_dist": 0.002496561815090606,
+                "target_xy_drift": 9.68889729588332e-08,
+                "depth": 0.016910394275822527,
+                "bottom_clearance": 0.08253022310244662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0005567340855247016,
+                  0.0023644308665997094
+                ],
+                "rod_tip_xy": [
+                  0.2713145131111492,
+                  -0.3523445995356873
+                ],
+                "target_mouth_xy": [
+                  0.2707577790256245,
+                  -0.354709030402287
+                ],
+                "gripper_position": [
+                  0.27130292915350757,
+                  -0.3523518769547639,
+                  1.0036927640632918
+                ],
+                "rod_tip_xy_dist": 0.002429091633700647,
+                "target_xy_drift": 1.0024033687841843e-07,
+                "depth": 0.017426532334668954,
+                "bottom_clearance": 0.08201400763422217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005451103947951008,
+                  0.002357197503383035
+                ],
+                "rod_tip_xy": [
+                  0.2713029291535076,
+                  -0.3523518769547639
+                ],
+                "target_mouth_xy": [
+                  0.2707578187587125,
+                  -0.3547090744581469
+                ],
+                "gripper_position": [
+                  0.2712945093901239,
+                  -0.35235284847038745,
+                  1.0035691780842544
+                ],
+                "rod_tip_xy_dist": 0.0024194060040573766,
+                "target_xy_drift": 4.091868704517813e-08,
+                "depth": 0.017567141187695312,
+                "bottom_clearance": 0.08187350626264867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005367297603930954,
+                  0.0023561229311871434
+                ],
+                "rod_tip_xy": [
+                  0.27129450939012395,
+                  -0.3523528484703874
+                ],
+                "target_mouth_xy": [
+                  0.27075777962973085,
+                  -0.35470897140157454
+                ],
+                "gripper_position": [
+                  0.2712859848182927,
+                  -0.352353746159978,
+                  1.0034456835554073
+                ],
+                "rod_tip_xy_dist": 0.0024164838303943866,
+                "target_xy_drift": 1.4888371653116637e-07,
+                "depth": 0.01769065690839089,
+                "bottom_clearance": 0.08174986086600933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005282041202914756,
+                  0.0023552547104134236
+                ],
+                "rod_tip_xy": [
+                  0.2712859848182927,
+                  -0.35235374615997805
+                ],
+                "target_mouth_xy": [
+                  0.2707577806980012,
+                  -0.3547090008703915
+                ],
+                "gripper_position": [
+                  0.27129349205991393,
+                  -0.3524264818431927,
+                  1.0029303699541423
+                ],
+                "rod_tip_xy_dist": 0.0024137573083509267,
+                "target_xy_drift": 1.227210307057845e-07,
+                "depth": 0.017814131149483714,
+                "bottom_clearance": 0.08162637042519139,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005356780799055105,
+                  0.002282516728135453
+                ],
+                "rod_tip_xy": [
+                  0.27129349205991393,
+                  -0.3524264818431927
+                ],
+                "target_mouth_xy": [
+                  0.2707578139800084,
+                  -0.35470899857132815
+                ],
+                "gripper_position": [
+                  0.2712818158000605,
+                  -0.35243379450933837,
+                  1.002789838050695
+                ],
+                "rod_tip_xy_dist": 0.0023445327081338466,
+                "target_xy_drift": 1.106846099642696e-07,
+                "depth": 0.018329629778404466,
+                "bottom_clearance": 0.08111108402888301,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0005240342991706948,
+                  0.0022752066714939456
+                ],
+                "rod_tip_xy": [
+                  0.2712818158000605,
+                  -0.3524337945093383
+                ],
+                "target_mouth_xy": [
+                  0.2707577815008898,
+                  -0.35470900118083226
+                ],
+                "gripper_position": [
+                  0.2712733077324384,
+                  -0.35243441328369285,
+                  1.002666687939578
+                ],
+                "rod_tip_xy_dist": 0.0023347756519027435,
+                "target_xy_drift": 1.2202822940176636e-07,
+                "depth": 0.018469989105116658,
+                "bottom_clearance": 0.08097055513871843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0005155257610853781,
+                  0.002274587871109235
+                ],
+                "rod_tip_xy": [
+                  0.2712733077324384,
+                  -0.35243441328369285
+                ],
+                "target_mouth_xy": [
+                  0.27075778197135303,
+                  -0.3547090011548021
+                ],
+                "gripper_position": [
+                  0.27126464419471796,
+                  -0.35243536179200174,
+                  1.0025432859368049
+                ],
+                "rod_tip_xy_dist": 0.002332277169150335,
+                "target_xy_drift": 1.2179929056572485e-07,
+                "depth": 0.018593262083247186,
+                "bottom_clearance": 0.08084730009203578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005068624134364486,
+                  0.002273669185880567
+                ],
+                "rod_tip_xy": [
+                  0.27126464419471796,
+                  -0.35243536179200163
+                ],
+                "target_mouth_xy": [
+                  0.2707577817812815,
+                  -0.3547090309778822
+                ],
+                "gripper_position": [
+                  0.2712560002855461,
+                  -0.3524359446064802,
+                  1.0024200885127725
+                ],
+                "rod_tip_xy_dist": 0.0023294808591137685,
+                "target_xy_drift": 9.79675700365174e-08,
+                "depth": 0.018716603182827085,
+                "bottom_clearance": 0.08072395209629735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0004982196744615086,
+                  0.002273085453344592
+                ],
+                "rod_tip_xy": [
+                  0.2712560002855461,
+                  -0.3524359446064802
+                ],
+                "target_mouth_xy": [
+                  0.2707577806110846,
+                  -0.3547090300598248
+                ],
+                "gripper_position": [
+                  0.27126544049161216,
+                  -0.35251215789620255,
+                  1.0019084679030623
+                ],
+                "rod_tip_xy_dist": 0.0023270454061378606,
+                "target_xy_drift": 9.943116786431594e-08,
+                "depth": 0.01883973569425812,
+                "bottom_clearance": 0.08060078353231159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005076547585406432,
+                  0.0021969461160499804
+                ],
+                "rod_tip_xy": [
+                  0.27126544049161216,
+                  -0.3525121578962025
+                ],
+                "target_mouth_xy": [
+                  0.2707577857330715,
+                  -0.3547091040122525
+                ],
+                "gripper_position": [
+                  0.271253905067757,
+                  -0.352519089524549,
+                  1.0017678939778198
+                ],
+                "rod_tip_xy_dist": 0.002254836045191768,
+                "target_xy_drift": 6.103539668376783e-08,
+                "depth": 0.019351415220817847,
+                "bottom_clearance": 0.08008911566112542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0004960942844117744,
+                  0.0021899411514421097
+                ],
+                "rod_tip_xy": [
+                  0.27125390506775704,
+                  -0.352519089524549
+                ],
+                "target_mouth_xy": [
+                  0.27075781078334527,
+                  -0.35470903067599113
+                ],
+                "gripper_position": [
+                  0.27124504185048737,
+                  -0.35251981621484535,
+                  1.0016447958380206
+                ],
+                "rod_tip_xy_dist": 0.0022454290872360285,
+                "target_xy_drift": 8.193674470190873e-08,
+                "depth": 0.01949192325929494,
+                "bottom_clearance": 0.07994858974751362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00048722802061312853,
+                  0.0021891826738367204
+                ],
+                "rod_tip_xy": [
+                  0.2712450418504874,
+                  -0.3525198162148454
+                ],
+                "target_mouth_xy": [
+                  0.2707578138298743,
+                  -0.3547089988886821
+                ],
+                "gripper_position": [
+                  0.2712362003648962,
+                  -0.35252059283512804,
+                  1.001521682398486
+                ],
+                "rod_tip_xy_dist": 0.0022427465134288982,
+                "target_xy_drift": 1.1042622873584128e-07,
+                "depth": 0.0196151970402626,
+                "bottom_clearance": 0.07982549936603489,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006036162684738608,
+              "rod_tip_xy_max_step": 3.276502381248442e-05,
+              "rod_tip_xy_range": 0.0006036081743686905,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2707961381505158,
+            -0.3538846259265489,
+            1.0435168945180398
+          ],
+          "object_origin_world": [
+            0.2707961381505158,
+            -0.3538846259265489,
+            1.0435168945180398
+          ],
+          "frame_world": [
+            0.2707946294218788,
+            -0.35388999748110905,
+            1.0434051809145453
+          ],
+          "center_minus_frame": [
+            1.5087286369674935e-06,
+            5.3715545601518144e-06,
+            0.00011171360349448989
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2663586629184883,
+              0.15723734825824792,
+              0.8315299369982432
+            ],
+            "target_position": [
+              0.280842500143308,
+              0.20381084721104337,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048773684969060024,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16643021205320288,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315299369982432,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669847623616,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13606281191375993,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 304,
+            "max_placed_release_frames": 304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21576272440311248,
+              0.017727750152439745,
+              1.0457915043688957
+            ],
+            "current_z": 1.0457915043688957,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18920505656497488,
+            "gripper_z": 1.0502311436956644,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2110241623830131,
+              0.013111512311271264,
+              1.0502311436956644
+            ],
+            "object_minus_gripper": [
+              0.004738562020099368,
+              0.004616237841168481,
+              -0.004439639326768718
+            ],
+            "object_to_gripper_xy": 0.006615407910670668,
+            "object_to_gripper_z": -0.004439639326768718,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21576272440311248,
+              -0.006518166402906618,
+              1.0457915043688957
+            ],
+            "finger_b": [
+              0.2044306839755802,
+              0.017727750152439745,
+              1.0457915043688957
+            ],
+            "finger_midpoint": [
+              0.21009670418934634,
+              0.0056047918747665635,
+              1.0457915043688957
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056660202137661375,
+              0.012122958277673183,
+              0.0
+            ],
+            "finger_gap": 0.026763400566072407,
+            "fingertip_max_gap": 0.09197053534160021,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013381700283036204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0457915043688957,
+            "object_top_z": 1.0918072283258993,
+            "finger_top_clearance": 0.046015723957003596,
+            "fingertip_min_top_clearance": 0.013804717187101046,
+            "object_projection_between_fingers": 0.8207192575587665,
+            "object_to_finger_line_xy": 0.010266098507529086,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848526767080011,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6765965756769324,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2153640885039546,
+              0.01602964793606361,
+              1.2449699137672225
+            ],
+            "held_position": [
+              0.22046223376542204,
+              0.02021280526179953,
+              1.2404956623057364
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00796924189992323,
+            "max_held_gripper_dist": 0.007971305715882865,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004474251461486167,
+            "max_held_gripper_z_dist": 0.004474251461486167,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609071742061708,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22046223376542204,
+              -0.005358748348997625,
+              1.2404956623057364
+            ],
+            "held_grasp_finger_b": [
+              0.21131966055946874,
+              0.020460440836160852,
+              1.2404956623057364
+            ],
+            "held_grasp_midpoint": [
+              0.2158909471624454,
+              0.007550846243581613,
+              1.2404956623057364
+            ],
+            "held_grasp_object_position": [
+              0.22046223376542204,
+              0.02021280526179953,
+              1.2404956623057364
+            ],
+            "held_grasp_finger_gap": 0.02739009264323908,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02497751678967795,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08240909282331833,
+              -0.9965823391712911,
+              0.005690577467671432
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035130382773790854,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032204824646957446,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1892518761543532,
+              0.009863653990018238,
+              0.7565863458069708
+            ],
+            "target_position": [
+              0.19126877242166343,
+              0.01590458188497105,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006368726747561784,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21412733414743787,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863458069708,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557928923311323,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714773959116516,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18344377110878965,
+            "release_required_pad_clearance": 0.05357386979558258,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1576676718432597,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 280,
+            "max_placed_release_frames": 280
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bdaa5b1b95b038300e1d1935c58d078ba207edb5729716171fe225344ff7048d",
+    "visual_seed": 4914506974144016936,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f0fd7b19954aa6b0d5665060cbdd46e895fcb41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_17_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21495130416914032,
+              -0.1416169850864175,
+              1.1642982728672036
+            ],
+            "current_z": 1.1642982728672036,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.30319188406172715,
+            "gripper_z": 1.1577448305716356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21049838105968058,
+              -0.1459680606652239,
+              1.1577448305716356
+            ],
+            "object_minus_gripper": [
+              0.004452923109459744,
+              0.004351075578806374,
+              0.006553442295567979
+            ],
+            "object_to_gripper_xy": 0.006225783718637024,
+            "object_to_gripper_z": 0.006553442295567979,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21495130416914032,
+              -0.16544901757823885,
+              1.1642982728672036
+            ],
+            "finger_b": [
+              0.20507424605944607,
+              -0.1416169850864175,
+              1.1642982728672036
+            ],
+            "finger_midpoint": [
+              0.2100127751142932,
+              -0.15353300133232817,
+              1.1642982728672036
+            ],
+            "object_minus_finger_midpoint": [
+              0.004938529054847124,
+              0.011916016245910654,
+              0.0
+            ],
+            "finger_gap": 0.02579771403813727,
+            "fingertip_max_gap": 0.09285732901363394,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012898857019068621,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642982728672036,
+            "object_top_z": 1.2145401313007227,
+            "finger_top_clearance": 0.05024185843351914,
+            "fingertip_min_top_clearance": 0.015072557530055741,
+            "object_projection_between_fingers": 0.8534139072298754,
+            "object_to_finger_line_xy": 0.009124466200604376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048928664506816974,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.925949745540941,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2698310768241433,
+              -0.3493760085489469,
+              0.8515395732988823
+            ],
+            "target_position": [
+              0.26376819433587556,
+              -0.34868833594264137,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006101756933868048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18512927635509077,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395732988823,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533246593292368,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08765334036361543,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1531919592560556,
+            "release_required_pad_clearance": 0.053826670181807715,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.662677745898868,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007542073726654053,
+            "max_z_decrease": 0.007542073726654053,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516003032115396,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007542073726654053,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021086884637817622,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007542073726654053,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007542096679247432,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11946812272071836,
+              -0.4049497842788696,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11946812272071836,
+              -0.4049497842788696,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12111346849706928,
+              -0.4038579682532017,
+              0.8076648457661822
+            ],
+            "closest_button": [
+              0.1194568872451782,
+              -0.40494778752326965,
+              0.7725607752799988
+            ],
+            "closest_ee_minus_button": [
+              0.0016565812518910816,
+              0.0010898192700679599,
+              0.03510407048618347
+            ],
+            "button_min_z_position": [
+              0.11944955587387082,
+              -0.40494856238365173,
+              0.7692667841911316
+            ],
+            "min_active_finger_to_button": 0.14427376280486254,
+            "closest_active_finger": [
+              -0.007014274597167969,
+              -0.46526604890823364,
+              0.8109210729598999
+            ],
+            "closest_active_finger_button": [
+              0.1194687336683273,
+              -0.4049496352672577,
+              0.7765859961509705
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12648300826549527,
+              -0.06031641364097595,
+              0.03433507680892944
+            ],
+            "min_contact_pad_to_button": 0.021086884637817622,
+            "closest_contact_pad": [
+              0.11944955587387082,
+              -0.40507270090847747,
+              0.7903533034239325
+            ],
+            "closest_contact_pad_button": [
+              0.11944955587387082,
+              -0.40494856238365173,
+              0.7692667841911316
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001241385248257343,
+              0.021086519232800915
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2825056453996621,
+              0.2036014684185228,
+              1.104285860873944
+            ],
+            "current_z": 1.104285860873944,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19437673113958154,
+            "gripper_z": 1.1042861070759924,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2825055342176707,
+              0.20360148406075315,
+              1.1042861070759924
+            ],
+            "object_minus_gripper": [
+              1.1118199139126261e-07,
+              -1.5642230344337094e-08,
+              -2.462020483040561e-07
+            ],
+            "object_to_gripper_xy": 1.1227695480316561e-07,
+            "object_to_gripper_z": -2.462020483040561e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2825056453996621,
+              0.2036014684185228,
+              1.104285860873944
+            ],
+            "finger_b": [
+              0.2825056453996621,
+              0.2036014684185228,
+              1.104285860873944
+            ],
+            "finger_midpoint": [
+              0.2825056453996621,
+              0.2036014684185228,
+              1.104285860873944
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104285860873944,
+            "object_top_z": 1.2292943674942238,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2825056453996621,
+            0.2036014684185228,
+            1.104285860873944
+          ],
+          "object_origin_world": [
+            0.2825056453996621,
+            0.2036014684185228,
+            1.104285860873944
+          ],
+          "frame_world": [
+            0.2825055342176707,
+            0.20360148406075315,
+            1.1042861070759924
+          ],
+          "center_minus_frame": [
+            1.1118199139126261e-07,
+            -1.5642230344337094e-08,
+            -2.462020483040561e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432411262729202,
+            "required_z": 0.9112599158710926,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009030208016908106,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.754345176762437e-08,
+            "max_target_xy_drift": 1.4282957921144737e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.662677745264479,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.6629717016086585,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2705238484055532,
+              -0.3499520016038415,
+              0.9233518565638358
+            ],
+            "target_mouth_xy": [
+              0.2698310193661825,
+              -0.3493760650228547
+            ],
+            "rod_tip_z": 0.9233518565638358,
+            "rod_tip_depth": -0.02209194591477537,
+            "rod_tip_bottom_clearance": 0.12153255299965371,
+            "rod_tip_xy_dist": 0.0009009522868133226,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04450320680123743,
+            "min_rod_tip_bottom_clearance": 0.054937326140484855,
+            "min_rod_tip_xy_dist": 0.000407510842183335,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2698309887546938,
+              -0.34937600481442804
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.061148867722352e-08,
+              -6.020842663323478e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0012476864281056876,
+                0.0012605863989860189
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001145666198916817,
+                0.000848247100864008
+              ],
+              "first_target_mouth_xy": [
+                0.26983095244026095,
+                -0.3493759680340175
+              ],
+              "last_target_mouth_xy": [
+                0.26983101928030934,
+                -0.349376036507002
+              ],
+              "first_rod_tip_xy": [
+                0.27107863886836664,
+                -0.3481153816350315
+              ],
+              "last_rod_tip_xy": [
+                0.27097668547922615,
+                -0.348527789406138
+              ],
+              "min_rod_tip_xy_dist": 0.0014255083947366646,
+              "max_rod_tip_xy_dist": 0.0017736401811493975,
+              "first_target_xy_drift": 5.1686909691538363e-08,
+              "last_target_xy_drift": 4.400264137120919e-08,
+              "max_depth": 0.019417729940289452,
+              "min_bottom_clearance": 0.08002282578110209
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0012476864281056876,
+                  0.0012605863989860189
+                ],
+                "rod_tip_xy": [
+                  0.27107863886836664,
+                  -0.3481153816350315
+                ],
+                "target_mouth_xy": [
+                  0.26983095244026095,
+                  -0.3493759680340175
+                ],
+                "gripper_position": [
+                  0.2710673965179934,
+                  -0.34812264850240754,
+                  1.0060993329085082
+                ],
+                "rod_tip_xy_dist": 0.0017736401811493975,
+                "target_xy_drift": 5.1686909691538363e-08,
+                "depth": 0.015020594337740278,
+                "bottom_clearance": 0.0844199620741074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012363810399584896,
+                  0.0012533185013769987
+                ],
+                "rod_tip_xy": [
+                  0.2710673965179935,
+                  -0.34812264850240754
+                ],
+                "target_mouth_xy": [
+                  0.269831015478035,
+                  -0.34937596700378454
+                ],
+                "gripper_position": [
+                  0.27105903118401936,
+                  -0.3481237152870827,
+                  1.0059767969431732
+                ],
+                "rod_tip_xy_dist": 0.001760524166793152,
+                "target_xy_drift": 4.630099056725469e-08,
+                "depth": 0.01516065277183265,
+                "bottom_clearance": 0.08428000026043891,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0012280469997477117,
+                  0.0012522526988781313
+                ],
+                "rod_tip_xy": [
+                  0.27105903118401947,
+                  -0.3481237152870826
+                ],
+                "target_mouth_xy": [
+                  0.26983098418427176,
+                  -0.3493759679859607
+                ],
+                "gripper_position": [
+                  0.2710645105596384,
+                  -0.34819359206565215,
+                  1.0054578085239827
+                ],
+                "rod_tip_xy_dist": 0.0017539202534428183,
+                "target_xy_drift": 3.7110979017078756e-08,
+                "depth": 0.015283040993462671,
+                "bottom_clearance": 0.08415752037281032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012334958012230057,
+                  0.0011823451469198387
+                ],
+                "rod_tip_xy": [
+                  0.27106451055963854,
+                  -0.3481935920656521
+                ],
+                "target_mouth_xy": [
+                  0.26983101475841553,
+                  -0.34937593721257193
+                ],
+                "gripper_position": [
+                  0.2710529962668541,
+                  -0.34820105104017285,
+                  1.00531761812438
+                ],
+                "rod_tip_xy_dist": 0.0017086403770482776,
+                "target_xy_drift": 7.243068751439247e-08,
+                "depth": 0.015802171816923116,
+                "bottom_clearance": 0.08363845432780492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001222011470514539,
+                  0.001174917252044383
+                ],
+                "rod_tip_xy": [
+                  0.2710529962668542,
+                  -0.3482010510401728
+                ],
+                "target_mouth_xy": [
+                  0.26983098479633966,
+                  -0.3493759682922172
+                ],
+                "gripper_position": [
+                  0.2710447050565522,
+                  -0.34820180426243874,
+                  1.0051953324543341
+                ],
+                "rod_tip_xy_dist": 0.0016952116632505305,
+                "target_xy_drift": 3.6736091982196574e-08,
+                "depth": 0.015942278207503824,
+                "bottom_clearance": 0.08349829419559329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012136906130600922,
+                  0.001174164642867015
+                ],
+                "rod_tip_xy": [
+                  0.27104470505655226,
+                  -0.3482018042624387
+                ],
+                "target_mouth_xy": [
+                  0.26983101444349217,
+                  -0.3493759689053057
+                ],
+                "gripper_position": [
+                  0.27105086046442584,
+                  -0.3482730376207643,
+                  1.0046760042044602
+                ],
+                "rod_tip_xy_dist": 0.0016886999475304093,
+                "target_xy_drift": 4.415177718844632e-08,
+                "depth": 0.016064551604998534,
+                "bottom_clearance": 0.08337599211865687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012198436354365905,
+                  0.0011029296435173253
+                ],
+                "rod_tip_xy": [
+                  0.27105086046442595,
+                  -0.34827303762076417
+                ],
+                "target_mouth_xy": [
+                  0.26983101682898936,
+                  -0.3493759672642815
+                ],
+                "gripper_position": [
+                  0.271039316688853,
+                  -0.34828033774943534,
+                  1.0045366395863509
+                ],
+                "rod_tip_xy_dist": 0.0016445279850049411,
+                "target_xy_drift": 4.688474780418559e-08,
+                "depth": 0.016583926773364177,
+                "bottom_clearance": 0.08285676619762483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012083609595809897,
+                  0.0010956314823258873
+                ],
+                "rod_tip_xy": [
+                  0.2710393166888531,
+                  -0.3482803377494353
+                ],
+                "target_mouth_xy": [
+                  0.2698309557292721,
+                  -0.3493759692317612
+                ],
+                "gripper_position": [
+                  0.2710309493559959,
+                  -0.3482809949132563,
+                  1.004414103389891
+                ],
+                "rod_tip_xy_dist": 0.0016311175781356508,
+                "target_xy_drift": 4.854693253233905e-08,
+                "depth": 0.016723253507609948,
+                "bottom_clearance": 0.08271732798500075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011999954439576577,
+                  0.001094976270368253
+                ],
+                "rod_tip_xy": [
+                  0.27103094935599603,
+                  -0.3482809949132563
+                ],
+                "target_mouth_xy": [
+                  0.2698309539120384,
+                  -0.34937597118362457
+                ],
+                "gripper_position": [
+                  0.27103773900174294,
+                  -0.3483533808978566,
+                  1.0038966242416503
+                ],
+                "rod_tip_xy_dist": 0.0016244882573255817,
+                "target_xy_drift": 4.8425629367541344e-08,
+                "depth": 0.016845748218301426,
+                "bottom_clearance": 0.08259482656700523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0012067246153463773,
+                  0.0010225556889182363
+                ],
+                "rod_tip_xy": [
+                  0.27103773900174305,
+                  -0.34835338089785656
+                ],
+                "target_mouth_xy": [
+                  0.2698310143863967,
+                  -0.3493759365867748
+                ],
+                "gripper_position": [
+                  0.2710262538092514,
+                  -0.3483605580898265,
+                  1.0037572306138343
+                ],
+                "rod_tip_xy_dist": 0.0015817093393610316,
+                "target_xy_drift": 7.288344709185596e-08,
+                "depth": 0.017363364843003826,
+                "bottom_clearance": 0.08207727107105178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011952688812526535,
+                  0.0010154092443317997
+                ],
+                "rod_tip_xy": [
+                  0.27102625380925144,
+                  -0.3483605580898265
+                ],
+                "target_mouth_xy": [
+                  0.2698309849279988,
+                  -0.3493759673341583
+                ],
+                "gripper_position": [
+                  0.27101756038209024,
+                  -0.34836140246399944,
+                  1.0036347649804425
+                ],
+                "rod_tip_xy_dist": 0.0015683506087496655,
+                "target_xy_drift": 3.767511397620736e-08,
+                "depth": 0.017502684106756816,
+                "bottom_clearance": 0.08193792904006225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011865744043170756,
+                  0.001014567067226746
+                ],
+                "rod_tip_xy": [
+                  0.27101756038209035,
+                  -0.3483614024639993
+                ],
+                "target_mouth_xy": [
+                  0.2698309859777733,
+                  -0.34937596953122607
+                ],
+                "gripper_position": [
+                  0.2710253079997106,
+                  -0.3484345411015907,
+                  1.0031211105157973
+                ],
+                "rod_tip_xy_dist": 0.0015611870966932512,
+                "target_xy_drift": 3.539231030822956e-08,
+                "depth": 0.017625137265828816,
+                "bottom_clearance": 0.08181547226041663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011943546075071088,
+                  0.0009413669935139368
+                ],
+                "rod_tip_xy": [
+                  0.27102530799971064,
+                  -0.3484345411015906
+                ],
+                "target_mouth_xy": [
+                  0.26983095339220353,
+                  -0.34937590809510455
+                ],
+                "gripper_position": [
+                  0.2710136579909726,
+                  -0.34844155042708136,
+                  1.0029817406601165
+                ],
+                "rod_tip_xy_dist": 0.0015207415115498519,
+                "target_xy_drift": 1.0298122768404069e-07,
+                "depth": 0.01813872557162355,
+                "bottom_clearance": 0.0813018101190589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001182642051318017,
+                  0.0009343550395957134
+                ],
+                "rod_tip_xy": [
+                  0.2710136579909727,
+                  -0.3484415504270813
+                ],
+                "target_mouth_xy": [
+                  0.2698310159396547,
+                  -0.349375905466677
+                ],
+                "gripper_position": [
+                  0.271005058756017,
+                  -0.3484420401807599,
+                  1.0028595222113574
+                ],
+                "rod_tip_xy_dist": 0.0015072032250375508,
+                "target_xy_drift": 1.0299998899354191e-07,
+                "depth": 0.018278283519148508,
+                "bottom_clearance": 0.08116245892409701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011740742162847373,
+                  0.0009339277792790868
+                ],
+                "rod_tip_xy": [
+                  0.2710050587560171,
+                  -0.3484420401807598
+                ],
+                "target_mouth_xy": [
+                  0.26983098453973237,
+                  -0.3493759679600389
+                ],
+                "gripper_position": [
+                  0.27099627156419637,
+                  -0.3484428390586523,
+                  1.002737289463442
+                ],
+                "rod_tip_xy_dist": 0.001500223770726816,
+                "target_xy_drift": 3.70946343780056e-08,
+                "depth": 0.018400318734124732,
+                "bottom_clearance": 0.08104025667756376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011652247843227936,
+                  0.0009330368920563714
+                ],
+                "rod_tip_xy": [
+                  0.2709962715641965,
+                  -0.3484428390586522
+                ],
+                "target_mouth_xy": [
+                  0.2698310467798737,
+                  -0.34937587595070857
+                ],
+                "gripper_position": [
+                  0.2709874970993243,
+                  -0.3484435338652406,
+                  1.0026149839003329
+                ],
+                "rod_tip_xy_dist": 0.0014927513657465913,
+                "target_xy_drift": 1.4132508516495333e-07,
+                "depth": 0.018522736911112614,
+                "bottom_clearance": 0.08091803298387334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011564823116615441,
+                  0.0009324049109592503
+                ],
+                "rod_tip_xy": [
+                  0.2709874970993244,
+                  -0.3484435338652406
+                ],
+                "target_mouth_xy": [
+                  0.26983101478766286,
+                  -0.3493759387761998
+                ],
+                "gripper_position": [
+                  0.2709972402009031,
+                  -0.34852017259143186,
+                  1.0021037779936213
+                ],
+                "rod_tip_xy_dist": 0.001485540391630923,
+                "target_xy_drift": 7.098424518378862e-08,
+                "depth": 0.01864490856651102,
+                "bottom_clearance": 0.08079566006076022,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001166251119039119,
+                  0.0008558341261565294
+                ],
+                "rod_tip_xy": [
+                  0.2709972402009032,
+                  -0.3485201725914318
+                ],
+                "target_mouth_xy": [
+                  0.2698309890818641,
+                  -0.34937600671758834
+                ],
+                "gripper_position": [
+                  0.27098549837418695,
+                  -0.3485272382291358,
+                  1.0019647297160437
+                ],
+                "rod_tip_xy_dist": 0.0014465800095930083,
+                "target_xy_drift": 1.9310772930110843e-09,
+                "depth": 0.0191561055510564,
+                "bottom_clearance": 0.08028443511629957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0011544508827563416,
+                  0.0008486690838574451
+                ],
+                "rod_tip_xy": [
+                  0.27098549837418706,
+                  -0.3485272382291357
+                ],
+                "target_mouth_xy": [
+                  0.2698310474914307,
+                  -0.3493759073129932
+                ],
+                "gripper_position": [
+                  0.27097668547922604,
+                  -0.348527789406138,
+                  1.0018421566667408
+                ],
+                "rod_tip_xy_dist": 0.0014328279919768219,
+                "target_xy_drift": 1.1382677218310607e-07,
+                "depth": 0.01929527332435621,
+                "bottom_clearance": 0.08014546428499425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001145666198916817,
+                  0.000848247100864008
+                ],
+                "rod_tip_xy": [
+                  0.27097668547922615,
+                  -0.348527789406138
+                ],
+                "target_mouth_xy": [
+                  0.26983101928030934,
+                  -0.349376036507002
+                ],
+                "gripper_position": [
+                  0.27096797269148387,
+                  -0.34852818703826666,
+                  1.0017199435224913
+                ],
+                "rod_tip_xy_dist": 0.0014255083947366646,
+                "target_xy_drift": 4.400264137120919e-08,
+                "depth": 0.019417729940289452,
+                "bottom_clearance": 0.08002282578110209,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005964485639489176,
+              "rod_tip_xy_max_step": 3.237104280751495e-05,
+              "rod_tip_xy_range": 0.0005964376771030798,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2705238484055532,
+            -0.3499520016038415,
+            1.043351856563836
+          ],
+          "object_origin_world": [
+            0.2705238484055532,
+            -0.3499520016038415,
+            1.043351856563836
+          ],
+          "frame_world": [
+            0.27052240842544273,
+            -0.34995695032738694,
+            1.0432411262729202
+          ],
+          "center_minus_frame": [
+            1.4399801104847398e-06,
+            4.948723545450395e-06,
+            0.00011073029091579478
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26918609724641757,
+              0.15589380857730112,
+              0.8322302191847343
+            ],
+            "target_position": [
+              0.28266300372174186,
+              0.20276664206316725,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04877181078387772,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1702186281679391,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322302191847343,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668385357982,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13994792424505084,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 231,
+            "max_placed_release_frames": 231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21275064028135654,
+              0.019584164309278666,
+              1.0432113909691374
+            ],
+            "current_z": 1.0432113909691374,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.1866250027698616,
+            "gripper_z": 1.047731641132723,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20809984036216017,
+              0.01493897076670156,
+              1.047731641132723
+            ],
+            "object_minus_gripper": [
+              0.004650799919196369,
+              0.004645193542577107,
+              -0.004520250163585704
+            ],
+            "object_to_gripper_xy": 0.006573261210114581,
+            "object_to_gripper_z": -0.004520250163585704,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21275064028135654,
+              -0.004458992836760291,
+              1.0432113909691374
+            ],
+            "finger_b": [
+              0.20124299515807548,
+              0.019584164309278666,
+              1.0432113909691374
+            ],
+            "finger_midpoint": [
+              0.206996817719716,
+              0.0075625857362591874,
+              1.0432113909691374
+            ],
+            "object_minus_finger_midpoint": [
+              0.005753822561640531,
+              0.012021578573019479,
+              0.0
+            ],
+            "finger_gap": 0.0266551927742513,
+            "fingertip_max_gap": 0.09338106249181427,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332759638712565,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0432113909691374,
+            "object_top_z": 1.0898033743137825,
+            "finger_top_clearance": 0.046591983344645094,
+            "fingertip_min_top_clearance": 0.013977595003393512,
+            "object_projection_between_fingers": 0.8136157263746419,
+            "object_to_finger_line_xy": 0.010379970703013112,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919053124590714,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.119803218253568,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21215067960448714,
+              0.018062787944814418,
+              1.2402363014701014
+            ],
+            "held_position": [
+              0.2171644302966095,
+              0.02227696873040859,
+              1.2356759950541585
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007980815140304853,
+            "max_held_gripper_dist": 0.007982788299787033,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004560306415942961,
+            "max_held_gripper_z_dist": 0.004560306415942961,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580922888600094,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2171644302966095,
+              -0.0031524644283301034,
+              1.2356759950541585
+            ],
+            "held_grasp_finger_b": [
+              0.20799554351427732,
+              0.02227696873040859,
+              1.2356759950541585
+            ],
+            "held_grasp_midpoint": [
+              0.2125799869054434,
+              0.009562252151039242,
+              1.2356759950541585
+            ],
+            "held_grasp_object_position": [
+              0.2171644302966095,
+              0.02227696873040859,
+              1.2356759950541585
+            ],
+            "held_grasp_finger_gap": 0.027031917349717997,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02458773419332339,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0823026494752985,
+              -0.9965758068633788,
+              0.007933162292029228
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035239221734189173,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032151734194224096,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1794224032741038,
+              0.015138317453550517,
+              0.7565930539780668
+            ],
+            "target_position": [
+              0.18872953283936675,
+              0.01768087865817444,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.009648174864908403,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21076862946594824,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565930539780668,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07616761349272495,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0938157800215841,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18074421366412988,
+            "release_required_pad_clearance": 0.05690789001079205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.275435243173707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0e608bc83030652c91b160699b45edaf4fff9f948f60cd081221395b358857f",
+    "visual_seed": 5303489069264484208,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df58cced06268c82bed127831c29e1a1bbeb058c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_18_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21981608943664144,
+              -0.14021134461097154,
+              1.1653221166703007
+            ],
+            "current_z": 1.1653221166703007,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30421560865553476,
+            "gripper_z": 1.1586202198476419,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2154405688862522,
+              -0.1445883573210225,
+              1.1586202198476419
+            ],
+            "object_minus_gripper": [
+              0.004375520550389228,
+              0.004377012710050948,
+              0.0067018968226588704
+            ],
+            "object_to_gripper_xy": 0.006188975710957832,
+            "object_to_gripper_z": 0.0067018968226588704,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21981608943664144,
+              -0.16399604353817104,
+              1.1653221166703007
+            ],
+            "finger_b": [
+              0.20995656837461413,
+              -0.14021134461097154,
+              1.1653221166703007
+            ],
+            "finger_midpoint": [
+              0.21488632890562778,
+              -0.1521036940745713,
+              1.1653221166703007
+            ],
+            "object_minus_finger_midpoint": [
+              0.004929760531013655,
+              0.011892349463599766,
+              0.0
+            ],
+            "finger_gap": 0.02574727283869275,
+            "fingertip_max_gap": 0.09279675106370144,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012873636419346388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653221166703007,
+            "object_top_z": 1.2155653788290193,
+            "finger_top_clearance": 0.05024326215871855,
+            "fingertip_min_top_clearance": 0.015072978647615564,
+            "object_projection_between_fingers": 0.8533611088859482,
+            "object_to_finger_line_xy": 0.009107983649215418,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048898375531850724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8131271210682287,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 321,
+            "max_stable_success_frames": 321,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2646192310546932,
+              -0.3536442732334387,
+              0.8515395624846285
+            ],
+            "target_position": [
+              0.2592115779155524,
+              -0.3526440828028818,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00549937208876043,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18183768053875102,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395624846285,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571256351323538,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08835741640543286,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14916937349767323,
+            "release_required_pad_clearance": 0.05417870820271643,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.373344489220563,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007544875144958496,
+            "max_z_decrease": 0.007544875144958496,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508333182411794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007544875144958496,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021087914507855316,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007544875144958496,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007544892625630181,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1149115040898323,
+              -0.4089055359363556,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1149115040898323,
+              -0.4089055359363556,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11387100651323201,
+              -0.40858589910433074,
+              0.8077221092451398
+            ],
+            "closest_button": [
+              0.1149006560444832,
+              -0.40890127420425415,
+              0.7726553082466125
+            ],
+            "closest_ee_minus_button": [
+              -0.0010296495312511894,
+              0.0003153750999234095,
+              0.035066800998527214
+            ],
+            "button_min_z_position": [
+              0.11489559710025787,
+              -0.4089022576808929,
+              0.7692639827728271
+            ],
+            "min_active_finger_to_button": 0.14698759775627904,
+            "closest_active_finger": [
+              -0.013423673808574677,
+              -0.4717426300048828,
+              0.8105722665786743
+            ],
+            "closest_active_finger_button": [
+              0.11491057276725769,
+              -0.40890577435493464,
+              0.7761164307594299
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12833424657583237,
+              -0.06283685564994818,
+              0.034455835819244385
+            ],
+            "min_contact_pad_to_button": 0.021087914507855316,
+            "closest_contact_pad": [
+              0.11489559710025787,
+              -0.40966473460023484,
+              0.7903381083119352
+            ],
+            "closest_contact_pad_button": [
+              0.11489559710025787,
+              -0.4089022576808929,
+              0.7692639827728271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007624769193419478,
+              0.021074125539108035
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2782706956422567,
+              0.20005565936209022,
+              1.1045701882060155
+            ],
+            "current_z": 1.1045701882060155,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19466105847165294,
+            "gripper_z": 1.1045703072476027,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27827067074987993,
+              0.20005558385209415,
+              1.1045703072476027
+            ],
+            "object_minus_gripper": [
+              2.4892376770946356e-08,
+              7.550999606142916e-08,
+              -1.1904158725428715e-07
+            ],
+            "object_to_gripper_xy": 7.950716902584192e-08,
+            "object_to_gripper_z": -1.1904158725428715e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2782706956422567,
+              0.20005565936209022,
+              1.1045701882060155
+            ],
+            "finger_b": [
+              0.2782706956422567,
+              0.20005565936209022,
+              1.1045701882060155
+            ],
+            "finger_midpoint": [
+              0.2782706956422567,
+              0.20005565936209022,
+              1.1045701882060155
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045701882060155,
+            "object_top_z": 1.2295786948262952,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2782706956422567,
+            0.20005565936209024,
+            1.1045701882060157
+          ],
+          "object_origin_world": [
+            0.2782706956422567,
+            0.20005565936209024,
+            1.1045701882060157
+          ],
+          "frame_world": [
+            0.27827067074987993,
+            0.20005558385209415,
+            1.1045703072476027
+          ],
+          "center_minus_frame": [
+            2.4892376770946356e-08,
+            7.550999608918474e-08,
+            -1.1904158703224255e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432808541242473,
+            "required_z": 0.9112597811167431,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014067837037970896,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.177703113993619e-08,
+            "max_target_xy_drift": 1.3012352562108665e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.3733444892533195,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.3735765344141675,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26327090784570994,
+              -0.3532426569351953,
+              0.9233889650141448
+            ],
+            "target_mouth_xy": [
+              0.26461923092921114,
+              -0.35364427420212363
+            ],
+            "rod_tip_z": 0.9233889650141448,
+            "rod_tip_depth": -0.022129127979003682,
+            "rod_tip_bottom_clearance": 0.1215696729732656,
+            "rod_tip_xy_dist": 0.001406865866597503,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04474681911039469,
+            "min_rod_tip_bottom_clearance": 0.05469381073589619,
+            "min_rod_tip_xy_dist": 0.001221017237274005,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26461920164708846,
+              -0.35364430399939906
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.928212267105934e-08,
+              2.979727542484767e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0007222516449157945,
+                0.002088120456522846
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0008376542460036274,
+                0.0017122647303039473
+              ],
+              "first_target_mouth_xy": [
+                0.2646192267663887,
+                -0.35364427520616615
+              ],
+              "last_target_mouth_xy": [
+                0.264619227710995,
+                -0.35364427389359576
+              ],
+              "first_rod_tip_xy": [
+                0.2638969751214729,
+                -0.3515561547496433
+              ],
+              "last_rod_tip_xy": [
+                0.26378157346499137,
+                -0.3519320091632918
+              ],
+              "min_rod_tip_xy_dist": 0.001899448539172309,
+              "max_rod_tip_xy_dist": 0.0022111845798119764,
+              "first_target_xy_drift": 3.821033245671211e-08,
+              "last_target_xy_drift": 3.982068075492944e-08,
+              "max_depth": 0.019473440122821484,
+              "min_bottom_clearance": 0.07996721414351693
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0007222516449157945,
+                  0.002088120456522846
+                ],
+                "rod_tip_xy": [
+                  0.2638969751214729,
+                  -0.3515561547496433
+                ],
+                "target_mouth_xy": [
+                  0.2646192267663887,
+                  -0.35364427520616615
+                ],
+                "gripper_position": [
+                  0.2638888946189808,
+                  -0.3515571715485269,
+                  1.0060094081483382
+                ],
+                "rod_tip_xy_dist": 0.0022095009571241986,
+                "target_xy_drift": 3.821033245671211e-08,
+                "depth": 0.015130381170820106,
+                "bottom_clearance": 0.08431026753984017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007303067523662943,
+                  0.0020871006907781098
+                ],
+                "rod_tip_xy": [
+                  0.2638888946189808,
+                  -0.35155717154852706
+                ],
+                "target_mouth_xy": [
+                  0.2646192013713471,
+                  -0.35364427223930517
+                ],
+                "gripper_position": [
+                  0.2638905042232653,
+                  -0.35162153458300793,
+                  1.0054909767744464
+                ],
+                "rod_tip_xy_dist": 0.0022111845798119764,
+                "target_xy_drift": 3.1761290859954106e-08,
+                "depth": 0.01525046649670625,
+                "bottom_clearance": 0.08419016181830041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007287259646843736,
+                  0.0020227716212001257
+                ],
+                "rod_tip_xy": [
+                  0.2638905042232653,
+                  -0.35162153458300804
+                ],
+                "target_mouth_xy": [
+                  0.2646192301879497,
+                  -0.35364430620420817
+                ],
+                "gripper_position": [
+                  0.2638792023889856,
+                  -0.3516286664179928,
+                  1.0053534102858293
+                ],
+                "rod_tip_xy_dist": 0.0021500340841804706,
+                "target_xy_drift": 2.862589636975305e-08,
+                "depth": 0.015768862949719353,
+                "bottom_clearance": 0.08367166783304947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007399974653988228,
+                  0.002015608100067068
+                ],
+                "rod_tip_xy": [
+                  0.2638792023889856,
+                  -0.35162866641799284
+                ],
+                "target_mouth_xy": [
+                  0.2646191998543844,
+                  -0.3536442745180599
+                ],
+                "gripper_position": [
+                  0.26387115466314254,
+                  -0.3516296065353595,
+                  1.005233421602292
+                ],
+                "rod_tip_xy_dist": 0.002147154456915631,
+                "target_xy_drift": 2.95357943133406e-08,
+                "depth": 0.015906446061273116,
+                "bottom_clearance": 0.08353410851588883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007480758487519723,
+                  0.002014668892944771
+                ],
+                "rod_tip_xy": [
+                  0.26387115466314254,
+                  -0.3516296065353596
+                ],
+                "target_mouth_xy": [
+                  0.2646192305118945,
+                  -0.35364427542830434
+                ],
+                "gripper_position": [
+                  0.26387365100495086,
+                  -0.35169521410865734,
+                  1.0047150750839107
+                ],
+                "rod_tip_xy_dist": 0.0021490714794267065,
+                "target_xy_drift": 4.061384592841349e-08,
+                "depth": 0.016026393209344625,
+                "bottom_clearance": 0.08341409632557684,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007455480779635648,
+                  0.0019490598120714964
+                ],
+                "rod_tip_xy": [
+                  0.2638736510049508,
+                  -0.35169521410865745
+                ],
+                "target_mouth_xy": [
+                  0.26461919908291437,
+                  -0.35364427392072895
+                ],
+                "gripper_position": [
+                  0.26386237301839416,
+                  -0.3517022315165234,
+                  1.0045777606407797
+                ],
+                "rod_tip_xy_dist": 0.002086786066559613,
+                "target_xy_drift": 3.018776878783579e-08,
+                "depth": 0.016544815145773883,
+                "bottom_clearance": 0.0828957906361032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007568556823399075,
+                  0.0019420427519633021
+                ],
+                "rod_tip_xy": [
+                  0.26386237301839416,
+                  -0.3517022315165236
+                ],
+                "target_mouth_xy": [
+                  0.26461922870073407,
+                  -0.3536442742684869
+                ],
+                "gripper_position": [
+                  0.263854129923338,
+                  -0.3517028333594175,
+                  1.0044577385899294
+                ],
+                "rod_tip_xy_dist": 0.0020843129741819973,
+                "target_xy_drift": 4.019734915620885e-08,
+                "depth": 0.016682129825242087,
+                "bottom_clearance": 0.08275847181830531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007650696742089735,
+                  0.0019414110299332266
+                ],
+                "rod_tip_xy": [
+                  0.26385412992333795,
+                  -0.35170283335941754
+                ],
+                "target_mouth_xy": [
+                  0.26461919959754693,
+                  -0.35364424438935077
+                ],
+                "gripper_position": [
+                  0.26385714924820913,
+                  -0.3517698318082573,
+                  1.0039409668049986
+                ],
+                "rod_tip_xy_dist": 0.0020867219253030856,
+                "target_xy_drift": 5.964527204407962e-08,
+                "depth": 0.016802131082020444,
+                "bottom_clearance": 0.08263844480060378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007620812997966575,
+                  0.0018744417545805137
+                ],
+                "rod_tip_xy": [
+                  0.26385714924820913,
+                  -0.3517698318082575
+                ],
+                "target_mouth_xy": [
+                  0.2646192305480058,
+                  -0.353644273562838
+                ],
+                "gripper_position": [
+                  0.2638458516621136,
+                  -0.3517766533354083,
+                  1.0038041972584728
+                ],
+                "rod_tip_xy_dist": 0.002023437619205158,
+                "target_xy_drift": 4.197198197358147e-08,
+                "depth": 0.017318879295499356,
+                "bottom_clearance": 0.08212167610267251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000773375569423751,
+                  0.0018676235136642072
+                ],
+                "rod_tip_xy": [
+                  0.2638458516621136,
+                  -0.3517766533354083
+                ],
+                "target_mouth_xy": [
+                  0.26461922723153736,
+                  -0.3536442768490725
+                ],
+                "gripper_position": [
+                  0.2638376344232012,
+                  -0.351777297401235,
+                  1.0036844669532665
+                ],
+                "rod_tip_xy_dist": 0.0020214171662902613,
+                "target_xy_drift": 3.730555262309005e-08,
+                "depth": 0.01745573814903356,
+                "bottom_clearance": 0.08198491691026522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007815973349297733,
+                  0.001866977347454779
+                ],
+                "rod_tip_xy": [
+                  0.2638376344232012,
+                  -0.3517772974012351
+                ],
+                "target_mouth_xy": [
+                  0.26461923175813096,
+                  -0.35364427474868987
+                ],
+                "gripper_position": [
+                  0.26384151897555586,
+                  -0.3518449129892249,
+                  1.0031704393273049
+                ],
+                "rod_tip_xy_dist": 0.0020239809312042954,
+                "target_xy_drift": 4.1979505333052614e-08,
+                "depth": 0.017575306202732288,
+                "bottom_clearance": 0.08186524816269147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007777419484584214,
+                  0.001799360218581736
+                ],
+                "rod_tip_xy": [
+                  0.26384151897555586,
+                  -0.35184491298922493
+                ],
+                "target_mouth_xy": [
+                  0.2646192609240143,
+                  -0.35364427320780667
+                ],
+                "gripper_position": [
+                  0.2638301314832325,
+                  -0.3518517737706876,
+                  1.003033747179694
+                ],
+                "rod_tip_xy_dist": 0.001960249916364343,
+                "target_xy_drift": 6.679727610825409e-08,
+                "depth": 0.01808941723352453,
+                "bottom_clearance": 0.08135117245985446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007890987315926634,
+                  0.00179253436220983
+                ],
+                "rod_tip_xy": [
+                  0.2638301314832325,
+                  -0.35185177377068766
+                ],
+                "target_mouth_xy": [
+                  0.26461923021482514,
+                  -0.3536443081328975
+                ],
+                "gripper_position": [
+                  0.2638214725603258,
+                  -0.35185248874480984,
+                  1.002913889982799
+                ],
+                "rod_tip_xy_dist": 0.0019585342090206524,
+                "target_xy_drift": 2.8865228010439973e-08,
+                "depth": 0.018226129594418272,
+                "bottom_clearance": 0.08121447333565379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007977270332774067,
+                  0.0017917851478075342
+                ],
+                "rod_tip_xy": [
+                  0.26382147256032573,
+                  -0.3518524887448099
+                ],
+                "target_mouth_xy": [
+                  0.26461919959360314,
+                  -0.35364427389261743
+                ],
+                "gripper_position": [
+                  0.2638130984344479,
+                  -0.35185302771822324,
+                  1.0027942902704807
+                ],
+                "rod_tip_xy_dist": 0.0019613419986135106,
+                "target_xy_drift": 3.0176731130091724e-08,
+                "depth": 0.018345984608844623,
+                "bottom_clearance": 0.08109460142095382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008061320320433829,
+                  0.0017912759411965462
+                ],
+                "rod_tip_xy": [
+                  0.2638130984344479,
+                  -0.35185302771822335
+                ],
+                "target_mouth_xy": [
+                  0.2646192304664913,
+                  -0.3536443036594199
+                ],
+                "gripper_position": [
+                  0.26380447817425823,
+                  -0.3518538562565621,
+                  1.0026745268193804
+                ],
+                "rod_tip_xy_dist": 0.0019643111644024134,
+                "target_xy_drift": 2.8821408086225057e-08,
+                "depth": 0.01846555116471993,
+                "bottom_clearance": 0.08097499267923036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008147190639181678,
+                  0.0017904519644519334
+                ],
+                "rod_tip_xy": [
+                  0.2638044781742582,
+                  -0.3518538562565623
+                ],
+                "target_mouth_xy": [
+                  0.26461919723817634,
+                  -0.3536443082210142
+                ],
+                "gripper_position": [
+                  0.26381017485788505,
+                  -0.35192441375724787,
+                  1.0021623128888146
+                ],
+                "rod_tip_xy_dist": 0.0019671007574909535,
+                "target_xy_drift": 6.104141278751097e-09,
+                "depth": 0.018585444997769263,
+                "bottom_clearance": 0.08085527650291258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008090543216575652,
+                  0.0017198600936967345
+                ],
+                "rod_tip_xy": [
+                  0.263810174857885,
+                  -0.35192441375724803
+                ],
+                "target_mouth_xy": [
+                  0.26461922917954256,
+                  -0.35364427385094477
+                ],
+                "gripper_position": [
+                  0.2637985996872443,
+                  -0.3519312729388125,
+                  1.0020260446339915
+                ],
+                "rod_tip_xy_dist": 0.0019006545286514652,
+                "target_xy_drift": 4.0828486678436415e-08,
+                "depth": 0.019097509583343553,
+                "bottom_clearance": 0.08034308660499911,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008206307755533326,
+                  0.0017130294460920847
+                ],
+                "rod_tip_xy": [
+                  0.26379859968724423,
+                  -0.35193127293881266
+                ],
+                "target_mouth_xy": [
+                  0.26461923046279756,
+                  -0.35364430238490474
+                ],
+                "gripper_position": [
+                  0.26379023562988313,
+                  -0.3519314508675722,
+                  1.0019062433853136
+                ],
+                "rod_tip_xy_dist": 0.001899448539172309,
+                "target_xy_drift": 2.8860902318501036e-08,
+                "depth": 0.019233818817559256,
+                "bottom_clearance": 0.08020677066579751,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008289950282065472,
+                  0.0017128835348837468
+                ],
+                "rod_tip_xy": [
+                  0.26379023562988313,
+                  -0.35193145086757227
+                ],
+                "target_mouth_xy": [
+                  0.2646192306580897,
+                  -0.353644334402456
+                ],
+                "gripper_position": [
+                  0.2637815734649914,
+                  -0.35193200916329176,
+                  1.0017864875369378
+                ],
+                "rod_tip_xy_dist": 0.0019029458113322655,
+                "target_xy_drift": 4.2023613170640245e-08,
+                "depth": 0.019353580876664167,
+                "bottom_clearance": 0.0800869316832028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008376542460036274,
+                  0.0017122647303039473
+                ],
+                "rod_tip_xy": [
+                  0.26378157346499137,
+                  -0.3519320091632918
+                ],
+                "target_mouth_xy": [
+                  0.264619227710995,
+                  -0.35364427389359576
+                ],
+                "gripper_position": [
+                  0.263773109612809,
+                  -0.3519326575291416,
+                  1.001666838056845
+                ],
+                "rod_tip_xy_dist": 0.0019061781507746737,
+                "target_xy_drift": 3.982068075492944e-08,
+                "depth": 0.019473440122821484,
+                "bottom_clearance": 0.07996721414351693,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005987995566620988,
+              "rod_tip_xy_max_step": 3.256671403278565e-05,
+              "rod_tip_xy_range": 0.0005987879613853335,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26327090784570994,
+            -0.35324265693519524,
+            1.0433889650141448
+          ],
+          "object_origin_world": [
+            0.26327090784570994,
+            -0.35324265693519524,
+            1.0433889650141448
+          ],
+          "frame_world": [
+            0.2632696116476835,
+            -0.35324732561074457,
+            1.0432808541242473
+          ],
+          "center_minus_frame": [
+            1.2961980264680761e-06,
+            4.668675549324153e-06,
+            0.00010811088989748363
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26472608156386207,
+              0.15385500115967776,
+              0.8322926365964308
+            ],
+            "target_position": [
+              0.2788237662853004,
+              0.1999739969442908,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04822557917419169,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691524533364259,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322926365964308,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672232952826,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13795249541311605,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21053015460743257,
+              0.023054844693896997,
+              1.0465800326436265
+            ],
+            "current_z": 1.0465800326436265,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.1899936444443504,
+            "gripper_z": 1.0508742794441852,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20613321861019557,
+              0.018587810983736783,
+              1.0508742794441852
+            ],
+            "object_minus_gripper": [
+              0.004396935997237006,
+              0.004467033710160214,
+              -0.0042942468005586765
+            ],
+            "object_to_gripper_xy": 0.00626796907550654,
+            "object_to_gripper_z": -0.0042942468005586765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21053015460743257,
+              -0.0009111652915702088,
+              1.0465800326436265
+            ],
+            "finger_b": [
+              0.1993884798795681,
+              0.023054844693896997,
+              1.0465800326436265
+            ],
+            "finger_midpoint": [
+              0.20495931724350033,
+              0.011071839701163395,
+              1.0465800326436265
+            ],
+            "object_minus_finger_midpoint": [
+              0.005570837363932241,
+              0.011983004992733602,
+              0.0
+            ],
+            "finger_gap": 0.026429274495624124,
+            "fingertip_max_gap": 0.09336122979757316,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013214637247812062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465800326436265,
+            "object_top_z": 1.0933187211814308,
+            "finger_top_clearance": 0.046738688537804274,
+            "fingertip_min_top_clearance": 0.014021606561341299,
+            "object_projection_between_fingers": 0.8222823885092292,
+            "object_to_finger_line_xy": 0.010103246981941868,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049180614898786584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.086812832214134,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21041286819945296,
+              0.021484256243175834,
+              1.244296299984105
+            ],
+            "held_position": [
+              0.21516707279901817,
+              0.025528844047300624,
+              1.2399638434826858
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007598113661724914,
+            "max_held_gripper_dist": 0.007601282812246358,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004332456501419113,
+            "max_held_gripper_z_dist": 0.004332456501419113,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581633474440753,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21516707279901817,
+              0.00013626711297475024,
+              1.2399638434826858
+            ],
+            "held_grasp_finger_b": [
+              0.20637816887274069,
+              0.02585306327870383,
+              1.2399638434826858
+            ],
+            "held_grasp_midpoint": [
+              0.21077262083587944,
+              0.01299466519583929,
+              1.2399638434826858
+            ],
+            "held_grasp_object_position": [
+              0.21516707279901817,
+              0.025528844047300624,
+              1.2399638434826858
+            ],
+            "held_grasp_finger_gap": 0.027177167572338987,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024853715488276334,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08689274167276724,
+              -0.9961352604593726,
+              0.012813832921012682
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003292740888661154,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03233264147173958,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17129418927524823,
+              0.02174161767270288,
+              0.7565868179022035
+            ],
+            "target_position": [
+              0.18652736910927809,
+              0.02023179766540837,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.015307819057929864,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20561189166673327,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868179022035,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591548009180735,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0877067535063668,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1777528644153927,
+            "release_required_pad_clearance": 0.0538533767531834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7142118520722227,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 319,
+            "max_placed_release_frames": 319
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f42d896a337657075dde784ac42fd11e3b2c63e36845a9be2274a77a660ff2d",
+    "visual_seed": 3582428019665020517,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e69953a0200e1ba8395bad62ae22b0a96961603
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_19_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21703661806773158,
+              -0.13824822355701094,
+              1.1627852954509903
+            ],
+            "current_z": 1.1627852954509903,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3016789066455141,
+            "gripper_z": 1.1560664948617492,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2127743086590526,
+              -0.14273529543869157,
+              1.1560664948617492
+            ],
+            "object_minus_gripper": [
+              0.0042623094086789715,
+              0.0044870718816806265,
+              0.006718800589241125
+            ],
+            "object_to_gripper_xy": 0.006188787891556973,
+            "object_to_gripper_z": 0.006718800589241125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21703661806773158,
+              -0.16166061583698066,
+              1.1627852954509903
+            ],
+            "finger_b": [
+              0.20649768135727242,
+              -0.13824822355701094,
+              1.1627852954509903
+            ],
+            "finger_midpoint": [
+              0.211767149712502,
+              -0.1499544196969958,
+              1.1627852954509903
+            ],
+            "object_minus_finger_midpoint": [
+              0.005269468355229595,
+              0.011706196139984859,
+              0.0
+            ],
+            "finger_gap": 0.025675071553128134,
+            "fingertip_max_gap": 0.09254630393959754,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012837535776564072,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627852954509903,
+            "object_top_z": 1.2129171735128903,
+            "finger_top_clearance": 0.050131878061900004,
+            "fingertip_min_top_clearance": 0.01503956341857,
+            "object_projection_between_fingers": 0.8315114985300719,
+            "object_to_finger_line_xy": 0.009610166809797345,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877315196979877,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9565625993346023,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27549457837930647,
+              -0.35423405647729556,
+              0.8515396355899102
+            ],
+            "target_position": [
+              0.2675519841528568,
+              -0.3552609606033468,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00800870371097174,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18257200374784177,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396355899102,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588487753416821,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0875071163261975,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14974363134576885,
+            "release_required_pad_clearance": 0.05375355816309875,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.516376768170434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007532954216003418,
+            "max_z_decrease": 0.007532954216003418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512851710698282,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007532954216003418,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104774312872182,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007532954216003418,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007532977497104786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12325190752744672,
+              -0.4115224182605743,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12325190752744672,
+              -0.4115224182605743,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12203054803100921,
+              -0.4100493248284568,
+              0.8077372398141234
+            ],
+            "closest_button": [
+              0.12324046343564986,
+              -0.41151839494705195,
+              0.7726603150367737
+            ],
+            "closest_ee_minus_button": [
+              -0.0012099154046406463,
+              0.0014690701185951505,
+              0.035076924777349694
+            ],
+            "button_min_z_position": [
+              0.12323342263698575,
+              -0.4115194082260132,
+              0.7692759037017822
+            ],
+            "min_active_finger_to_button": 0.14661771824509048,
+            "closest_active_finger": [
+              -0.004576869308948517,
+              -0.47453993558883667,
+              0.8106659650802612
+            ],
+            "closest_active_finger_button": [
+              0.12325219810009001,
+              -0.4115208685398101,
+              0.7762409448623657
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12782906740903854,
+              -0.06301906704902654,
+              0.03442502021789551
+            ],
+            "min_contact_pad_to_button": 0.02104774312872182,
+            "closest_contact_pad": [
+              0.12323342263698575,
+              -0.4115194082260132,
+              0.790323646830504
+            ],
+            "closest_contact_pad_button": [
+              0.12323342263698575,
+              -0.4115194082260132,
+              0.7692759037017822
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104774312872182
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28585725704769094,
+              0.2046576626719607,
+              1.1017778548178794
+            ],
+            "current_z": 1.1017778548178794,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19186872508351682,
+            "gripper_z": 1.1017782009204888,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2858572589086432,
+              0.2046576594639261,
+              1.1017782009204888
+            ],
+            "object_minus_gripper": [
+              -1.8609522811630086e-09,
+              3.2080345879759165e-09,
+              -3.4610260946088545e-07
+            ],
+            "object_to_gripper_xy": 3.708723407105956e-09,
+            "object_to_gripper_z": -3.4610260946088545e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28585725704769094,
+              0.2046576626719607,
+              1.1017778548178794
+            ],
+            "finger_b": [
+              0.28585725704769094,
+              0.2046576626719607,
+              1.1017778548178794
+            ],
+            "finger_midpoint": [
+              0.28585725704769094,
+              0.2046576626719607,
+              1.1017778548178794
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017778548178794,
+            "object_top_z": 1.2267863614381591,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28585725704769094,
+            0.20465766267196067,
+            1.1017778548178794
+          ],
+          "object_origin_world": [
+            0.28585725704769094,
+            0.20465766267196067,
+            1.1017778548178794
+          ],
+          "frame_world": [
+            0.2858572589086432,
+            0.2046576594639261,
+            1.1017782009204888
+          ],
+          "center_minus_frame": [
+            -1.8609522811630086e-09,
+            3.208034560220341e-09,
+            -3.4610260946088545e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433134027632571,
+            "required_z": 0.911259823335745,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00012768885137921869,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.266620077205094e-07,
+            "max_target_xy_drift": 7.06731650220756e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.5163767679425324,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.516687809275658,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27538939054206846,
+              -0.3541582815065013,
+              0.9234268413395031
+            ],
+            "target_mouth_xy": [
+              0.27549466957496804,
+              -0.35423402534885007
+            ],
+            "rod_tip_z": 0.9234268413395031,
+            "rod_tip_depth": -0.02216700936833027,
+            "rod_tip_bottom_clearance": 0.12160756291582231,
+            "rod_tip_xy_dist": 0.0001296950439377941,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045007902009754686,
+            "min_rod_tip_bottom_clearance": 0.05443268346621588,
+            "min_rod_tip_xy_dist": 0.0001296950439377941,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27549458051670483,
+              -0.35423411541488115
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.905826320848576e-08,
+              9.006603107764022e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.000456173626673384,
+                0.001745578506146428
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0003522383326018952,
+                0.0013551281052228692
+              ],
+              "first_target_mouth_xy": [
+                0.27549466900147435,
+                -0.35423408660867617
+              ],
+              "last_target_mouth_xy": [
+                0.27549464119812317,
+                -0.3542340545088648
+              ],
+              "first_rod_tip_xy": [
+                0.27595084262814773,
+                -0.35248850810252974
+              ],
+              "last_rod_tip_xy": [
+                0.27584687953072506,
+                -0.35287892640364193
+              ],
+              "min_rod_tip_xy_dist": 0.0014001585712050929,
+              "max_rod_tip_xy_dist": 0.0018042002934244145,
+              "first_target_xy_drift": 9.305563862914037e-08,
+              "last_target_xy_drift": 8.597544624882087e-08,
+              "max_depth": 0.019648784803007135,
+              "min_bottom_clearance": 0.07979184532421901
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.000456173626673384,
+                  0.001745578506146428
+                ],
+                "rod_tip_xy": [
+                  0.27595084262814773,
+                  -0.35248850810252974
+                ],
+                "target_mouth_xy": [
+                  0.27549466900147435,
+                  -0.35423408660867617
+                ],
+                "gripper_position": [
+                  0.2759396000901191,
+                  -0.35249600714934143,
+                  1.0059284997363225
+                ],
+                "rod_tip_xy_dist": 0.0018042002934244145,
+                "target_xy_drift": 9.305563862914037e-08,
+                "depth": 0.015187525055506357,
+                "bottom_clearance": 0.08425301538842922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004449311220284802,
+                  0.0017380781788995936
+                ],
+                "rod_tip_xy": [
+                  0.2759396000901191,
+                  -0.3524960071493415
+                ],
+                "target_mouth_xy": [
+                  0.2754946689680906,
+                  -0.3542340853282411
+                ],
+                "gripper_position": [
+                  0.2759438681908263,
+                  -0.3525606229300109,
+                  1.0054062701832784
+                ],
+                "rod_tip_xy_dist": 0.0017941235908700522,
+                "target_xy_drift": 9.342833379364029e-08,
+                "depth": 0.015331321058164371,
+                "bottom_clearance": 0.0841091961042767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004492280256119807,
+                  0.001673462394385039
+                ],
+                "rod_tip_xy": [
+                  0.2759438681908263,
+                  -0.3525606229300109
+                ],
+                "target_mouth_xy": [
+                  0.2754946401652143,
+                  -0.35423408532439593
+                ],
+                "gripper_position": [
+                  0.27593266588478926,
+                  -0.35256800213791883,
+                  1.0052623789288813
+                ],
+                "rod_tip_xy_dist": 0.001732709497987515,
+                "target_xy_drift": 6.680854722154819e-08,
+                "depth": 0.015853617464817837,
+                "bottom_clearance": 0.08358693669714068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004380280487299437,
+                  0.0016660822743649328
+                ],
+                "rod_tip_xy": [
+                  0.27593266588478926,
+                  -0.35256800213791883
+                ],
+                "target_mouth_xy": [
+                  0.2754946378360593,
+                  -0.35423408441228377
+                ],
+                "gripper_position": [
+                  0.2759243183623162,
+                  -0.35256939294031375,
+                  1.0051366426686654
+                ],
+                "rod_tip_xy_dist": 0.0017227009944930053,
+                "target_xy_drift": 6.516647483774288e-08,
+                "depth": 0.015997415294551787,
+                "bottom_clearance": 0.0834431389093041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0004296779836148179,
+                  0.0016646933177794088
+                ],
+                "rod_tip_xy": [
+                  0.27592431836231623,
+                  -0.35256939294031364
+                ],
+                "target_mouth_xy": [
+                  0.2754946403787014,
+                  -0.35423408625809305
+                ],
+                "gripper_position": [
+                  0.27592964744292203,
+                  -0.35263470822757775,
+                  1.0046150075941462
+                ],
+                "rod_tip_xy_dist": 0.0017192518756315815,
+                "target_xy_drift": 6.658511039858174e-08,
+                "depth": 0.016123253813422722,
+                "bottom_clearance": 0.0833173218985005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00043500789529132833,
+                  0.001599378053147693
+                ],
+                "rod_tip_xy": [
+                  0.2759296474429221,
+                  -0.3526347082275777
+                ],
+                "target_mouth_xy": [
+                  0.27549463954763076,
+                  -0.3542340862807254
+                ],
+                "gripper_position": [
+                  0.2759182652690121,
+                  -0.3526421957206356,
+                  1.004471513941672
+                ],
+                "rod_tip_xy_dist": 0.001657480626087767,
+                "target_xy_drift": 6.58289392829309e-08,
+                "depth": 0.01664476280630134,
+                "bottom_clearance": 0.08279578043089253,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004235940574910946,
+                  0.0015918870169169264
+                ],
+                "rod_tip_xy": [
+                  0.27591826526901214,
+                  -0.3526421957206355
+                ],
+                "target_mouth_xy": [
+                  0.27549467121152105,
+                  -0.3542340827375524
+                ],
+                "gripper_position": [
+                  0.2759097149002697,
+                  -0.35264350771466796,
+                  1.0043458907554839
+                ],
+                "rod_tip_xy_dist": 0.0016472814574839479,
+                "target_xy_drift": 9.640206170463133e-08,
+                "depth": 0.016788429714207687,
+                "bottom_clearance": 0.08265226702501971,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000415108445277812,
+                  0.0015906087585131345
+                ],
+                "rod_tip_xy": [
+                  0.2759097149002697,
+                  -0.352643507714668
+                ],
+                "target_mouth_xy": [
+                  0.2754946064549919,
+                  -0.35423411647318115
+                ],
+                "gripper_position": [
+                  0.27591588842843556,
+                  -0.3527099673654537,
+                  1.0038262230346027
+                ],
+                "rod_tip_xy_dist": 0.0016438829775868042,
+                "target_xy_drift": 2.5959867781199584e-08,
+                "depth": 0.01691400769974416,
+                "bottom_clearance": 0.0825265979866695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004212486102447288,
+                  0.0015240871884553142
+                ],
+                "rod_tip_xy": [
+                  0.2759158884284356,
+                  -0.3527099673654537
+                ],
+                "target_mouth_xy": [
+                  0.2754946398181909,
+                  -0.354234054553909
+                ],
+                "gripper_position": [
+                  0.27590439689341906,
+                  -0.35271729594075196,
+                  1.0036830234849807
+                ],
+                "rod_tip_xy_dist": 0.0015812312132154297,
+                "target_xy_drift": 8.497484439222867e-08,
+                "depth": 0.01743362013040184,
+                "bottom_clearance": 0.08200695742084518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0004097552006228078,
+                  0.0015167886998891378
+                ],
+                "rod_tip_xy": [
+                  0.27590439689341906,
+                  -0.35271729594075196
+                ],
+                "target_mouth_xy": [
+                  0.27549464169279625,
+                  -0.3542340846406411
+                ],
+                "gripper_position": [
+                  0.27589576698622353,
+                  -0.35271833063318936,
+                  1.0035573272438156
+                ],
+                "rod_tip_xy_dist": 0.0015711611262212474,
+                "target_xy_drift": 6.848042064092465e-08,
+                "depth": 0.01757694718460956,
+                "bottom_clearance": 0.08186368887397444,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0004011265956808674,
+                  0.001515784158656941
+                ],
+                "rod_tip_xy": [
+                  0.2758957669862236,
+                  -0.35271833063318925
+                ],
+                "target_mouth_xy": [
+                  0.2754946403905427,
+                  -0.3542341147918462
+                ],
+                "gripper_position": [
+                  0.27588716794623935,
+                  -0.3527192551565504,
+                  1.0034312618073393
+                ],
+                "rod_tip_xy_dist": 0.0015679617856943619,
+                "target_xy_drift": 5.987707938729591e-08,
+                "depth": 0.017702568115454675,
+                "bottom_clearance": 0.08173800687235111,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000392527912968621,
+                  0.0015148003414131583
+                ],
+                "rod_tip_xy": [
+                  0.27588716794623935,
+                  -0.35271925515655034
+                ],
+                "target_mouth_xy": [
+                  0.27549464003327073,
+                  -0.3542340554979635
+                ],
+                "gripper_position": [
+                  0.27589483966630673,
+                  -0.3527879395150806,
+                  1.002913878504003
+                ],
+                "rod_tip_xy_dist": 0.00156483169599958,
+                "target_xy_drift": 8.445270058977324e-08,
+                "depth": 0.017828625331502312,
+                "bottom_clearance": 0.081611924865709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004002007411713082,
+                  0.0014461455163662373
+                ],
+                "rod_tip_xy": [
+                  0.2758948396663068,
+                  -0.3527879395150806
+                ],
+                "target_mouth_xy": [
+                  0.2754946389251355,
+                  -0.3542340850314468
+                ],
+                "gripper_position": [
+                  0.2758831515677056,
+                  -0.35279514348312085,
+                  1.0027709204870072
+                ],
+                "rod_tip_xy_dist": 0.0015004990795532784,
+                "target_xy_drift": 6.583842230828044e-08,
+                "depth": 0.01834588635725687,
+                "bottom_clearance": 0.08109463302494502,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003885094609727968,
+                  0.001438940192965421
+                ],
+                "rod_tip_xy": [
+                  0.2758831515677056,
+                  -0.3527951434831208
+                ],
+                "target_mouth_xy": [
+                  0.2754946421067328,
+                  -0.3542340836760862
+                ],
+                "gripper_position": [
+                  0.2758744677482627,
+                  -0.3527960047761883,
+                  1.002645208107707
+                ],
+                "rod_tip_xy_dist": 0.0014904658601245238,
+                "target_xy_drift": 6.928695871699758e-08,
+                "depth": 0.018489011103738462,
+                "bottom_clearance": 0.08095167627860034,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0003798912085651307,
+                  0.0014381120094526523
+                ],
+                "rod_tip_xy": [
+                  0.2758744677482627,
+                  -0.35279600477618833
+                ],
+                "target_mouth_xy": [
+                  0.27549457653969756,
+                  -0.354234116785641
+                ],
+                "gripper_position": [
+                  0.2758656331010597,
+                  -0.3527970326016694,
+                  1.0025197454234382
+                ],
+                "rod_tip_xy_dist": 0.00148744192561492,
+                "target_xy_drift": 4.206610207017809e-09,
+                "depth": 0.018614699693513814,
+                "bottom_clearance": 0.08082592183280479,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00037102097428165504,
+                  0.0014370517248377679
+                ],
+                "rod_tip_xy": [
+                  0.2758656331010597,
+                  -0.3527970326016693
+                ],
+                "target_mouth_xy": [
+                  0.27549461212677806,
+                  -0.35423408432650705
+                ],
+                "gripper_position": [
+                  0.27585672486741214,
+                  -0.35279812655401455,
+                  1.0023941247970847
+                ],
+                "rod_tip_xy_dist": 0.0014841745932389868,
+                "target_xy_drift": 4.4336031998136724e-08,
+                "depth": 0.018740173055576848,
+                "bottom_clearance": 0.08070048346124559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00036211884303166686,
+                  0.001435960432899508
+                ],
+                "rod_tip_xy": [
+                  0.27585672486741214,
+                  -0.35279812655401466
+                ],
+                "target_mouth_xy": [
+                  0.2754946060243805,
+                  -0.35423408698691417
+                ],
+                "gripper_position": [
+                  0.2758479833294868,
+                  -0.352798981705963,
+                  1.0022688240398094
+                ],
+                "rod_tip_xy_dist": 0.0014809160750466365,
+                "target_xy_drift": 3.81941202688657e-08,
+                "depth": 0.01886579250198439,
+                "bottom_clearance": 0.08057484086648037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00035331342514605124,
+                  0.0014350728584181516
+                ],
+                "rod_tip_xy": [
+                  0.27584798332948685,
+                  -0.352798981705963
+                ],
+                "target_mouth_xy": [
+                  0.2754946699043408,
+                  -0.3542340545643812
+                ],
+                "gripper_position": [
+                  0.27585844733871046,
+                  -0.3528717222010648,
+                  1.0017540660949782
+                ],
+                "rod_tip_xy_dist": 0.0014779257374296175,
+                "target_xy_drift": 1.081338652289011e-07,
+                "depth": 0.018991080578234842,
+                "bottom_clearance": 0.08044950704848242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000363778225338951,
+                  0.0013623332988681458
+                ],
+                "rod_tip_xy": [
+                  0.27585844733871046,
+                  -0.3528717222010648
+                ],
+                "target_mouth_xy": [
+                  0.2754946691133715,
+                  -0.3542340554999329
+                ],
+                "gripper_position": [
+                  0.27584687953072506,
+                  -0.35287892640364193,
+                  1.0016111287009626
+                ],
+                "rod_tip_xy_dist": 0.0014100661737789903,
+                "target_xy_drift": 1.0695405726660532e-07,
+                "depth": 0.019505696611022305,
+                "bottom_clearance": 0.07993482687974485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0003522383326018952,
+                  0.0013551281052228692
+                ],
+                "rod_tip_xy": [
+                  0.27584687953072506,
+                  -0.35287892640364193
+                ],
+                "target_mouth_xy": [
+                  0.27549464119812317,
+                  -0.3542340545088648
+                ],
+                "gripper_position": [
+                  0.27583786690690204,
+                  -0.3528798535014688,
+                  1.001485441827649
+                ],
+                "rod_tip_xy_dist": 0.0014001585712050929,
+                "target_xy_drift": 8.597544624882087e-08,
+                "depth": 0.019648784803007135,
+                "bottom_clearance": 0.07979184532421901,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006042133604636492,
+              "rod_tip_xy_max_step": 3.271079535882089e-05,
+              "rod_tip_xy_range": 0.0006042102568526656,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27538939054206846,
+            -0.3541582815065013,
+            1.0434268413395031
+          ],
+          "object_origin_world": [
+            0.27538939054206846,
+            -0.3541582815065013,
+            1.0434268413395031
+          ],
+          "frame_world": [
+            0.27538776226112194,
+            -0.35416420222221745,
+            1.0433134027632571
+          ],
+          "center_minus_frame": [
+            1.628280946519567e-06,
+            5.920715716145608e-06,
+            0.00011343857624601661
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2734209597855444,
+              0.1571685111649129,
+              0.8325702695236107
+            ],
+            "target_position": [
+              0.28602632071793466,
+              0.20406527766639437,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0485613203334743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691246408432138,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8325702695236107,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670337408327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1387775084109855,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 241,
+            "max_placed_release_frames": 241
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21522097188490863,
+              0.02775521595798332,
+              1.0468818992601707
+            ],
+            "current_z": 1.0468818992601707,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.19029545145624982,
+            "gripper_z": 1.0513373933179513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21075804998870792,
+              0.023180253741465637,
+              1.0513373933179513
+            ],
+            "object_minus_gripper": [
+              0.0044629218962007056,
+              0.004574962216517684,
+              -0.004455494057780562
+            ],
+            "object_to_gripper_xy": 0.0063912401874872534,
+            "object_to_gripper_z": -0.004455494057780562,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21522097188490863,
+              0.003857902824423545,
+              1.0468818992601707
+            ],
+            "finger_b": [
+              0.2037554879963068,
+              0.02775521595798332,
+              1.0468818992601707
+            ],
+            "finger_midpoint": [
+              0.20948822994060773,
+              0.015806559391203432,
+              1.0468818992601707
+            ],
+            "object_minus_finger_midpoint": [
+              0.005732741944300901,
+              0.011948656566779889,
+              0.0
+            ],
+            "finger_gap": 0.026505450303724264,
+            "fingertip_max_gap": 0.09389158415169752,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013252725151862127,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468818992601707,
+            "object_top_z": 1.0937366606604846,
+            "finger_top_clearance": 0.04685476140031386,
+            "fingertip_min_top_clearance": 0.014056428420094158,
+            "object_projection_between_fingers": 0.8128825014741768,
+            "object_to_finger_line_xy": 0.010337279901832261,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944579207584876,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3477553956094428,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21526026074923582,
+              0.026268804536788676,
+              1.2455473900043956
+            ],
+            "held_position": [
+              0.22012539320697844,
+              0.03037174316364925,
+              1.2410400593449364
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007798695331968419,
+            "max_held_gripper_dist": 0.007802959793650135,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0045073306594591855,
+            "max_held_gripper_z_dist": 0.0045073306594591855,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612505617512695,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22012539320697844,
+              0.00492179463076698,
+              1.2410400593449364
+            ],
+            "held_grasp_finger_b": [
+              0.21115893609257078,
+              0.030527605136691623,
+              1.2410400593449364
+            ],
+            "held_grasp_midpoint": [
+              0.2156421646497746,
+              0.0177246998837293,
+              1.2410400593449364
+            ],
+            "held_grasp_object_position": [
+              0.22012539320697844,
+              0.03037174316364925,
+              1.2410400593449364
+            ],
+            "held_grasp_finger_gap": 0.027130331454846484,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024720832054454,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08732947270613256,
+              -0.9960187755195765,
+              0.017893071546061453
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033694849448113115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221201441828013,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17960300209400637,
+              0.026694496651119205,
+              0.7565861708974037
+            ],
+            "target_position": [
+              0.19089676784728132,
+              0.024009630158649337,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011608516398413435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20923216053688476,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565861708974037,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07623981464860133,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08807037620644577,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18045949910903922,
+            "release_required_pad_clearance": 0.054035188103222886,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.08131540202456,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 313,
+            "max_placed_release_frames": 313
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbeaf06da81e043b682be15a696efc282b798ec04ded223650dbdf4891f4d06e",
+    "visual_seed": 6601957301049898830,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e58550c78347074d1652f997617f96548c7a4923
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_1_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.20961251155148442,
+              -0.1372487435311362,
+              1.162490449880604
+            ],
+            "current_z": 1.162490449880604,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.30138388226119317,
+            "gripper_z": 1.1560858698825405,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20511243818921504,
+              -0.14164715231053537,
+              1.1560858698825405
+            ],
+            "object_minus_gripper": [
+              0.0045000733622693745,
+              0.004398408779399177,
+              0.006404579998063431
+            ],
+            "object_to_gripper_xy": 0.006292587707493805,
+            "object_to_gripper_z": 0.006404579998063431,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20961251155148442,
+              -0.16117345739623984,
+              1.162490449880604
+            ],
+            "finger_b": [
+              0.1997074348108876,
+              -0.1372487435311362,
+              1.162490449880604
+            ],
+            "finger_midpoint": [
+              0.204659973181186,
+              -0.14921110046368802,
+              1.162490449880604
+            ],
+            "object_minus_finger_midpoint": [
+              0.004952538370298409,
+              0.01196235693255182,
+              0.0
+            ],
+            "finger_gap": 0.025894062616055338,
+            "fingertip_max_gap": 0.09265069091776654,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012947031308027669,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162490449880604,
+            "object_top_z": 1.212735994067232,
+            "finger_top_clearance": 0.05024554418662808,
+            "fingertip_min_top_clearance": 0.015073663255988455,
+            "object_projection_between_fingers": 0.8536760886880836,
+            "object_to_finger_line_xy": 0.009151755379000977,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882534545888327,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.832381462342229,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27363994416322335,
+              -0.3555097264784626,
+              0.8515395806972187
+            ],
+            "target_position": [
+              0.2680508858233652,
+              -0.3549127339793471,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00562085164101827,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18087170167174899,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395806972187,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566980809548837,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08835150269429233,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14827071447114132,
+            "release_required_pad_clearance": 0.05417575134714617,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3673057046731945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007533609867095947,
+            "max_z_decrease": 0.007533609867095947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145263365532024,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007533609867095947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021228842294326547,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007533609867095947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007533633242738301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12375081330537796,
+              -0.41117417812347407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12375081330537796,
+              -0.41117417812347407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12266466930893496,
+              -0.4128584042564988,
+              0.807861315006046
+            ],
+            "closest_button": [
+              0.12373954057693481,
+              -0.41117131710052485,
+              0.772773027420044
+            ],
+            "closest_ee_minus_button": [
+              -0.0010748712679998496,
+              -0.001687087155973932,
+              0.03508828758600202
+            ],
+            "button_min_z_position": [
+              0.12373235076665878,
+              -0.4111708104610443,
+              0.7692752480506897
+            ],
+            "min_active_finger_to_button": 0.14701354154523102,
+            "closest_active_finger": [
+              -0.018231630325317383,
+              -0.39463746547698975,
+              0.8111673593521118
+            ],
+            "closest_active_finger_button": [
+              0.12374953180551529,
+              -0.4111749529838562,
+              0.7768039703369141
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14198116213083267,
+              0.016537487506866455,
+              0.034363389015197754
+            ],
+            "min_contact_pad_to_button": 0.021228842294326547,
+            "closest_contact_pad": [
+              0.12373235076665878,
+              -0.41415517552419756,
+              0.7902932715145461
+            ],
+            "closest_contact_pad_button": [
+              0.12373235076665878,
+              -0.4111708104610443,
+              0.7692752480506897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029843650631532492,
+              0.021018023463856395
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2788975984989544,
+              0.20709845766072846,
+              1.104206220894072
+            ],
+            "current_z": 1.104206220894072,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1942970911597094,
+            "gripper_z": 1.1042061870312099,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27889756392942794,
+              0.20709845128911575,
+              1.1042061870312099
+            ],
+            "object_minus_gripper": [
+              3.456952646363476e-08,
+              6.371612709665797e-09,
+              3.386286206996658e-08
+            ],
+            "object_to_gripper_xy": 3.515180803944398e-08,
+            "object_to_gripper_z": 3.386286206996658e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2788975984989544,
+              0.20709845766072846,
+              1.104206220894072
+            ],
+            "finger_b": [
+              0.2788975984989544,
+              0.20709845766072846,
+              1.104206220894072
+            ],
+            "finger_midpoint": [
+              0.2788975984989544,
+              0.20709845766072846,
+              1.104206220894072
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104206220894072,
+            "object_top_z": 1.2292147275143517,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2788975984989544,
+            0.20709845766072849,
+            1.104206220894072
+          ],
+          "object_origin_world": [
+            0.2788975984989544,
+            0.20709845766072849,
+            1.104206220894072
+          ],
+          "frame_world": [
+            0.27889756392942794,
+            0.20709845128911575,
+            1.1042061870312099
+          ],
+          "center_minus_frame": [
+            3.456952646363476e-08,
+            6.371612737421373e-09,
+            3.386286206996658e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043434595238679,
+            "required_z": 0.9112599412596207,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001969670129672836,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.984956685634294e-08,
+            "max_target_xy_drift": 1.5436095801838474e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.3673057043648686,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.3673057048109505,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2725304645251754,
+              -0.3571305576358701,
+              0.923547916850001
+            ],
+            "target_mouth_xy": [
+              0.273639917100863,
+              -0.355509696009245
+            ],
+            "rod_tip_z": 0.923547916850001,
+            "rod_tip_depth": -0.022288083892058386,
+            "rod_tip_bottom_clearance": 0.12172865092603613,
+            "rod_tip_xy_dist": 0.001964198928409672,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044484943789984355,
+            "min_rod_tip_bottom_clearance": 0.0549555889603095,
+            "min_rod_tip_xy_dist": 0.000554042880174702,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2736399470646824,
+              -0.3555097222800939
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9963819425660176e-08,
+              2.6270848940690428e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0005436271330042097,
+                0.00010692545690293986
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006630543946709588,
+                -0.00022581264797383316
+              ],
+              "first_target_mouth_xy": [
+                0.2736399172112541,
+                -0.35550972577944984
+              ],
+              "last_target_mouth_xy": [
+                0.27363991622481654,
+                -0.35550972357379307
+              ],
+              "first_rod_tip_xy": [
+                0.27309629007824987,
+                -0.3554028003225469
+              ],
+              "last_rod_tip_xy": [
+                0.2729768618301456,
+                -0.3557355362217669
+              ],
+              "min_rod_tip_xy_dist": 0.000554042880174702,
+              "max_rod_tip_xy_dist": 0.0007004516273643926,
+              "first_target_xy_drift": 3.005782220170228e-08,
+              "last_target_xy_drift": 3.086698859918837e-08,
+              "max_depth": 0.019556604869583105,
+              "min_bottom_clearance": 0.07988398112142081
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005436271330042097,
+                  0.00010692545690293986
+                ],
+                "rod_tip_xy": [
+                  0.27309629007824987,
+                  -0.3554028003225469
+                ],
+                "target_mouth_xy": [
+                  0.2736399172112541,
+                  -0.35550972577944984
+                ],
+                "gripper_position": [
+                  0.27308524997996775,
+                  -0.3554103511713295,
+                  1.005604542144345
+                ],
+                "rod_tip_xy_dist": 0.000554042880174702,
+                "target_xy_drift": 3.005782220170228e-08,
+                "depth": 0.015512305722332198,
+                "bottom_clearance": 0.08392826471015413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005546646248343334,
+                  9.937374948731925e-05
+                ],
+                "rod_tip_xy": [
+                  0.27308524997996775,
+                  -0.3554103511713296
+                ],
+                "target_mouth_xy": [
+                  0.2736399146048021,
+                  -0.3555097249208169
+                ],
+                "gripper_position": [
+                  0.27307693056546944,
+                  -0.35541188097655024,
+                  1.005478944086437
+                ],
+                "rod_tip_xy_dist": 0.0005634962183810822,
+                "target_xy_drift": 3.256711914580397e-08,
+                "depth": 0.015655239808020638,
+                "bottom_clearance": 0.0837852894590515,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005629870048508567,
+                  9.784225842757177e-05
+                ],
+                "rod_tip_xy": [
+                  0.27307693056546944,
+                  -0.3554118809765502
+                ],
+                "target_mouth_xy": [
+                  0.2736399175703203,
+                  -0.35550972323497776
+                ],
+                "gripper_position": [
+                  0.2730813193713405,
+                  -0.35548058692426054,
+                  1.0049558580035245
+                ],
+                "rod_tip_xy_dist": 0.0005714258264771958,
+                "target_xy_drift": 2.9509815315749006e-08,
+                "depth": 0.015780981827097196,
+                "bottom_clearance": 0.08365966587841045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005585958202928287,
+                  2.9137655830124842e-05
+                ],
+                "rod_tip_xy": [
+                  0.2730813193713405,
+                  -0.35548058692426054
+                ],
+                "target_mouth_xy": [
+                  0.27363991519163333,
+                  -0.35550972458009067
+                ],
+                "gripper_position": [
+                  0.27307001682254617,
+                  -0.35548823855282663,
+                  1.004812883923756
+                ],
+                "rod_tip_xy_dist": 0.0005593552479738552,
+                "target_xy_drift": 3.195592657501924e-08,
+                "depth": 0.016303910927410237,
+                "bottom_clearance": 0.08313660594726702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005699001554441696,
+                  2.1484999663923254e-05
+                ],
+                "rod_tip_xy": [
+                  0.2730700168225461,
+                  -0.35548823855282663
+                ],
+                "target_mouth_xy": [
+                  0.2736399169779903,
+                  -0.35550972355249055
+                ],
+                "gripper_position": [
+                  0.2730616934280858,
+                  -0.3554895423545447,
+                  1.0046873082444365
+                ],
+                "rod_tip_xy_dist": 0.0005703049994396397,
+                "target_xy_drift": 3.011358558818673e-08,
+                "depth": 0.016447032084648483,
+                "bottom_clearance": 0.08299358206698482,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005782206199873019,
+                  2.015208986816397e-05
+                ],
+                "rod_tip_xy": [
+                  0.2730616934280858,
+                  -0.35548954235454466
+                ],
+                "target_mouth_xy": [
+                  0.2736399140480731,
+                  -0.3555096944444128
+                ],
+                "gripper_position": [
+                  0.2730670131719868,
+                  -0.35555934915159687,
+                  1.004165614209658
+                ],
+                "rod_tip_xy_dist": 0.0005785716827710757,
+                "target_xy_drift": 4.318473843781707e-08,
+                "depth": 0.016572502056548144,
+                "bottom_clearance": 0.08286807227746995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005729031251195393,
+                  -4.9625589678914395e-05
+                ],
+                "rod_tip_xy": [
+                  0.2730670131719868,
+                  -0.3555593491515968
+                ],
+                "target_mouth_xy": [
+                  0.2736399162971063,
+                  -0.3555097235619179
+                ],
+                "gripper_position": [
+                  0.27305551133317263,
+                  -0.3555672027029828,
+                  1.0040231738673064
+                ],
+                "rod_tip_xy_dist": 0.000575048423980724,
+                "target_xy_drift": 3.0794265889318466e-08,
+                "depth": 0.017094237315413707,
+                "bottom_clearance": 0.08234635175116356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005844344852161121,
+                  -5.74756274953625e-05
+                ],
+                "rod_tip_xy": [
+                  0.2730555113331726,
+                  -0.3555672027029828
+                ],
+                "target_mouth_xy": [
+                  0.2736399458183887,
+                  -0.35550972707548745
+                ],
+                "gripper_position": [
+                  0.27304706585424443,
+                  -0.3555683061760591,
+                  1.0038979825092493
+                ],
+                "rod_tip_xy_dist": 0.0005872538763310189,
+                "target_xy_drift": 4.954699501447405e-09,
+                "depth": 0.017236671260660086,
+                "bottom_clearance": 0.08220389404019113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005928502748268616,
+                  -5.8553122280535774e-05
+                ],
+                "rod_tip_xy": [
+                  0.27304706585424443,
+                  -0.35556830617605906
+                ],
+                "target_mouth_xy": [
+                  0.2736399161290713,
+                  -0.3555097530537785
+                ],
+                "gripper_position": [
+                  0.273052983463432,
+                  -0.35563925409097563,
+                  1.0033799367903895
+                ],
+                "rod_tip_xy_dist": 0.0005957347702552577,
+                "target_xy_drift": 4.3635211696278325e-08,
+                "depth": 0.01736187353583396,
+                "bottom_clearance": 0.0820787212020283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005869631910541684,
+                  -0.00012952546706035406
+                ],
+                "rod_tip_xy": [
+                  0.273052983463432,
+                  -0.35563925409097563
+                ],
+                "target_mouth_xy": [
+                  0.27363994665448615,
+                  -0.3555097286239153
+                ],
+                "gripper_position": [
+                  0.27304145317191486,
+                  -0.35564661461312363,
+                  1.0032371033687806
+                ],
+                "rod_tip_xy_dist": 0.0006010845483538028,
+                "target_xy_drift": 6.3570693237904225e-09,
+                "depth": 0.017879942741151233,
+                "bottom_clearance": 0.08156070812395921,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005984622365562409,
+                  -0.00013688783136556193
+                ],
+                "rod_tip_xy": [
+                  0.27304145317191486,
+                  -0.35564661461312363
+                ],
+                "target_mouth_xy": [
+                  0.2736399154084711,
+                  -0.3555097267817581
+                ],
+                "gripper_position": [
+                  0.27303292395938317,
+                  -0.3556475913393565,
+                  1.0031120825328737
+                ],
+                "rod_tip_xy_dist": 0.0006139180132231539,
+                "target_xy_drift": 3.197468835208002e-08,
+                "depth": 0.018022731188351737,
+                "bottom_clearance": 0.08141779969294449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0006069929274001851,
+                  -0.00013786683653227438
+                ],
+                "rod_tip_xy": [
+                  0.27303292395938317,
+                  -0.3556475913393564
+                ],
+                "target_mouth_xy": [
+                  0.27363991688678335,
+                  -0.35550972450282414
+                ],
+                "gripper_position": [
+                  0.2730242245726392,
+                  -0.3556489077970952,
+                  1.002987265123259
+                ],
+                "rod_tip_xy_dist": 0.0006224529528641206,
+                "target_xy_drift": 3.0259645104206914e-08,
+                "depth": 0.018147815455303307,
+                "bottom_clearance": 0.08129275934660651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0006156899929968263,
+                  -0.00013924190152314608
+                ],
+                "rod_tip_xy": [
+                  0.27302422457263914,
+                  -0.35564890779709524
+                ],
+                "target_mouth_xy": [
+                  0.27363991456563597,
+                  -0.3555096658955721
+                ],
+                "gripper_position": [
+                  0.27301568832835055,
+                  -0.35564985875247956,
+                  1.0028618002227125
+                ],
+                "rod_tip_xy_dist": 0.00063123884118154,
+                "target_xy_drift": 6.507996867192468e-08,
+                "depth": 0.018272509395972802,
+                "bottom_clearance": 0.08116800335706809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0006242276065987484,
+                  -0.00014013294936021659
+                ],
+                "rod_tip_xy": [
+                  0.27301568832835055,
+                  -0.35564985875247956
+                ],
+                "target_mouth_xy": [
+                  0.2736399159349493,
+                  -0.35550972580311935
+                ],
+                "gripper_position": [
+                  0.2730236846022105,
+                  -0.3557240552612057,
+                  1.002345300514159
+                ],
+                "rod_tip_xy_dist": 0.0006397635096943205,
+                "target_xy_drift": 3.1328453402082334e-08,
+                "depth": 0.018398022088944477,
+                "bottom_clearance": 0.08104249743864733,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006162327386843858,
+                  -0.00021430034211322724
+                ],
+                "rod_tip_xy": [
+                  0.27302368460221044,
+                  -0.35572405526120576
+                ],
+                "target_mouth_xy": [
+                  0.2736399173408948,
+                  -0.35550975491909254
+                ],
+                "gripper_position": [
+                  0.2730119654115274,
+                  -0.35573128592083003,
+                  1.0022027477858062
+                ],
+                "rod_tip_xy_dist": 0.000652431931205321,
+                "target_xy_drift": 4.414530303160278e-08,
+                "depth": 0.01891458937955004,
+                "bottom_clearance": 0.08052597863529154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0006279487571778652,
+                  -0.00022156195454714478
+                ],
+                "rod_tip_xy": [
+                  0.2730119654115274,
+                  -0.3557312859208299
+                ],
+                "target_mouth_xy": [
+                  0.27363991416870526,
+                  -0.3555097239662828
+                ],
+                "gripper_position": [
+                  0.2730032972551243,
+                  -0.35573239840163634,
+                  1.0020778333440918
+                ],
+                "rod_tip_xy_dist": 0.0006658898868010961,
+                "target_xy_drift": 3.2939164325500025e-08,
+                "depth": 0.0190570632130046,
+                "bottom_clearance": 0.08038351560118417,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006366206652992923,
+                  -0.0002226754892908911
+                ],
+                "rod_tip_xy": [
+                  0.27300329725512423,
+                  -0.3557323984016363
+                ],
+                "target_mouth_xy": [
+                  0.2736399179204235,
+                  -0.3555097229123454
+                ],
+                "gripper_position": [
+                  0.2729945598583001,
+                  -0.35573343699979976,
+                  1.001953342836842
+                ],
+                "rod_tip_xy_dist": 0.0006744406905110717,
+                "target_xy_drift": 2.9151116075902243e-08,
+                "depth": 0.019182100894222898,
+                "bottom_clearance": 0.08025857176280426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006453549897484367,
+                  -0.00022371079793359616
+                ],
+                "rod_tip_xy": [
+                  0.27299455985830007,
+                  -0.35573343699979976
+                ],
+                "target_mouth_xy": [
+                  0.2736399148480485,
+                  -0.35550972620186616
+                ],
+                "gripper_position": [
+                  0.27298558115484883,
+                  -0.355734465494095,
+                  1.0018281200255206
+                ],
+                "rod_tip_xy_dist": 0.0006830297093870011,
+                "target_xy_drift": 3.245445729623735e-08,
+                "depth": 0.019306496749315394,
+                "bottom_clearance": 0.08013403235195493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006543651770865577,
+                  -0.0002247412811990923
+                ],
+                "rod_tip_xy": [
+                  0.2729855811548488,
+                  -0.35573446549409504
+                ],
+                "target_mouth_xy": [
+                  0.27363994633193534,
+                  -0.35550972421289595
+                ],
+                "gripper_position": [
+                  0.2729768618301456,
+                  -0.3557355362217669,
+                  1.0017032459385695
+                ],
+                "rod_tip_xy_dist": 0.0006918832477076834,
+                "target_xy_drift": 2.0670370040936885e-09,
+                "depth": 0.01943172119438963,
+                "bottom_clearance": 0.0800088516301104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0006630543946709588,
+                  -0.00022581264797383316
+                ],
+                "rod_tip_xy": [
+                  0.2729768618301456,
+                  -0.3557355362217669
+                ],
+                "target_mouth_xy": [
+                  0.27363991622481654,
+                  -0.35550972357379307
+                ],
+                "gripper_position": [
+                  0.27296809808424327,
+                  -0.3557365007913747,
+                  1.001578888146718
+                ],
+                "rod_tip_xy_dist": 0.0007004516273643926,
+                "target_xy_drift": 3.086698859918837e-08,
+                "depth": 0.019556604869583105,
+                "bottom_clearance": 0.07988398112142081,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005968333021705445,
+              "rod_tip_xy_max_step": 3.2362124174169854e-05,
+              "rod_tip_xy_range": 0.0005968274835075928,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2725304645251754,
+            -0.3571305576358701,
+            1.043547916850001
+          ],
+          "object_origin_world": [
+            0.2725304645251754,
+            -0.3571305576358701,
+            1.043547916850001
+          ],
+          "frame_world": [
+            0.2725290536404036,
+            -0.3571362207683377,
+            1.043434595238679
+          ],
+          "center_minus_frame": [
+            1.4108847717908546e-06,
+            5.663132467581544e-06,
+            0.0001133216113220481
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2637330782501611,
+              0.16118430985305532,
+              0.8319486163751132
+            ],
+            "target_position": [
+              0.279062568047083,
+              0.2063409352089669,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04768767210682536,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16474601699742977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319486163751132,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671452128303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13438263395293523,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 319,
+            "max_placed_release_frames": 319
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21476823240332857,
+              0.01964596609247043,
+              1.0452553124869597
+            ],
+            "current_z": 1.0452553124869597,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1886688646830389,
+            "gripper_z": 1.0498401895333003,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20959851452716252,
+              0.014871390109477814,
+              1.0498401895333003
+            ],
+            "object_minus_gripper": [
+              0.005169717876166047,
+              0.0047745759829926175,
+              -0.004584877046340585
+            ],
+            "object_to_gripper_xy": 0.007037226636717102,
+            "object_to_gripper_z": -0.004584877046340585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21476823240332857,
+              -0.005105167035608337,
+              1.0452553124869597
+            ],
+            "finger_b": [
+              0.203455555507066,
+              0.01964596609247043,
+              1.0452553124869597
+            ],
+            "finger_midpoint": [
+              0.2091118939551973,
+              0.0072703995284310475,
+              1.0452553124869597
+            ],
+            "object_minus_finger_midpoint": [
+              0.005656338448131265,
+              0.012375566564039384,
+              0.0
+            ],
+            "finger_gap": 0.027213879724932843,
+            "fingertip_max_gap": 0.092268474095003,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013606939862466416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0452553124869597,
+            "object_top_z": 1.091041123459105,
+            "finger_top_clearance": 0.0457858109721454,
+            "fingertip_min_top_clearance": 0.013735743291643636,
+            "object_projection_between_fingers": 0.8271975703138903,
+            "object_to_finger_line_xy": 0.01028892516335344,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486342370475015,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9988211674644513,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21372697403537363,
+              0.018050039308635094,
+              1.244704812691402
+            ],
+            "held_position": [
+              0.21917903840072303,
+              0.022478596332166926,
+              1.2400941142480677
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0084021225467111,
+            "max_held_gripper_dist": 0.008405481939641659,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004610698443334282,
+            "max_held_gripper_z_dist": 0.004610863985338165,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086147741590414,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21917903840072303,
+              -0.0032304484545076476,
+              1.2400941142480677
+            ],
+            "held_grasp_finger_b": [
+              0.20953523335069954,
+              0.022478596332166926,
+              1.2400941142480677
+            ],
+            "held_grasp_midpoint": [
+              0.21435713587571129,
+              0.00962407393882964,
+              1.2400941142480677
+            ],
+            "held_grasp_object_position": [
+              0.21917903840072303,
+              0.022478596332166926,
+              1.2400941142480677
+            ],
+            "held_grasp_finger_gap": 0.027458294915855528,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025173778767147142,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05190895989580055,
+              -0.9986515979014199,
+              -0.0006677510592461022
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041481459046777205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211273569265262,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17801729885722672,
+              0.016681486679104365,
+              0.7565866543124509
+            ],
+            "target_position": [
+              0.18965076573302184,
+              0.01891046779292417,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011845079499774895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2079914163119126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866543124509,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577651222554684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09296065691450049,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17888240881484516,
+            "release_required_pad_clearance": 0.05648032845725025,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.31681155417458,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 321,
+            "max_placed_release_frames": 321
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ec5b331202b0e063d3e38f6de2b3fbf70b06bedf9fba148fc80049a970ef1106",
+    "visual_seed": 8608629351953508309,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c4122af31db156a38d7d739a9c936e84f3aa89e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_21_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21312251372813326,
+              -0.1385676101161724,
+              1.1646946998538399
+            ],
+            "current_z": 1.1646946998538399,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.3035883110483635,
+            "gripper_z": 1.1580434864385647,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20887934801025426,
+              -0.14301203550780972,
+              1.1580434864385647
+            ],
+            "object_minus_gripper": [
+              0.004243165717878999,
+              0.004444425391637308,
+              0.006651213415275192
+            ],
+            "object_to_gripper_xy": 0.006144702789493894,
+            "object_to_gripper_z": 0.006651213415275192,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21312251372813326,
+              -0.16203693126905117,
+              1.1646946998538399
+            ],
+            "finger_b": [
+              0.20271856236367355,
+              -0.1385676101161724,
+              1.1646946998538399
+            ],
+            "finger_midpoint": [
+              0.2079205380459034,
+              -0.1503022706926118,
+              1.1646946998538399
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052019756822298535,
+              0.011734660576439376,
+              0.0
+            ],
+            "finger_gap": 0.025671993287842008,
+            "fingertip_max_gap": 0.09239824749378495,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012835996643921004,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646946998538399,
+            "object_top_z": 1.2147616406627375,
+            "finger_top_clearance": 0.05006694080889762,
+            "fingertip_min_top_clearance": 0.015020082242669285,
+            "object_projection_between_fingers": 0.8357605637805208,
+            "object_to_finger_line_xy": 0.009511286213489076,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048699123746892475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9420186923377065,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26868782474752384,
+              -0.3555557914520808,
+              0.8515395806745911
+            ],
+            "target_position": [
+              0.26121197999427836,
+              -0.3558973959609845,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074836453961375825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18354263919464603,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395806745911,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556177158846826,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870197312147087,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15132793523247054,
+            "release_required_pad_clearance": 0.05350986560735435,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0317414017864537,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007504463195800781,
+            "max_z_decrease": 0.007504463195800781,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509371179771803,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007504463195800781,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021096434390604504,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007504463195800781,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007504482849862855,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11691190302371979,
+              -0.4121588468551636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11691190302371979,
+              -0.4121588468551636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1152734350397619,
+              -0.412899326260265,
+              0.8075874272662718
+            ],
+            "closest_button": [
+              0.11690060049295425,
+              -0.41215425729751587,
+              0.7725393772125244
+            ],
+            "closest_ee_minus_button": [
+              -0.0016271654531923585,
+              -0.000745068962749118,
+              0.03504805005374734
+            ],
+            "button_min_z_position": [
+              0.11689495295286179,
+              -0.41215607523918146,
+              0.7693043947219849
+            ],
+            "min_active_finger_to_button": 0.14773107358252158,
+            "closest_active_finger": [
+              -0.026114314794540405,
+              -0.39898455142974854,
+              0.8108077645301819
+            ],
+            "closest_active_finger_button": [
+              0.11691276729106902,
+              -0.4121571779251098,
+              0.7762504816055298
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14302708208560944,
+              0.013172626495361273,
+              0.0345572829246521
+            ],
+            "min_contact_pad_to_button": 0.021096434390604504,
+            "closest_contact_pad": [
+              0.11689495295286179,
+              -0.41378020946189575,
+              0.7903382182456262
+            ],
+            "closest_contact_pad_button": [
+              0.11689495295286179,
+              -0.41215607523918146,
+              0.7693043947219849
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016241342227142908,
+              0.02103382352364136
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2804442623268573,
+              0.20464386675310878,
+              1.1012390665123903
+            ],
+            "current_z": 1.1012390665123903,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1913299367780278,
+            "gripper_z": 1.1012393216464935,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28044420999521624,
+              0.2046439661825845,
+              1.1012393216464935
+            ],
+            "object_minus_gripper": [
+              5.233164107609767e-08,
+              -9.94294757361569e-08,
+              -2.551341031775678e-07
+            ],
+            "object_to_gripper_xy": 1.1236023007668027e-07,
+            "object_to_gripper_z": -2.551341031775678e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2804442623268573,
+              0.20464386675310878,
+              1.1012390665123903
+            ],
+            "finger_b": [
+              0.2804442623268573,
+              0.20464386675310878,
+              1.1012390665123903
+            ],
+            "finger_midpoint": [
+              0.2804442623268573,
+              0.20464386675310878,
+              1.1012390665123903
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012390665123903,
+            "object_top_z": 1.22624757313267,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2804442623268573,
+            0.2046438667531088,
+            1.1012390665123903
+          ],
+          "object_origin_world": [
+            0.2804442623268573,
+            0.2046438667531088,
+            1.1012390665123903
+          ],
+          "frame_world": [
+            0.28044420999521624,
+            0.2046439661825845,
+            1.1012393216464935
+          ],
+          "center_minus_frame": [
+            5.233164107609767e-08,
+            -9.942947570840133e-08,
+            -2.551341031775678e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437817098372288,
+            "required_z": 0.9112599472598474,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0025861189923409365,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.915571816708026e-08,
+            "max_target_xy_drift": 1.3595019735359461e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.031741403940786,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.032126616946801,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2664369529848432,
+              -0.3542409816280082,
+              0.9234705020332751
+            ],
+            "target_mouth_xy": [
+              0.2686878533127529,
+              -0.35555579307068885
+            ],
+            "rod_tip_z": 0.9234705020332751,
+            "rod_tip_depth": -0.022210510168621522,
+            "rod_tip_bottom_clearance": 0.12165118418940779,
+            "rod_tip_xy_dist": 0.0026067760578898876,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04495026025135218,
+            "min_rod_tip_bottom_clearance": 0.05449030472286631,
+            "min_rod_tip_xy_dist": 0.00019647800247168004,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2686877943527406,
+              -0.355555788262785
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.896001231686654e-08,
+              -4.807903852821482e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0016048145602043928,
+                0.002947078339763931
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017279382901186913,
+                0.002572837741186107
+              ],
+              "first_target_mouth_xy": [
+                0.2686878211800561,
+                -0.3555557930639345
+              ],
+              "last_target_mouth_xy": [
+                0.2686878221557213,
+                -0.35555576229872876
+              ],
+              "first_rod_tip_xy": [
+                0.2670830066198517,
+                -0.35260871472417055
+              ],
+              "last_rod_tip_xy": [
+                0.2669598838656026,
+                -0.35298292455754265
+              ],
+              "min_rod_tip_xy_dist": 0.0030939881806591836,
+              "max_rod_tip_xy_dist": 0.0033556967254729305,
+              "first_target_xy_drift": 2.7253548249436656e-08,
+              "last_target_xy_drift": 3.804126643398363e-08,
+              "max_depth": 0.01957691481280599,
+              "min_bottom_clearance": 0.07986367213680579
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016048145602043928,
+                  0.002947078339763931
+                ],
+                "rod_tip_xy": [
+                  0.2670830066198517,
+                  -0.35260871472417055
+                ],
+                "target_mouth_xy": [
+                  0.2686878211800561,
+                  -0.3555557930639345
+                ],
+                "gripper_position": [
+                  0.26707186814274,
+                  -0.352616073094817,
+                  1.005927935913399
+                ],
+                "rod_tip_xy_dist": 0.0033556967254729305,
+                "target_xy_drift": 2.7253548249436656e-08,
+                "depth": 0.015192401049832438,
+                "bottom_clearance": 0.08424818020335623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016159543045935476,
+                  0.002939689832223591
+                ],
+                "rod_tip_xy": [
+                  0.26707186814274003,
+                  -0.352616073094817
+                ],
+                "target_mouth_xy": [
+                  0.2686878224473336,
+                  -0.3555557629270406
+                ],
+                "gripper_position": [
+                  0.2670721275763249,
+                  -0.35267842810766514,
+                  1.0054100509535429
+                ],
+                "rod_tip_xy_dist": 0.0033545617633624187,
+                "target_xy_drift": 3.783128465802505e-08,
+                "depth": 0.015332040821687709,
+                "bottom_clearance": 0.08410857927383142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0016156942068353275,
+                  0.002877335467262654
+                ],
+                "rod_tip_xy": [
+                  0.267072127576325,
+                  -0.35267842810766514
+                ],
+                "target_mouth_xy": [
+                  0.2686878217831603,
+                  -0.3555557635749278
+                ],
+                "gripper_position": [
+                  0.26706097767547476,
+                  -0.3526857721301941,
+                  1.0052710746883768
+                ],
+                "rod_tip_xy_dist": 0.0032999283569751683,
+                "target_xy_drift": 3.690417617195016e-08,
+                "depth": 0.01584981223980153,
+                "bottom_clearance": 0.08359080371748451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0016268449647260375,
+                  0.002870050081005937
+                ],
+                "rod_tip_xy": [
+                  0.2670609776754748,
+                  -0.35268577213019414
+                ],
+                "target_mouth_xy": [
+                  0.26868782264020086,
+                  -0.3555558222112001
+                ],
+                "gripper_position": [
+                  0.2670529065559629,
+                  -0.3526864586966844,
+                  1.0051493683864137
+                ],
+                "rod_tip_xy_dist": 0.0032990622920364278,
+                "target_xy_drift": 4.418908569450799e-08,
+                "depth": 0.01598889807626691,
+                "bottom_clearance": 0.08345171867735457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0016348999996787517,
+                  0.0028693042498922905
+                ],
+                "rod_tip_xy": [
+                  0.267052906555963,
+                  -0.35268645869668447
+                ],
+                "target_mouth_xy": [
+                  0.26868780655564173,
+                  -0.35555576294657676
+                ],
+                "gripper_position": [
+                  0.267054172134473,
+                  -0.35274987555703935,
+                  1.0046316636690718
+                ],
+                "rod_tip_xy_dist": 0.0033023938116765452,
+                "target_xy_drift": 2.8103757680807e-08,
+                "depth": 0.01611048096746659,
+                "bottom_clearance": 0.08333010046398726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016336505667599588,
+                  0.002805947609922921
+                ],
+                "rod_tip_xy": [
+                  0.2670541721344731,
+                  -0.3527498755570394
+                ],
+                "target_mouth_xy": [
+                  0.26868782270123304,
+                  -0.3555558231669623
+                ],
+                "gripper_position": [
+                  0.2670427620494085,
+                  -0.35275694829550236,
+                  1.0044924390976193
+                ],
+                "rod_tip_xy_dist": 0.0032468686705666564,
+                "target_xy_drift": 4.496597178506287e-08,
+                "depth": 0.016628326403547056,
+                "bottom_clearance": 0.08281232557684348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016450301254470334,
+                  0.002798814959054541
+                ],
+                "rod_tip_xy": [
+                  0.2670427620494086,
+                  -0.3527569482955024
+                ],
+                "target_mouth_xy": [
+                  0.2686877921748556,
+                  -0.35555576325455696
+                ],
+                "gripper_position": [
+                  0.2670345542400895,
+                  -0.3527577999316213,
+                  1.0043710835465778
+                ],
+                "rod_tip_xy_dist": 0.003246457960401729,
+                "target_xy_drift": 2.5102881366492616e-08,
+                "depth": 0.01676747974277626,
+                "bottom_clearance": 0.0826731329241085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001653238376774946,
+                  0.0027979614085898996
+                ],
+                "rod_tip_xy": [
+                  0.26703455424008954,
+                  -0.3527577999316214
+                ],
+                "target_mouth_xy": [
+                  0.2686877926168645,
+                  -0.3555557613402113
+                ],
+                "gripper_position": [
+                  0.2670366501579574,
+                  -0.35282216402764255,
+                  1.003855019112483
+                ],
+                "rod_tip_xy_dist": 0.0032498900249700504,
+                "target_xy_drift": 2.6978477382838032e-08,
+                "depth": 0.0168888054726003,
+                "bottom_clearance": 0.08255175903420697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016511396240568854,
+                  0.0027335967256095772
+                ],
+                "rod_tip_xy": [
+                  0.26703665015795747,
+                  -0.35282216402764255
+                ],
+                "target_mouth_xy": [
+                  0.26868778978201435,
+                  -0.3555557607532521
+                ],
+                "gripper_position": [
+                  0.267025405493749,
+                  -0.35282891034791974,
+                  1.0037163333928807
+                ],
+                "rod_tip_xy_dist": 0.0031935580652923965,
+                "target_xy_drift": 2.7886662355300243e-08,
+                "depth": 0.017404826571656207,
+                "bottom_clearance": 0.08203570710881736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001662388587919672,
+                  0.0027268528689089466
+                ],
+                "rod_tip_xy": [
+                  0.2670254054937491,
+                  -0.35282891034791986
+                ],
+                "target_mouth_xy": [
+                  0.26868779408166876,
+                  -0.3555557632168288
+                ],
+                "gripper_position": [
+                  0.2670169339182823,
+                  -0.35282986060506805,
+                  1.003594650103228
+                ],
+                "rod_tip_xy_dist": 0.0031936284044832945,
+                "target_xy_drift": 2.5047423057173687e-08,
+                "depth": 0.017543601171620127,
+                "bottom_clearance": 0.08189708591118783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016708576157084543,
+                  0.002725902649527656
+                ],
+                "rod_tip_xy": [
+                  0.26701693391828235,
+                  -0.35282986060506805
+                ],
+                "target_mouth_xy": [
+                  0.2686877915339908,
+                  -0.3555557632545957
+                ],
+                "gripper_position": [
+                  0.2670083902192469,
+                  -0.3528308345278692,
+                  1.0034729205946837
+                ],
+                "rod_tip_xy_dist": 0.00319723480943656,
+                "target_xy_drift": 2.516654291509745e-08,
+                "depth": 0.017665203623553505,
+                "bottom_clearance": 0.08177538359448466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016794340761803195,
+                  0.00272498893334594
+                ],
+                "rod_tip_xy": [
+                  0.26700839021924694,
+                  -0.35283083452786923
+                ],
+                "target_mouth_xy": [
+                  0.26868782429542726,
+                  -0.35555582346121517
+                ],
+                "gripper_position": [
+                  0.2670118090691266,
+                  -0.3528972827889615,
+                  1.0029580605067354
+                ],
+                "rod_tip_xy_dist": 0.0032009472821484405,
+                "target_xy_drift": 4.62114052058042e-08,
+                "depth": 0.017787028737544452,
+                "bottom_clearance": 0.08165369663442956,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016759823674900587,
+                  0.0026585385029654907
+                ],
+                "rod_tip_xy": [
+                  0.26701180906912664,
+                  -0.3528972827889616
+                ],
+                "target_mouth_xy": [
+                  0.2686877914366167,
+                  -0.3555558212919271
+                ],
+                "gripper_position": [
+                  0.2670003183154148,
+                  -0.35290412056178966,
+                  1.0028193663878908
+                ],
+                "rod_tip_xy_dist": 0.003142728729605464,
+                "target_xy_drift": 3.3157623643122637e-08,
+                "depth": 0.0183017648577829,
+                "bottom_clearance": 0.08113876469510528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00168750542504853,
+                  0.002651641387291126
+                ],
+                "rod_tip_xy": [
+                  0.2670003183154149,
+                  -0.35290412056178977
+                ],
+                "target_mouth_xy": [
+                  0.2686878237404634,
+                  -0.3555557619490809
+                ],
+                "gripper_position": [
+                  0.26699188489860204,
+                  -0.3529046895665296,
+                  1.0026981098124164
+                ],
+                "rod_tip_xy_dist": 0.003143068024456904,
+                "target_xy_drift": 3.944679043606127e-08,
+                "depth": 0.01844060428433525,
+                "bottom_clearance": 0.08100003358539731,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016959067483736656,
+                  0.002651102556938345
+                ],
+                "rod_tip_xy": [
+                  0.2669918848986021,
+                  -0.35290468956652965
+                ],
+                "target_mouth_xy": [
+                  0.26868779164697576,
+                  -0.355555792123468
+                ],
+                "gripper_position": [
+                  0.2669833364208927,
+                  -0.3529057609679715,
+                  1.0025765594301257
+                ],
+                "rod_tip_xy_dist": 0.0031471327373633878,
+                "target_xy_drift": 4.714449759090913e-09,
+                "depth": 0.01856172849345239,
+                "bottom_clearance": 0.0808788311726033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017044891523794181,
+                  0.002650062476859061
+                ],
+                "rod_tip_xy": [
+                  0.2669833364208928,
+                  -0.35290576096797166
+                ],
+                "target_mouth_xy": [
+                  0.2686878255732722,
+                  -0.3555558234448307
+                ],
+                "gripper_position": [
+                  0.2669748363287971,
+                  -0.35290642719574306,
+                  1.0024551502841699
+                ],
+                "rod_tip_xy_dist": 0.0031508910488678415,
+                "target_xy_drift": 4.7037197352622376e-08,
+                "depth": 0.018683400588863863,
+                "bottom_clearance": 0.08075737494452384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017129410825650337,
+                  0.0026493351014889033
+                ],
+                "rod_tip_xy": [
+                  0.26697483632879715,
+                  -0.35290642719574317
+                ],
+                "target_mouth_xy": [
+                  0.2686877774113622,
+                  -0.35555576229723207
+                ],
+                "gripper_position": [
+                  0.2669800676631972,
+                  -0.3529758149070549,
+                  1.001943198511952
+                ],
+                "rod_tip_xy_dist": 0.0031548603189872427,
+                "target_xy_drift": 3.100355207767721e-08,
+                "depth": 0.01880475292796102,
+                "bottom_clearance": 0.08063583234712468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017077251098738255,
+                  0.002580007327734779
+                ],
+                "rod_tip_xy": [
+                  0.26698006766319726,
+                  -0.352975814907055
+                ],
+                "target_mouth_xy": [
+                  0.2686877927730711,
+                  -0.35555582223478976
+                ],
+                "gripper_position": [
+                  0.266968393560032,
+                  -0.352982363603654,
+                  1.0018044002858177
+                ],
+                "rod_tip_xy_dist": 0.0030939881806591836,
+                "target_xy_drift": 3.400871158235869e-08,
+                "depth": 0.019316714505328347,
+                "bottom_clearance": 0.08012390048468365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0017194276250244722,
+                  0.0025734294630050947
+                ],
+                "rod_tip_xy": [
+                  0.26696839356003205,
+                  -0.3529823636036542
+                ],
+                "target_mouth_xy": [
+                  0.2686878211850565,
+                  -0.3555557930666593
+                ],
+                "gripper_position": [
+                  0.26695988386560254,
+                  -0.3529829245575425,
+                  1.0016830483816148
+                ],
+                "rod_tip_xy_dist": 0.003094991204956807,
+                "target_xy_drift": 2.725895056963295e-08,
+                "depth": 0.019455452311465282,
+                "bottom_clearance": 0.07998512923383305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0017279382901186913,
+                  0.002572837741186107
+                ],
+                "rod_tip_xy": [
+                  0.2669598838656026,
+                  -0.35298292455754265
+                ],
+                "target_mouth_xy": [
+                  0.2686878221557213,
+                  -0.35555576229872876
+                ],
+                "gripper_position": [
+                  0.2669511348128577,
+                  -0.35298367615724796,
+                  1.001561865438402
+                ],
+                "rod_tip_xy_dist": 0.0030992361602385087,
+                "target_xy_drift": 3.804126643398363e-08,
+                "depth": 0.01957691481280599,
+                "bottom_clearance": 0.07986367213680579,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006014855442040169,
+              "rod_tip_xy_max_step": 3.249373901640922e-05,
+              "rod_tip_xy_range": 0.000601477468930745,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2664369529848432,
+            -0.35424098162800816,
+            1.0434705020332753
+          ],
+          "object_origin_world": [
+            0.2664369529848432,
+            -0.35424098162800816,
+            1.0434705020332753
+          ],
+          "frame_world": [
+            0.26646213740777003,
+            -0.35423890273628256,
+            1.0437817098372288
+          ],
+          "center_minus_frame": [
+            -2.5184422926816108e-05,
+            -2.0788917255987194e-06,
+            -0.0003112078039535504
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26823103876986326,
+              0.15645394870019877,
+              0.8331848818692654
+            ],
+            "target_position": [
+              0.2806238011996051,
+              0.2031045865448265,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04826864999096861,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1698495310597903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331848818692654,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671857315412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13855198035514973,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21124900314782954,
+              0.02267597049298712,
+              1.0439878527360913
+            ],
+            "current_z": 1.0439878527360913,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.18740152414146005,
+            "gripper_z": 1.0483070448929734,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20629500206697993,
+              0.01804246280418155,
+              1.0483070448929734
+            ],
+            "object_minus_gripper": [
+              0.004954001080849618,
+              0.00463350768880557,
+              -0.004319192156882146
+            ],
+            "object_to_gripper_xy": 0.006783179211201745,
+            "object_to_gripper_z": -0.004319192156882146,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21124900314782954,
+              -0.001913142976618654,
+              1.0439878527360913
+            ],
+            "finger_b": [
+              0.2001337300048634,
+              0.02267597049298712,
+              1.0439878527360913
+            ],
+            "finger_midpoint": [
+              0.20569136657634646,
+              0.010381413758184233,
+              1.0439878527360913
+            ],
+            "object_minus_finger_midpoint": [
+              0.005557636571483088,
+              0.012294556734802887,
+              0.0
+            ],
+            "finger_gap": 0.02698469563037339,
+            "fingertip_max_gap": 0.09298659389867314,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0134923478151867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0439878527360913,
+            "object_top_z": 1.0901473049236956,
+            "finger_top_clearance": 0.04615945218760431,
+            "fingertip_min_top_clearance": 0.01384783565628126,
+            "object_projection_between_fingers": 0.8303299331322962,
+            "object_to_finger_line_xy": 0.010128508258971023,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04899329694933657,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.158956957610218,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21041974789579954,
+              0.02141601141719629,
+              1.2436218520877251
+            ],
+            "held_position": [
+              0.21566186599988021,
+              0.02570872241376505,
+              1.2392798183013396
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008047386365728085,
+            "max_held_gripper_dist": 0.008050572823142576,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004342033786385535,
+            "max_held_gripper_z_dist": 0.004342033786385535,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08588053832064152,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21566186599988021,
+              0.00012106419187488999,
+              1.2392798183013396
+            ],
+            "held_grasp_finger_b": [
+              0.20623205509299247,
+              0.02570872241376505,
+              1.2392798183013396
+            ],
+            "held_grasp_midpoint": [
+              0.21094696054643636,
+              0.01291489330281997,
+              1.2392798183013396
+            ],
+            "held_grasp_object_position": [
+              0.21566186599988021,
+              0.02570872241376505,
+              1.2392798183013396
+            ],
+            "held_grasp_finger_gap": 0.027269939255889844,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02506309443799995,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05194035283012117,
+              -0.998640904221732,
+              0.0043062934275345235
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004044407686636016,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03217889004118572,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.16940443277846354,
+              0.01667197086358094,
+              0.7565863797935344
+            ],
+            "target_position": [
+              0.1863532109982136,
+              0.01955935804144267,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017192966232071588,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20671835461246435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863797935344,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581591804218261,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09362115547367923,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1780519858879816,
+            "release_required_pad_clearance": 0.05681057773683962,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.078653572872788,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 335,
+            "max_placed_release_frames": 335
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "628b74fa869b4ab683549774a312beedb6ffe329ca6cd0c880b2dda52e9824c2",
+    "visual_seed": 5537002585510971075,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d5ceedb1d3e02d64e6b568d6948dcf153ab9a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_22_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21042404570848539,
+              -0.13672142743276666,
+              1.1627659348823465
+            ],
+            "current_z": 1.1627659348823465,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.3016594268675804,
+            "gripper_z": 1.1560020515644327,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20635137188624703,
+              -0.14116185550062504,
+              1.1560020515644327
+            ],
+            "object_minus_gripper": [
+              0.00407267382223836,
+              0.004440428067858382,
+              0.006763883317913777
+            ],
+            "object_to_gripper_xy": 0.006025286174794533,
+            "object_to_gripper_z": 0.006763883317913777,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21042404570848539,
+              -0.15996991589737686,
+              1.1627659348823465
+            ],
+            "finger_b": [
+              0.1998583516064581,
+              -0.13672142743276666,
+              1.1627659348823465
+            ],
+            "finger_midpoint": [
+              0.20514119865747174,
+              -0.14834567166507176,
+              1.1627659348823465
+            ],
+            "object_minus_finger_midpoint": [
+              0.005282847051013645,
+              0.011624244232305098,
+              0.0
+            ],
+            "finger_gap": 0.025536759930475276,
+            "fingertip_max_gap": 0.0923942705504314,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012768379965237638,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627659348823465,
+            "object_top_z": 1.2127551505608873,
+            "finger_top_clearance": 0.049989215678540866,
+            "fingertip_min_top_clearance": 0.014996764703562293,
+            "object_projection_between_fingers": 0.8288154844109222,
+            "object_to_finger_line_xy": 0.009618934356603376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486971352752157,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.047967840622352,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26772522822597855,
+              -0.35624069122115287,
+              0.8515396036935889
+            ],
+            "target_position": [
+              0.25976003141790377,
+              -0.3568471383690587,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007988250017029248,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.187616754379187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396036935889,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556584665262041,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720273193418605,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15532055583292448,
+            "release_required_pad_clearance": 0.05360136596709303,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2131824071491413,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073699951171875,
+            "max_z_decrease": 0.0073699951171875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513554570704432,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073699951171875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02128753807787015,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0073699951171875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007370012196837985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11545995622873306,
+              -0.41310858726501465,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11545995622873306,
+              -0.41310858726501465,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11439023243844348,
+              -0.4151142048316339,
+              0.8078743124137187
+            ],
+            "closest_button": [
+              0.11545071750879288,
+              -0.4131037592887879,
+              0.7728123664855957
+            ],
+            "closest_ee_minus_button": [
+              -0.0010604850703493929,
+              -0.0020104455428460177,
+              0.03506194592812295
+            ],
+            "button_min_z_position": [
+              0.1154446080327034,
+              -0.4131045639514923,
+              0.7694388628005981
+            ],
+            "min_active_finger_to_button": 0.1470459654026374,
+            "closest_active_finger": [
+              -0.02679169923067093,
+              -0.39912939071655273,
+              0.8109351396560669
+            ],
+            "closest_active_finger_button": [
+              0.11546105146408081,
+              -0.4131081104278565,
+              0.7764204144477844
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14225275069475174,
+              0.013978719711303766,
+              0.03451472520828247
+            ],
+            "min_contact_pad_to_button": 0.02128753807787015,
+            "closest_contact_pad": [
+              0.1154446080327034,
+              -0.41621523462268273,
+              0.7904978989939325
+            ],
+            "closest_contact_pad_button": [
+              0.1154446080327034,
+              -0.4131045639514923,
+              0.7694388628005981
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031106706711904186,
+              0.02105903619333438
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2830350445119314,
+              0.20847305224349139,
+              1.1042199274277449
+            ],
+            "current_z": 1.1042199274277449,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19431079769338233,
+            "gripper_z": 1.1042201724080143,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2830350862048587,
+              0.2084730575339362,
+              1.1042201724080143
+            ],
+            "object_minus_gripper": [
+              -4.169292727729257e-08,
+              -5.290444804462169e-09,
+              -2.449802694037828e-07
+            ],
+            "object_to_gripper_xy": 4.2027241060753296e-08,
+            "object_to_gripper_z": -2.449802694037828e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2830350445119314,
+              0.20847305224349139,
+              1.1042199274277449
+            ],
+            "finger_b": [
+              0.2830350445119314,
+              0.20847305224349139,
+              1.1042199274277449
+            ],
+            "finger_midpoint": [
+              0.2830350445119314,
+              0.20847305224349139,
+              1.1042199274277449
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1042199274277449,
+            "object_top_z": 1.2292284340480246,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2830350445119314,
+            0.2084730522434914,
+            1.1042199274277449
+          ],
+          "object_origin_world": [
+            0.2830350445119314,
+            0.2084730522434914,
+            1.1042199274277449
+          ],
+          "frame_world": [
+            0.2830350862048587,
+            0.2084730575339362,
+            1.1042201724080143
+          ],
+          "center_minus_frame": [
+            -4.169292727729257e-08,
+            -5.290444776706593e-09,
+            -2.449802694037828e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432144046399459,
+            "required_z": 0.9112598346390365,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001975459991710049,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 0.0,
+            "max_target_xy_drift": 0.0,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.213536047363567,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.213536047363567,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2685341638353727,
+              -0.3544322560111608,
+              0.9233254223627819
+            ],
+            "target_mouth_xy": [
+              0.2677252207703188,
+              -0.3562406038654591
+            ],
+            "rod_tip_z": 0.9233254223627819,
+            "rod_tip_depth": -0.02206558772374545,
+            "rod_tip_bottom_clearance": 0.1215061029107456,
+            "rod_tip_xy_dist": 0.0019810378200943155,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04466523539499556,
+            "min_rod_tip_bottom_clearance": 0.05477527979200458,
+            "min_rod_tip_xy_dist": 0.00014020002158931236,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2677252207703188,
+              -0.3562406038654591
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              0.0
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0013625176416783846,
+                0.003495895397388593
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012620385778833731,
+                0.0031107537115400152
+              ],
+              "first_target_mouth_xy": [
+                0.2677252207703188,
+                -0.3562406038654591
+              ],
+              "last_target_mouth_xy": [
+                0.2677252207703188,
+                -0.3562406038654591
+              ],
+              "first_rod_tip_xy": [
+                0.2690877384119972,
+                -0.3527447084680705
+              ],
+              "last_rod_tip_xy": [
+                0.26898725934820217,
+                -0.35312985015391907
+              ],
+              "min_rod_tip_xy_dist": 0.003357012068182935,
+              "max_rod_tip_xy_dist": 0.0037520313102861465,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.019566323951638376,
+              "min_bottom_clearance": 0.07987419123536177
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013625176416783846,
+                  0.003495895397388593
+                ],
+                "rod_tip_xy": [
+                  0.2690877384119972,
+                  -0.3527447084680705
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26907668954187136,
+                  -0.3527519927586818,
+                  1.0059592337932923
+                ],
+                "rod_tip_xy_dist": 0.0037520313102861465,
+                "target_xy_drift": 0.0,
+                "depth": 0.015160573526563637,
+                "bottom_clearance": 0.08427994166043651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0013514687715523999,
+                  0.0034886111067772285
+                ],
+                "rod_tip_xy": [
+                  0.2690766895418712,
+                  -0.35275199275868185
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26908166183763665,
+                  -0.35281624564336106,
+                  1.0054398408851952
+                ],
+                "rod_tip_xy_dist": 0.003741239807177668,
+                "target_xy_drift": 0.0,
+                "depth": 0.015300600845744361,
+                "bottom_clearance": 0.08413991434125578,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001356441067317693,
+                  0.0034243582220979674
+                ],
+                "rod_tip_xy": [
+                  0.2690816618376365,
+                  -0.3528162456433611
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26907038580899256,
+                  -0.35282333876992517,
+                  1.0052995303592551
+                ],
+                "rod_tip_xy_dist": 0.003683227063643499,
+                "target_xy_drift": 0.0,
+                "depth": 0.015819993753841244,
+                "bottom_clearance": 0.0836205214331589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0013451650386736014,
+                  0.0034172650955337502
+                ],
+                "rod_tip_xy": [
+                  0.2690703858089924,
+                  -0.35282333876992533
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26906222787623346,
+                  -0.3528244020046337,
+                  1.005176781193863
+                ],
+                "rod_tip_xy_dist": 0.0036724882184185482,
+                "target_xy_drift": 0.0,
+                "depth": 0.015960304279781345,
+                "bottom_clearance": 0.0834802109072188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001337007105914556,
+                  0.003416201860825252
+                ],
+                "rod_tip_xy": [
+                  0.26906222787623335,
+                  -0.35282440200463383
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2690679939128059,
+                  -0.3528898704383681,
+                  1.0046574711732417
+                ],
+                "rod_tip_xy_dist": 0.0036685178417409847,
+                "target_xy_drift": 0.0,
+                "depth": 0.016083053445173467,
+                "bottom_clearance": 0.08335746174182668,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013427731424869305,
+                  0.003350733427090913
+                ],
+                "rod_tip_xy": [
+                  0.2690679939128057,
+                  -0.35288987043836817
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2690566122894468,
+                  -0.35289693145020135,
+                  1.0045179632667853
+                ],
+                "rod_tip_xy_dist": 0.0036097720442721365,
+                "target_xy_drift": 0.0,
+                "depth": 0.0166023634657948,
+                "bottom_clearance": 0.08283815172120534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013313915191278114,
+                  0.0033436724152576813
+                ],
+                "rod_tip_xy": [
+                  0.2690566122894466,
+                  -0.3528969314502014
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26904837322697506,
+                  -0.3528978709092218,
+                  1.0043950322412907
+                ],
+                "rod_tip_xy_dist": 0.0035989927198815776,
+                "target_xy_drift": 0.0,
+                "depth": 0.016741871372251138,
+                "bottom_clearance": 0.082698643814749,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013231524566561514,
+                  0.0033427329562371044
+                ],
+                "rod_tip_xy": [
+                  0.26904837322697495,
+                  -0.352897870909222
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2690549715425886,
+                  -0.35296436511243484,
+                  1.0038775791763694
+                ],
+                "rod_tip_xy_dist": 0.0035950794205787525,
+                "target_xy_drift": 0.0,
+                "depth": 0.016864802397745793,
+                "bottom_clearance": 0.08257571278925435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001329750772269711,
+                  0.0032762387530241854
+                ],
+                "rod_tip_xy": [
+                  0.2690549715425885,
+                  -0.3529643651124349
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.269043587413448,
+                  -0.35297147215002056,
+                  1.0037375840795075
+                ],
+                "rod_tip_xy_dist": 0.0035358135532249663,
+                "target_xy_drift": 0.0,
+                "depth": 0.01738225546266725,
+                "bottom_clearance": 0.0820582597243329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013183666431290653,
+                  0.0032691317154384114
+                ],
+                "rod_tip_xy": [
+                  0.26904358741344786,
+                  -0.35297147215002067
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2690350857000655,
+                  -0.35297227772307277,
+                  1.0036148156898619
+                ],
+                "rod_tip_xy_dist": 0.0035249557129984894,
+                "target_xy_drift": 0.0,
+                "depth": 0.01752225055952894,
+                "bottom_clearance": 0.0819182646274712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001309864929746607,
+                  0.0032683261423861465
+                ],
+                "rod_tip_xy": [
+                  0.2690350857000654,
+                  -0.35297227772307294
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26902663664013526,
+                  -0.3529731840299658,
+                  1.0034921758816648
+                ],
+                "rod_tip_xy_dist": 0.0035210370499591157,
+                "target_xy_drift": 0.0,
+                "depth": 0.017645018949174807,
+                "bottom_clearance": 0.08179549623782534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013014158698163025,
+                  0.0032674198354931683
+                ],
+                "rod_tip_xy": [
+                  0.2690266366401351,
+                  -0.3529731840299659
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2690347294436519,
+                  -0.35304162314525417,
+                  1.0029759463253547
+                ],
+                "rod_tip_xy_dist": 0.003517060654521603,
+                "target_xy_drift": 0.0,
+                "depth": 0.01776765875737163,
+                "bottom_clearance": 0.08167285642962852,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013095086733330152,
+                  0.003198980720204747
+                ],
+                "rod_tip_xy": [
+                  0.2690347294436518,
+                  -0.35304162314525434
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2690232835990943,
+                  -0.3530485470579497,
+                  1.0028362428587978
+                ],
+                "rod_tip_xy_dist": 0.003456629950367276,
+                "target_xy_drift": 0.0,
+                "depth": 0.018283888313681773,
+                "bottom_clearance": 0.08115662687331837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012980628287753704,
+                  0.003192056807509336
+                ],
+                "rod_tip_xy": [
+                  0.26902328359909417,
+                  -0.35304854705794975
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26901472679931676,
+                  -0.3530491986421137,
+                  1.0027134484215077
+                ],
+                "rod_tip_xy_dist": 0.0034458952058666857,
+                "target_xy_drift": 0.0,
+                "depth": 0.01842359178023867,
+                "bottom_clearance": 0.08101692340676148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0012895060289978555,
+                  0.0031914052233453782
+                ],
+                "rod_tip_xy": [
+                  0.26901472679931665,
+                  -0.3530491986421137
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2690061447160903,
+                  -0.3530499124105964,
+                  1.0025910864552505
+                ],
+                "rod_tip_xy_dist": 0.0034420768582961625,
+                "target_xy_drift": 0.0,
+                "depth": 0.01854638621752902,
+                "bottom_clearance": 0.08089412896947112,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001280923945771395,
+                  0.0031906914548626153
+                ],
+                "rod_tip_xy": [
+                  0.2690061447160902,
+                  -0.35304991241059647
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2689974188179646,
+                  -0.35305075487809956,
+                  1.0024686295209373
+                ],
+                "rod_tip_xy_dist": 0.003438208561879845,
+                "target_xy_drift": 0.0,
+                "depth": 0.018668748183786166,
+                "bottom_clearance": 0.08077176700321398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012721980476456674,
+                  0.0031898489873595226
+                ],
+                "rod_tip_xy": [
+                  0.26899741881796446,
+                  -0.35305075487809956
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26900762071610873,
+                  -0.3531225044822796,
+                  1.0019552963861238
+                ],
+                "rod_tip_xy_dist": 0.0034341846826564265,
+                "target_xy_drift": 0.0,
+                "depth": 0.018791205118099397,
+                "bottom_clearance": 0.08064931006890075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001282399945789825,
+                  0.003118099383179418
+                ],
+                "rod_tip_xy": [
+                  0.2690076207161086,
+                  -0.35312250448227966
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.26899590982260446,
+                  -0.35312920235606615,
+                  1.0018155789862235
+                ],
+                "rod_tip_xy_dist": 0.0033715120323596077,
+                "target_xy_drift": 0.0,
+                "depth": 0.019304538252912673,
+                "bottom_clearance": 0.08013597693408747,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012706890522855563,
+                  0.0031114015093928193
+                ],
+                "rod_tip_xy": [
+                  0.26899590982260435,
+                  -0.35312920235606626
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2689872593482023,
+                  -0.353129850153919,
+                  1.0016935106873983
+                ],
+                "rod_tip_xy_dist": 0.003360873401401826,
+                "target_xy_drift": 0.0,
+                "depth": 0.019444255652812936,
+                "bottom_clearance": 0.07999625953418721,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0012620385778833731,
+                  0.0031107537115400152
+                ],
+                "rod_tip_xy": [
+                  0.26898725934820217,
+                  -0.35312985015391907
+                ],
+                "target_mouth_xy": [
+                  0.2677252207703188,
+                  -0.3562406038654591
+                ],
+                "gripper_position": [
+                  0.2689783937002368,
+                  -0.3531306065609858,
+                  1.0015712614869188
+                ],
+                "rod_tip_xy_dist": 0.003357012068182935,
+                "target_xy_drift": 0.0,
+                "depth": 0.019566323951638376,
+                "bottom_clearance": 0.07987419123536177,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005996591322940798,
+              "rod_tip_xy_max_step": 3.244535798094379e-05,
+              "rod_tip_xy_range": 0.0005996528973277711,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2685341638353727,
+            -0.35443225601116074,
+            1.043325422362782
+          ],
+          "object_origin_world": [
+            0.2685341638353727,
+            -0.35443225601116074,
+            1.043325422362782
+          ],
+          "frame_world": [
+            0.2685325921130079,
+            -0.3544376635741983,
+            1.0432144046399459
+          ],
+          "center_minus_frame": [
+            1.5717223648126222e-06,
+            5.407563037573837e-06,
+            0.00011101772283605982
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2669277868693427,
+              0.16253041219074546,
+              0.8317636143156584
+            ],
+            "target_position": [
+              0.2832071541646948,
+              0.2079451703905843,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04824435782437991,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16641640393120294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317636143156584,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670107258744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1369363762506304,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20781455460761705,
+              0.02501816339649002,
+              1.0450847845593199
+            ],
+            "current_z": 1.0450847845593199,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.18849833675539895,
+            "gripper_z": 1.0496193598573593,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20287369325630533,
+              0.020387689760639927,
+              1.0496193598573593
+            ],
+            "object_minus_gripper": [
+              0.0049408613513117206,
+              0.004630473635850094,
+              -0.004534575298039467
+            ],
+            "object_to_gripper_xy": 0.006771513640626346,
+            "object_to_gripper_z": -0.004534575298039467,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20781455460761705,
+              0.00045255312050426083,
+              1.0450847845593199
+            ],
+            "finger_b": [
+              0.19669191419771342,
+              0.02501816339649002,
+              1.0450847845593199
+            ],
+            "finger_midpoint": [
+              0.20225323440266524,
+              0.01273535825849714,
+              1.0450847845593199
+            ],
+            "object_minus_finger_midpoint": [
+              0.005561320204951814,
+              0.01228280513799288,
+              0.0
+            ],
+            "finger_gap": 0.026966318582996054,
+            "fingertip_max_gap": 0.09341093471916007,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013483159291498027,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450847845593199,
+            "object_top_z": 1.0913737942967656,
+            "finger_top_clearance": 0.04628900973744576,
+            "fingertip_min_top_clearance": 0.013886702921233762,
+            "object_projection_between_fingers": 0.8298733024210322,
+            "object_to_finger_line_xy": 0.010132434233047825,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049205467359580035,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.386394935038355,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20693404739419297,
+              0.023817823242471226,
+              1.2430603330680703
+            ],
+            "held_position": [
+              0.21214745371573632,
+              0.02812528839130373,
+              1.238503268667452
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008154795977417067,
+            "max_held_gripper_dist": 0.008156321599053674,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004557064400618316,
+            "max_held_gripper_z_dist": 0.004557110420027488,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08558414125382333,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21214745371573632,
+              0.002590546611696373,
+              1.238503268667452
+            ],
+            "held_grasp_finger_b": [
+              0.20277042343314242,
+              0.02812528839130373,
+              1.238503268667452
+            ],
+            "held_grasp_midpoint": [
+              0.20745893857443937,
+              0.015357917501500052,
+              1.238503268667452
+            ],
+            "held_grasp_object_position": [
+              0.21214745371573632,
+              0.02812528839130373,
+              1.238503268667452
+            ],
+            "held_grasp_finger_gap": 0.02720205386863111,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025047972493204902,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048676099302715825,
+              -0.9988121270438471,
+              0.002229849057271971
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004061593200938167,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032219801462008216,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1817030824854965,
+              0.02000728848444143,
+              0.7565863236638334
+            ],
+            "target_position": [
+              0.18292801587934432,
+              0.024452745308689915,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004611133070691084,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21453624620368972,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863236638334,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07626961216822944,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08519939191375249,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18357805191447277,
+            "release_required_pad_clearance": 0.05259969595687625,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2624423945888581,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b43152d8bff86571b0a52ed196033c8555dc8afe63a75f1264ac0b08f9b1b6e0",
+    "visual_seed": 7639759291261276995,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9223d7b89deb24bcf9eaddce28433f1ce6b47025
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_23_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21711650734264953,
+              -0.14005406125832,
+              1.1649139236894483
+            ],
+            "current_z": 1.1649139236894483,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.30380741567468217,
+            "gripper_z": 1.158229433928553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2129074134657273,
+              -0.14446790006151108,
+              1.158229433928553
+            ],
+            "object_minus_gripper": [
+              0.004209093876922226,
+              0.0044138388031910725,
+              0.006684489760895307
+            ],
+            "object_to_gripper_xy": 0.00609905273344143,
+            "object_to_gripper_z": 0.006684489760895307,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21711650734264953,
+              -0.16351010577696434,
+              1.1649139236894483
+            ],
+            "finger_b": [
+              0.20679778258526704,
+              -0.14005406125832,
+              1.1649139236894483
+            ],
+            "finger_midpoint": [
+              0.2119571449639583,
+              -0.15178208351764216,
+              1.1649139236894483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005159362378691246,
+              0.011728022259322152,
+              0.0
+            ],
+            "finger_gap": 0.02562541912006988,
+            "fingertip_max_gap": 0.09287846149431564,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012812709560034928,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649139236894483,
+            "object_top_z": 1.2150836617781042,
+            "finger_top_clearance": 0.05016973808865588,
+            "fingertip_min_top_clearance": 0.01505092142659673,
+            "object_projection_between_fingers": 0.8378525579669787,
+            "object_to_finger_line_xy": 0.00944517106825534,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893923074715782,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2699840659820385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27103581974486,
+              -0.350575586725807,
+              0.8515395649524554
+            ],
+            "target_position": [
+              0.26385480890448604,
+              -0.3507179907430941,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007182422682751839,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18413350932695655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395649524554,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522518421920897,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604278974594563,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525947034082184,
+            "release_required_pad_clearance": 0.05302139487297282,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0748242363076428,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00739133358001709,
+            "max_z_decrease": 0.00739133358001709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035203395569588465,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00739133358001709,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021307814234049725,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00739133358001709,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007391356680383534,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11955473572015761,
+              -0.4069794416427612,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11955473572015761,
+              -0.4069794416427612,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1213886339198946,
+              -0.408999568773238,
+              0.8077424259923079
+            ],
+            "closest_button": [
+              0.11954353749752045,
+              -0.4069769084453582,
+              0.7726456522941589
+            ],
+            "closest_ee_minus_button": [
+              0.001845096422374154,
+              -0.0020226603278797883,
+              0.03509677369814901
+            ],
+            "button_min_z_position": [
+              0.11953634023666382,
+              -0.4069776833057403,
+              0.7694175243377686
+            ],
+            "min_active_finger_to_button": 0.14420062261242467,
+            "closest_active_finger": [
+              -0.019754163920879364,
+              -0.39286696910858154,
+              0.8108336925506592
+            ],
+            "closest_active_finger_button": [
+              0.11955513805150984,
+              -0.4069783389568329,
+              0.7763720154762268
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13930930197238922,
+              0.014111369848251343,
+              0.03446167707443237
+            ],
+            "min_contact_pad_to_button": 0.021307814234049725,
+            "closest_contact_pad": [
+              0.11953634023666382,
+              -0.410051202731043,
+              0.7905025053853071
+            ],
+            "closest_contact_pad_button": [
+              0.11953634023666382,
+              -0.4069776833057403,
+              0.7694175243377686
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030735194253027065,
+              0.02108498104753853
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27693661452981394,
+              0.20033382918536397,
+              1.1036049728888933
+            ],
+            "current_z": 1.1036049728888933,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1936958431545307,
+            "gripper_z": 1.1036049230090568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2769365730634923,
+              0.20033385314320692,
+              1.1036049230090568
+            ],
+            "object_minus_gripper": [
+              4.146632165413777e-08,
+              -2.3957842959498876e-08,
+              4.987983648341299e-08
+            ],
+            "object_to_gripper_xy": 4.788981176405296e-08,
+            "object_to_gripper_z": 4.987983648341299e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27693661452981394,
+              0.20033382918536397,
+              1.1036049728888933
+            ],
+            "finger_b": [
+              0.27693661452981394,
+              0.20033382918536397,
+              1.1036049728888933
+            ],
+            "finger_midpoint": [
+              0.27693661452981394,
+              0.20033382918536397,
+              1.1036049728888933
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1036049728888933,
+            "object_top_z": 1.228613479509173,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.276936614529814,
+            0.200333829185364,
+            1.1036049728888935
+          ],
+          "object_origin_world": [
+            0.276936614529814,
+            0.200333829185364,
+            1.1036049728888935
+          ],
+          "frame_world": [
+            0.2769365730634923,
+            0.20033385314320692,
+            1.1036049230090568
+          ],
+          "center_minus_frame": [
+            4.1466321709648923e-08,
+            -2.39578429317433e-08,
+            4.987983670545759e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432527681641584,
+            "required_z": 0.911259819066452,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017099762405423109,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.111851006694192e-08,
+            "max_target_xy_drift": 2.509635317343365e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.074824236223882,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.075552195897765,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26963909721086327,
+              -0.34958645871268923,
+              0.9233631448755669
+            ],
+            "target_mouth_xy": [
+              0.2710358784180455,
+              -0.35057558671559486
+            ],
+            "rod_tip_z": 0.9233631448755669,
+            "rod_tip_depth": -0.02210329845850778,
+            "rod_tip_bottom_clearance": 0.12154384040824173,
+            "rod_tip_xy_dist": 0.0017115408107519722,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04451497385369041,
+            "min_rod_tip_bottom_clearance": 0.05492556809604354,
+            "min_rod_tip_xy_dist": 0.0009031000474855388,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27103584941027004,
+              -0.3505755575731716
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9007775459444218e-08,
+              -2.9142423252359606e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0007857663043351337,
+                0.0027175764234930178
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009010730345798135,
+                0.002328352638927722
+              ],
+              "first_target_mouth_xy": [
+                0.2710358195979579,
+                -0.3505755277612369
+              ],
+              "last_target_mouth_xy": [
+                0.2710357906811969,
+                -0.35057549792196463
+              ],
+              "first_rod_tip_xy": [
+                0.2702500532936228,
+                -0.3478579513377439
+              ],
+              "last_rod_tip_xy": [
+                0.27013471764661706,
+                -0.3482471452830369
+              ],
+              "min_rod_tip_xy_dist": 0.002493866391204668,
+              "max_rod_tip_xy_dist": 0.0028288955976765204,
+              "first_target_xy_drift": 4.216070924871164e-08,
+              "last_target_xy_drift": 8.371003839265996e-08,
+              "max_depth": 0.01955756947306131,
+              "min_bottom_clearance": 0.07988297019508395
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0007857663043351337,
+                  0.0027175764234930178
+                ],
+                "rod_tip_xy": [
+                  0.2702500532936228,
+                  -0.3478579513377439
+                ],
+                "target_mouth_xy": [
+                  0.2710358195979579,
+                  -0.3505755277612369
+                ],
+                "gripper_position": [
+                  0.2702389285058241,
+                  -0.3478650879489672,
+                  1.005951995842585
+                ],
+                "rod_tip_xy_dist": 0.0028288955976765204,
+                "target_xy_drift": 4.216070924871164e-08,
+                "depth": 0.015168174927528533,
+                "bottom_clearance": 0.08427232991415634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.000796889589703087,
+                  0.002710470264136733
+                ],
+                "rod_tip_xy": [
+                  0.2702389285058239,
+                  -0.3478650879489673
+                ],
+                "target_mouth_xy": [
+                  0.271035818095527,
+                  -0.35057555821310404
+                ],
+                "gripper_position": [
+                  0.2702412173984986,
+                  -0.34793064402000934,
+                  1.005434785312561
+                ],
+                "rod_tip_xy_dist": 0.002825187086008041,
+                "target_xy_drift": 3.132128100814946e-08,
+                "depth": 0.015307858488191939,
+                "bottom_clearance": 0.08413268256750495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0007946328431731597,
+                  0.0026448843696678104
+                ],
+                "rod_tip_xy": [
+                  0.27024121739849843,
+                  -0.3479306440200094
+                ],
+                "target_mouth_xy": [
+                  0.2710358502416716,
+                  -0.3505755283896772
+                ],
+                "gripper_position": [
+                  0.27022971829621806,
+                  -0.34793795535445504,
+                  1.0052952790301204
+                ],
+                "rod_tip_xy_dist": 0.002761676064342549,
+                "target_xy_drift": 2.9195334796490136e-08,
+                "depth": 0.015825038027466265,
+                "bottom_clearance": 0.08361549385694889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008060964808975779,
+                  0.002637571184586074
+                ],
+                "rod_tip_xy": [
+                  0.2702297182962179,
+                  -0.34793795535445515
+                ],
+                "target_mouth_xy": [
+                  0.27103581477711547,
+                  -0.3505755265390412
+                ],
+                "gripper_position": [
+                  0.27022142343257394,
+                  -0.3479386152885304,
+                  1.0051729230067015
+                ],
+                "rod_tip_xy_dist": 0.0027580016842406467,
+                "target_xy_drift": 4.650346915506279e-08,
+                "depth": 0.015964642178337485,
+                "bottom_clearance": 0.0834760778775725,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0008144298245427173,
+                  0.002636943188765062
+                ],
+                "rod_tip_xy": [
+                  0.27022142343257377,
+                  -0.34793861528853043
+                ],
+                "target_mouth_xy": [
+                  0.2710358532571165,
+                  -0.3505755584772955
+                ],
+                "gripper_position": [
+                  0.2702246341652525,
+                  -0.34800535675032046,
+                  1.0046555057916116
+                ],
+                "rod_tip_xy_dist": 0.002759848785690827,
+                "target_xy_drift": 3.951666437323223e-09,
+                "depth": 0.016086989995064527,
+                "bottom_clearance": 0.08335366981548853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0008111834004828067,
+                  0.0025702008280792388
+                ],
+                "rod_tip_xy": [
+                  0.27022463416525233,
+                  -0.3480053567503205
+                ],
+                "target_mouth_xy": [
+                  0.27103581756573514,
+                  -0.35057555757839975
+                ],
+                "gripper_position": [
+                  0.27021322572051665,
+                  -0.34801219012902307,
+                  1.0045162682820274
+                ],
+                "rod_tip_xy_dist": 0.0026951717581404815,
+                "target_xy_drift": 3.184453532707884e-08,
+                "depth": 0.01660436760403672,
+                "bottom_clearance": 0.08283619991468372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008226234991194903,
+                  0.0025633661611526026
+                ],
+                "rod_tip_xy": [
+                  0.2702132257205165,
+                  -0.3480121901290232
+                ],
+                "target_mouth_xy": [
+                  0.27103584921963597,
+                  -0.3505755562901758
+                ],
+                "gripper_position": [
+                  0.2702047761681042,
+                  -0.34801273985701653,
+                  1.0043936882373719
+                ],
+                "rod_tip_xy_dist": 0.0026921284325688894,
+                "target_xy_drift": 1.2970811934155755e-09,
+                "depth": 0.01674357243813185,
+                "bottom_clearance": 0.08269697198601855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008310424759337409,
+                  0.0025628177141535646
+                ],
+                "rod_tip_xy": [
+                  0.270204776168104,
+                  -0.34801273985701664
+                ],
+                "target_mouth_xy": [
+                  0.27103581864403775,
+                  -0.3505755575711702
+                ],
+                "gripper_position": [
+                  0.2702087955873951,
+                  -0.34808057123724034,
+                  1.0038780050869893
+                ],
+                "rod_tip_xy_dist": 0.0026941912019723814,
+                "target_xy_drift": 3.0766232349138054e-08,
+                "depth": 0.016866152028133352,
+                "bottom_clearance": 0.0825743735250507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008270538424212659,
+                  0.0024949860021936665
+                ],
+                "rod_tip_xy": [
+                  0.2702087955873949,
+                  -0.34808057123724045
+                ],
+                "target_mouth_xy": [
+                  0.2710358494298162,
+                  -0.3505755572394341
+                ],
+                "gripper_position": [
+                  0.27019752308369493,
+                  -0.3480872237366206,
+                  1.0037385613123266
+                ],
+                "rod_tip_xy_dist": 0.0026284925735877806,
+                "target_xy_drift": 3.3430937563978617e-10,
+                "depth": 0.017381820139231063,
+                "bottom_clearance": 0.08205869763074092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008382945329907798,
+                  0.0024883344790262996
+                ],
+                "rod_tip_xy": [
+                  0.27019752308369477,
+                  -0.3480872237366206
+                ],
+                "target_mouth_xy": [
+                  0.27103581761668555,
+                  -0.3505755582156469
+                ],
+                "gripper_position": [
+                  0.2701889309744564,
+                  -0.3480877939192082,
+                  1.0036164615455592
+                ],
+                "rod_tip_xy_dist": 0.0026257467896873294,
+                "target_xy_drift": 3.180007529958321e-08,
+                "depth": 0.017521307504943295,
+                "bottom_clearance": 0.08191925173547532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00084691869120046,
+                  0.0024877630027549946
+                ],
+                "rod_tip_xy": [
+                  0.27018893097445623,
+                  -0.3480877939192083
+                ],
+                "target_mouth_xy": [
+                  0.2710358496656567,
+                  -0.3505755569219633
+                ],
+                "gripper_position": [
+                  0.2701801943953013,
+                  -0.34808873467252616,
+                  1.0034943916579833
+                ],
+                "rod_tip_xy_dist": 0.0026279718467634404,
+                "target_xy_drift": 6.994959660782673e-10,
+                "depth": 0.017643371200031233,
+                "bottom_clearance": 0.08179716705586149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008556258885744628,
+                  0.002486823837689056
+                ],
+                "rod_tip_xy": [
+                  0.2701801943953011,
+                  -0.3480887346725262
+                ],
+                "target_mouth_xy": [
+                  0.2710358202838756,
+                  -0.35057555851021527
+                ],
+                "gripper_position": [
+                  0.2701855695242335,
+                  -0.34815851447584206,
+                  1.0029794951914026
+                ],
+                "rod_tip_xy_dist": 0.0026299027474219203,
+                "target_xy_drift": 2.9141463677060253e-08,
+                "depth": 0.01776543602569547,
+                "bottom_clearance": 0.0816751009090152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008502460019580993,
+                  0.0024170155454397158
+                ],
+                "rod_tip_xy": [
+                  0.27018556952423334,
+                  -0.3481585144758421
+                ],
+                "target_mouth_xy": [
+                  0.27103581552619144,
+                  -0.35057553002128183
+                ],
+                "gripper_position": [
+                  0.2701739976920077,
+                  -0.34816524740335375,
+                  1.0028407158244455
+                ],
+                "rod_tip_xy_dist": 0.002562202648258521,
+                "target_xy_drift": 4.367192934081273e-08,
+                "depth": 0.018280406670599714,
+                "bottom_clearance": 0.08116029009531434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008618543161705849,
+                  0.002410281579336093
+                ],
+                "rod_tip_xy": [
+                  0.2701739976920075,
+                  -0.34816524740335386
+                ],
+                "target_mouth_xy": [
+                  0.2710358520081781,
+                  -0.35057552898268995
+                ],
+                "gripper_position": [
+                  0.27016532524060266,
+                  -0.348165830620013,
+                  1.0027188053793954
+                ],
+                "rod_tip_xy_dist": 0.0025597363446239457,
+                "target_xy_drift": 2.8708270013637927e-08,
+                "depth": 0.018419192274097163,
+                "bottom_clearance": 0.08102142946347912,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008704941173174885,
+                  0.0024096660455096286
+                ],
+                "rod_tip_xy": [
+                  0.27016532524060255,
+                  -0.34816583062001305
+                ],
+                "target_mouth_xy": [
+                  0.27103581935792004,
+                  -0.3505754966655227
+                ],
+                "gripper_position": [
+                  0.270156571070163,
+                  -0.3481662658849568,
+                  1.00259679945931
+                ],
+                "rod_tip_xy_dist": 0.002562079323355615,
+                "target_xy_drift": 6.791822610954403e-08,
+                "depth": 0.01854103536795204,
+                "bottom_clearance": 0.0808995077810204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008792472383044592,
+                  0.0024092323830063878
+                ],
+                "rod_tip_xy": [
+                  0.27015657107016283,
+                  -0.3481662658849568
+                ],
+                "target_mouth_xy": [
+                  0.2710358183084673,
+                  -0.3505754982679632
+                ],
+                "gripper_position": [
+                  0.2701477824358063,
+                  -0.3481670313397929,
+                  1.0024749642348254
+                ],
+                "rod_tip_xy_dist": 0.0025646591160215925,
+                "target_xy_drift": 6.696588593154415e-08,
+                "depth": 0.018663045943930645,
+                "bottom_clearance": 0.08077748219766712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008880071607322848,
+                  0.0024084653257087085
+                ],
+                "rod_tip_xy": [
+                  0.2701477824358061,
+                  -0.348167031339793
+                ],
+                "target_mouth_xy": [
+                  0.2710357895965384,
+                  -0.3505754966655017
+                ],
+                "gripper_position": [
+                  0.2701553023628308,
+                  -0.34823999209262896,
+                  1.0019631307468508
+                ],
+                "rod_tip_xy_dist": 0.0025669557734119552,
+                "target_xy_drift": 8.53664263372906e-08,
+                "depth": 0.01878487670526585,
+                "bottom_clearance": 0.08065566775151112,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008804875392870448,
+                  0.0023355067959943687
+                ],
+                "rod_tip_xy": [
+                  0.2701553023628307,
+                  -0.348239992092629
+                ],
+                "target_mouth_xy": [
+                  0.27103578990211774,
+                  -0.3505754988886234
+                ],
+                "gripper_position": [
+                  0.2701435935795855,
+                  -0.34824668735371134,
+                  1.001824008542378
+                ],
+                "rod_tip_xy_dist": 0.0024959668068657557,
+                "target_xy_drift": 8.357688908676363e-08,
+                "depth": 0.019296691825876677,
+                "bottom_clearance": 0.08014382184060087,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008921934971690137,
+                  0.0023288109285189984
+                ],
+                "rod_tip_xy": [
+                  0.27014359357958534,
+                  -0.34824668735371134
+                ],
+                "target_mouth_xy": [
+                  0.27103578707675435,
+                  -0.35057549828223034
+                ],
+                "gripper_position": [
+                  0.27013471764661723,
+                  -0.3482471452830369,
+                  1.0017022571206806
+                ],
+                "rod_tip_xy_dist": 0.002493866391204668,
+                "target_xy_drift": 8.602838423304376e-08,
+                "depth": 0.0194358807007321,
+                "bottom_clearance": 0.0800047029137626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009010730345798135,
+                  0.002328352638927722
+                ],
+                "rod_tip_xy": [
+                  0.27013471764661706,
+                  -0.3482471452830369
+                ],
+                "target_mouth_xy": [
+                  0.2710357906811969,
+                  -0.35057549792196463
+                ],
+                "gripper_position": [
+                  0.2701259286783867,
+                  -0.3482474375965076,
+                  1.0015804279310998
+                ],
+                "rod_tip_xy_dist": 0.0024966294528520967,
+                "target_xy_drift": 8.371003839265996e-08,
+                "depth": 0.01955756947306131,
+                "bottom_clearance": 0.07988297019508395,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005965555524545937,
+              "rod_tip_xy_max_step": 3.246817783900105e-05,
+              "rod_tip_xy_range": 0.0005965459207768479,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2696390972108633,
+            -0.3495864587126892,
+            1.043363144875567
+          ],
+          "object_origin_world": [
+            0.2696390972108633,
+            -0.3495864587126892,
+            1.043363144875567
+          ],
+          "frame_world": [
+            0.26963761520390833,
+            -0.3495912703400275,
+            1.0432527681641584
+          ],
+          "center_minus_frame": [
+            1.4820069549892345e-06,
+            4.8116273383413954e-06,
+            0.00011037671140856631
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2623793516860488,
+              0.15523721320509978,
+              0.8321232793721866
+            ],
+            "target_position": [
+              0.27708494463634176,
+              0.20132619730883877,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048378186403940475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16632095761418833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321232793721866,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675780528676,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13663077139025534,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20697444999279074,
+              0.023389963230308668,
+              1.0467412717066433
+            ],
+            "current_z": 1.0467412717066433,
+            "required_z": 0.8565864478039209,
+            "initial_z": 0.7565864478039209,
+            "lift_margin": 0.19015482390272243,
+            "gripper_z": 1.0509555328367877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20233306504861687,
+              0.018697270557324105,
+              1.0509555328367877
+            ],
+            "object_minus_gripper": [
+              0.004641384944173876,
+              0.004692692672984562,
+              -0.004214261130144337
+            ],
+            "object_to_gripper_xy": 0.006600289290863465,
+            "object_to_gripper_z": -0.004214261130144337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20697444999279074,
+              -0.0005607590418281966,
+              1.0467412717066433
+            ],
+            "finger_b": [
+              0.1953500841843699,
+              0.023389963230308668,
+              1.0467412717066433
+            ],
+            "finger_midpoint": [
+              0.20116226708858032,
+              0.011414602094240235,
+              1.0467412717066433
+            ],
+            "object_minus_finger_midpoint": [
+              0.005812182904210428,
+              0.011975361136068433,
+              0.0
+            ],
+            "finger_gap": 0.026622602761657562,
+            "fingertip_max_gap": 0.09259674555013675,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013311301380828781,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467412717066433,
+            "object_top_z": 1.0929335623833052,
+            "finger_top_clearance": 0.04619229067666186,
+            "fingertip_min_top_clearance": 0.013857687202998558,
+            "object_projection_between_fingers": 0.8093496913926598,
+            "object_to_finger_line_xy": 0.01045772870367832,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879837277506838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9356934736660202,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20619956242835838,
+              0.021799855867596238,
+              1.2440515902200624
+            ],
+            "held_position": [
+              0.2112424508369541,
+              0.02602402236693165,
+              1.239791060047014
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007837501098635537,
+            "max_held_gripper_dist": 0.00783970552999063,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0042605301730485046,
+            "max_held_gripper_z_dist": 0.004260962352987452,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857004037601744,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2112424508369541,
+              0.0005823540266148161,
+              1.239791060047014
+            ],
+            "held_grasp_finger_b": [
+              0.2020938682338112,
+              0.02602402236693165,
+              1.239791060047014
+            ],
+            "held_grasp_midpoint": [
+              0.20666815953538265,
+              0.013303188196773232,
+              1.239791060047014
+            ],
+            "held_grasp_object_position": [
+              0.2112424508369541,
+              0.02602402236693165,
+              1.239791060047014
+            ],
+            "held_grasp_finger_gap": 0.027036550290027914,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024513333041298067,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09014206474265833,
+              -0.9959254569190955,
+              0.0026253427245310763
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034091556323937755,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211888631984568,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17471640289983487,
+              0.023428125179729867,
+              0.7565868256544547
+            ],
+            "target_position": [
+              0.1835646564985047,
+              0.021908000442973995,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008977882320551479,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21164964332920422,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868256544547,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587835957853288,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08703406543658017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18322839233176988,
+            "release_required_pad_clearance": 0.053517032718290086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0432653101814857,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 339,
+            "max_placed_release_frames": 339
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4cc459318cd1e157e01f1faed285ebae28460426caa1612cf2b26b6c02384866",
+    "visual_seed": 4722962711420754598,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..efd2a4ce37e3959a4e78233a3fe85db7c8201b44
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_25_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21714404912083507,
+              -0.14396578837377907,
+              1.1647573854484938
+            ],
+            "current_z": 1.1647573854484938,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.3036509966430173,
+            "gripper_z": 1.157823986987527,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21303491281040937,
+              -0.14838338321350292,
+              1.157823986987527
+            ],
+            "object_minus_gripper": [
+              0.004109136310425698,
+              0.004417594839723843,
+              0.006933398460966744
+            ],
+            "object_to_gripper_xy": 0.006033253300302719,
+            "object_to_gripper_z": 0.006933398460966744,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21714404912083507,
+              -0.16732885330433753,
+              1.1647573854484938
+            ],
+            "finger_b": [
+              0.20676118696438262,
+              -0.14396578837377907,
+              1.1647573854484938
+            ],
+            "finger_midpoint": [
+              0.21195261804260884,
+              -0.1556473208390583,
+              1.1647573854484938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005191431078226227,
+              0.011681532465279226,
+              0.0
+            ],
+            "finger_gap": 0.02556631826269443,
+            "fingertip_max_gap": 0.09241355100862123,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012783159131347215,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647573854484938,
+            "object_top_z": 1.2148134140886113,
+            "finger_top_clearance": 0.05005602864011749,
+            "fingertip_min_top_clearance": 0.015016808592035247,
+            "object_projection_between_fingers": 0.835070707954648,
+            "object_to_finger_line_xy": 0.009488088203931792,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048706775504310615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0220807269591763,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2691304072922752,
+              -0.35505613910117384,
+              0.8515395980316501
+            ],
+            "target_position": [
+              0.26194612440808945,
+              -0.3554570744727491,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007195461745585529,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18653620277382157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395980316501,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559421424195847,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653346032322633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541485901961851,
+            "release_required_pad_clearance": 0.053266730161613166,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5531461372494038,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00736844539642334,
+            "max_z_decrease": 0.00736844539642334,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510071851626316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00736844539642334,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021159824007551335,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00736844539642334,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073684663889475935,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11764605343341826,
+              -0.4117185473442077,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11764605343341826,
+              -0.4117185473442077,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11626906710333093,
+              -0.412712788760431,
+              0.8078023825134977
+            ],
+            "closest_button": [
+              0.11763585358858104,
+              -0.41171395778656,
+              0.772742509841919
+            ],
+            "closest_ee_minus_button": [
+              -0.0013667864852501127,
+              -0.00099883097387099,
+              0.03505987267157873
+            ],
+            "button_min_z_position": [
+              0.11762891709804534,
+              -0.41171458363533014,
+              0.7694404125213623
+            ],
+            "min_active_finger_to_button": 0.14744382390043853,
+            "closest_active_finger": [
+              -0.02501010149717331,
+              -0.39768868684768677,
+              0.8109350204467773
+            ],
+            "closest_active_finger_button": [
+              0.11764684319496152,
+              -0.41171774268150324,
+              0.7764116525650024
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14265694469213483,
+              0.014029055833816473,
+              0.0345233678817749
+            ],
+            "min_contact_pad_to_button": 0.021159824007551335,
+            "closest_contact_pad": [
+              0.11762891709804534,
+              -0.41375210114218786,
+              0.7905019099619479
+            ],
+            "closest_contact_pad_button": [
+              0.11762891709804534,
+              -0.41171458363533014,
+              0.7694404125213623
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002037517506857711,
+              0.021061497440585608
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2840854862332111,
+              0.2072258977462391,
+              1.1037493347869427
+            ],
+            "current_z": 1.1037493347869427,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19384020505258015,
+            "gripper_z": 1.1037493051909761,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2840854180476874,
+              0.20722585707203037,
+              1.1037493051909761
+            ],
+            "object_minus_gripper": [
+              6.818552372722664e-08,
+              4.0674208723334715e-08,
+              2.9595966566375864e-08
+            ],
+            "object_to_gripper_xy": 7.939557230239974e-08,
+            "object_to_gripper_z": 2.9595966566375864e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2840854862332111,
+              0.2072258977462391,
+              1.1037493347869427
+            ],
+            "finger_b": [
+              0.2840854862332111,
+              0.2072258977462391,
+              1.1037493347869427
+            ],
+            "finger_midpoint": [
+              0.2840854862332111,
+              0.2072258977462391,
+              1.1037493347869427
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037493347869427,
+            "object_top_z": 1.2287578414072224,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28408548623321117,
+            0.2072258977462391,
+            1.1037493347869427
+          ],
+          "object_origin_world": [
+            0.28408548623321117,
+            0.2072258977462391,
+            1.1037493347869427
+          ],
+          "frame_world": [
+            0.2840854180476874,
+            0.20722585707203037,
+            1.1037493051909761
+          ],
+          "center_minus_frame": [
+            6.818552378273779e-08,
+            4.0674208723334715e-08,
+            2.9595966566375864e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043231603923473,
+            "required_z": 0.9112598523286219,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002666637538204638,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.738906079689386e-08,
+            "max_target_xy_drift": 8.24597596837441e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5531461377469484,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5531461395376405,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26663781242399476,
+              -0.3541073763978496,
+              0.9233417093221795
+            ],
+            "target_mouth_xy": [
+              0.26913037715192384,
+              -0.35505613814625503
+            ],
+            "rod_tip_z": 0.9233417093221795,
+            "rod_tip_depth": -0.02208179938455479,
+            "rod_tip_bottom_clearance": 0.12152241616597004,
+            "rod_tip_xy_dist": 0.002667026017524664,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04473163080304443,
+            "min_rod_tip_bottom_clearance": 0.05470903206106603,
+            "min_rod_tip_xy_dist": 0.00032394512641994294,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2691302841028523,
+              -0.35505610939735166
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.304907155893716e-08,
+              -2.874890336901359e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.0018184283211046814,
+                0.002539851188133657
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001940085592251839,
+                0.002169055835050393
+              ],
+              "first_target_mouth_xy": [
+                0.26913037813592267,
+                -0.35505610769754953
+              ],
+              "last_target_mouth_xy": [
+                0.269130434439559,
+                -0.3550561689503761
+              ],
+              "first_rod_tip_xy": [
+                0.267311949814818,
+                -0.35251625650941587
+              ],
+              "last_rod_tip_xy": [
+                0.26719034884730714,
+                -0.3528871131153257
+              ],
+              "min_rod_tip_xy_dist": 0.0029101091596071315,
+              "max_rod_tip_xy_dist": 0.0031244339465189928,
+              "first_target_xy_drift": 9.404843248810892e-08,
+              "last_target_xy_drift": 1.617024678280213e-07,
+              "max_depth": 0.019857202055451828,
+              "min_bottom_clearance": 0.07958329101008743
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018184283211046814,
+                  0.002539851188133657
+                ],
+                "rod_tip_xy": [
+                  0.267311949814818,
+                  -0.35251625650941587
+                ],
+                "target_mouth_xy": [
+                  0.26913037813592267,
+                  -0.35505610769754953
+                ],
+                "gripper_position": [
+                  0.26730075793348895,
+                  -0.3525234559062165,
+                  1.0056278818900084
+                ],
+                "rod_tip_xy_dist": 0.0031237038298884134,
+                "target_xy_drift": 9.404843248810892e-08,
+                "depth": 0.015492871203294345,
+                "bottom_clearance": 0.08394780625483056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018296455941284595,
+                  0.0025326832581368253
+                ],
+                "rod_tip_xy": [
+                  0.26730075793348884,
+                  -0.3525234559062165
+                ],
+                "target_mouth_xy": [
+                  0.2691304035276173,
+                  -0.3550561391643533
+                ],
+                "gripper_position": [
+                  0.2673005174034317,
+                  -0.3525857334733434,
+                  1.0051102406992485
+                ],
+                "rod_tip_xy_dist": 0.0031244339465189928,
+                "target_xy_drift": 1.23078628880797e-07,
+                "depth": 0.01563196436438874,
+                "bottom_clearance": 0.08380856645790158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018298870880512075,
+                  0.002470375218045051
+                ],
+                "rod_tip_xy": [
+                  0.2673005174034316,
+                  -0.3525857334733433
+                ],
+                "target_mouth_xy": [
+                  0.2691304044914828,
+                  -0.3550561086913884
+                ],
+                "gripper_position": [
+                  0.26728932646750386,
+                  -0.3525926642669531,
+                  1.0049710959835378
+                ],
+                "rod_tip_xy_dist": 0.00307428698610713,
+                "target_xy_drift": 1.203907003883503e-07,
+                "depth": 0.016149587115512065,
+                "bottom_clearance": 0.08329092894669488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018410175996336764,
+                  0.002463506911640323
+                ],
+                "rod_tip_xy": [
+                  0.2672893264675038,
+                  -0.352592664266953
+                ],
+                "target_mouth_xy": [
+                  0.2691303440671375,
+                  -0.35505617117859334
+                ],
+                "gripper_position": [
+                  0.2672811464130541,
+                  -0.35259361039016623,
+                  1.0048495770096249
+                ],
+                "rod_tip_xy_dist": 0.003075420638849357,
+                "target_xy_drift": 8.609667428715123e-08,
+                "depth": 0.016288779135496867,
+                "bottom_clearance": 0.08315181131231886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0018492266215202058,
+                  0.0024624958016281617
+                ],
+                "rod_tip_xy": [
+                  0.267281146413054,
+                  -0.3525936103901661
+                ],
+                "target_mouth_xy": [
+                  0.2691303730345742,
+                  -0.3550561061917943
+                ],
+                "gripper_position": [
+                  0.26728166134680564,
+                  -0.3526569955504791,
+                  1.0043329790512798
+                ],
+                "rod_tip_xy_dist": 0.0030795331904000254,
+                "target_xy_drift": 8.898947557831179e-08,
+                "depth": 0.01641034464205071,
+                "bottom_clearance": 0.08303032335352456,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001848776992004919,
+                  0.0023991736657590357
+                ],
+                "rod_tip_xy": [
+                  0.2672816613468056,
+                  -0.352656995550479
+                ],
+                "target_mouth_xy": [
+                  0.2691304383388105,
+                  -0.35505616921623806
+                ],
+                "gripper_position": [
+                  0.2672705053290222,
+                  -0.3526639282862856,
+                  1.0041937127515863
+                ],
+                "rod_tip_xy_dist": 0.0030288629293248655,
+                "target_xy_drift": 1.6542983400957886e-07,
+                "depth": 0.016926925426408945,
+                "bottom_clearance": 0.08251371529929885,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018598983543309244,
+                  0.002392210251500715
+                ],
+                "rod_tip_xy": [
+                  0.2672705053290221,
+                  -0.35266392828628557
+                ],
+                "target_mouth_xy": [
+                  0.269130403683353,
+                  -0.3550561385377863
+                ],
+                "gripper_position": [
+                  0.26726223278271266,
+                  -0.3526647043310137,
+                  1.0040721242144248
+                ],
+                "rod_tip_xy_dist": 0.003030163654957929,
+                "target_xy_drift": 1.230798971531206e-07,
+                "depth": 0.017066139347311493,
+                "bottom_clearance": 0.08237440705433641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018681717485716232,
+                  0.002391433224003925
+                ],
+                "rod_tip_xy": [
+                  0.26726223278271255,
+                  -0.3526647043310136
+                ],
+                "target_mouth_xy": [
+                  0.2691304045312842,
+                  -0.3550561375550175
+                ],
+                "gripper_position": [
+                  0.26725370635440115,
+                  -0.352665802217487,
+                  1.0039505442923173
+                ],
+                "rod_tip_xy_dist": 0.003034636476916298,
+                "target_xy_drift": 1.2367643815742187e-07,
+                "depth": 0.017187718657901918,
+                "bottom_clearance": 0.08225282898918151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018766976243466127,
+                  0.0023903052392714175
+                ],
+                "rod_tip_xy": [
+                  0.26725370635440104,
+                  -0.3526658022174869
+                ],
+                "target_mouth_xy": [
+                  0.26913040397874766,
+                  -0.3550561074567583
+                ],
+                "gripper_position": [
+                  0.2672557185478316,
+                  -0.35273116180976555,
+                  1.0034336136445836
+                ],
+                "rod_tip_xy_dist": 0.0030390052830024184,
+                "target_xy_drift": 1.1989160185337421e-07,
+                "depth": 0.017309320433752107,
+                "bottom_clearance": 0.08213125865647652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018747168081043597,
+                  0.002324977016254115
+                ],
+                "rod_tip_xy": [
+                  0.26725571854783153,
+                  -0.3527311618097655
+                ],
+                "target_mouth_xy": [
+                  0.2691304353559359,
+                  -0.3550561388260196
+                ],
+                "gripper_position": [
+                  0.26724431837920803,
+                  -0.35273797285392117,
+                  1.0032946596616275
+                ],
+                "rod_tip_xy_dist": 0.0029866505046119616,
+                "target_xy_drift": 1.540893954809966e-07,
+                "depth": 0.017826213910625777,
+                "bottom_clearance": 0.08161432535256141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001886022920381314,
+                  0.0023182253288743238
+                ],
+                "rod_tip_xy": [
+                  0.2672443183792079,
+                  -0.35273797285392106
+                ],
+                "target_mouth_xy": [
+                  0.26913034129958924,
+                  -0.3550561981827954
+                ],
+                "gripper_position": [
+                  0.26723587931666665,
+                  -0.3527387535129267,
+                  1.0031728208352937
+                ],
+                "rod_tip_xy_dist": 0.0029885198897845948,
+                "target_xy_drift": 1.0561402243569463e-07,
+                "depth": 0.01796527786025881,
+                "bottom_clearance": 0.08147537676784067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001894525628268029,
+                  0.0023174144868748914
+                ],
+                "rod_tip_xy": [
+                  0.26723587931666654,
+                  -0.3527387535129266
+                ],
+                "target_mouth_xy": [
+                  0.26913040494493456,
+                  -0.3550561679998015
+                ],
+                "gripper_position": [
+                  0.26722747426116333,
+                  -0.3527394181175245,
+                  1.003051359010983
+                ],
+                "rod_tip_xy_dist": 0.002993265317365299,
+                "target_xy_drift": 1.3430210712395133e-07,
+                "depth": 0.018086953916759074,
+                "bottom_clearance": 0.08135358562359396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019029320472184752,
+                  0.002316720696820762
+                ],
+                "rod_tip_xy": [
+                  0.2672274742611632,
+                  -0.3527394181175245
+                ],
+                "target_mouth_xy": [
+                  0.2691304063083817,
+                  -0.3550561388143453
+                ],
+                "gripper_position": [
+                  0.26723063966018556,
+                  -0.35280683103747823,
+                  1.0025368094858604
+                ],
+                "rod_tip_xy_dist": 0.00299805689796054,
+                "target_xy_drift": 1.2569626459815124e-07,
+                "depth": 0.01820853401325595,
+                "bottom_clearance": 0.0812320339860303,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001899765370058648,
+                  0.0022493074763426657
+                ],
+                "rod_tip_xy": [
+                  0.26723063966018545,
+                  -0.35280683103747823
+                ],
+                "target_mouth_xy": [
+                  0.2691304050302441,
+                  -0.3550561385138209
+                ],
+                "gripper_position": [
+                  0.2672192398562502,
+                  -0.35281352392770154,
+                  1.00239820476469
+                ],
+                "rod_tip_xy_dist": 0.0029442303891518214,
+                "target_xy_drift": 1.2438329017076743e-07,
+                "depth": 0.018722960187705362,
+                "bottom_clearance": 0.08071757092395793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0019111659219784305,
+                  0.0022426142568400254
+                ],
+                "rod_tip_xy": [
+                  0.2672192398562501,
+                  -0.3528135239277015
+                ],
+                "target_mouth_xy": [
+                  0.26913040577822855,
+                  -0.3550561381845415
+                ],
+                "gripper_position": [
+                  0.26721057797173736,
+                  -0.3528142560881589,
+                  1.0022768527806392
+                ],
+                "rod_tip_xy_dist": 0.0029465019745986603,
+                "target_xy_drift": 1.2503439323337156e-07,
+                "depth": 0.018861636065717335,
+                "bottom_clearance": 0.08057893519879211,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019197959406851428,
+                  0.002241884979921671
+                ],
+                "rod_tip_xy": [
+                  0.2672105779717373,
+                  -0.35281425608815886
+                ],
+                "target_mouth_xy": [
+                  0.26913037391242245,
+                  -0.35505614106808053
+                ],
+                "gripper_position": [
+                  0.26720189304708253,
+                  -0.3528149363623078,
+                  1.0021549769007807
+                ],
+                "rod_tip_xy_dist": 0.00295155293313021,
+                "target_xy_drift": 9.523021559030938e-08,
+                "depth": 0.018983015294441352,
+                "bottom_clearance": 0.08045756222134648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0019285412794578516,
+                  0.002241229744468609
+                ],
+                "rod_tip_xy": [
+                  0.2672018930470824,
+                  -0.35281493636230776
+                ],
+                "target_mouth_xy": [
+                  0.26913043432654027,
+                  -0.35505616610677637
+                ],
+                "gripper_position": [
+                  0.2671933891269358,
+                  -0.3528154019273976,
+                  1.0020337156857841
+                ],
+                "rod_tip_xy_dist": 0.0029567519737143584,
+                "target_xy_drift": 1.6057121561532367e-07,
+                "depth": 0.019104888526289998,
+                "bottom_clearance": 0.08033570483486374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0019370454099069123,
+                  0.0022407679747324383
+                ],
+                "rod_tip_xy": [
+                  0.26719338912693574,
+                  -0.3528154019273976
+                ],
+                "target_mouth_xy": [
+                  0.26913043453684266,
+                  -0.35505616990213
+                ],
+                "gripper_position": [
+                  0.2671847361637567,
+                  -0.3528164419163194,
+                  1.0019126748528882
+                ],
+                "rod_tip_xy_dist": 0.0029619564542085947,
+                "target_xy_drift": 1.6214565570515148e-07,
+                "depth": 0.01922610917212142,
+                "bottom_clearance": 0.08021440546957848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0019458552625309933,
+                  0.002239663836211103
+                ],
+                "rod_tip_xy": [
+                  0.26718473616375665,
+                  -0.35281644191631933
+                ],
+                "target_mouth_xy": [
+                  0.26913059142628765,
+                  -0.35505610575253044
+                ],
+                "gripper_position": [
+                  0.26719034884730725,
+                  -0.35288711311532583,
+                  1.0014026128193363
+                ],
+                "rod_tip_xy_dist": 0.002966891774559934,
+                "target_xy_drift": 3.0734504819075456e-07,
+                "depth": 0.019347383999260725,
+                "bottom_clearance": 0.08009354042905159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.001940085592251839,
+                  0.002169055835050393
+                ],
+                "rod_tip_xy": [
+                  0.26719034884730714,
+                  -0.3528871131153257
+                ],
+                "target_mouth_xy": [
+                  0.269130434439559,
+                  -0.3550561689503761
+                ],
+                "gripper_position": [
+                  0.2671787035909412,
+                  -0.3528938889541504,
+                  1.0012639624612092
+                ],
+                "rod_tip_xy_dist": 0.0029101091596071315,
+                "target_xy_drift": 1.617024678280213e-07,
+                "depth": 0.019857202055451828,
+                "bottom_clearance": 0.07958329101008743,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005994298639886369,
+              "rod_tip_xy_max_step": 3.253938996852655e-05,
+              "rod_tip_xy_range": 0.0005994188046871576,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2666378124239948,
+            -0.3541073763978496,
+            1.0433417093221795
+          ],
+          "object_origin_world": [
+            0.2666378124239948,
+            -0.3541073763978496,
+            1.0433417093221795
+          ],
+          "frame_world": [
+            0.2666363570803144,
+            -0.35411230572332636,
+            1.043231603923473
+          ],
+          "center_minus_frame": [
+            1.4553436804010111e-06,
+            4.929325476743518e-06,
+            0.00011010539870648373
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2707495097635811,
+              0.1604136270195978,
+              0.8324805982246342
+            ],
+            "target_position": [
+              0.2842538005619993,
+              0.20699558039227284,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04849994072143093,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1678961171264323,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324805982246342,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567208201996,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13651929875187727,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 296,
+            "max_placed_release_frames": 296
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21274440358564695,
+              0.019345664326614064,
+              1.046300935548301
+            ],
+            "current_z": 1.046300935548301,
+            "required_z": 0.856586328594631,
+            "initial_z": 0.756586328594631,
+            "lift_margin": 0.18971460695367004,
+            "gripper_z": 1.0507381834804743,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2081332011733856,
+              0.014704415452756803,
+              1.0507381834804743
+            ],
+            "object_minus_gripper": [
+              0.004611202412261345,
+              0.0046412488738572615,
+              -0.0044372479321732605
+            ],
+            "object_to_gripper_xy": 0.006542505544202935,
+            "object_to_gripper_z": -0.0044372479321732605,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21274440358564695,
+              -0.004629787143086578,
+              1.046300935548301
+            ],
+            "finger_b": [
+              0.2011926408409527,
+              0.019345664326614064,
+              1.046300935548301
+            ],
+            "finger_midpoint": [
+              0.2069685222132998,
+              0.0073579385917637435,
+              1.046300935548301
+            ],
+            "object_minus_finger_midpoint": [
+              0.005775881372347136,
+              0.01198772573485032,
+              0.0
+            ],
+            "finger_gap": 0.0266132578931193,
+            "fingertip_max_gap": 0.09177941854049826,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013306628946559654,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046300935548301,
+            "object_top_z": 1.0920050849251977,
+            "finger_top_clearance": 0.0457041493768966,
+            "fingertip_min_top_clearance": 0.01371124481306898,
+            "object_projection_between_fingers": 0.8115915241917601,
+            "object_to_finger_line_xy": 0.010406795296810272,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838970927024913,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8553453784753487,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21230061482348392,
+              0.017570477452213656,
+              1.2438509821801342
+            ],
+            "held_position": [
+              0.21730460932807713,
+              0.021745311127428543,
+              1.2393722478611584
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007907481161386298,
+            "max_held_gripper_dist": 0.007909469633600614,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00447873431897583,
+            "max_held_gripper_z_dist": 0.00447873431897583,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0859039120826813,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21730460932807713,
+              -0.0037278804853838224,
+              1.2393722478611584
+            ],
+            "held_grasp_finger_b": [
+              0.20822372916559054,
+              0.021832829538628577,
+              1.2393722478611584
+            ],
+            "held_grasp_midpoint": [
+              0.21276416924683383,
+              0.009052474526622377,
+              1.2393722478611584
+            ],
+            "held_grasp_object_position": [
+              0.21730460932807713,
+              0.021745311127428543,
+              1.2393722478611584
+            ],
+            "held_grasp_finger_gap": 0.027125860013225214,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024667092110834107,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08758839629579285,
+              -0.9961566723811848,
+              -0.000396112075143229
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034112486594786457,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215848122928036,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1682579464433351,
+              0.02196717852439065,
+              0.7565864672379601
+            ],
+            "target_position": [
+              0.18879761089829564,
+              0.019012845550900003,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.02075104573848323,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20251825702705903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864672379601,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07593134439625894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588276062559856,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17513364332585482,
+            "release_required_pad_clearance": 0.05294138031279928,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9194025588062424,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 319,
+            "max_placed_release_frames": 319
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5578436d4302cdb274d88bf99abbf9cadebc18feb01510d61dc7f7ceb360f220",
+    "visual_seed": 4883068741338650986,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbae4f35945600dfe8dce2a21128010fb0bcfe51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_26_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21341684186133608,
+              -0.14157116843032322,
+              1.1646934636091948
+            ],
+            "current_z": 1.1646934636091948,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3035870151990736,
+            "gripper_z": 1.1579466728347276,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.209163364598832,
+              -0.14595269796029875,
+              1.1579466728347276
+            ],
+            "object_minus_gripper": [
+              0.0042534772625040795,
+              0.004381529529975531,
+              0.00674679077446716
+            ],
+            "object_to_gripper_xy": 0.006106543199281144,
+            "object_to_gripper_z": 0.00674679077446716,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21341684186133608,
+              -0.16513745517690098,
+              1.1646934636091948
+            ],
+            "finger_b": [
+              0.20325366196133565,
+              -0.14157116843032322,
+              1.1646934636091948
+            ],
+            "finger_midpoint": [
+              0.20833525191133587,
+              -0.1533543118036121,
+              1.1646934636091948
+            ],
+            "object_minus_finger_midpoint": [
+              0.005081589950000215,
+              0.011783143373288868,
+              0.0
+            ],
+            "finger_gap": 0.02566437407578255,
+            "fingertip_max_gap": 0.09236688981757568,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012832187037891263,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646934636091948,
+            "object_top_z": 1.2147299879511746,
+            "finger_top_clearance": 0.050036524341979804,
+            "fingertip_min_top_clearance": 0.015010957302593941,
+            "object_projection_between_fingers": 0.8431812915386738,
+            "object_to_finger_line_xy": 0.00933233014268097,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868344490878784,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8627352461294802,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27358963773220335,
+              -0.3546626973754934,
+              0.8515395789714955
+            ],
+            "target_position": [
+              0.2673357109292857,
+              -0.3543608815619095,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006261205414421491,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18506430558387274,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395789714955,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547985141937671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671820753581412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15281433432417754,
+            "release_required_pad_clearance": 0.05335910376790706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7345567594234694,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00762408971786499,
+            "max_z_decrease": 0.00762408971786499,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351265464474541,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00762408971786499,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021174357643375726,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00762408971786499,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076241124629954984,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12303563952445985,
+              -0.41062232851982117,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12303563952445985,
+              -0.41062232851982117,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1241476667963643,
+              -0.41155929860754303,
+              0.8077202955367209
+            ],
+            "closest_button": [
+              0.12302421033382416,
+              -0.41061899065971375,
+              0.7726243138313293
+            ],
+            "closest_ee_minus_button": [
+              0.00112345646254014,
+              -0.0009403079478292886,
+              0.03509598170539152
+            ],
+            "button_min_z_position": [
+              0.12301711738109589,
+              -0.41062039136886597,
+              0.7691847681999207
+            ],
+            "min_active_finger_to_button": 0.14501696956659169,
+            "closest_active_finger": [
+              -0.017060615122318268,
+              -0.395906925201416,
+              0.8112595081329346
+            ],
+            "closest_active_finger_button": [
+              0.12303409725427628,
+              -0.41062241792678833,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14009471237659454,
+              0.014715492725372314,
+              0.034450650215148926
+            ],
+            "min_contact_pad_to_button": 0.021174357643375726,
+            "closest_contact_pad": [
+              0.12301711738109589,
+              -0.41260818340243716,
+              0.7902656150624368
+            ],
+            "closest_contact_pad_button": [
+              0.12301711738109589,
+              -0.41062039136886597,
+              0.7691847681999207
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019877920335711896,
+              0.0210808468625161
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28015690038538205,
+              0.20283801713527394,
+              1.1024827762014247
+            ],
+            "current_z": 1.1024827762014247,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1925736464670621,
+            "gripper_z": 1.1024826642655656,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2801568293188503,
+              0.20283821163102028,
+              1.1024826642655656
+            ],
+            "object_minus_gripper": [
+              7.106653177046951e-08,
+              -1.944957463417829e-07,
+              1.1193585902624648e-07
+            ],
+            "object_to_gripper_xy": 2.0707256525896982e-07,
+            "object_to_gripper_z": 1.1193585902624648e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28015690038538205,
+              0.20283801713527394,
+              1.1024827762014247
+            ],
+            "finger_b": [
+              0.28015690038538205,
+              0.20283801713527394,
+              1.1024827762014247
+            ],
+            "finger_midpoint": [
+              0.28015690038538205,
+              0.20283801713527394,
+              1.1024827762014247
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1024827762014247,
+            "object_top_z": 1.2274912828217044,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28015690038538205,
+            0.20283801713527394,
+            1.1024827762014249
+          ],
+          "object_origin_world": [
+            0.28015690038538205,
+            0.20283801713527394,
+            1.1024827762014249
+          ],
+          "frame_world": [
+            0.2801568293188503,
+            0.20283821163102028,
+            1.1024826642655656
+          ],
+          "center_minus_frame": [
+            7.106653177046951e-08,
+            -1.944957463417829e-07,
+            1.1193585924829108e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433795262145447,
+            "required_z": 0.9112598236997023,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0012473468427372024,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.155343627905624e-08,
+            "max_target_xy_drift": 1.9243190839747545e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7345567586202686,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.734556759625005,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27338992468142403,
+              -0.35342627607902705,
+              0.9234919499010267
+            ],
+            "target_mouth_xy": [
+              0.27358955101956645,
+              -0.3546626944806893
+            ],
+            "rod_tip_z": 0.9234919499010267,
+            "rod_tip_depth": -0.02223198077260491,
+            "rod_tip_bottom_clearance": 0.12167258532279235,
+            "rod_tip_xy_dist": 0.0012524300933981288,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044966743578538027,
+            "min_rod_tip_bottom_clearance": 0.05447382454461758,
+            "min_rod_tip_xy_dist": 0.0008240549410548652,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2735895496270967,
+              -0.35466275601837327
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.3924697506162431e-09,
+              6.153768394856485e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0003487572890422119,
+                0.002995031086733768
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0002506970519008389,
+                0.0025842146114044007
+              ],
+              "first_target_mouth_xy": [
+                0.2735896098764865,
+                -0.35466266309217775
+              ],
+              "last_target_mouth_xy": [
+                0.2735895493218759,
+                -0.3546626653338464
+              ],
+              "first_rod_tip_xy": [
+                0.2739383671655287,
+                -0.351667632005444
+              ],
+              "last_rod_tip_xy": [
+                0.27384024637377674,
+                -0.352078450722442
+              ],
+              "min_rod_tip_xy_dist": 0.0025963463115747424,
+              "max_rod_tip_xy_dist": 0.0030152682894166697,
+              "first_target_xy_drift": 1.1074866493853489e-07,
+              "last_target_xy_drift": 9.068504053365128e-08,
+              "max_depth": 0.01987150365779422,
+              "min_bottom_clearance": 0.0795690132547654
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0003487572890422119,
+                  0.002995031086733768
+                ],
+                "rod_tip_xy": [
+                  0.2739383671655287,
+                  -0.351667632005444
+                ],
+                "target_mouth_xy": [
+                  0.2735896098764865,
+                  -0.35466266309217775
+                ],
+                "gripper_position": [
+                  0.27392723982402734,
+                  -0.3516750701938279,
+                  1.0056603987953636
+                ],
+                "rod_tip_xy_dist": 0.0030152682894166697,
+                "target_xy_drift": 1.1074866493853489e-07,
+                "depth": 0.015457305589236525,
+                "bottom_clearance": 0.08398332950646259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0003375987000741598,
+                  0.002987628703275791
+                ],
+                "rod_tip_xy": [
+                  0.2739272398240273,
+                  -0.3516750701938279
+                ],
+                "target_mouth_xy": [
+                  0.2735896411239531,
+                  -0.35466269889710367
+                ],
+                "gripper_position": [
+                  0.273931962179115,
+                  -0.351744392544962,
+                  1.0051406405867425
+                ],
+                "rod_tip_xy_dist": 0.0030066423383783357,
+                "target_xy_drift": 1.07863405178458e-07,
+                "depth": 0.015599546000156672,
+                "bottom_clearance": 0.08384114178851243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0003423826760668436,
+                  0.002918301319865979
+                ],
+                "rod_tip_xy": [
+                  0.2739319621791149,
+                  -0.351744392544962
+                ],
+                "target_mouth_xy": [
+                  0.2735895795030481,
+                  -0.35466269386482796
+                ],
+                "gripper_position": [
+                  0.27392053567688945,
+                  -0.35175183810757443,
+                  1.0049985441227212
+                ],
+                "rod_tip_xy_dist": 0.002938317288926131,
+                "target_xy_drift": 6.896111705512386e-08,
+                "depth": 0.01611921067666844,
+                "bottom_clearance": 0.08332136727961326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0003308929646078651,
+                  0.0029108902518870106
+                ],
+                "rod_tip_xy": [
+                  0.2739205356768894,
+                  -0.35175183810757454
+                ],
+                "target_mouth_xy": [
+                  0.27358964271228153,
+                  -0.35466272835946155
+                ],
+                "gripper_position": [
+                  0.2739120969164595,
+                  -0.35175303420885845,
+                  1.0048736689835838
+                ],
+                "rod_tip_xy_dist": 0.002929636873839112,
+                "target_xy_drift": 9.710750245816007e-08,
+                "depth": 0.016261408187536852,
+                "bottom_clearance": 0.08317933063469185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00032251726238802236,
+                  0.002909659334877468
+                ],
+                "rod_tip_xy": [
+                  0.27391209691645946,
+                  -0.35175303420885845
+                ],
+                "target_mouth_xy": [
+                  0.27358957965407144,
+                  -0.3546626935437359
+                ],
+                "gripper_position": [
+                  0.27391785840873184,
+                  -0.351823122102149,
+                  1.0043548965643736
+                ],
+                "rod_tip_xy_dist": 0.0029274792620235337,
+                "target_xy_drift": 6.93159399008509e-08,
+                "depth": 0.01638618921362911,
+                "bottom_clearance": 0.08305440623053928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00032824695534722226,
+                  0.0028396050025586983
+                ],
+                "rod_tip_xy": [
+                  0.2739178584087318,
+                  -0.351823122102149
+                ],
+                "target_mouth_xy": [
+                  0.27358961145338456,
+                  -0.3546627271047077
+                ],
+                "gripper_position": [
+                  0.2739062302088833,
+                  -0.35183051141219546,
+                  1.0042126731881982
+                ],
+                "rod_tip_xy_dist": 0.0028585140605305944,
+                "target_xy_drift": 6.825313127093451e-08,
+                "depth": 0.016905021279551735,
+                "bottom_clearance": 0.08253561666091713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003166496255053164,
+                  0.0028321833764589077
+                ],
+                "rod_tip_xy": [
+                  0.2739062302088832,
+                  -0.3518305114121955
+                ],
+                "target_mouth_xy": [
+                  0.2735895805833779,
+                  -0.3546626947886544
+                ],
+                "gripper_position": [
+                  0.2738977251528185,
+                  -0.3518316482806215,
+                  1.0040885023204171
+                ],
+                "rod_tip_xy_dist": 0.0028498297603932127,
+                "target_xy_drift": 6.861027486159606e-08,
+                "depth": 0.017047169384720506,
+                "bottom_clearance": 0.08239341489131702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0003081417358711258,
+                  0.0028310173022894625
+                ],
+                "rod_tip_xy": [
+                  0.27389772515281846,
+                  -0.35183164828062147
+                ],
+                "target_mouth_xy": [
+                  0.27358958341694734,
+                  -0.35466266558291093
+                ],
+                "gripper_position": [
+                  0.27388913379104995,
+                  -0.35183248156269464,
+                  1.0039639247768328
+                ],
+                "rod_tip_xy_dist": 0.002847737750434189,
+                "target_xy_drift": 9.654183991972369e-08,
+                "depth": 0.017171350533434104,
+                "bottom_clearance": 0.0822693177149485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00029949305165710705,
+                  0.002830180563006046
+                ],
+                "rod_tip_xy": [
+                  0.2738891337910499,
+                  -0.3518324815626947
+                ],
+                "target_mouth_xy": [
+                  0.2735896407393928,
+                  -0.35466266212570075
+                ],
+                "gripper_position": [
+                  0.2738963551735671,
+                  -0.3519051267873167,
+                  1.0034451158101245
+                ],
+                "rod_tip_xy_dist": 0.002845982801636037,
+                "target_xy_drift": 1.3083304037608618e-07,
+                "depth": 0.01729603327983198,
+                "bottom_clearance": 0.08214467712329032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00030677386659283545,
+                  0.0027575660893092713
+                ],
+                "rod_tip_xy": [
+                  0.27389635517356703,
+                  -0.35190512678731684
+                ],
+                "target_mouth_xy": [
+                  0.2735895813069742,
+                  -0.3546626928766261
+                ],
+                "gripper_position": [
+                  0.2738846207507699,
+                  -0.3519127050871891,
+                  1.003303048386031
+                ],
+                "rod_tip_xy_dist": 0.002774577615085357,
+                "target_xy_drift": 7.064343475014858e-08,
+                "depth": 0.017814766748975752,
+                "bottom_clearance": 0.0816259151001687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000295037799068365,
+                  0.0027499915623854787
+                ],
+                "rod_tip_xy": [
+                  0.27388462075076986,
+                  -0.35191270508718914
+                ],
+                "target_mouth_xy": [
+                  0.2735895829517015,
+                  -0.3546626966495746
+                ],
+                "gripper_position": [
+                  0.27387604886377875,
+                  -0.35191356707714505,
+                  1.0031787386979922
+                ],
+                "rod_tip_xy_dist": 0.0027657731100129003,
+                "target_xy_drift": 6.808218224080637e-08,
+                "depth": 0.017956869017548227,
+                "bottom_clearance": 0.08148379778037951,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00028646938274645706,
+                  0.002749128053007588
+                ],
+                "rod_tip_xy": [
+                  0.2738760488637787,
+                  -0.3519135670771451
+                ],
+                "target_mouth_xy": [
+                  0.27358957948103224,
+                  -0.3546626951301527
+                ],
+                "gripper_position": [
+                  0.2738673277615377,
+                  -0.3519146686452912,
+                  1.0030542556534823
+                ],
+                "rod_tip_xy_dist": 0.002764013342783357,
+                "target_xy_drift": 6.781322048510829e-08,
+                "depth": 0.01808108950309928,
+                "bottom_clearance": 0.08135944096972192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0002777447150694168,
+                  0.002748028338703745
+                ],
+                "rod_tip_xy": [
+                  0.27386732776153766,
+                  -0.35191466864529125
+                ],
+                "target_mouth_xy": [
+                  0.27358958304646824,
+                  -0.354662696983995
+                ],
+                "gripper_position": [
+                  0.27387603542795774,
+                  -0.3519891257830396,
+                  1.0025383259014722
+                ],
+                "rod_tip_xy_dist": 0.0027620285800599273,
+                "target_xy_drift": 6.783739538732388e-08,
+                "depth": 0.018205668443436074,
+                "bottom_clearance": 0.08123501364742103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00028648541767395397,
+                  0.002673538262699615
+                ],
+                "rod_tip_xy": [
+                  0.2738760354279577,
+                  -0.3519891257830396
+                ],
+                "target_mouth_xy": [
+                  0.27358955001028373,
+                  -0.3546626640457392
+                ],
+                "gripper_position": [
+                  0.2738641764630866,
+                  -0.3519966527625086,
+                  1.002396374288431
+                ],
+                "rod_tip_xy_dist": 0.002688843754601352,
+                "target_xy_drift": 9.197343229988028e-08,
+                "depth": 0.018721527965544715,
+                "bottom_clearance": 0.08071906218112923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0002745946210152006,
+                  0.0026660147269155776
+                ],
+                "rod_tip_xy": [
+                  0.2738641764630866,
+                  -0.3519966527625085
+                ],
+                "target_mouth_xy": [
+                  0.2735895818420714,
+                  -0.3546626674894241
+                ],
+                "gripper_position": [
+                  0.2738553605400892,
+                  -0.3519974024824395,
+                  1.0022723166571867
+                ],
+                "rod_tip_xy_dist": 0.0026801187902817337,
+                "target_xy_drift": 9.420817074722855e-08,
+                "depth": 0.018863544991818637,
+                "bottom_clearance": 0.08057710013043762,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0002658114692235536,
+                  0.0026652603020727583
+                ],
+                "rod_tip_xy": [
+                  0.2738553605400892,
+                  -0.35199740248243944
+                ],
+                "target_mouth_xy": [
+                  0.27358954907086563,
+                  -0.3546626627845122
+                ],
+                "gripper_position": [
+                  0.2738465683809212,
+                  -0.351998295056547,
+                  1.0021479220014464
+                ],
+                "rod_tip_xy_dist": 0.0026784824462698564,
+                "target_xy_drift": 9.323552029202505e-08,
+                "depth": 0.018987553060313855,
+                "bottom_clearance": 0.08045304849034918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00025698639525228995,
+                  0.0026644038145431925
+                ],
+                "rod_tip_xy": [
+                  0.27384656838092114,
+                  -0.35199829505654695
+                ],
+                "target_mouth_xy": [
+                  0.27358958198566885,
+                  -0.35466269887109014
+                ],
+                "gripper_position": [
+                  0.273837732567302,
+                  -0.3519990704731086,
+                  1.0020235455706628
+                ],
+                "rod_tip_xy_dist": 0.002676768517129765,
+                "target_xy_drift": 6.567259063579506e-08,
+                "depth": 0.019112026300437845,
+                "bottom_clearance": 0.08032867902200658,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0002481822510270182,
+                  0.0026635923099260217
+                ],
+                "rod_tip_xy": [
+                  0.27383773256730193,
+                  -0.3519990704731086
+                ],
+                "target_mouth_xy": [
+                  0.2735895503162749,
+                  -0.3546626627830346
+                ],
+                "gripper_position": [
+                  0.2738288696248231,
+                  -0.3519997821083076,
+                  1.001898971761823
+                ],
+                "rod_tip_xy_dist": 0.002675129608677284,
+                "target_xy_drift": 9.323788577532875e-08,
+                "depth": 0.019236333426930208,
+                "bottom_clearance": 0.08020431473352974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00023928611533974298,
+                  0.0026629167597023717
+                ],
+                "rod_tip_xy": [
+                  0.27382886962482306,
+                  -0.3519997821083077
+                ],
+                "target_mouth_xy": [
+                  0.2735895835094833,
+                  -0.35466269886801005
+                ],
+                "gripper_position": [
+                  0.2738402463737768,
+                  -0.352078450722442,
+                  1.0013883217834472
+                ],
+                "rod_tip_xy_dist": 0.0026736461086123878,
+                "target_xy_drift": 6.643929664820597e-08,
+                "depth": 0.019360989433857667,
+                "bottom_clearance": 0.08007977599760008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0002506970519008389,
+                  0.0025842146114044007
+                ],
+                "rod_tip_xy": [
+                  0.27384024637377674,
+                  -0.352078450722442
+                ],
+                "target_mouth_xy": [
+                  0.2735895493218759,
+                  -0.3546626653338464
+                ],
+                "gripper_position": [
+                  0.2738284191356516,
+                  -0.3520857687131761,
+                  1.00124642260655
+                ],
+                "rod_tip_xy_dist": 0.0025963463115747424,
+                "target_xy_drift": 9.068504053365128e-08,
+                "depth": 0.01987150365779422,
+                "bottom_clearance": 0.0795690132547654,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006038752011104044,
+              "rod_tip_xy_max_step": 3.2701332115500815e-05,
+              "rod_tip_xy_range": 0.0006038651230735285,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27338992468142403,
+            -0.35342627607902705,
+            1.0434919499010267
+          ],
+          "object_origin_world": [
+            0.27338992468142403,
+            -0.35342627607902705,
+            1.0434919499010267
+          ],
+          "frame_world": [
+            0.2733884776075078,
+            -0.35343166091938827,
+            1.0433795262145447
+          ],
+          "center_minus_frame": [
+            1.4470739162497637e-06,
+            5.384840361222221e-06,
+            0.00011242368648201051
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26532397482349024,
+              0.15647431368544257,
+              0.8320876060109933
+            ],
+            "target_position": [
+              0.2806865264116487,
+              0.2021356263184801,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048176378679502495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1650460860948292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320876060109933,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675421582997,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1355550384903108,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21082897105670095,
+              0.019062456589246553,
+              1.045600503582627
+            ],
+            "current_z": 1.045600503582627,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18901405577870622,
+            "gripper_z": 1.0500257017003434,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2064717879711446,
+              0.014543767019581072,
+              1.0500257017003434
+            ],
+            "object_minus_gripper": [
+              0.004357183085556354,
+              0.004518689569665481,
+              -0.004425198117716356
+            ],
+            "object_to_gripper_xy": 0.006277228677375232,
+            "object_to_gripper_z": -0.004425198117716356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21082897105670095,
+              -0.004721154029926877,
+              1.045600503582627
+            ],
+            "finger_b": [
+              0.19946521255534977,
+              0.019062456589246553,
+              1.045600503582627
+            ],
+            "finger_midpoint": [
+              0.20514709180602536,
+              0.007170651279659838,
+              1.045600503582627
+            ],
+            "object_minus_finger_midpoint": [
+              0.005681879250675592,
+              0.011891805309586716,
+              0.0
+            ],
+            "finger_gap": 0.026358967001031935,
+            "fingertip_max_gap": 0.09413897781254435,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013179483500515968,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045600503582627,
+            "object_top_z": 1.0924701534578616,
+            "finger_top_clearance": 0.046869649875234565,
+            "fingertip_min_top_clearance": 0.014060894962570352,
+            "object_projection_between_fingers": 0.8141394497607108,
+            "object_to_finger_line_xy": 0.010253482519094075,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956948890627218,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5216357039381356,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21053667056545516,
+              0.017516541794681317,
+              1.243980833341046
+            ],
+            "held_position": [
+              0.2152945372053734,
+              0.02157030616257894,
+              1.239515330814095
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00768186262125859,
+            "max_held_gripper_dist": 0.007684251079210804,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004465502526951104,
+            "max_held_gripper_z_dist": 0.004465502526951104,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08554465750378404,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2152945372053734,
+              -0.0038070630135162544,
+              1.239515330814095
+            ],
+            "held_grasp_finger_b": [
+              0.20645854910571482,
+              0.02183778866154547,
+              1.239515330814095
+            ],
+            "held_grasp_midpoint": [
+              0.2108765431555441,
+              0.009015362824014609,
+              1.239515330814095
+            ],
+            "held_grasp_object_position": [
+              0.2152945372053734,
+              0.02157030616257894,
+              1.239515330814095
+            ],
+            "held_grasp_finger_gap": 0.02712440051196015,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02478127807263247,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08652572073922174,
+              -0.9961382750456921,
+              0.014894181399171647
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003320530057804987,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032311495245853826,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17557647180978403,
+              0.01457635383789968,
+              0.7565854125401974
+            ],
+            "target_position": [
+              0.18746203781519924,
+              0.01895931080586005,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012667951336031965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20717988413075963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565854125401974,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575513352368335,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08771200817353587,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17767966833418908,
+            "release_required_pad_clearance": 0.05385600408676794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.714496808524519,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ba15017b6b09f824bda6b4d3537374e7e74761a87f6dec57ce313494033750d",
+    "visual_seed": 1547108254437056860,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ebd9861eca18276471209996bf0a2a69b787aa6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_27_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21237212502638902,
+              -0.14162090889397827,
+              1.1640706928126128
+            ],
+            "current_z": 1.1640706928126128,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3029642444024916,
+            "gripper_z": 1.1575407812251453,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2080405677555312,
+              -0.14602841410893194,
+              1.1575407812251453
+            ],
+            "object_minus_gripper": [
+              0.004331557270857822,
+              0.004407505214953672,
+              0.006529911587467518
+            ],
+            "object_to_gripper_xy": 0.006179683698261998,
+            "object_to_gripper_z": 0.006529911587467518,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21237212502638902,
+              -0.1653361041011108,
+              1.1640706928126128
+            ],
+            "finger_b": [
+              0.20229363920850246,
+              -0.14162090889397827,
+              1.1640706928126128
+            ],
+            "finger_midpoint": [
+              0.20733288211744574,
+              -0.15347850649754452,
+              1.1640706928126128
+            ],
+            "object_minus_finger_midpoint": [
+              0.005039242908943281,
+              0.01185759760356625,
+              0.0
+            ],
+            "finger_gap": 0.02576793278658073,
+            "fingertip_max_gap": 0.09247081991509437,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012883966393290352,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640706928126128,
+            "object_top_z": 1.21414239587215,
+            "finger_top_clearance": 0.05007170305953723,
+            "fingertip_min_top_clearance": 0.015021510917861169,
+            "object_projection_between_fingers": 0.8470211400622748,
+            "object_to_finger_line_xy": 0.009275608584634644,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873540995754719,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0079686158955408,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 330,
+            "max_stable_success_frames": 330,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27223220395460274,
+              -0.3570039276288175,
+              0.8515395621130275
+            ],
+            "target_position": [
+              0.2662571268273361,
+              -0.35660983570748245,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00598805937840019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379042601945994,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395621130275,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533316815360115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08706575084803968,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15195975248969823,
+            "release_required_pad_clearance": 0.05353287542401984,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0774568330321745,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007559001445770264,
+            "max_z_decrease": 0.007559001445770264,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512882862617663,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007559001445770264,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021079338674614534,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007559001445770264,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007559022254436734,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12195705622434615,
+              -0.4128713011741638,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12195705622434615,
+              -0.4128713011741638,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12133903927641251,
+              -0.4113203285965896,
+              0.8077455663360873
+            ],
+            "closest_button": [
+              0.12194579094648361,
+              -0.412867784500122,
+              0.7726560831069946
+            ],
+            "closest_ee_minus_button": [
+              -0.0006067516700710984,
+              0.001547455903532391,
+              0.035089483229092666
+            ],
+            "button_min_z_position": [
+              0.12193939834833144,
+              -0.4128696322441101,
+              0.7692498564720154
+            ],
+            "min_active_finger_to_button": 0.14606697918938863,
+            "closest_active_finger": [
+              -0.005898833274841309,
+              -0.4745553433895111,
+              0.8106350302696228
+            ],
+            "closest_active_finger_button": [
+              0.12195757031440733,
+              -0.4128699898719787,
+              0.7762370705604553
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12785640358924866,
+              -0.061685353517532404,
+              0.03439795970916748
+            ],
+            "min_contact_pad_to_button": 0.021079338674614534,
+            "closest_contact_pad": [
+              0.12193939834833144,
+              -0.4128696322441101,
+              0.7903291951466299
+            ],
+            "closest_contact_pad_button": [
+              0.12193939834833144,
+              -0.4128696322441101,
+              0.7692498564720154
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021079338674614534
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2835747539222032,
+              0.204826497476774,
+              1.102293987756723
+            ],
+            "current_z": 1.102293987756723,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1923848580223605,
+            "gripper_z": 1.1022939771590266,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2835747689329393,
+              0.2048265121854595,
+              1.1022939771590266
+            ],
+            "object_minus_gripper": [
+              -1.5010736098552968e-08,
+              -1.4708685491804374e-08,
+              1.059769649813802e-08
+            ],
+            "object_to_gripper_xy": 2.101588987212337e-08,
+            "object_to_gripper_z": 1.059769649813802e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2835747539222032,
+              0.204826497476774,
+              1.102293987756723
+            ],
+            "finger_b": [
+              0.2835747539222032,
+              0.204826497476774,
+              1.102293987756723
+            ],
+            "finger_midpoint": [
+              0.2835747539222032,
+              0.204826497476774,
+              1.102293987756723
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102293987756723,
+            "object_top_z": 1.2273024943770028,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2835747539222032,
+            0.20482649747677403,
+            1.102293987756723
+          ],
+          "object_origin_world": [
+            0.2835747539222032,
+            0.20482649747677403,
+            1.102293987756723
+          ],
+          "frame_world": [
+            0.2835747689329393,
+            0.2048265121854595,
+            1.1022939771590266
+          ],
+          "center_minus_frame": [
+            -1.5010736098552968e-08,
+            -1.4708685464048799e-08,
+            1.059769649813802e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433848660657987,
+            "required_z": 0.9112598666101075,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011576630949564225,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.346977024960919e-08,
+            "max_target_xy_drift": 1.2850670104343646e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.0774568321344375,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.0778335696568098,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2733895664023671,
+              -0.35706036369699423,
+              0.923498357793831
+            ],
+            "target_mouth_xy": [
+              0.2722322351890137,
+              -0.3570039272354625
+            ],
+            "rod_tip_z": 0.923498357793831,
+            "rod_tip_depth": -0.02223846956072062,
+            "rod_tip_bottom_clearance": 0.12167903515951506,
+            "rod_tip_xy_dist": 0.0011587064389189984,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04476424108038701,
+            "min_rod_tip_bottom_clearance": 0.05467632363066155,
+            "min_rod_tip_xy_dist": 9.544923414251136e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2722321717193561,
+              -0.3570039273550516
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.346965758519119e-08,
+              1.1958911638743075e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0016593556630971618,
+                0.0017083757343213657
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015671445538003592,
+                0.0013086589646442714
+              ],
+              "first_target_mouth_xy": [
+                0.27223223228391213,
+                -0.3570039564646036
+              ],
+              "last_target_mouth_xy": [
+                0.2722322660678448,
+                -0.35700392531303493
+              ],
+              "first_rod_tip_xy": [
+                0.2738915879470093,
+                -0.3552955807302822
+              ],
+              "last_rod_tip_xy": [
+                0.27379941062164515,
+                -0.35569526634839066
+              ],
+              "min_rod_tip_xy_dist": 0.0020416979057269816,
+              "max_rod_tip_xy_dist": 0.00238159796486953,
+              "first_target_xy_drift": 6.719696023689209e-08,
+              "last_target_xy_drift": 9.43705841343102e-08,
+              "max_depth": 0.01952076310353268,
+              "min_bottom_clearance": 0.07991990728379161
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0016593556630971618,
+                  0.0017083757343213657
+                ],
+                "rod_tip_xy": [
+                  0.2738915879470093,
+                  -0.3552955807302822
+                ],
+                "target_mouth_xy": [
+                  0.27223223228391213,
+                  -0.3570039564646036
+                ],
+                "gripper_position": [
+                  0.2738833516765592,
+                  -0.3552972493732188,
+                  1.0060578009046615
+                ],
+                "rod_tip_xy_dist": 0.00238159796486953,
+                "target_xy_drift": 6.719696023689209e-08,
+                "depth": 0.015076380056295968,
+                "bottom_clearance": 0.08436415490980254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0016511205944799157,
+                  0.0017067051827289736
+                ],
+                "rod_tip_xy": [
+                  0.2738833516765592,
+                  -0.3552972493732188
+                ],
+                "target_mouth_xy": [
+                  0.2722322310820793,
+                  -0.3570039545559478
+                ],
+                "gripper_position": [
+                  0.2738899840681852,
+                  -0.3553648982286061,
+                  1.0055334484797942
+                ],
+                "rod_tip_xy_dist": 0.0023746666709813504,
+                "target_xy_drift": 6.529794527949842e-08,
+                "depth": 0.015202114261471555,
+                "bottom_clearance": 0.08423853396381964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.001657721966679293,
+                  0.0016390591816514144
+                ],
+                "rod_tip_xy": [
+                  0.2738899840681852,
+                  -0.35536489822860606
+                ],
+                "target_mouth_xy": [
+                  0.2722322621015059,
+                  -0.3570039574102575
+                ],
+                "gripper_position": [
+                  0.2738787077257129,
+                  -0.35537275537860713,
+                  1.0053901053626801
+                ],
+                "rod_tip_xy_dist": 0.0023312136581117716,
+                "target_xy_drift": 9.524835120115924e-08,
+                "depth": 0.015726393830604368,
+                "bottom_clearance": 0.08371413375719972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016464731768772722,
+                  0.0016311696441236867
+                ],
+                "rod_tip_xy": [
+                  0.2738787077257128,
+                  -0.35537275537860713
+                ],
+                "target_mouth_xy": [
+                  0.27223223454883555,
+                  -0.3570039250227308
+                ],
+                "gripper_position": [
+                  0.2738853672494498,
+                  -0.35544071139052535,
+                  1.0048699530057144
+                ],
+                "rod_tip_xy_dist": 0.0023176687274256715,
+                "target_xy_drift": 6.287275410297275e-08,
+                "depth": 0.015869815049778357,
+                "bottom_clearance": 0.08357080230003333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016531338252430139,
+                  0.0015632739119970651
+                ],
+                "rod_tip_xy": [
+                  0.2738853672494498,
+                  -0.35544071139052535
+                ],
+                "target_mouth_xy": [
+                  0.27223223342420677,
+                  -0.3570039853025224
+                ],
+                "gripper_position": [
+                  0.27387409024620013,
+                  -0.35544834114012863,
+                  1.0047266926135745
+                ],
+                "rod_tip_xy_dist": 0.002275231146080153,
+                "target_xy_drift": 8.464867377151106e-08,
+                "depth": 0.01638982771461439,
+                "bottom_clearance": 0.08305072279462178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001641825855351553,
+                  0.001555583881170608
+                ],
+                "rod_tip_xy": [
+                  0.27387409024620013,
+                  -0.3554483411401286
+                ],
+                "target_mouth_xy": [
+                  0.2722322643908486,
+                  -0.3570039250212992
+                ],
+                "gripper_position": [
+                  0.273865680401007,
+                  -0.355449639239115,
+                  1.0046012608689852
+                ],
+                "rod_tip_xy_dist": 0.002261732378213362,
+                "target_xy_drift": 9.270087334413662e-08,
+                "depth": 0.016533228115540477,
+                "bottom_clearance": 0.08290739076247722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016334473211253586,
+                  0.0015543156090646049
+                ],
+                "rod_tip_xy": [
+                  0.273865680401007,
+                  -0.3554496392391149
+                ],
+                "target_mouth_xy": [
+                  0.27223223307988165,
+                  -0.3570039548481795
+                ],
+                "gripper_position": [
+                  0.27385727571409,
+                  -0.35545089099067917,
+                  1.004475565547526
+                ],
+                "rod_tip_xy_dist": 0.0022547831743814045,
+                "target_xy_drift": 6.723827910227146e-08,
+                "depth": 0.016658529159466973,
+                "bottom_clearance": 0.08278203274539764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016250113802116495,
+                  0.0015530330781686752
+                ],
+                "rod_tip_xy": [
+                  0.27385727571408996,
+                  -0.35545089099067906
+                ],
+                "target_mouth_xy": [
+                  0.2722322643338783,
+                  -0.35700392406884773
+                ],
+                "gripper_position": [
+                  0.2738656095235734,
+                  -0.35552101329165214,
+                  1.0039537058017727
+                ],
+                "rod_tip_xy_dist": 0.0022477930793788473,
+                "target_xy_drift": 9.267280540430764e-08,
+                "depth": 0.016784372045423268,
+                "bottom_clearance": 0.0826562800554218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016333773605795021,
+                  0.0014829412607689774
+                ],
+                "rod_tip_xy": [
+                  0.27386560952357336,
+                  -0.3555210132916522
+                ],
+                "target_mouth_xy": [
+                  0.27223223216299386,
+                  -0.3570039545524212
+                ],
+                "gripper_position": [
+                  0.27385427826646025,
+                  -0.35552863756104114,
+                  1.0038103805163356
+                ],
+                "rod_tip_xy_dist": 0.0022061360757996648,
+                "target_xy_drift": 6.628069294940444e-08,
+                "depth": 0.01730611616438016,
+                "bottom_clearance": 0.08213448921191757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016220134940150288,
+                  0.0014752864977100044
+                ],
+                "rod_tip_xy": [
+                  0.27385427826646025,
+                  -0.35552863756104114
+                ],
+                "target_mouth_xy": [
+                  0.2722322647724452,
+                  -0.35700392405875114
+                ],
+                "gripper_position": [
+                  0.2738456228058624,
+                  -0.35552995252989233,
+                  1.0036849910427401
+                ],
+                "rod_tip_xy_dist": 0.002192577940482913,
+                "target_xy_drift": 9.311145467675129e-08,
+                "depth": 0.017449560471993086,
+                "bottom_clearance": 0.08199110830317702,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016133592213493086,
+                  0.0014740035766995785
+                ],
+                "rod_tip_xy": [
+                  0.27384562280586233,
+                  -0.3555299525298923
+                ],
+                "target_mouth_xy": [
+                  0.272232263584513,
+                  -0.35700395610659186
+                ],
+                "gripper_position": [
+                  0.27385483431474816,
+                  -0.3556004962485661,
+                  1.003166856093396
+                ],
+                "rod_tip_xy_dist": 0.0021853179451137078,
+                "target_xy_drift": 9.625932746666179e-08,
+                "depth": 0.017574781298573927,
+                "bottom_clearance": 0.08186576001808732,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001622571386954319,
+                  0.0014034272028053407
+                ],
+                "rod_tip_xy": [
+                  0.27385483431474816,
+                  -0.35560049624856616
+                ],
+                "target_mouth_xy": [
+                  0.27223226292779384,
+                  -0.3570039234513715
+                ],
+                "gripper_position": [
+                  0.27384329060570256,
+                  -0.35560819594096527,
+                  1.0030240593405455
+                ],
+                "rod_tip_xy_dist": 0.002145307861202416,
+                "target_xy_drift": 9.129193740174859e-08,
+                "depth": 0.01809302280456071,
+                "bottom_clearance": 0.08134759995895113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001611026033380869,
+                  0.0013957620439786211
+                ],
+                "rod_tip_xy": [
+                  0.27384329060570256,
+                  -0.35560819594096527
+                ],
+                "target_mouth_xy": [
+                  0.2722322645723217,
+                  -0.3570039579849439
+                ],
+                "gripper_position": [
+                  0.2738347788590667,
+                  -0.3556090039848826,
+                  1.0028987983376532
+                ],
+                "rod_tip_xy_dist": 0.0021315620008909605,
+                "target_xy_drift": 9.777455456954743e-08,
+                "depth": 0.01823584191457117,
+                "bottom_clearance": 0.08120473951953389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001602515186661324,
+                  0.0013949505355012048
+                ],
+                "rod_tip_xy": [
+                  0.2738347788590667,
+                  -0.3556090039848826
+                ],
+                "target_mouth_xy": [
+                  0.2722322636724054,
+                  -0.3570039545203838
+                ],
+                "gripper_position": [
+                  0.2738259880593498,
+                  -0.35561038699328096,
+                  1.0027733056287762
+                ],
+                "rod_tip_xy_dist": 0.002124603944262383,
+                "target_xy_drift": 9.588179465806524e-08,
+                "depth": 0.01836100342277336,
+                "bottom_clearance": 0.08107960000681647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015937251513667428,
+                  0.0013935377250645087
+                ],
+                "rod_tip_xy": [
+                  0.2738259880593498,
+                  -0.35561038699328096
+                ],
+                "target_mouth_xy": [
+                  0.2722322629079831,
+                  -0.35700392471834547
+                ],
+                "gripper_position": [
+                  0.2738174407671665,
+                  -0.3556116070514502,
+                  1.0026478640866079
+                ],
+                "rod_tip_xy_dist": 0.00211705154620215,
+                "target_xy_drift": 9.122673900904222e-08,
+                "depth": 0.018486550134989455,
+                "bottom_clearance": 0.08095402487919323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015851757754126727,
+                  0.0013923496716372608
+                ],
+                "rod_tip_xy": [
+                  0.2738174407671665,
+                  -0.3556116070514501
+                ],
+                "target_mouth_xy": [
+                  0.27223226499175385,
+                  -0.3570039567230874
+                ],
+                "gripper_position": [
+                  0.27382872912325645,
+                  -0.3556855495276166,
+                  1.0021321771934415
+                ],
+                "rod_tip_xy_dist": 0.0021098388201622313,
+                "target_xy_drift": 9.778661313101139e-08,
+                "depth": 0.01861202658768113,
+                "bottom_clearance": 0.08082854415992535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015964666322144105,
+                  0.0013184056511098552
+                ],
+                "rod_tip_xy": [
+                  0.2738287291232564,
+                  -0.35568554952761655
+                ],
+                "target_mouth_xy": [
+                  0.272232262491042,
+                  -0.3570039551787264
+                ],
+                "gripper_position": [
+                  0.2738170562736304,
+                  -0.3556930600454113,
+                  1.0019893323405336
+                ],
+                "rod_tip_xy_dist": 0.002070482834667417,
+                "target_xy_drift": 9.494027511634156e-08,
+                "depth": 0.01912761791620754,
+                "bottom_clearance": 0.08031294507325992,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001584793998424927,
+                  0.001310864377157439
+                ],
+                "rod_tip_xy": [
+                  0.2738170562736304,
+                  -0.35569306004541124
+                ],
+                "target_mouth_xy": [
+                  0.27223226227520547,
+                  -0.3570039244225687
+                ],
+                "gripper_position": [
+                  0.27380824180812824,
+                  -0.3556942126806073,
+                  1.0018644415340061
+                ],
+                "rod_tip_xy_dist": 0.0020566811694436326,
+                "target_xy_drift": 9.060331843847239e-08,
+                "depth": 0.01927054506810244,
+                "bottom_clearance": 0.08017005922915599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015759788056378676,
+                  0.0013097440769376245
+                ],
+                "rod_tip_xy": [
+                  0.27380824180812824,
+                  -0.3556942126806073
+                ],
+                "target_mouth_xy": [
+                  0.27223226300249037,
+                  -0.3570039567575449
+                ],
+                "gripper_position": [
+                  0.27379941062164515,
+                  -0.3556952663483906,
+                  1.0017391646186433
+                ],
+                "rod_tip_xy_dist": 0.0020491800172002827,
+                "target_xy_drift": 9.590160174251008e-08,
+                "depth": 0.019395374344118976,
+                "bottom_clearance": 0.08004512119972518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015671445538003592,
+                  0.0013086589646442714
+                ],
+                "rod_tip_xy": [
+                  0.27379941062164515,
+                  -0.35569526634839066
+                ],
+                "target_mouth_xy": [
+                  0.2722322660678448,
+                  -0.35700392531303493
+                ],
+                "gripper_position": [
+                  0.2737906452399887,
+                  -0.35569624349617335,
+                  1.0016139657962788
+                ],
+                "rod_tip_xy_dist": 0.0020416979057269816,
+                "target_xy_drift": 9.43705841343102e-08,
+                "depth": 0.01952076310353268,
+                "bottom_clearance": 0.07991990728379161,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006013731622639948,
+              "rod_tip_xy_max_step": 3.263452555085855e-05,
+              "rod_tip_xy_range": 0.0006013634469258221,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2733895664023671,
+            -0.35706036369699423,
+            1.043498357793831
+          ],
+          "object_origin_world": [
+            0.2733895664023671,
+            -0.35706036369699423,
+            1.043498357793831
+          ],
+          "frame_world": [
+            0.2733882193257078,
+            -0.35706625313004636,
+            1.0433848660657987
+          ],
+          "center_minus_frame": [
+            1.3470766593304262e-06,
+            5.889433052130855e-06,
+            0.00011349172803232221
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2690387672243578,
+              0.15787459212413177,
+              0.8321481868237318
+            ],
+            "target_position": [
+              0.2837478765127034,
+              0.2036313530183801,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04806286574466723,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16535380486811224,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321481868237318,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671043224438,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13507738652909027,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 302,
+            "max_placed_release_frames": 302
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21131107450295356,
+              0.0181263440080209,
+              1.0465646585106152
+            ],
+            "current_z": 1.0465646585106152,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18997827031133918,
+            "gripper_z": 1.0509081976807362,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.206639511697877,
+              0.013484038516647215,
+              1.0509081976807362
+            ],
+            "object_minus_gripper": [
+              0.004671562805076551,
+              0.004642305491373684,
+              -0.00434353917012098
+            ],
+            "object_to_gripper_xy": 0.006585931924717485,
+            "object_to_gripper_z": -0.00434353917012098,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21131107450295356,
+              -0.005952740161977554,
+              1.0465646585106152
+            ],
+            "finger_b": [
+              0.19984591699182186,
+              0.0181263440080209,
+              1.0465646585106152
+            ],
+            "finger_midpoint": [
+              0.2055784957473877,
+              0.006086801923021672,
+              1.0465646585106152
+            ],
+            "object_minus_finger_midpoint": [
+              0.005732578755565848,
+              0.012039542084999227,
+              0.0
+            ],
+            "finger_gap": 0.026669310662649864,
+            "fingertip_max_gap": 0.09240292141095188,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013334655331324932,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465646585106152,
+            "object_top_z": 1.092709621509612,
+            "finger_top_clearance": 0.04614496299899673,
+            "fingertip_min_top_clearance": 0.01384348889969902,
+            "object_projection_between_fingers": 0.8151853175759013,
+            "object_to_finger_line_xy": 0.01035161711620333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048701460705475944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7845810084296481,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2105418486543242,
+              0.01650974815065566,
+              1.2442108577746915
+            ],
+            "held_position": [
+              0.2155734124014634,
+              0.020727223462854782,
+              1.239834951742787
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007890011745909755,
+            "max_held_gripper_dist": 0.007892247166967301,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004375906031904631,
+            "max_held_gripper_z_dist": 0.004376304424797306,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582831577625238,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2155734124014634,
+              -0.004701942484384694,
+              1.239834951742787
+            ],
+            "held_grasp_finger_b": [
+              0.20637222891624663,
+              0.020727223462854782,
+              1.239834951742787
+            ],
+            "held_grasp_midpoint": [
+              0.21097282065885503,
+              0.008012640489235045,
+              1.239834951742787
+            ],
+            "held_grasp_object_position": [
+              0.2155734124014634,
+              0.020727223462854782,
+              1.239834951742787
+            ],
+            "held_grasp_finger_gap": 0.027042637783708707,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02457321549798379,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08339186424319313,
+              -0.996513979052097,
+              0.002384645005371833
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035244087015537063,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214631337274297,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18462905251344117,
+              0.010823162764266502,
+              0.7565864284912279
+            ],
+            "target_position": [
+              0.1874332634265336,
+              0.017493889037329187,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007236172182531003,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21474476431880635,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864284912279,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07617268496248362,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864704993182465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18282959203110505,
+            "release_required_pad_clearance": 0.053235249659123254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4914468487321793,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 286,
+            "max_placed_release_frames": 286
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4ce59b7c9c547c8006c13ee2fcfb25aee60cc2fbbfa31d836417e912c0310e4",
+    "visual_seed": 4884841691200440198,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94fc5a494d4872ebe53509d4408b5037aaebc11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_28_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2154305044193151,
+              -0.13824762300605103,
+              1.1653520299235929
+            ],
+            "current_z": 1.1653520299235929,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3042455815134718,
+            "gripper_z": 1.1587578816686586,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21106800327601716,
+              -0.14257314627774795,
+              1.1587578816686586
+            ],
+            "object_minus_gripper": [
+              0.004362501143297948,
+              0.004325523271696913,
+              0.006594148254934318
+            ],
+            "object_to_gripper_xy": 0.0061434166226349545,
+            "object_to_gripper_z": 0.006594148254934318,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2154305044193151,
+              -0.1620976463840264,
+              1.1653520299235929
+            ],
+            "finger_b": [
+              0.20571715538717572,
+              -0.13824762300605103,
+              1.1653520299235929
+            ],
+            "finger_midpoint": [
+              0.2105738299032454,
+              -0.15017263469503872,
+              1.1653520299235929
+            ],
+            "object_minus_finger_midpoint": [
+              0.004856674516069692,
+              0.011925011688987686,
+              0.0
+            ],
+            "finger_gap": 0.025752140970220997,
+            "fingertip_max_gap": 0.09268134093559466,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012876070485110499,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653520299235929,
+            "object_top_z": 1.215624718546953,
+            "finger_top_clearance": 0.05027268862336021,
+            "fingertip_min_top_clearance": 0.015081806587008062,
+            "object_projection_between_fingers": 0.8577306631641226,
+            "object_to_finger_line_xy": 0.008995896759141227,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884067046779733,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.840965289614431,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2646619649419759,
+              -0.3555695475992452,
+              0.8515395397158725
+            ],
+            "target_position": [
+              0.2592718518137849,
+              -0.35462848789887685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005471646269118114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18406149961626178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395397158725,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536215236697603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08776060692995731,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15198797711349268,
+            "release_required_pad_clearance": 0.05388030346497866,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.770160333304286,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007328391075134277,
+            "max_z_decrease": 0.007328391075134277,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511781187593915,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007328391075134277,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021137052529158786,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007328391075134277,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007328412821843932,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1149717792868614,
+              -0.41088995337486267,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1149717792868614,
+              -0.41088995337486267,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11292752878809736,
+              -0.4117443661869315,
+              0.8078397998025091
+            ],
+            "closest_button": [
+              0.11496239155530928,
+              -0.4108858406543731,
+              0.7727915048599243
+            ],
+            "closest_ee_minus_button": [
+              -0.0020348627672119174,
+              -0.0008585255325583852,
+              0.03504829494258477
+            ],
+            "button_min_z_position": [
+              0.11495430022478104,
+              -0.41088631749153137,
+              0.7694804668426514
+            ],
+            "min_active_finger_to_button": 0.14810297939824424,
+            "closest_active_finger": [
+              -0.02830047905445099,
+              -0.3962288200855255,
+              0.810979962348938
+            ],
+            "closest_active_finger_button": [
+              0.11497273296117781,
+              -0.41088989377021784,
+              0.7764497995376587
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14327321201562881,
+              0.014661073684692327,
+              0.0345301628112793
+            ],
+            "min_contact_pad_to_button": 0.021137052529158786,
+            "closest_contact_pad": [
+              0.11495430022478104,
+              -0.41280021983503673,
+              0.7905306917212588
+            ],
+            "closest_contact_pad_button": [
+              0.11495430022478104,
+              -0.41088631749153137,
+              0.7694804668426514
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019139023435053582,
+              0.021050224878607415
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28134951995949287,
+              0.1993938041186649,
+              1.1026127495088813
+            ],
+            "current_z": 1.1026127495088813,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19270361977451878,
+            "gripper_z": 1.1026127338753444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28134944694938746,
+              0.19939381638444376,
+              1.1026127338753444
+            ],
+            "object_minus_gripper": [
+              7.301010540583519e-08,
+              -1.2265778864817278e-08,
+              1.563353690947622e-08
+            ],
+            "object_to_gripper_xy": 7.403326834965321e-08,
+            "object_to_gripper_z": 1.563353690947622e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28134951995949287,
+              0.1993938041186649,
+              1.1026127495088813
+            ],
+            "finger_b": [
+              0.28134951995949287,
+              0.1993938041186649,
+              1.1026127495088813
+            ],
+            "finger_midpoint": [
+              0.28134951995949287,
+              0.1993938041186649,
+              1.1026127495088813
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026127495088813,
+            "object_top_z": 1.227621256129161,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2813495199594928,
+            0.1993938041186649,
+            1.1026127495088813
+          ],
+          "object_origin_world": [
+            0.2813495199594928,
+            0.1993938041186649,
+            1.1026127495088813
+          ],
+          "frame_world": [
+            0.28134944694938746,
+            0.19939381638444376,
+            1.1026127338753444
+          ],
+          "center_minus_frame": [
+            7.301010535032404e-08,
+            -1.2265778864817278e-08,
+            1.563353690947622e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436229754737274,
+            "required_z": 0.9112598546906613,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002111140211752696,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.091742075804313e-08,
+            "max_target_xy_drift": 1.5910575051851984e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.7701603327705695,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.7701603344776724,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2627906355954632,
+              -0.3545479082054185,
+              0.9233093564591505
+            ],
+            "target_mouth_xy": [
+              0.26466196551521415,
+              -0.35556954881849556
+            ],
+            "rod_tip_z": 0.9233093564591505,
+            "rod_tip_depth": -0.022049450440585372,
+            "rod_tip_bottom_clearance": 0.12149007541016787,
+            "rod_tip_xy_dist": 0.002132047187761964,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044655735772582195,
+            "min_rod_tip_bottom_clearance": 0.05478484789539506,
+            "min_rod_tip_xy_dist": 0.0006597108990020746,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26466190463603323,
+              -0.35556954666037544
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.087918091868261e-08,
+              -2.158120127049301e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0012185592102785803,
+                0.0026696868066378165
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0013411394335878235,
+                0.0023111822852750485
+              ],
+              "first_target_mouth_xy": [
+                0.26466193306526314,
+                -0.3555695745561531
+              ],
+              "last_target_mouth_xy": [
+                0.264661964579098,
+                -0.3555696040408274
+              ],
+              "first_rod_tip_xy": [
+                0.26344337385498456,
+                -0.3528998877495153
+              ],
+              "last_rod_tip_xy": [
+                0.2633208251455102,
+                -0.35325842175555233
+              ],
+              "min_rod_tip_xy_dist": 0.00265733943032947,
+              "max_rod_tip_xy_dist": 0.002934640385889007,
+              "first_target_xy_drift": 3.982958104658843e-08,
+              "last_target_xy_drift": 8.298004146685115e-08,
+              "max_depth": 0.019365839619199687,
+              "min_bottom_clearance": 0.0800748715065901
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012185592102785803,
+                  0.0026696868066378165
+                ],
+                "rod_tip_xy": [
+                  0.26344337385498456,
+                  -0.3528998877495153
+                ],
+                "target_mouth_xy": [
+                  0.26466193306526314,
+                  -0.3555695745561531
+                ],
+                "gripper_position": [
+                  0.2634434018207732,
+                  -0.35296136442593185,
+                  1.0057231455731994
+                ],
+                "rod_tip_xy_dist": 0.002934640385889007,
+                "target_xy_drift": 3.982958104658843e-08,
+                "depth": 0.01501883981049934,
+                "bottom_clearance": 0.08442179655532223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012185316004683644,
+                  0.002608241216030982
+                ],
+                "rod_tip_xy": [
+                  0.26344340182077336,
+                  -0.35296136442593185
+                ],
+                "target_mouth_xy": [
+                  0.2646619334212417,
+                  -0.3555696056419628
+                ],
+                "gripper_position": [
+                  0.2634322453732831,
+                  -0.35296831722497135,
+                  1.0055857707126563
+                ],
+                "rod_tip_xy_dist": 0.0028788437787317968,
+                "target_xy_drift": 6.563090643399831e-08,
+                "depth": 0.015536713249902578,
+                "bottom_clearance": 0.08390388799133264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012297188408316173,
+                  0.00260129283210242
+                ],
+                "rod_tip_xy": [
+                  0.2634322453732832,
+                  -0.35296831722497135
+                ],
+                "target_mouth_xy": [
+                  0.2646619642141148,
+                  -0.35556961005707377
+                ],
+                "gripper_position": [
+                  0.2634242537118333,
+                  -0.3529693274001643,
+                  1.0054657039858632
+                ],
+                "rod_tip_xy_dist": 0.0028773134736840345,
+                "target_xy_drift": 8.699821357076656e-08,
+                "depth": 0.015674152341303427,
+                "bottom_clearance": 0.08376647563745199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012376803408060133,
+                  0.0026002509735915114
+                ],
+                "rod_tip_xy": [
+                  0.2634242537118335,
+                  -0.3529693274001643
+                ],
+                "target_mouth_xy": [
+                  0.2646619340526395,
+                  -0.3555695783737558
+                ],
+                "gripper_position": [
+                  0.26342532404731883,
+                  -0.35303194659212433,
+                  1.004946906313479
+                ],
+                "rod_tip_xy_dist": 0.002879784323813381,
+                "target_xy_drift": 4.325592697221877e-08,
+                "depth": 0.01579412347054432,
+                "bottom_clearance": 0.08364642648775167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012366396638642807,
+                  0.0025376609414753393
+                ],
+                "rod_tip_xy": [
+                  0.26342532404731894,
+                  -0.35303194659212433
+                ],
+                "target_mouth_xy": [
+                  0.2646619637111832,
+                  -0.3555696075335997
+                ],
+                "gripper_position": [
+                  0.26341417249360444,
+                  -0.35303842996762963,
+                  1.0048097179356519
+                ],
+                "rod_tip_xy_dist": 0.002822941854188971,
+                "target_xy_drift": 8.482583790379145e-08,
+                "depth": 0.016312921495502564,
+                "bottom_clearance": 0.08312762663174433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012477922877471848,
+                  0.0025311477346987576
+                ],
+                "rod_tip_xy": [
+                  0.2634141724936046,
+                  -0.3530384299676296
+                ],
+                "target_mouth_xy": [
+                  0.2646619647813518,
+                  -0.35556957770232833
+                ],
+                "gripper_position": [
+                  0.2634059989559687,
+                  -0.35303934110438634,
+                  1.0046891014503467
+                ],
+                "rod_tip_xy_dist": 0.0028220018512098827,
+                "target_xy_drift": 6.768354441232884e-08,
+                "depth": 0.016450118003101255,
+                "bottom_clearance": 0.08299047050015884,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012559332532348644,
+                  0.0025302686815480424
+                ],
+                "rod_tip_xy": [
+                  0.2634059989559689,
+                  -0.3530393411043864
+                ],
+                "target_mouth_xy": [
+                  0.26466193220920375,
+                  -0.35556960978593444
+                ],
+                "gripper_position": [
+                  0.2634078083058182,
+                  -0.3531030372325765,
+                  1.0041720791213646
+                ],
+                "rod_tip_xy_dist": 0.002824823523231846,
+                "target_xy_drift": 6.888480189506699e-08,
+                "depth": 0.016570754770467322,
+                "bottom_clearance": 0.08286980947598377,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012541263945352599,
+                  0.0024665404753639875
+                ],
+                "rod_tip_xy": [
+                  0.2634078083058184,
+                  -0.3531030372325765
+                ],
+                "target_mouth_xy": [
+                  0.26466193470035365,
+                  -0.3555695777079405
+                ],
+                "gripper_position": [
+                  0.26339652244397505,
+                  -0.35310969836137446,
+                  1.0040346927741075
+                ],
+                "rod_tip_xy_dist": 0.0027670661231851356,
+                "target_xy_drift": 4.321822138279871e-08,
+                "depth": 0.017087814339889817,
+                "bottom_clearance": 0.08235276372115163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012654399294386165,
+                  0.0024598797220594104
+                ],
+                "rod_tip_xy": [
+                  0.26339652244397516,
+                  -0.3531096983613745
+                ],
+                "target_mouth_xy": [
+                  0.2646619623734138,
+                  -0.3555695780834339
+                ],
+                "gripper_position": [
+                  0.26338834953531787,
+                  -0.3531104069412804,
+                  1.003914437920785
+                ],
+                "rod_tip_xy_dist": 0.002766287487232065,
+                "target_xy_drift": 6.573441805305996e-08,
+                "depth": 0.01722505951274622,
+                "bottom_clearance": 0.08221542628874812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012736136590852376,
+                  0.0024591708052142947
+                ],
+                "rod_tip_xy": [
+                  0.263388349535318,
+                  -0.3531104069412804
+                ],
+                "target_mouth_xy": [
+                  0.2646619631944032,
+                  -0.35556957774649467
+                ],
+                "gripper_position": [
+                  0.2633908342564477,
+                  -0.35317493216080226,
+                  1.0033999543228136
+                ],
+                "rod_tip_xy_dist": 0.002769406579364397,
+                "target_xy_drift": 6.629803544984457e-08,
+                "depth": 0.017345385940648383,
+                "bottom_clearance": 0.08209514264446083,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001271131548651494,
+                  0.002394704513061785
+                ],
+                "rod_tip_xy": [
+                  0.2633908342564479,
+                  -0.3531749321608023
+                ],
+                "target_mouth_xy": [
+                  0.2646619658050994,
+                  -0.3555696366738641
+                ],
+                "gripper_position": [
+                  0.2633795294047053,
+                  -0.3531815983968234,
+                  1.003263113985585
+                ],
+                "rod_tip_xy_dist": 0.0027111593680297784,
+                "target_xy_drift": 1.0883052326608866e-07,
+                "depth": 0.01785996003368384,
+                "bottom_clearance": 0.08158068982556099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012824343311220732,
+                  0.002388037708893176
+                ],
+                "rod_tip_xy": [
+                  0.26337952940470544,
+                  -0.3531815983968234
+                ],
+                "target_mouth_xy": [
+                  0.2646619637358275,
+                  -0.35556963610571657
+                ],
+                "gripper_position": [
+                  0.2633711531250819,
+                  -0.3531821640687115,
+                  1.003142755694975
+                ],
+                "rod_tip_xy_dist": 0.0027106017621067627,
+                "target_xy_drift": 1.0720659837224807e-07,
+                "depth": 0.017996736419552017,
+                "bottom_clearance": 0.08144385879429972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012907807970941598,
+                  0.002387473308734789
+                ],
+                "rod_tip_xy": [
+                  0.263371153125082,
+                  -0.3531821640687115
+                ],
+                "target_mouth_xy": [
+                  0.2646619339221762,
+                  -0.3555696373774463
+                ],
+                "gripper_position": [
+                  0.2633627329404221,
+                  -0.35318297199245224,
+                  1.0030229667628345
+                ],
+                "rod_tip_xy_dist": 0.002714064086580874,
+                "target_xy_drift": 9.532714783183738e-08,
+                "depth": 0.018117011847191278,
+                "bottom_clearance": 0.08132353521016744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012992312932824102,
+                  0.0023866323752238516
+                ],
+                "rod_tip_xy": [
+                  0.2633627329404223,
+                  -0.3531829719924523
+                ],
+                "target_mouth_xy": [
+                  0.2646619642337047,
+                  -0.35556960436767615
+                ],
+                "gripper_position": [
+                  0.26336627056693307,
+                  -0.3532495170340325,
+                  1.0025106866281783
+                ],
+                "rod_tip_xy_dist": 0.002717354604741701,
+                "target_xy_drift": 8.295791101454368e-08,
+                "depth": 0.01823698206920421,
+                "bottom_clearance": 0.08120370410220124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012956922855135722,
+                  0.0023201203475500254
+                ],
+                "rod_tip_xy": [
+                  0.26336627056693324,
+                  -0.3532495170340326
+                ],
+                "target_mouth_xy": [
+                  0.2646619628524468,
+                  -0.35556963738158265
+                ],
+                "gripper_position": [
+                  0.2633549838392233,
+                  -0.35325589445336364,
+                  1.0023736262162177
+                ],
+                "rod_tip_xy_dist": 0.002657400407513899,
+                "target_xy_drift": 1.0779373009684267e-07,
+                "depth": 0.018749074645502906,
+                "bottom_clearance": 0.08069144024430719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0013069804072227131,
+                  0.0023137102375015983
+                ],
+                "rod_tip_xy": [
+                  0.26335498383922346,
+                  -0.3532558944533636
+                ],
+                "target_mouth_xy": [
+                  0.26466196424644617,
+                  -0.3555696046908652
+                ],
+                "gripper_position": [
+                  0.26334650583996355,
+                  -0.35325663163796744,
+                  1.002253924793016
+                ],
+                "rod_tip_xy_dist": 0.00265733943032947,
+                "target_xy_drift": 8.319218154989099e-08,
+                "depth": 0.018886316814476167,
+                "bottom_clearance": 0.08055435768905017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001315457078521487,
+                  0.002313005427935888
+                ],
+                "rod_tip_xy": [
+                  0.26334650583996366,
+                  -0.3532566316379675
+                ],
+                "target_mouth_xy": [
+                  0.26466196291848515,
+                  -0.3555696370659034
+                ],
+                "gripper_position": [
+                  0.2633379542072603,
+                  -0.35325718099801867,
+                  1.0021340600804918
+                ],
+                "rod_tip_xy_dist": 0.002660906130455031,
+                "target_xy_drift": 1.0756395161128566e-07,
+                "depth": 0.019005842702677245,
+                "bottom_clearance": 0.08043468646115148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001324009780705404,
+                  0.0023124230637157073
+                ],
+                "rod_tip_xy": [
+                  0.26333795420726047,
+                  -0.3532571809980187
+                ],
+                "target_mouth_xy": [
+                  0.2646619639879659,
+                  -0.35556960406173443
+                ],
+                "gripper_position": [
+                  0.26332934665601115,
+                  -0.35325801645808375,
+                  1.0020139471529295
+                ],
+                "rod_tip_xy_dist": 0.0026646392485677886,
+                "target_xy_drift": 8.25685649859135e-08,
+                "depth": 0.01912589258353714,
+                "bottom_clearance": 0.08031479605447589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.001332616946384091,
+                  0.0023116209006136534
+                ],
+                "rod_tip_xy": [
+                  0.26332934665601127,
+                  -0.35325801645808375
+                ],
+                "target_mouth_xy": [
+                  0.26466196360239536,
+                  -0.3555696373586974
+                ],
+                "gripper_position": [
+                  0.2633208251455101,
+                  -0.35325842175555233,
+                  1.0018941176253913
+                ],
+                "rod_tip_xy_dist": 0.002668231458090534,
+                "target_xy_drift": 1.0818140999960698e-07,
+                "depth": 0.019245819863675795,
+                "bottom_clearance": 0.08019472341496203,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0013411394335878235,
+                  0.0023111822852750485
+                ],
+                "rod_tip_xy": [
+                  0.2633208251455102,
+                  -0.35325842175555233
+                ],
+                "target_mouth_xy": [
+                  0.264661964579098,
+                  -0.3555696040408274
+                ],
+                "gripper_position": [
+                  0.26331231104982444,
+                  -0.35325920624318896,
+                  1.0017742973419461
+                ],
+                "rod_tip_xy_dist": 0.002672118735403325,
+                "target_xy_drift": 8.298004146685115e-08,
+                "depth": 0.019365839619199687,
+                "bottom_clearance": 0.0800748715065901,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005943248166338772,
+              "rod_tip_xy_max_step": 3.223088575543214e-05,
+              "rod_tip_xy_range": 0.0005943163493096273,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2627906355954631,
+            -0.3545479082054185,
+            1.0433093564591505
+          ],
+          "object_origin_world": [
+            0.2627906355954631,
+            -0.3545479082054185,
+            1.0433093564591505
+          ],
+          "frame_world": [
+            0.2628161169090732,
+            -0.35454497284918596,
+            1.0436229754737274
+          ],
+          "center_minus_frame": [
+            -2.5481313610076217e-05,
+            -2.935356232525166e-06,
+            -0.00031361901457693797
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.267410003531954,
+              0.1530510230145005,
+              0.832044521385831
+            ],
+            "target_position": [
+              0.28151722777089444,
+              0.2000406278048612,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04906156065681196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16961138489449432,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832044521385831,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671857284392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13932793418199893,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21448581695904337,
+              0.02834785223744661,
+              1.0446780250312329
+            ],
+            "current_z": 1.0446780250312329,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18809157722731207,
+            "gripper_z": 1.0491811247056368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20961100152463938,
+              0.023589280480855887,
+              1.0491811247056368
+            ],
+            "object_minus_gripper": [
+              0.00487481543440399,
+              0.004758571756590724,
+              -0.0045030996744039875
+            ],
+            "object_to_gripper_xy": 0.006812329313981106,
+            "object_to_gripper_z": -0.0045030996744039875,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21448581695904337,
+              0.0041255650190596595,
+              1.0446780250312329
+            ],
+            "finger_b": [
+              0.20278793967091785,
+              0.02834785223744661,
+              1.0446780250312329
+            ],
+            "finger_midpoint": [
+              0.20863687831498062,
+              0.016236708628253136,
+              1.0446780250312329
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058489386440627456,
+              0.012111143609193475,
+              0.0
+            ],
+            "finger_gap": 0.026899061900707143,
+            "fingertip_max_gap": 0.09214172232348761,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013449530950353566,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0446780250312329,
+            "object_top_z": 1.0907557429844936,
+            "finger_top_clearance": 0.046077717953260766,
+            "fingertip_min_top_clearance": 0.013823315385978247,
+            "object_projection_between_fingers": 0.8108789572119809,
+            "object_to_finger_line_xy": 0.010533800195871242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048570861161743806,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7117986270627863,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21393505143999794,
+              0.02722253017423823,
+              1.242872458668619
+            ],
+            "held_position": [
+              0.21916739818521302,
+              0.03153200767110904,
+              1.238321469283825
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008164591425093343,
+            "max_held_gripper_dist": 0.008166623313942129,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004550989384794146,
+            "max_held_gripper_z_dist": 0.004551031167967734,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08563723568314423,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21916739818521302,
+              0.0059852962803361685,
+              1.238321469283825
+            ],
+            "held_grasp_finger_b": [
+              0.209658071390237,
+              0.03153200767110904,
+              1.238321469283825
+            ],
+            "held_grasp_midpoint": [
+              0.21441273478772502,
+              0.0187586519757226,
+              1.238321469283825
+            ],
+            "held_grasp_object_position": [
+              0.21916739818521302,
+              0.03153200767110904,
+              1.238321469283825
+            ],
+            "held_grasp_finger_gap": 0.02725915917590073,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024694742946536678,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08073438392050927,
+              -0.9967025578104179,
+              0.00812222304214194
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003709388430103153,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032085123852251256,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17509372281351993,
+              0.03160541800280386,
+              0.7565864091737171
+            ],
+            "target_position": [
+              0.18973747400761984,
+              0.024364711340686747,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016336073028776828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20370588248274374,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864091737171,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07611106418319408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718116690954818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17658107416192972,
+            "release_required_pad_clearance": 0.05359058345477409,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1915025043555967,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2430587531a852524d437331923bb2d709fc0f1cb0dc5e6b45ba09aa1c9653d8",
+    "visual_seed": 76219032957104915,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f25b562414f64ef6ff20ca213bbc45efe2b52b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_29_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2102793133504741,
+              -0.14172421512791109,
+              1.164694676557712
+            ],
+            "current_z": 1.164694676557712,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30358828775223545,
+            "gripper_z": 1.1580509929386535,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2060497790632002,
+              -0.14614353056792545,
+              1.1580509929386535
+            ],
+            "object_minus_gripper": [
+              0.004229534287273878,
+              0.004419315440014365,
+              0.006643683619058427
+            ],
+            "object_to_gripper_xy": 0.0061171324364913595,
+            "object_to_gripper_z": 0.006643683619058427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2102793133504741,
+              -0.16521246283959382,
+              1.164694676557712
+            ],
+            "finger_b": [
+              0.19991939560598596,
+              -0.14172421512791109,
+              1.164694676557712
+            ],
+            "finger_midpoint": [
+              0.20509935447823002,
+              -0.15346833898375245,
+              1.164694676557712
+            ],
+            "object_minus_finger_midpoint": [
+              0.005179958872244067,
+              0.011744123855841365,
+              0.0
+            ],
+            "finger_gap": 0.025671495403227468,
+            "fingertip_max_gap": 0.0923720241518742,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012835747701613734,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164694676557712,
+            "object_top_z": 1.2147113254241892,
+            "finger_top_clearance": 0.050016648866477276,
+            "fingertip_min_top_clearance": 0.015004994659943215,
+            "object_projection_between_fingers": 0.8371415567823624,
+            "object_to_finger_line_xy": 0.009478852339260374,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048686012075937105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.002889119748391,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2691435852676204,
+              -0.35291491034352185,
+              0.8515395576161734
+            ],
+            "target_position": [
+              0.26189647874009603,
+              -0.3530285191190537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007247996962965978,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836977760384277,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395576161734,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751909003633085,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599682752130076,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15240310887742708,
+            "release_required_pad_clearance": 0.052998413760650384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0302057920005123,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076302289962768555,
+            "max_z_decrease": 0.0076302289962768555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035129460159290554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076302289962768555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107834736960057,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076302289962768555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007630249492100958,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11759640276432035,
+              -0.40928998589515686,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11759640276432035,
+              -0.40928998589515686,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1161758876327845,
+              -0.4078927763243852,
+              0.807330622894032
+            ],
+            "closest_button": [
+              0.11758462339639661,
+              -0.40928322076797485,
+              0.7722569704055786
+            ],
+            "closest_ee_minus_button": [
+              -0.0014087357636121123,
+              0.0013904444435896557,
+              0.0350736524884534
+            ],
+            "button_min_z_position": [
+              0.11757909506559369,
+              -0.40928635001182556,
+              0.7691786289215088
+            ],
+            "min_active_finger_to_button": 0.14684955735192404,
+            "closest_active_finger": [
+              -0.011007823050022125,
+              -0.4712408781051636,
+              0.8109763860702515
+            ],
+            "closest_active_finger_button": [
+              0.11759786307811734,
+              -0.4092907011508941,
+              0.7765156030654907
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12860568612813947,
+              -0.061950176954269465,
+              0.03446078300476074
+            ],
+            "min_contact_pad_to_button": 0.02107834736960057,
+            "closest_contact_pad": [
+              0.11757909506559369,
+              -0.40928635001182556,
+              0.7902569762911094
+            ],
+            "closest_contact_pad_button": [
+              0.11757909506559369,
+              -0.40928635001182556,
+              0.7691786289215088
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107834736960057
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2793723052866385,
+              0.200920057502509,
+              1.1044568968310453
+            ],
+            "current_z": 1.1044568968310453,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19454776709668276,
+            "gripper_z": 1.1044568916515436,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2793723653882755,
+              0.20092009768088176,
+              1.1044568916515436
+            ],
+            "object_minus_gripper": [
+              -6.01016370005425e-08,
+              -4.0178372767707415e-08,
+              5.17950171641246e-09
+            ],
+            "object_to_gripper_xy": 7.229459460019007e-08,
+            "object_to_gripper_z": 5.17950171641246e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2793723052866385,
+              0.200920057502509,
+              1.1044568968310453
+            ],
+            "finger_b": [
+              0.2793723052866385,
+              0.200920057502509,
+              1.1044568968310453
+            ],
+            "finger_midpoint": [
+              0.2793723052866385,
+              0.200920057502509,
+              1.1044568968310453
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044568968310453,
+            "object_top_z": 1.229465403451325,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27937230528663853,
+            0.20092005750250902,
+            1.1044568968310453
+          ],
+          "object_origin_world": [
+            0.27937230528663853,
+            0.20092005750250902,
+            1.1044568968310453
+          ],
+          "frame_world": [
+            0.2793723653882755,
+            0.20092009768088176,
+            1.1044568916515436
+          ],
+          "center_minus_frame": [
+            -6.010163694503134e-08,
+            -4.017837273995184e-08,
+            5.17950171641246e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432259673065285,
+            "required_z": 0.9112598367917528,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013723445916216468,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.5525150887040463e-07,
+            "max_target_xy_drift": 2.8768334244098467e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0294457679581621,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0302057924898145,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2703443353694373,
+              -0.352242713871334,
+              0.9233369979037068
+            ],
+            "target_mouth_xy": [
+              0.26914358949136163,
+              -0.3529151954234896
+            ],
+            "rod_tip_z": 0.9233369979037068,
+            "rod_tip_depth": -0.022077127132208774,
+            "rod_tip_bottom_clearance": 0.12151774521694303,
+            "rod_tip_xy_dist": 0.0013762347553035131,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044529650827864864,
+            "min_rod_tip_bottom_clearance": 0.05491090852903946,
+            "min_rod_tip_xy_dist": 0.0002838570010831165,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.26914361468389303,
+              -0.35291494141823543
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.5192531394324646e-08,
+              -2.540052541633031e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0017197204797523291,
+                0.0023514550462921946
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016314652947492236,
+                0.0019680880577838122
+              ],
+              "first_target_mouth_xy": [
+                0.26914361561318556,
+                -0.3529149398148238
+              ],
+              "last_target_mouth_xy": [
+                0.2691436136638482,
+                -0.35291493951694486
+              ],
+              "first_rod_tip_xy": [
+                0.2708633360929379,
+                -0.3505634847685316
+              ],
+              "last_rod_tip_xy": [
+                0.2707750789585974,
+                -0.35094685145916105
+              ],
+              "min_rod_tip_xy_dist": 0.0025563743096742365,
+              "max_rod_tip_xy_dist": 0.0029132077446026067,
+              "first_target_xy_drift": 1.8532440344163639e-09,
+              "last_target_xy_drift": 2.1576369660412244e-09,
+              "max_depth": 0.019660827894805943,
+              "min_bottom_clearance": 0.07977969489378378
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0017197204797523291,
+                  0.0023514550462921946
+                ],
+                "rod_tip_xy": [
+                  0.2708633360929379,
+                  -0.3505634847685316
+                ],
+                "target_mouth_xy": [
+                  0.26914361561318556,
+                  -0.3529149398148238
+                ],
+                "gripper_position": [
+                  0.2708521291278583,
+                  -0.3505705947306359,
+                  1.005850866777881
+                ],
+                "rod_tip_xy_dist": 0.0029132077446026067,
+                "target_xy_drift": 1.8532440344163639e-09,
+                "depth": 0.015268051651795123,
+                "bottom_clearance": 0.08417250542536525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0017085175901886962,
+                  0.0023443765112577397
+                ],
+                "rod_tip_xy": [
+                  0.2708521291278581,
+                  -0.3505705947306359
+                ],
+                "target_mouth_xy": [
+                  0.2691436115376694,
+                  -0.35291497124189364
+                ],
+                "gripper_position": [
+                  0.27084388566658485,
+                  -0.3505718548049023,
+                  1.005727775585295
+                ],
+                "rod_tip_xy_dist": 0.0029008849654064534,
+                "target_xy_drift": 2.9989153239863244e-08,
+                "depth": 0.015408982114301195,
+                "bottom_clearance": 0.08403163954747328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017001774567834693,
+                  0.002343023465496641
+                ],
+                "rod_tip_xy": [
+                  0.2708438856665847,
+                  -0.3505718548049024
+                ],
+                "target_mouth_xy": [
+                  0.2691437082098012,
+                  -0.352914878270399
+                ],
+                "gripper_position": [
+                  0.27085074514630986,
+                  -0.3506368605701647,
+                  1.0052071057961187
+                ],
+                "rod_tip_xy_dist": 0.0028948855494514104,
+                "target_xy_drift": 1.1284832628055457e-07,
+                "depth": 0.015532173376778924,
+                "bottom_clearance": 0.0839085751223746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017071308034083965,
+                  0.0022780798855775997
+                ],
+                "rod_tip_xy": [
+                  0.27085074514630975,
+                  -0.35063686057016474
+                ],
+                "target_mouth_xy": [
+                  0.26914361434290135,
+                  -0.35291494045574234
+                ],
+                "gripper_position": [
+                  0.27083936382232554,
+                  -0.3506442245046978,
+                  1.005066551354505
+                ],
+                "rod_tip_xy_dist": 0.002846742620086868,
+                "target_xy_drift": 1.021111288987524e-09,
+                "depth": 0.01605271112285045,
+                "bottom_clearance": 0.0833877909782007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016957482134591362,
+                  0.002270715618606034
+                ],
+                "rod_tip_xy": [
+                  0.27083936382232543,
+                  -0.3506442245046979
+                ],
+                "target_mouth_xy": [
+                  0.2691436156088663,
+                  -0.35291494012330393
+                ],
+                "gripper_position": [
+                  0.2708311087032208,
+                  -0.35064509771785707,
+                  1.0049434881263462
+                ],
+                "rod_tip_xy_dist": 0.0028340274211854826,
+                "target_xy_drift": 1.5913588903844144e-09,
+                "depth": 0.016193332632190027,
+                "bottom_clearance": 0.08324721304975957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0016875223462283762,
+                  0.0022698420830162824
+                ],
+                "rod_tip_xy": [
+                  0.27083110870322064,
+                  -0.3506450977178571
+                ],
+                "target_mouth_xy": [
+                  0.26914358635699226,
+                  -0.3529149398008734
+                ],
+                "gripper_position": [
+                  0.2708388304568466,
+                  -0.35071119308237364,
+                  1.0044236574497019
+                ],
+                "rod_tip_xy_dist": 0.002828412054643351,
+                "target_xy_drift": 2.837303591642198e-08,
+                "depth": 0.016316346276670446,
+                "bottom_clearance": 0.08312423197857188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0016952467601037413,
+                  0.0022037467451947457
+                ],
+                "rod_tip_xy": [
+                  0.2708388304568464,
+                  -0.35071119308237375
+                ],
+                "target_mouth_xy": [
+                  0.2691435836967427,
+                  -0.3529149398275685
+                ],
+                "gripper_position": [
+                  0.2708271842909806,
+                  -0.3507185229940294,
+                  1.0042830508335256
+                ],
+                "rod_tip_xy_dist": 0.0027803527284498753,
+                "target_xy_drift": 3.1027950429116144e-08,
+                "depth": 0.016836117368651538,
+                "bottom_clearance": 0.08260440098484523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0016835681413374104,
+                  0.0021964180926331567
+                ],
+                "rod_tip_xy": [
+                  0.27082718429098046,
+                  -0.3507185229940295
+                ],
+                "target_mouth_xy": [
+                  0.26914361614964305,
+                  -0.35291494108666266
+                ],
+                "gripper_position": [
+                  0.27081874998994115,
+                  -0.3507195017257966,
+                  1.0041600958154864
+                ],
+                "rod_tip_xy_dist": 0.0027674273475870284,
+                "target_xy_drift": 1.5027852895237899e-09,
+                "depth": 0.01697685183440567,
+                "bottom_clearance": 0.08246374300258774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0016751657112202833,
+                  0.0021954682344095255
+                ],
+                "rod_tip_xy": [
+                  0.27081874998994104,
+                  -0.3507195017257967
+                ],
+                "target_mouth_xy": [
+                  0.26914358427872076,
+                  -0.3529149699602062
+                ],
+                "gripper_position": [
+                  0.27082724514767104,
+                  -0.3507866528959459,
+                  1.0036426313552986
+                ],
+                "rod_tip_xy_dist": 0.00276156856303613,
+                "target_xy_drift": 4.1702740882262506e-08,
+                "depth": 0.01709965664510138,
+                "bottom_clearance": 0.0823408299699453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0016836291853510321,
+                  0.002128288831236058
+                ],
+                "rod_tip_xy": [
+                  0.27082724514767087,
+                  -0.3507866528959459
+                ],
+                "target_mouth_xy": [
+                  0.26914361596231984,
+                  -0.35291494172718196
+                ],
+                "gripper_position": [
+                  0.27081587625587966,
+                  -0.3507933346830522,
+                  1.0035029310110137
+                ],
+                "rod_tip_xy_dist": 0.0027137097455199456,
+                "target_xy_drift": 1.3152273822850514e-09,
+                "depth": 0.017617281103602833,
+                "bottom_clearance": 0.08182332883574128,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0016722601886109967,
+                  0.00212160577088083
+                ],
+                "rod_tip_xy": [
+                  0.2708158762558795,
+                  -0.3507933346830522
+                ],
+                "target_mouth_xy": [
+                  0.2691436160672685,
+                  -0.352914940453933
+                ],
+                "gripper_position": [
+                  0.2708073071153041,
+                  -0.3507941919884875,
+                  1.0033800342466546
+                ],
+                "rod_tip_xy_dist": 0.002701419105849392,
+                "target_xy_drift": 1.6862997477239521e-09,
+                "depth": 0.017756900163631628,
+                "bottom_clearance": 0.08168366929664062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0016636931870467886,
+                  0.0021207462538226363
+                ],
+                "rod_tip_xy": [
+                  0.27080730711530393,
+                  -0.3507941919884876
+                ],
+                "target_mouth_xy": [
+                  0.26914361392825714,
+                  -0.35291493824231024
+                ],
+                "gripper_position": [
+                  0.27079884584822644,
+                  -0.35079495261857174,
+                  1.0032571030150539
+                ],
+                "rod_tip_xy_dist": 0.0026954479578965435,
+                "target_xy_drift": 3.2645805861295105e-09,
+                "depth": 0.017879754792906932,
+                "bottom_clearance": 0.08156080231413199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0016552005911527057,
+                  0.002119986253985906
+                ],
+                "rod_tip_xy": [
+                  0.27079884584822633,
+                  -0.35079495261857174
+                ],
+                "target_mouth_xy": [
+                  0.2691436452570736,
+                  -0.35291493887255765
+                ],
+                "gripper_position": [
+                  0.2708086277273841,
+                  -0.35086438902282757,
+                  1.002741947209101
+                ],
+                "rod_tip_xy_dist": 0.0026896153468556542,
+                "target_xy_drift": 3.067898054456477e-08,
+                "depth": 0.018002802311083976,
+                "bottom_clearance": 0.08143778308449334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0016650420282148248,
+                  0.002050580601354546
+                ],
+                "rod_tip_xy": [
+                  0.27080862772738395,
+                  -0.35086438902282757
+                ],
+                "target_mouth_xy": [
+                  0.26914358569916913,
+                  -0.3529149696241821
+                ],
+                "gripper_position": [
+                  0.27079706872544684,
+                  -0.3508710797775736,
+                  1.0026018248468271
+                ],
+                "rod_tip_xy_dist": 0.0026414476633795547,
+                "target_xy_drift": 4.044366017231671e-08,
+                "depth": 0.01851782217272646,
+                "bottom_clearance": 0.08092273042120723,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0016534514239766596,
+                  0.0020438612978027626
+                ],
+                "rod_tip_xy": [
+                  0.2707970687254467,
+                  -0.3508710797775737
+                ],
+                "target_mouth_xy": [
+                  0.26914361730147,
+                  -0.35291494107537646
+                ],
+                "gripper_position": [
+                  0.27078837643894327,
+                  -0.3508718199986586,
+                  1.0024790627767506
+                ],
+                "rod_tip_xy_dist": 0.0026289295570833455,
+                "target_xy_drift": 2.6399359006445145e-09,
+                "depth": 0.018658087155506098,
+                "bottom_clearance": 0.08078255230383491,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0016447605258666509,
+                  0.0020431502638790233
+                ],
+                "rod_tip_xy": [
+                  0.2707883764389431,
+                  -0.3508718199986587
+                ],
+                "target_mouth_xy": [
+                  0.26914361591307645,
+                  -0.3529149702625377
+                ],
+                "gripper_position": [
+                  0.2707796460621527,
+                  -0.35087253026412735,
+                  1.0023562741996446
+                ],
+                "rod_tip_xy_dist": 0.002622918258016834,
+                "target_xy_drift": 2.8870480874149186e-08,
+                "depth": 0.018780826836877984,
+                "bottom_clearance": 0.08065973681581917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016360593454513572,
+                  0.002042411458337834
+                ],
+                "rod_tip_xy": [
+                  0.2707796460621526,
+                  -0.35087253026412746
+                ],
+                "target_mouth_xy": [
+                  0.26914358671670124,
+                  -0.3529149417224653
+                ],
+                "gripper_position": [
+                  0.2707709597661271,
+                  -0.3508731278635057,
+                  1.0022337717175893
+                ],
+                "rod_tip_xy_dist": 0.0026168941031284396,
+                "target_xy_drift": 2.79688464569043e-08,
+                "depth": 0.018903583180717942,
+                "bottom_clearance": 0.08053704835443332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016273468925972479,
+                  0.0020417818613654992
+                ],
+                "rod_tip_xy": [
+                  0.2707709597661269,
+                  -0.3508731278635058
+                ],
+                "target_mouth_xy": [
+                  0.26914361287352967,
+                  -0.3529149097248713
+                ],
+                "gripper_position": [
+                  0.27076220908980064,
+                  -0.35087377758792704,
+                  1.0021111367083413
+                ],
+                "rod_tip_xy_dist": 0.0026109636302038145,
+                "target_xy_drift": 3.174502712195888e-08,
+                "depth": 0.01902602758289562,
+                "bottom_clearance": 0.08041452576443187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0016185639722807732,
+                  0.002041163189868689
+                ],
+                "rod_tip_xy": [
+                  0.27076220908980053,
+                  -0.35087377758792715
+                ],
+                "target_mouth_xy": [
+                  0.26914364511751976,
+                  -0.35291494077779584
+                ],
+                "gripper_position": [
+                  0.2707750789585976,
+                  -0.350946851459161,
+                  1.00159900682669
+                ],
+                "rod_tip_xy_dist": 0.002605013723580019,
+                "target_xy_drift": 3.044036462987011e-08,
+                "depth": 0.019148693973117026,
+                "bottom_clearance": 0.08029185742661549,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016314652947492236,
+                  0.0019680880577838122
+                ],
+                "rod_tip_xy": [
+                  0.2707750789585974,
+                  -0.35094685145916105
+                ],
+                "target_mouth_xy": [
+                  0.2691436136638482,
+                  -0.35291493951694486
+                ],
+                "gripper_position": [
+                  0.27076316358589203,
+                  -0.3509538643441385,
+                  1.001459285636914
+                ],
+                "rod_tip_xy_dist": 0.0025563743096742365,
+                "target_xy_drift": 2.1576369660412244e-09,
+                "depth": 0.019660827894805943,
+                "bottom_clearance": 0.07977969489378378,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005963278307266988,
+              "rod_tip_xy_max_step": 3.218462321586499e-05,
+              "rod_tip_xy_range": 0.0005963180594413492,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27034433536943736,
+            -0.35224271387133393,
+            1.0433369979037068
+          ],
+          "object_origin_world": [
+            0.27034433536943736,
+            -0.35224271387133393,
+            1.0433369979037068
+          ],
+          "frame_world": [
+            0.27034282328704895,
+            -0.35224798632475474,
+            1.0432259673065285
+          ],
+          "center_minus_frame": [
+            1.5120823884107182e-06,
+            5.272453420801515e-06,
+            0.00011103059717831876
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2641973306792043,
+              0.15669160614667152,
+              0.8314403304417748
+            ],
+            "target_position": [
+              0.2795310625574583,
+              0.20279282487139733,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04858441829660196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16584227079943792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314403304417748,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673960281824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1359449184714223,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21214377339523766,
+              0.02479565841033148,
+              1.0461563291139122
+            ],
+            "current_z": 1.0461563291139122,
+            "required_z": 0.8565862689899865,
+            "initial_z": 0.7565862689899865,
+            "lift_margin": 0.18957006012392574,
+            "gripper_z": 1.050420204445871,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2075071010075188,
+              0.020281849709461994,
+              1.050420204445871
+            ],
+            "object_minus_gripper": [
+              0.004636672387718865,
+              0.004513808700869485,
+              -0.004263875331958822
+            ],
+            "object_to_gripper_xy": 0.006470950457164669,
+            "object_to_gripper_z": -0.004263875331958822,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21214377339523766,
+              0.00052270044904609,
+              1.0461563291139122
+            ],
+            "finger_b": [
+              0.20107444780026418,
+              0.02479565841033148,
+              1.0461563291139122
+            ],
+            "finger_midpoint": [
+              0.20660911059775092,
+              0.012659179429688784,
+              1.0461563291139122
+            ],
+            "object_minus_finger_midpoint": [
+              0.005534662797486739,
+              0.012136478980642695,
+              0.0
+            ],
+            "finger_gap": 0.026677827072643354,
+            "fingertip_max_gap": 0.09181223981700551,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013338913536321677,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461563291139122,
+            "object_top_z": 1.0920727850688163,
+            "finger_top_clearance": 0.04591645595490412,
+            "fingertip_min_top_clearance": 0.013774936786471237,
+            "object_projection_between_fingers": 0.8278363672723984,
+            "object_to_finger_line_xy": 0.010071482737141427,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840611990850276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5945442776057687,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21185857900404073,
+              0.023476887502121707,
+              1.2435550160676039
+            ],
+            "held_position": [
+              0.21680273509955486,
+              0.02761857019013909,
+              1.2392558113089895
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007751217745717417,
+            "max_held_gripper_dist": 0.007753558757017322,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004299204758614339,
+            "max_held_gripper_z_dist": 0.004299366537326099,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603914224533454,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21680273509955486,
+              0.002162176509260013,
+              1.2392558113089895
+            ],
+            "held_grasp_finger_b": [
+              0.2077741211715215,
+              0.027728047725424507,
+              1.2392558113089895
+            ],
+            "held_grasp_midpoint": [
+              0.21228842813553817,
+              0.014945112117342261,
+              1.2392558113089895
+            ],
+            "held_grasp_object_position": [
+              0.21680273509955486,
+              0.02761857019013909,
+              1.2392558113089895
+            ],
+            "held_grasp_finger_gap": 0.027113274249027656,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02482752584804548,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07400631408290559,
+              -0.9972552889187944,
+              0.0022258030807724705
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003564126372731239,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03222746465477788,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1823119881554955,
+              0.020341325420901998,
+              0.7565860894200969
+            ],
+            "target_position": [
+              0.18752671696957054,
+              0.022846220351763653,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0057851443559345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2120366275623619,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565860894200969,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578746676512146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08940653595116939,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18255598788769578,
+            "release_required_pad_clearance": 0.054703267975584696,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.450910699310823,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "191f7cbbd6954bd8fe2edd1e34de598c3865c857c4a4aede4b63b44005049e02",
+    "visual_seed": 2457454310241036044,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a21d52cb4b01a82927659a05d44c05a2f7299ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_2_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2113998794779999,
+              -0.1424514623785661,
+              1.1639582282806655
+            ],
+            "current_z": 1.1639582282806655,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.30285172026589957,
+            "gripper_z": 1.1571923382401308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20722704709427214,
+              -0.14684011988986306,
+              1.1571923382401308
+            ],
+            "object_minus_gripper": [
+              0.004172832383727759,
+              0.004388657511296967,
+              0.006765890040534739
+            ],
+            "object_to_gripper_xy": 0.006055810833748886,
+            "object_to_gripper_z": 0.006765890040534739,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2113998794779999,
+              -0.16595491830831127,
+              1.1639582282806655
+            ],
+            "finger_b": [
+              0.20117246806896522,
+              -0.1424514623785661,
+              1.1639582282806655
+            ],
+            "finger_midpoint": [
+              0.20628617377348257,
+              -0.15420319034343868,
+              1.1639582282806655
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051137057045173295,
+              0.011751727964872588,
+              0.0
+            ],
+            "finger_gap": 0.02563225282278416,
+            "fingertip_max_gap": 0.09225021791295623,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012816126411392074,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639582282806655,
+            "object_top_z": 1.2139560700931469,
+            "finger_top_clearance": 0.04999784181248135,
+            "fingertip_min_top_clearance": 0.01499935254374437,
+            "object_projection_between_fingers": 0.8407945625468068,
+            "object_to_finger_line_xy": 0.009378009611154807,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862510895647812,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9197135156020775,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2678570339473815,
+              -0.3580178143317434,
+              0.8515395355299004
+            ],
+            "target_position": [
+              0.26150682632863675,
+              -0.35789166765353325,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006351460445093469,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18393978738732522,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395355299004,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562733056885589,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671647568211015,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515433348161241,
+            "release_required_pad_clearance": 0.053358237841055076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7327508328572714,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076912641525268555,
+            "max_z_decrease": 0.0076912641525268555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514363955555082,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076912641525268555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021163607882712918,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076912641525268555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007691286638032473,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11720675230026242,
+              -0.414153128862381,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11720675230026242,
+              -0.414153128862381,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11910458652287859,
+              -0.41494494750162236,
+              0.8075388533148917
+            ],
+            "closest_button": [
+              0.11719588935375212,
+              -0.41414910554885864,
+              0.7724561095237732
+            ],
+            "closest_ee_minus_button": [
+              0.0019086971691264637,
+              -0.0007958419527637206,
+              0.03508274379111853
+            ],
+            "button_min_z_position": [
+              0.11718831956386563,
+              -0.4141506552696228,
+              0.7691175937652588
+            ],
+            "min_active_finger_to_button": 0.14429779207681687,
+            "closest_active_finger": [
+              -0.02225664258003235,
+              -0.40076884627342224,
+              0.8113277554512024
+            ],
+            "closest_active_finger_button": [
+              0.11720719188451764,
+              -0.4141513705253601,
+              0.7767937183380127
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13946383446455,
+              0.013382524251937866,
+              0.0345340371131897
+            ],
+            "min_contact_pad_to_button": 0.021163607882712918,
+            "closest_contact_pad": [
+              0.11718831956386563,
+              -0.4158649762711712,
+              0.7902116545909244
+            ],
+            "closest_contact_pad_button": [
+              0.11718831956386563,
+              -0.4141506552696228,
+              0.7691175937652588
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017143210015483912,
+              0.02109406082566556
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28315005501382917,
+              0.20413932922279224,
+              1.1022163789063604
+            ],
+            "current_z": 1.1022163789063604,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19230724917199782,
+            "gripper_z": 1.1022165986542118,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2831500716695538,
+              0.20413925171740482,
+              1.1022165986542118
+            ],
+            "object_minus_gripper": [
+              -1.665572463283027e-08,
+              7.750538741357893e-08,
+              -2.1974785147094167e-07
+            ],
+            "object_to_gripper_xy": 7.927482728567517e-08,
+            "object_to_gripper_z": -2.1974785147094167e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28315005501382917,
+              0.20413932922279224,
+              1.1022163789063604
+            ],
+            "finger_b": [
+              0.28315005501382917,
+              0.20413932922279224,
+              1.1022163789063604
+            ],
+            "finger_midpoint": [
+              0.28315005501382917,
+              0.20413932922279224,
+              1.1022163789063604
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1022163789063604,
+            "object_top_z": 1.22722488552664,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2831500550138291,
+            0.20413932922279224,
+            1.1022163789063604
+          ],
+          "object_origin_world": [
+            0.2831500550138291,
+            0.20413932922279224,
+            1.1022163789063604
+          ],
+          "frame_world": [
+            0.2831500716695538,
+            0.20413925171740482,
+            1.1022165986542118
+          ],
+          "center_minus_frame": [
+            -1.6655724688341422e-08,
+            7.750538741357893e-08,
+            -2.1974785147094167e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1670,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434250486320904,
+            "required_z": 0.9112597602744867,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014720527072811728,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.080512863643204e-08,
+            "max_target_xy_drift": 1.8266685374299292e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7327508331574706,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7327508353167171,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2683006206952204,
+              -0.356608569252436,
+              0.9235364942263106
+            ],
+            "target_mouth_xy": [
+              0.26785700396615086,
+              -0.35801784472410725
+            ],
+            "rod_tip_z": 0.9235364942263106,
+            "rod_tip_depth": -0.022276591067358242,
+            "rod_tip_bottom_clearance": 0.12171720268480934,
+            "rod_tip_xy_dist": 0.0014774481910932067,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04499201315121648,
+            "min_rod_tip_bottom_clearance": 0.05444862572478404,
+            "min_rod_tip_xy_dist": 0.0004048736097480371,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2678570315458635,
+              -0.3580178146505645
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7579712624792307e-08,
+              -3.007354276718388e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0009934812269876137,
+                0.003124336048471732
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008906391097591726,
+                0.0027216789773628625
+              ],
+              "first_target_mouth_xy": [
+                0.26785703093317903,
+                -0.35801781339573835
+              ],
+              "last_target_mouth_xy": [
+                0.2678570618930627,
+                -0.35801781592105786
+              ],
+              "first_rod_tip_xy": [
+                0.26885051216016664,
+                -0.3548934773472666
+              ],
+              "last_rod_tip_xy": [
+                0.26874770100282186,
+                -0.355296136943695
+              ],
+              "min_rod_tip_xy_dist": 0.0028636994394753736,
+              "max_rod_tip_xy_dist": 0.003278487561690111,
+              "first_target_xy_drift": 1.3964135731356888e-09,
+              "last_target_xy_drift": 3.0373782322696214e-08,
+              "max_depth": 0.01979973429028814,
+              "min_bottom_clearance": 0.07964084551985973
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0009934812269876137,
+                  0.003124336048471732
+                ],
+                "rod_tip_xy": [
+                  0.26885051216016664,
+                  -0.3548934773472666
+                ],
+                "target_mouth_xy": [
+                  0.26785703093317903,
+                  -0.35801781339573835
+                ],
+                "gripper_position": [
+                  0.26883946494328825,
+                  -0.3549009437588238,
+                  1.0057282845750648
+                ],
+                "rod_tip_xy_dist": 0.003278487561690111,
+                "target_xy_drift": 1.3964135731356888e-09,
+                "depth": 0.015390820118376891,
+                "bottom_clearance": 0.08404969850184318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00098240271977168,
+                  0.003116964741081807
+                ],
+                "rod_tip_xy": [
+                  0.26883946494328825,
+                  -0.35490094375882386
+                ],
+                "target_mouth_xy": [
+                  0.2678570622235166,
+                  -0.35801790849990567
+                ],
+                "gripper_position": [
+                  0.2688437009183012,
+                  -0.35496813000910166,
+                  1.0052081754786966
+                ],
+                "rod_tip_xy_dist": 0.0032681163230463463,
+                "target_xy_drift": 9.873609897124758e-08,
+                "depth": 0.015531680549251026,
+                "bottom_clearance": 0.08390902181388948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0009866703128207366,
+                  0.0030496529552599405
+                ],
+                "rod_tip_xy": [
+                  0.26884370091830123,
+                  -0.35496813000910166
+                ],
+                "target_mouth_xy": [
+                  0.2678570306054805,
+                  -0.3580177829643616
+                ],
+                "gripper_position": [
+                  0.26883252512295064,
+                  -0.3549753905904087,
+                  1.0050676998317485
+                ],
+                "rod_tip_xy_dist": 0.003205292725123161,
+                "target_xy_drift": 3.1700154153637875e-08,
+                "depth": 0.01605167380557926,
+                "bottom_clearance": 0.08338887950417073,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.000975463046481051,
+                  0.003042424688126655
+                ],
+                "rod_tip_xy": [
+                  0.2688325251229507,
+                  -0.3549753905904087
+                ],
+                "target_mouth_xy": [
+                  0.26785706207646964,
+                  -0.3580178152785354
+                ],
+                "gripper_position": [
+                  0.26882420574814997,
+                  -0.3549767380526439,
+                  1.0049445008307805
+                ],
+                "rod_tip_xy_dist": 0.003194976703823154,
+                "target_xy_drift": 3.053706370295674e-08,
+                "depth": 0.01619213729944391,
+                "bottom_clearance": 0.08324842757381246,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009671436933745836,
+                  0.003041105757688678
+                ],
+                "rod_tip_xy": [
+                  0.26882420574815,
+                  -0.35497673805264396
+                ],
+                "target_mouth_xy": [
+                  0.26785706205477544,
+                  -0.35801784381033264
+                ],
+                "gripper_position": [
+                  0.2688295505930194,
+                  -0.3550449063801901,
+                  1.0044252007215995
+                ],
+                "rod_tip_xy_dist": 0.0031911896140908737,
+                "target_xy_drift": 4.220291207258621e-08,
+                "depth": 0.01631532630284782,
+                "bottom_clearance": 0.08312521895232472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009724864396881694,
+                  0.0029729389947283913
+                ],
+                "rod_tip_xy": [
+                  0.2688295505930194,
+                  -0.35504490638019015
+                ],
+                "target_mouth_xy": [
+                  0.2678570641533312,
+                  -0.35801784537491854
+                ],
+                "gripper_position": [
+                  0.26881810082763924,
+                  -0.3550523490331701,
+                  1.0042849825665898
+                ],
+                "rod_tip_xy_dist": 0.003127953986514832,
+                "target_xy_drift": 4.480215267103796e-08,
+                "depth": 0.01683477845200254,
+                "bottom_clearance": 0.08260587866186342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009610679949036416,
+                  0.0029654957323820286
+                ],
+                "rod_tip_xy": [
+                  0.2688181008276393,
+                  -0.35505234903317007
+                ],
+                "target_mouth_xy": [
+                  0.26785703283273565,
+                  -0.3580178447655521
+                ],
+                "gripper_position": [
+                  0.2688098075095602,
+                  -0.3550532661683747,
+                  1.0041619134894473
+                ],
+                "rod_tip_xy_dist": 0.003117341275767562,
+                "target_xy_drift": 3.0142470353361516e-08,
+                "depth": 0.016974913367339695,
+                "bottom_clearance": 0.08246566269730693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009527757108540036,
+                  0.002964578301026255
+                ],
+                "rod_tip_xy": [
+                  0.26880980750956024,
+                  -0.3550532661683746
+                ],
+                "target_mouth_xy": [
+                  0.26785703179870624,
+                  -0.3580178444694009
+                ],
+                "gripper_position": [
+                  0.2688158031697785,
+                  -0.35512267042594214,
+                  1.0036446618677306
+                ],
+                "rod_tip_xy_dist": 0.003113921331393757,
+                "target_xy_drift": 2.9819908345080854e-08,
+                "depth": 0.01709784922661106,
+                "bottom_clearance": 0.08234267573453902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009587386919092111,
+                  0.0028952028422596365
+                ],
+                "rod_tip_xy": [
+                  0.2688158031697785,
+                  -0.35512267042594214
+                ],
+                "target_mouth_xy": [
+                  0.2678570644778693,
+                  -0.3580178732682018
+                ],
+                "gripper_position": [
+                  0.26880438269859974,
+                  -0.3551297983723894,
+                  1.0035046471287228
+                ],
+                "rod_tip_xy_dist": 0.003049816285810026,
+                "target_xy_drift": 6.723499392340532e-08,
+                "depth": 0.017615249123316024,
+                "bottom_clearance": 0.08182539944465395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000947351431128618,
+                  0.002888045465499922
+                ],
+                "rod_tip_xy": [
+                  0.2688043826985998,
+                  -0.35512979837238934
+                ],
+                "target_mouth_xy": [
+                  0.2678570312674712,
+                  -0.35801784383788926
+                ],
+                "gripper_position": [
+                  0.26879600407361914,
+                  -0.3551306654685474,
+                  1.0033817881251712
+                ],
+                "rod_tip_xy_dist": 0.0030394541195510917,
+                "target_xy_drift": 2.9188652419222813e-08,
+                "depth": 0.017755172186689983,
+                "bottom_clearance": 0.08168533522987098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009389395512684473,
+                  0.002887178311391403
+                ],
+                "rod_tip_xy": [
+                  0.26879600407361914,
+                  -0.35513066546854744
+                ],
+                "target_mouth_xy": [
+                  0.2678570645223507,
+                  -0.35801784377993884
+                ],
+                "gripper_position": [
+                  0.26878753770761854,
+                  -0.3551315918732215,
+                  1.0032584865615233
+                ],
+                "rod_tip_xy_dist": 0.003036018129508634,
+                "target_xy_drift": 4.399964953252338e-08,
+                "depth": 0.017878117514134817,
+                "bottom_clearance": 0.08156252113818507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009305056577069704,
+                  0.0028862513163319115
+                ],
+                "rod_tip_xy": [
+                  0.2687875377076186,
+                  -0.3551315918732215
+                ],
+                "target_mouth_xy": [
+                  0.2678570320499116,
+                  -0.35801784318955343
+                ],
+                "gripper_position": [
+                  0.268795130453526,
+                  -0.35520291233204665,
+                  1.002743496869717
+                ],
+                "rod_tip_xy_dist": 0.0030325381184829934,
+                "target_xy_drift": 2.854343978574902e-08,
+                "depth": 0.01800135029951333,
+                "bottom_clearance": 0.08143921027185197,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009380658157281396,
+                  0.0028149628513829406
+                ],
+                "rod_tip_xy": [
+                  0.26879513045352604,
+                  -0.3552029123320467
+                ],
+                "target_mouth_xy": [
+                  0.2678570646377979,
+                  -0.35801787518342965
+                ],
+                "gripper_position": [
+                  0.26878371493681547,
+                  -0.355209942208796,
+                  1.0026033849209237
+                ],
+                "rod_tip_xy_dist": 0.0029671507088962763,
+                "target_xy_drift": 6.898770824128674e-08,
+                "depth": 0.018516426924700125,
+                "bottom_clearance": 0.08092424954702293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009266847918748544,
+                  0.002807900699387189
+                ],
+                "rod_tip_xy": [
+                  0.2687837149368155,
+                  -0.355209942208796
+                ],
+                "target_mouth_xy": [
+                  0.26785703014494067,
+                  -0.35801784290818317
+                ],
+                "gripper_position": [
+                  0.2687750345154927,
+                  -0.3552108951114397,
+                  1.0024807096348924
+                ],
+                "rod_tip_xy_dist": 0.002956865069818237,
+                "target_xy_drift": 2.829232402525068e-08,
+                "depth": 0.018656472911282695,
+                "bottom_clearance": 0.0807840868912103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009179703000153916,
+                  0.0028069810297195463
+                ],
+                "rod_tip_xy": [
+                  0.2687750345154927,
+                  -0.3552108951114398
+                ],
+                "target_mouth_xy": [
+                  0.2678570642154773,
+                  -0.3580178761411593
+                ],
+                "gripper_position": [
+                  0.26876652413780644,
+                  -0.3552116184904293,
+                  1.0023577770431826
+                ],
+                "rod_tip_xy_dist": 0.0029532714018382653,
+                "target_xy_drift": 6.96304309829497e-08,
+                "depth": 0.018779227431914514,
+                "bottom_clearance": 0.08066146542055996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009094916610154491,
+                  0.0028062237476733642
+                ],
+                "rod_tip_xy": [
+                  0.2687665241378065,
+                  -0.35521161849042937
+                ],
+                "target_mouth_xy": [
+                  0.26785703247679105,
+                  -0.35801784223810273
+                ],
+                "gripper_position": [
+                  0.2687578154268552,
+                  -0.3552125429721119,
+                  1.002234970257517
+                ],
+                "rod_tip_xy_dist": 0.0029499265759443203,
+                "target_xy_drift": 2.760324062539006e-08,
+                "depth": 0.018902139814093055,
+                "bottom_clearance": 0.08053847180275964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009007534796184324,
+                  0.002805330658552374
+                ],
+                "rod_tip_xy": [
+                  0.26875781542685523,
+                  -0.3552125429721119
+                ],
+                "target_mouth_xy": [
+                  0.2678570619472368,
+                  -0.3580178736306643
+                ],
+                "gripper_position": [
+                  0.26874929425794136,
+                  -0.35521334404540333,
+                  1.0021123155713982
+                ],
+                "rod_tip_xy_dist": 0.0029463938865770495,
+                "target_xy_drift": 6.635431916532449e-08,
+                "depth": 0.019024796146317136,
+                "bottom_clearance": 0.08041574442433486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0008922161505266479,
+                  0.002804496902842124
+                ],
+                "rod_tip_xy": [
+                  0.2687492942579414,
+                  -0.3552133440454034
+                ],
+                "target_mouth_xy": [
+                  0.26785707810741477,
+                  -0.3580178409482455
+                ],
+                "gripper_position": [
+                  0.26875956644135623,
+                  -0.35528882306564863,
+                  1.001599843877808
+                ],
+                "rod_tip_xy_dist": 0.0029430006009703185,
+                "target_xy_drift": 5.3474723799365634e-08,
+                "depth": 0.019147631526961306,
+                "bottom_clearance": 0.08029306233173206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009025341778323148,
+                  0.002729020760214307
+                ],
+                "rod_tip_xy": [
+                  0.2687595664413563,
+                  -0.3552888230656487
+                ],
+                "target_mouth_xy": [
+                  0.267857032263524,
+                  -0.358017843825863
+                ],
+                "gripper_position": [
+                  0.26874770100282186,
+                  -0.355296136943695,
+                  1.0014601721981933
+                ],
+                "rod_tip_xy_dist": 0.0028743907618547842,
+                "target_xy_drift": 2.918412376184651e-08,
+                "depth": 0.01966004266175403,
+                "bottom_clearance": 0.07978050243475032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008906391097591726,
+                  0.0027216789773628625
+                ],
+                "rod_tip_xy": [
+                  0.26874770100282186,
+                  -0.355296136943695
+                ],
+                "target_mouth_xy": [
+                  0.2678570618930627,
+                  -0.35801781592105786
+                ],
+                "gripper_position": [
+                  0.2687581072247757,
+                  -0.3553660519412804,
+                  1.0008630838742185
+                ],
+                "rod_tip_xy_dist": 0.0028636994394753736,
+                "target_xy_drift": 3.0373782322696214e-08,
+                "depth": 0.01979973429028814,
+                "bottom_clearance": 0.07964084551985973,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1546,
+              "stir_motion_end_frame": 1565,
+              "rod_tip_xy_path_length": 0.0006021298549040396,
+              "rod_tip_xy_max_step": 3.261316683962067e-05,
+              "rod_tip_xy_range": 0.0006021227689729948,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26830062069522037,
+            -0.356608569252436,
+            1.0435364942263108
+          ],
+          "object_origin_world": [
+            0.26830062069522037,
+            -0.356608569252436,
+            1.0435364942263108
+          ],
+          "frame_world": [
+            0.26829928292093486,
+            -0.3566138046608722,
+            1.0434250486320904
+          ],
+          "center_minus_frame": [
+            1.3377742855147368e-06,
+            5.235408436221611e-06,
+            0.00011144559422038292
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2684256178887159,
+              0.15725417915343143,
+              0.8309993184682056
+            ],
+            "target_position": [
+              0.28368390827136125,
+              0.20372459266537912,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04891129478323528,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16930586856754617,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8309993184682056,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669717206584,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1395214680558383,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 317,
+            "max_placed_release_frames": 317
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20997539717821712,
+              0.01789264372610414,
+              1.0434686119379273
+            ],
+            "current_z": 1.0434686119379273,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.1868821641340067,
+            "gripper_z": 1.0478538293901445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20480306141466612,
+              0.013122021071741083,
+              1.0478538293901445
+            ],
+            "object_minus_gripper": [
+              0.005172335763551,
+              0.0047706226543630555,
+              -0.004385217452217205
+            ],
+            "object_to_gripper_xy": 0.0070364691260056495,
+            "object_to_gripper_z": -0.004385217452217205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20997539717821712,
+              -0.006787966075697053,
+              1.0434686119379273
+            ],
+            "finger_b": [
+              0.19860920872082027,
+              0.01789264372610414,
+              1.0434686119379273
+            ],
+            "finger_midpoint": [
+              0.2042923029495187,
+              0.005552338825203543,
+              1.0434686119379273
+            ],
+            "object_minus_finger_midpoint": [
+              0.005683094228698421,
+              0.012340304900900595,
+              0.0
+            ],
+            "finger_gap": 0.02717209488129,
+            "fingertip_max_gap": 0.0926918003511139,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013586047440645,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0434686119379273,
+            "object_top_z": 1.08953796638937,
+            "finger_top_clearance": 0.04606935445144278,
+            "fingertip_min_top_clearance": 0.01382080633543285,
+            "object_projection_between_fingers": 0.8250219951136182,
+            "object_to_finger_line_xy": 0.010323990972220183,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048845900175556956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0275992268562282,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20862471953691397,
+              0.01614306573780573,
+              1.2401022391943568
+            ],
+            "held_position": [
+              0.2140704703870718,
+              0.02058159942315703,
+              1.2356983462252176
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008291625708003642,
+            "max_held_gripper_dist": 0.008293149619252541,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004403892969139234,
+            "max_held_gripper_z_dist": 0.004404075017104825,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08588724512884383,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2140704703870718,
+              -0.0050266776513436294,
+              1.2356983462252176
+            ],
+            "held_grasp_finger_b": [
+              0.20450901654825868,
+              0.02058159942315703,
+              1.2356983462252176
+            ],
+            "held_grasp_midpoint": [
+              0.20928974346766524,
+              0.0077774608859067,
+              1.2356983462252176
+            ],
+            "held_grasp_object_position": [
+              0.2140704703870718,
+              0.02058159942315703,
+              1.2356983462252176
+            ],
+            "held_grasp_finger_gap": 0.027335055409421622,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02503246008659619,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055993868877549306,
+              -0.9984210497544372,
+              -0.004482639330971816
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004056687804441529,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032148612129983434,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.16852942646300273,
+              0.011058441920599389,
+              0.7565880877551825
+            ],
+            "target_position": [
+              0.1851428521560992,
+              0.01621650928134005,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01739573430924882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20669851578696483,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565880877551825,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07630869328779004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09536466025212244,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1761425423408299,
+            "release_required_pad_clearance": 0.05768233012606122,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 11.15750687208703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "578814a137efc5ef18e88e7d8cf59fed16f8a4bcca98c7dad7db4f663c7b0c9a",
+    "visual_seed": 4552751130668735450,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cd6aa5c6eda4614fdc6ed646f0cf2a30727bb70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_30_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21265352725489126,
+              -0.13458181181228804,
+              1.1647551742674267
+            ],
+            "current_z": 1.1647551742674267,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3036487258573055,
+            "gripper_z": 1.1584846941533178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2081151755271395,
+              -0.13900307584863553,
+              1.1584846941533178
+            ],
+            "object_minus_gripper": [
+              0.004538351727751744,
+              0.004421264036347489,
+              0.006270480114108912
+            ],
+            "object_to_gripper_xy": 0.006335946029117272,
+            "object_to_gripper_z": 0.006270480114108912,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21265352725489126,
+              -0.15848038527155273,
+              1.1647551742674267
+            ],
+            "finger_b": [
+              0.20269113492170832,
+              -0.13458181181228804,
+              1.1647551742674267
+            ],
+            "finger_midpoint": [
+              0.2076723310882998,
+              -0.14653109854192037,
+              1.1647551742674267
+            ],
+            "object_minus_finger_midpoint": [
+              0.004981196166591456,
+              0.01194928672963233,
+              0.0
+            ],
+            "finger_gap": 0.02589191136992657,
+            "fingertip_max_gap": 0.09267746282871833,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012945955684963267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647551742674267,
+            "object_top_z": 1.2149607572347332,
+            "finger_top_clearance": 0.050205582967306484,
+            "fingertip_min_top_clearance": 0.015061674890191945,
+            "object_projection_between_fingers": 0.8519531885312656,
+            "object_to_finger_line_xy": 0.009195418661950372,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883873141435917,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9119277463034454,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26750183649993287,
+              -0.35155846840622373,
+              0.8515395633972387
+            ],
+            "target_position": [
+              0.26158095936411885,
+              -0.35100680943492785,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005946521140802952,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18155689206349804,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395633972387,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577758272270069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0884371666572651,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14868247811474425,
+            "release_required_pad_clearance": 0.05421858332863255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4545150036261667,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007326364517211914,
+            "max_z_decrease": 0.007326364517211914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035090251803040255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007326364517211914,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021159806758131745,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007326364517211914,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007326382159103214,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11728088557720187,
+              -0.4072682559490204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11728088557720187,
+              -0.4072682559490204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11653952641301046,
+              -0.40829079781476946,
+              0.8078607366688685
+            ],
+            "closest_button": [
+              0.11727101355791095,
+              -0.40726485848426813,
+              0.7727931141853333
+            ],
+            "closest_ee_minus_button": [
+              -0.0007314871449004834,
+              -0.0010259393305013242,
+              0.03506762248353523
+            ],
+            "button_min_z_position": [
+              0.11726500838994984,
+              -0.40726572275161743,
+              0.7694824934005737
+            ],
+            "min_active_finger_to_button": 0.14683193363656133,
+            "closest_active_finger": [
+              -0.024787262082099915,
+              -0.3937334716320038,
+              0.8109918236732483
+            ],
+            "closest_active_finger_button": [
+              0.11728128045797352,
+              -0.40726801753044123,
+              0.7764525413513184
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14206854254007345,
+              0.013534545898437444,
+              0.03453928232192993
+            ],
+            "min_contact_pad_to_button": 0.021159806758131745,
+            "closest_contact_pad": [
+              0.11726500838994984,
+              -0.4092310564328888,
+              0.7905508318628905
+            ],
+            "closest_contact_pad_button": [
+              0.11726500838994984,
+              -0.40726572275161743,
+              0.7694824934005737
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001965333681271386,
+              0.021068338462316816
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2886804683421257,
+              0.19524905830542463,
+              1.1142278854650716
+            ],
+            "current_z": 1.1142278854650716,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.204318755730709,
+            "gripper_z": 1.1142285202676399,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2886806131948718,
+              0.19524892680237413,
+              1.1142285202676399
+            ],
+            "object_minus_gripper": [
+              -1.4485274613118548e-07,
+              1.3150305050446676e-07,
+              -6.348025682889613e-07
+            ],
+            "object_to_gripper_xy": 1.9564092198138407e-07,
+            "object_to_gripper_z": -6.348025682889613e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2886804683421257,
+              0.19524905830542463,
+              1.1142278854650716
+            ],
+            "finger_b": [
+              0.2886804683421257,
+              0.19524905830542463,
+              1.1142278854650716
+            ],
+            "finger_midpoint": [
+              0.2886804683421257,
+              0.19524905830542463,
+              1.1142278854650716
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1142278854650716,
+            "object_top_z": 1.2392363920853513,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 158,
+            "max_stable_success_frames": 158,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2886804683421257,
+            0.19524905830542463,
+            1.1142278854650716
+          ],
+          "object_origin_world": [
+            0.2886804683421257,
+            0.19524905830542463,
+            1.1142278854650716
+          ],
+          "frame_world": [
+            0.2886806131948718,
+            0.19524892680237413,
+            1.1142285202676399
+          ],
+          "center_minus_frame": [
+            -1.4485274613118548e-07,
+            1.3150305050446676e-07,
+            -6.348025682889613e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043297968930765,
+            "required_z": 0.9112598447488824,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002053404326471379,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.8852943934800233e-08,
+            "max_target_xy_drift": 6.26654065097161e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.4545150031965055,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.454741598402372,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2662173736007979,
+              -0.3531542793299424,
+              0.9234075165342538
+            ],
+            "target_mouth_xy": [
+              0.2675018080681134,
+              -0.3515584992173576
+            ],
+            "rod_tip_z": 0.9234075165342538,
+            "rod_tip_depth": -0.022147624531675736,
+            "rod_tip_bottom_clearance": 0.1215881919874452,
+            "rod_tip_xy_dist": 0.002048483846299338,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04435776339464459,
+            "min_rod_tip_bottom_clearance": 0.0550829053075752,
+            "min_rod_tip_xy_dist": 0.0006164325585490881,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.267501836860766,
+              -0.3515584973530802
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.8792652595477364e-08,
+              -1.864277399121761e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 394,
+              "end_frame": 413,
+              "first_rod_tip_xy_delta": [
+                -0.0006464491438372688,
+                -8.954308575020997e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007610060133639851,
+                -0.00043846767902361306
+              ],
+              "first_target_mouth_xy": [
+                0.26750182100778985,
+                -0.351558498241924
+              ],
+              "last_target_mouth_xy": [
+                0.2675018220978973,
+                -0.3515585277903226
+              ],
+              "first_rod_tip_xy": [
+                0.2668553718639526,
+                -0.3516480413276742
+              ],
+              "last_rod_tip_xy": [
+                0.2667408160845333,
+                -0.3519969954693462
+              ],
+              "min_rod_tip_xy_dist": 0.000652621222282579,
+              "max_rod_tip_xy_dist": 0.0008782847248611921,
+              "first_target_xy_drift": 1.587787442320273e-08,
+              "last_target_xy_drift": 3.382850893712149e-08,
+              "max_depth": 0.019836694729661875,
+              "min_bottom_clearance": 0.07960385815356175
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0006464491438372688,
+                  -8.954308575020997e-05
+                ],
+                "rod_tip_xy": [
+                  0.2668553718639526,
+                  -0.3516480413276742
+                ],
+                "target_mouth_xy": [
+                  0.26750182100778985,
+                  -0.351558498241924
+                ],
+                "gripper_position": [
+                  0.26684430478789356,
+                  -0.3516547588963491,
+                  1.0056456144396202
+                ],
+                "rod_tip_xy_dist": 0.000652621222282579,
+                "target_xy_drift": 1.587787442320273e-08,
+                "depth": 0.015475546324999256,
+                "bottom_clearance": 0.08396496373259466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.000657517856562928,
+                  -9.622676958992438e-05
+                ],
+                "rod_tip_xy": [
+                  0.2668443047878936,
+                  -0.35165475889634906
+                ],
+                "target_mouth_xy": [
+                  0.26750182264445654,
+                  -0.35155853212675914
+                ],
+                "gripper_position": [
+                  0.26683617426905826,
+                  -0.35165587264808096,
+                  1.0055240028618724
+                ],
+                "rod_tip_xy_dist": 0.0006645218753997641,
+                "target_xy_drift": 3.75674353864415e-08,
+                "depth": 0.015614268910560836,
+                "bottom_clearance": 0.08382638892571304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0006656467774119879,
+                  -9.740421098730634e-05
+                ],
+                "rod_tip_xy": [
+                  0.26683617426905826,
+                  -0.3516558726480809
+                ],
+                "target_mouth_xy": [
+                  0.26750182104647025,
+                  -0.3515584684370936
+                ],
+                "gripper_position": [
+                  0.2668375428197163,
+                  -0.35171469545222134,
+                  1.0050044214110754
+                ],
+                "rod_tip_xy_dist": 0.0006727356186474923,
+                "target_xy_drift": 3.295794641343824e-08,
+                "depth": 0.015735821053392107,
+                "bottom_clearance": 0.08370468751897564,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000664280492655045,
+                  -0.00015616238492105472
+                ],
+                "rod_tip_xy": [
+                  0.26683754281971633,
+                  -0.3517146954522213
+                ],
+                "target_mouth_xy": [
+                  0.2675018233123714,
+                  -0.3515585330673002
+                ],
+                "gripper_position": [
+                  0.2668263061519654,
+                  -0.3517214738128862,
+                  1.0048653856962024
+                ],
+                "rod_tip_xy_dist": 0.0006823893781311817,
+                "target_xy_drift": 3.819770292907938e-08,
+                "depth": 0.01625554388430983,
+                "bottom_clearance": 0.08318517237825362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0006755001279194484,
+                  -0.0001629739713728262
+                ],
+                "rod_tip_xy": [
+                  0.2668263061519654,
+                  -0.35172147381288615
+                ],
+                "target_mouth_xy": [
+                  0.26750180627988485,
+                  -0.35155849984151333
+                ],
+                "gripper_position": [
+                  0.2668180722980201,
+                  -0.35172239294188495,
+                  1.0047440429746377
+                ],
+                "rod_tip_xy_dist": 0.0006948819598782385,
+                "target_xy_drift": 3.068195873781012e-08,
+                "depth": 0.016394441599863696,
+                "bottom_clearance": 0.08304607458568791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.000683762842396296,
+                  -0.00016395966732202227
+                ],
+                "rod_tip_xy": [
+                  0.2668180722980202,
+                  -0.35172239294188495
+                ],
+                "target_mouth_xy": [
+                  0.2675018351404165,
+                  -0.35155843327456293
+                ],
+                "gripper_position": [
+                  0.26682020961411645,
+                  -0.35178242716164976,
+                  1.00422510218955
+                ],
+                "rod_tip_xy_dist": 0.0007031460709910923,
+                "target_xy_drift": 6.410160667281267e-08,
+                "depth": 0.016515892117575093,
+                "bottom_clearance": 0.08292482793123146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0006816277732530907,
+                  -0.00022380560163909324
+                ],
+                "rod_tip_xy": [
+                  0.26682020961411645,
+                  -0.3517824271616497
+                ],
+                "target_mouth_xy": [
+                  0.26750183738736955,
+                  -0.3515586215600106
+                ],
+                "gripper_position": [
+                  0.26680913549918883,
+                  -0.3517889426606016,
+                  1.0040866355289713
+                ],
+                "rod_tip_xy_dist": 0.0007174296959249759,
+                "target_xy_drift": 1.2420804673022436e-07,
+                "depth": 0.017034780187157428,
+                "bottom_clearance": 0.08240587210731698,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0006927146541684248,
+                  -0.00023041550639751884
+                ],
+                "rod_tip_xy": [
+                  0.26680913549918883,
+                  -0.3517889426606016
+                ],
+                "target_mouth_xy": [
+                  0.26750185015335726,
+                  -0.3515585271542041
+                ],
+                "gripper_position": [
+                  0.26680074289037176,
+                  -0.3517899370408623,
+                  1.0039655278375597
+                ],
+                "rod_tip_xy_dist": 0.0007300307511934723,
+                "target_xy_drift": 3.2631272852229776e-08,
+                "depth": 0.01717322450180203,
+                "bottom_clearance": 0.08226734186564022,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007011103332759672,
+                  -0.00023137633985803596
+                ],
+                "rod_tip_xy": [
+                  0.26680074289037176,
+                  -0.3517899370408623
+                ],
+                "target_mouth_xy": [
+                  0.2675018532236477,
+                  -0.3515585607010043
+                ],
+                "gripper_position": [
+                  0.2668037258809032,
+                  -0.3518507989001577,
+                  1.0034490100882263
+                ],
+                "rod_tip_xy_dist": 0.0007383025870687703,
+                "target_xy_drift": 6.542708447136016e-08,
+                "depth": 0.017294400836594392,
+                "bottom_clearance": 0.08214624757834066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.000698110998139656,
+                  -0.00029227110517354715
+                ],
+                "rod_tip_xy": [
+                  0.2668037258809032,
+                  -0.35185079890015764
+                ],
+                "target_mouth_xy": [
+                  0.26750183687904283,
+                  -0.3515585277949841
+                ],
+                "gripper_position": [
+                  0.26679243051599416,
+                  -0.3518571267215674,
+                  1.0033109098947357
+                ],
+                "rod_tip_xy_dist": 0.0007568232056715184,
+                "target_xy_drift": 3.044190937312261e-08,
+                "depth": 0.017810823076552795,
+                "bottom_clearance": 0.08162972527819012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000709436726504864,
+                  -0.00029859767312251373
+                ],
+                "rod_tip_xy": [
+                  0.26679243051599416,
+                  -0.35185712672156727
+                ],
+                "target_mouth_xy": [
+                  0.267501867242499,
+                  -0.35155852904844476
+                ],
+                "gripper_position": [
+                  0.2667840123448688,
+                  -0.35185801432655806,
+                  1.003189634040999
+                ],
+                "rod_tip_xy_dist": 0.0007697149078120526,
+                "target_xy_drift": 4.3904963677000447e-08,
+                "depth": 0.017948978720993214,
+                "bottom_clearance": 0.0814915722450229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007178536718963069,
+                  -0.00029945512186718704
+                ],
+                "rod_tip_xy": [
+                  0.26678401234486887,
+                  -0.351858014326558
+                ],
+                "target_mouth_xy": [
+                  0.2675018660167652,
+                  -0.3515585592046908
+                ],
+                "gripper_position": [
+                  0.2667754327452392,
+                  -0.351858955656758,
+                  1.0030684599715
+                ],
+                "rod_tip_xy_dist": 0.0007778092724231966,
+                "target_xy_drift": 6.837904666495075e-08,
+                "depth": 0.018070130432712772,
+                "bottom_clearance": 0.08137038261935381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007264356698379881,
+                  -0.00030039747206028755
+                ],
+                "rod_tip_xy": [
+                  0.2667754327452392,
+                  -0.351858955656758
+                ],
+                "target_mouth_xy": [
+                  0.26750186841507717,
+                  -0.3515585581846977
+                ],
+                "gripper_position": [
+                  0.2667796578712412,
+                  -0.35192167241848016,
+                  1.0025546690320757
+                ],
+                "rod_tip_xy_dist": 0.0007860963195647069,
+                "target_xy_drift": 6.85285359777677e-08,
+                "depth": 0.018191433979942384,
+                "bottom_clearance": 0.08124915493445395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007221729916499497,
+                  -0.00036318946786967343
+                ],
+                "rod_tip_xy": [
+                  0.2667796578712412,
+                  -0.3519216724184801
+                ],
+                "target_mouth_xy": [
+                  0.26750183086289114,
+                  -0.35155848295061043
+                ],
+                "gripper_position": [
+                  0.26676818521222634,
+                  -0.35192799464040897,
+                  1.002416363767256
+                ],
+                "rod_tip_xy_dist": 0.0008083566165004744,
+                "target_xy_drift": 1.5601462701334198e-08,
+                "depth": 0.01870516996335947,
+                "bottom_clearance": 0.08073535609440141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0007336356844848124,
+                  -0.00036946713150426413
+                ],
+                "rod_tip_xy": [
+                  0.26676818521222634,
+                  -0.35192799464040886
+                ],
+                "target_mouth_xy": [
+                  0.26750182089671115,
+                  -0.3515585275089046
+                ],
+                "gripper_position": [
+                  0.26675965169492233,
+                  -0.35192847195904464,
+                  1.0022953422135574
+                ],
+                "rod_tip_xy_dist": 0.0008214178466599617,
+                "target_xy_drift": 3.4120738448480825e-08,
+                "depth": 0.018843473389025256,
+                "bottom_clearance": 0.08059705902058245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007421862551144631,
+                  -0.00036987950712147333
+                ],
+                "rod_tip_xy": [
+                  0.26675965169492233,
+                  -0.3519284719590447
+                ],
+                "target_mouth_xy": [
+                  0.2675018379500368,
+                  -0.3515585924519232
+                ],
+                "gripper_position": [
+                  0.2667509937820788,
+                  -0.35192923786600555,
+                  1.0021745773374415
+                ],
+                "rod_tip_xy_dist": 0.0008292474221058845,
+                "target_xy_drift": 9.510508112126151e-08,
+                "depth": 0.01896461688730533,
+                "bottom_clearance": 0.08047608135862017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0007508372419658405,
+                  -0.0003707834597529991
+                ],
+                "rod_tip_xy": [
+                  0.26675099378207884,
+                  -0.35192923786600544
+                ],
+                "target_mouth_xy": [
+                  0.2675018310240447,
+                  -0.35155845440625244
+                ],
+                "gripper_position": [
+                  0.2667424880805358,
+                  -0.3519298386036112,
+                  1.002053672433112
+                ],
+                "rod_tip_xy_dist": 0.000837398912077914,
+                "target_xy_drift": 4.3341635070411485e-08,
+                "depth": 0.019085261650280683,
+                "bottom_clearance": 0.08035526630849865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0007593487765515383,
+                  -0.00037128067653097174
+                ],
+                "rod_tip_xy": [
+                  0.26674248808053586,
+                  -0.3519298386036111
+                ],
+                "target_mouth_xy": [
+                  0.2675018368570874,
+                  -0.35155855792708013
+                ],
+                "gripper_position": [
+                  0.2667338227473906,
+                  -0.3519308120992704,
+                  1.0019325560207275
+                ],
+                "rod_tip_xy_dist": 0.0008452573011903619,
+                "target_xy_drift": 6.057400003879347e-08,
+                "depth": 0.01920615454307828,
+                "bottom_clearance": 0.08023438049295428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0007680131961605441,
+                  -0.0003722839360691954
+                ],
+                "rod_tip_xy": [
+                  0.2667338227473906,
+                  -0.3519308120992704
+                ],
+                "target_mouth_xy": [
+                  0.26750183594355115,
+                  -0.3515585281632012
+                ],
+                "gripper_position": [
+                  0.26674081608453326,
+                  -0.3519969954693462,
+                  1.001423139346556
+                ],
+                "rod_tip_xy_dist": 0.0008534867301440059,
+                "target_xy_drift": 3.082377069326931e-08,
+                "depth": 0.01932726608107227,
+                "bottom_clearance": 0.08011323860768915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 413,
+                "rod_tip_xy_delta": [
+                  -0.0007610060133639851,
+                  -0.00043846767902361306
+                ],
+                "rod_tip_xy": [
+                  0.2667408160845333,
+                  -0.3519969954693462
+                ],
+                "target_mouth_xy": [
+                  0.2675018220978973,
+                  -0.3515585277903226
+                ],
+                "gripper_position": [
+                  0.26672905697303456,
+                  -0.3520033609844176,
+                  1.0012849017242886
+                ],
+                "rod_tip_xy_dist": 0.0008782847248611921,
+                "target_xy_drift": 3.382850893712149e-08,
+                "depth": 0.019836694729661875,
+                "bottom_clearance": 0.07960385815356175,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005938578920794902,
+              "rod_tip_xy_max_step": 3.227011543870843e-05,
+              "rod_tip_xy_range": 0.0005938498502119363,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2662173736007979,
+            -0.3531542793299424,
+            1.043407516534254
+          ],
+          "object_origin_world": [
+            0.2662173736007979,
+            -0.3531542793299424,
+            1.043407516534254
+          ],
+          "frame_world": [
+            0.2662159190785651,
+            -0.3531594235861302,
+            1.043297968930765
+          ],
+          "center_minus_frame": [
+            1.4545222327688734e-06,
+            5.1442561877501625e-06,
+            0.00010954760348891313
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2654912747561743,
+              0.1539013036786667,
+              0.8322566859377303
+            ],
+            "target_position": [
+              0.2804001213957833,
+              0.19947975738342844,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04795486576188583,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1659929140074963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322566859377303,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672069573869,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13593675049883358,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21423910111032604,
+              0.021344634343091556,
+              1.0468130831709657
+            ],
+            "current_z": 1.0468130831709657,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.19022675457633442,
+            "gripper_z": 1.0516146276875067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20905129794509833,
+              0.016599540709606134,
+              1.0516146276875067
+            ],
+            "object_minus_gripper": [
+              0.005187803165227711,
+              0.004745093633485423,
+              -0.004801544516541023
+            ],
+            "object_to_gripper_xy": 0.007030591388474411,
+            "object_to_gripper_z": -0.004801544516541023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21423910111032604,
+              -0.0033766825159691157,
+              1.0468130831709657
+            ],
+            "finger_b": [
+              0.20288517956712393,
+              0.021344634343091556,
+              1.0468130831709657
+            ],
+            "finger_midpoint": [
+              0.208562140338725,
+              0.00898397591356122,
+              1.0468130831709657
+            ],
+            "object_minus_finger_midpoint": [
+              0.005676960771601042,
+              0.012360658429530337,
+              0.0
+            ],
+            "finger_gap": 0.027203952684403537,
+            "fingertip_max_gap": 0.09235937018205531,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013601976342201763,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468130831709657,
+            "object_top_z": 1.0929823598726158,
+            "finger_top_clearance": 0.046169276701650164,
+            "fingertip_min_top_clearance": 0.013850783010495015,
+            "object_projection_between_fingers": 0.8258081802660852,
+            "object_to_finger_line_xy": 0.010317761367940288,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867968509102766,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0183168540033003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21384955114692691,
+              0.018764611570017645,
+              1.2460471802702473
+            ],
+            "held_position": [
+              0.21939935769688684,
+              0.023039558988774845,
+              1.241202719122887
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008517296048829177,
+            "max_held_gripper_dist": 0.008520230924694209,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004844461147360368,
+            "max_held_gripper_z_dist": 0.004844997030070797,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08573023992277864,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21939935769688684,
+              -0.002927718702046004,
+              1.241202719122887
+            ],
+            "held_grasp_finger_b": [
+              0.2102358655666804,
+              0.024057752399291518,
+              1.241202719122887
+            ],
+            "held_grasp_midpoint": [
+              0.21481761163178362,
+              0.010565016848622757,
+              1.241202719122887
+            ],
+            "held_grasp_object_position": [
+              0.21939935769688684,
+              0.023039558988774845,
+              1.241202719122887
+            ],
+            "held_grasp_finger_gap": 0.028498863812115003,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.026205566389434012,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0763546857304702,
+              -0.997026950176016,
+              0.010354834122928034
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036182522708849106,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03241293248007497,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19084825495611288,
+              0.018028094980391308,
+              0.7565879384178263
+            ],
+            "target_position": [
+              0.188931267070077,
+              0.017411203254158143,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0020138018663967885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21927933848122264,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565879384178263,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07624938967489316,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08823188550391751,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18842150524469686,
+            "release_required_pad_clearance": 0.05411594275195876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2436881478411976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 278,
+            "max_placed_release_frames": 278
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0341c73dbe0ad675e9f5808b74a85df67ca3d289d2cc0a7f253e0c770df1f49c",
+    "visual_seed": 7979917330807638663,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cce83460d70ea91a0bd1bd27ed39a59732d906c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_32_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21500995613638516,
+              -0.13946208788513909,
+              1.1626743379234514
+            ],
+            "current_z": 1.1626743379234514,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30156782990868536,
+            "gripper_z": 1.1559106590771961,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21080236886331538,
+              -0.14388745977491937,
+              1.1559106590771961
+            ],
+            "object_minus_gripper": [
+              0.004207587273069774,
+              0.0044253718897802885,
+              0.006763678846255283
+            ],
+            "object_to_gripper_xy": 0.00610636610623342,
+            "object_to_gripper_z": 0.006763678846255283,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21500995613638516,
+              -0.16291253441653025,
+              1.1626743379234514
+            ],
+            "finger_b": [
+              0.20465220936367923,
+              -0.13946208788513909,
+              1.1626743379234514
+            ],
+            "finger_midpoint": [
+              0.2098310827500322,
+              -0.15118731115083467,
+              1.1626743379234514
+            ],
+            "object_minus_finger_midpoint": [
+              0.00517887338635295,
+              0.011725223265695583,
+              0.0
+            ],
+            "finger_gap": 0.025636036369320745,
+            "fingertip_max_gap": 0.0922990416153622,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012818018184660367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626743379234514,
+            "object_top_z": 1.2127678428659028,
+            "finger_top_clearance": 0.05009350494245135,
+            "fingertip_min_top_clearance": 0.015028051482735371,
+            "object_projection_between_fingers": 0.8367591602605987,
+            "object_to_finger_line_xy": 0.009474701290785597,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048649520807681104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8007481011852573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27399853665038426,
+              -0.3513194397214248,
+              0.8515395843700457
+            ],
+            "target_position": [
+              0.2664312581308332,
+              -0.35205069718538645,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007602528636648387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828684918374808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395843700457,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575605014351885,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08760510422879571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15023629078176373,
+            "release_required_pad_clearance": 0.053802552114397856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6143213053911696,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007656514644622803,
+            "max_z_decrease": 0.007656514644622803,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035101053829382514,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007656514644622803,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021095002865293765,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007656514644622803,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007656541005845782,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12213118374347684,
+              -0.4083121418952942,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12213118374347684,
+              -0.4083121418952942,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12168279648997915,
+              -0.4081178903852624,
+              0.8076093588469708
+            ],
+            "closest_button": [
+              0.12211918085813521,
+              -0.4083096981048584,
+              0.7725115418434143
+            ],
+            "closest_ee_minus_button": [
+              -0.0004363843681560592,
+              0.0001918077195959822,
+              0.03509781700355652
+            ],
+            "button_min_z_position": [
+              0.12211130559444425,
+              -0.4083092212677002,
+              0.7691523432731628
+            ],
+            "min_active_finger_to_button": 0.1464808289070413,
+            "closest_active_finger": [
+              -0.006513558328151703,
+              -0.4693802297115326,
+              0.8107808828353882
+            ],
+            "closest_active_finger_button": [
+              0.12213118374347685,
+              -0.40831175446510315,
+              0.7764617204666138
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12864474207162857,
+              -0.06106847524642944,
+              0.034319162368774414
+            ],
+            "min_contact_pad_to_button": 0.021095002865293765,
+            "closest_contact_pad": [
+              0.12211130559444425,
+              -0.4094038517862082,
+              0.7902189265251927
+            ],
+            "closest_contact_pad_button": [
+              0.12211130559444425,
+              -0.4083092212677002,
+              0.7691523432731628
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010946305185079996,
+              0.021066583252029814
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27971761606906076,
+              0.19901083579331458,
+              1.101045366243381
+            ],
+            "current_z": 1.101045366243381,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19113623650901845,
+            "gripper_z": 1.1010453410064303,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2797175863709844,
+              0.19901076855586475,
+              1.1010453410064303
+            ],
+            "object_minus_gripper": [
+              2.9698076386974748e-08,
+              6.723744983005986e-08,
+              2.5236950751406084e-08
+            ],
+            "object_to_gripper_xy": 7.350408424527445e-08,
+            "object_to_gripper_z": 2.5236950751406084e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27971761606906076,
+              0.19901083579331458,
+              1.101045366243381
+            ],
+            "finger_b": [
+              0.27971761606906076,
+              0.19901083579331458,
+              1.101045366243381
+            ],
+            "finger_midpoint": [
+              0.27971761606906076,
+              0.19901083579331458,
+              1.101045366243381
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101045366243381,
+            "object_top_z": 1.2260538728636607,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27971761606906076,
+            0.19901083579331458,
+            1.1010453662433812
+          ],
+          "object_origin_world": [
+            0.27971761606906076,
+            0.19901083579331458,
+            1.1010453662433812
+          ],
+          "frame_world": [
+            0.2797175863709844,
+            0.19901076855586475,
+            1.1010453410064303
+          ],
+          "center_minus_frame": [
+            2.9698076386974748e-08,
+            6.723744983005986e-08,
+            2.523695097345069e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043414896876024,
+            "required_z": 0.9112599887955044,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020334518324608597,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.4971591492329036e-08,
+            "max_target_xy_drift": 8.636057305715373e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.6143213054682906,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.614321305715552,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27269329746082477,
+              -0.3528719734701525,
+              0.9235273879357667
+            ],
+            "target_mouth_xy": [
+              0.2739985093430599,
+              -0.35131938283112035
+            ],
+            "rod_tip_z": 0.9235273879357667,
+            "rod_tip_depth": -0.022267513038498055,
+            "rod_tip_bottom_clearance": 0.12170814746163827,
+            "rod_tip_xy_dist": 0.0020283283141390098,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04482550611966607,
+            "min_rod_tip_bottom_clearance": 0.05461515386612614,
+            "min_rod_tip_xy_dist": 0.0007308307550256196,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2739985113290898,
+              -0.35131934791596753
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.9860298960949763e-09,
+              -3.491515282449953e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0007313848182484706,
+                0.00012189416446151125
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0008405822886862757,
+                -0.0002533962834239678
+              ],
+              "first_target_mouth_xy": [
+                0.2739984789784073,
+                -0.35131935044610857
+              ],
+              "last_target_mouth_xy": [
+                0.27399847968616864,
+                -0.3513193790103334
+              ],
+              "first_rod_tip_xy": [
+                0.2732670941601588,
+                -0.35119745628164706
+              ],
+              "last_rod_tip_xy": [
+                0.27315789739748236,
+                -0.35157277529375736
+              ],
+              "min_rod_tip_xy_dist": 0.0007308307550256196,
+              "max_rod_tip_xy_dist": 0.0008779454769552249,
+              "first_target_xy_drift": 3.24494726198918e-08,
+              "last_target_xy_drift": 4.4363656843629895e-08,
+              "max_depth": 0.019518237071015965,
+              "min_bottom_clearance": 0.0799223205452867
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007313848182484706,
+                  0.00012189416446151125
+                ],
+                "rod_tip_xy": [
+                  0.2732670941601588,
+                  -0.35119745628164706
+                ],
+                "target_mouth_xy": [
+                  0.2739984789784073,
+                  -0.35131935044610857
+                ],
+                "gripper_position": [
+                  0.27327002302793696,
+                  -0.35126090653216924,
+                  1.0056383194247729
+                ],
+                "rod_tip_xy_dist": 0.000741472817906441,
+                "target_xy_drift": 3.24494726198918e-08,
+                "depth": 0.015101494829859008,
+                "bottom_clearance": 0.084339029465763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007284878129655836,
+                  5.847306090789317e-05
+                ],
+                "rod_tip_xy": [
+                  0.27327002302793707,
+                  -0.3512609065321692
+                ],
+                "target_mouth_xy": [
+                  0.27399851084090265,
+                  -0.3513193795930771
+                ],
+                "gripper_position": [
+                  0.2732588434575116,
+                  -0.3512682524189642,
+                  1.0054963173727587
+                ],
+                "rod_tip_xy_dist": 0.0007308307550256196,
+                "target_xy_drift": 3.168087113582118e-08,
+                "depth": 0.0156215721395071,
+                "bottom_clearance": 0.08381901345064746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007396664847379997,
+                  5.112782373101199e-05
+                ],
+                "rod_tip_xy": [
+                  0.2732588434575117,
+                  -0.35126825241896414
+                ],
+                "target_mouth_xy": [
+                  0.2739985099422497,
+                  -0.35131938024269516
+                ],
+                "gripper_position": [
+                  0.2732506181369073,
+                  -0.35126913852146135,
+                  1.0053717521727055
+                ],
+                "rod_tip_xy_dist": 0.0007414314283897998,
+                "target_xy_drift": 3.235646217633504e-08,
+                "depth": 0.015763577160150644,
+                "bottom_clearance": 0.08367699347213742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007478605826407025,
+                  5.024079786825064e-05
+                ],
+                "rod_tip_xy": [
+                  0.2732506181369074,
+                  -0.3512691385214613
+                ],
+                "target_mouth_xy": [
+                  0.2739984787195481,
+                  -0.35131937931932955
+                ],
+                "gripper_position": [
+                  0.2732545714016066,
+                  -0.3513335958305747,
+                  1.0048518240594195
+                ],
+                "rod_tip_xy_dist": 0.000749546255302586,
+                "target_xy_drift": 4.527199309011486e-08,
+                "depth": 0.01588800857852879,
+                "bottom_clearance": 0.0835525018873412,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007439391951620244,
+                  -1.4249225517903863e-05
+                ],
+                "rod_tip_xy": [
+                  0.27325457140160664,
+                  -0.3513335958305746
+                ],
+                "target_mouth_xy": [
+                  0.27399851059676866,
+                  -0.3513193466050567
+                ],
+                "gripper_position": [
+                  0.27324310831084386,
+                  -0.35134095570692647,
+                  1.0047100759474359
+                ],
+                "rod_tip_xy_dist": 0.0007440756457015514,
+                "target_xy_drift": 1.5015929719522424e-09,
+                "depth": 0.01640812376278189,
+                "bottom_clearance": 0.08303257212221216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007553991208125166,
+                  -2.1574118929057473e-05
+                ],
+                "rod_tip_xy": [
+                  0.2732431083108439,
+                  -0.3513409557069264
+                ],
+                "target_mouth_xy": [
+                  0.27399850743165644,
+                  -0.35131938158799736
+                ],
+                "gripper_position": [
+                  0.2732347783724004,
+                  -0.3513416243304157,
+                  1.004585654706922
+                ],
+                "rod_tip_xy_dist": 0.0007557071352924281,
+                "target_xy_drift": 3.389683731360276e-08,
+                "depth": 0.016549733021308133,
+                "bottom_clearance": 0.08289084700904537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0007637321306698808,
+                  -2.224568267200633e-05
+                ],
+                "rod_tip_xy": [
+                  0.27323477837240046,
+                  -0.35134162433041566
+                ],
+                "target_mouth_xy": [
+                  0.27399851050307034,
+                  -0.35131937864774365
+                ],
+                "gripper_position": [
+                  0.2732394734805367,
+                  -0.3514074216332252,
+                  1.0040670892445727
+                ],
+                "rod_tip_xy_dist": 0.0007640560436349545,
+                "target_xy_drift": 3.074287514046556e-08,
+                "depth": 0.016674251650427796,
+                "bottom_clearance": 0.0827663568932756,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007590347129954322,
+                  -8.801123562895974e-05
+                ],
+                "rod_tip_xy": [
+                  0.27323947348053673,
+                  -0.3514074216332252
+                ],
+                "target_mouth_xy": [
+                  0.27399850819353216,
+                  -0.35131941039759623
+                ],
+                "gripper_position": [
+                  0.2732280151085041,
+                  -0.351414476463237,
+                  1.0039254634571966
+                ],
+                "rod_tip_xy_dist": 0.0007641201954725411,
+                "target_xy_drift": 6.25602561319373e-08,
+                "depth": 0.017192678040527043,
+                "bottom_clearance": 0.08224783679135494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007704955619984299,
+                  -9.512858288462933e-05
+                ],
+                "rod_tip_xy": [
+                  0.2732280151085042,
+                  -0.3514144764632369
+                ],
+                "target_mouth_xy": [
+                  0.2739985106705026,
+                  -0.3513193478803523
+                ],
+                "gripper_position": [
+                  0.2732194651196195,
+                  -0.35141552372485446,
+                  1.003801344978009
+                ],
+                "rod_tip_xy_dist": 0.0007763458368156,
+                "target_xy_drift": 6.595494862304952e-10,
+                "depth": 0.017334461669559542,
+                "bottom_clearance": 0.0821061891734981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007790434903122145,
+                  -9.614250544959235e-05
+                ],
+                "rod_tip_xy": [
+                  0.27321946511961953,
+                  -0.35141552372485446
+                ],
+                "target_mouth_xy": [
+                  0.27399850860993175,
+                  -0.35131938121940487
+                ],
+                "gripper_position": [
+                  0.27321077871831345,
+                  -0.3514163565419307,
+                  1.0036771460784715
+                ],
+                "rod_tip_xy_dist": 0.0007849535917186202,
+                "target_xy_drift": 3.341425982008235e-08,
+                "depth": 0.017458435720455134,
+                "bottom_clearance": 0.08198211466920091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007877330456195764,
+                  -9.697793895774298e-05
+                ],
+                "rod_tip_xy": [
+                  0.2732107787183135,
+                  -0.35141635654193065
+                ],
+                "target_mouth_xy": [
+                  0.2739985117639331,
+                  -0.3513193786029729
+                ],
+                "gripper_position": [
+                  0.27321699956976414,
+                  -0.3514841314798289,
+                  1.0031596418604443
+                ],
+                "rod_tip_xy_dist": 0.0007936800815225145,
+                "target_xy_drift": 3.069008615072551e-08,
+                "depth": 0.017582770116568835,
+                "bottom_clearance": 0.08185788652899151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007815089851520018,
+                  -0.00016478070165276693
+                ],
+                "rod_tip_xy": [
+                  0.27321699956976425,
+                  -0.3514841314798289
+                ],
+                "target_mouth_xy": [
+                  0.27399850855491625,
+                  -0.3513193507781761
+                ],
+                "gripper_position": [
+                  0.2732052401704467,
+                  -0.3514912346024802,
+                  1.0030183465591396
+                ],
+                "rod_tip_xy_dist": 0.000798692039218177,
+                "target_xy_drift": 3.986010146747037e-09,
+                "depth": 0.018100186795374618,
+                "bottom_clearance": 0.08134033971802224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000793271175478949,
+                  -0.000171855357437245
+                ],
+                "rod_tip_xy": [
+                  0.27320524017044673,
+                  -0.35149123460248016
+                ],
+                "target_mouth_xy": [
+                  0.2739985113459257,
+                  -0.3513193792450429
+                ],
+                "gripper_position": [
+                  0.2731966011178056,
+                  -0.35149201961933935,
+                  1.0028942291004406
+                ],
+                "rod_tip_xy_dist": 0.0008116732234869133,
+                "target_xy_drift": 3.132907991319183e-08,
+                "depth": 0.018241554954850914,
+                "bottom_clearance": 0.08119906225986151,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008019069408094492,
+                  -0.00017263996247046665
+                ],
+                "rod_tip_xy": [
+                  0.27319660111780564,
+                  -0.35149201961933924
+                ],
+                "target_mouth_xy": [
+                  0.2739985080586151,
+                  -0.35131937965686877
+                ],
+                "gripper_position": [
+                  0.27318778602271276,
+                  -0.35149279538279254,
+                  1.0027700707423912
+                ],
+                "rod_tip_xy_dist": 0.0008202800121666831,
+                "target_xy_drift": 3.190894571267331e-08,
+                "depth": 0.018365586485423857,
+                "bottom_clearance": 0.08107490366637216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000810722487003368,
+                  -0.00017341730850278791
+                ],
+                "rod_tip_xy": [
+                  0.2731877860227128,
+                  -0.3514927953827925
+                ],
+                "target_mouth_xy": [
+                  0.2739985085097162,
+                  -0.3513193780742897
+                ],
+                "gripper_position": [
+                  0.27317906933877845,
+                  -0.3514936845232717,
+                  1.0026460894134523
+                ],
+                "rod_tip_xy_dist": 0.0008290624305933043,
+                "target_xy_drift": 3.028982112712392e-08,
+                "depth": 0.018489772194068888,
+                "bottom_clearance": 0.08095078443897674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008194402941756884,
+                  -0.00017427286296628486
+                ],
+                "rod_tip_xy": [
+                  0.2731790693387785,
+                  -0.3514936845232716
+                ],
+                "target_mouth_xy": [
+                  0.2739985096329542,
+                  -0.35131941166030534
+                ],
+                "gripper_position": [
+                  0.27318729294429267,
+                  -0.35156443406588533,
+                  1.002131189342303
+                ],
+                "rod_tip_xy_dist": 0.0008377669284981381,
+                "target_xy_drift": 6.376689955337749e-08,
+                "depth": 0.018613771026115056,
+                "bottom_clearance": 0.08082684200685752,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008112166800889331,
+                  -0.000245052516620492
+                ],
+                "rod_tip_xy": [
+                  0.2731872929442927,
+                  -0.3515644340658853
+                ],
+                "target_mouth_xy": [
+                  0.27399850962438166,
+                  -0.3513193815492648
+                ],
+                "gripper_position": [
+                  0.27317570421350923,
+                  -0.3515712005455907,
+                  1.001989566172407
+                ],
+                "rod_tip_xy_dist": 0.0008474215231846232,
+                "target_xy_drift": 3.3676471227761585e-08,
+                "depth": 0.0191286060233119,
+                "bottom_clearance": 0.08031199619537499,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008228071702939821,
+                  -0.00025179020113802464
+                ],
+                "rod_tip_xy": [
+                  0.2731757042135093,
+                  -0.3515712005455907
+                ],
+                "target_mouth_xy": [
+                  0.27399851138380327,
+                  -0.3513194103444527
+                ],
+                "gripper_position": [
+                  0.27316676595789946,
+                  -0.3515718927113464,
+                  1.0018655307890993
+                ],
+                "rod_tip_xy_dist": 0.0008604707693328792,
+                "target_xy_drift": 6.242850913506604e-08,
+                "depth": 0.019270346240429337,
+                "bottom_clearance": 0.08017029229145511,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0008317449959981404,
+                  -0.00025248233794006314
+                ],
+                "rod_tip_xy": [
+                  0.2731667659578995,
+                  -0.3515718927113463
+                ],
+                "target_mouth_xy": [
+                  0.27399851095389766,
+                  -0.35131941037340625
+                ],
+                "gripper_position": [
+                  0.2731578973974823,
+                  -0.3515727752937574,
+                  1.0017415362180622
+                ],
+                "rod_tip_xy_dist": 0.0008692221058737674,
+                "target_xy_drift": 6.245856563137942e-08,
+                "depth": 0.019394378358471465,
+                "bottom_clearance": 0.08004624393648341,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0008405822886862757,
+                  -0.0002533962834239678
+                ],
+                "rod_tip_xy": [
+                  0.27315789739748236,
+                  -0.35157277529375736
+                ],
+                "target_mouth_xy": [
+                  0.27399847968616864,
+                  -0.3513193790103334
+                ],
+                "gripper_position": [
+                  0.2731490836936013,
+                  -0.3515734064390268,
+                  1.001617689116376
+                ],
+                "rod_tip_xy_dist": 0.0008779454769552249,
+                "target_xy_drift": 4.4363656843629895e-08,
+                "depth": 0.019518237071015965,
+                "bottom_clearance": 0.0799223205452867,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006025762094845672,
+              "rod_tip_xy_max_step": 3.261274642463029e-05,
+              "rod_tip_xy_range": 0.0006025635793867315,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27269329746082477,
+            -0.3528719734701525,
+            1.0435273879357667
+          ],
+          "object_origin_world": [
+            0.27269329746082477,
+            -0.3528719734701525,
+            1.0435273879357667
+          ],
+          "frame_world": [
+            0.2726918409128228,
+            -0.35287744058626297,
+            1.043414896876024
+          ],
+          "center_minus_frame": [
+            1.4565480019879118e-06,
+            5.467116110491332e-06,
+            0.00011249105974275864
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2654890389728031,
+              0.15224444388486963,
+              0.8318866516568597
+            ],
+            "target_position": [
+              0.27988127970516236,
+              0.19848402407844773,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04842763023085603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16786784879128458,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318866516568597,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672207184532,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13757587563791193,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 308,
+            "max_placed_release_frames": 308
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21285498497669847,
+              0.020877061675045824,
+              1.0446141833510567
+            ],
+            "current_z": 1.0446141833510567,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.18802779515178059,
+            "gripper_z": 1.0490756218586215,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20770100099118802,
+              0.016122138942720285,
+              1.0490756218586215
+            ],
+            "object_minus_gripper": [
+              0.005153983985510452,
+              0.004754922732325539,
+              -0.004461438507564752
+            ],
+            "object_to_gripper_xy": 0.007012334925920493,
+            "object_to_gripper_z": -0.004461438507564752,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21285498497669847,
+              -0.003808396008057729,
+              1.0446141833510567
+            ],
+            "finger_b": [
+              0.2015051365376444,
+              0.020877061675045824,
+              1.0446141833510567
+            ],
+            "finger_midpoint": [
+              0.20718006075717144,
+              0.008534332833494047,
+              1.0446141833510567
+            ],
+            "object_minus_finger_midpoint": [
+              0.005674924219527033,
+              0.012342728841551777,
+              0.0
+            ],
+            "finger_gap": 0.027169668393519166,
+            "fingertip_max_gap": 0.09314386697494217,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013584834196759583,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0446141833510567,
+            "object_top_z": 1.0908615038325769,
+            "finger_top_clearance": 0.04624732048152014,
+            "fingertip_min_top_clearance": 0.013874196144456008,
+            "object_projection_between_fingers": 0.8254935641004031,
+            "object_to_finger_line_xy": 0.01031209506475755,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04907193348747109,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.189151850145395,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21182383270788505,
+              0.019380145964017423,
+              1.2446018274246222
+            ],
+            "held_position": [
+              0.21728084883983176,
+              0.023771295517885864,
+              1.2401172054860448
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008317033930478817,
+            "max_held_gripper_dist": 0.008318672421481583,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00448462193857746,
+            "max_held_gripper_z_dist": 0.004484862683111768,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611222987644081,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21728084883983176,
+              -0.0019227716959900286,
+              1.2401172054860448
+            ],
+            "held_grasp_finger_b": [
+              0.2076394215230286,
+              0.023771295517885864,
+              1.2401172054860448
+            ],
+            "held_grasp_midpoint": [
+              0.2124601351814302,
+              0.010924261910947917,
+              1.2401172054860448
+            ],
+            "held_grasp_object_position": [
+              0.21728084883983176,
+              0.023771295517885864,
+              1.2401172054860448
+            ],
+            "held_grasp_finger_gap": 0.027443436568629118,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025142217546154297,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05339358302010768,
+              -0.9985576702379949,
+              0.005630675016610743
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004128534463715855,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032114325842861564,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18762624499464903,
+              0.01584127923015837,
+              0.7565862551264969
+            ],
+            "target_position": [
+              0.18780177452657856,
+              0.0188437743045862,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.003007621533461745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21520336410505211,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862551264969,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07621823729907697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09054920693395087,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18394617457564313,
+            "release_required_pad_clearance": 0.055274603466975436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.657493972549955,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d2d1064693bf28d1c4732ee27a9f1941c446abe404f2a0677892a46ed448c2bc",
+    "visual_seed": 3831121442998027622,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d0e89ade19aaf6dd11487497a1a97e158300b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_33_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21050704390930286,
+              -0.13972891310299812,
+              1.1656075950600453
+            ],
+            "current_z": 1.1656075950600453,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.30450108704527956,
+            "gripper_z": 1.1589649077646178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20626072561616665,
+              -0.14419712373379287,
+              1.1589649077646178
+            ],
+            "object_minus_gripper": [
+              0.004246318293136209,
+              0.00446821063079475,
+              0.006642687295427496
+            ],
+            "object_to_gripper_xy": 0.006164099714294896,
+            "object_to_gripper_z": 0.006642687295427496,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21050704390930286,
+              -0.16326031882743156,
+              1.1656075950600453
+            ],
+            "finger_b": [
+              0.20012093145441676,
+              -0.13972891310299812,
+              1.1656075950600453
+            ],
+            "finger_midpoint": [
+              0.20531398768185982,
+              -0.15149461596521485,
+              1.1656075950600453
+            ],
+            "object_minus_finger_midpoint": [
+              0.005193056227443038,
+              0.011765702862216731,
+              0.0
+            ],
+            "finger_gap": 0.02572155491593459,
+            "fingertip_max_gap": 0.09216792989515246,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012860777457967302,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1656075950600453,
+            "object_top_z": 1.215597603809118,
+            "finger_top_clearance": 0.04999000874907278,
+            "fingertip_min_top_clearance": 0.014997002624721832,
+            "object_projection_between_fingers": 0.8369534539422994,
+            "object_to_finger_line_xy": 0.00950175161938246,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858396494757623,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8600248615927308,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 335,
+            "max_stable_success_frames": 335,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27317703508681773,
+              -0.3572208944851137,
+              0.8515396015850053
+            ],
+            "target_position": [
+              0.2660345445585784,
+              -0.3576556270151746,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007155708442822549,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18399379547978947,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396015850053,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545368989158163,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644172389490913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15214144476997535,
+            "release_required_pad_clearance": 0.05322086194745457,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.463368415069124,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007852017879486084,
+            "max_z_decrease": 0.007852017879486084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351077100971131,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007852017879486084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021197434753370183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007852017879486084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007852039682029412,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12173447012901302,
+              -0.41391709446907043,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12173447012901302,
+              -0.41391709446907043,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12239473218954366,
+              -0.415125624832307,
+              0.8073486142954074
+            ],
+            "closest_button": [
+              0.12172391265630718,
+              -0.41391214728355413,
+              0.7722682952880859
+            ],
+            "closest_ee_minus_button": [
+              0.0006708195332364858,
+              -0.0012134775487528948,
+              0.03508031900732145
+            ],
+            "button_min_z_position": [
+              0.12171640247106548,
+              -0.41391310095787054,
+              0.7689568400382996
+            ],
+            "min_active_finger_to_button": 0.14545967548325825,
+            "closest_active_finger": [
+              -0.019039615988731384,
+              -0.4017238914966583,
+              0.8111038208007812
+            ],
+            "closest_active_finger_button": [
+              0.12173533439636226,
+              -0.4139153361320496,
+              0.7765741348266602
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14077495038509363,
+              0.01219144463539129,
+              0.034529685974121094
+            ],
+            "min_contact_pad_to_button": 0.021197434753370183,
+            "closest_contact_pad": [
+              0.12171640247106548,
+              -0.41602295287234414,
+              0.7900490131132195
+            ],
+            "closest_contact_pad_button": [
+              0.12171640247106548,
+              -0.41391310095787054,
+              0.7689568400382996
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002109851914473604,
+              0.02109217307491995
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2799948317626563,
+              0.20375524110692303,
+              1.102668077162038
+            ],
+            "current_z": 1.102668077162038,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19275894742767552,
+            "gripper_z": 1.102668007842692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27999479571722447,
+              0.20375528214004007,
+              1.102668007842692
+            ],
+            "object_minus_gripper": [
+              3.6045431861531085e-08,
+              -4.103311704306556e-08,
+              6.931934604104129e-08
+            ],
+            "object_to_gripper_xy": 5.4616754319111616e-08,
+            "object_to_gripper_z": 6.931934604104129e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2799948317626563,
+              0.20375524110692303,
+              1.102668077162038
+            ],
+            "finger_b": [
+              0.2799948317626563,
+              0.20375524110692303,
+              1.102668077162038
+            ],
+            "finger_midpoint": [
+              0.2799948317626563,
+              0.20375524110692303,
+              1.102668077162038
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102668077162038,
+            "object_top_z": 1.2276765837823178,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2799948317626563,
+            0.20375524110692306,
+            1.102668077162038
+          ],
+          "object_origin_world": [
+            0.2799948317626563,
+            0.20375524110692306,
+            1.102668077162038
+          ],
+          "frame_world": [
+            0.27999479571722447,
+            0.20375528214004007,
+            1.102668007842692
+          ],
+          "center_minus_frame": [
+            3.6045431861531085e-08,
+            -4.1033117015309983e-08,
+            6.931934604104129e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043390174071258,
+            "required_z": 0.911259833553129,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024606695941516536,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.315702328301989e-08,
+            "max_target_xy_drift": 1.255642896999131e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4633684158280886,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.46336841697214,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2714941591330412,
+              -0.3590091164492636,
+              0.9235036344510653
+            ],
+            "target_mouth_xy": [
+              0.2731770046864208,
+              -0.35722089256767103
+            ],
+            "rod_tip_z": 0.9235036344510653,
+            "rod_tip_depth": -0.022243715788065277,
+            "rod_tip_bottom_clearance": 0.12168433757592179,
+            "rod_tip_xy_dist": 0.0024555475575169508,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04481994995074268,
+            "min_rod_tip_bottom_clearance": 0.054620693385474706,
+            "min_rod_tip_xy_dist": 0.0010594199348663278,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27317706394991487,
+              -0.3572208342330433
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.9263494056605026e-08,
+              -5.833462773940923e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.001081376968957326,
+                -5.5799172835047095e-06
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001193759518145543,
+                -0.0004100348166797829
+              ],
+              "first_target_mouth_xy": [
+                0.2731770024769926,
+                -0.357220775901069
+              ],
+              "last_target_mouth_xy": [
+                0.2731770046378615,
+                -0.35722086498720484
+              ],
+              "first_rod_tip_xy": [
+                0.2720956255080353,
+                -0.3572263558183525
+              ],
+              "last_rod_tip_xy": [
+                0.27198324511971594,
+                -0.3576308998038846
+              ],
+              "min_rod_tip_xy_dist": 0.0010813913650793705,
+              "max_rod_tip_xy_dist": 0.0012622164386715544,
+              "first_target_xy_drift": 8.474396377766016e-08,
+              "last_target_xy_drift": 6.681121259804559e-08,
+              "max_depth": 0.019527063964237645,
+              "min_bottom_clearance": 0.07991349821197347
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.001081376968957326,
+                  -5.5799172835047095e-06
+                ],
+                "rod_tip_xy": [
+                  0.2720956255080353,
+                  -0.3572263558183525
+                ],
+                "target_mouth_xy": [
+                  0.2731770024769926,
+                  -0.357220775901069
+                ],
+                "gripper_position": [
+                  0.2720876083583934,
+                  -0.35722771704574857,
+                  1.0060458139373363
+                ],
+                "rod_tip_xy_dist": 0.0010813913650793705,
+                "target_xy_drift": 8.474396377766016e-08,
+                "depth": 0.015088526144853343,
+                "bottom_clearance": 0.08435199380039549,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0010894858168893906,
+                  -6.945605936004018e-06
+                ],
+                "rod_tip_xy": [
+                  0.27208760835839346,
+                  -0.3572277170457486
+                ],
+                "target_mouth_xy": [
+                  0.27317709417528285,
+                  -0.3572207714398126
+                ],
+                "gripper_position": [
+                  0.2720902509641545,
+                  -0.35729634474818417,
+                  1.0055217044282891
+                ],
+                "rod_tip_xy_dist": 0.0010895079562100321,
+                "target_xy_drift": 6.968904281139962e-08,
+                "depth": 0.015214199612317958,
+                "bottom_clearance": 0.08422649568822071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010867843026886037,
+                  -7.550958723379075e-05
+                ],
+                "rod_tip_xy": [
+                  0.2720902509641546,
+                  -0.35729634474818417
+                ],
+                "target_mouth_xy": [
+                  0.2731770352668432,
+                  -0.3572208351609504
+                ],
+                "gripper_position": [
+                  0.2720790832182862,
+                  -0.35730411419921615,
+                  1.0053785318719812
+                ],
+                "rod_tip_xy_dist": 0.001089404341066517,
+                "target_xy_drift": 2.8698076769464662e-08,
+                "depth": 0.015738192150990815,
+                "bottom_clearance": 0.0837024017312008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010979508329852505,
+                  -8.324857072072867e-05
+                ],
+                "rod_tip_xy": [
+                  0.27207908321828633,
+                  -0.35730411419921615
+                ],
+                "target_mouth_xy": [
+                  0.2731770340512716,
+                  -0.3572208656284954
+                ],
+                "gripper_position": [
+                  0.27208152921476936,
+                  -0.35737298424896935,
+                  1.0048587015289738
+                ],
+                "rod_tip_xy_dist": 0.0011011023368334343,
+                "target_xy_drift": 4.335439175496204e-08,
+                "depth": 0.01588136621431102,
+                "bottom_clearance": 0.08355920291868368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0010955054173761303,
+                  -0.0001521195843632306
+                ],
+                "rod_tip_xy": [
+                  0.27208152921476947,
+                  -0.35737298424896935
+                ],
+                "target_mouth_xy": [
+                  0.2731770346321456,
+                  -0.3572208646646061
+                ],
+                "gripper_position": [
+                  0.27207029702447627,
+                  -0.35738057860807615,
+                  1.004715821712962
+                ],
+                "rod_tip_xy_dist": 0.0011060164951063305,
+                "target_xy_drift": 4.225649785332904e-08,
+                "depth": 0.016401124831926683,
+                "bottom_clearance": 0.08303943369823363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001106795321007381,
+                  -0.00015971550808158153
+                ],
+                "rod_tip_xy": [
+                  0.2720702970244763,
+                  -0.35738057860807615
+                ],
+                "target_mouth_xy": [
+                  0.2731770923454837,
+                  -0.35722086309999457
+                ],
+                "gripper_position": [
+                  0.272061913207595,
+                  -0.3573821158767554,
+                  1.0045906303818233
+                ],
+                "rod_tip_xy_dist": 0.0011182597757791299,
+                "target_xy_drift": 4.049208818561235e-08,
+                "depth": 0.016544018160712937,
+                "bottom_clearance": 0.08289652569434602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0011151512384009465,
+                  -0.00016118587806324136
+                ],
+                "rod_tip_xy": [
+                  0.2720619132075951,
+                  -0.3573821158767555
+                ],
+                "target_mouth_xy": [
+                  0.27317706444599604,
+                  -0.35722092999869226
+                ],
+                "gripper_position": [
+                  0.27205356188540847,
+                  -0.3573833403513399,
+                  1.0044652781623806
+                ],
+                "rod_tip_xy_dist": 0.0011267400639873345,
+                "target_xy_drift": 9.576693384718039e-08,
+                "depth": 0.01666941634957453,
+                "bottom_clearance": 0.08277134146581011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011235032003296674,
+                  -0.00016247505230615467
+                ],
+                "rod_tip_xy": [
+                  0.2720535618854086,
+                  -0.3573833403513399
+                ],
+                "target_mouth_xy": [
+                  0.27317706508573825,
+                  -0.35722086529903374
+                ],
+                "gripper_position": [
+                  0.2720578591372237,
+                  -0.35745432845041675,
+                  1.0039437330076053
+                ],
+                "rod_tip_xy_dist": 0.0011351905495435085,
+                "target_xy_drift": 3.1086747291881844e-08,
+                "depth": 0.01679462448213509,
+                "bottom_clearance": 0.08264598171061599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011191748816690716,
+                  -0.00023349422539259423
+                ],
+                "rod_tip_xy": [
+                  0.27205785913722375,
+                  -0.3574543284504168
+                ],
+                "target_mouth_xy": [
+                  0.2731770340188928,
+                  -0.3572208342250242
+                ],
+                "gripper_position": [
+                  0.2720463711760761,
+                  -0.35746220336473894,
+                  1.0038009265077736
+                ],
+                "rod_tip_xy_dist": 0.0011432724824164482,
+                "target_xy_drift": 2.9931023123966074e-08,
+                "depth": 0.017316159327293135,
+                "bottom_clearance": 0.08212439849493414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011306931794131114,
+                  -0.000241338697101523
+                ],
+                "rod_tip_xy": [
+                  0.27204637117607616,
+                  -0.357462203364739
+                ],
+                "target_mouth_xy": [
+                  0.2731770643554893,
+                  -0.35722086466763747
+                ],
+                "gripper_position": [
+                  0.2720378997565945,
+                  -0.3574632877235077,
+                  1.0036759225844962
+                ],
+                "rod_tip_xy_dist": 0.0011561623729779442,
+                "target_xy_drift": 3.043729642051209e-08,
+                "depth": 0.01745889924175803,
+                "bottom_clearance": 0.08198165628494569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011390679254312808,
+                  -0.00024245275925527388
+                ],
+                "rod_tip_xy": [
+                  0.2720378997565946,
+                  -0.35746328772350766
+                ],
+                "target_mouth_xy": [
+                  0.2731769676820259,
+                  -0.3572208349642524
+                ],
+                "gripper_position": [
+                  0.27204270688464316,
+                  -0.35753540516497956,
+                  1.0031580303472167
+                ],
+                "rod_tip_xy_dist": 0.001164585367938657,
+                "target_xy_drift": 9.627066592712027e-08,
+                "depth": 0.017583994014710558,
+                "bottom_clearance": 0.08185669869116452,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0011343606034444065,
+                  -0.000314511367917103
+                ],
+                "rod_tip_xy": [
+                  0.27204270688464327,
+                  -0.3575354051649795
+                ],
+                "target_mouth_xy": [
+                  0.2731770674880877,
+                  -0.3572208937970624
+                ],
+                "gripper_position": [
+                  0.2720311730492719,
+                  -0.3575428205119082,
+                  1.0030155793209405
+                ],
+                "rod_tip_xy_dist": 0.001177153931818539,
+                "target_xy_drift": 5.966901238400855e-08,
+                "depth": 0.01810189017323338,
+                "bottom_clearance": 0.081338806634771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001145829022215883,
+                  -0.0003219577039752508
+                ],
+                "rod_tip_xy": [
+                  0.272031173049272,
+                  -0.35754282051190833
+                ],
+                "target_mouth_xy": [
+                  0.2731770020714879,
+                  -0.3572208628079331
+                ],
+                "gripper_position": [
+                  0.2720226931012882,
+                  -0.3575438760627395,
+                  1.0028905020299377
+                ],
+                "rod_tip_xy_dist": 0.0011902020464195234,
+                "target_xy_drift": 6.815764119717723e-08,
+                "depth": 0.018244288308113865,
+                "bottom_clearance": 0.08119629169641651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011543415412963443,
+                  -0.00032301138403001417
+                ],
+                "rod_tip_xy": [
+                  0.27202269310128824,
+                  -0.35754387606273963
+                ],
+                "target_mouth_xy": [
+                  0.2731770346425846,
+                  -0.3572208646787096
+                ],
+                "gripper_position": [
+                  0.2720140764498653,
+                  -0.35754509154726644,
+                  1.002765451188298
+                ],
+                "rod_tip_xy_dist": 0.0011986829222840397,
+                "target_xy_drift": 4.2259415591994964e-08,
+                "depth": 0.018369384272420963,
+                "bottom_clearance": 0.08107117515838735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011629580870555212,
+                  -0.00032422908325135946
+                ],
+                "rod_tip_xy": [
+                  0.27201407644986536,
+                  -0.35754509154726655
+                ],
+                "target_mouth_xy": [
+                  0.2731770345369209,
+                  -0.3572208624640152
+                ],
+                "gripper_position": [
+                  0.27200540263928197,
+                  -0.3575461695617317,
+                  1.0026405121017028
+                ],
+                "rod_tip_xy_dist": 0.0012073094096683972,
+                "target_xy_drift": 4.0769007704452644e-08,
+                "depth": 0.018494413676163557,
+                "bottom_clearance": 0.08094622098249027,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011716331014579584,
+                  -0.0003252757356683733
+                ],
+                "rod_tip_xy": [
+                  0.2720054026392821,
+                  -0.3575461695617318
+                ],
+                "target_mouth_xy": [
+                  0.27317703574074004,
+                  -0.3572208938260634
+                ],
+                "gripper_position": [
+                  0.2720122173192655,
+                  -0.3576213132499406,
+                  1.0021251486441352
+                ],
+                "rod_tip_xy_dist": 0.0012159475435423175,
+                "target_xy_drift": 6.593243202501376e-08,
+                "depth": 0.018619393250326355,
+                "bottom_clearance": 0.08082122939245096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001164816871541241,
+                  -0.00040041878404795117
+                ],
+                "rod_tip_xy": [
+                  0.2720122173192656,
+                  -0.3576213132499406
+                ],
+                "target_mouth_xy": [
+                  0.27317703419080686,
+                  -0.35722089446589267
+                ],
+                "gripper_position": [
+                  0.27200053301190463,
+                  -0.35762881363275983,
+                  1.001982498943942
+                ],
+                "rod_tip_xy_dist": 0.00123171975174776,
+                "target_xy_drift": 6.718333612908085e-08,
+                "depth": 0.019134733587455988,
+                "bottom_clearance": 0.08030580753436445,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011765006633258634,
+                  -0.0004079492707655952
+                ],
+                "rod_tip_xy": [
+                  0.27200053301190474,
+                  -0.3576288136327598
+                ],
+                "target_mouth_xy": [
+                  0.2731770336752306,
+                  -0.3572208643619942
+                ],
+                "gripper_position": [
+                  0.271991891267799,
+                  -0.3576298976803615,
+                  1.0018575005295427
+                ],
+                "rod_tip_xy_dist": 0.0012452214334504436,
+                "target_xy_drift": 4.2711944333284404e-08,
+                "depth": 0.01927726555440279,
+                "bottom_clearance": 0.08016326707986388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011851736851224426,
+                  -0.0004090038424569009
+                ],
+                "rod_tip_xy": [
+                  0.2719918912677991,
+                  -0.35762989768036146
+                ],
+                "target_mouth_xy": [
+                  0.27317706495292154,
+                  -0.35722089383790456
+                ],
+                "gripper_position": [
+                  0.27198324511971583,
+                  -0.3576308998038845,
+                  1.0017328260790914
+                ],
+                "rod_tip_xy_dist": 0.0012537626597770488,
+                "target_xy_drift": 5.961329976840754e-08,
+                "depth": 0.019402400168200384,
+                "bottom_clearance": 0.08003819986636207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001193759518145543,
+                  -0.0004100348166797829
+                ],
+                "rod_tip_xy": [
+                  0.27198324511971594,
+                  -0.3576308998038846
+                ],
+                "target_mouth_xy": [
+                  0.2731770046378615,
+                  -0.35722086498720484
+                ],
+                "gripper_position": [
+                  0.2719743301021569,
+                  -0.35763216317560453,
+                  1.0016080157283467
+                ],
+                "rod_tip_xy_dist": 0.0012622164386715544,
+                "target_xy_drift": 6.681121259804559e-08,
+                "depth": 0.019527063964237645,
+                "bottom_clearance": 0.07991349821197347,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006009689407249713,
+              "rod_tip_xy_max_step": 3.259936867482221e-05,
+              "rod_tip_xy_range": 0.0006009615014866784,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2714941591330412,
+            -0.3590091164492636,
+            1.0435036344510653
+          ],
+          "object_origin_world": [
+            0.2714941591330412,
+            -0.3590091164492636,
+            1.0435036344510653
+          ],
+          "frame_world": [
+            0.2714927023255221,
+            -0.3590147767357971,
+            1.043390174071258
+          ],
+          "center_minus_frame": [
+            1.4568075191179197e-06,
+            5.660286533537562e-06,
+            0.00011346037980741741
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2655241203868446,
+              0.1561450220706663,
+              0.8322319985003039
+            ],
+            "target_position": [
+              0.28015888498203834,
+              0.2022498184842082,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04837177469445257,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1674940546672953,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322319985003039,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674768569136,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13789344337906012,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21011603041537213,
+              0.02687267984617006,
+              1.0433382370315865
+            ],
+            "current_z": 1.0433382370315865,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18675184883231044,
+            "gripper_z": 1.0476457478498098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2050945250402856,
+              0.022182207315171912,
+              1.0476457478498098
+            ],
+            "object_minus_gripper": [
+              0.005021505375086527,
+              0.004690472530998149,
+              -0.004307510818223337
+            ],
+            "object_to_gripper_xy": 0.006871393511950183,
+            "object_to_gripper_z": -0.004307510818223337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21011603041537213,
+              0.0022744523484025483,
+              1.0433382370315865
+            ],
+            "finger_b": [
+              0.1988621496364662,
+              0.02687267984617006,
+              1.0433382370315865
+            ],
+            "finger_midpoint": [
+              0.20448909002591917,
+              0.014573566097286305,
+              1.0433382370315865
+            ],
+            "object_minus_finger_midpoint": [
+              0.005626940389452967,
+              0.012299113748883756,
+              0.0
+            ],
+            "finger_gap": 0.02705037206061599,
+            "fingertip_max_gap": 0.09439635011174954,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013525186030307996,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0433382370315865,
+            "object_top_z": 1.090286243600767,
+            "finger_top_clearance": 0.04694800656918052,
+            "fingertip_min_top_clearance": 0.014084401970754123,
+            "object_projection_between_fingers": 0.8269155173934231,
+            "object_to_finger_line_xy": 0.010233704697737798,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049698175055874774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4509985260356228,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2093317555038,
+              0.02551280158451409,
+              1.2408158716663942
+            ],
+            "held_position": [
+              0.21464485325720994,
+              0.029848949752988872,
+              1.2364755378722128
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008116014176994157,
+            "max_held_gripper_dist": 0.00811730159388865,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004340333794181417,
+            "max_held_gripper_z_dist": 0.004340366070928026,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08572188922823333,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21464485325720994,
+              0.004230707525345176,
+              1.2364755378722128
+            ],
+            "held_grasp_finger_b": [
+              0.20521313392820925,
+              0.029848949752988872,
+              1.2364755378722128
+            ],
+            "held_grasp_midpoint": [
+              0.2099289935927096,
+              0.017039828639167025,
+              1.2364755378722128
+            ],
+            "held_grasp_object_position": [
+              0.21464485325720994,
+              0.029848949752988872,
+              1.2364755378722128
+            ],
+            "held_grasp_finger_gap": 0.027299297872569395,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02505411693873189,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055443084437035675,
+              -0.9983917055119753,
+              0.011834980059005958
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00400136024149063,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03215024288530062,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.16530480499547906,
+              0.022842203452495102,
+              0.7565865347527618
+            ],
+            "target_position": [
+              0.18507338535518722,
+              0.02333528951921244,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.019774728906041417,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20402820213284872,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865347527618,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07604227762861734,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08931418870180903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17591293826167956,
+            "release_required_pad_clearance": 0.05465709435090452,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.356152278857261,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 340,
+            "max_placed_release_frames": 340
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b3e104025f0c7c5353d018c966cd4a75dfa3da0338610dde9eb1081c786cad9",
+    "visual_seed": 1129028537001613962,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..092b04026e3ee53e13ce7fe0bf8cc1b71aec63fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_34_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2089790246567523,
+              -0.13921460269702474,
+              1.1630206034978974
+            ],
+            "current_z": 1.1630206034978974,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3019141550877761,
+            "gripper_z": 1.1563435997184097,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20484987297649712,
+              -0.14365968967072107,
+              1.1563435997184097
+            ],
+            "object_minus_gripper": [
+              0.004129151680255183,
+              0.004445086973696333,
+              0.006677003779487656
+            ],
+            "object_to_gripper_xy": 0.006067016713532197,
+            "object_to_gripper_z": 0.006677003779487656,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2089790246567523,
+              -0.16261394087343284,
+              1.1630206034978974
+            ],
+            "finger_b": [
+              0.19853988908846412,
+              -0.13921460269702474,
+              1.1630206034978974
+            ],
+            "finger_midpoint": [
+              0.2037594568726082,
+              -0.1509142717852288,
+              1.1630206034978974
+            ],
+            "object_minus_finger_midpoint": [
+              0.005219567784144091,
+              0.011699669088204051,
+              0.0
+            ],
+            "finger_gap": 0.0256223452967719,
+            "fingertip_max_gap": 0.09218253364565251,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01281117264838595,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630206034978974,
+            "object_top_z": 1.2129612688082072,
+            "finger_top_clearance": 0.04994066531030983,
+            "fingertip_min_top_clearance": 0.01498219959309298,
+            "object_projection_between_fingers": 0.8340064106469351,
+            "object_to_finger_line_xy": 0.009533431097055766,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859126682282626,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9646113990016694,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2725033265892845,
+              -0.34997687725302673,
+              0.8515396035784495
+            ],
+            "target_position": [
+              0.2649814583458497,
+              -0.35038533611078376,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007532950319102956,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1862493115006074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396035784495,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530755645048354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577713734450641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15458561549919453,
+            "release_required_pad_clearance": 0.05288856867225321,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8175654593214402,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076157450675964355,
+            "max_z_decrease": 0.0076157450675964355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510994171007374,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076157450675964355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021089853638605383,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076157450675964355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007615770366212622,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12068138271570202,
+              -0.4066467881202698,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12068138271570202,
+              -0.4066467881202698,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1200611230556185,
+              -0.4053323499064686,
+              0.8075000696889734
+            ],
+            "closest_button": [
+              0.12066973000764843,
+              -0.40664276480674744,
+              0.7724198698997498
+            ],
+            "closest_ee_minus_button": [
+              -0.0006086069520299248,
+              0.0013104149002788334,
+              0.03508019978922361
+            ],
+            "button_min_z_position": [
+              0.12066200375556942,
+              -0.40664365887641907,
+              0.7691931128501892
+            ],
+            "min_active_finger_to_button": 0.14616663669483143,
+            "closest_active_finger": [
+              -0.00670265406370163,
+              -0.4695097506046295,
+              0.8110244870185852
+            ],
+            "closest_active_finger_button": [
+              0.12068231403827663,
+              -0.40664559602737427,
+              0.7765882611274719
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12738496810197825,
+              -0.06286415457725525,
+              0.03443622589111328
+            ],
+            "min_contact_pad_to_button": 0.021089853638605383,
+            "closest_contact_pad": [
+              0.12066200375556942,
+              -0.40664365887641907,
+              0.7902829664887946
+            ],
+            "closest_contact_pad_button": [
+              0.12066200375556942,
+              -0.40664365887641907,
+              0.7691931128501892
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021089853638605383
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2807289054103655,
+              0.2003099536133848,
+              1.102769412421965
+            ],
+            "current_z": 1.102769412421965,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19286028268760236,
+            "gripper_z": 1.1027695251679706,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2807288737662477,
+              0.2003099866178748,
+              1.1027695251679706
+            ],
+            "object_minus_gripper": [
+              3.1644117770568414e-08,
+              -3.30044900020976e-08,
+              -1.1274600564270543e-07
+            ],
+            "object_to_gripper_xy": 4.572358854875855e-08,
+            "object_to_gripper_z": -1.1274600564270543e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2807289054103655,
+              0.2003099536133848,
+              1.102769412421965
+            ],
+            "finger_b": [
+              0.2807289054103655,
+              0.2003099536133848,
+              1.102769412421965
+            ],
+            "finger_midpoint": [
+              0.2807289054103655,
+              0.2003099536133848,
+              1.102769412421965
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102769412421965,
+            "object_top_z": 1.2277779190422446,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2807289054103655,
+            0.20030995361338486,
+            1.102769412421965
+          ],
+          "object_origin_world": [
+            0.2807289054103655,
+            0.20030995361338486,
+            1.102769412421965
+          ],
+          "frame_world": [
+            0.2807288737662477,
+            0.2003099866178748,
+            1.1027695251679706
+          ],
+          "center_minus_frame": [
+            3.1644117770568414e-08,
+            -3.3004489946586446e-08,
+            -1.1274600564270543e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437523021421176,
+            "required_z": 0.9112598730197458,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011510294583455224,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.8690352494158675e-08,
+            "max_target_xy_drift": 1.993212263416694e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8175654620248188,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8175654622392525,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27138414032765057,
+              -0.349620997234893,
+              0.9234411607687815
+            ],
+            "target_mouth_xy": [
+              0.27250326519840123,
+              -0.3499769701729647
+            ],
+            "rod_tip_z": 0.9234411607687815,
+            "rod_tip_depth": -0.022181285845392917,
+            "rod_tip_bottom_clearance": 0.12162190637167103,
+            "rod_tip_xy_dist": 0.0011743752419785174,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0448536081031895,
+            "min_rod_tip_bottom_clearance": 0.05458694930727892,
+            "min_rod_tip_xy_dist": 0.0010450418440554868,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27250332361154234,
+              -0.3499769644753843
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.8413141101887334e-08,
+              -5.697580407471037e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0005227865691244116,
+                0.002012033778687139
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006354500762081328,
+                0.001637668917970292
+              ],
+              "first_target_mouth_xy": [
+                0.27250332157358975,
+                -0.34997696640220444
+              ],
+              "last_target_mouth_xy": [
+                0.27250335412250837,
+                -0.3499769394227501
+              ],
+              "first_rod_tip_xy": [
+                0.27198053500446534,
+                -0.3479649326235173
+              ],
+              "last_rod_tip_xy": [
+                0.27186790404630023,
+                -0.3483392705047798
+              ],
+              "min_rod_tip_xy_dist": 0.0017538731989150745,
+              "max_rod_tip_xy_dist": 0.002078842399855006,
+              "first_target_xy_drift": 2.804618800979221e-09,
+              "last_target_xy_drift": 3.9478519830415274e-08,
+              "max_depth": 0.01941500502746918,
+              "min_bottom_clearance": 0.08002556890834878
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0005227865691244116,
+                  0.002012033778687139
+                ],
+                "rod_tip_xy": [
+                  0.27198053500446534,
+                  -0.3479649326235173
+                ],
+                "target_mouth_xy": [
+                  0.27250332157358975,
+                  -0.34997696640220444
+                ],
+                "gripper_position": [
+                  0.2719693342088865,
+                  -0.3479719682942081,
+                  1.0061163675778917
+                ],
+                "rod_tip_xy_dist": 0.002078842399855006,
+                "target_xy_drift": 2.804618800979221e-09,
+                "depth": 0.015002699046104961,
+                "bottom_clearance": 0.08443790435306608,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0005340211664682792,
+                  0.0020049974383820612
+                ],
+                "rod_tip_xy": [
+                  0.2719693342088866,
+                  -0.34797196829420823
+                ],
+                "target_mouth_xy": [
+                  0.27250335537535486,
+                  -0.3499769657325903
+                ],
+                "gripper_position": [
+                  0.27196113160676194,
+                  -0.34797281132261826,
+                  1.0059933526408018
+                ],
+                "rod_tip_xy_dist": 0.0020748959815264883,
+                "target_xy_drift": 3.1788682782465894e-08,
+                "depth": 0.01514347055086962,
+                "bottom_clearance": 0.08429709516129413,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0005421889300469274,
+                  0.0020041265436718247
+                ],
+                "rod_tip_xy": [
+                  0.271961131606762,
+                  -0.3479728113226184
+                ],
+                "target_mouth_xy": [
+                  0.2725033205368089,
+                  -0.34997693786629025
+                ],
+                "gripper_position": [
+                  0.27196424891561805,
+                  -0.34803584929354864,
+                  1.0054718924677735
+                ],
+                "rod_tip_xy_dist": 0.0020761724492236685,
+                "target_xy_drift": 2.6786150734072995e-08,
+                "depth": 0.015266590198595664,
+                "bottom_clearance": 0.08417407084938466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0005390772418034651,
+                  0.0019410859944918868
+                ],
+                "rod_tip_xy": [
+                  0.2719642489156181,
+                  -0.34803584929354875
+                ],
+                "target_mouth_xy": [
+                  0.27250332615742157,
+                  -0.34997693528804064
+                ],
+                "gripper_position": [
+                  0.27195295791562357,
+                  -0.3480431983791653,
+                  1.0053314383632421
+                ],
+                "rod_tip_xy_dist": 0.00201455183865866,
+                "target_xy_drift": 2.9298165993380486e-08,
+                "depth": 0.01578802133001822,
+                "bottom_clearance": 0.08365258988353552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005503676152401882,
+                  0.0019337673517090814
+                ],
+                "rod_tip_xy": [
+                  0.2719529579156236,
+                  -0.3480431983791655
+                ],
+                "target_mouth_xy": [
+                  0.2725033255308638,
+                  -0.34997696573087456
+                ],
+                "gripper_position": [
+                  0.27194465186337036,
+                  -0.3480438050752677,
+                  1.005208471194563
+                ],
+                "rod_tip_xy_dist": 0.0020105622801696857,
+                "target_xy_drift": 2.293480052903979e-09,
+                "depth": 0.015928339865974306,
+                "bottom_clearance": 0.08351222430689409,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005587049979469683,
+                  0.0019331619211555018
+                ],
+                "rod_tip_xy": [
+                  0.27194465186337036,
+                  -0.34804380507526783
+                ],
+                "target_mouth_xy": [
+                  0.2725033568613173,
+                  -0.34997696699642333
+                ],
+                "gripper_position": [
+                  0.27194868373047765,
+                  -0.34810798323988734,
+                  1.0046878391625633
+                ],
+                "rod_tip_xy_dist": 0.0020122788793148307,
+                "target_xy_drift": 3.334521217015128e-08,
+                "depth": 0.016051425538066932,
+                "bottom_clearance": 0.08338917124463718,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000554643093894025,
+                  0.0018689840755156673
+                ],
+                "rod_tip_xy": [
+                  0.27194868373047765,
+                  -0.3481079832398875
+                ],
+                "target_mouth_xy": [
+                  0.27250332682437167,
+                  -0.3499769673154032
+                ],
+                "gripper_position": [
+                  0.2719371475328155,
+                  -0.3481150920710554,
+                  1.004547431040435
+                ],
+                "rod_tip_xy_dist": 0.0019495462128750602,
+                "target_xy_drift": 4.288120756071445e-09,
+                "depth": 0.016572001699114547,
+                "bottom_clearance": 0.08286859716238626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005661787241775795,
+                  0.0018618742932165477
+                ],
+                "rod_tip_xy": [
+                  0.27193714753281556,
+                  -0.34811509207105545
+                ],
+                "target_mouth_xy": [
+                  0.27250332625699314,
+                  -0.349976966364272
+                ],
+                "gripper_position": [
+                  0.27192869923516144,
+                  -0.34811574631192227,
+                  1.004424457963456
+                ],
+                "rod_tip_xy_dist": 0.0019460560709938372,
+                "target_xy_drift": 3.250585599910384e-09,
+                "depth": 0.016712401017266898,
+                "bottom_clearance": 0.0827281677591446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005746268807976795,
+                  0.0018612213295136626
+                ],
+                "rod_tip_xy": [
+                  0.2719286992351615,
+                  -0.3481157463119224
+                ],
+                "target_mouth_xy": [
+                  0.2725033261159592,
+                  -0.34997696764143604
+                ],
+                "gripper_position": [
+                  0.27193333866522545,
+                  -0.34818109462609403,
+                  1.0039058801921277
+                ],
+                "rod_tip_xy_dist": 0.001947906796941752,
+                "target_xy_drift": 4.03682888180827e-09,
+                "depth": 0.016835382864897497,
+                "bottom_clearance": 0.08260519986473103,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005699847679019876,
+                  0.0017958714408531917
+                ],
+                "rod_tip_xy": [
+                  0.2719333386652255,
+                  -0.3481810946260941
+                ],
+                "target_mouth_xy": [
+                  0.2725033234331275,
+                  -0.3499769660669473
+                ],
+                "gripper_position": [
+                  0.2719218752289606,
+                  -0.3481880564076337,
+                  1.0037656424630246
+                ],
+                "rod_tip_xy_dist": 0.0018841541517913023,
+                "target_xy_drift": 1.601531958378073e-09,
+                "depth": 0.0173539109636911,
+                "bottom_clearance": 0.08208663169324626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005814518987052875,
+                  0.0017889099505923878
+                ],
+                "rod_tip_xy": [
+                  0.2719218752289606,
+                  -0.3481880564076337
+                ],
+                "target_mouth_xy": [
+                  0.2725033271276659,
+                  -0.34997696635822606
+                ],
+                "gripper_position": [
+                  0.27191337642794494,
+                  -0.348188694076893,
+                  1.0036426989258203
+                ],
+                "rod_tip_xy_dist": 0.0018810329932875828,
+                "target_xy_drift": 3.988510751905197e-09,
+                "depth": 0.01749425604075361,
+                "bottom_clearance": 0.08194634603658368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005899451453716398,
+                  0.0017882726399341409
+                ],
+                "rod_tip_xy": [
+                  0.271913376427945,
+                  -0.34818869407689307
+                ],
+                "target_mouth_xy": [
+                  0.27250332157331664,
+                  -0.3499769667168272
+                ],
+                "gripper_position": [
+                  0.27191887159347516,
+                  -0.34825435060753934,
+                  1.0031273297970607
+                ],
+                "rod_tip_xy_dist": 0.0018830704472442307,
+                "target_xy_drift": 3.029592442184306e-09,
+                "depth": 0.01761713812811183,
+                "bottom_clearance": 0.08182345421584647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005845145801219309,
+                  0.0017225868946942335
+                ],
+                "rod_tip_xy": [
+                  0.2719188715934752,
+                  -0.34825435060753934
+                ],
+                "target_mouth_xy": [
+                  0.27250338617359715,
+                  -0.3499769375022336
+                ],
+                "gripper_position": [
+                  0.2719072135829886,
+                  -0.3482611013333929,
+                  1.002987449067272
+                ],
+                "rod_tip_xy_dist": 0.001819055497819525,
+                "target_xy_drift": 6.81290067591964e-08,
+                "depth": 0.018132508775119516,
+                "bottom_clearance": 0.08130807975631693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00059614154635107,
+                  0.0017158650259829211
+                ],
+                "rod_tip_xy": [
+                  0.27190721358298864,
+                  -0.3482611013333931
+                ],
+                "target_mouth_xy": [
+                  0.2725033551293397,
+                  -0.34997696635937603
+                ],
+                "gripper_position": [
+                  0.2718983685088152,
+                  -0.3482619379246313,
+                  1.0028646418327303
+                ],
+                "rod_tip_xy_dist": 0.0018164739278825931,
+                "target_xy_drift": 3.15740554262392e-08,
+                "depth": 0.018272316288270418,
+                "bottom_clearance": 0.08116821734258328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0006050189844191145,
+                  0.0017149963964823711
+                ],
+                "rod_tip_xy": [
+                  0.2718983685088152,
+                  -0.3482619379246314
+                ],
+                "target_mouth_xy": [
+                  0.27250338749323433,
+                  -0.34997693432111376
+                ],
+                "gripper_position": [
+                  0.27188971015583946,
+                  -0.3482623142632297,
+                  1.0027419503985413
+                ],
+                "rod_tip_xy_dist": 0.0018185875319750367,
+                "target_xy_drift": 7.064099802967058e-08,
+                "depth": 0.018395302749028786,
+                "bottom_clearance": 0.08104540934635895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000613643551181764,
+                  0.001714653057066029
+                ],
+                "rod_tip_xy": [
+                  0.27188971015583946,
+                  -0.3482623142632298
+                ],
+                "target_mouth_xy": [
+                  0.2725033537070212,
+                  -0.3499769673202958
+                ],
+                "gripper_position": [
+                  0.27188087502699,
+                  -0.34826310453421105,
+                  1.0026193955260287
+                ],
+                "rod_tip_xy_dist": 0.0018211516998901671,
+                "target_xy_drift": 3.022964391172228e-08,
+                "depth": 0.0185178842558249,
+                "bottom_clearance": 0.0809226364102058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0006224793766169134,
+                  0.0017138602468789732
+                ],
+                "rod_tip_xy": [
+                  0.27188087502699004,
+                  -0.3482631045342111
+                ],
+                "target_mouth_xy": [
+                  0.27250335440360696,
+                  -0.3499769647810901
+                ],
+                "gripper_position": [
+                  0.27188849820489713,
+                  -0.34833219846913505,
+                  1.0021065019825124
+                ],
+                "rod_tip_xy_dist": 0.0018234027311994014,
+                "target_xy_drift": 3.079358211728362e-08,
+                "depth": 0.01864045221030375,
+                "bottom_clearance": 0.08080011112978858,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0006148561554129572,
+                  0.0016447996095331763
+                ],
+                "rod_tip_xy": [
+                  0.2718884982048972,
+                  -0.34833219846913516
+                ],
+                "target_mouth_xy": [
+                  0.27250335436031015,
+                  -0.34997699807866833
+                ],
+                "gripper_position": [
+                  0.2718767711652683,
+                  -0.34833880697454916,
+                  1.001967113788309
+                ],
+                "rod_tip_xy_dist": 0.0017559652181548732,
+                "target_xy_drift": 4.554851721377522e-08,
+                "depth": 0.01915333730144908,
+                "bottom_clearance": 0.08028720703468883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0006265834388184399,
+                  0.001638128319781773
+                ],
+                "rod_tip_xy": [
+                  0.27187677116526837,
+                  -0.3483388069745494
+                ],
+                "target_mouth_xy": [
+                  0.2725033546040868,
+                  -0.34997693529433116
+                ],
+                "gripper_position": [
+                  0.27186790404630023,
+                  -0.34833927050477975,
+                  1.001844851887627
+                ],
+                "rod_tip_xy_dist": 0.0017538731989150745,
+                "target_xy_drift": 4.256843519314796e-08,
+                "depth": 0.0192927298199701,
+                "bottom_clearance": 0.08014782967928857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0006354500762081328,
+                  0.001637668917970292
+                ],
+                "rod_tip_xy": [
+                  0.27186790404630023,
+                  -0.3483392705047798
+                ],
+                "target_mouth_xy": [
+                  0.27250335412250837,
+                  -0.3499769394227501
+                ],
+                "gripper_position": [
+                  0.27185905292977974,
+                  -0.3483397220460863,
+                  1.001721941175142
+                ],
+                "rod_tip_xy_dist": 0.0017566320856226294,
+                "target_xy_drift": 3.9478519830415274e-08,
+                "depth": 0.01941500502746918,
+                "bottom_clearance": 0.08002556890834878,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006019851989014925,
+              "rod_tip_xy_max_step": 3.2507818758193906e-05,
+              "rod_tip_xy_range": 0.0006019806594127334,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27138414032765057,
+            -0.3496209972348929,
+            1.0434411607687817
+          ],
+          "object_origin_world": [
+            0.27138414032765057,
+            -0.3496209972348929,
+            1.0434411607687817
+          ],
+          "frame_world": [
+            0.27140945621063706,
+            -0.3496185699605408,
+            1.0437523021421176
+          ],
+          "center_minus_frame": [
+            -2.531588298648746e-05,
+            -2.427274352123643e-06,
+            -0.000311141373335877
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2675606454641926,
+              0.15349933303519203,
+              0.8318190798998446
+            ],
+            "target_position": [
+              0.28088908452992606,
+              0.20049980728324535,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048853780482895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1699981982167835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318190798998446,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671689209326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13980071243772438,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 302,
+            "max_placed_release_frames": 302
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21638146743461184,
+              0.019391366325727404,
+              1.0443524483879287
+            ],
+            "current_z": 1.0443524483879287,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.1877658813747184,
+            "gripper_z": 1.0488716163208942,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21171389372360394,
+              0.014734132489000698,
+              1.0488716163208942
+            ],
+            "object_minus_gripper": [
+              0.0046675737110079,
+              0.0046572338367267055,
+              -0.004519167932965473
+            ],
+            "object_to_gripper_xy": 0.006593638703905773,
+            "object_to_gripper_z": -0.004519167932965473,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21638146743461184,
+              -0.004666342076544107,
+              1.0443524483879287
+            ],
+            "finger_b": [
+              0.20483139926341964,
+              0.019391366325727404,
+              1.0443524483879287
+            ],
+            "finger_midpoint": [
+              0.21060643334901574,
+              0.007362512124591648,
+              1.0443524483879287
+            ],
+            "object_minus_finger_midpoint": [
+              0.005775034085596098,
+              0.012028854201135756,
+              0.0
+            ],
+            "finger_gap": 0.026686652250290075,
+            "fingertip_max_gap": 0.09265997338195142,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343326125145038,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0443524483879287,
+            "object_top_z": 1.0905586501622033,
+            "finger_top_clearance": 0.04620620177427459,
+            "fingertip_min_top_clearance": 0.01386186053228236,
+            "object_projection_between_fingers": 0.8126814004499241,
+            "object_to_finger_line_xy": 0.010412252892675167,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882998669097571,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9330628838391891,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21594408333404894,
+              0.017780469311951944,
+              1.2432912221669195
+            ],
+            "held_position": [
+              0.22099764656027926,
+              0.02197911054264513,
+              1.2387323076412702
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007996923853442656,
+            "max_held_gripper_dist": 0.007998999647729066,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004558914525649271,
+            "max_held_gripper_z_dist": 0.004558914525649271,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612085808729099,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22099764656027926,
+              -0.0035176641336062023,
+              1.2387323076412702
+            ],
+            "held_grasp_finger_b": [
+              0.21176728595737832,
+              0.02197911054264513,
+              1.2387323076412702
+            ],
+            "held_grasp_midpoint": [
+              0.2163824662588288,
+              0.009230723204519464,
+              1.2387323076412702
+            ],
+            "held_grasp_object_position": [
+              0.22099764656027926,
+              0.02197911054264513,
+              1.2387323076412702
+            ],
+            "held_grasp_finger_gap": 0.02711614050249624,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02463611847279451,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08351172860636105,
+              -0.9964774825447955,
+              0.0076431646825350094
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003535802243944081,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211132235980521,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17838685224940357,
+              0.00750387043509013,
+              0.7565865736574189
+            ],
+            "target_position": [
+              0.1920561870805555,
+              0.018718125060389123,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017680786790388692,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20790654118468646,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865736574189,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07625787774635027,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653677816647971,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17618255338706376,
+            "release_required_pad_clearance": 0.05326838908323986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.555663742186729,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 295,
+            "max_placed_release_frames": 295
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0b79b85e52fbd65ae4d7760f2faa5c2ee4980c66a95874ab45a7e4a15f0255d",
+    "visual_seed": 4348291484041724509,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfbc6f2cb0a12c1094fe4f0613473b80e4cc4627
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_35_success.json
@@ -0,0 +1,2670 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21032157756785336,
+              -0.14166704873800834,
+              1.1660120882395058
+            ],
+            "current_z": 1.1660120882395058,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.30490569943402923,
+            "gripper_z": 1.1596091117418073,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20590612502310324,
+              -0.14609133380893963,
+              1.1596091117418073
+            ],
+            "object_minus_gripper": [
+              0.00441545254475012,
+              0.004424285070931289,
+              0.006402976497698498
+            ],
+            "object_to_gripper_xy": 0.00625064153217938,
+            "object_to_gripper_z": 0.006402976497698498,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21032157756785336,
+              -0.16541498328044174,
+              1.1660120882395058
+            ],
+            "finger_b": [
+              0.2001747189566394,
+              -0.14166704873800834,
+              1.1660120882395058
+            ],
+            "finger_midpoint": [
+              0.20524814826224638,
+              -0.15354101600922504,
+              1.1660120882395058
+            ],
+            "object_minus_finger_midpoint": [
+              0.005073429305606975,
+              0.011873967271216701,
+              0.0
+            ],
+            "finger_gap": 0.025824854979412143,
+            "fingertip_max_gap": 0.09261532777904397,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012912427489706071,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660120882395058,
+            "object_top_z": 1.2161369321703737,
+            "finger_top_clearance": 0.05012484393086791,
+            "fingertip_min_top_clearance": 0.015037453179260373,
+            "object_projection_between_fingers": 0.8456212802977716,
+            "object_to_finger_line_xy": 0.009330814608737867,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048807663889521985,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0413708546265052,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27391900983817724,
+              -0.35300617241192345,
+              0.8515395458148116
+            ],
+            "target_position": [
+              0.26785470525617866,
+              -0.3525576237065961,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006080870497247892,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182442489727539,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395458148116,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536923191579104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716171155111015,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15062557370074156,
+            "release_required_pad_clearance": 0.053580855775555075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1724902700429713,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007474839687347412,
+            "max_z_decrease": 0.007474839687347412,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035143054988085114,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007474839687347412,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021144526015493215,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007474839687347412,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074748613101456056,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12355463206768035,
+              -0.4088190793991088,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12355463206768035,
+              -0.4088190793991088,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12499928784782449,
+              -0.40937181841786413,
+              0.808166907386897
+            ],
+            "closest_button": [
+              0.12354876101016997,
+              -0.40881749987602223,
+              0.7730581760406494
+            ],
+            "closest_ee_minus_button": [
+              0.0014505268376545227,
+              -0.0005543185418419028,
+              0.03510873134624759
+            ],
+            "button_min_z_position": [
+              0.12353669852018355,
+              -0.40881779789924616,
+              0.7693340182304382
+            ],
+            "min_active_finger_to_button": 0.14474131412654934,
+            "closest_active_finger": [
+              -0.01600077748298645,
+              -0.39169299602508545,
+              0.8106760382652283
+            ],
+            "closest_active_finger_button": [
+              0.12355411797761916,
+              -0.4088186621665954,
+              0.7763075828552246
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13955489546060562,
+              0.017125666141509954,
+              0.03436845541000366
+            ],
+            "min_contact_pad_to_button": 0.021144526015493215,
+            "closest_contact_pad": [
+              0.12353669852018355,
+              -0.41054538095646986,
+              0.7904078512277898
+            ],
+            "closest_contact_pad_button": [
+              0.12353669852018355,
+              -0.40881779789924616,
+              0.7693340182304382
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017275830572237028,
+              0.02107383299735155
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28015529998645194,
+              0.19928943709868524,
+              1.1044820386395129
+            ],
+            "current_z": 1.1044820386395129,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19457290890515033,
+            "gripper_z": 1.1044820299068128,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.280155219373726,
+              0.1992897002947666,
+              1.1044820299068128
+            ],
+            "object_minus_gripper": [
+              8.061272593895552e-08,
+              -2.6319608134595107e-07,
+              8.732700118585512e-09
+            ],
+            "object_to_gripper_xy": 2.7526457966686097e-07,
+            "object_to_gripper_z": 8.732700118585512e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28015529998645194,
+              0.19928943709868524,
+              1.1044820386395129
+            ],
+            "finger_b": [
+              0.28015529998645194,
+              0.19928943709868524,
+              1.1044820386395129
+            ],
+            "finger_midpoint": [
+              0.28015529998645194,
+              0.19928943709868524,
+              1.1044820386395129
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1044820386395129,
+            "object_top_z": 1.2294905452597926,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28015529998645194,
+            0.19928943709868527,
+            1.104482038639513
+          ],
+          "object_origin_world": [
+            0.28015529998645194,
+            0.19928943709868527,
+            1.104482038639513
+          ],
+          "frame_world": [
+            0.280155219373726,
+            0.1992897002947666,
+            1.1044820299068128
+          ],
+          "center_minus_frame": [
+            8.061272593895552e-08,
+            -2.631960813181955e-07,
+            8.732700340630117e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043384477729499,
+            "required_z": 0.9112598980326765,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020433807293663937,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.2532290006691194e-09,
+            "max_target_xy_drift": 1.2641194593347398e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.172490270981498,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1728505321223412,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2753419068467537,
+              -0.351532755667168,
+              0.9234978197709883
+            ],
+            "target_mouth_xy": [
+              0.27391897849366187,
+              -0.3530062368630541
+            ],
+            "rod_tip_z": 0.9234978197709883,
+            "rod_tip_depth": -0.022237990673223296,
+            "rod_tip_bottom_clearance": 0.12167851837578803,
+            "rod_tip_xy_dist": 0.002048382760292249,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04484301085918885,
+            "min_rod_tip_bottom_clearance": 0.05459774190420097,
+            "min_rod_tip_xy_dist": 0.00027566781534140106,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2739189800400068,
+              -0.3530062352241953
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.5463449409836016e-09,
+              -1.6388588264248938e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0019032996737330388,
+                0.003175415302767881
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0018141873899145677,
+                0.0027815363487372347
+              ],
+              "first_target_mouth_xy": [
+                0.27391901127536866,
+                -0.3530062012846579
+              ],
+              "last_target_mouth_xy": [
+                0.273919010603617,
+                -0.3530062352241329
+              ],
+              "first_rod_tip_xy": [
+                0.2758223109491017,
+                -0.34983078598189
+              ],
+              "last_rod_tip_xy": [
+                0.2757331979935316,
+                -0.35022469887539565
+              ],
+              "min_rod_tip_xy_dist": 0.0033208764423072862,
+              "max_rod_tip_xy_dist": 0.0037021361391883912,
+              "first_target_xy_drift": 4.612526454310184e-08,
+              "last_target_xy_drift": 3.0563610198327943e-08,
+              "max_depth": 0.019634479249299175,
+              "min_bottom_clearance": 0.07980613158236205
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0019032996737330388,
+                  0.003175415302767881
+                ],
+                "rod_tip_xy": [
+                  0.2758223109491017,
+                  -0.34983078598189
+                ],
+                "target_mouth_xy": [
+                  0.27391901127536866,
+                  -0.3530062012846579
+                ],
+                "gripper_position": [
+                  0.2758110364796037,
+                  -0.3498384719714526,
+                  1.005926084699214
+                ],
+                "rod_tip_xy_dist": 0.0037021361391883912,
+                "target_xy_drift": 4.612526454310184e-08,
+                "depth": 0.015190754642062099,
+                "bottom_clearance": 0.0842500348813987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0018920253824395994,
+                  0.0031677622808452544
+                ],
+                "rod_tip_xy": [
+                  0.2758110364796037,
+                  -0.3498384719714527
+                ],
+                "target_mouth_xy": [
+                  0.2739190110971641,
+                  -0.35300623425229793
+                ],
+                "gripper_position": [
+                  0.27581843915417426,
+                  -0.3499038271448644,
+                  1.0054057406463783
+                ],
+                "rod_tip_xy_dist": 0.00368978019883863,
+                "target_xy_drift": 3.107236076318774e-08,
+                "depth": 0.015333840130879017,
+                "bottom_clearance": 0.0841068251280418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0018994302277574593,
+                  0.003102407784424943
+                ],
+                "rod_tip_xy": [
+                  0.27581843915417426,
+                  -0.34990382714486445
+                ],
+                "target_mouth_xy": [
+                  0.2739190089264168,
+                  -0.3530062349292894
+                ],
+                "gripper_position": [
+                  0.2758070957284312,
+                  -0.3499111582522466,
+                  1.0052629356114722
+                ],
+                "rod_tip_xy_dist": 0.003637687349261786,
+                "target_xy_drift": 2.8887915317108317e-08,
+                "depth": 0.015854096454340105,
+                "bottom_clearance": 0.08358646310050366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0018880854309746842,
+                  0.0030950734902694954
+                ],
+                "rod_tip_xy": [
+                  0.2758070957284312,
+                  -0.3499111582522466
+                ],
+                "target_mouth_xy": [
+                  0.2739190102974565,
+                  -0.3530062317425161
+                ],
+                "gripper_position": [
+                  0.2757987478150321,
+                  -0.34991219604274404,
+                  1.0051378346182103
+                ],
+                "rod_tip_xy_dist": 0.0036255132746726847,
+                "target_xy_drift": 3.0457106772023065e-08,
+                "depth": 0.01599708855646431,
+                "bottom_clearance": 0.08344364030639195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001879766567375818,
+                  0.003094037590941845
+                ],
+                "rod_tip_xy": [
+                  0.2757987478150321,
+                  -0.34991219604274415
+                ],
+                "target_mouth_xy": [
+                  0.2739189812476563,
+                  -0.353006233633686
+                ],
+                "gripper_position": [
+                  0.2758071006888765,
+                  -0.34997893418523435,
+                  1.0046175036929865
+                ],
+                "rod_tip_xy_dist": 0.0036203026064108345,
+                "target_xy_drift": 1.9970320570278004e-09,
+                "depth": 0.0161221010978011,
+                "bottom_clearance": 0.08331858539892278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0018880912470497502,
+                  0.003027302339160043
+                ],
+                "rod_tip_xy": [
+                  0.2758071006888765,
+                  -0.3499789341852344
+                ],
+                "target_mouth_xy": [
+                  0.27391900944182673,
+                  -0.35300623652439445
+                ],
+                "gripper_position": [
+                  0.27579562747533753,
+                  -0.3499861652664531,
+                  1.0044751298826096
+                ],
+                "rod_tip_xy_dist": 0.0035678351993708663,
+                "target_xy_drift": 2.9430554406561565e-08,
+                "depth": 0.016642388969894673,
+                "bottom_clearance": 0.08279817274239487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018766455627607925,
+                  0.003020069018625726
+                ],
+                "rod_tip_xy": [
+                  0.27579562747533753,
+                  -0.3499861652664531
+                ],
+                "target_mouth_xy": [
+                  0.27391898191257674,
+                  -0.3530062342850788
+                ],
+                "gripper_position": [
+                  0.27578716535745534,
+                  -0.34998713303776424,
+                  1.0043497396328644
+                ],
+                "rod_tip_xy_dist": 0.003555645573660672,
+                "target_xy_drift": 2.0948646402469878e-09,
+                "depth": 0.016784798861115502,
+                "bottom_clearance": 0.08265588810604674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0018681543672008916,
+                  0.0030191012473076984
+                ],
+                "rod_tip_xy": [
+                  0.27578716535745534,
+                  -0.3499871330377643
+                ],
+                "target_mouth_xy": [
+                  0.27391901099025445,
+                  -0.353006234285072
+                ],
+                "gripper_position": [
+                  0.27579631488189416,
+                  -0.3500545313669318,
+                  1.0038319369898239
+                ],
+                "rod_tip_xy_dist": 0.003550348304207161,
+                "target_xy_drift": 3.096449227209165e-08,
+                "depth": 0.0169101838220701,
+                "bottom_clearance": 0.08253047625135601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0018773061293905213,
+                  0.002951703921514559
+                ],
+                "rod_tip_xy": [
+                  0.27579631488189416,
+                  -0.35005453136693176
+                ],
+                "target_mouth_xy": [
+                  0.27391900875250363,
+                  -0.3530062352884463
+                ],
+                "gripper_position": [
+                  0.2757847938298879,
+                  -0.3500618290386271,
+                  1.003689416641939
+                ],
+                "rod_tip_xy_dist": 0.0034981186863415094,
+                "target_xy_drift": 2.871256871298879e-08,
+                "depth": 0.01742789232371711,
+                "bottom_clearance": 0.08201264743420988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0018657835775379161,
+                  0.002944372584235855
+                ],
+                "rod_tip_xy": [
+                  0.2757847938298879,
+                  -0.35006182903862715
+                ],
+                "target_mouth_xy": [
+                  0.27391901025235,
+                  -0.353006201622863
+                ],
+                "gripper_position": [
+                  0.27577617215530115,
+                  -0.35006264122222464,
+                  1.0035647225436273
+                ],
+                "rod_tip_xy_dist": 0.0034857536162227402,
+                "target_xy_drift": 4.518667072332247e-08,
+                "depth": 0.01757055335500113,
+                "bottom_clearance": 0.08187018563058623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001857163891910485,
+                  0.0029435626421494554
+                ],
+                "rod_tip_xy": [
+                  0.27577617215530115,
+                  -0.35006264122222464
+                ],
+                "target_mouth_xy": [
+                  0.27391900826339066,
+                  -0.3530062038643741
+                ],
+                "gripper_position": [
+                  0.27576734173943246,
+                  -0.35006363684141406,
+                  1.00343943569092
+                ],
+                "rod_tip_xy_dist": 0.0034804624333088243,
+                "target_xy_drift": 4.219001991918059e-08,
+                "depth": 0.017695073037835796,
+                "bottom_clearance": 0.08174550883770726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0018483307898995438,
+                  0.002942534631827698
+                ],
+                "rod_tip_xy": [
+                  0.27576734173943246,
+                  -0.35006363684141417
+                ],
+                "target_mouth_xy": [
+                  0.2739190109495329,
+                  -0.35300617147324187
+                ],
+                "gripper_position": [
+                  0.27577815074274536,
+                  -0.3501333393402975,
+                  1.0029233098130295
+                ],
+                "rod_tip_xy_dist": 0.0034748865835298906,
+                "target_xy_drift": 7.08490145599848e-08,
+                "depth": 0.017820605305151394,
+                "bottom_clearance": 0.08162017246383357,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0018591712251491699,
+                  0.0028728958838621366
+                ],
+                "rod_tip_xy": [
+                  0.27577815074274536,
+                  -0.35013333934029756
+                ],
+                "target_mouth_xy": [
+                  0.2739189795175962,
+                  -0.3530062352241597
+                ],
+                "gripper_position": [
+                  0.2757664652554869,
+                  -0.3501405896608333,
+                  1.002781065863166
+                ],
+                "rod_tip_xy_dist": 0.0034219947989344857,
+                "target_xy_drift": 5.224106159790203e-10,
+                "depth": 0.01833652480521919,
+                "bottom_clearance": 0.08110403839282965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0018474546282837845,
+                  0.00286558150416083
+                ],
+                "rod_tip_xy": [
+                  0.2757664652554869,
+                  -0.3501405896608333
+                ],
+                "target_mouth_xy": [
+                  0.27391901062720314,
+                  -0.3530061711649941
+                ],
+                "gripper_position": [
+                  0.2757576137862675,
+                  -0.35014146638987526,
+                  1.0026557952506592
+                ],
+                "rod_tip_xy_dist": 0.0034094935049880683,
+                "target_xy_drift": 7.098702581043986e-08,
+                "depth": 0.018478978379093958,
+                "bottom_clearance": 0.08096179888797561,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001838631975952132,
+                  0.0028647976558368593
+                ],
+                "rod_tip_xy": [
+                  0.27575761378626745,
+                  -0.3501414663898753
+                ],
+                "target_mouth_xy": [
+                  0.2739189818103153,
+                  -0.35300626404571217
+                ],
+                "gripper_position": [
+                  0.2757487272166942,
+                  -0.35014224495616164,
+                  1.0025310916543886
+                ],
+                "rod_tip_xy_dist": 0.003404061273226733,
+                "target_xy_drift": 2.887583467833901e-08,
+                "depth": 0.018604133503402287,
+                "bottom_clearance": 0.08083655121751188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0018297182036107196,
+                  0.0028639902889754376
+                ],
+                "rod_tip_xy": [
+                  0.2757487272166942,
+                  -0.35014224495616164
+                ],
+                "target_mouth_xy": [
+                  0.27391900901308347,
+                  -0.3530062352451371
+                ],
+                "gripper_position": [
+                  0.27573983782039363,
+                  -0.3501430803387093,
+                  1.0024062096404778
+                ],
+                "rod_tip_xy_dist": 0.003398574565898187,
+                "target_xy_drift": 2.8973084228444952e-08,
+                "depth": 0.018728740345407946,
+                "bottom_clearance": 0.08071181068917843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0018208284092806615,
+                  0.0028631510924980175
+                ],
+                "rod_tip_xy": [
+                  0.27573983782039363,
+                  -0.35014308033870933
+                ],
+                "target_mouth_xy": [
+                  0.27391900941111297,
+                  -0.35300623143120735
+                ],
+                "gripper_position": [
+                  0.27573096510936135,
+                  -0.3501439445998553,
+                  1.0022816354553385
+                ],
+                "rod_tip_xy_dist": 0.0033930886039884272,
+                "target_xy_drift": 2.9615006911227923e-08,
+                "depth": 0.018853813715102752,
+                "bottom_clearance": 0.08058689383211848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0018119557633078376,
+                  0.0028622890651838206
+                ],
+                "rod_tip_xy": [
+                  0.27573096510936135,
+                  -0.3501439445998553
+                ],
+                "target_mouth_xy": [
+                  0.2739190093460535,
+                  -0.35300623366503914
+                ],
+                "gripper_position": [
+                  0.27574484038297464,
+                  -0.3502174921943336,
+                  1.0017676847552481
+                ],
+                "rod_tip_xy_dist": 0.0033876071762905685,
+                "target_xy_drift": 2.934749292651971e-08,
+                "depth": 0.018978227655607194,
+                "bottom_clearance": 0.08046239444801273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0018258304958054805,
+                  0.002788679930033011
+                ],
+                "rod_tip_xy": [
+                  0.27574484038297464,
+                  -0.3502174921943336
+                ],
+                "target_mouth_xy": [
+                  0.27391900988716916,
+                  -0.35300617212436664
+                ],
+                "gripper_position": [
+                  0.27573319799353163,
+                  -0.35022469887539565,
+                  1.0016253647339286
+                ],
+                "rod_tip_xy_dist": 0.003333225577662305,
+                "target_xy_drift": 6.980287583547726e-08,
+                "depth": 0.019492217455405858,
+                "bottom_clearance": 0.07994849668499515,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0018141873899145677,
+                  0.0027815363487372347
+                ],
+                "rod_tip_xy": [
+                  0.2757331979935316,
+                  -0.35022469887539565
+                ],
+                "target_mouth_xy": [
+                  0.273919010603617,
+                  -0.3530062352241329
+                ],
+                "gripper_position": [
+                  0.27572423832160675,
+                  -0.3502252842037784,
+                  1.0015010312056156
+                ],
+                "rod_tip_xy_dist": 0.0033208764423072862,
+                "target_xy_drift": 3.0563610198327943e-08,
+                "depth": 0.019634479249299175,
+                "bottom_clearance": 0.07980613158236205,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006038751860033541,
+              "rod_tip_xy_max_step": 3.2805296108608026e-05,
+              "rod_tip_xy_range": 0.0006038722824242107,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2753419068467537,
+            -0.351532755667168,
+            1.0434978197709883
+          ],
+          "object_origin_world": [
+            0.2753419068467537,
+            -0.351532755667168,
+            1.0434978197709883
+          ],
+          "frame_world": [
+            0.27534036118066796,
+            -0.35153821913079564,
+            1.043384477729499
+          ],
+          "center_minus_frame": [
+            1.54566608573381e-06,
+            5.463463627619625e-06,
+            0.00011334204148938376
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26760001863088345,
+              0.15236503501554555,
+              0.8324561354304073
+            ],
+            "target_position": [
+              0.2803248497180633,
+              0.1982811222718911,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047646703927235065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16888893932604962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324561354304073,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673713997773,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13777101794825536,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21107590331708276,
+              0.02099135560076,
+              1.0449305542333918
+            ],
+            "current_z": 1.0449305542333918,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18834410642947097,
+            "gripper_z": 1.0491047785598941,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20660997077253368,
+              0.016556133058915137,
+              1.0491047785598941
+            ],
+            "object_minus_gripper": [
+              0.004465932544549078,
+              0.004435222541844863,
+              -0.004174224326502385
+            ],
+            "object_to_gripper_xy": 0.006294104581920403,
+            "object_to_gripper_z": -0.004174224326502385,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21107590331708276,
+              -0.0031453807368530757,
+              1.0449305542333918
+            ],
+            "finger_b": [
+              0.20012103992052,
+              0.02099135560076,
+              1.0449305542333918
+            ],
+            "finger_midpoint": [
+              0.20559847161880138,
+              0.008922987431953463,
+              1.0449305542333918
+            ],
+            "object_minus_finger_midpoint": [
+              0.005477431698281382,
+              0.012068368168806538,
+              0.0
+            ],
+            "finger_gap": 0.026506434559721574,
+            "fingertip_max_gap": 0.09241265981950744,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013253217279860787,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449305542333918,
+            "object_top_z": 1.091110022633484,
+            "finger_top_clearance": 0.04617946840009224,
+            "fingertip_min_top_clearance": 0.013853840520027704,
+            "object_projection_between_fingers": 0.8291907816118828,
+            "object_to_finger_line_xy": 0.009975489114601659,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870632990975372,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7654024802416047,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21076581546261247,
+              0.019747014044506878,
+              1.2423984750942978
+            ],
+            "held_position": [
+              0.21553774788933372,
+              0.02382728223276231,
+              1.2381975417817983
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007554321165356351,
+            "max_held_gripper_dist": 0.007556159213229219,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0042009333124994885,
+            "max_held_gripper_z_dist": 0.004201044344217086,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08534848096591419,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21553774788933372,
+              -0.001505858130204804,
+              1.2381975417817983
+            ],
+            "held_grasp_finger_b": [
+              0.2066300022469955,
+              0.023879850190113256,
+              1.2381975417817983
+            ],
+            "held_grasp_midpoint": [
+              0.21108387506816462,
+              0.011186996029954226,
+              1.2381975417817983
+            ],
+            "held_grasp_object_position": [
+              0.21553774788933372,
+              0.02382728223276231,
+              1.2381975417817983
+            ],
+            "held_grasp_finger_gap": 0.02690319905425489,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024663406906136928,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07338899447518811,
+              -0.9972988376930847,
+              0.0030139386097656207
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035144164279748676,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032267216979776366,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18782189215715067,
+              0.023228980977671166,
+              0.7565865495883632
+            ],
+            "target_position": [
+              0.18685369847126515,
+              0.020629794929127164,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0027736559138318464,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21497779621299495,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865495883632,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07594373348399941,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08766410725898925,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18538400004828803,
+            "release_required_pad_clearance": 0.05383205362949463,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6732397865347557,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 328,
+            "max_placed_release_frames": 328
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a98f8a9e6d91208db907bc9f7e331d17e96c16d9ca6b4c777083870509f9a6a",
+    "visual_seed": 5361744483525175007,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..332d56662681c401775b7c63813255fe9bc1d2e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_36_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21964989695817913,
+              -0.1381212789637442,
+              1.1653877701631468
+            ],
+            "current_z": 1.1653877701631468,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3042810833344466,
+            "gripper_z": 1.1585968361691006,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21539932582934415,
+              -0.14250139616013408,
+              1.1585968361691006
+            ],
+            "object_minus_gripper": [
+              0.004250571128834979,
+              0.0043801171963898655,
+              0.006790933994046178
+            ],
+            "object_to_gripper_xy": 0.006103505679148311,
+            "object_to_gripper_z": 0.006790933994046178,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21964989695817913,
+              -0.16173730816224338,
+              1.1653877701631468
+            ],
+            "finger_b": [
+              0.20962000578277243,
+              -0.1381212789637442,
+              1.1653877701631468
+            ],
+            "finger_midpoint": [
+              0.21463495137047578,
+              -0.14992929356299378,
+              1.1653877701631468
+            ],
+            "object_minus_finger_midpoint": [
+              0.005014945587703351,
+              0.011808014599249572,
+              0.0
+            ],
+            "finger_gap": 0.025657660690227912,
+            "fingertip_max_gap": 0.09271403118750823,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012828830345113944,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653877701631468,
+            "object_top_z": 1.2157416626538216,
+            "finger_top_clearance": 0.05035389249067479,
+            "fingertip_min_top_clearance": 0.015106167747202436,
+            "object_projection_between_fingers": 0.8471876949125995,
+            "object_to_finger_line_xy": 0.009231792629730578,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04885701559375412,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.790736978381728,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2703831157968691,
+              -0.3576403110419827,
+              0.8515396016670984
+            ],
+            "target_position": [
+              0.2633954930723999,
+              -0.35774974937704673,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006988479669334358,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18467171830016416,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396016670984,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513917685422943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599846161128409,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15334649187244717,
+            "release_required_pad_clearance": 0.05299923080564205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0317241586994892,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076430439949035645,
+            "max_z_decrease": 0.0076430439949035645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035172833449251,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076430439949035645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021088908341205803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076430439949035645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007643067671562102,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11909542232751845,
+              -0.41401121020317083,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11909542232751845,
+              -0.41401121020317083,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12101131924640951,
+              -0.4127086326647,
+              0.8076200141794418
+            ],
+            "closest_button": [
+              0.11908409744501114,
+              -0.41400784254074097,
+              0.7725240588188171
+            ],
+            "closest_ee_minus_button": [
+              0.001927221801398371,
+              0.0012992098760409854,
+              0.03509595536062471
+            ],
+            "button_min_z_position": [
+              0.11907651275396347,
+              -0.41400912404060364,
+              0.7691658139228821
+            ],
+            "min_active_finger_to_button": 0.1439604154648193,
+            "closest_active_finger": [
+              -0.0063066184520721436,
+              -0.4757799804210663,
+              0.8111656904220581
+            ],
+            "closest_active_finger_button": [
+              0.11909844726324081,
+              -0.4140089154243469,
+              0.7767781019210815
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12540506571531296,
+              -0.06177106499671936,
+              0.03438758850097656
+            ],
+            "min_contact_pad_to_button": 0.021088908341205803,
+            "closest_contact_pad": [
+              0.11907651275396347,
+              -0.41400912404060364,
+              0.7902547222640879
+            ],
+            "closest_contact_pad_button": [
+              0.11907651275396347,
+              -0.41400912404060364,
+              0.7691658139228821
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021088908341205803
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2784114284675201,
+              0.2058961422005952,
+              1.1035748234234983
+            ],
+            "current_z": 1.1035748234234983,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19366569368913578,
+            "gripper_z": 1.1035748234234986,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2784114284675201,
+              0.2058961422005952,
+              1.1035748234234986
+            ],
+            "object_minus_gripper": [
+              0.0,
+              0.0,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 0.0,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2784114284675201,
+              0.2058961422005952,
+              1.1035748234234983
+            ],
+            "finger_b": [
+              0.2784114284675201,
+              0.2058961422005952,
+              1.1035748234234983
+            ],
+            "finger_midpoint": [
+              0.2784114284675201,
+              0.2058961422005952,
+              1.1035748234234983
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035748234234983,
+            "object_top_z": 1.228583330043778,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2784114284675201,
+            0.2058961422005952,
+            1.1035748234234983
+          ],
+          "object_origin_world": [
+            0.2784114284675201,
+            0.2058961422005952,
+            1.1035748234234983
+          ],
+          "frame_world": [
+            0.2784114284675201,
+            0.2058961422005952,
+            1.1035748234234986
+          ],
+          "center_minus_frame": [
+            0.0,
+            0.0,
+            -2.220446049250313e-16
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433920090950954,
+            "required_z": 0.9112599019383677,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001569904217873806,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2832529590920554e-08,
+            "max_target_xy_drift": 9.007365722983894e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.031724160285703,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0317241614002919,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26987517720315707,
+              -0.3591197189887714,
+              0.9235044237050861
+            ],
+            "target_mouth_xy": [
+              0.2703830850425707,
+              -0.3576402777557111
+            ],
+            "rod_tip_z": 0.9235044237050861,
+            "rod_tip_depth": -0.02224449811332352,
+            "rod_tip_bottom_clearance": 0.12168512592963487,
+            "rod_tip_xy_dist": 0.0015641984322382785,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04495067820020149,
+            "min_rod_tip_bottom_clearance": 0.05448982103851174,
+            "min_rod_tip_xy_dist": 1.3410178065417746e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2703830559122663,
+              -0.35764030915715944
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9130304390889705e-08,
+              3.1401448330470316e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                5.629144797353325e-05,
+                0.0003387989422048432
+              ],
+              "last_rod_tip_xy_delta": [
+                -4.8900830882436797e-05,
+                -8.353907196201327e-05
+              ],
+              "first_target_mouth_xy": [
+                0.2703830833823125,
+                -0.3576403088356736
+              ],
+              "last_target_mouth_xy": [
+                0.2703830849011507,
+                -0.3576403392647032
+              ],
+              "first_rod_tip_xy": [
+                0.270439374830286,
+                -0.35730150989346876
+              ],
+              "last_rod_tip_xy": [
+                0.27033418407026827,
+                -0.3577238783366652
+              ],
+              "min_rod_tip_xy_dist": 1.3410178065417746e-05,
+              "max_rod_tip_xy_dist": 0.0003434435184336395,
+              "first_target_xy_drift": 2.7471927314917816e-08,
+              "last_target_xy_drift": 4.1794971094623406e-08,
+              "max_depth": 0.019634634594416278,
+              "min_bottom_clearance": 0.07980591850529306
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  5.629144797353325e-05,
+                  0.0003387989422048432
+                ],
+                "rod_tip_xy": [
+                  0.270439374830286,
+                  -0.35730150989346876
+                ],
+                "target_mouth_xy": [
+                  0.2703830833823125,
+                  -0.3576403088356736
+                ],
+                "gripper_position": [
+                  0.2704282215402197,
+                  -0.35730948234365534,
+                  1.005912116114877
+                ],
+                "rod_tip_xy_dist": 0.0003434435184336395,
+                "target_xy_drift": 2.7471927314917816e-08,
+                "depth": 0.015205098902138947,
+                "bottom_clearance": 0.08423543254869392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  4.510586936223859e-05,
+                  0.00033085818069200634
+                ],
+                "rod_tip_xy": [
+                  0.2704282215402197,
+                  -0.35730948234365534
+                ],
+                "target_mouth_xy": [
+                  0.2703831156708575,
+                  -0.35764034052434734
+                ],
+                "gripper_position": [
+                  0.27043212317111776,
+                  -0.35738001704307504,
+                  1.0053927273467627
+                ],
+                "rod_tip_xy_dist": 0.00033391866551863743,
+                "target_xy_drift": 6.749066378042724e-08,
+                "depth": 0.015347785547873971,
+                "bottom_clearance": 0.08409281173439387,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  4.9010398984694614e-05,
+                  0.000260323507984328
+                ],
+                "rod_tip_xy": [
+                  0.27043212317111776,
+                  -0.3573800170430751
+                ],
+                "target_mouth_xy": [
+                  0.27038311277213306,
+                  -0.3576403405510594
+                ],
+                "gripper_position": [
+                  0.27042088997670133,
+                  -0.35738770420675425,
+                  1.0052507685393322
+                ],
+                "rod_tip_xy_dist": 0.00026489686298237933,
+                "target_xy_drift": 6.495091534250257e-08,
+                "depth": 0.015867114849623776,
+                "bottom_clearance": 0.08357341739505497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  3.777644658148338e-05,
+                  0.00025260398885179614
+                ],
+                "rod_tip_xy": [
+                  0.27042088997670133,
+                  -0.35738770420675425
+                ],
+                "target_mouth_xy": [
+                  0.27038311353011985,
+                  -0.35764030819560605
+                ],
+                "gripper_position": [
+                  0.2704126936845517,
+                  -0.35738922017032954,
+                  1.0051262153210465
+                ],
+                "rod_tip_xy_dist": 0.00025541306759866854,
+                "target_xy_drift": 5.762587640919536e-08,
+                "depth": 0.016009075900088043,
+                "bottom_clearance": 0.08343147894255398,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  2.9579285830194646e-05,
+                  0.00025112417932338094
+                ],
+                "rod_tip_xy": [
+                  0.2704126936845517,
+                  -0.3573892201703296
+                ],
+                "target_mouth_xy": [
+                  0.2703831143987215,
+                  -0.35764034434965297
+                ],
+                "gripper_position": [
+                  0.2704177184107176,
+                  -0.35746045934965776,
+                  1.0046068121371798
+                ],
+                "rod_tip_xy_dist": 0.00025286021353915277,
+                "target_xy_drift": 6.825816464194495e-08,
+                "depth": 0.016133683905981244,
+                "bottom_clearance": 0.08330699750296533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  3.46056760657798e-05,
+                  0.00017984916572122422
+                ],
+                "rod_tip_xy": [
+                  0.2704177184107176,
+                  -0.35746045934965776
+                ],
+                "target_mouth_xy": [
+                  0.2703831127346518,
+                  -0.357640308515379
+                ],
+                "gripper_position": [
+                  0.27040630232002827,
+                  -0.3574683191539358,
+                  1.0044647223176089
+                ],
+                "rod_tip_xy_dist": 0.0001831482329332993,
+                "target_xy_drift": 5.6826009698374074e-08,
+                "depth": 0.016653044043610232,
+                "bottom_clearance": 0.08278751623160152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  2.318655991856433e-05,
+                  0.00017202232238339166
+                ],
+                "rod_tip_xy": [
+                  0.27040630232002827,
+                  -0.35746831915393573
+                ],
+                "target_mouth_xy": [
+                  0.2703831157601097,
+                  -0.3576403414763191
+                ],
+                "gripper_position": [
+                  0.2703980070097488,
+                  -0.35746959909637854,
+                  1.0043402904241496
+                ],
+                "rod_tip_xy_dist": 0.00017357792474572537,
+                "target_xy_drift": 6.801685410664411e-08,
+                "depth": 0.016795196941299273,
+                "bottom_clearance": 0.08264543715776707,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  1.4893561603501748e-05,
+                  0.00017077093840578428
+                ],
+                "rod_tip_xy": [
+                  0.2703980070097488,
+                  -0.35746959909637854
+                ],
+                "target_mouth_xy": [
+                  0.2703831134481453,
+                  -0.3576403700347843
+                ],
+                "gripper_position": [
+                  0.2704038329102123,
+                  -0.3575420162345875,
+                  1.0038230309322225
+                ],
+                "rod_tip_xy_dist": 0.0001714191692350347,
+                "target_xy_drift": 8.376432763806908e-08,
+                "depth": 0.01691952804671637,
+                "bottom_clearance": 0.08252097210548948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  2.0717181551388464e-05,
+                  9.83220693298037e-05
+                ],
+                "rod_tip_xy": [
+                  0.2704038329102123,
+                  -0.3575420162345875
+                ],
+                "target_mouth_xy": [
+                  0.2703831157286609,
+                  -0.3576403383039173
+                ],
+                "gripper_position": [
+                  0.2703924256926824,
+                  -0.3575497427044505,
+                  1.0036812861275655
+                ],
+                "rod_tip_xy_dist": 0.00010048099784898594,
+                "target_xy_drift": 6.653972165097408e-08,
+                "depth": 0.017436884433731925,
+                "bottom_clearance": 0.08200374245804298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  9.344508965614118e-06,
+                  9.059818182988177e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703924256926824,
+                  -0.3575497427044505
+                ],
+                "target_mouth_xy": [
+                  0.2703830811837168,
+                  -0.3576403408862804
+                ],
+                "gripper_position": [
+                  0.27038405391265596,
+                  -0.3575509081539234,
+                  1.0035570303691332
+                ],
+                "rod_tip_xy_dist": 9.107881421433178e-05,
+                "target_xy_drift": 4.0563324882127906e-08,
+                "depth": 0.01757861612226197,
+                "bottom_clearance": 0.08186199585617593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  9.401663951247308e-07,
+                  8.940099641951971e-05
+                ],
+                "rod_tip_xy": [
+                  0.27038405391265596,
+                  -0.3575509081539233
+                ],
+                "target_mouth_xy": [
+                  0.27038311374626084,
+                  -0.35764030915034284
+                ],
+                "gripper_position": [
+                  0.2703755830577204,
+                  -0.35755206742400997,
+                  1.0034326792930401
+                ],
+                "rod_tip_xy_dist": 8.940593981192467e-05,
+                "target_xy_drift": 5.783399493956749e-08,
+                "depth": 0.017702798530639607,
+                "bottom_clearance": 0.08173772971462656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -7.499947046574196e-06,
+                  8.827280935053139e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703755830577204,
+                  -0.3575520674240099
+                ],
+                "target_mouth_xy": [
+                  0.270383083004767,
+                  -0.35764034023336044
+                ],
+                "gripper_position": [
+                  0.2703827201468977,
+                  -0.3576269026507925,
+                  1.0029164898313305
+                ],
+                "rod_tip_xy_dist": 8.85908464590822e-05,
+                "target_xy_drift": 4.12278287346365e-08,
+                "depth": 0.017827156001751887,
+                "bottom_clearance": 0.08161336335613434,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -3.641464901837921e-07,
+                  1.340523304832475e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703827201468977,
+                  -0.35762690265079244
+                ],
+                "target_mouth_xy": [
+                  0.27038308429338787,
+                  -0.35764030788384077
+                ],
+                "gripper_position": [
+                  0.27037102276609964,
+                  -0.35763449168967343,
+                  1.0027751237017544
+                ],
+                "rod_tip_xy_dist": 1.3410178065417746e-05,
+                "target_xy_drift": 2.8409670918069665e-08,
+                "depth": 0.018343364551411057,
+                "bottom_clearance": 0.08109722304612332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -1.2091750424325642e-05,
+                  5.88214281632693e-06
+                ],
+                "rod_tip_xy": [
+                  0.27037102276609964,
+                  -0.35763449168967343
+                ],
+                "target_mouth_xy": [
+                  0.27038311451652397,
+                  -0.35764037383248976
+                ],
+                "gripper_position": [
+                  0.27036252474779454,
+                  -0.35763539650748216,
+                  1.002651118303852
+                ],
+                "rod_tip_xy_dist": 1.344656210471085e-05,
+                "target_xy_drift": 8.727747342863029e-08,
+                "depth": 0.018484770849757193,
+                "bottom_clearance": 0.08095590399166819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -2.0559506955009077e-05,
+                  4.912318891991951e-06
+                ],
+                "rod_tip_xy": [
+                  0.2703625247477945,
+                  -0.3576353965074822
+                ],
+                "target_mouth_xy": [
+                  0.2703830842547495,
+                  -0.3576403088263742
+                ],
+                "gripper_position": [
+                  0.2703539339704827,
+                  -0.3576367265482584,
+                  1.0025269573125648
+                ],
+                "rod_tip_xy_dist": 2.113821664970079e-05,
+                "target_xy_drift": 2.834441342586697e-08,
+                "depth": 0.018608718807962776,
+                "bottom_clearance": 0.08083183299485708,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -2.9180038748188863e-05,
+                  3.614626083725536e-06
+                ],
+                "rod_tip_xy": [
+                  0.27035393397048263,
+                  -0.3576367265482584
+                ],
+                "target_mouth_xy": [
+                  0.2703831140092308,
+                  -0.3576403411743421
+                ],
+                "gripper_position": [
+                  0.27034531091281566,
+                  -0.3576375713122847,
+                  1.002402793363193
+                ],
+                "rod_tip_xy_dist": 2.9403064178261294e-05,
+                "target_xy_drift": 6.633518879926705e-08,
+                "depth": 0.018732882489971847,
+                "bottom_clearance": 0.0807076725837036,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -3.777320931702688e-05,
+                  2.7368754634271575e-06
+                ],
+                "rod_tip_xy": [
+                  0.27034531091281566,
+                  -0.3576375713122847
+                ],
+                "target_mouth_xy": [
+                  0.2703830841221327,
+                  -0.3576403081877481
+                ],
+                "gripper_position": [
+                  0.2703545113535224,
+                  -0.3577154358951158,
+                  1.0018904145878966
+                ],
+                "rod_tip_xy_dist": 3.787223031998823e-05,
+                "target_xy_drift": 2.8226518026740238e-08,
+                "depth": 0.018857054234976744,
+                "bottom_clearance": 0.08058351581202927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -2.8603562591822396e-05,
+                  -7.509473408257028e-05
+                ],
+                "rod_tip_xy": [
+                  0.2703545113535224,
+                  -0.3577154358951158
+                ],
+                "target_mouth_xy": [
+                  0.2703831149161142,
+                  -0.3576403411610332
+                ],
+                "gripper_position": [
+                  0.27034287192846107,
+                  -0.3577229888960047,
+                  1.0017492198158358
+                ],
+                "rod_tip_xy_dist": 8.03578426780874e-05,
+                "target_xy_drift": 6.712452611162641e-08,
+                "depth": 0.01936949209868921,
+                "bottom_clearance": 0.08007109796975553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -4.0214444823993833e-05,
+                  -8.264964551207843e-05
+                ],
+                "rod_tip_xy": [
+                  0.270342871928461,
+                  -0.3577229888960046
+                ],
+                "target_mouth_xy": [
+                  0.270383086373285,
+                  -0.35764033925049254
+                ],
+                "gripper_position": [
+                  0.2703341840702683,
+                  -0.35772387833666514,
+                  1.0016252556183427
+                ],
+                "rod_tip_xy_dist": 9.191390251629114e-05,
+                "target_xy_drift": 4.2819182126172525e-08,
+                "depth": 0.019510622325801363,
+                "bottom_clearance": 0.0799299870116209,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -4.8900830882436797e-05,
+                  -8.353907196201327e-05
+                ],
+                "rod_tip_xy": [
+                  0.27033418407026827,
+                  -0.3577238783366652
+                ],
+                "target_mouth_xy": [
+                  0.2703830849011507,
+                  -0.3576403392647032
+                ],
+                "gripper_position": [
+                  0.2703254915138756,
+                  -0.3577247653398863,
+                  1.0015011432643544
+                ],
+                "rod_tip_xy_dist": 9.679911056030999e-05,
+                "target_xy_drift": 4.1794971094623406e-08,
+                "depth": 0.019634634594416278,
+                "bottom_clearance": 0.07980591850529306,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006020049752976555,
+              "rod_tip_xy_max_step": 3.2658671217668914e-05,
+              "rod_tip_xy_range": 0.0006019967672391876,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26987517720315707,
+            -0.3591197189887714,
+            1.0435044237050861
+          ],
+          "object_origin_world": [
+            0.26987517720315707,
+            -0.3591197189887714,
+            1.0435044237050861
+          ],
+          "frame_world": [
+            0.2698737924637812,
+            -0.3591252761807904,
+            1.0433920090950954
+          ],
+          "center_minus_frame": [
+            1.384739375887012e-06,
+            5.557192019001178e-06,
+            0.00011241460999067421
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2635148915591786,
+              0.16197202624027335,
+              0.8316779546666508
+            ],
+            "target_position": [
+              0.27856398481514005,
+              0.20766154506950152,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04810413016231578,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16777358128156183,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316779546666508,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672017876696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.136965122721251,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 318,
+            "max_placed_release_frames": 318
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21286415304941458,
+              0.018724041168193362,
+              1.0466092121277946
+            ],
+            "current_z": 1.0466092121277946,
+            "required_z": 0.8565863285946314,
+            "initial_z": 0.7565863285946314,
+            "lift_margin": 0.1900228835331632,
+            "gripper_z": 1.0509361278703837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20782238303737136,
+              0.014021216987591248,
+              1.0509361278703837
+            ],
+            "object_minus_gripper": [
+              0.0050417700120432285,
+              0.004702824180602114,
+              -0.004326915742589144
+            ],
+            "object_to_gripper_xy": 0.0068946356051639394,
+            "object_to_gripper_z": -0.004326915742589144,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21286415304941458,
+              -0.005876201023564167,
+              1.0466092121277946
+            ],
+            "finger_b": [
+              0.20158895840889682,
+              0.018724041168193362,
+              1.0466092121277946
+            ],
+            "finger_midpoint": [
+              0.20722655572915571,
+              0.0064239200723145975,
+              1.0466092121277946
+            ],
+            "object_minus_finger_midpoint": [
+              0.005637597320258869,
+              0.012300121095878764,
+              0.0
+            ],
+            "finger_gap": 0.027061077770012928,
+            "fingertip_max_gap": 0.09199241996436006,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013530538885006457,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466092121277946,
+            "object_top_z": 1.0923958733524188,
+            "finger_top_clearance": 0.04578666122462427,
+            "fingertip_min_top_clearance": 0.013735998367387281,
+            "object_projection_between_fingers": 0.8263967238641655,
+            "object_to_finger_line_xy": 0.010249869619875486,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849620998218003,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8013409998116585,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21192269575353237,
+              0.017210412613082607,
+              1.245434423720011
+            ],
+            "held_position": [
+              0.21725578782550292,
+              0.02155792721451263,
+              1.2410830600011749
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008141076124896882,
+            "max_held_gripper_dist": 0.008142982389676654,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004351363718836154,
+            "max_held_gripper_z_dist": 0.00435137232281857,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581442931064097,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21725578782550292,
+              -0.004053398922289319,
+              1.2410830600011749
+            ],
+            "held_grasp_finger_b": [
+              0.20775707474968783,
+              0.02155792721451263,
+              1.2410830600011749
+            ],
+            "held_grasp_midpoint": [
+              0.2125064312875954,
+              0.008752264146111657,
+              1.2410830600011749
+            ],
+            "held_grasp_object_position": [
+              0.21725578782550292,
+              0.02155792721451263,
+              1.2410830600011749
+            ],
+            "held_grasp_finger_gap": 0.02731603149402005,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024997224440672462,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.059819881056862534,
+              -0.9982082220383339,
+              -0.0013882670532328056
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003974858728243138,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032133400859086024,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19624444155509554,
+              0.017315481047990713,
+              0.7565979542725755
+            ],
+            "target_position": [
+              0.18797043449378448,
+              0.017705591475726073,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008283198596946307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21925879657249822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565979542725755,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561365039850389,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602274380376244,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18886987633574664,
+            "release_required_pad_clearance": 0.053011371901881224,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0223531315092833,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 288,
+            "max_placed_release_frames": 288
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a80780849772193817a3007c1af9838e623c4c910136d48bedc5b658dc769dc0",
+    "visual_seed": 8253947475405311240,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8244a14da63ba8f0af99cf102f5b0742d780321a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_37_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2145011950046887,
+              -0.13639920151889895,
+              1.1652854469815783
+            ],
+            "current_z": 1.1652854469815783,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.3041790581761018,
+            "gripper_z": 1.1585106536873098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2103899580253695,
+              -0.14088278450690014,
+              1.1585106536873098
+            ],
+            "object_minus_gripper": [
+              0.004111236979319199,
+              0.004483582988001195,
+              0.006774793294268555
+            ],
+            "object_to_gripper_xy": 0.006083155916990405,
+            "object_to_gripper_z": 0.006774793294268555,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2145011950046887,
+              -0.15969745464643295,
+              1.1652854469815783
+            ],
+            "finger_b": [
+              0.20392349976023777,
+              -0.13639920151889895,
+              1.1652854469815783
+            ],
+            "finger_midpoint": [
+              0.20921234738246325,
+              -0.14804832808266594,
+              1.1652854469815783
+            ],
+            "object_minus_finger_midpoint": [
+              0.005288847622225451,
+              0.011649126563766987,
+              0.0
+            ],
+            "finger_gap": 0.02558703256493663,
+            "fingertip_max_gap": 0.09222097001568438,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012793516282468298,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652854469815783,
+            "object_top_z": 1.2153054528970266,
+            "finger_top_clearance": 0.05002000591544831,
+            "fingertip_min_top_clearance": 0.015006001774634492,
+            "object_projection_between_fingers": 0.8290999235659317,
+            "object_to_finger_line_xy": 0.009631512395417187,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048610485007842194,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8542490771907751,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2724452361519337,
+              -0.3518856078465501,
+              0.8515395339953561
+            ],
+            "target_position": [
+              0.26448170957227696,
+              -0.35262259212709923,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007997555965085603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18519536380938578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395339953561,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542608618521167,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573861578160506,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15324826296988725,
+            "release_required_pad_clearance": 0.05286930789080253,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7803390030172301,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007615268230438232,
+            "max_z_decrease": 0.007615268230438232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510477124395662,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007615268230438232,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021101338279051918,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007615268230438232,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007615288161821786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12018163502216336,
+              -0.40888404846191406,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12018163502216336,
+              -0.40888404846191406,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11849806914946456,
+              -0.4089990379989742,
+              0.8074906346107428
+            ],
+            "closest_button": [
+              0.12016978859901427,
+              -0.40888071060180664,
+              0.7724258899688721
+            ],
+            "closest_ee_minus_button": [
+              -0.001671719449549705,
+              -0.00011832739716755025,
+              0.035064744641870704
+            ],
+            "button_min_z_position": [
+              0.12016455829143524,
+              -0.4088805913925171,
+              0.7691935896873474
+            ],
+            "min_active_finger_to_button": 0.1477070071659129,
+            "closest_active_finger": [
+              -0.009067460894584656,
+              -0.4715723693370819,
+              0.8108950853347778
+            ],
+            "closest_active_finger_button": [
+              0.1201815605163574,
+              -0.4088841676712036,
+              0.7765113711357117
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12924902141094205,
+              -0.0626882016658783,
+              0.03438371419906616
+            ],
+            "min_contact_pad_to_button": 0.021101338279051918,
+            "closest_contact_pad": [
+              0.12016455829143524,
+              -0.41018701070711927,
+              0.7902544478308661
+            ],
+            "closest_contact_pad_button": [
+              0.12016455829143524,
+              -0.4088805913925171,
+              0.7691935896873474
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013064193146021807,
+              0.021060858143518657
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2859502950643393,
+              0.20242278348192744,
+              1.1012781039387116
+            ],
+            "current_z": 1.1012781039387116,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19136897420434906,
+            "gripper_z": 1.1012782464906892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2859503047620615,
+              0.2024226470667042,
+              1.1012782464906892
+            ],
+            "object_minus_gripper": [
+              -9.69772223635701e-09,
+              1.364152232286031e-07,
+              -1.425519775555273e-07
+            ],
+            "object_to_gripper_xy": 1.3675949307116911e-07,
+            "object_to_gripper_z": -1.425519775555273e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2859502950643393,
+              0.20242278348192744,
+              1.1012781039387116
+            ],
+            "finger_b": [
+              0.2859502950643393,
+              0.20242278348192744,
+              1.1012781039387116
+            ],
+            "finger_midpoint": [
+              0.2859502950643393,
+              0.20242278348192744,
+              1.1012781039387116
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012781039387116,
+            "object_top_z": 1.2262866105589914,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2859502950643393,
+            0.2024227834819274,
+            1.1012781039387118
+          ],
+          "object_origin_world": [
+            0.2859502950643393,
+            0.2024227834819274,
+            1.1012781039387118
+          ],
+          "frame_world": [
+            0.2859503047620615,
+            0.2024226470667042,
+            1.1012782464906892
+          ],
+          "center_minus_frame": [
+            -9.69772223635701e-09,
+            1.3641522320084754e-07,
+            -1.4255197733348268e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433935457955756,
+            "required_z": 0.9112598953884654,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008688020834911208,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.637195337039545e-08,
+            "max_target_xy_drift": 1.389626792191498e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7803390088958223,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.780339008969153,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2733039810182781,
+              -0.3520210669959275,
+              0.923505661255336
+            ],
+            "target_mouth_xy": [
+              0.2724452332497915,
+              -0.351885547599763
+            ],
+            "rod_tip_z": 0.923505661255336,
+            "rod_tip_depth": -0.02224582392019847,
+            "rod_tip_bottom_clearance": 0.121686365411665,
+            "rod_tip_xy_dist": 0.0008693751989892006,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04494900454880213,
+            "min_rod_tip_bottom_clearance": 0.05449157657687742,
+            "min_rod_tip_xy_dist": 0.00013811154726879181,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27244526031487465,
+              -0.3518856082027123
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7065083174626636e-08,
+              6.060294932552779e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0013965940289193401,
+                0.0015970919570673647
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001297919508837786,
+                0.001198971464671239
+              ],
+              "first_target_mouth_xy": [
+                0.27244523268304244,
+                -0.35188561073011515
+              ],
+              "last_target_mouth_xy": [
+                0.2724452635034508,
+                -0.35188560913415395
+              ],
+              "first_rod_tip_xy": [
+                0.2738418267119618,
+                -0.3502885187730478
+              ],
+              "last_rod_tip_xy": [
+                0.27374318301228856,
+                -0.3506866376694827
+              ],
+              "min_rod_tip_xy_dist": 0.0017669543357194085,
+              "max_rod_tip_xy_dist": 0.002121597888607174,
+              "first_target_xy_drift": 2.774717853183371e-08,
+              "last_target_xy_drift": 3.3218370289893e-09,
+              "max_depth": 0.019448451253536114,
+              "min_bottom_clearance": 0.07999207561960564
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0013965940289193401,
+                  0.0015970919570673647
+                ],
+                "rod_tip_xy": [
+                  0.2738418267119618,
+                  -0.3502885187730478
+                ],
+                "target_mouth_xy": [
+                  0.27244523268304244,
+                  -0.35188561073011515
+                ],
+                "gripper_position": [
+                  0.27383075798926315,
+                  -0.35029577205615803,
+                  1.0061082586265475
+                ],
+                "rod_tip_xy_dist": 0.002121597888607174,
+                "target_xy_drift": 2.774717853183371e-08,
+                "depth": 0.01500988872629716,
+                "bottom_clearance": 0.08443068452233449,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0013855234988289222,
+                  0.0015898367525218893
+                ],
+                "rod_tip_xy": [
+                  0.2738307579892632,
+                  -0.35029577205615803
+                ],
+                "target_mouth_xy": [
+                  0.2724452344904343,
+                  -0.3518856088086799
+                ],
+                "gripper_position": [
+                  0.2738225496551546,
+                  -0.3502968526868235,
+                  1.005983518611013
+                ],
+                "rod_tip_xy_dist": 0.00210885188324749,
+                "target_xy_drift": 2.5831548866711648e-08,
+                "depth": 0.015151567312578051,
+                "bottom_clearance": 0.08428897884606268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0013772876723029959,
+                  0.0015887555032917389
+                ],
+                "rod_tip_xy": [
+                  0.2738225496551547,
+                  -0.3502968526868234
+                ],
+                "target_mouth_xy": [
+                  0.2724452619828517,
+                  -0.35188560819011516
+                ],
+                "gripper_position": [
+                  0.2738280630600309,
+                  -0.35036347929386913,
+                  1.0054618190003006
+                ],
+                "rod_tip_xy_dist": 0.0021026329640518792,
+                "target_xy_drift": 1.6680246026145556e-09,
+                "depth": 0.01527632569618953,
+                "bottom_clearance": 0.08416420534675362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013828004941507377,
+                  0.001522127620186442
+                ],
+                "rod_tip_xy": [
+                  0.2738280630600309,
+                  -0.35036347929386913
+                ],
+                "target_mouth_xy": [
+                  0.27244526256588014,
+                  -0.35188560691405557
+                ],
+                "gripper_position": [
+                  0.2738166796998797,
+                  -0.3503707821348555,
+                  1.005319642747521
+                ],
+                "rod_tip_xy_dist": 0.0020564556155574973,
+                "target_xy_drift": 2.5937736824029775e-09,
+                "depth": 0.01579802964913879,
+                "bottom_clearance": 0.08364252360530722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0013713866679039288,
+                  0.0015148561743685285
+                ],
+                "rod_tip_xy": [
+                  0.2738166796998798,
+                  -0.3503707821348554
+                ],
+                "target_mouth_xy": [
+                  0.27244529303197584,
+                  -0.3518856383092239
+                ],
+                "gripper_position": [
+                  0.27380833633713675,
+                  -0.35037194549292494,
+                  1.0051954099048401
+                ],
+                "rod_tip_xy_dist": 0.002043401727983779,
+                "target_xy_drift": 4.446133997469431e-08,
+                "depth": 0.015940172549564813,
+                "bottom_clearance": 0.08350032846602928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013630746303078811,
+                  0.0015136918710655367
+                ],
+                "rod_tip_xy": [
+                  0.27380833633713675,
+                  -0.35037194549292483
+                ],
+                "target_mouth_xy": [
+                  0.27244526170682887,
+                  -0.35188563736399037
+                ],
+                "gripper_position": [
+                  0.2738148954551817,
+                  -0.3504395410340502,
+                  1.0046740465746928
+                ],
+                "rod_tip_xy_dist": 0.0020369672379100387,
+                "target_xy_drift": 2.9194480207374776e-08,
+                "depth": 0.016064453856505678,
+                "bottom_clearance": 0.08337611006888268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00136963271812518,
+                  0.0014460662017264925
+                ],
+                "rod_tip_xy": [
+                  0.2738148954551817,
+                  -0.35043954103405006
+                ],
+                "target_mouth_xy": [
+                  0.2724452627370565,
+                  -0.35188560723577655
+                ],
+                "gripper_position": [
+                  0.27380331811790903,
+                  -0.35044694754168415,
+                  1.0045322462132829
+                ],
+                "rod_tip_xy_dist": 0.001991733225694308,
+                "target_xy_drift": 2.608050926860237e-09,
+                "depth": 0.016585791196081612,
+                "bottom_clearance": 0.08285474405886495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013580568684876115,
+                  0.0014386920491780142
+                ],
+                "rod_tip_xy": [
+                  0.2738033181179091,
+                  -0.35044694754168415
+                ],
+                "target_mouth_xy": [
+                  0.2724452612494215,
+                  -0.35188563959086216
+                ],
+                "gripper_position": [
+                  0.27379491770828035,
+                  -0.35044767033755003,
+                  1.0044081853880598
+                ],
+                "rod_tip_xy_dist": 0.0019784219141564348,
+                "target_xy_drift": 3.140205931500416e-08,
+                "depth": 0.016727634117898016,
+                "bottom_clearance": 0.08271295195861084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013496554211693823,
+                  0.0014379375235776815
+                ],
+                "rod_tip_xy": [
+                  0.2737949177082804,
+                  -0.3504476703375501
+                ],
+                "target_mouth_xy": [
+                  0.272445262287111,
+                  -0.35188560786112777
+                ],
+                "gripper_position": [
+                  0.27380215988435064,
+                  -0.35051651035722314,
+                  1.0038889605334547
+                ],
+                "rod_tip_xy_dist": 0.001972114113738,
+                "target_xy_drift": 2.0015984394158065e-09,
+                "depth": 0.016851655303601887,
+                "bottom_clearance": 0.08258887546407656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001356898304374965,
+                  0.0013690972002010637
+                ],
+                "rod_tip_xy": [
+                  0.2738021598843507,
+                  -0.3505165103572231
+                ],
+                "target_mouth_xy": [
+                  0.27244526157997573,
+                  -0.35188560755742415
+                ],
+                "gripper_position": [
+                  0.2737905114401329,
+                  -0.35052385923037555,
+                  1.0037473067602023
+                ],
+                "rod_tip_xy_dist": 0.0019275892072778491,
+                "target_xy_drift": 1.4201681399799027e-09,
+                "depth": 0.017370907203058672,
+                "bottom_clearance": 0.08206966181601694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013452495016530452,
+                  0.0013617486406012347
+                ],
+                "rod_tip_xy": [
+                  0.27379051144013294,
+                  -0.35052385923037543
+                ],
+                "target_mouth_xy": [
+                  0.2724452619384799,
+                  -0.35188560787097667
+                ],
+                "gripper_position": [
+                  0.27378195130645183,
+                  -0.35052454276972894,
+                  1.003622829652277
+                ],
+                "rod_tip_xy_dist": 0.0019141722968105763,
+                "target_xy_drift": 1.657148919915878e-09,
+                "depth": 0.01751254447988193,
+                "bottom_clearance": 0.08192799952707686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013366885701698306,
+                  0.0013610654131889222
+                ],
+                "rod_tip_xy": [
+                  0.2737819513064519,
+                  -0.3505245427697289
+                ],
+                "target_mouth_xy": [
+                  0.27244526273628206,
+                  -0.3518856081829178
+                ],
+                "gripper_position": [
+                  0.2737731657081991,
+                  -0.35052551375243207,
+                  1.0034986283906937
+                ],
+                "rod_tip_xy_dist": 0.001907678010724503,
+                "target_xy_drift": 2.4214883145109436e-09,
+                "depth": 0.0176369916140916,
+                "bottom_clearance": 0.08180351032394595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013279020201433234,
+                  0.0013600944229846812
+                ],
+                "rod_tip_xy": [
+                  0.27377316570819915,
+                  -0.350525513752432
+                ],
+                "target_mouth_xy": [
+                  0.2724452636880558,
+                  -0.3518856081754167
+                ],
+                "gripper_position": [
+                  0.2737820694669673,
+                  -0.35059625287149127,
+                  1.0029807588620026
+                ],
+                "rod_tip_xy_dist": 0.0019008368195441586,
+                "target_xy_drift": 3.3732916143586173e-09,
+                "depth": 0.017761196407920843,
+                "bottom_clearance": 0.0816793340401808,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013368060116022984,
+                  0.001289355940173209
+                ],
+                "rod_tip_xy": [
+                  0.2737820694669673,
+                  -0.3505962528714912
+                ],
+                "target_mouth_xy": [
+                  0.272445263455365,
+                  -0.3518856088116644
+                ],
+                "gripper_position": [
+                  0.2737704845860656,
+                  -0.3506033199315855,
+                  1.0028394534702576
+                ],
+                "rod_tip_xy_dist": 0.0018572800147301388,
+                "target_xy_drift": 3.1989845925587083e-09,
+                "depth": 0.018279060257332724,
+                "bottom_clearance": 0.08116145339447745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013252211678197456,
+                  0.0012822587649494732
+                ],
+                "rod_tip_xy": [
+                  0.2737704845860657,
+                  -0.35060331993158544
+                ],
+                "target_mouth_xy": [
+                  0.27244526341824593,
+                  -0.3518855786965349
+                ],
+                "gripper_position": [
+                  0.2737616724048081,
+                  -0.3506042095084515,
+                  1.0027155233730176
+                ],
+                "rod_tip_xy_dist": 0.0018440169966481542,
+                "target_xy_drift": 2.9668930171170648e-08,
+                "depth": 0.01842036342952602,
+                "bottom_clearance": 0.0810201450428868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013164094516630587,
+                  0.0012814012119916063
+                ],
+                "rod_tip_xy": [
+                  0.2737616724048081,
+                  -0.3506042095084514
+                ],
+                "target_mouth_xy": [
+                  0.27244526295314503,
+                  -0.351885610720443
+                ],
+                "gripper_position": [
+                  0.27375281149037956,
+                  -0.3506051628978111,
+                  1.0025909353307612
+                ],
+                "rod_tip_xy_dist": 0.0018370963258690035,
+                "target_xy_drift": 3.646839512242261e-09,
+                "depth": 0.018544325488741298,
+                "bottom_clearance": 0.0808962357472579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013075748549394861,
+                  0.0012804455828538952
+                ],
+                "rod_tip_xy": [
+                  0.2737528114903796,
+                  -0.35060516289781096
+                ],
+                "target_mouth_xy": [
+                  0.2724452366354401,
+                  -0.35188560848066486
+                ],
+                "gripper_position": [
+                  0.273744166676398,
+                  -0.35060561814351177,
+                  1.00246712287579
+                ],
+                "rod_tip_xy_dist": 0.0018301073443708349,
+                "target_xy_drift": 2.3681065791276824e-08,
+                "depth": 0.018668964881919714,
+                "bottom_clearance": 0.08077165904232742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012989343530172004,
+                  0.0012799916402165268
+                ],
+                "rod_tip_xy": [
+                  0.27374416667639806,
+                  -0.35060561814351165
+                ],
+                "target_mouth_xy": [
+                  0.27244523232338086,
+                  -0.3518856097837282
+                ],
+                "gripper_position": [
+                  0.27375490127400226,
+                  -0.35067979100846125,
+                  1.0019528339845765
+                ],
+                "rod_tip_xy_dist": 0.0018236252500095538,
+                "target_xy_drift": 2.8036107714187865e-08,
+                "depth": 0.01879273086052169,
+                "bottom_clearance": 0.08064782177000562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013096380971884258,
+                  0.0012057873721006418
+                ],
+                "rod_tip_xy": [
+                  0.2737549012740023,
+                  -0.35067979100846125
+                ],
+                "target_mouth_xy": [
+                  0.2724452631768139,
+                  -0.3518855783805619
+                ],
+                "gripper_position": [
+                  0.2737431830122885,
+                  -0.35068663766948277,
+                  1.0018113739842645
+                ],
+                "rod_tip_xy_dist": 0.0017801896338100309,
+                "target_xy_drift": 2.995916139752328e-08,
+                "depth": 0.01930698672662834,
+                "bottom_clearance": 0.08013352402617058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001297919508837786,
+                  0.001198971464671239
+                ],
+                "rod_tip_xy": [
+                  0.27374318301228856,
+                  -0.3506866376694827
+                ],
+                "target_mouth_xy": [
+                  0.2724452635034508,
+                  -0.35188560913415395
+                ],
+                "gripper_position": [
+                  0.2737344050787194,
+                  -0.3506870532989664,
+                  1.001687468506513
+                ],
+                "rod_tip_xy_dist": 0.0017669543357194085,
+                "target_xy_drift": 3.3218370289893e-09,
+                "depth": 0.019448451253536114,
+                "bottom_clearance": 0.07999207561960564,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006039258677919105,
+              "rod_tip_xy_max_step": 3.283921359341332e-05,
+              "rod_tip_xy_range": 0.000603920055737309,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2733039810182781,
+            -0.3520210669959275,
+            1.0435056612553362
+          ],
+          "object_origin_world": [
+            0.2733039810182781,
+            -0.3520210669959275,
+            1.0435056612553362
+          ],
+          "frame_world": [
+            0.27330252759450424,
+            -0.352026485411588,
+            1.0433935457955756
+          ],
+          "center_minus_frame": [
+            1.4534237738339506e-06,
+            5.418415660485287e-06,
+            0.00011211545976053117
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27119786388480643,
+              0.15584146372926166,
+              0.8322530904203431
+            ],
+            "target_position": [
+              0.28611622995954816,
+              0.2014210249446482,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04795887870798454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1671304305800514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322530904203431,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567388082781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374668308087645,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 304,
+            "max_placed_release_frames": 304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21508440292198033,
+              0.02468163631560827,
+              1.044676368023402
+            ],
+            "current_z": 1.044676368023402,
+            "required_z": 0.8565863881992761,
+            "initial_z": 0.7565863881992761,
+            "lift_margin": 0.18808997982412579,
+            "gripper_z": 1.0492740165472394,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20997370506761287,
+              0.01995823546442195,
+              1.0492740165472394
+            ],
+            "object_minus_gripper": [
+              0.005110697854367463,
+              0.0047234008511863185,
+              -0.004597648523837483
+            ],
+            "object_to_gripper_xy": 0.006959148522601297,
+            "object_to_gripper_z": -0.004597648523837483,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21508440292198033,
+              6.3362040045489054e-06,
+              1.044676368023402
+            ],
+            "finger_b": [
+              0.20378836425493238,
+              0.02468163631560827,
+              1.044676368023402
+            ],
+            "finger_midpoint": [
+              0.20943638358845634,
+              0.012343986259806409,
+              1.044676368023402
+            ],
+            "object_minus_finger_midpoint": [
+              0.00564801933352399,
+              0.01233765005580186,
+              0.0
+            ],
+            "finger_gap": 0.027137997810545145,
+            "fingertip_max_gap": 0.0938486502522912,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013568998905272578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044676368023402,
+            "object_top_z": 1.0912276060702886,
+            "finger_top_clearance": 0.046551238046886656,
+            "fingertip_min_top_clearance": 0.013965371414066013,
+            "object_projection_between_fingers": 0.8267406285742669,
+            "object_to_finger_line_xy": 0.010270954627072006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494243251261456,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.412685172545925,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21425152710568596,
+              0.023328114477371084,
+              1.2412989868965503
+            ],
+            "held_position": [
+              0.21961852742141136,
+              0.02772306988419885,
+              1.236663907814291
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008342918165474198,
+            "max_held_gripper_dist": 0.008344218707094017,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004635079082259352,
+            "max_held_gripper_z_dist": 0.004635079082259352,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.085805436102803,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21961852742141136,
+              0.002118068217397238,
+              1.236663907814291
+            ],
+            "held_grasp_finger_b": [
+              0.21007174671036363,
+              0.02772306988419885,
+              1.236663907814291
+            ],
+            "held_grasp_midpoint": [
+              0.21484513706588748,
+              0.014920569050798044,
+              1.236663907814291
+            ],
+            "held_grasp_object_position": [
+              0.21961852742141136,
+              0.02772306988419885,
+              1.236663907814291
+            ],
+            "held_grasp_finger_gap": 0.02732685734404427,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025124627265671058,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04726445566625333,
+              -0.9988615112063988,
+              0.006461629906017952
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004163788795692504,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03218668793930249,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17190080942525776,
+              0.0235600842842393,
+              0.7565864274901167
+            ],
+            "target_position": [
+              0.18992967034121322,
+              0.022455676228338488,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018062656036164918,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20400500591772866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864274901167,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569672291410857,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08971148599144312,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17666745504611894,
+            "release_required_pad_clearance": 0.05485574299572156,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.770473578453079,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4558e179eea7a391ad1c3ae33f274ddfa44219b77a7cd8cfe01bf1693e51411",
+    "visual_seed": 156086579336565093,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb7053dfb434c7677bfc889994cc7867b85c01e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_39_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21367860261537092,
+              -0.1451484671810644,
+              1.1658838611364832
+            ],
+            "current_z": 1.1658838611364832,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.30477735312171716,
+            "gripper_z": 1.1593366124518087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.209238877472967,
+              -0.14953211372091457,
+              1.1593366124518087
+            ],
+            "object_minus_gripper": [
+              0.0044397251424039275,
+              0.004383646539850183,
+              0.006547248684674489
+            ],
+            "object_to_gripper_xy": 0.006239191961018194,
+            "object_to_gripper_z": 0.006547248684674489,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21367860261537092,
+              -0.1690496854633188,
+              1.1658838611364832
+            ],
+            "finger_b": [
+              0.2038258792625538,
+              -0.1451484671810644,
+              1.1658838611364832
+            ],
+            "finger_midpoint": [
+              0.20875224093896236,
+              -0.1570990763221916,
+              1.1658838611364832
+            ],
+            "object_minus_finger_midpoint": [
+              0.004926361676408558,
+              0.011950609141127222,
+              0.0
+            ],
+            "finger_gap": 0.02585235758771568,
+            "fingertip_max_gap": 0.09254923544424865,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012926178793857853,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1658838611364832,
+            "object_top_z": 1.2160663866475039,
+            "finger_top_clearance": 0.05018252551102065,
+            "fingertip_min_top_clearance": 0.015054757653306194,
+            "object_projection_between_fingers": 0.8547512951306613,
+            "object_to_finger_line_xy": 0.009109114738620475,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048774617722124325,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9135015913200057,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2744440658511985,
+              -0.3500365626876612,
+              0.851539607641947
+            ],
+            "target_position": [
+              0.2685547824603384,
+              -0.34956710895171894,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005907964596039034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18253806358099237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539607641947,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558985046797015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08799120627472727,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15008111793008286,
+            "release_required_pad_clearance": 0.05399560313736364,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.002312744950568,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007398426532745361,
+            "max_z_decrease": 0.007398426532745361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035101241735399635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007398426532745361,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021129357963036274,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007398426532745361,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007398446977890593,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12425471097230907,
+              -0.40582856535911555,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12425471097230907,
+              -0.40582856535911555,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12448182736874286,
+              -0.40617640485774786,
+              0.8079776276661047
+            ],
+            "closest_button": [
+              0.12424360215663906,
+              -0.40582585334777826,
+              0.7728789448738098
+            ],
+            "closest_ee_minus_button": [
+              0.00023822521210380143,
+              -0.00035055150996959883,
+              0.03509868279229489
+            ],
+            "button_min_z_position": [
+              0.12423754483461377,
+              -0.40582576394081116,
+              0.7694104313850403
+            ],
+            "min_active_finger_to_button": 0.14593104085976447,
+            "closest_active_finger": [
+              -0.0166916623711586,
+              -0.39018112421035767,
+              0.8108364343643188
+            ],
+            "closest_active_finger_button": [
+              0.12425458431243894,
+              -0.40582782030105585,
+              0.7764096260070801
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14094624668359754,
+              0.015646696090698187,
+              0.03442680835723877
+            ],
+            "min_contact_pad_to_button": 0.021129357963036274,
+            "closest_contact_pad": [
+              0.12423754483461377,
+              -0.40729732093112825,
+              0.7904884836658933
+            ],
+            "closest_contact_pad_button": [
+              0.12423754483461377,
+              -0.40582576394081116,
+              0.7694104313850403
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001471556990317091,
+              0.02107805228085302
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27876088704759955,
+              0.20524819979118944,
+              1.1045197941144633
+            ],
+            "current_z": 1.1045197941144633,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19461066438010077,
+            "gripper_z": 1.1045196056111606,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27876086059522687,
+              0.20524817908722842,
+              1.1045196056111606
+            ],
+            "object_minus_gripper": [
+              2.645237268117384e-08,
+              2.0703961017831674e-08,
+              1.8850330274489124e-07
+            ],
+            "object_to_gripper_xy": 3.3591398040147205e-08,
+            "object_to_gripper_z": 1.8850330274489124e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27876088704759955,
+              0.20524819979118944,
+              1.1045197941144633
+            ],
+            "finger_b": [
+              0.27876088704759955,
+              0.20524819979118944,
+              1.1045197941144633
+            ],
+            "finger_midpoint": [
+              0.27876088704759955,
+              0.20524819979118944,
+              1.1045197941144633
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045197941144633,
+            "object_top_z": 1.229528300734743,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27876088704759955,
+            0.20524819979118947,
+            1.1045197941144633
+          ],
+          "object_origin_world": [
+            0.27876088704759955,
+            0.20524819979118947,
+            1.1045197941144633
+          ],
+          "frame_world": [
+            0.27876086059522687,
+            0.20524817908722842,
+            1.1045196056111606
+          ],
+          "center_minus_frame": [
+            2.645237268117384e-08,
+            2.070396104558725e-08,
+            1.8850330274489124e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043387886421822,
+            "required_z": 0.9112599040976277,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000718541060965754,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.398177794459146e-08,
+            "max_target_xy_drift": 3.1199578312016723e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.002312745345767,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.0023127455304923,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2750987476200412,
+              -0.34973193370216016,
+              0.92350061383508
+            ],
+            "target_mouth_xy": [
+              0.2744440054132457,
+              -0.3500365329205697
+            ],
+            "rod_tip_z": 0.92350061383508,
+            "rod_tip_depth": -0.022240777611798657,
+            "rod_tip_bottom_clearance": 0.12168133519183366,
+            "rod_tip_xy_dist": 0.0007221274411176686,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044914271601026234,
+            "min_rod_tip_bottom_clearance": 0.05452625269040379,
+            "min_rod_tip_xy_dist": 0.00030769408821496367,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2744439765048806,
+              -0.3500366223458514
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.890836509061856e-08,
+              8.942528173516706e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.00115785747192787,
+                0.002035520629781351
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010674968040424448,
+                0.0016355050506173807
+              ],
+              "first_target_mouth_xy": [
+                0.27444394623771246,
+                -0.35003655825280316
+              ],
+              "last_target_mouth_xy": [
+                0.2744439447563701,
+                -0.35003656308833364
+              ],
+              "first_rod_tip_xy": [
+                0.2756018037096403,
+                -0.3480010376230218
+              ],
+              "last_rod_tip_xy": [
+                0.2755114415604125,
+                -0.34840105803771626
+              ],
+              "min_rod_tip_xy_dist": 0.0019530556052595623,
+              "max_rod_tip_xy_dist": 0.0023417895207649784,
+              "first_target_xy_drift": 7.088032381005954e-08,
+              "last_target_xy_drift": 6.722664155911843e-08,
+              "max_depth": 0.019842411230055146,
+              "min_bottom_clearance": 0.07959811863621125
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00115785747192787,
+                  0.002035520629781351
+                ],
+                "rod_tip_xy": [
+                  0.2756018037096403,
+                  -0.3480010376230218
+                ],
+                "target_mouth_xy": [
+                  0.27444394623771246,
+                  -0.35003655825280316
+                ],
+                "gripper_position": [
+                  0.27559046155619427,
+                  -0.34800829989765947,
+                  1.0056901896208679
+                ],
+                "rod_tip_xy_dist": 0.0023417895207649784,
+                "target_xy_drift": 7.088032381005954e-08,
+                "depth": 0.015427411143396186,
+                "bottom_clearance": 0.08401326083231486,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011464862948520893,
+                  0.00202829008522476
+                ],
+                "rod_tip_xy": [
+                  0.2755904615561943,
+                  -0.3480082998976596
+                ],
+                "target_mouth_xy": [
+                  0.27444397526134223,
+                  -0.35003658998288434
+                ],
+                "gripper_position": [
+                  0.2755970081944591,
+                  -0.348076164528134,
+                  1.0051696828805456
+                ],
+                "rod_tip_xy_dist": 0.0023298908760078733,
+                "target_xy_drift": 3.238684958728584e-08,
+                "depth": 0.015569596062710023,
+                "bottom_clearance": 0.083870974781598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0011530609723574003,
+                  0.00196039497758016
+                ],
+                "rod_tip_xy": [
+                  0.27559700819445915,
+                  -0.34807616452813417
+                ],
+                "target_mouth_xy": [
+                  0.27444394722210175,
+                  -0.35003655950571433
+                ],
+                "gripper_position": [
+                  0.2755855039110224,
+                  -0.34808359751354323,
+                  1.0050275894153116
+                ],
+                "rod_tip_xy_dist": 0.002274356628608475,
+                "target_xy_drift": 6.932794507436741e-08,
+                "depth": 0.01609024672501269,
+                "bottom_clearance": 0.0833504140124347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011415287136863905,
+                  0.001952934782273763
+                ],
+                "rod_tip_xy": [
+                  0.27558550391102243,
+                  -0.34808359751354334
+                ],
+                "target_mouth_xy": [
+                  0.27444397519733604,
+                  -0.3500365322958171
+                ],
+                "gripper_position": [
+                  0.2755771060303711,
+                  -0.34808428328853674,
+                  1.004902750695389
+                ],
+                "rod_tip_xy_dist": 0.0022620879885595024,
+                "target_xy_drift": 9.005952672267681e-08,
+                "depth": 0.01623223224860848,
+                "bottom_clearance": 0.08320828764386679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011331938977916511,
+                  0.0019523081066381565
+                ],
+                "rod_tip_xy": [
+                  0.27557710603037117,
+                  -0.3480842832885368
+                ],
+                "target_mouth_xy": [
+                  0.2744439121325795,
+                  -0.35003659139517496
+                ],
+                "gripper_position": [
+                  0.2755843982786317,
+                  -0.3481532951245449,
+                  1.0043835089455098
+                ],
+                "rod_tip_xy_dist": 0.0022573514022493925,
+                "target_xy_drift": 7.142644834171227e-08,
+                "depth": 0.01635715064930421,
+                "bottom_clearance": 0.08308345134580641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011404520083677094,
+                  0.001883266651464488
+                ],
+                "rod_tip_xy": [
+                  0.27558439827863174,
+                  -0.34815329512454507
+                ],
+                "target_mouth_xy": [
+                  0.274443946270264,
+                  -0.35003656177600956
+                ],
+                "gripper_position": [
+                  0.2755728107479864,
+                  -0.3481606765072432,
+                  1.0042414560979909
+                ],
+                "rod_tip_xy_dist": 0.0022016639307369796,
+                "target_xy_drift": 6.769666006310023e-08,
+                "depth": 0.016876374497683977,
+                "bottom_clearance": 0.0825641698182652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011288647516344286,
+                  0.0018758840088118345
+                ],
+                "rod_tip_xy": [
+                  0.27557281074798645,
+                  -0.34816067650724325
+                ],
+                "target_mouth_xy": [
+                  0.274443945996352,
+                  -0.3500365605160551
+                ],
+                "gripper_position": [
+                  0.2755641926474828,
+                  -0.3481614775352267,
+                  1.004117030932232
+                ],
+                "rod_tip_xy_dist": 0.0021893552571473226,
+                "target_xy_drift": 6.894703787775206e-08,
+                "depth": 0.01701832723761465,
+                "bottom_clearance": 0.08242225060535346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011202457098545282,
+                  0.0018751124511952044
+                ],
+                "rod_tip_xy": [
+                  0.27556419264748283,
+                  -0.34816147753522686
+                ],
+                "target_mouth_xy": [
+                  0.2744439469376283,
+                  -0.35003658998642206
+                ],
+                "gripper_position": [
+                  0.275572578620478,
+                  -0.3482312164634559,
+                  1.003599939059697
+                ],
+                "rod_tip_xy_dist": 0.0021842612378272807,
+                "target_xy_drift": 4.383326451162992e-08,
+                "depth": 0.017142943893600493,
+                "bottom_clearance": 0.0822976808735042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001128632448367417,
+                  0.0018053741831914882
+                ],
+                "rod_tip_xy": [
+                  0.27557257862047807,
+                  -0.3482312164634559
+                ],
+                "target_mouth_xy": [
+                  0.27444394617211065,
+                  -0.3500365906466474
+                ],
+                "gripper_position": [
+                  0.27556087822113695,
+                  -0.3482383729850579,
+                  1.0034579874447334
+                ],
+                "rod_tip_xy_dist": 0.002129128259368647,
+                "target_xy_drift": 4.387387001769288e-08,
+                "depth": 0.017659958728281522,
+                "bottom_clearance": 0.08178061316820773,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011169334269622855,
+                  0.0017982170577794943
+                ],
+                "rod_tip_xy": [
+                  0.27556087822113695,
+                  -0.348238372985058
+                ],
+                "target_mouth_xy": [
+                  0.27444394479417467,
+                  -0.3500365900428375
+                ],
+                "gripper_position": [
+                  0.2755521301265047,
+                  -0.3482391373057778,
+                  1.003333484925228
+                ],
+                "rod_tip_xy_dist": 0.0021168667570621576,
+                "target_xy_drift": 4.5266473032868927e-08,
+                "depth": 0.017801792472675326,
+                "bottom_clearance": 0.08163875180887559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011081838992091364,
+                  0.0017974527012165065
+                ],
+                "rod_tip_xy": [
+                  0.27555213012650476,
+                  -0.34823913730577793
+                ],
+                "target_mouth_xy": [
+                  0.2744439462272956,
+                  -0.35003659000699444
+                ],
+                "gripper_position": [
+                  0.27554345495418936,
+                  -0.3482401014350003,
+                  1.0032089560756303
+                ],
+                "rod_tip_xy_dist": 0.0021116125988393042,
+                "target_xy_drift": 4.4300494624356375e-08,
+                "depth": 0.01792642492707719,
+                "bottom_clearance": 0.08151417309467601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001099509582576652,
+                  0.0017964892342658967
+                ],
+                "rod_tip_xy": [
+                  0.2755434549541894,
+                  -0.3482401014350003
+                ],
+                "target_mouth_xy": [
+                  0.27444394537161276,
+                  -0.3500365906692662
+                ],
+                "gripper_position": [
+                  0.2755346484751717,
+                  -0.34824061610025275,
+                  1.0030844451560474
+                ],
+                "rod_tip_xy_dist": 0.002106251383622371,
+                "target_xy_drift": 4.441493464914036e-08,
+                "depth": 0.01805081646428952,
+                "bottom_clearance": 0.08138972531592181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010907003898431022,
+                  0.0017959437331753203
+                ],
+                "rod_tip_xy": [
+                  0.27553464847517173,
+                  -0.3482406161002529
+                ],
+                "target_mouth_xy": [
+                  0.2744439480853286,
+                  -0.35003655983342824
+                ],
+                "gripper_position": [
+                  0.27554517817817914,
+                  -0.34831437957696343,
+                  1.002567800639431
+                ],
+                "rod_tip_xy_dist": 0.0021011999507747,
+                "target_xy_drift": 6.866930891899332e-08,
+                "depth": 0.018175484536658737,
+                "bottom_clearance": 0.08126519541205057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011012038762456267,
+                  0.001722153381346625
+                ],
+                "rod_tip_xy": [
+                  0.2755451781781792,
+                  -0.34831437957696343
+                ],
+                "target_mouth_xy": [
+                  0.27444397430193357,
+                  -0.35003653295831005
+                ],
+                "gripper_position": [
+                  0.2755336203990375,
+                  -0.3483210929283383,
+                  1.0024263418482806
+                ],
+                "rod_tip_xy_dist": 0.002044128725384487,
+                "target_xy_drift": 8.941468295334475e-08,
+                "depth": 0.018692034994737483,
+                "bottom_clearance": 0.08074849190900446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001089675766279885,
+                  0.0017154675844177625
+                ],
+                "rod_tip_xy": [
+                  0.27553362039903756,
+                  -0.34832109292833846
+                ],
+                "target_mouth_xy": [
+                  0.2744439446327577,
+                  -0.3500365605127562
+                ],
+                "gripper_position": [
+                  0.27552462568033986,
+                  -0.3483216561999461,
+                  1.0023016605305335
+                ],
+                "rod_tip_xy_dist": 0.0020322948380601096,
+                "target_xy_drift": 6.956409909370153e-08,
+                "depth": 0.018833492322342327,
+                "bottom_clearance": 0.08060703730303476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010806519225691202,
+                  0.001714939570477747
+                ],
+                "rod_tip_xy": [
+                  0.2755246256803399,
+                  -0.34832165619994626
+                ],
+                "target_mouth_xy": [
+                  0.2744439737577708,
+                  -0.350036595770424
+                ],
+                "gripper_position": [
+                  0.2755157050171684,
+                  -0.34832244542291974,
+                  1.00217752693556
+                ],
+                "rod_tip_xy_dist": 0.0020270240028531323,
+                "target_xy_drift": 2.6717034914050807e-08,
+                "depth": 0.018958253482291743,
+                "bottom_clearance": 0.08048241414940527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0010717619755829522,
+                  0.0017140863091954506
+                ],
+                "rod_tip_xy": [
+                  0.27551570501716843,
+                  -0.3483224454229198
+                ],
+                "target_mouth_xy": [
+                  0.2744439430415855,
+                  -0.35003653173211524
+                ],
+                "gripper_position": [
+                  0.2755067598411183,
+                  -0.3483233028024544,
+                  1.0020534394831961
+                ],
+                "rod_tip_xy_dist": 0.0020215750314239527,
+                "target_xy_drift": 9.659524473796618e-08,
+                "depth": 0.019082340606252024,
+                "bottom_clearance": 0.08035821875311788,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010627860240390863,
+                  0.0017132590511179102
+                ],
+                "rod_tip_xy": [
+                  0.27550675984111833,
+                  -0.3483233028024545
+                ],
+                "target_mouth_xy": [
+                  0.27444397381707925,
+                  -0.3500365618535724
+                ],
+                "gripper_position": [
+                  0.27549789566760335,
+                  -0.3483238080890245,
+                  1.0019289700110743
+                ],
+                "rod_tip_xy_dist": 0.002016127651992862,
+                "target_xy_drift": 6.055196195956293e-08,
+                "depth": 0.01920639284161474,
+                "bottom_clearance": 0.08023411760423127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001053922056155232,
+                  0.0017127550453729379
+                ],
+                "rod_tip_xy": [
+                  0.2754978956676034,
+                  -0.34832380808902463
+                ],
+                "target_mouth_xy": [
+                  0.2744439736114482,
+                  -0.35003656313439757
+                ],
+                "gripper_position": [
+                  0.27551144156041246,
+                  -0.3484010580377162,
+                  1.0014174231900899
+                ],
+                "rod_tip_xy_dist": 0.0020110399165359514,
+                "target_xy_drift": 5.9282107068135706e-08,
+                "depth": 0.019330893272291316,
+                "bottom_clearance": 0.08010967295225258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010674968040424448,
+                  0.0016355050506173807
+                ],
+                "rod_tip_xy": [
+                  0.2755114415604125,
+                  -0.34840105803771626
+                ],
+                "target_mouth_xy": [
+                  0.2744439447563701,
+                  -0.35003656308833364
+                ],
+                "gripper_position": [
+                  0.27549949675821217,
+                  -0.348408386079158,
+                  1.0012761080585209
+                ],
+                "rod_tip_xy_dist": 0.0019530556052595623,
+                "target_xy_drift": 6.722664155911843e-08,
+                "depth": 0.019842411230055146,
+                "bottom_clearance": 0.07959811863621125,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006039996103787565,
+              "rod_tip_xy_max_step": 3.2810147365859566e-05,
+              "rod_tip_xy_range": 0.0006039896512705388,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2750987476200412,
+            -0.3497319337021601,
+            1.0435006138350802
+          ],
+          "object_origin_world": [
+            0.2750987476200412,
+            -0.3497319337021601,
+            1.0435006138350802
+          ],
+          "frame_world": [
+            0.2750972299155344,
+            -0.3497372019901541,
+            1.043387886421822
+          ],
+          "center_minus_frame": [
+            1.517704506792672e-06,
+            5.268287994020238e-06,
+            0.00011272741325818458
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2630527867686491,
+              0.15858688894972373,
+              0.8306730889627635
+            ],
+            "target_position": [
+              0.2789250337568485,
+              0.20485994326195794,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04891956438724064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16709041827035356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8306730889627635,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835667721201659,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1374266958695986,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 324,
+            "max_placed_release_frames": 324
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21513041228072927,
+              0.024690421673208358,
+              1.0440631916380299
+            ],
+            "current_z": 1.0440631916380299,
+            "required_z": 0.8565862689899865,
+            "initial_z": 0.7565862689899865,
+            "lift_margin": 0.1874769226480434,
+            "gripper_z": 1.0486854224412627,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2101895420679113,
+              0.019903710284574813,
+              1.0486854224412627
+            ],
+            "object_minus_gripper": [
+              0.0049408702128179716,
+              0.0047867113886335445,
+              -0.004622230803232874
+            ],
+            "object_to_gripper_xy": 0.006879302608403411,
+            "object_to_gripper_z": -0.004622230803232874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21513041228072927,
+              0.0004113588636541862,
+              1.0440631916380299
+            ],
+            "finger_b": [
+              0.20340977956271777,
+              0.024690421673208358,
+              1.0440631916380299
+            ],
+            "finger_midpoint": [
+              0.20927009592172352,
+              0.012550890268431272,
+              1.0440631916380299
+            ],
+            "object_minus_finger_midpoint": [
+              0.005860316359005746,
+              0.012139531404777085,
+              0.0
+            ],
+            "finger_gap": 0.026960083868949627,
+            "fingertip_max_gap": 0.09213818977496269,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013480041934474813,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0440631916380299,
+            "object_top_z": 1.0902087462698826,
+            "finger_top_clearance": 0.04614555463185277,
+            "fingertip_min_top_clearance": 0.013843666389555814,
+            "object_projection_between_fingers": 0.811000943513611,
+            "object_to_finger_line_xy": 0.010555085040223337,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048569094887481346,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6883361894699994,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2145419926614015,
+              0.02300668414749954,
+              1.2420584856644474
+            ],
+            "held_position": [
+              0.2198581656405239,
+              0.027326762691797204,
+              1.2373884909586617
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008290574426716121,
+            "max_held_gripper_dist": 0.008292673620162259,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004669994705785774,
+            "max_held_gripper_z_dist": 0.004669994705785774,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604381295770332,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2198581656405239,
+              0.001691945195137776,
+              1.2373884909586617
+            ],
+            "held_grasp_finger_b": [
+              0.2104155174393361,
+              0.027326762691797204,
+              1.2373884909586617
+            ],
+            "held_grasp_midpoint": [
+              0.21513684153993,
+              0.01450935394346749,
+              1.2373884909586617
+            ],
+            "held_grasp_object_position": [
+              0.2198581656405239,
+              0.027326762691797204,
+              1.2373884909586617
+            ],
+            "held_grasp_finger_gap": 0.027318628683344115,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024722915072074164,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08635641132969683,
+              -0.9962367895736166,
+              0.007404682458414413
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00359811318557071,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.0320233342176703,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18245282348846148,
+              0.01916924590180148,
+              0.7565870789479334
+            ],
+            "target_position": [
+              0.19033178450442845,
+              0.021732705976579857,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008285490585723334,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20972094574627226,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870789479334,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559748018641434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09032928390729929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18058843640755162,
+            "release_required_pad_clearance": 0.055164641953649646,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.422888595227459,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d260e55c93fa854fc706595eef586403b0110c3b2bd817325b340873168853b3",
+    "visual_seed": 294539144748729094,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a111cc784d76d02380edacac8630aafdfb0a6c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_3_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21616746079325916,
+              -0.13575988919023924,
+              1.1629633227142269
+            ],
+            "current_z": 1.1629633227142269,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.301856814699461,
+            "gripper_z": 1.1565248630276703,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21165794496647228,
+              -0.14022207093681643,
+              1.1565248630276703
+            ],
+            "object_minus_gripper": [
+              0.004509515826786881,
+              0.0044621817465771985,
+              0.006438459686556541
+            ],
+            "object_to_gripper_xy": 0.006344036485671256,
+            "object_to_gripper_z": 0.006438459686556541,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21616746079325916,
+              -0.15956398101735964,
+              1.1629633227142269
+            ],
+            "finger_b": [
+              0.20603280143972713,
+              -0.13575988919023924,
+              1.1629633227142269
+            ],
+            "finger_midpoint": [
+              0.21110013111649314,
+              -0.14766193510379944,
+              1.1629633227142269
+            ],
+            "object_minus_finger_midpoint": [
+              0.005067329676766014,
+              0.0119020459135602,
+              0.0
+            ],
+            "finger_gap": 0.025871724100378666,
+            "fingertip_max_gap": 0.09269211051829634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012935862050189333,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629633227142269,
+            "object_top_z": 1.2132182554432265,
+            "finger_top_clearance": 0.05025493272899961,
+            "fingertip_min_top_clearance": 0.01507647981869985,
+            "object_projection_between_fingers": 0.8465497610341346,
+            "object_to_finger_line_xy": 0.009324711447604295,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048846055259148174,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7799731457915917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26999151058773,
+              -0.35856389908614006,
+              0.851539573172278
+            ],
+            "target_position": [
+              0.26312434345608987,
+              -0.3584449019013133,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006868198071101001,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18284804623222448,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539573172278,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513788936930794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863160919392822,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1516620900239285,
+            "release_required_pad_clearance": 0.053158045969641105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3405440691691646,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007584869861602783,
+            "max_z_decrease": 0.007584869861602783,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110692097059415,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007584869861602783,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021096293054451463,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007584869861602783,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007584893129211025,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11882426589727402,
+              -0.4147063493728638,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11882426589727402,
+              -0.4147063493728638,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11978473720021643,
+              -0.41439492873702843,
+              0.8078764640790055
+            ],
+            "closest_button": [
+              0.11881407350301743,
+              -0.4147022664546967,
+              0.7727805376052856
+            ],
+            "closest_ee_minus_button": [
+              0.0009706636971990035,
+              0.0003073377176682768,
+              0.03509592647371984
+            ],
+            "button_min_z_position": [
+              0.11880559474229813,
+              -0.4147042632102967,
+              0.7692239880561829
+            ],
+            "min_active_finger_to_button": 0.14522508534469256,
+            "closest_active_finger": [
+              -0.007999882102012634,
+              -0.4765357971191406,
+              0.8112110495567322
+            ],
+            "closest_active_finger_button": [
+              0.11882262676954268,
+              -0.4147064685821534,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12682250887155533,
+              -0.06182932853698725,
+              0.03440219163894653
+            ],
+            "min_contact_pad_to_button": 0.021096293054451463,
+            "closest_contact_pad": [
+              0.11880559474229813,
+              -0.4155154057033309,
+              0.7903046813202881
+            ],
+            "closest_contact_pad_button": [
+              0.11880559474229813,
+              -0.4147042632102967,
+              0.7692239880561829
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008111424930342115,
+              0.02108069326410522
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28126702671598214,
+              0.19914415451064776,
+              1.1018616000984718
+            ],
+            "current_z": 1.1018616000984718,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19195247036410923,
+            "gripper_z": 1.1018617470223495,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28126708632787273,
+              0.19914419175313564,
+              1.1018617470223495
+            ],
+            "object_minus_gripper": [
+              -5.961189059044969e-08,
+              -3.724248787140283e-08,
+              -1.4692387773074245e-07
+            ],
+            "object_to_gripper_xy": 7.028926235648893e-08,
+            "object_to_gripper_z": -1.4692387773074245e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28126702671598214,
+              0.19914415451064776,
+              1.1018616000984718
+            ],
+            "finger_b": [
+              0.28126702671598214,
+              0.19914415451064776,
+              1.1018616000984718
+            ],
+            "finger_midpoint": [
+              0.28126702671598214,
+              0.19914415451064776,
+              1.1018616000984718
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1018616000984718,
+            "object_top_z": 1.2268701067187515,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 237,
+            "max_stable_success_frames": 237,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28126702671598214,
+            0.1991441545106478,
+            1.1018616000984718
+          ],
+          "object_origin_world": [
+            0.28126702671598214,
+            0.1991441545106478,
+            1.1018616000984718
+          ],
+          "frame_world": [
+            0.28126708632787273,
+            0.19914419175313564,
+            1.1018617470223495
+          ],
+          "center_minus_frame": [
+            -5.961189059044969e-08,
+            -3.7242487843647254e-08,
+            -1.4692387773074245e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434276662960302,
+            "required_z": 0.9112598393569484,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0020756757741585566,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.174810079598017e-08,
+            "max_target_xy_drift": 2.1038302825420338e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.340544077864623,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.340544077914925,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26869691704619425,
+              -0.3601797310979783,
+              0.9235400239663211
+            ],
+            "target_mouth_xy": [
+              0.2699913864302401,
+              -0.35856399746073164
+            ],
+            "rod_tip_z": 0.9235400239663211,
+            "rod_tip_depth": -0.02228015862484234,
+            "rod_tip_bottom_clearance": 0.12172074598229765,
+            "rod_tip_xy_dist": 0.0020703251369681994,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044749522168093026,
+            "min_rod_tip_bottom_clearance": 0.054691087373813896,
+            "min_rod_tip_xy_dist": 0.0007107386267602559,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26999138609446977,
+              -0.35856396571440646
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.3577035596366045e-10,
+              -3.174632517977116e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.000681211551631089,
+                0.0002139411596112084
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0007941734442689641,
+                -0.0002092128627612655
+              ],
+              "first_target_mouth_xy": [
+                0.26999144638669076,
+                -0.3585639606270456
+              ],
+              "last_target_mouth_xy": [
+                0.2699914174651619,
+                -0.35856399677170586
+              ],
+              "first_rod_tip_xy": [
+                0.26931023483505967,
+                -0.3583500194674344
+              ],
+              "last_rod_tip_xy": [
+                0.26919724402089296,
+                -0.3587732096344671
+              ],
+              "min_rod_tip_xy_dist": 0.0007107386267602559,
+              "max_rod_tip_xy_dist": 0.0008212682153394185,
+              "first_target_xy_drift": 6.050647199199393e-08,
+              "last_target_xy_drift": 4.414381238907459e-08,
+              "max_depth": 0.01945983506578497,
+              "min_bottom_clearance": 0.07998075951125483
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.000681211551631089,
+                  0.0002139411596112084
+                ],
+                "rod_tip_xy": [
+                  0.26931023483505967,
+                  -0.3583500194674344
+                ],
+                "target_mouth_xy": [
+                  0.26999144638669076,
+                  -0.3585639606270456
+                ],
+                "gripper_position": [
+                  0.2692992530906933,
+                  -0.3583575552196228,
+                  1.0060926011473716
+                ],
+                "rod_tip_xy_dist": 0.0007140168050203191,
+                "target_xy_drift": 6.050647199199393e-08,
+                "depth": 0.015025191586262365,
+                "bottom_clearance": 0.08441545721011223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0006921929099191204,
+                  0.00020650148757128672
+                ],
+                "rod_tip_xy": [
+                  0.26929925309069325,
+                  -0.35835755521962287
+                ],
+                "target_mouth_xy": [
+                  0.26999144600061237,
+                  -0.35856405670719416
+                ],
+                "gripper_position": [
+                  0.2692911313037033,
+                  -0.3583592594601865,
+                  1.0059683503534653
+                ],
+                "rod_tip_xy_dist": 0.0007223391785798787,
+                "target_xy_drift": 1.0894233949068208e-07,
+                "depth": 0.015167258577775788,
+                "bottom_clearance": 0.0842733169638159,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007003766916076626,
+                  0.0002046399541409949
+                ],
+                "rod_tip_xy": [
+                  0.2692911313037032,
+                  -0.35835925946018654
+                ],
+                "target_mouth_xy": [
+                  0.26999150799531085,
+                  -0.35856389941432754
+                ],
+                "gripper_position": [
+                  0.26929350649278816,
+                  -0.3584297488090336,
+                  1.0054466736799745
+                ],
+                "rod_tip_xy_dist": 0.0007296608945106783,
+                "target_xy_drift": 1.3876424439918463e-07,
+                "depth": 0.015291643688673529,
+                "bottom_clearance": 0.08414913948087188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0006979393234825548,
+                  0.0001342761941141024
+                ],
+                "rod_tip_xy": [
+                  0.2692935064927881,
+                  -0.35842974880903355
+                ],
+                "target_mouth_xy": [
+                  0.26999144581627066,
+                  -0.35856402500314766
+                ],
+                "gripper_position": [
+                  0.2692825069283249,
+                  -0.35843727895183763,
+                  1.005305284816348
+                ],
+                "rod_tip_xy_dist": 0.0007107386267602559,
+                "target_xy_drift": 8.415371848215292e-08,
+                "depth": 0.01581315628828961,
+                "bottom_clearance": 0.08362735658958143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007090024626755786,
+                  0.00012668416634942226
+                ],
+                "rod_tip_xy": [
+                  0.26928250692832484,
+                  -0.35843727895183763
+                ],
+                "target_mouth_xy": [
+                  0.2699915093910004,
+                  -0.35856396311818706
+                ],
+                "gripper_position": [
+                  0.2692743595921283,
+                  -0.3584386618421158,
+                  1.005180550908788
+                ],
+                "rod_tip_xy_dist": 0.0007202314697954286,
+                "target_xy_drift": 1.2332386154350343e-07,
+                "depth": 0.01595470536466881,
+                "bottom_clearance": 0.08348598015182074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007170877746415227,
+                  0.00012530130558863206
+                ],
+                "rod_tip_xy": [
+                  0.26927435959212825,
+                  -0.3584386618421159
+                ],
+                "target_mouth_xy": [
+                  0.2699914473667698,
+                  -0.35856396314770456
+                ],
+                "gripper_position": [
+                  0.2692774628322385,
+                  -0.3585101735849114,
+                  1.0046599839234125
+                ],
+                "rod_tip_xy_dist": 0.0007279528100931729,
+                "target_xy_drift": 6.132603612967745e-08,
+                "depth": 0.016079301232195475,
+                "bottom_clearance": 0.08336129210371002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007139831518480633,
+                  5.379275926498117e-05
+                ],
+                "rod_tip_xy": [
+                  0.26927746283223847,
+                  -0.35851017358491133
+                ],
+                "target_mouth_xy": [
+                  0.26999144598408653,
+                  -0.3585639663441763
+                ],
+                "gripper_position": [
+                  0.26926628101532635,
+                  -0.3585177050755122,
+                  1.0045179259339754
+                ],
+                "rod_tip_xy_dist": 0.0007160067053263083,
+                "target_xy_drift": 5.98929278497878e-08,
+                "depth": 0.016599918158393456,
+                "bottom_clearance": 0.08284062301893369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007251640027430839,
+                  4.625970559424264e-05
+                ],
+                "rod_tip_xy": [
+                  0.2692662810153263,
+                  -0.3585177050755123
+                ],
+                "target_mouth_xy": [
+                  0.2699914450180694,
+                  -0.3585639647811065
+                ],
+                "gripper_position": [
+                  0.26925802481044603,
+                  -0.3585192555638912,
+                  1.0043941127876315
+                ],
+                "rod_tip_xy_dist": 0.0007266380056369454,
+                "target_xy_drift": 5.89309904876297e-08,
+                "depth": 0.016741924139451303,
+                "bottom_clearance": 0.08269861129424894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.000733421258176159,
+                  4.4710159518235315e-05
+                ],
+                "rod_tip_xy": [
+                  0.2692580248104459,
+                  -0.3585192555638912
+                ],
+                "target_mouth_xy": [
+                  0.2699914460686221,
+                  -0.35856396572340943
+                ],
+                "gripper_position": [
+                  0.26926194832194755,
+                  -0.35859180087502296,
+                  1.003875161404641
+                ],
+                "rod_tip_xy_dist": 0.0007347827844396234,
+                "target_xy_drift": 5.997415298680676e-08,
+                "depth": 0.016865715622961353,
+                "bottom_clearance": 0.08257479965267478,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007294973714614406,
+                  -2.78982563964858e-05
+                ],
+                "rod_tip_xy": [
+                  0.2692619483219475,
+                  -0.35859180087502307
+                ],
+                "target_mouth_xy": [
+                  0.26999144569340894,
+                  -0.3585639026186266
+                ],
+                "gripper_position": [
+                  0.2692504168406618,
+                  -0.35859956697598877,
+                  1.0037337423044619
+                ],
+                "rod_tip_xy_dist": 0.000730030634753854,
+                "target_xy_drift": 8.679349623679394e-08,
+                "depth": 0.01738471164977573,
+                "bottom_clearance": 0.08205588630663774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007410607490374588,
+                  -3.559969431132792e-05
+                ],
+                "rod_tip_xy": [
+                  0.26925041684066175,
+                  -0.3585995669759888
+                ],
+                "target_mouth_xy": [
+                  0.2699914775896992,
+                  -0.3585639672816775
+                ],
+                "gripper_position": [
+                  0.2692421165019709,
+                  -0.35860074857587604,
+                  1.003609543960947
+                ],
+                "rod_tip_xy_dist": 0.0007419153401831098,
+                "target_xy_drift": 9.150865177847051e-08,
+                "depth": 0.01752618206014467,
+                "bottom_clearance": 0.08191444380907198,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007493299868202574,
+                  -3.6784127575073544e-05
+                ],
+                "rod_tip_xy": [
+                  0.2692421165019708,
+                  -0.3586007485758761
+                ],
+                "target_mouth_xy": [
+                  0.26999144648879103,
+                  -0.358563964448301
+                ],
+                "gripper_position": [
+                  0.26923369784374596,
+                  -0.3586019397245696,
+                  1.003485488929548
+                ],
+                "rod_tip_xy_dist": 0.0007502322981513836,
+                "target_xy_drift": 6.040759111406181e-08,
+                "depth": 0.017650218470766532,
+                "bottom_clearance": 0.0817902941931461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007577514049206813,
+                  -3.8006382194866184e-05
+                ],
+                "rod_tip_xy": [
+                  0.26923369784374585,
+                  -0.35860193972456966
+                ],
+                "target_mouth_xy": [
+                  0.2699914492486665,
+                  -0.3585639333423748
+                ],
+                "gripper_position": [
+                  0.26923896630439026,
+                  -0.3586766814431056,
+                  1.0029682114179947
+                ],
+                "rod_tip_xy_dist": 0.0007587039453876646,
+                "target_xy_drift": 7.096760530513151e-08,
+                "depth": 0.017774437099946305,
+                "bottom_clearance": 0.08166622719677863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007524487542208691,
+                  -0.00011271697306303174
+                ],
+                "rod_tip_xy": [
+                  0.26923896630439015,
+                  -0.3586766814431056
+                ],
+                "target_mouth_xy": [
+                  0.269991415058611,
+                  -0.3585639644700426
+                ],
+                "gripper_position": [
+                  0.26922729093934306,
+                  -0.3586845410929755,
+                  1.0028268389119948
+                ],
+                "rod_tip_xy_dist": 0.0007608444280830544,
+                "target_xy_drift": 2.8990859248404246e-08,
+                "depth": 0.018291648846338826,
+                "bottom_clearance": 0.08114890359357896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0007641259920090904,
+                  -0.00012057601415604857
+                ],
+                "rod_tip_xy": [
+                  0.26922729093934294,
+                  -0.35868454109297554
+                ],
+                "target_mouth_xy": [
+                  0.26999141693135204,
+                  -0.3585639650788195
+                ],
+                "gripper_position": [
+                  0.2692188676504684,
+                  -0.3586855174253451,
+                  1.002703071510546
+                ],
+                "rod_tip_xy_dist": 0.0007735807048095474,
+                "target_xy_drift": 3.084343169828415e-08,
+                "depth": 0.018432978104297226,
+                "bottom_clearance": 0.08100752970329184,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007725483717762049,
+                  -0.00012155201763530687
+                ],
+                "rod_tip_xy": [
+                  0.26921886765046826,
+                  -0.35868551742534516
+                ],
+                "target_mouth_xy": [
+                  0.26999141602224447,
+                  -0.35856396540770985
+                ],
+                "gripper_position": [
+                  0.2692102738777301,
+                  -0.35868669268006237,
+                  1.0025791515409148
+                ],
+                "rod_tip_xy_dist": 0.0007820523510132038,
+                "target_xy_drift": 2.992934615857114e-08,
+                "depth": 0.01855675837914539,
+                "bottom_clearance": 0.08088375452360219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0007811433783438959,
+                  -0.00012273045791244552
+                ],
+                "rod_tip_xy": [
+                  0.26921027387773,
+                  -0.35868669268006237
+                ],
+                "target_mouth_xy": [
+                  0.2699914172560739,
+                  -0.3585639622221499
+                ],
+                "gripper_position": [
+                  0.2692016969729863,
+                  -0.35868788251453837,
+                  1.0024551013742657
+                ],
+                "rod_tip_xy_dist": 0.0007907260858413066,
+                "target_xy_drift": 3.135668075097177e-08,
+                "depth": 0.01868071497709789,
+                "bottom_clearance": 0.0807599006543992,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0007897193491406829,
+                  -0.00012388285519837616
+                ],
+                "rod_tip_xy": [
+                  0.2692016969729862,
+                  -0.3586878825145384
+                ],
+                "target_mouth_xy": [
+                  0.26999141632212686,
+                  -0.35856399965934005
+                ],
+                "gripper_position": [
+                  0.26920891768210675,
+                  -0.3587654673028514,
+                  1.001941141033693
+                ],
+                "rod_tip_xy_dist": 0.0007993770150681627,
+                "target_xy_drift": 4.545294016786015e-08,
+                "depth": 0.018804802063275616,
+                "bottom_clearance": 0.08063586234484932,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000782561896371381,
+                  -0.00020156567902063216
+                ],
+                "rod_tip_xy": [
+                  0.2692089176821067,
+                  -0.3587654673028515
+                ],
+                "target_mouth_xy": [
+                  0.2699914795784781,
+                  -0.3585639016238309
+                ],
+                "gripper_position": [
+                  0.26919724402089307,
+                  -0.35877320963446707,
+                  1.0018000198212844
+                ],
+                "rod_tip_xy_dist": 0.0008081038575649918,
+                "target_xy_drift": 1.1334399713645992e-07,
+                "depth": 0.01931882358124437,
+                "bottom_clearance": 0.08012193077876983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0007941734442689641,
+                  -0.0002092128627612655
+                ],
+                "rod_tip_xy": [
+                  0.26919724402089296,
+                  -0.3587732096344671
+                ],
+                "target_mouth_xy": [
+                  0.2699914174651619,
+                  -0.35856399677170586
+                ],
+                "gripper_position": [
+                  0.269188728480253,
+                  -0.3587741418574079,
+                  1.0016762490419735
+                ],
+                "rod_tip_xy_dist": 0.0008212682153394185,
+                "target_xy_drift": 4.414381238907459e-08,
+                "depth": 0.01945983506578497,
+                "bottom_clearance": 0.07998075951125483,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005995477133239215,
+              "rod_tip_xy_max_step": 3.249417938169619e-05,
+              "rod_tip_xy_range": 0.0005995409468463818,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26869691704619425,
+            -0.36017973109797824,
+            1.0435400239663213
+          ],
+          "object_origin_world": [
+            0.26869691704619425,
+            -0.36017973109797824,
+            1.0435400239663213
+          ],
+          "frame_world": [
+            0.2686955071520708,
+            -0.3601854556981957,
+            1.0434276662960302
+          ],
+          "center_minus_frame": [
+            1.4098941234497175e-06,
+            5.724600217471565e-06,
+            0.00011235767029105226
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2682066113022122,
+              0.15255811335665279,
+              0.8328363266427122
+            ],
+            "target_position": [
+              0.2816606016152662,
+              0.19903439446742005,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04838444544717665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1682885620630276,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328363266427122,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669709456434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13695613143389646,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 300,
+            "max_placed_release_frames": 300
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21697106996585197,
+              0.025331124803223578,
+              1.0450552265047361
+            ],
+            "current_z": 1.0450552265047361,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.1884688979101049,
+            "gripper_z": 1.0495115676444593,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2121521226673881,
+              0.020613377711885664,
+              1.0495115676444593
+            ],
+            "object_minus_gripper": [
+              0.004818947298463883,
+              0.004717747091337914,
+              -0.004456341139723152
+            ],
+            "object_to_gripper_xy": 0.006743840944387679,
+            "object_to_gripper_z": -0.004456341139723152,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21697106996585197,
+              0.0011318818800801018,
+              1.0450552265047361
+            ],
+            "finger_b": [
+              0.205344160230628,
+              0.025331124803223578,
+              1.0450552265047361
+            ],
+            "finger_midpoint": [
+              0.21115761509824,
+              0.013231503341651839,
+              1.0450552265047361
+            ],
+            "object_minus_finger_midpoint": [
+              0.005813454867611978,
+              0.012099621461571739,
+              0.0
+            ],
+            "finger_gap": 0.026847502454499485,
+            "fingertip_max_gap": 0.0905574592720956,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013423751227249738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450552265047361,
+            "object_top_z": 1.0904441238935634,
+            "finger_top_clearance": 0.04538889738882723,
+            "fingertip_min_top_clearance": 0.01361666921664817,
+            "object_projection_between_fingers": 0.8124483798111254,
+            "object_to_finger_line_xy": 0.01048002187931609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047778729636047804,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41067888852731976,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21664373514635524,
+              0.023837676207107916,
+              1.2433311227843262
+            ],
+            "held_position": [
+              0.22184128315037513,
+              0.028089006141425763,
+              1.2388268405659841
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008085596438543721,
+            "max_held_gripper_dist": 0.008087649573844412,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004504282218342093,
+            "max_held_gripper_z_dist": 0.004504282218342093,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582170572149565,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22184128315037513,
+              0.0024964255227837885,
+              1.2388268405659841
+            ],
+            "held_grasp_finger_b": [
+              0.21250702039447184,
+              0.028089006141425763,
+              1.2388268405659841
+            ],
+            "held_grasp_midpoint": [
+              0.2171741517724235,
+              0.015292715832104776,
+              1.2388268405659841
+            ],
+            "held_grasp_object_position": [
+              0.22184128315037513,
+              0.028089006141425763,
+              1.2388268405659841
+            ],
+            "held_grasp_finger_gap": 0.027241671092609797,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024677538731325034,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08749248534656401,
+              -0.9961565407806728,
+              -0.004148646497990516
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035300665155239296,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03204477775275641,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1713304153877159,
+              0.027252113772138046,
+              0.7565892883635486
+            ],
+            "target_position": [
+              0.19221725573126303,
+              0.02356233846300651,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.021210246141162636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2019002009060178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565892883635486,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561721952770367,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08732157964752736,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17556349363469928,
+            "release_required_pad_clearance": 0.05366078982376368,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.316497979581221,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 321,
+            "max_placed_release_frames": 321
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3767d065cc31977ddf002e44952e194a2aec07c803967d7ec0ba7cea5b77230d",
+    "visual_seed": 4091086256943942932,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7ded4a09fb740959525911a976d42e01bf20781
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_40_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21472040685527313,
+              -0.1393179597670104,
+              1.1641393833287554
+            ],
+            "current_z": 1.1641393833287554,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3030328157093448,
+            "gripper_z": 1.1574494922907579,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21050440262186484,
+              -0.1437505739393774,
+              1.1574494922907579
+            ],
+            "object_minus_gripper": [
+              0.004216004233408288,
+              0.004432614172367011,
+              0.006689891037997553
+            ],
+            "object_to_gripper_xy": 0.0061174144944727655,
+            "object_to_gripper_z": 0.006689891037997553,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21472040685527313,
+              -0.16282416711004102,
+              1.1641393833287554
+            ],
+            "finger_b": [
+              0.20441885120319922,
+              -0.1393179597670104,
+              1.1641393833287554
+            ],
+            "finger_midpoint": [
+              0.20956962902923618,
+              -0.15107106343852572,
+              1.1641393833287554
+            ],
+            "object_minus_finger_midpoint": [
+              0.005150777826036956,
+              0.01175310367151533,
+              0.0
+            ],
+            "finger_gap": 0.025664446857595103,
+            "fingertip_max_gap": 0.09257302976363499,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012832223428797564,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641393833287554,
+            "object_top_z": 1.214314016716359,
+            "finger_top_clearance": 0.05017463338760364,
+            "fingertip_min_top_clearance": 0.015052390016281092,
+            "object_projection_between_fingers": 0.8388828358026518,
+            "object_to_finger_line_xy": 0.0094352512040117,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487865148818175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.989698280540555,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2693201453824809,
+              -0.3521224665671001,
+              0.8515395700721421
+            ],
+            "target_position": [
+              0.2618951699252039,
+              -0.3524314908913282,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00743140340542285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18503038562753416,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395700721421,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529436099834161,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597380459456737,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15331441079560199,
+            "release_required_pad_clearance": 0.052986902297283686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0079324475906668,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007633686065673828,
+            "max_z_decrease": 0.007633686065673828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510240967826796,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007633686065673828,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110034402793104,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007633686065673828,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007633711867004008,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1175950989127159,
+              -0.40869295597076416,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1175950989127159,
+              -0.40869295597076416,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11698751005895872,
+              -0.4073477171210196,
+              0.807367656969148
+            ],
+            "closest_button": [
+              0.11758391559123993,
+              -0.40868741273880005,
+              0.7722958922386169
+            ],
+            "closest_ee_minus_button": [
+              -0.0005964055322812134,
+              0.0013396956177804675,
+              0.035071764730531085
+            ],
+            "button_min_z_position": [
+              0.11757557094097136,
+              -0.4086894094944,
+              0.7691751718521118
+            ],
+            "min_active_finger_to_button": 0.1461488875916577,
+            "closest_active_finger": [
+              -0.009315259754657745,
+              -0.47243431210517883,
+              0.8110166192054749
+            ],
+            "closest_active_finger_button": [
+              0.11759664863348007,
+              -0.4086909592151642,
+              0.7765253186225891
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12691190838813782,
+              -0.06374335289001465,
+              0.03449130058288574
+            ],
+            "min_contact_pad_to_button": 0.02110034402793104,
+            "closest_contact_pad": [
+              0.11757557094097136,
+              -0.4086894094944,
+              0.7902755158800429
+            ],
+            "closest_contact_pad_button": [
+              0.11757557094097136,
+              -0.4086894094944,
+              0.7691751718521118
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02110034402793104
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27746279021471293,
+              0.20543117056585739,
+              1.10261325471411
+            ],
+            "current_z": 1.10261325471411,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19270412497974754,
+            "gripper_z": 1.1026132278086216,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2774627304860927,
+              0.20543120057646197,
+              1.1026132278086216
+            ],
+            "object_minus_gripper": [
+              5.97286202164149e-08,
+              -3.0010604584740364e-08,
+              2.6905488503814468e-08
+            ],
+            "object_to_gripper_xy": 6.684418045348724e-08,
+            "object_to_gripper_z": 2.6905488503814468e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27746279021471293,
+              0.20543117056585739,
+              1.10261325471411
+            ],
+            "finger_b": [
+              0.27746279021471293,
+              0.20543117056585739,
+              1.10261325471411
+            ],
+            "finger_midpoint": [
+              0.27746279021471293,
+              0.20543117056585739,
+              1.10261325471411
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10261325471411,
+            "object_top_z": 1.2276217613343898,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.277462790214713,
+            0.20543117056585739,
+            1.1026132547141103
+          ],
+          "object_origin_world": [
+            0.277462790214713,
+            0.20543117056585739,
+            1.1026132547141103
+          ],
+          "frame_world": [
+            0.2774627304860927,
+            0.20543120057646197,
+            1.1026132278086216
+          ],
+          "center_minus_frame": [
+            5.972862027192605e-08,
+            -3.0010604584740364e-08,
+            2.6905488725859072e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431788727363942,
+            "required_z": 0.9112598239211471,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007669849747612839,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.902125656350992e-08,
+            "max_target_xy_drift": 1.5689039584440018e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.007932445683509,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0079324476199576,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2688249267599817,
+              -0.35270191350439034,
+              0.9232891778154367
+            ],
+            "target_mouth_xy": [
+              0.26932011763857744,
+              -0.3521224938279333
+            ],
+            "rod_tip_z": 0.9232891778154367,
+            "rod_tip_depth": -0.02202928481329336,
+            "rod_tip_bottom_clearance": 0.12146985884439798,
+            "rod_tip_xy_dist": 0.000762194966993339,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04477066518133799,
+            "min_rod_tip_bottom_clearance": 0.05466984191650104,
+            "min_rod_tip_xy_dist": 1.6796600287863823e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2693201153114793,
+              -0.35212243485257116
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.3270981253098455e-09,
+              -5.8975362149382704e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                9.6018557013966e-05,
+                0.001247816783297273
+              ],
+              "last_rod_tip_xy_delta": [
+                -1.1143898050847145e-05,
+                0.0008349364266967974
+              ],
+              "first_target_mouth_xy": [
+                0.26932011566617214,
+                -0.3521224957456337
+              ],
+              "last_target_mouth_xy": [
+                0.2693201464922302,
+                -0.35212249446959576
+              ],
+              "first_rod_tip_xy": [
+                0.2694161342231861,
+                -0.35087467896233643
+              ],
+              "last_rod_tip_xy": [
+                0.26930900259417934,
+                -0.35128755804289896
+              ],
+              "min_rod_tip_xy_dist": 0.0008350107921991093,
+              "max_rod_tip_xy_dist": 0.0012515056084450432,
+              "first_target_xy_drift": 6.089409554390204e-08,
+              "last_target_xy_drift": 6.727873992846545e-08,
+              "max_depth": 0.01941566722574506,
+              "min_bottom_clearance": 0.08002486503326667
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  9.6018557013966e-05,
+                  0.001247816783297273
+                ],
+                "rod_tip_xy": [
+                  0.2694161342231861,
+                  -0.35087467896233643
+                ],
+                "target_mouth_xy": [
+                  0.26932011566617214,
+                  -0.3521224957456337
+                ],
+                "gripper_position": [
+                  0.2694049243288241,
+                  -0.35088221022955507,
+                  1.0061009307906814
+                ],
+                "rod_tip_xy_dist": 0.0012515056084450432,
+                "target_xy_drift": 6.089409554390204e-08,
+                "depth": 0.015019366776568899,
+                "bottom_clearance": 0.08442117016014772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  8.4837342029076e-05,
+                  0.0012402230452451257
+                ],
+                "rod_tip_xy": [
+                  0.2694049243288241,
+                  -0.35088221022955507
+                ],
+                "target_mouth_xy": [
+                  0.26932008698679505,
+                  -0.3521224332748002
+                ],
+                "gripper_position": [
+                  0.2693968177777529,
+                  -0.3508833432303543,
+                  1.005977934556215
+                ],
+                "rod_tip_xy_dist": 0.00124312130404062,
+                "target_xy_drift": 2.836859354864644e-08,
+                "depth": 0.015158972775305868,
+                "bottom_clearance": 0.08428160362232817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  7.673108336009316e-05,
+                  0.0012391220713691697
+                ],
+                "rod_tip_xy": [
+                  0.2693968177777528,
+                  -0.35088334323035447
+                ],
+                "target_mouth_xy": [
+                  0.2693200866943927,
+                  -0.35212246530172364
+                ],
+                "gripper_position": [
+                  0.26940088996143163,
+                  -0.35095306451691594,
+                  1.0054586540054882
+                ],
+                "rod_tip_xy_dist": 0.001241495536402703,
+                "target_xy_drift": 4.178622418259846e-08,
+                "depth": 0.015281898407843886,
+                "bottom_clearance": 0.08415864852609045,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  8.080574564889309e-05,
+                  0.0011694293390350774
+                ],
+                "rod_tip_xy": [
+                  0.26940088996143163,
+                  -0.35095306451691594
+                ],
+                "target_mouth_xy": [
+                  0.26932008421578274,
+                  -0.352122493855951
+                ],
+                "gripper_position": [
+                  0.26938955117064234,
+                  -0.3509605600858115,
+                  1.0053193654179282
+                ],
+                "rod_tip_xy_dist": 0.0011722177901422122,
+                "target_xy_drift": 6.669588577220224e-08,
+                "depth": 0.015801212744914972,
+                "bottom_clearance": 0.08363934641751447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  6.943514748908308e-05,
+                  0.0011619353421027934
+                ],
+                "rod_tip_xy": [
+                  0.2693895511706423,
+                  -0.3509605600858116
+                ],
+                "target_mouth_xy": [
+                  0.2693201160231532,
+                  -0.3521224954279144
+                ],
+                "gripper_position": [
+                  0.26938134992861196,
+                  -0.35096154039368826,
+                  1.0051968144739838
+                ],
+                "rod_tip_xy_dist": 0.0011640081524346667,
+                "target_xy_drift": 6.057952367375692e-08,
+                "depth": 0.015940469360520626,
+                "bottom_clearance": 0.08350007040521767,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  6.126365050179716e-05,
+                  0.0011609236370991316
+                ],
+                "rod_tip_xy": [
+                  0.2693813499286119,
+                  -0.3509615403936884
+                ],
+                "target_mouth_xy": [
+                  0.2693200862781101,
+                  -0.3521224640307875
+                ],
+                "gripper_position": [
+                  0.2693862403964308,
+                  -0.3510325878363518,
+                  1.0046772491719484
+                ],
+                "rod_tip_xy_dist": 0.0011625389997966876,
+                "target_xy_drift": 4.116193431529769e-08,
+                "depth": 0.01606300688899831,
+                "bottom_clearance": 0.08337750796833732,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  6.612332782185426e-05,
+                  0.0010899380265983472
+                ],
+                "rod_tip_xy": [
+                  0.2693862403964308,
+                  -0.3510325878363519
+                ],
+                "target_mouth_xy": [
+                  0.2693201170686089,
+                  -0.35212252586295023
+                ],
+                "gripper_position": [
+                  0.26937491926759777,
+                  -0.3510399804790518,
+                  1.0045381022233044
+                ],
+                "rod_tip_xy_dist": 0.0010919419381575817,
+                "target_xy_drift": 9.102733986149017e-08,
+                "depth": 0.016582665072457425,
+                "bottom_clearance": 0.08285793771763794,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  5.483162300012889e-05,
+                  0.0010825437896411771
+                ],
+                "rod_tip_xy": [
+                  0.2693749192675977,
+                  -0.3510399804790519
+                ],
+                "target_mouth_xy": [
+                  0.2693200876445976,
+                  -0.35212252426869306
+                ],
+                "gripper_position": [
+                  0.26936647307807754,
+                  -0.3510409400080829,
+                  1.0044156563618194
+                ],
+                "rod_tip_xy_dist": 0.0010839315307580592,
+                "target_xy_drift": 9.359860682465484e-08,
+                "depth": 0.016721727310161527,
+                "bottom_clearance": 0.08271883442205008,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  4.6384939712262874e-05,
+                  0.0010815569869082053
+                ],
+                "rod_tip_xy": [
+                  0.26936647307807754,
+                  -0.351040940008083
+                ],
+                "target_mouth_xy": [
+                  0.2693200881383653,
+                  -0.3521224969949912
+                ],
+                "gripper_position": [
+                  0.2693721312734771,
+                  -0.3511129655377592,
+                  1.0038983580925536
+                ],
+                "rod_tip_xy_dist": 0.0010825511898113946,
+                "target_xy_drift": 6.782373106267647e-08,
+                "depth": 0.01684428164158558,
+                "bottom_clearance": 0.08259638794286228,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  5.204554055443511e-05,
+                  0.0010095289401817475
+                ],
+                "rod_tip_xy": [
+                  0.26937213127347703,
+                  -0.35111296553775934
+                ],
+                "target_mouth_xy": [
+                  0.2693200857329226,
+                  -0.3521224944779411
+                ],
+                "gripper_position": [
+                  0.26936060336389767,
+                  -0.3511202514010437,
+                  1.0037590273017811
+                ],
+                "rod_tip_xy_dist": 0.0010108696351934239,
+                "target_xy_drift": 6.655881425737538e-08,
+                "depth": 0.017361399851000825,
+                "bottom_clearance": 0.0820790948389919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  4.045448396522433e-05,
+                  0.001002213880568703
+                ],
+                "rod_tip_xy": [
+                  0.2693606033638976,
+                  -0.3511202514010438
+                ],
+                "target_mouth_xy": [
+                  0.2693201488799324,
+                  -0.3521224652816125
+                ],
+                "gripper_position": [
+                  0.269352127457577,
+                  -0.35112105394016635,
+                  1.003636583125064
+                ],
+                "rod_tip_xy_dist": 0.0010030300233180816,
+                "target_xy_drift": 4.5307478397119695e-08,
+                "depth": 0.017500886262925675,
+                "bottom_clearance": 0.08193976081499643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  3.201426746346492e-05,
+                  0.0010014694179739658
+                ],
+                "rod_tip_xy": [
+                  0.2693521274575769,
+                  -0.3511210539401664
+                ],
+                "target_mouth_xy": [
+                  0.26932011319011345,
+                  -0.35212252335814037
+                ],
+                "gripper_position": [
+                  0.2693584775519074,
+                  -0.35119409062588036,
+                  1.0031223912656193
+                ],
+                "rod_tip_xy_dist": 0.0010019809920643885,
+                "target_xy_drift": 8.853098877645316e-08,
+                "depth": 0.017623314347264718,
+                "bottom_clearance": 0.08181728772489472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  3.8332469528945534e-05,
+                  0.0009284317551621624
+                ],
+                "rod_tip_xy": [
+                  0.26935847755190734,
+                  -0.3511940906258804
+                ],
+                "target_mouth_xy": [
+                  0.2693201450823784,
+                  -0.3521225223810426
+                ],
+                "gripper_position": [
+                  0.2693468445736552,
+                  -0.35120139715318544,
+                  1.002983261922821
+                ],
+                "rod_tip_xy_dist": 0.0009292227409042898,
+                "target_xy_drift": 9.245290552642848e-08,
+                "depth": 0.01813745872336192,
+                "bottom_clearance": 0.08130309585199236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  2.6728086621463643e-05,
+                  0.0009210976298265061
+                ],
+                "rod_tip_xy": [
+                  0.2693468445736552,
+                  -0.3512013971531855
+                ],
+                "target_mouth_xy": [
+                  0.26932011648703374,
+                  -0.352122494783012
+                ],
+                "gripper_position": [
+                  0.2693381983974884,
+                  -0.35120203934415056,
+                  1.0028609658666534
+                ],
+                "rod_tip_xy_dist": 0.000921485341330209,
+                "target_xy_drift": 5.994196915819677e-08,
+                "depth": 0.018276565274401135,
+                "bottom_clearance": 0.08116397003500031,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  1.8083235954979848e-05,
+                  0.0009204538645457561
+                ],
+                "rod_tip_xy": [
+                  0.26933819839748835,
+                  -0.3512020393441507
+                ],
+                "target_mouth_xy": [
+                  0.26932011516153337,
+                  -0.35212249320869643
+                ],
+                "gripper_position": [
+                  0.26932971001963124,
+                  -0.35120276092458225,
+                  1.0027388393876544
+                ],
+                "rod_tip_xy_dist": 0.0009206314790293782,
+                "target_xy_drift": 5.8356317907971795e-08,
+                "depth": 0.0183988768580311,
+                "bottom_clearance": 0.08104166026891646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  9.595525555461393e-06,
+                  0.0009197332410295078
+                ],
+                "rod_tip_xy": [
+                  0.2693297100196312,
+                  -0.3512027609245824
+                ],
+                "target_mouth_xy": [
+                  0.2693201144940757,
+                  -0.3521224941656119
+                ],
+                "gripper_position": [
+                  0.26932107344106426,
+                  -0.35120346099630045,
+                  1.0026167933835939
+                ],
+                "rod_tip_xy_dist": 0.0009197832944587155,
+                "target_xy_drift": 5.9318672881576226e-08,
+                "depth": 0.01852100732881834,
+                "bottom_clearance": 0.0809195223657665,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  9.56803311524812e-07,
+                  0.0009190331488409531
+                ],
+                "rod_tip_xy": [
+                  0.2693210734410642,
+                  -0.35120346099630045
+                ],
+                "target_mouth_xy": [
+                  0.2693201166377527,
+                  -0.3521224941451414
+                ],
+                "gripper_position": [
+                  0.26932944982806484,
+                  -0.3512797998324587,
+                  1.0021052173538159
+                ],
+                "rod_tip_xy_dist": 0.0009190336469036889,
+                "target_xy_drift": 5.930740162080842e-08,
+                "depth": 0.018643026632623072,
+                "bottom_clearance": 0.08079749796306313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  9.334190160525946e-06,
+                  0.0008426635696497375
+                ],
+                "rod_tip_xy": [
+                  0.2693294498280648,
+                  -0.3512797998324588
+                ],
+                "target_mouth_xy": [
+                  0.26932011563790426,
+                  -0.3521224634021085
+                ],
+                "gripper_position": [
+                  0.26931766017945247,
+                  -0.3512870315845459,
+                  1.0019661629879149
+                ],
+                "rod_tip_xy_dist": 0.0008427152655083393,
+                "target_xy_drift": 2.855140339589643e-08,
+                "depth": 0.01915461193770074,
+                "bottom_clearance": 0.0802859090564415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -2.42527874605436e-06,
+                  0.0008354625821124784
+                ],
+                "rod_tip_xy": [
+                  0.2693176601794524,
+                  -0.35128703158454594
+                ],
+                "target_mouth_xy": [
+                  0.26932008545819847,
+                  -0.3521224941666584
+                ],
+                "gripper_position": [
+                  0.2693090025941794,
+                  -0.35128755804289885,
+                  1.001844156098948
+                ],
+                "rod_tip_xy_dist": 0.0008354661022968231,
+                "target_xy_drift": 6.640315748514553e-08,
+                "depth": 0.019293660090438647,
+                "bottom_clearance": 0.08014683959416813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -1.1143898050847145e-05,
+                  0.0008349364266967974
+                ],
+                "rod_tip_xy": [
+                  0.26930900259417934,
+                  -0.35128755804289896
+                ],
+                "target_mouth_xy": [
+                  0.2693201464922302,
+                  -0.35212249446959576
+                ],
+                "gripper_position": [
+                  0.2693002032019922,
+                  -0.3512880498501153,
+                  1.0017218302912412
+                ],
+                "rod_tip_xy_dist": 0.0008350107921991093,
+                "target_xy_drift": 6.727873992846545e-08,
+                "depth": 0.01941566722574506,
+                "bottom_clearance": 0.08002486503326667,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006004554649406211,
+              "rod_tip_xy_max_step": 3.24124723799792e-05,
+              "rod_tip_xy_range": 0.0006004442424804852,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26882492675998176,
+            -0.35270191350439034,
+            1.0432891778154367
+          ],
+          "object_origin_world": [
+            0.26882492675998176,
+            -0.35270191350439034,
+            1.0432891778154367
+          ],
+          "frame_world": [
+            0.2688234039051643,
+            -0.35270690927823245,
+            1.0431788727363942
+          ],
+          "center_minus_frame": [
+            1.5228548174706091e-06,
+            4.995773842109141e-06,
+            0.00011030507904252751
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26307666445600336,
+              0.15825390939968018,
+              0.8321360680510669
+            ],
+            "target_position": [
+              0.2776496222599786,
+              0.20472097426720787,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04869865723569253,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16792653528214385,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321360680510669,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567256954575,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13744298972622543,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 307,
+            "max_placed_release_frames": 307
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21092012212444988,
+              0.026879024820060556,
+              1.04466225889795
+            ],
+            "current_z": 1.04466225889795,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18807587069867393,
+            "gripper_z": 1.0489343744255106,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2058976313649073,
+              0.02217187675684819,
+              1.0489343744255106
+            ],
+            "object_minus_gripper": [
+              0.005022490759542586,
+              0.004707148063212367,
+              -0.004272115527560683
+            ],
+            "object_to_gripper_xy": 0.006883506106534271,
+            "object_to_gripper_z": -0.004272115527560683,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21092012212444988,
+              0.002296752166829683,
+              1.04466225889795
+            ],
+            "finger_b": [
+              0.19961760637402412,
+              0.026879024820060556,
+              1.04466225889795
+            ],
+            "finger_midpoint": [
+              0.20526886424923702,
+              0.014587888493445118,
+              1.04466225889795
+            ],
+            "object_minus_finger_midpoint": [
+              0.005651257875212867,
+              0.012291136326615437,
+              0.0
+            ],
+            "finger_gap": 0.027056145163093816,
+            "fingertip_max_gap": 0.09215282545422432,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013528072581546901,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04466225889795,
+            "object_top_z": 1.0905276441539324,
+            "finger_top_clearance": 0.045865385255982494,
+            "fingertip_min_top_clearance": 0.013759615576794764,
+            "object_projection_between_fingers": 0.8254907704629874,
+            "object_to_finger_line_xy": 0.01026907278067811,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857641272711216,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8350349506006327,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21025181227846257,
+              0.025433092166892088,
+              1.2423463000300128
+            ],
+            "held_position": [
+              0.21556995294098452,
+              0.029763727773679464,
+              1.2380359553867573
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008100376275753227,
+            "max_held_gripper_dist": 0.008101958006245972,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004310344643255526,
+            "max_held_gripper_z_dist": 0.004310355354736561,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08537105618733257,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21556995294098452,
+              0.004117165566795518,
+              1.2380359553867573
+            ],
+            "held_grasp_finger_b": [
+              0.20615645793799758,
+              0.029763727773679464,
+              1.2380359553867573
+            ],
+            "held_grasp_midpoint": [
+              0.21086320543949105,
+              0.016940446670237492,
+              1.2380359553867573
+            ],
+            "held_grasp_object_position": [
+              0.21556995294098452,
+              0.029763727773679464,
+              1.2380359553867573
+            ],
+            "held_grasp_finger_gap": 0.027319590794937395,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025008427435639417,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06246726217521137,
+              -0.9980465408773401,
+              0.0009712873464597926
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038965403879173896,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03210797598765444,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17331366629822637,
+              0.030288973639901965,
+              0.7565861999125909
+            ],
+            "target_position": [
+              0.18587979496664703,
+              0.02259177620106289,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014736160901801203,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20625480610805974,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565861999125909,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07606131709884024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09104297374213659,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17901136074190824,
+            "release_required_pad_clearance": 0.055521486871068296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.186395118766014,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ef1854b46baddecaf178a50dabcef0371d5cc0b7713cff17d8f023b3a794489",
+    "visual_seed": 1071184744014452053,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93349017aea4c4f63147305ca6cb6c1d16862ae1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_41_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21003247339093045,
+              -0.1433418402024906,
+              1.1632342298247935
+            ],
+            "current_z": 1.1632342298247935,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3021277814146722,
+            "gripper_z": 1.1565636191229605,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20582752353281694,
+              -0.1477443494650683,
+              1.1565636191229605
+            ],
+            "object_minus_gripper": [
+              0.00420494985811351,
+              0.004402509262577681,
+              0.006670610701833057
+            ],
+            "object_to_gripper_xy": 0.006087995656727352,
+            "object_to_gripper_z": 0.006670610701833057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21003247339093045,
+              -0.16683843082626762,
+              1.1632342298247935
+            ],
+            "finger_b": [
+              0.1997304182279122,
+              -0.1433418402024906,
+              1.1632342298247935
+            ],
+            "finger_midpoint": [
+              0.20488144580942133,
+              -0.1550901355143791,
+              1.1632342298247935
+            ],
+            "object_minus_finger_midpoint": [
+              0.005151027581509121,
+              0.011748295311888507,
+              0.0
+            ],
+            "finger_gap": 0.025655839715808107,
+            "fingertip_max_gap": 0.09240636891159235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012827919857904053,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1632342298247935,
+            "object_top_z": 1.2132658218608003,
+            "finger_top_clearance": 0.05003159203600682,
+            "fingertip_min_top_clearance": 0.015009477610802046,
+            "object_projection_between_fingers": 0.8387590773329344,
+            "object_to_finger_line_xy": 0.009435012668864554,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048703184455796175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.033330450957402,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 333,
+            "max_stable_success_frames": 333,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2671855954309519,
+              -0.3489192167531864,
+              0.8515395887465952
+            ],
+            "target_position": [
+              0.25973414213475093,
+              -0.3492172037517803,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074574092335606065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18253147711571915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395887465952,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563933964988327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08717951380155585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15014813569739027,
+            "release_required_pad_clearance": 0.05358975690077793,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.190073386084147,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007436275482177734,
+            "max_z_decrease": 0.007436275482177734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035103961008563146,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007436275482177734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021073738063630297,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007436275482177734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074363015683011225,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11543406546115872,
+              -0.40547865629196167,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11543406546115872,
+              -0.40547865629196167,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11362827268403008,
+              -0.4049218245700525,
+              0.8076969592803607
+            ],
+            "closest_button": [
+              0.1154241561889648,
+              -0.40547481179237366,
+              0.7726433277130127
+            ],
+            "closest_ee_minus_button": [
+              -0.0017958835049347172,
+              0.0005529872223211663,
+              0.035053631567347976
+            ],
+            "button_min_z_position": [
+              0.11541460454463956,
+              -0.40547561645507807,
+              0.7693725824356079
+            ],
+            "min_active_finger_to_button": 0.14754613094952368,
+            "closest_active_finger": [
+              -0.013289406895637512,
+              -0.46881717443466187,
+              0.8106306195259094
+            ],
+            "closest_active_finger_button": [
+              0.11543448269367215,
+              -0.40547800064086914,
+              0.7761607766151428
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12872388958930966,
+              -0.06333917379379272,
+              0.0344698429107666
+            ],
+            "min_contact_pad_to_button": 0.021073738063630297,
+            "closest_contact_pad": [
+              0.11541460454463956,
+              -0.4059376503810009,
+              0.7904412549288097
+            ],
+            "closest_contact_pad_button": [
+              0.11541460454463956,
+              -0.40547561645507807,
+              0.7693725824356079
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00046203392592281123,
+              0.021068672493201768
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2829092481271025,
+              0.20691824707315631,
+              1.1035363806078764
+            ],
+            "current_z": 1.1035363806078764,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19362725087351385,
+            "gripper_z": 1.1035367618541334,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28290933922763944,
+              0.20691827384704004,
+              1.1035367618541334
+            ],
+            "object_minus_gripper": [
+              -9.110053694749709e-08,
+              -2.6773883721187275e-08,
+              -3.812462570085273e-07
+            ],
+            "object_to_gripper_xy": 9.495340268593822e-08,
+            "object_to_gripper_z": -3.812462570085273e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2829092481271025,
+              0.20691824707315631,
+              1.1035363806078764
+            ],
+            "finger_b": [
+              0.2829092481271025,
+              0.20691824707315631,
+              1.1035363806078764
+            ],
+            "finger_midpoint": [
+              0.2829092481271025,
+              0.20691824707315631,
+              1.1035363806078764
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035363806078764,
+            "object_top_z": 1.2285448872281561,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2829092481271025,
+            0.20691824707315631,
+            1.1035363806078766
+          ],
+          "object_origin_world": [
+            0.2829092481271025,
+            0.20691824707315631,
+            1.1035363806078766
+          ],
+          "frame_world": [
+            0.28290933922763944,
+            0.20691827384704004,
+            1.1035367618541334
+          ],
+          "center_minus_frame": [
+            -9.110053694749709e-08,
+            -2.6773883721187275e-08,
+            -3.812462567864827e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436161688970365,
+            "required_z": 0.9112598686237052,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021223794770527382,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.013763290946497e-08,
+            "max_target_xy_drift": 1.6564453793467742e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.190073388797899,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.190073388841843,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26515203298501466,
+              -0.34823488457451834,
+              0.9233019365606349
+            ],
+            "target_mouth_xy": [
+              0.26718556164343255,
+              -0.34891924759936166
+            ],
+            "rod_tip_z": 0.9233019365606349,
+            "rod_tip_depth": -0.022042094362065945,
+            "rod_tip_bottom_clearance": 0.12148262984747704,
+            "rod_tip_xy_dist": 0.002145598181016083,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04467039642525872,
+            "min_rod_tip_bottom_clearance": 0.05477021918282576,
+            "min_rod_tip_xy_dist": 0.0007814233786379067,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26718556055519926,
+              -0.34891921748138255
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.088233281265616e-09,
+              -3.0117979110677595e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0013592954098370358,
+                0.0025019626920956828
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014880934899446085,
+                0.0021120201299468233
+              ],
+              "first_target_mouth_xy": [
+                0.2671855930447786,
+                -0.3489193087948331
+              ],
+              "last_target_mouth_xy": [
+                0.2671855670906824,
+                -0.3489193081009424
+              ],
+              "first_rod_tip_xy": [
+                0.2658262976349416,
+                -0.34641734610273744
+              ],
+              "last_rod_tip_xy": [
+                0.2656974736007378,
+                -0.3468072879709956
+              ],
+              "min_rod_tip_xy_dist": 0.00256387761777319,
+              "max_rod_tip_xy_dist": 0.002847367437448618,
+              "first_target_xy_drift": 9.692120007297236e-08,
+              "last_target_xy_drift": 9.085492374418453e-08,
+              "max_depth": 0.019336858763539966,
+              "min_bottom_clearance": 0.08010388789494305
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0013592954098370358,
+                  0.0025019626920956828
+                ],
+                "rod_tip_xy": [
+                  0.2658262976349416,
+                  -0.34641734610273744
+                ],
+                "target_mouth_xy": [
+                  0.2671855930447786,
+                  -0.3489193087948331
+                ],
+                "gripper_position": [
+                  0.2658256507593777,
+                  -0.3464851429704507,
+                  1.0057407581087654
+                ],
+                "rod_tip_xy_dist": 0.002847367437448618,
+                "target_xy_drift": 9.692120007297236e-08,
+                "depth": 0.015002361517923335,
+                "bottom_clearance": 0.0844382557270611,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0013599434118175546,
+                  0.002434164533918981
+                ],
+                "rod_tip_xy": [
+                  0.2658256507593777,
+                  -0.34648514297045063
+                ],
+                "target_mouth_xy": [
+                  0.26718559417119525,
+                  -0.3489193075043696
+                ],
+                "gripper_position": [
+                  0.2658143798493853,
+                  -0.3464922596091544,
+                  1.005604153114308
+                ],
+                "rod_tip_xy_dist": 0.0027882975202684133,
+                "target_xy_drift": 9.60946064369046e-08,
+                "depth": 0.015519154364960652,
+                "bottom_clearance": 0.08392146356748054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0013712122860657372,
+                  0.0024270476155447973
+                ],
+                "rod_tip_xy": [
+                  0.2658143798493853,
+                  -0.34649225960915453
+                ],
+                "target_mouth_xy": [
+                  0.267185592135451,
+                  -0.3489193072246993
+                ],
+                "gripper_position": [
+                  0.26580618269062706,
+                  -0.3464929448974957,
+                  1.005484195106476
+                ],
+                "rod_tip_xy_dist": 0.002787612466175905,
+                "target_xy_drift": 9.51376645009951e-08,
+                "depth": 0.015655677249311162,
+                "bottom_clearance": 0.08378485007714465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0013794138774378961,
+                  0.0024263321004178717
+                ],
+                "rod_tip_xy": [
+                  0.26580618269062706,
+                  -0.3464929448974957
+                ],
+                "target_mouth_xy": [
+                  0.26718559656806495,
+                  -0.3489192769979136
+                ],
+                "gripper_position": [
+                  0.2658064478046047,
+                  -0.3465618821150608,
+                  1.0049669095219687
+                ],
+                "rod_tip_xy_dist": 0.0027910338777568525,
+                "target_xy_drift": 6.956395590990644e-08,
+                "depth": 0.01577572572641972,
+                "bottom_clearance": 0.083664963498145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0013790852395720865,
+                  0.002357393689094489
+                ],
+                "rod_tip_xy": [
+                  0.2658064478046047,
+                  -0.3465618821150608
+                ],
+                "target_mouth_xy": [
+                  0.2671855330441768,
+                  -0.34891927580415527
+                ],
+                "gripper_position": [
+                  0.2657951033472914,
+                  -0.3465686417091248,
+                  1.0048301629303509
+                ],
+                "rod_tip_xy_dist": 0.002731150142959578,
+                "target_xy_drift": 6.448567418299216e-08,
+                "depth": 0.016292917674187946,
+                "bottom_clearance": 0.08314761626949108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0013904921839918982,
+                  0.0023506644856535752
+                ],
+                "rod_tip_xy": [
+                  0.2657951033472914,
+                  -0.3465686417091248
+                ],
+                "target_mouth_xy": [
+                  0.2671855955312833,
+                  -0.3489193061947784
+                ],
+                "gripper_position": [
+                  0.2657867138751655,
+                  -0.3465694820063694,
+                  1.0047102007326025
+                ],
+                "rod_tip_xy_dist": 0.002731133837411771,
+                "target_xy_drift": 9.53592840657201e-08,
+                "depth": 0.0164297979308764,
+                "bottom_clearance": 0.08301082931832904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0013988198640030314,
+                  0.002349824540668899
+                ],
+                "rod_tip_xy": [
+                  0.2657867138751655,
+                  -0.3465694820063694
+                ],
+                "target_mouth_xy": [
+                  0.26718553373916853,
+                  -0.3489193065470383
+                ],
+                "gripper_position": [
+                  0.2657877387976042,
+                  -0.346639656694475,
+                  1.004194133313338
+                ],
+                "rod_tip_xy_dist": 0.0027346612923466883,
+                "target_xy_drift": 9.301500167384097e-08,
+                "depth": 0.01654968779805055,
+                "bottom_clearance": 0.08289086444355476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0013978258345453964,
+                  0.0022796507783703346
+                ],
+                "rod_tip_xy": [
+                  0.2657877387976042,
+                  -0.34663965669447494
+                ],
+                "target_mouth_xy": [
+                  0.2671855646321496,
+                  -0.3489193074728453
+                ],
+                "gripper_position": [
+                  0.2657763658490273,
+                  -0.34664629531068003,
+                  1.0040576136822954
+                ],
+                "rod_tip_xy_dist": 0.0026740839057604396,
+                "target_xy_drift": 9.008376594930007e-08,
+                "depth": 0.01706578088295385,
+                "bottom_clearance": 0.08237484644961734,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014091675334242382,
+                  0.0022730112409874437
+                ],
+                "rod_tip_xy": [
+                  0.2657763658490273,
+                  -0.34664629531068003
+                ],
+                "target_mouth_xy": [
+                  0.26718553338245155,
+                  -0.3489193065516675
+                ],
+                "gripper_position": [
+                  0.26576788144027835,
+                  -0.34664699789470377,
+                  1.0039375458143625
+                ],
+                "rod_tip_xy_dist": 0.0026743846467761944,
+                "target_xy_drift": 9.312289662202569e-08,
+                "depth": 0.017202212240866155,
+                "bottom_clearance": 0.08223832595938285,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001417715636497563,
+                  0.0022723377687902113
+                ],
+                "rod_tip_xy": [
+                  0.26576788144027835,
+                  -0.34664699789470377
+                ],
+                "target_mouth_xy": [
+                  0.2671855970767759,
+                  -0.348919335663494
+                ],
+                "gripper_position": [
+                  0.2657696853655382,
+                  -0.3467179545759859,
+                  1.0034243202934092
+                ],
+                "rod_tip_xy_dist": 0.002678327194619837,
+                "target_xy_drift": 1.23696552188371e-07,
+                "depth": 0.0173224282553629,
+                "bottom_clearance": 0.08211826049631454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014158473086370305,
+                  0.0022013526095663316
+                ],
+                "rod_tip_xy": [
+                  0.2657696853655382,
+                  -0.346717954575986
+                ],
+                "target_mouth_xy": [
+                  0.2671855326741752,
+                  -0.3489193071855523
+                ],
+                "gripper_position": [
+                  0.2657580603495553,
+                  -0.34672466140576275,
+                  1.0032875177955343
+                ],
+                "rod_tip_xy_dist": 0.0026173606769070287,
+                "target_xy_drift": 9.393715757858419e-08,
+                "depth": 0.01783551062348554,
+                "bottom_clearance": 0.08160502107124135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0014275660966970305,
+                  0.0021946450798637773
+                ],
+                "rod_tip_xy": [
+                  0.2657580603495553,
+                  -0.34672466140576275
+                ],
+                "target_mouth_xy": [
+                  0.2671856264462523,
+                  -0.3489193064856265
+                ],
+                "gripper_position": [
+                  0.26574946410126865,
+                  -0.3467253722724451,
+                  1.0031683698722056
+                ],
+                "rod_tip_xy_dist": 0.0026180931967768224,
+                "target_xy_drift": 1.1074017481778252e-07,
+                "depth": 0.017972457778814954,
+                "bottom_clearance": 0.08146822369844364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0014360990670158058,
+                  0.002193935235117017
+                ],
+                "rod_tip_xy": [
+                  0.26574946410126865,
+                  -0.34672537227244504
+                ],
+                "target_mouth_xy": [
+                  0.26718556316828446,
+                  -0.34891930750756206
+                ],
+                "gripper_position": [
+                  0.265740795796806,
+                  -0.3467260062944759,
+                  1.0030487386229126
+                ],
+                "rod_tip_xy_dist": 0.002622161769641917,
+                "target_xy_drift": 9.006409501903507e-08,
+                "depth": 0.01809147267419342,
+                "bottom_clearance": 0.08134909757818076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014447704854783083,
+                  0.0021932700875753053
+                ],
+                "rod_tip_xy": [
+                  0.265740795796806,
+                  -0.3467260062944759
+                ],
+                "target_mouth_xy": [
+                  0.2671855662822843,
+                  -0.3489192763820512
+                ],
+                "gripper_position": [
+                  0.2657437587487662,
+                  -0.3467992239432236,
+                  1.0025371319175442
+                ],
+                "rod_tip_xy_dist": 0.0026263654415868737,
+                "target_xy_drift": 5.917844433046511e-08,
+                "depth": 0.018211226835900818,
+                "bottom_clearance": 0.08122942207599493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014417746223555072,
+                  0.0021200835778926175
+                ],
+                "rod_tip_xy": [
+                  0.2657437587487662,
+                  -0.3467992239432236
+                ],
+                "target_mouth_xy": [
+                  0.2671855333711217,
+                  -0.3489193075211162
+                ],
+                "gripper_position": [
+                  0.26573214844564774,
+                  -0.34680572269619003,
+                  1.00240101456695
+                ],
+                "rod_tip_xy_dist": 0.00256387761777319,
+                "target_xy_drift": 9.40538553761733e-08,
+                "depth": 0.01872271091118005,
+                "bottom_clearance": 0.08071786001034442,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014534158056513924,
+                  0.002113584503975141
+                ],
+                "rod_tip_xy": [
+                  0.26573214844564774,
+                  -0.34680572269619003
+                ],
+                "target_mouth_xy": [
+                  0.26718556425129913,
+                  -0.3489193072001652
+                ],
+                "gripper_position": [
+                  0.26572342639451957,
+                  -0.3468060825325705,
+                  1.0022816236448147
+                ],
+                "rod_tip_xy_dist": 0.0025650842012614576,
+                "target_xy_drift": 8.979488354044366e-08,
+                "depth": 0.018858891555234902,
+                "bottom_clearance": 0.08058171128881353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0014621055702722652,
+                  0.002113223459590974
+                ],
+                "rod_tip_xy": [
+                  0.2657234263945195,
+                  -0.3468060825325705
+                ],
+                "target_mouth_xy": [
+                  0.2671855319647918,
+                  -0.3489193059921615
+                ],
+                "gripper_position": [
+                  0.26571482948673875,
+                  -0.3468062132822997,
+                  1.0021619356858622
+                ],
+                "rod_tip_xy_dist": 0.002569721013804189,
+                "target_xy_drift": 9.301381288128727e-08,
+                "depth": 0.018978200313609195,
+                "bottom_clearance": 0.08046230251970798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001470798246333005,
+                  0.002113095728622838
+                ],
+                "rod_tip_xy": [
+                  0.26571482948673875,
+                  -0.34680621328229966
+                ],
+                "target_mouth_xy": [
+                  0.26718562773307175,
+                  -0.3489193090109225
+                ],
+                "gripper_position": [
+                  0.2657060533433309,
+                  -0.3468069479435219,
+                  1.0020424608416147
+                ],
+                "rod_tip_xy_dist": 0.002574572010983636,
+                "target_xy_drift": 1.135364401187653e-07,
+                "depth": 0.01909803568377033,
+                "bottom_clearance": 0.08034278339296097,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.001479463341125531,
+                  0.0021123593100420557
+                ],
+                "rod_tip_xy": [
+                  0.2657060533433309,
+                  -0.34680694794352185
+                ],
+                "target_mouth_xy": [
+                  0.26718551668445645,
+                  -0.3489193072535639
+                ],
+                "gripper_position": [
+                  0.2656974736007378,
+                  -0.34680728797099564,
+                  1.0019230876881489
+                ],
+                "rod_tip_xy_dist": 0.0025789287761502195,
+                "target_xy_drift": 9.991839980977e-08,
+                "depth": 0.019217389912096094,
+                "bottom_clearance": 0.08022315688843673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0014880934899446085,
+                  0.0021120201299468233
+                ],
+                "rod_tip_xy": [
+                  0.2656974736007378,
+                  -0.3468072879709956
+                ],
+                "target_mouth_xy": [
+                  0.2671855670906824,
+                  -0.3489193081009424
+                ],
+                "gripper_position": [
+                  0.2657029999993127,
+                  -0.34688461571745155,
+                  1.001415973106493
+                ],
+                "rod_tip_xy_dist": 0.0025836120575883914,
+                "target_xy_drift": 9.085492374418453e-08,
+                "depth": 0.019336858763539966,
+                "bottom_clearance": 0.08010388789494305,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005991732500652342,
+              "rod_tip_xy_max_step": 3.2510755297038446e-05,
+              "rod_tip_xy_range": 0.0005991630494190142,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26515203298501466,
+            -0.34823488457451834,
+            1.0433019365606349
+          ],
+          "object_origin_world": [
+            0.26515203298501466,
+            -0.34823488457451834,
+            1.0433019365606349
+          ],
+          "frame_world": [
+            0.265177512161573,
+            -0.3482320562700958,
+            1.0436161688970365
+          ],
+          "center_minus_frame": [
+            -2.547917655831844e-05,
+            -2.8283044225529963e-06,
+            -0.00031423233640159864
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2670015999766142,
+              0.1602920652027996,
+              0.8311074574125811
+            ],
+            "target_position": [
+              0.28307502478937835,
+              0.2067808073006524,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04918900412746993,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1670256469761971,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311074574125811,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670220240144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13763761963228188,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 323,
+            "max_placed_release_frames": 323
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2152146268081986,
+              0.022620267921253566,
+              1.0436663285666754
+            ],
+            "current_z": 1.0436663285666754,
+            "required_z": 0.8565861497806969,
+            "initial_z": 0.7565861497806969,
+            "lift_margin": 0.1870801787859785,
+            "gripper_z": 1.0483434127563838,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2102761906714272,
+              0.017889082529573733,
+              1.0483434127563838
+            ],
+            "object_minus_gripper": [
+              0.004938436136771418,
+              0.004731185391679833,
+              -0.004677084189708358
+            ],
+            "object_to_gripper_xy": 0.006839025273196062,
+            "object_to_gripper_z": -0.004677084189708358,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2152146268081986,
+              -0.0017444384934513586,
+              1.0436663285666754
+            ],
+            "finger_b": [
+              0.20368078495492298,
+              0.022620267921253566,
+              1.0436663285666754
+            ],
+            "finger_midpoint": [
+              0.2094477058815608,
+              0.010437914713901104,
+              1.0436663285666754
+            ],
+            "object_minus_finger_midpoint": [
+              0.005766920926637803,
+              0.012182353207352462,
+              0.0
+            ],
+            "finger_gap": 0.02695678813529416,
+            "fingertip_max_gap": 0.09084730411463446,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013478394067647073,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0436663285666754,
+            "object_top_z": 1.0892414436320679,
+            "finger_top_clearance": 0.04557511506539247,
+            "fingertip_min_top_clearance": 0.013672534519617774,
+            "object_projection_between_fingers": 0.8169323132366064,
+            "object_to_finger_line_xy": 0.010424783144723504,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792365205731723,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2571311896591161,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21452580161155738,
+              0.02106497308358099,
+              1.240960915586031
+            ],
+            "held_position": [
+              0.21978910137910218,
+              0.025384498469789265,
+              1.2362416261151448
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008284462391438152,
+            "max_held_gripper_dist": 0.008286223583772729,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00471928947088629,
+            "max_held_gripper_z_dist": 0.00471928947088629,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08592639762893241,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21978910137910218,
+              -0.000186030073174252,
+              1.2362416261151448
+            ],
+            "held_grasp_finger_b": [
+              0.21037326961596303,
+              0.025384498469789265,
+              1.2362416261151448
+            ],
+            "held_grasp_midpoint": [
+              0.2150811854975326,
+              0.012599234198307507,
+              1.2362416261151448
+            ],
+            "held_grasp_object_position": [
+              0.21978910137910218,
+              0.025384498469789265,
+              1.2362416261151448
+            ],
+            "held_grasp_finger_gap": 0.027249033336216755,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024712275585053737,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08200210614673839,
+              -0.9966314766601602,
+              -0.001163751557502035
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003643673057255564,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03207196913758314,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1803518680399818,
+              0.014152304622280565,
+              0.756588577441424
+            ],
+            "target_position": [
+              0.19042569023363115,
+              0.019205022427472365,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.011269953451907623,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2110600130439925,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756588577441424,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568498418523752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08891456489083534,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1812608692216289,
+            "release_required_pad_clearance": 0.05445728244541767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.935434380896416,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d8bd459e57d0a52a7e1e9f98ed58af26121a832459f946d74acc9a3e160bb29e",
+    "visual_seed": 5270403941124643626,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..12c7b92f6ecb916b7145fd5ef4980c1292720b69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_42_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2173010775851237,
+              -0.13274702413155381,
+              1.164595549392132
+            ],
+            "current_z": 1.164595549392132,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3034891009820109,
+            "gripper_z": 1.1580912460660868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21280535887427512,
+              -0.13710026661489605,
+              1.1580912460660868
+            ],
+            "object_minus_gripper": [
+              0.004495718710848584,
+              0.0043532424833422345,
+              0.006504303326045235
+            ],
+            "object_to_gripper_xy": 0.006257971464128749,
+            "object_to_gripper_z": 0.006504303326045235,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2173010775851237,
+              -0.15663795535733488,
+              1.164595549392132
+            ],
+            "finger_b": [
+              0.2075115372877562,
+              -0.13274702413155381,
+              1.164595549392132
+            ],
+            "finger_midpoint": [
+              0.21240630743643996,
+              -0.14469248974444435,
+              1.164595549392132
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048947701486837525,
+              0.011945465612890532,
+              0.0
+            ],
+            "finger_gap": 0.025818824412989508,
+            "fingertip_max_gap": 0.09285617488433343,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012909412206494754,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164595549392132,
+            "object_top_z": 1.214973329994248,
+            "finger_top_clearance": 0.05037778060211595,
+            "fingertip_min_top_clearance": 0.015113334180634784,
+            "object_projection_between_fingers": 0.8562354964869643,
+            "object_to_finger_line_xy": 0.009058554728725503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048928087442166715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7386682570823253,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2705825312044612,
+              -0.3543329613935312,
+              0.8515395970492402
+            ],
+            "target_position": [
+              0.2645743412569599,
+              -0.35391254546666734,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00602288103791005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18334774393872835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395970492402,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551226283964384,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08774905087739039,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15123677088000723,
+            "release_required_pad_clearance": 0.0538745254386952,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7585507281609702,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007613182067871094,
+            "max_z_decrease": 0.007613182067871094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516055801475429,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007613182067871094,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107499341481145,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007613182067871094,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00761320244719317,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12027426809072493,
+              -0.410174012184143,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12027426809072493,
+              -0.410174012184143,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11835243346758054,
+              -0.4083953030370354,
+              0.8076401550297146
+            ],
+            "closest_button": [
+              0.12026432901620863,
+              -0.4101702272891998,
+              0.7725765109062195
+            ],
+            "closest_ee_minus_button": [
+              -0.001911895548628098,
+              0.001774924252164356,
+              0.03506364412349516
+            ],
+            "button_min_z_position": [
+              0.12025696039199828,
+              -0.41017073392868036,
+              0.7691956758499146
+            ],
+            "min_active_finger_to_button": 0.1471265972454358,
+            "closest_active_finger": [
+              -0.008659325540065765,
+              -0.47212034463882446,
+              0.8109696507453918
+            ],
+            "closest_active_finger_button": [
+              0.1202745735645294,
+              -0.4101745188236236,
+              0.7765458226203918
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12893389910459518,
+              -0.06194582581520086,
+              0.034423828125
+            ],
+            "min_contact_pad_to_button": 0.02107499341481145,
+            "closest_contact_pad": [
+              0.12025696039199828,
+              -0.41017073392868036,
+              0.790270669264726
+            ],
+            "closest_contact_pad_button": [
+              0.12025696039199828,
+              -0.41017073392868036,
+              0.7691956758499146
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107499341481145
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2819461652806372,
+              0.20186021619883782,
+              1.1008686347823544
+            ],
+            "current_z": 1.1008686347823544,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19095950504799186,
+            "gripper_z": 1.1008685921992956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2819461205600272,
+              0.20186023112066082,
+              1.1008685921992956
+            ],
+            "object_minus_gripper": [
+              4.472060999294314e-08,
+              -1.4921822999447443e-08,
+              4.2583058856848766e-08
+            ],
+            "object_to_gripper_xy": 4.7144392665170316e-08,
+            "object_to_gripper_z": 4.2583058856848766e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2819461652806372,
+              0.20186021619883782,
+              1.1008686347823544
+            ],
+            "finger_b": [
+              0.2819461652806372,
+              0.20186021619883782,
+              1.1008686347823544
+            ],
+            "finger_midpoint": [
+              0.2819461652806372,
+              0.20186021619883782,
+              1.1008686347823544
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1008686347823544,
+            "object_top_z": 1.2258771414026342,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2819461652806372,
+            0.20186021619883782,
+            1.1008686347823546
+          ],
+          "object_origin_world": [
+            0.2819461652806372,
+            0.20186021619883782,
+            1.1008686347823546
+          ],
+          "frame_world": [
+            0.2819461205600272,
+            0.20186023112066082,
+            1.1008685921992956
+          ],
+          "center_minus_frame": [
+            4.472060999294314e-08,
+            -1.4921822999447443e-08,
+            4.258305907889337e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432134208527954,
+            "required_z": 0.9112599045669058,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008524207564731092,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.101066311204687e-07,
+            "max_target_xy_drift": 1.1693889956633871e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.7582669578694907,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.7585507295112484,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27119931752600246,
+              -0.3537375534106604,
+              0.92332558065465
+            ],
+            "target_mouth_xy": [
+              0.27058250208625956,
+              -0.3543329964290054
+            ],
+            "rod_tip_z": 0.92332558065465,
+            "rod_tip_depth": -0.022065710465250188,
+            "rod_tip_bottom_clearance": 0.12150628872826474,
+            "rod_tip_xy_dist": 0.000857329385242952,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04444200577132906,
+            "min_rod_tip_bottom_clearance": 0.0549985792406964,
+            "min_rod_tip_xy_dist": 0.0005777556998372432,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2705825944650455,
+              -0.35433305634252743
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.237878595413918e-08,
+              5.991352203249534e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.001160376997462076,
+                0.002242911422795091
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010679410259095135,
+                0.001865355613236086
+              ],
+              "first_target_mouth_xy": [
+                0.2705825943113037,
+                -0.354333056350141
+              ],
+              "last_target_mouth_xy": [
+                0.27058255906536866,
+                -0.35433305649140223
+              ],
+              "first_rod_tip_xy": [
+                0.2717429713087658,
+                -0.3520901449273459
+              ],
+              "last_rod_tip_xy": [
+                0.27165050009127817,
+                -0.35246770087816615
+              ],
+              "min_rod_tip_xy_dist": 0.0021494300636801466,
+              "max_rod_tip_xy_dist": 0.0025252972947246827,
+              "first_target_xy_drift": 1.5393020078188523e-10,
+              "last_target_xy_drift": 3.5399989904682e-08,
+              "max_depth": 0.019682080392464663,
+              "min_bottom_clearance": 0.07975858782600875
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001160376997462076,
+                  0.002242911422795091
+                ],
+                "rod_tip_xy": [
+                  0.2717429713087658,
+                  -0.3520901449273459
+                ],
+                "target_mouth_xy": [
+                  0.2705825943113037,
+                  -0.354333056350141
+                ],
+                "gripper_position": [
+                  0.27173183862987127,
+                  -0.3520973809969889,
+                  1.0058443959966226
+                ],
+                "rod_tip_xy_dist": 0.0025252972947246827,
+                "target_xy_drift": 1.5393020078188523e-10,
+                "depth": 0.015274280366562198,
+                "bottom_clearance": 0.0841663080591264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011492442045372697,
+                  0.0022356753455300415
+                ],
+                "rod_tip_xy": [
+                  0.2717318386298712,
+                  -0.35209738099698884
+                ],
+                "target_mouth_xy": [
+                  0.27058259442533394,
+                  -0.3543330563425189
+                ],
+                "gripper_position": [
+                  0.2717236004951762,
+                  -0.352098641619953,
+                  1.0057205013293746
+                ],
+                "rod_tip_xy_dist": 0.002513763412151862,
+                "target_xy_drift": 3.971156828795928e-11,
+                "depth": 0.01541544868354483,
+                "bottom_clearance": 0.08402514421547924,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011410383381452172,
+                  0.002234414782356864
+                ],
+                "rod_tip_xy": [
+                  0.27172360049517613,
+                  -0.3520986416199531
+                ],
+                "target_mouth_xy": [
+                  0.2705825621570309,
+                  -0.35433305640230994
+                ],
+                "gripper_position": [
+                  0.27172957083852933,
+                  -0.35216257057906386,
+                  1.0051987573379209
+                ],
+                "rod_tip_xy_dist": 0.0025088997406696165,
+                "target_xy_drift": 3.230806990748407e-08,
+                "depth": 0.015539288615719293,
+                "bottom_clearance": 0.0839012584587131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011469778979534273,
+                  0.002170455360546608
+                ],
+                "rod_tip_xy": [
+                  0.2717295708385293,
+                  -0.35216257057906386
+                ],
+                "target_mouth_xy": [
+                  0.27058259294057585,
+                  -0.35433302593961047
+                ],
+                "gripper_position": [
+                  0.2717183703916787,
+                  -0.3521696192677076,
+                  1.0050572839208702
+                ],
+                "rod_tip_xy_dist": 0.002454879787386578,
+                "target_xy_drift": 3.044111311258884e-08,
+                "depth": 0.01606108773735271,
+                "bottom_clearance": 0.08337947318731287,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011357772855951631,
+                  0.002163470746953111
+                ],
+                "rod_tip_xy": [
+                  0.2717183703916786,
+                  -0.3521696192677076
+                ],
+                "target_mouth_xy": [
+                  0.27058259310608346,
+                  -0.35433309001466073
+                ],
+                "gripper_position": [
+                  0.2717101518739773,
+                  -0.35217066512398737,
+                  1.004933804040095
+                ],
+                "rod_tip_xy_dist": 0.0024434802465736795,
+                "target_xy_drift": 3.3699545087383963e-08,
+                "depth": 0.016202577891597403,
+                "bottom_clearance": 0.08323801538511078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011275624044837507,
+                  0.002162296923795437
+                ],
+                "rod_tip_xy": [
+                  0.2717101518739773,
+                  -0.3521706651239873
+                ],
+                "target_mouth_xy": [
+                  0.27058258946949354,
+                  -0.35433296204778275
+                ],
+                "gripper_position": [
+                  0.2717169839381054,
+                  -0.35223567924802246,
+                  1.0044128144515663
+                ],
+                "rod_tip_xy_dist": 0.0024386317808681958,
+                "target_xy_drift": 9.442697926763959e-08,
+                "depth": 0.01632604223857237,
+                "bottom_clearance": 0.0831145445707776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011344207123231143,
+                  0.002097409791120719
+                ],
+                "rod_tip_xy": [
+                  0.27171698393810534,
+                  -0.35223567924802246
+                ],
+                "target_mouth_xy": [
+                  0.2705825632257822,
+                  -0.3543330890391432
+                ],
+                "gripper_position": [
+                  0.27170555099132787,
+                  -0.3522426773844236,
+                  1.0042712862826986
+                ],
+                "rod_tip_xy_dist": 0.0023845415040289696,
+                "target_xy_drift": 4.522123673806808e-08,
+                "depth": 0.016847089254832692,
+                "bottom_clearance": 0.08259346790321942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011229858716796381,
+                  0.0020903798837649257
+                ],
+                "rod_tip_xy": [
+                  0.2717055509913278,
+                  -0.3522426773844236
+                ],
+                "target_mouth_xy": [
+                  0.2705825651196482,
+                  -0.35433305726818853
+                ],
+                "gripper_position": [
+                  0.271697048646135,
+                  -0.3522437717065362,
+                  1.0041476768410547
+                ],
+                "rod_tip_xy_dist": 0.002372927585587293,
+                "target_xy_drift": 2.935999307201639e-08,
+                "depth": 0.016988604663301543,
+                "bottom_clearance": 0.0824519717316935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011144863383428238,
+                  0.0020893154674375136
+                ],
+                "rod_tip_xy": [
+                  0.2716970486461349,
+                  -0.3522437717065362
+                ],
+                "target_mouth_xy": [
+                  0.2705825623077921,
+                  -0.3543330871739737
+                ],
+                "gripper_position": [
+                  0.27170459271446745,
+                  -0.35230989143502495,
+                  1.0036294398126824
+                ],
+                "rod_tip_xy_dist": 0.002367977812570555,
+                "target_xy_drift": 4.454960187541205e-08,
+                "depth": 0.017112152115837165,
+                "bottom_clearance": 0.08232835611483857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011220041928814983,
+                  0.002023099160633035
+                ],
+                "rod_tip_xy": [
+                  0.2717045927144674,
+                  -0.3523098914350249
+                ],
+                "target_mouth_xy": [
+                  0.2705825885215859,
+                  -0.3543329905956579
+                ],
+                "gripper_position": [
+                  0.2716931147225359,
+                  -0.3523167972271782,
+                  1.0034884013986582
+                ],
+                "rod_tip_xy_dist": 0.002313400878057617,
+                "target_xy_drift": 6.601496468060143e-08,
+                "depth": 0.017630422594333006,
+                "bottom_clearance": 0.08181017649857603,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011105220572779628,
+                  0.002016292797345831
+                ],
+                "rod_tip_xy": [
+                  0.2716931147225358,
+                  -0.35231679722717824
+                ],
+                "target_mouth_xy": [
+                  0.27058259266525786,
+                  -0.35433309002452407
+                ],
+                "gripper_position": [
+                  0.27168454509874174,
+                  -0.3523174695882558,
+                  1.0033649579867197
+                ],
+                "rod_tip_xy_dist": 0.0023018896333946064,
+                "target_xy_drift": 3.3730047924601144e-08,
+                "depth": 0.017771460120259097,
+                "bottom_clearance": 0.08166912263754378,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011019857848590942,
+                  0.0020155209899419546
+                ],
+                "rod_tip_xy": [
+                  0.27168454509874174,
+                  -0.3523174695882558
+                ],
+                "target_mouth_xy": [
+                  0.27058255931388264,
+                  -0.3543329905781978
+                ],
+                "gripper_position": [
+                  0.27167592673847185,
+                  -0.35231832431229665,
+                  1.0032410540597076
+                ],
+                "rod_tip_xy_dist": 0.0022971063386199846,
+                "target_xy_drift": 7.456910422691968e-08,
+                "depth": 0.01789490896341739,
+                "bottom_clearance": 0.08154571261706989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001093364793972318,
+                  0.0020147638239741417
+                ],
+                "rod_tip_xy": [
+                  0.2716759267384718,
+                  -0.3523183243122967
+                ],
+                "target_mouth_xy": [
+                  0.2705825619444995,
+                  -0.35433308813627085
+                ],
+                "gripper_position": [
+                  0.27168510834705256,
+                  -0.3523860988133619,
+                  1.00272527654043
+                ],
+                "rod_tip_xy_dist": 0.002292317569424672,
+                "target_xy_drift": 4.5479973996572514e-08,
+                "depth": 0.018018857809237843,
+                "bottom_clearance": 0.08142168781671322,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001102519523136336,
+                  0.0019468930256648642
+                ],
+                "rod_tip_xy": [
+                  0.2716851083470525,
+                  -0.3523860988133619
+                ],
+                "target_mouth_xy": [
+                  0.27058258882391617,
+                  -0.3543329918390268
+                ],
+                "gripper_position": [
+                  0.27167357339077225,
+                  -0.35239312298800335,
+                  1.0025843751435186
+                ],
+                "rod_tip_xy_dist": 0.0022373961992189187,
+                "target_xy_drift": 6.474970221241699e-08,
+                "depth": 0.018534565352806842,
+                "bottom_clearance": 0.08090599816841348,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010910115214097238,
+                  0.001939935965992623
+                ],
+                "rod_tip_xy": [
+                  0.2716735733907722,
+                  -0.3523931229880033
+                ],
+                "target_mouth_xy": [
+                  0.27058256186936247,
+                  -0.3543330589539959
+                ],
+                "gripper_position": [
+                  0.2716647607563809,
+                  -0.3523939015872043,
+                  1.0024606573518222
+                ],
+                "rod_tip_xy_dist": 0.0022256813994820756,
+                "target_xy_drift": 3.270012722606415e-08,
+                "depth": 0.018675550919276196,
+                "bottom_clearance": 0.08076502073106218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010821962656744621,
+                  0.001939155719134722
+                ],
+                "rod_tip_xy": [
+                  0.27166476075638085,
+                  -0.3523939015872043
+                ],
+                "target_mouth_xy": [
+                  0.2705825644907064,
+                  -0.354333057306339
+                ],
+                "gripper_position": [
+                  0.2716561332664307,
+                  -0.3523946278788649,
+                  1.002337279864398
+                ],
+                "rod_tip_xy_dist": 0.002220692157975223,
+                "target_xy_drift": 2.998983058583833e-08,
+                "depth": 0.018799228428630355,
+                "bottom_clearance": 0.08064132343894836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010735389817919105,
+                  0.0019384291117905406
+                ],
+                "rod_tip_xy": [
+                  0.2716561332664306,
+                  -0.3523946278788649
+                ],
+                "target_mouth_xy": [
+                  0.2705825942846387,
+                  -0.3543330569906554
+                ],
+                "gripper_position": [
+                  0.27164749056996956,
+                  -0.35239546017921236,
+                  1.0022137115136058
+                ],
+                "rod_tip_xy_dist": 0.0022158504838693145,
+                "target_xy_drift": 6.727677998674141e-10,
+                "depth": 0.018922552004385085,
+                "bottom_clearance": 0.08051801140261372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0010649593159511306,
+                  0.0019375952824312037
+                ],
+                "rod_tip_xy": [
+                  0.27164749056996956,
+                  -0.3523954601792123
+                ],
+                "target_mouth_xy": [
+                  0.27058253125401843,
+                  -0.3543330554616435
+                ],
+                "gripper_position": [
+                  0.27163858883374853,
+                  -0.35239615971549976,
+                  1.002090394691417
+                ],
+                "rod_tip_xy_dist": 0.0022109757626737466,
+                "target_xy_drift": 6.321716460662987e-08,
+                "depth": 0.019046187923098423,
+                "bottom_clearance": 0.08039443517353051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0010559959804949948,
+                  0.0019368988898916806
+                ],
+                "rod_tip_xy": [
+                  0.2716385888337485,
+                  -0.35239615971549976
+                ],
+                "target_mouth_xy": [
+                  0.2705825928532535,
+                  -0.35433305860539144
+                ],
+                "gripper_position": [
+                  0.27165050009127817,
+                  -0.35246770087816615,
+                  1.0015779241718898
+                ],
+                "rod_tip_xy_dist": 0.0022060609285523393,
+                "target_xy_drift": 2.7782057291837562e-09,
+                "depth": 0.019169436848319843,
+                "bottom_clearance": 0.08027109193519089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0010679410259095135,
+                  0.001865355613236086
+                ],
+                "rod_tip_xy": [
+                  0.27165050009127817,
+                  -0.35246770087816615
+                ],
+                "target_mouth_xy": [
+                  0.27058255906536866,
+                  -0.35433305649140223
+                ],
+                "gripper_position": [
+                  0.2716388380432212,
+                  -0.3524747404330466,
+                  1.0014374127234105
+                ],
+                "rod_tip_xy_dist": 0.0021494300636801466,
+                "target_xy_drift": 3.5399989904682e-08,
+                "depth": 0.019682080392464663,
+                "bottom_clearance": 0.07975858782600875,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005963353598939029,
+              "rod_tip_xy_max_step": 3.219235568931932e-05,
+              "rod_tip_xy_range": 0.0005963288738960888,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27119931752600246,
+            -0.3537375534106604,
+            1.0433255806546502
+          ],
+          "object_origin_world": [
+            0.27119931752600246,
+            -0.3537375534106604,
+            1.0433255806546502
+          ],
+          "frame_world": [
+            0.27119774196264984,
+            -0.3537429955471709,
+            1.0432134208527954
+          ],
+          "center_minus_frame": [
+            1.5755633526182145e-06,
+            5.4421365105472574e-06,
+            0.00011215980185474983
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2695559600279381,
+              0.15574140024371938,
+              0.832670473943798
+            ],
+            "target_position": [
+              0.2821113200801378,
+              0.20250349521333721,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0484182877845544,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16825272928876783,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832670473943798,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566699432308,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13730018409424494,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20609154397261756,
+              0.018030778811414218,
+              1.0441218794326135
+            ],
+            "current_z": 1.0441218794326135,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18753549123333746,
+            "gripper_z": 1.0483478866223364,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20147043233509696,
+              0.013432678426946343,
+              1.0483478866223364
+            ],
+            "object_minus_gripper": [
+              0.004621111637520603,
+              0.004598100384467875,
+              -0.00422600718972288
+            ],
+            "object_to_gripper_xy": 0.006518987644724599,
+            "object_to_gripper_z": -0.00422600718972288,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20609154397261756,
+              -0.006020311362655827,
+              1.0441218794326135
+            ],
+            "finger_b": [
+              0.19476356548071586,
+              0.018030778811414218,
+              1.0441218794326135
+            ],
+            "finger_midpoint": [
+              0.2004275547266667,
+              0.006005233724379196,
+              1.0441218794326135
+            ],
+            "object_minus_finger_midpoint": [
+              0.005663989245950851,
+              0.012025545087035022,
+              0.0
+            ],
+            "finger_gap": 0.026585297351623436,
+            "fingertip_max_gap": 0.09107785876621868,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013292648675811718,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0441218794326135,
+            "object_top_z": 1.089644754699482,
+            "finger_top_clearance": 0.0455228752668686,
+            "fingertip_min_top_clearance": 0.013656862580060563,
+            "object_projection_between_fingers": 0.8184393256318485,
+            "object_to_finger_line_xy": 0.010248154406368394,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048038929383109344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.43510757170854264,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20487001398797877,
+              0.01611308414457291,
+              1.2419212165649902
+            ],
+            "held_position": [
+              0.2098544448506522,
+              0.020287585355261414,
+              1.23766601132422
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077703142165481244,
+            "max_held_gripper_dist": 0.007771306670169284,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004255205240770277,
+            "max_held_gripper_z_dist": 0.004255883258288851,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857902629125824,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2098544448506522,
+              -0.0051311350657302,
+              1.23766601132422
+            ],
+            "held_grasp_finger_b": [
+              0.20080235989839249,
+              0.020368744335954196,
+              1.23766601132422
+            ],
+            "held_grasp_midpoint": [
+              0.20532840237452232,
+              0.007618804635111998,
+              1.23766601132422
+            ],
+            "held_grasp_object_position": [
+              0.2098544448506522,
+              0.020287585355261414,
+              1.23766601132422
+            ],
+            "held_grasp_finger_gap": 0.027058900411572065,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024594493208010514,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08881967658634746,
+              -0.9960241797937548,
+              -0.00684823461009243
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033840650547873976,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032179811411091094,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.16621958633798586,
+              0.010956176783995875,
+              0.7565867891842712
+            ],
+            "target_position": [
+              0.18299807951858324,
+              0.015602360386440531,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017409906819939567,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20412341369664816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867891842712,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759939512778893,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09089661035703576,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17445134050287991,
+            "release_required_pad_clearance": 0.055448305178517884,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.023886932508486,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 337,
+            "max_placed_release_frames": 337
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84f976c31952cb5fc6f9d762d3acdd6544925de4861e0d96cc719b85a47b43d2",
+    "visual_seed": 2335454819797977698,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0e8e0f9c21ccbd476ecdd476b7502f99b82a09d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_43_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.212318006009207,
+              -0.14097734130987852,
+              1.1666122625007942
+            ],
+            "current_z": 1.1666122625007942,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.3055058140906731,
+            "gripper_z": 1.159777035379598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20829521799522632,
+              -0.14540703516378173,
+              1.159777035379598
+            ],
+            "object_minus_gripper": [
+              0.004022788013980677,
+              0.0044296938539032105,
+              0.006835227121196219
+            ],
+            "object_to_gripper_xy": 0.005983728857889074,
+            "object_to_gripper_z": 0.006835227121196219,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.212318006009207,
+              -0.1642456535117676,
+              1.1666122625007942
+            ],
+            "finger_b": [
+              0.2018310768195793,
+              -0.14097734130987852,
+              1.1666122625007942
+            ],
+            "finger_midpoint": [
+              0.20707454141439313,
+              -0.15261149741082305,
+              1.1666122625007942
+            ],
+            "object_minus_finger_midpoint": [
+              0.005243464594813868,
+              0.011634156100944537,
+              0.0
+            ],
+            "finger_gap": 0.025522343868713267,
+            "fingertip_max_gap": 0.09226571146294019,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012761171934356639,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1666122625007942,
+            "object_top_z": 1.2165895652992815,
+            "finger_top_clearance": 0.04997730279848733,
+            "fingertip_min_top_clearance": 0.014993190839546233,
+            "object_projection_between_fingers": 0.8311676911574258,
+            "object_to_finger_line_xy": 0.009560765409265017,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048632855731470095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.008663889836484,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2706057956242744,
+              -0.3557410438475769,
+              0.8515395402257994
+            ],
+            "target_position": [
+              0.2631291889478557,
+              -0.3564722981416722,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007512281959331762,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18207250656370297,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395402257994,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581169552614557,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716899243807254,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14937284018446237,
+            "release_required_pad_clearance": 0.05358449621903627,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1796841822029127,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007622361183166504,
+            "max_z_decrease": 0.007622361183166504,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035177116722856,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007622361183166504,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021271681101068602,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007622361183166504,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007622384671099922,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11882911622524261,
+              -0.4127337634563445,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11882911622524261,
+              -0.4127337634563445,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12038706665134843,
+              -0.41441964029609146,
+              0.8077055616585886
+            ],
+            "closest_button": [
+              0.11881787329912186,
+              -0.41273117065429676,
+              0.7726040482521057
+            ],
+            "closest_ee_minus_button": [
+              0.0015691933522265777,
+              -0.0016884696417946987,
+              0.03510151340648293
+            ],
+            "button_min_z_position": [
+              0.11881029605865479,
+              -0.41273179650306696,
+              0.7691864967346191
+            ],
+            "min_active_finger_to_button": 0.14447569844295635,
+            "closest_active_finger": [
+              -0.020569831132888794,
+              -0.39670801162719727,
+              0.8111974000930786
+            ],
+            "closest_active_finger_button": [
+              0.11883044242858888,
+              -0.41273185610771174,
+              0.7767876982688904
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13940027356147766,
+              0.01602384448051447,
+              0.03440970182418823
+            ],
+            "min_contact_pad_to_button": 0.021271681101068602,
+            "closest_contact_pad": [
+              0.11881029605865479,
+              -0.4156047408528806,
+              0.7902632756068385
+            ],
+            "closest_contact_pad_button": [
+              0.11881029605865479,
+              -0.41273179650306696,
+              0.7691864967346191
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028729443498136664,
+              0.02107677887221937
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.284397935920074,
+              0.20575281559012218,
+              1.10122260632094
+            ],
+            "current_z": 1.10122260632094,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1913134765865775,
+            "gripper_z": 1.1012225525453838,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2843978762977882,
+              0.20575281560909087,
+              1.1012225525453838
+            ],
+            "object_minus_gripper": [
+              5.962228583067386e-08,
+              -1.8968687731657496e-11,
+              5.377555623020669e-08
+            ],
+            "object_to_gripper_xy": 5.962228884809512e-08,
+            "object_to_gripper_z": 5.377555623020669e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.284397935920074,
+              0.20575281559012218,
+              1.10122260632094
+            ],
+            "finger_b": [
+              0.284397935920074,
+              0.20575281559012218,
+              1.10122260632094
+            ],
+            "finger_midpoint": [
+              0.284397935920074,
+              0.20575281559012218,
+              1.10122260632094
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10122260632094,
+            "object_top_z": 1.2262311129412198,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28439793592007406,
+            0.20575281559012218,
+            1.10122260632094
+          ],
+          "object_origin_world": [
+            0.28439793592007406,
+            0.20575281559012218,
+            1.10122260632094
+          ],
+          "frame_world": [
+            0.2843978762977882,
+            0.20575281560909087,
+            1.1012225525453838
+          ],
+          "center_minus_frame": [
+            5.962228588618501e-08,
+            -1.8968687731657496e-11,
+            5.377555623020669e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043414068807498,
+            "required_z": 0.911259766661284,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008658262978461862,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.676647954918303e-08,
+            "max_target_xy_drift": 1.7557580670753313e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.179684183618351,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.1796841836392575,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27090463457897657,
+              -0.3565485703235138,
+              0.9235264950886389
+            ],
+            "target_mouth_xy": [
+              0.27060588281974357,
+              -0.355740985830971
+            ],
+            "rod_tip_z": 0.9235264950886389,
+            "rod_tip_depth": -0.022266618125774573,
+            "rod_tip_bottom_clearance": 0.12170712123623562,
+            "rod_tip_xy_dist": 0.0008610721957190068,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044823922977712316,
+            "min_rod_tip_bottom_clearance": 0.05461677665394982,
+            "min_rod_tip_xy_dist": 5.269805447398509e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27060585338840915,
+              -0.35574104576059096
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9431334425122913e-08,
+              5.99296199332855e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0008440109404378449,
+                0.0010114340119920517
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007411274081608465,
+                0.0006054693197525274
+              ],
+              "first_target_mouth_xy": [
+                0.2706058817769354,
+                -0.3557410175367285
+              ],
+              "last_target_mouth_xy": [
+                0.2706058533780077,
+                -0.3557410165412713
+              ],
+              "first_rod_tip_xy": [
+                0.27144989271737324,
+                -0.35472958352473644
+              ],
+              "last_rod_tip_xy": [
+                0.27134698078616853,
+                -0.3551355472215188
+              ],
+              "min_rod_tip_xy_dist": 0.0009570072791200714,
+              "max_rod_tip_xy_dist": 0.0013173280639966316,
+              "first_target_xy_drift": 4.0031173295932125e-08,
+              "last_target_xy_drift": 2.9219321481862457e-08,
+              "max_depth": 0.01948927271090861,
+              "min_bottom_clearance": 0.07995127582854189
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0008440109404378449,
+                  0.0010114340119920517
+                ],
+                "rod_tip_xy": [
+                  0.27144989271737324,
+                  -0.35472958352473644
+                ],
+                "target_mouth_xy": [
+                  0.2706058817769354,
+                  -0.3557410175367285
+                ],
+                "gripper_position": [
+                  0.27145408351027245,
+                  -0.3547983268030226,
+                  1.005663943883548
+                ],
+                "rod_tip_xy_dist": 0.0013173280639966316,
+                "target_xy_drift": 4.0031173295932125e-08,
+                "depth": 0.015076536323022416,
+                "bottom_clearance": 0.08436405339803421,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0008482313160046995,
+                  0.0009426561689870883
+                ],
+                "rod_tip_xy": [
+                  0.27145408351027245,
+                  -0.35479832680302265
+                ],
+                "target_mouth_xy": [
+                  0.27060585219426775,
+                  -0.35574098297200973
+                ],
+                "gripper_position": [
+                  0.2714428123319763,
+                  -0.35480612235182435,
+                  1.0055225211126815
+                ],
+                "rod_tip_xy_dist": 0.0012681076525202734,
+                "target_xy_drift": 6.279993555490477e-08,
+                "depth": 0.015595926452212305,
+                "bottom_clearance": 0.08384466652964573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0008369291350479591,
+                  0.0009348932351001538
+                ],
+                "rod_tip_xy": [
+                  0.27144281233197637,
+                  -0.35480612235182446
+                ],
+                "target_mouth_xy": [
+                  0.2706058831969284,
+                  -0.3557410155869246
+                ],
+                "gripper_position": [
+                  0.27143469536077824,
+                  -0.3548070798210541,
+                  1.0053977817684205
+                ],
+                "rod_tip_xy_dist": 0.001254781151487444,
+                "target_xy_drift": 4.241459608802503e-08,
+                "depth": 0.015737298692673485,
+                "bottom_clearance": 0.08370321784433721,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.000828844575752441,
+                  0.0009339361489907883
+                ],
+                "rod_tip_xy": [
+                  0.2714346953607783,
+                  -0.35480707982105414
+                ],
+                "target_mouth_xy": [
+                  0.27060585078502586,
+                  -0.3557410159700449
+                ],
+                "gripper_position": [
+                  0.27143964061723513,
+                  -0.3548773647479986,
+                  1.0048784957239285
+                ],
+                "rod_tip_xy_dist": 0.0012486873352228682,
+                "target_xy_drift": 2.990408395695895e-08,
+                "depth": 0.015862156732193045,
+                "bottom_clearance": 0.08357841890183049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0008337573030011702,
+                  0.000863650226166246
+                ],
+                "rod_tip_xy": [
+                  0.2714396406172352,
+                  -0.3548773647479985
+                ],
+                "target_mouth_xy": [
+                  0.270605883314234,
+                  -0.35574101497416477
+                ],
+                "gripper_position": [
+                  0.2714283657004376,
+                  -0.3548847259904633,
+                  1.004736400119059
+                ],
+                "rod_tip_xy_dist": 0.001200434485286387,
+                "target_xy_drift": 4.293435724087518e-08,
+                "depth": 0.016381328203677548,
+                "bottom_clearance": 0.0830591997441652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0008225162763445537,
+                  0.000856291279590693
+                ],
+                "rod_tip_xy": [
+                  0.2714283657004376,
+                  -0.35488472599046333
+                ],
+                "target_mouth_xy": [
+                  0.27060584942409305,
+                  -0.355741017270054
+                ],
+                "gripper_position": [
+                  0.27141994169423167,
+                  -0.3548861496453331,
+                  1.0046124925136115
+                ],
+                "rod_tip_xy_dist": 0.001187336422567242,
+                "target_xy_drift": 2.8765022104321538e-08,
+                "depth": 0.0165235440307393,
+                "bottom_clearance": 0.08291713035520887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008140880869574874,
+                  0.0008548659728609409
+                ],
+                "rod_tip_xy": [
+                  0.2714199416942317,
+                  -0.3548861496453332
+                ],
+                "target_mouth_xy": [
+                  0.27060585360727424,
+                  -0.35574101561819416
+                ],
+                "gripper_position": [
+                  0.2714258327377971,
+                  -0.3549574533313886,
+                  1.0040942979926393
+                ],
+                "rod_tip_xy_dist": 0.0011804809379577395,
+                "target_xy_drift": 3.0143191384189235e-08,
+                "depth": 0.016647329678531775,
+                "bottom_clearance": 0.08279319639361826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008199808888900706,
+                  0.000783532491186012
+                ],
+                "rod_tip_xy": [
+                  0.27142583273779713,
+                  -0.3549574533313887
+                ],
+                "target_mouth_xy": [
+                  0.27060585184890706,
+                  -0.3557409858225747
+                ],
+                "gripper_position": [
+                  0.271414492064757,
+                  -0.3549648232451139,
+                  1.0039526336288656
+                ],
+                "rod_tip_xy_dist": 0.0011341480603911942,
+                "target_xy_drift": 5.995778399287972e-08,
+                "depth": 0.017165602245853617,
+                "bottom_clearance": 0.08227492111337764,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000808639384020593,
+                  0.0007761917472234869
+                ],
+                "rod_tip_xy": [
+                  0.27141449206475704,
+                  -0.35496482324511397
+                ],
+                "target_mouth_xy": [
+                  0.27060585268073645,
+                  -0.35574101499233746
+                ],
+                "gripper_position": [
+                  0.27140590390836317,
+                  -0.35496610103397663,
+                  1.0038285532390294
+                ],
+                "rod_tip_xy_dist": 0.0011208796910672678,
+                "target_xy_drift": 3.077639069356628e-08,
+                "depth": 0.017307184529275488,
+                "bottom_clearance": 0.0821333131496661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008000216955447725,
+                  0.000774914593747511
+                ],
+                "rod_tip_xy": [
+                  0.27140590390836317,
+                  -0.3549661010339768
+                ],
+                "target_mouth_xy": [
+                  0.2706058822128184,
+                  -0.3557410156277243
+                ],
+                "gripper_position": [
+                  0.271397472315263,
+                  -0.3549670719723743,
+                  1.003704435899968
+                ],
+                "rod_tip_xy_dist": 0.0011137896304712137,
+                "target_xy_drift": 4.169935516097449e-08,
+                "depth": 0.017431270712549796,
+                "bottom_clearance": 0.08200923192415577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007915874946887169,
+                  0.0007739134719169094
+                ],
+                "rod_tip_xy": [
+                  0.27139747231526307,
+                  -0.35496707197237437
+                ],
+                "target_mouth_xy": [
+                  0.27060588482057435,
+                  -0.3557409854442913
+                ],
+                "gripper_position": [
+                  0.2714047611575321,
+                  -0.35504066888728675,
+                  1.0031866886393825
+                ],
+                "rod_tip_xy_dist": 0.0011070468932082528,
+                "target_xy_drift": 6.801497641065969e-08,
+                "depth": 0.0175554536704865,
+                "bottom_clearance": 0.08188512003663972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007989080222823852,
+                  0.0007003159536063674
+                ],
+                "rod_tip_xy": [
+                  0.27140476115753215,
+                  -0.35504066888728686
+                ],
+                "target_mouth_xy": [
+                  0.27060585313524976,
+                  -0.3557409848408932
+                ],
+                "gripper_position": [
+                  0.27139316897170895,
+                  -0.35504820872004106,
+                  1.0030454251648242
+                ],
+                "rod_tip_xy_dist": 0.0010624012720920227,
+                "target_xy_drift": 6.092022374619244e-08,
+                "depth": 0.01807313854982917,
+                "bottom_clearance": 0.0813673877240646,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007873165359789103,
+                  0.0006928081660826924
+                ],
+                "rod_tip_xy": [
+                  0.271393168971709,
+                  -0.3550482087200411
+                ],
+                "target_mouth_xy": [
+                  0.2706058524357301,
+                  -0.3557410168861238
+                ],
+                "gripper_position": [
+                  0.27138472967741206,
+                  -0.3550489964213017,
+                  1.0029213951345257
+                ],
+                "rod_tip_xy_dist": 0.0010487375662274591,
+                "target_xy_drift": 2.8890179137514565e-08,
+                "depth": 0.018214421949527715,
+                "bottom_clearance": 0.08122612650247207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007788764395220693,
+                  0.0006919855620460824
+                ],
+                "rod_tip_xy": [
+                  0.2713847296774121,
+                  -0.3550489964213018
+                ],
+                "target_mouth_xy": [
+                  0.27060585323789005,
+                  -0.35574098198334786
+                ],
+                "gripper_position": [
+                  0.2713759920641895,
+                  -0.3550501613960067,
+                  1.002797063316847
+                ],
+                "rod_tip_xy_dist": 0.001041869726080381,
+                "target_xy_drift": 6.377742071576238e-08,
+                "depth": 0.018338484681764355,
+                "bottom_clearance": 0.08110215160614664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007701386997654436,
+                  0.0006908244034606326
+                ],
+                "rod_tip_xy": [
+                  0.2713759920641895,
+                  -0.3550501613960068
+                ],
+                "target_mouth_xy": [
+                  0.27060585336442405,
+                  -0.35574098579946745
+                ],
+                "gripper_position": [
+                  0.27138472670761493,
+                  -0.35512584603401764,
+                  1.0022837395421664
+                ],
+                "rod_tip_xy_dist": 0.0010345781620028267,
+                "target_xy_drift": 5.996112830795657e-08,
+                "depth": 0.018462756488388576,
+                "bottom_clearance": 0.08097775935607854,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007789052746167147,
+                  0.000615170251824948
+                ],
+                "rod_tip_xy": [
+                  0.271384726707615,
+                  -0.3551258460340177
+                ],
+                "target_mouth_xy": [
+                  0.2706058214329983,
+                  -0.35574101628584265
+                ],
+                "gripper_position": [
+                  0.27137318866430105,
+                  -0.35513294413158636,
+                  1.0021423899233077
+                ],
+                "rod_tip_xy_dist": 0.0009925360777100797,
+                "target_xy_drift": 4.3473084453753064e-08,
+                "depth": 0.018976131937447627,
+                "bottom_clearance": 0.080464438731772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0007673042829205445,
+                  0.000608070508251568
+                ],
+                "rod_tip_xy": [
+                  0.27137318866430105,
+                  -0.3551329441315864
+                ],
+                "target_mouth_xy": [
+                  0.2706058843813805,
+                  -0.355741014639838
+                ],
+                "gripper_position": [
+                  0.2713644499981632,
+                  -0.35513377524781226,
+                  1.0020184744796805
+                ],
+                "rod_tip_xy_dist": 0.0009790329951505881,
+                "target_xy_drift": 4.3921128619168195e-08,
+                "depth": 0.01911750745763008,
+                "bottom_clearance": 0.08032307250165605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0007586272082221734,
+                  0.0006072105339776646
+                ],
+                "rod_tip_xy": [
+                  0.2713644499981633,
+                  -0.35513377524781226
+                ],
+                "target_mouth_xy": [
+                  0.2706058227899411,
+                  -0.3557409857817899
+                ],
+                "gripper_position": [
+                  0.2713556719703147,
+                  -0.35513463306580834,
+                  1.0018947227458308
+                ],
+                "rod_tip_xy_dist": 0.0009717097682067467,
+                "target_xy_drift": 6.733292523011254e-08,
+                "depth": 0.019241343225946506,
+                "bottom_clearance": 0.08019915104881703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007498158176072467,
+                  0.0006063812085318476
+                ],
+                "rod_tip_xy": [
+                  0.27135567197031474,
+                  -0.35513463306580845
+                ],
+                "target_mouth_xy": [
+                  0.2706058561527075,
+                  -0.3557410142743403
+                ],
+                "gripper_position": [
+                  0.2713469807861685,
+                  -0.3551355472215187,
+                  1.0017705636914522
+                ],
+                "rod_tip_xy_dist": 0.000964324598044957,
+                "target_xy_drift": 3.160736189740103e-08,
+                "depth": 0.01936519274819004,
+                "bottom_clearance": 0.08007545918258219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0007411274081608465,
+                  0.0006054693197525274
+                ],
+                "rod_tip_xy": [
+                  0.27134698078616853,
+                  -0.3551355472215188
+                ],
+                "target_mouth_xy": [
+                  0.2706058533780077,
+                  -0.3557410165412713
+                ],
+                "gripper_position": [
+                  0.2713381111345438,
+                  -0.35513667856287956,
+                  1.0016469716610492
+                ],
+                "rod_tip_xy_dist": 0.0009570072791200714,
+                "target_xy_drift": 2.9219321481862457e-08,
+                "depth": 0.01948927271090861,
+                "bottom_clearance": 0.07995127582854189,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006020079038326012,
+              "rod_tip_xy_max_step": 3.2574335924924965e-05,
+              "rod_tip_xy_range": 0.0006019983063817225,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2709046345789766,
+            -0.3565485703235138,
+            1.0435264950886391
+          ],
+          "object_origin_world": [
+            0.2709046345789766,
+            -0.3565485703235138,
+            1.0435264950886391
+          ],
+          "frame_world": [
+            0.27090312622781154,
+            -0.35655419031595753,
+            1.043414068807498
+          ],
+          "center_minus_frame": [
+            1.5083511650804127e-06,
+            5.619992443750554e-06,
+            0.00011242628114116471
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2698126239558795,
+              0.15894242859267796,
+              0.8319068934140933
+            ],
+            "target_position": [
+              0.28457039300048953,
+              0.20564409830552227,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04897793075602163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16518188279850993,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8319068934140933,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670374238762,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13438408131948948,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21452429665345132,
+              0.021027032230696387,
+              1.044594439429332
+            ],
+            "current_z": 1.044594439429332,
+            "required_z": 0.8565863881992758,
+            "initial_z": 0.7565863881992758,
+            "lift_margin": 0.18800805123005626,
+            "gripper_z": 1.0491577674773074,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20962476303133698,
+              0.016307266276101892,
+              1.0491577674773074
+            ],
+            "object_minus_gripper": [
+              0.004899533622114344,
+              0.0047197659545944945,
+              -0.0045633280479753235
+            ],
+            "object_to_gripper_xy": 0.006803059633751433,
+            "object_to_gripper_z": -0.0045633280479753235,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21452429665345132,
+              -0.003375375957076433,
+              1.044594439429332
+            ],
+            "finger_b": [
+              0.203112945096953,
+              0.021027032230696387,
+              1.044594439429332
+            ],
+            "finger_midpoint": [
+              0.20881862087520214,
+              0.008825828136809977,
+              1.044594439429332
+            ],
+            "object_minus_finger_midpoint": [
+              0.005705675778249181,
+              0.01220120409388641,
+              0.0
+            ],
+            "finger_gap": 0.026938754048928818,
+            "fingertip_max_gap": 0.09137724074792947,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013469377024464416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044594439429332,
+            "object_top_z": 1.090156588122229,
+            "finger_top_clearance": 0.04556214869289699,
+            "fingertip_min_top_clearance": 0.013668644607869096,
+            "object_projection_between_fingers": 0.8205600415856074,
+            "object_to_finger_line_xy": 0.010336946473102447,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048188620373964736,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4874016842948648,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2134011656380954,
+              0.020239405511474032,
+              1.243751964950592
+            ],
+            "held_position": [
+              0.2185609346766195,
+              0.02463877919481426,
+              1.2391624636037402
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008187870782403229,
+            "max_held_gripper_dist": 0.008194978321708225,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004589501346851765,
+            "max_held_gripper_z_dist": 0.004589501346851765,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08548964832493318,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2185609346766195,
+              -0.0007492219958447838,
+              1.2391624636037402
+            ],
+            "held_grasp_finger_b": [
+              0.20881111466420255,
+              0.02463877919481426,
+              1.2391624636037402
+            ],
+            "held_grasp_midpoint": [
+              0.21368602467041103,
+              0.01194477859948474,
+              1.2391624636037402
+            ],
+            "held_grasp_object_position": [
+              0.2185609346766195,
+              0.02463877919481426,
+              1.2391624636037402
+            ],
+            "held_grasp_finger_gap": 0.027195764279229793,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024758375934325092,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0598893528824412,
+              -0.9981993523347223,
+              -0.0033642844503987135
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004106151374961076,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032237126587384306,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17156278682493994,
+              0.02097446662686422,
+              0.7565867777038116
+            ],
+            "target_position": [
+              0.1899331214604424,
+              0.01858790685895496,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018524709502341564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20364227477835406,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867777038116,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758449301855202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09025552887164441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17608066939530914,
+            "release_required_pad_clearance": 0.05512776443582221,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.342887984711756,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 317,
+            "max_placed_release_frames": 317
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d828ef35f4d75884ed476b48529ed9f53c0e37237c5817d798267739fc222c56",
+    "visual_seed": 3735557642613935685,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3986e14924c167d1980db95deb8dc538da6eeea3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_44_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2116219287869382,
+              -0.13601190565661786,
+              1.1637441360527776
+            ],
+            "current_z": 1.1637441360527776,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3026376876426564,
+            "gripper_z": 1.1575016191659597,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20711269387020095,
+              -0.14042630930655509,
+              1.1575016191659597
+            ],
+            "object_minus_gripper": [
+              0.0045092349167372425,
+              0.004414403649937226,
+              0.006242516886817873
+            ],
+            "object_to_gripper_xy": 0.006310321633554144,
+            "object_to_gripper_z": 0.006242516886817873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2116219287869382,
+              -0.15991722555156448,
+              1.1637441360527776
+            ],
+            "finger_b": [
+              0.20168620705950518,
+              -0.13601190565661786,
+              1.1637441360527776
+            ],
+            "finger_midpoint": [
+              0.2066540679232217,
+              -0.14796456560409116,
+              1.1637441360527776
+            ],
+            "object_minus_finger_midpoint": [
+              0.004967860863716506,
+              0.011952659947473299,
+              0.0
+            ],
+            "finger_gap": 0.025887890712159526,
+            "fingertip_max_gap": 0.09272266314800998,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012943945356079749,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1637441360527776,
+            "object_top_z": 1.2139889289129653,
+            "finger_top_clearance": 0.05024479286018768,
+            "fingertip_min_top_clearance": 0.015073437858056303,
+            "object_projection_between_fingers": 0.8526990641253196,
+            "object_to_finger_line_xy": 0.009174814932678008,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886133157400499,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9568439670959052,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 325,
+            "max_stable_success_frames": 325,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27007474395412867,
+              -0.35758457226387974,
+              0.8515395746746198
+            ],
+            "target_position": [
+              0.2641001991194892,
+              -0.3572713460190918,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0059827499247036425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18215143406901504,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746746198,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585200182731824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08868972970840398,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1491775090157829,
+            "release_required_pad_clearance": 0.054344864854201994,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7125019323321182,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077018141746521,
+            "max_z_decrease": 0.0077018141746521,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512898121578427,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077018141746521,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109290115186868,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0077018141746521,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007701843100713669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11980012804269788,
+              -0.41353279352188105,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11980012804269788,
+              -0.41353279352188105,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12126393816097147,
+              -0.41251920068392456,
+              0.8075834888011731
+            ],
+            "closest_button": [
+              0.119789183139801,
+              -0.413528025150299,
+              0.7724999785423279
+            ],
+            "closest_ee_minus_button": [
+              0.0014747550211704763,
+              0.0010088244663744583,
+              0.03508351025884526
+            ],
+            "button_min_z_position": [
+              0.1197792664170265,
+              -0.41352957487106323,
+              0.7691070437431335
+            ],
+            "min_active_finger_to_button": 0.14449382002966796,
+            "closest_active_finger": [
+              -0.005002692341804504,
+              -0.47767844796180725,
+              0.8106158375740051
+            ],
+            "closest_active_finger_button": [
+              0.11980108916759488,
+              -0.4135300517082214,
+              0.7761562466621399
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12480378150939939,
+              -0.06414839625358587,
+              0.034459590911865234
+            ],
+            "min_contact_pad_to_button": 0.02109290115186868,
+            "closest_contact_pad": [
+              0.1197792664170265,
+              -0.41352957487106323,
+              0.7901999448950022
+            ],
+            "closest_contact_pad_button": [
+              0.1197792664170265,
+              -0.41352957487106323,
+              0.7691070437431335
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109290115186868
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28117386929764226,
+              0.20285759908899653,
+              1.1029182044097272
+            ],
+            "current_z": 1.1029182044097272,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19300907467536466,
+            "gripper_z": 1.1029182181967727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.28117387403588995,
+              0.20285759077470605,
+              1.1029182181967727
+            ],
+            "object_minus_gripper": [
+              -4.738247683100383e-09,
+              8.314290478317332e-09,
+              -1.3787045505253559e-08
+            ],
+            "object_to_gripper_xy": 9.569661293078475e-09,
+            "object_to_gripper_z": -1.3787045505253559e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28117386929764226,
+              0.20285759908899653,
+              1.1029182044097272
+            ],
+            "finger_b": [
+              0.28117386929764226,
+              0.20285759908899653,
+              1.1029182044097272
+            ],
+            "finger_midpoint": [
+              0.28117386929764226,
+              0.20285759908899653,
+              1.1029182044097272
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029182044097272,
+            "object_top_z": 1.227926711030007,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28117386929764226,
+            0.20285759908899653,
+            1.1029182044097272
+          ],
+          "object_origin_world": [
+            0.28117386929764226,
+            0.20285759908899653,
+            1.1029182044097272
+          ],
+          "frame_world": [
+            0.28117387403588995,
+            0.20285759077470605,
+            1.1029182181967727
+          ],
+          "center_minus_frame": [
+            -4.738247683100383e-09,
+            8.314290478317332e-09,
+            -1.3787045505253559e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432186906597687,
+            "required_z": 0.911259821749994,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0027681600323110514,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.5144343127904496e-07,
+            "max_target_xy_drift": 5.764186747426958e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.7125019322328945,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.712712786603839,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26769843202633503,
+              -0.35616176982677944,
+              0.9233295099918714
+            ],
+            "target_mouth_xy": [
+              0.2700746859183333,
+              -0.3575846026315008
+            ],
+            "rod_tip_z": 0.9233295099918714,
+            "rod_tip_depth": -0.02206968206928428,
+            "rod_tip_bottom_clearance": 0.12151022301541414,
+            "rod_tip_xy_dist": 0.002769663472234153,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044615842678236484,
+            "min_rod_tip_bottom_clearance": 0.05482484124933451,
+            "min_rod_tip_xy_dist": 3.841485562760231e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27007480059805883,
+              -0.3575845037190475
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.146797255491272e-07,
+              -9.891245333903953e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0017034260748580166,
+                0.003208105266602257
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018273705735586954,
+                0.0028076645292157143
+              ],
+              "first_target_mouth_xy": [
+                0.27007468667512224,
+                -0.3575845128101127
+              ],
+              "last_target_mouth_xy": [
+                0.2700747423049663,
+                -0.3575845049225074
+              ],
+              "first_rod_tip_xy": [
+                0.2683712606002642,
+                -0.35437640754351046
+              ],
+              "last_rod_tip_xy": [
+                0.2682473717314076,
+                -0.35477684039329166
+              ],
+              "min_rod_tip_xy_dist": 0.003341588116269982,
+              "max_rod_tip_xy_dist": 0.0036349991733155376,
+              "first_target_xy_drift": 1.1428509503464567e-07,
+              "last_target_xy_drift": 5.830551390058045e-08,
+              "max_depth": 0.019504474337749156,
+              "min_bottom_clearance": 0.07993614652704795
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0017034260748580166,
+                  0.003208105266602257
+                ],
+                "rod_tip_xy": [
+                  0.2683712606002642,
+                  -0.35437640754351046
+                ],
+                "target_mouth_xy": [
+                  0.27007468667512224,
+                  -0.3575845128101127
+                ],
+                "gripper_position": [
+                  0.2683631768382233,
+                  -0.3543776536430837,
+                  1.0060242173345473
+                ],
+                "rod_tip_xy_dist": 0.0036322995187769587,
+                "target_xy_drift": 1.1428509503464567e-07,
+                "depth": 0.01511268110850017,
+                "bottom_clearance": 0.08432790295267878,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017115083847598633,
+                  0.003206861088182855
+                ],
+                "rod_tip_xy": [
+                  0.26836317683822336,
+                  -0.35437765364308377
+                ],
+                "target_mouth_xy": [
+                  0.2700746852229832,
+                  -0.3575845147312666
+                ],
+                "gripper_position": [
+                  0.2683632077052819,
+                  -0.3544458005433299,
+                  1.005503477362923
+                ],
+                "rod_tip_xy_dist": 0.0036349991733155376,
+                "target_xy_drift": 1.1589942640514771e-07,
+                "depth": 0.015235552417769749,
+                "bottom_clearance": 0.08420497356416645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017115095456152196,
+                  0.0031387426754143077
+                ],
+                "rod_tip_xy": [
+                  0.2683632077052819,
+                  -0.3544458005433299
+                ],
+                "target_mouth_xy": [
+                  0.2700747172508971,
+                  -0.3575845432187442
+                ],
+                "gripper_position": [
+                  0.2683519998826101,
+                  -0.354453357045863,
+                  1.0053633668100808
+                ],
+                "rod_tip_xy_dist": 0.0035750483223585916,
+                "target_xy_drift": 9.223326628879921e-08,
+                "depth": 0.015756417054027083,
+                "bottom_clearance": 0.08368417179872722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017226548183031376,
+                  0.003131157388490846
+                ],
+                "rod_tip_xy": [
+                  0.26835199988261016,
+                  -0.35445335704586306
+                ],
+                "target_mouth_xy": [
+                  0.2700746547009133,
+                  -0.3575845144343539
+                ],
+                "gripper_position": [
+                  0.26834389306051576,
+                  -0.3544544167378122,
+                  1.005240539915339
+                ],
+                "rod_tip_xy_dist": 0.003573749601542312,
+                "target_xy_drift": 1.462901051537921e-07,
+                "depth": 0.015896468280219067,
+                "bottom_clearance": 0.08354405341837545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001730761671361325,
+                  0.003130065359205514
+                ],
+                "rod_tip_xy": [
+                  0.2683438930605158,
+                  -0.35445441673781214
+                ],
+                "target_mouth_xy": [
+                  0.27007465473187714,
+                  -0.35758448209701765
+                ],
+                "gripper_position": [
+                  0.2683446199217484,
+                  -0.35452414117074393,
+                  1.0047197168829187
+                ],
+                "rod_tip_xy_dist": 0.0035767086987832527,
+                "target_xy_drift": 1.4746001198495584e-07,
+                "depth": 0.01601931282353819,
+                "bottom_clearance": 0.08342124856685973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001730096846668694,
+                  0.0030604030055502163
+                ],
+                "rod_tip_xy": [
+                  0.26834461992174846,
+                  -0.3545241411707439
+                ],
+                "target_mouth_xy": [
+                  0.27007471676841716,
+                  -0.3575845441762941
+                ],
+                "gripper_position": [
+                  0.26833338150884606,
+                  -0.35453154130972625,
+                  1.0045796768869817
+                ],
+                "rod_tip_xy_dist": 0.0035155798462321625,
+                "target_xy_drift": 9.308167180553921e-08,
+                "depth": 0.0165401817760904,
+                "bottom_clearance": 0.08290040331526516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017413023408792139,
+                  0.0030529417655628666
+                ],
+                "rod_tip_xy": [
+                  0.26833338150884606,
+                  -0.35453154130972625
+                ],
+                "target_mouth_xy": [
+                  0.27007468384972527,
+                  -0.3575844830752891
+                ],
+                "gripper_position": [
+                  0.2683251032869563,
+                  -0.3545324262253273,
+                  1.0044571365473554
+                ],
+                "rod_tip_xy_dist": 0.0035146247689148186,
+                "target_xy_drift": 1.1855942875947568e-07,
+                "depth": 0.016680181975651354,
+                "bottom_clearance": 0.08276037484497067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017496134141039565,
+                  0.0030521179944615895
+                ],
+                "rod_tip_xy": [
+                  0.26832510328695636,
+                  -0.35453242622532727
+                ],
+                "target_mouth_xy": [
+                  0.2700747167010603,
+                  -0.35758454421978886
+                ],
+                "gripper_position": [
+                  0.2683266392689614,
+                  -0.3546035324725789,
+                  1.0039383929708998
+                ],
+                "rod_tip_xy_dist": 0.003518035154873916,
+                "target_xy_drift": 9.316123878255008e-08,
+                "depth": 0.016802762250748615,
+                "bottom_clearance": 0.08263782154083399,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017480485309554483,
+                  0.0029810116932624253
+                ],
+                "rod_tip_xy": [
+                  0.26832663926896144,
+                  -0.354603532472579
+                ],
+                "target_mouth_xy": [
+                  0.2700746877999169,
+                  -0.3575845441658414
+                ],
+                "gripper_position": [
+                  0.2683153172731677,
+                  -0.35461066553289783,
+                  1.003798254339324
+                ],
+                "rod_tip_xy_dist": 0.0034557349988016753,
+                "target_xy_drift": 1.198305635578591e-07,
+                "depth": 0.017321513101868358,
+                "bottom_clearance": 0.08211910558062974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017593368997256276,
+                  0.002973878414339104
+                ],
+                "rod_tip_xy": [
+                  0.26831531727316776,
+                  -0.35461066553289783
+                ],
+                "target_mouth_xy": [
+                  0.2700746541728934,
+                  -0.35758454394723693
+                ],
+                "gripper_position": [
+                  0.2683069227445114,
+                  -0.35461165845072684,
+                  1.0036757377628658
+                ],
+                "rod_tip_xy_dist": 0.003455317517972588,
+                "target_xy_drift": 1.5185070398057016e-07,
+                "depth": 0.01746159048314022,
+                "bottom_clearance": 0.08197893922981148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017678229647935528,
+                  0.002972914065892618
+                ],
+                "rod_tip_xy": [
+                  0.2683069227445114,
+                  -0.3546116584507268
+                ],
+                "target_mouth_xy": [
+                  0.27007474570930495,
+                  -0.3575845725166194
+                ],
+                "gripper_position": [
+                  0.26830914734633715,
+                  -0.35468325077899543,
+                  1.0031603225761097
+                ],
+                "rod_tip_xy_dist": 0.0034588171501300333,
+                "target_xy_drift": 8.801068800824972e-08,
+                "depth": 0.01758409715879794,
+                "bottom_clearance": 0.08185646243099987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0017655979097858099,
+                  0.002901354410454582
+                ],
+                "rod_tip_xy": [
+                  0.2683091473463372,
+                  -0.3546832507789955
+                ],
+                "target_mouth_xy": [
+                  0.270074745256123,
+                  -0.35758460518945007
+                ],
+                "gripper_position": [
+                  0.2682977243639313,
+                  -0.3546903839079591,
+                  1.0030207137786495
+                ],
+                "rod_tip_xy_dist": 0.0033963500105413567,
+                "target_xy_drift": 1.1558102118953676e-07,
+                "depth": 0.018099528873895987,
+                "bottom_clearance": 0.08134104939500364,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017770495722976842,
+                  0.002894218765304213
+                ],
+                "rod_tip_xy": [
+                  0.26829772436393134,
+                  -0.3546903839079591
+                ],
+                "target_mouth_xy": [
+                  0.27007477393622903,
+                  -0.3575846026732633
+                ],
+                "gripper_position": [
+                  0.2682891509003903,
+                  -0.35469140112774544,
+                  1.0028979492620986
+                ],
+                "rod_tip_xy_dist": 0.0033962343034370326,
+                "target_xy_drift": 1.0248312054716788e-07,
+                "depth": 0.018239117452889198,
+                "bottom_clearance": 0.0812013988174981,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017855621140195344,
+                  0.0028931727476208535
+                ],
+                "rod_tip_xy": [
+                  0.2682891509003903,
+                  -0.3546914011277454
+                ],
+                "target_mouth_xy": [
+                  0.27007471301440983,
+                  -0.35758457387536624
+                ],
+                "gripper_position": [
+                  0.26828070831206435,
+                  -0.3546922121228288,
+                  1.0027753029147637
+                ],
+                "rod_tip_xy_dist": 0.00339980596661014,
+                "target_xy_drift": 1.1221766631559561e-07,
+                "depth": 0.018361920396315012,
+                "bottom_clearance": 0.08107864164651768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0017940601741523454,
+                  0.0028922916365529683
+                ],
+                "rod_tip_xy": [
+                  0.26828070831206435,
+                  -0.3546922121228288
+                ],
+                "target_mouth_xy": [
+                  0.2700747684862167,
+                  -0.3575845037593818
+                ],
+                "gripper_position": [
+                  0.2682720619410206,
+                  -0.35469337514353577,
+                  1.0026529390801115
+                ],
+                "rod_tip_xy_dist": 0.003403527995970327,
+                "target_xy_drift": 3.211186746087831e-08,
+                "depth": 0.018484549078325196,
+                "bottom_clearance": 0.08095598700701157,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018026798723146942,
+                  0.0028911282172438546
+                ],
+                "rod_tip_xy": [
+                  0.2682720619410206,
+                  -0.35469337514353577
+                ],
+                "target_mouth_xy": [
+                  0.2700747418133353,
+                  -0.3575845033607796
+                ],
+                "gripper_position": [
+                  0.26827635743380407,
+                  -0.3547681202385821,
+                  1.0021398491096867
+                ],
+                "rod_tip_xy_dist": 0.0034070921752415435,
+                "target_xy_drift": 5.878581526826943e-08,
+                "depth": 0.018606947744125857,
+                "bottom_clearance": 0.08083360973996945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0017983839329244744,
+                  0.002816385337377658
+                ],
+                "rod_tip_xy": [
+                  0.26827635743380407,
+                  -0.3547681202385821
+                ],
+                "target_mouth_xy": [
+                  0.27007474136672854,
+                  -0.3575845055759598
+                ],
+                "gripper_position": [
+                  0.26826464728939303,
+                  -0.3547754743703292,
+                  1.0020000638734092
+                ],
+                "rod_tip_xy_dist": 0.003341588116269982,
+                "target_xy_drift": 5.926043039483323e-08,
+                "depth": 0.019119948567521083,
+                "bottom_clearance": 0.0803206557672218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018100958772745424,
+                  0.002809030203536844
+                ],
+                "rod_tip_xy": [
+                  0.26826464728939303,
+                  -0.35477547437032914
+                ],
+                "target_mouth_xy": [
+                  0.2700747431666676,
+                  -0.357584504573866
+                ],
+                "gripper_position": [
+                  0.2682560454625639,
+                  -0.3547761059177594,
+                  1.0018776572422992
+                ],
+                "rod_tip_xy_dist": 0.0033417207796745283,
+                "target_xy_drift": 5.74377525326747e-08,
+                "depth": 0.01925985206901626,
+                "bottom_clearance": 0.08018079231099484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0018186652622256827,
+                  0.002808368621732338
+                ],
+                "rod_tip_xy": [
+                  0.2682560454625639,
+                  -0.3547761059177594
+                ],
+                "target_mouth_xy": [
+                  0.27007471072478956,
+                  -0.3575844745394917
+                ],
+                "gripper_position": [
+                  0.26824737173140756,
+                  -0.3547768403932917,
+                  1.0017554397890398
+                ],
+                "rod_tip_xy_dist": 0.0033458149458027715,
+                "target_xy_drift": 9.449153932765722e-08,
+                "depth": 0.01938211143122326,
+                "bottom_clearance": 0.08005841781831424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018273705735586954,
+                  0.0028076645292157143
+                ],
+                "rod_tip_xy": [
+                  0.2682473717314076,
+                  -0.35477684039329166
+                ],
+                "target_mouth_xy": [
+                  0.2700747423049663,
+                  -0.3575845049225074
+                ],
+                "gripper_position": [
+                  0.2682389186793888,
+                  -0.3547774429127644,
+                  1.001632948853474
+                ],
+                "rod_tip_xy_dist": 0.0033499646746979785,
+                "target_xy_drift": 5.830551390058045e-08,
+                "depth": 0.019504474337749156,
+                "bottom_clearance": 0.07993614652704795,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005961877248106814,
+              "rod_tip_xy_max_step": 3.224345832082899e-05,
+              "rod_tip_xy_range": 0.0005961824938275239,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26769843202633503,
+            -0.35616176982677944,
+            1.0433295099918714
+          ],
+          "object_origin_world": [
+            0.26769843202633503,
+            -0.35616176982677944,
+            1.0433295099918714
+          ],
+          "frame_world": [
+            0.2676969322768994,
+            -0.35616721151217906,
+            1.0432186906597687
+          ],
+          "center_minus_frame": [
+            1.4997494356405738e-06,
+            5.441685399620866e-06,
+            0.00011081933210266293
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26787501923463625,
+              0.15504304106103475,
+              0.8320720487905126
+            ],
+            "target_position": [
+              0.2813415380875519,
+              0.2015870050879351,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048452943330135535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16931908302056983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320720487905126,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671559937197,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13795759503408386,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 302,
+            "max_placed_release_frames": 302
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2132010102551273,
+              0.025457731231297822,
+              1.0461507996014265
+            ],
+            "current_z": 1.0461507996014265,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.1895644710067953,
+            "gripper_z": 1.0507303993321004,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20843361514849992,
+              0.020858401684002242,
+              1.0507303993321004
+            ],
+            "object_minus_gripper": [
+              0.004767395106627381,
+              0.00459932954729558,
+              -0.0045795997306739
+            ],
+            "object_to_gripper_xy": 0.006624340600189641,
+            "object_to_gripper_z": -0.0045795997306739,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2132010102551273,
+              0.0011326073150681986,
+              1.0461507996014265
+            ],
+            "finger_b": [
+              0.20195028410895907,
+              0.025457731231297822,
+              1.0461507996014265
+            ],
+            "finger_midpoint": [
+              0.2075756471820432,
+              0.01329516927318301,
+              1.0461507996014265
+            ],
+            "object_minus_finger_midpoint": [
+              0.005625363073084116,
+              0.012162561958114812,
+              0.0
+            ],
+            "finger_gap": 0.02680094200501169,
+            "fingertip_max_gap": 0.0927623551416554,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400471002505845,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461507996014265,
+            "object_top_z": 1.092422340920901,
+            "finger_top_clearance": 0.04627154131947453,
+            "fingertip_min_top_clearance": 0.013881462395842375,
+            "object_projection_between_fingers": 0.823777649623492,
+            "object_to_finger_line_xy": 0.010211406285716767,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488811775708277,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9908678631394886,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21285080285798627,
+              0.023933645116897953,
+              1.2439407874768127
+            ],
+            "held_position": [
+              0.21794062238176276,
+              0.028133587305438097,
+              1.2393209153297102
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00805537062010612,
+            "max_held_gripper_dist": 0.008057696389685676,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004619872147102466,
+            "max_held_gripper_z_dist": 0.004620016243718217,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596188746586575,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21794062238176276,
+              0.0025876012024105624,
+              1.2393209153297102
+            ],
+            "held_grasp_finger_b": [
+              0.20879126496299183,
+              0.028250568196741824,
+              1.2393209153297102
+            ],
+            "held_grasp_midpoint": [
+              0.2133659436723773,
+              0.015419084699576193,
+              1.2393209153297102
+            ],
+            "held_grasp_object_position": [
+              0.21794062238176276,
+              0.028133587305438097,
+              1.2393209153297102
+            ],
+            "held_grasp_finger_gap": 0.02724515766385936,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024945860046549615,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07118400852460703,
+              -0.9974352532462938,
+              0.007466760466934508
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036592677594474523,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219268787098601,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19035132414655204,
+              0.023309213841780124,
+              0.7565864103824785
+            ],
+            "target_position": [
+              0.1884309719640664,
+              0.024631331760156243,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0023314691280110276,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21562197504518946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864103824785,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758349524857364,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09169062509012989,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18543363124758552,
+            "release_required_pad_clearance": 0.055845312545064946,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.896314584739253,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 295,
+            "max_placed_release_frames": 295
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a96f975d2dc8d257e85bd6ce8303aa065346ceec3d4dbcfe84a612838fda4363",
+    "visual_seed": 2204110668021501751,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c656fb4cb222d8e103169a87624e630846499af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_45_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21457262931229892,
+              -0.1388642587710111,
+              1.1625735241869668
+            ],
+            "current_z": 1.1625735241869668,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.30146695656755595,
+            "gripper_z": 1.1559297695656197,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21022479277866069,
+              -0.143254439502014,
+              1.1559297695656197
+            ],
+            "object_minus_gripper": [
+              0.0043478365336382385,
+              0.004390180731002891,
+              0.006643754621347142
+            ],
+            "object_to_gripper_xy": 0.006178783810274353,
+            "object_to_gripper_z": 0.006643754621347142,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21457262931229892,
+              -0.16257112005079452,
+              1.1625735241869668
+            ],
+            "finger_b": [
+              0.20453452569002536,
+              -0.1388642587710111,
+              1.1625735241869668
+            ],
+            "finger_midpoint": [
+              0.20955357750116216,
+              -0.1507176894109028,
+              1.1625735241869668
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050190518111367655,
+              0.011853430639891693,
+              0.0
+            ],
+            "finger_gap": 0.025744490596444042,
+            "fingertip_max_gap": 0.09271275933428375,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012872245298222002,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625735241869668,
+            "object_top_z": 1.2127303215434062,
+            "finger_top_clearance": 0.05015679735643941,
+            "fingertip_min_top_clearance": 0.01504703920693179,
+            "object_projection_between_fingers": 0.8479680929309646,
+            "object_to_finger_line_xy": 0.009243606090935852,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048856379667141875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.931252867287518,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27069712870142315,
+              -0.3506656739789904,
+              0.8515395726717059
+            ],
+            "target_position": [
+              0.2650159449162602,
+              -0.35002845049081266,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005716808810401485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18348012577737596,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395726717059,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539692179712634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870645964760041,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15145281429182028,
+            "release_required_pad_clearance": 0.053532298238002055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.076326213292933,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007357418537139893,
+            "max_z_decrease": 0.007357418537139893,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513548199688035,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007357418537139893,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021207960923469698,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007357418537139893,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007357443856422049,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1207158714532852,
+              -0.4062899053096771,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1207158714532852,
+              -0.4062899053096771,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12159016425196323,
+              -0.4074976980492166,
+              0.8082515257531961
+            ],
+            "closest_button": [
+              0.12071269005537032,
+              -0.40628853440284723,
+              0.7731478214263916
+            ],
+            "closest_ee_minus_button": [
+              0.0008774741965929117,
+              -0.00120916364636936,
+              0.03510370432680454
+            ],
+            "button_min_z_position": [
+              0.12069666385650635,
+              -0.40628799796104426,
+              0.7694514393806458
+            ],
+            "min_active_finger_to_button": 0.14523007558105253,
+            "closest_active_finger": [
+              -0.019391432404518127,
+              -0.3896031677722931,
+              0.8108009099960327
+            ],
+            "closest_active_finger_button": [
+              0.12071587890386579,
+              -0.4062897861003876,
+              0.7764021754264832
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14010731130838391,
+              0.016686618328094482,
+              0.03439873456954956
+            ],
+            "min_contact_pad_to_button": 0.021207960923469698,
+            "closest_contact_pad": [
+              0.12069666385650635,
+              -0.4086882777872543,
+              0.790523132793547
+            ],
+            "closest_contact_pad_button": [
+              0.12069666385650635,
+              -0.40628799796104426,
+              0.7694514393806458
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00240027982621005,
+              0.02107169341290127
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28264811837519166,
+              0.20359542053498866,
+              1.1031502241550335
+            ],
+            "current_z": 1.1031502241550335,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19324109442067094,
+            "gripper_z": 1.1031500940613568,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2826480816667252,
+              0.20359543641525674,
+              1.1031500940613568
+            ],
+            "object_minus_gripper": [
+              3.670846643322179e-08,
+              -1.5880268072754333e-08,
+              1.3009367672012218e-07
+            ],
+            "object_to_gripper_xy": 3.999618009187266e-08,
+            "object_to_gripper_z": 1.3009367672012218e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28264811837519166,
+              0.20359542053498866,
+              1.1031502241550335
+            ],
+            "finger_b": [
+              0.28264811837519166,
+              0.20359542053498866,
+              1.1031502241550335
+            ],
+            "finger_midpoint": [
+              0.28264811837519166,
+              0.20359542053498866,
+              1.1031502241550335
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1031502241550335,
+            "object_top_z": 1.2281587307753132,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28264811837519166,
+            0.20359542053498866,
+            1.1031502241550335
+          ],
+          "object_origin_world": [
+            0.28264811837519166,
+            0.20359542053498866,
+            1.1031502241550335
+          ],
+          "frame_world": [
+            0.2826480816667252,
+            0.20359543641525674,
+            1.1031500940613568
+          ],
+          "center_minus_frame": [
+            3.670846643322179e-08,
+            -1.5880268072754333e-08,
+            1.3009367672012218e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437738584001088,
+            "required_z": 0.911259963574192,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000913878145033193,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.671128193178411e-08,
+            "max_target_xy_drift": 2.1799721164188695e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.0763262125978437,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.07632621334736,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26979059832546054,
+              -0.35090994961817945,
+              0.9234634016904334
+            ],
+            "target_mouth_xy": [
+              0.27069710109406175,
+              -0.3506657062843993
+            ],
+            "rod_tip_z": 0.9234634016904334,
+            "rod_tip_depth": -0.02220350658784287,
+            "rod_tip_bottom_clearance": 0.12164407962114898,
+            "rod_tip_xy_dist": 0.0009388301633297188,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04484897403990096,
+            "min_rod_tip_bottom_clearance": 0.054591610653184075,
+            "min_rod_tip_xy_dist": 0.0004813857015247837,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2706971604648831,
+              -0.3506657367064424
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.9370821370308136e-08,
+              3.042204310688135e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.00031151715380883793,
+                0.001466879554330558
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00042582116779671386,
+                0.001078120273984351
+              ],
+              "first_target_mouth_xy": [
+                0.27069704307631803,
+                -0.35066564412354473
+              ],
+              "last_target_mouth_xy": [
+                0.2706970118171873,
+                -0.3506657345001797
+              ],
+              "first_rod_tip_xy": [
+                0.2703855259225092,
+                -0.34919876456921417
+              ],
+              "last_rod_tip_xy": [
+                0.2702711906493906,
+                -0.34958761422619533
+              ],
+              "min_rod_tip_xy_dist": 0.0011564657741218076,
+              "max_rod_tip_xy_dist": 0.0014995927994059506,
+              "first_target_xy_drift": 1.4950474292538106e-07,
+              "last_target_xy_drift": 1.4866406784266246e-07,
+              "max_depth": 0.019572360990314563,
+              "min_bottom_clearance": 0.07986823278444455
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00031151715380883793,
+                  0.001466879554330558
+                ],
+                "rod_tip_xy": [
+                  0.2703855259225092,
+                  -0.34919876456921417
+                ],
+                "target_mouth_xy": [
+                  0.27069704307631803,
+                  -0.35066564412354473
+                ],
+                "gripper_position": [
+                  0.27037427397428176,
+                  -0.3492062171687762,
+                  1.005946383704996
+                ],
+                "rod_tip_xy_dist": 0.0014995927994059506,
+                "target_xy_drift": 1.4950474292538106e-07,
+                "depth": 0.015173408280711564,
+                "bottom_clearance": 0.08426727561908609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00032273678560268415,
+                  0.0014594583877773903
+                ],
+                "rod_tip_xy": [
+                  0.27037427397428176,
+                  -0.3492062171687762
+                ],
+                "target_mouth_xy": [
+                  0.27069701075988445,
+                  -0.3506656755565536
+                ],
+                "gripper_position": [
+                  0.2703766897390255,
+                  -0.3492716443702757,
+                  1.0054274141282231
+                ],
+                "rod_tip_xy_dist": 0.0014947166348291345,
+                "target_xy_drift": 1.6171238521214978e-07,
+                "depth": 0.015313440318063143,
+                "bottom_clearance": 0.08412708964283999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0003203229459932677,
+                  0.0013939981743625873
+                ],
+                "rod_tip_xy": [
+                  0.2703766897390255,
+                  -0.3492716443702757
+                ],
+                "target_mouth_xy": [
+                  0.2706970126850188,
+                  -0.3506656425446383
+                ],
+                "gripper_position": [
+                  0.27036540066683346,
+                  -0.3492788503302861,
+                  1.0052877812292378
+                ],
+                "rod_tip_xy_dist": 0.0014303278295048419,
+                "target_xy_drift": 1.7522937443065134e-07,
+                "depth": 0.015832541829213453,
+                "bottom_clearance": 0.0836081787601558,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003316102856537051,
+                  0.00138682459103584
+                ],
+                "rod_tip_xy": [
+                  0.2703654006668335,
+                  -0.34927885033028616
+                ],
+                "target_mouth_xy": [
+                  0.2706970109524872,
+                  -0.350665674921322
+                ],
+                "gripper_position": [
+                  0.2703570335287324,
+                  -0.349279672088825,
+                  1.0051654012245985
+                ],
+                "rod_tip_xy_dist": 0.0014259199934964994,
+                "target_xy_drift": 1.6177563980455887e-07,
+                "depth": 0.015972055726204526,
+                "bottom_clearance": 0.0834685049549112,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00033997844454392023,
+                  0.0013859723793637757
+                ],
+                "rod_tip_xy": [
+                  0.2703570335287324,
+                  -0.34927967208882493
+                ],
+                "target_mouth_xy": [
+                  0.27069701197327634,
+                  -0.3506656444681887
+                ],
+                "gripper_position": [
+                  0.27036053951286465,
+                  -0.3493458703510076,
+                  1.0046464885825743
+                ],
+                "rod_tip_xy_dist": 0.001427061589110221,
+                "target_xy_drift": 1.7480747333147994e-07,
+                "depth": 0.016094514617901345,
+                "bottom_clearance": 0.083346108144705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00033644270491312023,
+                  0.0013198340435103817
+                ],
+                "rod_tip_xy": [
+                  0.2703605395128647,
+                  -0.3493458703510076
+                ],
+                "target_mouth_xy": [
+                  0.2706969822177778,
+                  -0.350665704394518
+                ],
+                "gripper_position": [
+                  0.27034904097580753,
+                  -0.3493529937094381,
+                  1.0045071743584655
+                ],
+                "rod_tip_xy_dist": 0.0013620409671145069,
+                "target_xy_drift": 1.8115212117568355e-07,
+                "depth": 0.01661336216277831,
+                "bottom_clearance": 0.08282725040655914,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00034800131155132696,
+                  0.0013126206358897718
+                ],
+                "rod_tip_xy": [
+                  0.27034904097580753,
+                  -0.34935299370943806
+                ],
+                "target_mouth_xy": [
+                  0.27069704228735886,
+                  -0.35066561434532784
+                ],
+                "gripper_position": [
+                  0.27034058019506013,
+                  -0.3493538688740843,
+                  1.0043847321454167
+                ],
+                "rod_tip_xy_dist": 0.0013579682789392072,
+                "target_xy_drift": 1.701122264904429e-07,
+                "depth": 0.016752751048479952,
+                "bottom_clearance": 0.0826879026281766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00035642994734519373,
+                  0.0013118368266540337
+                ],
+                "rod_tip_xy": [
+                  0.2703405801950602,
+                  -0.34935386887408426
+                ],
+                "target_mouth_xy": [
+                  0.2706970101424054,
+                  -0.3506657057007383
+                ],
+                "gripper_position": [
+                  0.27034487098823595,
+                  -0.3494212429649797,
+                  1.0038678995245807
+                ],
+                "rod_tip_xy_dist": 0.001359396250962251,
+                "target_xy_drift": 1.5348681051660778e-07,
+                "depth": 0.016875081156394356,
+                "bottom_clearance": 0.08256541317908084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00035214028722208024,
+                  0.001244400254594935
+                ],
+                "rod_tip_xy": [
+                  0.270344870988236,
+                  -0.3494212429649797
+                ],
+                "target_mouth_xy": [
+                  0.2706970112754581,
+                  -0.3506656432195746
+                ],
+                "gripper_position": [
+                  0.27033349631155856,
+                  -0.3494277977724676,
+                  1.00372790987084
+                ],
+                "rod_tip_xy_dist": 0.0012932651605609689,
+                "target_xy_drift": 1.760604413096169e-07,
+                "depth": 0.017392033859633504,
+                "bottom_clearance": 0.08204860929275826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00036348680023501334,
+                  0.0012378761533009541
+                ],
+                "rod_tip_xy": [
+                  0.27033349631155856,
+                  -0.3494277977724676
+                ],
+                "target_mouth_xy": [
+                  0.2706969831117936,
+                  -0.35066567392576853
+                ],
+                "gripper_position": [
+                  0.27032492866822255,
+                  -0.34942862097093785,
+                  1.0036057843029311
+                ],
+                "rod_tip_xy_dist": 0.0012901395369711974,
+                "target_xy_drift": 1.8813700163753337e-07,
+                "depth": 0.017531959514786033,
+                "bottom_clearance": 0.08190871101003938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00037211248766333416,
+                  0.0012369921330876998
+                ],
+                "rod_tip_xy": [
+                  0.2703249286682226,
+                  -0.34942862097093785
+                ],
+                "target_mouth_xy": [
+                  0.27069704115588594,
+                  -0.35066561310402555
+                ],
+                "gripper_position": [
+                  0.2703163864290681,
+                  -0.34942932032250734,
+                  1.0034837308627857
+                ],
+                "rod_tip_xy_dist": 0.001291749681941456,
+                "target_xy_drift": 1.7179113557300674e-07,
+                "depth": 0.017654155336750743,
+                "bottom_clearance": 0.08178650234100371,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003806252809904209,
+                  0.0012363840876614685
+                ],
+                "rod_tip_xy": [
+                  0.2703163864290681,
+                  -0.3494293203225074
+                ],
+                "target_mouth_xy": [
+                  0.2706970117100585,
+                  -0.35066570441016887
+                ],
+                "gripper_position": [
+                  0.2703219311668958,
+                  -0.3494991655055934,
+                  1.0029680013565725
+                ],
+                "rod_tip_xy_dist": 0.0012936464805933337,
+                "target_xy_drift": 1.522203900074555e-07,
+                "depth": 0.017776117327448326,
+                "bottom_clearance": 0.08166448313757202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00037508217557363777,
+                  0.0011665074822138077
+                ],
+                "rod_tip_xy": [
+                  0.27032193116689585,
+                  -0.34949916550559346
+                ],
+                "target_mouth_xy": [
+                  0.2706970133424695,
+                  -0.35066567298780726
+                ],
+                "gripper_position": [
+                  0.27031031544302625,
+                  -0.349505927873422,
+                  1.0028284376916883
+                ],
+                "rod_tip_xy_dist": 0.0012253270357312166,
+                "target_xy_drift": 1.6032800460407763e-07,
+                "depth": 0.018291947790762042,
+                "bottom_clearance": 0.08114877345935134,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00038669534090579605,
+                  0.0011597778272769976
+                ],
+                "rod_tip_xy": [
+                  0.27031031544302625,
+                  -0.34950592787342194
+                ],
+                "target_mouth_xy": [
+                  0.27069701078393205,
+                  -0.35066570570069894
+                ],
+                "gripper_position": [
+                  0.270301687333133,
+                  -0.3495064353529418,
+                  1.0027058993477085
+                ],
+                "rod_tip_xy_dist": 0.0012225456618554593,
+                "target_xy_drift": 1.5285857268715181e-07,
+                "depth": 0.018431380307830314,
+                "bottom_clearance": 0.08100913786842645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0003953244796594535,
+                  0.0011592662014635602
+                ],
+                "rod_tip_xy": [
+                  0.27030168733313303,
+                  -0.3495064353529418
+                ],
+                "target_mouth_xy": [
+                  0.2706970118127925,
+                  -0.35066570155440535
+                ],
+                "gripper_position": [
+                  0.2702929134423123,
+                  -0.3495071311928559,
+                  1.0025837891997398
+                ],
+                "rod_tip_xy_dist": 0.001224818178373333,
+                "target_xy_drift": 1.5275179134826045e-07,
+                "depth": 0.018554061014446233,
+                "bottom_clearance": 0.08088664922976563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004040964994759255,
+                  0.0011586053001669816
+                ],
+                "rod_tip_xy": [
+                  0.2702929134423124,
+                  -0.3495071311928559
+                ],
+                "target_mouth_xy": [
+                  0.2706970099417883,
+                  -0.3506657364930229
+                ],
+                "gripper_position": [
+                  0.2702840971326435,
+                  -0.349507628889485,
+                  1.0024617120782957
+                ],
+                "rod_tip_xy_dist": 0.0012270534717214725,
+                "target_xy_drift": 1.5052324612035808e-07,
+                "depth": 0.018676038401663986,
+                "bottom_clearance": 0.0807644792075286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0004128839519818017,
+                  0.0011580428569117895
+                ],
+                "rod_tip_xy": [
+                  0.2702840971326435,
+                  -0.34950762888948494
+                ],
+                "target_mouth_xy": [
+                  0.2706969810846253,
+                  -0.35066567174639673
+                ],
+                "gripper_position": [
+                  0.27029183295120024,
+                  -0.3495803651075817,
+                  1.001948942677891
+                ],
+                "rod_tip_xy_dist": 0.0012294455727068728,
+                "target_xy_drift": 1.9078019925488264e-07,
+                "depth": 0.018798182001304897,
+                "bottom_clearance": 0.08064249404424972,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00040517945506196584,
+                  0.0010853687531615641
+                ],
+                "rod_tip_xy": [
+                  0.27029183295120024,
+                  -0.3495803651075817
+                ],
+                "target_mouth_xy": [
+                  0.2706970124062622,
+                  -0.3506657338607433
+                ],
+                "gripper_position": [
+                  0.2702800901094521,
+                  -0.3495870476953181,
+                  1.0018097798775873
+                ],
+                "rod_tip_xy_dist": 0.0011585317091663049,
+                "target_xy_drift": 1.4808596568188188e-07,
+                "depth": 0.019310976598298946,
+                "bottom_clearance": 0.08012966279314393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004169524046357398,
+                  0.0010786861355295274
+                ],
+                "rod_tip_xy": [
+                  0.27028009010945214,
+                  -0.3495870476953181
+                ],
+                "target_mouth_xy": [
+                  0.2706970425140879,
+                  -0.35066573383084765
+                ],
+                "gripper_position": [
+                  0.27027119064939054,
+                  -0.3495876142261954,
+                  1.0016875423707379
+                ],
+                "rod_tip_xy_dist": 0.0011564657741218076,
+                "target_xy_drift": 1.1798584297898269e-07,
+                "depth": 0.019450142179493812,
+                "bottom_clearance": 0.07999050967727472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00042582116779671386,
+                  0.001078120273984351
+                ],
+                "rod_tip_xy": [
+                  0.2702711906493906,
+                  -0.34958761422619533
+                ],
+                "target_mouth_xy": [
+                  0.2706970118171873,
+                  -0.3506657345001797
+                ],
+                "gripper_position": [
+                  0.27026237336507625,
+                  -0.3495881772101195,
+                  1.0015657202260013
+                ],
+                "rod_tip_xy_dist": 0.0011591665075043572,
+                "target_xy_drift": 1.4866406784266246e-07,
+                "depth": 0.019572360990314563,
+                "bottom_clearance": 0.07986823278444455,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006015914984653431,
+              "rod_tip_xy_max_step": 3.2467846169582725e-05,
+              "rod_tip_xy_range": 0.000601582941100313,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26979059832546054,
+            -0.35090994961817945,
+            1.0434634016904336
+          ],
+          "object_origin_world": [
+            0.26979059832546054,
+            -0.35090994961817945,
+            1.0434634016904336
+          ],
+          "frame_world": [
+            0.26981579063631944,
+            -0.35090750194408604,
+            1.0437738584001088
+          ],
+          "center_minus_frame": [
+            -2.519231085890139e-05,
+            -2.447674093408736e-06,
+            -0.000310456709675222
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2664096309080629,
+              0.15985554003368796,
+              0.8311606268558253
+            ],
+            "target_position": [
+              0.2828038850978063,
+              0.20535932041351446,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04836698873501845,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16424014417667046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8311606268558253,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672694162104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1346267277359006,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21527144158558528,
+              0.0246659367690905,
+              1.043714205876406
+            ],
+            "current_z": 1.043714205876406,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.1871278772817747,
+            "gripper_z": 1.0481785442289184,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21059810317171823,
+              0.020165025352345836,
+              1.0481785442289184
+            ],
+            "object_minus_gripper": [
+              0.004673338413867051,
+              0.004500911416744663,
+              -0.004464338352512476
+            ],
+            "object_to_gripper_xy": 0.0064883199298360625,
+            "object_to_gripper_z": -0.004464338352512476,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21527144158558528,
+              0.00030530418027777155,
+              1.043714205876406
+            ],
+            "finger_b": [
+              0.20428846969565134,
+              0.0246659367690905,
+              1.043714205876406
+            ],
+            "finger_midpoint": [
+              0.2097799556406183,
+              0.012485620474684135,
+              1.043714205876406
+            ],
+            "object_minus_finger_midpoint": [
+              0.005491485944966984,
+              0.012180316294406364,
+              0.0
+            ],
+            "finger_gap": 0.026722015112304008,
+            "fingertip_max_gap": 0.09121352494787732,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01336100755615201,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.043714205876406,
+            "object_top_z": 1.0893554438059274,
+            "finger_top_clearance": 0.04564123792952146,
+            "fingertip_min_top_clearance": 0.013692371378856405,
+            "object_projection_between_fingers": 0.8310721193128124,
+            "object_to_finger_line_xy": 0.010012423906636668,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810676247393866,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3979129066887013,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2148997421506648,
+              0.02357629506666739,
+              1.241863191390566
+            ],
+            "held_position": [
+              0.21985240622161525,
+              0.027738349392543736,
+              1.2373639161569912
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007880041575949308,
+            "max_held_gripper_dist": 0.007881838641466795,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004499275233574851,
+            "max_held_gripper_z_dist": 0.0044994036847829655,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582359590049338,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21985240622161525,
+              0.0023045722384325475,
+              1.2373639161569912
+            ],
+            "held_grasp_finger_b": [
+              0.21070098307354806,
+              0.027738349392543736,
+              1.2373639161569912
+            ],
+            "held_grasp_midpoint": [
+              0.21527669464758165,
+              0.015021460815488143,
+              1.2373639161569912
+            ],
+            "held_grasp_object_position": [
+              0.21985240622161525,
+              0.027738349392543736,
+              1.2373639161569912
+            ],
+            "held_grasp_finger_gap": 0.027030086310627425,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024757320143014898,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06756697803032528,
+              -0.9977147317147415,
+              0.00013266209377948976
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003706013548093125,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220323088751166,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17708971165058343,
+              0.024032092836557557,
+              0.7565884624388307
+            ],
+            "target_position": [
+              0.19057474152825826,
+              0.02118682200821204,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013781930085746947,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2059524625206304,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565884624388307,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574590549928797,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08957588704575394,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1779726332313268,
+            "release_required_pad_clearance": 0.05478794352287697,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.619390115335914,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "45068956fd7c63d73cbdeab4cccf4da7831af931a490aba920aca9f65f1a1868",
+    "visual_seed": 1960516028829083906,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84d996da61f560daa3dd5c1e9ed7ef3454580f8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_46_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21231516203769288,
+              -0.13752630224233287,
+              1.163989349177812
+            ],
+            "current_z": 1.163989349177812,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.302882900767691,
+            "gripper_z": 1.1575063264625294,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2078920361071846,
+              -0.14194075081550675,
+              1.1575063264625294
+            ],
+            "object_minus_gripper": [
+              0.0044231259305082815,
+              0.004414448573173885,
+              0.00648302271528256
+            ],
+            "object_to_gripper_xy": 0.006249111873084983,
+            "object_to_gripper_z": 0.00648302271528256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21231516203769288,
+              -0.16122635789990178,
+              1.163989349177812
+            ],
+            "finger_b": [
+              0.2021444198780918,
+              -0.13752630224233287,
+              1.163989349177812
+            ],
+            "finger_midpoint": [
+              0.20722979095789235,
+              -0.14937633007111734,
+              1.163989349177812
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050853710798005325,
+              0.01185002782878447,
+              0.0
+            ],
+            "finger_gap": 0.02579024300484489,
+            "fingertip_max_gap": 0.09266085033790153,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012895121502422459,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163989349177812,
+            "object_top_z": 1.2141149266337679,
+            "finger_top_clearance": 0.050125577455955916,
+            "fingertip_min_top_clearance": 0.015037673236786741,
+            "object_projection_between_fingers": 0.8444770732048282,
+            "object_to_finger_line_xy": 0.00934644761648989,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883042516895077,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9604015826273264,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 328,
+            "max_stable_success_frames": 328,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26793251036362675,
+              -0.3552378336871932,
+              0.8515395837332561
+            ],
+            "target_position": [
+              0.26121195766451033,
+              -0.3551107356243328,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006721754421219499,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832941493135549,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395837332561,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528439194177597,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708623009791154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15177803488978678,
+            "release_required_pad_clearance": 0.05354311504895577,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0977037985739764,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007315456867218018,
+            "max_z_decrease": 0.007315456867218018,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510301076400845,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007315456867218018,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107780756317834,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007315456867218018,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007315477812138214,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11691188067197796,
+              -0.41137218475341786,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11691188067197796,
+              -0.41137218475341786,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11593441744641061,
+              -0.410337707333888,
+              0.8077818190749658
+            ],
+            "closest_button": [
+              0.11690229177474971,
+              -0.4113659858703612,
+              0.7727072238922119
+            ],
+            "closest_ee_minus_button": [
+              -0.0009678743283390995,
+              0.0010282785364731928,
+              0.03507459518275391
+            ],
+            "button_min_z_position": [
+              0.11689474433660504,
+              -0.41136860847473133,
+              0.7694934010505676
+            ],
+            "min_active_finger_to_button": 0.14662452758050185,
+            "closest_active_finger": [
+              -0.010359443724155426,
+              -0.4754732549190521,
+              0.8109467029571533
+            ],
+            "closest_active_finger_button": [
+              0.1169132739305496,
+              -0.41137224435806263,
+              0.7764290571212769
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12727271765470502,
+              -0.06410101056098949,
+              0.034517645835876465
+            ],
+            "min_contact_pad_to_button": 0.02107780756317834,
+            "closest_contact_pad": [
+              0.11689474433660504,
+              -0.41136860847473133,
+              0.790571208613746
+            ],
+            "closest_contact_pad_button": [
+              0.11689474433660504,
+              -0.41136860847473133,
+              0.7694934010505676
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107780756317834
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2815651352245213,
+              0.20604656071361013,
+              1.10128108868973
+            ],
+            "current_z": 1.10128108868973,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1913719589553674,
+            "gripper_z": 1.1012810886897302,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2815651352245213,
+              0.2060465607136101,
+              1.1012810886897302
+            ],
+            "object_minus_gripper": [
+              0.0,
+              2.7755575615628914e-17,
+              -2.220446049250313e-16
+            ],
+            "object_to_gripper_xy": 2.7755575615628914e-17,
+            "object_to_gripper_z": -2.220446049250313e-16,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2815651352245213,
+              0.20604656071361013,
+              1.10128108868973
+            ],
+            "finger_b": [
+              0.2815651352245213,
+              0.20604656071361013,
+              1.10128108868973
+            ],
+            "finger_midpoint": [
+              0.2815651352245213,
+              0.20604656071361013,
+              1.10128108868973
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10128108868973,
+            "object_top_z": 1.2262895953100097,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28156513522452137,
+            0.20604656071361013,
+            1.10128108868973
+          ],
+          "object_origin_world": [
+            0.28156513522452137,
+            0.20604656071361013,
+            1.10128108868973
+          ],
+          "frame_world": [
+            0.2815651352245213,
+            0.2060465607136101,
+            1.1012810886897302
+          ],
+          "center_minus_frame": [
+            5.551115123125783e-17,
+            2.7755575615628914e-17,
+            -2.220446049250313e-16
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432275578227919,
+            "required_z": 0.9112598735098876,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007400734660900577,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.2838728070113863e-09,
+            "max_target_xy_drift": 1.5676306730862476e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.097330630799596,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.0977037989559517,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2686206493785055,
+              -0.35550879587898515,
+              0.9233387143190753
+            ],
+            "target_mouth_xy": [
+              0.2679325148983041,
+              -0.35523796024777676
+            ],
+            "rod_tip_z": 0.9233387143190753,
+            "rod_tip_depth": -0.02207881681641688,
+            "rod_tip_bottom_clearance": 0.12151944208936738,
+            "rod_tip_xy_dist": 0.0007395140309514602,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044524515095163086,
+            "min_rod_tip_bottom_clearance": 0.054916005987955985,
+            "min_rod_tip_xy_dist": 0.000286126265126195,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.26793251430138154,
+              -0.3552379580432908
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.969225669311129e-10,
+              -2.204485982648663e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0012310868638118477,
+                0.0013956654802176893
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0011330843725455009,
+                0.0010076609719055774
+              ],
+              "first_target_mouth_xy": [
+                0.26793254759176527,
+                -0.35523798745906476
+              ],
+              "last_target_mouth_xy": [
+                0.2679325502909874,
+                -0.35523795569714656
+              ],
+              "first_rod_tip_xy": [
+                0.2691636344555771,
+                -0.3538423219788471
+              ],
+              "last_rod_tip_xy": [
+                0.2690656346635329,
+                -0.354230294725241
+              ],
+              "min_rod_tip_xy_dist": 0.0015163313719660767,
+              "max_rod_tip_xy_dist": 0.0018610365388463937,
+              "first_target_xy_drift": 4.442451359056078e-08,
+              "last_target_xy_drift": 3.6065996756372283e-08,
+              "max_depth": 0.01984357282221505,
+              "min_bottom_clearance": 0.07959714387795946
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012310868638118477,
+                  0.0013956654802176893
+                ],
+                "rod_tip_xy": [
+                  0.2691636344555771,
+                  -0.3538423219788471
+                ],
+                "target_mouth_xy": [
+                  0.26793254759176527,
+                  -0.35523798745906476
+                ],
+                "gripper_position": [
+                  0.269152514586361,
+                  -0.353849610365203,
+                  1.0056801522677392
+                ],
+                "rod_tip_xy_dist": 0.0018610365388463937,
+                "target_xy_drift": 4.442451359056078e-08,
+                "depth": 0.015438934829679618,
+                "bottom_clearance": 0.08400160913212507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001219967939088018,
+                  0.0013883758280949787
+                ],
+                "rod_tip_xy": [
+                  0.26915251458636097,
+                  -0.35384961036520307
+                ],
+                "target_mouth_xy": [
+                  0.26793254664727295,
+                  -0.35523798619329805
+                ],
+                "gripper_position": [
+                  0.26915757458962863,
+                  -0.3539147869807432,
+                  1.0051604385116144
+                ],
+                "rod_tip_xy_dist": 0.0018482178476686897,
+                "target_xy_drift": 4.287982742937497e-08,
+                "depth": 0.015579627267802043,
+                "bottom_clearance": 0.08386092829260405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001225027021148406,
+                  0.001323199205226444
+                ],
+                "rod_tip_xy": [
+                  0.2691575745896286,
+                  -0.35391478698074325
+                ],
+                "target_mouth_xy": [
+                  0.2679325475684802,
+                  -0.3552379861859697
+                ],
+                "gripper_position": [
+                  0.2691464318304138,
+                  -0.3539217443877305,
+                  1.005020306228827
+                ],
+                "rod_tip_xy_dist": 0.0018032047413579053,
+                "target_xy_drift": 4.357419221916882e-08,
+                "depth": 0.016099467106085785,
+                "bottom_clearance": 0.08334112294882601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00121391327842163,
+                  0.0013162433758585057
+                ],
+                "rod_tip_xy": [
+                  0.2691464318304138,
+                  -0.35392174438773044
+                ],
+                "target_mouth_xy": [
+                  0.2679325185519922,
+                  -0.35523798776358895
+                ],
+                "gripper_position": [
+                  0.2691381969597173,
+                  -0.3539227322585682,
+                  1.0048971665299953
+                ],
+                "rod_tip_xy_dist": 0.0017905535658057665,
+                "target_xy_drift": 3.002272162805447e-08,
+                "depth": 0.01623952891600544,
+                "bottom_clearance": 0.08320105579615433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012056858442600071,
+                  0.001315161015628008
+                ],
+                "rod_tip_xy": [
+                  0.2691381969597173,
+                  -0.35392273225856824
+                ],
+                "target_mouth_xy": [
+                  0.2679325111154573,
+                  -0.35523789327419625
+                ],
+                "gripper_position": [
+                  0.26914439449392547,
+                  -0.35398858573774256,
+                  1.004378421273562
+                ],
+                "rod_tip_xy_dist": 0.001784188009172985,
+                "target_xy_drift": 6.484740333904359e-08,
+                "depth": 0.01636260690611413,
+                "bottom_clearance": 0.08307790865212039,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012118457893272594,
+                  0.0012494017024322068
+                ],
+                "rod_tip_xy": [
+                  0.2691443944939254,
+                  -0.35398858573774256
+                ],
+                "target_mouth_xy": [
+                  0.26793254870459815,
+                  -0.35523798744017476
+                ],
+                "gripper_position": [
+                  0.26913306315959096,
+                  -0.3539954835813508,
+                  1.0042379882524737
+                ],
+                "rod_tip_xy_dist": 0.001740567387707441,
+                "target_xy_drift": 4.5252161284560536e-08,
+                "depth": 0.01688147081553182,
+                "bottom_clearance": 0.08255911672991156,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012005158048338793,
+                  0.0012425035745189938
+                ],
+                "rod_tip_xy": [
+                  0.2691330631595909,
+                  -0.35399548358135086
+                ],
+                "target_mouth_xy": [
+                  0.267932547354757,
+                  -0.35523798715586985
+                ],
+                "gripper_position": [
+                  0.26912479904323616,
+                  -0.3539965013086716,
+                  1.0041150198252315
+                ],
+                "rod_tip_xy_dist": 0.0017277306880264683,
+                "target_xy_drift": 4.4046201774757026e-08,
+                "depth": 0.017021778996782255,
+                "bottom_clearance": 0.08241876712763385,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011922504571271753,
+                  0.0012414861344048345
+                ],
+                "rod_tip_xy": [
+                  0.2691247990432361,
+                  -0.3539965013086717
+                ],
+                "target_mouth_xy": [
+                  0.26793254858610893,
+                  -0.35523798744307655
+                ],
+                "gripper_position": [
+                  0.26913165902927916,
+                  -0.3540632742170457,
+                  1.0035985215962893
+                ],
+                "rod_tip_xy_dist": 0.0017212637724763212,
+                "target_xy_drift": 4.516403365186682e-08,
+                "depth": 0.017144871294203168,
+                "bottom_clearance": 0.0822957116414994,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001199146773500026,
+                  0.0011746183971454438
+                ],
+                "rod_tip_xy": [
+                  0.26913165902927916,
+                  -0.3540632742170457
+                ],
+                "target_mouth_xy": [
+                  0.26793251225577913,
+                  -0.35523789261419114
+                ],
+                "gripper_position": [
+                  0.2691203221039673,
+                  -0.35407029871094353,
+                  1.0034585752288965
+                ],
+                "rod_tip_xy_dist": 0.0016785950563813937,
+                "target_xy_drift": 6.54610691074494e-08,
+                "depth": 0.01766125123716822,
+                "bottom_clearance": 0.08177928933644141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011877757453890858,
+                  0.001167688764198982
+                ],
+                "rod_tip_xy": [
+                  0.2691203221039673,
+                  -0.3540702987109435
+                ],
+                "target_mouth_xy": [
+                  0.2679325463585782,
+                  -0.35523798747514246
+                ],
+                "gripper_position": [
+                  0.2691118335611463,
+                  -0.3540709541095754,
+                  1.0033356667727928
+                ],
+                "rod_tip_xy_dist": 0.0016656254895297273,
+                "target_xy_drift": 4.351893555518285e-08,
+                "depth": 0.017801238545840925,
+                "bottom_clearance": 0.08163925872615929,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011792870495902497,
+                  0.0011670330451220012
+                ],
+                "rod_tip_xy": [
+                  0.2691118335611463,
+                  -0.3540709541095754
+                ],
+                "target_mouth_xy": [
+                  0.26793254651155607,
+                  -0.3552379871546974
+                ],
+                "gripper_position": [
+                  0.2691032016241011,
+                  -0.3540720758216862,
+                  1.0032126739751277
+                ],
+                "rod_tip_xy_dist": 0.001659121476486278,
+                "target_xy_drift": 4.341623358162826e-08,
+                "depth": 0.017924153933628784,
+                "bottom_clearance": 0.08151636091055359,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011706558814609802,
+                  0.001165912310393813
+                ],
+                "rod_tip_xy": [
+                  0.2691032016241011,
+                  -0.35407207582168626
+                ],
+                "target_mouth_xy": [
+                  0.26793254574264014,
+                  -0.3552379881320801
+                ],
+                "gripper_position": [
+                  0.26911183557757234,
+                  -0.3541408186113743,
+                  1.0026980842685842
+                ],
+                "rod_tip_xy_dist": 0.001652206617928588,
+                "target_xy_drift": 4.3518823321499045e-08,
+                "depth": 0.018047156082361404,
+                "bottom_clearance": 0.08139335934450176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001179287512824867,
+                  0.0010971669193785005
+                ],
+                "rod_tip_xy": [
+                  0.2691118355775723,
+                  -0.3541408186113743
+                ],
+                "target_mouth_xy": [
+                  0.2679325480647474,
+                  -0.3552379855307528
+                ],
+                "gripper_position": [
+                  0.2691004536031103,
+                  -0.3541474942263944,
+                  1.0025583798452065
+                ],
+                "rod_tip_xy_dist": 0.0016107433957285593,
+                "target_xy_drift": 4.3537632507855694e-08,
+                "depth": 0.01856183686890589,
+                "bottom_clearance": 0.08087879594032954,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011679095879215118,
+                  0.0010904631846226365
+                ],
+                "rod_tip_xy": [
+                  0.2691004536031103,
+                  -0.3541474942263944
+                ],
+                "target_mouth_xy": [
+                  0.2679325440151888,
+                  -0.35523795741101705
+                ],
+                "gripper_position": [
+                  0.2690917646017991,
+                  -0.35414841916071277,
+                  1.0024356594306045
+                ],
+                "rod_tip_xy_dist": 0.001597849417991676,
+                "target_xy_drift": 2.972053349533224e-08,
+                "depth": 0.01870143801918822,
+                "bottom_clearance": 0.08073913409203282,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001159215773960054,
+                  0.001089566373070061
+                ],
+                "rod_tip_xy": [
+                  0.2690917646017991,
+                  -0.3541484191607129
+                ],
+                "target_mouth_xy": [
+                  0.26793254882783907,
+                  -0.35523798553378294
+                ],
+                "gripper_position": [
+                  0.26908321113459255,
+                  -0.3541491592948572,
+                  1.0023128218313417
+                ],
+                "rod_tip_xy_dist": 0.0015908916028198948,
+                "target_xy_drift": 4.413392604947773e-08,
+                "depth": 0.018824267237784853,
+                "bottom_clearance": 0.08061639381333141,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011507001307040077,
+                  0.0010887323914346436
+                ],
+                "rod_tip_xy": [
+                  0.26908321113459255,
+                  -0.3541491592948573
+                ],
+                "target_mouth_xy": [
+                  0.26793251100388854,
+                  -0.35523789168629194
+                ],
+                "gripper_position": [
+                  0.26907454374418394,
+                  -0.3541500385084037,
+                  1.0021902077834277
+                ],
+                "rod_tip_xy_dist": 0.0015841240516327054,
+                "target_xy_drift": 6.643887984580062e-08,
+                "depth": 0.01894698165025288,
+                "bottom_clearance": 0.08049359279642465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011419961461692218,
+                  0.0010879172516732316
+                ],
+                "rod_tip_xy": [
+                  0.2690745437441839,
+                  -0.3541500385084038
+                ],
+                "target_mouth_xy": [
+                  0.26793254759801466,
+                  -0.35523795576007705
+                ],
+                "gripper_position": [
+                  0.2690659930622135,
+                  -0.3541505104423178,
+                  1.0020672419446905
+                ],
+                "rod_tip_xy_dist": 0.0015772505014592932,
+                "target_xy_drift": 3.337482347346181e-08,
+                "depth": 0.019069709364121,
+                "bottom_clearance": 0.08037090492971921,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0011334753753919902,
+                  0.001087475749450395
+                ],
+                "rod_tip_xy": [
+                  0.2690659930622135,
+                  -0.3541505104423179
+                ],
+                "target_mouth_xy": [
+                  0.2679325176868215,
+                  -0.3552379861917683
+                ],
+                "gripper_position": [
+                  0.26907728570580713,
+                  -0.3542231797026426,
+                  1.0015562849244959
+                ],
+                "rod_tip_xy_dist": 0.0015707864056779684,
+                "target_xy_drift": 2.8351331345759256e-08,
+                "depth": 0.019192603382616746,
+                "bottom_clearance": 0.08024798350960516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001144772966179819,
+                  0.001014807836573095
+                ],
+                "rod_tip_xy": [
+                  0.2690772857058071,
+                  -0.35422317970264255
+                ],
+                "target_mouth_xy": [
+                  0.26793251273962726,
+                  -0.35523798753921565
+                ],
+                "gripper_position": [
+                  0.2690656346635329,
+                  -0.3542302947252409,
+                  1.0014163055789074
+                ],
+                "rod_tip_xy_dist": 0.0015298170116933288,
+                "target_xy_drift": 2.953724192145804e-08,
+                "depth": 0.01970357337028006,
+                "bottom_clearance": 0.07973704616093802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0011330843725455009,
+                  0.0010076609719055774
+                ],
+                "rod_tip_xy": [
+                  0.2690656346635329,
+                  -0.354230294725241
+                ],
+                "target_mouth_xy": [
+                  0.2679325502909874,
+                  -0.35523795569714656
+                ],
+                "gripper_position": [
+                  0.26907694789060776,
+                  -0.354297634325273,
+                  1.0008208532213525
+                ],
+                "rod_tip_xy_dist": 0.0015163313719660767,
+                "target_xy_drift": 3.6065996756372283e-08,
+                "depth": 0.01984357282221505,
+                "bottom_clearance": 0.07959714387795946,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005964013910774082,
+              "rod_tip_xy_max_step": 3.232054720926621e-05,
+              "rod_tip_xy_range": 0.0005963919663043141,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26862064937850555,
+            -0.35550879587898515,
+            1.0433387143190753
+          ],
+          "object_origin_world": [
+            0.26862064937850555,
+            -0.35550879587898515,
+            1.0433387143190753
+          ],
+          "frame_world": [
+            0.26861909863240885,
+            -0.35551420563013336,
+            1.0432275578227919
+          ],
+          "center_minus_frame": [
+            1.5507460967012499e-06,
+            5.409751148210962e-06,
+            0.00011115649628345992
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2685746537860998,
+              0.15841686760377485,
+              0.8323161097593101
+            ],
+            "target_position": [
+              0.28210299958448315,
+              0.20473354518491854,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04825195086414906,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16985555145162545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323161097593101,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672168096915,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1393493609234145,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 301,
+            "max_placed_release_frames": 301
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2161642444580607,
+              0.02195620324563106,
+              1.0456785359294452
+            ],
+            "current_z": 1.0456785359294452,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18909214773016914,
+            "gripper_z": 1.0503837977173855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2113649800085013,
+              0.017295347744992084,
+              1.0503837977173855
+            ],
+            "object_minus_gripper": [
+              0.004799264449559415,
+              0.004660855500638977,
+              -0.004705261787940396
+            ],
+            "object_to_gripper_xy": 0.006690030885925822,
+            "object_to_gripper_z": -0.004705261787940396,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2161642444580607,
+              -0.0023255589466952293,
+              1.0456785359294452
+            ],
+            "finger_b": [
+              0.20475419742058493,
+              0.02195620324563106,
+              1.0456785359294452
+            ],
+            "finger_midpoint": [
+              0.21045922093932282,
+              0.009815322149467915,
+              1.0456785359294452
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057050235187378895,
+              0.012140881096163146,
+              0.0
+            ],
+            "finger_gap": 0.02682896100414804,
+            "fingertip_max_gap": 0.09166260074197644,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341448050207402,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456785359294452,
+            "object_top_z": 1.0914878666854773,
+            "finger_top_clearance": 0.04580933075603211,
+            "fingertip_min_top_clearance": 0.013742799226809632,
+            "object_projection_between_fingers": 0.8191297407352601,
+            "object_to_finger_line_xy": 0.010326752822235951,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04833130037098822,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.49496979315681955,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21561473434629888,
+              0.0205677554558151,
+              1.2425222027606504
+            ],
+            "held_position": [
+              0.22072416597902542,
+              0.024842004440468943,
+              1.237777512704976
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008178482727055006,
+            "max_held_gripper_dist": 0.008181319142302445,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004744690055674461,
+            "max_held_gripper_z_dist": 0.004744690055674461,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582631494565647,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22072416597902542,
+              -0.0006282011438700974,
+              1.237777512704976
+            ],
+            "held_grasp_finger_b": [
+              0.21141139776680468,
+              0.024842004440468943,
+              1.237777512704976
+            ],
+            "held_grasp_midpoint": [
+              0.21606778187291503,
+              0.012106901648299423,
+              1.237777512704976
+            ],
+            "held_grasp_object_position": [
+              0.22072416597902542,
+              0.024842004440468943,
+              1.237777512704976
+            ],
+            "held_grasp_finger_gap": 0.027119347784986363,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02468857732591149,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07601633644335903,
+              -0.9971061978065194,
+              -0.0008642277225767714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00367485227777881,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03214801378121584,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18584632041498514,
+              0.017808086639364857,
+              0.7565859115514652
+            ],
+            "target_position": [
+              0.1914820835037327,
+              0.02114204819673289,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006548062710336336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21337355711414066,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565859115514652,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07599627712180067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554883224539962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18291292538795945,
+            "release_required_pad_clearance": 0.05277441612269981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5974142460338965,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 322,
+            "max_placed_release_frames": 322
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d959b1acae5e39abc4fa5dc50b9ce3393838918c4f8963d6890c50a2e761ab2f",
+    "visual_seed": 142160069695279753,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..359c3045a1d961e42d9d599b39f4cd1610c5928a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_47_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2094012020883319,
+              -0.14137658822810023,
+              1.1660972016449116
+            ],
+            "current_z": 1.1660972016449116,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3049906936301454,
+            "gripper_z": 1.1593672819332115,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20526333800150867,
+              -0.1458243369160164,
+              1.1593672819332115
+            ],
+            "object_minus_gripper": [
+              0.004137864086823234,
+              0.00444774868791617,
+              0.006729919711700116
+            ],
+            "object_to_gripper_xy": 0.006074898154856712,
+            "object_to_gripper_z": 0.006729919711700116,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2094012020883319,
+              -0.16479487152897063,
+              1.1660972016449116
+            ],
+            "finger_b": [
+              0.19899402089656498,
+              -0.14137658822810023,
+              1.1660972016449116
+            ],
+            "finger_midpoint": [
+              0.20419761149244844,
+              -0.15308572987853541,
+              1.1660972016449116
+            ],
+            "object_minus_finger_midpoint": [
+              0.005203590595883462,
+              0.011709141650435184,
+              0.0
+            ],
+            "finger_gap": 0.025626654348901896,
+            "fingertip_max_gap": 0.09217744457574614,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012813327174450934,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1660972016449116,
+            "object_top_z": 1.2160349707139846,
+            "finger_top_clearance": 0.04993776906907299,
+            "fingertip_min_top_clearance": 0.014981330720721896,
+            "object_projection_between_fingers": 0.8350765507245705,
+            "object_to_finger_line_xy": 0.009510344744737656,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858872228787307,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9047525460126968,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26819833472514754,
+              -0.35763070512590267,
+              0.8515396066447766
+            ],
+            "target_position": [
+              0.2609723302749707,
+              -0.3581080771028547,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007241755610233936,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18505856747908012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396066447766,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581526207544287,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866853602175899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522506718725292,
+            "release_required_pad_clearance": 0.05334268010879495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7022168296548503,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074179768562316895,
+            "max_z_decrease": 0.0074179768562316895,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511136398620811,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074179768562316895,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021137589780645654,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074179768562316895,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074179943591157205,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11667225509881975,
+              -0.41436952352523804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11667225509881975,
+              -0.41436952352523804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11512944014300633,
+              -0.4150274839135506,
+              0.8069195774711997
+            ],
+            "closest_button": [
+              0.11666098237037659,
+              -0.41436418890953064,
+              0.7718479037284851
+            ],
+            "closest_ee_minus_button": [
+              -0.0015315422273702584,
+              -0.0006632950040199592,
+              0.03507167374271458
+            ],
+            "button_min_z_position": [
+              0.11665643006563187,
+              -0.4143664836883545,
+              0.769390881061554
+            ],
+            "min_active_finger_to_button": 0.14749560848283808,
+            "closest_active_finger": [
+              -0.02585981786251068,
+              -0.3986464738845825,
+              0.8108614087104797
+            ],
+            "closest_active_finger_button": [
+              0.11667347699403761,
+              -0.4143700897693634,
+              0.7763363122940063
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425332948565483,
+              0.015723615884780884,
+              0.03452509641647339
+            ],
+            "min_contact_pad_to_button": 0.021137589780645654,
+            "closest_contact_pad": [
+              0.11665643006563187,
+              -0.41617549333663806,
+              0.7904509187117404
+            ],
+            "closest_contact_pad_button": [
+              0.11665643006563187,
+              -0.4143664836883545,
+              0.769390881061554
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001809009648283566,
+              0.02106003765018649
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.293127272457731,
+              0.20454392771786908,
+              1.10853731896754
+            ],
+            "current_z": 1.10853731896754,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1986281892331775,
+            "gripper_z": 1.1085376999875807,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2931272495266831,
+              0.20454393785740443,
+              1.1085376999875807
+            ],
+            "object_minus_gripper": [
+              2.2931047893859358e-08,
+              -1.0139535350228712e-08,
+              -3.8102004062956496e-07
+            ],
+            "object_to_gripper_xy": 2.5072756821478755e-08,
+            "object_to_gripper_z": -3.8102004062956496e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.293127272457731,
+              0.20454392771786908,
+              1.10853731896754
+            ],
+            "finger_b": [
+              0.293127272457731,
+              0.20454392771786908,
+              1.10853731896754
+            ],
+            "finger_midpoint": [
+              0.293127272457731,
+              0.20454392771786908,
+              1.10853731896754
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10853731896754,
+            "object_top_z": 1.2335458255878198,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 156,
+            "max_stable_success_frames": 156,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29312727245773107,
+            0.2045439277178691,
+            1.10853731896754
+          ],
+          "object_origin_world": [
+            0.29312727245773107,
+            0.2045439277178691,
+            1.10853731896754
+          ],
+          "frame_world": [
+            0.2931272495266831,
+            0.20454393785740443,
+            1.1085376999875807
+          ],
+          "center_minus_frame": [
+            2.293104794937051e-08,
+            -1.0139535322473137e-08,
+            -3.8102004062956496e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437544211638838,
+            "required_z": 0.9112599108588277,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0005955914744683379,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.9172252324908356e-07,
+            "max_target_xy_drift": 2.182856415283442e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7022168297749845,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.702216830737773,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26800119885619894,
+              -0.35820377869539544,
+              0.9234440132336866
+            ],
+            "target_mouth_xy": [
+              0.2681983048158475,
+              -0.3576306457874504
+            ],
+            "rod_tip_z": 0.9234440132336866,
+            "rod_tip_depth": -0.022184126592109776,
+            "rod_tip_bottom_clearance": 0.12162468399817794,
+            "rod_tip_xy_dist": 0.0006060792765789833,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044755806567726264,
+            "min_rod_tip_bottom_clearance": 0.05468491414911214,
+            "min_rod_tip_xy_dist": 5.420198166440396e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2681984538961752,
+              -0.3576307663386089
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.4908032769378465e-07,
+              1.205511585000707e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00040821523795420145,
+                0.001095901707700353
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0002958786795962398,
+                0.0007206138731463696
+              ],
+              "first_target_mouth_xy": [
+                0.2681983335686603,
+                -0.3576307051329003
+              ],
+              "last_target_mouth_xy": [
+                0.26819836233148237,
+                -0.35763070483192083
+              ],
+              "first_rod_tip_xy": [
+                0.2686065488066145,
+                -0.35653480342519994
+              ],
+              "last_rod_tip_xy": [
+                0.2684942410110786,
+                -0.35691009095877446
+              ],
+              "min_rod_tip_xy_dist": 0.0007789920071545191,
+              "max_rod_tip_xy_dist": 0.00116946151430415,
+              "first_target_xy_drift": 1.3499944299108947e-07,
+              "last_target_xy_drift": 1.1030487591556723e-07,
+              "max_depth": 0.01950120503772257,
+              "min_bottom_clearance": 0.07993930491207912
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00040821523795420145,
+                  0.001095901707700353
+                ],
+                "rod_tip_xy": [
+                  0.2686065488066145,
+                  -0.35653480342519994
+                ],
+                "target_mouth_xy": [
+                  0.2681983335686603,
+                  -0.3576307051329003
+                ],
+                "gripper_position": [
+                  0.26859851802390733,
+                  -0.35653639416382843,
+                  1.0060425675005717
+                ],
+                "rod_tip_xy_dist": 0.00116946151430415,
+                "target_xy_drift": 1.3499944299108947e-07,
+                "depth": 0.01509384723890761,
+                "bottom_clearance": 0.0843466731952448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00040015233184687027,
+                  0.0010943128203968477
+                ],
+                "rod_tip_xy": [
+                  0.26859851802390733,
+                  -0.35653639416382843
+                ],
+                "target_mouth_xy": [
+                  0.26819836569206046,
+                  -0.3576307069842253
+                ],
+                "gripper_position": [
+                  0.2686007532145911,
+                  -0.35659975338383315,
+                  1.0055201998059953
+                ],
+                "rod_tip_xy_dist": 0.0011651791439806118,
+                "target_xy_drift": 1.0631513867832227e-07,
+                "depth": 0.015217357978780655,
+                "bottom_clearance": 0.08422330467571104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00040241770511934005,
+                  0.00103095394011965
+                ],
+                "rod_tip_xy": [
+                  0.26860075321459104,
+                  -0.3565997533838332
+                ],
+                "target_mouth_xy": [
+                  0.2681983355094717,
+                  -0.35763070732395286
+                ],
+                "gripper_position": [
+                  0.26858963602600305,
+                  -0.356607099470234,
+                  1.0053789589558857
+                ],
+                "rod_tip_xy_dist": 0.001106709553605528,
+                "target_xy_drift": 1.322805397382355e-07,
+                "depth": 0.01573972842723681,
+                "bottom_clearance": 0.08370093094316922,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00039130182959795645,
+                  0.0010235783795710107
+                ],
+                "rod_tip_xy": [
+                  0.268589636026003,
+                  -0.35660709947023406
+                ],
+                "target_mouth_xy": [
+                  0.26819833419640504,
+                  -0.35763067784980507
+                ],
+                "gripper_position": [
+                  0.26858150453220964,
+                  -0.35660840735819377,
+                  1.005255671299984
+                ],
+                "rod_tip_xy_dist": 0.0010958238092740658,
+                "target_xy_drift": 1.4885665379589612e-07,
+                "depth": 0.01588096390454774,
+                "bottom_clearance": 0.08355965492752382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00038316981069347333,
+                  0.0010222685819267219
+                ],
+                "rod_tip_xy": [
+                  0.2685815045322096,
+                  -0.35660840735819377
+                ],
+                "target_mouth_xy": [
+                  0.2681983347215161,
+                  -0.3576306759401205
+                ],
+                "gripper_position": [
+                  0.26858450001963974,
+                  -0.35667310905193983,
+                  1.0047340706212542
+                ],
+                "rod_tip_xy_dist": 0.0010917198163546099,
+                "target_xy_drift": 1.4958103514906484e-07,
+                "depth": 0.01600416278573935,
+                "bottom_clearance": 0.08343641081099273,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00038613338317688983,
+                  0.0009576261581985546
+                ],
+                "rod_tip_xy": [
+                  0.2685845000196397,
+                  -0.35667310905193983
+                ],
+                "target_mouth_xy": [
+                  0.2681983666364628,
+                  -0.3576307352101384
+                ],
+                "gripper_position": [
+                  0.2685731877303007,
+                  -0.35668054309923847,
+                  1.004593275539724
+                ],
+                "rod_tip_xy_dist": 0.001032543872418869,
+                "target_xy_drift": 9.264577208537202e-08,
+                "depth": 0.016525835109775566,
+                "bottom_clearance": 0.08291481037335824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003748851503918571,
+                  0.0009501623679599724
+                ],
+                "rod_tip_xy": [
+                  0.2685731877303007,
+                  -0.3566805430992386
+                ],
+                "target_mouth_xy": [
+                  0.26819830257990884,
+                  -0.35763070546719855
+                ],
+                "gripper_position": [
+                  0.2685650630519647,
+                  -0.35668142636592237,
+                  1.0044697146283847
+                ],
+                "rod_tip_xy_dist": 0.0010214437828248932,
+                "target_xy_drift": 1.631010148987108e-07,
+                "depth": 0.016666548849878504,
+                "bottom_clearance": 0.08277395285347655,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00036666590519818243,
+                  0.0009493110532530213
+                ],
+                "rod_tip_xy": [
+                  0.2685650630519647,
+                  -0.3566814263659225
+                ],
+                "target_mouth_xy": [
+                  0.2681983971467665,
+                  -0.3576307374191755
+                ],
+                "gripper_position": [
+                  0.2685687481395673,
+                  -0.3567473727889504,
+                  1.0039497676047437
+                ],
+                "rod_tip_xy_dist": 0.0010176617128806425,
+                "target_xy_drift": 6.369324150203452e-08,
+                "depth": 0.01679023601330376,
+                "bottom_clearance": 0.082650513758049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00037041465026421694,
+                  0.0008833025475167844
+                ],
+                "rod_tip_xy": [
+                  0.26856874813956727,
+                  -0.3567473727889504
+                ],
+                "target_mouth_xy": [
+                  0.26819833348930305,
+                  -0.3576306753364672
+                ],
+                "gripper_position": [
+                  0.2685573495153014,
+                  -0.3567544350285407,
+                  1.0038087504459503
+                ],
+                "rod_tip_xy_dist": 0.0009578258733089242,
+                "target_xy_drift": 1.5092781272650823e-07,
+                "depth": 0.0173100519810373,
+                "bottom_clearance": 0.08213046526786505,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00035895187424600516,
+                  0.0008762713059926597
+                ],
+                "rod_tip_xy": [
+                  0.26855734951530136,
+                  -0.35675443502854076
+                ],
+                "target_mouth_xy": [
+                  0.26819839764105535,
+                  -0.3576307063345334
+                ],
+                "gripper_position": [
+                  0.26854900793622727,
+                  -0.35675554945032434,
+                  1.0036858685333958
+                ],
+                "rod_tip_xy_dist": 0.0009469413127173201,
+                "target_xy_drift": 8.22503956414742e-08,
+                "depth": 0.017451181807574545,
+                "bottom_clearance": 0.08198954317837559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00035067638556096625,
+                  0.0008751563465719814
+                ],
+                "rod_tip_xy": [
+                  0.2685490079362272,
+                  -0.3567555494503244
+                ],
+                "target_mouth_xy": [
+                  0.26819833155066625,
+                  -0.3576307057968964
+                ],
+                "gripper_position": [
+                  0.2685534195606008,
+                  -0.35682193691877806,
+                  1.0031691432004286
+                ],
+                "rod_tip_xy_dist": 0.0009428003809584092,
+                "target_xy_drift": 1.3650539372345474e-07,
+                "depth": 0.01757398695170509,
+                "bottom_clearance": 0.08186655799363884,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00035505231408972104,
+                  0.0008087979378674781
+                ],
+                "rod_tip_xy": [
+                  0.26855341956060075,
+                  -0.35682193691877806
+                ],
+                "target_mouth_xy": [
+                  0.268198367246511,
+                  -0.35763073485664554
+                ],
+                "gripper_position": [
+                  0.2685421076267863,
+                  -0.35682881551632356,
+                  1.003028580392541
+                ],
+                "rod_tip_xy_dist": 0.0008832985056248827,
+                "target_xy_drift": 9.219153061800702e-08,
+                "depth": 0.018090766971008088,
+                "bottom_clearance": 0.0813499013693223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000343772250875618,
+                  0.0008018886323757357
+                ],
+                "rod_tip_xy": [
+                  0.26854210762678626,
+                  -0.3568288155163235
+                ],
+                "target_mouth_xy": [
+                  0.26819833537591065,
+                  -0.35763070414869924
+                ],
+                "gripper_position": [
+                  0.268533601655466,
+                  -0.356830041120477,
+                  1.0029055255862556
+                ],
+                "rod_tip_xy_dist": 0.0008724704804206941,
+                "target_xy_drift": 1.3384557509542823e-07,
+                "depth": 0.018231330753003205,
+                "bottom_clearance": 0.08120929355920425,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00033523942948815444,
+                  0.0008006646608527679
+                ],
+                "rod_tip_xy": [
+                  0.26853360165546597,
+                  -0.356830041120477
+                ],
+                "target_mouth_xy": [
+                  0.2681983622259778,
+                  -0.35763070578132977
+                ],
+                "gripper_position": [
+                  0.2685250309373296,
+                  -0.3568310140292557,
+                  1.002782343424989
+                ],
+                "rod_tip_xy_dist": 0.0008680146163642759,
+                "target_xy_drift": 1.0986632397388286e-07,
+                "depth": 0.01835430345441691,
+                "bottom_clearance": 0.08108620827377422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003266354755696588,
+                  0.0007997227724125255
+                ],
+                "rod_tip_xy": [
+                  0.26852503093732955,
+                  -0.35683101402925577
+                ],
+                "target_mouth_xy": [
+                  0.2681983954617599,
+                  -0.3576307368016683
+                ],
+                "gripper_position": [
+                  0.2685164844073917,
+                  -0.35683196278774626,
+                  1.0026593506835046
+                ],
+                "rod_tip_xy_dist": 0.0008638560335008336,
+                "target_xy_drift": 6.547527589206342e-08,
+                "depth": 0.018477582043689766,
+                "bottom_clearance": 0.08096307984459106,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0003181236735332327,
+                  0.0007987414319875485
+                ],
+                "rod_tip_xy": [
+                  0.2685164844073916,
+                  -0.3568319627877463
+                ],
+                "target_mouth_xy": [
+                  0.2681983607338584,
+                  -0.35763070421973386
+                ],
+                "gripper_position": [
+                  0.2685229417456469,
+                  -0.35690151038757895,
+                  1.0021449291001223
+                ],
+                "rod_tip_xy_dist": 0.0008597619128780934,
+                "target_xy_drift": 1.1197308564681193e-07,
+                "depth": 0.018600535902839832,
+                "bottom_clearance": 0.08084005835672836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0003245449253599375,
+                  0.00072922578268797
+                ],
+                "rod_tip_xy": [
+                  0.26852294174564684,
+                  -0.356901510387579
+                ],
+                "target_mouth_xy": [
+                  0.2681983968202869,
+                  -0.35763073617026697
+                ],
+                "gripper_position": [
+                  0.26851140314566047,
+                  -0.35690850343914515,
+                  1.0020043430977075
+                ],
+                "rod_tip_xy_dist": 0.0007981852233120893,
+                "target_xy_drift": 6.4558391241031e-08,
+                "depth": 0.01911499677897799,
+                "bottom_clearance": 0.08032569695000003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00031307163736277177,
+                  0.0007221722424277099
+                ],
+                "rod_tip_xy": [
+                  0.2685114031456604,
+                  -0.35690850343914515
+                ],
+                "target_mouth_xy": [
+                  0.26819833150829764,
+                  -0.35763067568157286
+                ],
+                "gripper_position": [
+                  0.26850285588255035,
+                  -0.35690915653010524,
+                  1.0018814518707615
+                ],
+                "rod_tip_xy_dist": 0.0007871128240945347,
+                "target_xy_drift": 1.523072249001233e-07,
+                "depth": 0.019255507785717718,
+                "bottom_clearance": 0.0801850272115554,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0003044420318037977,
+                  0.0007215494762140562
+                ],
+                "rod_tip_xy": [
+                  0.2685028558825503,
+                  -0.35690915653010524
+                ],
+                "target_mouth_xy": [
+                  0.2681984138507465,
+                  -0.3576307060063193
+                ],
+                "gripper_position": [
+                  0.26849424101107866,
+                  -0.3569100909587744,
+                  1.0017586216079493
+                ],
+                "rod_tip_xy_dist": 0.0007831466001673016,
+                "target_xy_drift": 7.241285472078549e-08,
+                "depth": 0.01937848569825451,
+                "bottom_clearance": 0.08006227960990875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0002958786795962398,
+                  0.0007206138731463696
+                ],
+                "rod_tip_xy": [
+                  0.2684942410110786,
+                  -0.35691009095877446
+                ],
+                "target_mouth_xy": [
+                  0.26819836233148237,
+                  -0.35763070483192083
+                ],
+                "gripper_position": [
+                  0.268485623022513,
+                  -0.35691104423215897,
+                  1.001635287752336
+                ],
+                "rod_tip_xy_dist": 0.0007789920071545191,
+                "target_xy_drift": 1.1030487591556723e-07,
+                "depth": 0.01950120503772257,
+                "bottom_clearance": 0.07993930491207912,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005999816928474135,
+              "rod_tip_xy_max_step": 3.2456431684465364e-05,
+              "rod_tip_xy_range": 0.00059997578472306,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.268001198856199,
+            -0.35820377869539544,
+            1.0434440132336866
+          ],
+          "object_origin_world": [
+            0.268001198856199,
+            -0.35820377869539544,
+            1.0434440132336866
+          ],
+          "frame_world": [
+            0.2680262226131376,
+            -0.35820083603637604,
+            1.0437544211638838
+          ],
+          "center_minus_frame": [
+            -2.5023756938580277e-05,
+            -2.9426590194003843e-06,
+            -0.0003104079301972096
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26882715872417606,
+              0.16094646127147297,
+              0.8315053189716725
+            ],
+            "target_position": [
+              0.2848836683702179,
+              0.20666659749070337,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048457634671106455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1649236294258619,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8315053189716725,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675043193902,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13493370124163834,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 322,
+            "max_placed_release_frames": 322
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20843829682770135,
+              0.025940894150856205,
+              1.046687321833715
+            ],
+            "current_z": 1.046687321833715,
+            "required_z": 0.8565865074085653,
+            "initial_z": 0.7565865074085654,
+            "lift_margin": 0.1901008144251496,
+            "gripper_z": 1.0509015652458773,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20376481289202644,
+              0.021263718784523378,
+              1.0509015652458773
+            ],
+            "object_minus_gripper": [
+              0.004673483935674905,
+              0.004677175366332827,
+              -0.004214243412162366
+            ],
+            "object_to_gripper_xy": 0.006611915116245974,
+            "object_to_gripper_z": -0.004214243412162366,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20843829682770135,
+              0.0019254695155940852,
+              1.046687321833715
+            ],
+            "finger_b": [
+              0.1968391571580423,
+              0.025940894150856205,
+              1.046687321833715
+            ],
+            "finger_midpoint": [
+              0.20263872699287183,
+              0.013933181833225144,
+              1.046687321833715
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057995698348295155,
+              0.01200771231763106,
+              0.0
+            ],
+            "finger_gap": 0.026669845546763358,
+            "fingertip_max_gap": 0.0920978475067337,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013334922773381672,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046687321833715,
+            "object_top_z": 1.0926488071583467,
+            "finger_top_clearance": 0.045961485324631735,
+            "fingertip_min_top_clearance": 0.01378844559738952,
+            "object_projection_between_fingers": 0.8108481667493108,
+            "object_to_finger_line_xy": 0.010444689830773405,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854892375336685,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7754508009272585,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2078930183702451,
+              0.02453490431236363,
+              1.2452624801173768
+            ],
+            "held_position": [
+              0.21295567302974366,
+              0.02874520226333799,
+              1.2410013056733515
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007843130030780805,
+            "max_held_gripper_dist": 0.007844859253009108,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004261174444025295,
+            "max_held_gripper_z_dist": 0.004261174444025295,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08566772375540285,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21295567302974366,
+              0.003263553566548786,
+              1.2410013056733515
+            ],
+            "held_grasp_finger_b": [
+              0.20374910557481524,
+              0.02874520226333799,
+              1.2410013056733515
+            ],
+            "held_grasp_midpoint": [
+              0.20835238930227945,
+              0.01600437791494339,
+              1.2410013056733515
+            ],
+            "held_grasp_object_position": [
+              0.21295567302974366,
+              0.02874520226333799,
+              1.2410013056733515
+            ],
+            "held_grasp_finger_gap": 0.027093824104557965,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02457411739088289,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08785419497455593,
+              -0.9961267916825544,
+              0.0036132143022256096
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034664649835398154,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032104330698137645,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18248783777826105,
+              0.01597151612450394,
+              0.7565867734212919
+            ],
+            "target_position": [
+              0.18443947764051044,
+              0.023010944182675325,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007304960337886262,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21421264492453115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867734212919,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557383373635407,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876381036843867,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18413883573326775,
+            "release_required_pad_clearance": 0.05381905184219335,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6464598377678676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9088fe4c474b6bb5317458c93b2152ee5f63ccc1a7993c7a159c9316ac460810",
+    "visual_seed": 5489944874302054029,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f99cdbd66227978da70014cbef6eb5c1f882baf6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_48_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2121988200267499,
+              -0.13804548325395466,
+              1.1636692188708193
+            ],
+            "current_z": 1.1636692188708193,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3025627704606981,
+            "gripper_z": 1.1568920454492062,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2081217496198378,
+              -0.14249117451636514,
+              1.1568920454492062
+            ],
+            "object_minus_gripper": [
+              0.004077070406912103,
+              0.004445691262410484,
+              0.006777173421613103
+            ],
+            "object_to_gripper_xy": 0.006032136761015233,
+            "object_to_gripper_z": 0.006777173421613103,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2121988200267499,
+              -0.16137124685992282,
+              1.1636692188708193
+            ],
+            "finger_b": [
+              0.20172418323198796,
+              -0.13804548325395466,
+              1.1636692188708193
+            ],
+            "finger_midpoint": [
+              0.20696150162936894,
+              -0.14970836505693874,
+              1.1636692188708193
+            ],
+            "object_minus_finger_midpoint": [
+              0.005237318397380952,
+              0.011662881802984082,
+              0.0
+            ],
+            "finger_gap": 0.025569694245017663,
+            "fingertip_max_gap": 0.09221517938859522,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012784847122508826,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636692188708193,
+            "object_top_z": 1.2136632238858567,
+            "finger_top_clearance": 0.04999400501503737,
+            "fingertip_min_top_clearance": 0.01499820150451121,
+            "object_projection_between_fingers": 0.8321865075033866,
+            "object_to_finger_line_xy": 0.009555409595114764,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04860758969429761,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9343186939864587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27304633768128345,
+              -0.3509141941701095,
+              0.8515396402430122
+            ],
+            "target_position": [
+              0.2653660612326579,
+              -0.35154493771440287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077061328658400595,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459659062845235,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396402430122,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552354166259953,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624648314115323,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15261646706688378,
+            "release_required_pad_clearance": 0.053123241570576615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2728583777926972,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007303118705749512,
+            "max_z_decrease": 0.007303118705749512,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510142392843639,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007303118705749512,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108825089243339,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007303118705749512,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007303141429799514,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12106598913669585,
+              -0.407806396484375,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12106598913669585,
+              -0.407806396484375,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12065768204627866,
+              -0.40756504311385067,
+              0.8081470423367136
+            ],
+            "closest_button": [
+              0.12105646729469298,
+              -0.4078042507171631,
+              0.7730486989021301
+            ],
+            "closest_ee_minus_button": [
+              -0.0003987852484143156,
+              0.00023920760331241908,
+              0.03509834343458351
+            ],
+            "button_min_z_position": [
+              0.12104797363281249,
+              -0.4078036844730378,
+              0.7695057392120361
+            ],
+            "min_active_finger_to_button": 0.14644777288084523,
+            "closest_active_finger": [
+              -0.00733550637960434,
+              -0.4692901074886322,
+              0.8107930421829224
+            ],
+            "closest_active_finger_button": [
+              0.12106597423553465,
+              -0.40780624747276306,
+              0.7764456272125244
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.128401480615139,
+              -0.06148386001586914,
+              0.03434741497039795
+            ],
+            "min_contact_pad_to_button": 0.02108825089243339,
+            "closest_contact_pad": [
+              0.12104797363281249,
+              -0.4087898933962987,
+              0.7905709170575208
+            ],
+            "closest_contact_pad_button": [
+              0.12104797363281249,
+              -0.4078036844730378,
+              0.7695057392120361
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009862089232609006,
+              0.021065177845484673
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2812277744659767,
+              0.20765007913932834,
+              1.1008553148858038
+            ],
+            "current_z": 1.1008553148858038,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19094618515144124,
+            "gripper_z": 1.1008557686543812,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2812276999945404,
+              0.20765012380386888,
+              1.1008557686543812
+            ],
+            "object_minus_gripper": [
+              7.44714362954646e-08,
+              -4.466454053830837e-08,
+              -4.5376857737977616e-07
+            ],
+            "object_to_gripper_xy": 8.683844773720702e-08,
+            "object_to_gripper_z": -4.5376857737977616e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2812277744659767,
+              0.20765007913932834,
+              1.1008553148858038
+            ],
+            "finger_b": [
+              0.2812277744659767,
+              0.20765007913932834,
+              1.1008553148858038
+            ],
+            "finger_midpoint": [
+              0.2812277744659767,
+              0.20765007913932834,
+              1.1008553148858038
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1008553148858038,
+            "object_top_z": 1.2258638215060835,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2812277744659767,
+            0.20765007913932834,
+            1.100855314885804
+          ],
+          "object_origin_world": [
+            0.2812277744659767,
+            0.20765007913932834,
+            1.100855314885804
+          ],
+          "frame_world": [
+            0.2812276999945404,
+            0.20765012380386888,
+            1.1008557686543812
+          ],
+          "center_minus_frame": [
+            7.44714362954646e-08,
+            -4.466454053830837e-08,
+            -4.5376857715773156e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434350666195586,
+            "required_z": 0.9112598765404001,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011751896508954724,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.909946633638672e-08,
+            "max_target_xy_drift": 6.115258913589857e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.2728583768608845,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.2728583782193725,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27307688146713927,
+              -0.35208349161123037,
+              0.9235476358773745
+            ],
+            "target_mouth_xy": [
+              0.2730463108326012,
+              -0.35091419571658256
+            ],
+            "rod_tip_z": 0.9235476358773745,
+            "rod_tip_depth": -0.022287807345117927,
+            "rod_tip_bottom_clearance": 0.121728368893539,
+            "rod_tip_xy_dist": 0.0011696954530715643,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044663181181585854,
+            "min_rod_tip_bottom_clearance": 0.05477738434599755,
+            "min_rod_tip_xy_dist": 0.00037740569972513307,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.27304633890914204,
+              -0.35091425885487604
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.807654081449229e-08,
+              6.313829348236766e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0005648110337291845,
+                0.0006815850944719704
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00046163007204841344,
+                0.00027442019976992027
+              ],
+              "first_target_mouth_xy": [
+                0.27304636849657193,
+                -0.3509141665679264
+              ],
+              "last_target_mouth_xy": [
+                0.27304633929351113,
+                -0.35091416401837006
+              ],
+              "first_rod_tip_xy": [
+                0.2736111795303011,
+                -0.35023258147345443
+              ],
+              "last_rod_tip_xy": [
+                0.27350796936555954,
+                -0.35063974381860014
+              ],
+              "min_rod_tip_xy_dist": 0.0005370370280168643,
+              "max_rod_tip_xy_dist": 0.0008851947496616746,
+              "first_target_xy_drift": 9.69138642364628e-08,
+              "last_target_xy_drift": 9.483728489577919e-08,
+              "max_depth": 0.01942572623245853,
+              "min_bottom_clearance": 0.08001484248997859
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0005648110337291845,
+                  0.0006815850944719704
+                ],
+                "rod_tip_xy": [
+                  0.2736111795303011,
+                  -0.35023258147345443
+                ],
+                "target_mouth_xy": [
+                  0.27304636849657193,
+                  -0.3509141665679264
+                ],
+                "gripper_position": [
+                  0.273615584259813,
+                  -0.3503023321839592,
+                  1.0057309282174873
+                ],
+                "rod_tip_xy_dist": 0.0008851947496616746,
+                "target_xy_drift": 9.69138642364628e-08,
+                "depth": 0.015007824325138919,
+                "bottom_clearance": 0.084432688215761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0005692433001928676,
+                  0.000611834360462471
+                ],
+                "rod_tip_xy": [
+                  0.27361558425981297,
+                  -0.3503023321839592
+                ],
+                "target_mouth_xy": [
+                  0.2730463409596201,
+                  -0.35091416654442165
+                ],
+                "gripper_position": [
+                  0.2736042529301154,
+                  -0.3503100345800741,
+                  1.0055891653074038
+                ],
+                "rod_tip_xy_dist": 0.000835690863571565,
+                "target_xy_drift": 9.233322506152566e-08,
+                "depth": 0.015528973772346077,
+                "bottom_clearance": 0.08391162248081296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0005579141171192514,
+                  0.0006041319851913252
+                ],
+                "rod_tip_xy": [
+                  0.2736042529301154,
+                  -0.3503100345800741
+                ],
+                "target_mouth_xy": [
+                  0.27304633881299617,
+                  -0.3509141665652654
+                ],
+                "gripper_position": [
+                  0.27359578334139134,
+                  -0.3503111452445758,
+                  1.0054646592769567
+                ],
+                "rod_tip_xy_dist": 0.00082234032955472,
+                "target_xy_drift": 9.228966070197094e-08,
+                "depth": 0.015670599891551285,
+                "bottom_clearance": 0.08376991283223656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0005494452012287931,
+                  0.0006030511353886658
+                ],
+                "rod_tip_xy": [
+                  0.27359578334139134,
+                  -0.3503111452445758
+                ],
+                "target_mouth_xy": [
+                  0.27304633814016255,
+                  -0.35091419637996446
+                ],
+                "gripper_position": [
+                  0.27360145704888983,
+                  -0.3503820725020513,
+                  1.004943799546962
+                ],
+                "rod_tip_xy_dist": 0.0008158190369480893,
+                "target_xy_drift": 6.247964393354278e-08,
+                "depth": 0.015795183630450405,
+                "bottom_clearance": 0.08364535013834185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0005550263423957924,
+                  0.0005321193971175586
+                ],
+                "rod_tip_xy": [
+                  0.27360145704888983,
+                  -0.3503820725020513
+                ],
+                "target_mouth_xy": [
+                  0.27304643070649404,
+                  -0.35091419189916884
+                ],
+                "gripper_position": [
+                  0.2735898449623993,
+                  -0.3503895714465839,
+                  1.0048019406344535
+                ],
+                "rod_tip_xy_dist": 0.0007688987537654132,
+                "target_xy_drift": 1.1362139129818555e-07,
+                "depth": 0.01631615669166908,
+                "bottom_clearance": 0.08312455794217855,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0005434784149527805,
+                  0.0005246271803481251
+                ],
+                "rod_tip_xy": [
+                  0.2735898449623993,
+                  -0.35038957144658395
+                ],
+                "target_mouth_xy": [
+                  0.2730463665474465,
+                  -0.3509141986269321
+                ],
+                "gripper_position": [
+                  0.27358135368114456,
+                  -0.3503905611108029,
+                  1.0046775744793408
+                ],
+                "rod_tip_xy_dist": 0.0007553823309289216,
+                "target_xy_drift": 6.626674210147019e-08,
+                "depth": 0.016457985879171577,
+                "bottom_clearance": 0.08298268255261476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005349839875878892,
+                  0.000523632704664545
+                ],
+                "rod_tip_xy": [
+                  0.27358135368114456,
+                  -0.35039056111080297
+                ],
+                "target_mouth_xy": [
+                  0.27304636969355667,
+                  -0.3509141938154675
+                ],
+                "gripper_position": [
+                  0.27358773178059925,
+                  -0.3504626453913846,
+                  1.0041583341510028
+                ],
+                "rod_tip_xy_dist": 0.0007485980739821239,
+                "target_xy_drift": 7.195696523182868e-08,
+                "depth": 0.01658227689756908,
+                "bottom_clearance": 0.08285831453902126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005413938702396037,
+                  0.00045155194100704454
+                ],
+                "rod_tip_xy": [
+                  0.27358773178059925,
+                  -0.35046264539138466
+                ],
+                "target_mouth_xy": [
+                  0.27304633791035965,
+                  -0.3509141973323917
+                ],
+                "gripper_position": [
+                  0.27357616763654224,
+                  -0.3504701170547729,
+                  1.0040164972929095
+                ],
+                "rod_tip_xy_dist": 0.0007049868638210547,
+                "target_xy_drift": 6.153059112589793e-08,
+                "depth": 0.017101533318800488,
+                "bottom_clearance": 0.08233904392149083,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000529829618661104,
+                  0.00044407900933135513
+                ],
+                "rod_tip_xy": [
+                  0.27357616763654224,
+                  -0.3504701170547729
+                ],
+                "target_mouth_xy": [
+                  0.27304633801788114,
+                  -0.35091419606410423
+                ],
+                "gripper_position": [
+                  0.27356756951648553,
+                  -0.3504709955555431,
+                  1.0038925804095402
+                ],
+                "rod_tip_xy_dist": 0.0006913216265525682,
+                "target_xy_drift": 6.279709682592423e-08,
+                "depth": 0.017243343441769032,
+                "bottom_clearance": 0.0821971833851255,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005211993199603637,
+                  0.00044317036042978986
+                ],
+                "rod_tip_xy": [
+                  0.27356756951648553,
+                  -0.3504709955555431
+                ],
+                "target_mouth_xy": [
+                  0.27304637019652517,
+                  -0.3509141659159729
+                ],
+                "gripper_position": [
+                  0.2735747244209714,
+                  -0.35054398813690046,
+                  1.0033757931060892
+                ],
+                "rod_tip_xy_dist": 0.000684140847699226,
+                "target_xy_drift": 9.806395901587323e-08,
+                "depth": 0.017367305745411232,
+                "bottom_clearance": 0.08207324641565361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0005283840811144414,
+                  0.00037017968693525694
+                ],
+                "rod_tip_xy": [
+                  0.2735747244209714,
+                  -0.3505439881369005
+                ],
+                "target_mouth_xy": [
+                  0.273046340339857,
+                  -0.3509141678238358
+                ],
+                "gripper_position": [
+                  0.2735629156143784,
+                  -0.3505513322149147,
+                  1.0032344281639327
+                ],
+                "rod_tip_xy_dist": 0.0006451532669022435,
+                "target_xy_drift": 9.104228268383482e-08,
+                "depth": 0.01788406670902376,
+                "bottom_clearance": 0.08155654980249716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005165443589471574,
+                  0.0003628647726250933
+                ],
+                "rod_tip_xy": [
+                  0.2735629156143784,
+                  -0.3505513322149147
+                ],
+                "target_mouth_xy": [
+                  0.27304637125543124,
+                  -0.3509141969875398
+                ],
+                "gripper_position": [
+                  0.27355435105781634,
+                  -0.35055221290397354,
+                  1.0031102853944096
+                ],
+                "rod_tip_xy_dist": 0.0006312597864369237,
+                "target_xy_drift": 6.98129624092189e-08,
+                "depth": 0.018025429670251336,
+                "bottom_clearance": 0.08141520827677917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005080115678176567,
+                  0.00036195048303794275
+                ],
+                "rod_tip_xy": [
+                  0.27355435105781634,
+                  -0.3505522129039735
+                ],
+                "target_mouth_xy": [
+                  0.2730463394899987,
+                  -0.3509141633870114
+                ],
+                "gripper_position": [
+                  0.27354555212939125,
+                  -0.3505529871664443,
+                  1.0029859616983627
+                ],
+                "rod_tip_xy_dist": 0.000623765905775519,
+                "target_xy_drift": 9.546963165494936e-08,
+                "depth": 0.018149514634007158,
+                "bottom_clearance": 0.08129108458988843,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004991815026192392,
+                  0.0003611752510895294
+                ],
+                "rod_tip_xy": [
+                  0.2735455521293912,
+                  -0.3505529871664443
+                ],
+                "target_mouth_xy": [
+                  0.27304637062677195,
+                  -0.3509141624175338
+                ],
+                "gripper_position": [
+                  0.2735369003920236,
+                  -0.3505538803783585,
+                  1.0028620093724447
+                ],
+                "rod_tip_xy_dist": 0.0006161410021714073,
+                "target_xy_drift": 1.0151930369258506e-07,
+                "depth": 0.018273985149308225,
+                "bottom_clearance": 0.08116669984023595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0004905620504341845,
+                  0.00036031376877426746
+                ],
+                "rod_tip_xy": [
+                  0.2735369003920236,
+                  -0.3505538803783585
+                ],
+                "target_mouth_xy": [
+                  0.2730463383415894,
+                  -0.35091419414713276
+                ],
+                "gripper_position": [
+                  0.273546303783005,
+                  -0.35063024571879986,
+                  1.0023470988017726
+                ],
+                "rod_tip_xy_dist": 0.0006086683311085831,
+                "target_xy_drift": 6.471023223323028e-08,
+                "depth": 0.018397838140982725,
+                "bottom_clearance": 0.08104271049482026,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0004999337245242819,
+                  0.00028395190043645213
+                ],
+                "rod_tip_xy": [
+                  0.273546303783005,
+                  -0.3506302457187999
+                ],
+                "target_mouth_xy": [
+                  0.2730463700584807,
+                  -0.35091419761923637
+                ],
+                "gripper_position": [
+                  0.2735344107061125,
+                  -0.35063766900042387,
+                  1.0022059772632368
+                ],
+                "rod_tip_xy_dist": 0.0005749455719267636,
+                "target_xy_drift": 6.87028737754759e-08,
+                "depth": 0.018912819795939728,
+                "bottom_clearance": 0.08052779318951908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00048810109054631123,
+                  0.00027649757080944193
+                ],
+                "rod_tip_xy": [
+                  0.2735344107061125,
+                  -0.35063766900042387
+                ],
+                "target_mouth_xy": [
+                  0.2730463096155662,
+                  -0.3509141665712333
+                ],
+                "gripper_position": [
+                  0.2735255683808384,
+                  -0.3506383296242696,
+                  1.0020819183027088
+                ],
+                "rod_tip_xy_dist": 0.0005609755620844999,
+                "target_xy_drift": 9.682140414555324e-08,
+                "depth": 0.01905379310134936,
+                "bottom_clearance": 0.08038674357671838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0004792262395394431,
+                  0.00027586544548924286
+                ],
+                "rod_tip_xy": [
+                  0.2735255683808384,
+                  -0.3506383296242696
+                ],
+                "target_mouth_xy": [
+                  0.27304634214129897,
+                  -0.35091419506975885
+                ],
+                "gripper_position": [
+                  0.2735166594029613,
+                  -0.35063907428672814,
+                  1.0019582687182647
+                ],
+                "rod_tip_xy_dist": 0.0005529552718602963,
+                "target_xy_drift": 6.386695556485412e-08,
+                "depth": 0.019177987118134454,
+                "bottom_clearance": 0.08026264325546328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0004703218999949077,
+                  0.00027509260626451537
+                ],
+                "rod_tip_xy": [
+                  0.2735166594029613,
+                  -0.3506390742867282
+                ],
+                "target_mouth_xy": [
+                  0.2730463375029664,
+                  -0.3509141668929927
+                ],
+                "gripper_position": [
+                  0.27350796936555954,
+                  -0.35063974381860014,
+                  1.0018341205209553
+                ],
+                "rod_tip_xy_dist": 0.00054486570055035,
+                "target_xy_drift": 9.197263351447055e-08,
+                "depth": 0.019301599209044173,
+                "bottom_clearance": 0.0801389700881272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00046163007204841344,
+                  0.00027442019976992027
+                ],
+                "rod_tip_xy": [
+                  0.27350796936555954,
+                  -0.35063974381860014
+                ],
+                "target_mouth_xy": [
+                  0.27304633929351113,
+                  -0.35091416401837006
+                ],
+                "gripper_position": [
+                  0.273499115999598,
+                  -0.3506402403515372,
+                  1.0017103843827313
+                ],
+                "rod_tip_xy_dist": 0.0005370370280168643,
+                "target_xy_drift": 9.483728489577919e-08,
+                "depth": 0.01942572623245853,
+                "bottom_clearance": 0.08001484248997859,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006009713623326215,
+              "rod_tip_xy_max_step": 3.2518589074877774e-05,
+              "rod_tip_xy_range": 0.0006009636773627835,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27307688146713927,
+            -0.35208349161123037,
+            1.0435476358773745
+          ],
+          "object_origin_world": [
+            0.27307688146713927,
+            -0.35208349161123037,
+            1.0435476358773745
+          ],
+          "frame_world": [
+            0.27307520898360316,
+            -0.3520890300080639,
+            1.0434350666195586
+          ],
+          "center_minus_frame": [
+            1.6724835361081603e-06,
+            5.538396833537629e-06,
+            0.00011256925781588656
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26759537726044225,
+              0.16021458176657646,
+              0.8320632983120081
+            ],
+            "target_position": [
+              0.28141234974691426,
+              0.20687885972237224,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04866686311883778,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16914292521833155,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320632983120081,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675070587988,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13789517901777404,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 302,
+            "max_placed_release_frames": 302
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21563345876209156,
+              0.027225402457795273,
+              1.0435640217832007
+            ],
+            "current_z": 1.0435640217832007,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18697757397927994,
+            "gripper_z": 1.0480261493803356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21110268511149752,
+              0.02270114134173004,
+              1.0480261493803356
+            ],
+            "object_minus_gripper": [
+              0.004530773650594039,
+              0.004524261116065232,
+              -0.004462127597134824
+            ],
+            "object_to_gripper_xy": 0.006402878143402157,
+            "object_to_gripper_z": -0.004462127597134824,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21563345876209156,
+              0.0031293512658760033,
+              1.0435640217832007
+            ],
+            "finger_b": [
+              0.20441410833247387,
+              0.027225402457795273,
+              1.0435640217832007
+            ],
+            "finger_midpoint": [
+              0.2100237835472827,
+              0.015177376861835639,
+              1.0435640217832007
+            ],
+            "object_minus_finger_midpoint": [
+              0.005609675214808846,
+              0.012048025595959634,
+              0.0
+            ],
+            "finger_gap": 0.026579945581324215,
+            "fingertip_max_gap": 0.0918996959449429,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013289972790662108,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0435640217832007,
+            "object_top_z": 1.0894270155230776,
+            "finger_top_clearance": 0.0458629937398769,
+            "fingertip_min_top_clearance": 0.013758898121963037,
+            "object_projection_between_fingers": 0.8218330065365355,
+            "object_to_finger_line_xy": 0.010170902775741538,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048449847972471455,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6819299647787047,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21555723978773594,
+              0.02586000949677865,
+              1.2422035850651216
+            ],
+            "held_position": [
+              0.22043872440336426,
+              0.029958438051219557,
+              1.2376961176536783
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007806617137640124,
+            "max_held_gripper_dist": 0.0078084661215677585,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004507467411443367,
+            "max_held_gripper_z_dist": 0.004507927516332666,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601100664448115,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22043872440336426,
+              0.004493979068979443,
+              1.2376961176536783
+            ],
+            "held_grasp_finger_b": [
+              0.21143268978003601,
+              0.030133978743885764,
+              1.2376961176536783
+            ],
+            "held_grasp_midpoint": [
+              0.21593570709170012,
+              0.017313978906432603,
+              1.2376961176536783
+            ],
+            "held_grasp_object_position": [
+              0.22043872440336426,
+              0.029958438051219557,
+              1.2376961176536783
+            ],
+            "held_grasp_finger_gap": 0.02717569213407054,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024839385701887273,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07977763138480987,
+              -0.9967966511840202,
+              0.0056538233923869585
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003480674945893386,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03223703037904462,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17170641072161208,
+              0.027062921517491734,
+              0.7565865076867324
+            ],
+            "target_position": [
+              0.19108633637421368,
+              0.024031545773980433,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01961557435301639,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2015265942867824,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865076867324,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591013083096623,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533530730305987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17437435713107116,
+            "release_required_pad_clearance": 0.052667653651529936,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3916698997735205,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 314,
+            "max_placed_release_frames": 314
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8957bac7fcb1a346261614b38bc7bcda60d55a457b5260774316b873021afc9d",
+    "visual_seed": 7734094215248391749,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3ce802dd439efd3e5a92d10954bb5b103a0dbef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_49_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21215722971774295,
+              -0.13405136286152947,
+              1.1639993269976732
+            ],
+            "current_z": 1.1639993269976732,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.302892878587552,
+            "gripper_z": 1.1574773888054384,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20782914520562154,
+              -0.1383922528248771,
+              1.1574773888054384
+            ],
+            "object_minus_gripper": [
+              0.004328084512121411,
+              0.004340889963347638,
+              0.0065219381922347885
+            ],
+            "object_to_gripper_xy": 0.006129897325237796,
+            "object_to_gripper_z": 0.0065219381922347885,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21215722971774295,
+              -0.15773829180881865,
+              1.1639993269976732
+            ],
+            "finger_b": [
+              0.20219049676306627,
+              -0.13405136286152947,
+              1.1639993269976732
+            ],
+            "finger_midpoint": [
+              0.2071738632404046,
+              -0.14589482733517406,
+              1.1639993269976732
+            ],
+            "object_minus_finger_midpoint": [
+              0.004983366477338352,
+              0.011843464473644594,
+              0.0
+            ],
+            "finger_gap": 0.025698372881249983,
+            "fingertip_max_gap": 0.0927327321257094,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012849186440624997,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639993269976732,
+            "object_top_z": 1.2141703531698216,
+            "finger_top_clearance": 0.050171026172148414,
+            "fingertip_min_top_clearance": 0.015051307851644524,
+            "object_projection_between_fingers": 0.849583876698833,
+            "object_to_finger_line_xy": 0.009186624243680488,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0488663660628547,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9743692499059462,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 327,
+            "max_stable_success_frames": 327,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2746892018131789,
+              -0.3546502221324286,
+              0.8515395581998573
+            ],
+            "target_position": [
+              0.26841140994429813,
+              -0.35447370714857634,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062802729469753115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18446063066888566,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395581998573,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563580482078905,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08786345420611712,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197732924442112,
+            "release_required_pad_clearance": 0.05393172710305856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8736262989361165,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007671058177947998,
+            "max_z_decrease": 0.007671058177947998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509438900608073,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007671058177947998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109311015040818,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007671058177947998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076710839690394645,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12411133944988251,
+              -0.410735160112381,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12411133944988251,
+              -0.410735160112381,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12405923657515017,
+              -0.4103928072223769,
+              0.8077753892403303
+            ],
+            "closest_button": [
+              0.12410137802362443,
+              -0.4107322096824646,
+              0.7726826667785645
+            ],
+            "closest_ee_minus_button": [
+              -4.214144847426715e-05,
+              0.0003394024600876788,
+              0.03509272246176587
+            ],
+            "button_min_z_position": [
+              0.12409172952175139,
+              -0.41073182225227356,
+              0.7691377997398376
+            ],
+            "min_active_finger_to_button": 0.14609339975432684,
+            "closest_active_finger": [
+              -0.0030602961778640747,
+              -0.4738917052745819,
+              0.8104939460754395
+            ],
+            "closest_active_finger_button": [
+              0.12411120533943176,
+              -0.4107345044612885,
+              0.7761157751083374
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12717150151729584,
+              -0.0631572008132934,
+              0.03437817096710205
+            ],
+            "min_contact_pad_to_button": 0.02109311015040818,
+            "closest_contact_pad": [
+              0.12409172952175139,
+              -0.4114713101895312,
+              0.79021794332113
+            ],
+            "closest_contact_pad_button": [
+              0.12409172952175139,
+              -0.41073182225227356,
+              0.7691377997398376
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007394879372576435,
+              0.0210801435812924
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2864504942799776,
+              0.20377009578422672,
+              1.1019067832751666
+            ],
+            "current_z": 1.1019067832751666,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.191997653540804,
+            "gripper_z": 1.101906618367789,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2864505009004706,
+              0.2037700547710108,
+              1.101906618367789
+            ],
+            "object_minus_gripper": [
+              -6.6204929871638285e-09,
+              4.101321593452667e-08,
+              1.649073775311649e-07
+            ],
+            "object_to_gripper_xy": 4.1544130857260665e-08,
+            "object_to_gripper_z": 1.649073775311649e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2864504942799776,
+              0.20377009578422672,
+              1.1019067832751666
+            ],
+            "finger_b": [
+              0.2864504942799776,
+              0.20377009578422672,
+              1.1019067832751666
+            ],
+            "finger_midpoint": [
+              0.2864504942799776,
+              0.20377009578422672,
+              1.1019067832751666
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019067832751666,
+            "object_top_z": 1.2269152898954463,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2864504942799776,
+            0.20377009578422672,
+            1.1019067832751666
+          ],
+          "object_origin_world": [
+            0.2864504942799776,
+            0.20377009578422672,
+            1.1019067832751666
+          ],
+          "frame_world": [
+            0.2864505009004706,
+            0.2037700547710108,
+            1.101906618367789
+          ],
+          "center_minus_frame": [
+            -6.6204929871638285e-09,
+            4.101321593452667e-08,
+            1.649073775311649e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.043384426839917,
+            "required_z": 0.9112599115124315,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009107994750173047,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.510059025948141e-08,
+            "max_target_xy_drift": 2.2414685174532712e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.8736262990298838,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.8738986821046923,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27397600660104227,
+              -0.35407967769166143,
+              0.9234974601162721
+            ],
+            "target_mouth_xy": [
+              0.27468917167610785,
+              -0.35465022406356483
+            ],
+            "rod_tip_z": 0.9234974601162721,
+            "rod_tip_depth": -0.02223761161803184,
+            "rod_tip_bottom_clearance": 0.12167818250032769,
+            "rod_tip_xy_dist": 0.0009133058560993848,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04484361449893126,
+            "min_rod_tip_bottom_clearance": 0.054596895882642826,
+            "min_rod_tip_xy_dist": 0.0009133058560993848,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.274689227879544,
+              -0.354650160162984
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -5.620343612733336e-08,
+              -6.390058082672567e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.00012231707706594763,
+                0.0022670285507035426
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.00022798965454728926,
+                0.001873227103944719
+              ],
+              "first_target_mouth_xy": [
+                0.27468922503040566,
+                -0.35465019194511904
+              ],
+              "last_target_mouth_xy": [
+                0.27468928959174027,
+                -0.3546501918054743
+              ],
+              "first_rod_tip_xy": [
+                0.2745669079533397,
+                -0.3523831633944155
+              ],
+              "last_rod_tip_xy": [
+                0.274461299937193,
+                -0.3527769647015296
+              ],
+              "min_rod_tip_xy_dist": 0.0018870503611546014,
+              "max_rod_tip_xy_dist": 0.002270325949516272,
+              "first_target_xy_drift": 3.190958627915495e-08,
+              "last_target_xy_drift": 6.935158515792789e-08,
+              "max_depth": 0.01967335806944004,
+              "min_bottom_clearance": 0.07976728884965423
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.00012231707706594763,
+                  0.0022670285507035426
+                ],
+                "rod_tip_xy": [
+                  0.2745669079533397,
+                  -0.3523831633944155
+                ],
+                "target_mouth_xy": [
+                  0.27468922503040566,
+                  -0.35465019194511904
+                ],
+                "gripper_position": [
+                  0.27455579755287474,
+                  -0.35239050564415164,
+                  1.0058781483364982
+                ],
+                "rod_tip_xy_dist": 0.002270325949516272,
+                "target_xy_drift": 3.190958627915495e-08,
+                "depth": 0.015238609376574952,
+                "bottom_clearance": 0.08420192789467162,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00013343083046757354,
+                  0.002259654181625659
+                ],
+                "rod_tip_xy": [
+                  0.27455579755287474,
+                  -0.3523905056441517
+                ],
+                "target_mouth_xy": [
+                  0.2746892283833423,
+                  -0.35465015982577736
+                ],
+                "gripper_position": [
+                  0.2745475406760105,
+                  -0.35239174575989946,
+                  1.00575314319002
+                ],
+                "rod_tip_xy_dist": 0.0022635902471643565,
+                "target_xy_drift": 6.062351767679101e-10,
+                "depth": 0.015381772888785838,
+                "bottom_clearance": 0.0840588652695674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0001416851613119663,
+                  0.00225847628886372
+                ],
+                "rod_tip_xy": [
+                  0.2745475406760105,
+                  -0.35239174575989946
+                ],
+                "target_mouth_xy": [
+                  0.27468922583732247,
+                  -0.3546502220487632
+                ],
+                "gripper_position": [
+                  0.27455111598652215,
+                  -0.35245828341197644,
+                  1.0052299000902625
+                ],
+                "rod_tip_xy_dist": 0.0022629162229953715,
+                "target_xy_drift": 6.191946650192553e-08,
+                "depth": 0.01550668899780061,
+                "bottom_clearance": 0.08393383004224719,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00013811281581488366,
+                  0.0021918789263342675
+                ],
+                "rod_tip_xy": [
+                  0.27455111598652215,
+                  -0.35245828341197655
+                ],
+                "target_mouth_xy": [
+                  0.27468922880233704,
+                  -0.3546501623383108
+                ],
+                "gripper_position": [
+                  0.2745398051463617,
+                  -0.3524658526617366,
+                  1.0050867691496004
+                ],
+                "rod_tip_xy_dist": 0.0021962259395609954,
+                "target_xy_drift": 2.3629629195264995e-09,
+                "depth": 0.016030004057142944,
+                "bottom_clearance": 0.08341060653596333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0001493900350084676,
+                  0.0021843110432512303
+                ],
+                "rod_tip_xy": [
+                  0.2745398051463617,
+                  -0.35246585266173663
+                ],
+                "target_mouth_xy": [
+                  0.2746891951813702,
+                  -0.35465016370498786
+                ],
+                "gripper_position": [
+                  0.2745315704958421,
+                  -0.35246689291496003,
+                  1.0049619386232522
+                ],
+                "rod_tip_xy_dist": 0.002189413646670978,
+                "target_xy_drift": 3.2889456666997667e-08,
+                "depth": 0.016173112693397607,
+                "bottom_clearance": 0.0832674850230185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00015765955716817714,
+                  0.0021832389364940252
+                ],
+                "rod_tip_xy": [
+                  0.2745315704958421,
+                  -0.35246689291496
+                ],
+                "target_mouth_xy": [
+                  0.27468923005301027,
+                  -0.354650131851454
+                ],
+                "gripper_position": [
+                  0.27453594096798384,
+                  -0.3525345153614053,
+                  1.0044396257766568
+                ],
+                "rod_tip_xy_dist": 0.0021889241169556397,
+                "target_xy_drift": 2.8394835572766353e-08,
+                "depth": 0.01629796465836375,
+                "bottom_clearance": 0.08314267312154644,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00015322352754176816,
+                  0.00211561696763779
+                ],
+                "rod_tip_xy": [
+                  0.27453594096798384,
+                  -0.3525345153614053
+                ],
+                "target_mouth_xy": [
+                  0.2746891644955256,
+                  -0.3546501323290431
+                ],
+                "gripper_position": [
+                  0.2745245387758594,
+                  -0.3525420574994831,
+                  1.004296933722273
+                ],
+                "rod_tip_xy_dist": 0.002121158316380289,
+                "target_xy_drift": 6.922616594949792e-08,
+                "depth": 0.01682025171864343,
+                "bottom_clearance": 0.08262031919792834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00016468977415984298,
+                  0.0021081057998947883
+                ],
+                "rod_tip_xy": [
+                  0.2745245387758594,
+                  -0.35254205749948303
+                ],
+                "target_mouth_xy": [
+                  0.27468922855001926,
+                  -0.3546501632993778
+                ],
+                "gripper_position": [
+                  0.27451600569750517,
+                  -0.3525432627236338,
+                  1.0041718184661816
+                ],
+                "rod_tip_xy_dist": 0.0021145289747986113,
+                "target_xy_drift": 3.207257901920967e-09,
+                "depth": 0.016962984947344495,
+                "bottom_clearance": 0.08247764792633405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0001731605386768864,
+                  0.002106868638083126
+                ],
+                "rod_tip_xy": [
+                  0.2745160056975052,
+                  -0.35254326272363384
+                ],
+                "target_mouth_xy": [
+                  0.2746891662361821,
+                  -0.35465013136171697
+                ],
+                "gripper_position": [
+                  0.2745212048733347,
+                  -0.3526114618552907,
+                  1.0036519794211707
+                ],
+                "rod_tip_xy_dist": 0.002113972570846915,
+                "target_xy_drift": 6.803981954947605e-08,
+                "depth": 0.017088010226010808,
+                "bottom_clearance": 0.08235250334775379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00016805491565602404,
+                  0.002038759150763403
+                ],
+                "rod_tip_xy": [
+                  0.2745212048733347,
+                  -0.35261146185529074
+                ],
+                "target_mouth_xy": [
+                  0.2746892597889907,
+                  -0.35465022100605414
+                ],
+                "gripper_position": [
+                  0.27450963496965963,
+                  -0.35261896010628574,
+                  1.0035095109245602
+                ],
+                "rod_tip_xy_dist": 0.0020456738081858663,
+                "target_xy_drift": 6.870292552553189e-08,
+                "depth": 0.017607924407261888,
+                "bottom_clearance": 0.08183271325842856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00017956001838542734,
+                  0.0020312331252145266
+                ],
+                "rod_tip_xy": [
+                  0.27450963496965963,
+                  -0.35261896010628585
+                ],
+                "target_mouth_xy": [
+                  0.27468919498804506,
+                  -0.3546501932315004
+                ],
+                "gripper_position": [
+                  0.2745009940126738,
+                  -0.3526197586345922,
+                  1.0033841973895035
+                ],
+                "rod_tip_xy_dist": 0.0020391541896510297,
+                "target_xy_drift": 4.6640942053721366e-08,
+                "depth": 0.01775037129432422,
+                "bottom_clearance": 0.08169022313498686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0001884190066958613,
+                  0.002030275175488816
+                ],
+                "rod_tip_xy": [
+                  0.2745009940126738,
+                  -0.3526197586345922
+                ],
+                "target_mouth_xy": [
+                  0.27468941301936967,
+                  -0.35465003381008103
+                ],
+                "gripper_position": [
+                  0.27449234346411605,
+                  -0.35262101532308826,
+                  1.0032591476630508
+                ],
+                "rod_tip_xy_dist": 0.002038999512086846,
+                "target_xy_drift": 2.2414685174532712e-07,
+                "depth": 0.01787594884092647,
+                "bottom_clearance": 0.0815651588294054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0001968807087180946,
+                  0.0020292070718561095
+                ],
+                "rod_tip_xy": [
+                  0.27449234346411605,
+                  -0.35262101532308815
+                ],
+                "target_mouth_xy": [
+                  0.27468922417283415,
+                  -0.35465022239494426
+                ],
+                "gripper_position": [
+                  0.27449900319457393,
+                  -0.3526913884777871,
+                  1.0027417411108837
+                ],
+                "rod_tip_xy_dist": 0.002038735724397889,
+                "target_xy_drift": 6.234225352451882e-08,
+                "depth": 0.018000740443663177,
+                "bottom_clearance": 0.0814398525865142,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00019025538704597889,
+                  0.0019588011304275676
+                ],
+                "rod_tip_xy": [
+                  0.27449900319457393,
+                  -0.3526913884777871
+                ],
+                "target_mouth_xy": [
+                  0.2746892585816199,
+                  -0.35465018960821465
+                ],
+                "gripper_position": [
+                  0.27448734951831955,
+                  -0.35269859377922974,
+                  1.0025993937910982
+                ],
+                "rod_tip_xy_dist": 0.0019680190499241444,
+                "target_xy_drift": 4.2539852778867264e-08,
+                "depth": 0.018518183277233535,
+                "bottom_clearance": 0.08092247013975717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0002018758267251508,
+                  0.0019516276463877325
+                ],
+                "rod_tip_xy": [
+                  0.27448734951831955,
+                  -0.3526985937792298
+                ],
+                "target_mouth_xy": [
+                  0.2746892253450447,
+                  -0.35465022142561753
+                ],
+                "gripper_position": [
+                  0.27447847259593805,
+                  -0.3526995642083008,
+                  1.0024744398384386
+                ],
+                "rod_tip_xy_dist": 0.001962040855731828,
+                "target_xy_drift": 6.131503855171346e-08,
+                "depth": 0.01866044088573804,
+                "bottom_clearance": 0.08078007275837007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00021084713083929785,
+                  0.0019505952603102172
+                ],
+                "rod_tip_xy": [
+                  0.27447847259593805,
+                  -0.3526995642083008
+                ],
+                "target_mouth_xy": [
+                  0.27468931972677735,
+                  -0.354650159468611
+                ],
+                "gripper_position": [
+                  0.2744697804460585,
+                  -0.3527004547850809,
+                  1.0023496092457571
+                ],
+                "rod_tip_xy_dist": 0.001961957793156583,
+                "target_xy_drift": 9.184985809679415e-08,
+                "depth": 0.01878550159905712,
+                "bottom_clearance": 0.08065522096534006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00021947164182334333,
+                  0.0019497356432080504
+                ],
+                "rod_tip_xy": [
+                  0.2744697804460585,
+                  -0.3527004547850809
+                ],
+                "target_mouth_xy": [
+                  0.27468925208788186,
+                  -0.35465019042828894
+                ],
+                "gripper_position": [
+                  0.27446093116199305,
+                  -0.3527014026623863,
+                  1.002224614284308
+                ],
+                "rod_tip_xy_dist": 0.0019620491532988016,
+                "target_xy_drift": 3.875606153658971e-08,
+                "depth": 0.018910280127008572,
+                "bottom_clearance": 0.08053039461997813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00022835707112506265,
+                  0.0019487888491311334
+                ],
+                "rod_tip_xy": [
+                  0.27446093116199305,
+                  -0.3527014026623863
+                ],
+                "target_mouth_xy": [
+                  0.2746892882331181,
+                  -0.35465019151151744
+                ],
+                "gripper_position": [
+                  0.27445221465392666,
+                  -0.3527022834329773,
+                  1.0020996787917036
+                ],
+                "rod_tip_xy_dist": 0.001962122557444021,
+                "target_xy_drift": 6.800944390192426e-08,
+                "depth": 0.019035277354511382,
+                "bottom_clearance": 0.08040530501955223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.00023704063506091444,
+                  0.00194790815456225
+                ],
+                "rod_tip_xy": [
+                  0.27445221465392666,
+                  -0.3527022834329773
+                ],
+                "target_mouth_xy": [
+                  0.2746892552889876,
+                  -0.3546501915875396
+                ],
+                "gripper_position": [
+                  0.274461299937193,
+                  -0.3527769647015296,
+                  1.0015865507207913
+                ],
+                "rod_tip_xy_dist": 0.0019622778705576313,
+                "target_xy_drift": 4.169868452794752e-08,
+                "depth": 0.019160151005153447,
+                "bottom_clearance": 0.08028035610633266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.00022798965454728926,
+                  0.001873227103944719
+                ],
+                "rod_tip_xy": [
+                  0.274461299937193,
+                  -0.3527769647015296
+                ],
+                "target_mouth_xy": [
+                  0.27468928959174027,
+                  -0.3546501918054743
+                ],
+                "gripper_position": [
+                  0.2744495752359091,
+                  -0.3527841550557122,
+                  1.0014446599136582
+                ],
+                "rod_tip_xy_dist": 0.0018870503611546014,
+                "target_xy_drift": 6.935158515792789e-08,
+                "depth": 0.01967335806944004,
+                "bottom_clearance": 0.07976728884965423,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006025466235583889,
+              "rod_tip_xy_max_step": 3.27003215821986e-05,
+              "rod_tip_xy_range": 0.0006025383632341416,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27397600660104227,
+            -0.35407967769166143,
+            1.043497460116272
+          ],
+          "object_origin_world": [
+            0.27397600660104227,
+            -0.35407967769166143,
+            1.043497460116272
+          ],
+          "frame_world": [
+            0.27397451063696365,
+            -0.3540855867615548,
+            1.043384426839917
+          ],
+          "center_minus_frame": [
+            1.4959640786127437e-06,
+            5.909069893395014e-06,
+            0.00011303327635503457
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27301781603786685,
+              0.15777582355079509,
+              0.8316796993506588
+            ],
+            "target_position": [
+              0.28661330812282626,
+              0.20450608905094098,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04866780371812888,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16896765217732068,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316796993506588,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668546679137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1391020474751252,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 299,
+            "max_placed_release_frames": 299
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21491381357421335,
+              0.027766944918072953,
+              1.0447036357132733
+            ],
+            "current_z": 1.0447036357132733,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.1881171879093525,
+            "gripper_z": 1.0491089857494496,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.210327348766902,
+              0.023198780878646783,
+              1.0491089857494496
+            ],
+            "object_minus_gripper": [
+              0.004586464807311341,
+              0.00456816403942617,
+              -0.004405350036176259
+            ],
+            "object_to_gripper_xy": 0.00647331307135781,
+            "object_to_gripper_z": -0.004405350036176259,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21491381357421335,
+              0.0036703655198454563,
+              1.0447036357132733
+            ],
+            "finger_b": [
+              0.2035775137886756,
+              0.027766944918072953,
+              1.0447036357132733
+            ],
+            "finger_midpoint": [
+              0.20924566368144448,
+              0.015718655218959203,
+              1.0447036357132733
+            ],
+            "object_minus_finger_midpoint": [
+              0.00566814989276887,
+              0.01204828969911375,
+              0.0
+            ],
+            "finger_gap": 0.026629998714282073,
+            "fingertip_max_gap": 0.09153055857510822,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013314999357141036,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447036357132733,
+            "object_top_z": 1.0904893611750694,
+            "finger_top_clearance": 0.045785725461796156,
+            "fingertip_min_top_clearance": 0.01373571763853883,
+            "object_projection_between_fingers": 0.8187824087492052,
+            "object_to_finger_line_xy": 0.010257831808223731,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048265279287554114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.542158584538311,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21485116579366553,
+              0.02619637325663582,
+              1.2430897984641098
+            ],
+            "held_position": [
+              0.21980791172436603,
+              0.030313536344097218,
+              1.2386369824362988
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007832492112208043,
+            "max_held_gripper_dist": 0.0078346772878272,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004452816027811002,
+            "max_held_gripper_z_dist": 0.004452816027811002,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602801954136233,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21980791172436603,
+              0.004788814789421209,
+              1.2386369824362988
+            ],
+            "held_grasp_finger_b": [
+              0.2107914688940254,
+              0.030598127646664766,
+              1.2386369824362988
+            ],
+            "held_grasp_midpoint": [
+              0.2152996903091957,
+              0.01769347121804299,
+              1.2386369824362988
+            ],
+            "held_grasp_object_position": [
+              0.21980791172436603,
+              0.030313536344097218,
+              1.2386369824362988
+            ],
+            "held_grasp_finger_gap": 0.027338925938593106,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024927515693372655,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08692021254289073,
+              -0.996199587442742,
+              0.005590941817744333
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003394976443197362,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032236265730138,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17460381937772163,
+              0.030844323195546947,
+              0.7565866601084619
+            ],
+            "target_position": [
+              0.19033664647624696,
+              0.02447750049499243,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01697227974705783,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20627757858983206,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866601084619,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755013671245364,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670314167802466,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1802880725434715,
+            "release_required_pad_clearance": 0.05335157083901233,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7182348316721794,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 334,
+            "max_placed_release_frames": 334
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "92b3b54973448fe4b5a11a82366d75c36bdfb45e13027f76a09f1c69f6f6d0cd",
+    "visual_seed": 2988925057159924774,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bea2a609c24aeca36e2335cb2d15f2d40d3ebc16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_4_success.json
@@ -0,0 +1,2670 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21327860272859647,
+              -0.14090049170431207,
+              1.1664356655154196
+            ],
+            "current_z": 1.1664356655154196,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.30532927670994325,
+            "gripper_z": 1.1597119477755822,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2091623939853425,
+              -0.14536405982639478,
+              1.1597119477755822
+            ],
+            "object_minus_gripper": [
+              0.0041162087432539685,
+              0.004463568122082706,
+              0.006723717739837376
+            ],
+            "object_to_gripper_xy": 0.006071788434927007,
+            "object_to_gripper_z": 0.006723717739837376,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21327860272859647,
+              -0.16417655147682195,
+              1.1664356655154196
+            ],
+            "finger_b": [
+              0.20267854255340378,
+              -0.14090049170431207,
+              1.1664356655154196
+            ],
+            "finger_midpoint": [
+              0.20797857264100011,
+              -0.15253852159056702,
+              1.1664356655154196
+            ],
+            "object_minus_finger_midpoint": [
+              0.005300030087596358,
+              0.011638029886254952,
+              0.0
+            ],
+            "finger_gap": 0.02557608715677906,
+            "fingertip_max_gap": 0.09268263350905853,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012788043578389547,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664356655154196,
+            "object_top_z": 1.21638958023707,
+            "finger_top_clearance": 0.04995391472165034,
+            "fingertip_min_top_clearance": 0.014986174416495067,
+            "object_projection_between_fingers": 0.8282295493899143,
+            "object_to_finger_line_xy": 0.009646809252626065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884131675452927,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4355046050580573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2680714261610734,
+              -0.3488679264584721,
+              0.8515396038899744
+            ],
+            "target_position": [
+              0.2611498590318848,
+              -0.34880855001288325,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00692182180398733,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1821912380933046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396038899744,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522837231455053,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531940475367854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15076921054969752,
+            "release_required_pad_clearance": 0.05265970237683927,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37742317457633123,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074648261070251465,
+            "max_z_decrease": 0.0074648261070251465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518680252039251,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074648261070251465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021088514556006577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074648261070251465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007464848993172056,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11684978753328318,
+              -0.4050700068473816,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11684978753328318,
+              -0.4050700068473816,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11864760637792451,
+              -0.4033701844637987,
+              0.8078268107248863
+            ],
+            "closest_button": [
+              0.11683904379606241,
+              -0.4050678312778473,
+              0.7727275490760803
+            ],
+            "closest_ee_minus_button": [
+              0.0018085625818620998,
+              0.0016976468140486034,
+              0.035099261648805946
+            ],
+            "button_min_z_position": [
+              0.1168313473463058,
+              -0.4050687253475189,
+              0.7693440318107605
+            ],
+            "min_active_finger_to_button": 0.14390123915691103,
+            "closest_active_finger": [
+              -0.009483903646469116,
+              -0.46479082107543945,
+              0.8104773759841919
+            ],
+            "closest_active_finger_button": [
+              0.1168492957949638,
+              -0.40506941080093384,
+              0.7761139869689941
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263331994414329,
+              -0.059721410274505615,
+              0.034363389015197754
+            ],
+            "min_contact_pad_to_button": 0.021088514556006577,
+            "closest_contact_pad": [
+              0.1168313473463058,
+              -0.4050687253475189,
+              0.7904325463667671
+            ],
+            "closest_contact_pad_button": [
+              0.1168313473463058,
+              -0.4050687253475189,
+              0.7693440318107605
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021088514556006577
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28109592148358126,
+              0.20020917481261538,
+              1.1026575883643304
+            ],
+            "current_z": 1.1026575883643304,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1927484586299678,
+            "gripper_z": 1.1026578704839443,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2810958417923881,
+              0.2002090684211118,
+              1.1026578704839443
+            ],
+            "object_minus_gripper": [
+              7.969119314443773e-08,
+              1.0639150357927285e-07,
+              -2.82119613892462e-07
+            ],
+            "object_to_gripper_xy": 1.329279440096871e-07,
+            "object_to_gripper_z": -2.82119613892462e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28109592148358126,
+              0.20020917481261538,
+              1.1026575883643304
+            ],
+            "finger_b": [
+              0.28109592148358126,
+              0.20020917481261538,
+              1.1026575883643304
+            ],
+            "finger_midpoint": [
+              0.28109592148358126,
+              0.20020917481261538,
+              1.1026575883643304
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1026575883643304,
+            "object_top_z": 1.22766609498461,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2810959214835813,
+            0.20020917481261538,
+            1.1026575883643304
+          ],
+          "object_origin_world": [
+            0.2810959214835813,
+            0.20020917481261538,
+            1.1026575883643304
+          ],
+          "frame_world": [
+            0.2810958417923881,
+            0.2002090684211118,
+            1.1026578704839443
+          ],
+          "center_minus_frame": [
+            7.969119319994888e-08,
+            1.0639150357927285e-07,
+            -2.82119613892462e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432754707849567,
+            "required_z": 0.9112598562398511,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007613013995353582,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1859984900803518e-07,
+            "max_target_xy_drift": 2.295815363604313e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3774231805538468,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3774231807952651,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2688013552793153,
+              -0.3486433306990969,
+              0.9233854425582849
+            ],
+            "target_mouth_xy": [
+              0.2680712454062001,
+              -0.3488678633645177
+            ],
+            "rod_tip_z": 0.9233854425582849,
+            "rod_tip_depth": -0.02212553718512711,
+            "rod_tip_bottom_clearance": 0.12156609693713294,
+            "rod_tip_xy_dist": 0.0007638555784055569,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04447466515958487,
+            "min_rod_tip_bottom_clearance": 0.05496590506330801,
+            "min_rod_tip_xy_dist": 0.0002072102261263097,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26807124534666393,
+              -0.34886798196435176
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.953615378473387e-11,
+              1.185998340647032e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0012689957981281141,
+                0.0018905184501099015
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001170146890210999,
+                0.0015228351723363676
+              ],
+              "first_target_mouth_xy": [
+                0.2680712456701101,
+                -0.34886798258266805
+              ],
+              "last_target_mouth_xy": [
+                0.2680711991556749,
+                -0.34886795373949914
+              ],
+              "first_rod_tip_xy": [
+                0.2693402414682382,
+                -0.34697746413255814
+              ],
+              "last_rod_tip_xy": [
+                0.2692413460458859,
+                -0.34734511856716277
+              ],
+              "min_rod_tip_xy_dist": 0.0019204871014342185,
+              "max_rod_tip_xy_dist": 0.0022769300265648817,
+              "first_target_xy_drift": 6.97805451720353e-10,
+              "last_target_xy_drift": 5.413178154680673e-08,
+              "max_depth": 0.01950274496680604,
+              "min_bottom_clearance": 0.07993781814900769
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012689957981281141,
+                  0.0018905184501099015
+                ],
+                "rod_tip_xy": [
+                  0.2693402414682382,
+                  -0.34697746413255814
+                ],
+                "target_mouth_xy": [
+                  0.2680712456701101,
+                  -0.34886798258266805
+                ],
+                "gripper_position": [
+                  0.26933200193565476,
+                  -0.34697832180787164,
+                  1.006004135809571
+                ],
+                "rod_tip_xy_dist": 0.0022769300265648817,
+                "target_xy_drift": 6.97805451720353e-10,
+                "depth": 0.015133906581986767,
+                "bottom_clearance": 0.08430666294595623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0012606958753392794,
+                  0.0018895691538285964
+                ],
+                "rod_tip_xy": [
+                  0.26933200193565465,
+                  -0.3469783218078716
+                ],
+                "target_mouth_xy": [
+                  0.2680713060603154,
+                  -0.3488678909617002
+                ],
+                "gripper_position": [
+                  0.2693371989157165,
+                  -0.3470415009405157,
+                  1.005483958113248
+                ],
+                "rod_tip_xy_dist": 0.0022715249673287744,
+                "target_xy_drift": 1.0939666387012866e-07,
+                "depth": 0.015255757821583837,
+                "bottom_clearance": 0.08418492162911917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001265890245114365,
+                  0.001826515245267668
+                ],
+                "rod_tip_xy": [
+                  0.2693371989157164,
+                  -0.34704150094051567
+                ],
+                "target_mouth_xy": [
+                  0.268071308670602,
+                  -0.34886801618578334
+                ],
+                "gripper_position": [
+                  0.2693259492395333,
+                  -0.347048708900835,
+                  1.005345808016978
+                ],
+                "rod_tip_xy_dist": 0.002222304221719186,
+                "target_xy_drift": 7.197935478199572e-08,
+                "depth": 0.015776038264960213,
+                "bottom_clearance": 0.08366466618262958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001254701938496805,
+                  0.0018192445098001997
+                ],
+                "rod_tip_xy": [
+                  0.2693259492395332,
+                  -0.34704870890083506
+                ],
+                "target_mouth_xy": [
+                  0.2680712473010364,
+                  -0.34886795341063526
+                ],
+                "gripper_position": [
+                  0.2693175586442559,
+                  -0.3470493861155858,
+                  1.005224027629942
+                ],
+                "rod_tip_xy_dist": 0.0022099609817609472,
+                "target_xy_drift": 2.862052231768245e-08,
+                "depth": 0.015914100807718934,
+                "bottom_clearance": 0.0835265084460114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0012463134426728972,
+                  0.0018185669846517705
+                ],
+                "rod_tip_xy": [
+                  0.2693175586442558,
+                  -0.3470493861155858
+                ],
+                "target_mouth_xy": [
+                  0.2680712452015829,
+                  -0.34886795310023755
+                ],
+                "gripper_position": [
+                  0.26932364024038474,
+                  -0.34711386671034994,
+                  1.004704103578579
+                ],
+                "rod_tip_xy_dist": 0.0022046503294292728,
+                "target_xy_drift": 2.8864478821460324e-08,
+                "depth": 0.01603581063237236,
+                "bottom_clearance": 0.08340472944812993,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0012523796821665711,
+                  0.0017541187277854142
+                ],
+                "rod_tip_xy": [
+                  0.26932364024038463,
+                  -0.34711386671034994
+                ],
+                "target_mouth_xy": [
+                  0.26807126055821806,
+                  -0.34886798543813535
+                ],
+                "gripper_position": [
+                  0.26931231705675424,
+                  -0.3471205667658908,
+                  1.0045656369281812
+                ],
+                "rod_tip_xy_dist": 0.0021553160741457763,
+                "target_xy_drift": 1.5603158379966117e-08,
+                "depth": 0.0165557293093892,
+                "bottom_clearance": 0.0828848099085262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012410387385723975,
+                  0.001747354309890592
+                ],
+                "rod_tip_xy": [
+                  0.2693123170567542,
+                  -0.34712056676589076
+                ],
+                "target_mouth_xy": [
+                  0.2680712783181818,
+                  -0.34886792107578135
+                ],
+                "gripper_position": [
+                  0.269303837968013,
+                  -0.34712137238175406,
+                  1.0044438798941606
+                ],
+                "rod_tip_xy_dist": 0.002143227527569249,
+                "target_xy_drift": 6.924260968219984e-08,
+                "depth": 0.016694386563188224,
+                "bottom_clearance": 0.08274636056254436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012326202396704122,
+                  0.0017465816575110704
+                ],
+                "rod_tip_xy": [
+                  0.26930383796801294,
+                  -0.347121372381754
+                ],
+                "target_mouth_xy": [
+                  0.2680712177283425,
+                  -0.34886795403926507
+                ],
+                "gripper_position": [
+                  0.26931066267979686,
+                  -0.3471868443493289,
+                  1.0039263695976497
+                ],
+                "rod_tip_xy_dist": 0.0021377324766207913,
+                "target_xy_drift": 3.927571952081997e-08,
+                "depth": 0.01681601947046396,
+                "bottom_clearance": 0.08262457594371753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0012394458276778764,
+                  0.0016811084259904518
+                ],
+                "rod_tip_xy": [
+                  0.26931066267979675,
+                  -0.3471868443493288
+                ],
+                "target_mouth_xy": [
+                  0.2680712168521189,
+                  -0.34886795277531923
+                ],
+                "gripper_position": [
+                  0.26929922790632344,
+                  -0.34719359494955754,
+                  1.0037879541530135
+                ],
+                "rod_tip_xy_dist": 0.0020886243079319437,
+                "target_xy_drift": 4.0791404948877344e-08,
+                "depth": 0.017333545527886685,
+                "bottom_clearance": 0.08210706185301175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012280122914316016,
+                  0.0016743571942299806
+                ],
+                "rod_tip_xy": [
+                  0.2692992279063234,
+                  -0.3471935949495576
+                ],
+                "target_mouth_xy": [
+                  0.2680712156148918,
+                  -0.3488679521437876
+                ],
+                "gripper_position": [
+                  0.2692908416415718,
+                  -0.34719390368562825,
+                  1.0036666174712652
+                ],
+                "rod_tip_xy_dist": 0.0020764118574542927,
+                "target_xy_drift": 4.210990766779524e-08,
+                "depth": 0.01747184336410923,
+                "bottom_clearance": 0.08196873943573735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0012195339358714308,
+                  0.0016739562024011834
+                ],
+                "rod_tip_xy": [
+                  0.26929084164157174,
+                  -0.3471939036856283
+                ],
+                "target_mouth_xy": [
+                  0.2680713077057003,
+                  -0.3488678598880295
+                ],
+                "gripper_position": [
+                  0.26929833246975565,
+                  -0.3472606081751065,
+                  1.0031524164183332
+                ],
+                "rod_tip_xy_dist": 0.0020710848336800342,
+                "target_xy_drift": 1.370812820112897e-07,
+                "depth": 0.017593431214687816,
+                "bottom_clearance": 0.08184735718894565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0012270842173230934,
+                  0.0016073759847827773
+                ],
+                "rod_tip_xy": [
+                  0.26929833246975554,
+                  -0.3472606081751064
+                ],
+                "target_mouth_xy": [
+                  0.26807124825243245,
+                  -0.3488679841598892
+                ],
+                "gripper_position": [
+                  0.2692869217514643,
+                  -0.34726693185315793,
+                  1.0030140630413868
+                ],
+                "rod_tip_xy_dist": 0.0020222248225308264,
+                "target_xy_drift": 3.6419603535981623e-09,
+                "depth": 0.01810748294024289,
+                "bottom_clearance": 0.0813331286772464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012156914099102911,
+                  0.001601052630431976
+                ],
+                "rod_tip_xy": [
+                  0.2692869217514642,
+                  -0.34726693185315805
+                ],
+                "target_mouth_xy": [
+                  0.2680712303415539,
+                  -0.34886798448359
+                ],
+                "gripper_position": [
+                  0.26927815541542416,
+                  -0.34726754954980543,
+                  1.0028926840584274
+                ],
+                "rod_tip_xy_dist": 0.0020102922995283105,
+                "target_xy_drift": 1.5215120401652273e-08,
+                "depth": 0.018245749502165953,
+                "bottom_clearance": 0.08119473983290426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0012069087821216518,
+                  0.001600404812796996
+                ],
+                "rod_tip_xy": [
+                  0.26927815541542405,
+                  -0.34726754954980543
+                ],
+                "target_mouth_xy": [
+                  0.2680712466333024,
+                  -0.34886795436260243
+                ],
+                "gripper_position": [
+                  0.26926956563423643,
+                  -0.3472679804458225,
+                  1.0027715987365622
+                ],
+                "rod_tip_xy_dist": 0.002004476084463508,
+                "target_xy_drift": 2.763172098587998e-08,
+                "depth": 0.01836720243642087,
+                "bottom_clearance": 0.08107334697120472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011983179786592135,
+                  0.0015999735950243954
+                ],
+                "rod_tip_xy": [
+                  0.2692695656342363,
+                  -0.34726798044582263
+                ],
+                "target_mouth_xy": [
+                  0.2680712476555771,
+                  -0.34886795404084703
+                ],
+                "gripper_position": [
+                  0.2692608741586515,
+                  -0.34726859517320685,
+                  1.0026501412905833
+                ],
+                "rod_tip_xy_dist": 0.001998970105517637,
+                "target_xy_drift": 2.801880076804599e-08,
+                "depth": 0.018488241980791464,
+                "bottom_clearance": 0.08095235816238544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011895645911515484,
+                  0.0015993566585138508
+                ],
+                "rod_tip_xy": [
+                  0.26926087415865146,
+                  -0.34726859517320685
+                ],
+                "target_mouth_xy": [
+                  0.2680713095674999,
+                  -0.3488679518317207
+                ],
+                "gripper_position": [
+                  0.2692705402942828,
+                  -0.34733800969069273,
+                  1.00213764247797
+                ],
+                "rod_tip_xy_dist": 0.001993239984962709,
+                "target_xy_drift": 7.093864411378698e-08,
+                "depth": 0.01860981691822705,
+                "bottom_clearance": 0.08083095131364615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0011992792664148877,
+                  0.0015299456251022248
+                ],
+                "rod_tip_xy": [
+                  0.2692705402942827,
+                  -0.34733800969069273
+                ],
+                "target_mouth_xy": [
+                  0.2680712610278678,
+                  -0.34886795531579495
+                ],
+                "gripper_position": [
+                  0.269258954813304,
+                  -0.34734463209098615,
+                  1.0019994353293031
+                ],
+                "rod_tip_xy_dist": 0.0019439661454413418,
+                "target_xy_drift": 3.0919989251207984e-08,
+                "depth": 0.019122188508024607,
+                "bottom_clearance": 0.08031835753533234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001187646597499814,
+                  0.001523288675455814
+                ],
+                "rod_tip_xy": [
+                  0.26925895481330386,
+                  -0.3473446320909862
+                ],
+                "target_mouth_xy": [
+                  0.26807130821580405,
+                  -0.348867920766442
+                ],
+                "gripper_position": [
+                  0.269250107851322,
+                  -0.34734487139301334,
+                  1.001878488046822
+                ],
+                "rod_tip_xy_dist": 0.0019315570996801554,
+                "target_xy_drift": 8.773661114642433e-08,
+                "depth": 0.01926053487145385,
+                "bottom_clearance": 0.08018022707553651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011788612510871266,
+                  0.0015230832880674394
+                ],
+                "rod_tip_xy": [
+                  0.26925010785132186,
+                  -0.3473448713930134
+                ],
+                "target_mouth_xy": [
+                  0.26807124660023474,
+                  -0.34886795468108084
+                ],
+                "gripper_position": [
+                  0.269241346045886,
+                  -0.34734511856716277,
+                  1.00175717958852
+                ],
+                "rod_tip_xy_dist": 0.0019260053353262103,
+                "target_xy_drift": 2.731205433259394e-08,
+                "depth": 0.019381335459355165,
+                "bottom_clearance": 0.08005920638788011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001170146890210999,
+                  0.0015228351723363676
+                ],
+                "rod_tip_xy": [
+                  0.2692413460458859,
+                  -0.34734511856716277
+                ],
+                "target_mouth_xy": [
+                  0.2680711991556749,
+                  -0.34886795373949914
+                ],
+                "gripper_position": [
+                  0.269232402505479,
+                  -0.34734552635270083,
+                  1.0016361987138394
+                ],
+                "rod_tip_xy_dist": 0.0019204871014342185,
+                "target_xy_drift": 5.413178154680673e-08,
+                "depth": 0.01950274496680604,
+                "bottom_clearance": 0.07993781814900769,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005959518051082916,
+              "rod_tip_xy_max_step": 3.241677325872564e-05,
+              "rod_tip_xy_range": 0.0005959425932368602,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26880135527931537,
+            -0.3486433306990969,
+            1.0433854425582851
+          ],
+          "object_origin_world": [
+            0.26880135527931537,
+            -0.3486433306990969,
+            1.0433854425582851
+          ],
+          "frame_world": [
+            0.2687999808570197,
+            -0.34864758067420093,
+            1.0432754707849567
+          ],
+          "center_minus_frame": [
+            1.374422295641331e-06,
+            4.249975104009263e-06,
+            0.00010997177332838781
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26786506103066776,
+              0.15520969991202832,
+              0.8327546228415856
+            ],
+            "target_position": [
+              0.2812649775940344,
+              0.20177083981268307,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048450980513850606,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16679705201107764,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327546228415856,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671256840363,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.135396495047199,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 297,
+            "max_placed_release_frames": 297
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2070855155564627,
+              0.02106987403195848,
+              1.0445535419303977
+            ],
+            "current_z": 1.0445535419303977,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18796715373112172,
+            "gripper_z": 1.0489217830178286,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2024721450045053,
+              0.01653427998039582,
+              1.0489217830178286
+            ],
+            "object_minus_gripper": [
+              0.004613370551957402,
+              0.004535594051562661,
+              -0.004368241087430835
+            ],
+            "object_to_gripper_xy": 0.006469528672958976,
+            "object_to_gripper_z": -0.004368241087430835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2070855155564627,
+              -0.003064496625686773,
+              1.0445535419303977
+            ],
+            "finger_b": [
+              0.19589251405517855,
+              0.02106987403195848,
+              1.0445535419303977
+            ],
+            "finger_midpoint": [
+              0.20148901480582063,
+              0.009002688703135853,
+              1.0445535419303977
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055965007506420805,
+              0.012067185328822626,
+              0.0
+            ],
+            "finger_gap": 0.02660359241997888,
+            "fingertip_max_gap": 0.09189286093236923,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01330179620998944,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445535419303977,
+            "object_top_z": 1.0904770647863837,
+            "finger_top_clearance": 0.045923522855986,
+            "fingertip_min_top_clearance": 0.013777056856795816,
+            "object_projection_between_fingers": 0.8229839877896121,
+            "object_to_finger_line_xy": 0.010154119140718152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844643046618462,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7262971535975377,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20637885820019705,
+              0.019623882828531572,
+              1.2430112344028463
+            ],
+            "held_position": [
+              0.21132885138561205,
+              0.023759186355919233,
+              1.2386149812707752
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007805780511936342,
+            "max_held_gripper_dist": 0.0078087397261976735,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004396253132071148,
+            "max_held_gripper_z_dist": 0.004396644208291223,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08563094843446512,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21132885138561205,
+              -0.0016635705667413575,
+              1.2386149812707752
+            ],
+            "held_grasp_finger_b": [
+              0.20229156589176558,
+              0.023894339159477702,
+              1.2386149812707752
+            ],
+            "held_grasp_midpoint": [
+              0.20681020863868882,
+              0.011115384296368172,
+              1.2386149812707752
+            ],
+            "held_grasp_object_position": [
+              0.21132885138561205,
+              0.023759186355919233,
+              1.2386149812707752
+            ],
+            "held_grasp_finger_gap": 0.02710865689536925,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024758833098685925,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07947266284434129,
+              -0.9968362246631747,
+              0.001279476337612717
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003499552326149461,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032237316483839165,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1665478943477332,
+              0.019863592484551683,
+              0.7565877865869303
+            ],
+            "target_position": [
+              0.18318291380258536,
+              0.0199073909917075,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016635077113513447,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2055060701786085,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565877865869303,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07633527043589032,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08930038013175366,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17629060429979154,
+            "release_required_pad_clearance": 0.05465019006587683,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.337962215412104,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 341,
+            "max_placed_release_frames": 341
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2bab3a5e762a151925bd5535860938ad3d6d5c17081f5969b34a97887dedca89",
+    "visual_seed": 5415058982724461301,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63ce7f4993c0039c304c6d5f78f8f184b8014082
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_50_success.json
@@ -0,0 +1,2670 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21144402923791727,
+              -0.13965959869653852,
+              1.1639043667430782
+            ],
+            "current_z": 1.1639043667430782,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.3027977395190228,
+            "gripper_z": 1.1574251401664306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2071091983507123,
+              -0.14412028849362107,
+              1.1574251401664306
+            ],
+            "object_minus_gripper": [
+              0.004334830887204988,
+              0.0044606897970825565,
+              0.006479226576647568
+            ],
+            "object_to_gripper_xy": 0.006220009026236441,
+            "object_to_gripper_z": 0.006479226576647568,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21144402923791727,
+              -0.1632033875341036,
+              1.1639043667430782
+            ],
+            "finger_b": [
+              0.201028842167508,
+              -0.13965959869653852,
+              1.1639043667430782
+            ],
+            "finger_midpoint": [
+              0.20623643570271263,
+              -0.15143149311532106,
+              1.1639043667430782
+            ],
+            "object_minus_finger_midpoint": [
+              0.005207593535204641,
+              0.011771894418782541,
+              0.0
+            ],
+            "finger_gap": 0.025744632732658566,
+            "fingertip_max_gap": 0.09233534740767796,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012872316366329283,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1639043667430782,
+            "object_top_z": 1.2138987913245225,
+            "finger_top_clearance": 0.04999442458144432,
+            "fingertip_min_top_clearance": 0.014998327374433296,
+            "object_projection_between_fingers": 0.836333140764433,
+            "object_to_finger_line_xy": 0.0095248189257867,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866767370383898,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.967962313976569,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 331,
+            "max_stable_success_frames": 331,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2705661739574184,
+              -0.3522357998092036,
+              0.851539586059321
+            ],
+            "target_position": [
+              0.2630726547064479,
+              -0.35263998376480843,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007504411731417287,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849729705567714,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539586059321,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560219860099371,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08662384311531111,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526037437254517,
+            "release_required_pad_clearance": 0.05331192155765556,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6418291647966619,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007466673851013184,
+            "max_z_decrease": 0.007466673851013184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110679236371505,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007466673851013184,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021216915726481093,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007466673851013184,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007466697247967507,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11877258121967314,
+              -0.4089014530181884,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11877258121967314,
+              -0.4089014530181884,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11842814138498459,
+              -0.4104922487897582,
+              0.8077159789486476
+            ],
+            "closest_button": [
+              0.1187615096569061,
+              -0.40889686346054077,
+              0.7726431488990784
+            ],
+            "closest_ee_minus_button": [
+              -0.00033336827192151364,
+              -0.0015953853292174358,
+              0.03507283004956918
+            ],
+            "button_min_z_position": [
+              0.11875411868095397,
+              -0.4088985323905945,
+              0.7693421840667725
+            ],
+            "min_active_finger_to_button": 0.1463929178003279,
+            "closest_active_finger": [
+              -0.02288389950990677,
+              -0.395784854888916,
+              0.8108153343200684
+            ],
+            "closest_active_finger_button": [
+              0.11877354234457015,
+              -0.40890017151832575,
+              0.7762893438339233
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14165744185447693,
+              0.013115316629409735,
+              0.03452599048614502
+            ],
+            "min_contact_pad_to_button": 0.021216915726481093,
+            "closest_contact_pad": [
+              0.11875411868095397,
+              -0.4114145943165345,
+              0.7904093847666622
+            ],
+            "closest_contact_pad_button": [
+              0.11875411868095397,
+              -0.4088985323905945,
+              0.7693421840667725
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025160619259400052,
+              0.021067200699889765
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.281659615404833,
+              0.1960633892480699,
+              1.102589341154831
+            ],
+            "current_z": 1.102589341154831,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19268021142046854,
+            "gripper_z": 1.1025897214311222,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2816597230100273,
+              0.1960633240038755,
+              1.1025897214311222
+            ],
+            "object_minus_gripper": [
+              -1.0760519431052273e-07,
+              6.524419440823159e-08,
+              -3.802762911231383e-07
+            ],
+            "object_to_gripper_xy": 1.258399091965044e-07,
+            "object_to_gripper_z": -3.802762911231383e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.281659615404833,
+              0.1960633892480699,
+              1.102589341154831
+            ],
+            "finger_b": [
+              0.281659615404833,
+              0.1960633892480699,
+              1.102589341154831
+            ],
+            "finger_midpoint": [
+              0.281659615404833,
+              0.1960633892480699,
+              1.102589341154831
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102589341154831,
+            "object_top_z": 1.2275978477751108,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 237,
+            "max_stable_success_frames": 237,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28165961540483303,
+            0.19606338924806993,
+            1.1025893411548313
+          ],
+          "object_origin_world": [
+            0.28165961540483303,
+            0.19606338924806993,
+            1.1025893411548313
+          ],
+          "frame_world": [
+            0.2816597230100273,
+            0.1960633240038755,
+            1.1025897214311222
+          ],
+          "center_minus_frame": [
+            -1.0760519425501158e-07,
+            6.524419443598717e-08,
+            -3.802762909010937e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437433559727758,
+            "required_z": 0.9112598395514419,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018350764466833207,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.933547858989302e-08,
+            "max_target_xy_drift": 1.6458589692421367e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.64182916521139,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.641829165441178,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2716473133037338,
+              -0.353702863160948,
+              0.9234330121722724
+            ],
+            "target_mouth_xy": [
+              0.2705661763351792,
+              -0.3522357715146912
+            ],
+            "rod_tip_z": 0.9234330121722724,
+            "rod_tip_depth": -0.0221731608457314,
+            "rod_tip_bottom_clearance": 0.1216137439600018,
+            "rod_tip_xy_dist": 0.0018224201061478498,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04469499853773218,
+            "min_rod_tip_bottom_clearance": 0.054745572206277404,
+            "min_rod_tip_xy_dist": 0.000460944117728245,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2705661755174394,
+              -0.35223583084453464
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.177398203024211e-10,
+              5.932984342704728e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0015894585183244825,
+                0.00031105696174127395
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014989530896797887,
+                -9.739840390421417e-05
+              ],
+              "first_target_mouth_xy": [
+                0.27056617284046586,
+                -0.35223577063517986
+              ],
+              "last_target_mouth_xy": [
+                0.27056620740597137,
+                -0.3522357997419925
+              ],
+              "first_rod_tip_xy": [
+                0.27215563135879034,
+                -0.3519247136734386
+              ],
+              "last_rod_tip_xy": [
+                0.27206516049565116,
+                -0.3523331981458967
+              ],
+              "min_rod_tip_xy_dist": 0.0014860880918755334,
+              "max_rod_tip_xy_dist": 0.001619609463704745,
+              "first_target_xy_drift": 6.026883597909775e-08,
+              "last_target_xy_drift": 4.454488298690754e-08,
+              "max_depth": 0.019846315833588868,
+              "min_bottom_clearance": 0.0795942628649815
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015894585183244825,
+                  0.00031105696174127395
+                ],
+                "rod_tip_xy": [
+                  0.27215563135879034,
+                  -0.3519247136734386
+                ],
+                "target_mouth_xy": [
+                  0.27056617284046586,
+                  -0.35223577063517986
+                ],
+                "gripper_position": [
+                  0.2721443580300005,
+                  -0.35193225173487946,
+                  1.0056738051935732
+                ],
+                "rod_tip_xy_dist": 0.001619609463704745,
+                "target_xy_drift": 6.026883597909775e-08,
+                "depth": 0.015444811502058342,
+                "bottom_clearance": 0.08399580606878876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015781521962170975,
+                  0.00030348746429309514
+                ],
+                "rod_tip_xy": [
+                  0.2721443580300003,
+                  -0.3519322517348795
+                ],
+                "target_mouth_xy": [
+                  0.2705662058337832,
+                  -0.3522357391991726
+                ],
+                "gripper_position": [
+                  0.2721505718000833,
+                  -0.35200126952377464,
+                  1.0051539906197098
+                ],
+                "rod_tip_xy_dist": 0.0016070684476424458,
+                "target_xy_drift": 9.652954512950718e-08,
+                "depth": 0.015585961302174267,
+                "bottom_clearance": 0.08385456614170983,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015843663423871779,
+                  0.00023449851938250887
+                ],
+                "rod_tip_xy": [
+                  0.2721505718000831,
+                  -0.35200126952377475
+                ],
+                "target_mouth_xy": [
+                  0.27056620545769594,
+                  -0.35223576804315726
+                ],
+                "gripper_position": [
+                  0.2721392053666724,
+                  -0.352008736729692,
+                  1.0050129026067411
+                ],
+                "rod_tip_xy_dist": 0.0016016261306815373,
+                "target_xy_drift": 6.957321296835436e-08,
+                "depth": 0.016105850006526423,
+                "bottom_clearance": 0.0833346986372504,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015730002626072048,
+                  0.0002270338646870318
+                ],
+                "rod_tip_xy": [
+                  0.27213920536667224,
+                  -0.352008736729692
+                ],
+                "target_mouth_xy": [
+                  0.27056620510406504,
+                  -0.35223577059437905
+                ],
+                "gripper_position": [
+                  0.27213078922167544,
+                  -0.3520098255026965,
+                  1.0048887412429839
+                ],
+                "rod_tip_xy_dist": 0.0015892999093553943,
+                "target_xy_drift": 6.712264644336836e-08,
+                "depth": 0.016246930478713395,
+                "bottom_clearance": 0.08319359347180533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015645844212826554,
+                  0.00022594381890572723
+                ],
+                "rod_tip_xy": [
+                  0.2721307892216753,
+                  -0.35200982550269655
+                ],
+                "target_mouth_xy": [
+                  0.2705662048003926,
+                  -0.3522357693216023
+                ],
+                "gripper_position": [
+                  0.272137984284177,
+                  -0.3520799197321763,
+                  1.0043697789753272
+                ],
+                "rod_tip_xy_dist": 0.0015808146699161434,
+                "target_xy_drift": 6.813635267568657e-08,
+                "depth": 0.016371088375656373,
+                "bottom_clearance": 0.08306942262342798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015717774818380104,
+                  0.00015585051384270354
+                ],
+                "rod_tip_xy": [
+                  0.27213798428417685,
+                  -0.35207991973217634
+                ],
+                "target_mouth_xy": [
+                  0.27056620680233884,
+                  -0.35223577024601904
+                ],
+                "gripper_position": [
+                  0.27212649848530557,
+                  -0.35208718613039197,
+                  1.0042286051031604
+                ],
+                "rod_tip_xy_dist": 0.0015794853070155706,
+                "target_xy_drift": 6.819769076562057e-08,
+                "depth": 0.016890115238026526,
+                "bottom_clearance": 0.08255045023356367,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015602921533363068,
+                  0.00014858475327772513
+                ],
+                "rod_tip_xy": [
+                  0.2721264984853054,
+                  -0.352087186130392
+                ],
+                "target_mouth_xy": [
+                  0.2705662063319691,
+                  -0.35223577088366975
+                ],
+                "gripper_position": [
+                  0.2721178479202963,
+                  -0.35208826576835,
+                  1.0041046696180567
+                ],
+                "rod_tip_xy_dist": 0.0015673509602732413,
+                "target_xy_drift": 6.741543264461737e-08,
+                "depth": 0.017031177149729904,
+                "bottom_clearance": 0.08240939181383788,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015516391165689702,
+                  0.00014750317370204602
+                ],
+                "rod_tip_xy": [
+                  0.27211784792029614,
+                  -0.35208826576835006
+                ],
+                "target_mouth_xy": [
+                  0.27056620880372717,
+                  -0.3522357689420521
+                ],
+                "gripper_position": [
+                  0.27212594737255236,
+                  -0.35215945489221817,
+                  1.003588085685824
+                ],
+                "rod_tip_xy_dist": 0.0015586343812193772,
+                "target_xy_drift": 7.02843816043869e-08,
+                "depth": 0.017155239330991723,
+                "bottom_clearance": 0.08228540153090025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015597719317290148,
+                  7.631443041666852e-05
+                ],
+                "rod_tip_xy": [
+                  0.2721259473725522,
+                  -0.3521594548922182
+                ],
+                "target_mouth_xy": [
+                  0.2705661754408232,
+                  -0.3522357693226349
+                ],
+                "gripper_position": [
+                  0.2721145034267355,
+                  -0.3521667707306983,
+                  1.0034473151851624
+                ],
+                "rod_tip_xy_dist": 0.001561637720887749,
+                "target_xy_drift": 6.152194744821986e-08,
+                "depth": 0.017671730202491243,
+                "bottom_clearance": 0.08176876330720695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015483276475469765,
+                  6.899986025088456e-05
+                ],
+                "rod_tip_xy": [
+                  0.2721145034267354,
+                  -0.35216677073069835
+                ],
+                "target_mouth_xy": [
+                  0.2705661757791884,
+                  -0.35223577059094924
+                ],
+                "gripper_position": [
+                  0.2721057436280536,
+                  -0.35216769763667105,
+                  1.0033236605856752
+                ],
+                "rod_tip_xy_dist": 0.0015498643440227263,
+                "target_xy_drift": 6.025415393117331e-08,
+                "depth": 0.017812515152022423,
+                "bottom_clearance": 0.08162801405748954,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015395670993304522,
+                  6.803774141900254e-05
+                ],
+                "rod_tip_xy": [
+                  0.27210574362805345,
+                  -0.3521676976366711
+                ],
+                "target_mouth_xy": [
+                  0.270566176528723,
+                  -0.3522357353780901
+                ],
+                "gripper_position": [
+                  0.27209720428225304,
+                  -0.35216838666507916,
+                  1.0031997573123828
+                ],
+                "rod_tip_xy_dist": 0.0015410697542934846,
+                "target_xy_drift": 9.547180068087388e-08,
+                "depth": 0.01793623834531377,
+                "bottom_clearance": 0.08150444842627713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015310276793914501,
+                  6.741214655681116e-05
+                ],
+                "rod_tip_xy": [
+                  0.27209720428225287,
+                  -0.3521683866650791
+                ],
+                "target_mouth_xy": [
+                  0.2705661766028614,
+                  -0.3522357988116359
+                ],
+                "gripper_position": [
+                  0.2720884093427944,
+                  -0.35216942425915665,
+                  1.003075867540447
+                ],
+                "rod_tip_xy_dist": 0.0015325110611562208,
+                "target_xy_drift": 3.205128299375392e-08,
+                "depth": 0.018060072909464986,
+                "bottom_clearance": 0.08138047564176853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015222328450286704,
+                  6.63732789460969e-05
+                ],
+                "rod_tip_xy": [
+                  0.2720884093427942,
+                  -0.35216942425915665
+                ],
+                "target_mouth_xy": [
+                  0.27056617649776554,
+                  -0.35223579753810275
+                ],
+                "gripper_position": [
+                  0.27209876282265166,
+                  -0.35224391715168096,
+                  1.002559714375962
+                ],
+                "rod_tip_xy_dist": 0.0015236791810096168,
+                "target_xy_drift": 3.332085600082483e-08,
+                "depth": 0.01818398492905826,
+                "bottom_clearance": 0.08125660657261446,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015325871167915506,
+                  -8.145930963543435e-06
+                ],
+                "rod_tip_xy": [
+                  0.2720987628226515,
+                  -0.3522439171516809
+                ],
+                "target_mouth_xy": [
+                  0.27056617570585995,
+                  -0.35223577122071736
+                ],
+                "gripper_position": [
+                  0.2720871916544291,
+                  -0.35225126915102495,
+                  1.0024189878117928
+                ],
+                "rod_tip_xy_dist": 0.0015326087650625977,
+                "target_xy_drift": 5.962411499073649e-08,
+                "depth": 0.018700126435536868,
+                "bottom_clearance": 0.0807404216644898,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015210195057392406,
+                  -1.556760589538353e-05
+                ],
+                "rod_tip_xy": [
+                  0.27208719165442896,
+                  -0.352251269151025
+                ],
+                "target_mouth_xy": [
+                  0.2705661721486897,
+                  -0.3522357015451296
+                ],
+                "gripper_position": [
+                  0.2720783611395517,
+                  -0.35225202722998844,
+                  1.0022956015255318
+                ],
+                "rod_tip_xy_dist": 0.001521099170729035,
+                "target_xy_drift": 1.2934328205152008e-07,
+                "depth": 0.01884112863385956,
+                "bottom_clearance": 0.08059977791068362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015121563701351315,
+                  -1.6166879282741853e-05
+                ],
+                "rod_tip_xy": [
+                  0.27207836113955153,
+                  -0.3522520272299884
+                ],
+                "target_mouth_xy": [
+                  0.2705662047694164,
+                  -0.35223586035070564
+                ],
+                "gripper_position": [
+                  0.2720695653153491,
+                  -0.352252781069293,
+                  1.0021715405163776
+                ],
+                "rod_tip_xy_dist": 0.0015122427899401602,
+                "target_xy_drift": 4.154867370086964e-08,
+                "depth": 0.018964248133029993,
+                "bottom_clearance": 0.080476301201026,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015033611290420357,
+                  -1.6982215384708788e-05
+                ],
+                "rod_tip_xy": [
+                  0.2720695653153489,
+                  -0.35225278106929303
+                ],
+                "target_mouth_xy": [
+                  0.2705662041863069,
+                  -0.3522357988539083
+                ],
+                "gripper_position": [
+                  0.2720608404554542,
+                  -0.3522535176673631,
+                  1.0020480683937543
+                ],
+                "rod_tip_xy_dist": 0.0015034570429360186,
+                "target_xy_drift": 4.295700333893937e-08,
+                "depth": 0.019088312727211787,
+                "bottom_clearance": 0.0803522318653428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014946339873477266,
+                  -1.7687778373354224e-05
+                ],
+                "rod_tip_xy": [
+                  0.27206084045545403,
+                  -0.3522535176673631
+                ],
+                "target_mouth_xy": [
+                  0.2705662064681063,
+                  -0.35223582988898977
+                ],
+                "gripper_position": [
+                  0.272052176685311,
+                  -0.3522542701503158,
+                  1.0019244342328026
+                ],
+                "rod_tip_xy_dist": 0.0014947386439236625,
+                "target_xy_drift": 3.0965413749467976e-08,
+                "depth": 0.01921176405737257,
+                "bottom_clearance": 0.08022878954647195,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014859736595514983,
+                  -1.844179854004757e-05
+                ],
+                "rod_tip_xy": [
+                  0.27205217668531084,
+                  -0.35225427015031585
+                ],
+                "target_mouth_xy": [
+                  0.27056620302575934,
+                  -0.3522358283517758
+                ],
+                "gripper_position": [
+                  0.2720651604956513,
+                  -0.3523331981458966,
+                  1.00141351849197
+                ],
+                "rod_tip_xy_dist": 0.0014860880918755334,
+                "target_xy_drift": 2.7621033893713873e-08,
+                "depth": 0.019335460167549945,
+                "bottom_clearance": 0.08010514079677589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014989530896797887,
+                  -9.739840390421417e-05
+                ],
+                "rod_tip_xy": [
+                  0.27206516049565116,
+                  -0.3523331981458967
+                ],
+                "target_mouth_xy": [
+                  0.27056620740597137,
+                  -0.3522357997419925
+                ],
+                "gripper_position": [
+                  0.2720532583251134,
+                  -0.3523404400247484,
+                  1.0012725334518413
+                ],
+                "rod_tip_xy_dist": 0.0015021141148873053,
+                "target_xy_drift": 4.454488298690754e-08,
+                "depth": 0.019846315833588868,
+                "bottom_clearance": 0.0795942628649815,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000600768902963887,
+              "rod_tip_xy_max_step": 3.243517014778223e-05,
+              "rod_tip_xy_range": 0.0006007604657745602,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2716473133037339,
+            -0.353702863160948,
+            1.0434330121722724
+          ],
+          "object_origin_world": [
+            0.2716473133037339,
+            -0.353702863160948,
+            1.0434330121722724
+          ],
+          "frame_world": [
+            0.2716726620349643,
+            -0.35369973700654644,
+            1.0437433559727758
+          ],
+          "center_minus_frame": [
+            -2.5348731230445676e-05,
+            -3.1261544015670495e-06,
+            -0.000310343800503432
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2689378132437513,
+              0.1515533138725332,
+              0.8328060579332836
+            ],
+            "target_position": [
+              0.28206149927937746,
+              0.19810550136005167,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04836669613519988,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.167103328809219,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328060579332836,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672697043868,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13594527437440876,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2145345461845707,
+              0.027401919551899304,
+              1.0440950215015339
+            ],
+            "current_z": 1.0440950215015339,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.18750869290690264,
+            "gripper_z": 1.048578635878318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2098611865126614,
+              0.022784343575436863,
+              1.048578635878318
+            ],
+            "object_minus_gripper": [
+              0.004673359671909322,
+              0.004617575976462441,
+              -0.0044836143767841286
+            ],
+            "object_to_gripper_xy": 0.006569802015390682,
+            "object_to_gripper_z": -0.0044836143767841286,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2145345461845707,
+              0.0032480810837395265,
+              1.0440950215015339
+            ],
+            "finger_b": [
+              0.20312645781438804,
+              0.027401919551899304,
+              1.0440950215015339
+            ],
+            "finger_midpoint": [
+              0.2088305019994794,
+              0.015325000317819415,
+              1.0440950215015339
+            ],
+            "object_minus_finger_midpoint": [
+              0.005704044185091323,
+              0.01207691923407989,
+              0.0
+            ],
+            "finger_gap": 0.02671240148335324,
+            "fingertip_max_gap": 0.09169146375755616,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013356200741676613,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0440950215015339,
+            "object_top_z": 1.0900046507519967,
+            "finger_top_clearance": 0.045909629250462825,
+            "fingertip_min_top_clearance": 0.013772888775138863,
+            "object_projection_between_fingers": 0.8176104774685199,
+            "object_to_finger_line_xy": 0.010315400653722672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04834573187877808,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5641006620571163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21424822134182459,
+              0.02605126867892177,
+              1.2410927472066606
+            ],
+            "held_position": [
+              0.21926980062181775,
+              0.030248381220879875,
+              1.2365636921913936
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007958916476910284,
+            "max_held_gripper_dist": 0.007961854733265387,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004529055015267014,
+            "max_held_gripper_z_dist": 0.0045293646142283706,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08579494500716728,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21926980062181775,
+              0.004764433322435658,
+              1.2365636921913936
+            ],
+            "held_grasp_finger_b": [
+              0.21010950397316025,
+              0.030248381220879875,
+              1.2365636921913936
+            ],
+            "held_grasp_midpoint": [
+              0.214689652297489,
+              0.017506407271657767,
+              1.2365636921913936
+            ],
+            "held_grasp_object_position": [
+              0.21926980062181775,
+              0.030248381220879875,
+              1.2365636921913936
+            ],
+            "held_grasp_finger_gap": 0.02708029976167223,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024630445731469726,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08344957105306346,
+              -0.9965044921108693,
+              0.0038686294625048805
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035012179842018897,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212057927402663,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17167679153211254,
+              0.03196000428880867,
+              0.7565941203083213
+            ],
+            "target_position": [
+              0.1899265254416456,
+              0.024232581920758566,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.019818320923403212,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20411635017760899,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565941203083213,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07602573354452714,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770447066157229,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17758930715185547,
+            "release_required_pad_clearance": 0.05385223533078615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.707857863684375,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 322,
+            "max_placed_release_frames": 322
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8890fd8456ff58a577046b6d69e2ddc173d79931390eb39c4e20363293b6d23",
+    "visual_seed": 8958032035767587119,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da52319cd13a67de13db3b42f6722dd97fd6e5fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_5_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21189912887621565,
+              -0.13919623820379115,
+              1.16428317010852
+            ],
+            "current_z": 1.16428317010852,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.3031767813030437,
+            "gripper_z": 1.1577109440157862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20751847302486928,
+              -0.14365600406004023,
+              1.1577109440157862
+            ],
+            "object_minus_gripper": [
+              0.004380655851346366,
+              0.004459765856249076,
+              0.006572226092733668
+            ],
+            "object_to_gripper_xy": 0.006251372423756259,
+            "object_to_gripper_z": 0.006572226092733668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21189912887621565,
+              -0.1628373169677039,
+              1.16428317010852
+            ],
+            "finger_b": [
+              0.2015946835772744,
+              -0.13919623820379115,
+              1.16428317010852
+            ],
+            "finger_midpoint": [
+              0.20674690622674502,
+              -0.15101677758574752,
+              1.16428317010852
+            ],
+            "object_minus_finger_midpoint": [
+              0.005152222649470628,
+              0.011820539381956374,
+              0.0
+            ],
+            "finger_gap": 0.02578918761885296,
+            "fingertip_max_gap": 0.0924562676761981,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01289459380942648,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.16428317010852,
+            "object_top_z": 1.214331188057486,
+            "finger_top_clearance": 0.050048017948966184,
+            "fingertip_min_top_clearance": 0.015014405384689821,
+            "object_projection_between_fingers": 0.8403481656376814,
+            "object_to_finger_line_xy": 0.009446137138209547,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048728133838099055,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9061014062485206,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2661132668580545,
+              -0.3524120869751174,
+              0.8515395639154544
+            ],
+            "target_position": [
+              0.259373907009711,
+              -0.35228610232407176,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006740537315211819,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18358515696547598,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395639154544,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558430376641045,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720940409441962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15128944870445327,
+            "release_required_pad_clearance": 0.05360470204720981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2198919215909516,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007383882999420166,
+            "max_z_decrease": 0.007383882999420166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351298560704258,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007383882999420166,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021134592907699683,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007383882999420166,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007383911623845671,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11507382988929744,
+              -0.4085475504398346,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11507382988929744,
+              -0.4085475504398346,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11687807762264557,
+              -0.40892051315523936,
+              0.8077848249620552
+            ],
+            "closest_button": [
+              0.11506345868110653,
+              -0.40854412317276,
+              0.7727038860321045
+            ],
+            "closest_ee_minus_button": [
+              0.0018146189415390451,
+              -0.0003763899824793526,
+              0.03508093892995068
+            ],
+            "button_min_z_position": [
+              0.11505350470542902,
+              -0.4085444509983063,
+              0.7694249749183655
+            ],
+            "min_active_finger_to_button": 0.14443702213210505,
+            "closest_active_finger": [
+              -0.024491101503372192,
+              -0.39479559659957886,
+              0.8109985589981079
+            ],
+            "closest_active_finger_button": [
+              0.11507508158683771,
+              -0.40854528546333313,
+              0.7764402031898499
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395661830902099,
+              0.013749688863754272,
+              0.03455835580825806
+            ],
+            "min_contact_pad_to_button": 0.021134592907699683,
+            "closest_contact_pad": [
+              0.11505350470542902,
+              -0.4098305490611139,
+              0.7905204002316184
+            ],
+            "closest_contact_pad_button": [
+              0.11505350470542902,
+              -0.4085444509983063,
+              0.7694249749183655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012860980628076057,
+              0.021095425313252925
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2831289521308854,
+              0.20875712609978297,
+              1.1041816383221725
+            ],
+            "current_z": 1.1041816383221725,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19427250858780998,
+            "gripper_z": 1.1041814458719863,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2831290829882688,
+              0.2087571913913609,
+              1.1041814458719863
+            ],
+            "object_minus_gripper": [
+              -1.3085738337359487e-07,
+              -6.52915779220109e-08,
+              1.9245018623159638e-07
+            ],
+            "object_to_gripper_xy": 1.4624173457303495e-07,
+            "object_to_gripper_z": 1.9245018623159638e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2831289521308854,
+              0.20875712609978297,
+              1.1041816383221725
+            ],
+            "finger_b": [
+              0.2831289521308854,
+              0.20875712609978297,
+              1.1041816383221725
+            ],
+            "finger_midpoint": [
+              0.2831289521308854,
+              0.20875712609978297,
+              1.1041816383221725
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041816383221725,
+            "object_top_z": 1.2291901449424523,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28312895213088546,
+            0.208757126099783,
+            1.1041816383221725
+          ],
+          "object_origin_world": [
+            0.28312895213088546,
+            0.208757126099783,
+            1.1041816383221725
+          ],
+          "frame_world": [
+            0.2831290829882688,
+            0.2087571913913609,
+            1.1041814458719863
+          ],
+          "center_minus_frame": [
+            -1.3085738331808372e-07,
+            -6.529157789425533e-08,
+            1.9245018623159638e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043214596668921,
+            "required_z": 0.9112598858531176,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0002819741141564185,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.225719899547745e-08,
+            "max_target_xy_drift": 2.6630692321965625e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.219539290612894,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.219891921639561,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26639332821512557,
+              -0.35236365452322516,
+              0.9233239061752078
+            ],
+            "target_mouth_xy": [
+              0.2661132902519273,
+              -0.3524121121727918
+            ],
+            "rod_tip_z": 0.9233239061752078,
+            "rod_tip_depth": -0.022063898020529327,
+            "rod_tip_bottom_clearance": 0.12150463927854316,
+            "rod_tip_xy_dist": 0.00028419958591410457,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04493823634695249,
+            "min_rod_tip_bottom_clearance": 0.05450228982986183,
+            "min_rod_tip_xy_dist": 7.150518616618471e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2661132875651705,
+              -0.35241217437198924
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.686756817027458e-09,
+              6.219919745920066e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0008562699153805142,
+                0.0016878333405416779
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007508955416815621,
+                0.0013048752237948547
+              ],
+              "first_target_mouth_xy": [
+                0.2661133105953428,
+                -0.35241205785271223
+              ],
+              "last_target_mouth_xy": [
+                0.2661132683392601,
+                -0.35241205556640387
+              ],
+              "first_rod_tip_xy": [
+                0.26696958051072334,
+                -0.35072422451217056
+              ],
+              "last_rod_tip_xy": [
+                0.26686416388094164,
+                -0.351107180342609
+              ],
+              "min_rod_tip_xy_dist": 0.0015055043886322346,
+              "max_rod_tip_xy_dist": 0.001892611833797367,
+              "first_target_xy_drift": 1.1877344295343722e-07,
+              "last_target_xy_drift": 1.203511642920791e-07,
+              "max_depth": 0.0198193945315287,
+              "min_bottom_clearance": 0.07962122885513889
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0008562699153805142,
+                  0.0016878333405416779
+                ],
+                "rod_tip_xy": [
+                  0.26696958051072334,
+                  -0.35072422451217056
+                ],
+                "target_mouth_xy": [
+                  0.2661133105953428,
+                  -0.35241205785271223
+                ],
+                "gripper_position": [
+                  0.26695837468761363,
+                  -0.3507313765650269,
+                  1.0056708957904092
+                ],
+                "rod_tip_xy_dist": 0.001892611833797367,
+                "target_xy_drift": 1.1877344295343722e-07,
+                "depth": 0.015450033451809841,
+                "bottom_clearance": 0.08399048434637069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0008450581435439641,
+                  0.0016807962346924166
+                ],
+                "rod_tip_xy": [
+                  0.2669583746876135,
+                  -0.35073137656502695
+                ],
+                "target_mouth_xy": [
+                  0.26611331654406956,
+                  -0.35241217279971937
+                ],
+                "gripper_position": [
+                  0.2669621885965196,
+                  -0.35079555044902605,
+                  1.0051535541132426
+                ],
+                "rod_tip_xy_dist": 0.0018812759628842803,
+                "target_xy_drift": 2.9021520000983633e-08,
+                "depth": 0.015588949030945431,
+                "bottom_clearance": 0.08385162405421631,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0008488738591108103,
+                  0.0016164727434728743
+                ],
+                "rod_tip_xy": [
+                  0.26696218859651955,
+                  -0.350795550449026
+                ],
+                "target_mouth_xy": [
+                  0.26611331473740873,
+                  -0.35241202319249887
+                ],
+                "gripper_position": [
+                  0.2669509599989048,
+                  -0.35080251875259705,
+                  1.0050154009891301
+                ],
+                "rod_tip_xy_dist": 0.001825806933679572,
+                "target_xy_drift": 1.5360198188693954e-07,
+                "depth": 0.016106482376023412,
+                "bottom_clearance": 0.0833342995048515,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0008376441447939809,
+                  0.00160965532970192
+                ],
+                "rod_tip_xy": [
+                  0.26695095999890467,
+                  -0.35080251875259705
+                ],
+                "target_mouth_xy": [
+                  0.2661133158541107,
+                  -0.35241217408229897
+                ],
+                "gripper_position": [
+                  0.2669426062819874,
+                  -0.35080349592049703,
+                  1.0048942037589204
+                ],
+                "rod_tip_xy_dist": 0.0018145627555269167,
+                "target_xy_drift": 2.8290423424671092e-08,
+                "depth": 0.01624441552452527,
+                "bottom_clearance": 0.08319608429157943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.000829287296740866,
+                  0.0016086441681116836
+                ],
+                "rod_tip_xy": [
+                  0.26694260628198735,
+                  -0.3508034959204971
+                ],
+                "target_mouth_xy": [
+                  0.2661133189852465,
+                  -0.35241214008860877
+                ],
+                "gripper_position": [
+                  0.2669473968772229,
+                  -0.35086884739094043,
+                  1.0043775812204467
+                ],
+                "rod_tip_xy_dist": 0.0018098213945402192,
+                "target_xy_drift": 4.650345526124164e-08,
+                "depth": 0.0163657712692703,
+                "bottom_clearance": 0.08307500052224992,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008341014486826781,
+                  0.0015432111002342541
+                ],
+                "rod_tip_xy": [
+                  0.2669473968772228,
+                  -0.3508688473909405
+                ],
+                "target_mouth_xy": [
+                  0.2661132954285401,
+                  -0.35241205849117474
+                ],
+                "gripper_position": [
+                  0.26693617950342485,
+                  -0.3508756764209795,
+                  1.0042390915736745
+                ],
+                "rod_tip_xy_dist": 0.0017542023049183237,
+                "target_xy_drift": 1.1614730195280255e-07,
+                "depth": 0.016882272827510092,
+                "bottom_clearance": 0.08255827855215958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008228348127143348,
+                  0.001536378151843265
+                ],
+                "rod_tip_xy": [
+                  0.2669361795034248,
+                  -0.3508756764209795
+                ],
+                "target_mouth_xy": [
+                  0.26611334469071046,
+                  -0.35241205457282276
+                ],
+                "gripper_position": [
+                  0.2669277788131018,
+                  -0.350876554717018,
+                  1.0041177712049134
+                ],
+                "rod_tip_xy_dist": 0.0017428467960426016,
+                "target_xy_drift": 1.327221443641265e-07,
+                "depth": 0.01702085774800255,
+                "bottom_clearance": 0.08241987102907544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008144328884254204,
+                  0.0015356209440020585
+                ],
+                "rod_tip_xy": [
+                  0.2669277788131017,
+                  -0.35087655471701795
+                ],
+                "target_mouth_xy": [
+                  0.2661133459246763,
+                  -0.35241217566102
+                ],
+                "gripper_position": [
+                  0.2669332829468528,
+                  -0.350942977080815,
+                  1.0036037405014078
+                ],
+                "rod_tip_xy_dist": 0.001738226859016609,
+                "target_xy_drift": 5.8373739948888616e-08,
+                "depth": 0.01714206687016817,
+                "bottom_clearance": 0.08229848073063384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008199403748767042,
+                  0.0014690788016852308
+                ],
+                "rod_tip_xy": [
+                  0.26693328294685276,
+                  -0.350942977080815
+                ],
+                "target_mouth_xy": [
+                  0.26611334257197605,
+                  -0.35241205588250024
+                ],
+                "gripper_position": [
+                  0.2669219345376617,
+                  -0.3509493193058441,
+                  1.0034650854295095
+                ],
+                "rod_tip_xy_dist": 0.001682407425065006,
+                "target_xy_drift": 1.3063501697643002e-07,
+                "depth": 0.017656169608429972,
+                "bottom_clearance": 0.08178443189799534,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0008086225904319067,
+                  0.0014627369249150535
+                ],
+                "rod_tip_xy": [
+                  0.26692193453766166,
+                  -0.35094931930584405
+                ],
+                "target_mouth_xy": [
+                  0.26611331194722976,
+                  -0.3524120562307591
+                ],
+                "gripper_position": [
+                  0.26691355868888067,
+                  -0.3509501588769056,
+                  1.0033442940740849
+                ],
+                "rod_tip_xy_dist": 0.0016713676451537386,
+                "target_xy_drift": 1.2063098719195743e-07,
+                "depth": 0.017794752766551736,
+                "bottom_clearance": 0.08164580530070464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0008002130288359277,
+                  0.0014618944158241165
+                ],
+                "rod_tip_xy": [
+                  0.26691355868888056,
+                  -0.3509501588769056
+                ],
+                "target_mouth_xy": [
+                  0.26611334566004463,
+                  -0.35241205329272973
+                ],
+                "gripper_position": [
+                  0.2669050404310185,
+                  -0.3509509684434499,
+                  1.0032232078601981
+                ],
+                "rod_tip_xy_dist": 0.0016665761832381093,
+                "target_xy_drift": 1.3429520275669979e-07,
+                "depth": 0.0179156855608974,
+                "bottom_clearance": 0.08152512678508017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007917288818464763,
+                  0.0014610896944811103
+                ],
+                "rod_tip_xy": [
+                  0.2669050404310184,
+                  -0.35095096844344986
+                ],
+                "target_mouth_xy": [
+                  0.26611331154917195,
+                  -0.352412058137931
+                ],
+                "gripper_position": [
+                  0.26691219932549143,
+                  -0.35101892604413903,
+                  1.0027103267786854
+                ],
+                "rod_tip_xy_dist": 0.0016618115770654553,
+                "target_xy_drift": 1.1868272252899419e-07,
+                "depth": 0.018036619062020587,
+                "bottom_clearance": 0.08140390583073998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007988854049065797,
+                  0.001393129507137103
+                ],
+                "rod_tip_xy": [
+                  0.2669121993254914,
+                  -0.351018926044139
+                ],
+                "target_mouth_xy": [
+                  0.2661133139205848,
+                  -0.3524120555512761
+                ],
+                "gripper_position": [
+                  0.26690058207943945,
+                  -0.35102561568414337,
+                  1.0025720282909842
+                ],
+                "rod_tip_xy_dist": 0.0016059351524357443,
+                "target_xy_drift": 1.2170854422734188e-07,
+                "depth": 0.018549657329660296,
+                "bottom_clearance": 0.08089099916704623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007872699953312412,
+                  0.0013864414932234226
+                ],
+                "rod_tip_xy": [
+                  0.2669005820794394,
+                  -0.35102561568414337
+                ],
+                "target_mouth_xy": [
+                  0.26611331208410816,
+                  -0.3524120571773668
+                ],
+                "gripper_position": [
+                  0.26689192277387586,
+                  -0.35102636974980433,
+                  1.002450932330303
+                ],
+                "rod_tip_xy_dist": 0.0015943694865621478,
+                "target_xy_drift": 1.1973202510314676e-07,
+                "depth": 0.018687793714151968,
+                "bottom_clearance": 0.08075273422689955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007785786277289541,
+                  0.0013856553609850053
+                ],
+                "rod_tip_xy": [
+                  0.2668919227738758,
+                  -0.3510263697498043
+                ],
+                "target_mouth_xy": [
+                  0.26611334414614685,
+                  -0.3524120251107893
+                ],
+                "gripper_position": [
+                  0.26688333012163434,
+                  -0.3510268616223865,
+                  1.0023301296687226
+                ],
+                "rod_tip_xy_dist": 0.0015894104123802596,
+                "target_xy_drift": 1.5962553898637455e-07,
+                "depth": 0.018809066449447465,
+                "bottom_clearance": 0.08063162947642744,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0007700164159164524,
+                  0.001385195203587375
+                ],
+                "rod_tip_xy": [
+                  0.26688333012163423,
+                  -0.3510268616223865
+                ],
+                "target_mouth_xy": [
+                  0.2661133137057178,
+                  -0.3524120568259739
+                ],
+                "gripper_position": [
+                  0.26687465976473085,
+                  -0.35102756450268324,
+                  1.0022090854896244
+                ],
+                "rod_tip_xy_dist": 0.0015848315471438245,
+                "target_xy_drift": 1.20417581526043e-07,
+                "depth": 0.018929770124732292,
+                "bottom_clearance": 0.08051083100115075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000761362068257665,
+                  0.0013844926562166515
+                ],
+                "rod_tip_xy": [
+                  0.26687465976473074,
+                  -0.35102756450268324
+                ],
+                "target_mouth_xy": [
+                  0.2661132976964731,
+                  -0.3524120571588999
+                ],
+                "gripper_position": [
+                  0.2668660230630383,
+                  -0.35102821159221564,
+                  1.002088368302695
+                ],
+                "rod_tip_xy_dist": 0.0015800291497625697,
+                "target_xy_drift": 1.1765012369653438e-07,
+                "depth": 0.01905080019271166,
+                "bottom_clearance": 0.08038974747165306,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007527402167866737,
+                  0.001383845891884894
+                ],
+                "rod_tip_xy": [
+                  0.26686602306303825,
+                  -0.35102821159221564
+                ],
+                "target_mouth_xy": [
+                  0.2661132828462516,
+                  -0.35241205748410054
+                ],
+                "gripper_position": [
+                  0.2668759178094968,
+                  -0.35110054351142245,
+                  1.0015786873725656
+                ],
+                "rod_tip_xy_dist": 0.0015753245019534058,
+                "target_xy_drift": 1.1698310442486561e-07,
+                "depth": 0.019171516274549605,
+                "bottom_clearance": 0.08026903004271735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0007626051776724596,
+                  0.001311513329951941
+                ],
+                "rod_tip_xy": [
+                  0.2668759178094967,
+                  -0.3511005435114224
+                ],
+                "target_mouth_xy": [
+                  0.26611331263182425,
+                  -0.35241205684137433
+                ],
+                "gripper_position": [
+                  0.2668641638809417,
+                  -0.351107180342609,
+                  1.0014405233061565
+                ],
+                "rod_tip_xy_dist": 0.0015171136647115378,
+                "target_xy_drift": 1.2017396794141927e-07,
+                "depth": 0.01968120432350684,
+                "bottom_clearance": 0.07975935641525189,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0007508955416815621,
+                  0.0013048752237948547
+                ],
+                "rod_tip_xy": [
+                  0.26686416388094164,
+                  -0.351107180342609
+                ],
+                "target_mouth_xy": [
+                  0.2661132683392601,
+                  -0.35241205556640387
+                ],
+                "gripper_position": [
+                  0.2668740775040277,
+                  -0.3511743169359004,
+                  1.0008457755933755
+                ],
+                "rod_tip_xy_dist": 0.0015055043886322346,
+                "target_xy_drift": 1.203511642920791e-07,
+                "depth": 0.0198193945315287,
+                "bottom_clearance": 0.07962122885513889,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000601470796093265,
+              "rod_tip_xy_max_step": 3.2542978599577465e-05,
+              "rod_tip_xy_range": 0.0006014583318927888,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2663933282151256,
+            -0.35236365452322516,
+            1.0433239061752078
+          ],
+          "object_origin_world": [
+            0.2663933282151256,
+            -0.35236365452322516,
+            1.0433239061752078
+          ],
+          "frame_world": [
+            0.2663918893726189,
+            -0.35236861583956486,
+            1.043214596668921
+          ],
+          "center_minus_frame": [
+            1.4388425067513033e-06,
+            4.961316339702204e-06,
+            0.00010930950628673664
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2676268521443309,
+              0.16166062205947776,
+              0.8314246830388728
+            ],
+            "target_position": [
+              0.2833020032859481,
+              0.20723089891256508,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04819087564860768,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16567464717211022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8314246830388728,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567184226768,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1351568065916621,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20913831361050345,
+              0.021421054056027133,
+              1.0468152756040936
+            ],
+            "current_z": 1.0468152756040936,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.19022888740481758,
+            "gripper_z": 1.0510416187839995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2046373689798183,
+              0.01688770266313651,
+              1.0510416187839995
+            ],
+            "object_minus_gripper": [
+              0.00450094463068515,
+              0.004533351392890624,
+              -0.004226343179905889
+            ],
+            "object_to_gripper_xy": 0.006388253080452969,
+            "object_to_gripper_z": -0.004226343179905889,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20913831361050345,
+              -0.0025723074790377242,
+              1.0468152756040936
+            ],
+            "finger_b": [
+              0.19786367958330928,
+              0.021421054056027133,
+              1.0468152756040936
+            ],
+            "finger_midpoint": [
+              0.20350099659690635,
+              0.009424373288494704,
+              1.0468152756040936
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056373170135970985,
+              0.011996680767532429,
+              0.0
+            ],
+            "finger_gap": 0.026510352132695154,
+            "fingertip_max_gap": 0.0916826779248287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255176066347582,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468152756040936,
+            "object_top_z": 1.092622860484178,
+            "finger_top_clearance": 0.045807584880084296,
+            "fingertip_min_top_clearance": 0.013742275464025289,
+            "object_projection_between_fingers": 0.819126928165965,
+            "object_to_finger_line_xy": 0.01020417869351447,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048341338962414354,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6219248515683786,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20871028401974848,
+              0.01993712816565367,
+              1.2435948588190973
+            ],
+            "held_position": [
+              0.21356387882239636,
+              0.02405887844882127,
+              1.2393344198977683
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00766143248403702,
+            "max_held_gripper_dist": 0.007663483237619348,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004260438921328991,
+            "max_held_gripper_z_dist": 0.0042604648025383884,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0853431843161612,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21356387882239636,
+              -0.0013082283036520395,
+              1.2393344198977683
+            ],
+            "held_grasp_finger_b": [
+              0.20461441235001782,
+              0.024105955487139494,
+              1.2393344198977683
+            ],
+            "held_grasp_midpoint": [
+              0.2090891455862071,
+              0.011398863591743727,
+              1.2393344198977683
+            ],
+            "held_grasp_object_position": [
+              0.21356387882239636,
+              0.02405887844882127,
+              1.2393344198977683
+            ],
+            "held_grasp_finger_gap": 0.026943898899238,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024555793156450758,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08551039359284796,
+              -0.9963359738558502,
+              -0.001612385906322622
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033758442695821893,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03220396053390535,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.16739863393274731,
+              0.026103355907963897,
+              0.7565869965946955
+            ],
+            "target_position": [
+              0.18527648819638723,
+              0.02151400903260138,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.018457512774324378,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20402803356281182,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869965946955,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577520912359834,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0878171404937904,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1774897224100538,
+            "release_required_pad_clearance": 0.0539085702468952,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.82693982257615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 329,
+            "max_placed_release_frames": 329
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4f276f8a3520985442b4fb01eee629e1d6e3f842ed235ab9ce6ac805fe92882",
+    "visual_seed": 6470114643852421696,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..335c74034227ba460ef3d714f70ae97cce6126f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_6_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2096017883341188,
+              -0.13453802502291265,
+              1.166210854075373
+            ],
+            "current_z": 1.166210854075373,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3051043460606069,
+            "gripper_z": 1.159806453647521,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20529467453941852,
+              -0.13893825169600432,
+              1.159806453647521
+            ],
+            "object_minus_gripper": [
+              0.004307113794700279,
+              0.004400226673091673,
+              0.006404400427852064
+            ],
+            "object_to_gripper_xy": 0.006157371518357882,
+            "object_to_gripper_z": 0.006404400427852064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2096017883341188,
+              -0.15822417517846343,
+              1.166210854075373
+            ],
+            "finger_b": [
+              0.1995160524811127,
+              -0.13453802502291265,
+              1.166210854075373
+            ],
+            "finger_midpoint": [
+              0.20455892040761575,
+              -0.14638110010068806,
+              1.166210854075373
+            ],
+            "object_minus_finger_midpoint": [
+              0.005042867926503047,
+              0.011843075077775406,
+              0.0
+            ],
+            "finger_gap": 0.025744043522491003,
+            "fingertip_max_gap": 0.09260904690651303,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012872021761245514,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.166210854075373,
+            "object_top_z": 1.216318178768125,
+            "finger_top_clearance": 0.05010732469275192,
+            "fingertip_min_top_clearance": 0.015032197407825609,
+            "object_projection_between_fingers": 0.8465165129540374,
+            "object_to_finger_line_xy": 0.009279515614352451,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880452345325652,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.077141330491991,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26819589951652983,
+              -0.35291248923629814,
+              0.8515396140435364
+            ],
+            "target_position": [
+              0.2619601526324411,
+              -0.35247414034860913,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006251135012920497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18070752631123702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396140435364,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525617817884862,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695625210709369,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14915314349955694,
+            "release_required_pad_clearance": 0.05347812605354685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9691374169000277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007599830627441406,
+            "max_z_decrease": 0.007599830627441406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035107422370425356,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007599830627441406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107716852959479,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007599830627441406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007599856457253387,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11766007542610167,
+              -0.408735603094101,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11766007542610167,
+              -0.408735603094101,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1156816885180944,
+              -0.40852464837842567,
+              0.8076103003780405
+            ],
+            "closest_button": [
+              0.11764967441558837,
+              -0.4087312519550324,
+              0.7725586891174316
+            ],
+            "closest_ee_minus_button": [
+              -0.0019679858974939596,
+              0.00020660357660673423,
+              0.03505161126060885
+            ],
+            "button_min_z_position": [
+              0.1176406145095825,
+              -0.4087318778038025,
+              0.7692090272903442
+            ],
+            "min_active_finger_to_button": 0.14784633939222103,
+            "closest_active_finger": [
+              -0.011328235268592834,
+              -0.47225117683410645,
+              0.8110355138778687
+            ],
+            "closest_active_finger_button": [
+              0.11766075342893599,
+              -0.4087359309196473,
+              0.776594340801239
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12898898869752884,
+              -0.06351524591445917,
+              0.03444117307662964
+            ],
+            "min_contact_pad_to_button": 0.02107716852959479,
+            "closest_contact_pad": [
+              0.1176406145095825,
+              -0.4095718600039061,
+              0.7902694513869395
+            ],
+            "closest_contact_pad_button": [
+              0.1176406145095825,
+              -0.4087318778038025,
+              0.7692090272903442
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008399822001036172,
+              0.021060424096595254
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2797413042425804,
+              0.2008611766333818,
+              1.102181103549043
+            ],
+            "current_z": 1.102181103549043,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19227197381468042,
+            "gripper_z": 1.1021813500602187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27974134068512424,
+              0.2008611952057066,
+              1.1021813500602187
+            ],
+            "object_minus_gripper": [
+              -3.6442543815962125e-08,
+              -1.8572324816945596e-08,
+              -2.465111756944083e-07
+            ],
+            "object_to_gripper_xy": 4.090220347223915e-08,
+            "object_to_gripper_z": -2.465111756944083e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2797413042425804,
+              0.2008611766333818,
+              1.102181103549043
+            ],
+            "finger_b": [
+              0.2797413042425804,
+              0.2008611766333818,
+              1.102181103549043
+            ],
+            "finger_midpoint": [
+              0.2797413042425804,
+              0.2008611766333818,
+              1.102181103549043
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102181103549043,
+            "object_top_z": 1.2271896101693227,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2797413042425805,
+            0.20086117663338182,
+            1.102181103549043
+          ],
+          "object_origin_world": [
+            0.2797413042425805,
+            0.20086117663338182,
+            1.102181103549043
+          ],
+          "frame_world": [
+            0.27974134068512424,
+            0.2008611952057066,
+            1.1021813500602187
+          ],
+          "center_minus_frame": [
+            -3.6442543760450974e-08,
+            -1.857232478919002e-08,
+            -2.465111756944083e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043287209085068,
+            "required_z": 0.9112598578796456,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0025238057723428013,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.458168599477902e-08,
+            "max_target_xy_drift": 4.660466370547985e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9691374171588325,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9691374173145224,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.265728040100266,
+              -0.35342963932761506,
+              0.9233963723351787
+            ],
+            "target_mouth_xy": [
+              0.26819589895004603,
+              -0.3529124883081249
+            ],
+            "rod_tip_z": 0.9233963723351787,
+            "rod_tip_depth": -0.0221365280777176,
+            "rod_tip_bottom_clearance": 0.12157709567702091,
+            "rod_tip_xy_dist": 0.0025214623692209376,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04448587064112197,
+            "min_rod_tip_bottom_clearance": 0.05495469695818134,
+            "min_rod_tip_xy_dist": 0.0010382017653795675,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26819586703839265,
+              -0.35291251943967006
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.19116533753494e-08,
+              3.1131545175089315e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0018003491120194282,
+                0.001208806001253615
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0019266279949671783,
+                0.0008176044091624535
+              ],
+              "first_target_mouth_xy": [
+                0.2681958673649287,
+                -0.35291255177766023
+              ],
+              "last_target_mouth_xy": [
+                0.26819586703839265,
+                -0.35291251943967006
+              ],
+              "first_rod_tip_xy": [
+                0.26639551825290925,
+                -0.3517037457764066
+              ],
+              "last_rod_tip_xy": [
+                0.2662692390434255,
+                -0.3520949150305076
+              ],
+              "min_rod_tip_xy_dist": 0.0020771962227681827,
+              "max_rod_tip_xy_dist": 0.002173741048832415,
+              "first_target_xy_drift": 3.233963874723615e-08,
+              "last_target_xy_drift": 0.0,
+              "max_depth": 0.019557010076639236,
+              "min_bottom_clearance": 0.0798835362389484
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0018003491120194282,
+                  0.001208806001253615
+                ],
+                "rod_tip_xy": [
+                  0.26639551825290925,
+                  -0.3517037457764066
+                ],
+                "target_mouth_xy": [
+                  0.2681958673649287,
+                  -0.35291255177766023
+                ],
+                "gripper_position": [
+                  0.2663844499332479,
+                  -0.3517109337698415,
+                  1.0059366686868056
+                ],
+                "rod_tip_xy_dist": 0.0021685176673976853,
+                "target_xy_drift": 3.233963874723615e-08,
+                "depth": 0.015184835381261474,
+                "bottom_clearance": 0.08425577190034328,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018114479287565377,
+                  0.001201585015212281
+                ],
+                "rod_tip_xy": [
+                  0.26638444993324784,
+                  -0.35171093376984164
+                ],
+                "target_mouth_xy": [
+                  0.2681958978620044,
+                  -0.3529125187850539
+                ],
+                "gripper_position": [
+                  0.2663841620741373,
+                  -0.35177648468001865,
+                  1.0054196851690458
+                ],
+                "rod_tip_xy_dist": 0.002173741048832415,
+                "target_xy_drift": 3.083056213673672e-08,
+                "depth": 0.015323168427591294,
+                "bottom_clearance": 0.08411735986214841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018117361926952014,
+                  0.0011360347291813344
+                ],
+                "rod_tip_xy": [
+                  0.26638416207413723,
+                  -0.35177648468001876
+                ],
+                "target_mouth_xy": [
+                  0.26819589826683243,
+                  -0.3529125194092001
+                ],
+                "gripper_position": [
+                  0.26637285514910836,
+                  -0.3517838926878999,
+                  1.0052814067111717
+                ],
+                "rod_tip_xy_dist": 0.002138448722281601,
+                "target_xy_drift": 3.122845464348865e-08,
+                "depth": 0.015840130523061657,
+                "bottom_clearance": 0.08360036355499478,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018230428670228949,
+                  0.00112862639711786
+                ],
+                "rod_tip_xy": [
+                  0.2663728551491083,
+                  -0.3517838926879
+                ],
+                "target_mouth_xy": [
+                  0.2681958980161312,
+                  -0.35291251908501786
+                ],
+                "gripper_position": [
+                  0.2663647154258819,
+                  -0.35178460936614714,
+                  1.0051599171459047
+                ],
+                "rod_tip_xy_dist": 0.0021441275240233026,
+                "target_xy_drift": 3.0979768612671235e-08,
+                "depth": 0.015978420569604856,
+                "bottom_clearance": 0.08346209129135829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018311821951778606,
+                  0.0011279097270467942
+                ],
+                "rod_tip_xy": [
+                  0.2663647154258818,
+                  -0.3517846093661473
+                ],
+                "target_mouth_xy": [
+                  0.26819589762105966,
+                  -0.3529125190931941
+                ],
+                "gripper_position": [
+                  0.26636535657224925,
+                  -0.35185129812085664,
+                  1.0046429531583778
+                ],
+                "rod_tip_xy_dist": 0.0021506763085836936,
+                "target_xy_drift": 3.05846295879414e-08,
+                "depth": 0.016099922284540047,
+                "bottom_clearance": 0.08334060497301687,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018305410916384934,
+                  0.001061220977832289
+                ],
+                "rod_tip_xy": [
+                  0.26636535657224913,
+                  -0.3518512981208568
+                ],
+                "target_mouth_xy": [
+                  0.26819589766388763,
+                  -0.3529125190986891
+                ],
+                "gripper_position": [
+                  0.2663541653914117,
+                  -0.3518582011114131,
+                  1.004505049570004
+                ],
+                "rod_tip_xy_dist": 0.002115908942267688,
+                "target_xy_drift": 3.062739313721341e-08,
+                "depth": 0.01661688484773327,
+                "bottom_clearance": 0.08282364052132274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0018417482516287498,
+                  0.0010543182896952663
+                ],
+                "rod_tip_xy": [
+                  0.26635416539141166,
+                  -0.3518582011114131
+                ],
+                "target_mouth_xy": [
+                  0.2681959136430404,
+                  -0.35291251940110835
+                ],
+                "gripper_position": [
+                  0.2663458720281551,
+                  -0.3518591992662672,
+                  1.0043838275540706
+                ],
+                "rod_tip_xy_dist": 0.0021221742808646767,
+                "target_xy_drift": 4.660466370547985e-08,
+                "depth": 0.01675476976257484,
+                "bottom_clearance": 0.08268574230006343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0018500269218910126,
+                  0.0010532890418575858
+                ],
+                "rod_tip_xy": [
+                  0.266345872028155,
+                  -0.3518591992662673
+                ],
+                "target_mouth_xy": [
+                  0.26819589895004603,
+                  -0.3529124883081249
+                ],
+                "gripper_position": [
+                  0.26634735604660703,
+                  -0.3519268458203511,
+                  1.0038682828283316
+                ],
+                "rod_tip_xy_dist": 0.0021288535453193595,
+                "target_xy_drift": 4.458168599477902e-08,
+                "depth": 0.016876016703390673,
+                "bottom_clearance": 0.08256455089591264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001848510991785679,
+                  0.0009856736193187832
+                ],
+                "rod_tip_xy": [
+                  0.266347356046607,
+                  -0.3519268458203513
+                ],
+                "target_mouth_xy": [
+                  0.26819586703839265,
+                  -0.35291251943967006
+                ],
+                "gripper_position": [
+                  0.2663359839415598,
+                  -0.35193379422841997,
+                  1.0037300876761617
+                ],
+                "rod_tip_xy_dist": 0.002094885526842329,
+                "target_xy_drift": 0.0,
+                "depth": 0.01739157505131439,
+                "bottom_clearance": 0.08204897126427324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0018599143332305723,
+                  0.0009787254997253858
+                ],
+                "rod_tip_xy": [
+                  0.2663359839415597,
+                  -0.35193379422841997
+                ],
+                "target_mouth_xy": [
+                  0.2681958982747903,
+                  -0.35291251972814536
+                ],
+                "gripper_position": [
+                  0.2663275004167752,
+                  -0.35193474461334245,
+                  1.0036089346491868
+                ],
+                "rod_tip_xy_dist": 0.00210171000158662,
+                "target_xy_drift": 3.1237729674524174e-08,
+                "depth": 0.01752972399047359,
+                "bottom_clearance": 0.08191076196890201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0018683980287259039,
+                  0.0009777735268651222
+                ],
+                "rod_tip_xy": [
+                  0.26632750041677516,
+                  -0.3519347446133425
+                ],
+                "target_mouth_xy": [
+                  0.26819589844550107,
+                  -0.35291251814020763
+                ],
+                "gripper_position": [
+                  0.26631915253647065,
+                  -0.35193553496387703,
+                  1.0034880591092146
+                ],
+                "rod_tip_xy_dist": 0.0021087798044331476,
+                "target_xy_drift": 3.143397940964078e-08,
+                "depth": 0.017650905357719515,
+                "bottom_clearance": 0.08178964235578634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0018767148284580815,
+                  0.0009770168137831492
+                ],
+                "rod_tip_xy": [
+                  0.2663191525364706,
+                  -0.3519355349638771
+                ],
+                "target_mouth_xy": [
+                  0.2681958673649287,
+                  -0.35291255177766023
+                ],
+                "gripper_position": [
+                  0.266322071191495,
+                  -0.3520052620965718,
+                  1.0029736120816073
+                ],
+                "rod_tip_xy_dist": 0.002115802543190036,
+                "target_xy_drift": 3.233963874723615e-08,
+                "depth": 0.017771886163137185,
+                "bottom_clearance": 0.08166872111846757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0018738266705094486,
+                  0.0009072566884820166
+                ],
+                "rod_tip_xy": [
+                  0.2663220711914949,
+                  -0.3520052620965719
+                ],
+                "target_mouth_xy": [
+                  0.2681958978620044,
+                  -0.3529125187850539
+                ],
+                "gripper_position": [
+                  0.2663104271708674,
+                  -0.3520122677663997,
+                  1.0028356578394724
+                ],
+                "rod_tip_xy_dist": 0.0020819080406943723,
+                "target_xy_drift": 3.083056213673672e-08,
+                "depth": 0.018286225032789427,
+                "bottom_clearance": 0.08115430325695028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0018854710959650967,
+                  0.000900251642800387
+                ],
+                "rod_tip_xy": [
+                  0.26631042717086734,
+                  -0.3520122677663997
+                ],
+                "target_mouth_xy": [
+                  0.26819589826683243,
+                  -0.3529125194092001
+                ],
+                "gripper_position": [
+                  0.2663019596441146,
+                  -0.3520129960646533,
+                  1.0027146718258957
+                ],
+                "rod_tip_xy_dist": 0.002089366955344278,
+                "target_xy_drift": 3.122845464348865e-08,
+                "depth": 0.01842415785263507,
+                "bottom_clearance": 0.08101633622542137,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0018939383720166236,
+                  0.0008995230203645566
+                ],
+                "rod_tip_xy": [
+                  0.26630195964411457,
+                  -0.3520129960646533
+                ],
+                "target_mouth_xy": [
+                  0.2681958980161312,
+                  -0.35291251908501786
+                ],
+                "gripper_position": [
+                  0.266293321640501,
+                  -0.3520137759165863,
+                  1.0025938162876344
+                ],
+                "rod_tip_xy_dist": 0.0020966984096819343,
+                "target_xy_drift": 3.0979768612671235e-08,
+                "depth": 0.01854515545488089,
+                "bottom_clearance": 0.08089535640608225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0019025759805587072,
+                  0.0008987431766077636
+                ],
+                "rod_tip_xy": [
+                  0.26629332164050096,
+                  -0.35201377591658634
+                ],
+                "target_mouth_xy": [
+                  0.26819589762105966,
+                  -0.3529125190931941
+                ],
+                "gripper_position": [
+                  0.26628483280541804,
+                  -0.3520144664121058,
+                  1.0024729077914245
+                ],
+                "rod_tip_xy_dist": 0.0021041707771228884,
+                "target_xy_drift": 3.05846295879414e-08,
+                "depth": 0.018666023142810517,
+                "bottom_clearance": 0.0807745041147464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019110648584696466,
+                  0.0008980526865831062
+                ],
+                "rod_tip_xy": [
+                  0.266284832805418,
+                  -0.352014466412106
+                ],
+                "target_mouth_xy": [
+                  0.26819589766388763,
+                  -0.3529125190986891
+                ],
+                "gripper_position": [
+                  0.26628962085843827,
+                  -0.35208741821503703,
+                  1.0019612577109411
+                ],
+                "rod_tip_xy_dist": 0.002111555711118403,
+                "target_xy_drift": 3.062739313721341e-08,
+                "depth": 0.01878693021468658,
+                "bottom_clearance": 0.08065359515436943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0019062927846021926,
+                  0.0008251011860711532
+                ],
+                "rod_tip_xy": [
+                  0.2662896208584382,
+                  -0.3520874182150372
+                ],
+                "target_mouth_xy": [
+                  0.2681959136430404,
+                  -0.35291251940110835
+                ],
+                "gripper_position": [
+                  0.2662779429777012,
+                  -0.3520941440787051,
+                  1.00182343551823
+                ],
+                "rod_tip_xy_dist": 0.0020771962227681827,
+                "target_xy_drift": 4.660466370547985e-08,
+                "depth": 0.01929856162163779,
+                "bottom_clearance": 0.08014195044100048,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001917955972344898,
+                  0.0008183442294197874
+                ],
+                "rod_tip_xy": [
+                  0.26627794297770113,
+                  -0.3520941440787051
+                ],
+                "target_mouth_xy": [
+                  0.26819589895004603,
+                  -0.3529124883081249
+                ],
+                "gripper_position": [
+                  0.2662692390434256,
+                  -0.35209491503050744,
+                  1.0017028478030066
+                ],
+                "rod_tip_xy_dist": 0.0020852439640670654,
+                "target_xy_drift": 4.458168599477902e-08,
+                "depth": 0.019436408739231248,
+                "bottom_clearance": 0.08000415886007206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0019266279949671783,
+                  0.0008176044091624535
+                ],
+                "rod_tip_xy": [
+                  0.2662692390434255,
+                  -0.3520949150305076
+                ],
+                "target_mouth_xy": [
+                  0.26819586703839265,
+                  -0.35291251943967006
+                ],
+                "gripper_position": [
+                  0.266260657672026,
+                  -0.3520953100934432,
+                  1.0015815979643283
+                ],
+                "rod_tip_xy_dist": 0.002092933921764644,
+                "target_xy_drift": 0.0,
+                "depth": 0.019557010076639236,
+                "bottom_clearance": 0.0798835362389484,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005945508088770574,
+              "rod_tip_xy_max_step": 3.22276625637417e-05,
+              "rod_tip_xy_range": 0.0005945415468884395,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26572804010026607,
+            -0.35342963932761506,
+            1.0433963723351787
+          ],
+          "object_origin_world": [
+            0.26572804010026607,
+            -0.35342963932761506,
+            1.0433963723351787
+          ],
+          "frame_world": [
+            0.2657266714945663,
+            -0.3534345145044177,
+            1.043287209085068
+          ],
+          "center_minus_frame": [
+            1.3686056997697094e-06,
+            4.875176802643377e-06,
+            0.00010916325011067762
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26673216349826856,
+              0.15531838078157154,
+              0.8322035232803511
+            ],
+            "target_position": [
+              0.28028417675800876,
+              0.20161786038397878,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04824208613696031,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1698798092067497,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322035232803511,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674210660392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1389702998048651,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21470779811964255,
+              0.019389170347567274,
+              1.0449273308851574
+            ],
+            "current_z": 1.0449273308851574,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18834094268588142,
+            "gripper_z": 1.0496350531990402,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2095828049679367,
+              0.014530859044368571,
+              1.0496350531990402
+            ],
+            "object_minus_gripper": [
+              0.0051249931517058644,
+              0.004858311303198703,
+              -0.004707722313882723
+            ],
+            "object_to_gripper_xy": 0.007061780478308589,
+            "object_to_gripper_z": -0.004707722313882723,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21470779811964255,
+              -0.005088717274404543,
+              1.0449273308851574
+            ],
+            "finger_b": [
+              0.2029842335630325,
+              0.019389170347567274,
+              1.0449273308851574
+            ],
+            "finger_midpoint": [
+              0.20884601584133752,
+              0.007150226536581365,
+              1.0449273308851574
+            ],
+            "object_minus_finger_midpoint": [
+              0.005861782278305028,
+              0.012238943810985909,
+              0.0
+            ],
+            "finger_gap": 0.027140540678971092,
+            "fingertip_max_gap": 0.09354581470345386,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013570270339485546,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449273308851574,
+            "object_top_z": 1.0912809134332362,
+            "finger_top_clearance": 0.04635358254807875,
+            "fingertip_min_top_clearance": 0.013906074764423609,
+            "object_projection_between_fingers": 0.8134125763453539,
+            "object_to_finger_line_xy": 0.0105734111615536,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04927290735172693,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4346491122191414,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2138678374157408,
+              0.01755461016194769,
+              1.2446926187152758
+            ],
+            "held_position": [
+              0.21936774843544607,
+              0.02194486268732114,
+              1.2399465219578218
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008488154857938112,
+            "max_held_gripper_dist": 0.00849004863924538,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004746096757453966,
+            "max_held_gripper_z_dist": 0.004746257829976397,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601954405849431,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.21936774843544607,
+              -0.0038190001500681254,
+              1.2399465219578218
+            ],
+            "held_grasp_finger_b": [
+              0.20978726173626686,
+              0.02194486268732114,
+              1.2399465219578218
+            ],
+            "held_grasp_midpoint": [
+              0.21457750508585646,
+              0.009062931268626508,
+              1.2399465219578218
+            ],
+            "held_grasp_object_position": [
+              0.21936774843544607,
+              0.02194486268732114,
+              1.2399465219578218
+            ],
+            "held_grasp_finger_gap": 0.027487494496533465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02505913029142348,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06734839489786833,
+              -0.997690480468273,
+              0.008826034651374437
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003913483194369944,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03202542941856894,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18947897216351625,
+              0.014808108013381446,
+              0.7565868490037739
+            ],
+            "target_position": [
+              0.1898718117528002,
+              0.015966301244013624,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0012230022495445352,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21656095038170856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868490037739,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554331960699598,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09516836292445409,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1868693005576976,
+            "release_required_pad_clearance": 0.057584181462227046,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 10.923127031679288,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3229c390f4cda291fbde5167f989b79001b8556fec695189fad26ea88366db0a",
+    "visual_seed": 7796892365185100091,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd0323a03f4c56eb98e34c8a9d41076d46d768f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_7_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2162995622107025,
+              -0.13551178254924318,
+              1.1655151699273567
+            ],
+            "current_z": 1.1655151699273567,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.3044087811218802,
+            "gripper_z": 1.158981847228802,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21196121435302304,
+              -0.13996588655530162,
+              1.158981847228802
+            ],
+            "object_minus_gripper": [
+              0.004338347857679475,
+              0.004454104006058446,
+              0.006533322698554667
+            ],
+            "object_to_gripper_xy": 0.006217741119652538,
+            "object_to_gripper_z": 0.006533322698554667,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2162995622107025,
+              -0.15909198587247786,
+              1.1655151699273567
+            ],
+            "finger_b": [
+              0.20599958160873555,
+              -0.13551178254924318,
+              1.1655151699273567
+            ],
+            "finger_midpoint": [
+              0.21114957190971903,
+              -0.14730188421086052,
+              1.1655151699273567
+            ],
+            "object_minus_finger_midpoint": [
+              0.005149990300983481,
+              0.011790101661617342,
+              0.0
+            ],
+            "finger_gap": 0.025731606812750416,
+            "fingertip_max_gap": 0.09253680926652375,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012865803406375208,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655151699273567,
+            "object_top_z": 1.2157131898840565,
+            "finger_top_clearance": 0.05019801995669981,
+            "fingertip_min_top_clearance": 0.015059405987009977,
+            "object_projection_between_fingers": 0.8397717828475709,
+            "object_to_finger_line_xy": 0.009438805690883055,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048768404633261875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8558609829408217,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 332,
+            "max_stable_success_frames": 332,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26674889292485676,
+              -0.3537725008720777,
+              0.8515395071177358
+            ],
+            "target_position": [
+              0.2596004486722484,
+              -0.35392580325050477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007150087891199718,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18571467881429693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395071177358,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548004234100936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864508848810291,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15361824080545314,
+            "release_required_pad_clearance": 0.05322544244051455,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4724330342684488,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00737762451171875,
+            "max_z_decrease": 0.00737762451171875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517344056783826,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00737762451171875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021239055383242538,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00737762451171875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007377651319190974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11530037224292754,
+              -0.41018727421760554,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11530037224292754,
+              -0.41018727421760554,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11722359430419768,
+              -0.411640392544424,
+              0.8078151784943961
+            ],
+            "closest_button": [
+              0.11528975516557693,
+              -0.41018363833427424,
+              0.7727251648902893
+            ],
+            "closest_ee_minus_button": [
+              0.0019338391386207465,
+              -0.001456754210149791,
+              0.035090013604106796
+            ],
+            "button_min_z_position": [
+              0.11528066545724869,
+              -0.4101845920085906,
+              0.7694312334060669
+            ],
+            "min_active_finger_to_button": 0.14419261229665725,
+            "closest_active_finger": [
+              -0.023922152817249298,
+              -0.3954184055328369,
+              0.8108903169631958
+            ],
+            "closest_active_finger_button": [
+              0.11530131846666336,
+              -0.4101856648921966,
+              0.7763901352882385
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13922347128391266,
+              0.014767259359359686,
+              0.034500181674957275
+            ],
+            "min_contact_pad_to_button": 0.021239055383242538,
+            "closest_contact_pad": [
+              0.11528066545724869,
+              -0.41269636707749774,
+              0.7905212419308556
+            ],
+            "closest_contact_pad_button": [
+              0.11528066545724869,
+              -0.4101845920085906,
+              0.7694312334060669
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025117750689071516,
+              0.021090008524788706
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28654322944360205,
+              0.20295194873873168,
+              1.1045084531370772
+            ],
+            "current_z": 1.1045084531370772,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19459932340271469,
+            "gripper_z": 1.104508312902446,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2865431498444167,
+              0.20295198740428821,
+              1.104508312902446
+            ],
+            "object_minus_gripper": [
+              7.959918535416222e-08,
+              -3.866555653431192e-08,
+              1.402346312406877e-07
+            ],
+            "object_to_gripper_xy": 8.849325155713482e-08,
+            "object_to_gripper_z": 1.402346312406877e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28654322944360205,
+              0.20295194873873168,
+              1.1045084531370772
+            ],
+            "finger_b": [
+              0.28654322944360205,
+              0.20295194873873168,
+              1.1045084531370772
+            ],
+            "finger_midpoint": [
+              0.28654322944360205,
+              0.20295194873873168,
+              1.1045084531370772
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045084531370772,
+            "object_top_z": 1.229516959757357,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2865432294436021,
+            0.20295194873873168,
+            1.1045084531370772
+          ],
+          "object_origin_world": [
+            0.2865432294436021,
+            0.20295194873873168,
+            1.1045084531370772
+          ],
+          "frame_world": [
+            0.2865431498444167,
+            0.20295198740428821,
+            1.104508312902446
+          ],
+          "center_minus_frame": [
+            7.959918540967337e-08,
+            -3.866555653431192e-08,
+            1.402346312406877e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433068300879775,
+            "required_z": 0.9112597633962876,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019137338420871397,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.7284626419607994e-07,
+            "max_target_xy_drift": 2.283536237383937e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4729645069577564,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4729645099597355,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26491502274975676,
+              -0.35431068515332864,
+              0.923416351278831
+            ],
+            "target_mouth_xy": [
+              0.2667488255890246,
+              -0.35377238748683015
+            ],
+            "rod_tip_z": 0.923416351278831,
+            "rod_tip_depth": -0.02215639433747707,
+            "rod_tip_bottom_clearance": 0.12159710081199104,
+            "rod_tip_xy_dist": 0.001911176923014828,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04447454550775898,
+            "min_rod_tip_bottom_clearance": 0.054966003175615286,
+            "min_rod_tip_xy_dist": 0.0013008047224298326,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1177,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1177,
+            "target_mouth_xy_initial": [
+              0.2667489228543181,
+              -0.3537725303689274
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.726529354159297e-08,
+              1.4288209726487366e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0011652039785743917,
+                0.001238212993896426
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012917198616652636,
+                0.0008277043588478805
+              ],
+              "first_target_mouth_xy": [
+                0.2667488561864534,
+                -0.3537724432902401
+              ],
+              "last_target_mouth_xy": [
+                0.2667488850343632,
+                -0.35377241380927654
+              ],
+              "first_rod_tip_xy": [
+                0.265583652207879,
+                -0.3525342302963437
+              ],
+              "last_rod_tip_xy": [
+                0.26545716517269796,
+                -0.35294470945042866
+              ],
+              "min_rod_tip_xy_dist": 0.0015282041037778331,
+              "max_rod_tip_xy_dist": 0.0017024219033676417,
+              "first_target_xy_drift": 1.096690565849672e-07,
+              "last_target_xy_drift": 1.2254183448985175e-07,
+              "max_depth": 0.019815511279219322,
+              "min_bottom_clearance": 0.07962511086013202
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0011652039785743917,
+                  0.001238212993896426
+                ],
+                "rod_tip_xy": [
+                  0.265583652207879,
+                  -0.3525342302963437
+                ],
+                "target_mouth_xy": [
+                  0.2667488561864534,
+                  -0.3537724432902401
+                ],
+                "gripper_position": [
+                  0.26557255077172953,
+                  -0.3525417326695518,
+                  1.0056679852592285
+                ],
+                "rod_tip_xy_dist": 0.0017002563718273613,
+                "target_xy_drift": 1.096690565849672e-07,
+                "depth": 0.015453849593144775,
+                "bottom_clearance": 0.08398674609937895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0011762932944368032,
+                  0.0012306804713364539
+                ],
+                "rod_tip_xy": [
+                  0.2655725507717294,
+                  -0.3525417326695518
+                ],
+                "target_mouth_xy": [
+                  0.2667488440661662,
+                  -0.35377241314088825
+                ],
+                "gripper_position": [
+                  0.26557225974341836,
+                  -0.3526105851834085,
+                  1.0051512036989079
+                ],
+                "rod_tip_xy_dist": 0.0017024219033676417,
+                "target_xy_drift": 1.4124441951776975e-07,
+                "depth": 0.015591790064164224,
+                "bottom_clearance": 0.08384875533259217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001176616533354713,
+                  0.0011618266574097147
+                ],
+                "rod_tip_xy": [
+                  0.26557225974341825,
+                  -0.3526105851834084
+                ],
+                "target_mouth_xy": [
+                  0.26674887627677296,
+                  -0.3537724118408181
+                ],
+                "gripper_position": [
+                  0.2655609937752247,
+                  -0.35261789962806456,
+                  1.0050129334810685
+                ],
+                "rod_tip_xy_dist": 0.0016535621090335534,
+                "target_xy_drift": 1.273514052271265e-07,
+                "depth": 0.016108732424625516,
+                "bottom_clearance": 0.08333195115253866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0011878662325971456,
+                  0.0011545141287461202
+                ],
+                "rod_tip_xy": [
+                  0.2655609937752246,
+                  -0.35261789962806456
+                ],
+                "target_mouth_xy": [
+                  0.2667488600078217,
+                  -0.3537724137568107
+                ],
+                "gripper_position": [
+                  0.2655527006600418,
+                  -0.35261916213800554,
+                  1.004892233712873
+                ],
+                "rod_tip_xy_dist": 0.0016564809265484917,
+                "target_xy_drift": 1.3246912047706688e-07,
+                "depth": 0.016246898141425214,
+                "bottom_clearance": 0.08319366372415349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0011961559421389545,
+                  0.0011532519909585037
+                ],
+                "rod_tip_xy": [
+                  0.26555270066004166,
+                  -0.3526191621380055
+                ],
+                "target_mouth_xy": [
+                  0.2667488566021806,
+                  -0.353772414128964
+                ],
+                "gripper_position": [
+                  0.26555321658933656,
+                  -0.3526890474009155,
+                  1.0043759630574056
+                ],
+                "rod_tip_xy_dist": 0.0016615592654383661,
+                "target_xy_drift": 1.3379489834025283e-07,
+                "depth": 0.016367574362984527,
+                "bottom_clearance": 0.08307298269308605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011957044892889623,
+                  0.0010833330587080026
+                ],
+                "rod_tip_xy": [
+                  0.2655532165893365,
+                  -0.35268904740091545
+                ],
+                "target_mouth_xy": [
+                  0.26674892107862547,
+                  -0.35377238045962345
+                ],
+                "gripper_position": [
+                  0.26554213120661535,
+                  -0.3526958693538789,
+                  1.0042377667270928
+                ],
+                "rod_tip_xy_dist": 0.0016134806295073439,
+                "target_xy_drift": 1.4991982024149028e-07,
+                "depth": 0.016884002338102833,
+                "bottom_clearance": 0.08255674291324577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012067245221030198,
+                  0.0010765771368970167
+                ],
+                "rod_tip_xy": [
+                  0.26554213120661524,
+                  -0.35269586935387887
+                ],
+                "target_mouth_xy": [
+                  0.26674885572871826,
+                  -0.3537724464907759
+                ],
+                "gripper_position": [
+                  0.26553379781102265,
+                  -0.3526969926289814,
+                  1.0041171446090567
+                ],
+                "rod_tip_xy_dist": 0.0016171587441974086,
+                "target_xy_drift": 1.0743086363374388e-07,
+                "depth": 0.01702210929119563,
+                "bottom_clearance": 0.08241856249335233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012150589442677107,
+                  0.0010754186389495546
+                ],
+                "rod_tip_xy": [
+                  0.26553379781102254,
+                  -0.35269699262898135
+                ],
+                "target_mouth_xy": [
+                  0.26674885675529025,
+                  -0.3537724112679309
+                ],
+                "gripper_position": [
+                  0.2655350285638933,
+                  -0.3527683863545217,
+                  1.0036028930967524
+                ],
+                "rod_tip_xy_dist": 0.001622619329061834,
+                "target_xy_drift": 1.3621354137496786e-07,
+                "depth": 0.017142707580345973,
+                "bottom_clearance": 0.08229794280856739,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012138287142102744,
+                  0.0010040261618476376
+                ],
+                "rod_tip_xy": [
+                  0.2655350285638932,
+                  -0.35276838635452157
+                ],
+                "target_mouth_xy": [
+                  0.2667488572781035,
+                  -0.3537724125163692
+                ],
+                "gripper_position": [
+                  0.26552363550304303,
+                  -0.352775126997366,
+                  1.003465452986973
+                ],
+                "rod_tip_xy_dist": 0.0015752614643657942,
+                "target_xy_drift": 1.348683261620903e-07,
+                "depth": 0.01765698119042869,
+                "bottom_clearance": 0.08178360523763206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012252393017861407,
+                  0.0009972857966209503
+                ],
+                "rod_tip_xy": [
+                  0.265523635503043,
+                  -0.3527751269973659
+                ],
+                "target_mouth_xy": [
+                  0.2667488748048291,
+                  -0.35377241279398686
+                ],
+                "gripper_position": [
+                  0.26551523888779416,
+                  -0.35277606439367193,
+                  1.0033445075444767
+                ],
+                "rod_tip_xy_dist": 0.0015798070473267529,
+                "target_xy_drift": 1.270142513304429e-07,
+                "depth": 0.01779445484831832,
+                "bottom_clearance": 0.0816461384452124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001233635113378595,
+                  0.0009963480888130483
+                ],
+                "rod_tip_xy": [
+                  0.26551523888779405,
+                  -0.35277606439367193
+                ],
+                "target_mouth_xy": [
+                  0.26674887400117264,
+                  -0.353772412482485
+                ],
+                "gripper_position": [
+                  0.2655069035697567,
+                  -0.3527768777982074,
+                  1.0032240018548142
+                ],
+                "rod_tip_xy_dist": 0.0015857380322871848,
+                "target_xy_drift": 1.2760816249001676e-07,
+                "depth": 0.017915280669359657,
+                "bottom_clearance": 0.08152529387826868,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001242002283923238,
+                  0.0009955333923303833
+                ],
+                "rod_tip_xy": [
+                  0.26550690356975665,
+                  -0.3527768777982073
+                ],
+                "target_mouth_xy": [
+                  0.2667489058536799,
+                  -0.3537724111905377
+                ],
+                "gripper_position": [
+                  0.26550945277424476,
+                  -0.3528503443589817,
+                  1.0027113837707198
+                ],
+                "rod_tip_xy_dist": 0.0015917463392498758,
+                "target_xy_drift": 1.2038484237942196e-07,
+                "depth": 0.01803594432332556,
+                "bottom_clearance": 0.08140475466226826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012394209858360705,
+                  0.0009221001541348528
+                ],
+                "rod_tip_xy": [
+                  0.2655094527742447,
+                  -0.35285034435898166
+                ],
+                "target_mouth_xy": [
+                  0.2667488737600808,
+                  -0.3537724445131165
+                ],
+                "gripper_position": [
+                  0.265497898161898,
+                  -0.3528573421281184,
+                  1.0025738112359395
+                ],
+                "rod_tip_xy_dist": 0.001544808426435581,
+                "target_xy_drift": 9.890128617153617e-08,
+                "depth": 0.01854843887270652,
+                "bottom_clearance": 0.08089207860371606,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012509741580185585,
+                  0.000915100834733451
+                ],
+                "rod_tip_xy": [
+                  0.2654978981618979,
+                  -0.3528573421281185
+                ],
+                "target_mouth_xy": [
+                  0.26674887231991645,
+                  -0.35377244296285193
+                ],
+                "gripper_position": [
+                  0.2654894834477819,
+                  -0.35285789820752145,
+                  1.0024530423575204
+                ],
+                "rod_tip_xy_dist": 0.0015499502836414142,
+                "target_xy_drift": 1.0096310110018825e-07,
+                "depth": 0.018686047698048824,
+                "bottom_clearance": 0.08075451081861185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012593911344646047,
+                  0.0009145450339836936
+                ],
+                "rod_tip_xy": [
+                  0.2654894834477818,
+                  -0.35285789820752145
+                ],
+                "target_mouth_xy": [
+                  0.2667488745822464,
+                  -0.35377244324150514
+                ],
+                "gripper_position": [
+                  0.2654809810978878,
+                  -0.3528585303467399,
+                  1.002332267233967
+                ],
+                "rod_tip_xy_dist": 0.0015564249576360176,
+                "target_xy_drift": 9.960612743000743e-08,
+                "depth": 0.018806792545923767,
+                "bottom_clearance": 0.08063376870592254,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012678899127033794,
+                  0.0009139132591862165
+                ],
+                "rod_tip_xy": [
+                  0.2654809810978877,
+                  -0.35285853034674
+                ],
+                "target_mouth_xy": [
+                  0.2667488710105911,
+                  -0.3537724436059262
+                ],
+                "gripper_position": [
+                  0.2654723841114723,
+                  -0.35285930829149226,
+                  1.0022118674924265
+                ],
+                "rod_tip_xy_dist": 0.0015629402663094184,
+                "target_xy_drift": 1.0107220396738765e-07,
+                "depth": 0.01892762125645031,
+                "bottom_clearance": 0.08051296650910678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012765192701975625,
+                  0.0009131343291751692
+                ],
+                "rod_tip_xy": [
+                  0.2654723841114722,
+                  -0.35285930829149215
+                ],
+                "target_mouth_xy": [
+                  0.2667489033816698,
+                  -0.3537724426206673
+                ],
+                "gripper_position": [
+                  0.26546380569549977,
+                  -0.3528600204129214,
+                  1.0020913410748669
+                ],
+                "rod_tip_xy_dist": 0.0015694953807845068,
+                "target_xy_drift": 8.988293043669162e-08,
+                "depth": 0.019047911485147506,
+                "bottom_clearance": 0.08039263489403792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012850689494726675,
+                  0.0009124215634592203
+                ],
+                "rod_tip_xy": [
+                  0.2654638056954997,
+                  -0.3528600204129214
+                ],
+                "target_mouth_xy": [
+                  0.2667488746449724,
+                  -0.35377244197638064
+                ],
+                "gripper_position": [
+                  0.2654688636708633,
+                  -0.3529375612505817,
+                  1.001581785226548
+                ],
+                "rod_tip_xy_dist": 0.0015760441980998353,
+                "target_xy_drift": 1.0068457351090807e-07,
+                "depth": 0.01916857675826822,
+                "bottom_clearance": 0.08027203328930688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0012800120000241444,
+                  0.0008348515212884267
+                ],
+                "rod_tip_xy": [
+                  0.26546886367086325,
+                  -0.3529375612505816
+                ],
+                "target_mouth_xy": [
+                  0.2667488756708874,
+                  -0.35377241277187005
+                ],
+                "gripper_position": [
+                  0.265457165172698,
+                  -0.3529447094504287,
+                  1.0014443446762735
+                ],
+                "rod_tip_xy_dist": 0.0015282041037778331,
+                "target_xy_drift": 1.2670968406691626e-07,
+                "depth": 0.019678069914791374,
+                "bottom_clearance": 0.07976255672059085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0012917198616652636,
+                  0.0008277043588478805
+                ],
+                "rod_tip_xy": [
+                  0.26545716517269796,
+                  -0.35294470945042866
+                ],
+                "target_mouth_xy": [
+                  0.2667488850343632,
+                  -0.35377241380927654
+                ],
+                "gripper_position": [
+                  0.26546279182756566,
+                  -0.3530162427500548,
+                  1.000849799576029
+                ],
+                "rod_tip_xy_dist": 0.0015341560242284058,
+                "target_xy_drift": 1.2254183448985175e-07,
+                "depth": 0.019815511279219322,
+                "bottom_clearance": 0.07962511086013202,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005928209574623509,
+              "rod_tip_xy_max_step": 3.2196321294633654e-05,
+              "rod_tip_xy_range": 0.0005928071014752055,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2649150227497568,
+            -0.35431068515332864,
+            1.0434163512788313
+          ],
+          "object_origin_world": [
+            0.2649150227497568,
+            -0.35431068515332864,
+            1.0434163512788313
+          ],
+          "frame_world": [
+            0.26491373009545,
+            -0.35431534397478465,
+            1.0433068300879775
+          ],
+          "center_minus_frame": [
+            1.2926543068170204e-06,
+            4.658821456005047e-06,
+            0.00010952119085372303
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27155594460556626,
+              0.15937051645033556,
+              0.8324635153685039
+            ],
+            "target_position": [
+              0.28670387867052055,
+              0.2050016110112164,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048079691110283256,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1657275607801851,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324635153685039,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672996170882,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13495835863106445,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 314,
+            "max_placed_release_frames": 314
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21347426932750047,
+              0.020014405510844213,
+              1.0445531756667956
+            ],
+            "current_z": 1.0445531756667956,
+            "required_z": 0.8565864478039206,
+            "initial_z": 0.7565864478039206,
+            "lift_margin": 0.18796672786287505,
+            "gripper_z": 1.0490736967176897,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2087329002612658,
+              0.015320330421404918,
+              1.0490736967176897
+            ],
+            "object_minus_gripper": [
+              0.004741369066234652,
+              0.004694075089439295,
+              -0.004520521050894066
+            ],
+            "object_to_gripper_xy": 0.006671950357095096,
+            "object_to_gripper_z": -0.004520521050894066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21347426932750047,
+              -0.004092886180487785,
+              1.0445531756667956
+            ],
+            "finger_b": [
+              0.2018917673632482,
+              0.020014405510844213,
+              1.0445531756667956
+            ],
+            "finger_midpoint": [
+              0.20768301834537434,
+              0.007960759665178214,
+              1.0445531756667956
+            ],
+            "object_minus_finger_midpoint": [
+              0.005791250982126128,
+              0.012053645845665999,
+              0.0
+            ],
+            "finger_gap": 0.026745389592280615,
+            "fingertip_max_gap": 0.09216038989681147,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013372694796140307,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0445531756667956,
+            "object_top_z": 1.0905360882638342,
+            "finger_top_clearance": 0.04598291259703857,
+            "fingertip_min_top_clearance": 0.013794873779111604,
+            "object_projection_between_fingers": 0.8124543877460424,
+            "object_to_finger_line_xy": 0.010440033128111375,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048580194948405736,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7768684397275297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21289725984356697,
+              0.018521269047401312,
+              1.2417789966288346
+            ],
+            "held_position": [
+              0.2180085176724071,
+              0.022772878447698656,
+              1.2372156651198865
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008063816314012569,
+            "max_held_gripper_dist": 0.008065157916656586,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004563331508948165,
+            "max_held_gripper_z_dist": 0.004563331508948165,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08543643467421197,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2180085176724071,
+              -0.002710710765224539,
+              1.2372156651198865
+            ],
+            "held_grasp_finger_b": [
+              0.20874173166913645,
+              0.022772878447698656,
+              1.2372156651198865
+            ],
+            "held_grasp_midpoint": [
+              0.21337512467077177,
+              0.010031083841237059,
+              1.2372156651198865
+            ],
+            "held_grasp_object_position": [
+              0.2180085176724071,
+              0.022772878447698656,
+              1.2372156651198865
+            ],
+            "held_grasp_finger_gap": 0.027116169382924053,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024619678422663993,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0835971711412256,
+              -0.996498385919303,
+              0.0015747499512516194
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035520548304546506,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03211570865903425,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18071276603994843,
+              0.010890640398878633,
+              0.7565871623987386
+            ],
+            "target_position": [
+              0.1892886053068996,
+              0.01622395730789544,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01009897462045459,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20933335160311656,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565871623987386,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07626505596509255,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09537601249748899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1781138031537387,
+            "release_required_pad_clearance": 0.0576880062487445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 11.177303170716234,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 306,
+            "max_placed_release_frames": 306
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7aef1cae67e577951115750c8a7c74398e0b0479bb7a354b48100f9a2e0f8670",
+    "visual_seed": 8240173755411007707,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7870f053f25c1e7b8529e755d1ec88e6cc547938
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_8_success.json
@@ -0,0 +1,2658 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21045667966365986,
+              -0.13804572133432078,
+              1.1634287102719527
+            ],
+            "current_z": 1.1634287102719527,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30232226186183153,
+            "gripper_z": 1.1569491278858546,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2061419425946027,
+              -0.14245201592170215,
+              1.1569491278858546
+            ],
+            "object_minus_gripper": [
+              0.004314737069057162,
+              0.004406294587381371,
+              0.006479582386098137
+            ],
+            "object_to_gripper_xy": 0.006167040454373747,
+            "object_to_gripper_z": 0.006479582386098137,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21045667966365986,
+              -0.16164135112488023,
+              1.1634287102719527
+            ],
+            "finger_b": [
+              0.2002208896800005,
+              -0.13804572133432078,
+              1.1634287102719527
+            ],
+            "finger_midpoint": [
+              0.2053387846718302,
+              -0.1498435362296005,
+              1.1634287102719527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005117894991829658,
+              0.011797814895279729,
+              0.0
+            ],
+            "finger_gap": 0.025720131061149707,
+            "fingertip_max_gap": 0.0925658113522092,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012860065530574848,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634287102719527,
+            "object_top_z": 1.213484734681901,
+            "finger_top_clearance": 0.050056024409948385,
+            "fingertip_min_top_clearance": 0.015016807322984514,
+            "object_projection_between_fingers": 0.8416214441917217,
+            "object_to_finger_line_xy": 0.009390306390512864,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048782905676104604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.089026001413408,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 329,
+            "max_stable_success_frames": 329,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27167685606092673,
+              -0.3543337662725592,
+              0.8515396061692047
+            ],
+            "target_position": [
+              0.26495165439475177,
+              -0.3543465363140583,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006725213790258446,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18524884978195358,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396061692047,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575547713889887,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08744407748919596,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152475170090981,
+            "release_required_pad_clearance": 0.05372203874459798,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4533761808264147,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007491886615753174,
+            "max_z_decrease": 0.007491886615753174,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035106240558670336,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007491886615753174,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107257034776211,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007491886615753174,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007491909074217412,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12065158039331436,
+              -0.4106079936027527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12065158039331436,
+              -0.4106079936027527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11973192398685206,
+              -0.4095175466703816,
+              0.8076975058035386
+            ],
+            "closest_button": [
+              0.12064091116189957,
+              -0.41060358285903925,
+              0.7726198434829712
+            ],
+            "closest_ee_minus_button": [
+              -0.0009089871750475043,
+              0.0010860361886576575,
+              0.035077662320567415
+            ],
+            "button_min_z_position": [
+              0.12063346058130266,
+              -0.41060513257980347,
+              0.7693169713020325
+            ],
+            "min_active_finger_to_button": 0.146527525872883,
+            "closest_active_finger": [
+              -0.006810449063777924,
+              -0.4741392433643341,
+              0.8107196092605591
+            ],
+            "closest_active_finger_button": [
+              0.12065266817808151,
+              -0.4106064736843109,
+              0.7762659192085266
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12746311724185944,
+              -0.0635327696800232,
+              0.03445369005203247
+            ],
+            "min_contact_pad_to_button": 0.02107257034776211,
+            "closest_contact_pad": [
+              0.12063346058130266,
+              -0.41060513257980347,
+              0.7903895416497946
+            ],
+            "closest_contact_pad_button": [
+              0.12063346058130266,
+              -0.41060513257980347,
+              0.7693169713020325
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107257034776211
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.29161283580235237,
+              0.19843101593697074,
+              1.11069157583333
+            ],
+            "current_z": 1.11069157583333,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.20078244609896745,
+            "gripper_z": 1.1106917480545682,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.29161290468345535,
+              0.1984310901687824,
+              1.1106917480545682
+            ],
+            "object_minus_gripper": [
+              -6.888110298808314e-08,
+              -7.423181166976711e-08,
+              -1.7222123815940904e-07
+            ],
+            "object_to_gripper_xy": 1.0126681693738916e-07,
+            "object_to_gripper_z": -1.7222123815940904e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29161283580235237,
+              0.19843101593697074,
+              1.11069157583333
+            ],
+            "finger_b": [
+              0.29161283580235237,
+              0.19843101593697074,
+              1.11069157583333
+            ],
+            "finger_midpoint": [
+              0.29161283580235237,
+              0.19843101593697074,
+              1.11069157583333
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.11069157583333,
+            "object_top_z": 1.2357000824536097,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 159,
+            "max_stable_success_frames": 159,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.29161283580235237,
+            0.19843101593697074,
+            1.1106915758333302
+          ],
+          "object_origin_world": [
+            0.29161283580235237,
+            0.19843101593697074,
+            1.1106915758333302
+          ],
+          "frame_world": [
+            0.29161290468345535,
+            0.1984310901687824,
+            1.1106917480545682
+          ],
+          "center_minus_frame": [
+            -6.888110298808314e-08,
+            -7.423181166976711e-08,
+            -1.7222123793736444e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437732674697018,
+            "required_z": 0.9112598367030271,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00045524760148582825,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.749194773066959e-08,
+            "max_target_xy_drift": 1.7488926390665844e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.453376181560656,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.4533761816223256,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27136633442757613,
+              -0.35398262191143454,
+              0.9234634873635944
+            ],
+            "target_mouth_xy": [
+              0.2716768832997254,
+              -0.3543337371635844
+            ],
+            "rod_tip_z": 0.9234634873635944,
+            "rod_tip_depth": -0.022203698930436278,
+            "rod_tip_bottom_clearance": 0.12164424349998437,
+            "rod_tip_xy_dist": 0.00046874569041799834,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04456136053621984,
+            "min_rod_tip_bottom_clearance": 0.054879141279128074,
+            "min_rod_tip_xy_dist": 0.00046874569041799834,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2716768258092477,
+              -0.3543337367524563
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.749047771175242e-08,
+              -4.1112813153887373e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.00028583771808993186,
+                0.0019175316685804966
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0001611730006215728,
+                0.0016191968664656664
+              ],
+              "first_target_mouth_xy": [
+                0.2716768543523618,
+                -0.3543337362053196
+              ],
+              "last_target_mouth_xy": [
+                0.2716769469212422,
+                -0.3543337938115453
+              ],
+              "first_rod_tip_xy": [
+                0.2719626920704517,
+                -0.3524162045367391
+              ],
+              "last_rod_tip_xy": [
+                0.2718381199218638,
+                -0.3527145969450796
+              ],
+              "min_rod_tip_xy_dist": 0.0016271985829952023,
+              "max_rod_tip_xy_dist": 0.0019387188813987351,
+              "first_target_xy_drift": 2.854835758404935e-08,
+              "last_target_xy_drift": 1.3388000172195412e-07,
+              "max_depth": 0.019534352464412597,
+              "min_bottom_clearance": 0.07990632709850931
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00028583771808993186,
+                  0.0019175316685804966
+                ],
+                "rod_tip_xy": [
+                  0.2719626920704517,
+                  -0.3524162045367391
+                ],
+                "target_mouth_xy": [
+                  0.2716768543523618,
+                  -0.3543337362053196
+                ],
+                "gripper_position": [
+                  0.2719515724379346,
+                  -0.3524231561935423,
+                  1.005604364080658
+                ],
+                "rod_tip_xy_dist": 0.0019387188813987351,
+                "target_xy_drift": 2.854835758404935e-08,
+                "depth": 0.015513835680559196,
+                "bottom_clearance": 0.08392666526062775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0002746574589136408,
+                  0.001910609465776869
+                ],
+                "rod_tip_xy": [
+                  0.27195157243793466,
+                  -0.3524231561935423
+                ],
+                "target_mouth_xy": [
+                  0.271676914979021,
+                  -0.3543337656593192
+                ],
+                "gripper_position": [
+                  0.2719432581561594,
+                  -0.3524245614141709,
+                  1.0054804940775521
+                ],
+                "rod_tip_xy_dist": 0.0019302500486861984,
+                "target_xy_drift": 9.373822699915763e-08,
+                "depth": 0.015655459385682025,
+                "bottom_clearance": 0.08378507955415115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0002663111369508031,
+                  0.0019092026270541296
+                ],
+                "rod_tip_xy": [
+                  0.27194325815615944,
+                  -0.35242456141417094
+                ],
+                "target_mouth_xy": [
+                  0.27167694701920864,
+                  -0.3543337640412251
+                ],
+                "gripper_position": [
+                  0.27194621563903976,
+                  -0.35248595840488295,
+                  1.0049596510020453
+                ],
+                "rod_tip_xy_dist": 0.001927686772485203,
+                "target_xy_drift": 1.2424383903378617e-07,
+                "depth": 0.015779434547187887,
+                "bottom_clearance": 0.08366124743855863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0002693012452039123,
+                  0.0018478072882507912
+                ],
+                "rod_tip_xy": [
+                  0.2719462156390398,
+                  -0.352485958404883
+                ],
+                "target_mouth_xy": [
+                  0.2716769143938359,
+                  -0.3543337656931338
+                ],
+                "gripper_position": [
+                  0.2719348451476514,
+                  -0.35249299784746974,
+                  1.004818319031463
+                ],
+                "rod_tip_xy_dist": 0.0018673282880043135,
+                "target_xy_drift": 9.319223189490285e-08,
+                "depth": 0.016300167634360485,
+                "bottom_clearance": 0.0831403484397003,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00025793017302494503,
+                  0.0018407358054269296
+                ],
+                "rod_tip_xy": [
+                  0.2719348451476515,
+                  -0.35249299784746974
+                ],
+                "target_mouth_xy": [
+                  0.27167691497462654,
+                  -0.35433373365289667
+                ],
+                "gripper_position": [
+                  0.2719266269056616,
+                  -0.35249382252739747,
+                  1.0046942831457955
+                ],
+                "rod_tip_xy_dist": 0.0018587189888569508,
+                "target_xy_drift": 8.921923591182818e-08,
+                "depth": 0.016441604093667794,
+                "bottom_clearance": 0.08299901698143775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00024974214173206777,
+                  0.0018399736015057289
+                ],
+                "rod_tip_xy": [
+                  0.27192662690566166,
+                  -0.3524938225273975
+                ],
+                "target_mouth_xy": [
+                  0.2716768847639296,
+                  -0.35433379612890326
+                ],
+                "gripper_position": [
+                  0.27193034656582615,
+                  -0.3525563233991616,
+                  1.0041745727094464
+                ],
+                "rod_tip_xy_dist": 0.001856845171680957,
+                "target_xy_drift": 8.367327515835024e-08,
+                "depth": 0.016565484287142884,
+                "bottom_clearance": 0.08287505185960964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0002534284008359755,
+                  0.00177744220951076
+                ],
+                "rod_tip_xy": [
+                  0.27193034656582615,
+                  -0.3525563233991617
+                ],
+                "target_mouth_xy": [
+                  0.2716769181649902,
+                  -0.35433376560867247
+                ],
+                "gripper_position": [
+                  0.2719189143568744,
+                  -0.3525633631949183,
+                  1.0040330884650444
+                ],
+                "rod_tip_xy_dist": 0.0017954182695129213,
+                "target_xy_drift": 9.675879487379522e-08,
+                "depth": 0.017085334244766104,
+                "bottom_clearance": 0.08235532423149472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0002420618210984271,
+                  0.001770403473956017
+                ],
+                "rod_tip_xy": [
+                  0.27191891435687443,
+                  -0.3525633631949184
+                ],
+                "target_mouth_xy": [
+                  0.271676852535776,
+                  -0.3543337666688744
+                ],
+                "gripper_position": [
+                  0.27191040460085014,
+                  -0.3525640890143266,
+                  1.0039091930542248
+                ],
+                "rod_tip_xy_dist": 0.0017868750336352626,
+                "target_xy_drift": 4.011607395305768e-08,
+                "depth": 0.017226782454797473,
+                "bottom_clearance": 0.08221378651807953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00023354944264031285,
+                  0.001769675710954155
+                ],
+                "rod_tip_xy": [
+                  0.27191040460085014,
+                  -0.3525640890143266
+                ],
+                "target_mouth_xy": [
+                  0.27167685515820983,
+                  -0.3543337647252808
+                ],
+                "gripper_position": [
+                  0.2719018443849408,
+                  -0.3525655107180534,
+                  1.0037854282476237
+                ],
+                "rod_tip_xy_dist": 0.0017850202979514532,
+                "target_xy_drift": 4.0544302803523776e-08,
+                "depth": 0.01735064584090995,
+                "bottom_clearance": 0.08208991999121518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.000224927381155704,
+                  0.001768254596441532
+                ],
+                "rod_tip_xy": [
+                  0.27190184438494086,
+                  -0.3525655107180535
+                ],
+                "target_mouth_xy": [
+                  0.27167691700378516,
+                  -0.354333765314495
+                ],
+                "gripper_position": [
+                  0.2719070741534818,
+                  -0.3526300947307609,
+                  1.0032661035653765
+                ],
+                "rod_tip_xy_dist": 0.001782502915742403,
+                "target_xy_drift": 9.556272140489087e-08,
+                "depth": 0.017474475684303048,
+                "bottom_clearance": 0.08196615089045078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0002302194515566569,
+                  0.001703671253211192
+                ],
+                "rod_tip_xy": [
+                  0.2719070741534818,
+                  -0.35263009473076096
+                ],
+                "target_mouth_xy": [
+                  0.27167685470192515,
+                  -0.35433376598397215
+                ],
+                "gripper_position": [
+                  0.2718953602068044,
+                  -0.35263697808692024,
+                  1.003124664601549
+                ],
+                "rod_tip_xy_dist": 0.0017191558204226985,
+                "target_xy_drift": 4.110070962729215e-08,
+                "depth": 0.017993715209907113,
+                "bottom_clearance": 0.08144679889692064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00021844437899104507,
+                  0.0016967564913508704
+                ],
+                "rod_tip_xy": [
+                  0.27189536020680444,
+                  -0.35263697808692035
+                ],
+                "target_mouth_xy": [
+                  0.2716769158278134,
+                  -0.3543337345782712
+                ],
+                "gripper_position": [
+                  0.27188686187382993,
+                  -0.35263785179923746,
+                  1.0030010576295643
+                ],
+                "rod_tip_xy_dist": 0.0017107602221392978,
+                "target_xy_drift": 9.004481802755769e-08,
+                "depth": 0.01813524783941589,
+                "bottom_clearance": 0.08130537018125428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00020994829771753265,
+                  0.0016959132607952676
+                ],
+                "rod_tip_xy": [
+                  0.27188686187383,
+                  -0.3526378517992375
+                ],
+                "target_mouth_xy": [
+                  0.27167691357611246,
+                  -0.3543337650600328
+                ],
+                "gripper_position": [
+                  0.2718781346865049,
+                  -0.3526387035725742,
+                  1.0028773323485434
+                ],
+                "rod_tip_xy_dist": 0.001708859290829917,
+                "target_xy_drift": 9.221898633238709e-08,
+                "depth": 0.018258767861924707,
+                "bottom_clearance": 0.08118174412497436,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00020122011413675756,
+                  0.0016950620683628403
+                ],
+                "rod_tip_xy": [
+                  0.27187813468650496,
+                  -0.35263870357257426
+                ],
+                "target_mouth_xy": [
+                  0.2716769145723682,
+                  -0.3543337656409371
+                ],
+                "gripper_position": [
+                  0.27188470143652205,
+                  -0.3527049573532499,
+                  1.0023616275623222
+                ],
+                "rod_tip_xy_dist": 0.0017069636639178117,
+                "target_xy_drift": 9.334578667069622e-08,
+                "depth": 0.01838248852289437,
+                "bottom_clearance": 0.08105803609056761,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00020778796489479,
+                  0.0016288054540278263
+                ],
+                "rod_tip_xy": [
+                  0.27188470143652205,
+                  -0.35270495735324997
+                ],
+                "target_mouth_xy": [
+                  0.27167691347162726,
+                  -0.3543337628072778
+                ],
+                "gripper_position": [
+                  0.2718732169822621,
+                  -0.35271156644186513,
+                  1.002220217760612
+                ],
+                "rod_tip_xy_dist": 0.0016420057994495365,
+                "target_xy_drift": 9.145242762099745e-08,
+                "depth": 0.018898238456735106,
+                "bottom_clearance": 0.08054235440603574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00019633167704541377,
+                  0.001622261341210074
+                ],
+                "rod_tip_xy": [
+                  0.27187321698226213,
+                  -0.35271156644186513
+                ],
+                "target_mouth_xy": [
+                  0.2716768853052167,
+                  -0.3543338277830752
+                ],
+                "gripper_position": [
+                  0.27186440594458344,
+                  -0.35271260633057006,
+                  1.0020965238018282
+                ],
+                "rod_tip_xy_dist": 0.0016340985241398917,
+                "target_xy_drift": 1.087489950074474e-07,
+                "depth": 0.019039706009293944,
+                "bottom_clearance": 0.08040091479176259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0001874937632849738,
+                  0.0016211574583799293
+                ],
+                "rod_tip_xy": [
+                  0.2718644059445835,
+                  -0.35271260633057017
+                ],
+                "target_mouth_xy": [
+                  0.2716769121812985,
+                  -0.3543337637889501
+                ],
+                "gripper_position": [
+                  0.2718556028256828,
+                  -0.3527131960726876,
+                  1.0019731176646323
+                ],
+                "rod_tip_xy_dist": 0.0016319636687535768,
+                "target_xy_drift": 9.050471349771175e-08,
+                "depth": 0.019163425895118436,
+                "bottom_clearance": 0.08027718512058779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00017868753772182222,
+                  0.0016205990613237797
+                ],
+                "rod_tip_xy": [
+                  0.27185560282568283,
+                  -0.35271319607268775
+                ],
+                "target_mouth_xy": [
+                  0.271676915287961,
+                  -0.35433379513401153
+                ],
+                "gripper_position": [
+                  0.27184671991762344,
+                  -0.35271402071589747,
+                  1.001849268640387
+                ],
+                "rod_tip_xy_dist": 0.0016304203610420852,
+                "target_xy_drift": 1.0684028328762055e-07,
+                "depth": 0.019286773589826,
+                "bottom_clearance": 0.08015378898762571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00016983495363720458,
+                  0.0016197741189652448
+                ],
+                "rod_tip_xy": [
+                  0.27184671991762344,
+                  -0.35271402071589747
+                ],
+                "target_mouth_xy": [
+                  0.27167688496398623,
+                  -0.3543337948348627
+                ],
+                "gripper_position": [
+                  0.27183811992186374,
+                  -0.35271459694507956,
+                  1.0017256356408188
+                ],
+                "rod_tip_xy_dist": 0.0016286534646592524,
+                "target_xy_drift": 8.290264791318835e-08,
+                "depth": 0.019410564691750953,
+                "bottom_clearance": 0.08002998979577514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0001611730006215728,
+                  0.0016191968664656664
+                ],
+                "rod_tip_xy": [
+                  0.2718381199218638,
+                  -0.3527145969450796
+                ],
+                "target_mouth_xy": [
+                  0.2716769469212422,
+                  -0.3543337938115453
+                ],
+                "gripper_position": [
+                  0.27182925109385725,
+                  -0.35271536549544386,
+                  1.0016021993933846
+                ],
+                "rod_tip_xy_dist": 0.0016271985829952023,
+                "target_xy_drift": 1.3388000172195412e-07,
+                "depth": 0.019534352464412597,
+                "bottom_clearance": 0.07990632709850931,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005978225765068409,
+              "rod_tip_xy_max_step": 3.23415517974411e-05,
+              "rod_tip_xy_range": 0.0005978154901046375,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27136633442757613,
+            -0.35398262191143454,
+            1.0434634873635946
+          ],
+          "object_origin_world": [
+            0.27136633442757613,
+            -0.35398262191143454,
+            1.0434634873635946
+          ],
+          "frame_world": [
+            0.2713915192622932,
+            -0.35397902919243207,
+            1.0437732674697018
+          ],
+          "center_minus_frame": [
+            -2.518483471708466e-05,
+            -3.5927190024653832e-06,
+            -0.00030978010610716034
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.27018944488022456,
+              0.15480129121825176,
+              0.8328901122405336
+            ],
+            "target_position": [
+              0.28340883425129276,
+              0.20100578586790147,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048058376805437564,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16738901045903315,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328901122405336,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674180971416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13662327986892378,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 295,
+            "max_placed_release_frames": 295
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/wrist_3_link/collisions/wrist3/mesh",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot wrist3",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.20984025296149544,
+              0.022093932202189418,
+              1.0451347477040849
+            ],
+            "current_z": 1.0451347477040849,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18854835950480886,
+            "gripper_z": 1.049586151251245,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2046834112046448,
+              0.017333206590325806,
+              1.049586151251245
+            ],
+            "object_minus_gripper": [
+              0.005156841756850633,
+              0.004760725611863612,
+              -0.0044514035471601154
+            ],
+            "object_to_gripper_xy": 0.007018370555666927,
+            "object_to_gripper_z": -0.0044514035471601154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.20984025296149544,
+              -0.0025820362208253344,
+              1.0451347477040849
+            ],
+            "finger_b": [
+              0.19847892627498553,
+              0.022093932202189418,
+              1.0451347477040849
+            ],
+            "finger_midpoint": [
+              0.2041595896182405,
+              0.009755947990682043,
+              1.0451347477040849
+            ],
+            "object_minus_finger_midpoint": [
+              0.005680663343254955,
+              0.012337984211507376,
+              0.0
+            ],
+            "finger_gap": 0.027165845499288684,
+            "fingertip_max_gap": 0.09368676666259165,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013582922749644342,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451347477040849,
+            "object_top_z": 1.0916655630570458,
+            "finger_top_clearance": 0.046530815352960886,
+            "fingertip_min_top_clearance": 0.013959244605888281,
+            "object_projection_between_fingers": 0.8250912069839204,
+            "object_to_finger_line_xy": 0.010320007840993347,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934338333129583,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3097110921391923,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2087156904165775,
+              0.02059138664522356,
+              1.244661570552596
+            ],
+            "held_position": [
+              0.214174237649417,
+              0.02499090966662135,
+              1.2401885493593912
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008316216646036184,
+            "max_held_gripper_dist": 0.00831809912188528,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004473021193204918,
+            "max_held_gripper_z_dist": 0.004473419515708121,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08587596171860003,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.214174237649417,
+              -0.0006894226122540993,
+              1.2401885493593912
+            ],
+            "held_grasp_finger_b": [
+              0.2045459127283587,
+              0.02499090966662135,
+              1.2401885493593912
+            ],
+            "held_grasp_midpoint": [
+              0.20936007518888786,
+              0.012150743527183625,
+              1.2401885493593912
+            ],
+            "held_grasp_object_position": [
+              0.214174237649417,
+              0.02499090966662135,
+              1.2401885493593912
+            ],
+            "held_grasp_finger_gap": 0.027425975037160023,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02512535145435465,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05371715985534584,
+              -0.9985290472418,
+              0.007362645683347435
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004118581509792365,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03212034296970975,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.16492357357437573,
+              0.020210609752145576,
+              0.7565862006039743
+            ],
+            "target_position": [
+              0.18484118814479517,
+              0.019592725313645715,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.019927196274316286,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20371793164201288,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862006039743,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575473360469716,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08796851798157844,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1762459253791761,
+            "release_required_pad_clearance": 0.05398425899078922,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9684807824991974,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 342,
+            "max_placed_release_frames": 342
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5768beabeb1b3408e531b48ced1712b1e56cf3b71fc9a1fd9677e81638bf5562",
+    "visual_seed": 7292172038702472012,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d846a634aba77dc0cb075a8e46efa1a137ab39
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/episode_9_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.21124519710870068,
+              -0.1342763329131674,
+              1.1621649198686264
+            ],
+            "current_z": 1.1621649198686264,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.3010584714585054,
+            "gripper_z": 1.155731331552137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20689604978468837,
+              -0.13867014673019604,
+              1.155731331552137
+            ],
+            "object_minus_gripper": [
+              0.004349147324012315,
+              0.004393813817028636,
+              0.006433588316489436
+            ],
+            "object_to_gripper_xy": 0.00618228778889136,
+            "object_to_gripper_z": 0.006433588316489436,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21124519710870068,
+              -0.1579966621458197,
+              1.1621649198686264
+            ],
+            "finger_b": [
+              0.20120630260464295,
+              -0.1342763329131674,
+              1.1621649198686264
+            ],
+            "finger_midpoint": [
+              0.2062257498566718,
+              -0.14613649752949354,
+              1.1621649198686264
+            ],
+            "object_minus_finger_midpoint": [
+              0.00501944725202888,
+              0.011860164616326135,
+              0.0
+            ],
+            "finger_gap": 0.025757201357465443,
+            "fingertip_max_gap": 0.09251286863776784,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012878600678732715,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1621649198686264,
+            "object_top_z": 1.212292355465029,
+            "finger_top_clearance": 0.050127435596402536,
+            "fingertip_min_top_clearance": 0.01503823067892076,
+            "object_projection_between_fingers": 0.8480941725925171,
+            "object_to_finger_line_xy": 0.00924502159467317,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875643431888392,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.934677930297597,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 326,
+            "max_stable_success_frames": 326,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26844014320967446,
+              -0.3582866926203838,
+              0.8515396123070349
+            ],
+            "target_position": [
+              0.2624118262390635,
+              -0.3577118764103034,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00605566009395568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835693363869599,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396123070349,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751741118593658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08670441041217126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15203256529022363,
+            "release_required_pad_clearance": 0.053352205206085634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7209661383528316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007548213005065918,
+            "max_z_decrease": 0.007548213005065918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035107097608181016,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007548213005065918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021068708810438753,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007548213005065918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007548230648341737,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11811175197362903,
+              -0.413973331451416,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11811175197362903,
+              -0.413973331451416,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11622044769050283,
+              -0.4133562117210813,
+              0.807601633591829
+            ],
+            "closest_button": [
+              0.11810101568698884,
+              -0.4139683544635773,
+              0.7725502848625183
+            ],
+            "closest_ee_minus_button": [
+              -0.0018805679964860184,
+              0.0006121427424960468,
+              0.035051348729310705
+            ],
+            "button_min_z_position": [
+              0.11809564381837846,
+              -0.4139707088470459,
+              0.7692606449127197
+            ],
+            "min_active_finger_to_button": 0.1475782513508503,
+            "closest_active_finger": [
+              -0.010014608502388,
+              -0.4785730540752411,
+              0.8107585310935974
+            ],
+            "closest_active_finger_button": [
+              0.11811305582523347,
+              -0.41397139430046087,
+              0.7762727737426758
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12812766432762146,
+              -0.06460165977478022,
+              0.03448575735092163
+            ],
+            "min_contact_pad_to_button": 0.021068708810438753,
+            "closest_contact_pad": [
+              0.11809564381837846,
+              -0.4141971940707684,
+              0.7903281363481635
+            ],
+            "closest_contact_pad_button": [
+              0.11809564381837846,
+              -0.4139707088470459,
+              0.7692606449127197
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00022648522372248348,
+              0.02106749143544373
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.28463208348818364,
+              0.200068456116241,
+              1.1048739905648617
+            ],
+            "current_z": 1.1048739905648617,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19496486083049913,
+            "gripper_z": 1.1048743020140723,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2846321249162405,
+              0.20006852152576227,
+              1.1048743020140723
+            ],
+            "object_minus_gripper": [
+              -4.1428056873904495e-08,
+              -6.54095212715422e-08,
+              -3.1144921064374387e-07
+            ],
+            "object_to_gripper_xy": 7.742537936180744e-08,
+            "object_to_gripper_z": -3.1144921064374387e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28463208348818364,
+              0.200068456116241,
+              1.1048739905648617
+            ],
+            "finger_b": [
+              0.28463208348818364,
+              0.200068456116241,
+              1.1048739905648617
+            ],
+            "finger_midpoint": [
+              0.28463208348818364,
+              0.200068456116241,
+              1.1048739905648617
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1048739905648617,
+            "object_top_z": 1.2298824971851414,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2846320834881837,
+            0.200068456116241,
+            1.1048739905648617
+          ],
+          "object_origin_world": [
+            0.2846320834881837,
+            0.200068456116241,
+            1.1048739905648617
+          ],
+          "frame_world": [
+            0.2846321249162405,
+            0.20006852152576227,
+            1.1048743020140723
+          ],
+          "center_minus_frame": [
+            -4.1428056818393344e-08,
+            -6.54095212715422e-08,
+            -3.1144921064374387e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0431754309524055,
+            "required_z": 0.9112599327608295,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0015512064047394193,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.2662856127592944e-08,
+            "max_target_xy_drift": 1.5232861743953053e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.720966137899556,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7209661389641182,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26701143590735676,
+              -0.357680518477539,
+              0.9232862510807981
+            ],
+            "target_mouth_xy": [
+              0.26844011395528056,
+              -0.3582867240055566
+            ],
+            "rod_tip_z": 0.9232862510807981,
+            "rod_tip_depth": -0.022026351650242693,
+            "rod_tip_bottom_clearance": 0.12146693716656676,
+            "rod_tip_xy_dist": 0.0015519684619277661,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04471259952219542,
+            "min_rod_tip_bottom_clearance": 0.05472796539194025,
+            "min_rod_tip_xy_dist": 0.0012834936262816387,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2684400860988152,
+              -0.3582867563186597
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.7856465356634885e-08,
+              3.2313103082159955e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0007855142107279778,
+                0.002253537735119715
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009035138959139211,
+                0.001866068076957661
+              ],
+              "first_target_mouth_xy": [
+                0.2684401125276925,
+                -0.3582867249619742
+              ],
+              "last_target_mouth_xy": [
+                0.2684401131833859,
+                -0.358286753176289
+              ],
+              "first_rod_tip_xy": [
+                0.26765459831696453,
+                -0.3560331872268545
+              ],
+              "last_rod_tip_xy": [
+                0.267536599287472,
+                -0.35642068509933134
+              ],
+              "min_rod_tip_xy_dist": 0.0020732938595264335,
+              "max_rod_tip_xy_dist": 0.0023865173158525567,
+              "first_target_xy_drift": 4.1008868303031765e-08,
+              "last_target_xy_drift": 2.7266251364206854e-08,
+              "max_depth": 0.019833822227018794,
+              "min_bottom_clearance": 0.07960675770703907
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007855142107279778,
+                  0.002253537735119715
+                ],
+                "rod_tip_xy": [
+                  0.26765459831696453,
+                  -0.3560331872268545
+                ],
+                "target_mouth_xy": [
+                  0.2684401125276925,
+                  -0.3582867249619742
+                ],
+                "gripper_position": [
+                  0.2676435276990312,
+                  -0.3560407064597585,
+                  1.0056877411681204
+                ],
+                "rod_tip_xy_dist": 0.0023865173158525567,
+                "target_xy_drift": 4.1008868303031765e-08,
+                "depth": 0.01543159672921035,
+                "bottom_clearance": 0.08400891057221693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007965841271355689,
+                  0.0022460172380179833
+                ],
+                "rod_tip_xy": [
+                  0.2676435276990311,
+                  -0.3560407064597585
+                ],
+                "target_mouth_xy": [
+                  0.26844011182616667,
+                  -0.3582867236977765
+                ],
+                "gripper_position": [
+                  0.2676448281883883,
+                  -0.35610503331143173,
+                  1.0051681573502642
+                ],
+                "rod_tip_xy_dist": 0.002383094564862726,
+                "target_xy_drift": 4.1545380436141276e-08,
+                "depth": 0.015572094549587967,
+                "bottom_clearance": 0.08386843500714714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007952850617751195,
+                  0.002181721141055082
+                ],
+                "rod_tip_xy": [
+                  0.26764482818838814,
+                  -0.35610503331143173
+                ],
+                "target_mouth_xy": [
+                  0.26844011325016326,
+                  -0.3582867544524868
+                ],
+                "gripper_position": [
+                  0.2676335694901807,
+                  -0.3561124908595619,
+                  1.005028088127757
+                ],
+                "rod_tip_xy_dist": 0.002322151043065318,
+                "target_xy_drift": 2.7215405612195282e-08,
+                "depth": 0.016091665568686797,
+                "bottom_clearance": 0.08334886981695366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0008065439159143928,
+                  0.0021742318722556275
+                ],
+                "rod_tip_xy": [
+                  0.2676335694901806,
+                  -0.35611249085956187
+                ],
+                "target_mouth_xy": [
+                  0.26844011340609497,
+                  -0.3582867227318175
+                ],
+                "gripper_position": [
+                  0.2676253892638991,
+                  -0.3561136184182531,
+                  1.0049050858341801
+                ],
+                "rod_tip_xy_dist": 0.0023190078315156104,
+                "target_xy_drift": 4.3286989929994017e-08,
+                "depth": 0.01623183026721231,
+                "bottom_clearance": 0.08320878167117007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0008147536122179444,
+                  0.002173135393143011
+                ],
+                "rod_tip_xy": [
+                  0.267625389263899,
+                  -0.35611361841825306
+                ],
+                "target_mouth_xy": [
+                  0.26844014287611695,
+                  -0.3582867538113961
+                ],
+                "gripper_position": [
+                  0.2676274726262792,
+                  -0.3561789851682215,
+                  1.004386288151423
+                ],
+                "rod_tip_xy_dist": 0.002320849173374482,
+                "target_xy_drift": 5.68326346807399e-08,
+                "depth": 0.016354806976866643,
+                "bottom_clearance": 0.08308574544534952,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0008126412117189785,
+                  0.0021077683362051847
+                ],
+                "rod_tip_xy": [
+                  0.26762747262627906,
+                  -0.35617898516822155
+                ],
+                "target_mouth_xy": [
+                  0.26844011383799804,
+                  -0.35828675350442674
+                ],
+                "gripper_position": [
+                  0.2676160605168319,
+                  -0.35618627664512664,
+                  1.0042461874427493
+                ],
+                "rod_tip_xy_dist": 0.002258998251015981,
+                "target_xy_drift": 2.78815740543753e-08,
+                "depth": 0.016873615897420202,
+                "bottom_clearance": 0.08256697641939781,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0008240534000076294,
+                  0.0021004774755345457
+                ],
+                "rod_tip_xy": [
+                  0.2676160605168318,
+                  -0.3561862766451266
+                ],
+                "target_mouth_xy": [
+                  0.2684401139168394,
+                  -0.35828675412066113
+                ],
+                "gripper_position": [
+                  0.2676080330458901,
+                  -0.35618728533402005,
+                  1.0041234826063614
+                ],
+                "rod_tip_xy_dist": 0.002256339874950605,
+                "target_xy_drift": 2.7904724851498937e-08,
+                "depth": 0.01701370604265351,
+                "bottom_clearance": 0.08242686650594055,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0008320798422273845,
+                  0.0020994688103673775
+                ],
+                "rod_tip_xy": [
+                  0.2676080330458899,
+                  -0.3561872853340201
+                ],
+                "target_mouth_xy": [
+                  0.2684401128881173,
+                  -0.3582867541443875
+                ],
+                "gripper_position": [
+                  0.26761083187615603,
+                  -0.35625366675219705,
+                  1.0036064179163102
+                ],
+                "rod_tip_xy_dist": 0.002258345887933591,
+                "target_xy_drift": 2.6877391375809717e-08,
+                "depth": 0.01713634319461399,
+                "bottom_clearance": 0.08230419000963274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0008292797287967058,
+                  0.0020330566646623582
+                ],
+                "rod_tip_xy": [
+                  0.2676108318761559,
+                  -0.35625366675219705
+                ],
+                "target_mouth_xy": [
+                  0.2684401116049526,
+                  -0.3582867234168594
+                ],
+                "gripper_position": [
+                  0.2675994437997205,
+                  -0.35626063093775706,
+                  1.0034664913178866
+                ],
+                "rod_tip_xy_dist": 0.0021956830987920756,
+                "target_xy_drift": 4.163041566277476e-08,
+                "depth": 0.017653429423713285,
+                "bottom_clearance": 0.08178711858564014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0008406703701313023,
+                  0.0020261241322225843
+                ],
+                "rod_tip_xy": [
+                  0.2675994437997204,
+                  -0.35626063093775706
+                ],
+                "target_mouth_xy": [
+                  0.2684401141698517,
+                  -0.35828675506997965
+                ],
+                "gripper_position": [
+                  0.26759117934115473,
+                  -0.35626136779798234,
+                  1.0033440458385985
+                ],
+                "rod_tip_xy_dist": 0.0021936056323759337,
+                "target_xy_drift": 2.809879520160351e-08,
+                "depth": 0.01779340474768032,
+                "bottom_clearance": 0.08164717801717092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0008489329416353497,
+                  0.00202538603250757
+                ],
+                "rod_tip_xy": [
+                  0.2675911793411546,
+                  -0.35626136779798234
+                ],
+                "target_mouth_xy": [
+                  0.26844011228278997,
+                  -0.3582867538304899
+                ],
+                "gripper_position": [
+                  0.2675827100405347,
+                  -0.3562625380400279,
+                  1.0032212099250557
+                ],
+                "rod_tip_xy_dist": 0.002196104669652702,
+                "target_xy_drift": 2.6301930032149652e-08,
+                "depth": 0.017915781141582654,
+                "bottom_clearance": 0.08152474100045315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0008574186051754085,
+                  0.0020241850247505466
+                ],
+                "rod_tip_xy": [
+                  0.2675827100405346,
+                  -0.35626253804002794
+                ],
+                "target_mouth_xy": [
+                  0.26844012864571,
+                  -0.3582867230647785
+                ],
+                "gripper_position": [
+                  0.26758690842619215,
+                  -0.3563310294860695,
+                  1.0027066243505376
+                ],
+                "rod_tip_xy_dist": 0.00219829290107695,
+                "target_xy_drift": 5.4000545099105216e-08,
+                "depth": 0.018038704961513274,
+                "bottom_clearance": 0.08140190735737318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0008532048142259052,
+                  0.0019557246476488155
+                ],
+                "rod_tip_xy": [
+                  0.26758690842619204,
+                  -0.35633102948606954
+                ],
+                "target_mouth_xy": [
+                  0.26844011324041794,
+                  -0.35828675413371835
+                ],
+                "gripper_position": [
+                  0.26757554798570937,
+                  -0.35633780570959356,
+                  1.0025671081313527
+                ],
+                "rod_tip_xy_dist": 0.0021337331961703517,
+                "target_xy_drift": 2.7229406312261388e-08,
+                "depth": 0.01855320426310403,
+                "bottom_clearance": 0.08088734250814178,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008645661728802212,
+                  0.0019489484159169734
+                ],
+                "rod_tip_xy": [
+                  0.26757554798570926,
+                  -0.3563378057095936
+                ],
+                "target_mouth_xy": [
+                  0.2684401141585895,
+                  -0.3582867541255106
+                ],
+                "gripper_position": [
+                  0.26756690966998814,
+                  -0.3563389238723657,
+                  1.002444435939929
+                ],
+                "rod_tip_xy_dist": 0.00213210567167625,
+                "target_xy_drift": 2.8145351938728265e-08,
+                "depth": 0.018692787064690575,
+                "bottom_clearance": 0.08074779434658119,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0008731747973267923,
+                  0.0019478302377214929
+                ],
+                "rod_tip_xy": [
+                  0.26756690966998803,
+                  -0.35633892387236565
+                ],
+                "target_mouth_xy": [
+                  0.2684400844673148,
+                  -0.35828675411008715
+                ],
+                "gripper_position": [
+                  0.2675585036862428,
+                  -0.3563396781029716,
+                  1.0023218523126087
+                ],
+                "rod_tip_xy_dist": 0.0021345905606623607,
+                "target_xy_drift": 2.7458306909069264e-09,
+                "depth": 0.018815400756671097,
+                "bottom_clearance": 0.08062518537645091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008816391828709857,
+                  0.001947075078068572
+                ],
+                "rod_tip_xy": [
+                  0.2675585036862427,
+                  -0.3563396781029716
+                ],
+                "target_mouth_xy": [
+                  0.26844014286911366,
+                  -0.3582867531810402
+                ],
+                "gripper_position": [
+                  0.26754990888929053,
+                  -0.35634071346824625,
+                  1.0021993475608628
+                ],
+                "rod_tip_xy_dist": 0.0021373790043904602,
+                "target_xy_drift": 5.6856938394507035e-08,
+                "depth": 0.018937992247753388,
+                "bottom_clearance": 0.0805025831512115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008902043817219374,
+                  0.0019460723712566574
+                ],
+                "rod_tip_xy": [
+                  0.2675499088892904,
+                  -0.35634071346824625
+                ],
+                "target_mouth_xy": [
+                  0.26844011327101236,
+                  -0.3582867858395029
+                ],
+                "gripper_position": [
+                  0.2675414266826679,
+                  -0.35634156602304556,
+                  1.0020770260649325
+                ],
+                "rod_tip_xy_dist": 0.002140014372710017,
+                "target_xy_drift": 4.0122418702453265e-08,
+                "depth": 0.019060498291829764,
+                "bottom_clearance": 0.08038008235851113,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008986884579533783,
+                  0.0019451535091521421
+                ],
+                "rod_tip_xy": [
+                  0.2675414266826678,
+                  -0.35634156602304556
+                ],
+                "target_mouth_xy": [
+                  0.26844011514062116,
+                  -0.3582867195321977
+                ],
+                "gripper_position": [
+                  0.2675481116270979,
+                  -0.35641388234423776,
+                  1.0015656385141132
+                ],
+                "rod_tip_xy_dist": 0.002142723294927629,
+                "target_xy_drift": 4.6868649212392266e-08,
+                "depth": 0.019182963157695077,
+                "bottom_clearance": 0.08025783166613054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0008919383492839161,
+                  0.0018729032451469951
+                ],
+                "rod_tip_xy": [
+                  0.2675481116270978,
+                  -0.35641388234423765
+                ],
+                "target_mouth_xy": [
+                  0.2684400499763817,
+                  -0.35828678558938465
+                ],
+                "gripper_position": [
+                  0.2675365992874721,
+                  -0.3564206850993314,
+                  1.0014260232863208
+                ],
+                "rod_tip_xy_dist": 0.002074444644864129,
+                "target_xy_drift": 4.649306981199899e-08,
+                "depth": 0.019694266684978756,
+                "bottom_clearance": 0.07974634972303007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0009035138959139211,
+                  0.001866068076957661
+                ],
+                "rod_tip_xy": [
+                  0.267536599287472,
+                  -0.35642068509933134
+                ],
+                "target_mouth_xy": [
+                  0.2684401131833859,
+                  -0.358286753176289
+                ],
+                "gripper_position": [
+                  0.2675439044656815,
+                  -0.35648781286441156,
+                  1.0008297586922883
+                ],
+                "rod_tip_xy_dist": 0.0020732938595264335,
+                "target_xy_drift": 2.7266251364206854e-08,
+                "depth": 0.019833822227018794,
+                "bottom_clearance": 0.07960675770703907,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005995350000471574,
+              "rod_tip_xy_max_step": 3.240412762605348e-05,
+              "rod_tip_xy_range": 0.0005995286222447494,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2670114359073568,
+            -0.357680518477539,
+            1.043286251080798
+          ],
+          "object_origin_world": [
+            0.2670114359073568,
+            -0.357680518477539,
+            1.043286251080798
+          ],
+          "frame_world": [
+            0.2670099949475988,
+            -0.3576858904728939,
+            1.0431754309524055
+          ],
+          "center_minus_frame": [
+            1.440959758014504e-06,
+            5.371995354885861e-06,
+            0.00011082012839258581
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26901085534370517,
+              0.15651521579785752,
+              0.8318333235140744
+            ],
+            "target_position": [
+              0.2847866418257305,
+              0.20167050936436304,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04783174653097823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16646121214114093,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318333235140744,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566856020032,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1366734727470244,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 327,
+            "max_placed_release_frames": 327
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21723633952350424,
+              0.019530601745100434,
+              1.0467888901255997
+            ],
+            "current_z": 1.0467888901255997,
+            "required_z": 0.8565865074085656,
+            "initial_z": 0.7565865074085656,
+            "lift_margin": 0.19020238271703416,
+            "gripper_z": 1.0513580024421032,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2121881043691092,
+              0.014860139763273425,
+              1.0513580024421032
+            ],
+            "object_minus_gripper": [
+              0.0050482351543950366,
+              0.004670461981827009,
+              -0.004569112316503476
+            ],
+            "object_to_gripper_xy": 0.006877346384890131,
+            "object_to_gripper_z": -0.004569112316503476,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21723633952350424,
+              -0.005136357743409228,
+              1.0467888901255997
+            ],
+            "finger_b": [
+              0.20606525592175234,
+              0.019530601745100434,
+              1.0467888901255997
+            ],
+            "finger_midpoint": [
+              0.2116507977226283,
+              0.007197122000845603,
+              1.0467888901255997
+            ],
+            "object_minus_finger_midpoint": [
+              0.005585541800875948,
+              0.012333479744254831,
+              0.0
+            ],
+            "finger_gap": 0.02707862624368354,
+            "fingertip_max_gap": 0.09362574470414148,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01353931312184177,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467888901255997,
+            "object_top_z": 1.0932352064922988,
+            "finger_top_clearance": 0.04644631636669905,
+            "fingertip_min_top_clearance": 0.013933894910009714,
+            "object_projection_between_fingers": 0.8298087029209517,
+            "object_to_finger_line_xy": 0.010176168619759517,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931287235207074,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3518118348784582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2164075965806185,
+              0.017935299164451177,
+              1.2451227309378161
+            ],
+            "held_position": [
+              0.22171526111212017,
+              0.022282004191763148,
+              1.240523971044903
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008259160969861675,
+            "max_held_gripper_dist": 0.008260504581149202,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00459875989291314,
+            "max_held_gripper_z_dist": 0.00459875989291314,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581457145396772,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22171526111212017,
+              -0.003310855874870975,
+              1.240523971044903
+            ],
+            "held_grasp_finger_b": [
+              0.21220639307395478,
+              0.022282004191763148,
+              1.240523971044903
+            ],
+            "held_grasp_midpoint": [
+              0.2169608270930375,
+              0.009485574158446086,
+              1.240523971044903
+            ],
+            "held_grasp_object_position": [
+              0.22171526111212017,
+              0.022282004191763148,
+              1.240523971044903
+            ],
+            "held_grasp_finger_gap": 0.027302253712057526,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.025124796597296772,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0462776063724592,
+              -0.9989053268315252,
+              0.006821376403593815
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004158084142581984,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03219777901504452,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18466477828629083,
+              0.016911466046802725,
+              0.7565868577318626
+            ],
+            "target_position": [
+              0.19220211817730942,
+              0.0185374844053986,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007710734617092658,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21232708481383536,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868577318626,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559621733215145,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869766802780056,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18298034084619455,
+            "release_required_pad_clearance": 0.053488340139002805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9877315749716713,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 291,
+            "max_placed_release_frames": 291
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 7341943718102437219,
+    "physical_seed": 8315530491657256763,
+    "layout_id": "layout_00000",
+    "step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "workflow_spec_digest": "47bbc1378036c7677c7d03b6963d515e3e5054e136c8dd984383e1fb1cfa8a25",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "312ad57d791118f480c6387f10f5f49ec6dac255b245687503c4e73c7f4e42bc",
+    "visual_seed": 7431371616036787025,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      2500273653211418822,
+      70012352371227459,
+      3039154489468777781,
+      389388605830743609,
+      8071428982563593121,
+      3344239845166725093,
+      801023463936683376,
+      8116594868673274396,
+      393561465873210545
+    ],
+    "runtime_workflow_digest": "a9cae90f5bc01ca5b7ce4498fd4f3f0524bec447acc30679eef2f91c503481a4"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..1736a082108a05067744f7f5c6a2b8365077ebc7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s09_plrptlpsl_hse_00000",
+  "family": "lab3_v1",
+  "published_episodes": 46,
+  "published_successes": 46,
+  "published_failures": 0,
+  "matched_success_results": 46
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11b51fa394896d6e9123fff45989b13b4ea08401
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d066c1a1d0b314937918da2b0623fb7667a805d92a8103053e14499a04eff8
+size 20293451
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a5b339e847562cb93dfada8be62d6e1984d5f068
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770c2fbde1e0a778069c662bc9b80b7dba570ca23762ce27b85cec60a73645a0
+size 16284242
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..14efa0be4d0050da503a038eac1c8165d4066588
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4968a9f8f8ddaa65e2fa2ea7c0114dd58fc4425f84badafae6ca96aae86a8484
+size 16987947
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b0453873e5d18ab6b9a64e06245c82654712a996
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7202ffaf67fd106958f71da4e8e74782f9a325ae8595b6be5005f77dd1f05a2a
+size 18080218
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5205057c0acc63274931e7cc84f85adb4e58c9c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7cf3ffffcfd17be0440906a0140839b893146c1a2d13549a751d2d567531391
+size 18702014
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dcf727e9e6036cc06cb974e6b55b8e764b8bdc50
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00431027c72c975e013eba887b515e3cf55c43aa4264b3e551e39307daf6c659
+size 19164664
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de6910bbf29da43c2ba8fcfe7874cd441c1cf3cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76c492ddb20dc2ac2a0c8daddf5dcaffb922ad64bc5728b580d30f34c8eab7b2
+size 15576508
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..313da7eee8fadfa2c570efa28df6a3f856d0ad51
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8d8e285ad70a98c2d4959db17b9ff50c207e32bb6b0b841ff80191d2b2aecda
+size 16806754
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d840d15b45e373c77a773f1d70614e9942c5c16e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3d55f5f8f96be927d59ec5a9138e36e566b5c1ad87785a7188d824b8cf2e1c3
+size 17853486
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d8eab9393f88dd627e9490a1001267e31d4b190
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4687ecd661cb3eb0d5181e34118f24222115efeb6f2c10c28c8488e53f3e9b4a
+size 13507290
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b216f0e3eb23c472c72be518c5cf46f34dcb43a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26a2ed094b85774a8949cde49d032ad32c220b5db46083eb9075b772108f5a0e
+size 16738509
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c9f0ca75469fc3c08e690656d324d7d38e674f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13a89f586cca9370bd06ccd29008906d62ceefb0acc3e2a643af333d207f0ca7
+size 17668793
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cc504a3d79ed4ee94779b89852c6f372273f4b5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c338268bbff8a15f9d870fbb1ac3ce5b22f09116dd29b055909eb1b168d3007
+size 22363562
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..09c6162cdf6414fca3969bb22fc02536f8672e52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52dfbf71eba04c5e981cea4a6a4303f4889db1510470b3bafabc0d9e602792b7
+size 13962701
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ecba7898b7bfd4adf0d8e92f5cf78f1cf0d8f7c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f8717c7277a0c1206d536ab330231b688ba9b3592912abcd5508f64c330f1e
+size 16852692
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..64339d7c07995137575230a3502cbf518a5d7d9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08fbdf852950f8d3bf74a7a4ba13c6a70ab16e548143b09fabd03a5b3c7e2ddc
+size 17005352
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..31c068f79b84e8cf635f9f66183571b29084372a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41889c08b342c1d86cdf7504a7c13c1a6758ae979538cf0e97ff7056a0751add
+size 16206680
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d4f026f7aef617f75181a4b0b9b2845ab56e0af0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ec6f1f4e6ae12fce9c0f10040076a9fd4928466c97b07c42e0203548ccac4a
+size 15593739
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e0c8559f16e604b58bae5a1c5c55e9aeb8eb80f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dfd8c3f608b7d8c6d9aec9db4311e97f4c35e9b40db862f4650890a606899d5
+size 16954908
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5410bb60b5ccd8f862b5e4bd09b0ce92a1a891e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a912b616e36840a77c40a1fc6910a3a415ead4504acfffc0e68b45dafb0e73d7
+size 15849116
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9193c866d393acc862a7a16c871c53ef96fc8e30
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beb0ce575a00d2ec4e02b85f9cf092a5cdf2817caae94508b8f41dfc7ace26ca
+size 17916754
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd83591b4e1313ecf88c2a3aaf34dc814f36c595
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c5b1df16c3ff231078d50a43bad74e35bbf01da0dd4365ae41feee556e5dbe5
+size 16394402
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5f15b7850c09e4f1d92f72a1e17e24a299d3163c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3854dde635e804138134fd61dbc1a4d90e821291391afa3f739a36f098fac7ba
+size 20595981
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..66dd882fb159acd9d408ee3d444b30d88511a61e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a1d84ba5b1588d5672caef917a7f3bda4e8fe7fa7a1582edfa990a35f4fb43b
+size 18087059
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e2d29fe000749312e4b58924bfb81559d26c267
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df520f7cefea1ab536a4eb0e4e808ae3426c43dc9302a2282e8f95ea4dbac131
+size 15074809
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7fee4e739685b8586686b221f5429e844cc86b01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a15ce0bdc4c28b22a4d99cbe01aa567fc01fbd9551523cf71dc475f3bf07650a
+size 16628074
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4804cde979dac8e9bec03fc2fc49f36dcdd19a4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e0a1e3fb75d1237ee8d252be4f806dd61440cd3bb3ab12caa49807b3aa39f2
+size 20714890
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9feb66f54700ea15e9f5dc75042fd37c6f149cea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8bda976071ed2a681ef8e0978e43c2396dbf2bdbb6003d3c7a21d12230d039b
+size 16242983
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..166a74f44cedf435e6637332ba13c5eede3a89aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec146b4b27153f49b05efb6534a7dc7bda3b9f5d9c98474c5080246b45aa29dd
+size 15342124
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b4a2c77c54ca60bf3a8a9ca9570a0b8f179a9bc8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac34bcf7264d8c15ab2eb18fce93881072cfca8ebe4848f9625197b2900c0059
+size 20067267
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..28131c0458c022b1ce000c7c0684771c3e4bcadc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcd1a505888fabfe8cfb63bc2d0c31a3b5c9a7005dd62c8d7bad5d0a7f620527
+size 21055624
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6440cf6f697e9aa82e09d85a71e1fad023bbaad1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73118beeb63b9035158629b421a150fdc9f76c8c85e0f1e46245147bbbbc99b9
+size 15819642
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb59730d0fdb1c0d8bb8bf683032317fcb49f258
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d1eb97754ee1556126c34e7037952c138dfe82c8fa8ff7f54b4c9b4603176c4
+size 20217367
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..35b64e2e5e740097ec6cb6b12bc07f360d71b69f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c986f545fc99f74861d71beceba03383c286a6b20320dd3fdfb781fa44e7ef7
+size 14662832
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b2f88997a36fc3e394cbb19021a8ba40095c9d0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32b694cb644df5d24e1431f0b7186afc690218f7987b70ce930b9c5bbb7217c7
+size 20961994
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af865935675a651b746e8347c9676409d7219271
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd716b94249f0770bee0cf49a5fb760475c55089a4ca335af2a51c34d5f6ed2b
+size 14285994
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e47ecdc07bb877e534416d36c833ff204dd1940
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2e2ec8bc8a370797d41f6f123b3283d7d8133915e0cb5e42807402f2ec7e9de
+size 14666505
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c153327cb9ef96be46ce8e1095df97a03b21bd6e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2ed19e27c50444410c7120504148fed00b6e5b96246dc6b1aae9288dde5264a
+size 17648439
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9907aca16de1de1b99f185122f5de1f3d9b5c368
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/meta/episode.jsonl
@@ -0,0 +1,38 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3646,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3635,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3651,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3589,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3623,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3626,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3622,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3637,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3636,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3619,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3624,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3627,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3623,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3627,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3649,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3630,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3629,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3631,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3631,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3633,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3631,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3628,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3632,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3635,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3622,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3621,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3629,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3620,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3596,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3646,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3624,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3621,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3587,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3626,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3642,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3637,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3639,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3624,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7de756b8bed32ee0bd452a5674cc28069941bf1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,38 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T12:59:08","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[-0.5145638217176315,-1.3873602468075699,0.71338606911949],"aabb_xy":[[-0.5514143696546191,-1.4248602476306036],[-0.4777132737806439,-1.3498602459845361]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.5859814854893302,0.16074686825123896,0.71338606911949],"aabb_xy":[[0.54321477860991,0.09674686482943651],[0.6287481923687503,0.22474687167304142]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.1608401969368799,-0.8708944737015742,0.71338606911949],"aabb_xy":[[0.11074273295580628,-0.934894474211386],[0.21093766091795352,-0.8068944731917624]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.25012596584004787,0.5087721310494571,0.71338606911949],"aabb_xy":[[0.24077895825775264,0.49446850883181304],[0.2594729734223431,0.5230757532671011]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.5443616866885936,-1.2767107220819796,0.71338606911949],"aabb_xy":[[0.49436168532770647,-1.3266886266573952],[0.5943616880494809,-1.226732817506564]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.17485878347033978,0.884439143444363,0.71338606911949],"aabb_xy":[[0.16141225683629645,0.8709692917912718],[0.18830531010438312,0.8979089950974543]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[-0.26891064781234064,-0.8564089193219426,0.71338606911949],"aabb_xy":[[-0.3039106491638223,-0.8767686552787634],[-0.23391064646085888,-0.8360491833651217]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.5031944315406649,0.11624273308762723,0.71338606911949],"aabb_xy":[[-0.5206944318000016,0.1021511908988546],[-0.4856944312813284,0.13033427527639985]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[0.1451562577212402,1.0702409392708345,0.71338606911949],"aabb_xy":[[0.06515625744763322,0.9972913914451177],[0.22515625799484718,1.143190487096551]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[-0.6762485095834281,0.21051365862106364,0.71338606911949],"aabb_xy":[[-0.6864015251375775,0.17444411704832324],[-0.6660954940292787,0.2465832001938039]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.4420209942888792,1.2444207108563239,0.71338606911949],"aabb_xy":[[-0.4920160052483313,1.1944207118207322],[-0.39202598332942723,1.2944207098919156]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_11","position":[0.23586930724569055,-2.2722163230917762,0.71338606911949],"aabb_xy":[[0.23190882347595618,-2.279884187677297],[0.23982979101542493,-2.2645484585062556]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.617514765351282,-0.5668933140217209,0.71338606911949],"aabb_xy":[[-0.6875147617612436,-0.5873312496734024],[-0.54751476894132,-0.546455378370039]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.38756499480822737,-0.9442359291525517,0.71338606911949],"aabb_xy":[[0.32256499370228403,-0.96920130222068],[0.4525649959141706,-0.9192705560844234]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.5982437920428681,-1.010963106528421,0.71338606911949],"aabb_xy":[[-0.6090167659642359,-1.0459631047474602],[-0.5874708181215004,-0.9759631083093823]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.4378234875017268,-1.0832840727972806,0.71338606911949],"aabb_xy":[[-0.4458174760794301,-1.0912841528923707],[-0.42982949892402333,-1.07528399270219]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.2604545695462416,-0.5142352922516849,0.71338606911949],"aabb_xy":[[-0.292916270428169,-0.5443681243665873],[-0.2279928686643141,-0.48410246013678215]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[0.18075814906124477,-2.019004974105365,0.71338606911949],"aabb_xy":[[0.11675815177559612,-2.060511693058209],[0.2447581463468934,-1.977498255152521]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.15218659494231723,-2.3294806340885637,0.71338606911949],"aabb_xy":[[-0.2161865913378903,-2.3934439225072976],[-0.08818659854674415,-2.2655173456698305]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[-0.27571311635739837,1.2238943992538762,0.71338606911949],"aabb_xy":[[-0.28858501985833845,1.14389439884004],[-0.2628412128564582,1.3038943996677124]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.3755990624819514,-2.0304045109741926,0.71338606911949],"aabb_xy":[[0.338099062538185,-2.038697601009029],[0.4130990624257178,-2.022111420939356]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[-0.4429981966000869,-0.009441299308817541,0.71338606911949],"aabb_xy":[[-0.4929714906033473,-0.05944129986336488],[-0.3930249025968264,0.0405587012457298]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.5993540942268945,0.8030785479367091,0.71338606911949],"aabb_xy":[[0.529354091590308,0.7829736829408435],[0.6693540968634807,0.8231834129325745]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.37926633242606345,-0.7346584018761912,0.71338606911949],"aabb_xy":[[0.31426633427014444,-0.7609546464261034],[0.44426633058198256,-0.708362157326279]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.1980939188103043,-0.9872055312642294,0.71338606911949],"aabb_xy":[[-0.27809391596987953,-0.9987531322220464],[-0.11809392165072899,-0.9756579303064123]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_25","position":[-0.19034852922655143,-1.2087336208383643,0.71338606911949],"aabb_xy":[[-0.27034852788343744,-1.2232384797626272],[-0.11034853056966545,-1.1942287619141014]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_26","position":[-0.25400268334849313,1.4109159026805105,0.71338606911949],"aabb_xy":[[-0.29525149437840786,1.3559159031682928],[-0.21275387231857842,1.4659159021927277]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.10418493732906464,-0.013395221766940857,0.71338606911949],"aabb_xy":[[-0.11296616447630088,-0.02217496905547101],[-0.09540371018182843,-0.004615474478410709]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[0.682856524297794,-2.119122868368136,0.71338606911949],"aabb_xy":[[0.6784258949429538,-2.124571240102819],[0.6872871536526342,-2.113674496633454]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6739193471476944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2959.png","name":"2959"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2959.png","name":"2959"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4053.png","name":"4053"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9211.png","name":"9211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4777.png","name":"4777"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9539.png","name":"9539"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":821.3585237029188,"rotation_z_degrees":80.44022593890038,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024162794421086833,0.010892475404937159,0.011141522674208974]},{"name":"camera_2","offset_m":[-0.01671465297192742,0.011701962306472687,-0.01714591136314939]},{"name":"camera_3","offset_m":[-0.015342652095197168,0.011812746285197597,0.008045071815852633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001746913788700645,0.0008475647611942429,-0.0018343474660013413],"end_effector_yaw_offset_degrees":-0.0947945125346219},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008144514356497883,-0.0013813004190520602,-0.0017730863333114827],"end_effector_yaw_offset_degrees":0.48158001045444254},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019365051123272263,0.0016135257087664385,0.00023112996390587098],"end_effector_yaw_offset_degrees":-0.4476430318876472},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011851917289344973,-0.0016185830046610858,6.458288203857899e-05],"end_effector_yaw_offset_degrees":0.2509065713872294},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008050113628917219,0.0010637944811960247,0.0003247358182877228],"end_effector_yaw_offset_degrees":-0.009125441880633467},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.000656573900444012,0.0015758753078196812,0.0008674420094995374],"end_effector_yaw_offset_degrees":-0.7495177763666141},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001285295974074991,-0.0007314726445060509,-0.0004334927054617426],"end_effector_yaw_offset_degrees":0.9549493593535157},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001142007634765577,0.0012562715083682327,-0.0005908071417546549],"end_effector_yaw_offset_degrees":-0.6148156841654426},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006460430843381651,-0.0014751126230248986,-0.00040235365649761955],"end_effector_yaw_offset_degrees":0.09936324746672742}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-6.488173437562729e-05,0.004483980295138573],"position_m":[0.22213511826562438,0.005683980295138572,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015254617925083251,0.0011722996435909938],"position_m":[0.19632546179250832,-0.131527700356409,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019102350367799338,-0.004601230608939596],"position_m":[0.2220102350367799,-0.39630123060893957,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00048788229373926927,-0.0029828320472129535],"position_m":[0.28328788229373925,0.28851716795278703,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"96fdf0e809580d57dfa14a52327dc9d4a3432844d05365b03ce3b40f7fa6fcf4","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2959/tex_ceiling_textures_9539/tex_floor_textures_4777/tex_table_textures_4053/tex_wall_textures_9211","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2689072053435599107,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2689072053435599107,"visual_seed":2689072053435599107,"scene_id":"lab_003","finished_at":"2026-09-08T13:09:52"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T13:49:16","dimensions":{"distractor":{"count":31,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.5327611243904858,-1.2895716493573732,0.71338606911949],"aabb_xy":[[-0.6227611208913575,-1.3354832917758315],[-0.442761127889614,-1.243660006938915]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[-0.3247401822300393,0.4373121302278977,0.71338606911949],"aabb_xy":[[-0.3897401803859583,0.4110158856779856],[-0.2597401840741202,0.46360837477781]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.07842033317168262,0.18284156263049578,0.71338606911949],"aabb_xy":[[-0.11592033174730342,0.17010526696693784],[-0.04092033459606181,0.19557785829405372]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.4870676289037379,1.6079355875869639,0.71338606911949],"aabb_xy":[[-0.4917027440559712,1.6040682525098147],[-0.4824325137515045,1.6118029226641122]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[-0.40808774066172226,1.4319201671600488,0.71338606911949],"aabb_xy":[[-0.46808774116957513,1.3750734334741272],[-0.3480877401538693,1.4887669008459699]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.1512452967398854,0.8843669550984417,0.71338606911949],"aabb_xy":[[-0.1862452967163812,0.8749023390508252],[-0.11624529676338954,0.8938315711460584]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[-0.52010910415047,-1.9776918072902143,0.71338606911949],"aabb_xy":[[-0.5551091055019516,-1.9980515432470354],[-0.48510910279898817,-1.9573320713333937]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.05448601547217802,-1.0009456262691145,0.71338606911949],"aabb_xy":[[0.036986015212841394,-1.0150371684578874],[0.07198601573151464,-0.9868540840803421]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[0.05834191053895266,0.6078544718729475,0.71338606911949],"aabb_xy":[[0.04587455242921701,0.595389147239624],[0.0708092686486883,0.620319796506271]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.4529404281613908,-1.3974861535723415,0.71338606911949],"aabb_xy":[[-0.4570185860684405,-1.4015671338206046],[-0.448862270254341,-1.393405173324078]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.598430295252343,-0.769923441779018,0.71338606911949],"aabb_xy":[[-0.622943919349349,-0.7941880350810544],[-0.5739166711553373,-0.7456588484769815]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.5488509766438825,-1.7245138250695469,0.71338606911949],"aabb_xy":[[0.5143886292457405,-1.7590077074673696],[0.5833133240420241,-1.6900199426717242]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.28979821705049963,-2.276444685467095,0.71338606911949],"aabb_xy":[[-0.3397982166268344,-2.3264252644192016],[-0.23979821747416497,-2.2264641065149897]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.0705133636954981,-2.365553628829718,0.71338606911949],"aabb_xy":[[0.059151629042211926,-2.3769220952360057],[0.08187509834878424,-2.354185162423429]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[0.25654827407526337,-1.0636718831603642,0.71338606911949],"aabb_xy":[[0.17654827081742042,-1.1436683909523482],[0.3365482773331063,-0.9836753753683802]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.08167090014422962,-1.688005550937126,0.71338606911949],"aabb_xy":[[0.07158919306565614,-1.7680055488292403],[0.0917526072228031,-1.608005553045011]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.0553681392945542,-0.6166751854214942,0.71338606911949],"aabb_xy":[[0.03826606133618605,-0.633781990952764],[0.07247021725292235,-0.5995683798902245]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[0.6204573313511186,0.4003008595046893,0.71338606911949],"aabb_xy":[[0.5304573346155084,0.34711739618739473],[0.7104573280867288,0.45348432282198375]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.2943943451969986,-0.8810964093125615,0.71338606911949],"aabb_xy":[[-0.3443943465578858,-0.9310743138879771],[-0.2443943438361114,-0.8311185047371459]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.04845005562197924,-2.057729928729336,0.71338606911949],"aabb_xy":[[-0.006543155715157513,-2.1127299290681294],[0.10344326695911601,-2.002729928390542]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.03324475732734666,-1.68323479355755,0.71338606911949],"aabb_xy":[[-0.09324475818815946,-1.734661223564036],[0.02675524353346614,-1.6318083635510632]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.39802841225121055,-2.0267721879557126,0.71338606911949],"aabb_xy":[[0.33402841187367693,-2.076517454806525],[0.46202841262874417,-1.9770269211049003]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.40978586498891434,-2.51461852757143,0.71338606911949],"aabb_xy":[[-0.4519702791497451,-2.5786185278486413],[-0.3676014508280836,-2.450618527294219]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.462893650093863,-0.312439341741062,0.71338606911949],"aabb_xy":[[-0.46700960020593557,-0.3165548967739075],[-0.45877769998179024,-0.30832378670821653]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[-0.2933335276822645,0.9904990134085678,0.71338606911949],"aabb_xy":[[-0.3146115358257367,0.9254990110824947],[-0.2720555195387922,1.0554990157346409]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[0.43883776056257595,1.3433789589841942,0.71338606911949],"aabb_xy":[[0.3888377619166547,1.2934594153247319],[0.4888377592084971,1.3932985026436566]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.6754940347273407,-2.2948691447765346,0.71338606911949],"aabb_xy":[[-0.684275261874577,-2.3036488920650653],[-0.6667128075801046,-2.2860893974880048]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[-0.43174300151414013,0.9234601013783457,0.71338606911949],"aabb_xy":[[-0.456743001446658,0.9165774331574225],[-0.40674300158162224,0.9303427695992691]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[0.2664723845495095,1.4748669249272557,0.71338606911949],"aabb_xy":[[0.2314723846534906,1.4664926894153159],[0.3014723844455283,1.483241160439196]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_29","position":[0.516604522138012,1.1602636346205322,0.71338606911949],"aabb_xy":[[0.4316045237205888,1.075389339158247],[0.6016045205554352,1.245137930082817]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_30","position":[-0.5102082552962139,1.7657031838105586,0.71338606911949],"aabb_xy":[[-0.5278410908897414,1.7480802377949356],[-0.4925754197026863,1.7833261298261815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6661108624714887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4627.png","name":"4627"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4627.png","name":"4627"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2422.png","name":"2422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3937.png","name":"3937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4947.png","name":"4947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":777.6309062386122,"rotation_z_degrees":79.12650518278019,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012189381387090994,0.019962818868330744,-0.0024890672173719444]},{"name":"camera_2","offset_m":[0.014229343397885934,0.015926683019057943,-0.004699191818268771]},{"name":"camera_3","offset_m":[-0.0027013978899141124,-0.003827586126797313,0.006107670098669991]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009869189163093052,0.0019915238124076718,-0.0001320453329740458],"end_effector_yaw_offset_degrees":0.6475257921688193},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010660482130501634,0.0011043316221730952,0.001374295530339088],"end_effector_yaw_offset_degrees":-0.018478530647509483},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010567189546181722,-0.000994339797398518,0.0017354423978633076],"end_effector_yaw_offset_degrees":-0.6781906759370373},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0012904004511569167,-0.0013950198264796533,-0.0019115082770820623],"end_effector_yaw_offset_degrees":-0.16251437350207998},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010346983253014712,-0.00042083543930039103,0.0014356243967886717],"end_effector_yaw_offset_degrees":-0.8396054834167825},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00013145083012616743,0.0009826523748310682,0.0012998954442711226],"end_effector_yaw_offset_degrees":-0.9939289114790604},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016539886621178119,0.0012899839688051838,0.0013133721548839994],"end_effector_yaw_offset_degrees":0.6141426363715881},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019085189053713288,0.0004618472435870321,0.0013482507511692163],"end_effector_yaw_offset_degrees":-0.6936102130508988},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014199367564496977,-0.000388075012618697,0.0019137449098644331],"end_effector_yaw_offset_degrees":-0.07696503783854225}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003489191075920377,0.0006585282438445429],"position_m":[0.21871080892407962,0.0018585282438445428,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019192222570060744,0.0031358466288502656],"position_m":[0.19671922225700608,-0.12956415337114974,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032486574432027448,0.001586547156023057],"position_m":[0.21685134255679725,-0.3901134528439769,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0030317416809002356,0.004901948764508769],"position_m":[0.28583174168090025,0.29640194876450876,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"3b9f3659ad12fd695df8fe1437880afbc1d3f00330acbf8c5a8b5408312c9d17","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4627/tex_ceiling_textures_2531/tex_floor_textures_4947/tex_table_textures_2422/tex_wall_textures_3937","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7674976029108978380,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7674976029108978380,"visual_seed":7674976029108978380,"scene_id":"lab_003","finished_at":"2026-09-08T13:59:58"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T14:24:51","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[-0.14643223396450222,0.2733957791781312,0.71338606911949],"aabb_xy":[[-0.1583649683263303,0.26101362637027187],[-0.13449949960267416,0.2857779319859906]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[0.4346481665639186,0.9784021264433105,0.71338606911949],"aabb_xy":[[0.42031374143775513,0.9663419108887715],[0.44898259169008203,0.9904623419978492]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.5010563887633086,1.5516602764207987,0.71338606911949],"aabb_xy":[[-0.5907434650714241,1.461660276166348],[-0.41136931245519315,1.641660276675249]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.3188943169607801,1.1492940586401503,0.71338606911949],"aabb_xy":[[0.2963943167172647,1.1370894239803784],[0.34139431720429547,1.1614986932999223]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[-0.28703108075220496,-0.30597378189284896,0.71338606911949],"aabb_xy":[[-0.2971840963063543,-0.34204332346558924],[-0.2768780651980555,-0.26990424032010857]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[0.10833173780770444,-1.0262666004266574,0.71338606911949],"aabb_xy":[[0.07083173662291162,-1.0306848231227175],[0.14583173899249718,-1.0218483777305964]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.05643613897610689,1.1976393531081304,0.71338606911949],"aabb_xy":[[0.02143613908008801,1.1892651175961901],[0.09143613887212575,1.2060135886200702]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.357092920366165,-1.5993879903618526,0.71338606911949],"aabb_xy":[[-0.4023715352473142,-1.6633879897100363],[-0.3118143054850157,-1.535387991013669]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.13469151464122808,-1.0703950808313714,0.71338606911949],"aabb_xy":[[-0.21469151491483507,-1.1433446286570879],[-0.05469151436762112,-0.9974455330056545]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.06054782192717989,-1.6684959430342006,0.71338606911949],"aabb_xy":[[-0.08304782243922049,-1.690987801399599],[-0.03804782141513929,-1.6460040846688022]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.45854081123669665,-2.567143572026925,0.71338606911949],"aabb_xy":[[-0.4626567613487692,-2.57125912705977],[-0.4544248611246239,-2.563028016994079]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.5720238714314902,-0.3155311550184021,0.71338606911949],"aabb_xy":[[0.5080238750041683,-0.3627007788404986],[0.6360238678588122,-0.26836153119630574]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.603258098789836,0.38500535443468165,0.71338606911949],"aabb_xy":[[-0.6102995497405836,0.37797860269688716],[-0.5962166478390885,0.39203210617247625]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.49971882036900783,0.37330103212296706,0.71338606911949],"aabb_xy":[[-0.5410233634327437,0.30930103255485],[-0.4584142773052718,0.43730103169108414]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.380028368904248,-0.40893327315210826,0.71338606911949],"aabb_xy":[[-0.3991406762622269,-0.4280680520293503],[-0.36091606154626915,-0.38979849427486624]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.17832756664031646,0.9834566636254096,0.71338606911949],"aabb_xy":[[-0.19533766393036714,0.9673221751271357],[-0.16131746935026584,0.9995911521236835]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[0.543382841082408,1.3417282714195942,0.71338606911949],"aabb_xy":[[0.5393046831753583,1.3376472911713309],[0.5474609989894577,1.3458092516678575]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.34017880416558666,-1.852624596141936,0.71338606911949],"aabb_xy":[[0.3042652997405969,-1.8885381043586904],[0.3760923085905763,-1.8167110879251813]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.5652026374055716,-0.7971383681132898,0.71338606911949],"aabb_xy":[[0.5281685279775119,-0.8315155754469991],[0.6022367468336314,-0.7627611607795802]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.03369657069383247,-1.4517778692665573,0.71338606911949],"aabb_xy":[[-0.04172284132445847,-1.46052936424391],[-0.025670300063206475,-1.4430263742892049]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.47895370870457077,-2.3855697769080946,0.71338606911949],"aabb_xy":[[-0.5139537100560525,-2.4059295128649154],[-0.44395370735308903,-2.3652100409512737]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.6173672469834521,-1.258340539811895,0.71338606911949],"aabb_xy":[[-0.6623598337019024,-1.3033405390863437],[-0.5723746602650016,-1.2133405405374462]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.5892778035408017,1.6573339749259204,0.71338606911949],"aabb_xy":[[0.5242778024348583,1.6323686018577923],[0.6542778046467449,1.682299347994049]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[-0.12098500847639593,-1.3687381643299965,0.71338606911949],"aabb_xy":[[-0.13704693593491354,-1.4537381661425883],[-0.10492308101787827,-1.2837381625174047]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[0.27540461149431994,-0.7742297076619502,0.71338606911949],"aabb_xy":[[0.21140460981632264,-0.8227470991412643],[0.33940461317231735,-0.7257123161826359]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[0.14684466215001235,1.06298914252204,0.71338606911949],"aabb_xy":[[0.10934466063438064,1.0517623695058946],[0.18434466366564406,1.0742159155381847]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.2723863141653886,-1.8251754307913872,0.71338606911949],"aabb_xy":[[-0.32238631374172333,-1.8751560097434938],[-0.2223863145890539,-1.775194851839282]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[0.5775038418395668,1.8008445567319487,0.71338606911949],"aabb_xy":[[0.542503842709611,1.7950993356562848],[0.6125038409695224,1.806589777807613]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_28","position":[-0.6097593582433714,-2.2569859405014685,0.71338606911949],"aabb_xy":[[-0.6213283389903079,-2.2819859406184],[-0.5981903774964348,-2.231985940384537]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711677332605099,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8627.png","name":"8627"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8627.png","name":"8627"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/269.png","name":"269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1861.png","name":"1861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3605.png","name":"3605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8719.png","name":"8719"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":630.8985316169362,"rotation_z_degrees":23.996346452572958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016491787703444363,-0.004172532218003885,0.01221442014672516]},{"name":"camera_2","offset_m":[-0.010746336315380663,0.019365656930851755,-0.001595808711517318]},{"name":"camera_3","offset_m":[-0.0061510090422078004,-0.009678841508652699,0.015990636357124093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016630236966680744,0.0007570708519351616,0.0013512959084631118],"end_effector_yaw_offset_degrees":0.3470263909320823},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005547841834280568,-0.0015782625023249529,-0.001422680833105558],"end_effector_yaw_offset_degrees":0.46952590499315927},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005947080444944142,-0.0005981230281033153,-0.001065526746774204],"end_effector_yaw_offset_degrees":0.7813065037714106},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0012598252119298977,-0.0006718424474982281,-0.00041469120133260837],"end_effector_yaw_offset_degrees":0.16531054740514395},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005235929952861246,0.001213409597740358,-0.0011605195355051125],"end_effector_yaw_offset_degrees":0.056534606084823524},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00040588606231610046,0.0009544651697792434,-0.00021343061183174273],"end_effector_yaw_offset_degrees":0.9241738487799824},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010490890648440989,0.001226601645008245,-0.0013009641542814255],"end_effector_yaw_offset_degrees":0.7506817288805019},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011361713871951519,0.00034549192750096217,0.0009231903287230643],"end_effector_yaw_offset_degrees":0.0774829525002021},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00039712520072949175,-0.001054255613167642,-0.0012041172749249133],"end_effector_yaw_offset_degrees":-0.29360689888321034}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033334645563450624,-0.0004463115667378949],"position_m":[0.22553346455634507,0.000753688433262105,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034221734133313966,-0.00252785674469425],"position_m":[0.1982221734133314,-0.13522785674469426,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001184099803745402,-0.004175263314529404],"position_m":[0.2189159001962546,-0.3958752633145294,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0017175652419095635,-0.00015366771444678875],"position_m":[0.2845175652419096,0.2913463322855532,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"1dda2f34a1bfd697a0c92d75f378e69c7215cd586e1f0879f4b2501fd0334619","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8627/tex_ceiling_textures_8719/tex_floor_textures_3605/tex_table_textures_269/tex_wall_textures_1861","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1879139676504465395,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1879139676504465395,"visual_seed":1879139676504465395,"scene_id":"lab_003","finished_at":"2026-09-08T14:37:23"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T14:37:33","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.12215526020713918,-0.8558323491619442,0.71338606911949],"aabb_xy":[[0.0996552599636238,-0.8680369838217161],[0.14465526045065458,-0.8436277145021722]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.38519582531832985,0.33661275683959735,0.71338606911949],"aabb_xy":[[-0.4351800610265071,0.28661275802610175],[-0.3352115896101526,0.38661275565309294]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.6449957792086032,1.2724469911234402,0.71338606911949],"aabb_xy":[[0.6369695085779772,1.2636954961460876],[0.6530220498392292,1.2811984861007928]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.09767855634022293,1.6995855703410094,0.71338606911949],"aabb_xy":[[-0.15267855454196777,1.6590636037145716],[-0.0426785581384781,1.7401075369674468]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.4655321397150911,-2.0969426432238643,0.71338606911949],"aabb_xy":[[0.4177259721013224,-2.1619426459309232],[0.5133383073288598,-2.0319426405168053]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.39093126383353693,1.1063223752214073,0.71338606911949],"aabb_xy":[[0.35343126366166494,1.0736216398385],[0.4284312640054088,1.1390231106043143]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.23250222147233118,1.3331167778733293,0.71338606911949],"aabb_xy":[[-0.27000221989573153,1.3199525639054985],[-0.19500222304893083,1.34628099184116]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.18862921026844082,-0.597655542382967,0.71338606911949],"aabb_xy":[[-0.25862921366000274,-0.6329713160863978],[-0.11862920687687882,-0.5623397686795361]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.41594335860518816,-0.6824521191843635,0.71338606911949],"aabb_xy":[[0.39588494699194793,-0.7025172060935211],[0.4360017702184285,-0.662387032275206]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.5325811764421697,-0.26005414517647774,0.71338606911949],"aabb_xy":[[-0.5500811755765368,-0.2699337722140655],[-0.5150811773078025,-0.25017451813888986]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.1709618746153403,-2.2294763467249825,0.71338606911949],"aabb_xy":[[-0.23096187446190708,-2.286294968918021],[-0.1109618747687735,-2.172657724531944]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.2703715137774244,0.805044545209463,0.71338606911949],"aabb_xy":[[0.20637151351695363,0.7600357458565349],[0.3343715140378952,0.8500533445623909]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.5264790138288098,-0.6857842972697552,0.71338606911949],"aabb_xy":[[0.4764841809008682,-0.7357842961649987],[0.5764738467567514,-0.6357842983745117]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.30959441547769345,-1.8997325100450277,0.71338606911949],"aabb_xy":[[-0.3895944124919414,-1.9198670617184386],[-0.22959441846344542,-1.879597958371616]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.5504729431880195,-0.1792620219972667,0.71338606911949],"aabb_xy":[[0.49047294268016656,-0.23610875568318798],[0.6104729436958723,-0.12241528831134539]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.5694784897785696,1.5089727376892577,0.71338606911949],"aabb_xy":[[-0.6037947669531877,1.45897273771608],[-0.5351622126039518,1.5589727376624354]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.4747561951418897,-1.475398556609336,0.71338606911949],"aabb_xy":[[0.4372561948497149,-1.4794400320099395],[0.5122561954340645,-1.4713570812087324]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.5376333305615142,-2.5060852462090786,0.71338606911949],"aabb_xy":[[-0.6016333269888361,-2.553254870031175],[-0.4736333341341923,-2.458915622386982]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.49044712298621884,0.30950102831779214,0.71338606911949],"aabb_xy":[[0.4830346674448304,0.3036498178961642],[0.49785957852760737,0.3153522387394201]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.6621545036036469,-1.3198006822691999,0.71338606911949],"aabb_xy":[[0.6551141936701099,-1.3998006816688713],[0.6691948135371839,-1.2398006828695285]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.6506253755029655,0.6002541567712925,0.71338606911949],"aabb_xy":[[-0.6547413256150381,0.5961386017384468],[-0.6465094253908927,0.6043697118041379]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687203629434517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6544.png","name":"6544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6544.png","name":"6544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3568.png","name":"3568"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/973.png","name":"973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9412.png","name":"9412"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9895.png","name":"9895"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":525.7504031619802,"rotation_z_degrees":6.624132662760847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005959389523982393,0.016883411499214285,-0.00236269277921625]},{"name":"camera_2","offset_m":[0.013818602669794944,-0.010445983514710839,-0.0085321317433699]},{"name":"camera_3","offset_m":[0.013435177936368236,-0.019355551085425624,-0.011047132330308726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015900740944926844,0.0019155038216319203,-0.0012712541289045674],"end_effector_yaw_offset_degrees":0.1104162216480773},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004004179495297709,-0.0010399197927083326,0.0019471537825277154],"end_effector_yaw_offset_degrees":-0.17703519667926892},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000662209888022419,-0.0012782467949248493,0.00011405462110111123],"end_effector_yaw_offset_degrees":0.17386092743568682},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013544654173553742,0.0017359389206884086,0.00013533727850134495],"end_effector_yaw_offset_degrees":-0.8899633699473537},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016952004879910317,-0.00010106032156841278,-0.0007179679026703982],"end_effector_yaw_offset_degrees":-0.3362311485532554},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00028988704158496286,-0.001954577742576136,0.0008265981747770045],"end_effector_yaw_offset_degrees":-0.25991230292180467},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018469353558442667,-0.0018555745093670325,-0.0015096267036715082],"end_effector_yaw_offset_degrees":-0.32562404971388603},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00119580925916198,0.0012801457072419285,-0.0006768831493176122],"end_effector_yaw_offset_degrees":0.768552653322472},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[5.608818835454695e-05,0.0009363174296376908,0.0008617680489689979],"end_effector_yaw_offset_degrees":-0.8679656868043881}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004120504703357502,-0.0013811939142694975],"position_m":[0.22632050470335752,-0.00018119391426949763,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003719806722977232,0.0030735514028720776],"position_m":[0.19851980672297723,-0.12962644859712794,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002695865446267398,-0.002094950974720066],"position_m":[0.2174041345537326,-0.39379495097472006,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0006148961376677021,-0.0016987066418080723],"position_m":[0.2821851038623323,0.28980129335819194,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"fe67399f923b98fa90afbb18e787be3f7b771300a1917a984a753b3fe79ab835","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6544/tex_ceiling_textures_9895/tex_floor_textures_9412/tex_table_textures_3568/tex_wall_textures_973","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":331470104446161935,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":331470104446161935,"visual_seed":331470104446161935,"scene_id":"lab_003","finished_at":"2026-09-08T14:48:05"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T14:48:14","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.6336074327243617,0.7994124014409785,0.71338606911949],"aabb_xy":[[0.6256134441466582,0.791412321345888],[0.641601421302065,0.8074124815360687]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.11331279749297873,-0.6288101054931261,0.71338606911949],"aabb_xy":[[-0.14831279746947457,-0.6382747215407427],[-0.0783127975164829,-0.6193454894455095]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.4787120084994954,1.1231155428835655,0.71338606911949],"aabb_xy":[[-0.5587120117573383,1.0431190350915815],[-0.39871200524165246,1.2031120506755495]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.5453635529869301,0.43206136011203045,0.71338606911949],"aabb_xy":[[0.455363550652911,0.35457900552691785],[0.6353635553209491,0.5095437146971431]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[0.4459639947127625,-2.4148401433707605,0.71338606911949],"aabb_xy":[[0.39599070070950193,-2.464840143925308],[0.49593728871602283,-2.364840142816213]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.055155322414230046,-1.8218595102339528,0.71338606911949],"aabb_xy":[[-0.06318159304485604,-1.8306110052113054],[-0.04712905178360405,-1.8131080152566001]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.40347577251920486,-0.8859268603079504,0.71338606911949],"aabb_xy":[[0.39084898523200856,-0.8954729340095234],[0.41610255980640126,-0.8763807866063776]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.6040729432495533,-0.0804447261720429,0.71338606911949],"aabb_xy":[[0.5667416667243107,-0.11509778096689523],[0.6414042197747959,-0.04579167137719061]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.5947864002535042,1.4464332292184703,0.71338606911949],"aabb_xy":[[-0.6597864028912976,1.3949536305190233],[-0.5297863976157107,1.4979128279179172]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.12713343928948684,0.2285805587011831,0.71338606911949],"aabb_xy":[[-0.17212602600793725,0.18358055942673435],[-0.08214085257103643,0.27358055797563186]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.5278352690055186,-1.6526209998567158,0.71338606911949],"aabb_xy":[[0.5102885740893996,-1.6901210014209673],[0.5453819639216375,-1.6151209982924648]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.5481441371282498,1.3951321875175693,0.71338606911949],"aabb_xy":[[0.498144136177717,1.3635830405140479],[0.5981441380787826,1.4266813345210907]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.3086932089210948,0.11248446453271299,0.71338606911949],"aabb_xy":[[-0.33498203324153547,0.08621303087806173],[-0.28240438460065415,0.13875589818736417]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.20767981870623242,1.1309209677851269,0.71338606911949],"aabb_xy":[[-0.24986423286706316,1.0669209675079157],[-0.16549540454540168,1.194920968062338]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.4769632989837511,0.8788105973952112,0.71338606911949],"aabb_xy":[[0.45986122102538296,0.8617037918639415],[0.49406537694211927,0.895917402926481]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.5011841207272678,-0.2020499598634502,0.71338606911949],"aabb_xy":[[0.49348093005319077,-0.2097593305621882],[0.5088873114013448,-0.1943405891647122]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.6422379608683919,0.14145524130423448,0.71338606911949],"aabb_xy":[[0.6330780819245153,0.13492402326069747],[0.6513978398122685,0.1479864593477715]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.3153926208974803,0.6994258046119559,0.71338606911949],"aabb_xy":[[-0.3803926190533994,0.6731295600620437],[-0.25039262274156127,0.7257220491618681]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.3891143478710614,-0.7880187011387387,0.71338606911949],"aabb_xy":[[-0.44911434951398327,-0.8400188504306828],[-0.32911434622813956,-0.7360185518467944]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.5451162417287782,0.8492482249024373,0.71338606911949],"aabb_xy":[[-0.6091162381243512,0.7852849364837038],[-0.4811162453332051,0.9132115133211709]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.5644253399326262,-0.761453752010115,0.71338606911949],"aabb_xy":[[-0.5795276413936441,-0.7765552736411766],[-0.5493230384716079,-0.746352230379053]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.21549317820103886,1.5194512132951004,0.71338606911949],"aabb_xy":[[-0.2289397048350822,1.505981361642009],[-0.20204665156699553,1.5329210649481917]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[0.5327050861236751,1.6887029808643956,0.71338606911949],"aabb_xy":[[0.45270508896409967,1.6771553799065786],[0.6127050832832502,1.7002505818222127]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[-0.3768836104984448,0.9180292681102036,0.71338606911949],"aabb_xy":[[-0.3971679132218435,0.8977466429674947],[-0.356599307775046,0.9383118932529124]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[0.4019315122956151,-1.9160413351250107,0.71338606911949],"aabb_xy":[[0.3524510910816563,-1.9800413330378626],[0.45141193350957387,-1.852041337212159]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[0.19852038930395088,-0.8552623269949764,0.71338606911949],"aabb_xy":[[0.18184325331085538,-0.8719622509689066],[0.2151975252970464,-0.838562403021046]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[0.5374169378296674,-1.4443456255852605,0.71338606911949],"aabb_xy":[[0.4734212404345708,-1.508345623885969],[0.601412635224764,-1.3803456272845516]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_27","position":[0.2616686456349938,0.9830393436973122,0.71338606911949],"aabb_xy":[[0.18166864237098068,0.9694793113883987],[0.34166864889900694,0.9965993760062254]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.06281890715878957,-1.3588572289878107,0.71338606911949],"aabb_xy":[[-0.07023136270017805,-1.3647084394094386],[-0.0554064516174011,-1.3530060185661827]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[-0.41084809088024477,-0.6394584685962923,0.71338606911949],"aabb_xy":[[-0.4282788059592512,-0.6567305832601431],[-0.3934173758012382,-0.6221863539324415]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[-0.6031307479658748,-0.36559299933840395,0.71338606911949],"aabb_xy":[[-0.6731307500973043,-0.38835496496409955],[-0.5331307458344452,-0.34283103371270823]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_31","position":[0.026696296995995406,1.1957560469158413,0.71338606911949],"aabb_xy":[[0.013824393495055263,1.1157560465020049],[0.03956820049693554,1.2757560473296772]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_32","position":[-0.4964242208087897,-1.798186832710094,0.71338606911949],"aabb_xy":[[-0.5464084565169669,-1.8481868315235899],[-0.4464399851006124,-1.7481868338965987]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_33","position":[0.3671376979980312,1.1661874669528869,0.71338606911949],"aabb_xy":[[0.30713769774663,1.111906141916422],[0.4271376982494324,1.2204687919893513]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_34","position":[0.600259520403764,-1.002182216526265,0.71338606911949],"aabb_xy":[[0.5724144836231568,-1.0329667152645767],[0.6281045571843711,-0.9713977177879534]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657124810841741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5431.png","name":"5431"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5431.png","name":"5431"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9553.png","name":"9553"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1220.png","name":"1220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9455.png","name":"9455"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7005.png","name":"7005"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":780.5033108130183,"rotation_z_degrees":298.6517270809293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004482678858267586,0.013311365119111632,-0.0072197030710737225]},{"name":"camera_2","offset_m":[-0.01044667853273952,0.009164455230902861,-0.013571823755479225]},{"name":"camera_3","offset_m":[0.01408219866845754,0.0037946898909686777,-0.005037082460875425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005993059364944879,0.0007405641439820212,0.0006751391367575982],"end_effector_yaw_offset_degrees":0.6142735250724864},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001057061313166193,3.2224735146357385e-05,0.0013405971079125945],"end_effector_yaw_offset_degrees":-0.7241301788929091},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001668906846870319,-0.0010481085945661826,0.0008808046623812499],"end_effector_yaw_offset_degrees":-0.8669754550213775},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015561231519615232,0.0017415374970317478,-0.001624890129420654],"end_effector_yaw_offset_degrees":0.33227189743252605},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0011583731343337436,0.0014061627799103926,0.00015009527665733272],"end_effector_yaw_offset_degrees":0.8200942444202723},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[5.063194943608117e-05,0.0017086014535880154,-0.000564260276446785],"end_effector_yaw_offset_degrees":-0.5380092811205288},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-2.719051928417671e-05,0.0015729884170021533,-0.0002626645700113221],"end_effector_yaw_offset_degrees":0.9538793795656357},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0008619739869643404,0.0004692595405161484,-6.531297918644405e-05],"end_effector_yaw_offset_degrees":-0.6533397426675527},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011974271183775465,-0.0011067618031407617,0.0015732708858993568],"end_effector_yaw_offset_degrees":0.7981538803064772}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006348041332250353,-0.0013159202838651618],"position_m":[0.22283480413322504,-0.00011592028386516189,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004167422721540331,-0.0031148462896416927],"position_m":[0.19896742272154033,-0.13581484628964172,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001882379424283096,0.004168380778085586],"position_m":[0.2182176205757169,-0.3875316192219144,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.003354971384621077,-0.0028121070688027663],"position_m":[0.2861549713846211,0.28868789293119723,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"c914010d5f862efa9ecd36d635dc3c254ebefc014e615854812eaa1e744d16c7","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5431/tex_ceiling_textures_7005/tex_floor_textures_9455/tex_table_textures_9553/tex_wall_textures_1220","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3273669150385773198,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3273669150385773198,"visual_seed":3273669150385773198,"scene_id":"lab_003","finished_at":"2026-09-08T14:59:51"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T15:00:03","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.5600331984982745,1.0254601550881786,0.71338606911949],"aabb_xy":[[0.5424548963093276,1.0078856655140733],[0.5776115006872213,1.0430346446622834]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.30998058806521156,-1.1125185945353142,0.71338606911949],"aabb_xy":[[-0.3899805913230545,-1.1925151023272982],[-0.2299805848073686,-1.0325220867433302]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.08843492244717688,0.751695198170649,0.71338606911949],"aabb_xy":[[-0.17843492104164682,0.735444611857228],[0.0015650761472930513,0.76794578448407]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.5847993267445422,-2.3620750482479567,0.71338606911949],"aabb_xy":[[0.5047993234805289,-2.3756350805568696],[0.6647993300085552,-2.348515015939043]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[0.08380706723043096,-1.4550693831067243,0.71338606911949],"aabb_xy":[[-0.0011929311869922493,-1.5399436785690093],[0.1688070656478542,-1.3701950876444393]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.3388618988393888,-0.7127017361937131,0.71338606911949],"aabb_xy":[[0.3152767753754939,-0.7777017384391449],[0.36244702230328363,-0.6477017339482813]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.10291565712453088,-0.9142614766653663,0.71338606911949],"aabb_xy":[[0.09234817746643188,-0.9248065067783747],[0.1134831367826299,-0.9037164465523576]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.08106685447482753,-2.4358767386431626,0.71338606911949],"aabb_xy":[[0.07344258638464929,-2.4435099621797063],[0.08869112256500578,-2.428243515106619]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.4525623757565552,-0.014109858457724389,0.71338606911949],"aabb_xy":[[-0.46059871045784007,-0.02214797776214117],[-0.4445260410552704,-0.0060717391533076075]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.04471278844719073,1.0223081664257845,0.71338606911949],"aabb_xy":[[-0.062212721881174105,1.0048081665055497],[-0.02721285501320736,1.0398081663460188]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.546595912396247,-1.5727372956191923,0.71338606911949],"aabb_xy":[[-0.5594678158971872,-1.6527372960330282],[-0.5337240088953069,-1.492737295205356]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.4726806006059381,-0.20679825108699568,0.71338606911949],"aabb_xy":[[0.4227073066026777,-0.256798251641543],[0.5226538946091985,-0.1567982505324483]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.465738313350466,-1.0113728009298497,0.71338606911949],"aabb_xy":[[0.4017383129729324,-1.0611180677806618],[0.5297383137279996,-0.9616275340790372]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.5178241418868315,-0.5382290401306005,0.71338606911949],"aabb_xy":[[-0.5818241437991738,-0.594140189388611],[-0.4538241399744891,-0.48231789087259014]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.22140224665856695,-2.2121430315735715,0.71338606911949],"aabb_xy":[[-0.2558645940567087,-2.2466369139713933],[-0.1869398992604251,-2.177649149175748]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.553499167101352,-1.276951428495115,0.71338606911949],"aabb_xy":[[0.4634991673781778,-1.3000247810302947],[0.6434991668245261,-1.253878075959935]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.4921302834190484,-0.447042100104988,0.71338606911949],"aabb_xy":[[0.4421302821352084,-0.4970209544956101],[0.5421302847028883,-0.3970632457143659]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.1302327842897023,-1.4994781404854036,0.71338606911949],"aabb_xy":[[-0.21023278571982948,-1.5789952954980129],[-0.05023278285957508,-1.419960985472794]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.42802421422235626,-2.1087700097973863,0.71338606911949],"aabb_xy":[[0.378024215576435,-2.1586895534568487],[0.4780242128682774,-2.058850466137924]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.609076128043524,-1.6455393808490455,0.71338606911949],"aabb_xy":[[0.5590761270929911,-1.677088527852567],[0.6590761289940568,-1.613990233845524]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.15651202521231433,1.2045967637532757,0.71338606911949],"aabb_xy":[[0.133230183014183,1.1195967624560474],[0.17979386741044567,1.2895967650505036]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.4764168535492504,1.571999880765301,0.71338606911949],"aabb_xy":[[-0.5564168509528435,1.492007309567118],[-0.39641685614565686,1.6519924519634837]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.6116611836459342,-2.259712416463753,0.71338606911949],"aabb_xy":[[0.6075452335338615,-2.2638279714965983],[0.6157771337580068,-2.255596861430907]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[-0.5597806685680959,0.7042953935947613,0.71338606911949],"aabb_xy":[[-0.5971119450933385,0.669642338799909],[-0.5224493920428533,0.7389484483896135]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.47114444016709256,1.3519069012023874,0.71338606911949],"aabb_xy":[[0.4211513280579008,1.3019069005281918],[0.5211375522762846,1.401906901876583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6700143523797356,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2578.png","name":"2578"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5700.png","name":"5700"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3277.png","name":"3277"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4540.png","name":"4540"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":663.4661917732465,"rotation_z_degrees":327.7489310977542,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035327140799931607,-0.002443598098397143,0.013327704439601459]},{"name":"camera_2","offset_m":[0.014458257133748844,0.01053021116864581,-0.0044823708962121595]},{"name":"camera_3","offset_m":[0.012577939069140138,-0.00610445858586257,-0.019596858413492065]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014278018909066202,-0.0005256897112281243,0.0015771567582002267],"end_effector_yaw_offset_degrees":0.6163468998609873},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014435436199072556,-0.001425001839061156,2.546769827834524e-05],"end_effector_yaw_offset_degrees":0.7493942733227659},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001770053691155694,-0.0017653136785513027,0.00030353240299029263],"end_effector_yaw_offset_degrees":-0.240002725760613},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0012393652281232166,0.0015756776375371487,-0.0007515122766935747],"end_effector_yaw_offset_degrees":-0.22110220357542398},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001221385373035168,0.00047354693457792507,0.00038999726798752453],"end_effector_yaw_offset_degrees":-0.606929663273466},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013776658876853169,-0.0013221859351853196,0.0012597610080547867],"end_effector_yaw_offset_degrees":0.5071240349636932},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017849833416752644,0.0009380336362175253,-0.0011097337698671352],"end_effector_yaw_offset_degrees":0.02270097356784584},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00034203583012370553,0.00025050630448722596,-0.00046281120610385126],"end_effector_yaw_offset_degrees":-0.7680932365685409},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005443119325140673,-0.0012674909300278393,0.0004366647824543511],"end_effector_yaw_offset_degrees":0.531856815873657}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001069428935531429,0.002815546366470515],"position_m":[0.22326942893553145,0.004015546366470515,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009323135763651472,-0.0043615078022042056],"position_m":[0.19386768642363486,-0.13706150780220422,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020398633971542347,-0.003391412683333119],"position_m":[0.21806013660284576,-0.3950914126833331,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-8.743131537319437e-05,-0.004741631423328478],"position_m":[0.2827125686846268,0.28675836857667153,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"0f0f71995c9130841054da20db506aa1e743a3d149776553cf1aa6e66bf3789c","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5435/tex_ceiling_textures_4540/tex_floor_textures_3277/tex_table_textures_2578/tex_wall_textures_5700","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5398213351731231598,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5398213351731231598,"visual_seed":5398213351731231598,"scene_id":"lab_003","finished_at":"2026-09-08T15:11:01"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T15:11:13","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.20785354271586776,-2.022376769492661,0.71338606911949],"aabb_xy":[[0.17194003829087803,-2.0582902777094163],[0.24376704714085742,-1.986463261275907]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.6346341683850552,0.07396183550757263,0.71338606911949],"aabb_xy":[[0.6121341678730146,0.05146997714217427],[0.6571341688970957,0.09645369387297098]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.6765130494961508,-0.5109442542027982,0.71338606911949],"aabb_xy":[[-0.6804735332658851,-0.5186121187883188],[-0.6725525657264164,-0.5032763896172776]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.35020928468130363,-1.3954489648011186,0.71338606911949],"aabb_xy":[[0.29020928408528746,-1.4502614373463423],[0.4102092852773198,-1.3406364922558953]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.5704694017593492,0.35609640606591775,0.71338606911949],"aabb_xy":[[-0.6154694032255781,0.3110965492044371],[-0.5254694002931204,0.4010962629273985]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.4657903703357493,-0.6444243698709997,0.71338606911949],"aabb_xy":[[0.41581707633248877,-0.6944243704255469],[0.5157636643390097,-0.5944243693164523]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.6165206103110498,1.4837226684347056,0.71338606911949],"aabb_xy":[[-0.6206365604231223,1.4796071134018598],[-0.612404660198977,1.487838223467551]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.5221943268110137,1.283556681912902,0.71338606911949],"aabb_xy":[[-0.5721893377704658,1.2335566828773106],[-0.4721993158515617,1.333556680948494]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.05417252445798848,-2.472808245902664,0.71338606911949],"aabb_xy":[[0.019172525265170208,-2.483775291900326],[0.08917252365080675,-2.461841199905001]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[-0.0059094960587045,-1.8706611220414577,0.71338606911949],"aabb_xy":[[-0.018512195195780956,-1.8832565182663235],[0.0066932030783719565,-1.8580657258165925]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[0.39710770763307424,-1.5957649713135886,0.71338606911949],"aabb_xy":[[0.3725940835360684,-1.620029564615625],[0.4216213317300801,-1.5715003780115522]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.3360905884078994,0.5137544111362136,0.71338606911949],"aabb_xy":[[-0.3437937790819764,0.5060450404374756],[-0.3283873977338223,0.5214637818349516]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[0.6303444178940636,1.0583265558161519,0.71338606911949],"aabb_xy":[[0.6081718909174126,1.0361508886600288],[0.6525169448707143,1.080502222972275]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.26161932663398635,-1.977031870456124,0.71338606911949],"aabb_xy":[[-0.2690317821753748,-1.9828830808777516],[-0.2542068710925979,-1.9711806600344957]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.16056713238257891,0.2693697526258325,0.71338606911949],"aabb_xy":[[-0.1685934030132049,0.2606182576484799],[-0.15254086175195292,0.27812124760318513]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[-0.2750595294598949,1.2959823888052768,0.71338606911949],"aabb_xy":[[-0.34005952949419765,1.2492817121249495],[-0.2100595294255922,1.3426830654856041]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.19735187598805842,-0.7342173410681669,0.71338606911949],"aabb_xy":[[-0.2613518752822266,-0.7982034814370211],[-0.13335187669389018,-0.6702312006993127]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.35012158769525525,-1.8285660482148853,0.71338606911949],"aabb_xy":[[0.2885308284712625,-1.8925660463239322],[0.41171234691924813,-1.7645660501058384]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.0906012799383572,-1.73642749647599,0.71338606911949],"aabb_xy":[[-0.14048397681605343,-1.786427495722265],[-0.040718583060661014,-1.6864274972297155]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.09991186750958947,1.0623447729663567,0.71338606911949],"aabb_xy":[[0.019911870105996054,0.9823522017681737],[0.1799118649131829,1.1423373441645392]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.23152492813879488,-2.283645392599364,0.71338606911949],"aabb_xy":[[0.1675249257959933,-2.328586243843496],[0.2955249304815964,-2.238704541355231]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.15200521027833525,1.3706893870918324,0.71338606911949],"aabb_xy":[[0.1401331272668341,1.2856893873981818],[0.16387729328983633,1.4556893867854825]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[-0.4793204606065966,-1.3089616342140116,0.71338606911949],"aabb_xy":[[-0.48873793517645936,-1.3183778113517304],[-0.46990298603673386,-1.2995454570762923]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.2956666155824807,-0.897159240296135,0.71338606911949],"aabb_xy":[[-0.3065070938089956,-0.9143455215867838],[-0.2848261373559658,-0.8799729590054862]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.08124328490845545,-1.5331923824646687,0.71338606911949],"aabb_xy":[[-0.09411518840939558,-1.6131923828785046],[-0.0683713814075153,-1.4531923820508323]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[-0.21863318654844371,0.6247304253061925,0.71338606911949],"aabb_xy":[[-0.28363318750557087,0.5727822133724868],[-0.1536331855913165,0.676678637239898]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[-0.633864770580942,-2.5334468375374724,0.71338606911949],"aabb_xy":[[-0.6457975049427701,-2.545828990345332],[-0.621932036219114,-2.5210646847296134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647199327398408,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/677.png","name":"677"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/677.png","name":"677"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3888.png","name":"3888"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7974.png","name":"7974"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1100.png","name":"1100"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":536.1872279222379,"rotation_z_degrees":150.63147452377837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013181207320310005,-0.01377651203191952,-0.005762208105194592]},{"name":"camera_2","offset_m":[0.018293243164427275,-0.01397950151949582,-0.008396395262471126]},{"name":"camera_3","offset_m":[0.004221480621623645,-0.001900364925616082,-0.002342383444206595]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009176707903703915,-0.0003308844984748541,-0.0009030090865982659],"end_effector_yaw_offset_degrees":-0.4742950528893435},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013360745803914892,-7.151470735035576e-05,0.0017867765453763525],"end_effector_yaw_offset_degrees":-0.2693985899115352},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010112165216238345,-0.0010145324046323893,-0.0008235664125538502],"end_effector_yaw_offset_degrees":-0.33377646239782255},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005563892375701296,-0.00029308462357458703,-0.00036075689738421387],"end_effector_yaw_offset_degrees":-0.6019596832219978},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0013579283637146112,-0.0005979865920652738,0.0018864529044489522],"end_effector_yaw_offset_degrees":0.781588239805896},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0019609498775472883,0.00022836829202338774,0.0017064805093170606],"end_effector_yaw_offset_degrees":0.7000980028258901},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00139956445515086,5.281228219319433e-05,0.0018655654340563165],"end_effector_yaw_offset_degrees":-0.22765689341081718},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0017174192031265633,0.0016285291564160235,-0.00046195696559872177],"end_effector_yaw_offset_degrees":-0.7460415151984925},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007065110326710947,-0.0007092750055269006,-0.0016233265530667684],"end_effector_yaw_offset_degrees":0.7811208401142651}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003165858890162055,-0.0022083488245113535],"position_m":[0.22536585889016206,-0.0010083488245113536,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00031610643874752965,-0.00114174034623566],"position_m":[0.19448389356125248,-0.13384174034623567,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028761259551523355,0.004485525556199588],"position_m":[0.21722387404484766,-0.3872144744438004,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0021948998981055835,-0.0010001007041457169],"position_m":[0.28060510010189443,0.2904998992958543,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"f0b3c8497e12b71d55b762b785533c1955f7bd6e828fe813fb63bd925bf840e9","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_677/tex_ceiling_textures_5650/tex_floor_textures_1100/tex_table_textures_3888/tex_wall_textures_7974","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6886111814225398506,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6886111814225398506,"visual_seed":6886111814225398506,"scene_id":"lab_003","finished_at":"2026-09-08T15:22:08"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T15:22:17","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.6429884815693452,-2.3814848193800446,0.71338606911949],"aabb_xy":[[0.6383533664171116,-2.3853521544571925],[0.6476235967215783,-2.377617484302895]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.5607472758526266,-0.9721494280741609,0.71338606911949],"aabb_xy":[[0.5262847978395386,-0.9788131052570838],[0.5952097538657142,-0.9654857508912381]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.5647196130572771,-1.8103882234152762,0.71338606911949],"aabb_xy":[[0.5147246020978252,-1.860388222450868],[0.6147146240167293,-1.7603882243796847]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.5337387898153809,-1.337223218014892,0.71338606911949],"aabb_xy":[[-0.5977387871177273,-1.3815896449827487],[-0.4697387925130345,-1.2928567910470352]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.32218916192174785,1.0762865974504905,0.71338606911949],"aabb_xy":[[0.25718916081580456,1.051321224382362],[0.38718916302769113,1.1012519705186186]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.2450633507479223,1.7085144044972433,0.71338606911949],"aabb_xy":[[0.207563350250564,1.704545720949125],[0.2825633512452805,1.712483088045362]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.060793517674348485,-1.3170361964305928,0.71338606911949],"aabb_xy":[[-0.07596568695598183,-1.3322050533587961],[-0.045621348392715144,-1.3018673395023894]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.1399834309074236,0.004453575700251733,0.71338606911949],"aabb_xy":[[-0.1481111191007368,-0.004460032710455918],[-0.13185574271411035,0.013367184110959385]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.6470515230504219,-0.4926170048997802,0.71338606911949],"aabb_xy":[[-0.6695515228643243,-0.49709162127026096],[-0.6245515232365195,-0.4881423885292996]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.41391815737364124,1.3167318772481185,0.71338606911949],"aabb_xy":[[-0.45908947522181026,1.2527318801035803],[-0.36874683952547227,1.380731874392657]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[0.30205979494030044,-0.9106938090153027,0.71338606911949],"aabb_xy":[[0.2971037747554193,-0.9331938092174243],[0.30701581512518167,-0.8881938088131811]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.5368637765417033,-1.127470083098382,0.71338606911949],"aabb_xy":[[-0.6018637775422037,-1.1782564482530569],[-0.4718637755412026,-1.076683717943707]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.6050420163225771,1.6267583332828788,0.71338606911949],"aabb_xy":[[0.535042012931015,1.591442559579448],[0.675042019714139,1.6620741069863096]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[0.10760694348600586,1.3725884087915188,0.71338606911949],"aabb_xy":[[0.05263322144967297,1.3175884092272856],[0.16258066552233874,1.427588408355752]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[0.5942949409795892,0.870581783070981,0.71338606911949],"aabb_xy":[[0.5825267541849318,0.7855817831657597],[0.6060631277742469,0.9555817829762028]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.5059802551514543,-0.6682922278093699,0.71338606911949],"aabb_xy":[[0.425980257991879,-0.679839828767187],[0.5859802523110296,-0.6567446268515529]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.36004060414255346,0.5921228420195175,0.71338606911949],"aabb_xy":[[-0.4250406022984725,0.5658265974696053],[-0.2950406059866344,0.6184190865694297]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.6150762252305819,0.018483543483075682,0.71338606911949],"aabb_xy":[[0.5250762228965629,-0.058998811102036974],[0.705076227564601,0.09596589806818834]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.3210679441048805,-0.14190620779555818,0.71338606911949],"aabb_xy":[[-0.36231675513479517,-0.1969062073077756],[-0.2798191330749657,-0.08690620828334071]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.2439055739844676,0.8408424807199353,0.71338606911949],"aabb_xy":[[-0.30790557109657335,0.7918101109255247],[-0.17990557687236194,0.8898748505143459]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.10988765618846552,-1.1949371419625219,0.71338606911949],"aabb_xy":[[-0.11918127442561607,-1.2324371404506556],[-0.10059403795131491,-1.1574371434743878]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[0.17416916523172388,-0.8162265785568621,0.71338606911949],"aabb_xy":[[0.11017346783662726,-0.8802265768575707],[0.23816486262682043,-0.7522265802561533]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[-0.0715734224577832,0.5280295715372363,0.71338606911949],"aabb_xy":[[-0.12167088643885682,0.4640295710274245],[-0.021475958476709578,0.5920295720470481]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.6940755482734886,-1.0599340693367523,0.71338606911949],"aabb_xy":[[0.6657458383249485,-1.0643948115304696],[0.722405258222029,-1.0554733271430354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6737395167628889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1998.png","name":"1998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9394.png","name":"9394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4591.png","name":"4591"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/729.png","name":"729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2475.png","name":"2475"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":592.0285616243282,"rotation_z_degrees":304.192424350521,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018366317346948585,0.006508543590420489,0.007048848183873767]},{"name":"camera_2","offset_m":[0.009142042082537643,0.008330544595701875,-0.007325968822768045]},{"name":"camera_3","offset_m":[0.00906232647478945,0.005556880788395519,0.002532154437860149]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001157390372230815,0.0007891883856920006,-0.0018518281033724619],"end_effector_yaw_offset_degrees":-0.7586205227146998},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001371224425841568,-0.001963038062352282,0.0004722305452412026],"end_effector_yaw_offset_degrees":-0.39604998844631956},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011398734890489051,-0.0001519120080880562,0.0009548390305271531],"end_effector_yaw_offset_degrees":0.3127874048045287},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0004553200244180617,-0.000610647569241935,0.0016607172954968656],"end_effector_yaw_offset_degrees":-0.022770416789972714},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012931796846806297,0.0002662777804961292,0.000968685553792988],"end_effector_yaw_offset_degrees":-0.02390754618012969},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0008200772824184729,0.0003923551109872815,-0.0012025408528286469],"end_effector_yaw_offset_degrees":-0.6727148425889589},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00034442740852713835,0.0005974127132856218,0.0016941503038284565],"end_effector_yaw_offset_degrees":0.9783448464831923},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0009081999496121213,0.0006256476504254154,-0.0006066068676460251],"end_effector_yaw_offset_degrees":-0.46157275749182736},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00036532343490474923,0.0019106835335608507,-0.0014008022448396252],"end_effector_yaw_offset_degrees":0.7625726082506901}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012361244397596357,0.002972801944578549],"position_m":[0.22343612443975963,0.0041728019445785485,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024958280037238947,-0.0048116195985049215],"position_m":[0.1972958280037239,-0.13751161959850494,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004850956547460753,-0.00021569282579443714],"position_m":[0.22495095654746075,-0.3919156928257944,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0006653223543434264,0.004441419039291977],"position_m":[0.2834653223543434,0.29594141903929194,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"02e455b65eb70aac54dc99e72ca3f15c8b85c70becc0e72ef9677d5edbd29fa5","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1998/tex_ceiling_textures_2475/tex_floor_textures_729/tex_table_textures_9394/tex_wall_textures_4591","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3108826946832439477,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3108826946832439477,"visual_seed":3108826946832439477,"scene_id":"lab_003","finished_at":"2026-09-08T15:33:24"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T15:44:51","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.1687504432066198,-1.9403665164236703,0.71338606911949],"aabb_xy":[[0.15358757022968275,-1.955531973718789],[0.1839133161835569,-1.9252010591285516]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.2763845664075877,-1.7992248176235426,0.71338606911949],"aabb_xy":[[0.2263845650467005,-1.8492027221989582],[0.3263845677684749,-1.749246913048127]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[-0.6257886924574992,-2.274751965334099,0.71338606911949],"aabb_xy":[[-0.6622845130847779,-2.311235907760856],[-0.5892928718302204,-2.238268022907341]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.0862289715389063,1.1836694832591301,0.71338606911949],"aabb_xy":[[-0.09422246133418835,1.1756713513186545],[-0.07823548174362428,1.1916676151996057]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.3678313385581249,0.9117764733326417,0.71338606911949],"aabb_xy":[[-0.43183133772789484,0.8650097862136792],[-0.30383133938835494,0.9585431604516041]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[0.3771095312989847,-0.8200504512059514,0.71338606911949],"aabb_xy":[[0.33434282441956453,-0.884050454627754],[0.4198762381784049,-0.7560504477841491]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[0.6050784761535308,-0.6093944863064464,0.71338606911949],"aabb_xy":[[0.5899063068718975,-0.6245633432346499],[0.6202506454351642,-0.5942256293782432]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.6291422720747706,-0.8189057268959545,0.71338606911949],"aabb_xy":[[-0.6410143550862717,-0.9039057265896049],[-0.6172701890632695,-0.7339057272023042]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.4028263461162569,-0.8308398366118799,0.71338606911949],"aabb_xy":[[-0.4678263487540503,-0.8823194353113268],[-0.33782634347846335,-0.7793602379124329]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.2861912007820926,-1.3566254669014246,0.71338606911949],"aabb_xy":[[0.24869120096505903,-1.3612636782125662],[0.32369120059912615,-1.3519872555902825]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[0.46778609214846933,-2.017645921421238,0.71338606911949],"aabb_xy":[[0.4177860911293341,-2.054112137159066],[0.5177860931676046,-1.98117970568341]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.14182835702711605,1.6569588937755557,0.71338606911949],"aabb_xy":[[-0.19180577389236964,1.606958892286307],[-0.09185094016186247,1.706958895264804]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.6727714386813359,-0.18264222121944984,0.71338606911949],"aabb_xy":[[0.6508816910923951,-0.27264221850869896],[0.6946611862702767,-0.09264222393020073]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.1441470579128703,1.6574189733917444,0.71338606911949],"aabb_xy":[[0.13152027062567392,1.6478728996901713],[0.15677384520006662,1.666965047093317]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.13382197092099468,0.9929837056203641,0.71338606911949],"aabb_xy":[[-0.17600638508182545,0.928983705343153],[-0.09163755676016397,1.0569837058975753]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.35217645865425595,-0.989417514744914,0.71338606911949],"aabb_xy":[[0.3171764586777601,-0.9988821307925306],[0.3871764586307518,-0.9799528986972974]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[0.44281759560796474,-0.3961938688910651,0.71338606911949],"aabb_xy":[[0.3788175923893269,-0.4429169807900735],[0.5068175988266026,-0.3494707569920568]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.02426575459061875,-2.2712221439061344,0.71338606911949],"aabb_xy":[[-0.03230911451657392,-2.356222145001501],[-0.016222394664663575,-2.186222142810768]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.09790223561156852,-1.4219736311234847,0.71338606911949],"aabb_xy":[[-0.17790223359235355,-1.4295751720853365],[-0.017902237630783465,-1.4143720901616326]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.4020186740038125,-1.8381150492960008,0.71338606911949],"aabb_xy":[[-0.467018675004313,-1.8889014144506755],[-0.33701867300331195,-1.7873286841413256]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.3717559541753058,1.712323799101934,0.71338606911949],"aabb_xy":[[-0.42172901970782134,1.6623237992894015],[-0.32178288864279037,1.7623237989144673]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.10187652849574325,-0.8899646493465587,0.71338606911949],"aabb_xy":[[-0.1868765271878179,-0.9219505127414375],[-0.016876529803668605,-0.8579787859516798]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.2068767904554749,-1.116424374995743,0.71338606911949],"aabb_xy":[[0.14687678959466208,-1.167850805002229],[0.26687679131628766,-1.0649979449892562]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.23811613715002072,-1.7352040616806645,0.71338606911949],"aabb_xy":[[-0.2727072200040659,-1.8002040619656952],[-0.2035250542959755,-1.670204061395633]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[0.44510953930226327,0.8744034795509039,0.71338606911949],"aabb_xy":[[0.35510953562534503,0.8129710729737992],[0.5351095429791813,0.9358358861280079]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[0.6509788636906484,-2.432782998433793,0.71338606911949],"aabb_xy":[[0.6174996964296074,-2.4662621118049004],[0.6844580309516893,-2.3993038850626864]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[0.3997622276189303,0.5592606844332275,0.71338606911949],"aabb_xy":[[0.30976223111805856,0.5133490420147692],[0.4897622241198021,0.6051723268516856]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[-0.35738927724546654,0.2278449991246445,0.71338606911949],"aabb_xy":[[-0.40738927589138774,0.1779254554651821],[-0.30738927859954535,0.2777645427841069]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6720899872058579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1434.png","name":"1434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1434.png","name":"1434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6452.png","name":"6452"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7323.png","name":"7323"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":511.0635474698548,"rotation_z_degrees":38.600963442104174,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008951115220185834,-0.0012612702638868344,0.014166561537107599]},{"name":"camera_2","offset_m":[0.0026915906325935754,0.005890051458663174,-0.0026893050390773797]},{"name":"camera_3","offset_m":[-0.015600507842834052,-0.008729946696393202,-0.015103503972426338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014548419514743573,0.0006152499561062068,0.0009291426171677926],"end_effector_yaw_offset_degrees":0.6322029778173943},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00020903472392366676,-0.00067300322784053,0.0008210360977295265],"end_effector_yaw_offset_degrees":-0.21436827108880419},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016695777593897297,-0.0009995209668367622,0.001768205881342791],"end_effector_yaw_offset_degrees":0.8423939524915709},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017250774317953427,-0.0007657469274660405,-0.0007391940464894721],"end_effector_yaw_offset_degrees":-0.11067731810268278},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00022426955914839298,-0.0016182907030475352,0.0007781679400710212],"end_effector_yaw_offset_degrees":0.14615787365691446},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011125152247895226,-0.0005163326046404447,-0.0013053429072241024],"end_effector_yaw_offset_degrees":-0.505713158209143},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015260497326143097,0.0016563734830991397,-0.0017705900283896093],"end_effector_yaw_offset_degrees":0.8961711317704748},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018782223497841918,0.00023202438197029865,0.0005008497319875693],"end_effector_yaw_offset_degrees":-0.9970442349579076},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018299128181250594,0.0005154416740858351,-0.001570933612879748],"end_effector_yaw_offset_degrees":-0.17942599500541823}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010578282285428654,-0.0027883354021070207],"position_m":[0.22114217177145715,-0.0015883354021070208,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002387519917999341,-0.0026683330032847685],"position_m":[0.19718751991799935,-0.13536833300328477,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001817977268061678,-0.0016102373562161976],"position_m":[0.22191797726806167,-0.3933102373562162,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0021686711278660576,0.004237596768441575],"position_m":[0.28496867112786606,0.2957375967684416,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"81ff14b263ab8a7a8797bb244059f01de5d388be1ac306b03831426eafbdee77","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1434/tex_ceiling_textures_3027/tex_floor_textures_7323/tex_table_textures_607/tex_wall_textures_6452","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":25631595497807311,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":25631595497807311,"visual_seed":25631595497807311,"scene_id":"lab_003","finished_at":"2026-09-08T15:56:27"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T16:32:51","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.2728374381030773,-2.0025921195953393,0.71338606911949],"aabb_xy":[[-0.28083142668078065,-2.0105921996904295],[-0.26484344952537386,-1.994592039500249]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.5791326482898509,-0.568032101910275,0.71338606911949],"aabb_xy":[[-0.6125728234858704,-0.6014757277412048],[-0.5456924730938312,-0.5345884760793447]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.511504332240082,-2.0125661964970663,0.71338606911949],"aabb_xy":[[-0.5202855593873182,-2.021345943785597],[-0.5027231050928459,-2.0037864492085364]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[-0.2540884519980531,-2.50041922899318,0.71338606911949],"aabb_xy":[[-0.2710985492881037,-2.516553717491454],[-0.23707835470800237,-2.484284740494906]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[-0.3679220538330821,-0.2519639413807879,0.71338606911949],"aabb_xy":[[-0.4379220564696684,-0.2720688063766534],[-0.29792205119649573,-0.23185907638492242]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[0.46244195384253817,1.01112478665612,0.71338606911949],"aabb_xy":[[0.4399282620190809,0.9411247860551122],[0.4849556456659953,1.0811247872571272]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.13190267491358232,0.34501271497701813,0.71338606911949],"aabb_xy":[[-0.19190267542143521,0.2881659812910968],[-0.07190267440572938,0.4018594486629394]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.03970754305944857,1.4056172503580444,0.71338606911949],"aabb_xy":[[-0.062207542583155966,1.3831213029074236],[-0.017207543535741162,1.4281131978086652]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[0.6329577882415411,0.794991563500544,0.71338606911949],"aabb_xy":[[0.6168958607830235,0.7099915616879522],[0.6490197157000588,0.8799915653131358]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[-0.30088508957827426,-1.774821123033199,0.71338606911949],"aabb_xy":[[-0.350365510792233,-1.8388211209460508],[-0.2514046683643154,-1.7108211251203471]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[0.6638165078117231,-2.113293679233368,0.71338606911949],"aabb_xy":[[0.6461408772231247,-2.13097389551277],[0.6814921384003214,-2.0956134629539647]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.025835535512230612,0.7121062723056171,0.71338606911949],"aabb_xy":[[-0.04833553602427121,0.6896144139402186],[-0.003335535000190012,0.7345981306710153]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.4646009732702532,1.4195610821724567,0.71338606911949],"aabb_xy":[[0.3996009722697526,1.3687747170177818],[0.5296009742707537,1.4703474473271316]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.407446144419017,-1.5530797490856982,0.71338606911949],"aabb_xy":[[-0.42412328041211245,-1.5697796730596285],[-0.39076900842592144,-1.536379825111768]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[-0.45062030755974447,-0.8647032982761409,0.71338606911949],"aabb_xy":[[-0.5005030044374408,-0.9147032975224157],[-0.40073761068204833,-0.8147032990298663]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.6115310356988164,-1.1620381971128309,0.71338606911949],"aabb_xy":[[-0.6915310327130644,-1.1821727487862421],[-0.5315310386845684,-1.1419036454394196]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.24487843567372258,1.2833083558277751,0.71338606911949],"aabb_xy":[[0.22899394240839743,1.2689554155289509],[0.26076292893904773,1.297661296126599]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.5191547861844088,-1.0084909467163143,0.71338606911949],"aabb_xy":[[-0.5392131977976491,-1.0285560336254718],[-0.4990963745711685,-0.9884258598071568]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.05121844669436171,-1.058917457689699,0.71338606911949],"aabb_xy":[[0.03430771425801992,-1.072389663282313],[0.06812917913070347,-1.0454452520970843]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.4157156679759617,-2.439789630894507,0.71338606911949],"aabb_xy":[[0.3807156679994659,-2.4492542469421235],[0.45071566795245754,-2.4303250148468907]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.5628395927678658,-2.310000113862021,0.71338606911949],"aabb_xy":[[0.5399238798828159,-2.332904410998445],[0.5857553056529157,-2.287095816725598]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.6528623073796618,-0.8937738297365099,0.71338606911949],"aabb_xy":[[0.5828623055709163,-0.9151275985006972],[0.7228623091884072,-0.8724200609723225]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.25984533178320113,-1.659707682405739,0.71338606911949],"aabb_xy":[[0.20485308114769019,-1.7147076841490518],[0.31483758241871207,-1.6047076806624263]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.1057577814760513,-0.8895371524526485,0.71338606911949],"aabb_xy":[[0.09260653550476193,-0.9145371522093352],[0.11890902744734066,-0.8645371526959621]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.30378154674280783,-1.5204114038960226,0.71338606911949],"aabb_xy":[[-0.3219873704040555,-1.5314368044780144],[-0.28557572308156015,-1.5093860033140312]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.17343041871343345,1.3326700385331391,0.71338606911949],"aabb_xy":[[-0.18084287425482193,1.3268188281115112],[-0.16601796317204498,1.338521248954767]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[0.4167826767060405,-1.0872845049618085,0.71338606911949],"aabb_xy":[[0.3567826764546393,-1.141565829998273],[0.47678267695744164,-1.0330031799253436]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_27","position":[-0.013212635477950818,-1.4092298359908841,0.71338606911949],"aabb_xy":[[-0.05597934235737101,-1.4732298394126866],[0.029554071401469373,-1.3452298325690817]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[0.39415467438203455,1.5574879223659681,0.71338606911949],"aabb_xy":[[0.3301546757954621,1.5104809589664592],[0.458154672968607,1.6044948857654766]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_29","position":[0.5826914749129113,-1.2937336779169915,0.71338606911949],"aabb_xy":[[0.5746481149869561,-1.3787336790123579],[0.5907348348388665,-1.208733676821625]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[0.4655234042415213,-1.881543070038357,0.71338606911949],"aabb_xy":[[0.4280234056659004,-1.894279365701915],[0.503023402817142,-1.8688067743747991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679461253108504,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8661.png","name":"8661"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8661.png","name":"8661"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7820.png","name":"7820"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2173.png","name":"2173"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5496.png","name":"5496"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":541.2769148466552,"rotation_z_degrees":96.57528781529311,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017741016801572373,-0.01590926237639627,0.018081928977440136]},{"name":"camera_2","offset_m":[0.01721276667933831,0.012717094333110409,0.019811787471874866]},{"name":"camera_3","offset_m":[0.007954528249737684,0.002942438701913335,-0.0067890010759718185]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018110588533773444,0.0014179628249146323,-0.0018694451836438885],"end_effector_yaw_offset_degrees":0.19244076473466087},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010372371620321137,0.0010855117247511106,0.0019580622807932827],"end_effector_yaw_offset_degrees":0.20129952158819364},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013022774856113655,-0.0005488010218678895,-0.000684534892419017],"end_effector_yaw_offset_degrees":-0.6654991543548003},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0011431582810775159,-0.0003491365746828548,-0.0006589276540411122],"end_effector_yaw_offset_degrees":-0.6567897151829114},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.00017319792852388055,0.0009499675579036824,-0.0017284738942834523],"end_effector_yaw_offset_degrees":-0.2765494923467242},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000669282127338212,-0.0010859218499726336,-0.0014085869155992068],"end_effector_yaw_offset_degrees":0.4816392487682204},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016946253986132721,0.0010314952186021892,6.253931150232385e-05],"end_effector_yaw_offset_degrees":0.3009665126460568},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00018899367957818662,0.0003951669065139912,0.0005931633925313623],"end_effector_yaw_offset_degrees":-0.5282406261800896},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015236630187535193,0.0019799180278171633,0.0018992876054056344],"end_effector_yaw_offset_degrees":0.1299794906604954}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037041640302511525,0.0012216247076176304],"position_m":[0.21849583596974886,0.00242162470761763,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[9.457359495797148e-05,-0.0019202531767068278],"position_m":[0.19489457359495796,-0.13462025317670684,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014172225994140463,0.004948440677096585],"position_m":[0.22151722259941403,-0.3867515593229034,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00023726001082117944,-0.003913251547961653],"position_m":[0.2830372600108212,0.28758674845203835,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"bd6900937fa956405b96a5da135af7dca58b408752cf7b6654cf93bb197ddf15","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8661/tex_ceiling_textures_5496/tex_floor_textures_2173/tex_table_textures_7820/tex_wall_textures_425","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4428135632165621878,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4428135632165621878,"visual_seed":4428135632165621878,"scene_id":"lab_003","finished_at":"2026-09-08T16:44:39"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T16:58:19","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[-0.6630085066868348,0.9089690284177192,0.71338606911949],"aabb_xy":[[-0.6805552016029537,0.8714690268534679],[-0.6454618117707158,0.9464690299819705]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_1","position":[0.5566615967165527,0.24537416834290982,0.71338606911949],"aabb_xy":[[0.5392308816375461,0.22810205367905897],[0.5740923117955591,0.2626462830067606]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.7101123521898449,1.4721976671313768,0.71338606911949],"aabb_xy":[[0.6969611062185556,1.4471976673746905],[0.7232635981611343,1.4971976668880635]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.360182314330386,-2.01883203782576,0.71338606911949],"aabb_xy":[[-0.4251823128874588,-2.0485845712396427],[-0.2951823157733131,-1.9890795044118774]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.5190935490641586,1.2820525072448974,0.71338606911949],"aabb_xy":[[-0.527087537641862,1.2740524271498068],[-0.5110995604864552,1.2900525873399875]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.22472763686064617,-0.6662489177233322,0.71338606911949],"aabb_xy":[[-0.2947276389920757,-0.6890108833490277],[-0.15472763472921663,-0.6434869520976364]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.030817740970509266,-0.6842977790796525,0.71338606911949],"aabb_xy":[[-0.03823019651189774,-0.6901489895012805],[-0.02340528542912079,-0.6784465686580246]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[0.5912860011999292,1.712655664704363,0.71338606911949],"aabb_xy":[[0.5112859990371668,1.6327004810782193],[0.6712860033626917,1.7926108483305065]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.6317334484670948,0.043028346204843526,0.71338606911949],"aabb_xy":[[-0.681717684175272,-0.006971652608652068],[-0.5817492127589176,0.09302834501833912]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.5058851389522654,0.8981530020063917,0.71338606911949],"aabb_xy":[[0.4408851410706176,0.8470293382998509],[0.5708851368339132,0.9492766657129327]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.16372726849060548,1.7062297344640318,0.71338606911949],"aabb_xy":[[-0.16868328867548668,1.6837297342619104],[-0.15877124830572428,1.7287297346661537]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.4420784969116863,0.46782550300311554,0.71338606911949],"aabb_xy":[[-0.48735711179283564,0.40382550365493186],[-0.3967998820305371,0.5318255023512992]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.267207639371005,-2.0326772880238964,0.71338606911949],"aabb_xy":[[0.22618969598463412,-2.0826772886548537],[0.3082255827573759,-1.982677287392939]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.27723118382489387,-2.4345045281675857,0.71338606911949],"aabb_xy":[[0.2122311828243934,-2.4852908933222606],[0.34223118482539444,-2.3837181630129107]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.41293355937203147,-2.3537419410674216,0.71338606911949],"aabb_xy":[[-0.4209598300026575,-2.3624934360447742],[-0.4049072887414055,-2.344990446090069]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.4234483888513172,1.3515719283056842,0.71338606911949],"aabb_xy":[[0.4193125325186171,1.3140719288613272],[0.4275842451840175,1.3890719277500412]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.5251987434260557,-1.9724070540990273,0.71338606911949],"aabb_xy":[[0.5202994511194922,-2.0000839734015954],[0.5300980357326192,-1.944730134796458]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.005763423573503346,-1.671131621189026,0.71338606911949],"aabb_xy":[[-0.01380678349945852,-1.756131622284392],[0.0022799363524518288,-1.586131620093659]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[-0.43998338959899025,0.8258813022468217,0.71338606911949],"aabb_xy":[[-0.46498338876462336,0.8189290565414652],[-0.41498339043335714,0.8328335479521783]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.08408680310679872,0.9843260030394343,0.71338606911949],"aabb_xy":[[0.029086804905053883,0.9438040364129967],[0.13908680130854353,1.0248479696658719]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.04763646471156935,-2.4302768105432095,0.71338606911949],"aabb_xy":[[-0.06431360070466485,-2.44697673451714],[-0.030959328718473844,-2.4135768865692793]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.26020510122473883,1.1409184727394557,0.71338606911949],"aabb_xy":[[-0.340205102654866,1.061401317726846],[-0.18020509979461158,1.220435627752065]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.2296711792127119,-0.3990353909272111,0.71338606911949],"aabb_xy":[[-0.3096711766163053,-0.4790279621253938],[-0.14967118180911848,-0.31904281972902815]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.4070124312349134,-0.19956226345575656,0.71338606911949],"aabb_xy":[[-0.492012429926988,-0.23154812685063542],[-0.32201243254283873,-0.1675764000608777]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.6261589236697871,1.3527888799118521,0.71338606911949],"aabb_xy":[[0.6169990447259105,1.346257661868315],[0.6353188026136637,1.3593200979553892]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.27060993066765304,-1.2208598132181399,0.71338606911949],"aabb_xy":[[-0.2857820999492864,-1.2360286701463434],[-0.2554377613860197,-1.2056909562899367]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[0.4247245066265095,1.1650710770773247,0.71338606911949],"aabb_xy":[[0.37472450560737425,1.128604861339497],[0.47472450764564483,1.2015372928151529]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[0.5748201441268761,-1.1270682068183835,0.71338606911949],"aabb_xy":[[0.5707041940148033,-1.1311837618512288],[0.5789360942389487,-1.1229526517855377]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664616327640206,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1861.png","name":"1861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1861.png","name":"1861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3081.png","name":"3081"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9271.png","name":"9271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8463.png","name":"8463"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3785.png","name":"3785"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":637.4105851352138,"rotation_z_degrees":31.732926029740618,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019334847994941225,-0.007415082134953397,0.008597569579583134]},{"name":"camera_2","offset_m":[-0.017898139200790714,0.004144486465733413,0.0015384232371721436]},{"name":"camera_3","offset_m":[0.009750500967098258,-0.017881848383677474,-0.003065990029920713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007215152492685603,-0.0007253168125277555,-0.00080463317599308],"end_effector_yaw_offset_degrees":0.079854628192217},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009424873496561581,0.0013487307643676302,-0.0008147239567963252],"end_effector_yaw_offset_degrees":-0.4950168441670102},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00136880507752405,-0.0010400974445702081,0.0019616471612209745],"end_effector_yaw_offset_degrees":0.4809710404016634},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00032181968856567246,-0.0019336162921684292,0.0002714490404834213],"end_effector_yaw_offset_degrees":-0.6043510984248663},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0010510096106987343,0.000133314045566216,0.0011308451461771946],"end_effector_yaw_offset_degrees":0.386912214664654},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00198132346438576,0.0013186761097612552,-0.0006390454849555245],"end_effector_yaw_offset_degrees":0.48009001806844886},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014966907511498296,-0.0008709217142334306,0.0017135058687797766],"end_effector_yaw_offset_degrees":-0.3994309015925581},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008158193368715998,-0.001976362446089562,0.0007050864638197202],"end_effector_yaw_offset_degrees":-0.4554335012676938},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014114407140591134,-0.00035503282929713,0.0008634080036057467],"end_effector_yaw_offset_degrees":0.18051614823179385}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001244371567465563,-0.004047267983548151],"position_m":[0.22095562843253444,-0.0028472679835481515,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018089284988501977,-0.00099408955684876],"position_m":[0.1966089284988502,-0.13369408955684878,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019573551468169627,0.0027785489842244897],"position_m":[0.21814264485318302,-0.3889214510157755,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0014830744214027057,-0.0034569020842543123],"position_m":[0.2813169255785973,0.28804309791574567,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d83c0f2a1d3d412201f230805554054e43e13c8a71453dc8885309bd4802038c","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0019.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1861/tex_ceiling_textures_3785/tex_floor_textures_8463/tex_table_textures_3081/tex_wall_textures_9271","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1005755726751009871,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1005755726751009871,"visual_seed":1005755726751009871,"scene_id":"lab_003","finished_at":"2026-09-08T17:08:53"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T17:09:02","dimensions":{"distractor":{"count":27,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[0.2979590979833707,-0.5989855125206671,0.71338606911949],"aabb_xy":[[0.28619091118871326,-0.6839855124258887],[0.3097272847780283,-0.5139855126154456]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[0.6296752053065968,-0.4434912835107503,0.71338606911949],"aabb_xy":[[0.5796752042874616,-0.47995749924857833],[0.6796752063257321,-0.40702506777292247]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.25141215743489903,1.1207682165835435,0.71338606911949],"aabb_xy":[[-0.28518771662559195,1.1067297213703786],[-0.217636598244206,1.1348067117967084]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.22391907815622503,1.6599978693192852,0.71338606911949],"aabb_xy":[[0.21450160358636225,1.6505816921815661],[0.23333655272608775,1.6694140464570042]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.3154532890140662,0.5074287761684517,0.71338606911949],"aabb_xy":[[0.2795397845890764,0.4715152679516971],[0.3513667934390558,0.5433422843852064]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.3368807727958556,-2.412701789632593,0.71338606911949],"aabb_xy":[[0.2728807720923863,-2.4587201721055143],[0.40088077349932505,-2.3666834071596723]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.7108412823995205,-2.21522449925096,0.71338606911949],"aabb_xy":[[0.6992723016525838,-2.240224499367892],[0.722410263146457,-2.1902244991340285]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.2598792560609655,-2.2050941272732465,0.71338606911949],"aabb_xy":[[0.2248792568681472,-2.2160611732709086],[0.2948792552537837,-2.1941270812755835]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.07977169565405073,-1.811254632480971,0.71338606911949],"aabb_xy":[[-0.15977169431093674,-1.825759491405234],[0.00022830300283527283,-1.7967497735567082]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.6332672891515654,-1.074517407850833,0.71338606911949],"aabb_xy":[[-0.6413106490775206,-1.1595174089461993],[-0.6252239292256102,-0.9895174067554664]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.2991039276052164,1.2503714575554343,0.71338606911949],"aabb_xy":[[0.28160392832712955,1.2330333574890884],[0.3166039268833033,1.2677095576217803]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.40849713990201003,-1.861635967349907,0.71338606911949],"aabb_xy":[[-0.49849713849648003,-1.8778865536633282],[-0.31849714130754014,-1.8453853810364862]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.45096128180508743,1.1478833970681515,0.71338606911949],"aabb_xy":[[0.40096128052124747,1.0979045426775291],[0.5009612830889274,1.1978622514587733]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.5074440226234749,-0.5966720824808416,0.71338606911949],"aabb_xy":[[-0.5277283253468735,-0.6169547076235504],[-0.48715971990007606,-0.5763894573381327]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.30217266238754625,-0.19363530673708285,0.71338606911949],"aabb_xy":[[-0.38217266565155933,-0.20719533904599619],[-0.22217265912353307,-0.1800752744281695]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[0.16269123690371567,-0.9710626811939733,0.71338606911949],"aabb_xy":[[0.09769123590321513,-1.0218490463486485],[0.22769123790421616,-0.9202763160392985]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.19640990829731297,-2.235929981700091,0.71338606911949],"aabb_xy":[[-0.26040991034704497,-2.276024464789399],[-0.13240990624758095,-2.195835498610783]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.47783550663038027,-1.9948368836472044,0.71338606911949],"aabb_xy":[[-0.4977265465107206,-2.007492694931902],[-0.45794446675004014,-1.982181072362508]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.6056485544024649,0.9315386811739885,0.71338606911949],"aabb_xy":[[-0.6421443750297436,0.895054738747231],[-0.5691527337751862,0.9680226236007461]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.023083972908449102,-1.1231109987352421,0.71338606911949],"aabb_xy":[[-0.014416028607182607,-1.1343377717513872],[0.06058397442408081,-1.111884225719097]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[0.20593127962841218,-2.5348517353754243,0.71338606911949],"aabb_xy":[[0.1884313461944288,-2.5523517352956584],[0.22343121306239555,-2.5173517354551893]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.04617744573059923,0.8667819195772783,0.71338606911949],"aabb_xy":[[-0.1361774480646183,0.7892995649921657],[0.04382255660341982,0.944264274162391]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.18595051884082714,-1.4761620135251456,0.71338606911949],"aabb_xy":[[0.1309573075036904,-1.5311620138639395],[0.24094373017796392,-1.421162013186352]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.6292740612146681,-1.05599717043751,0.71338606911949],"aabb_xy":[[0.598789811087638,-1.1059971702190057],[0.6597583113416983,-1.0059971706560138]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[0.71444162577655,1.6839733520990179,0.71338606911949],"aabb_xy":[[0.7043599186979764,1.603973354206903],[0.7245233328551234,1.7639733499911323]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[-0.07214921642799044,-1.460851253436369,0.71338606911949],"aabb_xy":[[-0.13714921906578392,-1.5123308521358159],[-0.007149213790196951,-1.409371654736922]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_26","position":[0.08637043456329396,1.2828322425466623,0.71338606911949],"aabb_xy":[[0.03137043538670446,1.2278425677717044],[0.14137043373988345,1.3378219173216197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6660620901249379,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2983.png","name":"2983"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2983.png","name":"2983"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4570.png","name":"4570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8469.png","name":"8469"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9757.png","name":"9757"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7005.png","name":"7005"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":519.0361929435928,"rotation_z_degrees":7.901463024662934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007916280511751186,0.0004731480138683089,-0.009602757601646595]},{"name":"camera_2","offset_m":[-0.0006269924436774904,0.00044472254325208377,0.01589474571594777]},{"name":"camera_3","offset_m":[0.016889280653565205,-0.00539660953166516,-0.0045685136545085304]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.374432869242925e-05,-0.00015001059681394755,-0.0011047785567618543],"end_effector_yaw_offset_degrees":-0.4813392047800449},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007629061328073435,0.00031614824423666305,-0.00026486814553676246],"end_effector_yaw_offset_degrees":-0.27815126938734314},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001721657240210516,0.0008738744439629369,0.001723377560634085],"end_effector_yaw_offset_degrees":-0.11907337142000918},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009660637827513443,0.0019193718189876108,-0.0002534626239210317],"end_effector_yaw_offset_degrees":0.16690282702360815},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005615823863866789,-0.000511962609364626,0.0017319952677267575],"end_effector_yaw_offset_degrees":0.6072090702534196},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.00046521844575830515,0.0010405820187068993,-0.0013948994978181496],"end_effector_yaw_offset_degrees":0.3110391622139381},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014073547288032963,-0.00016455842985668213,-0.0008090964266433676],"end_effector_yaw_offset_degrees":0.1316563764551304},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011957977546227605,-0.0008994276015770093,-0.0011265440856498556],"end_effector_yaw_offset_degrees":-0.10480540706597297},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008830098200320624,-0.0006488644091941235,0.0016398496392951555],"end_effector_yaw_offset_degrees":-0.4325363384196792}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004029321571915511,-0.0011796191297153312],"position_m":[0.22622932157191553,2.038087028466873e-05,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030793730922916655,0.002283650580815002],"position_m":[0.19172062690770833,-0.130416349419185,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011108406128078731,0.004646349645442049],"position_m":[0.21898915938719213,-0.38705365035455797,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0033815393577751604,0.0014645216086088732],"position_m":[0.2861815393577752,0.29296452160860886,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"be09a8c45c346b11624b2a676a4f019fc09d2e79ba1eecfb660f2d557cffcc75","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2983/tex_ceiling_textures_7005/tex_floor_textures_9757/tex_table_textures_4570/tex_wall_textures_8469","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9157216069291972376,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9157216069291972376,"visual_seed":9157216069291972376,"scene_id":"lab_003","finished_at":"2026-09-08T17:19:57"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T17:20:06","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.0933129964632804,-1.3502798462352534,0.71338606911949],"aabb_xy":[[0.08071029732620395,-1.362875242460119],[0.10591569560035687,-1.337684450010388]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.45045197732498576,1.7114390260727723,0.71338606911949],"aabb_xy":[[0.413956156697707,1.6749550836460145],[0.4869477979522645,1.7479229684995297]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.40054399185192224,1.2418455391206238,0.71338606911949],"aabb_xy":[[-0.45054399280245505,1.2102963921171022],[-0.35054399090138944,1.273394686124145]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_3","position":[-0.42283371241151496,-0.17761943134505698,0.71338606911949],"aabb_xy":[[-0.4478337115771481,-0.18457167705041355],[-0.39783371324588185,-0.1706671856397004]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.11290592060960536,-2.094928242557605,0.71338606911949],"aabb_xy":[[-0.12605716658089475,-2.1199282423142916],[-0.09975467463831603,-2.0699282428009185]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.09731028275125042,-1.1845061234198733,0.71338606911949],"aabb_xy":[[0.0323102817507499,-1.2352924885745482],[0.16231028375175094,-1.1337197582651983]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.6269332257581754,-2.3236571486060917,0.71338606911949],"aabb_xy":[[-0.6769263378673674,-2.373657149280288],[-0.5769401136489837,-2.2736571479318965]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[0.3834963815358787,0.43966522026987187,0.71338606911949],"aabb_xy":[[0.30349638452163075,0.4195306685964606],[0.4634963785501267,0.45979977194328314]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.3338186479500135,1.7583266518285092,0.71338606911949],"aabb_xy":[[-0.4238186465444834,1.7420760655150884],[-0.24381864935554354,1.7745772381419305]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[-0.015744448180767256,-2.414797932450306,0.71338606911949],"aabb_xy":[[-0.04571200509059292,-2.444797932748192],[0.014223108729058409,-2.38479793215242]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[-0.4089395440396845,-2.4173539239554307,0.71338606911949],"aabb_xy":[[-0.41835701860954727,-2.4267701010931497],[-0.3995220694698218,-2.4079377468177117]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.3674731955760728,-1.6785690175791885,0.71338606911949],"aabb_xy":[[-0.40095236283711366,-1.7120481309502955],[-0.3339940283150318,-1.6450899042080815]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[0.18177296868725268,1.5350964952122674,0.71338606911949],"aabb_xy":[[0.16930561057751703,1.522631170578944],[0.19424032679698833,1.547561819845591]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[0.01499546197550794,1.3826570841917034,0.71338606911949],"aabb_xy":[[0.006214234828271718,1.3738773369031732],[0.023776689122744173,1.3914368314802337]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.4294127493543123,-0.4880757091110768,0.71338606911949],"aabb_xy":[[-0.4934084467494088,-0.5520757074117855],[-0.36541705195921564,-0.42407571081036805]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.14013112650248472,0.186110438203543,0.71338606911949],"aabb_xy":[[-0.22385335200256717,0.09611043466884706],[-0.056408901002402256,0.27611044173823895]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.6175241362128392,-1.7651673395172196,0.71338606911949],"aabb_xy":[[-0.667524137874334,-1.815165781772922],[-0.5675241345513444,-1.7151688972615167]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.6790939841072005,0.8164556366488158,0.71338606911949],"aabb_xy":[[-0.6871373440331556,0.7314556355534494],[-0.6710506241812453,0.9014556377441822]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.0502024881205958,1.7158453959063036,0.71338606911949],"aabb_xy":[[-0.08699712124550207,1.6789395208097213],[-0.01340785499568952,1.7527512710028859]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_19","position":[0.49056993023197704,1.5783553540177784,0.71338606911949],"aabb_xy":[[0.46224022028343686,1.5738946118240613],[0.5188996401805173,1.5828160962114954]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.20523070432704182,-2.5170620201125242,0.71338606911949],"aabb_xy":[[-0.28523070298392783,-2.5315668790367876],[-0.1252307056701558,-2.5025571611882618]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[-0.525354306255725,0.7073331465885127,0.71338606911949],"aabb_xy":[[-0.5491905238963302,0.6173331457800262],[-0.50151808861512,0.7973331473969992]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.11484818875231151,-0.8716736046846245,0.71338606911949],"aabb_xy":[[0.050848192324989605,-0.9188432285067211],[0.1788481851796334,-0.8245039808625282]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.20562672371017576,0.36628960252399434,0.71338606911949],"aabb_xy":[[-0.2232050258991226,0.34871511294988944],[-0.18804842152122891,0.38386409209809924]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_24","position":[0.6269864645894794,-2.046383213462181,0.71338606911949],"aabb_xy":[[0.5469864666086942,-2.053984754424033],[0.7069864625702643,-2.038781672500329]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664456478948809,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7571.png","name":"7571"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7571.png","name":"7571"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9960.png","name":"9960"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9312.png","name":"9312"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7102.png","name":"7102"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":753.8579631788903,"rotation_z_degrees":168.7276489526727,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018555125735666284,0.00520906518434263,-0.006334395788047611]},{"name":"camera_2","offset_m":[-0.014851157478020554,-0.01566153562126355,-0.018691454332701158]},{"name":"camera_3","offset_m":[-0.010682064892661498,0.01480184779715953,0.006231696660665028]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003375262523868149,-0.0017067376779193845,-0.00035993046551784764],"end_effector_yaw_offset_degrees":-0.9861535439177227},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001082540494153279,0.00022303307017751536,0.001543693890155926],"end_effector_yaw_offset_degrees":0.7900736767963845},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008690880216508732,0.0007171020513509004,-0.0004579903693471862],"end_effector_yaw_offset_degrees":-0.3865464900346218},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00033359215486205456,0.0001343472961026302,-0.0003484815817449687],"end_effector_yaw_offset_degrees":-0.5501760430253921},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0003851356157410369,-0.0007892708349005826,0.001506360240323528],"end_effector_yaw_offset_degrees":0.4530032405223796},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[1.2328427560844187e-06,0.00019267453786921043,0.0005743988598794127],"end_effector_yaw_offset_degrees":-0.9305417107748444},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007910163742090594,0.0008724918783385833,-0.001144781938123134],"end_effector_yaw_offset_degrees":-0.6517364050271917},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00034466441622139194,0.0017837254400271006,-0.0007911227617087438],"end_effector_yaw_offset_degrees":-0.1262883829348571},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014509654885759234,-0.00105177282488645,0.0008185265554318697],"end_effector_yaw_offset_degrees":-0.4712186053645968}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038612041840320093,0.0020848758338206175],"position_m":[0.22606120418403203,0.003284875833820617,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004541993290245191,4.495019849891889e-05],"position_m":[0.19934199329024518,-0.13265504980150108,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003502693932448781,0.0006643695641635585],"position_m":[0.2165973060675512,-0.39103563043583645,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002306297438598056,-0.0013142868307133128],"position_m":[0.28049370256140194,0.29018571316928665,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"4b8aa60e2e9e482e439d66534b1e479555311bb40f20883216e2364a10b4e621","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0021.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7571/tex_ceiling_textures_1009/tex_floor_textures_7102/tex_table_textures_9960/tex_wall_textures_9312","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3933838344695887606,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3933838344695887606,"visual_seed":3933838344695887606,"scene_id":"lab_003","finished_at":"2026-09-08T17:30:33"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T17:54:08","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[0.24850842929800565,1.271460846859752,0.71338606911949],"aabb_xy":[[0.22559271641295575,1.2485565497233284],[0.27142414218305555,1.2943651439961754]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[0.2494789381575706,0.6807425757106391,0.71338606911949],"aabb_xy":[[0.24414136249156607,0.6557425747814993],[0.2548165138235752,0.7057425766397789]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[0.2865100138928346,1.0063684370092436,0.71338606911949],"aabb_xy":[[0.23669323442799978,0.9563684385249402],[0.3363267933576693,1.056368435493547]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.4881144757163842,-1.815509034060217,0.71338606911949],"aabb_xy":[[-0.49774611193681384,-1.8251463468399256],[-0.4784828394959546,-1.8058717212805078]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.4086867282543838,-1.374052414208935,0.71338606911949],"aabb_xy":[[0.348686727393571,-1.4254788442154211],[0.4686867291151966,-1.3226259842024484]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.17978388758708574,-2.327377740147443,0.71338606911949],"aabb_xy":[[0.1492996374600556,-2.377377739928939],[0.2102681377141159,-2.277377740365947]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.059566602287688175,-1.5148802457887334,0.71338606911949],"aabb_xy":[[0.051452947614311066,-1.5229860622427622],[0.06768025696106528,-1.506774429334704]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.36118719672906985,-2.255146445987701,0.71338606911949],"aabb_xy":[[0.35710903882202005,-2.259227426235964],[0.36526535463611953,-2.2510654657394378]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.638206731445575,-1.7608142851702646,0.71338606911949],"aabb_xy":[[-0.6431627516304562,-1.7833142853723865],[-0.6332507112606939,-1.7383142849681432]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[0.6253692072069195,0.24580710440589693,0.71338606911949],"aabb_xy":[[0.6008229915841687,0.21555820785685986],[0.6499154228296702,0.276056000954934]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.6661090138699979,-1.3500219994633795,0.71338606911949],"aabb_xy":[[0.6286090154465974,-1.36318621343121],[0.7036090122933981,-1.3368577854955486]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.5759527237252864,-1.4115813037350522,0.71338606911949],"aabb_xy":[[0.5711091289640564,-1.4164329562140365],[0.5807963184865164,-1.4067296512560683]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.1446914803266759,-0.8285938061424754,0.71338606911949],"aabb_xy":[[-0.17969147945663153,-0.8343390272181395],[-0.1096914811967202,-0.8228485850668112]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[-0.08184250884700195,1.542340455467516,0.71338606911949],"aabb_xy":[[-0.17184250826537284,1.508964958623326],[0.008157490571368956,1.5757159523117055]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.20260285469808847,-0.4307395620931307,0.71338606911949],"aabb_xy":[[-0.2666028566104308,-0.48665071135114113],[-0.13860285278574613,-0.37482841283512025]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.5035074163721149,-2.3451293315982658,0.71338606911949],"aabb_xy":[[-0.5213765241265704,-2.358962239575477],[-0.48563830861765944,-2.3312964236210547]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.28529438666119267,1.467468503578044,0.71338606911949],"aabb_xy":[[0.24030179994274226,1.4224685043035952],[0.3302869733796431,1.5124685028524927]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.4545672549339334,-0.597647388392718,0.71338606911949],"aabb_xy":[[-0.458683205046006,-0.6017629434255635],[-0.4504513048218607,-0.5935318333598724]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.12025922773028008,-1.8696991221105912,0.71338606911949],"aabb_xy":[[-0.12828549836090608,-1.878450617087944],[-0.11223295709965407,-1.8609476271332388]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.28775941385733356,-1.9454766151600025,0.71338606911949],"aabb_xy":[[-0.351759412443906,-1.992483578559511],[-0.2237594152707611,-1.8984696517604935]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.6283792087807625,0.28875860544420817,0.71338606911949],"aabb_xy":[[-0.6833792084025084,0.23377491265673545],[-0.5733792091590167,0.3437422982316809]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[-0.08465099852687497,-1.3288504709560185,0.71338606911949],"aabb_xy":[[-0.12215099847064137,-1.337143560990855],[-0.04715099858310856,-1.320557380921182]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.4538286068064795,-1.274198464514738,0.71338606911949],"aabb_xy":[[-0.5178286040921282,-1.3157051834675821],[-0.38982860952083087,-1.2326917455618942]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.29134436454243284,-2.158610523074343,0.71338606911949],"aabb_xy":[[0.24134508937399668,-2.20861052435029],[0.341343639710869,-2.1086105217983957]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[0.017634472104572696,0.7741656593839013,0.71338606911949],"aabb_xy":[[0.010373224534165282,0.7613786491203918],[0.02489571967498011,0.7869526696474107]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[0.6227393371175687,-1.9386877724216762,0.71338606911949],"aabb_xy":[[0.5902776362356411,-1.9688206045365784],[0.655201037999496,-1.9085549403067732]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[0.0552128418102843,-1.984910910400062,0.71338606911949],"aabb_xy":[[0.03137662416967924,-2.0749109112085486],[0.07904905945088937,-1.8949109095915757]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_27","position":[0.63557864462257,-2.4989688420632628,0.71338606911949],"aabb_xy":[[0.6294840167344518,-2.507538236614932],[0.6416732725106884,-2.4903994475115945]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[0.46772146765625844,0.8488903414757445,0.71338606911949],"aabb_xy":[[0.3877214702526649,0.7688977702775617],[0.5477214650598516,0.9288829126739273]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[-0.20318610236892948,0.8395754903906654,0.71338606911949],"aabb_xy":[[-0.27318610500551577,0.8194706253947998],[-0.1331860997323431,0.8596803553865308]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668567038685842,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/41.png","name":"41"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/41.png","name":"41"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6271.png","name":"6271"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2849.png","name":"2849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2781.png","name":"2781"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8837.png","name":"8837"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":540.6648583519299,"rotation_z_degrees":200.15257727827455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005697186216913192,-0.013168322181469056,-0.01580096288958171]},{"name":"camera_2","offset_m":[0.009741495720358376,0.006436817690752689,-0.011700144422531032]},{"name":"camera_3","offset_m":[-0.010490078529116001,0.014358750825770508,-0.003913543860165059]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017456681548705982,0.0009466743830852109,0.0009411626129882163],"end_effector_yaw_offset_degrees":-0.3857506031060207},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004540083192541449,-0.00047892288138066735,0.0009487883527791374],"end_effector_yaw_offset_degrees":0.42091864963521175},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036686082676446624,0.00012044672382492076,0.0005319392589003004],"end_effector_yaw_offset_degrees":0.8869228452497251},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[9.062946265756249e-05,-0.0008870444045868068,0.0001253400117669271],"end_effector_yaw_offset_degrees":-0.8010743691989788},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016227418670846146,0.0010363767185058046,-0.00026542177556793025],"end_effector_yaw_offset_degrees":-0.2612495446562366},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-9.65751075705254e-05,0.0010559478841715283,-0.0007363207918133349],"end_effector_yaw_offset_degrees":0.7515285885061305},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00192071250432347,-0.0016940470105656353,0.0010386881210323155],"end_effector_yaw_offset_degrees":-0.37937979262656407},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016141790507511887,0.0006851426392674152,-0.001082664986051994],"end_effector_yaw_offset_degrees":0.5543865928220801},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0001946661613285612,0.0008448441018645545,0.001770450050036938],"end_effector_yaw_offset_degrees":-0.6025839942937117}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026602600868247286,0.0012002438510844374],"position_m":[0.21953973991317527,0.002400243851084437,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004963475215385825,-0.0007380133117871899],"position_m":[0.19976347521538582,-0.1334380133117872,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026627527978313713,-0.0017890542391709964],"position_m":[0.21743724720216862,-0.39348905423917097,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0026039806830592494,-0.0015428313371283731],"position_m":[0.2854039806830592,0.28995716866287163,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"63258682a0d861d14dfc09fd6c592cde92020a0e75a01c9e8818df0fab85c3a1","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_41/tex_ceiling_textures_8837/tex_floor_textures_2781/tex_table_textures_6271/tex_wall_textures_2849","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8582519180726160999,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8582519180726160999,"visual_seed":8582519180726160999,"scene_id":"lab_003","finished_at":"2026-09-08T18:05:13"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T18:05:22","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.6506967453995072,1.2268315954491555,0.71338606911949],"aabb_xy":[[-0.6731967459115477,1.204339737083757],[-0.6281967448874665,1.2493234538145537]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.17079858748150767,-0.769992130738836,0.71338606911949],"aabb_xy":[[-0.1883452823976266,-0.8074921323030873],[-0.15325189256538874,-0.7324921291745847]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.20822412947296598,-0.699282521252351,0.71338606911949],"aabb_xy":[[0.1849422872748346,-0.7842825225495791],[0.2315059716710973,-0.614282519955123]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.09267967598015137,-1.0826006968313109,0.71338606911949],"aabb_xy":[[0.04269672579267204,-1.132600696473871],[0.1426626261676307,-1.0326006971887502]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[0.5134482646488387,-1.9453909725273055,0.71338606911949],"aabb_xy":[[0.5018792839019023,-1.9703909726442375],[0.5250172453957754,-1.920390972410374]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.05979111849291896,1.3674255373769677,0.71338606911949],"aabb_xy":[[-0.06771439873166729,1.3449255371389643],[-0.05186783825417063,1.389925537614971]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.22805683472248378,-0.9093527935500672,0.71338606911949],"aabb_xy":[[-0.2343689342588222,-0.9151197328032858],[-0.22174473518614532,-0.9035858542968482]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.31889531331543586,1.2862423316399432,0.71338606911949],"aabb_xy":[[-0.346740350096043,1.2554578329016315],[-0.29105027653482873,1.3170268303782549]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.011175654226204923,-0.9493172969037407,0.71338606911949],"aabb_xy":[[-0.046175654202700755,-0.9587819129513573],[0.02382434575029091,-0.9398526808561241]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.20594886710358284,0.6979602658075108,0.71338606911949],"aabb_xy":[[-0.25307824610541846,0.6339602647631087],[-0.15881948810174712,0.7619602668519126]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.2715845776408953,-2.1634858764022216,0.71338606911949],"aabb_xy":[[0.22630596275974602,-2.2274858757504052],[0.31686319252204453,-2.099485877054038]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.33495941718436284,-2.2123493690287908,0.71338606911949],"aabb_xy":[[-0.3390753672964355,-2.216464924061636],[-0.3308434670722902,-2.2082338139959448]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.5488972477060952,0.7852590648445918,0.71338606911949],"aabb_xy":[[-0.5620484936773846,0.7602590650879054],[-0.5357460017348059,0.8102590646012785]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.4018487415158156,1.6017535746129359,0.71338606911949],"aabb_xy":[[0.35236832030185683,1.5377535767000843],[0.4513291627297744,1.665753572525788]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.5714107905596018,-2.284465615310417,0.71338606911949],"aabb_xy":[[0.5014107941496397,-2.3049035509620976],[0.6414107869695633,-2.264027679658734]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.4378290381980485,-0.8778276276178476,0.71338606911949],"aabb_xy":[[0.41282903903241536,-0.8847798733232041],[0.4628290373636816,-0.8708753819124909]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.35799397421245716,0.9382054347635642,0.71338606911949],"aabb_xy":[[0.34996770358183116,0.9294539397862117],[0.36602024484308315,0.9469569297409169]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.5799228791279438,-1.433278256890466,0.71338606911949],"aabb_xy":[[0.5431282460030376,-1.4701841319870486],[0.6167175122528501,-1.396372381793884]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.595023096923923,-0.7593879328335149,0.71338606911949],"aabb_xy":[[0.5050230945899039,-0.8368702874186276],[0.685023099257942,-0.6819055782484023]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.07174026366075947,1.206749457291501,0.71338606911949],"aabb_xy":[[-0.08931856584970632,1.189174967717396],[-0.054161961471812625,1.224323946865606]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[-0.5189690678723134,0.9852164823094052,0.71338606911949],"aabb_xy":[[-0.5260105188230612,0.9781897305716106],[-0.511927616921566,0.9922432340471997]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.22448122376095875,-2.432159296813101,0.71338606911949],"aabb_xy":[[-0.28848122516894936,-2.483948248337026],[-0.16048122235296808,-2.3803703452891765]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.4791871403958382,1.4762536074224282,0.71338606911949],"aabb_xy":[[-0.5391871402424049,1.4194349852293897],[-0.41918714054927136,1.533072229615467]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.3195802033747681,0.5869558115086506,0.71338606911949],"aabb_xy":[[0.30916864469428434,0.581610078172752],[0.32999176205525177,0.592301544844549]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_24","position":[-0.3865857659758829,-1.8226378332068742,0.71338606911949],"aabb_xy":[[-0.4365590599791433,-1.8726378337614213],[-0.3366124719726224,-1.7726378326523267]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[-0.5856902049646142,-1.7555888475953576,0.71338606911949],"aabb_xy":[[-0.623190205136486,-1.7882895829782646],[-0.5481902047927422,-1.7228881122124502]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[-0.03657304556910801,-2.4305676456850778,0.71338606911949],"aabb_xy":[[-0.05903781554051312,-2.4530676465639383],[-0.014108275597702884,-2.4080676448062173]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[-0.3132574884195899,0.3573649103940504,0.71338606911949],"aabb_xy":[[-0.3478485712736351,0.29236491010901927],[-0.2786664055655447,0.4223649106790814]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_28","position":[-0.15426259840421686,0.8974665686502514,0.71338606911949],"aabb_xy":[[-0.16076423491222147,0.8876987466239418],[-0.14776096189621224,0.9072343906765613]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_29","position":[0.23565827146328422,-1.3279157002541364,0.71338606911949],"aabb_xy":[[0.2022180962672646,-1.3613593260850665],[0.2690984466593038,-1.2944720744232063]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_30","position":[-0.1002094246940538,0.18739768233148535,0.71338606911949],"aabb_xy":[[-0.12211810683340484,0.1654970155113946],[-0.07830074255470275,0.20929834915157605]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_31","position":[0.07753264972678597,1.7542680342708041,0.71338606911949],"aabb_xy":[[0.05501895790332875,1.6842680336697964],[0.10004634155024314,1.8242680348718114]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_32","position":[-0.39315113819995323,-1.4548181754176492,0.71338606911949],"aabb_xy":[[-0.4731511361807383,-1.462419716379501],[-0.3131511402191682,-1.447216634455797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712967896391376,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/243.png","name":"243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5260.png","name":"5260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3532.png","name":"3532"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":610.5679331642298,"rotation_z_degrees":175.1918244237297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018270484832775522,0.004274323437034825,-0.0121042592429544]},{"name":"camera_2","offset_m":[0.007481927707652162,-0.014477920881987578,0.016021912190082786]},{"name":"camera_3","offset_m":[0.002876145211878331,-0.01397767842330444,0.00253425587639795]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006760244075498388,0.0018786697870123437,-0.0016930079593057616],"end_effector_yaw_offset_degrees":0.742391843549046},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001302985484988191,-0.001928423048703076,0.001531469736060399],"end_effector_yaw_offset_degrees":0.4280835688680613},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001761731744975203,0.0004643128627354661,0.001840468069998504],"end_effector_yaw_offset_degrees":-0.8600230201196666},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008595867284945378,-0.0008375028536148248,-0.0019641917439966695],"end_effector_yaw_offset_degrees":0.18223546793067014},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0014152622289462166,-0.0014369669382983097,-0.0019581554961586893],"end_effector_yaw_offset_degrees":-0.12641347082534504},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0012406540834058958,-0.0007713041663810784,-0.001843641880104415],"end_effector_yaw_offset_degrees":0.7176674971075232},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.010652860751817e-05,-0.001202991263051326,0.00033344868796822934],"end_effector_yaw_offset_degrees":-0.5100226296261388},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008528552281304464,0.00022639762866850759,-0.0006486272290098553],"end_effector_yaw_offset_degrees":0.7216842909440069},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001095940034229543,0.001493990888317552,-0.0013430133375418691],"end_effector_yaw_offset_degrees":-0.04329604388628705}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004515666945312278,-0.0010182105873993066],"position_m":[0.21768433305468773,0.00018178941260069332,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00302828653351529,-0.0022118484862587162],"position_m":[0.19782828653351528,-0.13491184848625873,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025922421438866125,0.0008254821003184885],"position_m":[0.2226922421438866,-0.39087451789968153,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00317098111378973,0.00488211558519776],"position_m":[0.2859709811137897,0.2963821155851977,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"8d2611fffcdaa64f6e1bde94ede4159fe5c64198005671ec49f7082ec8ca1372","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9027/tex_ceiling_textures_3532/tex_floor_textures_5260/tex_table_textures_243/tex_wall_textures_1463","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2667479179211518055,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2667479179211518055,"visual_seed":2667479179211518055,"scene_id":"lab_003","finished_at":"2026-09-08T18:15:50"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T18:15:59","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.2724628493270575,-0.42454235570609855,0.71338606911949],"aabb_xy":[[-0.31745543604550797,-0.4695423549805473],[-0.22747026260860714,-0.3795423564316498]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.4302266275320934,-1.3675287831163307,0.71338606911949],"aabb_xy":[[-0.48022662848262615,-1.3990779301198522],[-0.38022662658156053,-1.3359796361128093]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.3450522560369378,1.4011138258998468,0.71338606911949],"aabb_xy":[[0.32255583460307363,1.3786138260930991],[0.36754867747080183,1.423613825706594]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.5725627786730074,-1.5715840048881158,0.71338606911949],"aabb_xy":[[-0.5899934937520137,-1.5888561195519664],[-0.5551320635940007,-1.5543118902242647]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[-0.21811769256833868,1.0387219674811283,0.71338606911949],"aabb_xy":[[-0.2556176927402106,1.006021232098221],[-0.18061769239646674,1.0714227028640353]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.291234016951152,0.5314533423926715,0.71338606911949],"aabb_xy":[[-0.3562340195889455,0.47997374369322454],[-0.22623401431335854,0.5829329410921185]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.5165425181963292,-1.1399133839787532,0.71338606911949],"aabb_xy":[[0.4365425171232089,-1.1496914303161376],[0.5965425192694496,-1.1301353376413688]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[-0.481031204163591,0.1272861460304635,0.71338606911949],"aabb_xy":[[-0.5510312068001773,0.10718128103459801],[-0.41103120152700456,0.147391011026329]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.4366696177529178,-0.8136231208160285,0.71338606911949],"aabb_xy":[[-0.471260700606963,-0.8786231211010594],[-0.4020785348988726,-0.7486231205309973]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.3083605435456068,1.3324240609580795,0.71338606911949],"aabb_xy":[[-0.33086054405764737,1.3099322025926812],[-0.2858605430335662,1.3549159193234779]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.5495831398984752,0.9921027049102986,0.71338606911949],"aabb_xy":[[0.489583139302459,0.9372902323650752],[0.6095831404944914,1.046915177455522]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.3697005754465205,1.0536579814923743,0.71338606911949],"aabb_xy":[[-0.4196848111546977,1.0036579826788785],[-0.31971633973834324,1.1036579803058697]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.32660239997591667,0.3272646352142692,0.71338606911949],"aabb_xy":[[-0.33256893891665246,0.32130349055490515],[-0.3206358610351809,0.3332257798736332]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.2365518277494446,1.5035032860213762,0.71338606911949],"aabb_xy":[[-0.2915518269260341,1.4485136112464183],[-0.1815518285728551,1.5584929607963336]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.15457473392183207,-1.9949043894409235,0.71338606911949],"aabb_xy":[[-0.17707473344553942,-2.0174003368915443],[-0.13207473439812462,-1.9724084419903027]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.23003094336911922,-0.9834482845995072,0.71338606911949],"aabb_xy":[[0.21182511970787155,-0.9944736851814989],[0.2482367670303669,-0.9724228840175156]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.6191991783496209,-0.6074655076325763,0.71338606911949],"aabb_xy":[[0.5391991809460274,-0.687458078830759],[0.6991991757532142,-0.5274729364343934]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.02049736698476612,-0.8508120583624326,0.71338606911949],"aabb_xy":[[-0.05950263627307684,-0.9308085661544165],[0.10049737024260907,-0.7708155505704486]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.20248254818390987,-2.408094983592068,0.71338606911949],"aabb_xy":[[0.14748933684677312,-2.463094983930862],[0.2574757595210466,-2.353094983253275]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.28134212429469024,1.210018130169006,0.71338606911949],"aabb_xy":[[-0.3151176834853832,1.1959796349558414],[-0.24756656510399727,1.2240566253821712]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.3677281257629209,-2.053742406116087,0.71338606911949],"aabb_xy":[[-0.42772812740584276,-2.1057425554080313],[-0.30772812411999906,-2.001742256824143]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[0.6720989638288053,-0.38982723727121993,0.71338606911949],"aabb_xy":[[0.6308501527988905,-0.44482723678343733],[0.7133477748587199,-0.3348272377590024]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[0.3572983353546866,-0.39690518194202085,0.71338606911949],"aabb_xy":[[0.346446729105811,-0.40776447266967186],[0.3681499416035622,-0.38604589121436983]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677504162043238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2418.png","name":"2418"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8493.png","name":"8493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2660.png","name":"2660"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8751.png","name":"8751"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":630.3754103043035,"rotation_z_degrees":306.75624936011553,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005753194361821663,0.018021657347113893,0.0038566256590554134]},{"name":"camera_2","offset_m":[-0.01904493171839205,-0.0024715188804534834,0.004001743626854345]},{"name":"camera_3","offset_m":[0.014080152483441351,0.016435389220756134,0.0028834894080341303]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004937946591475743,0.0007351242251018844,0.0007096489854450439],"end_effector_yaw_offset_degrees":-0.26553440099477},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002364011709966602,-0.001966636935187495,0.0003776964950932913],"end_effector_yaw_offset_degrees":0.1153616292133901},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019406762863172552,-0.00020137905955937632,-0.0003990825164136105],"end_effector_yaw_offset_degrees":-0.22148591891306912},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005877614503970756,-0.0017017198775222946,2.233535589451531e-05],"end_effector_yaw_offset_degrees":-0.03333214140154106},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0019055056072765214,-0.00022596308482722188,-0.001871080066231384],"end_effector_yaw_offset_degrees":-0.34927150326517564},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014196771885624172,-0.0011376669613666884,-0.0016016145322899035],"end_effector_yaw_offset_degrees":0.671611692496308},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010805802529202484,-0.0012696338843160816,-0.0008581333046192002],"end_effector_yaw_offset_degrees":-0.02196805481460995},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005510465078820896,0.0004819353640408415,0.0005175482116733156],"end_effector_yaw_offset_degrees":0.12438372175392942},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001478741172184636,-0.0009215650590269329,0.0012487543851693633],"end_effector_yaw_offset_degrees":-0.45100930912015214}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023755455380968862,0.002281309058711726],"position_m":[0.2245755455380969,0.0034813090587117257,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001522077150196225,0.0034078703557486175],"position_m":[0.19327792284980377,-0.1292921296442514,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001767320867866514,0.0008373090233676859],"position_m":[0.21833267913213347,-0.3908626909766323,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0031157105648144416,0.0019155914087855578],"position_m":[0.28591571056481446,0.29341559140878554,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"9122799b2366090cfc07d16c5c8d9d7748baeb46bcbad1bb65090d3ff92d7de3","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0026.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9263/tex_ceiling_textures_8751/tex_floor_textures_2660/tex_table_textures_2418/tex_wall_textures_8493","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1933819547375265057,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1933819547375265057,"visual_seed":1933819547375265057,"scene_id":"lab_003","finished_at":"2026-09-08T18:26:24"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T18:26:32","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.3573396207862811,-1.6648315006696626,0.71338606911949],"aabb_xy":[[-0.37497245637980864,-1.6824544466852853],[-0.3397067851927535,-1.6472085546540394]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.646714718673235,1.7793406970906855,0.71338606911949],"aabb_xy":[[-0.6842147172488557,1.7666044014271278],[-0.6092147200976141,1.7920769927542437]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.08039248107778574,1.6149040239558867,0.71338606911949],"aabb_xy":[[0.05789334535155877,1.5924040231776235],[0.10289161680401271,1.6374040247341495]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.6310583617444144,-0.22379112305266968,0.71338606911949],"aabb_xy":[[-0.6950583650341225,-0.2671260420565873],[-0.5670583584547063,-0.18045620404875207]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[0.29834634308626695,-2.001692311626729,0.71338606911949],"aabb_xy":[[0.23434634238279767,-2.0477106940996506],[0.36234634378973635,-1.9556739291538086]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[0.012394966425738785,-1.2471964997928424,0.71338606911949],"aabb_xy":[[0.004471686186990453,-1.2696965000308458],[0.020318246664487116,-1.224696499554839]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[-0.41275309900104745,0.8821216218229111,0.71338606911949],"aabb_xy":[[-0.46275309844124307,0.8321536973385947],[-0.36275309956085183,0.9320895463072273]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.5149990509692688,-2.1204258294131346,0.71338606911949],"aabb_xy":[[-0.5949990496261548,-2.1349306883373975],[-0.4349990523123828,-2.1059209704888717]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.39400569581276956,-2.4250016148201916,0.71338606911949],"aabb_xy":[[-0.4290056949427252,-2.4307468358958553],[-0.3590056966828139,-2.419256393744527]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.6788852191090844,-0.7743219417597302,0.71338606911949],"aabb_xy":[[0.6675234844557981,-0.7856904081660182],[0.6902469537623704,-0.762953475353442]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.6098339406456379,0.12737257729678664,0.71338606911949],"aabb_xy":[[-0.6798339422479174,0.11393978409512909],[-0.5398339390433584,0.14080537049844424]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[0.6525321182202997,0.4090314384813931,0.71338606911949],"aabb_xy":[[0.6445058475896737,0.40027994350404056],[0.6605583888509257,0.4177829334587458]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.1735839930847204,-1.2654387861430496,0.71338606911949],"aabb_xy":[[0.13767048865973067,-1.301352294359804],[0.20949749750971006,-1.2295252779262948]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.18635716299896332,-1.5533338213838044,0.71338606911949],"aabb_xy":[[0.17693968842910054,-1.5627499985215232],[0.19577463756882604,-1.5439176442460851]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.012928705995764456,1.4456792548439998,0.71338606911949],"aabb_xy":[[-0.05707129041419733,1.425241319192318],[0.08292870240572624,1.4661171904956813]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.571467268473816,-0.6611124746318382,0.71338606911949],"aabb_xy":[[0.5621736502366654,-0.698612473119972],[0.5807608867109666,-0.6236124761437042]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.21202092681316076,0.651947529561312,0.71338606911949],"aabb_xy":[[0.20592629892504244,0.6433781350096432],[0.21811555470127908,0.6605169241129807]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.2005756851833505,-0.6277375393760645,0.71338606911949],"aabb_xy":[[-0.23760979461141019,-0.6621147467097739],[-0.16354157575529077,-0.593360332042355]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.30757351721674686,-2.4346515320116,0.71338606911949],"aabb_xy":[[0.29007351695741024,-2.4487430742003724],[0.3250735174760835,-2.420559989822827]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[0.3225492262769327,-1.672791636260675,0.71338606911949],"aabb_xy":[[0.2725543933489911,-1.7227916351559187],[0.3725440592048743,-1.6227916373654316]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.6472392924798769,0.6504936290041621,0.71338606911949],"aabb_xy":[[0.582239293922804,0.6207410955902795],[0.7122392910369497,0.6802461624180447]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.6332692007332068,-2.5665203265249863,0.71338606911949],"aabb_xy":[[0.6154000929787512,-2.580353234502198],[0.6511383084876622,-2.5526874185477757]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.6253731002038303,-0.387636202082668,0.71338606911949],"aabb_xy":[[-0.6603730993966485,-0.3986032480803306],[-0.5903731010110119,-0.37666915608500534]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.4657556874009128,-0.8811916477942128,0.71338606911949],"aabb_xy":[[0.44075568784917424,-0.8913341316593476],[0.4907556869526512,-0.8710491639290782]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.03986836320708376,-2.2992392757399167,0.71338606911949],"aabb_xy":[[-0.10386836542749078,-2.3436123598652054],[0.02413163901332327,-2.254866191614629]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[-0.1258654822180295,-0.8518338051149146,0.71338606911949],"aabb_xy":[[-0.14336541565201286,-0.8693338050351491],[-0.10836554878404611,-0.83433380519468]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[0.4935272870402154,-1.213815660133514,0.71338606911949],"aabb_xy":[[0.48228223146959753,-1.2250574578576092],[0.5047723426108333,-1.2025738624094187]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_27","position":[-0.4821812334883457,0.6593585969656539,0.71338606911949],"aabb_xy":[[-0.502239645101586,0.6392935100564964],[-0.4621228218751054,0.6794236838748114]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718173505677275,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7660.png","name":"7660"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9210.png","name":"9210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7613.png","name":"7613"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6235.png","name":"6235"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":543.7404339173889,"rotation_z_degrees":347.8047097207928,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008139500459247613,0.001319518398355212,-0.0010364462980982647]},{"name":"camera_2","offset_m":[0.0022544584737218334,-0.004138370744222089,-0.016153597017730316]},{"name":"camera_3","offset_m":[-0.013992591097026321,0.0007955773902863991,0.0007925131236114699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012340508111761215,0.0004058216759653642,0.001953937849395626],"end_effector_yaw_offset_degrees":-0.5966292595082339},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[2.0603383094133353e-05,-0.001886882629758099,-0.001859498061694831],"end_effector_yaw_offset_degrees":0.7254130567692174},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010417199353488717,-0.00182244466996591,0.0007773483735407597],"end_effector_yaw_offset_degrees":0.7092492537963437},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008743703312652428,0.0008515677251167593,0.001338722385714974],"end_effector_yaw_offset_degrees":0.10525816186380799},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010721469387426985,0.0007891253221758029,-5.084952597249532e-05],"end_effector_yaw_offset_degrees":-0.6652370538048593},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006524213290362505,0.0005945474292626111,0.0013266102576343516],"end_effector_yaw_offset_degrees":-0.7282552322479641},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015138517511625086,-0.0009647571161825815,0.0014848422245846765],"end_effector_yaw_offset_degrees":-0.23944345673037426},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0011533305424682883,0.0010998662517767931,-0.0010359965050845026],"end_effector_yaw_offset_degrees":0.949547162908335},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018600000987424865,0.001995304925372229,-0.0005654840387794423],"end_effector_yaw_offset_degrees":-0.21068967461141486}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002036394525565646,-0.0019561245500208293],"position_m":[0.22423639452556565,-0.0007561245500208294,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016053825947280366,0.0024902400707141814],"position_m":[0.19640538259472803,-0.13020975992928582,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000315963717241503,-0.004087661180282836],"position_m":[0.2197840362827585,-0.3957876611802828,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001988357275595302,-0.004534203140786463],"position_m":[0.2808116427244047,0.28696579685921353,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"29d20120e3c31a949fdad90c3ba377521b4df10fc5e16a220ddd4ea9fb0358f0","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1980/tex_ceiling_textures_6235/tex_floor_textures_7613/tex_table_textures_7660/tex_wall_textures_9210","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5521889308711235779,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5521889308711235779,"visual_seed":5521889308711235779,"scene_id":"lab_003","finished_at":"2026-09-08T18:37:27"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T18:49:05","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.2790733040069004,-0.346843289811936,0.71338606911949],"aabb_xy":[[-0.3430733004024734,-0.4108065782306695],[-0.21507330761132726,-0.2828800013932024]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.21406827426932806,-1.6987319901649087,0.71338606911949],"aabb_xy":[[-0.24998177869431776,-1.7346454983816633],[-0.17815476984433837,-1.6628184819481542]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.10088166685472477,0.2335485340783343,0.71338606911949],"aabb_xy":[[-0.13838166803951754,0.22913031138227377],[-0.06338166566993196,0.23796675677439486]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.6366130541160281,-1.787742168089824,0.71338606911949],"aabb_xy":[[-0.6446564140419832,-1.8727421691851902],[-0.6285696941900728,-1.7027421669944574]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.2596597511511015,-1.952461807036358,0.71338606911949],"aabb_xy":[[0.2146671644326511,-1.9974618063108063],[0.3046523378695519,-1.9074618077619088]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.1779760457731071,-2.100984732461475,0.71338606911949],"aabb_xy":[[0.1404760454248793,-2.112776128042558],[0.2154760461213348,-2.089193336880391]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[-0.04259440976906104,1.155842259034431,0.71338606911949],"aabb_xy":[[-0.09259440841498223,1.1059227153749684],[0.0074055888768601585,1.2057618026938932]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.014189197905067896,-1.3949269018167534,0.71338606911949],"aabb_xy":[[-0.04081080127152159,-1.449916576591711],[0.06918919708165738,-1.3399372270417957]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[0.6326574105285372,-0.7262946360894316,0.71338606911949],"aabb_xy":[[0.6212956758752509,-0.7376631024957195],[0.6440191451818232,-0.7149261696831434]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[0.630436047353933,-0.9839102148599927,0.71338606911949],"aabb_xy":[[0.5851574324727837,-1.0479102142081764],[0.6757146622350823,-0.9199102155118091]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.6634288694800556,1.7198388318506344,0.71338606911949],"aabb_xy":[[0.6384288702080932,1.7034934682544718],[0.6884288687520178,1.7361841954467965]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.5756591181592678,-2.4111605771766076,0.71338606911949],"aabb_xy":[[0.530487800311099,-2.4751605743211464],[0.6208304360074369,-2.3471605800320696]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[-0.41628257266718455,-2.0287576802427143,0.71338606911949],"aabb_xy":[[-0.4375605808106567,-2.0937576825687874],[-0.3950045645237122,-1.9637576779166412]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.027228073111650097,-1.8824023153253369,0.71338606911949],"aabb_xy":[[0.0027144490146442414,-1.906666908627373],[0.05174169720865596,-1.8581377220233002]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[0.08820817503990308,1.790209382735275,0.71338606911949],"aabb_xy":[[0.053208175909947406,1.784464161659611],[0.12320817416985873,1.7959546038109393]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.49406548754794466,-1.6762950166593167,0.71338606911949],"aabb_xy":[[0.4040654881295738,-1.7096705135035062],[0.5840654869663156,-1.6429195198151267]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.42377561204609765,1.3155748112050252,0.71338606911949],"aabb_xy":[[-0.4665423189255179,1.2515748077832227],[-0.3810089051666775,1.3795748146268276]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.33438067097571583,-2.471470807617352,0.71338606911949],"aabb_xy":[[-0.40438067436727776,-2.506786581320783],[-0.2643806675841538,-2.4361550339139213]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.024983288442994356,-0.7237023452470068,0.71338606911949],"aabb_xy":[[-0.05998328763581262,-0.7346693912446693],[0.010016710749823913,-0.7127352992493441]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.2464304855764542,1.2503369305493286,0.71338606911949],"aabb_xy":[[0.23840421494582822,1.241585435571976],[0.2544567562070802,1.2590884255266812]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.22850137820341299,-1.5094097752653384,0.71338606911949],"aabb_xy":[[0.17850137684252576,-1.559387679840754],[0.2785013795643002,-1.4594318706899228]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_21","position":[0.05145883360182957,-2.261148755822566,0.71338606911949],"aabb_xy":[[0.017161922584088947,-2.2954456420325067],[0.0857557446195702,-2.226851869612624]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.4097203676964802,-1.0608922957259836,0.71338606911949],"aabb_xy":[[-0.4441828457095679,-1.0675559729089061],[-0.37525788968339235,-1.0542286185430607]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[0.5810729351799608,0.8089002515393084,0.71338606911949],"aabb_xy":[[0.539824124150046,0.7539002520270909],[0.6223217462098755,0.8639002510515258]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.34658616943210374,-2.342609275587674,0.71338606911949],"aabb_xy":[[0.28499541020811103,-2.4066092736967213],[0.40817692865609667,-2.2786092774786275]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.2532681589923833,-1.1952920776659972,0.71338606911949],"aabb_xy":[[0.24930767522264893,-1.2029599422515178],[0.25722864276211765,-1.1876242130804766]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[-0.23500450127667993,0.6956377358588175,0.71338606911949],"aabb_xy":[[-0.2437024635673952,0.6835127615513428],[-0.22630653898596462,0.7077627101662922]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[0.31854608586169975,-1.0399370308319715,0.71338606911949],"aabb_xy":[[0.2816955379247121,-1.0774370316550053],[0.3553966337986873,-1.0024370300089378]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[-0.5851446087828938,0.44217636323436293,0.71338606911949],"aabb_xy":[[-0.640140086603553,0.38717636180045595],[-0.5301491309622343,0.4971763646682698]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_29","position":[0.5765054934053679,0.7044890565053525,0.71338606911949],"aabb_xy":[[0.5515054942397348,0.697536810799996],[0.601505492571001,0.7114413022107091]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[0.6652629895655364,-1.4212105389696805,0.71338606911949],"aabb_xy":[[0.6427492977420791,-1.4912105395706878],[0.6877766813889935,-1.3512105383686728]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_31","position":[-0.12173347672723567,-0.9782613856142997,0.71338606911949],"aabb_xy":[[-0.12517415296729284,-0.9821228185886642],[-0.1182928004871785,-0.9743999526399353]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_32","position":[0.43983219863315015,-0.6608203458080748,0.71338606911949],"aabb_xy":[[0.374832197676023,-0.7127685577417804],[0.5048321995902774,-0.6088721338743692]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_33","position":[-0.2322963754300847,-1.9899628669313416,0.71338606911949],"aabb_xy":[[-0.2962963757040629,-2.04002896712863],[-0.16829637515610646,-1.9398967667340539]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_34","position":[0.5110574704959912,-1.8548685390550248,0.71338606911949],"aabb_xy":[[0.4958853012143578,-1.8700373959832282],[0.5262296397776245,-1.8396996821268214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6719080031227319,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/287.png","name":"287"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/287.png","name":"287"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3292.png","name":"3292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8480.png","name":"8480"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4164.png","name":"4164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/616.png","name":"616"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":704.0235045466274,"rotation_z_degrees":235.8677894701222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015407594246554863,0.014152873083905105,0.010908888876882298]},{"name":"camera_2","offset_m":[0.00930890897181981,-0.01474177413113997,-0.019909045590032287]},{"name":"camera_3","offset_m":[-0.01697247734985287,-0.013545101093570273,-0.01299572068598736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016931414486302395,0.000941973281985687,0.00030093827274657765],"end_effector_yaw_offset_degrees":0.28459030638770066},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005333574855291325,-0.00042323466752541036,0.0012828144322594537],"end_effector_yaw_offset_degrees":-0.18139104346324952},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016648137869982702,-0.000584313383566419,0.0001868956155035152],"end_effector_yaw_offset_degrees":0.3538016645431259},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017661124342579445,0.0007410436694953375,-0.0016514770789930115],"end_effector_yaw_offset_degrees":-0.7588624462065845},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011443867611734544,0.0007807513355711248,-0.0006900234992111866],"end_effector_yaw_offset_degrees":0.7526542256545004},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000535871400134103,0.0004545349707106043,0.0003707022153908641],"end_effector_yaw_offset_degrees":-0.8751163006374587},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018688657377607866,0.0006303455247302237,-5.074415540121894e-05],"end_effector_yaw_offset_degrees":-0.8508814436107508},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000901248440971612,-0.0017010961394203802,-0.0005162051501347391],"end_effector_yaw_offset_degrees":-0.028007917442328223},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007323142704288559,0.000665238625032853,0.0015110766540373213],"end_effector_yaw_offset_degrees":-0.431934083935928}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015114178856825058,0.000554385385742432],"position_m":[0.22371141788568252,0.001754385385742432,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014502438088219967,0.0006447989060331463],"position_m":[0.196250243808822,-0.13205520109396687,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032089637213463503,0.0006369226605780157],"position_m":[0.22330896372134634,-0.39106307733942197,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002914478228748262,0.001813994133453417],"position_m":[0.27988552177125176,0.2933139941334534,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d6fefbdaa2b2ff6b8fde0a2e152fa79362ffc0f600eed375cc9528f4171b41d0","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_287/tex_ceiling_textures_616/tex_floor_textures_4164/tex_table_textures_3292/tex_wall_textures_8480","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8812384025137701098,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8812384025137701098,"visual_seed":8812384025137701098,"scene_id":"lab_003","finished_at":"2026-09-08T18:59:54"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T19:00:02","dimensions":{"distractor":{"count":34,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.3399432700279341,1.160323912216751,0.71338606911949],"aabb_xy":[[0.32293317273788347,1.144189423718477],[0.35695336731798477,1.176458400715025]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.4858102851173949,-0.14248439227525367,0.71338606911949],"aabb_xy":[[0.47387755075556687,-0.154866545083113],[0.497743019479223,-0.13010223946739427]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.16668260101799048,-1.9267029405983078,0.71338606911949],"aabb_xy":[[0.09668259888656094,-1.9494649062240033],[0.23668260314942002,-1.903940974972612]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.4707431589057873,0.6831662773927181,0.71338606911949],"aabb_xy":[[-0.5207362710149792,0.6331662767185224],[-0.42075004679659544,0.7331662780669137]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.4753160314192426,-1.4868587721337942,0.71338606911949],"aabb_xy":[[0.468814394911238,-1.4966265941601042],[0.48181766792724723,-1.4770909501074847]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.5652833610496341,-2.1983022504705425,0.71338606911949],"aabb_xy":[[-0.6202833606713799,-2.2532859432580152],[-0.5102833614278882,-2.14331855768307]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.4045886431048855,-1.1470451692226489,0.71338606911949],"aabb_xy":[[0.3670886426075272,-1.1510138527707672],[0.4420886436022437,-1.1430764856745306]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[-0.11878706462978961,-1.3200159603957782,0.71338606911949],"aabb_xy":[[-0.13055525142444716,-1.405015960301],[-0.10701887783513211,-1.2350159604905568]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.16718592493279827,-1.331510116667467,0.71338606911949],"aabb_xy":[[0.11219271359566152,-1.3865101170062608],[0.22217913626993505,-1.2765101163286736]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[-0.23328888668315256,1.4652886475891154,0.71338606911949],"aabb_xy":[[-0.2467354133171959,1.4518187959360238],[-0.21984236004910923,1.4787584992422065]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.020471106993541377,-0.7745846261915297,0.71338606911949],"aabb_xy":[[-0.025427127178422583,-0.7970846263936514],[-0.015515086808660181,-0.7520846259894082]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.5561394063484061,-0.9014080859750495,0.71338606911949],"aabb_xy":[[-0.5602752626811064,-0.9389080854194066],[-0.552003550015706,-0.8639080865306926]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.6512975416310314,0.7078493651736331,0.71338606911949],"aabb_xy":[[0.6324131578625212,0.6889634403932803],[0.6701819253995416,0.7267352899539858]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.5255945487806626,-1.1803437665534913,0.71338606911949],"aabb_xy":[[-0.5356762558592361,-1.260343764445606],[-0.5155128417020891,-1.1003437686613766]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[0.13725387272633893,-1.6440233631872476,0.71338606911949],"aabb_xy":[[0.047253875990728694,-1.6972068265045421],[0.22725386946194912,-1.5908398998699531]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.07740665969877081,-2.18934090201145,0.71338606911949],"aabb_xy":[[0.007406658096491325,-2.2027736952131076],[0.1474066613010503,-2.1759081088097925]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.1712154945275549,-0.7766150488310293,0.71338606911949],"aabb_xy":[[0.16725501075782054,-0.7842829134165498],[0.1751759782972893,-0.7689471842455086]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.5929942212400787,-0.6859887073826589,0.71338606911949],"aabb_xy":[[0.5586973102223379,-0.7202855935926001],[0.6272911322578191,-0.6516918211727175]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.19617443300041365,0.8632795555825727,0.71338606911949],"aabb_xy":[[-0.23117443127053355,0.8562054278875846],[-0.16117443473029375,0.8703536832775609]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.21582354519196234,1.3593689087453087,0.71338606911949],"aabb_xy":[[0.20854122881529863,1.2693689051357993],[0.22310586156862594,1.4493689123548172]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.2812762187206947,1.0403643001614675,0.71338606911949],"aabb_xy":[[-0.34527621602304104,0.9959978731936108],[-0.21727622141834824,1.0847307271293243]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.6110477850402815,-0.41359269501698703,0.71338606911949],"aabb_xy":[[-0.6710477866832033,-0.4655928443089312],[-0.5510477833973596,-0.36159254572504285]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.601059315844545,-1.5325115621048775,0.71338606911949],"aabb_xy":[[-0.6187349464331432,-1.55019177838428],[-0.5833836852559465,-1.5148313458254745]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.5952763473095861,-2.5645707904995763,0.71338606911949],"aabb_xy":[[-0.6302763465024043,-2.5755378364972383],[-0.5602763481167677,-2.5536037445019133]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[0.5502216035570595,-1.7361364032445143,0.71338606911949],"aabb_xy":[[0.5152216044271039,-1.7418816243201782],[0.5852216026870152,-1.73039118216885]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[0.12087706102900164,1.5941869969538938,0.71338606911949],"aabb_xy":[[0.06575185539941085,1.5341869955126066],[0.1760022666585924,1.654186998395181]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[0.0838720880449082,-0.9540750243461216,0.71338606911949],"aabb_xy":[[0.003872087771301227,-1.0270245721718383],[0.16387208831851519,-0.8811254765204048]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_27","position":[0.1676820718054709,-0.6754015772507647,0.71338606911949],"aabb_xy":[[0.16376819861004838,-0.6841505926573215],[0.17159594500089342,-0.6666525618442078]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[0.6461635845139679,1.2948517708828189,0.71338606911949],"aabb_xy":[[0.5821635822935609,1.2504786867575304],[0.710163586734375,1.339224855008107]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[0.1515909416117861,0.7114770687874352,0.71338606911949],"aabb_xy":[[0.09661721957545322,0.656477069223202],[0.20656466364811898,0.7664770683516684]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_30","position":[-0.2771378189504598,0.10393277955332492,0.71338606911949],"aabb_xy":[[-0.34213781750753264,0.07418024613944228],[-0.21213782039338697,0.13368531296720754]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_31","position":[0.6030313438832902,1.5636045479275187,0.71338606911949],"aabb_xy":[[0.5531486470055941,1.5136045486812442],[0.6529140407609865,1.6136045471737936]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_32","position":[-0.6255071643258816,-0.13799909224240237,0.71338606911949],"aabb_xy":[[-0.6795227606077815,-0.2019990951346595],[-0.5714915680439815,-0.07399908935014518]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_33","position":[-0.17656860361058546,1.6298718624796327,0.71338606911949],"aabb_xy":[[-0.25656860077016075,1.6183242615218154],[-0.09656860645101015,1.6414194634374495]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6735672907141613,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7707.png","name":"7707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7707.png","name":"7707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1834.png","name":"1834"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1221.png","name":"1221"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3550.png","name":"3550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1819.png","name":"1819"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":663.1603751506641,"rotation_z_degrees":202.9896240141691,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019536607624278397,-0.018765392373001087,-0.010507665301434472]},{"name":"camera_2","offset_m":[0.0015713650434336437,0.003254634213289573,0.010428212463055052]},{"name":"camera_3","offset_m":[-0.01802815960401214,0.005314755540797009,0.002448979015506003]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001520484087092708,-0.000634955911685716,-0.0008983503351651363],"end_effector_yaw_offset_degrees":0.6369790646996407},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000826502198624849,-0.0010671043799763127,0.001247949070723643],"end_effector_yaw_offset_degrees":-0.8044798847511225},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013854477958946776,-0.0003296965331960253,-0.0001531299563970849],"end_effector_yaw_offset_degrees":-0.3274021061228891},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0005709384718045518,-0.0013220381533666967,0.001568850508280031],"end_effector_yaw_offset_degrees":-0.23438966556298912},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0009298155174728483,0.0016116796264137967,-0.0003626680008674806],"end_effector_yaw_offset_degrees":-0.08466079305971186},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011381919660205147,0.00018318244719183613,-0.0015108597561478963],"end_effector_yaw_offset_degrees":-0.9403592535766863},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017269718020799943,-0.0002552768871806163,0.0011983757571618005],"end_effector_yaw_offset_degrees":-0.7331467755492527},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0013149839494554505,0.001863952317912674,0.0010937588465296001],"end_effector_yaw_offset_degrees":-0.27489916769225275},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012243858715820836,-0.00014828375977029803,0.00015023204165739643],"end_effector_yaw_offset_degrees":-0.583304035556667}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018136994078281764,-0.003160458520810109],"position_m":[0.22038630059217182,-0.0019604585208101094,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010335769363532064,0.004046554760322553],"position_m":[0.1958335769363532,-0.12865344523967745,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017614632857710808,-0.0042071122163222585],"position_m":[0.22186146328577108,-0.39590711221632224,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0003287063158078675,-0.0013785732208329913],"position_m":[0.2831287063158079,0.29012142677916697,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"0b626dc8838a95ffe4400a8f49faaf24568df057b926978e4e83a8fd3a0b5294","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7707/tex_ceiling_textures_1819/tex_floor_textures_3550/tex_table_textures_1834/tex_wall_textures_1221","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6510271863561908800,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6510271863561908800,"visual_seed":6510271863561908800,"scene_id":"lab_003","finished_at":"2026-09-08T19:10:16"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T19:10:24","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.5726219375392425,-0.057981307908626434,0.71338606911949],"aabb_xy":[[0.5226219361783552,-0.10795921248404206],[0.6226219389001296,-0.008003403333210824]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.7003464903925707,0.6767905451238958,0.71338606911949],"aabb_xy":[[0.6921319452768865,0.6681139548262544],[0.7085610355082544,0.685467135421537]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[0.5448832669500243,1.3835679308844377,0.71338606911949],"aabb_xy":[[0.48989005561288756,1.3285679305456444],[0.5998764782871611,1.4385679312232316]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.48083143992744043,0.36396413105418235,0.71338606911949],"aabb_xy":[[-0.5705185162355559,0.2739641307997318],[-0.391144363619325,0.4539641313086329]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.5178413632502127,0.8025283598407302,0.71338606911949],"aabb_xy":[[-0.531287889884256,0.789058508187639],[-0.5043948366161694,0.8159982114938215]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.10298027356853812,-1.6768186469174422,0.71338606911949],"aabb_xy":[[-0.14048027475333086,-1.6812368696135025],[-0.06548027238374529,-1.6724004242213815]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.2213885094761066,0.4559899837370316,0.71338606911949],"aabb_xy":[[-0.2626373205060213,0.400989984224814],[-0.18013969844619185,0.5109899832492488]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.6026933394422729,1.5974445541757478,0.71338606911949],"aabb_xy":[[0.5776933401703106,1.5810991905795853],[0.6276933387142352,1.61378991777191]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.24730050962196393,-2.1396987809423407,0.71338606911949],"aabb_xy":[[0.16730050745920141,-2.2196539645684843],[0.3273005117847264,-2.059743597316197]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.6463943664530626,-1.6943259404091604,0.71338606911949],"aabb_xy":[[-0.6550923287437779,-1.7064509147166351],[-0.6376964041623473,-1.6822009661016857]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.39914746455194894,-1.791218264611231,0.71338606911949],"aabb_xy":[[-0.4591474651479651,-1.8460307371564544],[-0.33914746395593276,-1.7364057920660074]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.23234329925796515,-1.2458868846319229,0.71338606911949],"aabb_xy":[[0.14862107375788267,-1.3358868881666188],[0.3160655247580476,-1.155886881097227]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.5109325925199486,-1.3487590710511532,0.71338606911949],"aabb_xy":[[-0.5269945199784661,-1.4337590728637448],[-0.4948706650614309,-1.2637590692385612]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.5825527185745174,-0.8031668586380414,0.71338606911949],"aabb_xy":[[-0.6001310207634643,-0.8207413482121463],[-0.5649744163855706,-0.7855923690639365]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.5287130774993882,-0.6087849319798833,0.71338606911949],"aabb_xy":[[0.517351342846102,-0.6201533983861712],[0.5400748121526743,-0.5974164655735951]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.3550840216104714,-1.3966800567375897,0.71338606911949],"aabb_xy":[[-0.40909961789237137,-1.4606800596298466],[-0.30106842532857137,-1.3326800538453323]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.5285638631612002,-1.735166143508453,0.71338606911949],"aabb_xy":[[0.4645638611114682,-1.775260626597761],[0.5925638652109322,-1.6950716604191451]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.21865843171238375,0.797864098185066,0.71338606911949],"aabb_xy":[[0.15465843460027806,0.7488317283906555],[0.28265842882448944,0.8468964679794767]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.23505070319815646,-0.6420431060478509,0.71338606911949],"aabb_xy":[[0.1700507031638537,-0.6887437827281782],[0.3000507032324592,-0.5953424293675236]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.6742015500984753,-0.650703851363323,0.71338606911949],"aabb_xy":[[-0.6805136496348136,-0.6564707906165417],[-0.6678894505621369,-0.6449369121101041]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.526667510917765,0.57180945868607,0.71338606911949],"aabb_xy":[[-0.5418303838947021,0.5566440013909514],[-0.5115046379408279,0.5869749159811889]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[-0.19496466292716697,-0.9508530735552083,0.71338606911949],"aabb_xy":[[-0.2589646633047006,-1.0005983404060206],[-0.13096466254963332,-0.901107806704396]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.019159563848526795,1.5653659620492575,0.71338606911949],"aabb_xy":[[-0.060840437224593535,1.555587915711873],[0.09915956492164713,1.575144008386642]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.6309004469170858,-2.0623578174663946,0.71338606911949],"aabb_xy":[[-0.6485332825106133,-2.079980763482017],[-0.6132676113235581,-2.044734871450771]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.20665048823728016,-0.97751842269996,0.71338606911949],"aabb_xy":[[0.15665048959135894,-1.0274379663594222],[0.25665048688320136,-0.9275988790404975]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.5600491813682474,-1.7862738671080587,0.71338606911949],"aabb_xy":[[-0.5756049507785128,-1.801824300352466],[-0.5444934119579823,-1.7707234338636517]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[-0.2154645742519961,0.14789305441259204,0.71338606911949],"aabb_xy":[[-0.22703355499893269,0.12289305429566036],[-0.20389559350505954,0.17289305452952378]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_27","position":[0.7066155645766281,0.026132352170524786,0.71338606911949],"aabb_xy":[[0.6915132631156098,0.01103083053946296],[0.721717866037646,0.04123387380158659]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_28","position":[-0.46257901033419696,-2.0732232259898082,0.71338606911949],"aabb_xy":[[-0.512572122443389,-2.1232232266640043],[-0.41258589822500524,-2.023223225315613]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[-0.4689197189652673,1.1268256258036957,0.71338606911949],"aabb_xy":[[-0.4797713252141429,1.1159663350760447],[-0.4580681127163917,1.1376849165313467]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_30","position":[-0.48572609489809915,0.6809890365956437,0.71338606911949],"aabb_xy":[[-0.5207260948745951,0.6715244205480271],[-0.45072609492160337,0.6904536526432603]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_31","position":[-0.04869369213425312,1.7197417333674943,0.71338606911949],"aabb_xy":[[-0.12869368909729229,1.6426660917237208],[0.03130630482878605,1.7968173750112677]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_32","position":[0.46882063190332146,-1.4294921224373538,0.71338606911949],"aabb_xy":[[0.4497083245453426,-1.4486269013145956],[0.4879329392613003,-1.4103573435601116]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_33","position":[0.45736149344717436,-0.8705420773701567,0.71338606911949],"aabb_xy":[[0.40738842791465907,-0.9205420771826898],[0.50733455897969,-0.820542077557624]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_34","position":[0.7167967716549699,-0.09268532543195329,0.71338606911949],"aabb_xy":[[0.7118974793484062,-0.12036224473452206],[0.7216960639615332,-0.06500840612938452]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6709350235967726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5076.png","name":"5076"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/262.png","name":"262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9349.png","name":"9349"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8388.png","name":"8388"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":663.2464034342568,"rotation_z_degrees":16.950643766653716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009653708519204635,-0.01742697010675726,0.0023783165175635945]},{"name":"camera_2","offset_m":[0.0010791351685219934,-0.0022671511241302254,-0.01252891849850669]},{"name":"camera_3","offset_m":[-0.009382652517497689,-0.008609778023842165,0.011208440587115044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005908314174183841,-0.0007431162005940451,0.0016696958113132437],"end_effector_yaw_offset_degrees":-0.9822435640698788},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[8.890202082929843e-05,-0.000869130672286214,-0.0002764055613540153],"end_effector_yaw_offset_degrees":-0.39017207897017814},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000298726527792283,-0.0007105867282456947,0.0009172251168506093],"end_effector_yaw_offset_degrees":0.3587072069130879},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009978689624827628,0.0009570658667264103,0.00010152844079113583],"end_effector_yaw_offset_degrees":-0.4458035026868179},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016568755584459214,-0.0007968467781829642,-0.0017873095344353147],"end_effector_yaw_offset_degrees":-0.6419256997345746},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017098667020246112,0.001976790021593124,0.0009482610433600848],"end_effector_yaw_offset_degrees":-0.6438916116023792},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010343061741556446,-0.0010454463703236804,-0.0015725226753554983],"end_effector_yaw_offset_degrees":0.6289347488163937},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00019114323440765275,-0.0004389251800015245,-0.0006307170437634354],"end_effector_yaw_offset_degrees":-0.4110794571277532},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010251311365419666,0.0014518455699261672,-0.0010285468142822785],"end_effector_yaw_offset_degrees":-0.10864653918955014}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014535077557167667,0.0036841243118660863],"position_m":[0.22365350775571677,0.004884124311866086,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00014783507369049015,-0.004896558417565655],"position_m":[0.19465216492630952,-0.13759655841756566,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00481529302125308,0.004574772657236129],"position_m":[0.22491529302125307,-0.3871252273427639,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0002345582300831532,0.004679380673850588],"position_m":[0.28303455823008317,0.2961793806738506,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"e5cbd56c16ada6be02f56476e21e2ee98deb68bde99f536cca269cfcb9c4afe0","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0031.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5811/tex_ceiling_textures_8388/tex_floor_textures_9349/tex_table_textures_5076/tex_wall_textures_262","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5170347462387184619,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5170347462387184619,"visual_seed":5170347462387184619,"scene_id":"lab_003","finished_at":"2026-09-08T19:21:04"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T19:44:12","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.4950869951091015,-1.3868210497511517,0.71338606911949],"aabb_xy":[[-0.5037849573998168,-1.3989460240586264],[-0.48638903281838625,-1.374696075443677]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.6029095106344724,0.6175831154964273,0.71338606911949],"aabb_xy":[[-0.6404095109827,0.6057917199153436],[-0.5654095102862445,0.6293745110775107]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.45532980927509836,1.3261594096666012,0.71338606911949],"aabb_xy":[[0.40020460364550753,1.2661594082253138],[0.510455014904689,1.386159411107888]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.6062374957163588,-1.3593421735516906,0.71338606911949],"aabb_xy":[[0.5974354404073859,-1.3671534997066193],[0.6150395510253314,-1.351530847396761]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.5381396375248506,-1.014950777119366,0.71338606911949],"aabb_xy":[[-0.5558152681134488,-1.0326309933987685],[-0.5204640069362522,-0.9972705608399631]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.15092628343044634,0.025406649629043265,0.71338606911949],"aabb_xy":[[-0.2009255585988825,-0.0245933516469039],[-0.10092700826201018,0.07540665090499044]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.03283804625673614,-1.9796212521950913,0.71338606911949],"aabb_xy":[[-0.06742912911078135,-2.044621252480122],[0.0017530365973090765,-1.91462125191006]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.45156728003015967,0.38293656520161123,0.71338606911949],"aabb_xy":[[-0.47406370146402377,0.36043656539486374],[-0.42907085859629557,0.4054365650083586]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.05704059450036303,1.1952351728370578,0.71338606911949],"aabb_xy":[[0.03675629177696427,1.1749525476943485],[0.07732489722376179,1.2155177979797662]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.1054743986682859,0.660932276384969,0.71338606911949],"aabb_xy":[[-0.14297439848531945,0.6562940650738271],[-0.06797439885125232,0.6655704876961108]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.5282382681101916,0.8779427048237634,0.71338606911949],"aabb_xy":[[-0.5882382686180445,0.8210959711378419],[-0.4682382676023387,0.9347894385096845]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.42487528690068377,-0.5825067919052866,0.71338606911949],"aabb_xy":[[0.3608752904733619,-0.6296764157273831],[0.4888752833280057,-0.5353371680831902]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.5370775634252756,1.079658088969763,0.71338606911949],"aabb_xy":[[0.4995775632534035,1.0469573535868555],[0.5745775635971474,1.1123588243526699]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.692870803148383,-2.4088899439422065,0.71338606911949],"aabb_xy":[[0.6753708040140157,-2.418769570979794],[0.7103708022827501,-2.399010316904618]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.5329640180229654,-2.4693280312876538,0.71338606911949],"aabb_xy":[[-0.5409902886535914,-2.4780795262650064],[-0.5249377473923394,-2.460576536310301]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.0042308693631699645,1.6149537650377659,0.71338606911949],"aabb_xy":[[-0.012358557556483185,1.6060401566270581],[0.003896818830143256,1.6238673734484736]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.5079412091712632,1.036041800181652,0.71338606911949],"aabb_xy":[[-0.5128405014778267,1.008364880879083],[-0.5030419168646997,1.0637187194842206]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.5291934787311707,1.5525375138905315,0.71338606911949],"aabb_xy":[[0.45919347712889125,1.5391047206888737],[0.5991934803334502,1.5659703070921889]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.24989027101988193,-2.5031457598362126,0.71338606911949],"aabb_xy":[[0.21339445039260313,-2.5396297022629697],[0.2863860916471606,-2.4666618174094546]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.4058549986815796,-1.3147277963653592,0.71338606911949],"aabb_xy":[[0.32085499998950495,-1.346713659760238],[0.49085499737365423,-1.2827419329704803]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.3317800363223813,1.2901952538824348,0.71338606911949],"aabb_xy":[[-0.3692800364279742,1.2833730920294535],[-0.2942800362167883,1.2970174157354157]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.0962448984201697,1.6767181659611219,0.71338606911949],"aabb_xy":[[0.04624489897997408,1.6267502414768054],[0.14624489786036532,1.726686090445438]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.5755764849907097,-0.2549668279935484,0.71338606911949],"aabb_xy":[[-0.6395764841604796,-0.30173351511251084],[-0.5115764858209397,-0.2082001408745859]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[-0.40792926331324003,1.5422041051889077,0.71338606911949],"aabb_xy":[[-0.4254291967472234,1.524704105268673],[-0.39042932987925666,1.559704105109142]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.17991170552308022,-0.9283336767326842,0.71338606911949],"aabb_xy":[[-0.18486772570796145,-0.950833676934806],[-0.17495568533819905,-0.9058336765305628]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[0.5155718471719912,-1.037350933789472,0.71338606911949],"aabb_xy":[[0.4515718457640006,-1.0891398853133964],[0.5795718485799819,-0.9855619822655471]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_26","position":[-0.09272083536748865,-0.7817346429464815,0.71338606911949],"aabb_xy":[[-0.11521997109371562,-0.8042346437247445],[-0.07022169964126168,-0.7592346421682186]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_27","position":[0.6618341058102108,0.4952564202573555,0.71338606911949],"aabb_xy":[[0.6205295627464749,0.43125642068923836],[0.7031386488739468,0.5592564198254726]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6738007496005644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3839.png","name":"3839"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3839.png","name":"3839"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1610.png","name":"1610"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4071.png","name":"4071"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2202.png","name":"2202"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1500.png","name":"1500"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":554.8647234970333,"rotation_z_degrees":267.5228323925429,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019395005133814754,-0.011735422849234328,-0.011260047460898264]},{"name":"camera_2","offset_m":[0.005863430676379799,2.3332861234529045e-05,-0.017479771296685515]},{"name":"camera_3","offset_m":[0.011641746417046493,0.009715070395828113,-0.007652059714097183]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000605491363288151,0.0005223253932029057,-0.0004476118697641564],"end_effector_yaw_offset_degrees":0.22211024468907703},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014076736080904989,0.0010492957171157166,0.0010874094115187237],"end_effector_yaw_offset_degrees":0.2476596750623199},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015334931561374896,0.0016490361246366048,0.0008128927024967543],"end_effector_yaw_offset_degrees":0.6501176727151274},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0003391774448220342,-0.0010201644870963121,0.0006720521770940341],"end_effector_yaw_offset_degrees":-0.09732179190190937},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014504524691666145,-0.00011219636488990926,0.0014634835968812283],"end_effector_yaw_offset_degrees":-0.9555938400523405},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-9.971571704985981e-05,-0.00010625320763382718,-0.0012520460467005266],"end_effector_yaw_offset_degrees":0.7230676824099449},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001221440795991565,0.0003181715171798813,-0.001013490716247329],"end_effector_yaw_offset_degrees":0.7208100277326861},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0010436433464670056,0.001921871124010036,0.0019420585973942842],"end_effector_yaw_offset_degrees":0.49999716049327114},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006729983672637951,-0.0019977488707574424,0.0018599469325620297],"end_effector_yaw_offset_degrees":0.15297197307066024}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004969119418819553,0.004928715482394294],"position_m":[0.22170308805811806,0.006128715482394294,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014027551680162852,-0.003001590033017636],"position_m":[0.19339724483198373,-0.13570159003301765,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038667896589463105,-0.0016930726206694714],"position_m":[0.2239667896589463,-0.39339307262066947,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-5.74859021610875e-05,0.0015631462813491823],"position_m":[0.2827425140978389,0.29306314628134916,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d59aad53c85c916798e82cd9f69455996ff4d3d58e0e01eb7085a3ba57617626","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0034.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3839/tex_ceiling_textures_1500/tex_floor_textures_2202/tex_table_textures_1610/tex_wall_textures_4071","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6136548869419436919,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6136548869419436919,"visual_seed":6136548869419436919,"scene_id":"lab_003","finished_at":"2026-09-08T19:55:06"}
+{"episode_id":"ep_000021","started_at":"2026-09-08T19:55:15","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.2526616350921387,-1.473591125313001,0.71338606911949],"aabb_xy":[[-0.27895045941257934,-1.499862558967652],[-0.22637281077169805,-1.4473196916583495]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.46212165765730673,-2.4891357156225693,0.71338606911949],"aabb_xy":[[-0.48996669443791385,-2.519920214360881],[-0.4342766208766996,-2.4583512168842576]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.4835187618117056,0.29169859756061856,0.71338606911949],"aabb_xy":[[-0.5001958978048011,0.2749986735866883],[-0.46684162581861016,0.30839852153454883]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[-0.001580776149577523,-1.1961658576229766,0.71338606911949],"aabb_xy":[[-0.04871015515141319,-1.2601658586673783],[0.04554860285225815,-1.1321658565785744]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.3631875304017394,1.0576956194449214,0.71338606911949],"aabb_xy":[[-0.4131875314208748,1.0212294037070935],[-0.3131875293826042,1.0941618351827493]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[0.15211225295485054,-0.7468083267218872,0.71338606911949],"aabb_xy":[[0.0821122511461051,-0.7681620954860746],[0.22211225476359597,-0.7254545579576999]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.5821973135770135,-1.6078998213735085,0.71338606911949],"aabb_xy":[[0.5022034899984553,-1.68789982396635],[0.6621911371555718,-1.527899818780667]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.35370229112836277,0.5030582753884296,0.71338606911949],"aabb_xy":[[-0.40870228933010755,0.4625363087619921],[-0.2987022929266179,0.5435802420148672]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.3815072596543323,-0.09131324201788882,0.71338606911949],"aabb_xy":[[-0.436632465283923,-0.15131324345917596],[-0.32638205402474146,-0.03131324057660168]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.04370802488037451,1.6432774587396586,0.71338606911949],"aabb_xy":[[-0.0812080263960062,1.6320506857235133],[-0.006208023364742785,1.6545042317558034]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[0.5323720563184937,-1.8649602860093242,0.71338606911949],"aabb_xy":[[0.470781297094501,-1.9289602841183715],[0.5939628155424866,-1.8009602879002777]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[0.15985483474244155,-2.3343079663408512,0.71338606911949],"aabb_xy":[[0.1098718845549622,-2.384307965983411],[0.20983778492992086,-2.2843079666982904]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.07420897343363952,1.184595990306045,0.71338606911949],"aabb_xy":[[-0.08242351854932349,1.1759194000084032],[-0.06599442831795553,1.193272580603686]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.2082516286523105,-1.0438624960022325,0.71338606911949],"aabb_xy":[[0.15825661769285848,-1.0938624950378242],[0.25824663961176253,-0.9938624969666408]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[0.2793953599874771,1.2839973635235173,0.71338606911949],"aabb_xy":[[0.2292978960064035,1.2199973630137055],[0.32949282396855073,1.3479973640333291]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.1384263572707829,-1.763392089881392,0.71338606911949],"aabb_xy":[[0.06842635463419652,-1.7834969548772572],[0.2084263599073692,-1.7432872248855262]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.19539925323522345,-2.503630587425052,0.71338606911949],"aabb_xy":[[0.17789931980124005,-2.521130587345286],[0.2128991866692068,-2.486130587504817]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.49555289068876585,-0.13903523967510623,0.71338606911949],"aabb_xy":[[0.445552889738233,-0.1705843866786276],[0.5455528916392987,-0.1074860926715848]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.2043087554155289,-1.0305590085370993,0.71338606911949],"aabb_xy":[[-0.21691145455260538,-1.0431544047619647],[-0.19170605627845247,-1.0179636123122338]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[0.44040907129257345,-1.2364442391339716,0.71338606911949],"aabb_xy":[[0.4309915967227107,-1.2458604162716906],[0.4498265458624362,-1.2270280619962526]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.2874377222525399,0.7531493147610129,0.71338606911949],"aabb_xy":[[-0.337437720898461,0.7032297711015505],[-0.23743772360661863,0.8030688584204753]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[-0.5546450057331807,-0.8208263272904537,0.71338606911949],"aabb_xy":[[-0.644332082041296,-0.9108263275449042],[-0.4649579294250651,-0.7308263270360031]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.45836833805326394,-0.9011616244838259,0.71338606911949],"aabb_xy":[[0.39336834017161626,-0.9522852881903668],[0.5233683359349118,-0.8500379607772851]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695658744679761,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6378.png","name":"6378"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6378.png","name":"6378"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5149.png","name":"5149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5641.png","name":"5641"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5517.png","name":"5517"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7979.png","name":"7979"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":603.0050516503895,"rotation_z_degrees":39.21212864215122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004584270436729593,0.004118581714977327,-0.015650383391154765]},{"name":"camera_2","offset_m":[-0.014415844951492524,0.00949041737746124,0.012990254337734732]},{"name":"camera_3","offset_m":[-0.007180458360920787,-0.003680117817908876,-0.00416123266346026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011546733883261327,-0.0013132498913586202,0.001787146667559661],"end_effector_yaw_offset_degrees":-0.7082437531848347},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003542506814563284,0.000931798088910744,-0.0010155188875606341],"end_effector_yaw_offset_degrees":0.1812707955369659},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009495845403151653,-0.0015149297684437283,-0.0011995384751019422],"end_effector_yaw_offset_degrees":0.8386915459793882},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009676996738548454,-0.001517378926266261,-0.00037907355892229013],"end_effector_yaw_offset_degrees":-0.3019663981947205},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008284090160248442,0.0009049010247074115,0.0005439209154445021],"end_effector_yaw_offset_degrees":0.08183312031383072},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[6.22505445854642e-05,0.00018206250060161374,-0.0017030293387912314],"end_effector_yaw_offset_degrees":-0.15886922306943996},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00040184675689513443,-0.001926060746519509,-0.0005653633099978114],"end_effector_yaw_offset_degrees":-0.5024889498742828},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001849110187242855,-0.0003020201465006758,0.0003347093431043842],"end_effector_yaw_offset_degrees":-0.47093035680283135},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001423166701126633,-0.0016912363232156533,0.0008694185540122916],"end_effector_yaw_offset_degrees":-0.15706664882855859}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023814956674013442,1.563255910909042e-05],"position_m":[0.21981850433259867,0.0012156325591090903,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007630497508681324,0.0013569081839408968],"position_m":[0.19403695024913187,-0.1313430918160591,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026998942250151944,0.003957169144036546],"position_m":[0.22279989422501517,-0.38774283085596345,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0016345694303062062,0.0030394442456811296],"position_m":[0.2844345694303062,0.2945394442456811,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"01b54f344275b018f3681ceb7a34d94027dedf08d62b13e428a700e88d78ec13","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6378/tex_ceiling_textures_7979/tex_floor_textures_5517/tex_table_textures_5149/tex_wall_textures_5641","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7723786963724483530,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7723786963724483530,"visual_seed":7723786963724483530,"scene_id":"lab_003","finished_at":"2026-09-08T20:06:47"}
+{"episode_id":"ep_000022","started_at":"2026-09-08T20:06:55","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.5668205134074829,0.6404291121792713,0.71338606911949],"aabb_xy":[[-0.6468205166653258,0.5604326043872874],[-0.4868205101496399,0.7204256199712553]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[0.2453713725975485,1.4680695545460467,0.71338606911949],"aabb_xy":[[0.1813756752024519,1.4040695562453378],[0.30936706999264507,1.5320695528467552]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.5705207448949481,1.2201472137545735,0.71338606911949],"aabb_xy":[[-0.6355207460008915,1.195181840686445],[-0.5055207437890049,1.2451125868227015]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.3701381658009584,-1.1083645013982322,0.71338606911949],"aabb_xy":[[-0.3937232892648532,-1.173364503643664],[-0.3465530423370635,-1.0433644991528004]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.1036075092901605,-1.200438727110758,0.71338606911949],"aabb_xy":[[0.01988528379007802,-1.290438730645454],[0.18732973479024295,-1.110438723576062]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.6421164236343666,1.335133849803177,0.71338606911949],"aabb_xy":[[0.5621226000558084,1.2551338472103357],[0.7221102472129248,1.4151338523960189]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[-0.06877232263509359,-1.5973364863938548,0.71338606911949],"aabb_xy":[[-0.07361591739632356,-1.602188138872839],[-0.06392872787386361,-1.5924848339148707]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.38101278631742364,1.5418762661889907,0.71338606911949],"aabb_xy":[[-0.46101278490474307,1.4625606642508295],[-0.3010127877301042,1.6211918681271513]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[0.2584621807225893,-2.09012323313582,0.71338606911949],"aabb_xy":[[0.19346218256667025,-2.1164194776857324],[0.32346217887850837,-2.063826988585908]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[-0.3727656778451738,-0.5022361314235022,0.71338606911949],"aabb_xy":[[-0.38046886851925077,-0.5099455021222402],[-0.3650624871710967,-0.4945267607247642]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.09920740320661647,1.5568549732097323,0.71338606911949],"aabb_xy":[[-0.13605795114360408,1.5193549723866986],[-0.062356855269628864,1.594354974032766]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.264306127759649,0.8380517204573263,0.71338606911949],"aabb_xy":[[-0.30180612633526976,0.8253154247937684],[-0.22680612918402818,0.8507880161208843]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_12","position":[5.927253906889973e-05,1.374142858709099,0.71338606911949],"aabb_xy":[[-0.004076583793631294,1.336642859264742],[0.004195128871769094,1.411642858153456]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.04790318283336237,1.780825588642967,0.71338606911949],"aabb_xy":[[-0.017096818167138157,1.730039223488292],[0.11290318383386289,1.8316119537976419]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.6093607570347089,0.16398144408815485,0.71338606911949],"aabb_xy":[[-0.6546393719158582,0.09998144473997117],[-0.5640821421535597,0.22798144343633853]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.48843337209216076,-1.1796809871359468,0.71338606911949],"aabb_xy":[[0.48233874420404255,-1.1882503816876158],[0.4945279999802792,-1.1711115925842783]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.45917561879323243,0.14487158424541402,0.71338606911949],"aabb_xy":[[-0.4699485927146002,0.10987158602637503],[-0.44840264487186465,0.179871582464453]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.30313167807883434,-1.6572577159264426,0.71338606911949],"aabb_xy":[[0.2856316778337849,-1.6747575037660092],[0.3206316783238837,-1.6397579280868755]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.2505393024498737,0.2416853481206851,0.71338606911949],"aabb_xy":[[-0.3056645080794645,0.18168534667939792],[-0.19541409682028296,0.3016853495619722]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[-0.5884663885705803,-1.9347654588993686,0.71338606911949],"aabb_xy":[[-0.6109663883844826,-1.9392400752698493],[-0.5659663887566778,-1.9302908425288878]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.45444846913767534,-0.09174852587746862,0.71338606911949],"aabb_xy":[[0.41694846864031704,-0.09571720942558704],[0.4919484696350335,-0.08777984232935021]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[-0.42738440846830184,0.39397793361914557,0.71338606911949],"aabb_xy":[[-0.43466672484496544,0.30397793000963647],[-0.4201020920916381,0.48397793722865445]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[-0.5807684197240475,-2.3813971285688167,0.71338606911949],"aabb_xy":[[-0.6383988886113181,-2.441397127495527],[-0.5231379508367764,-2.3213971296421057]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[0.2157629912264839,0.890935589476471,0.71338606911949],"aabb_xy":[[0.19359046424983303,0.8687599223203477],[0.23793551820313472,0.9131112566325941]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[-0.2907963625917534,-2.4633352546115033,0.71338606911949],"aabb_xy":[[-0.3157963618637157,-2.479680618207665],[-0.2657963633197911,-2.4469898910153405]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.41351734693184916,-0.2733985083087975,0.71338606911949],"aabb_xy":[[-0.50351734635022,-0.30677400515298725],[-0.3235173475134782,-0.2400230114646078]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[0.2643438986466814,-2.4921294655745836,0.71338606911949],"aabb_xy":[[0.2541908830925319,-2.5281990071473235],[0.27449691420083067,-2.456059924001843]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[-0.5936167777535559,-1.3728923853443609,0.71338606911949],"aabb_xy":[[-0.6053849645482134,-1.4578923852495826],[-0.5818485909588984,-1.2878923854391395]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_28","position":[0.5088427650829777,-0.2732945246931431,0.71338606911949],"aabb_xy":[[0.46385017836452724,-0.31829452396759184],[0.5538353518014281,-0.22829452541869433]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[0.3274282150452086,-1.9746139316277733,0.71338606911949],"aabb_xy":[[0.29063358192030225,-2.0115198067243556],[0.3642228481701148,-1.937708056531191]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6667509976351683,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5776.png","name":"5776"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5776.png","name":"5776"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8178.png","name":"8178"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/973.png","name":"973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1186.png","name":"1186"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4635.png","name":"4635"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":516.224244455376,"rotation_z_degrees":127.36576502089417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015564283837952001,0.012837833509998332,0.00019555708804874783]},{"name":"camera_2","offset_m":[0.010442777650783157,0.011554965813497468,-0.0016775221030474498]},{"name":"camera_3","offset_m":[0.004289312671839567,-0.005111616288332193,-0.019831549701592954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00018902525482261808,0.0018582221241973235,-0.00138522724292825],"end_effector_yaw_offset_degrees":0.10822272115995113},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006019364754243049,-0.0018562485827543563,-0.001962767286936327],"end_effector_yaw_offset_degrees":-0.0034792662597828983},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017079113805469727,0.0019040128909275458,-0.0013927876500954102],"end_effector_yaw_offset_degrees":-0.9960514105684932},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0013758610799231722,-0.001281490212161456,0.0010452843050686184],"end_effector_yaw_offset_degrees":-0.6048135163074104},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005545166494131722,-0.0005767630772877434,-0.0012107146804194251],"end_effector_yaw_offset_degrees":-0.8721327989648913},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0005718482711476768,-0.0010347320866192253,-0.00026051722906571544],"end_effector_yaw_offset_degrees":-0.0783584340113157},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005209628958769007,-0.0010390254632071712,-0.0015097918808958319],"end_effector_yaw_offset_degrees":-0.5400577848191068},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[1.0993583706926918e-05,0.0011060771463197528,-0.0010175329085106428],"end_effector_yaw_offset_degrees":-0.5666590394873452},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001985830100017876,-0.0004986346214670356,-0.0015754314899521368],"end_effector_yaw_offset_degrees":-0.07541631094215062}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012879814752823375,-0.002437518889846385],"position_m":[0.22348798147528234,-0.0012375188898463851,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027019655668755202,0.001092486310394181],"position_m":[0.19750196556687552,-0.13160751368960583,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00438122922859649,-0.001063771894476719],"position_m":[0.2157187707714035,-0.3927637718944767,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0008148980467032243,0.002703668653393193],"position_m":[0.2819851019532968,0.2942036686533932,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"e756dda3aa2c905a9956f8062cbb7643e77dfd8a155eb06dfa2a5d42c59381ae","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5776/tex_ceiling_textures_4635/tex_floor_textures_1186/tex_table_textures_8178/tex_wall_textures_973","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":301675814648861543,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":301675814648861543,"visual_seed":301675814648861543,"scene_id":"lab_003","finished_at":"2026-09-08T20:17:40"}
+{"episode_id":"ep_000023","started_at":"2026-09-08T20:30:14","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.5265827455555359,-1.322016317258797,0.71338606911949],"aabb_xy":[[-0.550418963196141,-1.4120163180672836],[-0.5027465279149309,-1.2320163164503106]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.23066822627786954,-1.0397257775727229,0.71338606911949],"aabb_xy":[[0.1938735931529633,-1.0766316526693052],[0.2674628594027758,-1.0028199024761406]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.19256195444016677,-2.2763415297805167,0.71338606911949],"aabb_xy":[[-0.25756195554611006,-2.3013069028486446],[-0.1275619533342235,-2.251376156712388]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.4850824674977189,-0.29826285523221197,0.71338606911949],"aabb_xy":[[-0.5100824674302369,-0.3051455234531353],[-0.46008246756520105,-0.29138018701128865]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.5957154447578692,-1.6626102533964906,0.71338606911949],"aabb_xy":[[-0.6022170812658738,-1.6723780754228008],[-0.5892138082498646,-1.6528424313701813]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.4448370915345816,-0.9836095775577396,0.71338606911949],"aabb_xy":[[0.3648432679560234,-1.0636095801505814],[0.5248309151131398,-0.9036095749648982]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.5586426147735153,1.6810540352321781,0.71338606911949],"aabb_xy":[[-0.6047277060282467,1.617054037979623],[-0.5125575235187837,1.7450540324847332]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.6533900306399412,1.2930025298547503,0.71338606911949],"aabb_xy":[[0.6390556055137778,1.2809423143002114],[0.6677244557661047,1.3050627454092891]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.09892001011147733,-2.512557877782574,0.71338606911949],"aabb_xy":[[0.03492000776867577,-2.557498729026706],[0.1629200124542789,-2.467617026538441]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.5048024620593712,0.898821557633263,0.71338606911949],"aabb_xy":[[-0.564802461905938,0.8420029354402242],[-0.4448024622128044,0.9556401798263016]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.380603339541999,1.67768604815044,0.71338606911949],"aabb_xy":[[0.36171895577348884,1.6588001233700873],[0.39948772331050925,1.6965719729307929]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.03670048449553176,-1.4051610340070981,0.71338606911949],"aabb_xy":[[-0.09170048367212125,-1.4601507087820556],[0.018299514681057734,-1.3501713592321403]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.5797959413796143,1.6997883593297405,0.71338606911949],"aabb_xy":[[0.5454990303618736,1.6654914731197992],[0.6140928523973548,1.7340852455396818]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.3386353514041071,0.8575792962215663,0.71338606911949],"aabb_xy":[[-0.4026310487992036,0.7935792979208574],[-0.2746396540090104,0.9215792945222747]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.6015311229980698,-0.13024430820076116,0.71338606911949],"aabb_xy":[[0.5824188156400908,-0.1493790870780032],[0.6206434303560485,-0.11110952932351917]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.3089150364050073,-1.538072522389969,0.71338606911949],"aabb_xy":[[0.2548994401231072,-1.6020725252822259],[0.36293063268690723,-1.4740725194977116]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.22138762934917888,1.4883758135384775,0.71338606911949],"aabb_xy":[[0.13138762701515982,1.4108934589533648],[0.31138763168319794,1.5658581681235901]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.5301119667458807,-0.43272172364626593,0.71338606911949],"aabb_xy":[[-0.5801069777053328,-0.4827217226818577],[-0.48011695578642877,-0.3827217246106743]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.12968948099516586,-0.31504543127876694,0.71338606911949],"aabb_xy":[[-0.13847070814240212,-0.3238251785672971],[-0.12090825384792966,-0.3062656839902368]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[0.5324752894262574,0.9439180223683605,0.71338606911949],"aabb_xy":[[0.4949752887616787,0.9282309643681383],[0.569975290090836,0.9596050803685827]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[0.061480659605650745,-0.7347683296273801,0.71338606911949],"aabb_xy":[[0.011597962727954535,-0.784768328873655],[0.11136335648334696,-0.6847683303811054]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.47762882245391913,-0.9083376674436714,0.71338606911949],"aabb_xy":[[-0.5576288229241351,-0.9166483750580199],[-0.39762882198370325,-0.9000269598293231]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6742514188507289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5552.png","name":"5552"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5552.png","name":"5552"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1776.png","name":"1776"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8604.png","name":"8604"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5093.png","name":"5093"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3343.png","name":"3343"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":678.2498275254432,"rotation_z_degrees":242.12449286917456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01890907037816775,-0.011604138509298312,0.01927537324986819]},{"name":"camera_2","offset_m":[-0.0042486448537025455,-0.009658886719944566,-0.010347377608254514]},{"name":"camera_3","offset_m":[0.011210306082525903,0.011640850095153147,-0.0043867339587571105]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017660721103036178,0.0005753984038682127,0.0018296829419355226],"end_effector_yaw_offset_degrees":-0.8598168104219501},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013643175940091382,-0.00023817998079824062,0.0002524103546369589],"end_effector_yaw_offset_degrees":0.7308718565409282},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019589746593009732,-0.0003131621089456731,-0.0018290969181196082],"end_effector_yaw_offset_degrees":-0.18091907015561803},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0014033548851357142,0.0009804845910284937,-0.0011121123390130392],"end_effector_yaw_offset_degrees":-0.5738090804906599},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001761480841736616,-0.0010865326652678689,0.0011470853015432942],"end_effector_yaw_offset_degrees":-0.7909246807319006},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006804993828024308,-6.741911391703898e-05,-2.776132364189091e-05],"end_effector_yaw_offset_degrees":-0.7848860878887045},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016326802154930187,-5.712691827392739e-05,0.001026474804546635],"end_effector_yaw_offset_degrees":0.7218895314321876},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006797944833445478,0.001533561256944873,0.001743452630164585],"end_effector_yaw_offset_degrees":-0.8491111042863944},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00047036821111772257,0.0011727749574173747,-0.0006983508276073662],"end_effector_yaw_offset_degrees":0.07705189107518873}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002463767339906689,-0.0016018998355908044],"position_m":[0.2246637673399067,-0.0004018998355908045,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003671978295740157,-0.0015971521305853378],"position_m":[0.19112802170425985,-0.13429715213058535,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003852077459076424,-0.0024848788586971362],"position_m":[0.22395207745907642,-0.39418487885869713,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0042137115897143565,0.0019241292995069168],"position_m":[0.28701371158971434,0.2934241292995069,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"83dbb703d31689b40801eacc0b4efd70823ec79b1a2bb1c5ecfaef6247e7d408","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5552/tex_ceiling_textures_3343/tex_floor_textures_5093/tex_table_textures_1776/tex_wall_textures_8604","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9155303813966448062,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9155303813966448062,"visual_seed":9155303813966448062,"scene_id":"lab_003","finished_at":"2026-09-08T20:40:54"}
+{"episode_id":"ep_000024","started_at":"2026-09-08T20:52:57","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.056602260786865144,-1.581937740659344,0.71338606911949],"aabb_xy":[[-0.07410226006495202,-1.5992758407256897],[-0.03910226150877826,-1.5645996405929978]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.26123667796512484,0.6771690451699106,0.71338606911949],"aabb_xy":[[-0.3212366788259376,0.6257426151634241],[-0.201236677104312,0.7285954751763969]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.639944749940383,0.5167454869267463,0.71338606911949],"aabb_xy":[[0.605628472765765,0.46674548695356854],[0.6742610271150009,0.566745486899924]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.11275552513305631,0.68322958950252,0.71338606911949],"aabb_xy":[[0.07525552518928989,0.6749364994676834],[0.15025552507682272,0.6915226795373566]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.37476753569053134,0.25666838451997176,0.71338606911949],"aabb_xy":[[-0.3802254813275514,0.17666838121231265],[-0.36930959005351127,0.33666838782763087]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.07244684845073512,-0.6646083023531295,0.71338606911949],"aabb_xy":[[0.022446847500202302,-0.6961574493566508],[0.12244684940126792,-0.633059155349608]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.1713188631257374,0.34865288030161823,0.71338606911949],"aabb_xy":[[-0.19916389990634453,0.3178683815633066],[-0.14347382634513028,0.37943737903992997]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.08675777024862952,-2.1522416104612625,0.71338606911949],"aabb_xy":[[-0.10925419168249362,-2.17474161026801],[-0.06426134881476542,-2.129741610654515]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.3565378732618729,-2.2334866564075937,0.71338606911949],"aabb_xy":[[0.30653787368553825,-2.2834672353596996],[0.4065378728382077,-2.1835060774554877]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.26818017012389517,-1.5056021684949668,0.71338606911949],"aabb_xy":[[-0.2787476497819942,-1.5161471986079753],[-0.25761269046579616,-1.4950571383819582]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.5111663392127737,-2.5431251388676706,0.71338606911949],"aabb_xy":[[-0.5171328781535094,-2.5490862835270343],[-0.5051998002720379,-2.537163994208306]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.514435480575065,-1.3661079528673126,0.71338606911949],"aabb_xy":[[-0.5256805361456829,-1.3773497505914076],[-0.5031904250044472,-1.354866155143217]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.5877106121941547,-0.9017211885995777,0.71338606911949],"aabb_xy":[[0.5237106130243846,-0.9484878757185402],[0.6517106113639245,-0.8549545014806152]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.5100188425245602,1.2349619819174693,0.71338606911949],"aabb_xy":[[0.5039818295238956,1.2289352808485214],[0.516055855525225,1.2409886829864176]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.6735539140328268,-0.4835983688020966,0.71338606911949],"aabb_xy":[[0.6360539142157933,-0.48823658011323845],[0.7110539138498604,-0.4789601574909548]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.1337769947986559,-1.3409365068333516,0.71338606911949],"aabb_xy":[[0.05377699763908059,-1.3524841077911685],[0.21377699195823116,-1.3293889058755344]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.5795169676964743,0.6165228715516609,0.71338606911949],"aabb_xy":[[-0.6695169713733924,0.5550904649745564],[-0.489516964019556,0.6779552781287651]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.07164510847522554,-0.9634285418493247,0.71338606911949],"aabb_xy":[[0.001645106872946056,-0.9768613350509823],[0.14164511007750502,-0.9499957486476671]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[-0.5004509604843725,-1.054584726579476,0.71338606911949],"aabb_xy":[[-0.5057885361503771,-1.079584727508616],[-0.495113384818368,-1.0295847256503363]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.31534109492541096,-1.420816739515762,0.71338606911949],"aabb_xy":[[0.2780098184001684,-1.4554697943106143],[0.3526723714506536,-1.3861636847209098]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.36755714820224944,-0.1381713244463234,0.71338606911949],"aabb_xy":[[-0.43755715001099493,-0.15952509321051078],[-0.29755714639350406,-0.11681755568213603]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.10941607439256318,0.9816646697719635,0.71338606911949],"aabb_xy":[[0.10142208581485977,0.9736645896768731],[0.11741006297026656,0.9896647498670538]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[-0.13140651595448738,-0.8677117115637807,0.71338606911949],"aabb_xy":[[-0.21512874145456984,-0.9577117150984765],[-0.04768429045440492,-0.7777117080290846]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713883637583911,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6323.png","name":"6323"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6323.png","name":"6323"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5463.png","name":"5463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/978.png","name":"978"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5794.png","name":"5794"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8570.png","name":"8570"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":806.5303287350982,"rotation_z_degrees":190.06937563814867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017163876392517114,-0.008345391362550037,0.004364472587096178]},{"name":"camera_2","offset_m":[0.004051716306156444,0.011141519024288837,-0.007650229064178494]},{"name":"camera_3","offset_m":[-0.011542425851122657,0.000608598481697583,0.015692722829914112]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013187394740922379,-0.0018167655003609004,-0.0001835723099646528],"end_effector_yaw_offset_degrees":-0.6403826224268501},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00045949933655384636,0.00021185735076803764,0.0017923868746820048],"end_effector_yaw_offset_degrees":0.9429586871325202},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.76005621092439e-05,-0.0004738260073981176,0.0018010580026295636],"end_effector_yaw_offset_degrees":0.6687242965027973},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0018196075839586393,-0.0014328765814512314,0.0006417032254516864],"end_effector_yaw_offset_degrees":-0.7701448142062823},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00043366514568082956,0.0008938999728550358,-0.0001493066133195118],"end_effector_yaw_offset_degrees":0.8390727615370299},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001745123073503982,-0.000679058251826779,0.0004896867290530189],"end_effector_yaw_offset_degrees":-0.22837253215699582},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-8.700147693425811e-05,-0.00024901844052496497,-0.0013029210535019796],"end_effector_yaw_offset_degrees":-0.4718559148574675},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00037098221985172293,-0.0008183807717190438,-0.0012840290105799136],"end_effector_yaw_offset_degrees":0.22664349713105425},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006201121891971373,-0.001197261334153427,-0.0018306002030289573],"end_effector_yaw_offset_degrees":0.7271062701552646}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017194528796690323,0.0007802358487927954],"position_m":[0.22048054712033097,0.001980235848792795,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004114483213671132,0.0025895556987507607],"position_m":[0.19891448321367114,-0.13011044430124924,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004304288231062755,0.0030687780872415077],"position_m":[0.22440428823106273,-0.3886312219127585,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002675284382317333,0.003732611503993102],"position_m":[0.28547528438231734,0.2952326115039931,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"0fcf5d3b1c0a29c2f8c4c4ff1a07bb63c894bd0c148447b47e1ba6a61d0504fe","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6323/tex_ceiling_textures_8570/tex_floor_textures_5794/tex_table_textures_5463/tex_wall_textures_978","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2755942983152672844,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2755942983152672844,"visual_seed":2755942983152672844,"scene_id":"lab_003","finished_at":"2026-09-08T21:03:35"}
+{"episode_id":"ep_000025","started_at":"2026-09-08T21:03:43","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[0.38184632228929294,-2.2071012039401308,0.71338606911949],"aabb_xy":[[0.30184631903145,-2.2870977117321143],[0.4618463255471359,-2.1271046961481463]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[0.6209234229306972,0.015248902554292787,0.71338606911949],"aabb_xy":[[0.6169629391609629,0.007581037968772186],[0.6248839067004316,0.022916767139813388]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.49725225449059557,-0.21298430129908663,0.71338606911949],"aabb_xy":[[-0.503564354026934,-0.21875124055230544],[-0.49094015495425714,-0.20721736204586777]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.3063930790054872,-1.1043449188079977,0.71338606911949],"aabb_xy":[[0.2688930805820868,-1.1175091327758282],[0.3438930774288875,-1.0911807048401672]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[0.5425757690473589,0.48238878344620906,0.71338606911949],"aabb_xy":[[0.4785757676393682,0.43059983192228435],[0.6065757704553495,0.5341777349701338]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.033049115341458046,-1.0974213914599666,0.71338606911949],"aabb_xy":[[0.02600766439071045,-1.1044481431977615],[0.04009056629220564,-1.0903946397221722]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.2970097895303068,-0.686306098696698,0.71338606911949],"aabb_xy":[[-0.30471298020438387,-0.6940154693954359],[-0.2893065988562298,-0.6785967279979599]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[0.17030811774544052,-1.3940370111201097,0.71338606911949],"aabb_xy":[[0.08030811832706963,-1.4274125079642994],[0.2603081171638114,-1.36066151427592]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.6244535736723269,-2.5559871545676804,0.71338606911949],"aabb_xy":[[-0.6569152745542542,-2.5861199866825824],[-0.5919918727903993,-2.5258543224527767]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.6940754735023122,-1.6941407229450047,0.71338606911949],"aabb_xy":[[0.6876616598591272,-1.7005505431926728],[0.7004892871454971,-1.6877309026973362]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.6353396677322568,-1.4271189614482318,0.71338606911949],"aabb_xy":[[-0.64346735592557,-1.4360325698589398],[-0.6272119795389436,-1.4182053530375243]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.34343942682566686,-1.9912284338690884,0.71338606911949],"aabb_xy":[[0.3184394276600338,-1.9981806795744452],[0.36843942599130003,-1.984276188163732]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.5229061615292081,-0.8314102693435443,0.71338606911949],"aabb_xy":[[0.47762754664805884,-0.8954102686917279],[0.5681847764103574,-0.7674102699953605]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.4350510978852846,-0.3467435314477547,0.71338606911949],"aabb_xy":[[0.37105109762481375,-0.39175233080068267],[0.4990510981457554,-0.30173473209482665]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.033862741935006935,-2.1514984669319244,0.71338606911949],"aabb_xy":[[-0.05636274145871434,-2.1739944143825447],[-0.011362742411299536,-2.129002519481303]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.31926092525191824,-0.5143875019040425,0.71338606911949],"aabb_xy":[[-0.3808516844759111,-0.5783875000130894],[-0.2576701660279255,-0.4503875037949956]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.5888414801281678,-0.6356949598414161,0.71338606911949],"aabb_xy":[[0.551807370700108,-0.6700721671751255],[0.6258755895562275,-0.6013177525077067]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.06887348146994732,0.7712110188773034,0.71338606911949],"aabb_xy":[[0.04635978964649011,0.7012110182762958],[0.0913871732934045,0.8412110194783109]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[0.3560443219990812,0.9749491617176225,0.71338606911949],"aabb_xy":[[0.2920443187804434,0.9282260498186142],[0.4200443252177191,1.0216722736166308]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.30147843880143177,-2.3472198416573202,0.71338606911949],"aabb_xy":[[0.2214784408206467,-2.354821382619172],[0.38147843678221677,-2.3396183006954683]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.1744781859618283,-1.97608514052683,0.71338606911949],"aabb_xy":[[-0.18269273107751222,-1.984761730824471],[-0.16626364084614426,-1.9674085502291883]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.2414921261584419,0.537554358686255,0.71338606911949],"aabb_xy":[[-0.3314921247529119,0.521303772372834],[-0.15149212756397198,0.553804944999676]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.2503376458649833,1.1981117459561013,0.71338606911949],"aabb_xy":[[-0.3303376445218693,1.1836068870318384],[-0.1703376472080973,1.2126166048803642]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[-0.0724393895721317,-2.2928996384011353,0.71338606911949],"aabb_xy":[[-0.07687001892697187,-2.298348010135818],[-0.06800876021729152,-2.287451266666453]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.2941499644459164,-2.1313224485857907,0.71338606911949],"aabb_xy":[[-0.3439667439107511,-2.181322447070094],[-0.24433318498108159,-2.0813224501014873]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[0.1848845574440513,1.0147961499149063,0.71338606911949],"aabb_xy":[[0.12988455924230646,0.9742741832884686],[0.23988455564579614,1.0553181165413437]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[0.5732422317943426,0.856410880983161,0.71338606911949],"aabb_xy":[[0.5359109552691,0.8217578261883087],[0.6105735083195852,0.8910639357780132]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_27","position":[-0.033488894251019974,1.4496568753452759,0.71338606911949],"aabb_xy":[[-0.08348889520155278,1.4181077283417545],[0.01651110669951284,1.4812060223487973]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_28","position":[-0.29321237372904024,1.358045266350762,0.71338606911949],"aabb_xy":[[-0.30329408080761366,1.2780452684586474],[-0.2831306666504667,1.4380452642428767]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[-0.10188982298667415,-2.4842323000197633,0.71338606911949],"aabb_xy":[[-0.12438624442053825,-2.5067322998265102],[-0.07939340155281005,-2.4617323002130154]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_30","position":[-0.4944139680436944,1.1698994629653665,0.71338606911949],"aabb_xy":[[-0.5227436779922348,1.1654387207716495],[-0.4660842580951543,1.1743602051590836]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_31","position":[-0.3625903882903383,0.9495305936630167,0.71338606911949],"aabb_xy":[[-0.3800903217243216,0.9320305937427822],[-0.34509045485635487,0.9670305935832513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671487522115687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5707.png","name":"5707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5707.png","name":"5707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5673.png","name":"5673"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6451.png","name":"6451"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8015.png","name":"8015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9685.png","name":"9685"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":845.9192245513977,"rotation_z_degrees":117.44030422786521,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012078112179523549,-7.089582401481956e-05,0.001275199780231627]},{"name":"camera_2","offset_m":[0.015874673402713844,0.00053922718695118,-0.006645517855191385]},{"name":"camera_3","offset_m":[0.010569116042852357,-0.00411425202594156,0.0015950571448912418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008266436689268832,0.000976859134802437,-4.9298592145282814e-05],"end_effector_yaw_offset_degrees":0.20813342274363533},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004258637299818387,-2.8640666999291218e-05,0.00034983032611749605],"end_effector_yaw_offset_degrees":-0.07035692673863703},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004817851528599428,-0.0008765848991252089,-0.0014985746050640372],"end_effector_yaw_offset_degrees":0.2437060691449675},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00038085718578180364,-0.0012545323930690793,0.0005793633521874765],"end_effector_yaw_offset_degrees":-0.3084867923926864},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.001937708748649106,0.0018282275668459022,0.0011903032019238164],"end_effector_yaw_offset_degrees":0.6241244081367472},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0016546163193800409,0.0018934393154029791,0.00036789962529835745],"end_effector_yaw_offset_degrees":-0.004507362966899686},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-4.577158721406861e-05,0.0013133573617688924,0.0003708750181045835],"end_effector_yaw_offset_degrees":0.2047516314007729},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00026901589728349235,-0.001622418609530451,-0.0007913939738485843],"end_effector_yaw_offset_degrees":-0.7474223460554246},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018092896488175816,0.00082068033229739,0.0010571279442380967],"end_effector_yaw_offset_degrees":-0.16870061859752683}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008097302050801324,-0.0007910005935088662],"position_m":[0.22300973020508014,0.0004089994064911337,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004469381645043901,-0.003462269748019684],"position_m":[0.1903306183549561,-0.1361622697480197,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00476138057305162,0.0035419201854197642],"position_m":[0.2248613805730516,-0.3881580798145802,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004923366901287468,-0.002641984533901881],"position_m":[0.28772336690128747,0.28885801546609813,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"6b72953e394488f1cf88b90e46cf804d5e5f6595248d05caf6ae78dad5936b4c","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5707/tex_ceiling_textures_9685/tex_floor_textures_8015/tex_table_textures_5673/tex_wall_textures_6451","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8464324001860939677,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8464324001860939677,"visual_seed":8464324001860939677,"scene_id":"lab_003","finished_at":"2026-09-08T21:14:49"}
+{"episode_id":"ep_000026","started_at":"2026-09-08T21:14:58","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.21085000115085256,1.5734992233823042,0.71338606911949],"aabb_xy":[[-0.3008500008740267,1.5504258708471241],[-0.12085000142767834,1.5965725759174838]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.5739683063386971,-1.3076331460536161,0.71338606911949],"aabb_xy":[[-0.6389683089764906,-1.3591127447530633],[-0.5089683037009036,-1.2561535473541694]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[0.6249764964810423,1.2261225071059378,0.71338606911949],"aabb_xy":[[0.6155590219111795,1.2167063299682188],[0.634393971050905,1.2355386842436569]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.024261186220579822,1.0585035555775493,0.71338606911949],"aabb_xy":[[-0.010738812909375842,1.0527583345018852],[0.059261185350535484,1.0642487766532134]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.26534436046449406,0.8425172266975332,0.71338606911949],"aabb_xy":[[-0.3453443574275332,0.7654415850537597],[-0.1853443635014549,0.9195928683413066]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.4848708348750054,0.3293666708997458,0.71338606911949],"aabb_xy":[[-0.5498708334320783,0.29961413748586313],[-0.4198708363179326,0.35911920431362837]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.4197802932134065,1.331892713087231,0.71338606911949],"aabb_xy":[[0.3297802895364882,1.2704603065101263],[0.5097802968903244,1.393325119664335]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.23888439214834367,-1.3619929663452433,0.71338606911949],"aabb_xy":[[0.23354681648233908,-1.3869929672743833],[0.2442219678143482,-1.3369929654161037]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.5734202100655621,0.09158913535024071,0.71338606911949],"aabb_xy":[[0.5590857849393986,0.07952891979570188],[0.5877546351917255,0.10364935090477957]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[0.0901006575631621,-0.949448563980402,0.71338606911949],"aabb_xy":[[0.02010065596088262,-0.9628813571820595],[0.16010065916544158,-0.9360157707787443]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.41328768951695416,-1.0821004568846129,0.71338606911949],"aabb_xy":[[0.3492876891394205,-1.1318457237354251],[0.4772876898944877,-1.0323551900338006]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[-0.11760639102480797,-1.3354222582206166,0.71338606911949],"aabb_xy":[[-0.1257340792181212,-1.344335866631324],[-0.10947870283149476,-1.326508649809909]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.26467741983569815,1.2349890760889513,0.71338606911949],"aabb_xy":[[-0.27193866740610556,1.2222020658254418],[-0.25741617226529073,1.2477760863524607]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.34775355912617933,-0.7003056023473513,0.71338606911949],"aabb_xy":[[-0.3727535582918124,-0.7072578480527079],[-0.32275355996054617,-0.6933533566419947]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.3777214795984736,0.734616195563889,0.71338606911949],"aabb_xy":[[0.35525670962706846,0.7121161946850284],[0.4001862495698787,0.7571161964427494]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.5402919740057011,-2.536076279749389,0.71338606911949],"aabb_xy":[[0.5157783499086952,-2.5603408730514254],[0.5648055981027069,-2.5118116864473525]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[0.6564603101300874,-1.5387323646294604,0.71338606911949],"aabb_xy":[[0.6230201349340676,-1.5721759904603902],[0.6899004853261068,-1.50528873879853]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.40588756187497843,1.4682872390150075,0.71338606911949],"aabb_xy":[[0.3258875586109653,1.4547272067060941],[0.48588756513899156,1.4818472713239208]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.1901983144517314,-1.6107393422119094,0.71338606911949],"aabb_xy":[[-0.22704886238871902,-1.648239343034943],[-0.1533477665147438,-1.5732393413888754]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[0.1923204623304483,1.3431469123896136,0.71338606911949],"aabb_xy":[[0.12832046374387582,1.2961399489901049],[0.25632046091702076,1.3901538757891223]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.4928693153263839,-1.5687818433981227,0.71338606911949],"aabb_xy":[[0.43786931614979435,-1.6237715181730799],[0.5478693145029734,-1.5137921686231646]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.6515419016622683,0.7346924136431308,0.71338606911949],"aabb_xy":[[0.6428279326123337,0.7121924129839423],[0.6602558707122027,0.7571924143023188]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[-0.07338684964787001,-1.7299846292152106,0.71338606911949],"aabb_xy":[[-0.11071812617311264,-1.764637684010063],[-0.03605557312262739,-1.6953315744203585]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.21759633347612006,-1.2928054008419052,0.71338606911949],"aabb_xy":[[-0.2326986349371381,-1.3079069224729667],[-0.2024940320151019,-1.2777038792108433]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668704015650123,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6432.png","name":"6432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6432.png","name":"6432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9549.png","name":"9549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1944.png","name":"1944"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1864.png","name":"1864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7382.png","name":"7382"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":662.730940989673,"rotation_z_degrees":28.833518997092504,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0010295349847920972,-0.016274431125443214,0.014636970921492926]},{"name":"camera_2","offset_m":[-0.01724281817860097,-0.014559060784145487,-0.009891028432404388]},{"name":"camera_3","offset_m":[0.010739992517341385,0.0010034814183341283,0.0011402576626113534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010069274470256681,-0.0013354857442234675,-0.00019415208013141838],"end_effector_yaw_offset_degrees":0.7028225254251821},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011674083245192149,0.0005247006675561279,0.001233204971870966],"end_effector_yaw_offset_degrees":0.7850824067263198},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009080227326151726,0.001290728646121443,-0.0009948097125772914],"end_effector_yaw_offset_degrees":0.02262280290532903},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016327693864187382,0.001325352882659614,-0.0010500380590010305],"end_effector_yaw_offset_degrees":-0.18522769337116074},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0008410672377842658,0.0006541823584906127,0.0016424958964169575],"end_effector_yaw_offset_degrees":-0.6757498150027053},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0011398085570207632,-0.0001474999362781051,0.0002055875383640761],"end_effector_yaw_offset_degrees":0.5857455330146533},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019842255805157484,-0.0005164823950650828,0.0008399835633244698],"end_effector_yaw_offset_degrees":-0.3267418487542195},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011523504893157885,0.0018654758538721567,0.0007769935512093608],"end_effector_yaw_offset_degrees":-0.07779637798454297},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010043101545013395,0.0011758517289448159,-0.001793961829629977],"end_effector_yaw_offset_degrees":-0.15672977872088945}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007003120123346505,0.00358300797421648],"position_m":[0.22290031201233465,0.00478300797421648,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002042268286850254,0.0018029811584274746],"position_m":[0.19275773171314975,-0.13089701884157254,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011639497544186075,0.0032858289890049667],"position_m":[0.2212639497544186,-0.388414171010995,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0025617032119837468,0.00290021509418482],"position_m":[0.28023829678801626,0.2944002150941848,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"f08ffe075b003489368a8a44d0a1df73d26f326388a113803fafb8c5b3d34121","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6432/tex_ceiling_textures_7382/tex_floor_textures_1864/tex_table_textures_9549/tex_wall_textures_1944","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2737097624842530973,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2737097624842530973,"visual_seed":2737097624842530973,"scene_id":"lab_003","finished_at":"2026-09-08T21:25:07"}
+{"episode_id":"ep_000027","started_at":"2026-09-08T21:25:17","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.593100818807059,-2.243364756253641,0.71338606911949],"aabb_xy":[[0.5681008195350966,-2.2597101198498035],[0.6181008180790212,-2.227019392657479]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[-0.2652023253034962,-2.1650747719613292,0.71338606911949],"aabb_xy":[[-0.320195536640633,-2.220074772300123],[-0.2102091139663595,-2.1100747716225356]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.12603897101845574,-0.8668807546975663,0.71338606911949],"aabb_xy":[[-0.15232779533889637,-0.8931521883522174],[-0.09975014669801506,-0.840609321042915]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.4044964698697887,0.22877927442067758,0.71338606911949],"aabb_xy":[[-0.41384347745208394,0.21447565220303355],[-0.3951494622874935,0.2430828966383216]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.4111093118821166,0.8839632295961204,0.71338606911949],"aabb_xy":[[-0.42811940917216723,0.8678287410978465],[-0.3940992145920659,0.9000977180943943]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.3748453219080832,-2.4837803525367024,0.71338606911949],"aabb_xy":[[-0.42484532226864924,-2.533760339746305],[-0.3248453215475171,-2.433800365327099]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[0.1060966554785544,1.2131612070928224,0.71338606911949],"aabb_xy":[[0.026096652220711447,1.1331646993008384],[0.18609665873639736,1.2931577148848064]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.4455282568105894,0.44776468615098874,0.71338606911949],"aabb_xy":[[0.3755282550018439,0.42641091738680137],[0.5155282586193348,0.4691184549151761]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.5063882676515925,-0.6492399091417065,0.71338606911949],"aabb_xy":[[0.44238827125601954,-0.71320319756044],[0.5703882640471657,-0.5852766207229729]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.6199112134428764,0.5600396011226829,0.71338606911949],"aabb_xy":[[-0.6549112117535718,0.5523245861991373],[-0.5849112151321809,0.5677546160462286]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.26311483703705724,-1.791510991795745,0.71338606911949],"aabb_xy":[[-0.3271148343394036,-1.8358774187636016],[-0.19911483973471078,-1.747144564827888]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.19132090873304386,0.9004046011616258,0.71338606911949],"aabb_xy":[[-0.22632090862906273,0.892030365649686],[-0.15632090883702499,0.9087788366735658]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.21117743245954967,1.5189680257699725,0.71338606911949],"aabb_xy":[[0.1878955902614183,1.4339680244727442],[0.234459274657681,1.6039680270672003]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.4231932931368552,-1.5901579596340287,0.71338606911949],"aabb_xy":[[-0.47319329271318994,-1.640138538586135],[-0.3731932935605205,-1.540177380681923]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[-0.022562096496840933,1.338270212378427,0.71338606911949],"aabb_xy":[[-0.02746138880340443,1.3105932930758577],[-0.017662804190277437,1.3659471316809952]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.31145365498525224,-0.695726680173621,0.71338606911949],"aabb_xy":[[0.28148609807542657,-0.7257266804715067],[0.3414212118950779,-0.6657266798757352]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.6887076266218999,0.13972600178054906,0.71338606911949],"aabb_xy":[[0.6662084908956729,0.11722600100228608],[0.7112067623481269,0.16222600255881203]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.4740179306002956,1.1659342315579635,0.71338606911949],"aabb_xy":[[0.3940179331967022,1.0859416603597805],[0.554017928003889,1.245926802756146]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.6249466784044599,-2.4124702873823636,0.71338606911949],"aabb_xy":[[0.6093909089941947,-2.428020720626771],[0.6405024478147252,-2.396919854137957]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.26134459887056016,0.5762749950664072,0.71338606911949],"aabb_xy":[[-0.2683849088040972,0.49627499566673594],[-0.2543042889370232,0.6562749944660787]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.6258394619016193,-1.0961449633476907,0.71338606911949],"aabb_xy":[[-0.6483042318730244,-1.118644964226551],[-0.6033746919302142,-1.07364496246883]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.5730783391417753,1.563415143234804,0.71338606911949],"aabb_xy":[[-0.5786600107759041,1.5509151434170285],[-0.5674966675076465,1.5759151430525795]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[-0.37539389022648423,1.2161054187023494,0.71338606911949],"aabb_xy":[[-0.4393938893962542,1.1693387315833867],[-0.3113938910567143,1.2628721058213117]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[-0.10982242502335982,-1.2483558370822927,0.71338606911949],"aabb_xy":[[-0.15200683918419056,-1.312355837359504],[-0.06763801086252909,-1.1843558368050815]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[0.40192780908687076,0.675409529103673,0.71338606911949],"aabb_xy":[[0.36442780926983726,0.6707713177925311],[0.43942780890390437,0.6800477404148147]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[0.18334874785937505,1.0142273119459237,0.71338606911949],"aabb_xy":[[0.13335391493143345,0.9642273130506802],[0.23334358078731665,1.0642273108411673]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[0.125034014758568,-1.9969287592701044,0.71338606911949],"aabb_xy":[[0.10144889129467319,-2.061928761515536],[0.1486191382224629,-1.9319287570246724]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[-0.17738370439520612,0.7484987386263668,0.71338606911949],"aabb_xy":[[-0.19488370352957327,0.7386191115887789],[-0.15988370526083892,0.7583783656639546]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_28","position":[0.2401046365342785,0.8415074475016842,0.71338606911949],"aabb_xy":[[0.2198203338108797,0.8212248223589752],[0.2603889392576772,0.8617900726443929]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_29","position":[-0.41544444552420223,1.4368988526620678,0.71338606911949],"aabb_xy":[[-0.44990692353729,1.4302351754791451],[-0.38098196751111446,1.4435625298449906]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_30","position":[0.6304797167454801,1.3920799598772469,0.71338606911949],"aabb_xy":[[0.5804797150839852,1.342081517621544],[0.6804797184069747,1.4420784021329494]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[-0.33369979852755316,-1.0176985884069378,0.71338606911949],"aabb_xy":[[-0.3495842917928783,-1.032051528705762],[-0.317815305262228,-1.0033456481081138]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_32","position":[-0.1524436577298115,1.2987311297379152,0.71338606911949],"aabb_xy":[[-0.1774436568954446,1.2917788840325586],[-0.12744365856417839,1.3056833754432717]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_33","position":[0.6526241116181206,0.5208701286960129,0.71338606911949],"aabb_xy":[[0.6485459537110709,0.5167891484477497],[0.6567022695251703,0.5249511089442763]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682262005804552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3510.png","name":"3510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5840.png","name":"5840"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/592.png","name":"592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6292.png","name":"6292"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":561.166539593196,"rotation_z_degrees":119.23241568504689,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009605005879085401,0.011467521179766484,-0.00980736999736755]},{"name":"camera_2","offset_m":[0.003942556576735982,-0.008132745075553763,0.005841416836175915]},{"name":"camera_3","offset_m":[0.006719704434770692,-0.013007104188319966,-0.00976141759616323]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012868780965162338,-0.0009970019624415607,-0.0019890841465661628],"end_effector_yaw_offset_degrees":-0.5199261499683987},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011460620957118796,-0.0011819756240976523,0.00033183412937163757],"end_effector_yaw_offset_degrees":0.04050624926535118},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001033235087368134,0.001985524032232279,-0.0011200612692109043],"end_effector_yaw_offset_degrees":0.47575847564387286},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0015458219263827582,4.133642132330556e-05,0.0017658555632401388],"end_effector_yaw_offset_degrees":-0.8063344862306023},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001624374359046236,0.0008632197292589407,0.0011167351360545016],"end_effector_yaw_offset_degrees":0.747862494709046},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00015385757799103988,-0.001326652466374046,-0.001611893662506117],"end_effector_yaw_offset_degrees":0.06529438166702528},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004893779188217299,-0.00013101278843444773,1.9776982270126777e-05],"end_effector_yaw_offset_degrees":0.3717598169923375},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00011386967073307862,0.0010830200365791664,-0.0010485402263510917],"end_effector_yaw_offset_degrees":0.38352665838041733},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[6.605623100674248e-05,0.0015458319230949031,0.0009827441087880088],"end_effector_yaw_offset_degrees":0.844160693897585}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030071525189647097,0.002154870738349436],"position_m":[0.2191928474810353,0.0033548707383494357,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030574056076491446,0.0013799784138496026],"position_m":[0.19785740560764914,-0.13132002158615041,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035364067314755943,-0.002408685095753377],"position_m":[0.2165635932685244,-0.39410868509575336,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0023801254672744967,-0.00440592142156538],"position_m":[0.2804198745327255,0.2870940785784346,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"dc0028debe1d62463946bd1d240d5993c24b1e6745da2e27b6bcffba73dd6dde","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9529/tex_ceiling_textures_6292/tex_floor_textures_592/tex_table_textures_3510/tex_wall_textures_5840","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4688873372372217589,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4688873372372217589,"visual_seed":4688873372372217589,"scene_id":"lab_003","finished_at":"2026-09-08T21:35:45"}
+{"episode_id":"ep_000028","started_at":"2026-09-08T21:35:54","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.44060160643841373,-1.2428087047078018,0.71338606911949],"aabb_xy":[[0.39060160541927846,-1.27927492044563],[0.490601607457549,-1.206342488969974]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.2608376547301823,-2.1239818091567173,0.71338606911949],"aabb_xy":[[0.2263753073320404,-2.1584756915545396],[0.29530000212832397,-2.089487926758894]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.4740551202248737,-0.3477378958103463,0.71338606911949],"aabb_xy":[[0.4609038742535845,-0.3727378955670329],[0.4872063661961632,-0.3227378960536598]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.179905043268619,-2.5687901893048086,0.71338606911949],"aabb_xy":[[-0.1975806738572173,-2.5864704055842114],[-0.16222941268002064,-2.551109973025406]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[-0.3634754974966037,-1.2868266835590885,0.71338606911949],"aabb_xy":[[-0.3732314870057775,-1.296589217618323],[-0.35371950798742974,-1.277064149499854]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[0.12522196154168563,-1.0125113473963634,0.71338606911949],"aabb_xy":[[0.1126192624046092,-1.0251067436212289],[0.13782466067876212,-0.9999159511714979]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[0.011595479092874839,-1.3060356676315934,0.71338606911949],"aabb_xy":[[-0.07340451932454839,-1.3909099630938784],[0.09659547751029807,-1.2211613721693084]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.3473298131677389,-0.7540461865165751,0.71338606911949],"aabb_xy":[[-0.3564896921116155,-0.7605774045601121],[-0.3381699342238623,-0.747514968473038]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[-0.09422578089215428,-1.057203687905869,0.71338606911949],"aabb_xy":[[-0.12985493679211402,-1.092836354662722],[-0.05859662499219452,-1.021571021149016]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.6019324469460656,0.2572733569976453,0.71338606911949],"aabb_xy":[[0.5979719631763313,0.2496054924121247],[0.6058929307158,0.2649412215831659]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.03508648761502964,1.5413366562460795,0.71338606911949],"aabb_xy":[[-0.055370790338428386,1.5210540311033705],[-0.014802184891630868,1.5616192813887881]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.42289658247142037,0.4598915050027217,0.71338606911949],"aabb_xy":[[-0.4868965817655886,0.39590536463386744],[-0.35889658317725215,0.5238776453715759]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.33477310233288105,-1.8421743457914097,0.71338606911949],"aabb_xy":[[-0.34181341226641804,-1.9221743451910813],[-0.32773279239934405,-1.7621743463917385]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.4517803389451198,-2.1143344007820817,0.71338606911949],"aabb_xy":[[-0.5094108078323906,-2.174334399708792],[-0.39414987005784885,-2.0543344018553706]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.24260707509776658,-1.1867396512931148,0.71338606911949],"aabb_xy":[[0.21760707593213346,-1.1936918969984713],[0.2676070742633997,-1.1797874055877582]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.3451141027656033,1.5140193061706193,0.71338606911949],"aabb_xy":[[-0.4151141061571652,1.4787035324671882],[-0.27511409937404124,1.54933507987405]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.28544288128421946,-1.4091279235030973,0.71338606911949],"aabb_xy":[[-0.2919445177922241,-1.4188957455294071],[-0.27894124477621485,-1.3993601014767876]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.37312291210380394,1.3339548685197347,0.71338606911949],"aabb_xy":[[-0.4280966341401368,1.2789548689555015],[-0.31814919006747105,1.3889548680839678]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.6085054932943537,-0.4333077526972797,0.71338606911949],"aabb_xy":[[0.5445054910739466,-0.477680836822568],[0.6725054955147607,-0.38893466857199144]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[0.6686439803435873,1.1687232685972395,0.71338606911949],"aabb_xy":[[0.6530882109333221,1.1531728353528323],[0.6841997497538527,1.1842737018416467]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[-0.10767833434832075,-1.9506163505306837,0.71338606911949],"aabb_xy":[[-0.1976783329427907,-1.9668669368441047],[-0.01767833575385079,-1.9343657642172627]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[0.4561073000278866,1.1254032685623234,0.71338606911949],"aabb_xy":[[0.37110730133581193,1.0934174051674446],[0.5411072987199612,1.1573891319572023]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[-0.606698338835301,1.3488435470854765,0.71338606911949],"aabb_xy":[[-0.6116543590201823,1.326343546883355],[-0.6017423186504199,1.3713435472875983]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[0.6391583362477553,1.3200788149446514,0.71338606911949],"aabb_xy":[[0.5751583359872844,1.2750700155917232],[0.703158336508226,1.3650876142975792]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.03522662641990515,1.7338582867117984,0.71338606911949],"aabb_xy":[[-0.0852266280813999,1.683859844456096],[0.014773375241589613,1.7838567289675014]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[-0.4111661942847804,0.22202608369798327,0.71338606911949],"aabb_xy":[[-0.4911661957149076,0.1425089286853738],[-0.3311661928546532,0.30154323871059274]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.31979440487620686,-0.3626497994830351,0.71338606911949],"aabb_xy":[[-0.3747944044979527,-0.4176334922705079],[-0.264794405254461,-0.30766610669556244]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[0.47722523310796894,1.4035903219439931,0.71338606911949],"aabb_xy":[[0.4625818275539359,1.388931602287209],[0.49186863866200187,1.4182490416007774]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[0.20995249763171997,1.0381704790446489,0.71338606911949],"aabb_xy":[[0.20391548463105527,1.032143777975701],[0.21598951063238472,1.0441971801135972]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_29","position":[0.15476922065684517,-2.1153393076672145,0.71338606911949],"aabb_xy":[[0.13259669368019433,-2.1375149748233375],[0.17694174763349602,-2.0931636405110914]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_30","position":[-0.04402685184036337,0.6481709617256879,0.71338606911949],"aabb_xy":[[-0.08621126600119411,0.5841709614484767],[-0.001842437679532627,0.7121709620028991]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_31","position":[-0.39832511901660395,-1.4551869633348247,0.71338606911949],"aabb_xy":[[-0.40202838034574284,-1.4588889816435422],[-0.39462185768746505,-1.4514849450261067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663428407948109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2632.png","name":"2632"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2632.png","name":"2632"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4671.png","name":"4671"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3217.png","name":"3217"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":507.52502432574795,"rotation_z_degrees":55.40516517132548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013075362576452226,-0.005904388685355113,-0.018546316519636653]},{"name":"camera_2","offset_m":[0.01320906170424917,-0.007676876871990949,0.016694770290807976]},{"name":"camera_3","offset_m":[0.017285544045858425,-0.0023865173414281717,7.67043408442386e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018462251790018831,0.00018167924681830204,-0.0011909651531121618],"end_effector_yaw_offset_degrees":0.2295628255957296},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00037929320019945137,0.0017511192748738418,0.0019696432446136983],"end_effector_yaw_offset_degrees":-0.025456258807840415},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015979174467977857,-0.0015496334109922003,-0.0013935377697240053],"end_effector_yaw_offset_degrees":-0.7891411364527603},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008347698756875489,0.0017010934539546333,0.0017291496984573685],"end_effector_yaw_offset_degrees":-0.3064495517266701},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.001061853309423565,-0.00041026077669601996,-0.0006945686299211916],"end_effector_yaw_offset_degrees":0.17528999868165518},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[3.411757025271892e-05,0.00048556723829784945,0.001498024777395618],"end_effector_yaw_offset_degrees":-0.8690052665691872},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004201716530485072,-0.000544693859152694,-0.0015472084558195336],"end_effector_yaw_offset_degrees":-0.10144396295860902},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.001689929992511038,0.00032291322953356596,-0.0009033356097185225],"end_effector_yaw_offset_degrees":-0.26578964243231407},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005305490342384803,1.35390754304166e-05,4.647850417489451e-05],"end_effector_yaw_offset_degrees":-0.3183043278475015}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004683314681873696,-0.002662975905798081],"position_m":[0.21751668531812632,-0.001462975905798081,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002259981690454109,-0.0008082463574440781],"position_m":[0.1970599816904541,-0.1335082463574441,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003469486995012413,0.0008854589780638369],"position_m":[0.2166305130049876,-0.39081454102193613,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0032377211648243953,0.004615023331161307],"position_m":[0.2860377211648244,0.2961150233311613,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"5d1d4eb7117c28d7aa2f06ad9a7adacb0f3ecc36bb2db8cff9fcdfadb84cfd43","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0044.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2632/tex_ceiling_textures_2682/tex_floor_textures_8873/tex_table_textures_4671/tex_wall_textures_3217","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3398619436763039421,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3398619436763039421,"visual_seed":3398619436763039421,"scene_id":"lab_003","finished_at":"2026-09-08T21:46:50"}
+{"episode_id":"ep_000029","started_at":"2026-09-08T21:46:59","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.4545844899265753,-1.8947866760692695,0.71338606911949],"aabb_xy":[[-0.47208448906094236,-1.9046663031068574],[-0.437084490792208,-1.8849070490316817]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.38165034686357324,1.3535607319881464,0.71338606911949],"aabb_xy":[[0.37352265867026,1.3446471235774387],[0.38977803505688646,1.3624743403988542]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.01820543245542916,-1.1340236328896303,0.71338606911949],"aabb_xy":[[-0.048172989365254826,-1.164023633187516],[0.011762124454396505,-1.1040236325917445]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.5269674095344079,0.05266039369765929,0.71338606911949],"aabb_xy":[[-0.5443981246134143,0.03538827903380847],[-0.5095366944554013,0.06993250836151009]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[0.4128675627209244,-1.6639072265002774,0.71338606911949],"aabb_xy":[[0.3782764798668792,-1.7289072267853085],[0.4474586455749696,-1.5989072262152464]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.6028353327485054,0.16586524527710989,0.71338606911949],"aabb_xy":[[-0.6828353307292904,0.1582637043152579],[-0.5228353347677203,0.1734667862389618]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.34097401628820434,-0.37650464838701714,0.71338606911949],"aabb_xy":[[-0.3482563326648679,-0.4665046519965261],[-0.3336916999115406,-0.2865046447775081]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.3185154159447902,-1.0560905353624341,0.71338606911949],"aabb_xy":[[-0.373508627281927,-1.1110905357012277],[-0.2635222046076535,-1.0010905350236405]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.4183182619454442,1.1184655989797747,0.71338606911949],"aabb_xy":[[0.3833182619689484,1.109000982932158],[0.4533182619219401,1.1279302150273913]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.44534654465297274,-0.810689419318428,0.71338606911949],"aabb_xy":[[0.4392519167648544,-0.8192588138700967],[0.45144117254109106,-0.8021200247667593]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.08478783932860523,0.16447278905066076,0.71338606911949],"aabb_xy":[[-0.09281410995923123,0.15572129407330815],[-0.07676156869797923,0.17322428402801338]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.5273901258102575,0.8211209839634943,0.71338606911949],"aabb_xy":[[-0.539158312604915,0.7361209840582726],[-0.5156219390155999,0.9061209838687159]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.17450361688708727,1.3156969907979232,0.71338606911949],"aabb_xy":[[-0.18574867245770507,1.304455193073828],[-0.1632585613164694,1.3269387885220185]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.5937517125677558,1.4268708707783744,0.71338606911949],"aabb_xy":[[0.5835986970136063,1.390801329205634],[0.6039047281219051,1.4629404123511147]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.6130953631390025,-0.510722339061235,0.71338606911949],"aabb_xy":[[-0.6770953638424718,-0.5567407215341561],[-0.5490953624355331,-0.4647039565883141]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.3053831300643708,-2.042888123345181,0.71338606911949],"aabb_xy":[[0.25025792443477995,-2.102888124786468],[0.3605083356939615,-1.9828881219038939]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.6618636299533557,-0.18690076358918128,0.71338606911949],"aabb_xy":[[-0.6698999646546405,-0.19493888289359804],[-0.6538272952520708,-0.17886264428476448]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.5583959866552581,0.7909328082038898,0.71338606911949],"aabb_xy":[[0.4883959832636962,0.7556170345004589],[0.6283959900468201,0.8262485819073206]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.4526531817040802,-2.430495666412833,0.71338606911949],"aabb_xy":[[0.3876531807035797,-2.4812820315675075],[0.5176531827045807,-2.3797093012581576]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.3698419894820064,-1.1583819813265843,0.71338606911949],"aabb_xy":[[0.35234198922266985,-1.1724735235153572],[0.38734198974134315,-1.144290439137812]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.12212934315854074,-1.0451782794780515,0.71338606911949],"aabb_xy":[[-0.129753611248719,-1.0528115030145955],[-0.11450507506836252,-1.037545055941508]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[-0.506396440291143,-1.5349453517507188,0.71338606911949],"aabb_xy":[[-0.5196273858258241,-1.548172770772718],[-0.49316549475646154,-1.5217179327287191]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.4524388229041296,-0.30005909810075604,0.71338606911949],"aabb_xy":[[0.4299396871779026,-0.322559098879019],[0.47493795863035654,-0.27755909732249306]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.6039395991700527,0.6246340974887552,0.71338606911949],"aabb_xy":[[-0.622823982938563,0.6057481727084024],[-0.5850552154015426,0.643520022269108]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.2006145651711796,-2.430228703227447,0.71338606911949],"aabb_xy":[[0.14562231453566868,-2.4852287049707598],[0.2556068158066906,-2.3752287014841342]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[-0.07590222417284598,0.46041545104179216,0.71338606911949],"aabb_xy":[[-0.08123473882745896,0.4550911227965566],[-0.07056970951823299,0.4657397792870278]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[-0.46136679067323677,-1.7685973761918823,0.71338606911949],"aabb_xy":[[-0.47006475296395217,-1.7807223504993575],[-0.4526688283825216,-1.756472401884408]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[-0.5934347288571946,1.4832323582230855,0.71338606911949],"aabb_xy":[[-0.5975705851898949,1.4457323587787285],[-0.5892988725244945,1.5207323576674425]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[-0.315955677387096,0.7055836391843182,0.71338606911949],"aabb_xy":[[-0.3799556737826691,0.6416203507655845],[-0.25195568099152293,0.7695469276030517]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[0.526813103981284,-1.2040080012276764,0.71338606911949],"aabb_xy":[[0.43681310538681406,-1.2202585875410974],[0.616813102575754,-1.1877574149142553]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.07494710026337903,-0.8576402924117399,0.71338606911949],"aabb_xy":[[0.03994709891189729,-0.8780000283685607],[0.10994710161486075,-0.8372805564549191]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_31","position":[-0.5587376789055125,-2.205991931131278,0.71338606911949],"aabb_xy":[[-0.6087376805670071,-2.25599037338698],[-0.5087376772440175,-2.1559934888755747]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695599623641868,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5548.png","name":"5548"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5548.png","name":"5548"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/338.png","name":"338"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/289.png","name":"289"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/250.png","name":"250"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2658.png","name":"2658"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":764.7985177925741,"rotation_z_degrees":324.0962249027632,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002400784424397097,-0.0007135285823706913,-0.013790848004266349]},{"name":"camera_2","offset_m":[0.014393410489187321,-0.0002861143963031332,-0.01997298993086374]},{"name":"camera_3","offset_m":[0.0013670373486658512,0.015900734542544617,-0.005713173200671889]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018775791760511384,0.0007697379505226241,-0.0005675292535634476],"end_effector_yaw_offset_degrees":-0.4469050366550069},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007720117267919053,0.000148006546106718,0.00015029080631061113],"end_effector_yaw_offset_degrees":-0.12408703570481205},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012064136655327473,0.0019493141390794803,-0.0011979825142137356],"end_effector_yaw_offset_degrees":0.893621768183513},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0017199543112317573,4.335668263273857e-05,0.0008687497851296105],"end_effector_yaw_offset_degrees":0.28758808977216965},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0016824241819092794,-0.0011071596661201837,0.00016405719056567045],"end_effector_yaw_offset_degrees":0.46148967214115144},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011364237090388096,-0.0008464775236423532,0.00027457634616691925],"end_effector_yaw_offset_degrees":0.8007446490109638},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009833019566651512,-0.0003979339861031276,-0.0007458003312739243],"end_effector_yaw_offset_degrees":0.7469337097868465},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0002508433368424135,0.0015586260613284714,0.00025714548832662725],"end_effector_yaw_offset_degrees":0.15943950089618375},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019610299114142505,0.0019254812825099943,0.0008827295098851168],"end_effector_yaw_offset_degrees":0.4953750343018035}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0049991659119444165,-0.004051609610725288],"position_m":[0.2172008340880556,-0.0028516096107252887,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001850301147784297,0.004138065026689601],"position_m":[0.19294969885221572,-0.12856193497331042,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010354148557392417,-0.0012382855928675576],"position_m":[0.21906458514426075,-0.39293828559286753,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0008241201467784143,-0.004807729300640764],"position_m":[0.2836241201467784,0.2866922706993592,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"7d9309237d1ac01e7c5ba77ed5be7256849c8a389703e7a4f72e9d9da7eb8c22","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5548/tex_ceiling_textures_2658/tex_floor_textures_250/tex_table_textures_338/tex_wall_textures_289","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8549154307444449309,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8549154307444449309,"visual_seed":8549154307444449309,"scene_id":"lab_003","finished_at":"2026-09-08T21:57:24"}
+{"episode_id":"ep_000030","started_at":"2026-09-08T22:09:11","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.5460903272673028,-0.36660162553435294,0.71338606911949],"aabb_xy":[[0.5326438006332593,-0.38007147718744416],[0.559536853901346,-0.3531317738812617]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.31250010919862126,0.4810042490474986,0.71338606911949],"aabb_xy":[[0.24750011104270214,0.4547080044975864],[0.37750010735454026,0.5073004935974108]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.6094785529753863,-0.4345880646704616,0.71338606911949],"aabb_xy":[[-0.6644708036108974,-0.4895880664137745],[-0.5544863023398755,-0.379588062927149]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.6749728818014196,-1.3812194801792048,0.71338606911949],"aabb_xy":[[0.6524737460751927,-1.4037194809574678],[0.6974720175276466,-1.3587194794009418]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.25019379455847657,0.5998567266154629,0.71338606911949],"aabb_xy":[[0.16019379596400662,0.5836061403020418],[0.3401937931529465,0.6161073129288839]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_5","position":[-0.08127796642586826,1.4581660637333687,0.71338606911949],"aabb_xy":[[-0.11627796632188714,1.4497918282214286],[-0.0462779665298494,1.4665402992453087]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.39273039071264293,0.7389727065250371,0.71338606911949],"aabb_xy":[[0.3427303890511481,0.6889742642693344],[0.44273039237413764,0.7889711487807398]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.34634232884128957,0.41833507935961745,0.71338606911949],"aabb_xy":[[-0.43634232856446376,0.39526172682443755],[-0.2563423291181154,0.4414084318947972]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.6360761173772396,0.955795695393046,0.71338606911949],"aabb_xy":[[0.6110761182116065,0.9488434496876894],[0.6610761165428727,0.9627479410984026]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.6032555111629896,-2.272143163099058,0.71338606911949],"aabb_xy":[[0.5392555092506472,-2.328054312357069],[0.6672555130753319,-2.216232013841048]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.24395132103324357,0.7457065736280395,0.71338606911949],"aabb_xy":[[-0.25472429495461135,0.7107065754090005],[-0.23317834711187577,0.7807065718470785]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.6099552333128013,-1.2462309552423243,0.71338606911949],"aabb_xy":[[0.5249552346207267,-1.2782168186372032],[0.694955232004876,-1.2142450918474454]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[-0.6463488534024112,-0.24508943031424302,0.71338606911949],"aabb_xy":[[-0.6539731214925896,-0.25272265385078674],[-0.6387245853122331,-0.2374562067776993]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.4976956898851742,-1.6341045689061908,0.71338606911949],"aabb_xy":[[-0.5476731067504278,-1.684104570395439],[-0.4477182730199207,-1.5841045674169418]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.46393659747845073,-0.040318654176508595,0.71338606911949],"aabb_xy":[[-0.5289365984789511,-0.09110501933118353],[-0.39893659647795016,0.010467710978166345]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.6460922733790967,-2.292911140731874,0.71338606911949],"aabb_xy":[[-0.6938984409928654,-2.3579111434389324],[-0.598286105765328,-2.2279111380248144]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.6340106116523272,-1.6549686521240288,0.71338606911949],"aabb_xy":[[0.5700106094319201,-1.699341736249317],[0.6980106138727341,-1.6105955679987405]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_17","position":[0.557811928683857,-1.412339908182107,0.71338606911949],"aabb_xy":[[0.5221827727838972,-1.4479725749389603],[0.5934410845838167,-1.3767072414252544]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.7033622539729378,-1.9132806101293696,0.71338606911949],"aabb_xy":[[0.6902110080016486,-1.9382806098860563],[0.7165134999442273,-1.8882806103726832]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.3468710693347489,-0.32804540341300825,0.71338606911949],"aabb_xy":[[-0.38420234585999163,-0.36269845820786056],[-0.30953979280950633,-0.29339234861815594]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.11441441977621425,1.6661523851053412,0.71338606911949],"aabb_xy":[[-0.1261826065708718,1.58115238520012],[-0.10264623298155676,1.751152385010563]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.19815502011499952,1.1870439154596863,0.71338606911949],"aabb_xy":[[0.17487317791686818,1.102043914162458],[0.22143686231313087,1.2720439167569142]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.06935049763687084,-1.8536261283182516,0.71338606911949],"aabb_xy":[[-0.15435049605429407,-1.9385004237805366],[0.015649500780552383,-1.7687518328559666]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[0.4009803924058635,-2.031895332853389,0.71338606911949],"aabb_xy":[[0.36348039190850523,-2.0358640164015074],[0.4384803929032217,-2.0279266493052703]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697445596978667,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/901.png","name":"901"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/901.png","name":"901"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4377.png","name":"4377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7568.png","name":"7568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4810.png","name":"4810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4921.png","name":"4921"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":779.6529104670777,"rotation_z_degrees":345.80973277216094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010199018045301825,-0.005980870214940275,0.009990568764977982]},{"name":"camera_2","offset_m":[0.0036742488337063207,-0.001777666468141273,-0.0065095455056537604]},{"name":"camera_3","offset_m":[0.008711868999460203,-0.018736612265798924,-0.006595363668498]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002621958990179133,0.001968005992411221,0.0002563605274501931],"end_effector_yaw_offset_degrees":0.31607577792364006},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.0228499832149393e-05,0.0008746229984037271,0.0015781855235395353],"end_effector_yaw_offset_degrees":0.3704838822190135},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000988082258766239,-0.000976788949948674,0.0010198041955943571],"end_effector_yaw_offset_degrees":0.5890698977543598},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0007455739905956711,8.939605330815243e-05,0.0004678945783460589],"end_effector_yaw_offset_degrees":-0.5889420801797718},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0009615837819578828,0.001932378669888114,-0.0019872948116536966],"end_effector_yaw_offset_degrees":-0.2970207411510426},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-3.12130451084712e-05,9.424291274831142e-05,-0.0009729217040737245],"end_effector_yaw_offset_degrees":0.9148207235499242},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004142645874561585,-0.0006475168027410385,0.00040796719146129253],"end_effector_yaw_offset_degrees":0.2705818954052719},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0004130662930170504,0.0006060196232037501,-0.00012231724628109127],"end_effector_yaw_offset_degrees":0.7857391565825325},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001785157514965003,-0.0010988095915579785,0.000525342191396134],"end_effector_yaw_offset_degrees":-0.7001141427388868}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011103071847368808,-0.0012620819421463327],"position_m":[0.22331030718473688,-6.208194214633281e-05,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018214629232873227,-0.003510577275276419],"position_m":[0.19297853707671267,-0.13621057727527644,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027628633134989065,0.003737288764298214],"position_m":[0.2228628633134989,-0.38796271123570175,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.00042332196617522657,-0.0017318456519464353],"position_m":[0.28237667803382477,0.28976815434805353,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"d88afb39af69115f1decd75e6ea491d12823ba52c7cc6e7d54141171fe9b6dcb","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_901/tex_ceiling_textures_4921/tex_floor_textures_4810/tex_table_textures_4377/tex_wall_textures_7568","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4449490515485026893,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4449490515485026893,"visual_seed":4449490515485026893,"scene_id":"lab_003","finished_at":"2026-09-08T22:20:12"}
+{"episode_id":"ep_000031","started_at":"2026-09-08T22:43:52","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[0.25135668901052943,0.767398176378089,0.71338606911949],"aabb_xy":[[0.19638296697419655,0.712398176813856],[0.3063304110468623,0.8223981759423223]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[-0.11878859616688675,-2.3304386232206684,0.71338606911949],"aabb_xy":[[-0.1665947637806554,-2.3954386259277274],[-0.0709824285531181,-2.2654386205136094]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.20024327907454065,0.8336399967674364,0.71338606911949],"aabb_xy":[[-0.24126122246091153,0.7836399961364791],[-0.15922533568816977,0.8836399973983937]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.45662547001249787,-1.0488335182054314,0.71338606911949],"aabb_xy":[[0.4341290485786338,-1.0713335180121788],[0.479121891446362,-1.026333518398684]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[-0.08605690011650924,1.3771866134064368,0.71338606911949],"aabb_xy":[[-0.11645501121565281,1.346779711404767],[-0.055658789017365644,1.407593515408106]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[0.48063226956276495,-0.3656387583024632,0.71338606911949],"aabb_xy":[[0.4764964132300648,-0.40313875774682023],[0.4847681258954652,-0.3281387588581062]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.5532092956126284,0.4165425710857078,0.71338606911949],"aabb_xy":[[-0.6432092950309993,0.3831670742415181],[-0.46320929619425755,0.4499180679298975]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.006215877427984795,-0.7519219011336573,0.71338606911949],"aabb_xy":[[-0.05778412283248601,-0.7969307004865852],[0.0702158776884556,-0.7069131017807292]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.4727220702237034,-1.5687014391790435,0.71338606911949],"aabb_xy":[[0.42755075237553447,-1.6327014363235821],[0.5178933880718724,-1.5047014420345053]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.3553714978653414,-1.6691122958248459,0.71338606911949],"aabb_xy":[[-0.3728714981103907,-1.6866120836644123],[-0.33787149762029195,-1.6516125079852786]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[-0.4104410085161934,0.4843592741334213,0.71338606911949],"aabb_xy":[[-0.41685482215937825,0.4779494538857529],[-0.40402719487300837,0.49076909438108957]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.5183326331889244,0.06806650882415655,0.71338606911949],"aabb_xy":[[0.4633403825534135,0.01306650708084377],[0.5733248838244354,0.12306651056746933]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.10595603600566683,1.2395494327174532,0.71338606911949],"aabb_xy":[[0.06845603482087402,1.2351312100213925],[0.1434560371904596,1.2439676554135135]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_13","position":[0.2503137454758406,1.7109513102459695,0.71338606911949],"aabb_xy":[[0.17031374221799767,1.6309548024539855],[0.3303137487336836,1.7909478180379534]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.13266596999484548,-2.5198616214765774,0.71338606911949],"aabb_xy":[[-0.1826659695711802,-2.569842200428684],[-0.08266597041851076,-2.469881042524472]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.4711152599231381,-2.137587452882897,0.71338606911949],"aabb_xy":[[-0.5361152625609316,-2.189067051582344],[-0.4061152572853446,-2.08610785418345]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.3428014305904827,0.5273748725856802,0.71338606911949],"aabb_xy":[[-0.36030143084981936,0.5132833303969075],[-0.3253014303311461,0.5414664147744528]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[-0.19507630149546762,1.2496535503431807,0.71338606911949],"aabb_xy":[[-0.250071779316127,1.1946535489092736],[-0.1400808236748082,1.3046535517770874]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.6717862339206184,0.013478496907677329,0.71338606911949],"aabb_xy":[[0.6488705210355684,-0.009425800228746176],[0.6947019468056682,0.03638279404410084]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.4657939781293949,-1.0374061871222566,0.71338606911949],"aabb_xy":[[-0.5457878017079532,-1.1174061897150982],[-0.3858001545508367,-0.9574061845294151]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.5524878882560798,1.6100648062876766,0.71338606911949],"aabb_xy":[[0.5475885959495161,1.5823878869851076],[0.5573871805626431,1.6377417255902451]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.5294812373388671,0.40584830708761643,0.71338606911949],"aabb_xy":[[0.4950188899407251,0.3713544246897937],[0.5639435847370087,0.4403421894854391]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[-0.5938501185460998,0.16368254883462452,0.71338606911949],"aabb_xy":[[-0.6351546616098358,0.09968254926650744],[-0.5525455754823638,0.2276825484027416]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.29625949780787064,-0.45679489121406736,0.71338606911949],"aabb_xy":[[0.29022248480720597,-0.46282159228301556],[0.3022965108085354,-0.45076819014511915]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[0.38002661249589265,-0.8895039771007736,0.71338606911949],"aabb_xy":[[0.3328972334940569,-0.9535039781451754],[0.42715599149772826,-0.8255039760563715]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[-0.38549985114811197,-0.07153078857632433,0.71338606911949],"aabb_xy":[[-0.39362753934142525,-0.08044439698703199],[-0.3773721629547988,-0.06261718016561668]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.1156876302873433,1.4607735770304617,0.71338606911949],"aabb_xy":[[0.07818763047030973,1.45613536571932],[0.15318763010437686,1.4654117883416036]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[0.3859436622351653,1.1105124243515019,0.71338606911949],"aabb_xy":[[0.3779173916045393,1.1017609293741493],[0.3939699328657913,1.1192639193288545]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[0.39987380105367465,-0.31134912404655424,0.71338606911949],"aabb_xy":[[0.3911758387629593,-0.3234740983540289],[0.4085717633443899,-0.29922414973907946]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_29","position":[-0.5516159780541682,-0.19896563778993182,0.71338606911949],"aabb_xy":[[-0.5607758569980447,-0.20549685583346883],[-0.5424560991102915,-0.1924344197463948]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_30","position":[-0.09272604848969335,0.038314756623775814,0.71338606911949],"aabb_xy":[[-0.12772604675981325,0.031240628928787643],[-0.057726050219573444,0.04538888431876397]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677426450359932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3204.png","name":"3204"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3204.png","name":"3204"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7740.png","name":"7740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1701.png","name":"1701"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5968.png","name":"5968"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5187.png","name":"5187"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":524.8169750026875,"rotation_z_degrees":86.4937004334709,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007416426952845043,-0.011846856670427055,0.0122330785357497]},{"name":"camera_2","offset_m":[-0.005609409451365295,-0.007994701705519205,0.0005552200316086484]},{"name":"camera_3","offset_m":[0.01892514538047983,0.012415996241812815,-0.00048802120926011786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011016990957378697,0.0018447641982207762,-0.0014096053399566073],"end_effector_yaw_offset_degrees":0.1503207307506682},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005531713867713629,-0.00025459389944269264,-0.0011008702187853912],"end_effector_yaw_offset_degrees":-0.886539327155889},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002825863509887403,1.1668096306493864e-05,0.0009104207306547315],"end_effector_yaw_offset_degrees":0.07978746023037231},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001296199045646766,-0.0006100216106820918,0.00016175845330099452],"end_effector_yaw_offset_degrees":-0.698990978905325},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0011902191594735166,0.0011269099676479459,0.0016913391791983875],"end_effector_yaw_offset_degrees":0.8169759505805012},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0004060149152775403,-0.001456335868915355,0.0001930599966923456],"end_effector_yaw_offset_degrees":0.6804473054570226},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002939107343436459,0.0017686345754674348,0.0007016573728097475],"end_effector_yaw_offset_degrees":-0.30390255274133926},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006887450512583872,0.0003758507635326434,-0.0016065100947098307],"end_effector_yaw_offset_degrees":-0.4142839447184339},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002968802895027753,0.00048127171468654835,0.0003975289684149609],"end_effector_yaw_offset_degrees":-0.3138608854450249}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004684994996982131,-0.004251086932902567],"position_m":[0.22688499499698214,-0.0030510869329025674,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003399569733612735,-0.0039000926976072757],"position_m":[0.19140043026638726,-0.13660009269760728,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014394284120467795,0.0013051683525056364],"position_m":[0.2186605715879532,-0.39039483164749433,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0018129848157037365,-0.002202665932538771],"position_m":[0.28461298481570374,0.2892973340674612,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"7782b9a66bff6f5e22f31dd8b06bc32671dc17cbb25142d2ac5f939549c87790","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3204/tex_ceiling_textures_5187/tex_floor_textures_5968/tex_table_textures_7740/tex_wall_textures_1701","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1281578388363245852,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1281578388363245852,"visual_seed":1281578388363245852,"scene_id":"lab_003","finished_at":"2026-09-08T22:54:39"}
+{"episode_id":"ep_000032","started_at":"2026-09-08T23:17:14","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.528702816998099,-0.19880520742017138,0.71338606911949],"aabb_xy":[[0.5062028174743913,-0.22130115487079213],[0.5512028165218061,-0.17630925996955057]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[0.479347852675581,-2.4227732388966765,0.71338606911949],"aabb_xy":[[0.4143478526412783,-2.469473915577004],[0.5443478527098837,-2.376072562216349]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.2832193418034077,-1.4268808842612724,0.71338606911949],"aabb_xy":[[0.2657194083694243,-1.444380884181507],[0.30071927523739106,-1.4093808843410378]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.5093435010682477,-0.9710636247044315,0.71338606911949],"aabb_xy":[[0.48684350055620706,-0.9935554830698297],[0.5318435015802883,-0.948571766339033]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.6415197674545645,-2.1450262044798603,0.71338606911949],"aabb_xy":[[0.6309522877964655,-2.155571234592869],[0.6520872471126635,-2.1344811743668517]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.2986476622104054,-0.5495893412722164,0.71338606911949],"aabb_xy":[[-0.3414143690898256,-0.6135893446940189],[-0.2558809553309852,-0.485589337850414]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.04017198942351763,-1.3511593049323427,0.71338606911949],"aabb_xy":[[0.004542833523557888,-1.3867919716891957],[0.07580114532347737,-1.3155266381754898]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.4024192281592463,1.2626315148009661,0.71338606911949],"aabb_xy":[[-0.4392697760962339,1.2251315139779326],[-0.3655686802222587,1.300131515624]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.5436156495962875,-1.2878622035585,0.71338606911949],"aabb_xy":[[-0.5760773504782148,-1.317995035673402],[-0.5111539487143599,-1.2577293714435969]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.6128764126273709,-2.4199284913775507,0.71338606911949],"aabb_xy":[[0.58658758830693,-2.4461999250322015],[0.6391652369478114,-2.393657057722899]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[0.3642123341276262,-1.625134575234711,0.71338606911949],"aabb_xy":[[0.32741770100271994,-1.662040450331293],[0.4010069672525325,-1.5882287001381286]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.09165802455780714,-1.0666638756071836,0.71338606911949],"aabb_xy":[[0.04637940967665788,-1.130663874955367],[0.1369366394389564,-1.0026638762589997]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.08409381102593738,1.1031676862572826,0.71338606911949],"aabb_xy":[[-0.134191275007011,1.0391676857474708],[-0.03399634704486376,1.1671676867670944]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[-0.4762397452728596,-2.389071671661749,0.71338606911949],"aabb_xy":[[-0.4834835113191049,-2.469071669865351],[-0.46899597922661423,-2.3090716734581465]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.6508988396771023,0.34930595839580736,0.71338606911949],"aabb_xy":[[-0.6919167830634732,0.29930595776485003],[-0.6098808962907314,0.3993059590267647]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.14222691041400792,-2.4155504129460192,0.71338606911949],"aabb_xy":[[-0.1515205286511585,-2.4530504114341527],[-0.13293329217685734,-2.378050414457885]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.12045560257228671,-0.6334008330653618,0.71338606911949],"aabb_xy":[[-0.13555790403330475,-0.6485023546964235],[-0.10535330111126859,-0.6182993114342998]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.09062212110926005,1.096140913566407,0.71338606911949],"aabb_xy":[[0.040622120158727223,1.0645917665628855],[0.14062212205979285,1.1276900605699283]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.024339931992379826,0.6257329735040575,0.71338606911949],"aabb_xy":[[-0.10433993306550016,0.6159549271666731],[0.055660069080740504,0.635511019841442]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.03959026118307962,-1.5273242899157806,0.71338606911949],"aabb_xy":[[-0.07813595400828066,-1.5658700609719693],[-0.0010445683578785975,-1.488778518859592]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.22993844956880916,-2.5144883786068966,0.71338606911949],"aabb_xy":[[0.19547597155572136,-2.5211520557898193],[0.2644009275818969,-2.507824701423974]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6701461780736331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7549.png","name":"7549"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7549.png","name":"7549"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1198.png","name":"1198"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9004.png","name":"9004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":699.1123542842352,"rotation_z_degrees":228.96553955912842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008269971256348515,0.017378137943861272,0.0034426365213479533]},{"name":"camera_2","offset_m":[0.014094030746350985,-0.0044293105896183686,-0.0023343220113278967]},{"name":"camera_3","offset_m":[-0.010518822193993716,-0.010418982046896556,-0.019247105380126386]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00044401604574558504,0.0017307869556815797,0.0012973056677389218],"end_effector_yaw_offset_degrees":-0.2578550498903478},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000960979402792411,-0.0012639575131385538,-0.0011952967162524755],"end_effector_yaw_offset_degrees":0.31925226551873953},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014880328842201093,0.0018904774336178675,-0.000743143014383446],"end_effector_yaw_offset_degrees":0.05639184391403629},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0009282401670573032,-0.0015946394678182832,-0.00037973841206967755],"end_effector_yaw_offset_degrees":-0.8957213184614998},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0001613998613228954,-0.0004961897703969584,0.0009695010435095287],"end_effector_yaw_offset_degrees":-0.42606469905392363},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0015621365965607257,0.0016537459436246475,-0.0012289160047545696],"end_effector_yaw_offset_degrees":0.5328539353565951},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013830154766526024,0.0009568535962069199,0.0018865721465198496],"end_effector_yaw_offset_degrees":-0.3359588379490197},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0010368571986264015,-0.000277929040567011,0.0011648424012832628],"end_effector_yaw_offset_degrees":-0.733426982839054},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014452919307762322,-0.0015334263906140832,-0.0010393347169415268],"end_effector_yaw_offset_degrees":-0.24912261843583972}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004028828118434684,0.004771307033631812],"position_m":[0.21817117188156532,0.005971307033631812,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032618152382531294,0.004168220519662299],"position_m":[0.19153818476174686,-0.12853177948033773,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018423551188957018,0.0017546539749606809],"position_m":[0.22194235511889568,-0.38994534602503933,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002095751117254856,-0.0003109764846673203],"position_m":[0.28070424888274514,0.29118902351533266,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"8360b367fe7b46f3267548aaf0876a174dd4d93118f3de67640f7a956d04634f","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7549/tex_ceiling_textures_9972/tex_floor_textures_9004/tex_table_textures_3337/tex_wall_textures_1198","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2633184992309710073,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2633184992309710073,"visual_seed":2633184992309710073,"scene_id":"lab_003","finished_at":"2026-09-08T23:27:53"}
+{"episode_id":"ep_000033","started_at":"2026-09-08T23:28:02","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.5150437175838694,0.22452927313387994,0.71338606911949],"aabb_xy":[[-0.5258841958103843,0.20734299184323113],[-0.5042032393573544,0.24171555442452874]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.3110498092342362,-1.8313169372755942,0.71338606911949],"aabb_xy":[[-0.33133411195763485,-1.8515995624183028],[-0.2907655065108373,-1.8110343121328851]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.5222623936053243,0.13125201185157653,0.71338606911949],"aabb_xy":[[-0.5396931086843307,0.1139798971877257],[-0.5048316785263177,0.14852412651542732]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.47781385124748477,0.9185134245597864,0.71338606911949],"aabb_xy":[[-0.5278138506876804,0.86854550007547],[-0.42781385180728915,0.9684813490441027]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.2633881621141802,0.10281955323949532,0.71338606911949],"aabb_xy":[[-0.30088816068980095,0.09008325757593738],[-0.22588816353855937,0.11555584890305326]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.5183460736784411,-2.4904993457608957,0.71338606911949],"aabb_xy":[[-0.5833460722355139,-2.5202518791747783],[-0.45334607512136826,-2.460746812347013]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.03873856103142537,1.7573641062515795,0.71338606911949],"aabb_xy":[[-0.06232368449532022,1.6923641040061477],[-0.015153437567530514,1.8223641084970112]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.3325675845706325,1.2072891421562821,0.71338606911949],"aabb_xy":[[-0.42256758398900335,1.1739136453120922],[-0.24256758515226157,1.2406646390004716]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.4272242287845784,-2.1298138340148838,0.71338606911949],"aabb_xy":[[-0.4647242287283448,-2.1381069240497204],[-0.389724228840812,-2.121520743980047]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.3481630395830255,1.3064533251221015,0.71338606911949],"aabb_xy":[[0.26816303742026304,1.226498141495958],[0.428163041745788,1.3864085087482452]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.5783215396035168,-1.1595080821312127,0.71338606911949],"aabb_xy":[[0.4933215411860936,-1.244382377593498],[0.6633215380209401,-1.074633786668928]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.37573260723421653,1.0477990964241881,0.71338606911949],"aabb_xy":[[-0.39089548021115367,1.0326336391290694],[-0.36056973425727945,1.0629645537193069]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.4456568641210483,-0.8756487954278882,0.71338606911949],"aabb_xy":[[0.41065686414455255,-0.8851134114755048],[0.4806568640975442,-0.8661841793802716]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.0003907416555010146,1.1807058117860385,0.71338606911949],"aabb_xy":[[-0.006427754656165742,1.1746791107170904],[0.005646271345163712,1.1867325128549866]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[0.1253793018750169,-2.4552578471168127,0.71338606911949],"aabb_xy":[[0.10982353246475166,-2.4708082803612204],[0.14093507128528218,-2.439707413872406]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.3348392222280573,-1.9668235856194323,0.71338606911949],"aabb_xy":[[-0.42483922590497536,-2.028255992196536],[-0.24483921855113905,-1.9053911790423275]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.468231100373834,-0.23260511281415797,0.71338606911949],"aabb_xy":[[-0.5322311022861763,-0.2885162620721684],[-0.40423109846149163,-0.17669396355614753]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.3689822355210956,-0.5895622357933967,0.71338606911949],"aabb_xy":[[-0.39148223504480295,-0.6120581832440174],[-0.34648223599738814,-0.5670662883427758]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.024887281389704086,-1.5634437494786606,0.71338606911949],"aabb_xy":[[-0.08988728234683128,-1.6153919614123662],[0.04011271956742312,-1.511495537544955]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[0.37037300281513574,0.6996418623150196,0.71338606911949],"aabb_xy":[[0.3527947006261889,0.6820673727409147],[0.3879513050040826,0.7172163518891245]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.23517553680879932,0.6684022876195121,0.71338606911949],"aabb_xy":[[-0.29676629603279214,0.6044022895104653],[-0.17358477758480653,0.732402285728559]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[-0.23960831123479415,0.39150388093997535,0.71338606911949],"aabb_xy":[[-0.30360400862989073,0.3275038826392666],[-0.17561261383969756,0.455503879240684]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[-0.6101125839187539,0.7725083867708693,0.71338606911949],"aabb_xy":[[-0.6741125842962874,0.7227631199200569],[-0.5461125835412202,0.8222536536216815]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.06457046181911863,-1.455354835351144,0.71338606911949],"aabb_xy":[[0.05860392287838284,-1.4613159800105082],[0.07053700075985442,-1.44939369069178]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[-0.40352390085121137,-1.5027059067271575,0.71338606911949],"aabb_xy":[[-0.43136893763181855,-1.5334904054654692],[-0.3756788640706043,-1.4719214079888459]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.49670832754431,-1.3600983179027466,0.71338606911949],"aabb_xy":[[-0.5317083258550055,-1.3678133328262922],[-0.46170832923361455,-1.352383302979201]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[-0.25516313921584793,-0.9183657682879471,0.71338606911949],"aabb_xy":[[-0.28016313876758636,-0.9285082521530816],[-0.2301631396641094,-0.9082232844228122]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[-0.3346440476980062,-1.0141021662174463,0.71338606911949],"aabb_xy":[[-0.3472708349852025,-1.0236482399190192],[-0.3220172604108098,-1.0045560925158734]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[-0.029252721593181152,-1.373880851914073,0.71338606911949],"aabb_xy":[[-0.04688555718670872,-1.3915037979296958],[-0.011619885999653577,-1.3562579058984499]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.674146685302209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4947.png","name":"4947"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4947.png","name":"4947"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6167.png","name":"6167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4466.png","name":"4466"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/10.png","name":"10"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":768.7483696554077,"rotation_z_degrees":210.9693565620348,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018417183515813475,0.013633179504457232,-0.003955248737079465]},{"name":"camera_2","offset_m":[-0.019532173950509792,-0.00040310307067187995,0.019753472682022617]},{"name":"camera_3","offset_m":[-0.006757026415245528,0.010010096138206487,0.002579551390546695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019336897940844771,0.0007747987619589076,0.001913186851904748],"end_effector_yaw_offset_degrees":-0.19753245537381003},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005817728189919111,-0.0006597610301895011,-0.0007851189364076082],"end_effector_yaw_offset_degrees":0.6711244873913185},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008600829812469638,0.0014816909446372047,0.0002226431903849021],"end_effector_yaw_offset_degrees":-0.8470319217852429},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.001847415157060937,0.0013220479452561692,-0.0018801410314401874],"end_effector_yaw_offset_degrees":-0.8721444963184977},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0014756122377483577,0.00061080412446548,0.0010116531864587993],"end_effector_yaw_offset_degrees":-0.011111925265679501},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0001931779497293365,0.0011830801963467106,0.00174768751148336],"end_effector_yaw_offset_degrees":-0.9489908592053451},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015551115476121495,0.0015605138690299955,-0.0007240003493111052],"end_effector_yaw_offset_degrees":0.06646966486481487},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015249121021910224,0.00023708668159341762,-0.001829457082388609],"end_effector_yaw_offset_degrees":-0.5089481746478479},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00014658600188045953,0.00022632592542548742,0.0015187606679533503],"end_effector_yaw_offset_degrees":0.4759441284660484}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00031870934955006806,-0.0013843906419111927],"position_m":[0.22251870934955006,-0.0001843906419111928,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-7.301094308746932e-05,-0.00410940335356319],"position_m":[0.19472698905691252,-0.1368094033535632,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002686890415580726,-0.00391833793665244],"position_m":[0.22278689041558072,-0.3956183379366524,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0016156046114539791,-0.0043317889468090535],"position_m":[0.284415604611454,0.2871682110531909,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"b6d8e0f29c29ebb8351b11c4c916b8dbaa9b7c08efd22a90eab1a013840bcdf4","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4947/tex_ceiling_textures_10/tex_floor_textures_5038/tex_table_textures_6167/tex_wall_textures_4466","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8692052788948232630,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8692052788948232630,"visual_seed":8692052788948232630,"scene_id":"lab_003","finished_at":"2026-09-08T23:39:13"}
+{"episode_id":"ep_000034","started_at":"2026-09-08T23:39:21","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.22285701296352134,-1.0032757669702985,0.71338606911949],"aabb_xy":[[0.21941633672346422,-1.0071371999446632],[0.22629768920357857,-0.9994143339959343]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[-0.3613659617909597,-0.4000603778522107,0.71338606911949],"aabb_xy":[[-0.3988659620831345,-0.40410185325281434],[-0.3238659614987849,-0.3960189024516071]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.011801992853159637,-2.4183518664141666,0.71338606911949],"aabb_xy":[[-0.05697331070132862,-2.482351863558705],[0.03336932499500934,-2.354351869269628]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.23812952106544338,-0.6353317186471819,0.71338606911949],"aabb_xy":[[0.17412951777573524,-0.6786666376510995],[0.30212952435515145,-0.5919967996432642]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.49011617604752944,1.7998880943355302,0.71338606911949],"aabb_xy":[[-0.51261617655957,1.7773962359701314],[-0.46761617553548884,1.8223799527009281]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.5295496706611303,-2.2485736520164923,0.71338606911949],"aabb_xy":[[-0.6095496676753783,-2.2687082036899033],[-0.44954967364688236,-2.2284391003430812]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[0.32692086472397763,-2.0096852943160033,0.71338606911949],"aabb_xy":[[0.292623953706237,-2.043982180525944],[0.36121777574171826,-1.9753884081060615]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.04333477443354028,0.707248150338784,0.71338606911949],"aabb_xy":[[-0.08551918859437102,0.6432481500615728],[-0.0011503602727095316,0.7712481506159952]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[0.5683248389183289,0.37315905693099083,0.71338606911949],"aabb_xy":[[0.5610425225416651,0.28315905332148167],[0.5756071552949924,0.46315906054049966]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.4888762821030559,-1.7984373926556803,0.71338606911949],"aabb_xy":[[0.4808329221771007,-1.883437393751047],[0.49691964202901107,-1.713437391560314]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.4969817487139563,1.4397894161123603,0.71338606911949],"aabb_xy":[[0.4470084547106957,1.389789415557813],[0.5469550427172166,1.4897894166669077]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.41675670497787787,0.7191056248570122,0.71338606911949],"aabb_xy":[[-0.431919577954815,0.7039401675618935],[-0.40159383200094084,0.734271082152131]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.5922707443817783,-0.8070375530445191,0.71338606911949],"aabb_xy":[[-0.6168169600045289,-0.8372864495935561],[-0.5677245287590275,-0.776788656495482]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.26352828908645404,0.7570757851600494,0.71338606911949],"aabb_xy":[[-0.3010282890302204,0.7487826951252128],[-0.22602828914268758,0.765368875194886]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[-0.33873770983277646,-0.7788762370728552,0.71338606911949],"aabb_xy":[[-0.35030669057971303,-0.8038762371897871],[-0.3271687290858399,-0.7538762369559237]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.33541058704457605,-1.19037839737449,0.71338606911949],"aabb_xy":[[0.3317073257154371,-1.1940804156832074],[0.3391138483737149,-1.1866763790657715]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[0.49762837048044584,-1.9713757099459237,0.71338606911949],"aabb_xy":[[0.4336283731780994,-2.0157421369137802],[0.5616283677827922,-1.9270092829780667]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[-0.304344537719664,-2.0496933847092196,0.71338606911949],"aabb_xy":[[-0.35433764982885596,-2.0996933853834157],[-0.2543514256104722,-1.9996933840350244]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.6001035035791935,1.2685396370526187,0.71338606911949],"aabb_xy":[[0.5961430198094592,1.2608717724670984],[0.6040639873489279,1.2762075016381396]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.19412794625651653,-1.3769948871615398,0.71338606911949],"aabb_xy":[[-0.2581279479345139,-1.425512278640854],[-0.13012794457851914,-1.3284774956822256]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.484353939793138,-1.0499421004151963,0.71338606911949],"aabb_xy":[[0.47731248884239036,-1.0569688521529905],[0.49139539074388555,-1.0429153486774017]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.21501414790848727,1.0726042803665528,0.71338606911949],"aabb_xy":[[-0.3000141466005619,1.0406184169716737],[-0.1300141492164126,1.1045901437614314]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.5885208220113767,-1.9482617357029905,0.71338606911949],"aabb_xy":[[-0.6434945440477096,-2.0032617352672233],[-0.5335470999750438,-1.8932617361387571]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.44619101182252086,0.8894507564095133,0.71338606911949],"aabb_xy":[[-0.474840344182937,0.8608051971324374],[-0.4175416794621046,0.918096315686589]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.3482543410714366,-0.15492733711235296,0.71338606911949],"aabb_xy":[[-0.35321036125631783,-0.1774273373144746],[-0.3432983208865555,-0.13242733691023137]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.5644681994996528,-0.7069673596986155,0.71338606911949],"aabb_xy":[[0.5564419288690268,-0.7157188546759681],[0.5724944701302788,-0.6982158647212628]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.15401199486205186,0.6695937656298092,0.71338606911949],"aabb_xy":[[0.07401199439183591,0.661283058015461],[0.23401199533226782,0.6779044732441577]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.6377891607677161,-1.4574550356174003,0.71338606911949],"aabb_xy":[[-0.6752891611159437,-1.4692464311984836],[-0.6002891604194882,-1.4456636400363165]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[-0.14154082660506317,-0.7984717705315876,0.71338606911949],"aabb_xy":[[-0.21154082841380864,-0.8198255392957751],[-0.07154082479631776,-0.7771180017674003]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[-0.6004662121419939,0.08393405016841582,0.71338606911949],"aabb_xy":[[-0.6502829916068286,0.033934051684112454],[-0.550649432677159,0.13393404865271918]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[-0.21471340625733082,0.6203517258833102,0.71338606911949],"aabb_xy":[[-0.29470722983588904,0.5403517232904687],[-0.1347195826787726,0.7003517284761518]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_31","position":[-0.4845478534710047,-1.3873808749747334,0.71338606911949],"aabb_xy":[[-0.4941794896914343,-1.3970181877544423],[-0.4749162172505751,-1.3777435621950245]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_32","position":[0.31100725300940435,1.2341737935976917,0.71338606911949],"aabb_xy":[[0.23100725560581095,1.1541812223995087],[0.3910072504129978,1.3141663647958743]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682500445156587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9394.png","name":"9394"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9394.png","name":"9394"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9672.png","name":"9672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7556.png","name":"7556"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9127.png","name":"9127"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":752.9157485191503,"rotation_z_degrees":164.5563813098368,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00493236460855187,0.00042995560038737446,0.004664124406900158]},{"name":"camera_2","offset_m":[-0.0025804260730574215,0.01963422612772837,0.014654662653450615]},{"name":"camera_3","offset_m":[-0.013689560730767342,0.005885565024589496,-0.016584866394309863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007077398942317561,-0.0006340258675852223,-0.0013458692109173946],"end_effector_yaw_offset_degrees":0.8033763102442999},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017361690179526286,0.0004895502577963399,-0.0013666963279424782],"end_effector_yaw_offset_degrees":0.99910852061509},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017638254378821048,0.00041771071579289453,0.00012706984414891705],"end_effector_yaw_offset_degrees":0.09098846398440963},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0018881326827078202,-7.473430437205265e-05,-0.0004464250937399976],"end_effector_yaw_offset_degrees":-0.6517444591904611},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0006965855729013978,-0.0010147331741799186,0.0005434126474919672],"end_effector_yaw_offset_degrees":0.39223251571329865},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0003913696784643111,-0.0017639288306767296,-0.0001033438761319388],"end_effector_yaw_offset_degrees":-0.3806011998193062},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018058697016400719,0.000720586484525445,-0.0016417122952991448],"end_effector_yaw_offset_degrees":-0.7194093370271823},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0006471102745667031,7.379286605429386e-05,0.0017454779848490448],"end_effector_yaw_offset_degrees":-0.4325958681117996},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00046940489422881847,-0.0016800506045750367,-0.0019981193965314037],"end_effector_yaw_offset_degrees":-0.4522596270720698}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001442282291374324,-0.0023161793588784177],"position_m":[0.22075771770862568,-0.0011161793588784178,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009821505896730112,-0.003483222860980968],"position_m":[0.19578215058967302,-0.13618322286098097,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004656160056616657,-0.003977576792462812],"position_m":[0.21544383994338334,-0.3956775767924628,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0017082177733261138,0.004558675889169317],"position_m":[0.28109178222667386,0.2960586758891693,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"9ef2e7246a7652ff4bfae36f716db4387ee5be995e9f572678c7658a88becd36","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9394/tex_ceiling_textures_4138/tex_floor_textures_9127/tex_table_textures_9672/tex_wall_textures_7556","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8619876122350368336,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8619876122350368336,"visual_seed":8619876122350368336,"scene_id":"lab_003","finished_at":"2026-09-08T23:50:24"}
+{"episode_id":"ep_000035","started_at":"2026-09-08T23:50:34","dimensions":{"distractor":{"count":20,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.4054023072536084,-0.7753901137208112,0.71338606911949],"aabb_xy":[[0.32040230856153373,-0.8073759771156899],[0.490402305945683,-0.7434042503259322]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[-0.6646092243866314,-0.8590695179801273,0.71338606911949],"aabb_xy":[[-0.6718704719570389,-0.871856528243637],[-0.6573479768162241,-0.8462825077166181]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[0.5423273530743951,0.8315749775308179,0.71338606911949],"aabb_xy":[[0.5350835870281497,0.7515749793272155],[0.5495711191206404,0.9115749757344203]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.2341344873880682,-2.276819205036,0.71338606911949],"aabb_xy":[[0.2206879607540249,-2.290289056689091],[0.24758101402211155,-2.2633493533829085]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.48944552177841416,-2.004364257909499,0.71338606911949],"aabb_xy":[[0.4838638501442854,-2.016864257727274],[0.4950271934125429,-1.9918642580917236]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.448423721439504,-2.397584458631381,0.71338606911949],"aabb_xy":[[-0.5284237194202889,-2.405185999593233],[-0.3684237234587189,-2.389982917669529]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[0.44801281278208815,0.16051799021996915,0.71338606911949],"aabb_xy":[[0.4115169921548094,0.12403404779321159],[0.4845086334093669,0.19700193264672672]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.06529155336739978,-2.243312966372976,0.71338606911949],"aabb_xy":[[-0.07024757355228098,-2.2658129665750977],[-0.06033553318251858,-2.220812966170854]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[-0.007560024828233591,-1.348864734586216,0.71338606911949],"aabb_xy":[[-0.04886456789196958,-1.412864734154333],[0.033744518235502396,-1.2848647350180988]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.4554906799335333,1.3677189665801284,0.71338606911949],"aabb_xy":[[-0.5204906809340337,1.3169326014254534],[-0.39049067893303274,1.4185053317348033]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.6883761432943205,1.0872887265340943,0.71338606911949],"aabb_xy":[[-0.6924543012013701,1.083207746285831],[-0.6842979853872707,1.0913697067823576]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.6435582770932589,-2.1130196778060193,0.71338606911949],"aabb_xy":[[-0.6885582785594877,-2.1580195346675],[-0.59855827562703,-2.0680198209445386]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[0.25001788620730336,-1.3093810760348574,0.71338606911949],"aabb_xy":[[0.22973358348390457,-1.3296637011775663],[0.27030218893070207,-1.2890984508921486]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.18264232415285564,1.736475988042454,0.71338606911949],"aabb_xy":[[0.12264232329204282,1.6850495580359675],[0.24264232501366842,1.7879024180489402]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.36511102767980574,-2.029365784045212,0.71338606911949],"aabb_xy":[[-0.4001110259499256,-2.0364399117402],[-0.3301110294096858,-2.0222916563502236]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.6417164133927878,0.9875392451866309,0.71338606911949],"aabb_xy":[[-0.6916938302580413,0.9375392436973822],[-0.5917389965275341,1.037539246675879]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[-0.6482280201228282,0.8091922302871999,0.71338606911949],"aabb_xy":[[-0.659473075693446,0.7979504325631045],[-0.6369829645522104,0.8204340280112951]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.5530489248104573,0.053724018484870406,0.71338606911949],"aabb_xy":[[-0.5611625794838344,0.04561820203084132],[-0.5449352701370802,0.06182983493889948]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.6016216692761083,-1.5200664520720168,0.71338606911949],"aabb_xy":[[-0.6816216703492286,-1.529844498409401],[-0.5216216682029879,-1.5102884057346322]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.5417529778794894,-1.5167326773895136,0.71338606911949],"aabb_xy":[[0.5007350344931185,-1.566732678020471],[0.5827709212658603,-1.4667326767585562]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6715571246738726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1158.png","name":"1158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1158.png","name":"1158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6640.png","name":"6640"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6318.png","name":"6318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9251.png","name":"9251"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4352.png","name":"4352"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":693.5895227570238,"rotation_z_degrees":189.63787438016115,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013811363264161363,0.0037780859455788726,-0.001124113661111998]},{"name":"camera_2","offset_m":[-0.01757082164438644,0.01755037078876889,-0.006851920265488651]},{"name":"camera_3","offset_m":[0.019112818842917798,-0.007143290869019308,0.01764375230443063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014629247037682594,-0.00018792177209930915,0.0014874198940651893],"end_effector_yaw_offset_degrees":-0.803735433110697},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001597087999018901,0.0009152614880215725,0.0010772105096059545],"end_effector_yaw_offset_degrees":-0.7671516213631253},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006159965818680355,-0.0005122189295768554,-0.000339783171537566],"end_effector_yaw_offset_degrees":-0.14672939811955654},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0006699080376703455,-0.0004252011150247101,0.0007563727152000836],"end_effector_yaw_offset_degrees":-0.6603679775865621},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00020497973395410094,0.00013106481697696326,-0.00067506030846164],"end_effector_yaw_offset_degrees":0.10443364964232393},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0013474614771156702,-0.00024439512055351325,-0.0015291025880062917],"end_effector_yaw_offset_degrees":-0.21044236046543374},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000366010000729995,-3.7523370658239154e-05,0.0019857562106213953],"end_effector_yaw_offset_degrees":-0.740849615935395},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.00012427567451354276,0.0012845827222472536,-0.0010385630636863415],"end_effector_yaw_offset_degrees":0.522042967539663},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012702516036850807,0.001762223143653327,-0.0013941337704975276],"end_effector_yaw_offset_degrees":-0.7351242524169845}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015002193522066862,-0.0005940056791390981],"position_m":[0.2237002193522067,0.0006059943208609018,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011461382027454295,0.00029421514801099627],"position_m":[0.19594613820274542,-0.132405784851989,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010569337039620643,-0.00175380025461654],"position_m":[0.22115693370396206,-0.3934538002546165,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.0017777348311826414,0.0038985003226296644],"position_m":[0.28102226516881734,0.29539850032262965,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"c373081cad5c39d3df6dfd634502b96b7f5ff48710d002cdc24aa4281e904fb1","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1158/tex_ceiling_textures_4352/tex_floor_textures_9251/tex_table_textures_6640/tex_wall_textures_6318","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8141625111392784712,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8141625111392784712,"visual_seed":8141625111392784712,"scene_id":"lab_003","finished_at":"2026-09-09T00:01:10"}
+{"episode_id":"ep_000036","started_at":"2026-09-09T00:14:24","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.10230425149201783,-2.502021866461426,0.71338606911949],"aabb_xy":[[0.0736549191316016,-2.5306674257385016],[0.13095358385243405,-2.47337630718435]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.19845789588009866,1.6763473919300504,0.71338606911949],"aabb_xy":[[-0.22063042285674944,1.654171724773927],[-0.1762853689034478,1.698523059086173]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.15858907295149016,-2.1088326374075943,0.71338606911949],"aabb_xy":[[-0.18108907247519757,-2.1313285848582146],[-0.13608907342778276,-2.086336689956973]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.5343259566665894,-1.2795469078864292,0.71338606911949],"aabb_xy":[[0.4693259566322867,-1.3262475845667567],[0.5993259567008922,-1.2328462312061021]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.47916959840919093,-1.8653758439874921,0.71338606911949],"aabb_xy":[[-0.4960803308455327,-1.8788480495801063],[-0.46225886597284915,-1.851903638394877]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[0.5942910478931696,-0.23658301408677263,0.71338606911949],"aabb_xy":[[0.5586618919932098,-0.2722156808436256],[0.6299202037931293,-0.20095034732991968]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.02990772395945307,1.3177806946071065,0.71338606911949],"aabb_xy":[[-0.03409227630101773,1.2727718952541784],[0.09390772421992387,1.3627894939600345]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.27079436909843624,-0.2169185805931142,0.71338606911949],"aabb_xy":[[-0.33238512832242906,-0.2809185787021611],[-0.20920360987444342,-0.1529185824840673]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.18232873995475718,0.37908066748177216,0.71338606911949],"aabb_xy":[[-0.26232873691779635,0.30200502583799865],[-0.10232874299171801,0.45615630912554556]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.6869595861723845,-1.1307799728210908,0.71338606911949],"aabb_xy":[[0.6519595870424288,-1.1365251938967549],[0.7219595853023402,-1.1250347517454267]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.14177833798315753,-0.4827862492677317,0.71338606911949],"aabb_xy":[[-0.1466219327443875,-0.4876379017467159],[-0.13693474322192756,-0.47793459678874767]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.6186040804864281,0.7337649652270914,0.71338606911949],"aabb_xy":[[0.6009712448929004,0.7161420192114685],[0.6362369160799556,0.7513879112427144]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.3057645701849966,1.4188481675285165,0.71338606911949],"aabb_xy":[[-0.3192110968190399,1.4053783158754252],[-0.29231804355095325,1.4323180191816078]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.5921734152778799,-1.6334595087336061,0.71338606911949],"aabb_xy":[[0.5671734157261414,-1.6436019925987406],[0.6171734148296184,-1.6233170248684712]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.28486206493909744,1.1557155371987036,0.71338606911949],"aabb_xy":[[-0.29082860387983317,1.1497543925393394],[-0.2788955259983616,1.1616766818580677]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.049884175773619366,-1.0420228898103805,0.71338606911949],"aabb_xy":[[0.01873725693003625,-1.1120228884971874],[0.08103109461720248,-0.9720228911235731]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[-0.23582741799105844,0.9802815524939197,0.71338606911949],"aabb_xy":[[-0.2610482548508981,0.9550578016410329],[-0.21060658113121877,1.0055053033468062]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.5726264082310859,1.8121300424563471,0.71338606911949],"aabb_xy":[[0.4926264095741999,1.7976251835320844],[0.6526264068879719,1.8266349013806102]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.639351137281587,1.6586758809881643,0.71338606911949],"aabb_xy":[[0.6202388299236081,1.639541102110922],[0.6584634446395659,1.6778106598654061]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.42550986903399374,1.5892140297937085,0.71338606911949],"aabb_xy":[[-0.4640555618591948,1.5506682587375196],[-0.3869641762087927,1.627759800849897]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.023881190182794665,0.9174296073978736,0.71338606911949],"aabb_xy":[[-0.033298664752657414,0.9080134302601545],[-0.014463715612931916,0.9268457845355925]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.06588929431739565,-0.8005547515282039,0.71338606911949],"aabb_xy":[[-0.09040291841440151,-0.8248193448302402],[-0.04137567022038979,-0.7762901582261673]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.49646129276154094,0.4176813720963479,0.71338606911949],"aabb_xy":[[-0.5861483690696564,0.3276813718418974],[-0.4067742164534255,0.5076813723507985]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[0.5062604391681798,0.39532287228224394,0.71338606911949],"aabb_xy":[[0.4982241044668948,0.38728475297782716],[0.5142967738694645,0.4033609915866607]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[0.1963182504787736,1.7370049347646277,0.71338606911949],"aabb_xy":[[0.1463182509024389,1.6870243558125217],[0.24631825005510835,1.7869855137167336]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.056919533227884234,-1.2423324738398374,0.71338606911949],"aabb_xy":[[0.041817231766866116,-1.2574339954708988],[0.0720218346889023,-1.227230952208775]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[-0.5998976839336376,0.08102988341271145,0.71338606911949],"aabb_xy":[[-0.6071800003103011,-0.00897012019679756],[-0.5926153675569737,0.17102988702222038]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.08919582579948881,-2.476757645394709,0.71338606911949],"aabb_xy":[[-0.11968007592651897,-2.5267576451762044],[-0.05871157567245866,-2.4267576456132125]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_28","position":[-0.27406710695785236,0.14028895661885343,0.71338606911949],"aabb_xy":[[-0.32905935759336336,0.08528895487554068],[-0.21907485632234147,0.19528895836216625]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[-0.22544730103435295,-1.8195640688010033,0.71338606911949],"aabb_xy":[[-0.28544730088091974,-1.876382690994042],[-0.16544730118778617,-1.7627454466079646]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[-0.3443111559570323,-2.195955569118211,0.71338606911949],"aabb_xy":[[-0.3667759259284374,-2.218455569997071],[-0.32184638598562715,-2.17345556823935]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669035995424791,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/261.png","name":"261"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/261.png","name":"261"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5478.png","name":"5478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8193.png","name":"8193"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5684.png","name":"5684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":830.7581174084632,"rotation_z_degrees":12.817320970022873,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034819758137126892,0.018091933528515656,-0.01471999905530506]},{"name":"camera_2","offset_m":[-0.017279544325938815,0.00015017100112492757,-0.0010049949963663561]},{"name":"camera_3","offset_m":[-0.0005677536997016966,-0.008655795505271006,0.006123072879694633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019643021138476555,0.0006732349417676539,0.001555232254669438],"end_effector_yaw_offset_degrees":0.4359266770997521},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004667652324717932,-0.0019770018713125377,-0.0016593483686822826],"end_effector_yaw_offset_degrees":0.10764953085877904},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006402138712502893,0.0006725640478312629,1.3944045948645171e-05],"end_effector_yaw_offset_degrees":-0.8805021956528125},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00026939097429328927,0.0002418742844086273,0.0010994215680963804],"end_effector_yaw_offset_degrees":-0.013413391390784124},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00034071868731006525,0.001986870047271951,-0.0009242514342550324],"end_effector_yaw_offset_degrees":-0.45045213626588376},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.001130586262417754,0.0017586954817336493,3.054310206228317e-05],"end_effector_yaw_offset_degrees":0.91635439784293},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009195195560633713,-0.001502673813312176,0.0016545235112074793],"end_effector_yaw_offset_degrees":0.2664629909876637},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00020993638302440774,-0.0012224751323922957,-0.0013164048932303896],"end_effector_yaw_offset_degrees":-0.9110382127756937},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003893975757919372,0.0008212448562158791,0.0009130407684467662],"end_effector_yaw_offset_degrees":-0.023632712273111034}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001664860943688189,-0.0017624186892750229],"position_m":[0.2238648609436882,-0.000562418689275023,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032760468604918777,-0.003169156399323461],"position_m":[0.19807604686049188,-0.13586915639932348,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005858456701674127,0.0002776081949313943],"position_m":[0.21951415432983257,-0.3914223918050686,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0019053568822861768,0.004773939473494924],"position_m":[0.28470535688228615,0.2962739394734949,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"e5503d3f076989b18be86c03b4dbdc3e14b6daac1cd24b7f5b031a9af1be6b32","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_261/tex_ceiling_textures_3590/tex_floor_textures_5684/tex_table_textures_5478/tex_wall_textures_8193","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2543186509618305233,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2543186509618305233,"visual_seed":2543186509618305233,"scene_id":"lab_003","finished_at":"2026-09-09T00:25:25"}
+{"episode_id":"ep_000037","started_at":"2026-09-09T00:37:12","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.6400945778120544,-0.519827439397984,0.71338606911949],"aabb_xy":[[-0.64606111675279,-0.5257885840573481],[-0.6341280388713185,-0.51386629473862]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.051930746121136684,-1.55769126333523,0.71338606911949],"aabb_xy":[[-0.08241499624816684,-1.607691263116726],[-0.021446495994106522,-1.507691263553734]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[0.6586052749466764,-1.5950117136617918,0.71338606911949],"aabb_xy":[[0.6415951776566258,-1.6111462021600655],[0.6756153722367271,-1.5788772251635177]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.060265911922989246,1.7575982299067188,0.71338606911949],"aabb_xy":[[-0.07915029569149945,1.7387123051263662],[-0.04138152815447905,1.7764841546870718]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.38274516295321215,1.2862996035851637,0.71338606911949],"aabb_xy":[[0.36028039298180703,1.2637996027063032],[0.40520993292461727,1.3087996044640242]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.5910715142587193,-0.6685267223178943,0.71338606911949],"aabb_xy":[[0.573571515124352,-0.678406349355482],[0.6085715133930863,-0.6586470952803064]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.09857447461466606,-2.2947983400564147,0.71338606911949],"aabb_xy":[[0.07946216725668719,-2.313933118933657],[0.11768678197264491,-2.275663561179173]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.3420597666052041,1.5224919463123876,0.71338606911949],"aabb_xy":[[0.3045597658132086,1.5161241053541974],[0.3795597673971995,1.5288597872705778]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.09715077407983141,0.7698912588172999,0.71338606911949],"aabb_xy":[[0.04717770854731597,0.719891259004767],[0.1471238396123469,0.8198912586298329]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.1204477126296879,0.95086439179908,0.71338606911949],"aabb_xy":[[-0.2004477140598151,0.8713472367864704],[-0.040447711199560685,1.0303815468116895]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[-0.32710833259045785,0.4535158604070224,0.71338606911949],"aabb_xy":[[-0.3348115232645349,0.4458064897082844],[-0.3194051419163808,0.4612252311057604]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[-0.379095079589452,-2.1009603101128924,0.71338606911949],"aabb_xy":[[-0.459095078246338,-2.1154651690371553],[-0.299095080932566,-2.0864554511886295]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.4530944556548483,-0.043620238420142066,0.71338606911949],"aabb_xy":[[-0.5170944588734863,-0.09034335031915042],[-0.3890944524362105,0.003102873478866286]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[0.5585040012762179,1.385280335469965,0.71338606911949],"aabb_xy":[[0.5483509857220684,1.3492107938972244],[0.5686570168303672,1.421349877042705]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[0.48522768828979834,-1.5675146256225914,0.71338606911949],"aabb_xy":[[0.40022768987237506,-1.6523889210848763],[0.5702276867072216,-1.4826403301603064]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.4840023968225955,-1.0396153865947435,0.71338606911949],"aabb_xy":[[0.42400239697602876,-1.0964340087877822],[0.5440023966691623,-0.9827967644017048]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.19396445508196347,1.443104105005537,0.71338606911949],"aabb_xy":[[-0.2579644543761317,1.379117964636683],[-0.12996445578779525,1.5070902453743913]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.4971765318802699,-0.12539580214040136,0.71338606911949],"aabb_xy":[[0.4796765984462865,-0.14289580206063587],[0.5146764653142533,-0.10789580222016679]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.6111551520748177,0.4281464488777722,0.71338606911949],"aabb_xy":[[-0.6751551527782871,0.38212806640485125],[-0.5471551513713484,0.47416483135069326]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.10708805437596525,-0.9945581364699159,0.71338606911949],"aabb_xy":[[-0.1870880513390044,-1.0716337781136893],[-0.02708805741292608,-0.9174824948261424]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.2672996194610049,0.7016974492570909,0.71338606911949],"aabb_xy":[[-0.27529310925628697,0.6936993173166153],[-0.2593061296657229,0.7096955811975665]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.2334634620399429,-1.3829924494003922,0.71338606911949],"aabb_xy":[[-0.28328024150477765,-1.4329924478846956],[-0.18364668257510813,-1.3329924509160889]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.4329685500493081,-1.335346712916103,0.71338606911949],"aabb_xy":[[-0.4445375307962447,-1.3603467130330347],[-0.42139956930237155,-1.3103467127991713]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.4554709760247849,0.12498176279056761,0.71338606911949],"aabb_xy":[[-0.5053536729024812,0.07498176354429287],[-0.4055882791470888,0.17498176203684235]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_24","position":[0.5282182834422067,1.5571413164960473,0.71338606911949],"aabb_xy":[[0.49172246281492793,1.5206573740692897],[0.5647141040694854,1.5936252589228048]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[0.04399436230528886,-1.51363574951541,0.71338606911949],"aabb_xy":[[0.036071082066540534,-1.5361357497534132],[0.0519176425440372,-1.4911357492774064]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[-0.549772981291299,1.12247419421931,0.71338606911949],"aabb_xy":[[-0.5747729808430375,1.1123317103541752],[-0.5247729817395606,1.1326166780844447]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[-0.269931732789067,1.6500176350953581,0.71338606911949],"aabb_xy":[[-0.324923983424578,1.5950176333520458],[-0.21493948215355613,1.7050176368386714]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_28","position":[0.213283882332868,-1.3217247732537547,0.71338606911949],"aabb_xy":[[0.1482838822985653,-1.368425449934082],[0.2782838823671707,-1.2750240965734274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665857519362884,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5274.png","name":"5274"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5274.png","name":"5274"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9227.png","name":"9227"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7573.png","name":"7573"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4890.png","name":"4890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5693.png","name":"5693"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":594.7093729152931,"rotation_z_degrees":304.0408550365272,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00492448896025904,0.011696343359096851,-0.007814230267182651]},{"name":"camera_2","offset_m":[0.013696617881849008,-0.0011359201393097013,0.016293730853834638]},{"name":"camera_3","offset_m":[0.00956900191777113,0.01729821382943617,0.018760702752108133]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006348401614963738,0.00178241080221107,-0.0007995016667718634],"end_effector_yaw_offset_degrees":0.27754999105530054},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00163294110324992,-0.0010287759065490372,0.0014571306975847062],"end_effector_yaw_offset_degrees":0.8598184517933842},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005930681642549551,0.0003025206790669985,-0.0012918134853735683],"end_effector_yaw_offset_degrees":-0.23934029875428697},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0016999834377963603,-0.0005598681350946868,-0.0017359673675013051],"end_effector_yaw_offset_degrees":-0.0185860740065511},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0015110988627825496,-0.001426269585878096,0.0008482969086770335],"end_effector_yaw_offset_degrees":0.884381804149146},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0002028788168308357,-0.0018763359068737309,-0.0007479616245286511],"end_effector_yaw_offset_degrees":-0.9494046973119707},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018633255627730984,0.0016711823934024458,0.00016601054524688526],"end_effector_yaw_offset_degrees":-0.7876491858731309},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00024691583011506035,0.0015137477569566594,0.00010519220390484444],"end_effector_yaw_offset_degrees":-0.3794855450370531},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010756587169178538,-0.0019224533690877187,0.001935550774872367],"end_effector_yaw_offset_degrees":-0.002576559049057403}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00014795807770171757,0.002243598513588612],"position_m":[0.2220520419222983,0.0034435985135886117,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002059892838548193,-6.539516544475706e-05],"position_m":[0.19274010716145182,-0.13276539516544478,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002741737750775418,0.0014773160257669634],"position_m":[0.21735826224922458,-0.39022268397423304,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00306999354630389,-0.0024010388896383117],"position_m":[0.2858699935463039,0.28909896111036165,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"38226e520230f999534b300611bda318cc29ce3cdfdc55cc67b4a085d779fa73","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/dataset/episode_0060.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5274/tex_ceiling_textures_5693/tex_floor_textures_4890/tex_table_textures_9227/tex_wall_textures_7573","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4594011595619658728,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4594011595619658728,"visual_seed":4594011595619658728,"scene_id":"lab_003","finished_at":"2026-09-09T00:48:16"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4635586503020f15616aad9cab5e41ce5b2f8169
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/resolved_config.yaml
@@ -0,0 +1,406 @@
+name: lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack. Pick up beaker b from home. Shake the current contents of beaker b once.
+    Place beaker b at home.
+  layout_id: layout_00003
+  reproducibility:
+    enabled: true
+    layout_id: layout_00003
+    action_seed: 8196756798222636436
+    step_seeds:
+    - 6038634529671703149
+    - 2665526681626151468
+    - 4292576788232893539
+    - 8311943347811665881
+    - 5727181341545238904
+    - 7169016413193450989
+    - 5390520743912596207
+    - 4043391208404697403
+    - 2014797057069555176
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2222
+      - 0.2222
+      'y':
+      - 0.0012
+      - 0.0012
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1948
+      - 0.1948
+      'y':
+      - -0.1327
+      - -0.1327
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2201
+      - 0.2201
+      'y':
+      - -0.3917
+      - -0.3917
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2828
+      - 0.2828
+      'y':
+      - 0.2915
+      - 0.2915
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2fd963a03a9502e60ca74a0572ef4f374ed906d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_0_success.json
@@ -0,0 +1,2676 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25089977392538454,
+              0.003808044171282273,
+              1.1614341890989062
+            ],
+            "current_z": 1.1614341890989062,
+            "required_z": 0.8611065586513054,
+            "initial_z": 0.7611065586513054,
+            "lift_margin": 0.3003276304476008,
+            "gripper_z": 1.1548091281508623,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2458008984318769,
+              -0.0010955799233025032,
+              1.1548091281508623
+            ],
+            "object_minus_gripper": [
+              0.005098875493507626,
+              0.004903624094584776,
+              0.006625060948043826
+            ],
+            "object_to_gripper_xy": 0.007074182677828231,
+            "object_to_gripper_z": 0.006625060948043826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25089977392538454,
+              -0.020280191034920778,
+              1.1614341890989062
+            ],
+            "finger_b": [
+              0.23979524642949224,
+              0.003808044171282273,
+              1.1614341890989062
+            ],
+            "finger_midpoint": [
+              0.2453475101774384,
+              -0.008236073431819252,
+              1.1614341890989062
+            ],
+            "object_minus_finger_midpoint": [
+              0.005552263747946151,
+              0.012044117603101525,
+              0.0
+            ],
+            "finger_gap": 0.026524584940322598,
+            "fingertip_max_gap": 0.09074327623823444,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013262292470161299,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1614341890989062,
+            "object_top_z": 1.211381754596502,
+            "finger_top_clearance": 0.049947565497595825,
+            "fingertip_min_top_clearance": 0.014984269649278714,
+            "object_projection_between_fingers": 0.8247318614950124,
+            "object_to_finger_line_xy": 0.010084548760201992,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047871638119117224,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24702764420756837,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28373749309599683,
+              -0.394637294654901,
+              0.8515395897714112
+            ],
+            "target_position": [
+              0.2750746881615125,
+              -0.3963090449252584,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008822637831134546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851327848659083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395897714112,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569158462819459,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857217450146786,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526919748249667,
+            "release_required_pad_clearance": 0.0528608725073393,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7641223405576351,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008325755596160889,
+            "max_z_decrease": 0.008325755596160889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508148554705325,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008325755596160889,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020877737187197765,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008325755596160889,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008325942276775656,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13077461719512934,
+              -0.4525704979896545,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13077461719512934,
+              -0.4525704979896545,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13246287102614748,
+              -0.4509119786657715,
+              0.8035586152418983
+            ],
+            "closest_button": [
+              0.13082163035869593,
+              -0.4525412023067474,
+              0.7685534358024597
+            ],
+            "closest_ee_minus_button": [
+              0.0016412406674515545,
+              0.0016292236409758964,
+              0.035005179439438594
+            ],
+            "button_min_z_position": [
+              0.13082201778888697,
+              -0.4525411427021026,
+              0.7684831023216248
+            ],
+            "min_active_finger_to_button": 0.14370398654215505,
+            "closest_active_finger": [
+              0.005108639597892761,
+              -0.513272762298584,
+              0.8106937408447266
+            ],
+            "closest_active_finger_button": [
+              0.1307751685380935,
+              -0.45256888866424555,
+              0.776432991027832
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12566652894020075,
+              -0.060703873634338434,
+              0.03426074981689453
+            ],
+            "min_contact_pad_to_button": 0.020877737187197765,
+            "closest_contact_pad": [
+              0.13082201778888697,
+              -0.4525411427021026,
+              0.7893608395088225
+            ],
+            "closest_contact_pad_button": [
+              0.13082201778888697,
+              -0.4525411427021026,
+              0.7684831023216248
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020877737187197765
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27127135249338147,
+              0.1743497130078958,
+              1.1028530513559711
+            ],
+            "current_z": 1.1028530513559711,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19294392162160856,
+            "gripper_z": 1.1028532977743735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2712713806552811,
+              0.17434971581723024,
+              1.1028532977743735
+            ],
+            "object_minus_gripper": [
+              -2.816189964560678e-08,
+              -2.809334431752575e-09,
+              -2.4641840234984613e-07
+            ],
+            "object_to_gripper_xy": 2.8301677540362476e-08,
+            "object_to_gripper_z": -2.4641840234984613e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27127135249338147,
+              0.1743497130078958,
+              1.1028530513559711
+            ],
+            "finger_b": [
+              0.27127135249338147,
+              0.1743497130078958,
+              1.1028530513559711
+            ],
+            "finger_midpoint": [
+              0.27127135249338147,
+              0.1743497130078958,
+              1.1028530513559711
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1028530513559711,
+            "object_top_z": 1.2278615579762509,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 238,
+            "max_stable_success_frames": 238,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2712713524933815,
+            0.17434971300789584,
+            1.1028530513559711
+          ],
+          "object_origin_world": [
+            0.2712713524933815,
+            0.17434971300789584,
+            1.1028530513559711
+          ],
+          "frame_world": [
+            0.2712713806552811,
+            0.17434971581723024,
+            1.1028532977743735
+          ],
+          "center_minus_frame": [
+            -2.816189959009563e-08,
+            -2.809334403996999e-09,
+            -2.4641840234984613e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436069129085894,
+            "required_z": 0.9112599062797972,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0009227983262351818,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.1248307445034866e-07,
+            "max_target_xy_drift": 3.76537681194525e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7641223426177369,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7641223426334774,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2839842043376672,
+              -0.39375905637810005,
+              0.9233126248172733
+            ],
+            "target_mouth_xy": [
+              0.2837375247615957,
+              -0.3946372933759349
+            ],
+            "rod_tip_z": 0.9233126248172733,
+            "rod_tip_depth": -0.022052802901958102,
+            "rod_tip_bottom_clearance": 0.12149330955319304,
+            "rod_tip_xy_dist": 0.0009122231292928161,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045103544276254626,
+            "min_rod_tip_bottom_clearance": 0.05433695703214836,
+            "min_rod_tip_xy_dist": 0.0008874697420680355,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2837375290215469,
+              -0.3946376058299709
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.259951225105141e-09,
+              3.12454036033305e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 387,
+              "end_frame": 406,
+              "first_rod_tip_xy_delta": [
+                0.0006996306612577774,
+                0.0026850576852047725
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006178477768848389,
+                0.002300530211684859
+              ],
+              "first_target_mouth_xy": [
+                0.28373752697477833,
+                -0.3946372920893977
+              ],
+              "last_target_mouth_xy": [
+                0.28373755498021835,
+                -0.39463726579546754
+              ],
+              "first_rod_tip_xy": [
+                0.2844371576360361,
+                -0.3919522344041929
+              ],
+              "last_rod_tip_xy": [
+                0.2843554027571032,
+                -0.3923367355837827
+              ],
+              "min_rod_tip_xy_dist": 0.0023820527135805206,
+              "max_rod_tip_xy_dist": 0.002774710405618793,
+              "first_target_xy_drift": 3.1374724948715066e-07,
+              "last_target_xy_drift": 3.410239230857227e-07,
+              "max_depth": 0.019385604650799082,
+              "min_bottom_clearance": 0.08005495230874182
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 387,
+                "rod_tip_xy_delta": [
+                  0.0006996306612577774,
+                  0.0026850576852047725
+                ],
+                "rod_tip_xy": [
+                  0.2844371576360361,
+                  -0.3919522344041929
+                ],
+                "target_mouth_xy": [
+                  0.28373752697477833,
+                  -0.3946372920893977
+                ],
+                "gripper_position": [
+                  0.28442725503593436,
+                  -0.3919622466530134,
+                  1.0060600763511283
+                ],
+                "rod_tip_xy_dist": 0.002774710405618793,
+                "target_xy_drift": 3.1374724948715066e-07,
+                "depth": 0.01503918620042588,
+                "bottom_clearance": 0.08440145122105214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.000689697251063659,
+                  0.0026753588645600512
+                ],
+                "rod_tip_xy": [
+                  0.2844272550359343,
+                  -0.3919622466530135
+                ],
+                "target_mouth_xy": [
+                  0.28373755778487064,
+                  -0.39463760551757354
+                ],
+                "gripper_position": [
+                  0.284419657098629,
+                  -0.3919662122669357,
+                  1.0059188501588807
+                ],
+                "rod_tip_xy_dist": 0.0027628295916152365,
+                "target_xy_drift": 2.8765020140962597e-08,
+                "depth": 0.01519979605888866,
+                "bottom_clearance": 0.08424078146663272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0006821019038455445,
+                  0.0026710804700303403
+                ],
+                "rod_tip_xy": [
+                  0.28441965709862893,
+                  -0.39196621226693584
+                ],
+                "target_mouth_xy": [
+                  0.2837375551947834,
+                  -0.3946372927369662
+                ],
+                "gripper_position": [
+                  0.2844299134453424,
+                  -0.39203812043083874,
+                  1.005382448144423
+                ],
+                "rod_tip_xy_dist": 0.002756797759105158,
+                "target_xy_drift": 3.1418508546261196e-07,
+                "depth": 0.015340988121001264,
+                "bottom_clearance": 0.08409956566469623,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0006923891943937943,
+                  0.0025991748480993504
+                ],
+                "rod_tip_xy": [
+                  0.28442991344534235,
+                  -0.39203812043083874
+                ],
+                "target_mouth_xy": [
+                  0.28373752425094856,
+                  -0.3946372952789381
+                ],
+                "gripper_position": [
+                  0.2844198206121479,
+                  -0.3920480351707586,
+                  1.005221658784377
+                ],
+                "rod_tip_xy_dist": 0.002689816478406207,
+                "target_xy_drift": 3.105876729731625e-07,
+                "depth": 0.015877400052983104,
+                "bottom_clearance": 0.0835631470858127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0006822947957811354,
+                  0.0025892569221376838
+                ],
+                "rod_tip_xy": [
+                  0.2844198206121478,
+                  -0.3920480351707587
+                ],
+                "target_mouth_xy": [
+                  0.2837375258163667,
+                  -0.3946372920928964
+                ],
+                "gripper_position": [
+                  0.28441212690198303,
+                  -0.3920519418309885,
+                  1.0050803146231937
+                ],
+                "rod_tip_xy_dist": 0.0026776440385510416,
+                "target_xy_drift": 3.137534463914962e-07,
+                "depth": 0.016038194355450952,
+                "bottom_clearance": 0.08340239889425327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006745724941063513,
+                  0.002585357582992387
+                ],
+                "rod_tip_xy": [
+                  0.284412126901983,
+                  -0.39205194183098857
+                ],
+                "target_mouth_xy": [
+                  0.2837375544078766,
+                  -0.39463729941398096
+                ],
+                "gripper_position": [
+                  0.28442323031683825,
+                  -0.39212473788272234,
+                  1.004545865264386
+                ],
+                "rod_tip_xy_dist": 0.002671913524375574,
+                "target_xy_drift": 3.074658105306842e-07,
+                "depth": 0.01617959827389337,
+                "bottom_clearance": 0.08326108501092466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006856696747605806,
+                  0.0025128333691155635
+                ],
+                "rod_tip_xy": [
+                  0.28442323031683814,
+                  -0.3921247378827224
+                ],
+                "target_mouth_xy": [
+                  0.28373756064207756,
+                  -0.39463757125183796
+                ],
+                "gripper_position": [
+                  0.284413072262927,
+                  -0.3921346456401072,
+                  1.0043853664251852
+                ],
+                "rod_tip_xy_dist": 0.002604702371448023,
+                "target_xy_drift": 4.685621876980639e-08,
+                "depth": 0.016714074269300272,
+                "bottom_clearance": 0.0827265840061856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006755166252583877,
+                  0.002502648676178776
+                ],
+                "rod_tip_xy": [
+                  0.28441307226292695,
+                  -0.39213464564010725
+                ],
+                "target_mouth_xy": [
+                  0.28373755563766856,
+                  -0.394637294316286
+                ],
+                "gripper_position": [
+                  0.2844052074402854,
+                  -0.3921382558767528,
+                  1.004244376279751
+                ],
+                "rod_tip_xy_dist": 0.002592213939353745,
+                "target_xy_drift": 3.126486747341284e-07,
+                "depth": 0.016874399335619295,
+                "bottom_clearance": 0.08256613812481461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006676519594255859,
+                  0.0024990089550235295
+                ],
+                "rod_tip_xy": [
+                  0.28440520744028536,
+                  -0.3921382558767529
+                ],
+                "target_mouth_xy": [
+                  0.28373755548085977,
+                  -0.3946372648317764
+                ],
+                "gripper_position": [
+                  0.28439730041524924,
+                  -0.39214221481471434,
+                  1.0041030151995214
+                ],
+                "rod_tip_xy_dist": 0.0025866590220229293,
+                "target_xy_drift": 3.420231920481616e-07,
+                "depth": 0.0170154534406749,
+                "bottom_clearance": 0.0824250891013153,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006597768047132413,
+                  0.0024950792023985535
+                ],
+                "rod_tip_xy": [
+                  0.2843973004152492,
+                  -0.39214221481471445
+                ],
+                "target_mouth_xy": [
+                  0.28373752361053595,
+                  -0.394637294017113
+                ],
+                "gripper_position": [
+                  0.28440988461678013,
+                  -0.39221705166370474,
+                  1.0035701458469881
+                ],
+                "rod_tip_xy_dist": 0.0025808381697191743,
+                "target_xy_drift": 3.118598040877785e-07,
+                "depth": 0.017156829331962054,
+                "bottom_clearance": 0.08228369642582811,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006723245441481174,
+                  0.002420522133461833
+                ],
+                "rod_tip_xy": [
+                  0.2844098846167801,
+                  -0.3922170516637048
+                ],
+                "target_mouth_xy": [
+                  0.28373756007263196,
+                  -0.39463757379716663
+                ],
+                "gripper_position": [
+                  0.2843993825742711,
+                  -0.3922270251083342,
+                  1.0034096883646118
+                ],
+                "rod_tip_xy_dist": 0.0025121599652973134,
+                "target_xy_drift": 4.461244706512702e-08,
+                "depth": 0.017689683907389342,
+                "bottom_clearance": 0.08175086042531599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0006618535592747832,
+                  0.00241057977059711
+                ],
+                "rod_tip_xy": [
+                  0.28439938257427105,
+                  -0.3922270251083343
+                ],
+                "target_mouth_xy": [
+                  0.28373752901499627,
+                  -0.3946376048789314
+                ],
+                "gripper_position": [
+                  0.28439160873146646,
+                  -0.39223060311217056,
+                  1.003268816262686
+                ],
+                "rod_tip_xy_dist": 0.002499788983961789,
+                "target_xy_drift": 9.510620846940064e-10,
+                "depth": 0.017850141145014375,
+                "bottom_clearance": 0.08159037403216585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006540809101349687,
+                  0.0024066911908566246
+                ],
+                "rod_tip_xy": [
+                  0.2843916087314664,
+                  -0.3922306031121706
+                ],
+                "target_mouth_xy": [
+                  0.28373752782133144,
+                  -0.39463729430302724
+                ],
+                "gripper_position": [
+                  0.2843835639862168,
+                  -0.3922342615033162,
+                  1.0031274757081479
+                ],
+                "rod_tip_xy_dist": 0.002493989640144856,
+                "target_xy_drift": 3.115292557040599e-07,
+                "depth": 0.01799108474568556,
+                "bottom_clearance": 0.08144952953973539,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006460403559758743,
+                  0.0024030337895032394
+                ],
+                "rod_tip_xy": [
+                  0.2843835639862167,
+                  -0.3922342615033163
+                ],
+                "target_mouth_xy": [
+                  0.28373752363024085,
+                  -0.39463729529281955
+                ],
+                "gripper_position": [
+                  0.2843754170825048,
+                  -0.3922381540296134,
+                  1.0029868098640362
+                ],
+                "rod_tip_xy_dist": 0.002488360812873353,
+                "target_xy_drift": 3.105839477013454e-07,
+                "depth": 0.01813239152357815,
+                "bottom_clearance": 0.08130817969530468,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006378904857923806,
+                  0.0023991396551112376
+                ],
+                "rod_tip_xy": [
+                  0.28437541708250474,
+                  -0.3922381540296135
+                ],
+                "target_mouth_xy": [
+                  0.28373752659671236,
+                  -0.3946372936847247
+                ],
+                "gripper_position": [
+                  0.2843903911165061,
+                  -0.39231650131264606,
+                  1.0024571872871524
+                ],
+                "rod_tip_xy_dist": 0.0024824937777548823,
+                "target_xy_drift": 3.1215466447226087e-07,
+                "depth": 0.018273080311816403,
+                "bottom_clearance": 0.08116748490351566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006528966636499822,
+                  0.0023207927041860588
+                ],
+                "rod_tip_xy": [
+                  0.284390391116506,
+                  -0.39231650131264617
+                ],
+                "target_mouth_xy": [
+                  0.283737494452856,
+                  -0.39463729401683223
+                ],
+                "gripper_position": [
+                  0.284379840854324,
+                  -0.3923258349153381,
+                  1.0022966351162517
+                ],
+                "rod_tip_xy_dist": 0.002410882168254707,
+                "target_xy_drift": 3.137234894871255e-07,
+                "depth": 0.018802578129470504,
+                "bottom_clearance": 0.08063792313159612,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006423176980760448,
+                  0.0023114312135910087
+                ],
+                "rod_tip_xy": [
+                  0.28437984085432394,
+                  -0.39232583491533823
+                ],
+                "target_mouth_xy": [
+                  0.2837375231562479,
+                  -0.39463726612892924
+                ],
+                "gripper_position": [
+                  0.2843717499421973,
+                  -0.3923294866298893,
+                  1.002155852274899
+                ],
+                "rod_tip_xy_dist": 0.0023990177740951632,
+                "target_xy_drift": 3.3975167321814274e-07,
+                "depth": 0.018963258109461867,
+                "bottom_clearance": 0.0804773542266497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006341932683221474,
+                  0.0023077772480073477
+                ],
+                "rod_tip_xy": [
+                  0.28437174994219727,
+                  -0.3923294866298894
+                ],
+                "target_mouth_xy": [
+                  0.2837375566738751,
+                  -0.39463726387789677
+                ],
+                "gripper_position": [
+                  0.28436366019536075,
+                  -0.39233299320237414,
+                  1.0020149192477974
+                ],
+                "rod_tip_xy_dist": 0.0023933317630461296,
+                "target_xy_drift": 3.4306832012752664e-07,
+                "depth": 0.01910404011145872,
+                "bottom_clearance": 0.08033653571841592,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006261653943016587,
+                  0.0023043008069883464
+                ],
+                "rod_tip_xy": [
+                  0.2843636601953607,
+                  -0.39233299320237425
+                ],
+                "target_mouth_xy": [
+                  0.28373749480105903,
+                  -0.3946372940093626
+                ],
+                "gripper_position": [
+                  0.28435540275710325,
+                  -0.3923367355837825,
+                  1.0018742380628998
+                ],
+                "rod_tip_xy_dist": 0.002387862079373115,
+                "target_xy_drift": 3.1369273752056e-07,
+                "depth": 0.019244835495417,
+                "bottom_clearance": 0.08019565226602199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006178477768848389,
+                  0.002300530211684859
+                ],
+                "rod_tip_xy": [
+                  0.2843554027571032,
+                  -0.3923367355837827
+                ],
+                "target_mouth_xy": [
+                  0.28373755498021835,
+                  -0.39463726579546754
+                ],
+                "gripper_position": [
+                  0.2843473070023089,
+                  -0.39234047273193284,
+                  1.00173358026996
+                ],
+                "rod_tip_xy_dist": 0.0023820527135805206,
+                "target_xy_drift": 3.410239230857227e-07,
+                "depth": 0.019385604650799082,
+                "bottom_clearance": 0.08005495230874182,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006023136775208997,
+              "rod_tip_xy_max_step": 3.274257152017789e-05,
+              "rod_tip_xy_range": 0.0006023053966808093,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28398420433766725,
+            -0.3937590563781,
+            1.0433126248172733
+          ],
+          "object_origin_world": [
+            0.28398420433766725,
+            -0.3937590563781,
+            1.0433126248172733
+          ],
+          "frame_world": [
+            0.2840083381528692,
+            -0.3937551273722772,
+            1.0436069129085894
+          ],
+          "center_minus_frame": [
+            -2.4133815201943243e-05,
+            -3.929005822800313e-06,
+            -0.00029428809131615274
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2612412390631034,
+              0.1293937870218341,
+              0.8332908982139738
+            ],
+            "target_position": [
+              0.27176788229373927,
+              0.17601716795278705,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04779696504107597,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16816762719045641,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332908982139738,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671315970539,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13827629055575347,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22169972958496975,
+              -0.1287079437664078,
+              1.0454086772899214
+            ],
+            "current_z": 1.0454086772899214,
+            "required_z": 0.8565864478039208,
+            "initial_z": 0.7565864478039208,
+            "lift_margin": 0.18882222948600058,
+            "gripper_z": 1.0493768090121585,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21746868217608636,
+              -0.1331406267911583,
+              1.0493768090121585
+            ],
+            "object_minus_gripper": [
+              0.004231047408883387,
+              0.0044326830247505,
+              -0.003968131722237089
+            ],
+            "object_to_gripper_xy": 0.006127841461243108,
+            "object_to_gripper_z": -0.003968131722237089,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22169972958496975,
+              -0.15246717657223613,
+              1.0454086772899214
+            ],
+            "finger_b": [
+              0.2105039498342025,
+              -0.1287079437664078,
+              1.0454086772899214
+            ],
+            "finger_midpoint": [
+              0.21610183970958613,
+              -0.14058756016932195,
+              1.0454086772899214
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055978898753836215,
+              0.011879616402914156,
+              0.0
+            ],
+            "finger_gap": 0.02626493151998001,
+            "fingertip_max_gap": 0.09214535189536519,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013132465759989992,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0454086772899214,
+            "object_top_z": 1.0908088698950311,
+            "finger_top_clearance": 0.045400192605109746,
+            "fingertip_min_top_clearance": 0.01362005778153289,
+            "object_projection_between_fingers": 0.8182994897914422,
+            "object_to_finger_line_xy": 0.01012769202687266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048572675947682595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6145112126737622,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2261109509834185,
+              -0.12919095687120413,
+              1.2424366816896302
+            ],
+            "held_position": [
+              0.230682020384975,
+              -0.12494206963285213,
+              1.23864894626628
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007300319025589135,
+            "max_held_gripper_dist": 0.007301395891475499,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037877354233502025,
+            "max_held_gripper_z_dist": 0.003985217830499099,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08546080588164101,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.230682020384975,
+              -0.14961475008680591,
+              1.23864894626628
+            ],
+            "held_grasp_finger_b": [
+              0.2220450655853664,
+              -0.12494206963285213,
+              1.23864894626628
+            ],
+            "held_grasp_midpoint": [
+              0.2263635429851707,
+              -0.13727840985982903,
+              1.23864894626628
+            ],
+            "held_grasp_object_position": [
+              0.230682020384975,
+              -0.12494206963285213,
+              1.23864894626628
+            ],
+            "held_grasp_finger_gap": 0.026140737346015987,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023991057755207146,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0672579699293499,
+              -0.9959178066306427,
+              -0.06020039798035226
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035591954373971344,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.032623792042013974,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.20067065309627646,
+              -0.13254615565425823,
+              0.7565863494221976
+            ],
+            "target_position": [
+              0.19632546179250832,
+              -0.131527700356409,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004462951787781207,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21910722784267883,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863494221976,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557190830280831,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853932266432627,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18945877942252734,
+            "release_required_pad_clearance": 0.05269661332163135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4476233632116637,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96fdf0e809580d57dfa14a52327dc9d4a3432844d05365b03ce3b40f7fa6fcf4",
+    "visual_seed": 2689072053435599107,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a067c8dcfdca030a041af0264b79803a473071a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_10_success.json
@@ -0,0 +1,2670 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2518126796836122,
+              0.0008964620130302355,
+              1.164540085006732
+            ],
+            "current_z": 1.164540085006732,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.3034335173873214,
+            "gripper_z": 1.1579661433450161,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24693207182681542,
+              -0.004019875168774403,
+              1.1579661433450161
+            ],
+            "object_minus_gripper": [
+              0.0048806078567967814,
+              0.004916337181804639,
+              0.006573941661715876
+            ],
+            "object_to_gripper_xy": 0.006927532341102512,
+            "object_to_gripper_z": 0.006573941661715876,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2518126796836122,
+              -0.022933962850466918,
+              1.164540085006732
+            ],
+            "finger_b": [
+              0.24056188338367318,
+              0.0008964620130302355,
+              1.164540085006732
+            ],
+            "finger_midpoint": [
+              0.2461872815336427,
+              -0.011018750418718342,
+              1.164540085006732
+            ],
+            "object_minus_finger_midpoint": [
+              0.005625398149969513,
+              0.011915212431748578,
+              0.0
+            ],
+            "finger_gap": 0.026352790489007134,
+            "fingertip_max_gap": 0.09118660273419005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013176395244503569,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164540085006732,
+            "object_top_z": 1.214574687801674,
+            "finger_top_clearance": 0.050034602794942096,
+            "fingertip_min_top_clearance": 0.015010380838482627,
+            "object_projection_between_fingers": 0.8177307927110723,
+            "object_to_finger_line_xy": 0.010173922795464464,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048093301367095026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5630590788035355,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27901474107542257,
+              -0.39371462755427494,
+              0.85153951985235
+            ],
+            "target_position": [
+              0.2711245897275783,
+              -0.39509922699965194,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008010718064944425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18596603504949014,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153951985235,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580598307186188,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603679895605569,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532474172267649,
+            "release_required_pad_clearance": 0.05301839947802785,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.068982714178995,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008466899394989014,
+            "max_z_decrease": 0.008466899394989014,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035027896804546564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008466899394989014,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105143874625917,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008466899394989014,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008467004977427741,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12682451307773585,
+              -0.451360672712326,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12682451307773585,
+              -0.451360672712326,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12473842004024494,
+              -0.45303788772371834,
+              0.8035028234407123
+            ],
+            "closest_button": [
+              0.1268728077411651,
+              -0.4513337910175323,
+              0.7685815691947937
+            ],
+            "closest_ee_minus_button": [
+              -0.0021343877009201706,
+              -0.0017040967061860424,
+              0.03492125424591863
+            ],
+            "button_min_z_position": [
+              0.1268543899059295,
+              -0.4513307511806488,
+              0.7683419585227966
+            ],
+            "min_active_finger_to_button": 0.14764607751218087,
+            "closest_active_finger": [
+              -0.016005858778953552,
+              -0.436801016330719,
+              0.8110812902450562
+            ],
+            "closest_active_finger_button": [
+              0.1268263161182403,
+              -0.451360672712326,
+              0.776637852191925
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14283217489719385,
+              0.014559656381607,
+              0.034443438053131104
+            ],
+            "min_contact_pad_to_button": 0.02105143874625917,
+            "closest_contact_pad": [
+              0.1268728077411651,
+              -0.454243747974678,
+              0.7894309150788991
+            ],
+            "closest_contact_pad_button": [
+              0.1268728077411651,
+              -0.4513337910175323,
+              0.7685815691947937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029099569571456874,
+              0.020849345884105364
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.271066830891772,
+              0.17568817605677428,
+              1.1021800197361795
+            ],
+            "current_z": 1.1021800197361795,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19227089000181696,
+            "gripper_z": 1.1021802516670847,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2710668904963106,
+              0.17568813880570863,
+              1.1021802516670847
+            ],
+            "object_minus_gripper": [
+              -5.960453858255832e-08,
+              3.725106564878011e-08,
+              -2.319309051479479e-07
+            ],
+            "object_to_gripper_xy": 7.028757295290121e-08,
+            "object_to_gripper_z": -2.319309051479479e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.271066830891772,
+              0.17568817605677428,
+              1.1021800197361795
+            ],
+            "finger_b": [
+              0.271066830891772,
+              0.17568817605677428,
+              1.1021800197361795
+            ],
+            "finger_midpoint": [
+              0.271066830891772,
+              0.17568817605677428,
+              1.1021800197361795
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021800197361795,
+            "object_top_z": 1.2271885263564593,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2710668308917721,
+            0.17568817605677428,
+            1.1021800197361795
+          ],
+          "object_origin_world": [
+            0.2710668308917721,
+            0.17568817605677428,
+            1.1021800197361795
+          ],
+          "frame_world": [
+            0.2710668904963106,
+            0.17568813880570863,
+            1.1021802516670847
+          ],
+          "center_minus_frame": [
+            -5.960453852704717e-08,
+            3.725106564878011e-08,
+            -2.319309051479479e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432698497022201,
+            "required_z": 0.9112598627220995,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007250046215633698,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.4884633573285722e-09,
+            "max_target_xy_drift": 1.7055414010102275e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.0689827145656494,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.0689827145881532,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27968253348705235,
+              -0.3934197208454151,
+              0.9233950249657746
+            ],
+            "target_mouth_xy": [
+              0.27901477159090193,
+              -0.39371456954964035
+            ],
+            "rod_tip_z": 0.9233950249657746,
+            "rod_tip_depth": -0.02213520210560449,
+            "rod_tip_bottom_clearance": 0.12157570430525744,
+            "rod_tip_xy_dist": 0.000729960073109285,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0450543423742209,
+            "min_rod_tip_bottom_clearance": 0.05438621573188973,
+            "min_rod_tip_xy_dist": 0.00026702273422242825,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2790147701377146,
+              -0.3937145692275073
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.4531873482326318e-09,
+              -3.221330424629798e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0011044433624349814,
+                0.002149680938136056
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001024612495491517,
+                0.0017520897603088281
+              ],
+              "first_target_mouth_xy": [
+                0.2790147739852401,
+                -0.3937145704427165
+              ],
+              "last_target_mouth_xy": [
+                0.2790147986596826,
+                -0.3937144769607852
+              ],
+              "first_rod_tip_xy": [
+                0.2801192173476751,
+                -0.39156488950458046
+              ],
+              "last_rod_tip_xy": [
+                0.2800394111551741,
+                -0.3919623872004764
+              ],
+              "min_rod_tip_xy_dist": 0.0020296919209812116,
+              "max_rod_tip_xy_dist": 0.002416800214459648,
+              "first_target_xy_drift": 4.034871256529085e-09,
+              "last_target_xy_drift": 9.657458602278533e-08,
+              "max_depth": 0.019553124303804847,
+              "min_bottom_clearance": 0.07988757528167778
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0011044433624349814,
+                  0.002149680938136056
+                ],
+                "rod_tip_xy": [
+                  0.2801192173476751,
+                  -0.39156488950458046
+                ],
+                "target_mouth_xy": [
+                  0.2790147739852401,
+                  -0.3937145704427165
+                ],
+                "gripper_position": [
+                  0.2801091336828474,
+                  -0.39157470304432573,
+                  1.0058545319884948
+                ],
+                "rod_tip_xy_dist": 0.002416800214459648,
+                "target_xy_drift": 4.034871256529085e-09,
+                "depth": 0.01524725720475062,
+                "bottom_clearance": 0.08419335200917955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0010943628472071532,
+                  0.0021398652169681287
+                ],
+                "rod_tip_xy": [
+                  0.28010913368284723,
+                  -0.39157470304432573
+                ],
+                "target_mouth_xy": [
+                  0.2790147708356401,
+                  -0.39371456826129386
+                ],
+                "gripper_position": [
+                  0.28010156640648315,
+                  -0.39157875107622026,
+                  1.0057151702804383
+                ],
+                "rod_tip_xy_dist": 0.0024034669101398926,
+                "target_xy_drift": 1.191917955839405e-09,
+                "depth": 0.015405325917035584,
+                "bottom_clearance": 0.08403522990049217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010867606658833129,
+                  0.0021358184127548974
+                ],
+                "rod_tip_xy": [
+                  0.280101566406483,
+                  -0.3915787510762202
+                ],
+                "target_mouth_xy": [
+                  0.27901480574059967,
+                  -0.3937145694889751
+                ],
+                "gripper_position": [
+                  0.28011249324167825,
+                  -0.3916541682103581,
+                  1.0051792222736993
+                ],
+                "rod_tip_xy_dist": 0.002396407527357146,
+                "target_xy_drift": 3.560384518206381e-08,
+                "depth": 0.015544738209423481,
+                "bottom_clearance": 0.08389591400420648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010977854885958482,
+                  0.0020604016738386965
+                ],
+                "rod_tip_xy": [
+                  0.2801124932416781,
+                  -0.39165416821035803
+                ],
+                "target_mouth_xy": [
+                  0.27901470775308224,
+                  -0.39371456988419673
+                ],
+                "gripper_position": [
+                  0.28010219989325125,
+                  -0.39166424294432806,
+                  1.0050211986816373
+                ],
+                "rod_tip_xy_dist": 0.0023346066127998798,
+                "target_xy_drift": 6.238808856107239e-08,
+                "depth": 0.01608067478752606,
+                "bottom_clearance": 0.08335999951951811,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001087426576017625,
+                  0.0020503230758871505
+                ],
+                "rod_tip_xy": [
+                  0.2801021998932511,
+                  -0.3916642429443281
+                ],
+                "target_mouth_xy": [
+                  0.27901477331723346,
+                  -0.39371456602021526
+                ],
+                "gripper_position": [
+                  0.28009456530044785,
+                  -0.3916679143487011,
+                  1.004882323658725
+                ],
+                "rod_tip_xy_dist": 0.0023208449482343195,
+                "target_xy_drift": 4.516200006286751e-09,
+                "depth": 0.01623874107661505,
+                "bottom_clearance": 0.08320191608437433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001079795799381389,
+                  0.002046684371404872
+                ],
+                "rod_tip_xy": [
+                  0.2800945653004477,
+                  -0.3916679143487011
+                ],
+                "target_mouth_xy": [
+                  0.2790147695010663,
+                  -0.39371459872010595
+                ],
+                "gripper_position": [
+                  0.28010626195161303,
+                  -0.39174458611338947,
+                  1.0043488593297718
+                ],
+                "rod_tip_xy_dist": 0.0023140604755525836,
+                "target_xy_drift": 2.9499469412965754e-08,
+                "depth": 0.0163775044491552,
+                "bottom_clearance": 0.0830630806415007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010914908520093802,
+                  0.0019700100500833484
+                ],
+                "rod_tip_xy": [
+                  0.28010626195161287,
+                  -0.3917445861133896
+                ],
+                "target_mouth_xy": [
+                  0.2790147710996035,
+                  -0.39371459616347293
+                ],
+                "gripper_position": [
+                  0.2800959841178244,
+                  -0.39175434988867636,
+                  1.0041907632576248
+                ],
+                "rod_tip_xy_dist": 0.0022521749215923615,
+                "target_xy_drift": 2.6953134778563244e-08,
+                "depth": 0.016911023305467565,
+                "bottom_clearance": 0.08252958871675353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010811811707658325,
+                  0.001960281455847701
+                ],
+                "rod_tip_xy": [
+                  0.2800959841178242,
+                  -0.3917543498886764
+                ],
+                "target_mouth_xy": [
+                  0.2790148029470584,
+                  -0.3937146313445241
+                ],
+                "gripper_position": [
+                  0.28008809125443795,
+                  -0.3917581275654129,
+                  1.0040520685214558
+                ],
+                "rod_tip_xy_dist": 0.0022386728457188553,
+                "target_xy_drift": 7.0249390157789e-08,
+                "depth": 0.017069161918508158,
+                "bottom_clearance": 0.08237145978783289,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0010733202133191844,
+                  0.001956442271205616
+                ],
+                "rod_tip_xy": [
+                  0.2800880912544378,
+                  -0.39175812756541295
+                ],
+                "target_mouth_xy": [
+                  0.2790147710411186,
+                  -0.39371456983661857
+                ],
+                "gripper_position": [
+                  0.28008019462486944,
+                  -0.39176188458539,
+                  1.0039132559983253
+                ],
+                "rod_tip_xy_dist": 0.0022315202532981254,
+                "target_xy_drift": 1.0895665876888678e-09,
+                "depth": 0.017207716604365708,
+                "bottom_clearance": 0.08223281682980577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010653915650986057,
+                  0.0019526845944991544
+                ],
+                "rod_tip_xy": [
+                  0.28008019462486927,
+                  -0.3917618845853901
+                ],
+                "target_mouth_xy": [
+                  0.27901480305977067,
+                  -0.39371456917988923
+                ],
+                "gripper_position": [
+                  0.280093453169713,
+                  -0.391840605052551,
+                  1.0033816561377855
+                ],
+                "rod_tip_xy_dist": 0.0022244181964229622,
+                "target_xy_drift": 3.292209051839273e-08,
+                "depth": 0.017346626382058195,
+                "bottom_clearance": 0.08209391334811145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001078712613212296,
+                  0.0018739936434522542
+                ],
+                "rod_tip_xy": [
+                  0.28009345316971285,
+                  -0.391840605052551
+                ],
+                "target_mouth_xy": [
+                  0.27901474055650055,
+                  -0.3937145986960033
+                ],
+                "gripper_position": [
+                  0.2800829195229021,
+                  -0.39185030046525826,
+                  1.003223818868161
+                ],
+                "rod_tip_xy_dist": 0.0021622842268311433,
+                "target_xy_drift": 4.1754526447406945e-08,
+                "depth": 0.01787814593225001,
+                "bottom_clearance": 0.08156240641611989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010681469525843368,
+                  0.0018642674524153025
+                ],
+                "rod_tip_xy": [
+                  0.28008291952290193,
+                  -0.39185030046525826
+                ],
+                "target_mouth_xy": [
+                  0.2790147725703176,
+                  -0.39371456791767356
+                ],
+                "gripper_position": [
+                  0.28007495291268203,
+                  -0.39185384612376456,
+                  1.0030851812894994
+                ],
+                "rod_tip_xy_dist": 0.0021485881518918996,
+                "target_xy_drift": 2.76282859121304e-09,
+                "depth": 0.018036021387649037,
+                "bottom_clearance": 0.08140453835353967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0010601837808655312,
+                  0.0018607858867482063
+                ],
+                "rod_tip_xy": [
+                  0.28007495291268186,
+                  -0.3918538461237646
+                ],
+                "target_mouth_xy": [
+                  0.27901476913181633,
+                  -0.3937146320105128
+                ],
+                "gripper_position": [
+                  0.2800669927358034,
+                  -0.3918575993417661,
+                  1.0029466236116051
+                ],
+                "rod_tip_xy_dist": 0.0021416147565637574,
+                "target_xy_drift": 6.279106316189182e-08,
+                "depth": 0.018174768334158098,
+                "bottom_clearance": 0.08126593079420441,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010522512709206233,
+                  0.001856999025184991
+                ],
+                "rod_tip_xy": [
+                  0.2800669927358032,
+                  -0.3918575993417661
+                ],
+                "target_mouth_xy": [
+                  0.2790147414648826,
+                  -0.3937145983669511
+                ],
+                "gripper_position": [
+                  0.2800589644561645,
+                  -0.39186117960405564,
+                  1.0028080641042052
+                ],
+                "rod_tip_xy_dist": 0.0021344034568684697,
+                "target_xy_drift": 4.088078374825618e-08,
+                "depth": 0.01831321574082556,
+                "bottom_clearance": 0.08112731256521089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010441944384246837,
+                  0.0018534244937868927
+                ],
+                "rod_tip_xy": [
+                  0.28005896445616435,
+                  -0.39186117960405564
+                ],
+                "target_mouth_xy": [
+                  0.27901477001773967,
+                  -0.39371460409784254
+                ],
+                "gripper_position": [
+                  0.28007433956001987,
+                  -0.3919425640471644,
+                  1.00228020831438
+                ],
+                "rod_tip_xy_dist": 0.0021273279905567547,
+                "target_xy_drift": 3.4870541622736146e-08,
+                "depth": 0.018451893584267243,
+                "bottom_clearance": 0.08098884083715108,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010595685919936315,
+                  0.0017720016757054036
+                ],
+                "rod_tip_xy": [
+                  0.2800743395600197,
+                  -0.3919425640471643
+                ],
+                "target_mouth_xy": [
+                  0.27901477096802607,
+                  -0.3937145657228697
+                ],
+                "gripper_position": [
+                  0.2800635967769364,
+                  -0.3919522521698949,
+                  1.0021225809253587
+                ],
+                "rod_tip_xy_dist": 0.0020646247939618777,
+                "target_xy_drift": 3.601652639042233e-09,
+                "depth": 0.018979689423645918,
+                "bottom_clearance": 0.08046095010830656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001048825858876945,
+                  0.001762379508223888
+                ],
+                "rod_tip_xy": [
+                  0.2800635967769362,
+                  -0.39195225216989493
+                ],
+                "target_mouth_xy": [
+                  0.27901477091805926,
+                  -0.3937146316781188
+                ],
+                "gripper_position": [
+                  0.28005553326947036,
+                  -0.39195565762086876,
+                  1.0019841628968378
+                ],
+                "rod_tip_xy_dist": 0.0020508576774745813,
+                "target_xy_drift": 6.245548668026418e-08,
+                "depth": 0.019137308713477075,
+                "bottom_clearance": 0.08030331082488729,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010407632853471904,
+                  0.0017589093769433406
+                ],
+                "rod_tip_xy": [
+                  0.2800555332694702,
+                  -0.3919556576208688
+                ],
+                "target_mouth_xy": [
+                  0.279014769984123,
+                  -0.39371456699781215
+                ],
+                "gripper_position": [
+                  0.2800474133865631,
+                  -0.39195896704138977,
+                  1.0018453677078865
+                ],
+                "rod_tip_xy_dist": 0.0020437588929288816,
+                "target_xy_drift": 2.2349789349912947e-09,
+                "depth": 0.0192757431226942,
+                "bottom_clearance": 0.08016489027119666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010326121869229654,
+                  0.0017556354611999447
+                ],
+                "rod_tip_xy": [
+                  0.2800474133865629,
+                  -0.39195896704138966
+                ],
+                "target_mouth_xy": [
+                  0.27901480119963995,
+                  -0.3937146025025896
+                ],
+                "gripper_position": [
+                  0.2800394111551743,
+                  -0.3919623872004764,
+                  1.0017068273707408
+                ],
+                "rod_tip_xy_dist": 0.002036797437450414,
+                "target_xy_drift": 4.552004294272578e-08,
+                "depth": 0.01941451901472646,
+                "bottom_clearance": 0.08002610522436415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001024612495491517,
+                  0.0017520897603088281
+                ],
+                "rod_tip_xy": [
+                  0.2800394111551741,
+                  -0.3919623872004764
+                ],
+                "target_mouth_xy": [
+                  0.2790147986596826,
+                  -0.3937144769607852
+                ],
+                "gripper_position": [
+                  0.28003102282875986,
+                  -0.3919659795710558,
+                  1.0015684155981475
+                ],
+                "rod_tip_xy_dist": 0.0020296919209812116,
+                "target_xy_drift": 9.657458602278533e-08,
+                "depth": 0.019553124303804847,
+                "bottom_clearance": 0.07988757528167778,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006016871677208672,
+              "rod_tip_xy_max_step": 3.2706145315212894e-05,
+              "rod_tip_xy_range": 0.0006016835633117027,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2796825334870524,
+            -0.3934197208454151,
+            1.0433950249657746
+          ],
+          "object_origin_world": [
+            0.2796825334870524,
+            -0.3934197208454151,
+            1.0433950249657746
+          ],
+          "frame_world": [
+            0.27968116386559494,
+            -0.3934289946251149,
+            1.0432698497022201
+          ],
+          "center_minus_frame": [
+            1.3696214574698828e-06,
+            9.273779699781048e-06,
+            0.00012517526355448894
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2623327503552004,
+              0.12702244155601577,
+              0.8342126854096492
+            ],
+            "target_position": [
+              0.2711925686846268,
+              0.17425836857667154,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04805964192886957,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1678472071869735,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342126854096492,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676323577608,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13676209637908787,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21931614561525037,
+              -0.13268287462965575,
+              1.0447104829785332
+            ],
+            "current_z": 1.0447104829785332,
+            "required_z": 0.856586310646264,
+            "initial_z": 0.756586310646264,
+            "lift_margin": 0.1881241723322692,
+            "gripper_z": 1.0484889489908304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2151811422987173,
+              -0.13694107161553387,
+              1.0484889489908304
+            ],
+            "object_minus_gripper": [
+              0.004135003316533076,
+              0.004258196985878121,
+              -0.0037784660122972547
+            ],
+            "object_to_gripper_xy": 0.005935528114521997,
+            "object_to_gripper_z": -0.0037784660122972547,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21931614561525037,
+              -0.15660844540885163,
+              1.0447104829785332
+            ],
+            "finger_b": [
+              0.20867898656337114,
+              -0.13268287462965575,
+              1.0447104829785332
+            ],
+            "finger_midpoint": [
+              0.21399756608931075,
+              -0.1446456600192537,
+              1.0447104829785332
+            ],
+            "object_minus_finger_midpoint": [
+              0.005318579525939615,
+              0.01196278538959794,
+              0.0
+            ],
+            "finger_gap": 0.02618362254932056,
+            "fingertip_max_gap": 0.09469025546050036,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01309181127466028,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447104829785332,
+            "object_top_z": 1.09148090954487,
+            "finger_top_clearance": 0.0467704265663369,
+            "fingertip_min_top_clearance": 0.014031127969901086,
+            "object_projection_between_fingers": 0.8349590014419547,
+            "object_to_finger_line_xy": 0.00971982013970426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04984512773025018,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8985179203102958,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2233690301253786,
+              -0.1332075333659335,
+              1.2420999433812483
+            ],
+            "held_position": [
+              0.2277601172540638,
+              -0.12906915208214134,
+              1.238482615485906
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007035119538726186,
+            "max_held_gripper_dist": 0.007035983895962898,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003617327895342193,
+            "max_held_gripper_z_dist": 0.0037928796243387186,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611613587291564,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2277601172540638,
+              -0.15366306575776897,
+              1.238482615485906
+            ],
+            "held_grasp_finger_b": [
+              0.21924558255373616,
+              -0.12906915208214134,
+              1.238482615485906
+            ],
+            "held_grasp_midpoint": [
+              0.22350284990389999,
+              -0.14136610891995516,
+              1.238482615485906
+            ],
+            "held_grasp_object_position": [
+              0.2277601172540638,
+              -0.12906915208214134,
+              1.238482615485906
+            ],
+            "held_grasp_finger_gap": 0.026026100188989272,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02413974389971254,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04773238558567728,
+              -0.9980584333528117,
+              -0.04001228535876589
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003698869498093544,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.03272445550319762,
+            "held_grasp_min_top_clearance": 0.013560223951935768
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1880586316301002,
+              -0.13226263063268032,
+              0.756586710373023
+            ],
+            "target_position": [
+              0.19386768642363486,
+              -0.13706150780220422,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007534874894944559,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21279033996295174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586710373023,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574885028119091,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08904984395520983,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18503640943004654,
+            "release_required_pad_clearance": 0.05452492197760492,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.081711061651746,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f0f71995c9130841054da20db506aa1e743a3d149776553cf1aa6e66bf3789c",
+    "visual_seed": 5398213351731231598,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c959cf926457162b41be32102ffe27e19c8c6688
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_11_success.json
@@ -0,0 +1,2670 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25400286040693143,
+              -0.004004469931003863,
+              1.162261313149989
+            ],
+            "current_z": 1.162261313149989,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.30115462632128887,
+            "gripper_z": 1.1556734186753965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24891377181217259,
+              -0.008965123781976614,
+              1.1556734186753965
+            ],
+            "object_minus_gripper": [
+              0.005089088594758845,
+              0.004960653850972751,
+              0.006587894474592515
+            ],
+            "object_to_gripper_xy": 0.007106821325633236,
+            "object_to_gripper_z": 0.006587894474592515,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25400286040693143,
+              -0.028281099309797816,
+              1.162261313149989
+            ],
+            "finger_b": [
+              0.24308654942270105,
+              -0.004004469931003863,
+              1.162261313149989
+            ],
+            "finger_midpoint": [
+              0.24854470491481623,
+              -0.01614278462040084,
+              1.162261313149989
+            ],
+            "object_minus_finger_midpoint": [
+              0.005458155492115202,
+              0.012138314689396976,
+              0.0
+            ],
+            "finger_gap": 0.026618049881607604,
+            "fingertip_max_gap": 0.09118364800288287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309024940803806,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162261313149989,
+            "object_top_z": 1.2123305090864744,
+            "finger_top_clearance": 0.0500691959364854,
+            "fingertip_min_top_clearance": 0.015020758780945652,
+            "object_projection_between_fingers": 0.8318103256950342,
+            "object_to_finger_line_xy": 0.00995607255702583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048091824001441436,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5361343639693524,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27823487173241357,
+              -0.3862469068480945,
+              0.851539596955474
+            ],
+            "target_position": [
+              0.27028832716958023,
+              -0.38722228876011927,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008006181384617837,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847690417880385,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539596955474,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539239800422809,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618112686896225,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15315443310711996,
+            "release_required_pad_clearance": 0.053090563434481125,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2091582127848064,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00818014144897461,
+            "max_z_decrease": 0.00818014144897461,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501307940665118,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00818014144897461,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021018989225296707,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00818014144897461,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00818023898438672,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12598825991153717,
+              -0.44348374009132385,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12598825991153717,
+              -0.44348374009132385,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1266946689526213,
+              -0.4445179842201532,
+              0.8036190652296026
+            ],
+            "closest_button": [
+              0.1260157972574234,
+              -0.4434548020362854,
+              0.768628716468811
+            ],
+            "closest_ee_minus_button": [
+              0.0006788716951978968,
+              -0.0010631821838678057,
+              0.034990348760791545
+            ],
+            "button_min_z_position": [
+              0.1260157972574234,
+              -0.4434548020362854,
+              0.768628716468811
+            ],
+            "min_active_finger_to_button": 0.14499682784232665,
+            "closest_active_finger": [
+              -0.014005079865455627,
+              -0.4279139041900635,
+              0.8107372522354126
+            ],
+            "closest_active_finger_button": [
+              0.1259881556034088,
+              -0.4434817135334015,
+              0.7763335108757019
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13999323546886444,
+              0.015567809343338013,
+              0.03440374135971069
+            ],
+            "min_contact_pad_to_button": 0.021018989225296707,
+            "closest_contact_pad": [
+              0.1260157972574234,
+              -0.4457473716577481,
+              0.7895223047815898
+            ],
+            "closest_contact_pad_button": [
+              0.1260157972574234,
+              -0.4434548020362854,
+              0.768628716468811
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002292569621462681,
+              0.020893588312778766
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2689664962561139,
+              0.17761849178219294,
+              1.1025930955530372
+            ],
+            "current_z": 1.1025930955530372,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19268396581867464,
+            "gripper_z": 1.1025933363107265,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26896654265934533,
+              0.1776184515127434,
+              1.1025933363107265
+            ],
+            "object_minus_gripper": [
+              -4.6403231424019253e-08,
+              4.026944952495448e-08,
+              -2.4075768934039843e-07
+            ],
+            "object_to_gripper_xy": 6.144012086278757e-08,
+            "object_to_gripper_z": -2.4075768934039843e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2689664962561139,
+              0.17761849178219294,
+              1.1025930955530372
+            ],
+            "finger_b": [
+              0.2689664962561139,
+              0.17761849178219294,
+              1.1025930955530372
+            ],
+            "finger_midpoint": [
+              0.2689664962561139,
+              0.17761849178219294,
+              1.1025930955530372
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1025930955530372,
+            "object_top_z": 1.227601602173317,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26896649625611396,
+            0.17761849178219294,
+            1.1025930955530372
+          ],
+          "object_origin_world": [
+            0.26896649625611396,
+            0.17761849178219294,
+            1.1025930955530372
+          ],
+          "frame_world": [
+            0.26896654265934533,
+            0.1776184515127434,
+            1.1025933363107265
+          ],
+          "center_minus_frame": [
+            -4.64032313685081e-08,
+            4.026944952495448e-08,
+            -2.4075768934039843e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.043386531254887,
+            "required_z": 0.911259890986289,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00205864768329589,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.899003336365922e-08,
+            "max_target_xy_drift": 2.1812351078241328e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.209158214506948,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.209158215156858,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2763261299252374,
+              -0.38700612038636845,
+              0.9235085206549624
+            ],
+            "target_mouth_xy": [
+              0.2782348430724195,
+              -0.38624684529636855
+            ],
+            "rod_tip_z": 0.9235085206549624,
+            "rod_tip_depth": -0.022248669560787526,
+            "rod_tip_bottom_clearance": 0.12168920449673437,
+            "rod_tip_xy_dist": 0.002054187075346395,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04507714231541493,
+            "min_rod_tip_bottom_clearance": 0.05436337300236571,
+            "min_rod_tip_xy_dist": 0.0014097774956548165,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27823487204667996,
+              -0.38624684625254146
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.8974260435354893e-08,
+              9.561729186202683e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0013733928450418431,
+                0.001068607680585365
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0014611429403367238,
+                0.000621836703906975
+              ],
+              "first_target_mouth_xy": [
+                0.2782348721784124,
+                -0.3862468462648673
+              ],
+              "last_target_mouth_xy": [
+                0.27823484423697187,
+                -0.38624684623662
+              ],
+              "first_rod_tip_xy": [
+                0.2768614793333706,
+                -0.38517823858428196
+              ],
+              "last_rod_tip_xy": [
+                0.27677370129663514,
+                -0.385625009532713
+              ],
+              "min_rod_tip_xy_dist": 0.0015752040792110483,
+              "max_rod_tip_xy_dist": 0.0017401523731610867,
+              "first_target_xy_drift": 1.3230785105522892e-10,
+              "last_target_xy_drift": 2.7809712649555937e-08,
+              "max_depth": 0.01963671181468829,
+              "min_bottom_clearance": 0.07980380808806387
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0013733928450418431,
+                  0.001068607680585365
+                ],
+                "rod_tip_xy": [
+                  0.2768614793333706,
+                  -0.38517823858428196
+                ],
+                "target_mouth_xy": [
+                  0.2782348721784124,
+                  -0.3862468462648673
+                ],
+                "gripper_position": [
+                  0.27686676891365436,
+                  -0.3852493972979502,
+                  1.005725608197078
+                ],
+                "rod_tip_xy_dist": 0.0017401523731610867,
+                "target_xy_drift": 1.3230785105522892e-10,
+                "depth": 0.015001154780931336,
+                "bottom_clearance": 0.0844394363156965,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001368105170356737,
+                  0.0009974489428009048
+                ],
+                "rod_tip_xy": [
+                  0.2768667689136543,
+                  -0.3852493972979502
+                ],
+                "target_mouth_xy": [
+                  0.27823487408401104,
+                  -0.3862468462407511
+                ],
+                "gripper_position": [
+                  0.27685635877584736,
+                  -0.38525886413991445,
+                  1.005571287433283
+                ],
+                "rod_tip_xy_dist": 0.0016931084284981513,
+                "target_xy_drift": 2.0373651976001142e-09,
+                "depth": 0.015534221216796706,
+                "bottom_clearance": 0.08390629715040487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0013785435669068646,
+                  0.0009879824399620651
+                ],
+                "rod_tip_xy": [
+                  0.27685635877584724,
+                  -0.38525886413991445
+                ],
+                "target_mouth_xy": [
+                  0.2782349023427541,
+                  -0.3862468465798765
+                ],
+                "gripper_position": [
+                  0.2768487679529844,
+                  -0.38526242368474095,
+                  1.0054353788491854
+                ],
+                "rod_tip_xy_dist": 0.001696022307498842,
+                "target_xy_drift": 3.029784244957392e-08,
+                "depth": 0.015688654344102493,
+                "bottom_clearance": 0.08375193460781405,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0013860747812040053,
+                  0.0009844225765783254
+                ],
+                "rod_tip_xy": [
+                  0.27684876795298435,
+                  -0.3852624236847409
+                ],
+                "target_mouth_xy": [
+                  0.27823484273418836,
+                  -0.3862468462613192
+                ],
+                "gripper_position": [
+                  0.27685492904747067,
+                  -0.3853348343709975,
+                  1.0049035632968808
+                ],
+                "rod_tip_xy_dist": 0.0017000856179518842,
+                "target_xy_drift": 2.9312492914921734e-08,
+                "depth": 0.01582449755000681,
+                "bottom_clearance": 0.08361607991795261,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0013799140620960881,
+                  0.0009119804935784903
+                ],
+                "rod_tip_xy": [
+                  0.27685492904747055,
+                  -0.3853348343709975
+                ],
+                "target_mouth_xy": [
+                  0.27823484310956664,
+                  -0.386246814864576
+                ],
+                "gripper_position": [
+                  0.2768442561685727,
+                  -0.3853442843575814,
+                  1.0047491404131739
+                ],
+                "rod_tip_xy_dist": 0.0016540469278222409,
+                "target_xy_drift": 4.2691461700523114e-08,
+                "depth": 0.016356297485919602,
+                "bottom_clearance": 0.08308425796337715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001390616996877203,
+                  0.000902561573255134
+                ],
+                "rod_tip_xy": [
+                  0.2768442561685726,
+                  -0.38534428435758145
+                ],
+                "target_mouth_xy": [
+                  0.2782348731654498,
+                  -0.3862468459308366
+                ],
+                "gripper_position": [
+                  0.27683655924166617,
+                  -0.3853476054661879,
+                  1.0046132060607893
+                ],
+                "rod_tip_xy_dist": 0.00165783986727324,
+                "target_xy_drift": 1.1641048150491591e-09,
+                "depth": 0.016510710933448247,
+                "bottom_clearance": 0.08292983075440186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001398283671062317,
+                  0.0008992097144332467
+                ],
+                "rod_tip_xy": [
+                  0.27683655924166606,
+                  -0.3853476054661879
+                ],
+                "target_mouth_xy": [
+                  0.2782348429127284,
+                  -0.38624681518062115
+                ],
+                "gripper_position": [
+                  0.2768431684640503,
+                  -0.385421077554363,
+                  1.0040836127502248
+                ],
+                "rod_tip_xy_dist": 0.0016624606266888342,
+                "target_xy_drift": 4.259402971028312e-08,
+                "depth": 0.016646655359773388,
+                "bottom_clearance": 0.08279389678066795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0013917039119064611,
+                  0.0008257690190323075
+                ],
+                "rod_tip_xy": [
+                  0.27684316846405027,
+                  -0.385421077554363
+                ],
+                "target_mouth_xy": [
+                  0.27823487237595673,
+                  -0.3862468465733953
+                ],
+                "gripper_position": [
+                  0.2768325738860974,
+                  -0.38543058177809497,
+                  1.003929210912415
+                ],
+                "rod_tip_xy_dist": 0.0016182503672823084,
+                "target_xy_drift": 4.597503472567756e-10,
+                "depth": 0.017176274255339297,
+                "bottom_clearance": 0.0822643206602437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014022684911126904,
+                  0.0008162641740481202
+                ],
+                "rod_tip_xy": [
+                  0.2768325738860973,
+                  -0.3854305817780949
+                ],
+                "target_mouth_xy": [
+                  0.27823484237720997,
+                  -0.38624684595214304
+                ],
+                "gripper_position": [
+                  0.2768247100538059,
+                  -0.3854335332258938,
+                  1.0037939851460598
+                ],
+                "rod_tip_xy_dist": 0.0016225424872717267,
+                "target_xy_drift": 2.967099069493021e-08,
+                "depth": 0.017330670517408997,
+                "bottom_clearance": 0.08210990911731186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014101637162752811,
+                  0.0008133130232532149
+                ],
+                "rod_tip_xy": [
+                  0.2768247100538058,
+                  -0.38543353322589374
+                ],
+                "target_mouth_xy": [
+                  0.2782348737700811,
+                  -0.38624684624914696
+                ],
+                "gripper_position": [
+                  0.2768167145844797,
+                  -0.38543673805660383,
+                  1.0036582040219104
+                ],
+                "rod_tip_xy_dist": 0.00162789427804529,
+                "target_xy_drift": 1.7234044870176222e-09,
+                "depth": 0.017465853878432025,
+                "bottom_clearance": 0.08197467663417779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014181600141954798,
+                  0.0008101081765615192
+                ],
+                "rod_tip_xy": [
+                  0.2768167145844796,
+                  -0.3854367380566039
+                ],
+                "target_mouth_xy": [
+                  0.2782348745986751,
+                  -0.3862468462331654
+                ],
+                "gripper_position": [
+                  0.2768247304127007,
+                  -0.38551232607355085,
+                  1.003131066113211
+                ],
+                "rod_tip_xy_dist": 0.001633233934130305,
+                "target_xy_drift": 2.5520686706503008e-09,
+                "depth": 0.017601625821913602,
+                "bottom_clearance": 0.08183890500254987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014101430045710406,
+                  0.0007345204976149655
+                ],
+                "rod_tip_xy": [
+                  0.27682473041270067,
+                  -0.38551232607355085
+                ],
+                "target_mouth_xy": [
+                  0.2782348734172717,
+                  -0.3862468465711658
+                ],
+                "gripper_position": [
+                  0.27681395876297543,
+                  -0.3855215299421307,
+                  1.0029769551297247
+                ],
+                "rod_tip_xy_dist": 0.0015899759918807511,
+                "target_xy_drift": 1.4071400869584657e-09,
+                "depth": 0.018128849097373334,
+                "bottom_clearance": 0.08131170647737063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0014209132481184383,
+                  0.0007253163154156139
+                ],
+                "rod_tip_xy": [
+                  0.2768139587629754,
+                  -0.3855215299421307
+                ],
+                "target_mouth_xy": [
+                  0.2782348720110938,
+                  -0.3862468462575463
+                ],
+                "gripper_position": [
+                  0.2768060225875473,
+                  -0.3855243230303488,
+                  1.0028417203487694
+                ],
+                "rod_tip_xy_dist": 0.001595330127618285,
+                "target_xy_drift": 3.593636108758161e-11,
+                "depth": 0.01828293702062911,
+                "bottom_clearance": 0.08115766011559888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0014288507950324658,
+                  0.0007225533489504943
+                ],
+                "rod_tip_xy": [
+                  0.2768060225875472,
+                  -0.38552432303034884
+                ],
+                "target_mouth_xy": [
+                  0.2782348733825797,
+                  -0.38624687637929933
+                ],
+                "gripper_position": [
+                  0.27679800093992424,
+                  -0.38552739930352975,
+                  1.0027064983442988
+                ],
+                "rod_tip_xy_dist": 0.001601155188151506,
+                "target_xy_drift": 3.015636197554944e-08,
+                "depth": 0.01841813640944978,
+                "bottom_clearance": 0.08102242068559207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0014368435453488426,
+                  0.0007194469421629157
+                ],
+                "rod_tip_xy": [
+                  0.2767980009399241,
+                  -0.3855273993035297
+                ],
+                "target_mouth_xy": [
+                  0.27823484448527297,
+                  -0.3862468462456926
+                ],
+                "gripper_position": [
+                  0.2767900439248755,
+                  -0.3855303683027857,
+                  1.0025710783045207
+                ],
+                "rod_tip_xy_dist": 0.0016068986515639999,
+                "target_xy_drift": 2.7561407840957493e-08,
+                "depth": 0.018553329124752937,
+                "bottom_clearance": 0.08088718993656163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001444830241648709,
+                  0.0007164779428788237
+                ],
+                "rod_tip_xy": [
+                  0.2767900439248754,
+                  -0.3855303683027857
+                ],
+                "target_mouth_xy": [
+                  0.2782348741665241,
+                  -0.3862468462456645
+                ],
+                "gripper_position": [
+                  0.2767818623662399,
+                  -0.3855333525904306,
+                  1.0024359889278611
+                ],
+                "rod_tip_xy_dist": 0.0016127228744624844,
+                "target_xy_drift": 2.119855288210689e-09,
+                "depth": 0.01868874871492021,
+                "bottom_clearance": 0.08075176671983464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0014530107401170556,
+                  0.0007134943061036236
+                ],
+                "rod_tip_xy": [
+                  0.2767818623662398,
+                  -0.3855333525904306
+                ],
+                "target_mouth_xy": [
+                  0.27823487310635686,
+                  -0.3862468468965342
+                ],
+                "gripper_position": [
+                  0.27679283794788406,
+                  -0.3856129035626567,
+                  1.0019125091049599
+                ],
+                "rod_tip_xy_dist": 0.0016187385013453548,
+                "target_xy_drift": 1.2400168529781588e-09,
+                "depth": 0.01882388205871066,
+                "bottom_clearance": 0.0806166971187049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0014420071342991503,
+                  0.0006339426754790045
+                ],
+                "rod_tip_xy": [
+                  0.276792837947884,
+                  -0.3856129035626567
+                ],
+                "target_mouth_xy": [
+                  0.27823484508218316,
+                  -0.3862468462381357
+                ],
+                "gripper_position": [
+                  0.2767818484163478,
+                  -0.3856222260828343,
+                  1.0017582003244028
+                ],
+                "rod_tip_xy_dist": 0.0015752040792110483,
+                "target_xy_drift": 2.6964500650191513e-08,
+                "depth": 0.01934732321192778,
+                "bottom_clearance": 0.08009321899517274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0014530241114525944,
+                  0.0006246198566143835
+                ],
+                "rod_tip_xy": [
+                  0.2767818484163477,
+                  -0.3856222260828343
+                ],
+                "target_mouth_xy": [
+                  0.27823487252780027,
+                  -0.3862468459394487
+                ],
+                "gripper_position": [
+                  0.2767737012966352,
+                  -0.38562500953271295,
+                  1.0016231188696427
+                ],
+                "rod_tip_xy_dist": 0.0015815906656716124,
+                "target_xy_drift": 5.740242486426907e-10,
+                "depth": 0.019501729988348093,
+                "bottom_clearance": 0.07993883605426289,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0014611429403367238,
+                  0.000621836703906975
+                ],
+                "rod_tip_xy": [
+                  0.27677370129663514,
+                  -0.385625009532713
+                ],
+                "target_mouth_xy": [
+                  0.27823484423697187,
+                  -0.38624684623662
+                ],
+                "gripper_position": [
+                  0.27676547426632414,
+                  -0.3856278672147009,
+                  1.001488560411609
+                ],
+                "rod_tip_xy_dist": 0.0015879608239568561,
+                "target_xy_drift": 2.7809712649555937e-08,
+                "depth": 0.01963671181468829,
+                "bottom_clearance": 0.07980380808806387,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006041492035687879,
+              "rod_tip_xy_max_step": 3.2730191561546634e-05,
+              "rod_tip_xy_range": 0.0006041408119700321,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2763261299252375,
+            -0.38700612038636845,
+            1.0435085206549624
+          ],
+          "object_origin_world": [
+            0.2763261299252375,
+            -0.38700612038636845,
+            1.0435085206549624
+          ],
+          "frame_world": [
+            0.27632474715518873,
+            -0.38701467592282063,
+            1.043386531254887
+          ],
+          "center_minus_frame": [
+            1.382770048741211e-06,
+            8.555536452181656e-06,
+            0.00012198940007546177
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25971430398571943,
+              0.13091271414255,
+              0.8342236585468604
+            ],
+            "target_position": [
+              0.26908510010189446,
+              0.1779998992958543,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04801056993530155,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1677381998166161,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342236585468604,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674730252528,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365736495710758,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22057547063041755,
+              -0.12979707128141096,
+              1.0476323419521432
+            ],
+            "current_z": 1.0476323419521432,
+            "required_z": 0.8565862989687164,
+            "initial_z": 0.7565862989687164,
+            "lift_margin": 0.19104604298342676,
+            "gripper_z": 1.0517137759932251,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21618237623673253,
+              -0.13418024935331227,
+              1.0517137759932251
+            ],
+            "object_minus_gripper": [
+              0.004393094393685015,
+              0.004383178071901306,
+              -0.004081434041081966
+            ],
+            "object_to_gripper_xy": 0.006205765735332197,
+            "object_to_gripper_z": -0.004081434041081966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22057547063041755,
+              -0.1539425155561967,
+              1.0476323419521432
+            ],
+            "finger_b": [
+              0.20983281781034605,
+              -0.12979707128141096,
+              1.0476323419521432
+            ],
+            "finger_midpoint": [
+              0.2152041442203818,
+              -0.14186979341880385,
+              1.0476323419521432
+            ],
+            "object_minus_finger_midpoint": [
+              0.005371326410035737,
+              0.012072722137392883,
+              0.0
+            ],
+            "finger_gap": 0.02642739239575811,
+            "fingertip_max_gap": 0.09233581782063233,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01321369619787906,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476323419521432,
+            "object_top_z": 1.0930808907069163,
+            "finger_top_clearance": 0.04544854875477311,
+            "fingertip_min_top_clearance": 0.013634564626431932,
+            "object_projection_between_fingers": 0.8347602784084476,
+            "object_to_finger_line_xy": 0.009815048005721538,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048667908910316166,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6832598054448287,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22570485650794253,
+              -0.12965394036364897,
+              1.2443642955291125
+            ],
+            "held_position": [
+              0.2303586730902815,
+              -0.12535775313534636,
+              1.2404825016934307
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007428563580223389,
+            "max_held_gripper_dist": 0.007430121104549826,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0038817938356818793,
+            "max_held_gripper_z_dist": 0.004098214680129386,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08435817683673381,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2303586730902815,
+              -0.15007304503670651,
+              1.2404825016934307
+            ],
+            "held_grasp_finger_b": [
+              0.22170907208254093,
+              -0.12535775313534636,
+              1.2404825016934307
+            ],
+            "held_grasp_midpoint": [
+              0.22603387258641122,
+              -0.13771539908602642,
+              1.2404825016934307
+            ],
+            "held_grasp_object_position": [
+              0.2303586730902815,
+              -0.12535775313534636,
+              1.2404825016934307
+            ],
+            "held_grasp_finger_gap": 0.026185134167358116,
+            "held_grasp_max_gap": 0.12496565043926239,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024232483102085863,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04687078668986051,
+              -0.9968685299855261,
+              -0.0636888002679421
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003824063940911175,
+            "held_grasp_line_xy_max_dist": 0.047482825219631195,
+            "held_grasp_object_top_z": 0.045200545340776443,
+            "held_grasp_top_clearance": 0.0326788901859473,
+            "held_grasp_min_top_clearance": 0.013560163602232932
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19105386916793682,
+              -0.13019953020936328,
+              0.7565863233499519
+            ],
+            "target_position": [
+              0.19448389356125248,
+              -0.13384174034623567,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005003075256267529,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21209514593485412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863233499519,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585608443363184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09020209284249069,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1837075152753997,
+            "release_required_pad_clearance": 0.055101046421245345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.288241244862924,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 234,
+            "max_placed_release_frames": 234
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0b3c8497e12b71d55b762b785533c1955f7bd6e828fe813fb63bd925bf840e9",
+    "visual_seed": 6886111814225398506,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4de3f4232e52d072ce27e9f715216f10154f3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_12_success.json
@@ -0,0 +1,2676 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2519398174884083,
+              0.0019679532000970957,
+              1.1614541964572527
+            ],
+            "current_z": 1.1614541964572527,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.30034756923319694,
+            "gripper_z": 1.1546329316918726,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24699762967296532,
+              -0.002742391966860727,
+              1.1546329316918726
+            ],
+            "object_minus_gripper": [
+              0.0049421878154430054,
+              0.004710345166957823,
+              0.006821264765380031
+            ],
+            "object_to_gripper_xy": 0.006827340038037964,
+            "object_to_gripper_z": 0.006821264765380031,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2519398174884083,
+              -0.022160769011781305,
+              1.1614541964572527
+            ],
+            "finger_b": [
+              0.24131959298170375,
+              0.0019679532000970957,
+              1.1614541964572527
+            ],
+            "finger_midpoint": [
+              0.24662970523505603,
+              -0.010096407905842104,
+              1.1614541964572527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005310112253352289,
+              0.012064361105939201,
+              0.0
+            ],
+            "finger_gap": 0.02636255685912887,
+            "fingertip_max_gap": 0.09128487505766192,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013181278429564436,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1614541964572527,
+            "object_top_z": 1.211401194913484,
+            "finger_top_clearance": 0.049946998456231295,
+            "fingertip_min_top_clearance": 0.014984099536869388,
+            "object_projection_between_fingers": 0.8377097847100253,
+            "object_to_finger_line_xy": 0.009720318416736672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814243752883096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7614283738488726,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2858923764967697,
+              -0.3907065058577733,
+              0.8515395671545343
+            ],
+            "target_position": [
+              0.2780154096721933,
+              -0.39192350714211327,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007970426493078164,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18391955421397935,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395671545343,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534410921574779,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0867763770616815,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15246291213725074,
+            "release_required_pad_clearance": 0.05338818853084075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.791822280337037,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008334755897521973,
+            "max_z_decrease": 0.008334755897521973,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498599086535982,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008334755897521973,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020913727523157895,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008334755897521973,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00833491437642196,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13371533155441281,
+              -0.4481849670410156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13371533155441281,
+              -0.4481849670410156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1333289249273314,
+              -0.448347322682256,
+              0.8035978575899481
+            ],
+            "closest_button": [
+              0.13375398516654963,
+              -0.4481604993343354,
+              0.7686149477958679
+            ],
+            "closest_ee_minus_button": [
+              -0.00042506023921823344,
+              -0.00018682334792063937,
+              0.03498290979408014
+            ],
+            "button_min_z_position": [
+              0.13375906646251673,
+              -0.44815796613693243,
+              0.7684741020202637
+            ],
+            "min_active_finger_to_button": 0.1461638113882237,
+            "closest_active_finger": [
+              -0.0075662583112716675,
+              -0.4333394169807434,
+              0.8107909560203552
+            ],
+            "closest_active_finger_button": [
+              0.13371559977531428,
+              -0.4481836557388306,
+              0.7763969898223877
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14128185808658594,
+              0.014844238758087214,
+              0.03439396619796753
+            ],
+            "min_contact_pad_to_button": 0.020913727523157895,
+            "closest_contact_pad": [
+              0.13375906646251673,
+              -0.44943567053427413,
+              0.7893487629848376
+            ],
+            "closest_contact_pad_button": [
+              0.13375906646251673,
+              -0.44815796613693243,
+              0.7684741020202637
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012777043973417057,
+              0.02087466096457391
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27183694389805635,
+              0.18275981562969074,
+              1.1045789601636957
+            ],
+            "current_z": 1.1045789601636957,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19466983042933317,
+            "gripper_z": 1.1045788380818795,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2718367987267379,
+              0.18276002456123913,
+              1.1045788380818795
+            ],
+            "object_minus_gripper": [
+              1.4517131846636389e-07,
+              -2.0893154839551897e-07,
+              1.2208181621176095e-07
+            ],
+            "object_to_gripper_xy": 2.544152189241271e-07,
+            "object_to_gripper_z": 1.2208181621176095e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27183694389805635,
+              0.18275981562969074,
+              1.1045789601636957
+            ],
+            "finger_b": [
+              0.27183694389805635,
+              0.18275981562969074,
+              1.1045789601636957
+            ],
+            "finger_midpoint": [
+              0.27183694389805635,
+              0.18275981562969074,
+              1.1045789601636957
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045789601636957,
+            "object_top_z": 1.2295874667839755,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27183694389805635,
+            0.18275981562969076,
+            1.104578960163696
+          ],
+          "object_origin_world": [
+            0.27183694389805635,
+            0.18275981562969076,
+            1.104578960163696
+          ],
+          "frame_world": [
+            0.2718367987267379,
+            0.18276002456123913,
+            1.1045788380818795
+          ],
+          "center_minus_frame": [
+            1.4517131846636389e-07,
+            -2.089315483677634e-07,
+            1.2208181643380556e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436102909148408,
+            "required_z": 0.9112598531054817,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007634036764001741,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.236986466660566e-07,
+            "max_target_xy_drift": 4.2865082758898245e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.7913854011278127,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.7918222805825865,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28662726973776176,
+              -0.3906275443289463,
+              0.9233169149458239
+            ],
+            "target_mouth_xy": [
+              0.28589244199185715,
+              -0.39070653527777577
+            ],
+            "rod_tip_z": 0.9233169149458239,
+            "rod_tip_depth": -0.02205699110062065,
+            "rod_tip_bottom_clearance": 0.12149761322788255,
+            "rod_tip_xy_dist": 0.0007390611518326663,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04501705720079663,
+            "min_rod_tip_bottom_clearance": 0.05442350391170159,
+            "min_rod_tip_xy_dist": 3.824923988483365e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.28589244137742403,
+              -0.3907066589748964
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.144331154978033e-10,
+              1.236971206575177e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0011607107030459085,
+                0.001850396863253112
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010825828822695338,
+                0.0014719297218089844
+              ],
+              "first_target_mouth_xy": [
+                0.2858924099157428,
+                -0.3907065892287484
+              ],
+              "last_target_mouth_xy": [
+                0.28589240866043386,
+                -0.39070623157446294
+              ],
+              "first_rod_tip_xy": [
+                0.2870531206187887,
+                -0.3888561923654953
+              ],
+              "last_rod_tip_xy": [
+                0.2869749915427034,
+                -0.38923430185265395
+              ],
+              "min_rod_tip_xy_dist": 0.0018271734463174768,
+              "max_rod_tip_xy_dist": 0.0021843117652254416,
+              "first_target_xy_drift": 7.651380628266992e-08,
+              "last_target_xy_drift": 4.2865082758898245e-07,
+              "max_depth": 0.019375769845290658,
+              "min_bottom_clearance": 0.08006525235958895
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0011607107030459085,
+                  0.001850396863253112
+                ],
+                "rod_tip_xy": [
+                  0.2870531206187887,
+                  -0.3888561923654953
+                ],
+                "target_mouth_xy": [
+                  0.2858924099157428,
+                  -0.3907065892287484
+                ],
+                "gripper_position": [
+                  0.28704316117376,
+                  -0.38886592283245547,
+                  1.0060806669130544
+                ],
+                "rod_tip_xy_dist": 0.0021843117652254416,
+                "target_xy_drift": 7.651380628266992e-08,
+                "depth": 0.015017744163755675,
+                "bottom_clearance": 0.08442305415223827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0011507857485553719,
+                  0.0018406467788739111
+                ],
+                "rod_tip_xy": [
+                  0.28704316117376,
+                  -0.3888659228324556
+                ],
+                "target_mouth_xy": [
+                  0.2858923754252046,
+                  -0.3907065696113295
+                ],
+                "gripper_position": [
+                  0.2870355354154284,
+                  -0.3888697939944904,
+                  1.0059392939268847
+                ],
+                "rod_tip_xy_dist": 0.002170780597770547,
+                "target_xy_drift": 1.1106548671943327e-07,
+                "depth": 0.015179211547323712,
+                "bottom_clearance": 0.08426138400882666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0011431575636302038,
+                  0.001836778121304894
+                ],
+                "rod_tip_xy": [
+                  0.2870355354154284,
+                  -0.3888697939944904
+                ],
+                "target_mouth_xy": [
+                  0.2858923778517982,
+                  -0.3907065721157953
+                ],
+                "gripper_position": [
+                  0.28704705073199344,
+                  -0.3889408754457747,
+                  1.005401295480642
+                ],
+                "rod_tip_xy_dist": 0.002163460903781087,
+                "target_xy_drift": 1.0761044830774084e-07,
+                "depth": 0.015320536479275004,
+                "bottom_clearance": 0.0841200158528812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011547026223091006,
+                  0.0017657791331833206
+                ],
+                "rod_tip_xy": [
+                  0.28704705073199344,
+                  -0.3889408754457748
+                ],
+                "target_mouth_xy": [
+                  0.28589234810968434,
+                  -0.39070665457895815
+                ],
+                "gripper_position": [
+                  0.28703679348717903,
+                  -0.38895055821005375,
+                  1.0052399259009472
+                ],
+                "rod_tip_xy_dist": 0.0021098137579305793,
+                "target_xy_drift": 9.337127792716803e-08,
+                "depth": 0.01585871125594618,
+                "bottom_clearance": 0.08358197580447924,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00114438344206802,
+                  0.0017561277216314175
+                ],
+                "rod_tip_xy": [
+                  0.28703679348717903,
+                  -0.38895055821005386
+                ],
+                "target_mouth_xy": [
+                  0.285892410045111,
+                  -0.3907066859316853
+                ],
+                "gripper_position": [
+                  0.2870290287237756,
+                  -0.38895438771189567,
+                  1.0050984544813755
+                ],
+                "rod_tip_xy_dist": 0.002096091132837931,
+                "target_xy_drift": 4.133258163681753e-08,
+                "depth": 0.016019922647909746,
+                "bottom_clearance": 0.08342061864488459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011366189273178118,
+                  0.0017522677837169542
+                ],
+                "rod_tip_xy": [
+                  0.2870290287237756,
+                  -0.3889543877118957
+                ],
+                "target_mouth_xy": [
+                  0.2858924097964578,
+                  -0.3907066554956127
+                ],
+                "gripper_position": [
+                  0.28704133482516647,
+                  -0.38902633689585275,
+                  1.0045631535319057
+                ],
+                "rod_tip_xy_dist": 0.0020886227452054187,
+                "target_xy_drift": 3.1772045000243654e-08,
+                "depth": 0.016161412498897465,
+                "bottom_clearance": 0.083279160503268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001148921271287462,
+                  0.0016803201267054924
+                ],
+                "rod_tip_xy": [
+                  0.28704133482516647,
+                  -0.38902633689585286
+                ],
+                "target_mouth_xy": [
+                  0.285892413553879,
+                  -0.39070665702255836
+                ],
+                "gripper_position": [
+                  0.2870311098294138,
+                  -0.3890358491767993,
+                  1.0044019541752847
+                ],
+                "rod_tip_xy_dist": 0.002035557863542169,
+                "target_xy_drift": 2.7891957292575207e-08,
+                "depth": 0.016696741682634686,
+                "bottom_clearance": 0.08274385212388435,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001138699601330062,
+                  0.0016708063050874244
+                ],
+                "rod_tip_xy": [
+                  0.2870311098294138,
+                  -0.38903584917679945
+                ],
+                "target_mouth_xy": [
+                  0.28589241022808376,
+                  -0.3907066554818869
+                ],
+                "gripper_position": [
+                  0.2870232023649717,
+                  -0.38903968821982304,
+                  1.0042602123907363
+                ],
+                "rod_tip_xy_dist": 0.002021937311389533,
+                "target_xy_drift": 3.13445771258502e-08,
+                "depth": 0.016857840030394367,
+                "bottom_clearance": 0.08258271636207304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001130822422777178,
+                  0.0016669663357222753
+                ],
+                "rod_tip_xy": [
+                  0.28702320236497164,
+                  -0.38903968821982315
+                ],
+                "target_mouth_xy": [
+                  0.28589237994219446,
+                  -0.39070665455554543
+                ],
+                "gripper_position": [
+                  0.28701520389517937,
+                  -0.3890434575684543,
+                  1.0041187091521073
+                ],
+                "rod_tip_xy_dist": 0.0020143326726951025,
+                "target_xy_drift": 6.159397775414042e-08,
+                "depth": 0.016999672092250617,
+                "bottom_clearance": 0.08244093540774433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0011227919008051646,
+                  0.0016632305648380252
+                ],
+                "rod_tip_xy": [
+                  0.28701520389517937,
+                  -0.3890434575684544
+                ],
+                "target_mouth_xy": [
+                  0.2858924119943742,
+                  -0.3907066881332924
+                ],
+                "gripper_position": [
+                  0.2870291292361551,
+                  -0.3891173636277425,
+                  1.0035848418433388
+                ],
+                "rod_tip_xy_dist": 0.002006738040782875,
+                "target_xy_drift": 4.139535810903957e-08,
+                "depth": 0.01714113619665747,
+                "bottom_clearance": 0.08229944104428133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001136720022030413,
+                  0.001589285855056688
+                ],
+                "rod_tip_xy": [
+                  0.2870291292361551,
+                  -0.3891173636277425
+                ],
+                "target_mouth_xy": [
+                  0.2858924092141247,
+                  -0.3907066494827992
+                ],
+                "gripper_position": [
+                  0.2870186447184099,
+                  -0.38912673647822416,
+                  1.0034239023036695
+                ],
+                "rod_tip_xy_dist": 0.001953960577280947,
+                "target_xy_drift": 3.353472431914451e-08,
+                "depth": 0.017675144901360684,
+                "bottom_clearance": 0.08176565875033093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011262302105080613,
+                  0.001579951260348933
+                ],
+                "rod_tip_xy": [
+                  0.2870186447184099,
+                  -0.38912673647822427
+                ],
+                "target_mouth_xy": [
+                  0.2858924145079018,
+                  -0.3907066877385732
+                ],
+                "gripper_position": [
+                  0.2870106094312973,
+                  -0.38913013130029983,
+                  1.0032826921033868
+                ],
+                "rod_tip_xy_dist": 0.0019402681443911854,
+                "target_xy_drift": 3.93614065524103e-08,
+                "depth": 0.017836017116834357,
+                "bottom_clearance": 0.08160464594379269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011182042211053123,
+                  0.0015764075587336168
+                ],
+                "rod_tip_xy": [
+                  0.2870106094312973,
+                  -0.38913013130029983
+                ],
+                "target_mouth_xy": [
+                  0.285892405210192,
+                  -0.39070653885903345
+                ],
+                "gripper_position": [
+                  0.2870023441497669,
+                  -0.38913421606728665,
+                  1.0031409551346318
+                ],
+                "rod_tip_xy_dist": 0.0019327290217022715,
+                "target_xy_drift": 1.254427726599852e-07,
+                "depth": 0.017977202954234217,
+                "bottom_clearance": 0.08146342607529444,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001109931753079052,
+                  0.0015724704607995577
+                ],
+                "rod_tip_xy": [
+                  0.2870023441497669,
+                  -0.3891342160672867
+                ],
+                "target_mouth_xy": [
+                  0.28589241239668783,
+                  -0.39070668652808627
+                ],
+                "gripper_position": [
+                  0.28699426776778525,
+                  -0.38913769629401496,
+                  1.0029995191475531
+                ],
+                "rod_tip_xy_dist": 0.00192473682527776,
+                "target_xy_drift": 3.998826504216508e-08,
+                "depth": 0.01811892971705953,
+                "bottom_clearance": 0.08132161751160172,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011018580074201312,
+                  0.0015689890126903139
+                ],
+                "rod_tip_xy": [
+                  0.28699426776778525,
+                  -0.38913769629401496
+                ],
+                "target_mouth_xy": [
+                  0.2858924097603651,
+                  -0.39070668530670527
+                ],
+                "gripper_position": [
+                  0.287010382671845,
+                  -0.38921458336983816,
+                  1.0024691070786562
+                ],
+                "rod_tip_xy_dist": 0.0019172421835696157,
+                "target_xy_drift": 4.1146112471082415e-08,
+                "depth": 0.018260289200543567,
+                "bottom_clearance": 0.08118028492754925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011180030623185733,
+                  0.001492068634611543
+                ],
+                "rod_tip_xy": [
+                  0.287010382671845,
+                  -0.3892145833698383
+                ],
+                "target_mouth_xy": [
+                  0.2858923796095264,
+                  -0.3907066520044498
+                ],
+                "gripper_position": [
+                  0.2869997852313036,
+                  -0.38922396560852035,
+                  1.0023082127985907
+                ],
+                "rod_tip_xy_dist": 0.0018644569337330542,
+                "target_xy_drift": 6.215995739668989e-08,
+                "depth": 0.018790830869078956,
+                "bottom_clearance": 0.08064987786539746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011073707380472309,
+                  0.0014827224758893753
+                ],
+                "rod_tip_xy": [
+                  0.28699978523130354,
+                  -0.38922396560852035
+                ],
+                "target_mouth_xy": [
+                  0.2858924144932563,
+                  -0.3907066880844097
+                ],
+                "gripper_position": [
+                  0.2869915705445997,
+                  -0.38922732175958047,
+                  1.002167108572439
+                ],
+                "rod_tip_xy_dist": 0.0018506041964695713,
+                "target_xy_drift": 3.962476799725709e-08,
+                "depth": 0.01895171258317252,
+                "bottom_clearance": 0.08048896182653775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010991963896146983,
+                  0.0014791876584909214
+                ],
+                "rod_tip_xy": [
+                  0.2869915705445996,
+                  -0.38922732175958064
+                ],
+                "target_mouth_xy": [
+                  0.2858923741549849,
+                  -0.39070650941807156
+                ],
+                "gripper_position": [
+                  0.2869832080055884,
+                  -0.3892310644303976,
+                  1.0020259024003992
+                ],
+                "rod_tip_xy_dist": 0.0018428860062342006,
+                "target_xy_drift": 1.639698148606617e-07,
+                "depth": 0.019092819281519513,
+                "bottom_clearance": 0.08034784687035812,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010908306808234958,
+                  0.001475506744927968
+                ],
+                "rod_tip_xy": [
+                  0.2869832080055884,
+                  -0.3892310644303977
+                ],
+                "target_mouth_xy": [
+                  0.2858923773247649,
+                  -0.39070657117532565
+                ],
+                "gripper_position": [
+                  0.28697499154270345,
+                  -0.3892343018526539,
+                  1.0018843988954367
+                ],
+                "rod_tip_xy_dist": 0.0018349473367248932,
+                "target_xy_drift": 1.0868076080757712e-07,
+                "depth": 0.01923392239226762,
+                "bottom_clearance": 0.080206607506207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010825828822695338,
+                  0.0014719297218089844
+                ],
+                "rod_tip_xy": [
+                  0.2869749915427034,
+                  -0.38923430185265395
+                ],
+                "target_mouth_xy": [
+                  0.28589240866043386,
+                  -0.39070623157446294
+                ],
+                "gripper_position": [
+                  0.2869666900247775,
+                  -0.3892378493009229,
+                  1.0017430651734913
+                ],
+                "rod_tip_xy_dist": 0.0018271734463174768,
+                "target_xy_drift": 4.2865082758898245e-07,
+                "depth": 0.019375769845290658,
+                "bottom_clearance": 0.08006525235958895,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006027798259748102,
+              "rod_tip_xy_max_step": 3.268898375721232e-05,
+              "rod_tip_xy_range": 0.000602774185490639,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28662726973776176,
+            -0.39062754432894625,
+            1.0433169149458241
+          ],
+          "object_origin_world": [
+            0.28662726973776176,
+            -0.39062754432894625,
+            1.0433169149458241
+          ],
+          "frame_world": [
+            0.2866513271199461,
+            -0.39062359834084964,
+            1.0436102909148408
+          ],
+          "center_minus_frame": [
+            -2.4057382184361487e-05,
+            -3.945988096609732e-06,
+            -0.00029337596901668483
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2598014858302805,
+              0.13767925483783583,
+              0.8331070331263578
+            ],
+            "target_position": [
+              0.27194532235434343,
+              0.18344141903929195,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04734604986611023,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16574483787813354,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331070331263578,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674992008208,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13590922356886923,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22228416070981877,
+              -0.13361032623744426,
+              1.0475083149631996
+            ],
+            "current_z": 1.0475083149631996,
+            "required_z": 0.8565863819436887,
+            "initial_z": 0.7565863819436888,
+            "lift_margin": 0.19092193301951088,
+            "gripper_z": 1.0512624001630821,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2182647115473195,
+              -0.13792359540358812,
+              1.0512624001630821
+            ],
+            "object_minus_gripper": [
+              0.004019449162499272,
+              0.004313269166143857,
+              -0.0037540851998825175
+            ],
+            "object_to_gripper_xy": 0.005895783448323338,
+            "object_to_gripper_z": -0.0037540851998825175,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22228416070981877,
+              -0.1572421197460283,
+              1.0475083149631996
+            ],
+            "finger_b": [
+              0.21127796664483378,
+              -0.13361032623744426,
+              1.0475083149631996
+            ],
+            "finger_midpoint": [
+              0.21678106367732627,
+              -0.1454262229917363,
+              1.0475083149631996
+            ],
+            "object_minus_finger_midpoint": [
+              0.005503097032492493,
+              0.011815896754292038,
+              0.0
+            ],
+            "finger_gap": 0.026069099950486705,
+            "fingertip_max_gap": 0.09198223958178331,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034549975243365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475083149631996,
+            "object_top_z": 1.0928833031261265,
+            "finger_top_clearance": 0.045374988162926844,
+            "fingertip_min_top_clearance": 0.013612496448878053,
+            "object_projection_between_fingers": 0.8217529881690298,
+            "object_to_finger_line_xy": 0.009977180107987295,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849111979089166,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6253986437981565,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22644907825832528,
+              -0.13447037177185,
+              1.2439117777976632
+            ],
+            "held_position": [
+              0.2307939644077841,
+              -0.1303442514911386,
+              1.2403208127918144
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006985551796092245,
+            "max_held_gripper_dist": 0.006990703634939733,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035909650058487674,
+            "max_held_gripper_z_dist": 0.003772378328878112,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08570201366411956,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2307939644077841,
+              -0.15491615634175926,
+              1.2403208127918144
+            ],
+            "held_grasp_finger_b": [
+              0.22236164607106565,
+              -0.1303442514911386,
+              1.2403208127918144
+            ],
+            "held_grasp_midpoint": [
+              0.2265778052394249,
+              -0.14263020391644893,
+              1.2403208127918144
+            ],
+            "held_grasp_object_position": [
+              0.2307939644077841,
+              -0.1303442514911386,
+              1.2403208127918144
+            ],
+            "held_grasp_finger_gap": 0.025978500736565102,
+            "held_grasp_max_gap": 0.12496611982584,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02391310356530559,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0667174789770656,
+              -0.9960842163217677,
+              -0.05800872342669504
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034629306791986994,
+            "held_grasp_line_xy_max_dist": 0.04748305991292,
+            "held_grasp_object_top_z": 0.04520081356167793,
+            "held_grasp_top_clearance": 0.0326816787576672,
+            "held_grasp_min_top_clearance": 0.013560244068503379
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2003575419076708,
+              -0.13941501844839518,
+              0.756586140190705
+            ],
+            "target_position": [
+              0.1972958280037239,
+              -0.13751161959850494,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0036051378907588725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21731789417092623,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586140190705,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584679065874024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584472666002814,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18707432915617483,
+            "release_required_pad_clearance": 0.05292236333001407,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8829242056260587,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 194,
+            "max_placed_release_frames": 194
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02e455b65eb70aac54dc99e72ca3f15c8b85c70becc0e72ef9677d5edbd29fa5",
+    "visual_seed": 3108826946832439477,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28a955e53647f31a905129343f7c474677b5567a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_14_success.json
@@ -0,0 +1,2664 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24972946516985692,
+              -0.0035906489451731066,
+              1.1642596352813346
+            ],
+            "current_z": 1.1642596352813346,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30315288884798963,
+            "gripper_z": 1.1578546186905585,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2448179166901843,
+              -0.008486352198968414,
+              1.1578546186905585
+            ],
+            "object_minus_gripper": [
+              0.004911548479672623,
+              0.004895703253795307,
+              0.00640501659077608
+            ],
+            "object_to_gripper_xy": 0.006934783256699261,
+            "object_to_gripper_z": 0.00640501659077608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24972946516985692,
+              -0.027408034935712335,
+              1.1642596352813346
+            ],
+            "finger_b": [
+              0.2384545212294345,
+              -0.0035906489451731066,
+              1.1642596352813346
+            ],
+            "finger_midpoint": [
+              0.2440919931996457,
+              -0.01549934194044272,
+              1.1642596352813346
+            ],
+            "object_minus_finger_midpoint": [
+              0.005637471970211222,
+              0.011908692995269613,
+              0.0
+            ],
+            "finger_gap": 0.02635132323588329,
+            "fingertip_max_gap": 0.09148102660048787,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317566161794165,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642596352813346,
+            "object_top_z": 1.214268413312687,
+            "finger_top_clearance": 0.05000877803135251,
+            "fingertip_min_top_clearance": 0.015002633409405752,
+            "object_projection_between_fingers": 0.8169271569907917,
+            "object_to_finger_line_xy": 0.010190747897056431,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824051330024394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8605566182498717,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28353981418608964,
+              -0.3918852978758897,
+              0.8515396242725395
+            ],
+            "target_position": [
+              0.27498243039279424,
+              -0.39331805167253503,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00867649703668228,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18578501574809864,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396242725395,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541371454836822,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517652283462816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15409693247522063,
+            "release_required_pad_clearance": 0.05258826141731408,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24066256120297558,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008400201797485352,
+            "max_z_decrease": 0.008400201797485352,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504396573824406,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008400201797485352,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021009907128897113,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008400201797485352,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0084002605916925,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1306823492050171,
+              -0.44957950711250305,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1306823492050171,
+              -0.44957950711250305,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13201878258832883,
+              -0.45061339572626025,
+              0.8037713485384528
+            ],
+            "closest_button": [
+              0.1306840479373932,
+              -0.4495556950569153,
+              0.7687687873840332
+            ],
+            "closest_ee_minus_button": [
+              0.0013347346509356428,
+              -0.001057700669344963,
+              0.035002561154419576
+            ],
+            "button_min_z_position": [
+              0.13067081570625305,
+              -0.4495502710342407,
+              0.7684086561203003
+            ],
+            "min_active_finger_to_button": 0.14444374767358276,
+            "closest_active_finger": [
+              -0.009018182754516602,
+              -0.43691009283065796,
+              0.8108808994293213
+            ],
+            "closest_active_finger_button": [
+              0.13068315386772156,
+              -0.4495770335197449,
+              0.7764268517494202
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13970133662223816,
+              0.012666940689086914,
+              0.03445404767990112
+            ],
+            "min_contact_pad_to_button": 0.021009907128897113,
+            "closest_contact_pad": [
+              0.13067081570625305,
+              -0.45157869706473625,
+              0.7893204156207271
+            ],
+            "closest_contact_pad_button": [
+              0.13067081570625305,
+              -0.4495502710342407,
+              0.7684086561203003
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020284260304955226,
+              0.020911759500426785
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2733166669153404,
+              0.18236758547197696,
+              1.1020006211479436
+            ],
+            "current_z": 1.1020006211479436,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19209149141358106,
+            "gripper_z": 1.1020008540332462,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2733167515601803,
+              0.18236757885526383,
+              1.1020008540332462
+            ],
+            "object_minus_gripper": [
+              -8.46448399149935e-08,
+              6.61671312185419e-09,
+              -2.3288530259790718e-07
+            ],
+            "object_to_gripper_xy": 8.490306129211003e-08,
+            "object_to_gripper_z": -2.3288530259790718e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2733166669153404,
+              0.18236758547197696,
+              1.1020006211479436
+            ],
+            "finger_b": [
+              0.2733166669153404,
+              0.18236758547197696,
+              1.1020006211479436
+            ],
+            "finger_midpoint": [
+              0.2733166669153404,
+              0.18236758547197696,
+              1.1020006211479436
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1020006211479436,
+            "object_top_z": 1.2270091277682234,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2733166669153404,
+            0.18236758547197698,
+            1.1020006211479438
+          ],
+          "object_origin_world": [
+            0.2733166669153404,
+            0.18236758547197698,
+            1.1020006211479438
+          ],
+          "frame_world": [
+            0.2733167515601803,
+            0.18236757885526383,
+            1.1020008540332462
+          ],
+          "center_minus_frame": [
+            -8.46448399149935e-08,
+            6.616713149609765e-09,
+            -2.3288530237586258e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434438693481585,
+            "required_z": 0.9112598826621012,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001828877835101917,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.000786452610199e-08,
+            "max_target_xy_drift": 1.0639188565880506e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.24066260547269075,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.2406626085833224,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.283225516262025,
+              -0.3936774534491201,
+              0.9235709421234658
+            ],
+            "target_mouth_xy": [
+              0.2835399370447721,
+              -0.3918853561753822
+            ],
+            "rod_tip_z": 0.9235709421234658,
+            "rod_tip_depth": -0.022311079209260343,
+            "rod_tip_bottom_clearance": 0.1217516388415335,
+            "rod_tip_xy_dist": 0.0018194705458352287,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04539569065941995,
+            "min_rod_tip_bottom_clearance": 0.05404502235342701,
+            "min_rod_tip_xy_dist": 0.00014126560487525463,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.28353990714637256,
+              -0.3918853587361709
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.989839953393414e-08,
+              2.5607886922074385e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0001400263708322136,
+                1.8670473811099875e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                5.188611222456396e-05,
+                -0.00035809770185168954
+              ],
+              "first_target_mouth_xy": [
+                0.2835399735760882,
+                -0.39188638392503117
+              ],
+              "last_target_mouth_xy": [
+                0.28353994055492804,
+                -0.39188638804565346
+              ],
+              "first_rod_tip_xy": [
+                0.2836799999469204,
+                -0.39186771345122007
+              ],
+              "last_rod_tip_xy": [
+                0.2835918266671526,
+                -0.39224448574750514
+              ],
+              "min_rod_tip_xy_dist": 0.00014126560487525463,
+              "max_rod_tip_xy_dist": 0.00036183716325612764,
+              "first_target_xy_drift": 1.0273388468732295e-06,
+              "last_target_xy_drift": 1.029851514743034e-06,
+              "max_depth": 0.019406817492074513,
+              "min_bottom_clearance": 0.08003390438216229
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0001400263708322136,
+                  1.8670473811099875e-05
+                ],
+                "rod_tip_xy": [
+                  0.2836799999469204,
+                  -0.39186771345122007
+                ],
+                "target_mouth_xy": [
+                  0.2835399735760882,
+                  -0.39188638392503117
+                ],
+                "gripper_position": [
+                  0.28368847749584936,
+                  -0.3919395247003582,
+                  1.0056411012137634
+                ],
+                "rod_tip_xy_dist": 0.00014126560487525463,
+                "target_xy_drift": 1.0273388468732295e-06,
+                "depth": 0.015082271181111273,
+                "bottom_clearance": 0.0843582532882271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00014857031411585897,
+                  -5.419865085598552e-05
+                ],
+                "rod_tip_xy": [
+                  0.28368847749584936,
+                  -0.3919395247003583
+                ],
+                "target_mouth_xy": [
+                  0.2835399071817335,
+                  -0.3918853260495023
+                ],
+                "gripper_position": [
+                  0.28367830052020904,
+                  -0.3919496414641794,
+                  1.0054807441378197
+                ],
+                "rod_tip_xy_dist": 0.00015814750074248415,
+                "target_xy_drift": 3.2686687721011924e-08,
+                "depth": 0.01561876930626227,
+                "bottom_clearance": 0.08382180420024776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0001383334081844767,
+                  -6.431381861704555e-05
+                ],
+                "rod_tip_xy": [
+                  0.28367830052020904,
+                  -0.39194964146417954
+                ],
+                "target_mouth_xy": [
+                  0.28353996711202456,
+                  -0.3918853276455625
+                ],
+                "gripper_position": [
+                  0.2836705215278197,
+                  -0.391953696533325,
+                  1.0053395583574996
+                ],
+                "rod_tip_xy_dist": 0.00015255293863128066,
+                "target_xy_drift": 6.754632004572928e-08,
+                "depth": 0.015779104397972143,
+                "bottom_clearance": 0.08366143232630552,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00013058493736889387,
+                  -6.837016192312584e-05
+                ],
+                "rod_tip_xy": [
+                  0.28367052152781963,
+                  -0.39195369653332524
+                ],
+                "target_mouth_xy": [
+                  0.28353993659045074,
+                  -0.3918853263714021
+                ],
+                "gripper_position": [
+                  0.2836799937866743,
+                  -0.39202656408503594,
+                  1.0048044621551329
+                ],
+                "rod_tip_xy_dist": 0.00014740049154949377,
+                "target_xy_drift": 4.375422264992076e-08,
+                "depth": 0.015920318494330066,
+                "bottom_clearance": 0.08352025877682279,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00014002510129729195,
+                  -0.00014123675981436712
+                ],
+                "rod_tip_xy": [
+                  0.2836799937866743,
+                  -0.3920265640850361
+                ],
+                "target_mouth_xy": [
+                  0.283539968685377,
+                  -0.39188532732522174
+                ],
+                "gripper_position": [
+                  0.2836697988158882,
+                  -0.3920361877421478,
+                  1.0046442496017733
+                ],
+                "rod_tip_xy_dist": 0.00019888401473265293,
+                "target_xy_drift": 6.909194451241142e-08,
+                "depth": 0.016455355646789127,
+                "bottom_clearance": 0.08298515509024418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0001298649826312337,
+                  -0.00015089306639137767
+                ],
+                "rod_tip_xy": [
+                  0.28366979881588816,
+                  -0.392036187742148
+                ],
+                "target_mouth_xy": [
+                  0.28353993383325693,
+                  -0.3918852946757566
+                ],
+                "gripper_position": [
+                  0.2836619679693172,
+                  -0.3920401859593044,
+                  1.0045035962591946
+                ],
+                "rod_tip_xy_dist": 0.00019908197105414477,
+                "target_xy_drift": 6.939687657558685e-08,
+                "depth": 0.016615685821590787,
+                "bottom_clearance": 0.08282506585807947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00012200089481861909,
+                  -0.00015485671351461727
+                ],
+                "rod_tip_xy": [
+                  0.2836619679693172,
+                  -0.39204018595930457
+                ],
+                "target_mouth_xy": [
+                  0.2835399670744986,
+                  -0.39188532924578995
+                ],
+                "gripper_position": [
+                  0.28365427747136296,
+                  -0.3920437476636148,
+                  1.0043625369843496
+                ],
+                "rod_tip_xy_dist": 0.00019714162436454662,
+                "target_xy_drift": 6.679118847362902e-08,
+                "depth": 0.01675628216869751,
+                "bottom_clearance": 0.0826843133428079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00011433523553683322,
+                  -0.00015736593787718522
+                ],
+                "rod_tip_xy": [
+                  0.28365427747136296,
+                  -0.39204374766361494
+                ],
+                "target_mouth_xy": [
+                  0.2835399422358261,
+                  -0.39188638172573775
+                ],
+                "gripper_position": [
+                  0.2836651788236256,
+                  -0.39211890217823364,
+                  1.0038281064285879
+                ],
+                "rod_tip_xy_dist": 0.0001945162833523951,
+                "target_xy_drift": 1.0235911896865066e-06,
+                "depth": 0.016897327994503608,
+                "bottom_clearance": 0.08254325071830226,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00012521184784297645,
+                  -0.0002335395952253183
+                ],
+                "rod_tip_xy": [
+                  0.2836651788236255,
+                  -0.39211890217823375
+                ],
+                "target_mouth_xy": [
+                  0.28353996697578254,
+                  -0.39188536258300843
+                ],
+                "gripper_position": [
+                  0.28365473929583196,
+                  -0.39212885735383396,
+                  1.0036679391305867
+                ],
+                "rod_tip_xy_dist": 0.0002649882061116272,
+                "target_xy_drift": 5.995295203443389e-08,
+                "depth": 0.017431838300539626,
+                "bottom_clearance": 0.08200888725465871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00011480174375139152,
+                  -0.0002435297085592869
+                ],
+                "rod_tip_xy": [
+                  0.2836547392958319,
+                  -0.39212885735383407
+                ],
+                "target_mouth_xy": [
+                  0.2835399375520805,
+                  -0.3918853276452748
+                ],
+                "gripper_position": [
+                  0.28364676083733276,
+                  -0.39213255667955393,
+                  1.0035274257563722
+                ],
+                "rod_tip_xy_dist": 0.0002692325376311923,
+                "target_xy_drift": 4.3487364814735595e-08,
+                "depth": 0.017591902029668316,
+                "bottom_clearance": 0.08184862540471782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00010679348554404333,
+                  -0.0002472597948893207
+                ],
+                "rod_tip_xy": [
+                  0.2836467608373327,
+                  -0.39213255667955405
+                ],
+                "target_mouth_xy": [
+                  0.28353996735178866,
+                  -0.3918852968846647
+                ],
+                "gripper_position": [
+                  0.2836388772885708,
+                  -0.39213608670409617,
+                  1.0033864079907833
+                ],
+                "rod_tip_xy_dist": 0.00026933669397866074,
+                "target_xy_drift": 8.631512582358655e-08,
+                "depth": 0.017732416139260354,
+                "bottom_clearance": 0.08170811279767853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  9.890892476577262e-05,
+                  -0.0002507590590176134
+                ],
+                "rod_tip_xy": [
+                  0.2836388772885708,
+                  -0.3921360867040963
+                ],
+                "target_mouth_xy": [
+                  0.283539968363805,
+                  -0.39188532764507866
+                ],
+                "gripper_position": [
+                  0.2836512355316933,
+                  -0.39221295775860465,
+                  1.0028564758380967
+                ],
+                "rod_tip_xy_dist": 0.00026956090420852984,
+                "target_xy_drift": 6.866025090446888e-08,
+                "depth": 0.017873412929010235,
+                "bottom_clearance": 0.08156709676793017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00011130173033291335,
+                  -0.0003276310485192946
+                ],
+                "rod_tip_xy": [
+                  0.28365123553169325,
+                  -0.39221295775860476
+                ],
+                "target_mouth_xy": [
+                  0.28353993380136033,
+                  -0.39188532671008547
+                ],
+                "gripper_position": [
+                  0.2836406984254188,
+                  -0.39222258577248387,
+                  1.0026962204457703
+                ],
+                "rod_tip_xy_dist": 0.0003460204894640676,
+                "target_xy_drift": 4.166723559852438e-08,
+                "depth": 0.018403420883733923,
+                "bottom_clearance": 0.08103725246295002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00010072521830656322,
+                  -0.00033725780030247066
+                ],
+                "rod_tip_xy": [
+                  0.2836406984254188,
+                  -0.39222258577248403
+                ],
+                "target_mouth_xy": [
+                  0.2835399732071122,
+                  -0.39188532797218156
+                ],
+                "gripper_position": [
+                  0.28363262554744945,
+                  -0.39222611394215584,
+                  1.0025556758472876
+                ],
+                "rod_tip_xy_dist": 0.0003519778309322421,
+                "target_xy_drift": 7.287279578164954e-08,
+                "depth": 0.018563704577289952,
+                "bottom_clearance": 0.08087700321523772,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  9.275230502875376e-05,
+                  -0.0003408167058552847
+                ],
+                "rod_tip_xy": [
+                  0.28363262554744945,
+                  -0.3922261139421559
+                ],
+                "target_mouth_xy": [
+                  0.2835398732424207,
+                  -0.3918852972363006
+                ],
+                "gripper_position": [
+                  0.2836244197800477,
+                  -0.39222985063689214,
+                  1.0024151703118063
+                ],
+                "rod_tip_xy_dist": 0.0003532124248638411,
+                "target_xy_drift": 7.022614897682443e-08,
+                "depth": 0.01870424433536033,
+                "bottom_clearance": 0.08073645440062471,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  8.444643647975703e-05,
+                  -0.00034346576486454783
+                ],
+                "rod_tip_xy": [
+                  0.2836244197800477,
+                  -0.3922298506368923
+                ],
+                "target_mouth_xy": [
+                  0.28353997334356795,
+                  -0.39188638487202776
+                ],
+                "gripper_position": [
+                  0.28361637280509394,
+                  -0.392233455539941,
+                  1.0022745827442934
+                ],
+                "rod_tip_xy_dist": 0.00035369468792748146,
+                "target_xy_drift": 1.02826886823062e-06,
+                "depth": 0.01884466533192508,
+                "bottom_clearance": 0.0805958838301567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  7.646436037200832e-05,
+                  -0.0003471032810423713
+                ],
+                "rod_tip_xy": [
+                  0.2836163728050939,
+                  -0.39223345553994104
+                ],
+                "target_mouth_xy": [
+                  0.2835399084447219,
+                  -0.3918863522588987
+                ],
+                "gripper_position": [
+                  0.28360810751853205,
+                  -0.3922371250000366,
+                  1.0021340709564512
+                ],
+                "rod_tip_xy_dist": 0.00035542578144737863,
+                "target_xy_drift": 9.935235761047679e-07,
+                "depth": 0.018985338874030533,
+                "bottom_clearance": 0.08045538242314232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  6.816507309065356e-05,
+                  -0.00035076803074907126
+                ],
+                "rod_tip_xy": [
+                  0.283608107518532,
+                  -0.3922371250000367
+                ],
+                "target_mouth_xy": [
+                  0.28353994244544134,
+                  -0.39188635696928764
+                ],
+                "gripper_position": [
+                  0.2836000458300192,
+                  -0.39224077602715635,
+                  1.0019936091273622
+                ],
+                "rod_tip_xy_dist": 0.00035732994358860486,
+                "target_xy_drift": 9.988570366063584e-07,
+                "depth": 0.019125804549560033,
+                "bottom_clearance": 0.08031479946943987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  6.010382771587386e-05,
+                  -0.00035442252994594137
+                ],
+                "rod_tip_xy": [
+                  0.28360004583001913,
+                  -0.39224077602715646
+                ],
+                "target_mouth_xy": [
+                  0.28353994200230326,
+                  -0.3918863534972105
+                ],
+                "gripper_position": [
+                  0.2835918266671526,
+                  -0.392244485747505,
+                  1.0018531382990563
+                ],
+                "rod_tip_xy_dist": 0.0003594826836432892,
+                "target_xy_drift": 9.953715194861223e-07,
+                "depth": 0.019266235025652834,
+                "bottom_clearance": 0.08017429662690889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  5.188611222456396e-05,
+                  -0.00035809770185168954
+                ],
+                "rod_tip_xy": [
+                  0.2835918266671526,
+                  -0.39224448574750514
+                ],
+                "target_mouth_xy": [
+                  0.28353994055492804,
+                  -0.39188638804565346
+                ],
+                "gripper_position": [
+                  0.2835836542386004,
+                  -0.39224793133276437,
+                  1.0017124962422335
+                ],
+                "rod_tip_xy_dist": 0.00036183716325612764,
+                "target_xy_drift": 1.029851514743034e-06,
+                "depth": 0.019406817492074513,
+                "bottom_clearance": 0.08003390438216229,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006049873003065509,
+              "rod_tip_xy_max_step": 3.290972004662447e-05,
+              "rod_tip_xy_range": 0.0006049797945691992,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.283225516262025,
+            -0.39367745344912003,
+            1.0435709421234658
+          ],
+          "object_origin_world": [
+            0.283225516262025,
+            -0.39367745344912003,
+            1.0435709421234658
+          ],
+          "frame_world": [
+            0.2832243330978276,
+            -0.39368679678900237,
+            1.0434438693481585
+          ],
+          "center_minus_frame": [
+            1.183164197449127e-06,
+            9.343339882339485e-06,
+            0.0001270727753073242
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2611264110835549,
+              0.13753539195942155,
+              0.8332189901075455
+            ],
+            "target_position": [
+              0.2734486711278661,
+              0.1832375967684416,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04733423303493194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16446506226830035,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332189901075455,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835669628167901,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13464417303746298,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22224658892503554,
+              -0.13039992867397068,
+              1.044274901333653
+            ],
+            "current_z": 1.044274901333653,
+            "required_z": 0.8565863243821904,
+            "initial_z": 0.7565863243821904,
+            "lift_margin": 0.18768857695146257,
+            "gripper_z": 1.048119702097249,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21830038785477934,
+              -0.1346530969125081,
+              1.048119702097249
+            ],
+            "object_minus_gripper": [
+              0.0039462010702562,
+              0.004253168238537414,
+              -0.003844800763596057
+            ],
+            "object_to_gripper_xy": 0.005801891325438165,
+            "object_to_gripper_z": -0.003844800763596057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22224658892503554,
+              -0.1540020127748828,
+              1.044274901333653
+            ],
+            "finger_b": [
+              0.21136536680296059,
+              -0.13039992867397068,
+              1.044274901333653
+            ],
+            "finger_midpoint": [
+              0.21680597786399808,
+              -0.14220097072442672,
+              1.044274901333653
+            ],
+            "object_minus_finger_midpoint": [
+              0.005440611061037465,
+              0.01180104205045604,
+              0.0
+            ],
+            "finger_gap": 0.025989601166167622,
+            "fingertip_max_gap": 0.09668931514186532,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012994800583083794,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044274901333653,
+            "object_top_z": 1.0917303660551236,
+            "finger_top_clearance": 0.047455464721470664,
+            "fingertip_min_top_clearance": 0.014236639416441182,
+            "object_projection_between_fingers": 0.8247104113983835,
+            "object_to_finger_line_xy": 0.009881626039734588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050844657570932664,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.702958252301691,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.226935308559763,
+              -0.13100152173300628,
+              1.242274202757394
+            ],
+            "held_position": [
+              0.23121969197004666,
+              -0.12692767291174056,
+              1.2386031505173494
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006959081115634398,
+            "max_held_gripper_dist": 0.006961348419504573,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036710522400447143,
+            "max_held_gripper_z_dist": 0.003860821989577934,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08615761497146618,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23121969197004666,
+              -0.1515087499942418,
+              1.2386031505173494
+            ],
+            "held_grasp_finger_b": [
+              0.22294157580741253,
+              -0.12692767291174056,
+              1.2386031505173494
+            ],
+            "held_grasp_midpoint": [
+              0.2270806338887296,
+              -0.13921821145299118,
+              1.2386031505173494
+            ],
+            "held_grasp_object_position": [
+              0.23121969197004666,
+              -0.12692767291174056,
+              1.2386031505173494
+            ],
+            "held_grasp_finger_gap": 0.02593755111297001,
+            "held_grasp_max_gap": 0.12496591120958328,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024062139170204888,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05614151777749051,
+              -0.9977953811215917,
+              -0.03539078120156992
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034704080674936824,
+            "held_grasp_line_xy_max_dist": 0.04748295560479164,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.03270486386041609,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19117383769375454,
+              -0.13491221557062316,
+              0.7565868190695253
+            ],
+            "target_position": [
+              0.19718751991799935,
+              -0.13536833300328477,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0060309549000615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21194933941720637,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868190695253,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546149891541531,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08860061464897466,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18360259452433608,
+            "release_required_pad_clearance": 0.05430030732448733,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.620264833847094,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "81ff14b263ab8a7a8797bb244059f01de5d388be1ac306b03831426eafbdee77",
+    "visual_seed": 25631595497807311,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65079974e4e4ca45aeaa4d226031eddada1905e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_18_success.json
@@ -0,0 +1,2664 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2470125732726222,
+              0.001056728608462979,
+              1.161395418204908
+            ],
+            "current_z": 1.161395418204908,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30028867177156293,
+            "gripper_z": 1.1547995944299438,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24215177104876714,
+              -0.00373001026989353,
+              1.1547995944299438
+            ],
+            "object_minus_gripper": [
+              0.004860802223855043,
+              0.0047867388783565095,
+              0.006595823774964149
+            ],
+            "object_to_gripper_xy": 0.006822042754850183,
+            "object_to_gripper_z": 0.006595823774964149,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2470125732726222,
+              -0.022806019816222607,
+              1.161395418204908
+            ],
+            "finger_b": [
+              0.23600447212834372,
+              0.001056728608462979,
+              1.161395418204908
+            ],
+            "finger_midpoint": [
+              0.24150852270048295,
+              -0.010874645603879815,
+              1.161395418204908
+            ],
+            "object_minus_finger_midpoint": [
+              0.005504050572139235,
+              0.011931374212342794,
+              0.0
+            ],
+            "finger_gap": 0.026279441645181492,
+            "fingertip_max_gap": 0.09128103578523841,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013139720822590748,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.161395418204908,
+            "object_top_z": 1.211416680260627,
+            "finger_top_clearance": 0.050021262055718996,
+            "fingertip_min_top_clearance": 0.015006378616715698,
+            "object_projection_between_fingers": 0.8245341698834601,
+            "object_to_finger_line_xy": 0.009995781180821827,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814051789261921,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6994273516651236,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28231969736759954,
+              -0.3856487026427492,
+              0.8515395628245938
+            ],
+            "target_position": [
+              0.2745816757241466,
+              -0.38675937363922225,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007817324927169945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867226214376071,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395628245938,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755780133869582,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611399489094877,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15455606012765044,
+            "release_required_pad_clearance": 0.05305699744547439,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1439646911213492,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008181631565093994,
+            "max_z_decrease": 0.008181631565093994,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035013030512113914,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008181631565093994,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020954789940514102,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008181631565093994,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008181748614565967,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1302815973758697,
+              -0.4430208206176758,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1302815973758697,
+              -0.4430208206176758,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12871957170462733,
+              -0.44363951764393805,
+              0.803597862449492
+            ],
+            "closest_button": [
+              0.13031689822673792,
+              -0.4429949522018432,
+              0.7686272263526917
+            ],
+            "closest_ee_minus_button": [
+              -0.001597326522110587,
+              -0.0006445654420948466,
+              0.0349706360968004
+            ],
+            "button_min_z_position": [
+              0.13031689822673792,
+              -0.4429949522018432,
+              0.7686272263526917
+            ],
+            "min_active_finger_to_button": 0.1472084022587163,
+            "closest_active_finger": [
+              -0.011867791414260864,
+              -0.4261510968208313,
+              0.8106333017349243
+            ],
+            "closest_active_finger_button": [
+              0.1302818059921264,
+              -0.44302037358283997,
+              0.7762933373451233
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14214959740638727,
+              0.016869276762008667,
+              0.034339964389801025
+            ],
+            "min_contact_pad_to_button": 0.020954789940514102,
+            "closest_contact_pad": [
+              0.13031689822673792,
+              -0.4449441571660599,
+              0.7894911622579456
+            ],
+            "closest_contact_pad_button": [
+              0.13031689822673792,
+              -0.4429949522018432,
+              0.7686272263526917
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019492049642166887,
+              0.020863935905253927
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27141564188240075,
+              0.1746266457689983,
+              1.102201446527539
+            ],
+            "current_z": 1.102201446527539,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19229231679317638,
+            "gripper_z": 1.1022014007953096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27141561207337367,
+              0.17462664579165044,
+              1.1022014007953096
+            ],
+            "object_minus_gripper": [
+              2.9809027080052175e-08,
+              -2.265213017160761e-11,
+              4.573222933679233e-08
+            ],
+            "object_to_gripper_xy": 2.9809035686822965e-08,
+            "object_to_gripper_z": 4.573222933679233e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27141564188240075,
+              0.1746266457689983,
+              1.102201446527539
+            ],
+            "finger_b": [
+              0.27141564188240075,
+              0.1746266457689983,
+              1.102201446527539
+            ],
+            "finger_midpoint": [
+              0.27141564188240075,
+              0.1746266457689983,
+              1.102201446527539
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102201446527539,
+            "object_top_z": 1.2272099531478187,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27141564188240075,
+            0.1746266457689983,
+            1.102201446527539
+          ],
+          "object_origin_world": [
+            0.27141564188240075,
+            0.1746266457689983,
+            1.102201446527539
+          ],
+          "frame_world": [
+            0.27141561207337367,
+            0.17462664579165044,
+            1.1022014007953096
+          ],
+          "center_minus_frame": [
+            2.9809027080052175e-08,
+            -2.265213017160761e-11,
+            4.573222933679233e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432715132946884,
+            "required_z": 0.9112598124925761,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008725618560402429,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.178451219746846e-08,
+            "max_target_xy_drift": 1.0854790370609122e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1439646912548505,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1439646912599484,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.281933874210582,
+              -0.3848579315200215,
+              0.9233954831084873
+            ],
+            "target_mouth_xy": [
+              0.282319696683449,
+              -0.3856486722098763
+            ],
+            "rod_tip_z": 0.9233954831084873,
+            "rod_tip_depth": -0.022135664884924133,
+            "rod_tip_bottom_clearance": 0.12157616055439402,
+            "rod_tip_xy_dist": 0.0008798464747677325,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045327853901677484,
+            "min_rod_tip_bottom_clearance": 0.05411267625875715,
+            "min_rod_tip_xy_dist": 0.0008798464747677325,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.28231966707525075,
+              -0.3856487016937712
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.9608198226505067e-08,
+              2.9483894881110473e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.00010309130253594034,
+                0.0025032799625747115
+              ],
+              "last_rod_tip_xy_delta": [
+                1.080295084848748e-05,
+                0.002141069710255683
+              ],
+              "first_target_mouth_xy": [
+                0.28231966646702256,
+                -0.3856487302346991
+              ],
+              "last_target_mouth_xy": [
+                0.2823196665842886,
+                -0.385648670940431
+              ],
+              "first_rod_tip_xy": [
+                0.2824227577695585,
+                -0.3831454502721244
+              ],
+              "last_rod_tip_xy": [
+                0.2823304695351371,
+                -0.3835076012301753
+              ],
+              "min_rod_tip_xy_dist": 0.002141096963689732,
+              "max_rod_tip_xy_dist": 0.0025054018415588755,
+              "first_target_xy_drift": 2.8547408058484626e-08,
+              "last_target_xy_drift": 3.07572589444459e-08,
+              "max_depth": 0.019355730725569842,
+              "min_bottom_clearance": 0.08008480359592185
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.00010309130253594034,
+                  0.0025032799625747115
+                ],
+                "rod_tip_xy": [
+                  0.2824227577695585,
+                  -0.3831454502721244
+                ],
+                "target_mouth_xy": [
+                  0.28231966646702256,
+                  -0.3856487302346991
+                ],
+                "gripper_position": [
+                  0.2824124958773864,
+                  -0.3831549035404312,
+                  1.006027263438814
+                ],
+                "rod_tip_xy_dist": 0.0025054018415588755,
+                "target_xy_drift": 2.8547408058484626e-08,
+                "depth": 0.015075412949985267,
+                "bottom_clearance": 0.08436513681645597,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  9.282981025998671e-05,
+                  0.002493798815617676
+                ],
+                "rod_tip_xy": [
+                  0.2824124958773864,
+                  -0.3831549035404312
+                ],
+                "target_mouth_xy": [
+                  0.28231966606712644,
+                  -0.38564870235604887
+                ],
+                "gripper_position": [
+                  0.2824048443643539,
+                  -0.38315842285512336,
+                  1.00588943562571
+                ],
+                "rod_tip_xy_dist": 0.0024955259779150824,
+                "target_xy_drift": 1.2062032741242228e-09,
+                "depth": 0.01523258566643837,
+                "bottom_clearance": 0.08420795327451813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  8.517554164105823e-05,
+                  0.0024902496458103496
+                ],
+                "rod_tip_xy": [
+                  0.2824048443643539,
+                  -0.3831584228551233
+                ],
+                "target_mouth_xy": [
+                  0.28231966882271287,
+                  -0.38564867250093365
+                ],
+                "gripper_position": [
+                  0.2824131919438486,
+                  -0.38322667710611036,
+                  1.0053568635070984
+                ],
+                "rod_tip_xy_dist": 0.002491705875771139,
+                "target_xy_drift": 2.9245091678347455e-08,
+                "depth": 0.015370459239654077,
+                "bottom_clearance": 0.08407011411220011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  9.352447181149026e-05,
+                  0.0024219950935004397
+                ],
+                "rod_tip_xy": [
+                  0.2824131919438487,
+                  -0.3832266771061103
+                ],
+                "target_mouth_xy": [
+                  0.2823196674720372,
+                  -0.38564867219961074
+                ],
+                "gripper_position": [
+                  0.282402689538217,
+                  -0.3832358027108309,
+                  1.0052000937849432
+                ],
+                "rod_tip_xy_dist": 0.0024238001278504427,
+                "target_xy_drift": 2.949682932056989e-08,
+                "depth": 0.015902895577160625,
+                "bottom_clearance": 0.08353761433927154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  8.299258314503621e-05,
+                  0.0024128688645797536
+                ],
+                "rod_tip_xy": [
+                  0.282402689538217,
+                  -0.38323580271083085
+                ],
+                "target_mouth_xy": [
+                  0.282319696955072,
+                  -0.3856486715754106
+                ],
+                "gripper_position": [
+                  0.28239481993417365,
+                  -0.38323948294121535,
+                  1.0050621397444333
+                ],
+                "rod_tip_xy_dist": 0.0024142957413116305,
+                "target_xy_drift": 4.242545651923823e-08,
+                "depth": 0.016059724991811186,
+                "bottom_clearance": 0.08338077818840184,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  7.515286907527896e-05,
+                  0.002409187685547598
+                ],
+                "rod_tip_xy": [
+                  0.28239481993417365,
+                  -0.3832394829412154
+                ],
+                "target_mouth_xy": [
+                  0.28231966706509837,
+                  -0.385648670626763
+                ],
+                "gripper_position": [
+                  0.28240400542828065,
+                  -0.3833088026609747,
+                  1.00453120243942
+                ],
+                "rod_tip_xy_dist": 0.002410359570255948,
+                "target_xy_drift": 3.1067009847070107e-08,
+                "depth": 0.016197695459569394,
+                "bottom_clearance": 0.08324283902733598,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  8.43088743444631e-05,
+                  0.002339868913699028
+                ],
+                "rod_tip_xy": [
+                  0.28240400542828065,
+                  -0.3833088026609747
+                ],
+                "target_mouth_xy": [
+                  0.2823196965539362,
+                  -0.38564867157467375
+                ],
+                "gripper_position": [
+                  0.2823933612983165,
+                  -0.38331793211338017,
+                  1.0043747203192954
+                ],
+                "rod_tip_xy_dist": 0.002341387306617233,
+                "target_xy_drift": 4.214442935431079e-08,
+                "depth": 0.01672862206372361,
+                "bottom_clearance": 0.08271188353307368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  7.369339089313698e-05,
+                  0.0023307420042260607
+                ],
+                "rod_tip_xy": [
+                  0.2823933612983165,
+                  -0.3833179321133802
+                ],
+                "target_mouth_xy": [
+                  0.28231966790742336,
+                  -0.3856486741176063
+                ],
+                "gripper_position": [
+                  0.2823854456311776,
+                  -0.38332143121418305,
+                  1.0042366196918922
+                ],
+                "rod_tip_xy_dist": 0.002331906731866659,
+                "target_xy_drift": 2.7588718386960678e-08,
+                "depth": 0.01688513592611751,
+                "bottom_clearance": 0.08255545804866093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  6.58076123373208e-05,
+                  0.0023272403470237513
+                ],
+                "rod_tip_xy": [
+                  0.2823854456311776,
+                  -0.383321431214183
+                ],
+                "target_mouth_xy": [
+                  0.2823196380188403,
+                  -0.38564867156120675
+                ],
+                "gripper_position": [
+                  0.28237731674130523,
+                  -0.38332493252364047,
+                  1.0040987730569302
+                ],
+                "rod_tip_xy_dist": 0.0023281705853860388,
+                "target_xy_drift": 4.185984266406993e-08,
+                "depth": 0.01702320443182026,
+                "bottom_clearance": 0.08241732450631656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  5.764824300752425e-05,
+                  0.002323738718573498
+                ],
+                "rod_tip_xy": [
+                  0.28237731674130523,
+                  -0.3833249325236406
+                ],
+                "target_mouth_xy": [
+                  0.2823196684982977,
+                  -0.3856486712422141
+                ],
+                "gripper_position": [
+                  0.28238817090547336,
+                  -0.3833965097878325,
+                  1.0035692897382718
+                ],
+                "rod_tip_xy_dist": 0.0023244536889599366,
+                "target_xy_drift": 3.0484789535468084e-08,
+                "depth": 0.017161181183619978,
+                "bottom_clearance": 0.0822793849672695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  6.850371738470473e-05,
+                  0.0022521915828537797
+                ],
+                "rod_tip_xy": [
+                  0.2823881709054734,
+                  -0.38339650978783263
+                ],
+                "target_mouth_xy": [
+                  0.2823196671880887,
+                  -0.3856487013706864
+                ],
+                "gripper_position": [
+                  0.2823774137099868,
+                  -0.3834058415580535,
+                  1.003412709994984
+                ],
+                "rod_tip_xy_dist": 0.0022532331626294107,
+                "target_xy_drift": 3.422224149560909e-10,
+                "depth": 0.017690469829910183,
+                "bottom_clearance": 0.08175003494171384,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  5.774640691308397e-05,
+                  0.002242829692678028
+                ],
+                "rod_tip_xy": [
+                  0.2823774137099868,
+                  -0.38340584155805363
+                ],
+                "target_mouth_xy": [
+                  0.28231966730307373,
+                  -0.38564867125073166
+                ],
+                "gripper_position": [
+                  0.2823693798748565,
+                  -0.3834088961840698,
+                  1.0032750413144103
+                ],
+                "rod_tip_xy_dist": 0.0022435729713716885,
+                "target_xy_drift": 3.044389198775206e-08,
+                "depth": 0.017847115776776667,
+                "bottom_clearance": 0.08159340492591427,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  4.97420327520981e-05,
+                  0.0022397446166987356
+                ],
+                "rod_tip_xy": [
+                  0.2823693798748565,
+                  -0.38340889618406987
+                ],
+                "target_mouth_xy": [
+                  0.2823196378421044,
+                  -0.3856486408007686
+                ],
+                "gripper_position": [
+                  0.28236128749657696,
+                  -0.383411925878169,
+                  1.0031371081228573
+                ],
+                "rod_tip_xy_dist": 0.0022402969039511875,
+                "target_xy_drift": 6.754653661876022e-08,
+                "depth": 0.017984858333028764,
+                "bottom_clearance": 0.08145569889287063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  4.165070004380489e-05,
+                  0.0022367764478508634
+                ],
+                "rod_tip_xy": [
+                  0.28236128749657696,
+                  -0.38341192587816914
+                ],
+                "target_mouth_xy": [
+                  0.28231963679653316,
+                  -0.38564870232602
+                ],
+                "gripper_position": [
+                  0.28235296572072766,
+                  -0.38341526366004575,
+                  1.0029995686282205
+                ],
+                "rod_tip_xy_dist": 0.0022371642001593143,
+                "target_xy_drift": 3.028531785166281e-08,
+                "depth": 0.018122724402687695,
+                "bottom_clearance": 0.08131779337076483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  3.3298215901145234e-05,
+                  0.002233378415690601
+                ],
+                "rod_tip_xy": [
+                  0.28235296572072766,
+                  -0.3834152636600458
+                ],
+                "target_mouth_xy": [
+                  0.2823196675048265,
+                  -0.3856486420757364
+                ],
+                "gripper_position": [
+                  0.28236599709592247,
+                  -0.3834895951881749,
+                  1.0024723981075587
+                ],
+                "rod_tip_xy_dist": 0.0022336266292410775,
+                "target_xy_drift": 5.9619582413554e-08,
+                "depth": 0.01826024737707377,
+                "bottom_clearance": 0.0811802580554487,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  4.633017884830837e-05,
+                  0.002159044353906847
+                ],
+                "rod_tip_xy": [
+                  0.28236599709592247,
+                  -0.3834895951881749
+                ],
+                "target_mouth_xy": [
+                  0.28231966691707416,
+                  -0.38564863954208173
+                ],
+                "gripper_position": [
+                  0.28235525695077435,
+                  -0.38349872809171687,
+                  1.0023161341760627
+                ],
+                "rod_tip_xy_dist": 0.0021595413882602834,
+                "target_xy_drift": 6.215189074171917e-08,
+                "depth": 0.018787459773676463,
+                "bottom_clearance": 0.08065311730996882,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  3.5589527451584946e-05,
+                  0.0021499767677370385
+                ],
+                "rod_tip_xy": [
+                  0.2823552569507744,
+                  -0.38349872809171687
+                ],
+                "target_mouth_xy": [
+                  0.2823196674233228,
+                  -0.3856487048594539
+                ],
+                "gripper_position": [
+                  0.2823469675222562,
+                  -0.38350175620153126,
+                  1.0021787734247392
+                ],
+                "rod_tip_xy_dist": 0.002150271312247185,
+                "target_xy_drift": 3.184760779853755e-09,
+                "depth": 0.01894373465475685,
+                "bottom_clearance": 0.0804968731626553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  2.730043942289484e-05,
+                  0.0021469461275119284
+                ],
+                "rod_tip_xy": [
+                  0.2823469675222562,
+                  -0.3835017562015312
+                ],
+                "target_mouth_xy": [
+                  0.2823196670828333,
+                  -0.38564870232904314
+                ],
+                "gripper_position": [
+                  0.28233873335998105,
+                  -0.3835045861295431,
+                  1.0020414804903552
+                ],
+                "rod_tip_xy_dist": 0.002147119695878911,
+                "target_xy_drift": 6.353171968204568e-10,
+                "depth": 0.019081047812107066,
+                "bottom_clearance": 0.08035945828531621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  1.9095809113800488e-05,
+                  0.002144115561842963
+                ],
+                "rod_tip_xy": [
+                  0.28233873335998105,
+                  -0.383504586129543
+                ],
+                "target_mouth_xy": [
+                  0.28231963755086725,
+                  -0.385648701691386
+                ],
+                "gripper_position": [
+                  0.2823304695351371,
+                  -0.3835076012301753,
+                  1.0019041098819579
+                ],
+                "rod_tip_xy_dist": 0.0021442005952015952,
+                "target_xy_drift": 2.9524383589920606e-08,
+                "depth": 0.01921833416176255,
+                "bottom_clearance": 0.08022216514347147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  1.080295084848748e-05,
+                  0.002141069710255683
+                ],
+                "rod_tip_xy": [
+                  0.2823304695351371,
+                  -0.3835076012301753
+                ],
+                "target_mouth_xy": [
+                  0.2823196665842886,
+                  -0.385648670940431
+                ],
+                "gripper_position": [
+                  0.2823222524640788,
+                  -0.3835103543003132,
+                  1.001766986209458
+                ],
+                "rod_tip_xy_dist": 0.002141096963689732,
+                "target_xy_drift": 3.07572589444459e-08,
+                "depth": 0.019355730725569842,
+                "bottom_clearance": 0.08008480359592185,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006038603949658605,
+              "rod_tip_xy_max_step": 3.269040037830862e-05,
+              "rod_tip_xy_range": 0.0006038550155855986,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.281933874210582,
+            -0.3848579315200215,
+            1.0433954831084875
+          ],
+          "object_origin_world": [
+            0.281933874210582,
+            -0.3848579315200215,
+            1.0433954831084875
+          ],
+          "frame_world": [
+            0.28193237877729704,
+            -0.38486678408988056,
+            1.0432715132946884
+          ],
+          "center_minus_frame": [
+            1.4954332849814733e-06,
+            8.852569859052473e-06,
+            0.00012396981379914074
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2610605144443867,
+              0.12883196273815836,
+              0.8334027207868904
+            ],
+            "target_position": [
+              0.2715172600108212,
+              0.17508674845203837,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04742202789082417,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16575644060295597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334027207868904,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675608466531,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1348941263565874,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22046722044208825,
+              -0.13009881520235642,
+              1.0458260980971787
+            ],
+            "current_z": 1.0458260980971787,
+            "required_z": 0.8565864037824603,
+            "initial_z": 0.7565864037824603,
+            "lift_margin": 0.18923969431471843,
+            "gripper_z": 1.0496939086490895,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21630238180305766,
+              -0.13440712972958363,
+              1.0496939086490895
+            ],
+            "object_minus_gripper": [
+              0.0041648386390305825,
+              0.004308314527227214,
+              -0.0038678105519107664
+            ],
+            "object_to_gripper_xy": 0.005992282950151734,
+            "object_to_gripper_z": -0.0038678105519107664,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22046722044208825,
+              -0.1539749313425848,
+              1.0458260980971787
+            ],
+            "finger_b": [
+              0.20966845252151184,
+              -0.13009881520235642,
+              1.0458260980971787
+            ],
+            "finger_midpoint": [
+              0.21506783648180006,
+              -0.1420368732724706,
+              1.0458260980971787
+            ],
+            "object_minus_finger_midpoint": [
+              0.00539938396028819,
+              0.011938058070114194,
+              0.0
+            ],
+            "finger_gap": 0.026204623839012547,
+            "fingertip_max_gap": 0.09416898912436769,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013102311919506266,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458260980971787,
+            "object_top_z": 1.0921909809625847,
+            "finger_top_clearance": 0.046364882865405965,
+            "fingertip_min_top_clearance": 0.013909464859621773,
+            "object_projection_between_fingers": 0.8301785457236219,
+            "object_to_finger_line_xy": 0.009839203898786862,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958449456218385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0037386010604865,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22504543677903607,
+              -0.13067478765691298,
+              1.2436461724444423
+            ],
+            "held_position": [
+              0.2295136081227463,
+              -0.12652437145556492,
+              1.2399524866782292
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007129784312354122,
+            "max_held_gripper_dist": 0.007132876524452819,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003693685766213095,
+            "max_held_gripper_z_dist": 0.00388317145689121,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857447576528072,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2295136081227463,
+              -0.15120940805162306,
+              1.2399524866782292
+            ],
+            "held_grasp_finger_b": [
+              0.2210558533026314,
+              -0.12652437145556492,
+              1.2399524866782292
+            ],
+            "held_grasp_midpoint": [
+              0.22528473071268884,
+              -0.138866889753594,
+              1.2399524866782292
+            ],
+            "held_grasp_object_position": [
+              0.2295136081227463,
+              -0.12652437145556492,
+              1.2399524866782292
+            ],
+            "held_grasp_finger_gap": 0.02609376646530559,
+            "held_grasp_max_gap": 0.12496605277061462,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024167174316681934,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05388647376905617,
+              -0.9974841562063191,
+              -0.04606089515092449
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036036052030001407,
+            "held_grasp_line_xy_max_dist": 0.04748302638530731,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.032661411940723264,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1966440800844827,
+              -0.14148972909636884,
+              0.7565908570643141
+            ],
+            "target_position": [
+              0.19489457359495796,
+              -0.13462025317670684,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007088756757549609,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21959901361886755,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565908570643141,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558395782372394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08722662565419438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18900664391924069,
+            "release_required_pad_clearance": 0.05361331282709719,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2286825713917904,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd6900937fa956405b96a5da135af7dca58b408752cf7b6654cf93bb197ddf15",
+    "visual_seed": 4428135632165621878,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1a6dcd8a10cb5085e436c225cbf6ac0243613c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_19_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2495119221243487,
+              -0.006320907465956604,
+              1.1624491968586483
+            ],
+            "current_z": 1.1624491968586483,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3013424504253033,
+            "gripper_z": 1.1559233163600562,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24457400564267864,
+              -0.011146696161788344,
+              1.1559233163600562
+            ],
+            "object_minus_gripper": [
+              0.004937916481670052,
+              0.0048257886958317404,
+              0.0065258804985921515
+            ],
+            "object_to_gripper_xy": 0.0069044373932106995,
+            "object_to_gripper_z": 0.0065258804985921515,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2495119221243487,
+              -0.030263325889773953,
+              1.1624491968586483
+            ],
+            "finger_b": [
+              0.2384795541929197,
+              -0.006320907465956604,
+              1.1624491968586483
+            ],
+            "finger_midpoint": [
+              0.24399573815863418,
+              -0.01829211667786528,
+              1.1624491968586483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005516183965714516,
+              0.011971209211908675,
+              0.0
+            ],
+            "finger_gap": 0.02636195254823837,
+            "fingertip_max_gap": 0.09119530758850503,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013180976274119191,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624491968586483,
+            "object_top_z": 1.2124627795325118,
+            "finger_top_clearance": 0.050013582673863466,
+            "fingertip_min_top_clearance": 0.01500407480215904,
+            "object_projection_between_fingers": 0.8248612174337849,
+            "object_to_finger_line_xy": 0.010019802923794749,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048097653794252515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6405546025330339,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2799266553000985,
+              -0.3875339858619252,
+              0.8515395678828375
+            ],
+            "target_position": [
+              0.2712070979779156,
+              -0.3889292653320944,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008830486096173278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18426711016172242,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395678828375,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530777839738632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575289086609163,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15284801908341267,
+            "release_required_pad_clearance": 0.052876445433045816,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7942570352377056,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008455872535705566,
+            "max_z_decrease": 0.008455872535705566,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350326082577839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008455872535705566,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02103379245604605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008455872535705566,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008455940081984265,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12690702080726624,
+              -0.4451907277107239,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12690702080726624,
+              -0.4451907277107239,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12792901409324064,
+              -0.4462667567534057,
+              0.8037167902356557
+            ],
+            "closest_button": [
+              0.12690354883670807,
+              -0.44516551494598383,
+              0.7687165141105652
+            ],
+            "closest_ee_minus_button": [
+              0.0010254652565325761,
+              -0.0011012418074218822,
+              0.03500027612509049
+            ],
+            "button_min_z_position": [
+              0.12689091265201569,
+              -0.4451610147953033,
+              0.7683529853820801
+            ],
+            "min_active_finger_to_button": 0.14473337560377147,
+            "closest_active_finger": [
+              -0.013009928166866302,
+              -0.4316670894622803,
+              0.8111690282821655
+            ],
+            "closest_active_finger_button": [
+              0.1269107162952423,
+              -0.4451866745948791,
+              0.776713490486145
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399206444621086,
+              0.013519585132598821,
+              0.03445553779602051
+            ],
+            "min_contact_pad_to_button": 0.02103379245604605,
+            "closest_contact_pad": [
+              0.12689091265201569,
+              -0.447315011939639,
+              0.7892761954939681
+            ],
+            "closest_contact_pad_button": [
+              0.12689091265201569,
+              -0.4451610147953033,
+              0.7683529853820801
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021539971443357286,
+              0.020923210111888024
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2696851829621255,
+              0.17354542842517381,
+              1.103135574446871
+            ],
+            "current_z": 1.103135574446871,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19322644471250838,
+            "gripper_z": 1.1031358297582976,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2696851252760284,
+              0.17354551851487607,
+              1.1031358297582976
+            ],
+            "object_minus_gripper": [
+              5.768609712131223e-08,
+              -9.008970225377055e-08,
+              -2.553114266667933e-07
+            ],
+            "object_to_gripper_xy": 1.069758863167887e-07,
+            "object_to_gripper_z": -2.553114266667933e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2696851829621255,
+              0.17354542842517381,
+              1.103135574446871
+            ],
+            "finger_b": [
+              0.2696851829621255,
+              0.17354542842517381,
+              1.103135574446871
+            ],
+            "finger_midpoint": [
+              0.2696851829621255,
+              0.17354542842517381,
+              1.103135574446871
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103135574446871,
+            "object_top_z": 1.2281440810671507,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26968518296212557,
+            0.17354542842517381,
+            1.1031355744468712
+          ],
+          "object_origin_world": [
+            0.26968518296212557,
+            0.17354542842517381,
+            1.1031355744468712
+          ],
+          "frame_world": [
+            0.2696851252760284,
+            0.17354551851487607,
+            1.1031358297582976
+          ],
+          "center_minus_frame": [
+            5.768609717682338e-08,
+            -9.008970225377055e-08,
+            -2.553114264447487e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043314551157957,
+            "required_z": 0.9112598486846561,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016091579340884942,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 8.800016223361435e-08,
+            "max_target_xy_drift": 2.9640435340257194e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7942570346439023,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7942570352574377,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2783191750405895,
+              -0.38755964033018403,
+              0.9234382919593435
+            ],
+            "target_mouth_xy": [
+              0.27992665584944487,
+              -0.3875339519221156
+            ],
+            "rod_tip_z": 0.9234382919593435,
+            "rod_tip_depth": -0.022178452019908312,
+            "rod_tip_bottom_clearance": 0.1216191290113463,
+            "rod_tip_xy_dist": 0.0016076860530425062,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04529356182743538,
+            "min_rod_tip_bottom_clearance": 0.05414700028810804,
+            "min_rod_tip_xy_dist": 0.0011795875496200797,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27992659483698795,
+              -0.38753401533748166
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.101245692002877e-08,
+              6.341536606946363e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0010810355367418811,
+                0.0017331707979509337
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011628721827551258,
+                0.00129294555526277
+              ],
+              "first_target_mouth_xy": [
+                0.2799266240237604,
+                -0.3875340794120672
+              ],
+              "last_target_mouth_xy": [
+                0.27992662503428367,
+                -0.38753401407201626
+              ],
+              "first_rod_tip_xy": [
+                0.2788455884870185,
+                -0.38580090861411626
+              ],
+              "last_rod_tip_xy": [
+                0.27876375285152855,
+                -0.3862410685167535
+              ],
+              "min_rod_tip_xy_dist": 0.0017385174571459849,
+              "max_rod_tip_xy_dist": 0.0020426744347958837,
+              "first_target_xy_drift": 7.0408949686969e-08,
+              "last_target_xy_drift": 3.022379975198669e-08,
+              "max_depth": 0.019718004411073076,
+              "min_bottom_clearance": 0.07972256711233106
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010810355367418811,
+                  0.0017331707979509337
+                ],
+                "rod_tip_xy": [
+                  0.2788455884870185,
+                  -0.38580090861411626
+                ],
+                "target_mouth_xy": [
+                  0.2799266240237604,
+                  -0.3875340794120672
+                ],
+                "gripper_position": [
+                  0.2788516493738372,
+                  -0.3858698489653193,
+                  1.00566374387514
+                ],
+                "rod_tip_xy_dist": 0.0020426744347958837,
+                "target_xy_drift": 7.0408949686969e-08,
+                "depth": 0.01506319488555874,
+                "bottom_clearance": 0.08437747065743839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0010749769809056953,
+                  0.001664194905776406
+                ],
+                "rod_tip_xy": [
+                  0.27885164937383716,
+                  -0.38586984896531923
+                ],
+                "target_mouth_xy": [
+                  0.27992662635474286,
+                  -0.38753404387109563
+                ],
+                "gripper_position": [
+                  0.2788411863713446,
+                  -0.3858793495007747,
+                  1.0055078699373907
+                ],
+                "rod_tip_xy_dist": 0.0019811916095848134,
+                "target_xy_drift": 4.2515126726749274e-08,
+                "depth": 0.015596112305331533,
+                "bottom_clearance": 0.0838444840955167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0010854690029564185,
+                  0.0016547283189947692
+                ],
+                "rod_tip_xy": [
+                  0.27884118637134453,
+                  -0.3858793495007747
+                ],
+                "target_mouth_xy": [
+                  0.27992665537430095,
+                  -0.38753407781976945
+                ],
+                "gripper_position": [
+                  0.27883352172331566,
+                  -0.3858829522842193,
+                  1.0053708613819532
+                ],
+                "rod_tip_xy_dist": 0.0019789817498053024,
+                "target_xy_drift": 8.699886523395766e-08,
+                "depth": 0.015751977837122344,
+                "bottom_clearance": 0.08368858282124136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010931031543989778,
+                  0.001651091275967853
+                ],
+                "rod_tip_xy": [
+                  0.2788335217233156,
+                  -0.38588295228421926
+                ],
+                "target_mouth_xy": [
+                  0.2799266248777146,
+                  -0.3875340435601871
+                ],
+                "gripper_position": [
+                  0.27884019766552115,
+                  -0.3859532825553661,
+                  1.0048392054589337
+                ],
+                "rod_tip_xy_dist": 0.001980145678412108,
+                "target_xy_drift": 4.121851961570208e-08,
+                "depth": 0.01588900753267697,
+                "bottom_clearance": 0.0835515811565839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010864566752393778,
+                  0.001580795588155326
+                ],
+                "rod_tip_xy": [
+                  0.2788401976655211,
+                  -0.38595328255536615
+                ],
+                "target_mouth_xy": [
+                  0.2799266543407605,
+                  -0.3875340781435215
+                ],
+                "gripper_position": [
+                  0.2788297031659803,
+                  -0.38596260323278286,
+                  1.004683209320678
+                ],
+                "rod_tip_xy_dist": 0.0019181508800674534,
+                "target_xy_drift": 8.65176142828427e-08,
+                "depth": 0.01642067371532041,
+                "bottom_clearance": 0.08301992635611877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010969216100888413,
+                  0.0015714714059241186
+                ],
+                "rod_tip_xy": [
+                  0.27882970316598027,
+                  -0.3859626032327829
+                ],
+                "target_mouth_xy": [
+                  0.2799266247760691,
+                  -0.38753407463870704
+                ],
+                "gripper_position": [
+                  0.2788217392459864,
+                  -0.385966259380937,
+                  1.0045462704721952
+                ],
+                "rod_tip_xy_dist": 0.0019164444678406473,
+                "target_xy_drift": 6.643029362845996e-08,
+                "depth": 0.016576640450950753,
+                "bottom_clearance": 0.08286390726366222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001104885167780012,
+                  0.0015678184435864995
+                ],
+                "rod_tip_xy": [
+                  0.27882173924598636,
+                  -0.38596625938093704
+                ],
+                "target_mouth_xy": [
+                  0.27992662441376637,
+                  -0.38753407782452354
+                ],
+                "gripper_position": [
+                  0.2788140061036122,
+                  -0.38596964871333,
+                  1.0044098157552934
+                ],
+                "rod_tip_xy_dist": 0.001918026565517344,
+                "target_xy_drift": 6.91333220929863e-08,
+                "depth": 0.016713606645927803,
+                "bottom_clearance": 0.08272698660408706,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0011126189748896231,
+                  0.0015644237036591124
+                ],
+                "rod_tip_xy": [
+                  0.2788140061036121,
+                  -0.38596964871333
+                ],
+                "target_mouth_xy": [
+                  0.27992662507850175,
+                  -0.3875340724169891
+                ],
+                "gripper_position": [
+                  0.2788221360457529,
+                  -0.3860423251238014,
+                  1.0038783408063117
+                ],
+                "rod_tip_xy_dist": 0.0019197245916680158,
+                "target_xy_drift": 6.459581509420664e-08,
+                "depth": 0.016850063491064993,
+                "bottom_clearance": 0.0825905506806418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0011044874927283455,
+                  0.0014917530210443175
+                ],
+                "rod_tip_xy": [
+                  0.27882213604575284,
+                  -0.3860423251238014
+                ],
+                "target_mouth_xy": [
+                  0.2799266235384812,
+                  -0.3875340781448457
+                ],
+                "gripper_position": [
+                  0.27881161721532277,
+                  -0.38605135302218707,
+                  1.0037227829684265
+                ],
+                "rod_tip_xy_dist": 0.00185613030183449,
+                "target_xy_drift": 6.905462106695324e-08,
+                "depth": 0.01738156863441387,
+                "bottom_clearance": 0.08205906944102437,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001115007108353494,
+                  0.0014826613736305116
+                ],
+                "rod_tip_xy": [
+                  0.2788116172153227,
+                  -0.3860513530221871
+                ],
+                "target_mouth_xy": [
+                  0.2799266243236762,
+                  -0.38753401439581764
+                ],
+                "gripper_position": [
+                  0.2788035835805576,
+                  -0.38605501484246346,
+                  1.0035866158335929
+                ],
+                "rod_tip_xy_dist": 0.0018551349278515393,
+                "target_xy_drift": 2.950172055228181e-08,
+                "depth": 0.017537091851847708,
+                "bottom_clearance": 0.08190349596718882,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0011230425686259426,
+                  0.0014790331565883719
+                ],
+                "rod_tip_xy": [
+                  0.27880358358055757,
+                  -0.38605501484246346
+                ],
+                "target_mouth_xy": [
+                  0.2799266261491835,
+                  -0.38753404799905183
+                ],
+                "gripper_position": [
+                  0.27879558985405295,
+                  -0.3860582130281216,
+                  1.0034495461993376
+                ],
+                "rod_tip_xy_dist": 0.0018570847286092573,
+                "target_xy_drift": 4.5246345230482715e-08,
+                "depth": 0.01767323635691942,
+                "bottom_clearance": 0.08176734614345915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001131068319943418,
+                  0.001475800074438871
+                ],
+                "rod_tip_xy": [
+                  0.2787955898540529,
+                  -0.38605821302812166
+                ],
+                "target_mouth_xy": [
+                  0.2799266581739963,
+                  -0.3875340131025605
+                ],
+                "gripper_position": [
+                  0.2788052696320785,
+                  -0.38613243870244185,
+                  1.002921463066508
+                ],
+                "rod_tip_xy_dist": 0.0018593819952052357,
+                "target_xy_drift": 6.337642700969851e-08,
+                "depth": 0.017810402573861128,
+                "bottom_clearance": 0.0816303055462605,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011211996961499882,
+                  0.0014015475328074678
+                ],
+                "rod_tip_xy": [
+                  0.2788052696320785,
+                  -0.3861324387024419
+                ],
+                "target_mouth_xy": [
+                  0.2799264693282285,
+                  -0.3875339862352494
+                ],
+                "gripper_position": [
+                  0.278794481002141,
+                  -0.38614165721810856,
+                  1.002765919998135
+                ],
+                "rod_tip_xy_dist": 0.0017948326510751709,
+                "target_xy_drift": 1.288386146336096e-07,
+                "depth": 0.018338567279468587,
+                "bottom_clearance": 0.0811021962673496,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011321442487187139,
+                  0.001392358758440737
+                ],
+                "rod_tip_xy": [
+                  0.27879448100214094,
+                  -0.3861416572181085
+                ],
+                "target_mouth_xy": [
+                  0.27992662525085965,
+                  -0.38753401597654924
+                ],
+                "gripper_position": [
+                  0.2787864733227954,
+                  -0.3861448800581057,
+                  1.002629749124792
+                ],
+                "rod_tip_xy_dist": 0.0017945510614394598,
+                "target_xy_drift": 3.042058512066862e-08,
+                "depth": 0.018493898734655345,
+                "bottom_clearance": 0.08094659730475706,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001140212591351053,
+                  0.0013891682574061481
+                ],
+                "rod_tip_xy": [
+                  0.2787864733227953,
+                  -0.3861448800581056
+                ],
+                "target_mouth_xy": [
+                  0.2799266859141464,
+                  -0.38753404831551175
+                ],
+                "gripper_position": [
+                  0.2787782971701253,
+                  -0.38614796099017284,
+                  1.0024931872541882
+                ],
+                "rod_tip_xy_dist": 0.0017971847987506232,
+                "target_xy_drift": 9.686381809136885e-08,
+                "depth": 0.018630109994439814,
+                "bottom_clearance": 0.08081048987646688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011483587750704682,
+                  0.0013860514927531153
+                ],
+                "rod_tip_xy": [
+                  0.27877829717012526,
+                  -0.38614796099017284
+                ],
+                "target_mouth_xy": [
+                  0.2799266559451957,
+                  -0.38753401248292596
+                ],
+                "gripper_position": [
+                  0.2787703670557028,
+                  -0.3861510434771017,
+                  1.0023568220865777
+                ],
+                "rod_tip_xy_dist": 0.001799962948742136,
+                "target_xy_drift": 6.117484405646558e-08,
+                "depth": 0.018766695819136703,
+                "bottom_clearance": 0.08067395008937928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011562568913523474,
+                  0.001383035938274435
+                ],
+                "rod_tip_xy": [
+                  0.27877036705570274,
+                  -0.38615104347710166
+                ],
+                "target_mouth_xy": [
+                  0.2799266239470551,
+                  -0.3875340794153761
+                ],
+                "gripper_position": [
+                  0.2787623034554236,
+                  -0.38615398418826347,
+                  1.00222052369918
+                ],
+                "rod_tip_xy_dist": 0.0018026975357387167,
+                "target_xy_drift": 7.038020008353284e-08,
+                "depth": 0.018903098199502755,
+                "bottom_clearance": 0.08053757037476428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001164321934041368,
+                  0.0013800292471194964
+                ],
+                "rod_tip_xy": [
+                  0.2787623034554235,
+                  -0.38615398418826347
+                ],
+                "target_mouth_xy": [
+                  0.2799266253894649,
+                  -0.38753401343538296
+                ],
+                "gripper_position": [
+                  0.2787746314669316,
+                  -0.38623204761123364,
+                  1.0016973771880304
+                ],
+                "rod_tip_xy_dist": 0.0018055819806907232,
+                "target_xy_drift": 3.061162894180514e-08,
+                "depth": 0.019039336415187846,
+                "bottom_clearance": 0.08040124630382917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0011520229930039316,
+                  0.0013020314790325171
+                ],
+                "rod_tip_xy": [
+                  0.27877463146693154,
+                  -0.3862320476112336
+                ],
+                "target_mouth_xy": [
+                  0.2799266544599355,
+                  -0.3875340790902661
+                ],
+                "gripper_position": [
+                  0.2787637528515286,
+                  -0.3862410685167535,
+                  1.0015418542059686
+                ],
+                "rod_tip_xy_dist": 0.0017385174571459849,
+                "target_xy_drift": 8.728867850595802e-08,
+                "depth": 0.019562515671136427,
+                "bottom_clearance": 0.07987811415938595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0011628721827551258,
+                  0.00129294555526277
+                ],
+                "rod_tip_xy": [
+                  0.27876375285152855,
+                  -0.3862410685167535
+                ],
+                "target_mouth_xy": [
+                  0.27992662503428367,
+                  -0.38753401407201626
+                ],
+                "gripper_position": [
+                  0.2787763871432364,
+                  -0.38631420416808193,
+                  1.0009341343331866
+                ],
+                "rod_tip_xy_dist": 0.0017389594366457844,
+                "target_xy_drift": 3.022379975198669e-08,
+                "depth": 0.019718004411073076,
+                "bottom_clearance": 0.07972256711233106,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006030452771656628,
+              "rod_tip_xy_max_step": 3.27780111733345e-05,
+              "rod_tip_xy_range": 0.0006030356539706172,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27831917504058956,
+            -0.38755964033018403,
+            1.0434382919593435
+          ],
+          "object_origin_world": [
+            0.27831917504058956,
+            -0.38755964033018403,
+            1.0434382919593435
+          ],
+          "frame_world": [
+            0.2783178638677931,
+            -0.38756826834111524,
+            1.043314551157957
+          ],
+          "center_minus_frame": [
+            1.3111727964476572e-06,
+            8.628010931210905e-06,
+            0.00012374080138655152
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25888379300203707,
+              0.12982687238909435,
+              0.834064763134476
+            ],
+            "target_position": [
+              0.2697969255785973,
+              0.17554309791574568,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04700074189879589,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16727638887554486,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834064763134476,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677536952019,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13623486661928874,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22347336911681284,
+              -0.13017087146454076,
+              1.0470468289591282
+            ],
+            "current_z": 1.0470468289591282,
+            "required_z": 0.856586738417499,
+            "initial_z": 0.756586738417499,
+            "lift_margin": 0.19046009054162916,
+            "gripper_z": 1.0512882703191546,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2188399404119379,
+              -0.13468117977294553,
+              1.0512882703191546
+            ],
+            "object_minus_gripper": [
+              0.004633428704874931,
+              0.004510308308404765,
+              -0.0042414413600264655
+            ],
+            "object_to_gripper_xy": 0.006466184547321862,
+            "object_to_gripper_z": -0.0042414413600264655,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22347336911681284,
+              -0.15450721542267795,
+              1.0470468289591282
+            ],
+            "finger_b": [
+              0.21259756839546057,
+              -0.13017087146454076,
+              1.0470468289591282
+            ],
+            "finger_midpoint": [
+              0.21803546875613672,
+              -0.14233904344360937,
+              1.0470468289591282
+            ],
+            "object_minus_finger_midpoint": [
+              0.005437900360676123,
+              0.01216817197906861,
+              0.0
+            ],
+            "finger_gap": 0.026655968910908625,
+            "fingertip_max_gap": 0.09596621977389377,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013327984455454321,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470468289591282,
+            "object_top_z": 1.0941321392796375,
+            "finger_top_clearance": 0.04708531032050933,
+            "fingertip_min_top_clearance": 0.014125593096152782,
+            "object_projection_between_fingers": 0.8335309365157464,
+            "object_to_finger_line_xy": 0.009929379346877517,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05048310988694689,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.48388852204692,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22937964544428682,
+              -0.12851290225087847,
+              1.2450021279716077
+            ],
+            "held_position": [
+              0.23423474038023706,
+              -0.12402460610596983,
+              1.2409978253970517
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007729889276702936,
+            "max_held_gripper_dist": 0.00773305841116389,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0040043025745559735,
+            "max_held_gripper_z_dist": 0.004255410675315652,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08526719078488801,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23423474038023706,
+              -0.14870547507493523,
+              1.2409978253970517
+            ],
+            "held_grasp_finger_b": [
+              0.22518736768968686,
+              -0.12402460610596983,
+              1.2409978253970517
+            ],
+            "held_grasp_midpoint": [
+              0.22971105403496195,
+              -0.1363650405904525,
+              1.2409978253970517
+            ],
+            "held_grasp_object_position": [
+              0.23423474038023706,
+              -0.12402460610596983,
+              1.2409978253970517
+            ],
+            "held_grasp_finger_gap": 0.02628688352895704,
+            "held_grasp_max_gap": 0.1249660900235176,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024402442150120992,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.026115168599374218,
+              -0.9982920716567021,
+              -0.05225837383995467
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004249563042490697,
+            "held_grasp_line_xy_max_dist": 0.047483045011758804,
+            "held_grasp_object_top_z": 0.045200787484645844,
+            "held_grasp_top_clearance": 0.032763292746390255,
+            "held_grasp_min_top_clearance": 0.013560236245393752
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1934631355318558,
+              -0.12788320519991853,
+              0.7565866175340998
+            ],
+            "target_position": [
+              0.1966089284988502,
+              -0.13369408955684878,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00660775229566062,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21562467139309838,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866175340998,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560424535899969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09191304078582997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1879862648750655,
+            "release_required_pad_clearance": 0.05595652039291499,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.141018534273186,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d83c0f2a1d3d412201f230805554054e43e13c8a71453dc8885309bd4802038c",
+    "visual_seed": 1005755726751009871,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 20,
+  "collection_result_filename": "episode_20_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8e94b6e06dca0a5acfe3fab08fc0fa4ecbd1ec5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_20_success.json
@@ -0,0 +1,2684 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2549090829884622,
+              -0.0029106469174652663,
+              1.1619191037573593
+            ],
+            "current_z": 1.1619191037573593,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.3008125957425931,
+            "gripper_z": 1.1552789263302277,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24976605763346532,
+              -0.0077610085989403,
+              1.1552789263302277
+            ],
+            "object_minus_gripper": [
+              0.0051430253549968885,
+              0.004850361681475034,
+              0.006640177427131633
+            ],
+            "object_to_gripper_xy": 0.007069421351373971,
+            "object_to_gripper_z": 0.006640177427131633,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2549090829884622,
+              -0.02707584363019499,
+              1.1619191037573593
+            ],
+            "finger_b": [
+              0.24394997195154952,
+              -0.0029106469174652663,
+              1.1619191037573593
+            ],
+            "finger_midpoint": [
+              0.24942952747000585,
+              -0.014993245273830128,
+              1.1619191037573593
+            ],
+            "object_minus_finger_midpoint": [
+              0.005479555518456358,
+              0.012082598356364861,
+              0.0
+            ],
+            "finger_gap": 0.026534107237371016,
+            "fingertip_max_gap": 0.09113684095105024,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013267053618685513,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619191037573593,
+            "object_top_z": 1.2118785149069056,
+            "finger_top_clearance": 0.04995941114954627,
+            "fingertip_min_top_clearance": 0.014987823344863881,
+            "object_projection_between_fingers": 0.8294146643410939,
+            "object_to_finger_line_xy": 0.00998070414182442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806842047552512,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6410066035991336,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 339,
+            "max_stable_success_frames": 339,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2803950911059309,
+              -0.38594035153591866,
+              0.8515396075002367
+            ],
+            "target_position": [
+              0.27205361251192467,
+              -0.3870614646708768,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008416481437966826,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842399575005553,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396075002367,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538438980103553,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08634964087560866,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525575168533986,
+            "release_required_pad_clearance": 0.05317482043780433,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3734213694312254,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008160293102264404,
+            "max_z_decrease": 0.008160293102264404,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500894582198704,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008160293102264404,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020902706579965614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008160293102264404,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008160350113303148,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12775354087352753,
+              -0.44332292675971985,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12775354087352753,
+              -0.44332292675971985,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12726873417926937,
+              -0.44247136605007714,
+              0.8036441267236487
+            ],
+            "closest_button": [
+              0.12777167558670044,
+              -0.4432983994483948,
+              0.7686485648155212
+            ],
+            "closest_ee_minus_button": [
+              -0.0005029414074310679,
+              0.0008270333983176337,
+              0.03499556190812747
+            ],
+            "button_min_z_position": [
+              0.12777167558670044,
+              -0.4432983994483948,
+              0.7686485648155212
+            ],
+            "min_active_finger_to_button": 0.14593589165485082,
+            "closest_active_finger": [
+              0.00027138739824295044,
+              -0.5055047273635864,
+              0.8106638789176941
+            ],
+            "closest_active_finger_button": [
+              0.1277535557746887,
+              -0.4433211088180542,
+              0.7763305306434631
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12748216837644574,
+              -0.06218361854553223,
+              0.03433334827423096
+            ],
+            "min_contact_pad_to_button": 0.020902706579965614,
+            "closest_contact_pad": [
+              0.12777167558670044,
+              -0.4436510686348918,
+              0.7895482960772632
+            ],
+            "closest_contact_pad_button": [
+              0.12777167558670044,
+              -0.4432983994483948,
+              0.7686485648155212
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003526691864970122,
+              0.02089973126174194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27452979284667534,
+              0.18222156432659758,
+              1.1024724328739226
+            ],
+            "current_z": 1.1024724328739226,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19256330313956005,
+            "gripper_z": 1.102472676108309,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27452985572737537,
+              0.18222149908592006,
+              1.102472676108309
+            ],
+            "object_minus_gripper": [
+              -6.288070003579449e-08,
+              6.524067752700091e-08,
+              -2.432343864100517e-07
+            ],
+            "object_to_gripper_xy": 9.061086271067993e-08,
+            "object_to_gripper_z": -2.432343864100517e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27452979284667534,
+              0.18222156432659758,
+              1.1024724328739226
+            ],
+            "finger_b": [
+              0.27452979284667534,
+              0.18222156432659758,
+              1.1024724328739226
+            ],
+            "finger_midpoint": [
+              0.27452979284667534,
+              0.18222156432659758,
+              1.1024724328739226
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1024724328739226,
+            "object_top_z": 1.2274809394942023,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2745297928466754,
+            0.1822215643265976,
+            1.1024724328739228
+          ],
+          "object_origin_world": [
+            0.2745297928466754,
+            0.1822215643265976,
+            1.1024724328739228
+          ],
+          "frame_world": [
+            0.27452985572737537,
+            0.18222149908592006,
+            1.102472676108309
+          ],
+          "center_minus_frame": [
+            -6.288069998028334e-08,
+            6.524067755475649e-08,
+            -2.432343861880071e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433429327716965,
+            "required_z": 0.9112599697550201,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0006899795493641058,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.102857456438448e-08,
+            "max_target_xy_drift": 1.590065980459289e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.373421370190787,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3734213706788487,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28040401717717495,
+              -0.3866216917641473,
+              0.9234665337914595
+            ],
+            "target_mouth_xy": [
+              0.2803950903982475,
+              -0.3859404114714259
+            ],
+            "rod_tip_z": 0.9234665337914595,
+            "rod_tip_depth": -0.02220669981114598,
+            "rod_tip_bottom_clearance": 0.12164725586093772,
+            "rod_tip_xy_dist": 0.0006813387737627943,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045004790581014475,
+            "min_rod_tip_bottom_clearance": 0.054435720137004484,
+            "min_rod_tip_xy_dist": 0.00012174440570007136,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.2803950860758416,
+              -0.38594038074539055
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.322405877665858e-09,
+              -3.0726035327166556e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.00048118714084099956,
+                0.0010130775868840702
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00039050011256475115,
+                0.000664259572655368
+              ],
+              "first_target_mouth_xy": [
+                0.280395057469376,
+                -0.3859403747122495
+              ],
+              "last_target_mouth_xy": [
+                0.28039508739516417,
+                -0.38594038105165085
+              ],
+              "first_rod_tip_xy": [
+                0.280876244610217,
+                -0.38492729712536544
+              ],
+              "last_rod_tip_xy": [
+                0.2807855875077289,
+                -0.3852761214789955
+              ],
+              "min_rod_tip_xy_dist": 0.0007705394978697557,
+              "max_rod_tip_xy_dist": 0.001121546816480519,
+              "first_target_xy_drift": 2.9235742974839686e-08,
+              "last_target_xy_drift": 1.3544029433900586e-09,
+              "max_depth": 0.019388792314015246,
+              "min_bottom_clearance": 0.08005176401294767
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00048118714084099956,
+                  0.0010130775868840702
+                ],
+                "rod_tip_xy": [
+                  0.280876244610217,
+                  -0.38492729712536544
+                ],
+                "target_mouth_xy": [
+                  0.280395057469376,
+                  -0.3859403747122495
+                ],
+                "gripper_position": [
+                  0.28088418490319933,
+                  -0.3849939261755277,
+                  1.005600123954898
+                ],
+                "rod_tip_xy_dist": 0.001121546816480519,
+                "target_xy_drift": 2.9235742974839686e-08,
+                "depth": 0.015127697328783607,
+                "bottom_clearance": 0.08431307718206582,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004890623541408678,
+                  0.0009464893827962895
+                ],
+                "rod_tip_xy": [
+                  0.28088418490319933,
+                  -0.38499392617552775
+                ],
+                "target_mouth_xy": [
+                  0.28039512254905846,
+                  -0.38594041555832403
+                ],
+                "gripper_position": [
+                  0.2808737338740841,
+                  -0.3850032320676493,
+                  1.005443168633047
+                ],
+                "rod_tip_xy_dist": 0.0010653751160900598,
+                "target_xy_drift": 5.042058988003267e-08,
+                "depth": 0.015659861472984704,
+                "bottom_clearance": 0.0837809289567154,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004786457766647878,
+                  0.0009371442305797784
+                ],
+                "rod_tip_xy": [
+                  0.2808737338740841,
+                  -0.3850032320676493
+                ],
+                "target_mouth_xy": [
+                  0.2803950880974193,
+                  -0.3859403762982291
+                ],
+                "gripper_position": [
+                  0.2808660517549939,
+                  -0.38500687125744415,
+                  1.0053054569331694
+                ],
+                "rod_tip_xy_dist": 0.0010523027551175579,
+                "target_xy_drift": 4.885081523394843e-09,
+                "depth": 0.015816755180983577,
+                "bottom_clearance": 0.08362393160982462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00047096391377848823,
+                  0.0009335132822516634
+                ],
+                "rod_tip_xy": [
+                  0.2808660517549939,
+                  -0.38500687125744426
+                ],
+                "target_mouth_xy": [
+                  0.2803950878412154,
+                  -0.3859403845396959
+                ],
+                "gripper_position": [
+                  0.28087492825948235,
+                  -0.3850743616953032,
+                  1.0047740085556154
+                ],
+                "rod_tip_xy_dist": 0.0010455878998065276,
+                "target_xy_drift": 4.18488922960758e-09,
+                "depth": 0.015954462234012423,
+                "bottom_clearance": 0.08348620504118887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00047983915202509664,
+                  0.0008659866761602242
+                ],
+                "rod_tip_xy": [
+                  0.2808749282594824,
+                  -0.3850743616953033
+                ],
+                "target_mouth_xy": [
+                  0.2803950891074573,
+                  -0.3859403483714635
+                ],
+                "gripper_position": [
+                  0.28086446418981814,
+                  -0.3850834076852017,
+                  1.004617408127881
+                ],
+                "rod_tip_xy_dist": 0.0009900396633989957,
+                "target_xy_drift": 3.251556312861973e-08,
+                "depth": 0.016485851877969027,
+                "bottom_clearance": 0.08295472989043973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00046934496244060986,
+                  0.0008569768303786085
+                ],
+                "rod_tip_xy": [
+                  0.28086446418981814,
+                  -0.3850834076852019
+                ],
+                "target_mouth_xy": [
+                  0.28039511922737753,
+                  -0.3859403845155805
+                ],
+                "gripper_position": [
+                  0.2808565817658118,
+                  -0.3850869568574939,
+                  1.004479890318926
+                ],
+                "rod_tip_xy_dist": 0.0009770844290920534,
+                "target_xy_drift": 3.336523138015236e-08,
+                "depth": 0.01664246793573454,
+                "bottom_clearance": 0.08279814882179826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0004614925029368111,
+                  0.0008534501796145788
+                ],
+                "rod_tip_xy": [
+                  0.28085658176581185,
+                  -0.38508695685749406
+                ],
+                "target_mouth_xy": [
+                  0.28039508926287504,
+                  -0.38594040703710863
+                ],
+                "gripper_position": [
+                  0.2808485763109739,
+                  -0.38509053326118803,
+                  1.0043423608436195
+                ],
+                "rod_tip_xy_dist": 0.0009702332396651021,
+                "target_xy_drift": 2.6484176815777498e-08,
+                "depth": 0.016779986837941796,
+                "bottom_clearance": 0.08266063238499621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004534871525728734,
+                  0.0008498813850230658
+                ],
+                "rod_tip_xy": [
+                  0.2808485763109739,
+                  -0.38509053326118814
+                ],
+                "target_mouth_xy": [
+                  0.280395089158401,
+                  -0.3859404146462112
+                ],
+                "gripper_position": [
+                  0.28085900546150255,
+                  -0.3851600886735177,
+                  1.0038112871594564
+                ],
+                "rod_tip_xy_dist": 0.0009633010776270196,
+                "target_xy_drift": 3.404067879885875e-08,
+                "depth": 0.01691752437258187,
+                "bottom_clearance": 0.08252310450633571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00046388614917358684,
+                  0.0007802895049878744
+                ],
+                "rod_tip_xy": [
+                  0.28085900546150255,
+                  -0.3851600886735178
+                ],
+                "target_mouth_xy": [
+                  0.28039511931232897,
+                  -0.3859403781785057
+                ],
+                "gripper_position": [
+                  0.2808484436105716,
+                  -0.38516944784488905,
+                  1.0036547013165749
+                ],
+                "rod_tip_xy_dist": 0.0009077676305031599,
+                "target_xy_drift": 3.333546142850851e-08,
+                "depth": 0.01744857481892559,
+                "bottom_clearance": 0.08199201910410847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.000453355694078561,
+                  0.0007709065782517399
+                ],
+                "rod_tip_xy": [
+                  0.2808484436105716,
+                  -0.38516944784488916
+                ],
+                "target_mouth_xy": [
+                  0.28039508791649304,
+                  -0.3859403544231409
+                ],
+                "gripper_position": [
+                  0.28084037716264776,
+                  -0.3851727058922753,
+                  1.0035172284230802
+                ],
+                "rod_tip_xy_dist": 0.0008943312237338355,
+                "target_xy_drift": 2.6386527332188562e-08,
+                "depth": 0.017605209751908157,
+                "bottom_clearance": 0.08183544319124092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0004452862436332694,
+                  0.0007676411953959628
+                ],
+                "rod_tip_xy": [
+                  0.28084037716264776,
+                  -0.38517270589227537
+                ],
+                "target_mouth_xy": [
+                  0.2803950909190145,
+                  -0.38594034708767133
+                ],
+                "gripper_position": [
+                  0.28083231392828323,
+                  -0.3851761290392313,
+                  1.003379571836967
+                ],
+                "rod_tip_xy_dist": 0.0008874417409824545,
+                "target_xy_drift": 3.400438775599751e-08,
+                "depth": 0.017742727062740937,
+                "bottom_clearance": 0.08169796710037824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004372261795541066,
+                  0.0007642244350583027
+                ],
+                "rod_tip_xy": [
+                  0.28083231392828323,
+                  -0.3851761290392314
+                ],
+                "target_mouth_xy": [
+                  0.2803950877487291,
+                  -0.3859403534742897
+                ],
+                "gripper_position": [
+                  0.280824346465983,
+                  -0.3851793495629465,
+                  1.0032422778826349
+                ],
+                "rod_tip_xy_dist": 0.0008804576760001935,
+                "target_xy_drift": 2.7322362556039544e-08,
+                "depth": 0.017880326650715817,
+                "bottom_clearance": 0.08156029786434671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00042925545455829717,
+                  0.0007610279665982711
+                ],
+                "rod_tip_xy": [
+                  0.280824346465983,
+                  -0.38517934956294664
+                ],
+                "target_mouth_xy": [
+                  0.2803950910114247,
+                  -0.3859403775295449
+                ],
+                "gripper_position": [
+                  0.28083698633078047,
+                  -0.38525190922374475,
+                  1.0027134523904915
+                ],
+                "rod_tip_xy_dist": 0.0008737412724672846,
+                "target_xy_drift": 5.890810070889009e-09,
+                "depth": 0.018017666749866268,
+                "bottom_clearance": 0.08142300744280451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00044186905388332587,
+                  0.0006884420236469846
+                ],
+                "rod_tip_xy": [
+                  0.28083698633078047,
+                  -0.38525190922374486
+                ],
+                "target_mouth_xy": [
+                  0.28039511727689714,
+                  -0.38594035124739184
+                ],
+                "gripper_position": [
+                  0.28082626890265683,
+                  -0.3852607948561012,
+                  1.002556892361234
+                ],
+                "rod_tip_xy_dist": 0.000818046869502537,
+                "target_xy_drift": 4.2937603487972206e-08,
+                "depth": 0.018546353356702072,
+                "bottom_clearance": 0.08089419991394586,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00043121155911440834,
+                  0.0006796175970626428
+                ],
+                "rod_tip_xy": [
+                  0.28082626890265683,
+                  -0.3852607948561013
+                ],
+                "target_mouth_xy": [
+                  0.2803950573435424,
+                  -0.38594041245316396
+                ],
+                "gripper_position": [
+                  0.28081811714145993,
+                  -0.38526395852338785,
+                  1.0024197650877498
+                ],
+                "rod_tip_xy_dist": 0.0008048748268837083,
+                "target_xy_drift": 4.2789343441044524e-08,
+                "depth": 0.018703012623212723,
+                "bottom_clearance": 0.0807376116437225,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.000422992915405318,
+                  0.0006764211938496967
+                ],
+                "rod_tip_xy": [
+                  0.28081811714146,
+                  -0.3852639585233879
+                ],
+                "target_mouth_xy": [
+                  0.28039512422605467,
+                  -0.3859403797172376
+                ],
+                "gripper_position": [
+                  0.28080999598267825,
+                  -0.38526718915473784,
+                  1.002282398702628
+                ],
+                "rod_tip_xy_dist": 0.00079778984574394,
+                "target_xy_drift": 3.816406495396518e-08,
+                "depth": 0.018840165830483757,
+                "bottom_clearance": 0.08060055661714616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00041491074240518344,
+                  0.000673161486651308
+                ],
+                "rod_tip_xy": [
+                  0.28080999598267825,
+                  -0.3852671891547379
+                ],
+                "target_mouth_xy": [
+                  0.28039508524027307,
+                  -0.3859403506413892
+                ],
+                "gripper_position": [
+                  0.28080183200649544,
+                  -0.3852702132299814,
+                  1.00214541503731
+                ],
+                "rod_tip_xy_dist": 0.0007907574288451672,
+                "target_xy_drift": 3.011559516154142e-08,
+                "depth": 0.018977482859507178,
+                "bottom_clearance": 0.08046317204062647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00040671228232380674,
+                  0.0006701367177447404
+                ],
+                "rod_tip_xy": [
+                  0.28080183200649544,
+                  -0.38527021322998145
+                ],
+                "target_mouth_xy": [
+                  0.28039511972417164,
+                  -0.3859403499477262
+                ],
+                "gripper_position": [
+                  0.28079363779480077,
+                  -0.38527307185888354,
+                  1.002008161725271
+                ],
+                "rod_tip_xy_dist": 0.000783899292679062,
+                "target_xy_drift": 4.561475904539997e-08,
+                "depth": 0.01911448128042681,
+                "bottom_clearance": 0.08032607054022833,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0003985481619863118,
+                  0.0006673094925888079
+                ],
+                "rod_tip_xy": [
+                  0.28079363779480077,
+                  -0.3852730718588836
+                ],
+                "target_mouth_xy": [
+                  0.28039508963281445,
+                  -0.3859403813514724
+                ],
+                "gripper_position": [
+                  0.2807855875077289,
+                  -0.3852761214789953,
+                  1.0018710754608717
+                ],
+                "rod_tip_xy_dist": 0.0007772661039321088,
+                "target_xy_drift": 3.608239308215817e-09,
+                "depth": 0.019251660219682054,
+                "bottom_clearance": 0.08018885468919057,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.00039050011256475115,
+                  0.000664259572655368
+                ],
+                "rod_tip_xy": [
+                  0.2807855875077289,
+                  -0.3852761214789955
+                ],
+                "target_mouth_xy": [
+                  0.28039508739516417,
+                  -0.38594038105165085
+                ],
+                "gripper_position": [
+                  0.2807774161564842,
+                  -0.38527910577230023,
+                  1.0017341600431957
+                ],
+                "rod_tip_xy_dist": 0.0007705394978697557,
+                "target_xy_drift": 1.3544029433900586e-09,
+                "depth": 0.019388792314015246,
+                "bottom_clearance": 0.08005176401294767,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1554,
+              "stir_motion_end_frame": 1573,
+              "rod_tip_xy_path_length": 0.000601224939430944,
+              "rod_tip_xy_max_step": 3.2577505874004e-05,
+              "rod_tip_xy_range": 0.0006012108424403702,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.280404017177175,
+            -0.38662169176414724,
+            1.0434665337914595
+          ],
+          "object_origin_world": [
+            0.280404017177175,
+            -0.38662169176414724,
+            1.0434665337914595
+          ],
+          "frame_world": [
+            0.28040268531898815,
+            -0.38663034921913914,
+            1.0433429327716965
+          ],
+          "center_minus_frame": [
+            1.3318581868482227e-06,
+            8.657454991900515e-06,
+            0.00012360101976294224
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26313976407119,
+              0.13406899218199472,
+              0.8331007965375231
+            ],
+            "target_position": [
+              0.2746615393577752,
+              0.18046452160860887,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780477441145796,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16600866632367237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8331007965375231,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671828938069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13529243177397912,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21836977038202826,
+              -0.12771801430008903,
+              1.0451148364404583
+            ],
+            "current_z": 1.0451148364404583,
+            "required_z": 0.8565866896518471,
+            "initial_z": 0.7565866896518472,
+            "lift_margin": 0.18852814678861118,
+            "gripper_z": 1.049025503086025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21425989916381052,
+              -0.13197815446815847,
+              1.049025503086025
+            ],
+            "object_minus_gripper": [
+              0.004109871218217737,
+              0.004260140168069443,
+              -0.003910666645566607
+            ],
+            "object_to_gripper_xy": 0.005919445555280772,
+            "object_to_gripper_z": -0.003910666645566607,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21836977038202826,
+              -0.15160749024444012,
+              1.0451148364404583
+            ],
+            "finger_b": [
+              0.207712946257686,
+              -0.12771801430008903,
+              1.0451148364404583
+            ],
+            "finger_midpoint": [
+              0.21304135831985713,
+              -0.13966275227226457,
+              1.0451148364404583
+            ],
+            "object_minus_finger_midpoint": [
+              0.005328412062171134,
+              0.011944737972175545,
+              0.0
+            ],
+            "finger_gap": 0.02615864983734621,
+            "fingertip_max_gap": 0.09295047049472291,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013079324918673104,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451148364404583,
+            "object_top_z": 1.09179030685348,
+            "finger_top_clearance": 0.04667547041302167,
+            "fingertip_min_top_clearance": 0.014002641123906534,
+            "object_projection_between_fingers": 0.8340317754733202,
+            "object_to_finger_line_xy": 0.009732380881454639,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897523524736146,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.89029514765568,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22298571705923753,
+              -0.12804524103142184,
+              1.2412753880865224
+            ],
+            "held_position": [
+              0.22737258778928537,
+              -0.12390756497671257,
+              1.2375405135096258
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007093256377786822,
+            "max_held_gripper_dist": 0.007095021709135143,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003734874576896585,
+            "max_held_gripper_z_dist": 0.003927441610590554,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597267646433886,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22737258778928537,
+              -0.14852065320403787,
+              1.2375405135096258
+            ],
+            "held_grasp_finger_b": [
+              0.2189908087709543,
+              -0.12390756497671257,
+              1.2375405135096258
+            ],
+            "held_grasp_midpoint": [
+              0.22318169828011986,
+              -0.13621410909037523,
+              1.2375405135096258
+            ],
+            "held_grasp_object_position": [
+              0.22737258778928537,
+              -0.12390756497671257,
+              1.2375405135096258
+            ],
+            "held_grasp_finger_gap": 0.02600112173730653,
+            "held_grasp_max_gap": 0.12496617197990417,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023838772938434376,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0800997738309922,
+              -0.9958178070029029,
+              -0.043942251741951426
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003238397409048316,
+            "held_grasp_line_xy_max_dist": 0.04748308598995209,
+            "held_grasp_object_top_z": 0.04520083963871002,
+            "held_grasp_top_clearance": 0.032610074565823155,
+            "held_grasp_min_top_clearance": 0.013560251891613006
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17659964673440973,
+              -0.12769450209863786,
+              0.7565870105565138
+            ],
+            "target_position": [
+              0.19172062690770833,
+              -0.130416349419185,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01536399994264707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20816779996782542,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870105565138,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536765035891926,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09148360631154055,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18160358979123725,
+            "release_required_pad_clearance": 0.05574180315577028,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.669204195729069,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be09a8c45c346b11624b2a676a4f019fc09d2e79ba1eecfb660f2d557cffcc75",
+    "visual_seed": 9157216069291972376,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 21,
+  "collection_result_filename": "episode_21_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff5a9eefb9c3e1776d8897488bf504e1bd0d8712
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_21_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2547406221086671,
+              -0.0012149569049721646,
+              1.1627135117328709
+            ],
+            "current_z": 1.1627135117328709,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.30160712292739467,
+            "gripper_z": 1.156140793076458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24957228569320927,
+              -0.0061175168679400566,
+              1.156140793076458
+            ],
+            "object_minus_gripper": [
+              0.00516833641545783,
+              0.004902559962967892,
+              0.006572718656412846
+            ],
+            "object_to_gripper_xy": 0.007123678508596751,
+            "object_to_gripper_z": 0.006572718656412846,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2547406221086671,
+              -0.02561704402241097,
+              1.1627135117328709
+            ],
+            "finger_b": [
+              0.24398359122581034,
+              -0.0012149569049721646,
+              1.1627135117328709
+            ],
+            "finger_midpoint": [
+              0.24936210666723874,
+              -0.013416000463691569,
+              1.1627135117328709
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053785154414283665,
+              0.012201043558719404,
+              0.0
+            ],
+            "finger_gap": 0.026667875226605645,
+            "fingertip_max_gap": 0.0912425990251183,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013333937613302817,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1627135117328709,
+            "object_top_z": 1.2126727730042552,
+            "finger_top_clearance": 0.04995926127138439,
+            "fingertip_min_top_clearance": 0.014987778381415316,
+            "object_projection_between_fingers": 0.837292338991795,
+            "object_to_finger_line_xy": 0.00984307907915247,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048121299512559154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7386593044193408,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2765289782691144,
+              -0.3901101198603284,
+              0.8515395838220935
+            ],
+            "target_position": [
+              0.26966175919228375,
+              -0.3910434447521553,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006930353035949198,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18378486465684798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395838220935,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582010299264785,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08843475664072957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15117016815911366,
+            "release_required_pad_clearance": 0.05421737832036479,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.452021479939238,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008224070072174072,
+            "max_z_decrease": 0.008224070072174072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500465377362919,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008224070072174072,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020890030489315044,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008224070072174072,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008224208767836088,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12536168098449707,
+              -0.447304904460907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12536168098449707,
+              -0.447304904460907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12417931688164935,
+              -0.44662235011828827,
+              0.80356179628298
+            ],
+            "closest_button": [
+              0.1254037320613861,
+              -0.44728225469589233,
+              0.7685847878456116
+            ],
+            "closest_ee_minus_button": [
+              -0.0012244151797367597,
+              0.0006599045776040646,
+              0.034977008437368395
+            ],
+            "button_min_z_position": [
+              0.1254037320613861,
+              -0.44728225469589233,
+              0.7685847878456116
+            ],
+            "min_active_finger_to_button": 0.1466268604222707,
+            "closest_active_finger": [
+              -0.0031121447682380676,
+              -0.5090660452842712,
+              0.8106118440628052
+            ],
+            "closest_active_finger_button": [
+              0.1253623217344284,
+              -0.44730329513549805,
+              0.7762736678123474
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12847446650266647,
+              -0.06176275014877319,
+              0.034338176250457764
+            ],
+            "min_contact_pad_to_button": 0.020890030489315044,
+            "closest_contact_pad": [
+              0.1254037320613861,
+              -0.4478604259015891,
+              0.7894668158099022
+            ],
+            "closest_contact_pad_button": [
+              0.1254037320613861,
+              -0.44728225469589233,
+              0.7685847878456116
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005781712056967536,
+              0.020882027964290617
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2688552681591654,
+              0.17772763574635436,
+              1.102526366320503
+            ],
+            "current_z": 1.102526366320503,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19261723658614038,
+            "gripper_z": 1.1025262038714414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26885522174573373,
+              0.1777276611355153,
+              1.1025262038714414
+            ],
+            "object_minus_gripper": [
+              4.641343165356915e-08,
+              -2.5389160940303412e-08,
+              1.6244906153595196e-07
+            ],
+            "object_to_gripper_xy": 5.2903838529100735e-08,
+            "object_to_gripper_z": 1.6244906153595196e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2688552681591654,
+              0.17772763574635436,
+              1.102526366320503
+            ],
+            "finger_b": [
+              0.2688552681591654,
+              0.17772763574635436,
+              1.102526366320503
+            ],
+            "finger_midpoint": [
+              0.2688552681591654,
+              0.17772763574635436,
+              1.102526366320503
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102526366320503,
+            "object_top_z": 1.2275348729407827,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26885526815916544,
+            0.1777276357463544,
+            1.102526366320503
+          ],
+          "object_origin_world": [
+            0.26885526815916544,
+            0.1777276357463544,
+            1.102526366320503
+          ],
+          "frame_world": [
+            0.26885522174573373,
+            0.1777276611355153,
+            1.1025262038714414
+          ],
+          "center_minus_frame": [
+            4.64134317090803e-08,
+            -2.5389160912547837e-08,
+            1.6244906153595196e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433626987624993,
+            "required_z": 0.9112599095054275,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013453929882038796,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.4120993615822447e-07,
+            "max_target_xy_drift": 1.8579617504723498e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.4520214800739337,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.4522482385147764,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27559301710543094,
+              -0.3910663688370797,
+              0.9234856266997188
+            ],
+            "target_mouth_xy": [
+              0.2765290690357297,
+              -0.390110054571133
+            ],
+            "rod_tip_z": 0.9234856266997188,
+            "rod_tip_depth": -0.02222572995905725,
+            "rod_tip_bottom_clearance": 0.1216663940881878,
+            "rod_tip_xy_dist": 0.001338181673566477,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04510403422346698,
+            "min_rod_tip_bottom_clearance": 0.05433659561940507,
+            "min_rod_tip_xy_dist": 0.00046853731229110253,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2765290053643751,
+              -0.3901101806116212
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.367135463314355e-08,
+              1.26040488213075e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0004373129958012978,
+                0.0008202081336193268
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0005137826232798348,
+                0.00037690755934460807
+              ],
+              "first_target_mouth_xy": [
+                0.2765290635651043,
+                -0.3901101060825089
+              ],
+              "last_target_mouth_xy": [
+                0.27652906858476367,
+                -0.3901101484629679
+              ],
+              "first_rod_tip_xy": [
+                0.276091750569303,
+                -0.3892898979488896
+              ],
+              "last_rod_tip_xy": [
+                0.27601528596148384,
+                -0.38973324090362327
+              ],
+              "min_rod_tip_xy_dist": 0.0006341045769432258,
+              "max_rod_tip_xy_dist": 0.0009295074172657286,
+              "first_target_xy_drift": 9.456169133278853e-08,
+              "last_target_xy_drift": 7.09249846375221e-08,
+              "max_depth": 0.01969275931139236,
+              "min_bottom_clearance": 0.07974774309052035
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0004373129958012978,
+                  0.0008202081336193268
+                ],
+                "rod_tip_xy": [
+                  0.276091750569303,
+                  -0.3892898979488896
+                ],
+                "target_mouth_xy": [
+                  0.2765290635651043,
+                  -0.3901101060825089
+                ],
+                "gripper_position": [
+                  0.27609862015433906,
+                  -0.38935948104661944,
+                  1.005684171493296
+                ],
+                "rod_tip_xy_dist": 0.0009295074172657286,
+                "target_xy_drift": 9.456169133278853e-08,
+                "depth": 0.015042221042089854,
+                "bottom_clearance": 0.08439839536845695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0004304473211572679,
+                  0.0007506649125892939
+                ],
+                "rod_tip_xy": [
+                  0.27609862015433895,
+                  -0.38935948104661944
+                ],
+                "target_mouth_xy": [
+                  0.2765290674754962,
+                  -0.39011014595920873
+                ],
+                "gripper_position": [
+                  0.2760885143530526,
+                  -0.38936900307455147,
+                  1.005528612091326
+                ],
+                "rod_tip_xy_dist": 0.0008653223141027628,
+                "target_xy_drift": 7.112370252169229e-08,
+                "depth": 0.015575727507208481,
+                "bottom_clearance": 0.08386490336275465,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0004405486173559847,
+                  0.0007411315662524398
+                ],
+                "rod_tip_xy": [
+                  0.2760885143530525,
+                  -0.38936900307455147
+                ],
+                "target_mouth_xy": [
+                  0.27652906297040847,
+                  -0.3901101346408039
+                ],
+                "gripper_position": [
+                  0.2760807694425666,
+                  -0.38937283030219355,
+                  1.0053920377117194
+                ],
+                "rod_tip_xy_dist": 0.0008621827432453426,
+                "target_xy_drift": 7.370055038946009e-08,
+                "depth": 0.015731269394884007,
+                "bottom_clearance": 0.08370932134803721,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0004482951041549499,
+                  0.0007372405528557335
+                ],
+                "rod_tip_xy": [
+                  0.2760807694425665,
+                  -0.3893728303021936
+                ],
+                "target_mouth_xy": [
+                  0.27652906454672144,
+                  -0.39011007085504934
+                ],
+                "gripper_position": [
+                  0.27608846413914734,
+                  -0.38944344136613807,
+                  1.0048599529112274
+                ],
+                "rod_tip_xy_dist": 0.0008628395755784067,
+                "target_xy_drift": 1.246958507433696e-07,
+                "depth": 0.01586782314745272,
+                "bottom_clearance": 0.08357276746696418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000440568154712051,
+                  0.0006666955437714117
+                ],
+                "rod_tip_xy": [
+                  0.2760884641391472,
+                  -0.3894434413661382
+                ],
+                "target_mouth_xy": [
+                  0.2765290322938593,
+                  -0.3901101369099096
+                ],
+                "gripper_position": [
+                  0.2760781857856007,
+                  -0.389452680570469,
+                  1.0047043065973682
+                ],
+                "rod_tip_xy_dist": 0.0007991140388148866,
+                "target_xy_drift": 5.133260873266164e-08,
+                "depth": 0.01639999885858956,
+                "bottom_clearance": 0.08304070971089239,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0004508839884229676,
+                  0.0006574678395019351
+                ],
+                "rod_tip_xy": [
+                  0.2760781857856006,
+                  -0.3894526805704691
+                ],
+                "target_mouth_xy": [
+                  0.2765290697740236,
+                  -0.39011014840997105
+                ],
+                "gripper_position": [
+                  0.27607026457096007,
+                  -0.38945636024461266,
+                  1.0045678669952516
+                ],
+                "rod_tip_xy_dist": 0.0007972203779354521,
+                "target_xy_drift": 7.20107567982479e-08,
+                "depth": 0.016555514076130318,
+                "bottom_clearance": 0.08288500851086933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00045880277475379705,
+                  0.000653819021079749
+                ],
+                "rod_tip_xy": [
+                  0.27607026457096,
+                  -0.3894563602446127
+                ],
+                "target_mouth_xy": [
+                  0.2765290673457138,
+                  -0.39011017926569247
+                ],
+                "gripper_position": [
+                  0.27607876547687626,
+                  -0.38952808852371046,
+                  1.0040385762911712
+                ],
+                "rod_tip_xy_dist": 0.0007987360630693124,
+                "target_xy_drift": 6.19959504705986e-08,
+                "depth": 0.016692005853734426,
+                "bottom_clearance": 0.08274856504018946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0004503294553594994,
+                  0.0005820153085454027
+                ],
+                "rod_tip_xy": [
+                  0.27607876547687615,
+                  -0.38952808852371057
+                ],
+                "target_mouth_xy": [
+                  0.27652909493223565,
+                  -0.39011010383225597
+                ],
+                "gripper_position": [
+                  0.27606826980784327,
+                  -0.38953742920307965,
+                  1.0038832117463508
+                ],
+                "rod_tip_xy_dist": 0.000735892952640249,
+                "target_xy_drift": 1.1797233818346645e-07,
+                "depth": 0.01722124926927615,
+                "bottom_clearance": 0.08221927955657515,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00046082317096429737,
+                  0.000572644859147875
+                ],
+                "rod_tip_xy": [
+                  0.27606826980784316,
+                  -0.38953742920307977
+                ],
+                "target_mouth_xy": [
+                  0.27652909297880746,
+                  -0.39011007406222764
+                ],
+                "gripper_position": [
+                  0.27606051512737884,
+                  -0.3895410284051051,
+                  1.0037469313298795
+                ],
+                "rod_tip_xy_dist": 0.0007350375021766438,
+                "target_xy_drift": 1.37945866317403e-07,
+                "depth": 0.017376644538314667,
+                "bottom_clearance": 0.08206390175775813,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0004685835901419577,
+                  0.0005690889998235527
+                ],
+                "rod_tip_xy": [
+                  0.2760605151273788,
+                  -0.3895410284051052
+                ],
+                "target_mouth_xy": [
+                  0.27652909871752074,
+                  -0.39011011740492874
+                ],
+                "gripper_position": [
+                  0.27605261760928623,
+                  -0.3895445164973683,
+                  1.0036104238002
+                ],
+                "rod_tip_xy_dist": 0.0007371789950008734,
+                "target_xy_drift": 1.1273817357015032e-07,
+                "depth": 0.0175129054512021,
+                "bottom_clearance": 0.0819276316668579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00047648157680468817,
+                  0.0005656319533393628
+                ],
+                "rod_tip_xy": [
+                  0.2760526176092861,
+                  -0.38954451649736843
+                ],
+                "target_mouth_xy": [
+                  0.2765290991860908,
+                  -0.3901101484507078
+                ],
+                "gripper_position": [
+                  0.2760445132099113,
+                  -0.38954829368567656,
+                  1.0034743786370315
+                ],
+                "rod_tip_xy_dist": 0.0007395770410665714,
+                "target_xy_drift": 9.918083834738188e-08,
+                "depth": 0.017649393441188876,
+                "bottom_clearance": 0.08179111344907641,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0004845541323106328,
+                  0.0005618231277118579
+                ],
+                "rod_tip_xy": [
+                  0.2760445132099112,
+                  -0.38954829368567667
+                ],
+                "target_mouth_xy": [
+                  0.2765290673422218,
+                  -0.39011011681338853
+                ],
+                "gripper_position": [
+                  0.27605513118913405,
+                  -0.38962293149681065,
+                  1.0029454854100257
+                ],
+                "rod_tip_xy_dist": 0.0007419150449824056,
+                "target_xy_drift": 8.894643321803632e-08,
+                "depth": 0.017785514065427166,
+                "bottom_clearance": 0.08165510032032064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00047393352819968815,
+                  0.0004871127098751149
+                ],
+                "rod_tip_xy": [
+                  0.27605513118913394,
+                  -0.3896229314968108
+                ],
+                "target_mouth_xy": [
+                  0.27652906471733363,
+                  -0.39011004420668594
+                ],
+                "gripper_position": [
+                  0.2760443848632089,
+                  -0.3896324146651039,
+                  1.0027901278416365
+                ],
+                "rod_tip_xy_dist": 0.0006796262070238923,
+                "target_xy_drift": 1.4875846214672325e-07,
+                "depth": 0.018314336060905934,
+                "bottom_clearance": 0.08112617533496791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0004846500892661254,
+                  0.00047770219505904876
+                ],
+                "rod_tip_xy": [
+                  0.2760443848632088,
+                  -0.389632414665104
+                ],
+                "target_mouth_xy": [
+                  0.27652903495247494,
+                  -0.39011011686016306
+                ],
+                "gripper_position": [
+                  0.2760365363934467,
+                  -0.3896355920769382,
+                  1.0026543481159216
+                ],
+                "rod_tip_xy_dist": 0.0006805035607474047,
+                "target_xy_drift": 7.028302833419587e-08,
+                "depth": 0.01846978608477967,
+                "bottom_clearance": 0.08097093170194991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0004925283555367033,
+                  0.00047451210402249533
+                ],
+                "rod_tip_xy": [
+                  0.2760365363934466,
+                  -0.3896355920769383
+                ],
+                "target_mouth_xy": [
+                  0.2765290647489833,
+                  -0.3901101041809608
+                ],
+                "gripper_position": [
+                  0.2760285520192616,
+                  -0.38963893642337216,
+                  1.0025180025591875
+                ],
+                "rod_tip_xy_dist": 0.000683919525873874,
+                "target_xy_drift": 9.678934624072278e-08,
+                "depth": 0.018605480052198087,
+                "bottom_clearance": 0.08083504494837179,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005004774545017687,
+                  0.00047110384259818616
+                ],
+                "rod_tip_xy": [
+                  0.27602855201926146,
+                  -0.3896389364233722
+                ],
+                "target_mouth_xy": [
+                  0.27652902947376323,
+                  -0.3901100402659704
+                ],
+                "gripper_position": [
+                  0.2760206020006383,
+                  -0.3896422083548081,
+                  1.0023818954328942
+                ],
+                "rod_tip_xy_dist": 0.0006873256236859983,
+                "target_xy_drift": 1.424014195928235e-07,
+                "depth": 0.018741965203288413,
+                "bottom_clearance": 0.08069884095437996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.000508460072762118,
+                  0.0004678940153715616
+                ],
+                "rod_tip_xy": [
+                  0.2760206020006382,
+                  -0.3896422083548081
+                ],
+                "target_mouth_xy": [
+                  0.27652906207340033,
+                  -0.3901101023701797
+                ],
+                "gripper_position": [
+                  0.2760126319260111,
+                  -0.3896454606329234,
+                  1.002245730883895
+                ],
+                "rod_tip_xy_dist": 0.0006909822394344021,
+                "target_xy_drift": 9.663144788674395e-08,
+                "depth": 0.01887800376118587,
+                "bottom_clearance": 0.08056260557207329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.000516432728143168,
+                  0.00046461243521095374
+                ],
+                "rod_tip_xy": [
+                  0.276012631926011,
+                  -0.3896454606329235
+                ],
+                "target_mouth_xy": [
+                  0.27652906465415417,
+                  -0.39011007306813444
+                ],
+                "gripper_position": [
+                  0.2760260580388437,
+                  -0.38972397733905684,
+                  1.0017220199456112
+                ],
+                "rod_tip_xy_dist": 0.0006946707692497561,
+                "target_xy_drift": 1.2280423222939665e-07,
+                "depth": 0.019014090195429878,
+                "bottom_clearance": 0.08042642027284219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0005030079624737116,
+                  0.00038609792046628844
+                ],
+                "rod_tip_xy": [
+                  0.2760260580388436,
+                  -0.38972397733905695
+                ],
+                "target_mouth_xy": [
+                  0.2765290660013173,
+                  -0.39011007525952324
+                ],
+                "gripper_position": [
+                  0.27601528596148395,
+                  -0.38973324090362327,
+                  1.0015670050746865
+                ],
+                "rod_tip_xy_dist": 0.0006341045769432258,
+                "target_xy_drift": 1.2155617349896564e-07,
+                "depth": 0.01953789441602727,
+                "bottom_clearance": 0.07990271073342614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0005137826232798348,
+                  0.00037690755934460807
+                ],
+                "rod_tip_xy": [
+                  0.27601528596148384,
+                  -0.38973324090362327
+                ],
+                "target_mouth_xy": [
+                  0.27652906858476367,
+                  -0.3901101484629679
+                ],
+                "gripper_position": [
+                  0.2760073008427243,
+                  -0.3897361806976144,
+                  1.0014311708008115
+                ],
+                "rod_tip_xy_dist": 0.0006372063184522089,
+                "target_xy_drift": 7.09249846375221e-08,
+                "depth": 0.01969275931139236,
+                "bottom_clearance": 0.07974774309052035,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006005827170530511,
+              "rod_tip_xy_max_step": 3.2582572546512073e-05,
+              "rod_tip_xy_range": 0.000600577536935301,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.275593017105431,
+            -0.3910663688370796,
+            1.043485626699719
+          ],
+          "object_origin_world": [
+            0.275593017105431,
+            -0.3910663688370796,
+            1.043485626699719
+          ],
+          "frame_world": [
+            0.27559168749621954,
+            -0.3910751442778928,
+            1.0433626987624993
+          ],
+          "center_minus_frame": [
+            1.3296092114534197e-06,
+            8.775440813180158e-06,
+            0.00012292793721968565
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25696702870229615,
+              0.1320204089499197,
+              0.8338695060551519
+            ],
+            "target_position": [
+              0.26897370256140196,
+              0.17768571316928666,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04721737208492515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16635306562900798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338695060551519,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677283928613,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13678514245997161,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 226,
+            "max_placed_release_frames": 226
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2267084038045452,
+              -0.12692736960368742,
+              1.0443785759371993
+            ],
+            "current_z": 1.0443785759371993,
+            "required_z": 0.856586328594631,
+            "initial_z": 0.756586328594631,
+            "lift_margin": 0.18779224734256827,
+            "gripper_z": 1.0486435621865238,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2221437451728691,
+              -0.13136657882126626,
+              1.0486435621865238
+            ],
+            "object_minus_gripper": [
+              0.0045646586316760995,
+              0.004439209217578843,
+              -0.004264986249324476
+            ],
+            "object_to_gripper_xy": 0.0063673139471186815,
+            "object_to_gripper_z": -0.004264986249324476,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2267084038045452,
+              -0.1512946514466006,
+              1.0443785759371993
+            ],
+            "finger_b": [
+              0.21604574741763624,
+              -0.12692736960368742,
+              1.0443785759371993
+            ],
+            "finger_midpoint": [
+              0.2213770756110907,
+              -0.13911101052514402,
+              1.0443785759371993
+            ],
+            "object_minus_finger_midpoint": [
+              0.005331328193454499,
+              0.012183640921456601,
+              0.0
+            ],
+            "finger_gap": 0.026598057553837588,
+            "fingertip_max_gap": 0.09494327759035376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013299028776918811,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0443785759371993,
+            "object_top_z": 1.0906926770133571,
+            "finger_top_clearance": 0.046314101076157854,
+            "fingertip_min_top_clearance": 0.013894230322847373,
+            "object_projection_between_fingers": 0.8392944094704656,
+            "object_to_finger_line_xy": 0.009768380749159707,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04997163879517688,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6816360149377605,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23450373921967174,
+              -0.12266726448166623,
+              1.2407616229390803
+            ],
+            "held_position": [
+              0.23924875101903423,
+              -0.11811264997879502,
+              1.236824437853029
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076655773851470755,
+            "max_held_gripper_dist": 0.007667623001414813,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003937185086051231,
+            "max_held_gripper_z_dist": 0.004265747604786485,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08543358539303442,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23924875101903423,
+              -0.1424386690105564,
+              1.236824437853029
+            ],
+            "held_grasp_finger_b": [
+              0.23019637242358348,
+              -0.11811264997879502,
+              1.236824437853029
+            ],
+            "held_grasp_midpoint": [
+              0.23472256172130884,
+              -0.1302756594946757,
+              1.236824437853029
+            ],
+            "held_grasp_object_position": [
+              0.23924875101903423,
+              -0.11811264997879502,
+              1.236824437853029
+            ],
+            "held_grasp_finger_gap": 0.025955746187867383,
+            "held_grasp_max_gap": 0.12496602296829223,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02414985530035162,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01007946120909539,
+              -0.9965090616596163,
+              -0.08287396751697916
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004517685175674577,
+            "held_grasp_line_xy_max_dist": 0.04748301148414612,
+            "held_grasp_object_top_z": 0.04520075023174286,
+            "held_grasp_top_clearance": 0.03303457948266415,
+            "held_grasp_min_top_clearance": 0.013560225069522857
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19934696059128468,
+              -0.13528593039058223,
+              0.7565862800586788
+            ],
+            "target_position": [
+              0.19934199329024518,
+              -0.13265504980150108,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.002630885278396529,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21553031635183406,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862800586788,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753512208918577,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0911540143326877,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18658636755713473,
+            "release_required_pad_clearance": 0.05557700716634385,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.309844359286581,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b8aa60e2e9e482e439d66534b1e479555311bb40f20883216e2364a10b4e621",
+    "visual_seed": 3933838344695887606,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 22,
+  "collection_result_filename": "episode_22_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17581fdf01d2727fbe153b11a4cd69e72228c4e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_24_success.json
@@ -0,0 +1,2678 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24816585536195876,
+              0.0005221221243220699,
+              1.163736298117394
+            ],
+            "current_z": 1.163736298117394,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.30262955168404915,
+            "gripper_z": 1.1573020419500664,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24313627444665228,
+              -0.00429993642732647,
+              1.1573020419500664
+            ],
+            "object_minus_gripper": [
+              0.005029580915306475,
+              0.00482205855164854,
+              0.006434256167327623
+            ],
+            "object_to_gripper_xy": 0.006967706427450997,
+            "object_to_gripper_z": 0.006434256167327623,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24816585536195876,
+              -0.023576787501969978,
+              1.163736298117394
+            ],
+            "finger_b": [
+              0.23726440383467387,
+              0.0005221221243220699,
+              1.163736298117394
+            ],
+            "finger_midpoint": [
+              0.24271512959831631,
+              -0.011527332688823954,
+              1.163736298117394
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450725763642444,
+              0.012049454813146024,
+              0.0
+            ],
+            "finger_gap": 0.02644993554959886,
+            "fingertip_max_gap": 0.09137253065874953,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01322496777479943,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163736298117394,
+            "object_top_z": 1.2137806446506378,
+            "finger_top_clearance": 0.050044346533243855,
+            "fingertip_min_top_clearance": 0.015013303959973155,
+            "object_projection_between_fingers": 0.8301289309802162,
+            "object_to_finger_line_xy": 0.009932466363057963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818626532937477,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.695359337775402,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.278341882926027,
+              -0.39222350451202814,
+              0.8515395625981211
+            ],
+            "target_position": [
+              0.2705017003269012,
+              -0.3934968685554898,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007942916289047528,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473849279094037,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395625981211,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566247428534922,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611540205219649,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15244898604607907,
+            "release_required_pad_clearance": 0.05305770102609825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1453322638796224,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008513987064361572,
+            "max_z_decrease": 0.008513987064361572,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499588583124416,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008513987064361572,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093188777528522,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008513987064361572,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00851403186747015,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12620162963867188,
+              -0.4497583210468292,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12620162963867188,
+              -0.4497583210468292,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1254644955183307,
+              -0.44962496659951423,
+              0.8036489129053036
+            ],
+            "closest_button": [
+              0.12620088458061218,
+              -0.4497193992137909,
+              0.7686609029769897
+            ],
+            "closest_ee_minus_button": [
+              -0.0007363890622814895,
+              9.443261427666272e-05,
+              0.03498800992831386
+            ],
+            "button_min_z_position": [
+              0.1262027770280838,
+              -0.4497307240962982,
+              0.7682948708534241
+            ],
+            "min_active_finger_to_button": 0.14653400198184402,
+            "closest_active_finger": [
+              -0.00043283402919769287,
+              -0.5149515867233276,
+              0.8105180263519287
+            ],
+            "closest_active_finger_button": [
+              0.12620268762111664,
+              -0.4497549533843994,
+              0.7760933637619019
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12663552165031433,
+              -0.06519663333892822,
+              0.034424662590026855
+            ],
+            "min_contact_pad_to_button": 0.02093188777528522,
+            "closest_contact_pad": [
+              0.1262027770280838,
+              -0.4505766175482706,
+              0.7892096596428201
+            ],
+            "closest_contact_pad_button": [
+              0.1262027770280838,
+              -0.4497307240962982,
+              0.7682948708534241
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008458934519723904,
+              0.02091478878939601
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27379174096977577,
+              0.17650377958945768,
+              1.102964802203363
+            ],
+            "current_z": 1.102964802203363,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19305567246900035,
+            "gripper_z": 1.1029646436441862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27379167976944485,
+              0.1765037899012077,
+              1.1029646436441862
+            ],
+            "object_minus_gripper": [
+              6.120033091416843e-08,
+              -1.0311750037184098e-08,
+              1.5855917667728647e-07
+            ],
+            "object_to_gripper_xy": 6.206297360611306e-08,
+            "object_to_gripper_z": 1.5855917667728647e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27379174096977577,
+              0.17650377958945768,
+              1.102964802203363
+            ],
+            "finger_b": [
+              0.27379174096977577,
+              0.17650377958945768,
+              1.102964802203363
+            ],
+            "finger_midpoint": [
+              0.27379174096977577,
+              0.17650377958945768,
+              1.102964802203363
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102964802203363,
+            "object_top_z": 1.2279733088236426,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27379174096977577,
+            0.17650377958945768,
+            1.102964802203363
+          ],
+          "object_origin_world": [
+            0.27379174096977577,
+            0.17650377958945768,
+            1.102964802203363
+          ],
+          "frame_world": [
+            0.27379167976944485,
+            0.1765037899012077,
+            1.1029646436441862
+          ],
+          "center_minus_frame": [
+            6.120033091416843e-08,
+            -1.0311750037184098e-08,
+            1.5855917667728647e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043296015245148,
+            "required_z": 0.9112599014804074,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013665054733272958,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.75713180124381e-08,
+            "max_target_xy_drift": 2.815779623202888e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1453322622725173,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1460154384160874,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2794103760097386,
+              -0.3913607437639294,
+              0.9234205877816001
+            ],
+            "target_mouth_xy": [
+              0.2783418843873609,
+              -0.3922235080223131
+            ],
+            "rod_tip_z": 0.9234205877816001,
+            "rod_tip_depth": -0.02216064206940127,
+            "rod_tip_bottom_clearance": 0.12160132042748317,
+            "rod_tip_xy_dist": 0.0013733304455358728,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0450838621648042,
+            "min_rod_tip_bottom_clearance": 0.054356809601354694,
+            "min_rod_tip_xy_dist": 0.00034351622513042123,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.27834188382577174,
+              -0.3922235355879111
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.61589164060905e-10,
+              2.756559802641334e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0015010023843623488,
+                0.0025394425915062913
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014184285184464795,
+                0.0021888400167835442
+              ],
+              "first_target_mouth_xy": [
+                0.2783418825605821,
+                -0.39222351055418003
+              ],
+              "last_target_mouth_xy": [
+                0.2783418524762869,
+                -0.39222353623112793
+              ],
+              "first_rod_tip_xy": [
+                0.27984288494494447,
+                -0.38968406796267374
+              ],
+              "last_rod_tip_xy": [
+                0.2797602809947334,
+                -0.3900346962143444
+              ],
+              "min_rod_tip_xy_dist": 0.0026082484699535935,
+              "max_rod_tip_xy_dist": 0.0029498774268463504,
+              "first_target_xy_drift": 2.5065681657687333e-08,
+              "last_target_xy_drift": 3.135608278612103e-08,
+              "max_depth": 0.01938363707339763,
+              "min_bottom_clearance": 0.08005691112369584
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015010023843623488,
+                  0.0025394425915062913
+                ],
+                "rod_tip_xy": [
+                  0.27984288494494447,
+                  -0.38968406796267374
+                ],
+                "target_mouth_xy": [
+                  0.2783418825605821,
+                  -0.39222351055418003
+                ],
+                "gripper_position": [
+                  0.2798524875275288,
+                  -0.3897502699308692,
+                  1.0056193891408045
+                ],
+                "rod_tip_xy_dist": 0.0029498774268463504,
+                "target_xy_drift": 2.5065681657687333e-08,
+                "depth": 0.015106965063291233,
+                "bottom_clearance": 0.08433373009560075,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001510634991044757,
+                  0.002473235535532914
+                ],
+                "rod_tip_xy": [
+                  0.2798524875275288,
+                  -0.38975026993086925
+                ],
+                "target_mouth_xy": [
+                  0.278341852536484,
+                  -0.39222350546640217
+                ],
+                "gripper_position": [
+                  0.27984217405063966,
+                  -0.38976004360304084,
+                  1.0054617284703293
+                ],
+                "rod_tip_xy_dist": 0.002898087660922556,
+                "target_xy_drift": 4.3431841170361586e-08,
+                "depth": 0.01564043569924367,
+                "bottom_clearance": 0.08380007512623755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015002906880433042,
+                  0.002463460276366347
+                ],
+                "rod_tip_xy": [
+                  0.27984217405063966,
+                  -0.38976004360304095
+                ],
+                "target_mouth_xy": [
+                  0.27834188336259635,
+                  -0.3922235038794073
+                ],
+                "gripper_position": [
+                  0.27983458932786104,
+                  -0.38976370267825117,
+                  1.00532323984923
+                ],
+                "rod_tip_xy_dist": 0.0028843558521556263,
+                "target_xy_drift": 3.171188651133487e-08,
+                "depth": 0.015798104656975398,
+                "bottom_clearance": 0.08364244652110664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014927389490894671,
+                  0.002459805353093869
+                ],
+                "rod_tip_xy": [
+                  0.27983458932786104,
+                  -0.3897637026782512
+                ],
+                "target_mouth_xy": [
+                  0.27834185037877157,
+                  -0.3922235080313451
+                ],
+                "gripper_position": [
+                  0.27984506042174895,
+                  -0.38983075683864943,
+                  1.004791110842278
+                ],
+                "rod_tip_xy_dist": 0.0028773098451918555,
+                "target_xy_drift": 4.3336660596441e-08,
+                "depth": 0.015936697353361562,
+                "bottom_clearance": 0.08350398843479245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015031794616368055,
+                  0.002392747360361658
+                ],
+                "rod_tip_xy": [
+                  0.27984506042174895,
+                  -0.38983075683864943
+                ],
+                "target_mouth_xy": [
+                  0.27834188096011214,
+                  -0.3922235041990111
+                ],
+                "gripper_position": [
+                  0.27983477088788755,
+                  -0.38983999140729825,
+                  1.00463318173255
+                ],
+                "rod_tip_xy_dist": 0.0028257367931929537,
+                "target_xy_drift": 3.151943924509225e-08,
+                "depth": 0.0164687512872429,
+                "bottom_clearance": 0.0829718036298025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014928895377366302,
+                  0.0023835438790474894
+                ],
+                "rod_tip_xy": [
+                  0.27983477088788755,
+                  -0.3898399914072983
+                ],
+                "target_mouth_xy": [
+                  0.2783418813501509,
+                  -0.3922235352863458
+                ],
+                "gripper_position": [
+                  0.2798270237147674,
+                  -0.38984369310977385,
+                  1.0044949619947356
+                ],
+                "rod_tip_xy_dist": 0.002812472327904444,
+                "target_xy_drift": 2.4939206260266877e-09,
+                "depth": 0.016626673229318434,
+                "bottom_clearance": 0.08281387556015252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001485140879902369,
+                  0.0023798396251681897
+                ],
+                "rod_tip_xy": [
+                  0.2798270237147674,
+                  -0.38984369310977385
+                ],
+                "target_mouth_xy": [
+                  0.27834188283486505,
+                  -0.39222353273494204
+                ],
+                "gripper_position": [
+                  0.27981910760309203,
+                  -0.38984746460387865,
+                  1.0043567322023472
+                ],
+                "rod_tip_xy_dist": 0.0028052237120553955,
+                "target_xy_drift": 3.0201537474195097e-09,
+                "depth": 0.016764884176006745,
+                "bottom_clearance": 0.0826756816269395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001477256805884064,
+                  0.0023760741870210156
+                ],
+                "rod_tip_xy": [
+                  0.27981910760309203,
+                  -0.38984746460387865
+                ],
+                "target_mouth_xy": [
+                  0.27834185079720797,
+                  -0.39222353879089966
+                ],
+                "gripper_position": [
+                  0.2798312179693425,
+                  -0.38991647086070663,
+                  1.0038247975044128
+                ],
+                "rod_tip_xy_dist": 0.002797859219610302,
+                "target_xy_drift": 3.318350735669066e-08,
+                "depth": 0.016903210050937312,
+                "bottom_clearance": 0.08253749483364115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014893367514746125,
+                  0.0023070641010387583
+                ],
+                "rod_tip_xy": [
+                  0.2798312179693425,
+                  -0.3899164708607067
+                ],
+                "target_mouth_xy": [
+                  0.2783418812178679,
+                  -0.39222353496174545
+                ],
+                "gripper_position": [
+                  0.27982088078127537,
+                  -0.3899257573012657,
+                  1.003667060367347
+                ],
+                "rod_tip_xy_dist": 0.002746027808598217,
+                "target_xy_drift": 2.6820227212164054e-09,
+                "depth": 0.01743505545069024,
+                "bottom_clearance": 0.08200548649147754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014789984612159635,
+                  0.002297775440841865
+                ],
+                "rod_tip_xy": [
+                  0.27982088078127537,
+                  -0.3899257573012659
+                ],
+                "target_mouth_xy": [
+                  0.2783418823200594,
+                  -0.39222353274210775
+                ],
+                "gripper_position": [
+                  0.27981289846655255,
+                  -0.38992935185129585,
+                  1.0035289522948823
+                ],
+                "rod_tip_xy_dist": 0.002732619334048417,
+                "target_xy_drift": 3.2195910382219436e-09,
+                "depth": 0.01759278175404655,
+                "bottom_clearance": 0.08184776434975494,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0014710137100900633,
+                  0.00229415519670495
+                ],
+                "rod_tip_xy": [
+                  0.27981289846655255,
+                  -0.38992935185129596
+                ],
+                "target_mouth_xy": [
+                  0.2783418847564625,
+                  -0.3922235070480009
+                ],
+                "gripper_position": [
+                  0.27980510297287864,
+                  -0.38993276581799624,
+                  1.0033911317406836
+                ],
+                "rod_tip_xy_dist": 0.0027252576762282978,
+                "target_xy_drift": 2.855508116301411e-08,
+                "depth": 0.017730979257929103,
+                "bottom_clearance": 0.08170967953517205,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014631916970500591,
+                  0.0022907659794081936
+                ],
+                "rod_tip_xy": [
+                  0.27980510297287864,
+                  -0.3899327658179962
+                ],
+                "target_mouth_xy": [
+                  0.2783419112758286,
+                  -0.3922235317974044
+                ],
+                "gripper_position": [
+                  0.2797971473448148,
+                  -0.38993631302498805,
+                  1.003252682909436
+                ],
+                "rod_tip_xy_dist": 0.002718186659287808,
+                "target_xy_drift": 2.771053160455067e-08,
+                "depth": 0.017868752573643287,
+                "bottom_clearance": 0.08157185927095856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014552635416233972,
+                  0.0022872241498943513
+                ],
+                "rod_tip_xy": [
+                  0.2797971473448148,
+                  -0.3899363130249882
+                ],
+                "target_mouth_xy": [
+                  0.2783418838031914,
+                  -0.39222353717488256
+                ],
+                "gripper_position": [
+                  0.27981153792446917,
+                  -0.39000820266782965,
+                  1.0027230266285554
+                ],
+                "rod_tip_xy_dist": 0.0027109382669913773,
+                "target_xy_drift": 1.5871320778390407e-09,
+                "depth": 0.018007246453599746,
+                "bottom_clearance": 0.08143338633888775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014696542312507277,
+                  0.002215302792251461
+                ],
+                "rod_tip_xy": [
+                  0.27981153792446917,
+                  -0.39000820266782965
+                ],
+                "target_mouth_xy": [
+                  0.27834188369321844,
+                  -0.3922235054600811
+                ],
+                "gripper_position": [
+                  0.27980087927202935,
+                  -0.3900175215221743,
+                  1.0025655207502164
+                ],
+                "rod_tip_xy_dist": 0.002658467607624793,
+                "target_xy_drift": 3.012812160427592e-08,
+                "depth": 0.018536748780467294,
+                "bottom_clearance": 0.08090381290650916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014590273987762914,
+                  0.0022059842793286655
+                ],
+                "rod_tip_xy": [
+                  0.27980087927202935,
+                  -0.3900175215221743
+                ],
+                "target_mouth_xy": [
+                  0.27834185187325305,
+                  -0.39222350580150295
+                ],
+                "gripper_position": [
+                  0.2797929290352741,
+                  -0.39002095086591276,
+                  1.0024275980482389
+                ],
+                "rod_tip_xy_dist": 0.0026448303520311325,
+                "target_xy_drift": 4.368287493145159e-08,
+                "depth": 0.018694389870289596,
+                "bottom_clearance": 0.08074615821509457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014510172477303351,
+                  0.0022025539826827645
+                ],
+                "rod_tip_xy": [
+                  0.2797929290352741,
+                  -0.3900209508659128
+                ],
+                "target_mouth_xy": [
+                  0.27834191178754375,
+                  -0.3922235048485956
+                ],
+                "gripper_position": [
+                  0.2797848249383889,
+                  -0.39002424003702546,
+                  1.0022895319326393
+                ],
+                "rod_tip_xy_dist": 0.0026375547576955867,
+                "target_xy_drift": 4.155437658765566e-08,
+                "depth": 0.01883222604161494,
+                "bottom_clearance": 0.08060827559640482,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001442942422835991,
+                  0.002199296191697675
+                ],
+                "rod_tip_xy": [
+                  0.2797848249383889,
+                  -0.3900242400370255
+                ],
+                "target_mouth_xy": [
+                  0.2783418825155529,
+                  -0.3922235362287232
+                ],
+                "gripper_position": [
+                  0.27977662882407917,
+                  -0.39002785106323745,
+                  1.0021521545915097
+                ],
+                "rod_tip_xy_dist": 0.0026303966572431042,
+                "target_xy_drift": 1.4585312720436366e-09,
+                "depth": 0.018970310373494503,
+                "bottom_clearance": 0.08047023893341809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014347475048356317,
+                  0.0021956544310299253
+                ],
+                "rod_tip_xy": [
+                  0.27977662882407917,
+                  -0.39002785106323756
+                ],
+                "target_mouth_xy": [
+                  0.27834188131924353,
+                  -0.3922235054942675
+                ],
+                "gripper_position": [
+                  0.2797685329122709,
+                  -0.39003126207661404,
+                  1.0020140971597327
+                ],
+                "rod_tip_xy_dist": 0.002622860801326181,
+                "target_xy_drift": 3.01978487766846e-08,
+                "depth": 0.01910770149090757,
+                "bottom_clearance": 0.08033284883879066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0014266498570688624,
+                  0.0021922430713132712
+                ],
+                "rod_tip_xy": [
+                  0.2797685329122709,
+                  -0.3900312620766141
+                ],
+                "target_mouth_xy": [
+                  0.278341883055202,
+                  -0.39222350514792736
+                ],
+                "gripper_position": [
+                  0.2797602809947334,
+                  -0.39003469621434433,
+                  1.001876207347222
+                ],
+                "rod_tip_xy_dist": 0.002615580145664753,
+                "target_xy_drift": 3.0449735446278316e-08,
+                "depth": 0.019245727020577807,
+                "bottom_clearance": 0.08019479876738089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0014184285184464795,
+                  0.0021888400167835442
+                ],
+                "rod_tip_xy": [
+                  0.2797602809947334,
+                  -0.3900346962143444
+                ],
+                "target_mouth_xy": [
+                  0.2783418524762869,
+                  -0.39222353623112793
+                ],
+                "gripper_position": [
+                  0.2797522271277083,
+                  -0.3900380885358857,
+                  1.0017389176485965
+                ],
+                "rod_tip_xy_dist": 0.0026082484699535935,
+                "target_xy_drift": 3.135608278612103e-08,
+                "depth": 0.01938363707339763,
+                "bottom_clearance": 0.08005691112369584,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006016531539697839,
+              "rod_tip_xy_max_step": 3.267175498186149e-05,
+              "rod_tip_xy_range": 0.0006016490320324775,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2794103760097386,
+            -0.3913607437639294,
+            1.0434205877816
+          ],
+          "object_origin_world": [
+            0.2794103760097386,
+            -0.3913607437639294,
+            1.0434205877816
+          ],
+          "frame_world": [
+            0.279409034327177,
+            -0.39136996937961205,
+            1.043296015245148
+          ],
+          "center_minus_frame": [
+            1.3416825616063832e-06,
+            9.225615682673105e-06,
+            0.00012457253645203892
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26355238320433516,
+              0.13077713206081407,
+              0.8337836411483257
+            ],
+            "target_position": [
+              0.27388398068305925,
+              0.17745716866287164,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780970323722804,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16724747418329897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337836411483257,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676323604397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13596936482607264,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22681965802261064,
+              -0.13048034197253738,
+              1.045928653143618
+            ],
+            "current_z": 1.045928653143618,
+            "required_z": 0.8565864147924148,
+            "initial_z": 0.7565864147924148,
+            "lift_margin": 0.18934223835120323,
+            "gripper_z": 1.0505580492288231,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2223326352794554,
+              -0.13490486287932968,
+              1.0505580492288231
+            ],
+            "object_minus_gripper": [
+              0.004487022743155239,
+              0.004424520906792295,
+              -0.004629396085205073
+            ],
+            "object_to_gripper_xy": 0.006301567928082223,
+            "object_to_gripper_z": -0.004629396085205073,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22681965802261064,
+              -0.1547304162936735,
+              1.045928653143618
+            ],
+            "finger_b": [
+              0.2160998808250938,
+              -0.13048034197253738,
+              1.045928653143618
+            ],
+            "finger_midpoint": [
+              0.2214597694238522,
+              -0.14260537913310545,
+              1.045928653143618
+            ],
+            "object_minus_finger_midpoint": [
+              0.005359888598758439,
+              0.012125037160568064,
+              0.0
+            ],
+            "finger_gap": 0.02651376487308108,
+            "fingertip_max_gap": 0.09527367768767128,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013256882436540544,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045928653143618,
+            "object_top_z": 1.092443317804784,
+            "finger_top_clearance": 0.04651466466116605,
+            "fingertip_min_top_clearance": 0.013954399398349847,
+            "object_projection_between_fingers": 0.8365335177829175,
+            "object_to_finger_line_xy": 0.009804544733280471,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05013683884383564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7009544751309003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2339469643641098,
+              -0.12739894198570723,
+              1.2424222566555763
+            ],
+            "held_position": [
+              0.23863076489678048,
+              -0.12287945733768704,
+              1.2380871186745077
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00782030371714803,
+            "max_held_gripper_dist": 0.007821917108130442,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004335137981068549,
+            "max_held_gripper_z_dist": 0.004632928701459482,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08584553132389294,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23863076489678048,
+              -0.14732020560600642,
+              1.2380871186745077
+            ],
+            "held_grasp_finger_b": [
+              0.2297289655751218,
+              -0.12287945733768704,
+              1.2380871186745077
+            ],
+            "held_grasp_midpoint": [
+              0.23417986523595113,
+              -0.13509983147184673,
+              1.2380871186745077
+            ],
+            "held_grasp_object_position": [
+              0.23863076489678048,
+              -0.12287945733768704,
+              1.2380871186745077
+            ],
+            "held_grasp_finger_gap": 0.026011386104520452,
+            "held_grasp_max_gap": 0.12496623158454895,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024210745495349937,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017798525022602277,
+              -0.9970719441888168,
+              -0.07436901652269422
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004329777787564386,
+            "held_grasp_line_xy_max_dist": 0.047483115792274475,
+            "held_grasp_object_top_z": 0.04520087316632271,
+            "held_grasp_top_clearance": 0.03293706152067501,
+            "held_grasp_min_top_clearance": 0.013560261949896813
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1968419329267544,
+              -0.13032806097184507,
+              0.756586337942863
+            ],
+            "target_position": [
+              0.19976347521538582,
+              -0.1334380133117872,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0042669910828326395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21547336075478585,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586337942863,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530313009165111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699428611687111,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18797165282247297,
+            "release_required_pad_clearance": 0.05349714305843556,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.006544090928748,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63258682a0d861d14dfc09fd6c592cde92020a0e75a01c9e8818df0fab85c3a1",
+    "visual_seed": 8582519180726160999,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 25,
+  "collection_result_filename": "episode_25_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f4b6da426ab29b72d1f82b52004019ce16e945e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_25_success.json
@@ -0,0 +1,2678 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2461511820812679,
+              -0.0005430294433411767,
+              1.1612690878202718
+            ],
+            "current_z": 1.1612690878202718,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.30016240099157154,
+            "gripper_z": 1.1547744493766925,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24133879381449908,
+              -0.00542564725908172,
+              1.1547744493766925
+            ],
+            "object_minus_gripper": [
+              0.00481238826676883,
+              0.004882617815740543,
+              0.006494638443579337
+            ],
+            "object_to_gripper_xy": 0.0068555844072348245,
+            "object_to_gripper_z": 0.006494638443579337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2461511820812679,
+              -0.024290270433566685,
+              1.1612690878202718
+            ],
+            "finger_b": [
+              0.2349037258496818,
+              -0.0005430294433411767,
+              1.1612690878202718
+            ],
+            "finger_midpoint": [
+              0.24052745396547487,
+              -0.012416649938453931,
+              1.1612690878202718
+            ],
+            "object_minus_finger_midpoint": [
+              0.005623728115793036,
+              0.011873620495112754,
+              0.0
+            ],
+            "finger_gap": 0.026276162701758636,
+            "fingertip_max_gap": 0.09127372859937855,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013138081350879311,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1612690878202718,
+            "object_top_z": 1.2113545057714297,
+            "finger_top_clearance": 0.05008541795115784,
+            "fingertip_min_top_clearance": 0.015025625385347317,
+            "object_projection_between_fingers": 0.8167749963794501,
+            "object_to_finger_line_xy": 0.010164956606872142,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048136864299689275,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.629921082130586,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28463302447695593,
+              -0.38913622079030347,
+              0.8515395673083008
+            ],
+            "target_position": [
+              0.2757566952686192,
+              -0.3908823322160004,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009046442689019893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1863702799826959,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395673083008,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567030960881342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575594899725085,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15413111903792256,
+            "release_required_pad_clearance": 0.05287797449862543,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.797207857301763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008276104927062988,
+            "max_z_decrease": 0.008276104927062988,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035006686884429886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008276104927062988,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02083938442459329,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008276104927062988,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008276273615127689,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1314566284418106,
+              -0.44714379310607905,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1314566284418106,
+              -0.44714379310607905,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1294529544233694,
+              -0.44663877065711677,
+              0.803475590670285
+            ],
+            "closest_button": [
+              0.13150803744792935,
+              -0.44713157415390015,
+              0.7685327529907227
+            ],
+            "closest_ee_minus_button": [
+              -0.0020550830245599505,
+              0.0004928034967833783,
+              0.0349428376795623
+            ],
+            "button_min_z_position": [
+              0.13150803744792935,
+              -0.44713157415390015,
+              0.7685327529907227
+            ],
+            "min_active_finger_to_button": 0.14739520442085435,
+            "closest_active_finger": [
+              0.0016870051622390747,
+              -0.5080656409263611,
+              0.8110677003860474
+            ],
+            "closest_active_finger_button": [
+              0.13145606219768524,
+              -0.44714447855949396,
+              0.7768047451972961
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12976905703544617,
+              -0.06092116236686712,
+              0.03426295518875122
+            ],
+            "min_contact_pad_to_button": 0.02083938442459329,
+            "closest_contact_pad": [
+              0.13150803744792935,
+              -0.44797719165949373,
+              0.7893549736751313
+            ],
+            "closest_contact_pad_button": [
+              0.13150803744792935,
+              -0.44713157415390015,
+              0.7685327529907227
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008456175055935877,
+              0.020822220684408643
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27393350887601203,
+              0.1828375567060071,
+              1.1008203507720022
+            ],
+            "current_z": 1.1008203507720022,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1909112210376397,
+            "gripper_z": 1.1008207421860001,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27393345278678954,
+              0.18283781376511027,
+              1.1008207421860001
+            ],
+            "object_minus_gripper": [
+              5.608922248878656e-08,
+              -2.5705910317030956e-07,
+              -3.9141399788000797e-07
+            ],
+            "object_to_gripper_xy": 2.6310717094393387e-07,
+            "object_to_gripper_z": -3.9141399788000797e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27393350887601203,
+              0.1828375567060071,
+              1.1008203507720022
+            ],
+            "finger_b": [
+              0.27393350887601203,
+              0.1828375567060071,
+              1.1008203507720022
+            ],
+            "finger_midpoint": [
+              0.27393350887601203,
+              0.1828375567060071,
+              1.1008203507720022
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1008203507720022,
+            "object_top_z": 1.225828857392282,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 239,
+            "max_stable_success_frames": 239,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2739335088760121,
+            0.1828375567060071,
+            1.1008203507720025
+          ],
+          "object_origin_world": [
+            0.2739335088760121,
+            0.1828375567060071,
+            1.1008203507720025
+          ],
+          "frame_world": [
+            0.27393345278678954,
+            0.18283781376511027,
+            1.1008207421860001
+          ],
+          "center_minus_frame": [
+            5.608922254429771e-08,
+            -2.5705910317030956e-07,
+            -3.9141399765796336e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043635106755146,
+            "required_z": 0.9112598310378137,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018449155054043047,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.9315267171668116e-08,
+            "max_target_xy_drift": 1.3315466193813946e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.7972078562118189,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.7972078574311482,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2854923308989352,
+              -0.3907597745743242,
+              0.9233419094215908
+            ],
+            "target_mouth_xy": [
+              0.28463299312520757,
+              -0.3891362820107246
+            ],
+            "rod_tip_z": 0.9233419094215908,
+            "rod_tip_depth": -0.0220820379927944,
+            "rod_tip_bottom_clearance": 0.12152261081931504,
+            "rod_tip_xy_dist": 0.0018368967073350779,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044937031071945244,
+            "min_rod_tip_bottom_clearance": 0.05450349151977907,
+            "min_rod_tip_xy_dist": 0.0007140344063050226,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2846329942681556,
+              -0.3891362227064702
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.1429480140101589e-09,
+              -5.9304254396153055e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0012806008491234588,
+                0.00017069533760960542
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012037524834254132,
+                -0.00020620925368053378
+              ],
+              "first_target_mouth_xy": [
+                0.2846330240566971,
+                -0.3891362528141922
+              ],
+              "last_target_mouth_xy": [
+                0.28463302563595594,
+                -0.3891362502746337
+              ],
+              "first_rod_tip_xy": [
+                0.28591362490582056,
+                -0.38896555747658257
+              ],
+              "last_rod_tip_xy": [
+                0.28583677811938135,
+                -0.38934245952831426
+              ],
+              "min_rod_tip_xy_dist": 0.0012212871479125342,
+              "max_rod_tip_xy_dist": 0.0012919270231160043,
+              "first_target_xy_drift": 4.235365543830343e-08,
+              "last_target_xy_drift": 4.1760538067081096e-08,
+              "max_depth": 0.019487074112968905,
+              "min_bottom_clearance": 0.0799535632712447
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0012806008491234588,
+                  0.00017069533760960542
+                ],
+                "rod_tip_xy": [
+                  0.28591362490582056,
+                  -0.38896555747658257
+                ],
+                "target_mouth_xy": [
+                  0.2846330240566971,
+                  -0.3891362528141922
+                ],
+                "gripper_position": [
+                  0.2859058378695408,
+                  -0.388969769212013,
+                  1.0059619502657244
+                ],
+                "rod_tip_xy_dist": 0.0012919270231160043,
+                "target_xy_drift": 4.235365543830343e-08,
+                "depth": 0.015157104096577112,
+                "bottom_clearance": 0.08428340339368023,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0012728144691342425,
+                  0.00016648425121607024
+                ],
+                "rod_tip_xy": [
+                  0.28590583786954066,
+                  -0.388969769212013
+                ],
+                "target_mouth_xy": [
+                  0.2846330234004064,
+                  -0.38913625346322905
+                ],
+                "gripper_position": [
+                  0.2859173097651544,
+                  -0.3890417768002966,
+                  1.005423887692765
+                ],
+                "rod_tip_xy_dist": 0.0012836563709733453,
+                "target_xy_drift": 4.236350144102708e-08,
+                "depth": 0.015297893932327278,
+                "bottom_clearance": 0.08414263469299088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0012842864852398161,
+                  9.447634817372208e-05
+                ],
+                "rod_tip_xy": [
+                  0.2859173097651543,
+                  -0.3890417768002966
+                ],
+                "target_mouth_xy": [
+                  0.28463302327991447,
+                  -0.38913625314847033
+                ],
+                "gripper_position": [
+                  0.28590709344428755,
+                  -0.38905151402053006,
+                  1.0052629994025257
+                ],
+                "rod_tip_xy_dist": 0.0012877567924627238,
+                "target_xy_drift": 4.20523189164691e-08,
+                "depth": 0.01583595650384162,
+                "bottom_clearance": 0.08360456950263584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0012740697704962667,
+                  8.473817534870864e-05
+                ],
+                "rod_tip_xy": [
+                  0.2859070934442874,
+                  -0.3890515140205302
+                ],
+                "target_mouth_xy": [
+                  0.2846330236737911,
+                  -0.3891362521958789
+                ],
+                "gripper_position": [
+                  0.2858993746631904,
+                  -0.38905534025070926,
+                  1.0051222570172347
+                ],
+                "rod_tip_xy_dist": 0.0012768846222168384,
+                "target_xy_drift": 4.1645127283046744e-08,
+                "depth": 0.015996849292068682,
+                "bottom_clearance": 0.0834436948828875,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0012663820948853322,
+                  8.091290719069999e-05
+                ],
+                "rod_tip_xy": [
+                  0.2858993746631902,
+                  -0.3890553402507093
+                ],
+                "target_mouth_xy": [
+                  0.2846329925683049,
+                  -0.3891362531579
+                ],
+                "gripper_position": [
+                  0.28591150089831624,
+                  -0.3891284863245797,
+                  1.0045859990383184
+                ],
+                "rod_tip_xy_dist": 0.0012689643449664823,
+                "target_xy_drift": 3.049883720131455e-08,
+                "depth": 0.01613761498478239,
+                "bottom_clearance": 0.08330294614380096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.001278477212693585,
+                  7.737023564768908e-06
+                ],
+                "rod_tip_xy": [
+                  0.2859115008983161,
+                  -0.38912848632457975
+                ],
+                "target_mouth_xy": [
+                  0.2846330236856225,
+                  -0.3891362233481445
+                ],
+                "gripper_position": [
+                  0.2859011017792675,
+                  -0.3891381496281837,
+                  1.0044255487565115
+                ],
+                "rod_tip_xy_dist": 0.0012785006237426716,
+                "target_xy_drift": 2.942446439880183e-08,
+                "depth": 0.016673832645675235,
+                "bottom_clearance": 0.08276667747536948,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.001268077435948478,
+                  -1.896809648127551e-06
+                ],
+                "rod_tip_xy": [
+                  0.2859011017792673,
+                  -0.3891381496281837
+                ],
+                "target_mouth_xy": [
+                  0.28463302434331883,
+                  -0.3891362528185356
+                ],
+                "gripper_position": [
+                  0.2858932652371011,
+                  -0.3891417502735441,
+                  1.0042845352889005
+                ],
+                "rod_tip_xy_dist": 0.0012680788545861442,
+                "target_xy_drift": 4.255880551534092e-08,
+                "depth": 0.01683426848974967,
+                "bottom_clearance": 0.08260622767753889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0012602412896014492,
+                  -5.498712442209008e-06
+                ],
+                "rod_tip_xy": [
+                  0.285893265237101,
+                  -0.38914175027354403
+                ],
+                "target_mouth_xy": [
+                  0.28463302394749956,
+                  -0.3891362515611018
+                ],
+                "gripper_position": [
+                  0.2858853120646698,
+                  -0.38914561053042146,
+                  1.0041434252023043
+                ],
+                "rod_tip_xy_dist": 0.0012602532855957352,
+                "target_xy_drift": 4.139387908429445e-08,
+                "depth": 0.01697531606149416,
+                "bottom_clearance": 0.08246523979060705,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0012522889381196833,
+                  -9.356746193622811e-06
+                ],
+                "rod_tip_xy": [
+                  0.2858853120646697,
+                  -0.3891456105304214
+                ],
+                "target_mouth_xy": [
+                  0.28463302312655003,
+                  -0.3891362537842278
+                ],
+                "gripper_position": [
+                  0.2858991456389685,
+                  -0.38922042737862594,
+                  1.0036094176614623
+                ],
+                "rod_tip_xy_dist": 0.001252323893102841,
+                "target_xy_drift": 4.241030472818856e-08,
+                "depth": 0.017116433146553423,
+                "bottom_clearance": 0.08232411750988877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001266122851399265,
+                  -8.414474996421006e-05
+                ],
+                "rod_tip_xy": [
+                  0.28589914563896834,
+                  -0.38922042737862594
+                ],
+                "target_mouth_xy": [
+                  0.2846330227875691,
+                  -0.38913628262866173
+                ],
+                "gripper_position": [
+                  0.28588869799456984,
+                  -0.38923005814516975,
+                  1.0034490146703712
+                ],
+                "rod_tip_xy_dist": 0.001268915841883119,
+                "target_xy_drift": 6.636283587552158e-08,
+                "depth": 0.017650447295862515,
+                "bottom_clearance": 0.0817901092407467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0012556751116411524,
+                  -9.38049942739716e-05
+                ],
+                "rod_tip_xy": [
+                  0.28588869799456973,
+                  -0.38923005814516964
+                ],
+                "target_mouth_xy": [
+                  0.2846330228829286,
+                  -0.3891362531508957
+                ],
+                "gripper_position": [
+                  0.2858805923336677,
+                  -0.3892337253162197,
+                  1.0033081382193467
+                ],
+                "rod_tip_xy_dist": 0.0012591740796830916,
+                "target_xy_drift": 4.178119524894961e-08,
+                "depth": 0.017810841694596458,
+                "bottom_clearance": 0.0816296997039484,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0012475688978943467,
+                  -9.747280223981747e-05
+                ],
+                "rod_tip_xy": [
+                  0.2858805923336675,
+                  -0.3892337253162197
+                ],
+                "target_mouth_xy": [
+                  0.2846330234357732,
+                  -0.3891362525139799
+                ],
+                "gripper_position": [
+                  0.28587253246301336,
+                  -0.3892373078940899,
+                  1.0031671401214486
+                ],
+                "rod_tip_xy_dist": 0.0012513708891331128,
+                "target_xy_drift": 4.1704167056613165e-08,
+                "depth": 0.01795171224754155,
+                "bottom_clearance": 0.08148883000983742,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001239509182581533,
+                  -0.00010105506146840249
+                ],
+                "rod_tip_xy": [
+                  0.2858725324630132,
+                  -0.38923730789408995
+                ],
+                "target_mouth_xy": [
+                  0.28463302328043166,
+                  -0.38913625283262154
+                ],
+                "gripper_position": [
+                  0.2858644076365291,
+                  -0.3892409849555126,
+                  1.0030262473841416
+                ],
+                "rod_tip_xy_dist": 0.0012436217830000898,
+                "target_xy_drift": 4.1824599922478635e-08,
+                "depth": 0.018092709566516096,
+                "bottom_clearance": 0.08134782753334846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0012313835760305314,
+                  -0.00010470265210660301
+                ],
+                "rod_tip_xy": [
+                  0.2858644076365289,
+                  -0.38924098495551274
+                ],
+                "target_mouth_xy": [
+                  0.2846330240604984,
+                  -0.38913628230340613
+                ],
+                "gripper_position": [
+                  0.28588028045971076,
+                  -0.3893189681425287,
+                  1.0024958220328877
+                ],
+                "rod_tip_xy_dist": 0.001235826912102134,
+                "target_xy_drift": 6.662866098052761e-08,
+                "depth": 0.01823358409500242,
+                "bottom_clearance": 0.08120693426573011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001247258937433604,
+                  -0.00018268200077181662
+                ],
+                "rod_tip_xy": [
+                  0.28588028045971065,
+                  -0.38931896814252864
+                ],
+                "target_mouth_xy": [
+                  0.28463302152227704,
+                  -0.3891362861417568
+                ],
+                "gripper_position": [
+                  0.28586970076698415,
+                  -0.38932854223900065,
+                  1.0023355531911444
+                ],
+                "rod_tip_xy_dist": 0.0012605663689048653,
+                "target_xy_drift": 6.904218078073055e-08,
+                "depth": 0.018764131510622506,
+                "bottom_clearance": 0.08067657259076311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0012366471340641838,
+                  -0.000192351569834881
+                ],
+                "rod_tip_xy": [
+                  0.28586970076698404,
+                  -0.3893285422390006
+                ],
+                "target_mouth_xy": [
+                  0.28463305363291985,
+                  -0.3891361906691657
+                ],
+                "gripper_position": [
+                  0.28586145295441123,
+                  -0.38933201020838826,
+                  1.0021947883682987
+                ],
+                "rod_tip_xy_dist": 0.0012515171835045264,
+                "target_xy_drift": 6.745786918546481e-08,
+                "depth": 0.018924264614322173,
+                "bottom_clearance": 0.0805163411270271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0012284327629003,
+                  -0.00019572501704195888
+                ],
+                "rod_tip_xy": [
+                  0.28586145295441107,
+                  -0.38933201020838826
+                ],
+                "target_mouth_xy": [
+                  0.28463302019151077,
+                  -0.3891362851913463
+                ],
+                "gripper_position": [
+                  0.28585321603674735,
+                  -0.38933560326736244,
+                  1.002054095670066
+                ],
+                "rod_tip_xy_dist": 0.0012439273834364045,
+                "target_xy_drift": 6.76489474130223e-08,
+                "depth": 0.01906512843682051,
+                "bottom_clearance": 0.08037559171389785,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0012201923827757089,
+                  -0.00019935234684753667
+                ],
+                "rod_tip_xy": [
+                  0.2858532160367472,
+                  -0.3893356032673625
+                ],
+                "target_mouth_xy": [
+                  0.2846330236539715,
+                  -0.38913625092051496
+                ],
+                "gripper_position": [
+                  0.28584512440831294,
+                  -0.3893389344371633,
+                  1.0019132327055105
+                ],
+                "rod_tip_xy_dist": 0.0012363700130533265,
+                "target_xy_drift": 4.073767909130755e-08,
+                "depth": 0.01920577588477601,
+                "bottom_clearance": 0.08023481396397958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0012121313132184008,
+                  -0.0002026495791225824
+                ],
+                "rod_tip_xy": [
+                  0.2858451244083128,
+                  -0.3893389344371633
+                ],
+                "target_mouth_xy": [
+                  0.2846329930950944,
+                  -0.3891362848580407
+                ],
+                "gripper_position": [
+                  0.2858367781193815,
+                  -0.3893424595283142,
+                  1.001772798781599
+                ],
+                "rod_tip_xy_dist": 0.0012289545037970791,
+                "target_xy_drift": 6.21626398117208e-08,
+                "depth": 0.019346655809585944,
+                "bottom_clearance": 0.0800939496184675,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0012037524834254132,
+                  -0.00020620925368053378
+                ],
+                "rod_tip_xy": [
+                  0.28583677811938135,
+                  -0.38934245952831426
+                ],
+                "target_mouth_xy": [
+                  0.28463302563595594,
+                  -0.3891362502746337
+                ],
+                "gripper_position": [
+                  0.28582847820675394,
+                  -0.38934580651251677,
+                  1.001632452823578
+                ],
+                "rod_tip_xy_dist": 0.0012212871479125342,
+                "target_xy_drift": 4.1760538067081096e-08,
+                "depth": 0.019487074112968905,
+                "bottom_clearance": 0.0799535632712447,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006017007250048344,
+              "rod_tip_xy_max_step": 3.2630568936837926e-05,
+              "rod_tip_xy_range": 0.0006016949542491976,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2854923308989353,
+            -0.3907597745743242,
+            1.043341909421591
+          ],
+          "object_origin_world": [
+            0.2854923308989353,
+            -0.3907597745743242,
+            1.043341909421591
+          ],
+          "frame_world": [
+            0.28551626157720766,
+            -0.39075601966348894,
+            1.043635106755146
+          ],
+          "center_minus_frame": [
+            -2.393067827238804e-05,
+            -3.7549108352630256e-06,
+            -0.0002931973335549287
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.263367473818364,
+              0.13808215242387112,
+              0.832912357784777
+            ],
+            "target_position": [
+              0.27445098111378974,
+              0.18388211558519774,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04712197745794027,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16718220624669816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832912357784777,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673716588581,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.135953529037785,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2246507894290517,
+              -0.1316334253307179,
+              1.0456346207213139
+            ],
+            "current_z": 1.0456346207213139,
+            "required_z": 0.8565862721420082,
+            "initial_z": 0.7565862721420082,
+            "lift_margin": 0.18904834857930564,
+            "gripper_z": 1.0499605772658467,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2201489405234149,
+              -0.1360620761701867,
+              1.0499605772658467
+            ],
+            "object_minus_gripper": [
+              0.0045018489056367905,
+              0.004428650839468806,
+              -0.004325956544532827
+            ],
+            "object_to_gripper_xy": 0.00631502904404334,
+            "object_to_gripper_z": -0.004325956544532827,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2246507894290517,
+              -0.15592935363370494,
+              1.0456346207213139
+            ],
+            "finger_b": [
+              0.21396890567790913,
+              -0.1316334253307179,
+              1.0456346207213139
+            ],
+            "finger_midpoint": [
+              0.21930984755348043,
+              -0.14378138948221142,
+              1.0456346207213139
+            ],
+            "object_minus_finger_midpoint": [
+              0.00534094187557127,
+              0.012147964151493523,
+              0.0
+            ],
+            "finger_gap": 0.026540436555882247,
+            "fingertip_max_gap": 0.0972625332745389,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013270218277941117,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456346207213139,
+            "object_top_z": 1.0932995930554863,
+            "finger_top_clearance": 0.04766497233417244,
+            "fingertip_min_top_clearance": 0.01429949170025173,
+            "object_projection_between_fingers": 0.8380132208313892,
+            "object_to_finger_line_xy": 0.009778523469731031,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051131266637269454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.774194026995943,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23103879632586685,
+              -0.12928823134884354,
+              1.2421602467846877
+            ],
+            "held_position": [
+              0.2357197473239958,
+              -0.12481762951829427,
+              1.2380819215855803
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007650511055077941,
+            "max_held_gripper_dist": 0.007658528124328419,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0040783251991074465,
+            "max_held_gripper_z_dist": 0.004339381346741167,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08547242202850094,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2357197473239958,
+              -0.14932291943006987,
+              1.2380819215855803
+            ],
+            "held_grasp_finger_b": [
+              0.2267778236310069,
+              -0.12481762951829427,
+              1.2380819215855803
+            ],
+            "held_grasp_midpoint": [
+              0.23124878547750136,
+              -0.13707027447418207,
+              1.2380819215855803
+            ],
+            "held_grasp_object_position": [
+              0.2357197473239958,
+              -0.12481762951829427,
+              1.2380819215855803
+            ],
+            "held_grasp_finger_gap": 0.02608576686607866,
+            "held_grasp_max_gap": 0.12496600061655044,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024312253645787818,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017572358056043107,
+              -0.9985347824378314,
+              -0.05118105600886835
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004301220500743027,
+            "held_grasp_line_xy_max_dist": 0.04748300030827522,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.032887474097554444,
+            "held_grasp_min_top_clearance": 0.013560219481587409
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18356369577028653,
+              -0.125873565482797,
+              0.7565864062405374
+            ],
+            "target_position": [
+              0.19782828653351528,
+              -0.13491184848625873,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016886950858371573,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20520852023408773,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864062405374,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07642345057002964,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876866330221235,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1797580013202398,
+            "release_required_pad_clearance": 0.05384331651106175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6954015197688808,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d2611fffcdaa64f6e1bde94ede4159fe5c64198005671ec49f7082ec8ca1372",
+    "visual_seed": 2667479179211518055,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 26,
+  "collection_result_filename": "episode_26_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2394a1cd679d3254c3b5c7265ffa4b60854904e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_26_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25308922814375817,
+              0.001438786401136555,
+              1.1640553061621965
+            ],
+            "current_z": 1.1640553061621965,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.30294867893814104,
+            "gripper_z": 1.1572975975537354,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24813061812462325,
+              -0.003343227561323714,
+              1.1572975975537354
+            ],
+            "object_minus_gripper": [
+              0.004958610019134918,
+              0.004782013962460269,
+              0.006757708608461144
+            ],
+            "object_to_gripper_xy": 0.00688879313516019,
+            "object_to_gripper_z": 0.006757708608461144,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25308922814375817,
+              -0.022585099168101346,
+              1.1640553061621965
+            ],
+            "finger_b": [
+              0.24221052132926235,
+              0.001438786401136555,
+              1.1640553061621965
+            ],
+            "finger_midpoint": [
+              0.24764987473651026,
+              -0.010573156383482395,
+              1.1640553061621965
+            ],
+            "object_minus_finger_midpoint": [
+              0.00543935340724791,
+              0.01201194278461895,
+              0.0
+            ],
+            "finger_gap": 0.026372207715691813,
+            "fingertip_max_gap": 0.09125153349134418,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013186103857845907,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1640553061621965,
+            "object_top_z": 1.2140790002747543,
+            "finger_top_clearance": 0.050023694112557804,
+            "fingertip_min_top_clearance": 0.01500710823376734,
+            "object_projection_between_fingers": 0.8298383964541501,
+            "object_to_finger_line_xy": 0.00991000869059703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048125766745672094,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6309909620852646,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2796219202538624,
+              -0.38969714809096834,
+              0.8515394977655374
+            ],
+            "target_position": [
+              0.271397132256866,
+              -0.39087050529295114,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008308062633308726,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527994384163896,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394977655374,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553776368445606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635832954700919,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1531868187149467,
+            "release_required_pad_clearance": 0.053179164773504595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3819433008567077,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008470416069030762,
+            "max_z_decrease": 0.008470416069030762,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504087123294975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008470416069030762,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020967650611090377,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008470416069030762,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008470525934314455,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12709705531597137,
+              -0.4471319615840912,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12709705531597137,
+              -0.4471319615840912,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12876379243095554,
+              -0.44737130593134644,
+              0.8036042510015524
+            ],
+            "closest_button": [
+              0.12712281942367554,
+              -0.4471036195755005,
+              0.7686028480529785
+            ],
+            "closest_ee_minus_button": [
+              0.00164097300728,
+              -0.000267686355845953,
+              0.0350014029485739
+            ],
+            "button_min_z_position": [
+              0.12712298333644867,
+              -0.4470974802970886,
+              0.7683384418487549
+            ],
+            "min_active_finger_to_button": 0.14418701373161208,
+            "closest_active_finger": [
+              -0.011997267603874207,
+              -0.4310305118560791,
+              0.8110637068748474
+            ],
+            "closest_active_finger_button": [
+              0.1270991414785385,
+              -0.4471290707588195,
+              0.7766700983047485
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13909640908241272,
+              0.016098558902740423,
+              0.03439360857009888
+            ],
+            "min_contact_pad_to_button": 0.020967650611090377,
+            "closest_contact_pad": [
+              0.12712298333644867,
+              -0.44860013019218387,
+              0.7892521793301696
+            ],
+            "closest_contact_pad_button": [
+              0.12712298333644867,
+              -0.4470974802970886,
+              0.7683384418487549
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015026498950952427,
+              0.020913737481414674
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27427451443124834,
+              0.17914140186890556,
+              1.1029503373717184
+            ],
+            "current_z": 1.1029503373717184,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19304120763735588,
+            "gripper_z": 1.1029503431305798,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27427445287042596,
+              0.1791414276116904,
+              1.1029503431305798
+            ],
+            "object_minus_gripper": [
+              6.156082238417682e-08,
+              -2.574278484823722e-08,
+              -5.7588613877612715e-09
+            ],
+            "object_to_gripper_xy": 6.67265001656673e-08,
+            "object_to_gripper_z": -5.7588613877612715e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27427451443124834,
+              0.17914140186890556,
+              1.1029503373717184
+            ],
+            "finger_b": [
+              0.27427451443124834,
+              0.17914140186890556,
+              1.1029503373717184
+            ],
+            "finger_midpoint": [
+              0.27427451443124834,
+              0.17914140186890556,
+              1.1029503373717184
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029503373717184,
+            "object_top_z": 1.2279588439919982,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27427451443124834,
+            0.17914140186890556,
+            1.1029503373717184
+          ],
+          "object_origin_world": [
+            0.27427451443124834,
+            0.17914140186890556,
+            1.1029503373717184
+          ],
+          "frame_world": [
+            0.27427445287042596,
+            0.1791414276116904,
+            1.1029503431305798
+          ],
+          "center_minus_frame": [
+            6.156082238417682e-08,
+            -2.574278484823722e-08,
+            -5.7588613877612715e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433463516054937,
+            "required_z": 0.9112598727548131,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0024918746774066857,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.2485225381908682e-07,
+            "max_target_xy_drift": 1.9845058791177008e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.3819433006873743,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.381943301248917,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2771640334709502,
+              -0.3900905394265892,
+              0.9234696657132205
+            ],
+            "target_mouth_xy": [
+              0.2796218881029761,
+              -0.3896972067850167
+            ],
+            "rod_tip_z": 0.9234696657132205,
+            "rod_tip_depth": -0.022209814619010726,
+            "rod_tip_bottom_clearance": 0.12165034965985033,
+            "rod_tip_xy_dist": 0.002489128353279049,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04512105779865261,
+            "min_rod_tip_bottom_clearance": 0.05431954401301098,
+            "min_rod_tip_xy_dist": 0.0012349155386996184,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.279621918193998,
+              -0.38969708561317307
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.0091021896438974e-08,
+              -1.2117184361448707e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0018654794648515494,
+                0.0014301051967239853
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.001974068328544021,
+                0.0010401100892742932
+              ],
+              "first_target_mouth_xy": [
+                0.27962191802659286,
+                -0.3896972051761875
+              ],
+              "last_target_mouth_xy": [
+                0.2796218882987329,
+                -0.3896971782229376
+              ],
+              "first_rod_tip_xy": [
+                0.2777564385617413,
+                -0.3882670999794635
+              ],
+              "last_rod_tip_xy": [
+                0.2776478199701889,
+                -0.3886570681336633
+              ],
+              "min_rod_tip_xy_dist": 0.0022151007514517027,
+              "max_rod_tip_xy_dist": 0.0023565917053145918,
+              "first_target_xy_drift": 1.1956313162889218e-07,
+              "last_target_xy_drift": 9.73154425584652e-08,
+              "max_depth": 0.019582847150843352,
+              "min_bottom_clearance": 0.07985772596216612
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0018654794648515494,
+                  0.0014301051967239853
+                ],
+                "rod_tip_xy": [
+                  0.2777564385617413,
+                  -0.3882670999794635
+                ],
+                "target_mouth_xy": [
+                  0.27962191802659286,
+                  -0.3896972051761875
+                ],
+                "gripper_position": [
+                  0.27774618724523015,
+                  -0.38827694997443524,
+                  1.0057823431563329
+                ],
+                "rod_tip_xy_dist": 0.0023505774838281277,
+                "target_xy_drift": 1.1956313162889218e-07,
+                "depth": 0.015321821853977569,
+                "bottom_clearance": 0.08411875835460714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0018757014980880227,
+                  0.0014201936713700847
+                ],
+                "rod_tip_xy": [
+                  0.27774618724523015,
+                  -0.3882769499744353
+                ],
+                "target_mouth_xy": [
+                  0.27962188874331817,
+                  -0.3896971436458054
+                ],
+                "gripper_position": [
+                  0.2777385231750671,
+                  -0.3882806452095673,
+                  1.0056450926621592
+                ],
+                "rod_tip_xy_dist": 0.0023527018880702445,
+                "target_xy_drift": 6.50778684032447e-08,
+                "depth": 0.01547748604591248,
+                "bottom_clearance": 0.08396314076482059,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0018833645260394327,
+                  0.0014164965681616737
+                ],
+                "rod_tip_xy": [
+                  0.2777385231750671,
+                  -0.3882806452095674
+                ],
+                "target_mouth_xy": [
+                  0.2796218877011065,
+                  -0.3896971417777291
+                ],
+                "gripper_position": [
+                  0.27774257700220906,
+                  -0.3883543594143286,
+                  1.00511294247499
+                ],
+                "rod_tip_xy_dist": 0.0023565917053145918,
+                "target_xy_drift": 6.390832326658402e-08,
+                "depth": 0.015614800788560035,
+                "bottom_clearance": 0.08382593205827782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0018793432593401382,
+                  0.0013428191172388804
+                ],
+                "rod_tip_xy": [
+                  0.27774257700220906,
+                  -0.3883543594143286
+                ],
+                "target_mouth_xy": [
+                  0.2796219202615492,
+                  -0.3896971785315675
+                ],
+                "gripper_position": [
+                  0.27773204760008674,
+                  -0.388364164012023,
+                  1.0049572867957073
+                ],
+                "rod_tip_xy_dist": 0.002309782298843209,
+                "target_xy_drift": 9.294139438422234e-08,
+                "depth": 0.01614684685724821,
+                "bottom_clearance": 0.0832937361024545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0018898720137046632,
+                  0.001332978680607333
+                ],
+                "rod_tip_xy": [
+                  0.27773204760008674,
+                  -0.3883641640120231
+                ],
+                "target_mouth_xy": [
+                  0.2796219196137914,
+                  -0.38969714269263045
+                ],
+                "gripper_position": [
+                  0.2777243486535956,
+                  -0.38836776062892064,
+                  1.0048204752026673
+                ],
+                "rod_tip_xy_dist": 0.0023126712674173527,
+                "target_xy_drift": 5.7097112610046484e-08,
+                "depth": 0.016302605887995703,
+                "bottom_clearance": 0.08313805325473711,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0018975378962099443,
+                  0.001329414132984097
+                ],
+                "rod_tip_xy": [
+                  0.2777243486535956,
+                  -0.38836776062892076
+                ],
+                "target_mouth_xy": [
+                  0.2796218865498055,
+                  -0.38969717476190485
+                ],
+                "gripper_position": [
+                  0.27772893372919666,
+                  -0.3884428239947702,
+                  1.0042908486469455
+                ],
+                "rod_tip_xy_dist": 0.002316892747740111,
+                "target_xy_drift": 9.459836836451186e-08,
+                "depth": 0.016439458950047725,
+                "bottom_clearance": 0.08300120842937353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001892984609447701,
+                  0.001254380854297188
+                ],
+                "rod_tip_xy": [
+                  0.27772893372919666,
+                  -0.38844282399477037
+                ],
+                "target_mouth_xy": [
+                  0.27962191833864436,
+                  -0.38969720484906756
+                ],
+                "gripper_position": [
+                  0.27771848036315333,
+                  -0.3884521685960338,
+                  1.0041349089957832
+                ],
+                "rod_tip_xy_dist": 0.0022708725325815203,
+                "target_xy_drift": 1.192359822272463e-07,
+                "depth": 0.016968959573745557,
+                "bottom_clearance": 0.08247161974254114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0019034383075161587,
+                  0.0012449753651423423
+                ],
+                "rod_tip_xy": [
+                  0.27771848036315333,
+                  -0.38845216859603393
+                ],
+                "target_mouth_xy": [
+                  0.2796219186706695,
+                  -0.3896971439611763
+                ],
+                "gripper_position": [
+                  0.27771058291026685,
+                  -0.38845583903343883,
+                  1.0039980170306324
+                ],
+                "rod_tip_xy_dist": 0.0022744320280745447,
+                "target_xy_drift": 5.8349950247808826e-08,
+                "depth": 0.01712491093655666,
+                "bottom_clearance": 0.08231569997929455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019113354102445745,
+                  0.0012412732225285383
+                ],
+                "rod_tip_xy": [
+                  0.27771058291026685,
+                  -0.38845583903343883
+                ],
+                "target_mouth_xy": [
+                  0.2796219183205114,
+                  -0.38969711225596737
+                ],
+                "gripper_position": [
+                  0.2777027276478711,
+                  -0.38845945092696194,
+                  1.0038611923201028
+                ],
+                "rod_tip_xy_dist": 0.002279026604368887,
+                "target_xy_drift": 2.6643094677103053e-08,
+                "depth": 0.017261846338397224,
+                "bottom_clearance": 0.08217884459750058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019191921581791505,
+                  0.0012377260238597976
+                ],
+                "rod_tip_xy": [
+                  0.2777027276478711,
+                  -0.388459450926962
+                ],
+                "target_mouth_xy": [
+                  0.2796219198060502,
+                  -0.3896971769508218
+                ],
+                "gripper_position": [
+                  0.2777088096604308,
+                  -0.3885365151000974,
+                  1.0033329196718306
+                ],
+                "rod_tip_xy_dist": 0.002283695305892651,
+                "target_xy_drift": 9.135187346974594e-08,
+                "depth": 0.017398565273097577,
+                "bottom_clearance": 0.08204194480723259,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019131096826641714,
+                  0.0011606282290891334
+                ],
+                "rod_tip_xy": [
+                  0.2777088096604308,
+                  -0.38853651510009757
+                ],
+                "target_mouth_xy": [
+                  0.279621919343095,
+                  -0.3896971433291867
+                ],
+                "gripper_position": [
+                  0.2776980469152967,
+                  -0.3885460151810493,
+                  1.0031773085633002
+                ],
+                "rod_tip_xy_dist": 0.002237643077897363,
+                "target_xy_drift": 5.772745147499005e-08,
+                "depth": 0.01792695947225209,
+                "bottom_clearance": 0.0815136661477961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019238389824071112,
+                  0.0011511608676979534
+                ],
+                "rod_tip_xy": [
+                  0.2776980469152967,
+                  -0.38854601518104936
+                ],
+                "target_mouth_xy": [
+                  0.2796218858977038,
+                  -0.3896971760487473
+                ],
+                "gripper_position": [
+                  0.27769016100075483,
+                  -0.38854944893910814,
+                  1.0030406028086691
+                ],
+                "rod_tip_xy_dist": 0.0022419473172999257,
+                "target_xy_drift": 9.602938981840641e-08,
+                "depth": 0.01808262372737446,
+                "bottom_clearance": 0.08135802454017049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001931727926335558,
+                  0.0011477555895097469
+                ],
+                "rod_tip_xy": [
+                  0.27769016100075483,
+                  -0.38854944893910814
+                ],
+                "target_mouth_xy": [
+                  0.2796218889270904,
+                  -0.3896972045286179
+                ],
+                "gripper_position": [
+                  0.2776821888488299,
+                  -0.38855296229258907,
+                  1.002904064093728
+                ],
+                "rod_tip_xy_dist": 0.002246979233245279,
+                "target_xy_drift": 1.2246401471212932e-07,
+                "depth": 0.01821919881452927,
+                "bottom_clearance": 0.08122137628304871,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019396998571901136,
+                  0.0011441807308814056
+                ],
+                "rod_tip_xy": [
+                  0.2776821888488299,
+                  -0.3885529622925892
+                ],
+                "target_mouth_xy": [
+                  0.27962188870602,
+                  -0.3896971430234706
+                ],
+                "gripper_position": [
+                  0.27767417245224146,
+                  -0.38855639570854206,
+                  1.0027670350222628
+                ],
+                "rod_tip_xy_dist": 0.0022520180019048814,
+                "target_xy_drift": 6.454055397673025e-08,
+                "depth": 0.018355776925259026,
+                "bottom_clearance": 0.0810848730169923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0019477470281219489,
+                  0.0011407806108842955
+                ],
+                "rod_tip_xy": [
+                  0.27767417245224146,
+                  -0.38855639570854217
+                ],
+                "target_mouth_xy": [
+                  0.2796219194803634,
+                  -0.38969717631942646
+                ],
+                "gripper_position": [
+                  0.2776662019396601,
+                  -0.38855977558155347,
+                  1.0026307300887096
+                ],
+                "rod_tip_xy_dist": 0.0022572325728040144,
+                "target_xy_drift": 9.0715374338175e-08,
+                "depth": 0.018492787596985694,
+                "bottom_clearance": 0.08094772633305236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001955713621315469,
+                  0.0011374289977126306
+                ],
+                "rod_tip_xy": [
+                  0.2776662019396601,
+                  -0.3885597755815535
+                ],
+                "target_mouth_xy": [
+                  0.27962191556097554,
+                  -0.38969720457926615
+                ],
+                "gripper_position": [
+                  0.2776747676799689,
+                  -0.3886411060534484,
+                  1.0021051845671345
+                ],
+                "rod_tip_xy_dist": 0.0022624235884193804,
+                "target_xy_drift": 1.189952272651662e-07,
+                "depth": 0.01862922828344238,
+                "bottom_clearance": 0.08081146970606201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0019471492626874087,
+                  0.0010560686946869402
+                ],
+                "rod_tip_xy": [
+                  0.2776747676799689,
+                  -0.3886411060534486
+                ],
+                "target_mouth_xy": [
+                  0.2796219169426563,
+                  -0.38969717474813553
+                ],
+                "gripper_position": [
+                  0.27766408433745027,
+                  -0.3886507046141172,
+                  1.0019496222740278
+                ],
+                "rod_tip_xy_dist": 0.0022151007514517027,
+                "target_xy_drift": 8.91437456580901e-08,
+                "depth": 0.019154671948337088,
+                "bottom_clearance": 0.08028597267500714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001957832840945306,
+                  0.0010464999323937518
+                ],
+                "rod_tip_xy": [
+                  0.27766408433745027,
+                  -0.3886507046141173
+                ],
+                "target_mouth_xy": [
+                  0.2796219171783956,
+                  -0.3896972045465111
+                ],
+                "gripper_position": [
+                  0.27765593013669365,
+                  -0.38865378855627425,
+                  1.0018133418767186
+                ],
+                "rod_tip_xy_dist": 0.0022199710677358155,
+                "target_xy_drift": 1.1893767417785321e-07,
+                "depth": 0.01931022701665619,
+                "bottom_clearance": 0.08013040846929076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001966021446435484,
+                  0.0010433560095574612
+                ],
+                "rod_tip_xy": [
+                  0.27765593013669365,
+                  -0.3886537885562743
+                ],
+                "target_mouth_xy": [
+                  0.27962195158312914,
+                  -0.38969714456583177
+                ],
+                "gripper_position": [
+                  0.2776478199701889,
+                  -0.3886570681336633,
+                  1.0016769615070598
+                ],
+                "rod_tip_xy_dist": 0.0022257205778183258,
+                "target_xy_drift": 6.775138408245441e-08,
+                "depth": 0.019446592931240514,
+                "bottom_clearance": 0.07999407904585565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001974068328544021,
+                  0.0010401100892742932
+                ],
+                "rod_tip_xy": [
+                  0.2776478199701889,
+                  -0.3886570681336633
+                ],
+                "target_mouth_xy": [
+                  0.2796218882987329,
+                  -0.3896971782229376
+                ],
+                "gripper_position": [
+                  0.2776397270278872,
+                  -0.38865993490366263,
+                  1.0015401977788974
+                ],
+                "rod_tip_xy_dist": 0.0022313168227687348,
+                "target_xy_drift": 9.73154425584652e-08,
+                "depth": 0.019582847150843352,
+                "bottom_clearance": 0.07985772596216612,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006013636236321016,
+              "rod_tip_xy_max_step": 3.264796615975004e-05,
+              "rod_tip_xy_range": 0.0006013575168897585,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2771640334709502,
+            -0.3900905394265892,
+            1.0434696657132205
+          ],
+          "object_origin_world": [
+            0.2771640334709502,
+            -0.3900905394265892,
+            1.0434696657132205
+          ],
+          "frame_world": [
+            0.27716267463826083,
+            -0.39009933679243186,
+            1.0433463516054937
+          ],
+          "center_minus_frame": [
+            1.3588326893687608e-06,
+            8.797365842638794e-06,
+            0.00012331410772681295
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26281823084966693,
+              0.1353839283564187,
+              0.8338309552799748
+            ],
+            "target_position": [
+              0.2743957105648145,
+              0.18091559140878555,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04698053189214573,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16665207811447652,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338309552799748,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674804777091,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13540871880602565,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2192081043374619,
+              -0.12677646900105402,
+              1.0451479094292462
+            ],
+            "current_z": 1.0451479094292462,
+            "required_z": 0.8565863834305106,
+            "initial_z": 0.7565863834305107,
+            "lift_margin": 0.18856152599873555,
+            "gripper_z": 1.0489114428533928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21499603550614624,
+              -0.1310759138874889,
+              1.0489114428533928
+            ],
+            "object_minus_gripper": [
+              0.0042120688313156684,
+              0.004299444886434883,
+              -0.0037635334241465923
+            ],
+            "object_to_gripper_xy": 0.00601886618651985,
+            "object_to_gripper_z": -0.0037635334241465923,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2192081043374619,
+              -0.15076023005821793,
+              1.0451479094292462
+            ],
+            "finger_b": [
+              0.20854145156009674,
+              -0.12677646900105402,
+              1.0451479094292462
+            ],
+            "finger_midpoint": [
+              0.21387477794877932,
+              -0.13876834952963596,
+              1.0451479094292462
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053333263886825855,
+              0.011991880528581939,
+              0.0
+            ],
+            "finger_gap": 0.026248776655684432,
+            "fingertip_max_gap": 0.09176831068531183,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013124388327842204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451479094292462,
+            "object_top_z": 1.0905906383491017,
+            "finger_top_clearance": 0.04544272891985557,
+            "fingertip_min_top_clearance": 0.013632818675956686,
+            "object_projection_between_fingers": 0.8348653611346885,
+            "object_to_finger_line_xy": 0.009746223789696432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048384155342655916,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1381425310320494,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22430634403099722,
+              -0.1263908871446386,
+              1.2428583386597056
+            ],
+            "held_position": [
+              0.22878598657413157,
+              -0.1222004533880726,
+              1.2392847523432502
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007099116250885345,
+            "max_held_gripper_dist": 0.007104012631036489,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003573586316455435,
+            "max_held_gripper_z_dist": 0.003776826945270262,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577692376969731,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22878598657413157,
+              -0.1468477508143645,
+              1.2392847523432502
+            ],
+            "held_grasp_finger_b": [
+              0.22027827690088253,
+              -0.1222004533880726,
+              1.2392847523432502
+            ],
+            "held_grasp_midpoint": [
+              0.22453213173750705,
+              -0.13452410210121854,
+              1.2392847523432502
+            ],
+            "held_grasp_object_position": [
+              0.22878598657413157,
+              -0.1222004533880726,
+              1.2392847523432502
+            ],
+            "held_grasp_finger_gap": 0.026074324426615354,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02405043345484025,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0596543426739711,
+              -0.9963751748644993,
+              -0.060645447593985255
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035913873185863263,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.032668007950813774,
+            "held_grasp_min_top_clearance": 0.013560223951935768
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19550191900985547,
+              -0.12777124073284202,
+              0.7565862765820837
+            ],
+            "target_position": [
+              0.19327792284980377,
+              -0.1292921296442514,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.002694301764979704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21932343511338054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862765820837,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753609064674523,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08689966320842908,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19080057704444459,
+            "release_required_pad_clearance": 0.05344983160421454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9130881142221103,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9122799b2366090cfc07d16c5c8d9d7748baeb46bcbad1bb65090d3ff92d7de3",
+    "visual_seed": 1933819547375265057,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 27,
+  "collection_result_filename": "episode_27_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b09b8cfd823b953274d2dd2501271c0b7b22b7c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_27_success.json
@@ -0,0 +1,2684 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2527507166082702,
+              -0.0032656708278742536,
+              1.1649001816189113
+            ],
+            "current_z": 1.1649001816189113,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.3037934351855661,
+            "gripper_z": 1.158200185295053,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2477813203774107,
+              -0.00801927483691639,
+              1.158200185295053
+            ],
+            "object_minus_gripper": [
+              0.004969396230859485,
+              0.004753604009042137,
+              0.006699996323858315
+            ],
+            "object_to_gripper_xy": 0.00687689246491916,
+            "object_to_gripper_z": 0.006699996323858315,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2527507166082702,
+              -0.02736980476194768,
+              1.1649001816189113
+            ],
+            "finger_b": [
+              0.24201444987439039,
+              -0.0032656708278742536,
+              1.1649001816189113
+            ],
+            "finger_midpoint": [
+              0.24738258324133028,
+              -0.015317737794910967,
+              1.1649001816189113
+            ],
+            "object_minus_finger_midpoint": [
+              0.00536813336693992,
+              0.012052066967036713,
+              0.0
+            ],
+            "finger_gap": 0.02638705546461682,
+            "fingertip_max_gap": 0.09121931426497581,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013193527732308415,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1649001816189113,
+            "object_top_z": 1.2149184425035133,
+            "finger_top_clearance": 0.05001826088460204,
+            "fingertip_min_top_clearance": 0.01500547826538061,
+            "object_projection_between_fingers": 0.8344516999809838,
+            "object_to_finger_line_xy": 0.00980740013422086,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810965713248791,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6298368021172815,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2804960652793509,
+              -0.3945827980493417,
+              0.8515396104664342
+            ],
+            "target_position": [
+              0.27284848940749107,
+              -0.39579547549660166,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077431261972762296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18375837024850147,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396104664342,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579709763332322,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08662141641600914,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15106599192842474,
+            "release_required_pad_clearance": 0.05331070820800457,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6394437832055828,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008481621742248535,
+            "max_z_decrease": 0.008481621742248535,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504569123409612,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008481621742248535,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02110378640162097,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008481621742248535,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008481790738862726,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12854841351509094,
+              -0.4520569443702697,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12854841351509094,
+              -0.4520569443702697,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12927485649056292,
+              -0.45390873531659415,
+              0.8035893547638596
+            ],
+            "closest_button": [
+              0.12858043611049652,
+              -0.4520279169082641,
+              0.7686010599136353
+            ],
+            "closest_ee_minus_button": [
+              0.0006944203800663962,
+              -0.0018808184083300428,
+              0.034988294850224366
+            ],
+            "button_min_z_position": [
+              0.12858447432518003,
+              -0.45201736688613886,
+              0.7683272361755371
+            ],
+            "min_active_finger_to_button": 0.1449926325120779,
+            "closest_active_finger": [
+              -0.011760681867599487,
+              -0.4398946762084961,
+              0.810792088508606
+            ],
+            "closest_active_finger_button": [
+              0.12854927778244013,
+              -0.4520545303821563,
+              0.7763230204582214
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14030995965003962,
+              0.012159854173660223,
+              0.03446906805038452
+            ],
+            "min_contact_pad_to_button": 0.02110378640162097,
+            "closest_contact_pad": [
+              0.12858447432518003,
+              -0.454926021571094,
+              0.7892296171023342
+            ],
+            "closest_contact_pad_button": [
+              0.12858447432518003,
+              -0.45201736688613886,
+              0.7683272361755371
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029086546849551587,
+              0.02090238092679708
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26920217963078386,
+              0.17521022634548314,
+              1.104128547231559
+            ],
+            "current_z": 1.104128547231559,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1942194174971964,
+            "gripper_z": 1.1041283897733625,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26920214644486556,
+              0.17521020984069444,
+              1.1041283897733625
+            ],
+            "object_minus_gripper": [
+              3.318591829115647e-08,
+              1.6504788702409456e-08,
+              1.5745819648138593e-07
+            ],
+            "object_to_gripper_xy": 3.706363747581309e-08,
+            "object_to_gripper_z": 1.5745819648138593e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26920217963078386,
+              0.17521022634548314,
+              1.104128547231559
+            ],
+            "finger_b": [
+              0.26920217963078386,
+              0.17521022634548314,
+              1.104128547231559
+            ],
+            "finger_midpoint": [
+              0.26920217963078386,
+              0.17521022634548314,
+              1.104128547231559
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.104128547231559,
+            "object_top_z": 1.2291370538518387,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26920217963078386,
+            0.1752102263454832,
+            1.1041285472315592
+          ],
+          "object_origin_world": [
+            0.26920217963078386,
+            0.1752102263454832,
+            1.1041285472315592
+          ],
+          "frame_world": [
+            0.26920214644486556,
+            0.17521020984069444,
+            1.1041283897733625
+          ],
+          "center_minus_frame": [
+            3.318591829115647e-08,
+            1.6504788757920608e-08,
+            1.5745819670343053e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436533399157009,
+            "required_z": 0.9112598598900228,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0008156622870680661,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.313478875345145e-08,
+            "max_target_xy_drift": 4.0961480508397224e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6394437833812316,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.63944378398244,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28101292923930443,
+              -0.3939760292004435,
+              0.9233598615693844
+            ],
+            "target_mouth_xy": [
+              0.2804960651035257,
+              -0.39458273904709
+            ],
+            "rod_tip_z": 0.9233598615693844,
+            "rod_tip_depth": -0.022099959962400884,
+            "rod_tip_bottom_clearance": 0.12154053789509234,
+            "rod_tip_xy_dist": 0.0007970228182882388,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04505890297684978,
+            "min_rod_tip_bottom_clearance": 0.05438170690620492,
+            "min_rod_tip_xy_dist": 0.000591510690552922,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.280496064623156,
+              -0.39458280218005126
+            ],
+            "target_mouth_xy_delta_from_start": [
+              4.80369688471427e-10,
+              6.313296124771384e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0009529496736472298,
+                0.0023411782172786944
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008742488579563945,
+                0.0019641909633884014
+              ],
+              "first_target_mouth_xy": [
+                0.28049603445030113,
+                -0.39458277013343684
+              ],
+              "last_target_mouth_xy": [
+                0.28049606462460536,
+                -0.39458274096985824
+              ],
+              "first_rod_tip_xy": [
+                0.28144898412394836,
+                -0.39224159191615815
+              ],
+              "last_rod_tip_xy": [
+                0.28137031348256175,
+                -0.39261855000646984
+              ],
+              "min_rod_tip_xy_dist": 0.002149966791905102,
+              "max_rod_tip_xy_dist": 0.002527692332061916,
+              "first_target_xy_drift": 4.4015754762612717e-08,
+              "last_target_xy_drift": 6.121019304245499e-08,
+              "max_depth": 0.019576366559030833,
+              "min_bottom_clearance": 0.07986417857185824
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0009529496736472298,
+                  0.0023411782172786944
+                ],
+                "rod_tip_xy": [
+                  0.28144898412394836,
+                  -0.39224159191615815
+                ],
+                "target_mouth_xy": [
+                  0.28049603445030113,
+                  -0.39458277013343684
+                ],
+                "gripper_position": [
+                  0.28143909391595034,
+                  -0.3922512030260435,
+                  1.005850123907318
+                ],
+                "rod_tip_xy_dist": 0.002527692332061916,
+                "target_xy_drift": 4.4015754762612717e-08,
+                "depth": 0.015250420513483687,
+                "bottom_clearance": 0.08419008783147397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.000943059486757658,
+                  0.002331506233351932
+                ],
+                "rod_tip_xy": [
+                  0.28143909391595034,
+                  -0.39225120302604355
+                ],
+                "target_mouth_xy": [
+                  0.2804960344291927,
+                  -0.3945827092593955
+                ],
+                "gripper_position": [
+                  0.2814313655672807,
+                  -0.39225558673353367,
+                  1.0057100244808086
+                ],
+                "rod_tip_xy_dist": 0.0025150114337160637,
+                "target_xy_drift": 9.770324299789752e-08,
+                "depth": 0.015409711324036013,
+                "bottom_clearance": 0.08403083341718454,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0009353002002405186,
+                  0.0023271558137281656
+                ],
+                "rod_tip_xy": [
+                  0.28143136556728066,
+                  -0.39225558673353367
+                ],
+                "target_mouth_xy": [
+                  0.28049606536704014,
+                  -0.39458274254726183
+                ],
+                "gripper_position": [
+                  0.2814426797681259,
+                  -0.392325877901255,
+                  1.0051726158661136
+                ],
+                "rod_tip_xy_dist": 0.0025080750877792225,
+                "target_xy_drift": 5.96374290075365e-08,
+                "depth": 0.01554990082296237,
+                "bottom_clearance": 0.08389072818202659,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009466461069644883,
+                  0.0022568624469528342
+                ],
+                "rod_tip_xy": [
+                  0.28144267976812587,
+                  -0.39232587790125517
+                ],
+                "target_mouth_xy": [
+                  0.2804960336611614,
+                  -0.394582740348208
+                ],
+                "gripper_position": [
+                  0.28143243058384637,
+                  -0.3923357507607524,
+                  1.0050135269724403
+                ],
+                "rod_tip_xy_dist": 0.0024473591800749143,
+                "target_xy_drift": 6.915071910163741e-08,
+                "depth": 0.01608714486139673,
+                "bottom_clearance": 0.08335335195401383,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009363649958469278,
+                  0.002246958484065087
+                ],
+                "rod_tip_xy": [
+                  0.28143243058384637,
+                  -0.39233575076075244
+                ],
+                "target_mouth_xy": [
+                  0.28049606558799944,
+                  -0.39458270924481753
+                ],
+                "gripper_position": [
+                  0.28142477213262207,
+                  -0.39233964927889975,
+                  1.0048732607491333
+                ],
+                "rod_tip_xy_dist": 0.002434255909833535,
+                "target_xy_drift": 9.294024204537787e-08,
+                "depth": 0.01624637824965014,
+                "bottom_clearance": 0.08319421782493996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009287401477672819,
+                  0.002243090462977493
+                ],
+                "rod_tip_xy": [
+                  0.281424772132622,
+                  -0.39233964927889986
+                ],
+                "target_mouth_xy": [
+                  0.28049603198485473,
+                  -0.39458273974187735
+                ],
+                "gripper_position": [
+                  0.28143681039919266,
+                  -0.3924111378473319,
+                  1.004338433656675
+                ],
+                "rod_tip_xy_dist": 0.002427758861002339,
+                "target_xy_drift": 7.045412884834489e-08,
+                "depth": 0.016386617280307436,
+                "bottom_clearance": 0.08305395756594935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009407453935645904,
+                  0.002171604078993805
+                ],
+                "rod_tip_xy": [
+                  0.2814368103991926,
+                  -0.39241113784733206
+                ],
+                "target_mouth_xy": [
+                  0.280496065005628,
+                  -0.39458274192632586
+                ],
+                "gripper_position": [
+                  0.2814265648232748,
+                  -0.39242082823709434,
+                  1.0041796027552343
+                ],
+                "rod_tip_xy_dist": 0.0023666149182779038,
+                "target_xy_drift": 6.025493929267632e-08,
+                "depth": 0.016921418040330427,
+                "bottom_clearance": 0.0825191752206863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0009305601381893736,
+                  0.0021618813546108173
+                ],
+                "rod_tip_xy": [
+                  0.2814265648232748,
+                  -0.39242082823709445
+                ],
+                "target_mouth_xy": [
+                  0.28049600468508545,
+                  -0.39458270959170527
+                ],
+                "gripper_position": [
+                  0.2814186558769043,
+                  -0.3924244974071922,
+                  1.0040397794253604
+                ],
+                "rod_tip_xy_dist": 0.0023536510281264994,
+                "target_xy_drift": 1.1029584813549317e-07,
+                "depth": 0.017080286505655295,
+                "bottom_clearance": 0.08236024818228838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009226206922132163,
+                  0.002158243564867046
+                ],
+                "rod_tip_xy": [
+                  0.28141865587690423,
+                  -0.3924244974071923
+                ],
+                "target_mouth_xy": [
+                  0.280496035184691,
+                  -0.39458274097205936
+                ],
+                "gripper_position": [
+                  0.28141071776682675,
+                  -0.39242831769604186,
+                  1.0039000629387909
+                ],
+                "rod_tip_xy_dist": 0.002347177928276851,
+                "target_xy_drift": 6.79193749498482e-08,
+                "depth": 0.017220055299768222,
+                "bottom_clearance": 0.08222050421340221,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009146545240652504,
+                  0.0021543890461150905
+                ],
+                "rod_tip_xy": [
+                  0.2814107177668267,
+                  -0.3924283176960419
+                ],
+                "target_mouth_xy": [
+                  0.28049606324276144,
+                  -0.394582706742157
+                ],
+                "gripper_position": [
+                  0.2814240900604853,
+                  -0.39250208250233226,
+                  1.0033673430887813
+                ],
+                "rod_tip_xy_dist": 0.002340509572809673,
+                "target_xy_drift": 9.544787660735208e-08,
+                "depth": 0.01735982427109739,
+                "bottom_clearance": 0.08208080378057636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000928027237897977,
+                  0.002080657228927474
+                ],
+                "rod_tip_xy": [
+                  0.28142409006048524,
+                  -0.39250208250233243
+                ],
+                "target_mouth_xy": [
+                  0.28049606282258727,
+                  -0.3945827397312599
+                ],
+                "gripper_position": [
+                  0.28141373280515203,
+                  -0.39251143776107683,
+                  1.0032082456308116
+                ],
+                "rod_tip_xy_dist": 0.0022782381479048023,
+                "target_xy_drift": 6.247474361840096e-08,
+                "depth": 0.01789250301589307,
+                "bottom_clearance": 0.08154803130764121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.000917669179334557,
+                  0.002071302592788371
+                ],
+                "rod_tip_xy": [
+                  0.281413732805152,
+                  -0.3925114377610769
+                ],
+                "target_mouth_xy": [
+                  0.2804960636258174,
+                  -0.39458274035386526
+                ],
+                "gripper_position": [
+                  0.2814057053469326,
+                  -0.3925150465745075,
+                  1.0030686743668171
+                ],
+                "rod_tip_xy_dist": 0.0022654825432106927,
+                "target_xy_drift": 6.183422967987226e-08,
+                "depth": 0.018051569940498613,
+                "bottom_clearance": 0.08138892100575079,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009096392511793172,
+                  0.002067692455734349
+                ],
+                "rod_tip_xy": [
+                  0.2814057053469326,
+                  -0.39251504657450753
+                ],
+                "target_mouth_xy": [
+                  0.2804960660957533,
+                  -0.3945827390302419
+                ],
+                "gripper_position": [
+                  0.2813976113870358,
+                  -0.39251885556282123,
+                  1.0029290069384875
+                ],
+                "rod_tip_xy_dist": 0.0022589368425847615,
+                "target_xy_drift": 6.316697687601912e-08,
+                "depth": 0.018191234951506652,
+                "bottom_clearance": 0.08124938076252686,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009015490960236905,
+                  0.002063888305070427
+                ],
+                "rod_tip_xy": [
+                  0.28139761138703573,
+                  -0.3925188555628213
+                ],
+                "target_mouth_xy": [
+                  0.28049606229101204,
+                  -0.3945827438678917
+                ],
+                "gripper_position": [
+                  0.28138953105019976,
+                  -0.3925224739274299,
+                  1.0027893059718997
+                ],
+                "rod_tip_xy_dist": 0.002252204632875888,
+                "target_xy_drift": 5.835877694388687e-08,
+                "depth": 0.01833091442413981,
+                "bottom_clearance": 0.08110975577630863,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.000893497126758791,
+                  0.0020602632371706786
+                ],
+                "rod_tip_xy": [
+                  0.2813895310501997,
+                  -0.39252247392743
+                ],
+                "target_mouth_xy": [
+                  0.2804960339234409,
+                  -0.3945827371646007
+                ],
+                "gripper_position": [
+                  0.28140518200403164,
+                  -0.39259862292618847,
+                  1.0022612322170377
+                ],
+                "rod_tip_xy_dist": 0.002245667322192497,
+                "target_xy_drift": 7.189910515015709e-08,
+                "depth": 0.018470559801168185,
+                "bottom_clearance": 0.08097003585556795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0009091781500637497,
+                  0.0019841491407827094
+                ],
+                "rod_tip_xy": [
+                  0.28140518200403164,
+                  -0.3925986229261885
+                ],
+                "target_mouth_xy": [
+                  0.2804960038539679,
+                  -0.39458277206697123
+                ],
+                "gripper_position": [
+                  0.28139462917579366,
+                  -0.3926080959813682,
+                  1.0021021977013511
+                ],
+                "rod_tip_xy_dist": 0.0021825335556233966,
+                "target_xy_drift": 6.782102781853292e-08,
+                "depth": 0.01899862413911746,
+                "bottom_clearance": 0.08044194337917576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.000898567288659613,
+                  0.001974639956097257
+                ],
+                "rod_tip_xy": [
+                  0.2813946291757936,
+                  -0.39260809598136825
+                ],
+                "target_mouth_xy": [
+                  0.280496061887134,
+                  -0.3945827359374655
+                ],
+                "gripper_position": [
+                  0.2813866085499086,
+                  -0.39261168818614994,
+                  1.0019629138622193
+                ],
+                "rod_tip_xy_dist": 0.0021694760032009725,
+                "target_xy_drift": 6.629906472453022e-08,
+                "depth": 0.019157741856303256,
+                "bottom_clearance": 0.08028296075010488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008905463309755723,
+                  0.0019710515442196153
+                ],
+                "rod_tip_xy": [
+                  0.28138660854990855,
+                  -0.39261168818615
+                ],
+                "target_mouth_xy": [
+                  0.280496062218933,
+                  -0.3945827397303696
+                ],
+                "gripper_position": [
+                  0.28137835810483625,
+                  -0.39261520719472054,
+                  1.0018232319485572
+                ],
+                "rod_tip_xy_dist": 0.0021628955031588056,
+                "target_xy_drift": 6.24959440795542e-08,
+                "depth": 0.0192968913700714,
+                "bottom_clearance": 0.08014366682277163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008822930711326338,
+                  0.0019675020646520713
+                ],
+                "rod_tip_xy": [
+                  0.2813783581048362,
+                  -0.39261520719472065
+                ],
+                "target_mouth_xy": [
+                  0.28049606503370356,
+                  -0.3945827092593727
+                ],
+                "gripper_position": [
+                  0.2813703134825618,
+                  -0.3926185500064698,
+                  1.001683524660106
+                ],
+                "rod_tip_xy_dist": 0.002156271188366347,
+                "target_xy_drift": 9.292158548856925e-08,
+                "depth": 0.01943660926858748,
+                "bottom_clearance": 0.08000396551171052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0008742488579563945,
+                  0.0019641909633884014
+                ],
+                "rod_tip_xy": [
+                  0.28137031348256175,
+                  -0.39261855000646984
+                ],
+                "target_mouth_xy": [
+                  0.28049606462460536,
+                  -0.39458274096985824
+                ],
+                "gripper_position": [
+                  0.2813620295999533,
+                  -0.3926223179689935,
+                  1.0015443862254867
+                ],
+                "rod_tip_xy_dist": 0.002149966791905102,
+                "target_xy_drift": 6.121019304245499e-08,
+                "depth": 0.019576366559030833,
+                "bottom_clearance": 0.07986417857185824,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006018874736462226,
+              "rod_tip_xy_max_step": 3.2644505875529164e-05,
+              "rod_tip_xy_range": 0.0006018811097745081,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28101292923930443,
+            -0.39397602920044344,
+            1.0433598615693844
+          ],
+          "object_origin_world": [
+            0.28101292923930443,
+            -0.39397602920044344,
+            1.0433598615693844
+          ],
+          "frame_world": [
+            0.2810369159652314,
+            -0.3939721775743968,
+            1.0436533399157009
+          ],
+          "center_minus_frame": [
+            -2.398672592696105e-05,
+            -3.851626046658119e-06,
+            -0.00029347834631643366
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2587386829382692,
+              0.12775539208784495,
+              0.8332977340883756
+            ],
+            "target_position": [
+              0.2692916427244047,
+              0.17446579685921354,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04788764845085721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16732930530390547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332977340883756,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671511387835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13758103384204698,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2233663401218359,
+              -0.12687184259503853,
+              1.0470722492953342
+            ],
+            "current_z": 1.0470722492953342,
+            "required_z": 0.8565863679160237,
+            "initial_z": 0.7565863679160237,
+            "lift_margin": 0.19048588137931044,
+            "gripper_z": 1.051174957558827,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21882241769627714,
+              -0.13133801657351563,
+              1.051174957558827
+            ],
+            "object_minus_gripper": [
+              0.004543922425558761,
+              0.004466173978477095,
+              -0.004102708263492794
+            ],
+            "object_to_gripper_xy": 0.006371337458926637,
+            "object_to_gripper_z": -0.004102708263492794,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2233663401218359,
+              -0.15111493276150428,
+              1.0470722492953342
+            ],
+            "finger_b": [
+              0.21250963950891386,
+              -0.12687184259503853,
+              1.0470722492953342
+            ],
+            "finger_midpoint": [
+              0.21793798981537488,
+              -0.1389933876782714,
+              1.0470722492953342
+            ],
+            "object_minus_finger_midpoint": [
+              0.005428350306461022,
+              0.012121545083232876,
+              0.0
+            ],
+            "finger_gap": 0.02656304517592082,
+            "fingertip_max_gap": 0.09199100220432413,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328152258796041,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470722492953342,
+            "object_top_z": 1.0925074234718855,
+            "finger_top_clearance": 0.045435174176551296,
+            "fingertip_min_top_clearance": 0.013630552252965389,
+            "object_projection_between_fingers": 0.8329524917904991,
+            "object_to_finger_line_xy": 0.009908501458559506,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849550110216207,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3611714385938845,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23008907818580226,
+              -0.12547624649259712,
+              1.2436368151593347
+            ],
+            "held_position": [
+              0.234918627512671,
+              -0.12106721828811615,
+              1.2398088453293878
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007577428945727574,
+            "max_held_gripper_dist": 0.007579232955387234,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00382796982994682,
+            "max_held_gripper_z_dist": 0.00411403865708726,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08572678608987377,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.234918627512671,
+              -0.14574953694100634,
+              1.2398088453293878
+            ],
+            "held_grasp_finger_b": [
+              0.22623345420711855,
+              -0.12106721828811615,
+              1.2398088453293878
+            ],
+            "held_grasp_midpoint": [
+              0.23057604085989478,
+              -0.13340837761456126,
+              1.2398088453293878
+            ],
+            "held_grasp_object_position": [
+              0.234918627512671,
+              -0.12106721828811615,
+              1.2398088453293878
+            ],
+            "held_grasp_finger_gap": 0.026165799995992715,
+            "held_grasp_max_gap": 0.12496581435203552,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02407210955368979,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05666062397389064,
+              -0.9952151269883798,
+              -0.07960166269866908
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037692739833213025,
+            "held_grasp_line_xy_max_dist": 0.04748290717601776,
+            "held_grasp_object_top_z": 0.0452006533741951,
+            "held_grasp_top_clearance": 0.032672491258536225,
+            "held_grasp_min_top_clearance": 0.01356019601225853
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18951958597668067,
+              -0.12810382197217127,
+              0.756587002838845
+            ],
+            "target_position": [
+              0.19640538259472803,
+              -0.13020975992928582,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0072006367596434365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20965701852223664,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587002838845,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545017570579529,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0932002879336324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18215376693757823,
+            "release_required_pad_clearance": 0.0566001439668162,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.591193517772684,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29d20120e3c31a949fdad90c3ba377521b4df10fc5e16a220ddd4ea9fb0358f0",
+    "visual_seed": 5521889308711235779,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 28,
+  "collection_result_filename": "episode_28_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3391b2246dbd9d1451b359ca3a0387932430ea28
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_29_success.json
@@ -0,0 +1,2678 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25237711265410245,
+              -5.2940553189036264e-05,
+              1.1636532699928694
+            ],
+            "current_z": 1.1636532699928694,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.3025465235595246,
+            "gripper_z": 1.1570934559399797,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24740815056875415,
+              -0.004937062703942147,
+              1.1570934559399797
+            ],
+            "object_minus_gripper": [
+              0.004968962085348305,
+              0.004884122150753111,
+              0.006559814052889745
+            ],
+            "object_to_gripper_xy": 0.006967440949811212,
+            "object_to_gripper_z": 0.006559814052889745,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25237711265410245,
+              -0.023988679743524068,
+              1.1636532699928694
+            ],
+            "finger_b": [
+              0.2412176464921527,
+              -5.2940553189036264e-05,
+              1.1636532699928694
+            ],
+            "finger_midpoint": [
+              0.24679737957312758,
+              -0.012020810148356553,
+              1.1636532699928694
+            ],
+            "object_minus_finger_midpoint": [
+              0.005579733080974869,
+              0.011967869595167517,
+              0.0
+            ],
+            "finger_gap": 0.026409341067270914,
+            "fingertip_max_gap": 0.09124273566680058,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013204670533635453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1636532699928694,
+            "object_top_z": 1.2136321243471793,
+            "finger_top_clearance": 0.04997885435430982,
+            "fingertip_min_top_clearance": 0.014993656306292912,
+            "object_projection_between_fingers": 0.821445126427799,
+            "object_to_finger_line_xy": 0.01011422704093242,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812136783340029,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6365060682638742,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2845835605602334,
+              -0.38959185169661226,
+              0.8515394990715853
+            ],
+            "target_position": [
+              0.2763734168460789,
+              -0.3910708916557408,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008342302979859282,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18546785221295434,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394990715853,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542652119516663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542774431382193,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538131503858228,
+            "release_required_pad_clearance": 0.052713872156910965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4813254816558224,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00822514295578003,
+            "max_z_decrease": 0.00822514295578003,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502886462418337,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00822514295578003,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020959364785810786,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00822514295578003,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008225245875692037,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13207334280014035,
+              -0.4473323523998261,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13207334280014035,
+              -0.4473323523998261,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13344580737790904,
+              -0.44793134976552157,
+              0.8035810992876599
+            ],
+            "closest_button": [
+              0.13210107386112208,
+              -0.4473019540309906,
+              0.7685837149620056
+            ],
+            "closest_ee_minus_button": [
+              0.0013447335167869612,
+              -0.0006293957345309686,
+              0.034997384325654246
+            ],
+            "button_min_z_position": [
+              0.13210107386112208,
+              -0.4473019540309906,
+              0.7685837149620056
+            ],
+            "min_active_finger_to_button": 0.1444122777527302,
+            "closest_active_finger": [
+              -0.0074507445096969604,
+              -0.433026522397995,
+              0.8109667301177979
+            ],
+            "closest_active_finger_button": [
+              0.13207380473613736,
+              -0.44733032584190374,
+              0.7765689492225647
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13952454924583432,
+              0.014303803443908747,
+              0.034397780895233154
+            ],
+            "min_contact_pad_to_button": 0.020959364785810786,
+            "closest_contact_pad": [
+              0.13210107386112208,
+              -0.44900816604389443,
+              0.7894735166075864
+            ],
+            "closest_contact_pad_button": [
+              0.13210107386112208,
+              -0.4473019540309906,
+              0.7685837149620056
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017062120129038294,
+              0.02088980164558074
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2682658033793907,
+              0.18146854549731994,
+              1.1011284456505122
+            ],
+            "current_z": 1.1011284456505122,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1912193159161496,
+            "gripper_z": 1.1011287484777328,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26826575163543187,
+              0.1814685463496379,
+              1.1011287484777328
+            ],
+            "object_minus_gripper": [
+              5.174395883988936e-08,
+              -8.523179662045521e-10,
+              -3.0282722063290635e-07
+            ],
+            "object_to_gripper_xy": 5.1750977984378996e-08,
+            "object_to_gripper_z": -3.0282722063290635e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2682658033793907,
+              0.18146854549731994,
+              1.1011284456505122
+            ],
+            "finger_b": [
+              0.2682658033793907,
+              0.18146854549731994,
+              1.1011284456505122
+            ],
+            "finger_midpoint": [
+              0.2682658033793907,
+              0.18146854549731994,
+              1.1011284456505122
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1011284456505122,
+            "object_top_z": 1.226136952270792,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26826580337939077,
+            0.18146854549731997,
+            1.1011284456505124
+          ],
+          "object_origin_world": [
+            0.26826580337939077,
+            0.18146854549731997,
+            1.1011284456505124
+          ],
+          "frame_world": [
+            0.26826575163543187,
+            0.1814685463496379,
+            1.1011287484777328
+          ],
+          "center_minus_frame": [
+            5.174395889540051e-08,
+            -8.523179384489765e-10,
+            -3.0282722041086174e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436454233377104,
+            "required_z": 0.9112599011700552,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017877112318726172,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9662031701473102e-08,
+            "max_target_xy_drift": 5.700193647399415e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.48132548237442363,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.48294884699614804,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2828799416697273,
+              -0.38898255677436644,
+              0.923350956807954
+            ],
+            "target_mouth_xy": [
+              0.28458361966724466,
+              -0.389591790199578
+            ],
+            "rod_tip_z": 0.923350956807954,
+            "rod_tip_depth": -0.022091139433815576,
+            "rod_tip_bottom_clearance": 0.1215316452592049,
+            "rod_tip_xy_dist": 0.0018093324972541097,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04524325492913317,
+            "min_rod_tip_bottom_clearance": 0.05419728639366739,
+            "min_rod_tip_xy_dist": 0.001293788142077471,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2845836228505674,
+              -0.38959181969029827
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.183322716537873e-09,
+              2.9490720254710112e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0011744821349660706,
+                0.0023912670133039993
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012700687256048115,
+                0.002011053989739553
+              ],
+              "first_target_mouth_xy": [
+                0.28458361552769573,
+                -0.38959235890855076
+              ],
+              "last_target_mouth_xy": [
+                0.28458361340641525,
+                -0.38959232910170505
+              ],
+              "first_rod_tip_xy": [
+                0.28340913339272966,
+                -0.38720109189524676
+              ],
+              "last_rod_tip_xy": [
+                0.28331354468081044,
+                -0.3875812751119655
+              ],
+              "min_rod_tip_xy_dist": 0.002375059003188145,
+              "max_rod_tip_xy_dist": 0.002664125787996935,
+              "first_target_xy_drift": 5.392679744533069e-07,
+              "last_target_xy_drift": 5.094989434398941e-07,
+              "max_depth": 0.019404323344222152,
+              "min_bottom_clearance": 0.08003622881140904
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0011744821349660706,
+                  0.0023912670133039993
+                ],
+                "rod_tip_xy": [
+                  0.28340913339272966,
+                  -0.38720109189524676
+                ],
+                "target_mouth_xy": [
+                  0.28458361552769573,
+                  -0.38959235890855076
+                ],
+                "gripper_position": [
+                  0.28339913417616625,
+                  -0.38721057680637744,
+                  1.006007991941246
+                ],
+                "rod_tip_xy_dist": 0.002664125787996935,
+                "target_xy_drift": 5.392679744533069e-07,
+                "depth": 0.015093432107229687,
+                "bottom_clearance": 0.08434710029571091,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0011843937084269895,
+                  0.002381271081611569
+                ],
+                "rod_tip_xy": [
+                  0.2833991341761662,
+                  -0.3872105768063775
+                ],
+                "target_mouth_xy": [
+                  0.2845835278845932,
+                  -0.38959184788798906
+                ],
+                "gripper_position": [
+                  0.28339144829809604,
+                  -0.38721443853516246,
+                  1.0058682976412556
+                ],
+                "rod_tip_xy_dist": 0.0026595564330694262,
+                "target_xy_drift": 9.906384820404289e-08,
+                "depth": 0.015251909101331118,
+                "bottom_clearance": 0.08418871017182361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001192136555110579,
+                  0.0023778883394727224
+                ],
+                "rod_tip_xy": [
+                  0.283391448298096,
+                  -0.38721443853516246
+                ],
+                "target_mouth_xy": [
+                  0.28458358485320656,
+                  -0.3895923268746352
+                ],
+                "gripper_position": [
+                  0.28339844183575114,
+                  -0.3872856437471273,
+                  1.005334703626583
+                ],
+                "rod_tip_xy_dist": 0.002659989195660625,
+                "target_xy_drift": 5.086056930897125e-07,
+                "depth": 0.015391486158678691,
+                "bottom_clearance": 0.08404906055790418,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001185146323667119,
+                  0.002306175295394508
+                ],
+                "rod_tip_xy": [
+                  0.2833984418357511,
+                  -0.3872856437471274
+                ],
+                "target_mouth_xy": [
+                  0.2845835881594182,
+                  -0.3895918190425219
+                ],
+                "gripper_position": [
+                  0.28338814484633196,
+                  -0.387295049134576,
+                  1.0051761443683045
+                ],
+                "rod_tip_xy_dist": 0.0025928779958936813,
+                "target_xy_drift": 3.4697196505889064e-08,
+                "depth": 0.01592515977387332,
+                "bottom_clearance": 0.08351539949586717,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001195439967224543,
+                  0.002297279330344071
+                ],
+                "rod_tip_xy": [
+                  0.28338814484633196,
+                  -0.387295049134576
+                ],
+                "target_mouth_xy": [
+                  0.2845835848135565,
+                  -0.3895923284649201
+                ],
+                "gripper_position": [
+                  0.28338028286561995,
+                  -0.38729888002781304,
+                  1.0050368338300353
+                ],
+                "rod_tip_xy_dist": 0.0025897044304058945,
+                "target_xy_drift": 5.101945021319501e-07,
+                "depth": 0.016083611853201618,
+                "bottom_clearance": 0.08335687911518297,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012033044095127177,
+                  0.0022934798394245726
+                ],
+                "rod_tip_xy": [
+                  0.28338028286561995,
+                  -0.3872988800278131
+                ],
+                "target_mouth_xy": [
+                  0.28458358727513267,
+                  -0.38959235986723767
+                ],
+                "gripper_position": [
+                  0.2833725979303448,
+                  -0.38730249952822143,
+                  1.0048974027871178
+                ],
+                "rod_tip_xy_dist": 0.002589979010687097,
+                "target_xy_drift": 5.413471505561537e-07,
+                "depth": 0.01622308132555661,
+                "bottom_clearance": 0.08321754485850419,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0012109852486870687,
+                  0.0022898292478701343
+                ],
+                "rod_tip_xy": [
+                  0.2833725979303448,
+                  -0.3873024995282215
+                ],
+                "target_mouth_xy": [
+                  0.2845835831790319,
+                  -0.3895923287760916
+                ],
+                "gripper_position": [
+                  0.28338111251029524,
+                  -0.3873764693902633,
+                  1.0043634217068287
+                ],
+                "rod_tip_xy_dist": 0.0025903287932112374,
+                "target_xy_drift": 5.10629195918314e-07,
+                "depth": 0.016362404899300742,
+                "bottom_clearance": 0.08307815223065096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0012024716981660077,
+                  0.002215889831355844
+                ],
+                "rod_tip_xy": [
+                  0.2833811125102952,
+                  -0.3873764693902634
+                ],
+                "target_mouth_xy": [
+                  0.2845835842084612,
+                  -0.3895923592216192
+                ],
+                "gripper_position": [
+                  0.28337060948722037,
+                  -0.38738591739344824,
+                  1.0042044246876594
+                ],
+                "rod_tip_xy_dist": 0.0025211318746936806,
+                "target_xy_drift": 5.40913355963559e-07,
+                "depth": 0.01689642533515523,
+                "bottom_clearance": 0.08254411461274735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001213003732232043,
+                  0.0022064107483174
+                ],
+                "rod_tip_xy": [
+                  0.2833706094872203,
+                  -0.3873859173934484
+                ],
+                "target_mouth_xy": [
+                  0.28458361321945236,
+                  -0.3895923281417658
+                ],
+                "gripper_position": [
+                  0.2833627107084047,
+                  -0.3873893231235761,
+                  1.0040656409294688
+                ],
+                "rod_tip_xy_dist": 0.002517861482428971,
+                "target_xy_drift": 5.085426759085616e-07,
+                "depth": 0.017055379756570344,
+                "bottom_clearance": 0.0823851761330866,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012208784007745055,
+                  0.0022024971931106085
+                ],
+                "rod_tip_xy": [
+                  0.28336271070840463,
+                  -0.3873893231235762
+                ],
+                "target_mouth_xy": [
+                  0.28458358910917914,
+                  -0.3895918203166868
+                ],
+                "gripper_position": [
+                  0.28337179800019063,
+                  -0.387463777250903,
+                  1.0035348312705705
+                ],
+                "rod_tip_xy_dist": 0.002518241043891117,
+                "target_xy_drift": 3.3747202001222635e-08,
+                "depth": 0.01719418917979254,
+                "bottom_clearance": 0.082246325147734,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012118213468790828,
+                  0.0021280421162337415
+                ],
+                "rod_tip_xy": [
+                  0.2833717980001906,
+                  -0.3874637772509031
+                ],
+                "target_mouth_xy": [
+                  0.28458361934706966,
+                  -0.3895918193671368
+                ],
+                "gripper_position": [
+                  0.28336126160795294,
+                  -0.3874731223473356,
+                  1.0033766025929207
+                ],
+                "rod_tip_xy_dist": 0.0024488924486829582,
+                "target_xy_drift": 3.518370297563484e-09,
+                "depth": 0.017724928056961686,
+                "bottom_clearance": 0.0817155735504701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001222328501226777,
+                  0.0021186970186676257
+                ],
+                "rod_tip_xy": [
+                  0.2833612616079529,
+                  -0.3874731223473358
+                ],
+                "target_mouth_xy": [
+                  0.28458359010917966,
+                  -0.3895918193660034
+                ],
+                "gripper_position": [
+                  0.28335315150717955,
+                  -0.3874766512705962,
+                  1.0032375472423998
+                ],
+                "rod_tip_xy_dist": 0.002446009816378991,
+                "target_xy_drift": 3.2742993700618695e-08,
+                "depth": 0.017883220941235956,
+                "bottom_clearance": 0.08155730258722038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012304922230135795,
+                  0.002115680373033668
+                ],
+                "rod_tip_xy": [
+                  0.2833531515071795,
+                  -0.3874766512705963
+                ],
+                "target_mouth_xy": [
+                  0.28458364373019307,
+                  -0.38959233164362994
+                ],
+                "gripper_position": [
+                  0.2833450141723304,
+                  -0.387479937843678,
+                  1.0030983398852442
+                ],
+                "rod_tip_xy_dist": 0.0024474914814431492,
+                "target_xy_drift": 5.123789345586247e-07,
+                "depth": 0.018022341529606467,
+                "bottom_clearance": 0.08141828043266519,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012386000698779154,
+                  0.002112391262578006
+                ],
+                "rod_tip_xy": [
+                  0.2833450141723303,
+                  -0.3874799378436782
+                ],
+                "target_mouth_xy": [
+                  0.28458361424220824,
+                  -0.3895923291062562
+                ],
+                "gripper_position": [
+                  0.2833369318129183,
+                  -0.3874832997507954,
+                  1.0029592143090875
+                ],
+                "rod_tip_xy_dist": 0.002448739875796831,
+                "target_xy_drift": 5.094886868490421e-07,
+                "depth": 0.01816143494611422,
+                "bottom_clearance": 0.08127908494459712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012466841540861306,
+                  0.0021090284023884687
+                ],
+                "rod_tip_xy": [
+                  0.2833369318129183,
+                  -0.38748329975079543
+                ],
+                "target_mouth_xy": [
+                  0.28458361596700443,
+                  -0.3895923281531839
+                ],
+                "gripper_position": [
+                  0.2833287166722761,
+                  -0.3874866282248899,
+                  1.0028201434005826
+                ],
+                "rod_tip_xy_dist": 0.0024499433018195967,
+                "target_xy_drift": 5.085094782802315e-07,
+                "depth": 0.01830061391275506,
+                "bottom_clearance": 0.08113993223016958,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012548673744847139,
+                  0.002105670757673095
+                ],
+                "rod_tip_xy": [
+                  0.28332871667227605,
+                  -0.38748662822489
+                ],
+                "target_mouth_xy": [
+                  0.28458358404676076,
+                  -0.3895922989825631
+                ],
+                "gripper_position": [
+                  0.2833407223775941,
+                  -0.3875654793470996,
+                  1.0022920929844366
+                ],
+                "rod_tip_xy_dist": 0.0024512326424200835,
+                "target_xy_drift": 4.808604896692776e-07,
+                "depth": 0.01843969743326379,
+                "bottom_clearance": 0.08100082633461791,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001242922625381615,
+                  0.0020268196417226325
+                ],
+                "rod_tip_xy": [
+                  0.2833407223775941,
+                  -0.38756547934709973
+                ],
+                "target_mouth_xy": [
+                  0.2845836450029757,
+                  -0.38959229898882236
+                ],
+                "gripper_position": [
+                  0.28333003089776865,
+                  -0.3875750345935029,
+                  1.0021337776785781
+                ],
+                "rod_tip_xy_dist": 0.002377573240251115,
+                "target_xy_drift": 4.798101753741551e-07,
+                "depth": 0.018967725018124604,
+                "bottom_clearance": 0.08047278354062448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012536146215952892,
+                  0.002017264397432217
+                ],
+                "rod_tip_xy": [
+                  0.2833300308977686,
+                  -0.38757503459350295
+                ],
+                "target_mouth_xy": [
+                  0.2845836455193639,
+                  -0.38959229899093517
+                ],
+                "gripper_position": [
+                  0.28332179206447605,
+                  -0.38757812661304686,
+                  1.0019949156835455
+                ],
+                "rod_tip_xy_dist": 0.002375059003188145,
+                "target_xy_drift": 4.798364042771854e-07,
+                "depth": 0.01912604440522936,
+                "bottom_clearance": 0.0803144839512252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0012618212615975177,
+                  0.002014205029367888
+                ],
+                "rod_tip_xy": [
+                  0.283321792064476,
+                  -0.387578126613047
+                ],
+                "target_mouth_xy": [
+                  0.2845836133260735,
+                  -0.3895923316424149
+                ],
+                "gripper_position": [
+                  0.28331354468081044,
+                  -0.3875812751119654,
+                  1.0018554770356247
+                ],
+                "rod_tip_xy_dist": 0.0023768076902750137,
+                "target_xy_drift": 5.120407070924049e-07,
+                "depth": 0.019264991521736108,
+                "bottom_clearance": 0.08017565374781832,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012700687256048115,
+                  0.002011053989739553
+                ],
+                "rod_tip_xy": [
+                  0.28331354468081044,
+                  -0.3875812751119655
+                ],
+                "target_mouth_xy": [
+                  0.28458361340641525,
+                  -0.38959232910170505
+                ],
+                "gripper_position": [
+                  0.28330534814333375,
+                  -0.38758428422656394,
+                  1.001716964030826
+                ],
+                "rod_tip_xy_dist": 0.0023785316305247666,
+                "target_xy_drift": 5.094989434398941e-07,
+                "depth": 0.019404323344222152,
+                "bottom_clearance": 0.08003622881140904,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.000603575515162245,
+              "rod_tip_xy_max_step": 3.281767504667705e-05,
+              "rod_tip_xy_range": 0.0006035685692656921,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28287994166972735,
+            -0.3889825567743664,
+            1.043350956807954
+          ],
+          "object_origin_world": [
+            0.28287994166972735,
+            -0.3889825567743664,
+            1.043350956807954
+          ],
+          "frame_world": [
+            0.28290413708676954,
+            -0.388979213910089,
+            1.0436454233377104
+          ],
+          "center_minus_frame": [
+            -2.4195417042183198e-05,
+            -3.342864277389168e-06,
+            -0.00029446652975639864
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2563718320357324,
+              0.13534858286336748,
+              0.8334705301564528
+            ],
+            "target_position": [
+              0.2683655217712518,
+              0.1808139941334534,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04702076366276879,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16592731550272194,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334705301564528,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671877215727,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13644855308508844,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2234454001915339,
+              -0.12662633437486884,
+              1.0451413534776008
+            ],
+            "current_z": 1.0451413534776008,
+            "required_z": 0.8565863148949903,
+            "initial_z": 0.7565863148949903,
+            "lift_margin": 0.18855503858261058,
+            "gripper_z": 1.0496458729041405,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2188688726431875,
+              -0.13104975934668345,
+              1.0496458729041405
+            ],
+            "object_minus_gripper": [
+              0.004576527548346393,
+              0.00442342497181461,
+              -0.0045045194265396216
+            ],
+            "object_to_gripper_xy": 0.006364848221446174,
+            "object_to_gripper_z": -0.0045045194265396216,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2234454001915339,
+              -0.15104087356959206,
+              1.0451413534776008
+            ],
+            "finger_b": [
+              0.21286741545597518,
+              -0.12662633437486884,
+              1.0451413534776008
+            ],
+            "finger_midpoint": [
+              0.21815640782375453,
+              -0.13883360397223043,
+              1.0451413534776008
+            ],
+            "object_minus_finger_midpoint": [
+              0.005288992367779355,
+              0.012207269597361597,
+              0.0
+            ],
+            "finger_gap": 0.02660758322652378,
+            "fingertip_max_gap": 0.09863161263904269,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013303791613261876,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451413534776008,
+            "object_top_z": 1.0932144496231384,
+            "finger_top_clearance": 0.048073096145537564,
+            "fingertip_min_top_clearance": 0.014421928843661235,
+            "object_projection_between_fingers": 0.8419498132153022,
+            "object_to_finger_line_xy": 0.009706128539702881,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051815806319521346,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.293284432256446,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23070370221208056,
+              -0.12260308405362523,
+              1.2418534295017154
+            ],
+            "held_position": [
+              0.2354059751056273,
+              -0.11803582381855113,
+              1.2376256600765785
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007800337860144019,
+            "max_held_gripper_dist": 0.007802679185062558,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004227769425136918,
+            "max_held_gripper_z_dist": 0.004513526655675726,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08543228339936268,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2354059751056273,
+              -0.1424119569325341,
+              1.2376256600765785
+            ],
+            "held_grasp_finger_b": [
+              0.2262575037457298,
+              -0.11803582381855113,
+              1.2376256600765785
+            ],
+            "held_grasp_midpoint": [
+              0.23083173942567856,
+              -0.1302238903755426,
+              1.2376256600765785
+            ],
+            "held_grasp_object_position": [
+              0.2354059751056273,
+              -0.11803582381855113,
+              1.2376256600765785
+            ],
+            "held_grasp_finger_gap": 0.026036328347397268,
+            "held_grasp_max_gap": 0.12496619433164596,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024376396961042372,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.004058418902501054,
+              -0.9984876812961173,
+              -0.05482590205290894
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004671626336567865,
+            "held_grasp_line_xy_max_dist": 0.04748309716582298,
+            "held_grasp_object_top_z": 0.045200854539871216,
+            "held_grasp_top_clearance": 0.033049784388446024,
+            "held_grasp_min_top_clearance": 0.013560256361961365
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1996140214783507,
+              -0.1272695680474861,
+              0.7565870105877494
+            ],
+            "target_position": [
+              0.196250243808822,
+              -0.13205520109396687,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005849554159556842,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2198712380644898,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565870105877494,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753667737634649,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09121361938267651,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.19196480012699427,
+            "release_required_pad_clearance": 0.05560680969133826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.371594329791198,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 244,
+            "max_placed_release_frames": 244
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6fefbdaa2b2ff6b8fde0a2e152fa79362ffc0f600eed375cc9528f4171b41d0",
+    "visual_seed": 8812384025137701098,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 30,
+  "collection_result_filename": "episode_30_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..202d976494740dadff5daf66fb70b12355356c12
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_30_success.json
@@ -0,0 +1,2672 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24901036233829238,
+              -0.0052928553822365765,
+              1.1615305587634266
+            ],
+            "current_z": 1.1615305587634266,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3004239315393711,
+            "gripper_z": 1.1552344907777083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24406224273498994,
+              -0.01020271695717559,
+              1.1552344907777083
+            ],
+            "object_minus_gripper": [
+              0.004948119603302437,
+              0.004909861574939013,
+              0.0062960679857182456
+            ],
+            "object_to_gripper_xy": 0.00697069783405137,
+            "object_to_gripper_z": 0.0062960679857182456,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24901036233829238,
+              -0.029101221423433472,
+              1.1615305587634266
+            ],
+            "finger_b": [
+              0.23768822670398143,
+              -0.0052928553822365765,
+              1.1615305587634266
+            ],
+            "finger_midpoint": [
+              0.2433492945211369,
+              -0.017197038402835024,
+              1.1615305587634266
+            ],
+            "object_minus_finger_midpoint": [
+              0.005661067817155474,
+              0.011904183020598447,
+              0.0
+            ],
+            "finger_gap": 0.026363403590457576,
+            "fingertip_max_gap": 0.09149730678715268,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013181701795228786,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1615305587634266,
+            "object_top_z": 1.2116112480289116,
+            "finger_top_clearance": 0.050080689265485034,
+            "fingertip_min_top_clearance": 0.015024206779645477,
+            "object_projection_between_fingers": 0.8155605790440957,
+            "object_to_finger_line_xy": 0.010224838709646867,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824865339357634,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9249186749509368,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 334,
+            "max_stable_success_frames": 334,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2832079649034148,
+              -0.39462485177644324,
+              0.8515396019918728
+            ],
+            "target_position": [
+              0.2749259164105036,
+              -0.3959149265326411,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008381922220798258,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18530972884369162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396019918728,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519623628787886,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528784317728282,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15422527956395646,
+            "release_required_pad_clearance": 0.05264392158864141,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3471787952487093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008369028568267822,
+            "max_z_decrease": 0.008369028568267822,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501526872213231,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008369028568267822,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020946000227765927,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008369028568267822,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008369167087048894,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13062584400177002,
+              -0.45217639207839966,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13062584400177002,
+              -0.45217639207839966,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13176457803147462,
+              -0.45251354301070085,
+              0.8035754688473855
+            ],
+            "closest_button": [
+              0.13066045939922333,
+              -0.4521459639072418,
+              0.7685795426368713
+            ],
+            "closest_ee_minus_button": [
+              0.0011041186322512941,
+              -0.0003675791034590259,
+              0.03499592621051417
+            ],
+            "button_min_z_position": [
+              0.1306605488061905,
+              -0.4521430134773255,
+              0.7684398293495178
+            ],
+            "min_active_finger_to_button": 0.14465932486115027,
+            "closest_active_finger": [
+              -0.008950166404247284,
+              -0.43592333793640137,
+              0.8107780814170837
+            ],
+            "closest_active_finger_button": [
+              0.13062575459480283,
+              -0.45217466354370117,
+              0.7764156460762024
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395759209990501,
+              0.016251325607299805,
+              0.03436243534088135
+            ],
+            "min_contact_pad_to_button": 0.020946000227765927,
+            "closest_contact_pad": [
+              0.1306605488061905,
+              -0.4537515798659936,
+              0.7893239726097719
+            ],
+            "closest_contact_pad_button": [
+              0.1306605488061905,
+              -0.4521430134773255,
+              0.7684398293495178
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016085663886681312,
+              0.020884143260254118
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2714961299885582,
+              0.1762271628750836,
+              1.1045335272423085
+            ],
+            "current_z": 1.1045335272423085,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1946243975079459,
+            "gripper_z": 1.1045337862077553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27149618485222915,
+              0.17622715625713298,
+              1.1045337862077553
+            ],
+            "object_minus_gripper": [
+              -5.4863670939653275e-08,
+              6.617950631948588e-09,
+              -2.589654468643232e-07
+            ],
+            "object_to_gripper_xy": 5.5261375838296535e-08,
+            "object_to_gripper_z": -2.589654468643232e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2714961299885582,
+              0.1762271628750836,
+              1.1045335272423085
+            ],
+            "finger_b": [
+              0.2714961299885582,
+              0.1762271628750836,
+              1.1045335272423085
+            ],
+            "finger_midpoint": [
+              0.2714961299885582,
+              0.1762271628750836,
+              1.1045335272423085
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045335272423085,
+            "object_top_z": 1.2295420338625882,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27149612998855827,
+            0.1762271628750836,
+            1.1045335272423087
+          ],
+          "object_origin_world": [
+            0.27149612998855827,
+            0.1762271628750836,
+            1.1045335272423087
+          ],
+          "frame_world": [
+            0.27149618485222915,
+            0.17622715625713298,
+            1.1045337862077553
+          ],
+          "center_minus_frame": [
+            -5.4863670884142124e-08,
+            6.617950631948588e-09,
+            -2.589654466422786e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436476904151193,
+            "required_z": 0.9112598521753851,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002047479305908051,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.871580407391629e-09,
+            "max_target_xy_drift": 1.011062086302234e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3471788023274844,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.34717880712295285,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28172222481478537,
+              -0.39319489108999867,
+              0.9233542581993822
+            ],
+            "target_mouth_xy": [
+              0.28320796605190246,
+              -0.39462493990189784
+            ],
+            "rod_tip_z": 0.9233542581993822,
+            "rod_tip_depth": -0.02209432581108739,
+            "rod_tip_bottom_clearance": 0.12153501230571251,
+            "rod_tip_xy_dist": 0.0020621509712153625,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04507174352827581,
+            "min_rod_tip_bottom_clearance": 0.05436875568223132,
+            "min_rod_tip_xy_dist": 0.000672092129708557,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.28320796700058193,
+              -0.39462494468021375
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.486794683155608e-10,
+              4.778315909614861e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0009645337320975944,
+                0.0033245827739161737
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0010607702476625458,
+                0.002934481960222224
+              ],
+              "first_target_mouth_xy": [
+                0.283207967677295,
+                -0.39462491424499
+              ],
+              "last_target_mouth_xy": [
+                0.2832079651281951,
+                -0.39462491677372336
+              ],
+              "first_rod_tip_xy": [
+                0.2822434339451974,
+                -0.39130033147107385
+              ],
+              "last_rod_tip_xy": [
+                0.2821471948805326,
+                -0.39169043481350113
+              ],
+              "min_rod_tip_xy_dist": 0.0031203233635627775,
+              "max_rod_tip_xy_dist": 0.0034616724196512693,
+              "first_target_xy_drift": 3.044274600112285e-08,
+              "last_target_xy_drift": 2.7969233785929964e-08,
+              "max_depth": 0.01941186988625987,
+              "min_bottom_clearance": 0.08002881811956442
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0009645337320975944,
+                  0.0033245827739161737
+                ],
+                "rod_tip_xy": [
+                  0.2822434339451974,
+                  -0.39130033147107385
+                ],
+                "target_mouth_xy": [
+                  0.283207967677295,
+                  -0.39462491424499
+                ],
+                "gripper_position": [
+                  0.2822496252699125,
+                  -0.39137508423876927,
+                  1.005616727426925
+                ],
+                "rod_tip_xy_dist": 0.0034616724196512693,
+                "target_xy_drift": 3.044274600112285e-08,
+                "depth": 0.015109204035538393,
+                "bottom_clearance": 0.0843312954062535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0009583422843674749,
+                  0.0032497986148528057
+                ],
+                "rod_tip_xy": [
+                  0.2822496252699123,
+                  -0.39137508423876927
+                ],
+                "target_mouth_xy": [
+                  0.2832079675542798,
+                  -0.39462488285362207
+                ],
+                "gripper_position": [
+                  0.2822394509675268,
+                  -0.39138506599840567,
+                  1.0054574449590963
+                ],
+                "rod_tip_xy_dist": 0.0033881574596092614,
+                "target_xy_drift": 6.182907099452982e-08,
+                "depth": 0.015643113321394564,
+                "bottom_clearance": 0.08379742409278657,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0009685177350147733,
+                  0.0032398187669147593
+                ],
+                "rod_tip_xy": [
+                  0.2822394509675267,
+                  -0.39138506599840567
+                ],
+                "target_mouth_xy": [
+                  0.28320796870254145,
+                  -0.3946248847653204
+                ],
+                "gripper_position": [
+                  0.2822316392468576,
+                  -0.39138916547643293,
+                  1.0053173707627516
+                ],
+                "rod_tip_xy_dist": 0.003381486691603446,
+                "target_xy_drift": 5.993906162330231e-08,
+                "depth": 0.015802384342299414,
+                "bottom_clearance": 0.08363815631104332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0009763272365145292,
+                  0.0032356843846382266
+                ],
+                "rod_tip_xy": [
+                  0.28223163924685746,
+                  -0.39138916547643293
+                ],
+                "target_mouth_xy": [
+                  0.283207966483372,
+                  -0.39462484986107116
+                ],
+                "gripper_position": [
+                  0.282239015773748,
+                  -0.391464725589432,
+                  1.004784218591051
+                ],
+                "rod_tip_xy_dist": 0.003379773411007276,
+                "target_xy_drift": 9.482055319507222e-08,
+                "depth": 0.015942559911239162,
+                "bottom_clearance": 0.08349813278978713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009689521337406526,
+                  0.0031601902456126485
+                ],
+                "rod_tip_xy": [
+                  0.2822390157737478,
+                  -0.39146472558943207
+                ],
+                "target_mouth_xy": [
+                  0.2832079679074885,
+                  -0.3946249158350447
+                ],
+                "gripper_position": [
+                  0.2822286388103862,
+                  -0.3914747498075456,
+                  1.0046254863550663
+                ],
+                "rod_tip_xy_dist": 0.003305400221750143,
+                "target_xy_drift": 2.885942230752679e-08,
+                "depth": 0.016475567558318915,
+                "bottom_clearance": 0.08296498825956167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009793296839634702,
+                  0.0031501352776327485
+                ],
+                "rod_tip_xy": [
+                  0.282228638810386,
+                  -0.39147474980754565
+                ],
+                "target_mouth_xy": [
+                  0.2832079684943495,
+                  -0.3946248850851784
+                ],
+                "gripper_position": [
+                  0.28222079525776944,
+                  -0.39147873366516506,
+                  1.0044855618992476
+                ],
+                "rod_tip_xy_dist": 0.0032988541794505472,
+                "target_xy_drift": 5.961375327888173e-08,
+                "depth": 0.016634347035701658,
+                "bottom_clearance": 0.0828061971491697,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009871712666575383,
+                  0.003146143762618625
+                ],
+                "rod_tip_xy": [
+                  0.2822207952577693,
+                  -0.391478733665165
+                ],
+                "target_mouth_xy": [
+                  0.2832079665244268,
+                  -0.3946248774277836
+                ],
+                "gripper_position": [
+                  0.2822131513689828,
+                  -0.39148248605248154,
+                  1.0043451235929373
+                ],
+                "rod_tip_xy_dist": 0.00329738194402443,
+                "target_xy_drift": 6.725411572082896e-08,
+                "depth": 0.016774407646572342,
+                "bottom_clearance": 0.0826663634179372,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009947869356528583,
+                  0.003142395212928528
+                ],
+                "rod_tip_xy": [
+                  0.2822131513689827,
+                  -0.39148248605248154
+                ],
+                "target_mouth_xy": [
+                  0.28320793830463553,
+                  -0.39462488126541007
+                ],
+                "gripper_position": [
+                  0.2822218173833025,
+                  -0.39156049575831303,
+                  1.0038132385229772
+                ],
+                "rod_tip_xy_dist": 0.0032960959818521267,
+                "target_xy_drift": 6.960527757393767e-08,
+                "depth": 0.016914680320442188,
+                "bottom_clearance": 0.08252591486895555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009861520874258067,
+                  0.00306441689974124
+                ],
+                "rod_tip_xy": [
+                  0.2822218173833023,
+                  -0.39156049575831303
+                ],
+                "target_mouth_xy": [
+                  0.2832079694707281,
+                  -0.39462491265805427
+                ],
+                "gripper_position": [
+                  0.28221140233970454,
+                  -0.3915702488766672,
+                  1.0036542653876015
+                ],
+                "rod_tip_xy_dist": 0.003219184194008474,
+                "target_xy_drift": 3.211729004727726e-08,
+                "depth": 0.017446667339494515,
+                "bottom_clearance": 0.08199392427447483,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009965355814232635,
+                  0.003054693896816507
+                ],
+                "rod_tip_xy": [
+                  0.2822114023397044,
+                  -0.3915702488766672
+                ],
+                "target_mouth_xy": [
+                  0.28320793792112764,
+                  -0.3946249427734837
+                ],
+                "gripper_position": [
+                  0.28220352201746923,
+                  -0.3915738385205218,
+                  1.0035146059935274
+                ],
+                "rod_tip_xy_dist": 0.003213135224090424,
+                "target_xy_drift": 2.9141899067061684e-08,
+                "depth": 0.01760550493518409,
+                "bottom_clearance": 0.08183501469189458,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010044470548373763,
+                  0.003051075091163147
+                ],
+                "rod_tip_xy": [
+                  0.28220352201746907,
+                  -0.3915738385205218
+                ],
+                "target_mouth_xy": [
+                  0.28320796907230644,
+                  -0.39462491361168495
+                ],
+                "gripper_position": [
+                  0.282195451840325,
+                  -0.3915776765225458,
+                  1.003374645756704
+                ],
+                "rod_tip_xy_dist": 0.003212160191816044,
+                "target_xy_drift": 3.113752598684522e-08,
+                "depth": 0.017745220089784075,
+                "bottom_clearance": 0.08169532232826238,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0010125133803465247,
+                  0.003047202173755925
+                ],
+                "rod_tip_xy": [
+                  0.28219545184032485,
+                  -0.39157767652254577
+                ],
+                "target_mouth_xy": [
+                  0.2832079652206714,
+                  -0.3946248786963017
+                ],
+                "gripper_position": [
+                  0.28218748155136963,
+                  -0.39158137600683585,
+                  1.003235095883851
+                ],
+                "rod_tip_xy_dist": 0.003211016106020582,
+                "target_xy_drift": 6.600791416073593e-08,
+                "depth": 0.017885340621482837,
+                "bottom_clearance": 0.08155543490577999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0010204848841385283,
+                  0.0030435065262966465
+                ],
+                "rod_tip_xy": [
+                  0.28218748155136947,
+                  -0.3915813760068359
+                ],
+                "target_mouth_xy": [
+                  0.283207966435508,
+                  -0.39462488253313255
+                ],
+                "gripper_position": [
+                  0.2821983272856412,
+                  -0.3916628806091398,
+                  1.00270545001877
+                ],
+                "rod_tip_xy_dist": 0.003210034481803195,
+                "target_xy_drift": 6.21496501249713e-08,
+                "depth": 0.01802472502305419,
+                "bottom_clearance": 0.08141586666642187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0010096401832979107,
+                  0.002962003517580636
+                ],
+                "rod_tip_xy": [
+                  0.28219832728564104,
+                  -0.39166288060913973
+                ],
+                "target_mouth_xy": [
+                  0.28320796746893895,
+                  -0.39462488412672037
+                ],
+                "gripper_position": [
+                  0.2821876682691901,
+                  -0.3916726803818561,
+                  1.002546364981497
+                ],
+                "rod_tip_xy_dist": 0.0031293510729686275,
+                "target_xy_drift": 6.055530463608169e-08,
+                "depth": 0.018554311441032145,
+                "bottom_clearance": 0.08088618485635857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0010203003962574453,
+                  0.0029522031116207548
+                ],
+                "rod_tip_xy": [
+                  0.28218766826919,
+                  -0.39167268038185604
+                ],
+                "target_mouth_xy": [
+                  0.28320796866544745,
+                  -0.3946248834934768
+                ],
+                "gripper_position": [
+                  0.2821796043028036,
+                  -0.3916762861650547,
+                  1.0024069265075577
+                ],
+                "rod_tip_xy_dist": 0.0031235422377272836,
+                "target_xy_drift": 6.120938291141077e-08,
+                "depth": 0.018713463442372125,
+                "bottom_clearance": 0.08072707444649685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0010283583709886912,
+                  0.0029486261432653538
+                ],
+                "rod_tip_xy": [
+                  0.2821796043028034,
+                  -0.3916762861650546
+                ],
+                "target_mouth_xy": [
+                  0.2832079626737921,
+                  -0.39462491230832
+                ],
+                "gripper_position": [
+                  0.28217153056730804,
+                  -0.39167972882930147,
+                  1.0022671134561127
+                ],
+                "rod_tip_xy_dist": 0.003122805961299938,
+                "target_xy_drift": 3.2659770617620633e-08,
+                "depth": 0.018853009025759926,
+                "bottom_clearance": 0.0805877271575457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0010364669017012829,
+                  0.002945156251782044
+                ],
+                "rod_tip_xy": [
+                  0.28217153056730787,
+                  -0.3916797288293015
+                ],
+                "target_mouth_xy": [
+                  0.28320799746900915,
+                  -0.39462488508108357
+                ],
+                "gripper_position": [
+                  0.2821634646164499,
+                  -0.39168319165670684,
+                  1.0021274823086876
+                ],
+                "rod_tip_xy_dist": 0.0031222121942195273,
+                "target_xy_drift": 6.693565101352634e-08,
+                "depth": 0.018992718421155907,
+                "bottom_clearance": 0.08044780408770602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0010444994510076522,
+                  0.0029416873525350273
+                ],
+                "rod_tip_xy": [
+                  0.28216346461644976,
+                  -0.3916831916567069
+                ],
+                "target_mouth_xy": [
+                  0.2832079640674574,
+                  -0.3946248790092419
+                ],
+                "gripper_position": [
+                  0.2821551991325278,
+                  -0.39168696070949055,
+                  1.0019878329628888
+                ],
+                "rod_tip_xy_dist": 0.0031216187440524868,
+                "target_xy_drift": 6.573644164528365e-08,
+                "depth": 0.019132473839917785,
+                "bottom_clearance": 0.08030833449709818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0010527687366532756,
+                  0.002937922464547882
+                ],
+                "rod_tip_xy": [
+                  0.2821551991325276,
+                  -0.39168696070949055
+                ],
+                "target_mouth_xy": [
+                  0.2832079678691809,
+                  -0.39462488317403843
+                ],
+                "gripper_position": [
+                  0.28214719488053275,
+                  -0.39169043481350113,
+                  1.0018480732081532
+                ],
+                "rod_tip_xy_dist": 0.0031208509129033437,
+                "target_xy_drift": 6.151230825296531e-08,
+                "depth": 0.019271994715505336,
+                "bottom_clearance": 0.08016852369773497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0010607702476625458,
+                  0.002934481960222224
+                ],
+                "rod_tip_xy": [
+                  0.2821471948805326,
+                  -0.39169043481350113
+                ],
+                "target_mouth_xy": [
+                  0.2832079651281951,
+                  -0.39462491677372336
+                ],
+                "gripper_position": [
+                  0.2821391087840631,
+                  -0.39169372585580403,
+                  1.0017086257578867
+                ],
+                "rod_tip_xy_dist": 0.0031203233635627775,
+                "target_xy_drift": 2.7969233785929964e-08,
+                "depth": 0.01941186988625987,
+                "bottom_clearance": 0.08002881811956442,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006021214092619463,
+              "rod_tip_xy_max_step": 3.2618817160697464e-05,
+              "rod_tip_xy_range": 0.0006021159042410953,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2817222248147854,
+            -0.39319489108999867,
+            1.0433542581993822
+          ],
+          "object_origin_world": [
+            0.2817222248147854,
+            -0.39319489108999867,
+            1.0433542581993822
+          ],
+          "frame_world": [
+            0.2817462265145441,
+            -0.3931912422234994,
+            1.0436476904151193
+          ],
+          "center_minus_frame": [
+            -2.4001699758691153e-05,
+            -3.648866499283976e-06,
+            -0.00029343221573707723
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25880326962707656,
+              0.1317158827954445,
+              0.832486198217671
+            ],
+            "target_position": [
+              0.2716087063158079,
+              0.17762142677916698,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047658138625323865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1642114057564111,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.832486198217671,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567301767583,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1349566667464004,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2249564228481341,
+              -0.12573294130995685,
+              1.0472145150485705
+            ],
+            "current_z": 1.0472145150485705,
+            "required_z": 0.8565864630135206,
+            "initial_z": 0.7565864630135206,
+            "lift_margin": 0.19062805203504996,
+            "gripper_z": 1.0506978525489008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22087703184618232,
+              -0.1298920108378369,
+              1.0506978525489008
+            ],
+            "object_minus_gripper": [
+              0.004079391001951788,
+              0.0041590695278800605,
+              -0.0034833375003302525
+            ],
+            "object_to_gripper_xy": 0.005825743753766181,
+            "object_to_gripper_z": -0.0034833375003302525,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2249564228481341,
+              -0.14986515318749805,
+              1.0472145150485705
+            ],
+            "finger_b": [
+              0.2148227279348693,
+              -0.12573294130995685,
+              1.0472145150485705
+            ],
+            "finger_midpoint": [
+              0.21988957539150172,
+              -0.13779904724872744,
+              1.0472145150485705
+            ],
+            "object_minus_finger_midpoint": [
+              0.005066847456632384,
+              0.012066105938770583,
+              0.0
+            ],
+            "finger_gap": 0.026173563431402858,
+            "fingertip_max_gap": 0.09503274438479686,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013086781715701412,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472145150485705,
+            "object_top_z": 1.0940917239660766,
+            "finger_top_clearance": 0.04687720891750602,
+            "fingertip_min_top_clearance": 0.014063162675251838,
+            "object_projection_between_fingers": 0.8500971320090565,
+            "object_to_finger_line_xy": 0.009343338876656736,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050016372192398434,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.106276734545263,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23408519663582109,
+              -0.12244751739754764,
+              1.2462925086155585
+            ],
+            "held_position": [
+              0.23844991089064446,
+              -0.1183010900627247,
+              1.2431585152451865
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006787157329453988,
+            "max_held_gripper_dist": 0.006789556939635444,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031339933703720124,
+            "max_held_gripper_z_dist": 0.0034831754148101357,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858916901715235,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23844991089064446,
+              -0.14262590973889258,
+              1.2431585152451865
+            ],
+            "held_grasp_finger_b": [
+              0.23032263298985625,
+              -0.1183010900627247,
+              1.2431585152451865
+            ],
+            "held_grasp_midpoint": [
+              0.23438627194025036,
+              -0.13046349990080863,
+              1.2431585152451865
+            ],
+            "held_grasp_object_position": [
+              0.23844991089064446,
+              -0.1183010900627247,
+              1.2431585152451865
+            ],
+            "held_grasp_finger_gap": 0.025646627426519936,
+            "held_grasp_max_gap": 0.12496606767177582,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023223684723195994,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10906701636957176,
+              -0.9911729252678929,
+              -0.07536987565418674
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0028689481916006703,
+            "held_grasp_line_xy_max_dist": 0.04748303383588791,
+            "held_grasp_object_top_z": 0.04520079493522644,
+            "held_grasp_top_clearance": 0.032702534621783116,
+            "held_grasp_min_top_clearance": 0.013560238480567931
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19947656999121474,
+              -0.13163162087841926,
+              0.7565863865378336
+            ],
+            "target_position": [
+              0.1958335769363532,
+              -0.12865344523967745,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004705414809872199,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.219288750905392,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863865378336,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531183409658687,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856306054019864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18980566257255785,
+            "release_required_pad_clearance": 0.0528153027009932,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6760825353720445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b626dc8838a95ffe4400a8f49faaf24568df057b926978e4e83a8fd3a0b5294",
+    "visual_seed": 6510271863561908800,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 31,
+  "collection_result_filename": "episode_31_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dbb8f941904eac0cf4bd7881463887078733d77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_31_success.json
@@ -0,0 +1,2678 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2521945936544411,
+              0.0012991071648652515,
+              1.1650094128231667
+            ],
+            "current_z": 1.1650094128231667,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.30390272599446666,
+            "gripper_z": 1.1582779861938595,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24712742035970797,
+              -0.0034547980290319386,
+              1.1582779861938595
+            ],
+            "object_minus_gripper": [
+              0.005067173294733107,
+              0.00475390519389719,
+              0.006731426629307258
+            ],
+            "object_to_gripper_xy": 0.006948083173899047,
+            "object_to_gripper_z": 0.006731426629307258,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2521945936544411,
+              -0.022951648231713778,
+              1.1650094128231667
+            ],
+            "finger_b": [
+              0.241558915727825,
+              0.0012991071648652515,
+              1.1650094128231667
+            ],
+            "finger_midpoint": [
+              0.24687675469113304,
+              -0.010826270533424264,
+              1.1650094128231667
+            ],
+            "object_minus_finger_midpoint": [
+              0.005317838963308036,
+              0.012125377698289516,
+              0.0
+            ],
+            "finger_gap": 0.026480498149835007,
+            "fingertip_max_gap": 0.09113532781420841,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013240249074917505,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1650094128231667,
+            "object_top_z": 1.2149250356425045,
+            "finger_top_clearance": 0.04991562281933781,
+            "fingertip_min_top_clearance": 0.014974686845801376,
+            "object_projection_between_fingers": 0.8386837739485031,
+            "object_to_finger_line_xy": 0.009740119782330019,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806766390710421,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7069780356723737,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 346,
+            "max_stable_success_frames": 346,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28583784456748773,
+              -0.38604421086849217,
+              0.8515395648521883
+            ],
+            "target_position": [
+              0.27797974614598564,
+              -0.38713304165908274,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007933174855790823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18454600626199127,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395648521883,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534196387284753,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08686132171678805,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15294350827562164,
+            "release_required_pad_clearance": 0.05343066085839403,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8754870139397255,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008463442325592041,
+            "max_z_decrease": 0.008463442325592041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035001516900626625,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008463442325592041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020977477175612727,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008463442325592041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008463487416365444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13367967307567596,
+              -0.44339451193809504,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13367967307567596,
+              -0.44339451193809504,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13368288303898612,
+              -0.4440959090507297,
+              0.8037056873037629
+            ],
+            "closest_button": [
+              0.13368305563926694,
+              -0.44336202740669245,
+              0.7687118649482727
+            ],
+            "closest_ee_minus_button": [
+              -1.7260028081778067e-07,
+              -0.0007338816440372598,
+              0.0349938223554902
+            ],
+            "button_min_z_position": [
+              0.13367977738380432,
+              -0.44336688518524164,
+              0.7683454155921936
+            ],
+            "min_active_finger_to_button": 0.14571363145468869,
+            "closest_active_finger": [
+              -0.007205396890640259,
+              -0.4292173385620117,
+              0.8109963536262512
+            ],
+            "closest_active_finger_button": [
+              0.13368016481399536,
+              -0.443392813205719,
+              0.7766048312187195
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14088556170463562,
+              0.014175474643707275,
+              0.03439152240753174
+            ],
+            "min_contact_pad_to_button": 0.020977477175612727,
+            "closest_contact_pad": [
+              0.13367977738380432,
+              -0.44516556596655105,
+              0.7892456379857544
+            ],
+            "closest_contact_pad_button": [
+              0.13367977738380432,
+              -0.44336688518524164,
+              0.7683454155921936
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001798680781309403,
+              0.02090022239356082
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2713861801791673,
+              0.1845389059417399,
+              1.1030372550435326
+            ],
+            "current_z": 1.1030372550435326,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19312812530917,
+            "gripper_z": 1.1030373790685233,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27138618038723505,
+              0.18453888322264356,
+              1.1030373790685233
+            ],
+            "object_minus_gripper": [
+              -2.0806772971226906e-10,
+              2.271909635420677e-08,
+              -1.2402499072194928e-07
+            ],
+            "object_to_gripper_xy": 2.2720049104961874e-08,
+            "object_to_gripper_z": -1.2402499072194928e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2713861801791673,
+              0.1845389059417399,
+              1.1030372550435326
+            ],
+            "finger_b": [
+              0.2713861801791673,
+              0.1845389059417399,
+              1.1030372550435326
+            ],
+            "finger_midpoint": [
+              0.2713861801791673,
+              0.1845389059417399,
+              1.1030372550435326
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1030372550435326,
+            "object_top_z": 1.2280457616638123,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2713861801791674,
+            0.18453890594173994,
+            1.1030372550435328
+          ],
+          "object_origin_world": [
+            0.2713861801791674,
+            0.18453890594173994,
+            1.1030372550435328
+          ],
+          "frame_world": [
+            0.27138618038723505,
+            0.18453888322264356,
+            1.1030373790685233
+          ],
+          "center_minus_frame": [
+            -2.0806767420111782e-10,
+            2.2719096381962345e-08,
+            -1.2402499049990467e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434505471415676,
+            "required_z": 0.9112599198559574,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014808713910707365,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.785899257590284e-08,
+            "max_target_xy_drift": 2.099994754500814e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.875069626715952,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.8754870139984243,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2869543219958991,
+              -0.3870097010972744,
+              0.9235770969838254
+            ],
+            "target_mouth_xy": [
+              0.28583775834993885,
+              -0.3860444960296523
+            ],
+            "rod_tip_z": 0.9235770969838254,
+            "rod_tip_depth": -0.022317318976017853,
+            "rod_tip_bottom_clearance": 0.12175783593354061,
+            "rod_tip_xy_dist": 0.0014759184252672692,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04535679828789019,
+            "min_rod_tip_bottom_clearance": 0.05408377075488868,
+            "min_rod_tip_xy_dist": 0.00015294897307564312,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2858377612602666,
+              -0.38604443824390133
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.910327756566744e-09,
+              -5.778575096204719e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0014937703364419908,
+                0.0008828200541041165
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014184089296579994,
+                0.0004993727555602234
+              ],
+              "first_target_mouth_xy": [
+                0.28583778820761874,
+                -0.38604443607641803
+              ],
+              "last_target_mouth_xy": [
+                0.28583779133733367,
+                -0.3860444626673377
+              ],
+              "first_rod_tip_xy": [
+                0.28733155854406073,
+                -0.3851616160223139
+              ],
+              "last_rod_tip_xy": [
+                0.28725620026699167,
+                -0.3855450899117775
+              ],
+              "min_rod_tip_xy_dist": 0.0015037476652448583,
+              "max_rod_tip_xy_dist": 0.0017351429526014314,
+              "first_target_xy_drift": 2.70343812682298e-08,
+              "last_target_xy_drift": 3.874447325367605e-08,
+              "max_depth": 0.0194645884602761,
+              "min_bottom_clearance": 0.07997611060482679
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0014937703364419908,
+                  0.0008828200541041165
+                ],
+                "rod_tip_xy": [
+                  0.28733155854406073,
+                  -0.3851616160223139
+                ],
+                "target_mouth_xy": [
+                  0.28583778820761874,
+                  -0.38604443607641803
+                ],
+                "gripper_position": [
+                  0.2873236482557848,
+                  -0.38516551842096314,
+                  1.0059747135540282
+                ],
+                "rod_tip_xy_dist": 0.0017351429526014314,
+                "target_xy_drift": 2.70343812682298e-08,
+                "depth": 0.015144256829559777,
+                "bottom_clearance": 0.08429626994009365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0014858881751531605,
+                  0.0008789483662717257
+                ],
+                "rod_tip_xy": [
+                  0.2873236482557847,
+                  -0.38516551842096314
+                ],
+                "target_mouth_xy": [
+                  0.28583776008063155,
+                  -0.38604446678723486
+                ],
+                "gripper_position": [
+                  0.2873359411798011,
+                  -0.385240085026438,
+                  1.0054378415917533
+                ],
+                "rod_tip_xy_dist": 0.0017263875288102972,
+                "target_xy_drift": 2.8567699030123186e-08,
+                "depth": 0.015285114473909012,
+                "bottom_clearance": 0.0841554218765943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0014981546158447379,
+                  0.0008043482153800019
+                ],
+                "rod_tip_xy": [
+                  0.28733594117980094,
+                  -0.38524008502643803
+                ],
+                "target_mouth_xy": [
+                  0.2858377865639562,
+                  -0.38604443324181803
+                ],
+                "gripper_position": [
+                  0.2873257069097507,
+                  -0.3852496338479871,
+                  1.0052776466471887
+                ],
+                "rod_tip_xy_dist": 0.0017004244483545536,
+                "target_xy_drift": 2.579336240472567e-08,
+                "depth": 0.015822099036899795,
+                "bottom_clearance": 0.08361859053188492,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001487916523970234,
+                  0.0007948611703322284
+                ],
+                "rod_tip_xy": [
+                  0.2873257069097505,
+                  -0.38524963384798716
+                ],
+                "target_mouth_xy": [
+                  0.2858377903857803,
+                  -0.3860444950183194
+                ],
+                "gripper_position": [
+                  0.287317883289207,
+                  -0.38525310042238503,
+                  1.0051365670338954
+                ],
+                "rod_tip_xy_dist": 0.0016869202300066187,
+                "target_xy_drift": 6.380932605790801e-08,
+                "depth": 0.01598219163638681,
+                "bottom_clearance": 0.08345837770741171,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.001480095076338006,
+                  0.0007913657778207961
+                ],
+                "rod_tip_xy": [
+                  0.2873178832892069,
+                  -0.38525310042238503
+                ],
+                "target_mouth_xy": [
+                  0.28583778821286887,
+                  -0.3860444662002058
+                ],
+                "gripper_position": [
+                  0.287330982823864,
+                  -0.3853287981436291,
+                  1.0046017896219526
+                ],
+                "rod_tip_xy_dist": 0.0016783745795578297,
+                "target_xy_drift": 3.88329464448225e-08,
+                "depth": 0.016123269152289343,
+                "bottom_clearance": 0.0833172463375581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0014932227801873754,
+                  0.0007156975292731405
+                ],
+                "rod_tip_xy": [
+                  0.2873309828238638,
+                  -0.3853287981436291
+                ],
+                "target_mouth_xy": [
+                  0.28583776004367645,
+                  -0.3860444956729022
+                ],
+                "gripper_position": [
+                  0.28732060356616224,
+                  -0.3853384889007779,
+                  1.0044417567179371
+                ],
+                "rod_tip_xy_dist": 0.0016558795924457167,
+                "target_xy_drift": 5.7441885716173205e-08,
+                "depth": 0.016658032818060442,
+                "bottom_clearance": 0.08278249220018286,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014828159509234218,
+                  0.0007059433650749569
+                ],
+                "rod_tip_xy": [
+                  0.2873206035661621,
+                  -0.38533848890077793
+                ],
+                "target_mouth_xy": [
+                  0.2858377876152387,
+                  -0.3860444322658529
+                ],
+                "gripper_position": [
+                  0.2873125473864431,
+                  -0.38534208848977125,
+                  1.0043012072493507
+                ],
+                "rod_tip_xy_dist": 0.0016422847435832453,
+                "target_xy_drift": 2.702446331133913e-08,
+                "depth": 0.016818167696766584,
+                "bottom_clearance": 0.08262251383805685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014747868032851108,
+                  0.0007024087530920764
+                ],
+                "rod_tip_xy": [
+                  0.2873125473864429,
+                  -0.38534208848977136
+                ],
+                "target_mouth_xy": [
+                  0.2858377605831578,
+                  -0.38604449724286344
+                ],
+                "gripper_position": [
+                  0.28730459942394093,
+                  -0.38534546590012364,
+                  1.0041604550790408
+                ],
+                "rod_tip_xy_dist": 0.0016335158926573938,
+                "target_xy_drift": 5.900284743788053e-08,
+                "depth": 0.016958696168568266,
+                "bottom_clearance": 0.0824818825877992,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014668115080776478,
+                  0.0006989676313070015
+                ],
+                "rod_tip_xy": [
+                  0.28730459942394077,
+                  -0.38534546590012364
+                ],
+                "target_mouth_xy": [
+                  0.2858377879158631,
+                  -0.38604443353143064
+                ],
+                "gripper_position": [
+                  0.2873193364853194,
+                  -0.38542316533149634,
+                  1.0036271426319914
+                ],
+                "rod_tip_xy_dist": 0.001624835914744607,
+                "target_xy_drift": 2.706895279108482e-08,
+                "depth": 0.017099438653265797,
+                "bottom_clearance": 0.0823411873536607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014815459569910705,
+                  0.0006213014660082505
+                ],
+                "rod_tip_xy": [
+                  0.2873193364853192,
+                  -0.38542316533149634
+                ],
+                "target_mouth_xy": [
+                  0.28583779052832814,
+                  -0.3860444667975046
+                ],
+                "gripper_position": [
+                  0.28730862196437107,
+                  -0.38543298625414096,
+                  1.0034672745138942
+                ],
+                "rod_tip_xy_dist": 0.0016065472088739217,
+                "target_xy_drift": 4.088921232825985e-08,
+                "depth": 0.017632750698436728,
+                "bottom_clearance": 0.08180781157396277,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014708639761942255,
+                  0.0006115081724509253
+                ],
+                "rod_tip_xy": [
+                  0.2873086219643709,
+                  -0.385432986254141
+                ],
+                "target_mouth_xy": [
+                  0.2858377579881767,
+                  -0.38604449442659194
+                ],
+                "gripper_position": [
+                  0.2873005369815592,
+                  -0.38543625779014135,
+                  1.0033264520032799
+                ],
+                "rod_tip_xy_dist": 0.001592916533105284,
+                "target_xy_drift": 5.627789350008924e-08,
+                "depth": 0.01779254175360523,
+                "bottom_clearance": 0.0816480447584037,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014627460802225656,
+                  0.0006082372191091312
+                ],
+                "rod_tip_xy": [
+                  0.2873005369815591,
+                  -0.38543625779014135
+                ],
+                "target_mouth_xy": [
+                  0.28583779090133654,
+                  -0.3860444950092505
+                ],
+                "gripper_position": [
+                  0.287292311095241,
+                  -0.38543984011619753,
+                  1.0031854924380421
+                ],
+                "rod_tip_xy_dist": 0.0015841649566620546,
+                "target_xy_drift": 6.403825333410821e-08,
+                "depth": 0.017933449858427708,
+                "bottom_clearance": 0.08150713904934836,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0014545525951195626,
+                  0.0006046559030514764
+                ],
+                "rod_tip_xy": [
+                  0.28729231109524084,
+                  -0.3854398401161976
+                ],
+                "target_mouth_xy": [
+                  0.2858377585001213,
+                  -0.38604449601924906
+                ],
+                "gripper_position": [
+                  0.2873085809773047,
+                  -0.38551921864532757,
+                  1.0026568120848778
+                ],
+                "rod_tip_xy_dist": 0.0015752244326012882,
+                "target_xy_drift": 5.784124140597304e-08,
+                "depth": 0.0180742810782496,
+                "bottom_clearance": 0.08136623028596957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001470789340059897,
+                  0.0005252478204244015
+                ],
+                "rod_tip_xy": [
+                  0.28730858097730455,
+                  -0.3855192186453277
+                ],
+                "target_mouth_xy": [
+                  0.28583779163724465,
+                  -0.3860444664657521
+                ],
+                "gripper_position": [
+                  0.2872978507996134,
+                  -0.3855286958023287,
+                  1.0024972524640592
+                ],
+                "rod_tip_xy_dist": 0.0015617639244439,
+                "target_xy_drift": 4.146364256282905e-08,
+                "depth": 0.018603084887875876,
+                "bottom_clearance": 0.08083750988659666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001460092498014376,
+                  0.0005158002182473753
+                ],
+                "rod_tip_xy": [
+                  0.28729785079961323,
+                  -0.38552869580232874
+                ],
+                "target_mouth_xy": [
+                  0.28583775830159885,
+                  -0.3860444960205761
+                ],
+                "gripper_position": [
+                  0.28728960011870464,
+                  -0.38553201893755035,
+                  1.0023568465983688
+                ],
+                "rod_tip_xy_dist": 0.0015485218654904102,
+                "target_xy_drift": 5.785237992740996e-08,
+                "depth": 0.018762527198850187,
+                "bottom_clearance": 0.08067799198696524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.001451808963038037,
+                  0.0005124770218516983
+                ],
+                "rod_tip_xy": [
+                  0.28728960011870447,
+                  -0.3855320189375504
+                ],
+                "target_mouth_xy": [
+                  0.28583779115566643,
+                  -0.3860444959594021
+                ],
+                "gripper_position": [
+                  0.2872811332286514,
+                  -0.3855352689584419,
+                  1.0022163880548074
+                ],
+                "rod_tip_xy_dist": 0.0015396044826784462,
+                "target_xy_drift": 6.499856890255907e-08,
+                "depth": 0.018903040830000717,
+                "bottom_clearance": 0.08053752423810379,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00144337478325951,
+                  0.0005092261107338958
+                ],
+                "rod_tip_xy": [
+                  0.28728113322865123,
+                  -0.3855352689584419
+                ],
+                "target_mouth_xy": [
+                  0.2858377584453917,
+                  -0.3860444950691758
+                ],
+                "gripper_position": [
+                  0.2872728866928992,
+                  -0.3855386444483046,
+                  1.0020759903344572
+                ],
+                "rod_tip_xy_dist": 0.001530569174131835,
+                "target_xy_drift": 5.6894950048655364e-08,
+                "depth": 0.019043403173759854,
+                "bottom_clearance": 0.08039714308296331,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014350949645902111,
+                  0.0005058499248119519
+                ],
+                "rod_tip_xy": [
+                  0.287272886692899,
+                  -0.38553864444830466
+                ],
+                "target_mouth_xy": [
+                  0.2858377917283088,
+                  -0.3860444943731166
+                ],
+                "gripper_position": [
+                  0.2872645469268082,
+                  -0.38554184352742105,
+                  1.0019359484974688
+                ],
+                "rod_tip_xy_dist": 0.0015216378359598044,
+                "target_xy_drift": 6.38654085008419e-08,
+                "depth": 0.019183929162441715,
+                "bottom_clearance": 0.08025671410818769,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014267873698467493,
+                  0.0005026515233628737
+                ],
+                "rod_tip_xy": [
+                  0.2872645469268081,
+                  -0.38554184352742105
+                ],
+                "target_mouth_xy": [
+                  0.28583775955696133,
+                  -0.3860444950507839
+                ],
+                "gripper_position": [
+                  0.28725620026699183,
+                  -0.3855450899117774,
+                  1.0017953626345795
+                ],
+                "rod_tip_xy_dist": 0.0015127394860626935,
+                "target_xy_drift": 5.6832412918062637e-08,
+                "depth": 0.019323822011491854,
+                "bottom_clearance": 0.08011670785184688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014184089296579994,
+                  0.0004993727555602234
+                ],
+                "rod_tip_xy": [
+                  0.28725620026699167,
+                  -0.3855450899117775
+                ],
+                "target_mouth_xy": [
+                  0.28583779133733367,
+                  -0.3860444626673377
+                ],
+                "gripper_position": [
+                  0.2872478795315838,
+                  -0.3855484316649308,
+                  1.0016548761276935
+                ],
+                "rod_tip_xy_dist": 0.0015037476652448583,
+                "target_xy_drift": 3.874447325367605e-08,
+                "depth": 0.0194645884602761,
+                "bottom_clearance": 0.07997611060482679,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006055645899691178,
+              "rod_tip_xy_max_step": 3.3010214770266625e-05,
+              "rod_tip_xy_range": 0.0006055576415541006,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28695432199589915,
+            -0.3870097010972744,
+            1.0435770969838254
+          ],
+          "object_origin_world": [
+            0.28695432199589915,
+            -0.3870097010972744,
+            1.0435770969838254
+          ],
+          "frame_world": [
+            0.2869530779938336,
+            -0.38701868398319833,
+            1.0434505471415676
+          ],
+          "center_minus_frame": [
+            1.2440020655257733e-06,
+            8.982885923936035e-06,
+            0.00012654984225779486
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26008979568830887,
+              0.13818837644054638,
+              0.8333215277754564
+            ],
+            "target_position": [
+              0.2715145582300832,
+              0.1836793806738506,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046903695646403294,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16616307508313843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8333215277754564,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675217867837,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13656320728344354,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21971629267863407,
+              -0.13528484505465113,
+              1.044382583557061
+            ],
+            "current_z": 1.044382583557061,
+            "required_z": 0.8565863363484706,
+            "initial_z": 0.7565863363484706,
+            "lift_margin": 0.18779624720859045,
+            "gripper_z": 1.0482289477157734,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21551232937852494,
+              -0.13965891228208,
+              1.0482289477157734
+            ],
+            "object_minus_gripper": [
+              0.004203963300109137,
+              0.004374067227428863,
+              -0.003846364158712312
+            ],
+            "object_to_gripper_xy": 0.006066776041583514,
+            "object_to_gripper_z": -0.003846364158712312,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21971629267863407,
+              -0.15910604950964594,
+              1.044382583557061
+            ],
+            "finger_b": [
+              0.20868932414069907,
+              -0.13528484505465113,
+              1.044382583557061
+            ],
+            "finger_midpoint": [
+              0.21420280840966657,
+              -0.14719544728214853,
+              1.044382583557061
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055134842689675,
+              0.011910602227497402,
+              0.0
+            ],
+            "finger_gap": 0.02624964412755481,
+            "fingertip_max_gap": 0.09366120496837516,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013124822063777405,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044382583557061,
+            "object_top_z": 1.0905772766729447,
+            "finger_top_clearance": 0.046194693115883645,
+            "fingertip_min_top_clearance": 0.013858407934765076,
+            "object_projection_between_fingers": 0.8235322164311721,
+            "object_to_finger_line_xy": 0.010006827932010251,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04933060248418758,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.802478706215045,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2230326790107475,
+              -0.1365754129033171,
+              1.2416565030642543
+            ],
+            "held_position": [
+              0.22754073316999504,
+              -0.13238158319832388,
+              1.237956725949003
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007183252090782443,
+            "max_held_gripper_dist": 0.007183981298637645,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003699777115251379,
+            "max_held_gripper_z_dist": 0.003864449993229435,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613828142853859,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22754073316999504,
+              -0.15706443061629294,
+              1.237956725949003
+            ],
+            "held_grasp_finger_b": [
+              0.2188867255025725,
+              -0.13238158319832388,
+              1.237956725949003
+            ],
+            "held_grasp_midpoint": [
+              0.22321372933628375,
+              -0.1447230069073084,
+              1.237956725949003
+            ],
+            "held_grasp_object_position": [
+              0.22754073316999504,
+              -0.13238158319832388,
+              1.237956725949003
+            ],
+            "held_grasp_finger_gap": 0.026155970740283183,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.0241233642128112,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05731771044141754,
+              -0.9974291742583747,
+              -0.043008399272823856
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036520707270025587,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.032642969439182455,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19197706704069592,
+              -0.13957199669162337,
+              0.756586453328269
+            ],
+            "target_position": [
+              0.19465216492630952,
+              -0.13759655841756566,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0033254330653655433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2126488918217482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586453328269,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548846144723437,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08862779388950139,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1837064754083332,
+            "release_required_pad_clearance": 0.054313896944750695,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6491248099645337,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5cbd56c16ada6be02f56476e21e2ee98deb68bde99f536cca269cfcb9c4afe0",
+    "visual_seed": 5170347462387184619,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 32,
+  "collection_result_filename": "episode_32_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74aec3f99acb41cc4ab207fec6b2ca0f621acbe3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_34_success.json
@@ -0,0 +1,2678 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2502272946202171,
+              0.003968595266390553,
+              1.1626635440454478
+            ],
+            "current_z": 1.1626635440454478,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.3015568572167475,
+            "gripper_z": 1.1560887564268598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24533067261625288,
+              -0.0008712522138266815,
+              1.1560887564268598
+            ],
+            "object_minus_gripper": [
+              0.004896622003964207,
+              0.0048398474802172345,
+              0.006574787618587985
+            ],
+            "object_to_gripper_xy": 0.006884840643142843,
+            "object_to_gripper_z": 0.006574787618587985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2502272946202171,
+              -0.01993383942361506,
+              1.1626635440454478
+            ],
+            "finger_b": [
+              0.23916320902002924,
+              0.003968595266390553,
+              1.1626635440454478
+            ],
+            "finger_midpoint": [
+              0.24469525182012317,
+              -0.007982622078612254,
+              1.1626635440454478
+            ],
+            "object_minus_finger_midpoint": [
+              0.005532042800093923,
+              0.011951217345002808,
+              0.0
+            ],
+            "finger_gap": 0.026338951654883074,
+            "fingertip_max_gap": 0.09129025288098089,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013169475827441537,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626635440454478,
+            "object_top_z": 1.2126887878453139,
+            "finger_top_clearance": 0.05002524379986606,
+            "fingertip_min_top_clearance": 0.015007573139959818,
+            "object_projection_between_fingers": 0.8235449532605951,
+            "object_to_finger_line_xy": 0.0100405888179719,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048145126440490446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6440338190038292,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2849233038834597,
+              -0.3920399161086874,
+              0.8515395886172019
+            ],
+            "target_position": [
+              0.27703124278367885,
+              -0.3934008869369883,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00800854980618591,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18407671258649777,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395886172019,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559089249133526,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554728216772343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15203676732508287,
+            "release_required_pad_clearance": 0.05277364108386172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5961027075898926,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008488774299621582,
+            "max_z_decrease": 0.008488774299621582,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505477080586519,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008488774299621582,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020875722679907227,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008488774299621582,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008488824807238539,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13273116946220392,
+              -0.44966235756874084,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13273116946220392,
+              -0.44966235756874084,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13091411178596007,
+              -0.4479618565432622,
+              0.8036258983250019
+            ],
+            "closest_button": [
+              0.1327632516622543,
+              -0.4496414065361023,
+              0.7686602473258972
+            ],
+            "closest_ee_minus_button": [
+              -0.0018491398762942313,
+              0.0016795499928400903,
+              0.03496565099910465
+            ],
+            "button_min_z_position": [
+              0.13275378942489618,
+              -0.4496437609195709,
+              0.7683200836181641
+            ],
+            "min_active_finger_to_button": 0.14680193209527667,
+            "closest_active_finger": [
+              0.00473523885011673,
+              -0.5128015279769897,
+              0.8109871745109558
+            ],
+            "closest_active_finger_button": [
+              0.13273246586322784,
+              -0.449662446975708,
+              0.7766218781471252
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12799722701311111,
+              -0.06313908100128174,
+              0.034365296363830566
+            ],
+            "min_contact_pad_to_button": 0.020875722679907227,
+            "closest_contact_pad": [
+              0.13275378942489618,
+              -0.4496437609195709,
+              0.7891958062980713
+            ],
+            "closest_contact_pad_button": [
+              0.13275378942489618,
+              -0.4496437609195709,
+              0.7683200836181641
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020875722679907227
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27112125727304653,
+              0.1794967004371194,
+              1.103644942569395
+            ],
+            "current_z": 1.103644942569395,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1937358128350325,
+            "gripper_z": 1.1036449042338663,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27112119939367463,
+              0.17949670489596847,
+              1.1036449042338663
+            ],
+            "object_minus_gripper": [
+              5.7879371906377486e-08,
+              -4.458849067745518e-09,
+              3.833552875143198e-08
+            ],
+            "object_to_gripper_xy": 5.805086586163633e-08,
+            "object_to_gripper_z": 3.833552875143198e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27112125727304653,
+              0.1794967004371194,
+              1.103644942569395
+            ],
+            "finger_b": [
+              0.27112125727304653,
+              0.1794967004371194,
+              1.103644942569395
+            ],
+            "finger_midpoint": [
+              0.27112125727304653,
+              0.1794967004371194,
+              1.103644942569395
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103644942569395,
+            "object_top_z": 1.2286534491896748,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27112125727304653,
+            0.1794967004371194,
+            1.103644942569395
+          ],
+          "object_origin_world": [
+            0.27112125727304653,
+            0.1794967004371194,
+            1.103644942569395
+          ],
+          "frame_world": [
+            0.27112119939367463,
+            0.17949670489596847,
+            1.1036449042338663
+          ],
+          "center_minus_frame": [
+            5.7879371906377486e-08,
+            -4.458849067745518e-09,
+            3.833552875143198e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436483123209988,
+            "required_z": 0.9112598136608379,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002003749750858174,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.7696038020388246e-07,
+            "max_target_xy_drift": 2.384614126276225e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.596102709532997,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5961027099842277,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28291707772420344,
+              -0.3923363451480235,
+              0.9233543141665482
+            ],
+            "target_mouth_xy": [
+              0.28492330632374185,
+              -0.3920398539257056
+            ],
+            "rod_tip_z": 0.9233543141665482,
+            "rod_tip_depth": -0.022094487806175622,
+            "rod_tip_bottom_clearance": 0.12153501887785778,
+            "rod_tip_xy_dist": 0.0020280187963915525,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04502097883898526,
+            "min_rod_tip_bottom_clearance": 0.05441972144379492,
+            "min_rod_tip_xy_dist": 0.0015108154530042008,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.28492321548604654,
+              -0.3920400057923882
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.083769531015307e-08,
+              1.5186668256284008e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0014583722224641993,
+                0.0015905927197784608
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015582203615573942,
+                0.0011922819286149244
+              ],
+              "first_target_mouth_xy": [
+                0.2849232445103153,
+                -0.39204003560817324
+              ],
+              "last_target_mouth_xy": [
+                0.2849232434476581,
+                -0.3920400086701978
+              ],
+              "first_rod_tip_xy": [
+                0.2834648722878511,
+                -0.3904494428883948
+              ],
+              "last_rod_tip_xy": [
+                0.28336502308610073,
+                -0.39084772674158286
+              ],
+              "min_rod_tip_xy_dist": 0.001946602274625925,
+              "max_rod_tip_xy_dist": 0.0021596108477284375,
+              "first_target_xy_drift": 4.160996534894475e-08,
+              "last_target_xy_drift": 2.8109313587304023e-08,
+              "max_depth": 0.019357847106319048,
+              "min_bottom_clearance": 0.08008291870044248
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0014583722224641993,
+                  0.0015905927197784608
+                ],
+                "rod_tip_xy": [
+                  0.2834648722878511,
+                  -0.3904494428883948
+                ],
+                "target_mouth_xy": [
+                  0.2849232445103153,
+                  -0.39204003560817324
+                ],
+                "gripper_position": [
+                  0.28345480982390814,
+                  -0.3904596232059712,
+                  1.006073504819853
+                ],
+                "rod_tip_xy_dist": 0.002157970050641901,
+                "target_xy_drift": 4.160996534894475e-08,
+                "depth": 0.015026580861258965,
+                "bottom_clearance": 0.08441404123136131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0014684367475280569,
+                  0.0015803784520918018
+                ],
+                "rod_tip_xy": [
+                  0.28345480982390814,
+                  -0.39045962320597116
+                ],
+                "target_mouth_xy": [
+                  0.2849232465714362,
+                  -0.39204000165806296
+                ],
+                "gripper_position": [
+                  0.28344697673808306,
+                  -0.3904637617593127,
+                  1.0059329512236217
+                ],
+                "rod_tip_xy_dist": 0.002157290553756461,
+                "target_xy_drift": 3.1359115018717354e-08,
+                "depth": 0.015186343359773091,
+                "bottom_clearance": 0.08425422832340146,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0014762400971198852,
+                  0.0015762722446588384
+                ],
+                "rod_tip_xy": [
+                  0.283446976738083,
+                  -0.39046376175931263
+                ],
+                "target_mouth_xy": [
+                  0.2849232168352029,
+                  -0.39204003400397147
+                ],
+                "gripper_position": [
+                  0.2834533397883521,
+                  -0.3905388309735207,
+                  1.0053971800577606
+                ],
+                "rod_tip_xy_dist": 0.0021596108477284375,
+                "target_xy_drift": 2.8243825071328928e-08,
+                "depth": 0.015326876992638572,
+                "bottom_clearance": 0.08411365565655793,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014698120172119133,
+                  0.0015012011552905657
+                ],
+                "rod_tip_xy": [
+                  0.2834533397883521,
+                  -0.3905388309735207
+                ],
+                "target_mouth_xy": [
+                  0.284923151805564,
+                  -0.3920400321288113
+                ],
+                "gripper_position": [
+                  0.28344303772580637,
+                  -0.39054897227399704,
+                  1.0052376468920197
+                ],
+                "rod_tip_xy_dist": 0.0021009408070162953,
+                "target_xy_drift": 6.891161759728785e-08,
+                "depth": 0.015862738117744413,
+                "bottom_clearance": 0.08357797187171967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014802088798879787,
+                  0.0014910341484153378
+                ],
+                "rod_tip_xy": [
+                  0.28344303772580637,
+                  -0.3905489722739971
+                ],
+                "target_mouth_xy": [
+                  0.28492324660569435,
+                  -0.39204000642241243
+                ],
+                "gripper_position": [
+                  0.28343531753221163,
+                  -0.3905527241300625,
+                  1.0050971860069444
+                ],
+                "rod_tip_xy_dist": 0.002101000038038999,
+                "target_xy_drift": 3.112602464099228e-08,
+                "depth": 0.016022220508245644,
+                "bottom_clearance": 0.08341838927119327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001487867636231266,
+                  0.0014872480453022585
+                ],
+                "rod_tip_xy": [
+                  0.2834353175322116,
+                  -0.3905527241300625
+                ],
+                "target_mouth_xy": [
+                  0.28492318516844284,
+                  -0.39203997217536474
+                ],
+                "gripper_position": [
+                  0.2834422931271766,
+                  -0.3906289791827406,
+                  1.0045631516495244
+                ],
+                "rod_tip_xy_dist": 0.0021037245188474185,
+                "target_xy_drift": 4.526876803693156e-08,
+                "depth": 0.01616268853081604,
+                "bottom_clearance": 0.08327789527585339,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014808927959939489,
+                  0.0014110579953644509
+                ],
+                "rod_tip_xy": [
+                  0.2834422931271766,
+                  -0.39062897918274064
+                ],
+                "target_mouth_xy": [
+                  0.28492318592317056,
+                  -0.3920400371781051
+                ],
+                "gripper_position": [
+                  0.28343189557641246,
+                  -0.39063882377711673,
+                  1.004403506483713
+                ],
+                "rod_tip_xy_dist": 0.0020455141504053982,
+                "target_xy_drift": 4.3116433786503334e-08,
+                "depth": 0.01669674309584035,
+                "bottom_clearance": 0.08274389686501837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014912903828005475,
+                  0.001401176930677095
+                ],
+                "rod_tip_xy": [
+                  0.28343189557641246,
+                  -0.3906388237771168
+                ],
+                "target_mouth_xy": [
+                  0.284923185959213,
+                  -0.3920400007077939
+                ],
+                "gripper_position": [
+                  0.2834239134885086,
+                  -0.39064264766153306,
+                  1.0042634798068852
+                ],
+                "rod_tip_xy_dist": 0.0020462755916286273,
+                "target_xy_drift": 2.996142516197683e-08,
+                "depth": 0.01685636608560881,
+                "bottom_clearance": 0.0825842318983433,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014992423211805384,
+                  0.0013973892049332637
+                ],
+                "rod_tip_xy": [
+                  0.2834239134885086,
+                  -0.3906426476615331
+                ],
+                "target_mouth_xy": [
+                  0.28492315580968913,
+                  -0.3920400368664664
+                ],
+                "gripper_position": [
+                  0.28341620856075794,
+                  -0.39064642983630427,
+                  1.004122871862899
+                ],
+                "rod_tip_xy_dist": 0.0020494936271388663,
+                "target_xy_drift": 6.728198845024034e-08,
+                "depth": 0.016996418715673256,
+                "bottom_clearance": 0.08244422186204581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015069787122927725,
+                  0.0013936009848456443
+                ],
+                "rod_tip_xy": [
+                  0.2834162085607579,
+                  -0.39064642983630427
+                ],
+                "target_mouth_xy": [
+                  0.28492318727305066,
+                  -0.3920400308211499
+                ],
+                "gripper_position": [
+                  0.2834243704338494,
+                  -0.39072511751415956,
+                  1.0035904692166764
+                ],
+                "rod_tip_xy_dist": 0.0020525858189772072,
+                "target_xy_drift": 3.771487837017071e-08,
+                "depth": 0.017136990187163748,
+                "bottom_clearance": 0.08230361628697824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001498817887270354,
+                  0.001314885088405271
+                ],
+                "rod_tip_xy": [
+                  0.2834243704338493,
+                  -0.3907251175141595
+                ],
+                "target_mouth_xy": [
+                  0.2849231883211197,
+                  -0.3920400026025648
+                ],
+                "gripper_position": [
+                  0.28341389453358834,
+                  -0.3907348698763026,
+                  1.0034308452253755
+                ],
+                "rod_tip_xy_dist": 0.0019938349618040365,
+                "target_xy_drift": 2.7351567137130657e-08,
+                "depth": 0.017669432168035404,
+                "bottom_clearance": 0.08177115700867976,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015092616482398347,
+                  0.001305133056454355
+                ],
+                "rod_tip_xy": [
+                  0.28341389453358834,
+                  -0.3907348698763027
+                ],
+                "target_mouth_xy": [
+                  0.2849231561818282,
+                  -0.39204000293275704
+                ],
+                "gripper_position": [
+                  0.28340589538944677,
+                  -0.39073853372977274,
+                  1.0032909082758792
+                ],
+                "rod_tip_xy_dist": 0.0019953052442915867,
+                "target_xy_drift": 5.937312360556199e-08,
+                "depth": 0.017828927903898895,
+                "bottom_clearance": 0.08161159044952082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015173201327229324,
+                  0.0013014720601913776
+                ],
+                "rod_tip_xy": [
+                  0.28340589538944677,
+                  -0.39073853372977274
+                ],
+                "target_mouth_xy": [
+                  0.2849232155221697,
+                  -0.3920400057899641
+                ],
+                "gripper_position": [
+                  0.2833978286200882,
+                  -0.39074225680308433,
+                  1.003150830210231
+                ],
+                "rod_tip_xy_dist": 0.001999022238151723,
+                "target_xy_drift": 3.6204402511861395e-11,
+                "depth": 0.017968963850698905,
+                "bottom_clearance": 0.08147162666334873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015253577488966719,
+                  0.001297685884389277
+                ],
+                "rod_tip_xy": [
+                  0.28339782862008817,
+                  -0.3907422568030844
+                ],
+                "target_mouth_xy": [
+                  0.28492318636898484,
+                  -0.39203994268747366
+                ],
+                "gripper_position": [
+                  0.28338980050968554,
+                  -0.39074576203967476,
+                  1.0030108439486043
+                ],
+                "rod_tip_xy_dist": 0.0020026744410069006,
+                "target_xy_drift": 6.949844256158595e-08,
+                "depth": 0.01810900195778309,
+                "bottom_clearance": 0.08133152408455346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0015334132305471204,
+                  0.0012942459830720399
+                ],
+                "rod_tip_xy": [
+                  0.28338980050968554,
+                  -0.3907457620396747
+                ],
+                "target_mouth_xy": [
+                  0.28492321374023266,
+                  -0.39204000802274674
+                ],
+                "gripper_position": [
+                  0.283400263595055,
+                  -0.3908275972462186,
+                  1.0024816839984052
+                ],
+                "rod_tip_xy_dist": 0.0020065963222120854,
+                "target_xy_drift": 2.8323780535182836e-09,
+                "depth": 0.018249122690143893,
+                "bottom_clearance": 0.08119161617704573,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0015229835721093932,
+                  0.001212345435370521
+                ],
+                "rod_tip_xy": [
+                  0.283400263595055,
+                  -0.3908275972462186
+                ],
+                "target_mouth_xy": [
+                  0.2849232471671644,
+                  -0.39203994268158915
+                ],
+                "gripper_position": [
+                  0.28338959016982623,
+                  -0.3908372976614525,
+                  1.0023222142020594
+                ],
+                "rod_tip_xy_dist": 0.001946602274625925,
+                "target_xy_drift": 7.061633084467663e-08,
+                "depth": 0.018778097938781158,
+                "bottom_clearance": 0.08066247374373703,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015336543856423468,
+                  0.0012027395332735447
+                ],
+                "rod_tip_xy": [
+                  0.28338959016982623,
+                  -0.3908372976614525
+                ],
+                "target_mouth_xy": [
+                  0.2849232445554686,
+                  -0.392040037194726
+                ],
+                "gripper_position": [
+                  0.2833814345805993,
+                  -0.3908406725396242,
+                  1.0021822256484036
+                ],
+                "rod_tip_xy_dist": 0.0019490197945375178,
+                "target_xy_drift": 4.279179967479217e-08,
+                "depth": 0.01893771031405611,
+                "bottom_clearance": 0.08050296727695117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015418425511987688,
+                  0.0011992691970148517
+                ],
+                "rod_tip_xy": [
+                  0.2833814345805992,
+                  -0.3908406725396242
+                ],
+                "target_mouth_xy": [
+                  0.284923277131798,
+                  -0.39203994173663903
+                ],
+                "gripper_position": [
+                  0.2833731671756524,
+                  -0.3908442507123982,
+                  1.0020423777402434
+                ],
+                "rod_tip_xy_dist": 0.001953336903761298,
+                "target_xy_drift": 8.890071805485787e-08,
+                "depth": 0.01907769373536905,
+                "bottom_clearance": 0.08036291830026376,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015500779999651493,
+                  0.0011957246484584627
+                ],
+                "rod_tip_xy": [
+                  0.28337316717565236,
+                  -0.39084425071239826
+                ],
+                "target_mouth_xy": [
+                  0.2849232451756175,
+                  -0.3920399753608567
+                ],
+                "gripper_position": [
+                  0.28336502308610073,
+                  -0.3908477267415829,
+                  1.0019021341471286
+                ],
+                "rod_tip_xy_dist": 0.001957677001169261,
+                "target_xy_drift": 4.251527644711404e-08,
+                "depth": 0.01921742791164005,
+                "bottom_clearance": 0.08022314565501587,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015582203615573942,
+                  0.0011922819286149244
+                ],
+                "rod_tip_xy": [
+                  0.28336502308610073,
+                  -0.39084772674158286
+                ],
+                "target_mouth_xy": [
+                  0.2849232434476581,
+                  -0.3920400086701978
+                ],
+                "gripper_position": [
+                  0.28335679783266043,
+                  -0.39085107375315414,
+                  1.001762158970154
+                ],
+                "rod_tip_xy_dist": 0.0019620364146655843,
+                "target_xy_drift": 2.8109313587304023e-08,
+                "depth": 0.019357847106319048,
+                "bottom_clearance": 0.08008291870044248,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006023618428818253,
+              "rod_tip_xy_max_step": 3.269313283234128e-05,
+              "rod_tip_xy_range": 0.0006023565451713472,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28291707772420344,
+            -0.3923363451480235,
+            1.0433543141665484
+          ],
+          "object_origin_world": [
+            0.28291707772420344,
+            -0.3923363451480235,
+            1.0433543141665484
+          ],
+          "frame_world": [
+            0.28294105426617283,
+            -0.3923325822029997,
+            1.0436483123209988
+          ],
+          "center_minus_frame": [
+            -2.3976541969394916e-05,
+            -3.762945023799702e-06,
+            -0.0002939981544503034
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26060271535655954,
+              0.13433248072747955,
+              0.8337896762425717
+            ],
+            "target_position": [
+              0.27122251409783893,
+              0.18056314628134917,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04743474004207282,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16581710217567958,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8337896762425717,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675693108598,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13464111456405395,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21826145471776648,
+              -0.13219534587668874,
+              1.0446708035693784
+            ],
+            "current_z": 1.0446708035693784,
+            "required_z": 0.8565863617620822,
+            "initial_z": 0.7565863617620823,
+            "lift_margin": 0.1880844418072961,
+            "gripper_z": 1.0485580245303052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21426783620835155,
+              -0.13646395270772677,
+              1.0485580245303052
+            ],
+            "object_minus_gripper": [
+              0.003993618509414931,
+              0.004268606831038024,
+              -0.0038872209609268626
+            ],
+            "object_to_gripper_xy": 0.005845510506082939,
+            "object_to_gripper_z": -0.0038872209609268626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21826145471776648,
+              -0.15587741422165902,
+              1.0446708035693784
+            ],
+            "finger_b": [
+              0.2073978513556747,
+              -0.13219534587668874,
+              1.0446708035693784
+            ],
+            "finger_midpoint": [
+              0.21282965303672058,
+              -0.14403638004917388,
+              1.0446708035693784
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054318016810459,
+              0.011841034172485138,
+              0.0
+            ],
+            "finger_gap": 0.02605490815767146,
+            "fingertip_max_gap": 0.09236577122027598,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013027454078835736,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0446708035693784,
+            "object_top_z": 1.0900137362794151,
+            "finger_top_clearance": 0.045342932710036754,
+            "fingertip_min_top_clearance": 0.013602879813011042,
+            "object_projection_between_fingers": 0.8261523964642482,
+            "object_to_finger_line_xy": 0.009874246945597322,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868288561013799,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.153370145060807,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22184621239644423,
+              -0.13332895022421218,
+              1.243681825895113
+            ],
+            "held_position": [
+              0.22616261228518586,
+              -0.12925942984048708,
+              1.2399285752094868
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007019914163452147,
+            "max_held_gripper_dist": 0.007021293408297997,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037532506856261527,
+            "max_held_gripper_z_dist": 0.0039048947978781445,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581534385792255,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22616261228518586,
+              -0.1539525770536306,
+              1.2399285752094868
+            ],
+            "held_grasp_finger_b": [
+              0.21772352277008084,
+              -0.12925942984048708,
+              1.2399285752094868
+            ],
+            "held_grasp_midpoint": [
+              0.22194306752763335,
+              -0.14160600344705884,
+              1.2399285752094868
+            ],
+            "held_grasp_object_position": [
+              0.22616261228518586,
+              -0.12925942984048708,
+              1.2399285752094868
+            ],
+            "held_grasp_finger_gap": 0.026095397125430637,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02417200883217312,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05395575678390738,
+              -0.9973352558486042,
+              -0.04910360222300825
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035996085476928405,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03265938600255988,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1907447503355654,
+              -0.12777883395409048,
+              0.756588337254714
+            ],
+            "target_position": [
+              0.19339724483198373,
+              -0.13570159003301765,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008354985992789395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21626225469409552,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756588337254714,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07599179705351554,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0890962426134259,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18913647557297006,
+            "release_required_pad_clearance": 0.05454812130671295,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.126346014574506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 195,
+            "max_placed_release_frames": 195
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d59aad53c85c916798e82cd9f69455996ff4d3d58e0e01eb7085a3ba57617626",
+    "visual_seed": 6136548869419436919,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 35,
+  "collection_result_filename": "episode_35_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a32c0a205f3806c82a67e6412d8e4627aaf2cf1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_35_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2484439281155291,
+              -0.002813031909376401,
+              1.1644992640719845
+            ],
+            "current_z": 1.1644992640719845,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30339281566186327,
+            "gripper_z": 1.1580870441230036,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24330353552664552,
+              -0.0076443178993814975,
+              1.1580870441230036
+            ],
+            "object_minus_gripper": [
+              0.005140392588883574,
+              0.004831285990005096,
+              0.006412219948980891
+            ],
+            "object_to_gripper_xy": 0.0070544284166095764,
+            "object_to_gripper_z": 0.006412219948980891,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2484439281155291,
+              -0.027030197926256952,
+              1.1644992640719845
+            ],
+            "finger_b": [
+              0.237589162800055,
+              -0.002813031909376401,
+              1.1644992640719845
+            ],
+            "finger_midpoint": [
+              0.24301654545779205,
+              -0.014921614917816677,
+              1.1644992640719845
+            ],
+            "object_minus_finger_midpoint": [
+              0.00542738265773704,
+              0.012108583008440275,
+              0.0
+            ],
+            "finger_gap": 0.02653859566637191,
+            "fingertip_max_gap": 0.0913564782984087,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013269297833185948,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1644992640719845,
+            "object_top_z": 1.2145814645491155,
+            "finger_top_clearance": 0.05008220047713108,
+            "fingertip_min_top_clearance": 0.015024660143139357,
+            "object_projection_between_fingers": 0.832704214236637,
+            "object_to_finger_line_xy": 0.009905258628745308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048178239149204355,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7503960473430045,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2838909643091927,
+              -0.3865184905259952,
+              0.8515394634129849
+            ],
+            "target_position": [
+              0.27586434734974774,
+              -0.3877506451722823,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00812063943824723,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846208484865284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394634129849,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556845160785179,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695799526752322,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245650345058046,
+            "release_required_pad_clearance": 0.05347899763376161,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9707267484310886,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008454859256744385,
+            "max_z_decrease": 0.008454859256744385,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350329093443831,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008454859256744385,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021055257312540696,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008454859256744385,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008454990642727573,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13156427443027494,
+              -0.4440121054649353,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13156427443027494,
+              -0.4440121054649353,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13030942845991605,
+              -0.4455631853067977,
+              0.8035943882857347
+            ],
+            "closest_button": [
+              0.1315929591655731,
+              -0.44398850202560425,
+              0.7686204314231873
+            ],
+            "closest_ee_minus_button": [
+              -0.0012835307056570378,
+              -0.0015746832811934786,
+              0.03497395686254745
+            ],
+            "button_min_z_position": [
+              0.1315986812114715,
+              -0.4439798891544342,
+              0.7683539986610413
+            ],
+            "min_active_finger_to_button": 0.1469356309477344,
+            "closest_active_finger": [
+              -0.010756798088550568,
+              -0.43184778094291687,
+              0.8110888004302979
+            ],
+            "closest_active_finger_button": [
+              0.13156512379646296,
+              -0.4440118968486786,
+              0.7766419649124146
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14232192188501352,
+              0.012164115905761719,
+              0.0344468355178833
+            ],
+            "min_contact_pad_to_button": 0.021055257312540696,
+            "closest_contact_pad": [
+              0.1315986812114715,
+              -0.4465430734530469,
+              0.7892526576311437
+            ],
+            "closest_contact_pad_button": [
+              0.1315986812114715,
+              -0.4439798891544342,
+              0.7683539986610413
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025631842986126863,
+              0.020898658970102457
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2727898896851897,
+              0.18044252603939234,
+              1.1025378655335882
+            ],
+            "current_z": 1.1025378655335882,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19262873579922568,
+            "gripper_z": 1.102537800384592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.272789827052382,
+              0.18044255370981105,
+              1.102537800384592
+            ],
+            "object_minus_gripper": [
+              6.26328077180105e-08,
+              -2.7670418706327027e-08,
+              6.514899619780579e-08
+            ],
+            "object_to_gripper_xy": 6.847277323158985e-08,
+            "object_to_gripper_z": 6.514899619780579e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2727898896851897,
+              0.18044252603939234,
+              1.1025378655335882
+            ],
+            "finger_b": [
+              0.2727898896851897,
+              0.18044252603939234,
+              1.1025378655335882
+            ],
+            "finger_midpoint": [
+              0.2727898896851897,
+              0.18044252603939234,
+              1.1025378655335882
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1025378655335882,
+            "object_top_z": 1.227546372153868,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27278988968518975,
+            0.18044252603939234,
+            1.1025378655335882
+          ],
+          "object_origin_world": [
+            0.27278988968518975,
+            0.18044252603939234,
+            1.1025378655335882
+          ],
+          "frame_world": [
+            0.272789827052382,
+            0.18044255370981105,
+            1.102537800384592
+          ],
+          "center_minus_frame": [
+            6.263280777352165e-08,
+            -2.7670418706327027e-08,
+            6.514899619780579e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432662422693564,
+            "required_z": 0.9112599169939671,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.000772984946936945,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.42573956421796e-08,
+            "max_target_xy_drift": 3.0786108619058583e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9711238697898663,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9711238860409637,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28416255946903024,
+              -0.3857850472156578,
+              0.9233917779987052
+            ],
+            "target_mouth_xy": [
+              0.2838911129649403,
+              -0.3865183023847981
+            ],
+            "rod_tip_z": 0.9233917779987052,
+            "rod_tip_depth": -0.02213186966001779,
+            "rod_tip_bottom_clearance": 0.12157273189855677,
+            "rod_tip_xy_dist": 0.000781886403292463,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04507076329940629,
+            "min_rod_tip_bottom_clearance": 0.054370071134584474,
+            "min_rod_tip_xy_dist": 0.0007401587027455489,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2838910814877412,
+              -0.3865183334959377
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.1477199069485096e-08,
+              3.111113960896361e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0007137229341926954,
+                0.002483345566404782
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006532078405921959,
+                0.002051146846233587
+              ],
+              "first_target_mouth_xy": [
+                0.28389098857224027,
+                -0.38651823969305144
+              ],
+              "last_target_mouth_xy": [
+                0.28389114432327833,
+                -0.3865183023756583
+              ],
+              "first_rod_tip_xy": [
+                0.28460471150643296,
+                -0.38403489412664665
+              ],
+              "last_rod_tip_xy": [
+                0.28454435216387053,
+                -0.38446715552942473
+              ],
+              "min_rod_tip_xy_dist": 0.002152645783175929,
+              "max_rod_tip_xy_dist": 0.0025838741511487974,
+              "first_target_xy_drift": 1.3203132884017534e-07,
+              "last_target_xy_drift": 7.011972984830346e-08,
+              "max_depth": 0.019728605064249005,
+              "min_bottom_clearance": 0.0797123185289047
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007137229341926954,
+                  0.002483345566404782
+                ],
+                "rod_tip_xy": [
+                  0.28460471150643296,
+                  -0.38403489412664665
+                ],
+                "target_mouth_xy": [
+                  0.28389098857224027,
+                  -0.38651823969305144
+                ],
+                "gripper_position": [
+                  0.28461441343252325,
+                  -0.38410353185981017,
+                  1.00567382640123
+                ],
+                "rod_tip_xy_dist": 0.0025838741511487974,
+                "target_xy_drift": 1.3203132884017534e-07,
+                "depth": 0.015050356147056632,
+                "bottom_clearance": 0.08439029607801063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007232392195716808,
+                  0.0024147708309457117
+                ],
+                "rod_tip_xy": [
+                  0.2846144134325233,
+                  -0.3841035318598102
+                ],
+                "target_mouth_xy": [
+                  0.2838911742129516,
+                  -0.38651830269075593
+                ],
+                "gripper_position": [
+                  0.28460414490335295,
+                  -0.3841130066049361,
+                  1.0055159328517516
+                ],
+                "rod_tip_xy_dist": 0.0025207524937432666,
+                "target_xy_drift": 9.770836130489437e-08,
+                "depth": 0.01558610137426819,
+                "bottom_clearance": 0.08385483650877545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007130335752336681,
+                  0.0024052951823215207
+                ],
+                "rod_tip_xy": [
+                  0.28460414490335295,
+                  -0.384113006604936
+                ],
+                "target_mouth_xy": [
+                  0.2838911113281193,
+                  -0.38651830178725755
+                ],
+                "gripper_position": [
+                  0.2845963361380056,
+                  -0.38411640109125134,
+                  1.0053770557564237
+                ],
+                "rod_tip_xy_dist": 0.002508757021616407,
+                "target_xy_drift": 4.3541802459994024e-08,
+                "depth": 0.015744010579372247,
+                "bottom_clearance": 0.08369676623758804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0007052562729936707,
+                  0.0024018395238141754
+                ],
+                "rod_tip_xy": [
+                  0.2845963361380056,
+                  -0.3841164010912514
+                ],
+                "target_mouth_xy": [
+                  0.28389107986501194,
+                  -0.38651824061506557
+                ],
+                "gripper_position": [
+                  0.2846068278263043,
+                  -0.3841861617534378,
+                  1.004842846455739
+                ],
+                "rod_tip_xy_dist": 0.0025032417998972507,
+                "target_xy_drift": 9.289504649629e-08,
+                "depth": 0.015882801918403744,
+                "bottom_clearance": 0.08355788641055806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007157158574765399,
+                  0.0023321403370817895
+                ],
+                "rod_tip_xy": [
+                  0.2846068278263043,
+                  -0.3841861617534377
+                ],
+                "target_mouth_xy": [
+                  0.28389111196882777,
+                  -0.3865183020905195
+                ],
+                "gripper_position": [
+                  0.2845963474779244,
+                  -0.3841956969670824,
+                  1.0046846754712118
+                ],
+                "rod_tip_xy_dist": 0.0024394933368401196,
+                "target_xy_drift": 4.376524796978861e-08,
+                "depth": 0.016417107790141827,
+                "bottom_clearance": 0.08302370484964539,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007052981580081275,
+                  0.0023225420748768655
+                ],
+                "rod_tip_xy": [
+                  0.2845963474779244,
+                  -0.3841956969670824
+                ],
+                "target_mouth_xy": [
+                  0.28389104931991627,
+                  -0.38651823904195926
+                ],
+                "gripper_position": [
+                  0.28458845095154195,
+                  -0.38419889391380324,
+                  1.0045455546652942
+                ],
+                "rod_tip_xy_dist": 0.0024272715507876316,
+                "target_xy_drift": 9.9781376076872e-08,
+                "depth": 0.016575205247880365,
+                "bottom_clearance": 0.08286551366223904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0006972779506478899,
+                  0.002319437952030101
+                ],
+                "rod_tip_xy": [
+                  0.28458845095154195,
+                  -0.3841988939138033
+                ],
+                "target_mouth_xy": [
+                  0.28389117300089406,
+                  -0.3865183318658334
+                ],
+                "gripper_position": [
+                  0.28458036197499104,
+                  -0.38420241622012286,
+                  1.004406286698669
+                ],
+                "rod_tip_xy_dist": 0.0024219803784872643,
+                "target_xy_drift": 9.152767003280288e-08,
+                "depth": 0.016714351719235077,
+                "bottom_clearance": 0.08272651657288532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0006892472317466813,
+                  0.0023159172195668654
+                ],
+                "rod_tip_xy": [
+                  0.28458036197499104,
+                  -0.3842024162201228
+                ],
+                "target_mouth_xy": [
+                  0.28389111474324435,
+                  -0.38651833343968967
+                ],
+                "gripper_position": [
+                  0.2845925252966782,
+                  -0.3842742725344516,
+                  1.0038732415051221
+                ],
+                "rod_tip_xy_dist": 0.0024163059231721434,
+                "target_xy_drift": 3.325555069774953e-08,
+                "depth": 0.01685365886136647,
+                "bottom_clearance": 0.08258731689583787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007014138373840906,
+                  0.0022441212031672486
+                ],
+                "rod_tip_xy": [
+                  0.2845925252966782,
+                  -0.3842742725344516
+                ],
+                "target_mouth_xy": [
+                  0.28389111145929413,
+                  -0.38651839373761887
+                ],
+                "gripper_position": [
+                  0.28458195748680903,
+                  -0.3842836210281642,
+                  1.0037149475973717
+                ],
+                "rod_tip_xy_dist": 0.0023511829673121347,
+                "target_xy_drift": 6.728561607507357e-08,
+                "depth": 0.01738674773259563,
+                "bottom_clearance": 0.08205412168030601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0006909701459492101,
+                  0.002234648490081037
+                ],
+                "rod_tip_xy": [
+                  0.28458195748680903,
+                  -0.3842836210281642
+                ],
+                "target_mouth_xy": [
+                  0.2838909873408598,
+                  -0.38651826951824525
+                ],
+                "gripper_position": [
+                  0.2845739180010997,
+                  -0.3842866656271472,
+                  1.003575966713374
+                ],
+                "rod_tip_xy_dist": 0.0023390368994127757,
+                "target_xy_drift": 1.1382785429065151e-07,
+                "depth": 0.01754490342347781,
+                "bottom_clearance": 0.08189570209870167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0006827744892576315,
+                  0.002231667822259531
+                ],
+                "rod_tip_xy": [
+                  0.2845739180010997,
+                  -0.38428666562714725
+                ],
+                "target_mouth_xy": [
+                  0.2838911435118421,
+                  -0.3865183334494068
+                ],
+                "gripper_position": [
+                  0.2845656539312177,
+                  -0.384290260188837,
+                  1.0034371778108393
+                ],
+                "rod_tip_xy_dist": 0.002333778539641158,
+                "target_xy_drift": 6.202411830924779e-08,
+                "depth": 0.017683970173734465,
+                "bottom_clearance": 0.08175696495093299,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0006745109067385346,
+                  0.0022280726380731752
+                ],
+                "rod_tip_xy": [
+                  0.2845656539312177,
+                  -0.384290260188837
+                ],
+                "target_mouth_xy": [
+                  0.28389114302447915,
+                  -0.38651833282691017
+                ],
+                "gripper_position": [
+                  0.28457924686167757,
+                  -0.38436390761069744,
+                  1.0029073711105518
+                ],
+                "rod_tip_xy_dist": 0.002327933127011942,
+                "target_xy_drift": 6.154037465462073e-08,
+                "depth": 0.01782274396995487,
+                "bottom_clearance": 0.0816181504493324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0006881338777308121,
+                  0.0021544252228072325
+                ],
+                "rod_tip_xy": [
+                  0.28457924686167757,
+                  -0.38436390761069744
+                ],
+                "target_mouth_xy": [
+                  0.28389111298394676,
+                  -0.3865183328335047
+                ],
+                "gripper_position": [
+                  0.2845683824810661,
+                  -0.38437319110213874,
+                  1.002749356027681
+                ],
+                "rod_tip_xy_dist": 0.002261653438161744,
+                "target_xy_drift": 3.150317095942049e-08,
+                "depth": 0.018352548747436415,
+                "bottom_clearance": 0.08108833645674662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0006772691959305854,
+                  0.0021451112898179803
+                ],
+                "rod_tip_xy": [
+                  0.2845683824810661,
+                  -0.3843731911021387
+                ],
+                "target_mouth_xy": [
+                  0.2838911132851355,
+                  -0.38651830239195667
+                ],
+                "gripper_position": [
+                  0.2845603195263104,
+                  -0.38437606104271826,
+                  1.0026104978228716
+                ],
+                "rod_tip_xy_dist": 0.0022494879438354457,
+                "target_xy_drift": 4.44806915434623e-08,
+                "depth": 0.01851055517706679,
+                "bottom_clearance": 0.08093031999869527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0006692072273051797,
+                  0.002142241061577066
+                ],
+                "rod_tip_xy": [
+                  0.2845603195263104,
+                  -0.3843760610427183
+                ],
+                "target_mouth_xy": [
+                  0.2838911122990052,
+                  -0.3865183021042954
+                ],
+                "gripper_position": [
+                  0.28455192421382847,
+                  -0.38437935035704573,
+                  1.0024719133441526
+                ],
+                "rod_tip_xy_dist": 0.0022443339945258417,
+                "target_xy_drift": 4.3986011380929054e-08,
+                "depth": 0.018649399887055162,
+                "bottom_clearance": 0.08079142631484304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0006608116255432117,
+                  0.002138982485436036
+                ],
+                "rod_tip_xy": [
+                  0.28455192421382847,
+                  -0.3843793503570457
+                ],
+                "target_mouth_xy": [
+                  0.28389111258828525,
+                  -0.3865183328424817
+                ],
+                "gripper_position": [
+                  0.2845437545576044,
+                  -0.38438233941626654,
+                  1.0023328042604291
+                ],
+                "rod_tip_xy_dist": 0.0022387313544628765,
+                "target_xy_drift": 3.110740817969943e-08,
+                "depth": 0.01878800328502106,
+                "bottom_clearance": 0.0806528665444709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0006526427365470822,
+                  0.0021359630027223964
+                ],
+                "rod_tip_xy": [
+                  0.2845437545576044,
+                  -0.3843823394162666
+                ],
+                "target_mouth_xy": [
+                  0.2838911118210573,
+                  -0.386518302418989
+                ],
+                "gripper_position": [
+                  0.28453525666119256,
+                  -0.3843856684813811,
+                  1.0021943138653104
+                ],
+                "rod_tip_xy_dist": 0.0022334458781368624,
+                "target_xy_drift": 4.3426798261638006e-08,
+                "depth": 0.01892709488709643,
+                "bottom_clearance": 0.08051372318299077,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0006441440083073124,
+                  0.0021326339180690046
+                ],
+                "rod_tip_xy": [
+                  0.28453525666119256,
+                  -0.38438566848138117
+                ],
+                "target_mouth_xy": [
+                  0.28389111265288525,
+                  -0.3865183023994502
+                ],
+                "gripper_position": [
+                  0.28452699031980433,
+                  -0.38438866153870377,
+                  1.0020554528581738
+                ],
+                "rod_tip_xy_dist": 0.0022277901453989254,
+                "target_xy_drift": 4.402564865960172e-08,
+                "depth": 0.019065592059922642,
+                "bottom_clearance": 0.08037525831302317,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006358487073475638,
+                  0.0021296402462098185
+                ],
+                "rod_tip_xy": [
+                  0.28452699031980433,
+                  -0.3843886615387037
+                ],
+                "target_mouth_xy": [
+                  0.28389114161245677,
+                  -0.38651830178491353
+                ],
+                "gripper_position": [
+                  0.28454435216387053,
+                  -0.38446715552942473,
+                  1.0015313164277564
+                ],
+                "rod_tip_xy_dist": 0.0022225370991081758,
+                "target_xy_drift": 6.797477822135636e-08,
+                "depth": 0.019204435054387514,
+                "bottom_clearance": 0.08023636079122587,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0006532078405921959,
+                  0.002051146846233587
+                ],
+                "rod_tip_xy": [
+                  0.28454435216387053,
+                  -0.38446715552942473
+                ],
+                "target_mouth_xy": [
+                  0.28389114432327833,
+                  -0.3865183023756583
+                ],
+                "gripper_position": [
+                  0.28453352926712827,
+                  -0.38447647529013246,
+                  1.0013736077654256
+                ],
+                "rod_tip_xy_dist": 0.002152645783175929,
+                "target_xy_drift": 7.011972984830346e-08,
+                "depth": 0.019728605064249005,
+                "bottom_clearance": 0.0797123185289047,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.000602523479647256,
+              "rod_tip_xy_max_step": 3.2576307307616455e-05,
+              "rod_tip_xy_range": 0.0006025177977840751,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2841625594690303,
+            -0.3857850472156578,
+            1.0433917779987052
+          ],
+          "object_origin_world": [
+            0.2841625594690303,
+            -0.3857850472156578,
+            1.0433917779987052
+          ],
+          "frame_world": [
+            0.2841611628598577,
+            -0.385794024273541,
+            1.0432662422693564
+          ],
+          "center_minus_frame": [
+            1.3966091725881036e-06,
+            8.97705788316383e-06,
+            0.00012553572934881352
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2606508429598556,
+              0.13612079190987803,
+              0.8324753312847125
+            ],
+            "target_position": [
+              0.27291456943030623,
+              0.18203944424568114,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04752811398823215,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16541749247162152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324753312847125,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675829082935,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1352838749019292,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22055489489864447,
+              -0.1291929901795234,
+              1.0451983720357303
+            ],
+            "current_z": 1.0451983720357303,
+            "required_z": 0.8565863432040092,
+            "initial_z": 0.7565863432040092,
+            "lift_margin": 0.18861202883172112,
+            "gripper_z": 1.0491680269569275,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21620158240767276,
+              -0.13352679052840613,
+              1.0491680269569275
+            ],
+            "object_minus_gripper": [
+              0.004353312490971706,
+              0.004333800348882727,
+              -0.003969654921197163
+            ],
+            "object_to_gripper_xy": 0.006142731892898007,
+            "object_to_gripper_z": -0.003969654921197163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22055489489864447,
+              -0.15339145873174975,
+              1.0451983720357303
+            ],
+            "finger_b": [
+              0.21000517915258987,
+              -0.1291929901795234,
+              1.0451983720357303
+            ],
+            "finger_midpoint": [
+              0.21528003702561715,
+              -0.14129222445563658,
+              1.0451983720357303
+            ],
+            "object_minus_finger_midpoint": [
+              0.005274857873027311,
+              0.012099234276113174,
+              0.0
+            ],
+            "finger_gap": 0.02639815112078192,
+            "fingertip_max_gap": 0.0915751886478661,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013199075560390966,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0451983720357303,
+            "object_top_z": 1.090618492123993,
+            "finger_top_clearance": 0.04542012008826268,
+            "fingertip_min_top_clearance": 0.013626036026478822,
+            "object_projection_between_fingers": 0.8402891229284033,
+            "object_to_finger_line_xy": 0.009670638051422282,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828759432393305,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0718458797904005,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2263894769386918,
+              -0.12812644705560267,
+              1.2426118434883417
+            ],
+            "held_position": [
+              0.23097667651717685,
+              -0.12384846969276583,
+              1.23885631738845
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007310777426291032,
+            "max_held_gripper_dist": 0.0073152805305893845,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003755526099891826,
+            "max_held_gripper_z_dist": 0.0039847361327256525,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08584136010459442,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23097667651717685,
+              -0.1484910031596519,
+              1.23885631738845
+            ],
+            "held_grasp_finger_b": [
+              0.222368785612656,
+              -0.12384846969276583,
+              1.23885631738845
+            ],
+            "held_grasp_midpoint": [
+              0.22667273106491642,
+              -0.1361697364262089,
+              1.23885631738845
+            ],
+            "held_grasp_object_position": [
+              0.23097667651717685,
+              -0.12384846969276583,
+              1.23885631738845
+            ],
+            "held_grasp_finger_gap": 0.026102686480336337,
+            "held_grasp_max_gap": 0.12496595591306686,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024109642084409643,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05161844148640916,
+              -0.996405991712701,
+              -0.0671612699220554
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037561796769413538,
+            "held_grasp_line_xy_max_dist": 0.04748297795653343,
+            "held_grasp_object_top_z": 0.04520071670413017,
+            "held_grasp_top_clearance": 0.032701569748948944,
+            "held_grasp_min_top_clearance": 0.013560215011239052
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18384578377918032,
+              -0.13195063765991874,
+              0.7565865176608855
+            ],
+            "target_position": [
+              0.19403695024913187,
+              -0.1313430918160591,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01020925981502361,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21078322421706555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865176608855,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547155100527303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0919268732213356,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1827390967525784,
+            "release_required_pad_clearance": 0.0559634366106678,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.156903736292483,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01b54f344275b018f3681ceb7a34d94027dedf08d62b13e428a700e88d78ec13",
+    "visual_seed": 7723786963724483530,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 36,
+  "collection_result_filename": "episode_36_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c210955209f14bcf52d01be95ba29f71a34bd4db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_36_success.json
@@ -0,0 +1,2672 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25201322644453,
+              -0.002096347396160247,
+              1.1621662339147103
+            ],
+            "current_z": 1.1621662339147103,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.3010596066906548,
+            "gripper_z": 1.1555639736793273,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2471590373116477,
+              -0.00701912510989483,
+              1.1555639736793273
+            ],
+            "object_minus_gripper": [
+              0.004854189132882297,
+              0.004922777713734583,
+              0.006602260235383017
+            ],
+            "object_to_gripper_xy": 0.0069135296742427075,
+            "object_to_gripper_z": 0.006602260235383017,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25201322644453,
+              -0.02613883278106053,
+              1.1621662339147103
+            ],
+            "finger_b": [
+              0.24104698365219362,
+              -0.002096347396160247,
+              1.1621662339147103
+            ],
+            "finger_midpoint": [
+              0.24653010504836181,
+              -0.01411759008861039,
+              1.1621662339147103
+            ],
+            "object_minus_finger_midpoint": [
+              0.005483121396168189,
+              0.012021242692450142,
+              0.0
+            ],
+            "finger_gap": 0.026425358738598293,
+            "fingertip_max_gap": 0.09130250873614607,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013212679369299148,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1621662339147103,
+            "object_top_z": 1.2121766711549586,
+            "finger_top_clearance": 0.05001043724024834,
+            "fingertip_min_top_clearance": 0.015003131172074502,
+            "object_projection_between_fingers": 0.8277838285227621,
+            "object_to_finger_line_xy": 0.00997737569696285,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048151254368073035,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6470358739961404,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2768762076596433,
+              -0.3915150762729832,
+              0.8515395652131132
+            ],
+            "target_position": [
+              0.26878322389613607,
+              -0.39277158621079555,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00818994526356637,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845546285269479,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395652131132,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549603595903669,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609624700425701,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525292242815021,
+            "release_required_pad_clearance": 0.05304812350212851,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1267299912329263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008185625076293945,
+            "max_z_decrease": 0.008185625076293945,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035082116201889516,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008185625076293945,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02087845764764673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008185625076293945,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008185735906809063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12448315322399135,
+              -0.44903305172920227,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12448315322399135,
+              -0.44903305172920227,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12247994110363161,
+              -0.44717673389071955,
+              0.803598041039437
+            ],
+            "closest_button": [
+              0.1245188862085342,
+              -0.44900986552238464,
+              0.7686232328414917
+            ],
+            "closest_ee_minus_button": [
+              -0.002038945104902587,
+              0.001833131631665097,
+              0.034974808197945295
+            ],
+            "button_min_z_position": [
+              0.1245188862085342,
+              -0.44900986552238464,
+              0.7686232328414917
+            ],
+            "min_active_finger_to_button": 0.1468582545794606,
+            "closest_active_finger": [
+              -0.005463548004627228,
+              -0.5082301497459412,
+              0.810572624206543
+            ],
+            "closest_active_finger_button": [
+              0.12448371201753611,
+              -0.4490323066711426,
+              0.7762699723243713
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12994726002216334,
+              -0.059197843074798584,
+              0.03430265188217163
+            ],
+            "min_contact_pad_to_button": 0.02087845764764673,
+            "closest_contact_pad": [
+              0.1245188862085342,
+              -0.44900986552238464,
+              0.7895016904891384
+            ],
+            "closest_contact_pad_button": [
+              0.1245188862085342,
+              -0.44900986552238464,
+              0.7686232328414917
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02087845764764673
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.270354334193408,
+              0.18032681240922518,
+              1.1037906832385898
+            ],
+            "current_z": 1.1037906832385898,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1938815535042272,
+            "gripper_z": 1.1037906400347628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2703543010860189,
+              0.18032681828244695,
+              1.1037906400347628
+            ],
+            "object_minus_gripper": [
+              3.310738910800026e-08,
+              -5.873221770036352e-09,
+              4.320382696043623e-08
+            ],
+            "object_to_gripper_xy": 3.3624305903744144e-08,
+            "object_to_gripper_z": 4.320382696043623e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.270354334193408,
+              0.18032681240922518,
+              1.1037906832385898
+            ],
+            "finger_b": [
+              0.270354334193408,
+              0.18032681240922518,
+              1.1037906832385898
+            ],
+            "finger_midpoint": [
+              0.270354334193408,
+              0.18032681240922518,
+              1.1037906832385898
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037906832385898,
+            "object_top_z": 1.2287991898588695,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27035433419340793,
+            0.1803268124092252,
+            1.10379068323859
+          ],
+          "object_origin_world": [
+            0.27035433419340793,
+            0.1803268124092252,
+            1.10379068323859
+          ],
+          "frame_world": [
+            0.2703543010860189,
+            0.18032681828244695,
+            1.1037906400347628
+          ],
+          "center_minus_frame": [
+            3.310738905248911e-08,
+            -5.8732217422807764e-09,
+            4.3203827182480836e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433146443990875,
+            "required_z": 0.9112599428481287,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007559873191979362,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.5761431854903614e-08,
+            "max_target_xy_drift": 1.989646819840262e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1274244375709195,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1274244376294356,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27687691728555885,
+              -0.3922616211653873,
+              0.9234386908687063
+            ],
+            "target_mouth_xy": [
+              0.2768759646830947,
+              -0.3915148445188774
+            ],
+            "rod_tip_z": 0.9234386908687063,
+            "rod_tip_depth": -0.022178869855114747,
+            "rod_tip_bottom_clearance": 0.12161938149151108,
+            "rod_tip_xy_dist": 0.0007467772540885503,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045157409113045555,
+            "min_rod_tip_bottom_clearance": 0.05428310251303414,
+            "min_rod_tip_xy_dist": 0.0001467790585072687,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27687599575365124,
+              -0.39151487811544217
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.1070556516521464e-08,
+              3.359656475243611e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0004807664283905111,
+                0.0009137868552486772
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00039496018312124015,
+                0.0005466979509570757
+              ],
+              "first_target_mouth_xy": [
+                0.27687593251159315,
+                -0.3915148153845729
+              ],
+              "last_target_mouth_xy": [
+                0.27687596491104705,
+                -0.3915148451339928
+              ],
+              "first_rod_tip_xy": [
+                0.27735669893998366,
+                -0.3906010285293242
+              ],
+              "last_rod_tip_xy": [
+                0.2772709250941683,
+                -0.39096814718303574
+              ],
+              "min_rod_tip_xy_dist": 0.0006744421367558738,
+              "max_rod_tip_xy_dist": 0.0010325419001147775,
+              "first_target_xy_drift": 8.907704458355727e-08,
+              "last_target_xy_drift": 4.515575527639502e-08,
+              "max_depth": 0.01964750656309966,
+              "min_bottom_clearance": 0.07979300460743333
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0004807664283905111,
+                  0.0009137868552486772
+                ],
+                "rod_tip_xy": [
+                  0.27735669893998366,
+                  -0.3906010285293242
+                ],
+                "target_mouth_xy": [
+                  0.27687593251159315,
+                  -0.3915148153845729
+                ],
+                "gripper_position": [
+                  0.27734670321538735,
+                  -0.39061032072994567,
+                  1.0057294876566476
+                ],
+                "rod_tip_xy_dist": 0.0010325419001147775,
+                "target_xy_drift": 8.907704458355727e-08,
+                "depth": 0.015373705020476192,
+                "bottom_clearance": 0.08406686260859397,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00047073741662317925,
+                  0.000904524410348273
+                ],
+                "rod_tip_xy": [
+                  0.2773467032153875,
+                  -0.3906103207299457
+                ],
+                "target_mouth_xy": [
+                  0.27687596579876433,
+                  -0.391514845140294
+                ],
+                "gripper_position": [
+                  0.2773390973174141,
+                  -0.3906141857807926,
+                  1.0055919729780372
+                ],
+                "rod_tip_xy_dist": 0.0010196853065161603,
+                "target_xy_drift": 4.454947413967437e-08,
+                "depth": 0.015530397792148043,
+                "bottom_clearance": 0.08391014836321464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004631344719455699,
+                  0.0009006581197967822
+                ],
+                "rod_tip_xy": [
+                  0.27733909731741424,
+                  -0.39061418578079266
+                ],
+                "target_mouth_xy": [
+                  0.27687596284546867,
+                  -0.39151484390058944
+                ],
+                "gripper_position": [
+                  0.27734770711070283,
+                  -0.3906818587609337,
+                  1.0050599277040355
+                ],
+                "rod_tip_xy_dist": 0.001012757911773676,
+                "target_xy_drift": 4.747214580333279e-08,
+                "depth": 0.0156679019384951,
+                "bottom_clearance": 0.0837726763809441,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.00047174021787932396,
+                  0.0008329882754658513
+                ],
+                "rod_tip_xy": [
+                  0.277347707110703,
+                  -0.39068185876093375
+                ],
+                "target_mouth_xy": [
+                  0.2768759668928237,
+                  -0.3915148470363996
+                ],
+                "gripper_position": [
+                  0.2773375034940028,
+                  -0.3906910710246675,
+                  1.0049032844980286
+                ],
+                "rod_tip_xy_dist": 0.0009572921707756755,
+                "target_xy_drift": 4.24129019764945e-08,
+                "depth": 0.016200000389137048,
+                "bottom_clearance": 0.08324065486101662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00046156820332199366,
+                  0.000823744016461625
+                ],
+                "rod_tip_xy": [
+                  0.277337503494003,
+                  -0.3906910710246676
+                ],
+                "target_mouth_xy": [
+                  0.276875935290681,
+                  -0.3915148150411292
+                ],
+                "gripper_position": [
+                  0.27732977289863625,
+                  -0.39069489837149085,
+                  1.0047662982862655
+                ],
+                "rod_tip_xy_dist": 0.0009442454188261774,
+                "target_xy_drift": 8.737356421255169e-08,
+                "depth": 0.016356533792693084,
+                "bottom_clearance": 0.08308398148830187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00045390119340810164,
+                  0.0008198250588834499
+                ],
+                "rod_tip_xy": [
+                  0.2773297728986364,
+                  -0.39069489837149085
+                ],
+                "target_mouth_xy": [
+                  0.2768758717052283,
+                  -0.3915147234303743
+                ],
+                "gripper_position": [
+                  0.277322133891713,
+                  -0.3906986952204887,
+                  1.0046286808648548
+                ],
+                "rod_tip_xy_dist": 0.0009370909350487556,
+                "target_xy_drift": 1.9828131896427185e-07,
+                "depth": 0.016493711495079832,
+                "bottom_clearance": 0.08294697885794555,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00044620111557364117,
+                  0.0008161192048545818
+                ],
+                "rod_tip_xy": [
+                  0.2773221338917132,
+                  -0.39069869522048883
+                ],
+                "target_mouth_xy": [
+                  0.27687593277613953,
+                  -0.3915148144253434
+                ],
+                "gripper_position": [
+                  0.2773323542590658,
+                  -0.39076867237985624,
+                  1.0040964928745617
+                ],
+                "rod_tip_xy_dist": 0.0009301322443994923,
+                "target_xy_drift": 8.956894361036843e-08,
+                "depth": 0.01663119664515955,
+                "bottom_clearance": 0.08280938070130173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00045638693070892966,
+                  0.0007461740234674386
+                ],
+                "rod_tip_xy": [
+                  0.277332354259066,
+                  -0.39076867237985624
+                ],
+                "target_mouth_xy": [
+                  0.27687596732835706,
+                  -0.3915148464033237
+                ],
+                "gripper_position": [
+                  0.2773217952787867,
+                  -0.39077804894500817,
+                  1.0039401079631933
+                ],
+                "rod_tip_xy_dist": 0.0008746797721563606,
+                "target_xy_drift": 4.2587038025628016e-08,
+                "depth": 0.01716342763732681,
+                "bottom_clearance": 0.08227722254254999,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00044589470983813495,
+                  0.0007367347440324634
+                ],
+                "rod_tip_xy": [
+                  0.27732179527878686,
+                  -0.3907780489450082
+                ],
+                "target_mouth_xy": [
+                  0.27687590056894873,
+                  -0.3915147836890407
+                ],
+                "gripper_position": [
+                  0.27731409011539665,
+                  -0.39078151873336486,
+                  1.003802725371403
+                ],
+                "rod_tip_xy_dist": 0.0008611621074607347,
+                "target_xy_drift": 1.340763696083054e-07,
+                "depth": 0.017319859893080713,
+                "bottom_clearance": 0.08212084438523315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00043815626366922045,
+                  0.0007332947030251336
+                ],
+                "rod_tip_xy": [
+                  0.2773140901153968,
+                  -0.39078151873336486
+                ],
+                "target_mouth_xy": [
+                  0.2768759338517276,
+                  -0.39151481343639
+                ],
+                "gripper_position": [
+                  0.27730621388383025,
+                  -0.39078540076496227,
+                  1.0036654153490434
+                ],
+                "rod_tip_xy_dist": 0.000854225984665235,
+                "target_xy_drift": 8.952780540263465e-08,
+                "depth": 0.01745719562745751,
+                "bottom_clearance": 0.08198337415597579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0004302500403086107,
+                  0.0007294142693969885
+                ],
+                "rod_tip_xy": [
+                  0.2773062138838304,
+                  -0.39078540076496227
+                ],
+                "target_mouth_xy": [
+                  0.2768759638435218,
+                  -0.39151481503435925
+                ],
+                "gripper_position": [
+                  0.2773177595788002,
+                  -0.39085689952044966,
+                  1.0031358627884583
+                ],
+                "rod_tip_xy_dist": 0.0008468531593998475,
+                "target_xy_drift": 7.069285240771566e-08,
+                "depth": 0.017594412616720567,
+                "bottom_clearance": 0.08184609386967001,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0004417628603885504,
+                  0.0006578831460897772
+                ],
+                "rod_tip_xy": [
+                  0.2773177595788004,
+                  -0.3908568995204498
+                ],
+                "target_mouth_xy": [
+                  0.27687599671841184,
+                  -0.39151478266653955
+                ],
+                "gripper_position": [
+                  0.2773071839944945,
+                  -0.3908660856201496,
+                  1.0029792824062367
+                ],
+                "rod_tip_xy_dist": 0.0007924422116013615,
+                "target_xy_drift": 9.545377820410845e-08,
+                "depth": 0.018124134971721717,
+                "bottom_clearance": 0.08131654303994329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0004312209279981327,
+                  0.0006487598700098407
+                ],
+                "rod_tip_xy": [
+                  0.27730718399449467,
+                  -0.3908660856201497
+                ],
+                "target_mouth_xy": [
+                  0.27687596306649653,
+                  -0.3915148454901595
+                ],
+                "gripper_position": [
+                  0.2772992671629496,
+                  -0.3908696145350178,
+                  1.0028422201408604
+                ],
+                "rod_tip_xy_dist": 0.0007789999086513144,
+                "target_xy_drift": 4.618288806689311e-08,
+                "depth": 0.018280576352771027,
+                "bottom_clearance": 0.08115997392605967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0004233022187192792,
+                  0.0006452290241406589
+                ],
+                "rod_tip_xy": [
+                  0.2772992671629498,
+                  -0.3908696145350179
+                ],
+                "target_mouth_xy": [
+                  0.2768759649442305,
+                  -0.39151484355915855
+                ],
+                "gripper_position": [
+                  0.2772912888985686,
+                  -0.3908730750797757,
+                  1.0027052144148818
+                ],
+                "rod_tip_xy_dist": 0.0007716898742151354,
+                "target_xy_drift": 4.629640529500552e-08,
+                "depth": 0.018417620155493863,
+                "bottom_clearance": 0.08102293635466051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0004153548060985557,
+                  0.0006417703945796882
+                ],
+                "rod_tip_xy": [
+                  0.27729128889856874,
+                  -0.39087307507977576
+                ],
+                "target_mouth_xy": [
+                  0.2768759340924702,
+                  -0.39151484547435544
+                ],
+                "gripper_position": [
+                  0.2772831174455912,
+                  -0.3908769221845502,
+                  1.0025680078140085
+                ],
+                "rod_tip_xy_dist": 0.0007644533042038195,
+                "target_xy_drift": 6.976777043091202e-08,
+                "depth": 0.018554678690382076,
+                "bottom_clearance": 0.08088583973800878,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00040715432123522577,
+                  0.0006378925409962211
+                ],
+                "rod_tip_xy": [
+                  0.27728311744559136,
+                  -0.3908769221845504
+                ],
+                "target_mouth_xy": [
+                  0.27687596312435614,
+                  -0.3915148147255466
+                ],
+                "gripper_position": [
+                  0.2772751524519662,
+                  -0.3908803594316142,
+                  1.0024311944554196
+                ],
+                "rod_tip_xy_dist": 0.0007567572498226449,
+                "target_xy_drift": 7.129480876702878e-08,
+                "depth": 0.01869184767015397,
+                "bottom_clearance": 0.08074869778902916,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00039918735363525526,
+                  0.0006345171035480046
+                ],
+                "rod_tip_xy": [
+                  0.2772751524519664,
+                  -0.39088035943161437
+                ],
+                "target_mouth_xy": [
+                  0.2768759650983311,
+                  -0.39151487653516237
+                ],
+                "gripper_position": [
+                  0.27728966325919935,
+                  -0.39095561455036765,
+                  1.001905448132552
+                ],
+                "rod_tip_xy_dist": 0.0007496415796880984,
+                "target_xy_drift": 3.069602475288193e-08,
+                "depth": 0.0188286537436666,
+                "bottom_clearance": 0.08061192063642753,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00041372593434935157,
+                  0.0005591998112443042
+                ],
+                "rod_tip_xy": [
+                  0.2772896632591995,
+                  -0.39095561455036776
+                ],
+                "target_mouth_xy": [
+                  0.27687593732485016,
+                  -0.39151481436161206
+                ],
+                "gripper_position": [
+                  0.27727895295508953,
+                  -0.39096489591815753,
+                  1.0017491490467774
+                ],
+                "rod_tip_xy_dist": 0.0006956102196265588,
+                "target_xy_drift": 8.64781801844883e-08,
+                "depth": 0.019354457522106627,
+                "bottom_clearance": 0.08008615940389296,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0004029902659897222,
+                  0.0005499784177417366
+                ],
+                "rod_tip_xy": [
+                  0.2772789529550897,
+                  -0.39096489591815764
+                ],
+                "target_mouth_xy": [
+                  0.2768759626891,
+                  -0.3915148743358994
+                ],
+                "gripper_position": [
+                  0.2772709250941681,
+                  -0.39096814718303563,
+                  1.0016123117863123
+                ],
+                "rod_tip_xy_dist": 0.0006818191948487305,
+                "target_xy_drift": 3.3279866195114e-08,
+                "depth": 0.019510719769348372,
+                "bottom_clearance": 0.07992984254608693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00039496018312124015,
+                  0.0005466979509570757
+                ],
+                "rod_tip_xy": [
+                  0.2772709250941683,
+                  -0.39096814718303574
+                ],
+                "target_mouth_xy": [
+                  0.27687596491104705,
+                  -0.3915148451339928
+                ],
+                "gripper_position": [
+                  0.2772627618771928,
+                  -0.39097168183296116,
+                  1.0014755192465001
+                ],
+                "rod_tip_xy_dist": 0.0006744421367558738,
+                "target_xy_drift": 4.515575527639502e-08,
+                "depth": 0.01964750656309966,
+                "bottom_clearance": 0.07979300460743333,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006019038619119899,
+              "rod_tip_xy_max_step": 3.2685315712229685e-05,
+              "rod_tip_xy_range": 0.0006018973682359505,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2768769172855588,
+            -0.39226162116538726,
+            1.0434386908687063
+          ],
+          "object_origin_world": [
+            0.2768769172855588,
+            -0.39226162116538726,
+            1.0434386908687063
+          ],
+          "frame_world": [
+            0.2768753947590067,
+            -0.392270831623248,
+            1.0433146443990875
+          ],
+          "center_minus_frame": [
+            1.5225265521112696e-06,
+            9.210457860731047e-06,
+            0.0001240464696188326
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.258618573460609,
+              0.1352362685085848,
+              0.8328288749765833
+            ],
+            "target_position": [
+              0.2704651019532968,
+              0.1817036686533932,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0479537226244825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16659050648705215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328288749765833,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567233841187,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13628433711570317,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22459158644481006,
+              -0.1279141990641324,
+              1.0438667808998479
+            ],
+            "current_z": 1.0438667808998479,
+            "required_z": 0.8565863504817136,
+            "initial_z": 0.7565863504817136,
+            "lift_margin": 0.18728043041813425,
+            "gripper_z": 1.048297297450071,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21998657219201204,
+              -0.1323797805777971,
+              1.048297297450071
+            ],
+            "object_minus_gripper": [
+              0.004605014252798023,
+              0.00446558151366469,
+              -0.004430516550223196
+            ],
+            "object_to_gripper_xy": 0.0064146375208313025,
+            "object_to_gripper_z": -0.004430516550223196,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22459158644481006,
+              -0.15226178808413038,
+              1.0438667808998479
+            ],
+            "finger_b": [
+              0.21383081633664025,
+              -0.1279141990641324,
+              1.0438667808998479
+            ],
+            "finger_midpoint": [
+              0.21921120139072514,
+              -0.14008799357413138,
+              1.0438667808998479
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053803850540849185,
+              0.012173794509998975,
+              0.0
+            ],
+            "finger_gap": 0.026619527877248444,
+            "fingertip_max_gap": 0.09804057942019798,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309763938624214,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0438667808998479,
+            "object_top_z": 1.0918628247490267,
+            "finger_top_clearance": 0.04799604384917888,
+            "fingertip_min_top_clearance": 0.014398813154753665,
+            "object_projection_between_fingers": 0.8365872233614503,
+            "object_to_finger_line_xy": 0.009842353678869212,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05152028971009899,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0494165282942514,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23156752092253696,
+              -0.12490678057091664,
+              1.240356098090473
+            ],
+            "held_position": [
+              0.23635662301376306,
+              -0.12036978468818736,
+              1.2362058198064894
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007793884802497122,
+            "max_held_gripper_dist": 0.007799355205696614,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004150278283983733,
+            "max_held_gripper_z_dist": 0.004438314628469664,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08480736116779072,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23635662301376306,
+              -0.14485238022460104,
+              1.2362058198064894
+            ],
+            "held_grasp_finger_b": [
+              0.22731810027176205,
+              -0.12036978468818736,
+              1.2362058198064894
+            ],
+            "held_grasp_midpoint": [
+              0.23183736164276256,
+              -0.1326110824563942,
+              1.2362058198064894
+            ],
+            "held_grasp_object_position": [
+              0.23635662301376306,
+              -0.12036978468818736,
+              1.2362058198064894
+            ],
+            "held_grasp_finger_gap": 0.0260977465992237,
+            "held_grasp_max_gap": 0.12496588140726089,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024316338968806465,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.014195216404893986,
+              -0.9984498056487721,
+              -0.053818969064331354
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004394959494413789,
+            "held_grasp_line_xy_max_dist": 0.04748294070363045,
+            "held_grasp_object_top_z": 0.04520066827535629,
+            "held_grasp_top_clearance": 0.032914195004649795,
+            "held_grasp_min_top_clearance": 0.013560200482606888
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19855170087730747,
+              -0.12820972215799095,
+              0.756586721681546
+            ],
+            "target_position": [
+              0.19750196556687552,
+              -0.13160751368960583,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0035562524536766824,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21675394319672805,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586721681546,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550278189551855,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590594481207471,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.188285452918031,
+            "release_required_pad_clearance": 0.05295297240603736,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9421074309851625,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e756dda3aa2c905a9956f8062cbb7643e77dfd8a155eb06dfa2a5d42c59381ae",
+    "visual_seed": 301675814648861543,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 37,
+  "collection_result_filename": "episode_37_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..886a0bf25c74d43f3360b5e69f841ac97397c8c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_38_success.json
@@ -0,0 +1,2672 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25317269437786005,
+              -0.0025942405335107922,
+              1.1648587710167373
+            ],
+            "current_z": 1.1648587710167373,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.3037520245833921,
+            "gripper_z": 1.1582659958488055,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24815611478380994,
+              -0.007467252451930945,
+              1.1582659958488055
+            ],
+            "object_minus_gripper": [
+              0.005016579594050108,
+              0.0048730119184201524,
+              0.006592775167931775
+            ],
+            "object_to_gripper_xy": 0.006993734051313704,
+            "object_to_gripper_z": 0.006592775167931775,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25317269437786005,
+              -0.026916627803111357,
+              1.1648587710167373
+            ],
+            "finger_b": [
+              0.2425176539196084,
+              -0.0025942405335107922,
+              1.1648587710167373
+            ],
+            "finger_midpoint": [
+              0.24784517414873422,
+              -0.014755434168311075,
+              1.1648587710167373
+            ],
+            "object_minus_finger_midpoint": [
+              0.005327520229125832,
+              0.012161193634800282,
+              0.0
+            ],
+            "finger_gap": 0.026553877488220197,
+            "fingertip_max_gap": 0.09116489381022652,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013276938744110098,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1648587710167373,
+            "object_top_z": 1.2148630536632603,
+            "finger_top_clearance": 0.05000428264652301,
+            "fingertip_min_top_clearance": 0.015001284793956904,
+            "object_projection_between_fingers": 0.838989458058203,
+            "object_to_finger_line_xy": 0.009759630039485774,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808244690511326,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6313429963033799,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2848425513778451,
+              -0.3928970703969167,
+              0.8515395851199293
+            ],
+            "target_position": [
+              0.277016530583809,
+              -0.394192693175016,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007932543088557115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18383715581924712,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395851199293,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579926850917328,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684862144790927,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151294607453472,
+            "release_required_pad_clearance": 0.053424310723954635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.862924725700908,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00830298662185669,
+            "max_z_decrease": 0.00830298662185669,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503914087599594,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00830298662185669,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020918625748386155,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00830298662185669,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008303141777767819,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13271646201610565,
+              -0.4504541456699371,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13271646201610565,
+              -0.4504541456699371,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.130506987490184,
+              -0.4508219962921616,
+              0.8036156329532129
+            ],
+            "closest_button": [
+              0.1327520906925201,
+              -0.450428158044815,
+              0.7686507105827332
+            ],
+            "closest_ee_minus_button": [
+              -0.0022451032023361184,
+              -0.00039383824734656736,
+              0.03496492237047977
+            ],
+            "button_min_z_position": [
+              0.1327587515115738,
+              -0.4504260718822479,
+              0.768505871295929
+            ],
+            "min_active_finger_to_button": 0.14788760280889146,
+            "closest_active_finger": [
+              -0.010245732963085175,
+              -0.4345671832561493,
+              0.8107898831367493
+            ],
+            "closest_active_finger_button": [
+              0.132716104388237,
+              -0.45045387744903564,
+              0.7764348387718201
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14296183735132217,
+              0.015886694192886353,
+              0.0343550443649292
+            ],
+            "min_contact_pad_to_button": 0.020918625748386155,
+            "closest_contact_pad": [
+              0.1327587515115738,
+              -0.4520272928131635,
+              0.7893631241047588
+            ],
+            "closest_contact_pad_button": [
+              0.1327587515115738,
+              -0.4504260718822479,
+              0.768505871295929
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016012209309155812,
+              0.020857252808829885
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27534487438657224,
+              0.1817511643369502,
+              1.10168107277801
+            ],
+            "current_z": 1.10168107277801,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19177194304364742,
+            "gripper_z": 1.1016812999120038,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2753448816950983,
+              0.18175130851494523,
+              1.1016812999120038
+            ],
+            "object_minus_gripper": [
+              -7.308526062121956e-09,
+              -1.4417799501509343e-07,
+              -2.2713399383533783e-07
+            ],
+            "object_to_gripper_xy": 1.443631144017509e-07,
+            "object_to_gripper_z": -2.2713399383533783e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27534487438657224,
+              0.1817511643369502,
+              1.10168107277801
+            ],
+            "finger_b": [
+              0.27534487438657224,
+              0.1817511643369502,
+              1.10168107277801
+            ],
+            "finger_midpoint": [
+              0.27534487438657224,
+              0.1817511643369502,
+              1.10168107277801
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10168107277801,
+            "object_top_z": 1.2266895793982897,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27534487438657224,
+            0.1817511643369502,
+            1.10168107277801
+          ],
+          "object_origin_world": [
+            0.27534487438657224,
+            0.1817511643369502,
+            1.10168107277801
+          ],
+          "frame_world": [
+            0.2753448816950983,
+            0.18175130851494523,
+            1.1016812999120038
+          ],
+          "center_minus_frame": [
+            -7.308526062121956e-09,
+            -1.4417799501509343e-07,
+            -2.2713399383533783e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432396639737123,
+            "required_z": 0.9112598641568762,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017460138211964813,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.0926711283700435e-08,
+            "max_target_xy_drift": 1.751745323136378e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.862924726179922,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.8629247262131874,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28604384526685095,
+              -0.39415591295021885,
+              0.9233682851404429
+            ],
+            "target_mouth_xy": [
+              0.28484252325220394,
+              -0.39289706754176545
+            ],
+            "rod_tip_z": 0.9233682851404429,
+            "rod_tip_depth": -0.022108465704737568,
+            "rod_tip_bottom_clearance": 0.12154897418625954,
+            "rod_tip_xy_dist": 0.001740076534310987,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04519533236679896,
+            "min_rod_tip_bottom_clearance": 0.054245338370648155,
+            "min_rod_tip_xy_dist": 0.0004860090029463501,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2848425509593777,
+              -0.3928970374202081
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7707173777535843e-08,
+              -3.012155735948596e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0016108664054756416,
+                0.0006329982160267478
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015379779300534469,
+                0.00023247405734444504
+              ],
+              "first_target_mouth_xy": [
+                0.28484255195654473,
+                -0.3928970694370204
+              ],
+              "last_target_mouth_xy": [
+                0.2848425810946619,
+                -0.3928970377479184
+              ],
+              "first_rod_tip_xy": [
+                0.2864534183620204,
+                -0.39226407122099366
+              ],
+              "last_rod_tip_xy": [
+                0.2863805590247153,
+                -0.39266456369057395
+              ],
+              "min_rod_tip_xy_dist": 0.001555448585029307,
+              "max_rod_tip_xy_dist": 0.0017307736182941601,
+              "first_target_xy_drift": 3.203233698481181e-08,
+              "last_target_xy_drift": 3.0137065969728785e-08,
+              "max_depth": 0.01950656448595589,
+              "min_bottom_clearance": 0.07993398309241517
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0016108664054756416,
+                  0.0006329982160267478
+                ],
+                "rod_tip_xy": [
+                  0.2864534183620204,
+                  -0.39226407122099366
+                ],
+                "target_mouth_xy": [
+                  0.28484255195654473,
+                  -0.3928970694370204
+                ],
+                "gripper_position": [
+                  0.2864457081731131,
+                  -0.3922685592202153,
+                  1.005963131821759
+                ],
+                "rod_tip_xy_dist": 0.0017307736182941601,
+                "target_xy_drift": 3.203233698481181e-08,
+                "depth": 0.01515461144543051,
+                "bottom_clearance": 0.0842859810687474,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0016031563472277965,
+                  0.000628511190582659
+                ],
+                "rod_tip_xy": [
+                  0.28644570817311305,
+                  -0.39226855922021536
+                ],
+                "target_mouth_xy": [
+                  0.28484255182588525,
+                  -0.392897070410798
+                ],
+                "gripper_position": [
+                  0.2864579018476582,
+                  -0.39234544812547845,
+                  1.0054241328829898
+                ],
+                "rod_tip_xy_dist": 0.0017219571975935996,
+                "target_xy_drift": 3.3001967502049106e-08,
+                "depth": 0.015296764934324858,
+                "bottom_clearance": 0.08414386841758426,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0016153503962224591,
+                  0.0005515937583825958
+                ],
+                "rod_tip_xy": [
+                  0.2864579018476581,
+                  -0.3923454481254784
+                ],
+                "target_mouth_xy": [
+                  0.28484255145143567,
+                  -0.392897041883861
+                ],
+                "gripper_position": [
+                  0.2864477565374587,
+                  -0.39235570489470906,
+                  1.0052623231711295
+                ],
+                "rod_tip_xy_dist": 0.0017069307475298151,
+                "target_xy_drift": 4.490692392508683e-09,
+                "depth": 0.01583579908581434,
+                "bottom_clearance": 0.08360489532482462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0016052053265976363,
+                  0.0005413674121216294
+                ],
+                "rod_tip_xy": [
+                  0.28644775653745863,
+                  -0.3923557048947091
+                ],
+                "target_mouth_xy": [
+                  0.284842551210861,
+                  -0.39289707230683074
+                ],
+                "gripper_position": [
+                  0.2864398779997687,
+                  -0.3923599098312052,
+                  1.005119810430208
+                ],
+                "rod_tip_xy_dist": 0.0016940374303552725,
+                "target_xy_drift": 3.488752905413836e-08,
+                "depth": 0.015997627676387904,
+                "bottom_clearance": 0.0834430986193927,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015973271644722509,
+                  0.0005371609056194493
+                ],
+                "rod_tip_xy": [
+                  0.28643987799976867,
+                  -0.3923599098312052
+                ],
+                "target_mouth_xy": [
+                  0.2848425508352964,
+                  -0.39289707073682467
+                ],
+                "gripper_position": [
+                  0.28645288494785376,
+                  -0.3924376815535477,
+                  1.004583565056744
+                ],
+                "rod_tip_xy_dist": 0.0016852287408203278,
+                "target_xy_drift": 3.331684763429734e-08,
+                "depth": 0.01614006248213895,
+                "bottom_clearance": 0.08330061984496895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0016103646721739029,
+                  0.00045938950808310786
+                ],
+                "rod_tip_xy": [
+                  0.2864528849478537,
+                  -0.3924376815535477
+                ],
+                "target_mouth_xy": [
+                  0.2848425202756798,
+                  -0.3928970710616308
+                ],
+                "gripper_position": [
+                  0.2864424701071831,
+                  -0.3924477593098757,
+                  1.0044217815728724
+                ],
+                "rod_tip_xy_dist": 0.0016746083415302222,
+                "target_xy_drift": 4.553278642120463e-08,
+                "depth": 0.016676396219523215,
+                "bottom_clearance": 0.08276432633423514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015999190623616766,
+                  0.0004492806493393009
+                ],
+                "rod_tip_xy": [
+                  0.28644247010718304,
+                  -0.3924477593098757
+                ],
+                "target_mouth_xy": [
+                  0.28484255104482137,
+                  -0.392897039959215
+                ],
+                "gripper_position": [
+                  0.28643476659502387,
+                  -0.3924516860215948,
+                  1.0042796323711394
+                ],
+                "rod_tip_xy_dist": 0.0016618044734501738,
+                "target_xy_drift": 2.5404441783958383e-09,
+                "depth": 0.016838126312188506,
+                "bottom_clearance": 0.08260251218386461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015922143333088612,
+                  0.0004453551941946965
+                ],
+                "rod_tip_xy": [
+                  0.2864347665950238,
+                  -0.3924516860215948
+                ],
+                "target_mouth_xy": [
+                  0.28484255226171495,
+                  -0.3928970412157895
+                ],
+                "gripper_position": [
+                  0.28642690954597777,
+                  -0.392455553215881,
+                  1.0041372216762237
+                ],
+                "rod_tip_xy_dist": 0.0016533262630800906,
+                "target_xy_drift": 4.0127945974786865e-09,
+                "depth": 0.01698026278763287,
+                "bottom_clearance": 0.0824603767396227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015843592895621317,
+                  0.00044148707578789415
+                ],
+                "rod_tip_xy": [
+                  0.2864269095459777,
+                  -0.39245555321588105
+                ],
+                "target_mouth_xy": [
+                  0.2848425502564156,
+                  -0.39289704029166894
+                ],
+                "gripper_position": [
+                  0.28644127255652296,
+                  -0.3925359573739226,
+                  1.0036025094924024
+                ],
+                "rod_tip_xy_dist": 0.0016447204007093632,
+                "target_xy_drift": 2.956254920588029e-09,
+                "depth": 0.017122716043875275,
+                "bottom_clearance": 0.08231796412410908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015987223450424914,
+                  0.00036108198745771203
+                ],
+                "rod_tip_xy": [
+                  0.2864412725565229,
+                  -0.3925359573739226
+                ],
+                "target_mouth_xy": [
+                  0.2848425502114804,
+                  -0.3928970393613803
+                ],
+                "gripper_position": [
+                  0.28643085705152127,
+                  -0.39254601546824236,
+                  1.0034409002532434
+                ],
+                "rod_tip_xy_dist": 0.0016389915613585612,
+                "target_xy_drift": 2.08026439906649e-09,
+                "depth": 0.017657412050132937,
+                "bottom_clearance": 0.08178323543220811,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015883063590083624,
+                  0.0003509940917093002
+                ],
+                "rod_tip_xy": [
+                  0.2864308570515212,
+                  -0.39254601546824236
+                ],
+                "target_mouth_xy": [
+                  0.28484255069251285,
+                  -0.39289700955995166
+                ],
+                "gripper_position": [
+                  0.28642297127648814,
+                  -0.39254946213858993,
+                  1.0032983808468117
+                ],
+                "rod_tip_xy_dist": 0.0016266265528636981,
+                "target_xy_drift": 2.7861534514278508e-08,
+                "depth": 0.017819006923206038,
+                "bottom_clearance": 0.08162162265898831,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015803883766023485,
+                  0.0003475765309641221
+                ],
+                "rod_tip_xy": [
+                  0.2864229712764881,
+                  -0.39254946213858993
+                ],
+                "target_mouth_xy": [
+                  0.28484258289988573,
+                  -0.39289703866955406
+                ],
+                "gripper_position": [
+                  0.2864149345434219,
+                  -0.3925535527219549,
+                  1.003156526510747
+                ],
+                "rod_tip_xy_dist": 0.0016181584798087175,
+                "target_xy_drift": 3.196493262410913e-08,
+                "depth": 0.017961455315855468,
+                "bottom_clearance": 0.08147908690749495,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015723859392678952,
+                  0.0003435180410896743
+                ],
+                "rod_tip_xy": [
+                  0.2864149345434218,
+                  -0.39255355272195486
+                ],
+                "target_mouth_xy": [
+                  0.2848425486041539,
+                  -0.39289707076304453
+                ],
+                "gripper_position": [
+                  0.28640694950864776,
+                  -0.39255701622746675,
+                  1.0030139866213508
+                ],
+                "rod_tip_xy_dist": 0.0016094726423774553,
+                "target_xy_drift": 3.3425915406113514e-08,
+                "depth": 0.01810341360129042,
+                "bottom_clearance": 0.08133735286168065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001564366529089145,
+                  0.00034005286709365423
+                ],
+                "rod_tip_xy": [
+                  0.2864069495086477,
+                  -0.3925570162274667
+                ],
+                "target_mouth_xy": [
+                  0.28484258297955856,
+                  -0.39289706909456035
+                ],
+                "gripper_position": [
+                  0.28642361707249775,
+                  -0.3926403725374485,
+                  1.0024830956761293
+                ],
+                "rod_tip_xy_dist": 0.0016008993065627312,
+                "target_xy_drift": 4.503950012632136e-08,
+                "depth": 0.01824586117280691,
+                "bottom_clearance": 0.08119470565164799,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0015810670718178765,
+                  0.0002566966047150565
+                ],
+                "rod_tip_xy": [
+                  0.2864236170724977,
+                  -0.3926403725374485
+                ],
+                "target_mouth_xy": [
+                  0.2848425500006798,
+                  -0.39289706914216355
+                ],
+                "gripper_position": [
+                  0.2864130923070267,
+                  -0.3926501515054773,
+                  1.0023213841346814
+                ],
+                "rod_tip_xy_dist": 0.0016017697189231019,
+                "target_xy_drift": 3.1736438982916515e-08,
+                "depth": 0.01877683176342748,
+                "bottom_clearance": 0.08066382278159068,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0015705079236728037,
+                  0.00024702558278744124
+                ],
+                "rod_tip_xy": [
+                  0.28641309230702666,
+                  -0.3926501515054773
+                ],
+                "target_mouth_xy": [
+                  0.28484258438335386,
+                  -0.3928971770882647
+                ],
+                "gripper_position": [
+                  0.28640488320343216,
+                  -0.39265385417696397,
+                  1.0021792226082118
+                ],
+                "rod_tip_xy_dist": 0.0015898165859213245,
+                "target_xy_drift": 1.4361172731086624e-07,
+                "depth": 0.018938511830098537,
+                "bottom_clearance": 0.08050208202781961,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015623310840688354,
+                  0.00024318546134710628
+                ],
+                "rod_tip_xy": [
+                  0.2864048832034321,
+                  -0.392653854176964
+                ],
+                "target_mouth_xy": [
+                  0.28484255211936327,
+                  -0.39289703963831113
+                ],
+                "gripper_position": [
+                  0.2863968146734679,
+                  -0.3926574449010383,
+                  1.0020372747223665
+                ],
+                "rod_tip_xy_dist": 0.0015811443908948692,
+                "target_xy_drift": 2.5031075791884523e-09,
+                "depth": 0.01908064710009616,
+                "bottom_clearance": 0.08035993947595621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001554233809873573,
+                  0.0002395957002411797
+                ],
+                "rod_tip_xy": [
+                  0.28639681467346784,
+                  -0.3926574449010383
+                ],
+                "target_mouth_xy": [
+                  0.28484258086359426,
+                  -0.3928970406012795
+                ],
+                "gripper_position": [
+                  0.28638869056401006,
+                  -0.39266090361593403,
+                  1.0018954083525575
+                ],
+                "rod_tip_xy_dist": 0.0015725930291490497,
+                "target_xy_drift": 3.0072934386421036e-08,
+                "depth": 0.019222644762603824,
+                "bottom_clearance": 0.0802180168334361,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015461107827001164,
+                  0.00023613637479791283
+                ],
+                "rod_tip_xy": [
+                  0.28638869056401,
+                  -0.39266090361593414
+                ],
+                "target_mouth_xy": [
+                  0.2848425797813099,
+                  -0.39289703999073206
+                ],
+                "gripper_position": [
+                  0.2863805590247154,
+                  -0.3926645636905739,
+                  1.0017532943433833
+                ],
+                "rod_tip_xy_dist": 0.0015640393025382281,
+                "target_xy_drift": 2.893633300346097e-08,
+                "depth": 0.019364531994791823,
+                "bottom_clearance": 0.08007614740055147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015379779300534469,
+                  0.00023247405734444504
+                ],
+                "rod_tip_xy": [
+                  0.2863805590247153,
+                  -0.39266456369057395
+                ],
+                "target_mouth_xy": [
+                  0.2848425810946619,
+                  -0.3928970377479184
+                ],
+                "gripper_position": [
+                  0.2863724091895189,
+                  -0.39266813653946747,
+                  1.0016114787065167
+                ],
+                "rod_tip_xy_dist": 0.001555448585029307,
+                "target_xy_drift": 3.0137065969728785e-08,
+                "depth": 0.01950656448595589,
+                "bottom_clearance": 0.07993398309241517,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006051433157051866,
+              "rod_tip_xy_max_step": 3.299671332406075e-05,
+              "rod_tip_xy_range": 0.0006051376158119907,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28604384526685095,
+            -0.39415591295021885,
+            1.0433682851404429
+          ],
+          "object_origin_world": [
+            0.28604384526685095,
+            -0.39415591295021885,
+            1.0433682851404429
+          ],
+          "frame_world": [
+            0.28604243234805204,
+            -0.3941654454135017,
+            1.0432396639737123
+          ],
+          "center_minus_frame": [
+            1.4129187989042613e-06,
+            9.532463282835302e-06,
+            0.00012862116673062474
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26421478028298123,
+              0.13490203495352085,
+              0.8326185027323899
+            ],
+            "target_position": [
+              0.27549371158971436,
+              0.1809241292995069,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047384042244334186,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1670412058016942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326185027323899,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672505945422,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13735481126594393,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21594795018146068,
+              -0.13127852991144978,
+              1.0467879779940439
+            ],
+            "current_z": 1.0467879779940439,
+            "required_z": 0.8565862102294325,
+            "initial_z": 0.7565862102294325,
+            "lift_margin": 0.1902017677646114,
+            "gripper_z": 1.0506663180255074,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21190373955039285,
+              -0.13556928447022468,
+              1.0506663180255074
+            ],
+            "object_minus_gripper": [
+              0.004044210631067829,
+              0.004290754558774895,
+              -0.0038783400314634786
+            ],
+            "object_to_gripper_xy": 0.005896288180888855,
+            "object_to_gripper_z": -0.0038783400314634786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21594795018146068,
+              -0.15498433577318935,
+              1.0467879779940439
+            ],
+            "finger_b": [
+              0.20502534523513116,
+              -0.13127852991144978,
+              1.0467879779940439
+            ],
+            "finger_midpoint": [
+              0.21048664770829592,
+              -0.14313143284231955,
+              1.0467879779940439
+            ],
+            "object_minus_finger_midpoint": [
+              0.005461302473164759,
+              0.011852902930869769,
+              0.0
+            ],
+            "finger_gap": 0.02610112124733472,
+            "fingertip_max_gap": 0.0940273455119825,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013050560623667348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467879779940439,
+            "object_top_z": 1.0931177916944526,
+            "finger_top_clearance": 0.04632981370040867,
+            "fingertip_min_top_clearance": 0.013898944110122569,
+            "object_projection_between_fingers": 0.8248806549905862,
+            "object_to_finger_line_xy": 0.00992023100879636,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951367275599125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9173130303338437,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21917413490645868,
+              -0.13289568533816254,
+              1.2465666562206712
+            ],
+            "held_position": [
+              0.22355281714760672,
+              -0.12882992664066256,
+              1.2428128361096278
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007056515952034399,
+            "max_held_gripper_dist": 0.007058834851731003,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037538201110434155,
+            "max_held_gripper_z_dist": 0.0038962944446978565,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602219064443557,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22355281714760672,
+              -0.15359813043499082,
+              1.2428128361096278
+            ],
+            "held_grasp_finger_b": [
+              0.2151201802223362,
+              -0.12882992664066256,
+              1.2428128361096278
+            ],
+            "held_grasp_midpoint": [
+              0.21933649868497146,
+              -0.1412140285378267,
+              1.2428128361096278
+            ],
+            "held_grasp_object_position": [
+              0.22355281714760672,
+              -0.12882992664066256,
+              1.2428128361096278
+            ],
+            "held_grasp_finger_gap": 0.026164351410092563,
+            "held_grasp_max_gap": 0.12496614217758178,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024180165052146162,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.062348466188201404,
+              -0.9974856164586409,
+              -0.03369144879793829
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034617609133774318,
+            "held_grasp_line_xy_max_dist": 0.04748307108879089,
+            "held_grasp_object_top_z": 0.04520081728696823,
+            "held_grasp_top_clearance": 0.03258497278268255,
+            "held_grasp_min_top_clearance": 0.01356024518609047
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18579760508786042,
+              -0.13426704782041432,
+              0.7565864826523463
+            ],
+            "target_position": [
+              0.19112802170425985,
+              -0.13429715213058535,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005330501624976592,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21150198437926343,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864826523463,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556303955559261,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540043634798995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18308082213990787,
+            "release_required_pad_clearance": 0.05270021817399498,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4528361442592596,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "83dbb703d31689b40801eacc0b4efd70823ec79b1a2bb1c5ecfaef6247e7d408",
+    "visual_seed": 9155303813966448062,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 39,
+  "collection_result_filename": "episode_39_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ee85c431eb6977acd343fffa93cacb119e73b9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_40_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24916946566308384,
+              -0.0026559595377027624,
+              1.1626669027913081
+            ],
+            "current_z": 1.1626669027913081,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.3015601563579632,
+            "gripper_z": 1.156219559731952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2440504708357917,
+              -0.0075020632870140685,
+              1.156219559731952
+            ],
+            "object_minus_gripper": [
+              0.005118994827292139,
+              0.004846103749311307,
+              0.006447343059356125
+            ],
+            "object_to_gripper_xy": 0.007049030400766675,
+            "object_to_gripper_z": 0.006447343059356125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24916946566308384,
+              -0.02687192999902447,
+              1.1626669027913081
+            ],
+            "finger_b": [
+              0.2383029298225597,
+              -0.0026559595377027624,
+              1.1626669027913081
+            ],
+            "finger_midpoint": [
+              0.2437361977428218,
+              -0.014763944768363617,
+              1.1626669027913081
+            ],
+            "object_minus_finger_midpoint": [
+              0.005433267920262053,
+              0.012107985230660855,
+              0.0
+            ],
+            "finger_gap": 0.026542321423662266,
+            "fingertip_max_gap": 0.09122942085944682,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327116071183113,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1626669027913081,
+            "object_top_z": 1.2126806062559532,
+            "finger_top_clearance": 0.050013703464645065,
+            "fingertip_min_top_clearance": 0.015004111039393551,
+            "object_projection_between_fingers": 0.8323882635867141,
+            "object_to_finger_line_xy": 0.009914118163622108,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048114710429723415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6541157436100505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28574661182013505,
+              -0.3870269371315942,
+              0.8515395096041102
+            ],
+            "target_position": [
+              0.2774687413557953,
+              -0.38863903622907736,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00843338620747885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18662979359773413,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395096041102,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589280492150928,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698058090489379,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15386426296604738,
+            "release_required_pad_clearance": 0.053490290452446895,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9932370989880568,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008157670497894287,
+            "max_z_decrease": 0.008157670497894287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499536810684385,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008157670497894287,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020940684208877087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008157670497894287,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00815777400012923,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1331686675548553,
+              -0.4449004828929901,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1331686675548553,
+              -0.4449004828929901,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13295250943246684,
+              -0.44537386893102937,
+              0.8036421402336462
+            ],
+            "closest_button": [
+              0.13320271670818323,
+              -0.44487747550010676,
+              0.7686511874198914
+            ],
+            "closest_ee_minus_button": [
+              -0.00025020727571639645,
+              -0.0004963934309226148,
+              0.03499095281375486
+            ],
+            "button_min_z_position": [
+              0.13320271670818323,
+              -0.44487747550010676,
+              0.7686511874198914
+            ],
+            "min_active_finger_to_button": 0.14596694090580933,
+            "closest_active_finger": [
+              -0.008025676012039185,
+              -0.43127667903900146,
+              0.8110117316246033
+            ],
+            "closest_active_finger_button": [
+              0.13316936790943143,
+              -0.44489833712577814,
+              0.776591420173645
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14119504392147061,
+              0.013621658086776678,
+              0.03442031145095825
+            ],
+            "min_contact_pad_to_button": 0.020940684208877087,
+            "closest_contact_pad": [
+              0.13320271670818323,
+              -0.4463774113729414,
+              0.7895380839704395
+            ],
+            "closest_contact_pad_button": [
+              0.13320271670818323,
+              -0.44487747550010676,
+              0.7686511874198914
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014999358728346457,
+              0.020886896550548095
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2738476658800506,
+              0.18119854443594016,
+              1.1036248432053268
+            ],
+            "current_z": 1.1036248432053268,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19371571347096428,
+            "gripper_z": 1.1036247974978137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27384760467605407,
+              0.18119855474773894,
+              1.1036247974978137
+            ],
+            "object_minus_gripper": [
+              6.120399653752884e-08,
+              -1.0311798775974879e-08,
+              4.5707513107728914e-08
+            ],
+            "object_to_gripper_xy": 6.206659637971167e-08,
+            "object_to_gripper_z": 4.5707513107728914e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2738476658800506,
+              0.18119854443594016,
+              1.1036248432053268
+            ],
+            "finger_b": [
+              0.2738476658800506,
+              0.18119854443594016,
+              1.1036248432053268
+            ],
+            "finger_midpoint": [
+              0.2738476658800506,
+              0.18119854443594016,
+              1.1036248432053268
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1036248432053268,
+            "object_top_z": 1.2286333498256066,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2738476658800506,
+            0.18119854443594016,
+            1.103624843205327
+          ],
+          "object_origin_world": [
+            0.2738476658800506,
+            0.18119854443594016,
+            1.103624843205327
+          ],
+          "frame_world": [
+            0.27384760467605407,
+            0.18119855474773894,
+            1.1036247974978137
+          ],
+          "center_minus_frame": [
+            6.120399653752884e-08,
+            -1.0311798775974879e-08,
+            4.570751332977352e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.043618275346277,
+            "required_z": 0.9112598971240545,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001217470475161245,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.2992189739783302e-07,
+            "max_target_xy_drift": 1.972657627245961e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9932370989812898,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.993629748924089,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.284749509220095,
+              -0.38629766432195334,
+              0.9233226778609273
+            ],
+            "target_mouth_xy": [
+              0.2857465221880201,
+              -0.38702693654582154
+            ],
+            "rod_tip_z": 0.9233226778609273,
+            "rod_tip_depth": -0.022062852056547455,
+            "rod_tip_bottom_clearance": 0.12150336063694367,
+            "rod_tip_xy_dist": 0.001235262253416852,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04540763450834184,
+            "min_rod_tip_bottom_clearance": 0.05403311374172515,
+            "min_rod_tip_xy_dist": 0.001235262253416852,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.28574651934212153,
+              -0.38702680665509714
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.845898572356731e-09,
+              -1.2989072439850702e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0004786564882743871,
+                0.0024541546906635126
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000574218787891212,
+                0.00208778894391487
+              ],
+              "first_target_mouth_xy": [
+                0.2857465525208006,
+                -0.3870268062886703
+              ],
+              "last_target_mouth_xy": [
+                0.2857465177900069,
+                -0.3870268352529395
+              ],
+              "first_rod_tip_xy": [
+                0.2852678960325262,
+                -0.3845726515980068
+              ],
+              "last_rod_tip_xy": [
+                0.2851722990021157,
+                -0.38493904630902465
+              ],
+              "min_rod_tip_xy_dist": 0.002165315194307845,
+              "max_rod_tip_xy_dist": 0.0025003974243053622,
+              "first_target_xy_drift": 3.318070243749377e-08,
+              "last_target_xy_drift": 2.8639931006802632e-08,
+              "max_depth": 0.019361154665215596,
+              "min_bottom_clearance": 0.08007934403990336
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0004786564882743871,
+                  0.0024541546906635126
+                ],
+                "rod_tip_xy": [
+                  0.2852678960325262,
+                  -0.3845726515980068
+                ],
+                "target_mouth_xy": [
+                  0.2857465525208006,
+                  -0.3870268062886703
+                ],
+                "gripper_position": [
+                  0.2852575845811312,
+                  -0.38458241212891714,
+                  1.0060547684319592
+                ],
+                "rod_tip_xy_dist": 0.0025003974243053622,
+                "target_xy_drift": 3.318070243749377e-08,
+                "depth": 0.015046046375301048,
+                "bottom_clearance": 0.08439464473528657,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0004889666565178197,
+                  0.0024443957724450405
+                ],
+                "rod_tip_xy": [
+                  0.2852575845811312,
+                  -0.3845824121289172
+                ],
+                "target_mouth_xy": [
+                  0.285746551237649,
+                  -0.38702680790136224
+                ],
+                "gripper_position": [
+                  0.28525001684682755,
+                  -0.38458583324875917,
+                  1.0059154710163027
+                ],
+                "rod_tip_xy_dist": 0.0024928215105645656,
+                "target_xy_drift": 3.191986608658239e-08,
+                "depth": 0.015205168548617976,
+                "bottom_clearance": 0.08423552705463278,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0004964992501355625,
+                  0.002440973790922729
+                ],
+                "rod_tip_xy": [
+                  0.28525001684682755,
+                  -0.38458583324875906
+                ],
+                "target_mouth_xy": [
+                  0.2857465160969631,
+                  -0.3870268070396818
+                ],
+                "gripper_position": [
+                  0.2852575423459179,
+                  -0.3846548644956232,
+                  1.005380208878557
+                ],
+                "rod_tip_xy_dist": 0.0024909565538878543,
+                "target_xy_drift": 3.267867579347101e-09,
+                "depth": 0.015344414390312422,
+                "bottom_clearance": 0.08409617773881173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0004889796388592438,
+                  0.002371911054040443
+                ],
+                "rod_tip_xy": [
+                  0.2852575423459179,
+                  -0.38465486449562325
+                ],
+                "target_mouth_xy": [
+                  0.2857465219847771,
+                  -0.3870267755496637
+                ],
+                "gripper_position": [
+                  0.28524724947035385,
+                  -0.3846643847501121,
+                  1.005221456619353
+                ],
+                "rod_tip_xy_dist": 0.0024217892425845325,
+                "target_xy_drift": 3.1217488988980136e-08,
+                "depth": 0.015879700589244483,
+                "bottom_clearance": 0.0835609543597352,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0004992979765398031,
+                  0.0023624216451881286
+                ],
+                "rod_tip_xy": [
+                  0.28524724947035385,
+                  -0.3846643847501121
+                ],
+                "target_mouth_xy": [
+                  0.28574654744689365,
+                  -0.38702680639530024
+                ],
+                "gripper_position": [
+                  0.2852393821988131,
+                  -0.3846678269503547,
+                  1.00508178283607
+                ],
+                "rod_tip_xy_dist": 0.002414608560208078,
+                "target_xy_drift": 2.8105972859651903e-08,
+                "depth": 0.016038370390206946,
+                "bottom_clearance": 0.08340214029906168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000507165282477573,
+                  0.00235900702151165
+                ],
+                "rod_tip_xy": [
+                  0.28523938219881306,
+                  -0.38466782695035473
+                ],
+                "target_mouth_xy": [
+                  0.28574654748129064,
+                  -0.3870268339718664
+                ],
+                "gripper_position": [
+                  0.28524775144858927,
+                  -0.3847378081179334,
+                  1.004548995645117
+                ],
+                "rod_tip_xy_dist": 0.002412909188364084,
+                "target_xy_drift": 3.921758176428468e-08,
+                "depth": 0.016178061137236965,
+                "bottom_clearance": 0.08326248599875041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0004987679303858905,
+                  0.0022890293253950977
+                ],
+                "rod_tip_xy": [
+                  0.2852477514485892,
+                  -0.38473780811793346
+                ],
+                "target_mouth_xy": [
+                  0.2857465193789751,
+                  -0.38702683744332855
+                ],
+                "gripper_position": [
+                  0.28523730544755077,
+                  -0.38474713205109623,
+                  1.0043900929073897
+                ],
+                "rod_tip_xy_dist": 0.0023427387180179017,
+                "target_xy_drift": 3.078825346567958e-08,
+                "depth": 0.016710919115239142,
+                "bottom_clearance": 0.0827296859456722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00050921354878114,
+                  0.002279704433623908
+                ],
+                "rod_tip_xy": [
+                  0.2852373054475507,
+                  -0.38474713205109623
+                ],
+                "target_mouth_xy": [
+                  0.28574651899633186,
+                  -0.38702683648472014
+                ],
+                "gripper_position": [
+                  0.28522938915607593,
+                  -0.3847506199960375,
+                  1.0042503240284357
+                ],
+                "rod_tip_xy_dist": 0.0023358832896672697,
+                "target_xy_drift": 2.983162715069761e-08,
+                "depth": 0.016869682518392826,
+                "bottom_clearance": 0.08257087442686173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005171617213268198,
+                  0.0022762468935758617
+                ],
+                "rod_tip_xy": [
+                  0.28522938915607593,
+                  -0.38475061999603755
+                ],
+                "target_mouth_xy": [
+                  0.28574655087740275,
+                  -0.3870268668896134
+                ],
+                "gripper_position": [
+                  0.2852211961845878,
+                  -0.38475425121304074,
+                  1.004111069462549
+                ],
+                "rod_tip_xy_dist": 0.0023342570909219663,
+                "target_xy_drift": 6.799022658533717e-08,
+                "depth": 0.017009599033743217,
+                "bottom_clearance": 0.08243106110363196,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005253207301554874,
+                  0.002272586582940328
+                ],
+                "rod_tip_xy": [
+                  0.2852211961845878,
+                  -0.38475425121304063
+                ],
+                "target_mouth_xy": [
+                  0.2857465169147433,
+                  -0.38702683779598096
+                ],
+                "gripper_position": [
+                  0.28523102876283546,
+                  -0.38482616810921366,
+                  1.0035792868193858
+                ],
+                "rod_tip_xy_dist": 0.0023325118748875624,
+                "target_xy_drift": 3.123534552360967e-08,
+                "depth": 0.017148809559729306,
+                "bottom_clearance": 0.08229178746774546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005155241319978465,
+                  0.002200668622843849
+                ],
+                "rod_tip_xy": [
+                  0.28523102876283546,
+                  -0.38482616810921366
+                ],
+                "target_mouth_xy": [
+                  0.2857465528948333,
+                  -0.3870268367320575
+                ],
+                "gripper_position": [
+                  0.28522040681474375,
+                  -0.384835385323646,
+                  1.0034204276845788
+                ],
+                "rod_tip_xy_dist": 0.002260245012878377,
+                "target_xy_drift": 4.50600489613563e-08,
+                "depth": 0.01768064730548058,
+                "bottom_clearance": 0.08176008066569362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005261109494038574,
+                  0.002191422984616165
+                ],
+                "rod_tip_xy": [
+                  0.2852204068147437,
+                  -0.3848353853236459
+                ],
+                "target_mouth_xy": [
+                  0.28574651776414756,
+                  -0.3870268083082621
+                ],
+                "gripper_position": [
+                  0.2852123040220713,
+                  -0.38483871470106445,
+                  1.0032811568809383
+                ],
+                "rod_tip_xy_dist": 0.0022536919551231147,
+                "target_xy_drift": 2.2853787814822814e-09,
+                "depth": 0.01783943191917292,
+                "bottom_clearance": 0.0816011451516424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005342467112098848,
+                  0.0021880910106581997
+                ],
+                "rod_tip_xy": [
+                  0.2852123040220713,
+                  -0.38483871470106445
+                ],
+                "target_mouth_xy": [
+                  0.2857465507332812,
+                  -0.38702680571172265
+                ],
+                "gripper_position": [
+                  0.2852041578664459,
+                  -0.38484198861990276,
+                  1.0031421449012363
+                ],
+                "rod_tip_xy_dist": 0.002252368047047773,
+                "target_xy_drift": 3.1405331728213474e-08,
+                "depth": 0.017978738313586318,
+                "bottom_clearance": 0.08146186407627942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005423886260798039,
+                  0.002184819705361496
+                ],
+                "rod_tip_xy": [
+                  0.2852041578664459,
+                  -0.3848419886199027
+                ],
+                "target_mouth_xy": [
+                  0.2857465464925257,
+                  -0.3870268083252642
+                ],
+                "gripper_position": [
+                  0.28519580287085056,
+                  -0.38484550297123477,
+                  1.0030029321980967
+                ],
+                "rod_tip_xy_dist": 0.002251138060323407,
+                "target_xy_drift": 2.7201726109969996e-08,
+                "depth": 0.018117687489739187,
+                "bottom_clearance": 0.08132293016828662,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005507479200508869,
+                  0.002181334416023528
+                ],
+                "rod_tip_xy": [
+                  0.2851958028708505,
+                  -0.38484550297123477
+                ],
+                "target_mouth_xy": [
+                  0.2857465507909014,
+                  -0.3870268373872583
+                ],
+                "gripper_position": [
+                  0.2852080671876899,
+                  -0.38492039088863367,
+                  1.0024743403665703
+                ],
+                "rod_tip_xy_dist": 0.0022497873468328255,
+                "target_xy_drift": 4.3971484890361124e-08,
+                "depth": 0.018256995391357278,
+                "bottom_clearance": 0.08118367161754614,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005384488580504332,
+                  0.0021064469283109677
+                ],
+                "rod_tip_xy": [
+                  0.2852080671876898,
+                  -0.3849203908886337
+                ],
+                "target_mouth_xy": [
+                  0.28574651604574025,
+                  -0.3870268378169447
+                ],
+                "gripper_position": [
+                  0.28519724789233014,
+                  -0.3849296489098042,
+                  1.0023158855631096
+                ],
+                "rod_tip_xy_dist": 0.002174177047649645,
+                "target_xy_drift": 3.133571240721425e-08,
+                "depth": 0.01878556500051365,
+                "bottom_clearance": 0.08065506513191167,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005493056573623867,
+                  0.002097186549255503
+                ],
+                "rod_tip_xy": [
+                  0.28519724789233014,
+                  -0.3849296489098042
+                ],
+                "target_mouth_xy": [
+                  0.28574655354969253,
+                  -0.3870268354590597
+                ],
+                "gripper_position": [
+                  0.2851889914204776,
+                  -0.38493273044059295,
+                  1.0021763899245348
+                ],
+                "rod_tip_xy_dist": 0.0021679317626688644,
+                "target_xy_drift": 4.471941605251795e-08,
+                "depth": 0.0189440318092432,
+                "bottom_clearance": 0.08049667840148722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005575242353332843,
+                  0.0020941057949881436
+                ],
+                "rod_tip_xy": [
+                  0.2851889914204776,
+                  -0.38493273044059284
+                ],
+                "target_mouth_xy": [
+                  0.2857465156558109,
+                  -0.387026836235581
+                ],
+                "gripper_position": [
+                  0.2851805425609626,
+                  -0.3849359305153579,
+                  1.0020375369883712
+                ],
+                "rod_tip_xy_dist": 0.0021670515345941564,
+                "target_xy_drift": 2.98092923497727e-08,
+                "depth": 0.019083497188520204,
+                "bottom_clearance": 0.08035708889498017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005660100323233719,
+                  0.002090906864240294
+                ],
+                "rod_tip_xy": [
+                  0.2851805425609626,
+                  -0.3849359305153579
+                ],
+                "target_mouth_xy": [
+                  0.28574655259328596,
+                  -0.3870268373795982
+                ],
+                "gripper_position": [
+                  0.2851722990021157,
+                  -0.38493904630902465,
+                  1.0018986643445498
+                ],
+                "rod_tip_xy_dist": 0.0021661622449894846,
+                "target_xy_drift": 4.527289366932921e-08,
+                "depth": 0.019222405926445085,
+                "bottom_clearance": 0.08021833232654674,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.000574218787891212,
+                  0.00208778894391487
+                ],
+                "rod_tip_xy": [
+                  0.2851722990021157,
+                  -0.38493904630902465
+                ],
+                "target_mouth_xy": [
+                  0.2857465177900069,
+                  -0.3870268352529395
+                ],
+                "gripper_position": [
+                  0.2851639204233809,
+                  -0.3849422629831683,
+                  1.0017593448879178
+                ],
+                "rod_tip_xy_dist": 0.002165315194307845,
+                "target_xy_drift": 2.8639931006802632e-08,
+                "depth": 0.019361154665215596,
+                "bottom_clearance": 0.08007934403990336,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006055316264784416,
+              "rod_tip_xy_max_step": 3.290433713696461e-05,
+              "rod_tip_xy_range": 0.0006055213024349061,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.284749509220095,
+            -0.38629766432195334,
+            1.0433226778609273
+          ],
+          "object_origin_world": [
+            0.284749509220095,
+            -0.38629766432195334,
+            1.0433226778609273
+          ],
+          "frame_world": [
+            0.284773782037216,
+            -0.3862948088541564,
+            1.043618275346277
+          ],
+          "center_minus_frame": [
+            -2.4272817120973844e-05,
+            -2.8554677969361286e-06,
+            -0.0002955974853497967
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26349505753056374,
+              0.13589383830324098,
+              0.8334237641342273
+            ],
+            "target_position": [
+              0.27395528438231737,
+              0.18273261150399311,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047992572558070316,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16642695834519447,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8334237641342273,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670829039746,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1361778766802695,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2263706115960195,
+              -0.1254770889059992,
+              1.044142710666373
+            ],
+            "current_z": 1.044142710666373,
+            "required_z": 0.8565862991802499,
+            "initial_z": 0.7565862991802499,
+            "lift_margin": 0.18755641148612312,
+            "gripper_z": 1.0485117158083979,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2216904003956123,
+              -0.12999749205939262,
+              1.0485117158083979
+            ],
+            "object_minus_gripper": [
+              0.004680211200407208,
+              0.004520403153393415,
+              -0.004369005142024873
+            ],
+            "object_to_gripper_xy": 0.006506798102725042,
+            "object_to_gripper_z": -0.004369005142024873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2263706115960195,
+              -0.14986145172426454,
+              1.044142710666373
+            ],
+            "finger_b": [
+              0.21550535927255265,
+              -0.1254770889059992,
+              1.044142710666373
+            ],
+            "finger_midpoint": [
+              0.22093798543428608,
+              -0.13766927031513188,
+              1.044142710666373
+            ],
+            "object_minus_finger_midpoint": [
+              0.005432626161733428,
+              0.012192181409132669,
+              0.0
+            ],
+            "finger_gap": 0.026695521311736973,
+            "fingertip_max_gap": 0.09668166154479896,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013347760655868486,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044142710666373,
+            "object_top_z": 1.0915299091178916,
+            "finger_top_clearance": 0.04738719845151862,
+            "fingertip_min_top_clearance": 0.014216159535455618,
+            "object_projection_between_fingers": 0.8343456592945806,
+            "object_to_finger_line_xy": 0.009924595653089235,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05084083077239948,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6856596686257634,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23389950405614282,
+              -0.12182163537814421,
+              1.2404405457426644
+            ],
+            "held_position": [
+              0.23878693397333678,
+              -0.11720691659349954,
+              1.2364076296788573
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007838814491652933,
+            "max_held_gripper_dist": 0.00784095975068446,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004032916063807068,
+            "max_held_gripper_z_dist": 0.004367209032363872,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580603896501665,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23878693397333678,
+              -0.14164537554572518,
+              1.2364076296788573
+            ],
+            "held_grasp_finger_b": [
+              0.22968035762669187,
+              -0.11720691659349954,
+              1.2364076296788573
+            ],
+            "held_grasp_midpoint": [
+              0.23423364580001432,
+              -0.12942614606961236,
+              1.2364076296788573
+            ],
+            "held_grasp_object_position": [
+              0.23878693397333678,
+              -0.11720691659349954,
+              1.2364076296788573
+            ],
+            "held_grasp_finger_gap": 0.026080030841946683,
+            "held_grasp_max_gap": 0.1249661049246788,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024183462673242728,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02065431540989398,
+              -0.9972622586822752,
+              -0.07100272292578123
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004387252860252503,
+            "held_grasp_line_xy_max_dist": 0.0474830524623394,
+            "held_grasp_object_top_z": 0.04520076513290405,
+            "held_grasp_top_clearance": 0.0329209436961148,
+            "held_grasp_min_top_clearance": 0.013560229539871215
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1951064836927268,
+              -0.12535858031670583,
+              0.7565864427845848
+            ],
+            "target_position": [
+              0.19891448321367114,
+              -0.13011044430124924,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006089422934820113,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2117036446412272,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864427845848,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583282076587529,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704340948531351,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18361200491116422,
+            "release_required_pad_clearance": 0.05352170474265676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0551071459357497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fcf5d3b1c0a29c2f8c4c4ff1a07bb63c894bd0c148447b47e1ba6a61d0504fe",
+    "visual_seed": 2755942983152672844,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 41,
+  "collection_result_filename": "episode_41_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec8398ec77ecb96608105fdd29b836c333c02239
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_41_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2515839808385406,
+              -0.001266099274319166,
+              1.1630064418892072
+            ],
+            "current_z": 1.1630064418892072,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30189969545586215,
+            "gripper_z": 1.156487919396532,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24661605469109965,
+              -0.006144962436251233,
+              1.156487919396532
+            ],
+            "object_minus_gripper": [
+              0.00496792614744096,
+              0.004878863161932067,
+              0.0065185224926751495
+            ],
+            "object_to_gripper_xy": 0.006963016297502494,
+            "object_to_gripper_z": 0.0065185224926751495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2515839808385406,
+              -0.02521098628494907,
+              1.1630064418892072
+            ],
+            "finger_b": [
+              0.2404537696350289,
+              -0.001266099274319166,
+              1.1630064418892072
+            ],
+            "finger_midpoint": [
+              0.24601887523678476,
+              -0.013238542779634117,
+              1.1630064418892072
+            ],
+            "object_minus_finger_midpoint": [
+              0.005565105601755854,
+              0.01197244350531495,
+              0.0
+            ],
+            "finger_gap": 0.026405287640671713,
+            "fingertip_max_gap": 0.09130194294490196,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013202643820335855,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1630064418892072,
+            "object_top_z": 1.2130496862118103,
+            "finger_top_clearance": 0.0500432443226031,
+            "fingertip_min_top_clearance": 0.015012973296780896,
+            "object_projection_between_fingers": 0.8223255394978226,
+            "object_to_finger_line_xy": 0.010093116700688022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815097147245098,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6260420949311557,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2860314977440189,
+              -0.3868479490556903,
+              0.8515396090667355
+            ],
+            "target_position": [
+              0.2779258336977842,
+              -0.3881658941308991,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008212111108094541,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466270078663902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396090667355,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546426605128347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583923663499048,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15283401091934565,
+            "release_required_pad_clearance": 0.05291961831749524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8775892400951211,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008495628833770752,
+            "max_z_decrease": 0.008495628833770752,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500866333564239,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008495628833770752,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020989316886211726,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008495628833770752,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008495683545987814,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1336257606744766,
+              -0.44442734122276306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1336257606744766,
+              -0.44442734122276306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13381903750393542,
+              -0.4452974240240521,
+              0.8036772771973721
+            ],
+            "closest_button": [
+              0.13363194465637204,
+              -0.4443948268890381,
+              0.7686807513237
+            ],
+            "closest_ee_minus_button": [
+              0.0001870928475633804,
+              -0.000902597135014005,
+              0.03499652587367219
+            ],
+            "button_min_z_position": [
+              0.13362611830234525,
+              -0.44439685344696045,
+              0.7683132290840149
+            ],
+            "min_active_finger_to_button": 0.14549903499884131,
+            "closest_active_finger": [
+              -0.007028199732303619,
+              -0.4301419258117676,
+              0.8110671043395996
+            ],
+            "closest_active_finger_button": [
+              0.1336277723312378,
+              -0.4444247782230377,
+              0.776688814163208
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406559720635414,
+              0.014282852411270142,
+              0.0343782901763916
+            ],
+            "min_contact_pad_to_button": 0.020989316886211726,
+            "closest_contact_pad": [
+              0.13362611830234525,
+              -0.44639145744069686,
+              0.7892075579379882
+            ],
+            "closest_contact_pad_button": [
+              0.13362611830234525,
+              -0.44439685344696045,
+              0.7683132290840149
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00199460399373641,
+              0.020894328853973354
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2760871340465304,
+              0.1750230625198381,
+              1.1035393648922978
+            ],
+            "current_z": 1.1035393648922978,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1936302351579352,
+            "gripper_z": 1.103539496914965,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27608715841907683,
+              0.17502300120621278,
+              1.103539496914965
+            ],
+            "object_minus_gripper": [
+              -2.4372546425510677e-08,
+              6.131362531580642e-08,
+              -1.320226672429925e-07
+            ],
+            "object_to_gripper_xy": 6.598016117463469e-08,
+            "object_to_gripper_z": -1.320226672429925e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2760871340465304,
+              0.1750230625198381,
+              1.1035393648922978
+            ],
+            "finger_b": [
+              0.2760871340465304,
+              0.1750230625198381,
+              1.1035393648922978
+            ],
+            "finger_midpoint": [
+              0.2760871340465304,
+              0.1750230625198381,
+              1.1035393648922978
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035393648922978,
+            "object_top_z": 1.2285478715125775,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2760871340465304,
+            0.17502306251983807,
+            1.103539364892298
+          ],
+          "object_origin_world": [
+            0.2760871340465304,
+            0.17502306251983807,
+            1.103539364892298
+          ],
+          "frame_world": [
+            0.27608715841907683,
+            0.17502300120621278,
+            1.103539496914965
+          ],
+          "center_minus_frame": [
+            -2.4372546425510677e-08,
+            6.131362528805084e-08,
+            -1.320226670209479e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432875545723665,
+            "required_z": 0.9112598342611875,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002992494747627618,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.233930646626134e-08,
+            "max_target_xy_drift": 2.360852570616452e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8775892394634217,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8775892417709308,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2835369204953465,
+              -0.3851884652764256,
+              0.9234123533635553
+            ],
+            "target_mouth_xy": [
+              0.28603152784623176,
+              -0.3868479186067656
+            ],
+            "rod_tip_z": 0.9234123533635553,
+            "rod_tip_depth": -0.022152463535208944,
+            "rod_tip_bottom_clearance": 0.12159303203794447,
+            "rod_tip_xy_dist": 0.002996139381048095,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.045104740168744994,
+            "min_rod_tip_bottom_clearance": 0.054335901778362894,
+            "min_rod_tip_xy_dist": 5.005159204969954e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2860314655069308,
+              -0.38684791863300605
+            ],
+            "target_mouth_xy_delta_from_start": [
+              6.233930094357021e-08,
+              2.6240454253922962e-11
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0019158748735808584,
+                0.0034538216372854147
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0020264936344534523,
+                0.003088746346289639
+              ],
+              "first_target_mouth_xy": [
+                0.286031498770535,
+                -0.38684788562646616
+              ],
+              "last_target_mouth_xy": [
+                0.2860314680327477,
+                -0.38684792115412514
+              ],
+              "first_rod_tip_xy": [
+                0.28411562389695416,
+                -0.38339406398918074
+              ],
+              "last_rod_tip_xy": [
+                0.28400497439829425,
+                -0.3837591748078355
+              ],
+              "min_rod_tip_xy_dist": 0.003683206668212197,
+              "max_rod_tip_xy_dist": 0.00394961522599346,
+              "first_target_xy_drift": 4.6860420828103785e-08,
+              "last_target_xy_drift": 3.5687242018687856e-09,
+              "max_depth": 0.019361102267844266,
+              "min_bottom_clearance": 0.08007954752919233
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0019158748735808584,
+                  0.0034538216372854147
+                ],
+                "rod_tip_xy": [
+                  0.28411562389695416,
+                  -0.38339406398918074
+                ],
+                "target_mouth_xy": [
+                  0.286031498770535,
+                  -0.38684788562646616
+                ],
+                "gripper_position": [
+                  0.2841193651791244,
+                  -0.3834643722493495,
+                  1.0056441004785763
+                ],
+                "rod_tip_xy_dist": 0.00394961522599346,
+                "target_xy_drift": 4.6860420828103785e-08,
+                "depth": 0.015082399305778593,
+                "bottom_clearance": 0.08435829889341984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.001912101675150657,
+                  0.0033835768030207047
+                ],
+                "rod_tip_xy": [
+                  0.2841193651791244,
+                  -0.3834643722493494
+                ],
+                "target_mouth_xy": [
+                  0.28603146685427505,
+                  -0.3868479490523701
+                ],
+                "gripper_position": [
+                  0.28410892513048214,
+                  -0.3834739879669978,
+                  1.0054864968400405
+                ],
+                "rod_tip_xy_dist": 0.003886479743682419,
+                "target_xy_drift": 3.044918790937673e-08,
+                "depth": 0.015615670122129166,
+                "bottom_clearance": 0.08382486686663804,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0019226035461170632,
+                  0.0033739604324743433
+                ],
+                "rod_tip_xy": [
+                  0.28410892513048214,
+                  -0.3834739879669977
+                ],
+                "target_mouth_xy": [
+                  0.2860315286765992,
+                  -0.38684794839947206
+                ],
+                "gripper_position": [
+                  0.28410105819402176,
+                  -0.3834774707975167,
+                  1.0053478644132394
+                ],
+                "rod_tip_xy_dist": 0.0038832992925403476,
+                "target_xy_drift": 6.983157955291449e-08,
+                "depth": 0.015773399650876985,
+                "bottom_clearance": 0.08366720088809043,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0019304077421616883,
+                  0.0033704478251086467
+                ],
+                "rod_tip_xy": [
+                  0.28410105819402176,
+                  -0.3834774707975167
+                ],
+                "target_mouth_xy": [
+                  0.28603146593618345,
+                  -0.38684791862262535
+                ],
+                "gripper_position": [
+                  0.28410571063310314,
+                  -0.38354885931265675,
+                  1.004816079906989
+                ],
+                "rod_tip_xy_dist": 0.003884120568774532,
+                "target_xy_drift": 4.293781342468895e-10,
+                "depth": 0.015911956684035444,
+                "bottom_clearance": 0.08352854162121848,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0019257558984146494,
+                  0.0032990593050675754
+                ],
+                "rod_tip_xy": [
+                  0.28410571063310314,
+                  -0.3835488593126567
+                ],
+                "target_mouth_xy": [
+                  0.2860314665315178,
+                  -0.3868479186177243
+                ],
+                "gripper_position": [
+                  0.28409521874318383,
+                  -0.3835582649755617,
+                  1.0046588266844834
+                ],
+                "rod_tip_xy_dist": 0.003819990586196747,
+                "target_xy_drift": 1.0247009287836022e-09,
+                "depth": 0.016443736424952893,
+                "bottom_clearance": 0.08299676576373727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0019362153880564947,
+                  0.0032896844295000616
+                ],
+                "rod_tip_xy": [
+                  0.28409521874318383,
+                  -0.38355826497556167
+                ],
+                "target_mouth_xy": [
+                  0.2860314341312403,
+                  -0.38684794940506173
+                ],
+                "gripper_position": [
+                  0.2840871954542623,
+                  -0.3835620719450402,
+                  1.0045197535297123
+                ],
+                "rod_tip_xy_dist": 0.0038171918571957984,
+                "target_xy_drift": 4.39471656036132e-08,
+                "depth": 0.01660107288665824,
+                "bottom_clearance": 0.08283953691096213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0019442715945076072,
+                  0.0032858476142997306
+                ],
+                "rod_tip_xy": [
+                  0.2840871954542623,
+                  -0.3835620719450401
+                ],
+                "target_mouth_xy": [
+                  0.2860314670487699,
+                  -0.38684791955933984
+                ],
+                "gripper_position": [
+                  0.28407912970970817,
+                  -0.3835652874347281,
+                  1.004381404943548
+                ],
+                "rod_tip_xy_dist": 0.003817982003311224,
+                "target_xy_drift": 1.798711232703266e-09,
+                "depth": 0.016740083762199487,
+                "bottom_clearance": 0.08270047167478356,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0019523373203846894,
+                  0.0032826327733353478
+                ],
+                "rod_tip_xy": [
+                  0.28407912970970817,
+                  -0.38356528743472806
+                ],
+                "target_mouth_xy": [
+                  0.28603146703009286,
+                  -0.3868479202080634
+                ],
+                "gripper_position": [
+                  0.2840850217572746,
+                  -0.38363910056075307,
+                  1.0038499472268798
+                ],
+                "rod_tip_xy_dist": 0.0038193322632552127,
+                "target_xy_drift": 2.191079254051612e-09,
+                "depth": 0.01687844369471203,
+                "bottom_clearance": 0.08256213379030375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001946444086298682,
+                  0.0032088465946571443
+                ],
+                "rod_tip_xy": [
+                  0.2840850217572746,
+                  -0.383639100560753
+                ],
+                "target_mouth_xy": [
+                  0.2860314658435733,
+                  -0.38684794715541015
+                ],
+                "gripper_position": [
+                  0.2840744318033117,
+                  -0.38364834894160266,
+                  1.003691994369246
+                ],
+                "rod_tip_xy_dist": 0.0037530442375663334,
+                "target_xy_drift": 2.8524390687776697e-08,
+                "depth": 0.01740989280879901,
+                "bottom_clearance": 0.08203064172496621,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0019570364443431965,
+                  0.0031995706151795034
+                ],
+                "rod_tip_xy": [
+                  0.2840744318033117,
+                  -0.3836483489416025
+                ],
+                "target_mouth_xy": [
+                  0.2860314682476549,
+                  -0.386847919556782
+                ],
+                "gripper_position": [
+                  0.2840661592487203,
+                  -0.3836518403064462,
+                  1.0035535150817296
+                ],
+                "rod_tip_xy_dist": 0.003750632448802149,
+                "target_xy_drift": 2.8922189656047546e-09,
+                "depth": 0.017567912355420545,
+                "bottom_clearance": 0.0818726897487988,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0019653067308442185,
+                  0.003196078633806998
+                ],
+                "rod_tip_xy": [
+                  0.2840661592487203,
+                  -0.38365184030644617
+                ],
+                "target_mouth_xy": [
+                  0.2860314659795645,
+                  -0.38684791894025317
+                ],
+                "gripper_position": [
+                  0.2840580122647798,
+                  -0.38365515981524734,
+                  1.0034150942465179
+                ],
+                "rod_tip_xy_dist": 0.0037519793682507367,
+                "target_xy_drift": 5.637228170478893e-10,
+                "depth": 0.017706310524495783,
+                "bottom_clearance": 0.0817341976663829,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0019734859186557596,
+                  0.003192727082450275
+                ],
+                "rod_tip_xy": [
+                  0.2840580122647798,
+                  -0.3836551598152472
+                ],
+                "target_mouth_xy": [
+                  0.28603149818343554,
+                  -0.3868478868976975
+                ],
+                "gripper_position": [
+                  0.28406555972307,
+                  -0.3837306486732346,
+                  1.002886967252542
+                ],
+                "rod_tip_xy_dist": 0.0037534188274350646,
+                "target_xy_drift": 4.555089208362822e-08,
+                "depth": 0.017844824289986683,
+                "bottom_clearance": 0.08159580543056211,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0019659058905445725,
+                  0.003117269633094444
+                ],
+                "rod_tip_xy": [
+                  0.28406555972307,
+                  -0.3837306486732346
+                ],
+                "target_mouth_xy": [
+                  0.2860314656136146,
+                  -0.38684791830632903
+                ],
+                "gripper_position": [
+                  0.28405466325314715,
+                  -0.3837402143630475,
+                  1.0027296264296097
+                ],
+                "rod_tip_xy_dist": 0.0036853976631960107,
+                "target_xy_drift": 3.4365578999621683e-10,
+                "depth": 0.018372803673755045,
+                "bottom_clearance": 0.08106770634078886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0019768648351628504,
+                  0.0031077349926046383
+                ],
+                "rod_tip_xy": [
+                  0.28405466325314715,
+                  -0.3837402143630474
+                ],
+                "target_mouth_xy": [
+                  0.28603152808831,
+                  -0.38684794935565203
+                ],
+                "gripper_position": [
+                  0.28404638432535656,
+                  -0.38374328199544083,
+                  1.0025913518871665
+                ],
+                "rod_tip_xy_dist": 0.003683206668212197,
+                "target_xy_drift": 6.971592355764806e-08,
+                "depth": 0.018530282176436264,
+                "bottom_clearance": 0.08091032900891937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0019850814471873424,
+                  0.0031046369394662765
+                ],
+                "rod_tip_xy": [
+                  0.28404638432535656,
+                  -0.3837432819954407
+                ],
+                "target_mouth_xy": [
+                  0.2860314657725439,
+                  -0.386847918934907
+                ],
+                "gripper_position": [
+                  0.28403813815589724,
+                  -0.38374645658871975,
+                  1.002452795924262
+                ],
+                "rod_tip_xy_dist": 0.003685012737815966,
+                "target_xy_drift": 4.0211254002481124e-10,
+                "depth": 0.018668479878283573,
+                "bottom_clearance": 0.08077203596888738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0019933283384720446,
+                  0.0031014629766282775
+                ],
+                "rod_tip_xy": [
+                  0.28403813815589724,
+                  -0.38374645658871975
+                ],
+                "target_mouth_xy": [
+                  0.2860314664943693,
+                  -0.38684791956534803
+                ],
+                "gripper_position": [
+                  0.28402991306878234,
+                  -0.3837494273644429,
+                  1.0023141876711434
+                ],
+                "rod_tip_xy_dist": 0.00368679135025996,
+                "target_xy_drift": 1.3580487071933895e-09,
+                "depth": 0.01880703690527319,
+                "bottom_clearance": 0.08063349711463996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0020015836423761257,
+                  0.003098489029101037
+                ],
+                "rod_tip_xy": [
+                  0.28402991306878234,
+                  -0.38374942736444284
+                ],
+                "target_mouth_xy": [
+                  0.28603149671115846,
+                  -0.3868479163935439
+                ],
+                "gripper_position": [
+                  0.2840215543307131,
+                  -0.38375291068304196,
+                  1.0021756769742374
+                ],
+                "rod_tip_xy_dist": 0.003688762846929464,
+                "target_xy_drift": 3.1284485193383104e-08,
+                "depth": 0.01894566542789422,
+                "bottom_clearance": 0.08049491956328214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0020099120807525184,
+                  0.0030950076195190857
+                ],
+                "rod_tip_xy": [
+                  0.2840215543307131,
+                  -0.38375291068304196
+                ],
+                "target_mouth_xy": [
+                  0.2860314664114656,
+                  -0.38684791830256104
+                ],
+                "gripper_position": [
+                  0.2840133205756834,
+                  -0.38375595408712865,
+                  1.0020373536446907
+                ],
+                "rod_tip_xy_dist": 0.0036903683741919473,
+                "target_xy_drift": 9.630041900731304e-10,
+                "depth": 0.019084137955200364,
+                "bottom_clearance": 0.08035635883256276,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0020181452357448393,
+                  0.003091962956995764
+                ],
+                "rod_tip_xy": [
+                  0.2840133205756834,
+                  -0.3837559540871286
+                ],
+                "target_mouth_xy": [
+                  0.28603146581142824,
+                  -0.38684791704412436
+                ],
+                "gripper_position": [
+                  0.28400497439829425,
+                  -0.38375917480783556,
+                  1.0018988309997305
+                ],
+                "rod_tip_xy_dist": 0.003692308914486108,
+                "target_xy_drift": 1.6177959442376414e-09,
+                "depth": 0.019222492756135856,
+                "bottom_clearance": 0.08021805389034775,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0020264936344534523,
+                  0.003088746346289639
+                ],
+                "rod_tip_xy": [
+                  0.28400497439829425,
+                  -0.3837591748078355
+                ],
+                "target_mouth_xy": [
+                  0.2860314680327477,
+                  -0.38684792115412514
+                ],
+                "gripper_position": [
+                  0.2840168548124119,
+                  -0.38384090809182086,
+                  1.001376194825416
+                ],
+                "rod_tip_xy_dist": 0.0036941887393848677,
+                "target_xy_drift": 3.5687242018687856e-09,
+                "depth": 0.019361102267844266,
+                "bottom_clearance": 0.08007954752919233,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006026176684145624,
+              "rod_tip_xy_max_step": 3.2726989330992114e-05,
+              "rod_tip_xy_range": 0.0006026115624890571,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2835369204953465,
+            -0.38518846527642564,
+            1.0434123533635553
+          ],
+          "object_origin_world": [
+            0.2835369204953465,
+            -0.38518846527642564,
+            1.0434123533635553
+          ],
+          "frame_world": [
+            0.2835355003931759,
+            -0.38519720004560193,
+            1.0432875545723665
+          ],
+          "center_minus_frame": [
+            1.4201021706350403e-06,
+            8.73476917628846e-06,
+            0.0001247987911887627
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26659101873204283,
+              0.12937198332562996,
+              0.8340484840536307
+            ],
+            "target_position": [
+              0.2762033669012875,
+              0.17635801546609814,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0479591957150231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16953692841207493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340484840536307,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675656469163,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13864833154390496,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2154910418342323,
+              -0.1315896531042815,
+              1.0462643062751071
+            ],
+            "current_z": 1.0462643062751071,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.18967791807583112,
+            "gripper_z": 1.0501887381998516,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21121328695690902,
+              -0.13595527559292975,
+              1.0501887381998516
+            ],
+            "object_minus_gripper": [
+              0.004277754877323264,
+              0.004365622488648246,
+              -0.003924431924744454
+            ],
+            "object_to_gripper_xy": 0.006112106552069776,
+            "object_to_gripper_z": -0.003924431924744454,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2154910418342323,
+              -0.15555842569769274,
+              1.0462643062751071
+            ],
+            "finger_b": [
+              0.2045956507585472,
+              -0.1315896531042815,
+              1.0462643062751071
+            ],
+            "finger_midpoint": [
+              0.21004334629638974,
+              -0.14357403940098712,
+              1.0462643062751071
+            ],
+            "object_minus_finger_midpoint": [
+              0.005447695537842551,
+              0.011984386296705618,
+              0.0
+            ],
+            "finger_gap": 0.026328911985245045,
+            "fingertip_max_gap": 0.09369488341452087,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013164455992622523,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462643062751071,
+            "object_top_z": 1.0926103093781738,
+            "finger_top_clearance": 0.04634600310306669,
+            "fingertip_min_top_clearance": 0.013903800930919974,
+            "object_projection_between_fingers": 0.8287542424150371,
+            "object_to_finger_line_xy": 0.009918721713822756,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04934744170726044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6076342742606613,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21847515254879518,
+              -0.13323445568667458,
+              1.2433801028666822
+            ],
+            "held_position": [
+              0.22303340202185576,
+              -0.1290374256560234,
+              1.2395931990701874
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007261772490291311,
+            "max_held_gripper_dist": 0.007264745772072348,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037869037964948227,
+            "max_held_gripper_z_dist": 0.003940308248374436,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08528382637302777,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22303340202185576,
+              -0.15380013706800108,
+              1.2395931990701874
+            ],
+            "held_grasp_finger_b": [
+              0.21436003039980317,
+              -0.1290374256560234,
+              1.2395931990701874
+            ],
+            "held_grasp_midpoint": [
+              0.21869671621082948,
+              -0.14141878136201225,
+              1.2395931990701874
+            ],
+            "held_grasp_object_position": [
+              0.22303340202185576,
+              -0.1290374256560234,
+              1.2395931990701874
+            ],
+            "held_grasp_finger_gap": 0.0262377447919427,
+            "held_grasp_max_gap": 0.12496619433164596,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02422310033439361,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055708791151245184,
+              -0.99772124997238,
+              -0.03806360390213336
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00367117258828764,
+            "held_grasp_line_xy_max_dist": 0.04748309716582298,
+            "held_grasp_object_top_z": 0.04520086944103241,
+            "held_grasp_top_clearance": 0.03260613622556554,
+            "held_grasp_min_top_clearance": 0.013560260832309722
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18517889149477146,
+              -0.13146780128466978,
+              0.7565861873052289
+            ],
+            "target_position": [
+              0.1903306183549561,
+              -0.1361622697480197,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0069698151909024725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2144214627659586,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565861873052289,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754666958222833,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08958849063625692,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18700166883093158,
+            "release_required_pad_clearance": 0.05479424531812846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.630560846349169,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 207,
+            "max_placed_release_frames": 207
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b72953e394488f1cf88b90e46cf804d5e5f6595248d05caf6ae78dad5936b4c",
+    "visual_seed": 8464324001860939677,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 42,
+  "collection_result_filename": "episode_42_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7497258bd1c524df6ce6ffbb4b7dbed696e0be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_42_success.json
@@ -0,0 +1,2678 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25141472703074197,
+              0.0009099751250489741,
+              1.1625969170056643
+            ],
+            "current_z": 1.1625969170056643,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.3014901705723191,
+            "gripper_z": 1.1560273181545313,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24653332300086372,
+              -0.0040033673961267086,
+              1.1560273181545313
+            ],
+            "object_minus_gripper": [
+              0.004881404029878245,
+              0.004913342521175683,
+              0.006569598851132952
+            ],
+            "object_to_gripper_xy": 0.0069259685267336136,
+            "object_to_gripper_z": 0.006569598851132952,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25141472703074197,
+              -0.02287965855776024,
+              1.1625969170056643
+            ],
+            "finger_b": [
+              0.240120681804535,
+              0.0009099751250489741,
+              1.1625969170056643
+            ],
+            "finger_midpoint": [
+              0.24576770441763848,
+              -0.010984841716355633,
+              1.1625969170056643
+            ],
+            "object_minus_finger_midpoint": [
+              0.005647022613103486,
+              0.011894816841404608,
+              0.0
+            ],
+            "finger_gap": 0.026334428574280082,
+            "fingertip_max_gap": 0.09124375942340274,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013167214287140041,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625969170056643,
+            "object_top_z": 1.2126419366710854,
+            "finger_top_clearance": 0.050045019665421187,
+            "fingertip_min_top_clearance": 0.015013505899626356,
+            "object_projection_between_fingers": 0.816070560766611,
+            "object_to_finger_line_xy": 0.010202659152853441,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812187971170137,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7206275730305514,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 337,
+            "max_stable_success_frames": 337,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28275454870591366,
+              -0.3869062002522082,
+              0.8515395159647119
+            ],
+            "target_position": [
+              0.27432840287915117,
+              -0.38842198532731387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008561398126928806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18703693508621091,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395159647119,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758234810395972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643395617458334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15433282489143568,
+            "release_required_pad_clearance": 0.05321697808729167,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4558610627961368,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008363068103790283,
+            "max_z_decrease": 0.008363068103790283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029414815943516,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008363068103790283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020903566678545316,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008363068103790283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008363093937300054,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13002832233905792,
+              -0.4446834325790405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13002832233905792,
+              -0.4446834325790405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1306487055488981,
+              -0.4434342025788746,
+              0.8035817842470906
+            ],
+            "closest_button": [
+              0.13004459440708158,
+              -0.44465914368629456,
+              0.7685790061950684
+            ],
+            "closest_ee_minus_button": [
+              0.0006041111418165213,
+              0.0012249411074199412,
+              0.03500277805202223
+            ],
+            "button_min_z_position": [
+              0.13003367185592649,
+              -0.4446633458137512,
+              0.7684457898139954
+            ],
+            "min_active_finger_to_button": 0.14479722173019094,
+            "closest_active_finger": [
+              0.0037950649857521057,
+              -0.5067614912986755,
+              0.8110746741294861
+            ],
+            "closest_active_finger_button": [
+              0.13003186881542203,
+              -0.4446800053119659,
+              0.7767760753631592
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12623680382966992,
+              -0.06208148598670965,
+              0.034298598766326904
+            ],
+            "min_contact_pad_to_button": 0.020903566678545316,
+            "closest_contact_pad": [
+              0.13003367185592649,
+              -0.4446633458137512,
+              0.7893493564925407
+            ],
+            "closest_contact_pad_button": [
+              0.13003367185592649,
+              -0.4446633458137512,
+              0.7684457898139954
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020903566678545316
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.268606695390826,
+              0.18314152321292113,
+              1.1019104253269667
+            ],
+            "current_z": 1.1019104253269667,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19200129559260415,
+            "gripper_z": 1.1019104611047352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2686065645276954,
+              0.18314148773896527,
+              1.1019104611047352
+            ],
+            "object_minus_gripper": [
+              1.308631306096153e-07,
+              3.547395585612456e-08,
+              -3.5777768525591114e-08
+            ],
+            "object_to_gripper_xy": 1.35585989309484e-07,
+            "object_to_gripper_z": -3.5777768525591114e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.268606695390826,
+              0.18314152321292113,
+              1.1019104253269667
+            ],
+            "finger_b": [
+              0.268606695390826,
+              0.18314152321292113,
+              1.1019104253269667
+            ],
+            "finger_midpoint": [
+              0.268606695390826,
+              0.18314152321292113,
+              1.1019104253269667
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1019104253269667,
+            "object_top_z": 1.2269189319472464,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.268606695390826,
+            0.18314152321292113,
+            1.1019104253269667
+          ],
+          "object_origin_world": [
+            0.268606695390826,
+            0.18314152321292113,
+            1.1019104253269667
+          ],
+          "frame_world": [
+            0.2686065645276954,
+            0.18314148773896527,
+            1.1019104611047352
+          ],
+          "center_minus_frame": [
+            1.308631306096153e-07,
+            3.547395585612456e-08,
+            -3.5777768525591114e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433663581022454,
+            "required_z": 0.9112599506830599,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014682064258443798,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.105470614188029e-07,
+            "max_target_xy_drift": 1.5252936977021986e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.455861061951889,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4558610628980373,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28136401484773815,
+              -0.38643009195086314,
+              0.9234906546370901
+            ],
+            "target_mouth_xy": [
+              0.2827544019290821,
+              -0.3869062287908442
+            ],
+            "rod_tip_z": 0.9234906546370901,
+            "rod_tip_depth": -0.022230820850434485,
+            "rod_tip_bottom_clearance": 0.1216713883460756,
+            "rod_tip_xy_dist": 0.0014696538797809545,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04475400428338416,
+            "min_rod_tip_bottom_clearance": 0.05468668517495823,
+            "min_rod_tip_xy_dist": 0.0013341769465412033,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2827544637109053,
+              -0.3869061371193704
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.178182321292525e-08,
+              -9.167147380084728e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.000894378570073906,
+                0.0023735669435233087
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0009722004962507413,
+                0.0019079424692244884
+              ],
+              "first_target_mouth_xy": [
+                0.28275449420445187,
+                -0.3869061964221821
+              ],
+              "last_target_mouth_xy": [
+                0.2827544325104262,
+                -0.3869061980261451
+              ],
+              "first_rod_tip_xy": [
+                0.28186011563437796,
+                -0.3845326294786588
+              ],
+              "last_rod_tip_xy": [
+                0.28178223201417546,
+                -0.38499825555692063
+              ],
+              "min_rod_tip_xy_dist": 0.002141358977560891,
+              "max_rod_tip_xy_dist": 0.002536480447784691,
+              "first_target_xy_drift": 6.668343017833117e-08,
+              "last_target_xy_drift": 6.843321637913175e-08,
+              "max_depth": 0.019711388790464413,
+              "min_bottom_clearance": 0.07972924328878006
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.000894378570073906,
+                  0.0023735669435233087
+                ],
+                "rod_tip_xy": [
+                  0.28186011563437796,
+                  -0.3845326294786588
+                ],
+                "target_mouth_xy": [
+                  0.28275449420445187,
+                  -0.3869061964221821
+                ],
+                "gripper_position": [
+                  0.2818671037768369,
+                  -0.38460652186064903,
+                  1.005687800636938
+                ],
+                "rod_tip_xy_dist": 0.002536480447784691,
+                "target_xy_drift": 6.668343017833117e-08,
+                "depth": 0.015038380390195005,
+                "bottom_clearance": 0.08440238908937392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0008873588338098592,
+                  0.002299674580560185
+                ],
+                "rod_tip_xy": [
+                  0.2818671037768369,
+                  -0.3846065218606491
+                ],
+                "target_mouth_xy": [
+                  0.28275446261064674,
+                  -0.38690619644120927
+                ],
+                "gripper_position": [
+                  0.2818566087546127,
+                  -0.3846162508079184,
+                  1.0055303829235247
+                ],
+                "rod_tip_xy_dist": 0.0024649358767349417,
+                "target_xy_drift": 5.9332041408035234e-08,
+                "depth": 0.015572146872082637,
+                "bottom_clearance": 0.08386855457474396,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0008978531368556419,
+                  0.0022899481797024612
+                ],
+                "rod_tip_xy": [
+                  0.2818566087546127,
+                  -0.38461625080791834
+                ],
+                "target_mouth_xy": [
+                  0.28275446189146836,
+                  -0.3869061989876208
+                ],
+                "gripper_position": [
+                  0.2818488719818474,
+                  -0.384619814714569,
+                  1.0053922562854067
+                ],
+                "rod_tip_xy_dist": 0.0024596753690444865,
+                "target_xy_drift": 6.18949978573216e-08,
+                "depth": 0.0157294535707716,
+                "bottom_clearance": 0.08371112739872533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.000905623022595059,
+                  0.002286352528807989
+                ],
+                "rod_tip_xy": [
+                  0.28184887198184744,
+                  -0.384619814714569
+                ],
+                "target_mouth_xy": [
+                  0.2827544950044425,
+                  -0.386906167243377
+                ],
+                "gripper_position": [
+                  0.2818567061002508,
+                  -0.38469499816096464,
+                  1.0048598994834763
+                ],
+                "rod_tip_xy_dist": 0.0024591789168421432,
+                "target_xy_drift": 4.3436634835759564e-08,
+                "depth": 0.015867640215973533,
+                "bottom_clearance": 0.08357313645195685,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000897758364801382,
+                  0.002211200470368324
+                ],
+                "rod_tip_xy": [
+                  0.2818567061002509,
+                  -0.3846949981609647
+                ],
+                "target_mouth_xy": [
+                  0.28275446446505226,
+                  -0.386906198631333
+                ],
+                "gripper_position": [
+                  0.2818462342908775,
+                  -0.38470428431619574,
+                  1.004703132323784
+                ],
+                "rod_tip_xy_dist": 0.002386499026131783,
+                "target_xy_drift": 6.151658544496816e-08,
+                "depth": 0.016400022426299565,
+                "bottom_clearance": 0.08304066833877888,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0009082295832271159,
+                  0.0022019143266744368
+                ],
+                "rod_tip_xy": [
+                  0.2818462342908775,
+                  -0.3847042843161958
+                ],
+                "target_mouth_xy": [
+                  0.28275446387410463,
+                  -0.38690619864287024
+                ],
+                "gripper_position": [
+                  0.2818383197359541,
+                  -0.3847080354197864,
+                  1.0045648515227916
+                ],
+                "rod_tip_xy_dist": 0.0023818706257609876,
+                "target_xy_drift": 6.152371630392715e-08,
+                "depth": 0.016556725321468124,
+                "bottom_clearance": 0.08288394280608602,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0009161137027097754,
+                  0.002198163235675288
+                ],
+                "rod_tip_xy": [
+                  0.28183831973595413,
+                  -0.3847080354197863
+                ],
+                "target_mouth_xy": [
+                  0.2827544334386639,
+                  -0.3869061986554616
+                ],
+                "gripper_position": [
+                  0.2818467691653048,
+                  -0.3847842374824674,
+                  1.0040354728866991
+                ],
+                "rod_tip_xy_dist": 0.00238142518819447,
+                "target_xy_drift": 6.857914494323428e-08,
+                "depth": 0.01669500112739364,
+                "bottom_clearance": 0.08274564274180585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0009076945937404601,
+                  0.0021219614818594468
+                ],
+                "rod_tip_xy": [
+                  0.2818467691653049,
+                  -0.38478423748246743
+                ],
+                "target_mouth_xy": [
+                  0.28275446375904534,
+                  -0.3869061989643269
+                ],
+                "gripper_position": [
+                  0.28183609234563145,
+                  -0.3847936988977963,
+                  1.0038787268466747
+                ],
+                "rod_tip_xy_dist": 0.002307949307502398,
+                "target_xy_drift": 6.184497522538748e-08,
+                "depth": 0.017224378086575176,
+                "bottom_clearance": 0.08221627392127584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0009183717419741222,
+                  0.0021124981569047296
+                ],
+                "rod_tip_xy": [
+                  0.2818360923456315,
+                  -0.3847936988977963
+                ],
+                "target_mouth_xy": [
+                  0.28275446408760563,
+                  -0.38690619705470103
+                ],
+                "gripper_position": [
+                  0.2818281355397278,
+                  -0.38479716252619395,
+                  1.0037412208876542
+                ],
+                "rod_tip_xy_dist": 0.0023034875991379817,
+                "target_xy_drift": 5.993651443340936e-08,
+                "depth": 0.01738116109445731,
+                "bottom_clearance": 0.08205957334318892,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0009263281811330293,
+                  0.0021090342058117106
+                ],
+                "rod_tip_xy": [
+                  0.28182813553972785,
+                  -0.38479716252619395
+                ],
+                "target_mouth_xy": [
+                  0.2827544637208609,
+                  -0.38690619673200566
+                ],
+                "gripper_position": [
+                  0.28182005001011845,
+                  -0.38480051720616315,
+                  1.003602966621695
+                ],
+                "rod_tip_xy_dist": 0.0023034993337192567,
+                "target_xy_drift": 5.96126361038589e-08,
+                "depth": 0.017518670121367652,
+                "bottom_clearance": 0.08192206237584032,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0009344141162201391,
+                  0.0021056801539574566
+                ],
+                "rod_tip_xy": [
+                  0.2818200500101185,
+                  -0.3848005172061631
+                ],
+                "target_mouth_xy": [
+                  0.28275446412633864,
+                  -0.38690619736012055
+                ],
+                "gripper_position": [
+                  0.2818119592124624,
+                  -0.38480388370934376,
+                  1.0034649666730244
+                ],
+                "rod_tip_xy_dist": 0.0023036967359793175,
+                "target_xy_drift": 6.024218260846166e-08,
+                "depth": 0.01765691609352038,
+                "bottom_clearance": 0.08178380858990841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0009425046867665432,
+                  0.0021023139810673608
+                ],
+                "rod_tip_xy": [
+                  0.28181195921246244,
+                  -0.38480388370934376
+                ],
+                "target_mouth_xy": [
+                  0.282754463899229,
+                  -0.3869061976904111
+                ],
+                "gripper_position": [
+                  0.28182276571610687,
+                  -0.3848835089314622,
+                  1.00293630742406
+                ],
+                "rod_tip_xy_dist": 0.0023039182189409837,
+                "target_xy_drift": 6.057133350005323e-08,
+                "depth": 0.017794908364945905,
+                "bottom_clearance": 0.08164579565923946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.000931698510751644,
+                  0.0020226871632433308
+                ],
+                "rod_tip_xy": [
+                  0.2818227657161069,
+                  -0.3848835089314622
+                ],
+                "target_mouth_xy": [
+                  0.28275446422685857,
+                  -0.38690619609470556
+                ],
+                "gripper_position": [
+                  0.2818119766424983,
+                  -0.3848929149996643,
+                  1.0027794891311248
+                ],
+                "rod_tip_xy_dist": 0.0022269543047144422,
+                "target_xy_drift": 5.897759206948598e-08,
+                "depth": 0.01832365851623685,
+                "bottom_clearance": 0.0811171163967227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0009425173931942865,
+                  0.0020132839550172643
+                ],
+                "rod_tip_xy": [
+                  0.28181197664249835,
+                  -0.3848929149996643
+                ],
+                "target_mouth_xy": [
+                  0.28275449403569264,
+                  -0.3869061989546816
+                ],
+                "gripper_position": [
+                  0.2818037069331011,
+                  -0.3848963374572326,
+                  1.00264192768729
+                ],
+                "rod_tip_xy_dist": 0.002222982528047333,
+                "target_xy_drift": 6.887088237768559e-08,
+                "depth": 0.018480365589017667,
+                "bottom_clearance": 0.08096030460230252,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0009507581303632162,
+                  0.0020098611695967827
+                ],
+                "rod_tip_xy": [
+                  0.28180370693310114,
+                  -0.3848963374572327
+                ],
+                "target_mouth_xy": [
+                  0.28275446506346436,
+                  -0.38690619862682946
+                ],
+                "gripper_position": [
+                  0.2817955669363055,
+                  -0.38489941726753224,
+                  1.002504022539177
+                ],
+                "rod_tip_xy_dist": 0.0022233944642156295,
+                "target_xy_drift": 6.152232877030641e-08,
+                "depth": 0.0186179392083079,
+                "bottom_clearance": 0.0808227742196248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000958927451117586,
+                  0.0020067810513605955
+                ],
+                "rod_tip_xy": [
+                  0.2817955669363055,
+                  -0.38489941726753224
+                ],
+                "target_mouth_xy": [
+                  0.28275449438742306,
+                  -0.38690619831889284
+                ],
+                "gripper_position": [
+                  0.2817873976541958,
+                  -0.38490256276844004,
+                  1.0023661013958503
+                ],
+                "rod_tip_xy_dist": 0.002224120510360625,
+                "target_xy_drift": 6.845750718949187e-08,
+                "depth": 0.018755905918059423,
+                "bottom_clearance": 0.08068480082491647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0009670651543824405,
+                  0.0020036663213144346
+                ],
+                "rod_tip_xy": [
+                  0.28178739765419586,
+                  -0.3849025627684401
+                ],
+                "target_mouth_xy": [
+                  0.2827544628085783,
+                  -0.3869062290897545
+                ],
+                "gripper_position": [
+                  0.2817792993334133,
+                  -0.3849057993990119,
+                  1.0022286532649207
+                ],
+                "rod_tip_xy_dist": 0.0022248356658392666,
+                "target_xy_drift": 9.197481042754797e-08,
+                "depth": 0.018893736586247933,
+                "bottom_clearance": 0.08054686784500908,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0009751642039490527,
+                  0.0020003982932474407
+                ],
+                "rod_tip_xy": [
+                  0.2817792993334133,
+                  -0.38490579939901187
+                ],
+                "target_mouth_xy": [
+                  0.28275446353736233,
+                  -0.3869061976922593
+                ],
+                "gripper_position": [
+                  0.281793021932343,
+                  -0.3849892243717317,
+                  1.0017051865184934
+                ],
+                "rod_tip_xy_dist": 0.0022254299711046547,
+                "target_xy_drift": 6.057313752902634e-08,
+                "depth": 0.019031219014401413,
+                "bottom_clearance": 0.08040947134036214,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0009614432684236229,
+                  0.0019169729843231953
+                ],
+                "rod_tip_xy": [
+                  0.281793021932343,
+                  -0.3849892243717317
+                ],
+                "target_mouth_xy": [
+                  0.28275446520076664,
+                  -0.3869061973560549
+                ],
+                "gripper_position": [
+                  0.2817822320141754,
+                  -0.38499825555692063,
+                  1.0015485278435015
+                ],
+                "rod_tip_xy_dist": 0.0021445648931711246,
+                "target_xy_drift": 6.025510642182844e-08,
+                "depth": 0.019554704365806974,
+                "bottom_clearance": 0.07988606085980121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0009722004962507413,
+                  0.0019079424692244884
+                ],
+                "rod_tip_xy": [
+                  0.28178223201417546,
+                  -0.38499825555692063
+                ],
+                "target_mouth_xy": [
+                  0.2827544325104262,
+                  -0.3869061980261451
+                ],
+                "gripper_position": [
+                  0.2817738284789495,
+                  -0.3850014195648621,
+                  1.0014110535999383
+                ],
+                "rod_tip_xy_dist": 0.002141358977560891,
+                "target_xy_drift": 6.843321637913175e-08,
+                "depth": 0.019711388790464413,
+                "bottom_clearance": 0.07972924328878006,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.000597356266128631,
+              "rod_tip_xy_max_step": 3.235702827491787e-05,
+              "rod_tip_xy_range": 0.0005973485302338823,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28136401484773815,
+            -0.38643009195086314,
+            1.0434906546370901
+          ],
+          "object_origin_world": [
+            0.28136401484773815,
+            -0.38643009195086314,
+            1.0434906546370901
+          ],
+          "frame_world": [
+            0.2813626106101974,
+            -0.38643873864809464,
+            1.0433663581022454
+          ],
+          "center_minus_frame": [
+            1.4042375407474772e-06,
+            8.646697231495803e-06,
+            0.00012429653484469227
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25846373424621394,
+              0.13505907518555252,
+              0.8340276641931952
+            ],
+            "target_position": [
+              0.2687182967880163,
+              0.1819002150941848,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04795047904728168,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16613046216805916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340276641931952,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671300652299,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1351104096233817,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21899124029099734,
+              -0.1274389451756942,
+              1.0464936049967577
+            ],
+            "current_z": 1.0464936049967577,
+            "required_z": 0.8565862689899865,
+            "initial_z": 0.7565862689899865,
+            "lift_margin": 0.18990733600677123,
+            "gripper_z": 1.0504652801099672,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21464454416130743,
+              -0.13177557508326748,
+              1.0504652801099672
+            ],
+            "object_minus_gripper": [
+              0.004346696129689909,
+              0.004336629907573275,
+              -0.003971675113209505
+            ],
+            "object_to_gripper_xy": 0.006140042849941702,
+            "object_to_gripper_z": -0.003971675113209505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21899124029099734,
+              -0.15156928251493015,
+              1.0464936049967577
+            ],
+            "finger_b": [
+              0.20834689354904062,
+              -0.1274389451756942,
+              1.0464936049967577
+            ],
+            "finger_midpoint": [
+              0.21366906692001897,
+              -0.1395041138453122,
+              1.0464936049967577
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053221733709783725,
+              0.012065168669617987,
+              0.0
+            ],
+            "finger_gap": 0.02637376153809557,
+            "fingertip_max_gap": 0.0986825596842148,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013186880769047803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464936049967577,
+            "object_top_z": 1.0949228721345896,
+            "finger_top_clearance": 0.04842926713783191,
+            "fingertip_min_top_clearance": 0.014528780141349572,
+            "object_projection_between_fingers": 0.8371102051168149,
+            "object_to_finger_line_xy": 0.009738909532043944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0518412798421074,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.16807999834493,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2239986293221009,
+              -0.1268258709398901,
+              1.2444356236306429
+            ],
+            "held_position": [
+              0.228566413944391,
+              -0.12256266040652326,
+              1.2406495414289052
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007305753817762737,
+            "max_held_gripper_dist": 0.00731368501451403,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003786082201737706,
+            "max_held_gripper_z_dist": 0.003987454243828958,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577755161062287,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.228566413944391,
+              -0.14718749403040388,
+              1.2406495414289052
+            ],
+            "held_grasp_finger_b": [
+              0.21981980633044257,
+              -0.12256266040652326,
+              1.2406495414289052
+            ],
+            "held_grasp_midpoint": [
+              0.22419311013741677,
+              -0.13487507721846356,
+              1.2406495414289052
+            ],
+            "held_grasp_object_position": [
+              0.228566413944391,
+              -0.12256266040652326,
+              1.2406495414289052
+            ],
+            "held_grasp_finger_gap": 0.02613207943804285,
+            "held_grasp_max_gap": 0.12496612727642059,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024395936864638902,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024434816992159547,
+              -0.9993837520640978,
+              -0.025200314062441276
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004083055302044701,
+            "held_grasp_line_xy_max_dist": 0.047483063638210296,
+            "held_grasp_object_top_z": 0.04520079493522644,
+            "held_grasp_top_clearance": 0.032789104746557926,
+            "held_grasp_min_top_clearance": 0.013560238480567931
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19739934435491094,
+              -0.12812009863404145,
+              0.7565863546316456
+            ],
+            "target_position": [
+              0.19275773171314975,
+              -0.13089701884157254,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005408868065977558,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21706631496509937,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863546316456,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754716193557088,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675550555089319,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18846243093716838,
+            "release_required_pad_clearance": 0.053377752775446596,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.771172494545001,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f08ffe075b003489368a8a44d0a1df73d26f326388a113803fafb8c5b3d34121",
+    "visual_seed": 2737097624842530973,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 43,
+  "collection_result_filename": "episode_43_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1196a74ff645ecbbbfd7dae75018df93bd0ad902
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_43_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24787638162416148,
+              -0.0004150192106727748,
+              1.1605601972489383
+            ],
+            "current_z": 1.1605601972489383,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.2994536296295275,
+            "gripper_z": 1.1541637853104516,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24274949971903254,
+              -0.005262578619545086,
+              1.1541637853104516
+            ],
+            "object_minus_gripper": [
+              0.005126881905128944,
+              0.0048475594088723106,
+              0.0063964119384867235
+            ],
+            "object_to_gripper_xy": 0.007055760078948621,
+            "object_to_gripper_z": 0.0063964119384867235,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24787638162416148,
+              -0.02458102388035407,
+              1.1605601972489383
+            ],
+            "finger_b": [
+              0.2369420210684695,
+              -0.0004150192106727748,
+              1.1605601972489383
+            ],
+            "finger_midpoint": [
+              0.2424092013463155,
+              -0.012498021545513422,
+              1.1605601972489383
+            ],
+            "object_minus_finger_midpoint": [
+              0.005467180277845984,
+              0.012083002334840647,
+              0.0
+            ],
+            "finger_gap": 0.026524630486718014,
+            "fingertip_max_gap": 0.0912694770243962,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013262315243359005,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1605601972489383,
+            "object_top_z": 1.2106114448369736,
+            "finger_top_clearance": 0.05005124758803525,
+            "fingertip_min_top_clearance": 0.015015374276410575,
+            "object_projection_between_fingers": 0.8300629417621233,
+            "object_to_finger_line_xy": 0.009962054264286426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481347385121981,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6777296491388621,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 336,
+            "max_stable_success_frames": 336,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2777862035521602,
+              -0.392865012490355,
+              0.8515395060007048
+            ],
+            "target_position": [
+              0.26962804639325694,
+              -0.3941164994120722,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008253589991306454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1861401009130453,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395060007048,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551169708019582,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577704418315495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15409212884692733,
+            "release_required_pad_clearance": 0.052888522091577475,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8175654621795142,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008440732955932617,
+            "max_z_decrease": 0.008440732955932617,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505985953794228,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008440732955932617,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020896815861007556,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008440732955932617,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008440930135963495,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1253279745578766,
+              -0.4503779709339141,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1253279745578766,
+              -0.4503779709339141,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12392356157742751,
+              -0.44839386292291505,
+              0.8033426768438893
+            ],
+            "closest_button": [
+              0.12538127601146698,
+              -0.4503558874130248,
+              0.768368124961853
+            ],
+            "closest_ee_minus_button": [
+              -0.0014577144340394699,
+              0.0019620244901097372,
+              0.03497455188203624
+            ],
+            "button_min_z_position": [
+              0.12538127601146698,
+              -0.4503558874130248,
+              0.768368124961853
+            ],
+            "min_active_finger_to_button": 0.14629813613917558,
+            "closest_active_finger": [
+              -0.0024317875504493713,
+              -0.512794017791748,
+              0.8104948997497559
+            ],
+            "closest_active_finger_button": [
+              0.12532930076122284,
+              -0.4503746926784515,
+              0.7760844826698303
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277610883116722,
+              -0.062419325113296564,
+              0.03441041707992554
+            ],
+            "min_contact_pad_to_button": 0.020896815861007556,
+            "closest_contact_pad": [
+              0.12538127601146698,
+              -0.4503558874130248,
+              0.7892649408228606
+            ],
+            "closest_contact_pad_button": [
+              0.12538127601146698,
+              -0.4503558874130248,
+              0.768368124961853
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020896815861007556
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2688112100716101,
+              0.1745380210849178,
+              1.1047936734656534
+            ],
+            "current_z": 1.1047936734656534,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19488454373129083,
+            "gripper_z": 1.1047936308822854,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26881115045995957,
+              0.17453803600776163,
+              1.1047936308822854
+            ],
+            "object_minus_gripper": [
+              5.961165050472061e-08,
+              -1.492284382176301e-08,
+              4.258336794293882e-08
+            ],
+            "object_to_gripper_xy": 6.145111995420171e-08,
+            "object_to_gripper_z": 4.258336794293882e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2688112100716101,
+              0.1745380210849178,
+              1.1047936734656534
+            ],
+            "finger_b": [
+              0.2688112100716101,
+              0.1745380210849178,
+              1.1047936734656534
+            ],
+            "finger_midpoint": [
+              0.2688112100716101,
+              0.1745380210849178,
+              1.1047936734656534
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1047936734656534,
+            "object_top_z": 1.2298021800859331,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2688112100716101,
+            0.1745380210849178,
+            1.1047936734656534
+          ],
+          "object_origin_world": [
+            0.2688112100716101,
+            0.1745380210849178,
+            1.1047936734656534
+          ],
+          "frame_world": [
+            0.26881115045995957,
+            0.17453803600776163,
+            1.1047936308822854
+          ],
+          "center_minus_frame": [
+            5.961165050472061e-08,
+            -1.492284382176301e-08,
+            4.258336794293882e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432907402501062,
+            "required_z": 0.9112597628005517,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001267292160845235,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.514114166846811e-07,
+            "max_target_xy_drift": 5.750021953705595e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.8156485334593795,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.8156485336492931,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27885634405396514,
+              -0.3921741818175684,
+              0.9234153288571353
+            ],
+            "target_mouth_xy": [
+              0.27778591374577294,
+              -0.39286436524646373
+            ],
+            "rod_tip_z": 0.9234153288571353,
+            "rod_tip_depth": -0.022155480318359122,
+            "rod_tip_bottom_clearance": 0.12159602762731503,
+            "rod_tip_xy_dist": 0.0012736460301897693,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04511948071237326,
+            "min_rod_tip_bottom_clearance": 0.05432104034487806,
+            "min_rod_tip_xy_dist": 0.0003946319188055087,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2777860339378235,
+              -0.39286490339925006
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.2019205053448445e-07,
+              5.381527863335123e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0014967160188404383,
+                0.0023717080026878223
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014197713629635622,
+                0.0020085928739225767
+              ],
+              "first_target_mouth_xy": [
+                0.27778594225150044,
+                -0.3928647267705507
+              ],
+              "last_target_mouth_xy": [
+                0.2777859461735742,
+                -0.39286475432889767
+              ],
+              "first_rod_tip_xy": [
+                0.2792826582703409,
+                -0.39049301876786285
+              ],
+              "last_rod_tip_xy": [
+                0.2792057175365378,
+                -0.3908561614549751
+              ],
+              "min_rod_tip_xy_dist": 0.0024597146290299544,
+              "max_rod_tip_xy_dist": 0.002804488846664759,
+              "first_target_xy_drift": 1.9900773673204624e-07,
+              "last_target_xy_drift": 1.7298709030135346e-07,
+              "max_depth": 0.01940037953719498,
+              "min_bottom_clearance": 0.08004019903746562
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0014967160188404383,
+                  0.0023717080026878223
+                ],
+                "rod_tip_xy": [
+                  0.2792826582703409,
+                  -0.39049301876786285
+                ],
+                "target_mouth_xy": [
+                  0.27778594225150044,
+                  -0.3928647267705507
+                ],
+                "gripper_position": [
+                  0.2792726659914252,
+                  -0.3905024549582558,
+                  1.0059959760676245
+                ],
+                "rod_tip_xy_dist": 0.002804488846664759,
+                "target_xy_drift": 1.9900773673204624e-07,
+                "depth": 0.015106324707705454,
+                "bottom_clearance": 0.08433432314939493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0014866918350386338,
+                  0.0023622334232011877
+                ],
+                "rod_tip_xy": [
+                  0.27927266599142525,
+                  -0.3905024549582558
+                ],
+                "target_mouth_xy": [
+                  0.2777859741563866,
+                  -0.392864688381457
+                ],
+                "gripper_position": [
+                  0.2792650571554857,
+                  -0.3905064762417313,
+                  1.0058577850187074
+                ],
+                "rod_tip_xy_dist": 0.002791128688910517,
+                "target_xy_drift": 2.2317363538170998e-07,
+                "depth": 0.015263943483050268,
+                "bottom_clearance": 0.08417676551235209,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001479084995630764,
+                  0.0023582200846630763
+                ],
+                "rod_tip_xy": [
+                  0.2792650571554858,
+                  -0.39050647624173135
+                ],
+                "target_mouth_xy": [
+                  0.277785972159855,
+                  -0.3928646963263944
+                ],
+                "gripper_position": [
+                  0.27927610116026313,
+                  -0.3905734150123759,
+                  1.0053243694564804
+                ],
+                "rod_tip_xy_dist": 0.0027836836012751854,
+                "target_xy_drift": 2.160918437388014e-07,
+                "depth": 0.01540211408796932,
+                "bottom_clearance": 0.08403850649025546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0014901265247851958,
+                  0.0022912733675022334
+                ],
+                "rod_tip_xy": [
+                  0.27927610116026325,
+                  -0.3905734150123759
+                ],
+                "target_mouth_xy": [
+                  0.27778597463547805,
+                  -0.39286468837987815
+                ],
+                "gripper_position": [
+                  0.2792660091098844,
+                  -0.39058272449486864,
+                  1.005166758666974
+                ],
+                "rod_tip_xy_dist": 0.002733205207168578,
+                "target_xy_drift": 2.2304730097661864e-07,
+                "depth": 0.015935553821748605,
+                "bottom_clearance": 0.08350517342302244,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0014800965071750105,
+                  0.002282002269982597
+                ],
+                "rod_tip_xy": [
+                  0.27926600910988447,
+                  -0.3905827244948686
+                ],
+                "target_mouth_xy": [
+                  0.27778591260270946,
+                  -0.3928647267648512
+                ],
+                "gripper_position": [
+                  0.27925836963832235,
+                  -0.39058650343402435,
+                  1.005028881542902
+                ],
+                "rod_tip_xy_dist": 0.002719966917217449,
+                "target_xy_drift": 2.142940054265401e-07,
+                "depth": 0.016093150630431152,
+                "bottom_clearance": 0.08334749119533713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0014723935235679275,
+                  0.002278185888773876
+                ],
+                "rod_tip_xy": [
+                  0.2792583696383224,
+                  -0.3905865034340243
+                ],
+                "target_mouth_xy": [
+                  0.2777859761147545,
+                  -0.39286468932279817
+                ],
+                "gripper_position": [
+                  0.27925057816522014,
+                  -0.3905904287377434,
+                  1.0048903395024358
+                ],
+                "rod_tip_xy_dist": 0.00271257693569292,
+                "target_xy_drift": 2.2174813317385355e-07,
+                "depth": 0.016231095788934558,
+                "bottom_clearance": 0.08320965337904462,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0014646378447984443,
+                  0.002274295821766692
+                ],
+                "rod_tip_xy": [
+                  0.2792505781652202,
+                  -0.39059042873774347
+                ],
+                "target_mouth_xy": [
+                  0.27778594032042175,
+                  -0.39286472455951016
+                ],
+                "gripper_position": [
+                  0.27926335061239393,
+                  -0.39065989127394807,
+                  1.004356009390324
+                ],
+                "rod_tip_xy_dist": 0.0027051036026964413,
+                "target_xy_drift": 2.018610177186463e-07,
+                "depth": 0.016369592487664453,
+                "bottom_clearance": 0.08307104846622282,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0014773724420261147,
+                  0.0022048313245063844
+                ],
+                "rod_tip_xy": [
+                  0.27926335061239405,
+                  -0.390659891273948
+                ],
+                "target_mouth_xy": [
+                  0.27778597817036793,
+                  -0.3928647225984544
+                ],
+                "gripper_position": [
+                  0.2792529928939863,
+                  -0.3906693037794018,
+                  1.0041984400621613
+                ],
+                "rod_tip_xy_dist": 0.002654036642923903,
+                "target_xy_drift": 1.8920606970167872e-07,
+                "depth": 0.0169039213475618,
+                "bottom_clearance": 0.0825367798313118,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0014670197603746105,
+                  0.0021954524743070247
+                ],
+                "rod_tip_xy": [
+                  0.2792529928939864,
+                  -0.39066930377940184
+                ],
+                "target_mouth_xy": [
+                  0.2777859731336118,
+                  -0.39286475625370887
+                ],
+                "gripper_position": [
+                  0.2792453004118617,
+                  -0.3906727221657766,
+                  1.0040603857741668
+                ],
+                "rod_tip_xy_dist": 0.0026404845283149107,
+                "target_xy_drift": 1.5921357495570484e-07,
+                "depth": 0.01706143549805761,
+                "bottom_clearance": 0.08237915982191035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.001459324294621922,
+                  0.002191997275715174
+                ],
+                "rod_tip_xy": [
+                  0.27924530041186174,
+                  -0.3906727221657766
+                ],
+                "target_mouth_xy": [
+                  0.2777859761172398,
+                  -0.39286471944149176
+                ],
+                "gripper_position": [
+                  0.27925843701608466,
+                  -0.39074286589526175,
+                  1.0035299742256445
+                ],
+                "rod_tip_xy_dist": 0.002633339980636096,
+                "target_xy_drift": 1.9283069448191197e-07,
+                "depth": 0.017199585880167123,
+                "bottom_clearance": 0.08224115188731995,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001472495604740387,
+                  0.0021218599311360054
+                ],
+                "rod_tip_xy": [
+                  0.2792584370160847,
+                  -0.3907428658952618
+                ],
+                "target_mouth_xy": [
+                  0.27778594141134433,
+                  -0.3928647258263978
+                ],
+                "gripper_position": [
+                  0.2792480495084439,
+                  -0.3907521849760604,
+                  1.0033728199059362
+                ],
+                "rod_tip_xy_dist": 0.002582737476659262,
+                "target_xy_drift": 2.0023303224301283e-07,
+                "depth": 0.01772988835413747,
+                "bottom_clearance": 0.08171075715961407,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014620722180299084,
+                  0.002112506560521643
+                ],
+                "rod_tip_xy": [
+                  0.27924804950844395,
+                  -0.3907521849760604
+                ],
+                "target_mouth_xy": [
+                  0.27778597729041404,
+                  -0.39286469153658204
+                ],
+                "gripper_position": [
+                  0.279240216922054,
+                  -0.3907554836835699,
+                  1.0032347840465432
+                ],
+                "rod_tip_xy_dist": 0.0025691125197199673,
+                "target_xy_drift": 2.1930508223888468e-07,
+                "depth": 0.017887126674165033,
+                "bottom_clearance": 0.08155358676775648,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014542753194675129,
+                  0.002109241188420763
+                ],
+                "rod_tip_xy": [
+                  0.27924021692205403,
+                  -0.3907554836835699
+                ],
+                "target_mouth_xy": [
+                  0.2777859416025865,
+                  -0.39286472487199064
+                ],
+                "gripper_position": [
+                  0.2792322283236057,
+                  -0.39075909681778176,
+                  1.003096526336076
+                ],
+                "rod_tip_xy_dist": 0.002561994359038085,
+                "target_xy_drift": 2.0099198576027518e-07,
+                "depth": 0.018025114905679596,
+                "bottom_clearance": 0.08141548875832827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014462515024106226,
+                  0.00210562960496824
+                ],
+                "rod_tip_xy": [
+                  0.27923222832360584,
+                  -0.3907590968177818
+                ],
+                "target_mouth_xy": [
+                  0.2777859768211952,
+                  -0.39286472642275005
+                ],
+                "gripper_position": [
+                  0.27922427522790183,
+                  -0.3907626609851079,
+                  1.0029586500025065
+                ],
+                "rod_tip_xy_dist": 0.002554470481634832,
+                "target_xy_drift": 1.859650256896423e-07,
+                "depth": 0.018163408699800265,
+                "bottom_clearance": 0.08127726945149527,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001438333669078029,
+                  0.00210206356880277
+                ],
+                "rod_tip_xy": [
+                  0.2792242752279019,
+                  -0.39076266098510787
+                ],
+                "target_mouth_xy": [
+                  0.27778594155882386,
+                  -0.39286472455391064
+                ],
+                "gripper_position": [
+                  0.2792162185182118,
+                  -0.3907661677848174,
+                  1.0028206431393198
+                ],
+                "rod_tip_xy_dist": 0.002547052215972673,
+                "target_xy_drift": 2.0129464723356292e-07,
+                "depth": 0.01830124445514969,
+                "bottom_clearance": 0.08113934933580935,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.001430274049196767,
+                  0.0020985282156253393
+                ],
+                "rod_tip_xy": [
+                  0.2792162185182119,
+                  -0.3907661677848174
+                ],
+                "target_mouth_xy": [
+                  0.2777859444690151,
+                  -0.3928646960004427
+                ],
+                "gripper_position": [
+                  0.2792327425037381,
+                  -0.39084006621299205,
+                  1.0022928582540063
+                ],
+                "rod_tip_xy_dist": 0.002539587471929523,
+                "target_xy_drift": 2.2587371020115945e-07,
+                "depth": 0.018439200352983298,
+                "bottom_clearance": 0.081001356671628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014467652947600107,
+                  0.002024659884601654
+                ],
+                "rod_tip_xy": [
+                  0.27923274250373814,
+                  -0.390840066212992
+                ],
+                "target_mouth_xy": [
+                  0.27778597720897813,
+                  -0.39286472609759365
+                ],
+                "gripper_position": [
+                  0.27922211692794957,
+                  -0.39084949479065106,
+                  1.0021353431693485
+                ],
+                "rod_tip_xy_dist": 0.002488448807276775,
+                "target_xy_drift": 1.8615595413658047e-07,
+                "depth": 0.018967074197912215,
+                "bottom_clearance": 0.08047360762649447,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0014362051163081535,
+                  0.0020152278533063783
+                ],
+                "rod_tip_xy": [
+                  0.2792221169279496,
+                  -0.39084949479065106
+                ],
+                "target_mouth_xy": [
+                  0.2777859118116415,
+                  -0.39286472264395744
+                ],
+                "gripper_position": [
+                  0.27921398080598986,
+                  -0.3908526805945454,
+                  1.0019974610074511
+                ],
+                "rod_tip_xy_dist": 0.0024746370313344034,
+                "target_xy_drift": 2.1814508965615037e-07,
+                "depth": 0.01912456888994296,
+                "bottom_clearance": 0.08031606195916818,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.001428004109970793,
+                  0.002012076257277784
+                ],
+                "rod_tip_xy": [
+                  0.2792139808059899,
+                  -0.3908526805945454
+                ],
+                "target_mouth_xy": [
+                  0.2777859766960191,
+                  -0.3928647568518232
+                ],
+                "gripper_position": [
+                  0.2792057175365377,
+                  -0.39085616145497504,
+                  1.001859455323848
+                ],
+                "rod_tip_xy_dist": 0.0024673156675209702,
+                "target_xy_drift": 1.5733013851403618e-07,
+                "depth": 0.019262484112180345,
+                "bottom_clearance": 0.0801782111853867,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0014197713629635622,
+                  0.0020085928739225767
+                ],
+                "rod_tip_xy": [
+                  0.2792057175365378,
+                  -0.3908561614549751
+                ],
+                "target_mouth_xy": [
+                  0.2777859461735742,
+                  -0.39286475432889767
+                ],
+                "gripper_position": [
+                  0.2791976537971134,
+                  -0.3908595060767943,
+                  1.0017220364352992
+                ],
+                "rod_tip_xy_dist": 0.0024597146290299544,
+                "target_xy_drift": 1.7298709030135346e-07,
+                "depth": 0.01940037953719498,
+                "bottom_clearance": 0.08004019903746562,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.000601485593465634,
+              "rod_tip_xy_max_step": 3.277520909032091e-05,
+              "rod_tip_xy_range": 0.0006014739918586231,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27885634405396514,
+            -0.3921741818175684,
+            1.0434153288571355
+          ],
+          "object_origin_world": [
+            0.27885634405396514,
+            -0.3921741818175684,
+            1.0434153288571355
+          ],
+          "frame_world": [
+            0.27885484298627117,
+            -0.39218361588014183,
+            1.0432907402501062
+          ],
+          "center_minus_frame": [
+            1.501067693976399e-06,
+            9.434062573421276e-06,
+            0.00012458860702935226
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2575043500391333,
+              0.129183443462397,
+              0.8341306713372785
+            ],
+            "target_position": [
+              0.2688998745327255,
+              0.17459407857843462,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.046818626209298046,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16487529818706806,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8341306713372785,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835680156812482,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1344422963145071,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 223,
+            "max_placed_release_frames": 223
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22378565700757236,
+              -0.1276714039108235,
+              1.0459378309178275
+            ],
+            "current_z": 1.0459378309178275,
+            "required_z": 0.8565862639206246,
+            "initial_z": 0.7565862639206247,
+            "lift_margin": 0.1893515669972029,
+            "gripper_z": 1.0497464242642696,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21974767302450288,
+              -0.13190777785964775,
+              1.0497464242642696
+            ],
+            "object_minus_gripper": [
+              0.004037983983069482,
+              0.004236373948824257,
+              -0.003808593346442013
+            ],
+            "object_to_gripper_xy": 0.005852536106834584,
+            "object_to_gripper_z": -0.003808593346442013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22378565700757236,
+              -0.15145392835608504,
+              1.0459378309178275
+            ],
+            "finger_b": [
+              0.21310960192151762,
+              -0.1276714039108235,
+              1.0459378309178275
+            ],
+            "finger_midpoint": [
+              0.218447629464545,
+              -0.13956266613345425,
+              1.0459378309178275
+            ],
+            "object_minus_finger_midpoint": [
+              0.005338027543027368,
+              0.01189126222263076,
+              0.0
+            ],
+            "finger_gap": 0.026068882238982523,
+            "fingertip_max_gap": 0.09537185722654781,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01303444111949125,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459378309178275,
+            "object_top_z": 1.0928765593873813,
+            "finger_top_clearance": 0.046938728469553714,
+            "fingertip_min_top_clearance": 0.014081618540866148,
+            "object_projection_between_fingers": 0.8322831135184762,
+            "object_to_finger_line_xy": 0.009739717212860674,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05018592861327391,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2739649487591653,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23000099310977287,
+              -0.12670788299700142,
+              1.24238818040537
+            ],
+            "held_position": [
+              0.23434022156152762,
+              -0.12256885666823293,
+              1.2388138939686788
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00698111495667214,
+            "max_held_gripper_dist": 0.006982318645001722,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003574286436691221,
+            "max_held_gripper_z_dist": 0.0038166442238853904,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0855719438627629,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23434022156152762,
+              -0.1470134785910681,
+              1.2388138939686788
+            ],
+            "held_grasp_finger_b": [
+              0.22606326021267972,
+              -0.12256885666823293,
+              1.2388138939686788
+            ],
+            "held_grasp_midpoint": [
+              0.23020174088710366,
+              -0.13479116762965052,
+              1.2388138939686788
+            ],
+            "held_grasp_object_position": [
+              0.23434022156152762,
+              -0.12256885666823293,
+              1.2388138939686788
+            ],
+            "held_grasp_finger_gap": 0.025807898599472894,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02393403384405162,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052952289289877656,
+              -0.9970421294619959,
+              -0.05570500100394837
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003552522382664062,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.03279545298322202,
+            "held_grasp_min_top_clearance": 0.013560226187109947
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19395994045035075,
+              -0.12671430542686285,
+              0.7565866684811619
+            ],
+            "target_position": [
+              0.19785740560764914,
+              -0.13132002158615041,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006033477935012071,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21430501483370515,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866684811619,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758838671037365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08997763546996222,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18612528608374887,
+            "release_required_pad_clearance": 0.05498881773498111,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.051069513036245,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc0028debe1d62463946bd1d240d5993c24b1e6745da2e27b6bcffba73dd6dde",
+    "visual_seed": 4688873372372217589,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 44,
+  "collection_result_filename": "episode_44_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..716c9d688c5a040d9cbf41a801e10fe34122147a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_44_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24613361260514033,
+              -0.003919454770970929,
+              1.162106621245996
+            ],
+            "current_z": 1.162106621245996,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.3009999344172959,
+            "gripper_z": 1.1557271427347395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2411454478338753,
+              -0.008800901710104031,
+              1.1557271427347395
+            ],
+            "object_minus_gripper": [
+              0.004988164771265041,
+              0.004881446939133102,
+              0.006379478511256531
+            ],
+            "object_to_gripper_xy": 0.0069792773268341724,
+            "object_to_gripper_z": 0.006379478511256531,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24613361260514033,
+              -0.02786631722517645,
+              1.162106621245996
+            ],
+            "finger_b": [
+              0.23497643934272244,
+              -0.003919454770970929,
+              1.162106621245996
+            ],
+            "finger_midpoint": [
+              0.24055502597393139,
+              -0.01589288599807369,
+              1.162106621245996
+            ],
+            "object_minus_finger_midpoint": [
+              0.005578586631208943,
+              0.01197343122710276,
+              0.0
+            ],
+            "finger_gap": 0.026418454470469133,
+            "fingertip_max_gap": 0.09131683083470321,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013209227235234567,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162106621245996,
+            "object_top_z": 1.2121739647809664,
+            "finger_top_clearance": 0.05006734353497033,
+            "fingertip_min_top_clearance": 0.0150202030604911,
+            "object_projection_between_fingers": 0.8216416110587079,
+            "object_to_finger_line_xy": 0.010113358212968772,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815841541735161,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6137124115369658,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27838995160392327,
+              -0.3892980159975129,
+              0.8515395689349343
+            ],
+            "target_position": [
+              0.26969496612972016,
+              -0.390822355338255,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008827592130492725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18674623971700388,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395689349343,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548188941051029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612028729001596,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548783092891181,
+            "release_required_pad_clearance": 0.05306014364500798,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1501059631941424,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008389890193939209,
+            "max_z_decrease": 0.008389890193939209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505572172036854,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008389890193939209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021107040352587463,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008389890193939209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008389992718828367,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12539489567279813,
+              -0.44708380103111267,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12539489567279813,
+              -0.44708380103111267,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1267319776743117,
+              -0.44866020744170376,
+              0.8036153385388066
+            ],
+            "closest_button": [
+              0.1254192143678665,
+              -0.44705444574356085,
+              0.768621027469635
+            ],
+            "closest_ee_minus_button": [
+              0.0013127633064452249,
+              -0.0016057616981429157,
+              0.03499431106917161
+            ],
+            "button_min_z_position": [
+              0.12541669607162473,
+              -0.44704851508140564,
+              0.7684189677238464
+            ],
+            "min_active_finger_to_button": 0.1443271211525006,
+            "closest_active_finger": [
+              -0.013843514025211334,
+              -0.43091434240341187,
+              0.8111116886138916
+            ],
+            "closest_active_finger_button": [
+              0.12539902329444882,
+              -0.44707995653152466,
+              0.7767531871795654
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13924253731966016,
+              0.016165614128112793,
+              0.03435850143432617
+            ],
+            "min_contact_pad_to_button": 0.021107040352587463,
+            "closest_contact_pad": [
+              0.12541669607162473,
+              -0.4500178156871741,
+              0.7893161064360802
+            ],
+            "closest_contact_pad_button": [
+              0.12541669607162473,
+              -0.44704851508140564,
+              0.7684189677238464
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029693006057684435,
+              0.020897138712233754
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2825771824403415,
+              0.1821178418162405,
+              1.1160856373167554
+            ],
+            "current_z": 1.1160856373167554,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2061765075823928,
+            "gripper_z": 1.116085855135178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.282577167838318,
+              0.18211785472958042,
+              1.116085855135178
+            ],
+            "object_minus_gripper": [
+              1.4602023534759923e-08,
+              -1.2913339925146872e-08,
+              -2.1781842263202122e-07
+            ],
+            "object_to_gripper_xy": 1.949290741095527e-08,
+            "object_to_gripper_z": -2.1781842263202122e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2825771824403415,
+              0.1821178418162405,
+              1.1160856373167554
+            ],
+            "finger_b": [
+              0.2825771824403415,
+              0.1821178418162405,
+              1.1160856373167554
+            ],
+            "finger_midpoint": [
+              0.2825771824403415,
+              0.1821178418162405,
+              1.1160856373167554
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1160856373167554,
+            "object_top_z": 1.241094143937035,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2825771824403416,
+            0.1821178418162405,
+            1.1160856373167556
+          ],
+          "object_origin_world": [
+            0.2825771824403416,
+            0.1821178418162405,
+            1.1160856373167556
+          ],
+          "frame_world": [
+            0.282577167838318,
+            0.18211785472958042,
+            1.116085855135178
+          ],
+          "center_minus_frame": [
+            1.4602023590271074e-08,
+            -1.2913339925146872e-08,
+            -2.1781842240997662e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.043352835799003,
+            "required_z": 0.9112599035568731,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007835046650996047,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.1513580611549194e-08,
+            "max_target_xy_drift": 9.77233310420423e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.150105962207894,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1501059631944592,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2789015989661498,
+              -0.38988370163301245,
+              0.9234769577108547
+            ],
+            "target_mouth_xy": [
+              0.27838995306891523,
+              -0.3892980435839499
+            ],
+            "rod_tip_z": 0.9234769577108547,
+            "rod_tip_depth": -0.022217048045047982,
+            "rod_tip_bottom_clearance": 0.12165764430212678,
+            "rod_tip_xy_dist": 0.0007776740156316691,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04491678029598256,
+            "min_rod_tip_bottom_clearance": 0.05452378266802971,
+            "min_rod_tip_xy_dist": 0.0002933031588310284,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2783899840660762,
+              -0.3892980159695807
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.099716094911997e-08,
+              -2.7614369235706704e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0010231740486210672,
+                0.0010088557650447805
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009277878082566415,
+                0.0006589805273448102
+              ],
+              "first_target_mouth_xy": [
+                0.27839001204702385,
+                -0.38929801536534875
+              ],
+              "last_target_mouth_xy": [
+                0.278390012933761,
+                -0.3892980159983803
+              ],
+              "first_rod_tip_xy": [
+                0.2794131860956449,
+                -0.38828915960030397
+              ],
+              "last_rod_tip_xy": [
+                0.2793178007420176,
+                -0.3886390354710355
+              ],
+              "min_rod_tip_xy_dist": 0.001138000682147997,
+              "max_rod_tip_xy_dist": 0.0014368977306808287,
+              "first_target_xy_drift": 2.7987470924509475e-08,
+              "last_target_xy_drift": 2.88676991640142e-08,
+              "max_depth": 0.019715545454252692,
+              "min_bottom_clearance": 0.07972502891401223
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0010231740486210672,
+                  0.0010088557650447805
+                ],
+                "rod_tip_xy": [
+                  0.2794131860956449,
+                  -0.38828915960030397
+                ],
+                "target_mouth_xy": [
+                  0.27839001204702385,
+                  -0.38929801536534875
+                ],
+                "gripper_position": [
+                  0.27940294284365996,
+                  -0.38829825341580615,
+                  1.0056682381930042
+                ],
+                "rod_tip_xy_dist": 0.0014368977306808287,
+                "target_xy_drift": 2.7987470924509475e-08,
+                "depth": 0.015434523311601223,
+                "bottom_clearance": 0.08400599420391053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010129320844658452,
+                  0.0009997600642018822
+                ],
+                "rod_tip_xy": [
+                  0.2794029428436598,
+                  -0.38829825341580604
+                ],
+                "target_mouth_xy": [
+                  0.27839001075919395,
+                  -0.3892980134800079
+                ],
+                "gripper_position": [
+                  0.27939519843366295,
+                  -0.38830231259324655,
+                  1.0055305311958798
+                ],
+                "rod_tip_xy_dist": 0.0014232187441546975,
+                "target_xy_drift": 2.680896322038476e-08,
+                "depth": 0.015591617377282874,
+                "bottom_clearance": 0.08384894690881806,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010051880450856476,
+                  0.000995706921263162
+                ],
+                "rod_tip_xy": [
+                  0.27939519843366273,
+                  -0.38830231259324655
+                ],
+                "target_mouth_xy": [
+                  0.2783900103885771,
+                  -0.3892980195145097
+                ],
+                "gripper_position": [
+                  0.27940241580599734,
+                  -0.3883667993179138,
+                  1.0049966783728361
+                ],
+                "rod_tip_xy_dist": 0.0014148622827096886,
+                "target_xy_drift": 2.6560131314208595e-08,
+                "depth": 0.015729380047286412,
+                "bottom_clearance": 0.08371128450644938,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.001012403011834917,
+                  0.0009312417183857669
+                ],
+                "rod_tip_xy": [
+                  0.2794024158059972,
+                  -0.38836679931791374
+                ],
+                "target_mouth_xy": [
+                  0.27839001279416226,
+                  -0.3892980410362995
+                ],
+                "gripper_position": [
+                  0.279392141016748,
+                  -0.38837595149242915,
+                  1.0048396756060198
+                ],
+                "rod_tip_xy_dist": 0.0013755620656424367,
+                "target_xy_drift": 3.8126674672943215e-08,
+                "depth": 0.01626327814762296,
+                "bottom_clearance": 0.08317741568785186,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010021614225663722,
+                  0.0009220943413923433
+                ],
+                "rod_tip_xy": [
+                  0.27939214101674775,
+                  -0.3883759514924292
+                ],
+                "target_mouth_xy": [
+                  0.2783899795941814,
+                  -0.38929804583382155
+                ],
+                "gripper_position": [
+                  0.2793843363727326,
+                  -0.3883795860571708,
+                  1.0047020879009787
+                ],
+                "rod_tip_xy_dist": 0.0013618316677578158,
+                "target_xy_drift": 3.0197197305708645e-08,
+                "depth": 0.016420201245696542,
+                "bottom_clearance": 0.08302037375178017,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009943532620978468,
+                  0.0009184584675706597
+                ],
+                "rod_tip_xy": [
+                  0.27938433637273236,
+                  -0.3883795860571708
+                ],
+                "target_mouth_xy": [
+                  0.2783899831106345,
+                  -0.3892980445247415
+                ],
+                "gripper_position": [
+                  0.27939228247958725,
+                  -0.3884454322104416,
+                  1.0041704445425865
+                ],
+                "rod_tip_xy_dist": 0.001353626376256341,
+                "target_xy_drift": 2.85711406249786e-08,
+                "depth": 0.016557806634094452,
+                "bottom_clearance": 0.08288276432904362,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010022720990333633,
+                  0.0008526424667040233
+                ],
+                "rod_tip_xy": [
+                  0.27939228247958703,
+                  -0.3884454322104415
+                ],
+                "target_mouth_xy": [
+                  0.27839001038055367,
+                  -0.3892980746771455
+                ],
+                "gripper_position": [
+                  0.27938175398679554,
+                  -0.3884545109077772,
+                  1.004013429203962
+                ],
+                "rod_tip_xy_dist": 0.0013158831773861484,
+                "target_xy_drift": 6.433529273440014e-08,
+                "depth": 0.017089335637860636,
+                "bottom_clearance": 0.08235118782791184,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00099177314017862,
+                  0.000843533011932962
+                ],
+                "rod_tip_xy": [
+                  0.2793817539867953,
+                  -0.38845451090777716
+                ],
+                "target_mouth_xy": [
+                  0.2783899808466167,
+                  -0.3892980439197101
+                ],
+                "gripper_position": [
+                  0.2793738976867849,
+                  -0.38845820600721853,
+                  1.003875864186549
+                ],
+                "rod_tip_xy_dist": 0.0013019838339243907,
+                "target_xy_drift": 2.8134936549624333e-08,
+                "depth": 0.01724641877263855,
+                "bottom_clearance": 0.08219412755408839,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009839469102027043,
+                  0.0008398096918105225
+                ],
+                "rod_tip_xy": [
+                  0.2793738976867847,
+                  -0.3884582060072185
+                ],
+                "target_mouth_xy": [
+                  0.278389950776582,
+                  -0.389298015699029
+                ],
+                "gripper_position": [
+                  0.2793659399695946,
+                  -0.3884618918255779,
+                  1.0037385578790958
+                ],
+                "rod_tip_xy_dist": 0.0012936119358433321,
+                "target_xy_drift": 3.329059356230605e-08,
+                "depth": 0.017383976853146632,
+                "bottom_clearance": 0.08205654885364344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009759562616858952,
+                  0.000836122262744432
+                ],
+                "rod_tip_xy": [
+                  0.27936593996959436,
+                  -0.3884618918255778
+                ],
+                "target_mouth_xy": [
+                  0.27838998370790846,
+                  -0.3892980140883222
+                ],
+                "gripper_position": [
+                  0.27937523576415024,
+                  -0.3885296081128116,
+                  1.0032090226257229
+                ],
+                "rod_tip_xy_dist": 0.0012851424290641006,
+                "target_xy_drift": 1.9150502842845403e-09,
+                "depth": 0.017521352635815224,
+                "bottom_clearance": 0.08191926402890448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009852249356627207,
+                  0.0007683749260261608
+                ],
+                "rod_tip_xy": [
+                  0.2793752357641501,
+                  -0.3885296081128117
+                ],
+                "target_mouth_xy": [
+                  0.27839001082848736,
+                  -0.38929798303883784
+                ],
+                "gripper_position": [
+                  0.2793646427872343,
+                  -0.3885387498484812,
+                  1.0030521798709262
+                ],
+                "rod_tip_xy_dist": 0.0012494271490556463,
+                "target_xy_drift": 4.243418995251697e-08,
+                "depth": 0.018050782224976136,
+                "bottom_clearance": 0.08138980168115706,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009746621537157774,
+                  0.0007592668083572507
+                ],
+                "rod_tip_xy": [
+                  0.27936464278723405,
+                  -0.38853874984848114
+                ],
+                "target_mouth_xy": [
+                  0.2783899806335183,
+                  -0.3892980166568384
+                ],
+                "gripper_position": [
+                  0.27935662291034546,
+                  -0.3885421811204338,
+                  1.0029145774415753
+                ],
+                "rod_tip_xy_dist": 0.0012354968232087381,
+                "target_xy_drift": 3.500682348901721e-09,
+                "depth": 0.018207677208637252,
+                "bottom_clearance": 0.08123288137500873,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009666421361087529,
+                  0.000755833945670914
+                ],
+                "rod_tip_xy": [
+                  0.27935662291034524,
+                  -0.3885421811204337
+                ],
+                "target_mouth_xy": [
+                  0.2783899807742365,
+                  -0.3892980150661046
+                ],
+                "gripper_position": [
+                  0.2793485045416598,
+                  -0.38854540789095593,
+                  1.002777116647974
+                ],
+                "rod_tip_xy_dist": 0.0012270623344921622,
+                "target_xy_drift": 3.4135725501345192e-09,
+                "depth": 0.01834525640515794,
+                "bottom_clearance": 0.08109525960224062,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0009585218540916762,
+                  0.0007526366502751403
+                ],
+                "rod_tip_xy": [
+                  0.27934850454165966,
+                  -0.38854540789095593
+                ],
+                "target_mouth_xy": [
+                  0.278389982687568,
+                  -0.38929804454123107
+                ],
+                "gripper_position": [
+                  0.27934047192461575,
+                  -0.3885488765065679,
+                  1.002639557290598
+                ],
+                "rod_tip_xy_dist": 0.001218698515675115,
+                "target_xy_drift": 2.86048857754183e-08,
+                "depth": 0.018482774366309962,
+                "bottom_clearance": 0.08095778001716158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009504587856704605,
+                  0.000749169612723144
+                ],
+                "rod_tip_xy": [
+                  0.27934047192461553,
+                  -0.3885488765065679
+                ],
+                "target_mouth_xy": [
+                  0.27839001313894507,
+                  -0.38929804611929103
+                ],
+                "gripper_position": [
+                  0.27933223662548023,
+                  -0.38855237921763824,
+                  1.0025022837199036
+                ],
+                "rod_tip_xy_dist": 0.00121021775391287,
+                "target_xy_drift": 4.188360943199719e-08,
+                "depth": 0.01862034634507259,
+                "bottom_clearance": 0.08082024718905545,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0009422547424464134,
+                  0.000745664694777215
+                ],
+                "rod_tip_xy": [
+                  0.27933223662548007,
+                  -0.3885523792176382
+                ],
+                "target_mouth_xy": [
+                  0.27838998188303365,
+                  -0.3892980439124154
+                ],
+                "gripper_position": [
+                  0.2793447254382241,
+                  -0.38862384215912765,
+                  1.0019757771240012
+                ],
+                "rod_tip_xy_dist": 0.0012016071890180893,
+                "target_xy_drift": 2.8027980420425655e-08,
+                "depth": 0.018757493289174865,
+                "bottom_clearance": 0.08068305366277528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0009547127843437253,
+                  0.0006742033285839222
+                ],
+                "rod_tip_xy": [
+                  0.27934472543822386,
+                  -0.3886238421591276
+                ],
+                "target_mouth_xy": [
+                  0.27839001265388014,
+                  -0.3892980454877115
+                ],
+                "gripper_position": [
+                  0.27933403948114743,
+                  -0.38863282895179796,
+                  1.0018190646835559
+                ],
+                "rod_tip_xy_dist": 0.0011687714185686562,
+                "target_xy_drift": 4.109236647745949e-08,
+                "depth": 0.01928411130074814,
+                "bottom_clearance": 0.0801564411698713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009440586326230904,
+                  0.0006651854791304146
+                ],
+                "rod_tip_xy": [
+                  0.2793340394811472,
+                  -0.38863282895179785
+                ],
+                "target_mouth_xy": [
+                  0.2783899808485241,
+                  -0.38929801443092826
+                ],
+                "gripper_position": [
+                  0.2793258760117953,
+                  -0.38863593858099826,
+                  1.001681918512886
+                ],
+                "rod_tip_xy_dist": 0.0011548672752641918,
+                "target_xy_drift": 3.5665238734597523e-09,
+                "depth": 0.019440718221107822,
+                "bottom_clearance": 0.07999981707220183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009358641046192107,
+                  0.0006620780597772491
+                ],
+                "rod_tip_xy": [
+                  0.27932587601179515,
+                  -0.3886359385809982
+                ],
+                "target_mouth_xy": [
+                  0.27839001190717594,
+                  -0.38929801664077546
+                ],
+                "gripper_position": [
+                  0.27931780074201784,
+                  -0.3886390354710356,
+                  1.0015443508375892
+                ],
+                "rod_tip_xy_dist": 0.0011463808178581512,
+                "target_xy_drift": 2.784918918393121e-08,
+                "depth": 0.019577920995090925,
+                "bottom_clearance": 0.07986263559785389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0009277878082566415,
+                  0.0006589805273448102
+                ],
+                "rod_tip_xy": [
+                  0.2793178007420176,
+                  -0.3886390354710355
+                ],
+                "target_mouth_xy": [
+                  0.278390012933761,
+                  -0.3892980159983803
+                ],
+                "gripper_position": [
+                  0.2793311111265947,
+                  -0.3887053245273217,
+                  1.000932381528921
+                ],
+                "rod_tip_xy_dist": 0.001138000682147997,
+                "target_xy_drift": 2.88676991640142e-08,
+                "depth": 0.019715545454252692,
+                "bottom_clearance": 0.07972502891401223,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005980581100395083,
+              "rod_tip_xy_max_step": 3.255987958118618e-05,
+              "rod_tip_xy_range": 0.0005980517725883041,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27890159896614986,
+            -0.38988370163301245,
+            1.043476957710855
+          ],
+          "object_origin_world": [
+            0.27890159896614986,
+            -0.38988370163301245,
+            1.043476957710855
+          ],
+          "frame_world": [
+            0.2789002150358266,
+            -0.38989261257520036,
+            1.043352835799003
+          ],
+          "center_minus_frame": [
+            1.3839303232288103e-06,
+            8.910942187911886e-06,
+            0.00012412191185195987
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26288053737074824,
+              0.13689055403744052,
+              0.8328161384911807
+            ],
+            "target_position": [
+              0.2745177211648244,
+              0.1836150233311613,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04815184396715214,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16825976500994547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328161384911807,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673440253919,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1385094938646184,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22354631135982106,
+              -0.1300844118177308,
+              1.0442770776068586
+            ],
+            "current_z": 1.0442770776068586,
+            "required_z": 0.856586388199276,
+            "initial_z": 0.756586388199276,
+            "lift_margin": 0.1876906894075826,
+            "gripper_z": 1.0483256905364637,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2191250127065136,
+              -0.13449840184734851,
+              1.0483256905364637
+            ],
+            "object_minus_gripper": [
+              0.004421298653307454,
+              0.004413990029617704,
+              -0.004048612929605122
+            ],
+            "object_to_gripper_xy": 0.006247494678933533,
+            "object_to_gripper_z": -0.004048612929605122,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22354631135982106,
+              -0.1542213499153177,
+              1.0442770776068586
+            ],
+            "finger_b": [
+              0.2127266301815096,
+              -0.1300844118177308,
+              1.0442770776068586
+            ],
+            "finger_midpoint": [
+              0.21813647077066534,
+              -0.14215288086652425,
+              1.0442770776068586
+            ],
+            "object_minus_finger_midpoint": [
+              0.005409840589155723,
+              0.01206846904879344,
+              0.0
+            ],
+            "finger_gap": 0.02645103554734763,
+            "fingertip_max_gap": 0.0921714312375784,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013225517773673815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0442770776068586,
+            "object_top_z": 1.0897095481077805,
+            "finger_top_clearance": 0.04543247050092192,
+            "fingertip_min_top_clearance": 0.013629741150276608,
+            "object_projection_between_fingers": 0.8326816515868971,
+            "object_to_finger_line_xy": 0.00987310966971638,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485857156187892,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.581045427561767,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22955012083225063,
+              -0.12962503094030994,
+              1.240833321701244
+            ],
+            "held_position": [
+              0.2342590050883534,
+              -0.12530907076893374,
+              1.2370242873896655
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007437058929782654,
+            "max_held_gripper_dist": 0.007447775589777303,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0038090343115784187,
+            "max_held_gripper_z_dist": 0.0040631775209734045,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08552107541368542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2342590050883534,
+              -0.15001995145686162,
+              1.2370242873896655
+            ],
+            "held_grasp_finger_b": [
+              0.22573320236534625,
+              -0.12530907076893374,
+              1.2370242873896655
+            ],
+            "held_grasp_midpoint": [
+              0.2299961037268498,
+              -0.13766451111289768,
+              1.2370242873896655
+            ],
+            "held_grasp_object_position": [
+              0.2342590050883534,
+              -0.12530907076893374,
+              1.2370242873896655
+            ],
+            "held_grasp_finger_gap": 0.026140331605483562,
+            "held_grasp_max_gap": 0.12496578454971313,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02412024331400356,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05699161340161559,
+              -0.9957614573709865,
+              -0.07218778301270733
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036642316307491027,
+            "held_grasp_line_xy_max_dist": 0.04748289227485657,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.03265462128859436,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.20089033860821326,
+              -0.13289376532394734,
+              0.7565863285946313
+            ],
+            "target_position": [
+              0.1970599816904541,
+              -0.1335082463574441,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00387933255315301,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2179928513117204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863285946313,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540870922739945,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1891672722042192,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d1d4eb7117c28d7aa2f06ad9a7adacb0f3ecc36bb2db8cff9fcdfadb84cfd43",
+    "visual_seed": 3398619436763039421,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 45,
+  "collection_result_filename": "episode_45_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc5057efc9b070360d8e10898362fab72434f3f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_45_success.json
@@ -0,0 +1,2684 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24567996048993115,
+              -0.00490443039072125,
+              1.1623519635455186
+            ],
+            "current_z": 1.1623519635455186,
+            "required_z": 0.8611063292008316,
+            "initial_z": 0.7611063292008317,
+            "lift_margin": 0.301245634344687,
+            "gripper_z": 1.1558750845075985,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24073936997931997,
+              -0.009663942747512394,
+              1.1558750845075985
+            ],
+            "object_minus_gripper": [
+              0.004940590510611187,
+              0.004759512356791144,
+              0.006476879037920158
+            ],
+            "object_to_gripper_xy": 0.006860203529632987,
+            "object_to_gripper_z": 0.006476879037920158,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24567996048993115,
+              -0.028959299180268957,
+              1.1623519635455186
+            ],
+            "finger_b": [
+              0.2348943658779055,
+              -0.00490443039072125,
+              1.1623519635455186
+            ],
+            "finger_midpoint": [
+              0.24028716318391832,
+              -0.016931864785495104,
+              1.1623519635455186
+            ],
+            "object_minus_finger_midpoint": [
+              0.005392797306012831,
+              0.012027434394773854,
+              0.0
+            ],
+            "finger_gap": 0.026362203314922544,
+            "fingertip_max_gap": 0.09139429755530484,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013181101657461275,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1623519635455186,
+            "object_top_z": 1.212455063585192,
+            "finger_top_clearance": 0.05010310003967344,
+            "fingertip_min_top_clearance": 0.015030930011901998,
+            "object_projection_between_fingers": 0.8326118246034719,
+            "object_to_finger_line_xy": 0.009841592529660381,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048197148777652424,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6664519720509415,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 338,
+            "max_stable_success_frames": 338,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2799615321983676,
+              -0.3919398527000509,
+              0.851539598856413
+            ],
+            "target_position": [
+              0.2721290382689933,
+              -0.3929460999091864,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007896866125215635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18428435106101787,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539598856413,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544848810133707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610845120441711,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15246332187242292,
+            "release_required_pad_clearance": 0.05305422560220856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1384779701710093,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008502006530761719,
+            "max_z_decrease": 0.008502006530761719,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506509953025132,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008502006530761719,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020926161800158605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008502006530761719,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008502044696881069,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12782897055149078,
+              -0.44920754432678217,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12782897055149078,
+              -0.44920754432678217,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12867894361639973,
+              -0.4472644847112037,
+              0.803309185624138
+            ],
+            "closest_button": [
+              0.12783007323741913,
+              -0.4491820931434631,
+              0.7683068513870239
+            ],
+            "closest_ee_minus_button": [
+              0.0008488703789805985,
+              0.0019176084322593545,
+              0.035002334237114074
+            ],
+            "button_min_z_position": [
+              0.12783007323741913,
+              -0.4491820931434631,
+              0.7683068513870239
+            ],
+            "min_active_finger_to_button": 0.14434118403368768,
+            "closest_active_finger": [
+              0.0027943402528762817,
+              -0.5125848650932312,
+              0.810501754283905
+            ],
+            "closest_active_finger_button": [
+              0.12782984972000122,
+              -0.44920411705970764,
+              0.7761014699935913
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12503550946712494,
+              -0.06338074803352356,
+              0.03440028429031372
+            ],
+            "min_contact_pad_to_button": 0.020926161800158605,
+            "closest_contact_pad": [
+              0.12783007323741913,
+              -0.4491820931434631,
+              0.7892330131871825
+            ],
+            "closest_contact_pad_button": [
+              0.12783007323741913,
+              -0.4491820931434631,
+              0.7683068513870239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020926161800158605
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2716068152292149,
+              0.1740433737404284,
+              1.103623061214785
+            ],
+            "current_z": 1.103623061214785,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19371393148042249,
+            "gripper_z": 1.1036230677131442,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27160680865389786,
+              0.17404339244360664,
+              1.1036230677131442
+            ],
+            "object_minus_gripper": [
+              6.57531706860226e-09,
+              -1.8703178256140873e-08,
+              -6.498359184092806e-09
+            ],
+            "object_to_gripper_xy": 1.9825329037209773e-08,
+            "object_to_gripper_z": -6.498359184092806e-09,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2716068152292149,
+              0.1740433737404284,
+              1.103623061214785
+            ],
+            "finger_b": [
+              0.2716068152292149,
+              0.1740433737404284,
+              1.103623061214785
+            ],
+            "finger_midpoint": [
+              0.2716068152292149,
+              0.1740433737404284,
+              1.103623061214785
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.103623061214785,
+            "object_top_z": 1.2286315678350648,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 240,
+            "max_stable_success_frames": 240,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2716068152292149,
+            0.17404337374042841,
+            1.103623061214785
+          ],
+          "object_origin_world": [
+            0.2716068152292149,
+            0.17404337374042841,
+            1.103623061214785
+          ],
+          "frame_world": [
+            0.27160680865389786,
+            0.17404339244360664,
+            1.1036230677131442
+          ],
+          "center_minus_frame": [
+            6.57531706860226e-09,
+            -1.8703178228385298e-08,
+            -6.498359184092806e-09
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436246777631384,
+            "required_z": 0.9112598704379794,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017170882311363927,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.497199981574557e-08,
+            "max_target_xy_drift": 2.404273248588427e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1384779731436427,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1384779731862233,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28108436699817724,
+              -0.3932210368747333,
+              0.9233296585509351
+            ],
+            "target_mouth_xy": [
+              0.2799616246044255,
+              -0.39193991476005524
+            ],
+            "rod_tip_z": 0.9233296585509351,
+            "rod_tip_depth": -0.022069841054815575,
+            "rod_tip_bottom_clearance": 0.12151034479625078,
+            "rod_tip_xy_dist": 0.0017034742015788337,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04531926923634655,
+            "min_rod_tip_bottom_clearance": 0.05412124147478947,
+            "min_rod_tip_xy_dist": 0.0004891576271531025,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.27996159434346085,
+              -0.39193988149213094
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.0260964622996767e-08,
+              -3.326792430424774e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                0.0015530133326333573,
+                0.0004933324330516076
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0014772292996051983,
+                0.00010365536289791422
+              ],
+              "first_target_mouth_xy": [
+                0.27996159153352396,
+                -0.39193985298554035
+              ],
+              "last_target_mouth_xy": [
+                0.2799615922826321,
+                -0.3919398272876691
+              ],
+              "first_rod_tip_xy": [
+                0.2815146048661573,
+                -0.39144652055248874
+              ],
+              "last_rod_tip_xy": [
+                0.2814388215822373,
+                -0.39183617192477116
+              ],
+              "min_rod_tip_xy_dist": 0.0014808615188023366,
+              "max_rod_tip_xy_dist": 0.0016294868213144855,
+              "first_target_xy_drift": 2.864474563170726e-08,
+              "last_target_xy_drift": 5.424362359723855e-08,
+              "max_depth": 0.01965745654402984,
+              "min_bottom_clearance": 0.07978318886090185
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  0.0015530133326333573,
+                  0.0004933324330516076
+                ],
+                "rod_tip_xy": [
+                  0.2815146048661573,
+                  -0.39144652055248874
+                ],
+                "target_mouth_xy": [
+                  0.27996159153352396,
+                  -0.39193985298554035
+                ],
+                "gripper_position": [
+                  0.281504454597437,
+                  -0.3914565695359916,
+                  1.0057595747702794
+                ],
+                "rod_tip_xy_dist": 0.0016294868213144855,
+                "target_xy_drift": 2.864474563170726e-08,
+                "depth": 0.015341585332559915,
+                "bottom_clearance": 0.08409908032523028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0015428294773552342,
+                  0.0004832849872046241
+                ],
+                "rod_tip_xy": [
+                  0.2815044545974369,
+                  -0.3914565695359916
+                ],
+                "target_mouth_xy": [
+                  0.27996162512008166,
+                  -0.39193985452319624
+                ],
+                "gripper_position": [
+                  0.2814966843938709,
+                  -0.39146077405558677,
+                  1.0056197041428079
+                ],
+                "rod_tip_xy_dist": 0.0016167520450129634,
+                "target_xy_drift": 4.092094606666228e-08,
+                "depth": 0.015500189417198218,
+                "bottom_clearance": 0.0839403388157054,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0015350596600215427,
+                  0.00047911028478886397
+                ],
+                "rod_tip_xy": [
+                  0.28149668439387077,
+                  -0.39146077405558677
+                ],
+                "target_mouth_xy": [
+                  0.2799616247338492,
+                  -0.39193988434037563
+                ],
+                "gripper_position": [
+                  0.2815078551598444,
+                  -0.39153301488001463,
+                  1.0050857867791503
+                ],
+                "rod_tip_xy_dist": 0.0016080904280592933,
+                "target_xy_drift": 3.0523567997159406e-08,
+                "depth": 0.01564011643891805,
+                "bottom_clearance": 0.08380039666570072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0015462323915065856,
+                  0.00040687201492695113
+                ],
+                "rod_tip_xy": [
+                  0.2815078551598443,
+                  -0.3915330148800147
+                ],
+                "target_mouth_xy": [
+                  0.2799616227683377,
+                  -0.39193988689494164
+                ],
+                "gripper_position": [
+                  0.2814976623699074,
+                  -0.39154271097287247,
+                  1.0049267413537297
+                ],
+                "rod_tip_xy_dist": 0.0015988681762656022,
+                "target_xy_drift": 2.893378625212665e-08,
+                "depth": 0.016174109815892956,
+                "bottom_clearance": 0.08326650989399931,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0015360369720043843,
+                  0.00039714068228713373
+                ],
+                "rod_tip_xy": [
+                  0.2814976623699073,
+                  -0.3915427109728724
+                ],
+                "target_mouth_xy": [
+                  0.2799616253979029,
+                  -0.39193985165515954
+                ],
+                "gripper_position": [
+                  0.2814899931565805,
+                  -0.39154645384368025,
+                  1.0047872888657416
+                ],
+                "rod_tip_xy_dist": 0.0015865466589079212,
+                "target_xy_drift": 4.306533680852964e-08,
+                "depth": 0.016333136249518043,
+                "bottom_clearance": 0.0831075071482652,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0015283985439791259,
+                  0.0003934644239432794
+                ],
+                "rod_tip_xy": [
+                  0.2814899931565804,
+                  -0.39154645384368025
+                ],
+                "target_mouth_xy": [
+                  0.2799615946126013,
+                  -0.39193991826762353
+                ],
+                "gripper_position": [
+                  0.28148231066279794,
+                  -0.3915502885927792,
+                  1.0046473519769652
+                ],
+                "rod_tip_xy_dist": 0.0015782320368521634,
+                "target_xy_drift": 3.677647743086218e-08,
+                "depth": 0.0164725890959877,
+                "bottom_clearance": 0.08296802973738548,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0015207167652107056,
+                  0.00038956465937212137
+                ],
+                "rod_tip_xy": [
+                  0.28148231066279783,
+                  -0.3915502885927792
+                ],
+                "target_mouth_xy": [
+                  0.2799615938975871,
+                  -0.3919398532521513
+                ],
+                "gripper_position": [
+                  0.28149499916545145,
+                  -0.39162521373420345,
+                  1.0041130802119342
+                ],
+                "rod_tip_xy_dist": 0.0015698216789892503,
+                "target_xy_drift": 2.8243499305607096e-08,
+                "depth": 0.016612505248053133,
+                "bottom_clearance": 0.08282805842687668,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015334063005679188,
+                  0.00031464239483691703
+                ],
+                "rod_tip_xy": [
+                  0.28149499916545134,
+                  -0.39162521373420345
+                ],
+                "target_mouth_xy": [
+                  0.2799615928648834,
+                  -0.39193985612904036
+                ],
+                "gripper_position": [
+                  0.2814846861604881,
+                  -0.39163456149937853,
+                  1.0039542082422617
+                ],
+                "rod_tip_xy_dist": 0.0015653545027405455,
+                "target_xy_drift": 2.5406151904264946e-08,
+                "depth": 0.01714680164861937,
+                "bottom_clearance": 0.08229378674545584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015230909819156646,
+                  0.0003052923767882798
+                ],
+                "rod_tip_xy": [
+                  0.281484686160488,
+                  -0.3916345614993786
+                ],
+                "target_mouth_xy": [
+                  0.27996159517857233,
+                  -0.39193985387616687
+                ],
+                "gripper_position": [
+                  0.2814767544702765,
+                  -0.3916383308663353,
+                  1.0038146185123096
+                ],
+                "rod_tip_xy_dist": 0.0015533864858810445,
+                "target_xy_drift": 2.762858814270545e-08,
+                "depth": 0.01730562614788933,
+                "bottom_clearance": 0.08213492043521031,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0015151617652151561,
+                  0.0003015255767031544
+                ],
+                "rod_tip_xy": [
+                  0.28147675447027637,
+                  -0.39163833086633537
+                ],
+                "target_mouth_xy": [
+                  0.2799615927050612,
+                  -0.3919398564430385
+                ],
+                "gripper_position": [
+                  0.2814688270398075,
+                  -0.3916422610362319,
+                  1.0036752634286508
+                ],
+                "rod_tip_xy_dist": 0.0015448730848118487,
+                "target_xy_drift": 2.510261707491484e-08,
+                "depth": 0.017445273959489804,
+                "bottom_clearance": 0.08199533191616204,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001507231141932519,
+                  0.00029759315137956044
+                ],
+                "rod_tip_xy": [
+                  0.2814688270398074,
+                  -0.391642261036232
+                ],
+                "target_mouth_xy": [
+                  0.2799615958978749,
+                  -0.39193985418761157
+                ],
+                "gripper_position": [
+                  0.28148302132178105,
+                  -0.3917188232430166,
+                  1.0031433782038843
+                ],
+                "rod_tip_xy_dist": 0.0015363291961553109,
+                "target_xy_drift": 2.7348729054857455e-08,
+                "depth": 0.017584630435966364,
+                "bottom_clearance": 0.08185593195145158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001521427320569424,
+                  0.00022103160192710192
+                ],
+                "rod_tip_xy": [
+                  0.2814830213217809,
+                  -0.39171882324301666
+                ],
+                "target_mouth_xy": [
+                  0.27996159400121146,
+                  -0.39193985484494376
+                ],
+                "gripper_position": [
+                  0.28147253246282455,
+                  -0.39172845579120624,
+                  1.0029846038180033
+                ],
+                "rod_tip_xy_dist": 0.0015373991221623348,
+                "target_xy_drift": 2.6649384968579484e-08,
+                "depth": 0.018116388735739286,
+                "bottom_clearance": 0.0813241151989933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015109371125089366,
+                  0.00021139903789912928
+                ],
+                "rod_tip_xy": [
+                  0.2814725324628244,
+                  -0.3917284557912063
+                ],
+                "target_mouth_xy": [
+                  0.27996159535031545,
+                  -0.3919398548291054
+                ],
+                "gripper_position": [
+                  0.2814644106398031,
+                  -0.39173193988264104,
+                  1.0028452425512713
+                ],
+                "rod_tip_xy_dist": 0.0015256541256725,
+                "target_xy_drift": 2.668202926156832e-08,
+                "depth": 0.018275214710855026,
+                "bottom_clearance": 0.08116530359197716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015028165373721092,
+                  0.00020788357106166222
+                ],
+                "rod_tip_xy": [
+                  0.281464410639803,
+                  -0.3917319398826411
+                ],
+                "target_mouth_xy": [
+                  0.2799615941024309,
+                  -0.39193982345370276
+                ],
+                "gripper_position": [
+                  0.281456444699988,
+                  -0.391735547815472,
+                  1.002705820930219
+                ],
+                "rod_tip_xy_dist": 0.0015171266012157473,
+                "target_xy_drift": 5.803892866360281e-08,
+                "depth": 0.018414608286401624,
+                "bottom_clearance": 0.08102594722668743,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0014948512882304033,
+                  0.00020430766907686415
+                ],
+                "rod_tip_xy": [
+                  0.2814564446999879,
+                  -0.39173554781547204
+                ],
+                "target_mouth_xy": [
+                  0.27996159341175747,
+                  -0.3919398554845489
+                ],
+                "gripper_position": [
+                  0.2814483938191249,
+                  -0.39173913400871446,
+                  1.0025661872029872
+                ],
+                "rod_tip_xy_dist": 0.0015087484871799267,
+                "target_xy_drift": 2.602426549133073e-08,
+                "depth": 0.018554032553426025,
+                "bottom_clearance": 0.08088651169491368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0014867931158613068,
+                  0.00020094829299377448
+                ],
+                "rod_tip_xy": [
+                  0.2814483938191248,
+                  -0.3917391340087145
+                ],
+                "target_mouth_xy": [
+                  0.2799616007032635,
+                  -0.3919400823017083
+                ],
+                "gripper_position": [
+                  0.2814403784522041,
+                  -0.39174261352523526,
+                  1.0024267754015848
+                ],
+                "rod_tip_xy_dist": 0.001500311296308098,
+                "target_xy_drift": 2.0091026217472192e-07,
+                "depth": 0.0186937088862541,
+                "bottom_clearance": 0.08074686410967236,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0014787786152913873,
+                  0.00019746942064552409
+                ],
+                "rod_tip_xy": [
+                  0.281440378452204,
+                  -0.3917426135252353
+                ],
+                "target_mouth_xy": [
+                  0.2799615998369126,
+                  -0.39194008294588084
+                ],
+                "gripper_position": [
+                  0.2814577179201254,
+                  -0.39182317838679537,
+                  1.001900297597084
+                ],
+                "rod_tip_xy_dist": 0.0014919049450729735,
+                "target_xy_drift": 2.0152863658174893e-07,
+                "depth": 0.018832983268663894,
+                "bottom_clearance": 0.08060753350287098,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0014961248154047313,
+                  0.0001166774266073145
+                ],
+                "rod_tip_xy": [
+                  0.2814577179201253,
+                  -0.39182317838679537
+                ],
+                "target_mouth_xy": [
+                  0.2799615931047206,
+                  -0.3919398558134027
+                ],
+                "gripper_position": [
+                  0.2814470482081978,
+                  -0.3918329715491478,
+                  1.0017415560641185
+                ],
+                "rod_tip_xy_dist": 0.001500667546510401,
+                "target_xy_drift": 2.570858927015623e-08,
+                "depth": 0.01935957121001486,
+                "bottom_clearance": 0.08008099662131551,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0014854230149218828,
+                  0.0001068832799306918
+                ],
+                "rod_tip_xy": [
+                  0.2814470482081977,
+                  -0.39183297154914787
+                ],
+                "target_mouth_xy": [
+                  0.27996162519327583,
+                  -0.39193985482907856
+                ],
+                "gripper_position": [
+                  0.28143882158223743,
+                  -0.39183617192477116,
+                  1.0016024605952842
+                ],
+                "rod_tip_xy_dist": 0.0014892634316293267,
+                "target_xy_drift": 4.0775353418280125e-08,
+                "depth": 0.01951826277489488,
+                "bottom_clearance": 0.07992225706373168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0014772292996051983,
+                  0.00010365536289791422
+                ],
+                "rod_tip_xy": [
+                  0.2814388215822373,
+                  -0.39183617192477116
+                ],
+                "target_mouth_xy": [
+                  0.2799615922826321,
+                  -0.3919398272876691
+                ],
+                "gripper_position": [
+                  0.281430508065615,
+                  -0.3918396642029566,
+                  1.0014631904442735
+                ],
+                "rod_tip_xy_dist": 0.0014808615188023366,
+                "target_xy_drift": 5.424362359723855e-08,
+                "depth": 0.01965745654402984,
+                "bottom_clearance": 0.07978318886090185,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0006038896294056057,
+              "rod_tip_xy_max_step": 3.28052772888506e-05,
+              "rod_tip_xy_range": 0.0006038829055802522,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28108436699817724,
+            -0.39322103687473325,
+            1.0433296585509353
+          ],
+          "object_origin_world": [
+            0.28108436699817724,
+            -0.39322103687473325,
+            1.0433296585509353
+          ],
+          "frame_world": [
+            0.2811083993010812,
+            -0.3932179209371206,
+            1.0436246777631384
+          ],
+          "center_minus_frame": [
+            -2.4032302903986835e-05,
+            -3.1159376126521643e-06,
+            -0.0002950192122030959
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2635441368739234,
+              0.12691944732874652,
+              0.8339948128169417
+            ],
+            "target_position": [
+              0.2721041201467784,
+              0.17419227069935922,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04804157723327476,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1691768219453233,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8339948128169417,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676141427902,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1375315187681866,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21992226669341847,
+              -0.1267170419374891,
+              1.0458161051154449
+            ],
+            "current_z": 1.0458161051154449,
+            "required_z": 0.8565864469431218,
+            "initial_z": 0.7565864469431218,
+            "lift_margin": 0.18922965817232307,
+            "gripper_z": 1.0491467676242257,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2158787294599695,
+              -0.13103568026439583,
+              1.0491467676242257
+            ],
+            "object_minus_gripper": [
+              0.004043537233448968,
+              0.0043186383269067374,
+              -0.0033306625087807795
+            ],
+            "object_to_gripper_xy": 0.005916149960651434,
+            "object_to_gripper_z": -0.0033306625087807795,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21992226669341847,
+              -0.15044811600425978,
+              1.0458161051154449
+            ],
+            "finger_b": [
+              0.2090193416651587,
+              -0.1267170419374891,
+              1.0458161051154449
+            ],
+            "finger_midpoint": [
+              0.2144708041792886,
+              -0.13858257897087445,
+              1.0458161051154449
+            ],
+            "object_minus_finger_midpoint": [
+              0.005451462514129868,
+              0.01186553703338536,
+              0.0
+            ],
+            "finger_gap": 0.026115850561190028,
+            "fingertip_max_gap": 0.09270927247562594,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013057925280595023,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458161051154449,
+            "object_top_z": 1.0923081387805205,
+            "finger_top_clearance": 0.046492033665075594,
+            "fingertip_min_top_clearance": 0.013947610099522677,
+            "object_projection_between_fingers": 0.8257079003208844,
+            "object_to_finger_line_xy": 0.009907321256255895,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04885463623781297,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.973275444847706,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22507317228759857,
+              -0.127954205393347,
+              1.2439354359850816
+            ],
+            "held_position": [
+              0.22952141185303407,
+              -0.12390727306867082,
+              1.2407898522044312
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006786692404485851,
+            "max_held_gripper_dist": 0.006790276697508744,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031455837806504405,
+            "max_held_gripper_z_dist": 0.003348080180177737,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08562873082727757,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22952141185303407,
+              -0.14873118862581836,
+              1.2407898522044312
+            ],
+            "held_grasp_finger_b": [
+              0.2214991070360258,
+              -0.12384064682428493,
+              1.2407898522044312
+            ],
+            "held_grasp_midpoint": [
+              0.22551025944452993,
+              -0.13628591772505164,
+              1.2407898522044312
+            ],
+            "held_grasp_object_position": [
+              0.22952141185303407,
+              -0.12390727306867082,
+              1.2407898522044312
+            ],
+            "held_grasp_finger_gap": 0.026151413838469174,
+            "held_grasp_max_gap": 0.12496617943048477,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023756304384882874,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11700707120400214,
+              -0.99214275738688,
+              -0.044295533104597544
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0025960417567593252,
+            "held_grasp_line_xy_max_dist": 0.047483089715242385,
+            "held_grasp_object_top_z": 0.04520083963871002,
+            "held_grasp_top_clearance": 0.03245012380114403,
+            "held_grasp_min_top_clearance": 0.013560251891613006
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19749608794392792,
+              -0.13842958967645466,
+              0.7565864848379574
+            ],
+            "target_position": [
+              0.19294969885221572,
+              -0.12856193497331042,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010864633593164768,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2184098854126023,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864848379574,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573547200204951,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543815686718818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18696679120063245,
+            "release_required_pad_clearance": 0.052719078433594094,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.49098510303757126,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d9309237d1ac01e7c5ba77ed5be7256849c8a389703e7a4f72e9d9da7eb8c22",
+    "visual_seed": 8549154307444449309,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 46,
+  "collection_result_filename": "episode_46_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb4a7c9d49e220e82e59f6984c31b2678d736f20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_47_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2518662727748089,
+              -0.0008340002660120298,
+              1.1634819276079784
+            ],
+            "current_z": 1.1634819276079784,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.302375300383923,
+            "gripper_z": 1.1569037308976178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24697827825292037,
+              -0.005694681890250436,
+              1.1569037308976178
+            ],
+            "object_minus_gripper": [
+              0.004887994521888511,
+              0.004860681624238406,
+              0.00657819671036064
+            ],
+            "object_to_gripper_xy": 0.006893382065301545,
+            "object_to_gripper_z": 0.00657819671036064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2518662727748089,
+              -0.024727817977518555,
+              1.1634819276079784
+            ],
+            "finger_b": [
+              0.24076348792742328,
+              -0.0008340002660120298,
+              1.1634819276079784
+            ],
+            "finger_midpoint": [
+              0.2463148803511161,
+              -0.012780909121765292,
+              1.1634819276079784
+            ],
+            "object_minus_finger_midpoint": [
+              0.005551392423692791,
+              0.011946908855753263,
+              0.0
+            ],
+            "finger_gap": 0.02634741649949836,
+            "fingertip_max_gap": 0.09130102271171256,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013173708249749174,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634819276079784,
+            "object_top_z": 1.2135066038668056,
+            "finger_top_clearance": 0.05002467625882723,
+            "fingertip_min_top_clearance": 0.015007402877648134,
+            "object_projection_between_fingers": 0.8224225666973951,
+            "object_to_finger_line_xy": 0.01006883985147309,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815051135585628,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6291799867085308,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28418738138619937,
+              -0.3865190712117407,
+              0.8515396370787841
+            ],
+            "target_position": [
+              0.27592731643823143,
+              -0.3879705255520206,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008386619858236454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859582434081119,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396370787841,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564589251551208,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563514213267741,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15373499325305,
+            "release_required_pad_clearance": 0.052817571066338706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6806975253171021,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008451521396636963,
+            "max_z_decrease": 0.008451521396636963,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501970215444868,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008451521396636963,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020992989357128008,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008451521396636963,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00845156712710323,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13162724673748016,
+              -0.4442319869995117,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13162724673748016,
+              -0.4442319869995117,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13030859726374275,
+              -0.44522729556350016,
+              0.803703480197195
+            ],
+            "closest_button": [
+              0.13163387775421143,
+              -0.44419732689857483,
+              0.7687240242958069
+            ],
+            "closest_ee_minus_button": [
+              -0.0013252804904686777,
+              -0.0010299686649253292,
+              0.03497945590138807
+            ],
+            "button_min_z_position": [
+              0.13162846863269806,
+              -0.4442042112350464,
+              0.7683573365211487
+            ],
+            "min_active_finger_to_button": 0.1469856433012589,
+            "closest_active_finger": [
+              -0.01064656674861908,
+              -0.43091413378715515,
+              0.8111503720283508
+            ],
+            "closest_active_finger_button": [
+              0.13162986934185028,
+              -0.44423130154609675,
+              0.7767287492752075
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14227643609046936,
+              0.013317167758941595,
+              0.03442162275314331
+            ],
+            "min_contact_pad_to_button": 0.020992989357128008,
+            "closest_contact_pad": [
+              0.13162846863269806,
+              -0.44624399247979873,
+              0.7892509933246392
+            ],
+            "closest_contact_pad_button": [
+              0.13162846863269806,
+              -0.4442042112350464,
+              0.7683573365211487
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002039781244752348,
+              0.020893656803490535
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27074956558729074,
+              0.1772576854571929,
+              1.1033497059179438
+            ],
+            "current_z": 1.1033497059179438,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19344057618358124,
+            "gripper_z": 1.1033496602522463,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2707495192778717,
+              0.17725770321584328,
+              1.1033496602522463
+            ],
+            "object_minus_gripper": [
+              4.630941902172836e-08,
+              -1.775865038355917e-08,
+              4.566569744568483e-08
+            ],
+            "object_to_gripper_xy": 4.9597701091638336e-08,
+            "object_to_gripper_z": 4.566569744568483e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27074956558729074,
+              0.1772576854571929,
+              1.1033497059179438
+            ],
+            "finger_b": [
+              0.27074956558729074,
+              0.1772576854571929,
+              1.1033497059179438
+            ],
+            "finger_midpoint": [
+              0.27074956558729074,
+              0.1772576854571929,
+              1.1033497059179438
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1033497059179438,
+            "object_top_z": 1.2283582125382235,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27074956558729074,
+            0.17725768545719292,
+            1.103349705917944
+          ],
+          "object_origin_world": [
+            0.27074956558729074,
+            0.17725768545719292,
+            1.103349705917944
+          ],
+          "frame_world": [
+            0.2707495192778717,
+            0.17725770321584328,
+            1.1033496602522463
+          ],
+          "center_minus_frame": [
+            4.630941902172836e-08,
+            -1.7758650355803596e-08,
+            4.566569766772943e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433097479312397,
+            "required_z": 0.9112599334933755,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001793434602262891,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.0809736587969804e-08,
+            "max_target_xy_drift": 1.1670335906072751e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.6806975250815082,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.6806975257304626,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28459540211002216,
+              -0.384763582148107,
+              0.9234348279174031
+            ],
+            "target_mouth_xy": [
+              0.2841874109762268,
+              -0.38651907217711623
+            ],
+            "rod_tip_z": 0.9234348279174031,
+            "rod_tip_depth": -0.022174927553234025,
+            "rod_tip_bottom_clearance": 0.12161544908254995,
+            "rod_tip_xy_dist": 0.0018022768952650923,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04485285991901955,
+            "min_rod_tip_bottom_clearance": 0.05458767754280058,
+            "min_rod_tip_xy_dist": 0.0001944968578087678,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2841873804416758,
+              -0.38651906806845904
+            ],
+            "target_mouth_xy_delta_from_start": [
+              3.0534550998773113e-08,
+              -4.108657192247733e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0008421778469847596,
+                0.003481130387557596
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0007591788277139799,
+                0.00311371441921926
+              ],
+              "first_target_mouth_xy": [
+                0.2841873816315029,
+                -0.3865190059095054
+              ],
+              "last_target_mouth_xy": [
+                0.2841873831285259,
+                -0.3865190442640889
+              ],
+              "first_rod_tip_xy": [
+                0.2850295594784877,
+                -0.3830378755219478
+              ],
+              "last_rod_tip_xy": [
+                0.28494656195623985,
+                -0.38340532984486964
+              ],
+              "min_rod_tip_xy_dist": 0.0032049290127712823,
+              "max_rod_tip_xy_dist": 0.0035815544531849273,
+              "first_target_xy_drift": 6.21703402561516e-08,
+              "last_target_xy_drift": 2.395552548313671e-08,
+              "max_depth": 0.019560352222462885,
+              "min_bottom_clearance": 0.07988023776870878
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0008421778469847596,
+                  0.003481130387557596
+                ],
+                "rod_tip_xy": [
+                  0.2850295594784877,
+                  -0.3830378755219478
+                ],
+                "target_mouth_xy": [
+                  0.2841873816315029,
+                  -0.3865190059095054
+                ],
+                "gripper_position": [
+                  0.2850191472369764,
+                  -0.3830474026743264,
+                  1.0058465574512307
+                ],
+                "rod_tip_xy_dist": 0.0035815544531849273,
+                "target_xy_drift": 6.21703402561516e-08,
+                "depth": 0.015255180311347982,
+                "bottom_clearance": 0.08418555528628124,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0008317664314893003,
+                  0.003471699932368122
+                ],
+                "rod_tip_xy": [
+                  0.2850191472369764,
+                  -0.38304740267432646
+                ],
+                "target_mouth_xy": [
+                  0.2841873808054871,
+                  -0.3865191026066946
+                ],
+                "gripper_position": [
+                  0.28501131119301426,
+                  -0.38305099129716264,
+                  1.0057073732172663
+                ],
+                "rod_tip_xy_dist": 0.003569948993607229,
+                "target_xy_drift": 3.45401516142234e-08,
+                "depth": 0.015413365497026432,
+                "bottom_clearance": 0.08402719273207537,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0008238984410441352,
+                  0.003468051691280838
+                ],
+                "rod_tip_xy": [
+                  0.28501131119301426,
+                  -0.3830509912971627
+                ],
+                "target_mouth_xy": [
+                  0.2841874127519701,
+                  -0.38651904298844353
+                ],
+                "gripper_position": [
+                  0.28502238848252703,
+                  -0.3831209120612528,
+                  1.0051721809223295
+                ],
+                "rod_tip_xy_dist": 0.003564574473138531,
+                "target_xy_drift": 4.090186178580495e-08,
+                "depth": 0.015552455895453732,
+                "bottom_clearance": 0.08388808218391042,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0008349741229825014,
+                  0.0033981632624944247
+                ],
+                "rod_tip_xy": [
+                  0.28502238848252703,
+                  -0.38312091206125287
+                ],
+                "target_mouth_xy": [
+                  0.28418741435954453,
+                  -0.3865190753237473
+                ],
+                "gripper_position": [
+                  0.28501202863755404,
+                  -0.38313005717966514,
+                  1.0050140374987941
+                ],
+                "rod_tip_xy_dist": 0.0034992421100314207,
+                "target_xy_drift": 3.46851701351583e-08,
+                "depth": 0.016087825494277563,
+                "bottom_clearance": 0.08335286431560895,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0008246762012811271,
+                  0.0033889861309488456
+                ],
+                "rod_tip_xy": [
+                  0.28501202863755404,
+                  -0.3831300571796652
+                ],
+                "target_mouth_xy": [
+                  0.2841873524362729,
+                  -0.38651904331061404
+                ],
+                "gripper_position": [
+                  0.2850040109978276,
+                  -0.3831336163800971,
+                  1.0048749839693996
+                ],
+                "rod_tip_xy_dist": 0.0034878815680471575,
+                "target_xy_drift": 3.737985392759128e-08,
+                "depth": 0.01624579151879113,
+                "bottom_clearance": 0.08319473026383284,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0008165678300482981,
+                  0.0033854586320073987
+                ],
+                "rod_tip_xy": [
+                  0.2850040109978275,
+                  -0.38313361638009713
+                ],
+                "target_mouth_xy": [
+                  0.2841874431677792,
+                  -0.38651907501210453
+                ],
+                "gripper_position": [
+                  0.28501577837640435,
+                  -0.383204177588646,
+                  1.0043419936621822
+                ],
+                "rod_tip_xy_dist": 0.0034825440657805314,
+                "target_xy_drift": 6.310925655788012e-08,
+                "depth": 0.016385008798641576,
+                "bottom_clearance": 0.08305563140025518,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0008283960095959997,
+                  0.0033148660437458677
+                ],
+                "rod_tip_xy": [
+                  0.2850157783764043,
+                  -0.3832041775886461
+                ],
+                "target_mouth_xy": [
+                  0.2841873823668083,
+                  -0.386519043632392
+                ],
+                "gripper_position": [
+                  0.28500526556969585,
+                  -0.38321348034887587,
+                  1.004183771070914
+                ],
+                "rod_tip_xy_dist": 0.003416807989438967,
+                "target_xy_drift": 2.4511783052891396e-08,
+                "depth": 0.016917842118048365,
+                "bottom_clearance": 0.08252269599240358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0008178210047276036,
+                  0.003305594343704643
+                ],
+                "rod_tip_xy": [
+                  0.28500526556969585,
+                  -0.3832134803488758
+                ],
+                "target_mouth_xy": [
+                  0.28418744456496825,
+                  -0.38651907469258046
+                ],
+                "gripper_position": [
+                  0.2849971361365531,
+                  -0.3832168411124027,
+                  1.0040448419057029
+                ],
+                "rod_tip_xy_dist": 0.0034052584572842335,
+                "target_xy_drift": 6.446452993434958e-08,
+                "depth": 0.01707622743786008,
+                "bottom_clearance": 0.08236445580742224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0008097540436214357,
+                  0.0033022025237439134
+                ],
+                "rod_tip_xy": [
+                  0.28499713613655303,
+                  -0.38321684111240273
+                ],
+                "target_mouth_xy": [
+                  0.2841873820929316,
+                  -0.38651904363614664
+                ],
+                "gripper_position": [
+                  0.2849889843894247,
+                  -0.38322013509091934,
+                  1.0039057843249777
+                ],
+                "rod_tip_xy_dist": 0.0034000357526034835,
+                "target_xy_drift": 2.4488048813704384e-08,
+                "depth": 0.017214993998843076,
+                "bottom_clearance": 0.08222553818872158,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0008015411482873991,
+                  0.003298967821406096
+                ],
+                "rod_tip_xy": [
+                  0.2849889843894247,
+                  -0.38322013509091946
+                ],
+                "target_mouth_xy": [
+                  0.2841874432411373,
+                  -0.38651910291232555
+                ],
+                "gripper_position": [
+                  0.2850024607974312,
+                  -0.38329288258151406,
+                  1.0033747076310238
+                ],
+                "rod_tip_xy_dist": 0.003394945787353719,
+                "target_xy_drift": 7.181829433267025e-08,
+                "depth": 0.01735417528084693,
+                "bottom_clearance": 0.08208640075557538,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0008151079085539359,
+                  0.003226162001634836
+                ],
+                "rod_tip_xy": [
+                  0.28500246079743113,
+                  -0.38329288258151417
+                ],
+                "target_mouth_xy": [
+                  0.2841873528888772,
+                  -0.386519044583149
+                ],
+                "gripper_position": [
+                  0.28499160476375557,
+                  -0.3833022185779346,
+                  1.003216911292335
+                ],
+                "rod_tip_xy_dist": 0.003327539956691679,
+                "target_xy_drift": 3.6203818828985606e-08,
+                "depth": 0.017885147679731594,
+                "bottom_clearance": 0.08155543654589692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0008041602323086705,
+                  0.0032168573843634474
+                ],
+                "rod_tip_xy": [
+                  0.2849916047637555,
+                  -0.3833022185779347
+                ],
+                "target_mouth_xy": [
+                  0.28418744453144684,
+                  -0.3865190759622981
+                ],
+                "gripper_position": [
+                  0.2849834260767483,
+                  -0.3833052826412576,
+                  1.0030778033926742
+                ],
+                "rod_tip_xy_dist": 0.003315847570465261,
+                "target_xy_drift": 6.45740772149185e-08,
+                "depth": 0.018043109466731155,
+                "bottom_clearance": 0.08139761718398864,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007960427238511425,
+                  0.003213760349201067
+                ],
+                "rod_tip_xy": [
+                  0.2849834260767483,
+                  -0.3833052826412576
+                ],
+                "target_mouth_xy": [
+                  0.28418738335289717,
+                  -0.3865190429904587
+                ],
+                "gripper_position": [
+                  0.2849752671442971,
+                  -0.3833084237218544,
+                  1.0029393069331012
+                ],
+                "rod_tip_xy_dist": 0.003310881997337463,
+                "target_xy_drift": 2.524641184602248e-08,
+                "depth": 0.018182029052612347,
+                "bottom_clearance": 0.0812585247767067,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000787851708099252,
+                  0.0032106515999119067
+                ],
+                "rod_tip_xy": [
+                  0.2849752671442971,
+                  -0.3833084237218546
+                ],
+                "target_mouth_xy": [
+                  0.28418741543619785,
+                  -0.3865190753217665
+                ],
+                "gripper_position": [
+                  0.2849669793943564,
+                  -0.38331150955662124,
+                  1.0028002943243857
+                ],
+                "rod_tip_xy_dist": 0.0033059029038935484,
+                "target_xy_drift": 3.573831337784639e-08,
+                "depth": 0.01832070823344123,
+                "bottom_clearance": 0.08112002333451163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007795961914107696,
+                  0.0032075347042598845
+                ],
+                "rod_tip_xy": [
+                  0.28496697939435633,
+                  -0.3833115095566213
+                ],
+                "target_mouth_xy": [
+                  0.28418738320294556,
+                  -0.3865190442608812
+                ],
+                "gripper_position": [
+                  0.284982526897545,
+                  -0.38338720061189424,
+                  1.0022732198160342
+                ],
+                "rod_tip_xy_dist": 0.003300916403166509,
+                "target_xy_drift": 2.3967172840957955e-08,
+                "depth": 0.018459559451361796,
+                "bottom_clearance": 0.08098103332033324,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007951439207246613,
+                  0.003131873776389904
+                ],
+                "rod_tip_xy": [
+                  0.284982526897545,
+                  -0.38338720061189435
+                ],
+                "target_mouth_xy": [
+                  0.28418738297682034,
+                  -0.38651907438828426
+                ],
+                "gripper_position": [
+                  0.28497162930092407,
+                  -0.38339641907950595,
+                  1.0021152762401366
+                ],
+                "rod_tip_xy_dist": 0.003231236173031019,
+                "target_xy_drift": 6.8093427456153886e-09,
+                "depth": 0.01898669748515769,
+                "bottom_clearance": 0.08045389794643187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007842447491002713,
+                  0.0031226248571346593
+                ],
+                "rod_tip_xy": [
+                  0.28497162930092407,
+                  -0.38339641907950595
+                ],
+                "target_mouth_xy": [
+                  0.2841873845518238,
+                  -0.3865190439366406
+                ],
+                "gripper_position": [
+                  0.2849633902268075,
+                  -0.3833993972282538,
+                  1.0019769227220776
+                ],
+                "rod_tip_xy_dist": 0.003219600258554872,
+                "target_xy_drift": 2.447933776544466e-08,
+                "depth": 0.01914470200907814,
+                "bottom_clearance": 0.08029593176862615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0007760076649573344,
+                  0.0031196457690103596
+                ],
+                "rod_tip_xy": [
+                  0.2849633902268075,
+                  -0.3833993972282538
+                ],
+                "target_mouth_xy": [
+                  0.28418738256185017,
+                  -0.38651904299726414
+                ],
+                "gripper_position": [
+                  0.28495492974822484,
+                  -0.3834024255091142,
+                  1.0018378720966137
+                ],
+                "rod_tip_xy_dist": 0.003214712680812513,
+                "target_xy_drift": 2.5160682680843486e-08,
+                "depth": 0.019282903375581806,
+                "bottom_clearance": 0.08015761993409531,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0007675158216384204,
+                  0.0031166491863867662
+                ],
+                "rod_tip_xy": [
+                  0.28495492974822484,
+                  -0.3834024255091142
+                ],
+                "target_mouth_xy": [
+                  0.2841874139265864,
+                  -0.38651907469550095
+                ],
+                "gripper_position": [
+                  0.2849465619562399,
+                  -0.3834053298448697,
+                  1.0016995010018037
+                ],
+                "rod_tip_xy_dist": 0.003209763649783359,
+                "target_xy_drift": 3.4134395027785615e-08,
+                "depth": 0.01942211963827567,
+                "bottom_clearance": 0.08001853122157809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0007591788277139799,
+                  0.00311371441921926
+                ],
+                "rod_tip_xy": [
+                  0.28494656195623985,
+                  -0.38340532984486964
+                ],
+                "target_mouth_xy": [
+                  0.2841873831285259,
+                  -0.3865190442640889
+                ],
+                "gripper_position": [
+                  0.2849382565592168,
+                  -0.3834082288845877,
+                  1.0015605081424803
+                ],
+                "rod_tip_xy_dist": 0.0032049290127712823,
+                "target_xy_drift": 2.395552548313671e-08,
+                "depth": 0.019560352222462885,
+                "bottom_clearance": 0.07988023776870878,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.00059857536947966,
+              "rod_tip_xy_max_step": 3.239756610103311e-05,
+              "rod_tip_xy_range": 0.0005985690118560583,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28459540211002216,
+            -0.384763582148107,
+            1.0434348279174033
+          ],
+          "object_origin_world": [
+            0.28459540211002216,
+            -0.384763582148107,
+            1.0434348279174033
+          ],
+          "frame_world": [
+            0.28459396556812055,
+            -0.3847723263351564,
+            1.0433097479312397
+          ],
+          "center_minus_frame": [
+            1.4365419016004743e-06,
+            8.744187049380958e-06,
+            0.00012507998616362315
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26102800492852196,
+              0.13044181247620246,
+              0.8340185406950464
+            ],
+            "target_position": [
+              0.2708566780338248,
+              0.17726815434805354,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047846725155546194,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16661155943522904,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8340185406950464,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676250914555,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1352187302380362,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.21831502614774795,
+              -0.13341127330776467,
+              1.0464862564176938
+            ],
+            "current_z": 1.0464862564176938,
+            "required_z": 0.8565863632633116,
+            "initial_z": 0.7565863632633116,
+            "lift_margin": 0.18989989315438216,
+            "gripper_z": 1.050295672096034,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21397636272843118,
+              -0.1378208434715734,
+              1.050295672096034
+            ],
+            "object_minus_gripper": [
+              0.004338663419316768,
+              0.004409570163808718,
+              -0.0038094156783401445
+            ],
+            "object_to_gripper_xy": 0.006186138480156221,
+            "object_to_gripper_z": -0.0038094156783401445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.21831502614774795,
+              -0.15739940675328817,
+              1.0464862564176938
+            ],
+            "finger_b": [
+              0.2073377047143644,
+              -0.13341127330776467,
+              1.0464862564176938
+            ],
+            "finger_midpoint": [
+              0.21282636543105618,
+              -0.1454053400305264,
+              1.0464862564176938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005488660716691768,
+              0.011994066722761737,
+              0.0
+            ],
+            "finger_gap": 0.026380525621224168,
+            "fingertip_max_gap": 0.09214832479435436,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013190262810612072,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464862564176938,
+            "object_top_z": 1.092116803232313,
+            "finger_top_clearance": 0.0456305468146192,
+            "fingertip_min_top_clearance": 0.013689164044385726,
+            "object_projection_between_fingers": 0.8268486533356295,
+            "object_to_finger_line_xy": 0.009981812159442117,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048574162397177184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2201120944147206,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22163403491337752,
+              -0.13477608469974262,
+              1.2441136908499364
+            ],
+            "held_position": [
+              0.22627189888074098,
+              -0.13054811658189505,
+              1.2404524669555463
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007265676636773513,
+            "max_held_gripper_dist": 0.007268439210112646,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036612238943900532,
+            "max_held_gripper_z_dist": 0.0038261796693452865,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08607868296112609,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22627189888074098,
+              -0.15534039165193195,
+              1.2404524669555463
+            ],
+            "held_grasp_finger_b": [
+              0.2175652488039757,
+              -0.13054811658189505,
+              1.2404524669555463
+            ],
+            "held_grasp_midpoint": [
+              0.22191857384235836,
+              -0.1429442541169135,
+              1.2404524669555463
+            ],
+            "held_grasp_object_position": [
+              0.22627189888074098,
+              -0.13054811658189505,
+              1.2404524669555463
+            ],
+            "held_grasp_finger_gap": 0.02627665615537125,
+            "held_grasp_max_gap": 0.12496624648571014,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024165800328371546,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06290972991862034,
+              -0.9968239406582223,
+              -0.04883028990472282
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036170112561037613,
+            "held_grasp_line_xy_max_dist": 0.04748312324285507,
+            "held_grasp_object_top_z": 0.0452008992433548,
+            "held_grasp_top_clearance": 0.03257026607434379,
+            "held_grasp_min_top_clearance": 0.013560269773006438
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.17508000717790762,
+              -0.137959201233431,
+              0.7565867481816498
+            ],
+            "target_position": [
+              0.19297853707671267,
+              -0.13621057727527644,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01798374427880497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20390923584135642,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565867481816498,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526787320097643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603639914119292,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17708492878612533,
+            "release_required_pad_clearance": 0.05301819957059646,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0675170906621083,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d88afb39af69115f1decd75e6ea491d12823ba52c7cc6e7d54141171fe9b6dcb",
+    "visual_seed": 4449490515485026893,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 48,
+  "collection_result_filename": "episode_48_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2cd75b0f03971a7c879ac1ac70a7fea7d1c0453
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_4_success.json
@@ -0,0 +1,2664 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2472382552547022,
+              0.0012091643012032433,
+              1.1629255749947234
+            ],
+            "current_z": 1.1629255749947234,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.3018190669799574,
+            "gripper_z": 1.1565100177130598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24240535287597584,
+              -0.003686529157982066,
+              1.1565100177130598
+            ],
+            "object_minus_gripper": [
+              0.004832902378726356,
+              0.004895693459185309,
+              0.006415557281663542
+            ],
+            "object_to_gripper_xy": 0.006879299371927979,
+            "object_to_gripper_z": 0.006415557281663542,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2472382552547022,
+              -0.022595367940675366,
+              1.1629255749947234
+            ],
+            "finger_b": [
+              0.23601893986632844,
+              0.0012091643012032433,
+              1.1629255749947234
+            ],
+            "finger_midpoint": [
+              0.2416285975605153,
+              -0.01069310181973606,
+              1.1629255749947234
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056096576941868925,
+              0.011902266120939304,
+              0.0
+            ],
+            "finger_gap": 0.02631594180413155,
+            "fingertip_max_gap": 0.09143006223066494,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01315797090206578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1629255749947234,
+            "object_top_z": 1.2129720332148024,
+            "finger_top_clearance": 0.050046458220079026,
+            "fingertip_min_top_clearance": 0.015013937466023707,
+            "object_projection_between_fingers": 0.8182414376858789,
+            "object_to_finger_line_xy": 0.010148622340106344,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821503111533247,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.686197224977233,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27791231079711276,
+              -0.38890506137597236,
+              0.8515395702282613
+            ],
+            "target_position": [
+              0.2699157956815298,
+              -0.39012126716029577,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008088473929213634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18571247222134166,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395702282613,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549016652793226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539256772907582,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538225682620724,
+            "release_required_pad_clearance": 0.05269628386453791,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4476235616679993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008222103118896484,
+            "max_z_decrease": 0.008222103118896484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502624568966689,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008222103118896484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02102343145409811,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008222103118896484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008222154770382222,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12561571598052973,
+              -0.4463827311992645,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12561571598052973,
+              -0.4463827311992645,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12426363720566222,
+              -0.4474441620700386,
+              0.8035694424822448
+            ],
+            "closest_button": [
+              0.12563088536262507,
+              -0.44635784626007086,
+              0.7685867547988892
+            ],
+            "closest_ee_minus_button": [
+              -0.001367248156962847,
+              -0.0010863158099677639,
+              0.03498268768335566
+            ],
+            "button_min_z_position": [
+              0.12563088536262507,
+              -0.44635784626007086,
+              0.7685867547988892
+            ],
+            "min_active_finger_to_button": 0.1469812341632052,
+            "closest_active_finger": [
+              -0.016337744891643524,
+              -0.4299468994140625,
+              0.8106870651245117
+            ],
+            "closest_active_finger_button": [
+              0.12561589479446406,
+              -0.4463817477226258,
+              0.7762989401817322
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14195363968610758,
+              0.016434848308563288,
+              0.03438812494277954
+            ],
+            "min_contact_pad_to_button": 0.02102343145409811,
+            "closest_contact_pad": [
+              0.12563088536262507,
+              -0.44874950663202035,
+              0.7894737036131705
+            ],
+            "closest_contact_pad_button": [
+              0.12563088536262507,
+              -0.44635784626007086,
+              0.7685867547988892
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002391660371949489,
+              0.020886948814281325
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2741732255463477,
+              0.18238966399130352,
+              1.1009691959822203
+            ],
+            "current_z": 1.1009691959822203,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19106006624785776,
+            "gripper_z": 1.1009691529036951,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2741731476820467,
+              0.18238968475280898,
+              1.1009691529036951
+            ],
+            "object_minus_gripper": [
+              7.786430100686914e-08,
+              -2.0761505459265805e-08,
+              4.307852519147559e-08
+            ],
+            "object_to_gripper_xy": 8.058467273758359e-08,
+            "object_to_gripper_z": 4.307852519147559e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2741732255463477,
+              0.18238966399130352,
+              1.1009691959822203
+            ],
+            "finger_b": [
+              0.2741732255463477,
+              0.18238966399130352,
+              1.1009691959822203
+            ],
+            "finger_midpoint": [
+              0.2741732255463477,
+              0.18238966399130352,
+              1.1009691959822203
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1009691959822203,
+            "object_top_z": 1.2259777026025,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2741732255463477,
+            0.18238966399130352,
+            1.1009691959822205
+          ],
+          "object_origin_world": [
+            0.2741732255463477,
+            0.18238966399130352,
+            1.1009691959822205
+          ],
+          "frame_world": [
+            0.2741731476820467,
+            0.18238968475280898,
+            1.1009691529036951
+          ],
+          "center_minus_frame": [
+            7.786430100686914e-08,
+            -2.0761505459265805e-08,
+            4.30785254135202e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1670,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433771979905238,
+            "required_z": 0.9112599327368336,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0016944519540359386,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.1453226337727783e-07,
+            "max_target_xy_drift": 5.632931239847758e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4476235616899835,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.44762356203603115,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2763278451087248,
+              -0.38949335321504214,
+              0.9235002190674436
+            ],
+            "target_mouth_xy": [
+              0.2779123109139975,
+              -0.3889049799037895
+            ],
+            "rod_tip_z": 0.9235002190674436,
+            "rod_tip_depth": -0.022240328932319753,
+            "rod_tip_bottom_clearance": 0.12168096998279287,
+            "rod_tip_xy_dist": 0.0016901819551375832,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04499643819045873,
+            "min_rod_tip_bottom_clearance": 0.05444428413922775,
+            "min_rod_tip_xy_dist": 0.001076458093250354,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27791233664185344,
+              -0.3889050915089721
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.5727855956780843e-08,
+              1.116051825955644e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.0010354420761033989,
+                0.0011894325503020164
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0011371143344224288,
+                0.0008052584585497291
+              ],
+              "first_target_mouth_xy": [
+                0.27791234001670184,
+                -0.38890506518701523
+              ],
+              "last_target_mouth_xy": [
+                0.2779123696320144,
+                -0.38890506646333106
+              ],
+              "first_rod_tip_xy": [
+                0.27687689794059844,
+                -0.3877156326367132
+              ],
+              "last_rod_tip_xy": [
+                0.27677525529759195,
+                -0.38809980800478133
+              ],
+              "min_rod_tip_xy_dist": 0.0013803818320826155,
+              "max_rod_tip_xy_dist": 0.0015790445350416028,
+              "first_target_xy_drift": 2.6537426709210944e-08,
+              "last_target_xy_drift": 4.1420222775473064e-08,
+              "max_depth": 0.01977713729522168,
+              "min_bottom_clearance": 0.07966343524002706
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.0010354420761033989,
+                  0.0011894325503020164
+                ],
+                "rod_tip_xy": [
+                  0.27687689794059844,
+                  -0.3877156326367132
+                ],
+                "target_mouth_xy": [
+                  0.27791234001670184,
+                  -0.38890506518701523
+                ],
+                "gripper_position": [
+                  0.27686671169562055,
+                  -0.3877251060596954,
+                  1.0055788901902596
+                ],
+                "rod_tip_xy_dist": 0.0015769876615507415,
+                "target_xy_drift": 2.6537426709210944e-08,
+                "depth": 0.01552541737137536,
+                "bottom_clearance": 0.08391510207241881,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0010456287001866515,
+                  0.0011799264622181505
+                ],
+                "rod_tip_xy": [
+                  0.2768667116956206,
+                  -0.3877251060596954
+                ],
+                "target_mouth_xy": [
+                  0.27791234039580726,
+                  -0.38890503252191355
+                ],
+                "gripper_position": [
+                  0.2768590961705152,
+                  -0.3877286071571028,
+                  1.0054423163799955
+                ],
+                "rod_tip_xy_dist": 0.0015765677387593172,
+                "target_xy_drift": 5.910638923245745e-08,
+                "depth": 0.01568097610984931,
+                "bottom_clearance": 0.08375961127894671,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0010532418415660216,
+                  0.001176462182485849
+                ],
+                "rod_tip_xy": [
+                  0.27685909617051524,
+                  -0.38772860715710283
+                ],
+                "target_mouth_xy": [
+                  0.27791233801208126,
+                  -0.3889050693395887
+                ],
+                "gripper_position": [
+                  0.27686485034132197,
+                  -0.3878021653614029,
+                  1.0049096863838907
+                ],
+                "rod_tip_xy_dist": 0.0015790445350416028,
+                "target_xy_drift": 2.221168805819239e-08,
+                "depth": 0.015817656338371955,
+                "bottom_clearance": 0.08362308894436754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001047491090577335,
+                  0.0011028966430655651
+                ],
+                "rod_tip_xy": [
+                  0.276864850341322,
+                  -0.38780216536140294
+                ],
+                "target_mouth_xy": [
+                  0.27791234143189936,
+                  -0.3889050620044685
+                ],
+                "gripper_position": [
+                  0.2768543821690187,
+                  -0.38781158568130153,
+                  1.0047544478126318
+                ],
+                "rod_tip_xy_dist": 0.001521058378276188,
+                "target_xy_drift": 2.989080583757857e-08,
+                "depth": 0.016350122328024796,
+                "bottom_clearance": 0.08309049249434242,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001057957955837685,
+                  0.0010934477960721778
+                ],
+                "rod_tip_xy": [
+                  0.27685438216901875,
+                  -0.38781158568130164
+                ],
+                "target_mouth_xy": [
+                  0.27791234012485644,
+                  -0.3889050334773738
+                ],
+                "gripper_position": [
+                  0.27684667935185325,
+                  -0.387815060880923,
+                  1.0046181621163068
+                ],
+                "rod_tip_xy_dist": 0.0015214805680833904,
+                "target_xy_drift": 5.8136027656320406e-08,
+                "depth": 0.01650540992636118,
+                "bottom_clearance": 0.08293515406718754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0010656604896563948,
+                  0.0010900376145482893
+                ],
+                "rod_tip_xy": [
+                  0.27684667935185325,
+                  -0.38781506088092305
+                ],
+                "target_mouth_xy": [
+                  0.27791233984150965,
+                  -0.38890509849547134
+                ],
+                "gripper_position": [
+                  0.27685307532757564,
+                  -0.3878892184520092,
+                  1.004088244167904
+                ],
+                "rod_tip_xy_dist": 0.0015244062058207557,
+                "target_xy_drift": 7.684332832908778e-09,
+                "depth": 0.01664174342825342,
+                "bottom_clearance": 0.08279890883937802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0010592632876517682,
+                  0.0010158451525097978
+                ],
+                "rod_tip_xy": [
+                  0.2768530753275757,
+                  -0.38788921845200924
+                ],
+                "target_mouth_xy": [
+                  0.27791233861522746,
+                  -0.38890506360451904
+                ],
+                "gripper_position": [
+                  0.27684253450495644,
+                  -0.3878986443437492,
+                  1.0039330258051529
+                ],
+                "rod_tip_xy_dist": 0.0014676444005427497,
+                "target_xy_drift": 2.7974143540092002e-08,
+                "depth": 0.01717165412456423,
+                "bottom_clearance": 0.08226895690532732,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0010698362880283696,
+                  0.0010064237067375914
+                ],
+                "rod_tip_xy": [
+                  0.27684253450495644,
+                  -0.38789864434374927
+                ],
+                "target_mouth_xy": [
+                  0.2779123707929848,
+                  -0.38890506805048686
+                ],
+                "gripper_position": [
+                  0.27683460467910337,
+                  -0.3879021029459292,
+                  1.0037969079711468
+                ],
+                "rod_tip_xy_dist": 0.001468822099733577,
+                "target_xy_drift": 4.1431875465798995e-08,
+                "depth": 0.017326842568010203,
+                "bottom_clearance": 0.08211376136164472,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0010777357255222775,
+                  0.0010029606498596633
+                ],
+                "rod_tip_xy": [
+                  0.27683460467910337,
+                  -0.38790210294592925
+                ],
+                "target_mouth_xy": [
+                  0.27791234040462565,
+                  -0.3889050635957889
+                ],
+                "gripper_position": [
+                  0.27682657815610395,
+                  -0.38790573338167433,
+                  1.003660639444166
+                ],
+                "rod_tip_xy_dist": 0.0014722242897174153,
+                "target_xy_drift": 2.8165657307092115e-08,
+                "depth": 0.01746293561641088,
+                "bottom_clearance": 0.08197760632213069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0010857312443461886,
+                  0.000999365115999351
+                ],
+                "rod_tip_xy": [
+                  0.276826578156104,
+                  -0.3879057333816744
+                ],
+                "target_mouth_xy": [
+                  0.2779123094004502,
+                  -0.38890509849767374
+                ],
+                "gripper_position": [
+                  0.2768343809638959,
+                  -0.387982085962977,
+                  1.0031327000685482
+                ],
+                "rod_tip_xy_dist": 0.0014756500161033847,
+                "target_xy_drift": 2.8123584426862847e-08,
+                "depth": 0.017599285524604658,
+                "bottom_clearance": 0.08184139119967415,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0010779588427092257,
+                  0.0009229763675784319
+                ],
+                "rod_tip_xy": [
+                  0.2768343809638959,
+                  -0.38798208596297706
+                ],
+                "target_mouth_xy": [
+                  0.2779123398066051,
+                  -0.3889050623305555
+                ],
+                "gripper_position": [
+                  0.27682353447389924,
+                  -0.3879917715252286,
+                  1.0029779217315147
+                ],
+                "rod_tip_xy_dist": 0.0014191126247353626,
+                "target_xy_drift": 2.9349542587429764e-08,
+                "depth": 0.01812718417921555,
+                "bottom_clearance": 0.08131342582841994,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0010888065531564073,
+                  0.0009132952524913418
+                ],
+                "rod_tip_xy": [
+                  0.27682353447389924,
+                  -0.3879917715252286
+                ],
+                "target_mouth_xy": [
+                  0.27791234102705564,
+                  -0.38890506677771997
+                ],
+                "gripper_position": [
+                  0.2768157697898417,
+                  -0.38799452166605136,
+                  1.0028417800263258
+                ],
+                "rod_tip_xy_dist": 0.0014211291033609718,
+                "target_xy_drift": 2.5117022745830112e-08,
+                "depth": 0.01828192432046105,
+                "bottom_clearance": 0.08115863601084827,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0010965700901093278,
+                  0.0009105397120047765
+                ],
+                "rod_tip_xy": [
+                  0.2768157697898417,
+                  -0.38799452166605136
+                ],
+                "target_mouth_xy": [
+                  0.277912339879951,
+                  -0.38890506137805614
+                ],
+                "gripper_position": [
+                  0.27680759727920523,
+                  -0.387997901380589,
+                  1.0027058155309498
+                ],
+                "rod_tip_xy_dist": 0.001425324008659126,
+                "target_xy_drift": 3.030441178974257e-08,
+                "depth": 0.01841811879761046,
+                "bottom_clearance": 0.08102252218260553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0011047411431004406,
+                  0.0009071682797919256
+                ],
+                "rod_tip_xy": [
+                  0.27680759727920523,
+                  -0.3879979013805889
+                ],
+                "target_mouth_xy": [
+                  0.27791233842230567,
+                  -0.38890506966038085
+                ],
+                "gripper_position": [
+                  0.27679975508435806,
+                  -0.3880011657778546,
+                  1.0025695965470318
+                ],
+                "rod_tip_xy_dist": 0.0014294779750382688,
+                "target_xy_drift": 2.1921016185532532e-08,
+                "depth": 0.018554150533004243,
+                "bottom_clearance": 0.08088659062714076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0011125857468601286,
+                  0.0009038955942248239
+                ],
+                "rod_tip_xy": [
+                  0.27679975508435806,
+                  -0.38800116577785454
+                ],
+                "target_mouth_xy": [
+                  0.2779123408312182,
+                  -0.38890506137207936
+                ],
+                "gripper_position": [
+                  0.2767917331449008,
+                  -0.38800424004731676,
+                  1.0024337580688634
+                ],
+                "rod_tip_xy_dist": 0.0014334832713971091,
+                "target_xy_drift": 3.042668371893227e-08,
+                "depth": 0.018690278423191153,
+                "bottom_clearance": 0.08075033628375639,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0011206075249660108,
+                  0.0009008270495606818
+                ],
+                "rod_tip_xy": [
+                  0.2767917331449008,
+                  -0.38800424004731676
+                ],
+                "target_mouth_xy": [
+                  0.2779123406698668,
+                  -0.38890506709687744
+                ],
+                "gripper_position": [
+                  0.27680230238097986,
+                  -0.3880845303805083,
+                  1.0019092989180023
+                ],
+                "rod_tip_xy_dist": 0.001437793656346644,
+                "target_xy_drift": 2.4742175698735025e-08,
+                "depth": 0.018826093493994667,
+                "bottom_clearance": 0.08061446975501696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0011100370999739262,
+                  0.0008205313150789761
+                ],
+                "rod_tip_xy": [
+                  0.2768023023809799,
+                  -0.3880845303805082
+                ],
+                "target_mouth_xy": [
+                  0.27791233948095384,
+                  -0.3889050616955872
+                ],
+                "gripper_position": [
+                  0.2767915029375288,
+                  -0.388093672506552,
+                  1.0017546489772138
+                ],
+                "rod_tip_xy_dist": 0.0013803818320826155,
+                "target_xy_drift": 2.9948262251928075e-08,
+                "depth": 0.019350606527420378,
+                "bottom_clearance": 0.08009003865005526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0011208386122525948,
+                  0.0008113945891928265
+                ],
+                "rod_tip_xy": [
+                  0.2767915029375288,
+                  -0.38809367250655197
+                ],
+                "target_mouth_xy": [
+                  0.2779123415497814,
+                  -0.3889050670957448
+                ],
+                "gripper_position": [
+                  0.27678337109247253,
+                  -0.38809669403439095,
+                  1.0016188607378318
+                ],
+                "rod_tip_xy_dist": 0.0013837053060849764,
+                "target_xy_drift": 2.4901675152269722e-08,
+                "depth": 0.019505206964237964,
+                "bottom_clearance": 0.07993538486769258,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0011289672438408171,
+                  0.0008083686210311192
+                ],
+                "rod_tip_xy": [
+                  0.27678337109247253,
+                  -0.3880966940343909
+                ],
+                "target_mouth_xy": [
+                  0.27791233833631335,
+                  -0.388905062655422
+                ],
+                "gripper_position": [
+                  0.27677525529759195,
+                  -0.3880998080047814,
+                  1.0014827283200214
+                ],
+                "rod_tip_xy_dist": 0.0013885340705698526,
+                "target_xy_drift": 2.8903261892363353e-08,
+                "depth": 0.019641062858097524,
+                "bottom_clearance": 0.07979959266161074,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0011371143344224288,
+                  0.0008052584585497291
+                ],
+                "rod_tip_xy": [
+                  0.27677525529759195,
+                  -0.38809980800478133
+                ],
+                "target_mouth_xy": [
+                  0.2779123696320144,
+                  -0.38890506646333106
+                ],
+                "gripper_position": [
+                  0.276786822431353,
+                  -0.38817408640788825,
+                  1.000873300040551
+                ],
+                "rod_tip_xy_dist": 0.001393366496875409,
+                "target_xy_drift": 4.1420222775473064e-08,
+                "depth": 0.01977713729522168,
+                "bottom_clearance": 0.07966343524002706,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1546,
+              "stir_motion_end_frame": 1565,
+              "rod_tip_xy_path_length": 0.0005977733262868436,
+              "rod_tip_xy_max_step": 3.232523960421614e-05,
+              "rod_tip_xy_range": 0.0005977610030772995,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2763278451087248,
+            -0.38949335321504214,
+            1.0435002190674436
+          ],
+          "object_origin_world": [
+            0.2763278451087248,
+            -0.38949335321504214,
+            1.0435002190674436
+          ],
+          "frame_world": [
+            0.27632652828185034,
+            -0.3895020233428429,
+            1.0433771979905238
+          ],
+          "center_minus_frame": [
+            1.316826874486754e-06,
+            8.670127800758376e-06,
+            0.0001230210769198603
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26178371496897096,
+              0.13833068656271563,
+              0.8329090124449332
+            ],
+            "target_position": [
+              0.2743117416809003,
+              0.18390194876450877,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04726194443692932,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16761146205173943,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8329090124449332,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670794101404,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13808862351224122,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22270863475146216,
+              -0.12450359382683085,
+              1.047034103812142
+            ],
+            "current_z": 1.047034103812142,
+            "required_z": 0.8565862974959323,
+            "initial_z": 0.7565862974959323,
+            "lift_margin": 0.19044780631620972,
+            "gripper_z": 1.0509920343593735,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2184601479166411,
+              -0.1288972100823788,
+              1.0509920343593735
+            ],
+            "object_minus_gripper": [
+              0.004248486834821069,
+              0.004393616255547961,
+              -0.003957930547231481
+            ],
+            "object_to_gripper_xy": 0.00611175131911167,
+            "object_to_gripper_z": -0.003957930547231481,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22270863475146216,
+              -0.14835224674853326,
+              1.047034103812142
+            ],
+            "finger_b": [
+              0.2116904648135438,
+              -0.12450359382683085,
+              1.047034103812142
+            ],
+            "finger_midpoint": [
+              0.217199549782503,
+              -0.13642792028768205,
+              1.047034103812142
+            ],
+            "object_minus_finger_midpoint": [
+              0.00550908496895916,
+              0.011924326460851203,
+              0.0
+            ],
+            "finger_gap": 0.026270864374067945,
+            "fingertip_max_gap": 0.09444403254762182,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013135432187033967,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047034103812142,
+            "object_top_z": 1.0937292178002191,
+            "finger_top_clearance": 0.04669511398807713,
+            "fingertip_min_top_clearance": 0.01400853419642314,
+            "object_projection_between_fingers": 0.8240982305809567,
+            "object_to_finger_line_xy": 0.010002278834080917,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04972201627381091,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7994094374732779,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22843519877248197,
+              -0.1241389714345199,
+              1.2463168098801236
+            ],
+            "held_position": [
+              0.23303787162623582,
+              -0.11991159118363182,
+              1.242583520763804
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007279614605891658,
+            "max_held_gripper_dist": 0.007282555999240326,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003733289116319538,
+            "max_held_gripper_z_dist": 0.00396770566124327,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620438907612463,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23303787162623582,
+              -0.14460655164958086,
+              1.242583520763804
+            ],
+            "held_grasp_finger_b": [
+              0.22453549746426602,
+              -0.11991159118363182,
+              1.242583520763804
+            ],
+            "held_grasp_midpoint": [
+              0.22878668454525092,
+              -0.13225907141660634,
+              1.242583520763804
+            ],
+            "held_grasp_object_position": [
+              0.23303787162623582,
+              -0.11991159118363182,
+              1.242583520763804
+            ],
+            "held_grasp_finger_gap": 0.02611764611914554,
+            "held_grasp_max_gap": 0.12496604532003402,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02402116750257069,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0685391396995051,
+              -0.996313112019791,
+              -0.051600088630654004
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034555636768905263,
+            "held_grasp_line_xy_max_dist": 0.04748302266001701,
+            "held_grasp_object_top_z": 0.045200761407613754,
+            "held_grasp_top_clearance": 0.032607432245863696,
+            "held_grasp_min_top_clearance": 0.013560228422284127
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1790353056663887,
+              -0.12712339061427802,
+              0.7565864249868901
+            ],
+            "target_position": [
+              0.19671922225700608,
+              -0.12956415337114974,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01785156096309913,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2070470752304543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864249868901,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550286576658431,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08961032540976537,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18041177619372908,
+            "release_required_pad_clearance": 0.054805162704882684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.663922174673948,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b9f3659ad12fd695df8fe1437880afbc1d3f00330acbf8c5a8b5408312c9d17",
+    "visual_seed": 7674976029108978380,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0763ac89ad0190709a8690bb8436bc245dc34cce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_50_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2555115946940866,
+              -0.0038792952569881092,
+              1.1618006945639636
+            ],
+            "current_z": 1.1618006945639636,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30069394813061856,
+            "gripper_z": 1.1551691296546607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.250472424038337,
+              -0.008764948264691305,
+              1.1551691296546607
+            ],
+            "object_minus_gripper": [
+              0.0050391706557495475,
+              0.004885653007703196,
+              0.006631564909302945
+            ],
+            "object_to_gripper_xy": 0.007018749618660478,
+            "object_to_gripper_z": 0.006631564909302945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2555115946940866,
+              -0.0278559002738422,
+              1.1618006945639636
+            ],
+            "finger_b": [
+              0.24434741388784711,
+              -0.0038792952569881092,
+              1.1618006945639636
+            ],
+            "finger_midpoint": [
+              0.24992950429096683,
+              -0.015867597765415152,
+              1.1618006945639636
+            ],
+            "object_minus_finger_midpoint": [
+              0.005582090403119744,
+              0.011988302508427043,
+              0.0
+            ],
+            "finger_gap": 0.026448374642095464,
+            "fingertip_max_gap": 0.09117510843341284,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013224187321047735,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1618006945639636,
+            "object_top_z": 1.2118028407625974,
+            "finger_top_clearance": 0.050002146198633746,
+            "fingertip_min_top_clearance": 0.015000643859590122,
+            "object_projection_between_fingers": 0.8218213161584061,
+            "object_to_finger_line_xy": 0.010120816766634382,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808755421670642,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6200358437314768,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 340,
+            "max_stable_success_frames": 340,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2798026722980944,
+              -0.3892983233923887,
+              0.8515395692463206
+            ],
+            "target_position": [
+              0.2717250247126858,
+              -0.3904026459638132,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008152785956703115,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18383798313333521,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395692463206,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516655865832593,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539256303812622,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15274282230892752,
+            "release_required_pad_clearance": 0.05269628151906311,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44762356195705083,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008353888988494873,
+            "max_z_decrease": 0.008353888988494873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498872436325431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008353888988494873,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020938070790789343,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008353888988494873,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008353986506672276,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.127424955368042,
+              -0.44666409492492676,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.127424955368042,
+              -0.44666409492492676,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1274027915122203,
+              -0.44667274260372997,
+              0.8036525578998737
+            ],
+            "closest_button": [
+              0.12744979560375214,
+              -0.4466371536254883,
+              0.7686638832092285
+            ],
+            "closest_ee_minus_button": [
+              -4.700409153182705e-05,
+              -3.5588978241685165e-05,
+              0.03498867469064515
+            ],
+            "button_min_z_position": [
+              0.12745288014411926,
+              -0.4466349482536316,
+              0.7684549689292908
+            ],
+            "min_active_finger_to_button": 0.14584872444022953,
+            "closest_active_finger": [
+              -0.013441398739814758,
+              -0.43110066652297974,
+              0.8112567663192749
+            ],
+            "closest_active_finger_button": [
+              0.12742367386817932,
+              -0.4466637969017029,
+              0.7768086791038513
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14086507260799408,
+              0.015563130378723145,
+              0.034448087215423584
+            ],
+            "min_contact_pad_to_button": 0.020938070790789343,
+            "closest_contact_pad": [
+              0.12745288014411926,
+              -0.4478300763894382,
+              0.789358903419695
+            ],
+            "closest_contact_pad_button": [
+              0.12745288014411926,
+              -0.4466349482536316,
+              0.7684549689292908
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011951281358066335,
+              0.020903934490404175
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2729831340886664,
+              0.17607168148123964,
+              1.1029120349128605
+            ],
+            "current_z": 1.1029120349128605,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19300290517849794,
+            "gripper_z": 1.1029118640898314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27298304364726167,
+              0.176071754584696,
+              1.1029118640898314
+            ],
+            "object_minus_gripper": [
+              9.04414047542268e-08,
+              -7.310345637168147e-08,
+              1.7082302905535585e-07
+            ],
+            "object_to_gripper_xy": 1.1629171521395759e-07,
+            "object_to_gripper_z": 1.7082302905535585e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2729831340886664,
+              0.17607168148123964,
+              1.1029120349128605
+            ],
+            "finger_b": [
+              0.2729831340886664,
+              0.17607168148123964,
+              1.1029120349128605
+            ],
+            "finger_midpoint": [
+              0.2729831340886664,
+              0.17607168148123964,
+              1.1029120349128605
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029120349128605,
+            "object_top_z": 1.2279205415331402,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2729831340886664,
+            0.17607168148123964,
+            1.1029120349128607
+          ],
+          "object_origin_world": [
+            0.2729831340886664,
+            0.17607168148123964,
+            1.1029120349128607
+          ],
+          "frame_world": [
+            0.27298304364726167,
+            0.176071754584696,
+            1.1029118640898314
+          ],
+          "center_minus_frame": [
+            9.04414047542268e-08,
+            -7.310345637168147e-08,
+            1.7082302927740045e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433593202754872,
+            "required_z": 0.9112597799491466,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019852882148717913,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.423950732359967e-08,
+            "max_target_xy_drift": 9.815129013354612e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4476235615955328,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4476235620368454,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27806100450998217,
+              -0.3883391189171974,
+              0.9234826328731215
+            ],
+            "target_mouth_xy": [
+              0.27980264254414267,
+              -0.3892982872410664
+            ],
+            "rod_tip_z": 0.9234826328731215,
+            "rod_tip_depth": -0.022222750543812286,
+            "rod_tip_bottom_clearance": 0.12166337668208371,
+            "rod_tip_xy_dist": 0.0019882924622771432,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04504271756505418,
+            "min_rod_tip_bottom_clearance": 0.05439780915801917,
+            "min_rod_tip_xy_dist": 0.0009816398251138168,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2798026716808988,
+              -0.3892983205304559
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9136756118930407e-08,
+              3.328938946722815e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0011986209252672353,
+                0.002682644973656223
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0012818878988341553,
+                0.002255532277968264
+              ],
+              "first_target_mouth_xy": [
+                0.27980263927740046,
+                -0.3892983230611172
+              ],
+              "last_target_mouth_xy": [
+                0.2798026726463899,
+                -0.38929826030657455
+              ],
+              "first_rod_tip_xy": [
+                0.2786040183521332,
+                -0.386615678087461
+              ],
+              "last_rod_tip_xy": [
+                0.27852078474755576,
+                -0.3870427280286063
+              ],
+              "min_rod_tip_xy_dist": 0.0025943520274114983,
+              "max_rod_tip_xy_dist": 0.00293824372324208,
+              "first_target_xy_drift": 3.2502168401687504e-08,
+              "last_target_xy_drift": 6.023162006065527e-08,
+              "max_depth": 0.019721507107426706,
+              "min_bottom_clearance": 0.07971902847215662
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0011986209252672353,
+                  0.002682644973656223
+                ],
+                "rod_tip_xy": [
+                  0.2786040183521332,
+                  -0.386615678087461
+                ],
+                "target_mouth_xy": [
+                  0.27980263927740046,
+                  -0.3892983230611172
+                ],
+                "gripper_position": [
+                  0.2786087694328465,
+                  -0.38668338443360367,
+                  1.0056415541363173
+                ],
+                "rod_tip_xy_dist": 0.00293824372324208,
+                "target_xy_drift": 3.2502168401687504e-08,
+                "depth": 0.015085867922140062,
+                "bottom_clearance": 0.08435481184892779,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0011939035451175584,
+                  0.002614908206822142
+                ],
+                "rod_tip_xy": [
+                  0.27860876943284646,
+                  -0.3866833844336036
+                ],
+                "target_mouth_xy": [
+                  0.279802672977964,
+                  -0.38929829264042576
+                ],
+                "gripper_position": [
+                  0.2785984113762391,
+                  -0.38669265434651945,
+                  1.0054855882415479
+                ],
+                "rod_tip_xy_dist": 0.002874569638250231,
+                "target_xy_drift": 2.7920174753061968e-08,
+                "depth": 0.01561822675829172,
+                "bottom_clearance": 0.08382233089868973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0012042313450446596,
+                  0.00260569885385481
+                ],
+                "rod_tip_xy": [
+                  0.278598411376239,
+                  -0.38669265434651945
+                ],
+                "target_mouth_xy": [
+                  0.27980264272128363,
+                  -0.38929835320037426
+                ],
+                "gripper_position": [
+                  0.2785907975238211,
+                  -0.3866963122204772,
+                  1.0053483851297615
+                ],
+                "rod_tip_xy_dist": 0.0028705120883508466,
+                "target_xy_drift": 4.3657563797396925e-08,
+                "depth": 0.015774265832329437,
+                "bottom_clearance": 0.08366630890482152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0012118436271835176,
+                  0.0026020054538896664
+                ],
+                "rod_tip_xy": [
+                  0.278590797523821,
+                  -0.3866963122204772
+                ],
+                "target_mouth_xy": [
+                  0.2798026411510045,
+                  -0.38929831767436684
+                ],
+                "gripper_position": [
+                  0.2785966825590195,
+                  -0.3867646565823286,
+                  1.0048174086535966
+                ],
+                "rod_tip_xy_dist": 0.0028703653702650597,
+                "target_xy_drift": 3.0663197636005986e-08,
+                "depth": 0.01591152810294083,
+                "bottom_clearance": 0.0835291285642944,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0012059610484766448,
+                  0.002533695982849249
+                ],
+                "rod_tip_xy": [
+                  0.2785966825590194,
+                  -0.3867646565823286
+                ],
+                "target_mouth_xy": [
+                  0.27980264360749607,
+                  -0.38929835256517786
+                ],
+                "gripper_position": [
+                  0.2785860880918656,
+                  -0.3867740175908156,
+                  1.004661314125962
+                ],
+                "rod_tip_xy_dist": 0.00280605726669099,
+                "target_xy_drift": 4.259506253844056e-08,
+                "depth": 0.0164424409736309,
+                "bottom_clearance": 0.08299814472587264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0012165517060648279,
+                  0.002524304203933181
+                ],
+                "rod_tip_xy": [
+                  0.27858608809186547,
+                  -0.38677401759081564
+                ],
+                "target_mouth_xy": [
+                  0.2798026397979303,
+                  -0.3892983217947488
+                ],
+                "gripper_position": [
+                  0.27857832820152917,
+                  -0.3867775603333106,
+                  1.0045242569114454
+                ],
+                "rod_tip_xy_dist": 0.002802161624090226,
+                "target_xy_drift": 3.1908025890625294e-08,
+                "depth": 0.016598592994885863,
+                "bottom_clearance": 0.08284202168792365,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.001224344150479062,
+                  0.0025207598841591183
+                ],
+                "rod_tip_xy": [
+                  0.2785783282015291,
+                  -0.3867775603333107
+                ],
+                "target_mouth_xy": [
+                  0.2798026723520082,
+                  -0.3892983202174698
+                ],
+                "gripper_position": [
+                  0.2785704060741129,
+                  -0.3867812191514949,
+                  1.0043871930427297
+                ],
+                "rod_tip_xy_dist": 0.0028023648928000417,
+                "target_xy_drift": 7.40505301085402e-10,
+                "depth": 0.016735568675825818,
+                "bottom_clearance": 0.08270494466196066,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.001232265991120307,
+                  0.0025171036043474815
+                ],
+                "rod_tip_xy": [
+                  0.2785704060741128,
+                  -0.3867812191514949
+                ],
+                "target_mouth_xy": [
+                  0.2798026720652331,
+                  -0.38929832275584236
+                ],
+                "gripper_position": [
+                  0.27857772444954476,
+                  -0.3868519791825282,
+                  1.0038563759778099
+                ],
+                "rod_tip_xy_dist": 0.002802550628961196,
+                "target_xy_drift": 2.25833077725476e-09,
+                "depth": 0.016872655441901308,
+                "bottom_clearance": 0.08256789767604256,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0012249173806538338,
+                  0.0024463384928722354
+                ],
+                "rod_tip_xy": [
+                  0.2785777244495447,
+                  -0.3868519791825282
+                ],
+                "target_mouth_xy": [
+                  0.27980264183019854,
+                  -0.38929831767540046
+                ],
+                "gripper_position": [
+                  0.27856718802016067,
+                  -0.38686114396802174,
+                  1.0037006359078429
+                ],
+                "rod_tip_xy_dist": 0.0027358718192079558,
+                "target_xy_drift": 2.998692459279352e-08,
+                "depth": 0.017403516622481408,
+                "bottom_clearance": 0.08203711408304726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0012354846278840315,
+                  0.002437209863754064
+                ],
+                "rod_tip_xy": [
+                  0.27856718802016056,
+                  -0.38686114396802174
+                ],
+                "target_mouth_xy": [
+                  0.2798026726480446,
+                  -0.3892983538317758
+                ],
+                "gripper_position": [
+                  0.27855916223790955,
+                  -0.3868645273605504,
+                  1.0035640065353477
+                ],
+                "rod_tip_xy_dist": 0.0027324740045822664,
+                "target_xy_drift": 3.33153610168698e-08,
+                "depth": 0.017559230473299325,
+                "bottom_clearance": 0.08188137179327148,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0012435090341421096,
+                  0.0024337903150200013
+                ],
+                "rod_tip_xy": [
+                  0.2785591622379095,
+                  -0.3868645273605503
+                ],
+                "target_mouth_xy": [
+                  0.2798026712720516,
+                  -0.3892983176755703
+                ],
+                "gripper_position": [
+                  0.27855116968778804,
+                  -0.38686799168673563,
+                  1.0034269657510808
+                ],
+                "rod_tip_xy_dist": 0.0027330660466732596,
+                "target_xy_drift": 2.884012399399355e-09,
+                "depth": 0.017695897002971805,
+                "bottom_clearance": 0.08174474745689453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0012515017701537623,
+                  0.0024303944715947656
+                ],
+                "rod_tip_xy": [
+                  0.2785511696877879,
+                  -0.3868679916867357
+                ],
+                "target_mouth_xy": [
+                  0.2798026714579417,
+                  -0.38929838615833046
+                ],
+                "gripper_position": [
+                  0.278559812980259,
+                  -0.3869403897696809,
+                  1.0028993348858282
+                ],
+                "rod_tip_xy_dist": 0.002733692368986752,
+                "target_xy_drift": 6.562825330336264e-08,
+                "depth": 0.017832968412666683,
+                "bottom_clearance": 0.08160774304908902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0012428592876245204,
+                  0.002357928226143502
+                ],
+                "rod_tip_xy": [
+                  0.27855981298025895,
+                  -0.3869403897696809
+                ],
+                "target_mouth_xy": [
+                  0.27980267226788347,
+                  -0.3892983179958244
+                ],
+                "gripper_position": [
+                  0.2785490083959009,
+                  -0.3869495588690969,
+                  1.002743693540127
+                ],
+                "rod_tip_xy_dist": 0.0026654314338355753,
+                "target_xy_drift": 2.6017124363177453e-09,
+                "depth": 0.01836053264214621,
+                "bottom_clearance": 0.08108006229056752,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0012536625929146505,
+                  0.0023487648338612055
+                ],
+                "rod_tip_xy": [
+                  0.27854900839590085,
+                  -0.3869495588690969
+                ],
+                "target_mouth_xy": [
+                  0.2798026709888155,
+                  -0.3892983237029581
+                ],
+                "gripper_position": [
+                  0.27854108415815254,
+                  -0.38695270579664076,
+                  1.0026071912602244
+                ],
+                "rod_tip_xy_dist": 0.002662398569271051,
+                "target_xy_drift": 3.247114027722675e-09,
+                "depth": 0.01851620464732917,
+                "bottom_clearance": 0.0809244237901533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0012615882235847975,
+                  0.0023456439099859283
+                ],
+                "rod_tip_xy": [
+                  0.2785410841581525,
+                  -0.38695270579664076
+                ],
+                "target_mouth_xy": [
+                  0.2798026723817373,
+                  -0.3892983497066267
+                ],
+                "gripper_position": [
+                  0.2785330392989953,
+                  -0.3869559569826736,
+                  1.0024705816330732
+                ],
+                "rod_tip_xy_dist": 0.0026633907333213276,
+                "target_xy_drift": 2.9184586991944254e-08,
+                "depth": 0.01865264013531387,
+                "bottom_clearance": 0.08078788543371218,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0012696335921874025,
+                  0.0023423660964261295
+                ],
+                "rod_tip_xy": [
+                  0.27853303929899526,
+                  -0.3869559569826736
+                ],
+                "target_mouth_xy": [
+                  0.27980267289118266,
+                  -0.38929832307909973
+                ],
+                "gripper_position": [
+                  0.2785249949184564,
+                  -0.3869590977970679,
+                  1.0023341833930524
+                ],
+                "rod_tip_xy_dist": 0.0026643288813690534,
+                "target_xy_drift": 2.8214132160002756e-09,
+                "depth": 0.018789269599146396,
+                "bottom_clearance": 0.08065130768048967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0012776738078607575,
+                  0.0023391926047490186
+                ],
+                "rod_tip_xy": [
+                  0.27852499491845634,
+                  -0.38695909779706783
+                ],
+                "target_mouth_xy": [
+                  0.2798026687263171,
+                  -0.38929829040181685
+                ],
+                "gripper_position": [
+                  0.27851681734298883,
+                  -0.38696224888144065,
+                  1.0021980065332035
+                ],
+                "rod_tip_xy_dist": 0.002665384100163784,
+                "target_xy_drift": 3.0273163737031907e-08,
+                "depth": 0.01892575169267774,
+                "bottom_clearance": 0.08051489894949126,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0012858539893178533,
+                  0.00233604376008556
+                ],
+                "rod_tip_xy": [
+                  0.2785168173429888,
+                  -0.3869622488814407
+                ],
+                "target_mouth_xy": [
+                  0.27980267133230663,
+                  -0.38929829264152627
+                ],
+                "gripper_position": [
+                  0.2785088528046134,
+                  -0.3869652359542332,
+                  1.0020616261462851
+                ],
+                "rod_tip_xy_dist": 0.002666556005577104,
+                "target_xy_drift": 2.7891108104378222e-08,
+                "depth": 0.019061799309888827,
+                "bottom_clearance": 0.08037877116572656,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001293818337919972,
+                  0.0023330864852162403
+                ],
+                "rod_tip_xy": [
+                  0.27850885280461335,
+                  -0.38696523595423316
+                ],
+                "target_mouth_xy": [
+                  0.2798026711425333,
+                  -0.3892983224394494
+                ],
+                "gripper_position": [
+                  0.2785207847475558,
+                  -0.3870427280286063,
+                  1.0015383263113138
+                ],
+                "rod_tip_xy_dist": 0.0026678190416586857,
+                "target_xy_drift": 1.9834549722603647e-09,
+                "depth": 0.019198245041603834,
+                "bottom_clearance": 0.08024233263775382,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0012818878988341553,
+                  0.002255532277968264
+                ],
+                "rod_tip_xy": [
+                  0.27852078474755576,
+                  -0.3870427280286063
+                ],
+                "target_mouth_xy": [
+                  0.2798026726463899,
+                  -0.38929826030657455
+                ],
+                "gripper_position": [
+                  0.27850998584686404,
+                  -0.3870515590895038,
+                  1.0013828776939204
+                ],
+                "rod_tip_xy_dist": 0.0025943520274114983,
+                "target_xy_drift": 6.023162006065527e-08,
+                "depth": 0.019721507107426706,
+                "bottom_clearance": 0.07971902847215662,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006009893413547394,
+              "rod_tip_xy_max_step": 3.259579300971046e-05,
+              "rod_tip_xy_range": 0.0006009828455628069,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27806100450998217,
+            -0.3883391189171974,
+            1.0434826328731215
+          ],
+          "object_origin_world": [
+            0.27806100450998217,
+            -0.3883391189171974,
+            1.0434826328731215
+          ],
+          "frame_world": [
+            0.278059712093086,
+            -0.3883477280693742,
+            1.0433593202754872
+          ],
+          "center_minus_frame": [
+            1.292416896170323e-06,
+            8.609152176763946e-06,
+            0.00012331259763431746
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2634313742072262,
+              0.1299284953549176,
+              0.8342354646939318
+            ],
+            "target_position": [
+              0.27309298481570377,
+              0.17679733406746123,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04785430766203055,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1679174684465261,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8342354646939318,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835676210694876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13659296437817536,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 221,
+            "max_placed_release_frames": 221
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2170860897885066,
+              -0.1312963996154256,
+              1.0463784887438343
+            ],
+            "current_z": 1.0463784887438343,
+            "required_z": 0.8565862869651575,
+            "initial_z": 0.7565862869651575,
+            "lift_margin": 0.18979220177867684,
+            "gripper_z": 1.0504608589372293,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21272313015434813,
+              -0.13564430117805293,
+              1.0504608589372293
+            ],
+            "object_minus_gripper": [
+              0.004362959634158475,
+              0.004347901562627321,
+              -0.0040823701933949685
+            ],
+            "object_to_gripper_xy": 0.006159518225282993,
+            "object_to_gripper_z": -0.0040823701933949685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2170860897885066,
+              -0.15542984135530813,
+              1.0463784887438343
+            ],
+            "finger_b": [
+              0.20638166406276998,
+              -0.1312963996154256,
+              1.0463784887438343
+            ],
+            "finger_midpoint": [
+              0.21173387692563828,
+              -0.14336312048536687,
+              1.0463784887438343
+            ],
+            "object_minus_finger_midpoint": [
+              0.005352212862868327,
+              0.012066720869941261,
+              0.0
+            ],
+            "finger_gap": 0.026400904157435897,
+            "fingertip_max_gap": 0.09310028239993137,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013200452078717955,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463784887438343,
+            "object_top_z": 1.0922257691633552,
+            "finger_top_clearance": 0.04584728041952091,
+            "fingertip_min_top_clearance": 0.01375418412585624,
+            "object_projection_between_fingers": 0.8356047953448228,
+            "object_to_finger_line_xy": 0.00978506770338029,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905014119996569,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8107015699176372,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22065830344737902,
+              -0.13213251043849794,
+              1.2427115328194087
+            ],
+            "held_position": [
+              0.22524494390290864,
+              -0.1278753928992034,
+              1.2387890404033224
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007385544473220971,
+            "max_held_gripper_dist": 0.007390584524092875,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003922492416086332,
+            "max_held_gripper_z_dist": 0.004096762661452091,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582755120434492,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22524494390290864,
+              -0.15256786570117828,
+              1.2387890404033224
+            ],
+            "held_grasp_finger_b": [
+              0.21651530866108593,
+              -0.1278753928992034,
+              1.2387890404033224
+            ],
+            "held_grasp_midpoint": [
+              0.22088012628199727,
+              -0.14022162930019083,
+              1.2387890404033224
+            ],
+            "held_grasp_object_position": [
+              0.22524494390290864,
+              -0.1278753928992034,
+              1.2387890404033224
+            ],
+            "held_grasp_finger_gap": 0.026190165034446457,
+            "held_grasp_max_gap": 0.12496582180261612,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02430291733366879,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038945732997448856,
+              -0.9979923669285579,
+              -0.049944623670883134
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00393002482412691,
+            "held_grasp_line_xy_max_dist": 0.04748291090130806,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.03270920148819666,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1754127167264624,
+              -0.13033300155992827,
+              0.7565863243894981
+            ],
+            "target_position": [
+              0.19140043026638726,
+              -0.13660009269760728,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01717216979774751,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20608537626034226,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863243894981,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541040513830015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09273014101826023,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18036767062338124,
+            "release_required_pad_clearance": 0.056365070509130116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.05732429331626,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7782b9a66bff6f5e22f31dd8b06bc32671dc17cbb25142d2ac5f939549c87790",
+    "visual_seed": 1281578388363245852,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 51,
+  "collection_result_filename": "episode_51_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67c25c3840639276f7cde8bb7d05677bac8b1db5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_53_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24662963493690584,
+              0.0049335761511490606,
+              1.1643617372277832
+            ],
+            "current_z": 1.1643617372277832,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.30325528881766206,
+            "gripper_z": 1.1577363304422608,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24173698972666244,
+              0.0001740300143689283,
+              1.1577363304422608
+            ],
+            "object_minus_gripper": [
+              0.004892645210243407,
+              0.004759546136780132,
+              0.006625406785522481
+            ],
+            "object_to_gripper_xy": 0.006825778825999011,
+            "object_to_gripper_z": 0.006625406785522481,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24662963493690584,
+              -0.01905678874473642,
+              1.1643617372277832
+            ],
+            "finger_b": [
+              0.2358040106965766,
+              0.0049335761511490606,
+              1.1643617372277832
+            ],
+            "finger_midpoint": [
+              0.24121682281674123,
+              -0.00706160629679368,
+              1.1643617372277832
+            ],
+            "object_minus_finger_midpoint": [
+              0.005412812120164617,
+              0.01199518244794274,
+              0.0
+            ],
+            "finger_gap": 0.02631979764417915,
+            "fingertip_max_gap": 0.09137376523455323,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013159898822089575,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1643617372277832,
+            "object_top_z": 1.2144331088737723,
+            "finger_top_clearance": 0.05007137164598907,
+            "fingertip_min_top_clearance": 0.015021411493796754,
+            "object_projection_between_fingers": 0.8308232002849716,
+            "object_to_finger_line_xy": 0.009867502754478012,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818688261727662,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7050963248007592,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 342,
+            "max_stable_success_frames": 342,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2833020152534923,
+              -0.3884614054395251,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.2750068082436282,
+              -0.3899531603413582,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008428273371435051,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836599984230535,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562525596043815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15148218606505143,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008421242237091064,
+            "max_z_decrease": 0.008421242237091064,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035076977677057496,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008421242237091064,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090621787731839,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008421242237091064,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008421270640058083,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13070672750473017,
+              -0.4462146162986756,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13070672750473017,
+              -0.4462146162986756,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13190762205441292,
+              -0.444346411951928,
+              0.8033954873242682
+            ],
+            "closest_button": [
+              0.13071048259735105,
+              -0.4461930692195893,
+              0.7683876156806946
+            ],
+            "closest_ee_minus_button": [
+              0.0011971394570618743,
+              0.0018466572676613113,
+              0.03500787164357366
+            ],
+            "button_min_z_position": [
+              0.13071048259735105,
+              -0.4461930692195893,
+              0.7683876156806946
+            ],
+            "min_active_finger_to_button": 0.14401941109281638,
+            "closest_active_finger": [
+              0.0051057711243629456,
+              -0.5077706575393677,
+              0.8104225397109985
+            ],
+            "closest_active_finger_button": [
+              0.13070610165596006,
+              -0.4462124705314637,
+              0.7761189341545105
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256003305315971,
+              -0.061558187007904,
+              0.03430360555648804
+            ],
+            "min_contact_pad_to_button": 0.02090621787731839,
+            "closest_contact_pad": [
+              0.13071048259735105,
+              -0.4461930692195893,
+              0.789293833558013
+            ],
+            "closest_contact_pad_button": [
+              0.13071048259735105,
+              -0.4461930692195893,
+              0.7683876156806946
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02090621787731839
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2773469276483566,
+              0.17387180120112272,
+              1.1125258569786967
+            ],
+            "current_z": 1.1125258569786967,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2026167272443341,
+            "gripper_z": 1.1125260929255212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27734684074588767,
+              0.1738719279684554,
+              1.1125260929255212
+            ],
+            "object_minus_gripper": [
+              8.690246894316189e-08,
+              -1.267673326865726e-07,
+              -2.3594682452277027e-07
+            ],
+            "object_to_gripper_xy": 1.5369448833606686e-07,
+            "object_to_gripper_z": -2.3594682452277027e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2773469276483566,
+              0.17387180120112272,
+              1.1125258569786967
+            ],
+            "finger_b": [
+              0.2773469276483566,
+              0.17387180120112272,
+              1.1125258569786967
+            ],
+            "finger_midpoint": [
+              0.2773469276483566,
+              0.17387180120112272,
+              1.1125258569786967
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1125258569786967,
+            "object_top_z": 1.2375343635989764,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 166,
+            "max_stable_success_frames": 166,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2773469276483566,
+            0.17387180120112272,
+            1.1125258569786967
+          ],
+          "object_origin_world": [
+            0.2773469276483566,
+            0.17387180120112272,
+            1.1125258569786967
+          ],
+          "frame_world": [
+            0.27734684074588767,
+            0.1738719279684554,
+            1.1125260929255212
+          ],
+          "center_minus_frame": [
+            8.690246894316189e-08,
+            -1.267673326865726e-07,
+            -2.3594682452277027e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433038955189053,
+            "required_z": 0.9112598185244666,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007920856779033064,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9802322387695312e-08,
+            "max_target_xy_drift": 1.3328003749250113e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.0,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2829113630616846,
+              -0.3891406301043071,
+              0.9234295282429806
+            ],
+            "target_mouth_xy": [
+              0.28330192584652514,
+              -0.3884612564279132
+            ],
+            "rod_tip_z": 0.9234295282429806,
+            "rod_tip_depth": -0.022169709718514063,
+            "rod_tip_bottom_clearance": 0.12161020849212667,
+            "rod_tip_xy_dist": 0.0007836375954989738,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044817768321141815,
+            "min_rod_tip_bottom_clearance": 0.05462273045247079,
+            "min_rod_tip_xy_dist": 9.616650453766904e-05,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.28330192584652514,
+              -0.38846128623023557
+            ],
+            "target_mouth_xy_delta_from_start": [
+              0.0,
+              2.9802322387695312e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0001116921748962052,
+                0.0011016363864724266
+              ],
+              "last_rod_tip_xy_delta": [
+                1.6437808868785542e-05,
+                0.0007358179637415585
+              ],
+              "first_target_mouth_xy": [
+                0.28330192584652514,
+                -0.38846128623023557
+              ],
+              "last_target_mouth_xy": [
+                0.28330186624188036,
+                -0.38846131603255796
+              ],
+              "first_rod_tip_xy": [
+                0.28341361802142134,
+                -0.38735964984376314
+              ],
+              "last_rod_tip_xy": [
+                0.28331830405074915,
+                -0.3877254980688164
+              ],
+              "min_rod_tip_xy_dist": 0.0007360015470942845,
+              "max_rod_tip_xy_dist": 0.0011072840059953319,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 6.664001874625056e-08,
+              "max_depth": 0.01937777076886782,
+              "min_bottom_clearance": 0.08006272800474479
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0001116921748962052,
+                  0.0011016363864724266
+                ],
+                "rod_tip_xy": [
+                  0.28341361802142134,
+                  -0.38735964984376314
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.38846128623023557
+                ],
+                "gripper_position": [
+                  0.2834059338241781,
+                  -0.38736355530716166,
+                  1.0060394443356702
+                ],
+                "rod_tip_xy_dist": 0.0011072840059953319,
+                "target_xy_drift": 0.0,
+                "depth": 0.015081040361901277,
+                "bottom_clearance": 0.08435945841171133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00010403777997541885,
+                  0.0010977607253963573
+                ],
+                "rod_tip_xy": [
+                  0.28340593382417817,
+                  -0.3873635553071616
+                ],
+                "target_mouth_xy": [
+                  0.28330189604420275,
+                  -0.38846131603255796
+                ],
+                "gripper_position": [
+                  0.2834131917032202,
+                  -0.38743413195927895,
+                  1.0055031522847953
+                ],
+                "rod_tip_xy_dist": 0.001102679676916624,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.015220433793441401,
+                "bottom_clearance": 0.0842200649801712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00011129565901751848,
+                  0.0010271244686341774
+                ],
+                "rod_tip_xy": [
+                  0.28341319170322027,
+                  -0.387434131959279
+                ],
+                "target_mouth_xy": [
+                  0.28330189604420275,
+                  -0.3884612564279132
+                ],
+                "gripper_position": [
+                  0.28340288333665525,
+                  -0.387443863227117,
+                  1.0053445247644075
+                ],
+                "rod_tip_xy_dist": 0.0010331366791393988,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.015756666239671535,
+                "bottom_clearance": 0.08368383253394107,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.000100987292452559,
+                  0.0010173633984738029
+                ],
+                "rod_tip_xy": [
+                  0.2834028833366553,
+                  -0.387443863227117
+                ],
+                "target_mouth_xy": [
+                  0.28330189604420275,
+                  -0.3884612266255908
+                ],
+                "gripper_position": [
+                  0.28339498046430955,
+                  -0.3874476941993185,
+                  1.0052050321714172
+                ],
+                "rod_tip_xy_dist": 0.0010223633002954793,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.015915353364703844,
+                "bottom_clearance": 0.08352514540890876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  9.305461778447155e-05,
+                  0.0010135324262722234
+                ],
+                "rod_tip_xy": [
+                  0.2833949804643096,
+                  -0.38744769419931857
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.3884612266255908
+                ],
+                "gripper_position": [
+                  0.28340307992106273,
+                  -0.3875192653163769,
+                  1.0046704668712314
+                ],
+                "rod_tip_xy_dist": 0.001017795235298473,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.016054786353049355,
+                "bottom_clearance": 0.08338571242056325,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00010121367918242141,
+                  0.0009420209138586433
+                ],
+                "rod_tip_xy": [
+                  0.2834030799210628,
+                  -0.3875192653163769
+                ],
+                "target_mouth_xy": [
+                  0.28330186624188036,
+                  -0.38846128623023557
+                ],
+                "gripper_position": [
+                  0.2833927425017393,
+                  -0.38752868532721685,
+                  1.0045122193630878
+                ],
+                "rod_tip_xy_dist": 0.0009474426689782952,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.016589411257879938,
+                "bottom_clearance": 0.08285108751573267,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  9.081665521420978e-05,
+                  0.0009325711006963333
+                ],
+                "rod_tip_xy": [
+                  0.28339274250173935,
+                  -0.38752868532721685
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.3884612564279132
+                ],
+                "gripper_position": [
+                  0.2833849243395419,
+                  -0.3875321243344365,
+                  1.0043727907199989
+                ],
+                "rod_tip_xy_dist": 0.0009369826693798916,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.0167475991613788,
+                "bottom_clearance": 0.0826928996122338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  8.305809766157024e-05,
+                  0.0009292215004438331
+                ],
+                "rod_tip_xy": [
+                  0.28338492433954193,
+                  -0.3875321243344365
+                ],
+                "target_mouth_xy": [
+                  0.28330186624188036,
+                  -0.38846134583488034
+                ],
+                "gripper_position": [
+                  0.28339373643217625,
+                  -0.3876046005003178,
+                  1.0038415243063838
+                ],
+                "rod_tip_xy_dist": 0.0009329261731103097,
+                "target_xy_drift": 8.429369702178807e-08,
+                "depth": 0.01688708740911249,
+                "bottom_clearance": 0.08255341136450012,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  9.181058565121969e-05,
+                  0.0008566857299177055
+                ],
+                "rod_tip_xy": [
+                  0.28339373643217636,
+                  -0.38760460050031786
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.38846128623023557
+                ],
+                "gripper_position": [
+                  0.2833831360232846,
+                  -0.38761427573076807,
+                  1.0036829127190967
+                ],
+                "rod_tip_xy_dist": 0.0008615913320607699,
+                "target_xy_drift": 0.0,
+                "depth": 0.01741829421808294,
+                "bottom_clearance": 0.08202220455552967,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  8.121017675949416e-05,
+                  0.0008469508948226734
+                ],
+                "rod_tip_xy": [
+                  0.28338313602328463,
+                  -0.3876142757307681
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.3884612266255908
+                ],
+                "gripper_position": [
+                  0.28337520048587833,
+                  -0.3876174002852584,
+                  1.0035436252393601
+                ],
+                "rod_tip_xy_dist": 0.0008508354194850115,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.017576905805369858,
+                "bottom_clearance": 0.08186359296824275,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  7.330444167563677e-05,
+                  0.0008439157472994729
+                ],
+                "rod_tip_xy": [
+                  0.2833752004858784,
+                  -0.3876174002852585
+                ],
+                "target_mouth_xy": [
+                  0.28330189604420275,
+                  -0.38846131603255796
+                ],
+                "gripper_position": [
+                  0.2833671784845117,
+                  -0.38762092527606806,
+                  1.0034045665073472
+                ],
+                "rod_tip_xy_dist": 0.0008470934598433662,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.01771619328510665,
+                "bottom_clearance": 0.08172430548850595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  6.528244030901131e-05,
+                  0.0008403609541675072
+                ],
+                "rod_tip_xy": [
+                  0.28336717848451176,
+                  -0.38762092527606806
+                ],
+                "target_mouth_xy": [
+                  0.28330189604420275,
+                  -0.38846128623023557
+                ],
+                "gripper_position": [
+                  0.28335906911317976,
+                  -0.3876243292701653,
+                  1.0032653276634347
+                ],
+                "rod_tip_xy_dist": 0.0008428928344113638,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01785525201711957,
+                "bottom_clearance": 0.08158524675649304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  5.714326665468006e-05,
+                  0.0008369271577477466
+                ],
+                "rod_tip_xy": [
+                  0.2833590691131798,
+                  -0.38762432927016544
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.3884612564279132
+                ],
+                "gripper_position": [
+                  0.2833702252287785,
+                  -0.38769980984066715,
+                  1.0027356811904335
+                ],
+                "rod_tip_xy_dist": 0.0008388756882278145,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01799449086103211,
+                "bottom_clearance": 0.0814460079125805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  6.83291845758327e-05,
+                  0.0007615061918907484
+                ],
+                "rod_tip_xy": [
+                  0.2833702252287786,
+                  -0.3876998098406672
+                ],
+                "target_mouth_xy": [
+                  0.28330189604420275,
+                  -0.38846131603255796
+                ],
+                "gripper_position": [
+                  0.2833593866622969,
+                  -0.38770925843358545,
+                  1.0025773449443751
+                ],
+                "rod_tip_xy_dist": 0.0007645656006862639,
+                "target_xy_drift": 4.2146848510894035e-08,
+                "depth": 0.018524196938678017,
+                "bottom_clearance": 0.08091630183493459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  5.746081577179263e-05,
+                  0.0007520575989725664
+                ],
+                "rod_tip_xy": [
+                  0.28335938666229693,
+                  -0.3877092584335854
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.38846131603255796
+                ],
+                "gripper_position": [
+                  0.2833513766272404,
+                  -0.3877124285533583,
+                  1.0024383804665202
+                ],
+                "rod_tip_xy_dist": 0.0007542495459206731,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.018682473580091674,
+                "bottom_clearance": 0.08075802519352093,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  4.9510385360107545e-05,
+                  0.0007488576768771571
+                ],
+                "rod_tip_xy": [
+                  0.28335137662724047,
+                  -0.3877124285533584
+                ],
+                "target_mouth_xy": [
+                  0.28330186624188036,
+                  -0.38846128623023557
+                ],
+                "gripper_position": [
+                  0.28334305642098123,
+                  -0.38771573906529094,
+                  1.0022990974757817
+                ],
+                "rod_tip_xy_dist": 0.0007504925705670636,
+                "target_xy_drift": 5.960464477539063e-08,
+                "depth": 0.018821497662591113,
+                "bottom_clearance": 0.0806190011110215,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  4.113057445614965e-05,
+                  0.0007455471649445711
+                ],
+                "rod_tip_xy": [
+                  0.2833430564209813,
+                  -0.387715739065291
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.38846128623023557
+                ],
+                "gripper_position": [
+                  0.2833348716388779,
+                  -0.38771890374130513,
+                  1.0021599042226133
+                ],
+                "rod_tip_xy_dist": 0.0007466808550592284,
+                "target_xy_drift": 0.0,
+                "depth": 0.01896072104868507,
+                "bottom_clearance": 0.08047977772492754,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  3.2975594675188624e-05,
+                  0.0007423228842856622
+                ],
+                "rod_tip_xy": [
+                  0.28333487163887794,
+                  -0.38771890374130513
+                ],
+                "target_mouth_xy": [
+                  0.28330189604420275,
+                  -0.3884612266255908
+                ],
+                "gripper_position": [
+                  0.2833266088610127,
+                  -0.3877221306342668,
+                  1.0020208744117247
+                ],
+                "rod_tip_xy_dist": 0.0007430549470788597,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.019099973906498313,
+                "bottom_clearance": 0.0803405248671143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  2.4683014487603128e-05,
+                  0.0007391257936464335
+                ],
+                "rod_tip_xy": [
+                  0.28332660886101274,
+                  -0.38772213063426675
+                ],
+                "target_mouth_xy": [
+                  0.28330192584652514,
+                  -0.3884612564279132
+                ],
+                "gripper_position": [
+                  0.2833183040507491,
+                  -0.3877254980688164,
+                  1.0018821073602437
+                ],
+                "rod_tip_xy_dist": 0.0007395378219115405,
+                "target_xy_drift": 2.9802322387695312e-08,
+                "depth": 0.01923894411274185,
+                "bottom_clearance": 0.08020155466087076,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  1.6437808868785542e-05,
+                  0.0007358179637415585
+                ],
+                "rod_tip_xy": [
+                  0.28331830405074915,
+                  -0.3877254980688164
+                ],
+                "target_mouth_xy": [
+                  0.28330186624188036,
+                  -0.38846131603255796
+                ],
+                "gripper_position": [
+                  0.28331012755212037,
+                  -0.3877287673885251,
+                  1.0017432526319905
+                ],
+                "rod_tip_xy_dist": 0.0007360015470942845,
+                "target_xy_drift": 6.664001874625056e-08,
+                "depth": 0.01937777076886782,
+                "bottom_clearance": 0.08006272800474479,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.000598564127183371,
+              "rod_tip_xy_max_step": 3.2419929216397826e-05,
+              "rod_tip_xy_range": 0.0005985569080346774,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2829113630616846,
+            -0.3891406301043071,
+            1.0434295282429806
+          ],
+          "object_origin_world": [
+            0.2829113630616846,
+            -0.3891406301043071,
+            1.0434295282429806
+          ],
+          "frame_world": [
+            0.2829099692155005,
+            -0.3891495657483029,
+            1.0433038955189053
+          ],
+          "center_minus_frame": [
+            1.393846184083447e-06,
+            8.935643995788833e-06,
+            0.00012563272407528636
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25857309522084265,
+              0.1326853750267979,
+              0.8332391276632732
+            ],
+            "target_position": [
+              0.26918424888274517,
+              0.17868902351533267,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04721156909374201,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16734336266239125,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332391276632732,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835678115308841,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1362501198638031,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2178843229388633,
+              -0.12366135516881396,
+              1.0474117856201315
+            ],
+            "current_z": 1.0474117856201315,
+            "required_z": 0.8565862943814891,
+            "initial_z": 0.7565862943814892,
+            "lift_margin": 0.19082549123864234,
+            "gripper_z": 1.0515305363686953,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21356158513033294,
+              -0.1279808153071733,
+              1.0515305363686953
+            ],
+            "object_minus_gripper": [
+              0.004322737808530375,
+              0.004319460138359349,
+              -0.004118750748563826
+            ],
+            "object_to_gripper_xy": 0.00611095721210461,
+            "object_to_gripper_z": -0.004118750748563826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2178843229388633,
+              -0.14778151818169727,
+              1.0474117856201315
+            ],
+            "finger_b": [
+              0.20727012582086035,
+              -0.12366135516881396,
+              1.0474117856201315
+            ],
+            "finger_midpoint": [
+              0.21257722437986182,
+              -0.1357214366752556,
+              1.0474117856201315
+            ],
+            "object_minus_finger_midpoint": [
+              0.005307098559001494,
+              0.012060081506441639,
+              0.0
+            ],
+            "finger_gap": 0.026352294856954797,
+            "fingertip_max_gap": 0.09216823830812815,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013176147428477392,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474117856201315,
+            "object_top_z": 1.092861226433542,
+            "finger_top_clearance": 0.04544944081341051,
+            "fingertip_min_top_clearance": 0.013634832244023154,
+            "object_projection_between_fingers": 0.8377676664727044,
+            "object_to_finger_line_xy": 0.009715137377097933,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048584119154064076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5683940978328303,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2234401796114556,
+              -0.12275883642556704,
+              1.2461447315190342
+            ],
+            "held_position": [
+              0.22801772662519115,
+              -0.11851157487349874,
+              1.242226404073748
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007372004973080191,
+            "max_held_gripper_dist": 0.007373500852106454,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003918327445286085,
+            "max_held_gripper_z_dist": 0.004132526718547469,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08587478781691515,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22801772662519115,
+              -0.1431921731795859,
+              1.242226404073748
+            ],
+            "held_grasp_finger_b": [
+              0.21939344103407488,
+              -0.11851157487349874,
+              1.242226404073748
+            ],
+            "held_grasp_midpoint": [
+              0.22370558382963301,
+              -0.13085187402654233,
+              1.242226404073748
+            ],
+            "held_grasp_object_position": [
+              0.22801772662519115,
+              -0.11851157487349874,
+              1.242226404073748
+            ],
+            "held_grasp_finger_gap": 0.02614402866246074,
+            "held_grasp_max_gap": 0.1249660900235176,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024209094222504265,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0461458918739793,
+              -0.9970207880581728,
+              -0.0618069967157031
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038163452113674045,
+            "held_grasp_line_xy_max_dist": 0.047483045011758804,
+            "held_grasp_object_top_z": 0.04520079866051674,
+            "held_grasp_top_clearance": 0.032698276198886635,
+            "held_grasp_min_top_clearance": 0.013560239598155022
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.1922638081710922,
+              -0.12927421466315145,
+              0.7565864653993997
+            ],
+            "target_position": [
+              0.19153818476174686,
+              -0.12853177948033773,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0010381422507872442,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21437315745471688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864653993997,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754368664511283,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08776843700442317,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1855501539083341,
+            "release_required_pad_clearance": 0.05388421850221159,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.777215485449897,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 198,
+            "max_placed_release_frames": 198
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8360b367fe7b46f3267548aaf0876a174dd4d93118f3de67640f7a956d04634f",
+    "visual_seed": 2633184992309710073,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 54,
+  "collection_result_filename": "episode_54_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a825c21ad4644f7bf147be1e2d0dbb22ba4d8c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_54_success.json
@@ -0,0 +1,2672 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2512278569454508,
+              -0.0021321021696526447,
+              1.164849682294904
+            ],
+            "current_z": 1.164849682294904,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.30374293586155876,
+            "gripper_z": 1.1583642203208877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24611642562739802,
+              -0.0070348704308252075,
+              1.1583642203208877
+            ],
+            "object_minus_gripper": [
+              0.005111431318052778,
+              0.004902768261172563,
+              0.006485461974016227
+            ],
+            "object_to_gripper_xy": 0.0070826454621089,
+            "object_to_gripper_z": 0.006485461974016227,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2512278569454508,
+              -0.026246392215229744,
+              1.164849682294904
+            ],
+            "finger_b": [
+              0.24015185528084937,
+              -0.0021321021696526447,
+              1.164849682294904
+            ],
+            "finger_midpoint": [
+              0.24568985611315008,
+              -0.014189247192441194,
+              1.164849682294904
+            ],
+            "object_minus_finger_midpoint": [
+              0.005538000832300716,
+              0.012057145022788549,
+              0.0
+            ],
+            "finger_gap": 0.02653632976273231,
+            "fingertip_max_gap": 0.09119325214241367,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013268164881366153,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164849682294904,
+            "object_top_z": 1.2148838996842102,
+            "finger_top_clearance": 0.050034217389306246,
+            "fingertip_min_top_clearance": 0.01501026521679184,
+            "object_projection_between_fingers": 0.8257854939998994,
+            "object_to_finger_line_xy": 0.010065066234615283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048096626071206836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5730466721588092,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28443492546317956,
+              -0.39394261232340433,
+              0.8515395893916965
+            ],
+            "target_position": [
+              0.27585134354031327,
+              -0.39562615225297126,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00874712440296828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18556158627985067,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395893916965,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757736565019566,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630089746860913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15297933488756663,
+            "release_required_pad_clearance": 0.053150448734304565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.325867051263391,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008227765560150146,
+            "max_z_decrease": 0.008227765560150146,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503192498659886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008227765560150146,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02086644091840173,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008227765560150146,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008227923696311715,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1315512657165527,
+              -0.45188760757446284,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1315512657165527,
+              -0.45188760757446284,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1322036649033305,
+              -0.4504261373161244,
+              0.8035783685347362
+            ],
+            "closest_button": [
+              0.1315938383340835,
+              -0.45185950398445124,
+              0.7685810923576355
+            ],
+            "closest_ee_minus_button": [
+              0.0006098265692469906,
+              0.0014333666683268298,
+              0.03499727617710069
+            ],
+            "button_min_z_position": [
+              0.1315938383340835,
+              -0.45185950398445124,
+              0.7685810923576355
+            ],
+            "min_active_finger_to_button": 0.14465257427851444,
+            "closest_active_finger": [
+              0.004426538944244385,
+              -0.5118208527565002,
+              0.8107401728630066
+            ],
+            "closest_active_finger_button": [
+              0.13155129551887507,
+              -0.4518860280513763,
+              0.7765132784843445
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12712475657463068,
+              -0.05993482470512396,
+              0.03422689437866211
+            ],
+            "min_contact_pad_to_button": 0.02086644091840173,
+            "closest_contact_pad": [
+              0.1315938383340835,
+              -0.45185950398445124,
+              0.7894475332760372
+            ],
+            "closest_contact_pad_button": [
+              0.1315938383340835,
+              -0.45185950398445124,
+              0.7685810923576355
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02086644091840173
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2727932693097667,
+              0.17588277955593615,
+              1.101066909569338
+            ],
+            "current_z": 1.101066909569338,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1911577798349754,
+            "gripper_z": 1.1010671733268944,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27279323782946385,
+              0.1758827378587119,
+              1.1010671733268944
+            ],
+            "object_minus_gripper": [
+              3.148030286448389e-08,
+              4.16972242567315e-08,
+              -2.6375755646235177e-07
+            ],
+            "object_to_gripper_xy": 5.2246224544514126e-08,
+            "object_to_gripper_z": -2.6375755646235177e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2727932693097667,
+              0.17588277955593615,
+              1.101066909569338
+            ],
+            "finger_b": [
+              0.2727932693097667,
+              0.17588277955593615,
+              1.101066909569338
+            ],
+            "finger_midpoint": [
+              0.2727932693097667,
+              0.17588277955593615,
+              1.101066909569338
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101066909569338,
+            "object_top_z": 1.2260754161896177,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2727932693097667,
+            0.17588277955593618,
+            1.101066909569338
+          ],
+          "object_origin_world": [
+            0.2727932693097667,
+            0.17588277955593618,
+            1.101066909569338
+          ],
+          "frame_world": [
+            0.27279323782946385,
+            0.1758827378587119,
+            1.1010671733268944
+          ],
+          "center_minus_frame": [
+            3.148030286448389e-08,
+            4.169722428448708e-08,
+            -2.6375755646235177e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436287112500278,
+            "required_z": 0.9112598498495721,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002055076658792948,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.925872325361415e-08,
+            "max_target_xy_drift": 1.5772068632351466e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.325867052329501,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.3258670524062017,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2824017432919241,
+              -0.3935137870743587,
+              0.9233349184721377
+            ],
+            "target_mouth_xy": [
+              0.2844348976300982,
+              -0.39394269752957456
+            ],
+            "rod_tip_z": 0.9233349184721377,
+            "rod_tip_depth": -0.02207506560113015,
+            "rod_tip_bottom_clearance": 0.12151563910844665,
+            "rod_tip_xy_dist": 0.0020779029672797038,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04511907872832943,
+            "min_rod_tip_bottom_clearance": 0.054321462881502414,
+            "min_rod_tip_xy_dist": 0.0012295556918496845,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.2844348980600682,
+              -0.3939426382724112
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.299700040455434e-10,
+              -5.925716334287401e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 388,
+              "end_frame": 407,
+              "first_rod_tip_xy_delta": [
+                -0.001472577950000109,
+                0.0022030443392391796
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015721920288127023,
+                0.0018192600887206867
+              ],
+              "first_target_mouth_xy": [
+                0.28443492771670886,
+                -0.39394269467939574
+              ],
+              "last_target_mouth_xy": [
+                0.284434895617449,
+                -0.39394266839479297
+              ],
+              "first_rod_tip_xy": [
+                0.28296234976670875,
+                -0.39173965034015656
+              ],
+              "last_rod_tip_xy": [
+                0.2828627035886363,
+                -0.3921234083060723
+              ],
+              "min_rod_tip_xy_dist": 0.002399040179393848,
+              "max_rod_tip_xy_dist": 0.0026498849370265717,
+              "first_target_xy_drift": 6.372804906593296e-08,
+              "last_target_xy_drift": 3.0221255289511495e-08,
+              "max_depth": 0.019415119018383442,
+              "min_bottom_clearance": 0.0800254896988245
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 388,
+                "rod_tip_xy_delta": [
+                  -0.001472577950000109,
+                  0.0022030443392391796
+                ],
+                "rod_tip_xy": [
+                  0.28296234976670875,
+                  -0.39173965034015656
+                ],
+                "target_mouth_xy": [
+                  0.28443492771670886,
+                  -0.39394269467939574
+                ],
+                "gripper_position": [
+                  0.28295232209213533,
+                  -0.3917492886653452,
+                  1.0060206915263308
+                ],
+                "rod_tip_xy_dist": 0.0026498849370265717,
+                "target_xy_drift": 6.372804906593296e-08,
+                "depth": 0.015079217996347372,
+                "bottom_clearance": 0.08436147061989374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0014826040887051528,
+                  0.0021934431284434397
+                ],
+                "rod_tip_xy": [
+                  0.2829523220921353,
+                  -0.3917492886653453
+                ],
+                "target_mouth_xy": [
+                  0.28443492618084043,
+                  -0.39394273179378875
+                ],
+                "gripper_position": [
+                  0.2829446003521841,
+                  -0.39175349143502675,
+                  1.0058800392409895
+                ],
+                "rod_tip_xy_dist": 0.0026475097056594486,
+                "target_xy_drift": 9.765769752066273e-08,
+                "depth": 0.015239191027078824,
+                "bottom_clearance": 0.08420141132598524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0014903255408694194,
+                  0.002189203267657036
+                ],
+                "rod_tip_xy": [
+                  0.2829446003521841,
+                  -0.3917534914350269
+                ],
+                "target_mouth_xy": [
+                  0.2844349258930535,
+                  -0.39394269470268395
+                ],
+                "gripper_position": [
+                  0.2829502306630167,
+                  -0.3918241776194505,
+                  1.0053448849039262
+                ],
+                "rod_tip_xy_dist": 0.002648335546128544,
+                "target_xy_drift": 6.292098816501736e-08,
+                "depth": 0.015379899421829157,
+                "bottom_clearance": 0.08406081246756114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0014846640268860178,
+                  0.0021185228047292393
+                ],
+                "rod_tip_xy": [
+                  0.2829502306630167,
+                  -0.39182417761945065
+                ],
+                "target_mouth_xy": [
+                  0.28443489468990274,
+                  -0.3939427004241799
+                ],
+                "gripper_position": [
+                  0.2829401572406891,
+                  -0.39183386455135394,
+                  1.0051852902864657
+                ],
+                "rod_tip_xy_dist": 0.0025869607934576916,
+                "target_xy_drift": 6.224307483509614e-08,
+                "depth": 0.015915019352692572,
+                "bottom_clearance": 0.08352558918688746,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.001494739971829362,
+                  0.0021088348822415615
+                ],
+                "rod_tip_xy": [
+                  0.2829401572406891,
+                  -0.39183386455135405
+                ],
+                "target_mouth_xy": [
+                  0.28443489721251847,
+                  -0.3939426994335956
+                ],
+                "gripper_position": [
+                  0.28293235889073237,
+                  -0.39183798023220395,
+                  1.0050451709192119
+                ],
+                "rod_tip_xy_dist": 0.002584846638379775,
+                "target_xy_drift": 6.116705663311718e-08,
+                "depth": 0.016074532513186468,
+                "bottom_clearance": 0.08336597045240424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015025379758726864,
+                  0.0021047189048830073
+                ],
+                "rod_tip_xy": [
+                  0.28293235889073237,
+                  -0.39183798023220406
+                ],
+                "target_mouth_xy": [
+                  0.28443489686660506,
+                  -0.39394269913708707
+                ],
+                "gripper_position": [
+                  0.2829246983284711,
+                  -0.3918417050877132,
+                  1.0049046969847355
+                ],
+                "rod_tip_xy_dist": 0.002586012768242167,
+                "target_xy_drift": 6.087637572356014e-08,
+                "depth": 0.016214667658390858,
+                "bottom_clearance": 0.08322585922572745,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.001510198542596597,
+                  0.002100994681721313
+                ],
+                "rod_tip_xy": [
+                  0.2829246983284711,
+                  -0.3918417050877133
+                ],
+                "target_mouth_xy": [
+                  0.2844348968710677,
+                  -0.39394269976943463
+                ],
+                "gripper_position": [
+                  0.28293167587155477,
+                  -0.39191511796388023,
+                  1.0043689633392667
+                ],
+                "rod_tip_xy_dist": 0.002587446287497023,
+                "target_xy_drift": 6.15085165769183e-08,
+                "depth": 0.01635513060972882,
+                "bottom_clearance": 0.08308537407895422,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00150322332341285,
+                  0.0020275801932828075
+                ],
+                "rod_tip_xy": [
+                  0.28293167587155477,
+                  -0.39191511796388023
+                ],
+                "target_mouth_xy": [
+                  0.2844348991949676,
+                  -0.39394269815716304
+                ],
+                "gripper_position": [
+                  0.28292124553646125,
+                  -0.39192500442691214,
+                  1.0042088434615706
+                ],
+                "rod_tip_xy_dist": 0.002524036806436293,
+                "target_xy_drift": 5.989550482022459e-08,
+                "depth": 0.016890949642108244,
+                "bottom_clearance": 0.08254965979960105,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015136528778412761,
+                  0.0020176953149211307
+                ],
+                "rod_tip_xy": [
+                  0.2829212455364612,
+                  -0.39192500442691225
+                ],
+                "target_mouth_xy": [
+                  0.2844348984143025,
+                  -0.3939426997418334
+                ],
+                "gripper_position": [
+                  0.282913370139532,
+                  -0.3919288111102519,
+                  1.0040684747952475
+                ],
+                "rod_tip_xy_dist": 0.0025223479970955353,
+                "target_xy_drift": 6.147044284056082e-08,
+                "depth": 0.017050975418542502,
+                "bottom_clearance": 0.08238954661848374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015215226155208539,
+                  0.0020138570017121937
+                ],
+                "rod_tip_xy": [
+                  0.282913370139532,
+                  -0.3919288111102519
+                ],
+                "target_mouth_xy": [
+                  0.28443489275505285,
+                  -0.3939426681119641
+                ],
+                "gripper_position": [
+                  0.2829056232812937,
+                  -0.391932429399744,
+                  1.0039280426893469
+                ],
+                "rod_tip_xy_dist": 0.002524014875726101,
+                "target_xy_drift": 3.030745955070631e-08,
+                "depth": 0.017191452282313113,
+                "bottom_clearance": 0.08224927883381894,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.001529303254669101,
+                  0.002010238984442969
+                ],
+                "rod_tip_xy": [
+                  0.2829056232812937,
+                  -0.39193242939974404
+                ],
+                "target_mouth_xy": [
+                  0.2844349265359628,
+                  -0.393942668384187
+                ],
+                "gripper_position": [
+                  0.2829138288329829,
+                  -0.39200807569723395,
+                  1.0033946226499018
+                ],
+                "rod_tip_xy_dist": 0.0025258323814766103,
+                "target_xy_drift": 4.144388512250358e-08,
+                "depth": 0.017331816304661518,
+                "bottom_clearance": 0.08210874891273823,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0015210999034656614,
+                  0.0019346567060913311
+                ],
+                "rod_tip_xy": [
+                  0.2829138288329829,
+                  -0.39200807569723406
+                ],
+                "target_mouth_xy": [
+                  0.28443492873644854,
+                  -0.3939427324033254
+                ],
+                "gripper_position": [
+                  0.2829034913228534,
+                  -0.3920175036213014,
+                  1.003235035000563
+                ],
+                "rod_tip_xy_dist": 0.002461024479103652,
+                "target_xy_drift": 9.900338031172219e-08,
+                "depth": 0.01786530989439472,
+                "bottom_clearance": 0.08157533048056165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015314033268349903,
+                  0.0019251958647336087
+                ],
+                "rod_tip_xy": [
+                  0.2829034913228534,
+                  -0.3920175036213015
+                ],
+                "target_mouth_xy": [
+                  0.2844348946496884,
+                  -0.3939426994860351
+                ],
+                "gripper_position": [
+                  0.2828955402363049,
+                  -0.39202114675719646,
+                  1.0030944225943397
+                ],
+                "rod_tip_xy_dist": 0.002459994972968169,
+                "target_xy_drift": 6.130855112015215e-08,
+                "depth": 0.01802480652545968,
+                "bottom_clearance": 0.08141579534547738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015393864216627362,
+                  0.0019215514329482541
+                ],
+                "rod_tip_xy": [
+                  0.2828955402363049,
+                  -0.39202114675719646
+                ],
+                "target_mouth_xy": [
+                  0.28443492665796766,
+                  -0.3939426981901447
+                ],
+                "gripper_position": [
+                  0.2828874337462014,
+                  -0.3920248975307698,
+                  1.0029540729072541
+                ],
+                "rod_tip_xy_dist": 0.002462127223492948,
+                "target_xy_drift": 6.63925797032448e-08,
+                "depth": 0.018165432565931172,
+                "bottom_clearance": 0.08127512773034817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001547495455990977,
+                  0.0019178339157543967
+                ],
+                "rod_tip_xy": [
+                  0.2828874337462014,
+                  -0.39202489753076997
+                ],
+                "target_mouth_xy": [
+                  0.2844349292021924,
+                  -0.39394273144652436
+                ],
+                "gripper_position": [
+                  0.2828792985519225,
+                  -0.3920289172399494,
+                  1.0028138807774405
+                ],
+                "rod_tip_xy_dist": 0.002464311083189491,
+                "target_xy_drift": 9.824076169176677e-08,
+                "depth": 0.01830584664030932,
+                "bottom_clearance": 0.08113477873138175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001555599418569975,
+                  0.0019137812537325383
+                ],
+                "rod_tip_xy": [
+                  0.2828792985519225,
+                  -0.3920289172399495
+                ],
+                "target_mouth_xy": [
+                  0.2844348979704925,
+                  -0.393942698493682
+                ],
+                "gripper_position": [
+                  0.28288996887411283,
+                  -0.3921066716724135,
+                  1.0022847261179069
+                ],
+                "rod_tip_xy_dist": 0.0024662619970703295,
+                "target_xy_drift": 6.022133742279117e-08,
+                "depth": 0.018445897662444977,
+                "bottom_clearance": 0.08099465335693778,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0015449259901982315,
+                  0.0018360268481573128
+                ],
+                "rod_tip_xy": [
+                  0.28288996887411283,
+                  -0.39210667167241353
+                ],
+                "target_mouth_xy": [
+                  0.28443489486431106,
+                  -0.39394269852057084
+                ],
+                "gripper_position": [
+                  0.28287922137312205,
+                  -0.3921164274916319,
+                  1.0021250348061057
+                ],
+                "rod_tip_xy_dist": 0.0023995397271861247,
+                "target_xy_drift": 6.033285673966082e-08,
+                "depth": 0.018975184936764866,
+                "bottom_clearance": 0.08046544212001072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0015556749334796893,
+                  0.0018262719632324842
+                ],
+                "rod_tip_xy": [
+                  0.28287922137312205,
+                  -0.392116427491632
+                ],
+                "target_mouth_xy": [
+                  0.28443489630660174,
+                  -0.3939426994548645
+                ],
+                "gripper_position": [
+                  0.2828710144022295,
+                  -0.3921198389339658,
+                  1.0019850833694994
+                ],
+                "rod_tip_xy_dist": 0.002399040179393848,
+                "target_xy_drift": 6.120757496329238e-08,
+                "depth": 0.01913481563230235,
+                "bottom_clearance": 0.08030572219327792,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015639125927856545,
+                  0.0018228611475133993
+                ],
+                "rod_tip_xy": [
+                  0.2828710144022295,
+                  -0.39211983893396596
+                ],
+                "target_mouth_xy": [
+                  0.28443492699501516,
+                  -0.39394270008147936
+                ],
+                "gripper_position": [
+                  0.2828627035886363,
+                  -0.3921234083060721,
+                  1.0018447742997663
+                ],
+                "rod_tip_xy_dist": 0.0024018004415411816,
+                "target_xy_drift": 6.824655345764208e-08,
+                "depth": 0.019274739252770567,
+                "bottom_clearance": 0.0801657625736838,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015721920288127023,
+                  0.0018192600887206867
+                ],
+                "rod_tip_xy": [
+                  0.2828627035886363,
+                  -0.3921234083060723
+                ],
+                "target_mouth_xy": [
+                  0.284434895617449,
+                  -0.39394266839479297
+                ],
+                "gripper_position": [
+                  0.2828546702335535,
+                  -0.3921268198460682,
+                  1.0017049962111935
+                ],
+                "rod_tip_xy_dist": 0.0024044739644825024,
+                "target_xy_drift": 3.0221255289511495e-08,
+                "depth": 0.019415119018383442,
+                "bottom_clearance": 0.0800254896988245,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006024986016134012,
+              "rod_tip_xy_max_step": 3.2657224537284805e-05,
+              "rod_tip_xy_range": 0.0006024929987284608,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2824017432919241,
+            -0.39351378707435863,
+            1.0433349184721377
+          ],
+          "object_origin_world": [
+            0.2824017432919241,
+            -0.39351378707435863,
+            1.0433349184721377
+          ],
+          "frame_world": [
+            0.28242586080962406,
+            -0.39351013409203656,
+            1.0436287112500278
+          ],
+          "center_minus_frame": [
+            -2.411751769998416e-05,
+            -3.652982322077669e-06,
+            -0.0002937927778901006
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2624091695783446,
+              0.12805239864911064,
+              0.8338417696680022
+            ],
+            "target_position": [
+              0.272895604611454,
+              0.1746682110531909,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.0477807417878378,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1683580055611004,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338417696680022,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671518260327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1386888040461528,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22033658308363255,
+              -0.1317387015807303,
+              1.0453189958441178
+            ],
+            "current_z": 1.0453189958441178,
+            "required_z": 0.8565863285946312,
+            "initial_z": 0.7565863285946313,
+            "lift_margin": 0.18873266724948656,
+            "gripper_z": 1.0491601165938989,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2161372510496649,
+              -0.13603903121927075,
+              1.0491601165938989
+            ],
+            "object_minus_gripper": [
+              0.004199332033967634,
+              0.004300329638540434,
+              -0.0038411207497810462
+            ],
+            "object_to_gripper_xy": 0.00601059269387105,
+            "object_to_gripper_z": -0.0038411207497810462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22033658308363255,
+              -0.1556928032987812,
+              1.0453189958441178
+            ],
+            "finger_b": [
+              0.2096175516113188,
+              -0.1317387015807303,
+              1.0453189958441178
+            ],
+            "finger_midpoint": [
+              0.21497706734747568,
+              -0.14371575243975576,
+              1.0453189958441178
+            ],
+            "object_minus_finger_midpoint": [
+              0.005359515736156867,
+              0.011977050859025451,
+              0.0
+            ],
+            "finger_gap": 0.0262430300236688,
+            "fingertip_max_gap": 0.09434558592837619,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013121515011834395,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0453189958441178,
+            "object_top_z": 1.0920064093108417,
+            "finger_top_clearance": 0.04668741346672389,
+            "fingertip_min_top_clearance": 0.014006224040017183,
+            "object_projection_between_fingers": 0.8331665474127276,
+            "object_to_finger_line_xy": 0.009784112961621209,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0496727929641881,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.77086205239827,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2247934435794111,
+              -0.13216183755566333,
+              1.2404573364523417
+            ],
+            "held_position": [
+              0.22925789108368205,
+              -0.12797665302941288,
+              1.2367954226099966
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071313865430164,
+            "max_held_gripper_dist": 0.007134224036504259,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036619138423450437,
+            "max_held_gripper_z_dist": 0.0038566274468525563,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08585220605740518,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22925789108368205,
+              -0.1525802253411913,
+              1.2367954226099966
+            ],
+            "held_grasp_finger_b": [
+              0.22077123608965138,
+              -0.12797665302941288,
+              1.2367954226099966
+            ],
+            "held_grasp_midpoint": [
+              0.22501456358666672,
+              -0.14027843918530208,
+              1.2367954226099966
+            ],
+            "held_grasp_object_position": [
+              0.22925789108368205,
+              -0.12797665302941288,
+              1.2367954226099966
+            ],
+            "held_grasp_finger_gap": 0.02602612309754597,
+            "held_grasp_max_gap": 0.12496594101190567,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024088138049859046,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05351252946256981,
+              -0.9975088216566296,
+              -0.04596259248258327
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036241526823050456,
+            "held_grasp_line_xy_max_dist": 0.047482970505952835,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.032702523930245406,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19122786199942823,
+              -0.12949513542963245,
+              0.756586330813334
+            ],
+            "target_position": [
+              0.19472698905691252,
+              -0.1368094033535632,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.008108169055185079,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21507863300635482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586330813334,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07603664551069506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09372953723617998,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1877210488662803,
+            "release_required_pad_clearance": 0.05686476861808999,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 9.206516961158057,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6d8e0f29c29ebb8351b11c4c916b8dbaa9b7c08efd22a90eab1a013840bcdf4",
+    "visual_seed": 8692052788948232630,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 55,
+  "collection_result_filename": "episode_55_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8e3cf95b7d0e852a74c7b16af1d7d53a00c184
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_55_success.json
@@ -0,0 +1,2678 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24953870914895204,
+              -0.004228219546351629,
+              1.1622167002543033
+            ],
+            "current_z": 1.1622167002543033,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.3011101922395375,
+            "gripper_z": 1.155864011589611,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24451477561079835,
+              -0.009324111282907457,
+              1.155864011589611
+            ],
+            "object_minus_gripper": [
+              0.0050239335381536965,
+              0.0050958917365558284,
+              0.006352688664692296
+            ],
+            "object_to_gripper_xy": 0.007155977975544887,
+            "object_to_gripper_z": 0.006352688664692296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24953870914895204,
+              -0.02819590200940914,
+              1.1622167002543033
+            ],
+            "finger_b": [
+              0.23805952547734827,
+              -0.004228219546351629,
+              1.1622167002543033
+            ],
+            "finger_midpoint": [
+              0.24379911731315015,
+              -0.016212060777880385,
+              1.1622167002543033
+            ],
+            "object_minus_finger_midpoint": [
+              0.005739591835801888,
+              0.011983841231528757,
+              0.0
+            ],
+            "finger_gap": 0.026574827570773986,
+            "fingertip_max_gap": 0.09099788422431948,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013287413785386995,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1622167002543033,
+            "object_top_z": 1.2122436111814383,
+            "finger_top_clearance": 0.05002691092713496,
+            "fingertip_min_top_clearance": 0.015008073278140454,
+            "object_projection_between_fingers": 0.813413121588339,
+            "object_to_finger_line_xy": 0.010353009006112657,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799894211215974,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4282312142027459,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2768936524841525,
+              -0.39393018108488886,
+              0.8515395240670396
+            ],
+            "target_position": [
+              0.2685082930681159,
+              -0.39568539110878165,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008567089048450877,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18317662374019555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395240670396,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591736961352032,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645202527497793,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15043137976111282,
+            "release_required_pad_clearance": 0.05322601263748897,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4734957933892883,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008487045764923096,
+            "max_z_decrease": 0.008487045764923096,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503231790771212,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008487045764923096,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02094535115694434,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008487045764923096,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008487164803270794,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12420821934938428,
+              -0.45194685459136963,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12420821934938428,
+              -0.45194685459136963,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.125667267056903,
+              -0.4515926065572347,
+              0.803518538452424
+            ],
+            "closest_button": [
+              0.1242367178201675,
+              -0.45191845297813416,
+              0.7685169577598572
+            ],
+            "closest_ee_minus_button": [
+              0.0014305492367355094,
+              0.00032584642089944493,
+              0.03500158069256687
+            ],
+            "button_min_z_position": [
+              0.12423849105834957,
+              -0.45191362500190735,
+              0.7683218121528625
+            ],
+            "min_active_finger_to_button": 0.1444767134558938,
+            "closest_active_finger": [
+              -0.015195056796073914,
+              -0.436037540435791,
+              0.8111042976379395
+            ],
+            "closest_active_finger_button": [
+              0.12421004474163053,
+              -0.451943576335907,
+              0.7766552567481995
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13940510153770444,
+              0.015906035900115967,
+              0.03444904088973999
+            ],
+            "min_contact_pad_to_button": 0.02094535115694434,
+            "closest_contact_pad": [
+              0.12423849105834957,
+              -0.45273998693431294,
+              0.7892508556342159
+            ],
+            "closest_contact_pad_button": [
+              0.12423849105834957,
+              -0.45191362500190735,
+              0.7683218121528625
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008263619324055949,
+              0.020929043481353382
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26946604979824834,
+              0.1833938834541705,
+              1.102527479163931
+            ],
+            "current_z": 1.102527479163931,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19261834942956846,
+            "gripper_z": 1.1025276376057485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2694661573062679,
+              0.18339391501310331,
+              1.1025276376057485
+            ],
+            "object_minus_gripper": [
+              -1.0750801954229061e-07,
+              -3.1558932828135156e-08,
+              -1.58441817443844e-07
+            ],
+            "object_to_gripper_xy": 1.120443684758689e-07,
+            "object_to_gripper_z": -1.58441817443844e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26946604979824834,
+              0.1833938834541705,
+              1.102527479163931
+            ],
+            "finger_b": [
+              0.26946604979824834,
+              0.1833938834541705,
+              1.102527479163931
+            ],
+            "finger_midpoint": [
+              0.26946604979824834,
+              0.1833938834541705,
+              1.102527479163931
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.102527479163931,
+            "object_top_z": 1.2275359857842107,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26946604979824834,
+            0.1833938834541705,
+            1.1025274791639312
+          ],
+          "object_origin_world": [
+            0.26946604979824834,
+            0.1833938834541705,
+            1.1025274791639312
+          ],
+          "frame_world": [
+            0.2694661573062679,
+            0.18339391501310331,
+            1.1025276376057485
+          ],
+          "center_minus_frame": [
+            -1.0750801954229061e-07,
+            -3.1558932828135156e-08,
+            -1.584418172217994e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1671,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433399205282088,
+            "required_z": 0.911259824198189,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017310189260358719,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.7753168015561822e-07,
+            "max_target_xy_drift": 1.0585823212709178e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4729645081609237,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.4734957939453857,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27564739556707035,
+              -0.3951214088992113,
+              0.9234639350167632
+            ],
+            "target_mouth_xy": [
+              0.27689366069589294,
+              -0.39393035946365074
+            ],
+            "rod_tip_z": 0.9234639350167632,
+            "rod_tip_depth": -0.022204022935225054,
+            "rod_tip_bottom_clearance": 0.12164464217588311,
+            "rod_tip_xy_dist": 0.001723883850283532,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04500298194392771,
+            "min_rod_tip_bottom_clearance": 0.05443755361355085,
+            "min_rod_tip_xy_dist": 0.0007873569404916874,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2768936554048589,
+              -0.3939301820108333
+            ],
+            "target_mouth_xy_delta_from_start": [
+              5.291034055332489e-09,
+              -1.774528174403045e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0007270743153188763,
+                0.0005862714740988983
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0008216405992245712,
+                0.00019631042178480662
+              ],
+              "first_target_mouth_xy": [
+                0.27689375185650944,
+                -0.3939304491688768
+              ],
+              "last_target_mouth_xy": [
+                0.27689365375236213,
+                -0.3939302108664712
+              ],
+              "first_rod_tip_xy": [
+                0.27616667754119056,
+                -0.3933441776947779
+              ],
+              "last_rod_tip_xy": [
+                0.27607201315313756,
+                -0.39373390044468637
+              ],
+              "min_rod_tip_xy_dist": 0.0008228140278432057,
+              "max_rod_tip_xy_dist": 0.0009393056767223245,
+              "first_target_xy_drift": 2.8403580956066205e-07,
+              "last_target_xy_drift": 2.8902916512390413e-08,
+              "max_depth": 0.019802445571627803,
+              "min_bottom_clearance": 0.07963807151200897
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0007270743153188763,
+                  0.0005862714740988983
+                ],
+                "rod_tip_xy": [
+                  0.27616667754119056,
+                  -0.3933441776947779
+                ],
+                "target_mouth_xy": [
+                  0.27689375185650944,
+                  -0.3939304491688768
+                ],
+                "gripper_position": [
+                  0.2761565499631697,
+                  -0.3933540147025503,
+                  1.0055768428883138
+                ],
+                "rod_tip_xy_dist": 0.0009339974846532018,
+                "target_xy_drift": 2.8403580956066205e-07,
+                "depth": 0.015526259157873645,
+                "bottom_clearance": 0.08391443945433996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0007371022839162134,
+                  0.0005761990481100154
+                ],
+                "rod_tip_xy": [
+                  0.27615654996316963,
+                  -0.3933540147025504
+                ],
+                "target_mouth_xy": [
+                  0.27689365224708584,
+                  -0.3939302137506604
+                ],
+                "gripper_position": [
+                  0.27614896024174374,
+                  -0.39335793058375645,
+                  1.0054393773299053
+                ],
+                "rod_tip_xy_dist": 0.0009355881145019885,
+                "target_xy_drift": 3.1896522614921155e-08,
+                "depth": 0.015683050470315485,
+                "bottom_clearance": 0.08375756190476069,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0007447305654049718,
+                  0.0005724260120525404
+                ],
+                "rod_tip_xy": [
+                  0.2761489602417437,
+                  -0.39335793058375657
+                ],
+                "target_mouth_xy": [
+                  0.27689369080714865,
+                  -0.3939303565958091
+                ],
+                "gripper_position": [
+                  0.2761561751359641,
+                  -0.39343144373255184,
+                  1.0049049788475397
+                ],
+                "rod_tip_xy_dist": 0.0009393056767223245,
+                "target_xy_drift": 1.7813824939943634e-07,
+                "depth": 0.015820542107401026,
+                "bottom_clearance": 0.08362010046448776,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0007375694992553528,
+                  0.0004987699778480348
+                ],
+                "rod_tip_xy": [
+                  0.276156175135964,
+                  -0.3934314437325519
+                ],
+                "target_mouth_xy": [
+                  0.2768937446352194,
+                  -0.39393021371039993
+                ],
+                "gripper_position": [
+                  0.27614580296350766,
+                  -0.39344124705097006,
+                  1.004748020979962
+                ],
+                "rod_tip_xy_dist": 0.0008903820848570128,
+                "target_xy_drift": 9.469382111899243e-08,
+                "depth": 0.016354817735659943,
+                "bottom_clearance": 0.08308578747008599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0007479135311488916,
+                  0.0004889958104006276
+                ],
+                "rod_tip_xy": [
+                  0.2761458029635076,
+                  -0.39344124705097006
+                ],
+                "target_mouth_xy": [
+                  0.2768937164946565,
+                  -0.3939302428613707
+                ],
+                "gripper_position": [
+                  0.2761381999637751,
+                  -0.3934451680064942,
+                  1.004610516923722
+                ],
+                "rod_tip_xy_dist": 0.0008935835454309633,
+                "target_xy_drift": 8.622500375303659e-08,
+                "depth": 0.01651195691806795,
+                "bottom_clearance": 0.08292869109745127,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0007554544535779972,
+                  0.000485044451131178
+                ],
+                "rod_tip_xy": [
+                  0.27613819996377503,
+                  -0.3934451680064942
+                ],
+                "target_mouth_xy": [
+                  0.27689365441735303,
+                  -0.3939302124576254
+                ],
+                "gripper_position": [
+                  0.2761459513552576,
+                  -0.393519604683113,
+                  1.0040787175034263
+                ],
+                "rod_tip_xy_dist": 0.0008977636387178845,
+                "target_xy_drift": 3.0462802173048814e-08,
+                "depth": 0.016649310328414546,
+                "bottom_clearance": 0.08279121946666945,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0007477959741218898,
+                  0.0004106384773783778
+                ],
+                "rod_tip_xy": [
+                  0.27614595135525755,
+                  -0.393519604683113
+                ],
+                "target_mouth_xy": [
+                  0.27689374732937944,
+                  -0.39393024316049136
+                ],
+                "gripper_position": [
+                  0.27613546785937393,
+                  -0.39352935127998295,
+                  1.003922290277366
+                ],
+                "rod_tip_xy_dist": 0.0008531253003026804,
+                "target_xy_drift": 1.1040560746321365e-07,
+                "depth": 0.017181274360036802,
+                "bottom_clearance": 0.08225942466768998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0007581862234279368,
+                  0.00040086022164165236
+                ],
+                "rod_tip_xy": [
+                  0.2761354678593739,
+                  -0.3935293512799829
+                ],
+                "target_mouth_xy": [
+                  0.2768936540828018,
+                  -0.39393021150162455
+                ],
+                "gripper_position": [
+                  0.27612773862397255,
+                  -0.39353289460474583,
+                  1.0037849664505945
+                ],
+                "rod_tip_xy_dist": 0.0008576335270326785,
+                "target_xy_drift": 2.952040995083325e-08,
+                "depth": 0.017337527820030285,
+                "bottom_clearance": 0.08210297668390232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0007659799802404721,
+                  0.0003973485453841463
+                ],
+                "rod_tip_xy": [
+                  0.27612773862397255,
+                  -0.39353289460474583
+                ],
+                "target_mouth_xy": [
+                  0.276893718604213,
+                  -0.39393024315013
+                ],
+                "gripper_position": [
+                  0.2761199280772811,
+                  -0.3935365466480781,
+                  1.0036473369589078
+                ],
+                "rod_tip_xy_dist": 0.0008629085679538076,
+                "target_xy_drift": 8.793276955842225e-08,
+                "depth": 0.01747503429025321,
+                "bottom_clearance": 0.08196570676115145,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.000773725271960346,
+                  0.0003936661386030327
+                ],
+                "rod_tip_xy": [
+                  0.27611992807728103,
+                  -0.39353654664807813
+                ],
+                "target_mouth_xy": [
+                  0.2768936533492414,
+                  -0.39393021278668117
+                ],
+                "gripper_position": [
+                  0.2761292222271065,
+                  -0.3936130182595282,
+                  1.0031181128716524
+                ],
+                "rod_tip_xy_dist": 0.0008681150990235878,
+                "target_xy_drift": 3.0844422112789e-08,
+                "depth": 0.017612505339891338,
+                "bottom_clearance": 0.08182803029928942,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0007644954821895422,
+                  0.00031722617426921396
+                ],
+                "rod_tip_xy": [
+                  0.2761292222271065,
+                  -0.3936130182595282
+                ],
+                "target_mouth_xy": [
+                  0.27689371770929605,
+                  -0.3939302444337974
+                ],
+                "gripper_position": [
+                  0.2761184428631951,
+                  -0.3936229261853695,
+                  1.002961543468585
+                ],
+                "rod_tip_xy_dist": 0.000827699092623462,
+                "target_xy_drift": 8.819563107864157e-08,
+                "depth": 0.0181418433821966,
+                "bottom_clearance": 0.08129890700273823,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0007752418059058797,
+                  0.00030731447315351934
+                ],
+                "rod_tip_xy": [
+                  0.27611844286319503,
+                  -0.39362292618536954
+                ],
+                "target_mouth_xy": [
+                  0.2768936846691009,
+                  -0.39393024065852306
+                ],
+                "gripper_position": [
+                  0.27611067180208543,
+                  -0.39362622539080494,
+                  1.0028243863767172
+                ],
+                "rod_tip_xy_dist": 0.0008339316776773951,
+                "target_xy_drift": 6.554347698874263e-08,
+                "depth": 0.018298292175985664,
+                "bottom_clearance": 0.0811422654549222,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0007830779787232345,
+                  0.00030401964948667537
+                ],
+                "rod_tip_xy": [
+                  0.2761106718020854,
+                  -0.39362622539080494
+                ],
+                "target_mouth_xy": [
+                  0.2768937497808086,
+                  -0.3939302450402916
+                ],
+                "gripper_position": [
+                  0.2761026851131906,
+                  -0.39363004755857933,
+                  1.0026873371380636
+                ],
+                "rod_tip_xy_dist": 0.0008400232544610104,
+                "target_xy_drift": 1.1348802801140931e-07,
+                "depth": 0.018435718863308304,
+                "bottom_clearance": 0.08100514183763974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0007909378094450026,
+                  0.0003001335282358242
+                ],
+                "rod_tip_xy": [
+                  0.2761026851131905,
+                  -0.39363004755857933
+                ],
+                "target_mouth_xy": [
+                  0.27689362292263553,
+                  -0.39393018108681516
+                ],
+                "gripper_position": [
+                  0.2760946762591665,
+                  -0.3936338030727457,
+                  1.002550134131132
+                ],
+                "rod_tip_xy_dist": 0.0008459685296634524,
+                "target_xy_drift": 3.249536341756013e-08,
+                "depth": 0.018572462598580697,
+                "bottom_clearance": 0.0808680941634724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0007990408687623685,
+                  0.0002964397747514669
+                ],
+                "rod_tip_xy": [
+                  0.2760946762591665,
+                  -0.39363380307274576
+                ],
+                "target_mouth_xy": [
+                  0.2768937171279289,
+                  -0.3939302428474972
+                ],
+                "gripper_position": [
+                  0.2760868186431805,
+                  -0.39363720602494545,
+                  1.0024126629072112
+                ],
+                "rod_tip_xy_dist": 0.0008522575021712751,
+                "target_xy_drift": 8.666508551184395e-08,
+                "depth": 0.01870978924706823,
+                "bottom_clearance": 0.08073088321046251,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0008068651165086815,
+                  0.00029303688472614997
+                ],
+                "rod_tip_xy": [
+                  0.27608681864318046,
+                  -0.39363720602494545
+                ],
+                "target_mouth_xy": [
+                  0.27689368375968915,
+                  -0.3939302429096716
+                ],
+                "gripper_position": [
+                  0.27609879859072317,
+                  -0.3937176444915085,
+                  1.0018873715035934
+                ],
+                "rod_tip_xy_dist": 0.0008584299226195316,
+                "target_xy_drift": 6.717637163557827e-08,
+                "depth": 0.018847171932840134,
+                "bottom_clearance": 0.08059336230069014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0007948830015094832,
+                  0.00021256513902057073
+                ],
+                "rod_tip_xy": [
+                  0.2760987985907231,
+                  -0.3937176444915085
+                ],
+                "target_mouth_xy": [
+                  0.2768936815922326,
+                  -0.39393020963052905
+                ],
+                "gripper_position": [
+                  0.2760880753042874,
+                  -0.39372702276563304,
+                  1.0017313209803473
+                ],
+                "rod_tip_xy_dist": 0.0008228140278432057,
+                "target_xy_drift": 3.806082152958541e-08,
+                "depth": 0.019372538276679507,
+                "bottom_clearance": 0.08006809903137635,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0008055797875869408,
+                  0.00020318999045865205
+                ],
+                "rod_tip_xy": [
+                  0.2760880753042874,
+                  -0.3937270227656331
+                ],
+                "target_mouth_xy": [
+                  0.27689365509187436,
+                  -0.39393021275609175
+                ],
+                "gripper_position": [
+                  0.27607997788043515,
+                  -0.3937305823173563,
+                  1.0015942560881221
+                ],
+                "rod_tip_xy_dist": 0.0008308098256467649,
+                "target_xy_drift": 3.074685148901483e-08,
+                "depth": 0.019528517221472197,
+                "bottom_clearance": 0.07991204949330444,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0008135833267655102,
+                  0.00019953887501689138
+                ],
+                "rod_tip_xy": [
+                  0.2760799778804351,
+                  -0.39373058231735636
+                ],
+                "target_mouth_xy": [
+                  0.2768935612072006,
+                  -0.39393012119237325
+                ],
+                "gripper_position": [
+                  0.2760720131531376,
+                  -0.39373390044468626,
+                  1.00145732274845
+                ],
+                "rod_tip_xy_dist": 0.0008376954054033252,
+                "target_xy_drift": 1.1212530449756046e-07,
+                "depth": 0.019665733157713694,
+                "bottom_clearance": 0.07977491682834636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0008216405992245712,
+                  0.00019631042178480662
+                ],
+                "rod_tip_xy": [
+                  0.27607201315313756,
+                  -0.39373390044468637
+                ],
+                "target_mouth_xy": [
+                  0.27689365375236213,
+                  -0.3939302108664712
+                ],
+                "gripper_position": [
+                  0.27608491183846195,
+                  -0.3938081808778365,
+                  1.000847132789836
+                ],
+                "rod_tip_xy_dist": 0.0008447668648777846,
+                "target_xy_drift": 2.8902916512390413e-08,
+                "depth": 0.019802445571627803,
+                "bottom_clearance": 0.07963807151200897,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1547,
+              "stir_motion_end_frame": 1566,
+              "rod_tip_xy_path_length": 0.0005980904344599691,
+              "rod_tip_xy_max_step": 3.255798551870092e-05,
+              "rod_tip_xy_range": 0.0005980818241638462,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27564739556707035,
+            -0.3951214088992113,
+            1.0434639350167632
+          ],
+          "object_origin_world": [
+            0.27564739556707035,
+            -0.3951214088992113,
+            1.0434639350167632
+          ],
+          "frame_world": [
+            0.27564621111050314,
+            -0.39513048281322993,
+            1.0433399205282088
+          ],
+          "center_minus_frame": [
+            1.1844565672158858e-06,
+            9.07391401860913e-06,
+            0.00012401448855436925
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25703223675017867,
+              0.13782351874445603,
+              0.8332492429861388
+            ],
+            "target_position": [
+              0.2695717822266739,
+              0.1835586758891693,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04742304081149488,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16657194746406356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332492429861388,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835677597185504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13650043799024839,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2224851612149726,
+              -0.1310824622413202,
+              1.0437316282870033
+            ],
+            "current_z": 1.0437316282870033,
+            "required_z": 0.8565863048753101,
+            "initial_z": 0.7565863048753101,
+            "lift_margin": 0.1871453234116932,
+            "gripper_z": 1.0481470343636048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21792104092347017,
+              -0.13550825201112587,
+              1.0481470343636048
+            ],
+            "object_minus_gripper": [
+              0.004564120291502438,
+              0.004425789769805677,
+              -0.0044154060766015135
+            ],
+            "object_to_gripper_xy": 0.006357578872638615,
+            "object_to_gripper_z": -0.0044154060766015135,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2224851612149726,
+              -0.1554460791131025,
+              1.0437316282870033
+            ],
+            "finger_b": [
+              0.21183573316570875,
+              -0.1310824622413202,
+              1.0437316282870033
+            ],
+            "finger_midpoint": [
+              0.21716044719034067,
+              -0.14326427067721134,
+              1.0437316282870033
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053247140246319435,
+              0.012181808435891145,
+              0.0
+            ],
+            "finger_gap": 0.02658939910662598,
+            "fingertip_max_gap": 0.09693281400552292,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013294699553312996,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0437316282870033,
+            "object_top_z": 1.0911277490021696,
+            "finger_top_clearance": 0.0473961207151663,
+            "fingertip_min_top_clearance": 0.014218836214549906,
+            "object_projection_between_fingers": 0.8395884919566596,
+            "object_to_finger_line_xy": 0.009757970981420946,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05096640700276146,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.878365140749061,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22824024974836374,
+              -0.12908630680139394,
+              1.2427180784788032
+            ],
+            "held_position": [
+              0.2329740423744845,
+              -0.12463610671591092,
+              1.2385169803296974
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007737073030957433,
+            "max_held_gripper_dist": 0.007744007289935006,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004201098149105853,
+            "max_held_gripper_z_dist": 0.004431680866850307,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608446564939418,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2329740423744845,
+              -0.14925361665097145,
+              1.2385169803296974
+            ],
+            "held_grasp_finger_b": [
+              0.22390918720332803,
+              -0.12463610671591092,
+              1.2385169803296974
+            ],
+            "held_grasp_midpoint": [
+              0.22844161478890626,
+              -0.1369448616834412,
+              1.2385169803296974
+            ],
+            "held_grasp_object_position": [
+              0.2329740423744845,
+              -0.12463610671591092,
+              1.2385169803296974
+            ],
+            "held_grasp_finger_gap": 0.026233440389640962,
+            "held_grasp_max_gap": 0.12496600806713104,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024507158363308853,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009398972723666374,
+              -0.9989783188746411,
+              -0.04420382031154801
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004450041451314464,
+            "held_grasp_line_xy_max_dist": 0.04748300403356552,
+            "held_grasp_object_top_z": 0.045200709253549576,
+            "held_grasp_top_clearance": 0.032861929745397464,
+            "held_grasp_min_top_clearance": 0.013560212776064872
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19028134163488236,
+              -0.1338858408233776,
+              0.7565869335796572
+            ],
+            "target_position": [
+              0.19578215058967302,
+              -0.13618322286098097,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005961280347694425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2106556897289997,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565869335796572,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535792021931376,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643867022934158,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18303458198390243,
+            "release_required_pad_clearance": 0.05321933511467079,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4601556900058565,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ef2e7246a7652ff4bfae36f716db4387ee5be995e9f572678c7658a88becd36",
+    "visual_seed": 8619876122350368336,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 56,
+  "collection_result_filename": "episode_56_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f952ab03abd55204970d469d1f2c7a75888701e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_56_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2523979413195382,
+              -0.002379230191354959,
+              1.1647696631443836
+            ],
+            "current_z": 1.1647696631443836,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.30366285710639385,
+            "gripper_z": 1.1581515343476272,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.247221398997402,
+              -0.00722265950428691,
+              1.1581515343476272
+            ],
+            "object_minus_gripper": [
+              0.005176542322136185,
+              0.004843429312931951,
+              0.006618128796756384
+            ],
+            "object_to_gripper_xy": 0.007089104169232919,
+            "object_to_gripper_z": 0.006618128796756384,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2523979413195382,
+              -0.026658551951902924,
+              1.1647696631443836
+            ],
+            "finger_b": [
+              0.24156326742484832,
+              -0.002379230191354959,
+              1.1647696631443836
+            ],
+            "finger_midpoint": [
+              0.24698060437219327,
+              -0.014518891071628941,
+              1.1647696631443836
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054173369473449196,
+              0.012139660880273982,
+              0.0
+            ],
+            "finger_gap": 0.0265871326689527,
+            "fingertip_max_gap": 0.09104672133035413,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013293566334476346,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1647696631443836,
+            "object_top_z": 1.2146864898237284,
+            "finger_top_clearance": 0.04991682667934483,
+            "fingertip_min_top_clearance": 0.014975048003803448,
+            "object_projection_between_fingers": 0.8339309568865159,
+            "object_to_finger_line_xy": 0.009894204724339202,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802336066517707,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6093680199988823,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 345,
+            "max_stable_success_frames": 345,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2821426005940041,
+              -0.39238101239035655,
+              0.8515395774061428
+            ],
+            "target_position": [
+              0.2742213868286946,
+              -0.39346161457093537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007994581201563959,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184100083161395,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395774061428,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520885897488101,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517289176269154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1529964231815871,
+            "release_required_pad_clearance": 0.05258644588134577,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23738813249716947,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008465886116027832,
+            "max_z_decrease": 0.008465886116027832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034992856736934703,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008465886116027832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020948113229564223,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008465886116027832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008466049827307033,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12992131710052485,
+              -0.44972306489944464,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12992131710052485,
+              -0.44972306489944464,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12904746528803338,
+              -0.4502209238668065,
+              0.8035863599446704
+            ],
+            "closest_button": [
+              0.1299548745155334,
+              -0.4496988654136658,
+              0.7686091661453247
+            ],
+            "closest_ee_minus_button": [
+              -0.0009074092275000167,
+              -0.0005220584531406836,
+              0.03497719379934572
+            ],
+            "button_min_z_position": [
+              0.1299641132354736,
+              -0.4496923983097077,
+              0.7683429718017578
+            ],
+            "min_active_finger_to_button": 0.14660886400621617,
+            "closest_active_finger": [
+              -0.011737905442714691,
+              -0.4341173470020294,
+              0.8110449910163879
+            ],
+            "closest_active_finger_button": [
+              0.1299224495887756,
+              -0.4497214555740357,
+              0.7766500115394592
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416603550314903,
+              0.015604108572006281,
+              0.03439497947692871
+            ],
+            "min_contact_pad_to_button": 0.020948113229564223,
+            "closest_contact_pad": [
+              0.1299641132354736,
+              -0.45140714118384423,
+              0.7892207854984609
+            ],
+            "closest_contact_pad_button": [
+              0.1299641132354736,
+              -0.4496923983097077,
+              0.7683429718017578
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017147428741365323,
+              0.02087781369670305
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2693930445088979,
+              0.18237622655286068,
+              1.1035133914042965
+            ],
+            "current_z": 1.1035133914042965,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19360426166993394,
+            "gripper_z": 1.1035136527506153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26939294384464585,
+              0.18237633597898037,
+              1.1035136527506153
+            ],
+            "object_minus_gripper": [
+              1.0066425204513507e-07,
+              -1.0942611969322336e-07,
+              -2.6134631880836423e-07
+            ],
+            "object_to_gripper_xy": 1.4868546435654738e-07,
+            "object_to_gripper_z": -2.6134631880836423e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2693930445088979,
+              0.18237622655286068,
+              1.1035133914042965
+            ],
+            "finger_b": [
+              0.2693930445088979,
+              0.18237622655286068,
+              1.1035133914042965
+            ],
+            "finger_midpoint": [
+              0.2693930445088979,
+              0.18237622655286068,
+              1.1035133914042965
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1035133914042965,
+            "object_top_z": 1.2285218980245762,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26939304450889795,
+            0.1823762265528607,
+            1.1035133914042967
+          ],
+          "object_origin_world": [
+            0.26939304450889795,
+            0.1823762265528607,
+            1.1035133914042967
+          ],
+          "frame_world": [
+            0.26939294384464585,
+            0.18237633597898037,
+            1.1035136527506153
+          ],
+          "center_minus_frame": [
+            1.0066425210064622e-07,
+            -1.0942611966546778e-07,
+            -2.613463185863196e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432944666858746,
+            "required_z": 0.9112598279856099,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007598915210570261,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.513391020122809e-08,
+            "max_target_xy_drift": 3.0337683905643667e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.23738813237434422,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.23738813361948535,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2813866519879773,
+              -0.39243532055015606,
+              0.9234205000466248
+            ],
+            "target_mouth_xy": [
+              0.2821425708098301,
+              -0.39238098575597335
+            ],
+            "rod_tip_z": 0.9234205000466248,
+            "rod_tip_depth": -0.022160620510644047,
+            "rod_tip_bottom_clearance": 0.12160122488347536,
+            "rod_tip_xy_dist": 0.0007578690751641501,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04483643349927846,
+            "min_rod_tip_bottom_clearance": 0.05460415872185698,
+            "min_rod_tip_xy_dist": 0.0005279019460803394,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.28214260261221935,
+              -0.3923809537297671
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.1802389277579834e-08,
+              -3.202620624254138e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0002753341063269632,
+                0.001786731705228417
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.000362332769987761,
+                0.001384809151524502
+              ],
+              "first_target_mouth_xy": [
+                0.2821426306409096,
+                -0.39238098416929784
+              ],
+              "last_target_mouth_xy": [
+                0.282142630098415,
+                -0.3923810155596148
+              ],
+              "first_rod_tip_xy": [
+                0.28186729653458265,
+                -0.3905942524640694
+              ],
+              "last_rod_tip_xy": [
+                0.28178029732842724,
+                -0.3909962064080903
+              ],
+              "min_rod_tip_xy_dist": 0.0014314263593887793,
+              "max_rod_tip_xy_dist": 0.0018078216329536813,
+              "first_target_xy_drift": 4.137840630789726e-08,
+              "last_target_xy_drift": 6.766403044725359e-08,
+              "max_depth": 0.019843347595966843,
+              "min_bottom_clearance": 0.07959726892470032
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0002753341063269632,
+                  0.001786731705228417
+                ],
+                "rod_tip_xy": [
+                  0.28186729653458265,
+                  -0.3905942524640694
+                ],
+                "target_mouth_xy": [
+                  0.2821426306409096,
+                  -0.39238098416929784
+                ],
+                "gripper_position": [
+                  0.28185715560657487,
+                  -0.3906041849269831,
+                  1.0055680523013324
+                ],
+                "rod_tip_xy_dist": 0.0018078216329536813,
+                "target_xy_drift": 4.137840630789726e-08,
+                "depth": 0.015532866042489157,
+                "bottom_clearance": 0.08390767284036516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.00028544540097097393,
+                  0.0017767327015831835
+                ],
+                "rod_tip_xy": [
+                  0.28185715560657476,
+                  -0.39060418492698323
+                ],
+                "target_mouth_xy": [
+                  0.28214260100754573,
+                  -0.3923809176285664
+                ],
+                "gripper_position": [
+                  0.28184935403973865,
+                  -0.3906081707503325,
+                  1.005428665633138
+                ],
+                "rod_tip_xy_dist": 0.0017995160932346667,
+                "target_xy_drift": 3.61368464184857e-08,
+                "depth": 0.015691873083474972,
+                "bottom_clearance": 0.08374883269155453,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0002932763771142932,
+                  0.0017727864735033183
+                ],
+                "rod_tip_xy": [
+                  0.28184935403973854,
+                  -0.3906081707503326
+                ],
+                "target_mouth_xy": [
+                  0.28214263041685284,
+                  -0.3923809572238359
+                ],
+                "gripper_position": [
+                  0.2818585578697087,
+                  -0.3906844611458775,
+                  1.0048930101706506
+                ],
+                "rod_tip_xy_dist": 0.0017968814412780874,
+                "target_xy_drift": 2.8023314580384504e-08,
+                "depth": 0.01583123658921637,
+                "bottom_clearance": 0.08360941309136027,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.000284074218433239,
+                  0.001696487854800588
+                ],
+                "rod_tip_xy": [
+                  0.2818585578697086,
+                  -0.3906844611458775
+                ],
+                "target_mouth_xy": [
+                  0.28214263208814183,
+                  -0.3923809490006781
+                ],
+                "gripper_position": [
+                  0.2818481741260965,
+                  -0.39069441048043346,
+                  1.0047343784050164
+                ],
+                "rod_tip_xy_dist": 0.0017201073231238673,
+                "target_xy_drift": 2.985287739799343e-08,
+                "depth": 0.01636688555125121,
+                "bottom_clearance": 0.08307378955306699,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.000294457642878887,
+                  0.001686545789272964
+                ],
+                "rod_tip_xy": [
+                  0.28184817412609636,
+                  -0.3906944104804335
+                ],
+                "target_mouth_xy": [
+                  0.28214263176897525,
+                  -0.3923809562697065
+                ],
+                "gripper_position": [
+                  0.28184046102553206,
+                  -0.3906980944960667,
+                  1.0045948414238657
+                ],
+                "rod_tip_xy_dist": 0.00171205782693347,
+                "target_xy_drift": 2.92671779734577e-08,
+                "depth": 0.0165254896011946,
+                "bottom_clearance": 0.08291512220170638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0003021709240181858,
+                  0.0016828297503497236
+                ],
+                "rod_tip_xy": [
+                  0.28184046102553195,
+                  -0.39069809449606674
+                ],
+                "target_mouth_xy": [
+                  0.28214263194955014,
+                  -0.39238092424641646
+                ],
+                "gripper_position": [
+                  0.28185032959375655,
+                  -0.3907751631838341,
+                  1.0040622332022875
+                ],
+                "rod_tip_xy_dist": 0.0017097436170327167,
+                "target_xy_drift": 4.15926308766233e-08,
+                "depth": 0.01666504812131675,
+                "bottom_clearance": 0.08277549182625099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0002923022654252039,
+                  0.001605820664738078
+                ],
+                "rod_tip_xy": [
+                  0.28185032959375644,
+                  -0.3907751631838341
+                ],
+                "target_mouth_xy": [
+                  0.28214263185918165,
+                  -0.3923809838485722
+                ],
+                "gripper_position": [
+                  0.281839871436089,
+                  -0.39078483725778684,
+                  1.0039035105412375
+                ],
+                "rod_tip_xy_dist": 0.0016322072851425915,
+                "target_xy_drift": 4.1982463265965834e-08,
+                "depth": 0.017197595968429846,
+                "bottom_clearance": 0.08224294040357094,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00030275932117129756,
+                  0.001596085725538654
+                ],
+                "rod_tip_xy": [
+                  0.2818398714360889,
+                  -0.3907848372577869
+                ],
+                "target_mouth_xy": [
+                  0.2821426307572602,
+                  -0.39238092298332555
+                ],
+                "gripper_position": [
+                  0.28183189241117645,
+                  -0.39078858524400223,
+                  1.0037638423293667
+                ],
+                "rod_tip_xy_dist": 0.0016245469675649138,
+                "target_xy_drift": 4.168317398196198e-08,
+                "depth": 0.017356380638864466,
+                "bottom_clearance": 0.08208413583217722,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00031073976597051356,
+                  0.0015923684862218512
+                ],
+                "rod_tip_xy": [
+                  0.28183189241117634,
+                  -0.3907885852440023
+                ],
+                "target_mouth_xy": [
+                  0.28214263217714686,
+                  -0.39238095373022414
+                ],
+                "gripper_position": [
+                  0.28182394248431064,
+                  -0.39079229167324503,
+                  1.0036247393825275
+                ],
+                "rod_tip_xy_dist": 0.0016224045728695047,
+                "target_xy_drift": 2.956492750969731e-08,
+                "depth": 0.017495983760818734,
+                "bottom_clearance": 0.08194455364393816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00031868989418160076,
+                  0.0015886611098673287
+                ],
+                "rod_tip_xy": [
+                  0.28182394248431053,
+                  -0.39079229167324503
+                ],
+                "target_mouth_xy": [
+                  0.28214263237849213,
+                  -0.39238095278311236
+                ],
+                "gripper_position": [
+                  0.2818353685455974,
+                  -0.390871173219008,
+                  1.0030949689189028
+                ],
+                "rod_tip_xy_dist": 0.0016203108870393892,
+                "target_xy_drift": 2.9781322174055434e-08,
+                "depth": 0.017635150312634296,
+                "bottom_clearance": 0.08180539971787859,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0003072639097235208,
+                  0.0015098103133149854
+                ],
+                "rod_tip_xy": [
+                  0.28183536854559726,
+                  -0.3908711732190081
+                ],
+                "target_mouth_xy": [
+                  0.2821426324553208,
+                  -0.3923809835323231
+                ],
+                "gripper_position": [
+                  0.28182471490459243,
+                  -0.3908808874138866,
+                  1.0029362269275035
+                ],
+                "rod_tip_xy_dist": 0.001540758998808989,
+                "target_xy_drift": 4.217585856966867e-08,
+                "depth": 0.01816491900237105,
+                "bottom_clearance": 0.0812756291230533,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.00031791707640049793,
+                  0.0015000964352881452
+                ],
+                "rod_tip_xy": [
+                  0.2818247149045924,
+                  -0.3908808874138866
+                ],
+                "target_mouth_xy": [
+                  0.2821426319809929,
+                  -0.39238098384917475
+                ],
+                "gripper_position": [
+                  0.28181665405631373,
+                  -0.3908845977247534,
+                  1.002796854009249
+                ],
+                "rod_tip_xy_dist": 0.0015334146805842314,
+                "target_xy_drift": 4.2067844900573e-08,
+                "depth": 0.018323603231794827,
+                "bottom_clearance": 0.0811169378619323,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00032597724342331436,
+                  0.0014963531648614081
+                ],
+                "rod_tip_xy": [
+                  0.2818166540563136,
+                  -0.39088459772475337
+                ],
+                "target_mouth_xy": [
+                  0.28214263129973693,
+                  -0.3923809508896148
+                ],
+                "gripper_position": [
+                  0.281808657994316,
+                  -0.390887994124961,
+                  1.0026577714601221
+                ],
+                "rod_tip_xy_dist": 0.0015314483201272627,
+                "target_xy_drift": 2.8827766656514032e-08,
+                "depth": 0.018463001506859977,
+                "bottom_clearance": 0.08097757524539217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0003339726197795767,
+                  0.0014929935362947844
+                ],
+                "rod_tip_xy": [
+                  0.2818086579943159,
+                  -0.390887994124961
+                ],
+                "target_mouth_xy": [
+                  0.2821426306140955,
+                  -0.3923809876612558
+                ],
+                "gripper_position": [
+                  0.28180060702572857,
+                  -0.3908915479228118,
+                  1.0025184137335252
+                ],
+                "rod_tip_xy_dist": 0.0015298913066556198,
+                "target_xy_drift": 4.399376082631528e-08,
+                "depth": 0.018602136128341384,
+                "bottom_clearance": 0.08083852866935082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0003420535151715254,
+                  0.0014894013934176886
+                ],
+                "rod_tip_xy": [
+                  0.28180060702572846,
+                  -0.3908915479228118
+                ],
+                "target_mouth_xy": [
+                  0.2821426605409,
+                  -0.39238094931622947
+                ],
+                "gripper_position": [
+                  0.28179246438274197,
+                  -0.39089512500569357,
+                  1.0023790176009975
+                ],
+                "rod_tip_xy_dist": 0.0015281744396356553,
+                "target_xy_drift": 5.809656921115448e-08,
+                "depth": 0.01874148015723709,
+                "bottom_clearance": 0.08069916084738249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00035016596475734296,
+                  0.0014858918248266684
+                ],
+                "rod_tip_xy": [
+                  0.28179246438274186,
+                  -0.39089512500569357
+                ],
+                "target_mouth_xy": [
+                  0.2821426303474992,
+                  -0.39238101683052024
+                ],
+                "gripper_position": [
+                  0.28178439029428615,
+                  -0.39089848064157356,
+                  1.0022397944634487
+                ],
+                "rod_tip_xy_dist": 0.0015265944837975693,
+                "target_xy_drift": 6.89271411929693e-08,
+                "depth": 0.018880886767034144,
+                "bottom_clearance": 0.0805597656420608,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0003582409247885332,
+                  0.0014824702478096752
+                ],
+                "rod_tip_xy": [
+                  0.28178439029428604,
+                  -0.3908984806415736
+                ],
+                "target_mouth_xy": [
+                  0.28214263121907457,
+                  -0.3923809508893833
+                ],
+                "gripper_position": [
+                  0.2817992185302165,
+                  -0.3909831094199173,
+                  1.0017140189365237
+                ],
+                "rod_tip_xy_dist": 0.0015251408445891884,
+                "target_xy_drift": 2.8747520687728294e-08,
+                "depth": 0.019020060419478013,
+                "bottom_clearance": 0.0804205132489727,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00034341200787546544,
+                  0.001397878242051065
+                ],
+                "rod_tip_xy": [
+                  0.2817992185302164,
+                  -0.3909831094199173
+                ],
+                "target_mouth_xy": [
+                  0.28214263053809185,
+                  -0.3923809876619684
+                ],
+                "gripper_position": [
+                  0.2817885370117074,
+                  -0.3909929230129891,
+                  1.0015556462750395
+                ],
+                "rod_tip_xy_dist": 0.0014394427347945572,
+                "target_xy_drift": 4.394597408374223e-08,
+                "depth": 0.01954589097644044,
+                "bottom_clearance": 0.07989477675770329,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0003540967079938562,
+                  0.0013880278774713872
+                ],
+                "rod_tip_xy": [
+                  0.2817885370117073,
+                  -0.39099292301298916
+                ],
+                "target_mouth_xy": [
+                  0.28214263371970116,
+                  -0.39238095089046054
+                ],
+                "gripper_position": [
+                  0.28178029732842735,
+                  -0.3909962064080903,
+                  1.0014165415746508
+                ],
+                "rod_tip_xy_dist": 0.0014324824142898966,
+                "target_xy_drift": 3.123679059236023e-08,
+                "depth": 0.01970428802375246,
+                "bottom_clearance": 0.07973638161070051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.000362332769987761,
+                  0.001384809151524502
+                ],
+                "rod_tip_xy": [
+                  0.28178029732842724,
+                  -0.3909962064080903
+                ],
+                "target_mouth_xy": [
+                  0.282142630098415,
+                  -0.3923810155596148
+                ],
+                "gripper_position": [
+                  0.28179522343075236,
+                  -0.3910730874675524,
+                  1.000806841307247
+                ],
+                "rod_tip_xy_dist": 0.0014314263593887793,
+                "target_xy_drift": 6.766403044725359e-08,
+                "depth": 0.019843347595966843,
+                "bottom_clearance": 0.07959726892470032,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005983773653376042,
+              "rod_tip_xy_max_step": 3.245118064685917e-05,
+              "rod_tip_xy_range": 0.0005983711622143177,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28138665198797735,
+            -0.39243532055015606,
+            1.0434205000466248
+          ],
+          "object_origin_world": [
+            0.28138665198797735,
+            -0.39243532055015606,
+            1.0434205000466248
+          ],
+          "frame_world": [
+            0.28138535128316755,
+            -0.39244465452551813,
+            1.0432944666858746
+          ],
+          "center_minus_frame": [
+            1.300704809803488e-06,
+            9.333975362069147e-06,
+            0.00012603336075023286
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2572051651038201,
+              0.13801649634754476,
+              0.834177543269103
+            ],
+            "target_position": [
+              0.26950226516881737,
+              0.18289850032262966,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04653614671229338,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16373582034390421,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.834177543269103,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673240761196,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13380980451122532,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22297356926460649,
+              -0.12812386996693184,
+              1.0478380510410699
+            ],
+            "current_z": 1.0478380510410699,
+            "required_z": 0.856586380081858,
+            "initial_z": 0.756586380081858,
+            "lift_margin": 0.19125167095921192,
+            "gripper_z": 1.051814790739348,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21862836718049433,
+              -0.13241606774809084,
+              1.051814790739348
+            ],
+            "object_minus_gripper": [
+              0.004345202084112154,
+              0.004292197781158996,
+              -0.003976739698278164
+            ],
+            "object_to_gripper_xy": 0.006107679014515974,
+            "object_to_gripper_z": -0.003976739698278164,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22297356926460649,
+              -0.1523766523896742,
+              1.0478380510410699
+            ],
+            "finger_b": [
+              0.21257170983767384,
+              -0.12812386996693184,
+              1.0478380510410699
+            ],
+            "finger_midpoint": [
+              0.21777263955114018,
+              -0.14025026117830303,
+              1.0478380510410699
+            ],
+            "object_minus_finger_midpoint": [
+              0.005200929713466307,
+              0.012126391211371185,
+              0.0
+            ],
+            "finger_gap": 0.026389318573668184,
+            "fingertip_max_gap": 0.09174043139799853,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013194659286834087,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478380510410699,
+            "object_top_z": 1.0933012862285048,
+            "finger_top_clearance": 0.04546323518743489,
+            "fingertip_min_top_clearance": 0.013638970556230434,
+            "object_projection_between_fingers": 0.8446305570442996,
+            "object_to_finger_line_xy": 0.009559702451925877,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837021569899927,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0568135777255776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23053103728522698,
+              -0.12560924017465236,
+              1.2438250930763841
+            ],
+            "held_position": [
+              0.23509047525164153,
+              -0.12129036620589229,
+              1.2401263730986123
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007288461868020187,
+            "max_held_gripper_dist": 0.00729303798528916,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003698719977771825,
+            "max_held_gripper_z_dist": 0.003986997561942207,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08555449474145033,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23509047525164153,
+              -0.14573772782355188,
+              1.2401263730986123
+            ],
+            "held_grasp_finger_b": [
+              0.2265449402475439,
+              -0.12129036620589229,
+              1.2401263730986123
+            ],
+            "held_grasp_midpoint": [
+              0.2308177077495927,
+              -0.13351404701472208,
+              1.2401263730986123
+            ],
+            "held_grasp_object_position": [
+              0.23509047525164153,
+              -0.12129036620589229,
+              1.2401263730986123
+            ],
+            "held_grasp_finger_gap": 0.025897869768976622,
+            "held_grasp_max_gap": 0.12496603786945343,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02392855002428612,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04772138717214483,
+              -0.9954593542409246,
+              -0.08236105427086059
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038218524497459962,
+            "held_grasp_line_xy_max_dist": 0.047483018934726715,
+            "held_grasp_object_top_z": 0.045200757682323456,
+            "held_grasp_top_clearance": 0.03282867788565673,
+            "held_grasp_min_top_clearance": 0.013560227304697036
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2000059095838394,
+              -0.13043771144963665,
+              0.7565862866997374
+            ],
+            "target_position": [
+              0.19594613820274542,
+              -0.132405784851989,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.004511657853139632,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21842626746223046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862866997374,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752562282221271,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501706531728874,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18997335271683152,
+            "release_required_pad_clearance": 0.05250853265864437,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08846901319018216,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c373081cad5c39d3df6dfd634502b96b7f5ff48710d002cdc24aa4281e904fb1",
+    "visual_seed": 8141625111392784712,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 57,
+  "collection_result_filename": "episode_57_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e50440cba7d6e2dbfbb7b02c094aa5c238757ff7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_58_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2523378764124484,
+              -0.0025826248811870976,
+              1.165429124136184
+            ],
+            "current_z": 1.165429124136184,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.30432231809819443,
+            "gripper_z": 1.1587308143558899,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24759512931655167,
+              -0.0075098858421847325,
+              1.1587308143558899
+            ],
+            "object_minus_gripper": [
+              0.004742747095896754,
+              0.004927260960997635,
+              0.006698309780294176
+            ],
+            "object_to_gripper_xy": 0.0068389729194820205,
+            "object_to_gripper_z": 0.006698309780294176,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2523378764124484,
+              -0.026518111631147798,
+              1.165429124136184
+            ],
+            "finger_b": [
+              0.241319084971966,
+              -0.0025826248811870976,
+              1.165429124136184
+            ],
+            "finger_midpoint": [
+              0.2468284806922072,
+              -0.014550368256167448,
+              1.165429124136184
+            ],
+            "object_minus_finger_midpoint": [
+              0.005509395720241228,
+              0.01196774337498035,
+              0.0
+            ],
+            "finger_gap": 0.02634997705438077,
+            "fingertip_max_gap": 0.09117559495424038,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317498852719039,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165429124136184,
+            "object_top_z": 1.2154190355811396,
+            "finger_top_clearance": 0.04998991144495557,
+            "fingertip_min_top_clearance": 0.01499697343348667,
+            "object_projection_between_fingers": 0.8251331675644972,
+            "object_to_finger_line_xy": 0.01000912205653705,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808779747712019,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5606031596020393,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 350,
+            "max_stable_success_frames": 350,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28067499433944276,
+              -0.3899246835794182,
+              0.8515395834656588
+            ],
+            "target_position": [
+              0.27257860745456514,
+              -0.39143020612138746,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00823517326557226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18456629051018075,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395834656588,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554013850012968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496538182215334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15251144865846314,
+            "release_required_pad_clearance": 0.05248269091107667,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956466255735695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008273661136627197,
+            "max_z_decrease": 0.008273661136627197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499589225779547,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008273661136627197,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020876471388125737,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008273661136627197,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00827381460597825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12827853858470917,
+              -0.4476916790008545,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12827853858470917,
+              -0.4476916790008545,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12737571888644314,
+              -0.4470502010438029,
+              0.8035127669756286
+            ],
+            "closest_button": [
+              0.12832371890544886,
+              -0.4476693570613861,
+              0.7685351967811584
+            ],
+            "closest_ee_minus_button": [
+              -0.0009480000190057181,
+              0.0006191560175832223,
+              0.03497757019447012
+            ],
+            "button_min_z_position": [
+              0.12832371890544886,
+              -0.4476693570613861,
+              0.7685351967811584
+            ],
+            "min_active_finger_to_button": 0.14636852153819666,
+            "closest_active_finger": [
+              -0.00043545663356781006,
+              -0.5083681344985962,
+              0.810497522354126
+            ],
+            "closest_active_finger_button": [
+              0.12827901542186734,
+              -0.44769030809402466,
+              0.7762261033058167
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12871447205543515,
+              -0.06067782640457153,
+              0.034271419048309326
+            ],
+            "min_contact_pad_to_button": 0.020876471388125737,
+            "closest_contact_pad": [
+              0.12832371890544886,
+              -0.44839702647373164,
+              0.7893989825077606
+            ],
+            "closest_contact_pad_button": [
+              0.12832371890544886,
+              -0.4476693570613861,
+              0.7685351967811584
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000727669412345533,
+              0.02086378572660219
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27307066989020584,
+              0.18391616418947904,
+              1.1041225070378546
+            ],
+            "current_z": 1.1041225070378546,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19421337730349209,
+            "gripper_z": 1.1041226375022442,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2730707327567664,
+              0.18391611383299988,
+              1.1041226375022442
+            ],
+            "object_minus_gripper": [
+              -6.286656056841977e-08,
+              5.035647915319075e-08,
+              -1.3046438951391792e-07
+            ],
+            "object_to_gripper_xy": 8.054799457719929e-08,
+            "object_to_gripper_z": -1.3046438951391792e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27307066989020584,
+              0.18391616418947904,
+              1.1041225070378546
+            ],
+            "finger_b": [
+              0.27307066989020584,
+              0.18391616418947904,
+              1.1041225070378546
+            ],
+            "finger_midpoint": [
+              0.27307066989020584,
+              0.18391616418947904,
+              1.1041225070378546
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1041225070378546,
+            "object_top_z": 1.2291310136581344,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2730706698902059,
+            0.18391616418947904,
+            1.1041225070378549
+          ],
+          "object_origin_world": [
+            0.2730706698902059,
+            0.18391616418947904,
+            1.1041225070378549
+          ],
+          "frame_world": [
+            0.2730707327567664,
+            0.18391611383299988,
+            1.1041226375022442
+          ],
+          "center_minus_frame": [
+            -6.286656051290862e-08,
+            5.035647915319075e-08,
+            -1.3046438929187332e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1672,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433554179804287,
+            "required_z": 0.9112598306978612,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002012780782324401,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.552511348931049e-08,
+            "max_target_xy_drift": 1.0793835747325926e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.039564675711913085,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.03956468204968086,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2797837476831731,
+              -0.38811191432515996,
+              0.9234793290826554
+            ],
+            "target_mouth_xy": [
+              0.2806749650874506,
+              -0.3899248022667059
+            ],
+            "rod_tip_z": 0.9234793290826554,
+            "rod_tip_depth": -0.022219496417329232,
+            "rod_tip_bottom_clearance": 0.12166000720842507,
+            "rod_tip_xy_dist": 0.002020106717549791,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04491040248875522,
+            "min_rod_tip_bottom_clearance": 0.054530134536483255,
+            "min_rod_tip_xy_dist": 0.0004244966412032002,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.280674995785019,
+              -0.3899247118083917
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.06975683761479e-08,
+              -9.04583141725368e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0003893064226665466,
+                0.003583712762421254
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0004637943609845374,
+                0.003146869995405921
+              ],
+              "first_target_mouth_xy": [
+                0.2806749938866774,
+                -0.3899247426538235
+              ],
+              "last_target_mouth_xy": [
+                0.2806749960807363,
+                -0.38992471468886175
+              ],
+              "first_rod_tip_xy": [
+                0.28028568746401084,
+                -0.38634102989140223
+              ],
+              "last_rod_tip_xy": [
+                0.2802112017197518,
+                -0.38677784469345583
+              ],
+              "min_rod_tip_xy_dist": 0.0031808640299873106,
+              "max_rod_tip_xy_dist": 0.003604796340193215,
+              "first_target_xy_drift": 3.090379202525921e-08,
+              "last_target_xy_drift": 2.895609837979265e-09,
+              "max_depth": 0.019699102071847552,
+              "min_bottom_clearance": 0.07974146395429305
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0003893064226665466,
+                  0.003583712762421254
+                ],
+                "rod_tip_xy": [
+                  0.28028568746401084,
+                  -0.38634102989140223
+                ],
+                "target_mouth_xy": [
+                  0.2806749938866774,
+                  -0.3899247426538235
+                ],
+                "gripper_position": [
+                  0.28029241135268473,
+                  -0.38641022982446416,
+                  1.005680683186982
+                ],
+                "rod_tip_xy_dist": 0.003604796340193215,
+                "target_xy_drift": 3.090379202525921e-08,
+                "depth": 0.015045335288254136,
+                "bottom_clearance": 0.08439521401771877,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0003825833574972459,
+                  0.003514483298121429
+                ],
+                "rod_tip_xy": [
+                  0.28029241135268473,
+                  -0.3864102298244642
+                ],
+                "target_mouth_xy": [
+                  0.280674994710182,
+                  -0.38992471312258564
+                ],
+                "gripper_position": [
+                  0.2802821810834669,
+                  -0.3864196714399273,
+                  1.0055236243694334
+                ],
+                "rod_tip_xy_dist": 0.003535245801667593,
+                "target_xy_drift": 1.6977574122384822e-09,
+                "depth": 0.015579159361916561,
+                "bottom_clearance": 0.08386136715391634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0003928143496193526,
+                  0.0035050411599372167
+                ],
+                "rod_tip_xy": [
+                  0.2802821810834669,
+                  -0.3864196714399272
+                ],
+                "target_mouth_xy": [
+                  0.28067499543308627,
+                  -0.38992471259986444
+                ],
+                "gripper_position": [
+                  0.28027440533779757,
+                  -0.3864233685697766,
+                  1.0053861806427642
+                ],
+                "rod_tip_xy_dist": 0.00352698407228058,
+                "target_xy_drift": 8.661903350854541e-10,
+                "depth": 0.01573619638866608,
+                "bottom_clearance": 0.0837043028257517,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00040059012149462614,
+                  0.0035013440308671595
+                ],
+                "rod_tip_xy": [
+                  0.28027440533779757,
+                  -0.3864233685697766
+                ],
+                "target_mouth_xy": [
+                  0.2806749954592922,
+                  -0.38992471260064376
+                ],
+                "gripper_position": [
+                  0.28028184552173985,
+                  -0.3864938257433479,
+                  1.004853787552972
+                ],
+                "rod_tip_xy_dist": 0.0035241853623111494,
+                "target_xy_drift": 8.565986412171909e-10,
+                "depth": 0.01587363930303065,
+                "bottom_clearance": 0.08356685887725679,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00039315135037931714,
+                  0.0034308889406762244
+                ],
+                "rod_tip_xy": [
+                  0.28028184552173985,
+                  -0.38649382574334784
+                ],
+                "target_mouth_xy": [
+                  0.28067499687211916,
+                  -0.38992471468402407
+                ],
+                "gripper_position": [
+                  0.2802714766307658,
+                  -0.3865029628645683,
+                  1.0046972018364981
+                ],
+                "rod_tip_xy_dist": 0.0034533414119602346,
+                "target_xy_drift": 3.074255713525794e-09,
+                "depth": 0.01640612521384177,
+                "bottom_clearance": 0.08303447126528052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0004035179124528554,
+                  0.003421750256849987
+                ],
+                "rod_tip_xy": [
+                  0.2802714766307658,
+                  -0.38650296286456837
+                ],
+                "target_mouth_xy": [
+                  0.28067499454321865,
+                  -0.38992471312141835
+                ],
+                "gripper_position": [
+                  0.2802635362499718,
+                  -0.3865065889644934,
+                  1.0045593860136073
+                ],
+                "rod_tip_xy_dist": 0.0034454610033961,
+                "target_xy_drift": 1.8072373927272881e-09,
+                "depth": 0.016562586205482233,
+                "bottom_clearance": 0.08287794674381532,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00041145672131903677,
+                  0.003418124917339671
+                ],
+                "rod_tip_xy": [
+                  0.2802635362499718,
+                  -0.38650658896449347
+                ],
+                "target_mouth_xy": [
+                  0.28067499297129084,
+                  -0.38992471388183314
+                ],
+                "gripper_position": [
+                  0.2802556288830005,
+                  -0.38651032741036756,
+                  1.0044216623950577
+                ],
+                "rod_tip_xy_dist": 0.0034428003985210853,
+                "target_xy_drift": 3.495171720888065e-09,
+                "depth": 0.016700523603480177,
+                "bottom_clearance": 0.08274009788051451,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.00041939568423626783,
+                  0.003414355910966893
+                ],
+                "rod_tip_xy": [
+                  0.28025562888300054,
+                  -0.38651032741036756
+                ],
+                "target_mouth_xy": [
+                  0.2806750245672368,
+                  -0.38992468332133445
+                ],
+                "gripper_position": [
+                  0.2802647275434549,
+                  -0.3865827519303503,
+                  1.003889560233474
+                ],
+                "rod_tip_xy_dist": 0.003440017300350475,
+                "target_xy_drift": 4.04960306093925e-08,
+                "depth": 0.016838118891232434,
+                "bottom_clearance": 0.08260240554190557,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0004102644397883104,
+                  0.003341932384138435
+                ],
+                "rod_tip_xy": [
+                  0.2802647275434549,
+                  -0.38658275193035035
+                ],
+                "target_mouth_xy": [
+                  0.2806749919832432,
+                  -0.3899246843144888
+                ],
+                "gripper_position": [
+                  0.28025412170002906,
+                  -0.3865920511814462,
+                  1.0037328251647675
+                ],
+                "rod_tip_xy_dist": 0.003367020785606769,
+                "target_xy_drift": 2.775550751733647e-08,
+                "depth": 0.017370324590019193,
+                "bottom_clearance": 0.08207034425759163,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00042090487945201094,
+                  0.0033326318768995278
+                ],
+                "rod_tip_xy": [
+                  0.28025412170002906,
+                  -0.3865920511814462
+                ],
+                "target_mouth_xy": [
+                  0.28067502657948107,
+                  -0.3899246830583457
+                ],
+                "gripper_position": [
+                  0.28024619028023007,
+                  -0.38659539601448095,
+                  1.0035953998722664
+                ],
+                "rod_tip_xy_dist": 0.0033591064503039167,
+                "target_xy_drift": 4.212913529979886e-08,
+                "depth": 0.01752705432555579,
+                "bottom_clearance": 0.08191347343257716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0004287739841695726,
+                  0.003329288083645021
+                ],
+                "rod_tip_xy": [
+                  0.28024619028023007,
+                  -0.38659539601448095
+                ],
+                "target_mouth_xy": [
+                  0.28067496426439964,
+                  -0.389924684098126
+                ],
+                "gripper_position": [
+                  0.2802379406212328,
+                  -0.3865991929603912,
+                  1.0034578129863947
+                ],
+                "rod_tip_xy_dist": 0.0033567851098039304,
+                "target_xy_drift": 4.196913474496444e-08,
+                "depth": 0.017664416717009135,
+                "bottom_clearance": 0.08177616260272835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.00043705521382547685,
+                  0.0033254906261936945
+                ],
+                "rod_tip_xy": [
+                  0.2802379406212328,
+                  -0.3865991929603912
+                ],
+                "target_mouth_xy": [
+                  0.2806749958350583,
+                  -0.3899246835865849
+                ],
+                "gripper_position": [
+                  0.28024842331992794,
+                  -0.38667317089906283,
+                  1.0029286793279686
+                ],
+                "rod_tip_xy_dist": 0.00335408782902806,
+                "target_xy_drift": 2.8221851197547037e-08,
+                "depth": 0.017802008540611647,
+                "bottom_clearance": 0.0816385012810601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0004265706868554764,
+                  0.0032515137176722386
+                ],
+                "rod_tip_xy": [
+                  0.28024842331992794,
+                  -0.3866731708990628
+                ],
+                "target_mouth_xy": [
+                  0.2806749940067834,
+                  -0.389924684616735
+                ],
+                "gripper_position": [
+                  0.2802377102258541,
+                  -0.3866825263588985,
+                  1.0027722596974349
+                ],
+                "rod_tip_xy_dist": 0.0032793755513961945,
+                "target_xy_drift": 2.7249739742136048e-08,
+                "depth": 0.018331208022431378,
+                "bottom_clearance": 0.0811093922678161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0004372866308821055,
+                  0.0032421556428963716
+                ],
+                "rod_tip_xy": [
+                  0.28023771022585414,
+                  -0.3866825263588984
+                ],
+                "target_mouth_xy": [
+                  0.28067499685673625,
+                  -0.38992468200179475
+                ],
+                "gripper_position": [
+                  0.28022957280505356,
+                  -0.38668589055132696,
+                  1.0026349434566355
+                ],
+                "rod_tip_xy_dist": 0.0032715123124195953,
+                "target_xy_drift": 2.982585792133356e-08,
+                "depth": 0.018487639130550404,
+                "bottom_clearance": 0.08095292907951834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.00044539186241493445,
+                  0.0032387932906466355
+                ],
+                "rod_tip_xy": [
+                  0.2802295728050536,
+                  -0.3866858905513269
+                ],
+                "target_mouth_xy": [
+                  0.28067496466746855,
+                  -0.38992468384197354
+                ],
+                "gripper_position": [
+                  0.28022146674412896,
+                  -0.3866890773412541,
+                  1.0024969697520534
+                ],
+                "rod_tip_xy_dist": 0.0032692745205386326,
+                "target_xy_drift": 4.1838050747605265e-08,
+                "depth": 0.018624856169176973,
+                "bottom_clearance": 0.0808156983014664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.000453529036506195,
+                  0.003235606766921195
+                ],
+                "rod_tip_xy": [
+                  0.28022146674412896,
+                  -0.3866890773412541
+                ],
+                "target_mouth_xy": [
+                  0.28067499578063515,
+                  -0.38992468410817527
+                ],
+                "gripper_position": [
+                  0.28021342713124,
+                  -0.3866922705710933,
+                  1.0023596989182249
+                ],
+                "rod_tip_xy_dist": 0.0032672373248817522,
+                "target_xy_drift": 2.7700216800821165e-08,
+                "depth": 0.018762860682253857,
+                "bottom_clearance": 0.08067766573587498,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0004615704146642696,
+                  0.0032324114218384437
+                ],
+                "rod_tip_xy": [
+                  0.28021342713124003,
+                  -0.3866922705710933
+                ],
+                "target_mouth_xy": [
+                  0.2806749975459043,
+                  -0.38992468199293173
+                ],
+                "gripper_position": [
+                  0.28020522793345626,
+                  -0.3866955332705857,
+                  1.0022220079618263
+                ],
+                "rod_tip_xy_dist": 0.00326519997055693,
+                "target_xy_drift": 2.9867413204644796e-08,
+                "depth": 0.018900205414390192,
+                "bottom_clearance": 0.08054038933315766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.00046976735610948506,
+                  0.0032291508371196653
+                ],
+                "rod_tip_xy": [
+                  0.28020522793345626,
+                  -0.38669553327058576
+                ],
+                "target_mouth_xy": [
+                  0.28067499528956574,
+                  -0.3899246841077054
+                ],
+                "gripper_position": [
+                  0.28019710016008537,
+                  -0.3866985560755101,
+                  1.0020844077017264
+                ],
+                "rod_tip_xy_dist": 0.0032631421203705995,
+                "target_xy_drift": 2.770511677317867e-08,
+                "depth": 0.019037830923617993,
+                "bottom_clearance": 0.08040270133208749,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.00047789575378565097,
+                  0.0032261259305730317
+                ],
+                "rod_tip_xy": [
+                  0.28019710016008537,
+                  -0.3866985560755101
+                ],
+                "target_mouth_xy": [
+                  0.280674995913871,
+                  -0.38992468200608316
+                ],
+                "gripper_position": [
+                  0.2802112017197518,
+                  -0.3867778446934559,
+                  1.0015607447794912
+                ],
+                "rod_tip_xy_dist": 0.003261329923727752,
+                "target_xy_drift": 2.980258711381743e-08,
+                "depth": 0.019175424020403953,
+                "bottom_clearance": 0.08026510794273334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004637943609845374,
+                  0.003146869995405921
+                ],
+                "rod_tip_xy": [
+                  0.2802112017197518,
+                  -0.38677784469345583
+                ],
+                "target_mouth_xy": [
+                  0.2806749960807363,
+                  -0.38992471468886175
+                ],
+                "gripper_position": [
+                  0.2802003968328327,
+                  -0.3867869653110922,
+                  1.0014043698114994
+                ],
+                "rod_tip_xy_dist": 0.0031808640299873106,
+                "target_xy_drift": 2.895609837979265e-09,
+                "depth": 0.019699102071847552,
+                "bottom_clearance": 0.07974146395429305,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005984523426716029,
+              "rod_tip_xy_max_step": 3.254997471012981e-05,
+              "rod_tip_xy_range": 0.0005984455368581562,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27978374768317316,
+            -0.38811191432515996,
+            1.0434793290826554
+          ],
+          "object_origin_world": [
+            0.27978374768317316,
+            -0.38811191432515996,
+            1.0434793290826554
+          ],
+          "frame_world": [
+            0.27978239197761373,
+            -0.38812075134688945,
+            1.0433554179804287
+          ],
+          "center_minus_frame": [
+            1.3557055594248801e-06,
+            8.837021729490857e-06,
+            0.00012391110222664814
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26318124108138113,
+              0.13669526589068204,
+              0.83396002531379
+            ],
+            "target_position": [
+              0.2731853568822862,
+              0.1837739394734949,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04812986431806099,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16692091768645095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.83396002531379,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674359991656,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1354756366893331,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 219,
+            "max_placed_release_frames": 219
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2237979417720795,
+              -0.13372358329483242,
+              1.0475061586449366
+            ],
+            "current_z": 1.0475061586449366,
+            "required_z": 0.8565863740111533,
+            "initial_z": 0.7565863740111534,
+            "lift_margin": 0.19091978463378323,
+            "gripper_z": 1.0512513891341755,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21971117547235824,
+              -0.13797955165050652,
+              1.0512513891341755
+            ],
+            "object_minus_gripper": [
+              0.004086766299721267,
+              0.0042559683556741,
+              -0.0037452304892389154
+            ],
+            "object_to_gripper_xy": 0.005900417394815113,
+            "object_to_gripper_z": -0.0037452304892389154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2237979417720795,
+              -0.15756053207656867,
+              1.0475061586449366
+            ],
+            "finger_b": [
+              0.2131098318887894,
+              -0.13372358329483242,
+              1.0475061586449366
+            ],
+            "finger_midpoint": [
+              0.21845388683043446,
+              -0.14564205768570054,
+              1.0475061586449366
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053440549416450545,
+              0.011918474390868128,
+              0.0
+            ],
+            "finger_gap": 0.026123472588850078,
+            "fingertip_max_gap": 0.0946915084616422,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013061736294425039,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475061586449366,
+            "object_top_z": 1.0941954104483578,
+            "finger_top_clearance": 0.046689251803421206,
+            "fingertip_min_top_clearance": 0.014006775541026362,
+            "object_projection_between_fingers": 0.8326059542705757,
+            "object_to_finger_line_xy": 0.009752605707186736,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049845754230821104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0221765135163516,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22899859822278582,
+              -0.133730112095237,
+              1.2430601775695012
+            ],
+            "held_position": [
+              0.23336389700001903,
+              -0.12958455126606053,
+              1.2395148265248386
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069864885337919316,
+            "max_held_gripper_dist": 0.00698939043248913,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035453510446625813,
+            "max_held_gripper_z_dist": 0.0037586834359177868,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08583751289737929,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23336389700001903,
+              -0.15407941042824938,
+              1.2395148265248386
+            ],
+            "held_grasp_finger_b": [
+              0.2249895179610667,
+              -0.12958455126606053,
+              1.2395148265248386
+            ],
+            "held_grasp_midpoint": [
+              0.22917670748054286,
+              -0.14183198084715495,
+              1.2395148265248386
+            ],
+            "held_grasp_object_position": [
+              0.23336389700001903,
+              -0.12958455126606053,
+              1.2395148265248386
+            ],
+            "held_grasp_finger_gap": 0.025886837382413312,
+            "held_grasp_max_gap": 0.12496619433164596,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023994967533726007,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05186953579062581,
+              -0.9973252969227611,
+              -0.051495663650365384
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003602911490088157,
+            "held_grasp_line_xy_max_dist": 0.04748309716582298,
+            "held_grasp_object_top_z": 0.04520086571574211,
+            "held_grasp_top_clearance": 0.0327690067955939,
+            "held_grasp_min_top_clearance": 0.013560259714722633
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19215309267702918,
+              -0.13452619519682427,
+              0.7565865195482877
+            ],
+            "target_position": [
+              0.19807604686049188,
+              -0.13586915639932348,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.00607329655548092,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21299023705517092,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865195482877,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552192376423504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499738847279285,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18493596219234595,
+            "release_required_pad_clearance": 0.05249869423639643,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852012728805881,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e5503d3f076989b18be86c03b4dbdc3e14b6daac1cd24b7f5b031a9af1be6b32",
+    "visual_seed": 2543186509618305233,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 59,
+  "collection_result_filename": "episode_59_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6de636808c73fa7ad1c65b443ad2a8cd1889c1db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_60_success.json
@@ -0,0 +1,2666 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25082824051348857,
+              0.0025553691268866002,
+              1.162196557438394
+            ],
+            "current_z": 1.162196557438394,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30108981100504884,
+            "gripper_z": 1.1556986782393686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2457267791356468,
+              -0.0023861902738849944,
+              1.1556986782393686
+            ],
+            "object_minus_gripper": [
+              0.0051014613778417595,
+              0.004941559400771595,
+              0.006497879199025336
+            ],
+            "object_to_gripper_xy": 0.007102388154766343,
+            "object_to_gripper_z": 0.006497879199025336,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25082824051348857,
+              -0.0214303512539311,
+              1.162196557438394
+            ],
+            "finger_b": [
+              0.2395384718417653,
+              0.0025553691268866002,
+              1.162196557438394
+            ],
+            "finger_midpoint": [
+              0.24518335617762693,
+              -0.00943749106352225,
+              1.162196557438394
+            ],
+            "object_minus_finger_midpoint": [
+              0.005644884335861633,
+              0.01199286019040885,
+              0.0
+            ],
+            "finger_gap": 0.02650987851439153,
+            "fingertip_max_gap": 0.09116973555997704,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013254939257195765,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162196557438394,
+            "object_top_z": 1.2122126119842922,
+            "finger_top_clearance": 0.0500160545458983,
+            "fingertip_min_top_clearance": 0.015004816363769456,
+            "object_projection_between_fingers": 0.8186345275518808,
+            "object_to_finger_line_xy": 0.010214804808594782,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808486777998852,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5957572793614889,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2783740238558826,
+              -0.38887695382853793,
+              0.8515395797582592
+            ],
+            "target_position": [
+              0.2704227153739571,
+              -0.3902304982905519,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008065692108268756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18710096029598955,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395797582592,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585592847909582,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08650114602101348,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15429017486257418,
+            "release_required_pad_clearance": 0.053250573010506744,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5215805751986669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008248209953308105,
+            "max_z_decrease": 0.008248209953308105,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500037397626287,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008248209953308105,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020912502454825104,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008248209953308105,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008248254418965241,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1261226385831833,
+              -0.44649195671081543,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1261226385831833,
+              -0.44649195671081543,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12520377154902582,
+              -0.44622094778450094,
+              0.8035476193744144
+            ],
+            "closest_button": [
+              0.12613950669765472,
+              -0.4464707672595978,
+              0.7685606479644775
+            ],
+            "closest_ee_minus_button": [
+              -0.0009357351486289078,
+              0.0002498194750968352,
+              0.034986971409936896
+            ],
+            "button_min_z_position": [
+              0.12613950669765472,
+              -0.4464707672595978,
+              0.7685606479644775
+            ],
+            "min_active_finger_to_button": 0.14657230884358405,
+            "closest_active_finger": [
+              -0.0019306465983390808,
+              -0.5089899897575378,
+              0.8106135725975037
+            ],
+            "closest_active_finger_button": [
+              0.1261235624551773,
+              -0.4464903473854065,
+              0.7762718200683594
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280542090535164,
+              -0.06249964237213135,
+              0.03434175252914429
+            ],
+            "min_contact_pad_to_button": 0.020912502454825104,
+            "closest_contact_pad": [
+              0.12613950669765472,
+              -0.4474246619234111,
+              0.7894513838034425
+            ],
+            "closest_contact_pad_button": [
+              0.12613950669765472,
+              -0.4464707672595978,
+              0.7685606479644775
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009538946638133483,
+              0.020890735838964947
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2742293330802392,
+              0.1759333472716798,
+              1.1010885682033194
+            ],
+            "current_z": 1.1010885682033194,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1911794384689568,
+            "gripper_z": 1.101088557753536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27422929828316744,
+              0.175933355930265,
+              1.101088557753536
+            ],
+            "object_minus_gripper": [
+              3.47970717795576e-08,
+              -8.658585182175216e-09,
+              1.044978326092405e-08
+            ],
+            "object_to_gripper_xy": 3.585815530376134e-08,
+            "object_to_gripper_z": 1.044978326092405e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2742293330802392,
+              0.1759333472716798,
+              1.1010885682033194
+            ],
+            "finger_b": [
+              0.2742293330802392,
+              0.1759333472716798,
+              1.1010885682033194
+            ],
+            "finger_midpoint": [
+              0.2742293330802392,
+              0.1759333472716798,
+              1.1010885682033194
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1010885682033194,
+            "object_top_z": 1.226097074823599,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2742293330802392,
+            0.17593334727167984,
+            1.1010885682033194
+          ],
+          "object_origin_world": [
+            0.2742293330802392,
+            0.17593334727167984,
+            1.1010885682033194
+          ],
+          "frame_world": [
+            0.27422929828316744,
+            0.175933355930265,
+            1.101088557753536
+          ],
+          "center_minus_frame": [
+            3.47970717795576e-08,
+            -8.65858515441964e-09,
+            1.044978326092405e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433455632504902,
+            "required_z": 0.9112598926500277,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001877167291905373,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.9274919098871826e-08,
+            "max_target_xy_drift": 2.3275885469072075e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.5215805744934066,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.5220948912246461,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2793346986450774,
+              -0.39048138828565604,
+              0.9234696297519683
+            ],
+            "target_mouth_xy": [
+              0.2783739932243441,
+              -0.38887701505667005
+            ],
+            "rod_tip_z": 0.9234696297519683,
+            "rod_tip_depth": -0.022209756484177112,
+            "rod_tip_bottom_clearance": 0.12165032385487107,
+            "rod_tip_xy_dist": 0.0018700182788714266,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04489828237390381,
+            "min_rod_tip_bottom_clearance": 0.05454230543721639,
+            "min_rod_tip_xy_dist": 0.0007281381249790566,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2783740224835391,
+              -0.3888770160160425
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.9259195011288597e-08,
+              9.593724703549356e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00140683136019637,
+                0.00012644529131078386
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0013254460042522176,
+                -0.0002506945084126966
+              ],
+              "first_target_mouth_xy": [
+                0.27837404900181,
+                -0.38887687586697206
+              ],
+              "last_target_mouth_xy": [
+                0.2783740236456227,
+                -0.3888770163223522
+              ],
+              "first_rod_tip_xy": [
+                0.2797808803620064,
+                -0.3887504305756613
+              ],
+              "last_rod_tip_xy": [
+                0.2796994696498749,
+                -0.3891277108307649
+              ],
+              "min_rod_tip_xy_dist": 0.001337992844776136,
+              "max_rod_tip_xy_dist": 0.0014125023496357936,
+              "first_target_xy_drift": 1.4263583225470263e-07,
+              "last_target_xy_drift": 1.201775318577521e-09,
+              "max_depth": 0.01966356523052637,
+              "min_bottom_clearance": 0.0797769957671548
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00140683136019637,
+                  0.00012644529131078386
+                ],
+                "rod_tip_xy": [
+                  0.2797808803620064,
+                  -0.3887504305756613
+                ],
+                "target_mouth_xy": [
+                  0.27837404900181,
+                  -0.38887687586697206
+                ],
+                "gripper_position": [
+                  0.27977063492286236,
+                  -0.38876001045012304,
+                  1.0057233520447897
+                ],
+                "rod_tip_xy_dist": 0.0014125023496357936,
+                "target_xy_drift": 1.4263583225470263e-07,
+                "depth": 0.01537938952335538,
+                "bottom_clearance": 0.08406118012195996,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0013966115815420843,
+                  0.00011697479882100126
+                ],
+                "rod_tip_xy": [
+                  0.2797706349228624,
+                  -0.3887600104501231
+                ],
+                "target_mouth_xy": [
+                  0.27837402334132033,
+                  -0.3888769852489441
+                ],
+                "gripper_position": [
+                  0.2797630932687943,
+                  -0.3887638387369972,
+                  1.0055851844948365
+                ],
+                "rod_tip_xy_dist": 0.0014015016993413514,
+                "target_xy_drift": 3.0779053496037285e-08,
+                "depth": 0.015536511569197109,
+                "bottom_clearance": 0.0839040435842856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013890696382414802,
+                  0.00011314714375371127
+                ],
+                "rod_tip_xy": [
+                  0.27976309326879434,
+                  -0.38876383873699727
+                ],
+                "target_mouth_xy": [
+                  0.27837402363055286,
+                  -0.388876985880751
+                ],
+                "gripper_position": [
+                  0.27977289623397794,
+                  -0.3888341004632313,
+                  1.0050529969332656
+                ],
+                "rod_tip_xy_dist": 0.0013936702393406914,
+                "target_xy_drift": 3.015711254028068e-08,
+                "depth": 0.015674667517134977,
+                "bottom_clearance": 0.08376587056889984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0013988710863092058,
+                  4.288380112216217e-05
+                ],
+                "rod_tip_xy": [
+                  0.279772896233978,
+                  -0.3888341004632313
+                ],
+                "target_mouth_xy": [
+                  0.2783740251476688,
+                  -0.38887698426435346
+                ],
+                "gripper_position": [
+                  0.27976257787236725,
+                  -0.3888434865052813,
+                  1.004895760589065
+                ],
+                "rod_tip_xy_dist": 0.0013995282549882952,
+                "target_xy_drift": 3.186326011136998e-08,
+                "depth": 0.01620684028853081,
+                "bottom_clearance": 0.08323370335552915,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0013885548326525998,
+                  3.352919271909505e-05
+                ],
+                "rod_tip_xy": [
+                  0.2797625778723673,
+                  -0.38884348650528133
+                ],
+                "target_mouth_xy": [
+                  0.2783740230397147,
+                  -0.38887701569800043
+                ],
+                "gripper_position": [
+                  0.27975488107622404,
+                  -0.3888471847312774,
+                  1.0047578697753397
+                ],
+                "rod_tip_xy_dist": 0.0013889595854621845,
+                "target_xy_drift": 6.40688751997777e-10,
+                "depth": 0.01636410943442057,
+                "bottom_clearance": 0.08307645135784802,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013808267286475884,
+                  2.9801140716712027e-05
+                ],
+                "rod_tip_xy": [
+                  0.2797548810762241,
+                  -0.38884718473127744
+                ],
+                "target_mouth_xy": [
+                  0.2783740543475765,
+                  -0.38887698587199415
+                ],
+                "gripper_position": [
+                  0.2797469849792116,
+                  -0.38885075321631224,
+                  1.0046197404268038
+                ],
+                "rod_tip_xy_dist": 0.0013811482768101395,
+                "target_xy_drift": 4.386320248252692e-08,
+                "depth": 0.01650195461741888,
+                "bottom_clearance": 0.08293854883797713,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013729615133118434,
+                  2.623266344969899e-05
+                ],
+                "rod_tip_xy": [
+                  0.27974698497921163,
+                  -0.38885075321631235
+                ],
+                "target_mouth_xy": [
+                  0.2783740234658998,
+                  -0.38887698587976205
+                ],
+                "gripper_position": [
+                  0.27975866709162567,
+                  -0.3889232139276803,
+                  1.0040872743466003
+                ],
+                "rod_tip_xy_dist": 0.0013732120993012011,
+                "target_xy_drift": 3.0152287362053155e-08,
+                "depth": 0.016640116508612857,
+                "bottom_clearance": 0.08280042771630358,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013846120362394632,
+                  -4.6228387008573346e-05
+                ],
+                "rod_tip_xy": [
+                  0.2797586670916257,
+                  -0.38892321392768037
+                ],
+                "target_mouth_xy": [
+                  0.27837405505538626,
+                  -0.3888769855406718
+                ],
+                "gripper_position": [
+                  0.27974817810898583,
+                  -0.3889325737247755,
+                  1.0039299929139813
+                ],
+                "rod_tip_xy_dist": 0.0013853835406358078,
+                "target_xy_drift": 4.4605755778976444e-08,
+                "depth": 0.017172540605137843,
+                "bottom_clearance": 0.08226796010908688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001374125431215234,
+                  -5.5587833207582094e-05
+                ],
+                "rod_tip_xy": [
+                  0.27974817810898595,
+                  -0.3889325737247755
+                ],
+                "target_mouth_xy": [
+                  0.2783740526777707,
+                  -0.38887698589156794
+                ],
+                "gripper_position": [
+                  0.2797401790986114,
+                  -0.38893618300722055,
+                  1.0037923872688885
+                ],
+                "rod_tip_xy_dist": 0.0013752493257272176,
+                "target_xy_drift": 4.265179470586591e-08,
+                "depth": 0.01732988196271812,
+                "bottom_clearance": 0.0821106848385571,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013661244143401974,
+                  -5.919779133978231e-05
+                ],
+                "rod_tip_xy": [
+                  0.27974017909861143,
+                  -0.38893618300722055
+                ],
+                "target_mouth_xy": [
+                  0.27837405468427123,
+                  -0.38887698521588077
+                ],
+                "gripper_position": [
+                  0.2797322433135332,
+                  -0.3889397540978659,
+                  1.0036544197844977
+                ],
+                "rod_tip_xy_dist": 0.0013674064114065927,
+                "target_xy_drift": 4.455936617826419e-08,
+                "depth": 0.017467430768616565,
+                "bottom_clearance": 0.08197306795249937,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013582197721194178,
+                  -6.276791941028925e-05
+                ],
+                "rod_tip_xy": [
+                  0.27973224331353325,
+                  -0.38893975409786585
+                ],
+                "target_mouth_xy": [
+                  0.27837402354141383,
+                  -0.38887698617845556
+                ],
+                "gripper_position": [
+                  0.2797454470846118,
+                  -0.38901378437955375,
+                  1.0031242714295339
+                ],
+                "rod_tip_xy_dist": 0.0013596693572641915,
+                "target_xy_drift": 2.985633424166554e-08,
+                "depth": 0.01760544045859702,
+                "bottom_clearance": 0.08183511190382409,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013713927377028146,
+                  -0.00013682930122127512
+                ],
+                "rod_tip_xy": [
+                  0.27974544708461185,
+                  -0.3890137843795538
+                ],
+                "target_mouth_xy": [
+                  0.27837405434690904,
+                  -0.38887695507833253
+                ],
+                "gripper_position": [
+                  0.27973478853473654,
+                  -0.3890234774435994,
+                  1.0029674432301736
+                ],
+                "rod_tip_xy_dist": 0.0013782018352537205,
+                "target_xy_drift": 6.876538986160452e-08,
+                "depth": 0.018135561196036876,
+                "bottom_clearance": 0.08130495930307313,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0013607629615260408,
+                  -0.00014649097110869258
+                ],
+                "rod_tip_xy": [
+                  0.2797347885347366,
+                  -0.38902347744359944
+                ],
+                "target_mouth_xy": [
+                  0.27837402557321056,
+                  -0.38887698647249075
+                ],
+                "gripper_position": [
+                  0.2797266914414114,
+                  -0.3890267945224808,
+                  1.0028302563606746
+                ],
+                "rod_tip_xy_dist": 0.0013686253841272596,
+                "target_xy_drift": 2.97046717038604e-08,
+                "depth": 0.01829238838699443,
+                "bottom_clearance": 0.08114815231154837,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013526371957456873,
+                  -0.00014984071517337716
+                ],
+                "rod_tip_xy": [
+                  0.27972669144141143,
+                  -0.3890267945224809
+                ],
+                "target_mouth_xy": [
+                  0.27837405424566575,
+                  -0.3888769538073075
+                ],
+                "gripper_position": [
+                  0.27971866516651944,
+                  -0.3890301715453741,
+                  1.0026917825546782
+                ],
+                "rod_tip_xy_dist": 0.0013609113208576178,
+                "target_xy_drift": 6.984811664802153e-08,
+                "depth": 0.018429601069263613,
+                "bottom_clearance": 0.08101096751865466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013446412001346109,
+                  -0.0001531853868709243
+                ],
+                "rod_tip_xy": [
+                  0.2797186651665195,
+                  -0.3890301715453742
+                ],
+                "target_mouth_xy": [
+                  0.2783740239663849,
+                  -0.3888769861585033
+                ],
+                "gripper_position": [
+                  0.279710426896992,
+                  -0.3890337819869794,
+                  1.0025541286130635
+                ],
+                "rod_tip_xy_dist": 0.0013533387306399833,
+                "target_xy_drift": 2.9894338591797745e-08,
+                "depth": 0.018568064560655295,
+                "bottom_clearance": 0.08087247113012574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013364049153893887,
+                  -0.00015682783147685786
+                ],
+                "rod_tip_xy": [
+                  0.27971042689699205,
+                  -0.38903378198697947
+                ],
+                "target_mouth_xy": [
+                  0.27837402198160266,
+                  -0.3888769541555026
+                ],
+                "gripper_position": [
+                  0.2797024141659052,
+                  -0.38903704479831375,
+                  1.0024164742233963
+                ],
+                "rod_tip_xy_dist": 0.0013455753663777635,
+                "target_xy_drift": 6.18625762354238e-08,
+                "depth": 0.018705799128245104,
+                "bottom_clearance": 0.08073485442658757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013283883557522191,
+                  -0.00016002883794508094
+                ],
+                "rod_tip_xy": [
+                  0.27970241416590524,
+                  -0.3890370447983138
+                ],
+                "target_mouth_xy": [
+                  0.278374025810153,
+                  -0.3888770159603687
+                ],
+                "gripper_position": [
+                  0.27971836116034143,
+                  -0.38911521047401637,
+                  1.0018906724731953
+                ],
+                "rod_tip_xy_dist": 0.001337992844776136,
+                "target_xy_drift": 3.3270797710530217e-09,
+                "depth": 0.018843294242543496,
+                "bottom_clearance": 0.08059724488785991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.001344308682282136,
+                  -0.00023822489146063663
+                ],
+                "rod_tip_xy": [
+                  0.2797183611603415,
+                  -0.3891152104740164
+                ],
+                "target_mouth_xy": [
+                  0.27837405247805935,
+                  -0.3888769855825558
+                ],
+                "gripper_position": [
+                  0.27970761976505343,
+                  -0.3891247246156464,
+                  1.0017340153200147
+                ],
+                "rod_tip_xy_dist": 0.0013652534314809704,
+                "target_xy_drift": 4.2730180902979464e-08,
+                "depth": 0.01936920607050996,
+                "bottom_clearance": 0.08007136375143342,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0013335983519187078,
+                  -0.0002478795277204293
+                ],
+                "rod_tip_xy": [
+                  0.2797076197650535,
+                  -0.3891247246156464
+                ],
+                "target_mouth_xy": [
+                  0.2783740214131348,
+                  -0.38887684508792597
+                ],
+                "gripper_position": [
+                  0.2796994696498748,
+                  -0.38912771083076486,
+                  1.0015962982587943
+                ],
+                "rod_tip_xy_dist": 0.0013564397607351373,
+                "target_xy_drift": 1.7093146811693164e-07,
+                "depth": 0.01952574914063987,
+                "bottom_clearance": 0.07991478519240058,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0013254460042522176,
+                  -0.0002506945084126966
+                ],
+                "rod_tip_xy": [
+                  0.2796994696498749,
+                  -0.3891277108307649
+                ],
+                "target_mouth_xy": [
+                  0.2783740236456227,
+                  -0.3888770163223522
+                ],
+                "gripper_position": [
+                  0.2796913008287597,
+                  -0.38913094181877433,
+                  1.0014589071299198
+                ],
+                "rod_tip_xy_dist": 0.00134894582794731,
+                "target_xy_drift": 1.201775318577521e-09,
+                "depth": 0.01966356523052637,
+                "bottom_clearance": 0.0797769957671548,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005983159903790761,
+              "rod_tip_xy_max_step": 3.245466977045993e-05,
+              "rod_tip_xy_range": 0.0005983059590217486,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2793346986450774,
+            -0.39048138828565604,
+            1.0434696297519683
+          ],
+          "object_origin_world": [
+            0.2793346986450774,
+            -0.39048138828565604,
+            1.0434696297519683
+          ],
+          "frame_world": [
+            0.27933323727779846,
+            -0.39049058497697464,
+            1.0433455632504902
+          ],
+          "center_minus_frame": [
+            1.4613672789098864e-06,
+            9.196691318602568e-06,
+            0.00012406650147811504
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2625151657665102,
+              0.1311831620604559,
+              0.8332330694143922
+            ],
+            "target_position": [
+              0.2743499935463039,
+              0.17659896111036166,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04693248290809679,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16646473313808902,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8332330694143922,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670743622327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13690357611042842,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 224,
+            "max_placed_release_frames": 224
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2191185800554071,
+              -0.12717051957760828,
+              1.0461668267314261
+            ],
+            "current_z": 1.0461668267314261,
+            "required_z": 0.8565863896299839,
+            "initial_z": 0.7565863896299839,
+            "lift_margin": 0.18958043710144223,
+            "gripper_z": 1.0500504424305563,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21499917838870775,
+              -0.13131968824336893,
+              1.0500504424305563
+            ],
+            "object_minus_gripper": [
+              0.004119401666699357,
+              0.00414916866576065,
+              -0.003883615699130205
+            ],
+            "object_to_gripper_xy": 0.005846800040067683,
+            "object_to_gripper_z": -0.003883615699130205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2191185800554071,
+              -0.15128805159644992,
+              1.0461668267314261
+            ],
+            "finger_b": [
+              0.208944950852966,
+              -0.12717051957760828,
+              1.0461668267314261
+            ],
+            "finger_midpoint": [
+              0.21403176545418656,
+              -0.1392292855870291,
+              1.0461668267314261
+            ],
+            "object_minus_finger_midpoint": [
+              0.005086814601220541,
+              0.012058766009420824,
+              0.0
+            ],
+            "finger_gap": 0.02617552448048777,
+            "fingertip_max_gap": 0.09362138483450308,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01308776224024388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461668267314261,
+            "object_top_z": 1.092558221104849,
+            "finger_top_clearance": 0.04639139437342288,
+            "fingertip_min_top_clearance": 0.01391741831202683,
+            "object_projection_between_fingers": 0.8489359844190634,
+            "object_to_finger_line_xy": 0.009373750207778976,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931069241725154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4490046990688237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22559169659411635,
+              -0.12556960737179043,
+              1.2432796413659213
+            ],
+            "held_position": [
+              0.22991462906829893,
+              -0.12142939306662318,
+              1.2396113645850393
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00702035427953689,
+            "max_held_gripper_dist": 0.00702138964967392,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003668276780881996,
+            "max_held_gripper_z_dist": 0.003898336380564915,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.085807710963993,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.22991462906829893,
+              -0.14588977239264375,
+              1.2396113645850393
+            ],
+            "held_grasp_finger_b": [
+              0.22155667121720696,
+              -0.12142939306662318,
+              1.2396113645850393
+            ],
+            "held_grasp_midpoint": [
+              0.22573565014275293,
+              -0.13365958272963346,
+              1.2396113645850393
+            ],
+            "held_grasp_object_position": [
+              0.22991462906829893,
+              -0.12142939306662318,
+              1.2396113645850393
+            ],
+            "held_grasp_finger_gap": 0.02584889970991889,
+            "held_grasp_max_gap": 0.1249658590555191,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02404787868899872,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.041929499633185964,
+              -0.9974630137356743,
+              -0.057527847950856734
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037304177218286313,
+            "held_grasp_line_xy_max_dist": 0.04748292952775955,
+            "held_grasp_object_top_z": 0.04520066827535629,
+            "held_grasp_top_clearance": 0.032826283940205384,
+            "held_grasp_min_top_clearance": 0.013560200482606888
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.187027205957533,
+              -0.12860329717834013,
+              0.7565871893623168
+            ],
+            "target_position": [
+              0.19274010716145182,
+              -0.13276539516544478,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007068260027757728,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21446911373179195,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565871893623168,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553182890450555,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08942366619971516,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18693717684873246,
+            "release_required_pad_clearance": 0.05471183309985758,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.467588983315558,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 238,
+            "max_placed_release_frames": 238
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38226e520230f999534b300611bda318cc29ce3cdfdc55cc67b4a085d779fa73",
+    "visual_seed": 4594011595619658728,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  },
+  "collection_episode_index": 61,
+  "collection_result_filename": "episode_61_success.json"
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfac63766ac4cf372d3ca982d081018175fbe1d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_7_success.json
@@ -0,0 +1,2676 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2540753384030052,
+              -0.0012597772740743397,
+              1.1646528448279596
+            ],
+            "current_z": 1.1646528448279596,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3035463964178384,
+            "gripper_z": 1.1579548673787206,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24921371421742522,
+              -0.006109548737647685,
+              1.1579548673787206
+            ],
+            "object_minus_gripper": [
+              0.004861624185580005,
+              0.004849771463573346,
+              0.0066979774492390565
+            ],
+            "object_to_gripper_xy": 0.006866998832875013,
+            "object_to_gripper_z": 0.0066979774492390565,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2540753384030052,
+              -0.025132014771466617,
+              1.1646528448279596
+            ],
+            "finger_b": [
+              0.24298495303848833,
+              -0.0012597772740743397,
+              1.1646528448279596
+            ],
+            "finger_midpoint": [
+              0.24853014572074678,
+              -0.013195896022770479,
+              1.1646528448279596
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055451926822584485,
+              0.011936118748696139,
+              0.0
+            ],
+            "finger_gap": 0.02632262089278711,
+            "fingertip_max_gap": 0.09129312868137379,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013161310446393555,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646528448279596,
+            "object_top_z": 1.2146581382912494,
+            "finger_top_clearance": 0.050005293463289746,
+            "fingertip_min_top_clearance": 0.015001588038986923,
+            "object_projection_between_fingers": 0.8224850165471228,
+            "object_to_finger_line_xy": 0.0100579769179405,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481465643406869,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6563853232804142,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 344,
+            "max_stable_success_frames": 344,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28013445260575154,
+              -0.3944446754354503,
+              0.8515395711057437
+            ],
+            "target_position": [
+              0.27198035332098713,
+              -0.39588307763084823,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008279996136564372,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18357611315338784,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395711057437,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568255047090673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617099647496466,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15120655584638892,
+            "release_required_pad_clearance": 0.053085498237482334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1994093113930981,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008309543132781982,
+            "max_z_decrease": 0.008309543132781982,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499946628416338,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008309543132781982,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020949125897551966,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008309543132781982,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008309574340991397,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12768028676509857,
+              -0.45214453339576716,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12768028676509857,
+              -0.45214453339576716,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12673556651833962,
+              -0.4527427199885907,
+              0.803480373901568
+            ],
+            "closest_button": [
+              0.12768608331680298,
+              -0.45212250947952265,
+              0.7684993147850037
+            ],
+            "closest_ee_minus_button": [
+              -0.0009505167984633633,
+              -0.0006202105090680754,
+              0.03498105911656435
+            ],
+            "button_min_z_position": [
+              0.12768608331680298,
+              -0.45212250947952265,
+              0.7684993147850037
+            ],
+            "min_active_finger_to_button": 0.14669807695116532,
+            "closest_active_finger": [
+              -0.014294221997261047,
+              -0.43895429372787476,
+              0.8110046982765198
+            ],
+            "closest_active_finger_button": [
+              0.12768086791038513,
+              -0.45214241743087763,
+              0.7765159606933594
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14197508990764618,
+              0.013188123703002874,
+              0.0344887375831604
+            ],
+            "min_contact_pad_to_button": 0.020949125897551966,
+            "closest_contact_pad": [
+              0.12768608331680298,
+              -0.4537179494094115,
+              0.7893875997146382
+            ],
+            "closest_contact_pad_button": [
+              0.12768608331680298,
+              -0.45212250947952265,
+              0.7684993147850037
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015954399298888644,
+              0.02088828492963457
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27249575917450297,
+              0.1781216477733057,
+              1.1024167258163553
+            ],
+            "current_z": 1.1024167258163553,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19250759608199275,
+            "gripper_z": 1.1024167007377943,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.272495739244405,
+              0.17812165643117805,
+              1.1024167007377943
+            ],
+            "object_minus_gripper": [
+              1.993009796086298e-08,
+              -8.657872363482255e-09,
+              2.507856100564254e-08
+            ],
+            "object_to_gripper_xy": 2.172941689489031e-08,
+            "object_to_gripper_z": 2.507856100564254e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27249575917450297,
+              0.1781216477733057,
+              1.1024167258163553
+            ],
+            "finger_b": [
+              0.27249575917450297,
+              0.1781216477733057,
+              1.1024167258163553
+            ],
+            "finger_midpoint": [
+              0.27249575917450297,
+              0.1781216477733057,
+              1.1024167258163553
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1024167258163553,
+            "object_top_z": 1.227425232436635,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 238,
+            "max_stable_success_frames": 238,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27249575917450297,
+            0.1781216477733057,
+            1.1024167258163553
+          ],
+          "object_origin_world": [
+            0.27249575917450297,
+            0.1781216477733057,
+            1.1024167258163553
+          ],
+          "frame_world": [
+            0.272495739244405,
+            0.17812165643117805,
+            1.1024167007377943
+          ],
+          "center_minus_frame": [
+            1.993009796086298e-08,
+            -8.657872363482255e-09,
+            2.507856100564254e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436360018170252,
+            "required_z": 0.9112598198777397,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001043758521147383,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.778191660615448e-08,
+            "max_target_xy_drift": 2.577624399225859e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1987565655825105,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1994093114016071,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.280098608451395,
+              -0.3934035472095189,
+              0.9233411855189085
+            ],
+            "target_mouth_xy": [
+              0.2801339509905131,
+              -0.3944442076802233
+            ],
+            "rod_tip_z": 0.9233411855189085,
+            "rod_tip_depth": -0.022081279252717967,
+            "rod_tip_bottom_clearance": 0.12152184089669482,
+            "rod_tip_xy_dist": 0.0010412604430967295,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04533098005082248,
+            "min_rod_tip_bottom_clearance": 0.05410956592125238,
+            "min_rod_tip_xy_dist": 0.0010248119545059645,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2801339769984324,
+              -0.39444419791175245
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.6007919318171702e-08,
+              -9.76847086553434e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.00043041540386123955,
+                0.0029514161198671007
+              ],
+              "last_rod_tip_xy_delta": [
+                0.000363410122218355,
+                0.0024747577503627105
+              ],
+              "first_target_mouth_xy": [
+                0.2801340110161954,
+                -0.3944443881263302
+              ],
+              "last_target_mouth_xy": [
+                0.28013400877620737,
+                -0.39444435166775005
+              ],
+              "first_rod_tip_xy": [
+                0.28056442642005663,
+                -0.3914929720064631
+              ],
+              "last_rod_tip_xy": [
+                0.2804974188984257,
+                -0.39196959391738734
+              ],
+              "min_rod_tip_xy_dist": 0.002501298230901518,
+              "max_rod_tip_xy_dist": 0.002982635501111795,
+              "first_target_xy_drift": 1.9323248637303324e-07,
+              "last_target_xy_drift": 1.5700552149528235e-07,
+              "max_depth": 0.019707903694528572,
+              "min_bottom_clearance": 0.07973274685621157
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.00043041540386123955,
+                  0.0029514161198671007
+                ],
+                "rod_tip_xy": [
+                  0.28056442642005663,
+                  -0.3914929720064631
+                ],
+                "target_mouth_xy": [
+                  0.2801340110161954,
+                  -0.3944443881263302
+                ],
+                "gripper_position": [
+                  0.28057324024646296,
+                  -0.39156865698180293,
+                  1.0057152286320235
+                ],
+                "rod_tip_xy_dist": 0.002982635501111795,
+                "target_xy_drift": 1.9323248637303324e-07,
+                "depth": 0.01500822783862088,
+                "bottom_clearance": 0.08443240724777457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0004392632901358273,
+                  0.002875480067903169
+                ],
+                "rod_tip_xy": [
+                  0.28057324024646296,
+                  -0.3915686569818028
+                ],
+                "target_mouth_xy": [
+                  0.28013397695632714,
+                  -0.394444137049706
+                ],
+                "gripper_position": [
+                  0.28056315263140963,
+                  -0.3915786522658356,
+                  1.0055565398380757
+                ],
+                "rod_tip_xy_dist": 0.0029088378880524376,
+                "target_xy_drift": 6.08620610226858e-08,
+                "depth": 0.015544611883799742,
+                "bottom_clearance": 0.08389595460924715,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004291410302722509,
+                  0.002865702237208223
+                ],
+                "rod_tip_xy": [
+                  0.28056315263140963,
+                  -0.3915786522658357
+                ],
+                "target_mouth_xy": [
+                  0.2801340116011374,
+                  -0.39444435450304394
+                ],
+                "gripper_position": [
+                  0.2805556232167553,
+                  -0.39158255656264673,
+                  1.005417691092059
+                ],
+                "rod_tip_xy_dist": 0.002897656179777605,
+                "target_xy_drift": 1.6036888651516005e-07,
+                "depth": 0.01570328625394446,
+                "bottom_clearance": 0.0837372579444694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004216119921217065,
+                  0.002861767181549124
+                ],
+                "rod_tip_xy": [
+                  0.2805556232167553,
+                  -0.3915825565626468
+                ],
+                "target_mouth_xy": [
+                  0.2801340112246336,
+                  -0.3944443237441959
+                ],
+                "gripper_position": [
+                  0.28056519579580463,
+                  -0.3916592396322335,
+                  1.00488204311073
+                ],
+                "rod_tip_xy_dist": 0.0028926576142524114,
+                "target_xy_drift": 1.3040412829890223e-07,
+                "depth": 0.0158422089852851,
+                "bottom_clearance": 0.08359835594386522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004312164485490988,
+                  0.0027851155351248935
+                ],
+                "rod_tip_xy": [
+                  0.28056519579580463,
+                  -0.3916592396322334
+                ],
+                "target_mouth_xy": [
+                  0.28013397934725554,
+                  -0.3944443551673583
+                ],
+                "gripper_position": [
+                  0.2805550915477835,
+                  -0.3916690956091231,
+                  1.0047238259952722
+                ],
+                "rod_tip_xy_dist": 0.0028183002269973507,
+                "target_xy_drift": 1.5727314630222435e-07,
+                "depth": 0.01637780764423491,
+                "bottom_clearance": 0.0830627303408249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00042108449999639364,
+                  0.0027750725077428373
+                ],
+                "rod_tip_xy": [
+                  0.2805550915477835,
+                  -0.39166909560912316
+                ],
+                "target_mouth_xy": [
+                  0.2801340070477871,
+                  -0.394444168116866
+                ],
+                "gripper_position": [
+                  0.2805473663237706,
+                  -0.39167270443625524,
+                  1.0045846818840358
+                ],
+                "rod_tip_xy_dist": 0.0028068380037628345,
+                "target_xy_drift": 4.2316651307478954e-08,
+                "depth": 0.01653599607394829,
+                "bottom_clearance": 0.08290453944274978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00041338663060469516,
+                  0.00277161711157653
+                ],
+                "rod_tip_xy": [
+                  0.2805473663237706,
+                  -0.3916727044362553
+                ],
+                "target_mouth_xy": [
+                  0.2801339796931659,
+                  -0.3944443215478318
+                ],
+                "gripper_position": [
+                  0.2805577106779261,
+                  -0.39175060015579655,
+                  1.004052793755364
+                ],
+                "rod_tip_xy_dist": 0.002802275846440983,
+                "target_xy_drift": 1.2366544267361034e-07,
+                "depth": 0.0166752714037518,
+                "bottom_clearance": 0.08276536202930307,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004237301774750457,
+                  0.0026937851170545923
+                ],
+                "rod_tip_xy": [
+                  0.2805577106779261,
+                  -0.3917506001557966
+                ],
+                "target_mouth_xy": [
+                  0.2801339805004511,
+                  -0.3944443852728512
+                ],
+                "gripper_position": [
+                  0.2805472516535992,
+                  -0.39176021910193465,
+                  1.0038945726213349
+                ],
+                "rod_tip_xy_dist": 0.002726907684570172,
+                "target_xy_drift": 1.8739382449382882e-07,
+                "depth": 0.01720702886988934,
+                "bottom_clearance": 0.08223347869068909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00041327070249103093,
+                  0.002684134769404267
+                ],
+                "rod_tip_xy": [
+                  0.2805472516535991,
+                  -0.39176021910193476
+                ],
+                "target_mouth_xy": [
+                  0.2801339809511081,
+                  -0.394444353871339
+                ],
+                "gripper_position": [
+                  0.2805393616369305,
+                  -0.3917640906616737,
+                  1.0037557106011208
+                ],
+                "rod_tip_xy_dist": 0.0027157636373333982,
+                "target_xy_drift": 1.5600966729929246e-07,
+                "depth": 0.017365258414126727,
+                "bottom_clearance": 0.0820752768726346,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0004053507061493322,
+                  0.002680231504769981
+                ],
+                "rod_tip_xy": [
+                  0.2805393616369305,
+                  -0.3917640906616738
+                ],
+                "target_mouth_xy": [
+                  0.28013401093078116,
+                  -0.39444432216644376
+                ],
+                "gripper_position": [
+                  0.28053136394215494,
+                  -0.3917677545044269,
+                  1.0036167229844335
+                ],
+                "rod_tip_xy_dist": 0.0027107102600863334,
+                "target_xy_drift": 1.2880462959904264e-07,
+                "depth": 0.017504215693731395,
+                "bottom_clearance": 0.08193639579455925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00039738268569444735,
+                  0.0026766307625585295
+                ],
+                "rod_tip_xy": [
+                  0.28053136394215494,
+                  -0.39176775450442697
+                ],
+                "target_mouth_xy": [
+                  0.2801339812564605,
+                  -0.3944443852669855
+                ],
+                "gripper_position": [
+                  0.2805432605896694,
+                  -0.391847370056405,
+                  1.003087445116302
+                ],
+                "rod_tip_xy_dist": 0.002705968447333484,
+                "target_xy_drift": 1.874036129707796e-07,
+                "depth": 0.01764310584387263,
+                "bottom_clearance": 0.08179743115617,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00040924783407003673,
+                  0.00259701455448752
+                ],
+                "rod_tip_xy": [
+                  0.2805432605896694,
+                  -0.3918473700564051
+                ],
+                "target_mouth_xy": [
+                  0.28013401275559935,
+                  -0.3944443846108926
+                ],
+                "gripper_position": [
+                  0.2805326218453602,
+                  -0.39185720628554205,
+                  1.0029295305835226
+                ],
+                "rod_tip_xy_dist": 0.0026290622636048447,
+                "target_xy_drift": 1.9009246150278222e-07,
+                "depth": 0.01817250546182081,
+                "bottom_clearance": 0.0812680751529341,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0003986127551710572,
+                  0.0025871802730696447
+                ],
+                "rod_tip_xy": [
+                  0.2805326218453602,
+                  -0.39185720628554205
+                ],
+                "target_mouth_xy": [
+                  0.28013400909018915,
+                  -0.3944443865586117
+                ],
+                "gripper_position": [
+                  0.2805245816274049,
+                  -0.39186079712362987,
+                  1.0027908134712489
+                ],
+                "rod_tip_xy_dist": 0.0026177077556415237,
+                "target_xy_drift": 1.9135704417240452e-07,
+                "depth": 0.01833035133760197,
+                "bottom_clearance": 0.08111024689294088,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00039057395533098616,
+                  0.002583340856860572
+                ],
+                "rod_tip_xy": [
+                  0.2805245816274049,
+                  -0.3918607971236299
+                ],
+                "target_mouth_xy": [
+                  0.2801340076720739,
+                  -0.3944441379804905
+                ],
+                "gripper_position": [
+                  0.2805166855581066,
+                  -0.3918643965322757,
+                  1.0026518257968575
+                ],
+                "rod_tip_xy_dist": 0.0026126993698678777,
+                "target_xy_drift": 6.732479812911933e-08,
+                "depth": 0.018469076815651353,
+                "bottom_clearance": 0.08097149014805038,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00038267421463206164,
+                  0.002579986503264353
+                ],
+                "rod_tip_xy": [
+                  0.2805166855581066,
+                  -0.3918643965322757
+                ],
+                "target_mouth_xy": [
+                  0.28013401134347454,
+                  -0.3944443830355401
+                ],
+                "gripper_position": [
+                  0.2805085819145895,
+                  -0.39186793690612565,
+                  1.0025126067878045
+                ],
+                "rod_tip_xy_dist": 0.002608212014306063,
+                "target_xy_drift": 1.8828276253369577e-07,
+                "depth": 0.018608021227951244,
+                "bottom_clearance": 0.08083255963024072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0003745753427197851,
+                  0.0025762641945552
+                ],
+                "rod_tip_xy": [
+                  0.2805085819145895,
+                  -0.3918679369061257
+                ],
+                "target_mouth_xy": [
+                  0.2801340065718697,
+                  -0.3944442011006809
+                ],
+                "gripper_position": [
+                  0.2805005541777874,
+                  -0.39187139796276355,
+                  1.0023739920683696
+                ],
+                "rod_tip_xy_dist": 0.0026033524324456723,
+                "target_xy_drift": 2.9744872819116348e-08,
+                "depth": 0.0187473271714077,
+                "bottom_clearance": 0.0806933006944347,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00036657782907223435,
+                  0.002572771434102339
+                ],
+                "rod_tip_xy": [
+                  0.2805005541777874,
+                  -0.39187139796276355
+                ],
+                "target_mouth_xy": [
+                  0.2801339763487152,
+                  -0.3944441693968659
+                ],
+                "gripper_position": [
+                  0.28049249101377194,
+                  -0.39187490424500376,
+                  1.0022353108170126
+                ],
+                "rod_tip_xy_dist": 0.002598755886361841,
+                "target_xy_drift": 2.852228756914669e-08,
+                "depth": 0.01888584515998548,
+                "bottom_clearance": 0.08055469987018549,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00035851563834543576,
+                  0.002569201734043458
+                ],
+                "rod_tip_xy": [
+                  0.28049249101377194,
+                  -0.39187490424500376
+                ],
+                "target_mouth_xy": [
+                  0.2801339753754265,
+                  -0.3944441059790472
+                ],
+                "gripper_position": [
+                  0.28050811915561996,
+                  -0.39195990669385916,
+                  1.0017101464158749
+                ],
+                "rod_tip_xy_dist": 0.0025940954132703266,
+                "target_xy_drift": 9.194703061193448e-08,
+                "depth": 0.019024559816457565,
+                "bottom_clearance": 0.08041603189724089,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00037413784815676365,
+                  0.0024844497204652982
+                ],
+                "rod_tip_xy": [
+                  0.28050811915561996,
+                  -0.3919599066938591
+                ],
+                "target_mouth_xy": [
+                  0.2801339813074632,
+                  -0.3944443564143244
+                ],
+                "gripper_position": [
+                  0.2804974188984257,
+                  -0.3919695939173874,
+                  1.0015520067238524
+                ],
+                "rod_tip_xy_dist": 0.0025124628440921213,
+                "target_xy_drift": 1.5856113352020263e-07,
+                "depth": 0.019549699631702278,
+                "bottom_clearance": 0.07989087250815918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000363410122218355,
+                  0.0024747577503627105
+                ],
+                "rod_tip_xy": [
+                  0.2804974188984257,
+                  -0.39196959391738734
+                ],
+                "target_mouth_xy": [
+                  0.28013400877620737,
+                  -0.39444435166775005
+                ],
+                "gripper_position": [
+                  0.280489298526857,
+                  -0.3919728275303812,
+                  1.0014137111581654
+                ],
+                "rod_tip_xy_dist": 0.002501298230901518,
+                "target_xy_drift": 1.5700552149528235e-07,
+                "depth": 0.019707903694528572,
+                "bottom_clearance": 0.07973274685621157,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0006038185075303652,
+              "rod_tip_xy_max_step": 3.275095423491081e-05,
+              "rod_tip_xy_range": 0.0006038123376865339,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.280098608451395,
+            -0.3934035472095189,
+            1.0433411855189085
+          ],
+          "object_origin_world": [
+            0.280098608451395,
+            -0.3934035472095189,
+            1.0433411855189085
+          ],
+          "frame_world": [
+            0.2801225827213474,
+            -0.3934005110706073,
+            1.0436360018170252
+          ],
+          "center_minus_frame": [
+            -2.397426995237595e-05,
+            -3.0361389116162485e-06,
+            -0.00029481629811667354
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.26335430465615467,
+              0.1317578960564914,
+              0.8338102952613645
+            ],
+            "target_position": [
+              0.2729975652419096,
+              0.1788463322855532,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04806571856555556,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16760003456742872,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8338102952613645,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673044012571,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13609298869919922,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 220,
+            "max_placed_release_frames": 220
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2235456452615459,
+              -0.13056075448325144,
+              1.0447318580962555
+            ],
+            "current_z": 1.0447318580962555,
+            "required_z": 0.8565863894875239,
+            "initial_z": 0.7565863894875239,
+            "lift_margin": 0.1881454686087316,
+            "gripper_z": 1.0484718251881968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.21953905637361812,
+              -0.1348263718308429,
+              1.0484718251881968
+            ],
+            "object_minus_gripper": [
+              0.004006588887927792,
+              0.004265617347591455,
+              -0.003739967091941354
+            ],
+            "object_to_gripper_xy": 0.0058522000882522485,
+            "object_to_gripper_z": -0.003739967091941354,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2235456452615459,
+              -0.15423025146242056,
+              1.0447318580962555
+            ],
+            "finger_b": [
+              0.2126860712777002,
+              -0.13056075448325144,
+              1.0447318580962555
+            ],
+            "finger_midpoint": [
+              0.21811585826962304,
+              -0.14239550297283599,
+              1.0447318580962555
+            ],
+            "object_minus_finger_midpoint": [
+              0.005429786991922869,
+              0.011834748489584546,
+              0.0
+            ],
+            "finger_gap": 0.026041801672647663,
+            "fingertip_max_gap": 0.09638340091040914,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013020900836323825,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447318580962555,
+            "object_top_z": 1.0920796319329011,
+            "finger_top_clearance": 0.04734777383664568,
+            "fingertip_min_top_clearance": 0.014204332150993686,
+            "object_projection_between_fingers": 0.8261064303776461,
+            "object_to_finger_line_xy": 0.009870309928505279,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050691700455204575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.646679244613178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22870599285241916,
+              -0.13062761437142684,
+              1.2429971812811036
+            ],
+            "held_position": [
+              0.23305369439659793,
+              -0.12653931706508675,
+              1.2394478576047692
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006943657691855939,
+            "max_held_gripper_dist": 0.0069448620422577845,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003549323676334426,
+            "max_held_gripper_z_dist": 0.0037536573737535495,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08572949607263916,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23305369439659793,
+              -0.15112757920244616,
+              1.2394478576047692
+            ],
+            "held_grasp_finger_b": [
+              0.22476310355507345,
+              -0.12653931706508675,
+              1.2394478576047692
+            ],
+            "held_grasp_midpoint": [
+              0.2289083989758357,
+              -0.13883344813376647,
+              1.2394478576047692
+            ],
+            "held_grasp_object_position": [
+              0.23305369439659793,
+              -0.12653931706508675,
+              1.2394478576047692
+            ],
+            "held_grasp_finger_gap": 0.025948343520099146,
+            "held_grasp_max_gap": 0.12496580690145492,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02406409223845489,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056241661346858145,
+              -0.9976454905146727,
+              -0.039247302896935565
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003481531560026378,
+            "held_grasp_line_xy_max_dist": 0.04748290345072746,
+            "held_grasp_object_top_z": 0.045200642198324203,
+            "held_grasp_top_clearance": 0.032702319476622374,
+            "held_grasp_min_top_clearance": 0.013560192659497261
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.18812970553235558,
+              -0.1380175331215296,
+              0.7565889659937424
+            ],
+            "target_position": [
+              0.1982221734133314,
+              -0.13522785674469426,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01047092174624572,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2083464373193275,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565889659937424,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754173442868197,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0874185764001482,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17999265440084358,
+            "release_required_pad_clearance": 0.053709288200074104,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.427718284198556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 232,
+            "max_placed_release_frames": 232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1dda2f34a1bfd697a0c92d75f378e69c7215cd586e1f0879f4b2501fd0334619",
+    "visual_seed": 1879139676504465395,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9eaad2934ecec32abf07f47619f55207d2acef2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_8_success.json
@@ -0,0 +1,2670 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25488510970457756,
+              -0.0010902333763112854,
+              1.1619795619121795
+            ],
+            "current_z": 1.1619795619121795,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.3008728154788345,
+            "gripper_z": 1.155251282738021,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2499619684978649,
+              -0.005910512258142722,
+              1.155251282738021
+            ],
+            "object_minus_gripper": [
+              0.004923141206712667,
+              0.004820278881831437,
+              0.006728279174158525
+            ],
+            "object_to_gripper_xy": 0.006890022339576438,
+            "object_to_gripper_z": 0.006728279174158525,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25488510970457756,
+              -0.025018283374634617,
+              1.1619795619121795
+            ],
+            "finger_b": [
+              0.24385761692112232,
+              -0.0010902333763112854,
+              1.1619795619121795
+            ],
+            "finger_midpoint": [
+              0.24937136331284993,
+              -0.01305425837547295,
+              1.1619795619121795
+            ],
+            "object_minus_finger_midpoint": [
+              0.005513746391727636,
+              0.011964024999161665,
+              0.0
+            ],
+            "finger_gap": 0.02634686269390378,
+            "fingertip_max_gap": 0.09107015376120323,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013173431346951894,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1619795619121795,
+            "object_top_z": 1.2119617513300016,
+            "finger_top_clearance": 0.049982189417822065,
+            "fingertip_min_top_clearance": 0.01499465682534662,
+            "object_projection_between_fingers": 0.8248154716583048,
+            "object_to_finger_line_xy": 0.010015097499245,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048035076880601615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5886247559595982,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 341,
+            "max_stable_success_frames": 341,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2791378849134686,
+              -0.3922465058072885,
+              0.851539554288284
+            ],
+            "target_position": [
+              0.27046858767846516,
+              -0.3938027652910389,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008807874779400603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18624372524497704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539554288284,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754273175747313,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638306305336778,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1545835203068086,
+            "release_required_pad_clearance": 0.05319153152668389,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4060866263291842,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008225440979003906,
+            "max_z_decrease": 0.008225440979003906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035010394326658256,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008225440979003906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102757102379734,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008225440979003906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008225536469855143,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12616851925849912,
+              -0.4500642120838164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12616851925849912,
+              -0.4500642120838164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12650142795915653,
+              -0.45133675590033434,
+              0.8036420831820122
+            ],
+            "closest_button": [
+              0.12619675695896146,
+              -0.4500402808189391,
+              0.7686570286750793
+            ],
+            "closest_ee_minus_button": [
+              0.00030467100019507254,
+              -0.001296475081395243,
+              0.0349850545069329
+            ],
+            "button_min_z_position": [
+              0.12619890272617335,
+              -0.4500387609004974,
+              0.7685834169387817
+            ],
+            "min_active_finger_to_button": 0.1453764371885594,
+            "closest_active_finger": [
+              -0.014366790652275085,
+              -0.4360201954841614,
+              0.8109802603721619
+            ],
+            "closest_active_finger_button": [
+              0.12616921961307526,
+              -0.45006173849105824,
+              0.7765306830406189
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14053601026535034,
+              0.014041543006896862,
+              0.03444957733154297
+            ],
+            "min_contact_pad_to_button": 0.02102757102379734,
+            "closest_contact_pad": [
+              0.12619890272617335,
+              -0.45245312336803184,
+              0.7894719208832054
+            ],
+            "closest_contact_pad_button": [
+              0.12619890272617335,
+              -0.4500387609004974,
+              0.7685834169387817
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002414362467534459,
+              0.020888503944423653
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27870718148475765,
+              0.17569015933914087,
+              1.1136894423721087
+            ],
+            "current_z": 1.1136894423721087,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.2037803126377461,
+            "gripper_z": 1.1136896494732023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2787071900607545,
+              0.17569018363944733,
+              1.1136896494732023
+            ],
+            "object_minus_gripper": [
+              -8.575996857107526e-09,
+              -2.4300306461499943e-08,
+              -2.071010936077755e-07
+            ],
+            "object_to_gripper_xy": 2.57692183858171e-08,
+            "object_to_gripper_z": -2.071010936077755e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27870718148475765,
+              0.17569015933914087,
+              1.1136894423721087
+            ],
+            "finger_b": [
+              0.27870718148475765,
+              0.17569015933914087,
+              1.1136894423721087
+            ],
+            "finger_midpoint": [
+              0.27870718148475765,
+              0.17569015933914087,
+              1.1136894423721087
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1136894423721087,
+            "object_top_z": 1.2386979489923884,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 168,
+            "max_stable_success_frames": 168,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27870718148475765,
+            0.1756901593391409,
+            1.1136894423721089
+          ],
+          "object_origin_world": [
+            0.27870718148475765,
+            0.1756901593391409,
+            1.1136894423721089
+          ],
+          "frame_world": [
+            0.2787071900607545,
+            0.17569018363944733,
+            1.1136896494732023
+          ],
+          "center_minus_frame": [
+            -8.575996857107526e-09,
+            -2.4300306433744367e-08,
+            -2.071010933857309e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436641206949069,
+            "required_z": 0.9112599493395258,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011948556601196062,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.991774033064608e-08,
+            "max_target_xy_drift": 9.862163637774908e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.4060866258146105,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.406086626923601,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2802770515959936,
+              -0.3925231682610205,
+              0.9233701997646963
+            ],
+            "target_mouth_xy": [
+              0.2791377924179249,
+              -0.39224650808856876
+            ],
+            "rod_tip_z": 0.9233701997646963,
+            "rod_tip_depth": -0.022110360003589125,
+            "rod_tip_bottom_clearance": 0.12155097932694325,
+            "rod_tip_xy_dist": 0.0011723703876483527,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0451427329305093,
+            "min_rod_tip_bottom_clearance": 0.05429777480982001,
+            "min_rod_tip_xy_dist": 0.00020496661939515932,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2791378289371339,
+              -0.39224647405728646
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.651920899017114e-08,
+              -3.4031282292179554e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 394,
+              "end_frame": 413,
+              "first_rod_tip_xy_delta": [
+                0.001608067982813266,
+                0.0012655695958622148
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0015240824634062955,
+                0.0009196962082305138
+              ],
+              "first_target_mouth_xy": [
+                0.27913782632341455,
+                -0.39224653656064756
+              ],
+              "last_target_mouth_xy": [
+                0.27913782363770445,
+                -0.3922465099781045
+              ],
+              "first_rod_tip_xy": [
+                0.2807458943062278,
+                -0.39098096696478535
+              ],
+              "last_rod_tip_xy": [
+                0.28066190610111075,
+                -0.391326813769874
+              ],
+              "min_rod_tip_xy_dist": 0.0017800754115194634,
+              "max_rod_tip_xy_dist": 0.002046350175145978,
+              "first_target_xy_drift": 6.255798651961583e-08,
+              "last_target_xy_drift": 3.63096284934168e-08,
+              "max_depth": 0.019775182155248427,
+              "min_bottom_clearance": 0.07966545311482254
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001608067982813266,
+                  0.0012655695958622148
+                ],
+                "rod_tip_xy": [
+                  0.2807458943062278,
+                  -0.39098096696478535
+                ],
+                "target_mouth_xy": [
+                  0.27913782632341455,
+                  -0.39224653656064756
+                ],
+                "gripper_position": [
+                  0.2807358812522984,
+                  -0.39099047500071116,
+                  1.0056350799200444
+                ],
+                "rod_tip_xy_dist": 0.002046350175145978,
+                "target_xy_drift": 6.255798651961583e-08,
+                "depth": 0.015466156291264244,
+                "bottom_clearance": 0.08397443773484403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0015980866862123078,
+                  0.0012560016558232912
+                ],
+                "rod_tip_xy": [
+                  0.2807358812522984,
+                  -0.39099047500071127
+                ],
+                "target_mouth_xy": [
+                  0.2791377945660861,
+                  -0.39224647665653456
+                ],
+                "gripper_position": [
+                  0.28072824011569825,
+                  -0.3909943091074899,
+                  1.005495917604393
+                ],
+                "rod_tip_xy_dist": 0.0020325897805705618,
+                "target_xy_drift": 3.446918938042557e-08,
+                "depth": 0.015624678897422806,
+                "bottom_clearance": 0.08381582782696984,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0015904137910244254,
+                  0.0012521656159882877
+                ],
+                "rod_tip_xy": [
+                  0.2807282401156983,
+                  -0.3909943091074899
+                ],
+                "target_mouth_xy": [
+                  0.2791378263246739,
+                  -0.3922464747234782
+                ],
+                "gripper_position": [
+                  0.2807380872013169,
+                  -0.3910577802397913,
+                  1.0049595182308486
+                ],
+                "rod_tip_xy_dist": 0.0020241874311792405,
+                "target_xy_drift": 2.696063572366246e-09,
+                "depth": 0.015763999990243138,
+                "bottom_clearance": 0.08367663100403233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00160032304536456,
+                  0.0011887278210683805
+                ],
+                "rod_tip_xy": [
+                  0.28073808720131693,
+                  -0.39105778023979143
+                ],
+                "target_mouth_xy": [
+                  0.2791377641559524,
+                  -0.3922465080608598
+                ],
+                "gripper_position": [
+                  0.28072801973202066,
+                  -0.3910671837270608,
+                  1.0048008540076454
+                ],
+                "rod_tip_xy_dist": 0.0019935164112960995,
+                "target_xy_drift": 7.316313607780897e-08,
+                "depth": 0.01630027472389639,
+                "bottom_clearance": 0.08314028569831466,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0015901623940626775,
+                  0.0011793217421237623
+                ],
+                "rod_tip_xy": [
+                  0.2807280197320207,
+                  -0.39106718372706084
+                ],
+                "target_mouth_xy": [
+                  0.27913785733795804,
+                  -0.3922465054691846
+                ],
+                "gripper_position": [
+                  0.28072009700076106,
+                  -0.39107108434523374,
+                  1.0046615854702303
+                ],
+                "rod_tip_xy_dist": 0.0019797515528310545,
+                "target_xy_drift": 4.23475401445887e-08,
+                "depth": 0.01645905568915773,
+                "bottom_clearance": 0.08298158626527408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0015823039049525645,
+                  0.0011754218187611798
+                ],
+                "rod_tip_xy": [
+                  0.2807200970007611,
+                  -0.39107108434523385
+                ],
+                "target_mouth_xy": [
+                  0.27913779309580855,
+                  -0.39224650616399503
+                ],
+                "gripper_position": [
+                  0.28073065080074266,
+                  -0.39113541195855916,
+                  1.0041281039330074
+                ],
+                "rod_tip_xy_dist": 0.0019711169675206935,
+                "target_xy_drift": 4.811903301359414e-08,
+                "depth": 0.01659819987276101,
+                "bottom_clearance": 0.08284232694769333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0015928248584046734,
+                  0.001111060866250957
+                ],
+                "rod_tip_xy": [
+                  0.2807306508007427,
+                  -0.3911354119585593
+                ],
+                "target_mouth_xy": [
+                  0.27913782594233805,
+                  -0.39224647282481023
+                ],
+                "gripper_position": [
+                  0.28072039253296593,
+                  -0.3911445534643889,
+                  1.0039695904729946
+                ],
+                "rod_tip_xy_dist": 0.0019420471873943213,
+                "target_xy_drift": 3.2384872827453826e-09,
+                "depth": 0.017131845069757734,
+                "bottom_clearance": 0.08230884117833082,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0015825681964667382,
+                  0.0011019238274310172
+                ],
+                "rod_tip_xy": [
+                  0.280720392532966,
+                  -0.39114455346438903
+                ],
+                "target_mouth_xy": [
+                  0.27913782433649925,
+                  -0.39224647729182005
+                ],
+                "gripper_position": [
+                  0.2807124636652878,
+                  -0.3911481899399431,
+                  1.0038308277183032
+                ],
+                "rod_tip_xy_dist": 0.0019284082083231772,
+                "target_xy_drift": 5.623881818401906e-09,
+                "depth": 0.01729023889773551,
+                "bottom_clearance": 0.08215028865388574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0015746672049038457,
+                  0.0010982835061332241
+                ],
+                "rod_tip_xy": [
+                  0.2807124636652878,
+                  -0.39114818993994327
+                ],
+                "target_mouth_xy": [
+                  0.27913779646038395,
+                  -0.3922464734460765
+                ],
+                "gripper_position": [
+                  0.2807046693415096,
+                  -0.3911515968611546,
+                  1.0036919231979795
+                ],
+                "rod_tip_xy_dist": 0.0019198446463305249,
+                "target_xy_drift": 3.24825009094615e-08,
+                "depth": 0.017429112478096975,
+                "bottom_clearance": 0.08201156303015766,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00156690662270903,
+                  0.0010948814067207047
+                ],
+                "rod_tip_xy": [
+                  0.28070466934150967,
+                  -0.39115159686115464
+                ],
+                "target_mouth_xy": [
+                  0.27913776271880064,
+                  -0.39224647826787534
+                ],
+                "gripper_position": [
+                  0.2807165289534481,
+                  -0.39121774731317144,
+                  1.0031601658567892
+                ],
+                "rod_tip_xy_dist": 0.0019115338498368602,
+                "target_xy_drift": 6.63520664228347e-08,
+                "depth": 0.01756791312048145,
+                "bottom_clearance": 0.0818727016522579,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.001578673035792122,
+                  0.0010287584990751886
+                ],
+                "rod_tip_xy": [
+                  0.2807165289534482,
+                  -0.3912177473131715
+                ],
+                "target_mouth_xy": [
+                  0.27913785591765605,
+                  -0.3922465058122467
+                ],
+                "gripper_position": [
+                  0.28070613160031593,
+                  -0.3912270400197517,
+                  1.0030021532211322
+                ],
+                "rod_tip_xy_dist": 0.001884291008139812,
+                "target_xy_drift": 4.16692461397084e-08,
+                "depth": 0.018099726933504257,
+                "bottom_clearance": 0.08134084902533856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0015683085542960162,
+                  0.0010194680519856059
+                ],
+                "rod_tip_xy": [
+                  0.280706131600316,
+                  -0.39122704001975184
+                ],
+                "target_mouth_xy": [
+                  0.27913782304602,
+                  -0.39224650807173744
+                ],
+                "gripper_position": [
+                  0.2806980575777648,
+                  -0.39123047808940953,
+                  1.0028632392639767
+                ],
+                "rod_tip_xy_dist": 0.0018705365087314887,
+                "target_xy_drift": 3.4520835718087486e-08,
+                "depth": 0.01825766141183438,
+                "bottom_clearance": 0.0811829262649737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0015602316868915111,
+                  0.0010159966436356083
+                ],
+                "rod_tip_xy": [
+                  0.28069805757776484,
+                  -0.3912304780894096
+                ],
+                "target_mouth_xy": [
+                  0.2791378258908733,
+                  -0.3922464747330452
+                ],
+                "gripper_position": [
+                  0.2806900202015212,
+                  -0.39123418395187526,
+                  1.0027246351163344
+                ],
+                "rod_tip_xy_dist": 0.0018618732762084405,
+                "target_xy_drift": 3.1203130228410177e-09,
+                "depth": 0.018396674886957842,
+                "bottom_clearance": 0.08104393944312649,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0015521984981542447,
+                  0.0010123241437774988
+                ],
+                "rod_tip_xy": [
+                  0.28069002020152123,
+                  -0.39123418395187526
+                ],
+                "target_mouth_xy": [
+                  0.279137821703367,
+                  -0.39224650809565276
+                ],
+                "gripper_position": [
+                  0.2806819509551207,
+                  -0.39123747142046966,
+                  1.0025860077716995
+                ],
+                "rod_tip_xy_dist": 0.0018531379737480797,
+                "target_xy_drift": 3.479853105635003e-08,
+                "depth": 0.01853522030773347,
+                "bottom_clearance": 0.08090541869500123,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0015441253911013253,
+                  0.001009035028701144
+                ],
+                "rod_tip_xy": [
+                  0.2806819509551208,
+                  -0.3912374714204697
+                ],
+                "target_mouth_xy": [
+                  0.27913782556401945,
+                  -0.39224650644917086
+                ],
+                "gripper_position": [
+                  0.28067391998021973,
+                  -0.3912411575864602,
+                  1.0024471005814166
+                ],
+                "rod_tip_xy_dist": 0.0018445798742775384,
+                "target_xy_drift": 3.2567039716697604e-08,
+                "depth": 0.01867388013223603,
+                "bottom_clearance": 0.08076667328321985,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0015361275198114144,
+                  0.0010053479620287797
+                ],
+                "rod_tip_xy": [
+                  0.2806739199802198,
+                  -0.3912411575864603
+                ],
+                "target_mouth_xy": [
+                  0.2791377924604084,
+                  -0.39224650554848906
+                ],
+                "gripper_position": [
+                  0.28068885613715855,
+                  -0.391311160717301,
+                  1.0019199000670382
+                ],
+                "rod_tip_xy_dist": 0.0018358682637589735,
+                "target_xy_drift": 4.818970165796813e-08,
+                "depth": 0.018812714949494103,
+                "bottom_clearance": 0.08062785827479879,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0015510300537692756,
+                  0.0009353136945078333
+                ],
+                "rod_tip_xy": [
+                  0.2806888561371586,
+                  -0.3913111607173011
+                ],
+                "target_mouth_xy": [
+                  0.27913782608338933,
+                  -0.39224647441180893
+                ],
+                "gripper_position": [
+                  0.2806783080477179,
+                  -0.39132002124483733,
+                  1.0017619026442208
+                ],
+                "rod_tip_xy_dist": 0.0018112167001298918,
+                "target_xy_drift": 2.8756815319331266e-09,
+                "depth": 0.019340021336105795,
+                "bottom_clearance": 0.08010061201249574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0015404852451451623,
+                  0.0009264862003016683
+                ],
+                "rod_tip_xy": [
+                  0.2806783080477179,
+                  -0.39132002124483745
+                ],
+                "target_mouth_xy": [
+                  0.2791378228025727,
+                  -0.3922465074451391
+                ],
+                "gripper_position": [
+                  0.28067015743825424,
+                  -0.39132327514911264,
+                  1.0016234166331275
+                ],
+                "rod_tip_xy_dist": 0.0017976294028134313,
+                "target_xy_drift": 3.394674572846243e-08,
+                "depth": 0.01949790765227999,
+                "bottom_clearance": 0.07994266621441237,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  0.0015323313801027805,
+                  0.0009232297046956051
+                ],
+                "rod_tip_xy": [
+                  0.2806701574382543,
+                  -0.3913232751491127
+                ],
+                "target_mouth_xy": [
+                  0.2791378260581515,
+                  -0.3922465048538083
+                ],
+                "gripper_position": [
+                  0.28066190610111075,
+                  -0.39132681376987394,
+                  1.0014847097421702
+                ],
+                "rod_tip_xy_dist": 0.0017889640986000883,
+                "target_xy_drift": 3.0930798511663026e-08,
+                "depth": 0.019636493029229984,
+                "bottom_clearance": 0.07980411591562542,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 413,
+                "rod_tip_xy_delta": [
+                  0.0015240824634062955,
+                  0.0009196962082305138
+                ],
+                "rod_tip_xy": [
+                  0.28066190610111075,
+                  -0.391326813769874
+                ],
+                "target_mouth_xy": [
+                  0.27913782363770445,
+                  -0.3922465099781045
+                ],
+                "gripper_position": [
+                  0.28067763527195433,
+                  -0.39139153486747835,
+                  1.0008726134622938
+                ],
+                "rod_tip_xy_dist": 0.0017800754115194634,
+                "target_xy_drift": 3.63096284934168e-08,
+                "depth": 0.019775182155248427,
+                "bottom_clearance": 0.07966545311482254,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.00060174515641573,
+              "rod_tip_xy_max_step": 3.2656151810694556e-05,
+              "rod_tip_xy_range": 0.0006017386172845898,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2802770515959936,
+            -0.39252316826102046,
+            1.0433701997646965
+          ],
+          "object_origin_world": [
+            0.2802770515959936,
+            -0.39252316826102046,
+            1.0433701997646965
+          ],
+          "frame_world": [
+            0.28030094967098884,
+            -0.3925199038697444,
+            1.0436641206949069
+          ],
+          "center_minus_frame": [
+            -2.3898074995254426e-05,
+            -3.2643912760699223e-06,
+            -0.00029392093021041177
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2599580515052332,
+              0.1316357682638168,
+              0.833998832485125
+            ],
+            "target_position": [
+              0.27066510386233233,
+              0.17730129335819195,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04690395668088855,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1676251489671778,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.833998832485125,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673938366058,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13734786547268094,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 225,
+            "max_placed_release_frames": 225
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.22601342982519937,
+              -0.12709045611196665,
+              1.044122505973592
+            ],
+            "current_z": 1.044122505973592,
+            "required_z": 0.8565863272375608,
+            "initial_z": 0.7565863272375608,
+            "lift_margin": 0.18753617873603112,
+            "gripper_z": 1.048007486790637,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2215724064166105,
+              -0.13147934214834056,
+              1.048007486790637
+            ],
+            "object_minus_gripper": [
+              0.004441023408588873,
+              0.004388886036373912,
+              -0.003884980817045136
+            ],
+            "object_to_gripper_xy": 0.006243797686978034,
+            "object_to_gripper_z": -0.003884980817045136,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.22601342982519937,
+              -0.15129107556279342,
+              1.044122505973592
+            ],
+            "finger_b": [
+              0.21531518248974266,
+              -0.12709045611196665,
+              1.044122505973592
+            ],
+            "finger_midpoint": [
+              0.220664306157471,
+              -0.13919076583738005,
+              1.044122505973592
+            ],
+            "object_minus_finger_midpoint": [
+              0.005349123667728356,
+              0.0121003097254134,
+              0.0
+            ],
+            "finger_gap": 0.026459827623292288,
+            "fingertip_max_gap": 0.09373173378592473,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013229913811646158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044122505973592,
+            "object_top_z": 1.0907147373337533,
+            "finger_top_clearance": 0.04659223136016144,
+            "fingertip_min_top_clearance": 0.013977669408048399,
+            "object_projection_between_fingers": 0.8365250371601151,
+            "object_to_finger_line_xy": 0.00978480344778583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049365866892962365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2500877141944418,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23356717014523565,
+              -0.12418343288723381,
+              1.2407200074145885
+            ],
+            "held_position": [
+              0.23826320797820463,
+              -0.11979108684752057,
+              1.2371501070585984
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007354567534053865,
+            "max_held_gripper_dist": 0.00735627899142989,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003569900355990141,
+            "max_held_gripper_z_dist": 0.0038841494620402983,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603711620313002,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23826320797820463,
+              -0.14420488847361795,
+              1.2371501070585984
+            ],
+            "held_grasp_finger_b": [
+              0.2295263023650478,
+              -0.11979108684752057,
+              1.2371501070585984
+            ],
+            "held_grasp_midpoint": [
+              0.23389475517162622,
+              -0.13199798766056925,
+              1.2371501070585984
+            ],
+            "held_grasp_object_position": [
+              0.23826320797820463,
+              -0.11979108684752057,
+              1.2371501070585984
+            ],
+            "held_grasp_finger_gap": 0.025930044919584044,
+            "held_grasp_max_gap": 0.12496596336364746,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023828374993034945,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05486648435116039,
+              -0.9956555992554955,
+              -0.07523029021693416
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038067973624116183,
+            "held_grasp_line_xy_max_dist": 0.04748298168182373,
+            "held_grasp_object_top_z": 0.04520072415471077,
+            "held_grasp_top_clearance": 0.03280717336309146,
+            "held_grasp_min_top_clearance": 0.013560217246413231
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19433148084749652,
+              -0.13322987045113258,
+              0.7565864596480008
+            ],
+            "target_position": [
+              0.19851980672297723,
+              -0.12962644859712794,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005525099338214607,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21380128217490438,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864596480008,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520954113835525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588987930771146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18519738610140093,
+            "release_required_pad_clearance": 0.05294493965385573,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9253421241408916,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 242,
+            "max_placed_release_frames": 242
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe67399f923b98fa90afbb18e787be3f7b771300a1917a984a753b3fe79ab835",
+    "visual_seed": 331470104446161935,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c96422341ef6251922ad906f4a7d70d03fe66221
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/episode_9_success.json
@@ -0,0 +1,2664 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2515150703164845,
+              -0.0019460486543129464,
+              1.163918441248582
+            ],
+            "current_z": 1.163918441248582,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3028117544198815,
+            "gripper_z": 1.157444986667541,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24650405331620012,
+              -0.0068933308039935,
+              1.157444986667541
+            ],
+            "object_minus_gripper": [
+              0.00501101700028439,
+              0.0049472821496805534,
+              0.006473454581040983
+            ],
+            "object_to_gripper_xy": 0.007041725075980105,
+            "object_to_gripper_z": 0.006473454581040983,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2515150703164845,
+              -0.025818447005132947,
+              1.163918441248582
+            ],
+            "finger_b": [
+              0.24015024934266205,
+              -0.0019460486543129464,
+              1.163918441248582
+            ],
+            "finger_midpoint": [
+              0.24583265982957328,
+              -0.013882247829722947,
+              1.163918441248582
+            ],
+            "object_minus_finger_midpoint": [
+              0.005682410486911232,
+              0.01193619917541,
+              0.0
+            ],
+            "finger_gap": 0.026439564269996368,
+            "fingertip_max_gap": 0.09132597910960924,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219782134998184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.163918441248582,
+            "object_top_z": 1.2139407186078692,
+            "finger_top_clearance": 0.050022277359287326,
+            "fingertip_min_top_clearance": 0.015006683207786198,
+            "object_projection_between_fingers": 0.8152363171111633,
+            "object_to_finger_line_xy": 0.010261346620629516,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816298955480462,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7413348250094248,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 343,
+            "max_stable_success_frames": 343,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger2step",
+                "b_name": "beaker_b"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b": "/World/target_beaker/mesh",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_Finger1step",
+                "b_name": "beaker_b"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2799884783578919,
+              -0.38622990628484105,
+              0.8515395627675285
+            ],
+            "target_position": [
+              0.27128207370044943,
+              -0.3875394335382333,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008804336640912437,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18537277182621822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395627675285,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522466191956975,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515866503835824,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15421374229601173,
+            "release_required_pad_clearance": 0.05257933251917912,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2238116735282676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008215725421905518,
+            "max_z_decrease": 0.008215725421905518,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035040121270820665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008215725421905518,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021027440930859967,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008215725421905518,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008215834636398276,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12698200345039368,
+              -0.44380089640617365,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12698200345039368,
+              -0.44380089640617365,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.128393388693727,
+              -0.44486713227813335,
+              0.8035888797718517
+            ],
+            "closest_button": [
+              0.12701240181922913,
+              -0.44377139210700983,
+              0.7685931324958801
+            ],
+            "closest_ee_minus_button": [
+              0.0013809868744978637,
+              -0.001095740171123516,
+              0.034995747275971545
+            ],
+            "button_min_z_position": [
+              0.12701240181922913,
+              -0.44377139210700983,
+              0.7685931324958801
+            ],
+            "min_active_finger_to_button": 0.14427556311651465,
+            "closest_active_finger": [
+              -0.01212715357542038,
+              -0.4269248843193054,
+              0.8106268644332886
+            ],
+            "closest_active_finger_button": [
+              0.12698130309581757,
+              -0.44379934668540943,
+              0.7762826085090637
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13910845667123795,
+              0.016874462366104015,
+              0.034344255924224854
+            ],
+            "min_contact_pad_to_button": 0.021027440930859967,
+            "closest_contact_pad": [
+              0.12701240181922913,
+              -0.4462143003232005,
+              0.7894781862795809
+            ],
+            "closest_contact_pad_button": [
+              0.12701240181922913,
+              -0.44377139210700983,
+              0.7685931324958801
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024429082161906424,
+              0.020885053783700758
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27450411673569125,
+              0.1777244441411012,
+              1.1011796083135645
+            ],
+            "current_z": 1.1011796083135645,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19127047857920199,
+            "gripper_z": 1.1011796083135645,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2745041167356913,
+              0.17772444414110125,
+              1.1011796083135645
+            ],
+            "object_minus_gripper": [
+              -5.551115123125783e-17,
+              -5.551115123125783e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 7.850462293418876e-17,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27450411673569125,
+              0.1777244441411012,
+              1.1011796083135645
+            ],
+            "finger_b": [
+              0.27450411673569125,
+              0.1777244441411012,
+              1.1011796083135645
+            ],
+            "finger_midpoint": [
+              0.27450411673569125,
+              0.1777244441411012,
+              1.1011796083135645
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1011796083135645,
+            "object_top_z": 1.2261881149338443,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 241,
+            "max_stable_success_frames": 241,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27450411673569125,
+            0.17772444414110122,
+            1.1011796083135645
+          ],
+          "object_origin_world": [
+            0.27450411673569125,
+            0.17772444414110122,
+            1.1011796083135645
+          ],
+          "frame_world": [
+            0.2745041167356913,
+            0.17772444414110125,
+            1.1011796083135645
+          ],
+          "center_minus_frame": [
+            -5.551115123125783e-17,
+            -2.7755575615628914e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433202200175191,
+            "required_z": 0.9112600037873202,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013741455714727665,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.740915645024945e-07,
+            "max_target_xy_drift": 2.4887233871362297e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.22381167325794527,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.22381167429363813,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.28059094423884356,
+              -0.38498565964602005,
+              0.9234436881749325
+            ],
+            "target_mouth_xy": [
+              0.2799882399157962,
+              -0.38622972586450555
+            ],
+            "rod_tip_z": 0.9234436881749325,
+            "rod_tip_depth": -0.022183827415632407,
+            "rod_tip_bottom_clearance": 0.12162442301070808,
+            "rod_tip_xy_dist": 0.0013823723293660058,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04517837169675509,
+            "min_rod_tip_bottom_clearance": 0.05426214920938999,
+            "min_rod_tip_xy_dist": 0.0004862341535661569,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1182,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1182,
+            "target_mouth_xy_initial": [
+              0.27998836145099204,
+              -0.3862298505122853
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.2153519585167416e-07,
+              1.2464777976450847e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0010645735173199777,
+                0.003018976167909748
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0009764674064499101,
+                0.0026486850431789444
+              ],
+              "first_target_mouth_xy": [
+                0.27998830138270947,
+                -0.3862297312979908
+              ],
+              "last_target_mouth_xy": [
+                0.2799882688559984,
+                -0.3862297293774899
+              ],
+              "first_rod_tip_xy": [
+                0.28105287490002945,
+                -0.38321075513008107
+              ],
+              "last_rod_tip_xy": [
+                0.28096473626244833,
+                -0.38358104433431095
+              ],
+              "min_rod_tip_xy_dist": 0.0028229454571101547,
+              "max_rod_tip_xy_dist": 0.003201176951714175,
+              "first_target_xy_drift": 1.3349249635123993e-07,
+              "last_target_xy_drift": 1.5247121532790655e-07,
+              "max_depth": 0.01928723360072271,
+              "min_bottom_clearance": 0.08015329552783046
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0010645735173199777,
+                  0.003018976167909748
+                ],
+                "rod_tip_xy": [
+                  0.28105287490002945,
+                  -0.38321075513008107
+                ],
+                "target_mouth_xy": [
+                  0.27998830138270947,
+                  -0.3862297312979908
+                ],
+                "gripper_position": [
+                  0.28104269451669966,
+                  -0.3832200709468916,
+                  1.006088425949243
+                ],
+                "rod_tip_xy_dist": 0.003201176951714175,
+                "target_xy_drift": 1.3349249635123993e-07,
+                "depth": 0.015015622195520995,
+                "bottom_clearance": 0.08442505494530084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0010543960763142457,
+                  0.0030096267095658935
+                ],
+                "rod_tip_xy": [
+                  0.2810426945166996,
+                  -0.3832200709468916
+                ],
+                "target_mouth_xy": [
+                  0.27998829844038536,
+                  -0.3862296976564575
+                ],
+                "gripper_position": [
+                  0.28103503714673495,
+                  -0.3832236737717886,
+                  1.005951079565019
+                ],
+                "rod_tip_xy_dist": 0.0031889816582538234,
+                "target_xy_drift": 1.6533372509843386e-07,
+                "depth": 0.015171418368920664,
+                "bottom_clearance": 0.08426911986809049,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0010467370903330941,
+                  0.0030060556034529617
+                ],
+                "rod_tip_xy": [
+                  0.2810350371467349,
+                  -0.3832236737717887
+                ],
+                "target_mouth_xy": [
+                  0.2799883000564018,
+                  -0.38622972937524164
+                ],
+                "gripper_position": [
+                  0.28104455501391157,
+                  -0.3832945583725666,
+                  1.0054173895707297
+                ],
+                "rod_tip_xy_dist": 0.003183084797382869,
+                "target_xy_drift": 1.3580677104392198e-07,
+                "depth": 0.015308756411711921,
+                "bottom_clearance": 0.08413180138534526,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0010562559871759025,
+                  0.002935202408222648
+                ],
+                "rod_tip_xy": [
+                  0.28104455501391157,
+                  -0.38329455837256665
+                ],
+                "target_mouth_xy": [
+                  0.27998829902673567,
+                  -0.3862297607807893
+                ],
+                "gripper_position": [
+                  0.2810341025761741,
+                  -0.3833039662659634,
+                  1.0052609485692732
+                ],
+                "rod_tip_xy_dist": 0.0031194694881791956,
+                "target_xy_drift": 1.0930932787470935e-07,
+                "depth": 0.01584252627241567,
+                "bottom_clearance": 0.08359804870689536,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0010458034820073348,
+                  0.002925763109776214
+                ],
+                "rod_tip_xy": [
+                  0.2810341025761741,
+                  -0.3833039662659635
+                ],
+                "target_mouth_xy": [
+                  0.2799882990941668,
+                  -0.38622972937573974
+                ],
+                "gripper_position": [
+                  0.281026332497694,
+                  -0.38330737496864403,
+                  1.005124016989344
+                ],
+                "rod_tip_xy_dist": 0.003107055631543479,
+                "target_xy_drift": 1.3624403227128837e-07,
+                "depth": 0.01599887969238112,
+                "bottom_clearance": 0.08344164099364604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0010380336237343357,
+                  0.0029224159365219826
+                ],
+                "rod_tip_xy": [
+                  0.28102633249769393,
+                  -0.383307374968644
+                ],
+                "target_mouth_xy": [
+                  0.2799882988739596,
+                  -0.38622979090516596
+                ],
+                "gripper_position": [
+                  0.2810366905495344,
+                  -0.3833787782718795,
+                  1.0045920754851072
+                ],
+                "rod_tip_xy_dist": 0.003101294682876926,
+                "target_xy_drift": 8.642276127832614e-08,
+                "depth": 0.01613584834195314,
+                "bottom_clearance": 0.08330474135230737,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0010483895297258572,
+                  0.002850981546191622
+                ],
+                "rod_tip_xy": [
+                  0.28103669054953434,
+                  -0.3833787782718796
+                ],
+                "target_mouth_xy": [
+                  0.2799883010198085,
+                  -0.3862297598180712
+                ],
+                "gripper_position": [
+                  0.2810260619455514,
+                  -0.3833883678543323,
+                  1.0044360979230433
+                ],
+                "rod_tip_xy_dist": 0.003037633352260272,
+                "target_xy_drift": 1.0898334007686373e-07,
+                "depth": 0.01666783921133652,
+                "bottom_clearance": 0.08277277846682696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001037792534760773,
+                  0.002841359924354081
+                ],
+                "rod_tip_xy": [
+                  0.28102606194555135,
+                  -0.3833883678543323
+                ],
+                "target_mouth_xy": [
+                  0.2799882694107906,
+                  -0.38622972777868636
+                ],
+                "gripper_position": [
+                  0.28101824660480734,
+                  -0.3833914446344457,
+                  1.0042993142018999
+                ],
+                "rod_tip_xy_dist": 0.0030249528202817674,
+                "target_xy_drift": 1.5341100024523681e-07,
+                "depth": 0.016823726062044186,
+                "bottom_clearance": 0.08261678889148338,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0010299460996427423,
+                  0.0028383151844211807
+                ],
+                "rod_tip_xy": [
+                  0.2810182466048073,
+                  -0.38339144463444574
+                ],
+                "target_mouth_xy": [
+                  0.27998830050516454,
+                  -0.3862297598188669
+                ],
+                "gripper_position": [
+                  0.2810100588195095,
+                  -0.3833949370188816,
+                  1.004161998292408
+                ],
+                "rod_tip_xy_dist": 0.003019407566772849,
+                "target_xy_drift": 1.0926888865438323e-07,
+                "depth": 0.016960596392958327,
+                "bottom_clearance": 0.08248000148606327,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0010217595895822829,
+                  0.002834851644991865
+                ],
+                "rod_tip_xy": [
+                  0.28101005881950947,
+                  -0.3833949370188817
+                ],
+                "target_mouth_xy": [
+                  0.2799882992299272,
+                  -0.3862297886638736
+                ],
+                "gripper_position": [
+                  0.28102199165239133,
+                  -0.38346885613627546,
+                  1.0036318432039626
+                ],
+                "rod_tip_xy_dist": 0.0030133663083031304,
+                "target_xy_drift": 8.773076395864732e-08,
+                "depth": 0.017097825420770985,
+                "bottom_clearance": 0.08234268925507626,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0010336902710799123,
+                  0.0027608742003868425
+                ],
+                "rod_tip_xy": [
+                  0.2810219916523913,
+                  -0.38346885613627557
+                ],
+                "target_mouth_xy": [
+                  0.27998830138131137,
+                  -0.3862297303366624
+                ],
+                "gripper_position": [
+                  0.28101128612039566,
+                  -0.38347820361110374,
+                  1.0034760448745508
+                ],
+                "rod_tip_xy_dist": 0.002948040353673428,
+                "target_xy_drift": 1.3435232366831664e-07,
+                "depth": 0.017628139694601974,
+                "bottom_clearance": 0.08181250329562906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.001022986576980467,
+                  0.0027515546100534416
+                ],
+                "rod_tip_xy": [
+                  0.2810112861203956,
+                  -0.38347820361110385
+                ],
+                "target_mouth_xy": [
+                  0.27998829954341514,
+                  -0.3862297582211573
+                ],
+                "gripper_position": [
+                  0.28100316642236567,
+                  -0.38348152621280196,
+                  1.0033391215238043
+                ],
+                "rod_tip_xy_dist": 0.002935567118767438,
+                "target_xy_drift": 1.1113145543984074e-07,
+                "depth": 0.017783770259785725,
+                "bottom_clearance": 0.08165673437816923,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0010148655559254482,
+                  0.0027482345669749275
+                ],
+                "rod_tip_xy": [
+                  0.2810031664223656,
+                  -0.38348152621280207
+                ],
+                "target_mouth_xy": [
+                  0.27998830086644017,
+                  -0.386229760779777
+                ],
+                "gripper_position": [
+                  0.28099508339852264,
+                  -0.38348455530622405,
+                  1.0032021303068226
+                ],
+                "rod_tip_xy_dist": 0.0029296322860932113,
+                "target_xy_drift": 1.0827008346729775e-07,
+                "depth": 0.017920809051873987,
+                "bottom_clearance": 0.0815198368444271,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0010067859930324996,
+                  0.002745140444606553
+                ],
+                "rod_tip_xy": [
+                  0.2809950833985226,
+                  -0.38348455530622405
+                ],
+                "target_mouth_xy": [
+                  0.2799882974054901,
+                  -0.3862296957508306
+                ],
+                "gripper_position": [
+                  0.2810084107205493,
+                  -0.3835600492598266,
+                  1.0026752312361125
+                ],
+                "rod_tip_xy_dist": 0.0029239381143213515,
+                "target_xy_drift": 1.6749010174937393e-07,
+                "depth": 0.018057779597216883,
+                "bottom_clearance": 0.08138286666150496,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0010201112732441397,
+                  0.002669743893923937
+                ],
+                "rod_tip_xy": [
+                  0.2810084107205492,
+                  -0.3835600492598267
+                ],
+                "target_mouth_xy": [
+                  0.2799882994473051,
+                  -0.3862297931537506
+                ],
+                "gripper_position": [
+                  0.28099760711161414,
+                  -0.3835691564099129,
+                  1.0025195465855168
+                ],
+                "rod_tip_xy_dist": 0.002857999207302886,
+                "target_xy_drift": 8.446572500038464e-08,
+                "depth": 0.018584673990061917,
+                "bottom_clearance": 0.08085600821447936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001009341106572026,
+                  0.002660539667867612
+                ],
+                "rod_tip_xy": [
+                  0.2809976071116141,
+                  -0.38356915640991296
+                ],
+                "target_mouth_xy": [
+                  0.27998826600504206,
+                  -0.38622969607778057
+                ],
+                "gripper_position": [
+                  0.2809895120229261,
+                  -0.38357202035912835,
+                  1.0023831593898254
+                ],
+                "rod_tip_xy_dist": 0.0028455651097300766,
+                "target_xy_drift": 1.8154874172317454e-07,
+                "depth": 0.018740466053090654,
+                "bottom_clearance": 0.08070023042873375,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0010012433151527778,
+                  0.002657769265386911
+                ],
+                "rod_tip_xy": [
+                  0.28098951202292605,
+                  -0.3835720203591283
+                ],
+                "target_mouth_xy": [
+                  0.27998826870777327,
+                  -0.3862297896245152
+                ],
+                "gripper_position": [
+                  0.28098118988673015,
+                  -0.3835752665310016,
+                  1.0022460098037163
+                ],
+                "rod_tip_xy_dist": 0.002840110146486119,
+                "target_xy_drift": 1.1094424354723442e-07,
+                "depth": 0.01887669404772352,
+                "bottom_clearance": 0.08056386377331248,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0009928892260270827,
+                  0.0026545227695268236
+                ],
+                "rod_tip_xy": [
+                  0.2809811898867301,
+                  -0.3835752665310016
+                ],
+                "target_mouth_xy": [
+                  0.279988300660703,
+                  -0.3862297893005284
+                ],
+                "gripper_position": [
+                  0.2809730083636528,
+                  -0.3835782209345053,
+                  1.0021093738902402
+                ],
+                "rod_tip_xy_dist": 0.0028341348149121307,
+                "target_xy_drift": 8.626898875451405e-08,
+                "depth": 0.019013955931896587,
+                "bottom_clearance": 0.08042663655214011,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0009847076590127624,
+                  0.0026515385643773315
+                ],
+                "rod_tip_xy": [
+                  0.28097300836365274,
+                  -0.3835782209345052
+                ],
+                "target_mouth_xy": [
+                  0.27998830070464,
+                  -0.38622975949888255
+                ],
+                "gripper_position": [
+                  0.28096473626244833,
+                  -0.38358104433431095,
+                  1.0019726037924375
+                ],
+                "rod_tip_xy_dist": 0.0028284812058945335,
+                "target_xy_drift": 1.094237577963828e-07,
+                "depth": 0.019150532604236603,
+                "bottom_clearance": 0.08029006159674268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0009764674064499101,
+                  0.0026486850431789444
+                ],
+                "rod_tip_xy": [
+                  0.28096473626244833,
+                  -0.38358104433431095
+                ],
+                "target_mouth_xy": [
+                  0.2799882688559984,
+                  -0.3862297293774899
+                ],
+                "gripper_position": [
+                  0.2809565652265785,
+                  -0.3835841064845994,
+                  1.0018359544713826
+                ],
+                "rod_tip_xy_dist": 0.0028229454571101547,
+                "target_xy_drift": 1.5247121532790655e-07,
+                "depth": 0.01928723360072271,
+                "bottom_clearance": 0.08015329552783046,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0006023816872073264,
+              "rod_tip_xy_max_step": 3.269911062875401e-05,
+              "rod_tip_xy_range": 0.0006023754698950998,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.28059094423884356,
+            -0.38498565964602,
+            1.0434436881749325
+          ],
+          "object_origin_world": [
+            0.28059094423884356,
+            -0.38498565964602,
+            1.0434436881749325
+          ],
+          "frame_world": [
+            0.2805896372298723,
+            -0.38499417039338324,
+            1.0433202200175191
+          ],
+          "center_minus_frame": [
+            1.307008971274115e-06,
+            8.510747363243976e-06,
+            0.00012346815741337558
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2632668520132217,
+              0.12971675526339116,
+              0.8335145693854576
+            ],
+            "target_position": [
+              0.2746349713846211,
+              0.17618789293119724,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047841412752787436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16664985351149186,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335145693854576,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670740964284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13661935703086184,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 222,
+            "max_placed_release_frames": 222
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2241998735928042,
+              -0.130784461635024,
+              1.0459945715638912
+            ],
+            "current_z": 1.0459945715638912,
+            "required_z": 0.8565862365419916,
+            "initial_z": 0.7565862365419916,
+            "lift_margin": 0.18940833502189958,
+            "gripper_z": 1.049561025141705,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2201964794245912,
+              -0.1350839911607546,
+              1.049561025141705
+            ],
+            "object_minus_gripper": [
+              0.0040033941682129925,
+              0.004299529525730594,
+              -0.0035664535778137108
+            ],
+            "object_to_gripper_xy": 0.005874786720274272,
+            "object_to_gripper_z": -0.0035664535778137108,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2241998735928042,
+              -0.15441154772009724,
+              1.0459945715638912
+            ],
+            "finger_b": [
+              0.2132389339675999,
+              -0.130784461635024,
+              1.0459945715638912
+            ],
+            "finger_midpoint": [
+              0.21871940378020205,
+              -0.14259800467756062,
+              1.0459945715638912
+            ],
+            "object_minus_finger_midpoint": [
+              0.00548046981260214,
+              0.011813543042536623,
+              0.0
+            ],
+            "finger_gap": 0.026045755783598124,
+            "fingertip_max_gap": 0.09177839335841975,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013022877891799062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459945715638912,
+            "object_top_z": 1.091355716729218,
+            "finger_top_clearance": 0.045361145165326855,
+            "fingertip_min_top_clearance": 0.013608343549598056,
+            "object_projection_between_fingers": 0.8228987432881079,
+            "object_to_finger_line_xy": 0.009943081177973618,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838919667920988,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5248495308535697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.22923531620299137,
+              -0.13078909800784344,
+              1.2431062155135553
+            ],
+            "held_position": [
+              0.23357981902851688,
+              -0.12666986667501673,
+              1.2397313835432116
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006872573200948428,
+            "max_held_gripper_dist": 0.0068733090516963965,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003374831970343717,
+            "max_held_gripper_z_dist": 0.0035811779428438495,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08547969403039443,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.23357981902851688,
+              -0.15118939630339195,
+              1.2397313835432116
+            ],
+            "held_grasp_finger_b": [
+              0.225202094660086,
+              -0.12666986667501673,
+              1.2397313835432116
+            ],
+            "held_grasp_midpoint": [
+              0.22939095684430144,
+              -0.13892963148920434,
+              1.2397313835432116
+            ],
+            "held_grasp_object_position": [
+              0.23357981902851688,
+              -0.12666986667501673,
+              1.2397313835432116
+            ],
+            "held_grasp_finger_gap": 0.025911263936561856,
+            "held_grasp_max_gap": 0.12496598571538925,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.023819662680710316,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07007010515709029,
+              -0.9953979981711698,
+              -0.06536823081667519
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003417148758580259,
+            "held_grasp_line_xy_max_dist": 0.047482992857694625,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.032703872237463134,
+            "held_grasp_min_top_clearance": 0.013560219481587409
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.19975582745394693,
+              -0.14295739295034668,
+              0.756586406613344
+            ],
+            "target_position": [
+              0.19896742272154033,
+              -0.13581484628964172,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007185927554771808,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21827917576989256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756586406613344,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586282015569823,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529257964866936,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18724609940073642,
+            "release_required_pad_clearance": 0.05264628982433468,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35165870045223874,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 196,
+            "max_placed_release_frames": 196
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "workflow_spec_digest": "05bcfe16ac2cd1b1f7253a6502e367985b3dcbcc27485ce688a8be428d7cac86",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c914010d5f862efa9ecd36d635dc3c254ebefc014e615854812eaa1e744d16c7",
+    "visual_seed": 3273669150385773198,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881,
+      5727181341545238904,
+      7169016413193450989,
+      5390520743912596207,
+      4043391208404697403,
+      2014797057069555176
+    ],
+    "runtime_workflow_digest": "84a4e7daf3a60a2888a0fa67605e1600983932e238dd68f18761254edf21d3ea"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c2f349deb881c92c1bf7642bb6c2e17043ae44c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s09_plrptlpsl_hse_00003",
+  "family": "lab3_v1",
+  "published_episodes": 38,
+  "published_successes": 38,
+  "published_failures": 0,
+  "matched_success_results": 38
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ab5c029313009f83a0179958b33a3f4b8e1737dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2eae4f96a0437a3838183d9dd476c86f7159d114d93a2020674544ff36843adf
+size 16067847
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d83d70c3f5af9ce3c59173846d8edd9b5e44c03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6ea85447d384f3db4b072a8fead30b44b46df27843f8435b057e297a1b5541e
+size 15854334
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33b77dc9e7100536b224c2bc39ed120e137cf4de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c84393a2e635249be6cbe22587ebc3560aa1ec01c3f5e376f1efe30eb88e2a3
+size 15638160
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e83aab312e040704c0efa4d4768d57c8a88e4452
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a24029503dd85716f98ec3a5e8f1098f8bb88e2de63f66d5586a79ddecfeac05
+size 17914647
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a68f48b638ec6819c47c131dbefb48d2c85f5798
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:790d7c264d486002e76b3faadf822915f6097f5dc2b8fb4c3a2373ed21a648f8
+size 23511540
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65dc5f9d117943f1748f5449845ed90b87219b09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15787a496d1a0fa8bdbef7cd50c525b3f02965dce0cfae3e01e359509de185dc
+size 12967403
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3fae6ff9fcbbff304c397fd3af88d2f7642bf6d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70470bdc2f2de016a58451d8b4f8dcdd36b860f0ae36531c4f059ca3feb7880c
+size 14807419
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..342638b2a9b7cddb5437c3b2deaeb1f712745b22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f8b843e96f1494e3bbb434bd6d1eafd3c9e72a63340a1db1397366a94864386
+size 15540716
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..638594a3b304880679dc8d9920ca3e3bb4789240
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3142c31240a776b050c027864843fab879675a2449095760f86d0d1dfd716918
+size 23646122
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b77d6d6e08d0ca5485590334c06676b06a66e2da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81032cf3f8b9183a09e17905079ae5da01aae099c258ea2edf0299aa7ecdb673
+size 18337777
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77c6c54dd37c2e6b3fb6b7756e3b69a7c16ed5ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d4e0348ddbd00ef2fa55c5ac6e58cc7ef1f0ecc623cd27c015429ab164b7b8
+size 17322372
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..09d974826713dd26fd1b5bd7fa4f035875831a47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1200037ef371dedd8a7766d363f5b0358cdc47ec736cf0beb438e43ec113a15
+size 15548012
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7b28dbe42e0c397a18e671c1ce4499c1993a4a1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67c369d612b0498ef6c78b829bb606d378bd6029963c901bab250dc7ef5e64cf
+size 17243221
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..006e3544dfbcd304969d3ab317833a169bb2b33d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5dd53d9b9f1faf98bf46a7b9402167c7943629a6fd8227a63b95c567c3e0603
+size 19592379
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bac55d64b6c2d7b4cd7d4b427a5b2856ea04b535
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd785c3cdf70e63a20b62bb4e2ee6558c7d5add19730f5717796bf8183dd142a
+size 16444456
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..828a535175a28bc7b1940a862bccd91610d588ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34568714cb927bdbf5b1989c3b416a6f270ab0300a9dce7e692848664fc28a9e
+size 15863223
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8f733e6304fbb43a7dc5b6148f92e4e933dc798b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82dffac0fa110d0cd08dc5f0773b8bdf1f095267d50c63a817dfbf3eec331f96
+size 15363899
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fcc6287b56a4e89d08ae7e2c1de6777895945e5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd445426b1f11ac0fa2cd3484af19a8fe1aa2e8cf1e465bfb6a65447a0aedd6
+size 20869641
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..739aa7f1f3f9a8a6fad2b51c1fd8103728a68f4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e087ad9a66d57945df6871b18c40f9d5dcff8d563ad4ea56ae758534186974b2
+size 15319130
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a5abab84c50d25b8b9d1a9418d1fc1e1172a29f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:296bb11f5d448f7bbbd5f9808ea5976594bacd12c924a1b4dc928d2fc24c3dfa
+size 15979636
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fb599d487c46d44c95d19e87677e22b78374c647
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67de6af23381a55c26802a875db3f9ea1f6530e119dd646157adb7a87e494f48
+size 21547096
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..404a7ac4e10b92db0526108bb1883f8bfad876db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/meta/episode.jsonl
@@ -0,0 +1,21 @@
+{"episode_index":6,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3642,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3639,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3637,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3645,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3645,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3644,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3646,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3607,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3650,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3643,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3626,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3656,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3640,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3642,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3658,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3653,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3638,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3653,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3634,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3636,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating. Pick up the glass rod from the rack. Stir the contents of beaker a with the glass rod. Return the glass rod to the rack. Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at home."],"length":3643,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..865d3a42733918d64004492817a8e56c97c2923b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,21 @@
+{"episode_id":"ep_000000","started_at":"2026-09-08T14:16:55","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.14692865200811023,1.5001955878199573,0.71338606911949],"aabb_xy":[[-0.19702611598918385,1.4361955873101453],[-0.09683118802703661,1.564195588329769]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.2654762822493657,-0.6515185604858569,0.71338606911949],"aabb_xy":[[0.20147628002895868,-0.6958916446111452],[0.32947628446977273,-0.6071454763605686]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[0.15568182107545503,-1.8793333600698776,0.71338606911949],"aabb_xy":[[0.09168182378980638,-1.9208400790227216],[0.21968181836110368,-1.8378266411170336]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.19890282243137047,-1.5739158311359929,0.71338606911949],"aabb_xy":[[0.128902820622625,-1.59526959990018],[0.2689028242401159,-1.5525620623718053]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_4","position":[0.10525135764502236,-0.863808538672268,0.71338606911949],"aabb_xy":[[0.0861390502870435,-0.88294331754951],[0.12436366500300122,-0.844673759795026]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[-0.28590626618484205,-0.408015085064628,0.71338606911949],"aabb_xy":[[-0.2935305342750203,-0.4156483086011718],[-0.2782819980946638,-0.40038186152808436]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.3448738963418525,0.618308191746666,0.71338606911949],"aabb_xy":[[0.29489094615437306,0.5683081921041054],[0.39485684652933173,0.6683081913892263]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[0.328368133710101,-2.4588641225237535,0.71338606911949],"aabb_xy":[[0.3084770938297607,-2.4715199338084504],[0.3482591735904412,-2.4462083112390567]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.4161210839514032,-1.9022025318474354,0.71338606911949],"aabb_xy":[[-0.4496002512124442,-1.9356816452185426],[-0.3826419166903623,-1.8687234184763286]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.3043870837515632,-1.6491236510774139,0.71338606911949],"aabb_xy":[[-0.34937967047001356,-1.6941236503518622],[-0.25939449703311274,-1.6041236518029647]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.3389938191170315,-2.2930817425619736,0.71338606911949],"aabb_xy":[[-0.40299381939100976,-2.343147842759262],[-0.2749938188430533,-2.243015642364686]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.20806704164984458,-1.4765165634916015,0.71338606911949],"aabb_xy":[[-0.24556704316547628,-1.4877433365077464],[-0.17056704013421287,-1.4652897904754563]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.5701205285654082,0.03305463449644064,0.71338606911949],"aabb_xy":[[-0.6601205253010184,-0.02012882882085388],[-0.48012053182979797,0.08623809781373515]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[-0.3253456604425994,1.1152676682937872,0.71338606911949],"aabb_xy":[[-0.4053456607162064,1.0423181204680703],[-0.24534566016899248,1.1882172161195037]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.05961780513179604,-1.4084902563426704,0.71338606911949],"aabb_xy":[[-0.07567973259031369,-1.4934902581552623],[-0.0435558776732784,-1.3234902545300786]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.42297979820564247,-0.03732867070035839,0.71338606911949],"aabb_xy":[[0.41121161141098506,-0.12232867060557998],[0.4347479850003001,0.04767132920486319]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[0.34912250429070824,-1.6758354160634568,0.71338606911949],"aabb_xy":[[0.34034127714347207,-1.6846151633519875],[0.3579037314379445,-1.667055668774927]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.3496051382959351,-1.9165207921015919,0.71338606911949],"aabb_xy":[[0.2846051373388079,-1.9684690040352972],[0.4146051392530623,-1.864572580167886]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[0.00819266462205126,1.5959246961884905,0.71338606911949],"aabb_xy":[[-0.01427210534935386,1.5734246953096303],[0.03065743459345638,1.6184246970673513]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.36536278394107025,-2.205809469411691,0.71338606911949],"aabb_xy":[[0.3278627831490748,-2.2121773103698814],[0.4028627847330657,-2.199441628453501]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6368168044046256,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5732.png","name":"5732"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5732.png","name":"5732"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4184.png","name":"4184"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2044.png","name":"2044"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5283.png","name":"5283"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8494.png","name":"8494"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":687.7595145245429,"rotation_z_degrees":110.58125356265857,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00733419004865345,-0.0017097913749094251,0.017720511805044945]},{"name":"camera_2","offset_m":[0.017347095646793858,0.01935610171585442,0.0033229599223911013]},{"name":"camera_3","offset_m":[0.019215700699248963,0.01943870887855045,0.014146862801977144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001457640140544906,-0.0005092722234859494,-0.0015952466403459265],"end_effector_yaw_offset_degrees":0.9800320555090236},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-9.926745803951007e-05,-0.00047625056792306394,0.0006616035857701132],"end_effector_yaw_offset_degrees":0.3435116316412923},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001214716024491211,0.0004642167519117598,0.00027976131321463425],"end_effector_yaw_offset_degrees":0.609497602271988},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0004176394826981471,-0.0017691497358466074,-0.00035802963004042364],"end_effector_yaw_offset_degrees":-0.6452942066070306},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0012688059669609918,-0.0008532720511135472,-0.0002705333097087199],"end_effector_yaw_offset_degrees":0.49489051291113095},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006477417990980703,-0.0002503266320032767,-0.00015117938688708637],"end_effector_yaw_offset_degrees":0.5941245514171256},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00019202138103305419,0.0017049935495143899,2.3030569236227004e-05],"end_effector_yaw_offset_degrees":0.4035951474821855},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0005289506106994457,0.0009735315995455704,0.0017772421939261534],"end_effector_yaw_offset_degrees":-0.5167824597735537},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004876173230181271,-0.00045509977004618116,0.0010624490160811326],"end_effector_yaw_offset_degrees":0.0693201925388669}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027402973217691973,0.004368508497162012],"position_m":[0.33965970267823076,0.118468508497162,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003633148766521963,0.004758408636966415],"position_m":[0.26586685123347803,-0.07894159136303358,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004016208130893783,-0.0040202688373480715],"position_m":[0.21201620813089378,-0.3316202688373481,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0025123075982722617,-0.0006293868279730816],"position_m":[0.28221230759827226,0.31717061317202694,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"cd86d07e51b1ce4a86940c83c728c60544e7f57559508f03695abfde40c2f06b","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0006.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5732/tex_ceiling_textures_8494/tex_floor_textures_5283/tex_table_textures_4184/tex_wall_textures_2044","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3884796493546935480,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3884796493546935480,"visual_seed":3884796493546935480,"scene_id":"lab_003","finished_at":"2026-09-08T14:27:50"}
+{"episode_id":"ep_000001","started_at":"2026-09-08T14:39:02","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.5881832246372631,0.9547613433051314,0.71338606911949],"aabb_xy":[[0.5817694109940781,0.9483515230574628],[0.594597038280448,0.9611711635527995]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.484677572200908,1.5851058054027356,0.71338606911949],"aabb_xy":[[-0.5346768473693443,1.5351058041267882],[-0.43467829703247196,1.6351058066786825]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.17389992314358138,1.232319476905988,0.71338606911949],"aabb_xy":[[0.16587365251295538,1.2235679819286354],[0.18192619377420738,1.2410709718833406]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[-0.5159698535026213,-0.3982531891729706,0.71338606911949],"aabb_xy":[[-0.5200858036146938,-0.4023687442058161],[-0.5118539033905485,-0.3941376341401251]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[0.3420929645291033,0.407254099214291,0.71338606911949],"aabb_xy":[[0.3086527893330836,0.3738104733833609],[0.3755331397251228,0.44069772504522103]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[0.2643348376266582,1.3588086167614417,0.71338606911949],"aabb_xy":[[0.19933483666953097,1.3068604048277361],[0.32933483858378537,1.4107568286951473]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.5050461389168124,-2.0166317128832856,0.71338606911949],"aabb_xy":[[-0.5131738271101257,-2.0255453212939933],[-0.49691845072349927,-2.007718104472578]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5230257760776758,-1.3355355328577927,0.71338606911949],"aabb_xy":[[-0.6130257728132859,-1.388718996175087],[-0.43302577934206543,-1.282352069540498]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.5166439071123845,-1.1735470684811113,0.71338606911949],"aabb_xy":[[-0.5966439103763976,-1.1871071007900245],[-0.4366439038483714,-1.1599870361721978]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.4831356678079852,-1.8410991494229836,0.71338606911949],"aabb_xy":[[-0.518135669159467,-1.8614588853798046],[-0.4481356664565035,-1.820739413466163]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[0.12062940627886443,-0.6477017994795737,0.71338606911949],"aabb_xy":[[0.07062940670252972,-0.6976823784316797],[0.17062940585519915,-0.5977212205274678]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.6842058362043748,-0.9599613930975934,0.71338606911949],"aabb_xy":[[0.673432862283007,-0.9949613913166324],[0.6949788101257426,-0.9249613948785544]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.030885142248954223,1.2745320262232482,0.71338606911949],"aabb_xy":[[0.00566430538911455,1.2493082753703613],[0.05610597910879388,1.2997557770761348]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.5412278074527277,0.4648245230973669,0.71338606911949],"aabb_xy":[[0.4612278087958417,0.4503196641731041],[0.6212278061096137,0.47932938202162967]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.19411436343085642,-0.8880668778002516,0.71338606911949],"aabb_xy":[[0.1598174524131158,-0.9223637640101928],[0.22841127444859705,-0.8537699915903102]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.5630043475161803,-0.7751893872773035,0.71338606911949],"aabb_xy":[[-0.5717183165661146,-0.7976893879364916],[-0.5542903784662456,-0.7526893866181151]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.10708743821145361,-2.2368806853712297,0.71338606911949],"aabb_xy":[[0.10295158187875345,-2.2743806848155868],[0.11122329454415383,-2.1993806859268727]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.47549529731268303,-0.6165732528374239,0.71338606911949],"aabb_xy":[[-0.5017841216331237,-0.6428446864920752],[-0.4492064729922424,-0.5903018191827727]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.6776374004165455,-1.7402335399169484,0.71338606911949],"aabb_xy":[[0.6420082445165857,-1.7758662066738016],[0.7132665563165052,-1.7046008731600957]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.48913683268387403,-0.9892951710789566,0.71338606911949],"aabb_xy":[[-0.49855430725373673,-0.9987113482166755],[-0.47971935811401123,-0.9798789939412375]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[-0.4720883961205636,0.5974574999556137,0.71338606911949],"aabb_xy":[[-0.48008238469826686,0.5894574198605232],[-0.4640944075428601,0.6054575800507039]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.2511075585340852,-1.8667701746987257,0.71338606911949],"aabb_xy":[[0.20111272560614363,-1.9167701735939693],[0.30110239146202683,-1.8167701758034822]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.5410513828454144,-0.48788442866943216,0.71338606911949],"aabb_xy":[[0.47605138468949537,-0.5141806732193444],[0.6060513810013335,-0.46158818411952]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.5362680489890249,0.49654206182048766,0.71338606911949],"aabb_xy":[[-0.5584405759656756,0.47436639466436437],[-0.514095522012374,0.5187177289766107]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[0.1736670428351491,-1.1911396404353956,0.71338606911949],"aabb_xy":[[0.16403540661471946,-1.2007769532151045],[0.1832986790555787,-1.1815023276556866]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.13936663875018118,0.8047958751309272,0.71338606911949],"aabb_xy":[[-0.20336233614527777,0.7407958768302185],[-0.0753709413550846,0.8687958734316359]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[0.6406964121888459,0.6942218627381309,0.71338606911949],"aabb_xy":[[0.6230635765953182,0.6765989167225079],[0.6583292477823733,0.7118448087537539]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[-0.4978123363686451,1.2554598932040104,0.71338606911949],"aabb_xy":[[-0.5828123350607197,1.2234740298091313],[-0.4128123376765704,1.287445756598889]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[0.5940445295813026,-1.933771138849981,0.71338606911949],"aabb_xy":[[0.5300445275315707,-1.9738656219392887],[0.6580445316310347,-1.8936766557606728]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_29","position":[0.012366158528930526,-1.4542824642465881,0.71338606911949],"aabb_xy":[[0.007466866222367028,-1.4819593835491567],[0.017265450835494023,-1.4266055449440191]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_30","position":[-0.34518541215889603,-1.0570460752092692,0.71338606911949],"aabb_xy":[[-0.35695359895355355,-1.142046075114491],[-0.3334172253642385,-0.9720460753040479]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[-0.020483848491453016,-1.8696575964876647,0.71338606911949],"aabb_xy":[[-0.057983848308486574,-1.8742958077988063],[0.017016151325580542,-1.8650193851765227]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_32","position":[0.4971133546276698,0.8940036971076437,0.71338606911949],"aabb_xy":[[0.48986958858142454,0.8140036989040412],[0.5043571206739152,0.974003695311246]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_33","position":[-0.2924667252517868,-1.2936064742595372,0.71338606911949],"aabb_xy":[[-0.3724667274145493,-1.3735616578856809],[-0.2124667230890243,-1.2136512906333936]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6373316512441894,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9105.png","name":"9105"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9105.png","name":"9105"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1918.png","name":"1918"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3442.png","name":"3442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6675.png","name":"6675"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4482.png","name":"4482"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":717.4022480198332,"rotation_z_degrees":163.01889449067048,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018742429151376205,0.003690149327415699,-0.003770274593474201]},{"name":"camera_2","offset_m":[0.008391029388580381,0.007661613078975154,-0.019194735007963586]},{"name":"camera_3","offset_m":[-0.019420575232072336,0.013179431446543963,-0.009467996945381158]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010818217021738995,-9.262887507623628e-05,0.0007642845858342909],"end_effector_yaw_offset_degrees":-0.4958420544624724},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006619107919961689,9.651567820204935e-05,0.0007267739333665889],"end_effector_yaw_offset_degrees":-0.5684147765685903},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005179369236223113,-0.0012872082601583174,-0.0006716688196130595],"end_effector_yaw_offset_degrees":0.8563905265915626},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0010717264057267953,-0.001286804744443548,-0.0006389828877776966],"end_effector_yaw_offset_degrees":-0.7496343651262847},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0005029271009606112,0.0016486845825569715,-0.0009797645811272977],"end_effector_yaw_offset_degrees":0.41144709414921965},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011194145641009756,-0.0008925164183756511,0.001816811139131463],"end_effector_yaw_offset_degrees":0.04281928871023033},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008926303301150657,0.0016155833835718144,-0.001258133257138295],"end_effector_yaw_offset_degrees":0.8671195411732646},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0007718743151861689,-8.013737686604519e-05,-4.587244563144903e-05],"end_effector_yaw_offset_degrees":0.20725171936993614},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016295954148659276,-0.0016966457855978887,0.0005614488169945154],"end_effector_yaw_offset_degrees":-0.4567398796312083}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004928440747252279,-0.004233853780335388],"position_m":[0.3473284407472523,0.1098661462196646,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00437000991304911,-0.0017276943036055505],"position_m":[0.26512999008695093,-0.08542769430360554,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026538672758958993,0.0035484732198205757],"position_m":[0.2053461327241041,-0.3240515267801794,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0025223758084764215,0.0003855896873397723],"position_m":[0.2822223758084764,0.3181855896873398,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"18a74f29a6525f582f988e988723c446cb71de27691f014769895c9f8081c9c7","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9105/tex_ceiling_textures_4482/tex_floor_textures_6675/tex_table_textures_1918/tex_wall_textures_3442","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4380401611251493337,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4380401611251493337,"visual_seed":4380401611251493337,"scene_id":"lab_003","finished_at":"2026-09-08T14:50:03"}
+{"episode_id":"ep_000002","started_at":"2026-09-08T15:59:43","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.42845142024249006,-0.6381582425242813,0.71338606911949],"aabb_xy":[[0.4034514206907515,-0.6483007263894159],[0.4534514197942285,-0.6280157586591465]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.6092841584416425,-0.18246999517649476,0.71338606911949],"aabb_xy":[[-0.6592841598025297,-0.23244789975191038],[-0.5592841570807553,-0.13249209060107914]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.4131252167199874,-2.2240509463933544,0.71338606911949],"aabb_xy":[[-0.4771252140056361,-2.265557665346198],[-0.34912521943433883,-2.18254422744051]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.23472226191409684,-0.396306766978356,0.71338606911949],"aabb_xy":[[-0.2757402053004677,-0.44630676760931337],[-0.19370431852772596,-0.3463067663473987]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.04573364264652802,-1.253234321038085,0.71338606911949],"aabb_xy":[[-0.1097293400416246,-1.3172343193387934],[0.018262054748568575,-1.189234322737376]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.528075104215985,-1.362830943075109,0.71338606911949],"aabb_xy":[[0.5055751046922775,-1.3853268905257297],[0.5505751037396923,-1.340334995624488]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.16349065895812542,1.7679614167982964,0.71338606911949],"aabb_xy":[[0.14599065871307604,1.7504616289587296],[0.1809906592031748,1.7854612046378633]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.4649339554699452,0.5808520224388327,0.71338606911949],"aabb_xy":[[0.43993395553742737,0.5739693542179095],[0.48993395540246315,0.5877346906597561]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.6373285189608098,1.2981892505040795,0.71338606911949],"aabb_xy":[[-0.6623285181264429,1.291237004798723],[-0.6123285197951767,1.305141496209436]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[0.6696821833845439,1.1315899154800708,0.71338606911949],"aabb_xy":[[0.6196821830239778,1.0816099282704676],[0.71968218374511,1.1815699026896735]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.49062494707745175,-2.1854772275037364,0.71338606911949],"aabb_xy":[[0.47151263971947294,-2.204612006380978],[0.5097372544354306,-2.166342448626494]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.40991326897331226,-0.9377217742519763,0.71338606911949],"aabb_xy":[[0.34591326729531485,-0.9862391657312906],[0.47391327065130956,-0.8892043827726621]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.5835074738056418,-0.63588882218211,0.71338606911949],"aabb_xy":[[0.5755841935668936,-0.6583888224201133],[0.5914307540443903,-0.6133888219441066]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[0.4344127757097256,-1.561680551851994,0.71338606911949],"aabb_xy":[[0.39941277657977,-1.5674257729276582],[0.4694127748396813,-1.55593533077633]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.14838966435885315,-0.8102077834107835,0.71338606911949],"aabb_xy":[[-0.1544266773595179,-0.8162344844797318],[-0.14235265135818845,-0.8041810823418354]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.42725453469225066,-0.9746820435557508,0.71338606911949],"aabb_xy":[[-0.44613891846076087,-0.9935679683361035],[-0.40837015092374046,-0.9557961187753979]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.3215696956940408,0.7419706964826678,0.71338606911949],"aabb_xy":[[0.29705607159703495,0.7177061031806313],[0.3460833197910467,0.7662352897847042]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.3093506475071659,-1.993286110625252,0.71338606911949],"aabb_xy":[[-0.32685058094114927,-2.0107861105454865],[-0.2918507140731825,-1.9757861107050174]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.1657590939784933,0.8768522763076172,0.71338606911949],"aabb_xy":[[0.09575909184706374,0.8540903106819214],[0.23575909610992282,0.8996142419333127]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.5634448252718371,-0.17833676088923145,0.71338606911949],"aabb_xy":[[0.48344482310907455,-0.25829194451537507],[0.6434448274345995,-0.0983815772630878]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.029649774734812562,1.2001343137989164,0.71338606911949],"aabb_xy":[[0.02152208654149934,1.1912207053882087],[0.03777746292812578,1.2090479222096242]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.1396567808660376,-1.6706429002629617,0.71338606911949],"aabb_xy":[[-0.18746294847980627,-1.7356429029700204],[-0.09185061325226897,-1.6056428975559025]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.4430333064082881,-1.66126809136402,0.71338606911949],"aabb_xy":[[0.35303330668511385,-1.6843414438991995],[0.5330333061314622,-1.6381947388288398]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[-0.2114524578847058,1.7060426237834627,0.71338606911949],"aabb_xy":[[-0.2464524577807247,1.6976683882715227],[-0.17645245798868694,1.7144168592954028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6367110350483566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3484.png","name":"3484"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3484.png","name":"3484"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7119.png","name":"7119"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9035.png","name":"9035"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6934.png","name":"6934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7009.png","name":"7009"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":618.9413012407252,"rotation_z_degrees":212.33442530234657,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007097147760700686,-0.008493212999277314,0.00649375297073063]},{"name":"camera_2","offset_m":[0.014705652747390888,0.018652758080029922,0.00995192448906481]},{"name":"camera_3","offset_m":[-0.0004171249989409487,0.019560262645556912,0.009270862078701866]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00033279705567441334,0.001651173871554354,-0.0015301477636051725],"end_effector_yaw_offset_degrees":0.11065303798216419},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023829266962483234,0.0017196299496015912,0.0009148496394146594],"end_effector_yaw_offset_degrees":-0.7018325234752978},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008662590663974091,-0.0008911055479389502,0.0007094059244882453],"end_effector_yaw_offset_degrees":0.2713652191824725},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013911106388639662,4.16197950059813e-05,-0.0014229595537115832],"end_effector_yaw_offset_degrees":-0.2857166669030178},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0017834801502618132,-0.0011357459241441306,0.00013933915449744873],"end_effector_yaw_offset_degrees":0.1261976196873622},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0004977892496822668,0.0017980036682525612,-0.00152585153078248],"end_effector_yaw_offset_degrees":-0.9116705504180289},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001760005256964003,0.0011069987870874817,-0.0010199207507595692],"end_effector_yaw_offset_degrees":-0.9345918052860702},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.000559808751198684,-0.0002032108125005214,0.001721350795966749],"end_effector_yaw_offset_degrees":-0.06340660573857937},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011032422508180676,-0.0012467930434342544,-0.0016847079542326173],"end_effector_yaw_offset_degrees":-0.12079293899979948}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00019973822246851028,0.003042200197599193],"position_m":[0.3425997382224685,0.11714220019759919,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00015702892129704563,0.003095288679832892],"position_m":[0.269342971078703,-0.08060471132016711,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002225960703183837,-0.0007549692491692342],"position_m":[0.20577403929681615,-0.32835496924916924,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00413936332353045,-0.0036935054768329713],"position_m":[0.28383936332353044,0.3141064945231671,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"877219c9d287c892856997bd0f2c8731e3a0cbcbbc762d6c0827a61b97a5bdbb","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3484/tex_ceiling_textures_7009/tex_floor_textures_6934/tex_table_textures_7119/tex_wall_textures_9035","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":541476953147845196,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":541476953147845196,"visual_seed":541476953147845196,"scene_id":"lab_003","finished_at":"2026-09-08T16:09:48"}
+{"episode_id":"ep_000003","started_at":"2026-09-08T16:09:57","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.29512680076992936,-2.340860659555371,0.71338606911949],"aabb_xy":[[0.23112680434260752,-2.3880302833774674],[0.3591267971972513,-2.2936910357332745]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.4271897319424037,0.6428965894420267,0.71338606911949],"aabb_xy":[[-0.5171897316655778,0.6198232369068466],[-0.3371897322192295,0.6659699419772063]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[-0.50238649795948,0.5474128223577006,0.71338606911949],"aabb_xy":[[-0.524295180098831,0.5255121555376099],[-0.48047781582012894,0.5693134891777913]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.2276228382749368,-1.8421293340243023,0.71338606911949],"aabb_xy":[[-0.24317860768520208,-1.8576797672687098],[-0.21206706886467155,-1.8265789007798954]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.6004864683773987,-2.5062970973103944,0.71338606911949],"aabb_xy":[[-0.6354864697288805,-2.526656833267215],[-0.565486467025917,-2.485937361353573]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.39528356194193215,-0.6515000969496716,0.71338606911949],"aabb_xy":[[0.3872895733642287,-0.6595001770447619],[0.4032775505196355,-0.6435000168545812]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.24888018878626805,-0.7904830877334594,0.71338606911949],"aabb_xy":[[-0.28638018895814,-0.8231838231163666],[-0.2113801886143961,-0.7577823523505522]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.2016188702636707,-1.9667509304237472,0.71338606911949],"aabb_xy":[[-0.21925170585719828,-1.9843738764393701],[-0.18398603467014313,-1.9491279844081242]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.05155815716663148,-2.2132683031851372,0.71338606911949],"aabb_xy":[[-0.10144085404432769,-2.2632683024314124],[-0.0016754602889352686,-2.163268303938863]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.12892762653222234,1.5768249153819798,0.71338606911949],"aabb_xy":[[-0.13764159558215677,1.554324914722791],[-0.12021365748228781,1.5993249160411676]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[0.1489928063892546,-1.2385996221471922,0.71338606911949],"aabb_xy":[[0.06899280495912741,-1.3181167771598017],[0.2289928078193818,-1.1590824671345827]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.2462062017425618,-2.477978895410293,0.71338606911949],"aabb_xy":[[-0.3102062050322699,-2.52131381441421],[-0.18220619845285368,-2.4346439764063748]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.12375948800357495,1.0539630209763442,0.71338606911949],"aabb_xy":[[0.08625948681878214,1.0495447982802832],[0.16125948918836772,1.0583812436724043]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.6598101188177206,-0.9504530558236974,0.71338606911949],"aabb_xy":[[0.6314804088691803,-0.9549137980174145],[0.6881398287662608,-0.9459923136299804]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.21296507812168386,-1.8639467072345095,0.71338606911949],"aabb_xy":[[0.1329650801408988,-1.8715482481963615],[0.2929650761024689,-1.8563451662726576]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.6454739944005156,0.13885562180196676,0.71338606911949],"aabb_xy":[[-0.6535002650311416,0.13010412682461417],[-0.6374477237698896,0.1476071167793194]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.5529469277376619,1.010729964793399,0.71338606911949],"aabb_xy":[[-0.6179469277719646,0.9640292881130719],[-0.4879469277033591,1.0574306414737265]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.23337212671916574,-0.4995998008370961,0.71338606911949],"aabb_xy":[[0.20091042583723823,-0.5297326329519986],[0.2658338276010931,-0.4694669687221934]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.3957103484853633,-1.0465364737252851,0.71338606911949],"aabb_xy":[[-0.41321034761973047,-1.0564161007628727],[-0.3782103493509961,-1.036656846687697]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.6843574482948729,1.0046980295259895,0.71338606911949],"aabb_xy":[[0.6735058420459973,0.9938387387983385],[0.6952090545437485,1.0155573202536405]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.5760129952801969,-1.5766578733008634,0.71338606911949],"aabb_xy":[[-0.6460129970889424,-1.598011642065051],[-0.5060129934714516,-1.5553041045366762]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.638184158082912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1375.png","name":"1375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1375.png","name":"1375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5324.png","name":"5324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8592.png","name":"8592"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8506.png","name":"8506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7666.png","name":"7666"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":801.948237270075,"rotation_z_degrees":129.38803936278865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012071120556414669,0.011628689602962091,-0.010511162305800762]},{"name":"camera_2","offset_m":[0.0005508362704667383,-0.007103813877588249,-0.0029576521126101867]},{"name":"camera_3","offset_m":[-0.014643297607525772,-0.011646729924851535,0.002439120038802728]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010282651423350535,5.660185280811133e-05,0.00029567161750698777],"end_effector_yaw_offset_degrees":0.27511712229348495},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015531110233302056,-0.0008970470236022044,-0.00163070319564229],"end_effector_yaw_offset_degrees":0.4354490581308439},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018263784007391823,0.001774607472402879,0.000972353687695068],"end_effector_yaw_offset_degrees":-0.5957819391229655},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00023072439872919535,0.0010589311676535047,-0.0014250848889196463],"end_effector_yaw_offset_degrees":-0.822806198641997},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00164852568187314,-0.0018581601444056593,0.0005668852785476776],"end_effector_yaw_offset_degrees":0.8662062046429297},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012693010670277107,-0.0012150134470826014,0.0012132088675820864],"end_effector_yaw_offset_degrees":-0.458221575873784},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008957469396248313,-0.000702785820027921,0.0002826923230028226],"end_effector_yaw_offset_degrees":0.6019628416656857},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0012940215906624983,0.001898426700012216,8.683344794894673e-07],"end_effector_yaw_offset_degrees":0.9295402146136544},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00017217486586116769,-0.0016953701904056761,-0.001687865437503414],"end_effector_yaw_offset_degrees":-0.4341497182900522}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018535846698883853,-0.0010566010338270097],"position_m":[0.34425358466988837,0.11304339896617298,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030884606947929384,0.0013444815601953404],"position_m":[0.26641153930520706,-0.08235551843980465,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004810837179597808,0.004999572388439027],"position_m":[0.20318916282040217,-0.322600427611561,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0018662170535641157,0.0032198062392546174],"position_m":[0.2815662170535641,0.32101980623925463,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"fa352916df9b2cfe09c99ba9f32d9429695efcf3d579a3ccb39938377eafca9b","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1375/tex_ceiling_textures_7666/tex_floor_textures_8506/tex_table_textures_5324/tex_wall_textures_8592","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3956188661744253610,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3956188661744253610,"visual_seed":3956188661744253610,"scene_id":"lab_003","finished_at":"2026-09-08T16:20:13"}
+{"episode_id":"ep_000004","started_at":"2026-09-08T16:31:56","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.44476387190778754,-0.4578863335932071,0.71338606911949],"aabb_xy":[[0.37976386926999406,-0.509365932292654],[0.509763874545581,-0.40640673489376006]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[0.22480801028355313,0.9258142383509607,0.71338606911949],"aabb_xy":[[0.1948163475496828,0.89581423901416],[0.25479967301742346,0.9558142376877611]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.028537953167103502,-2.356326279397783,0.71338606911949],"aabb_xy":[[0.021125497625715025,-2.362177489819411],[0.03595040870849198,-2.350475068976155]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.28678329283738324,-0.9539900467679967,0.71338606911949],"aabb_xy":[[0.26428329282723495,-0.9680862664076],[0.30928329284753153,-0.9398938271283934]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[-0.5125692735054396,1.1425517140714363,0.71338606911949],"aabb_xy":[[-0.5765692767951476,1.0992167950675187],[-0.4485692702157314,1.185886633075354]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[0.4822466833602721,-0.5938153419196912,0.71338606911949],"aabb_xy":[[0.44521257393221236,-0.6281925492534005],[0.5192807927883318,-0.5594381345859817]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.48395073960700996,-1.534414833330574,0.71338606911949],"aabb_xy":[[0.4489507404770543,-1.5401600544062382],[0.5189507387369656,-1.52866961225491]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.18748041299851703,-1.6539281827925274,0.71338606911949],"aabb_xy":[[-0.20415754899161254,-1.6706281067664575],[-0.17080327700542153,-1.637228258818597]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.40631443981805915,0.6549565081124542,0.71338606911949],"aabb_xy":[[0.3850364316745869,0.5899565057863811],[0.4275924479615314,0.7199565104385273]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.03903841616838344,-0.8568490299315308,0.71338606911949],"aabb_xy":[[-0.030961580241578354,-0.8772869655832123],[0.10903841257834522,-0.8364110942798488]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[-0.5338025932048835,-1.7741808491174418,0.71338606911949],"aabb_xy":[[-0.5559751201815344,-1.7963565162735649],[-0.5116300662282327,-1.7520051819613183]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.6061466293057501,1.467520853663983,0.71338606911949],"aabb_xy":[[-0.6701466257330719,1.4203512298418868],[-0.5421466328784281,1.5146904774860797]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.3830279170650692,-1.8728346701162588,0.71338606911949],"aabb_xy":[[-0.38899445600580496,-1.8787958147756225],[-0.3770613781243334,-1.8668735254568947]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.17088847167472254,1.042714813062854,0.71338606911949],"aabb_xy":[[-0.18838840510870591,1.0252148131426193],[-0.15338853824073917,1.0602148129830884]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.3892443638056641,0.5087975240518325,0.71338606911949],"aabb_xy":[[-0.40111644681716524,0.4237975243581822],[-0.377372280794163,0.5937975237454829]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[-0.18403883771753826,-1.3353526597227932,0.71338606911949],"aabb_xy":[[-0.24803453511263482,-1.3993526580235018],[-0.12004314032244165,-1.2713526614220845]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.037468671207706916,-2.535651820556441,0.71338606911949],"aabb_xy":[[-0.0549686714527563,-2.5531516083960075],[-0.019968670962657534,-2.518152032716874]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[0.3950639698517122,-1.165649760547405,0.71338606911949],"aabb_xy":[[0.3450639704115166,-1.215617685031721],[0.44506396929190783,-1.1156818360630885]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.005497272834603106,0.9321427748964943,0.71338606911949],"aabb_xy":[[-0.05547468969985669,0.8821427734072458],[0.044480144030650474,0.9821427763857429]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.2563278036424154,-0.3151747146397108,0.71338606911949],"aabb_xy":[[-0.26336811357595247,-0.3951747140393823],[-0.24928749370887848,-0.23517471524003947]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.2564089250232194,1.3261070684207885,0.71338606911949],"aabb_xy":[[-0.266040561243649,1.3164697556410796],[-0.24677728880278976,1.3357443812004974]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[0.16614501836478013,0.6440943277690279,0.71338606911949],"aabb_xy":[[0.14163139426777424,0.6198297344669915],[0.19065864246178596,0.6683589210710644]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[-0.4647819404339014,-2.497338431475715,0.71338606911949],"aabb_xy":[[-0.4702398860709215,-2.5773384347833743],[-0.45932399479688135,-2.417338428168056]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[0.6346088792662292,0.14782607490670996,0.71338606911949],"aabb_xy":[[0.5874795002643934,0.083826073862308],[0.6817382582680648,0.21182607595111191]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.2693417713138906,0.3532757484128024,0.71338606911949],"aabb_xy":[[-0.29930932822371625,0.32327574811491666],[-0.23937421440406492,0.38327574871068815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6384053223398843,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/823.png","name":"823"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8104.png","name":"8104"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9935.png","name":"9935"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":694.5816498294718,"rotation_z_degrees":50.86030154159787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005974861807681614,0.008694241146171126,-0.012584738169656204]},{"name":"camera_2","offset_m":[0.007246373083798826,-0.019588826844465123,0.0035400265428425816]},{"name":"camera_3","offset_m":[0.00202947764927644,-0.0008828948221190659,-0.009759768445536535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018369344620431305,0.00021624127561021243,-0.0019132683567381751],"end_effector_yaw_offset_degrees":0.8489076294216895},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044515767465398834,-0.0011468889134670839,-0.0008187645664951585],"end_effector_yaw_offset_degrees":0.17034780382644232},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010742555012471758,-0.0008643369612074609,0.0011805918839197013],"end_effector_yaw_offset_degrees":0.9335898484112009},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0014031763940516502,-0.00043992580443870193,0.0012542439087888943],"end_effector_yaw_offset_degrees":-0.11646134420749155},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[5.6128347458617774e-05,0.0005892895185553586,-0.0015918441431463602],"end_effector_yaw_offset_degrees":0.07200682713696249},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0003320053895063753,0.0006300848050957378,-0.000794192871715493],"end_effector_yaw_offset_degrees":0.08085741020864012},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012524514220833426,-0.0005479406489350947,0.001314889651567429],"end_effector_yaw_offset_degrees":-0.8119979562658959},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0014958513835178363,-0.0005617090309815817,0.0018060006631472202],"end_effector_yaw_offset_degrees":-0.8547865004930457},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006591215473721011,-0.0016266078223667346,0.0008301547081099817],"end_effector_yaw_offset_degrees":0.10814718854124372}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00211940452662288,-0.0043576372396396034],"position_m":[0.3445194045266229,0.1097423627603604,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015775159319910506,0.0025018804023490757],"position_m":[0.26792248406800895,-0.08119811959765091,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004147053080006576,-0.0007493007968114931],"position_m":[0.21214705308000656,-0.3283493007968115,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0029606365777907267,0.0017740360394001876],"position_m":[0.2826606365777907,0.3195740360394002,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"495688e3c32eaa8ae4ed747a2bba7aeb7df0d1a71037bce625530d38f797dcf8","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_327/tex_ceiling_textures_9935/tex_floor_textures_8104/tex_table_textures_823/tex_wall_textures_6007","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7624666476959824394,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7624666476959824394,"visual_seed":7624666476959824394,"scene_id":"lab_003","finished_at":"2026-09-08T16:43:03"}
+{"episode_id":"ep_000005","started_at":"2026-09-08T17:39:50","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.011517941015972255,1.5333941134894826,0.71338606911949],"aabb_xy":[[-0.04848205949188066,1.4765473798035613],[0.07151794152382517,1.590240847175404]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.4962664600238211,0.3216570071899749,0.71338606911949],"aabb_xy":[[-0.5327622806510999,0.28517306476321735],[-0.4597706393965423,0.3581409496167325]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.014797053915497682,-1.6388440402759972,0.71338606911949],"aabb_xy":[[-0.007702946596542916,-1.6613358986413955],[0.03729705442753828,-1.6163521819105988]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.2459625776451838,0.4311001822561118,0.71338606911949],"aabb_xy":[[0.2334952195354482,0.4186348576227883],[0.25842993575491946,0.4435655068894353]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.16162088543368558,-1.5270136441267477,0.71338606911949],"aabb_xy":[[-0.21110130664764437,-1.5910136420395997],[-0.11214046421972679,-1.463013646213896]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.5012067465268231,1.3671846304713453,0.71338606911949],"aabb_xy":[[-0.5186374616058295,1.3499125158074943],[-0.4837760314478165,1.384456745135196]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.6655131909575145,1.287654877384516,0.71338606911949],"aabb_xy":[[0.6155343824471985,1.2376548773787972],[0.7154919994678303,1.3376548773902348]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.18788378799756933,0.6495434412570265,0.71338606911949],"aabb_xy":[[-0.22132396319358888,0.6160998154260963],[-0.15444361280154967,0.6829870670879564]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.21590850452172933,-1.762886157093923,0.71338606911949],"aabb_xy":[[-0.2310806738033627,-1.7780550140221263],[-0.20073633524009601,-1.7477173001657196]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.4418637957548148,1.7261988063547427,0.71338606911949],"aabb_xy":[[-0.4609761031127937,1.7070640274775006],[-0.42275148839683596,1.7453335852319847]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.34928328050381374,-0.7615262775671856,0.71338606911949],"aabb_xy":[[0.26928327943069347,-0.77130432390457],[0.42928328157693413,-0.7517482312298012]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.5878824339304397,-1.799970466773497,0.71338606911949],"aabb_xy":[[-0.6518824303577617,-1.8471400905955935],[-0.5238824375031179,-1.7528008429514006]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.22039083569124102,-0.8166263750197564,0.71338606911949],"aabb_xy":[[-0.2853908366917415,-0.8674127401744314],[-0.15539083469074047,-0.7658400098650815]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.4208630420127481,-1.8463250266725255,0.71338606911949],"aabb_xy":[[-0.45836304218462,-1.879025762055433],[-0.3833630418408761,-1.8136242912896186]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.5194904550676682,-1.9192496086596398,0.71338606911949],"aabb_xy":[[0.4554904577653218,-1.9636160356274965],[0.5834904523700146,-1.874883181691783]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.3308025633598797,-2.1796168591168734,0.71338606911949],"aabb_xy":[[0.2758025637381339,-2.2346005519043466],[0.3858025629816256,-2.124633166329401]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.6033725985596965,0.06865011895726791,0.71338606911949],"aabb_xy":[[-0.6089542701938253,0.05615011913949241],[-0.5977909269255677,0.0811501187750434]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.1111636281371553,-2.4940129477160307,0.71338606911949],"aabb_xy":[[0.0736636281933889,-2.502306037750867],[0.1486636280809217,-2.4857198576811936]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[0.2935928596604499,-1.971749586340926,0.71338606911949],"aabb_xy":[[0.25626158313520736,-2.0064026411357787],[0.33092413618569255,-1.937096531546074]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.3196381423410117,-1.575356122819607,0.71338606911949],"aabb_xy":[[-0.3399224450644104,-1.5956387479623158],[-0.29935383961761286,-1.555073497676898]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.08731516485849078,0.21074703940813766,0.71338606911949],"aabb_xy":[[-0.10076169149253411,0.19727718775504646],[-0.07386863822444745,0.2242168910612289]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.5228313763485593,-0.30146322944386394,0.71338606911949],"aabb_xy":[[-0.5878313789863527,-0.3529428281433109],[-0.45783137371076577,-0.24998363074441698]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.637424528522092,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8604.png","name":"8604"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8604.png","name":"8604"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4267.png","name":"4267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3807.png","name":"3807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4316.png","name":"4316"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/837.png","name":"837"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":757.3704040537716,"rotation_z_degrees":157.73822513587962,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009369211528885906,-0.0007060192211093518,-0.019530500858812038]},{"name":"camera_2","offset_m":[-0.002329955684410079,-0.004716667887136268,0.017498510277174233]},{"name":"camera_3","offset_m":[0.007426633856860588,-7.55874831087043e-05,-0.0058885488271821634]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00039005922988266076,0.001718785201155254,0.00045238851213488893],"end_effector_yaw_offset_degrees":-0.7133018613225077},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017494660458904172,-0.0001938413751570321,-0.000754611362140238],"end_effector_yaw_offset_degrees":-0.057429942932842426},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001895300023554674,-0.001331041602526503,-0.0016117160646438476],"end_effector_yaw_offset_degrees":0.21186937099610348},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0008234253272020788,0.0018480017056283164,0.0014527436004396883],"end_effector_yaw_offset_degrees":-0.4271880621145985},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0004510005047248353,-0.0006506950633413972,0.0010469029863617702],"end_effector_yaw_offset_degrees":-0.3757209864971991},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.001312192074405675,0.0005412204216063599,-0.001443684672597455],"end_effector_yaw_offset_degrees":0.771214741287817},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014970359860958802,-0.0003815188173038927,-0.0014523773370404796],"end_effector_yaw_offset_degrees":0.9366696483203907},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0017170367095720417,0.000745446029649632,-0.0013465402193618959],"end_effector_yaw_offset_degrees":0.6636365927267236},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0015608010406979187,-0.0016517070906321774,0.0010094362482815544],"end_effector_yaw_offset_degrees":0.13397250699343077}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011416710737989443,-0.001322805750621956],"position_m":[0.34125832892620106,0.11277719424937804,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0043878969140008104,-0.0021397535221566078],"position_m":[0.2651121030859992,-0.0858397535221566,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027328665181326397,0.004682421523569637],"position_m":[0.20526713348186734,-0.3229175784764304,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.002712718069751957,0.00024120271264984304],"position_m":[0.282412718069752,0.31804120271264985,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"a487b6573d3e179d01cc7653d59006c0b5524ed059cc0a83092f1fdb222a5683","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0024.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8604/tex_ceiling_textures_837/tex_floor_textures_4316/tex_table_textures_4267/tex_wall_textures_3807","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3870133753475064845,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3870133753475064845,"visual_seed":3870133753475064845,"scene_id":"lab_003","finished_at":"2026-09-08T17:50:16"}
+{"episode_id":"ep_000006","started_at":"2026-09-08T18:14:32","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.6544080370723676,0.4624348345042746,0.71338606911949],"aabb_xy":[[-0.6732924208408778,0.44354890972392186],[-0.6355236533038574,0.4813207592846274]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.17818456929139115,0.5100148865993299,0.71338606911949],"aabb_xy":[[0.16262879988112589,0.49446445335492273],[0.19374033870165644,0.5255653198437371]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[0.05765798740068129,-1.04518289632386,0.71338606911949],"aabb_xy":[[-0.006342013302788061,-1.0912012787967813],[0.12165798810415066,-0.9991645138509393]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.050171472116716465,-2.336924960372954,0.71338606911949],"aabb_xy":[[-0.08463395012980424,-2.343588637555876],[-0.015708994103628693,-2.3302612831900307]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.30847308746890517,-1.445534928252932,0.71338606911949],"aabb_xy":[[-0.31191376370896234,-1.4493963612272966],[-0.305032411228848,-1.4416734952785677]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.092482348241676,-1.6690017198485287,0.71338606911949],"aabb_xy":[[0.028482349655103545,-1.7160086832480375],[0.15648234682824846,-1.62199475644902]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.47817447826153137,-1.5430206926589851,0.71338606911949],"aabb_xy":[[0.42817447868519676,-1.5930012716110913],[0.5281744778378662,-1.4930401137068794]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.05106274800972621,-0.6558592629074353,0.71338606911949],"aabb_xy":[[-0.0760627475614647,-0.6660017467725701],[-0.026062748457987728,-0.6457167790423006]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.5179409339838628,1.5378935132807796,0.71338606911949],"aabb_xy":[[0.5004409337245262,1.5238019710920072],[0.5354409342431995,1.5519850554695525]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.5978305289452565,0.26495994561802094,0.71338606911949],"aabb_xy":[[-0.6478305293058225,0.21497995840841802],[-0.5478305285846904,0.3149399328276239]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[-0.2309305532153979,-1.5550970792533019,0.71338606911949],"aabb_xy":[[-0.29493055512774025,-1.6110082285113123],[-0.1669305513030556,-1.4991859299952914]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.5785812051545578,-0.3073365887024413,0.71338606911949],"aabb_xy":[[-0.628565440862735,-0.3573365875159369],[-0.5285969694463806,-0.2573365898889457]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.267453430562971,-2.0923920681826997,0.71338606911949],"aabb_xy":[[0.2024534296058438,-2.144340280116405],[0.3324534315200982,-2.0404438562489937]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.23276390144651682,1.5383899383483706,0.71338606911949],"aabb_xy":[[0.17276390058570398,1.486963508341884],[0.29276390230732957,1.5898163683548567]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[-0.575113333775534,-0.8743848429735099,0.71338606911949],"aabb_xy":[[-0.5976270255989912,-0.9443848435745175],[-0.5525996419520768,-0.8043848423725024]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.34294982904507243,0.1528776913100609,0.71338606911949],"aabb_xy":[[-0.36323413176847114,0.13259506616735203],[-0.3226655263216736,0.17316031645276972]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.3554565282129293,-1.2313691359663892,0.71338606911949],"aabb_xy":[[-0.4104302502492622,-1.2863691355306226],[-0.30048280617659645,-1.1763691364021562]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.14860798787560225,0.6067335500706759,0.71338606911949],"aabb_xy":[[0.08360798676965897,0.5817681770025477],[0.21360798898154554,0.6316989231388043]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.5180406737017167,-2.2060625434113654,0.71338606911949],"aabb_xy":[[0.4380406722715895,-2.285579698423975],[0.5980406751318439,-2.126545388398756]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.4076829183995665,-0.48853055950132296,0.71338606911949],"aabb_xy":[[0.35268292019782166,-0.5290525261277605],[0.46268291660131133,-0.4480085928748854]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.35995967006521923,0.5878895179775863,0.71338606911949],"aabb_xy":[[0.322459669567861,0.5839208344294678],[0.39745967056257747,0.5918582015257047]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.20803832508147319,-0.2573497863569343,0.71338606911949],"aabb_xy":[[-0.21888993133034879,-0.2682090770845853],[-0.19718671883259759,-0.24649049562928327]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[-0.33322670238585395,0.014865422367526193,0.71338606911949],"aabb_xy":[[-0.33964051602903883,0.008455602119857849],[-0.32681288874266895,0.021275242615194527]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[0.5349428502108267,0.22055328658283724,0.71338606911949],"aabb_xy":[[0.4709428538152536,0.15658999816410368],[0.5989428466063997,0.2845165750015708]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[0.40859334116919177,-1.98789692283479,0.71338606911949],"aabb_xy":[[0.40037879605350774,-1.996573513132431],[0.4168078862848757,-1.9792203325371482]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_25","position":[0.1408403034722412,1.042125433928673,0.71338606911949],"aabb_xy":[[0.1276093579375599,1.0288980149066735],[0.15407124900692248,1.0553528529506724]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.16288309512901622,0.37940276060820777,0.71338606911949],"aabb_xy":[[-0.22688309540299445,0.3293366604109198],[-0.09888309485503799,0.42946886080549573]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_27","position":[0.4057701278054888,-0.3523219635380319,0.71338606911949],"aabb_xy":[[0.3157701292110189,-0.36857254985145294],[0.49577012639995877,-0.3360713772246109]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[0.49072101903309484,-1.8888378318118808,0.71338606911949],"aabb_xy":[[0.4836795680823472,-1.8958645835496752],[0.4977624699838424,-1.8818110800740864]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[-0.13027459121725393,-2.0406396422046806,0.71338606911949],"aabb_xy":[[-0.14633651867577158,-2.125639644017272],[-0.1142126637587363,-1.9556396403920886]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[0.17501473463204498,0.7270307554148059,0.71338606911949],"aabb_xy":[[0.10501473250061541,0.7042687897891101],[0.2450147367634745,0.7497927210405014]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6350873172996323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5759.png","name":"5759"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5759.png","name":"5759"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3735.png","name":"3735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4315.png","name":"4315"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1077.png","name":"1077"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7445.png","name":"7445"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":825.6489541733023,"rotation_z_degrees":350.2219895554051,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012411671734220694,0.017349598206079026,-0.005708893586115758]},{"name":"camera_2","offset_m":[-0.011869014976823383,-0.013041815470097244,0.006361369851919426]},{"name":"camera_3","offset_m":[-0.009653889366511766,0.0005536165168545798,-0.013279318370925424]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001691387711712065,-0.0016137169389122002,-0.0002852635964736318],"end_effector_yaw_offset_degrees":-0.6209616407421745},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001621619710457632,0.0013427538526052363,0.001914030506779573],"end_effector_yaw_offset_degrees":0.5547443987957377},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.2748250349780329e-05,0.0018826145910338095,0.0004509812317280925],"end_effector_yaw_offset_degrees":0.40011568237382544},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00013998688881265773,0.001589718779690828,-0.0019653774845536953],"end_effector_yaw_offset_degrees":-0.2446726109332904},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0010113200079251497,-0.001970142731556482,-0.0007003354073561177],"end_effector_yaw_offset_degrees":0.6669469161204673},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012472414233570392,0.0014594089648362852,0.0009175372281035855],"end_effector_yaw_offset_degrees":0.4656864779739538},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006955438114931772,-0.0011020307037437568,-0.00044433759578600186],"end_effector_yaw_offset_degrees":0.35621417141839506},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0004556144397814745,0.001239041348002692,0.0013591238543440528],"end_effector_yaw_offset_degrees":0.220293872589425},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019224929775136816,-0.0003062755864792041,0.0001576281965166514],"end_effector_yaw_offset_degrees":0.438535144127278}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029682922730446927,-0.001847970388864262],"position_m":[0.3394317077269553,0.11225202961113573,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002061354604686411,-0.004769497633109049],"position_m":[0.27156135460468644,-0.08846949763310905,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022529533155556205,-0.004217947670515167],"position_m":[0.20574704668444438,-0.33181794767051515,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0007243065403109931,-0.00098937588263044],"position_m":[0.280424306540311,0.3168106241173696,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"a1c7a78ff58dde0a6210acc55b95f33a873c0cd9ce465361da26c72c5fd421c5","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5759/tex_ceiling_textures_7445/tex_floor_textures_1077/tex_table_textures_3735/tex_wall_textures_4315","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4548041073632492893,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4548041073632492893,"visual_seed":4548041073632492893,"scene_id":"lab_003","finished_at":"2026-09-08T18:25:06"}
+{"episode_id":"ep_000007","started_at":"2026-09-08T18:37:13","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[0.0585444141514615,-1.1231268414193705,0.71338606911949],"aabb_xy":[[-0.0054555844351109675,-1.170133804818879],[0.12254441273803396,-1.0761198780198615]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.29859584285994,-0.5204816022124188,0.71338606911949],"aabb_xy":[[-0.34807626407389874,-0.5844816001252706],[-0.24911542164598116,-0.45648160429956697]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.5933893874600207,0.13592558583010605,0.71338606911949],"aabb_xy":[[0.5133893863869003,0.12614753949272162],[0.673389388533141,0.1457036321674905]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.16891415204114357,-1.675651641074811,0.71338606911949],"aabb_xy":[[-0.17948163169924256,-1.6861966711878194],[-0.15834667238304453,-1.6651066109618022]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_4","position":[0.6081519630729422,-0.7784685749574334,0.71338606911949],"aabb_xy":[[0.5977404043924583,-0.7838143082933318],[0.6185635217534258,-0.7731228416215348]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.4997263129709686,0.5666895373841316,0.71338606911949],"aabb_xy":[[0.4772263127274533,0.5544849027243598],[0.5222263132144841,0.5788941720439037]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.4732580541917579,1.625876618868252,0.71338606911949],"aabb_xy":[[0.41325805394035675,1.5715952938317874],[0.5332580544431591,1.6801579439047167]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[0.4172173238167596,-1.577386014449091,0.71338606911949],"aabb_xy":[[0.3556265645927668,-1.6413860125581379],[0.47880808304075245,-1.513386016340044]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.247930243564426,-2.0105436965056267,0.71338606911949],"aabb_xy":[[-0.25137091980448323,-2.0144051294799916],[-0.24448956732436886,-2.0066822635312627]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.12475789375040602,1.145365941607459,0.71338606911949],"aabb_xy":[[-0.19475789714196795,1.110050167904028],[-0.05475789035884402,1.1806817153108897]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.2973688164339405,-2.2716279186256787,0.71338606911949],"aabb_xy":[[-0.3773688138375339,-2.3516204898238615],[-0.21736881903034708,-2.191635347427496]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.1653265372712288,1.7563697842636778,0.71338606911949],"aabb_xy":[[0.15711199215554478,1.7476931939660363],[0.17354108238691274,1.765046374561319]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[-0.4638240575321311,1.0054778031061913,0.71338606911949],"aabb_xy":[[-0.5006186906570373,0.968571928009609],[-0.42702942440722474,1.0423836782027736]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.4639453617342215,0.9140551997934692,0.71338606911949],"aabb_xy":[[0.40394536113820534,0.8592427272482458],[0.5239453623302377,0.9688676723386928]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[0.10001745032557907,-1.501108899045607,0.71338606911949],"aabb_xy":[[0.03501745029127634,-1.5478095757259343],[0.1650174503598818,-1.4544082223652797]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.2774663016353919,-2.0800402420429522,0.71338606911949],"aabb_xy":[[0.23996630169162547,-2.088333332077789],[0.3149663015791583,-2.0717471520081157]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.03490731244780676,-0.9849665662411049,0.71338606911949],"aabb_xy":[[-0.05509268697056414,-1.0183420630852948],[0.12490731186617765,-0.9515910693969153]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.6010201489766751,-1.1454009929971956,0.71338606911949],"aabb_xy":[[0.5833873133831474,-1.1630239390128185],[0.6186529845702026,-1.1277780469815726]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.40107823744180604,0.6931194218838592,0.71338606911949],"aabb_xy":[[-0.45107823910330075,0.6431209796281564],[-0.3510782357803112,0.7431178641395618]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.1314482277429504,-1.803647787393357,0.71338606911949],"aabb_xy":[[-0.18144750291138656,-1.8536477886693041],[-0.08144895257451423,-1.7536477861174098]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.6418224415167118,1.66040170348576,0.71338606911949],"aabb_xy":[[0.6043224430933114,1.6472374895179291],[0.6793224399401121,1.6735659174535906]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.0586041954880786,0.8972228314269577,0.71338606911949],"aabb_xy":[[0.05134294791767119,0.8844358211634482],[0.06586544305848602,0.9100098416904672]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[0.13963771055546648,-0.6270704049268372,0.71338606911949],"aabb_xy":[[0.12357578309694879,-0.7120704067394289],[0.15569963801398407,-0.5420704031142453]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.6928137337152971,1.5467870987571017,0.71338606911949],"aabb_xy":[[0.6749446259608415,1.5329541907798907],[0.7106828414697525,1.5606200067343128]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.32428136333437796,1.181996460383382,0.71338606911949],"aabb_xy":[[-0.38928136429150517,1.1300482484496763],[-0.25928136237725075,1.2339446723170875]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_25","position":[0.165126994325685,1.1726663158283341,0.71338606911949],"aabb_xy":[[0.09512699791572317,1.152228380176652],[0.23512699073564675,1.1931042514800154]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.08334535840223967,0.6051861908119411,0.71338606911949],"aabb_xy":[[-0.09038680935298726,0.5981594390741466],[-0.07630390745149207,0.6122129425497357]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.3022422631184757,-0.6417030886381987,0.71338606911949],"aabb_xy":[[0.2896154758312793,-0.6512491623397715],[0.314869050405672,-0.6321570149366257]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6332303563943414,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9227.png","name":"9227"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6698.png","name":"6698"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5065.png","name":"5065"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4013.png","name":"4013"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":677.2180397012029,"rotation_z_degrees":54.73288890988678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01731944768245104,-0.019958128993353887,-0.005995869518548415]},{"name":"camera_2","offset_m":[0.015654821696801168,-0.0037867381843133714,0.0068022984188872634]},{"name":"camera_3","offset_m":[-0.012455411045673968,-0.01334589629887254,0.003939100607298327]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016178968721818066,0.0005090651278861331,9.11754907649831e-05],"end_effector_yaw_offset_degrees":-0.8180936509215855},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006547301949165717,0.0009636095852436186,4.9264394619067276e-05],"end_effector_yaw_offset_degrees":-0.692295781425686},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005655267156026288,0.0007707101013286364,-0.001984603588444415],"end_effector_yaw_offset_degrees":0.13450770749200114},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0015319220645887304,-0.0007189865695353818,-0.0009420942798015325],"end_effector_yaw_offset_degrees":-0.9746378192094831},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0019050388491629313,0.0015595254027168455,0.0015110591947623962],"end_effector_yaw_offset_degrees":-0.9136399042407082},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0011748843739220068,0.001301875528092699,-0.00041455945772268256],"end_effector_yaw_offset_degrees":-0.44492464685310873},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013055348034353847,-0.0019713824432851445,-0.0015647047897511604],"end_effector_yaw_offset_degrees":0.7613632990371575},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0015659227288989039,-0.0013691925788200678,-0.0018282447064912359],"end_effector_yaw_offset_degrees":0.9866618170288},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00016717928652905476,0.0002242864277644959,0.0016231784586634968],"end_effector_yaw_offset_degrees":0.9584641300957364}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016298912813156423,-0.002458198229392674],"position_m":[0.3440298912813156,0.11164180177060731,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022289631998924945,-0.00046363593024604903],"position_m":[0.27172896319989254,-0.08416363593024605,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012151261774897837,-0.002338811794471606],"position_m":[0.20921512617748977,-0.3299388117944716,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.003635023953873171,0.002814588685175417],"position_m":[0.27606497604612684,0.32061458868517545,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"69b7be401065408efa58b99e07b91cfcb8357d1dfd22114d30e3fdcdef654d37","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5891/tex_ceiling_textures_4013/tex_floor_textures_5065/tex_table_textures_9227/tex_wall_textures_6698","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2663727039470591906,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2663727039470591906,"visual_seed":2663727039470591906,"scene_id":"lab_003","finished_at":"2026-09-08T18:48:19"}
+{"episode_id":"ep_000008","started_at":"2026-09-08T18:48:28","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.46878577636057295,-1.975510238893994,0.71338606911949],"aabb_xy":[[0.40719501713658013,-2.0395102370030416],[0.5303765355845658,-1.9115102407849476]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.5639481912297823,-2.2553099167106185,0.71338606911949],"aabb_xy":[[0.5139748972265218,-2.305309917265166],[0.6139214852330427,-2.205309916156071]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.43534842573864235,1.3931472778588687,0.71338606911949],"aabb_xy":[[-0.5003484238945615,1.3668510333089565],[-0.37034842758272335,1.419443522408781]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[-0.4653366210962965,-0.32325009745816935,0.71338606911949],"aabb_xy":[[-0.5293366243149343,-0.3699732093571777],[-0.4013366178776586,-0.276526985559161]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.23288112433639452,-0.9455047876214926,0.71338606911949],"aabb_xy":[[0.22678649644827623,-0.9540741821731613],[0.23897575222451287,-0.9369353930698239]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.46116070614711024,-1.1357722596217825,0.71338606911949],"aabb_xy":[[-0.5261607071042373,-1.187720471555488],[-0.39616070518998303,-1.083824047688077]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_6","position":[-0.5461462824260583,-1.5712185890689132,0.71338606911949],"aabb_xy":[[-0.5826421030533371,-1.6077025314956708],[-0.5096504617987796,-1.5347346466421556]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[-0.19558073480928195,-2.4797138843139384,0.71338606911949],"aabb_xy":[[-0.23308073462631548,-2.48435209562508],[-0.15808073499224837,-2.4750756730027965]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[0.2527368703944153,-0.684358539612878,0.71338606911949],"aabb_xy":[[0.2483062410395751,-0.6898069113475606],[0.25716749974925546,-0.6789101678781954]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.40914927273031654,1.6815169739289044,0.71338606911949],"aabb_xy":[[-0.48914927599432967,1.667956941619991],[-0.3291492694663034,1.6950770062378178]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.2095022062257038,-1.5184087286498178,0.71338606911949],"aabb_xy":[[0.19605567959166048,-1.5318785803029091],[0.22294873285974715,-1.5049388769967265]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[0.4100810131240591,-2.454908931796395,0.71338606911949],"aabb_xy":[[0.36883220209414425,-2.509908931308612],[0.4513298241539737,-2.399908932284177]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.35810444699551586,-2.4365667689238477,0.71338606911949],"aabb_xy":[[-0.40810444657185063,-2.4865473478759537],[-0.3081044474191812,-2.3865861899717418]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.3666271285161635,-1.859085504655688,0.71338606911949],"aabb_xy":[[-0.4041271300317952,-1.870312277671833],[-0.32912712700053176,-1.847858731639543]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.5567058044043192,-0.9517098686738421,0.71338606911949],"aabb_xy":[[-0.5632074409123238,-0.961477690700152],[-0.5502041678963145,-0.9419420466475324]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.0592909096649763,-2.366648671188562,0.71338606911949],"aabb_xy":[[0.021959633139733675,-2.4013017259834144],[0.09662218619021892,-2.33199561639371]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.12029616302942925,0.4891728236239308,0.71338606911949],"aabb_xy":[[-0.12563373869543382,0.4641728226947911],[-0.11495858736342467,0.5141728245530707]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.2653684731657483,-2.213319160137861,0.71338606911949],"aabb_xy":[[0.1953684705291619,-2.2334240251337265],[0.3353684758023346,-2.1932142951419955]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.13055778929748052,-1.2125562780635095,0.71338606911949],"aabb_xy":[[0.05055778786735329,-1.2920734330761188],[0.2105577907276077,-1.1330391230508998]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.41259907628313197,-2.1996707537097318,0.71338606911949],"aabb_xy":[[0.3890139528192371,-2.2646707559551635],[0.4361841997470268,-2.1346707514643]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.5726140878404284,1.121541370018246,0.71338606911949],"aabb_xy":[[-0.5850814459501641,1.1090760453849224],[-0.5601467297306928,1.1340066946515694]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.6034284083214725,0.61133950069024,0.71338606911949],"aabb_xy":[[0.5902771623501831,0.5863395009335535],[0.6165796542927618,0.6363395004469266]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6361815942409517,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1880.png","name":"1880"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1880.png","name":"1880"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9726.png","name":"9726"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3278.png","name":"3278"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3589.png","name":"3589"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":547.9931164646359,"rotation_z_degrees":129.88790143372006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019334157813095543,-0.01287166722225817,0.01706688742558658]},{"name":"camera_2","offset_m":[-0.011843742597855455,0.0137870272939947,0.01667095032925117]},{"name":"camera_3","offset_m":[0.004671370792198468,-0.008073580969314396,0.014809894749080729]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018639368762691862,-0.001561773743941838,-0.00012755324765560032],"end_effector_yaw_offset_degrees":0.5975321185752878},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004552865972760299,5.0021203718951784e-05,6.219592996700588e-05],"end_effector_yaw_offset_degrees":-0.610544978414435},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018300102481938877,0.000698611511810734,0.0003678029425921098],"end_effector_yaw_offset_degrees":0.17660289028417164},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[6.82446616937127e-05,0.001735821163873719,0.0019444354974890773],"end_effector_yaw_offset_degrees":-0.3966008463905919},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0003090831384261769,0.000566698801504784,0.0019983761690219592],"end_effector_yaw_offset_degrees":0.6757138262946445},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00032808214989224005,0.0006622691582906801,-0.0012565495302828368],"end_effector_yaw_offset_degrees":0.21931902319382357},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016106701222636005,-0.0007451296078513758,0.0011726133348000278],"end_effector_yaw_offset_degrees":0.03413349872797711},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008113412080865707,0.0007752530010611399,-0.0016460678784140429],"end_effector_yaw_offset_degrees":0.6105368903072204},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018713098606989269,-0.0013388825993165638,-0.001114412387850153],"end_effector_yaw_offset_degrees":-0.424023385413121}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0046500403889682485,0.004054269648205148],"position_m":[0.34705004038896825,0.11815426964820513,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028337610279963853,-0.0021161776618632846],"position_m":[0.26666623897200364,-0.08581617766186328,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00377742208748177,-0.0016527005106578207],"position_m":[0.20422257791251822,-0.3292527005106578,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0020981551375676474,-0.0011838206954173725],"position_m":[0.2817981551375677,0.31661617930458263,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"07a81dbee91a4a18a2a7311bbc2202cd35de7f2ff5ce17edd0a5c6e6a027209e","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1880/tex_ceiling_textures_3589/tex_floor_textures_3278/tex_table_textures_9726/tex_wall_textures_560","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2984884935763980733,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2984884935763980733,"visual_seed":2984884935763980733,"scene_id":"lab_003","finished_at":"2026-09-08T19:00:09"}
+{"episode_id":"ep_000009","started_at":"2026-09-08T19:12:02","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[-0.5324693568057238,-0.7661202315214626,0.71338606911949],"aabb_xy":[[-0.6224693554001938,-0.7823708178348837],[-0.4424693582112539,-0.7498696452080417]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.5036217073970335,0.9381321689701538,0.71338606911949],"aabb_xy":[[-0.5446396507834044,0.8881321683391964],[-0.4626037640106626,0.988132169601111]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.585257907947,1.5260965426866355,0.71338606911949],"aabb_xy":[[0.5693734146816748,1.5117436023878112],[0.6011424012123251,1.5404494829854594]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.26612649065765415,1.4707489967172198,0.71338606911949],"aabb_xy":[[-0.30889319753707434,1.4067489932954176],[-0.22335978377823396,1.5347490001390225]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.45118524769713675,1.4075835084718213,0.71338606911949],"aabb_xy":[[-0.5052008439790368,1.343583505579564],[-0.39716965141523675,1.4715835113640783]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.673292534677719,-0.442479511378703,0.71338606911949],"aabb_xy":[[-0.6850607214723765,-0.5274795112839246],[-0.6615243478830615,-0.35747951147348145]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.45396272128048737,-1.5325902791506503,0.71338606911949],"aabb_xy":[[-0.5339627245445004,-1.5461503114595638],[-0.37396271801647424,-1.5190302468417372]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.11852345527983477,-1.7956595214630633,0.71338606911949],"aabb_xy":[[-0.14352345521235266,-1.8025421896839866],[-0.09352345534731689,-1.78877685324214]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.5820516394441442,-2.339653933231191,0.71338606911949],"aabb_xy":[[0.554206602663537,-2.370438431969503],[0.6098966762247513,-2.3088694344928795]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.6581238281734292,1.6281781756869251,0.71338606911949],"aabb_xy":[[0.6031238299716842,1.5876562090604875],[0.7131238263751739,1.6687001423133627]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.4256168204044779,-0.8690926124800473,0.71338606911949],"aabb_xy":[[0.4074109967432303,-0.8801180130620391],[0.44382264406572564,-0.8580672118980558]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.4369514240541028,1.3269790920914017,0.71338606911949],"aabb_xy":[[0.3669514214175164,1.306874227095536],[0.5069514266906892,1.347083957087267]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[-0.32303975563375165,0.7583936904736692,0.71338606911949],"aabb_xy":[[-0.3405397549118385,0.7410555904073233],[-0.30553975635566477,0.7757317905400152]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.11836232218142884,-2.4278260951043014,0.71338606911949],"aabb_xy":[[-0.19836232083831484,-2.4423309540285647],[-0.03836232352454283,-2.413321236180039]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.6584507214604837,-2.410312405196346,0.71338606911949],"aabb_xy":[[-0.6688622801409673,-2.415658138532244],[-0.6480391627799998,-2.404966671860447]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.5708618603351812,1.2789894138035542,0.71338606911949],"aabb_xy":[[0.5614443857653183,1.2695732366658352],[0.5802793349050438,1.2884055909412733]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.17357469329975173,-1.9280176345671185,0.71338606911949],"aabb_xy":[[-0.23120516218702256,-1.9880176334938287],[-0.11594422441248087,-1.8680176356404075]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.5461626092563338,-2.1824933249898826,0.71338606911949],"aabb_xy":[[-0.626162606415909,-2.1940409259476996],[-0.46616261209675847,-2.1709457240320655]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.34562653663202303,-1.2373363943595266,0.71338606911949],"aabb_xy":[[0.32234469443389163,-1.3223363956567546],[0.3689083788301543,-1.1523363930622985]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.23144530594421997,-1.9194661771762158,0.71338606911949],"aabb_xy":[[0.20096105581718987,-1.9694661769577118],[0.2619295560712502,-1.8694661773947199]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.05654124496805979,1.1954346876501285,0.71338606911949],"aabb_xy":[[-0.0674470210556225,1.1154346912512991],[-0.04563546888049707,1.2754346840489574]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.5742162859337818,1.5330262361955405,0.71338606911949],"aabb_xy":[[-0.5855780205870679,1.5216577697892524],[-0.5628545512804956,1.5443947026018285]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.6410110729838971,-1.5322149784074734,0.71338606911949],"aabb_xy":[[0.5760110729495944,-1.5789156550878007],[0.7060110730181999,-1.4855143017271462]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.5115627178038068,1.0581057022932443,0.71338606911949],"aabb_xy":[[-0.5224143240526824,1.0472464115655933],[-0.5007111115549312,1.0689649930208953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6358350685860881,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/150.png","name":"150"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/150.png","name":"150"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7228.png","name":"7228"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5625.png","name":"5625"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/979.png","name":"979"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6095.png","name":"6095"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":788.7644911763911,"rotation_z_degrees":212.01561380162542,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009068868387305553,0.015934359340173444,0.009765247584481319]},{"name":"camera_2","offset_m":[0.014517362185713537,0.0182039881826828,0.0037291593732953696]},{"name":"camera_3","offset_m":[-0.012442634991139255,0.012942784092191479,0.01731140692414004]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016782035098401155,-0.00029954653135852763,-0.00038441515293898974],"end_effector_yaw_offset_degrees":0.22195651765809998},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011225773124123243,-0.0007439566141727353,-0.0003606169239654031],"end_effector_yaw_offset_degrees":-0.40245565788344195},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014229998425761945,-0.0008759352290597061,-0.0017153458209929967],"end_effector_yaw_offset_degrees":0.5004387693399763},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008366053493757595,0.0012071545859102962,-0.0010683831317590449],"end_effector_yaw_offset_degrees":-0.14135605381360428},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.00046683174161450095,-0.000758268921083249,0.0009392912271315962],"end_effector_yaw_offset_degrees":-0.5392839111502064},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0015175879366869664,-0.0012196432479389535,0.0009476064837892545],"end_effector_yaw_offset_degrees":0.5525531148847651},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005752551187692043,-0.001738545718883852,0.0015861298072027755],"end_effector_yaw_offset_degrees":-0.38259736361740226},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0008703083096073799,0.0015292055759609318,0.0009301874458670337],"end_effector_yaw_offset_degrees":-0.35222240573295305},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010997336083921865,0.0018640439518622142,0.001791156549996583],"end_effector_yaw_offset_degrees":0.3162955891139263}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018314465712332283,0.0006033484378908556],"position_m":[0.34056855342876674,0.11470334843789085,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003870869424693424,0.0017517492993316397],"position_m":[0.26562913057530657,-0.08194825070066836,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002064985269502639,0.0014887502286598442],"position_m":[0.21006498526950262,-0.32611124977134015,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0015979485130014513,-0.0010085945299957554],"position_m":[0.28129794851300144,0.3167914054700043,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"5ed1cb975fb9931deb33cffb657a7fc4e654cc3e87ba1d7b14a206e28f37afad","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_150/tex_ceiling_textures_6095/tex_floor_textures_979/tex_table_textures_7228/tex_wall_textures_5625","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8766814075607299923,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8766814075607299923,"visual_seed":8766814075607299923,"scene_id":"lab_003","finished_at":"2026-09-08T19:22:58"}
+{"episode_id":"ep_000010","started_at":"2026-09-08T19:59:40","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.17508090079116134,-0.5630226452271128,0.71338606911949],"aabb_xy":[[-0.24508089720112308,-0.5834605808787944],[-0.1050809043811995,-0.5425847095754309]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.6164588007008469,0.9529633564631226,0.71338606911949],"aabb_xy":[[0.6104922617601112,0.9470022118037585],[0.6224253396415826,0.9589245011224866]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.48581877414776176,-1.9513303638866137,0.71338606911949],"aabb_xy":[[-0.5040245978090094,-1.9623557644686056],[-0.4676129504865141,-1.9403049633046223]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.23192219347496873,1.1375500281307245,0.71338606911949],"aabb_xy":[[-0.26692219337098755,1.1291757926187844],[-0.19692219357894986,1.1459242636426645]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.5686981598975203,-0.6415257953379134,0.71338606911949],"aabb_xy":[[0.5336981607675646,-0.6472710164135774],[0.6036981590274759,-0.6357805742622492]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.2702548101052943,-0.7639283256518488,0.71338606911949],"aabb_xy":[[0.2658241807504541,-0.7693766973865315],[0.27468543946013446,-0.7584799539171663]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.42027212660599744,-1.5387114763000551,0.71338606911949],"aabb_xy":[[-0.4842721238916461,-1.580218195252899],[-0.3562721293203488,-1.4972047573472111]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.14028141437360997,0.2522773072779021,0.71338606911949],"aabb_xy":[[-0.20428141296018246,0.20527034387839332],[-0.07628141578703754,0.29928427067741076]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.017217434381988195,1.35120306434579,0.71338606911949],"aabb_xy":[[-0.032777576577463836,1.3012030653101982],[0.06721244534144023,1.4012030633813817]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.5969844143364996,0.37013915965869026,0.71338606911949],"aabb_xy":[[-0.6391688284973304,0.30613915938147906],[-0.5548000001756689,0.43413915993590146]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.15004100411650467,0.8783499650428155,0.71338606911949],"aabb_xy":[[0.1460805203467703,0.870682100457295],[0.15400148788623905,0.8860178296283362]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[-0.36051429282163056,-0.1487944388336575,0.71338606911949],"aabb_xy":[[-0.4099947140355894,-0.2127944367465093],[-0.3110338716076718,-0.08479444092080565]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.5981780084446273,1.0417191978683307,0.71338606911949],"aabb_xy":[[-0.6453073874464629,0.9777191968239285],[-0.5510486294427915,1.1057191989127324]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.19094007885992126,1.7622590062879548,0.71338606911949],"aabb_xy":[[-0.24591380089625414,1.7072590067237219],[-0.13596635682358837,1.8172590058521882]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.4958113865013287,0.20746307625396776,0.71338606911949],"aabb_xy":[[0.4318113844515968,0.1673685931646598],[0.5598113885510607,0.24755755934327572]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.2193564098448202,1.7250598146719711,0.71338606911949],"aabb_xy":[[0.18185640955264534,1.7210183392713674],[0.256856410136995,1.7291012900725744]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.5662096636519569,-0.6674315125229788,0.71338606911949],"aabb_xy":[[-0.6161870805172104,-0.7174315140122273],[-0.5162322467867032,-0.6174315110337302]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.49495827410821613,-1.3310384021348556,0.71338606911949],"aabb_xy":[[-0.5749582773722292,-1.344598434443769],[-0.4149582708442029,-1.3174783698259422]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[0.20327322689675076,-1.0301260018704217,0.71338606911949],"aabb_xy":[[0.19602946085050543,-1.110126000074024],[0.21051699294299608,-0.9501260036668193]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.3415488801363449,1.0029120451128204,0.71338606911949],"aabb_xy":[[-0.3606611874943237,0.9837772662355784],[-0.32243657277836596,1.0220468239900624]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.07020459194357032,-2.2800894369785722,0.71338606911949],"aabb_xy":[[-0.07566253758059037,-2.3600894402862314],[-0.06474664630655023,-2.200089433670913]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.12854500379701705,-1.6311999742388998,0.71338606911949],"aabb_xy":[[-0.21854500053262726,-1.6843834375561941],[-0.038545007061406844,-1.578016510921605]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.08707641974056102,0.5634557770218955,0.71338606911949],"aabb_xy":[[0.05207642142986557,0.5557407620983499],[0.12207641805125646,0.5711707919454412]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_23","position":[-0.41521571415514386,-0.33438559815193925,0.71338606911949],"aabb_xy":[[-0.4652157154389837,-0.38436445254256135],[-0.3652157128713038,-0.28440674376131714]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[0.22223528262794767,1.0622043130272707,0.71338606911949],"aabb_xy":[[0.21046709583329018,0.9772043131220494],[0.23400346942260522,1.1472043129324925]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[0.5203071711684537,0.829617382275047,0.71338606911949],"aabb_xy":[[0.5138933575252687,0.8232075620273785],[0.5267209848116385,0.8360272025227152]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[-0.4830019351173199,-2.196202223080728,0.71338606911949],"aabb_xy":[[-0.5470019370296624,-2.2521133723387385],[-0.4190019332049777,-2.1402910738227177]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[-0.09643241038541206,-0.9205697028848454,0.71338606911949],"aabb_xy":[[-0.10133170269197556,-0.9482466221874141],[-0.09153311807884856,-0.8928927835822765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6336641570518219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5414.png","name":"5414"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2592.png","name":"2592"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9495.png","name":"9495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1944.png","name":"1944"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":832.560707410272,"rotation_z_degrees":52.4261234832739,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016796165763387997,0.003957890914390708,-0.0018713689784046403]},{"name":"camera_2","offset_m":[0.018104861664452503,-0.01536721897142241,0.010988108402686474]},{"name":"camera_3","offset_m":[-0.01954618337769828,0.0038996659765597255,-0.0032118610686091113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018424266310537632,-0.00046588737967615847,0.00010928320737764539],"end_effector_yaw_offset_degrees":0.7234628449867173},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00045756653144162266,-0.0001843000333737689,0.0010174720009154636],"end_effector_yaw_offset_degrees":-0.6307158107073034},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017804717897187718,-0.0018991271702762914,0.0013084664336518994],"end_effector_yaw_offset_degrees":-0.36544403255987046},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0008433766887160931,-0.0013273123852514438,0.00047568876213161665],"end_effector_yaw_offset_degrees":-0.9403899576612755},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018547489373337786,0.0008444613185281595,-0.0011586258038591235],"end_effector_yaw_offset_degrees":0.6378399403763455},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0019202857528048166,0.0019528383276772778,-0.0018387901327792768],"end_effector_yaw_offset_degrees":-0.7313953740238848},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001598888168668813,0.0001520643732606632,-0.0002441599851732007],"end_effector_yaw_offset_degrees":-0.08728707113126632},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003076198081994818,0.0005258355178079234,0.001394279912119942],"end_effector_yaw_offset_degrees":-0.2747821023513046},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017253647393084973,-0.0016978123871890314,-0.00026660183248829704],"end_effector_yaw_offset_degrees":0.04870635902737952}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032838409199261944,0.003899024989634312],"position_m":[0.3391161590800738,0.1179990249896343,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004570781019444325,0.0009278560016271128],"position_m":[0.2740707810194443,-0.08277214399837288,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004708611111888948,-0.0012768931745447344],"position_m":[0.21270861111188893,-0.3288768931745447,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004374879924355994,0.0049239774873765145],"position_m":[0.275325120075644,0.3227239774873765,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"e44a1e91dc3169b875a92daa885620218c562d21c8f020a1e620fa54605d9630","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7919/tex_ceiling_textures_1944/tex_floor_textures_9495/tex_table_textures_5414/tex_wall_textures_2592","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3303825510568061961,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3303825510568061961,"visual_seed":3303825510568061961,"scene_id":"lab_003","finished_at":"2026-09-08T20:11:22"}
+{"episode_id":"ep_000011","started_at":"2026-09-08T20:11:31","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.5994896993681789,-1.8878635923995812,0.71338606911949],"aabb_xy":[[0.5769896993580306,-1.9019598120391845],[0.6219896993783272,-1.873767372759978]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.4523277943900543,-0.5909245367745175,0.71338606911949],"aabb_xy":[[0.36232779765444406,-0.6441080000918119],[0.5423277911256645,-0.5377410734572229]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.4976422609669316,0.609477967413937,0.71338606911949],"aabb_xy":[[-0.5616422641855694,0.5627548555149285],[-0.43364225774829374,0.6562010793129452]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.16144806684001878,0.9158879259975214,0.71338606911949],"aabb_xy":[[-0.21144307779947083,0.8658879269619297],[-0.11145305588056675,0.9658879250331132]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.5745500867026347,0.6391395020488715,0.71338606911949],"aabb_xy":[[0.549550086770117,0.6322568338279483],[0.5995500866351527,0.6460221702697949]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[0.46750077106258137,1.0858787196919266,0.71338606911949],"aabb_xy":[[0.40750076941965946,1.0338785703999824],[0.5275007727055032,1.1378788689838708]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.5313526828431148,-1.2221036509733305,0.71338606911949],"aabb_xy":[[0.4945580497182085,-1.2590095260699128],[0.568147315968021,-1.1851977758767482]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.1094064831370739,-2.391951271007523,0.71338606911949],"aabb_xy":[[0.0976382963424164,-2.476951270912745],[0.12117466993173144,-2.3069512711023017]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.01015121612247849,1.2508129744221512,0.71338606911949],"aabb_xy":[[-0.038800548482894714,1.2221674151450752],[0.018498116237937734,1.2794585336992268]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.03729431034587449,-2.47131719092601,0.71338606911949],"aabb_xy":[[-0.09226803238220738,-2.5263171904902433],[0.01767941169045839,-2.416317191361777]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.306536508666458,-0.7638765727659154,0.71338606911949],"aabb_xy":[[-0.31900386677619363,-0.7763418973992389],[-0.29406915055672234,-0.7514112481325919]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[0.10016283083072264,0.7541815598023152,0.71338606911949],"aabb_xy":[[0.0626628300387272,0.7478137188441251],[0.13766283162271808,0.7605494007605053]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.015450413631100224,-1.252891601035776,0.71338606911949],"aabb_xy":[[-0.0625797926329359,-1.3168916020801775],[0.03167896537073545,-1.1888915999913736]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[0.4404737621147716,-0.22513018323380285,0.71338606911949],"aabb_xy":[[0.37047375998334203,-0.2478921488594985],[0.5104737642462012,-0.2023682176081072]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.4082924790065252,1.5406783755687141,0.71338606911949],"aabb_xy":[[0.37079247918949165,1.536040164257572],[0.44579247882355877,1.5453165868798557]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[0.15653118083522044,1.5031654293601595,0.71338606911949],"aabb_xy":[[0.14188777528118743,1.4885067097033753],[0.1711745863892534,1.5178241490169437]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.3997379253344815,0.943881068423623,0.71338606911949],"aabb_xy":[[0.335737926747909,0.8968741050241142],[0.4637379239210539,0.9908880318231317]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.20595574387642573,-0.2595303853650748,0.71338606911949],"aabb_xy":[[-0.27095574243349857,-0.2892829187789574],[-0.1409557453193529,-0.22977785195119216]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[0.6233879508099693,0.2803421888512263,0.71338606911949],"aabb_xy":[[0.5889256034118274,0.24584830645340358],[0.657850298208111,0.31483607124904894]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[-0.4987449347655678,-0.01881979496720465,0.71338606911949],"aabb_xy":[[-0.5887449370995869,-0.0963021495523173],[-0.40874493243154875,0.058662559617908006]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[-0.42413219939492924,1.5984173124748442,0.71338606911949],"aabb_xy":[[-0.43117250932846635,1.5184173130751735],[-0.41709188946139236,1.6784173118745163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6388842471106826,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9103.png","name":"9103"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9103.png","name":"9103"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9624.png","name":"9624"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1340.png","name":"1340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5069.png","name":"5069"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":514.0520231579832,"rotation_z_degrees":225.62301701866215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00024098789268606896,0.0008120435706541994,-0.0024324295858266787]},{"name":"camera_2","offset_m":[0.004193979679096949,-0.013076748656153447,-0.010807218498927131]},{"name":"camera_3","offset_m":[-0.019662150584391233,-0.01593482737449114,0.010706590870862249]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012420362499926943,0.00014174791264194965,0.001986980468161063],"end_effector_yaw_offset_degrees":-0.36918420741937097},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010587033168125211,7.3207373384263225e-06,0.0014216261129617264],"end_effector_yaw_offset_degrees":0.4291239348221565},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006593274922076602,4.419671944349418e-06,-0.0013542340301605225],"end_effector_yaw_offset_degrees":-0.18867022499932462},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[8.130093201695436e-05,-0.0007054459350452978,-0.0005889851876209394],"end_effector_yaw_offset_degrees":-0.03669031465177364},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0008415556182271963,-0.0017191043170338772,-0.00047031296452823795],"end_effector_yaw_offset_degrees":-0.7097665835809128},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0012010001139023557,0.0014215626730424984,-0.0013530694810442712],"end_effector_yaw_offset_degrees":-0.21394037954427492},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00017189895421348663,-0.0005530368507510358,0.0006157773996725707],"end_effector_yaw_offset_degrees":-0.8195693073536547},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0003592611311334323,-0.0005125104298184717,-0.001539872669349926],"end_effector_yaw_offset_degrees":0.5025271336237676},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008272245651653361,0.001811892270171105,0.0005544553817783894],"end_effector_yaw_offset_degrees":0.6845141931206071}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004237084426952834,-0.0038227486710576773],"position_m":[0.3466370844269528,0.11027725132894231,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003988330474386052,-0.00012589060125048433],"position_m":[0.2734883304743861,-0.08382589060125048,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012319769475586488,-0.0028169661299959313],"position_m":[0.20923197694755863,-0.33041696612999594,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.00307038312348372,0.002540401583276516],"position_m":[0.28277038312348374,0.32034040158327654,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"b33c6a05cb5f3df4aa938e020b7755510751782d1ab42fd8b13ffc635c30bdab","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9103/tex_ceiling_textures_5069/tex_floor_textures_1340/tex_table_textures_9624/tex_wall_textures_3492","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8632332640950551450,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8632332640950551450,"visual_seed":8632332640950551450,"scene_id":"lab_003","finished_at":"2026-09-08T20:22:45"}
+{"episode_id":"ep_000012","started_at":"2026-09-08T20:22:54","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.03938418294904433,-0.9672541089188107,0.71338606911949],"aabb_xy":[[-0.024615820340663782,-1.010589027922728],[0.10338418623875244,-0.923919189914893]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.1966686827098556,-2.455242675191771,0.71338606911949],"aabb_xy":[[-0.20538265175979006,-2.4777426758509584],[-0.18795471365992109,-2.432742674532582]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.3738301067335079,0.9276078164898562,0.71338606911949],"aabb_xy":[[0.32774501547877644,0.8636078192373011],[0.4199151979882394,0.9916078137424114]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_3","position":[0.6689097280664553,-0.9079630603935271,0.71338606911949],"aabb_xy":[[0.6594922534965926,-0.9173792375312461],[0.6783272026363181,-0.898546883255808]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.3024091406624334,-1.4349020265711394,0.71338606911949],"aabb_xy":[[-0.3137708753157195,-1.4462704929774273],[-0.2910474060091472,-1.423533560164851]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[0.14404220602027262,1.5395093484100282,0.71338606911949],"aabb_xy":[[0.08004220685050271,1.4927426612910657],[0.2080422051900426,1.5862760355289907]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.20617738687165632,1.6095125385010784,0.71338606911949],"aabb_xy":[[-0.236144943781482,1.579512538203193],[-0.17620982996183066,1.6395125387989644]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[0.6472419200995094,-2.4663338052886066,0.71338606911949],"aabb_xy":[[0.5972419197389432,-2.516313792498209],[0.6972419204600754,-2.416353818079003]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.5633273696162786,-1.7727153914579818,0.71338606911949],"aabb_xy":[[-0.5703688205670262,-1.7797421431957763],[-0.556285918665531,-1.7656886397201874]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.4733658970827477,0.7635732435063556,0.71338606911949],"aabb_xy":[[-0.5273814933646477,0.6995732406140984],[-0.4193503008008476,0.8275732463986127]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.5067426073833668,-0.7777765372004988,0.71338606911949],"aabb_xy":[[-0.5707426046690155,-0.8192832561533426],[-0.4427426100977182,-0.7362698182476547]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.09190278955012998,-1.9383945197461419,0.71338606911949],"aabb_xy":[[0.08227115332970036,-1.9480318325258505],[0.1015344257705596,-1.9287572069664327]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.6400596112668431,0.0007841335581870723,0.71338606911949],"aabb_xy":[[0.6050596120740247,-0.010182912439475555],[0.6750596104596612,0.0117511795558497]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.19754685114525639,0.9610288167951548,0.71338606911949],"aabb_xy":[[-0.23504685143743123,0.9569873413945512],[-0.1600468508530816,0.9650702921957585]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[0.21603119622213296,-0.606521741857629,0.71338606911949],"aabb_xy":[[0.13103119780470976,-0.6913960373199141],[0.3010311946395562,-0.5216474463953441]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[0.508599138955951,-0.733345687606648,0.71338606911949],"aabb_xy":[[0.49342696967431765,-0.7485145445348513],[0.5237713082375843,-0.7181768306784446]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[0.47802450531493457,-2.5029863949870492,0.71338606911949],"aabb_xy":[[0.47032131464085747,-2.5106957656857873],[0.48572769598901155,-2.495277024288311]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.3190809379800915,1.1781887058472882,0.71338606911949],"aabb_xy":[[-0.34098962011944256,1.1562880390271972],[-0.2971722558407405,1.2000893726673787]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.3822930821680079,-0.14169964430013993,0.71338606911949],"aabb_xy":[[-0.3867237115228481,-0.14714801603482255],[-0.37786245281316777,-0.13625127256545735]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.6177256239128406,0.6094707119760057,0.71338606911949],"aabb_xy":[[0.5277256271772303,0.5562872486587112],[0.7077256206484507,0.6626541752933002]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.03739005636595083,-2.4127277756062004,0.71338606911949],"aabb_xy":[[-0.09739005800887268,-2.4647279248981446],[0.022609945276971015,-2.3607276263142563]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.42290603088596157,0.2514146569361948,0.71338606911949],"aabb_xy":[[0.38611139776105535,0.21450878183961253],[0.4597006640108679,0.2883205320327771]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[-0.49963442980878703,-1.553259476360921,0.71338606911949],"aabb_xy":[[-0.5147973027857242,-1.56842493365604],[-0.48447155683185,-1.5380940190658026]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.33214826766835176,-1.3061103649864998,0.71338606911949],"aabb_xy":[[-0.34972656985729855,-1.3236848545606046],[-0.31456996547940486,-1.288535875412395]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.6562128579227471,0.4775610280707663,0.71338606911949],"aabb_xy":[[-0.6644274030384308,0.46888443777312494],[-0.6479983128070629,0.4862376183684075]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[0.35633662253118614,-2.3506235765337355,0.71338606911949],"aabb_xy":[[0.33890590745217963,-2.367895691197586],[0.37376733761019265,-2.333351461869885]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[0.06353538724310637,1.2257967804150072,0.71338606911949],"aabb_xy":[[0.026035385727474658,1.214570007398862],[0.10103538875873808,1.237023553431152]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6341790577709426,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2795.png","name":"2795"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2795.png","name":"2795"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4060.png","name":"4060"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9801.png","name":"9801"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7035.png","name":"7035"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":585.3813226326503,"rotation_z_degrees":249.17254318374134,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[6.0421390918555945e-05,0.0050213581756200845,-0.005917450694344541]},{"name":"camera_2","offset_m":[-0.008793968808132996,-0.01937140434871241,0.008253390744169715]},{"name":"camera_3","offset_m":[0.00991970966602199,-0.014802281466562307,0.014944763870990519]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014316474475130191,0.00044445514137474336,-0.001031574791482334],"end_effector_yaw_offset_degrees":0.9766845426565307},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006846173760913267,-0.001958582273905294,-0.0003148435491307957],"end_effector_yaw_offset_degrees":0.4173515161962127},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012059415341283256,0.0018323321510643415,-0.0003641692135819667],"end_effector_yaw_offset_degrees":-0.7103749242946797},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00010890518068784605,-0.0015022785684062887,-0.0014720261743007925],"end_effector_yaw_offset_degrees":-0.904952266918899},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0005385957465857839,0.0014405471526816455,0.0016894018471680498],"end_effector_yaw_offset_degrees":-0.38806966236853824},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0013236225405981084,0.0014395468974220797,0.0004225264114004583],"end_effector_yaw_offset_degrees":0.9955883815517055},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00012514044767476524,0.0005762185009991635,-0.0013616381848522879],"end_effector_yaw_offset_degrees":-0.3567145487931791},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.001498232474426766,0.0009984387503774216,-0.0013074605578381774],"end_effector_yaw_offset_degrees":0.6089221148216755},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013764223696538644,-0.00145290482304384,-0.0009638080977326853],"end_effector_yaw_offset_degrees":-0.2977112258369081}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004481886839918208,-0.0016942292487412058],"position_m":[0.3379181131600818,0.1124057707512588,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018295750316397697,0.004019440829103461],"position_m":[0.2713295750316398,-0.07968055917089653,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00499252954912423,0.0026658062675692477],"position_m":[0.20300747045087575,-0.32493419373243076,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.002169271870789251,0.0021893237606559384],"position_m":[0.27753072812921076,0.319989323760656,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"46833c51edc4e0ae2d0fb567d0b30d59493b1b452daa2d62446c1e6bd4844ca5","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2795/tex_ceiling_textures_7035/tex_floor_textures_9801/tex_table_textures_7219/tex_wall_textures_4060","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5710286803313255000,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5710286803313255000,"visual_seed":5710286803313255000,"scene_id":"lab_003","finished_at":"2026-09-08T20:33:08"}
+{"episode_id":"ep_000013","started_at":"2026-09-08T20:33:17","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.5424081064724693,-0.8633942617509707,0.71338606911949],"aabb_xy":[[0.5379774771176291,-0.8688426334856535],[0.5468387358273095,-0.8579458900162883]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.4216559151623007,-0.2906005401588527,0.71338606911949],"aabb_xy":[[0.35665591252450723,-0.3420801388582997],[0.4866559178000942,-0.23912094145940577]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.5925457478156697,-0.04283386301955039,0.71338606911949],"aabb_xy":[[-0.6208754577642099,-0.04729460521326745],[-0.5642160378671295,-0.03837312082583333]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.28130018252534844,-0.37744113931438417,0.71338606911949],"aabb_xy":[[-0.2964723518069818,-0.3926099962425876],[-0.2661280132437151,-0.36227228238618087]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.06317959161711384,-0.7908429924696949,0.71338606911949],"aabb_xy":[[0.013699170403155048,-0.8548429903825467],[0.11266001283107263,-0.7268429945568431]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.3522153345832375,-1.9641112037570216,0.71338606911949],"aabb_xy":[[0.3070440167350686,-2.0281112009015603],[0.3973866524314066,-1.9001112066124834]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.41572167931549986,-2.497157576679624,0.71338606911949],"aabb_xy":[[0.4028497758145597,-2.57715757709346],[0.42859358281644,-2.4171575762657875]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.46670560252509163,-0.4376895455160126,0.71338606911949],"aabb_xy":[[-0.5166987146342835,-0.48768954619020827],[-0.41671249041589975,-0.387689544841817]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.3053451484817335,0.20439318124816808,0.71338606911949],"aabb_xy":[[-0.39034514717380814,0.1724073178532892],[-0.22034514978965886,0.2363790446430469]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.6684736344477269,-1.3477961155037341,0.71338606911949],"aabb_xy":[[0.6316790013228206,-1.3847019906003162],[0.7052682675726332,-1.3108902404071516]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.14135880078456786,0.2623176136933121,0.71338606911949],"aabb_xy":[[-0.16387249260802506,0.1923176130923045],[-0.11884510896111067,0.33231761429431955]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.21174238835281917,-0.9673839670563105,0.71338606911949],"aabb_xy":[[-0.24170994526264483,-0.9973839673541962],[-0.1817748314429935,-0.9373839667584247]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[-0.33020672072505847,-1.275807463532742,0.71338606911949],"aabb_xy":[[-0.3521154028644095,-1.2977081303528328],[-0.3082980385857074,-1.2539067967126514]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[-0.04208617938078474,-1.4418496836275068,0.71338606911949],"aabb_xy":[[-0.10708618038128526,-1.4926360487821817],[0.02291382161971578,-1.3910633184728318]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.26571106806407496,-1.527152373389379,0.71338606911949],"aabb_xy":[[0.17571106864570402,-1.5605278702335683],[0.3557110674824458,-1.4937768765451889]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.5190604823177711,-0.6006948508723218,0.71338606911949],"aabb_xy":[[0.43906048366088524,-0.6151997097965846],[0.5990604809746573,-0.586189991948059]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[0.6748728381692723,-1.5783872259024063,0.71338606911949],"aabb_xy":[[0.6639670620817096,-1.6583872223012355],[0.6857786142568351,-1.4983872295035772]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.044785567466734344,-1.1395082721847547,0.71338606911949],"aabb_xy":[[0.023507559323262088,-1.2045082745108275],[0.06606357561020659,-1.0745082698586814]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.6172839701467299,-0.13320922955511882,0.71338606911949],"aabb_xy":[[0.5997056679577829,-0.15078371912922373],[0.6348622723356766,-0.11563473998101392]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[-0.5568926328967422,-1.9059291095571107,0.71338606911949],"aabb_xy":[[-0.5793574028681473,-1.9284291104359712],[-0.5344278629253371,-1.8834291086782502]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[-0.31474703808462934,-1.1471564697086414,0.71338606911949],"aabb_xy":[[-0.33385934544260826,-1.1662912485858834],[-0.29563473072665053,-1.1280216908313994]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.1655063528663171,0.39623241645212515,0.71338606911949],"aabb_xy":[[-0.17354268756760194,0.3881942971477083],[-0.15747001816503226,0.40427053575654187]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.4163223937832785,-1.3105039136329726,0.71338606911949],"aabb_xy":[[0.33632239637968503,-1.3904964848311552],[0.4963223911868719,-1.2305113424347895]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[-0.5974402122919104,-0.6759866106702848,0.71338606911949],"aabb_xy":[[-0.6474402109378316,-0.7259061543297471],[-0.5474402136459892,-0.6260670670108224]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[-0.11892499517243293,0.8879214567228133,0.71338606911949],"aabb_xy":[[-0.14757432753284916,0.8592758974457374],[-0.09027566281201671,0.916567015999889]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[0.24752021162235427,-2.139851460725576,0.71338606911949],"aabb_xy":[[0.20252021015612542,-2.1848513175870568],[0.2925202130885831,-2.0948516038640954]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[-0.238949346314425,-0.4656403635994031,0.71338606911949],"aabb_xy":[[-0.27272490550511796,-0.4796788588125681],[-0.205173787123732,-0.45160186838623806]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.4490010691877202,-0.7949256102273388,0.71338606911949],"aabb_xy":[[0.4145385911746324,-0.8015892874102615],[0.4834635472008079,-0.7882619330444158]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_28","position":[-0.6051850958598827,-2.2818387032304526,0.71338606911949],"aabb_xy":[[-0.627685095673785,-2.2863133196009326],[-0.5826850960459803,-2.2773640868599716]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_29","position":[0.4749174678495809,1.106877588641788,0.71338606911949],"aabb_xy":[[0.4249400509843272,1.0568775871525395],[0.5248948847148343,1.1568775901310366]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_30","position":[-0.5070474595938732,-0.855560892326604,0.71338606911949],"aabb_xy":[[-0.5241495375522414,-0.8726676978578739],[-0.48994538163550505,-0.8384540867953344]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_31","position":[0.5355107365342855,0.6943041134665222,0.71338606911949],"aabb_xy":[[0.5308756213820519,0.6904367783893735],[0.5401458516865186,0.6981714485436707]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_32","position":[0.64085657273277,0.11368310751753796,0.71338606911949],"aabb_xy":[[0.576856570683038,0.07358862442823],[0.704856574782502,0.15377759060684593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6330542776419416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3976.png","name":"3976"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3976.png","name":"3976"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8156.png","name":"8156"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4471.png","name":"4471"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8298.png","name":"8298"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4852.png","name":"4852"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":608.3070452257003,"rotation_z_degrees":339.52839236916947,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037097478693405572,-0.01942259114200012,0.002147221890794807]},{"name":"camera_2","offset_m":[-0.017720842262999557,-0.0032472757407628443,0.018837729532210492]},{"name":"camera_3","offset_m":[0.011054099469428005,0.019433021585131233,-0.016906443082636013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001184316349926095,0.0015509516458252983,0.0011057227570874482],"end_effector_yaw_offset_degrees":-0.2216129162619982},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006481032801863066,0.0009442389342433784,0.0005013669797320477],"end_effector_yaw_offset_degrees":0.03527575059342514},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00026415271654119197,-0.0016401991159659133,0.00016264620068320293],"end_effector_yaw_offset_degrees":-0.8288498401061342},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.000683483881422041,0.0016172889285962799,-0.0007809859721281823],"end_effector_yaw_offset_degrees":-0.8163018768459716},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0014660410970556348,-0.0007008092145873186,0.001246415198893549],"end_effector_yaw_offset_degrees":0.6798071567341757},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0006095369618019076,-0.0009508891619261265,-0.0018805206501550532],"end_effector_yaw_offset_degrees":-0.450908288624462},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017358268407808445,0.0014792779286163728,0.00023764227815803842],"end_effector_yaw_offset_degrees":-0.2704084053099767},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[-0.0011243308638854415,0.0008229828701636047,0.00021355562316837393],"end_effector_yaw_offset_degrees":-0.1568507087837292},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001989469562915975,0.0017181857557421617,-0.0007114431352007631],"end_effector_yaw_offset_degrees":-0.46027704598978314}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014718610110724195,-0.003530099327030867],"position_m":[0.34092813898892754,0.11056990067296912,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032629492035892273,0.0037843107061088154],"position_m":[0.2662370507964108,-0.07991568929389119,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004902779296230605,0.001987587689455875],"position_m":[0.2030972207037694,-0.3256124123105441,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.001138502907354566,-0.001828497206815828],"position_m":[0.27856149709264544,0.3159715027931842,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"0f8a6a5c5f4368c90137b3cdaf96491680981c901fe1753bf41be0286ad9b7d3","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3976/tex_ceiling_textures_4852/tex_floor_textures_8298/tex_table_textures_8156/tex_wall_textures_4471","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7535571378023579306,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7535571378023579306,"visual_seed":7535571378023579306,"scene_id":"lab_003","finished_at":"2026-09-08T20:44:07"}
+{"episode_id":"ep_000014","started_at":"2026-09-08T21:07:52","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.5665222995984411,1.5532645264302043,0.71338606911949],"aabb_xy":[[0.541522300432808,1.5463122807248477],[0.5915222987640743,1.5602167721355609]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.39233735484398047,-1.3926362075507985,0.71338606911949],"aabb_xy":[[-0.4423373557945133,-1.42418535455432],[-0.34233735389344766,-1.3610870605472771]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.15501079957314012,-2.0455548014551668,0.71338606911949],"aabb_xy":[[0.11751079838834728,-2.0499730241512264],[0.19251080075793287,-2.0411365787591054]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[0.23011008782491338,1.617860286184039,0.71338606911949],"aabb_xy":[[0.19511008863209506,1.606893240186376],[0.2651100870177316,1.628827332181701]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.6220759929271674,1.4622091516348124,0.71338606911949],"aabb_xy":[[-0.6770759911289121,1.4216871850083748],[-0.5670759947254225,1.50273111826125]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.45188841239702016,-0.9672246585852444,0.71338606911949],"aabb_xy":[[-0.48938841268919503,-0.9712661339858482],[-0.4143884121048454,-0.9631831831846409]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.16962882864414675,-2.062214682726864,0.71338606911949],"aabb_xy":[[-0.17374477875621935,-2.066330237759709],[-0.16551287853207403,-2.058099127694018]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[0.4024297102903016,1.388278901535653,0.71338606911949],"aabb_xy":[[0.3911846547196837,1.3770371038115576],[0.4136747658609194,1.3995206992597482]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.3837360435593009,-2.465465916738888,0.71338606911949],"aabb_xy":[[-0.41158108033990803,-2.4962504154771996],[-0.3558910067786938,-2.4346814180005762]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.6774606691982075,1.4473292077932425,0.71338606911949],"aabb_xy":[[0.6439815019371665,1.4138500944221355],[0.7109398364592484,1.4808083211643495]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.6565041798662477,-2.075768522400093,0.71338606911949],"aabb_xy":[[0.6220418324681055,-2.110262404797915],[0.6909665272643891,-2.0412746400022694]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[0.3321646962098761,-2.51253282946871,0.71338606911949],"aabb_xy":[[0.31525396377353426,-2.5260050350613237],[0.3490754286462178,-2.4990606238760944]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.1152062631532017,-1.1792496183899395,0.71338606911949],"aabb_xy":[[-0.16520127411265373,-1.2292496174255312],[-0.06521125219374968,-1.1292496193543478]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.5021948723141648,0.8157331658851819,0.71338606911949],"aabb_xy":[[-0.5521722891794183,0.7657331643959332],[-0.4522174554489112,0.8657331673744303]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.4498488600861761,-2.1044163536585643,0.71338606911949],"aabb_xy":[[0.36984885792341354,-2.1843715372847075],[0.5298488622489386,-2.02446117003242]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.5516124810209171,-1.930873251793282,0.71338606911949],"aabb_xy":[[0.5339368504323188,-1.9485534680726846],[0.5692881116095154,-1.913193035513879]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.23185225488375716,1.0148394358079544,0.71338606911949],"aabb_xy":[[0.21484215759370648,0.9987049473096805],[0.24886235217380778,1.0309739243062284]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.5862302155658666,0.980547682947547,0.71338606911949],"aabb_xy":[[-0.6502302141524391,0.9335407195480383],[-0.5222302169792942,1.0275546463470557]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.3872327822996473,1.5436745552146731,0.71338606911949],"aabb_xy":[[0.3172327801682177,1.5209125895889772],[0.4572327844310768,1.5664365208403686]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.39717290178318665,-0.2467000948959197,0.71338606911949],"aabb_xy":[[0.37389105958505536,-0.3317000961931478],[0.42045474398131805,-0.16170009359869164]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.4508606475628494,-1.8221854120795644,0.71338606911949],"aabb_xy":[[-0.5148606448651958,-1.866551839047421],[-0.386860650260503,-1.7778189851117074]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.5770925636911047,0.4507954667295526,0.71338606911949],"aabb_xy":[[-0.6020925632428432,0.44065298286441784],[-0.5520925641393662,0.4609379505946873]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.6669148675522865,1.0278394470956456,0.71338606911949],"aabb_xy":[[0.6119411455159536,0.9728394475314124],[0.7218885895886193,1.0828394466598787]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.24233632599155364,-2.3460712585542747,0.71338606911949],"aabb_xy":[[0.23363836370083832,-2.35819623286175],[0.2510342882822689,-2.3339462842468004]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.0560181306188241,-2.4300898312629364,0.71338606911949],"aabb_xy":[[0.0427871850841428,-2.4433172502849354],[0.0692490761535054,-2.4168624122409366]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[0.2642734490493973,0.5978718541526948,0.71338606911949],"aabb_xy":[[0.25485597447953456,0.5884556770149758],[0.27369092361926006,0.6072880312904139]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[0.5743582157079095,1.2750069278849034,0.71338606911949],"aabb_xy":[[0.5243739799997322,1.225006929071408],[0.6243424514160867,1.3250069266983993]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[0.5818061888197299,0.5398431492321594,0.71338606911949],"aabb_xy":[[0.5118061861831434,0.5197382842362938],[0.6518061914563161,0.5599480142280248]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.33650658814490697,1.300923311606688,0.71338606911949],"aabb_xy":[[0.31982945215181147,1.284223387632758],[0.3531837241380025,1.3176232355806186]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_29","position":[-0.3084056570599457,-1.0581148964132898,0.71338606911949],"aabb_xy":[[-0.3496544680898604,-1.113114895925507],[-0.2671568460300309,-1.0031148969010721]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_30","position":[0.08199730325604615,0.9805996155531025,0.71338606911949],"aabb_xy":[[0.016997305374398367,0.9294759518465616],[0.14699730113769396,1.0317232792596434]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_31","position":[-0.069881052087301,0.4992534440622962,0.71338606911949],"aabb_xy":[[-0.07384153585703537,0.4915855794767756],[-0.06592056831756662,0.5069213086478168]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_32","position":[0.25039543870101777,1.73229531981293,0.71338606911949],"aabb_xy":[[0.17039544154144243,1.7207477188551126],[0.330395435860593,1.7438429207707467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6323867568716097,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1791.png","name":"1791"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1791.png","name":"1791"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6750.png","name":"6750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6459.png","name":"6459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4486.png","name":"4486"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1045.png","name":"1045"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":501.80169918948326,"rotation_z_degrees":229.3241920674915,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006291769207568425,-0.012187564321940498,0.0015037221243274293]},{"name":"camera_2","offset_m":[-0.009838818159726608,-0.0066649607485558225,-0.006008911471801532]},{"name":"camera_3","offset_m":[0.013287774242403818,-0.007400974971774544,0.00601973973884995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012088201638659854,-0.001110749036236965,0.001711290327780111],"end_effector_yaw_offset_degrees":0.5965256641835408},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018529244588114877,-0.0018942994976709079,-0.001193796754497981],"end_effector_yaw_offset_degrees":0.4009055160358346},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041394333798999163,-0.0019185861754111994,-0.0007864000081699238],"end_effector_yaw_offset_degrees":0.2287950207445062},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0013477319549412932,-7.068780691174667e-05,0.0009059679707829915],"end_effector_yaw_offset_degrees":-0.5773621579982007},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0015499477570520015,0.0017850750883809247,-0.0015632210795345207],"end_effector_yaw_offset_degrees":0.33383651897117184},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.00031020303341724445,0.0019587397219539386,-0.0009401863107229018],"end_effector_yaw_offset_degrees":-0.5817563900853677},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018664740183196417,-0.0008400960171584843,0.0003455247831557072],"end_effector_yaw_offset_degrees":0.19500473223609993},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0001478361215089567,-0.001180186069163101,-0.0013489521489907608],"end_effector_yaw_offset_degrees":-0.6221735393255639},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004006315913444589,-0.0002541903612903384,0.0019725476709389726],"end_effector_yaw_offset_degrees":0.9036790002282076}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002120026227327274,-0.0038329771204101393],"position_m":[0.34452002622732725,0.11026702287958985,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015044065520166718,-0.002265829028422591],"position_m":[0.2710044065520167,-0.08596582902842259,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001843343856934623,-0.00495627327392889],"position_m":[0.20984334385693462,-0.3325562732739289,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[-0.004908551298728212,0.003315673860067811],"position_m":[0.2747914487012718,0.32111567386006784,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"351413c14f8b7dd2b462555c4a49e52f55480ba9f434dc951bb6c1ee80c7ab60","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1791/tex_ceiling_textures_1045/tex_floor_textures_4486/tex_table_textures_6750/tex_wall_textures_6459","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2550807341907667209,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2550807341907667209,"visual_seed":2550807341907667209,"scene_id":"lab_003","finished_at":"2026-09-08T21:18:46"}
+{"episode_id":"ep_000015","started_at":"2026-09-08T21:18:54","dimensions":{"distractor":{"count":25,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.20720041662140953,-1.8267494117285703,0.71338606911949],"aabb_xy":[[0.2017424709843895,-1.9067494150362292],[0.21265836225842963,-1.746749408420911]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.03341054685971134,-1.7981478547929122,0.71338606911949],"aabb_xy":[[-0.046589451727608075,-1.8774634567310728],[0.11341054544703078,-1.718832252854751]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[-0.2780134071335617,0.9964826884644085,0.71338606911949],"aabb_xy":[[-0.3280134074941277,0.9465027012548055],[-0.2280134067729956,1.0464626756740114]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[-0.1267156527716078,1.2952723514968483,0.71338606911949],"aabb_xy":[[-0.13474192340223382,1.2865208565194957],[-0.11868938214098182,1.3040238464742009]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[-0.21460951400457928,-2.029562924213432,0.71338606911949],"aabb_xy":[[-0.2226458487058641,-2.037601043517848],[-0.2065731793032944,-2.021524804909015]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[0.1516447349678679,1.254177621608357,0.71338606911949],"aabb_xy":[[0.0876447346938897,1.2041115214110694],[0.21564473524184616,1.3042437218056453]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[-0.5184203768655749,0.011129607803722408,0.71338606911949],"aabb_xy":[[-0.5683977937308283,-0.03887039368552613],[-0.4684429600003212,0.06112960929297095]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.6694628804688865,-0.3074264785932863,0.71338606911949],"aabb_xy":[[0.6356873212781934,-0.32146497380645134],[0.7032384396595793,-0.2933879833801213]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.4307217102647453,1.7395224497091246,0.71338606911949],"aabb_xy":[[-0.5144439357648278,1.6495224461744287],[-0.34699948476466286,1.8295224532438206]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[0.3395707981341629,1.392653689801561,0.71338606911949],"aabb_xy":[[0.27557079591375583,1.3482806056762726],[0.4035708003545699,1.4370267739268492]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.6137800347822975,0.6265627074929769,0.71338606911949],"aabb_xy":[[0.576280036358897,0.6133984935251462],[0.6512800332056977,0.6397269214608075]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[0.4279128740933158,1.1706604231368782,0.71338606911949],"aabb_xy":[[0.39545117321138823,1.1405275910219752],[0.46037457497524314,1.2007932552517804]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[0.2812839660093387,-0.8338342509747423,0.71338606911949],"aabb_xy":[[0.20128396573573168,-0.9067837988004591],[0.3612839662829456,-0.7608847031490257]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.5969897229204779,-2.350993309025757,0.71338606911949],"aabb_xy":[[0.5899494129869409,-2.4309933084254287],[0.6040300328540149,-2.270993309626086]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.6061879711350087,-2.221817768049911,0.71338606911949],"aabb_xy":[[-0.628687970658716,-2.2443137155005313],[-0.5836879716113011,-2.1993218205992897]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[-0.2365789062775669,1.4530268546119625,0.71338606911949],"aabb_xy":[[-0.25175107555920023,1.4378579976837593],[-0.22140673699593355,1.468195711540166]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[-0.39604014930624276,-1.7693312861048018,0.71338606911949],"aabb_xy":[[-0.48604014790071276,-1.7855818724182226],[-0.3060401507117729,-1.7530806997913806]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.08507449498227304,-0.8208364585997308,0.71338606911949],"aabb_xy":[[-0.10962071060502375,-0.8510853551487678],[-0.06052827935952231,-0.7905875620506937]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.2888404786756536,0.39789229865854914,0.71338606911949],"aabb_xy":[[-0.2936840734368836,0.393040646179565],[-0.2839968839144236,0.40274395113753325]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.5545376797344808,0.9133621698653362,0.71338606911949],"aabb_xy":[[0.4845376779257353,0.8920084011011489],[0.6245376815432262,0.9347159386295236]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[-0.1914527110004497,0.8114682737935195,0.71338606911949],"aabb_xy":[[-0.25545270739602277,0.7475049853747859],[-0.12745271460487662,0.875431562212253]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[-0.6447881144407135,0.3757083141089308,0.71338606911949],"aabb_xy":[[-0.670008951300553,0.350484563256044],[-0.6195672775808737,0.4009320649618175]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.44096577613537735,0.5429896359006356,0.71338606911949],"aabb_xy":[[0.4109982192255517,0.51298963560275],[0.470933333045203,0.5729896361985215]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[-0.46573068913717885,0.8947972128710902,0.71338606911949],"aabb_xy":[[-0.5207229397726899,0.8397972111277774],[-0.410738438501668,0.9497972146144029]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.09655486532795465,-1.7823221292220706,0.71338606911949],"aabb_xy":[[-0.10025812665709351,-1.786024147530788],[-0.09285160399881577,-1.7786201109133526]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6382061493643136,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6783.png","name":"6783"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6783.png","name":"6783"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3550.png","name":"3550"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2868.png","name":"2868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/279.png","name":"279"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":843.3108706018843,"rotation_z_degrees":135.90918087091583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012476796224688013,0.008976370361750936,0.0063030443121641355]},{"name":"camera_2","offset_m":[0.010292628424229466,-0.002667388729396883,0.0012997282572442537]},{"name":"camera_3","offset_m":[0.009073914835226727,-0.0041342316151272256,-0.019965632525783407]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003425852219760034,-0.000539704696762624,0.0019823915731615703],"end_effector_yaw_offset_degrees":-0.1921553528571116},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008060439605204813,0.0018227974868737554,0.0008515919359422535],"end_effector_yaw_offset_degrees":0.9109871825650284},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011103638023640095,-0.0011788856511874433,-0.0014430615049673867],"end_effector_yaw_offset_degrees":-0.7581234950069118},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.00018127638710155759,0.00022350324142991242,0.0017471687855595075],"end_effector_yaw_offset_degrees":-0.2624451596847015},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0019068003289049677,-0.000588558191417175,-0.0005945024824936516],"end_effector_yaw_offset_degrees":-0.2417761806087817},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.000948351422519779,-4.4831770655434384e-05,-0.00017167002925175668],"end_effector_yaw_offset_degrees":0.718344466741857},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000878753067392627,0.0002573803820753824,0.000642737980303937],"end_effector_yaw_offset_degrees":-0.13520020692359536},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00020215811052247921,-0.0012903472203822045,-7.38075346947845e-05],"end_effector_yaw_offset_degrees":-0.6000376923684523},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007062997632425495,-0.0007361769004903703,-0.0010638882049261579],"end_effector_yaw_offset_degrees":-0.20759439852772865}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00294230869193498,0.004222387179861374],"position_m":[0.34534230869193494,0.11832238717986136,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010930771742547994,0.0023078134106145473],"position_m":[0.26840692282574524,-0.08139218658938545,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017775495426075013,0.0011956904168106087],"position_m":[0.2097775495426075,-0.3264043095831894,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0011514556917619524,0.004488304207120256],"position_m":[0.28085145569176195,0.3222883042071203,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"fa817121056c24afa6cf82e93cf046804f46306fdb1995d54ad3b4b6eb6b381e","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6783/tex_ceiling_textures_279/tex_floor_textures_9972/tex_table_textures_3550/tex_wall_textures_2868","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7576568847374099280,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7576568847374099280,"visual_seed":7576568847374099280,"scene_id":"lab_003","finished_at":"2026-09-08T21:29:54"}
+{"episode_id":"ep_000016","started_at":"2026-09-08T21:30:03","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_0","position":[0.5054614427106556,-1.3122387803576572,0.71338606911949],"aabb_xy":[[0.5015009589409213,-1.3199066449431778],[0.50942192648039,-1.3045709157721366]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.24623114799209078,-1.4792694345006105,0.71338606911949],"aabb_xy":[[0.21279097279607112,-1.5127130603315402],[0.2796713231881103,-1.44582580866968]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.11560366506650133,0.6942895533457194,0.71338606911949],"aabb_xy":[[-0.1607749829146703,0.630289556201181],[-0.07043234721833236,0.7582895504902579]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.22245704199730837,0.29035074183832643,0.71338606911949],"aabb_xy":[[-0.28745704310325165,0.26538536877019814],[-0.15745704089136509,0.3153161149064547]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.31193036025128823,0.4603556475906374,0.71338606911949],"aabb_xy":[[-0.321347834821151,0.4509394704529184],[-0.3025128856814255,0.46977182472835644]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.2945226977460532,0.9129140287012945,0.71338606911949],"aabb_xy":[[-0.3170226975599556,0.9084394123308136],[-0.27202269793215084,0.9173886450717751]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.03502596488319798,-0.1070643943995031,0.71338606911949],"aabb_xy":[[-0.052128042841566136,-0.12417119993077284],[-0.017923886924829824,-0.08995758886823334]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.07957908535178337,1.1601309277685825,0.71338606911949],"aabb_xy":[[0.049094835224753205,1.1101309279870866],[0.11006333547881351,1.2101309275500785]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[-0.2826584364427018,-0.6460023088140758,0.71338606911949],"aabb_xy":[[-0.3201584363864682,-0.6542953988489124],[-0.24515843649893537,-0.6377092187792393]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.22331731735784832,-0.8805233682239744,0.71338606911949],"aabb_xy":[[-0.26016786529483593,-0.918023369047008],[-0.1864667694208607,-0.8430233674009405]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.5414539001743321,0.40748344054956886,0.71338606911949],"aabb_xy":[[0.519545218034981,0.3855827737294781],[0.5633625823136831,0.42938410736965954]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.2426230566628697,1.4341473895280612,0.71338606911949],"aabb_xy":[[-0.2482047282969985,1.4216473897102857],[-0.23704138502874098,1.4466473893458367]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_12","position":[0.20469089153637354,-2.4996213148520985,0.71338606911949],"aabb_xy":[[0.17969089237074046,-2.506573560557455],[0.22969089070200668,-2.492669069146742]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.6119275982037402,0.32707347666587827,0.71338606911949],"aabb_xy":[[-0.6192099145804036,0.2370734730563692],[-0.6046452818270763,0.41707348027538715]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.17882029138849242,1.6223005332022908,0.71338606911949],"aabb_xy":[[-0.26382028980591565,1.5374262377400056],[-0.09382029297106917,1.7071748286645756]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.21727632345809267,0.5153060796838491,0.71338606911949],"aabb_xy":[[0.15227632490101983,0.4855535462699665],[0.2822763220151655,0.5450586130977317]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.3279252267179375,1.145547358546962,0.71338606911949],"aabb_xy":[[-0.345558062311465,1.1279244125313388],[-0.31029239112440987,1.1631703045625847]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.3610805028287998,-0.5866862923543863,0.71338606911949],"aabb_xy":[[0.35286595771311574,-0.5953628826520275],[0.3692950479444837,-0.5780097020567448]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.4542488789780036,-1.4132700979385417,0.71338606911949],"aabb_xy":[[-0.49174887964258224,-1.428957155938764],[-0.41674887831342483,-1.3975830399383196]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.623606170775741,0.022956369987297442,0.71338606911949],"aabb_xy":[[-0.6736061703520757,-0.0270242089648085],[-0.5736061711994063,0.07293694893940339]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.09105095072479052,-1.3964361110635064,0.71338606911949],"aabb_xy":[[-0.12104261345866085,-1.4264361104003067],[-0.0610592879909202,-1.3664361117267056]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.4750517304435464,1.3488298123899898,0.71338606911949],"aabb_xy":[[0.4110517318569739,1.301822848990481],[0.5390517290301189,1.3958367757894985]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.4440193205596914,0.9220895002539877,0.71338606911949],"aabb_xy":[[0.43988346422699126,0.8845895008096308],[0.44815517689239165,0.9595894996983448]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.4732399874428084,-1.5981660385686758,0.71338606911949],"aabb_xy":[[0.4432724305329827,-1.6281660388665615],[0.503207544352634,-1.56816603827079]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[0.19409428849804056,0.8499196002605243,0.71338606911949],"aabb_xy":[[0.1742032486177003,0.8372637889758274],[0.21398532837838083,0.8625754115452211]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6350588423191217,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7079.png","name":"7079"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7079.png","name":"7079"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3430.png","name":"3430"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/521.png","name":"521"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4531.png","name":"4531"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6138.png","name":"6138"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":612.3010146687445,"rotation_z_degrees":70.42111832415667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01416328525720334,-0.00026529754122434773,0.01355920057506883]},{"name":"camera_2","offset_m":[-0.012269823825123672,-0.001302267150809687,-0.011953099644362086]},{"name":"camera_3","offset_m":[0.005937210750715738,-0.017152353099379347,-0.017629905852188713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00036176113536691423,-0.0014354167899573033,0.0010627777673261527],"end_effector_yaw_offset_degrees":-0.6514771369922292},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014135826042833038,-0.0013587992829226544,0.0015289952824940204],"end_effector_yaw_offset_degrees":0.4331376613798241},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019986342453871056,0.001145605429988059,0.00021623028097438567],"end_effector_yaw_offset_degrees":0.35787580814016895},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.0002628576750560675,-8.475887497867425e-05,-8.216262371488225e-05],"end_effector_yaw_offset_degrees":-0.33955064037693705},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0004161253399819929,-0.001668251630132426,-0.00032351873101449293],"end_effector_yaw_offset_degrees":0.40482335848218853},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0017434963639899465,-0.0008757950461915289,0.0009183252146865192],"end_effector_yaw_offset_degrees":0.6075730352117998},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018857934952104475,0.0005068492461419443,0.0017669455795415187],"end_effector_yaw_offset_degrees":-0.44648642386517046},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0016762067852714897,0.0008347948836662997,-1.303139137058323e-05],"end_effector_yaw_offset_degrees":0.12473378820994352},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000930746569815291,-0.0010749576928990243,-0.0009222204685669845],"end_effector_yaw_offset_degrees":0.9861126230320447}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020549684097460556,0.003840551827359643],"position_m":[0.34445496840974604,0.11794055182735963,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000496431392715495,0.001926734512353214],"position_m":[0.2690035686072845,-0.08177326548764678,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002867271833698284,0.0013679169213363972],"position_m":[0.2051327281663017,-0.3262320830786636,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0029229042450699553,-0.0048980232509772135],"position_m":[0.28262290424507,0.3129019767490228,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"2607967cbc9673b7e2914dc6bf243a62d2f99d8cc6c99c0afaf1d3d8aaf155c8","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7079/tex_ceiling_textures_6138/tex_floor_textures_4531/tex_table_textures_3430/tex_wall_textures_521","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4730500442948158542,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4730500442948158542,"visual_seed":4730500442948158542,"scene_id":"lab_003","finished_at":"2026-09-08T21:41:21"}
+{"episode_id":"ep_000017","started_at":"2026-09-08T21:41:30","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.1893296261710492,-1.5695268011496086,0.71338606911949],"aabb_xy":[[-0.23930269170356472,-1.619526800962142],[-0.13935656063853377,-1.5195268013370762]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[-0.24672175744607416,0.1688007918162202,0.71338606911949],"aabb_xy":[[-0.3267217560333936,0.0894851898780593],[-0.16672175885875473,0.24811639375438108]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[-0.5039587175277769,1.5822089624950828,0.71338606911949],"aabb_xy":[[-0.5615891864150476,1.5222089635683718],[-0.4463282486405059,1.642208961421793]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.3583899917723651,-0.36338708214002713,0.71338606911949],"aabb_xy":[[-0.3654314427231126,-0.37041383387782173],[-0.3513485408216174,-0.35636033040223264]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.19376611042619796,-1.2700432605453027,0.71338606911949],"aabb_xy":[[0.1857297757249131,-1.2780813798497195],[0.20180244512748277,-1.262005141240886]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.6548971934848684,-0.7482888219669974,0.71338606911949],"aabb_xy":[[-0.6595323086371018,-0.752156157044146],[-0.650262078332635,-0.7444214868898487]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.20631521692524324,-0.8822072320378898,0.71338606911949],"aabb_xy":[[-0.21355898297148854,-0.9622072302414921],[-0.19907145087899789,-0.8022072338342874]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[-0.1175941254015822,-1.8132177861895475,0.71338606911949],"aabb_xy":[[-0.1229266400561952,-1.818542114434783],[-0.11226161074696923,-1.807893457944312]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.25188692165503107,0.8955344666389444,0.71338606911949],"aabb_xy":[[-0.3318869190586245,0.8155418954407615],[-0.17188692425143767,0.9755270378371271]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.6955230888766271,-0.4315893850487087,0.71338606911949],"aabb_xy":[[0.6785129915865764,-0.4477238735469826],[0.7125331861666777,-0.41545489655043477]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.6642264610241183,-1.7211655518846694,0.71338606911949],"aabb_xy":[[-0.6793287624851363,-1.7362670735157306],[-0.6491241595631001,-1.7060640302536072]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[-0.5193093780875395,0.33627008365836186,0.71338606911949],"aabb_xy":[[-0.5241529728487695,0.33141843117937775],[-0.5144657833263095,0.341121736137346]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.42597075875539314,-1.842760314931625,0.71338606911949],"aabb_xy":[[-0.48109596438498387,-1.902760316372912],[-0.3708455531258023,-1.7827603134903378]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.35006822815326966,1.189453281674695,0.71338606911949],"aabb_xy":[[0.3357338030271062,1.1773930661201562],[0.3644026532794331,1.2015134972292338]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.3913765500206219,1.7559280993276967,0.71338606911949],"aabb_xy":[[0.3500720069568859,1.6919280997595796],[0.43268109308435787,1.8199280988958138]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[0.3511889505749435,-0.6194235321864334,0.71338606911949],"aabb_xy":[[0.3011889509986088,-0.6694041111385395],[0.40118895015127826,-0.5694429532343276]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.2007760915652667,1.5001011640536155,0.71338606911949],"aabb_xy":[[-0.280769915143825,1.4201011614607741],[-0.12078226798670852,1.5801011666464573]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.3683467919886987,-1.1060584128692965,0.71338606911949],"aabb_xy":[[0.3516696559956032,-1.1227583368432268],[0.3850239279817942,-1.0893584888953662]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.2596238441702394,-1.7036383189552802,0.71338606911949],"aabb_xy":[[0.2246238441937436,-1.7131029350028968],[0.29462384414673526,-1.6941737029076636]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.10083604936485568,-1.1591105176797007,0.71338606911949],"aabb_xy":[[-0.15031647057881448,-1.2231105155925526],[-0.05135562815089689,-1.095110519766849]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[-0.5902869463944881,-2.244153851643693,0.71338606911949],"aabb_xy":[[-0.6021590294059891,-2.3291538513373435],[-0.5784148633829869,-2.159153851950043]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[0.6426061957632214,-2.0437411855922236,0.71338606911949],"aabb_xy":[[0.6279627902091883,-2.0583999052490074],[0.6572496013172543,-2.029082465935439]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[0.6327779588446862,-0.8256498037644175,0.71338606911949],"aabb_xy":[[0.5527779616851108,-0.8371974047222345],[0.7127779560042614,-0.8141022028066004]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[0.15648306387710753,0.9697450284063622,0.71338606911949],"aabb_xy":[[0.14640135679853403,0.8897450305142475],[0.16656477095568098,1.0497450262984769]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.1274615494959338,-1.4284843727864904,0.71338606911949],"aabb_xy":[[-0.17246155096216265,-1.4734842296479713],[-0.08246154802970494,-1.38348451592501]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.5625664190937457,0.7684830448324385,0.71338606911949],"aabb_xy":[[-0.6265664211434777,0.7283885617431305],[-0.4985664170440137,0.8085775279217464]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[-0.45274554058890104,-2.411115816707792,0.71338606911949],"aabb_xy":[[-0.4702454740228844,-2.4286158166280267],[-0.43524560715491767,-2.3936158167875576]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_27","position":[-0.44807306619352594,-1.0989638687346956,0.71338606911949],"aabb_xy":[[-0.4705730664370414,-1.1111685033944676],[-0.4255730659500106,-1.0867592340749237]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_28","position":[0.4239151811790003,0.7681692689119832,0.71338606911949],"aabb_xy":[[0.4006333389808689,0.6831692676147553],[0.4471970233771316,0.8531692702092114]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[0.19752090570678071,1.338540818311555,0.71338606911949],"aabb_xy":[[0.19048059577324378,1.2585408189118839],[0.20456121564031776,1.4185408177112266]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[-0.14319719772764894,-0.08279173033352327,0.71338606911949],"aabb_xy":[[-0.14969883423565358,-0.09255955235983304],[-0.13669556121964435,-0.0730239083072135]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_31","position":[0.041702812046854665,0.8220086995415978,0.71338606911949],"aabb_xy":[[0.01920281153481406,0.7995168411761995],[0.06420281255889526,0.8445005579069962]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_32","position":[0.6886639940901409,1.6474475353518296,0.71338606911949],"aabb_xy":[[0.6715619161317727,1.6303407298205599],[0.705766072048509,1.6645543408830994]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_33","position":[0.536919987814944,-1.0891270739795602,0.71338606911949],"aabb_xy":[[0.4869411793046281,-1.139127073985279],[0.5868987963252599,-1.0391270739738414]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6414967685362237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7747.png","name":"7747"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7747.png","name":"7747"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3416.png","name":"3416"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1268.png","name":"1268"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4715.png","name":"4715"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3152.png","name":"3152"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":691.3726967886174,"rotation_z_degrees":221.4025061423252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012269221277900616,-0.007039748517670282,0.0008827973568138574]},{"name":"camera_2","offset_m":[0.014047406629570759,-0.0063777709130248585,0.003839751157808227]},{"name":"camera_3","offset_m":[-0.015509332009745923,-0.004302277476328539,0.018444235089059815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001952621506643744,0.0010759281632383043,0.00037957833587743024],"end_effector_yaw_offset_degrees":-0.008345054334588431},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016721216775373868,-0.0010295927732373374,-0.0010331172850260458],"end_effector_yaw_offset_degrees":0.3339400817298319},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017000631756777184,-0.0007068266157196849,0.0010873888696756218],"end_effector_yaw_offset_degrees":-0.9191063989596868},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[-0.00029810144851595403,0.0010542831659186998,-0.0007026278269383996],"end_effector_yaw_offset_degrees":-0.7652482366602653},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0015038988974318452,-0.0007969075579037112,-9.381480552895431e-05],"end_effector_yaw_offset_degrees":0.9401945623645289},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0006762109883196197,0.0014248773366187916,3.682714669597017e-05],"end_effector_yaw_offset_degrees":0.8358530660617458},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006045983673911692,0.0012964132868083945,-0.0011026936896362735],"end_effector_yaw_offset_degrees":0.35290078168060024},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0019264478531999443,0.0017347836533736314,0.0015655212190229034],"end_effector_yaw_offset_degrees":-0.3797533700896738},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000566088875299617,0.0014669271158149373,-0.0008240540728293522],"end_effector_yaw_offset_degrees":-0.37451429137042536}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004895269164682719,-0.0003383651180184511],"position_m":[0.3472952691646827,0.11376163488198154,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032401689818443635,0.004846031581461833],"position_m":[0.26625983101815565,-0.07885396841853816,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004819877633831388,-0.001877787600843275],"position_m":[0.20318012236616861,-0.3294777876008433,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0047415168054912036,0.004864991264654007],"position_m":[0.28444151680549123,0.32266499126465403,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"aa80e6bc8debdd9d01c035e7dca7c21aa885869d60352ba5aae56967d81b9ae7","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7747/tex_ceiling_textures_3152/tex_floor_textures_4715/tex_table_textures_3416/tex_wall_textures_1268","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3121746895571748022,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3121746895571748022,"visual_seed":3121746895571748022,"scene_id":"lab_003","finished_at":"2026-09-08T21:52:24"}
+{"episode_id":"ep_000018","started_at":"2026-09-08T22:39:57","dimensions":{"distractor":{"count":23,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.6061607627565907,0.7446075570083495,0.71338606911949],"aabb_xy":[[-0.6861607597708387,0.7244730053349381],[-0.5261607657423427,0.7647421086817606]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[0.22672050386338705,0.6328358596961405,0.71338606911949],"aabb_xy":[[0.18986995592639944,0.5953358588731068],[0.26357105180037466,0.6703358605191743]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.13302830220469164,-1.994094691468867,0.71338606911949],"aabb_xy":[[-0.1454956603144273,-2.0065600161021906],[-0.12056094409495599,-1.9816293668355436]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.04586449076031385,-2.3169543163356066,0.71338606911949],"aabb_xy":[[-0.051322436397333915,-2.3969543196432657],[-0.04040654512329378,-2.2369543130279474]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.09560229401468678,-2.436454720719131,0.71338606911949],"aabb_xy":[[0.08756595931340194,-2.4444928400235475],[0.10363862871597163,-2.4284166014147135]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.2997123351295103,-1.0647311844322513,0.71338606911949],"aabb_xy":[[-0.33704361165475294,-1.0993842392271034],[-0.26238105860426764,-1.0300781296373989]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[-0.25087521117704936,0.7091252343350947,0.71338606911949],"aabb_xy":[[-0.26855084176564764,0.6914450180556918],[-0.233199580588451,0.7268054506144973]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.1338747629708532,1.3597472035217981,0.71338606911949],"aabb_xy":[[-0.1684658458248984,1.294747203236767],[-0.09928368011680798,1.4247472038068292]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.3567998830725738,-2.3908475426095626,0.71338606911949],"aabb_xy":[[0.30682246620732023,-2.440847544098811],[0.4067772999378274,-2.340847541120314]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.5545020914091099,-1.0509959999663037,0.71338606911949],"aabb_xy":[[0.5200396133960221,-1.0576596771492266],[0.5889645694221977,-1.0443323227833807]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[0.08341708959265537,-0.6536127765304784,0.71338606911949],"aabb_xy":[[0.04692126896537663,-0.690096718957236],[0.11991291021993411,-0.6171288341037209]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.2922432208839256,-0.5244811565530583,0.71338606911949],"aabb_xy":[[0.25474322106689207,-0.5291193678642001],[0.3297432207009592,-0.5198429452419164]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[0.2960118374701799,1.1211384251027128,0.71338606911949],"aabb_xy":[[0.28671821923302926,1.0836384266145787],[0.3053054557073304,1.1586384235908465]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.5001139759379509,1.8143585544292118,0.71338606911949],"aabb_xy":[[-0.5064260754742893,1.8085916151759927],[-0.4938018764016125,1.8201254936824305]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.5730508864932764,0.24319704662465602,0.71338606911949],"aabb_xy":[[-0.6370508879012671,0.1914080951007313],[-0.5090508850852857,0.29498599814858073]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.07197695546671523,-1.4756650653755108,0.71338606911949],"aabb_xy":[[-0.15197695344750026,-1.4832666063373627],[0.00802304251406982,-1.4680635244136588]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.44973292129025966,-0.745736075180651,0.71338606911949],"aabb_xy":[[0.3947329221136702,-0.8007257499556086],[0.5047329204668491,-0.6907464004056934]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.06938432169650177,-0.6716833668185072,0.71338606911949],"aabb_xy":[[-0.097714031645042,-0.6761441090122242],[-0.041054611747961545,-0.6672226246247901]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[-0.18384034849919173,-1.867079313398134,0.71338606911949],"aabb_xy":[[-0.2388403481209376,-1.9220630061856065],[-0.12884034887744591,-1.812095620610661]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.19613850487982054,1.6807650510667194,0.71338606911949],"aabb_xy":[[0.15910439545176083,1.6463878437330097],[0.23317261430788025,1.7151422584004286]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.49355471169807275,-0.33606582687646736,0.71338606911949],"aabb_xy":[[0.46007554443703175,-0.3695449402475744],[0.5270338789591136,-0.3025867135053604]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.5429023013960337,-1.1725858208201665,0.71338606911949],"aabb_xy":[[0.4789023040936873,-1.2169522477880232],[0.6069022986983801,-1.1282193938523097]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.2703888096315017,-1.8117871499262406,0.71338606911949],"aabb_xy":[[0.23288880896692296,-1.8274742079264625],[0.30788881029608034,-1.7961000919260182]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6364281993883217,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2356.png","name":"2356"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2356.png","name":"2356"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4578.png","name":"4578"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6551.png","name":"6551"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5725.png","name":"5725"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7864.png","name":"7864"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":673.8857871750561,"rotation_z_degrees":335.6912460534808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006057950374774929,0.00636282304651966,-0.009292192097752845]},{"name":"camera_2","offset_m":[0.007376691708979907,-0.008606764374044786,4.191232378027848e-05]},{"name":"camera_3","offset_m":[-0.0011508976211785336,0.017621868483580567,-0.016501852481653558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001478979691900705,0.00026181995865214025,-0.0012820504091687738],"end_effector_yaw_offset_degrees":0.4252995470182035},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011727108544109734,0.0011168223410729932,0.0008010046866476282],"end_effector_yaw_offset_degrees":-0.8333829209022996},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008127177573115261,-0.00104340610023766,-0.000974927612167352],"end_effector_yaw_offset_degrees":0.5810056935634351},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0007592746181072489,0.0009495525309866611,-0.0014160698644165377],"end_effector_yaw_offset_degrees":-0.6543720964124842},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[-0.0016650110222209875,-0.0007502790124819727,-0.0010788424406012204],"end_effector_yaw_offset_degrees":-0.06252632562980898},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[-0.0017928915563210723,0.0005315948427079228,-0.0005863267024151608],"end_effector_yaw_offset_degrees":-0.8962306523110302},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0006445718038768527,0.0019921555323480352,-0.0006470369767094862],"end_effector_yaw_offset_degrees":-0.6381405084527414},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.0018747872783105575,0.0011630620663632745,-0.001415777676684216],"end_effector_yaw_offset_degrees":-0.5357209457444385},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017549317939450245,-0.0018746544963052223,-9.986819199605981e-05],"end_effector_yaw_offset_degrees":0.10598205611276246}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024858049028597864,-0.0010939125530783],"position_m":[0.34488580490285975,0.1130060874469217,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001647522611375568,0.00019689743531754646],"position_m":[0.26785247738862444,-0.08350310256468245,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000724900263458699,-0.004421310597765078],"position_m":[0.2087249002634587,-0.3320213105977651,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.004528389298283394,-0.004955416252669392],"position_m":[0.2842283892982834,0.31284458374733065,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"a04a6a50a721e39a0b012caa618f11cffecc0fe91599bacf2a19eeb73e150dad","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2356/tex_ceiling_textures_7864/tex_floor_textures_5725/tex_table_textures_4578/tex_wall_textures_6551","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8476803409264028402,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8476803409264028402,"visual_seed":8476803409264028402,"scene_id":"lab_003","finished_at":"2026-09-08T22:51:03"}
+{"episode_id":"ep_000019","started_at":"2026-09-08T23:27:30","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.058784723650451065,0.25131725866087073,0.71338606911949],"aabb_xy":[[-0.09324720166353884,0.2446535814779479],[-0.024322245637363293,0.25798093584379356]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_1","position":[-0.6514602705646239,1.3031946457817294,0.71338606911949],"aabb_xy":[[-0.658500580498161,1.2231946463820584],[-0.644419960631087,1.3831946451814012]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.6116873727880068,-2.525648067759976,0.71338606911949],"aabb_xy":[[0.586687372855489,-2.5325307359808997],[0.6366873727205248,-2.5187653995390527]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.11987465538366426,1.3322491847386648,0.71338606911949],"aabb_xy":[[-0.1748746550054101,1.2772654919511923],[-0.06487465576191843,1.3872328775261378]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.1980980504773241,1.6068271159014391,0.71338606911949],"aabb_xy":[[0.1755843586538669,1.5368271153004318],[0.2206117423007813,1.6768271165024469]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.5915509011121043,-0.16743912434172703,0.71338606911949],"aabb_xy":[[0.5814691940335307,-0.24743912223384165],[0.6016326081906777,-0.08743912644961235]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.06518279181353015,0.15586292920359046,0.71338606911949],"aabb_xy":[[-0.0786293184475735,0.1423930775504992],[-0.05173626517948683,0.16933278085668166]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[0.27674018090400165,0.4719112250663975,0.71338606911949],"aabb_xy":[[0.22674017988486644,0.43544500932856967],[0.326740181923137,0.5083774408042255]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[-0.37444034305725155,-1.9410454422696666,0.71338606911949],"aabb_xy":[[-0.46444033979286176,-1.9942289055869606],[-0.28444034632164134,-1.8878619789523716]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.07371237978768286,0.9611653578769617,0.71338606911949],"aabb_xy":[[0.0362123792903246,0.9571966743288433],[0.11121238028504109,0.9651340414250801]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.536632178299848,0.1197652498006998,0.71338606911949],"aabb_xy":[[0.5234809323285587,0.09476525004401327],[0.5497834242711375,0.14476524955738634]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.05520650702228935,-0.9636626241744821,0.71338606911949],"aabb_xy":[[-0.009793491534783483,-0.9934151575883647],[0.12020650557936219,-0.9339100907605995]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[0.08992318318171177,-2.5334332992872146,0.71338606911949],"aabb_xy":[[0.08388617018104705,-2.539460000356163],[0.09596019618237651,-2.527406598218267]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.1603055536318987,-0.8932175154553963,0.71338606911949],"aabb_xy":[[-0.17586132304216398,-0.9087679486998037],[-0.14474978422163345,-0.8776670822109893]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.5027652570422285,-0.12774162829953895,0.71338606911949],"aabb_xy":[[0.4652652567500536,-0.13178310370014254],[0.5402652573344032,-0.12370015289893535]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[-0.18786790920944751,-0.19078406887343569,0.71338606911949],"aabb_xy":[[-0.19182839297918192,-0.1984519334589563],[-0.18390742543971317,-0.18311620428791509]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.5563659676940214,-1.222145495641264,0.71338606911949],"aabb_xy":[[0.5522500175819485,-1.2262610506741094],[0.5604819178060938,-1.2180299406084183]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.4106092854778685,1.2407757787686773,0.71338606911949],"aabb_xy":[[-0.4906092869079956,1.1612586237560676],[-0.3306092840477412,1.3202929337812865]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.6581754941958694,-1.4055963410738448,0.71338606911949],"aabb_xy":[[-0.6635080088504824,-1.4109206693190806],[-0.6528429795412566,-1.4002720128286095]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[0.5290194005934117,-0.905852232793122,0.71338606911949],"aabb_xy":[[0.5065194003498963,-0.9180568674528939],[0.5515194008369271,-0.89364759813335]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.23964724115945468,-1.233161545864288,0.71338606911949],"aabb_xy":[[0.18201677227218382,-1.2931615447909983],[0.29727771004672554,-1.1731615469375771]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.41893348582041434,-1.8090845250955874,0.71338606911949],"aabb_xy":[[0.383933486627596,-1.8200515710932499],[0.45393348501323255,-1.7981174790979249]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.07528366682586196,0.7901820278641813,0.71338606911949],"aabb_xy":[[-0.1352836684687838,0.7381818785722372],[-0.015283665182940095,0.8421821771561255]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.4239613113833428,0.2668542252434287,0.71338606911949],"aabb_xy":[[-0.48796131329568515,0.21094307598541823],[-0.35996130947100047,0.3227653745014391]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.6501428404646393,-1.2340366975496415,0.71338606911949],"aabb_xy":[[-0.6801345031985095,-1.264036696886442],[-0.6201511777307689,-1.204036698212841]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[0.3468095212857767,0.866888188837077,0.71338606911949],"aabb_xy":[[0.30930952062119793,0.8512011308368547],[0.38430952195035534,0.882575246837299]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[0.30352582912527626,-1.9313753429626344,0.71338606911949],"aabb_xy":[[0.29624351274861255,-2.0213753465721425],[0.31080814550193986,-1.841375339353125]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_27","position":[-0.14607624363526095,-1.3135202622759754,0.71338606911949],"aabb_xy":[[-0.19388241124902955,-1.3785202649830344],[-0.09827007602149226,-1.2485202595689164]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[0.6409201374240805,-1.0481646689083672,0.71338606911949],"aabb_xy":[[0.585920138247491,-1.1031543436833247],[0.69592013660067,-0.9931749941334094]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_29","position":[-0.34867880775165233,-0.8420274246402302,0.71338606911949],"aabb_xy":[[-0.37117522918551643,-0.8645274244469776],[-0.32618238631778823,-0.8195274248334827]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_30","position":[0.5163244065999448,0.49344248377263256,0.71338606911949],"aabb_xy":[[0.5098227700919402,0.48367466174632284],[0.5228260431079494,0.5032103057989423]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_31","position":[-0.5792432277559348,-0.9730596326115788,0.71338606911949],"aabb_xy":[[-0.6442432287130619,-1.0250078445452844],[-0.5142432267988075,-0.9211114206778732]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_32","position":[-0.24312843407788265,0.5106726540162567,0.71338606911949],"aabb_xy":[[-0.32312843109213063,0.49053810234284545],[-0.16312843706363467,0.530807205689668]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6370524323719593,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8226.png","name":"8226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8226.png","name":"8226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8468.png","name":"8468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4161.png","name":"4161"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1946.png","name":"1946"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9875.png","name":"9875"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":613.807980137892,"rotation_z_degrees":120.66773358591057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002529677346625677,-0.014709988961620516,-0.014810882962766364]},{"name":"camera_2","offset_m":[-0.0020594921974997314,0.014549171047478587,0.010416265684786756]},{"name":"camera_3","offset_m":[-0.00798398785767985,-0.003795805505271886,-0.004844808938518326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018588439776625761,-0.0014555690254298593,0.00047633452631783103],"end_effector_yaw_offset_degrees":0.025190746655053387},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001200319725060238,-0.0014648314150123487,-0.0018167424987011512],"end_effector_yaw_offset_degrees":0.7630593992371255},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.803550822847394e-05,-6.766262516812995e-05,-8.267317923842739e-05],"end_effector_yaw_offset_degrees":0.18072852148790286},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0009666631998078473,-0.0005869608703817115,0.00013181476245505098],"end_effector_yaw_offset_degrees":-0.9570908537720411},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0006492790892740443,0.0013865545410607608,0.0013326211099251375],"end_effector_yaw_offset_degrees":0.8907799559440095},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0018440227122418717,-0.001521302868698454,-0.0016377247051069226],"end_effector_yaw_offset_degrees":-0.9614761448733833},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017355334764042555,-0.00020881135281321846,3.3774914344507963e-05],"end_effector_yaw_offset_degrees":0.5152427921268745},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.00023343885791187206,-0.0011013321379102034,0.0015046453484464364],"end_effector_yaw_offset_degrees":0.8672668989834773},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001683340365859506,-0.0009885742449459354,-0.0011029077364266345],"end_effector_yaw_offset_degrees":0.018523151689203488}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016482500930750845,0.002183593275821635],"position_m":[0.34404825009307505,0.11628359327582163,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001113143713486621,0.0005065587305600359],"position_m":[0.27061314371348666,-0.08319344126943996,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030103565370652196,0.004266045517018786],"position_m":[0.20498964346293477,-0.3233339544829812,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0032505594831535893,-0.0014434472098526518],"position_m":[0.2829505594831536,0.31635655279014735,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"02ae8cefdab70caae92e364a69618ab3bbbc6bb1d03c2287ccd805c9c6c10762","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8226/tex_ceiling_textures_9875/tex_floor_textures_1946/tex_table_textures_8468/tex_wall_textures_4161","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6391577135557248441,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6391577135557248441,"visual_seed":6391577135557248441,"scene_id":"lab_003","finished_at":"2026-09-08T23:38:21"}
+{"episode_id":"ep_000020","started_at":"2026-09-08T23:50:26","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.5212997611989892,-0.3018781912621149,0.71338606911949],"aabb_xy":[[-0.5445816033971205,-0.3868781925593429],[-0.49801791900085784,-0.2168781899648868]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.3755832014299034,1.5910084863516905,0.71338606911949],"aabb_xy":[[0.31058320047277616,1.5390602744179847],[0.4405832023870306,1.6429566982853958]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[0.4493874288990962,0.00748650333230394,0.71338606911949],"aabb_xy":[[0.41205615237385357,-0.027166551462548365],[0.48671870542433876,0.042139558127156244]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[-0.5929447133968131,1.7652881285020654,0.71338606911949],"aabb_xy":[[-0.6479447125734025,1.7102984537271073],[-0.5379447142202235,1.8202778032770226]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.42055387000055844,-1.07473748670304,0.71338606911949],"aabb_xy":[[0.4036431375642166,-1.0882096922956546],[0.43746460243690016,-1.0612652811104253]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[-0.5672817941676561,1.1259633630800128,0.71338606911949],"aabb_xy":[[-0.631281797386294,1.0792402511810046],[-0.5032817909490183,1.1726864749790213]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.1526713477772207,-1.1859837439994756,0.71338606911949],"aabb_xy":[[-0.1576273679621019,-1.2084837442015974],[-0.1477153275923395,-1.1634837437973542]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.5117344763110727,0.9105409894350798,0.71338606911949],"aabb_xy":[[0.46460509730923705,0.8465409883906777],[0.5588638553129084,0.9745409904794816]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.41782034515256794,-2.032772339345087,0.71338606911949],"aabb_xy":[[0.3803203444879892,-2.048459397345309],[0.4553203458171466,-2.0170852813448645]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[-0.3089135898075366,0.40830448539889286,0.71338606911949],"aabb_xy":[[-0.3213809479172723,0.39583916076556935],[-0.296446231697801,0.42076981003221636]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.1396258050002418,-0.30691104488286847,0.71338606911949],"aabb_xy":[[-0.14925744122067142,-0.31654835766257733],[-0.12999416877981218,-0.2972737321031595]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.599449747943841,-0.5913183274076503,0.71338606911949],"aabb_xy":[[-0.6319114488257683,-0.6214511595225528],[-0.5669880470619134,-0.5611854952927476]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.1534824628542426,-1.9139157838264738,0.71338606911949],"aabb_xy":[[-0.16865463213587595,-1.9290846407546771],[-0.13831029357260927,-1.8987469268982704]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.6202804910009927,-2.4785787759301803,0.71338606911949],"aabb_xy":[[0.5952804918353596,-2.485531021635537],[0.6452804901666258,-2.4716265302248237]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[-0.33193901666013725,1.0229425078841614,0.71338606911949],"aabb_xy":[[-0.40193901826241674,1.0095097146825038],[-0.26193901505785777,1.036375301085819]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.5261623805258635,0.21781058772084316,0.71338606911949],"aabb_xy":[[0.46116238264421583,0.16668692401430232],[0.5911623784075114,0.2689342514273841]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.11612623336723837,-1.470012820617543,0.71338606911949],"aabb_xy":[[0.0661262323481031,-1.506479036355371],[0.16612623438637364,-1.433546604879715]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[0.562621003982789,-1.8578398303008288,0.71338606911949],"aabb_xy":[[0.49862100193305703,-1.8979343133901367],[0.626621006032521,-1.8177453472115208]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.5691686135356009,0.7873663949957703,0.71338606911949],"aabb_xy":[[0.5341686143427825,0.7763993489981076],[0.604168612728419,0.7983334409934328]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.38850767914510564,-2.5612960829871305,0.71338606911949],"aabb_xy":[[0.37972645199786953,-2.570075830275661],[0.397288906292342,-2.5525163356986007]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.4953228644592902,-0.9334781492133017,0.71338606911949],"aabb_xy":[[-0.5054758800134396,-0.9695476907860419],[-0.48516984890514075,-0.8974086076405612]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.06537105871976834,0.9321051364835249,0.71338606911949],"aabb_xy":[[-0.10287106023540003,0.9208783634673798],[-0.027871057204136615,0.9433319094996699]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[0.13727525324423162,-1.3665235390400088,0.71338606911949],"aabb_xy":[[0.12059811725113612,-1.383223463013939],[0.15395238923732713,-1.3498236150660785]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[0.13739046792783327,-1.244767703978852,0.71338606911949],"aabb_xy":[[0.08958430031406463,-1.309767706685911],[0.18519663554160193,-1.179767701271793]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.6714010904475279,0.6832140057750147,0.71338606911949],"aabb_xy":[[-0.6833338248093561,0.6708318529671552],[-0.6594683560857,0.6955961585828739]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[-0.06345050754410031,-2.1110531342309167,0.71338606911949],"aabb_xy":[[-0.07521869433875783,-2.1960531341361382],[-0.05168232074944279,-2.026053134325695]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_26","position":[-0.4475409963361504,-1.2840422793305393,0.71338606911949],"aabb_xy":[[-0.5275409937397437,-1.3640348505287219],[-0.36754099893255693,-1.2040497081323562]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[-0.13172847996279502,-0.06623862830644844,0.71338606911949],"aabb_xy":[[-0.18672847958454086,-0.12122232109392117],[-0.07672848034104918,-0.011254935518975717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6354943985409331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/357.png","name":"357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/357.png","name":"357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6425.png","name":"6425"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4806.png","name":"4806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3994.png","name":"3994"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2364.png","name":"2364"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":515.5220720989931,"rotation_z_degrees":237.11377722156257,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015071731855305467,0.01946391683509183,-0.017809567776301587]},{"name":"camera_2","offset_m":[-0.018099563168238707,0.013450838076320654,-0.009056898422601153]},{"name":"camera_3","offset_m":[0.01826021595396937,-0.005983167423590365,-0.007836657687826687]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002960174677992069,-0.0008945790463922676,0.0002805403934399548],"end_effector_yaw_offset_degrees":0.8499916064208384},{"step_index":1,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015647643198318986,0.0007252927539931862,0.0017557416050721399],"end_effector_yaw_offset_degrees":-0.46982022793061007},{"step_index":2,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.111742863713953e-05,0.00021236785292548998,0.0010820703893405638],"end_effector_yaw_offset_degrees":-0.34607702568441967},{"step_index":3,"skill":"pick","target_object":"glass_rod","waypoint_offset_m":[0.0017677611357670413,-0.0010383125981189784,0.0010562806784254462],"end_effector_yaw_offset_degrees":-0.742793886040195},{"step_index":4,"skill":"stir","target_object":"beaker_a","waypoint_offset_m":[0.0018975854606292628,-0.0018795063378982452,0.0017297772014590869],"end_effector_yaw_offset_degrees":0.19039993628341412},{"step_index":5,"skill":"place","target_object":"rod_rack","waypoint_offset_m":[0.0014249614336786865,-0.0016398798252862585,0.00041912704605053495],"end_effector_yaw_offset_degrees":0.7328719709968834},{"step_index":6,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010379069475694846,0.000611474776559119,0.0006378157804793247],"end_effector_yaw_offset_degrees":0.2583454742328164},{"step_index":7,"skill":"shake","target_object":"beaker_b","waypoint_offset_m":[0.000429117210746021,-6.043583082176703e-05,0.00020277519501120346],"end_effector_yaw_offset_degrees":-0.9785365168674001},{"step_index":8,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000770611694622485,0.0012519091942371843,-9.662590140483243e-05],"end_effector_yaw_offset_degrees":-0.8153730648611424}]}},"meta":{"task":"lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001377156199960399,0.002886277169247285],"position_m":[0.34377715619996035,0.11698627716924728,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017126274868935567,-0.0019217558195739337],"position_m":[0.26778737251310647,-0.08562175581957393,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003181820072268501,-0.0002256531756592876],"position_m":[0.2048181799277315,-0.3278256531756593,0.7674890431422514],"position_frame":"world"},"rod_rack":{"sampled_offset_m":[0.0016473596869097133,-0.0017791024116527543],"position_m":[0.2813473596869097,0.3160208975883473,0.8099091297343627],"position_frame":"world"}}},"task_island_state_digest":"ffea2d6465ee621de49898624c5c8d26b776d0f8055682be7c4f3944ca2cf883","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_357/tex_ceiling_textures_2364/tex_floor_textures_3994/tex_table_textures_6425/tex_wall_textures_4806","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7682843971655885518,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7682843971655885518,"visual_seed":7682843971655885518,"scene_id":"lab_003","finished_at":"2026-09-09T00:01:22"}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/resolved_config.yaml b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..655ffa6ad2ea2eebe3eb012e3e2b03373c40b82e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/resolved_config.yaml
@@ -0,0 +1,406 @@
+name: lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Place beaker a on the heater platform.
+    Press the heater button to start heating. Pick up the glass rod from the rack.
+    Stir the contents of beaker a with the glass rod. Return the glass rod to the
+    rack. Pick up beaker b from home. Shake the current contents of beaker b once.
+    Place beaker b at home.
+  layout_id: layout_00007
+  reproducibility:
+    enabled: true
+    layout_id: layout_00007
+    action_seed: 6136293983304232058
+    step_seeds:
+    - 6016277329034288049
+    - 1223355012610134023
+    - 916088432641120656
+    - 6535585947749071529
+    - 2638943555944684541
+    - 6496381160304571677
+    - 5110876781444808742
+    - 5098067461209198252
+    - 2546260153185968182
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3424
+      - 0.3424
+      'y':
+      - 0.1141
+      - 0.1141
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2695
+      - 0.2695
+      'y':
+      - -0.0837
+      - -0.0837
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.208
+      - 0.208
+      'y':
+      - -0.3276
+      - -0.3276
+      z:
+      - 0.0
+      - 0.0
+  - name: rod_rack
+    path: /World/test_tube_rack
+    position_range:
+      x:
+      - 0.2797
+      - 0.2797
+      'y':
+      - 0.3178
+      - 0.3178
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  - name: glass_rod
+    path: /World/glass_rod
+    relative_to: rod_rack
+    relative_offset:
+    - -0.01152
+    - -0.1125
+    - 0.0
+    sub_path: /World/glass_rod/Cylinder
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.4
+      gripper_distances: 0.018
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+      pickz_offset: -0.01
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  - skill: pick
+    target_object: glass_rod
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.002
+      - 0.005
+      - 0.02
+      - 0.05
+      - 0.004
+      - 0.02
+      pre_offset_x: 0.1
+      pre_offset_z: 0.12
+      after_offset_z: 0.3
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params: {}
+  - skill: stir
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - -10
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.005
+      - 0.001
+      - 0.004
+      held_center_offset_max_norm: 0.25
+      rod_extends: 0.12
+      rod_tip_clearance: 0.07
+      lift_clearance: 0.15
+      insert_margin: 0.01
+      preserve_start_orientation: true
+      lock_target_position: true
+      position_threshold: 0.008
+      controller_rod_extends: 0.12
+      align_held_rod_tip_to_mouth: true
+      guard_held_rod_tip_bottom: true
+      rod_tip_bottom_guard_clearance: 0.06
+      rod_tip_control_max_offset: 0.25
+      stir_insert_offset_z: -0.008
+      stir_radius: 0.006
+      stir_speed: 1.0
+      stir_center_dwell_steps: 20
+      stir_phase3_max_wait_steps: 300
+      target_max_xy_drift: 0.02
+      require_stir_motion: true
+      rod_tip_motion_min_path: 0.0005
+      rod_tip_motion_max_step: 0.004
+      rod_tip_motion_max_range: 0.024
+  - skill: place
+    target_object: rod_rack
+    target_key: glass_rod_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.15
+      place_offset_z: 0.01
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      physical_held_target_compensation: true
+      physical_held_max_xy_offset: 0.08
+      position_threshold: 0.03
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.02
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: beaker_b
+    target_key: beaker_b_initial_position
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf2cedee872ae8655df09e6ddacb0ec17914e16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_15_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37104468738611984,
+              0.11581854236542272,
+              1.162813937873537
+            ],
+            "current_z": 1.162813937873537,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30170748946341586,
+            "gripper_z": 1.1524323186591934,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3659047144692396,
+              0.11085103679640745,
+              1.1524323186591934
+            ],
+            "object_minus_gripper": [
+              0.005139972916880231,
+              0.0049675055690152625,
+              0.010381619214343552
+            ],
+            "object_to_gripper_xy": 0.007148106963697446,
+            "object_to_gripper_z": 0.010381619214343552,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37104468738611984,
+              0.09174437557579587,
+              1.162813937873537
+            ],
+            "finger_b": [
+              0.3598155692556186,
+              0.11581854236542272,
+              1.162813937873537
+            ],
+            "finger_midpoint": [
+              0.3654301283208692,
+              0.1037814589706093,
+              1.162813937873537
+            ],
+            "object_minus_finger_midpoint": [
+              0.005614559065250657,
+              0.012037083394813422,
+              0.0
+            ],
+            "finger_gap": 0.026564235366438163,
+            "fingertip_max_gap": 0.09099530632502109,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013282117683219094,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.162813937873537,
+            "object_top_z": 1.2126334110508483,
+            "finger_top_clearance": 0.04981947317731139,
+            "fingertip_min_top_clearance": 0.014945841953193383,
+            "object_projection_between_fingers": 0.8213114757179899,
+            "object_to_finger_line_xy": 0.010176527163121453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799765316251055,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7861559936320447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2677073796608296,
+              -0.32790204127361244,
+              0.8515395758327045
+            ],
+            "target_position": [
+              0.2588384924215487,
+              -0.3283627835654881,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008880847049837182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859563141827321,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395758327045,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075233475442521,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535056547176335,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15451440192855798,
+            "release_required_pad_clearance": 0.05267528273588168,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.40734354489050606,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0071274638175964355,
+            "max_z_decrease": 0.0071274638175964355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350988066540874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071274638175964355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021205293847444486,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0071274638175964355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007127484761739231,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11453841626644133,
+              -0.38462424278259266,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11453841626644133,
+              -0.38462424278259266,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11534569866558239,
+              -0.3856041348996862,
+              0.8075829524149875
+            ],
+            "closest_button": [
+              0.11452729254961014,
+              -0.3846222460269927,
+              0.7725074291229248
+            ],
+            "closest_ee_minus_button": [
+              0.0008184061159722533,
+              -0.0009818888726935149,
+              0.03507552329206265
+            ],
+            "button_min_z_position": [
+              0.11452113837003708,
+              -0.38462406396865834,
+              0.7696813941001892
+            ],
+            "min_active_finger_to_button": 0.14533220396425597,
+            "closest_active_finger": [
+              -0.025911755859851837,
+              -0.37039899826049805,
+              0.8110848665237427
+            ],
+            "closest_active_finger_button": [
+              0.11453970521688461,
+              -0.3846246302127837,
+              0.7765527367591858
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14045146107673645,
+              0.014225631952285656,
+              0.034532129764556885
+            ],
+            "min_contact_pad_to_button": 0.021205293847444486,
+            "closest_contact_pad": [
+              0.11452113837003708,
+              -0.3866228557841529,
+              0.7907922756174253
+            ],
+            "closest_contact_pad_button": [
+              0.11452113837003708,
+              -0.38462406396865834,
+              0.7696813941001892
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019987918154945605,
+              0.021110881517236058
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2721543713196649,
+              0.20149911951829924,
+              1.101258504505278
+            ],
+            "current_z": 1.101258504505278,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19134937477091551,
+            "gripper_z": 1.1012586286243646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2721543995075818,
+              0.20149912234677964,
+              1.1012586286243646
+            ],
+            "object_minus_gripper": [
+              -2.8187916889521603e-08,
+              -2.8284803943456893e-09,
+              -1.2411908656417836e-07
+            ],
+            "object_to_gripper_xy": 2.8329471578407092e-08,
+            "object_to_gripper_z": -1.2411908656417836e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2721543713196649,
+              0.20149911951829924,
+              1.101258504505278
+            ],
+            "finger_b": [
+              0.2721543713196649,
+              0.20149911951829924,
+              1.101258504505278
+            ],
+            "finger_midpoint": [
+              0.2721543713196649,
+              0.20149911951829924,
+              1.101258504505278
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.101258504505278,
+            "object_top_z": 1.2262670111255578,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2721543713196649,
+            0.20149911951829927,
+            1.101258504505278
+          ],
+          "object_origin_world": [
+            0.2721543713196649,
+            0.20149911951829927,
+            1.101258504505278
+          ],
+          "frame_world": [
+            0.2721543995075818,
+            0.20149912234677964,
+            1.1012586286243646
+          ],
+          "center_minus_frame": [
+            -2.8187916889521603e-08,
+            -2.8284803665901137e-09,
+            -1.2411908656417836e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434343444522065,
+            "required_z": 0.9112597798598547,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0026447199165861527,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 2.989948618421561e-08,
+            "max_target_xy_drift": 1.1340200986704441e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.4073435448126635,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.4073435455669318,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26536396400857865,
+              -0.32912254779587513,
+              0.923538394419929
+            ],
+            "target_mouth_xy": [
+              0.26770726026973846,
+              -0.3279019791220439
+            ],
+            "rod_tip_z": 0.923538394419929,
+            "rod_tip_depth": -0.022278600247517155,
+            "rod_tip_bottom_clearance": 0.12171915163204206,
+            "rod_tip_xy_dist": 0.002642125139940142,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04433054417844684,
+            "min_rod_tip_bottom_clearance": 0.05511002021724931,
+            "min_rod_tip_xy_dist": 0.0011169105171997347,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26770723038546274,
+              -0.32790197816845135
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.988427572070407e-08,
+              -9.535925382664345e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0017185014897035944,
+                0.0004692690573933622
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0018454326641599295,
+                0.0001110269038913092
+              ],
+              "first_target_mouth_xy": [
+                0.2677072316606834,
+                -0.32790197817298455
+              ],
+              "last_target_mouth_xy": [
+                0.26770723360446336,
+                -0.3279020070276347
+              ],
+              "first_rod_tip_xy": [
+                0.2659887301709798,
+                -0.3274327091155912
+              ],
+              "last_rod_tip_xy": [
+                0.2658618009403034,
+                -0.3277909801237434
+              ],
+              "min_rod_tip_xy_dist": 0.001778301009551717,
+              "max_rod_tip_xy_dist": 0.0018487695073578277,
+              "first_target_xy_drift": 1.2752287086885335e-09,
+              "last_target_xy_drift": 2.9038154730499357e-08,
+              "max_depth": 0.019488642507559994,
+              "min_bottom_clearance": 0.07995196019024964
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0017185014897035944,
+                  0.0004692690573933622
+                ],
+                "rod_tip_xy": [
+                  0.2659887301709798,
+                  -0.3274327091155912
+                ],
+                "target_mouth_xy": [
+                  0.2677072316606834,
+                  -0.32790197817298455
+                ],
+                "gripper_position": [
+                  0.26597726595835836,
+                  -0.32743882421478127,
+                  1.005906599380327
+                ],
+                "rod_tip_xy_dist": 0.0017814210109741964,
+                "target_xy_drift": 1.2752287086885335e-09,
+                "depth": 0.015221093880793402,
+                "bottom_clearance": 0.08421940783251636,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0017299657795353252,
+                  0.00046315300483912303
+                ],
+                "rod_tip_xy": [
+                  0.26597726595835836,
+                  -0.3274388242147812
+                ],
+                "target_mouth_xy": [
+                  0.2677072317378937,
+                  -0.32790197721962033
+                ],
+                "gripper_position": [
+                  0.26596878994331885,
+                  -0.3274382536663412,
+                  1.0057903095462097
+                ],
+                "rod_tip_xy_dist": 0.0017908914831040919,
+                "target_xy_drift": 1.6520743789840892e-09,
+                "depth": 0.015353229884292663,
+                "bottom_clearance": 0.08408730079607563,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0017384404829397515,
+                  0.0004637600170688261
+                ],
+                "rod_tip_xy": [
+                  0.26596878994331885,
+                  -0.32743825366634116
+                ],
+                "target_mouth_xy": [
+                  0.2677072304262586,
+                  -0.32790201368341
+                ],
+                "gripper_position": [
+                  0.26597011091281175,
+                  -0.32750227972763407,
+                  1.005276019801453
+                ],
+                "rod_tip_xy_dist": 0.0017992355782819197,
+                "target_xy_drift": 3.551498207162838e-08,
+                "depth": 0.015469629642407834,
+                "bottom_clearance": 0.08397109240023803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0017370907762772614,
+                  0.0003996981299401736
+                ],
+                "rod_tip_xy": [
+                  0.26597011091281175,
+                  -0.3275022797276341
+                ],
+                "target_mouth_xy": [
+                  0.267707201689089,
+                  -0.3279019778575743
+                ],
+                "gripper_position": [
+                  0.26595852421351485,
+                  -0.32750820902785455,
+                  1.0051437738000835
+                ],
+                "rod_tip_xy_dist": 0.0017824822467854232,
+                "target_xy_drift": 2.8698057587827553e-08,
+                "depth": 0.01598379612053813,
+                "bottom_clearance": 0.08345670242319281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0017487040587105818,
+                  0.0003938005236219233
+                ],
+                "rod_tip_xy": [
+                  0.26595852421351485,
+                  -0.3275082090278546
+                ],
+                "target_mouth_xy": [
+                  0.26770722827222543,
+                  -0.3279020095514765
+                ],
+                "gripper_position": [
+                  0.2659597198101076,
+                  -0.32757268851219973,
+                  1.0046328559304085
+                ],
+                "rod_tip_xy_dist": 0.0017924967886598189,
+                "target_xy_drift": 3.1454094189413026e-08,
+                "depth": 0.01611615834376756,
+                "bottom_clearance": 0.08332450041488071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0017475421557683335,
+                  0.0003293188339363873
+                ],
+                "rod_tip_xy": [
+                  0.2659597198101076,
+                  -0.3275726885121998
+                ],
+                "target_mouth_xy": [
+                  0.2677072619658759,
+                  -0.32790200734613617
+                ],
+                "gripper_position": [
+                  0.2659482230352474,
+                  -0.3275785380425811,
+                  1.0045008208912902
+                ],
+                "rod_tip_xy_dist": 0.001778301009551717,
+                "target_xy_drift": 4.29960438631352e-08,
+                "depth": 0.016626971011765024,
+                "bottom_clearance": 0.08281356466633616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0017590058318705526,
+                  0.0003234702415509938
+                ],
+                "rod_tip_xy": [
+                  0.2659482230352474,
+                  -0.3275785380425811
+                ],
+                "target_mouth_xy": [
+                  0.26770722886711795,
+                  -0.3279020082841321
+                ],
+                "gripper_position": [
+                  0.2659394981560905,
+                  -0.3275775584406335,
+                  1.0043849765225512
+                ],
+                "rod_tip_xy_dist": 0.0017885006328552623,
+                "target_xy_drift": 3.015393169272778e-08,
+                "depth": 0.01675907064160509,
+                "bottom_clearance": 0.08268152009561203,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0017677324208724698,
+                  0.00032444826130845206
+                ],
+                "rod_tip_xy": [
+                  0.2659394981560905,
+                  -0.32757755844063363
+                ],
+                "target_mouth_xy": [
+                  0.267707230576963,
+                  -0.3279020067019421
+                ],
+                "gripper_position": [
+                  0.26594153786701025,
+                  -0.32764323152712727,
+                  1.0038754546949082
+                ],
+                "rod_tip_xy_dist": 0.0017972603000316121,
+                "target_xy_drift": 2.8534133349004953e-08,
+                "depth": 0.016874875977826997,
+                "bottom_clearance": 0.08256567496557388,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0017656927044228388,
+                  0.00025877676784769044
+                ],
+                "rod_tip_xy": [
+                  0.26594153786701025,
+                  -0.32764323152712727
+                ],
+                "target_mouth_xy": [
+                  0.2677072305714331,
+                  -0.32790200829497496
+                ],
+                "gripper_position": [
+                  0.265929886811126,
+                  -0.3276487823432571,
+                  1.0037431205973006
+                ],
+                "rod_tip_xy_dist": 0.0017845548862474743,
+                "target_xy_drift": 3.012709759903885e-08,
+                "depth": 0.01738438478957227,
+                "bottom_clearance": 0.08205614025260899,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0017773463530130762,
+                  0.0002532234110149689
+                ],
+                "rod_tip_xy": [
+                  0.26592988681112595,
+                  -0.3276487823432571
+                ],
+                "target_mouth_xy": [
+                  0.267707233164139,
+                  -0.3279020057542721
+                ],
+                "gripper_position": [
+                  0.2659212305318255,
+                  -0.3276480367774649,
+                  1.0036277125875948
+                ],
+                "rod_tip_xy_dist": 0.0017952944478427317,
+                "target_xy_drift": 2.7725413391922222e-08,
+                "depth": 0.017516802331852266,
+                "bottom_clearance": 0.081923828400568,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.001786000955956768,
+                  0.00025394171765497076
+                ],
+                "rod_tip_xy": [
+                  0.2659212305318255,
+                  -0.327648036777465
+                ],
+                "target_mouth_xy": [
+                  0.26770723148778225,
+                  -0.32790197849512
+                ],
+                "gripper_position": [
+                  0.26591254033402234,
+                  -0.32764723961081565,
+                  1.0035117272030392
+                ],
+                "rod_tip_xy_dist": 0.0018039639161147448,
+                "target_xy_drift": 1.1497046176532096e-09,
+                "depth": 0.017632047795175132,
+                "bottom_clearance": 0.08180845889975574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0017946895632413584,
+                  0.000254768361761859
+                ],
+                "rod_tip_xy": [
+                  0.26591254033402234,
+                  -0.32764723961081565
+                ],
+                "target_mouth_xy": [
+                  0.2677072298972637,
+                  -0.3279020079725775
+                ],
+                "gripper_position": [
+                  0.26591610321532244,
+                  -0.3277148607550187,
+                  1.0030025896492385
+                ],
+                "rod_tip_xy_dist": 0.0018126824174582484,
+                "target_xy_drift": 2.9808124310001933e-08,
+                "depth": 0.017748127254456514,
+                "bottom_clearance": 0.08169241249230696,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0017911285549658817,
+                  0.0001871462694970072
+                ],
+                "rod_tip_xy": [
+                  0.26591610321532244,
+                  -0.32771486075501866
+                ],
+                "target_mouth_xy": [
+                  0.2677072317702883,
+                  -0.32790200702451566
+                ],
+                "gripper_position": [
+                  0.2659042411128911,
+                  -0.32772048488341465,
+                  1.0028707472634972
+                ],
+                "rod_tip_xy_dist": 0.0018008790149815213,
+                "target_xy_drift": 2.888927464830635e-08,
+                "depth": 0.018257239831775074,
+                "bottom_clearance": 0.08118329201168795,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001802989184513104,
+                  0.0001815230906730969
+                ],
+                "rod_tip_xy": [
+                  0.2659042411128911,
+                  -0.32772048488341465
+                ],
+                "target_mouth_xy": [
+                  0.26770723029740423,
+                  -0.32790200797408775
+                ],
+                "gripper_position": [
+                  0.26589548462522067,
+                  -0.32771945784779966,
+                  1.0027551539719284
+                ],
+                "rod_tip_xy_dist": 0.0018121039241497,
+                "target_xy_drift": 2.9805766484245865e-08,
+                "depth": 0.01838909495781993,
+                "bottom_clearance": 0.08105142933244525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0018117486190403764,
+                  0.00018254981660903447
+                ],
+                "rod_tip_xy": [
+                  0.26589548462522067,
+                  -0.32771945784779966
+                ],
+                "target_mouth_xy": [
+                  0.26770723324426104,
+                  -0.3279020076644087
+                ],
+                "gripper_position": [
+                  0.26588669635427686,
+                  -0.3277183666602651,
+                  1.0026397933905664
+                ],
+                "rod_tip_xy_dist": 0.0018209221548816147,
+                "target_xy_drift": 2.96341733032575e-08,
+                "depth": 0.018504735644117143,
+                "bottom_clearance": 0.08093583057332887,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001820535854293981,
+                  0.00018364131985382226
+                ],
+                "rod_tip_xy": [
+                  0.26588669635427686,
+                  -0.3277183666602651
+                ],
+                "target_mouth_xy": [
+                  0.26770723220857084,
+                  -0.3279020079801189
+                ],
+                "gripper_position": [
+                  0.2658916068939252,
+                  -0.3277879413661366,
+                  1.0021341390146623
+                ],
+                "rod_tip_xy_dist": 0.001829774557459899,
+                "target_xy_drift": 2.9867360898087283e-08,
+                "depth": 0.018620026573483273,
+                "bottom_clearance": 0.08082049626422516,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0018156205391015035,
+                  0.00011403456145508972
+                ],
+                "rod_tip_xy": [
+                  0.26589160689392516,
+                  -0.32778794136613654
+                ],
+                "target_mouth_xy": [
+                  0.26770722743302666,
+                  -0.3279019759275916
+                ],
+                "gripper_position": [
+                  0.26587966828946474,
+                  -0.32779348683709636,
+                  1.0020022593690996
+                ],
+                "rod_tip_xy_dist": 0.0018191981264319421,
+                "target_xy_drift": 3.7065254689872517e-09,
+                "depth": 0.0191257668230006,
+                "bottom_clearance": 0.0803149390125738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001827566378565182,
+                  0.00010852146869477775
+                ],
+                "rod_tip_xy": [
+                  0.26587966828946474,
+                  -0.3277934868370964
+                ],
+                "target_mouth_xy": [
+                  0.2677072346680299,
+                  -0.3279020083057912
+                ],
+                "gripper_position": [
+                  0.26587072286500335,
+                  -0.3277923477448442,
+                  1.0018866045703088
+                ],
+                "rod_tip_xy_dist": 0.0018307855628744523,
+                "target_xy_drift": 3.0440099124723446e-08,
+                "depth": 0.019257645401907886,
+                "bottom_clearance": 0.08018298330800488,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0018364773479394025,
+                  0.00010966150062863278
+                ],
+                "rod_tip_xy": [
+                  0.2658707228650033,
+                  -0.3277923477448442
+                ],
+                "target_mouth_xy": [
+                  0.2677072002129427,
+                  -0.32790200924547286
+                ],
+                "gripper_position": [
+                  0.2658618009403034,
+                  -0.3277909801237434,
+                  1.0017712613417107
+                ],
+                "rod_tip_xy_dist": 0.0018397485410280028,
+                "target_xy_drift": 4.331468840340808e-08,
+                "depth": 0.0193732687305328,
+                "bottom_clearance": 0.08006731156551883,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0018454326641599295,
+                  0.0001110269038913092
+                ],
+                "rod_tip_xy": [
+                  0.2658618009403034,
+                  -0.3277909801237434
+                ],
+                "target_mouth_xy": [
+                  0.26770723360446336,
+                  -0.3279020070276347
+                ],
+                "gripper_position": [
+                  0.2658528357723405,
+                  -0.3277898671798405,
+                  1.0016557366741403
+                ],
+                "rod_tip_xy_dist": 0.0018487695073578277,
+                "target_xy_drift": 2.9038154730499357e-08,
+                "depth": 0.019488642507559994,
+                "bottom_clearance": 0.07995196019024964,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005949921018524334,
+              "rod_tip_xy_max_step": 3.218339889924392e-05,
+              "rod_tip_xy_range": 0.0005949862641851926,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26536396400857865,
+            -0.3291225477958751,
+            1.043538394419929
+          ],
+          "object_origin_world": [
+            0.26536396400857865,
+            -0.3291225477958751,
+            1.043538394419929
+          ],
+          "frame_world": [
+            0.26536248090319836,
+            -0.3291253160173574,
+            1.0434343444522065
+          ],
+          "center_minus_frame": [
+            1.4831053802843996e-06,
+            2.768221482318811e-06,
+            0.00010404996772250819
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25551767743109544,
+              0.15711712132455863,
+              0.8328369667870393
+            ],
+            "target_position": [
+              0.27231936332353046,
+              0.2016064945231671,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04755629271119765,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16404714286062685,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8328369667870393,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671210994161,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13477874204575907,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 334,
+            "max_placed_release_frames": 334
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2935149168363154,
+              -0.07649036194327154,
+              1.0446505241922917
+            ],
+            "current_z": 1.0446505241922917,
+            "required_z": 0.8565864231025421,
+            "initial_z": 0.7565864231025421,
+            "lift_margin": 0.18806410108974958,
+            "gripper_z": 1.0484327351282483,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2886577036065275,
+              -0.081077865285541,
+              1.0484327351282483
+            ],
+            "object_minus_gripper": [
+              0.004857213229787938,
+              0.004587503342269469,
+              -0.0037822109359566536
+            ],
+            "object_to_gripper_xy": 0.006681145655870744,
+            "object_to_gripper_z": -0.0037822109359566536,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2935149168363154,
+              -0.10105824937436857,
+              1.0446505241922917
+            ],
+            "finger_b": [
+              0.28251179574307517,
+              -0.07649036194327154,
+              1.0446505241922917
+            ],
+            "finger_midpoint": [
+              0.28801335628969527,
+              -0.08877430565882005,
+              1.0446505241922917
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055015605466201545,
+              0.012283943715548515,
+              0.0
+            ],
+            "finger_gap": 0.026919319579431496,
+            "fingertip_max_gap": 0.09456172393830611,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01345965978971576,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0446505241922917,
+            "object_top_z": 1.091021885203751,
+            "finger_top_clearance": 0.04637136101145933,
+            "fingertip_min_top_clearance": 0.013911408303437784,
+            "object_projection_between_fingers": 0.8329280165820176,
+            "object_to_finger_line_xy": 0.010041986373831078,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04978086196915306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2393846994298237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29263429829411536,
+              -0.07954439278208182,
+              1.242416080105397
+            ],
+            "held_position": [
+              0.29767350054431446,
+              -0.07514633448412235,
+              1.238626256235752
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007687603077266206,
+            "max_held_gripper_dist": 0.007690583883969267,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037898238696449926,
+            "max_held_gripper_z_dist": 0.0037898238696449926,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858823850908826,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29767350054431446,
+              -0.10031986652512581,
+              1.238626256235752
+            ],
+            "held_grasp_finger_b": [
+              0.2880773712754696,
+              -0.07514633448412235,
+              1.238626256235752
+            ],
+            "held_grasp_midpoint": [
+              0.29287543590989207,
+              -0.08773310050462407,
+              1.238626256235752
+            ],
+            "held_grasp_object_position": [
+              0.29767350054431446,
+              -0.07514633448412235,
+              1.238626256235752
+            ],
+            "held_grasp_finger_gap": 0.02694053474532027,
+            "held_grasp_max_gap": 0.12496591866016388,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02504110529392471,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01350645935450976,
+              -0.9998880960707504,
+              -0.00643202081113925
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0046283360864572505,
+            "held_grasp_line_xy_max_dist": 0.04748295933008194,
+            "held_grasp_object_top_z": 0.04520075395703316,
+            "held_grasp_top_clearance": 0.03255059158014053,
+            "held_grasp_min_top_clearance": 0.013560226187109947
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.27182329719164,
+              -0.0795880147435741,
+              0.7565864410855105
+            ],
+            "target_position": [
+              0.269342971078703,
+              -0.08060471132016711,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0026806136527618516,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21526191293839905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864410855105,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548150192910916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08819464660378525,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1863081518076295,
+            "release_required_pad_clearance": 0.054097323301892625,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2075292849784893,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 197,
+            "max_placed_release_frames": 197
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "877219c9d287c892856997bd0f2c8731e3a0cbcbbc762d6c0827a61b97a5bdbb",
+    "visual_seed": 541476953147845196,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb301c199ed5485bba15e32fa82dc96d4f31f72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_16_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37300719193885146,
+              0.11032625767009999,
+              1.165338153404128
+            ],
+            "current_z": 1.165338153404128,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.304231406970783,
+            "gripper_z": 1.1550217264547906,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36767583145305305,
+              0.10517819656221752,
+              1.1550217264547906
+            ],
+            "object_minus_gripper": [
+              0.005331360485798409,
+              0.005148061107882462,
+              0.010316426949337432
+            ],
+            "object_to_gripper_xy": 0.007411203532492186,
+            "object_to_gripper_z": 0.010316426949337432,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37300719193885146,
+              0.08611017363306499,
+              1.165338153404128
+            ],
+            "finger_b": [
+              0.36151115389554644,
+              0.11032625767009999,
+              1.165338153404128
+            ],
+            "finger_midpoint": [
+              0.36725917291719895,
+              0.09821821565158248,
+              1.165338153404128
+            ],
+            "object_minus_finger_midpoint": [
+              0.005748019021652506,
+              0.012108042018517506,
+              0.0
+            ],
+            "finger_gap": 0.02680629808052312,
+            "fingertip_max_gap": 0.09155802372184094,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013403149040261566,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165338153404128,
+            "object_top_z": 1.2151795442950264,
+            "finger_top_clearance": 0.04984139089089834,
+            "fingertip_min_top_clearance": 0.0149524172672695,
+            "object_projection_between_fingers": 0.8160826504936399,
+            "object_to_finger_line_xy": 0.010385209569533838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827901186092047,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4025145834849368,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 369,
+            "max_stable_success_frames": 369,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26339044859488997,
+              -0.3228485265704496,
+              0.8515395605795419
+            ],
+            "target_position": [
+              0.25625361594513474,
+              -0.32260824192787985,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007140876485423001,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1817518691007303,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395605795419,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567503748701733,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08801789594709634,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14916141210814554,
+            "release_required_pad_clearance": 0.054008947973548174,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0293066001542255,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0069732666015625,
+            "max_z_decrease": 0.0069732666015625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517306144681183,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0069732666015625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021121874716934053,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0069732666015625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006973286454744823,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11195354163646697,
+              -0.3788697123527527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11195354163646697,
+              -0.3788697123527527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11378809383988339,
+              -0.3772012912796163,
+              0.8077260817932158
+            ],
+            "closest_button": [
+              0.1119430065155029,
+              -0.37886902689933777,
+              0.7726410627365112
+            ],
+            "closest_ee_minus_button": [
+              0.00184508732438049,
+              0.0016677356197214444,
+              0.03508501905670458
+            ],
+            "button_min_z_position": [
+              0.11193690448999404,
+              -0.37887001037597656,
+              0.7698355913162231
+            ],
+            "min_active_finger_to_button": 0.14389254995701956,
+            "closest_active_finger": [
+              -0.01413051038980484,
+              -0.43906229734420776,
+              0.810870885848999
+            ],
+            "closest_active_finger_button": [
+              0.1119539514183998,
+              -0.3788706958293915,
+              0.7764507532119751
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12608446180820465,
+              -0.060191601514816284,
+              0.034420132637023926
+            ],
+            "min_contact_pad_to_button": 0.021121874716934053,
+            "closest_contact_pad": [
+              0.11193690448999404,
+              -0.37887001037597656,
+              0.7909574660331572
+            ],
+            "closest_contact_pad_button": [
+              0.11193690448999404,
+              -0.37887001037597656,
+              0.7698355913162231
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021121874716934053
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2698892079418773,
+              0.2094182931966542,
+              1.1014208878665581
+            ],
+            "current_z": 1.1014208878665581,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19151175813219556,
+            "gripper_z": 1.101420840809296,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26988912390037834,
+              0.20941832516054884,
+              1.101420840809296
+            ],
+            "object_minus_gripper": [
+              8.404149898222357e-08,
+              -3.196389464221738e-08,
+              4.7057262086980245e-08
+            ],
+            "object_to_gripper_xy": 8.991476025591048e-08,
+            "object_to_gripper_z": 4.7057262086980245e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2698892079418773,
+              0.2094182931966542,
+              1.1014208878665581
+            ],
+            "finger_b": [
+              0.2698892079418773,
+              0.2094182931966542,
+              1.1014208878665581
+            ],
+            "finger_midpoint": [
+              0.2698892079418773,
+              0.2094182931966542,
+              1.1014208878665581
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1014208878665581,
+            "object_top_z": 1.2264293944868379,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2698892079418774,
+            0.20941829319665423,
+            1.1014208878665581
+          ],
+          "object_origin_world": [
+            0.2698892079418774,
+            0.20941829319665423,
+            1.1014208878665581
+          ],
+          "frame_world": [
+            0.26988912390037834,
+            0.20941832516054884,
+            1.101420840809296
+          ],
+          "center_minus_frame": [
+            8.404149903773472e-08,
+            -3.196389461446181e-08,
+            4.7057262086980245e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437917453171894,
+            "required_z": 0.9112599746583789,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0029083539592228815,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.126705874011168e-08,
+            "max_target_xy_drift": 1.7412048995423018e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.0293065996016115,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.029306600252326,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2611816546959579,
+              -0.32477165437539735,
+              0.9234728571659653
+            ],
+            "target_mouth_xy": [
+              0.26339041610321356,
+              -0.32284838062467225
+            ],
+            "rod_tip_z": 0.9234728571659653,
+            "rod_tip_depth": -0.022212918941958315,
+            "rod_tip_bottom_clearance": 0.12165361006909425,
+            "rod_tip_xy_dist": 0.0029287555163260487,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04453720384967763,
+            "min_rod_tip_bottom_clearance": 0.05490350149161882,
+            "min_rod_tip_xy_dist": 0.0011233632783657758,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2633905069082077,
+              -0.32284837145248324
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -9.080499413505194e-08,
+              -9.172189008310738e-09
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                -0.0015782767295905442,
+                -0.0001266006695427313
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016930358309719118,
+                -0.000561581336513961
+              ],
+              "first_target_mouth_xy": [
+                0.26339043244491805,
+                -0.3228483145940746
+              ],
+              "last_target_mouth_xy": [
+                0.26339041636018334,
+                -0.32284837710524417
+              ],
+              "first_rod_tip_xy": [
+                0.2618121557153275,
+                -0.3229749152636173
+              ],
+              "last_rod_tip_xy": [
+                0.26169738052921143,
+                -0.3234099584417581
+              ],
+              "min_rod_tip_xy_dist": 0.0015833461923078261,
+              "max_rod_tip_xy_dist": 0.0017837443545742643,
+              "first_target_xy_drift": 9.368916767056821e-08,
+              "last_target_xy_drift": 9.072429895518076e-08,
+              "max_depth": 0.019676548190708076,
+              "min_bottom_clearance": 0.07976400088989821
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015782767295905442,
+                  -0.0001266006695427313
+                ],
+                "rod_tip_xy": [
+                  0.2618121557153275,
+                  -0.3229749152636173
+                ],
+                "target_mouth_xy": [
+                  0.26339043244491805,
+                  -0.3228483145940746
+                ],
+                "gripper_position": [
+                  0.2618038557416712,
+                  -0.32297394800201135,
+                  1.006055371431023
+                ],
+                "rod_tip_xy_dist": 0.0015833461923078261,
+                "target_xy_drift": 9.368916767056821e-08,
+                "depth": 0.01509149000755905,
+                "bottom_clearance": 0.08434910303298293,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0015865759552391445,
+                  -0.00012556834974053466
+                ],
+                "rod_tip_xy": [
+                  0.26180385574167103,
+                  -0.3229739480020115
+                ],
+                "target_mouth_xy": [
+                  0.2633904316969102,
+                  -0.322848379652271
+                ],
+                "gripper_position": [
+                  0.26180438041607496,
+                  -0.3230410059478042,
+                  1.0055438110719672
+                ],
+                "rod_tip_xy_dist": 0.0015915372041518745,
+                "target_xy_drift": 7.5656961306162e-08,
+                "depth": 0.015204527449977578,
+                "bottom_clearance": 0.08423610173115315,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015860672383576913,
+                  -0.00019269167756724714
+                ],
+                "rod_tip_xy": [
+                  0.2618043804160748,
+                  -0.3230410059478044
+                ],
+                "target_mouth_xy": [
+                  0.2633904476544325,
+                  -0.32284831427023714
+                ],
+                "gripper_position": [
+                  0.26179275327091567,
+                  -0.3230467976112039,
+                  1.0054147752474958
+                ],
+                "rod_tip_xy_dist": 0.0015977294411743414,
+                "target_xy_drift": 8.234572938160817e-08,
+                "depth": 0.015716054231958765,
+                "bottom_clearance": 0.08372453844279004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015976922025626172,
+                  -0.00019841539166332023
+                ],
+                "rod_tip_xy": [
+                  0.2617927532709155,
+                  -0.32304679761120403
+                ],
+                "target_mouth_xy": [
+                  0.2633904454734781,
+                  -0.3228483822195407
+                ],
+                "gripper_position": [
+                  0.26179320138570855,
+                  -0.3231140769616749,
+                  1.0049067802891813
+                ],
+                "rod_tip_xy_dist": 0.0016099655405561624,
+                "target_xy_drift": 6.237111130358668e-08,
+                "depth": 0.015845206727887695,
+                "bottom_clearance": 0.08359556028163084,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015972478995677775,
+                  -0.00026576242029852093
+                ],
+                "rod_tip_xy": [
+                  0.26179320138570844,
+                  -0.32311407696167493
+                ],
+                "target_mouth_xy": [
+                  0.2633904492852762,
+                  -0.3228483145413764
+                ],
+                "gripper_position": [
+                  0.26178159077474006,
+                  -0.32311973333573074,
+                  1.004777915645771
+                ],
+                "rod_tip_xy_dist": 0.0016192067553949386,
+                "target_xy_drift": 8.098935925701722e-08,
+                "depth": 0.016353151114708253,
+                "bottom_clearance": 0.08308749092254886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016088562985828725,
+                  -0.0002713565527859285
+                ],
+                "rod_tip_xy": [
+                  0.2617815907747399,
+                  -0.32311973333573085
+                ],
+                "target_mouth_xy": [
+                  0.26339044707332276,
+                  -0.3228483767829449
+                ],
+                "gripper_position": [
+                  0.26177303095059856,
+                  -0.3231186290586247,
+                  1.0046647361983103
+                ],
+                "rod_tip_xy_dist": 0.0016315798994317268,
+                "target_xy_drift": 6.007185095383247e-08,
+                "depth": 0.016481920141419137,
+                "bottom_clearance": 0.08295859696195784,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016174012036035412,
+                  -0.00027025164058624984
+                ],
+                "rod_tip_xy": [
+                  0.26177303095059845,
+                  -0.3231186290586249
+                ],
+                "target_mouth_xy": [
+                  0.263390432154202,
+                  -0.3228483774180386
+                ],
+                "gripper_position": [
+                  0.2617745614116306,
+                  -0.32318696076402226,
+                  1.0041571136786098
+                ],
+                "rod_tip_xy_dist": 0.0016398239547761654,
+                "target_xy_drift": 7.49916610056497e-08,
+                "depth": 0.016595105745617844,
+                "bottom_clearance": 0.08284542251090954,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.00161588734270679,
+                  -0.00033861605692858676
+                ],
+                "rod_tip_xy": [
+                  0.2617745614116304,
+                  -0.3231869607640223
+                ],
+                "target_mouth_xy": [
+                  0.2633904487543372,
+                  -0.3228483447070937
+                ],
+                "gripper_position": [
+                  0.26176243139547806,
+                  -0.3231921807363613,
+                  1.0040277919696765
+                ],
+                "rod_tip_xy_dist": 0.0016509853840448966,
+                "target_xy_drift": 6.400928459244311e-08,
+                "depth": 0.0171027477579464,
+                "bottom_clearance": 0.08233786117481401,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0016280147293731284,
+                  -0.00034379948486584766
+                ],
+                "rod_tip_xy": [
+                  0.26176243139547795,
+                  -0.32319218073636147
+                ],
+                "target_mouth_xy": [
+                  0.2633904461248511,
+                  -0.3228483812514956
+                ],
+                "gripper_position": [
+                  0.26175403590733437,
+                  -0.3231904507089003,
+                  1.0039148671682794
+                ],
+                "rod_tip_xy_dist": 0.0016639200836728557,
+                "target_xy_drift": 6.156814993404639e-08,
+                "depth": 0.017232211570509137,
+                "bottom_clearance": 0.08220849516793416,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016364419292824173,
+                  -0.0003420736378274558
+                ],
+                "rod_tip_xy": [
+                  0.2617540359073342,
+                  -0.3231904507089004
+                ],
+                "target_mouth_xy": [
+                  0.2633904778366166,
+                  -0.32284837707107295
+                ],
+                "gripper_position": [
+                  0.2617561811681792,
+                  -0.32326029526396094,
+                  1.003409165455648
+                ],
+                "rod_tip_xy_dist": 0.0016718123583734118,
+                "target_xy_drift": 2.960955856015816e-08,
+                "depth": 0.01734494781416085,
+                "bottom_clearance": 0.08209554895880056,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016342660074142312,
+                  -0.0004119489225929418
+                ],
+                "rod_tip_xy": [
+                  0.26175618116817906,
+                  -0.32326029526396116
+                ],
+                "target_mouth_xy": [
+                  0.2633904471755933,
+                  -0.3228483463413682
+                ],
+                "gripper_position": [
+                  0.2617440393385454,
+                  -0.3232654467849431,
+                  1.0032797052501998
+                ],
+                "rod_tip_xy_dist": 0.0016853863942179958,
+                "target_xy_drift": 6.47962446586917e-08,
+                "depth": 0.017850677490007016,
+                "bottom_clearance": 0.08158985699259824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016464082234465827,
+                  -0.00041706939596081183
+                ],
+                "rod_tip_xy": [
+                  0.26174403933854523,
+                  -0.3232654467849432
+                ],
+                "target_mouth_xy": [
+                  0.2633904475619918,
+                  -0.32284837738898237
+                ],
+                "gripper_position": [
+                  0.2617352551552363,
+                  -0.3232641933296959,
+                  1.003166906583947
+                ],
+                "rod_tip_xy_dist": 0.0016984130590877028,
+                "target_xy_drift": 5.964239567501557e-08,
+                "depth": 0.017980121174740904,
+                "bottom_clearance": 0.08146038747770168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001655192377628234,
+                  -0.00041581590950534597
+                ],
+                "rod_tip_xy": [
+                  0.26173525515523616,
+                  -0.323264193329696
+                ],
+                "target_mouth_xy": [
+                  0.2633904475328644,
+                  -0.3228483774201907
+                ],
+                "gripper_position": [
+                  0.26172669065426224,
+                  -0.32326256575889717,
+                  1.0030544958617644
+                ],
+                "rod_tip_xy_dist": 0.001706623765671967,
+                "target_xy_drift": 5.967449141053376e-08,
+                "depth": 0.01809292130759832,
+                "bottom_clearance": 0.08134758958551569,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0016637891374960967,
+                  -0.0004142207948266696
+                ],
+                "rod_tip_xy": [
+                  0.2617266906542621,
+                  -0.3232625657588972
+                ],
+                "target_mouth_xy": [
+                  0.26339047979175817,
+                  -0.32284834496407055
+                ],
+                "gripper_position": [
+                  0.2617303728996593,
+                  -0.32333469232284384,
+                  1.0025506072883252
+                ],
+                "rod_tip_xy_dist": 0.0017145766710523164,
+                "target_xy_drift": 3.7906962971501445e-08,
+                "depth": 0.018205429158082986,
+                "bottom_clearance": 0.08123521521638966,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016600714394605087,
+                  -0.00048628563789177015
+                ],
+                "rod_tip_xy": [
+                  0.2617303728996591,
+                  -0.32333469232284395
+                ],
+                "target_mouth_xy": [
+                  0.2633904443391196,
+                  -0.3228484066849522
+                ],
+                "gripper_position": [
+                  0.26171802641019337,
+                  -0.3233398859312141,
+                  1.0024211234872926
+                ],
+                "rod_tip_xy_dist": 0.0017298297331622818,
+                "target_xy_drift": 7.180680782907221e-08,
+                "depth": 0.01870925315501315,
+                "bottom_clearance": 0.0807313708314249,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001672421253162859,
+                  -0.0004915078989730093
+                ],
+                "rod_tip_xy": [
+                  0.2617180264101932,
+                  -0.3233398859312143
+                ],
+                "target_mouth_xy": [
+                  0.26339044766335606,
+                  -0.3228483780322413
+                ],
+                "gripper_position": [
+                  0.2617093770069507,
+                  -0.32333823999860506,
+                  1.0023085644494616
+                ],
+                "rod_tip_xy_dist": 0.001743150269708177,
+                "target_xy_drift": 5.960910720363399e-08,
+                "depth": 0.01883871245346158,
+                "bottom_clearance": 0.08060181674538314,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.001681071021138958,
+                  -0.0004898328345829261
+                ],
+                "rod_tip_xy": [
+                  0.26170937700695057,
+                  -0.3233382399986052
+                ],
+                "target_mouth_xy": [
+                  0.26339044802808953,
+                  -0.3228484071640223
+                ],
+                "gripper_position": [
+                  0.2617006364973484,
+                  -0.3233367331189975,
+                  1.002196287522235
+                ],
+                "rod_tip_xy_dist": 0.0017509814344957295,
+                "target_xy_drift": 6.886350512204534e-08,
+                "depth": 0.018951255538138034,
+                "bottom_clearance": 0.08048925075947155,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0016898104484738274,
+                  -0.0004883864537952309
+                ],
+                "rod_tip_xy": [
+                  0.26170063649734826,
+                  -0.3233367331189976
+                ],
+                "target_mouth_xy": [
+                  0.2633904469458221,
+                  -0.32284834666520235
+                ],
+                "gripper_position": [
+                  0.2616919303618437,
+                  -0.323335304434371,
+                  1.0020839908049284
+                ],
+                "rod_tip_xy_dist": 0.0017589714835727153,
+                "target_xy_drift": 6.488371893215082e-08,
+                "depth": 0.019063557386170493,
+                "bottom_clearance": 0.08037697546642131,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0016985204655061148,
+                  -0.00048692710712472387
+                ],
+                "rod_tip_xy": [
+                  0.26169193036184357,
+                  -0.323335304434371
+                ],
+                "target_mouth_xy": [
+                  0.2633904508273497,
+                  -0.32284837732724625
+                ],
+                "gripper_position": [
+                  0.2616973805292116,
+                  -0.323409958441758,
+                  1.001583314023769
+                ],
+                "rod_tip_xy_dist": 0.0017669379670480685,
+                "target_xy_drift": 5.638772451422121e-08,
+                "depth": 0.019175913106209586,
+                "bottom_clearance": 0.08026470485512227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0016930358309719118,
+                  -0.000561581336513961
+                ],
+                "rod_tip_xy": [
+                  0.26169738052921143,
+                  -0.3234099584417581
+                ],
+                "target_mouth_xy": [
+                  0.26339041636018334,
+                  -0.32284837710524417
+                ],
+                "gripper_position": [
+                  0.2616849512463235,
+                  -0.32341517783784474,
+                  1.0014540800416796
+                ],
+                "rod_tip_xy_dist": 0.0017837443545742643,
+                "target_xy_drift": 9.072429895518076e-08,
+                "depth": 0.019676548190708076,
+                "bottom_clearance": 0.07976400088989821,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005940520547213145,
+              "rod_tip_xy_max_step": 3.23120984031069e-05,
+              "rod_tip_xy_range": 0.0005940422351889109,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26118165469595794,
+            -0.3247716543753973,
+            1.0434728571659653
+          ],
+          "object_origin_world": [
+            0.26118165469595794,
+            -0.3247716543753973,
+            1.0434728571659653
+          ],
+          "frame_world": [
+            0.2612073919431029,
+            -0.3247700799425939,
+            1.0437917453171894
+          ],
+          "center_minus_frame": [
+            -2.57372471449413e-05,
+            -1.5744328034084099e-06,
+            -0.0003188881512241615
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2537606531604122,
+              0.16234265217562624,
+              0.8317294195860603
+            ],
+            "target_position": [
+              0.27004621705356413,
+              0.20851980623925465,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04896477457044,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16618424364796833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317294195860603,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672920016202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13640301397708665,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 332,
+            "max_placed_release_frames": 332
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2903180663533628,
+              -0.08023181839461914,
+              1.046681668939687
+            ],
+            "current_z": 1.046681668939687,
+            "required_z": 0.8565862763801555,
+            "initial_z": 0.7565862763801555,
+            "lift_margin": 0.19009539255953145,
+            "gripper_z": 1.0498418450230635,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2857052677790388,
+              -0.08486141680509311,
+              1.0498418450230635
+            ],
+            "object_minus_gripper": [
+              0.004612798574324006,
+              0.004629598410473973,
+              -0.003160176083376598
+            ],
+            "object_to_gripper_xy": 0.006535372378797456,
+            "object_to_gripper_z": -0.003160176083376598,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2903180663533628,
+              -0.1042757761997017,
+              1.046681668939687
+            ],
+            "finger_b": [
+              0.2788270415446252,
+              -0.08023181839461914,
+              1.046681668939687
+            ],
+            "finger_midpoint": [
+              0.284572553948994,
+              -0.09225379729716042,
+              1.046681668939687
+            ],
+            "object_minus_finger_midpoint": [
+              0.005745512404368824,
+              0.01202197890254128,
+              0.0
+            ],
+            "finger_gap": 0.026648744024580496,
+            "fingertip_max_gap": 0.09193117135676512,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013324372012290248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046681668939687,
+            "object_top_z": 1.092438530073701,
+            "finger_top_clearance": 0.045756861134014004,
+            "fingertip_min_top_clearance": 0.013727058340204167,
+            "object_projection_between_fingers": 0.8140637644087363,
+            "object_to_finger_line_xy": 0.010367832547139874,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048465585678382564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.271781334672825,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28985182695529266,
+              -0.08446872656753182,
+              1.2422268765346198
+            ],
+            "held_position": [
+              0.2948044958135068,
+              -0.0802158576624386,
+              1.2390588804737181
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007256171289662453,
+            "max_held_gripper_dist": 0.007259850824710728,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003167996060901679,
+            "max_held_gripper_z_dist": 0.003167996060901679,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626309050419312,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2948044958135068,
+              -0.10542865280461818,
+              1.2390588804737181
+            ],
+            "held_grasp_finger_b": [
+              0.2857176337758118,
+              -0.0802158576624386,
+              1.2390588804737181
+            ],
+            "held_grasp_midpoint": [
+              0.2902610647946593,
+              -0.09282225523352838,
+              1.2390588804737181
+            ],
+            "held_grasp_object_position": [
+              0.2948044958135068,
+              -0.0802158576624386,
+              1.2390588804737181
+            ],
+            "held_grasp_finger_gap": 0.026800300382152753,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02448224816485619,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07205053672959252,
+              -0.9969922537389427,
+              -0.0285511145407924
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036416210242927634,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.04520074650645256,
+            "held_grasp_top_clearance": 0.032304909137020776,
+            "held_grasp_min_top_clearance": 0.013560223951935768
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2544742354850907,
+              -0.08820798719936201,
+              0.7565879304225501
+            ],
+            "target_position": [
+              0.26641153930520706,
+              -0.08235551843980465,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013294758857360289,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20659507252718204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565879304225501,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536249570867827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687956502031245,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1776562564625734,
+            "release_required_pad_clearance": 0.05343978251015623,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8887923813709786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 218,
+            "max_placed_release_frames": 218
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa352916df9b2cfe09c99ba9f32d9429695efcf3d579a3ccb39938377eafca9b",
+    "visual_seed": 3956188661744253610,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9565c71cded252adf6c2d6900bd305f66fe75f13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_18_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37320186433258234,
+              0.10719400583902416,
+              1.1624910551558671
+            ],
+            "current_z": 1.1624910551558671,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.30138436832716675,
+            "gripper_z": 1.1521693284825882,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3679724132826553,
+              0.10204387775402782,
+              1.1521693284825882
+            ],
+            "object_minus_gripper": [
+              0.0052294510499270586,
+              0.005150128084996347,
+              0.010321726673278908
+            ],
+            "object_to_gripper_xy": 0.0073396851141892564,
+            "object_to_gripper_z": 0.010321726673278908,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37320186433258234,
+              0.0832013464187408,
+              1.1624910551558671
+            ],
+            "finger_b": [
+              0.3615234599903468,
+              0.10719400583902416,
+              1.1624910551558671
+            ],
+            "finger_midpoint": [
+              0.36736266216146457,
+              0.09519767612888248,
+              1.1624910551558671
+            ],
+            "object_minus_finger_midpoint": [
+              0.005839202171117774,
+              0.011996329710141682,
+              0.0
+            ],
+            "finger_gap": 0.02668394337496724,
+            "fingertip_max_gap": 0.09148735250714143,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334197168748362,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1624910551558671,
+            "object_top_z": 1.21244228592054,
+            "finger_top_clearance": 0.04995123076467278,
+            "fingertip_min_top_clearance": 0.014985369229401867,
+            "object_projection_between_fingers": 0.8084566870221328,
+            "object_to_finger_line_xy": 0.010500546115626714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824367625357072,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0447225088564698,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 358,
+            "max_stable_success_frames": 358,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.274038561851305,
+              -0.32770602140809496,
+              0.8515395699680944
+            ],
+            "target_position": [
+              0.2652115062047391,
+              -0.32835711511313037,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008851035781212694,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18528238130157373,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395699680944,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755655125101951,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554171525175348,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15297090817180328,
+            "release_required_pad_clearance": 0.052770857625876744,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5908273492616994,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007124006748199463,
+            "max_z_decrease": 0.007124006748199463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035109979165260374,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007124006748199463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021179071543958556,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007124006748199463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007124032261565879,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.12091143429279327,
+              -0.3846185803413391,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.12091143429279327,
+              -0.3846185803413391,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1219442552430951,
+              -0.3855812969534733,
+              0.807752070114486
+            ],
+            "closest_button": [
+              0.12090039253234863,
+              -0.3846169114112854,
+              0.7726708650588989
+            ],
+            "closest_ee_minus_button": [
+              0.0010438627107464682,
+              -0.0009643855421879177,
+              0.035081205055587095
+            ],
+            "button_min_z_position": [
+              0.12089239060878752,
+              -0.38461765646934515,
+              0.7696848511695862
+            ],
+            "min_active_finger_to_button": 0.1451158588625656,
+            "closest_active_finger": [
+              -0.019475720822811127,
+              -0.37201112508773804,
+              0.8113047480583191
+            ],
+            "closest_active_finger_button": [
+              0.12091308832168578,
+              -0.3846178352832794,
+              0.7767987251281738
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14038880914449692,
+              0.012606710195541382,
+              0.034506022930145264
+            ],
+            "min_contact_pad_to_button": 0.021179071543958556,
+            "closest_contact_pad": [
+              0.12089239060878752,
+              -0.38644795109567276,
+              0.7907846874970308
+            ],
+            "closest_contact_pad_button": [
+              0.12089239060878752,
+              -0.38461765646934515,
+              0.7696848511695862
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001830294626327611,
+              0.02109983632744461
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27098719856639775,
+              0.20650151898010047,
+              1.1040194837349353
+            ],
+            "current_z": 1.1040194837349353,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19411035400057275,
+            "gripper_z": 1.1040197775045462,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27098722045722895,
+              0.20650166298636424,
+              1.1040197775045462
+            ],
+            "object_minus_gripper": [
+              -2.1890831203297267e-08,
+              -1.4400626377475412e-07,
+              -2.937696108595844e-07
+            ],
+            "object_to_gripper_xy": 1.4566060722492994e-07,
+            "object_to_gripper_z": -2.937696108595844e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27098719856639775,
+              0.20650151898010047,
+              1.1040194837349353
+            ],
+            "finger_b": [
+              0.27098719856639775,
+              0.20650151898010047,
+              1.1040194837349353
+            ],
+            "finger_midpoint": [
+              0.27098719856639775,
+              0.20650151898010047,
+              1.1040194837349353
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1040194837349353,
+            "object_top_z": 1.229027990355215,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2709871985663978,
+            0.20650151898010047,
+            1.1040194837349355
+          ],
+          "object_origin_world": [
+            0.2709871985663978,
+            0.20650151898010047,
+            1.1040194837349355
+          ],
+          "frame_world": [
+            0.27098722045722895,
+            0.20650166298636424,
+            1.1040197775045462
+          ],
+          "center_minus_frame": [
+            -2.1890831147786116e-08,
+            -1.4400626377475412e-07,
+            -2.937696106375398e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436351585066743,
+            "required_z": 0.9112598414361903,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007084619855637773,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.254837086498417e-07,
+            "max_target_xy_drift": 3.164098028362846e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.5908273473104992,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5908273492789721,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2735139851402751,
+              -0.3272050444567479,
+              0.9233210518893583
+            ],
+            "target_mouth_xy": [
+              0.2740386795994859,
+              -0.32770587361226755
+            ],
+            "rod_tip_z": 0.9233210518893583,
+            "rod_tip_depth": -0.02206114819335092,
+            "rod_tip_bottom_clearance": 0.12150178244712684,
+            "rod_tip_xy_dist": 0.0007253510312566271,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04468299745700732,
+            "min_rod_tip_bottom_clearance": 0.05475762590178368,
+            "min_rod_tip_xy_dist": 0.0007253510312566271,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2740387099249322,
+              -0.3277057518480345
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -3.032544626524469e-08,
+              -1.2176423302978634e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                2.4064926475664272e-05,
+                0.0021724990424087376
+              ],
+              "last_rod_tip_xy_delta": [
+                -8.336586149731984e-05,
+                0.001809461788350064
+              ],
+              "first_target_mouth_xy": [
+                0.27403864743645445,
+                -0.3277059630482044
+              ],
+              "last_target_mouth_xy": [
+                0.27403864949512047,
+                -0.3277059592308138
+              ],
+              "first_rod_tip_xy": [
+                0.2740627123629301,
+                -0.32553346400579564
+              ],
+              "last_rod_tip_xy": [
+                0.27395528363362315,
+                -0.32589649744246374
+              ],
+              "min_rod_tip_xy_dist": 0.0018099519012785158,
+              "max_rod_tip_xy_dist": 0.002172632322771886,
+              "first_target_xy_drift": 2.2025058818161587e-07,
+              "last_target_xy_drift": 2.1600782228031997e-07,
+              "max_depth": 0.019581519778847922,
+              "min_bottom_clearance": 0.07985907600161835
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  2.4064926475664272e-05,
+                  0.0021724990424087376
+                ],
+                "rod_tip_xy": [
+                  0.2740627123629301,
+                  -0.32553346400579564
+                ],
+                "target_mouth_xy": [
+                  0.27403864743645445,
+                  -0.3277059630482044
+                ],
+                "gripper_position": [
+                  0.2740510639789292,
+                  -0.3255395275519279,
+                  1.0058741454701479
+                ],
+                "rod_tip_xy_dist": 0.002172632322771886,
+                "target_xy_drift": 2.2025058818161587e-07,
+                "depth": 0.01524974061782558,
+                "bottom_clearance": 0.0841909845140485,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  1.2348557694497053e-05,
+                  0.0021663983526382102
+                ],
+                "rod_tip_xy": [
+                  0.27405106397892914,
+                  -0.32553952755192783
+                ],
+                "target_mouth_xy": [
+                  0.27403871542123465,
+                  -0.32770592590456604
+                ],
+                "gripper_position": [
+                  0.27404251345949804,
+                  -0.32553901693629095,
+                  1.005753995592691
+                ],
+                "rod_tip_xy_dist": 0.002166433545989972,
+                "target_xy_drift": 1.7414329015496578e-07,
+                "depth": 0.015385904153148666,
+                "bottom_clearance": 0.08405492085834354,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  3.8644069201843045e-06,
+                  0.002166974311473613
+                ],
+                "rod_tip_xy": [
+                  0.274042513459498,
+                  -0.32553901693629095
+                ],
+                "target_mouth_xy": [
+                  0.2740386490525778,
+                  -0.32770599124776456
+                ],
+                "gripper_position": [
+                  0.27404771179784115,
+                  -0.3256030420129997,
+                  1.0052385647716664
+                ],
+                "rod_tip_xy_dist": 0.002166977757206424,
+                "target_xy_drift": 2.470175586285944e-07,
+                "depth": 0.01550590208635838,
+                "bottom_clearance": 0.08393470372334577,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  8.99821468286488e-06,
+                  0.002102888654366031
+                ],
+                "rod_tip_xy": [
+                  0.2740477117978411,
+                  -0.3256030420129997
+                ],
+                "target_mouth_xy": [
+                  0.27403871358315823,
+                  -0.32770593066736575
+                ],
+                "gripper_position": [
+                  0.27403584772927136,
+                  -0.32560936195680074,
+                  1.0051023160932504
+                ],
+                "rod_tip_xy_dist": 0.0021029079058600864,
+                "target_xy_drift": 1.7885674669938492e-07,
+                "depth": 0.016021327779607852,
+                "bottom_clearance": 0.08341925977658893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -2.770198474388863e-06,
+                  0.0020965693731045953
+                ],
+                "rod_tip_xy": [
+                  0.2740358477292713,
+                  -0.3256093619568007
+                ],
+                "target_mouth_xy": [
+                  0.2740386179277457,
+                  -0.3277059313299053
+                ],
+                "gripper_position": [
+                  0.27402707883878374,
+                  -0.3256088350464367,
+                  1.0049827147164607
+                ],
+                "rod_tip_xy_dist": 0.002096571203236318,
+                "target_xy_drift": 2.016859545178442e-07,
+                "depth": 0.016157615953973914,
+                "bottom_clearance": 0.08328302886834604,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -1.160462532379114e-05,
+                  0.002097095622551226
+                ],
+                "rod_tip_xy": [
+                  0.2740270788387837,
+                  -0.3256088350464367
+                ],
+                "target_mouth_xy": [
+                  0.2740386834641075,
+                  -0.3277059306689879
+                ],
+                "gripper_position": [
+                  0.274033223005671,
+                  -0.32567394722002807,
+                  1.0044671877261757
+                ],
+                "rod_tip_xy_dist": 0.0020971277303617965,
+                "target_xy_drift": 1.80768107283284e-07,
+                "depth": 0.016277175287967016,
+                "bottom_clearance": 0.08316340003796541,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -5.396909452337617e-06,
+                  0.002032013582065062
+                ],
+                "rod_tip_xy": [
+                  0.27403322300567096,
+                  -0.32567394722002796
+                ],
+                "target_mouth_xy": [
+                  0.2740386199151233,
+                  -0.327705960802093
+                ],
+                "gripper_position": [
+                  0.27402148283740435,
+                  -0.3256798179975176,
+                  1.0043309768613744
+                ],
+                "rod_tip_xy_dist": 0.0020320207489906497,
+                "target_xy_drift": 2.2751607472690836e-07,
+                "depth": 0.016792678118666804,
+                "bottom_clearance": 0.08264787915184135,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -1.719664368465823e-05,
+                  0.002026112053602036
+                ],
+                "rod_tip_xy": [
+                  0.27402148283740435,
+                  -0.32567981799751755
+                ],
+                "target_mouth_xy": [
+                  0.274038679481089,
+                  -0.3277059300511196
+                ],
+                "gripper_position": [
+                  0.27401254307710987,
+                  -0.32567917284022,
+                  1.0042117162920077
+                ],
+                "rod_tip_xy_dist": 0.0020261850306192365,
+                "target_xy_drift": 1.8078486417273807e-07,
+                "depth": 0.01692889399165709,
+                "bottom_clearance": 0.08251167264418979,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -2.6168475546262115e-05,
+                  0.0020267879525383004
+                ],
+                "rod_tip_xy": [
+                  0.2740125430771098,
+                  -0.32567917284021997
+                ],
+                "target_mouth_xy": [
+                  0.2740387115526561,
+                  -0.32770596079275827
+                ],
+                "gripper_position": [
+                  0.27401958581576236,
+                  -0.32574534447281656,
+                  1.0036980145476364
+                ],
+                "rod_tip_xy_dist": 0.002026956880070913,
+                "target_xy_drift": 2.0895106380696156e-07,
+                "depth": 0.017048105868947228,
+                "bottom_clearance": 0.08239241429189581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -1.906453507688477e-05,
+                  0.001960584940605692
+                ],
+                "rod_tip_xy": [
+                  0.2740195858157623,
+                  -0.32574534447281656
+                ],
+                "target_mouth_xy": [
+                  0.2740386503508392,
+                  -0.32770592941342225
+                ],
+                "gripper_position": [
+                  0.2740075866131588,
+                  -0.3257513525012225,
+                  1.0035625892424085
+                ],
+                "rod_tip_xy_dist": 0.0019606776292464606,
+                "target_xy_drift": 1.8729265728899058e-07,
+                "depth": 0.017561906473131494,
+                "bottom_clearance": 0.08187865657918392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -3.1093980212670846e-05,
+                  0.001954607978707945
+                ],
+                "rod_tip_xy": [
+                  0.27400758661315877,
+                  -0.32575135250122245
+                ],
+                "target_mouth_xy": [
+                  0.27403868059337144,
+                  -0.3277059604799304
+                ],
+                "gripper_position": [
+                  0.2739984120650658,
+                  -0.32575084745350436,
+                  1.0034429560340825
+                ],
+                "rod_tip_xy_dist": 0.001954855285189731,
+                "target_xy_drift": 2.106836691101598e-07,
+                "depth": 0.017697238208834176,
+                "bottom_clearance": 0.08174326653815889,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -4.023551327808628e-05,
+                  0.0019550829315145846
+                ],
+                "rod_tip_xy": [
+                  0.27399841206506576,
+                  -0.32575084745350436
+                ],
+                "target_mouth_xy": [
+                  0.27403864757834384,
+                  -0.32770593038501894
+                ],
+                "gripper_position": [
+                  0.2740062161311976,
+                  -0.3258177828338452,
+                  1.0029328968626081
+                ],
+                "rod_tip_xy_dist": 0.00195549691015568,
+                "target_xy_drift": 1.8910989366643145e-07,
+                "depth": 0.017817033071331534,
+                "bottom_clearance": 0.08162360345924136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -3.243393923896276e-05,
+                  0.0018881481615549145
+                ],
+                "rod_tip_xy": [
+                  0.2740062161311975,
+                  -0.3258177828338452
+                ],
+                "target_mouth_xy": [
+                  0.2740386500704365,
+                  -0.32770593099540013
+                ],
+                "gripper_position": [
+                  0.273994053198816,
+                  -0.32582381289214024,
+                  1.0027974065116843
+                ],
+                "rod_tip_xy_dist": 0.001888426710359118,
+                "target_xy_drift": 1.8888181293929672e-07,
+                "depth": 0.018326958205636346,
+                "bottom_clearance": 0.08111358546573755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -4.4657723601126964e-05,
+                  0.001882118421342338
+                ],
+                "rod_tip_xy": [
+                  0.2739940531988159,
+                  -0.32582381289214024
+                ],
+                "target_mouth_xy": [
+                  0.27403871092241705,
+                  -0.3277059313134826
+                ],
+                "gripper_position": [
+                  0.27398487835719526,
+                  -0.32582297735567667,
+                  1.0026784775648099
+                ],
+                "rod_tip_xy_dist": 0.001882648152001167,
+                "target_xy_drift": 1.7946822009129764e-07,
+                "depth": 0.018462416526880854,
+                "bottom_clearance": 0.08097809111440835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -5.380252042036515e-05,
+                  0.0018829517429097553
+                ],
+                "rod_tip_xy": [
+                  0.2739848783571952,
+                  -0.32582297735567656
+                ],
+                "target_mouth_xy": [
+                  0.27403868087761557,
+                  -0.3277059290985863
+                ],
+                "gripper_position": [
+                  0.27397570952676353,
+                  -0.3258220609930952,
+                  1.0025590608279469
+                ],
+                "rod_tip_xy_dist": 0.0018837202492223916,
+                "target_xy_drift": 1.7961487887293245e-07,
+                "depth": 0.018581426749295304,
+                "bottom_clearance": 0.08085911928520673,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -6.297087977213955e-05,
+                  0.0018838700084548021
+                ],
+                "rod_tip_xy": [
+                  0.2739757095267635,
+                  -0.3258220609930951
+                ],
+                "target_mouth_xy": [
+                  0.2740386804065356,
+                  -0.3277059310015499
+                ],
+                "gripper_position": [
+                  0.2739666712118015,
+                  -0.32582129685750444,
+                  1.0024398847180156
+                ],
+                "rod_tip_xy_dist": 0.0018849221576645477,
+                "target_xy_drift": 1.8156904416766014e-07,
+                "depth": 0.01870077817395821,
+                "bottom_clearance": 0.08073974538957629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -7.198099915195488e-05,
+                  0.0018846011588178335
+                ],
+                "rod_tip_xy": [
+                  0.27396667121180146,
+                  -0.3258212968575044
+                ],
+                "target_mouth_xy": [
+                  0.2740386522109534,
+                  -0.3277058980163222
+                ],
+                "gripper_position": [
+                  0.27397677509759666,
+                  -0.3258914154281077,
+                  1.0019327272788756
+                ],
+                "rod_tip_xy_dist": 0.0018859752893546709,
+                "target_xy_drift": 1.5714983828352275e-07,
+                "depth": 0.01881998310790234,
+                "bottom_clearance": 0.0806206350441181,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -6.187318790457086e-05,
+                  0.001814548572662611
+                ],
+                "rod_tip_xy": [
+                  0.2739767750975966,
+                  -0.3258914154281076
+                ],
+                "target_mouth_xy": [
+                  0.2740386482855012,
+                  -0.32770596400077023
+                ],
+                "gripper_position": [
+                  0.2739644558500688,
+                  -0.32589747252112,
+                  1.0017975388338618
+                ],
+                "rod_tip_xy_dist": 0.0018156031543080642,
+                "target_xy_drift": 2.2092578555869585e-07,
+                "depth": 0.019327299630349737,
+                "bottom_clearance": 0.0801134275542319,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -7.422464400841378e-05,
+                  0.001808429314948068
+                ],
+                "rod_tip_xy": [
+                  0.27396445585006873,
+                  -0.32589747252112
+                ],
+                "target_mouth_xy": [
+                  0.27403868049407715,
+                  -0.32770590183606807
+                ],
+                "gripper_position": [
+                  0.2739552836336232,
+                  -0.32589649744246374,
+                  1.0016783676429737
+                ],
+                "rod_tip_xy_dist": 0.0018099519012785158,
+                "target_xy_drift": 1.5284824315527443e-07,
+                "depth": 0.01946230908538149,
+                "bottom_clearance": 0.07997823413722072,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -8.336586149731984e-05,
+                  0.001809461788350064
+                ],
+                "rod_tip_xy": [
+                  0.27395528363362315,
+                  -0.32589649744246374
+                ],
+                "target_mouth_xy": [
+                  0.27403864949512047,
+                  -0.3277059592308138
+                ],
+                "gripper_position": [
+                  0.273945797319756,
+                  -0.3258955369866422,
+                  1.0015597095396853
+                ],
+                "rod_tip_xy_dist": 0.0018113811941063655,
+                "target_xy_drift": 2.1600782228031997e-07,
+                "depth": 0.019581519778847922,
+                "bottom_clearance": 0.07985907600161835,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0006028192590318575,
+              "rod_tip_xy_max_step": 3.287039842324335e-05,
+              "rod_tip_xy_range": 0.0006028107667299437,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27351398514027514,
+            -0.3272050444567479,
+            1.0433210518893583
+          ],
+          "object_origin_world": [
+            0.27351398514027514,
+            -0.3272050444567479,
+            1.0433210518893583
+          ],
+          "frame_world": [
+            0.27353968754514735,
+            -0.3272029568053343,
+            1.0436351585066743
+          ],
+          "center_minus_frame": [
+            -2.570240487220765e-05,
+            -2.08765141362921e-06,
+            -0.0003141066173160123
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25544389694667813,
+              0.1618878204265428,
+              0.8316386249474443
+            ],
+            "target_position": [
+              0.27114063657779075,
+              0.20707403603940022,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04783494242139926,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16533540510113157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316386249474443,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674457106282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13519705203153823,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 326,
+            "max_placed_release_frames": 326
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2920473991090465,
+              -0.07888332820850856,
+              1.0472983002151146
+            ],
+            "current_z": 1.0472983002151146,
+            "required_z": 0.856586332063375,
+            "initial_z": 0.756586332063375,
+            "lift_margin": 0.19071196815173963,
+            "gripper_z": 1.0508575248317422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28729143710914873,
+              -0.0834150908980565,
+              1.0508575248317422
+            ],
+            "object_minus_gripper": [
+              0.004755961999897751,
+              0.004531762689547941,
+              -0.00355922461662761
+            ],
+            "object_to_gripper_xy": 0.00656932626825995,
+            "object_to_gripper_z": -0.00355922461662761,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2920473991090465,
+              -0.10335356112416542,
+              1.0472983002151146
+            ],
+            "finger_b": [
+              0.2810907152365344,
+              -0.07888332820850856,
+              1.0472983002151146
+            ],
+            "finger_midpoint": [
+              0.28656905717279046,
+              -0.09111844466633699,
+              1.0472983002151146
+            ],
+            "object_minus_finger_midpoint": [
+              0.005478341936256015,
+              0.012235116457828432,
+              0.0
+            ],
+            "finger_gap": 0.026811214452699884,
+            "fingertip_max_gap": 0.09446749462196205,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01340560722634993,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472983002151146,
+            "object_top_z": 1.0937623529159768,
+            "finger_top_clearance": 0.04646405270086218,
+            "fingertip_min_top_clearance": 0.013939215810258653,
+            "object_projection_between_fingers": 0.8329966088887082,
+            "object_to_finger_line_xy": 0.010000017224754743,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04973374731098103,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.041121175316939,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29141040271309493,
+              -0.08269052178997448,
+              1.2449901059919228
+            ],
+            "held_position": [
+              0.29638175203513833,
+              -0.07840337069224229,
+              1.2414277995803913
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007468869096871794,
+            "max_held_gripper_dist": 0.007472401537542436,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003562306411531546,
+            "max_held_gripper_z_dist": 0.003562508886080895,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08614622368521875,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29638175203513833,
+              -0.10363525093659179,
+              1.2414277995803913
+            ],
+            "held_grasp_finger_b": [
+              0.2871276490408544,
+              -0.07840337069224229,
+              1.2414277995803913
+            ],
+            "held_grasp_midpoint": [
+              0.29175470053799635,
+              -0.09101931081441704,
+              1.2414277995803913
+            ],
+            "held_grasp_object_position": [
+              0.29638175203513833,
+              -0.07840337069224229,
+              1.2414277995803913
+            ],
+            "held_grasp_finger_gap": 0.02687538284181286,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02494508086937906,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029739286791691008,
+              -0.9995407020043154,
+              -0.00582750871659532
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004250458657031391,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.04520069807767868,
+            "held_grasp_top_clearance": 0.03245294722004229,
+            "held_grasp_min_top_clearance": 0.013560209423303604
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25324567519396246,
+              -0.07921745976797018,
+              0.7565862850362471
+            ],
+            "target_position": [
+              0.26792248406800895,
+              -0.08119811959765091,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01480985253424897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20716374313680083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862850362471,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557234038635015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09332965561047225,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1798632799102265,
+            "release_required_pad_clearance": 0.05666482780523613,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.74269188564059,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "495688e3c32eaa8ae4ed747a2bba7aeb7df0d1a71037bce625530d38f797dcf8",
+    "visual_seed": 7624666476959824394,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf8de744cfb808e2730907a32ee20cdf275862c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_24_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3698966424804351,
+              0.11149901592090049,
+              1.1652552947782384
+            ],
+            "current_z": 1.1652552947782384,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30414884636811734,
+            "gripper_z": 1.155001561851615,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3645209596564629,
+              0.10647604598793434,
+              1.155001561851615
+            ],
+            "object_minus_gripper": [
+              0.005375682823972161,
+              0.005022969932966151,
+              0.01025373292662346
+            ],
+            "object_to_gripper_xy": 0.007357186471160785,
+            "object_to_gripper_z": 0.01025373292662346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3698966424804351,
+              0.08705921651684216,
+              1.1652552947782384
+            ],
+            "finger_b": [
+              0.3588386351779421,
+              0.11149901592090049,
+              1.1652552947782384
+            ],
+            "finger_midpoint": [
+              0.3643676388291886,
+              0.09927911621887132,
+              1.1652552947782384
+            ],
+            "object_minus_finger_midpoint": [
+              0.005529003651246478,
+              0.012219899702029163,
+              0.0
+            ],
+            "finger_gap": 0.0268250502406351,
+            "fingertip_max_gap": 0.09149975404321228,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341252512031755,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1652552947782384,
+            "object_top_z": 1.2151539605935828,
+            "finger_top_clearance": 0.04989866581534441,
+            "fingertip_min_top_clearance": 0.014969599744603357,
+            "object_projection_between_fingers": 0.8300689829332419,
+            "object_to_finger_line_xy": 0.01007474274445725,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048249877021606144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.305324341474403,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 368,
+            "max_stable_success_frames": 368,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2654283212936246,
+              -0.3232224176572006,
+              0.8515395416082514
+            ],
+            "target_position": [
+              0.2583315866065999,
+              -0.32292539279274923,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00710294776752033,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1818872259260276,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395416082514,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754754631518287,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08758474787889854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14980723589855952,
+            "release_required_pad_clearance": 0.05379237393944927,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5938816403309457,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006787300109863281,
+            "max_z_decrease": 0.006787300109863281,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512286134218853,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006787300109863281,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021219138889761836,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.006787300109863281,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006787315358584861,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11403151601552963,
+              -0.37918683886528015,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11403151601552963,
+              -0.37918683886528015,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11209461072661417,
+              -0.3805914477654306,
+              0.8079267466712723
+            ],
+            "closest_button": [
+              0.1140216290950775,
+              -0.3791859149932861,
+              0.7728849649429321
+            ],
+            "closest_ee_minus_button": [
+              -0.0019270183684633319,
+              -0.0014055327721445021,
+              0.03504178172834016
+            ],
+            "button_min_z_position": [
+              0.11401722580194472,
+              -0.37918516993522644,
+              0.7700215578079224
+            ],
+            "min_active_finger_to_button": 0.14795641026273285,
+            "closest_active_finger": [
+              -0.02916056662797928,
+              -0.36524227261543274,
+              0.8107778429985046
+            ],
+            "closest_active_finger_button": [
+              0.1140327900648117,
+              -0.37918785214424133,
+              0.7762483954429626
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14319335669279099,
+              0.013945579528808594,
+              0.03452944755554199
+            ],
+            "min_contact_pad_to_button": 0.021219138889761836,
+            "closest_contact_pad": [
+              0.11401722580194472,
+              -0.3816869976403842,
+              0.7910926924085249
+            ],
+            "closest_contact_pad_button": [
+              0.11401722580194472,
+              -0.37918516993522644,
+              0.7700215578079224
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025018277051577775,
+              0.021071134600602504
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27073098026957554,
+              0.20721662869035337,
+              1.1043684932608606
+            ],
+            "current_z": 1.1043684932608606,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19445936352649806,
+            "gripper_z": 1.1043684711760104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27073098176405685,
+              0.20721661115178436,
+              1.1043684711760104
+            ],
+            "object_minus_gripper": [
+              -1.4944813164774473e-09,
+              1.753856901376416e-08,
+              2.208485017085593e-08
+            ],
+            "object_to_gripper_xy": 1.7602127071915726e-08,
+            "object_to_gripper_z": 2.208485017085593e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27073098026957554,
+              0.20721662869035337,
+              1.1043684932608606
+            ],
+            "finger_b": [
+              0.27073098026957554,
+              0.20721662869035337,
+              1.1043684932608606
+            ],
+            "finger_midpoint": [
+              0.27073098026957554,
+              0.20721662869035337,
+              1.1043684932608606
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1043684932608606,
+            "object_top_z": 1.2293769998811404,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27073098026957554,
+            0.20721662869035337,
+            1.1043684932608606
+          ],
+          "object_origin_world": [
+            0.27073098026957554,
+            0.20721662869035337,
+            1.1043684932608606
+          ],
+          "frame_world": [
+            0.27073098176405685,
+            0.20721661115178436,
+            1.1043684711760104
+          ],
+          "center_minus_frame": [
+            -1.4944813164774473e-09,
+            1.753856901376416e-08,
+            2.208485017085593e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.0437890162543615,
+            "required_z": 0.9112599146225999,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0007382375323153531,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.177032843252469e-08,
+            "max_target_xy_drift": 1.3021528337115853e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.593579856489843,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.5938816417695505,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2653187316569193,
+              -0.32395851855238333,
+              0.9234716658281991
+            ],
+            "target_mouth_xy": [
+              0.265428371902726,
+              -0.32322254583617527
+            ],
+            "rod_tip_z": 0.9234716658281991,
+            "rod_tip_depth": -0.02221179979064647,
+            "rod_tip_bottom_clearance": 0.12165236205752594,
+            "rod_tip_xy_dist": 0.0007440946327606639,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04419112433752559,
+            "min_rod_tip_bottom_clearance": 0.05524945695632144,
+            "min_rod_tip_xy_dist": 0.00015379549677180907,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26542836341324894,
+              -0.3232225049376531
+            ],
+            "target_mouth_xy_delta_from_start": [
+              8.489477065776185e-09,
+              -4.089852218003287e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0004312884706859088,
+                0.0008945204991940292
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00031937025596845414,
+                0.0005604475767166939
+              ],
+              "first_target_mouth_xy": [
+                0.2654283664310759,
+                -0.32322244554263335
+              ],
+              "last_target_mouth_xy": [
+                0.26542836817735554,
+                -0.3232224455166357
+              ],
+              "first_rod_tip_xy": [
+                0.26585965490176183,
+                -0.3223279250434393
+              ],
+              "last_rod_tip_xy": [
+                0.265747738433324,
+                -0.322661997939919
+              ],
+              "min_rod_tip_xy_dist": 0.0006450572429210996,
+              "max_rod_tip_xy_dist": 0.0009930642821212156,
+              "first_target_xy_drift": 5.947163735052508e-08,
+              "last_target_xy_drift": 5.961169364119437e-08,
+              "max_depth": 0.01940642185920094,
+              "min_bottom_clearance": 0.08003409969894348
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004312884706859088,
+                  0.0008945204991940292
+                ],
+                "rod_tip_xy": [
+                  0.26585965490176183,
+                  -0.3223279250434393
+                ],
+                "target_mouth_xy": [
+                  0.2654283664310759,
+                  -0.32322244554263335
+                ],
+                "gripper_position": [
+                  0.2658481839124888,
+                  -0.32233349918266135,
+                  1.005969488084188
+                ],
+                "rod_tip_xy_dist": 0.0009930642821212156,
+                "target_xy_drift": 5.947163735052508e-08,
+                "depth": 0.01515925462992529,
+                "bottom_clearance": 0.08428133218835332,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0004198171967081388,
+                  0.0008889450876504723
+                ],
+                "rod_tip_xy": [
+                  0.26584818391248893,
+                  -0.3223334991826613
+                ],
+                "target_mouth_xy": [
+                  0.2654283667157808,
+                  -0.32322244427031177
+                ],
+                "gripper_position": [
+                  0.26585196257572274,
+                  -0.3223937534984787,
+                  1.0054579328533186
+                ],
+                "rod_tip_xy_dist": 0.0009830919832395065,
+                "target_xy_drift": 6.075716434451205e-08,
+                "depth": 0.015290338541249171,
+                "bottom_clearance": 0.08415025092137152,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004236285580290211,
+                  0.0008287209603374812
+                ],
+                "rod_tip_xy": [
+                  0.26585196257572286,
+                  -0.32239375349847876
+                ],
+                "target_mouth_xy": [
+                  0.26542833401769383,
+                  -0.32322247445881624
+                ],
+                "gripper_position": [
+                  0.2658404832495427,
+                  -0.3223991881866411,
+                  1.0053271082784567
+                ],
+                "rod_tip_xy_dist": 0.0009307199284856991,
+                "target_xy_drift": 4.234451741399801e-08,
+                "depth": 0.015801918412921334,
+                "bottom_clearance": 0.08363877396800035,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00041211400187374236,
+                  0.0008233875268037205
+                ],
+                "rod_tip_xy": [
+                  0.26584048324954274,
+                  -0.32239918818664115
+                ],
+                "target_mouth_xy": [
+                  0.265428369247669,
+                  -0.32322257571344487
+                ],
+                "gripper_position": [
+                  0.26583190121084416,
+                  -0.3223983293153168,
+                  1.005212308346278
+                ],
+                "rod_tip_xy_dist": 0.0009207632539563786,
+                "target_xy_drift": 7.101586555060631e-08,
+                "depth": 0.0159327783394273,
+                "bottom_clearance": 0.08350788445985768,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0004035342076919024,
+                  0.0008241447659512735
+                ],
+                "rod_tip_xy": [
+                  0.26583190121084427,
+                  -0.32239832931531676
+                ],
+                "target_mouth_xy": [
+                  0.26542836700315237,
+                  -0.32322247408126803
+                ],
+                "gripper_position": [
+                  0.2658369025620497,
+                  -0.3224593677446087,
+                  1.0047004788635971
+                ],
+                "rod_tip_xy_dist": 0.0009176352499890198,
+                "target_xy_drift": 3.1064511995131894e-08,
+                "depth": 0.01604756875132518,
+                "bottom_clearance": 0.08339300890584334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00040853588796835316,
+                  0.0007630762207572195
+                ],
+                "rod_tip_xy": [
+                  0.2658369025620498,
+                  -0.3224593677446087
+                ],
+                "target_mouth_xy": [
+                  0.26542836667408143,
+                  -0.3232224439653659
+                ],
+                "gripper_position": [
+                  0.26582516696541336,
+                  -0.32246474608370446,
+                  1.0045697437770447
+                ],
+                "rod_tip_xy_dist": 0.0008655558274560986,
+                "target_xy_drift": 6.10594204894676e-08,
+                "depth": 0.01655941369108771,
+                "bottom_clearance": 0.08288118779310161,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0003968001975243607,
+                  0.0007576985167291328
+                ],
+                "rod_tip_xy": [
+                  0.2658251669654134,
+                  -0.32246474608370446
+                ],
+                "target_mouth_xy": [
+                  0.26542836676788906,
+                  -0.3232224446004336
+                ],
+                "gripper_position": [
+                  0.265816544937506,
+                  -0.3224635523181147,
+                  1.0044553279090085
+                ],
+                "rod_tip_xy_dist": 0.0008553113111662324,
+                "target_xy_drift": 6.043040349983437e-08,
+                "depth": 0.016690075783932223,
+                "bottom_clearance": 0.08275050038601928,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00038814724152297364,
+                  0.0007589226852106612
+                ],
+                "rod_tip_xy": [
+                  0.26581654493750606,
+                  -0.32246355231811463
+                ],
+                "target_mouth_xy": [
+                  0.2654283976959831,
+                  -0.3232224750033253
+                ],
+                "gripper_position": [
+                  0.265822218215676,
+                  -0.3225261548909031,
+                  1.003944739892721
+                ],
+                "rod_tip_xy_dist": 0.0008524212123294762,
+                "target_xy_drift": 4.551230428576473e-08,
+                "depth": 0.016804451299270773,
+                "bottom_clearance": 0.08263606889240138,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0003939003125206231,
+                  0.0006962901199282223
+                ],
+                "rod_tip_xy": [
+                  0.2658222182156761,
+                  -0.3225261548909031
+                ],
+                "target_mouth_xy": [
+                  0.26542831790315546,
+                  -0.3232224450108313
+                ],
+                "gripper_position": [
+                  0.26581046928737095,
+                  -0.32253140867027325,
+                  1.003813959343723
+                ],
+                "rod_tip_xy_dist": 0.0007999858669460997,
+                "target_xy_drift": 7.524887093346688e-08,
+                "depth": 0.01731520311468071,
+                "bottom_clearance": 0.08212552586719213,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00038210298343582805,
+                  0.000691066075332869
+                ],
+                "rod_tip_xy": [
+                  0.26581046928737107,
+                  -0.3225314086702733
+                ],
+                "target_mouth_xy": [
+                  0.26542836630393524,
+                  -0.32322247474560617
+                ],
+                "gripper_position": [
+                  0.2658017546570157,
+                  -0.32252986928453065,
+                  1.003699087466395
+                ],
+                "rod_tip_xy_dist": 0.0007896676582123237,
+                "target_xy_drift": 3.033011316166343e-08,
+                "depth": 0.01744592869335937,
+                "bottom_clearance": 0.08199465442701326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.000373403514206061,
+                  0.0006926045031110384
+                ],
+                "rod_tip_xy": [
+                  0.26580175465701583,
+                  -0.32252986928453065
+                ],
+                "target_mouth_xy": [
+                  0.26542835114280977,
+                  -0.3232224737876417
+                ],
+                "gripper_position": [
+                  0.26580821471808525,
+                  -0.322593348782503,
+                  1.0031908649732706
+                ],
+                "rod_tip_xy_dist": 0.0007868488941030065,
+                "target_xy_drift": 3.3479648859303146e-08,
+                "depth": 0.017560764868637446,
+                "bottom_clearance": 0.08187986118237334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003798919276890578,
+                  0.0006290961188844535
+                ],
+                "rod_tip_xy": [
+                  0.2658082147180853,
+                  -0.322593348782503
+                ],
+                "target_mouth_xy": [
+                  0.26542832279039624,
+                  -0.32322244490138746
+                ],
+                "gripper_position": [
+                  0.2657962294480367,
+                  -0.32259874330893396,
+                  1.0030600826634173
+                ],
+                "rod_tip_xy_dist": 0.000734901220245817,
+                "target_xy_drift": 7.248840839171232e-08,
+                "depth": 0.018068926921725903,
+                "bottom_clearance": 0.0813716099503835,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00036787900456769496,
+                  0.0006237625404269531
+                ],
+                "rod_tip_xy": [
+                  0.2657962294480368,
+                  -0.322598743308934
+                ],
+                "target_mouth_xy": [
+                  0.26542835044346913,
+                  -0.32322250584936096
+                ],
+                "gripper_position": [
+                  0.26578746585640256,
+                  -0.32259727569270336,
+                  1.0029459912072736
+                ],
+                "rod_tip_xy_dist": 0.0007241648077900531,
+                "target_xy_drift": 1.300178447210576e-08,
+                "depth": 0.01819985181239059,
+                "bottom_clearance": 0.08124080126595878,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00035909899236208354,
+                  0.0006251990452746936
+                ],
+                "rod_tip_xy": [
+                  0.2657874658564026,
+                  -0.32259727569270347
+                ],
+                "target_mouth_xy": [
+                  0.26542836686404053,
+                  -0.32322247473797816
+                ],
+                "gripper_position": [
+                  0.2657786146574789,
+                  -0.3225960631350247,
+                  1.002831561026879
+                ],
+                "rod_tip_xy_dist": 0.000720989550914472,
+                "target_xy_drift": 3.039618937250756e-08,
+                "depth": 0.01831381982764102,
+                "bottom_clearance": 0.08112674111258567,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00035026513751712507,
+                  0.0006264129075309044
+                ],
+                "rod_tip_xy": [
+                  0.26577861465747893,
+                  -0.32259606313502476
+                ],
+                "target_mouth_xy": [
+                  0.2654283495199618,
+                  -0.32322247604255566
+                ],
+                "gripper_position": [
+                  0.26578650650829816,
+                  -0.3226613099852912,
+                  1.0023259871484413
+                ],
+                "rod_tip_xy_dist": 0.0007176899032877724,
+                "target_xy_drift": 3.206166063352111e-08,
+                "depth": 0.018428341145177662,
+                "bottom_clearance": 0.08101234575298266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003581406952610777,
+                  0.000561164128956182
+                ],
+                "rod_tip_xy": [
+                  0.26578650650829827,
+                  -0.3226613099852912
+                ],
+                "target_mouth_xy": [
+                  0.2654283658130372,
+                  -0.32322247411424737
+                ],
+                "gripper_position": [
+                  0.2657744823835408,
+                  -0.32266661669666874,
+                  1.0021957863587903
+                ],
+                "rod_tip_xy_dist": 0.0006657100999904076,
+                "target_xy_drift": 3.091668358110983e-08,
+                "depth": 0.018933926639803533,
+                "bottom_clearance": 0.08050669757735063,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.00034611441460491443,
+                  0.000555857687463357
+                ],
+                "rod_tip_xy": [
+                  0.26577448238354084,
+                  -0.32266661669666874
+                ],
+                "target_mouth_xy": [
+                  0.26542836796893593,
+                  -0.3232224743841321
+                ],
+                "gripper_position": [
+                  0.26576547554902386,
+                  -0.3226649782388331,
+                  1.002081832390793
+                ],
+                "rod_tip_xy_dist": 0.0006548075722755607,
+                "target_xy_drift": 3.089129212154534e-08,
+                "depth": 0.019063995935494016,
+                "bottom_clearance": 0.08037653275392953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0003371123511519136,
+                  0.0005574965595837034
+                ],
+                "rod_tip_xy": [
+                  0.26576547554902397,
+                  -0.3226649782388332
+                ],
+                "target_mouth_xy": [
+                  0.26542836319787205,
+                  -0.3232224747984169
+                ],
+                "gripper_position": [
+                  0.26575667518154067,
+                  -0.3226633141992088,
+                  1.001967466661224
+                ],
+                "rod_tip_xy_dist": 0.0006514960869006327,
+                "target_xy_drift": 3.014000570092443e-08,
+                "depth": 0.019178092357921894,
+                "bottom_clearance": 0.08026261342909002,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0003283068264451905,
+                  0.0005591614534077305
+                ],
+                "rod_tip_xy": [
+                  0.2657566751815408,
+                  -0.3226633141992088
+                ],
+                "target_mouth_xy": [
+                  0.2654283683550956,
+                  -0.3232224756526165
+                ],
+                "gripper_position": [
+                  0.26574773843332394,
+                  -0.32266199793991895,
+                  1.0018534146050904
+                ],
+                "rod_tip_xy_dist": 0.000648418771526209,
+                "target_xy_drift": 2.9699077676158177e-08,
+                "depth": 0.019292370943497228,
+                "bottom_clearance": 0.08014815655596841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.00031937025596845414,
+                  0.0005604475767166939
+                ],
+                "rod_tip_xy": [
+                  0.265747738433324,
+                  -0.322661997939919
+                ],
+                "target_mouth_xy": [
+                  0.26542836817735554,
+                  -0.3232224455166357
+                ],
+                "gripper_position": [
+                  0.26573874902137073,
+                  -0.32266046282046323,
+                  1.0017395617403302
+                ],
+                "rod_tip_xy_dist": 0.0006450572429210996,
+                "target_xy_drift": 5.961169364119437e-08,
+                "depth": 0.01940642185920094,
+                "bottom_clearance": 0.08003409969894348,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005934708391187847,
+              "rod_tip_xy_max_step": 3.221054500844927e-05,
+              "rod_tip_xy_range": 0.0005934631451091429,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2653187316569193,
+            -0.32395851855238333,
+            1.043471665828199
+          ],
+          "object_origin_world": [
+            0.2653187316569193,
+            -0.32395851855238333,
+            1.043471665828199
+          ],
+          "frame_world": [
+            0.2653445279810441,
+            -0.32395600670828506,
+            1.0437890162543615
+          ],
+          "center_minus_frame": [
+            -2.5796324124749415e-05,
+            -2.5118440982740964e-06,
+            -0.0003173504261624327
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25539764968563455,
+              0.1599880225227018,
+              0.8320462973565538
+            ],
+            "target_position": [
+              0.270892718069752,
+              0.20554120271264986,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04811641476301359,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16616201578177126,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320462973565538,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675170216012,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13507183728507502,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28864912703864953,
+              -0.08380309449314872,
+              1.0448745823289236
+            ],
+            "current_z": 1.0448745823289236,
+            "required_z": 0.8565861081578552,
+            "initial_z": 0.7565861081578552,
+            "lift_margin": 0.18828847417106842,
+            "gripper_z": 1.0480832147374033,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2844055978961575,
+              -0.08824734334833456,
+              1.0480832147374033
+            ],
+            "object_minus_gripper": [
+              0.004243529142492042,
+              0.004444248855185837,
+              -0.0032086324084796836
+            ],
+            "object_to_gripper_xy": 0.006144826073209873,
+            "object_to_gripper_z": -0.0032086324084796836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28864912703864953,
+              -0.1075362408540127,
+              1.0448745823289236
+            ],
+            "finger_b": [
+              0.27736923103909755,
+              -0.08380309449314872,
+              1.0448745823289236
+            ],
+            "finger_midpoint": [
+              0.28300917903887357,
+              -0.0956696676735807,
+              1.0448745823289236
+            ],
+            "object_minus_finger_midpoint": [
+              0.005639947999775963,
+              0.01186657318043198,
+              0.0
+            ],
+            "finger_gap": 0.026277334148404396,
+            "fingertip_max_gap": 0.09426559116126434,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013138667074202179,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0448745823289236,
+            "object_top_z": 1.091638153860334,
+            "finger_top_clearance": 0.04676357153141031,
+            "fingertip_min_top_clearance": 0.014029071459423125,
+            "object_projection_between_fingers": 0.8157329922272603,
+            "object_to_finger_line_xy": 0.010187769473904068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049632795580632175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.699627605962849,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28869111963873895,
+              -0.0884238866454587,
+              1.239165624035123
+            ],
+            "held_position": [
+              0.29331834923610534,
+              -0.0843850214215158,
+              1.2359526314219644
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00693159487968896,
+            "max_held_gripper_dist": 0.006933622629128649,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032129926131585496,
+            "max_held_gripper_z_dist": 0.0032129926131585496,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642143259657217,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29331834923610534,
+              -0.10953196411170266,
+              1.2359526314219644
+            ],
+            "held_grasp_finger_b": [
+              0.28490319326843183,
+              -0.08418057625257719,
+              1.2359526314219644
+            ],
+            "held_grasp_midpoint": [
+              0.2891107712522686,
+              -0.09685627018213992,
+              1.2359526314219644
+            ],
+            "held_grasp_object_position": [
+              0.29331834923610534,
+              -0.0843850214215158,
+              1.2359526314219644
+            ],
+            "held_grasp_finger_gap": 0.026711565217038203,
+            "held_grasp_max_gap": 0.1249660900235176,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02454662463921486,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.084735819969713,
+              -0.9963829168120372,
+              -0.006397179003075236
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0031367276143536944,
+            "held_grasp_line_xy_max_dist": 0.047483045011758804,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03241806354363558,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25824390779935513,
+              -0.08282627189091463,
+              0.7565900771051199
+            ],
+            "target_position": [
+              0.2651121030859992,
+              -0.0858397535221566,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.007500211866161683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21295404609617694,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565900771051199,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558259711809542,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0929929972410027,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18498471619271303,
+            "release_required_pad_clearance": 0.05649649862050135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.336560949795256,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 243,
+            "max_placed_release_frames": 243
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a487b6573d3e179d01cc7653d59006c0b5524ed059cc0a83092f1fdb222a5683",
+    "visual_seed": 3870133753475064845,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa38c32f355f0721aceeaa45ffb8205d051579c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_27_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3679329552701465,
+              0.10762175280454345,
+              1.1642348797065663
+            ],
+            "current_z": 1.1642348797065663,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.30312843129644484,
+            "gripper_z": 1.1540094226541224,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.362657995059269,
+              0.10267943681923405,
+              1.1540094226541224
+            ],
+            "object_minus_gripper": [
+              0.005274960210877533,
+              0.004942315985309392,
+              0.01022545705244382
+            ],
+            "object_to_gripper_xy": 0.007228533220853723,
+            "object_to_gripper_z": 0.01022545705244382,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3679329552701465,
+              0.08330524999459185,
+              1.1642348797065663
+            ],
+            "finger_b": [
+              0.356933221631798,
+              0.10762175280454345,
+              1.1642348797065663
+            ],
+            "finger_midpoint": [
+              0.3624330884509723,
+              0.09546350139956765,
+              1.1642348797065663
+            ],
+            "object_minus_finger_midpoint": [
+              0.005499866819174248,
+              0.012158251404975798,
+              0.0
+            ],
+            "finger_gap": 0.026688695153959836,
+            "fingertip_max_gap": 0.09206081414240372,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013344347576979918,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1642348797065663,
+            "object_top_z": 1.2141570200623928,
+            "finger_top_clearance": 0.04992214035582654,
+            "fingertip_min_top_clearance": 0.014976642106747961,
+            "object_projection_between_fingers": 0.8301327502707434,
+            "object_to_finger_line_xy": 0.01002203563653559,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853040707120186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5701402061394278,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.266032056827232,
+              -0.33184860739238675,
+              0.851539506167335
+            ],
+            "target_position": [
+              0.25881149980917695,
+              -0.331825761986834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072205931587051245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18513313946678722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539506167335,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572888767688304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08851537655554188,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15249029327335914,
+            "release_required_pad_clearance": 0.054257688277770943,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.53426511469022,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007162570953369141,
+            "max_z_decrease": 0.007162570953369141,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511708415531931,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007162570953369141,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021110824722592736,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007162570953369141,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007162596440924361,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11451142281293865,
+              -0.3880872130393982,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11451142281293865,
+              -0.3880872130393982,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11444249063974274,
+              -0.38630725115588505,
+              0.8076084769042793
+            ],
+            "closest_button": [
+              0.11450053751468654,
+              -0.3880836069583892,
+              0.7725363969802856
+            ],
+            "closest_ee_minus_button": [
+              -5.8046874943804005e-05,
+              0.0017763558025041815,
+              0.03507207992399364
+            ],
+            "button_min_z_position": [
+              0.11449233442544933,
+              -0.38808634877204895,
+              0.7696462869644165
+            ],
+            "min_active_finger_to_button": 0.14550431612457324,
+            "closest_active_finger": [
+              -0.012374214828014374,
+              -0.45039570331573486,
+              0.811002254486084
+            ],
+            "closest_active_finger_button": [
+              0.11451247334480283,
+              -0.3880869150161743,
+              0.7765219807624817
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268866881728172,
+              -0.06230878829956055,
+              0.034480273723602295
+            ],
+            "min_contact_pad_to_button": 0.021110824722592736,
+            "closest_contact_pad": [
+              0.11449233442544933,
+              -0.38808634877204895,
+              0.7907571116870092
+            ],
+            "closest_contact_pad_button": [
+              0.11449233442544933,
+              -0.38808634877204895,
+              0.7696462869644165
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021110824722592736
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26873258702807706,
+              0.2057327589207196,
+              1.100698170172529
+            ],
+            "current_z": 1.100698170172529,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19078904043816636,
+            "gripper_z": 1.100697979523587,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2687325193192608,
+              0.20573277308687032,
+              1.100697979523587
+            ],
+            "object_minus_gripper": [
+              6.770881627593539e-08,
+              -1.4166150724692628e-08,
+              1.9064894196674231e-07
+            ],
+            "object_to_gripper_xy": 6.9174877143679e-08,
+            "object_to_gripper_z": 1.9064894196674231e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26873258702807706,
+              0.2057327589207196,
+              1.100698170172529
+            ],
+            "finger_b": [
+              0.26873258702807706,
+              0.2057327589207196,
+              1.100698170172529
+            ],
+            "finger_midpoint": [
+              0.26873258702807706,
+              0.2057327589207196,
+              1.100698170172529
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.100698170172529,
+            "object_top_z": 1.2257066767928086,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26873258702807706,
+            0.2057327589207196,
+            1.1006981701725291
+          ],
+          "object_origin_world": [
+            0.26873258702807706,
+            0.2057327589207196,
+            1.1006981701725291
+          ],
+          "frame_world": [
+            0.2687325193192608,
+            0.20573277308687032,
+            1.100697979523587
+          ],
+          "center_minus_frame": [
+            6.770881627593539e-08,
+            -1.4166150724692628e-08,
+            1.9064894218878692e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043316600650433,
+            "required_z": 0.911259900507091,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0021092575469186443,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 5.671266688836654e-08,
+            "max_target_xy_drift": 1.5108990044190775e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.5344865981216316,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.5344865982618563,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26647437492749304,
+              -0.3339079784002473,
+              0.9234220381287553
+            ],
+            "target_mouth_xy": [
+              0.26603200629844503,
+              -0.33184862336089704
+            ],
+            "rod_tip_z": 0.9234220381287553,
+            "rod_tip_depth": -0.022162181268550962,
+            "rod_tip_bottom_clearance": 0.12160273444864489,
+            "rod_tip_xy_dist": 0.002106331688519878,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04454296052153439,
+            "min_rod_tip_bottom_clearance": 0.05489760465828919,
+            "min_rod_tip_xy_dist": 0.0009313510678175022,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.26603205464811824,
+              -0.3318485937191075
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.834967320954675e-08,
+              -2.9641789522916184e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.000955771404804906,
+                -0.00028086269774346695
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0008551750247965395,
+                -0.0006716596866795377
+              ],
+              "first_target_mouth_xy": [
+                0.2660320068536246,
+                -0.3318486239304608
+              ],
+              "last_target_mouth_xy": [
+                0.26603203808267706,
+                -0.33184859533167077
+              ],
+              "first_rod_tip_xy": [
+                0.2669877782584295,
+                -0.33212948662820424
+              ],
+              "last_rod_tip_xy": [
+                0.2668872131074736,
+                -0.3325202550183503
+              ],
+              "min_rod_tip_xy_dist": 0.000987071188545826,
+              "max_rod_tip_xy_dist": 0.001100517260466021,
+              "first_target_xy_drift": 5.654236896081449e-08,
+              "last_target_xy_drift": 1.66437436264323e-08,
+              "max_depth": 0.019749625064446774,
+              "min_bottom_clearance": 0.07969092668280042
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.000955771404804906,
+                  -0.00028086269774346695
+                ],
+                "rod_tip_xy": [
+                  0.2669877782584295,
+                  -0.33212948662820424
+                ],
+                "target_mouth_xy": [
+                  0.2660320068536246,
+                  -0.3318486239304608
+                ],
+                "gripper_position": [
+                  0.2669764018034211,
+                  -0.3321358837549962,
+                  1.0056642539810396
+                ],
+                "rod_tip_xy_dist": 0.0009961841362049898,
+                "target_xy_drift": 5.654236896081449e-08,
+                "depth": 0.01546185311077275,
+                "bottom_clearance": 0.08397865857039599,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0009443473887659759,
+                  -0.00028725866494877517
+                ],
+                "rod_tip_xy": [
+                  0.266976401803421,
+                  -0.3321358837549962
+                ],
+                "target_mouth_xy": [
+                  0.26603205441465505,
+                  -0.3318486250900474
+                ],
+                "gripper_position": [
+                  0.26698192561936773,
+                  -0.33220408731724604,
+                  1.005152125335606
+                ],
+                "rod_tip_xy_dist": 0.000987071188545826,
+                "target_xy_drift": 3.1371808608318274e-08,
+                "depth": 0.015595652908422908,
+                "bottom_clearance": 0.08384495546798787,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0009499173965547003,
+                  -0.00035543427633549785
+                ],
+                "rod_tip_xy": [
+                  0.2669819256193677,
+                  -0.3322040873172461
+                ],
+                "target_mouth_xy": [
+                  0.266032008222813,
+                  -0.3318486530409106
+                ],
+                "gripper_position": [
+                  0.2669702823856196,
+                  -0.3322104345586126,
+                  1.0050187190438895
+                ],
+                "rod_tip_xy_dist": 0.0010142369472028708,
+                "target_xy_drift": 7.532851578173986e-08,
+                "depth": 0.01610764933322495,
+                "bottom_clearance": 0.08333290212037892,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0009382735528488673,
+                  -0.00036184207998374296
+                ],
+                "rod_tip_xy": [
+                  0.26697028238561954,
+                  -0.3322104345586126
+                ],
+                "target_mouth_xy": [
+                  0.26603200883277067,
+                  -0.33184859247862886
+                ],
+                "gripper_position": [
+                  0.2669619159162531,
+                  -0.332210135178616,
+                  1.0049011568636792
+                ],
+                "rod_tip_xy_dist": 0.0010056276402439412,
+                "target_xy_drift": 4.583213785539933e-08,
+                "depth": 0.016241196559938498,
+                "bottom_clearance": 0.08319941339275028,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0009299074924239425,
+                  -0.0003615106702889448
+                ],
+                "rod_tip_xy": [
+                  0.26696191591625307,
+                  -0.3322101351786159
+                ],
+                "target_mouth_xy": [
+                  0.2660320084238291,
+                  -0.331848624508327
+                ],
+                "gripper_position": [
+                  0.26696853368714146,
+                  -0.3322797213657929,
+                  1.004389085724767
+                ],
+                "rod_tip_xy_dist": 0.0009977063241249635,
+                "target_xy_drift": 5.553972397274807e-08,
+                "depth": 0.01635860907652209,
+                "bottom_clearance": 0.0830819276767173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.000936494002036159,
+                  -0.0004311270119637389
+                ],
+                "rod_tip_xy": [
+                  0.2669685336871414,
+                  -0.3322797213657929
+                ],
+                "target_mouth_xy": [
+                  0.26603203968510525,
+                  -0.3318485943538292
+                ],
+                "gripper_position": [
+                  0.26695683547223,
+                  -0.33228589413124826,
+                  1.0042555585227866
+                ],
+                "rod_tip_xy_dist": 0.0010309663022109322,
+                "target_xy_drift": 1.4976469192990563e-08,
+                "depth": 0.016870806531575355,
+                "bottom_clearance": 0.08256977773528507,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0009247685932223249,
+                  -0.00043729936855302354
+                ],
+                "rod_tip_xy": [
+                  0.2669568354722299,
+                  -0.33228589413124837
+                ],
+                "target_mouth_xy": [
+                  0.2660320668790076,
+                  -0.33184859476269535
+                ],
+                "gripper_position": [
+                  0.2669481711114224,
+                  -0.33228563648111714,
+                  1.0041379555538459
+                ],
+                "rod_tip_xy_dist": 0.0010229504820602367,
+                "target_xy_drift": 1.2275330138662682e-08,
+                "depth": 0.017004201387675777,
+                "bottom_clearance": 0.08243629737694202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0009161640558936757,
+                  -0.00043704108796122076
+                ],
+                "rod_tip_xy": [
+                  0.2669481711114223,
+                  -0.33228563648111714
+                ],
+                "target_mouth_xy": [
+                  0.26603200705552865,
+                  -0.3318485953931559
+                ],
+                "gripper_position": [
+                  0.2669556423121725,
+                  -0.33235624285512466,
+                  1.0036280342755575
+                ],
+                "rod_tip_xy_dist": 0.0010150672341662289,
+                "target_xy_drift": 4.762202244836713e-08,
+                "depth": 0.01712188280561333,
+                "bottom_clearance": 0.08231864785059784,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0009236162606303111,
+                  -0.000507621302016148
+                ],
+                "rod_tip_xy": [
+                  0.26695564231217245,
+                  -0.3323562428551247
+                ],
+                "target_mouth_xy": [
+                  0.26603202605154214,
+                  -0.33184862155310857
+                ],
+                "gripper_position": [
+                  0.26694378672926034,
+                  -0.3323622927967029,
+                  1.003494531253061
+                ],
+                "rod_tip_xy_dist": 0.0010539195335324647,
+                "target_xy_drift": 3.990608699702112e-08,
+                "depth": 0.017631910562387332,
+                "bottom_clearance": 0.08180881099108805,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0009117498933536305,
+                  -0.0005136983365784942
+                ],
+                "rod_tip_xy": [
+                  0.2669437867292603,
+                  -0.3323622927967029
+                ],
+                "target_mouth_xy": [
+                  0.26603203683590665,
+                  -0.3318485944601244
+                ],
+                "gripper_position": [
+                  0.2669349912116803,
+                  -0.33236199233830166,
+                  1.0033770434685045
+                ],
+                "rod_tip_xy_dist": 0.0010465055418075284,
+                "target_xy_drift": 1.7827618682129992e-08,
+                "depth": 0.017765289365492265,
+                "bottom_clearance": 0.08167520661145233,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0009029830127490479,
+                  -0.0005134008018167768
+                ],
+                "rod_tip_xy": [
+                  0.26693499121168024,
+                  -0.3323619923383016
+                ],
+                "target_mouth_xy": [
+                  0.2660320081989312,
+                  -0.3318485915364848
+                ],
+                "gripper_position": [
+                  0.2669263398340399,
+                  -0.332361592306926,
+                  1.0032597601831603
+                ],
+                "rod_tip_xy_dist": 0.001038729370249757,
+                "target_xy_drift": 4.650043891872748e-08,
+                "depth": 0.017882825443868766,
+                "bottom_clearance": 0.08155779738941638,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0008943341438829022,
+                  -0.0005129971966904567
+                ],
+                "rod_tip_xy": [
+                  0.26692633983403985,
+                  -0.33236159230692613
+                ],
+                "target_mouth_xy": [
+                  0.26603200569015695,
+                  -0.3318485951102357
+                ],
+                "gripper_position": [
+                  0.2669353343389552,
+                  -0.33243451821479886,
+                  1.0027507261826625
+                ],
+                "rod_tip_xy_dist": 0.0010310187606086664,
+                "target_xy_drift": 4.8977721586669886e-08,
+                "depth": 0.01800011266623891,
+                "bottom_clearance": 0.08144045665720345,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0009033223731225726,
+                  -0.0005858200437492966
+                ],
+                "rod_tip_xy": [
+                  0.26693533433895517,
+                  -0.3324345182147988
+                ],
+                "target_mouth_xy": [
+                  0.2660320119658326,
+                  -0.3318486981710495
+                ],
+                "gripper_position": [
+                  0.26692334022332576,
+                  -0.3324404938516554,
+                  1.0026176276801715
+                ],
+                "rod_tip_xy_dist": 0.0010766505623656284,
+                "target_xy_drift": 1.128361010168698e-07,
+                "depth": 0.018509095925791086,
+                "bottom_clearance": 0.08093141129050896,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.000891302165486163,
+                  -0.0005918981975591153
+                ],
+                "rod_tip_xy": [
+                  0.2669233402233257,
+                  -0.33244049385165547
+                ],
+                "target_mouth_xy": [
+                  0.26603203805783954,
+                  -0.33184859565409636
+                ],
+                "gripper_position": [
+                  0.26691471104957676,
+                  -0.33243969064069495,
+                  1.0025004645072266
+                ],
+                "rod_tip_xy_dist": 0.0010699359917649529,
+                "target_xy_drift": 1.6702740174892108e-08,
+                "depth": 0.018642212772722266,
+                "bottom_clearance": 0.08079834869444757,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0008826572641659758,
+                  -0.0005910677585294066
+                ],
+                "rod_tip_xy": [
+                  0.2669147110495767,
+                  -0.33243969064069495
+                ],
+                "target_mouth_xy": [
+                  0.2660320537854107,
+                  -0.33184862288216554
+                ],
+                "gripper_position": [
+                  0.2669058376258491,
+                  -0.3324391373669587,
+                  1.0023833140080705
+                ],
+                "rod_tip_xy_dist": 0.001062282891304356,
+                "target_xy_drift": 2.9175815628221166e-08,
+                "depth": 0.01875950139659366,
+                "bottom_clearance": 0.08068109471497553,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0008738297524732985,
+                  -0.0005905138010527944
+                ],
+                "rod_tip_xy": [
+                  0.266905837625849,
+                  -0.3324391373669587
+                ],
+                "target_mouth_xy": [
+                  0.2660320078733757,
+                  -0.3318486235659059
+                ],
+                "gripper_position": [
+                  0.2668970052245923,
+                  -0.33243876775185427,
+                  1.0022660410738349
+                ],
+                "rod_tip_xy_dist": 0.001054649223932472,
+                "target_xy_drift": 5.5486105565864974e-08,
+                "depth": 0.01887645226891077,
+                "bottom_clearance": 0.08056407408780053,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0008649967148955939,
+                  -0.0005901727449135197
+                ],
+                "rod_tip_xy": [
+                  0.26689700522459225,
+                  -0.33243876775185427
+                ],
+                "target_mouth_xy": [
+                  0.26603200850969666,
+                  -0.33184859500694075
+                ],
+                "gripper_position": [
+                  0.2669080480732977,
+                  -0.33251473557874967,
+                  1.001760712391777
+                ],
+                "rod_tip_xy_dist": 0.0010471500301384362,
+                "target_xy_drift": 4.615639133016837e-08,
+                "depth": 0.01899379046465277,
+                "bottom_clearance": 0.08044675978892901,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000876009617873319,
+                  -0.000666142169493178
+                ],
+                "rod_tip_xy": [
+                  0.26690804807329765,
+                  -0.3325147355787497
+                ],
+                "target_mouth_xy": [
+                  0.26603203845542434,
+                  -0.33184859340925654
+                ],
+                "gripper_position": [
+                  0.2668960263111878,
+                  -0.33252101673992246,
+                  1.0016273892230951
+                ],
+                "rod_tip_xy_dist": 0.001100517260466021,
+                "target_xy_drift": 1.619565817203756e-08,
+                "depth": 0.019499184931996427,
+                "bottom_clearance": 0.07994138312725585,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0008639881337340616,
+                  -0.0006723922336199784
+                ],
+                "rod_tip_xy": [
+                  0.26689602631118775,
+                  -0.33252101673992246
+                ],
+                "target_mouth_xy": [
+                  0.2660320381774537,
+                  -0.3318486245063025
+                ],
+                "gripper_position": [
+                  0.26688721310747365,
+                  -0.3325202550183503,
+                  1.0015102696299059
+                ],
+                "rod_tip_xy_dist": 0.001094799895444702,
+                "target_xy_drift": 3.4916101792374476e-08,
+                "depth": 0.0196324358456329,
+                "bottom_clearance": 0.07980809886301266,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0008551750247965395,
+                  -0.0006716596866795377
+                ],
+                "rod_tip_xy": [
+                  0.2668872131074736,
+                  -0.3325202550183503
+                ],
+                "target_mouth_xy": [
+                  0.26603203808267706,
+                  -0.33184859533167077
+                ],
+                "gripper_position": [
+                  0.2668980161266642,
+                  -0.3325885508429047,
+                  1.0009193526414628
+                ],
+                "rod_tip_xy_dist": 0.0010874056546414574,
+                "target_xy_drift": 1.66437436264323e-08,
+                "depth": 0.019749625064446774,
+                "bottom_clearance": 0.07969092668280042,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005971615373067824,
+              "rod_tip_xy_max_step": 3.240734681266721e-05,
+              "rod_tip_xy_range": 0.0005971541263926846,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26647437492749304,
+            -0.3339079784002473,
+            1.0434220381287556
+          ],
+          "object_origin_world": [
+            0.26647437492749304,
+            -0.3339079784002473,
+            1.0434220381287556
+          ],
+          "frame_world": [
+            0.26647290443180055,
+            -0.33391128577516577,
+            1.043316600650433
+          ],
+          "center_minus_frame": [
+            1.47049569249047e-06,
+            3.307374918493089e-06,
+            0.00010543747832247874
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.254689730659258,
+              0.15866616661776378,
+              0.8327657283750148
+            ],
+            "target_position": [
+              0.268904306540311,
+              0.2043106241173696,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04780659648951739,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16599659533368982,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327657283750148,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673762035481,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1352885222845315,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2954683170265061,
+              -0.08688404194195365,
+              1.046166051972383
+            ],
+            "current_z": 1.046166051972383,
+            "required_z": 0.856586354767456,
+            "initial_z": 0.7565863547674561,
+            "lift_margin": 0.18957969720492696,
+            "gripper_z": 1.0491761193995623,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2909336112741583,
+              -0.09142426705988083,
+              1.0491761193995623
+            ],
+            "object_minus_gripper": [
+              0.004534705752347823,
+              0.004540225117927177,
+              -0.0030100674271793526
+            ],
+            "object_to_gripper_xy": 0.006416946344004543,
+            "object_to_gripper_z": -0.0030100674271793526,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2954683170265061,
+              -0.11093575719175289,
+              1.046166051972383
+            ],
+            "finger_b": [
+              0.28417209886979344,
+              -0.08688404194195365,
+              1.046166051972383
+            ],
+            "finger_midpoint": [
+              0.2898202079481498,
+              -0.09890989956685327,
+              1.046166051972383
+            ],
+            "object_minus_finger_midpoint": [
+              0.005648109078356334,
+              0.012025857624899619,
+              0.0
+            ],
+            "finger_gap": 0.02657234560782074,
+            "fingertip_max_gap": 0.09183649019705373,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328617280391037,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046166051972383,
+            "object_top_z": 1.0917987167682424,
+            "finger_top_clearance": 0.04563266479585937,
+            "fingertip_min_top_clearance": 0.01368979943875781,
+            "object_projection_between_fingers": 0.8192799419776328,
+            "object_to_finger_line_xy": 0.010224668402058603,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048418245098526866,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9872257704390555,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2952880569896592,
+              -0.091426314199353,
+              1.243337473743221
+            ],
+            "held_position": [
+              0.3001729717009055,
+              -0.08727228332512293,
+              1.2403191854172635
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007087201750960572,
+            "max_held_gripper_dist": 0.007089105595512617,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003018288325957519,
+            "max_held_gripper_z_dist": 0.003018288325957519,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649161012589351,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3001729717009055,
+              -0.11253400359909653,
+              1.2403191854172635
+            ],
+            "held_grasp_finger_b": [
+              0.2913330484314218,
+              -0.08727228332512293,
+              1.2403191854172635
+            ],
+            "held_grasp_midpoint": [
+              0.29575301006616367,
+              -0.09990314346210974,
+              1.2403191854172635
+            ],
+            "held_grasp_object_position": [
+              0.3001729717009055,
+              -0.08727228332512293,
+              1.2403191854172635
+            ],
+            "held_grasp_finger_gap": 0.026763758230316754,
+            "held_grasp_max_gap": 0.12496603041887283,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024496457353721104,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07760975754252113,
+              -0.996864876273095,
+              -0.015399480095714457
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003432018910065336,
+            "held_grasp_line_xy_max_dist": 0.047483015209436416,
+            "held_grasp_object_top_z": 0.04520076885819435,
+            "held_grasp_top_clearance": 0.03226647587969468,
+            "held_grasp_min_top_clearance": 0.013560230657458304
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.256903643736742,
+              -0.08623433612601614,
+              0.7565864639712251
+            ],
+            "target_position": [
+              0.27156135460468644,
+              -0.08846949763310905,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014827151946717416,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20517117644405877,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864639712251,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757049385127459,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0891085535889475,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1779557919126538,
+            "release_required_pad_clearance": 0.05455427679447375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.142252721034741,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1c7a78ff58dde0a6210acc55b95f33a873c0cd9ce465361da26c72c5fd421c5",
+    "visual_seed": 4548041073632492893,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb32a68bb6f98a02790752664acf77e64b32e5d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_29_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3725335876619336,
+              0.1090431188677361,
+              1.164803117529022
+            ],
+            "current_z": 1.164803117529022,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.3036964903049665,
+            "gripper_z": 1.1544671986617396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3672747282669686,
+              0.10410732497510036,
+              1.1544671986617396
+            ],
+            "object_minus_gripper": [
+              0.00525885939496501,
+              0.004935793892635737,
+              0.010335918867282468
+            ],
+            "object_to_gripper_xy": 0.007212327189374591,
+            "object_to_gripper_z": 0.010335918867282468,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3725335876619336,
+              0.0846573504789215,
+              1.164803117529022
+            ],
+            "finger_b": [
+              0.36164340383050975,
+              0.1090431188677361,
+              1.164803117529022
+            ],
+            "finger_midpoint": [
+              0.3670884957462217,
+              0.0968502346733288,
+              1.164803117529022
+            ],
+            "object_minus_finger_midpoint": [
+              0.005445091915711908,
+              0.012192884194407297,
+              0.0
+            ],
+            "finger_gap": 0.0267069617102941,
+            "fingertip_max_gap": 0.09162088090653966,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013353480855147037,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164803117529022,
+            "object_top_z": 1.2146865036088115,
+            "finger_top_clearance": 0.04988338607978937,
+            "fingertip_min_top_clearance": 0.014965015823936778,
+            "object_projection_between_fingers": 0.8337271065810882,
+            "object_to_finger_line_xy": 0.009943680734089444,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048310440453269834,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.35004740019761,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 366,
+            "max_stable_success_frames": 366,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2694637928440958,
+              -0.3301097304422086,
+              0.8515395578562601
+            ],
+            "target_position": [
+              0.26227957930222234,
+              -0.32994662611079045,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007186064795015762,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18440281478539397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395578562601,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523669690054473,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08748995049431223,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528462854521424,
+            "release_required_pad_clearance": 0.053744975247156115,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.499209903766323,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007243812084197998,
+            "max_z_decrease": 0.007243812084197998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508640197602302,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007243812084197998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110202577203925,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007243812084197998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007243834161964074,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1179795041680336,
+              -0.3862080872058868,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1179795041680336,
+              -0.3862080872058868,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11739739946555477,
+              -0.3855318126041414,
+              0.8075905212915104
+            ],
+            "closest_button": [
+              0.1179683730006218,
+              -0.38620564341545105,
+              0.7725152373313904
+            ],
+            "closest_ee_minus_button": [
+              -0.0005709735350670209,
+              0.0006738308113096725,
+              0.03507528396012005
+            ],
+            "button_min_z_position": [
+              0.11796164512634277,
+              -0.38620713353157043,
+              0.7695650458335876
+            ],
+            "min_active_finger_to_button": 0.14641847799894156,
+            "closest_active_finger": [
+              -0.009715482592582703,
+              -0.44902774691581726,
+              0.810858428478241
+            ],
+            "closest_active_finger_button": [
+              0.11798027902841568,
+              -0.3862084150314331,
+              0.7764216065406799
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12769576162099838,
+              -0.06281933188438416,
+              0.034436821937561035
+            ],
+            "min_contact_pad_to_button": 0.02110202577203925,
+            "closest_contact_pad": [
+              0.11796164512634277,
+              -0.3865784337097097,
+              0.7906638047511525
+            ],
+            "closest_contact_pad_button": [
+              0.11796164512634277,
+              -0.38620713353157043,
+              0.7695650458335876
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00037130017813924443,
+              0.021098758917564853
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.272876156822663,
+              0.20471303887204573,
+              1.1071376687244872
+            ],
+            "current_z": 1.1071376687244872,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1972285389901246,
+            "gripper_z": 1.1071377550348536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27287614113179837,
+              0.2047130251238478,
+              1.1071377550348536
+            ],
+            "object_minus_gripper": [
+              1.569086460762037e-08,
+              1.3748197913443505e-08,
+              -8.631036640949219e-08
+            ],
+            "object_to_gripper_xy": 2.0861835441827402e-08,
+            "object_to_gripper_z": -8.631036640949219e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.272876156822663,
+              0.20471303887204573,
+              1.1071376687244872
+            ],
+            "finger_b": [
+              0.272876156822663,
+              0.20471303887204573,
+              1.1071376687244872
+            ],
+            "finger_midpoint": [
+              0.272876156822663,
+              0.20471303887204573,
+              1.1071376687244872
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1071376687244872,
+            "object_top_z": 1.232146175344767,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.272876156822663,
+            0.20471303887204573,
+            1.1071376687244872
+          ],
+          "object_origin_world": [
+            0.272876156822663,
+            0.20471303887204573,
+            1.1071376687244872
+          ],
+          "frame_world": [
+            0.27287614113179837,
+            0.2047130251238478,
+            1.1071377550348536
+          ],
+          "center_minus_frame": [
+            1.569086460762037e-08,
+            1.3748197913443505e-08,
+            -8.631036640949219e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1677,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433223414332495,
+            "required_z": 0.9112597723970253,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001976910071003468,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.313211084843778e-08,
+            "max_target_xy_drift": 1.6779271906717883e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4995230792262775,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.4998362158321275,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27079932578468713,
+              -0.3286477298786829,
+              0.9234279273220941
+            ],
+            "target_mouth_xy": [
+              0.269463641304089,
+              -0.33010986621148164
+            ],
+            "rod_tip_z": 0.9234279273220941,
+            "rod_tip_depth": -0.02216799388275248,
+            "rod_tip_bottom_clearance": 0.12160866978622831,
+            "rod_tip_xy_dist": 0.001980377662821111,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04431502521905073,
+            "min_rod_tip_bottom_clearance": 0.05512551829027612,
+            "min_rod_tip_xy_dist": 0.00021867992539722383,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.269463638446311,
+              -0.3301098332028483
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.8577780142313713e-09,
+              -3.300863332666992e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.00181309407857827,
+                0.0030874293863750735
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017176834669866414,
+                0.002752540622226074
+              ],
+              "first_target_mouth_xy": [
+                0.26946364176591353,
+                -0.33010986685688876
+              ],
+              "last_target_mouth_xy": [
+                0.2694636102989852,
+                -0.3301098612232391
+              ],
+              "first_rod_tip_xy": [
+                0.2712767358444918,
+                -0.3270224374705137
+              ],
+              "last_rod_tip_xy": [
+                0.27118129376597183,
+                -0.327357320601013
+              ],
+              "min_rod_tip_xy_dist": 0.0032445209769338757,
+              "max_rod_tip_xy_dist": 0.0035804371735345323,
+              "first_target_xy_drift": 3.3817365349263274e-08,
+              "last_target_xy_drift": 3.971667470540088e-08,
+              "max_depth": 0.019406911937537186,
+              "min_bottom_clearance": 0.08003374676097053
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00181309407857827,
+                  0.0030874293863750735
+                ],
+                "rod_tip_xy": [
+                  0.2712767358444918,
+                  -0.3270224374705137
+                ],
+                "target_mouth_xy": [
+                  0.26946364176591353,
+                  -0.33010986685688876
+                ],
+                "gripper_position": [
+                  0.2712682532670617,
+                  -0.32702214368003496,
+                  1.0060307086417313
+                ],
+                "rod_tip_xy_dist": 0.0035804371735345323,
+                "target_xy_drift": 3.3817365349263274e-08,
+                "depth": 0.015110567654228246,
+                "bottom_clearance": 0.08433014865539268,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0018045862853775518,
+                  0.0030876899490054344
+                ],
+                "rod_tip_xy": [
+                  0.27126825326706183,
+                  -0.32702214368003496
+                ],
+                "target_mouth_xy": [
+                  0.2694636669816843,
+                  -0.3301098336290404
+                ],
+                "gripper_position": [
+                  0.2712752906282159,
+                  -0.32708271278867923,
+                  1.005514942811225
+                ],
+                "rod_tip_xy_dist": 0.003576361402677578,
+                "target_xy_drift": 2.8538555819992944e-08,
+                "depth": 0.015229087214171488,
+                "bottom_clearance": 0.08421146182312234,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0018116173254251744,
+                  0.0030271524099758085
+                ],
+                "rod_tip_xy": [
+                  0.271275290628216,
+                  -0.32708271278867923
+                ],
+                "target_mouth_xy": [
+                  0.2694636733027908,
+                  -0.33010986519865504
+                ],
+                "gripper_position": [
+                  0.27126374958059996,
+                  -0.3270882251037749,
+                  1.0053800168077662
+                ],
+                "rod_tip_xy_dist": 0.0035278334777881747,
+                "target_xy_drift": 4.7314964155785405e-08,
+                "depth": 0.015744932492178232,
+                "bottom_clearance": 0.0836957967864872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0018000780268608851,
+                  0.0030216100312025485
+                ],
+                "rod_tip_xy": [
+                  0.2712637495806,
+                  -0.32708822510377483
+                ],
+                "target_mouth_xy": [
+                  0.2694636715537391,
+                  -0.3301098351349774
+                ],
+                "gripper_position": [
+                  0.27127082290345617,
+                  -0.32714901019533127,
+                  1.0048677894138158
+                ],
+                "rod_tip_xy_dist": 0.003517159092712646,
+                "target_xy_drift": 3.3163759139652126e-08,
+                "depth": 0.0158798982526428,
+                "bottom_clearance": 0.08356075221476333,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0018071849862171252,
+                  0.002960825661576405
+                ],
+                "rod_tip_xy": [
+                  0.2712708229034562,
+                  -0.3271490101953312
+                ],
+                "target_mouth_xy": [
+                  0.2694636379172391,
+                  -0.3301098358569076
+                ],
+                "gripper_position": [
+                  0.2712593347838097,
+                  -0.32715453434552566,
+                  1.0047331024217188
+                ],
+                "rod_tip_xy_dist": 0.003468775889655881,
+                "target_xy_drift": 2.7062793408285106e-09,
+                "depth": 0.01639200124370388,
+                "bottom_clearance": 0.08304855181747828,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017956929355111284,
+                  0.0029553001388122335
+                ],
+                "rod_tip_xy": [
+                  0.2712593347838098,
+                  -0.3271545343455257
+                ],
+                "target_mouth_xy": [
+                  0.2694636418482987,
+                  -0.33010983448433795
+                ],
+                "gripper_position": [
+                  0.2712503798637101,
+                  -0.32715421419223667,
+                  1.0046148672467703
+                ],
+                "rod_tip_xy_dist": 0.00345807923985385,
+                "target_xy_drift": 3.6353453676740464e-09,
+                "depth": 0.0165268021031425,
+                "bottom_clearance": 0.0829138301134219,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017866818576529053,
+                  0.0029556200816063805
+                ],
+                "rod_tip_xy": [
+                  0.2712503798637102,
+                  -0.3271542141922366
+                ],
+                "target_mouth_xy": [
+                  0.2694636980060573,
+                  -0.330109834273843
+                ],
+                "gripper_position": [
+                  0.27125878624430655,
+                  -0.32721571806116906,
+                  1.0041034407284535
+                ],
+                "rod_tip_xy_dist": 0.0034536824010410892,
+                "target_xy_drift": 5.956937475847e-08,
+                "depth": 0.016644885345162064,
+                "bottom_clearance": 0.08279560403936459,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017951167976661964,
+                  0.0028941155255904905
+                ],
+                "rod_tip_xy": [
+                  0.27125878624430666,
+                  -0.32721571806116906
+                ],
+                "target_mouth_xy": [
+                  0.26946366944664046,
+                  -0.33010983358675955
+                ],
+                "gripper_position": [
+                  0.27124698730946784,
+                  -0.3272214230082629,
+                  1.0039689449634175
+                ],
+                "rod_tip_xy_dist": 0.0034056348883471435,
+                "target_xy_drift": 3.100270657689889e-08,
+                "depth": 0.01715645250471376,
+                "bottom_clearance": 0.08228410839729283,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017833501196271029,
+                  0.0028883814432005273
+                ],
+                "rod_tip_xy": [
+                  0.2712469873094679,
+                  -0.3272214230082629
+                ],
+                "target_mouth_xy": [
+                  0.2694636371898408,
+                  -0.33010980445146343
+                ],
+                "gripper_position": [
+                  0.27123800864701597,
+                  -0.32722074081395514,
+                  1.003850529185405
+                ],
+                "rod_tip_xy_dist": 0.003394566984255748,
+                "target_xy_drift": 2.8778826420234985e-08,
+                "depth": 0.01729084024886174,
+                "bottom_clearance": 0.08214968712316872,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017743691737148182,
+                  0.0028891238351355653
+                ],
+                "rod_tip_xy": [
+                  0.271238008647016,
+                  -0.3272207408139552
+                ],
+                "target_mouth_xy": [
+                  0.2694636394733012,
+                  -0.33010986464909076
+                ],
+                "gripper_position": [
+                  0.2712291192005657,
+                  -0.32722016214365107,
+                  1.0037321062613749
+                ],
+                "rod_tip_xy_dist": 0.003390490008741781,
+                "target_xy_drift": 3.1463008004747684e-08,
+                "depth": 0.017409241717254886,
+                "bottom_clearance": 0.08203130785447876,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017654778855710207,
+                  0.0028896422070558425
+                ],
+                "rod_tip_xy": [
+                  0.27122911920056575,
+                  -0.32722016214365107
+                ],
+                "target_mouth_xy": [
+                  0.26946364131499473,
+                  -0.3301098043507069
+                ],
+                "gripper_position": [
+                  0.2712390109661712,
+                  -0.3272842168682564,
+                  1.0032204810504233
+                ],
+                "rod_tip_xy_dist": 0.0033862876796336844,
+                "target_xy_drift": 2.899440307431908e-08,
+                "depth": 0.01752778868460869,
+                "bottom_clearance": 0.08191281269465589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017753711820800433,
+                  0.002825617662613855
+                ],
+                "rod_tip_xy": [
+                  0.27123901096617126,
+                  -0.3272842168682563
+                ],
+                "target_mouth_xy": [
+                  0.2694636397840912,
+                  -0.33010983453087017
+                ],
+                "gripper_position": [
+                  0.2712270414685515,
+                  -0.32728991568143034,
+                  1.0030864791758947
+                ],
+                "rod_tip_xy_dist": 0.003337073270013063,
+                "target_xy_drift": 1.8850193567237545e-09,
+                "depth": 0.018039346647156118,
+                "bottom_clearance": 0.08140120461160694,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017634008165519632,
+                  0.0028199493038887913
+                ],
+                "rod_tip_xy": [
+                  0.2712270414685516,
+                  -0.32728991568143034
+                ],
+                "target_mouth_xy": [
+                  0.2694636406519996,
+                  -0.33010986498531913
+                ],
+                "gripper_position": [
+                  0.2712181123571651,
+                  -0.32728916737355745,
+                  1.0029683774006086
+                ],
+                "rod_tip_xy_dist": 0.0033259128846557314,
+                "target_xy_drift": 3.185891576747628e-08,
+                "depth": 0.01817336751425047,
+                "bottom_clearance": 0.08126724062600765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017544720518674062,
+                  0.002820696653822785
+                ],
+                "rod_tip_xy": [
+                  0.27121811235716514,
+                  -0.32728916737355745
+                ],
+                "target_mouth_xy": [
+                  0.26946364030529774,
+                  -0.33010986402738024
+                ],
+                "gripper_position": [
+                  0.2712091811788854,
+                  -0.32728850193609726,
+                  1.0028500968360452
+                ],
+                "rod_tip_xy_dist": 0.003321822059302828,
+                "target_xy_drift": 3.088053756369147e-08,
+                "depth": 0.018291449502107593,
+                "bottom_clearance": 0.08114911220012311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017455387704198855,
+                  0.0028213623488256845
+                ],
+                "rod_tip_xy": [
+                  0.27120918117888543,
+                  -0.3272885019360972
+                ],
+                "target_mouth_xy": [
+                  0.26946364240846554,
+                  -0.3301098642849229
+                ],
+                "gripper_position": [
+                  0.27122065561714104,
+                  -0.3273542937094798,
+                  1.0023414509802684
+                ],
+                "rod_tip_xy_dist": 0.0033176785712920034,
+                "target_xy_drift": 3.133359265893177e-08,
+                "depth": 0.018409752946775604,
+                "bottom_clearance": 0.08103090160655724,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017570140143129964,
+                  0.0027555699593072025
+                ],
+                "rod_tip_xy": [
+                  0.2712206556171411,
+                  -0.3273542937094798
+                ],
+                "target_mouth_xy": [
+                  0.2694636416028281,
+                  -0.33010986366878703
+                ],
+                "gripper_position": [
+                  0.27120844284923273,
+                  -0.32736023229618105,
+                  1.0022070433805361
+                ],
+                "rod_tip_xy_dist": 0.0032680673259785466,
+                "target_xy_drift": 3.062902254538148e-08,
+                "depth": 0.01891845124890479,
+                "bottom_clearance": 0.08052217145769525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0017448016876114858,
+                  0.002749659966554463
+                ],
+                "rod_tip_xy": [
+                  0.27120844284923284,
+                  -0.327360232296181
+                ],
+                "target_mouth_xy": [
+                  0.26946364116162136,
+                  -0.33010989226273546
+                ],
+                "gripper_position": [
+                  0.27119937170874797,
+                  -0.32735928816786003,
+                  1.002089293530006
+                ],
+                "rod_tip_xy_dist": 0.003256526195313678,
+                "target_xy_drift": 5.91222731316673e-08,
+                "depth": 0.01905281805336856,
+                "bottom_clearance": 0.08038783352749312,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.00173576020274413,
+                  0.002750574265160066
+                ],
+                "rod_tip_xy": [
+                  0.271199371708748,
+                  -0.32735928816786003
+                ],
+                "target_mouth_xy": [
+                  0.2694636115060039,
+                  -0.3301098624330201
+                ],
+                "gripper_position": [
+                  0.2711903434414761,
+                  -0.3273582342074946,
+                  1.0019709895522817
+                ],
+                "rod_tip_xy_dist": 0.0032524640304838395,
+                "target_xy_drift": 3.975151681264875e-08,
+                "depth": 0.019170569457481856,
+                "bottom_clearance": 0.08027008855990692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.001726732967419764,
+                  0.0027516577532869513
+                ],
+                "rod_tip_xy": [
+                  0.27119034344147613,
+                  -0.3273582342074946
+                ],
+                "target_mouth_xy": [
+                  0.26946361047405637,
+                  -0.33010989196078155
+                ],
+                "gripper_position": [
+                  0.2711812937659718,
+                  -0.327357320601013,
+                  1.0018529643815386
+                ],
+                "rod_tip_xy_dist": 0.003248573091681709,
+                "target_xy_drift": 6.507643004580816e-08,
+                "depth": 0.019288871009074282,
+                "bottom_clearance": 0.0801517591959574,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0017176834669866414,
+                  0.002752540622226074
+                ],
+                "rod_tip_xy": [
+                  0.27118129376597183,
+                  -0.327357320601013
+                ],
+                "target_mouth_xy": [
+                  0.2694636102989852,
+                  -0.3301098612232391
+                ],
+                "gripper_position": [
+                  0.27117218196601794,
+                  -0.327356387367686,
+                  1.001734719227686
+                ],
+                "rod_tip_xy_dist": 0.0032445209769338757,
+                "target_xy_drift": 3.971667470540088e-08,
+                "depth": 0.019406911937537186,
+                "bottom_clearance": 0.08003374676097053,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1552,
+              "stir_motion_end_frame": 1571,
+              "rod_tip_xy_path_length": 0.0005973805228019017,
+              "rod_tip_xy_max_step": 3.232427068778444e-05,
+              "rod_tip_xy_range": 0.0005973750295663623,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27079932578468713,
+            -0.3286477298786829,
+            1.043427927322094
+          ],
+          "object_origin_world": [
+            0.27079932578468713,
+            -0.3286477298786829,
+            1.043427927322094
+          ],
+          "frame_world": [
+            0.2707977957727675,
+            -0.3286510292491928,
+            1.0433223414332495
+          ],
+          "center_minus_frame": [
+            1.5300119196037798e-06,
+            3.2993705099126913e-06,
+            0.00010558588884457265
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.24804828399683082,
+              0.16305361455062453,
+              0.8317934695595219
+            ],
+            "target_position": [
+              0.26454497604612687,
+              0.20811458868517546,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04798575036950006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.165147056074123,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8317934695595219,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673078999333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13535398403146912,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 338,
+            "max_placed_release_frames": 338
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29553997589436465,
+              -0.08334945136385954,
+              1.0450721057792665
+            ],
+            "current_z": 1.0450721057792665,
+            "required_z": 0.856586333763819,
+            "initial_z": 0.756586333763819,
+            "lift_margin": 0.18848577201544747,
+            "gripper_z": 1.0480799777814802,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2910622728165305,
+              -0.08790854000874863,
+              1.0480799777814802
+            ],
+            "object_minus_gripper": [
+              0.004477703077834128,
+              0.004559088644889089,
+              -0.0030078720022137517
+            ],
+            "object_to_gripper_xy": 0.006390235842690147,
+            "object_to_gripper_z": -0.0030078720022137517,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29553997589436465,
+              -0.10726793093921706,
+              1.0450721057792665
+            ],
+            "finger_b": [
+              0.28410606930929494,
+              -0.08334945136385954,
+              1.0450721057792665
+            ],
+            "finger_midpoint": [
+              0.2898230226018298,
+              -0.09530869115153831,
+              1.0450721057792665
+            ],
+            "object_minus_finger_midpoint": [
+              0.005716953292534854,
+              0.011959239787678766,
+              0.0
+            ],
+            "finger_gap": 0.026510901248220423,
+            "fingertip_max_gap": 0.09179474971054144,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255450624110219,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450721057792665,
+            "object_top_z": 1.0906837403560354,
+            "finger_top_clearance": 0.04561163457676898,
+            "fingertip_min_top_clearance": 0.01368349037303071,
+            "object_projection_between_fingers": 0.8139882856278219,
+            "object_to_finger_line_xy": 0.01031581908743647,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839737485527072,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.333663008283685,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2953530909775836,
+              -0.08761025194484139,
+              1.2390786819028208
+            ],
+            "held_position": [
+              0.30017289323413,
+              -0.08342313436901236,
+              1.2360595665500156
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0070624007886532425,
+            "max_held_gripper_dist": 0.0070633990798984435,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030191153528051906,
+            "max_held_gripper_z_dist": 0.0030201875028921243,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673953867363296,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30017289323413,
+              -0.10853772720246034,
+              1.2360595665500156
+            ],
+            "held_grasp_finger_b": [
+              0.291279089424596,
+              -0.08342313436901236,
+              1.2360595665500156
+            ],
+            "held_grasp_midpoint": [
+              0.295725991329363,
+              -0.09598043078573634,
+              1.2360595665500156
+            ],
+            "held_grasp_object_position": [
+              0.30017289323413,
+              -0.08342313436901236,
+              1.2360595665500156
+            ],
+            "held_grasp_finger_gap": 0.026642869954123894,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024383578114805553,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07333690441270355,
+              -0.9968635494383812,
+              -0.029744953391696694
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035343236474451143,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.045200712978839874,
+            "held_grasp_top_clearance": 0.032356679881591965,
+            "held_grasp_min_top_clearance": 0.013560213893651961
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2712197924771053,
+              -0.08956846247306603,
+              0.756587640093608
+            ],
+            "target_position": [
+              0.27172896319989254,
+              -0.08416363593024605,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.005428757204270153,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21677426555408033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.756587640093608,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07593008738668884,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550090218417238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18602940892987405,
+            "release_required_pad_clearance": 0.05275045109208619,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5510726675285558,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 200,
+            "max_placed_release_frames": 200
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69b7be401065408efa58b99e07b91cfcb8357d1dfd22114d30e3fdcdef654d37",
+    "visual_seed": 2663727039470591906,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9f955aec8fe850795f13e932de5890b9850eae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_30_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3758496773971017,
+              0.11385127665680347,
+              1.164590459849354
+            ],
+            "current_z": 1.164590459849354,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.30348401143923287,
+            "gripper_z": 1.1541649542795311,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37048996510296495,
+              0.10867684596463939,
+              1.1541649542795311
+            ],
+            "object_minus_gripper": [
+              0.0053597122941367314,
+              0.005174430692164084,
+              0.010425505569822802
+            ],
+            "object_to_gripper_xy": 0.007449916030663037,
+            "object_to_gripper_z": 0.010425505569822802,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3758496773971017,
+              0.08973555577531533,
+              1.164590459849354
+            ],
+            "finger_b": [
+              0.3641705344844894,
+              0.11385127665680347,
+              1.164590459849354
+            ],
+            "finger_midpoint": [
+              0.37001010594079553,
+              0.1017934162160594,
+              1.164590459849354
+            ],
+            "object_minus_finger_midpoint": [
+              0.005839571456306147,
+              0.01205786044074407,
+              0.0
+            ],
+            "finger_gap": 0.026794969169735297,
+            "fingertip_max_gap": 0.09127098802366898,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013397484584867649,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164590459849354,
+            "object_top_z": 1.2145020932429267,
+            "finger_top_clearance": 0.04991163339357274,
+            "fingertip_min_top_clearance": 0.01497349001807182,
+            "object_projection_between_fingers": 0.8100167021656806,
+            "object_to_finger_line_xy": 0.010511336991336806,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813549401183449,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9755898941919695,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26607578242587576,
+              -0.32881997686791675,
+              0.8515395584910848
+            ],
+            "target_position": [
+              0.25728703103725076,
+              -0.32926051482697666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008799785489682724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18568992726776903,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395584910848,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526637761721391,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532150264409032,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154120632881323,
+            "release_required_pad_clearance": 0.05266075132204516,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37949126925819043,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0069806575775146484,
+            "max_z_decrease": 0.0069806575775146484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510462096436448,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0069806575775146484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.0210982133154838,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0069806575775146484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006980677001097199,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11298695951700206,
+              -0.38552197813987726,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11298695951700206,
+              -0.38552197813987726,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1110879496584039,
+              -0.38489987662561664,
+              0.807696942143672
+            ],
+            "closest_button": [
+              0.11297628283500667,
+              -0.38552004098892206,
+              0.7726486325263977
+            ],
+            "closest_ee_minus_button": [
+              -0.0018883331766027661,
+              0.0006201643633054199,
+              0.03504830961727434
+            ],
+            "button_min_z_position": [
+              0.11297053098678583,
+              -0.38552084565162653,
+              0.769828200340271
+            ],
+            "min_active_finger_to_button": 0.14760307723571925,
+            "closest_active_finger": [
+              -0.01597657799720764,
+              -0.44849711656570435,
+              0.811106264591217
+            ],
+            "closest_active_finger_button": [
+              0.1129888519644737,
+              -0.3855231404304504,
+              0.7766263484954834
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12896542996168134,
+              -0.06297397613525396,
+              0.03447991609573364
+            ],
+            "min_contact_pad_to_button": 0.0210982133154838,
+            "closest_contact_pad": [
+              0.11297053098678583,
+              -0.3859859226977883,
+              0.7909212870856194
+            ],
+            "closest_contact_pad_button": [
+              0.11297053098678583,
+              -0.38552084565162653,
+              0.769828200340271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00046507704616177703,
+              0.021093086745348377
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2701115289619781,
+              0.20568728955557328,
+              1.1046175746408258
+            ],
+            "current_z": 1.1046175746408258,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19470844490646322,
+            "gripper_z": 1.104617534814969,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2701115375184271,
+              0.20568734541827713,
+              1.104617534814969
+            ],
+            "object_minus_gripper": [
+              -8.556448993779497e-09,
+              -5.5862703851605744e-08,
+              3.982585683459661e-08
+            ],
+            "object_to_gripper_xy": 5.6514197340096386e-08,
+            "object_to_gripper_z": 3.982585683459661e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2701115289619781,
+              0.20568728955557328,
+              1.1046175746408258
+            ],
+            "finger_b": [
+              0.2701115289619781,
+              0.20568728955557328,
+              1.1046175746408258
+            ],
+            "finger_midpoint": [
+              0.2701115289619781,
+              0.20568728955557328,
+              1.1046175746408258
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1046175746408258,
+            "object_top_z": 1.2296260812611055,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27011152896197815,
+            0.2056872895555733,
+            1.1046175746408258
+          ],
+          "object_origin_world": [
+            0.27011152896197815,
+            0.2056872895555733,
+            1.1046175746408258
+          ],
+          "frame_world": [
+            0.2701115375184271,
+            0.20568734541827713,
+            1.104617534814969
+          ],
+          "center_minus_frame": [
+            -8.556448938268346e-09,
+            -5.586270382385017e-08,
+            3.982585683459661e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433802065611495,
+            "required_z": 0.9112598279746211,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0010031192442523562,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.6019808209144034e-08,
+            "max_target_xy_drift": 1.4360145731883962e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3794912694742828,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3794912703866727,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2652017870260659,
+              -0.3283274787756091,
+              0.9234840176313935
+            ],
+            "target_mouth_xy": [
+              0.2660758120106844,
+              -0.3288199445087959
+            ],
+            "rod_tip_z": 0.9234840176313935,
+            "rod_tip_depth": -0.022224152833945965,
+            "rod_tip_bottom_clearance": 0.12166476016422711,
+            "rod_tip_xy_dist": 0.0010032159149957049,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04457670461512786,
+            "min_rod_tip_bottom_clearance": 0.0548638285705626,
+            "min_rod_tip_xy_dist": 0.0010032159149957049,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26607579754785143,
+              -0.3288199774974765
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.4462832986783525e-08,
+              3.298868056500481e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0003022087613362978,
+                0.0021441686000865934
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0004190422887805356,
+                0.0017982497008752207
+              ],
+              "first_target_mouth_xy": [
+                0.26607582802637775,
+                -0.32882000539156186
+              ],
+              "last_target_mouth_xy": [
+                0.266075841601203,
+                -0.32882000762070457
+              ],
+              "first_rod_tip_xy": [
+                0.26577361926504145,
+                -0.32667583679147527
+              ],
+              "last_rod_tip_xy": [
+                0.2656567993124225,
+                -0.32702175791982935
+              ],
+              "min_rod_tip_xy_dist": 0.001837184220931907,
+              "max_rod_tip_xy_dist": 0.0021653611987439234,
+              "first_target_xy_drift": 4.131610539686937e-08,
+              "last_target_xy_drift": 5.33676555144494e-08,
+              "max_depth": 0.019383146271351515,
+              "min_bottom_clearance": 0.08005738443279642
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0003022087613362978,
+                  0.0021441686000865934
+                ],
+                "rod_tip_xy": [
+                  0.26577361926504145,
+                  -0.32667583679147527
+                ],
+                "target_mouth_xy": [
+                  0.26607582802637775,
+                  -0.32882000539156186
+                ],
+                "gripper_position": [
+                  0.2657621716334413,
+                  -0.3266815373566743,
+                  1.0060102266193858
+                ],
+                "rod_tip_xy_dist": 0.0021653611987439234,
+                "target_xy_drift": 4.131610539686937e-08,
+                "depth": 0.015117393293421322,
+                "bottom_clearance": 0.08432321191386116,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.00031363919894178416,
+                  0.0021385298554373877
+                ],
+                "rod_tip_xy": [
+                  0.2657621716334412,
+                  -0.3266815373566745
+                ],
+                "target_mouth_xy": [
+                  0.26607581083238296,
+                  -0.3288200672121119
+                ],
+                "gripper_position": [
+                  0.26576519323177805,
+                  -0.3267434193380898,
+                  1.005497808481093
+                ],
+                "rod_tip_xy_dist": 0.0021614068311426008,
+                "target_xy_drift": 9.069285848764939e-08,
+                "depth": 0.015249611265865326,
+                "bottom_clearance": 0.0841909162126886,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0003106470359884872,
+                  0.002076616800996689
+                ],
+                "rod_tip_xy": [
+                  0.26576519323177794,
+                  -0.3267434193380899
+                ],
+                "target_mouth_xy": [
+                  0.26607584026776643,
+                  -0.3288200361390866
+                ],
+                "gripper_position": [
+                  0.26575363796686724,
+                  -0.32674902146380463,
+                  1.0053652445403785
+                ],
+                "rod_tip_xy_dist": 0.002099723533980165,
+                "target_xy_drift": 7.255225409998093e-08,
+                "depth": 0.015762035842705968,
+                "bottom_clearance": 0.08367849605571998,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.00032220255039228096,
+                  0.0020710168986007305
+                ],
+                "rod_tip_xy": [
+                  0.26575363796686713,
+                  -0.3267490214638048
+                ],
+                "target_mouth_xy": [
+                  0.2660758405172594,
+                  -0.32882003836240553
+                ],
+                "gripper_position": [
+                  0.265745260230833,
+                  -0.32674832769309137,
+                  1.0052492979191314
+                ],
+                "rod_tip_xy_dist": 0.0020959306948868986,
+                "target_xy_drift": 7.450442677465361e-08,
+                "depth": 0.015894613772385324,
+                "bottom_clearance": 0.08354595205714588,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.00033058108235556327,
+                  0.002071738248038635
+                ],
+                "rod_tip_xy": [
+                  0.2657452602308329,
+                  -0.3267483276930915
+                ],
+                "target_mouth_xy": [
+                  0.26607584131318845,
+                  -0.3288200659411301
+                ],
+                "gripper_position": [
+                  0.26574912610492846,
+                  -0.3268113287841206,
+                  1.0047362794439028
+                ],
+                "rod_tip_xy_dist": 0.0020979473826570503,
+                "target_xy_drift": 9.867970708693355e-08,
+                "depth": 0.016010523325257764,
+                "bottom_clearance": 0.0834299859690334,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0003267442108895735,
+                  0.002008708626123179
+                ],
+                "rod_tip_xy": [
+                  0.26574912610492835,
+                  -0.3268113287841208
+                ],
+                "target_mouth_xy": [
+                  0.2660758703158179,
+                  -0.32882003741024396
+                ],
+                "gripper_position": [
+                  0.265737542039082,
+                  -0.326816891377179,
+                  1.0046042897341714
+                ],
+                "rod_tip_xy_dist": 0.0020351098555143206,
+                "target_xy_drift": 9.425877493540998e-08,
+                "depth": 0.016523562161928296,
+                "bottom_clearance": 0.08291697002683962,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.00033832982859283156,
+                  0.0020031444469620907
+                ],
+                "rod_tip_xy": [
+                  0.2657375420390819,
+                  -0.32681689137717906
+                ],
+                "target_mouth_xy": [
+                  0.26607587186767473,
+                  -0.32882003582414115
+                ],
+                "gripper_position": [
+                  0.26574143329772426,
+                  -0.3268800980101852,
+                  1.0040953125595622
+                ],
+                "rod_tip_xy_dist": 0.0020315153822481175,
+                "target_xy_drift": 9.447452537904116e-08,
+                "depth": 0.016655543186147814,
+                "bottom_clearance": 0.08278500636036978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.00033438855980416626,
+                  0.001939909581981647
+                ],
+                "rod_tip_xy": [
+                  0.26574143329772415,
+                  -0.32688009801018536
+                ],
+                "target_mouth_xy": [
+                  0.2660758218575283,
+                  -0.328820007592167
+                ],
+                "gripper_position": [
+                  0.265729663734719,
+                  -0.32688553778544827,
+                  1.0039637291515209
+                ],
+                "rod_tip_xy_dist": 0.001968518451829221,
+                "target_xy_drift": 3.868657115169126e-08,
+                "depth": 0.017164584276797457,
+                "bottom_clearance": 0.08227609298028005,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0003461806497516706,
+                  0.0019344714293509369
+                ],
+                "rod_tip_xy": [
+                  0.2657296637347189,
+                  -0.3268855377854484
+                ],
+                "target_mouth_xy": [
+                  0.2660758443844706,
+                  -0.3288200092147993
+                ],
+                "gripper_position": [
+                  0.26572107898441094,
+                  -0.3268846340850286,
+                  1.003848212491515
+                ],
+                "rod_tip_xy_dist": 0.00196520247130863,
+                "target_xy_drift": 5.6565514754479446e-08,
+                "depth": 0.01729620957864364,
+                "bottom_clearance": 0.08214448510824968,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0003547319512881564,
+                  0.0019353719374428646
+                ],
+                "rod_tip_xy": [
+                  0.26572107898441083,
+                  -0.32688463408502866
+                ],
+                "target_mouth_xy": [
+                  0.266075810935699,
+                  -0.3288200060224715
+                ],
+                "gripper_position": [
+                  0.26571242100538806,
+                  -0.32688390496919184,
+                  1.0037327089579458
+                ],
+                "rod_tip_xy_dist": 0.0019676125872503587,
+                "target_xy_drift": 3.151047133433447e-08,
+                "depth": 0.017411623218468786,
+                "bottom_clearance": 0.08202890200086765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0003634211276644095,
+                  0.0019361001010657075
+                ],
+                "rod_tip_xy": [
+                  0.26571242100538794,
+                  -0.32688390496919195
+                ],
+                "target_mouth_xy": [
+                  0.26607584213305235,
+                  -0.32882000507025766
+                ],
+                "gripper_position": [
+                  0.2657178553827416,
+                  -0.3269490270288515,
+                  1.0032235543759742
+                ],
+                "rod_tip_xy_dist": 0.001969913327377505,
+                "target_xy_drift": 5.2422308252311134e-08,
+                "depth": 0.017527141426876724,
+                "bottom_clearance": 0.08191344443202953,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.00035796972669976945,
+                  0.0018710119767695321
+                ],
+                "rod_tip_xy": [
+                  0.2657178553827415,
+                  -0.32694902702885154
+                ],
+                "target_mouth_xy": [
+                  0.2660758251094413,
+                  -0.32882003900562107
+                ],
+                "gripper_position": [
+                  0.26570594224989147,
+                  -0.3269544232995474,
+                  1.0030917520917124
+                ],
+                "rod_tip_xy_dist": 0.0019049483306506085,
+                "target_xy_drift": 6.740098726350629e-08,
+                "depth": 0.018036330829130587,
+                "bottom_clearance": 0.08140427746545609,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0003698995915293324,
+                  0.0018655820935425949
+                ],
+                "rod_tip_xy": [
+                  0.26570594224989136,
+                  -0.3269544232995475
+                ],
+                "target_mouth_xy": [
+                  0.2660758418414207,
+                  -0.3288200053930901
+                ],
+                "gripper_position": [
+                  0.2656974549188203,
+                  -0.3269531785865105,
+                  1.0029762557907846
+                ],
+                "rod_tip_xy_dist": 0.001901899643924552,
+                "target_xy_drift": 5.2345826342263556e-08,
+                "depth": 0.018168090199466858,
+                "bottom_clearance": 0.0812724729494424,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.00037833656221963885,
+                  0.0018668302787973046
+                ],
+                "rod_tip_xy": [
+                  0.2656974549188202,
+                  -0.32695317858651074
+                ],
+                "target_mouth_xy": [
+                  0.2660757914810398,
+                  -0.32882000886530804
+                ],
+                "gripper_position": [
+                  0.26568849617553186,
+                  -0.3269524436814103,
+                  1.002861279353621
+                ],
+                "rod_tip_xy_dist": 0.0019047818363651509,
+                "target_xy_drift": 3.194913237511318e-08,
+                "depth": 0.018283681162171717,
+                "bottom_clearance": 0.08115706358167973,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0003873780887951317,
+                  0.0018675652164611423
+                ],
+                "rod_tip_xy": [
+                  0.26568849617553175,
+                  -0.3269524436814103
+                ],
+                "target_mouth_xy": [
+                  0.2660758742643269,
+                  -0.32882000889787144
+                ],
+                "gripper_position": [
+                  0.2656954716176714,
+                  -0.32701945737654736,
+                  1.0023541889866068
+                ],
+                "rod_tip_xy_dist": 0.0019073179130428472,
+                "target_xy_drift": 8.289392262734114e-08,
+                "depth": 0.018398654304616957,
+                "bottom_clearance": 0.08104203193810389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0003803682198248448,
+                  0.0018005194854940343
+                ],
+                "rod_tip_xy": [
+                  0.2656954716176712,
+                  -0.3270194573765475
+                ],
+                "target_mouth_xy": [
+                  0.26607583983749605,
+                  -0.3288199768620415
+                ],
+                "gripper_position": [
+                  0.26568345618583356,
+                  -0.32702521553596076,
+                  1.0022225487195844
+                ],
+                "rod_tip_xy_dist": 0.0018402582428280068,
+                "target_xy_drift": 4.2294418303840885e-08,
+                "depth": 0.018905662491854547,
+                "bottom_clearance": 0.08053487407026771,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0003923851325604022,
+                  0.001794792402866341
+                ],
+                "rod_tip_xy": [
+                  0.2656834561858334,
+                  -0.327025215535961
+                ],
+                "target_mouth_xy": [
+                  0.2660758413183938,
+                  -0.3288200079388273
+                ],
+                "gripper_position": [
+                  0.2656746673748811,
+                  -0.3270238642795422,
+                  1.0021074249656716
+                ],
+                "rod_tip_xy_dist": 0.001837184220931907,
+                "target_xy_drift": 5.3315440714129315e-08,
+                "depth": 0.01903728336654187,
+                "bottom_clearance": 0.08040324796762344,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0004011740698241506,
+                  0.0017961116279191502
+                ],
+                "rod_tip_xy": [
+                  0.26567466737488094,
+                  -0.32702386427954233
+                ],
+                "target_mouth_xy": [
+                  0.2660758414447051,
+                  -0.3288199759074615
+                ],
+                "gripper_position": [
+                  0.2656657229038929,
+                  -0.3270227842353188,
+                  1.0019920291837057
+                ],
+                "rod_tip_xy_dist": 0.0018403688799383813,
+                "target_xy_drift": 4.392564067005466e-08,
+                "depth": 0.01915240848869637,
+                "bottom_clearance": 0.08028812809528374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0004101023955917493,
+                  0.0017972268757227017
+                ],
+                "rod_tip_xy": [
+                  0.2656657229038928,
+                  -0.32702278423531894
+                ],
+                "target_mouth_xy": [
+                  0.26607582529948454,
+                  -0.32882001111104164
+                ],
+                "gripper_position": [
+                  0.2656567993124226,
+                  -0.3270217579198292,
+                  1.0018766823374592
+                ],
+                "rod_tip_xy_dist": 0.0018434230164805026,
+                "target_xy_drift": 4.358927508222661e-08,
+                "depth": 0.01926788396314505,
+                "bottom_clearance": 0.08017278478153789,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0004190422887805356,
+                  0.0017982497008752207
+                ],
+                "rod_tip_xy": [
+                  0.2656567993124225,
+                  -0.32702175791982935
+                ],
+                "target_mouth_xy": [
+                  0.266075841601203,
+                  -0.32882000762070457
+                ],
+                "gripper_position": [
+                  0.2656479418676253,
+                  -0.3270204411265767,
+                  1.0017616968565146
+                ],
+                "rod_tip_xy_dist": 0.001846428559810601,
+                "target_xy_drift": 5.33676555144494e-08,
+                "depth": 0.019383146271351515,
+                "bottom_clearance": 0.08005738443279642,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005969267274320482,
+              "rod_tip_xy_max_step": 3.240908438356064e-05,
+              "rod_tip_xy_range": 0.0005969212682333887,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26520178702606595,
+            -0.328327478775609,
+            1.0434840176313935
+          ],
+          "object_origin_world": [
+            0.26520178702606595,
+            -0.328327478775609,
+            1.0434840176313935
+          ],
+          "frame_world": [
+            0.2652004455853054,
+            -0.32833006509556384,
+            1.0433802065611495
+          ],
+          "center_minus_frame": [
+            1.3414407605272238e-06,
+            2.5863199548115112e-06,
+            0.00010381107024404201
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25451836300382347,
+              0.15900320559804512,
+              0.8322033904276186
+            ],
+            "target_position": [
+              0.2702781551375677,
+              0.20411617930458265,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047786519487671125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16534692863614533,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8322033904276186,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673388908077,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13492464544368843,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 335,
+            "max_placed_release_frames": 335
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2908943183664337,
+              -0.08378581252233548,
+              1.047331404548268
+            ],
+            "current_z": 1.047331404548268,
+            "required_z": 0.8565862953279425,
+            "initial_z": 0.7565862953279425,
+            "lift_margin": 0.1907451092203255,
+            "gripper_z": 1.050742014450395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2860586748721895,
+              -0.08847358091132752,
+              1.050742014450395
+            ],
+            "object_minus_gripper": [
+              0.004835643494244202,
+              0.004687768388992042,
+              -0.0034106099021269376
+            ],
+            "object_to_gripper_xy": 0.006734880880331835,
+            "object_to_gripper_z": -0.0034106099021269376,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2908943183664337,
+              -0.10810340211286712,
+              1.047331404548268
+            ],
+            "finger_b": [
+              0.27945543485501334,
+              -0.08378581252233548,
+              1.047331404548268
+            ],
+            "finger_midpoint": [
+              0.2851748766107235,
+              -0.0959446073176013,
+              1.047331404548268
+            ],
+            "object_minus_finger_midpoint": [
+              0.005719441755710208,
+              0.012158794795265812,
+              0.0
+            ],
+            "finger_gap": 0.026873652886821645,
+            "fingertip_max_gap": 0.09173888312917441,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013436826443410828,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047331404548268,
+            "object_top_z": 1.0930743516732984,
+            "finger_top_clearance": 0.04574294712503035,
+            "fingertip_min_top_clearance": 0.013722884137509106,
+            "object_projection_between_fingers": 0.8188184928102629,
+            "object_to_finger_line_xy": 0.010350884406229263,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836944156458721,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0920909248224075,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29039330420767123,
+              -0.08852654610787884,
+              1.2413940727271982
+            ],
+            "held_position": [
+              0.29554434790232287,
+              -0.08420698905725184,
+              1.2379755956920675
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007541737830072555,
+            "max_held_gripper_dist": 0.007550896465198407,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034184770351306515,
+            "max_held_gripper_z_dist": 0.0034184770351306515,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651614534722793,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29554434790232287,
+              -0.10958151375664979,
+              1.2379755956920675
+            ],
+            "held_grasp_finger_b": [
+              0.28654073547838177,
+              -0.08420698905725184,
+              1.2379755956920675
+            ],
+            "held_grasp_midpoint": [
+              0.2910425416903523,
+              -0.09689425140695082,
+              1.2379755956920675
+            ],
+            "held_grasp_object_position": [
+              0.29554434790232287,
+              -0.08420698905725184,
+              1.2379755956920675
+            ],
+            "held_grasp_finger_gap": 0.026924552742820136,
+            "held_grasp_max_gap": 0.12496577709913254,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024626425630606033,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07388845521922605,
+              -0.996735463762352,
+              -0.03254091983588703
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003576597582068556,
+            "held_grasp_line_xy_max_dist": 0.04748288854956627,
+            "held_grasp_object_top_z": 0.0452006459236145,
+            "held_grasp_top_clearance": 0.03222217009491385,
+            "held_grasp_min_top_clearance": 0.01356019377708435
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2714296282588309,
+              -0.08166614031488026,
+              0.7565903794574711
+            ],
+            "target_position": [
+              0.26666623897200364,
+              -0.08581617766186328,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006317648888567198,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21681236544163238,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565903794574711,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536585780208235,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551725193983649,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18862961962152788,
+            "release_required_pad_clearance": 0.052758625969918246,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5637054334070318,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 233,
+            "max_placed_release_frames": 233
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07a81dbee91a4a18a2a7311bbc2202cd35de7f2ff5ce17edd0a5c6e6a027209e",
+    "visual_seed": 2984884935763980733,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7f278afdccfef2943c43fe1cf845321f9d42d14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_32_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3690865023252967,
+              0.11152219688472251,
+              1.1641928544086837
+            ],
+            "current_z": 1.1641928544086837,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.3030864059985625,
+            "gripper_z": 1.1538192757704617,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36390805183678027,
+              0.10650247755534244,
+              1.1538192757704617
+            ],
+            "object_minus_gripper": [
+              0.005178450488516451,
+              0.005019719329380071,
+              0.01037357863822197
+            ],
+            "object_to_gripper_xy": 0.0072120684694315105,
+            "object_to_gripper_z": 0.01037357863822197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3690865023252967,
+              0.08743173162375531,
+              1.1641928544086837
+            ],
+            "finger_b": [
+              0.35776445940440404,
+              0.11152219688472251,
+              1.1641928544086837
+            ],
+            "finger_midpoint": [
+              0.3634254808648504,
+              0.09947696425423891,
+              1.1641928544086837
+            ],
+            "object_minus_finger_midpoint": [
+              0.005661021460446336,
+              0.012045232630483599,
+              0.0
+            ],
+            "finger_gap": 0.026618399132787893,
+            "fingertip_max_gap": 0.09135808653065877,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309199566393946,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1641928544086837,
+            "object_top_z": 1.2140935629001146,
+            "finger_top_clearance": 0.04990070849143091,
+            "fingertip_min_top_clearance": 0.014970212547429307,
+            "object_projection_between_fingers": 0.8190803544852671,
+            "object_to_finger_line_xy": 0.010246795094937677,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817904326532939,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.023194936245317,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2718571422293274,
+              -0.32566354547087717,
+              0.8515395635390528
+            ],
+            "target_position": [
+              0.2631294383942352,
+              -0.326119064087659,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008739583024568037,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18406360279849387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395635390528,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753430112978786,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531055871919076,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15238098139238596,
+            "release_required_pad_clearance": 0.05265527935959538,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3690349436580311,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007111847400665283,
+            "max_z_decrease": 0.007111847400665283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350961713592441,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007111847400665283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021167081868953615,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007111847400665283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007111865076207881,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11882936209440231,
+              -0.38238051533699036,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11882936209440231,
+              -0.38238051533699036,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11738975030710874,
+              -0.38334122398916176,
+              0.8077277617779947
+            ],
+            "closest_button": [
+              0.1188189834356308,
+              -0.38237911462783813,
+              0.7726739048957825
+            ],
+            "closest_ee_minus_button": [
+              -0.001429233128522056,
+              -0.0009621093613236265,
+              0.03505385688221219
+            ],
+            "button_min_z_position": [
+              0.11881354451179504,
+              -0.382379412651062,
+              0.7696970105171204
+            ],
+            "min_active_finger_to_button": 0.147518535872107,
+            "closest_active_finger": [
+              -0.023942582309246063,
+              -0.36870628595352173,
+              0.8110462427139282
+            ],
+            "closest_active_finger_button": [
+              0.118829607963562,
+              -0.3823819160461426,
+              0.7765383124351501
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14277219027280807,
+              0.01367563009262085,
+              0.034507930278778076
+            ],
+            "min_contact_pad_to_button": 0.021167081868953615,
+            "closest_contact_pad": [
+              0.11881354451179504,
+              -0.3843390183824864,
+              0.7907731890185554
+            ],
+            "closest_contact_pad_button": [
+              0.11881354451179504,
+              -0.382379412651062,
+              0.7696970105171204
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019596057314243964,
+              0.02107617850143506
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26961925111516793,
+              0.20534916488098953,
+              1.1017940633641081
+            ],
+            "current_z": 1.1017940633641081,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19188493362974557,
+            "gripper_z": 1.101794278268432,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26961929267560514,
+              0.20534915545076132,
+              1.101794278268432
+            ],
+            "object_minus_gripper": [
+              -4.156043720282554e-08,
+              9.430228209428293e-09,
+              -2.1490432389192904e-07
+            ],
+            "object_to_gripper_xy": 4.261688802073543e-08,
+            "object_to_gripper_z": -2.1490432389192904e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26961925111516793,
+              0.20534916488098953,
+              1.1017940633641081
+            ],
+            "finger_b": [
+              0.26961925111516793,
+              0.20534916488098953,
+              1.1017940633641081
+            ],
+            "finger_midpoint": [
+              0.26961925111516793,
+              0.20534916488098953,
+              1.1017940633641081
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1017940633641081,
+            "object_top_z": 1.2268025699843879,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26961925111516793,
+            0.20534916488098953,
+            1.1017940633641081
+          ],
+          "object_origin_world": [
+            0.26961925111516793,
+            0.20534916488098953,
+            1.1017940633641081
+          ],
+          "frame_world": [
+            0.26961929267560514,
+            0.20534915545076132,
+            1.101794278268432
+          ],
+          "center_minus_frame": [
+            -4.156043720282554e-08,
+            9.430228209428293e-09,
+            -2.1490432389192904e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.043305266539942,
+            "required_z": 0.9112598327668944,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013421333997724293,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.586258796952316e-10,
+            "max_target_xy_drift": 9.586258796952316e-10,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3690349440718449,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3690349440718449,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2708179153167696,
+              -0.3265081746754038,
+              0.9234108958152786
+            ],
+            "target_mouth_xy": [
+              0.2718571711260074,
+              -0.3256635121667135
+            ],
+            "rod_tip_z": 0.9234108958152786,
+            "rod_tip_depth": -0.02215106161303715,
+            "rod_tip_bottom_clearance": 0.12159158202585729,
+            "rod_tip_xy_dist": 0.0013392189479773033,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04451094881427242,
+            "min_rod_tip_bottom_clearance": 0.05492957159854772,
+            "min_rod_tip_xy_dist": 0.0005681368564837248,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2718571710463758,
+              -0.3256635112114008
+            ],
+            "target_mouth_xy_delta_from_start": [
+              7.963157910850782e-11,
+              -9.553127178207887e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                -0.00048729361306959484,
+                0.000777214884944033
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0005981365601042121,
+                0.0004251528197629084
+              ],
+              "first_target_mouth_xy": [
+                0.2718571710463758,
+                -0.3256635112114008
+              ],
+              "last_target_mouth_xy": [
+                0.2718571711260074,
+                -0.3256635121667135
+              ],
+              "first_rod_tip_xy": [
+                0.2713698774333062,
+                -0.32488629632645677
+              ],
+              "last_rod_tip_xy": [
+                0.27125903456590317,
+                -0.3252383593469506
+              ],
+              "min_rod_tip_xy_dist": 0.0007190417514867066,
+              "max_rod_tip_xy_dist": 0.0009185543306487843,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 9.586258796952316e-10,
+              "max_depth": 0.019747214143029046,
+              "min_bottom_clearance": 0.0796933062697911
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.00048729361306959484,
+                  0.000777214884944033
+                ],
+                "rod_tip_xy": [
+                  0.2713698774333062,
+                  -0.32488629632645677
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.27135824517813256,
+                  -0.32489226969064594,
+                  1.005680030937868
+                ],
+                "rod_tip_xy_dist": 0.0009173429253648749,
+                "target_xy_drift": 0.0,
+                "depth": 0.015445092394099302,
+                "bottom_clearance": 0.08399542321519149,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0004989259478748176,
+                  0.0007712424760675796
+                ],
+                "rod_tip_xy": [
+                  0.27135824517813256,
+                  -0.32489226969064594
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.27136235416729887,
+                  -0.3249543784549283,
+                  1.0051664118458246
+                ],
+                "rod_tip_xy_dist": 0.0009185543306487843,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.015579803264373693,
+                "bottom_clearance": 0.08386071714844645,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0004948168790769314,
+                  0.0007091327564723859
+                ],
+                "rod_tip_xy": [
+                  0.27136235416729887,
+                  -0.3249543784549284
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.27135070420278506,
+                  -0.3249598880781115,
+                  1.0050321649645122
+                ],
+                "rod_tip_xy_dist": 0.0008647040014487956,
+                "target_xy_drift": 0.0,
+                "depth": 0.0160934209210698,
+                "bottom_clearance": 0.08334709468822099,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005064669232223151,
+                  0.0007036240886020839
+                ],
+                "rod_tip_xy": [
+                  0.27135070420278506,
+                  -0.32495988807811144
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.2713418383309034,
+                  -0.3249593874680908,
+                  1.0049142114777607
+                ],
+                "rod_tip_xy_dist": 0.0008669461358004843,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.016227669237729225,
+                "bottom_clearance": 0.08321285117509092,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.000515332715472383,
+                  0.0007041237433100256
+                ],
+                "rod_tip_xy": [
+                  0.2713418383309034,
+                  -0.3249593874680908
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.2713471668742695,
+                  -0.3250225069680218,
+                  1.0044009743727487
+                ],
+                "rod_tip_xy_dist": 0.0008725583381809281,
+                "target_xy_drift": 0.0,
+                "depth": 0.01634562128913386,
+                "bottom_clearance": 0.08309489432015693,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0005100042517378611,
+                  0.0006410051986917575
+                ],
+                "rod_tip_xy": [
+                  0.2713471668742695,
+                  -0.32502250696802176
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.2713353330393306,
+                  -0.3250280582572514,
+                  1.0042667928373332
+                ],
+                "rod_tip_xy_dist": 0.0008191410144416865,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.016858859829492756,
+                "bottom_clearance": 0.08258166058332739,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005218380070451945,
+                  0.0006354529541492959
+                ],
+                "rod_tip_xy": [
+                  0.2713353330393306,
+                  -0.3250280582572515
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.27132634955226365,
+                  -0.3250274179661943,
+                  1.0041486972279956
+                ],
+                "rod_tip_xy_dist": 0.0008222623441055583,
+                "target_xy_drift": 0.0,
+                "depth": 0.01699303992956136,
+                "bottom_clearance": 0.08244747567972943,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005308215737437338,
+                  0.0006360942005192993
+                ],
+                "rod_tip_xy": [
+                  0.27132634955226365,
+                  -0.3250274179661942
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.2713322785172843,
+                  -0.32509165041784555,
+                  1.0036373890454657
+                ],
+                "rod_tip_xy_dist": 0.000828484987845924,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.017111136974245822,
+                "bottom_clearance": 0.08232938343857432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005248925290915474,
+                  0.0005718607935551456
+                ],
+                "rod_tip_xy": [
+                  0.27133227851728425,
+                  -0.32509165041784566
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.27132033637494046,
+                  -0.3250975238536205,
+                  1.0035033207355035
+                ],
+                "rod_tip_xy_dist": 0.0007762325259235417,
+                "target_xy_drift": 0.0,
+                "depth": 0.01762244372142885,
+                "bottom_clearance": 0.08181807188786194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005368347510669169,
+                  0.0005659883130930132
+                ],
+                "rod_tip_xy": [
+                  0.27132033637494046,
+                  -0.3250975238536205
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.2713115318681184,
+                  -0.3250966246171286,
+                  1.003385516684152
+                ],
+                "rod_tip_xy_dist": 0.0007800860981397844,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.017756513466738122,
+                "bottom_clearance": 0.08168400694608202,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005456391782573955,
+                  0.0005668865942722312
+                ],
+                "rod_tip_xy": [
+                  0.2713115318681184,
+                  -0.32509662461712857
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.27130262367597674,
+                  -0.3250956858350262,
+                  1.0032675318728321
+                ],
+                "rod_tip_xy_dist": 0.0007868179736222191,
+                "target_xy_drift": 0.0,
+                "depth": 0.01787431608274226,
+                "bottom_clearance": 0.08156619952654853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005545474500306402,
+                  0.0005678263316873378
+                ],
+                "rod_tip_xy": [
+                  0.27130262367597674,
+                  -0.3250956858350262
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.2713100086993989,
+                  -0.32516189519258193,
+                  1.0027577667223402
+                ],
+                "rod_tip_xy_dist": 0.0007936936545626303,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.017992302329409293,
+                "bottom_clearance": 0.08144821808341085,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005471623469768816,
+                  0.0005016160188188734
+                ],
+                "rod_tip_xy": [
+                  0.2713100086993989,
+                  -0.32516189519258193
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.2712978974833504,
+                  -0.32516763574653224,
+                  1.0026234493888277
+                ],
+                "rod_tip_xy_dist": 0.0007422972883454079,
+                "target_xy_drift": 0.0,
+                "depth": 0.018502066044554177,
+                "bottom_clearance": 0.08093844956473661,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005592736426569545,
+                  0.0004958764201812849
+                ],
+                "rod_tip_xy": [
+                  0.2712978974833504,
+                  -0.32516763574653224
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.2712889397756549,
+                  -0.32516656080660783,
+                  1.0025058134668097
+                ],
+                "rod_tip_xy_dist": 0.0007474492835387462,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.018636384813413676,
+                "bottom_clearance": 0.08080413559940647,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005682312707209203,
+                  0.0004969504047929729
+                ],
+                "rod_tip_xy": [
+                  0.2712889397756549,
+                  -0.32516656080660783
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.2712797661252965,
+                  -0.32516560999713084,
+                  1.002388111765407
+                ],
+                "rod_tip_xy_dist": 0.0007548817668012729,
+                "target_xy_drift": 0.0,
+                "depth": 0.01875401930008469,
+                "bottom_clearance": 0.0806864963092061,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0005774050007109066,
+                  0.0004979021695826202
+                ],
+                "rod_tip_xy": [
+                  0.2712797661252965,
+                  -0.3251656099971309
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.271270717807946,
+                  -0.32516482965199495,
+                  1.0022704360882837
+                ],
+                "rod_tip_xy_dist": 0.0007624323611449362,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.018871722436834437,
+                "bottom_clearance": 0.0805687979759857,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0005864532384298182,
+                  0.0004986815594058558
+                ],
+                "rod_tip_xy": [
+                  0.271270717807946,
+                  -0.32516482965199495
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.2712806227001767,
+                  -0.3252338460718755,
+                  1.0017645173727383
+                ],
+                "rod_tip_xy_dist": 0.000769812118998056,
+                "target_xy_drift": 0.0,
+                "depth": 0.01898939667861088,
+                "bottom_clearance": 0.08045111893067991,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0005765484258306586,
+                  0.0004296660948379105
+                ],
+                "rod_tip_xy": [
+                  0.2712806227001767,
+                  -0.3252338460718756
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.2712682579457367,
+                  -0.3252396066959749,
+                  1.0016302708641396
+                ],
+                "rod_tip_xy_dist": 0.0007190417514867066,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.01949531682950334,
+                "bottom_clearance": 0.0799452035833168,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  -0.0005889131006390769,
+                  0.00042390451542589913
+                ],
+                "rod_tip_xy": [
+                  0.2712682579457367,
+                  -0.3252396066959749
+                ],
+                "target_mouth_xy": [
+                  0.2718571710463758,
+                  -0.3256635112114008
+                ],
+                "gripper_position": [
+                  0.27125903456590317,
+                  -0.3252383593469506,
+                  1.0015126200592124
+                ],
+                "rod_tip_xy_dist": 0.0007256126227559702,
+                "target_xy_drift": 0.0,
+                "depth": 0.019629561902754777,
+                "bottom_clearance": 0.07981095370653601,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  -0.0005981365601042121,
+                  0.0004251528197629084
+                ],
+                "rod_tip_xy": [
+                  0.27125903456590317,
+                  -0.3252383593469506
+                ],
+                "target_mouth_xy": [
+                  0.2718571711260074,
+                  -0.3256635121667135
+                ],
+                "gripper_position": [
+                  0.27126864355797475,
+                  -0.3252999624516634,
+                  1.0009212833382164
+                ],
+                "rod_tip_xy_dist": 0.0007338407624857397,
+                "target_xy_drift": 9.586258796952316e-10,
+                "depth": 0.019747214143029046,
+                "bottom_clearance": 0.0796933062697911,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005992532763972859,
+              "rod_tip_xy_max_step": 3.250844533146176e-05,
+              "rod_tip_xy_range": 0.000599249538377472,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2708179153167696,
+            -0.3265081746754038,
+            1.0434108958152786
+          ],
+          "object_origin_world": [
+            0.2708179153167696,
+            -0.3265081746754038,
+            1.0434108958152786
+          ],
+          "frame_world": [
+            0.27081646700588713,
+            -0.32651101260750953,
+            1.043305266539942
+          ],
+          "center_minus_frame": [
+            1.4483108824459023e-06,
+            2.837932105759222e-06,
+            0.00010562927533652733
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25618583854331456,
+              0.1578836211022852,
+              0.8324897839393844
+            ],
+            "target_position": [
+              0.26977794851300146,
+              0.2042914054700043,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04835729421037507,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16656169698726422,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8324897839393844,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672361899865,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13573092632021358,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 305,
+            "max_placed_release_frames": 305
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28959824293848513,
+              -0.08099437064603356,
+              1.047867412735758
+            ],
+            "current_z": 1.047867412735758,
+            "required_z": 0.8565863295506434,
+            "initial_z": 0.7565863295506434,
+            "lift_margin": 0.1912810831851145,
+            "gripper_z": 1.0512561429923064,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2850182980746705,
+              -0.08546531338471153,
+              1.0512561429923064
+            ],
+            "object_minus_gripper": [
+              0.004579944863814633,
+              0.0044709427386779715,
+              -0.003388730256548511
+            ],
+            "object_to_gripper_xy": 0.00640040810637254,
+            "object_to_gripper_z": -0.003388730256548511,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28959824293848513,
+              -0.10524826175440707,
+              1.047867412735758
+            ],
+            "finger_b": [
+              0.27861110044550597,
+              -0.08099437064603356,
+              1.047867412735758
+            ],
+            "finger_midpoint": [
+              0.28410467169199555,
+              -0.09312131620022032,
+              1.047867412735758
+            ],
+            "object_minus_finger_midpoint": [
+              0.005493571246489581,
+              0.012126945554186766,
+              0.0
+            ],
+            "finger_gap": 0.026626463040701976,
+            "fingertip_max_gap": 0.09137500074004593,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013313231520350995,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047867412735758,
+            "object_top_z": 1.0932350864888076,
+            "finger_top_clearance": 0.04536767375304973,
+            "fingertip_min_top_clearance": 0.013610302125914952,
+            "object_projection_between_fingers": 0.8297282680938064,
+            "object_to_finger_line_xy": 0.010008124519187901,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048187500370022965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0118273044826287,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28923623446215213,
+              -0.08527752030158138,
+              1.2447027171506584
+            ],
+            "held_position": [
+              0.2940947560999787,
+              -0.08111150593577876,
+              1.2413145085700492
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072416065611863,
+            "max_held_gripper_dist": 0.007243524097214861,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033882085806091755,
+            "max_held_gripper_z_dist": 0.0033882085806091755,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670078460495942,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2940947560999787,
+              -0.10633594674541491,
+              1.2413145085700492
+            ],
+            "held_grasp_finger_b": [
+              0.2852084015645906,
+              -0.08111150593577876,
+              1.2413145085700492
+            ],
+            "held_grasp_midpoint": [
+              0.28965157883228465,
+              -0.09372372634059684,
+              1.2413145085700492
+            ],
+            "held_grasp_object_position": [
+              0.2940947560999787,
+              -0.08111150593577876,
+              1.2413145085700492
+            ],
+            "held_grasp_finger_gap": 0.02674396588181062,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024623753557094362,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06166708792034574,
+              -0.9979110876425645,
+              -0.019251790240341068
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003665188946574088,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.045200735330581665,
+            "held_grasp_top_clearance": 0.03234086294560934,
+            "held_grasp_min_top_clearance": 0.0135602205991745
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2525582746843025,
+              -0.08162723618435547,
+              0.7565965674969244
+            ],
+            "target_position": [
+              0.26562913057530657,
+              -0.08194825070066836,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.01307479728497081,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2079976071944055,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565965674969244,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756568787824521,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09352727930215259,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18024762177947948,
+            "release_required_pad_clearance": 0.056763639651076295,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.92156577312532,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ed1cb975fb9931deb33cffb657a7fc4e654cc3e87ba1d7b14a206e28f37afad",
+    "visual_seed": 8766814075607299923,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e95e4c187f9117c068a23704f6cf1296bd923a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_36_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36767390605387973,
+              0.1147338526024904,
+              1.1651414139629521
+            ],
+            "current_z": 1.1651414139629521,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.30403466752960717,
+            "gripper_z": 1.154820721760619,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3625715528645931,
+              0.10968546649445432,
+              1.154820721760619
+            ],
+            "object_minus_gripper": [
+              0.005102353189286646,
+              0.005048386108036082,
+              0.010320692202333115
+            ],
+            "object_to_gripper_xy": 0.007177758031867283,
+            "object_to_gripper_z": 0.010320692202333115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36767390605387973,
+              0.09078190831305603,
+              1.1651414139629521
+            ],
+            "finger_b": [
+              0.3561921397054088,
+              0.1147338526024904,
+              1.1651414139629521
+            ],
+            "finger_midpoint": [
+              0.36193302287964424,
+              0.10275788045777322,
+              1.1651414139629521
+            ],
+            "object_minus_finger_midpoint": [
+              0.005740883174235489,
+              0.011975972144717184,
+              0.0
+            ],
+            "finger_gap": 0.026561750577193646,
+            "fingertip_max_gap": 0.0914887538123603,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013280875288596835,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651414139629521,
+            "object_top_z": 1.2150966734165005,
+            "finger_top_clearance": 0.049955259453548395,
+            "fingertip_min_top_clearance": 0.014986577836064517,
+            "object_projection_between_fingers": 0.8131453021709121,
+            "object_to_finger_line_xy": 0.01035363339941179,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824437690618015,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1903915868228336,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 367,
+            "max_stable_success_frames": 367,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2744649360495489,
+              -0.3284124618621872,
+              0.8515395857923226
+            ],
+            "target_position": [
+              0.2657730642366215,
+              -0.32888470749086357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008704691352722735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18564379307676318,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395857923226,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526375712442207,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524521533535416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15418390563605844,
+            "release_required_pad_clearance": 0.05262260766767708,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3064667958266116,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007087230682373047,
+            "max_z_decrease": 0.007087230682373047,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520845012899527,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007087230682373047,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021326170872892205,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007087230682373047,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007087252278271338,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.121472992002964,
+              -0.3851461708545685,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.121472992002964,
+              -0.3851461708545685,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12333751576468735,
+              -0.38714387629996583,
+              0.8079725960515296
+            ],
+            "closest_button": [
+              0.12146224826574326,
+              -0.38514554500579834,
+              0.7728709578514099
+            ],
+            "closest_ee_minus_button": [
+              0.0018752674989440943,
+              -0.001998331294167488,
+              0.03510163820011969
+            ],
+            "button_min_z_position": [
+              0.12145549803972244,
+              -0.385145902633667,
+              0.7697216272354126
+            ],
+            "min_active_finger_to_button": 0.14416982817524673,
+            "closest_active_finger": [
+              -0.01774829626083374,
+              -0.3703487813472748,
+              0.8106328248977661
+            ],
+            "closest_active_finger_button": [
+              0.1214725524187088,
+              -0.3851464688777923,
+              0.7762304544448853
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13922084867954254,
+              0.014797687530517523,
+              0.03440237045288086
+            ],
+            "min_contact_pad_to_button": 0.021326170872892205,
+            "closest_contact_pad": [
+              0.12145549803972244,
+              -0.38830483172827596,
+              0.7908125430779034
+            ],
+            "closest_contact_pad_button": [
+              0.12145549803972244,
+              -0.385145902633667,
+              0.7697216272354126
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031589290946089643,
+              0.021090915842490787
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27213887400923503,
+              0.2063179648071716,
+              1.108668045738674
+            ],
+            "current_z": 1.108668045738674,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1987589160043114,
+            "gripper_z": 1.1086680864497889,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2721387005399602,
+              0.20631810150443003,
+              1.1086680864497889
+            ],
+            "object_minus_gripper": [
+              1.7346927483341545e-07,
+              -1.3669725842935243e-07,
+              -4.071111492365276e-08
+            ],
+            "object_to_gripper_xy": 2.2085680830196788e-07,
+            "object_to_gripper_z": -4.071111492365276e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27213887400923503,
+              0.2063179648071716,
+              1.108668045738674
+            ],
+            "finger_b": [
+              0.27213887400923503,
+              0.2063179648071716,
+              1.108668045738674
+            ],
+            "finger_midpoint": [
+              0.27213887400923503,
+              0.2063179648071716,
+              1.108668045738674
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.108668045738674,
+            "object_top_z": 1.2336765523589537,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 157,
+            "max_stable_success_frames": 157,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2721388740092351,
+            0.20631796480717163,
+            1.1086680457386742
+          ],
+          "object_origin_world": [
+            0.2721388740092351,
+            0.20631796480717163,
+            1.1086680457386742
+          ],
+          "frame_world": [
+            0.2721387005399602,
+            0.20631810150443003,
+            1.1086680864497889
+          ],
+          "center_minus_frame": [
+            1.734692748889266e-07,
+            -1.3669725840159686e-07,
+            -4.071111470160815e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1678,
+            "required_success_frames": 20,
+            "gripper_z": 1.043628240140531,
+            "required_z": 0.9112598951163193,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0014988975305675184,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.299802837743004e-08,
+            "max_target_xy_drift": 1.2709082278200467e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.3064667857857511,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.3064667992338205,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.27573919358537397,
+              -0.32766916360960896,
+              0.923315003022081
+            ],
+            "target_mouth_xy": [
+              0.27446491064727735,
+              -0.3284124640962074
+            ],
+            "rod_tip_z": 0.923315003022081,
+            "rod_tip_depth": -0.022055064207378017,
+            "rod_tip_bottom_clearance": 0.12149575045231109,
+            "rod_tip_xy_dist": 0.0014752262944042202,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044505404142885396,
+            "min_rod_tip_bottom_clearance": 0.0549351261861426,
+            "min_rod_tip_xy_dist": 0.00022655964024414002,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2744649094477255,
+              -0.3284124311199894
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.1995518467422528e-09,
+              -3.297621797848649e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 393,
+              "end_frame": 412,
+              "first_rod_tip_xy_delta": [
+                0.0017510199640476398,
+                0.002356417207257655
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0016563033418923179,
+                0.0020115627973285033
+              ],
+              "first_target_mouth_xy": [
+                0.27446493898483204,
+                -0.3284124349260994
+              ],
+              "last_target_mouth_xy": [
+                0.2744649370714213,
+                -0.3284124634570267
+              ],
+              "first_rod_tip_xy": [
+                0.2762159589488797,
+                -0.32605601771884174
+              ],
+              "last_rod_tip_xy": [
+                0.2761212404133136,
+                -0.3264009006596982
+              ],
+              "min_rod_tip_xy_dist": 0.002605710200302354,
+              "max_rod_tip_xy_dist": 0.002935774679561319,
+              "first_target_xy_drift": 2.9781321929395314e-08,
+              "last_target_xy_drift": 4.2529431546787235e-08,
+              "max_depth": 0.019489706557010877,
+              "min_bottom_clearance": 0.07995086166787735
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017510199640476398,
+                  0.002356417207257655
+                ],
+                "rod_tip_xy": [
+                  0.2762159589488797,
+                  -0.32605601771884174
+                ],
+                "target_mouth_xy": [
+                  0.27446493898483204,
+                  -0.3284124349260994
+                ],
+                "gripper_position": [
+                  0.2762043641680918,
+                  -0.32606220604229363,
+                  1.0059874988678856
+                ],
+                "rod_tip_xy_dist": 0.002935774679561319,
+                "target_xy_drift": 2.9781321929395314e-08,
+                "depth": 0.015134983562630988,
+                "bottom_clearance": 0.08430566925110428,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001739426640408881,
+                  0.0023502558231948134
+                ],
+                "rod_tip_xy": [
+                  0.2762043641680918,
+                  -0.32606220604229363
+                ],
+                "target_mouth_xy": [
+                  0.2744649375276829,
+                  -0.32841246186548845
+                ],
+                "gripper_position": [
+                  0.2762121725494536,
+                  -0.32612230110002727,
+                  1.0054711167623116
+                ],
+                "rod_tip_xy_dist": 0.002923919881225417,
+                "target_xy_drift": 4.163856048623671e-08,
+                "depth": 0.015272257679922019,
+                "bottom_clearance": 0.08416823634520187,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017472336767680452,
+                  0.002290161722715456
+                ],
+                "rod_tip_xy": [
+                  0.27621217254945357,
+                  -0.32612230110002727
+                ],
+                "target_mouth_xy": [
+                  0.2744649388726855,
+                  -0.3284124628227427
+                ],
+                "gripper_position": [
+                  0.27620044661706616,
+                  -0.32612811849123235,
+                  1.00533351609537
+                ],
+                "rod_tip_xy_dist": 0.002880566999294307,
+                "target_xy_drift": 4.3253818790328287e-08,
+                "depth": 0.01578878673931905,
+                "bottom_clearance": 0.08365179319530014,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017355090154849706,
+                  0.0022843446461624506
+                ],
+                "rod_tip_xy": [
+                  0.27620044661706616,
+                  -0.32612811849123235
+                ],
+                "target_mouth_xy": [
+                  0.2744649376015812,
+                  -0.3284124631373948
+                ],
+                "gripper_position": [
+                  0.2761915609677012,
+                  -0.32612792137126045,
+                  1.005212959627401
+                ],
+                "rod_tip_xy_dist": 0.002868836350383316,
+                "target_xy_drift": 4.263512446821385e-08,
+                "depth": 0.015926263806323004,
+                "bottom_clearance": 0.08351427874489359,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.001726622294779434,
+                  0.002284511649391807
+                ],
+                "rod_tip_xy": [
+                  0.2761915609677012,
+                  -0.32612792137126045
+                ],
+                "target_mouth_xy": [
+                  0.27446493867292177,
+                  -0.32841243302065226
+                ],
+                "gripper_position": [
+                  0.27620041680537255,
+                  -0.32618917908867695,
+                  1.0046963505306952
+                ],
+                "rod_tip_xy_dist": 0.002863602281224869,
+                "target_xy_drift": 2.9286935925072407e-08,
+                "depth": 0.016046882695673337,
+                "bottom_clearance": 0.08339368959013849,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017355112702959197,
+                  0.0022233135250164793
+                ],
+                "rod_tip_xy": [
+                  0.2762004168053725,
+                  -0.32618917908867695
+                ],
+                "target_mouth_xy": [
+                  0.2744649055350766,
+                  -0.32841249261369343
+                ],
+                "gripper_position": [
+                  0.276188560104222,
+                  -0.32619505013534056,
+                  1.004559183357687
+                ],
+                "rod_tip_xy_dist": 0.002820482653704036,
+                "target_xy_drift": 6.161805299950639e-08,
+                "depth": 0.016563549429201574,
+                "bottom_clearance": 0.08287706297467712,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017236229453569951,
+                  0.00221741205043835
+                ],
+                "rod_tip_xy": [
+                  0.276188560104222,
+                  -0.32619505013534067
+                ],
+                "target_mouth_xy": [
+                  0.274464937158865,
+                  -0.328412462185779
+                ],
+                "gripper_position": [
+                  0.2761796296389193,
+                  -0.3261947237146781,
+                  1.0044387802809822
+                ],
+                "rod_tip_xy_dist": 0.0028085213652721836,
+                "target_xy_drift": 4.16292029229375e-08,
+                "depth": 0.01670064974908325,
+                "bottom_clearance": 0.08273986991325566,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017146921577971819,
+                  0.0022177378349624854
+                ],
+                "rod_tip_xy": [
+                  0.2761796296389193,
+                  -0.32619472371467817
+                ],
+                "target_mouth_xy": [
+                  0.2744649374811221,
+                  -0.32841246154964066
+                ],
+                "gripper_position": [
+                  0.27618923918534977,
+                  -0.32625737372236685,
+                  1.0039238824478416
+                ],
+                "rod_tip_xy_dist": 0.0028033070293200578,
+                "target_xy_drift": 4.13743277884381e-08,
+                "depth": 0.016821031709115197,
+                "bottom_clearance": 0.08261945290415051,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017243028118079096,
+                  0.0021550871851594433
+                ],
+                "rod_tip_xy": [
+                  0.27618923918534977,
+                  -0.32625737372236685
+                ],
+                "target_mouth_xy": [
+                  0.27446493637354186,
+                  -0.3284124609075263
+                ],
+                "gripper_position": [
+                  0.2761773854840366,
+                  -0.3262630146991675,
+                  1.003786963309067
+                ],
+                "rod_tip_xy_dist": 0.0027600037975421547,
+                "target_xy_drift": 4.015341753594929e-08,
+                "depth": 0.017335974746318317,
+                "bottom_clearance": 0.08210457524230763,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017124180785760834,
+                  0.0021494481204679117
+                ],
+                "rod_tip_xy": [
+                  0.2761773854840366,
+                  -0.3262630146991675
+                ],
+                "target_mouth_xy": [
+                  0.2744649674054605,
+                  -0.32841246281963543
+                ],
+                "gripper_position": [
+                  0.27616835850698096,
+                  -0.326262541012597,
+                  1.0036664846128671
+                ],
+                "rod_tip_xy_dist": 0.0027481817440659275,
+                "target_xy_drift": 6.606032549189106e-08,
+                "depth": 0.017472870515785166,
+                "bottom_clearance": 0.08196766066924677,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017034220952333312,
+                  0.0021499202140317086
+                ],
+                "rod_tip_xy": [
+                  0.27616835850698096,
+                  -0.3262625410125971
+                ],
+                "target_mouth_xy": [
+                  0.27446493641174763,
+                  -0.3284124612266288
+                ],
+                "gripper_position": [
+                  0.27617864407714343,
+                  -0.3263259640031386,
+                  1.003154932621547
+                ],
+                "rod_tip_xy_dist": 0.002742955296980113,
+                "target_xy_drift": 4.041618766544715e-08,
+                "depth": 0.017593365675306782,
+                "bottom_clearance": 0.0818471714006318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017137068736989836,
+                  0.0020864988159864373
+                ],
+                "rod_tip_xy": [
+                  0.2761786440771434,
+                  -0.3263259640031386
+                ],
+                "target_mouth_xy": [
+                  0.2744649372034444,
+                  -0.32841246281912506
+                ],
+                "gripper_position": [
+                  0.27616662058859753,
+                  -0.32633198147099673,
+                  1.0030176696255382
+                ],
+                "rod_tip_xy_dist": 0.0027000497325190046,
+                "target_xy_drift": 4.2133301936050833e-08,
+                "depth": 0.018104850728856703,
+                "bottom_clearance": 0.08133568971080496,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001701683589693248,
+                  0.002080448685125358
+                ],
+                "rod_tip_xy": [
+                  0.2761666205885975,
+                  -0.32633198147099673
+                ],
+                "target_mouth_xy": [
+                  0.27446493699890423,
+                  -0.3284124301561221
+                ],
+                "gripper_position": [
+                  0.27615749814538393,
+                  -0.3263312421272537,
+                  1.0028976764247777
+                ],
+                "rod_tip_xy_dist": 0.002687748829573018,
+                "target_xy_drift": 2.7568033834029952e-08,
+                "depth": 0.01824218563826996,
+                "bottom_clearance": 0.08119837446557643,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0016925609871301095,
+                  0.0020812216455645682
+                ],
+                "rod_tip_xy": [
+                  0.27615749814538393,
+                  -0.3263312421272536
+                ],
+                "target_mouth_xy": [
+                  0.2744649371582538,
+                  -0.3284124637728182
+                ],
+                "gripper_position": [
+                  0.2761484324938838,
+                  -0.32633047019980405,
+                  1.0027772836879227
+                ],
+                "rod_tip_xy_dist": 0.0026825820086478886,
+                "target_xy_drift": 4.282616731077317e-08,
+                "depth": 0.018362184811342552,
+                "bottom_clearance": 0.08107839128718497,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0016834961694179862,
+                  0.00208199388664021
+                ],
+                "rod_tip_xy": [
+                  0.27614843249388377,
+                  -0.3263304701998041
+                ],
+                "target_mouth_xy": [
+                  0.2744649363244658,
+                  -0.3284124640864443
+                ],
+                "gripper_position": [
+                  0.2761391189782653,
+                  -0.3263301455699053,
+                  1.0026567838965916
+                ],
+                "rod_tip_xy_dist": 0.002677472296112929,
+                "target_xy_drift": 4.253406066418261e-08,
+                "depth": 0.01848260863396134,
+                "bottom_clearance": 0.08095801088746013,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0016741822097381953,
+                  0.0020823156583616997
+                ],
+                "rod_tip_xy": [
+                  0.2761391189782653,
+                  -0.32633014556990536
+                ],
+                "target_mouth_xy": [
+                  0.2744649367685271,
+                  -0.32841246122826706
+                ],
+                "gripper_position": [
+                  0.27615188938929436,
+                  -0.326396573655203,
+                  1.0021466894773048
+                ],
+                "rod_tip_xy_dist": 0.0026718766012789933,
+                "target_xy_drift": 4.0656298210670904e-08,
+                "depth": 0.01860299591466419,
+                "bottom_clearance": 0.08083752745566708,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0016869525478965253,
+                  0.0020158888468674308
+                ],
+                "rod_tip_xy": [
+                  0.27615188938929436,
+                  -0.326396573655203
+                ],
+                "target_mouth_xy": [
+                  0.27446493684139783,
+                  -0.32841246250207046
+                ],
+                "gripper_position": [
+                  0.27613957705382125,
+                  -0.32640251937430237,
+                  1.0020102362148313
+                ],
+                "rod_tip_xy_dist": 0.0026286149854588972,
+                "target_xy_drift": 4.1656311580133596e-08,
+                "depth": 0.019113158945385123,
+                "bottom_clearance": 0.08032738423391395,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0016746388220063024,
+                  0.002009944718336376
+                ],
+                "rod_tip_xy": [
+                  0.27613957705382125,
+                  -0.3264025193743024
+                ],
+                "target_mouth_xy": [
+                  0.27446493823181495,
+                  -0.3284124640926388
+                ],
+                "gripper_position": [
+                  0.2761304613139805,
+                  -0.3264017907383105,
+                  1.001890281937733
+                ],
+                "rod_tip_xy_dist": 0.0026161599635608963,
+                "target_xy_drift": 4.376893205116072e-08,
+                "depth": 0.019249625387946057,
+                "bottom_clearance": 0.08019097567142663,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0016655220413140381,
+                  0.0020107031561786837
+                ],
+                "rod_tip_xy": [
+                  0.2761304613139805,
+                  -0.32640179073831055
+                ],
+                "target_mouth_xy": [
+                  0.27446493927266646,
+                  -0.32841249389448923
+                ],
+                "gripper_position": [
+                  0.27612124041331365,
+                  -0.32640090065969823,
+                  1.0017700921349058
+                ],
+                "rod_tip_xy_dist": 0.0026109176265002696,
+                "target_xy_drift": 6.949938799057347e-08,
+                "depth": 0.019369647483307273,
+                "bottom_clearance": 0.08007099345537194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 412,
+                "rod_tip_xy_delta": [
+                  0.0016563033418923179,
+                  0.0020115627973285033
+                ],
+                "rod_tip_xy": [
+                  0.2761212404133136,
+                  -0.3264009006596982
+                ],
+                "target_mouth_xy": [
+                  0.2744649370714213,
+                  -0.3284124634570267
+                ],
+                "gripper_position": [
+                  0.27611196325478854,
+                  -0.326400002248019,
+                  1.0016495969871495
+                ],
+                "rod_tip_xy_dist": 0.002605710200302354,
+                "target_xy_drift": 4.2529431546787235e-08,
+                "depth": 0.019489706557010877,
+                "bottom_clearance": 0.07995086166787735,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1553,
+              "stir_motion_end_frame": 1572,
+              "rod_tip_xy_path_length": 0.0006021611983329396,
+              "rod_tip_xy_max_step": 3.2654269973092096e-05,
+              "rod_tip_xy_range": 0.0006021516052616465,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.275739193585374,
+            -0.32766916360960896,
+            1.043315003022081
+          ],
+          "object_origin_world": [
+            0.275739193585374,
+            -0.32766916360960896,
+            1.043315003022081
+          ],
+          "frame_world": [
+            0.27576485946763096,
+            -0.32766625576631375,
+            1.043628240140531
+          ],
+          "center_minus_frame": [
+            -2.566588225694222e-05,
+            -2.907843295207879e-06,
+            -0.0003132371184499938
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25593257295664984,
+              0.16513467450025096,
+              0.8282562961252384
+            ],
+            "target_position": [
+              0.26380512007564405,
+              0.21022397748737653,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04577141293433703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17330992431500583,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8282562961252384,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183566903700647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1429674789380013,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 229,
+            "max_placed_release_frames": 229
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29805809143174294,
+              -0.07988862810084212,
+              1.04627118852344
+            ],
+            "current_z": 1.04627118852344,
+            "required_z": 0.8565862876202418,
+            "initial_z": 0.7565862876202418,
+            "lift_margin": 0.18968490090319812,
+            "gripper_z": 1.0493619947032575,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2934991942447901,
+              -0.08438434421554857,
+              1.0493619947032575
+            ],
+            "object_minus_gripper": [
+              0.004558897186952848,
+              0.0044957161147064495,
+              -0.0030908061798176067
+            ],
+            "object_to_gripper_xy": 0.006402734333488923,
+            "object_to_gripper_z": -0.0030908061798176067,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29805809143174294,
+              -0.10406563521605787,
+              1.04627118852344
+            ],
+            "finger_b": [
+              0.2869448407739529,
+              -0.07988862810084212,
+              1.04627118852344
+            ],
+            "finger_midpoint": [
+              0.2925014661028479,
+              -0.09197713165844999,
+              1.04627118852344
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055566253288950596,
+              0.012088503557607877,
+              0.0
+            ],
+            "finger_gap": 0.026608870949968253,
+            "fingertip_max_gap": 0.09226044430468314,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013304435474984139,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04627118852344,
+            "object_top_z": 1.0920936365114968,
+            "finger_top_clearance": 0.0458224479880569,
+            "fingertip_min_top_clearance": 0.013746734396417071,
+            "object_projection_between_fingers": 0.8255667287993211,
+            "object_to_finger_line_xy": 0.010097577636111112,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863022215234157,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0375165654319338,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2980168065316884,
+              -0.0838451826233018,
+              1.2432261853707824
+            ],
+            "held_position": [
+              0.30287405693813624,
+              -0.07968854305150405,
+              1.2401177451625518
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007108652092268817,
+            "max_held_gripper_dist": 0.007110808397364722,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003108440208230645,
+            "max_held_gripper_z_dist": 0.003108440208230645,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661857569357628,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30287405693813624,
+              -0.10493060959493486,
+              1.2401177451625518
+            ],
+            "held_grasp_finger_b": [
+              0.2939622065408165,
+              -0.07968854305150405,
+              1.2401177451625518
+            ],
+            "held_grasp_midpoint": [
+              0.2984181317394764,
+              -0.09230957632321946,
+              1.2401177451625518
+            ],
+            "held_grasp_object_position": [
+              0.30287405693813624,
+              -0.07968854305150405,
+              1.2401177451625518
+            ],
+            "held_grasp_finger_gap": 0.02676906798689855,
+            "held_grasp_max_gap": 0.12496581435203552,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024602413675340423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06551864184903379,
+              -0.9977909679621403,
+              -0.010976876761328302
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00362214985165789,
+            "held_grasp_line_xy_max_dist": 0.04748290717601776,
+            "held_grasp_object_top_z": 0.045200664550065994,
+            "held_grasp_top_clearance": 0.03231556537800162,
+            "held_grasp_min_top_clearance": 0.013560199365019798
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2593701693835156,
+              -0.08379379255434058,
+              0.7565931361523115
+            ],
+            "target_position": [
+              0.2740707810194443,
+              -0.08277214399837288,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.014736069633464481,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2071681963290738,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565931361523115,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554731314658283,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854549983222674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17909762423187572,
+            "release_required_pad_clearance": 0.0527274991611337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4892381629233388,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e44a1e91dc3169b875a92daa885620218c562d21c8f020a1e620fa54605d9630",
+    "visual_seed": 3303825510568061961,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9159632ae7f01f55473b2617a655e73017106430
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_37_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37518399923525964,
+              0.10743766540552938,
+              1.1671746051778822
+            ],
+            "current_z": 1.1671746051778822,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3060679183491821,
+            "gripper_z": 1.156713303225505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36997928915429246,
+              0.10244977209776983,
+              1.156713303225505
+            ],
+            "object_minus_gripper": [
+              0.005204710080967179,
+              0.004987893307759547,
+              0.010461301952377156
+            ],
+            "object_to_gripper_xy": 0.0072088894204665015,
+            "object_to_gripper_z": 0.010461301952377156,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37518399923525964,
+              0.08315057864358698,
+              1.1671746051778822
+            ],
+            "finger_b": [
+              0.3641287409443188,
+              0.10743766540552938,
+              1.1671746051778822
+            ],
+            "finger_midpoint": [
+              0.36965637008978924,
+              0.09529412202455817,
+              1.1671746051778822
+            ],
+            "object_minus_finger_midpoint": [
+              0.005527629145470392,
+              0.012143543380971206,
+              0.0
+            ],
+            "finger_gap": 0.02668485186883251,
+            "fingertip_max_gap": 0.09150620154225278,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013342425934416249,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1671746051778822,
+            "object_top_z": 1.2170577810192127,
+            "finger_top_clearance": 0.04988317584133051,
+            "fingertip_min_top_clearance": 0.014964952752399152,
+            "object_projection_between_fingers": 0.8283640750382786,
+            "object_to_finger_line_xy": 0.010061888992584837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825310077112639,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2882122615146656,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 372,
+            "max_stable_success_frames": 372,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26873155349553873,
+              -0.33073846189013945,
+              0.8515395697597969
+            ],
+            "target_position": [
+              0.2622964300722912,
+              -0.3304247804463148,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006442764121138457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18329161474863212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395697597969,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567142701898827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08817545612300602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.150781761735332,
+            "release_required_pad_clearance": 0.05408772806150301,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1886824200816926,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007212162017822266,
+            "max_z_decrease": 0.007212162017822266,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035084263772727595,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007212162017822266,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021116104855439213,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007212162017822266,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007212180700359821,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11799635738134384,
+              -0.38668623566627497,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11799635738134384,
+              -0.38668623566627497,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11735757594909776,
+              -0.3867903831875687,
+              0.8076762039113139
+            ],
+            "closest_button": [
+              0.11798606812953948,
+              -0.38668435811996454,
+              0.7725977301597595
+            ],
+            "closest_ee_minus_button": [
+              -0.0006284921804417115,
+              -0.00010602506760415409,
+              0.03507847375155437
+            ],
+            "button_min_z_position": [
+              0.11797995120286942,
+              -0.3866856694221496,
+              0.7695966958999634
+            ],
+            "min_active_finger_to_button": 0.14680150686686672,
+            "closest_active_finger": [
+              -0.010116137564182281,
+              -0.4495648741722107,
+              0.8108651638031006
+            ],
+            "closest_active_finger_button": [
+              0.1179964691400528,
+              -0.3866863548755645,
+              0.7764539122581482
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12811260670423508,
+              -0.06287851929664617,
+              0.03441125154495239
+            ],
+            "min_contact_pad_to_button": 0.021116104855439213,
+            "closest_contact_pad": [
+              0.11797995120286942,
+              -0.3879132651636337,
+              0.7906770870956076
+            ],
+            "closest_contact_pad_button": [
+              0.11797995120286942,
+              -0.3866856694221496,
+              0.7695966958999634
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001227595741484122,
+              0.0210803911956442
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27108682123572525,
+              0.2070178433821766,
+              1.1022867699673036
+            ],
+            "current_z": 1.1022867699673036,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19237764023294102,
+            "gripper_z": 1.1022868713341594,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27108686268401544,
+              0.20701784902483555,
+              1.1022868713341594
+            ],
+            "object_minus_gripper": [
+              -4.144829018892793e-08,
+              -5.642658951199309e-09,
+              -1.0136685579809068e-07
+            ],
+            "object_to_gripper_xy": 4.1830615099770276e-08,
+            "object_to_gripper_z": -1.0136685579809068e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27108682123572525,
+              0.2070178433821766,
+              1.1022867699673036
+            ],
+            "finger_b": [
+              0.27108682123572525,
+              0.2070178433821766,
+              1.1022867699673036
+            ],
+            "finger_midpoint": [
+              0.27108682123572525,
+              0.2070178433821766,
+              1.1022867699673036
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1022867699673036,
+            "object_top_z": 1.2272952765875833,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27108682123572525,
+            0.20701784338217663,
+            1.1022867699673038
+          ],
+          "object_origin_world": [
+            0.27108682123572525,
+            0.20701784338217663,
+            1.1022867699673038
+          ],
+          "frame_world": [
+            0.27108686268401544,
+            0.20701784902483555,
+            1.1022868713341594
+          ],
+          "center_minus_frame": [
+            -4.144829018892793e-08,
+            -5.642658923443733e-09,
+            -1.0136685557604608e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436343086074906,
+            "required_z": 0.9112598388269804,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0018204855468145669,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.058344851169676e-08,
+            "max_target_xy_drift": 1.3711671352265267e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 3.188682419825758,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 3.188682420082493,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26899418884151927,
+              -0.3325374676653544,
+              0.9233198423473198
+            ],
+            "target_mouth_xy": [
+              0.26873152504278264,
+              -0.3307384916569144
+            ],
+            "rod_tip_z": 0.9233198423473198,
+            "rod_tip_depth": -0.02206001940735447,
+            "rod_tip_bottom_clearance": 0.1215005561734831,
+            "rod_tip_xy_dist": 0.001818050315615493,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04489816107057454,
+            "min_rod_tip_bottom_clearance": 0.054542403962326125,
+            "min_rod_tip_xy_dist": 0.0007577489855837976,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1181,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1181,
+            "target_mouth_xy_initial": [
+              0.26873155265712495,
+              -0.3307384619169683
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.7614342312798357e-08,
+              -2.9739946061368983e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                0.0007931224943312776,
+                -8.371890476188693e-05
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0006882473395986577,
+                -0.0004521163702009279
+              ],
+              "first_target_mouth_xy": [
+                0.26873155179870084,
+                -0.330738430890853
+              ],
+              "last_target_mouth_xy": [
+                0.2687315514873015,
+                -0.33073849336916283
+              ],
+              "first_rod_tip_xy": [
+                0.2695246742930321,
+                -0.33082214979561486
+              ],
+              "last_rod_tip_xy": [
+                0.26941979882690015,
+                -0.33119060973936376
+              ],
+              "min_rod_tip_xy_dist": 0.000783453302637359,
+              "max_rod_tip_xy_dist": 0.0008542733575047193,
+              "first_target_xy_drift": 3.103798842166864e-08,
+              "last_target_xy_drift": 3.147394202779988e-08,
+              "max_depth": 0.01945352433826797,
+              "min_bottom_clearance": 0.0799870998743345
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0007931224943312776,
+                  -8.371890476188693e-05
+                ],
+                "rod_tip_xy": [
+                  0.2695246742930321,
+                  -0.33082214979561486
+                ],
+                "target_mouth_xy": [
+                  0.26873155179870084,
+                  -0.330738430890853
+                ],
+                "gripper_position": [
+                  0.26951313750599665,
+                  -0.33082838705100465,
+                  1.0059860333910025
+                ],
+                "rod_tip_xy_dist": 0.0007975287744205831,
+                "target_xy_drift": 3.103798842166864e-08,
+                "depth": 0.01513854307686302,
+                "bottom_clearance": 0.08430204762735227,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0007816145686257436,
+                  -8.992415731690073e-05
+                ],
+                "rod_tip_xy": [
+                  0.26951313750599665,
+                  -0.3308283870510047
+                ],
+                "target_mouth_xy": [
+                  0.2687315229373709,
+                  -0.3307384628936878
+                ],
+                "gripper_position": [
+                  0.2695184412553931,
+                  -0.33089322073086924,
+                  1.0054714690449589
+                ],
+                "rod_tip_xy_dist": 0.0007867704162950981,
+                "target_xy_drift": 2.97357993257539e-08,
+                "depth": 0.01527382207555672,
+                "bottom_clearance": 0.08416673107602224,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0007869170530176994,
+                  -0.00015479053519745767
+                ],
+                "rod_tip_xy": [
+                  0.2695184412553931,
+                  -0.33089322073086924
+                ],
+                "target_mouth_xy": [
+                  0.2687315242023754,
+                  -0.3307384301956718
+                ],
+                "gripper_position": [
+                  0.26950693176185303,
+                  -0.3308994222494211,
+                  1.0053368515255692
+                ],
+                "rod_tip_xy_dist": 0.0008019966072975471,
+                "target_xy_drift": 4.261353571487841e-08,
+                "depth": 0.01578837772554964,
+                "bottom_clearance": 0.08365219012189651,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.000775409900477475,
+                  -0.00016098913956930083
+                ],
+                "rod_tip_xy": [
+                  0.26950693176185303,
+                  -0.33089942224942104
+                ],
+                "target_mouth_xy": [
+                  0.26873152186137556,
+                  -0.33073843310985174
+                ],
+                "gripper_position": [
+                  0.2694983011733606,
+                  -0.3308992086676024,
+                  1.005218120128286
+                ],
+                "rod_tip_xy_dist": 0.000791945715827639,
+                "target_xy_drift": 4.216904251360862e-08,
+                "depth": 0.015923036001647906,
+                "bottom_clearance": 0.08351755704164676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0007667782265812773,
+                  -0.0001607800629874756
+                ],
+                "rod_tip_xy": [
+                  0.2694983011733606,
+                  -0.3308992086676025
+                ],
+                "target_mouth_xy": [
+                  0.2687315229467793,
+                  -0.330738428604615
+                ],
+                "gripper_position": [
+                  0.26950478100569375,
+                  -0.3309651634049046,
+                  1.004702951490796
+                ],
+                "rod_tip_xy_dist": 0.000783453302637359,
+                "target_xy_drift": 4.463650435550257e-08,
+                "depth": 0.016041710719441715,
+                "bottom_clearance": 0.08339891823876133,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0007732594793832259,
+                  -0.00022673091488856212
+                ],
+                "rod_tip_xy": [
+                  0.26950478100569375,
+                  -0.33096516340490467
+                ],
+                "target_mouth_xy": [
+                  0.2687315215263105,
+                  -0.3307384324900161
+                ],
+                "gripper_position": [
+                  0.2694930330736204,
+                  -0.3309711066454732,
+                  1.0045683958234024
+                ],
+                "rod_tip_xy_dist": 0.0008058145755831314,
+                "target_xy_drift": 4.283775347884879e-08,
+                "depth": 0.016556933804121043,
+                "bottom_clearance": 0.0828836480135634,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.00076148186077446,
+                  -0.00023270523233132057
+                ],
+                "rod_tip_xy": [
+                  0.2694930330736204,
+                  -0.33097110664547325
+                ],
+                "target_mouth_xy": [
+                  0.2687315512128459,
+                  -0.3307384014131419
+                ],
+                "gripper_position": [
+                  0.26948442361870156,
+                  -0.3309709196137178,
+                  1.004449714207155
+                ],
+                "rod_tip_xy_dist": 0.0007962451566213186,
+                "target_xy_drift": 6.052106203763745e-08,
+                "depth": 0.016691441209746638,
+                "bottom_clearance": 0.08274916228627782,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0007528715250956219,
+                  -0.00023248779654494456
+                ],
+                "rod_tip_xy": [
+                  0.26948442361870156,
+                  -0.33097091961371783
+                ],
+                "target_mouth_xy": [
+                  0.26873155209360594,
+                  -0.3307384318171729
+                ],
+                "gripper_position": [
+                  0.2694915732013209,
+                  -0.3310380111873852,
+                  1.0039361870992538
+                ],
+                "rod_tip_xy_dist": 0.0007879505751264677,
+                "target_xy_drift": 3.0105069985566505e-08,
+                "depth": 0.01681014501925493,
+                "bottom_clearance": 0.08263040271408595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0007600214784778125,
+                  -0.0002996097943283593
+                ],
+                "rod_tip_xy": [
+                  0.2694915732013209,
+                  -0.3310380111873852
+                ],
+                "target_mouth_xy": [
+                  0.2687315517228431,
+                  -0.3307384013930568
+                ],
+                "gripper_position": [
+                  0.2694797281446508,
+                  -0.33104396600796854,
+                  1.003801859378414
+                ],
+                "rod_tip_xy_dist": 0.0008169447206543916,
+                "target_xy_drift": 6.053112212008475e-08,
+                "depth": 0.017323693821437613,
+                "bottom_clearance": 0.08211688973880893,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0007481746082469987,
+                  -0.0003055041066901687
+                ],
+                "rod_tip_xy": [
+                  0.2694797281446508,
+                  -0.3310439660079686
+                ],
+                "target_mouth_xy": [
+                  0.2687315535364038,
+                  -0.3307384619012784
+                ],
+                "gripper_position": [
+                  0.26947094007363565,
+                  -0.3310436142861549,
+                  1.003683555346741
+                ],
+                "rod_tip_xy_dist": 0.0008081447912534659,
+                "target_xy_drift": 8.79418846397531e-10,
+                "depth": 0.017457953236324486,
+                "bottom_clearance": 0.0819825333789389,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0007393874724774263,
+                  -0.0003051818256403216
+                ],
+                "rod_tip_xy": [
+                  0.26947094007363565,
+                  -0.33104361428615503
+                ],
+                "target_mouth_xy": [
+                  0.2687315526011582,
+                  -0.3307384324605147
+                ],
+                "gripper_position": [
+                  0.2694790357470075,
+                  -0.33111172248924686,
+                  1.0031728916688425
+                ],
+                "rod_tip_xy_dist": 0.0007998936061487905,
+                "target_xy_drift": 2.9456506777475745e-08,
+                "depth": 0.017576291883013684,
+                "bottom_clearance": 0.08186424246901047,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0007474833793186253,
+                  -0.00037329256220214324
+                ],
+                "rod_tip_xy": [
+                  0.2694790357470075,
+                  -0.3311117224892469
+                ],
+                "target_mouth_xy": [
+                  0.26873155236768886,
+                  -0.3307384299270448
+                ],
+                "gripper_position": [
+                  0.2694670037163993,
+                  -0.33111781724851597,
+                  1.0030387302550716
+                ],
+                "rod_tip_xy_dist": 0.0008355110647699604,
+                "target_xy_drift": 3.1991232885984716e-08,
+                "depth": 0.018086989436719714,
+                "bottom_clearance": 0.08135361058984514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0007354498906399498,
+                  -0.0003793861047608482
+                ],
+                "rod_tip_xy": [
+                  0.2694670037163993,
+                  -0.33111781724851597
+                ],
+                "target_mouth_xy": [
+                  0.26873155382575936,
+                  -0.3307384311437551
+                ],
+                "gripper_position": [
+                  0.2694581070040315,
+                  -0.331117130074542,
+                  1.002920171870519
+                ],
+                "rod_tip_xy_dist": 0.0008275387351223647,
+                "target_xy_drift": 3.0795395062140424e-08,
+                "depth": 0.01822109794065263,
+                "bottom_clearance": 0.08121942754338562,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0007265538331139298,
+                  -0.00037866592836016677
+                ],
+                "rod_tip_xy": [
+                  0.2694581070040315,
+                  -0.331117130074542
+                ],
+                "target_mouth_xy": [
+                  0.26873155317091757,
+                  -0.33073846414618185
+                ],
+                "gripper_position": [
+                  0.26944928334704954,
+                  -0.33111667424701163,
+                  1.0028021269379397
+                ],
+                "rod_tip_xy_dist": 0.0008193096836443537,
+                "target_xy_drift": 2.2876572831048268e-09,
+                "depth": 0.01833969534590485,
+                "bottom_clearance": 0.08110088943682692,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0007177304898147718,
+                  -0.0003782446926147709
+                ],
+                "rod_tip_xy": [
+                  0.26944928334704954,
+                  -0.33111667424701163
+                ],
+                "target_mouth_xy": [
+                  0.26873155285723477,
+                  -0.33073842955439686
+                ],
+                "gripper_position": [
+                  0.2694587162366245,
+                  -0.3311867798846439,
+                  1.0022948041942357
+                ],
+                "rod_tip_xy_dist": 0.0008112990222482675,
+                "target_xy_drift": 3.236319012680786e-08,
+                "depth": 0.018457744784518337,
+                "bottom_clearance": 0.08098284795612909,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0007271646453793634,
+                  -0.00044834645961877584
+                ],
+                "rod_tip_xy": [
+                  0.2694587162366245,
+                  -0.33118677988464396
+                ],
+                "target_mouth_xy": [
+                  0.2687315515912451,
+                  -0.3307384334250252
+                ],
+                "gripper_position": [
+                  0.26944666456569033,
+                  -0.33119283089034396,
+                  1.0021605181810722
+                ],
+                "rod_tip_xy_dist": 0.0008542733575047193,
+                "target_xy_drift": 2.8511873379290273e-08,
+                "depth": 0.018965091621348407,
+                "bottom_clearance": 0.08047551597372071,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0007151126749792014,
+                  -0.00045443045628768
+                ],
+                "rod_tip_xy": [
+                  0.26944666456569033,
+                  -0.331192830890344
+                ],
+                "target_mouth_xy": [
+                  0.26873155189071113,
+                  -0.33073840043405633
+                ],
+                "gripper_position": [
+                  0.26943776871829933,
+                  -0.331191869538478,
+                  1.0020426002474352
+                ],
+                "rod_tip_xy_dist": 0.0008472857708693909,
+                "target_xy_drift": 6.148768865517752e-08,
+                "depth": 0.019099313330004142,
+                "bottom_clearance": 0.08034129559871528,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0007062465259805029,
+                  -0.0004534383587053714
+                ],
+                "rod_tip_xy": [
+                  0.26943776871829933,
+                  -0.3311918695384781
+                ],
+                "target_mouth_xy": [
+                  0.26873152219231883,
+                  -0.33073843117977275
+                ],
+                "gripper_position": [
+                  0.2694287396170638,
+                  -0.3311913407766586,
+                  1.0019240987782636
+                ],
+                "rod_tip_xy_dist": 0.0008392797510990899,
+                "target_xy_drift": 4.327677903174543e-08,
+                "depth": 0.01921727237624704,
+                "bottom_clearance": 0.08022330072411543,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0006971853024897445,
+                  -0.00045290901996591915
+                ],
+                "rod_tip_xy": [
+                  0.2694287396170638,
+                  -0.3311913407766587
+                ],
+                "target_mouth_xy": [
+                  0.2687315543145741,
+                  -0.33073843175669276
+                ],
+                "gripper_position": [
+                  0.26941979882690015,
+                  -0.3311906097393637,
+                  1.0018063811680216
+                ],
+                "rod_tip_xy_dist": 0.0008313807349068211,
+                "target_xy_drift": 3.0205783537841595e-08,
+                "depth": 0.019335721621487112,
+                "bottom_clearance": 0.08010479849926688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0006882473395986577,
+                  -0.0004521163702009279
+                ],
+                "rod_tip_xy": [
+                  0.26941979882690015,
+                  -0.33119060973936376
+                ],
+                "target_mouth_xy": [
+                  0.2687315514873015,
+                  -0.33073849336916283
+                ],
+                "gripper_position": [
+                  0.2694108236672087,
+                  -0.3311898188380456,
+                  1.0016882631770492
+                ],
+                "rod_tip_xy_dist": 0.000823464396721736,
+                "target_xy_drift": 3.147394202779988e-08,
+                "depth": 0.01945352433826797,
+                "bottom_clearance": 0.0799870998743345,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006036553719453787,
+              "rod_tip_xy_max_step": 3.275296535622915e-05,
+              "rod_tip_xy_range": 0.0006036487837044646,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26899418884151927,
+            -0.3325374676653544,
+            1.04331984234732
+          ],
+          "object_origin_world": [
+            0.26899418884151927,
+            -0.3325374676653544,
+            1.04331984234732
+          ],
+          "frame_world": [
+            0.2690198830341527,
+            -0.3325359947292271,
+            1.0436343086074906
+          ],
+          "center_minus_frame": [
+            -2.5694192633429758e-05,
+            -1.4729361272891595e-06,
+            -0.0003144662601706205
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25441204081868546,
+              0.16248316345301778,
+              0.8312033013339657
+            ],
+            "target_position": [
+              0.27125038312348376,
+              0.20784040158327655,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048381905939912706,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16367396896740583,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8312033013339657,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671136673741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1339387882037595,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 331,
+            "max_placed_release_frames": 331
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2975657973061677,
+              -0.08142198695208824,
+              1.0466313581807145
+            ],
+            "current_z": 1.0466313581807145,
+            "required_z": 0.856586346941383,
+            "initial_z": 0.756586346941383,
+            "lift_margin": 0.19004501123933148,
+            "gripper_z": 1.0502225913394667,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2928156857619214,
+              -0.08593886590986623,
+              1.0502225913394667
+            ],
+            "object_minus_gripper": [
+              0.004750111544246316,
+              0.004516878957777984,
+              -0.003591233158752205
+            ],
+            "object_to_gripper_xy": 0.006554826862854552,
+            "object_to_gripper_z": -0.003591233158752205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2975657973061677,
+              -0.10587886516167794,
+              1.0466313581807145
+            ],
+            "finger_b": [
+              0.2866171027419938,
+              -0.08142198695208824,
+              1.0466313581807145
+            ],
+            "finger_midpoint": [
+              0.29209145002408077,
+              -0.09365042605688309,
+              1.0466313581807145
+            ],
+            "object_minus_finger_midpoint": [
+              0.005474347282086955,
+              0.012228439104794847,
+              0.0
+            ],
+            "finger_gap": 0.026795760941206254,
+            "fingertip_max_gap": 0.09634274014044733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013397880470603127,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466313581807145,
+            "object_top_z": 1.0939432002772795,
+            "finger_top_clearance": 0.04731184209656503,
+            "fingertip_min_top_clearance": 0.014193552628969524,
+            "object_projection_between_fingers": 0.8330476672255285,
+            "object_to_finger_line_xy": 0.009993031737278368,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05067137007022367,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5142643276671506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2968491265245381,
+              -0.08491207216363587,
+              1.24041767759851
+            ],
+            "held_position": [
+              0.3017596074720085,
+              -0.08058337500427831,
+              1.2368209752462782
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007469050143321438,
+            "max_held_gripper_dist": 0.007475275209923342,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003596702352231862,
+            "max_held_gripper_z_dist": 0.003596969139633366,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08700979204087399,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3017596074720085,
+              -0.10562700097080895,
+              1.2368209752462782
+            ],
+            "held_grasp_finger_b": [
+              0.2924150909017694,
+              -0.08058337500427831,
+              1.2368209752462782
+            ],
+            "held_grasp_midpoint": [
+              0.29708734918688895,
+              -0.09310518798754364,
+              1.2368209752462782
+            ],
+            "held_grasp_object_position": [
+              0.3017596074720085,
+              -0.08058337500427831,
+              1.2368209752462782
+            ],
+            "held_grasp_finger_gap": 0.026730192507405545,
+            "held_grasp_max_gap": 0.12496593356132507,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024887070683099737,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0163916542157739,
+              -0.9998649077812258,
+              -0.0012164948463742056
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004466403463070679,
+            "held_grasp_line_xy_max_dist": 0.047482966780662536,
+            "held_grasp_object_top_z": 0.04520070180296898,
+            "held_grasp_top_clearance": 0.03260399437698618,
+            "held_grasp_min_top_clearance": 0.013560210540890693
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26192702902477516,
+              -0.07943770713399675,
+              0.7565864018627381
+            ],
+            "target_position": [
+              0.2734883304743861,
+              -0.08382589060125048,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.012366076392738914,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2091140097644123,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565864018627381,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580998406162152,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08926183406904993,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18156481045366923,
+            "release_required_pad_clearance": 0.05463091703452497,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.301353767539311,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b33c6a05cb5f3df4aa938e020b7755510751782d1ab42fd8b13ffc635c30bdab",
+    "visual_seed": 8632332640950551450,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b79f3758567b3837b70e830a117ee9487fea13f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_38_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3664353232000798,
+              0.11004673478420098,
+              1.1634804025818397
+            ],
+            "current_z": 1.1634804025818397,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.3023740137763634,
+            "gripper_z": 1.1531772079026907,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36138986072434204,
+              0.1049598211775672,
+              1.1531772079026907
+            ],
+            "object_minus_gripper": [
+              0.005045462475737783,
+              0.0050869136066337695,
+              0.010303194679148975
+            ],
+            "object_to_gripper_xy": 0.00716473179089307,
+            "object_to_gripper_z": 0.010303194679148975,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3664353232000798,
+              0.08616196714761848,
+              1.1634804025818397
+            ],
+            "finger_b": [
+              0.3548722517165567,
+              0.11004673478420098,
+              1.1634804025818397
+            ],
+            "finger_midpoint": [
+              0.3606537874583182,
+              0.09810435096590972,
+              1.1634804025818397
+            ],
+            "object_minus_finger_midpoint": [
+              0.005781535741761601,
+              0.011942383818291255,
+              0.0
+            ],
+            "finger_gap": 0.026536517239204634,
+            "fingertip_max_gap": 0.09142742150722852,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013268258619602336,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1634804025818397,
+            "object_top_z": 1.2134267973059185,
+            "finger_top_clearance": 0.0499463947240788,
+            "fingertip_min_top_clearance": 0.01498391841722364,
+            "object_projection_between_fingers": 0.8101290280351792,
+            "object_to_finger_line_xy": 0.010407593169050738,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821371075361426,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0378081135330548,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26478460726891173,
+              -0.32444100640609375,
+              0.8515395092179342
+            ],
+            "target_position": [
+              0.2560719235756083,
+              -0.3249420080487496,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008727076244968822,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857305199340313,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395092179342,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566793760877479,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500689054151032,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15314587130414745,
+            "release_required_pad_clearance": 0.052503445270755164,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912936494685376,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006993114948272705,
+            "max_z_decrease": 0.006993114948272705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514308692347728,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006993114948272705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110675105890658,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.006993114948272705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006993135832827776,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11177185177803038,
+              -0.3812034726142883,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11177185177803038,
+              -0.3812034726142883,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11050060227017386,
+              -0.37944792476374767,
+              0.8073711788467052
+            ],
+            "closest_button": [
+              0.11175978183746337,
+              -0.3812014758586883,
+              0.7722944617271423
+            ],
+            "closest_ee_minus_button": [
+              -0.0012591795672895062,
+              0.0017535510949406308,
+              0.03507671711956284
+            ],
+            "button_min_z_position": [
+              0.11175476759672164,
+              -0.38120299577713007,
+              0.7698157429695129
+            ],
+            "min_active_finger_to_button": 0.14656475042192893,
+            "closest_active_finger": [
+              -0.01749398559331894,
+              -0.4410688877105713,
+              0.8108477592468262
+            ],
+            "closest_active_finger_button": [
+              0.11177314817905425,
+              -0.3812062740325927,
+              0.776384711265564
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1292671337723732,
+              -0.05986261367797857,
+              0.03446304798126221
+            ],
+            "min_contact_pad_to_button": 0.02110675105890658,
+            "closest_contact_pad": [
+              0.11175476759672164,
+              -0.38120299577713007,
+              0.7909224940284195
+            ],
+            "closest_contact_pad_button": [
+              0.11175476759672164,
+              -0.38120299577713007,
+              0.7698157429695129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02110675105890658
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2658652633910297,
+              0.20588619643600325,
+              1.1011830141415633
+            ],
+            "current_z": 1.1011830141415633,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19127388440720072,
+            "gripper_z": 1.1011828546099935,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2658652217396235,
+              0.20588619094745841,
+              1.1011828546099935
+            ],
+            "object_minus_gripper": [
+              4.1651406212928066e-08,
+              5.488544840837051e-09,
+              1.595315697322519e-07
+            ],
+            "object_to_gripper_xy": 4.20114718140679e-08,
+            "object_to_gripper_z": 1.595315697322519e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2658652633910297,
+              0.20588619643600325,
+              1.1011830141415633
+            ],
+            "finger_b": [
+              0.2658652633910297,
+              0.20588619643600325,
+              1.1011830141415633
+            ],
+            "finger_midpoint": [
+              0.2658652633910297,
+              0.20588619643600325,
+              1.1011830141415633
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1011830141415633,
+            "object_top_z": 1.226191520761843,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 242,
+            "max_stable_success_frames": 242,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2658652633910297,
+            0.20588619643600328,
+            1.1011830141415635
+          ],
+          "object_origin_world": [
+            0.2658652633910297,
+            0.20588619643600328,
+            1.1011830141415635
+          ],
+          "frame_world": [
+            0.2658652217396235,
+            0.20588619094745841,
+            1.1011828546099935
+          ],
+          "center_minus_frame": [
+            4.1651406212928066e-08,
+            5.488544868592626e-09,
+            1.5953156995429651e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434522302354448,
+            "required_z": 0.9112598806251828,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.00137291531975483,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.341306568474295e-08,
+            "max_target_xy_drift": 7.559601336403203e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.0791293561955738,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.07912936529229901,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26476355896366366,
+              -0.323066299915595,
+              0.9235552127906695
+            ],
+            "target_mouth_xy": [
+              0.26478459111024105,
+              -0.32444097789908755
+            ],
+            "rod_tip_z": 0.9235552127906695,
+            "rod_tip_depth": -0.022295363065724327,
+            "rod_tip_bottom_clearance": 0.12173589657687223,
+            "rod_tip_xy_dist": 0.0013748388667363216,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04447524899022082,
+            "min_rod_tip_bottom_clearance": 0.05496528840215287,
+            "min_rod_tip_xy_dist": 0.0005373831009170844,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26478457538669403,
+              -0.3244409484168382
+            ],
+            "target_mouth_xy_delta_from_start": [
+              1.5723547019952377e-08,
+              -2.9482249364054525e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.0005064930641444643,
+                0.0029868038511636774
+              ],
+              "last_rod_tip_xy_delta": [
+                0.00039782650506753336,
+                0.0026507018935272852
+              ],
+              "first_target_mouth_xy": [
+                0.2647846070909508,
+                -0.32444091666841046
+              ],
+              "last_target_mouth_xy": [
+                0.2647845754262987,
+                -0.3244409480922417
+              ],
+              "first_rod_tip_xy": [
+                0.26529110015509527,
+                -0.3214541128172468
+              ],
+              "last_rod_tip_xy": [
+                0.2651824019313662,
+                -0.32179024619871444
+              ],
+              "min_rod_tip_xy_dist": 0.0026800236981898936,
+              "max_rod_tip_xy_dist": 0.0030294442509068596,
+              "first_target_xy_drift": 4.48678343625438e-08,
+              "last_target_xy_drift": 3.2700365580251476e-10,
+              "max_depth": 0.019474445370266658,
+              "min_bottom_clearance": 0.07996611831718536
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0005064930641444643,
+                  0.0029868038511636774
+                ],
+                "rod_tip_xy": [
+                  0.26529110015509527,
+                  -0.3214541128172468
+                ],
+                "target_mouth_xy": [
+                  0.2647846070909508,
+                  -0.32444091666841046
+                ],
+                "gripper_position": [
+                  0.265279594150029,
+                  -0.3214593490051119,
+                  1.0058887482912606
+                ],
+                "rod_tip_xy_dist": 0.0030294442509068596,
+                "target_xy_drift": 4.48678343625438e-08,
+                "depth": 0.015240572471426739,
+                "bottom_clearance": 0.08419997045849448,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0004950167304624276,
+                  0.002981600717499866
+                ],
+                "rod_tip_xy": [
+                  0.265279594150029,
+                  -0.32145934900511186
+                ],
+                "target_mouth_xy": [
+                  0.26478457741956657,
+                  -0.3244409497226117
+                ],
+                "gripper_position": [
+                  0.26527127090017333,
+                  -0.32145832647787065,
+                  1.0057744939972921
+                ],
+                "rod_tip_xy_dist": 0.003022413671560104,
+                "target_xy_drift": 2.416115746812741e-09,
+                "depth": 0.015371093444776052,
+                "bottom_clearance": 0.08406945141351263,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00048669539890927593,
+                  0.0029826170206402325
+                ],
+                "rod_tip_xy": [
+                  0.26527127090017333,
+                  -0.32145832647787065
+                ],
+                "target_mouth_xy": [
+                  0.26478457550126405,
+                  -0.3244409434985109
+                ],
+                "gripper_position": [
+                  0.26527631899260984,
+                  -0.32151932320249366,
+                  1.0052623307045159
+                ],
+                "rod_tip_xy_dist": 0.0030220649733472436,
+                "target_xy_drift": 4.919661546196443e-09,
+                "depth": 0.015485455130515358,
+                "bottom_clearance": 0.08395526109507678,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0004917436550763155,
+                  0.0029216546919382247
+                ],
+                "rod_tip_xy": [
+                  0.26527631899260984,
+                  -0.32151932320249366
+                ],
+                "target_mouth_xy": [
+                  0.2647845753375335,
+                  -0.3244409778944319
+                ],
+                "gripper_position": [
+                  0.26526468395348946,
+                  -0.3215246123471578,
+                  1.0051316249230806
+                ],
+                "rod_tip_xy_dist": 0.002962748379669198,
+                "target_xy_drift": 2.9477634692379204e-08,
+                "depth": 0.015997486043165865,
+                "bottom_clearance": 0.08344308108525589,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.00048010840777690245,
+                  0.002916304966312677
+                ],
+                "rod_tip_xy": [
+                  0.26526468395348946,
+                  -0.3215246123471578
+                ],
+                "target_mouth_xy": [
+                  0.26478457554571255,
+                  -0.32444091731347047
+                ],
+                "gripper_position": [
+                  0.26526974913375045,
+                  -0.32158593732784846,
+                  1.0046233605688615
+                ],
+                "rod_tip_xy_dist": 0.002955560647281334,
+                "target_xy_drift": 3.1103774209687816e-08,
+                "depth": 0.01612825889998193,
+                "bottom_clearance": 0.08331232783013964,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0004851423209198402,
+                  0.00285497868331841
+                ],
+                "rod_tip_xy": [
+                  0.26526974913375045,
+                  -0.32158593732784846
+                ],
+                "target_mouth_xy": [
+                  0.2647846068128306,
+                  -0.32444091601116687
+                ],
+                "gripper_position": [
+                  0.2652580037083183,
+                  -0.32159125448161613,
+                  1.0044931014151828
+                ],
+                "rod_tip_xy_dist": 0.0028959051009572138,
+                "target_xy_drift": 4.514121834545962e-08,
+                "depth": 0.01663650185784793,
+                "bottom_clearance": 0.08280407504335374,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0004733967326170929,
+                  0.0028496618580368116
+                ],
+                "rod_tip_xy": [
+                  0.2652580037083183,
+                  -0.3215912544816162
+                ],
+                "target_mouth_xy": [
+                  0.2647846069757012,
+                  -0.324440916339653
+                ],
+                "gripper_position": [
+                  0.26524924986691967,
+                  -0.32158968824502204,
+                  1.0043789056441155
+                ],
+                "rod_tip_xy_dist": 0.002888715488171577,
+                "target_xy_drift": 4.502011977502076e-08,
+                "depth": 0.016766750228534577,
+                "bottom_clearance": 0.08267380878666508,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.00046464244190397297,
+                  0.0028512608304877007
+                ],
+                "rod_tip_xy": [
+                  0.26524924986691967,
+                  -0.3215896882450221
+                ],
+                "target_mouth_xy": [
+                  0.2647846074250157,
+                  -0.3244409490755098
+                ],
+                "gripper_position": [
+                  0.2652551902056014,
+                  -0.32165215432643396,
+                  1.0038714230746706
+                ],
+                "rod_tip_xy_dist": 0.002888871911714311,
+                "target_xy_drift": 3.204509171835283e-08,
+                "depth": 0.01688092552252729,
+                "bottom_clearance": 0.08255960275365615,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00047061425055971995,
+                  0.002788759371181726
+                ],
+                "rod_tip_xy": [
+                  0.2652551902056014,
+                  -0.321652154326434
+                ],
+                "target_mouth_xy": [
+                  0.2647845759550417,
+                  -0.32444091369761574
+                ],
+                "gripper_position": [
+                  0.26524324438920466,
+                  -0.3216575091608458,
+                  1.003741151470097
+                ],
+                "rod_tip_xy_dist": 0.002828189633525974,
+                "target_xy_drift": 3.472387400604728e-08,
+                "depth": 0.017388512251701127,
+                "bottom_clearance": 0.08205218659540281,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.00045863575624677244,
+                  0.0027834402358097865
+                ],
+                "rod_tip_xy": [
+                  0.26524324438920466,
+                  -0.3216575091608459
+                ],
+                "target_mouth_xy": [
+                  0.2647846086329579,
+                  -0.3244409493966557
+                ],
+                "gripper_position": [
+                  0.26523468782012494,
+                  -0.3216558546347605,
+                  1.003627249272007
+                ],
+                "rod_tip_xy_dist": 0.002820972581084915,
+                "target_xy_drift": 3.326069906855088e-08,
+                "depth": 0.017518754726483676,
+                "bottom_clearance": 0.08192183162753452,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00045011162782676584,
+                  0.002785092812157608
+                ],
+                "rod_tip_xy": [
+                  0.26523468782012494,
+                  -0.32165585463476043
+                ],
+                "target_mouth_xy": [
+                  0.26478457619229817,
+                  -0.32444094744691804
+                ],
+                "gripper_position": [
+                  0.26522584913493497,
+                  -0.32165469070751407,
+                  1.0035133060324894
+                ],
+                "rod_tip_xy_dist": 0.0028212306622885045,
+                "target_xy_drift": 1.2608501555795705e-09,
+                "depth": 0.01763260901589725,
+                "bottom_clearance": 0.08180794122283264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00044127200074722817,
+                  0.0027862262866544807
+                ],
+                "rod_tip_xy": [
+                  0.26522584913493497,
+                  -0.32165469070751407
+                ],
+                "target_mouth_xy": [
+                  0.26478457713418774,
+                  -0.32444091699416855
+                ],
+                "gripper_position": [
+                  0.2652333013098873,
+                  -0.3217191254723489,
+                  1.0030058598287277
+                ],
+                "rod_tip_xy_dist": 0.002820953367053039,
+                "target_xy_drift": 3.14712233812479e-08,
+                "depth": 0.017746535180572898,
+                "bottom_clearance": 0.08169400211063393,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.00044872401573708975,
+                  0.0027217918492186133
+                ],
+                "rod_tip_xy": [
+                  0.2652333013098873,
+                  -0.32171912547234893
+                ],
+                "target_mouth_xy": [
+                  0.2647845772941502,
+                  -0.32444091732156755
+                ],
+                "gripper_position": [
+                  0.2652211969835975,
+                  -0.3217247291293767,
+                  1.0028755766911914
+                ],
+                "rod_tip_xy_dist": 0.002758532963872663,
+                "target_xy_drift": 3.11537196023894e-08,
+                "depth": 0.018253970685379595,
+                "bottom_clearance": 0.081186548822343,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.00043660531805189695,
+                  0.00271618786428951
+                ],
+                "rod_tip_xy": [
+                  0.2652211969835975,
+                  -0.3217247291293768
+                ],
+                "target_mouth_xy": [
+                  0.2647845916655456,
+                  -0.3244409169936663
+                ],
+                "gripper_position": [
+                  0.26521249261300905,
+                  -0.3217231603258569,
+                  1.0027615927625513
+                ],
+                "rod_tip_xy_dist": 0.0027510544738090534,
+                "target_xy_drift": 3.538950041652948e-08,
+                "depth": 0.018384275789362303,
+                "bottom_clearance": 0.08105627570449114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.00042791592773033793,
+                  0.0027177553558718204
+                ],
+                "rod_tip_xy": [
+                  0.26521249261300905,
+                  -0.3217231603258569
+                ],
+                "target_mouth_xy": [
+                  0.2647845766852787,
+                  -0.3244409156817287
+                ],
+                "gripper_position": [
+                  0.26520357012396234,
+                  -0.32172177837855553,
+                  1.0026478456932866
+                ],
+                "rod_tip_xy_dist": 0.0027512372154315013,
+                "target_xy_drift": 3.2760856419023386e-08,
+                "depth": 0.018498285395551206,
+                "bottom_clearance": 0.08094231563019905,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00041896278314723645,
+                  0.00271913926941425
+                ],
+                "rod_tip_xy": [
+                  0.26520357012396234,
+                  -0.32172177837855565
+                ],
+                "target_mouth_xy": [
+                  0.2647846073408151,
+                  -0.3244409176479699
+                ],
+                "gripper_position": [
+                  0.26521253146098966,
+                  -0.32178800553194514,
+                  1.0021432560472059
+                ],
+                "rod_tip_xy_dist": 0.0027512266682578413,
+                "target_xy_drift": 4.43597690377252e-08,
+                "depth": 0.01861197543519888,
+                "bottom_clearance": 0.08082853081691399,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.00042795383863425407,
+                  0.002652912441766686
+                ],
+                "rod_tip_xy": [
+                  0.26521253146098966,
+                  -0.3217880055319452
+                ],
+                "target_mouth_xy": [
+                  0.2647845776223554,
+                  -0.3244409179737119
+                ],
+                "gripper_position": [
+                  0.26520038319615424,
+                  -0.32179337731564006,
+                  1.0020130490780998
+                ],
+                "rod_tip_xy_dist": 0.0026872083863523264,
+                "target_xy_drift": 3.0525106397384506e-08,
+                "depth": 0.019116559956953605,
+                "bottom_clearance": 0.08032393794622217,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0004158076483850026,
+                  0.002647570777600472
+                ],
+                "rod_tip_xy": [
+                  0.26520038319615424,
+                  -0.32179337731564006
+                ],
+                "target_mouth_xy": [
+                  0.26478457554776924,
+                  -0.32444094809324053
+                ],
+                "gripper_position": [
+                  0.2651913584298494,
+                  -0.321791743148264,
+                  1.0018994453664118
+                ],
+                "rod_tip_xy_dist": 0.0026800236981898936,
+                "target_xy_drift": 3.6147013859468626e-10,
+                "depth": 0.01924682084633178,
+                "bottom_clearance": 0.08019373816327591,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.000406780892973968,
+                  0.0026492052786381004
+                ],
+                "rod_tip_xy": [
+                  0.2651913584298494,
+                  -0.3217917431482641
+                ],
+                "target_mouth_xy": [
+                  0.26478457753687545,
+                  -0.3244409484269022
+                ],
+                "gripper_position": [
+                  0.2651824019313662,
+                  -0.3217902461987144,
+                  1.0017854282615637
+                ],
+                "rod_tip_xy_dist": 0.0026802535893554317,
+                "target_xy_drift": 2.1502049741493645e-09,
+                "depth": 0.019360373513454543,
+                "bottom_clearance": 0.08008012823536326,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.00039782650506753336,
+                  0.0026507018935272852
+                ],
+                "rod_tip_xy": [
+                  0.2651824019313662,
+                  -0.32179024619871444
+                ],
+                "target_mouth_xy": [
+                  0.2647845754262987,
+                  -0.3244409480922417
+                ],
+                "gripper_position": [
+                  0.2651735851069989,
+                  -0.32178865626107,
+                  1.0016719318379756
+                ],
+                "rod_tip_xy_dist": 0.002680389236003492,
+                "target_xy_drift": 3.2700365580251476e-10,
+                "depth": 0.019474445370266658,
+                "bottom_clearance": 0.07996611831718536,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005956735244174871,
+              "rod_tip_xy_max_step": 3.237278075066746e-05,
+              "rod_tip_xy_range": 0.000595658716282541,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26476355896366366,
+            -0.323066299915595,
+            1.0435552127906695
+          ],
+          "object_origin_world": [
+            0.26476355896366366,
+            -0.323066299915595,
+            1.0435552127906695
+          ],
+          "frame_world": [
+            0.264762286645452,
+            -0.32306824377112686,
+            1.0434522302354448
+          ],
+          "center_minus_frame": [
+            1.272318211675838e-06,
+            1.9438555318718187e-06,
+            0.00010298255522478428
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25112361043435916,
+              0.16115714233014605,
+              0.8321499373691976
+            ],
+            "target_position": [
+              0.2660107281292108,
+              0.20748932376065599,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048665154981465474,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1673709922023159,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321499373691976,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835673492166313,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13600827937904306,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 316,
+            "max_placed_release_frames": 316
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29533757659517346,
+              -0.07621509204753617,
+              1.0447224804879838
+            ],
+            "current_z": 1.0447224804879838,
+            "required_z": 0.8565862275019563,
+            "initial_z": 0.7565862275019564,
+            "lift_margin": 0.18813625298602743,
+            "gripper_z": 1.0482313843383082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2907024584055645,
+              -0.080762340567798,
+              1.0482313843383082
+            ],
+            "object_minus_gripper": [
+              0.004635118189608933,
+              0.004547248520261837,
+              -0.0035089038503244296
+            ],
+            "object_to_gripper_xy": 0.006493211049755511,
+            "object_to_gripper_z": -0.0035089038503244296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29533757659517346,
+              -0.10053831052110478,
+              1.0447224804879838
+            ],
+            "finger_b": [
+              0.28427663807463527,
+              -0.07621509204753617,
+              1.0447224804879838
+            ],
+            "finger_midpoint": [
+              0.28980710733490433,
+              -0.08837670128432047,
+              1.0447224804879838
+            ],
+            "object_minus_finger_midpoint": [
+              0.005530469260269122,
+              0.012161609236784304,
+              0.0
+            ],
+            "finger_gap": 0.02672009202581598,
+            "fingertip_max_gap": 0.0959764481567523,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013360046012908001,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0447224804879838,
+            "object_top_z": 1.0917998176881318,
+            "finger_top_clearance": 0.04707733720014806,
+            "fingertip_min_top_clearance": 0.014123201160044434,
+            "object_projection_between_fingers": 0.8286405507212177,
+            "object_to_finger_line_xy": 0.010068738681656763,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05048822407837615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4201239489482385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.294947305887428,
+              -0.07975354695694545,
+              1.2388407585954642
+            ],
+            "held_position": [
+              0.29981369927091595,
+              -0.07545742272869503,
+              1.2353224833525653
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007383544449125377,
+            "max_held_gripper_dist": 0.007387989079093762,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035182752428988273,
+            "max_held_gripper_z_dist": 0.0035182752428988273,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625193991605909,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29981369927091595,
+              -0.10060336322463574,
+              1.2353224833525653
+            ],
+            "held_grasp_finger_b": [
+              0.2906678025870258,
+              -0.07545742272869503,
+              1.2353224833525653
+            ],
+            "held_grasp_midpoint": [
+              0.29524075092897084,
+              -0.08803039297666539,
+              1.2353224833525653
+            ],
+            "held_grasp_object_position": [
+              0.29981369927091595,
+              -0.07545742272869503,
+              1.2353224833525653
+            ],
+            "held_grasp_finger_gap": 0.02675753631367776,
+            "held_grasp_max_gap": 0.12496614962816238,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024855270400646574,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03048283114485209,
+              -0.9995276664631905,
+              -0.003903969780051141
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004187854373057719,
+            "held_grasp_line_xy_max_dist": 0.04748307481408119,
+            "held_grasp_object_top_z": 0.04520078003406525,
+            "held_grasp_top_clearance": 0.03249435200945867,
+            "held_grasp_min_top_clearance": 0.013560234010219574
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2548798210407057,
+              -0.0739881797167932,
+              0.7565863685338526
+            ],
+            "target_position": [
+              0.2713295750316398,
+              -0.07968055917089653,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017406825966032668,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20534406373698938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565863685338526,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541369396597562,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08933722152767361,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17914386928850348,
+            "release_required_pad_clearance": 0.054668610763836806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.378380195771023,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46833c51edc4e0ae2d0fb567d0b30d59493b1b452daa2d62446c1e6bd4844ca5",
+    "visual_seed": 5710286803313255000,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..32100b46c686f073affb640a20afc89cc08a7bb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_39_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36953251637359597,
+              0.10924992679541382,
+              1.1655126674495602
+            ],
+            "current_z": 1.1655126674495602,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3044059806208601,
+            "gripper_z": 1.1552211733758346,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3642054867500937,
+              0.10417171866183438,
+              1.1552211733758346
+            ],
+            "object_minus_gripper": [
+              0.0053270296235022885,
+              0.00507820813357944,
+              0.010291494073725538
+            ],
+            "object_to_gripper_xy": 0.007359717552842862,
+            "object_to_gripper_z": 0.010291494073725538,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36953251637359597,
+              0.08494455393155971,
+              1.1655126674495602
+            ],
+            "finger_b": [
+              0.35826551415555213,
+              0.10924992679541382,
+              1.1655126674495602
+            ],
+            "finger_midpoint": [
+              0.363899015264574,
+              0.09709724036348677,
+              1.1655126674495602
+            ],
+            "object_minus_finger_midpoint": [
+              0.005633501109021943,
+              0.012152686431927046,
+              0.0
+            ],
+            "finger_gap": 0.02678985795095562,
+            "fingertip_max_gap": 0.09152155064997439,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013394928975477815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1655126674495602,
+            "object_top_z": 1.2153730796528313,
+            "finger_top_clearance": 0.04986041220327109,
+            "fingertip_min_top_clearance": 0.014958123660981325,
+            "object_projection_between_fingers": 0.8231211369689768,
+            "object_to_finger_line_xy": 0.0102221030984473,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048260775324987196,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2709718924896882,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2630427123661986,
+              -0.3260323681158045,
+              0.8515396007144119
+            ],
+            "target_position": [
+              0.25616167382850197,
+              -0.32562022662686296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006893370145594455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844919489233387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396007144119,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551182898507226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08715775237895755,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521885680193124,
+            "release_required_pad_clearance": 0.05357887618947878,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1685234460608918,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006841778755187988,
+            "max_z_decrease": 0.006841778755187988,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512412027093721,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006841778755187988,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02131657035844914,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.006841778755187988,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006841798774095089,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11186160147190094,
+              -0.38188168406486506,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11186160147190094,
+              -0.38188168406486506,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11210809720069465,
+              -0.3836052518866686,
+              0.8078705483560771
+            ],
+            "closest_button": [
+              0.11185093969106674,
+              -0.3818810284137725,
+              0.772789716720581
+            ],
+            "closest_ee_minus_button": [
+              0.0002571575096279033,
+              -0.0017242234728960804,
+              0.035080831635496024
+            ],
+            "button_min_z_position": [
+              0.11184508353471756,
+              -0.38188064098358154,
+              0.7699670791625977
+            ],
+            "min_active_finger_to_button": 0.14576022597532767,
+            "closest_active_finger": [
+              -0.028832197189331055,
+              -0.36568424105644226,
+              0.8112691640853882
+            ],
+            "closest_active_finger_button": [
+              0.11186331510543822,
+              -0.3818824887275695,
+              0.776795506477356
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406955122947693,
+              0.016198247671127264,
+              0.03447365760803223
+            ],
+            "min_contact_pad_to_button": 0.02131657035844914,
+            "closest_contact_pad": [
+              0.11184508353471756,
+              -0.3849304132677876,
+              0.7910643553105083
+            ],
+            "closest_contact_pad_button": [
+              0.11184508353471756,
+              -0.38188064098358154,
+              0.7699670791625977
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030497722842060537,
+              0.021097276147910682
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2668994865807205,
+              0.20493343028222938,
+              1.1021404458545243
+            ],
+            "current_z": 1.1021404458545243,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19223131612016175,
+            "gripper_z": 1.1021404458545243,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26689948658072044,
+              0.20493343028222943,
+              1.1021404458545243
+            ],
+            "object_minus_gripper": [
+              5.551115123125783e-17,
+              -5.551115123125783e-17,
+              0.0
+            ],
+            "object_to_gripper_xy": 7.850462293418876e-17,
+            "object_to_gripper_z": 0.0,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2668994865807205,
+              0.20493343028222938,
+              1.1021404458545243
+            ],
+            "finger_b": [
+              0.2668994865807205,
+              0.20493343028222938,
+              1.1021404458545243
+            ],
+            "finger_midpoint": [
+              0.2668994865807205,
+              0.20493343028222938,
+              1.1021404458545243
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1021404458545243,
+            "object_top_z": 1.227148952474804,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26689948658072044,
+            0.20493343028222938,
+            1.1021404458545243
+          ],
+          "object_origin_world": [
+            0.26689948658072044,
+            0.20493343028222938,
+            1.1021404458545243
+          ],
+          "frame_world": [
+            0.26689948658072044,
+            0.20493343028222943,
+            1.1021404458545243
+          ],
+          "center_minus_frame": [
+            0.0,
+            -5.551115123125783e-17,
+            0.0
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434427489375082,
+            "required_z": 0.911259872898752,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001190719517009549,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.674002028297818e-08,
+            "max_target_xy_drift": 1.2666654971464827e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.1685234473852666,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.168884367809177,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2639490365798504,
+              -0.3268040181266018,
+              0.9235462826862665
+            ],
+            "target_mouth_xy": [
+              0.2630428181392532,
+              -0.3260323671650236
+            ],
+            "rod_tip_z": 0.9235462826862665,
+            "rod_tip_depth": -0.022286421247249666,
+            "rod_tip_bottom_clearance": 0.12172697649054165,
+            "rod_tip_xy_dist": 0.0011902424410947048,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044466286661522525,
+            "min_rod_tip_bottom_clearance": 0.054974246446790276,
+            "min_rod_tip_xy_dist": 0.0003075372140943325,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.2630427437438617,
+              -0.3260323053268699
+            ],
+            "target_mouth_xy_delta_from_start": [
+              7.43953914583706e-08,
+              -6.183815370874868e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0013981869303522076,
+                0.0008484573579014554
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0012983406026702005,
+                0.0005181375997535542
+              ],
+              "first_target_mouth_xy": [
+                0.2630427394797025,
+                -0.3260322757369971
+              ],
+              "last_target_mouth_xy": [
+                0.2630427435563672,
+                -0.3260323687650507
+              ],
+              "first_rod_tip_xy": [
+                0.26444092641005473,
+                -0.32518381837909566
+              ],
+              "last_rod_tip_xy": [
+                0.2643410841590374,
+                -0.32551423116529715
+              ],
+              "min_rod_tip_xy_dist": 0.001397910903033664,
+              "max_rod_tip_xy_dist": 0.0016354835922089978,
+              "first_target_xy_drift": 2.989554522690379e-08,
+              "last_target_xy_drift": 6.343845789337308e-08,
+              "max_depth": 0.019356850158267602,
+              "min_bottom_clearance": 0.08008376737013789
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0013981869303522076,
+                  0.0008484573579014554
+                ],
+                "rod_tip_xy": [
+                  0.26444092641005473,
+                  -0.32518381837909566
+                ],
+                "target_mouth_xy": [
+                  0.2630427394797025,
+                  -0.3260322757369971
+                ],
+                "gripper_position": [
+                  0.26443252572875,
+                  -0.32518312734726446,
+                  1.0060183675129106
+                ],
+                "rod_tip_xy_dist": 0.0016354835922089978,
+                "target_xy_drift": 2.989554522690379e-08,
+                "depth": 0.015126656188707677,
+                "bottom_clearance": 0.08431389297144143,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0013897817913708366,
+                  0.0008492702728841173
+                ],
+                "rod_tip_xy": [
+                  0.26443252572875,
+                  -0.32518312734726446
+                ],
+                "target_mouth_xy": [
+                  0.26304274393737914,
+                  -0.3260323976201486
+                ],
+                "gripper_position": [
+                  0.2644384078343023,
+                  -0.32524347405987003,
+                  1.0055055843417116
+                ],
+                "rod_tip_xy_dist": 0.001628727547513885,
+                "target_xy_drift": 9.229348156637744e-08,
+                "depth": 0.015241497269820603,
+                "bottom_clearance": 0.08419907094753232,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.001395663043019968,
+                  0.0007888889752230566
+                ],
+                "rod_tip_xy": [
+                  0.26443840783430234,
+                  -0.32524347405987003
+                ],
+                "target_mouth_xy": [
+                  0.26304274479128237,
+                  -0.3260323630350931
+                ],
+                "gripper_position": [
+                  0.2644268365517891,
+                  -0.3252491351454717,
+                  1.005374528799652
+                ],
+                "rod_tip_xy_dist": 0.0016031909258975492,
+                "target_xy_drift": 5.771772790855807e-08,
+                "depth": 0.015754287982093773,
+                "bottom_clearance": 0.08368631862126974,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0013840630616773208,
+                  0.0007832022394234639
+                ],
+                "rod_tip_xy": [
+                  0.26442683655178917,
+                  -0.32524913514547177
+                ],
+                "target_mouth_xy": [
+                  0.26304277349011185,
+                  -0.32603233738489523
+                ],
+                "gripper_position": [
+                  0.26443279578519774,
+                  -0.3253099267015132,
+                  1.0048647791218757
+                ],
+                "rod_tip_xy_dist": 0.0015902944087613237,
+                "target_xy_drift": 4.373278387927044e-08,
+                "depth": 0.01588533144146409,
+                "bottom_clearance": 0.08355522261064918,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0013900050507044681,
+                  0.0007224385317939896
+                ],
+                "rod_tip_xy": [
+                  0.2644327957851978,
+                  -0.3253099267015132
+                ],
+                "target_mouth_xy": [
+                  0.2630427907344933,
+                  -0.3260323652333072
+                ],
+                "gripper_position": [
+                  0.26442111608816066,
+                  -0.3253154367366736,
+                  1.004734142335516
+                ],
+                "rod_tip_xy_dist": 0.001566534861790374,
+                "target_xy_drift": 7.613738037388497e-08,
+                "depth": 0.016395062335565647,
+                "bottom_clearance": 0.08304550857431925,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0013783331737278748,
+                  0.0007168406279738915
+                ],
+                "rod_tip_xy": [
+                  0.2644211160881607,
+                  -0.3253154367366737
+                ],
+                "target_mouth_xy": [
+                  0.26304278291443284,
+                  -0.32603227736464757
+                ],
+                "gripper_position": [
+                  0.26441266988773,
+                  -0.32531431342763784,
+                  1.0046198768749557
+                ],
+                "rod_tip_xy_dist": 0.0015535967378032046,
+                "target_xy_drift": 4.812711832930707e-08,
+                "depth": 0.01652574676873042,
+                "bottom_clearance": 0.08291484369383773,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0013699003047266678,
+                  0.0007179632605833763
+                ],
+                "rod_tip_xy": [
+                  0.26441266988773,
+                  -0.3253143134276379
+                ],
+                "target_mouth_xy": [
+                  0.2630427695830033,
+                  -0.32603227668822127
+                ],
+                "gripper_position": [
+                  0.26441950085692145,
+                  -0.32537618252322187,
+                  1.004111200753564
+                ],
+                "rod_tip_xy_dist": 0.0015466409048120158,
+                "target_xy_drift": 3.8572443966843675e-08,
+                "depth": 0.016639952595484453,
+                "bottom_clearance": 0.08280055451960522,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0013767105193085993,
+                  0.000656212525974309
+                ],
+                "rod_tip_xy": [
+                  0.2644195008569215,
+                  -0.3253761825232218
+                ],
+                "target_mouth_xy": [
+                  0.2630427903376129,
+                  -0.3260323950491961
+                ],
+                "gripper_position": [
+                  0.2644078189329505,
+                  -0.32538151303998186,
+                  1.003980026484385
+                ],
+                "rod_tip_xy_dist": 0.0015251054826537528,
+                "target_xy_drift": 1.010993248003431e-07,
+                "depth": 0.017148637563070612,
+                "bottom_clearance": 0.082291918117544,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0013650450795225089,
+                  0.0006508842624923239
+                ],
+                "rod_tip_xy": [
+                  0.26440781893295057,
+                  -0.3253815130399818
+                ],
+                "target_mouth_xy": [
+                  0.26304277385342806,
+                  -0.32603239730247413
+                ],
+                "gripper_position": [
+                  0.2643993138009112,
+                  -0.32538028604649477,
+                  1.003865636469738
+                ],
+                "rod_tip_xy_dist": 0.0015122825107395737,
+                "target_xy_drift": 9.677860177345551e-08,
+                "depth": 0.01727982887383961,
+                "bottom_clearance": 0.08216072332596136,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0013565386150580228,
+                  0.0006520490700157588
+                ],
+                "rod_tip_xy": [
+                  0.26439931380091125,
+                  -0.32538028604649477
+                ],
+                "target_mouth_xy": [
+                  0.26304277518585323,
+                  -0.32603233511651053
+                ],
+                "gripper_position": [
+                  0.2643906421800144,
+                  -0.3253792612393737,
+                  1.0037512555484684
+                ],
+                "rod_tip_xy_dist": 0.001505112953851622,
+                "target_xy_drift": 4.331306407757206e-08,
+                "depth": 0.017394205973924715,
+                "bottom_clearance": 0.08204635259800774,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.001347868340029923,
+                  0.0006531062339831251
+                ],
+                "rod_tip_xy": [
+                  0.26439064218001446,
+                  -0.32537926123937383
+                ],
+                "target_mouth_xy": [
+                  0.26304277383998453,
+                  -0.32603236747335695
+                ],
+                "gripper_position": [
+                  0.2643990410047188,
+                  -0.3254434690802245,
+                  1.0032417565498466
+                ],
+                "rod_tip_xy_dist": 0.00149776393831693,
+                "target_xy_drift": 6.905043420142916e-08,
+                "depth": 0.017508599701382077,
+                "bottom_clearance": 0.08193195200182701,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0013562652621902926,
+                  0.0005888961366219969
+                ],
+                "rod_tip_xy": [
+                  0.26439904100471884,
+                  -0.3254434690802244
+                ],
+                "target_mouth_xy": [
+                  0.26304277574252855,
+                  -0.3260323652168464
+                ],
+                "gripper_position": [
+                  0.2643871794355846,
+                  -0.32544876327034944,
+                  1.0031110081785248
+                ],
+                "rod_tip_xy_dist": 0.0014785987018634964,
+                "target_xy_drift": 6.790231194829956e-08,
+                "depth": 0.018018084544088153,
+                "bottom_clearance": 0.08142248360829718,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0013444053174461734,
+                  0.0005836019843338813
+                ],
+                "rod_tip_xy": [
+                  0.26438717943558465,
+                  -0.3254487632703495
+                ],
+                "target_mouth_xy": [
+                  0.2630427741181385,
+                  -0.3260323652546834
+                ],
+                "gripper_position": [
+                  0.26437857302458434,
+                  -0.32544752248569925,
+                  1.0029970190251736
+                ],
+                "rod_tip_xy_dist": 0.0014656114538635367,
+                "target_xy_drift": 6.718585802340276e-08,
+                "depth": 0.018148841502555135,
+                "bottom_clearance": 0.08129170721752199,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0013358138483603454,
+                  0.0005848465834291106
+                ],
+                "rod_tip_xy": [
+                  0.2643785730245844,
+                  -0.32544752248569925
+                ],
+                "target_mouth_xy": [
+                  0.26304275917622405,
+                  -0.32603236906912836
+                ],
+                "gripper_position": [
+                  0.2643698521348996,
+                  -0.32544644255045513,
+                  1.0028826660953991
+                ],
+                "rod_tip_xy_dist": 0.0014582332336152471,
+                "target_xy_drift": 6.558378856248244e-08,
+                "depth": 0.018262859462224723,
+                "bottom_clearance": 0.08117774270077716,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0013270762779986067,
+                  0.0005859204486177716
+                ],
+                "rod_tip_xy": [
+                  0.2643698521348996,
+                  -0.32544644255045513
+                ],
+                "target_mouth_xy": [
+                  0.263042775856901,
+                  -0.3260323629990729
+                ],
+                "gripper_position": [
+                  0.26437981415099693,
+                  -0.3255127803036387,
+                  1.0023759135580161
+                ],
+                "rod_tip_xy_dist": 0.0014506668189956942,
+                "target_xy_drift": 6.601007720348054e-08,
+                "depth": 0.018377216094768944,
+                "bottom_clearance": 0.08106343871613853,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0013370707486856648,
+                  0.0005195570769980784
+                ],
+                "rod_tip_xy": [
+                  0.264379814150997,
+                  -0.3255127803036388
+                ],
+                "target_mouth_xy": [
+                  0.2630427434023113,
+                  -0.32603233738063686
+                ],
+                "gripper_position": [
+                  0.26436774224757553,
+                  -0.3255179883932682,
+                  1.0022455038396454
+                ],
+                "rod_tip_xy_dist": 0.0014344677560857307,
+                "target_xy_drift": 3.20555866254174e-08,
+                "depth": 0.018883955110199246,
+                "bottom_clearance": 0.08055660937205211,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0013249680191101953,
+                  0.000514378754843059
+                ],
+                "rod_tip_xy": [
+                  0.2643677422475756,
+                  -0.3255179883932681
+                ],
+                "target_mouth_xy": [
+                  0.2630427742284654,
+                  -0.3260323671481112
+                ],
+                "gripper_position": [
+                  0.26435889832881176,
+                  -0.3255166583591021,
+                  1.0021315065930896
+                ],
+                "rod_tip_xy_dist": 0.001421311280156001,
+                "target_xy_drift": 6.892878162416466e-08,
+                "depth": 0.019014333652552562,
+                "bottom_clearance": 0.08042619155953479,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0013161223651610987,
+                  0.000515706212289635
+                ],
+                "rod_tip_xy": [
+                  0.26435889832881176,
+                  -0.3255166583591021
+                ],
+                "target_mouth_xy": [
+                  0.26304277596365067,
+                  -0.32603236457139173
+                ],
+                "gripper_position": [
+                  0.2643500936245631,
+                  -0.325515391444519,
+                  1.0020173887640536
+                ],
+                "rod_tip_xy_dist": 0.0014135526086677377,
+                "target_xy_drift": 6.74390700437469e-08,
+                "depth": 0.019128347830112857,
+                "bottom_clearance": 0.08031225250987262,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0013073486062137318,
+                  0.0005169433591408201
+                ],
+                "rod_tip_xy": [
+                  0.26435009362456313,
+                  -0.3255153914445191
+                ],
+                "target_mouth_xy": [
+                  0.2630427450183494,
+                  -0.3260323348036599
+                ],
+                "gripper_position": [
+                  0.26434108415903734,
+                  -0.32551423116529715,
+                  1.0019030439731285
+                ],
+                "rod_tip_xy_dist": 0.0014058416748442132,
+                "target_xy_drift": 2.9504329649703992e-08,
+                "depth": 0.019242456695867105,
+                "bottom_clearance": 0.08019809995298033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0012983406026702005,
+                  0.0005181375997535542
+                ],
+                "rod_tip_xy": [
+                  0.2643410841590374,
+                  -0.32551423116529715
+                ],
+                "target_mouth_xy": [
+                  0.2630427435563672,
+                  -0.3260323687650507
+                ],
+                "gripper_position": [
+                  0.2643532988192738,
+                  -0.3255829484375445,
+                  1.001401331654158
+                ],
+                "rod_tip_xy_dist": 0.001397910903033664,
+                "target_xy_drift": 6.343845789337308e-08,
+                "depth": 0.019356850158267602,
+                "bottom_clearance": 0.08008376737013789,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005954759184600374,
+              "rod_tip_xy_max_step": 3.237149515372806e-05,
+              "rod_tip_xy_range": 0.0005954673134986843,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26394903657985036,
+            -0.3268040181266018,
+            1.0435462826862667
+          ],
+          "object_origin_world": [
+            0.26394903657985036,
+            -0.3268040181266018,
+            1.0435462826862667
+          ],
+          "frame_world": [
+            0.26394760984643206,
+            -0.32680642461431775,
+            1.0434427489375082
+          ],
+          "center_minus_frame": [
+            1.4267334182971325e-06,
+            2.4064877159335474e-06,
+            0.00010353374875848864
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25004305632878826,
+              0.15895926204143213,
+              0.8335212206957918
+            ],
+            "target_position": [
+              0.26704149709264546,
+              0.2034715027931842,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04764752422890723,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16306310239098662,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8335212206957918,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675130072776,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13338482413280864,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 336,
+            "max_placed_release_frames": 336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2901917037671053,
+              -0.07577872680202967,
+              1.04658636000631
+            ],
+            "current_z": 1.04658636000631,
+            "required_z": 0.8565862189280039,
+            "initial_z": 0.7565862189280039,
+            "lift_margin": 0.19000014107830598,
+            "gripper_z": 1.0498331331232642,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2856537803609332,
+              -0.0802406784944537,
+              1.0498331331232642
+            ],
+            "object_minus_gripper": [
+              0.004537923406172095,
+              0.0044619516924240266,
+              -0.0032467731169543157
+            ],
+            "object_to_gripper_xy": 0.006364099444996926,
+            "object_to_gripper_z": -0.0032467731169543157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2901917037671053,
+              -0.09998518816806741,
+              1.04658636000631
+            ],
+            "finger_b": [
+              0.27919159763064394,
+              -0.07577872680202967,
+              1.04658636000631
+            ],
+            "finger_midpoint": [
+              0.2846916506988746,
+              -0.08788195748504854,
+              1.04658636000631
+            ],
+            "object_minus_finger_midpoint": [
+              0.005500053068230704,
+              0.01210323068301887,
+              0.0
+            ],
+            "finger_gap": 0.02658862739742111,
+            "fingertip_max_gap": 0.09235744195571574,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013294313698710565,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04658636000631,
+            "object_top_z": 1.0924952221670141,
+            "finger_top_clearance": 0.04590886216070422,
+            "fingertip_min_top_clearance": 0.013772658648211233,
+            "object_projection_between_fingers": 0.8288401429793427,
+            "object_to_finger_line_xy": 0.010014569019850697,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867872097785787,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9892747971613851,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2900106410257269,
+              -0.0796911475831226,
+              1.2424404398072029
+            ],
+            "held_position": [
+              0.2948254858183434,
+              -0.07553700333193715,
+              1.2391847218096577
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007144182564589401,
+            "max_held_gripper_dist": 0.007145372409818318,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032557179975452044,
+            "max_held_gripper_z_dist": 0.0032557179975452044,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631943584957386,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2948254858183434,
+              -0.10073024782742171,
+              1.2391847218096577
+            ],
+            "held_grasp_finger_b": [
+              0.28594943864744743,
+              -0.07553700333193715,
+              1.2391847218096577
+            ],
+            "held_grasp_midpoint": [
+              0.2903874622328954,
+              -0.08813362557967944,
+              1.2391847218096577
+            ],
+            "held_grasp_object_position": [
+              0.2948254858183434,
+              -0.07553700333193715,
+              1.2391847218096577
+            ],
+            "held_grasp_finger_gap": 0.026711117190960646,
+            "held_grasp_max_gap": 0.12496597826480865,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024580281292790333,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06315752147720011,
+              -0.9979211068715222,
+              -0.012829339077792714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003637263993549559,
+            "held_grasp_line_xy_max_dist": 0.04748298913240433,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.03234994966500352,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2563863905590448,
+              -0.07674203079050464,
+              0.7565865663734566
+            ],
+            "target_position": [
+              0.2662370507964108,
+              -0.07991568929389119,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010349280912611362,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21001128848371403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565865663734566,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535385212533949,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08787821667571659,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18266804245782264,
+            "release_required_pad_clearance": 0.053939108337858296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.888027186080494,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f8a6a5c5f4368c90137b3cdaf96491680981c901fe1753bf41be0286ad9b7d3",
+    "visual_seed": 7535571378023579306,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..355fc5229b2018e906167cabad8402bf3eb41d10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_42_success.json
@@ -0,0 +1,2663 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37315858546764363,
+              0.10643774883610835,
+              1.1664025300713807
+            ],
+            "current_z": 1.1664025300713807,
+            "required_z": 0.8611065676194111,
+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.30529596245196966,
+            "gripper_z": 1.1560580644560479,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36792810955746735,
+              0.10132055045670951,
+              1.1560580644560479
+            ],
+            "object_minus_gripper": [
+              0.00523047591017628,
+              0.005117198379398835,
+              0.010344465615332865
+            ],
+            "object_to_gripper_xy": 0.007317349076069588,
+            "object_to_gripper_z": 0.010344465615332865,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37315858546764363,
+              0.0823831802214636,
+              1.1664025300713807
+            ],
+            "finger_b": [
+              0.3616020246373449,
+              0.10643774883610835,
+              1.1664025300713807
+            ],
+            "finger_midpoint": [
+              0.3673803050524943,
+              0.09441046452878597,
+              1.1664025300713807
+            ],
+            "object_minus_finger_midpoint": [
+              0.005778280415149328,
+              0.012027284307322375,
+              0.0
+            ],
+            "finger_gap": 0.02668663278611685,
+            "fingertip_max_gap": 0.09148871587969834,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343316393058413,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1664025300713807,
+            "object_top_z": 1.2163332542464187,
+            "finger_top_clearance": 0.049930724175037966,
+            "fingertip_min_top_clearance": 0.014979217252511355,
+            "object_projection_between_fingers": 0.8124704722715468,
+            "object_to_finger_line_xy": 0.010416753873360664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824435793984917,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.133694672545163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 364,
+            "max_stable_success_frames": 364,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27141540914062307,
+              -0.3320789220262029,
+              0.8515395638997486
+            ],
+            "target_position": [
+              0.26290779698166716,
+              -0.33256408759024775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008521434754297496,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18614948479431165,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395638997486,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566434269869021,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544766378776299,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1534998711965552,
+            "release_required_pad_clearance": 0.052723831893881495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5004584350075516,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007144570350646973,
+            "max_z_decrease": 0.007144570350646973,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513211315836588,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007144570350646973,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021269998818608696,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007144570350646973,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007144591063139015,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11860772222280502,
+              -0.38882553577423096,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11860772222280502,
+              -0.38882553577423096,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11816502068544724,
+              -0.39083930612023376,
+              0.8077667060676713
+            ],
+            "closest_button": [
+              0.11859764158725736,
+              -0.3888237774372101,
+              0.7726951241493225
+            ],
+            "closest_ee_minus_button": [
+              -0.00043262090181012125,
+              -0.002015528683023682,
+              0.035071581918348804
+            ],
+            "button_min_z_position": [
+              0.11859058588743208,
+              -0.3888240158557892,
+              0.7696642875671387
+            ],
+            "min_active_finger_to_button": 0.1464371053807805,
+            "closest_active_finger": [
+              -0.02308695763349533,
+              -0.37553727626800537,
+              0.8106628656387329
+            ],
+            "closest_active_finger_button": [
+              0.1186065226793289,
+              -0.3888264894485473,
+              0.7761638760566711
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14169348031282425,
+              0.013289213180541937,
+              0.03449898958206177
+            ],
+            "min_contact_pad_to_button": 0.021269998818608696,
+            "closest_contact_pad": [
+              0.11859058588743208,
+              -0.3918652337802954,
+              0.7907157446017308
+            ],
+            "closest_contact_pad_button": [
+              0.11859058588743208,
+              -0.3888240158557892,
+              0.7696642875671387
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030412179245062343,
+              0.021051457034592103
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26314082814245354,
+              0.20844018843405507,
+              1.1038078913593576
+            ],
+            "current_z": 1.1038078913593576,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1938987616249951,
+            "gripper_z": 1.1038078440903687,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2631407818247454,
+              0.2084402210904589,
+              1.1038078440903687
+            ],
+            "object_minus_gripper": [
+              4.6317708168874816e-08,
+              -3.265640383109947e-08,
+              4.7268988945248225e-08
+            ],
+            "object_to_gripper_xy": 5.6672487162616223e-08,
+            "object_to_gripper_z": 4.7268988945248225e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26314082814245354,
+              0.20844018843405507,
+              1.1038078913593576
+            ],
+            "finger_b": [
+              0.26314082814245354,
+              0.20844018843405507,
+              1.1038078913593576
+            ],
+            "finger_midpoint": [
+              0.26314082814245354,
+              0.20844018843405507,
+              1.1038078913593576
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1038078913593576,
+            "object_top_z": 1.2288163979796374,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26314082814245354,
+            0.20844018843405507,
+            1.1038078913593576
+          ],
+          "object_origin_world": [
+            0.26314082814245354,
+            0.20844018843405507,
+            1.1038078913593576
+          ],
+          "frame_world": [
+            0.2631407818247454,
+            0.2084402210904589,
+            1.1038078440903687
+          ],
+          "center_minus_frame": [
+            4.6317708168874816e-08,
+            -3.265640383109947e-08,
+            4.7268988945248225e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432847369308518,
+            "required_z": 0.9112598484426246,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0027186569210584897,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.319637337062735e-07,
+            "max_target_xy_drift": 7.256320971049816e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.49889204708431256,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.5004584360686425,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26929104602918513,
+              -0.3303788489419277,
+              0.9233905183472358
+            ],
+            "target_mouth_xy": [
+              0.2714141928879728,
+              -0.33207806591722666
+            ],
+            "rod_tip_z": 0.9233905183472358,
+            "rod_tip_depth": -0.022130599197578982,
+            "rod_tip_bottom_clearance": 0.12157121646351776,
+            "rod_tip_xy_dist": 0.0027193916439387862,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04464116883192237,
+            "min_rod_tip_bottom_clearance": 0.05479940277812512,
+            "min_rod_tip_xy_dist": 0.00012507089355381798,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2714146042038452,
+              -0.3320781978714624
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.1131587241727274e-07,
+              1.3195423576028986e-07
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0015423111743527729,
+                0.003323888356189242
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0016564379808946539,
+                0.0029643640950438033
+              ],
+              "first_target_mouth_xy": [
+                0.27141448197652324,
+                -0.3320779911535784
+              ],
+              "last_target_mouth_xy": [
+                0.27141451962448443,
+                -0.33207802442205686
+              ],
+              "first_rod_tip_xy": [
+                0.26987217080217046,
+                -0.32875410279738915
+              ],
+              "last_rod_tip_xy": [
+                0.2697580816435898,
+                -0.32911366032701306
+              ],
+              "min_rod_tip_xy_dist": 0.003394965899233671,
+              "max_rod_tip_xy_dist": 0.0036675364271644352,
+              "first_target_xy_drift": 2.401495405341153e-07,
+              "last_target_xy_drift": 1.9297244508330377e-07,
+              "max_depth": 0.019783967225962096,
+              "min_bottom_clearance": 0.07965683095307141
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0015423111743527729,
+                  0.003323888356189242
+                ],
+                "rod_tip_xy": [
+                  0.26987217080217046,
+                  -0.32875410279738915
+                ],
+                "target_mouth_xy": [
+                  0.27141448197652324,
+                  -0.3320779911535784
+                ],
+                "gripper_position": [
+                  0.26986056990404844,
+                  -0.3287601753706791,
+                  1.0056454424925467
+                ],
+                "rod_tip_xy_dist": 0.0036642813160214444,
+                "target_xy_drift": 2.401495405341153e-07,
+                "depth": 0.015479870079946667,
+                "bottom_clearance": 0.08396072383118314,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0015539139880296204,
+                  0.003317846528171242
+                ],
+                "rod_tip_xy": [
+                  0.26986056990404844,
+                  -0.32876017537067903
+                ],
+                "target_mouth_xy": [
+                  0.27141448389207806,
+                  -0.3320780218988503
+                ],
+                "gripper_position": [
+                  0.269852014312945,
+                  -0.32875997814635644,
+                  1.0055274727366257
+                ],
+                "rod_tip_xy_dist": 0.0036637077212425236,
+                "target_xy_drift": 2.1316960745747093e-07,
+                "depth": 0.015614408993445683,
+                "bottom_clearance": 0.08382613635622704,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001562501606782285,
+                  0.003318043425481476
+                ],
+                "rod_tip_xy": [
+                  0.269852014312945,
+                  -0.3287599781463564
+                ],
+                "target_mouth_xy": [
+                  0.27141451591972726,
+                  -0.33207802157183786
+                ],
+                "gripper_position": [
+                  0.2698558506380873,
+                  -0.3288230703262011,
+                  1.0050112715563413
+                ],
+                "rod_tip_xy_dist": 0.0036675364271644352,
+                "target_xy_drift": 1.9716907238741107e-07,
+                "depth": 0.015732417581189817,
+                "bottom_clearance": 0.08370813642607,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0015586627340922754,
+                  0.0032549509385011444
+                ],
+                "rod_tip_xy": [
+                  0.2698558506380873,
+                  -0.3288230703262012
+                ],
+                "target_mouth_xy": [
+                  0.2714145133721796,
+                  -0.3320780212647023
+                ],
+                "gripper_position": [
+                  0.26984418396589127,
+                  -0.3288288439023377,
+                  1.0048770424442155
+                ],
+                "rod_tip_xy_dist": 0.0036088966638984673,
+                "target_xy_drift": 1.9859591938537613e-07,
+                "depth": 0.01624863781635444,
+                "bottom_clearance": 0.08319189696233176,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0015703000492916508,
+                  0.0032492071661116007
+                ],
+                "rod_tip_xy": [
+                  0.2698441839658912,
+                  -0.3288288439023377
+                ],
+                "target_mouth_xy": [
+                  0.27141448401518287,
+                  -0.3320780510684493
+                ],
+                "gripper_position": [
+                  0.2698479205316694,
+                  -0.3288926194836474,
+                  1.0043654913102802
+                ],
+                "rod_tip_xy_dist": 0.0036087656412014816,
+                "target_xy_drift": 1.8972727591018032e-07,
+                "depth": 0.01638279384025787,
+                "bottom_clearance": 0.08305772400456402,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0015666257414201357,
+                  0.003185431569403707
+                ],
+                "rod_tip_xy": [
+                  0.2698479205316694,
+                  -0.32889261948364734
+                ],
+                "target_mouth_xy": [
+                  0.27141454627308953,
+                  -0.33207805105305105
+                ],
+                "gripper_position": [
+                  0.26983624046074883,
+                  -0.32889833189201295,
+                  1.0042312029733564
+                ],
+                "rod_tip_xy_dist": 0.0035498296433820534,
+                "target_xy_drift": 1.5783414831131274e-07,
+                "depth": 0.016894397763969282,
+                "bottom_clearance": 0.08254616623494004,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0015782430312817897,
+                  0.0031796903248081376
+                ],
+                "rod_tip_xy": [
+                  0.2698362404607488,
+                  -0.328898331892013
+                ],
+                "target_mouth_xy": [
+                  0.27141448349203057,
+                  -0.33207802221682114
+                ],
+                "gripper_position": [
+                  0.26982743265833214,
+                  -0.32889762621083857,
+                  1.004113438182706
+                ],
+                "rod_tip_xy_dist": 0.0035498283940872425,
+                "target_xy_drift": 2.1313351496047064e-07,
+                "depth": 0.01702866640884937,
+                "bottom_clearance": 0.08241190565726175,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0015870825427906632,
+                  0.003180425798499642
+                ],
+                "rod_tip_xy": [
+                  0.2698274326583321,
+                  -0.3288976262108386
+                ],
+                "target_mouth_xy": [
+                  0.27141451520112275,
+                  -0.33207805200933826
+                ],
+                "gripper_position": [
+                  0.26981859301080646,
+                  -0.3288973447024567,
+                  1.0039949496248917
+                ],
+                "rod_tip_xy_dist": 0.0035544253062053453,
+                "target_xy_drift": 1.708720102022849e-07,
+                "depth": 0.017146397993511364,
+                "bottom_clearance": 0.08229415062387369,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.001595890591906679,
+                  0.003180676242016789
+                ],
+                "rod_tip_xy": [
+                  0.2698185930108064,
+                  -0.3288973447024567
+                ],
+                "target_mouth_xy": [
+                  0.2714144836027131,
+                  -0.3320780209444735
+                ],
+                "gripper_position": [
+                  0.2698240477348355,
+                  -0.3289628012930988,
+                  1.0034826870619034
+                ],
+                "rod_tip_xy_dist": 0.0035585907516693027,
+                "target_xy_drift": 2.1412097629832337e-07,
+                "depth": 0.017264957541698656,
+                "bottom_clearance": 0.08217557362807104,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001590436506477222,
+                  0.0031152190163259985
+                ],
+                "rod_tip_xy": [
+                  0.2698240477348355,
+                  -0.32896280129309874
+                ],
+                "target_mouth_xy": [
+                  0.2714144842413127,
+                  -0.33207802030942474
+                ],
+                "gripper_position": [
+                  0.26981212532186627,
+                  -0.3289687696318978,
+                  1.0033484484136344
+                ],
+                "rod_tip_xy_dist": 0.003497724660520692,
+                "target_xy_drift": 2.1428785881357727e-07,
+                "depth": 0.017777152092815607,
+                "bottom_clearance": 0.08166337677569735,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016023888073312675,
+                  0.0031092525809805482
+                ],
+                "rod_tip_xy": [
+                  0.26981212532186627,
+                  -0.3289687696318978
+                ],
+                "target_mouth_xy": [
+                  0.27141451412919754,
+                  -0.33207802221287835
+                ],
+                "gripper_position": [
+                  0.26980329885854903,
+                  -0.3289681817366794,
+                  1.0032304924343116
+                ],
+                "rod_tip_xy_dist": 0.0034978709956478846,
+                "target_xy_drift": 1.9740663695054412e-07,
+                "depth": 0.01791139557021537,
+                "bottom_clearance": 0.08152914450973803,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0016112147420137557,
+                  0.0031098078201463597
+                ],
+                "rod_tip_xy": [
+                  0.26980329885854903,
+                  -0.3289681817366794
+                ],
+                "target_mouth_xy": [
+                  0.2714145136005628,
+                  -0.33207798955682577
+                ],
+                "gripper_position": [
+                  0.2698093575636777,
+                  -0.3290346192224641,
+                  1.002721634273836
+                ],
+                "rod_tip_xy_dist": 0.0035024159694596398,
+                "target_xy_drift": 2.2716501189833842e-07,
+                "depth": 0.018029377042220962,
+                "bottom_clearance": 0.08141120267413193,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016051622084560235,
+                  0.003043404241587666
+                ],
+                "rod_tip_xy": [
+                  0.2698093575636777,
+                  -0.32903461922246413
+                ],
+                "target_mouth_xy": [
+                  0.2714145197721337,
+                  -0.3320780234640518
+                ],
+                "gripper_position": [
+                  0.26979737010636434,
+                  -0.3290402244177308,
+                  1.0025874146215288
+                ],
+                "rod_tip_xy_dist": 0.00344076373690046,
+                "target_xy_drift": 1.9376960233616544e-07,
+                "depth": 0.018538320850497114,
+                "bottom_clearance": 0.08090244919747114,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0016170520376794784,
+                  0.0030377622945965688
+                ],
+                "rod_tip_xy": [
+                  0.2697973701063643,
+                  -0.32904022441773084
+                ],
+                "target_mouth_xy": [
+                  0.27141442214404377,
+                  -0.3320779867123274
+                ],
+                "gripper_position": [
+                  0.2697883485087995,
+                  -0.3290395796415555,
+                  1.002469843028943
+                ],
+                "rod_tip_xy_dist": 0.0034413452385710975,
+                "target_xy_drift": 2.788080909962104e-07,
+                "depth": 0.018672627493308225,
+                "bottom_clearance": 0.08076813267228666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.00162613509701387,
+                  0.0030384121355517824
+                ],
+                "rod_tip_xy": [
+                  0.26978834850879946,
+                  -0.3290395796415555
+                ],
+                "target_mouth_xy": [
+                  0.27141448360581333,
+                  -0.3320779917771073
+                ],
+                "gripper_position": [
+                  0.26977942459008736,
+                  -0.32903880510103317,
+                  1.0023517317528414
+                ],
+                "rod_tip_xy_dist": 0.0034461955340938867,
+                "target_xy_drift": 2.387860308230807e-07,
+                "depth": 0.018790011352766922,
+                "bottom_clearance": 0.08065053340141726,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0016350928799656606,
+                  0.003039217734206512
+                ],
+                "rod_tip_xy": [
+                  0.26977942459008736,
+                  -0.3290388051010331
+                ],
+                "target_mouth_xy": [
+                  0.271414517470053,
+                  -0.33207802283523963
+                ],
+                "gripper_position": [
+                  0.2697705956084653,
+                  -0.329037733072118,
+                  1.0022342236612805
+                ],
+                "rod_tip_xy_dist": 0.0034511408493467437,
+                "target_xy_drift": 1.9534694776206459e-07,
+                "depth": 0.01890819359183793,
+                "bottom_clearance": 0.08053246515127255,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.001643857503789925,
+                  0.003040255219744159
+                ],
+                "rod_tip_xy": [
+                  0.2697705956084653,
+                  -0.32903773307211803
+                ],
+                "target_mouth_xy": [
+                  0.2714144531122552,
+                  -0.3320779882918622
+                ],
+                "gripper_position": [
+                  0.2697615719962968,
+                  -0.3290370028690197,
+                  1.0021161579457354
+                ],
+                "rod_tip_xy_dist": 0.003456214590263175,
+                "target_xy_drift": 2.5836462104252404e-07,
+                "depth": 0.01902569521248254,
+                "bottom_clearance": 0.08041496363765543,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0016529465645329089,
+                  0.0030410225118913115
+                ],
+                "rod_tip_xy": [
+                  0.2697615719962968,
+                  -0.3290370028690197
+                ],
+                "target_mouth_xy": [
+                  0.2714145185608297,
+                  -0.332078025380911
+                ],
+                "gripper_position": [
+                  0.26977039911054523,
+                  -0.3291076820137908,
+                  1.0016104885633124
+                ],
+                "rod_tip_xy_dist": 0.0034612209208646143,
+                "target_xy_drift": 1.925817136376798e-07,
+                "depth": 0.019143821430017804,
+                "bottom_clearance": 0.08029696945096065,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0016440518094170686,
+                  0.002970334510608519
+                ],
+                "rod_tip_xy": [
+                  0.26977039911054523,
+                  -0.3291076820137908
+                ],
+                "target_mouth_xy": [
+                  0.2714144509199623,
+                  -0.33207801652439933
+                ],
+                "gripper_position": [
+                  0.2697580816435898,
+                  -0.3291136603270131,
+                  1.0014760037215675
+                ],
+                "rod_tip_xy_dist": 0.003394965899233671,
+                "target_xy_drift": 2.374504286242082e-07,
+                "depth": 0.019649465678498235,
+                "bottom_clearance": 0.07979133403226402,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0016564379808946539,
+                  0.0029643640950438033
+                ],
+                "rod_tip_xy": [
+                  0.2697580816435898,
+                  -0.32911366032701306
+                ],
+                "target_mouth_xy": [
+                  0.27141451962448443,
+                  -0.33207802442205686
+                ],
+                "gripper_position": [
+                  0.26976726401310536,
+                  -0.3291786534548476,
+                  1.0008855949730677
+                ],
+                "rod_tip_xy_dist": 0.0033957681417516165,
+                "target_xy_drift": 1.9297244508330377e-07,
+                "depth": 0.019783967225962096,
+                "bottom_clearance": 0.07965683095307141,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005995807027562444,
+              "rod_tip_xy_max_step": 3.252162982441402e-05,
+              "rod_tip_xy_range": 0.0005995752863055319,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26929104602918513,
+            -0.3303788489419277,
+            1.0433905183472358
+          ],
+          "object_origin_world": [
+            0.26929104602918513,
+            -0.3303788489419277,
+            1.0433905183472358
+          ],
+          "frame_world": [
+            0.26928962505396703,
+            -0.3303818032685996,
+            1.0432847369308518
+          ],
+          "center_minus_frame": [
+            1.4209752181026936e-06,
+            2.9543266719112005e-06,
+            0.00010578141638406535
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2456934775089635,
+              0.1633443381988432,
+              0.8316502386427699
+            ],
+            "target_position": [
+              0.26327144870127184,
+              0.20861567386006785,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04856417304751408,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16352986406423717,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8316502386427699,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835668610727544,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13406437952524267,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 337,
+            "max_placed_release_frames": 337
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29505812041107893,
+              -0.08402691535409486,
+              1.046897374814847
+            ],
+            "current_z": 1.046897374814847,
+            "required_z": 0.8565863401101355,
+            "initial_z": 0.7565863401101355,
+            "lift_margin": 0.19031103470471145,
+            "gripper_z": 1.0500454498352956,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29039478414298486,
+              -0.08862198768944317,
+              1.0500454498352956
+            ],
+            "object_minus_gripper": [
+              0.004663336268094065,
+              0.00459507233534831,
+              -0.0031480750204486707
+            ],
+            "object_to_gripper_xy": 0.006546861455415477,
+            "object_to_gripper_z": -0.0031480750204486707,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29505812041107893,
+              -0.10819460487394943,
+              1.046897374814847
+            ],
+            "finger_b": [
+              0.2837090514482367,
+              -0.08402691535409486,
+              1.046897374814847
+            ],
+            "finger_midpoint": [
+              0.28938358592965785,
+              -0.09611076011402214,
+              1.046897374814847
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056745344814210785,
+              0.012083844759927284,
+              0.0
+            ],
+            "finger_gap": 0.026699786198609098,
+            "fingertip_max_gap": 0.09212067095995422,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013349893099304537,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046897374814847,
+            "object_top_z": 1.0926495855114262,
+            "finger_top_clearance": 0.04575221069657931,
+            "fingertip_min_top_clearance": 0.01372566320897376,
+            "object_projection_between_fingers": 0.8193221547321263,
+            "object_to_finger_line_xy": 0.010272770463146117,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856033547997711,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3626962824385467,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29477316032081846,
+              -0.08851792760979293,
+              1.2415572800719472
+            ],
+            "held_position": [
+              0.29975704566491007,
+              -0.0842775499430548,
+              1.2384011449154737
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007265060564479195,
+            "max_held_gripper_dist": 0.007266626725985453,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003156135156473505,
+            "max_held_gripper_z_dist": 0.003158266231743756,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08640091167149314,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29975704566491007,
+              -0.10952132412339113,
+              1.2384011449154737
+            ],
+            "held_grasp_finger_b": [
+              0.2907972629275857,
+              -0.0842775499430548,
+              1.2384011449154737
+            ],
+            "held_grasp_midpoint": [
+              0.2952771542962479,
+              -0.09689943703322296,
+              1.2384011449154737
+            ],
+            "held_grasp_object_position": [
+              0.29975704566491007,
+              -0.0842775499430548,
+              1.2384011449154737
+            ],
+            "held_grasp_finger_gap": 0.026786672834972842,
+            "held_grasp_max_gap": 0.12496601551771164,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024575666792092107,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06690604571451525,
+              -0.997280764978394,
+              -0.03089752176076166
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036467842911801283,
+            "held_grasp_line_xy_max_dist": 0.04748300775885582,
+            "held_grasp_object_top_z": 0.045200787484645844,
+            "held_grasp_top_clearance": 0.03231349045518424,
+            "held_grasp_min_top_clearance": 0.013560236245393752
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26432559531109223,
+              -0.08735214338605475,
+              0.7565862490282882
+            ],
+            "target_position": [
+              0.2710044065520167,
+              -0.08596582902842259,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.006821171973354426,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21261532625695234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565862490282882,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590572341114661,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08873477097817935,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18339255347130398,
+            "release_required_pad_clearance": 0.054367385489089676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.757563440749807,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "351413c14f8b7dd2b462555c4a49e52f55480ba9f434dc951bb6c1ee80c7ab60",
+    "visual_seed": 2550807341907667209,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0d7ebc23a38d2846421a2782dd7ffc75a782bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_43_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37384186921544477,
+              0.11480161829212482,
+              1.1665292315934783
+            ],
+            "current_z": 1.1665292315934783,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.305422783183357,
+            "gripper_z": 1.1561372505867953,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3686287034059772,
+              0.10986085249430037,
+              1.1561372505867953
+            ],
+            "object_minus_gripper": [
+              0.005213165809467568,
+              0.004940765797824445,
+              0.010391981006683038
+            ],
+            "object_to_gripper_xy": 0.007182497088475113,
+            "object_to_gripper_z": 0.010391981006683038,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37384186921544477,
+              0.09064142183210076,
+              1.1665292315934783
+            ],
+            "finger_b": [
+              0.36269556639374145,
+              0.11480161829212482,
+              1.1665292315934783
+            ],
+            "finger_midpoint": [
+              0.36826871780459314,
+              0.1027215200621128,
+              1.1665292315934783
+            ],
+            "object_minus_finger_midpoint": [
+              0.005573151410851629,
+              0.01208009823001202,
+              0.0
+            ],
+            "finger_gap": 0.026607426774870022,
+            "fingertip_max_gap": 0.09088205500416177,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013303713387434994,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1665292315934783,
+            "object_top_z": 1.2163805272303163,
+            "finger_top_clearance": 0.04985129563683799,
+            "fingertip_min_top_clearance": 0.014955388691051362,
+            "object_projection_between_fingers": 0.8245085653916199,
+            "object_to_finger_line_xy": 0.01012111649329487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04794102750208089,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6642665150363088,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 365,
+            "max_stable_success_frames": 365,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27090166032183427,
+              -0.32588196726862584,
+              0.8515395767101461
+            ],
+            "target_position": [
+              0.26284200266734004,
+              -0.32641212389950824,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008077075433652709,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459221000613266,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395767101461,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587871418927285,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742958221013462,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15169531109038997,
+            "release_required_pad_clearance": 0.053714791105067314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.438976825490022,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007071435451507568,
+            "max_z_decrease": 0.007071435451507568,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511385049052302,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007071435451507568,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02122297193075299,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007071435451507568,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007071453315460737,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1185419261455536,
+              -0.3826735913753509,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1185419261455536,
+              -0.3826735913753509,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11752098620171064,
+              -0.3839534332823419,
+              0.8079174223696052
+            ],
+            "closest_button": [
+              0.11853645741939546,
+              -0.3826743364334106,
+              0.7728415727615356
+            ],
+            "closest_ee_minus_button": [
+              -0.0010154712176848185,
+              -0.0012790968489312937,
+              0.03507584960806953
+            ],
+            "button_min_z_position": [
+              0.11852605640888215,
+              -0.38267269730567927,
+              0.7697374224662781
+            ],
+            "min_active_finger_to_button": 0.1470497789980984,
+            "closest_active_finger": [
+              -0.023470938205718994,
+              -0.36619657278060913,
+              0.81093430519104
+            ],
+            "closest_active_finger_button": [
+              0.1185416877269745,
+              -0.38267529010772705,
+              0.7765176892280579
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14201262593269348,
+              0.01647871732711792,
+              0.03441661596298218
+            ],
+            "min_contact_pad_to_button": 0.02122297193075299,
+            "closest_contact_pad": [
+              0.11852605640888215,
+              -0.38523135008430687,
+              0.790805593567063
+            ],
+            "closest_contact_pad_button": [
+              0.11852605640888215,
+              -0.38267269730567927,
+              0.7697374224662781
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025586527786276014,
+              0.02106817110078496
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2691734170264463,
+              0.20987598509579247,
+              1.1045887167834945
+            ],
+            "current_z": 1.1045887167834945,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1946795870491319,
+            "gripper_z": 1.1045886946061023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26917336236774125,
+              0.20987597643554323,
+              1.1045886946061023
+            ],
+            "object_minus_gripper": [
+              5.4658705062049506e-08,
+              8.660249239955675e-09,
+              2.2177392144939745e-08
+            ],
+            "object_to_gripper_xy": 5.534052724684026e-08,
+            "object_to_gripper_z": 2.2177392144939745e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2691734170264463,
+              0.20987598509579247,
+              1.1045887167834945
+            ],
+            "finger_b": [
+              0.2691734170264463,
+              0.20987598509579247,
+              1.1045887167834945
+            ],
+            "finger_midpoint": [
+              0.2691734170264463,
+              0.20987598509579247,
+              1.1045887167834945
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1045887167834945,
+            "object_top_z": 1.2295972234037742,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 246,
+            "max_stable_success_frames": 246,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2691734170264463,
+            0.20987598509579253,
+            1.1045887167834945
+          ],
+          "object_origin_world": [
+            0.2691734170264463,
+            0.20987598509579253,
+            1.1045887167834945
+          ],
+          "frame_world": [
+            0.26917336236774125,
+            0.20987597643554323,
+            1.1045886946061023
+          ],
+          "center_minus_frame": [
+            5.4658705062049506e-08,
+            8.660249295466826e-09,
+            2.2177392144939745e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.0436442572412334,
+            "required_z": 0.911259837630569,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.001508448485082137,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.040179825237589e-08,
+            "max_target_xy_drift": 1.5403844628802384e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.4389768255804563,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.439297734624795,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2722284126541295,
+              -0.32655233175311793,
+              0.9233301417301792
+            ],
+            "target_mouth_xy": [
+              0.2709016903672421,
+              -0.3258820303643557
+            ],
+            "rod_tip_z": 0.9233301417301792,
+            "rod_tip_depth": -0.02207030453377634,
+            "rod_tip_bottom_clearance": 0.12151082763102627,
+            "rod_tip_xy_dist": 0.0014864373442228633,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04475690014750666,
+            "min_rod_tip_bottom_clearance": 0.05468363684239497,
+            "min_rod_tip_xy_dist": 0.00013152810079449735,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.2709016900894755,
+              -0.3258819999638264
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.7776658750866545e-10,
+              -3.040052931613246e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                0.001806871828081591,
+                0.0009928376468674172
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0017139419480108886,
+                0.0006322671265729385
+              ],
+              "first_target_mouth_xy": [
+                0.2709016610111508,
+                -0.3258819986747964
+              ],
+              "last_target_mouth_xy": [
+                0.2709016916203713,
+                -0.32588203038889774
+              ],
+              "first_rod_tip_xy": [
+                0.2727085328392324,
+                -0.324889161027929
+              ],
+              "last_rod_tip_xy": [
+                0.2726156335683822,
+                -0.3252497632623248
+              ],
+              "min_rod_tip_xy_dist": 0.0018268439234089375,
+              "max_rod_tip_xy_dist": 0.0020616770833843355,
+              "first_target_xy_drift": 2.9106881750736775e-08,
+              "last_target_xy_drift": 3.0463561982691113e-08,
+              "max_depth": 0.019595129251737786,
+              "min_bottom_clearance": 0.07984540028976839
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.001806871828081591,
+                  0.0009928376468674172
+                ],
+                "rod_tip_xy": [
+                  0.2727085328392324,
+                  -0.324889161027929
+                ],
+                "target_mouth_xy": [
+                  0.2709016610111508,
+                  -0.3258819986747964
+                ],
+                "gripper_position": [
+                  0.27269700175698447,
+                  -0.3248948289025577,
+                  1.005843949239492
+                ],
+                "rod_tip_xy_dist": 0.0020616770833843355,
+                "target_xy_drift": 2.9106881750736775e-08,
+                "depth": 0.015280626534917352,
+                "bottom_clearance": 0.08415990671138529,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017953415997526423,
+                  0.000987204034996969
+                ],
+                "rod_tip_xy": [
+                  0.2726970017569845,
+                  -0.32489482890255783
+                ],
+                "target_mouth_xy": [
+                  0.2709016601572319,
+                  -0.3258820329375548
+                ],
+                "gripper_position": [
+                  0.2726883716895794,
+                  -0.3248945335561912,
+                  1.0057253474977614
+                ],
+                "rod_tip_xy_dist": 0.002048859015773578,
+                "target_xy_drift": 4.453320080747216e-08,
+                "depth": 0.015415949313620225,
+                "bottom_clearance": 0.0840246848521432,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017867106777666453,
+                  0.0009874651169712312
+                ],
+                "rod_tip_xy": [
+                  0.27268837168957943,
+                  -0.32489453355619136
+                ],
+                "target_mouth_xy": [
+                  0.2709016610118128,
+                  -0.3258819986731626
+                ],
+                "gripper_position": [
+                  0.2726962950654349,
+                  -0.3249581401084782,
+                  1.005210274084968
+                ],
+                "rod_tip_xy_dist": 0.0020414265608344456,
+                "target_xy_drift": 2.910629283194822e-08,
+                "depth": 0.015534488852091521,
+                "bottom_clearance": 0.08390604442339755,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017946039361901311,
+                  0.0009238915427604022
+                ],
+                "rod_tip_xy": [
+                  0.27269629506543497,
+                  -0.32495814010847834
+                ],
+                "target_mouth_xy": [
+                  0.27090169112924484,
+                  -0.32588203165123875
+                ],
+                "gripper_position": [
+                  0.27268463831329404,
+                  -0.3249640333641786,
+                  1.0050751766251367
+                ],
+                "rod_tip_xy_dist": 0.002018459529089773,
+                "target_xy_drift": 3.170446691507312e-08,
+                "depth": 0.016049570047881323,
+                "bottom_clearance": 0.08339098284207824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017829783002888955,
+                  0.0009179634313470908
+                ],
+                "rod_tip_xy": [
+                  0.2726846383132941,
+                  -0.3249640333641788
+                ],
+                "target_mouth_xy": [
+                  0.2709016600130052,
+                  -0.3258819967955259
+                ],
+                "gripper_position": [
+                  0.27267590798617747,
+                  -0.32496334457997483,
+                  1.0049566931116547
+                ],
+                "rod_tip_xy_dist": 0.002005409803654007,
+                "target_xy_drift": 3.024288667922726e-08,
+                "depth": 0.016184721999993212,
+                "bottom_clearance": 0.08325591514191177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017742487570167609,
+                  0.0009187153468566134
+                ],
+                "rod_tip_xy": [
+                  0.2726759079861775,
+                  -0.3249633445799751
+                ],
+                "target_mouth_xy": [
+                  0.27090165922916076,
+                  -0.3258820599268317
+                ],
+                "gripper_position": [
+                  0.27268490390974376,
+                  -0.3250281997913251,
+                  1.0044418173884264
+                ],
+                "rod_tip_xy_dist": 0.0019979981332136896,
+                "target_xy_drift": 6.743827574616709e-08,
+                "depth": 0.01630317918404256,
+                "bottom_clearance": 0.08313738427213824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017832439460889193,
+                  0.0008538001642480753
+                ],
+                "rod_tip_xy": [
+                  0.2726849039097438,
+                  -0.32502819979132525
+                ],
+                "target_mouth_xy": [
+                  0.2709016599636549,
+                  -0.3258819999555733
+                ],
+                "gripper_position": [
+                  0.2726729584557994,
+                  -0.32503417355647873,
+                  1.004307030376158
+                ],
+                "rod_tip_xy_dist": 0.00197710234730851,
+                "target_xy_drift": 3.012582174637726e-08,
+                "depth": 0.016818030484303192,
+                "bottom_clearance": 0.08262250101184165,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017712979260661732,
+                  0.0008478847282600288
+                ],
+                "rod_tip_xy": [
+                  0.2726729584557995,
+                  -0.3250341735564789
+                ],
+                "target_mouth_xy": [
+                  0.2709016605297333,
+                  -0.32588205828473893
+                ],
+                "gripper_position": [
+                  0.2726640520027418,
+                  -0.32503360138326043,
+                  1.0041885223835798
+                ],
+                "rod_tip_xy_dist": 0.001963773117063911,
+                "target_xy_drift": 6.538430392250934e-08,
+                "depth": 0.016952820917770617,
+                "bottom_clearance": 0.08248773138694288,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.001762391366635807,
+                  0.0008484594520780098
+                ],
+                "rod_tip_xy": [
+                  0.27266405200274185,
+                  -0.32503360138326065
+                ],
+                "target_mouth_xy": [
+                  0.27090166063610605,
+                  -0.32588206083533866
+                ],
+                "gripper_position": [
+                  0.27267381935814894,
+                  -0.32509961871560916,
+                  1.0036756669549638
+                ],
+                "rod_tip_xy_dist": 0.0019559925283632717,
+                "target_xy_drift": 6.762279186445958e-08,
+                "depth": 0.017071325494945833,
+                "bottom_clearance": 0.08236921992790414,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017721588079540607,
+                  0.0007824396042144244
+                ],
+                "rod_tip_xy": [
+                  0.272673819358149,
+                  -0.32509961871560933
+                ],
+                "target_mouth_xy": [
+                  0.27090166055019493,
+                  -0.32588205831982375
+                ],
+                "gripper_position": [
+                  0.27266178284960607,
+                  -0.3251053226037586,
+                  1.0035407279718211
+                ],
+                "rod_tip_xy_dist": 0.001937203803127689,
+                "target_xy_drift": 6.540635692189113e-08,
+                "depth": 0.017584183119217056,
+                "bottom_clearance": 0.08185636717297917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017601217674798053,
+                  0.0007767366501807427
+                ],
+                "rod_tip_xy": [
+                  0.2726617828496062,
+                  -0.3251053226037587
+                ],
+                "target_mouth_xy": [
+                  0.2709016610821264,
+                  -0.3258820592539394
+                ],
+                "gripper_position": [
+                  0.2726528752490773,
+                  -0.32510491103839645,
+                  1.0034224191834433
+                ],
+                "rod_tip_xy_dist": 0.0019238888897465558,
+                "target_xy_drift": 6.600563467032358e-08,
+                "depth": 0.017719090029880258,
+                "bottom_clearance": 0.08172140719619381,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017512143449255335,
+                  0.0007771469722231972
+                ],
+                "rod_tip_xy": [
+                  0.27265287524907733,
+                  -0.32510491103839656
+                ],
+                "target_mouth_xy": [
+                  0.2709016609041518,
+                  -0.32588205801061976
+                ],
+                "gripper_position": [
+                  0.2726633968888609,
+                  -0.3251716479602683,
+                  1.0029133376673853
+                ],
+                "rod_tip_xy_dist": 0.0019159094702800152,
+                "target_xy_drift": 6.497086532452889e-08,
+                "depth": 0.017837424950848946,
+                "bottom_clearance": 0.08160312172611206,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017617354103549587,
+                  0.0007104125770822645
+                ],
+                "rod_tip_xy": [
+                  0.27266339688886093,
+                  -0.32517164796026854
+                ],
+                "target_mouth_xy": [
+                  0.270901661478506,
+                  -0.3258820605373508
+                ],
+                "gripper_position": [
+                  0.27265127771236863,
+                  -0.3251776891153219,
+                  1.0027788151308106
+                ],
+                "rod_tip_xy_dist": 0.0018995782915624245,
+                "target_xy_drift": 6.699059216331175e-08,
+                "depth": 0.018346491753871486,
+                "bottom_clearance": 0.08109403600378207,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017496176350654258,
+                  0.0007043692316544004
+                ],
+                "rod_tip_xy": [
+                  0.2726512777123687,
+                  -0.3251776891153221
+                ],
+                "target_mouth_xy": [
+                  0.27090166007730326,
+                  -0.3258820583469765
+                ],
+                "gripper_position": [
+                  0.2726423302318002,
+                  -0.3251763864111342,
+                  1.0026603230872775
+                ],
+                "rod_tip_xy_dist": 0.001886080031025551,
+                "target_xy_drift": 6.564543165900976e-08,
+                "depth": 0.018481049266292904,
+                "bottom_clearance": 0.08095951900029019,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0017406703467168771,
+                  0.0007056738478012914
+                ],
+                "rod_tip_xy": [
+                  0.27264233023180023,
+                  -0.32517638641113444
+                ],
+                "target_mouth_xy": [
+                  0.27090165988508336,
+                  -0.32588206025893574
+                ],
+                "gripper_position": [
+                  0.27263321770685356,
+                  -0.32517576365147777,
+                  1.0025422605321412
+                ],
+                "rod_tip_xy_dist": 0.0018782728330597057,
+                "target_xy_drift": 6.743741926334581e-08,
+                "depth": 0.018599536075693757,
+                "bottom_clearance": 0.0808410155622229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017315288130421158,
+                  0.0007062652230190869
+                ],
+                "rod_tip_xy": [
+                  0.2726332177068536,
+                  -0.32517576365147793
+                ],
+                "target_mouth_xy": [
+                  0.2709016888938115,
+                  -0.325882028874497
+                ],
+                "gripper_position": [
+                  0.27262414703339005,
+                  -0.32517478156005714,
+                  1.0024238078379166
+                ],
+                "rod_tip_xy_dist": 0.001870027431788432,
+                "target_xy_drift": 2.8935384722011424e-08,
+                "depth": 0.01871762920346931,
+                "bottom_clearance": 0.08072296723195616,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017224865019107027,
+                  0.0007072479118626074
+                ],
+                "rod_tip_xy": [
+                  0.2726241470333901,
+                  -0.3251747815600574
+                ],
+                "target_mouth_xy": [
+                  0.2709016605314794,
+                  -0.32588202947192
+                ],
+                "gripper_position": [
+                  0.27263719203042636,
+                  -0.32524491829520785,
+                  1.0019174338546883
+                ],
+                "rod_tip_xy_dist": 0.001862030976675358,
+                "target_xy_drift": 4.17660475003692e-08,
+                "depth": 0.01883602702847209,
+                "bottom_clearance": 0.08060449151167826,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001735532294231068,
+                  0.0006371111953947795
+                ],
+                "rod_tip_xy": [
+                  0.2726371920304264,
+                  -0.32524491829520796
+                ],
+                "target_mouth_xy": [
+                  0.27090165973619534,
+                  -0.32588202949060274
+                ],
+                "gripper_position": [
+                  0.2726248293590935,
+                  -0.32525069429511594,
+                  1.0017828592821574
+                ],
+                "rod_tip_xy_dist": 0.0018487787914232246,
+                "target_xy_drift": 4.2345627152678785e-08,
+                "depth": 0.019342425546087005,
+                "bottom_clearance": 0.08009812414203865,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0017231385198723803,
+                  0.0006313348471983504
+                ],
+                "rod_tip_xy": [
+                  0.27262482935909355,
+                  -0.3252506942951161
+                ],
+                "target_mouth_xy": [
+                  0.27090169083922117,
+                  -0.32588202914231446
+                ],
+                "gripper_position": [
+                  0.27261563356838214,
+                  -0.32524976326232463,
+                  1.0016646970736907
+                ],
+                "rod_tip_xy_dist": 0.001835153957561856,
+                "target_xy_drift": 2.9188118894624636e-08,
+                "depth": 0.019476965250008527,
+                "bottom_clearance": 0.07996354431543373,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0017139419480108886,
+                  0.0006322671265729385
+                ],
+                "rod_tip_xy": [
+                  0.2726156335683822,
+                  -0.3252497632623248
+                ],
+                "target_mouth_xy": [
+                  0.2709016916203713,
+                  -0.32588203038889774
+                ],
+                "gripper_position": [
+                  0.2726064431073051,
+                  -0.32524867681223313,
+                  1.0015463628186385
+                ],
+                "rod_tip_xy_dist": 0.0018268439234089375,
+                "target_xy_drift": 3.0463561982691113e-08,
+                "depth": 0.019595129251737786,
+                "bottom_clearance": 0.07984540028976839,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0006046175411231235,
+              "rod_tip_xy_max_step": 3.282930276707615e-05,
+              "rod_tip_xy_range": 0.000604607802438401,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2722284126541295,
+            -0.3265523317531179,
+            1.0433301417301792
+          ],
+          "object_origin_world": [
+            0.2722284126541295,
+            -0.3265523317531179,
+            1.0433301417301792
+          ],
+          "frame_world": [
+            0.27225402712083036,
+            -0.326550313341126,
+            1.0436442572412334
+          ],
+          "center_minus_frame": [
+            -2.5614466700851768e-05,
+            -2.018411991877578e-06,
+            -0.00031411551105420266
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2544830046835948,
+              0.16430491550756968,
+              0.8323210879076783
+            ],
+            "target_position": [
+              0.269331455691762,
+              0.2097883042071203,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04784574322691988,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16513543298670663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8323210879076783,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835670052639673,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13434005255897974,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 311,
+            "max_placed_release_frames": 311
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2922267141860371,
+              -0.07850335708784774,
+              1.046913099598615
+            ],
+            "current_z": 1.046913099598615,
+            "required_z": 0.856586274445512,
+            "initial_z": 0.7565862744455121,
+            "lift_margin": 0.19032682515310284,
+            "gripper_z": 1.0501296909289242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2878027032638727,
+              -0.0829166157200623,
+              1.0501296909289242
+            ],
+            "object_minus_gripper": [
+              0.004424010922164379,
+              0.004413258632214562,
+              -0.003216591330309271
+            ],
+            "object_to_gripper_xy": 0.0062488978543616845,
+            "object_to_gripper_z": -0.003216591330309271,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2922267141860371,
+              -0.1026103539841309,
+              1.046913099598615
+            ],
+            "finger_b": [
+              0.28127627634175734,
+              -0.07850335708784774,
+              1.046913099598615
+            ],
+            "finger_midpoint": [
+              0.2867514952638972,
+              -0.09055685553598933,
+              1.046913099598615
+            ],
+            "object_minus_finger_midpoint": [
+              0.005475218922139868,
+              0.012053498448141589,
+              0.0
+            ],
+            "finger_gap": 0.02647752609929485,
+            "fingertip_max_gap": 0.09295974931375864,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013238763049647431,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046913099598615,
+            "object_top_z": 1.0928130962225646,
+            "finger_top_clearance": 0.045899996623949724,
+            "fingertip_min_top_clearance": 0.01376999898718495,
+            "object_projection_between_fingers": 0.8289558759557225,
+            "object_to_finger_line_xy": 0.009970046677889,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897987465687932,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5531665761491262,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29213224931166193,
+              -0.08233237121774838,
+              1.2421917882095028
+            ],
+            "held_position": [
+              0.29682761055788465,
+              -0.07821917057273356,
+              1.2389674797295196
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0070257385343301965,
+            "max_held_gripper_dist": 0.007029248755098534,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003224308479983229,
+            "max_held_gripper_z_dist": 0.003224308479983229,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630682354889294,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29682761055788465,
+              -0.10332111385006902,
+              1.2389674797295196
+            ],
+            "held_grasp_finger_b": [
+              0.2880262922648261,
+              -0.07821917057273356,
+              1.2389674797295196
+            ],
+            "held_grasp_midpoint": [
+              0.2924269514113554,
+              -0.09077014221140128,
+              1.2389674797295196
+            ],
+            "held_grasp_object_position": [
+              0.29682761055788465,
+              -0.07821917057273356,
+              1.2389674797295196
+            ],
+            "held_grasp_finger_gap": 0.026600202254762905,
+            "held_grasp_max_gap": 0.1249658516049385,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02459498483856705,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05327989049876185,
+              -0.9984851705125222,
+              -0.013733809923673679
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037297540124640936,
+            "held_grasp_line_xy_max_dist": 0.04748292580246925,
+            "held_grasp_object_top_z": 0.04520067200064659,
+            "held_grasp_top_clearance": 0.03243424630646416,
+            "held_grasp_min_top_clearance": 0.013560201600193977
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.26974429089525176,
+              -0.07888260000753093,
+              0.7565868105103948
+            ],
+            "target_position": [
+              0.26840692282574524,
+              -0.08139218658938545,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0028436909405137236,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2152754527186141,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565868105103948,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075448240096636,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08927038214903286,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18678992793661148,
+            "release_required_pad_clearance": 0.054635191074516434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.3106260403038315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 199,
+            "max_placed_release_frames": 199
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa817121056c24afa6cf82e93cf046804f46306fdb1995d54ad3b4b6eb6b381e",
+    "visual_seed": 7576568847374099280,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1784e95336c5181659ef1dec47a2910ee4b458d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_44_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37287092473146677,
+              0.11341799656002563,
+              1.1653163164638696
+            ],
+            "current_z": 1.1653163164638696,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.3042096296351695,
+            "gripper_z": 1.1549713582571386,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3676901394516702,
+              0.10846589472636095,
+              1.1549713582571386
+            ],
+            "object_minus_gripper": [
+              0.005180785279796596,
+              0.004952101833664679,
+              0.010344958206730981
+            ],
+            "object_to_gripper_xy": 0.00716685765774249,
+            "object_to_gripper_z": 0.010344958206730981,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37287092473146677,
+              0.08908606438213014,
+              1.1653163164638696
+            ],
+            "finger_b": [
+              0.36195978485777347,
+              0.11341799656002563,
+              1.1653163164638696
+            ],
+            "finger_midpoint": [
+              0.3674153547946201,
+              0.10125203047107789,
+              1.1653163164638696
+            ],
+            "object_minus_finger_midpoint": [
+              0.005455569936846649,
+              0.012165966088947738,
+              0.0
+            ],
+            "finger_gap": 0.02666638139780135,
+            "fingertip_max_gap": 0.091613576925516,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013333190698900668,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1653163164638696,
+            "object_top_z": 1.215190021319596,
+            "finger_top_clearance": 0.04987370485572651,
+            "fingertip_min_top_clearance": 0.014962111456717952,
+            "object_projection_between_fingers": 0.8325781742375742,
+            "object_to_finger_line_xy": 0.009955948331712035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048306788462758,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.314542973700684,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 362,
+            "max_stable_success_frames": 362,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26488342868243986,
+              -0.3266781189237702,
+              0.8515395594037835
+            ],
+            "target_position": [
+              0.25819718129103425,
+              -0.32623989739498244,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006700592681798482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18348903731728006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395594037835,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567832963263016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08756010616713104,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15096235108973538,
+            "release_required_pad_clearance": 0.053780053083565524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5693222367207778,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006982922554016113,
+            "max_z_decrease": 0.006982922554016113,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035150450911280204,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006982922554016113,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02112109504886306,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.006982922554016113,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0069829431441053875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11389710754156113,
+              -0.38250136375427235,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11389710754156113,
+              -0.38250136375427235,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11583786424773324,
+              -0.38144166447493283,
+              0.807677684543945
+            ],
+            "closest_button": [
+              0.11388599872589111,
+              -0.3825001120567321,
+              0.7725974321365356
+            ],
+            "closest_ee_minus_button": [
+              0.0019518655218421221,
+              0.0010584475817992933,
+              0.03508025240740931
+            ],
+            "button_min_z_position": [
+              0.11388015002012253,
+              -0.38250133395194996,
+              0.7698259353637695
+            ],
+            "min_active_finger_to_button": 0.14405569427007348,
+            "closest_active_finger": [
+              -0.011015534400939941,
+              -0.44543492794036865,
+              0.8111088871955872
+            ],
+            "closest_active_finger_button": [
+              0.11389919370412827,
+              -0.3825015425682067,
+              0.7766452431678772
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1249147281050682,
+              -0.06293338537216198,
+              0.03446364402770996
+            ],
+            "min_contact_pad_to_button": 0.02112109504886306,
+            "closest_contact_pad": [
+              0.11388015002012253,
+              -0.38250133395194996,
+              0.7909470304126326
+            ],
+            "closest_contact_pad_button": [
+              0.11388015002012253,
+              -0.38250133395194996,
+              0.7698259353637695
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02112109504886306
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2709482058194008,
+              0.2001940259524196,
+              1.1027698753495287
+            ],
+            "current_z": 1.1027698753495287,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1928607456151662,
+            "gripper_z": 1.1027701366083276,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2709482503185756,
+              0.20019407101655995,
+              1.1027701366083276
+            ],
+            "object_minus_gripper": [
+              -4.4499174789436324e-08,
+              -4.5064140336004144e-08,
+              -2.6125879881711e-07
+            ],
+            "object_to_gripper_xy": 6.333208745307453e-08,
+            "object_to_gripper_z": -2.6125879881711e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2709482058194008,
+              0.2001940259524196,
+              1.1027698753495287
+            ],
+            "finger_b": [
+              0.2709482058194008,
+              0.2001940259524196,
+              1.1027698753495287
+            ],
+            "finger_midpoint": [
+              0.2709482058194008,
+              0.2001940259524196,
+              1.1027698753495287
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1027698753495287,
+            "object_top_z": 1.2277783819698085,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2709482058194009,
+            0.20019402595241964,
+            1.1027698753495287
+          ],
+          "object_origin_world": [
+            0.2709482058194009,
+            0.20019402595241964,
+            1.1027698753495287
+          ],
+          "frame_world": [
+            0.2709482503185756,
+            0.20019407101655995,
+            1.1027701366083276
+          ],
+          "center_minus_frame": [
+            -4.449917473392517e-08,
+            -4.506414030824857e-08,
+            -2.6125879881711e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.043768942527359,
+            "required_z": 0.91125984192637,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0017609568085555614,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.742107576684943e-08,
+            "max_target_xy_drift": 2.2764483267514815e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.569322236127919,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.569626870200779,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26473786772125685,
+              -0.3284376953116005,
+              0.9234511722245441
+            ],
+            "target_mouth_xy": [
+              0.2648835300805717,
+              -0.3266779696559796
+            ],
+            "rod_tip_z": 0.9234511722245441,
+            "rod_tip_depth": -0.022191285834939012,
+            "rod_tip_bottom_clearance": 0.12163187456388835,
+            "rod_tip_xy_dist": 0.001765744009184657,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04422818421280761,
+            "min_rod_tip_bottom_clearance": 0.055212384776658796,
+            "min_rod_tip_xy_dist": 0.0003867318882139439,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26488357749825836,
+              -0.3266779702229171
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -4.7417686666051395e-08,
+              5.66937496948583e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.0004063622057715599,
+                -8.440580339885706e-06
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0002943634278023133,
+                -0.00037650139312894737
+              ],
+              "first_target_mouth_xy": [
+                0.2648834558145423,
+                -0.3266779385551407
+              ],
+              "last_target_mouth_xy": [
+                0.26488350061481947,
+                -0.326677880195992
+              ],
+              "first_rod_tip_xy": [
+                0.2652898180203139,
+                -0.3266863791354806
+              ],
+              "last_rod_tip_xy": [
+                0.2651778640426218,
+                -0.3270543815891209
+              ],
+              "min_rod_tip_xy_dist": 0.0003867318882139439,
+              "max_rod_tip_xy_dist": 0.000494154286653743,
+              "first_target_xy_drift": 1.257369270079418e-07,
+              "last_target_xy_drift": 1.1838881039035038e-07,
+              "max_depth": 0.019497586693677404,
+              "min_bottom_clearance": 0.07994298765695296
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.0004063622057715599,
+                  -8.440580339885706e-06
+                ],
+                "rod_tip_xy": [
+                  0.2652898180203139,
+                  -0.3266863791354806
+                ],
+                "target_mouth_xy": [
+                  0.2648834558145423,
+                  -0.3266779385551407
+                ],
+                "gripper_position": [
+                  0.2652783475568564,
+                  -0.32669235786001455,
+                  1.005883025910554
+                ],
+                "rod_tip_xy_dist": 0.00040644985628734287,
+                "target_xy_drift": 1.257369270079418e-07,
+                "depth": 0.015245051813731703,
+                "bottom_clearance": 0.08419551572964834,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0003948262939178493,
+                  -1.4415930885469663e-05
+                ],
+                "rod_tip_xy": [
+                  0.2652783475568563,
+                  -0.3266923578600146
+                ],
+                "target_mouth_xy": [
+                  0.26488352126293846,
+                  -0.32667794192912913
+                ],
+                "gripper_position": [
+                  0.2652699605592036,
+                  -0.32669159130076264,
+                  1.005767460003645
+                ],
+                "rod_tip_xy_dist": 0.0003950893841046587,
+                "target_xy_drift": 6.295196297614032e-08,
+                "depth": 0.015376931502291913,
+                "bottom_clearance": 0.08406381490349613,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.00038648989172657133,
+                  -1.3679069950311984e-05
+                ],
+                "rod_tip_xy": [
+                  0.26526996055920343,
+                  -0.32669159130076264
+                ],
+                "target_mouth_xy": [
+                  0.26488347066747686,
+                  -0.32667791223081233
+                ],
+                "gripper_position": [
+                  0.265274095331267,
+                  -0.3267574535145194,
+                  1.0052546596505216
+                ],
+                "rod_tip_xy_dist": 0.0003867318882139439,
+                "target_xy_drift": 1.215561602431124e-07,
+                "depth": 0.01549246255772807,
+                "bottom_clearance": 0.08394820062495467,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.00039062208596279957,
+                  -7.95746412379783e-05
+                ],
+                "rod_tip_xy": [
+                  0.26527409533126683,
+                  -0.32675745351451935
+                ],
+                "target_mouth_xy": [
+                  0.26488347324530404,
+                  -0.32667787887328137
+                ],
+                "gripper_position": [
+                  0.2652624582568574,
+                  -0.3267634575664062,
+                  1.0051230017415496
+                ],
+                "rod_tip_xy_dist": 0.00039864487651302094,
+                "target_xy_drift": 1.38612533474262e-07,
+                "depth": 0.016005165604510263,
+                "bottom_clearance": 0.08343536458108847,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.00037894060562138066,
+                  -8.554824319273457e-05
+                ],
+                "rod_tip_xy": [
+                  0.26526245825685724,
+                  -0.3267634575664061
+                ],
+                "target_mouth_xy": [
+                  0.26488351765123586,
+                  -0.3266779093232134
+                ],
+                "gripper_position": [
+                  0.2652666114142548,
+                  -0.3268298436190641,
+                  1.0046140962561716
+                ],
+                "rod_tip_xy_dist": 0.0003884771351084411,
+                "target_xy_drift": 8.538407355213053e-08,
+                "depth": 0.016136875025255515,
+                "bottom_clearance": 0.08330363162279664,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0003830937681243429,
+                  -0.00015196252603810745
+                ],
+                "rod_tip_xy": [
+                  0.2652666114142546,
+                  -0.3268298436190641
+                ],
+                "target_mouth_xy": [
+                  0.2648835176461303,
+                  -0.326677881093026
+                ],
+                "gripper_position": [
+                  0.2652549201319262,
+                  -0.32683543286505806,
+                  1.0044821735424998
+                ],
+                "rod_tip_xy_dist": 0.0004121327995872087,
+                "target_xy_drift": 1.0736114162096103e-07,
+                "depth": 0.016645748344692013,
+                "bottom_clearance": 0.08279481147788026,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0003713873144318147,
+                  -0.00015752228382637234
+                ],
+                "rod_tip_xy": [
+                  0.26525492013192603,
+                  -0.3268354328650581
+                ],
+                "target_mouth_xy": [
+                  0.2648835328174942,
+                  -0.32667791058123175
+                ],
+                "gripper_position": [
+                  0.2652463105958932,
+                  -0.3268347745349295,
+                  1.0043671251720316
+                ],
+                "rod_tip_xy_dist": 0.0004034127008694097,
+                "target_xy_drift": 7.452181773186153e-08,
+                "depth": 0.01677772754012119,
+                "bottom_clearance": 0.08266283243601846,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0003627948111982193,
+                  -0.00015686517205659722
+                ],
+                "rod_tip_xy": [
+                  0.2652463105958931,
+                  -0.3268347745349296
+                ],
+                "target_mouth_xy": [
+                  0.2648835157846949,
+                  -0.326677909362873
+                ],
+                "gripper_position": [
+                  0.2652515875338967,
+                  -0.3269020517618361,
+                  1.0038591754902022
+                ],
+                "rod_tip_xy_dist": 0.0003952553063991645,
+                "target_xy_drift": 8.667473038518702e-08,
+                "depth": 0.016892789640726935,
+                "bottom_clearance": 0.08254775104495593,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.00036808598048887475,
+                  -0.0002241722173972338
+                ],
+                "rod_tip_xy": [
+                  0.26525158753389655,
+                  -0.32690205176183607
+                ],
+                "target_mouth_xy": [
+                  0.2648835015534077,
+                  -0.32667787954443883
+                ],
+                "gripper_position": [
+                  0.26523972216123437,
+                  -0.32690792624620635,
+                  1.003727903755836
+                ],
+                "rod_tip_xy_dist": 0.0004309761850557974,
+                "target_xy_drift": 1.1828020446887163e-07,
+                "depth": 0.017400659533046148,
+                "bottom_clearance": 0.08203985587741192,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0003561123405440014,
+                  -0.00023004773495416408
+                ],
+                "rod_tip_xy": [
+                  0.2652397221612342,
+                  -0.32690792624620635
+                ],
+                "target_mouth_xy": [
+                  0.2648836098206902,
+                  -0.3266778785112522
+                ],
+                "gripper_position": [
+                  0.26523117020666076,
+                  -0.3269068695013345,
+                  1.0036127322460242
+                ],
+                "rod_tip_xy_dist": 0.00042395513848197215,
+                "target_xy_drift": 9.724077891629964e-08,
+                "depth": 0.017532005361822534,
+                "bottom_clearance": 0.08190862918974584,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.00034766817427267505,
+                  -0.00022898808487659128
+                ],
+                "rod_tip_xy": [
+                  0.26523117020666065,
+                  -0.3269068695013345
+                ],
+                "target_mouth_xy": [
+                  0.264883502032388,
+                  -0.3266778814164579
+                ],
+                "gripper_position": [
+                  0.2652225060781679,
+                  -0.32690592854729106,
+                  1.0034972346602824
+                ],
+                "rod_tip_xy_dist": 0.00041630361806924534,
+                "target_xy_drift": 1.165404856106142e-07,
+                "depth": 0.01764712451908179,
+                "bottom_clearance": 0.08179344326566007,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0003390326860069348,
+                  -0.0002280170238772028
+                ],
+                "rod_tip_xy": [
+                  0.2652225060781677,
+                  -0.32690592854729106
+                ],
+                "target_mouth_xy": [
+                  0.2648834733921608,
+                  -0.32667791152341386
+                ],
+                "gripper_position": [
+                  0.2652290499430934,
+                  -0.32697566143853385,
+                  1.0029888880844409
+                ],
+                "rod_tip_xy_dist": 0.0004085767068236927,
+                "target_xy_drift": 1.1951448127837276e-07,
+                "depth": 0.017762624857922904,
+                "bottom_clearance": 0.08167797428317491,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.00034554514237550293,
+                  -0.00029775090375228075
+                ],
+                "rod_tip_xy": [
+                  0.26522904994309326,
+                  -0.32697566143853385
+                ],
+                "target_mouth_xy": [
+                  0.26488350480071776,
+                  -0.32667791053478157
+                ],
+                "gripper_position": [
+                  0.2652169977297799,
+                  -0.3269814259471607,
+                  1.002857660312768
+                ],
+                "rod_tip_xy_dist": 0.0004561327066815167,
+                "target_xy_drift": 9.406171343289959e-08,
+                "depth": 0.0182710874346107,
+                "bottom_clearance": 0.08116954244356223,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.00033352712243722715,
+                  -0.00030354575992286303
+                ],
+                "rod_tip_xy": [
+                  0.26521699772977975,
+                  -0.32698142594716073
+                ],
+                "target_mouth_xy": [
+                  0.2648834706073425,
+                  -0.32667788018723787
+                ],
+                "gripper_position": [
+                  0.2652084653522419,
+                  -0.32698006543211033,
+                  1.0027426349487554
+                ],
+                "rod_tip_xy_dist": 0.0004509771277663708,
+                "target_xy_drift": 1.3975725894022146e-07,
+                "depth": 0.018402220991497464,
+                "bottom_clearance": 0.0810383605871946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0003249627651699116,
+                  -0.00030218242771262727
+                ],
+                "rod_tip_xy": [
+                  0.2652084653522418,
+                  -0.32698006543211033
+                ],
+                "target_mouth_xy": [
+                  0.2648835025870719,
+                  -0.3266778830043977
+                ],
+                "gripper_position": [
+                  0.2651996418793792,
+                  -0.3269790549276618,
+                  1.0026278001588769
+                ],
+                "rod_tip_xy_dist": 0.0004437510770298731,
+                "target_xy_drift": 1.1497284891126544e-07,
+                "depth": 0.018517241674756102,
+                "bottom_clearance": 0.08092337670835814,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0003161392200076163,
+                  -0.000301142438641655
+                ],
+                "rod_tip_xy": [
+                  0.26519964187937906,
+                  -0.3269790549276619
+                ],
+                "target_mouth_xy": [
+                  0.26488350265937144,
+                  -0.32667791248902023
+                ],
+                "gripper_position": [
+                  0.26520769216211737,
+                  -0.327050873050638,
+                  1.002122935847131
+                ],
+                "rod_tip_xy_dist": 0.00043661284312084426,
+                "target_xy_drift": 9.452016634108894e-08,
+                "depth": 0.018632071546165863,
+                "bottom_clearance": 0.08080853894831264,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0003242055648697839,
+                  -0.00037293325237330865
+                ],
+                "rod_tip_xy": [
+                  0.2652076921621172,
+                  -0.32705087305063796
+                ],
+                "target_mouth_xy": [
+                  0.2648834865972474,
+                  -0.32667793979826465
+                ],
+                "gripper_position": [
+                  0.2651957151227048,
+                  -0.32705649502217504,
+                  1.0019919996141082
+                ],
+                "rod_tip_xy_dist": 0.000494154286653743,
+                "target_xy_drift": 9.585746328583023e-08,
+                "depth": 0.01913691327703826,
+                "bottom_clearance": 0.08030362844156902,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.00031221155360317,
+                  -0.00037855337007552947
+                ],
+                "rod_tip_xy": [
+                  0.2651957151227047,
+                  -0.32705649502217504
+                ],
+                "target_mouth_xy": [
+                  0.2648835035691015,
+                  -0.3266779416520995
+                ],
+                "gripper_position": [
+                  0.2651868211682908,
+                  -0.327055411798516,
+                  1.001876832340313
+                ],
+                "rod_tip_xy_dist": 0.0004906920706500624,
+                "target_xy_drift": 7.925788195001136e-08,
+                "depth": 0.0192678688909248,
+                "bottom_clearance": 0.08017275632658205,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0003033040512974705,
+                  -0.0003774999215377939
+                ],
+                "rod_tip_xy": [
+                  0.2651868211682907,
+                  -0.32705541179851605
+                ],
+                "target_mouth_xy": [
+                  0.2648835171169932,
+                  -0.32667791187697826
+                ],
+                "gripper_position": [
+                  0.2651778640426219,
+                  -0.3270543815891208,
+                  1.00176228869207
+                ],
+                "rod_tip_xy_dist": 0.000484251523791613,
+                "target_xy_drift": 8.39651461196499e-08,
+                "depth": 0.019383091225730786,
+                "bottom_clearance": 0.08005749441594856,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0002943634278023133,
+                  -0.00037650139312894737
+                ],
+                "rod_tip_xy": [
+                  0.2651778640426218,
+                  -0.3270543815891209
+                ],
+                "target_mouth_xy": [
+                  0.26488350061481947,
+                  -0.326677880195992
+                ],
+                "gripper_position": [
+                  0.26516913665600933,
+                  -0.32705317004786544,
+                  1.0016472711654476
+                ],
+                "rod_tip_xy_dist": 0.0004779153969643224,
+                "target_xy_drift": 1.1838881039035038e-07,
+                "depth": 0.019497586693677404,
+                "bottom_clearance": 0.07994298765695296,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.000593339527473359,
+              "rod_tip_xy_max_step": 3.221683892971005e-05,
+              "rod_tip_xy_range": 0.0005933334761318702,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2647378677212569,
+            -0.3284376953116005,
+            1.043451172224544
+          ],
+          "object_origin_world": [
+            0.2647378677212569,
+            -0.3284376953116005,
+            1.043451172224544
+          ],
+          "frame_world": [
+            0.2647635882712195,
+            -0.3284348369941607,
+            1.043768942527359
+          ],
+          "center_minus_frame": [
+            -2.572054996258233e-05,
+            -2.858317439791147e-06,
+            -0.0003177703028149903
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2572576026273629,
+              0.1538197842369521,
+              0.8327665221724007
+            ],
+            "target_position": [
+              0.27110290424507,
+              0.20040197674902283,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04859622450475859,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16871153419052182,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8327665221724007,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675273915996,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13747598832305988,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2931391346211882,
+              -0.07847927543928564,
+              1.048011232288612
+            ],
+            "current_z": 1.048011232288612,
+            "required_z": 0.8565862046925611,
+            "initial_z": 0.7565862046925611,
+            "lift_margin": 0.19142502759605085,
+            "gripper_z": 1.0511860502733426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2884099494869763,
+              -0.08304008046878052,
+              1.0511860502733426
+            ],
+            "object_minus_gripper": [
+              0.0047291851342118885,
+              0.00456080502949488,
+              -0.003174817984730627
+            ],
+            "object_to_gripper_xy": 0.006570093952959616,
+            "object_to_gripper_z": -0.003174817984730627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2931391346211882,
+              -0.10284877356573091,
+              1.048011232288612
+            ],
+            "finger_b": [
+              0.2820301890297343,
+              -0.07847927543928564,
+              1.048011232288612
+            ],
+            "finger_midpoint": [
+              0.2875846618254613,
+              -0.09066402450250827,
+              1.048011232288612
+            ],
+            "object_minus_finger_midpoint": [
+              0.005554472795726906,
+              0.01218474906322263,
+              0.0
+            ],
+            "finger_gap": 0.026782104306583194,
+            "fingertip_max_gap": 0.09158376650176789,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01339105215329158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048011232288612,
+            "object_top_z": 1.0937959747714632,
+            "finger_top_clearance": 0.04578474248285125,
+            "fingertip_min_top_clearance": 0.013735422744855374,
+            "object_projection_between_fingers": 0.8279493628842807,
+            "object_to_finger_line_xy": 0.010108220985128957,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048291883250883946,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8981000985029042,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29275732715871694,
+              -0.08244555086096965,
+              1.2432305065575908
+            ],
+            "held_position": [
+              0.2977505114743954,
+              -0.07818437677096503,
+              1.2400461276180186
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007295873043471589,
+            "max_held_gripper_dist": 0.007298191254122347,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003184378939572241,
+            "max_held_gripper_z_dist": 0.0031845949261828377,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08682933369405926,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2977505114743954,
+              -0.10344558712455279,
+              1.2400461276180186
+            ],
+            "held_grasp_finger_b": [
+              0.28866042940307635,
+              -0.07818437677096503,
+              1.2400461276180186
+            ],
+            "held_grasp_midpoint": [
+              0.2932054704387359,
+              -0.09081498194775892,
+              1.2400461276180186
+            ],
+            "held_grasp_object_position": [
+              0.2977505114743954,
+              -0.07818437677096503,
+              1.2400461276180186
+            ],
+            "held_grasp_finger_gap": 0.026846942853731518,
+            "held_grasp_max_gap": 0.12496594846248626,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02463875773366197,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06201481783363602,
+              -0.9976749793316296,
+              -0.028263014430407685
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00377032549090817,
+            "held_grasp_line_xy_max_dist": 0.04748297423124313,
+            "held_grasp_object_top_z": 0.04520072788000107,
+            "held_grasp_top_clearance": 0.03231762922942443,
+            "held_grasp_min_top_clearance": 0.01356021836400032
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25515200328335,
+              -0.08281238692948766,
+              0.7565890130217232
+            ],
+            "target_position": [
+              0.2690035686072845,
+              -0.08177326548764678,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.0138904872230645,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20528798731153752,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565890130217232,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07594251835148574,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09329613029921542,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17675754720930084,
+            "release_required_pad_clearance": 0.05664806514960771,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.701733332017364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2607967cbc9673b7e2914dc6bf243a62d2f99d8cc6c99c0afaf1d3d8aaf155c8",
+    "visual_seed": 4730500442948158542,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d461303c74475833e97115404519c1ece4af95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_45_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3760119552030178,
+              0.11201794885829751,
+              1.165603575673368
+            ],
+            "current_z": 1.165603575673368,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.30449682924002297,
+            "gripper_z": 1.1552577207643016,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3706924646652664,
+              0.1068983568357282,
+              1.1552577207643016
+            ],
+            "object_minus_gripper": [
+              0.005319490537751381,
+              0.005119592022569314,
+              0.010345854909066476
+            ],
+            "object_to_gripper_xy": 0.007382899298973394,
+            "object_to_gripper_z": 0.010345854909066476,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3760119552030178,
+              0.0877232628497899,
+              1.165603575673368
+            ],
+            "finger_b": [
+              0.36466597853337496,
+              0.11201794885829751,
+              1.165603575673368
+            ],
+            "finger_midpoint": [
+              0.37033896686819634,
+              0.0998706058540437,
+              1.165603575673368
+            ],
+            "object_minus_finger_midpoint": [
+              0.005672988334821438,
+              0.01214734300425381,
+              0.0
+            ],
+            "finger_gap": 0.026813484571014908,
+            "fingertip_max_gap": 0.09145437109810808,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013406742285507471,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.165603575673368,
+            "object_top_z": 1.215495720847032,
+            "finger_top_clearance": 0.049892145173664026,
+            "fingertip_min_top_clearance": 0.014967643552099175,
+            "object_projection_between_fingers": 0.8209487905858547,
+            "object_to_finger_line_xy": 0.010280161085321846,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048227185549054044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2845078097009492,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 373,
+            "max_stable_success_frames": 373,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.26379781053167023,
+              -0.32928990741859454,
+              0.8515395468842628
+            ],
+            "target_position": [
+              0.2562445754909012,
+              -0.32948560191716214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007555769710484234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18502761302750004,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395468842628,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563238650569906,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08694100170738574,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15244420580022947,
+            "release_required_pad_clearance": 0.05347050085369287,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9539742625117695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006996870040893555,
+            "max_z_decrease": 0.006996870040893555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514047208418105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006996870040893555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02121451277166465,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.006996870040893555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006996889205811562,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11194450408220293,
+              -0.3857470750808715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11194450408220293,
+              -0.3857470750808715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1136293885008097,
+              -0.3865615529827095,
+              0.8076808466456499
+            ],
+            "closest_button": [
+              0.11193308234214785,
+              -0.385746031999588,
+              0.7725908160209656
+            ],
+            "closest_ee_minus_button": [
+              0.0016963061586618422,
+              -0.0008155209831214871,
+              0.0350900306246843
+            ],
+            "button_min_z_position": [
+              0.1119281277060509,
+              -0.38574701547622675,
+              0.7698119878768921
+            ],
+            "min_active_finger_to_button": 0.14446430974567723,
+            "closest_active_finger": [
+              -0.02727249264717102,
+              -0.36841675639152527,
+              0.8111006617546082
+            ],
+            "closest_active_finger_button": [
+              0.11194609850645067,
+              -0.38574686646461487,
+              0.7766363620758057
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13921859115362167,
+              0.0173301100730896,
+              0.03446429967880249
+            ],
+            "min_contact_pad_to_button": 0.02121451277166465,
+            "closest_contact_pad": [
+              0.1119281277060509,
+              -0.3878427627144033,
+              0.7909227291157211
+            ],
+            "closest_contact_pad_button": [
+              0.1119281277060509,
+              -0.38574701547622675,
+              0.7698119878768921
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020957472381765707,
+              0.021110741238829056
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2727595545089797,
+              0.2110332350839784,
+              1.1020401951608547
+            ],
+            "current_z": 1.1020401951608547,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19213106542649216,
+            "gripper_z": 1.1020404504864811,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27275955223223824,
+              0.21103328704276608,
+              1.1020404504864811
+            ],
+            "object_minus_gripper": [
+              2.276741462026166e-09,
+              -5.195878768904372e-08,
+              -2.5532562641927825e-07
+            ],
+            "object_to_gripper_xy": 5.200864514482213e-08,
+            "object_to_gripper_z": -2.5532562641927825e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2727595545089797,
+              0.2110332350839784,
+              1.1020401951608547
+            ],
+            "finger_b": [
+              0.2727595545089797,
+              0.2110332350839784,
+              1.1020401951608547
+            ],
+            "finger_midpoint": [
+              0.2727595545089797,
+              0.2110332350839784,
+              1.1020401951608547
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1020401951608547,
+            "object_top_z": 1.2270487017811345,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2727595545089797,
+            0.21103323508397842,
+            1.102040195160855
+          ],
+          "object_origin_world": [
+            0.2727595545089797,
+            0.21103323508397842,
+            1.102040195160855
+          ],
+          "frame_world": [
+            0.27275955223223824,
+            0.21103328704276608,
+            1.1020404504864811
+          ],
+          "center_minus_frame": [
+            2.276741462026166e-09,
+            -5.195878766128814e-08,
+            -2.5532562619723365e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1673,
+            "required_success_frames": 20,
+            "gripper_z": 1.0434527653540324,
+            "required_z": 0.9112598428478753,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002240060952087709,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 3.13776023045106e-08,
+            "max_target_xy_drift": 9.914620308005114e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.9539742650945204,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.9543748025772627,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.261736015886195,
+              -0.33015976067012087,
+              0.923555828915995
+            ],
+            "target_mouth_xy": [
+              0.2637978131570021,
+              -0.32928991021604015
+            ],
+            "rod_tip_z": 0.923555828915995,
+            "rod_tip_depth": -0.02229596937130418,
+            "rod_tip_bottom_clearance": 0.12173653245219584,
+            "rod_tip_xy_dist": 0.0022377774237783733,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044492589550226946,
+            "min_rod_tip_bottom_clearance": 0.05494793428418154,
+            "min_rod_tip_xy_dist": 0.0013624124994622597,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.26379781293460525,
+              -0.329289878839226
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.2239687869074487e-10,
+              -3.137681414688842e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                -0.0014336254656072689,
+                0.000837272062904848
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0015467496516760604,
+                0.00041773488808249937
+              ],
+              "first_target_mouth_xy": [
+                0.26379776612228256,
+                -0.3292899089779181
+              ],
+              "last_target_mouth_xy": [
+                0.2637978427216474,
+                -0.32928987720857705
+              ],
+              "first_rod_tip_xy": [
+                0.2623641406566753,
+                -0.32845263691501325
+              ],
+              "last_rod_tip_xy": [
+                0.26225109306997135,
+                -0.32887214232049455
+              ],
+              "min_rod_tip_xy_dist": 0.001591739141567624,
+              "max_rod_tip_xy_dist": 0.0016677675271511076,
+              "first_target_xy_drift": 5.567525766896231e-08,
+              "last_target_xy_drift": 2.9831642546200756e-08,
+              "max_depth": 0.01967307538464569,
+              "min_bottom_clearance": 0.07976750719064096
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  -0.0014336254656072689,
+                  0.000837272062904848
+                ],
+                "rod_tip_xy": [
+                  0.2623641406566753,
+                  -0.32845263691501325
+                ],
+                "target_mouth_xy": [
+                  0.26379776612228256,
+                  -0.3292899089779181
+                ],
+                "gripper_position": [
+                  0.2623558883058258,
+                  -0.3284518694706623,
+                  1.0060869922002462
+                ],
+                "rod_tip_xy_dist": 0.0016602127824344077,
+                "target_xy_drift": 5.567525766896231e-08,
+                "depth": 0.015058374392493357,
+                "bottom_clearance": 0.08438222965119457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.001441959031522999,
+                  0.0008379753433299664
+                ],
+                "rod_tip_xy": [
+                  0.2623558883058259,
+                  -0.3284518694706624
+                ],
+                "target_mouth_xy": [
+                  0.2637978473373489,
+                  -0.32928984481399237
+                ],
+                "gripper_position": [
+                  0.26235640035743657,
+                  -0.3285156467489327,
+                  1.0055737147619146
+                ],
+                "rod_tip_xy_dist": 0.0016677675271511076,
+                "target_xy_drift": 4.8386623094921044e-08,
+                "depth": 0.015172924300809854,
+                "bottom_clearance": 0.08426785573523188,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.001441394476791702,
+                  0.0007742609852642302
+                ],
+                "rod_tip_xy": [
+                  0.26235640035743674,
+                  -0.32851564674893274
+                ],
+                "target_mouth_xy": [
+                  0.26379779483422844,
+                  -0.329289907734197
+                ],
+                "gripper_position": [
+                  0.2623449150391764,
+                  -0.32852148749697885,
+                  1.005442855348731
+                ],
+                "rod_tip_xy_dist": 0.0016361840089146333,
+                "target_xy_drift": 3.409608464401229e-08,
+                "depth": 0.01568618323686055,
+                "bottom_clearance": 0.08375450081883817,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0014528823246175437,
+                  0.0007684192464334494
+                ],
+                "rod_tip_xy": [
+                  0.2623449150391765,
+                  -0.32852148749697885
+                ],
+                "target_mouth_xy": [
+                  0.26379779736379405,
+                  -0.3292899067434123
+                ],
+                "gripper_position": [
+                  0.26234554110963376,
+                  -0.32858533040177207,
+                  1.004932856737248
+                ],
+                "rod_tip_xy_dist": 0.001643573906910008,
+                "target_xy_drift": 3.195455795474981e-08,
+                "depth": 0.01581704023570063,
+                "bottom_clearance": 0.08362357750492688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0014523013030736664,
+                  0.0007045757050813117
+                ],
+                "rod_tip_xy": [
+                  0.2623455411096339,
+                  -0.32858533040177196
+                ],
+                "target_mouth_xy": [
+                  0.26379784241270754,
+                  -0.32928990610685327
+                ],
+                "gripper_position": [
+                  0.26233395694964695,
+                  -0.32859115821195506,
+                  1.0048023459075495
+                ],
+                "rod_tip_xy_dist": 0.0016141889601593417,
+                "target_xy_drift": 4.015572202751156e-08,
+                "depth": 0.016326979204062453,
+                "bottom_clearance": 0.08311364672724408,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0014638559687343289,
+                  0.0006987494782582093
+                ],
+                "rod_tip_xy": [
+                  0.26233395694964706,
+                  -0.32859115821195517
+                ],
+                "target_mouth_xy": [
+                  0.2637978129183814,
+                  -0.3292899076902134
+                ],
+                "gripper_position": [
+                  0.26232548869724426,
+                  -0.3285902915986159,
+                  1.0046879038810053
+                ],
+                "rod_tip_xy_dist": 0.0016220743295438838,
+                "target_xy_drift": 2.8850991938529604e-08,
+                "depth": 0.016457453832681712,
+                "bottom_clearance": 0.08298310541566989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0014723224616861041,
+                  0.0006996154899120421
+                ],
+                "rod_tip_xy": [
+                  0.26232548869724437,
+                  -0.32859029159861597
+                ],
+                "target_mouth_xy": [
+                  0.2637978111589305,
+                  -0.329289907088528
+                ],
+                "gripper_position": [
+                  0.262326983843848,
+                  -0.3286552835747519,
+                  1.0041782914273847
+                ],
+                "rod_tip_xy_dist": 0.001630090569542164,
+                "target_xy_drift": 2.8305054051938073e-08,
+                "depth": 0.016571960694566124,
+                "bottom_clearance": 0.08286868906650147,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0014708143476085955,
+                  0.0006346228332368975
+                ],
+                "rod_tip_xy": [
+                  0.2623269838438481,
+                  -0.32865528357475193
+                ],
+                "target_mouth_xy": [
+                  0.2637977981914567,
+                  -0.32928990640798883
+                ],
+                "gripper_position": [
+                  0.26231533005658514,
+                  -0.32866102271431036,
+                  1.0040474546876716
+                ],
+                "rod_tip_xy_dist": 0.0016018866956176788,
+                "target_xy_drift": 3.126335094980503e-08,
+                "depth": 0.017081524453542385,
+                "bottom_clearance": 0.08235907198486025,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0014824666287477917,
+                  0.0006288856438585455
+                ],
+                "rod_tip_xy": [
+                  0.2623153300565853,
+                  -0.3286610227143104
+                ],
+                "target_mouth_xy": [
+                  0.2637977966853331,
+                  -0.32928990835816896
+                ],
+                "gripper_position": [
+                  0.26230670631024205,
+                  -0.32866040471458674,
+                  1.003933566337187
+                ],
+                "rod_tip_xy_dist": 0.001610342962974726,
+                "target_xy_drift": 3.3695798531643155e-08,
+                "depth": 0.017212434849525393,
+                "bottom_clearance": 0.08222815427815455,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0014911359307365757,
+                  0.0006295010723283978
+                ],
+                "rod_tip_xy": [
+                  0.26230670631024217,
+                  -0.3286604047145868
+                ],
+                "target_mouth_xy": [
+                  0.26379784224097874,
+                  -0.3292899057869152
+                ],
+                "gripper_position": [
+                  0.26230899233272154,
+                  -0.32872683990794077,
+                  1.0034257368288686
+                ],
+                "rod_tip_xy_dist": 0.0016185666387258314,
+                "target_xy_drift": 3.981257942098837e-08,
+                "depth": 0.01732628032507222,
+                "bottom_clearance": 0.08211436342684064,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0014888202264418116,
+                  0.0005630700028737001
+                ],
+                "rod_tip_xy": [
+                  0.2623089923327217,
+                  -0.3287268399079408
+                ],
+                "target_mouth_xy": [
+                  0.2637978125591635,
+                  -0.3292899099108145
+                ],
+                "gripper_position": [
+                  0.26229729791187384,
+                  -0.32873210124255575,
+                  1.0032956783134337
+                ],
+                "rod_tip_xy_dist": 0.001591739141567624,
+                "target_xy_drift": 3.107385669530894e-08,
+                "depth": 0.017834134811499536,
+                "bottom_clearance": 0.08160643923274946,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0015005308182280963,
+                  0.0005577772370204404
+                ],
+                "rod_tip_xy": [
+                  0.26229729791187395,
+                  -0.3287321012425558
+                ],
+                "target_mouth_xy": [
+                  0.26379782873010205,
+                  -0.32928987847957625
+                ],
+                "gripper_position": [
+                  0.2622887514514023,
+                  -0.32873110723474575,
+                  1.003181422938501
+                ],
+                "rod_tip_xy_dist": 0.0016008460833541857,
+                "target_xy_drift": 1.579959072527972e-08,
+                "depth": 0.017964083164563438,
+                "bottom_clearance": 0.08147641960934304,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0015090456340555725,
+                  0.0005587405283911107
+                ],
+                "rod_tip_xy": [
+                  0.26228875145140246,
+                  -0.32873110723474586
+                ],
+                "target_mouth_xy": [
+                  0.26379779708545803,
+                  -0.32928984776313697
+                ],
+                "gripper_position": [
+                  0.2622800622499297,
+                  -0.32873006864253274,
+                  1.003067500832008
+                ],
+                "rod_tip_xy_dist": 0.0016091642873643953,
+                "target_xy_drift": 3.488436293295936e-08,
+                "depth": 0.01807847080420666,
+                "bottom_clearance": 0.081362136505576,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001517780291674098,
+                  0.0005598092172616198
+                ],
+                "rod_tip_xy": [
+                  0.26228006224992984,
+                  -0.32873006864253274
+                ],
+                "target_mouth_xy": [
+                  0.26379784254160393,
+                  -0.32928987785979436
+                ],
+                "gripper_position": [
+                  0.2622837537476707,
+                  -0.3287985289784813,
+                  1.0025613174329746
+                ],
+                "rod_tip_xy_dist": 0.0016177278428479178,
+                "target_xy_drift": 2.9623194587113756e-08,
+                "depth": 0.018192304950250593,
+                "bottom_clearance": 0.08124826237066274,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.001514058102165261,
+                  0.0004913476319453602
+                ],
+                "rod_tip_xy": [
+                  0.2622837537476709,
+                  -0.3287985289784813
+                ],
+                "target_mouth_xy": [
+                  0.26379781184983614,
+                  -0.32928987661042664
+                ],
+                "gripper_position": [
+                  0.26227183859598924,
+                  -0.3288039569514492,
+                  1.002431332599798
+                ],
+                "rod_tip_xy_dist": 0.001591789694699204,
+                "target_xy_drift": 2.478763933297647e-09,
+                "depth": 0.01869859662186102,
+                "bottom_clearance": 0.08074204896574366,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001526004660097502,
+                  0.00048592088785337495
+                ],
+                "rod_tip_xy": [
+                  0.26227183859598935,
+                  -0.32880395695144926
+                ],
+                "target_mouth_xy": [
+                  0.26379784325608685,
+                  -0.32928987783930264
+                ],
+                "gripper_position": [
+                  0.26226320180336543,
+                  -0.3288028827717494,
+                  1.0023173126014278
+                ],
+                "rod_tip_xy_dist": 0.0016015022110167393,
+                "target_xy_drift": 3.033796455529863e-08,
+                "depth": 0.018828451308412042,
+                "bottom_clearance": 0.08061208836933353,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.001534610165904171,
+                  0.0004869643443733418
+                ],
+                "rod_tip_xy": [
+                  0.2622632018033656,
+                  -0.3288028827717495
+                ],
+                "target_mouth_xy": [
+                  0.26379781196926977,
+                  -0.32928984711612286
+                ],
+                "gripper_position": [
+                  0.2622543520119985,
+                  -0.32880174112102983,
+                  1.0022033034978253
+                ],
+                "rod_tip_xy_dist": 0.0016100194514313752,
+                "target_xy_drift": 3.173778734716015e-08,
+                "depth": 0.018942592559586857,
+                "bottom_clearance": 0.08049803769320174,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0015434910535307989,
+                  0.00048813704258932056
+                ],
+                "rod_tip_xy": [
+                  0.26225435201199865,
+                  -0.3288017411210298
+                ],
+                "target_mouth_xy": [
+                  0.26379784306552945,
+                  -0.3292898781636191
+                ],
+                "gripper_position": [
+                  0.2622457220126386,
+                  -0.3288009042804488,
+                  1.0020894419421953
+                ],
+                "rod_tip_xy_dist": 0.0016188398329289601,
+                "target_xy_drift": 3.013849760425898e-08,
+                "depth": 0.019056480883805627,
+                "bottom_clearance": 0.08038405520051906,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0015520735032188981,
+                  0.0004889425501191091
+                ],
+                "rod_tip_xy": [
+                  0.26224572201263874,
+                  -0.3288009042804487
+                ],
+                "target_mouth_xy": [
+                  0.26379779551585764,
+                  -0.32928984683056783
+                ],
+                "gripper_position": [
+                  0.2622510930699712,
+                  -0.3288721423204945,
+                  1.0015867357474815
+                ],
+                "rod_tip_xy_dist": 0.001627266719597977,
+                "target_xy_drift": 3.6441281070762207e-08,
+                "depth": 0.01917051629932187,
+                "bottom_clearance": 0.08027018537962904,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0015467496516760604,
+                  0.00041773488808249937
+                ],
+                "rod_tip_xy": [
+                  0.26225109306997135,
+                  -0.32887214232049455
+                ],
+                "target_mouth_xy": [
+                  0.2637978427216474,
+                  -0.32928987720857705
+                ],
+                "gripper_position": [
+                  0.26223910210582757,
+                  -0.3288776568918911,
+                  1.0014567359282598
+                ],
+                "rod_tip_xy_dist": 0.0016021663214789256,
+                "target_xy_drift": 2.9831642546200756e-08,
+                "depth": 0.01967307538464569,
+                "bottom_clearance": 0.07976750719064096,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1548,
+              "stir_motion_end_frame": 1567,
+              "rod_tip_xy_path_length": 0.0005945261636207382,
+              "rod_tip_xy_max_step": 3.226651186920509e-05,
+              "rod_tip_xy_range": 0.0005945184972505966,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.261736015886195,
+            -0.33015976067012087,
+            1.0435558289159952
+          ],
+          "object_origin_world": [
+            0.261736015886195,
+            -0.33015976067012087,
+            1.0435558289159952
+          ],
+          "frame_world": [
+            0.2617346434218256,
+            -0.3301623801083114,
+            1.0434527653540324
+          ],
+          "center_minus_frame": [
+            1.3724643693757699e-06,
+            2.6194381905209063e-06,
+            0.00010306356196276845
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2572955818624786,
+              0.16403858181605077,
+              0.8320857133564324
+            ],
+            "target_position": [
+              0.27292151680549126,
+              0.21016499126465404,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048701288396339804,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16601636803533643,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320857133564324,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.1183567657547926,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13497802414302745,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 325,
+            "max_placed_release_frames": 325
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2903157864322589,
+              -0.07493552134728418,
+              1.0450217901391725
+            ],
+            "current_z": 1.0450217901391725,
+            "required_z": 0.8565861654978493,
+            "initial_z": 0.7565861654978493,
+            "lift_margin": 0.18843562464132324,
+            "gripper_z": 1.048329056514634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28571425154856844,
+              -0.07951176474522276,
+              1.048329056514634
+            ],
+            "object_minus_gripper": [
+              0.004601534883690472,
+              0.004576243397938579,
+              -0.003307266375461415
+            ],
+            "object_to_gripper_xy": 0.006489693900562392,
+            "object_to_gripper_z": -0.003307266375461415,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2903157864322589,
+              -0.09903078238724021,
+              1.0450217901391725
+            ],
+            "finger_b": [
+              0.27894929539019214,
+              -0.07493552134728418,
+              1.0450217901391725
+            ],
+            "finger_midpoint": [
+              0.28463254091122553,
+              -0.08698315186726219,
+              1.0450217901391725
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056832455210333865,
+              0.012047630519978009,
+              0.0
+            ],
+            "finger_gap": 0.026641672680089126,
+            "fingertip_max_gap": 0.09199221942231287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013320836340044556,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0450217901391725,
+            "object_top_z": 1.0907655804347296,
+            "finger_top_clearance": 0.045743790295557085,
+            "fingertip_min_top_clearance": 0.013723137088667126,
+            "object_projection_between_fingers": 0.8179754980141154,
+            "object_to_finger_line_xy": 0.010280081587054653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048496109711156435,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0453929502269501,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29029600363323127,
+              -0.07944482366561952,
+              1.2422061563609073
+            ],
+            "held_position": [
+              0.29527605715010385,
+              -0.07528894080280149,
+              1.2388793654270887
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007289707354737719,
+            "max_held_gripper_dist": 0.0072960208758160805,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003326790933818602,
+            "max_held_gripper_z_dist": 0.0033269108476960962,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08653148809954377,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29527605715010385,
+              -0.10070580298388371,
+              1.2388793654270887
+            ],
+            "held_grasp_finger_b": [
+              0.2864830345766016,
+              -0.07501708024288406,
+              1.2388793654270887
+            ],
+            "held_grasp_midpoint": [
+              0.29087954586335274,
+              -0.08786144161338388,
+              1.2388793654270887
+            ],
+            "held_grasp_object_position": [
+              0.29527605715010385,
+              -0.07528894080280149,
+              1.2388793654270887
+            ],
+            "held_grasp_finger_gap": 0.027151937721681528,
+            "held_grasp_max_gap": 0.12496620178222656,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02487825766875083,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08214112349428374,
+              -0.9965667300768526,
+              -0.010372479695167858
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033515460669265294,
+            "held_grasp_line_xy_max_dist": 0.04748310089111328,
+            "held_grasp_object_top_z": 0.04520079120993614,
+            "held_grasp_top_clearance": 0.03231032081169643,
+            "held_grasp_min_top_clearance": 0.013560237362980843
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.24930666728496573,
+              -0.07809960403780483,
+              0.7565877399939884
+            ],
+            "target_position": [
+              0.26625983101815565,
+              -0.07885396841853816,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.016969938897452314,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20375610509791897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565877399939884,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753854834380698,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08717807832828321,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17680924031217898,
+            "release_required_pad_clearance": 0.05358903916414161,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1854212524602112,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 235,
+            "max_placed_release_frames": 235
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa80e6bc8debdd9d01c035e7dca7c21aa885869d60352ba5aae56967d81b9ae7",
+    "visual_seed": 3121746895571748022,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0dd42db1e7af1c56039d33e207cf351cb3f43a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_50_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37344114489889507,
+              0.11039887664232668,
+              1.1631226384132858
+            ],
+            "current_z": 1.1631226384132858,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.3020161900031645,
+            "gripper_z": 1.1527502891390131,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36825413954121267,
+              0.10535301722187022,
+              1.1527502891390131
+            ],
+            "object_minus_gripper": [
+              0.005187005357682406,
+              0.005045859420456461,
+              0.010372349274272663
+            ],
+            "object_to_gripper_xy": 0.0072364163694217595,
+            "object_to_gripper_z": 0.010372349274272663,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37344114489889507,
+              0.08635857572148181,
+              1.1631226384132858
+            ],
+            "finger_b": [
+              0.3620125115534588,
+              0.11039887664232668,
+              1.1631226384132858
+            ],
+            "finger_midpoint": [
+              0.36772682822617697,
+              0.09837872618190424,
+              1.1631226384132858
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057143166727181005,
+              0.012020150460422444,
+              0.0
+            ],
+            "finger_gap": 0.026618597418143434,
+            "fingertip_max_gap": 0.09158150733826761,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309298709071713,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1631226384132858,
+            "object_top_z": 1.2130422761361657,
+            "finger_top_clearance": 0.049919637722879884,
+            "fingertip_min_top_clearance": 0.01497589131686393,
+            "object_projection_between_fingers": 0.8156605600298059,
+            "object_to_finger_line_xy": 0.010321647696997727,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829075366913381,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1789620474188416,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 359,
+            "max_stable_success_frames": 359,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27061159484863506,
+              -0.3315967139873167,
+              0.851539563436327
+            ],
+            "target_position": [
+              0.26178935338819126,
+              -0.33202912491408393,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008832832139011886,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18493880873323823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539563436327,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075187709147386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515866259185446,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15368747905887017,
+            "release_required_pad_clearance": 0.052579331295927234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22381167359503398,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007127285003662109,
+            "max_z_decrease": 0.007127285003662109,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508960563443459,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007127285003662109,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021177558909584886,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007127285003662109,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071273045944326655,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11748927831649776,
+              -0.3882905840873718,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11748927831649776,
+              -0.3882905840873718,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11664697592535983,
+              -0.38940919448214667,
+              0.8078838444387288
+            ],
+            "closest_button": [
+              0.11747982352972029,
+              -0.38828873634338384,
+              0.7728220224380493
+            ],
+            "closest_ee_minus_button": [
+              -0.0008328476043604621,
+              -0.0011204581387628254,
+              0.03506182200067953
+            ],
+            "button_min_z_position": [
+              0.11747261881828307,
+              -0.38828927278518677,
+              0.7696815729141235
+            ],
+            "min_active_finger_to_button": 0.14693966516787763,
+            "closest_active_finger": [
+              -0.024714305996894836,
+              -0.37497782707214355,
+              0.8107040524482727
+            ],
+            "closest_active_finger_button": [
+              0.11748789995908736,
+              -0.3882923424243927,
+              0.7761711478233337
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422022059559822,
+              0.013314515352249146,
+              0.034532904624938965
+            ],
+            "min_contact_pad_to_button": 0.021177558909584886,
+            "closest_contact_pad": [
+              0.11747261881828307,
+              -0.39036636769358607,
+              0.7907570249403658
+            ],
+            "closest_contact_pad_button": [
+              0.11747261881828307,
+              -0.38828927278518677,
+              0.7696815729141235
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020770949083993018,
+              0.02107545202624228
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2725581073775399,
+              0.20112343508844288,
+              1.1012795748301043
+            ],
+            "current_z": 1.1012795748301043,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19137044509574175,
+            "gripper_z": 1.1012798219309121,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2725581755092962,
+              0.20112350602871598,
+              1.1012798219309121
+            ],
+            "object_minus_gripper": [
+              -6.813175629227786e-08,
+              -7.094027310028395e-08,
+              -2.4710080781531474e-07
+            ],
+            "object_to_gripper_xy": 9.835882554714251e-08,
+            "object_to_gripper_z": -2.4710080781531474e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2725581073775399,
+              0.20112343508844288,
+              1.1012795748301043
+            ],
+            "finger_b": [
+              0.2725581073775399,
+              0.20112343508844288,
+              1.1012795748301043
+            ],
+            "finger_midpoint": [
+              0.2725581073775399,
+              0.20112343508844288,
+              1.1012795748301043
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1012795748301043,
+            "object_top_z": 1.226288081450384,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 243,
+            "max_stable_success_frames": 243,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27255810737753994,
+            0.20112343508844288,
+            1.1012795748301045
+          ],
+          "object_origin_world": [
+            0.27255810737753994,
+            0.20112343508844288,
+            1.1012795748301045
+          ],
+          "frame_world": [
+            0.2725581755092962,
+            0.20112350602871598,
+            1.1012798219309121
+          ],
+          "center_minus_frame": [
+            -6.81317562367667e-08,
+            -7.094027310028395e-08,
+            -2.4710080759327013e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432813194431303,
+            "required_z": 0.9112598670222228,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0023920189207184707,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.854029129575987e-08,
+            "max_target_xy_drift": 1.5132507058546192e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 0.22381167401354507,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 0.22381167429363813,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2683731317892766,
+              -0.3324330549547674,
+              0.923387024065102
+            ],
+            "target_mouth_xy": [
+              0.27061156488868465,
+              -0.3315967450534199
+            ],
+            "rod_tip_z": 0.923387024065102,
+            "rod_tip_depth": -0.022127267966732922,
+            "rod_tip_bottom_clearance": 0.1215677690596978,
+            "rod_tip_xy_dist": 0.0023895599995851697,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04467337443845365,
+            "min_rod_tip_bottom_clearance": 0.054767145145328544,
+            "min_rod_tip_xy_dist": 0.0012415527494164524,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1179,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1179,
+            "target_mouth_xy_initial": [
+              0.27061162515796056,
+              -0.3315967776936698
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -6.026927590330189e-08,
+              3.264024989180214e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 390,
+              "end_frame": 409,
+              "first_rod_tip_xy_delta": [
+                -0.0016169702122986185,
+                0.00088945427665299
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0017409454659698675,
+                0.0005316518729612252
+              ],
+              "first_target_mouth_xy": [
+                0.2706115647314328,
+                -0.33159674378882176
+              ],
+              "last_target_mouth_xy": [
+                0.27061159946322433,
+                -0.3315967764241914
+              ],
+              "first_rod_tip_xy": [
+                0.26899459451913416,
+                -0.33070728951216877
+              ],
+              "last_rod_tip_xy": [
+                0.26887065399725446,
+                -0.33106512455123016
+              ],
+              "min_rod_tip_xy_dist": 0.0017756774595438071,
+              "max_rod_tip_xy_dist": 0.0018528456161122859,
+              "first_target_xy_drift": 6.928855591190705e-08,
+              "last_target_xy_drift": 2.5726077144458292e-08,
+              "max_depth": 0.01935834334916009,
+              "min_bottom_clearance": 0.0800823880832332
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  -0.0016169702122986185,
+                  0.00088945427665299
+                ],
+                "rod_tip_xy": [
+                  0.26899459451913416,
+                  -0.33070728951216877
+                ],
+                "target_mouth_xy": [
+                  0.2706115647314328,
+                  -0.33159674378882176
+                ],
+                "gripper_position": [
+                  0.2689862209206191,
+                  -0.3307071992508773,
+                  1.0060778400614774
+                ],
+                "rod_tip_xy_dist": 0.0018454597198848133,
+                "target_xy_drift": 6.928855591190705e-08,
+                "depth": 0.0150635934770037,
+                "bottom_clearance": 0.08437694644445581,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0016253447949502453,
+                  0.0008895454876928222
+                ],
+                "rod_tip_xy": [
+                  0.26898622092061897,
+                  -0.3307071992508773
+                ],
+                "target_mouth_xy": [
+                  0.2706115657155692,
+                  -0.33159674473857015
+                ],
+                "gripper_position": [
+                  0.26898781352809076,
+                  -0.33077195760805034,
+                  1.0055610585791521
+                ],
+                "rod_tip_xy_dist": 0.0018528456161122859,
+                "target_xy_drift": 6.796643643299058e-08,
+                "depth": 0.015181987882198711,
+                "bottom_clearance": 0.0842585562955499,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0016237508822851132,
+                  0.0008247880765199223
+                ],
+                "rod_tip_xy": [
+                  0.2689878135280907,
+                  -0.33077195760805034
+                ],
+                "target_mouth_xy": [
+                  0.2706115644103758,
+                  -0.33159674568457026
+                ],
+                "gripper_position": [
+                  0.26897623255171105,
+                  -0.3307784384541714,
+                  1.0054263083740442
+                ],
+                "rod_tip_xy_dist": 0.0018212200028802444,
+                "target_xy_drift": 6.866477630478341e-08,
+                "depth": 0.015698764568504053,
+                "bottom_clearance": 0.08374174069218676,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.001635333636876013,
+                  0.0008182736335261009
+                ],
+                "rod_tip_xy": [
+                  0.268976232551711,
+                  -0.33077843845417143
+                ],
+                "target_mouth_xy": [
+                  0.270611566188587,
+                  -0.33159671208769753
+                ],
+                "gripper_position": [
+                  0.26897778258488214,
+                  -0.33084349515671585,
+                  1.0049130649049558
+                ],
+                "rod_tip_xy_dist": 0.0018286300454772517,
+                "target_xy_drift": 8.821298438403089e-08,
+                "depth": 0.015833633576067707,
+                "bottom_clearance": 0.08360702981253809,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0016337811205337505,
+                  0.0007532495781350512
+                ],
+                "rod_tip_xy": [
+                  0.2689777825848821,
+                  -0.33084349515671585
+                ],
+                "target_mouth_xy": [
+                  0.27061156370541584,
+                  -0.3315967447348509
+                ],
+                "gripper_position": [
+                  0.2689661742606882,
+                  -0.33084955653889164,
+                  1.004778502529649
+                ],
+                "rod_tip_xy_dist": 0.0017990624438226567,
+                "target_xy_drift": 6.973305525753155e-08,
+                "depth": 0.016346719322296033,
+                "bottom_clearance": 0.08309381133941096,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.001645390539158742,
+                  0.000747158398379244
+                ],
+                "rod_tip_xy": [
+                  0.26896617426068814,
+                  -0.3308495565388917
+                ],
+                "target_mouth_xy": [
+                  0.2706115647998469,
+                  -0.33159671493727094
+                ],
+                "gripper_position": [
+                  0.2689574236754614,
+                  -0.33084910710716625,
+                  1.00466029866623
+                ],
+                "rod_tip_xy_dist": 0.0018070848620421048,
+                "target_xy_drift": 8.70716227225968e-08,
+                "depth": 0.016481318048286453,
+                "bottom_clearance": 0.08295919076523461,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0016541700209074528,
+                  0.0007476385769562
+                ],
+                "rod_tip_xy": [
+                  0.2689574236754613,
+                  -0.3308491071071663
+                ],
+                "target_mouth_xy": [
+                  0.2706115936963688,
+                  -0.3315967456841225
+                ],
+                "gripper_position": [
+                  0.2689600858726952,
+                  -0.3309153000457943,
+                  1.0041476390734188
+                ],
+                "rod_tip_xy_dist": 0.0018152801160763192,
+                "target_xy_drift": 4.488254532489278e-08,
+                "depth": 0.0165995402644602,
+                "bottom_clearance": 0.08284098492851955,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0016514812195583817,
+                  0.0006814133095041641
+                ],
+                "rod_tip_xy": [
+                  0.26896008587269515,
+                  -0.3309153000457944
+                ],
+                "target_mouth_xy": [
+                  0.27061156709225354,
+                  -0.33159671335529856
+                ],
+                "gripper_position": [
+                  0.26894827000692256,
+                  -0.3309212659141001,
+                  1.0040129486171159
+                ],
+                "rod_tip_xy_dist": 0.0017865369620927124,
+                "target_xy_drift": 8.666632763547228e-08,
+                "depth": 0.01711228759779193,
+                "bottom_clearance": 0.08232836570592006,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.0016632956735145865,
+                  0.0006754797708146132
+                ],
+                "rod_tip_xy": [
+                  0.2689482700069225,
+                  -0.3309212659141001
+                ],
+                "target_mouth_xy": [
+                  0.2706115656804371,
+                  -0.3315967456849147
+                ],
+                "gripper_position": [
+                  0.2689396831219153,
+                  -0.3309206185474864,
+                  1.0038953074756403
+                ],
+                "rod_tip_xy_dist": 0.0017952229439019834,
+                "target_xy_drift": 6.75435874057062e-08,
+                "depth": 0.017246820273181807,
+                "bottom_clearance": 0.08219372429879546,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0016719120407183152,
+                  0.0006761261911340521
+                ],
+                "rod_tip_xy": [
+                  0.26893968312191524,
+                  -0.33092061854748644
+                ],
+                "target_mouth_xy": [
+                  0.27061159516263356,
+                  -0.3315967447386205
+                ],
+                "gripper_position": [
+                  0.2689430087747103,
+                  -0.33098795742822085,
+                  1.0033850567896203
+                ],
+                "rod_tip_xy_dist": 0.0018034512741508493,
+                "target_xy_drift": 4.456181006466005e-08,
+                "depth": 0.017364517619143816,
+                "bottom_clearance": 0.08207601285622201,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.001668555048170206,
+                  0.0006087873072376238
+                ],
+                "rod_tip_xy": [
+                  0.2689430087747102,
+                  -0.33098795742822085
+                ],
+                "target_mouth_xy": [
+                  0.27061156382288043,
+                  -0.33159674473545847
+                ],
+                "gripper_position": [
+                  0.2689311331533694,
+                  -0.33099378028333243,
+                  1.0032510701066752
+                ],
+                "rod_tip_xy_dist": 0.001776146934864319,
+                "target_xy_drift": 6.962927364203244e-08,
+                "depth": 0.0178747834587355,
+                "bottom_clearance": 0.08156574268260475,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0016804318957918118,
+                  0.0006029343358396888
+                ],
+                "rod_tip_xy": [
+                  0.26893113315336936,
+                  -0.3309937802833325
+                ],
+                "target_mouth_xy": [
+                  0.2706115650491612,
+                  -0.3315967146191722
+                ],
+                "gripper_position": [
+                  0.2689222436305144,
+                  -0.3309932810581564,
+                  1.0031330541267003
+                ],
+                "rod_tip_xy_dist": 0.001785323827693147,
+                "target_xy_drift": 8.712898492360506e-08,
+                "depth": 0.018008758136000336,
+                "bottom_clearance": 0.08143177159648596,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.001689318022292885,
+                  0.0006034636674270843
+                ],
+                "rod_tip_xy": [
+                  0.26892224363051437,
+                  -0.3309932810581564
+                ],
+                "target_mouth_xy": [
+                  0.27061156165280725,
+                  -0.3315967447255835
+                ],
+                "gripper_position": [
+                  0.26891330873782965,
+                  -0.33099279257227027,
+                  1.0030151265084932
+                ],
+                "rod_tip_xy_dist": 0.0017938683837863051,
+                "target_xy_drift": 7.155277221300324e-08,
+                "depth": 0.018126852244244707,
+                "bottom_clearance": 0.0813137572465229,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0016982568190434533,
+                  0.0006039521665643366
+                ],
+                "rod_tip_xy": [
+                  0.26891330873782954,
+                  -0.3309927925722703
+                ],
+                "target_mouth_xy": [
+                  0.270611565556873,
+                  -0.33159674473883466
+                ],
+                "gripper_position": [
+                  0.2689182735501608,
+                  -0.3310621788789513,
+                  1.0025066174236181
+                ],
+                "rod_tip_xy_dist": 0.0018024523413742025,
+                "target_xy_drift": 6.81051451652234e-08,
+                "depth": 0.018244640554002545,
+                "bottom_clearance": 0.08119589749498457,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.001693291737267122,
+                  0.0005345966075788744
+                ],
+                "rod_tip_xy": [
+                  0.26891827355016074,
+                  -0.3310621788789513
+                ],
+                "target_mouth_xy": [
+                  0.27061156528742786,
+                  -0.33159677548653016
+                ],
+                "gripper_position": [
+                  0.26890612442160927,
+                  -0.33106810897499095,
+                  1.0023728600115804
+                ],
+                "rod_tip_xy_dist": 0.0017756774595438071,
+                "target_xy_drift": 5.99112022158155e-08,
+                "depth": 0.01875320794350499,
+                "bottom_clearance": 0.08068732151757041,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0017054414145116215,
+                  0.0005286661972003226
+                ],
+                "rod_tip_xy": [
+                  0.2689061244216092,
+                  -0.33106810897499095
+                ],
+                "target_mouth_xy": [
+                  0.27061156583612084,
+                  -0.33159677517219127
+                ],
+                "gripper_position": [
+                  0.2688972237755156,
+                  -0.3310674030481852,
+                  1.0022552865791101
+                ],
+                "rod_tip_xy_dist": 0.0017855022728615192,
+                "target_xy_drift": 5.937540333769161e-08,
+                "depth": 0.018886964083438262,
+                "bottom_clearance": 0.08055357516880368,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.001714339853888025,
+                  0.000529341369778169
+                ],
+                "rod_tip_xy": [
+                  0.26889722377551556,
+                  -0.33106740304818527
+                ],
+                "target_mouth_xy": [
+                  0.2706115636294036,
+                  -0.33159674441796344
+                ],
+                "gripper_position": [
+                  0.26888831058567136,
+                  -0.33106685767840865,
+                  1.0021375577576883
+                ],
+                "rod_tip_xy_dist": 0.0017942027255545686,
+                "target_xy_drift": 6.995023914589672e-08,
+                "depth": 0.019004565252707106,
+                "bottom_clearance": 0.08043597966827765,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0017233194748886294,
+                  0.0005299171630774313
+                ],
+                "rod_tip_xy": [
+                  0.26888831058567125,
+                  -0.3310668576784087
+                ],
+                "target_mouth_xy": [
+                  0.2706116300605599,
+                  -0.33159677484148614
+                ],
+                "gripper_position": [
+                  0.2688794049848583,
+                  -0.33106598465423426,
+                  1.0020194428845004
+                ],
+                "rod_tip_xy_dist": 0.001802953746565467,
+                "target_xy_drift": 5.671898426749553e-09,
+                "depth": 0.019122362135383875,
+                "bottom_clearance": 0.08031835356834305,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0017321891634206055,
+                  0.0005307597641820427
+                ],
+                "rod_tip_xy": [
+                  0.26887940498485824,
+                  -0.3310659846542343
+                ],
+                "target_mouth_xy": [
+                  0.27061159414827884,
+                  -0.33159674441841636
+                ],
+                "gripper_position": [
+                  0.2688706539972545,
+                  -0.33106512455123016,
+                  1.0019015932953612
+                ],
+                "rod_tip_xy_dist": 0.0018116802215474878,
+                "target_xy_drift": 4.5484534200502814e-08,
+                "depth": 0.01924038714149312,
+                "bottom_clearance": 0.0802001303129688,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0017409454659698675,
+                  0.0005316518729612252
+                ],
+                "rod_tip_xy": [
+                  0.26887065399725446,
+                  -0.33106512455123016
+                ],
+                "target_mouth_xy": [
+                  0.27061159946322433,
+                  -0.3315967764241914
+                ],
+                "gripper_position": [
+                  0.26887816217993943,
+                  -0.3311385024288234,
+                  1.0013977485605312
+                ],
+                "rod_tip_xy_dist": 0.0018203144864292592,
+                "target_xy_drift": 2.5726077144458292e-08,
+                "depth": 0.01935834334916009,
+                "bottom_clearance": 0.0800823880832332,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005988043375782754,
+              "rod_tip_xy_max_step": 3.2589406690552826e-05,
+              "rod_tip_xy_range": 0.0005987921846709186,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.26837313178927663,
+            -0.3324330549547674,
+            1.043387024065102
+          ],
+          "object_origin_world": [
+            0.26837313178927663,
+            -0.3324330549547674,
+            1.043387024065102
+          ],
+          "frame_world": [
+            0.2683716730530028,
+            -0.3324361728832665,
+            1.0432813194431303
+          ],
+          "center_minus_frame": [
+            1.4587362738294196e-06,
+            3.117928499107858e-06,
+            0.00010570462197168062
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25663592428029863,
+              0.15528976054662902,
+              0.8321568210835936
+            ],
+            "target_position": [
+              0.27270838929828345,
+              0.20034458374733066,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047835773490148864,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16410694850468008,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8321568210835936,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835671222849009,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13496111415673637,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 330,
+            "max_placed_release_frames": 330
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.29191095367818126,
+              -0.07871043413801579,
+              1.044906763744829
+            ],
+            "current_z": 1.044906763744829,
+            "required_z": 0.8565862178379805,
+            "initial_z": 0.7565862178379805,
+            "lift_margin": 0.18832054590684855,
+            "gripper_z": 1.0487946889954285,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2872088561153059,
+              -0.0832285790025863,
+              1.0487946889954285
+            ],
+            "object_minus_gripper": [
+              0.004702097562875374,
+              0.004518144864570514,
+              -0.0038879252505994444
+            ],
+            "object_to_gripper_xy": 0.006520993368195021,
+            "object_to_gripper_z": -0.0038879252505994444,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29191095367818126,
+              -0.10310268710431998,
+              1.044906763744829
+            ],
+            "finger_b": [
+              0.2809268864895431,
+              -0.07871043413801579,
+              1.044906763744829
+            ],
+            "finger_midpoint": [
+              0.28641892008386216,
+              -0.09090656062116789,
+              1.044906763744829
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492033594319101,
+              0.012196126483152103,
+              0.0
+            ],
+            "finger_gap": 0.026751294114055357,
+            "fingertip_max_gap": 0.09428506124438399,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013375647057027696,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.044906763744829,
+            "object_top_z": 1.091330700926717,
+            "finger_top_clearance": 0.046423937181887975,
+            "fingertip_min_top_clearance": 0.013927181154566409,
+            "object_projection_between_fingers": 0.831408075125426,
+            "object_to_finger_line_xy": 0.010015446143346507,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049642530622191997,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8824237408080324,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2913085632098691,
+              -0.0823018437035101,
+              1.2386922513612175
+            ],
+            "held_position": [
+              0.29620842731434477,
+              -0.07800072375104389,
+              1.234802856305597
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075918176339080466,
+            "max_held_gripper_dist": 0.0075945608462313656,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0038893950556204704,
+            "max_held_gripper_z_dist": 0.003890295564317192,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603440867860362,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29620842731434477,
+              -0.10311704940797434,
+              1.234802856305597
+            ],
+            "held_grasp_finger_b": [
+              0.28701938540258665,
+              -0.07800072375104389,
+              1.234802856305597
+            ],
+            "held_grasp_midpoint": [
+              0.29161390635846574,
+              -0.09055888657950911,
+              1.234802856305597
+            ],
+            "held_grasp_object_position": [
+              0.29620842731434477,
+              -0.07800072375104389,
+              1.234802856305597
+            ],
+            "held_grasp_finger_gap": 0.026744500476939742,
+            "held_grasp_max_gap": 0.12496622413396835,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024798935950734163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032853046853777344,
+              -0.9993828045574933,
+              -0.012437333605826772
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004182419420108764,
+            "held_grasp_line_xy_max_dist": 0.047483112066984176,
+            "held_grasp_object_top_z": 0.04520081356167793,
+            "held_grasp_top_clearance": 0.03249945756184254,
+            "held_grasp_min_top_clearance": 0.013560244068503379
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25751089071509486,
+              -0.07465833109772763,
+              0.7565890265953821
+            ],
+            "target_position": [
+              0.26785247738862444,
+              -0.08350310256468245,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013608026941066172,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2078026598594919,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565890265953821,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0760996156171567,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09045304868580693,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18174415595072613,
+            "release_required_pad_clearance": 0.05522652434290347,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.554557092093234,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 239,
+            "max_placed_release_frames": 239
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a04a6a50a721e39a0b012caa618f11cffecc0fe91599bacf2a19eeb73e150dad",
+    "visual_seed": 8476803409264028402,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc61e6c1860e006b62ea0e6569127378f906a00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_54_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37253524092356743,
+              0.11182878271940766,
+              1.164879196233719
+            ],
+            "current_z": 1.164879196233719,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.30377250940501865,
+            "gripper_z": 1.1544970316783352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3673635021383801,
+              0.10689284096045527,
+              1.1544970316783352
+            ],
+            "object_minus_gripper": [
+              0.005171738785187341,
+              0.004935941758952386,
+              0.010382164555383877
+            ],
+            "object_to_gripper_xy": 0.007149154013586573,
+            "object_to_gripper_z": 0.010382164555383877,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37253524092356743,
+              0.08775432921471266,
+              1.164879196233719
+            ],
+            "finger_b": [
+              0.361325795381638,
+              0.11182878271940766,
+              1.164879196233719
+            ],
+            "finger_midpoint": [
+              0.3669305181526027,
+              0.09979155596706016,
+              1.164879196233719
+            ],
+            "object_minus_finger_midpoint": [
+              0.005604722770964743,
+              0.012037226752347502,
+              0.0
+            ],
+            "finger_gap": 0.026556185360612376,
+            "fingertip_max_gap": 0.09146072658911422,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0132780926803062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.164879196233719,
+            "object_top_z": 1.2147254990098117,
+            "finger_top_clearance": 0.0498463027760927,
+            "fingertip_min_top_clearance": 0.014953890832827776,
+            "object_projection_between_fingers": 0.8218290563527932,
+            "object_to_finger_line_xy": 0.01016189907729912,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823036329455711,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2472875111740016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2661953420970748,
+              -0.32304677856036623,
+              0.8515395159414533
+            ],
+            "target_position": [
+              0.2580540965876673,
+              -0.32334176879930004,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008146588100887002,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18278822499774425,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395159414533,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581424772435708,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659091842380896,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1499243384693306,
+            "release_required_pad_clearance": 0.05329545921190448,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.609571402021807,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006877541542053223,
+            "max_z_decrease": 0.006877541542053223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507199215471202,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006877541542053223,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021146120013546404,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.006877541542053223,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006877565911480204,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11375401914119718,
+              -0.37960323691368103,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11375401914119718,
+              -0.37960323691368103,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1136583586005444,
+              -0.37975255672317915,
+              0.8078232564620007
+            ],
+            "closest_button": [
+              0.1137428134679794,
+              -0.3796020448207855,
+              0.7727516889572144
+            ],
+            "closest_ee_minus_button": [
+              -8.445486743499653e-05,
+              -0.0001505119023936241,
+              0.03507156750478635
+            ],
+            "button_min_z_position": [
+              0.11373573541641234,
+              -0.3796022832393646,
+              0.7699313163757324
+            ],
+            "min_active_finger_to_button": 0.1462948702283461,
+            "closest_active_finger": [
+              -0.027581579983234406,
+              -0.364327073097229,
+              0.810698390007019
+            ],
+            "closest_active_finger_button": [
+              0.11375482380390164,
+              -0.3796045184135437,
+              0.7761613130569458
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14133640378713605,
+              0.015277445316314697,
+              0.03453707695007324
+            ],
+            "min_contact_pad_to_button": 0.021146120013546404,
+            "closest_contact_pad": [
+              0.11373573541641234,
+              -0.38086218339147154,
+              0.7910398701687811
+            ],
+            "closest_contact_pad_button": [
+              0.11373573541641234,
+              -0.3796022832393646,
+              0.7699313163757324
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012599001521069186,
+              0.021108553793048657
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27128720296011294,
+              0.20313513387246954,
+              1.1029587410699087
+            ],
+            "current_z": 1.1029587410699087,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.1930496113355461,
+            "gripper_z": 1.1029588661093475,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27128727835909605,
+              0.20313504583195918,
+              1.1029588661093475
+            ],
+            "object_minus_gripper": [
+              -7.539898311259563e-08,
+              8.80405103542703e-08,
+              -1.250394388030429e-07
+            ],
+            "object_to_gripper_xy": 1.1591435682370781e-07,
+            "object_to_gripper_z": -1.250394388030429e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27128720296011294,
+              0.20313513387246954,
+              1.1029587410699087
+            ],
+            "finger_b": [
+              0.27128720296011294,
+              0.20313513387246954,
+              1.1029587410699087
+            ],
+            "finger_midpoint": [
+              0.27128720296011294,
+              0.20313513387246954,
+              1.1029587410699087
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1029587410699087,
+            "object_top_z": 1.2279672476901884,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2712872029601129,
+            0.20313513387246954,
+            1.1029587410699087
+          ],
+          "object_origin_world": [
+            0.2712872029601129,
+            0.20313513387246954,
+            1.1029587410699087
+          ],
+          "frame_world": [
+            0.27128727835909605,
+            0.20313504583195918,
+            1.1029588661093475
+          ],
+          "center_minus_frame": [
+            -7.539898316810678e-08,
+            8.80405103542703e-08,
+            -1.250394388030429e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1675,
+            "required_success_frames": 20,
+            "gripper_z": 1.04344928895275,
+            "required_z": 0.9112599317287255,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0013177277029438445,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 9.388267220986578e-08,
+            "max_target_xy_drift": 1.5484928718439397e-06,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.6095714008706818,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.6095714021139782,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2662844528311691,
+              -0.32172988185911544,
+              0.9235523495445946
+            ],
+            "target_mouth_xy": [
+              0.26619537040890356,
+              -0.32304674880634754
+            ],
+            "rod_tip_z": 0.9235523495445946,
+            "rod_tip_depth": -0.022292470932194663,
+            "rod_tip_bottom_clearance": 0.12173304346416136,
+            "rod_tip_xy_dist": 0.0013198765982731409,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.04440539967573853,
+            "min_rod_tip_bottom_clearance": 0.055035125712807664,
+            "min_rod_tip_xy_dist": 0.0005729379861545592,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.2661953880810205,
+              -0.3230468410107532
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -1.7672116936484628e-08,
+              9.220440566615196e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0006204709283137988,
+                0.002942418361801258
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0005092662250419933,
+                0.0026009774400146957
+              ],
+              "first_target_mouth_xy": [
+                0.26619531145715153,
+                -0.32304677794542686
+              ],
+              "last_target_mouth_xy": [
+                0.2661953119273196,
+                -0.32304680903237964
+              ],
+              "first_rod_tip_xy": [
+                0.2668157823854653,
+                -0.3201043595836256
+              ],
+              "last_rod_tip_xy": [
+                0.2667045781523616,
+                -0.32044583159236495
+              ],
+              "min_rod_tip_xy_dist": 0.0026501135425325076,
+              "max_rod_tip_xy_dist": 0.0030071265335445707,
+              "first_target_xy_drift": 9.9239370634213e-08,
+              "last_target_xy_drift": 8.259541474233707e-08,
+              "max_depth": 0.019660799727279854,
+              "min_bottom_clearance": 0.07977975360462286
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0006204709283137988,
+                  0.002942418361801258
+                ],
+                "rod_tip_xy": [
+                  0.2668157823854653,
+                  -0.3201043595836256
+                ],
+                "target_mouth_xy": [
+                  0.26619531145715153,
+                  -0.32304677794542686
+                ],
+                "gripper_position": [
+                  0.26680426632528886,
+                  -0.3201098081928161,
+                  1.005707119757825
+                ],
+                "rod_tip_xy_dist": 0.0030071265335445707,
+                "target_xy_drift": 9.9239370634213e-08,
+                "depth": 0.015421480036505009,
+                "bottom_clearance": 0.08401906859858987,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0006089230771201826,
+                  0.0029370017611074495
+                ],
+                "rod_tip_xy": [
+                  0.266804266325289,
+                  -0.3201098081928162
+                ],
+                "target_mouth_xy": [
+                  0.2661953432481688,
+                  -0.32304680995392365
+                ],
+                "gripper_position": [
+                  0.2668083902426348,
+                  -0.3201714193343114,
+                  1.005196420207908
+                ],
+                "rod_tip_xy_dist": 0.0029994610613571517,
+                "target_xy_drift": 5.4539080063774555e-08,
+                "depth": 0.015552729166613433,
+                "bottom_clearance": 0.08388784250901493,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0006130481086000783,
+                  0.0028753906343279567
+                ],
+                "rod_tip_xy": [
+                  0.2668083902426349,
+                  -0.32017141933431137
+                ],
+                "target_mouth_xy": [
+                  0.26619534213403484,
+                  -0.3230468099686393
+                ],
+                "gripper_position": [
+                  0.26679672514079,
+                  -0.3201767229184921,
+                  1.0050657856479581
+                ],
+                "rod_tip_xy_dist": 0.0029400168848901296,
+                "target_xy_drift": 5.5450323041428286e-08,
+                "depth": 0.016063501343730135,
+                "bottom_clearance": 0.08337707127411298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0006013827629433588,
+                  0.0028700569388057096
+                ],
+                "rod_tip_xy": [
+                  0.2667967251407901,
+                  -0.3201767229184921
+                ],
+                "target_mouth_xy": [
+                  0.26619534237784676,
+                  -0.3230467798572978
+                ],
+                "gripper_position": [
+                  0.2667880372607273,
+                  -0.3201755553123056,
+                  1.0049509942908261
+                ],
+                "rod_tip_xy_dist": 0.002932386069321737,
+                "target_xy_drift": 7.634477846638198e-08,
+                "depth": 0.01619406320777328,
+                "bottom_clearance": 0.08324648891447173,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0005926965751993363,
+                  0.0028712530975148476
+                ],
+                "rod_tip_xy": [
+                  0.2667880372607274,
+                  -0.3201755553123057
+                ],
+                "target_mouth_xy": [
+                  0.2661953406855281,
+                  -0.32304680840982053
+                ],
+                "gripper_position": [
+                  0.2667932065059193,
+                  -0.32023871183418456,
+                  1.004440608923592
+                ],
+                "rod_tip_xy_dist": 0.0029317884610322127,
+                "target_xy_drift": 5.7525242398618494e-08,
+                "depth": 0.016308881932590835,
+                "bottom_clearance": 0.08313168760024714,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0005978646375531249,
+                  0.002808067053800878
+                ],
+                "rod_tip_xy": [
+                  0.2667932065059194,
+                  -0.3202387118341846
+                ],
+                "target_mouth_xy": [
+                  0.2661953418683663,
+                  -0.3230467788879855
+                ],
+                "gripper_position": [
+                  0.2667814175417891,
+                  -0.32024391075954,
+                  1.0043097631240758
+                ],
+                "rod_tip_xy_dist": 0.00287100726287456,
+                "target_xy_drift": 7.742640167406411e-08,
+                "depth": 0.01681923707929267,
+                "bottom_clearance": 0.08262129847576205,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.000586025957157732,
+                  0.002802739328717496
+                ],
+                "rod_tip_xy": [
+                  0.26678141754178913,
+                  -0.32024391075954006
+                ],
+                "target_mouth_xy": [
+                  0.2661953915846314,
+                  -0.32304665008825756
+                ],
+                "gripper_position": [
+                  0.26677269611551657,
+                  -0.32024241278874727,
+                  1.00419518083396
+                ],
+                "rod_tip_xy_dist": 0.0028633501649645366,
+                "target_xy_drift": 1.9095464025055102e-07,
+                "depth": 0.01695036022280416,
+                "bottom_clearance": 0.08249061057530194,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0005773556341691077,
+                  0.0028043661243943308
+                ],
+                "rod_tip_xy": [
+                  0.2667726961155166,
+                  -0.3202424127887472
+                ],
+                "target_mouth_xy": [
+                  0.2661953404813475,
+                  -0.32304677891314154
+                ],
+                "gripper_position": [
+                  0.2667786673463315,
+                  -0.32030648767343284,
+                  1.0036859888173155
+                ],
+                "rod_tip_xy_dist": 0.00286318160233634,
+                "target_xy_drift": 7.824220243737311e-08,
+                "depth": 0.01706470722915787,
+                "bottom_clearance": 0.08237588119094874,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.000583323857015372,
+                  0.0027402607599851247
+                ],
+                "rod_tip_xy": [
+                  0.2667786673463316,
+                  -0.32030648767343284
+                ],
+                "target_mouth_xy": [
+                  0.2661953434893162,
+                  -0.32304674843341796
+                ],
+                "gripper_position": [
+                  0.2667667036107563,
+                  -0.32031173918450023,
+                  1.0035555704870298
+                ],
+                "rod_tip_xy_dist": 0.0028016594644741434,
+                "target_xy_drift": 1.0275691261698283e-07,
+                "depth": 0.017573828381581946,
+                "bottom_clearance": 0.08186668648688078,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0005713609660117913,
+                  0.0027350698308971633
+                ],
+                "rod_tip_xy": [
+                  0.26676670361075633,
+                  -0.3203117391845003
+                ],
+                "target_mouth_xy": [
+                  0.26619534264474454,
+                  -0.32304680901539745
+                ],
+                "gripper_position": [
+                  0.2667579571202648,
+                  -0.3203100278336125,
+                  1.003441261095578
+                ],
+                "rod_tip_xy_dist": 0.002794111725283326,
+                "target_xy_drift": 5.557119724526125e-08,
+                "depth": 0.01770425831441902,
+                "bottom_clearance": 0.08173626011830504,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0005626150320930945,
+                  0.002736783113607477
+                ],
+                "rod_tip_xy": [
+                  0.2667579571202649,
+                  -0.3203100278336125
+                ],
+                "target_mouth_xy": [
+                  0.2661953420881718,
+                  -0.32304681094722
+                ],
+                "gripper_position": [
+                  0.2667648475720136,
+                  -0.3203750116150898,
+                  1.0029352267614884
+                ],
+                "rod_tip_xy_dist": 0.0027940145821495187,
+                "target_xy_drift": 5.4946866705659e-08,
+                "depth": 0.017818620527056406,
+                "bottom_clearance": 0.08162198978976798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0005693963847934191,
+                  0.0026715456011907612
+                ],
+                "rod_tip_xy": [
+                  0.2667648475720137,
+                  -0.32037501161508986
+                ],
+                "target_mouth_xy": [
+                  0.26619545118722027,
+                  -0.3230465572162806
+                ],
+                "gripper_position": [
+                  0.2667527826193683,
+                  -0.32038038214277326,
+                  1.0028048594717511
+                ],
+                "rod_tip_xy_dist": 0.00273155050150231,
+                "target_xy_drift": 2.907261514221657e-07,
+                "depth": 0.018325018940376414,
+                "bottom_clearance": 0.08111607950519117,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0005574403486354185,
+                  0.0026664274827469248
+                ],
+                "rod_tip_xy": [
+                  0.26675278261936836,
+                  -0.3203803821427732
+                ],
+                "target_mouth_xy": [
+                  0.26619534227073294,
+                  -0.3230468096255201
+                ],
+                "gripper_position": [
+                  0.2667438427119687,
+                  -0.3203788061183464,
+                  1.0026908271131936
+                ],
+                "rod_tip_xy_dist": 0.002724073285180646,
+                "target_xy_drift": 5.5530309760219036e-08,
+                "depth": 0.018454991958430145,
+                "bottom_clearance": 0.08098556292178183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0005485279439265689,
+                  0.002667997458686844
+                ],
+                "rod_tip_xy": [
+                  0.2667438427119688,
+                  -0.32037880611834646
+                ],
+                "target_mouth_xy": [
+                  0.26619531476804226,
+                  -0.3230468035770333
+                ],
+                "gripper_position": [
+                  0.2667348318889932,
+                  -0.32037720299065947,
+                  1.0025760802322659
+                ],
+                "rod_tip_xy_dist": 0.002723801267498744,
+                "target_xy_drift": 8.231692514083541e-08,
+                "depth": 0.018569138310183586,
+                "bottom_clearance": 0.08087158096994318,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0005394908666294107,
+                  0.0026696069917558907
+                ],
+                "rod_tip_xy": [
+                  0.26673483188899333,
+                  -0.3203772029906595
+                ],
+                "target_mouth_xy": [
+                  0.2661953410223639,
+                  -0.3230468099824154
+                ],
+                "gripper_position": [
+                  0.26672579648971106,
+                  -0.3203758201852847,
+                  1.002462038073714
+                ],
+                "rod_tip_xy_dist": 0.002723573367032452,
+                "target_xy_drift": 5.636732125307e-08,
+                "depth": 0.018683815307310225,
+                "bottom_clearance": 0.08075679944902936,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0005304344237682113,
+                  0.002670924700368116
+                ],
+                "rod_tip_xy": [
+                  0.2667257964897112,
+                  -0.32037582018528477
+                ],
+                "target_mouth_xy": [
+                  0.26619536206594296,
+                  -0.3230467448856529
+                ],
+                "gripper_position": [
+                  0.2667349339396672,
+                  -0.32044376822352855,
+                  1.0019578862152647
+                ],
+                "rod_tip_xy_dist": 0.0027230863800024457,
+                "target_xy_drift": 9.958322736049036e-08,
+                "depth": 0.018797930231782667,
+                "bottom_clearance": 0.08064285266957683,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0005396230137780234,
+                  0.0026030427266747758
+                ],
+                "rod_tip_xy": [
+                  0.26673493393966724,
+                  -0.3204437682235286
+                ],
+                "target_mouth_xy": [
+                  0.2661953109258892,
+                  -0.3230468109502034
+                ],
+                "gripper_position": [
+                  0.2667225991986266,
+                  -0.3204493845526242,
+                  1.0018274031347214
+                ],
+                "rod_tip_xy_dist": 0.0026583875627705844,
+                "target_xy_drift": 8.280429300071738e-08,
+                "depth": 0.019302036242458187,
+                "bottom_clearance": 0.08013862511256431,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0005272087257430225,
+                  0.0025971431897018338
+                ],
+                "rod_tip_xy": [
+                  0.26672259919862673,
+                  -0.3204493845526242
+                ],
+                "target_mouth_xy": [
+                  0.2661953904728837,
+                  -0.323046527742326
+                ],
+                "gripper_position": [
+                  0.2667135949310234,
+                  -0.32044746149185427,
+                  1.0017133442937747
+                ],
+                "rod_tip_xy_dist": 0.0026501135425325076,
+                "target_xy_drift": 3.1327755822798537e-07,
+                "depth": 0.01943276871090205,
+                "bottom_clearance": 0.08000827602954919,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0005182370819689641,
+                  0.002599347194837176
+                ],
+                "rod_tip_xy": [
+                  0.2667135949310235,
+                  -0.3204474614918543
+                ],
+                "target_mouth_xy": [
+                  0.2661953578490545,
+                  -0.3230468086866915
+                ],
+                "gripper_position": [
+                  0.2667045781523615,
+                  -0.32044583159236495,
+                  1.001599056834508
+                ],
+                "rod_tip_xy_dist": 0.00265050476559383,
+                "target_xy_drift": 4.425852158061126e-08,
+                "depth": 0.01954647975364676,
+                "bottom_clearance": 0.07989403620686819,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0005092662250419933,
+                  0.0026009774400146957
+                ],
+                "rod_tip_xy": [
+                  0.2667045781523616,
+                  -0.32044583159236495
+                ],
+                "target_mouth_xy": [
+                  0.2661953119273196,
+                  -0.32304680903237964
+                ],
+                "gripper_position": [
+                  0.26671418363163746,
+                  -0.32050760107293114,
+                  1.0010079613247687
+                ],
+                "rod_tip_xy_dist": 0.0026503652071806862,
+                "target_xy_drift": 8.259541474233707e-08,
+                "depth": 0.019660799727279854,
+                "bottom_clearance": 0.07977975360462286,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005960014943172551,
+              "rod_tip_xy_max_step": 3.2273246548052035e-05,
+              "rod_tip_xy_range": 0.0005959854869473784,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.266284452831169,
+            -0.32172988185911544,
+            1.0435523495445949
+          ],
+          "object_origin_world": [
+            0.266284452831169,
+            -0.32172988185911544,
+            1.0435523495445949
+          ],
+          "frame_world": [
+            0.26628312949762944,
+            -0.32173194667619576,
+            1.04344928895275
+          ],
+          "center_minus_frame": [
+            1.3233335395823609e-06,
+            2.064817080316139e-06,
+            0.00010306059184483907
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.2538000136089186,
+              0.15942366052168855,
+              0.8326847982042671
+            ],
+            "target_position": [
+              0.27143055948315364,
+              0.20385655279014736,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.047802908522013327,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16454423320209224,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326847982042671,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674369619144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13528911849171107,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 336,
+            "max_placed_release_frames": 336
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.294511738524399,
+              -0.08070210831398965,
+              1.0463476366185114
+            ],
+            "current_z": 1.0463476366185114,
+            "required_z": 0.8565862798767199,
+            "initial_z": 0.7565862798767199,
+            "lift_margin": 0.1897613567417915,
+            "gripper_z": 1.04949318378995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.289999033873492,
+              -0.08524959443944564,
+              1.04949318378995
+            ],
+            "object_minus_gripper": [
+              0.0045127046509069735,
+              0.004547486125455996,
+              -0.0031455471714385563
+            ],
+            "object_to_gripper_xy": 0.006406569544423303,
+            "object_to_gripper_z": -0.0031455471714385563,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.294511738524399,
+              -0.1047043432244953,
+              1.0463476366185114
+            ],
+            "finger_b": [
+              0.2831562031823886,
+              -0.08070210831398965,
+              1.0463476366185114
+            ],
+            "finger_midpoint": [
+              0.2888339708533938,
+              -0.09270322576924248,
+              1.0463476366185114
+            ],
+            "object_minus_finger_midpoint": [
+              0.005677767671005196,
+              0.012001117455252827,
+              0.0
+            ],
+            "finger_gap": 0.026552880514225635,
+            "fingertip_max_gap": 0.09211471151858044,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013276440257112818,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463476366185114,
+            "object_top_z": 1.0920966362175522,
+            "finger_top_clearance": 0.045748999599040774,
+            "fingertip_min_top_clearance": 0.013724699879712265,
+            "object_projection_between_fingers": 0.817109164370221,
+            "object_to_finger_line_xy": 0.010264732922948262,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048557355759290224,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1106843000649165,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2944545150842745,
+              -0.08490919099485543,
+              1.243833737201016
+            ],
+            "held_position": [
+              0.29932271577178376,
+              -0.08075632784506075,
+              1.2406727474741177
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007137051655154574,
+            "max_held_gripper_dist": 0.007139075124125539,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031609897268982667,
+            "max_held_gripper_z_dist": 0.0031610169708413682,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661232541477493,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29932271577178376,
+              -0.10602295234313151,
+              1.2406727474741177
+            ],
+            "held_grasp_finger_b": [
+              0.2904521538970976,
+              -0.08075632784506075,
+              1.2406727474741177
+            ],
+            "held_grasp_midpoint": [
+              0.2948874348344407,
+              -0.09338964009409613,
+              1.2406727474741177
+            ],
+            "held_grasp_object_position": [
+              0.29932271577178376,
+              -0.08075632784506075,
+              1.2406727474741177
+            ],
+            "held_grasp_finger_gap": 0.026778520898271162,
+            "held_grasp_max_gap": 0.12496598571538925,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024507061524551097,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07698709138573312,
+              -0.9969665827013712,
+              -0.011428942939525788
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034526177303878525,
+            "held_grasp_line_xy_max_dist": 0.047482992857694625,
+            "held_grasp_object_top_z": 0.04520069435238838,
+            "held_grasp_top_clearance": 0.03226424483242357,
+            "held_grasp_min_top_clearance": 0.013560208305716514
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2577510183441973,
+              -0.07981502526465135,
+              0.7565895326050583
+            ],
+            "target_position": [
+              0.27061314371348666,
+              -0.08319344126943996,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013298419594701065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20738872774267716,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565895326050583,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553566874063175,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08895196083918695,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.18008079750251457,
+            "release_required_pad_clearance": 0.05447598041959348,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9760054310205866,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02ae8cefdab70caae92e364a69618ab3bbbc6bb1d03c2287ccd805c9c6c10762",
+    "visual_seed": 6391577135557248441,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a2127a0ba8f7ddd2251bcc4efc595ff6eb3c95
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_56_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3725906565632503,
+              0.11342113111649092,
+              1.1646350768678837
+            ],
+            "current_z": 1.1646350768678837,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.30352856885311785,
+            "gripper_z": 1.1543103048144852,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3672084569621076,
+              0.1082221891314445,
+              1.1543103048144852
+            ],
+            "object_minus_gripper": [
+              0.005382199601142723,
+              0.005198941985046418,
+              0.010324772053398545
+            ],
+            "object_to_gripper_xy": 0.007483119022868691,
+            "object_to_gripper_z": 0.010324772053398545,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3725906565632503,
+              0.0893819408433194,
+              1.1646350768678837
+            ],
+            "finger_b": [
+              0.36076593767957094,
+              0.11342113111649092,
+              1.1646350768678837
+            ],
+            "finger_midpoint": [
+              0.36667829712141065,
+              0.10140153597990516,
+              1.1646350768678837
+            ],
+            "object_minus_finger_midpoint": [
+              0.005912359441839654,
+              0.012019595136585765,
+              0.0
+            ],
+            "finger_gap": 0.026790047511488068,
+            "fingertip_max_gap": 0.09097771371074495,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013395023755744022,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1646350768678837,
+            "object_top_z": 1.2145041854526768,
+            "finger_top_clearance": 0.0498691085847931,
+            "fingertip_min_top_clearance": 0.014960732575437929,
+            "object_projection_between_fingers": 0.8051794872988188,
+            "object_to_finger_line_xy": 0.010610532401991385,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04798885685537248,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6787774038333043,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 360,
+            "max_stable_success_frames": 360,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2664662740987158,
+              -0.3272581971770584,
+              0.8515395939125813
+            ],
+            "target_position": [
+              0.25788263305246406,
+              -0.32783346749197817,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008602896578834703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18503218452371303,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395939125813,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532284194714638,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860717585330094,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353318635879554,
+            "release_required_pad_clearance": 0.0530358792665047,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1028586724026752,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0069272518157958984,
+            "max_z_decrease": 0.0069272518157958984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507703370102678,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0069272518157958984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021134724494615696,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0069272518157958984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006927272961037202,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11358255892992015,
+              -0.38409492373466486,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11358255892992015,
+              -0.38409492373466486,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.11350538775739388,
+              -0.38396488072173424,
+              0.8078241913470332
+            ],
+            "closest_button": [
+              0.11357125639915462,
+              -0.38409397006034846,
+              0.7727474570274353
+            ],
+            "closest_ee_minus_button": [
+              -6.586864176073848e-05,
+              0.0001290893386142189,
+              0.0350767343195979
+            ],
+            "button_min_z_position": [
+              0.11356547474861141,
+              -0.38409388065338135,
+              0.7698816061019897
+            ],
+            "min_active_finger_to_button": 0.14621563509386903,
+            "closest_active_finger": [
+              -0.014134153723716736,
+              -0.44639134407043457,
+              0.8111209869384766
+            ],
+            "closest_active_finger_button": [
+              0.11358525604009624,
+              -0.3840953111648559,
+              0.7766830921173096
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12771940976381296,
+              -0.06229603290557867,
+              0.03443789482116699
+            ],
+            "min_contact_pad_to_button": 0.021134724494615696,
+            "closest_contact_pad": [
+              0.11356547474861141,
+              -0.385171397346275,
+              0.7909888450791711
+            ],
+            "closest_contact_pad_button": [
+              0.11356547474861141,
+              -0.38409388065338135,
+              0.7698816061019897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001077516692893632,
+              0.021107238977181364
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.26970721115719254,
+              0.20236115792873627,
+              1.1037894044910872
+            ],
+            "current_z": 1.1037894044910872,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19388027475672465,
+            "gripper_z": 1.1037895079585334,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.26970725615429936,
+              0.20236117230381462,
+              1.1037895079585334
+            ],
+            "object_minus_gripper": [
+              -4.499710681837854e-08,
+              -1.4375078349893045e-08,
+              -1.0346744616640535e-07
+            ],
+            "object_to_gripper_xy": 4.723751157279702e-08,
+            "object_to_gripper_z": -1.0346744616640535e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26970721115719254,
+              0.20236115792873627,
+              1.1037894044910872
+            ],
+            "finger_b": [
+              0.26970721115719254,
+              0.20236115792873627,
+              1.1037894044910872
+            ],
+            "finger_midpoint": [
+              0.26970721115719254,
+              0.20236115792873627,
+              1.1037894044910872
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1037894044910872,
+            "object_top_z": 1.228797911111367,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 245,
+            "max_stable_success_frames": 245,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2697072111571926,
+            0.2023611579287363,
+            1.1037894044910872
+          ],
+          "object_origin_world": [
+            0.2697072111571926,
+            0.2023611579287363,
+            1.1037894044910872
+          ],
+          "frame_world": [
+            0.26970725615429936,
+            0.20236117230381462,
+            1.1037895079585334
+          ],
+          "center_minus_frame": [
+            -4.499710676286739e-08,
+            -1.4375078322137469e-08,
+            -1.0346744616640535e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433029971099168,
+            "required_z": 0.9112598954832529,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.002365089158064363,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 6.849793777213007e-08,
+            "max_target_xy_drift": 6.849793777213007e-08,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1035681416236707,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.1035681418753442,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26779155019478645,
+              -0.32921528936719224,
+              0.9234082236764701
+            ],
+            "target_mouth_xy": [
+              0.26646627113874255,
+              -0.3272582192032476
+            ],
+            "rod_tip_z": 0.9234082236764701,
+            "rod_tip_depth": -0.02214830883525487,
+            "rod_tip_bottom_clearance": 0.12158898406533625,
+            "rod_tip_xy_dist": 0.002363575300892892,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044705193256791675,
+            "min_rod_tip_bottom_clearance": 0.0547354819732897,
+            "min_rod_tip_xy_dist": 0.0009187211145511176,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26646627139812684,
+              -0.32725828770069426
+            ],
+            "target_mouth_xy_delta_from_start": [
+              -2.5938429182303935e-10,
+              6.84974466591548e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 389,
+              "end_frame": 408,
+              "first_rod_tip_xy_delta": [
+                0.001814709023662986,
+                -0.00019708502883025725
+              ],
+              "last_rod_tip_xy_delta": [
+                0.001715364850548018,
+                -0.0005673620162752746
+              ],
+              "first_target_mouth_xy": [
+                0.26646627139812684,
+                -0.32725828770069426
+              ],
+              "last_target_mouth_xy": [
+                0.26646627113874255,
+                -0.3272582192032476
+              ],
+              "first_rod_tip_xy": [
+                0.2682809804217898,
+                -0.3274553727295245
+              ],
+              "last_rod_tip_xy": [
+                0.26818163598929057,
+                -0.3278255812195229
+              ],
+              "min_rod_tip_xy_dist": 0.001806758486352719,
+              "max_rod_tip_xy_dist": 0.001843112799184672,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 6.849793777213007e-08,
+              "max_depth": 0.01940230804855314,
+              "min_bottom_clearance": 0.08003836718152824
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 389,
+                "rod_tip_xy_delta": [
+                  0.001814709023662986,
+                  -0.00019708502883025725
+                ],
+                "rod_tip_xy": [
+                  0.2682809804217898,
+                  -0.3274553727295245
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2682694758332005,
+                  -0.32746160136183716,
+                  1.0060141754527048
+                ],
+                "rod_tip_xy_dist": 0.0018253797821694232,
+                "target_xy_drift": 0.0,
+                "depth": 0.015112363363261383,
+                "bottom_clearance": 0.08432828285321559,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 390,
+                "rod_tip_xy_delta": [
+                  0.0018032046944578273,
+                  -0.00020338215858961561
+                ],
+                "rod_tip_xy": [
+                  0.2682694758332004,
+                  -0.3274616013618372
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.2682761180481622,
+                  -0.32752734769253755,
+                  1.0055004467190993
+                ],
+                "rod_tip_xy_dist": 0.001814638110629036,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.015245739388510482,
+                "bottom_clearance": 0.0841949358415709,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  0.0018098466500352517,
+                  -0.0002690599918434011
+                ],
+                "rod_tip_xy": [
+                  0.2682761180481621,
+                  -0.32752734769253766
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.268264519876971,
+                  -0.327533512439304,
+                  1.0053668229901591
+                ],
+                "rod_tip_xy_dist": 0.0018297371876459729,
+                "target_xy_drift": 0.0,
+                "depth": 0.015759448764153805,
+                "bottom_clearance": 0.08368119745232316,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0017982487382283696,
+                  -0.00027529323605646194
+                ],
+                "rod_tip_xy": [
+                  0.2682645198769709,
+                  -0.32753351243930406
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.2682559280928752,
+                  -0.32753292554216956,
+                  1.005249526528882
+                ],
+                "rod_tip_xy_dist": 0.0018191989694253793,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.01589309185105614,
+                "bottom_clearance": 0.08354758337902524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0017896566947482317,
+                  -0.00027463784147535586
+                ],
+                "rod_tip_xy": [
+                  0.2682559280928751,
+                  -0.3275329255421696
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2682635220166629,
+                  -0.32760003249882885,
+                  1.0047355285979034
+                ],
+                "rod_tip_xy_dist": 0.0018106068123773886,
+                "target_xy_drift": 0.0,
+                "depth": 0.016010368954371024,
+                "bottom_clearance": 0.08343027726210595,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0017972508779202645,
+                  -0.0003418132955812503
+                ],
+                "rod_tip_xy": [
+                  0.2682635220166628,
+                  -0.32760003249882885
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.2682518149923794,
+                  -0.32760612239567066,
+                  1.0046022201650486
+                ],
+                "rod_tip_xy_dist": 0.001829466328528972,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.016524386243311873,
+                "bottom_clearance": 0.0829162889867695,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0017855435942524256,
+                  -0.0003478346949765121
+                ],
+                "rod_tip_xy": [
+                  0.26825181499237927,
+                  -0.3276061223956708
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2682594419588496,
+                  -0.3276734352445078,
+                  1.0040926778041415
+                ],
+                "rod_tip_xy_dist": 0.0018191082711057288,
+                "target_xy_drift": 0.0,
+                "depth": 0.01665767531820428,
+                "bottom_clearance": 0.08278297089827269,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0017931708201069374,
+                  -0.000415216041260269
+                ],
+                "rod_tip_xy": [
+                  0.2682594419588495,
+                  -0.32767343524450787
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.26824769218748723,
+                  -0.32767932805755173,
+                  1.0039592272251883
+                ],
+                "rod_tip_xy_dist": 0.0018406156445610355,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.017167237037074012,
+                "bottom_clearance": 0.08227343819300736,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0017814207893602774,
+                  -0.0004210403568575827
+                ],
+                "rod_tip_xy": [
+                  0.2682476921874871,
+                  -0.32767932805755184
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2682389512723705,
+                  -0.327678378176949,
+                  1.0038423158376584
+                ],
+                "rod_tip_xy_dist": 0.0018305013004277693,
+                "target_xy_drift": 0.0,
+                "depth": 0.017300668258064866,
+                "bottom_clearance": 0.0821399779584121,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.0017726801336278575,
+                  -0.0004201589737015121
+                ],
+                "rod_tip_xy": [
+                  0.2682389512723704,
+                  -0.3276783781769491
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.26823004413676393,
+                  -0.32767783764448316,
+                  1.0037253254257812
+                ],
+                "rod_tip_xy_dist": 0.0018217926389523002,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.017417599003556883,
+                "bottom_clearance": 0.0820230762265245,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0017637727386369817,
+                  -0.00041954994378906596
+                ],
+                "rod_tip_xy": [
+                  0.2682300441367638,
+                  -0.3276778376444833
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.26823942573360277,
+                  -0.3277474941791199,
+                  1.0032154456809756
+                ],
+                "rod_tip_xy_dist": 0.0018129855015670718,
+                "target_xy_drift": 0.0,
+                "depth": 0.01753457005747172,
+                "bottom_clearance": 0.08190607615900525,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0017731545948601046,
+                  -0.0004892749758723669
+                ],
+                "rod_tip_xy": [
+                  0.26823942573360265,
+                  -0.32774749417911997
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.26822741169836184,
+                  -0.3277532434243909,
+                  1.0030817688686928
+                ],
+                "rod_tip_xy_dist": 0.0018394203487208701,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.018044469160239607,
+                "bottom_clearance": 0.08139620606984177,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0017611403002348869,
+                  -0.0004949557236966773
+                ],
+                "rod_tip_xy": [
+                  0.26822741169836173,
+                  -0.32775324342439094
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2682186524365684,
+                  -0.32775235021227334,
+                  1.0029649033244652
+                ],
+                "rod_tip_xy_dist": 0.0018293704724662877,
+                "target_xy_drift": 0.0,
+                "depth": 0.018178126614560308,
+                "bottom_clearance": 0.08126251960191666,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0017523812978257336,
+                  -0.0004941310090258444
+                ],
+                "rod_tip_xy": [
+                  0.2682186524365683,
+                  -0.32775235021227345
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.2682098696995119,
+                  -0.32775135940675953,
+                  1.0028483303767983
+                ],
+                "rod_tip_xy_dist": 0.0018207157018739367,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.01829501151675028,
+                "bottom_clearance": 0.0811456637133311,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0017435983013849854,
+                  -0.0004930717060653289
+                ],
+                "rod_tip_xy": [
+                  0.2682098696995118,
+                  -0.3277513594067596
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2682207305503106,
+                  -0.3278229642463237,
+                  1.002340913152148
+                ],
+                "rod_tip_xy_dist": 0.0018119753706700265,
+                "target_xy_drift": 0.0,
+                "depth": 0.018411565106454808,
+                "bottom_clearance": 0.08102908111002216,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0017544594115679324,
+                  -0.0005647450430761314
+                ],
+                "rod_tip_xy": [
+                  0.2682207305503105,
+                  -0.32782296424632373
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.2682086779040259,
+                  -0.327829041338283,
+                  1.0022079384640443
+                ],
+                "rod_tip_xy_dist": 0.001843112799184672,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.01891900168906735,
+                "bottom_clearance": 0.08052167354101403,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.001742406505899019,
+                  -0.0005707536375887945
+                ],
+                "rod_tip_xy": [
+                  0.26820867790402586,
+                  -0.32782904133828306
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2681996508614831,
+                  -0.3278279410165094,
+                  1.0020911870507319
+                ],
+                "rod_tip_xy_dist": 0.0018335048804462096,
+                "target_xy_drift": 0.0,
+                "depth": 0.01905195701920881,
+                "bottom_clearance": 0.08038868919726816,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0017333797227405134,
+                  -0.0005697218132619808
+                ],
+                "rod_tip_xy": [
+                  0.26819965086148306,
+                  -0.3278279410165096
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.26819068190311324,
+                  -0.32782666177843606,
+                  1.001974608181221
+                ],
+                "rod_tip_xy_dist": 0.0018246063158156882,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.019168727790483397,
+                "bottom_clearance": 0.08027194743959798,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0017244105049862846,
+                  -0.0005683740777419621
+                ],
+                "rod_tip_xy": [
+                  0.2681906819031131,
+                  -0.3278266617784362
+                ],
+                "target_mouth_xy": [
+                  0.26646627139812684,
+                  -0.32725828770069426
+                ],
+                "gripper_position": [
+                  0.2681816359892907,
+                  -0.32782558121952277,
+                  1.0018576067926621
+                ],
+                "rod_tip_xy_dist": 0.0018156653551676528,
+                "target_xy_drift": 0.0,
+                "depth": 0.01928528730203183,
+                "bottom_clearance": 0.08015535891444514,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.001715364850548018,
+                  -0.0005673620162752746
+                ],
+                "rod_tip_xy": [
+                  0.26818163598929057,
+                  -0.3278255812195229
+                ],
+                "target_mouth_xy": [
+                  0.26646627113874255,
+                  -0.3272582192032476
+                ],
+                "gripper_position": [
+                  0.2681727338683835,
+                  -0.3278242726875028,
+                  1.0017413111706976
+                ],
+                "rod_tip_xy_dist": 0.001806758486352719,
+                "target_xy_drift": 6.849793777213007e-08,
+                "depth": 0.01940230804855314,
+                "bottom_clearance": 0.08003836718152824,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1549,
+              "stir_motion_end_frame": 1568,
+              "rod_tip_xy_path_length": 0.0005998120228376669,
+              "rod_tip_xy_max_step": 3.2602401698978304e-05,
+              "rod_tip_xy_range": 0.00059980054158841,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2677915501947865,
+            -0.3292152893671922,
+            1.0434082236764701
+          ],
+          "object_origin_world": [
+            0.2677915501947865,
+            -0.3292152893671922,
+            1.0434082236764701
+          ],
+          "frame_world": [
+            0.2677901939168099,
+            -0.3292180342974103,
+            1.0433029971099168
+          ],
+          "center_minus_frame": [
+            1.3562779765941002e-06,
+            2.74493021812372e-06,
+            0.00010522656655331808
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25556374090772405,
+              0.157899260337957,
+              0.8326312818736382
+            ],
+            "target_position": [
+              0.26982735968690974,
+              0.2035208975883473,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04779942056222164,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16773452235368946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8326312818736382,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835674365700534,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1365704429188593,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 312,
+            "max_placed_release_frames": 312
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2917350429097932,
+              -0.08238515206197096,
+              1.0471667621206173
+            ],
+            "current_z": 1.0471667621206173,
+            "required_z": 0.8565863025774109,
+            "initial_z": 0.7565863025774109,
+            "lift_margin": 0.19058045954320646,
+            "gripper_z": 1.0503252240849477,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28718881011610203,
+              -0.08691876233458427,
+              1.0503252240849477
+            ],
+            "object_minus_gripper": [
+              0.004546232793691152,
+              0.004533610272613314,
+              -0.003158461964330339
+            ],
+            "object_to_gripper_xy": 0.006420424808248892,
+            "object_to_gripper_z": -0.003158461964330339,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2917350429097932,
+              -0.10646784582715303,
+              1.0471667621206173
+            ],
+            "finger_b": [
+              0.28047358384020843,
+              -0.08238515206197096,
+              1.0471667621206173
+            ],
+            "finger_midpoint": [
+              0.2861043133750008,
+              -0.094426498944562,
+              1.0471667621206173
+            ],
+            "object_minus_finger_midpoint": [
+              0.005630729534792378,
+              0.012041346882591036,
+              0.0
+            ],
+            "finger_gap": 0.026585646491358306,
+            "fingertip_max_gap": 0.09204027008881191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013292823245679153,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471667621206173,
+            "object_top_z": 1.0929082841384954,
+            "finger_top_clearance": 0.04574152201787807,
+            "fingertip_min_top_clearance": 0.01372245660536342,
+            "object_projection_between_fingers": 0.8205700756198532,
+            "object_to_finger_line_xy": 0.010201229080891357,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852013504440596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.051422424144038,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29161975489350106,
+              -0.08689999223329299,
+              1.2426342937605654
+            ],
+            "held_position": [
+              0.296509993470042,
+              -0.08275014792223105,
+              1.2394674202857845
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007152952449640167,
+            "max_held_gripper_dist": 0.007158328934042973,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031668734747809513,
+            "max_held_gripper_z_dist": 0.0031668734747809513,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655373185507245,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.296509993470042,
+              -0.10803352251039539,
+              1.2394674202857845
+            ],
+            "held_grasp_finger_b": [
+              0.28775441656012635,
+              -0.08270514075047174,
+              1.2394674202857845
+            ],
+            "held_grasp_midpoint": [
+              0.2921322050150842,
+              -0.09536933163043357,
+              1.2394674202857845
+            ],
+            "held_grasp_object_position": [
+              0.296509993470042,
+              -0.08275014792223105,
+              1.2394674202857845
+            ],
+            "held_grasp_finger_gap": 0.026799012101230164,
+            "held_grasp_max_gap": 0.12496598571538925,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024569952185770096,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07757677080053872,
+              -0.99687306549083,
+              -0.015031165326623963
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033910924521466427,
+            "held_grasp_line_xy_max_dist": 0.047482992857694625,
+            "held_grasp_object_top_z": 0.04520073160529137,
+            "held_grasp_top_clearance": 0.03228139256652009,
+            "held_grasp_min_top_clearance": 0.013560219481587409
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.25063338004959285,
+              -0.085573497985969,
+              0.7565866539736456
+            ],
+            "target_position": [
+              0.26778737251310647,
+              -0.08562175581957393,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.017154060343160346,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.2048102171599922,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565866539736456,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752242197539666,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0893125102345675,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17793586815197357,
+            "release_required_pad_clearance": 0.05465625511728375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.3538153046967745,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 236,
+            "max_placed_release_frames": 236
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffea2d6465ee621de49898624c5c8d26b776d0f8055682be7c4f3944ca2cf883",
+    "visual_seed": 7682843971655885518,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b987bbaedcd4b4631bffbfb12c83ac701c15d7f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_6_success.json
@@ -0,0 +1,2657 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.36812842688052466,
+              0.11518949217019969,
+              1.1625643714892626
+            ],
+            "current_z": 1.1625643714892626,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3014576846605622,
+            "gripper_z": 1.152216163469896,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3630620136216207,
+              0.11011923233475081,
+              1.152216163469896
+            ],
+            "object_minus_gripper": [
+              0.005066413258903946,
+              0.005070259835448884,
+              0.010348208019366645
+            ],
+            "object_to_gripper_xy": 0.007167710799757748,
+            "object_to_gripper_z": 0.010348208019366645,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.36812842688052466,
+              0.0913330703486665,
+              1.1625643714892626
+            ],
+            "finger_b": [
+              0.35654288371234444,
+              0.11518949217019969,
+              1.1625643714892626
+            ],
+            "finger_midpoint": [
+              0.3623356552964345,
+              0.1032612812594331,
+              1.1625643714892626
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057927715840901395,
+              0.011928210910766596,
+              0.0
+            ],
+            "finger_gap": 0.026520815836408435,
+            "fingertip_max_gap": 0.09120780307340057,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01326040791820423,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1625643714892626,
+            "object_top_z": 1.21237983960244,
+            "finger_top_clearance": 0.049815468113177275,
+            "fingertip_min_top_clearance": 0.014944640433953181,
+            "object_projection_between_fingers": 0.8091645558626006,
+            "object_to_finger_line_xy": 0.010421610200703384,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048103901536700286,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.019756942497544,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 355,
+            "max_stable_success_frames": 355,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2744052760655631,
+              -0.3305114293229777,
+              0.8515395766886902
+            ],
+            "target_position": [
+              0.26508066125562635,
+              -0.33162808315366693,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009391238317244666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859741978624443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395766886902,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563576555904215,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861040981311511,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365056936999888,
+            "release_required_pad_clearance": 0.05305204906557555,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1343455191059386,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007172107696533203,
+            "max_z_decrease": 0.007172107696533203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510812508715253,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007172107696533203,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110724389787735,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007172107696533203,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007172127095474468,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1207805871963501,
+              -0.3878895342350006,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1207805871963501,
+              -0.3878895342350006,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12198319131507993,
+              -0.3875384552580838,
+              0.8077899846882648
+            ],
+            "closest_button": [
+              0.12076887488365175,
+              -0.38788738846778864,
+              0.7727046012878418
+            ],
+            "closest_ee_minus_button": [
+              0.001214316431428178,
+              0.0003489332097048603,
+              0.035085383400423
+            ],
+            "button_min_z_position": [
+              0.12076391279697417,
+              -0.38788905739784235,
+              0.7696367502212524
+            ],
+            "min_active_finger_to_button": 0.14499905523063955,
+            "closest_active_finger": [
+              -0.0045926570892333984,
+              -0.45208314061164856,
+              0.8111906051635742
+            ],
+            "closest_active_finger_button": [
+              0.12078404426574707,
+              -0.38788732886314387,
+              0.7767768502235413
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12537670135498047,
+              -0.0641958117485047,
+              0.03441375494003296
+            ],
+            "min_contact_pad_to_button": 0.02110724389787735,
+            "closest_contact_pad": [
+              0.12076391279697417,
+              -0.38848384357415633,
+              0.7907356121424307
+            ],
+            "closest_contact_pad_button": [
+              0.12076391279697417,
+              -0.38788905739784235,
+              0.7696367502212524
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005947861763139772,
+              0.02109886192117827
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.2705514137870755,
+              0.20278788760531946,
+              1.10249079750055
+            ],
+            "current_z": 1.10249079750055,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19258166776618746,
+            "gripper_z": 1.1024907541776616,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.27055138386816024,
+              0.20278790270727248,
+              1.1024907541776616
+            ],
+            "object_minus_gripper": [
+              2.9918915234183885e-08,
+              -1.5101953021456893e-08,
+              4.332288838782006e-08
+            ],
+            "object_to_gripper_xy": 3.351433236471482e-08,
+            "object_to_gripper_z": 4.332288838782006e-08,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2705514137870755,
+              0.20278788760531946,
+              1.10249079750055
+            ],
+            "finger_b": [
+              0.2705514137870755,
+              0.20278788760531946,
+              1.10249079750055
+            ],
+            "finger_midpoint": [
+              0.2705514137870755,
+              0.20278788760531946,
+              1.10249079750055
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.10249079750055,
+            "object_top_z": 1.2274993041208297,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.03750255198608394,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27055141378707553,
+            0.20278788760531946,
+            1.10249079750055
+          ],
+          "object_origin_world": [
+            0.27055141378707553,
+            0.20278788760531946,
+            1.10249079750055
+          ],
+          "frame_world": [
+            0.27055138386816024,
+            0.20278790270727248,
+            1.1024907541776616
+          ],
+          "center_minus_frame": [
+            2.9918915289695036e-08,
+            -1.5101953021456893e-08,
+            4.332288838782006e-08
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1674,
+            "required_success_frames": 20,
+            "gripper_z": 1.0432748042802276,
+            "required_z": 0.9112599311724826,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0011717388080395045,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 4.4205813336999856e-08,
+            "max_target_xy_drift": 1.3071412463317922e-07,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 1.1343455192344667,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 1.134345519307085,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.2750944278315501,
+              -0.3314566970379712,
+              0.9233832033041273
+            ],
+            "target_mouth_xy": [
+              0.2744053068891951,
+              -0.33051136906780226
+            ],
+            "rod_tip_z": 0.9233832033041273,
+            "rod_tip_depth": -0.0221233619212996,
+            "rod_tip_bottom_clearance": 0.1215639146072075,
+            "rod_tip_xy_dist": 0.0011698429998832824,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.0446973231928085,
+            "min_rod_tip_bottom_clearance": 0.054743231977619544,
+            "min_rod_tip_xy_dist": 0.00015677173242321194,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1178,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1178,
+            "target_mouth_xy_initial": [
+              0.27440527858014685,
+              -0.3305113351156047
+            ],
+            "target_mouth_xy_delta_from_start": [
+              2.830904827222369e-08,
+              -3.3952197553421826e-08
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 392,
+              "end_frame": 411,
+              "first_rod_tip_xy_delta": [
+                0.0011755379401166555,
+                0.0007169777933521138
+              ],
+              "last_rod_tip_xy_delta": [
+                0.0010808384148615624,
+                0.0003469280704158084
+              ],
+              "first_target_mouth_xy": [
+                0.2744053043000543,
+                -0.3305113684615991
+              ],
+              "last_target_mouth_xy": [
+                0.27440530863831564,
+                -0.33051142865789995
+              ],
+              "first_rod_tip_xy": [
+                0.27558084224017093,
+                -0.329794390668247
+              ],
+              "last_rod_tip_xy": [
+                0.2754861470531772,
+                -0.33016450058748414
+              ],
+              "min_rod_tip_xy_dist": 0.0011351523092003517,
+              "max_rod_tip_xy_dist": 0.0013769337692183222,
+              "first_target_xy_drift": 4.211257509591386e-08,
+              "last_target_xy_drift": 9.825301272829023e-08,
+              "max_depth": 0.01979618070843625,
+              "min_bottom_clearance": 0.07964443997124693
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  0.0011755379401166555,
+                  0.0007169777933521138
+                ],
+                "rod_tip_xy": [
+                  0.27558084224017093,
+                  -0.329794390668247
+                ],
+                "target_mouth_xy": [
+                  0.2744053043000543,
+                  -0.3305113684615991
+                ],
+                "gripper_position": [
+                  0.27556915940805127,
+                  -0.3298006965163645,
+                  1.0056810236211284
+                ],
+                "rod_tip_xy_dist": 0.0013769337692183222,
+                "target_xy_drift": 4.211257509591386e-08,
+                "depth": 0.015440633231183054,
+                "bottom_clearance": 0.08399996710701363,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  0.0011638518536932763,
+                  0.000710669044002854
+                ],
+                "rod_tip_xy": [
+                  0.2755691594080512,
+                  -0.32980069651636446
+                ],
+                "target_mouth_xy": [
+                  0.27440530755435794,
+                  -0.3305113655603673
+                ],
+                "gripper_position": [
+                  0.27557656897366856,
+                  -0.3298650941212992,
+                  1.005164901554528
+                ],
+                "rod_tip_xy_dist": 0.001363672111414326,
+                "target_xy_drift": 4.2028424641104534e-08,
+                "depth": 0.015578830052113801,
+                "bottom_clearance": 0.08386176376364052,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  0.0011712605628226291,
+                  0.0006462765139249038
+                ],
+                "rod_tip_xy": [
+                  0.2755765689736685,
+                  -0.32986509412129916
+                ],
+                "target_mouth_xy": [
+                  0.27440530841084587,
+                  -0.33051137063522407
+                ],
+                "gripper_position": [
+                  0.27556489513113175,
+                  -0.32987117734300714,
+                  1.0050273548589579
+                ],
+                "rod_tip_xy_dist": 0.001337731153286978,
+                "target_xy_drift": 4.638441509174432e-08,
+                "depth": 0.016095039814430168,
+                "bottom_clearance": 0.0833456272143629,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  0.0011595887368662794,
+                  0.0006401907710018029
+                ],
+                "rod_tip_xy": [
+                  0.2755648951311317,
+                  -0.3298711773430071
+                ],
+                "target_mouth_xy": [
+                  0.2744053063942654,
+                  -0.3305113681140089
+                ],
+                "gripper_position": [
+                  0.2755560623639045,
+                  -0.3298708835517703,
+                  1.0049063689832523
+                ],
+                "rod_tip_xy_dist": 0.0013245717277456197,
+                "target_xy_drift": 4.315692145689477e-08,
+                "depth": 0.016232410241424966,
+                "bottom_clearance": 0.08320809836483523,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  0.0011507545419167653,
+                  0.0006405134070607277
+                ],
+                "rod_tip_xy": [
+                  0.27555606236390445,
+                  -0.3298708835517703
+                ],
+                "target_mouth_xy": [
+                  0.2744053078219877,
+                  -0.330511396958831
+                ],
+                "gripper_position": [
+                  0.27556449853042475,
+                  -0.3299363001394789,
+                  1.0043908561575514
+                ],
+                "rod_tip_xy_dist": 0.0013170016857873058,
+                "target_xy_drift": 6.840811280076213e-08,
+                "depth": 0.016353517571845,
+                "bottom_clearance": 0.0830870281153897,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  0.0011591920945956402,
+                  0.0005750676615406958
+                ],
+                "rod_tip_xy": [
+                  0.27556449853042475,
+                  -0.32993630013947883
+                ],
+                "target_mouth_xy": [
+                  0.2744053064358291,
+                  -0.33051136780101953
+                ],
+                "gripper_position": [
+                  0.2755527372288772,
+                  -0.3299424465052453,
+                  1.0042535484044048
+                ],
+                "rod_tip_xy_dist": 0.0012939973444806262,
+                "target_xy_drift": 4.2945027373565594e-08,
+                "depth": 0.016868901912658996,
+                "bottom_clearance": 0.08257159370919298,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  0.001147428663996919,
+                  0.0005689529858049491
+                ],
+                "rod_tip_xy": [
+                  0.27555273722887713,
+                  -0.3299424465052452
+                ],
+                "target_mouth_xy": [
+                  0.2744053085648802,
+                  -0.33051139949105013
+                ],
+                "gripper_position": [
+                  0.2755436521488264,
+                  -0.32994233723945265,
+                  1.0041326252016145
+                ],
+                "rod_tip_xy_dist": 0.00128074198768453,
+                "target_xy_drift": 7.101607006668278e-08,
+                "depth": 0.017006377505770387,
+                "bottom_clearance": 0.08243426249769115,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  0.0011383456538529568,
+                  0.0005690619507950911
+                ],
+                "rod_tip_xy": [
+                  0.2755436521488264,
+                  -0.32994233723945265
+                ],
+                "target_mouth_xy": [
+                  0.27440530649497347,
+                  -0.33051139919024775
+                ],
+                "gripper_position": [
+                  0.27555316972935273,
+                  -0.3300083800767287,
+                  1.0036193249081207
+                ],
+                "rod_tip_xy_dist": 0.0012726595505038378,
+                "target_xy_drift": 6.989132582244444e-08,
+                "depth": 0.01712721997701061,
+                "bottom_clearance": 0.08231333127689033,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  0.0011478929423750506,
+                  0.000503016892957342
+                ],
+                "rod_tip_xy": [
+                  0.27555316972935273,
+                  -0.3300083800767286
+                ],
+                "target_mouth_xy": [
+                  0.2744052767869777,
+                  -0.33051139696968596
+                ],
+                "gripper_position": [
+                  0.275541267946931,
+                  -0.33001452067239606,
+                  1.0034819622436322
+                ],
+                "rod_tip_xy_dist": 0.0012532694050980855,
+                "target_xy_drift": 6.188006805451632e-08,
+                "depth": 0.01764049245282151,
+                "bottom_clearance": 0.0818000062811628,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  0.0011359596612982026,
+                  0.0004969076801036865
+                ],
+                "rod_tip_xy": [
+                  0.275541267946931,
+                  -0.3300145206723961
+                ],
+                "target_mouth_xy": [
+                  0.2744053082856328,
+                  -0.3305114283524998
+                ],
+                "gripper_position": [
+                  0.27553227982451345,
+                  -0.3300141833634978,
+                  1.0033610068988206
+                ],
+                "rod_tip_xy_dist": 0.0012398877346932481,
+                "target_xy_drift": 9.785466009741589e-08,
+                "depth": 0.017778004304834227,
+                "bottom_clearance": 0.08166259189482183,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  0.0011269740063928335,
+                  0.0004972446932292596
+                ],
+                "rod_tip_xy": [
+                  0.2755322798245134,
+                  -0.33001418336349775
+                ],
+                "target_mouth_xy": [
+                  0.27440530581812056,
+                  -0.330511428056727
+                ],
+                "gripper_position": [
+                  0.2755231570653296,
+                  -0.33001397287848605,
+                  1.003240094582774
+                ],
+                "rod_tip_xy_dist": 0.0012317965319117337,
+                "target_xy_drift": 9.685019063422195e-08,
+                "depth": 0.017898841412382183,
+                "bottom_clearance": 0.0815417012763957,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  0.0011178790159275809,
+                  0.0004974557939529944
+                ],
+                "rod_tip_xy": [
+                  0.27552315706532954,
+                  -0.330013972878486
+                ],
+                "target_mouth_xy": [
+                  0.27440527804940196,
+                  -0.330511428672439
+                ],
+                "gripper_position": [
+                  0.27553400939444056,
+                  -0.3300825332510441,
+                  1.002728768166372
+                ],
+                "rod_tip_xy_dist": 0.001223566819257788,
+                "target_xy_drift": 9.355833971688096e-08,
+                "depth": 0.018019754808149213,
+                "bottom_clearance": 0.0814208355773608,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  0.0011287030623512995,
+                  0.0004288948000813475
+                ],
+                "rod_tip_xy": [
+                  0.27553400939444056,
+                  -0.3300825332510441
+                ],
+                "target_mouth_xy": [
+                  0.27440530633208926,
+                  -0.33051142805112543
+                ],
+                "gripper_position": [
+                  0.2755220183103408,
+                  -0.33008849882971625,
+                  1.002591281480605
+                ],
+                "rod_tip_xy_dist": 0.001207444140529085,
+                "target_xy_drift": 9.699062490635936e-08,
+                "depth": 0.01853106454923137,
+                "bottom_clearance": 0.08090945852920917,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  0.0011167113933945871,
+                  0.00042292826141410167
+                ],
+                "rod_tip_xy": [
+                  0.2755220183103408,
+                  -0.33008849882971625
+                ],
+                "target_mouth_xy": [
+                  0.2744053069169462,
+                  -0.33051142709113035
+                ],
+                "gripper_position": [
+                  0.2755128826934885,
+                  -0.33008827546917535,
+                  1.0024707450062535
+                ],
+                "rod_tip_xy_dist": 0.0011941158446482632,
+                "target_xy_drift": 9.624173478412512e-08,
+                "depth": 0.018668532627357792,
+                "bottom_clearance": 0.0807719668393535,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  0.0011075738935364399,
+                  0.0004231237010849931
+                ],
+                "rod_tip_xy": [
+                  0.27551288269348845,
+                  -0.3300882754691753
+                ],
+                "target_mouth_xy": [
+                  0.274405308799952,
+                  -0.3305113991702603
+                ],
+                "gripper_position": [
+                  0.2755036829765455,
+                  -0.3300877588831619,
+                  1.0023497363003648
+                ],
+                "rod_tip_xy_dist": 0.0011856448018117956,
+                "target_xy_drift": 7.082538757561115e-08,
+                "depth": 0.01878923678841604,
+                "bottom_clearance": 0.08065140121346503,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  0.0010983772900612365,
+                  0.0004236685359845227
+                ],
+                "rod_tip_xy": [
+                  0.2755036829765455,
+                  -0.3300877588831618
+                ],
+                "target_mouth_xy": [
+                  0.27440530568648425,
+                  -0.3305114274191463
+                ],
+                "gripper_position": [
+                  0.27549470901256057,
+                  -0.3300872792536028,
+                  1.0022292491497098
+                ],
+                "rod_tip_xy_dist": 0.001177254305452112,
+                "target_xy_drift": 9.620133739576122e-08,
+                "depth": 0.01891010421033401,
+                "bottom_clearance": 0.08053042019642243,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  0.0010894021196217185,
+                  0.00042414942195589944
+                ],
+                "rod_tip_xy": [
+                  0.27549470901256057,
+                  -0.3300872792536027
+                ],
+                "target_mouth_xy": [
+                  0.27440530689293885,
+                  -0.3305114286755586
+                ],
+                "gripper_position": [
+                  0.27550771887366354,
+                  -0.33015884976743204,
+                  1.0017211709373663
+                ],
+                "rod_tip_xy_dist": 0.0011690593271437581,
+                "target_xy_drift": 9.77500852364164e-08,
+                "depth": 0.01903059231932136,
+                "bottom_clearance": 0.08040996062194272,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  0.0011024121133111908,
+                  0.0003525481542822062
+                ],
+                "rod_tip_xy": [
+                  0.27550771887366354,
+                  -0.33015884976743204
+                ],
+                "target_mouth_xy": [
+                  0.27440530676035235,
+                  -0.33051139792171425
+                ],
+                "gripper_position": [
+                  0.2754954641024898,
+                  -0.3301651605955936,
+                  1.001584160437303
+                ],
+                "rod_tip_xy_dist": 0.0011574120565567977,
+                "target_xy_drift": 6.883844403475556e-08,
+                "depth": 0.019538652592448802,
+                "bottom_clearance": 0.07990186190798565,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  0.0010901567034687365,
+                  0.0003462370092517375
+                ],
+                "rod_tip_xy": [
+                  0.2754954641024898,
+                  -0.33016516059559353
+                ],
+                "target_mouth_xy": [
+                  0.2744053073990211,
+                  -0.33051139760484527
+                ],
+                "gripper_position": [
+                  0.27548614705317725,
+                  -0.33016450058748414,
+                  1.0014637345709523
+                ],
+                "rod_tip_xy_dist": 0.0011438189125440312,
+                "target_xy_drift": 6.881448029095937e-08,
+                "depth": 0.019675662799592097,
+                "bottom_clearance": 0.07976486564395524,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 411,
+                "rod_tip_xy_delta": [
+                  0.0010808384148615624,
+                  0.0003469280704158084
+                ],
+                "rod_tip_xy": [
+                  0.2754861470531772,
+                  -0.33016450058748414
+                ],
+                "target_mouth_xy": [
+                  0.27440530863831564,
+                  -0.33051142865789995
+                ],
+                "gripper_position": [
+                  0.2754988895597096,
+                  -0.3302289553185614,
+                  1.0008711317212868
+                ],
+                "rod_tip_xy_dist": 0.0011351523092003517,
+                "target_xy_drift": 9.825301272829023e-08,
+                "depth": 0.01979618070843625,
+                "bottom_clearance": 0.07964443997124693,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1550,
+              "stir_motion_end_frame": 1569,
+              "rod_tip_xy_path_length": 0.0005987910750973766,
+              "rod_tip_xy_max_step": 3.240953994110697e-05,
+              "rod_tip_xy_range": 0.0005987833479015046,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.27509442783155014,
+            -0.3314566970379712,
+            1.0433832033041275
+          ],
+          "object_origin_world": [
+            0.27509442783155014,
+            -0.3314566970379712,
+            1.0433832033041275
+          ],
+          "frame_world": [
+            0.27509288187252734,
+            -0.3314601643442247,
+            1.0432748042802276
+          ],
+          "center_minus_frame": [
+            1.5459590227973052e-06,
+            3.4673062535017785e-06,
+            0.00010839902389991884
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25651989602504693,
+              0.15862832800907203,
+              0.8318946003409731
+            ],
+            "target_position": [
+              0.2706923075982723,
+              0.20467061317202695,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.048174155652463184,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16626006823974182,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8318946003409731,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835675609262523,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13548469471162436,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 309,
+            "max_placed_release_frames": 309
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.2899693868556996,
+              -0.07435275845418497,
+              1.0461594082114398
+            ],
+            "current_z": 1.0461594082114398,
+            "required_z": 0.8565862679043942,
+            "initial_z": 0.7565862679043942,
+            "lift_margin": 0.18957314030704564,
+            "gripper_z": 1.0495396912636068,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28521882506220797,
+              -0.07903756169595788,
+              1.0495396912636068
+            ],
+            "object_minus_gripper": [
+              0.004750561793491648,
+              0.0046848032417729085,
+              -0.003380283052166977
+            ],
+            "object_to_gripper_xy": 0.006671972629433407,
+            "object_to_gripper_z": -0.003380283052166977,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2899693868556996,
+              -0.09853048623506638,
+              1.0461594082114398
+            ],
+            "finger_b": [
+              0.2784315598790514,
+              -0.07435275845418497,
+              1.0461594082114398
+            ],
+            "finger_midpoint": [
+              0.28420047336737553,
+              -0.08644162234462568,
+              1.0461594082114398
+            ],
+            "object_minus_finger_midpoint": [
+              0.00576891348832409,
+              0.012088863890440713,
+              0.0
+            ],
+            "finger_gap": 0.026789624334609033,
+            "fingertip_max_gap": 0.09178037253452306,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013394812167304511,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461594082114398,
+            "object_top_z": 1.091896713651383,
+            "finger_top_clearance": 0.045737305439943254,
+            "fingertip_min_top_clearance": 0.013721191631982975,
+            "object_projection_between_fingers": 0.8145124364780661,
+            "object_to_finger_line_xy": 0.010412928391232769,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048390186267261534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1572319999819651,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.28950604307566574,
+              -0.07834342550388197,
+              1.2437529212262886
+            ],
+            "held_position": [
+              0.2945945446034288,
+              -0.07404497475486325,
+              1.2403575096355113
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007476519679006498,
+            "max_held_gripper_dist": 0.0074801392159670925,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033954115907772753,
+            "max_held_gripper_z_dist": 0.0033954115907772753,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08621845055598955,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2945945446034288,
+              -0.09938885591704928,
+              1.2403575096355113
+            ],
+            "held_grasp_finger_b": [
+              0.28535255899529666,
+              -0.07404497475486325,
+              1.2403575096355113
+            ],
+            "held_grasp_midpoint": [
+              0.28997355179936274,
+              -0.08671691533595627,
+              1.2403575096355113
+            ],
+            "held_grasp_object_position": [
+              0.2945945446034288,
+              -0.07404497475486325,
+              1.2403575096355113
+            ],
+            "held_grasp_finger_gap": 0.026976408403342537,
+            "held_grasp_max_gap": 0.12496588885784149,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.024615838545597672,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07107450510854425,
+              -0.9971917062420469,
+              -0.0236032990416779
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037210083687316776,
+            "held_grasp_line_xy_max_dist": 0.047482944428920745,
+            "held_grasp_object_top_z": 0.04520067945122719,
+            "held_grasp_top_clearance": 0.032235890625110064,
+            "held_grasp_min_top_clearance": 0.013560203835368156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2581358927492007,
+              -0.086348945418019,
+              0.7565884579276327
+            ],
+            "target_position": [
+              0.26586685123347803,
+              -0.07894159136303358,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.010706848891318536,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.21179299090565532,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565884579276327,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555772391712978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08923310499678301,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1818680361850043,
+            "release_required_pad_clearance": 0.05461655249839151,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.271034172180777,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 240,
+            "max_placed_release_frames": 240
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd86d07e51b1ce4a86940c83c728c60544e7f57559508f03695abfde40c2f06b",
+    "visual_seed": 3884796493546935480,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54065387fd8de5f9a06474cbcfc76fa3d83644b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/episode_8_success.json
@@ -0,0 +1,2651 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 9,
+  "total_steps": 9,
+  "step_accuracy": "9/9",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3756628652444152,
+              0.10674743797398918,
+              1.1651346257206736
+            ],
+            "current_z": 1.1651346257206736,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.3040279388919732,
+            "gripper_z": 1.1546967835328654,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37054811925982356,
+              0.10182697002942148,
+              1.1546967835328654
+            ],
+            "object_minus_gripper": [
+              0.005114745984591662,
+              0.0049204679445677,
+              0.010437842187808188
+            ],
+            "object_to_gripper_xy": 0.007097297463148548,
+            "object_to_gripper_z": 0.010437842187808188,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3756628652444152,
+              0.08250618417537903,
+              1.1651346257206736
+            ],
+            "finger_b": [
+              0.3647424991625228,
+              0.10674743797398918,
+              1.1651346257206736
+            ],
+            "finger_midpoint": [
+              0.370202682203469,
+              0.0946268110746841,
+              1.1651346257206736
+            ],
+            "object_minus_finger_midpoint": [
+              0.005460183040946198,
+              0.012120626899305084,
+              0.0
+            ],
+            "finger_gap": 0.02658745533312989,
+            "fingertip_max_gap": 0.09150288458023656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013293727666564953,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1651346257206736,
+            "object_top_z": 1.214937458527191,
+            "finger_top_clearance": 0.04980283280651743,
+            "fingertip_min_top_clearance": 0.014940849841955227,
+            "object_projection_between_fingers": 0.8312977603499333,
+            "object_to_finger_line_xy": 0.00995670185235902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825144229011828,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3576831124908624,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 361,
+            "max_stable_success_frames": 361,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2656677510804273,
+              -0.32438645924281784,
+              0.8515395573107764
+            ],
+            "target_position": [
+              0.25841058584883664,
+              -0.32405934109649825,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007264533947904688,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18409700766952858,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395573107764,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528698134138663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871919617197393,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15246822215126007,
+            "release_required_pad_clearance": 0.05359598085986965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2025468312323717,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006911098957061768,
+            "max_z_decrease": 0.006911098957061768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508760679142722,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006911098957061768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02121831828876731,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.006911098957061768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006911117109273868,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.11411051452159877,
+              -0.3803207874298095,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.11411051452159877,
+              -0.3803207874298095,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1135221884275848,
+              -0.3816765427658538,
+              0.8078762733836907
+            ],
+            "closest_button": [
+              0.11410079896450039,
+              -0.38031938672065735,
+              0.7728196978569031
+            ],
+            "closest_ee_minus_button": [
+              -0.0005786105369155886,
+              -0.0013571560451964282,
+              0.03505657552678765
+            ],
+            "button_min_z_position": [
+              0.11409475654363628,
+              -0.3803191781044006,
+              0.7698977589607239
+            ],
+            "min_active_finger_to_button": 0.14668607985969398,
+            "closest_active_finger": [
+              -0.027902066707611084,
+              -0.36792615056037903,
+              0.8113503456115723
+            ],
+            "closest_active_finger_button": [
+              0.11411363631486889,
+              -0.3803213834762573,
+              0.7767858505249023
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14201570302247996,
+              0.012395232915878296,
+              0.03456449508666992
+            ],
+            "min_contact_pad_to_button": 0.02121831828876731,
+            "closest_contact_pad": [
+              0.11409475654363628,
+              -0.38263263519121515,
+              0.790989580771817
+            ],
+            "closest_contact_pad_button": [
+              0.11409475654363628,
+              -0.3803191781044006,
+              0.7698977589607239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023134570868145743,
+              0.021091821811093148
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "pick",
+      "target": "glass_rod",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "glass_rod",
+          "passed": true,
+          "metrics": {
+            "target": "glass_rod",
+            "active_arm": null,
+            "object_position": [
+              0.27056056386969596,
+              0.20427494874291657,
+              1.1023213807275103
+            ],
+            "current_z": 1.1023213807275103,
+            "required_z": 0.9099091297343626,
+            "initial_z": 0.8099091297343626,
+            "lift_margin": 0.19241225099314774,
+            "gripper_z": 1.1023215024947304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "gripper_position": [
+              0.2705605888009689,
+              0.2042749425380433,
+              1.1023215024947304
+            ],
+            "object_minus_gripper": [
+              -2.4931272935013737e-08,
+              6.20487328184538e-09,
+              -1.217672200848341e-07
+            ],
+            "object_to_gripper_xy": 2.5691804580525422e-08,
+            "object_to_gripper_z": -1.217672200848341e-07,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.27056056386969596,
+              0.20427494874291657,
+              1.1023213807275103
+            ],
+            "finger_b": [
+              0.27056056386969596,
+              0.20427494874291657,
+              1.1023213807275103
+            ],
+            "finger_midpoint": [
+              0.27056056386969596,
+              0.20427494874291657,
+              1.1023213807275103
+            ],
+            "object_minus_finger_midpoint": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "finger_gap": 0.0,
+            "fingertip_max_gap": 0.042231825845588634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.1023213807275103,
+            "object_top_z": 1.22732988734779,
+            "finger_top_clearance": 0.12500850662027974,
+            "fingertip_min_top_clearance": 0.037502551986083904,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 244,
+            "max_stable_success_frames": 244,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "glass_rod",
+              "held_object": null,
+              "allowed_objects": [
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger4step",
+                "b_name": "rod_rack"
+              },
+              {
+                "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b": "/World/test_tube_rack/test_tube_rack/group_12/_______1938",
+                "a_name": "robot Defeatured_2F_85_PAD_OPEN_finger3step",
+                "b_name": "rod_rack"
+              }
+            ],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2705605638696959,
+            0.2042749487429166,
+            1.1023213807275105
+          ],
+          "object_origin_world": [
+            0.2705605638696959,
+            0.2042749487429166,
+            1.1023213807275105
+          ],
+          "frame_world": [
+            0.2705605888009689,
+            0.2042749425380433,
+            1.1023215024947304
+          ],
+          "center_minus_frame": [
+            -2.493127299052489e-08,
+            6.204873309600956e-09,
+            -1.217672198627895e-07
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 4,
+      "skill": "stir",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "StirSuccessChecker",
+          "skill": "stir",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "held": "glass_rod",
+            "required_held_object": "glass_rod_or_stir_rod",
+            "success_counter": 1676,
+            "required_success_frames": 20,
+            "gripper_z": 1.0433990755635252,
+            "required_z": 0.9112598319694103,
+            "target_position_source": "geometry_center",
+            "xy_dist": 0.0019168564851699795,
+            "xy_threshold": 0.1,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "target_xy_drift": 1.3519611260509519e-09,
+            "max_target_xy_drift": 1.3519611260509519e-09,
+            "require_target_stable": true,
+            "target_max_xy_drift": 0.02,
+            "require_target_upright": true,
+            "target_tilt_deg": 2.202546831284509,
+            "target_axis_flip_tolerance_deg": 3.0,
+            "target_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "max_target_tilt_deg": 2.202546831477169,
+            "target_max_tilt_deg": 10.0,
+            "require_rod_tip_in_target": true,
+            "require_rod_tip_mouth_centered": true,
+            "rod_extends": 0.12,
+            "rod_tip_source": "held_object_pose",
+            "rod_tip_position": [
+              0.26460056174789337,
+              -0.32279287064218243,
+              0.923501805726351
+            ],
+            "target_mouth_xy": [
+              0.26566775095457823,
+              -0.32438642912434024
+            ],
+            "rod_tip_z": 0.923501805726351,
+            "rod_tip_depth": -0.02224198400255195,
+            "rod_tip_bottom_clearance": 0.12168251026884402,
+            "rod_tip_xy_dist": 0.0019178950541992017,
+            "rod_tip_xy_max_dist": 0.025,
+            "rod_tip_min_depth": 0.015,
+            "rod_tip_bottom_margin": 0.005,
+            "missing_rod_tip_position_samples": 0,
+            "max_rod_tip_depth": 0.044736383679746194,
+            "min_rod_tip_bottom_clearance": 0.05470414258654588,
+            "min_rod_tip_xy_dist": 0.00032600124399071486,
+            "rod_insert_counter": 0,
+            "max_rod_insert_counter": 1180,
+            "rod_mouth_insert_counter": 0,
+            "max_rod_mouth_insert_counter": 1180,
+            "target_mouth_xy_initial": [
+              0.26566775003334053,
+              -0.32438643011384516
+            ],
+            "target_mouth_xy_delta_from_start": [
+              9.212376972378422e-10,
+              9.895049224439845e-10
+            ],
+            "best_rod_mouth_streak": {
+              "length": 20,
+              "start_frame": 391,
+              "end_frame": 410,
+              "first_rod_tip_xy_delta": [
+                -0.0004794968890979856,
+                0.0031906875533678214
+              ],
+              "last_rod_tip_xy_delta": [
+                -0.0006001486923828403,
+                0.0028560641833978995
+              ],
+              "first_target_mouth_xy": [
+                0.26566775003334053,
+                -0.32438643011384516
+              ],
+              "last_target_mouth_xy": [
+                0.26566775095457823,
+                -0.32438642912434024
+              ],
+              "first_rod_tip_xy": [
+                0.26518825314424255,
+                -0.32119574256047734
+              ],
+              "last_rod_tip_xy": [
+                0.2650676022621954,
+                -0.32153036494094234
+              ],
+              "min_rod_tip_xy_dist": 0.0029116706223058036,
+              "max_rod_tip_xy_dist": 0.003226515818940143,
+              "first_target_xy_drift": 0.0,
+              "last_target_xy_drift": 1.3519611260509519e-09,
+              "max_depth": 0.019459569425233636,
+              "min_bottom_clearance": 0.07998095684105844
+            },
+            "best_rod_mouth_streak_trace": [
+              {
+                "frame": 391,
+                "rod_tip_xy_delta": [
+                  -0.0004794968890979856,
+                  0.0031906875533678214
+                ],
+                "rod_tip_xy": [
+                  0.26518825314424255,
+                  -0.32119574256047734
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.2651767385616921,
+                  -0.32120105540192634,
+                  1.0059047954501255
+                ],
+                "rod_tip_xy_dist": 0.003226515818940143,
+                "target_xy_drift": 0.0,
+                "depth": 0.01522460214954735,
+                "bottom_clearance": 0.08421592300919822,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 392,
+                "rod_tip_xy_delta": [
+                  -0.0004910123928860144,
+                  0.003185373722413898
+                ],
+                "rod_tip_xy": [
+                  0.2651767385616922,
+                  -0.32120105540192634
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.26516824742412726,
+                  -0.3211999038466858,
+                  1.005790631219826
+                ],
+                "rod_tip_xy_dist": 0.003222995333755949,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.015355026273673578,
+                "bottom_clearance": 0.0840854999926185,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 393,
+                "rod_tip_xy_delta": [
+                  -0.0004995026092132204,
+                  0.0031865262671593175
+                ],
+                "rod_tip_xy": [
+                  0.2651682474241273,
+                  -0.32119990384668584
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.26517088264898203,
+                  -0.32126078932110297,
+                  1.0052778692957909
+                ],
+                "rod_tip_xy_dist": 0.0032254383435290014,
+                "target_xy_drift": 0.0,
+                "depth": 0.015469200749584355,
+                "bottom_clearance": 0.08397132440916122,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 394,
+                "rod_tip_xy_delta": [
+                  -0.0004968683055961431,
+                  0.0031256398032371013
+                ],
+                "rod_tip_xy": [
+                  0.2651708826489821,
+                  -0.32126078932110314
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.26515915483203123,
+                  -0.32126614428980377,
+                  1.0051473330311431
+                ],
+                "rod_tip_xy_dist": 0.003164885826169097,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.01598195242800815,
+                "bottom_clearance": 0.08345857383828392,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 395,
+                "rod_tip_xy_delta": [
+                  -0.0005085952013091921,
+                  0.0031202858240412246
+                ],
+                "rod_tip_xy": [
+                  0.26515915483203134,
+                  -0.32126614428980393
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.2651619127769308,
+                  -0.32132713011563896,
+                  1.0046383577525855
+                ],
+                "rod_tip_xy_dist": 0.0031614636962184715,
+                "target_xy_drift": 0.0,
+                "depth": 0.01611249893826716,
+                "bottom_clearance": 0.08332802622047841,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 396,
+                "rod_tip_xy_delta": [
+                  -0.0005058381776473775,
+                  0.0030592990087011662
+                ],
+                "rod_tip_xy": [
+                  0.26516191277693085,
+                  -0.32132713011563907
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.265150142359065,
+                  -0.3213322978497162,
+                  1.004508164041293
+                ],
+                "rod_tip_xy_dist": 0.0031008358045219934,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.01662146397121378,
+                "bottom_clearance": 0.0828190622950783,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 397,
+                "rod_tip_xy_delta": [
+                  -0.0005176076742754443,
+                  0.0030541322641288726
+                ],
+                "rod_tip_xy": [
+                  0.2651501423590651,
+                  -0.3213322978497163
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.2651415476344854,
+                  -0.32133096679023176,
+                  1.0043942563775474
+                ],
+                "rod_tip_xy_dist": 0.0030976832619333096,
+                "target_xy_drift": 0.0,
+                "depth": 0.01675166792811733,
+                "bottom_clearance": 0.08268885723062824,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 398,
+                "rod_tip_xy_delta": [
+                  -0.000526203320092733,
+                  0.003055462334108361
+                ],
+                "rod_tip_xy": [
+                  0.2651415476344855,
+                  -0.3213309667902319
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.26514528227048817,
+                  -0.3213930739530672,
+                  1.003886319085761
+                ],
+                "rod_tip_xy_dist": 0.0031004419054759804,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.016865565346251832,
+                "bottom_clearance": 0.08257496092004024,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 399,
+                "rod_tip_xy_delta": [
+                  -0.0005224677628523078,
+                  0.0029933561607778936
+                ],
+                "rod_tip_xy": [
+                  0.2651452822704882,
+                  -0.32139307395306727
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.265133525265117,
+                  -0.32139819276432047,
+                  1.0037564341830048
+                ],
+                "rod_tip_xy_dist": 0.003038610483179255,
+                "target_xy_drift": 0.0,
+                "depth": 0.0173735128836493,
+                "bottom_clearance": 0.08206701227509627,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 400,
+                "rod_tip_xy_delta": [
+                  -0.0005342256894610986,
+                  0.0029882363600197692
+                ],
+                "rod_tip_xy": [
+                  0.26513352526511713,
+                  -0.32139819276432047
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.2651247507689203,
+                  -0.3213966782798078,
+                  1.0036424100540624
+                ],
+                "rod_tip_xy_dist": 0.00303561420978101,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.01750338754079428,
+                "bottom_clearance": 0.0819371387254978,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 401,
+                "rod_tip_xy_delta": [
+                  -0.0005429992644201964,
+                  0.0029897518340372686
+                ],
+                "rod_tip_xy": [
+                  0.26512475076892034,
+                  -0.3213966782798079
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.26511595755013495,
+                  -0.3213954780039577,
+                  1.0035283201441618
+                ],
+                "rod_tip_xy_dist": 0.0030386615853513674,
+                "target_xy_drift": 0.0,
+                "depth": 0.017617421915347875,
+                "bottom_clearance": 0.0818231032433977,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 402,
+                "rod_tip_xy_delta": [
+                  -0.0005517934044431683,
+                  0.00299095112038239
+                ],
+                "rod_tip_xy": [
+                  0.26511595755013506,
+                  -0.32139547800395785
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.26512117793326806,
+                  -0.3214598072539413,
+                  1.0030203982971746
+                ],
+                "rod_tip_xy_dist": 0.003041424759171868,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.017731501579637432,
+                "bottom_clearance": 0.08170902468665464,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 403,
+                "rod_tip_xy_delta": [
+                  -0.0005465721000723622,
+                  0.002926622859903749
+                ],
+                "rod_tip_xy": [
+                  0.26512117793326817,
+                  -0.3214598072539414
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.26510914490131576,
+                  -0.3214648569969214,
+                  1.0028905615723605
+                ],
+                "rod_tip_xy_dist": 0.0029772239460088843,
+                "target_xy_drift": 0.0,
+                "depth": 0.018239433672235683,
+                "bottom_clearance": 0.08120109148650989,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 404,
+                "rod_tip_xy_delta": [
+                  -0.0005586060532624115,
+                  0.0029215721274187256
+                ],
+                "rod_tip_xy": [
+                  0.2651091449013158,
+                  -0.3214648569969215
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.26510031568018744,
+                  -0.3214636454623869,
+                  1.002776670035554
+                ],
+                "rod_tip_xy_dist": 0.002974495657830313,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.018369260151438582,
+                "bottom_clearance": 0.08107126611485349,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 405,
+                "rod_tip_xy_delta": [
+                  -0.0005674343531529846,
+                  0.0029227846514581213
+                ],
+                "rod_tip_xy": [
+                  0.26510031568018755,
+                  -0.32146364546238704
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.2650914474826064,
+                  -0.3214618624875648,
+                  1.0026627994049166
+                ],
+                "rod_tip_xy_dist": 0.0029773565228130333,
+                "target_xy_drift": 0.0,
+                "depth": 0.01848316193385624,
+                "bottom_clearance": 0.08095736322488933,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 406,
+                "rod_tip_xy_delta": [
+                  -0.0005763034719717952,
+                  0.0029245666367753165
+                ],
+                "rod_tip_xy": [
+                  0.26509144748260643,
+                  -0.3214618624875649
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.26509774255754937,
+                  -0.3215286031047064,
+                  1.0021582221421197
+                ],
+                "rod_tip_xy_dist": 0.0029808078946396447,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.018597022318882606,
+                "bottom_clearance": 0.08084350394740947,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 407,
+                "rod_tip_xy_delta": [
+                  -0.0005700074757910567,
+                  0.0028578270091387248
+                ],
+                "rod_tip_xy": [
+                  0.2650977425575495,
+                  -0.32152860310470643
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.2650853992877188,
+                  -0.3215335897757428,
+                  1.0020276593465574
+                ],
+                "rod_tip_xy_dist": 0.0029141180032079142,
+                "target_xy_drift": 0.0,
+                "depth": 0.01910160982729081,
+                "bottom_clearance": 0.08033891533145476,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 408,
+                "rod_tip_xy_delta": [
+                  -0.0005823516668593265,
+                  0.002852839348597258
+                ],
+                "rod_tip_xy": [
+                  0.2650853992877189,
+                  -0.321533589775743
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.2650764332281794,
+                  -0.3215318987405805,
+                  1.001914026784572
+                ],
+                "rod_tip_xy_dist": 0.0029116706223058036,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.01923216237724168,
+                "bottom_clearance": 0.0802083638890504,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 409,
+                "rod_tip_xy_delta": [
+                  -0.0005913168051610018,
+                  0.002854531373264524
+                ],
+                "rod_tip_xy": [
+                  0.26507643322817953,
+                  -0.32153189874058064
+                ],
+                "target_mouth_xy": [
+                  0.26566775003334053,
+                  -0.32438643011384516
+                ],
+                "gripper_position": [
+                  0.2650676022621953,
+                  -0.3215303649409423,
+                  1.0018002522985654
+                ],
+                "rod_tip_xy_dist": 0.0029151337748064433,
+                "target_xy_drift": 0.0,
+                "depth": 0.019345805184838194,
+                "bottom_clearance": 0.08009471997390738,
+                "inserted": true,
+                "centered": true
+              },
+              {
+                "frame": 410,
+                "rod_tip_xy_delta": [
+                  -0.0006001486923828403,
+                  0.0028560641833978995
+                ],
+                "rod_tip_xy": [
+                  0.2650676022621954,
+                  -0.32153036494094234
+                ],
+                "target_mouth_xy": [
+                  0.26566775095457823,
+                  -0.32438642912434024
+                ],
+                "gripper_position": [
+                  0.26505870229602035,
+                  -0.3215286219443978,
+                  1.0016869692392758
+                ],
+                "rod_tip_xy_dist": 0.0029184381221223697,
+                "target_xy_drift": 1.3519611260509519e-09,
+                "depth": 0.019459569425233636,
+                "bottom_clearance": 0.07998095684105844,
+                "inserted": true,
+                "centered": true
+              }
+            ],
+            "require_stir_motion": true,
+            "rod_tip_motion_min_path": 0.0005,
+            "rod_tip_motion_max_step": 0.004,
+            "rod_tip_motion_max_range": 0.024,
+            "stir_motion_window_length": 0,
+            "rod_tip_xy_path_length": 0.0,
+            "rod_tip_xy_max_step": 0.0,
+            "rod_tip_xy_range": 0.0,
+            "best_motion_qualified_streak": {
+              "stir_motion_window_length": 20,
+              "stir_motion_start_frame": 1551,
+              "stir_motion_end_frame": 1570,
+              "rod_tip_xy_path_length": 0.0005977671404090273,
+              "rod_tip_xy_max_step": 3.2462709586995345e-05,
+              "rod_tip_xy_range": 0.0005977520628808734,
+              "length": 20
+            },
+            "rod_tip_required_frames": 20,
+            "rod_tip_mouth_required_frames": 20,
+            "strict_held_object": "glass_rod"
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "stir",
+              "target_object": "beaker_a",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "beaker_a",
+                "glass_rod"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/glass_rod"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": {
+          "object_path": "/World/glass_rod/Cylinder",
+          "gripper_frame_path": "/World/UR5e/wrist_3_link/gripper_center",
+          "object_center_world": [
+            0.2646005617478933,
+            -0.3227928706421824,
+            1.0435018057263512
+          ],
+          "object_origin_world": [
+            0.2646005617478933,
+            -0.3227928706421824,
+            1.0435018057263512
+          ],
+          "frame_world": [
+            0.26459917643948117,
+            -0.32279505007131004,
+            1.0433990755635252
+          ],
+          "center_minus_frame": [
+            1.3853084121495662e-06,
+            2.179429127668886e-06,
+            0.00010273016282602576
+          ],
+          "center_minus_origin": [
+            0.0,
+            0.0,
+            0.0
+          ]
+        },
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_used": true,
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 5,
+      "skill": "place",
+      "target": "rod_rack",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "rod_rack",
+          "passed": true,
+          "metrics": {
+            "held": "glass_rod",
+            "target": "rod_rack",
+            "object_position": [
+              0.25603585528700334,
+              0.15952369194581262,
+              0.8320991914026709
+            ],
+            "target_position": [
+              0.27070237580847645,
+              0.2056855896873398,
+              0.8099091297343627
+            ],
+            "target_position_source": "target_key:glass_rod_initial_position",
+            "xy_dist": 0.04843580934913758,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.16878438987531377,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8320991914026709,
+            "min_z": 0.6099091297343626,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.11835672259184217,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.03723182584558864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.13819640642666062,
+            "release_required_pad_clearance": 0.028615912922794317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": true,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": true,
+            "max_z": 0.9099091297343627,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 314,
+            "max_placed_release_frames": 314
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "rod_rack",
+              "held_object": "glass_rod",
+              "allowed_objects": [
+                "glass_rod",
+                "rod_rack"
+              ],
+              "allowed_object_paths": [
+                "/World/glass_rod",
+                "/World/test_tube_rack"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "rod_rack",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 6,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.28890681885633573,
+              -0.08121538904180234,
+              1.0449364248650583
+            ],
+            "current_z": 1.0449364248650583,
+            "required_z": 0.8565862305539821,
+            "initial_z": 0.7565862305539821,
+            "lift_margin": 0.18835019431107625,
+            "gripper_z": 1.0481554822338186,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.284415014074882,
+              -0.0857956824560158,
+              1.0481554822338186
+            ],
+            "object_minus_gripper": [
+              0.004491804781453723,
+              0.004580293414213468,
+              -0.0032190573687602697
+            ],
+            "object_to_gripper_xy": 0.006415247302713887,
+            "object_to_gripper_z": -0.0032190573687602697,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.28890681885633573,
+              -0.10511016849132604,
+              1.0449364248650583
+            ],
+            "finger_b": [
+              0.2774120447283547,
+              -0.08121538904180234,
+              1.0449364248650583
+            ],
+            "finger_midpoint": [
+              0.2831594317923452,
+              -0.09316277876656419,
+              1.0449364248650583
+            ],
+            "object_minus_finger_midpoint": [
+              0.005747387063990528,
+              0.01194738972476185,
+              0.0
+            ],
+            "finger_gap": 0.0265158503011818,
+            "fingertip_max_gap": 0.09207035455363746,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0132579251505909,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0449364248650583,
+            "object_top_z": 1.0904627106704572,
+            "finger_top_clearance": 0.04552628580539886,
+            "fingertip_min_top_clearance": 0.013657885741619623,
+            "object_projection_between_fingers": 0.8120727465277886,
+            "object_to_finger_line_xy": 0.01035852478764208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853517727681873,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.398037898881651,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 7,
+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2886704819861746,
+              -0.08550081323416131,
+              1.240543113861905
+            ],
+            "held_position": [
+              0.29353579009678465,
+              -0.08133597481718259,
+              1.2373159299171632
+            ],
+            "object_initial_z": 0.7730800627579277,
+            "required_gripper_z": 0.8930800627579277,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071715980272118235,
+            "max_held_gripper_dist": 0.007178498311018087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032271839447417516,
+            "max_held_gripper_z_dist": 0.0032271839447417516,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667906696382703,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.29353579009678465,
+              -0.10656048511913603,
+              1.2373159299171632
+            ],
+            "held_grasp_finger_b": [
+              0.28471006770605434,
+              -0.08133597481718259,
+              1.2373159299171632
+            ],
+            "held_grasp_midpoint": [
+              0.2891229289014195,
+              -0.09394822996815931,
+              1.2373159299171632
+            ],
+            "held_grasp_object_position": [
+              0.29353579009678465,
+              -0.08133597481718259,
+              1.2373159299171632
+            ],
+            "held_grasp_finger_gap": 0.026723946110026372,
+            "held_grasp_max_gap": 0.12496608257293701,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_b_local_size",
+            "held_grasp_z_skew": 0.02444914088743871,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07856108290780307,
+              -0.9967487532929843,
+              -0.017890753512220355
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003416056304648884,
+            "held_grasp_line_xy_max_dist": 0.047483041286468505,
+            "held_grasp_object_top_z": 0.04520074278116226,
+            "held_grasp_top_clearance": 0.03228281402898348,
+            "held_grasp_min_top_clearance": 0.013560222834348679
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 8,
+      "skill": "place",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "target": "beaker_b",
+            "object_position": [
+              0.2519758615368852,
+              -0.08216457089546801,
+              0.7565899693285375
+            ],
+            "target_position": [
+              0.26512999008695093,
+              -0.08542769430360554,
+              0.7730800627579277
+            ],
+            "target_position_source": "target_key:beaker_b_initial_position",
+            "xy_dist": 0.013552825251156628,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.20648944705325964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.7565899693285375,
+            "min_z": 0.5730800627579278,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535394678288143,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09023970893722714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.17992055290071024,
+            "release_required_pad_clearance": 0.055119854468613574,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.8730800627579277,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.328066719108793,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 237,
+            "max_placed_release_frames": 237
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "beaker_b",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [
+      {
+        "step_index": 3,
+        "skill": "pick",
+        "target": "glass_rod",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      },
+      {
+        "step_index": 4,
+        "skill": "stir",
+        "target": "beaker_a",
+        "attach_object": "glass_rod",
+        "attach_object_path": "/World/glass_rod/Cylinder",
+        "attach_allowed": true
+      }
+    ],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "workflow_spec_digest": "b050f1cbc9d1ccaa91122a08cb8d98e9e6806f84a20b65555668b3d821ab846f",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18a74f29a6525f582f988e988723c446cb71de27691f014769895c9f8081c9c7",
+    "visual_seed": 4380401611251493337,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529,
+      2638943555944684541,
+      6496381160304571677,
+      5110876781444808742,
+      5098067461209198252,
+      2546260153185968182
+    ],
+    "runtime_workflow_digest": "ec5b88c68520a8daf944aee70e2c80db5a2b9491968c5f59a07c3bfa3da40379"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/summary.json b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7235bdd754b421704030370b83502547c0cd76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heatstir_2beaker_s09_plrptlpsl_hse_00007",
+  "family": "lab3_v1",
+  "published_episodes": 21,
+  "published_successes": 21,
+  "published_failures": 0,
+  "matched_success_results": 21
+}
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2ce45716ee515d139113e94c8d5a83b13d8fee46
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f6ee56a1b235e1982099aa6ccb87e85e4f1bf88e56d1431a55128a9230c5557
+size 15517407
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..31e75e858d7597d83ccbfc97315100bffdec4f32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84ec131fd0a9aeb632c807331690761020e9afb37aa04f0dd35d8e2f96c27b42
+size 20506993
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d86a6a8c52fd2ffef15a8051943c98af2c390c9e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ee08fa697c27407d8ffa9a9d72b8405597cb41f58c3a2c71769688897437383
+size 19972580
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9482f4acb09fbc956dc68bb3ed5b4019a21cc64c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a4df4a3e4347151c665dffb0de12fc74c64f7e1634bade3cd7674a61d3de486
+size 18988812
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bf866fc67e2a4c0caae40e87ea5c37c4b8540d07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1770fe2901a70844776d402711b15ea10f20b493159163a4729e1d6a946f6c8c
+size 15976480
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f76bfd5cd90d5ba537996a279d2dc2d0314bc42e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:664538825a38f0e4292cbf696efafbfe30b1194a00a354623b3f9c0b41c10d92
+size 17127348
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6f3d9b01f6e9bae21dee91b2634ac41978ed0d98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61055153b6bb690526aaee822a3ad44d5f7749d51f2cbe50c07bf82da82fb8d8
+size 16820150
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c500d8ab252118ba75109f25e8f81d81f6496b84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78adb741278e5b2326305f9230850a70b2033acab602e8b07377a920368007c6
+size 16215485
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d43d03d5f60e89a2724d1862cc172792c3a35033
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d591afcac722a009ab3aad8e01c909ca07001f349908b3d270914699fdd9b8d
+size 16401826
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3c8865bb372e358709f3eeb1266a8ce73e50ef60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94cbd4fb9dd55ca12175abf3eaba1fcaeec4f6e7824a487465660272843abc7d
+size 14982283
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..829d4723ab35729f32bec81b7407e96f98429f80
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eca0280983f453093e626d86b963b40caa78e23d74c95300f0efbbfc357cabf
+size 17592650
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4392cc9a4d6941c959066b32c0c0d9a8d3a951ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aec82f68f8de1e66452eb64a3a8d80491d286336aa4aa311bf797b88855b119
+size 16463607
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21b029c50bfcb98f0b8d2ef2c62d695f961d2065
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1fb91314a5e5df5c50c1928235f535322cace8458889a7f5c1c7a4aa5e2f7f
+size 22604015
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..47507ea1e97f8c5b4bbb480b714fa3a6d8f64fc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b5d9073ce706029302c1cf9bfc1465808dbc81e9c98e1d26f87caab3dda2e46
+size 15432364
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..79c8b8dce7fffe7a72319bf43599b15de6aaf542
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e6cebafdcc94a224cd8ab1e92cc435c403b5de376373b9acab31412b8be7a01
+size 17768304
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2c63cf49dbc200de9187205fa7820abf89a913b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7512f2fbfd5095d8104f46f8654d5c7eb0816dac32ca13dbd2a40fc64190191d
+size 15484003
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da1d78db467d4467550bf7a865e2c7b517eed698
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ecb659492ac6e774d7f5faa9c6f4760e99afff3e9ec56e3ce259984db0e4223
+size 16771032
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b5a4cedf0803993e935b87a50232d4d7c3457fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d94f62e671e8ef5a36fa35fbe11d2b7114b12914e3ef84eece75ea0ba7ae81c4
+size 18394920
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0acb1b91067b968e4ce42e004b3df12af85adae0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7476328f02e348cc5e02d37b0be8ae8e5e5a181130ddfc7bada9cf0da5300f3
+size 17044848
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f28f9f533c3f5f6f8873815214fa56a133be117
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8103fd06a9cb524f4a040f8494bdd41de5dc1faf9f6151fef015eb36eb7f9d5
+size 15939658
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f875482344486b30e8d9b18d35221e286d2863d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fddf8a1151aa1250cf45448703298a7c11c2a4aa16ca4dbd8f7eeb6afbe29fb
+size 14720350
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21c78dfe2979a065d5b801b9f1d581e0ee46c877
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c078d67843b836ec78dae60ff054ba7c9c46087e24902e9a66c7ea06c6f4149
+size 18827499
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..08e51ce40a502a692b0eb47c36ca1cf8d56c204f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0487dcfe1a1f984ca5e08245f0c36ad25dd77fb92b82406205d00b76364ddbec
+size 14836887
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bbd35809abce6bb4a2ab02fb3187102bee1430ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c2010dbc7cf739c120bf6ad7bc0fd25f5636c3fe340b8b6d58a31fe74c23af0
+size 16019026
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e785294dc2276cfd9e6722d03099535163ae807d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ccf558593023dfa41fb9cb0f504cc60912880c8df8167967a8a4477ae876c1d
+size 20711129
diff --git a/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5ac09841554a5d20ba6662dc8286eba44eaaec78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heatstir_2beaker_s09_plrptlpsl_hse_00010/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72fd0d631c8e456a22555aa4c217f8d6bcbd1a58ef2aba37fa49cae7ce4c3e78
+size 17340873